+ python -m lidar_slam --no-model /working/79aa1111-e3d9-4bb0-ac7b-251745de0001 Lidar SLAM 0.0.12 ===================================================== The recording path: /working/79aa1111-e3d9-4bb0-ac7b-251745de0001 The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.03 Using the pointcloud ICP: False The Lidar frames will be flattened: False The centerline will be flattened: False The Lidar 2D slices will be flipped: True Correction angle of Lidar frames: 0.0 Show the detected centerline?: False Display the final 3D model?: False Making 2D slices out of SLAM model?: False Drop angle of 2D slices: 45.0 The number of points in 2D slices: 360 ===================================================== Adjusted start_distance from 0.0 to 0.020714057 Adjusted end_distance from 9.223372036854776e+18 to 934.510714057 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.020714057 meters 0.16364851234301833 Centerline is valid? [0, False] SLAMing on 0.050714057 meters 0.16296862016858918 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999979e-01 -1.40381752e-04 -1.47078767e-04 5.08445043e-04] [ 1.40334575e-04 9.99999939e-01 -3.20724170e-04 1.31625680e-03] [ 1.47123782e-04 3.20703523e-04 9.99999938e-01 -3.31912622e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.080714057 meters 0.17376927962480498 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999910e-01 -1.19969009e-04 -4.06759925e-04 2.04028499e-03] [ 1.19758076e-04 9.99999858e-01 -5.18553115e-04 3.46252177e-03] [ 4.06822078e-04 5.18504355e-04 9.99999783e-01 -1.70249238e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.110714057 meters 0.16855149978268744 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999792e-01 -1.45329209e-04 -6.28578902e-04 2.68864965e-03] [ 1.44877519e-04 9.99999731e-01 -7.18575619e-04 4.48066073e-03] [ 6.28683163e-04 7.18484402e-04 9.99999544e-01 -2.00545161e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.140714057 meters 0.17516819658873475 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:-0.00 [[ 9.99999697e-01 -4.16349577e-04 -6.57560487e-04 3.10960333e-03] [ 4.15577305e-04 9.99999224e-01 -1.17415150e-03 6.41666618e-03] [ 6.58048834e-04 1.17387788e-03 9.99999094e-01 -2.49648872e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.170714057 meters 0.17640241808699458 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:-0.00 [[ 9.99999501e-01 -7.48929257e-04 -6.61586293e-04 2.88427638e-03] [ 7.47824991e-04 9.99998330e-01 -1.66779163e-03 7.38561147e-03] [ 6.62834246e-04 1.66729605e-03 9.99998390e-01 -2.20525755e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.200714057 meters 0.17967642878461468 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:-0.00 [[ 9.99999270e-01 -9.25594709e-04 -7.76667801e-04 3.52431285e-03] [ 9.24028219e-04 9.99997543e-01 -2.01487762e-03 9.09577333e-03] [ 7.78530853e-04 2.01415849e-03 9.99997669e-01 -2.74307463e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.230714057 meters 0.18278717546711085 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:-0.00 [[ 9.99999076e-01 -9.77224376e-04 -9.44792166e-04 4.24256001e-03] [ 9.75148884e-04 9.99997116e-01 -2.19474141e-03 1.02689337e-02] [ 9.46934196e-04 2.19381807e-03 9.99997145e-01 -3.24607751e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.260714057 meters 0.18248016387691726 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 0.99999862 -0.00116716 -0.00118407 0.00523174] [ 0.00116403 0.99999583 -0.0026425 0.01264468] [ 0.00118715 0.00264112 0.99999581 -0.00390243] [ 0. 0. 0. 1. ]] SLAMing on 0.290714057 meters 0.1857654237495791 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 0.99999848 -0.00118517 -0.0012779 0.00593354] [ 0.0011817 0.99999563 -0.00270952 0.01374692] [ 0.0012811 0.00270801 0.99999551 -0.00461607] [ 0. 0. 0. 1. ]] SLAMing on 0.320714057 meters 0.18833755218292755 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.01 [[ 0.99999853 -0.00117769 -0.00124758 0.00630984] [ 0.00117439 0.99999581 -0.00264413 0.01426672] [ 0.00125069 0.00264266 0.99999573 -0.00522277] [ 0. 0. 0. 1. ]] SLAMing on 0.35071405699999997 meters 0.19316191922469134 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.01 [[ 0.99999835 -0.00131616 -0.0012523 0.00671272] [ 0.00131273 0.99999538 -0.0027413 0.01511905] [ 0.0012559 0.00273965 0.99999546 -0.00577054] [ 0. 0. 0. 1. ]] SLAMing on 0.380714057 meters 0.19306128720266924 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.01 [[ 0.99999845 -0.00127994 -0.0012062 0.00675749] [ 0.00127674 0.99999568 -0.00264699 0.01482483] [ 0.00120959 0.00264544 0.99999577 -0.00597682] [ 0. 0. 0. 1. ]] SLAMing on 0.410714057 meters 0.19880162880592675 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.01 [[ 0.99999838 -0.00128985 -0.00125578 0.00720964] [ 0.00128658 0.99999578 -0.00260446 0.01551232] [ 0.00125913 0.00260284 0.99999582 -0.0064838 ] [ 0. 0. 0. 1. ]] SLAMing on 0.440714057 meters 0.2026796744184121 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.01 [[ 0.99999832 -0.00107212 -0.00148946 0.00830675] [ 0.00106858 0.9999966 -0.00237682 0.01589543] [ 0.001492 0.00237523 0.99999607 -0.00730686] [ 0. 0. 0. 1. ]] SLAMing on 0.47071405699999996 meters 0.19779572007432844 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.01 [[ 9.99998090e-01 -8.70090137e-04 -1.75034040e-03 9.20516420e-03] [ 8.66085477e-04 9.99997009e-01 -2.28739063e-03 1.62448246e-02] [ 1.75232540e-03 2.28587032e-03 9.99995852e-01 -7.81041479e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5007140569999999 meters 0.20660154792465513 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.01 [[ 9.99998139e-01 -6.29695895e-04 -1.82378493e-03 1.00014449e-02] [ 6.26148266e-04 9.99997912e-01 -1.94511965e-03 1.61301009e-02] [ 1.82500596e-03 1.94397407e-03 9.99996445e-01 -8.66887618e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.530714057 meters 0.19873997153072692 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.01 [[ 9.99998007e-01 -4.17746278e-04 -1.95254634e-03 1.05462791e-02] [ 4.14464782e-04 9.99998502e-01 -1.68072658e-03 1.55310180e-02] [ 1.95324554e-03 1.67991396e-03 9.99996681e-01 -9.00974447e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.560714057 meters 0.20293745074195144 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.01 [[ 9.99997729e-01 5.82196889e-05 -2.13048493e-03 1.16813863e-02] [-6.04169527e-05 9.99999466e-01 -1.03129465e-03 1.43644987e-02] [ 2.13042375e-03 1.03142103e-03 9.99997199e-01 -1.00245410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5907140569999999 meters 0.20808528668515913 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.01 [[ 9.99997026e-01 2.21495893e-04 -2.42892925e-03 1.26775224e-02] [-2.23835199e-04 9.99999511e-01 -9.62872200e-04 1.49937799e-02] [ 2.42871479e-03 9.63413016e-04 9.99996587e-01 -1.05214200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6207140569999999 meters 0.20179080260288856 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.01 [[ 9.99996618e-01 8.16418175e-05 -2.59959328e-03 1.30170892e-02] [-8.50356739e-05 9.99999144e-01 -1.30544984e-03 1.60217240e-02] [ 2.59948447e-03 1.30566648e-03 9.99995769e-01 -1.04923940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.650714057 meters 0.20553587989777516 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.01 [[ 9.99995496e-01 1.85129107e-04 -2.99550957e-03 1.40866393e-02] [-1.89282329e-04 9.99999021e-01 -1.38625853e-03 1.70365060e-02] [ 2.99525000e-03 1.38681928e-03 9.99994553e-01 -1.08376686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6807140569999999 meters 0.20234669904979694 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.01 [[ 9.99994430e-01 3.56783497e-04 -3.31863435e-03 1.49641042e-02] [-3.61316169e-04 9.99999003e-01 -1.36532521e-03 1.78692822e-02] [ 3.31814392e-03 1.36651668e-03 9.99993561e-01 -1.11543263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7107140569999999 meters 0.20888327214538935 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.01 [[ 9.99993904e-01 5.54837209e-04 -3.44740982e-03 1.56636134e-02] [-5.58730075e-04 9.99999207e-01 -1.12835425e-03 1.78103450e-02] [ 3.44678104e-03 1.13027354e-03 9.99993421e-01 -1.17089293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7407140569999999 meters 0.20316278430494303 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.01 [[ 9.99993731e-01 6.14301438e-04 -3.48728953e-03 1.59695682e-02] [-6.18118437e-04 9.99999211e-01 -1.09357386e-03 1.82790172e-02] [ 3.48661500e-03 1.09572257e-03 9.99993321e-01 -1.20183095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.770714057 meters 0.20206151256643307 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.01 [[ 9.99993274e-01 6.01605108e-04 -3.61811394e-03 1.64591941e-02] [-6.05927275e-04 9.99999104e-01 -1.19361350e-03 1.89149647e-02] [ 3.61739262e-03 1.19579779e-03 9.99992742e-01 -1.23348361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.800714057 meters 0.20157257343983315 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.01 [[ 9.99991238e-01 8.44124609e-04 -4.10021132e-03 1.79361675e-02] [-8.49408189e-04 9.99998811e-01 -1.28704121e-03 2.07029260e-02] [ 4.09912003e-03 1.29051269e-03 9.99990766e-01 -1.30348382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8307140569999999 meters 0.19959771179345967 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.01 [[ 9.99989595e-01 9.99244364e-04 -4.45110881e-03 1.90809622e-02] [-1.00500460e-03 9.99998660e-01 -1.29206474e-03 2.16461939e-02] [ 4.44981175e-03 1.29652468e-03 9.99989259e-01 -1.36193051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8607140569999999 meters 0.19701329947680846 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.01 [[ 9.99987817e-01 9.98095204e-04 -4.83421715e-03 1.98985282e-02] [-1.00688723e-03 9.99997843e-01 -1.81661428e-03 2.40230058e-02] [ 4.83239357e-03 1.82145965e-03 9.99986665e-01 -1.36665713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.890714057 meters 0.19701329947680846 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.01 [[ 9.99987817e-01 9.98095204e-04 -4.83421715e-03 1.98985282e-02] [-1.00688723e-03 9.99997843e-01 -1.81661428e-03 2.40230058e-02] [ 4.83239357e-03 1.82145965e-03 9.99986665e-01 -1.36665713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9207140569999999 meters 0.19848819294771375 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.01 [[ 0.99998568 0.00115558 -0.00522461 0.02106787] [-0.0011654 0.99999756 -0.00187627 0.02512617] [ 0.00522243 0.00188233 0.99998459 -0.01415248] [ 0. 0. 0. 1. ]] SLAMing on 0.9507140569999999 meters 0.195600810684036 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.01 [[ 0.99998461 0.00102472 -0.00545293 0.02148426] [-0.00103685 0.99999699 -0.0022216 0.02641598] [ 0.00545063 0.00222722 0.99998266 -0.01413923] [ 0. 0. 0. 1. ]] SLAMing on 0.9807140569999999 meters 0.1895072559200018 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.01 [[ 0.99998249 0.00105406 -0.00582375 0.02246144] [-0.00106907 0.99999611 -0.00257457 0.02867629] [ 0.00582102 0.00258075 0.99997973 -0.0144822 ] [ 0. 0. 0. 1. ]] SLAMing on 1.010714057 meters 0.18898688395754137 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.01 [[ 0.99998094 0.00104267 -0.00608561 0.02313029] [-0.00105957 0.99999559 -0.00277414 0.02968257] [ 0.00608269 0.00278054 0.99997763 -0.01468918] [ 0. 0. 0. 1. ]] SLAMing on 1.040714057 meters 0.18742147856832483 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.02 [[ 0.99997705 0.0012085 -0.00666559 0.02466463] [-0.00122917 0.99999445 -0.00309769 0.03244123] [ 0.00666181 0.00310582 0.99997299 -0.01523132] [ 0. 0. 0. 1. ]] SLAMing on 1.070714057 meters 0.1847785448260499 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.02 [[ 0.99997505 0.00110099 -0.00697722 0.02525364] [-0.00112537 0.99999327 -0.00349152 0.03392141] [ 0.00697332 0.00349929 0.99996956 -0.01520828] [ 0. 0. 0. 1. ]] SLAMing on 1.100714057 meters 0.17920585881540724 Centerline is valid? [False, False] Translation: X:0.03, Y:0.04, Z:-0.02 [[ 0.99997349 0.00103762 -0.00720757 0.02591227] [-0.00106483 0.99999232 -0.00377283 0.03534072] [ 0.0072036 0.0037804 0.99996691 -0.01549889] [ 0. 0. 0. 1. ]] SLAMing on 1.1307140569999998 meters 0.17401590199474684 Centerline is valid? [False, False] Translation: X:0.03, Y:0.04, Z:-0.02 [[ 0.99997041 0.00100949 -0.00762682 0.02700022] [-0.00104168 0.99999056 -0.00421746 0.03787578] [ 0.00762249 0.00422528 0.99996202 -0.01594888] [ 0. 0. 0. 1. ]] SLAMing on 1.1607140569999999 meters 0.17700504024086897 Centerline is valid? [False, False] Translation: X:0.03, Y:0.04, Z:-0.02 [[ 0.99996786 0.0011235 -0.00793852 0.02797438] [-0.00115764 0.9999901 -0.004297 0.03889571] [ 0.00793361 0.00430605 0.99995926 -0.01644063] [ 0. 0. 0. 1. ]] SLAMing on 1.1907140569999999 meters 0.1717313409177052 Centerline is valid? [False, False] Translation: X:0.03, Y:0.04, Z:-0.02 [[ 0.99996412 0.00296517 -0.00793486 0.02973558] [-0.00298993 0.99999069 -0.00311043 0.04164966] [ 0.00792557 0.00313404 0.99996368 -0.01826671] [ 0. 0. 0. 1. ]] SLAMing on 1.220714057 meters 0.16561117193763028 Centerline is valid? [False, False] Translation: X:0.03, Y:0.04, Z:-0.02 [[ 0.99996311 0.00278006 -0.00812772 0.02995119] [-0.00280931 0.99998961 -0.00358936 0.0433662 ] [ 0.00811765 0.00361206 0.99996053 -0.01807741] [ 0. 0. 0. 1. ]] SLAMing on 1.250714057 meters 0.16127630624238376 Centerline is valid? [False, False] Translation: X:0.03, Y:0.05, Z:-0.02 [[ 0.99995878 0.00289283 -0.00860589 0.03108744] [-0.00292686 0.99998794 -0.00394395 0.04553424] [ 0.00859438 0.00396898 0.99995519 -0.01840188] [ 0. 0. 0. 1. ]] SLAMing on 1.280714057 meters 0.1564155677126353 Centerline is valid? [False, False] Translation: X:0.03, Y:0.05, Z:-0.02 [[ 0.99995839 0.00285994 -0.00866255 0.03138588] [-0.00289536 0.99998749 -0.00407898 0.04627344] [ 0.00865078 0.00410389 0.99995416 -0.01866375] [ 0. 0. 0. 1. ]] SLAMing on 1.310714057 meters 0.15691113920441577 Centerline is valid? [False, False] Translation: X:0.03, Y:0.05, Z:-0.02 [[ 0.99995721 0.00299029 -0.0087544 0.03202728] [-0.00302503 0.99998759 -0.00395874 0.04664719] [ 0.00874246 0.00398505 0.99995384 -0.01930281] [ 0. 0. 0. 1. ]] SLAMing on 1.3407140569999998 meters 0.15151762921920628 Centerline is valid? [False, False] Translation: X:0.03, Y:0.05, Z:-0.02 [[ 0.99995643 0.00296032 -0.00885241 0.0325187 ] [-0.00299598 0.99998744 -0.00401679 0.04737055] [ 0.00884041 0.00404313 0.99995275 -0.01979586] [ 0. 0. 0. 1. ]] SLAMing on 1.3707140569999998 meters 0.14808430009109952 Centerline is valid? [False, False] Translation: X:0.03, Y:0.05, Z:-0.02 [[ 0.99995402 0.00319224 -0.00904302 0.03346304] [-0.00322693 0.99998748 -0.00382471 0.04771718] [ 0.0090307 0.00385371 0.9999518 -0.02058407] [ 0. 0. 0. 1. ]] SLAMing on 1.4007140569999998 meters 0.1435272590259661 Centerline is valid? [False, False] Translation: X:0.03, Y:0.05, Z:-0.02 [[ 0.99995077 0.00315083 -0.00940945 0.03390515] [-0.00319033 0.99998615 -0.00418563 0.04882341] [ 0.00939613 0.00421545 0.99994697 -0.02028097] [ 0. 0. 0. 1. ]] SLAMing on 1.4307140569999999 meters 0.1415909957940741 Centerline is valid? [False, False] Translation: X:0.03, Y:0.05, Z:-0.02 [[ 0.99995021 0.00313804 -0.00947249 0.03420011] [-0.00317819 0.99998602 -0.0042264 0.04903104] [ 0.0094591 0.0042563 0.9999462 -0.02049571] [ 0. 0. 0. 1. ]] SLAMing on 1.460714057 meters 0.1390436342871548 Centerline is valid? [False, False] Translation: X:0.03, Y:0.05, Z:-0.02 [[ 0.99994915 0.00329814 -0.00952957 0.03470773] [-0.00333616 0.99998653 -0.00397618 0.04877454] [ 0.00951633 0.00400777 0.99994669 -0.02105371] [ 0. 0. 0. 1. ]] SLAMing on 1.490714057 meters 0.13605699055078488 Centerline is valid? [False, False] Translation: X:0.04, Y:0.05, Z:-0.02 [[ 0.99994949 0.00343996 -0.00944404 0.03504918] [-0.00347462 0.99998728 -0.00365632 0.04800602] [ 0.00943134 0.00368895 0.99994872 -0.02176916] [ 0. 0. 0. 1. ]] SLAMing on 1.520714057 meters 0.1325214712694067 Centerline is valid? [False, False] Translation: X:0.03, Y:0.05, Z:-0.02 [[ 0.99994934 0.00333322 -0.00949739 0.03492122] [-0.0033693 0.99998716 -0.00378475 0.04791652] [ 0.00948465 0.00381655 0.99994774 -0.02145727] [ 0. 0. 0. 1. ]] SLAMing on 1.550714057 meters 0.1286169999300327 Centerline is valid? [False, False] Translation: X:0.03, Y:0.05, Z:-0.02 [[ 0.9999476 0.00314544 -0.00974211 0.03492014] [-0.00318594 0.99998634 -0.00414443 0.04815797] [ 0.00972894 0.00417525 0.99994396 -0.02079271] [ 0. 0. 0. 1. ]] SLAMing on 1.580714057 meters 0.12588498463671688 Centerline is valid? [False, False] Translation: X:0.04, Y:0.05, Z:-0.02 [[ 0.99994305 0.00335827 -0.01013036 0.03568859] [-0.0034006 0.99998555 -0.00416372 0.04851706] [ 0.01011623 0.00419793 0.99994002 -0.02086048] [ 0. 0. 0. 1. ]] SLAMing on 1.6107140569999998 meters 0.12042061520399516 Centerline is valid? [False, False] Translation: X:0.04, Y:0.05, Z:-0.02 [[ 0.99993872 0.00351194 -0.01049854 0.03619099] [-0.00355679 0.99998462 -0.00425614 0.04883547] [ 0.01048343 0.00429322 0.99993583 -0.02060551] [ 0. 0. 0. 1. ]] SLAMing on 1.6407140569999998 meters 0.1170679959679812 Centerline is valid? [False, False] Translation: X:0.04, Y:0.05, Z:-0.02 [[ 0.99993176 0.00371901 -0.01107461 0.03678065] [-0.00376905 0.99998277 -0.00450097 0.04959391] [ 0.01105768 0.00454241 0.99992854 -0.01994391] [ 0. 0. 0. 1. ]] SLAMing on 1.6707140569999999 meters 0.11108956623436166 Centerline is valid? [False, False] Translation: X:0.04, Y:0.05, Z:-0.02 [[ 0.99992757 0.00405615 -0.01133135 0.03745721] [-0.00410389 0.99998279 -0.00419326 0.04877326] [ 0.01131414 0.00423946 0.99992701 -0.02023876] [ 0. 0. 0. 1. ]] SLAMing on 1.700714057 meters 0.10970977813844562 Centerline is valid? [False, False] Translation: X:0.04, Y:0.05, Z:-0.02 [[ 0.99992562 0.00436542 -0.01138874 0.03811379] [-0.00440892 0.99998307 -0.00379764 0.04830966] [ 0.01137197 0.00384757 0.99992793 -0.02102716] [ 0. 0. 0. 1. ]] SLAMing on 1.730714057 meters 0.10675551916947947 Centerline is valid? [False, False] Translation: X:0.04, Y:0.05, Z:-0.02 [[ 0.99992431 0.00445415 -0.01146914 0.03837146] [-0.00449722 0.99998292 -0.00373227 0.04802626] [ 0.01145232 0.00378357 0.99992726 -0.02116062] [ 0. 0. 0. 1. ]] SLAMing on 1.760714057 meters 0.10374569090872687 Centerline is valid? [False, False] Translation: X:0.04, Y:0.05, Z:-0.02 [[ 0.99992522 0.00424451 -0.01146877 0.03796667] [-0.00428863 0.99998349 -0.00382483 0.04741473] [ 0.01145235 0.00387373 0.99992692 -0.02055951] [ 0. 0. 0. 1. ]] SLAMing on 1.790714057 meters 0.10061783114358187 Centerline is valid? [False, False] Translation: X:0.04, Y:0.05, Z:-0.02 [[ 0.99992677 0.0041 -0.01138603 0.03755515] [-0.00414438 0.99998389 -0.00387751 0.04687672] [ 0.01136995 0.00392441 0.99992766 -0.02014648] [ 0. 0. 0. 1. ]] SLAMing on 1.8207140569999998 meters 0.09954877971167929 Centerline is valid? [False, True] Translation: X:0.04, Y:0.04, Z:-0.02 [[ 0.99993575 0.00351727 -0.01077597 0.03598397] [-0.00355909 0.9999862 -0.0038641 0.04480058] [ 0.01076223 0.0039022 0.99993447 -0.01936462] [ 0. 0. 0. 1. ]] SLAMing on 1.8507140569999998 meters 0.09474838952542718 Centerline is valid? [True, True] Translation: X:0.07, Y:0.04, Z:-0.02 [[ 9.99925748e-01 9.41438228e-04 -1.21495367e-02 6.65468680e-02] [-9.32523218e-04 9.99999292e-01 7.39417812e-04 4.46101762e-02] [ 1.21502242e-02 -7.28033184e-04 9.99925918e-01 -1.75323886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8807140569999998 meters 0.09316539023321765 Centerline is valid? [True, True] Translation: X:0.10, Y:0.04, Z:-0.02 [[ 9.99942516e-01 -3.07358877e-03 -1.02722016e-02 9.53971836e-02] [ 3.08014072e-03 9.99995063e-01 6.22073359e-04 3.95668765e-02] [ 1.02702389e-02 -6.53677426e-04 9.99947046e-01 -1.68683225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9107140569999999 meters 0.09327169945728397 Centerline is valid? [True, True] Translation: X:0.12, Y:0.03, Z:-0.02 [[ 9.99893148e-01 -9.59137492e-03 -1.10317227e-02 1.23406692e-01] [ 9.59936132e-03 9.99953700e-01 6.71224686e-04 2.73516356e-02] [ 1.10247739e-02 -7.77050456e-04 9.99938923e-01 -2.09620398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9407140569999999 meters 0.09358091618833778 Centerline is valid? [True, True] Translation: X:0.15, Y:0.02, Z:-0.02 [[ 9.99840949e-01 -1.39287428e-02 -1.11385170e-02 1.53556288e-01] [ 1.39371562e-02 9.99902643e-01 6.78075341e-04 2.06599567e-02] [ 1.11279879e-02 -8.33206745e-04 9.99937735e-01 -2.30307263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.970714057 meters 0.089057325234022 Centerline is valid? [True, True] Translation: X:0.18, Y:0.02, Z:-0.02 [[ 9.99712528e-01 -2.08823178e-02 -1.17809256e-02 1.84081436e-01] [ 2.08922057e-02 9.99781477e-01 7.16859449e-04 1.86015955e-02] [ 1.17633816e-02 -9.62782894e-04 9.99930346e-01 -1.75316829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.000714057 meters 0.10070499007172667 Centerline is valid? [True, False] Translation: X:0.17, Y:0.02, Z:-0.02 [[ 0.99988433 -0.01476605 -0.00364498 0.17458658] [ 0.01476062 0.99988992 -0.00151011 0.01548224] [ 0.00366688 0.00145613 0.99999222 -0.02313401] [ 0. 0. 0. 1. ]] SLAMing on 2.030714057 meters 0.08743168360340034 Centerline is valid? [False, True] Translation: X:0.17, Y:0.01, Z:-0.03 [[ 0.99995629 -0.00844096 0.00402201 0.16513443] [ 0.00845807 0.99995518 -0.00425445 0.01285573] [-0.00398592 0.00428828 0.99998286 -0.02804258] [ 0. 0. 0. 1. ]] SLAMing on 2.060714057 meters 0.08699183978812682 Centerline is valid? [True, True] Translation: X:0.20, Y:0.00, Z:-0.03 [[ 9.99884489e-01 -1.43453159e-02 5.02208204e-03 1.95280806e-01] [ 1.43475367e-02 9.99896986e-01 -4.06460012e-04 4.79307218e-03] [-5.01573390e-03 4.78467568e-04 9.99987307e-01 -2.95632758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.090714057 meters 0.08753098267295722 Centerline is valid? [True, True] Translation: X:0.23, Y:0.00, Z:-0.03 [[ 9.99859690e-01 -1.57839857e-02 5.60947337e-03 2.27305810e-01] [ 1.57867556e-02 9.99875280e-01 -4.49868991e-04 9.39260010e-04] [-5.60167303e-03 5.38361255e-04 9.99984166e-01 -3.09897070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1207140570000003 meters 0.08340066167669016 Centerline is valid? [True, True] Translation: X:0.26, Y:-0.00, Z:-0.03 [[ 9.99774401e-01 -1.96564238e-02 8.04805085e-03 2.58372972e-01] [ 1.96622984e-02 9.99806466e-01 -6.51461872e-04 -1.84184036e-03] [-8.03368787e-03 8.09558081e-04 9.99967402e-01 -2.93058467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.150714057 meters 0.08624498527848282 Centerline is valid? [True, True] Translation: X:0.29, Y:-0.01, Z:-0.03 [[ 9.99789186e-01 -1.88864774e-02 8.05503632e-03 2.88637139e-01] [ 1.88922764e-02 9.99821317e-01 -6.44428470e-04 -9.70234441e-03] [-8.04142605e-03 7.96470588e-04 9.99967350e-01 -3.34293291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1807140570000003 meters 0.08016608388065335 Centerline is valid? [True, True] Translation: X:0.32, Y:-0.00, Z:-0.03 [[ 9.99831508e-01 -1.55843032e-02 9.69977535e-03 3.20478574e-01] [ 1.55926675e-02 9.99878117e-01 -7.87289929e-04 -4.77994459e-03] [-9.68632375e-03 9.38402649e-04 9.99952646e-01 -3.00029451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.210714057 meters 0.07878331818661913 Centerline is valid? [True, True] Translation: X:0.35, Y:-0.01, Z:-0.03 [[ 9.99826042e-01 -1.45473535e-02 1.16730530e-02 3.51656336e-01] [ 1.45593939e-02 9.99893558e-01 -9.47144966e-04 -7.22348613e-03] [-1.16580321e-02 1.11693278e-03 9.99931419e-01 -3.08647186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.240714057 meters 0.07758581270330168 Centerline is valid? [True, True] Translation: X:0.38, Y:-0.01, Z:-0.03 [[ 9.99863312e-01 -1.23041916e-02 1.10437664e-02 3.82439169e-01] [ 1.23148387e-02 9.99923768e-01 -8.96592666e-04 -7.03723508e-03] [-1.10318927e-02 1.03247231e-03 9.99938614e-01 -3.22800235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.270714057 meters 0.07184691618175827 Centerline is valid? [True, True] Translation: X:0.41, Y:-0.00, Z:-0.03 [[ 0.99987907 -0.00884655 0.01279015 0.41390459] [ 0.00886055 0.9999602 -0.00103887 -0.00289405] [-0.01278045 0.00115208 0.99991766 -0.03211719] [ 0. 0. 0. 1. ]] SLAMing on 2.300714057 meters 0.07022511496878918 Centerline is valid? [True, True] Translation: X:0.44, Y:-0.00, Z:-0.03 [[ 0.99987217 -0.00636144 0.01466883 0.4432496 ] [ 0.00637963 0.99997894 -0.00119374 -0.00404048] [-0.01466093 0.00128717 0.99989169 -0.03411381] [ 0. 0. 0. 1. ]] SLAMing on 2.3307140570000002 meters 0.0697877485541949 Centerline is valid? [True, True] Translation: X:0.48, Y:-0.01, Z:-0.04 [[ 0.99989608 -0.00459784 0.0136635 0.47511713] [ 0.0046134 0.99998875 -0.00110686 -0.00512726] [-0.01365826 0.00116978 0.99990604 -0.03641027] [ 0. 0. 0. 1. ]] SLAMing on 2.360714057 meters 0.06831406167548215 Centerline is valid? [True, True] Translation: X:0.51, Y:-0.01, Z:-0.04 [[ 0.99987328 -0.00333153 0.01556681 0.5064408 ] [ 0.00335163 0.99999358 -0.00126567 -0.00654836] [-0.0155625 0.00131768 0.99987803 -0.03687998] [ 0. 0. 0. 1. ]] SLAMing on 2.3907140570000003 meters 0.06721056480512776 Centerline is valid? [True, True] Translation: X:0.54, Y:-0.01, Z:-0.04 [[ 9.99836790e-01 -9.35378334e-04 1.80421299e-02 5.36518596e-01] [ 9.62026179e-04 9.99998459e-01 -1.46835626e-03 -7.10771313e-03] [-1.80407286e-02 1.48547361e-03 9.99836149e-01 -3.76184751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.420714057 meters 0.06514202122352979 Centerline is valid? [True, True] Translation: X:0.57, Y:-0.01, Z:-0.04 [[ 0.99978606 0.00117642 0.02065087 0.56673236] [-0.00114196 0.99999794 -0.0016806 -0.00680879] [-0.02065281 0.00165666 0.99978534 -0.03744077] [ 0. 0. 0. 1. ]] SLAMing on 2.450714057 meters 0.06477484558994684 Centerline is valid? [True, True] Translation: X:0.60, Y:-0.01, Z:-0.04 [[ 0.99975354 0.00135599 0.02215876 0.59920438] [-0.0013166 0.99999753 -0.00179228 -0.0096195 ] [-0.02216113 0.00176266 0.99975286 -0.03828835] [ 0. 0. 0. 1. ]] SLAMing on 2.480714057 meters 0.06368260282801784 Centerline is valid? [True, True] Translation: X:0.63, Y:-0.01, Z:-0.04 [[ 0.99976158 0.00186707 0.02175561 0.63149817] [-0.00182894 0.99999676 -0.0017725 -0.00836313] [-0.02175885 0.00173229 0.99976175 -0.03831274] [ 0. 0. 0. 1. ]] SLAMing on 2.510714057 meters 0.06304952788515422 Centerline is valid? [True, True] Translation: X:0.66, Y:-0.01, Z:-0.04 [[ 0.99971524 0.00195511 0.02378267 0.66360886] [-0.0019097 0.99999631 -0.0019321 -0.00856573] [-0.02378636 0.00188613 0.99971529 -0.03799402] [ 0. 0. 0. 1. ]] SLAMing on 2.540714057 meters 0.06304149610120345 Centerline is valid? [True, True] Translation: X:0.70, Y:-0.01, Z:-0.04 [[ 0.99972162 0.00204129 0.02350586 0.69504826] [-0.00199681 0.99999617 -0.00191598 -0.01094042] [-0.02350968 0.00186851 0.99972186 -0.03973102] [ 0. 0. 0. 1. ]] SLAMing on 2.570714057 meters 0.0638050645842434 Centerline is valid? [True, True] Translation: X:0.73, Y:-0.01, Z:-0.04 [[ 0.99972438 0.0015947 0.02342272 0.72611859] [-0.00155028 0.99999697 -0.00191442 -0.01280473] [-0.0234257 0.00187758 0.99972382 -0.04176034] [ 0. 0. 0. 1. ]] SLAMing on 2.6007140570000002 meters 0.06496968131607245 Centerline is valid? [True, True] Translation: X:0.76, Y:-0.02, Z:-0.04 [[ 9.99716784e-01 1.03997058e-03 2.37753970e-02 7.58165582e-01] [-9.93933351e-04 9.99997609e-01 -1.94807438e-03 -1.59532669e-02] [-2.37773661e-02 1.92389150e-03 9.99715427e-01 -4.37466111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.630714057 meters 0.06538354457018014 Centerline is valid? [True, True] Translation: X:0.79, Y:-0.02, Z:-0.04 [[ 9.99649789e-01 -3.23635621e-04 2.64611986e-02 7.90326029e-01] [ 3.81351524e-04 9.99997560e-01 -2.17613495e-03 -1.71565901e-02] [-2.64604298e-02 2.18546386e-03 9.99647473e-01 -4.25652184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.660714057 meters 0.06798826948808102 Centerline is valid? [True, True] Translation: X:0.82, Y:-0.02, Z:-0.05 [[ 9.99658802e-01 -4.87901552e-04 2.61159313e-02 8.21569885e-01] [ 5.44349784e-04 9.99997531e-01 -2.15438246e-03 -2.18198626e-02] [-2.61148157e-02 2.16786359e-03 9.99656599e-01 -4.53910840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.690714057 meters 0.06704557635989163 Centerline is valid? [True, True] Translation: X:0.85, Y:-0.02, Z:-0.04 [[ 0.99960254 -0.00224884 0.02810152 0.85362341] [ 0.00231509 0.99999462 -0.00232536 -0.02203166] [-0.02809614 0.00238949 0.99960237 -0.04478875] [ 0. 0. 0. 1. ]] SLAMing on 2.720714057 meters 0.06914618422583596 Centerline is valid? [True, True] Translation: X:0.88, Y:-0.02, Z:-0.05 [[ 0.99960225 -0.00341922 0.02799377 0.88355037] [ 0.00348584 0.99999121 -0.00233104 -0.02427981] [-0.02798555 0.0024277 0.99960538 -0.04571599] [ 0. 0. 0. 1. ]] SLAMing on 2.750714057 meters 0.06922152325182568 Centerline is valid? [True, True] Translation: X:0.92, Y:-0.02, Z:-0.05 [[ 0.99965001 -0.00299596 0.02628474 0.91589367] [ 0.00305447 0.99999295 -0.00218599 -0.02492342] [-0.026278 0.00226551 0.99965211 -0.04808267] [ 0. 0. 0. 1. ]] SLAMing on 2.780714057 meters 0.07074825916330343 Centerline is valid? [True, True] Translation: X:0.94, Y:-0.03, Z:-0.05 [[ 0.99964809 -0.00539313 0.02597317 0.94494285] [ 0.00545118 0.9999828 -0.00216503 -0.0262392 ] [-0.02596104 0.00230585 0.9996603 -0.05196956] [ 0. 0. 0. 1. ]] SLAMing on 2.810714057 meters 0.07256055533746347 Centerline is valid? [True, True] Translation: X:0.98, Y:-0.03, Z:-0.06 [[ 0.99965197 -0.0063317 0.02560956 0.97573028] [ 0.00638838 0.99997732 -0.00213182 -0.02984615] [-0.02559548 0.00229468 0.99966975 -0.05555814] [ 0. 0. 0. 1. ]] SLAMing on 2.840714057 meters 0.07256055533746347 Centerline is valid? [True, True] Translation: X:1.01, Y:-0.03, Z:-0.06 [[ 0.99965257 -0.00623615 0.02560963 1.00824228] [ 0.00629277 0.99997793 -0.00213094 -0.03267992] [-0.02559578 0.00229135 0.99966975 -0.05780436] [ 0. 0. 0. 1. ]] SLAMing on 2.8707140570000003 meters 0.07299108869136964 Centerline is valid? [True, True] Translation: X:1.04, Y:-0.03, Z:-0.06 [[ 0.999659 -0.00585512 0.02544805 1.04070288] [ 0.00591101 0.99998028 -0.0021213 -0.03453791] [-0.02543513 0.00227101 0.9996739 -0.06022597] [ 0. 0. 0. 1. ]] SLAMing on 2.900714057 meters 0.07391346220071754 Centerline is valid? [True, True] Translation: X:1.07, Y:-0.04, Z:-0.06 [[ 0.99965855 -0.00576405 0.02548652 1.07292207] [ 0.00582001 0.99998081 -0.00212207 -0.03524644] [-0.02547379 0.00226968 0.99967291 -0.06184435] [ 0. 0. 0. 1. ]] SLAMing on 2.930714057 meters 0.07398321029260926 Centerline is valid? [True, True] Translation: X:1.10, Y:-0.04, Z:-0.06 [[ 0.99966971 -0.00476426 0.02525398 1.10452128] [ 0.00481913 0.99998616 -0.00211211 -0.03629667] [-0.02524357 0.00223312 0.99967884 -0.06373116] [ 0. 0. 0. 1. ]] SLAMing on 2.960714057 meters 0.07204971400925977 Centerline is valid? [True, True] Translation: X:1.13, Y:-0.03, Z:-0.06 [[ 0.9996621 -0.00197651 0.02591887 1.13472403] [ 0.00203345 0.99999558 -0.00217059 -0.03370802] [-0.02591447 0.00222256 0.99966169 -0.06468112] [ 0. 0. 0. 1. ]] SLAMing on 2.990714057 meters 0.07244156846032057 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.04, Z:-0.07 [[ 0.99964633 -0.00150021 0.02655116 1.16643003] [ 0.00155969 0.99999632 -0.00221987 -0.03685923] [-0.02654774 0.0022605 0.99964499 -0.06772163] [ 0. 0. 0. 1. ]] SLAMing on 3.020714057 meters 0.0718066616816159 Centerline is valid? [True, True] Translation: X:1.20, Y:-0.04, Z:-0.07 [[ 9.99627692e-01 -9.56746757e-04 2.72683499e-02 1.19901415e+00] [ 1.01932285e-03 9.99996879e-01 -2.28101724e-03 -3.90491999e-02] [-2.72660824e-02 2.30796325e-03 9.99625547e-01 -6.96055626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.050714057 meters 0.07220095532368137 Centerline is valid? [True, True] Translation: X:1.23, Y:-0.04, Z:-0.07 [[ 9.99630739e-01 1.60568048e-04 2.71727736e-02 1.22918736e+00] [-9.87142404e-05 9.99997401e-01 -2.27764169e-03 -4.19406179e-02] [-2.71730687e-02 2.27411831e-03 9.99628157e-01 -7.14867273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0807140570000002 meters 0.05759956669025868 Centerline is valid? [True, True] Translation: X:1.26, Y:-0.03, Z:-0.06 [[ 9.99593501e-01 4.17286485e-04 2.85071786e-02 1.26384257e+00] [-3.49356241e-04 9.99997088e-01 -2.38785617e-03 -2.51545853e-02] [-2.85080920e-02 2.37692634e-03 9.99590736e-01 -6.24147179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.110714057 meters 0.06340921367153925 Centerline is valid? [True, True] Translation: X:1.29, Y:-0.04, Z:-0.07 [[ 9.99588817e-01 6.77185659e-04 2.86659688e-02 1.29345566e+00] [-6.08621230e-04 9.99996934e-01 -2.40049823e-03 -3.65101708e-02] [-2.86675065e-02 2.38206447e-03 9.99586164e-01 -6.81568568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1407140570000003 meters 0.058380459465780535 Centerline is valid? [True, True] Translation: X:1.33, Y:-0.03, Z:-0.07 [[ 9.99573275e-01 1.00137301e-03 2.91935953e-02 1.32623125e+00] [-9.30200061e-04 9.99996563e-01 -2.45144336e-03 -3.39386820e-02] [-2.91959498e-02 2.42324138e-03 9.99570770e-01 -6.71211911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.170714057 meters 0.059260197817617405 Centerline is valid? [True, True] Translation: X:1.36, Y:-0.04, Z:-0.07 [[ 9.99551736e-01 1.25414297e-03 2.99124332e-02 1.35689065e+00] [-1.17964088e-03 9.99996159e-01 -2.50818991e-03 -4.05457803e-02] [-2.99154639e-02 2.47177965e-03 9.99549376e-01 -7.02453001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.200714057 meters 0.05944882903847971 Centerline is valid? [True, True] Translation: X:1.39, Y:-0.05, Z:-0.07 [[ 9.99554550e-01 1.28532627e-03 2.98169193e-02 1.38843762e+00] [-1.21113873e-03 9.99996126e-01 -2.50602900e-03 -4.50915524e-02] [-2.98200248e-02 2.46880026e-03 9.99552235e-01 -7.28053729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.230714057 meters 0.060221690120470926 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.05, Z:-0.08 [[ 9.99589681e-01 6.70147919e-04 2.86359834e-02 1.41984575e+00] [-6.01111718e-04 9.99996893e-01 -2.41936048e-03 -5.17573912e-02] [-2.86375157e-02 2.40115435e-03 9.99586978e-01 -7.74470958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.260714057 meters 0.06179493017067441 Centerline is valid? [True, True] Translation: X:1.45, Y:-0.06, Z:-0.08 [[ 9.99596090e-01 5.14712701e-04 2.84146454e-02 1.45092546e+00] [-4.46791494e-04 9.99997028e-01 -2.39665637e-03 -5.82729850e-02] [-2.84157946e-02 2.38299292e-03 9.99593349e-01 -8.11341667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.290714057 meters 0.06215682929390604 Centerline is valid? [True, True] Translation: X:1.48, Y:-0.06, Z:-0.08 [[ 9.99590697e-01 9.84057554e-04 2.85914228e-02 1.48299051e+00] [-9.15136124e-04 9.99996644e-01 -2.42354834e-03 -6.35458696e-02] [-2.85937117e-02 2.39639133e-03 9.99588244e-01 -8.34424329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.320714057 meters 0.06865218477078924 Centerline is valid? [True, True] Translation: X:1.51, Y:-0.08, Z:-0.09 [[ 0.99957644 0.00160221 0.02905799 1.51245219] [-0.00153121 0.99999579 -0.0024657 -0.07851488] [-0.02906182 0.00242017 0.99957469 -0.0875701 ] [ 0. 0. 0. 1. ]] SLAMing on 3.3507140570000002 meters 0.06299558487263912 Centerline is valid? [True, True] Translation: X:1.55, Y:-0.08, Z:-0.09 [[ 0.99955803 0.00183522 0.02967101 1.54550072] [-0.00176144 0.99999529 -0.0025125 -0.07737467] [-0.02967548 0.00245912 0.99955656 -0.08546788] [ 0. 0. 0. 1. ]] SLAMing on 3.380714057 meters 0.06332815308496689 Centerline is valid? [True, True] Translation: X:1.58, Y:-0.08, Z:-0.09 [[ 0.99956668 0.00220985 0.02935234 1.57793309] [-0.00213766 0.99999461 -0.00249069 -0.08292716] [-0.02935768 0.00242686 0.99956602 -0.08868212] [ 0. 0. 0. 1. ]] SLAMing on 3.410714057 meters 0.06338108790942366 Centerline is valid? [True, True] Translation: X:1.61, Y:-0.09, Z:-0.09 [[ 0.99956817 0.00269711 0.02926091 1.60931203] [-0.00262532 0.99999345 -0.00249159 -0.08799884] [-0.02926744 0.0024137 0.9995687 -0.09169869] [ 0. 0. 0. 1. ]] SLAMing on 3.440714057 meters 0.06466194015425641 Centerline is valid? [True, True] Translation: X:1.64, Y:-0.10, Z:-0.10 [[ 0.99957604 0.00292968 0.02896836 1.64089788] [-0.00285917 0.99999285 -0.00247544 -0.09699304] [-0.02897541 0.00239156 0.99957726 -0.09560041] [ 0. 0. 0. 1. ]] SLAMing on 3.470714057 meters 0.06529053496949513 Centerline is valid? [True, True] Translation: X:1.67, Y:-0.10, Z:-0.10 [[ 0.99957818 0.00330606 0.02885347 1.6732727 ] [-0.00323623 0.99999172 -0.00246649 -0.10264563] [-0.02886138 0.00237207 0.99958061 -0.09816107] [ 0. 0. 0. 1. ]] SLAMing on 3.500714057 meters 0.06621222162837981 Centerline is valid? [True, True] Translation: X:1.70, Y:-0.11, Z:-0.10 [[ 0.99955319 0.00369716 0.0296606 1.70415662] [-0.00362316 0.99999019 -0.00254812 -0.11087181] [-0.02966973 0.00243951 0.99955678 -0.09955397] [ 0. 0. 0. 1. ]] SLAMing on 3.530714057 meters 0.0654429140658079 Centerline is valid? [True, True] Translation: X:1.74, Y:-0.11, Z:-0.10 [[ 0.99952853 0.00390422 0.03045454 1.73587631] [-0.00382629 0.99998926 -0.00261687 -0.11480735] [-0.03046443 0.00249911 0.99953273 -0.10020367] [ 0. 0. 0. 1. ]] SLAMing on 3.560714057 meters 0.06648720446568976 Centerline is valid? [True, True] Translation: X:1.77, Y:-0.12, Z:-0.10 [[ 0.9994985 0.00426668 0.03137742 1.76733024] [-0.0041839 0.99998759 -0.00270342 -0.12119359] [-0.03138856 0.00257078 0.99950395 -0.101662 ] [ 0. 0. 0. 1. ]] SLAMing on 3.590714057 meters 0.06666676116671327 Centerline is valid? [True, True] Translation: X:1.80, Y:-0.13, Z:-0.10 [[ 0.99947076 0.00428117 0.03224711 1.79957486] [-0.00419351 0.99998733 -0.00278557 -0.12629404] [-0.03225863 0.00264887 0.99947604 -0.10271191] [ 0. 0. 0. 1. ]] SLAMing on 3.620714057 meters 0.06697838853387347 Centerline is valid? [True, True] Translation: X:1.83, Y:-0.13, Z:-0.10 [[ 0.99942446 0.00466996 0.03359957 1.83119975] [-0.00457474 0.9999853 -0.00291019 -0.13350581] [-0.03361267 0.0027548 0.99943114 -0.10355894] [ 0. 0. 0. 1. ]] SLAMing on 3.650714057 meters 0.0680949174496797 Centerline is valid? [True, True] Translation: X:1.86, Y:-0.14, Z:-0.11 [[ 0.99942628 0.00474094 0.03353546 1.86331301] [-0.00464589 0.99998497 -0.00291169 -0.13984602] [-0.03354876 0.00275421 0.99943329 -0.10662797] [ 0. 0. 0. 1. ]] SLAMing on 3.680714057 meters 0.049113559376639526 Centerline is valid? [True, True] Translation: X:1.90, Y:-0.12, Z:-0.10 [[ 0.99939112 0.0052316 0.03449674 1.89810135] [-0.00513109 0.99998233 -0.00300154 -0.1199702 ] [-0.03451183 0.0028227 0.9994003 -0.09725938] [ 0. 0. 0. 1. ]] SLAMing on 3.710714057 meters 0.06942730508809318 Centerline is valid? [True, True] Translation: X:1.93, Y:-0.15, Z:-0.11 [[ 0.9994034 0.00558026 0.03408369 1.92699535] [-0.00548209 0.99998055 -0.00297315 -0.15281622] [-0.03409962 0.00278452 0.99941456 -0.11140396] [ 0. 0. 0. 1. ]] SLAMing on 3.740714057 meters 0.04998029141291006 Centerline is valid? [True, True] Translation: X:1.96, Y:-0.13, Z:-0.10 [[ 0.99940051 0.00574207 0.03414169 1.96335414] [-0.00564338 0.99997962 -0.0029865 -0.1298219 ] [-0.03415814 0.00279204 0.99941254 -0.10218138] [ 0. 0. 0. 1. ]] SLAMing on 3.770714057 meters 0.045317176816883846 Centerline is valid? [True, True] Translation: X:2.00, Y:-0.13, Z:-0.10 [[ 0.99938778 0.00664173 0.03435038 1.99636774] [-0.00654187 0.99997405 -0.00301879 -0.12865018] [-0.03436954 0.00279223 0.99940529 -0.10097785] [ 0. 0. 0. 1. ]] SLAMing on 3.800714057 meters 0.04300639151974769 Centerline is valid? [True, True] Translation: X:2.03, Y:-0.13, Z:-0.10 [[ 0.99937396 0.00739675 0.03459728 2.02844206] [-0.00729585 0.99996876 -0.00304173 -0.12973245] [-0.0346187 0.00278741 0.99939671 -0.10176857] [ 0. 0. 0. 1. ]] SLAMing on 3.8307140570000002 meters 0.04411643554238506 Centerline is valid? [True, True] Translation: X:2.06, Y:-0.14, Z:-0.10 [[ 0.99934509 0.00757562 0.03538351 2.05913009] [-0.00746973 0.99996722 -0.00312383 -0.13742644] [-0.03540602 0.00285748 0.99936893 -0.10407547] [ 0. 0. 0. 1. ]] SLAMing on 3.860714057 meters 0.04417811510284331 Centerline is valid? [True, True] Translation: X:2.09, Y:-0.14, Z:-0.11 [[ 0.99933545 0.00778519 0.03560961 2.09213961] [-0.00767805 0.99996558 -0.00314432 -0.14248472] [-0.03563287 0.00286881 0.99936083 -0.10537884] [ 0. 0. 0. 1. ]] SLAMing on 3.890714057 meters 0.04617026790514926 Centerline is valid? [True, True] Translation: X:2.12, Y:-0.15, Z:-0.11 [[ 0.99930895 0.00728352 0.03644948 2.12224612] [-0.00717045 0.99996907 -0.003232 -0.15076281] [-0.03647189 0.00296841 0.99933027 -0.10732065] [ 0. 0. 0. 1. ]] SLAMing on 3.920714057 meters 0.04522825863501907 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.15, Z:-0.11 [[ 0.99930893 0.00706767 0.0364926 2.15461781] [-0.00695399 0.99997057 -0.00324116 -0.15353448] [-0.03651443 0.00298515 0.99932867 -0.10788524] [ 0. 0. 0. 1. ]] SLAMing on 3.950714057 meters 0.04746077811816487 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.16, Z:-0.11 [[ 0.99929619 0.00721225 0.03681176 2.18615429] [-0.00709635 0.99996945 -0.00327821 -0.16117364] [-0.03683427 0.00301467 0.99931684 -0.11054768] [ 0. 0. 0. 1. ]] SLAMing on 3.980714057 meters 0.04203119582395784 Centerline is valid? [True, True] Translation: X:2.22, Y:-0.16, Z:-0.11 [[ 0.99927333 0.00748461 0.03737358 2.21891364] [-0.00736495 0.99996731 -0.0033384 -0.1572863 ] [-0.03739734 0.00306072 0.99929579 -0.10891693] [ 0. 0. 0. 1. ]] SLAMing on 4.0107140569999995 meters 0.049495682330883015 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.17, Z:-0.11 [[ 0.99922651 0.0065101 0.03878149 2.24792171] [-0.00637996 0.9999736 -0.00347847 -0.17448289] [-0.03880311 0.00322836 0.99924166 -0.11332989] [ 0. 0. 0. 1. ]] SLAMing on 4.040714057 meters 0.04312183983123156 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.17, Z:-0.11 [[ 0.99919443 0.00597307 0.03968381 2.28085611] [-0.00583632 0.99997663 -0.00356101 -0.16919815] [-0.03970416 0.00332653 0.99920594 -0.1115937 ] [ 0. 0. 0. 1. ]] SLAMing on 4.070714057 meters 0.04967710242726918 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.18, Z:-0.12 [[ 0.99916743 0.00514246 0.04047214 2.3103269 ] [-0.00499909 0.99998087 -0.00364292 -0.18432309] [-0.0404901 0.00343756 0.99917403 -0.11662842] [ 0. 0. 0. 1. ]] SLAMing on 4.100714057 meters 0.049797116885060375 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.19, Z:-0.12 [[ 0.99916255 0.00531487 0.04057031 2.3433191 ] [-0.00517061 0.99997993 -0.00366007 -0.18870638] [-0.04058895 0.00344723 0.99916998 -0.11863427] [ 0. 0. 0. 1. ]] SLAMing on 4.130714057 meters 0.043891428376785085 Centerline is valid? [True, True] Translation: X:2.38, Y:-0.18, Z:-0.12 [[ 0.99913393 0.00546442 0.0412497 2.37690565] [-0.00531494 0.99997891 -0.00373251 -0.18383124] [-0.04126923 0.00351004 0.9991419 -0.11744216] [ 0. 0. 0. 1. ]] SLAMing on 4.160714057 meters 0.04401294001052433 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.19, Z:-0.12 [[ 0.99909524 0.00622909 0.04207006 2.40917491] [-0.0060737 0.99997426 -0.0038202 -0.18887486] [-0.04209278 0.00356122 0.99910736 -0.11821384] [ 0. 0. 0. 1. ]] SLAMing on 4.190714057 meters 0.049220959880730795 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.20, Z:-0.12 [[ 0.99909223 0.00656007 0.0420914 2.44006589] [-0.0064044 0.99997215 -0.00383227 -0.19998059] [-0.04211537 0.00355922 0.99910641 -0.12201422] [ 0. 0. 0. 1. ]] SLAMing on 4.220714057 meters 0.0418462073138269 Centerline is valid? [True, True] Translation: X:2.47, Y:-0.19, Z:-0.12 [[ 0.99906247 0.00745872 0.04264443 2.4734512 ] [-0.00729923 0.99996578 -0.00389452 -0.192599 ] [-0.04267202 0.0035796 0.99908272 -0.11948328] [ 0. 0. 0. 1. ]] SLAMing on 4.250714057 meters 0.041102758973678266 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.20, Z:-0.12 [[ 0.99897372 0.00828929 0.04452853 2.50469851] [-0.00811543 0.99995873 -0.00408388 -0.19575857] [-0.04456054 0.00371832 0.99899977 -0.1201399 ] [ 0. 0. 0. 1. ]] SLAMing on 4.280714057 meters 0.041569346058443604 Centerline is valid? [True, True] Translation: X:2.54, Y:-0.20, Z:-0.12 [[ 0.9989692 0.00871845 0.04454799 2.53530896] [-0.00854499 0.99995516 -0.00408255 -0.19986451] [-0.04458159 0.00369767 0.9989989 -0.12252231] [ 0. 0. 0. 1. ]] SLAMing on 4.310714057 meters 0.04109804415336097 Centerline is valid? [True, True] Translation: X:2.57, Y:-0.20, Z:-0.12 [[ 0.99891715 0.00971964 0.04549791 2.56723687] [-0.00953924 0.99994576 -0.00418029 -0.20324085] [-0.04553607 0.00374175 0.99895569 -0.1242635 ] [ 0. 0. 0. 1. ]] SLAMing on 4.3407140570000005 meters 0.041362994714098295 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.21, Z:-0.13 [[ 0.99890101 0.01031547 0.04572039 2.59940608] [-0.01013339 0.99993978 -0.00421247 -0.20696391] [-0.04576109 0.00374453 0.99894539 -0.12663643] [ 0. 0. 0. 1. ]] SLAMing on 4.370714057 meters 0.0397112014883045 Centerline is valid? [True, True] Translation: X:2.63, Y:-0.21, Z:-0.13 [[ 0.99890489 0.01074367 0.04553667 2.63279641] [-0.01056302 0.99993536 -0.00420607 -0.2079871 ] [-0.04557892 0.00372046 0.99895381 -0.12813612] [ 0. 0. 0. 1. ]] SLAMing on 4.400714057 meters 0.04066566444741202 Centerline is valid? [True, True] Translation: X:2.66, Y:-0.21, Z:-0.13 [[ 0.99887553 0.01345317 0.04546083 2.66244736] [-0.01327498 0.99990298 -0.00421914 -0.21170068] [-0.04551318 0.00361091 0.99895721 -0.13042367] [ 0. 0. 0. 1. ]] SLAMing on 4.430714057 meters 0.04005908009910047 Centerline is valid? [True, True] Translation: X:2.69, Y:-0.21, Z:-0.13 [[ 0.99884112 0.01611468 0.04535121 2.69275098] [-0.01594008 0.99986409 -0.00420897 -0.21263449] [-0.04541287 0.00348119 0.99896224 -0.13271324] [ 0. 0. 0. 1. ]] SLAMing on 4.460714057 meters 0.03778870692601637 Centerline is valid? [True, True] Translation: X:2.72, Y:-0.21, Z:-0.13 [[ 0.99881565 0.01847576 0.04501046 2.72412599] [-0.01830618 0.9998237 -0.00417692 -0.21066872] [-0.04507969 0.003348 0.99897778 -0.13386751] [ 0. 0. 0. 1. ]] SLAMing on 4.490714057 meters 0.0373613516425937 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.21, Z:-0.13 [[ 0.99872824 0.02162574 0.04554373 2.75437852] [-0.02145531 0.99976087 -0.00422771 -0.21113758] [-0.04562427 0.00324518 0.9989534 -0.13381048] [ 0. 0. 0. 1. ]] SLAMing on 4.520714057 meters 0.03563168610264206 Centerline is valid? [True, True] Translation: X:2.78, Y:-0.21, Z:-0.13 [[ 0.9986767 0.02228025 0.0463512 2.78411998] [-0.02210438 0.99974641 -0.00430333 -0.21143847] [-0.04643533 0.00327307 0.99891594 -0.13442562] [ 0. 0. 0. 1. ]] SLAMing on 4.550714057 meters 0.036846189041098085 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.22, Z:-0.14 [[ 0.99866739 0.02140333 0.04696112 2.81290418] [-0.0212219 0.99976529 -0.00435859 -0.21525289] [-0.04704338 0.00335617 0.99888721 -0.13598434] [ 0. 0. 0. 1. ]] SLAMing on 4.580714057 meters 0.036925481982884055 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.22, Z:-0.14 [[ 0.99866061 0.0210184 0.04727801 2.84248196] [-0.02083422 0.99977333 -0.00438502 -0.21769049] [-0.04735946 0.00339414 0.99887214 -0.13793558] [ 0. 0. 0. 1. ]] SLAMing on 4.610714057 meters 0.03682318963035552 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.22, Z:-0.14 [[ 0.99863313 0.02090616 0.04790405 2.87199608] [-0.02071702 0.99977551 -0.00444132 -0.21983355] [-0.04798614 0.00344282 0.99884207 -0.13997844] [ 0. 0. 0. 1. ]] SLAMing on 4.640714057 meters 0.03726071258967788 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.22, Z:-0.14 [[ 0.99864192 0.02071898 0.04780205 2.90133805] [-0.02053052 0.99977941 -0.00443014 -0.22165333] [-0.04788329 0.00344272 0.998847 -0.1423747 ] [ 0. 0. 0. 1. ]] SLAMing on 4.670714057 meters 0.03711779912412186 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.22, Z:-0.14 [[ 0.99863912 0.02064692 0.04789158 2.93055097] [-0.02045776 0.99978087 -0.00443671 -0.22298007] [-0.04797269 0.00345092 0.99884269 -0.14402133] [ 0. 0. 0. 1. ]] SLAMing on 4.700714057 meters 0.03711779912412186 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.23, Z:-0.15 [[ 0.99863986 0.02061079 0.04789174 2.95959029] [-0.02042167 0.99978162 -0.004435 -0.22563845] [-0.04797269 0.00345094 0.99884269 -0.14603087] [ 0. 0. 0. 1. ]] SLAMing on 4.730714057 meters 0.038410981921880874 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.23, Z:-0.15 [[ 0.99859559 0.0216322 0.04836215 2.98861315] [-0.02144063 0.9997601 -0.00447641 -0.22812977] [-0.04844738 0.00343321 0.99881984 -0.14744286] [ 0. 0. 0. 1. ]] SLAMing on 4.760714057 meters 0.0360441006213855 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.23, Z:-0.15 [[ 0.99860303 0.02169777 0.0481788 3.01847771] [-0.02150776 0.99975874 -0.00445894 -0.22578047] [-0.04826393 0.00341649 0.99882877 -0.14781613] [ 0. 0. 0. 1. ]] SLAMing on 4.790714057 meters 0.03673612927003673 Centerline is valid? [True, True] Translation: X:3.05, Y:-0.23, Z:-0.15 [[ 0.99860248 0.02149056 0.04828287 3.04672043] [-0.02129953 0.99976316 -0.00446753 -0.2282 ] [-0.04836744 0.00343288 0.99882371 -0.14969981] [ 0. 0. 0. 1. ]] SLAMing on 4.820714057 meters 0.03892801676155409 Centerline is valid? [True, True] Translation: X:3.08, Y:-0.23, Z:-0.15 [[ 0.99859914 0.02086937 0.04862341 3.07534354] [-0.02067509 0.99977614 -0.00449515 -0.23286912] [-0.04870634 0.00348356 0.99880707 -0.1520639 ] [ 0. 0. 0. 1. ]] SLAMing on 4.850714057 meters 0.03775629860419047 Centerline is valid? [True, True] Translation: X:3.10, Y:-0.23, Z:-0.15 [[ 0.99859408 0.02103814 0.04865445 3.10483733] [-0.02084396 0.99977264 -0.00449506 -0.23298899] [-0.04873795 0.00347459 0.99880556 -0.15408138] [ 0. 0. 0. 1. ]] SLAMing on 4.880714057 meters 0.038265828950139996 Centerline is valid? [True, True] Translation: X:3.13, Y:-0.24, Z:-0.16 [[ 0.99856636 0.02162445 0.04896535 3.13420761] [-0.02142856 0.99976016 -0.00452202 -0.23510349] [-0.0490514 0.00346628 0.99879024 -0.15692481] [ 0. 0. 0. 1. ]] SLAMing on 4.910714057 meters 0.034809972725856016 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.23, Z:-0.16 [[ 0.99853899 0.02195953 0.04937272 3.16318324] [-0.02176083 0.99975281 -0.00455861 -0.23027842] [-0.04946062 0.00347755 0.99877002 -0.15705941] [ 0. 0. 0. 1. ]] SLAMing on 4.940714057 meters 0.0356366876956428 Centerline is valid? [True, True] Translation: X:3.19, Y:-0.23, Z:-0.16 [[ 0.99848071 0.02262566 0.05024288 3.19163946] [-0.02242092 0.99973788 -0.00463483 -0.23336472] [-0.05033457 0.0035013 0.99872627 -0.15895776] [ 0. 0. 0. 1. ]] SLAMing on 4.970714057 meters 0.034585540553206194 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.23, Z:-0.16 [[ 0.99841802 0.02340187 0.05112552 3.22173786] [-0.02319105 0.99971994 -0.0047131 -0.23202627] [-0.0512215 0.00351999 0.99868111 -0.15955454] [ 0. 0. 0. 1. ]] SLAMing on 5.000714057 meters 0.03462988125349488 Centerline is valid? [True, True] Translation: X:3.25, Y:-0.23, Z:-0.16 [[ 0.99840943 0.02342423 0.05128273 3.25019264] [-0.0232122 0.99971939 -0.00472633 -0.23351523] [-0.05137905 0.00352843 0.99867299 -0.16127198] [ 0. 0. 0. 1. ]] SLAMing on 5.030714057 meters 0.0393666567904011 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.24, Z:-0.16 [[ 0.99840346 0.02304012 0.05157217 3.27815101] [-0.0228254 0.99972819 -0.00474867 -0.24248678] [-0.05166756 0.00356393 0.99865798 -0.16461024] [ 0. 0. 0. 1. ]] SLAMing on 5.060714057 meters 0.03737230775074815 Centerline is valid? [True, True] Translation: X:3.31, Y:-0.24, Z:-0.17 [[ 0.99844643 0.02175122 0.0512993 3.30760378] [-0.02153718 0.9997569 -0.00472157 -0.24005591] [-0.05138952 0.00360939 0.99867216 -0.16706243] [ 0. 0. 0. 1. ]] SLAMing on 5.090714057 meters 0.03946320524332445 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.25, Z:-0.17 [[ 0.9984997 0.02087441 0.05062228 3.33566439] [-0.02066499 0.99977561 -0.00465671 -0.24514398] [-0.05070813 0.00360361 0.99870701 -0.17053831] [ 0. 0. 0. 1. ]] SLAMing on 5.120714057 meters 0.03661839798101701 Centerline is valid? [True, True] Translation: X:3.37, Y:-0.24, Z:-0.17 [[ 0.99862409 0.01884691 0.04893597 3.3668158 ] [-0.01864898 0.99981597 -0.00449802 -0.24136376] [-0.04901173 0.00357923 0.99879179 -0.17220051] [ 0. 0. 0. 1. ]] SLAMing on 5.150714057 meters 0.041437628602149834 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.25, Z:-0.18 [[ 0.99863095 0.01820876 0.04903737 3.39545403] [-0.01800924 0.99982766 -0.0045077 -0.25038788] [-0.049111 0.0036184 0.99878677 -0.17559911] [ 0. 0. 0. 1. ]] SLAMing on 5.180714057 meters 0.037297910545619595 Centerline is valid? [True, True] Translation: X:3.43, Y:-0.25, Z:-0.17 [[ 0.99861925 0.0176367 0.04948264 3.42620581] [-0.01743289 0.99983769 -0.00454736 -0.24595095] [-0.04955481 0.00367846 0.99876463 -0.17484769] [ 0. 0. 0. 1. ]] SLAMing on 5.210714057 meters 0.04314167944285193 Centerline is valid? [True, True] Translation: X:3.46, Y:-0.26, Z:-0.18 [[ 0.99859271 0.01695202 0.05025157 3.45582458] [-0.01674097 0.9998492 -0.00461769 -0.25625514] [-0.05032227 0.00376993 0.99872592 -0.17821595] [ 0. 0. 0. 1. ]] SLAMing on 5.240714057 meters 0.03913182726816738 Centerline is valid? [True, True] Translation: X:3.49, Y:-0.25, Z:-0.18 [[ 0.99850293 0.01631072 0.05220969 3.48660373] [-0.01608194 0.99985916 -0.00479894 -0.25104983] [-0.05228061 0.00395212 0.99862461 -0.17755378] [ 0. 0. 0. 1. ]] SLAMing on 5.270714057 meters 0.04057273647165067 Centerline is valid? [True, True] Translation: X:3.52, Y:-0.26, Z:-0.18 [[ 0.99845717 0.01620818 0.05310914 3.51707076] [-0.01597142 0.99986054 -0.00487938 -0.25549016] [-0.05318082 0.00402362 0.99857679 -0.18023318] [ 0. 0. 0. 1. ]] SLAMing on 5.3007140569999995 meters 0.04120268120432665 Centerline is valid? [True, True] Translation: X:3.55, Y:-0.26, Z:-0.18 [[ 0.99835514 0.01689768 0.05478577 3.5479939 ] [-0.01664635 0.99984873 -0.00504052 -0.25776302] [-0.05486265 0.00412024 0.99848541 -0.1828395 ] [ 0. 0. 0. 1. ]] SLAMing on 5.330714057 meters 0.04176832062547163 Centerline is valid? [True, True] Translation: X:3.58, Y:-0.26, Z:-0.18 [[ 0.99831704 0.01724964 0.05536736 3.57939512] [-0.01699261 0.99984256 -0.00510979 -0.26090661] [-0.05544678 0.00416036 0.99845298 -0.18467807] [ 0. 0. 0. 1. ]] SLAMing on 5.360714057 meters 0.03952522742798131 Centerline is valid? [True, True] Translation: X:3.61, Y:-0.26, Z:-0.19 [[ 0.99824524 0.01783002 0.05646707 3.6109208 ] [-0.01756346 0.99983216 -0.00521334 -0.25809434] [-0.05655055 0.00421243 0.99839085 -0.1850235 ] [ 0. 0. 0. 1. ]] SLAMing on 5.390714057 meters 0.040384726620905774 Centerline is valid? [True, True] Translation: X:3.64, Y:-0.26, Z:-0.19 [[ 0.99822654 0.01805807 0.05672463 3.64137417] [-0.01778931 0.99982803 -0.00523943 -0.26092207] [-0.05680949 0.00422105 0.99837611 -0.18693619] [ 0. 0. 0. 1. ]] SLAMing on 5.420714057 meters 0.0404550165361851 Centerline is valid? [True, True] Translation: X:3.67, Y:-0.26, Z:-0.19 [[ 0.99822342 0.01831616 0.05669676 3.67241771] [-0.01804803 0.9998234 -0.00523768 -0.26283228] [-0.05678269 0.00420511 0.99837771 -0.18884533] [ 0. 0. 0. 1. ]] SLAMing on 5.450714057 meters 0.041658293953055474 Centerline is valid? [True, True] Translation: X:3.70, Y:-0.26, Z:-0.19 [[ 0.99821771 0.01845334 0.05675271 3.70243382] [-0.01818477 0.99982089 -0.00524512 -0.26482552] [-0.05683933 0.00420374 0.99837449 -0.19181529] [ 0. 0. 0. 1. ]] SLAMing on 5.480714057 meters 0.03822247274291451 Centerline is valid? [True, True] Translation: X:3.73, Y:-0.26, Z:-0.19 [[ 0.99818561 0.01852749 0.05729075 3.73415907] [-0.01825387 0.99981936 -0.00529567 -0.2617316 ] [-0.05737851 0.00424029 0.99834349 -0.19394768] [ 0. 0. 0. 1. ]] SLAMing on 5.510714057 meters 0.03936306085538542 Centerline is valid? [True, True] Translation: X:3.76, Y:-0.26, Z:-0.20 [[ 0.99812304 0.0184311 0.05840116 3.76458432] [-0.01814645 0.99982075 -0.00540072 -0.26424441] [-0.05849023 0.00433081 0.99827859 -0.19825044] [ 0. 0. 0. 1. ]] SLAMing on 5.540714057 meters 0.04946587956608197 Centerline is valid? [True, True] Translation: X:3.79, Y:-0.28, Z:-0.20 [[ 0.99810112 0.01889495 0.05862701 3.79465258] [-0.01860894 0.99981214 -0.00542054 -0.2809597 ] [-0.05871842 0.00431926 0.99826524 -0.20313421] [ 0. 0. 0. 1. ]] SLAMing on 5.570714057 meters 0.04410607049684201 Centerline is valid? [True, True] Translation: X:3.83, Y:-0.28, Z:-0.20 [[ 0.99808788 0.01894551 0.05883576 3.82704591] [-0.0186566 0.99981106 -0.0054559 -0.27503793] [-0.05892801 0.0043478 0.99825277 -0.2041533 ] [ 0. 0. 0. 1. ]] SLAMing on 5.600714057 meters 0.04164912345286257 Centerline is valid? [True, True] Translation: X:3.86, Y:-0.27, Z:-0.20 [[ 0.99810604 0.01872043 0.05859939 3.85896462] [-0.01843334 0.99981531 -0.00543601 -0.27263972] [-0.05869033 0.00434553 0.99826678 -0.20483868] [ 0. 0. 0. 1. ]] SLAMing on 5.630714057 meters 0.046938247573522954 Centerline is valid? [True, True] Translation: X:3.89, Y:-0.28, Z:-0.21 [[ 0.99809444 0.01750356 0.05917029 3.88882699] [-0.01720857 0.99983684 -0.00549129 -0.28054571] [-0.05925675 0.00446259 0.9982328 -0.20605938] [ 0. 0. 0. 1. ]] SLAMing on 5.660714057 meters 0.04243761524025572 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.28, Z:-0.21 [[ 0.99807161 0.01695778 0.05971171 3.92122296] [-0.01665639 0.99984592 -0.00554159 -0.2761323 ] [-0.05979649 0.00453632 0.99820028 -0.20697389] [ 0. 0. 0. 1. ]] SLAMing on 5.690714057 meters 0.04328987546674121 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.28, Z:-0.21 [[ 0.99804854 0.01559642 0.06046376 3.95281247] [-0.01528444 0.9998674 -0.0056189 -0.279062 ] [-0.06054338 0.00468378 0.99815458 -0.20954367] [ 0. 0. 0. 1. ]] SLAMing on 5.720714057 meters 0.0416597638033388 Centerline is valid? [True, True] Translation: X:3.99, Y:-0.28, Z:-0.21 [[ 0.99806602 0.01461506 0.06042041 3.98509165] [-0.0143008 0.99988189 -0.00563041 -0.2786632 ] [-0.06049556 0.00475547 0.99815714 -0.21252272] [ 0. 0. 0. 1. ]] SLAMing on 5.750714057 meters 0.045496376320639194 Centerline is valid? [True, True] Translation: X:4.01, Y:-0.29, Z:-0.22 [[ 0.99806146 0.01403441 0.06063298 4.01492819] [-0.01371657 0.99988993 -0.00565506 -0.28674893] [-0.06070567 0.00481242 0.99814411 -0.21677133] [ 0. 0. 0. 1. ]] SLAMing on 5.780714057 meters 0.04770439747271196 Centerline is valid? [True, True] Translation: X:4.05, Y:-0.29, Z:-0.22 [[ 0.99812142 0.01297933 0.05987629 4.04569265] [-0.01266741 0.99990416 -0.00558592 -0.291127 ] [-0.05994305 0.00481695 0.99819018 -0.22160095] [ 0. 0. 0. 1. ]] SLAMing on 5.810714057 meters 0.04832312462886759 Centerline is valid? [True, True] Translation: X:4.08, Y:-0.29, Z:-0.22 [[ 0.9981354 0.01303521 0.05963051 4.07814866] [-0.01272558 0.99990352 -0.00556937 -0.29383372] [-0.05969736 0.00480015 0.99820498 -0.22420168] [ 0. 0. 0. 1. ]] SLAMing on 5.840714057 meters 0.041746782215685056 Centerline is valid? [True, True] Translation: X:4.11, Y:-0.29, Z:-0.22 [[ 0.99811065 0.01436155 0.05974007 4.11034368] [-0.01405214 0.9998856 -0.00559627 -0.28557879] [-0.05981361 0.00474622 0.99819828 -0.22466694] [ 0. 0. 0. 1. ]] SLAMing on 5.870714057 meters 0.04159825051234481 Centerline is valid? [True, True] Translation: X:4.14, Y:-0.29, Z:-0.23 [[ 0.99806066 0.01549093 0.06029055 4.14300383] [-0.01517771 0.99986885 -0.0056497 -0.2873318 ] [-0.06037016 0.00472367 0.99816488 -0.22680398] [ 0. 0. 0. 1. ]] SLAMing on 5.900714057 meters 0.042095880342280186 Centerline is valid? [True, True] Translation: X:4.17, Y:-0.29, Z:-0.23 [[ 0.99801104 0.01726333 0.06062959 4.17352617] [-0.01694945 0.99984017 -0.00568763 -0.290223 ] [-0.06071809 0.00464868 0.99814413 -0.22907378] [ 0. 0. 0. 1. ]] SLAMing on 5.930714057 meters 0.03928824226527118 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.29, Z:-0.23 [[ 0.99790514 0.02103367 0.0611793 4.20447861] [-0.02072093 0.99976881 -0.00574177 -0.28735176] [-0.06128593 0.00446205 0.99811028 -0.23255002] [ 0. 0. 0. 1. ]] SLAMing on 5.960714057 meters 0.03930369409325228 Centerline is valid? [True, True] Translation: X:4.23, Y:-0.29, Z:-0.24 [[ 0.99787229 0.0229519 0.06102538 4.23372199] [-0.02264428 0.99972718 -0.00572769 -0.28931793] [-0.0611402 0.00433363 0.99811978 -0.23593945] [ 0. 0. 0. 1. ]] SLAMing on 5.990714057 meters 0.0382347317276449 Centerline is valid? [True, True] Translation: X:4.26, Y:-0.29, Z:-0.24 [[ 9.97800281e-01 2.61501336e-02 6.09160847e-02 4.26334034e+00] [-2.58496089e-02 9.99649499e-01 -5.71640340e-03 -2.89052727e-01] [-6.10442183e-02 4.12917195e-03 9.98126522e-01 -2.40026058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.020714057 meters 0.03651408214158685 Centerline is valid? [True, True] Translation: X:4.29, Y:-0.29, Z:-0.24 [[ 9.97773507e-01 2.77541217e-02 6.06443492e-02 4.29333146e+00] [-2.74593392e-02 9.99606733e-01 -5.68900100e-03 -2.88348142e-01] [-6.07783930e-02 4.01108073e-03 9.98143225e-01 -2.42230550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0507140569999995 meters 0.036593741036241564 Centerline is valid? [True, True] Translation: X:4.32, Y:-0.29, Z:-0.24 [[ 9.97712130e-01 2.88965529e-02 6.11186901e-02 4.32249246e+00] [-2.85993981e-02 9.99574523e-01 -5.73133550e-03 -2.90345215e-01] [-6.12583013e-02 3.97026521e-03 9.98114050e-01 -2.44110933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.080714057 meters 0.03626387855891932 Centerline is valid? [True, True] Translation: X:4.35, Y:-0.29, Z:-0.25 [[ 9.97624366e-01 3.06900562e-02 6.16745080e-02 4.35130082e+00] [-3.03910855e-02 9.99521372e-01 -5.78001651e-03 -2.90845600e-01] [-6.18223779e-02 3.89193006e-03 9.98079579e-01 -2.46320344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.110714057 meters 0.03651555715221475 Centerline is valid? [True, True] Translation: X:4.38, Y:-0.29, Z:-0.25 [[ 9.97614997e-01 3.12218802e-02 6.15590091e-02 4.38024316e+00] [-3.09252460e-02 9.99505070e-01 -5.76582280e-03 -2.93511364e-01] [-6.17085615e-02 3.84834379e-03 9.98086792e-01 -2.49466369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.140714057 meters 0.03608380686906853 Centerline is valid? [True, True] Translation: X:4.41, Y:-0.30, Z:-0.25 [[ 9.97603581e-01 3.17133772e-02 6.14927383e-02 4.40932244e+00] [-3.14185182e-02 9.99489741e-01 -5.75627061e-03 -2.95134455e-01] [-6.16439118e-02 3.81046545e-03 9.98090932e-01 -2.53731114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.170714057 meters 0.03678611802955035 Centerline is valid? [True, True] Translation: X:4.44, Y:-0.30, Z:-0.26 [[ 9.97603450e-01 3.23210248e-02 6.11776747e-02 4.43698393e+00] [-3.20305099e-02 9.99470503e-01 -5.72371771e-03 -2.98565854e-01] [-6.13302777e-02 3.75044841e-03 9.98110480e-01 -2.56697394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.200714057 meters 0.036169781995519186 Centerline is valid? [True, True] Translation: X:4.47, Y:-0.30, Z:-0.26 [[ 9.97571327e-01 3.28520919e-02 6.14181358e-02 4.46535415e+00] [-3.25606401e-02 9.99453276e-01 -5.74048505e-03 -3.00238549e-01] [-6.15731440e-02 3.72672947e-03 9.98095616e-01 -2.59337284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.230714057 meters 0.03623786985446779 Centerline is valid? [True, True] Translation: X:4.49, Y:-0.30, Z:-0.26 [[ 9.97540485e-01 3.42149938e-02 6.11744703e-02 4.49294559e+00] [-3.39286666e-02 9.99407926e-01 -5.71345310e-03 -3.01812045e-01] [-6.13337362e-02 3.62383257e-03 9.98110736e-01 -2.62335809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.260714057 meters 0.03322047012653644 Centerline is valid? [True, True] Translation: X:4.52, Y:-0.30, Z:-0.26 [[ 9.97498021e-01 3.50301670e-02 6.14050946e-02 4.52201622e+00] [-3.47435400e-02 9.99379836e-01 -5.72965721e-03 -2.98842015e-01] [-6.15677242e-02 3.58189136e-03 9.98096481e-01 -2.63295162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.290714057 meters 0.033690750509855184 Centerline is valid? [True, True] Translation: X:4.55, Y:-0.30, Z:-0.27 [[ 9.97409028e-01 3.70190860e-02 6.16832155e-02 4.54961384e+00] [-3.67339147e-02 9.99308533e-01 -5.75116516e-03 -3.01217421e-01] [-6.18534665e-02 3.47039807e-03 9.98079208e-01 -2.65619507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.320714057 meters 0.03362425748121549 Centerline is valid? [True, True] Translation: X:4.58, Y:-0.30, Z:-0.27 [[ 9.97366982e-01 3.75316765e-02 6.20522026e-02 4.57809339e+00] [-3.72444283e-02 9.99289471e-01 -5.77974747e-03 -3.03485133e-01] [-6.22250363e-02 3.45343048e-03 9.98056170e-01 -2.68379046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.350714057 meters 0.034429002927394654 Centerline is valid? [True, True] Translation: X:4.61, Y:-0.31, Z:-0.27 [[ 9.97378791e-01 3.79612304e-02 6.15994571e-02 4.60519544e+00] [-3.76792456e-02 9.99273438e-01 -5.73330900e-03 -3.07575240e-01] [-6.17723447e-02 3.39725972e-03 9.98084483e-01 -2.71481351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.380714057 meters 0.03275343070558189 Centerline is valid? [True, True] Translation: X:4.63, Y:-0.31, Z:-0.27 [[ 9.97377290e-01 3.82112906e-02 6.14690118e-02 4.63378537e+00] [-3.79313186e-02 9.99264003e-01 -5.71558695e-03 -3.07530265e-01] [-6.16421708e-02 3.36899595e-03 9.98092627e-01 -2.74453427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.410714057 meters 0.03080520062382192 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.31, Z:-0.28 [[ 9.97366893e-01 3.92694183e-02 6.09687949e-02 4.66270818e+00] [-3.89962256e-02 9.99223301e-01 -5.66475775e-03 -3.06921683e-01] [-6.11438922e-02 3.27228895e-03 9.98123598e-01 -2.77466748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.440714057 meters 0.031119972231378763 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.31, Z:-0.28 [[ 9.97352818e-01 4.02691034e-02 6.05454816e-02 4.69029416e+00] [-4.00017932e-02 9.99183797e-01 -5.62113656e-03 -3.10002490e-01] [-6.07224223e-02 3.18432856e-03 9.98149612e-01 -2.79877540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.470714057 meters 0.03102000146492524 Centerline is valid? [True, True] Translation: X:4.72, Y:-0.31, Z:-0.28 [[ 9.97304539e-01 4.17354692e-02 6.03473937e-02 4.71757940e+00] [-4.14729037e-02 9.99123950e-01 -5.59745327e-03 -3.11964175e-01] [-6.05281387e-02 3.07958391e-03 9.98161741e-01 -2.82776687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.500714057 meters 0.030578611022716085 Centerline is valid? [True, True] Translation: X:4.75, Y:-0.31, Z:-0.29 [[ 9.97246608e-01 4.24139105e-02 6.08297856e-02 4.74643881e+00] [-4.21488541e-02 9.99095454e-01 -5.63446632e-03 -3.13637918e-01] [-6.10137421e-02 3.05504667e-03 9.98132251e-01 -2.85146044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.530714057 meters 0.030057261304454408 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.32, Z:-0.29 [[ 9.97234404e-01 4.27822349e-02 6.07718973e-02 4.77542059e+00] [-4.25186303e-02 9.99079841e-01 -5.62476237e-03 -3.15315062e-01] [-6.09566174e-02 3.02526872e-03 9.98135832e-01 -2.87065054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.560714057 meters 0.03345781269927107 Centerline is valid? [True, True] Translation: X:4.80, Y:-0.32, Z:-0.29 [[ 9.97250878e-01 4.23640148e-02 6.07945501e-02 4.80258518e+00] [-4.20996985e-02 9.99097594e-01 -5.62260855e-03 -3.24015400e-01] [-6.09778850e-02 3.04771908e-03 9.98134464e-01 -2.90651021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.590714057 meters 0.031314987325034675 Centerline is valid? [True, True] Translation: X:4.83, Y:-0.32, Z:-0.29 [[ 9.97273301e-01 4.18491101e-02 6.07833482e-02 4.83156407e+00] [-4.15842804e-02 9.99119216e-01 -5.61597230e-03 -3.23497138e-01] [-6.09648346e-02 3.07302744e-03 9.98135184e-01 -2.92491963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.620714057 meters 0.031314987325034675 Centerline is valid? [True, True] Translation: X:4.86, Y:-0.33, Z:-0.29 [[ 9.97277695e-01 4.17437170e-02 6.07837192e-02 4.85886766e+00] [-4.14789364e-02 9.99123618e-01 -5.61195320e-03 -3.25912882e-01] [-6.09647133e-02 3.07543172e-03 9.98135184e-01 -2.94382368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.650714057 meters 0.031719695986020695 Centerline is valid? [True, True] Translation: X:4.89, Y:-0.33, Z:-0.30 [[ 9.97266139e-01 4.04861180e-02 6.18152339e-02 4.88721948e+00] [-4.02102834e-02 9.99174980e-01 -5.70024653e-03 -3.30645736e-01] [-6.19950159e-02 3.19905478e-03 9.98071332e-01 -2.97261912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.680714057 meters 0.032186488707069014 Centerline is valid? [True, True] Translation: X:4.92, Y:-0.33, Z:-0.30 [[ 9.97310544e-01 3.97774562e-02 6.15583721e-02 4.91612960e+00] [-3.95028381e-02 9.99203359e-01 -5.67219110e-03 -3.34088631e-01] [-6.17349575e-02 3.22520558e-03 9.98087367e-01 -2.99721293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.710714057 meters 0.033877171752768984 Centerline is valid? [True, True] Translation: X:4.94, Y:-0.34, Z:-0.30 [[ 9.97395213e-01 3.80097358e-02 6.13029254e-02 4.94404980e+00] [-3.77343449e-02 9.99271866e-01 -5.64417812e-03 -3.40246010e-01] [-6.14728223e-02 3.31625051e-03 9.98103248e-01 -3.03057539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.740714057 meters 0.03479836834790716 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.34, Z:-0.31 [[ 9.97470998e-01 3.65478673e-02 6.09578675e-02 4.97273357e+00] [-3.62730419e-02 9.99326174e-01 -5.60933627e-03 -3.44461887e-01] [-6.11218017e-02 3.38402297e-03 9.98124578e-01 -3.05343521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.770714057 meters 0.03505499615645952 Centerline is valid? [True, True] Translation: X:5.00, Y:-0.35, Z:-0.31 [[ 9.97527978e-01 3.50174760e-02 6.09237958e-02 5.00183372e+00] [-3.47403909e-02 9.99380671e-01 -5.60169821e-03 -3.47885983e-01] [-6.10822213e-02 3.47133421e-03 9.98126701e-01 -3.07478862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8007140569999995 meters 0.034457186267733274 Centerline is valid? [True, True] Translation: X:5.03, Y:-0.35, Z:-0.31 [[ 9.97613910e-01 3.12694926e-02 6.15524674e-02 5.03137746e+00] [-3.09796895e-02 9.99504005e-01 -5.65718904e-03 -3.51618002e-01] [-6.16988351e-02 3.73681415e-03 9.98087817e-01 -3.08582092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.830714057 meters 0.035181573295068484 Centerline is valid? [True, True] Translation: X:5.06, Y:-0.36, Z:-0.31 [[ 9.97614507e-01 2.93534967e-02 6.24793350e-02 5.06006806e+00] [-2.90512037e-02 9.99561436e-01 -5.74143462e-03 -3.56252175e-01] [-6.26204649e-02 3.91263858e-03 9.98029743e-01 -3.10901406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.860714057 meters 0.040138241040598995 Centerline is valid? [True, True] Translation: X:5.09, Y:-0.37, Z:-0.31 [[ 9.97568342e-01 2.60497446e-02 6.46437433e-02 5.08804830e+00] [-2.57194469e-02 9.99651573e-01 -5.93656975e-03 -3.68894499e-01] [-6.47758658e-02 4.25953272e-03 9.97890747e-01 -3.13012038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.890714057 meters 0.041572561425833494 Centerline is valid? [True, True] Translation: X:5.12, Y:-0.37, Z:-0.32 [[ 9.97569906e-01 2.44187144e-02 6.52534256e-02 5.11792804e+00] [-2.40788391e-02 9.99692117e-01 -5.99004641e-03 -3.74691986e-01] [-6.53796044e-02 4.40426329e-03 9.97850745e-01 -3.15422890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.920714057 meters 0.042182731251184304 Centerline is valid? [True, True] Translation: X:5.15, Y:-0.38, Z:-0.32 [[ 9.97572509e-01 2.42027063e-02 6.52940908e-02 5.14751860e+00] [-2.38619492e-02 9.99697295e-01 -5.99373536e-03 -3.79574454e-01] [-6.54193906e-02 4.42114135e-03 9.97848063e-01 -3.17989620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.950714057 meters 0.043651169137919825 Centerline is valid? [True, True] Translation: X:5.18, Y:-0.39, Z:-0.32 [[ 9.97613159e-01 2.33114399e-02 6.49966234e-02 5.17716164e+00] [-2.29718472e-02 9.99718303e-01 -5.96732638e-03 -3.86505838e-01] [-6.51174211e-02 4.45999083e-03 9.97867642e-01 -3.20641145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.980714057 meters 0.03767676158990212 Centerline is valid? [True, True] Translation: X:5.21, Y:-0.38, Z:-0.32 [[ 9.97636276e-01 2.27939275e-02 6.48251294e-02 5.20892172e+00] [-2.24549730e-02 9.99730134e-01 -5.95263749e-03 -3.81076748e-01] [-6.49433192e-02 4.48292057e-03 9.97878885e-01 -3.22194886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0107140569999995 meters 0.04168324283572551 Centerline is valid? [True, True] Translation: X:5.24, Y:-0.39, Z:-0.33 [[ 9.97657444e-01 2.23395795e-02 6.46573063e-02 5.23906487e+00] [-2.20013266e-02 9.99740302e-01 -5.93886068e-03 -3.92111805e-01] [-6.47731866e-02 4.50240206e-03 9.97889855e-01 -3.25621552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.040714057 meters 0.04004816121899998 Centerline is valid? [True, True] Translation: X:5.27, Y:-0.39, Z:-0.33 [[ 9.97678023e-01 2.22321476e-02 6.43761937e-02 5.27071350e+00] [-2.18956266e-02 9.99742685e-01 -5.92830218e-03 -3.93750400e-01] [-6.44914277e-02 4.50497970e-03 9.97908092e-01 -3.29050969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.070714057 meters 0.03774114481371711 Centerline is valid? [True, True] Translation: X:5.30, Y:-0.39, Z:-0.33 [[ 9.97696770e-01 2.21529435e-02 6.41124177e-02 5.30177925e+00] [-2.18179920e-02 9.99744432e-01 -5.91994183e-03 -3.94119949e-01] [-6.42271768e-02 4.50750262e-03 9.97925124e-01 -3.32120320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.100714057 meters 0.037444348083661254 Centerline is valid? [True, True] Translation: X:5.33, Y:-0.40, Z:-0.33 [[ 9.97658381e-01 2.33711039e-02 6.42771026e-02 5.33310350e+00] [-2.30367836e-02 9.99716986e-01 -5.93756227e-03 -3.98332293e-01] [-6.43976787e-02 4.44292106e-03 9.97914425e-01 -3.34705433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.130714057 meters 0.038242196965956675 Centerline is valid? [True, True] Translation: X:5.36, Y:-0.40, Z:-0.34 [[ 9.97601275e-01 2.43700709e-02 6.47904057e-02 5.36299807e+00] [-2.40323307e-02 9.99693253e-01 -5.98717768e-03 -4.02454426e-01] [-6.49164394e-02 4.41575163e-03 9.97880933e-01 -3.36289638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.160714057 meters 0.039259466721288584 Centerline is valid? [True, True] Translation: X:5.39, Y:-0.41, Z:-0.34 [[ 9.97479880e-01 2.65495608e-02 6.57952176e-02 5.39243530e+00] [-2.62054791e-02 9.99638044e-01 -6.08726390e-03 -4.06716618e-01] [-6.59330168e-02 4.34772806e-03 9.97814579e-01 -3.36309092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.190714057 meters 0.03688522479451621 Centerline is valid? [True, True] Translation: X:5.42, Y:-0.41, Z:-0.34 [[ 9.97403287e-01 2.78135946e-02 6.64310656e-02 5.42233450e+00] [-2.74656844e-02 9.99603860e-01 -6.14490452e-03 -4.06081374e-01] [-6.65756614e-02 4.30437328e-03 9.97772095e-01 -3.37699304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2207140569999995 meters 0.03720211595491764 Centerline is valid? [True, True] Translation: X:5.45, Y:-0.41, Z:-0.34 [[ 9.97317056e-01 2.89926669e-02 6.72169262e-02 5.45164996e+00] [-2.86392896e-02 9.99570489e-01 -6.21513517e-03 -4.09432230e-01] [-6.73682492e-02 4.27341530e-03 9.97719027e-01 -3.39239785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.250714057 meters 0.036494075073090805 Centerline is valid? [True, True] Translation: X:5.48, Y:-0.41, Z:-0.34 [[ 9.97243166e-01 2.96751533e-02 6.80106801e-02 5.48148307e+00] [-2.93151096e-02 9.99550454e-01 -6.28607564e-03 -4.11033555e-01] [-6.81666464e-02 4.27500543e-03 9.97664790e-01 -3.41156188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.280714057 meters 0.03708765669043258 Centerline is valid? [True, True] Translation: X:5.51, Y:-0.41, Z:-0.34 [[ 9.97145134e-01 3.08255284e-02 6.89301647e-02 5.50966938e+00] [-3.04585702e-02 9.99515741e-01 -6.36855772e-03 -4.14942847e-01] [-6.90930989e-02 4.25086208e-03 9.97601160e-01 -3.42945681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.310714057 meters 0.035572331969858886 Centerline is valid? [True, True] Translation: X:5.54, Y:-0.42, Z:-0.35 [[ 9.97142542e-01 3.06638686e-02 6.90396819e-02 5.53830813e+00] [-3.02954606e-02 9.99520644e-01 -6.37715981e-03 -4.15465654e-01] [-6.92021357e-02 4.26734838e-03 9.97593532e-01 -3.45122942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.340714057 meters 0.03795500073838467 Centerline is valid? [True, True] Translation: X:5.57, Y:-0.42, Z:-0.35 [[ 9.97148971e-01 3.10421571e-02 6.87772811e-02 5.56639972e+00] [-3.06777845e-02 9.99509168e-01 -6.34801630e-03 -4.22380694e-01] [-6.89405791e-02 4.21998331e-03 9.97611842e-01 -3.47580921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.370714057 meters 0.036901061521931 Centerline is valid? [True, True] Translation: X:5.59, Y:-0.42, Z:-0.35 [[ 9.97126087e-01 3.16459655e-02 6.88338483e-02 5.59472720e+00] [-3.12825732e-02 9.99490402e-01 -6.35107517e-03 -4.23357768e-01] [-6.89997567e-02 4.17952283e-03 9.97607922e-01 -3.49637726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.400714057 meters 0.038099967225372136 Centerline is valid? [True, True] Translation: X:5.62, Y:-0.43, Z:-0.35 [[ 9.97182254e-01 3.15797010e-02 6.80461295e-02 5.62290326e+00] [-3.12247646e-02 9.99492699e-01 -6.27367766e-03 -4.27889426e-01] [-6.82097305e-02 4.13127565e-03 9.97662451e-01 -3.52044472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.430714057 meters 0.03201583020170684 Centerline is valid? [True, True] Translation: X:5.65, Y:-0.42, Z:-0.35 [[ 9.97243162e-01 3.14212151e-02 6.72219009e-02 5.65262091e+00] [-3.10747180e-02 9.99497871e-01 -6.19422503e-03 -4.21597053e-01] [-6.73827769e-02 4.08824694e-03 9.97718822e-01 -3.54766271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.460714057 meters 0.03277157570842103 Centerline is valid? [True, True] Translation: X:5.68, Y:-0.43, Z:-0.36 [[ 9.97281733e-01 3.12435543e-02 6.67306975e-02 5.68064373e+00] [-3.09019670e-02 9.99503529e-01 -6.14523094e-03 -4.25639393e-01] [-6.68895665e-02 4.06641675e-03 9.97752099e-01 -3.57006155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.490714057 meters 0.03351364949843123 Centerline is valid? [True, True] Translation: X:5.71, Y:-0.43, Z:-0.36 [[ 9.97233852e-01 3.11779759e-02 6.74727899e-02 5.70920353e+00] [-3.08288414e-02 9.99505388e-01 -6.20977274e-03 -4.30452860e-01] [-6.76330252e-02 4.11248766e-03 9.97701790e-01 -3.58788275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.520714057 meters 0.03362323448329052 Centerline is valid? [True, True] Translation: X:5.74, Y:-0.43, Z:-0.36 [[ 9.97183265e-01 3.12821201e-02 6.81686471e-02 5.73745087e+00] [-3.09262311e-02 9.99502003e-01 -6.27006125e-03 -4.33476244e-01] [-6.83308401e-02 4.14420081e-03 9.97654109e-01 -3.60780124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5507140569999995 meters 0.032937978272958225 Centerline is valid? [True, True] Translation: X:5.77, Y:-0.44, Z:-0.36 [[ 9.97025617e-01 3.43797771e-02 6.89778932e-02 5.76771041e+00] [-3.40230960e-02 9.99400941e-01 -6.33946897e-03 -4.35557665e-01] [-6.91545209e-02 3.97377148e-03 9.97598046e-01 -3.61921737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.580714057 meters 0.03254020392054526 Centerline is valid? [True, True] Translation: X:5.80, Y:-0.44, Z:-0.36 [[ 9.96997467e-01 3.56445109e-02 6.87424159e-02 5.79593948e+00] [-3.52934373e-02 9.99357039e-01 -6.31524631e-03 -4.37212108e-01] [-6.89233211e-02 3.87012843e-03 9.97614454e-01 -3.63717535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.610714057 meters 0.03093251204421691 Centerline is valid? [True, True] Translation: X:5.82, Y:-0.44, Z:-0.37 [[ 9.96976101e-01 3.66795643e-02 6.85073928e-02 5.82446756e+00] [-3.63336602e-02 9.99319927e-01 -6.28879041e-03 -4.37253972e-01] [-6.86914728e-02 3.78064942e-03 9.97630788e-01 -3.65954622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.640714057 meters 0.028803669703421853 Centerline is valid? [True, True] Translation: X:5.85, Y:-0.44, Z:-0.37 [[ 9.96962431e-01 3.84650906e-02 6.77225753e-02 5.85309020e+00] [-3.81315136e-02 9.99253421e-01 -6.21191525e-03 -4.36793527e-01] [-6.79109569e-02 3.61068184e-03 9.97684853e-01 -3.68537482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.670714057 meters 0.028640047562080006 Centerline is valid? [True, True] Translation: X:5.88, Y:-0.44, Z:-0.37 [[ 9.96963212e-01 3.89941149e-02 6.74078070e-02 5.88197167e+00] [-3.86651798e-02 9.99233124e-01 -6.17805848e-03 -4.40006297e-01] [-6.75970215e-02 3.55296205e-03 9.97706379e-01 -3.70562343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.700714057 meters 0.028271734304270116 Centerline is valid? [True, True] Translation: X:5.91, Y:-0.44, Z:-0.37 [[ 9.96937144e-01 3.99824331e-02 6.72141106e-02 5.91092608e+00] [-3.96579610e-02 9.99194354e-01 -6.15535989e-03 -4.42788845e-01] [-6.74060661e-02 3.47093233e-03 9.97719587e-01 -3.73153700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.730714057 meters 0.029637977614099354 Centerline is valid? [True, True] Translation: X:5.94, Y:-0.45, Z:-0.38 [[ 9.96922400e-01 4.05354001e-02 6.71014911e-02 5.93840475e+00] [-4.02135079e-02 9.99172236e-01 -6.14143615e-03 -4.47904198e-01] [-6.72948924e-02 3.42414892e-03 9.97727254e-01 -3.75384058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7607140569999995 meters 0.030130614744631603 Centerline is valid? [True, True] Translation: X:5.97, Y:-0.45, Z:-0.38 [[ 9.96940316e-01 4.04398420e-02 6.68926381e-02 5.96538975e+00] [-4.01201944e-02 9.99176146e-01 -6.11556206e-03 -4.51717423e-01] [-6.70848406e-02 3.41310473e-03 9.97741437e-01 -3.77503041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.790714057 meters 0.030184095635519034 Centerline is valid? [True, True] Translation: X:5.99, Y:-0.45, Z:-0.38 [[ 9.96963622e-01 4.05335785e-02 6.64873328e-02 5.99369361e+00] [-4.02183961e-02 9.99172459e-01 -6.07269758e-03 -4.54799380e-01] [-6.66784599e-02 3.38024470e-03 9.97768789e-01 -3.79479002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.820714057 meters 0.0303385788435745 Centerline is valid? [True, True] Translation: X:6.02, Y:-0.46, Z:-0.38 [[ 9.96983895e-01 4.03936570e-02 6.62681341e-02 6.02100383e+00] [-4.00805473e-02 9.99178147e-01 -6.04814306e-03 -4.58461768e-01] [-6.64579781e-02 3.37383814e-03 9.97783521e-01 -3.82153928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.850714057 meters 0.028181581239578174 Centerline is valid? [True, True] Translation: X:6.05, Y:-0.46, Z:-0.38 [[ 9.97022205e-01 3.95572406e-02 6.61962798e-02 6.04998785e+00] [-3.92434416e-02 9.99211457e-01 -6.03455794e-03 -4.58147860e-01] [-6.63827917e-02 3.41881842e-03 9.97788373e-01 -3.84103540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.880714057 meters 0.030066573721885922 Centerline is valid? [True, True] Translation: X:6.08, Y:-0.47, Z:-0.39 [[ 9.97131716e-01 3.74485595e-02 6.57719263e-02 6.07767310e+00] [-3.71345272e-02 9.99292317e-01 -5.99105149e-03 -4.65612999e-01] [-6.59497368e-02 3.53145807e-03 9.97816697e-01 -3.86348147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.910714057 meters 0.030106001293789087 Centerline is valid? [True, True] Translation: X:6.11, Y:-0.47, Z:-0.39 [[ 9.97183823e-01 3.61426877e-02 6.57124721e-02 6.10635877e+00] [-3.58267183e-02 9.99340120e-01 -5.98081183e-03 -4.68987425e-01] [-6.58852724e-02 3.60970658e-03 9.97820676e-01 -3.88496790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.940714057 meters 0.030742817580695084 Centerline is valid? [True, True] Translation: X:6.14, Y:-0.47, Z:-0.39 [[ 9.97280689e-01 3.46387335e-02 6.50490947e-02 6.13550057e+00] [-3.43262514e-02 9.99393173e-01 -5.91562537e-03 -4.73691451e-01] [-6.52145309e-02 3.66664737e-03 9.97864530e-01 -3.90355919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9707140569999995 meters 0.032723798909288955 Centerline is valid? [True, True] Translation: X:6.16, Y:-0.48, Z:-0.39 [[ 9.97479429e-01 3.08168165e-02 6.39148841e-02 6.16476879e+00] [-3.05074953e-02 9.99517651e-01 -5.81011883e-03 -4.80393370e-01] [-6.40631042e-02 3.84559099e-03 9.97938440e-01 -3.92696937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.000714057 meters 0.03212456700994692 Centerline is valid? [True, True] Translation: X:6.19, Y:-0.48, Z:-0.39 [[ 9.97537729e-01 2.95538637e-02 6.36006909e-02 6.19370481e+00] [-2.92450885e-02 9.99555556e-01 -5.78058939e-03 -4.83371005e-01] [-6.37432627e-02 3.90634818e-03 9.97958685e-01 -3.94937434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.030714056999999 meters 0.035910196645124876 Centerline is valid? [True, True] Translation: X:6.22, Y:-0.49, Z:-0.40 [[ 9.97721815e-01 2.63083245e-02 6.21212628e-02 6.22192701e+00] [-2.60077269e-02 9.99645816e-01 -5.64267405e-03 -4.92735422e-01] [-6.22477098e-02 4.01418616e-03 9.98052658e-01 -3.98265186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.060714056999998 meters 0.03636773857395462 Centerline is valid? [True, True] Translation: X:6.25, Y:-0.50, Z:-0.40 [[ 9.97777178e-01 2.48023236e-02 6.18510099e-02 6.25184578e+00] [-2.45016077e-02 9.99684017e-01 -5.61577697e-03 -4.96289816e-01] [-6.19707504e-02 4.08784492e-03 9.98069595e-01 -4.00354758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.090714057 meters 0.0342690693630474 Centerline is valid? [True, True] Translation: X:6.28, Y:-0.50, Z:-0.40 [[ 9.97829284e-01 2.37426904e-02 6.14247963e-02 6.28272445e+00] [-2.34441979e-02 9.99709598e-01 -5.57573451e-03 -4.96317096e-01] [-6.15393413e-02 4.12357610e-03 9.98096140e-01 -4.01921746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.120714056999999 meters 0.037580918116227914 Centerline is valid? [True, True] Translation: X:6.31, Y:-0.50, Z:-0.40 [[ 9.97853240e-01 2.16547780e-02 6.18060024e-02 6.31245358e+00] [-2.13485159e-02 9.99756347e-01 -5.61136336e-03 -5.04888746e-01] [-6.19124560e-02 4.27985068e-03 9.98072408e-01 -4.04076644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.150714056999998 meters 0.03744509230905693 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.51, Z:-0.41 [[ 9.97885301e-01 2.05734281e-02 6.16576022e-02 6.34452775e+00] [-2.02664615e-02 9.99778931e-01 -5.59989203e-03 -5.07774699e-01] [-6.17591806e-02 4.33846852e-03 9.98081651e-01 -4.06147165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.180714057 meters 0.03666679793844188 Centerline is valid? [True, True] Translation: X:6.38, Y:-0.51, Z:-0.41 [[ 9.97879898e-01 2.00343939e-02 6.19219813e-02 6.37705936e+00] [-1.97235419e-02 9.99789636e-01 -5.62729719e-03 -5.10125751e-01] [-6.20216946e-02 4.39404596e-03 9.98065129e-01 -4.07001094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.210714056999999 meters 0.037018615712918625 Centerline is valid? [True, True] Translation: X:6.41, Y:-0.51, Z:-0.41 [[ 9.97882743e-01 2.02993149e-02 6.17897113e-02 6.40907600e+00] [-1.99893050e-02 9.99784335e-01 -5.63126852e-03 -5.13376255e-01] [-6.18906963e-02 4.38421229e-03 9.98073304e-01 -4.08577723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.240714056999998 meters 0.03646011536648054 Centerline is valid? [True, True] Translation: X:6.44, Y:-0.52, Z:-0.41 [[ 9.97924902e-01 2.03693923e-02 6.10817235e-02 6.44149970e+00] [-2.00656428e-02 9.99783081e-01 -5.58218046e-03 -5.15009173e-01] [-6.11821793e-02 4.34495285e-03 9.98117159e-01 -4.10793789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.270714057 meters 0.0375417040878298 Centerline is valid? [True, True] Translation: X:6.47, Y:-0.52, Z:-0.42 [[ 9.98003130e-01 2.03967222e-02 5.97806526e-02 6.47263016e+00] [-2.01048795e-02 9.99782862e-01 -5.47937417e-03 -5.20255772e-01] [-5.98794332e-02 4.26654976e-03 9.98196499e-01 -4.15162567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.300714056999999 meters 0.03863346919729591 Centerline is valid? [True, True] Translation: X:6.50, Y:-0.53, Z:-0.42 [[ 9.98016811e-01 2.03952585e-02 5.95523156e-02 6.50413009e+00] [-2.01052033e-02 9.99782929e-01 -5.46578908e-03 -5.25625864e-01] [-5.96508647e-02 4.25763797e-03 9.98210222e-01 -4.18427381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.330714057 meters 0.06611469785194853 Centerline is valid? [True, True] Translation: X:6.53, Y:-0.57, Z:-0.42 [[ 9.97722987e-01 2.43320075e-02 6.29030530e-02 6.53002663e+00] [-2.40149531e-02 9.99694823e-01 -5.79162808e-03 -5.69688985e-01] [-6.30247783e-02 4.26782660e-03 9.98002837e-01 -4.21860951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.360714057 meters 0.03707517198357622 Centerline is valid? [True, True] Translation: X:6.56, Y:-0.53, Z:-0.42 [[ 9.98101731e-01 1.98772847e-02 5.82908954e-02 6.56398128e+00] [-1.95975318e-02 9.99793544e-01 -5.36705671e-03 -5.29088788e-01] [-5.83855435e-02 4.21451092e-03 9.98285213e-01 -4.21622812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.390714056999999 meters 0.039794184112340925 Centerline is valid? [True, True] Translation: X:6.60, Y:-0.54, Z:-0.42 [[ 9.98077069e-01 2.02230632e-02 5.85934527e-02 6.59509102e+00] [-1.99411484e-02 9.99786615e-01 -5.39215493e-03 -5.36622404e-01] [-5.86899956e-02 4.21336545e-03 9.98267365e-01 -4.24304409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.420714057 meters 0.04018271798408923 Centerline is valid? [True, True] Translation: X:6.63, Y:-0.54, Z:-0.43 [[ 9.98082669e-01 2.01031120e-02 5.85393087e-02 6.62739426e+00] [-1.98205416e-02 9.99788951e-01 -5.40372237e-03 -5.40200048e-01] [-5.86355857e-02 4.23308084e-03 9.98270479e-01 -4.26283477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.450714056999999 meters 0.03849039986154149 Centerline is valid? [True, True] Translation: X:6.66, Y:-0.54, Z:-0.43 [[ 9.98068962e-01 2.02640548e-02 5.87172489e-02 6.66009486e+00] [-1.99791647e-02 9.99785624e-01 -5.43497002e-03 -5.41741710e-01] [-5.88147959e-02 4.25135330e-03 9.98259859e-01 -4.27559884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.480714056999998 meters 0.0417149227219315 Centerline is valid? [True, True] Translation: X:6.69, Y:-0.55, Z:-0.43 [[ 9.98039367e-01 2.08036486e-02 5.90307562e-02 6.69072083e+00] [-2.05157281e-02 9.99774515e-01 -5.47940422e-03 -5.49461607e-01] [-5.91314373e-02 4.25760217e-03 9.98241126e-01 -4.30223289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.510714057 meters 0.0417149227219315 Centerline is valid? [True, True] Translation: X:6.72, Y:-0.55, Z:-0.43 [[ 9.98034305e-01 2.10486224e-02 5.90294915e-02 6.72238345e+00] [-2.07603282e-02 9.99769391e-01 -5.49299307e-03 -5.52476950e-01] [-5.91314987e-02 4.25672390e-03 9.98241126e-01 -4.32406418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.540714056999999 meters 0.0424183670087701 Centerline is valid? [True, True] Translation: X:6.75, Y:-0.56, Z:-0.43 [[ 9.98060562e-01 2.09771687e-02 5.86094875e-02 6.75381076e+00] [-2.06919366e-02 9.99770939e-01 -5.46938343e-03 -5.56424921e-01] [-5.87107945e-02 4.24603210e-03 9.98266004e-01 -4.33908269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.570714056999998 meters 0.03726605490591701 Centerline is valid? [True, True] Translation: X:6.79, Y:-0.55, Z:-0.44 [[ 9.98111912e-01 2.14586192e-02 5.75511777e-02 6.78690070e+00] [-2.11840469e-02 9.99761134e-01 -5.37684817e-03 -5.50669218e-01] [-5.76528104e-02 4.14752937e-03 9.98328078e-01 -4.35408057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.600714057 meters 0.037999638993461725 Centerline is valid? [True, True] Translation: X:6.82, Y:-0.55, Z:-0.44 [[ 9.98144545e-01 2.10110536e-02 5.71489558e-02 6.81825425e+00] [-2.07387275e-02 9.99770593e-01 -5.35417968e-03 -5.54762899e-01] [-5.72483423e-02 4.15904862e-03 9.98351306e-01 -4.37832628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.630714056999999 meters 0.03851831800218559 Centerline is valid? [True, True] Translation: X:6.85, Y:-0.56, Z:-0.44 [[ 9.98251999e-01 1.94289000e-02 5.58163514e-02 6.84930477e+00] [-1.91658180e-02 9.99802562e-01 -5.24484144e-03 -5.58788110e-01] [-5.59072326e-02 4.16590742e-03 9.98427277e-01 -4.40585227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.660714057 meters 0.04388150437251625 Centerline is valid? [True, True] Translation: X:6.88, Y:-0.57, Z:-0.44 [[ 9.98238800e-01 1.97667992e-02 5.59336299e-02 6.87982158e+00] [-1.95031606e-02 9.99795983e-01 -5.25541998e-03 -5.70010524e-01] [-5.60261013e-02 4.15528157e-03 9.98420658e-01 -4.44277258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.690714057 meters 0.03942421438294652 Centerline is valid? [True, True] Translation: X:6.91, Y:-0.57, Z:-0.45 [[ 9.98226485e-01 1.99322515e-02 5.60944774e-02 6.91303068e+00] [-1.96666134e-02 9.99792632e-01 -5.28365364e-03 -5.66212554e-01] [-5.61881604e-02 4.17109460e-03 9.98411485e-01 -4.45227076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.720714056999999 meters 0.03947881002866878 Centerline is valid? [True, True] Translation: X:6.94, Y:-0.57, Z:-0.45 [[ 9.98257670e-01 1.95987440e-02 5.56553056e-02 6.94484319e+00] [-1.93359524e-02 9.99799225e-01 -5.25639544e-03 -5.69048752e-01] [-5.57471501e-02 4.17108873e-03 9.98436206e-01 -4.47255533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.750714057 meters 0.04040329069992852 Centerline is valid? [True, True] Translation: X:6.98, Y:-0.57, Z:-0.45 [[ 9.98314939e-01 1.71246990e-02 5.54439024e-02 6.97516586e+00] [-1.68591526e-02 9.99844072e-01 -5.25368711e-03 -5.73780080e-01] [-5.55252249e-02 4.31009712e-03 9.98447982e-01 -4.48148245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.780714056999999 meters 0.043535820759398165 Centerline is valid? [True, True] Translation: X:7.01, Y:-0.58, Z:-0.45 [[ 9.98310271e-01 1.61982521e-02 5.58051907e-02 7.00569050e+00] [-1.59278881e-02 9.99859169e-01 -5.28618551e-03 -5.82295312e-01] [-5.58829586e-02 4.38839445e-03 9.98427682e-01 -4.50272506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.810714056999998 meters 0.04434123361401696 Centerline is valid? [True, True] Translation: X:7.04, Y:-0.59, Z:-0.45 [[ 9.98263084e-01 1.61594296e-02 5.66541116e-02 7.03800752e+00] [-1.58799285e-02 9.99859431e-01 -5.38022107e-03 -5.87778216e-01] [-5.67330890e-02 4.47121284e-03 9.98379369e-01 -4.52271794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.840714057 meters 0.04204641171745261 Centerline is valid? [True, True] Translation: X:7.07, Y:-0.59, Z:-0.45 [[ 9.98259568e-01 1.58171115e-02 5.68124431e-02 7.07068714e+00] [-1.55346853e-02 9.99864697e-01 -5.40943414e-03 -5.88533974e-01] [-5.68903179e-02 4.51745596e-03 9.98370214e-01 -4.53783233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.870714056999999 meters 0.04170197943349799 Centerline is valid? [True, True] Translation: X:7.10, Y:-0.59, Z:-0.46 [[ 9.98286354e-01 1.55656231e-02 5.64098077e-02 7.10299608e+00] [-1.52859749e-02 9.99868659e-01 -5.38556115e-03 -5.91427992e-01] [-5.64862284e-02 4.51405330e-03 9.98393174e-01 -4.56490039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.900714056999998 meters 0.044935219140882804 Centerline is valid? [True, True] Translation: X:7.13, Y:-0.60, Z:-0.46 [[ 9.98320448e-01 1.56266387e-02 5.57861133e-02 7.13327177e+00] [-1.53524263e-02 9.99867882e-01 -5.34062998e-03 -5.99770783e-01] [-5.58621990e-02 4.47520792e-03 9.98428459e-01 -4.59696857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.930714057 meters 0.04134557745685118 Centerline is valid? [True, True] Translation: X:7.17, Y:-0.60, Z:-0.46 [[ 9.98340301e-01 1.59490414e-02 5.53377991e-02 7.16707086e+00] [-1.56790336e-02 9.99862976e-01 -5.31002095e-03 -5.98451806e-01] [-5.54149063e-02 4.43356470e-03 9.98453570e-01 -4.61022938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.960714056999999 meters 0.04196865586055837 Centerline is valid? [True, True] Translation: X:7.20, Y:-0.60, Z:-0.46 [[ 9.98356562e-01 1.63443063e-02 5.49275810e-02 7.19989048e+00] [-1.60779979e-02 9.99856764e-01 -5.28678895e-03 -6.03029270e-01] [-5.50061223e-02 4.39497491e-03 9.98476345e-01 -4.63459169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.990714056999998 meters 0.042612529890820317 Centerline is valid? [True, True] Translation: X:7.23, Y:-0.61, Z:-0.47 [[ 9.98377827e-01 1.57480886e-02 5.47148325e-02 7.23192976e+00] [-1.54820516e-02 9.99866190e-01 -5.28274249e-03 -6.07747519e-01] [-5.47907042e-02 4.42707511e-03 9.98488047e-01 -4.65761689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.020714057 meters 0.04448517993330171 Centerline is valid? [True, True] Translation: X:7.26, Y:-0.61, Z:-0.47 [[ 9.98381111e-01 1.49748796e-02 5.48717598e-02 7.26251373e+00] [-1.47053626e-02 9.99877759e-01 -5.31225568e-03 -6.14278961e-01] [-5.49446026e-02 4.49674660e-03 9.98479279e-01 -4.68247601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.050714056999999 meters 0.04505741115162265 Centerline is valid? [True, True] Translation: X:7.29, Y:-0.62, Z:-0.47 [[ 9.98359733e-01 1.41192433e-02 5.54841440e-02 7.29376287e+00] [-1.38415428e-02 9.99889694e-01 -5.38616744e-03 -6.19796128e-01] [-5.55540724e-02 4.60934653e-03 9.98445041e-01 -4.69866430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.080714057 meters 0.0476509817154707 Centerline is valid? [True, True] Translation: X:7.32, Y:-0.63, Z:-0.47 [[ 9.98360699e-01 1.13036292e-02 5.61083185e-02 7.32321041e+00] [-1.10147238e-02 9.99924453e-01 -5.45565974e-03 -6.28435582e-01] [-5.61657484e-02 4.82869864e-03 9.98409782e-01 -4.71093831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.110714057 meters 0.045420800494505566 Centerline is valid? [True, True] Translation: X:7.36, Y:-0.63, Z:-0.47 [[ 9.98378740e-01 1.02164837e-02 5.59956685e-02 7.35572752e+00] [-9.92706590e-03 9.99935904e-01 -5.44430102e-03 -6.28589665e-01] [-5.60477010e-02 4.87960170e-03 9.98416168e-01 -4.72528703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.140714056999999 meters 0.046636776696614396 Centerline is valid? [True, True] Translation: X:7.39, Y:-0.64, Z:-0.48 [[ 9.98364424e-01 1.04107358e-02 5.62147022e-02 7.38769636e+00] [-1.01192549e-02 9.99933852e-01 -5.46730781e-03 -6.35078840e-01] [-5.62679024e-02 4.88951471e-03 9.98403734e-01 -4.75431575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.170714057 meters 0.04663397147600704 Centerline is valid? [True, True] Translation: X:7.42, Y:-0.64, Z:-0.48 [[ 9.98366655e-01 1.00899650e-02 5.62335788e-02 7.41922043e+00] [-9.79688327e-03 9.99936965e-01 -5.48511047e-03 -6.38885991e-01] [-5.62853787e-02 4.92523759e-03 9.98402573e-01 -4.78063880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.200714056999999 meters 0.04429908944176024 Centerline is valid? [True, True] Translation: X:7.45, Y:-0.64, Z:-0.48 [[ 9.98338632e-01 1.05156065e-02 5.66515511e-02 7.45129978e+00] [-1.02180688e-02 9.99932452e-01 -5.53918342e-03 -6.39747060e-01] [-5.67059723e-02 4.95111135e-03 9.98378645e-01 -4.78711450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.230714056999998 meters 0.04559096021038203 Centerline is valid? [True, True] Translation: X:7.48, Y:-0.65, Z:-0.48 [[ 9.98315942e-01 1.14445059e-02 5.68709433e-02 7.48276877e+00] [-1.11453021e-02 9.99922345e-01 -5.57550962e-03 -6.45021849e-01] [-5.69303359e-02 4.93227629e-03 9.98365970e-01 -4.79590676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.260714057 meters 0.04431259749309531 Centerline is valid? [True, True] Translation: X:7.52, Y:-0.65, Z:-0.48 [[ 9.98301950e-01 1.32202375e-02 5.67313211e-02 7.51504206e+00] [-1.29243884e-02 9.99900914e-01 -5.57867194e-03 -6.45059003e-01] [-5.67994513e-02 4.83598144e-03 9.98373896e-01 -4.80162651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.290714056999999 meters 0.04319692442550159 Centerline is valid? [True, True] Translation: X:7.55, Y:-0.65, Z:-0.48 [[ 9.98289105e-01 1.37264880e-02 5.68370096e-02 7.54709694e+00] [-1.34303024e-02 9.99894185e-01 -5.58986180e-03 -6.46205779e-01] [-5.69077246e-02 4.81695992e-03 9.98367822e-01 -4.82077369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.320714056999998 meters 0.04273942151205686 Centerline is valid? [True, True] Translation: X:7.58, Y:-0.65, Z:-0.48 [[ 9.98251691e-01 1.47341135e-02 5.72404380e-02 7.57928585e+00] [-1.44344862e-02 9.99879885e-01 -5.64449616e-03 -6.49674089e-01] [-5.73167292e-02 4.80839152e-03 9.98344466e-01 -4.84626318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.350714057 meters 0.04572658732660345 Centerline is valid? [True, True] Translation: X:7.61, Y:-0.66, Z:-0.49 [[ 9.98266237e-01 1.52279746e-02 5.68562069e-02 7.60982022e+00] [-1.49323151e-02 9.99872705e-01 -5.62137741e-03 -6.57608334e-01] [-5.69345716e-02 4.76263648e-03 9.98366552e-01 -4.87494046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.380714056999999 meters 0.04459186896237332 Centerline is valid? [True, True] Translation: X:7.64, Y:-0.66, Z:-0.49 [[ 9.98284237e-01 1.64517785e-02 5.61953754e-02 7.64220297e+00] [-1.61641580e-02 9.99853843e-01 -5.56895958e-03 -6.59767870e-01] [-5.62787813e-02 4.65105364e-03 9.98404260e-01 -4.90185822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.410714056999998 meters 0.046146162610428275 Centerline is valid? [True, True] Translation: X:7.67, Y:-0.66, Z:-0.49 [[ 9.98291463e-01 1.73049094e-02 5.58094534e-02 7.67333395e+00] [-1.70217569e-02 9.99839744e-01 -5.54496666e-03 -6.64415671e-01] [-5.58964648e-02 4.58551793e-03 9.98426040e-01 -4.93302189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.440714057 meters 0.04415953148055852 Centerline is valid? [True, True] Translation: X:7.70, Y:-0.67, Z:-0.49 [[ 9.98208351e-01 1.99902326e-02 5.63957260e-02 7.70455709e+00] [-1.97044478e-02 9.99790058e-01 -5.61906901e-03 -6.65015826e-01] [-5.64962127e-02 4.49775498e-03 9.98392682e-01 -4.93576001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.470714056999999 meters 0.040810029677659225 Centerline is valid? [True, True] Translation: X:7.74, Y:-0.66, Z:-0.49 [[ 9.98137030e-01 2.14777025e-02 5.71067263e-02 7.73685947e+00] [-2.11870568e-02 9.99759336e-01 -5.69018131e-03 -6.63149370e-01] [-5.72151948e-02 4.46965722e-03 9.98351864e-01 -4.94534305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.500714057 meters 0.04108687199943486 Centerline is valid? [True, True] Translation: X:7.77, Y:-0.67, Z:-0.50 [[ 9.98018525e-01 2.42924421e-02 5.80422288e-02 7.76629213e+00] [-2.39965625e-02 9.99695278e-01 -5.78933174e-03 -6.66348381e-01] [-5.81651790e-02 4.38504636e-03 9.98297342e-01 -4.96594505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.530714056999999 meters 0.037844784222212165 Centerline is valid? [True, True] Translation: X:7.80, Y:-0.66, Z:-0.50 [[ 9.97967568e-01 2.57951846e-02 5.82695620e-02 7.79676827e+00] [-2.54995240e-02 9.99657939e-01 -5.81200674e-03 -6.64500058e-01] [-5.83995520e-02 4.31434813e-03 9.98283967e-01 -4.98119768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.560714056999998 meters 0.03759561290998022 Centerline is valid? [True, True] Translation: X:7.83, Y:-0.67, Z:-0.50 [[ 9.97916910e-01 2.70951129e-02 5.85465191e-02 7.82617103e+00] [-2.67988324e-02 9.99623788e-01 -5.83999355e-03 -6.67140101e-01] [-5.86827285e-02 4.25884997e-03 9.98267599e-01 -5.00672611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.590714057 meters 0.038317434509716794 Centerline is valid? [True, True] Translation: X:7.85, Y:-0.67, Z:-0.50 [[ 9.97849541e-01 3.00039196e-02 5.82757098e-02 7.85463864e+00] [-2.97154268e-02 9.99541508e-01 -5.81096528e-03 -6.70293064e-01] [-5.84233426e-02 4.06678145e-03 9.98283614e-01 -5.03358582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.620714056999999 meters 0.036215846860444316 Centerline is valid? [True, True] Translation: X:7.88, Y:-0.67, Z:-0.50 [[ 9.97825148e-01 3.11160959e-02 5.81099185e-02 7.88343735e+00] [-3.08312709e-02 9.99507823e-01 -5.79184676e-03 -6.69809202e-01] [-5.82615377e-02 3.98764771e-03 9.98293390e-01 -5.04910674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.650714056999998 meters 0.039612314268203865 Centerline is valid? [True, True] Translation: X:7.91, Y:-0.68, Z:-0.51 [[ 9.97817175e-01 3.19352754e-02 5.78015914e-02 7.91091325e+00] [-3.16550802e-02 9.99482273e-01 -5.75691627e-03 -6.77410546e-01] [-5.79555147e-02 3.91463592e-03 9.98311491e-01 -5.08001257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.680714057 meters 0.040265266585794886 Centerline is valid? [True, True] Translation: X:7.94, Y:-0.68, Z:-0.51 [[ 9.97810912e-01 3.32447170e-02 5.71679262e-02 7.93816272e+00] [-3.29730062e-02 9.99440047e-01 -5.68983638e-03 -6.80338540e-01] [-5.73250718e-02 3.79238244e-03 9.98348363e-01 -5.10900766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.710714056999999 meters 0.03763574658036012 Centerline is valid? [True, True] Translation: X:7.97, Y:-0.68, Z:-0.51 [[ 9.97815218e-01 3.35775996e-02 5.68975827e-02 7.96734891e+00] [-3.33092798e-02 9.99429077e-01 -5.65794031e-03 -6.78387568e-01] [-5.70550786e-02 3.75036144e-03 9.98363988e-01 -5.12934206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.740714056999998 meters 0.03640383098577915 Centerline is valid? [True, True] Translation: X:8.00, Y:-0.68, Z:-0.52 [[ 9.97806779e-01 3.42253264e-02 5.66591530e-02 7.99585835e+00] [-3.39605176e-02 9.99407316e-01 -5.63028228e-03 -6.78687632e-01] [-5.68182703e-02 3.69375967e-03 9.98377704e-01 -5.15374510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.770714057 meters 0.03426729738796475 Centerline is valid? [True, True] Translation: X:8.02, Y:-0.68, Z:-0.52 [[ 9.97790702e-01 3.45204016e-02 5.67631714e-02 8.02491227e+00] [-3.42553218e-02 9.99397219e-01 -5.63660810e-03 -6.78189772e-01] [-5.69235337e-02 3.67971444e-03 9.98371760e-01 -5.16721520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.800714056999999 meters 0.03780780086586303 Centerline is valid? [True, True] Translation: X:8.05, Y:-0.69, Z:-0.52 [[ 9.97784153e-01 3.44588551e-02 5.69154697e-02 8.05224147e+00] [-3.41924748e-02 9.99399308e-01 -5.64778590e-03 -6.86366519e-01] [-5.70758973e-02 3.68919051e-03 9.98363026e-01 -5.18948915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.830714057 meters 0.03497098445958812 Centerline is valid? [True, True] Translation: X:8.08, Y:-0.68, Z:-0.52 [[ 9.97794016e-01 3.35240405e-02 5.72995605e-02 8.08091800e+00] [-3.32528152e-02 9.99430828e-01 -5.68066226e-03 -6.84776207e-01] [-5.74573860e-02 3.76275911e-03 9.98340869e-01 -5.18480557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.860714057 meters 0.03419824032271972 Centerline is valid? [True, True] Translation: X:8.11, Y:-0.69, Z:-0.52 [[ 9.97851820e-01 3.24332429e-02 5.69195032e-02 8.10992456e+00] [-3.21641498e-02 9.99466700e-01 -5.63762509e-03 -6.86612296e-01] [-5.70719945e-02 3.79474703e-03 9.98362854e-01 -5.20075940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.890714056999999 meters 0.034624508765977925 Centerline is valid? [True, True] Translation: X:8.14, Y:-0.69, Z:-0.52 [[ 9.97880747e-01 3.16992051e-02 5.68258367e-02 8.13800104e+00] [-3.14300418e-02 9.99490130e-01 -5.62436074e-03 -6.90190636e-01] [-5.69751506e-02 3.82640287e-03 9.98368264e-01 -5.21833758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.920714057 meters 0.036534798547156126 Centerline is valid? [True, True] Translation: X:8.17, Y:-0.70, Z:-0.52 [[ 9.97902166e-01 3.15379880e-02 5.65386749e-02 8.16560751e+00] [-3.12715780e-02 9.99495288e-01 -5.59077499e-03 -6.95868818e-01] [-5.66864610e-02 3.81099289e-03 9.98384756e-01 -5.24234074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.950714056999999 meters 0.03519943010195201 Centerline is valid? [True, True] Translation: X:8.19, Y:-0.70, Z:-0.53 [[ 9.97943558e-01 3.09313989e-02 5.61418161e-02 8.19421998e+00] [-3.06680649e-02 9.99514237e-01 -5.54623562e-03 -6.95962208e-01] [-5.62860973e-02 3.81306925e-03 9.98407400e-01 -5.25696372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.980714056999998 meters 0.035913423749651646 Centerline is valid? [True, True] Translation: X:8.22, Y:-0.70, Z:-0.53 [[ 9.97962567e-01 3.04658837e-02 5.60584126e-02 8.22309645e+00] [-3.02028346e-02 9.99528471e-01 -5.53386834e-03 -6.99281522e-01] [-5.62005736e-02 3.82947049e-03 9.98412155e-01 -5.28474999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.010714057 meters 0.035844041293635914 Centerline is valid? [True, True] Translation: X:8.25, Y:-0.70, Z:-0.53 [[ 9.98011494e-01 2.95029002e-02 5.57013141e-02 8.25162293e+00] [-2.92419302e-02 9.99557262e-01 -5.49458696e-03 -7.01683442e-01] [-5.58387593e-02 3.85484701e-03 9.98432358e-01 -5.31126996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.040714056999999 meters 0.03703394763180891 Centerline is valid? [True, True] Translation: X:8.28, Y:-0.71, Z:-0.53 [[ 9.98034007e-01 2.86763592e-02 5.57295981e-02 8.27937580e+00] [-2.84141203e-02 9.99581148e-01 -5.49240924e-03 -7.06611482e-01] [-5.58637579e-02 3.89810369e-03 9.98430791e-01 -5.33572428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.070714056999998 meters 0.03854628069166939 Centerline is valid? [True, True] Translation: X:8.31, Y:-0.71, Z:-0.54 [[ 9.98065636e-01 2.76829034e-02 5.56654596e-02 8.30766881e+00] [-2.74197251e-02 9.99608954e-01 -5.48621603e-03 -7.11274558e-01] [-5.57955662e-02 3.94927209e-03 9.98434403e-01 -5.35877872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.100714057 meters 0.0381236469580323 Centerline is valid? [True, True] Translation: X:8.34, Y:-0.71, Z:-0.54 [[ 9.98065223e-01 2.73826454e-02 5.58211620e-02 8.33723187e+00] [-2.71177067e-02 9.99617126e-01 -5.49829701e-03 -7.12729468e-01] [-5.59503474e-02 3.97391714e-03 9.98425644e-01 -5.36721072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.130714056999999 meters 0.038137649250415843 Centerline is valid? [True, True] Translation: X:8.37, Y:-0.71, Z:-0.54 [[ 9.98082126e-01 2.70278274e-02 5.56917013e-02 8.36655798e+00] [-2.67636816e-02 9.99626748e-01 -5.48352816e-03 -7.14682129e-01] [-5.58191222e-02 3.98249649e-03 9.98432955e-01 -5.38426293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.160714056999998 meters 0.03860724131397865 Centerline is valid? [True, True] Translation: X:8.40, Y:-0.72, Z:-0.54 [[ 9.98088243e-01 2.65121566e-02 5.58297870e-02 8.39628337e+00] [-2.62460094e-02 9.99640411e-01 -5.49508966e-03 -7.16855196e-01] [-5.59553979e-02 4.01927527e-03 9.98425179e-01 -5.41273580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.190714057 meters 0.040564117159272654 Centerline is valid? [True, True] Translation: X:8.42, Y:-0.72, Z:-0.54 [[ 9.98123754e-01 2.58582956e-02 5.55006251e-02 8.42457904e+00] [-2.55943756e-02 9.99657494e-01 -5.46092590e-03 -7.22529942e-01] [-5.56228261e-02 4.03017602e-03 9.98443718e-01 -5.44246562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.220714056999999 meters 0.04178067000444755 Centerline is valid? [True, True] Translation: X:8.45, Y:-0.73, Z:-0.55 [[ 9.98172718e-01 2.49347743e-02 5.50407301e-02 8.45327815e+00] [-2.46739852e-02 9.99680898e-01 -5.41269430e-03 -7.26712709e-01] [-5.51581308e-02 4.04472962e-03 9.98469439e-01 -5.47234802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.250714057 meters 0.03941071931686766 Centerline is valid? [True, True] Translation: X:8.48, Y:-0.73, Z:-0.55 [[ 9.98206114e-01 2.26440488e-02 5.54238271e-02 8.48394627e+00] [-2.23763053e-02 9.99734782e-01 -5.44672653e-03 -7.25555613e-01] [-5.55324636e-02 4.19677525e-03 9.98448062e-01 -5.48924310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.280714056999999 meters 0.04379283365035373 Centerline is valid? [True, True] Translation: X:8.51, Y:-0.74, Z:-0.55 [[ 9.98169977e-01 2.23340644e-02 5.61950783e-02 8.51369182e+00] [-2.20583308e-02 9.99741434e-01 -5.52229773e-03 -7.35317629e-01] [-5.63038835e-02 4.27262217e-03 9.98404536e-01 -5.52038203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.310714056999998 meters 0.04036708639973022 Centerline is valid? [True, True] Translation: X:8.54, Y:-0.73, Z:-0.55 [[ 9.98179623e-01 2.10511232e-02 5.65180595e-02 8.54434015e+00] [-2.07700920e-02 9.99768844e-01 -5.55529501e-03 -7.32414784e-01] [-5.66219402e-02 4.37129698e-03 9.98386122e-01 -5.53644226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.340714057 meters 0.042250962451853544 Centerline is valid? [True, True] Translation: X:8.57, Y:-0.74, Z:-0.56 [[ 9.98171722e-01 2.04975372e-02 5.68600360e-02 8.57476875e+00] [-2.02123527e-02 9.99780103e-01 -5.58618991e-03 -7.38384078e-01] [-5.69620358e-02 4.42670170e-03 9.98366531e-01 -5.56593981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.370714056999999 meters 0.04795246641786866 Centerline is valid? [True, True] Translation: X:8.61, Y:-0.75, Z:-0.56 [[ 9.98184817e-01 2.01357052e-02 5.67593526e-02 8.60530227e+00] [-1.98501869e-02 9.99787340e-01 -5.58970221e-03 -7.50271262e-01] [-5.68598348e-02 4.45287212e-03 9.98372241e-01 -5.59232383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.400714056999998 meters 0.04348670845726089 Centerline is valid? [True, True] Translation: X:8.64, Y:-0.75, Z:-0.56 [[ 9.98203572e-01 1.97752382e-02 5.65558981e-02 8.63856473e+00] [-1.94904597e-02 9.99794457e-01 -5.58256515e-03 -7.45805459e-01] [-5.66546700e-02 4.47023602e-03 9.98383827e-01 -5.60025081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.430714057 meters 0.04348670845726089 Centerline is valid? [True, True] Translation: X:8.67, Y:-0.75, Z:-0.56 [[ 9.98198684e-01 2.00243825e-02 5.65544969e-02 8.67022792e+00] [-1.97392042e-02 9.99789498e-01 -5.59671983e-03 -7.49002191e-01] [-5.66546630e-02 4.47029760e-03 9.98383827e-01 -5.62208985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.460714056999999 meters 0.0502084852200112 Centerline is valid? [True, True] Translation: X:8.70, Y:-0.76, Z:-0.57 [[ 9.98196261e-01 2.03893794e-02 5.64667826e-02 8.70030385e+00] [-2.01048493e-02 9.99782180e-01 -5.60245742e-03 -7.61294254e-01] [-5.65687136e-02 4.45709589e-03 9.98388759e-01 -5.65231189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.490714056999998 meters 0.049993527615773505 Centerline is valid? [True, True] Translation: X:8.73, Y:-0.76, Z:-0.57 [[ 9.98160211e-01 2.13005395e-02 5.67668963e-02 8.73199128e+00] [-2.10135608e-02 9.99763239e-01 -5.64758816e-03 -7.63438591e-01] [-5.68737528e-02 4.44432316e-03 9.98371486e-01 -5.67762156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.520714057 meters 0.05004178900312214 Centerline is valid? [True, True] Translation: X:8.76, Y:-0.77, Z:-0.57 [[ 9.98110536e-01 2.35174308e-02 5.67652124e-02 8.76191528e+00] [-2.32338333e-02 9.99714087e-01 -5.65087470e-03 -7.65371664e-01] [-5.68818766e-02 4.32132409e-03 9.98371563e-01 -5.70528868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.550714056999999 meters 0.04417398959536474 Centerline is valid? [True, True] Translation: X:8.79, Y:-0.76, Z:-0.57 [[ 9.98060988e-01 2.52872848e-02 5.68754476e-02 8.79367208e+00] [-2.50054508e-02 9.99671283e-01 -5.66162544e-03 -7.59009713e-01] [-5.69999188e-02 4.22845127e-03 9.98365228e-01 -5.72273910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.580714056999998 meters 0.039358496381725706 Centerline is valid? [True, True] Translation: X:8.82, Y:-0.75, Z:-0.57 [[ 9.97995840e-01 2.78715527e-02 5.68109103e-02 8.82436062e+00] [-2.75944326e-02 9.99603196e-01 -5.65673304e-03 -7.52980572e-01] [-5.69460294e-02 4.07773121e-03 9.98368931e-01 -5.73615211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.610714057 meters 0.0398033063190473 Centerline is valid? [True, True] Translation: X:8.85, Y:-0.76, Z:-0.58 [[ 9.97963887e-01 2.94352746e-02 5.65830858e-02 8.85261962e+00] [-2.91629082e-02 9.99558797e-01 -5.63345911e-03 -7.55398334e-01] [-5.67239436e-02 3.97186141e-03 9.98382000e-01 -5.75134183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.640714056999999 meters 0.038032638259320455 Centerline is valid? [True, True] Translation: X:8.88, Y:-0.75, Z:-0.58 [[ 9.97780086e-01 3.34518769e-02 5.75836058e-02 8.88310642e+00] [-3.31766434e-02 9.99433082e-01 -5.72937934e-03 -7.54510962e-01] [-5.77426191e-02 3.80622986e-03 9.98324247e-01 -5.75368122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.670714057 meters 0.03721989458477529 Centerline is valid? [True, True] Translation: X:8.91, Y:-0.76, Z:-0.58 [[ 9.97757481e-01 3.42754372e-02 5.74908978e-02 8.91205319e+00] [-3.40024178e-02 9.99405378e-01 -5.72072384e-03 -7.55091894e-01] [-5.76527928e-02 3.75306548e-03 9.98329640e-01 -5.76686863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.700714056999999 meters 0.03735893657748886 Centerline is valid? [True, True] Translation: X:8.94, Y:-0.76, Z:-0.58 [[ 9.97676097e-01 3.54818519e-02 5.81673738e-02 8.94050554e+00] [-3.52046432e-02 9.99363387e-01 -5.78387259e-03 -7.57621412e-01] [-5.83355662e-02 3.72266979e-03 9.98290090e-01 -5.78281946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.730714056999998 meters 0.0343928743068214 Centerline is valid? [True, True] Translation: X:8.97, Y:-0.76, Z:-0.58 [[ 9.97539390e-01 3.86875822e-02 5.84673882e-02 8.97077003e+00] [-3.84132546e-02 9.99245053e-01 -5.80906078e-03 -7.55948876e-01] [-5.86479870e-02 3.54884429e-03 9.98272417e-01 -5.81269507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.760714057 meters 0.031996057603631625 Centerline is valid? [True, True] Translation: X:9.00, Y:-0.75, Z:-0.58 [[ 9.97486714e-01 4.02339272e-02 5.83222624e-02 8.99938620e+00] [-3.99636218e-02 9.99184336e-01 -5.79415255e-03 -7.54716167e-01] [-5.85078125e-02 3.44882136e-03 9.98280993e-01 -5.83576198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.790714056999999 meters 0.03072849261272969 Centerline is valid? [True, True] Translation: X:9.03, Y:-0.75, Z:-0.59 [[ 9.97313112e-01 4.35383239e-02 5.89149515e-02 9.02970549e+00] [-4.32685178e-02 9.99046362e-01 -5.84815939e-03 -7.54773632e-01] [-5.91133871e-02 3.28328341e-03 9.98245875e-01 -5.85711251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.820714056999998 meters 0.03170273613248389 Centerline is valid? [True, True] Translation: X:9.06, Y:-0.76, Z:-0.59 [[ 9.97203745e-01 4.54681156e-02 5.93071713e-02 9.05704105e+00] [-4.51981249e-02 9.98960698e-01 -5.88665731e-03 -7.58659487e-01] [-5.95131885e-02 3.18962378e-03 9.98222423e-01 -5.87454519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.850714057 meters 0.031196755824428712 Centerline is valid? [True, True] Translation: X:9.09, Y:-0.76, Z:-0.59 [[ 9.97102840e-01 4.73000393e-02 5.95704011e-02 9.08597952e+00] [-4.70312289e-02 9.98875952e-01 -5.90729483e-03 -7.59906481e-01] [-5.97828564e-02 3.08851128e-03 9.98206627e-01 -5.89197091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.880714056999999 meters 0.030581143957895678 Centerline is valid? [True, True] Translation: X:9.11, Y:-0.76, Z:-0.59 [[ 9.97014602e-01 4.92501068e-02 5.94668801e-02 9.11451806e+00] [-4.89859354e-02 9.98782084e-01 -5.89288471e-03 -7.61193472e-01] [-5.96846797e-02 2.96225136e-03 9.98212885e-01 -5.91513620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.910714056999998 meters 0.028053711355704676 Centerline is valid? [True, True] Translation: X:9.14, Y:-0.76, Z:-0.59 [[ 9.96871792e-01 5.23258606e-02 5.92337369e-02 9.14469319e+00] [-5.20694282e-02 9.98626242e-01 -5.86546352e-03 -7.59366308e-01] [-5.94592795e-02 2.76284832e-03 9.98226908e-01 -5.94217550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.940714057 meters 0.02832567402838272 Centerline is valid? [True, True] Translation: X:9.17, Y:-0.76, Z:-0.60 [[ 9.96792586e-01 5.36275685e-02 5.94022224e-02 9.17241315e+00] [-5.33721214e-02 9.98557382e-01 -5.87973761e-03 -7.62679039e-01] [-5.96318438e-02 2.69045623e-03 9.98216812e-01 -5.96746773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.970714056999999 meters 0.02794132069704492 Centerline is valid? [True, True] Translation: X:9.20, Y:-0.76, Z:-0.60 [[ 9.96607092e-01 5.66110347e-02 5.97452578e-02 9.20115358e+00] [-5.63583154e-02 9.98393127e-01 -5.90793567e-03 -7.64645172e-01] [-5.99837091e-02 2.52074850e-03 9.98196173e-01 -5.99495498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.000714057 meters 0.02708646187465069 Centerline is valid? [True, True] Translation: X:9.23, Y:-0.77, Z:-0.60 [[ 9.96509599e-01 5.80004006e-02 6.00380905e-02 9.23015126e+00] [-5.77478191e-02 9.98313560e-01 -5.93507128e-03 -7.65496553e-01] [-6.02810764e-02 2.44728671e-03 9.98178442e-01 -6.01369885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.030714056999999 meters 0.02673552388100061 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.77, Z:-0.60 [[ 9.96396000e-01 5.96992838e-02 6.02578414e-02 9.25778218e+00] [-5.94481925e-02 9.98213643e-01 -5.95272511e-03 -7.67831522e-01] [-6.05055728e-02 2.34905173e-03 9.98165095e-01 -6.03564029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.060714056999998 meters 0.024773747448166433 Centerline is valid? [True, True] Translation: X:9.29, Y:-0.77, Z:-0.61 [[ 9.96307922e-01 6.10639125e-02 6.03466902e-02 9.28717437e+00] [-6.08148232e-02 9.98131287e-01 -5.95743452e-03 -7.66658969e-01] [-6.05977038e-02 2.26546591e-03 9.98159700e-01 -6.05053153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.090714057 meters 0.02359643025690525 Centerline is valid? [True, True] Translation: X:9.32, Y:-0.77, Z:-0.61 [[ 9.96028911e-01 6.44516095e-02 6.14198612e-02 9.31707192e+00] [-6.42009752e-02 9.97918665e-01 -6.04750156e-03 -7.68035468e-01] [-6.16817971e-02 2.08027140e-03 9.98093697e-01 -6.06933207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.120714056999999 meters 0.023278955758256024 Centerline is valid? [True, True] Translation: X:9.35, Y:-0.77, Z:-0.61 [[ 9.95894601e-01 6.65326843e-02 6.13787051e-02 9.34599536e+00] [-6.62864499e-02 9.97782344e-01 -6.04151167e-03 -7.70745836e-01] [-6.16445462e-02 1.94813239e-03 9.98096265e-01 -6.09091504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.150714056999998 meters 0.02326898764775149 Centerline is valid? [True, True] Translation: X:9.37, Y:-0.77, Z:-0.61 [[ 9.95832679e-01 6.75012985e-02 6.13257639e-02 9.37349846e+00] [-6.72582728e-02 9.97717432e-01 -6.02089792e-03 -7.74016337e-01] [-6.15922021e-02 1.87114195e-03 9.98099644e-01 -6.10882276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.180714057 meters 0.023186255631674695 Centerline is valid? [True, True] Translation: X:9.40, Y:-0.78, Z:-0.61 [[ 9.95810461e-01 6.81835082e-02 6.09305691e-02 9.40092621e+00] [-6.79452157e-02 9.97671152e-01 -5.97668206e-03 -7.77927973e-01] [-6.11961822e-02 1.81170186e-03 9.98124113e-01 -6.13040629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.210714056999999 meters 0.023911873733579243 Centerline is valid? [True, True] Translation: X:9.43, Y:-0.78, Z:-0.62 [[ 9.95809719e-01 6.86416345e-02 6.04262265e-02 9.42862246e+00] [-6.84084398e-02 9.97639823e-01 -5.92191135e-03 -7.82860527e-01] [-6.06900996e-02 1.76343300e-03 9.98155099e-01 -6.15918006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.240714056999998 meters 0.023328866072082913 Centerline is valid? [True, True] Translation: X:9.46, Y:-0.79, Z:-0.62 [[ 9.95736358e-01 7.00687125e-02 5.99956793e-02 9.45743642e+00] [-6.98416653e-02 9.97540785e-01 -5.87564130e-03 -7.86838307e-01] [-6.02598356e-02 1.66039151e-03 9.98181344e-01 -6.18236338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.270714057 meters 0.022290337016133723 Centerline is valid? [True, True] Translation: X:9.49, Y:-0.79, Z:-0.62 [[ 9.95700586e-01 7.05524100e-02 6.00225026e-02 9.48573259e+00] [-7.03268410e-02 9.97506761e-01 -5.86495348e-03 -7.88401128e-01] [-6.02866388e-02 1.61854462e-03 9.98179794e-01 -6.19862299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.300714056999999 meters 0.022423567792168288 Centerline is valid? [True, True] Translation: X:9.51, Y:-0.79, Z:-0.62 [[ 9.95640865e-01 7.16357087e-02 5.97293403e-02 9.51262603e+00] [-7.14152808e-02 9.97429691e-01 -5.81976750e-03 -7.94087612e-01] [-5.99927206e-02 1.52881074e-03 9.98197644e-01 -6.22131725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.330714056999998 meters 0.02291984936914681 Centerline is valid? [True, True] Translation: X:9.54, Y:-0.80, Z:-0.62 [[ 9.95652301e-01 7.14487216e-02 5.97626655e-02 9.53887167e+00] [-7.12279823e-02 9.97443091e-01 -5.81850416e-03 -7.99083876e-01] [-6.00255824e-02 1.53643297e-03 9.98195657e-01 -6.24408237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.360714057 meters 0.023045283745419993 Centerline is valid? [True, True] Translation: X:9.57, Y:-0.80, Z:-0.63 [[ 9.95640043e-01 7.14624455e-02 5.99501735e-02 9.56582020e+00] [-7.12410061e-02 9.97442118e-01 -5.82574825e-03 -8.04992270e-01] [-6.02131502e-02 1.52943756e-03 9.98184370e-01 -6.26828893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.390714056999999 meters 0.022884819998735057 Centerline is valid? [True, True] Translation: X:9.59, Y:-0.81, Z:-0.63 [[ 9.95630311e-01 7.16629210e-02 5.98724416e-02 9.59357538e+00] [-7.14435399e-02 9.97427785e-01 -5.79957365e-03 -8.10036691e-01] [-6.01340512e-02 1.49673215e-03 9.98189188e-01 -6.29382641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.420714057 meters 0.02333430993191637 Centerline is valid? [True, True] Translation: X:9.62, Y:-0.81, Z:-0.63 [[ 9.95637608e-01 7.17068108e-02 5.96982972e-02 9.62108194e+00] [-7.14889977e-02 9.97424646e-01 -5.77915561e-03 -8.14584320e-01] [-5.99589577e-02 1.48617323e-03 9.98199737e-01 -6.32001219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.450714056999999 meters 0.023279724372366483 Centerline is valid? [True, True] Translation: X:9.65, Y:-0.82, Z:-0.63 [[ 9.95557300e-01 7.27358246e-02 5.97926674e-02 9.64850543e+00] [-7.25202751e-02 9.97350248e-01 -5.76999634e-03 -8.20862004e-01] [-6.00539171e-02 1.40818129e-03 9.98194141e-01 -6.34148706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.480714056999998 meters 0.023486733731713883 Centerline is valid? [True, True] Translation: X:9.68, Y:-0.82, Z:-0.64 [[ 9.95550605e-01 7.29042689e-02 5.96989154e-02 9.67635237e+00] [-7.26899082e-02 9.97337971e-01 -5.75745073e-03 -8.24815050e-01] [-5.99597379e-02 1.39232488e-03 9.98199825e-01 -6.36385238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.510714057 meters 0.023678925476754452 Centerline is valid? [True, True] Translation: X:9.70, Y:-0.83, Z:-0.64 [[ 9.95541676e-01 7.32874007e-02 5.93778393e-02 9.70407260e+00] [-7.30770866e-02 9.97309957e-01 -5.70868117e-03 -8.30956306e-01] [-5.96364848e-02 1.34407052e-03 9.98219256e-01 -6.38483894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.540714056999999 meters 0.023547132451583862 Centerline is valid? [True, True] Translation: X:9.73, Y:-0.84, Z:-0.64 [[ 9.95505680e-01 7.34741438e-02 5.97494076e-02 9.73224757e+00] [-7.32617482e-02 9.97296225e-01 -5.74063877e-03 -8.35417847e-01] [-6.00096472e-02 1.33749245e-03 9.98196901e-01 -6.40746083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.570714056999998 meters 0.02383933524362344 Centerline is valid? [True, True] Translation: X:9.76, Y:-0.84, Z:-0.64 [[ 9.95539141e-01 7.31738386e-02 5.95601227e-02 9.76006996e+00] [-7.29630733e-02 9.97318304e-01 -5.70874070e-03 -8.40327730e-01] [-5.98181310e-02 1.33758522e-03 9.98208396e-01 -6.42645275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.600714057 meters 0.02438406143618899 Centerline is valid? [True, True] Translation: X:9.79, Y:-0.85, Z:-0.65 [[ 9.95625609e-01 7.24731764e-02 5.89685165e-02 9.78683477e+00] [-7.22663847e-02 9.97369450e-01 -5.63468173e-03 -8.47348559e-01] [-5.92217601e-02 1.34859194e-03 9.98243940e-01 -6.45245824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.630714056999999 meters 0.024776472604055626 Centerline is valid? [True, True] Translation: X:9.81, Y:-0.85, Z:-0.65 [[ 9.95708092e-01 7.18269387e-02 5.83633990e-02 9.81464701e+00] [-7.16235472e-02 9.97416172e-01 -5.57206651e-03 -8.52596902e-01] [-5.86128225e-02 1.36795805e-03 9.98279853e-01 -6.47912621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.660714056999998 meters 0.025922793903920664 Centerline is valid? [True, True] Translation: X:9.84, Y:-0.86, Z:-0.65 [[ 9.95963035e-01 6.90287656e-02 5.73817310e-02 9.84243599e+00] [-6.88278063e-02 9.97613539e-01 -5.47352479e-03 -8.61565718e-01] [-5.76226224e-02 1.50196969e-03 9.98337306e-01 -6.51192065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.690714057 meters 0.025344775114657336 Centerline is valid? [True, True] Translation: X:9.87, Y:-0.87, Z:-0.65 [[ 9.96095722e-01 6.71583572e-02 5.72980586e-02 9.87128716e+00] [-6.69549918e-02 9.97741036e-01 -5.46385007e-03 -8.65036766e-01] [-5.75355675e-02 1.60612664e-03 9.98342165e-01 -6.52291019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.720714056999999 meters 0.027626148648529678 Centerline is valid? [True, True] Translation: X:9.90, Y:-0.87, Z:-0.66 [[ 9.96238951e-01 6.49727563e-02 5.73279532e-02 9.89758719e+00] [-6.47664174e-02 9.97885558e-01 -5.45192270e-03 -8.74862283e-01] [-5.75609630e-02 1.71849161e-03 9.98340514e-01 -6.55881688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.750714057 meters 0.02755739480423072 Centerline is valid? [True, True] Translation: X:9.93, Y:-0.88, Z:-0.66 [[ 9.96507615e-01 6.09130784e-02 5.71154107e-02 9.92609460e+00] [-6.07021499e-02 9.98141196e-01 -5.42232468e-03 -8.81649004e-01] [-5.73395349e-02 1.93635961e-03 9.98352858e-01 -6.57018350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.780714056999999 meters 0.030939901973370234 Centerline is valid? [True, True] Translation: X:9.95, Y:-0.89, Z:-0.66 [[ 9.96630144e-01 5.86189892e-02 5.73774316e-02 9.95307554e+00] [-5.84025318e-02 9.98278274e-01 -5.44359653e-03 -8.92448013e-01] [-5.75977415e-02 2.07426512e-03 9.98337717e-01 -6.60736159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.810714056999998 meters 0.02806299997590146 Centerline is valid? [True, True] Translation: X:9.98, Y:-0.89, Z:-0.66 [[ 9.96869826e-01 5.54922940e-02 5.63130040e-02 9.98228242e+00] [-5.52792676e-02 9.98456680e-01 -5.33478421e-03 -8.92548147e-01] [-5.65221344e-02 2.20514379e-03 9.98398911e-01 -6.61117620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.840714057 meters 0.029831030589876545 Centerline is valid? [True, True] Translation: X:10.01, Y:-0.90, Z:-0.66 [[ 9.96995450e-01 5.38219683e-02 5.57069937e-02 1.00088698e+01] [-5.36110321e-02 9.98547961e-01 -5.27512854e-03 -8.99566872e-01] [-5.59100228e-02 2.27276972e-03 9.98433225e-01 -6.64304379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.870714056999999 meters 0.034727556944219834 Centerline is valid? [True, True] Translation: X:10.04, Y:-0.91, Z:-0.67 [[ 9.97076943e-01 5.21178933e-02 5.58685516e-02 1.00355429e+01] [-5.19034063e-02 9.98638129e-01 -5.28429111e-03 -9.12974261e-01] [-5.60678720e-02 2.36907669e-03 9.98424149e-01 -6.69052835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.900714056999998 meters 0.02940002396668915 Centerline is valid? [True, True] Translation: X:10.07, Y:-0.91, Z:-0.67 [[ 9.97271899e-01 4.86399918e-02 5.55239689e-02 1.00654840e+01] [-4.84230356e-02 9.98813135e-01 -5.24692449e-03 -9.09382911e-01] [-5.57132798e-02 2.54397123e-03 9.98443568e-01 -6.67922041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.930714057 meters 0.029308184543078198 Centerline is valid? [True, True] Translation: X:10.09, Y:-0.91, Z:-0.67 [[ 9.97403647e-01 4.64783269e-02 5.50066367e-02 1.00947285e+01] [-4.62623857e-02 9.98915823e-01 -5.19326369e-03 -9.13427108e-01] [-5.51883739e-02 2.63504190e-03 9.98472483e-01 -6.69732793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.960714056999999 meters 0.03109372719025518 Centerline is valid? [True, True] Translation: X:10.12, Y:-0.92, Z:-0.67 [[ 9.97611506e-01 4.18888400e-02 5.49236658e-02 1.01232715e+01] [-4.16667277e-02 9.99118119e-01 -5.18341293e-03 -9.23297339e-01] [-5.50923569e-02 2.88254295e-03 9.98477102e-01 -6.71917416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.990714056999998 meters 0.032179235941113146 Centerline is valid? [True, True] Translation: X:10.15, Y:-0.93, Z:-0.67 [[ 9.97722207e-01 3.97843712e-02 5.44756878e-02 1.01515270e+01] [-3.95628279e-02 9.99203866e-01 -5.13964280e-03 -9.29605352e-01] [-5.46367954e-02 2.97272349e-03 9.98501870e-01 -6.73816937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.020714057 meters 0.031840223210554755 Centerline is valid? [True, True] Translation: X:10.18, Y:-0.93, Z:-0.68 [[ 9.97827309e-01 3.74949343e-02 5.41737209e-02 1.01806164e+01] [-3.72727016e-02 9.99292081e-01 -5.10711567e-03 -9.33071117e-01] [-5.43268613e-02 3.07681855e-03 9.98518465e-01 -6.75445362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.050714056999999 meters 0.03494662609985558 Centerline is valid? [True, True] Translation: X:10.21, Y:-0.94, Z:-0.68 [[ 9.98004388e-01 3.38861496e-02 5.32819855e-02 1.02081547e+01] [-3.36662453e-02 9.99420526e-01 -5.01957520e-03 -9.44569564e-01] [-5.34212041e-02 3.21575369e-03 9.98566890e-01 -6.79994072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.080714056999998 meters 0.033997842817002966 Centerline is valid? [True, True] Translation: X:10.24, Y:-0.95, Z:-0.68 [[ 9.98111637e-01 3.18816996e-02 5.25044419e-02 1.02372402e+01] [-3.16654227e-02 9.99486286e-01 -4.94614750e-03 -9.47293514e-01] [-5.26351613e-02 3.27423203e-03 9.98608441e-01 -6.82044408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.110714057 meters 0.03565194153338293 Centerline is valid? [True, True] Translation: X:10.27, Y:-0.96, Z:-0.68 [[ 9.98203612e-01 2.87114173e-02 5.25852019e-02 1.02665720e+01] [-2.84902775e-02 9.99581812e-01 -4.95030233e-03 -9.55104149e-01] [-5.27053416e-02 3.44324267e-03 9.98604171e-01 -6.84364590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.140714056999999 meters 0.034290777934066693 Centerline is valid? [True, True] Translation: X:10.30, Y:-0.96, Z:-0.69 [[ 9.98227494e-01 2.74086344e-02 5.28264843e-02 1.02965204e+01] [-2.71836783e-02 9.99618089e-01 -4.97234842e-03 -9.56172526e-01] [-5.29425946e-02 3.52751675e-03 9.98591327e-01 -6.85251988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.170714057 meters 0.03531630863311907 Centerline is valid? [True, True] Translation: X:10.33, Y:-0.96, Z:-0.69 [[ 9.98233857e-01 2.68555767e-02 5.29900410e-02 1.03255470e+01] [-2.66285917e-02 9.99632966e-01 -4.98504979e-03 -9.61171614e-01] [-5.31044682e-02 3.56519531e-03 9.98582598e-01 -6.86927656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.200714056999999 meters 0.0346959248961893 Centerline is valid? [True, True] Translation: X:10.36, Y:-0.96, Z:-0.69 [[ 9.98236005e-01 2.60413570e-02 5.33547113e-02 1.03561460e+01] [-2.58100401e-02 9.99654261e-01 -5.02002762e-03 -9.63583167e-01] [-5.34669928e-02 3.63408508e-03 9.98563005e-01 -6.88648487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.230714056999998 meters 0.03674466762769824 Centerline is valid? [True, True] Translation: X:10.39, Y:-0.97, Z:-0.69 [[ 9.98211100e-01 2.58254096e-02 5.39226031e-02 1.03856402e+01] [-2.55888367e-02 9.99659679e-01 -5.07319380e-03 -9.69843019e-01] [-5.40352694e-02 3.68430169e-03 9.98532231e-01 -6.91519098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.260714057 meters 0.036749324317893545 Centerline is valid? [True, True] Translation: X:10.42, Y:-0.97, Z:-0.69 [[ 9.98174877e-01 2.66638102e-02 5.41844615e-02 1.04158766e+01] [-2.64260911e-02 9.99637765e-01 -5.09909056e-03 -9.72801315e-01] [-5.43007952e-02 3.65790058e-03 9.98517923e-01 -6.94028359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.290714056999999 meters 0.03592267055459384 Centerline is valid? [True, True] Translation: X:10.45, Y:-0.97, Z:-0.70 [[ 9.98179392e-01 2.74139258e-02 5.37250315e-02 1.04468112e+01] [-2.71813213e-02 9.99617735e-01 -5.05558808e-03 -9.74064478e-01] [-5.38430878e-02 3.58606649e-03 9.98542970e-01 -6.96234937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.320714056999998 meters 0.03592267055459384 Centerline is valid? [True, True] Translation: X:10.48, Y:-0.98, Z:-0.70 [[ 9.98179395e-01 2.74140106e-02 5.37249152e-02 1.04766780e+01] [-2.71813401e-02 9.99617729e-01 -5.05682286e-03 -9.76875395e-01] [-5.38430055e-02 3.58730120e-03 9.98542970e-01 -6.98300583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.350714057 meters 0.0343508744681214 Centerline is valid? [True, True] Translation: X:10.51, Y:-0.98, Z:-0.70 [[ 9.98174226e-01 2.82446076e-02 5.33896723e-02 1.05073666e+01] [-2.80160176e-02 9.99594843e-01 -5.02526834e-03 -9.76198075e-01] [-5.35099778e-02 3.52032734e-03 9.98561110e-01 -7.00406755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.380714056999999 meters 0.03457799784157149 Centerline is valid? [True, True] Translation: X:10.54, Y:-0.98, Z:-0.70 [[ 9.98067600e-01 3.13636665e-02 5.36412736e-02 1.05373045e+01] [-3.11373965e-02 9.99502361e-01 -5.04895015e-03 -9.78251142e-01] [-5.37729332e-02 3.36894395e-03 9.98547506e-01 -7.03258056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.410714056999998 meters 0.032938943890048686 Centerline is valid? [True, True] Translation: X:10.57, Y:-0.98, Z:-0.71 [[ 9.97998569e-01 3.33681533e-02 5.37161368e-02 1.05671480e+01] [-3.31441117e-02 9.99437792e-01 -5.05653271e-03 -9.77628543e-01] [-5.38546643e-02 3.26603877e-03 9.98543443e-01 -7.05353097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.440714057 meters 0.03134199958953692 Centerline is valid? [True, True] Translation: X:10.60, Y:-0.98, Z:-0.71 [[ 9.97863432e-01 3.70224071e-02 5.38322710e-02 1.05978239e+01] [-3.68028098e-02 9.99309710e-01 -5.06522922e-03 -9.75653179e-01] [-5.39826381e-02 3.07322818e-03 9.98537145e-01 -7.06829539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.470714056999999 meters 0.0318690470916336 Centerline is valid? [True, True] Translation: X:10.63, Y:-0.98, Z:-0.71 [[ 9.97787663e-01 3.89651270e-02 5.38655662e-02 1.06260597e+01] [-3.87481025e-02 9.99236159e-01 -5.06789968e-03 -9.77963618e-01] [-5.40218928e-02 2.96949930e-03 9.98535336e-01 -7.09292488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.500714057 meters 0.02996142410647174 Centerline is valid? [True, True] Translation: X:10.66, Y:-0.97, Z:-0.71 [[ 9.97632613e-01 4.26267010e-02 5.39641850e-02 1.06567417e+01] [-4.24144047e-02 9.99087221e-01 -5.07371396e-03 -9.74979592e-01] [-5.41312033e-02 2.77284374e-03 9.98529982e-01 -7.11355734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.530714056999999 meters 0.03090783036049331 Centerline is valid? [True, True] Translation: X:10.68, Y:-0.98, Z:-0.71 [[ 9.97497484e-01 4.44801148e-02 5.49571598e-02 1.06848103e+01] [-4.42627436e-02 9.99006564e-01 -5.16677499e-03 -9.78430680e-01] [-5.51323821e-02 2.72129038e-03 9.98475345e-01 -7.14187687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.560714056999998 meters 0.02925655974504147 Centerline is valid? [True, True] Translation: X:10.71, Y:-0.98, Z:-0.72 [[ 9.97461833e-01 4.55488846e-02 5.47283432e-02 1.07137254e+01] [-4.53351417e-02 9.98958604e-01 -5.14133270e-03 -9.76873474e-01] [-5.49055313e-02 2.64716594e-03 9.98488045e-01 -7.15735110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.590714057 meters 0.02874203767290692 Centerline is valid? [True, True] Translation: X:10.74, Y:-0.98, Z:-0.72 [[ 9.97389658e-01 4.68552937e-02 5.49404341e-02 1.07422162e+01] [-4.66420855e-02 9.98898352e-01 -5.15725647e-03 -9.76344857e-01] [-5.51215539e-02 2.58125783e-03 9.98476315e-01 -7.18301873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.620714056999999 meters 0.028627813964816704 Centerline is valid? [True, True] Translation: X:10.77, Y:-0.98, Z:-0.72 [[ 9.97389047e-01 4.72133275e-02 5.46442213e-02 1.07712841e+01] [-4.70031675e-02 9.98881590e-01 -5.12550580e-03 -9.77781812e-01] [-5.48250989e-02 2.54367186e-03 9.98492733e-01 -7.20716241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.650714056999998 meters 0.04238614319224364 Centerline is valid? [True, True] Translation: X:10.80, Y:-1.00, Z:-0.73 [[ 9.97011028e-01 5.01205300e-02 5.87957648e-02 1.07980613e+01] [-4.98825110e-02 9.98739894e-01 -5.50990836e-03 -1.00301368e+00] [-5.89978355e-02 2.56055901e-03 9.98254827e-01 -7.26831188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.680714057 meters 0.02866161710705784 Centerline is valid? [True, True] Translation: X:10.83, Y:-0.98, Z:-0.72 [[ 9.97417774e-01 4.58021649e-02 5.53167853e-02 1.08310307e+01] [-4.55850197e-02 9.98947024e-01 -5.18156461e-03 -9.81693116e-01] [-5.54958650e-02 2.64656789e-03 9.98455409e-01 -7.24967020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.710714056999999 meters 0.03002537522591807 Centerline is valid? [True, True] Translation: X:10.86, Y:-0.99, Z:-0.73 [[ 9.97439924e-01 4.44696258e-02 5.60004518e-02 1.08584182e+01] [-4.42449157e-02 9.99006937e-01 -5.24673077e-03 -9.86127132e-01] [-5.61781599e-02 2.75556347e-03 9.98416958e-01 -7.26979704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.740714056999998 meters 0.030613115208908873 Centerline is valid? [True, True] Translation: X:10.89, Y:-0.99, Z:-0.73 [[ 9.97530833e-01 4.16271722e-02 5.65633845e-02 1.08877972e+01] [-4.13936920e-02 9.99128890e-01 -5.29364222e-03 -9.89206139e-01] [-5.67344710e-02 2.93920401e-03 9.98384976e-01 -7.28678252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.770714057 meters 0.030472048342741403 Centerline is valid? [True, True] Translation: X:10.92, Y:-0.99, Z:-0.73 [[ 9.97600998e-01 4.03683508e-02 5.62373988e-02 1.09161801e+01] [-4.01356523e-02 9.99180387e-01 -5.26157961e-03 -9.90989457e-01] [-5.64037072e-02 2.99183238e-03 9.98403561e-01 -7.30558200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.800714056999999 meters 0.032900759712105904 Centerline is valid? [True, True] Translation: X:10.94, Y:-1.00, Z:-0.73 [[ 9.97707251e-01 3.78010774e-02 5.61366214e-02 1.09442567e+01] [-3.75654068e-02 9.99280391e-01 -5.24785297e-03 -9.96700183e-01] [-5.62945995e-02 3.12702595e-03 9.98409305e-01 -7.33985672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.830714056999998 meters 0.03209556807371925 Centerline is valid? [True, True] Translation: X:10.97, Y:-1.00, Z:-0.74 [[ 9.97784740e-01 3.62320998e-02 5.57928914e-02 1.09733203e+01] [-3.59970333e-02 9.99338301e-01 -5.21275171e-03 -9.96648052e-01] [-5.59448422e-02 3.19282554e-03 9.98428756e-01 -7.35996427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.860714057 meters 0.03272564613890832 Centerline is valid? [True, True] Translation: X:11.00, Y:-1.00, Z:-0.74 [[ 9.97803063e-01 3.50134976e-02 5.62414725e-02 1.10011278e+01] [-3.47728625e-02 9.99381442e-01 -5.25183727e-03 -1.00032980e+00] [-5.63905690e-02 3.28462232e-03 9.98403383e-01 -7.38723241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.890714056999999 meters 0.03345639488925229 Centerline is valid? [True, True] Translation: X:11.03, Y:-1.00, Z:-0.74 [[ 9.97902764e-01 3.18983596e-02 5.63255542e-02 1.10311816e+01] [-3.16523993e-02 9.99485129e-01 -5.25373118e-03 -1.00249004e+00] [-5.64641393e-02 3.45987394e-03 9.98398633e-01 -7.40772696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.920714057 meters 0.03310234578893192 Centerline is valid? [True, True] Translation: X:11.06, Y:-1.00, Z:-0.74 [[ 9.97945490e-01 3.06551202e-02 5.62588907e-02 1.10605634e+01] [-3.04078208e-02 9.99523805e-01 -5.24672184e-03 -1.00362634e+00] [-5.63929393e-02 3.52523213e-03 9.98402428e-01 -7.42549186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.950714056999999 meters 0.033506079278449646 Centerline is valid? [True, True] Translation: X:11.09, Y:-1.01, Z:-0.74 [[ 9.97965621e-01 2.90865492e-02 5.67326433e-02 1.10903652e+01] [-2.88326575e-02 9.99570261e-01 -5.28881876e-03 -1.00607375e+00] [-5.68620965e-02 3.64230643e-03 9.98375398e-01 -7.44172958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.980714056999998 meters 0.034651003713358684 Centerline is valid? [True, True] Translation: X:11.12, Y:-1.01, Z:-0.75 [[ 9.97964574e-01 2.59586523e-02 5.82482337e-02 1.11207277e+01] [-2.56858418e-02 9.99655330e-01 -5.42754736e-03 -1.00975095e+00] [-5.83690491e-02 3.92034508e-03 9.98287376e-01 -7.45656683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.010714057 meters 0.03538180291370619 Centerline is valid? [True, True] Translation: X:11.15, Y:-1.01, Z:-0.75 [[ 9.97961277e-01 2.40681873e-02 5.91101648e-02 1.11514078e+01] [-2.37839420e-02 9.99701950e-01 -5.50769285e-03 -1.01381421e+00] [-5.92251072e-02 4.09059146e-03 9.98236272e-01 -7.48047453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.040714056999999 meters 0.03841809982496203 Centerline is valid? [True, True] Translation: X:11.18, Y:-1.02, Z:-0.75 [[ 9.98079470e-01 1.98048984e-02 5.86952880e-02 1.11799283e+01] [-1.95172396e-02 9.99794556e-01 -5.47017369e-03 -1.02021619e+00] [-5.87915657e-02 4.31409806e-03 9.98260958e-01 -7.51582090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.070714056999998 meters 0.03691270263069931 Centerline is valid? [True, True] Translation: X:11.21, Y:-1.02, Z:-0.75 [[ 9.98164379e-01 1.75266455e-02 5.79714572e-02 1.12112947e+01] [-1.72422147e-02 9.99836743e-01 -5.40299753e-03 -1.02038022e+00] [-5.80566895e-02 4.39352336e-03 9.98303620e-01 -7.53730852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.100714057 meters 0.039771007471988994 Centerline is valid? [True, True] Translation: X:11.24, Y:-1.03, Z:-0.76 [[ 9.98247224e-01 1.54441788e-02 5.71310605e-02 1.12408161e+01] [-1.51644178e-02 9.99870823e-01 -5.32715135e-03 -1.02683285e+00] [-5.72059539e-02 4.45145477e-03 9.98352475e-01 -7.57012478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.130714056999999 meters 0.043073534860729006 Centerline is valid? [True, True] Translation: X:11.27, Y:-1.03, Z:-0.76 [[ 9.98351692e-01 1.19033854e-02 5.61445321e-02 1.12699086e+01] [-1.16276657e-02 9.99918693e-01 -5.23502101e-03 -1.03325285e+00] [-5.62022816e-02 4.57356223e-03 9.98408927e-01 -7.60238201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.160714056999998 meters 0.04111100057254981 Centerline is valid? [True, True] Translation: X:11.30, Y:-1.03, Z:-0.76 [[ 9.98391544e-01 9.93977729e-03 5.58168927e-02 1.13010498e+01] [-9.66419445e-03 9.99939754e-01 -5.20502712e-03 -1.03228190e+00] [-5.58652668e-02 4.65722976e-03 9.98427455e-01 -7.62316408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.190714057 meters 0.04967441826937912 Centerline is valid? [True, True] Translation: X:11.33, Y:-1.05, Z:-0.77 [[ 9.98376354e-01 6.91984547e-03 5.65399917e-02 1.13294327e+01] [-6.63217913e-03 9.99964099e-01 -5.27389930e-03 -1.04636759e+00] [-5.65744565e-02 4.89035301e-03 9.98386406e-01 -7.65793113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.220714056999999 meters 0.0431017628865831 Centerline is valid? [True, True] Translation: X:11.36, Y:-1.04, Z:-0.77 [[ 9.98369213e-01 5.98645844e-03 5.67721467e-02 1.13620885e+01] [-5.69513889e-03 9.99969781e-01 -5.29178856e-03 -1.03883769e+00] [-5.68021102e-02 4.95983352e-03 9.98373137e-01 -7.66500422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.250714056999998 meters 0.04483085161650652 Centerline is valid? [True, True] Translation: X:11.39, Y:-1.04, Z:-0.77 [[ 9.98315941e-01 4.69285126e-03 5.78209308e-02 1.13925808e+01] [-4.38754741e-03 9.99975762e-01 -5.40598352e-03 -1.04204696e+00] [-5.78448988e-02 5.14318745e-03 9.98312334e-01 -7.68177033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.280714056999999 meters 0.04389553079106766 Centerline is valid? [True, True] Translation: X:11.42, Y:-1.04, Z:-0.77 [[ 9.98342792e-01 4.48250839e-03 5.73722701e-02 1.14247201e+01] [-4.18160786e-03 9.99976872e-01 -5.36368281e-03 -1.04200053e+00] [-5.73949860e-02 5.11488573e-03 9.98338446e-01 -7.70352566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.310714056999998 meters 0.051498234697711344 Centerline is valid? [True, True] Translation: X:11.46, Y:-1.05, Z:-0.77 [[ 9.98337758e-01 4.82276636e-03 5.74322288e-02 1.14550056e+01] [-4.52091736e-03 9.99975284e-01 -5.38451441e-03 -1.05465282e+00] [-5.74567775e-02 5.11591769e-03 9.98334887e-01 -7.74204755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.340714057 meters 0.045757687056573466 Centerline is valid? [True, True] Translation: X:11.49, Y:-1.05, Z:-0.78 [[ 9.98317200e-01 5.22625588e-03 5.77533964e-02 1.14884987e+01] [-4.92079063e-03 9.99973150e-01 -5.43008129e-03 -1.04721893e+00] [-5.77802247e-02 5.13675117e-03 9.98316112e-01 -7.75444168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.370714056999999 meters 0.04429903714501177 Centerline is valid? [True, True] Translation: X:11.52, Y:-1.05, Z:-0.78 [[ 9.98308435e-01 5.74319635e-03 5.78557128e-02 1.15206212e+01] [-5.43730073e-03 9.99970403e-01 -5.44325127e-03 -1.04705217e+00] [-5.78852621e-02 5.11946475e-03 9.98310116e-01 -7.76837513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.400714056999998 meters 0.04355516094874606 Centerline is valid? [True, True] Translation: X:11.55, Y:-1.05, Z:-0.78 [[ 9.98267356e-01 6.19449730e-03 5.85142200e-02 1.15530259e+01] [-5.88145346e-03 9.99967465e-01 -5.52058573e-03 -1.04591540e+00] [-5.85465135e-02 5.16687186e-03 9.98271310e-01 -7.77789362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.430714057 meters 0.045383880272980105 Centerline is valid? [True, True] Translation: X:11.58, Y:-1.05, Z:-0.78 [[ 9.98262480e-01 6.37760150e-03 5.85776976e-02 1.15844032e+01] [-6.06324378e-03 9.99966257e-01 -5.54268158e-03 -1.05069947e+00] [-5.86110701e-02 5.17788020e-03 9.98267465e-01 -7.79882606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.460714056999999 meters 0.044897688550033996 Centerline is valid? [True, True] Translation: X:11.62, Y:-1.05, Z:-0.78 [[ 9.98281015e-01 6.39026882e-03 5.82595918e-02 1.16162982e+01] [-6.07875860e-03 9.99966274e-01 -5.52259279e-03 -1.05097720e+00] [-5.82929178e-02 5.15895354e-03 9.98286192e-01 -7.83330614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.490714056999998 meters 0.0456492192518253 Centerline is valid? [True, True] Translation: X:11.65, Y:-1.05, Z:-0.79 [[ 9.98294087e-01 6.38515836e-03 5.80357312e-02 1.16483517e+01] [-6.07515692e-03 9.99966330e-01 -5.51643154e-03 -1.05479732e+00] [-5.80690004e-02 5.15444482e-03 9.98299265e-01 -7.86393731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.520714057 meters 0.04530906485829004 Centerline is valid? [True, True] Translation: X:11.68, Y:-1.06, Z:-0.79 [[ 9.98324513e-01 6.43511232e-03 5.75044030e-02 1.16804404e+01] [-6.12999889e-03 9.99966192e-01 -5.48073865e-03 -1.05674324e+00] [-5.75377280e-02 5.11905382e-03 9.98330208e-01 -7.89313322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.550714056999999 meters 0.049079555018204504 Centerline is valid? [True, True] Translation: X:11.71, Y:-1.06, Z:-0.79 [[ 9.98327917e-01 6.32349263e-03 5.74576727e-02 1.17113885e+01] [-6.01781534e-03 9.99966814e-01 -5.49151612e-03 -1.06358294e+00] [-5.74904914e-02 5.13656419e-03 9.98332840e-01 -7.91713248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.580714056999998 meters 0.04699265016949884 Centerline is valid? [True, True] Translation: X:11.74, Y:-1.06, Z:-0.79 [[ 9.98336099e-01 5.99161779e-03 5.73509689e-02 1.17441054e+01] [-5.68575842e-03 9.99968739e-01 -5.49480861e-03 -1.06262700e+00] [-5.73820989e-02 5.15958203e-03 9.98338957e-01 -7.93368197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.610714057 meters 0.04683450284628949 Centerline is valid? [True, True] Translation: X:11.78, Y:-1.06, Z:-0.79 [[ 9.98334051e-01 5.13446708e-03 5.74696436e-02 1.17763459e+01] [-4.82495496e-03 9.99973107e-01 -5.52312737e-03 -1.06436614e+00] [-5.74964564e-02 5.23663768e-03 9.98331976e-01 -7.94414267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.640714056999999 meters 0.04852209003520122 Centerline is valid? [True, True] Translation: X:11.81, Y:-1.07, Z:-0.80 [[ 9.98335126e-01 4.32400391e-03 5.75176510e-02 1.18081283e+01] [-4.01239199e-03 9.99976648e-01 -5.53205952e-03 -1.06915091e+00] [-5.75402285e-02 5.29206597e-03 9.98329162e-01 -7.96894756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.670714057 meters 0.04681865654317445 Centerline is valid? [True, True] Translation: X:11.84, Y:-1.07, Z:-0.80 [[ 9.98322105e-01 4.11556273e-03 5.77584424e-02 1.18405676e+01] [-3.80085546e-03 9.99977334e-01 -5.55748066e-03 -1.06946376e+00] [-5.77800054e-02 5.32862430e-03 9.98315119e-01 -7.99469915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.700714056999999 meters 0.047604103658041644 Centerline is valid? [True, True] Translation: X:11.87, Y:-1.07, Z:-0.80 [[ 9.98320297e-01 4.50883358e-03 5.77603309e-02 1.18713125e+01] [-4.19385751e-03 9.99975675e-01 -5.57321655e-03 -1.07255375e+00] [-5.77840546e-02 5.32161660e-03 9.98314922e-01 -8.02665594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.730714056999998 meters 0.049141863422213085 Centerline is valid? [True, True] Translation: X:11.90, Y:-1.08, Z:-0.81 [[ 9.98331413e-01 5.03580255e-03 5.75241794e-02 1.19021692e+01] [-4.72345394e-03 9.99973362e-01 -5.56454638e-03 -1.07709946e+00] [-5.75506691e-02 5.28354864e-03 9.98328606e-01 -8.05543340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.760714057 meters 0.047686047726334765 Centerline is valid? [True, True] Translation: X:11.94, Y:-1.08, Z:-0.81 [[ 9.98364354e-01 5.43483234e-03 5.69129176e-02 1.19353904e+01] [-5.12900233e-03 9.99971620e-01 -5.51834297e-03 -1.07662749e+00] [-5.69412937e-02 5.21741043e-03 9.98363895e-01 -8.08105650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.790714056999999 meters 0.047508964937510875 Centerline is valid? [True, True] Translation: X:11.97, Y:-1.08, Z:-0.81 [[ 9.98373267e-01 5.39062708e-03 5.67605587e-02 1.19673259e+01] [-5.08537893e-03 9.99971829e-01 -5.52089072e-03 -1.07858991e+00] [-5.67887208e-02 5.22326076e-03 9.98372555e-01 -8.09822186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.820714056999998 meters 0.04771471726104094 Centerline is valid? [True, True] Translation: X:12.00, Y:-1.08, Z:-0.81 [[ 9.98360454e-01 4.99614066e-03 5.70214266e-02 1.19997913e+01] [-4.68658241e-03 9.99973554e-01 -5.56124267e-03 -1.08119980e+00] [-5.70477034e-02 5.28488914e-03 9.98357466e-01 -8.11527663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.850714057 meters 0.04873028601105048 Centerline is valid? [True, True] Translation: X:12.03, Y:-1.09, Z:-0.81 [[ 9.98321479e-01 4.64199599e-03 5.77293306e-02 1.20316319e+01] [-4.32321228e-03 9.99974718e-01 -5.64570823e-03 -1.08527107e+00] [-5.77540784e-02 5.38665564e-03 9.98316308e-01 -8.13166630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.880714056999999 meters 0.05039464900491204 Centerline is valid? [True, True] Translation: X:12.06, Y:-1.09, Z:-0.82 [[ 9.98312746e-01 4.37159725e-03 5.79012038e-02 1.20628659e+01] [-4.04949986e-03 9.99975675e-01 -5.67904559e-03 -1.09032893e+00] [-5.79246218e-02 5.43499269e-03 9.98306165e-01 -8.15243763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.910714056999998 meters 0.0485667961327647 Centerline is valid? [True, True] Translation: X:12.09, Y:-1.09, Z:-0.82 [[ 9.98303176e-01 4.88965652e-03 5.80246567e-02 1.20949909e+01] [-4.56664740e-03 9.99973339e-01 -5.69805279e-03 -1.09009109e+00] [-5.80509712e-02 5.42340605e-03 9.98298889e-01 -8.17598005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.940714057 meters 0.047038921222072844 Centerline is valid? [True, True] Translation: X:12.13, Y:-1.09, Z:-0.82 [[ 9.98321267e-01 5.66318301e-03 5.76417927e-02 1.21273587e+01] [-5.34484008e-03 9.99969610e-01 -5.67545471e-03 -1.09003849e+00] [-5.76721821e-02 5.35784098e-03 9.98321197e-01 -8.20713719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.970714056999999 meters 0.047775440750203846 Centerline is valid? [True, True] Translation: X:12.16, Y:-1.09, Z:-0.82 [[ 9.98332097e-01 7.08227815e-03 5.72963024e-02 1.21575234e+01] [-6.76904024e-03 9.99961076e-01 -5.65921942e-03 -1.09326616e+00] [-5.73341524e-02 5.26193941e-03 9.98341178e-01 -8.23321679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.000714056999998 meters 0.04739055897863266 Centerline is valid? [True, True] Translation: X:12.19, Y:-1.09, Z:-0.83 [[ 9.98332491e-01 8.76054751e-03 5.70569010e-02 1.21888448e+01] [-8.45259219e-03 9.99948391e-01 -5.63644301e-03 -1.09495527e+00] [-5.71033347e-02 5.14476548e-03 9.98355017e-01 -8.25905988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.030714056999999 meters 0.04369918319840333 Centerline is valid? [True, True] Translation: X:12.22, Y:-1.09, Z:-0.83 [[ 9.98300606e-01 1.28637475e-02 5.68368258e-02 1.22196471e+01] [-1.25646139e-02 9.99905284e-01 -5.61726336e-03 -1.09034946e+00] [-5.69037015e-02 4.89358464e-03 9.98367679e-01 -8.26772957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.060714056999998 meters 0.042652296783571755 Centerline is valid? [True, True] Translation: X:12.25, Y:-1.09, Z:-0.83 [[ 9.98270819e-01 1.67358031e-02 5.63496659e-02 1.22509366e+01] [-1.64479178e-02 9.99849216e-01 -5.56885692e-03 -1.08930349e+00] [-5.64343685e-02 4.63239269e-03 9.98395564e-01 -8.27926447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.090714057 meters 0.04316738294467215 Centerline is valid? [True, True] Translation: X:12.28, Y:-1.09, Z:-0.83 [[ 9.98236157e-01 1.90549118e-02 5.62270823e-02 1.22810042e+01] [-1.87718580e-02 9.99808344e-01 -5.55804111e-03 -1.09182944e+00] [-5.63222141e-02 4.49275079e-03 9.98402536e-01 -8.29508125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.120714056999999 meters 0.04010279702521047 Centerline is valid? [True, True] Translation: X:12.31, Y:-1.09, Z:-0.83 [[ 9.98212892e-01 2.10710566e-02 5.59198813e-02 1.23132345e+01] [-2.07942950e-02 9.99768500e-01 -5.52657373e-03 -1.08930971e+00] [-5.60233866e-02 4.35388264e-03 9.98419964e-01 -8.31642689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.150714056999998 meters 0.03817829590864938 Centerline is valid? [True, True] Translation: X:12.34, Y:-1.09, Z:-0.83 [[ 9.98147860e-01 2.34311864e-02 5.61411482e-02 1.23440878e+01] [-2.31556062e-02 9.99716444e-01 -5.55427984e-03 -1.08871283e+00] [-5.62553723e-02 4.24401022e-03 9.98407393e-01 -8.33550250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.180714057 meters 0.037581934387725176 Centerline is valid? [True, True] Translation: X:12.37, Y:-1.09, Z:-0.84 [[ 9.98048024e-01 2.79538383e-02 5.58455375e-02 1.23734755e+01] [-2.76881082e-02 9.99601334e-01 -5.52653559e-03 -1.08867117e+00] [-5.59777617e-02 3.96949065e-03 9.98424125e-01 -8.36821423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.210714056999999 meters 0.03653879047591884 Centerline is valid? [True, True] Translation: X:12.40, Y:-1.09, Z:-0.84 [[ 9.97993030e-01 3.01471261e-02 5.56871913e-02 1.24034766e+01] [-2.98863556e-02 9.99538117e-01 -5.50983276e-03 -1.08915904e+00] [-5.58275760e-02 3.83448749e-03 9.98433062e-01 -8.38857134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.240714056999998 meters 0.03653879047591884 Centerline is valid? [True, True] Translation: X:12.43, Y:-1.09, Z:-0.84 [[ 9.97995194e-01 3.00753374e-02 5.56872231e-02 1.24316426e+01] [-2.98144735e-02 9.99540266e-01 -5.50951140e-03 -1.09188091e+00] [-5.58273222e-02 3.83818066e-03 9.98433062e-01 -8.40806681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.270714057 meters 0.03374357364779347 Centerline is valid? [True, True] Translation: X:12.46, Y:-1.09, Z:-0.84 [[ 9.97815398e-01 3.52559794e-02 5.58699212e-02 1.24626878e+01] [-3.50017542e-02 9.99371992e-01 -5.52263212e-03 -1.08800313e+00] [-5.60295403e-02 3.55502212e-03 9.98422782e-01 -8.41453670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.300714056999999 meters 0.033778715405012066 Centerline is valid? [True, True] Translation: X:12.49, Y:-1.09, Z:-0.84 [[ 9.97729902e-01 3.76000707e-02 5.58684005e-02 1.24910790e+01] [-3.73494899e-02 9.99287002e-01 -5.52296259e-03 -1.08903741e+00] [-5.60362302e-02 3.42376866e-03 9.98422866e-01 -8.43373731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.330714056999998 meters 0.030652151017126393 Centerline is valid? [True, True] Translation: X:12.52, Y:-1.09, Z:-0.85 [[ 9.97596371e-01 4.17064650e-02 5.53357986e-02 1.25222108e+01] [-4.14671336e-02 9.99124913e-01 -5.46673510e-03 -1.08512699e+00] [-5.55153731e-02 3.15897815e-03 9.98452835e-01 -8.45706752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.360714057 meters 0.03390304658342949 Centerline is valid? [True, True] Translation: X:12.55, Y:-1.09, Z:-0.85 [[ 9.97536938e-01 4.28102613e-02 5.55638195e-02 1.25492088e+01] [-4.25706336e-02 9.99078378e-01 -5.48966770e-03 -1.09246546e+00] [-5.57476248e-02 3.11075931e-03 9.98440046e-01 -8.49197984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.390714056999999 meters 0.0296379400069878 Centerline is valid? [True, True] Translation: X:12.58, Y:-1.09, Z:-0.85 [[ 9.97451645e-01 4.44687547e-02 5.57919775e-02 1.25783126e+01] [-4.42300331e-02 9.99006195e-01 -5.50692354e-03 -1.08799615e+00] [-5.59814172e-02 3.02520894e-03 9.98427228e-01 -8.50407529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.420714056999998 meters 0.030159684453448528 Centerline is valid? [True, True] Translation: X:12.61, Y:-1.09, Z:-0.85 [[ 9.97446321e-01 4.45848398e-02 5.57945233e-02 1.26070750e+01] [-4.43465067e-02 9.99001053e-01 -5.50308291e-03 -1.09075407e+00] [-5.59841416e-02 3.01473760e-03 9.98427107e-01 -8.53181348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.450714056999999 meters 0.030139633332036 Centerline is valid? [True, True] Translation: X:12.64, Y:-1.09, Z:-0.85 [[ 9.97443426e-01 4.43802416e-02 5.60089842e-02 1.26352902e+01] [-4.41399532e-02 9.99010104e-01 -5.52060673e-03 -1.09340911e+00] [-5.61985470e-02 3.03425894e-03 9.98415002e-01 -8.54719268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.480714056999998 meters 0.030038838394624352 Centerline is valid? [True, True] Translation: X:12.66, Y:-1.10, Z:-0.86 [[ 9.97407024e-01 4.38216575e-02 5.70866869e-02 1.26637444e+01] [-4.35714967e-02 9.99034504e-01 -5.62006627e-03 -1.09513199e+00] [-5.72778505e-02 3.11814119e-03 9.98353407e-01 -8.55889991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.510714057 meters 0.030197891779156875 Centerline is valid? [True, True] Translation: X:12.69, Y:-1.10, Z:-0.86 [[ 9.97430857e-01 4.27506745e-02 5.74809961e-02 1.26917979e+01] [-4.24955015e-02 9.99080655e-01 -5.65486631e-03 -1.09738777e+00] [-5.76699006e-02 3.19765439e-03 9.98330585e-01 -8.58113853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.540714056999999 meters 0.031628437465106074 Centerline is valid? [True, True] Translation: X:12.72, Y:-1.10, Z:-0.86 [[ 9.97447224e-01 4.03430451e-02 5.89192221e-02 1.27204084e+01] [-4.00710881e-02 9.99180053e-01 -5.79047602e-03 -1.10311616e+00] [-5.91045168e-02 3.41473689e-03 9.98245960e-01 -8.60313148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.570714056999998 meters 0.03318045903784319 Centerline is valid? [True, True] Translation: X:12.75, Y:-1.11, Z:-0.86 [[ 9.97503571e-01 3.84312148e-02 5.92424489e-02 1.27499229e+01] [-3.81531065e-02 9.99254963e-01 -5.81883600e-03 -1.10859025e+00] [-5.94219361e-02 3.54402623e-03 9.98226664e-01 -8.62411141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.600714057 meters 0.03364699241784788 Centerline is valid? [True, True] Translation: X:12.78, Y:-1.11, Z:-0.86 [[ 9.97539739e-01 3.67048300e-02 5.97262527e-02 1.27795532e+01] [-3.64192041e-02 9.99319395e-01 -5.86417426e-03 -1.11245774e+00] [-5.99008462e-02 3.67456427e-03 9.98197569e-01 -8.64962627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.630714056999999 meters 0.03780163880687678 Centerline is valid? [True, True] Translation: X:12.81, Y:-1.12, Z:-0.87 [[ 9.97770622e-01 3.21741118e-02 5.84688962e-02 1.28077655e+01] [-3.18927940e-02 9.99474822e-01 -5.73846471e-03 -1.12233649e+00] [-5.86228196e-02 3.86093504e-03 9.98272737e-01 -8.69296832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.660714056999998 meters 0.03847703497029616 Centerline is valid? [True, True] Translation: X:12.84, Y:-1.13, Z:-0.87 [[ 9.97873931e-01 3.01136719e-02 5.77995129e-02 1.28368667e+01] [-2.98353841e-02 9.99538734e-01 -5.67183718e-03 -1.12648985e+00] [-5.79436518e-02 3.93530780e-03 9.98312099e-01 -8.72213062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.690714057 meters 0.03898559775451195 Centerline is valid? [True, True] Translation: X:12.87, Y:-1.13, Z:-0.87 [[ 9.97996737e-01 2.61945253e-02 5.75878497e-02 1.28664338e+01] [-2.59119267e-02 9.99648271e-01 -5.64865040e-03 -1.13061522e+00] [-5.77155581e-02 4.14512252e-03 9.98324462e-01 -8.74795402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.720714056999999 meters 0.03841394753217196 Centerline is valid? [True, True] Translation: X:12.90, Y:-1.13, Z:-0.88 [[ 9.98030351e-01 2.45711259e-02 5.77206907e-02 1.28966530e+01] [-2.42845342e-02 9.99689056e-01 -5.66146201e-03 -1.13332266e+00] [-5.78418513e-02 4.24859083e-03 9.98316718e-01 -8.76285713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.750714056999998 meters 0.03948917990701736 Centerline is valid? [True, True] Translation: X:12.93, Y:-1.14, Z:-0.88 [[ 9.98027519e-01 2.30608643e-02 5.83889360e-02 1.29272121e+01] [-2.27650304e-02 9.99724440e-01 -5.72682001e-03 -1.13787910e+00] [-5.85049117e-02 4.38629807e-03 9.98277484e-01 -8.78304353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.780714056999999 meters 0.04000572287647884 Centerline is valid? [True, True] Translation: X:12.96, Y:-1.14, Z:-0.88 [[ 9.97982424e-01 2.09281120e-02 5.99424337e-02 1.29577314e+01] [-2.06124091e-02 9.99770249e-01 -5.88033668e-03 -1.14234855e+00] [-6.00517262e-02 4.63291469e-03 9.98184515e-01 -8.79675926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.810714056999998 meters 0.04041918130269711 Centerline is valid? [True, True] Translation: X:12.99, Y:-1.15, Z:-0.88 [[ 9.97978644e-01 1.98729211e-02 6.03630151e-02 1.29895566e+01] [-1.95508066e-02 9.99791325e-01 -5.92227879e-03 -1.14614641e+00] [-6.04681118e-02 4.73016211e-03 9.98158922e-01 -8.81872784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.840714057 meters 0.04245564246961684 Centerline is valid? [True, True] Translation: X:13.02, Y:-1.15, Z:-0.88 [[ 9.97941346e-01 1.83857423e-02 6.14413088e-02 1.30203620e+01] [-1.80489772e-02 9.99818910e-01 -6.03164630e-03 -1.15316798e+00] [-6.15410787e-02 4.91027645e-03 9.98092473e-01 -8.83834141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.870714056999999 meters 0.04306309757103378 Centerline is valid? [True, True] Translation: X:13.05, Y:-1.16, Z:-0.89 [[ 9.97949580e-01 1.76048146e-02 6.15362236e-02 1.30517230e+01] [-1.72646010e-02 9.99832615e-01 -6.05605126e-03 -1.15759161e+00] [-6.16325390e-02 4.98123547e-03 9.98086478e-01 -8.85880463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.900714056999998 meters 0.04783367343781822 Centerline is valid? [True, True] Translation: X:13.08, Y:-1.17, Z:-0.89 [[ 9.97995401e-01 1.67360349e-02 6.10334794e-02 1.30820330e+01] [-1.63988093e-02 9.99847396e-01 -6.02201730e-03 -1.16752816e+00] [-6.11249501e-02 5.00906918e-03 9.98117553e-01 -8.89011918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.930714057 meters 0.04615907533382374 Centerline is valid? [True, True] Translation: X:13.11, Y:-1.17, Z:-0.89 [[ 9.98089520e-01 1.48998240e-02 5.99608656e-02 1.31128994e+01] [-1.45705543e-02 9.99876290e-01 -5.92491655e-03 -1.16876919e+00] [-6.00417280e-02 5.03993406e-03 9.98183144e-01 -8.90930729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.960714056999999 meters 0.0474735379873264 Centerline is valid? [True, True] Translation: X:13.14, Y:-1.17, Z:-0.89 [[ 9.98138209e-01 1.39628667e-02 5.93730101e-02 1.31449861e+01] [-1.36383532e-02 9.99889778e-01 -5.86741629e-03 -1.17409045e+00] [-5.94483919e-02 5.04674230e-03 9.98218623e-01 -8.93669997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.990714056999998 meters 0.048405741016836666 Centerline is valid? [True, True] Translation: X:13.18, Y:-1.18, Z:-0.90 [[ 9.98216062e-01 1.21716398e-02 5.84512228e-02 1.31756528e+01] [-1.18538283e-02 9.99913030e-01 -5.78087852e-03 -1.17936791e+00] [-5.85165021e-02 5.07769503e-03 9.98273528e-01 -8.97787110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.020714057 meters 0.04960844330117976 Centerline is valid? [True, True] Translation: X:13.21, Y:-1.18, Z:-0.90 [[ 9.98212165e-01 1.16776120e-02 5.86183170e-02 1.32063899e+01] [-1.13570629e-02 9.99918693e-01 -5.79860026e-03 -1.18487726e+00] [-5.86812647e-02 5.12250140e-03 9.98263627e-01 -9.00817352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.050714056999999 meters 0.05150490098057834 Centerline is valid? [True, True] Translation: X:13.24, Y:-1.19, Z:-0.90 [[ 9.98236345e-01 9.60090974e-03 5.85834657e-02 1.32368431e+01] [-9.27666764e-03 9.99940126e-01 -5.80416503e-03 -1.19136990e+00] [-5.86356834e-02 5.25046915e-03 9.98265641e-01 -9.02341106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.080714056999998 meters 0.05284532678525363 Centerline is valid? [True, True] Translation: X:13.27, Y:-1.20, Z:-0.90 [[ 9.98200268e-01 9.57521994e-03 5.91991552e-02 1.32679265e+01] [-9.24412401e-03 9.99940077e-01 -5.86425772e-03 -1.19700485e+00] [-5.92517594e-02 5.30645930e-03 9.98228967e-01 -9.04039432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.110714057 meters 0.054266637779193896 Centerline is valid? [True, True] Translation: X:13.30, Y:-1.20, Z:-0.91 [[ 9.98241642e-01 7.90063316e-03 5.87469517e-02 1.32985220e+01] [-7.57077990e-03 9.99954315e-01 -5.83527239e-03 -1.20228660e+00] [-5.87903702e-02 5.38025165e-03 9.98255852e-01 -9.05581827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.140714056999999 meters 0.05116036274254808 Centerline is valid? [True, True] Translation: X:13.33, Y:-1.20, Z:-0.91 [[ 9.98259748e-01 7.36069584e-03 5.85089340e-02 1.33313625e+01] [-7.03267279e-03 9.99958390e-01 -5.81031595e-03 -1.20160158e+00] [-5.85492674e-02 5.38873035e-03 9.98269976e-01 -9.07201501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.170714056999998 meters 0.05609101006837743 Centerline is valid? [True, True] Translation: X:13.36, Y:-1.21, Z:-0.91 [[ 9.98224038e-01 7.59358120e-03 5.90855879e-02 1.33621616e+01] [-7.25855521e-03 9.99956352e-01 -5.88274531e-03 -1.21253789e+00] [-5.91276801e-02 5.44342177e-03 9.98235587e-01 -9.09937428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.200714056999999 meters 0.04924980756377753 Centerline is valid? [True, True] Translation: X:13.40, Y:-1.21, Z:-0.91 [[ 9.98250600e-01 7.70320806e-03 5.86208127e-02 1.33956519e+01] [-7.37267549e-03 9.99955694e-01 -5.85268288e-03 -1.20640258e+00] [-5.86632999e-02 5.41025197e-03 9.98263165e-01 -9.10720635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.230714056999998 meters 0.05223277067933588 Centerline is valid? [True, True] Translation: X:13.43, Y:-1.21, Z:-0.91 [[ 9.98233569e-01 8.39897430e-03 5.88149626e-02 1.34262420e+01] [-8.06652265e-03 9.99950132e-01 -5.88764749e-03 -1.21362797e+00] [-5.88614799e-02 5.40281513e-03 9.98251539e-01 -9.12709352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.260714057 meters 0.048161563895295294 Centerline is valid? [True, True] Translation: X:13.46, Y:-1.21, Z:-0.91 [[ 9.98256785e-01 1.01211205e-02 5.81459762e-02 1.34581068e+01] [-9.79817208e-03 9.99934963e-01 -5.83652569e-03 -1.21044218e+00] [-5.82012668e-02 5.25662708e-03 9.98291030e-01 -9.13778295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.290714056999999 meters 0.04564355476668839 Centerline is valid? [True, True] Translation: X:13.49, Y:-1.21, Z:-0.92 [[ 9.98259878e-01 1.12508163e-02 5.78846738e-02 1.34900667e+01] [-1.09325372e-02 9.99923346e-01 -5.81225713e-03 -1.20994373e+00] [-5.79456293e-02 5.16931674e-03 9.98306357e-01 -9.16194833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.320714056999998 meters 0.04600430826042882 Centerline is valid? [True, True] Translation: X:13.52, Y:-1.21, Z:-0.92 [[ 9.98262073e-01 1.24539818e-02 5.75997493e-02 1.35208645e+01] [-1.21406183e-02 9.99909553e-01 -5.78712002e-03 -1.21364262e+00] [-5.76666123e-02 5.07776586e-03 9.98322983e-01 -9.18846093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.350714057 meters 0.04900778413644346 Centerline is valid? [True, True] Translation: X:13.55, Y:-1.22, Z:-0.92 [[ 9.98193668e-01 1.59686510e-02 5.79172091e-02 1.35501189e+01] [-1.56575236e-02 9.99860465e-01 -5.82179135e-03 -1.22048266e+00] [-5.80020938e-02 4.90443520e-03 9.98304414e-01 -9.22017970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.380714056999999 meters 0.04833396035069049 Centerline is valid? [True, True] Translation: X:13.58, Y:-1.22, Z:-0.92 [[ 9.98138127e-01 1.82561253e-02 5.81978811e-02 1.35805876e+01] [-1.79458990e-02 9.99821852e-01 -5.84878740e-03 -1.22243310e+00] [-5.82942895e-02 4.79348440e-03 9.98287934e-01 -9.23749952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.410714056999998 meters 0.03976623023600789 Centerline is valid? [True, True] Translation: X:13.61, Y:-1.21, Z:-0.92 [[ 9.97990814e-01 2.37486865e-02 5.87395529e-02 1.36125432e+01] [-2.34420921e-02 9.99707767e-01 -5.90324156e-03 -1.21154509e+00] [-5.88625815e-02 4.51440285e-03 9.98255887e-01 -9.23292930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.440714057 meters 0.03905937130214456 Centerline is valid? [True, True] Translation: X:13.64, Y:-1.21, Z:-0.92 [[ 9.97931786e-01 2.66226197e-02 5.85097083e-02 1.36436385e+01] [-2.63233488e-02 9.99636188e-01 -5.87983763e-03 -1.21292865e+00] [-5.86449584e-02 4.32750541e-03 9.98269523e-01 -9.24974232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.470714056999999 meters 0.03690830664906892 Centerline is valid? [True, True] Translation: X:13.67, Y:-1.21, Z:-0.93 [[ 9.97833382e-01 2.96236458e-02 5.87450607e-02 1.36742695e+01] [-2.93270433e-02 9.99552428e-01 -5.90491049e-03 -1.21268273e+00] [-5.88936931e-02 4.16929786e-03 9.98255553e-01 -9.26882301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.500714056999998 meters 0.03575204047490201 Centerline is valid? [True, True] Translation: X:13.70, Y:-1.21, Z:-0.93 [[ 9.97599417e-01 3.53250924e-02 5.95612428e-02 1.37035554e+01] [-3.50303243e-02 9.99368321e-01 -5.98622674e-03 -1.21333905e+00] [-5.97350833e-02 3.88540665e-03 9.98206704e-01 -9.28522862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.530714056999999 meters 0.03461828173795635 Centerline is valid? [True, True] Translation: X:13.73, Y:-1.21, Z:-0.93 [[ 9.97509911e-01 3.72850544e-02 5.98648597e-02 1.37334849e+01] [-3.69908951e-02 9.99297501e-01 -6.01483525e-03 -1.21370690e+00] [-6.00470681e-02 3.78540304e-03 9.98188369e-01 -9.30110790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.560714056999998 meters 0.03216221546878064 Centerline is valid? [True, True] Translation: X:13.76, Y:-1.21, Z:-0.93 [[ 9.97385738e-01 4.09117035e-02 5.95644393e-02 1.37640742e+01] [-4.06270690e-02 9.99156471e-01 -5.98232930e-03 -1.21158802e+00] [-5.97589423e-02 3.54676133e-03 9.98206536e-01 -9.30865964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.590714057 meters 0.03092586902682751 Centerline is valid? [True, True] Translation: X:13.79, Y:-1.21, Z:-0.93 [[ 9.97316280e-01 4.22016651e-02 5.98268910e-02 1.37933128e+01] [-4.19168710e-02 9.99103038e-01 -6.00789990e-03 -1.21213668e+00] [-6.00267720e-02 3.48402031e-03 9.98190687e-01 -9.32369931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.620714056999999 meters 0.031891457393771104 Centerline is valid? [True, True] Translation: X:13.82, Y:-1.22, Z:-0.93 [[ 9.97248664e-01 4.37457152e-02 5.98449203e-02 1.38211064e+01] [-4.34636976e-02 9.99036949e-01 -6.00671761e-03 -1.21597183e+00] [-6.00500548e-02 3.38910959e-03 9.98189614e-01 -9.33957412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.650714056999998 meters 0.03210624776342647 Centerline is valid? [True, True] Translation: X:13.85, Y:-1.22, Z:-0.94 [[ 9.97227814e-01 4.38560157e-02 6.01110410e-02 1.38495308e+01] [-4.35720230e-02 9.99032104e-01 -6.02775235e-03 -1.21905814e+00] [-6.03172130e-02 3.39188264e-03 9.98173496e-01 -9.35689670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.680714057 meters 0.03096478460091997 Centerline is valid? [True, True] Translation: X:13.88, Y:-1.22, Z:-0.94 [[ 9.97199335e-01 4.40445448e-02 6.04447179e-02 1.38788599e+01] [-4.37580016e-02 9.99023800e-01 -6.05674752e-03 -1.22006188e+00] [-6.06524785e-02 3.39484454e-03 9.98153171e-01 -9.36932938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.710714056999999 meters 0.030954034957024007 Centerline is valid? [True, True] Translation: X:13.91, Y:-1.22, Z:-0.94 [[ 9.97219278e-01 4.39202772e-02 6.02056539e-02 1.39073056e+01] [-4.36359626e-02 9.99029302e-01 -6.02967950e-03 -1.22317775e+00] [-6.04120376e-02 3.38578097e-03 9.98167783e-01 -9.38525054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.740714056999998 meters 0.030373502357589476 Centerline is valid? [True, True] Translation: X:13.94, Y:-1.22, Z:-0.94 [[ 9.97239125e-01 4.39951579e-02 5.98210075e-02 1.39361378e+01] [-4.37148613e-02 9.99026110e-01 -5.98688283e-03 -1.22451059e+00] [-6.00261423e-02 3.35528675e-03 9.98191166e-01 -9.40654484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.770714057 meters 0.030787405085793015 Centerline is valid? [True, True] Translation: X:13.96, Y:-1.23, Z:-0.94 [[ 9.97198700e-01 4.45683829e-02 6.00700598e-02 1.39639876e+01] [-4.42870355e-02 9.99000785e-01 -6.00757376e-03 -1.22843383e+00] [-6.02777848e-02 3.33041988e-03 9.98176085e-01 -9.42162099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.800714056999999 meters 0.030163483777236766 Centerline is valid? [True, True] Translation: X:13.99, Y:-1.23, Z:-0.94 [[ 9.97145432e-01 4.55039525e-02 6.02526136e-02 1.39923188e+01] [-4.52229295e-02 9.98958780e-01 -6.02024188e-03 -1.22999899e+00] [-6.04638222e-02 3.27825700e-03 9.98165006e-01 -9.43933077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.830714056999998 meters 0.030749688443731948 Centerline is valid? [True, True] Translation: X:14.02, Y:-1.23, Z:-0.95 [[ 9.97100934e-01 4.65783577e-02 6.01679580e-02 1.40200578e+01] [-4.63003289e-02 9.98909500e-01 -6.00756272e-03 -1.23345159e+00] [-6.03821672e-02 3.20435016e-03 9.98170189e-01 -9.45945593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.860714057 meters 0.027677503352517525 Centerline is valid? [True, True] Translation: X:14.05, Y:-1.23, Z:-0.95 [[ 9.96902537e-01 5.00531248e-02 6.06631437e-02 1.40506185e+01] [-4.97772727e-02 9.98742013e-01 -6.05094221e-03 -1.23110346e+00] [-6.08896988e-02 3.01255379e-03 9.98139955e-01 -9.47112779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.890714056999999 meters 0.026908072536002362 Centerline is valid? [True, True] Translation: X:14.08, Y:-1.23, Z:-0.95 [[ 9.96772790e-01 5.20414116e-02 6.11203465e-02 1.40790270e+01] [-5.17651496e-02 9.98640681e-01 -6.09581186e-03 -1.23250121e+00] [-6.13544991e-02 2.91223551e-03 9.98111789e-01 -9.48961747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.920714056999998 meters 0.026412724043781546 Centerline is valid? [True, True] Translation: X:14.11, Y:-1.23, Z:-0.95 [[ 9.96567185e-01 5.54720337e-02 6.14548593e-02 1.41073611e+01] [-5.51995316e-02 9.98456561e-01 -6.12440177e-03 -1.23408475e+00] [-6.16997404e-02 2.71109839e-03 9.98091074e-01 -9.51564802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.950714056999999 meters 0.025096631763622992 Centerline is valid? [True, True] Translation: X:14.14, Y:-1.23, Z:-0.95 [[ 9.96482293e-01 5.69857515e-02 6.14464280e-02 1.41367510e+01] [-5.67163218e-02 9.98371567e-01 -6.12148973e-03 -1.23491967e+00] [-6.16952043e-02 2.61494074e-03 9.98091611e-01 -9.53623025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.980714056999998 meters 0.025085023489958284 Centerline is valid? [True, True] Translation: X:14.17, Y:-1.24, Z:-0.96 [[ 9.96442551e-01 5.81642841e-02 6.09849016e-02 1.41650908e+01] [-5.79012886e-02 9.98303845e-01 -6.07233480e-03 -1.23776288e+00] [-6.12346547e-02 2.51962839e-03 9.98120217e-01 -9.56363343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.010714057 meters 0.024090579941750893 Centerline is valid? [True, True] Translation: X:14.19, Y:-1.24, Z:-0.96 [[ 9.96296606e-01 6.11550897e-02 6.04411098e-02 1.41935284e+01] [-6.09025221e-02 9.98125601e-01 -6.01386379e-03 -1.23942403e+00] [-6.06955975e-02 2.31057606e-03 9.98153648e-01 -9.58359135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.040714057 meters 0.023742880770570705 Centerline is valid? [True, True] Translation: X:14.22, Y:-1.24, Z:-0.96 [[ 9.96202669e-01 6.31704283e-02 5.99144369e-02 1.42212828e+01] [-6.29261321e-02 9.98000407e-01 -5.95736820e-03 -1.24169533e+00] [-6.01709619e-02 2.16456233e-03 9.98185739e-01 -9.60371286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.070714057 meters 0.022350015141067932 Centerline is valid? [True, True] Translation: X:14.25, Y:-1.24, Z:-0.96 [[ 9.95902431e-01 6.83585361e-02 5.92069078e-02 1.42508383e+01] [-6.81294712e-02 9.97659153e-01 -5.88129506e-03 -1.24162133e+00] [-5.94703502e-02 1.82346073e-03 9.98228407e-01 -9.63213834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.100714056999998 meters 0.022026987806125133 Centerline is valid? [True, True] Translation: X:14.28, Y:-1.24, Z:-0.97 [[ 9.95707401e-01 7.14678292e-02 5.88142900e-02 1.42789986e+01] [-7.12473145e-02 9.97441581e-01 -5.84052394e-03 -1.24402577e+00] [-5.90812280e-02 1.62509269e-03 9.98251856e-01 -9.65562446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.130714057 meters 0.022026987806125133 Centerline is valid? [True, True] Translation: X:14.31, Y:-1.25, Z:-0.97 [[ 9.95727469e-01 7.11875050e-02 5.88145031e-02 1.43061588e+01] [-7.09666286e-02 9.97461604e-01 -5.83838014e-03 -1.24665103e+00] [-5.90808283e-02 1.63956849e-03 9.98251856e-01 -9.67444291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.160714057 meters 0.021485396341286735 Centerline is valid? [True, True] Translation: X:14.33, Y:-1.25, Z:-0.97 [[ 9.95516487e-01 7.42483655e-02 5.86012388e-02 1.43347790e+01] [-7.40354867e-02 9.97238750e-01 -5.79850523e-03 -1.24827795e+00] [-5.88699557e-02 1.43393632e-03 9.98264630e-01 -9.70101620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.190714056999997 meters 0.020424105488075824 Centerline is valid? [True, True] Translation: X:14.36, Y:-1.25, Z:-0.97 [[ 9.94900706e-01 8.19082397e-02 5.88525738e-02 1.43646272e+01] [-8.17071850e-02 9.96639393e-01 -5.81864438e-03 -1.24903026e+00] [-5.91313884e-02 9.80295256e-04 9.98249727e-01 -9.72359273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.220714057 meters 0.019901727706092172 Centerline is valid? [True, True] Translation: X:14.39, Y:-1.25, Z:-0.97 [[ 9.94616337e-01 8.52916796e-02 5.88529716e-02 1.43919761e+01] [-8.50965598e-02 9.96355721e-01 -5.81830321e-03 -1.25100322e+00] [-5.91347478e-02 7.78794005e-04 9.98249706e-01 -9.73667392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.250714057 meters 0.019717667390905594 Centerline is valid? [True, True] Translation: X:14.42, Y:-1.25, Z:-0.98 [[ 9.93949707e-01 9.26028211e-02 5.90651949e-02 1.44209508e+01] [-9.24194026e-02 9.95703069e-01 -5.83550021e-03 -1.25208110e+00] [-5.93517796e-02 3.41423696e-04 9.98237071e-01 -9.75174328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.280714056999997 meters 0.01979725821634032 Centerline is valid? [True, True] Translation: X:14.45, Y:-1.25, Z:-0.98 [[ 9.93668895e-01 9.58012292e-02 5.86877415e-02 1.44486165e+01] [-9.56265622e-02 9.95400475e-01 -5.78397871e-03 -1.25473234e+00] [-5.89719181e-02 1.35252765e-04 9.98259633e-01 -9.77432169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.310714057 meters 0.020010530653077594 Centerline is valid? [True, True] Translation: X:14.48, Y:-1.26, Z:-0.98 [[ 9.93384370e-01 9.85331966e-02 5.89805285e-02 1.44752283e+01] [-9.83627077e-02 9.95133763e-01 -5.79402056e-03 -1.25798442e+00] [-5.92644187e-02 -4.57950231e-05 9.98242319e-01 -9.80092913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.340714057 meters 0.02035461014538618 Centerline is valid? [True, True] Translation: X:14.50, Y:-1.26, Z:-0.98 [[ 9.93026073e-01 1.02156637e-01 5.88492958e-02 1.45033881e+01] [-1.01993628e-01 9.94768290e-01 -5.77494196e-03 -1.26308543e+00] [-5.91313620e-02 -2.67585237e-04 9.98250174e-01 -9.82663301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.370714056999997 meters 0.020583085229369823 Centerline is valid? [True, True] Translation: X:14.53, Y:-1.27, Z:-0.98 [[ 9.92941901e-01 1.03011724e-01 5.87789537e-02 1.45312920e+01] [-1.02851461e-01 9.94680086e-01 -5.75351464e-03 -1.26747156e+00] [-5.90589342e-02 -3.32595506e-04 9.98254442e-01 -9.84921929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.400714057 meters 0.02079181338237139 Centerline is valid? [True, True] Translation: X:14.56, Y:-1.27, Z:-0.99 [[ 9.92898817e-01 1.03316847e-01 5.89709186e-02 1.45581776e+01] [-1.03157175e-01 9.94648426e-01 -5.75372307e-03 -1.27214154e+00] [-5.92497879e-02 -3.70408541e-04 9.98243119e-01 -9.87053521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.430714057 meters 0.020903915716511786 Centerline is valid? [True, True] Translation: X:14.59, Y:-1.28, Z:-0.99 [[ 9.93144039e-01 1.01455806e-01 5.80657986e-02 1.45851892e+01] [-1.01298138e-01 9.94840013e-01 -5.66001904e-03 -1.28140327e+00] [-5.83404217e-02 -2.60743125e-04 9.98296713e-01 -9.89867752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.460714056999997 meters 0.021139825670388523 Centerline is valid? [True, True] Translation: X:14.61, Y:-1.29, Z:-0.99 [[ 9.93354573e-01 9.95887497e-02 5.76955255e-02 1.46116005e+01] [-9.94310113e-02 9.95028669e-01 -5.60548483e-03 -1.28767821e+00] [-5.79669452e-02 -1.68490461e-04 9.98318489e-01 -9.93091734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.490714056999998 meters 0.021721705000338768 Centerline is valid? [True, True] Translation: X:14.64, Y:-1.30, Z:-1.00 [[ 9.93992004e-01 9.32904786e-02 5.72431883e-02 1.46380198e+01] [-9.31250734e-02 9.95638915e-01 -5.55616432e-03 -1.29951223e+00] [-5.75118831e-02 1.92006792e-04 9.98344803e-01 -9.96406235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.520714057 meters 0.021923017685028034 Centerline is valid? [True, True] Translation: X:14.67, Y:-1.31, Z:-1.00 [[ 9.94380566e-01 8.92306550e-02 5.69664752e-02 1.46655517e+01] [-8.90612493e-02 9.96010906e-01 -5.51078480e-03 -1.30752588e+00] [-5.72309616e-02 4.06311858e-04 9.98360883e-01 -9.98640703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.550714057 meters 0.022834953301655646 Centerline is valid? [True, True] Translation: X:14.69, Y:-1.32, Z:-1.00 [[ 9.95139235e-01 8.00714031e-02 5.73277718e-02 1.46935667e+01] [-7.98849782e-02 9.96788693e-01 -5.53995315e-03 -1.32265438e+00] [-5.75872666e-02 9.33396937e-04 9.98340040e-01 -1.00164217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.580714056999998 meters 0.024021067074694216 Centerline is valid? [True, True] Translation: X:14.72, Y:-1.33, Z:-1.00 [[ 9.95543143e-01 7.50056149e-02 5.71664930e-02 1.47224764e+01] [-7.48120103e-02 9.97182364e-01 -5.52233306e-03 -1.33190194e+00] [-5.74196247e-02 1.22098054e-03 9.98349386e-01 -1.00452520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.610714057 meters 0.02480136269482861 Centerline is valid? [True, True] Translation: X:14.75, Y:-1.34, Z:-1.01 [[ 9.95891512e-01 6.99734969e-02 5.74787405e-02 1.47515628e+01] [-6.97695153e-02 9.97547697e-01 -5.55044468e-03 -1.34057382e+00] [-5.77261692e-02 1.51737688e-03 9.98331301e-01 -1.00676637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.640714057 meters 0.02707948508804158 Centerline is valid? [True, True] Translation: X:14.78, Y:-1.36, Z:-1.01 [[ 9.96525018e-01 6.02849477e-02 5.74770678e-02 1.47794139e+01] [-6.00650254e-02 9.98179049e-01 -5.54780002e-03 -1.35650467e+00] [-5.77068538e-02 2.07615998e-03 9.98331412e-01 -1.01032991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.670714056999998 meters 0.028108177299136984 Centerline is valid? [True, True] Translation: X:14.81, Y:-1.36, Z:-1.01 [[ 9.96743018e-01 5.62475819e-02 5.77889827e-02 1.48077631e+01] [-5.60184544e-02 9.98414149e-01 -5.57854369e-03 -1.36466611e+00] [-5.80111175e-02 2.32312498e-03 9.98313234e-01 -1.01304477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.700714057 meters 0.030202868100130485 Centerline is valid? [True, True] Translation: X:14.84, Y:-1.38, Z:-1.02 [[ 9.97063712e-01 4.91087476e-02 5.87561534e-02 1.48366889e+01] [-4.88597314e-02 9.98789567e-01 -5.66816496e-03 -1.37807141e+00] [-5.89633895e-02 2.78071172e-03 9.98256273e-01 -1.01612770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.730714057 meters 0.03056118379187569 Centerline is valid? [True, True] Translation: X:14.87, Y:-1.39, Z:-1.02 [[ 9.97164349e-01 4.61150471e-02 5.94698521e-02 1.48652433e+01] [-4.58546024e-02 9.98931648e-01 -5.73744908e-03 -1.38515899e+00] [-5.96709001e-02 2.99421325e-03 9.98213614e-01 -1.01859079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.760714056999998 meters 0.03161506421221417 Centerline is valid? [True, True] Translation: X:14.89, Y:-1.39, Z:-1.02 [[ 9.97276544e-01 4.34386083e-02 5.96035362e-02 1.48935870e+01] [-4.31724202e-02 9.99051106e-01 -5.74710286e-03 -1.39237584e+00] [-5.97966249e-02 3.15822197e-03 9.98205585e-01 -1.02117952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.790714057 meters 0.033215807633636504 Centerline is valid? [True, True] Translation: X:14.92, Y:-1.40, Z:-1.02 [[ 9.97440245e-01 3.92992409e-02 5.97371476e-02 1.49226194e+01] [-3.90246740e-02 9.99221666e-01 -5.75642718e-03 -1.40271437e+00] [-5.99168753e-02 3.41046943e-03 9.98197544e-01 -1.02487808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.820714057 meters 0.03355668862442519 Centerline is valid? [True, True] Translation: X:14.95, Y:-1.41, Z:-1.03 [[ 9.97510021e-01 3.77568865e-02 5.95665619e-02 1.49515964e+01] [-3.74812039e-02 9.99280853e-01 -5.73907969e-03 -1.40789766e+00] [-5.97404145e-02 3.49216305e-03 9.98207838e-01 -1.02712043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.850714056999998 meters 0.03424265496304102 Centerline is valid? [True, True] Translation: X:14.98, Y:-1.41, Z:-1.03 [[ 9.97556063e-01 3.57141286e-02 6.00533278e-02 1.49804346e+01] [-3.54303619e-02 9.99355411e-01 -5.78378260e-03 -1.41452132e+00] [-6.02211808e-02 3.64193626e-03 9.98178414e-01 -1.02941147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.880714057 meters 0.03410316374548102 Centerline is valid? [True, True] Translation: X:15.01, Y:-1.42, Z:-1.03 [[ 9.97542878e-01 3.55235961e-02 6.03844457e-02 1.50096378e+01] [-3.52364724e-02 9.99362094e-01 -5.81347281e-03 -1.41800417e+00] [-6.05524415e-02 3.67145355e-03 9.98158265e-01 -1.03187901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.910714057 meters 0.03465855219920029 Centerline is valid? [True, True] Translation: X:15.04, Y:-1.42, Z:-1.03 [[ 9.97540521e-01 3.53645871e-02 6.05165667e-02 1.50377285e+01] [-3.50760377e-02 9.99367676e-01 -5.82412883e-03 -1.42275824e+00] [-6.06842685e-02 3.68712313e-03 9.98150201e-01 -1.03411527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.940714056999997 meters 0.03448429305167031 Centerline is valid? [True, True] Translation: X:15.07, Y:-1.43, Z:-1.04 [[ 9.97558908e-01 3.52856908e-02 6.02589890e-02 1.50668516e+01] [-3.49996583e-02 9.99370517e-01 -5.79595120e-03 -1.42632991e+00] [-6.04255712e-02 3.67275873e-03 9.98165949e-01 -1.03788150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.970714057 meters 0.03559466976301235 Centerline is valid? [True, True] Translation: X:15.10, Y:-1.43, Z:-1.04 [[ 9.97605557e-01 3.50874465e-02 5.95988491e-02 1.50955348e+01] [-3.48074413e-02 9.99377610e-01 -5.73017043e-03 -1.43090242e+00] [-5.97628125e-02 3.64196643e-03 9.98205962e-01 -1.04072177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.000714057 meters 0.03472567741347562 Centerline is valid? [True, True] Translation: X:15.13, Y:-1.43, Z:-1.04 [[ 9.97668722e-01 3.41508187e-02 5.90833541e-02 1.51255063e+01] [-3.38740611e-02 9.99409970e-01 -5.67972937e-03 -1.43104628e+00] [-5.92424606e-02 3.66509520e-03 9.98236895e-01 -1.04260624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.030714056999997 meters 0.03521963801952592 Centerline is valid? [True, True] Translation: X:15.16, Y:-1.43, Z:-1.04 [[ 9.97643351e-01 3.34691972e-02 5.98962231e-02 1.51551364e+01] [-3.31836700e-02 9.99432697e-01 -5.75566061e-03 -1.43416498e+00] [-6.00548812e-02 3.75452004e-03 9.98188016e-01 -1.04473370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.060714057 meters 0.03475472870608247 Centerline is valid? [True, True] Translation: X:15.18, Y:-1.44, Z:-1.05 [[ 9.97647961e-01 3.25537744e-02 6.03224513e-02 1.51849431e+01] [-3.22626389e-02 9.99462630e-01 -5.79427858e-03 -1.43616464e+00] [-6.04786614e-02 3.83448875e-03 9.98162125e-01 -1.04648923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.090714057 meters 0.034763242593613346 Centerline is valid? [True, True] Translation: X:15.21, Y:-1.44, Z:-1.05 [[ 9.97595828e-01 3.15599889e-02 6.16970968e-02 1.52149590e+01] [-3.12535983e-02 9.99493925e-01 -5.92504394e-03 -1.43869808e+00] [-6.18528678e-02 3.98254283e-03 9.98077333e-01 -1.04889136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.120714056999997 meters 0.036322197930904535 Centerline is valid? [True, True] Translation: X:15.25, Y:-1.44, Z:-1.05 [[ 9.97548537e-01 3.13832455e-02 6.25460433e-02 1.52453099e+01] [-3.10680781e-02 9.99499229e-01 -6.00539753e-03 -1.44371943e+00] [-6.27031910e-02 4.04749017e-03 9.98024012e-01 -1.05072639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.150714057 meters 0.03762099017393819 Centerline is valid? [True, True] Translation: X:15.28, Y:-1.45, Z:-1.05 [[ 9.97560297e-01 2.97115887e-02 6.31717871e-02 1.52763360e+01] [-2.93858989e-02 9.99549658e-01 -6.07869844e-03 -1.44725412e+00] [-6.33239460e-02 4.20750848e-03 9.97984156e-01 -1.05311606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.180714057 meters 0.03767929272354884 Centerline is valid? [True, True] Translation: X:15.31, Y:-1.45, Z:-1.06 [[ 9.97607672e-01 2.83808457e-02 6.30353874e-02 1.53081008e+01] [-2.80534084e-02 9.99587973e-01 -6.07367828e-03 -1.45025556e+00] [-6.31817913e-02 4.29079059e-03 9.97992811e-01 -1.05575166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.210714056999997 meters 0.037808492997574224 Centerline is valid? [True, True] Translation: X:15.34, Y:-1.45, Z:-1.06 [[ 9.97724513e-01 2.53932862e-02 6.24578032e-02 1.53385756e+01] [-2.50657154e-02 9.99667663e-01 -6.02276128e-03 -1.45301489e+00] [-6.25899838e-02 4.44350705e-03 9.98029433e-01 -1.06011694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.240714056999998 meters 0.03846409714919567 Centerline is valid? [True, True] Translation: X:15.37, Y:-1.46, Z:-1.06 [[ 9.97750268e-01 2.43978169e-02 6.24431733e-02 1.53693326e+01] [-2.40684720e-02 9.99692180e-01 -6.02119143e-03 -1.45719213e+00] [-6.25708560e-02 4.50473359e-03 9.98030358e-01 -1.06264314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.270714057 meters 0.06381014689515897 Centerline is valid? [True, True] Translation: X:15.40, Y:-1.50, Z:-1.07 [[ 9.97599974e-01 2.57475538e-02 6.42756223e-02 1.53959546e+01] [-2.54003022e-02 9.99658047e-01 -6.21399770e-03 -1.49720839e+00] [-6.44136383e-02 4.56646371e-03 9.97912837e-01 -1.06548077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.300714057 meters 0.03897825063386092 Centerline is valid? [True, True] Translation: X:15.43, Y:-1.46, Z:-1.07 [[ 9.97832097e-01 2.10795130e-02 6.23438812e-02 1.54302957e+01] [-2.07433766e-02 9.99766624e-01 -6.03405754e-03 -1.46139845e+00] [-6.24565266e-02 4.72775369e-03 9.98036488e-01 -1.06689196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.330714056999998 meters 0.03971823875354237 Centerline is valid? [True, True] Translation: X:15.46, Y:-1.46, Z:-1.07 [[ 9.97863398e-01 2.03343386e-02 6.20898870e-02 1.54613851e+01] [-1.99994238e-02 9.99781923e-01 -6.01082044e-03 -1.46478213e+00] [-6.21985726e-02 4.75621575e-03 9.98052462e-01 -1.06888568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.360714057 meters 0.04489231088616899 Centerline is valid? [True, True] Translation: X:15.49, Y:-1.47, Z:-1.07 [[ 9.97855182e-01 1.99528165e-02 6.23451806e-02 1.54916645e+01] [-1.96134740e-02 9.99789331e-01 -6.05028953e-03 -1.47407707e+00] [-6.24527667e-02 4.81450718e-03 9.98036308e-01 -1.07264306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.390714057 meters 0.040335373059814335 Centerline is valid? [True, True] Translation: X:15.52, Y:-1.47, Z:-1.08 [[ 9.97878645e-01 1.97619433e-02 6.20296277e-02 1.55249310e+01] [-1.94247813e-02 9.99793114e-01 -6.03389684e-03 -1.46923547e+00] [-6.21360361e-02 4.81618485e-03 9.98056069e-01 -1.07501949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.420714056999998 meters 0.03942500112735854 Centerline is valid? [True, True] Translation: X:15.56, Y:-1.47, Z:-1.08 [[ 9.97878348e-01 2.00529397e-02 6.19409579e-02 1.55581536e+01] [-1.97163437e-02 9.99787366e-01 -6.04064441e-03 -1.46989977e+00] [-6.20489198e-02 4.80657905e-03 9.98061535e-01 -1.07745278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.450714057 meters 0.04099155075767674 Centerline is valid? [True, True] Translation: X:15.59, Y:-1.47, Z:-1.08 [[ 9.97838342e-01 2.11748074e-02 6.22114999e-02 1.55890092e+01] [-2.08362569e-02 9.99764379e-01 -6.08572634e-03 -1.47210363e+00] [-6.23257057e-02 4.77631629e-03 9.98044434e-01 -1.07962778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.480714057 meters 0.044803650612962785 Centerline is valid? [True, True] Translation: X:15.62, Y:-1.48, Z:-1.08 [[ 9.97818702e-01 2.21991038e-02 6.21694285e-02 1.56198203e+01] [-2.18620655e-02 9.99742409e-01 -6.09636719e-03 -1.47943837e+00] [-6.22887481e-02 4.72391707e-03 9.98046991e-01 -1.08195615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.510714056999998 meters 0.03791080918964498 Centerline is valid? [True, True] Translation: X:15.65, Y:-1.47, Z:-1.08 [[ 9.97750714e-01 2.41756282e-02 6.25224147e-02 1.56520741e+01] [-2.38376148e-02 9.99696947e-01 -6.14666817e-03 -1.46916349e+00] [-6.26520667e-02 4.64245731e-03 9.98024632e-01 -1.08399636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.540714057 meters 0.03757372676593081 Centerline is valid? [True, True] Translation: X:15.68, Y:-1.47, Z:-1.09 [[ 9.97728151e-01 2.53869909e-02 6.24022164e-02 1.56845671e+01] [-2.50525706e-02 9.99667305e-01 -6.13583643e-03 -1.47080533e+00] [-6.25372259e-02 4.55856081e-03 9.98032221e-01 -1.08649218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.570714057 meters 0.035357295726795114 Centerline is valid? [True, True] Translation: X:15.72, Y:-1.47, Z:-1.09 [[ 9.97702775e-01 2.65181310e-02 6.23374769e-02 1.57173813e+01] [-2.61855436e-02 9.99638204e-01 -6.14633956e-03 -1.46917985e+00] [-6.24779129e-02 4.49987931e-03 9.98036202e-01 -1.08881310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.600714056999998 meters 0.035683759042975986 Centerline is valid? [True, True] Translation: X:15.75, Y:-1.47, Z:-1.09 [[ 9.97600174e-01 2.92083033e-02 6.27755347e-02 1.57473584e+01] [-2.88759060e-02 9.99563801e-01 -6.19594636e-03 -1.46928161e+00] [-6.29291252e-02 4.36837672e-03 9.98008438e-01 -1.09066553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.630714057 meters 0.03572081299537042 Centerline is valid? [True, True] Translation: X:15.78, Y:-1.47, Z:-1.09 [[ 9.97556660e-01 3.06702965e-02 6.27697694e-02 1.57783561e+01] [-3.03408508e-02 9.99520411e-01 -6.19517243e-03 -1.47066583e+00] [-6.29296735e-02 4.27554730e-03 9.98008806e-01 -1.09293420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.660714057 meters 0.03431097369077464 Centerline is valid? [True, True] Translation: X:15.81, Y:-1.47, Z:-1.10 [[ 9.97472060e-01 3.45486981e-02 6.20957131e-02 1.58093180e+01] [-3.42336262e-02 9.99395052e-01 -6.13105598e-03 -1.46813292e+00] [-6.22699684e-02 3.98979561e-03 9.98051368e-01 -1.09596289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.690714056999997 meters 0.033831340567043164 Centerline is valid? [True, True] Translation: X:15.84, Y:-1.47, Z:-1.10 [[ 9.97404861e-01 3.69541526e-02 6.17894303e-02 1.58390554e+01] [-3.66467238e-02 9.99309655e-01 -6.10170783e-03 -1.46863357e+00] [-6.19722577e-02 3.82149287e-03 9.98070556e-01 -1.09880225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.720714057 meters 0.0337378141170337 Centerline is valid? [True, True] Translation: X:15.87, Y:-1.47, Z:-1.10 [[ 9.97326380e-01 3.95716374e-02 6.14343385e-02 1.58682277e+01] [-3.92728166e-02 9.99210122e-01 -6.06443518e-03 -1.46951696e+00] [-6.16257925e-02 3.63552167e-03 9.98092703e-01 -1.10085085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.750714057 meters 0.032582571166861286 Centerline is valid? [True, True] Translation: X:15.90, Y:-1.47, Z:-1.10 [[ 9.97072141e-01 4.53423070e-02 6.15728847e-02 1.58980740e+01] [-4.50532329e-02 9.98966111e-01 -6.07580164e-03 -1.46651336e+00] [-6.17847161e-02 3.28395503e-03 9.98084097e-01 -1.10272427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.780714056999997 meters 0.03004484010295101 Centerline is valid? [True, True] Translation: X:15.93, Y:-1.46, Z:-1.10 [[ 9.96926356e-01 4.81806231e-02 6.17775727e-02 1.59284249e+01] [-4.78951321e-02 9.98833776e-01 -6.09467472e-03 -1.46256904e+00] [-6.19991714e-02 3.11709686e-03 9.98071333e-01 -1.10411391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.810714057 meters 0.02878043526814285 Centerline is valid? [True, True] Translation: X:15.96, Y:-1.46, Z:-1.11 [[ 9.96695565e-01 5.20723564e-02 6.23411610e-02 1.59588614e+01] [-5.17892812e-02 9.98639103e-01 -6.14913733e-03 -1.46017975e+00] [-6.25765212e-02 2.90021399e-03 9.98035955e-01 -1.10634905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.840714057 meters 0.02767089661018785 Centerline is valid? [True, True] Translation: X:15.99, Y:-1.46, Z:-1.11 [[ 9.96606346e-01 5.32829810e-02 6.27432529e-02 1.59877519e+01] [-5.29986800e-02 9.98575410e-01 -6.18797540e-03 -1.45999475e+00] [-6.29835832e-02 2.84166596e-03 9.98010518e-01 -1.10835723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.870714056999997 meters 0.02816835935813865 Centerline is valid? [True, True] Translation: X:16.02, Y:-1.46, Z:-1.11 [[ 9.96524768e-01 5.41433630e-02 6.32999437e-02 1.60150635e+01] [-5.38560086e-02 9.98529225e-01 -6.23829766e-03 -1.46272073e+00] [-6.35446061e-02 2.80753582e-03 9.97975050e-01 -1.11055536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.900714057 meters 0.02772475611398359 Centerline is valid? [True, True] Translation: X:16.04, Y:-1.46, Z:-1.11 [[ 9.96508989e-01 5.40364004e-02 6.36388376e-02 1.60432328e+01] [-5.37461050e-02 9.98534974e-01 -6.26596737e-03 -1.46263877e+00] [-6.38841954e-02 2.82375317e-03 9.97953324e-01 -1.11158439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.930714057 meters 0.027731435579836188 Centerline is valid? [True, True] Translation: X:16.07, Y:-1.46, Z:-1.11 [[ 9.96576864e-01 5.32583725e-02 6.32305258e-02 1.60722573e+01] [-5.29706775e-02 9.98576704e-01 -6.21880611e-03 -1.46431816e+00] [-6.34717336e-02 2.84815450e-03 9.97979572e-01 -1.11372954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.960714056999997 meters 0.028948904189983814 Centerline is valid? [True, True] Translation: X:16.10, Y:-1.47, Z:-1.12 [[ 9.96689893e-01 5.08068649e-02 6.34658966e-02 1.61004005e+01] [-5.05123648e-02 9.98703959e-01 -6.23726624e-03 -1.46842428e+00] [-6.37005381e-02 3.01080770e-03 9.97964517e-01 -1.11638970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.990714056999998 meters 0.02923096871981606 Centerline is valid? [True, True] Translation: X:16.13, Y:-1.47, Z:-1.12 [[ 9.96794041e-01 4.89847643e-02 6.32624081e-02 1.61296237e+01] [-4.86887173e-02 9.98794672e-01 -6.21377568e-03 -1.47138070e+00] [-6.34905365e-02 3.11368907e-03 9.97977583e-01 -1.11910368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.020714057 meters 0.03191321145385963 Centerline is valid? [True, True] Translation: X:16.16, Y:-1.48, Z:-1.12 [[ 9.96975295e-01 4.52158352e-02 6.32122561e-02 1.61576909e+01] [-4.49128518e-02 9.98971628e-01 -6.20659447e-03 -1.47918111e+00] [-6.34278867e-02 3.34877866e-03 9.97980806e-01 -1.12182471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.050714056999997 meters 0.03191321145385963 Centerline is valid? [True, True] Translation: X:16.19, Y:-1.48, Z:-1.12 [[ 9.96978413e-01 4.51467456e-02 6.32124565e-02 1.61858323e+01] [-4.48437529e-02 9.98974745e-01 -6.20455306e-03 -1.48188036e+00] [-6.34277630e-02 3.35112169e-03 9.97980806e-01 -1.12377294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.080714056999998 meters 0.03137547947835444 Centerline is valid? [True, True] Translation: X:16.21, Y:-1.48, Z:-1.13 [[ 9.97068046e-01 4.33163595e-02 6.30793490e-02 1.62148428e+01] [-4.30112796e-02 9.99055429e-01 -6.18699572e-03 -1.48311279e+00] [-6.32877642e-02 3.45573222e-03 9.97989337e-01 -1.12560091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.110714057 meters 0.0326989078753293 Centerline is valid? [True, True] Translation: X:16.25, Y:-1.49, Z:-1.13 [[ 9.97185432e-01 4.04276485e-02 6.31412586e-02 1.62450994e+01] [-4.01164332e-02 9.99175842e-01 -6.18940751e-03 -1.48719834e+00] [-6.33394435e-02 3.63898493e-03 9.97985407e-01 -1.12818920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.140714057 meters 0.032436201840633117 Centerline is valid? [True, True] Translation: X:16.27, Y:-1.49, Z:-1.13 [[ 9.97243830e-01 3.91152167e-02 6.30455716e-02 1.62748504e+01] [-3.88023220e-02 9.99227794e-01 -6.18021937e-03 -1.48911162e+00] [-6.32386281e-02 3.71687106e-03 9.97991513e-01 -1.13047025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.170714056999998 meters 0.03269658377560064 Centerline is valid? [True, True] Translation: X:16.30, Y:-1.49, Z:-1.13 [[ 9.97284718e-01 3.78511275e-02 6.31702751e-02 1.63040041e+01] [-3.75346115e-02 9.99276155e-01 -6.19017097e-03 -1.49189840e+00] [-6.33588546e-02 3.80229118e-03 9.97983566e-01 -1.13246448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.200714057 meters 0.03414439761928601 Centerline is valid? [True, True] Translation: X:16.33, Y:-1.50, Z:-1.14 [[ 9.97350390e-01 3.58320156e-02 6.33108649e-02 1.63326424e+01] [-3.55101761e-02 9.99350072e-01 -6.20176947e-03 -1.49639511e+00] [-6.34919393e-02 3.93715724e-03 9.97974585e-01 -1.13511724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.230714057 meters 0.03356970803325959 Centerline is valid? [True, True] Translation: X:16.36, Y:-1.50, Z:-1.14 [[ 9.97384749e-01 3.48290415e-02 6.33293072e-02 1.63616041e+01] [-3.45052171e-02 9.99385285e-01 -6.20019855e-03 -1.49793148e+00] [-6.35063247e-02 3.99879197e-03 9.97973425e-01 -1.13794143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.260714056999998 meters 0.03470880830895705 Centerline is valid? [True, True] Translation: X:16.39, Y:-1.50, Z:-1.14 [[ 9.97480642e-01 3.24550470e-02 6.30796294e-02 1.63911783e+01] [-3.21292865e-02 9.99464664e-01 -6.17206159e-03 -1.50149313e+00] [-6.32461752e-02 4.12980847e-03 9.97989412e-01 -1.14009576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.290714057 meters 0.03456331269875177 Centerline is valid? [True, True] Translation: X:16.42, Y:-1.50, Z:-1.14 [[ 9.97531500e-01 3.15453752e-02 6.27359251e-02 1.64214101e+01] [-3.12213718e-02 9.99493645e-01 -6.13843165e-03 -1.50372063e+00] [-6.28977976e-02 4.16457729e-03 9.98011284e-01 -1.14201615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.320714057 meters 0.03530334718449195 Centerline is valid? [True, True] Translation: X:16.45, Y:-1.51, Z:-1.14 [[ 9.97553792e-01 3.07176965e-02 6.27921604e-02 1.64517215e+01] [-3.03914801e-02 9.99519189e-01 -6.14393402e-03 -1.50758171e+00] [-6.29506967e-02 4.22055798e-03 9.98007714e-01 -1.14436815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.350714056999998 meters 0.03568665272663521 Centerline is valid? [True, True] Translation: X:16.48, Y:-1.51, Z:-1.15 [[ 9.97604069e-01 2.95734490e-02 6.25422471e-02 1.64823286e+01] [-2.92475992e-02 9.99553466e-01 -6.11937470e-03 -1.51054529e+00] [-6.26952908e-02 4.27550253e-03 9.98023557e-01 -1.14680327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.380714057 meters 0.03652531009710917 Centerline is valid? [True, True] Translation: X:16.51, Y:-1.51, Z:-1.15 [[ 9.97627424e-01 2.85195785e-02 6.26590514e-02 1.65137389e+01] [-2.81904479e-02 9.99583770e-01 -6.13069946e-03 -1.51438468e+00] [-6.28078158e-02 4.34976719e-03 9.98016161e-01 -1.14994852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.410714057 meters 0.03652860729455587 Centerline is valid? [True, True] Translation: X:16.55, Y:-1.52, Z:-1.15 [[ 9.97645555e-01 2.77283559e-02 6.27254704e-02 1.65456604e+01] [-2.73960439e-02 9.99605728e-01 -6.15191809e-03 -1.51629348e+00] [-6.28713220e-02 4.41900399e-03 9.98011858e-01 -1.15237539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.440714056999997 meters 0.04320655967154567 Centerline is valid? [True, True] Translation: X:16.58, Y:-1.53, Z:-1.16 [[ 9.97612527e-01 2.79680493e-02 6.31429699e-02 1.65767889e+01] [-2.76307431e-02 9.99598915e-01 -6.20902588e-03 -1.52882792e+00] [-6.32912985e-02 4.44951482e-03 9.97985177e-01 -1.15509864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.470714057 meters 0.03880112222720172 Centerline is valid? [True, True] Translation: X:16.61, Y:-1.52, Z:-1.16 [[ 9.97634454e-01 2.78052859e-02 6.28678216e-02 1.66095567e+01] [-2.74695182e-02 9.99603420e-01 -6.19905536e-03 -1.52468739e+00] [-6.30152560e-02 4.45744244e-03 9.98002610e-01 -1.15655368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.500714057 meters 0.040005099473152395 Centerline is valid? [True, True] Translation: X:16.64, Y:-1.53, Z:-1.16 [[ 9.97573296e-01 2.77096201e-02 6.38725001e-02 1.66416245e+01] [-2.73617731e-02 9.99605653e-01 -6.31443412e-03 -1.52833234e+00] [-6.40222827e-02 4.55144600e-03 9.97938090e-01 -1.15842090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.530714056999997 meters 0.03815173568056701 Centerline is valid? [True, True] Translation: X:16.67, Y:-1.53, Z:-1.16 [[ 9.97552013e-01 2.76760504e-02 6.42185123e-02 1.66740741e+01] [-2.73233062e-02 9.99606386e-01 -6.36479416e-03 -1.52856749e+00] [-6.43693873e-02 4.59455116e-03 9.97915564e-01 -1.16004090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.560714057 meters 0.0416985863728099 Centerline is valid? [True, True] Translation: X:16.70, Y:-1.54, Z:-1.16 [[ 9.97629754e-01 2.66608971e-02 6.34355623e-02 1.67046537e+01] [-2.63136504e-02 9.99633863e-01 -6.30332539e-03 -1.53581367e+00] [-6.35803885e-02 4.61916375e-03 9.97966030e-01 -1.16335009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.590714057 meters 0.043081286784542816 Centerline is valid? [True, True] Translation: X:16.74, Y:-1.54, Z:-1.17 [[ 9.97688152e-01 2.63792860e-02 6.26297364e-02 1.67350163e+01] [-2.60393222e-02 9.99641454e-01 -6.23832330e-03 -1.54067350e+00] [-6.27718433e-02 4.59306536e-03 9.98017334e-01 -1.16623333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.620714056999997 meters 0.043695875343150004 Centerline is valid? [True, True] Translation: X:16.77, Y:-1.54, Z:-1.17 [[ 9.97711890e-01 2.60588812e-02 6.23852483e-02 1.67670417e+01] [-2.57204617e-02 9.99649813e-01 -6.22174760e-03 -1.54449282e+00] [-6.25255335e-02 4.60293417e-03 9.98032750e-01 -1.16926724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.650714057 meters 0.045314300124606015 Centerline is valid? [True, True] Translation: X:16.80, Y:-1.55, Z:-1.17 [[ 9.97772590e-01 2.46025360e-02 6.20046271e-02 1.67966021e+01] [-2.42644170e-02 9.99686348e-01 -6.20032932e-03 -1.54959879e+00] [-6.21377230e-02 4.68201251e-03 9.98056603e-01 -1.17232066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.680714057 meters 0.04288869723486962 Centerline is valid? [True, True] Translation: X:16.83, Y:-1.55, Z:-1.17 [[ 9.97795758e-01 2.41286743e-02 6.18177309e-02 1.68287092e+01] [-2.37917847e-02 9.99697833e-01 -6.18012800e-03 -1.54858880e+00] [-6.19481700e-02 4.69575136e-03 9.98068321e-01 -1.17368284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.710714056999997 meters 0.04321664729119751 Centerline is valid? [True, True] Translation: X:16.86, Y:-1.55, Z:-1.18 [[ 9.97777147e-01 2.43498559e-02 6.20310331e-02 1.68612340e+01] [-2.40101841e-02 9.99692392e-01 -6.21548152e-03 -1.55197522e+00] [-6.21632979e-02 4.71228890e-03 9.98054868e-01 -1.17595102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.740714056999998 meters 0.040504877947770516 Centerline is valid? [True, True] Translation: X:16.89, Y:-1.55, Z:-1.18 [[ 9.97758343e-01 2.51196616e-02 6.20265387e-02 1.68941861e+01] [-2.47803602e-02 9.99673485e-01 -6.23359783e-03 -1.55037743e+00] [-6.21628720e-02 4.68258427e-03 9.98055034e-01 -1.17808119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.770714057 meters 0.039625383785171595 Centerline is valid? [True, True] Translation: X:16.93, Y:-1.55, Z:-1.18 [[ 9.97694865e-01 2.59731406e-02 6.26925237e-02 1.69260483e+01] [-2.56276423e-02 9.99651650e-01 -6.30897647e-03 -1.55266133e+00] [-6.28345486e-02 4.68777186e-03 9.98012948e-01 -1.18023727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.800714056999997 meters 0.03850333087037492 Centerline is valid? [True, True] Translation: X:16.96, Y:-1.55, Z:-1.18 [[ 9.97641221e-01 2.74270234e-02 6.29265649e-02 1.69573535e+01] [-2.70807023e-02 9.99613081e-01 -6.35004383e-03 -1.55355755e+00] [-6.30763802e-02 4.63096991e-03 9.97997958e-01 -1.18236061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.830714056999998 meters 0.038365918629226906 Centerline is valid? [True, True] Translation: X:16.99, Y:-1.56, Z:-1.18 [[ 9.97600326e-01 2.91838101e-02 6.27845164e-02 1.69878199e+01] [-2.88423891e-02 9.99563880e-01 -6.33764100e-03 -1.55581827e+00] [-6.29420913e-02 4.51157728e-03 9.98006983e-01 -1.18407822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.860714057 meters 0.03789571612050011 Centerline is valid? [True, True] Translation: X:17.02, Y:-1.56, Z:-1.19 [[ 9.97568587e-01 2.97382289e-02 6.30281766e-02 1.70190793e+01] [-2.93947807e-02 9.99547585e-01 -6.36961302e-03 -1.55817950e+00] [-6.31890827e-02 4.50142643e-03 9.97991421e-01 -1.18588553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.890714057 meters 0.03793134530638266 Centerline is valid? [True, True] Translation: X:17.05, Y:-1.56, Z:-1.19 [[ 9.97520417e-01 3.05560234e-02 6.33983246e-02 1.70504508e+01] [-3.02100154e-02 9.99523024e-01 -6.40934626e-03 -1.56138023e+00] [-6.35639292e-02 4.47818940e-03 9.97967721e-01 -1.18774483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.920714056999998 meters 0.03760434578120828 Centerline is valid? [True, True] Translation: X:17.08, Y:-1.56, Z:-1.19 [[ 9.97489408e-01 3.09555688e-02 6.36917109e-02 1.70813272e+01] [-3.06070062e-02 9.99510741e-01 -6.44132601e-03 -1.56437585e+00] [-6.38599440e-02 4.47574188e-03 9.97948834e-01 -1.18941228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.950714057 meters 0.037903792057686174 Centerline is valid? [True, True] Translation: X:17.11, Y:-1.57, Z:-1.19 [[ 9.97465642e-01 3.12599035e-02 6.39148791e-02 1.71124183e+01] [-3.09093605e-02 9.99501275e-01 -6.46622966e-03 -1.56795693e+00] [-6.40851369e-02 4.47427388e-03 9.97934405e-01 -1.19151863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.980714057 meters 0.036963092097664144 Centerline is valid? [True, True] Translation: X:17.14, Y:-1.57, Z:-1.19 [[ 9.97434592e-01 3.18894449e-02 6.40881979e-02 1.71426290e+01] [-3.15381262e-02 9.99481503e-01 -6.48625328e-03 -1.56959127e+00] [-6.42618114e-02 4.44839172e-03 9.97923159e-01 -1.19351817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.010714056999998 meters 0.03758880335263814 Centerline is valid? [True, True] Translation: X:17.17, Y:-1.57, Z:-1.20 [[ 9.97446858e-01 3.20114892e-02 6.38359601e-02 1.71727455e+01] [-3.16631894e-02 9.99477715e-01 -6.46064189e-03 -1.57320757e+00] [-6.40094343e-02 4.42289686e-03 9.97939492e-01 -1.19617967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.040714057 meters 0.03761219441260643 Centerline is valid? [True, True] Translation: X:17.20, Y:-1.58, Z:-1.20 [[ 9.97417188e-01 3.28932409e-02 6.38512901e-02 1.72030302e+01] [-3.25464947e-02 9.99449324e-01 -6.46336346e-03 -1.57685633e+00] [-6.40287297e-02 4.36853413e-03 9.97938494e-01 -1.19819392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.070714057 meters 0.03694329078870758 Centerline is valid? [True, True] Translation: X:17.23, Y:-1.58, Z:-1.20 [[ 9.97398436e-01 3.41798240e-02 6.34673168e-02 1.72332607e+01] [-3.38397551e-02 9.99406614e-01 -6.42572348e-03 -1.57847708e+00] [-6.36492863e-02 4.26128809e-03 9.97963231e-01 -1.20026215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.100714056999998 meters 0.03463640167726113 Centerline is valid? [True, True] Translation: X:17.26, Y:-1.58, Z:-1.20 [[ 9.97382711e-01 3.49834059e-02 6.32762899e-02 1.72629965e+01] [-3.46469811e-02 9.99379079e-01 -6.40657102e-03 -1.57747247e+00] [-6.34611240e-02 4.19747076e-03 9.97975484e-01 -1.20192618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.130714057 meters 0.03569262456075225 Centerline is valid? [True, True] Translation: X:17.29, Y:-1.58, Z:-1.20 [[ 9.97374211e-01 3.65223672e-02 6.25363888e-02 1.72912976e+01] [-3.61969237e-02 9.99324632e-01 -6.32948160e-03 -1.58096230e+00] [-6.27253214e-02 4.04923682e-03 9.98022614e-01 -1.20487872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.160714057 meters 0.034613843423777116 Centerline is valid? [True, True] Translation: X:17.32, Y:-1.58, Z:-1.21 [[ 9.97334036e-01 3.77974478e-02 6.24193323e-02 1.73214990e+01] [-3.74759376e-02 9.99277583e-01 -6.31397732e-03 -1.58205710e+00] [-6.26128917e-02 3.95792148e-03 9.98030040e-01 -1.20714202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.190714056999997 meters 0.03301696334171867 Centerline is valid? [True, True] Translation: X:17.35, Y:-1.58, Z:-1.21 [[ 9.97344348e-01 3.88061945e-02 6.16305935e-02 1.73499831e+01] [-3.84947336e-02 9.99239360e-01 -6.23346150e-03 -1.58227465e+00] [-6.18256117e-02 3.84445432e-03 9.98079563e-01 -1.20949916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.220714057 meters 0.036664780612904214 Centerline is valid? [True, True] Translation: X:17.38, Y:-1.59, Z:-1.21 [[ 9.97335730e-01 3.95657253e-02 6.12861696e-02 1.73769655e+01] [-3.92594446e-02 9.99209852e-01 -6.19414865e-03 -1.58995627e+00] [-6.14828205e-02 3.77158478e-03 9.98101016e-01 -1.21233278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.250714057 meters 0.032175546618151946 Centerline is valid? [True, True] Translation: X:17.41, Y:-1.59, Z:-1.21 [[ 9.97230450e-01 4.21357723e-02 6.12862614e-02 1.74070604e+01] [-4.18346104e-02 9.99105378e-01 -6.18946861e-03 -1.58529452e+00] [-6.14922313e-02 3.60843970e-03 9.98101039e-01 -1.21404731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.280714056999997 meters 0.030849425546311773 Centerline is valid? [True, True] Translation: X:17.44, Y:-1.59, Z:-1.22 [[ 9.97160186e-01 4.36645917e-02 6.13593258e-02 1.74356629e+01] [-4.33657149e-02 9.99040059e-01 -6.19485035e-03 -1.58513000e+00] [-6.15709200e-02 3.51636709e-03 9.98096517e-01 -1.21527506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.310714057 meters 0.03235749032736606 Centerline is valid? [True, True] Translation: X:17.46, Y:-1.59, Z:-1.22 [[ 9.96957960e-01 4.71691144e-02 6.20475605e-02 1.74642558e+01] [-4.68705439e-02 9.98881360e-01 -6.25950923e-03 -1.58852436e+00] [-6.22734071e-02 3.33226464e-03 9.98053565e-01 -1.21701654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.340714057 meters 0.0290795160497211 Centerline is valid? [True, True] Translation: X:17.49, Y:-1.59, Z:-1.22 [[ 9.96843856e-01 4.94394182e-02 6.21133713e-02 1.74941767e+01] [-4.91447429e-02 9.98772025e-01 -6.26391363e-03 -1.58581187e+00] [-6.23467819e-02 3.19159815e-03 9.98049444e-01 -1.21896596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.370714056999997 meters 0.028073969279965676 Centerline is valid? [True, True] Translation: X:17.52, Y:-1.59, Z:-1.22 [[ 9.96617289e-01 5.43663342e-02 6.16301964e-02 1.75234649e+01] [-5.40857612e-02 9.98516965e-01 -6.21290217e-03 -1.58549658e+00] [-6.18765695e-02 2.85856963e-03 9.98079716e-01 -1.22147439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.400714057 meters 0.027133839412329202 Centerline is valid? [True, True] Translation: X:17.55, Y:-1.59, Z:-1.22 [[ 9.96517229e-01 5.66419667e-02 6.11972189e-02 1.75527332e+01] [-5.63696802e-02 9.98390913e-01 -6.16804579e-03 -1.58638658e+00] [-6.14481175e-02 2.69689624e-03 9.98106635e-01 -1.22382427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.430714057 meters 0.026102780510483696 Centerline is valid? [True, True] Translation: X:17.58, Y:-1.59, Z:-1.23 [[ 9.96443831e-01 5.88574397e-02 6.02950509e-02 1.75812675e+01] [-5.85973595e-02 9.98263219e-01 -6.07412741e-03 -1.58651453e+00] [-6.05478392e-02 2.51939601e-03 9.98162117e-01 -1.22584084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.460714056999997 meters 0.02526408915249757 Centerline is valid? [True, True] Translation: X:17.61, Y:-1.59, Z:-1.23 [[ 9.96215765e-01 6.28048558e-02 6.00807777e-02 1.76096778e+01] [-6.25540486e-02 9.98023252e-01 -6.04814268e-03 -1.58726052e+00] [-6.03418659e-02 2.26695920e-03 9.98175195e-01 -1.22800947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.490714056999998 meters 0.024206211405263998 Centerline is valid? [True, True] Translation: X:17.64, Y:-1.59, Z:-1.23 [[ 9.96089657e-01 6.44183297e-02 6.04621715e-02 1.76386349e+01] [-6.41674756e-02 9.97920601e-01 -6.08346573e-03 -1.58796198e+00] [-6.07283332e-02 2.17997237e-03 9.98151951e-01 -1.22952522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.520714057 meters 0.02293338506953358 Centerline is valid? [True, True] Translation: X:17.67, Y:-1.59, Z:-1.23 [[ 9.95908931e-01 6.74348891e-02 6.01492893e-02 1.76674040e+01] [-6.71923732e-02 9.97721710e-01 -6.04775732e-03 -1.58775060e+00] [-6.04200816e-02 1.98144203e-03 9.98171071e-01 -1.23130101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.550714056999997 meters 0.02280876607973159 Centerline is valid? [True, True] Translation: X:17.70, Y:-1.59, Z:-1.23 [[ 9.95837206e-01 6.88614400e-02 5.97190180e-02 1.76959087e+01] [-6.86252021e-02 9.97624468e-01 -6.00023050e-03 -1.58969992e+00] [-5.99903381e-02 1.87702309e-03 9.98197193e-01 -1.23334979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.580714056999998 meters 0.02256370030266896 Centerline is valid? [True, True] Translation: X:17.72, Y:-1.59, Z:-1.24 [[ 9.95777189e-01 6.97525473e-02 5.96856159e-02 1.77245626e+01] [-6.95183358e-02 9.97562665e-01 -5.99414177e-03 -1.59206420e+00] [-5.99582488e-02 1.81958495e-03 9.98199227e-01 -1.23525732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.610714057 meters 0.02290648482166152 Centerline is valid? [True, True] Translation: X:17.75, Y:-1.60, Z:-1.24 [[ 9.95705006e-01 7.12530603e-02 5.91146600e-02 1.77516181e+01] [-7.10268995e-02 9.97456827e-01 -5.92090119e-03 -1.59652472e+00] [-5.93862035e-02 1.69673994e-03 9.98233640e-01 -1.23717797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.640714057 meters 0.02329580023320446 Centerline is valid? [True, True] Translation: X:17.78, Y:-1.60, Z:-1.24 [[ 9.95738450e-01 7.09668812e-02 5.88951726e-02 1.77792479e+01] [-7.07422751e-02 9.97477222e-01 -5.89257470e-03 -1.60050006e+00] [-5.91647708e-02 1.70108469e-03 9.98246781e-01 -1.23962094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.670714056999998 meters 0.023458973824603484 Centerline is valid? [True, True] Translation: X:17.81, Y:-1.61, Z:-1.24 [[ 9.95845947e-01 6.98098177e-02 5.84588680e-02 1.78078817e+01] [-6.95875141e-02 9.97558801e-01 -5.83237830e-03 -1.60557529e+00] [-5.87233155e-02 1.74014299e-03 9.98272780e-01 -1.24101769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.700714057 meters 0.024011469043045505 Centerline is valid? [True, True] Translation: X:17.84, Y:-1.61, Z:-1.24 [[ 9.95952463e-01 6.85231122e-02 5.81659224e-02 1.78353952e+01] [-6.83017711e-02 9.97647922e-01 -5.78729423e-03 -1.61121154e+00] [-5.84256750e-02 1.79103443e-03 9.98290155e-01 -1.24327306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.730714057 meters 0.02523047926462071 Centerline is valid? [True, True] Translation: X:17.86, Y:-1.62, Z:-1.25 [[ 9.96076862e-01 6.68283695e-02 5.80073622e-02 1.78624403e+01] [-6.66056338e-02 9.97762713e-01 -5.76693372e-03 -1.61756929e+00] [-5.82629779e-02 1.88069213e-03 9.98299498e-01 -1.24592970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.760714056999998 meters 0.02643285313677195 Centerline is valid? [True, True] Translation: X:17.89, Y:-1.63, Z:-1.25 [[ 9.96305159e-01 6.31991462e-02 5.81540899e-02 1.78913122e+01] [-6.29696049e-02 9.97998748e-01 -5.77305153e-03 -1.62634860e+00] [-5.84025609e-02 2.08978096e-03 9.98290926e-01 -1.24892862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.790714057 meters 0.02486103992667193 Centerline is valid? [True, True] Translation: X:17.92, Y:-1.63, Z:-1.25 [[ 9.96482105e-01 6.06560551e-02 5.78295541e-02 1.79207665e+01] [-6.04249100e-02 9.98156248e-01 -5.73891434e-03 -1.62746489e+00] [-5.80710307e-02 2.22437983e-03 9.98309976e-01 -1.25001881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.820714057 meters 0.026340109686222694 Centerline is valid? [True, True] Translation: X:17.95, Y:-1.64, Z:-1.25 [[ 9.96712808e-01 5.67418133e-02 5.78268488e-02 1.79491812e+01] [-5.65042284e-02 9.98385878e-01 -5.73672938e-03 -1.63620936e+00] [-5.80590217e-02 2.45041018e-03 9.98310145e-01 -1.25250898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.850714056999998 meters 0.02883248383158655 Centerline is valid? [True, True] Translation: X:17.98, Y:-1.64, Z:-1.26 [[ 9.96849812e-01 5.49108480e-02 5.72298146e-02 1.79756370e+01] [-5.46752827e-02 9.98488061e-01 -5.67502996e-03 -1.64482575e+00] [-5.74549073e-02 2.52809626e-03 9.98344902e-01 -1.25541473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.880714057 meters 0.02819946806818144 Centerline is valid? [True, True] Translation: X:18.00, Y:-1.65, Z:-1.26 [[ 9.96951855e-01 5.30156528e-02 5.72393148e-02 1.80040242e+01] [-5.27772716e-02 9.98590215e-01 -5.66941268e-03 -1.64799032e+00] [-5.74591872e-02 2.63119662e-03 9.98344389e-01 -1.25709899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.910714057 meters 0.02861832384216804 Centerline is valid? [True, True] Translation: X:18.03, Y:-1.65, Z:-1.26 [[ 9.97190299e-01 4.93051579e-02 5.63960014e-02 1.80335366e+01] [-4.90680985e-02 9.98779841e-01 -5.58135077e-03 -1.65393111e+00] [-5.66023786e-02 2.79842430e-03 9.98392878e-01 -1.25894558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.940714056999997 meters 0.02861832384216804 Centerline is valid? [True, True] Translation: X:18.06, Y:-1.66, Z:-1.26 [[ 9.97195624e-01 4.91973445e-02 5.63959951e-02 1.80608265e+01] [-4.89601097e-02 9.98785140e-01 -5.58141481e-03 -1.65654363e+00] [-5.66020726e-02 2.80460832e-03 9.98392878e-01 -1.26083432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.970714057 meters 0.030721483950769218 Centerline is valid? [True, True] Translation: X:18.09, Y:-1.66, Z:-1.26 [[ 9.97278435e-01 4.75013446e-02 5.63856865e-02 1.80872723e+01] [-4.72618341e-02 9.98866981e-01 -5.57440614e-03 -1.66426372e+00] [-5.65865922e-02 2.89434407e-03 9.98393500e-01 -1.26313290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.000714057 meters 0.031136613577669302 Centerline is valid? [True, True] Translation: X:18.12, Y:-1.67, Z:-1.27 [[ 9.97340888e-01 4.58684867e-02 5.66324542e-02 1.81155968e+01] [-4.56246881e-02 9.98943005e-01 -5.59108630e-03 -1.66934083e+00] [-5.68290487e-02 2.99238091e-03 9.98379439e-01 -1.26512083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.030714056999997 meters 0.03184535621110072 Centerline is valid? [True, True] Translation: X:18.14, Y:-1.68, Z:-1.27 [[ 9.97487560e-01 4.34607237e-02 5.59440241e-02 1.81443985e+01] [-4.32192951e-02 9.99050367e-01 -5.51877974e-03 -1.67527648e+00] [-5.61307479e-02 3.08705285e-03 9.98418654e-01 -1.26680881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.060714057 meters 0.031337634741146134 Centerline is valid? [True, True] Translation: X:18.17, Y:-1.68, Z:-1.27 [[ 9.97533218e-01 4.25949518e-02 5.57956064e-02 1.81727220e+01] [-4.23535409e-02 9.99087533e-01 -5.50260910e-03 -1.67781755e+00] [-5.59790781e-02 3.12589387e-03 9.98427049e-01 -1.26891495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.090714057 meters 0.038703595561823775 Centerline is valid? [True, True] Translation: X:18.20, Y:-1.69, Z:-1.27 [[ 9.97613108e-01 4.13757046e-02 5.52823483e-02 1.81983685e+01] [-4.11370700e-02 9.99138659e-01 -5.44813722e-03 -1.69372520e+00] [-5.54601519e-02 3.16097927e-03 9.98455898e-01 -1.27359928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.120714056999997 meters 0.03922831402397896 Centerline is valid? [True, True] Translation: X:18.23, Y:-1.70, Z:-1.28 [[ 9.97644511e-01 4.10585029e-02 5.49511440e-02 1.82264534e+01] [-4.08225067e-02 9.99151764e-01 -5.41073019e-03 -1.69764746e+00] [-5.51266889e-02 3.15474184e-03 9.98474384e-01 -1.27670773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.150714057 meters 0.032132520880632724 Centerline is valid? [True, True] Translation: X:18.26, Y:-1.69, Z:-1.28 [[ 9.97685205e-01 4.07340487e-02 5.44515285e-02 1.82567148e+01] [-4.05020338e-02 9.99165089e-01 -5.35815092e-03 -1.68923980e+00] [-5.46243255e-02 3.14035025e-03 9.98502039e-01 -1.27659480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.180714057 meters 0.033697384610149365 Centerline is valid? [True, True] Translation: X:18.28, Y:-1.69, Z:-1.28 [[ 9.97716308e-01 4.04479663e-02 5.40937233e-02 1.82839633e+01] [-4.02187723e-02 9.99176739e-01 -5.31932380e-03 -1.69451966e+00] [-5.42643458e-02 3.13159296e-03 9.98521694e-01 -1.27966155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.210714056999997 meters 0.03387800748063295 Centerline is valid? [True, True] Translation: X:18.31, Y:-1.70, Z:-1.28 [[ 9.97705519e-01 4.05063990e-02 5.42487778e-02 1.83123686e+01] [-4.02762538e-02 9.99174369e-01 -5.32942900e-03 -1.69781252e+00] [-5.44198643e-02 3.13226318e-03 9.98513228e-01 -1.28116129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.240714056999998 meters 0.033545305192874464 Centerline is valid? [True, True] Translation: X:18.34, Y:-1.70, Z:-1.28 [[ 9.97679586e-01 4.08594034e-02 5.44605624e-02 1.83409522e+01] [-4.06281902e-02 9.99160030e-01 -5.34637903e-03 -1.69986851e+00] [-5.46332670e-02 3.12133913e-03 9.98501609e-01 -1.28338848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.270714057 meters 0.033343110653744866 Centerline is valid? [True, True] Translation: X:18.37, Y:-1.70, Z:-1.29 [[ 9.97672959e-01 4.12026209e-02 5.43231996e-02 1.83697562e+01] [-4.09732892e-02 9.99146031e-01 -5.32907549e-03 -1.70215502e+00] [-5.44963811e-02 3.09087435e-03 9.98509184e-01 -1.28523079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.300714056999997 meters 0.031611348460711924 Centerline is valid? [True, True] Translation: X:18.40, Y:-1.70, Z:-1.29 [[ 9.97647841e-01 4.20512284e-02 5.41339117e-02 1.83990950e+01] [-4.18249568e-02 9.99110862e-01 -5.30649146e-03 -1.70169049e+00] [-5.43089237e-02 3.02986122e-03 9.98519585e-01 -1.28716211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.330714056999998 meters 0.03099776025326592 Centerline is valid? [True, True] Translation: X:18.43, Y:-1.70, Z:-1.29 [[ 9.97526540e-01 4.51618492e-02 5.38628814e-02 1.84276480e+01] [-4.49425145e-02 9.98975637e-01 -5.27703018e-03 -1.70278953e+00] [-5.40460267e-02 2.84324432e-03 9.98534397e-01 -1.28901079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.360714057 meters 0.02947400169394007 Centerline is valid? [True, True] Translation: X:18.46, Y:-1.70, Z:-1.29 [[ 9.97444509e-01 4.74624416e-02 5.34019551e-02 1.84565529e+01] [-4.72502719e-02 9.98869394e-01 -5.22932225e-03 -1.70186618e+00] [-5.35897749e-02 2.69270187e-03 9.98559405e-01 -1.29059127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.390714057 meters 0.029788595434379523 Centerline is valid? [True, True] Translation: X:18.49, Y:-1.70, Z:-1.29 [[ 9.97140998e-01 5.32960500e-02 5.35664230e-02 1.84859817e+01] [-5.30912089e-02 9.98575915e-01 -5.24079928e-03 -1.70414487e+00] [-5.37694537e-02 2.38190967e-03 9.98550536e-01 -1.29408032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.420714056999998 meters 0.02725195996575556 Centerline is valid? [True, True] Translation: X:18.52, Y:-1.70, Z:-1.29 [[ 9.96935136e-01 5.66471101e-02 5.39577602e-02 1.85158054e+01] [-5.64442085e-02 9.98391803e-01 -5.27812340e-03 -1.70201262e+00] [-5.41699760e-02 2.21634360e-03 9.98529269e-01 -1.29492073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.450714057 meters 0.02650683162767839 Centerline is valid? [True, True] Translation: X:18.55, Y:-1.70, Z:-1.30 [[ 9.96725073e-01 5.93223322e-02 5.49544312e-02 1.85459142e+01] [-5.91160363e-02 9.98236656e-01 -5.37337644e-03 -1.70277912e+00] [-5.51762888e-02 2.10709088e-03 9.98474405e-01 -1.29652137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.480714057 meters 0.025521379364910945 Centerline is valid? [True, True] Translation: X:18.58, Y:-1.70, Z:-1.30 [[ 9.96374845e-01 6.42964348e-02 5.57058090e-02 1.85752700e+01] [-6.40922516e-02 9.97929118e-01 -5.44606139e-03 -1.70252138e+00] [-5.59406112e-02 1.85600785e-03 9.98432373e-01 -1.29804321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.510714056999998 meters 0.024488833789424288 Centerline is valid? [True, True] Translation: X:18.60, Y:-1.70, Z:-1.30 [[ 9.96264647e-01 6.59265364e-02 5.57713640e-02 1.86038222e+01] [-6.57245053e-02 9.97822918e-01 -5.45096680e-03 -1.70261412e+00] [-5.60093086e-02 1.76506020e-03 9.98428686e-01 -1.29870139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.540714057 meters 0.02490555275660767 Centerline is valid? [True, True] Translation: X:18.63, Y:-1.71, Z:-1.30 [[ 9.96145124e-01 6.68828690e-02 5.67589146e-02 1.86311626e+01] [-6.66753873e-02 9.97759321e-01 -5.54351682e-03 -1.70555465e+00] [-5.70025023e-02 1.73772464e-03 9.98372523e-01 -1.30070433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.570714057 meters 0.024734073267142713 Centerline is valid? [True, True] Translation: X:18.66, Y:-1.71, Z:-1.30 [[ 9.96082944e-01 6.69540592e-02 5.77574468e-02 1.86599281e+01] [-6.67396409e-02 9.97754509e-01 -5.63557692e-03 -1.70915791e+00] [-5.80050777e-02 1.75879079e-03 9.98314739e-01 -1.30192363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.600714056999998 meters 0.02480556059069105 Centerline is valid? [True, True] Translation: X:18.69, Y:-1.71, Z:-1.30 [[ 9.96110348e-01 6.61652521e-02 5.81922177e-02 1.86889129e+01] [-6.59464888e-02 9.97807029e-01 -5.67384688e-03 -1.71265872e+00] [-5.84400154e-02 1.81420516e-03 9.98289273e-01 -1.30340997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.630714057 meters 0.026135858137043565 Centerline is valid? [True, True] Translation: X:18.72, Y:-1.72, Z:-1.30 [[ 9.96259614e-01 6.34639349e-02 5.86439381e-02 1.87172881e+01] [-6.32373431e-02 9.97982161e-01 -5.71353065e-03 -1.71877825e+00] [-5.88882072e-02 1.98367301e-03 9.98262613e-01 -1.30494403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.660714057 meters 0.026685548880500783 Centerline is valid? [True, True] Translation: X:18.75, Y:-1.72, Z:-1.31 [[ 9.96371069e-01 6.16593300e-02 5.86755548e-02 1.87452428e+01] [-6.14295329e-02 9.98095068e-01 -5.71385804e-03 -1.72328565e+00] [-5.89160945e-02 2.08871091e-03 9.98260753e-01 -1.30683194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.690714056999997 meters 0.026559725563905182 Centerline is valid? [True, True] Translation: X:18.77, Y:-1.73, Z:-1.31 [[ 9.96530014e-01 5.93561570e-02 5.83504788e-02 1.87748143e+01] [-5.91252891e-02 9.98234429e-01 -5.67663542e-03 -1.72651131e+00] [-5.85844002e-02 2.20694864e-03 9.98280020e-01 -1.30938701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.720714057 meters 0.026747681884135663 Centerline is valid? [True, True] Translation: X:18.80, Y:-1.73, Z:-1.31 [[ 9.96709014e-01 5.65721520e-02 5.80580192e-02 1.88034508e+01] [-5.63389923e-02 9.98395732e-01 -5.64631145e-03 -1.73222175e+00] [-5.82843026e-02 2.35679922e-03 9.98297243e-01 -1.31223269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.750714057 meters 0.027140210106438717 Centerline is valid? [True, True] Translation: X:18.83, Y:-1.74, Z:-1.31 [[ 9.96774735e-01 5.60713001e-02 5.74119956e-02 1.88321607e+01] [-5.58426442e-02 9.98423986e-01 -5.58061193e-03 -1.73617475e+00] [-5.76344257e-02 2.35657533e-03 9.98334974e-01 -1.31464764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.780714056999997 meters 0.02842514215596182 Centerline is valid? [True, True] Translation: X:18.86, Y:-1.74, Z:-1.32 [[ 9.96776286e-01 5.70065122e-02 5.64561121e-02 1.88595442e+01] [-5.67871270e-02 9.98371248e-01 -5.48392659e-03 -1.74236234e+00] [-5.66767786e-02 2.26026758e-03 9.98390021e-01 -1.31741454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.810714057 meters 0.027168228488813027 Centerline is valid? [True, True] Translation: X:18.89, Y:-1.74, Z:-1.32 [[ 9.96706821e-01 5.84050350e-02 5.62526936e-02 1.88882342e+01] [-5.81897467e-02 9.98290616e-01 -5.45895555e-03 -1.74370630e+00] [-5.64753666e-02 2.16764824e-03 9.98401640e-01 -1.31878377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.840714057 meters 0.027059155178267204 Centerline is valid? [True, True] Translation: X:18.92, Y:-1.75, Z:-1.32 [[ 9.96598181e-01 5.97520518e-02 5.67605261e-02 1.89165083e+01] [-5.95352646e-02 9.98211028e-01 -5.50418820e-03 -1.74623822e+00] [-5.69878697e-02 2.10621101e-03 9.98372649e-01 -1.32053116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.870714056999997 meters 0.025275857203832033 Centerline is valid? [True, True] Translation: X:18.95, Y:-1.75, Z:-1.32 [[ 9.96230533e-01 6.49276688e-02 5.75249791e-02 1.89469005e+01] [-6.47138733e-02 9.97888295e-01 -5.57365309e-03 -1.74660066e+00] [-5.77653876e-02 1.82997918e-03 9.98328509e-01 -1.32075411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.900714057 meters 0.024104788961141793 Centerline is valid? [True, True] Translation: X:18.98, Y:-1.75, Z:-1.32 [[ 9.95789404e-01 7.03450544e-02 5.87795545e-02 1.89769683e+01] [-7.01313015e-02 9.97521517e-01 -5.69413135e-03 -1.74747869e+00] [-5.90344243e-02 1.54786900e-03 9.98254747e-01 -1.32190754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.930714057 meters 0.023735510773354205 Centerline is valid? [True, True] Translation: X:19.00, Y:-1.75, Z:-1.32 [[ 9.95545817e-01 7.33318245e-02 5.92534315e-02 1.90042511e+01] [-7.31199134e-02 9.97306640e-01 -5.73960937e-03 -1.75035755e+00] [-5.95147367e-02 1.38143832e-03 9.98226471e-01 -1.32353472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.960714056999997 meters 0.024308907818430904 Centerline is valid? [True, True] Translation: X:19.03, Y:-1.75, Z:-1.33 [[ 9.95362199e-01 7.56102856e-02 5.94741805e-02 1.90320604e+01] [-7.54010880e-02 9.97136667e-01 -5.75704360e-03 -1.75433311e+00] [-5.97391778e-02 1.24592565e-03 9.98213243e-01 -1.32646368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.990714056999998 meters 0.023301366242240232 Centerline is valid? [True, True] Translation: X:19.06, Y:-1.76, Z:-1.33 [[ 9.95033390e-01 7.96658666e-02 5.96816782e-02 1.90612372e+01] [-7.94633945e-02 9.96821131e-01 -5.76204330e-03 -1.75619308e+00] [-5.99509962e-02 9.90916731e-04 9.98200830e-01 -1.32817801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.020714057 meters 0.023692082507196115 Centerline is valid? [True, True] Translation: X:19.09, Y:-1.76, Z:-1.33 [[ 9.94957257e-01 8.09763445e-02 5.91852029e-02 1.90883979e+01] [-8.07803989e-02 9.96715626e-01 -5.69980015e-03 -1.76094392e+00] [-5.94523656e-02 8.90053226e-04 9.98230747e-01 -1.33192134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.050714056999997 meters 0.023529338452892106 Centerline is valid? [True, True] Translation: X:19.12, Y:-1.77, Z:-1.33 [[ 9.94851704e-01 8.22342857e-02 5.92250652e-02 1.91167565e+01] [-8.20407969e-02 9.96612698e-01 -5.69533750e-03 -1.76502429e+00] [-5.94928040e-02 8.07144676e-04 9.98228408e-01 -1.33491128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.080714056999998 meters 0.023011384661230257 Centerline is valid? [True, True] Translation: X:19.14, Y:-1.77, Z:-1.34 [[ 9.94685498e-01 8.43915097e-02 5.89816310e-02 1.91449133e+01] [-8.42035252e-02 9.96432446e-01 -5.66978306e-03 -1.76876127e+00] [-5.92496924e-02 6.73189735e-04 9.98242967e-01 -1.33622048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.110714057 meters 0.023199348197725348 Centerline is valid? [True, True] Translation: X:19.17, Y:-1.77, Z:-1.34 [[ 9.94553030e-01 8.56829054e-02 5.93524190e-02 1.91725788e+01] [-8.54958401e-02 9.96322287e-01 -5.68875616e-03 -1.77379533e+00] [-5.96215670e-02 5.83384759e-04 9.98220882e-01 -1.33869207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.140714056999997 meters 0.023150620242014162 Centerline is valid? [True, True] Translation: X:19.20, Y:-1.78, Z:-1.34 [[ 9.94499356e-01 8.58899171e-02 5.99495878e-02 1.92001345e+01] [-8.56996694e-02 9.96304468e-01 -5.74219472e-03 -1.77822441e+00] [-6.02212388e-02 5.72949096e-04 9.98184890e-01 -1.34007509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.170714056999998 meters 0.023213577869127026 Centerline is valid? [True, True] Translation: X:19.23, Y:-1.79, Z:-1.34 [[ 9.94486739e-01 8.56713247e-02 6.04694203e-02 1.92271528e+01] [-8.54784192e-02 9.96323288e-01 -5.77451672e-03 -1.78662400e+00] [-6.07418021e-02 5.73849851e-04 9.98153347e-01 -1.34265830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.200714057 meters 0.023515204348272666 Centerline is valid? [True, True] Translation: X:19.26, Y:-1.79, Z:-1.34 [[ 9.94606072e-01 8.41224008e-02 6.06810021e-02 1.92557645e+01] [-8.39263456e-02 9.96455215e-01 -5.77696570e-03 -1.79290183e+00] [-6.09518732e-02 6.53070411e-04 9.98140492e-01 -1.34497075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.230714057 meters 0.023727259599359462 Centerline is valid? [True, True] Translation: X:19.28, Y:-1.81, Z:-1.35 [[ 9.94873277e-01 8.06378759e-02 6.10302867e-02 1.92826854e+01] [-8.04340541e-02 9.96743098e-01 -5.79311039e-03 -1.80607242e+00] [-6.12986612e-02 8.54497329e-04 9.98119103e-01 -1.34841315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.260714056999998 meters 0.024304784885737608 Centerline is valid? [True, True] Translation: X:19.31, Y:-1.81, Z:-1.35 [[ 9.95103203e-01 7.77022853e-02 6.10898471e-02 1.93103213e+01] [-7.74928640e-02 9.96976074e-01 -5.79346728e-03 -1.81366194e+00] [-6.13552816e-02 1.03107063e-03 9.98115457e-01 -1.35060456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.290714057 meters 0.024180380316938005 Centerline is valid? [True, True] Translation: X:19.34, Y:-1.82, Z:-1.35 [[ 9.95293001e-01 7.46468796e-02 6.18035984e-02 1.93386684e+01] [-7.44271084e-02 9.97209276e-01 -5.85371436e-03 -1.82082357e+00] [-6.20680831e-02 1.22629781e-03 9.98071164e-01 -1.35241878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.320714057 meters 0.025438057961291675 Centerline is valid? [True, True] Translation: X:19.37, Y:-1.84, Z:-1.35 [[ 9.95712156e-01 6.79572049e-02 6.27624160e-02 1.93655232e+01] [-6.77183622e-02 9.97686870e-01 -5.92734732e-03 -1.83513920e+00] [-6.30200443e-02 1.65176376e-03 9.98010895e-01 -1.35444095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.350714056999998 meters 0.026031693546241567 Centerline is valid? [True, True] Translation: X:19.39, Y:-1.84, Z:-1.36 [[ 9.95874729e-01 6.47660297e-02 6.35522280e-02 1.93947848e+01] [-6.45149479e-02 9.97898720e-01 -5.99714531e-03 -1.84284992e+00] [-6.38070983e-02 1.87233678e-03 9.97960494e-01 -1.35650396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.380714057 meters 0.027378762814696873 Centerline is valid? [True, True] Translation: X:19.42, Y:-1.86, Z:-1.36 [[ 9.96240458e-01 5.84792791e-02 6.39149721e-02 1.94224016e+01] [-5.82125510e-02 9.98286006e-01 -6.02906517e-03 -1.85636072e+00] [-6.41579976e-02 2.28574508e-03 9.97937136e-01 -1.35751600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.410714057 meters 0.027435776110725913 Centerline is valid? [True, True] Translation: X:19.45, Y:-1.86, Z:-1.36 [[ 9.96425556e-01 5.57067227e-02 6.35048949e-02 1.94512751e+01] [-5.54379251e-02 9.98444178e-01 -5.98831890e-03 -1.86192039e+00] [-6.37396822e-02 2.44633439e-03 9.97963561e-01 -1.35957304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.440714056999997 meters 0.02898528216616673 Centerline is valid? [True, True] Translation: X:19.48, Y:-1.87, Z:-1.36 [[ 9.96629057e-01 5.16119344e-02 6.37709194e-02 1.94783752e+01] [-5.13328229e-02 9.98663526e-01 -6.00859369e-03 -1.87368296e+00] [-6.39958064e-02 2.71479775e-03 9.97946475e-01 -1.36265052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.470714057 meters 0.028714721454536834 Centerline is valid? [True, True] Translation: X:19.51, Y:-1.88, Z:-1.36 [[ 9.96701062e-01 5.01711551e-02 6.37953583e-02 1.95062366e+01] [-4.98890912e-02 9.98736695e-01 -6.00770116e-03 -1.87914865e+00] [-6.40161786e-02 2.80518967e-03 9.97944918e-01 -1.36467542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.500714057 meters 0.029842899966995556 Centerline is valid? [True, True] Translation: X:19.53, Y:-1.89, Z:-1.37 [[ 9.96763534e-01 4.88743132e-02 6.38260018e-02 1.95337500e+01] [-4.85897045e-02 9.98800773e-01 -6.00470380e-03 -1.88657314e+00] [-6.40429357e-02 2.88398321e-03 9.97942977e-01 -1.36703301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.530714056999997 meters 0.03162984937342506 Centerline is valid? [True, True] Translation: X:19.56, Y:-1.90, Z:-1.37 [[ 9.96837123e-01 4.72309217e-02 6.39139313e-02 1.95614433e+01] [-4.69424612e-02 9.98879525e-01 -6.00827849e-03 -1.89662392e+00] [-6.41260939e-02 2.98899780e-03 9.97937328e-01 -1.37022919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.560714057 meters 0.030179600088833365 Centerline is valid? [True, True] Translation: X:19.59, Y:-1.90, Z:-1.37 [[ 9.96873995e-01 4.69573615e-02 6.35393064e-02 1.95913694e+01] [-4.66719442e-02 9.98892433e-01 -5.96962137e-03 -1.89892610e+00] [-6.37492501e-02 2.98545735e-03 9.97961482e-01 -1.37216563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.590714057 meters 0.02933454670971772 Centerline is valid? [True, True] Translation: X:19.62, Y:-1.90, Z:-1.37 [[ 9.96901759e-01 4.62273733e-02 6.36389235e-02 1.96201050e+01] [-4.59397192e-02 9.98926334e-01 -5.97674492e-03 -1.90356276e+00] [-6.38468857e-02 3.03467325e-03 9.97955092e-01 -1.37497591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.620714056999997 meters 0.030940123356785976 Centerline is valid? [True, True] Translation: X:19.65, Y:-1.91, Z:-1.38 [[ 9.96909279e-01 4.57464226e-02 6.38682587e-02 1.96476481e+01] [-4.54558940e-02 9.98948356e-01 -5.99532661e-03 -1.91157851e+00] [-6.40753568e-02 3.07360792e-03 9.97940330e-01 -1.37787940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.650714057 meters 0.0307957502416914 Centerline is valid? [True, True] Translation: X:19.68, Y:-1.92, Z:-1.38 [[ 9.96937011e-01 4.49877067e-02 6.39742378e-02 1.96770447e+01] [-4.46948860e-02 9.98982656e-01 -6.00167661e-03 -1.91587579e+00] [-6.41791557e-02 3.12397228e-03 9.97933503e-01 -1.38003259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.680714057 meters 0.031016985740849264 Centerline is valid? [True, True] Translation: X:19.71, Y:-1.92, Z:-1.38 [[ 9.96989265e-01 4.37209558e-02 6.40381348e-02 1.97072107e+01] [-4.34251029e-02 9.99038637e-01 -6.00521201e-03 -1.92163902e+00] [-6.42391245e-02 3.20626931e-03 9.97929384e-01 -1.38276180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.710714056999997 meters 0.030757571842144643 Centerline is valid? [True, True] Translation: X:19.74, Y:-1.93, Z:-1.38 [[ 9.97015249e-01 4.39909825e-02 6.34459411e-02 1.97373336e+01] [-4.37011303e-02 9.99026933e-01 -5.94967871e-03 -1.92549072e+00] [-6.36459361e-02 3.15926106e-03 9.97967541e-01 -1.38491518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.740714056999998 meters 0.030761503500582602 Centerline is valid? [True, True] Translation: X:19.77, Y:-1.93, Z:-1.39 [[ 9.96953332e-01 4.66305978e-02 6.25271268e-02 1.97667019e+01] [-4.63542676e-02 9.98907854e-01 -5.86351639e-03 -1.92964977e+00] [-6.27322574e-02 2.94725303e-03 9.98026041e-01 -1.38812130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.770714057 meters 0.02849911847162805 Centerline is valid? [True, True] Translation: X:19.80, Y:-1.93, Z:-1.39 [[ 9.96918283e-01 4.87973827e-02 6.14227361e-02 1.97970265e+01] [-4.85348346e-02 9.98804881e-01 -5.76008340e-03 -1.92746383e+00] [-6.16304056e-02 2.76119011e-03 9.98095220e-01 -1.39038219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.800714056999997 meters 0.02872204413275555 Centerline is valid? [True, True] Translation: X:19.83, Y:-1.93, Z:-1.39 [[ 9.96791422e-01 5.18030029e-02 6.10189362e-02 1.98250888e+01] [-5.15495689e-02 9.98654048e-01 -5.72134778e-03 -1.93145273e+00] [-6.12331907e-02 2.55749053e-03 9.98120211e-01 -1.39290777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.830714056999998 meters 0.028044301058093055 Centerline is valid? [True, True] Translation: X:19.85, Y:-1.93, Z:-1.40 [[ 9.96590999e-01 5.56116886e-02 6.09403052e-02 1.98546727e+01] [-5.53662274e-02 9.98449784e-01 -5.71041767e-03 -1.93312807e+00] [-6.11634005e-02 2.31691605e-03 9.98125078e-01 -1.39552867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.860714057 meters 0.028044301058093055 Centerline is valid? [True, True] Translation: X:19.88, Y:-1.94, Z:-1.40 [[ 9.96595020e-01 5.55393902e-02 6.09404871e-02 1.98828120e+01] [-5.52939128e-02 9.98453803e-01 -5.70847517e-03 -1.93570686e+00] [-6.11633064e-02 2.31939994e-03 9.98125078e-01 -1.39747577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.890714056999997 meters 0.03126690918584187 Centerline is valid? [True, True] Translation: X:19.91, Y:-1.95, Z:-1.40 [[ 9.95801674e-01 6.72549053e-02 6.20951238e-02 1.99108726e+01] [-6.70230450e-02 9.97734501e-01 -5.81171165e-03 -1.94631961e+00] [-6.23453135e-02 1.62550791e-03 9.98053315e-01 -1.40158617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.920714056999998 meters 0.026435105554756852 Centerline is valid? [True, True] Translation: X:19.94, Y:-1.93, Z:-1.40 [[ 9.95534102e-01 7.14804518e-02 6.16635693e-02 1.99415502e+01] [-7.12599970e-02 9.97441087e-01 -5.76973395e-03 -1.93484219e+00] [-6.19182008e-02 1.34982115e-03 9.98080315e-01 -1.40106649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.950714057 meters 0.02581499490776121 Centerline is valid? [True, True] Translation: X:19.97, Y:-1.94, Z:-1.40 [[ 9.95188627e-01 7.58287344e-02 6.20451399e-02 1.99690155e+01] [-7.56141755e-02 9.97120269e-01 -5.80223475e-03 -1.93634486e+00] [-6.23064427e-02 1.08282594e-03 9.98056479e-01 -1.40289828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.980714057 meters 0.025611582780028 Centerline is valid? [True, True] Translation: X:20.00, Y:-1.94, Z:-1.40 [[ 9.94824312e-01 7.98928819e-02 6.27830872e-02 1.99966229e+01] [-7.96816278e-02 9.96803107e-01 -5.86547041e-03 -1.93803239e+00] [-6.30509857e-02 8.32453973e-04 9.98009960e-01 -1.40491124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.010714056999998 meters 0.025592083609850432 Centerline is valid? [True, True] Translation: X:20.02, Y:-1.94, Z:-1.41 [[ 9.94554164e-01 8.31068977e-02 6.28908401e-02 2.00249277e+01] [-8.29016965e-02 9.96540443e-01 -5.86980630e-03 -1.93982397e+00] [-6.31610871e-02 6.24082960e-04 9.98003150e-01 -1.40682238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.040714057 meters 0.025518147893759998 Centerline is valid? [True, True] Translation: X:20.05, Y:-1.94, Z:-1.41 [[ 9.93967208e-01 8.89406509e-02 6.41774959e-02 2.00531954e+01] [-8.87394021e-02 9.96036895e-01 -5.98518271e-03 -1.94321868e+00] [-6.44554797e-02 2.54002733e-04 9.97920551e-01 -1.40832501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.070714057 meters 0.025927002069406485 Centerline is valid? [True, True] Translation: X:20.08, Y:-1.95, Z:-1.41 [[ 9.93738472e-01 9.08956929e-02 6.49755455e-02 2.00802359e+01] [-9.06938798e-02 9.95860411e-01 -6.05496340e-03 -1.94696328e+00] [-6.52569435e-02 1.24165772e-04 9.97868486e-01 -1.41006095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.100714056999998 meters 0.025870876214617058 Centerline is valid? [True, True] Translation: X:20.11, Y:-1.95, Z:-1.41 [[ 9.93633978e-01 9.15816339e-02 6.56073387e-02 2.01078285e+01] [-9.13777507e-02 9.95797569e-01 -6.10801429e-03 -1.95134884e+00] [-6.58910104e-02 7.40794940e-05 9.97826823e-01 -1.41236113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.130714057 meters 0.025980649446321568 Centerline is valid? [True, True] Translation: X:20.14, Y:-1.96, Z:-1.41 [[ 9.93540158e-01 9.20771635e-02 6.63306154e-02 2.01354118e+01] [-9.18703264e-02 9.95751874e-01 -6.16833465e-03 -1.95624171e+00] [-6.66167973e-02 3.46728936e-05 9.97778633e-01 -1.41465556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.160714057 meters 0.02617122489473355 Centerline is valid? [True, True] Translation: X:20.16, Y:-1.96, Z:-1.42 [[ 9.93560516e-01 9.23134934e-02 6.56941443e-02 2.01630357e+01] [-9.21115725e-02 9.95729993e-01 -6.10241014e-03 -1.96426759e+00] [-6.59769647e-02 1.19228281e-05 9.97821146e-01 -1.41738227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.190714056999997 meters 0.02629552514242131 Centerline is valid? [True, True] Translation: X:20.19, Y:-1.97, Z:-1.42 [[ 9.93620951e-01 9.20183316e-02 6.51922764e-02 2.01893229e+01] [-9.18193148e-02 9.95757313e-01 -6.04874877e-03 -1.96938337e+00] [-6.54722817e-02 2.42533570e-05 9.97854388e-01 -1.42045656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.220714057 meters 0.02593163107863141 Centerline is valid? [True, True] Translation: X:20.22, Y:-1.98, Z:-1.42 [[ 9.93685812e-01 9.21652051e-02 6.39850098e-02 2.02168859e+01] [-9.19743317e-02 9.95743730e-01 -5.92852329e-03 -1.97873284e+00] [-6.42590758e-02 6.11097402e-06 9.97933250e-01 -1.42435553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.250714057 meters 0.025855252664228955 Centerline is valid? [True, True] Translation: X:20.24, Y:-1.99, Z:-1.43 [[ 9.93623484e-01 9.30892587e-02 6.36141720e-02 2.02443039e+01] [-9.29027629e-02 9.95657766e-01 -5.88982663e-03 -1.98512293e+00] [-6.38862239e-02 -5.76622755e-05 9.97957187e-01 -1.42719360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.280714056999997 meters 0.026429618754837278 Centerline is valid? [True, True] Translation: X:20.27, Y:-1.99, Z:-1.43 [[ 9.93128681e-01 9.74314591e-02 6.48269585e-02 2.02720588e+01] [-9.72474907e-02 9.95242175e-01 -5.99480837e-03 -1.98740255e+00] [-6.51026062e-02 -3.50642913e-04 9.97878514e-01 -1.43119017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.310714057 meters 0.025966959788565853 Centerline is valid? [True, True] Translation: X:20.30, Y:-2.00, Z:-1.43 [[ 9.93453057e-01 9.50064431e-02 6.34413059e-02 2.02993657e+01] [-9.48256847e-02 9.95476639e-01 -5.86098138e-03 -2.00071841e+00] [-6.37111689e-02 -1.93255392e-04 9.97968361e-01 -1.43312473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.340714057 meters 0.02616677228012759 Centerline is valid? [True, True] Translation: X:20.33, Y:-2.01, Z:-1.43 [[ 9.93397493e-01 9.56252854e-02 6.33815808e-02 2.03261533e+01] [-9.54464038e-02 9.95417374e-01 -5.85110347e-03 -2.00639915e+00] [-6.36506401e-02 -2.37072427e-04 9.97972214e-01 -1.43495620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.370714056999997 meters 0.025985293129973573 Centerline is valid? [True, True] Translation: X:20.35, Y:-2.02, Z:-1.44 [[ 9.93184525e-01 9.72888683e-02 6.41823528e-02 2.03542668e+01] [-9.71094523e-02 9.95256122e-01 -5.91652551e-03 -2.01692760e+00] [-6.44534916e-02 -3.56511545e-04 9.97920648e-01 -1.43723701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.400714057 meters 0.026071987625207054 Centerline is valid? [True, True] Translation: X:20.38, Y:-2.02, Z:-1.44 [[ 9.93101174e-01 9.78858235e-02 6.45633269e-02 2.03808303e+01] [-9.77058236e-02 9.95197570e-01 -5.94711545e-03 -2.02318339e+00] [-6.48354044e-02 -4.02125693e-04 9.97895891e-01 -1.43949749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.430714057 meters 0.025912507927565862 Centerline is valid? [True, True] Translation: X:20.41, Y:-2.04, Z:-1.44 [[ 9.92934403e-01 9.89543774e-02 6.54927632e-02 2.04083957e+01] [-9.87720388e-02 9.95091852e-01 -6.02416534e-03 -2.03509746e+00] [-6.57674325e-02 -4.87252734e-04 9.97834860e-01 -1.44167699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.460714056999997 meters 0.02561592896336931 Centerline is valid? [True, True] Translation: X:20.44, Y:-2.04, Z:-1.44 [[ 9.92915660e-01 9.92737735e-02 6.52932622e-02 2.04360689e+01] [-9.90935425e-02 9.95060026e-01 -6.00113283e-03 -2.04247741e+00] [-6.55664703e-02 -5.11521887e-04 9.97848073e-01 -1.44410054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.490714056999998 meters 0.02602660471585369 Centerline is valid? [True, True] Translation: X:20.46, Y:-2.05, Z:-1.45 [[ 9.92896094e-01 9.99931713e-02 6.44880779e-02 2.04631116e+01] [-9.98191696e-02 9.94987968e-01 -5.92262419e-03 -2.04980050e+00] [-6.47570836e-02 -5.56595970e-04 9.97900902e-01 -1.44692781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.520714057 meters 0.026276707646782402 Centerline is valid? [True, True] Translation: X:20.49, Y:-2.06, Z:-1.45 [[ 9.92948535e-01 1.00182066e-01 6.33779236e-02 2.04892530e+01] [-1.00014734e-01 9.94968962e-01 -5.81531330e-03 -2.06224749e+00] [-6.36416569e-02 -5.64419360e-04 9.97972655e-01 -1.45023695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.550714056999997 meters 0.026073946261835353 Centerline is valid? [True, True] Translation: X:20.52, Y:-2.07, Z:-1.45 [[ 9.92905883e-01 1.00389647e-01 6.37167623e-02 2.05169969e+01] [-1.00221473e-01 9.94948025e-01 -5.83819418e-03 -2.06977631e+00] [-6.39809611e-02 -5.89010415e-04 9.97950946e-01 -1.45258284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.580714056999998 meters 0.026157958462618848 Centerline is valid? [True, True] Translation: X:20.54, Y:-2.08, Z:-1.45 [[ 9.92829995e-01 1.00638672e-01 6.45016110e-02 2.05441004e+01] [-1.00467298e-01 9.94922848e-01 -5.90323143e-03 -2.08260964e+00] [-6.47682199e-02 -6.19397306e-04 9.97900142e-01 -1.45393899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.610714057 meters 0.026202054135274745 Centerline is valid? [True, True] Translation: X:20.57, Y:-2.09, Z:-1.46 [[ 9.92837614e-01 1.00919811e-01 6.39426632e-02 2.05716226e+01] [-1.00752422e-01 9.94894358e-01 -5.84517030e-03 -2.08946071e+00] [-6.42060883e-02 -6.39073278e-04 9.97936456e-01 -1.45570053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.640714056999997 meters 0.025793265604270955 Centerline is valid? [True, True] Translation: X:20.60, Y:-2.10, Z:-1.46 [[ 9.92844237e-01 1.00964727e-01 6.37686896e-02 2.05985690e+01] [-1.00798698e-01 9.94889796e-01 -5.82371054e-03 -2.09843194e+00] [-6.40308080e-02 -6.45763456e-04 9.97947713e-01 -1.45732377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.670714056999998 meters 0.025742641561963528 Centerline is valid? [True, True] Translation: X:20.63, Y:-2.11, Z:-1.46 [[ 9.92937785e-01 1.00909040e-01 6.23852588e-02 2.06253574e+01] [-1.00750465e-01 9.94895453e-01 -5.69047479e-03 -2.11024046e+00] [-6.26410307e-02 -6.35056380e-04 9.98035920e-01 -1.46031368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.700714057 meters 0.025746476612664864 Centerline is valid? [True, True] Translation: X:20.65, Y:-2.12, Z:-1.46 [[ 9.92935079e-01 1.00951096e-01 6.23602820e-02 2.06525419e+01] [-1.00793084e-01 9.94891181e-01 -5.68256249e-03 -2.11758189e+00] [-6.26153556e-02 -6.43069531e-04 9.98037526e-01 -1.46239676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.730714057 meters 0.02561153941730507 Centerline is valid? [True, True] Translation: X:20.68, Y:-2.13, Z:-1.46 [[ 9.92993275e-01 1.00623613e-01 6.19616292e-02 2.06799086e+01] [-1.00467396e-01 9.94924368e-01 -5.63955453e-03 -2.12977498e+00] [-6.22146072e-02 -6.25083805e-04 9.98062599e-01 -1.46375896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.760714056999998 meters 0.025534506298686692 Centerline is valid? [True, True] Translation: X:20.71, Y:-2.14, Z:-1.47 [[ 9.93033840e-01 9.99656606e-02 6.23751468e-02 2.07077340e+01] [-9.98064924e-02 9.94990710e-01 -5.67019473e-03 -2.13710507e+00] [-6.26295164e-02 -5.94749367e-04 9.98036668e-01 -1.46516597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.790714057 meters 0.02564984139099743 Centerline is valid? [True, True] Translation: X:20.73, Y:-2.14, Z:-1.47 [[ 9.93075593e-01 9.94757219e-02 6.24935792e-02 2.07349830e+01] [-9.93152542e-02 9.95039827e-01 -5.67658443e-03 -2.14421386e+00] [-6.27482826e-02 -5.69288256e-04 9.98029222e-01 -1.46654734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.820714057 meters 0.02524996581599555 Centerline is valid? [True, True] Translation: X:20.76, Y:-2.16, Z:-1.47 [[ 9.93351167e-01 9.65000621e-02 6.27789469e-02 2.07624089e+01] [-9.63326177e-02 9.95332902e-01 -5.69567746e-03 -2.15818451e+00] [-6.30355847e-02 -3.89852436e-04 9.98011204e-01 -1.46715055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.850714056999998 meters 0.025724526577237686 Centerline is valid? [True, True] Translation: X:20.79, Y:-2.17, Z:-1.47 [[ 9.93547534e-01 9.43860848e-02 6.28853313e-02 2.07900632e+01] [-9.42141290e-02 9.95535634e-01 -5.70077693e-03 -2.16630338e+00] [-6.31426622e-02 -2.60693860e-04 9.98004477e-01 -1.46871759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.880714057 meters 0.025205788221940414 Centerline is valid? [True, True] Translation: X:20.82, Y:-2.17, Z:-1.47 [[ 9.93770279e-01 9.19102496e-02 6.30328416e-02 2.08178186e+01] [-9.17327966e-02 9.95767289e-01 -5.70961432e-03 -2.17490736e+00] [-6.32908139e-02 -1.08133825e-04 9.97995121e-01 -1.47014955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.910714057 meters 0.02723790880659765 Centerline is valid? [True, True] Translation: X:20.85, Y:-2.19, Z:-1.47 [[ 9.94315278e-01 8.67457820e-02 6.17437969e-02 2.08456996e+01] [-8.65658309e-02 9.96230457e-01 -5.58860710e-03 -2.19027466e+00] [-6.19958391e-02 2.11934343e-04 9.98076385e-01 -1.46976478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.940714056999997 meters 0.02561273707693112 Centerline is valid? [True, True] Translation: X:20.87, Y:-2.20, Z:-1.47 [[ 9.94705577e-01 8.18942967e-02 6.20817209e-02 2.08744416e+01] [-8.17032185e-02 9.96640889e-01 -5.61449490e-03 -2.19795157e+00] [-6.23329766e-02 5.12492972e-04 9.98055278e-01 -1.47320772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.970714057 meters 0.026010967578672817 Centerline is valid? [True, True] Translation: X:20.90, Y:-2.21, Z:-1.47 [[ 9.95370198e-01 7.44111609e-02 6.08370643e-02 2.09040911e+01] [-7.42138610e-02 9.97227185e-01 -5.49939482e-03 -2.21149645e+00] [-6.10775907e-02 9.58980276e-04 9.98132560e-01 -1.47410835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.000714057 meters 0.02648675488614794 Centerline is valid? [True, True] Translation: X:20.93, Y:-2.22, Z:-1.48 [[ 9.95640599e-01 7.09851097e-02 6.05054696e-02 2.09341966e+01] [-7.07835796e-02 9.97476696e-01 -5.47036705e-03 -2.21964111e+00] [-6.07411105e-02 1.16372580e-03 9.98152876e-01 -1.47628935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.030714056999997 meters 0.026718233460720175 Centerline is valid? [True, True] Translation: X:20.97, Y:-2.23, Z:-1.48 [[ 9.95863799e-01 6.83991851e-02 5.98067328e-02 2.09659277e+01] [-6.81976130e-02 9.97657178e-01 -5.40748439e-03 -2.22694208e+00] [-6.00364838e-02 1.30644153e-03 9.98195328e-01 -1.47766999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.060714057 meters 0.028036416628160678 Centerline is valid? [True, True] Translation: X:21.00, Y:-2.24, Z:-1.48 [[ 9.96211162e-01 6.42518992e-02 5.86089997e-02 2.09959693e+01] [-6.40502332e-02 9.97932522e-01 -5.31492725e-03 -2.23858592e+00] [-5.88293211e-02 1.54086975e-03 9.98266866e-01 -1.48041534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.090714057 meters 0.028276931714555583 Centerline is valid? [True, True] Translation: X:21.03, Y:-2.24, Z:-1.48 [[ 9.96345744e-01 6.29823823e-02 5.76920977e-02 2.10279861e+01] [-6.27845606e-02 9.98013363e-01 -5.23692923e-03 -2.24483408e+00] [-5.79073188e-02 1.59561915e-03 9.98320688e-01 -1.48277800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.120714056999997 meters 0.028402236523428177 Centerline is valid? [True, True] Translation: X:21.06, Y:-2.25, Z:-1.49 [[ 9.96490355e-01 6.23201775e-02 5.58853081e-02 2.10594102e+01] [-6.21327889e-02 9.98054933e-01 -5.08605339e-03 -2.25109948e+00] [-5.60935712e-02 1.59589309e-03 9.98424241e-01 -1.48524348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.150714057 meters 0.02865109712904614 Centerline is valid? [True, True] Translation: X:21.09, Y:-2.26, Z:-1.49 [[ 9.96456045e-01 6.27222185e-02 5.60470708e-02 2.10911198e+01] [-6.25336097e-02 9.98029754e-01 -5.11439764e-03 -2.25566058e+00] [-5.62574306e-02 1.59144680e-03 9.98415028e-01 -1.48675791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.180714057 meters 0.02917968894711477 Centerline is valid? [True, True] Translation: X:21.12, Y:-2.26, Z:-1.49 [[ 9.96430573e-01 6.37465284e-02 5.53397929e-02 2.11230160e+01] [-6.35634349e-02 9.97964951e-01 -5.06418921e-03 -2.25712936e+00] [-5.55499982e-02 1.52852564e-03 9.98454737e-01 -1.48613974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.210714056999997 meters 0.02800878807821213 Centerline is valid? [True, True] Translation: X:21.15, Y:-2.26, Z:-1.49 [[ 9.96443221e-01 6.30881474e-02 5.58640555e-02 2.11548259e+01] [-6.28997199e-02 9.98006685e-01 -5.12661106e-03 -2.26057795e+00] [-5.60761292e-02 1.59454339e-03 9.98425223e-01 -1.48881447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.240714056999998 meters 0.027785709553060645 Centerline is valid? [True, True] Translation: X:21.19, Y:-2.26, Z:-1.49 [[ 9.96435649e-01 6.29641350e-02 5.61383637e-02 2.11872889e+01] [-6.27728609e-02 9.98014470e-01 -5.16583340e-03 -2.26400906e+00] [-5.63521615e-02 1.62345486e-03 9.98409635e-01 -1.49090540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.270714057 meters 0.028335008290241968 Centerline is valid? [True, True] Translation: X:21.22, Y:-2.27, Z:-1.49 [[ 9.96467017e-01 6.21696119e-02 5.64661281e-02 2.12176145e+01] [-6.19737517e-02 9.98064156e-01 -5.21483798e-03 -2.26825134e+00] [-5.66810230e-02 1.69699624e-03 9.98390896e-01 -1.49339420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.300714056999997 meters 0.028026403834105672 Centerline is valid? [True, True] Translation: X:21.25, Y:-2.27, Z:-1.50 [[ 9.96493634e-01 6.21922648e-02 5.59692761e-02 2.12492740e+01] [-6.19995664e-02 9.98062763e-01 -5.17445348e-03 -2.27032066e+00] [-5.61826613e-02 1.68623910e-03 9.98419083e-01 -1.49529401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.330714056999998 meters 0.028201150032286387 Centerline is valid? [True, True] Translation: X:21.28, Y:-2.27, Z:-1.50 [[ 9.96483789e-01 6.21730604e-02 5.61655520e-02 2.12810814e+01] [-6.19781625e-02 9.98063923e-01 -5.20700643e-03 -2.27400162e+00] [-5.63805467e-02 1.70765979e-03 9.98407892e-01 -1.49810426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.360714057 meters 0.030572579014466993 Centerline is valid? [True, True] Translation: X:21.31, Y:-2.28, Z:-1.50 [[ 9.96368995e-01 6.43396805e-02 5.57604817e-02 2.13124611e+01] [-6.41500889e-02 9.97926791e-01 -5.18523616e-03 -2.27736779e+00] [-5.59784950e-02 1.58936868e-03 9.98430710e-01 -1.49912859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.390714056999997 meters 0.028313207837605048 Centerline is valid? [True, True] Translation: X:21.34, Y:-2.28, Z:-1.50 [[ 9.96375240e-01 6.39128879e-02 5.61384322e-02 2.13445469e+01] [-6.37193034e-02 9.97954138e-01 -5.23339767e-03 -2.27855878e+00] [-5.63580623e-02 1.63732607e-03 9.98409279e-01 -1.50310812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.420714056999998 meters 0.028390866841979664 Centerline is valid? [True, True] Translation: X:21.38, Y:-2.28, Z:-1.51 [[ 9.96344143e-01 6.42829817e-02 5.62676315e-02 2.13778172e+01] [-6.40883187e-02 9.97930373e-01 -5.25913253e-03 -2.28095109e+00] [-5.64892512e-02 1.63380800e-03 9.98401871e-01 -1.50598874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.450714057 meters 0.028087991027109 Centerline is valid? [True, True] Translation: X:21.41, Y:-2.28, Z:-1.51 [[ 9.96320289e-01 6.46821556e-02 5.62325527e-02 2.14112717e+01] [-6.44874633e-02 9.97904592e-01 -5.27189225e-03 -2.28246445e+00] [-5.64557199e-02 1.62619854e-03 9.98403780e-01 -1.50850738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.480714057 meters 0.027548931544990263 Centerline is valid? [True, True] Translation: X:21.44, Y:-2.28, Z:-1.51 [[ 9.96278236e-01 6.47742727e-02 5.68680043e-02 2.14443865e+01] [-6.45743478e-02 9.97898568e-01 -5.34811517e-03 -2.28325956e+00] [-5.70949203e-02 1.65599645e-03 9.98367381e-01 -1.50974267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.510714056999998 meters 0.027332015881939373 Centerline is valid? [True, True] Translation: X:21.48, Y:-2.29, Z:-1.51 [[ 9.96235840e-01 6.43342678e-02 5.80969284e-02 2.14768035e+01] [-6.41238085e-02 9.97926896e-01 -5.48152807e-03 -2.28577005e+00] [-5.83291375e-02 1.73549841e-03 9.98295898e-01 -1.51138804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.540714057 meters 0.02896745000645472 Centerline is valid? [True, True] Translation: X:21.51, Y:-2.29, Z:-1.51 [[ 9.96198363e-01 6.48316381e-02 5.81865942e-02 2.15082826e+01] [-6.46204343e-02 9.97894725e-01 -5.50605948e-03 -2.28933279e+00] [-5.84210623e-02 1.72508445e-03 9.98290541e-01 -1.51283159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.570714057 meters 0.02763255810090705 Centerline is valid? [True, True] Translation: X:21.54, Y:-2.29, Z:-1.52 [[ 9.96237716e-01 6.36740796e-02 5.87879712e-02 2.15402147e+01] [-6.34555030e-02 9.97969073e-01 -5.57931943e-03 -2.29097442e+00] [-5.90238351e-02 1.82790816e-03 9.98254900e-01 -1.51520301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.600714056999998 meters 0.028051859715612987 Centerline is valid? [True, True] Translation: X:21.57, Y:-2.30, Z:-1.52 [[ 9.96315990e-01 6.24198371e-02 5.88065706e-02 2.15704511e+01] [-6.21980149e-02 9.98048137e-01 -5.59674357e-03 -2.29560484e+00] [-5.90411360e-02 1.91847315e-03 9.98253707e-01 -1.51802383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.630714057 meters 0.028292698903469415 Centerline is valid? [True, True] Translation: X:21.60, Y:-2.30, Z:-1.52 [[ 9.96286881e-01 6.29599550e-02 5.87238927e-02 2.16028592e+01] [-6.27390432e-02 9.98014255e-01 -5.59988384e-03 -2.29782633e+00] [-5.89598505e-02 1.89480996e-03 9.98258557e-01 -1.52106112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.660714057 meters 0.02680191215216617 Centerline is valid? [True, True] Translation: X:21.64, Y:-2.30, Z:-1.52 [[ 9.96152511e-01 6.50234946e-02 5.87547420e-02 2.16352866e+01] [-6.48049219e-02 9.97882127e-01 -5.61992667e-03 -2.29625432e+00] [-5.89957342e-02 1.79070760e-03 9.98256629e-01 -1.52300452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.690714056999997 meters 0.02774801504707621 Centerline is valid? [True, True] Translation: X:21.67, Y:-2.30, Z:-1.53 [[ 9.95950806e-01 6.76909742e-02 5.91601484e-02 2.16659243e+01] [-6.74731349e-02 9.97704955e-01 -5.67438301e-03 -2.30039003e+00] [-5.94084777e-02 1.65968567e-03 9.98232377e-01 -1.52564499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.720714057 meters 0.026355798820191033 Centerline is valid? [True, True] Translation: X:21.70, Y:-2.30, Z:-1.53 [[ 9.95696314e-01 7.04754572e-02 6.01835530e-02 2.16989303e+01] [-7.02541226e-02 9.97512332e-01 -5.78840453e-03 -2.29857480e+00] [-6.04417768e-02 1.53535034e-03 9.98170544e-01 -1.52694557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.750714057 meters 0.026355798820191033 Centerline is valid? [True, True] Translation: X:21.73, Y:-2.30, Z:-1.53 [[ 9.95675640e-01 7.07672624e-02 6.01831809e-02 2.17312777e+01] [-7.05462263e-02 9.97491694e-01 -5.79227351e-03 -2.30174509e+00] [-6.04421264e-02 1.52152933e-03 9.98170544e-01 -1.52918308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.780714056999997 meters 0.026097243531457984 Centerline is valid? [True, True] Translation: X:21.76, Y:-2.30, Z:-1.53 [[ 9.95033241e-01 7.87580861e-02 6.08770326e-02 2.17610228e+01] [-7.85455870e-02 9.96893185e-01 -5.87954522e-03 -2.30169964e+00] [-6.11509607e-02 1.06872067e-03 9.98127957e-01 -1.53180982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.810714057 meters 0.025230422697597347 Centerline is valid? [True, True] Translation: X:21.79, Y:-2.30, Z:-1.53 [[ 9.94669141e-01 8.30293394e-02 6.11508690e-02 2.17920590e+01] [-8.28229814e-02 9.96546774e-01 -5.90599252e-03 -2.29978856e+00] [-6.14300718e-02 8.09811220e-04 9.98111061e-01 -1.53307120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.840714057 meters 0.02646840691665979 Centerline is valid? [True, True] Translation: X:21.82, Y:-2.30, Z:-1.54 [[ 9.93649857e-01 9.44495362e-02 6.11493837e-02 2.18215714e+01] [-9.42647528e-02 9.95529645e-01 -5.90611360e-03 -2.29746709e+00] [-6.14338540e-02 1.04377398e-04 9.98111151e-01 -1.53576162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.870714056999997 meters 0.024689304340686953 Centerline is valid? [True, True] Translation: X:21.85, Y:-2.30, Z:-1.54 [[ 9.93261616e-01 9.79367284e-02 6.19657877e-02 2.18505492e+01] [-9.77538790e-02 9.95192637e-01 -5.98290012e-03 -2.29707212e+00] [-6.22538413e-02 -1.14811075e-04 9.98060342e-01 -1.53924585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.900714057 meters 0.024877470326610137 Centerline is valid? [True, True] Translation: X:21.88, Y:-2.30, Z:-1.54 [[ 9.92739514e-01 1.02794099e-01 6.24630409e-02 2.18789774e+01] [-1.02618187e-01 9.94702564e-01 -6.02635596e-03 -2.29841584e+00] [-6.27516208e-02 -4.27242347e-04 9.98029084e-01 -1.54131350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.930714057 meters 0.02477126581434567 Centerline is valid? [True, True] Translation: X:21.91, Y:-2.30, Z:-1.54 [[ 9.91786625e-01 1.11498985e-01 6.26679024e-02 2.19083776e+01] [-1.11339565e-01 9.93764059e-01 -6.04124171e-03 -2.30001669e+00] [-6.29507014e-02 -9.85794259e-04 9.98016151e-01 -1.54453008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.960714056999997 meters 0.02491688192207262 Centerline is valid? [True, True] Translation: X:21.94, Y:-2.30, Z:-1.55 [[ 9.91358484e-01 1.15301799e-01 6.25607875e-02 2.19354365e+01] [-1.15150608e-01 9.93329749e-01 -6.02893816e-03 -2.30213733e+00] [-6.28386387e-02 -1.22707372e-03 9.98022946e-01 -1.54716908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.990714056999998 meters 0.025903832707049972 Centerline is valid? [True, True] Translation: X:21.96, Y:-2.30, Z:-1.55 [[ 9.91002474e-01 1.18521026e-01 6.21841087e-02 2.19631196e+01] [-1.18378335e-01 9.92950516e-01 -5.98692280e-03 -2.30374889e+00] [-6.24553190e-02 -1.42819595e-03 9.98046739e-01 -1.54999918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.020714057 meters 0.025588703837041496 Centerline is valid? [True, True] Translation: X:21.99, Y:-2.31, Z:-1.55 [[ 9.90296284e-01 1.23783579e-01 6.31735394e-02 2.19917279e+01] [-1.23647370e-01 9.92307617e-01 -6.07623655e-03 -2.31137125e+00] [-6.34397227e-02 -1.79396751e-03 9.97984060e-01 -1.55187495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.050714056999997 meters 0.02586730280914195 Centerline is valid? [True, True] Translation: X:22.02, Y:-2.32, Z:-1.55 [[ 9.89920963e-01 1.26360525e-01 6.39492326e-02 2.20196177e+01] [-1.26226529e-01 9.91982395e-01 -6.14751275e-03 -2.31653295e+00] [-6.42133158e-02 -1.98653794e-03 9.97934218e-01 -1.55396225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.080714056999998 meters 0.026549598174899068 Centerline is valid? [True, True] Translation: X:22.05, Y:-2.32, Z:-1.55 [[ 9.88997241e-01 1.32400615e-01 6.59888927e-02 2.20483052e+01] [-1.32271755e-01 9.91193231e-01 -6.33731354e-03 -2.32445742e+00] [-6.62468080e-02 -2.46088106e-03 9.97800233e-01 -1.55445998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.110714057 meters 0.027419469418704354 Centerline is valid? [True, True] Translation: X:22.08, Y:-2.33, Z:-1.56 [[ 9.88560339e-01 1.34970105e-01 6.73166147e-02 2.20764599e+01] [-1.34842113e-01 9.90846023e-01 -6.46238984e-03 -2.32969370e+00] [-6.75726294e-02 -2.68865229e-03 9.97710735e-01 -1.55530114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.140714056999997 meters 0.02735814283603106 Centerline is valid? [True, True] Translation: X:22.11, Y:-2.34, Z:-1.56 [[ 9.88127785e-01 1.37333337e-01 6.88696914e-02 2.21054748e+01] [-1.37205353e-01 9.90520585e-01 -6.60777908e-03 -2.33754608e+00] [-6.91243153e-02 -2.91996021e-03 9.97603780e-01 -1.55666393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.170714056999998 meters 0.028818915975846154 Centerline is valid? [True, True] Translation: X:22.13, Y:-2.35, Z:-1.56 [[ 9.87617660e-01 1.40352911e-01 7.00886440e-02 2.21344857e+01] [-1.40228113e-01 9.90096403e-01 -6.72222365e-03 -2.34558806e+00] [-7.03379980e-02 -3.18941154e-03 9.97518117e-01 -1.55740416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.200714057 meters 0.027921893182627312 Centerline is valid? [True, True] Translation: X:22.16, Y:-2.36, Z:-1.56 [[ 9.87047575e-01 1.43561427e-01 7.16044772e-02 2.21625912e+01] [-1.43439776e-01 9.89635237e-01 -6.86498330e-03 -2.35935225e+00] [-7.18478606e-02 -3.49486504e-03 9.97409480e-01 -1.55976161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.230714057 meters 0.026334084379880243 Centerline is valid? [True, True] Translation: X:22.19, Y:-2.38, Z:-1.56 [[ 9.86805984e-01 1.44978181e-01 7.20782731e-02 2.21901219e+01] [-1.44858959e-01 9.89428209e-01 -6.90658144e-03 -2.37643701e+00] [-7.23175803e-02 -3.62572776e-03 9.97375066e-01 -1.56170934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.260714056999998 meters 0.02754989028625096 Centerline is valid? [True, True] Translation: X:22.22, Y:-2.38, Z:-1.56 [[ 9.86844189e-01 1.44726811e-01 7.20603707e-02 2.22175298e+01] [-1.44607350e-01 9.89465061e-01 -6.89975875e-03 -2.38283778e+00] [-7.22997991e-02 -3.61147244e-03 9.97376407e-01 -1.56355661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.290714057 meters 0.025230557595019843 Centerline is valid? [True, True] Translation: X:22.25, Y:-2.40, Z:-1.57 [[ 9.86902362e-01 1.44369242e-01 7.19808967e-02 2.22456727e+01] [-1.44249552e-01 9.89517383e-01 -6.88587230e-03 -2.39522657e+00] [-7.22204567e-02 -3.58752843e-03 9.97382241e-01 -1.56540706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.320714057 meters 0.024186204601718837 Centerline is valid? [True, True] Translation: X:22.27, Y:-2.41, Z:-1.57 [[ 9.87092592e-01 1.43350833e-01 7.14055614e-02 2.22741393e+01] [-1.43230736e-01 9.89665783e-01 -6.82600920e-03 -2.41432469e+00] [-7.16461549e-02 -3.48956803e-03 9.97424008e-01 -1.56762286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.350714056999998 meters 0.026372689118213263 Centerline is valid? [True, True] Translation: X:22.30, Y:-2.42, Z:-1.57 [[ 9.87191242e-01 1.42519839e-01 7.17045885e-02 2.23031639e+01] [-1.42396556e-01 9.89785955e-01 -6.85453587e-03 -2.42076545e+00] [-7.19491019e-02 -3.44374869e-03 9.97402360e-01 -1.56890030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.380714057 meters 0.023884260104141932 Centerline is valid? [True, True] Translation: X:22.33, Y:-2.44, Z:-1.57 [[ 9.87343954e-01 1.40925555e-01 7.27454793e-02 2.23327577e+01] [-1.40794432e-01 9.90014436e-01 -6.95304268e-03 -2.44090396e+00] [-7.29989360e-02 -3.37711380e-03 9.97326301e-01 -1.56966559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.410714057 meters 0.02469322874188928 Centerline is valid? [True, True] Translation: X:22.36, Y:-2.45, Z:-1.57 [[ 9.87351782e-01 1.40674720e-01 7.31237442e-02 2.23642808e+01] [-1.40541180e-01 9.90050129e-01 -6.99417618e-03 -2.45041069e+00] [-7.33800761e-02 -3.37118494e-03 9.97298350e-01 -1.57108400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.440714056999997 meters 0.023921970112954723 Centerline is valid? [True, True] Translation: X:22.39, Y:-2.47, Z:-1.57 [[ 9.87456897e-01 1.39101196e-01 7.46976200e-02 2.23947355e+01] [-1.38955982e-01 9.90272652e-01 -7.16311536e-03 -2.46555138e+00] [-7.49674082e-02 -3.30641345e-03 9.97180503e-01 -1.57188454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.470714057 meters 0.027667077213729897 Centerline is valid? [True, True] Translation: X:22.43, Y:-2.47, Z:-1.57 [[ 9.87501151e-01 1.38636526e-01 7.49759295e-02 2.24253907e+01] [-1.38488308e-01 9.90337914e-01 -7.19757436e-03 -2.47176466e+00] [-7.52493523e-02 -3.27567663e-03 9.97159368e-01 -1.57387338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.500714057 meters 0.02120408544413671 Centerline is valid? [True, True] Translation: X:22.45, Y:-2.49, Z:-1.58 [[ 9.87972404e-01 1.34944611e-01 7.55015294e-02 2.24547160e+01] [-1.34782309e-01 9.90848604e-01 -7.26445926e-03 -2.49439189e+00] [-7.57908847e-02 -2.99918522e-03 9.97119224e-01 -1.57591063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.530714056999997 meters 0.023552337842208903 Centerline is valid? [True, True] Translation: X:22.49, Y:-2.50, Z:-1.58 [[ 9.88238947e-01 1.32910411e-01 7.56214610e-02 2.24858915e+01] [-1.32741324e-01 9.91123977e-01 -7.28033375e-03 -2.50422721e+00] [-7.59178754e-02 -2.84338347e-03 9.97110020e-01 -1.57881069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.560714057 meters 0.02276333491064691 Centerline is valid? [True, True] Translation: X:22.52, Y:-2.52, Z:-1.58 [[ 9.88606553e-01 1.30072046e-01 7.57518786e-02 2.25162809e+01] [-1.29892735e-01 9.91501103e-01 -7.31028169e-03 -2.51503811e+00] [-7.60589344e-02 -2.61262635e-03 9.97099901e-01 -1.58100593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.590714057 meters 0.017044574799135858 Centerline is valid? [True, True] Translation: X:22.55, Y:-2.53, Z:-1.58 [[ 9.89617361e-01 1.22024697e-01 7.59437402e-02 2.25454872e+01] [-1.21820617e-01 9.92525057e-01 -7.33137259e-03 -2.53330985e+00] [-7.62706736e-02 -1.99625972e-03 9.97085151e-01 -1.58252971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.620714056999997 meters 0.02079041063905661 Centerline is valid? [True, True] Translation: X:22.57, Y:-2.54, Z:-1.59 [[ 9.90223315e-01 1.17452972e-01 7.52501547e-02 2.25747696e+01] [-1.17239352e-01 9.93077111e-01 -7.26534489e-03 -2.54288627e+00] [-7.55825426e-02 -1.62796544e-03 9.97138220e-01 -1.58643330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.650714057 meters 0.013480714358033209 Centerline is valid? [True, True] Translation: X:22.60, Y:-2.56, Z:-1.59 [[ 9.91501364e-01 1.06166196e-01 7.51916547e-02 2.26042684e+01] [-1.05920365e-01 9.94348105e-01 -7.26104156e-03 -2.56287956e+00] [-7.55375565e-02 -7.64994882e-04 9.97142664e-01 -1.58740355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.680714057 meters 0.018145178746428996 Centerline is valid? [True, True] Translation: X:22.64, Y:-2.57, Z:-1.59 [[ 9.92144770e-01 1.00260877e-01 7.48098426e-02 2.26357274e+01] [-1.00000635e-01 9.94961135e-01 -7.22591075e-03 -2.57362877e+00] [-7.51573620e-02 -3.11882226e-04 9.97171637e-01 -1.59188135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.710714056999997 meters 0.014224216148692586 Centerline is valid? [True, True] Translation: X:22.67, Y:-2.58, Z:-1.59 [[ 9.92634245e-01 9.45054762e-02 7.58021846e-02 2.26664484e+01] [-9.42209488e-02 9.95524333e-01 -7.32908772e-03 -2.58448781e+00] [-7.61555581e-02 1.32949705e-04 9.97095940e-01 -1.59225765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.740714056999998 meters 0.0174326486918031 Centerline is valid? [True, True] Translation: X:22.70, Y:-2.59, Z:-1.60 [[ 9.93165084e-01 8.89795885e-02 7.55364096e-02 2.26975942e+01] [-8.86800581e-02 9.96033288e-01 -7.31693175e-03 -2.59403506e+00] [-7.58878359e-02 5.68347945e-04 9.97116199e-01 -1.59616484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.770714057 meters 0.01765266259647089 Centerline is valid? [True, True] Translation: X:22.73, Y:-2.61, Z:-1.60 [[ 9.94068953e-01 7.84287523e-02 7.53382220e-02 2.27263887e+01] [-7.80991887e-02 9.96918755e-01 -7.31521563e-03 -2.60883750e+00] [-7.56798097e-02 1.38797473e-03 9.97131205e-01 -1.59728651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.800714056999997 meters 0.020284473229245755 Centerline is valid? [True, True] Translation: X:22.76, Y:-2.62, Z:-1.60 [[ 9.94392118e-01 7.43684750e-02 7.51907335e-02 2.27563589e+01] [-7.40281109e-02 9.97229381e-01 -7.30752747e-03 -2.61762869e+00] [-7.55258583e-02 1.70031976e-03 9.97142394e-01 -1.59949085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.830714056999998 meters 0.019222215278261876 Centerline is valid? [True, True] Translation: X:22.79, Y:-2.63, Z:-1.60 [[ 9.94736049e-01 6.82948237e-02 7.63937797e-02 2.27853125e+01] [-6.79249318e-02 9.97662747e-01 -7.43284537e-03 -2.62909904e+00] [-7.67228530e-02 2.20467696e-03 9.97050020e-01 -1.59828931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.860714057 meters 0.01712153829127813 Centerline is valid? [True, True] Translation: X:22.82, Y:-2.63, Z:-1.60 [[ 9.94810599e-01 6.67800841e-02 7.67612644e-02 2.28169172e+01] [-6.64019642e-02 9.97764987e-01 -7.47059012e-03 -2.62944539e+00] [-7.70885886e-02 2.33472351e-03 9.97021514e-01 -1.60151325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.890714056999997 meters 0.019912665062413234 Centerline is valid? [True, True] Translation: X:22.85, Y:-2.64, Z:-1.60 [[ 9.94840438e-01 6.53018215e-02 7.76413291e-02 2.28473707e+01] [-6.49090011e-02 9.97862436e-01 -7.57503320e-03 -2.63707501e+00] [-7.79700292e-02 2.49632823e-03 9.96952578e-01 -1.60148159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.920714056999998 meters 0.03076896866952282 Centerline is valid? [True, True] Translation: X:22.88, Y:-2.65, Z:-1.60 [[ 9.94828133e-01 6.54329766e-02 7.76885559e-02 2.28789968e+01] [-6.50385404e-02 9.97853817e-01 -7.59926222e-03 -2.65122168e+00] [-7.80190643e-02 2.50720956e-03 9.96948715e-01 -1.60252053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.950714057 meters 0.02182717245325185 Centerline is valid? [True, True] Translation: X:22.91, Y:-2.64, Z:-1.61 [[ 9.94748054e-01 6.65543905e-02 7.77613102e-02 2.29124673e+01] [-6.61611333e-02 9.97779813e-01 -7.62549800e-03 -2.63708195e+00] [-7.80961760e-02 2.44067288e-03 9.96942842e-01 -1.60987361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.980714057 meters 0.021294769697041006 Centerline is valid? [True, True] Translation: X:22.95, Y:-2.64, Z:-1.61 [[ 9.94607319e-01 6.88089291e-02 7.75990430e-02 2.29451295e+01] [-6.84222298e-02 9.97627243e-01 -7.63426544e-03 -2.63650198e+00] [-7.79402249e-02 2.28359674e-03 9.96955419e-01 -1.61226627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.010714056999998 meters 0.015850783445239255 Centerline is valid? [True, True] Translation: X:22.98, Y:-2.64, Z:-1.61 [[ 9.94509946e-01 7.05891442e-02 7.72472715e-02 2.29777564e+01] [-7.02097538e-02 9.97503149e-01 -7.61962330e-03 -2.63695909e+00] [-7.75922592e-02 2.15427923e-03 9.96982849e-01 -1.61220522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.040714057 meters 0.02081648890882242 Centerline is valid? [True, True] Translation: X:23.01, Y:-2.64, Z:-1.62 [[ 9.94467922e-01 7.32835973e-02 7.52533467e-02 2.30087969e+01] [-7.29298362e-02 9.97309308e-01 -7.44194305e-03 -2.63747607e+00] [-7.55962355e-02 1.91255939e-03 9.97136676e-01 -1.61701631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.070714057 meters 0.015987356070453918 Centerline is valid? [True, True] Translation: X:23.04, Y:-2.64, Z:-1.62 [[ 9.94389013e-01 7.46276690e-02 7.49746774e-02 2.30411559e+01] [-7.42789891e-02 9.97209804e-01 -7.43227608e-03 -2.63555606e+00] [-7.53201368e-02 1.82153043e-03 9.97157740e-01 -1.61797138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.100714056999998 meters 0.015702572880222938 Centerline is valid? [True, True] Translation: X:23.07, Y:-2.64, Z:-1.62 [[ 9.94284528e-01 7.61667383e-02 7.48124717e-02 2.30734167e+01] [-7.58224941e-02 9.97093611e-01 -7.43506292e-03 -2.63555573e+00] [-7.51613421e-02 1.72009983e-03 9.97169902e-01 -1.62050492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.130714057 meters 0.015381378096139629 Centerline is valid? [True, True] Translation: X:23.11, Y:-2.63, Z:-1.62 [[ 9.94147639e-01 7.87746421e-02 7.39258270e-02 2.31057842e+01] [-7.84443512e-02 9.96891286e-01 -7.36532533e-03 -2.63217879e+00] [-7.42762136e-02 1.52315725e-03 9.97236544e-01 -1.62315882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.160714057 meters 0.01930185114332785 Centerline is valid? [True, True] Translation: X:23.14, Y:-2.63, Z:-1.63 [[ 9.94064166e-01 8.01868133e-02 7.35289609e-02 2.31373264e+01] [-7.98625669e-02 9.96778830e-01 -7.34407098e-03 -2.63232597e+00] [-7.38810092e-02 1.42826623e-03 9.97266041e-01 -1.62798457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.190714056999997 meters 0.019034451978390585 Centerline is valid? [True, True] Translation: X:23.17, Y:-2.63, Z:-1.63 [[ 9.94004881e-01 8.19586583e-02 7.23676406e-02 2.31701495e+01] [-8.16479793e-02 9.96634890e-01 -7.24589652e-03 -2.62636477e+00] [-7.27179795e-02 1.29378488e-03 9.97351704e-01 -1.63175438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.220714057 meters 0.015039910803873714 Centerline is valid? [True, True] Translation: X:23.20, Y:-2.63, Z:-1.63 [[ 9.93977008e-01 8.27029318e-02 7.19022386e-02 2.32014457e+01] [-8.23968487e-02 9.96573461e-01 -7.21776964e-03 -2.62707482e+00] [-7.22527935e-02 1.24977920e-03 9.97385568e-01 -1.63193739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.250714057 meters 0.018306559959689772 Centerline is valid? [True, True] Translation: X:23.23, Y:-2.62, Z:-1.64 [[ 9.93976864e-01 8.34924300e-02 7.09859764e-02 2.32325329e+01] [-8.31949300e-02 9.96507696e-01 -7.14244691e-03 -2.62298782e+00] [-7.13344121e-02 1.19375364e-03 9.97451741e-01 -1.63697498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.280714056999997 meters 0.015128240655425491 Centerline is valid? [True, True] Translation: X:23.27, Y:-2.62, Z:-1.64 [[ 9.94042065e-01 8.31952641e-02 7.04196093e-02 2.32653644e+01] [-8.29005954e-02 9.96532516e-01 -7.10181190e-03 -2.62312947e+00] [-7.07662675e-02 1.22167222e-03 9.97492177e-01 -1.63735934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.310714057 meters 0.018712055859042585 Centerline is valid? [True, True] Translation: X:23.30, Y:-2.62, Z:-1.64 [[ 9.94118130e-01 8.27630837e-02 6.98528101e-02 2.32987932e+01] [-8.24706709e-02 9.96568451e-01 -7.06469790e-03 -2.62283703e+00] [-7.01978030e-02 1.26233615e-03 9.97532293e-01 -1.64233936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.340714057 meters 0.01575245070742862 Centerline is valid? [True, True] Translation: X:23.33, Y:-2.62, Z:-1.64 [[ 9.94259229e-01 8.08127618e-02 7.01276154e-02 2.33306021e+01] [-8.05117325e-02 9.96728280e-01 -7.11320213e-03 -2.62172209e+00] [-7.04730150e-02 1.42627106e-03 9.97512667e-01 -1.64171970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.370714056999997 meters 0.022027153321092653 Centerline is valid? [True, True] Translation: X:23.36, Y:-2.62, Z:-1.65 [[ 9.94343318e-01 7.97877604e-02 7.01090554e-02 2.33611175e+01] [-7.94831698e-02 9.96810723e-01 -7.12798691e-03 -2.62352160e+00] [-7.04541843e-02 1.51517621e-03 9.97513866e-01 -1.64647766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.400714057 meters 0.016596051779793012 Centerline is valid? [True, True] Translation: X:23.39, Y:-2.62, Z:-1.65 [[ 9.94493764e-01 7.78578575e-02 7.01449036e-02 2.33937340e+01] [-7.75469975e-02 9.96963072e-01 -7.14810908e-03 -2.62374155e+00] [-7.04884151e-02 1.66922324e-03 9.97511201e-01 -1.64609278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.430714057 meters 0.022042416009423263 Centerline is valid? [True, True] Translation: X:23.43, Y:-2.62, Z:-1.65 [[ 9.94917669e-01 7.37804250e-02 6.85221129e-02 2.34258895e+01] [-7.34729788e-02 9.97272644e-01 -6.99970589e-03 -2.62283248e+00] [-6.88516699e-02 1.92960733e-03 9.97625042e-01 -1.65131856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.460714056999997 meters 0.022074851953643858 Centerline is valid? [True, True] Translation: X:23.46, Y:-2.62, Z:-1.65 [[ 9.95118804e-01 7.10612175e-02 6.84753159e-02 2.34576170e+01] [-7.07474229e-02 9.97469701e-01 -6.99990070e-03 -2.62472847e+00] [-6.87994743e-02 2.12128068e-03 9.97628254e-01 -1.65348675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.490714056999998 meters 0.024448435473695605 Centerline is valid? [True, True] Translation: X:23.49, Y:-2.62, Z:-1.66 [[ 9.95511381e-01 6.53453147e-02 6.84622527e-02 2.34888920e+01] [-6.50170483e-02 9.97859499e-01 -7.01454388e-03 -2.62494300e+00] [-6.87740767e-02 2.53184468e-03 9.97629047e-01 -1.65547291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.520714057 meters 0.021886838616914144 Centerline is valid? [True, True] Translation: X:23.52, Y:-2.63, Z:-1.66 [[ 9.95725548e-01 6.17389022e-02 6.86945523e-02 2.35204490e+01] [-6.13997519e-02 9.98088430e-01 -7.03960273e-03 -2.62669575e+00] [-6.89978553e-02 2.79168381e-03 9.97612902e-01 -1.65534998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.550714056999997 meters 0.028532462153076768 Centerline is valid? [True, True] Translation: X:23.55, Y:-2.63, Z:-1.66 [[ 9.96018748e-01 5.75004895e-02 6.81200891e-02 2.35503054e+01] [-5.71569449e-02 9.98340783e-01 -6.98318267e-03 -2.62656741e+00] [-6.84085995e-02 3.06184469e-03 9.97652689e-01 -1.65916282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.580714056999998 meters 0.0233956840812712 Centerline is valid? [True, True] Translation: X:23.58, Y:-2.62, Z:-1.66 [[ 9.96186713e-01 5.45479416e-02 6.80922469e-02 2.35824595e+01] [-5.41974581e-02 9.98505804e-01 -6.98535609e-03 -2.62286444e+00] [-6.83715405e-02 3.26829223e-03 9.97654575e-01 -1.65934190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.610714057 meters 0.02874560237466485 Centerline is valid? [True, True] Translation: X:23.61, Y:-2.62, Z:-1.66 [[ 9.96288475e-01 5.35865791e-02 6.73628405e-02 2.36132521e+01] [-5.32412271e-02 9.98557752e-01 -6.91290665e-03 -2.62471021e+00] [-6.76361255e-02 3.30076894e-03 9.97704595e-01 -1.66316593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.640714056999997 meters 0.02741704772194777 Centerline is valid? [True, True] Translation: X:23.65, Y:-2.62, Z:-1.67 [[ 9.96440892e-01 5.07473650e-02 6.73071664e-02 2.36457527e+01] [-5.03955053e-02 9.98705390e-01 -6.91642198e-03 -2.61699863e+00] [-6.75710201e-02 3.49982703e-03 9.97708328e-01 -1.66534318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.670714056999998 meters 0.02741704772194777 Centerline is valid? [True, True] Translation: X:23.68, Y:-2.62, Z:-1.67 [[ 9.96425664e-01 5.10457865e-02 6.73069359e-02 2.36780744e+01] [-5.06944539e-02 9.98690244e-01 -6.91866479e-03 -2.62037898e+00] [-6.75719489e-02 3.48184680e-03 9.97708328e-01 -1.66758135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.700714057 meters 0.028131543027057074 Centerline is valid? [True, True] Translation: X:23.71, Y:-2.62, Z:-1.67 [[ 9.96472932e-01 5.04614714e-02 6.70472618e-02 2.37099361e+01] [-5.01101608e-02 9.98719776e-01 -6.91229625e-03 -2.61913168e+00] [-6.73102309e-02 3.52816704e-03 9.97725857e-01 -1.67003494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.730714056999997 meters 0.02898391542313519 Centerline is valid? [True, True] Translation: X:23.74, Y:-2.62, Z:-1.67 [[ 9.96492627e-01 4.98995671e-02 6.71749813e-02 2.37423907e+01] [-4.95445197e-02 9.98747790e-01 -6.94207609e-03 -2.61833849e+00] [-6.74372707e-02 3.58957546e-03 9.97717059e-01 -1.67225754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.760714056999998 meters 0.02965265566402956 Centerline is valid? [True, True] Translation: X:23.77, Y:-2.61, Z:-1.67 [[ 9.96482087e-01 4.97310343e-02 6.74557292e-02 2.37738074e+01] [-4.93714030e-02 9.98756035e-01 -6.98905690e-03 -2.61251005e+00] [-6.77193896e-02 3.63408601e-03 9.97697789e-01 -1.67432956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.790714057 meters 0.027930862264274162 Centerline is valid? [True, True] Translation: X:23.81, Y:-2.61, Z:-1.68 [[ 9.96477099e-01 5.00338836e-02 6.73052893e-02 2.38071209e+01] [-4.96756094e-02 9.98740963e-01 -6.98729461e-03 -2.60838783e+00] [-6.75701510e-02 3.61924780e-03 9.97707961e-01 -1.67673907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.820714057 meters 0.027801316826038366 Centerline is valid? [True, True] Translation: X:23.84, Y:-2.60, Z:-1.68 [[ 9.96430551e-01 5.06839186e-02 6.75077578e-02 2.38390237e+01] [-5.03235632e-02 9.98708232e-01 -7.02898393e-03 -2.60205580e+00] [-6.77768098e-02 3.60666342e-03 9.97693989e-01 -1.68036852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.850714056999998 meters 0.030906677922045104 Centerline is valid? [True, True] Translation: X:23.87, Y:-2.60, Z:-1.68 [[ 9.96404107e-01 5.22045802e-02 6.67348277e-02 2.38714070e+01] [-5.18551862e-02 9.98630373e-01 -6.95826861e-03 -2.60117688e+00] [-6.70066794e-02 3.47270050e-03 9.97746483e-01 -1.68330774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.880714057 meters 0.029885966553158522 Centerline is valid? [True, True] Translation: X:23.90, Y:-2.60, Z:-1.69 [[ 9.96428208e-01 5.23216263e-02 6.62817788e-02 2.39047775e+01] [-5.19761034e-02 9.98624298e-01 -6.92787308e-03 -2.59810248e+00] [-6.65530724e-02 3.45805956e-03 9.97776894e-01 -1.68646641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.910714057 meters 0.029894793712056507 Centerline is valid? [True, True] Translation: X:23.94, Y:-2.59, Z:-1.69 [[ 9.96518147e-01 5.05797717e-02 6.62817378e-02 2.39362068e+01] [-5.02290531e-02 9.98713555e-01 -6.94822947e-03 -2.59209587e+00] [-6.65479099e-02 3.59476783e-03 9.97776755e-01 -1.68988476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.940714056999997 meters 0.030963953112613265 Centerline is valid? [True, True] Translation: X:23.97, Y:-2.59, Z:-1.69 [[ 9.96564049e-01 4.95466048e-02 6.63719145e-02 2.39685468e+01] [-4.91925107e-02 9.98765067e-01 -6.95972758e-03 -2.59065636e+00] [-6.66347805e-02 3.67081318e-03 9.97770681e-01 -1.69285766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.970714057 meters 0.0331954319857736 Centerline is valid? [True, True] Translation: X:24.00, Y:-2.59, Z:-1.70 [[ 9.96808072e-01 4.62054737e-02 6.51054718e-02 2.39999226e+01] [-4.58565641e-02 9.98924588e-01 -6.84413265e-03 -2.58504656e+00] [-6.53516930e-02 3.83677343e-03 9.97854917e-01 -1.69652220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.000714057 meters 0.035049670147212955 Centerline is valid? [True, True] Translation: X:24.03, Y:-2.59, Z:-1.70 [[ 9.96928177e-01 4.45028112e-02 6.44492843e-02 2.40313280e+01] [-4.41573493e-02 9.99001612e-01 -6.77547288e-03 -2.58550965e+00] [-6.46864665e-02 3.90875026e-03 9.97897982e-01 -1.69975422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.030714056999997 meters 0.03742691343019519 Centerline is valid? [True, True] Translation: X:24.06, Y:-2.58, Z:-1.70 [[ 9.97196641e-01 4.04531656e-02 6.29476084e-02 2.40622423e+01] [-4.01146149e-02 9.99173066e-01 -6.63336228e-03 -2.58166721e+00] [-6.31638954e-02 4.08964751e-03 9.97994788e-01 -1.70489053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.060714057 meters 0.03910498858304435 Centerline is valid? [True, True] Translation: X:24.09, Y:-2.58, Z:-1.71 [[ 9.97309687e-01 3.84293389e-02 6.24225400e-02 2.40934906e+01] [-3.80924611e-02 9.99252566e-01 -6.57831459e-03 -2.58202245e+00] [-6.26286836e-02 4.18278869e-03 9.98028132e-01 -1.70814646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.090714057 meters 0.04095576675953181 Centerline is valid? [True, True] Translation: X:24.13, Y:-2.58, Z:-1.71 [[ 9.97355683e-01 3.79476002e-02 6.19808153e-02 2.41262368e+01] [-3.76145041e-02 9.99270971e-01 -6.53260019e-03 -2.58151685e+00] [-6.21835260e-02 4.18394829e-03 9.98055962e-01 -1.71055961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.120714056999997 meters 0.04169912537797762 Centerline is valid? [True, True] Translation: X:24.16, Y:-2.58, Z:-1.71 [[ 9.97435837e-01 3.64488275e-02 6.15892373e-02 2.41585712e+01] [-3.61160631e-02 9.99326411e-01 -6.50796032e-03 -2.58070233e+00] [-6.17849590e-02 4.26691207e-03 9.98080364e-01 -1.71278382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.150714057 meters 0.0409719744905405 Centerline is valid? [True, True] Translation: X:24.19, Y:-2.57, Z:-1.72 [[ 9.97503892e-01 3.41444073e-02 6.18073231e-02 2.41913817e+01] [-3.38045888e-02 9.99407091e-01 -6.53569610e-03 -2.56994187e+00] [-6.19938345e-02 4.43001116e-03 9.98066701e-01 -1.71511602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.180714057 meters 0.04020943849265539 Centerline is valid? [True, True] Translation: X:24.22, Y:-2.57, Z:-1.72 [[ 9.97541873e-01 3.28012962e-02 6.19216202e-02 2.42234309e+01] [-3.24575835e-02 9.99451659e-01 -6.54878393e-03 -2.56841643e+00] [-6.21024746e-02 4.52286003e-03 9.98059530e-01 -1.71817335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.210714056999997 meters 0.04126269475655092 Centerline is valid? [True, True] Translation: X:24.26, Y:-2.56, Z:-1.72 [[ 9.97472995e-01 3.29104754e-02 6.29644735e-02 2.42561801e+01] [-3.25542882e-02 9.99447680e-01 -6.67479565e-03 -2.56349454e+00] [-6.31493677e-02 4.60816479e-03 9.97993448e-01 -1.72008581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.240714056999998 meters 0.04111104005659757 Centerline is valid? [True, True] Translation: X:24.29, Y:-2.56, Z:-1.72 [[ 9.97387871e-01 3.37783045e-02 6.38471717e-02 2.42888141e+01] [-3.34130631e-02 9.99418631e-01 -6.77998603e-03 -2.56241342e+00] [-6.40390693e-02 4.62894626e-03 9.97936657e-01 -1.72205489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.270714057 meters 0.04336058995800548 Centerline is valid? [True, True] Translation: X:24.32, Y:-2.56, Z:-1.72 [[ 9.97322622e-01 3.46570592e-02 6.43931288e-02 2.43196806e+01] [-3.42862562e-02 9.99388544e-01 -6.85490959e-03 -2.56364050e+00] [-6.45913263e-02 4.62875710e-03 9.97901065e-01 -1.72422482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.300714056999997 meters 0.040921594860037824 Centerline is valid? [True, True] Translation: X:24.35, Y:-2.55, Z:-1.73 [[ 9.97179104e-01 3.66721897e-02 6.54903445e-02 2.43523492e+01] [-3.62922816e-02 9.99316830e-01 -6.98166233e-03 -2.55400570e+00] [-6.57016363e-02 4.58517376e-03 9.97828778e-01 -1.72583138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.330714056999998 meters 0.036680914055172056 Centerline is valid? [True, True] Translation: X:24.39, Y:-2.54, Z:-1.73 [[ 9.97095302e-01 3.82627166e-02 6.58553164e-02 2.43850660e+01] [-3.78818477e-02 9.99257547e-01 -7.02291029e-03 -2.54496586e+00] [-6.60751375e-02 4.50778979e-03 9.97804468e-01 -1.72827817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.360714057 meters 0.03659998447722975 Centerline is valid? [True, True] Translation: X:24.42, Y:-2.54, Z:-1.73 [[ 9.96922356e-01 4.24941003e-02 6.58791868e-02 2.44153526e+01] [-4.21218815e-02 9.99087751e-01 -7.02937865e-03 -2.53809566e+00] [-6.61177957e-02 4.23278943e-03 9.97802847e-01 -1.73154483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.390714056999997 meters 0.036825524944111905 Centerline is valid? [True, True] Translation: X:24.44, Y:-2.54, Z:-1.73 [[ 9.96822469e-01 4.54344689e-02 6.54268590e-02 2.44448801e+01] [-4.50737378e-02 9.98959278e-01 -6.97984922e-03 -2.53774263e+00] [-6.56758936e-02 4.00863744e-03 9.97832956e-01 -1.73433921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.420714056999998 meters 0.03304303145275957 Centerline is valid? [True, True] Translation: X:24.48, Y:-2.53, Z:-1.74 [[ 9.96738187e-01 4.80707014e-02 6.48243352e-02 2.44771999e+01] [-4.77218374e-02 9.98836691e-01 -6.92028131e-03 -2.52979917e+00] [-6.50815873e-02 3.80417226e-03 9.97872695e-01 -1.73637291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.450714057 meters 0.03212794579120756 Centerline is valid? [True, True] Translation: X:24.51, Y:-2.52, Z:-1.74 [[ 9.96459914e-01 5.34895731e-02 6.48575804e-02 2.45073768e+01] [-5.31516042e-02 9.98562432e-01 -6.92648745e-03 -2.52284904e+00] [-6.51348381e-02 3.45468264e-03 9.97870492e-01 -1.73843928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.480714056999997 meters 0.035547854561519855 Centerline is valid? [True, True] Translation: X:24.54, Y:-2.53, Z:-1.74 [[ 9.96275639e-01 5.61492084e-02 6.54378958e-02 2.45372800e+01] [-5.58109680e-02 9.98416906e-01 -6.98694758e-03 -2.52803551e+00] [-6.57266130e-02 3.30877336e-03 9.97832182e-01 -1.74118212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.510714056999998 meters 0.03454344570752671 Centerline is valid? [True, True] Translation: X:24.57, Y:-2.53, Z:-1.74 [[ 9.96097199e-01 5.91690193e-02 6.54934944e-02 2.45689163e+01] [-5.88362149e-02 9.98243104e-01 -7.00033972e-03 -2.52622346e+00] [-6.57926324e-02 3.11962948e-03 9.97828441e-01 -1.74333949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.540714057 meters 0.033247990172307444 Centerline is valid? [True, True] Translation: X:24.60, Y:-2.52, Z:-1.75 [[ 9.95773640e-01 6.46540966e-02 6.52281118e-02 2.45993927e+01] [-6.43355608e-02 9.97903950e-01 -6.97433785e-03 -2.51994593e+00] [-6.55423100e-02 2.74837463e-03 9.97846006e-01 -1.74547323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.570714057 meters 0.028516299906877755 Centerline is valid? [True, True] Translation: X:24.63, Y:-2.51, Z:-1.75 [[ 9.95632475e-01 6.72011672e-02 6.48072389e-02 2.46318439e+01] [-6.68921791e-02 9.97736155e-01 -6.92836647e-03 -2.51109841e+00] [-6.51261196e-02 2.56300923e-03 9.97873749e-01 -1.74737785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.600714056999998 meters 0.027805087936959846 Centerline is valid? [True, True] Translation: X:24.66, Y:-2.51, Z:-1.75 [[ 9.95449110e-01 6.98661871e-02 6.48057517e-02 2.46630438e+01] [-6.95626851e-02 9.97553507e-01 -6.93066539e-03 -2.51069281e+00] [-6.51314240e-02 2.39106260e-03 9.97873830e-01 -1.74982035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.630714057 meters 0.02797549310815629 Centerline is valid? [True, True] Translation: X:24.69, Y:-2.51, Z:-1.75 [[ 9.95202866e-01 7.30930689e-02 6.50281320e-02 2.46922283e+01] [-7.27942581e-02 9.97322722e-01 -6.95582281e-03 -2.50921055e+00] [-6.53624561e-02 2.18878017e-03 9.97859188e-01 -1.75247053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.660714057 meters 0.027273040329895085 Centerline is valid? [True, True] Translation: X:24.72, Y:-2.51, Z:-1.75 [[ 9.95067945e-01 7.45130789e-02 6.54796649e-02 2.47225911e+01] [-7.42133197e-02 9.97217809e-01 -7.00177296e-03 -2.50882381e+00] [-6.58192116e-02 2.10777652e-03 9.97829338e-01 -1.75435679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.690714056999997 meters 0.027187158901944435 Centerline is valid? [True, True] Translation: X:24.75, Y:-2.51, Z:-1.76 [[ 9.94871478e-01 7.61419116e-02 6.65819177e-02 2.47514717e+01] [-7.58358378e-02 9.97094924e-01 -7.11606912e-03 -2.50929902e+00] [-6.69303232e-02 2.03027869e-03 9.97755586e-01 -1.75660626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.720714057 meters 0.03361538036979365 Centerline is valid? [True, True] Translation: X:24.78, Y:-2.52, Z:-1.76 [[ 9.94647702e-01 7.94183668e-02 6.60959311e-02 2.47789370e+01] [-7.91242092e-02 9.96839761e-01 -7.06053902e-03 -2.52478332e+00] [-6.64477886e-02 1.79296062e-03 9.97788293e-01 -1.75976323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.750714057 meters 0.02773885292562216 Centerline is valid? [True, True] Translation: X:24.81, Y:-2.51, Z:-1.76 [[ 9.94997797e-01 7.46953525e-02 6.63324144e-02 2.48096637e+01] [-7.43887601e-02 9.97204160e-01 -7.08347346e-03 -2.51355065e+00] [-6.66760621e-02 2.11365443e-03 9.97772437e-01 -1.76128483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.780714056999997 meters 0.028187031230414925 Centerline is valid? [True, True] Translation: X:24.84, Y:-2.52, Z:-1.76 [[ 9.95021081e-01 7.42682132e-02 6.64626335e-02 2.48392700e+01] [-7.39597032e-02 9.97236000e-01 -7.09379229e-03 -2.51679502e+00] [-6.68057741e-02 2.14291622e-03 9.97763698e-01 -1.76388125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.810714057 meters 0.029073262570220984 Centerline is valid? [True, True] Translation: X:24.87, Y:-2.52, Z:-1.77 [[ 9.95138332e-01 7.30644820e-02 6.60400015e-02 2.48675445e+01] [-7.27573965e-02 9.97324776e-01 -7.04639576e-03 -2.52083464e+00] [-6.63781710e-02 2.20723995e-03 9.97792096e-01 -1.76658702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.840714057 meters 0.030161349430657722 Centerline is valid? [True, True] Translation: X:24.90, Y:-2.53, Z:-1.77 [[ 9.95327656e-01 6.97568356e-02 6.67595760e-02 2.48971555e+01] [-6.94358296e-02 9.97561014e-01 -7.11955140e-03 -2.52531650e+00] [-6.70933878e-02 2.45077986e-03 9.97743690e-01 -1.76860233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.870714056999997 meters 0.0315924012662406 Centerline is valid? [True, True] Translation: X:24.93, Y:-2.53, Z:-1.77 [[ 9.95500989e-01 6.62296132e-02 6.77600063e-02 2.49270345e+01] [-6.58908281e-02 9.97800680e-01 -7.22503655e-03 -2.53082759e+00] [-6.80894918e-02 2.72776810e-03 9.97675489e-01 -1.77031149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.900714057 meters 0.032341191673453756 Centerline is valid? [True, True] Translation: X:24.96, Y:-2.54, Z:-1.77 [[ 9.95590332e-01 6.46196070e-02 6.80014472e-02 2.49578223e+01] [-6.42746544e-02 9.97905905e-01 -7.25076954e-03 -2.53554620e+00] [-6.83275876e-02 2.84802653e-03 9.97658874e-01 -1.77196812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.930714057 meters 0.03060677416150302 Centerline is valid? [True, True] Translation: X:24.99, Y:-2.54, Z:-1.77 [[ 9.95674264e-01 6.28768030e-02 6.84051726e-02 2.49893854e+01] [-6.25234706e-02 9.98016824e-01 -7.29618294e-03 -2.53571081e+00] [-6.87282737e-02 2.98769278e-03 9.97630943e-01 -1.77451839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.960714056999997 meters 0.030736463869558764 Centerline is valid? [True, True] Translation: X:25.02, Y:-2.54, Z:-1.78 [[ 9.95921905e-01 5.86279171e-02 6.85735085e-02 2.50201461e+01] [-5.82626272e-02 9.98274478e-01 -7.31662558e-03 -2.53920499e+00] [-6.88841420e-02 3.29151492e-03 9.97619236e-01 -1.77717528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.990714056999998 meters 0.03295747819413488 Centerline is valid? [True, True] Translation: X:25.05, Y:-2.55, Z:-1.78 [[ 9.96066453e-01 5.63116911e-02 6.84150117e-02 2.50503636e+01] [-5.59425582e-02 9.98407294e-01 -7.30099401e-03 -2.54712292e+00] [-6.87171780e-02 3.44496444e-03 9.97630233e-01 -1.77955668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.020714057 meters 0.0354124404712826 Centerline is valid? [True, True] Translation: X:25.08, Y:-2.55, Z:-1.78 [[ 9.96303534e-01 5.17418120e-02 6.85715194e-02 2.50794620e+01] [-5.13596443e-02 9.98653353e-01 -7.32576640e-03 -2.55403359e+00] [-6.88582262e-02 3.77687811e-03 9.97619306e-01 -1.78222046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.050714056999997 meters 0.035989395927275396 Centerline is valid? [True, True] Translation: X:25.11, Y:-2.56, Z:-1.78 [[ 9.96361843e-01 5.02378314e-02 6.88421177e-02 2.51113162e+01] [-4.98489298e-02 9.98729676e-01 -7.35656412e-03 -2.55872872e+00] [-6.91242437e-02 3.89809389e-03 9.97600443e-01 -1.78436631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.080714056999998 meters 0.03254066257029535 Centerline is valid? [True, True] Translation: X:25.14, Y:-2.56, Z:-1.79 [[ 9.96457565e-01 4.82535518e-02 6.88760933e-02 2.51438013e+01] [-4.78592063e-02 9.98826938e-01 -7.36509889e-03 -2.55558553e+00] [-6.91506896e-02 4.04265335e-03 9.97598035e-01 -1.78688099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.110714057 meters 0.03743049986694922 Centerline is valid? [True, True] Translation: X:25.17, Y:-2.57, Z:-1.79 [[ 9.96454458e-01 4.84868994e-02 6.87570655e-02 2.51747710e+01] [-4.80941038e-02 9.98815710e-01 -7.35768346e-03 -2.56725906e+00] [-6.90323884e-02 4.02478704e-03 9.97606300e-01 -1.78949733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.140714056999997 meters 0.03359530151377755 Centerline is valid? [True, True] Translation: X:25.21, Y:-2.56, Z:-1.79 [[ 9.96459968e-01 4.85065563e-02 6.86632800e-02 2.52073724e+01] [-4.81135375e-02 9.98814704e-01 -7.36707551e-03 -2.56278356e+00] [-6.89392452e-02 4.03736252e-03 9.97612690e-01 -1.79234409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.170714056999998 meters 0.03298702979238841 Centerline is valid? [True, True] Translation: X:25.24, Y:-2.56, Z:-1.79 [[ 9.96307835e-01 5.03624055e-02 6.95293147e-02 2.52393763e+01] [-4.99625959e-02 9.98723091e-01 -7.47845006e-03 -2.56319874e+00] [-6.98171648e-02 3.97697334e-03 9.97551877e-01 -1.79440861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.200714057 meters 0.03204631225238562 Centerline is valid? [True, True] Translation: X:25.27, Y:-2.56, Z:-1.80 [[ 9.96204141e-01 5.17913162e-02 6.99640559e-02 2.52721145e+01] [-5.13887166e-02 9.98650238e-01 -7.54327277e-03 -2.56333859e+00] [-7.02602971e-02 3.91927653e-03 9.97520992e-01 -1.79688081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.230714056999997 meters 0.032680464123386786 Centerline is valid? [True, True] Translation: X:25.30, Y:-2.57, Z:-1.80 [[ 9.96119246e-01 5.33720335e-02 6.99848151e-02 2.53033961e+01] [-5.29725950e-02 9.98567407e-01 -7.55237740e-03 -2.56654211e+00] [-7.02876411e-02 3.81579121e-03 9.97519467e-01 -1.79891388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.260714056999998 meters 0.031774212900252445 Centerline is valid? [True, True] Translation: X:25.34, Y:-2.57, Z:-1.80 [[ 9.95913853e-01 5.64046545e-02 7.05273871e-02 2.53350841e+01] [-5.60053596e-02 9.98401330e-01 -7.62779773e-03 -2.56610246e+00] [-7.08448804e-02 3.64671776e-03 9.97480679e-01 -1.80168452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.290714057 meters 0.03226376939626748 Centerline is valid? [True, True] Translation: X:25.37, Y:-2.57, Z:-1.80 [[ 9.95812608e-01 5.78238181e-02 7.08071706e-02 2.53660032e+01] [-5.74246007e-02 9.98320440e-01 -7.66247476e-03 -2.56945432e+00] [-7.11313193e-02 3.56431548e-03 9.97460591e-01 -1.80458092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.320714057 meters 0.030633264268941876 Centerline is valid? [True, True] Translation: X:25.40, Y:-2.57, Z:-1.81 [[ 9.95772306e-01 5.87815599e-02 7.05849980e-02 2.53984502e+01] [-5.83860490e-02 9.98264727e-01 -7.65526913e-03 -2.56878579e+00] [-7.09125024e-02 3.50172585e-03 9.97476393e-01 -1.80756775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.350714056999998 meters 0.031012097205521786 Centerline is valid? [True, True] Translation: X:25.43, Y:-2.57, Z:-1.81 [[ 9.95689868e-01 5.98817796e-02 7.08227322e-02 2.54296801e+01] [-5.94850426e-02 9.98199502e-01 -7.69962265e-03 -2.57164237e+00] [-7.11562831e-02 3.45354302e-03 9.97459200e-01 -1.80989461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.380714057 meters 0.031677041169536124 Centerline is valid? [True, True] Translation: X:25.46, Y:-2.57, Z:-1.81 [[ 9.95639901e-01 6.12910684e-02 7.03177911e-02 2.54607131e+01] [-6.09022888e-02 9.98114328e-01 -7.66157133e-03 -2.57432755e+00] [-7.06547807e-02 3.34565170e-03 9.97495217e-01 -1.81289302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.410714057 meters 0.030764425961444217 Centerline is valid? [True, True] Translation: X:25.49, Y:-2.58, Z:-1.82 [[ 9.95641749e-01 6.15097635e-02 7.01003377e-02 2.54930890e+01] [-6.11227502e-02 9.98100905e-01 -7.65458030e-03 -2.57536555e+00] [-7.04380419e-02 3.33649429e-03 9.97510576e-01 -1.81677663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.440714056999997 meters 0.031517025103870916 Centerline is valid? [True, True] Translation: X:25.52, Y:-2.58, Z:-1.82 [[ 9.95655289e-01 6.16496513e-02 6.97844271e-02 2.55243797e+01] [-6.12652098e-02 9.98092298e-01 -7.63797902e-03 -2.57904879e+00] [-7.01221780e-02 3.32943663e-03 9.97532854e-01 -1.81915847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.470714057 meters 0.03143737646569529 Centerline is valid? [True, True] Translation: X:25.56, Y:-2.58, Z:-1.82 [[ 9.95669035e-01 6.13866767e-02 6.98201169e-02 2.55554080e+01] [-6.09999620e-02 9.98108380e-01 -7.65944180e-03 -2.58174397e+00] [-7.01582314e-02 3.36724455e-03 9.97530192e-01 -1.82054938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.500714057 meters 0.030541357196931504 Centerline is valid? [True, True] Translation: X:25.59, Y:-2.58, Z:-1.82 [[ 9.95670314e-01 6.14503802e-02 6.97458059e-02 2.55869636e+01] [-6.10644674e-02 9.98104478e-01 -7.65382667e-03 -2.58045064e+00] [-7.00839318e-02 3.36169751e-03 9.97535434e-01 -1.82206022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.530714056999997 meters 0.03351333783222352 Centerline is valid? [True, True] Translation: X:25.62, Y:-2.59, Z:-1.82 [[ 9.95602154e-01 6.26033889e-02 6.96933736e-02 2.56178664e+01] [-6.22206675e-02 9.98033091e-01 -7.65098720e-03 -2.58915569e+00] [-7.00352708e-02 3.28097111e-03 9.97539120e-01 -1.82418322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.560714057 meters 0.03351333783222352 Centerline is valid? [True, True] Translation: X:25.65, Y:-2.59, Z:-1.83 [[ 9.95600072e-01 6.26386460e-02 6.96914389e-02 2.56484852e+01] [-6.22547827e-02 9.98030829e-01 -7.66856988e-03 -2.59255137e+00] [-7.00345533e-02 3.29620334e-03 9.97539120e-01 -1.82630003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.590714057 meters 0.030680027041601384 Centerline is valid? [True, True] Translation: X:25.68, Y:-2.59, Z:-1.83 [[ 9.95575362e-01 6.31045204e-02 6.96241227e-02 2.56807760e+01] [-6.27223655e-02 9.98001590e-01 -7.66357922e-03 -2.58863643e+00] [-6.99685917e-02 3.26268099e-03 9.97543859e-01 -1.82866716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.620714056999997 meters 0.029821760236512746 Centerline is valid? [True, True] Translation: X:25.71, Y:-2.59, Z:-1.83 [[ 9.95537955e-01 6.36721810e-02 6.96421879e-02 2.57120340e+01] [-6.32910306e-02 9.97965653e-01 -7.66814717e-03 -2.58974219e+00] [-6.99887592e-02 3.22620570e-03 9.97542563e-01 -1.83106982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.650714057 meters 0.029498857175547337 Centerline is valid? [True, True] Translation: X:25.74, Y:-2.59, Z:-1.83 [[ 9.95523914e-01 6.47161670e-02 6.88763647e-02 2.57429441e+01] [-6.43456824e-02 9.97898833e-01 -7.58637334e-03 -2.59066387e+00] [-6.92226050e-02 3.12051939e-03 9.97596358e-01 -1.83379561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.680714057 meters 0.02995000218337457 Centerline is valid? [True, True] Translation: X:25.77, Y:-2.59, Z:-1.84 [[ 9.95493213e-01 6.51867184e-02 6.88763715e-02 2.57723529e+01] [-6.48172679e-02 9.97868303e-01 -7.58764955e-03 -2.59375551e+00] [-6.92241619e-02 3.08907540e-03 9.97596348e-01 -1.83570944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.710714056999997 meters 0.031037541442210572 Centerline is valid? [True, True] Translation: X:25.80, Y:-2.60, Z:-1.84 [[ 9.95512807e-01 6.50204593e-02 6.87502020e-02 2.58014719e+01] [-6.46520573e-02 9.97879136e-01 -7.57246764e-03 -2.59897352e+00] [-6.90967574e-02 3.09364652e-03 9.97605166e-01 -1.83762300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.740714056999998 meters 0.03159077509454205 Centerline is valid? [True, True] Translation: X:25.83, Y:-2.60, Z:-1.84 [[ 9.95547569e-01 6.40260539e-02 6.91787747e-02 2.58315528e+01] [-6.36507308e-02 9.97943157e-01 -7.61840693e-03 -2.60258337e+00] [-6.95242613e-02 3.18120693e-03 9.97575189e-01 -1.83844807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.770714057 meters 0.03212034665138954 Centerline is valid? [True, True] Translation: X:25.86, Y:-2.61, Z:-1.84 [[ 9.95625535e-01 6.27164300e-02 6.92563534e-02 2.58615171e+01] [-6.23371050e-02 9.98026009e-01 -7.62695039e-03 -2.60623868e+00] [-6.95979771e-02 3.27634600e-03 9.97569740e-01 -1.84005281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.800714056999997 meters 0.03314228053334944 Centerline is valid? [True, True] Translation: X:25.89, Y:-2.61, Z:-1.84 [[ 9.95710068e-01 6.16166247e-02 6.90279121e-02 2.58914045e+01] [-6.12371654e-02 9.98094295e-01 -7.60184415e-03 -2.61085979e+00] [-6.93647652e-02 3.34215908e-03 9.97585765e-01 -1.84234739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.830714056999998 meters 0.031723174847171874 Centerline is valid? [True, True] Translation: X:25.92, Y:-2.61, Z:-1.85 [[ 9.96040314e-01 5.70084598e-02 6.82182453e-02 2.59228945e+01] [-5.66267712e-02 9.98367116e-01 -7.51741046e-03 -2.61080690e+00] [-6.85354088e-02 3.62466490e-03 9.97642100e-01 -1.84550214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.860714057 meters 0.03608714546414526 Centerline is valid? [True, True] Translation: X:25.95, Y:-2.62, Z:-1.85 [[ 9.96206083e-01 5.45425242e-02 6.78126278e-02 2.59519683e+01] [-5.41595124e-02 9.98504316e-01 -7.47515805e-03 -2.62208814e+00] [-6.81189155e-02 3.77409907e-03 9.97670070e-01 -1.84774325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.890714056999997 meters 0.03876686035208952 Centerline is valid? [True, True] Translation: X:25.98, Y:-2.63, Z:-1.85 [[ 9.96476207e-01 5.01294598e-02 6.72473563e-02 2.59809324e+01] [-4.97425637e-02 9.98734536e-01 -7.41652424e-03 -2.62833412e+00] [-6.75340435e-02 4.04533404e-03 9.97708769e-01 -1.85094055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.920714056999998 meters 0.03416395845386846 Centerline is valid? [True, True] Translation: X:26.01, Y:-2.62, Z:-1.85 [[ 9.96660960e-01 4.77931570e-02 6.62022975e-02 2.60131455e+01] [-4.74131542e-02 9.98848687e-01 -7.30023571e-03 -2.62311929e+00] [-6.64749792e-02 4.13700020e-03 9.97779516e-01 -1.85390347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.950714057 meters 0.03481208292201837 Centerline is valid? [True, True] Translation: X:26.04, Y:-2.63, Z:-1.86 [[ 9.96736325e-01 4.70960440e-02 6.55641710e-02 2.60449456e+01] [-4.67217249e-02 9.98881766e-01 -7.23168311e-03 -2.62790115e+00] [-6.58314387e-02 4.14481009e-03 9.97822150e-01 -1.85689653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.980714056999997 meters 0.043269592928253824 Centerline is valid? [True, True] Translation: X:26.07, Y:-2.64, Z:-1.86 [[ 9.96891571e-01 4.49492528e-02 6.47051819e-02 2.60732772e+01] [-4.45790777e-02 9.98980242e-01 -7.15412041e-03 -2.64319810e+00] [-6.49607706e-02 4.24738500e-03 9.97878779e-01 -1.86109702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.010714056999998 meters 0.03842126329610662 Centerline is valid? [True, True] Translation: X:26.11, Y:-2.64, Z:-1.86 [[ 9.96981660e-01 4.34602433e-02 6.43333243e-02 2.61063268e+01] [-4.30908614e-02 9.99045795e-01 -7.11878041e-03 -2.63785101e+00] [-6.45813210e-02 4.32511515e-03 9.97903075e-01 -1.86295758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.040714057 meters 0.03734170194830907 Centerline is valid? [True, True] Translation: X:26.14, Y:-2.64, Z:-1.86 [[ 9.97081184e-01 4.05495694e-02 6.46903705e-02 2.61375031e+01] [-4.01696597e-02 9.99167197e-01 -7.16316443e-03 -2.63696995e+00] [-6.49269594e-02 4.54366630e-03 9.97879675e-01 -1.86442920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.070714057 meters 0.04128594893325754 Centerline is valid? [True, True] Translation: X:26.17, Y:-2.64, Z:-1.87 [[ 9.97135239e-01 3.91418403e-02 6.47242792e-02 2.61681571e+01] [-3.87585569e-02 9.99222900e-01 -7.16732926e-03 -2.64483577e+00] [-6.49545244e-02 4.63817691e-03 9.97877446e-01 -1.86697975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.100714056999998 meters 0.03922734169439862 Centerline is valid? [True, True] Translation: X:26.20, Y:-2.64, Z:-1.87 [[ 9.97231185e-01 3.60085785e-02 6.50641618e-02 2.61991153e+01] [-3.56135638e-02 9.99339546e-01 -7.22117897e-03 -2.64213397e+00] [-6.52812144e-02 4.88401818e-03 9.97854954e-01 -1.86858124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.130714057 meters 0.04012207074467582 Centerline is valid? [True, True] Translation: X:26.23, Y:-2.65, Z:-1.87 [[ 9.97266657e-01 3.43359374e-02 6.54236806e-02 2.62301805e+01] [-3.39328885e-02 9.99397728e-01 -7.26219513e-03 -2.64560372e+00] [-6.56336320e-02 5.02233061e-03 9.97831149e-01 -1.87047031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.160714057 meters 0.04134613620290563 Centerline is valid? [True, True] Translation: X:26.26, Y:-2.65, Z:-1.87 [[ 9.97268386e-01 3.30652774e-02 6.60488690e-02 2.62607026e+01] [-3.26515576e-02 9.99439889e-01 -7.33382741e-03 -2.64917265e+00] [-6.62543693e-02 5.15719578e-03 9.97789438e-01 -1.87207562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.190714056999997 meters 0.05746469802741476 Centerline is valid? [True, True] Translation: X:26.29, Y:-2.67, Z:-1.87 [[ 9.96967618e-01 3.52860691e-02 6.93575011e-02 2.62876487e+01] [-3.48344679e-02 9.99363353e-01 -7.71030926e-03 -2.67229460e+00] [-6.95854114e-02 5.27089701e-03 9.97562072e-01 -1.87226103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.220714057 meters 0.042971699860906994 Centerline is valid? [True, True] Translation: X:26.32, Y:-2.65, Z:-1.88 [[ 9.97292455e-01 3.07495018e-02 6.67999086e-02 2.63213234e+01] [-3.03206369e-02 9.99512647e-01 -7.42476308e-03 -2.65217312e+00] [-6.69956613e-02 5.37924442e-03 9.97738766e-01 -1.87554789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.250714057 meters 0.04428763675431783 Centerline is valid? [True, True] Translation: X:26.35, Y:-2.66, Z:-1.88 [[ 9.97309787e-01 3.05892688e-02 6.66144489e-02 2.63523136e+01] [-3.01623345e-02 9.99517579e-01 -7.40560801e-03 -2.65569694e+00] [-6.68088448e-02 5.37643806e-03 9.97751308e-01 -1.87808561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.280714056999997 meters 0.045534747698006146 Centerline is valid? [True, True] Translation: X:26.38, Y:-2.66, Z:-1.88 [[ 9.97436456e-01 2.90637279e-02 6.53897236e-02 2.63834305e+01] [-2.86481065e-02 9.99563012e-01 -7.28496095e-03 -2.65714228e+00] [-6.55728772e-02 5.39299386e-03 9.97833209e-01 -1.88151094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.310714057 meters 0.04418684163843186 Centerline is valid? [True, True] Translation: X:26.42, Y:-2.66, Z:-1.88 [[ 9.97459363e-01 2.90042529e-02 6.50659139e-02 2.64158214e+01] [-2.85925164e-02 9.99564855e-01 -7.25047375e-03 -2.65672611e+00] [-6.52478953e-02 5.37165472e-03 9.97854627e-01 -1.88440799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.340714057 meters 0.04156457647263852 Centerline is valid? [True, True] Translation: X:26.45, Y:-2.65, Z:-1.89 [[ 9.97575440e-01 2.77858131e-02 6.38058837e-02 2.64483645e+01] [-2.73864159e-02 9.99599523e-01 -7.12582603e-03 -2.65240240e+00] [-6.39783278e-02 5.36113457e-03 9.97936888e-01 -1.88751310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.370714056999997 meters 0.04306480577889818 Centerline is valid? [True, True] Translation: X:26.48, Y:-2.66, Z:-1.89 [[ 9.97588488e-01 2.76300160e-02 6.36693934e-02 2.64793123e+01] [-2.72310368e-02 9.99603768e-01 -7.12586131e-03 -2.65592765e+00] [-6.38410532e-02 5.37489362e-03 9.97945605e-01 -1.89019820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.400714057 meters 0.04358295190165008 Centerline is valid? [True, True] Translation: X:26.51, Y:-2.66, Z:-1.89 [[ 9.97603987e-01 2.81531992e-02 6.31955932e-02 2.65106996e+01] [-2.77602369e-02 9.99589482e-01 -7.08781705e-03 -2.65643792e+00] [-6.33691949e-02 5.31650991e-03 9.97975992e-01 -1.89371791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.430714057 meters 0.039303497952550545 Centerline is valid? [True, True] Translation: X:26.54, Y:-2.65, Z:-1.90 [[ 9.97653480e-01 2.82145794e-02 6.23816654e-02 2.65432810e+01] [-2.78309124e-02 9.99588059e-01 -7.01087548e-03 -2.65082450e+00] [-6.25537768e-02 5.25828565e-03 9.98027743e-01 -1.89609376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.460714056999997 meters 0.04347520297542287 Centerline is valid? [True, True] Translation: X:26.57, Y:-2.66, Z:-1.90 [[ 9.97631234e-01 2.93704412e-02 6.22036800e-02 2.65741427e+01] [-2.89901625e-02 9.99555135e-01 -7.00736125e-03 -2.65862573e+00] [-6.23818171e-02 5.18746766e-03 9.98038877e-01 -1.89889720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.490714056999998 meters 0.039177940297530925 Centerline is valid? [True, True] Translation: X:26.61, Y:-2.65, Z:-1.90 [[ 9.97600603e-01 3.06349885e-02 6.20848997e-02 2.66075214e+01] [-3.02575749e-02 9.99517551e-01 -7.01029887e-03 -2.65121546e+00] [-6.22697074e-02 5.11493987e-03 9.98046252e-01 -1.90031020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.520714057 meters 0.042280725735894226 Centerline is valid? [True, True] Translation: X:26.64, Y:-2.66, Z:-1.90 [[ 9.97580890e-01 3.14130543e-02 6.20127977e-02 2.66381101e+01] [-3.10369828e-02 9.99493594e-01 -7.01864222e-03 -2.65720613e+00] [-6.22018710e-02 5.07697322e-03 9.98050676e-01 -1.90239104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.550714056999997 meters 0.04064216092274042 Centerline is valid? [True, True] Translation: X:26.67, Y:-2.66, Z:-1.91 [[ 9.97596621e-01 3.22321516e-02 6.13357155e-02 2.66708862e+01] [-3.18648979e-02 9.99467975e-01 -6.95661340e-03 -2.65571546e+00] [-6.15273100e-02 4.98543772e-03 9.98092949e-01 -1.90509944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.580714056999998 meters 0.04010413116691129 Centerline is valid? [True, True] Translation: X:26.70, Y:-2.65, Z:-1.91 [[ 9.97635007e-01 3.28064427e-02 6.03997538e-02 2.67038190e+01] [-3.24503870e-02 9.99449759e-01 -6.86673761e-03 -2.65465771e+00] [-6.05917926e-02 4.89050243e-03 9.98150649e-01 -1.90797270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.610714057 meters 0.048723568235349624 Centerline is valid? [True, True] Translation: X:26.73, Y:-2.67, Z:-1.91 [[ 9.97601283e-01 3.31316300e-02 6.07780871e-02 2.67336890e+01] [-3.27712060e-02 9.99438939e-01 -6.91769035e-03 -2.66916465e+00] [-6.09731812e-02 4.90932555e-03 9.98127331e-01 -1.91226378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.640714056999997 meters 0.04278851769531944 Centerline is valid? [True, True] Translation: X:26.77, Y:-2.66, Z:-1.91 [[ 9.97658421e-01 3.28500572e-02 5.99879083e-02 2.67670634e+01] [-3.24976113e-02 9.99448396e-01 -6.84173597e-03 -2.66082011e+00] [-6.01795702e-02 4.87625178e-03 9.98175657e-01 -1.91426129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.670714056999998 meters 0.04351338652681152 Centerline is valid? [True, True] Translation: X:26.80, Y:-2.66, Z:-1.92 [[ 9.97633474e-01 3.30575971e-02 6.02880380e-02 2.68003996e+01] [-3.27010744e-02 9.99441421e-01 -6.89100794e-03 -2.66393097e+00] [-6.04821626e-02 4.90321657e-03 9.98157235e-01 -1.91658255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.700714057 meters 0.04331535394124494 Centerline is valid? [True, True] Translation: X:26.83, Y:-2.67, Z:-1.92 [[ 9.97632746e-01 3.34388256e-02 6.00895162e-02 2.68325679e+01] [-3.30842798e-02 9.99428845e-01 -6.88582511e-03 -2.66524845e+00] [-6.02854497e-02 4.88150624e-03 9.98169242e-01 -1.91849260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.730714056999997 meters 0.04421447685685323 Centerline is valid? [True, True] Translation: X:26.86, Y:-2.67, Z:-1.92 [[ 9.97575878e-01 3.45399777e-02 6.04099047e-02 2.68633686e+01] [-3.41826077e-02 9.99391511e-01 -6.93951775e-03 -2.66605095e+00] [-6.06128367e-02 4.85772745e-03 9.98149531e-01 -1.92032093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.760714056999998 meters 0.040878182520929236 Centerline is valid? [True, True] Translation: X:26.90, Y:-2.66, Z:-1.92 [[ 9.97575838e-01 3.50938613e-02 6.00905016e-02 2.68958912e+01] [-3.47412430e-02 9.99372499e-01 -6.90317567e-03 -2.66114812e+00] [-6.02950539e-02 4.79882253e-03 9.98169063e-01 -1.92243552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.790714057 meters 0.03829693429913926 Centerline is valid? [True, True] Translation: X:26.93, Y:-2.66, Z:-1.92 [[ 9.97560999e-01 3.56091393e-02 6.00336729e-02 2.69290002e+01] [-3.52571110e-02 9.99354363e-01 -6.91328437e-03 -2.65934669e+00] [-6.02410890e-02 4.77980900e-03 9.98172412e-01 -1.92458159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.820714056999996 meters 0.046829003502733065 Centerline is valid? [True, True] Translation: X:26.96, Y:-2.67, Z:-1.93 [[ 9.97547011e-01 3.59086476e-02 6.00876809e-02 2.69600132e+01] [-3.55562750e-02 9.99343692e-01 -6.92362598e-03 -2.67334258e+00] [-6.02968629e-02 4.77014830e-03 9.98169091e-01 -1.92820056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.850714056999998 meters 0.047358665251065794 Centerline is valid? [True, True] Translation: X:26.99, Y:-2.67, Z:-1.93 [[ 9.97482334e-01 3.71016895e-02 6.04355693e-02 2.69905058e+01] [-3.67462372e-02 9.99300233e-01 -6.98271731e-03 -2.67358305e+00] [-6.06523491e-02 4.74435740e-03 9.98147676e-01 -1.93062586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.880714057 meters 0.03813267711143254 Centerline is valid? [True, True] Translation: X:27.02, Y:-2.66, Z:-1.93 [[ 9.97358778e-01 3.98362769e-02 6.07333428e-02 2.70233245e+01] [-3.94822817e-02 9.99195624e-01 -7.01811136e-03 -2.65837854e+00] [-6.09640658e-02 4.60168403e-03 9.98129354e-01 -1.93071824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.910714057 meters 0.04697439029710781 Centerline is valid? [True, True] Translation: X:27.05, Y:-2.67, Z:-1.93 [[ 9.97292141e-01 4.12941052e-02 6.08537856e-02 2.70525206e+01] [-4.09413145e-02 9.99136797e-01 -7.03339743e-03 -2.67237245e+00] [-6.10916943e-02 4.52291800e-03 9.98121910e-01 -1.93396094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.940714056999997 meters 0.03920903176917554 Centerline is valid? [True, True] Translation: X:27.09, Y:-2.66, Z:-1.93 [[ 9.97181912e-01 4.30030671e-02 6.14733337e-02 2.70855029e+01] [-4.26461361e-02 9.99064960e-01 -7.10717979e-03 -2.66255880e+00] [-6.17214842e-02 4.46555098e-03 9.98083422e-01 -1.93457129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.970714057 meters 0.03778400085709659 Centerline is valid? [True, True] Translation: X:27.12, Y:-2.66, Z:-1.94 [[ 9.97120959e-01 4.42122512e-02 6.16041371e-02 2.71175338e+01] [-4.38558833e-02 9.99012456e-01 -7.12564371e-03 -2.66190583e+00] [-6.18583410e-02 4.40342484e-03 9.98075225e-01 -1.93661769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.000714057 meters 0.037237686739053304 Centerline is valid? [True, True] Translation: X:27.15, Y:-2.66, Z:-1.94 [[ 9.97025240e-01 4.60711633e-02 6.17909290e-02 2.71486246e+01] [-4.57159496e-02 9.98928885e-01 -7.15089126e-03 -2.66110116e+00] [-6.20541936e-02 4.30478808e-03 9.98063498e-01 -1.93939181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.030714056999997 meters 0.03625279804029993 Centerline is valid? [True, True] Translation: X:27.18, Y:-2.66, Z:-1.94 [[ 9.97016485e-01 4.68593596e-02 6.13378272e-02 2.71794924e+01] [-4.65107517e-02 9.98892559e-01 -7.09968787e-03 -2.66129264e+00] [-6.16025860e-02 4.22563739e-03 9.98091812e-01 -1.94195763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.060714057 meters 0.03573311150772846 Centerline is valid? [True, True] Translation: X:27.21, Y:-2.66, Z:-1.94 [[ 9.96986037e-01 4.83255587e-02 6.06917039e-02 2.72096199e+01] [-4.79869613e-02 9.98823258e-01 -7.02503909e-03 -2.66232960e+00] [-6.09597743e-02 4.09145543e-03 9.98131838e-01 -1.94454020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.090714057 meters 0.035043538430202734 Centerline is valid? [True, True] Translation: X:27.24, Y:-2.66, Z:-1.95 [[ 9.96842115e-01 5.23812289e-02 5.96825283e-02 2.72395981e+01] [-5.20611080e-02 9.98620014e-01 -6.90718899e-03 -2.66013856e+00] [-5.99619743e-02 3.77823833e-03 9.98193512e-01 -1.94773770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.120714056999997 meters 0.033630551264532973 Centerline is valid? [True, True] Translation: X:27.27, Y:-2.66, Z:-1.95 [[ 9.96755595e-01 5.49931486e-02 5.87710557e-02 2.72699761e+01] [-5.46873407e-02 9.98480370e-01 -6.80039601e-03 -2.65872536e+00] [-5.90557206e-02 3.56430002e-03 9.98248325e-01 -1.95024628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.150714057 meters 0.031776165407842706 Centerline is valid? [True, True] Translation: X:27.30, Y:-2.66, Z:-1.95 [[ 9.96360531e-01 6.18068243e-02 5.86993078e-02 2.72991021e+01] [-6.15135810e-02 9.98083142e-01 -6.79130970e-03 -2.65511910e+00] [-5.90065388e-02 3.15578832e-03 9.98252608e-01 -1.95250189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.180714057 meters 0.030747148906124566 Centerline is valid? [True, True] Translation: X:27.33, Y:-2.65, Z:-1.95 [[ 9.96133696e-01 6.54350810e-02 5.86166325e-02 2.73297174e+01] [-6.51490918e-02 9.97852516e-01 -6.77887057e-03 -2.65427626e+00] [-5.89343301e-02 2.93384103e-03 9.98257551e-01 -1.95497085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.210714056999997 meters 0.027886199355929484 Centerline is valid? [True, True] Translation: X:27.36, Y:-2.65, Z:-1.96 [[ 9.95586005e-01 7.31959672e-02 5.87439968e-02 2.73602926e+01] [-7.29223357e-02 9.97314500e-01 -6.79120652e-03 -2.64840340e+00] [-5.90833287e-02 2.47748072e-03 9.98249980e-01 -1.95661205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.240714056999998 meters 0.027113756547957182 Centerline is valid? [True, True] Translation: X:27.39, Y:-2.65, Z:-1.96 [[ 9.95299708e-01 7.68121884e-02 5.89777811e-02 2.73897652e+01] [-7.65428158e-02 9.97042996e-01 -6.81633289e-03 -2.64869935e+00] [-5.93269610e-02 2.26996870e-03 9.98236024e-01 -1.95862122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.270714057 meters 0.02638131239795618 Centerline is valid? [True, True] Translation: X:27.42, Y:-2.65, Z:-1.96 [[ 9.95076466e-01 7.96282215e-02 5.90099472e-02 2.74185552e+01] [-7.93636011e-02 9.96822417e-01 -6.81825026e-03 -2.64914303e+00] [-5.93653633e-02 2.10143846e-03 9.98234110e-01 -1.96018311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.300714056999997 meters 0.025575056843060773 Centerline is valid? [True, True] Translation: X:27.45, Y:-2.65, Z:-1.96 [[ 9.94742226e-01 8.32725954e-02 5.96118994e-02 2.74470052e+01] [-8.30093420e-02 9.96524997e-01 -6.88327690e-03 -2.65002280e+00] [-5.99779362e-02 1.89874163e-03 9.98197897e-01 -1.96199306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.330714056999998 meters 0.02572743742529849 Centerline is valid? [True, True] Translation: X:27.47, Y:-2.65, Z:-1.96 [[ 9.94676403e-01 8.37328669e-02 6.00637970e-02 2.74743946e+01] [-8.34666187e-02 9.96486460e-01 -6.93249413e-03 -2.65333926e+00] [-6.04332380e-02 1.88226628e-03 9.98170467e-01 -1.96420986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.360714057 meters 0.025684004453564 Centerline is valid? [True, True] Translation: X:27.50, Y:-2.66, Z:-1.97 [[ 9.94609645e-01 8.44665771e-02 6.01419257e-02 2.75024945e+01] [-8.42013045e-02 9.96424624e-01 -6.93605608e-03 -2.65667562e+00] [-6.05127606e-02 1.83463968e-03 9.98165738e-01 -1.96641001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.390714056999997 meters 0.025629657703250184 Centerline is valid? [True, True] Translation: X:27.53, Y:-2.66, Z:-1.97 [[ 9.94704101e-01 8.40522453e-02 5.91521112e-02 2.75303237e+01] [-8.37951454e-02 9.96459677e-01 -6.81799008e-03 -2.66093221e+00] [-5.95157610e-02 1.82522293e-03 9.98225697e-01 -1.96946405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.420714056999998 meters 0.02561792949143748 Centerline is valid? [True, True] Translation: X:27.56, Y:-2.66, Z:-1.97 [[ 9.94690668e-01 8.42114701e-02 5.91515357e-02 2.75588825e+01] [-8.39549759e-02 9.96446261e-01 -6.81256104e-03 -2.66495511e+00] [-5.95150224e-02 1.81032513e-03 9.98225768e-01 -1.97153221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.450714057 meters 0.024990869487530227 Centerline is valid? [True, True] Translation: X:27.59, Y:-2.67, Z:-1.97 [[ 9.94723024e-01 8.38213056e-02 5.91616007e-02 2.75872332e+01] [-8.35642832e-02 9.96479122e-01 -6.80956130e-03 -2.66877214e+00] [-5.95240862e-02 1.82983065e-03 9.98225192e-01 -1.97317195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.480714056999997 meters 0.024990869487530227 Centerline is valid? [True, True] Translation: X:27.61, Y:-2.67, Z:-1.98 [[ 9.94732101e-01 8.37131897e-02 5.91620545e-02 2.76144612e+01] [-8.34562108e-02 9.96488206e-01 -6.80561598e-03 -2.67181845e+00] [-5.95240094e-02 1.83232379e-03 9.98225192e-01 -1.97506106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.510714056999998 meters 0.026258215301810887 Centerline is valid? [True, True] Translation: X:27.64, Y:-2.68, Z:-1.98 [[ 9.94765470e-01 8.33175985e-02 5.91594222e-02 2.76413823e+01] [-8.30603430e-02 9.96521328e-01 -6.79862637e-03 -2.67878619e+00] [-5.95200712e-02 1.84923686e-03 9.98225396e-01 -1.97766551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.540714057 meters 0.027691575712035264 Centerline is valid? [True, True] Translation: X:27.67, Y:-2.69, Z:-1.98 [[ 9.94773217e-01 8.27416902e-02 5.98335916e-02 2.76686937e+01] [-8.24778253e-02 9.96569217e-01 -6.87055113e-03 -2.68697797e+00] [-6.01967965e-02 1.89969573e-03 9.98184721e-01 -1.98011265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.570714056999996 meters 0.02829398460919066 Centerline is valid? [True, True] Translation: X:27.70, Y:-2.70, Z:-1.98 [[ 9.95011197e-01 7.94870581e-02 6.02870196e-02 2.76973495e+01] [-7.92135576e-02 9.96833672e-01 -6.91689813e-03 -2.69566594e+00] [-6.06459350e-02 2.10684179e-03 9.98157118e-01 -1.98198541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.600714056999998 meters 0.027905170694968773 Centerline is valid? [True, True] Translation: X:27.73, Y:-2.70, Z:-1.98 [[ 9.95356570e-01 7.52011784e-02 6.00839501e-02 2.77263685e+01] [-7.49218494e-02 9.97165594e-01 -6.89156919e-03 -2.70333671e+00] [-6.04319020e-02 2.35796800e-03 9.98169537e-01 -1.98387902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.630714057 meters 0.03180016532815448 Centerline is valid? [True, True] Translation: X:27.75, Y:-2.72, Z:-1.99 [[ 9.95567798e-01 7.22154822e-02 6.02468631e-02 2.77533182e+01] [-7.19293021e-02 9.97385809e-01 -6.90824709e-03 -2.71710065e+00] [-6.05882487e-02 2.54411352e-03 9.98159602e-01 -1.98767777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.660714057 meters 0.029930862068465944 Centerline is valid? [True, True] Translation: X:27.78, Y:-2.72, Z:-1.99 [[ 9.95783455e-01 6.93899339e-02 6.00028996e-02 2.77828233e+01] [-6.91011565e-02 9.97585955e-01 -6.87692058e-03 -2.71955278e+00] [-6.03352389e-02 2.70165398e-03 9.98174514e-01 -1.98892707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.690714056999997 meters 0.03080153105239929 Centerline is valid? [True, True] Translation: X:27.81, Y:-2.73, Z:-1.99 [[ 9.96264596e-01 6.29767575e-02 5.90828384e-02 2.78118915e+01] [-6.26856765e-02 9.98010363e-01 -6.76907874e-03 -2.72984276e+00] [-5.93915796e-02 3.04014580e-03 9.98230133e-01 -1.99123971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.720714057 meters 0.03232125863101102 Centerline is valid? [True, True] Translation: X:27.84, Y:-2.74, Z:-1.99 [[ 9.96468239e-01 5.98778960e-02 5.88700863e-02 2.78394739e+01] [-5.95834832e-02 9.98200535e-01 -6.74534855e-03 -2.73788692e+00] [-5.91680489e-02 3.21384079e-03 9.98242863e-01 -1.99380151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.750714057 meters 0.034724140647368056 Centerline is valid? [True, True] Translation: X:27.87, Y:-2.75, Z:-2.00 [[ 9.96806468e-01 5.39804450e-02 5.88470656e-02 2.78680882e+01] [-5.36763043e-02 9.98535655e-01 -6.73800283e-03 -2.75035345e+00] [-5.91246136e-02 3.55779180e-03 9.98244270e-01 -1.99632381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.780714056999997 meters 0.03772827685549622 Centerline is valid? [True, True] Translation: X:27.90, Y:-2.76, Z:-2.00 [[ 9.96916827e-01 5.14240323e-02 5.92655839e-02 2.78963012e+01] [-5.11111075e-02 9.98669925e-01 -6.78490534e-03 -2.76102699e+00] [-5.95356634e-02 3.73485667e-03 9.98219192e-01 -1.99864845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.810714057 meters 0.036188725729507425 Centerline is valid? [True, True] Translation: X:27.93, Y:-2.76, Z:-2.00 [[ 9.97051163e-01 4.88387405e-02 5.91925256e-02 2.79263561e+01] [-4.85221166e-02 9.98799127e-01 -6.77549417e-03 -2.76390148e+00] [-5.94523495e-02 3.88336772e-03 9.98223591e-01 -1.99968035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.840714057 meters 0.04200900948639091 Centerline is valid? [True, True] Translation: X:27.95, Y:-2.78, Z:-2.00 [[ 9.97189962e-01 4.47307629e-02 6.00944132e-02 2.79538584e+01] [-4.43970662e-02 9.98990292e-01 -6.87733033e-03 -2.78003539e+00] [-6.03413636e-02 4.18998913e-03 9.98169006e-01 -2.00215453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.870714056999997 meters 0.04081142995483362 Centerline is valid? [True, True] Translation: X:27.99, Y:-2.78, Z:-2.00 [[ 9.97228148e-01 4.34040444e-02 6.04326943e-02 2.79855614e+01] [-4.30641098e-02 9.99048368e-01 -6.91674001e-03 -2.78378322e+00] [-6.06753991e-02 4.29508765e-03 9.98148310e-01 -2.00374258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.900714057 meters 0.037072537410617674 Centerline is valid? [True, True] Translation: X:28.02, Y:-2.79, Z:-2.01 [[ 9.97302766e-01 4.09500511e-02 6.09121118e-02 2.80165184e+01] [-4.05998674e-02 9.99151132e-01 -6.97611325e-03 -2.78539091e+00] [-6.11460776e-02 4.48427339e-03 9.98118755e-01 -2.00502117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.930714057 meters 0.04216476081716086 Centerline is valid? [True, True] Translation: X:28.05, Y:-2.80, Z:-2.01 [[ 9.97332573e-01 4.01909639e-02 6.09296741e-02 2.80458582e+01] [-3.98390373e-02 9.99181728e-01 -6.98029716e-03 -2.79843893e+00] [-6.11603620e-02 4.53429817e-03 9.98117654e-01 -2.00808372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.960714056999997 meters 0.03905047257984412 Centerline is valid? [True, True] Translation: X:28.08, Y:-2.80, Z:-2.01 [[ 9.97343829e-01 3.96727822e-02 6.10848320e-02 2.80778613e+01] [-3.93176637e-02 9.99202207e-01 -7.00504884e-03 -2.79894064e+00] [-6.13140088e-02 4.58472935e-03 9.98107996e-01 -2.01010372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.990714056999998 meters 0.03975250097538786 Centerline is valid? [True, True] Translation: X:28.11, Y:-2.81, Z:-2.01 [[ 9.97413896e-01 3.83379778e-02 6.07924336e-02 2.81093672e+01] [-3.79827664e-02 9.99253958e-01 -6.98832084e-03 -2.80602035e+00] [-6.10149980e-02 4.66118351e-03 9.98125966e-01 -2.01212486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.020714057 meters 0.04041434804783631 Centerline is valid? [True, True] Translation: X:28.14, Y:-2.81, Z:-2.01 [[ 9.97458723e-01 3.76509333e-02 6.04855628e-02 2.81404827e+01] [-3.72978604e-02 9.99279981e-01 -6.95616841e-03 -2.81202534e+00] [-6.07039183e-02 4.68250878e-03 9.98144833e-01 -2.01459091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.050714056999997 meters 0.04101102821509531 Centerline is valid? [True, True] Translation: X:28.17, Y:-2.82, Z:-2.02 [[ 9.97525764e-01 3.61965496e-02 6.02674017e-02 2.81709332e+01] [-3.58424342e-02 9.99333309e-01 -6.94680906e-03 -2.81866871e+00] [-6.04786725e-02 4.76949063e-03 9.98158095e-01 -2.01817404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.080714056999998 meters 0.04844540614376249 Centerline is valid? [True, True] Translation: X:28.20, Y:-2.83, Z:-2.02 [[ 9.97594892e-01 3.54144057e-02 5.95839856e-02 2.82006712e+01] [-3.50668786e-02 9.99361365e-01 -6.86845339e-03 -2.83395194e+00] [-5.97891754e-02 4.76250962e-03 9.98199666e-01 -2.02254976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.110714057 meters 0.04292577726227075 Centerline is valid? [True, True] Translation: X:28.23, Y:-2.83, Z:-2.02 [[ 9.97656275e-01 3.45367581e-02 5.90691925e-02 2.82336014e+01] [-3.41927918e-02 9.99391956e-01 -6.82428463e-03 -2.83116627e+00] [-5.92689645e-02 4.78854978e-03 9.98230564e-01 -2.02449859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.140714056999997 meters 0.04304759419833746 Centerline is valid? [True, True] Translation: X:28.26, Y:-2.84, Z:-2.03 [[ 9.97742854e-01 3.31655317e-02 5.83887348e-02 2.82646091e+01] [-3.28268620e-02 9.99438258e-01 -6.75017757e-03 -2.83608262e+00] [-5.85798087e-02 4.81822249e-03 9.98271101e-01 -2.02737541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.170714056999998 meters 0.04398514043204346 Centerline is valid? [True, True] Translation: X:28.29, Y:-2.84, Z:-2.03 [[ 9.97845331e-01 3.11799515e-02 5.77278637e-02 2.82949881e+01] [-3.08454893e-02 9.99501869e-01 -6.67601887e-03 -2.84280822e+00] [-5.79072656e-02 4.88099006e-03 9.98310034e-01 -2.03022291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.200714057 meters 0.04548374289657368 Centerline is valid? [True, True] Translation: X:28.33, Y:-2.85, Z:-2.03 [[ 9.97890155e-01 3.02686457e-02 5.74373387e-02 2.83261509e+01] [-2.99360549e-02 9.99529746e-01 -6.64232035e-03 -2.84899663e+00] [-5.76113826e-02 4.90885876e-03 9.98327016e-01 -2.03252911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.230714056999997 meters 0.0468594416909363 Centerline is valid? [True, True] Translation: X:28.36, Y:-2.86, Z:-2.03 [[ 9.97907707e-01 2.85493180e-02 5.80098651e-02 2.83568661e+01] [-2.82067019e-02 9.99579546e-01 -6.71660023e-03 -2.85502150e+00] [-5.81772290e-02 5.06628016e-03 9.98293415e-01 -2.03415536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.260714056999998 meters 0.04728063510217361 Centerline is valid? [True, True] Translation: X:28.39, Y:-2.86, Z:-2.04 [[ 9.97861983e-01 2.85611118e-02 5.87854260e-02 2.83887616e+01] [-2.82092721e-02 9.99578866e-01 -6.80650895e-03 -2.85980630e+00] [-5.89550709e-02 5.13366244e-03 9.98247437e-01 -2.03568571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.290714057 meters 0.048909337278136164 Centerline is valid? [True, True] Translation: X:28.42, Y:-2.87, Z:-2.04 [[ 9.97850828e-01 2.82948937e-02 5.91026502e-02 2.84192276e+01] [-2.79378890e-02 9.99586134e-01 -6.85819899e-03 -2.86609456e+00] [-5.92722417e-02 5.19225626e-03 9.98228352e-01 -2.03752974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.320714056999996 meters 0.05027799036597854 Centerline is valid? [True, True] Translation: X:28.45, Y:-2.87, Z:-2.04 [[ 9.97859680e-01 2.64470967e-02 5.98047627e-02 2.84499122e+01] [-2.60773228e-02 9.99635733e-01 -6.95519729e-03 -2.87190154e+00] [-5.99669226e-02 5.38076284e-03 9.98185862e-01 -2.04007475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.350714056999998 meters 0.051511120810321144 Centerline is valid? [True, True] Translation: X:28.48, Y:-2.88, Z:-2.04 [[ 9.97868485e-01 2.56803177e-02 5.99917292e-02 2.84811734e+01] [-2.53068191e-02 9.99655381e-01 -6.97747018e-03 -2.87816223e+00] [-6.01502385e-02 5.44439776e-03 9.98174487e-01 -2.04281702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.380714057 meters 0.050225067692654606 Centerline is valid? [True, True] Translation: X:28.51, Y:-2.88, Z:-2.05 [[ 9.97965159e-01 2.30514140e-02 5.94489159e-02 2.85112537e+01] [-2.26791232e-02 9.99718780e-01 -6.92959056e-03 -2.88004101e+00] [-5.95919345e-02 5.56724066e-03 9.98207297e-01 -2.04601861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.410714057 meters 0.047865489750780456 Centerline is valid? [True, True] Translation: X:28.54, Y:-2.88, Z:-2.05 [[ 9.98044982e-01 2.09223783e-02 5.88937065e-02 2.85428731e+01] [-2.05533539e-02 9.99765189e-01 -6.86480523e-03 -2.88020032e+00] [-5.90235057e-02 5.64092122e-03 9.98240655e-01 -2.04822811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.440714056999997 meters 0.04967280250034673 Centerline is valid? [True, True] Translation: X:28.57, Y:-2.89, Z:-2.05 [[ 9.98117169e-01 1.75554702e-02 5.87700774e-02 2.85728606e+01] [-1.71820728e-02 9.99828893e-01 -6.85288439e-03 -2.88590148e+00] [-5.88803270e-02 5.83018982e-03 9.98248023e-01 -2.05044049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.470714057 meters 0.0481115173084645 Centerline is valid? [True, True] Translation: X:28.60, Y:-2.89, Z:-2.05 [[ 9.98103671e-01 1.64402135e-02 5.93193155e-02 2.86044455e+01] [-1.60579082e-02 9.99847146e-01 -6.91584900e-03 -2.88705400e+00] [-5.94239463e-02 5.95019015e-03 9.98215102e-01 -2.05228480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.500714057 meters 0.044593118391532675 Centerline is valid? [True, True] Translation: X:28.64, Y:-2.89, Z:-2.05 [[ 9.98101562e-01 1.48019374e-02 5.97843980e-02 2.86361426e+01] [-1.44102200e-02 9.99871818e-01 -6.97802496e-03 -2.88547280e+00] [-5.98800230e-02 6.10327128e-03 9.98186923e-01 -2.05368346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.530714056999997 meters 0.04950880006967174 Centerline is valid? [True, True] Translation: X:28.67, Y:-2.89, Z:-2.06 [[ 9.98141410e-01 1.25637294e-02 5.96311908e-02 2.86651899e+01] [-1.21699163e-02 9.99901702e-01 -6.96274884e-03 -2.89474773e+00] [-5.97128072e-02 6.22410134e-03 9.98196194e-01 -2.05578459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.560714057 meters 0.04783917488058134 Centerline is valid? [True, True] Translation: X:28.70, Y:-2.90, Z:-2.06 [[ 9.98170363e-01 1.18083901e-02 5.92999864e-02 2.86975905e+01] [-1.14176712e-02 9.99910848e-01 -6.92338051e-03 -2.89530523e+00] [-5.93764536e-02 6.23364549e-03 9.98216198e-01 -2.05769054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.590714057 meters 0.049193871232805386 Centerline is valid? [True, True] Translation: X:28.73, Y:-2.90, Z:-2.06 [[ 9.98186236e-01 1.21557322e-02 5.89616575e-02 2.87295190e+01] [-1.17699162e-02 9.99907019e-01 -6.88640071e-03 -2.89852117e+00] [-5.90398844e-02 6.17993663e-03 9.98236495e-01 -2.06020052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.620714056999997 meters 0.05029639099491749 Centerline is valid? [True, True] Translation: X:28.76, Y:-2.90, Z:-2.06 [[ 9.98112983e-01 1.38652868e-02 5.98182913e-02 2.87588012e+01] [-1.34700144e-02 9.99884730e-01 -7.00608848e-03 -2.90136926e+00] [-5.99085374e-02 6.18711462e-03 9.98184696e-01 -2.06159592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.650714057 meters 0.05029639099491749 Centerline is valid? [True, True] Translation: X:28.79, Y:-2.91, Z:-2.06 [[ 9.98108902e-01 1.41541583e-02 5.98187240e-02 2.87912802e+01] [-1.37596177e-02 9.99880813e-01 -7.00239628e-03 -2.90525223e+00] [-5.99107074e-02 6.16607129e-03 9.98184696e-01 -2.06384921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.680714057 meters 0.0480670241116202 Centerline is valid? [True, True] Translation: X:28.82, Y:-2.90, Z:-2.07 [[ 9.98012083e-01 1.76166850e-02 6.05106121e-02 2.88217556e+01] [-1.72180069e-02 9.99826524e-01 -7.10371243e-03 -2.90345301e+00] [-6.06252588e-02 6.04771870e-03 9.98142276e-01 -2.06597545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.710714056999997 meters 0.050252155000514914 Centerline is valid? [True, True] Translation: X:28.85, Y:-2.91, Z:-2.07 [[ 9.97954316e-01 1.94762210e-02 6.08921997e-02 2.88511800e+01] [-1.90759168e-02 9.99792483e-01 -7.14846704e-03 -2.90846248e+00] [-6.10187886e-02 5.97226900e-03 9.98118750e-01 -2.06812451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.740714056999998 meters 0.047091264256154064 Centerline is valid? [True, True] Translation: X:28.88, Y:-2.91, Z:-2.07 [[ 9.97913039e-01 2.20430918e-02 6.06932275e-02 2.88828915e+01] [-2.16501102e-02 9.99740220e-01 -7.12498212e-03 -2.90618374e+00] [-6.08345173e-02 5.79609750e-03 9.98131037e-01 -2.06990710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.770714057 meters 0.04352165062639142 Centerline is valid? [True, True] Translation: X:28.91, Y:-2.90, Z:-2.07 [[ 9.97796918e-01 2.74335164e-02 6.04045807e-02 2.89141310e+01] [-2.70539905e-02 9.99608815e-01 -7.09211853e-03 -2.90074147e+00] [-6.05755131e-02 5.44230905e-03 9.98148781e-01 -2.07089541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.800714056999997 meters 0.04363353589106572 Centerline is valid? [True, True] Translation: X:28.94, Y:-2.90, Z:-2.07 [[ 9.97744562e-01 3.05835762e-02 5.97531099e-02 2.89435679e+01] [-3.02177375e-02 9.99518711e-01 -7.01676275e-03 -2.90212066e+00] [-5.99389491e-02 5.19533309e-03 9.98188525e-01 -2.07253443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.830714056999998 meters 0.04302202753219766 Centerline is valid? [True, True] Translation: X:28.97, Y:-2.90, Z:-2.07 [[ 9.97673821e-01 3.38093605e-02 5.91935233e-02 2.89737355e+01] [-3.34560466e-02 9.99416025e-01 -6.94999674e-03 -2.90265390e+00] [-5.93939307e-02 4.95344853e-03 9.98222332e-01 -2.07490620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.860714057 meters 0.04056397209052778 Centerline is valid? [True, True] Translation: X:29.00, Y:-2.90, Z:-2.08 [[ 9.97518619e-01 3.99840088e-02 5.79472463e-02 2.90046638e+01] [-3.96557634e-02 9.99190236e-01 -6.80392557e-03 -2.89881748e+00] [-5.81723709e-02 4.48910015e-03 9.98296461e-01 -2.07790777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.890714056999997 meters 0.038201672368814374 Centerline is valid? [True, True] Translation: X:29.04, Y:-2.90, Z:-2.08 [[ 9.97369816e-01 4.52931547e-02 5.65860436e-02 2.90354483e+01] [-4.49886728e-02 9.98965404e-01 -6.64386905e-03 -2.89573269e+00] [-5.68284217e-02 4.08066345e-03 9.98375620e-01 -2.08077098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.920714056999998 meters 0.03727249935229827 Centerline is valid? [True, True] Translation: X:29.07, Y:-2.90, Z:-2.08 [[ 9.97275261e-01 4.76326803e-02 5.63310043e-02 2.90659910e+01] [-4.73346200e-02 9.98857188e-01 -6.61446786e-03 -2.89589846e+00] [-5.65816934e-02 3.93003847e-03 9.98390238e-01 -2.08289199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.950714057 meters 0.037129514819084525 Centerline is valid? [True, True] Translation: X:29.10, Y:-2.90, Z:-2.08 [[ 9.97170166e-01 4.98886581e-02 5.62386209e-02 2.90955694e+01] [-4.95951315e-02 9.98747572e-01 -6.60383573e-03 -2.89754669e+00] [-5.64976426e-02 3.79598617e-03 9.98395516e-01 -2.08461846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.980714056999997 meters 0.03641181831425112 Centerline is valid? [True, True] Translation: X:29.13, Y:-2.90, Z:-2.09 [[ 9.96921325e-01 5.37033456e-02 5.71298768e-02 2.91261039e+01] [-5.34067265e-02 9.98550316e-01 -6.70731744e-03 -2.89707670e+00] [-5.74072619e-02 3.63554809e-03 9.98344224e-01 -2.08654221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.010714056999998 meters 0.03646699936488503 Centerline is valid? [True, True] Translation: X:29.16, Y:-2.90, Z:-2.09 [[ 9.96755474e-01 5.58039428e-02 5.80038325e-02 2.91552462e+01] [-5.55017103e-02 9.98435369e-01 -6.80983806e-03 -2.89902590e+00] [-5.82930937e-02 3.56843146e-03 9.98293134e-01 -2.08921204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.040714057 meters 0.03661676097588564 Centerline is valid? [True, True] Translation: X:29.18, Y:-2.90, Z:-2.09 [[ 9.96688955e-01 5.64403157e-02 5.85287783e-02 2.91843049e+01] [-5.61337567e-02 9.98399621e-01 -6.87002989e-03 -2.90202823e+00] [-5.88228567e-02 3.56184271e-03 9.98262082e-01 -2.09125860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.070714056999996 meters 0.03631514732917143 Centerline is valid? [True, True] Translation: X:29.21, Y:-2.90, Z:-2.09 [[ 9.96629119e-01 5.69129345e-02 5.90873630e-02 2.92132149e+01] [-5.66016943e-02 9.98372793e-01 -6.92920796e-03 -2.90483815e+00] [-5.93855772e-02 3.56140558e-03 9.98228766e-01 -2.09345093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.100714056999998 meters 0.03725879440271283 Centerline is valid? [True, True] Translation: X:29.24, Y:-2.91, Z:-2.10 [[ 9.96648202e-01 5.70594037e-02 5.86223928e-02 2.92407380e+01] [-5.67535312e-02 9.98364577e-01 -6.87079779e-03 -2.90850666e+00] [-5.89185640e-02 3.52074047e-03 9.98256584e-01 -2.09567390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.130714057 meters 0.03759655294997255 Centerline is valid? [True, True] Translation: X:29.27, Y:-2.91, Z:-2.10 [[ 9.96639770e-01 5.70734971e-02 5.87518985e-02 2.92690838e+01] [-5.67666053e-02 9.98363766e-01 -6.88071613e-03 -2.91045220e+00] [-5.90484732e-02 3.52244950e-03 9.98248902e-01 -2.09761783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.160714057 meters 0.03645534870787242 Centerline is valid? [True, True] Translation: X:29.30, Y:-2.91, Z:-2.10 [[ 9.96631369e-01 5.66530880e-02 5.92987476e-02 2.92976341e+01] [-5.63399522e-02 9.98387518e-01 -6.94065762e-03 -2.91164556e+00] [-5.95963391e-02 3.57638851e-03 9.98216152e-01 -2.09924903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.190714056999997 meters 0.032749906483830096 Centerline is valid? [True, True] Translation: X:29.33, Y:-2.91, Z:-2.10 [[ 9.96563922e-01 5.65434427e-02 6.05242751e-02 2.93273337e+01] [-5.62172779e-02 9.98393457e-01 -7.07967661e-03 -2.90964573e+00] [-6.08273496e-02 3.65284030e-03 9.98141618e-01 -2.10074454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.220714057 meters 0.03364202483779659 Centerline is valid? [True, True] Translation: X:29.35, Y:-2.91, Z:-2.10 [[ 9.96546096e-01 5.60606697e-02 6.12623813e-02 2.93542504e+01] [-5.57257761e-02 9.98420418e-01 -7.16284004e-03 -2.91409194e+00] [-6.15671660e-02 3.72420654e-03 9.98095995e-01 -2.10325000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.250714057 meters 0.0384697052667367 Centerline is valid? [True, True] Translation: X:29.38, Y:-2.93, Z:-2.11 [[ 9.96561139e-01 5.56694435e-02 6.13743418e-02 2.93815126e+01] [-5.53329474e-02 9.98442214e-01 -7.17005506e-03 -2.92520996e+00] [-6.16778867e-02 3.74937501e-03 9.98089064e-01 -2.10609980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.280714056999997 meters 0.033472528467748196 Centerline is valid? [True, True] Translation: X:29.41, Y:-2.92, Z:-2.11 [[ 9.96602075e-01 5.51250805e-02 6.12007360e-02 2.94122274e+01] [-5.47896780e-02 9.98472344e-01 -7.14634598e-03 -2.92099666e+00] [-6.15011852e-02 3.76889462e-03 9.98099895e-01 -2.10748546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.310714057 meters 0.0423630943541173 Centerline is valid? [True, True] Translation: X:29.44, Y:-2.94, Z:-2.11 [[ 9.96617065e-01 5.48200888e-02 6.12305793e-02 2.94391763e+01] [-5.44839161e-02 9.98489065e-01 -7.14771428e-03 -2.93799755e+00] [-6.15299022e-02 3.78745228e-03 9.98098054e-01 -2.11143044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.340714057 meters 0.03555784451097482 Centerline is valid? [True, True] Translation: X:29.47, Y:-2.93, Z:-2.11 [[ 9.96675603e-01 5.40685328e-02 6.09453579e-02 2.94696326e+01] [-5.37343023e-02 9.98529949e-01 -7.11097806e-03 -2.93143853e+00] [-6.12402452e-02 3.81248205e-03 9.98115774e-01 -2.11317145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.370714056999997 meters 0.03555784451097482 Centerline is valid? [True, True] Translation: X:29.50, Y:-2.93, Z:-2.12 [[ 9.96679391e-01 5.39983990e-02 6.09455784e-02 2.94977405e+01] [-5.36641532e-02 9.98533735e-01 -7.10908760e-03 -2.93465575e+00] [-6.12400953e-02 3.81488824e-03 9.98115774e-01 -2.11512091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.400714057 meters 0.03409697783190013 Centerline is valid? [True, True] Translation: X:29.53, Y:-2.94, Z:-2.12 [[ 9.96678046e-01 5.33767633e-02 6.15125539e-02 2.95271536e+01] [-5.30353705e-02 9.98566889e-01 -7.17055400e-03 -2.93596352e+00] [-6.18071406e-02 3.88439265e-03 9.98080552e-01 -2.11698917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.430714057 meters 0.044907176330177004 Centerline is valid? [True, True] Translation: X:29.55, Y:-2.96, Z:-2.12 [[ 9.96716145e-01 5.26614707e-02 6.15117605e-02 2.95540305e+01] [-5.23188781e-02 9.98604703e-01 -7.16809057e-03 -2.95605549e+00] [-6.18034155e-02 3.92632530e-03 9.98080619e-01 -2.12050813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.460714056999997 meters 0.0360970248506261 Centerline is valid? [True, True] Translation: X:29.59, Y:-2.95, Z:-2.12 [[ 9.96836727e-01 5.00861096e-02 6.17083544e-02 2.95860954e+01] [-4.97364875e-02 9.98736496e-01 -7.18975915e-03 -2.94674991e+00] [-6.19904928e-02 4.09785919e-03 9.98068327e-01 -2.12084465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.490714056999998 meters 0.038002646653665095 Centerline is valid? [True, True] Translation: X:29.62, Y:-2.95, Z:-2.12 [[ 9.96915848e-01 4.74373494e-02 6.25179115e-02 2.96159754e+01] [-4.70732979e-02 9.98864879e-01 -7.28408221e-03 -2.95419887e+00] [-6.27924837e-02 4.31869272e-03 9.98017261e-01 -2.12267805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.520714057 meters 0.03905218778858791 Centerline is valid? [True, True] Translation: X:29.65, Y:-2.96, Z:-2.12 [[ 9.96994561e-01 4.57665012e-02 6.25081855e-02 2.96462171e+01] [-4.53993046e-02 9.98942372e-01 -7.28284629e-03 -2.95949641e+00] [-6.27753855e-02 4.42312998e-03 9.98017879e-01 -2.12450856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.550714056999997 meters 0.043948793273100535 Centerline is valid? [True, True] Translation: X:29.67, Y:-2.97, Z:-2.13 [[ 9.97021943e-01 4.41287644e-02 6.32447491e-02 2.96746604e+01] [-4.37494941e-02 9.99015348e-01 -7.36989917e-03 -2.97079478e+00] [-6.35076996e-02 4.58102542e-03 9.97970834e-01 -2.12700206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.580714056999998 meters 0.04145979581353172 Centerline is valid? [True, True] Translation: X:29.71, Y:-2.97, Z:-2.13 [[ 9.97116046e-01 4.16476755e-02 6.34433791e-02 2.97053614e+01] [-4.12610298e-02 9.99121050e-01 -7.39296054e-03 -2.97166850e+00] [-6.36955152e-02 4.75390042e-03 9.97958056e-01 -2.12890667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.610714057 meters 0.04247716687946945 Centerline is valid? [True, True] Translation: X:29.74, Y:-2.98, Z:-2.13 [[ 9.97150714e-01 4.11878961e-02 6.31981940e-02 2.97374420e+01] [-4.08033239e-02 9.99140058e-01 -7.36434625e-03 -2.97689309e+00] [-6.34471692e-02 4.76466674e-03 9.97973825e-01 -2.13149980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.640714056999997 meters 0.04434035111428474 Centerline is valid? [True, True] Translation: X:29.77, Y:-2.98, Z:-2.13 [[ 9.97233596e-01 3.99043264e-02 6.27120337e-02 2.97674070e+01] [-3.95220966e-02 9.99191853e-01 -7.32419829e-03 -2.98343300e+00] [-6.29536204e-02 4.82542555e-03 9.98004788e-01 -2.13329885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.670714056999998 meters 0.045385011576263096 Centerline is valid? [True, True] Translation: X:29.80, Y:-2.99, Z:-2.14 [[ 9.97298438e-01 3.76532061e-02 6.30718807e-02 2.97976499e+01] [-3.72619593e-02 9.99278366e-01 -7.36842677e-03 -2.98937311e+00] [-6.33038108e-02 4.99833865e-03 9.97981785e-01 -2.13516486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.700714057 meters 0.04174425296675962 Centerline is valid? [True, True] Translation: X:29.83, Y:-2.99, Z:-2.14 [[ 9.97322839e-01 3.64483450e-02 6.33930038e-02 2.98298727e+01] [-3.60505210e-02 9.99322508e-01 -7.40844413e-03 -2.98849933e+00] [-6.36200810e-02 5.10325972e-03 9.97961143e-01 -2.13711097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.730714056999997 meters 0.042731493390742316 Centerline is valid? [True, True] Translation: X:29.86, Y:-3.00, Z:-2.14 [[ 9.97423705e-01 3.39653949e-02 6.31846943e-02 2.98605559e+01] [-3.35649381e-02 9.99409225e-01 -7.38887973e-03 -2.99529604e+00] [-6.33983326e-02 5.24905344e-03 9.97974498e-01 -2.13988998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.760714056999998 meters 0.04451617843876419 Centerline is valid? [True, True] Translation: X:29.89, Y:-3.00, Z:-2.14 [[ 9.97426319e-01 3.33665986e-02 6.34618721e-02 2.98914121e+01] [-3.29613241e-02 9.99429065e-01 -7.42266564e-03 -3.00288629e+00] [-6.36733086e-02 5.31177473e-03 9.97956660e-01 -2.14260920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.790714057 meters 0.044997934878620055 Centerline is valid? [True, True] Translation: X:29.92, Y:-3.01, Z:-2.15 [[ 9.97440078e-01 3.30156033e-02 6.34291752e-02 2.99228185e+01] [-3.26090988e-02 9.99440537e-01 -7.43364893e-03 -3.00802419e+00] [-6.36391154e-02 5.34625112e-03 9.97958657e-01 -2.14519045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.820714056999996 meters 0.04397471398227231 Centerline is valid? [True, True] Translation: X:29.96, Y:-3.01, Z:-2.15 [[ 9.97475078e-01 3.24778094e-02 6.31558400e-02 2.99550649e+01] [-3.20727408e-02 9.99458014e-01 -7.41732322e-03 -3.01109339e+00] [-6.33625088e-02 5.37301417e-03 9.97976114e-01 -2.14749405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.850714056999998 meters 0.04533093573828368 Centerline is valid? [True, True] Translation: X:29.99, Y:-3.02, Z:-2.15 [[ 9.97516920e-01 3.19700079e-02 6.27527992e-02 2.99859974e+01] [-3.15681029e-02 9.99474314e-01 -7.38588369e-03 -3.01778056e+00] [-6.29559377e-02 5.38655713e-03 9.98001771e-01 -2.15005385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.880714057 meters 0.04642734450316539 Centerline is valid? [True, True] Translation: X:30.02, Y:-3.02, Z:-2.15 [[ 9.97499059e-01 3.29256498e-02 6.25422171e-02 3.00171711e+01] [-3.25273956e-02 9.99443630e-01 -7.37556801e-03 -3.02427048e+00] [-6.27502659e-02 5.32278671e-03 9.98015066e-01 -2.15236829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.910714057 meters 0.04643172583113724 Centerline is valid? [True, True] Translation: X:30.05, Y:-3.03, Z:-2.16 [[ 9.97447917e-01 3.36703676e-02 6.29599874e-02 3.00487122e+01] [-3.32672391e-02 9.99418795e-01 -7.44059681e-03 -3.02889801e+00] [-6.31739224e-02 5.32710283e-03 9.97988315e-01 -2.15501907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.940714056999997 meters 0.04525187421110432 Centerline is valid? [True, True] Translation: X:30.08, Y:-3.03, Z:-2.16 [[ 9.97375006e-01 3.44538391e-02 6.36869646e-02 3.00811030e+01] [-3.40418429e-02 9.99391941e-01 -7.54323681e-03 -3.03245093e+00] [-6.39081327e-02 5.35541422e-03 9.97941416e-01 -2.15719430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.970714057 meters 0.0469308938794365 Centerline is valid? [True, True] Translation: X:30.11, Y:-3.04, Z:-2.16 [[ 9.97349040e-01 3.52695559e-02 6.36470837e-02 3.01115236e+01] [-3.48594027e-02 9.99363756e-01 -7.54353559e-03 -3.03903607e+00] [-6.38726458e-02 5.30483866e-03 9.97943958e-01 -2.15944980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.000714057 meters 0.047804585156897235 Centerline is valid? [True, True] Translation: X:30.14, Y:-3.04, Z:-2.16 [[ 9.97276923e-01 3.73133993e-02 6.36117123e-02 3.01406456e+01] [-3.69068286e-02 9.99290152e-01 -7.55496106e-03 -3.04477991e+00] [-6.38484589e-02 5.18668176e-03 9.97946127e-01 -2.16201408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.030714057 meters 0.04256359107283793 Centerline is valid? [True, True] Translation: X:30.17, Y:-3.04, Z:-2.16 [[ 9.97245246e-01 3.85242591e-02 6.33861247e-02 3.01724143e+01] [-3.81230109e-02 9.99244697e-01 -7.52799298e-03 -3.04146279e+00] [-6.36282594e-02 5.09078528e-03 9.97960685e-01 -2.16402869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.060714057 meters 0.04799142534738686 Centerline is valid? [True, True] Translation: X:30.20, Y:-3.05, Z:-2.17 [[ 9.97251311e-01 4.02680309e-02 6.21957186e-02 3.02018958e+01] [-3.98849665e-02 9.99176959e-01 -7.38882793e-03 -3.05352504e+00] [-6.24420625e-02 4.88784419e-03 9.98036621e-01 -2.16755992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.090714057 meters 0.04814565198875074 Centerline is valid? [True, True] Translation: X:30.23, Y:-3.06, Z:-2.17 [[ 9.97238297e-01 4.05421744e-02 6.22262954e-02 3.02347260e+01] [-4.01592111e-02 9.99165941e-01 -7.39328172e-03 -3.05799033e+00] [-6.24741347e-02 4.87390473e-03 9.98034683e-01 -2.17027671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.120714057 meters 0.049328706464583795 Centerline is valid? [True, True] Translation: X:30.27, Y:-3.06, Z:-2.17 [[ 9.97239835e-01 4.06910131e-02 6.21043719e-02 3.02661246e+01] [-4.03087817e-02 9.99159900e-01 -7.39570669e-03 -3.06404034e+00] [-6.23531368e-02 4.87194175e-03 9.98042259e-01 -2.17243479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.150714056999995 meters 0.04398359698843107 Centerline is valid? [True, True] Translation: X:30.30, Y:-3.06, Z:-2.17 [[ 9.97122957e-01 4.05919254e-02 6.40164383e-02 3.02993322e+01] [-4.01844719e-02 9.99163068e-01 -7.64012012e-03 -3.06110011e+00] [-6.42729881e-02 5.04567240e-03 9.97919598e-01 -2.17222410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.180714056999996 meters 0.0417324624028201 Centerline is valid? [True, True] Translation: X:30.33, Y:-3.06, Z:-2.17 [[ 9.97038830e-01 4.04911377e-02 6.53761410e-02 3.03316583e+01] [-4.00648550e-02 9.99166488e-01 -7.81893471e-03 -3.06262638e+00] [-6.56382468e-02 5.17649591e-03 9.97830058e-01 -2.17256166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.210714057 meters 0.04080882313257596 Centerline is valid? [True, True] Translation: X:30.36, Y:-3.07, Z:-2.17 [[ 9.96908533e-01 4.06674618e-02 6.72274873e-02 3.03642222e+01] [-4.02158617e-02 9.99158524e-01 -8.05779689e-03 -3.06606125e+00] [-6.74986072e-02 5.32927514e-03 9.97705135e-01 -2.17352658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.240714057 meters 0.04370420433782695 Centerline is valid? [True, True] Translation: X:30.40, Y:-3.07, Z:-2.18 [[ 9.96916029e-01 4.08929481e-02 6.69790869e-02 3.03950690e+01] [-4.04438690e-02 9.99149403e-01 -8.04763612e-03 -3.07450099e+00] [-6.72512063e-02 5.31392402e-03 9.97721924e-01 -2.17626288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.270714057 meters 0.03986492341100498 Centerline is valid? [True, True] Translation: X:30.43, Y:-3.07, Z:-2.18 [[ 9.96918427e-01 4.14587500e-02 6.65944554e-02 3.04278522e+01] [-4.10152807e-02 9.99126385e-01 -8.01330850e-03 -3.07326321e+00] [-6.68684993e-02 5.25722462e-03 9.97747947e-01 -2.17905596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.300714057 meters 0.03939175906506788 Centerline is valid? [True, True] Translation: X:30.46, Y:-3.08, Z:-2.18 [[ 9.96960911e-01 4.20640343e-02 6.55710248e-02 3.04601582e+01] [-4.16342922e-02 9.99101627e-01 -7.90720070e-03 -3.07671407e+00] [-6.58447264e-02 5.15316681e-03 9.97816575e-01 -2.18281581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.330714057 meters 0.038823291747308745 Centerline is valid? [True, True] Translation: X:30.49, Y:-3.08, Z:-2.19 [[ 9.96964714e-01 4.33641092e-02 6.46599839e-02 3.04922709e+01] [-4.29486181e-02 9.99046813e-01 -7.80263562e-03 -3.07948578e+00] [-6.49367052e-02 5.00189543e-03 9.97876849e-01 -2.18510607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.360714056999996 meters 0.038224274107900455 Centerline is valid? [True, True] Translation: X:30.52, Y:-3.08, Z:-2.19 [[ 9.96969781e-01 4.37650500e-02 6.43107828e-02 3.05242687e+01] [-4.33537989e-02 9.99029512e-01 -7.77706507e-03 -3.08162759e+00] [-6.45887336e-02 4.96538211e-03 9.97899614e-01 -2.18752976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.390714057 meters 0.038599542986988124 Centerline is valid? [True, True] Translation: X:30.56, Y:-3.09, Z:-2.19 [[ 9.96955543e-01 4.47526456e-02 6.38501835e-02 3.05551272e+01] [-4.43482174e-02 9.98986166e-01 -7.73799932e-03 -3.08618535e+00] [-6.41317459e-02 4.88279949e-03 9.97929495e-01 -2.18974588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.420714057 meters 0.03999650156429693 Centerline is valid? [True, True] Translation: X:30.59, Y:-3.09, Z:-2.19 [[ 9.96970326e-01 4.48989220e-02 6.35157899e-02 3.05863035e+01] [-4.44980601e-02 9.98979699e-01 -7.71250906e-03 -3.09183423e+00] [-6.37972680e-02 4.86281324e-03 9.97951032e-01 -2.19251246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.450714057 meters 0.039464411952405416 Centerline is valid? [True, True] Translation: X:30.62, Y:-3.09, Z:-2.20 [[ 9.96949713e-01 4.56779010e-02 6.32834884e-02 3.06179878e+01] [-4.52804174e-02 9.98944626e-01 -7.70176647e-03 -3.09474481e+00] [-6.35685012e-02 4.81277110e-03 9.97965873e-01 -2.19551094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.480714057 meters 0.03954960994027005 Centerline is valid? [True, True] Translation: X:30.65, Y:-3.10, Z:-2.20 [[ 9.97008557e-01 4.56409210e-02 6.23766323e-02 3.06503002e+01] [-4.52537121e-02 9.98946562e-01 -7.60706246e-03 -3.09862712e+00] [-6.26581157e-02 4.76153221e-03 9.98023691e-01 -2.19853080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.510714057 meters 0.0433392661766478 Centerline is valid? [True, True] Translation: X:30.68, Y:-3.11, Z:-2.20 [[ 9.97046609e-01 4.53790075e-02 6.19580878e-02 3.06807000e+01] [-4.49954981e-02 9.98958494e-01 -7.57182972e-03 -3.10735529e+00] [-6.22371602e-02 4.76163213e-03 9.98050030e-01 -2.20163360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.540714056999995 meters 0.04366841606705591 Centerline is valid? [True, True] Translation: X:30.71, Y:-3.11, Z:-2.20 [[ 9.97084819e-01 4.54749193e-02 6.12690394e-02 3.07127732e+01] [-4.50992140e-02 9.98954345e-01 -7.50177596e-03 -3.11095330e+00] [-6.15461158e-02 4.71672141e-03 9.98093096e-01 -2.20422442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.570714056999996 meters 0.038095775710752275 Centerline is valid? [True, True] Translation: X:30.75, Y:-3.11, Z:-2.21 [[ 9.97182241e-01 4.49880146e-02 6.00304580e-02 3.07453834e+01] [-4.46255710e-02 9.98976631e-01 -7.36539902e-03 -3.10526477e+00] [-6.03003794e-02 4.66575163e-03 9.98169372e-01 -2.20617339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.600714057 meters 0.03818869998895287 Centerline is valid? [True, True] Translation: X:30.78, Y:-3.11, Z:-2.21 [[ 9.97215730e-01 4.48934666e-02 5.95429623e-02 3.07771235e+01] [-4.45363056e-02 9.98981002e-01 -7.31263156e-03 -3.10907020e+00] [-5.98105776e-02 4.64044765e-03 9.98198959e-01 -2.20867125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.630714057 meters 0.037426426049021126 Centerline is valid? [True, True] Translation: X:30.81, Y:-3.11, Z:-2.21 [[ 9.97290687e-01 4.37557794e-02 5.91330466e-02 3.08094479e+01] [-4.34005331e-02 9.99031234e-01 -7.27922617e-03 -3.11065581e+00] [-5.93942687e-02 4.69309873e-03 9.98223570e-01 -2.21014539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.660714057 meters 0.03901340225573418 Centerline is valid? [True, True] Translation: X:30.84, Y:-3.12, Z:-2.21 [[ 9.97304187e-01 4.36587744e-02 5.89768669e-02 3.08402312e+01] [-4.33050645e-02 9.99035496e-01 -7.26290097e-03 -3.11624031e+00] [-5.92370728e-02 4.68932451e-03 9.98232928e-01 -2.21247916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.690714057 meters 0.04146038397116647 Centerline is valid? [True, True] Translation: X:30.87, Y:-3.12, Z:-2.21 [[ 9.97298939e-01 4.31302028e-02 5.94526083e-02 3.08703321e+01] [-4.27688900e-02 9.99058051e-01 -7.33706578e-03 -3.12322155e+00] [-5.97130561e-02 4.77452585e-03 9.98204165e-01 -2.21484420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.720714056999995 meters 0.04075068125039778 Centerline is valid? [True, True] Translation: X:30.90, Y:-3.12, Z:-2.22 [[ 9.97400954e-01 4.18663696e-02 5.86390953e-02 3.09026065e+01] [-4.15122538e-02 9.99111729e-01 -7.24464446e-03 -3.12484978e+00] [-5.88903149e-02 4.79157430e-03 9.98252960e-01 -2.21702222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.750714056999996 meters 0.042293776943031935 Centerline is valid? [True, True] Translation: X:30.93, Y:-3.13, Z:-2.22 [[ 9.97427892e-01 4.15314540e-02 5.84186545e-02 3.09334028e+01] [-4.11792732e-02 9.99125687e-01 -7.22007044e-03 -3.12983671e+00] [-5.86674383e-02 4.79586191e-03 9.98266062e-01 -2.21958295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.780714057 meters 0.04361720210104559 Centerline is valid? [True, True] Translation: X:30.96, Y:-3.13, Z:-2.22 [[ 9.97485411e-01 4.09599443e-02 5.78371642e-02 3.09637578e+01] [-4.06128901e-02 9.99149275e-01 -7.16379055e-03 -3.13440950e+00] [-5.80813891e-02 4.79684217e-03 9.98300327e-01 -2.22216108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.810714057 meters 0.04255826583386751 Centerline is valid? [True, True] Translation: X:31.00, Y:-3.14, Z:-2.22 [[ 9.97486551e-01 4.14458882e-02 5.74701528e-02 3.09960998e+01] [-4.11040464e-02 9.99129516e-01 -7.11807376e-03 -3.13561111e+00] [-5.77151409e-02 4.73792701e-03 9.98321849e-01 -2.22376534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.840714057 meters 0.044560971133725445 Centerline is valid? [True, True] Translation: X:31.03, Y:-3.14, Z:-2.23 [[ 9.97439870e-01 4.17363490e-02 5.80670517e-02 3.10271896e+01] [-4.13869658e-02 9.99117199e-01 -7.20708677e-03 -3.14092430e+00] [-5.83165876e-02 4.78541661e-03 9.98286670e-01 -2.22628336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.870714057 meters 0.03968925203369718 Centerline is valid? [True, True] Translation: X:31.06, Y:-3.14, Z:-2.23 [[ 9.97439999e-01 4.19231037e-02 5.79301536e-02 3.10607830e+01] [-4.15749125e-02 9.99109423e-01 -7.20328394e-03 -3.13542274e+00] [-5.81805464e-02 4.77640246e-03 9.98294651e-01 -2.22644734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.900714056999995 meters 0.04057293849346567 Centerline is valid? [True, True] Translation: X:31.09, Y:-3.14, Z:-2.23 [[ 9.97391913e-01 4.25508667e-02 5.82991849e-02 3.10930255e+01] [-4.21983798e-02 9.99082841e-01 -7.26456063e-03 -3.13985012e+00] [-5.85548286e-02 4.78548288e-03 9.98272724e-01 -2.22877176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.930714056999996 meters 0.040423982678962425 Centerline is valid? [True, True] Translation: X:31.12, Y:-3.14, Z:-2.23 [[ 9.97396563e-01 4.30789161e-02 5.78299524e-02 3.11247403e+01] [-4.27319871e-02 9.99060462e-01 -7.22298323e-03 -3.14250860e+00] [-5.80867772e-02 4.73298987e-03 9.98300318e-01 -2.23112302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.960714057 meters 0.042564696828616036 Centerline is valid? [True, True] Translation: X:31.15, Y:-3.15, Z:-2.23 [[ 9.97340199e-01 4.44705148e-02 5.77485920e-02 3.11543911e+01] [-4.41266092e-02 9.98999875e-01 -7.21744869e-03 -3.14752165e+00] [-5.80117999e-02 4.65000216e-03 9.98305068e-01 -2.23379655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.990714057 meters 0.04127712582097746 Centerline is valid? [True, True] Translation: X:31.19, Y:-3.15, Z:-2.24 [[ 9.97324671e-01 4.49579274e-02 5.76392720e-02 3.11861322e+01] [-4.46160813e-02 9.98978227e-01 -7.20467086e-03 -3.14844575e+00] [-5.79042848e-02 4.61375754e-03 9.98311478e-01 -2.23608483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.020714057 meters 0.04231796651556355 Centerline is valid? [True, True] Translation: X:31.22, Y:-3.15, Z:-2.24 [[ 9.97391060e-01 4.45371625e-02 5.68112258e-02 3.12164753e+01] [-4.42042761e-02 9.98997259e-01 -7.10341128e-03 -3.15216206e+00] [-5.70706246e-02 4.57357979e-03 9.98359668e-01 -2.23913164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.050714057 meters 0.042721296447199034 Centerline is valid? [True, True] Translation: X:31.25, Y:-3.16, Z:-2.24 [[ 9.97401973e-01 4.43753779e-02 5.67461821e-02 3.12474055e+01] [-4.40429477e-02 9.99004437e-01 -7.09609665e-03 -3.15662458e+00] [-5.70045797e-02 4.57839167e-03 9.98363419e-01 -2.24169979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.080714057 meters 0.04370714632649516 Centerline is valid? [True, True] Translation: X:31.28, Y:-3.16, Z:-2.24 [[ 9.97381618e-01 4.44326996e-02 5.70582409e-02 3.12771821e+01] [-4.40965613e-02 9.99001777e-01 -7.13737721e-03 -3.16124006e+00] [-5.73184170e-02 4.60261661e-03 9.98345339e-01 -2.24429413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.110714056999996 meters 0.04523359241962773 Centerline is valid? [True, True] Translation: X:31.31, Y:-3.17, Z:-2.25 [[ 9.97336724e-01 4.43489853e-02 5.79018777e-02 3.13068638e+01] [-4.40026173e-02 9.99005153e-01 -7.24395660e-03 -3.16570082e+00] [-5.81655363e-02 4.67682977e-03 9.98295997e-01 -2.24647644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.140714057 meters 0.04513903540299645 Centerline is valid? [True, True] Translation: X:31.34, Y:-3.17, Z:-2.25 [[ 9.97332357e-01 4.44078898e-02 5.79319259e-02 3.13378899e+01] [-4.40612112e-02 9.99002537e-01 -7.24855841e-03 -3.16883876e+00] [-5.81960341e-02 4.67667103e-03 9.98294220e-01 -2.24815768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.170714057 meters 0.04550123166142695 Centerline is valid? [True, True] Translation: X:31.37, Y:-3.17, Z:-2.25 [[ 9.97345496e-01 4.43702632e-02 5.77342296e-02 3.13686084e+01] [-4.40257703e-02 9.99004264e-01 -7.22584107e-03 -3.17231075e+00] [-5.79973540e-02 4.66486612e-03 9.98305838e-01 -2.25066376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.200714057 meters 0.040594839092029614 Centerline is valid? [True, True] Translation: X:31.40, Y:-3.17, Z:-2.25 [[ 9.97343436e-01 4.44691686e-02 5.76937090e-02 3.14010518e+01] [-4.41252082e-02 9.98999899e-01 -7.22276539e-03 -3.16788956e+00] [-5.79571998e-02 4.65783073e-03 9.98308203e-01 -2.25207946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.230714057 meters 0.041951401968358046 Centerline is valid? [True, True] Translation: X:31.43, Y:-3.17, Z:-2.25 [[ 9.97367480e-01 4.44871924e-02 5.72625416e-02 3.14312961e+01] [-4.41482593e-02 9.98999253e-01 -7.17107153e-03 -3.17357939e+00] [-5.75242571e-02 4.62415200e-03 9.98333400e-01 -2.25468165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.260714057 meters 0.048031577260655905 Centerline is valid? [True, True] Translation: X:31.46, Y:-3.19, Z:-2.26 [[ 9.97387132e-01 4.43854801e-02 5.69985824e-02 3.14612109e+01] [-4.40495212e-02 9.99003850e-01 -7.13771970e-03 -3.18564333e+00] [-5.72586144e-02 4.60830952e-03 9.98348744e-01 -2.25781984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.290714056999995 meters 0.048031577260655905 Centerline is valid? [True, True] Translation: X:31.49, Y:-3.19, Z:-2.26 [[ 9.97385681e-01 4.44194888e-02 5.69974736e-02 3.14918440e+01] [-4.40830829e-02 9.99002307e-01 -7.14656258e-03 -3.18951499e+00] [-5.72580542e-02 4.61525483e-03 9.98348744e-01 -2.25994302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.320714056999996 meters 0.048900886910556864 Centerline is valid? [True, True] Translation: X:31.52, Y:-3.19, Z:-2.26 [[ 9.97394772e-01 4.41046894e-02 5.70827891e-02 3.15228198e+01] [-4.37666504e-02 9.99016129e-01 -7.15921169e-03 -3.19439438e+00] [-5.73423818e-02 4.64223783e-03 9.98343779e-01 -2.26222591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.350714057 meters 0.04852915435044818 Centerline is valid? [True, True] Translation: X:31.55, Y:-3.20, Z:-2.26 [[ 9.97389807e-01 4.43136574e-02 5.70076586e-02 3.15534815e+01] [-4.39767372e-02 9.99006957e-01 -7.15171548e-03 -3.19790140e+00] [-5.72679662e-02 4.62603729e-03 9.98348126e-01 -2.26464956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.380714057 meters 0.04244346599146357 Centerline is valid? [True, True] Translation: X:31.59, Y:-3.19, Z:-2.27 [[ 9.97430205e-01 4.47633651e-02 5.59395057e-02 3.15856264e+01] [-4.44395685e-02 9.98987413e-01 -7.01955409e-03 -3.19354810e+00] [-5.61970809e-02 4.51558778e-03 9.98409484e-01 -2.26691700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.410714057 meters 0.04331558662902128 Centerline is valid? [True, True] Translation: X:31.62, Y:-3.20, Z:-2.27 [[ 9.97417375e-01 4.52312636e-02 5.57916974e-02 3.16156237e+01] [-4.49097791e-02 9.98966499e-01 -7.00324844e-03 -3.19858761e+00] [-5.60508024e-02 4.47956887e-03 9.98417869e-01 -2.26931652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.440714057 meters 0.0440890620337762 Centerline is valid? [True, True] Translation: X:31.65, Y:-3.20, Z:-2.27 [[ 9.97393884e-01 4.62284988e-02 5.53928251e-02 3.16452365e+01] [-4.59131345e-02 9.98921238e-01 -6.95305975e-03 -3.20312081e+00] [-5.56544989e-02 4.39168105e-03 9.98440429e-01 -2.27125953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.470714056999995 meters 0.04472040684346068 Centerline is valid? [True, True] Translation: X:31.67, Y:-3.21, Z:-2.27 [[ 9.97355088e-01 4.71811095e-02 5.52880728e-02 3.16749804e+01] [-4.68679961e-02 9.98876934e-01 -6.94702612e-03 -3.20778795e+00] [-5.55537491e-02 4.33741067e-03 9.98446277e-01 -2.27319314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.500714056999996 meters 0.03827716887479412 Centerline is valid? [True, True] Translation: X:31.71, Y:-3.20, Z:-2.27 [[ 9.97293046e-01 4.82012902e-02 5.55267201e-02 3.17062339e+01] [-4.78870214e-02 9.98828389e-01 -6.97724740e-03 -3.20218912e+00] [-5.57979767e-02 4.29935107e-03 9.98432823e-01 -2.27359322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.530714057 meters 0.03932686350270232 Centerline is valid? [True, True] Translation: X:31.73, Y:-3.21, Z:-2.28 [[ 9.97183611e-01 5.03994456e-02 5.55404465e-02 3.17349225e+01] [-5.00884528e-02 9.98720407e-01 -6.97816808e-03 -3.20685225e+00] [-5.58210732e-02 4.17657981e-03 9.98432053e-01 -2.27526953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.560714057 meters 0.04525132310975174 Centerline is valid? [True, True] Translation: X:31.76, Y:-3.22, Z:-2.28 [[ 9.97117764e-01 5.15128162e-02 5.57009465e-02 3.17621637e+01] [-5.12018497e-02 9.98663817e-01 -6.99650190e-03 -3.21876640e+00] [-5.59869293e-02 4.12434484e-03 9.98422983e-01 -2.27815532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.590714057 meters 0.036811302384317374 Centerline is valid? [True, True] Translation: X:31.79, Y:-3.21, Z:-2.28 [[ 9.97019676e-01 5.30213078e-02 5.60402277e-02 3.17931004e+01] [-5.27090881e-02 9.98585123e-01 -7.03586178e-03 -3.20970054e+00] [-5.63339883e-02 4.06106334e-03 9.98403721e-01 -2.27765319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.620714057 meters 0.03970207044994595 Centerline is valid? [True, True] Translation: X:31.82, Y:-3.22, Z:-2.28 [[ 9.96938536e-01 5.41638718e-02 5.63899863e-02 3.18213334e+01] [-5.38496734e-02 9.98523970e-01 -7.07767058e-03 -3.21804628e+00] [-5.66901071e-02 4.01942020e-03 9.98383732e-01 -2.28063875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.650714056999995 meters 0.03681637905748853 Centerline is valid? [True, True] Translation: X:31.85, Y:-3.22, Z:-2.28 [[ 9.96867282e-01 5.53459500e-02 5.65017449e-02 3.18508928e+01] [-5.50324970e-02 9.98459393e-01 -7.08983224e-03 -3.21728334e+00] [-5.68070914e-02 3.95818969e-03 9.98377327e-01 -2.28217587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.680714056999996 meters 0.0369530299966918 Centerline is valid? [True, True] Translation: X:31.88, Y:-3.22, Z:-2.28 [[ 9.96821653e-01 5.74583004e-02 5.51827510e-02 3.18799131e+01] [-5.71627255e-02 9.98340884e-01 -6.92114600e-03 -3.22067780e+00] [-5.54888737e-02 3.74475174e-03 9.98452283e-01 -2.28495650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.710714057 meters 0.0374895884224397 Centerline is valid? [True, True] Translation: X:31.91, Y:-3.22, Z:-2.29 [[ 9.96768489e-01 5.84117504e-02 5.51420589e-02 3.19076031e+01] [-5.81181353e-02 9.98285765e-01 -6.91474117e-03 -3.22485452e+00] [-5.54514346e-02 3.68764247e-03 9.98454576e-01 -2.28693002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.740714057 meters 0.0374029507431298 Centerline is valid? [True, True] Translation: X:31.94, Y:-3.23, Z:-2.29 [[ 9.96731096e-01 5.98565764e-02 5.42615145e-02 3.19358123e+01] [-5.95746785e-02 9.98200695e-01 -6.79932178e-03 -3.22831295e+00] [-5.45708656e-02 3.54448317e-03 9.98503609e-01 -2.28952844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.770714057 meters 0.03565343739218229 Centerline is valid? [True, True] Translation: X:31.96, Y:-3.23, Z:-2.29 [[ 9.96663044e-01 6.06455677e-02 5.46341688e-02 3.19649198e+01] [-6.03611722e-02 9.98153152e-01 -6.84214419e-03 -3.22926676e+00] [-5.49482135e-02 3.52152978e-03 9.98482996e-01 -2.29070423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.800714057 meters 0.034462081628296316 Centerline is valid? [True, True] Translation: X:31.99, Y:-3.23, Z:-2.29 [[ 9.96573656e-01 6.11974666e-02 5.56400799e-02 3.19938727e+01] [-6.09035737e-02 9.98119360e-01 -6.96402997e-03 -3.23101260e+00] [-5.59616219e-02 3.55148911e-03 9.98426604e-01 -2.29177523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.830714057 meters 0.035706466649045907 Centerline is valid? [True, True] Translation: X:32.02, Y:-3.24, Z:-2.29 [[ 9.96509689e-01 6.18668238e-02 5.60440453e-02 3.20213342e+01] [-6.15699187e-02 9.98078151e-01 -7.01063813e-03 -3.23688513e+00] [-5.63700630e-02 3.53554151e-03 9.98403684e-01 -2.29374979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.860714056999996 meters 0.03536462627559068 Centerline is valid? [True, True] Translation: X:32.05, Y:-3.24, Z:-2.30 [[ 9.96500605e-01 6.18315597e-02 5.62441275e-02 3.20498227e+01] [-6.15327625e-02 9.98080303e-01 -7.03054346e-03 -3.24041293e+00] [-5.65708653e-02 3.54508428e-03 9.98392292e-01 -2.29589023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.890714057 meters 0.03539230156365128 Centerline is valid? [True, True] Translation: X:32.08, Y:-3.25, Z:-2.30 [[ 9.96608303e-01 6.04636919e-02 5.58214298e-02 3.20789465e+01] [-6.01674880e-02 9.98163938e-01 -6.97328531e-03 -3.24546307e+00] [-5.61405687e-02 3.59099884e-03 9.98416417e-01 -2.29872142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.920714057 meters 0.03606189588992179 Centerline is valid? [True, True] Translation: X:32.11, Y:-3.25, Z:-2.30 [[ 9.96673359e-01 5.94013831e-02 5.58004621e-02 3.21068416e+01] [-5.91038334e-02 9.98227513e-01 -6.96909640e-03 -3.25105799e+00] [-5.61155305e-02 3.64789150e-03 9.98417618e-01 -2.30132728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.950714057 meters 0.03944121029153195 Centerline is valid? [True, True] Translation: X:32.13, Y:-3.26, Z:-2.31 [[ 9.96883291e-01 5.69324903e-02 5.46113131e-02 3.21344442e+01] [-5.66440547e-02 9.98371168e-01 -6.81626550e-03 -3.26081951e+00] [-5.49104274e-02 3.70161497e-03 9.98484423e-01 -2.30557591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.980714057 meters 0.040311314981874506 Centerline is valid? [True, True] Translation: X:32.16, Y:-3.27, Z:-2.31 [[ 9.96980425e-01 5.57161974e-02 5.40900905e-02 3.21631041e+01] [-5.54315589e-02 9.98439676e-01 -6.74953560e-03 -3.26592284e+00] [-5.43817509e-02 3.73085684e-03 9.98513248e-01 -2.30838468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.010714057 meters 0.041167964548504986 Centerline is valid? [True, True] Translation: X:32.19, Y:-3.27, Z:-2.31 [[ 9.97093318e-01 5.42551934e-02 5.34910124e-02 3.21919828e+01] [-5.39749042e-02 9.98520003e-01 -6.67176711e-03 -3.27123277e+00] [-5.37738239e-02 3.76520214e-03 9.98546043e-01 -2.31085272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.040714056999995 meters 0.04155366680375302 Centerline is valid? [True, True] Translation: X:32.22, Y:-3.28, Z:-2.31 [[ 9.97176837e-01 5.30630829e-02 5.31287647e-02 3.22213720e+01] [-5.27849969e-02 9.98583926e-01 -6.62476226e-03 -3.27549299e+00] [-5.34050608e-02 3.80165780e-03 9.98565695e-01 -2.31317813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.070714056999996 meters 0.03981643905152936 Centerline is valid? [True, True] Translation: X:32.25, Y:-3.28, Z:-2.31 [[ 9.97321840e-01 5.06885554e-02 5.27239818e-02 3.22520648e+01] [-5.04115220e-02 9.98706908e-01 -6.57193545e-03 -3.27743370e+00] [-5.29889267e-02 3.89643859e-03 9.98587498e-01 -2.31440234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.100714057 meters 0.04095256752404163 Centerline is valid? [True, True] Translation: X:32.28, Y:-3.28, Z:-2.32 [[ 9.97437880e-01 4.80961749e-02 5.29568995e-02 3.22821647e+01] [-4.78130544e-02 9.98834490e-01 -6.60096817e-03 -3.28286888e+00] [-5.32126591e-02 4.05202458e-03 9.98574982e-01 -2.31643766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.130714057 meters 0.04376436626528389 Centerline is valid? [True, True] Translation: X:32.31, Y:-3.29, Z:-2.32 [[ 9.97460636e-01 4.71345869e-02 5.33911024e-02 3.23111761e+01] [-4.68454160e-02 9.98879979e-01 -6.65535422e-03 -3.29088031e+00] [-5.36450006e-02 4.13732546e-03 9.98551499e-01 -2.31897164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.160714057 meters 0.07175275942044856 Centerline is valid? [True, True] Translation: X:32.34, Y:-3.33, Z:-2.33 [[ 9.97239861e-01 4.78591439e-02 5.67640988e-02 3.23363540e+01] [-4.75334904e-02 9.98844595e-01 -7.07411631e-03 -3.33397426e+00] [-5.70370744e-02 4.35639501e-03 9.98362556e-01 -2.32554658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.190714057 meters 0.045140620360439636 Centerline is valid? [True, True] Translation: X:32.37, Y:-3.30, Z:-2.32 [[ 9.97544438e-01 4.34236490e-02 5.49497960e-02 3.23714767e+01] [-4.31117308e-02 9.99046776e-01 -6.84969177e-03 -3.30164390e+00] [-5.51948552e-02 4.46389111e-03 9.98465624e-01 -2.32214680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.220714056999995 meters 0.04400021129733409 Centerline is valid? [True, True] Translation: X:32.40, Y:-3.30, Z:-2.32 [[ 9.97581925e-01 4.20587643e-02 5.53295859e-02 3.24022929e+01] [-4.17402881e-02 9.99104671e-01 -6.89957893e-03 -3.30383644e+00] [-5.55702355e-02 4.57342237e-03 9.98444306e-01 -2.32378341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.250714056999996 meters 0.04773501249179333 Centerline is valid? [True, True] Translation: X:32.43, Y:-3.31, Z:-2.33 [[ 9.97623189e-01 4.10785683e-02 5.53219943e-02 3.24325610e+01] [-4.07586361e-02 9.99145200e-01 -6.89949548e-03 -3.31362992e+00] [-5.55581265e-02 4.62824765e-03 9.98444728e-01 -2.32644255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.280714057 meters 0.04480950558968347 Centerline is valid? [True, True] Translation: X:32.46, Y:-3.31, Z:-2.33 [[ 9.97674280e-01 3.80587553e-02 5.65469842e-02 3.24636574e+01] [-3.77187517e-02 9.99263396e-01 -7.06832820e-03 -3.31444501e+00] [-5.67743433e-02 4.91900760e-03 9.98374918e-01 -2.32748264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.310714057 meters 0.048674431932923465 Centerline is valid? [True, True] Translation: X:32.49, Y:-3.32, Z:-2.33 [[ 9.97736454e-01 3.63269230e-02 5.65890796e-02 3.24928132e+01] [-3.59836188e-02 9.99327342e-01 -7.07414274e-03 -3.32372626e+00] [-5.68079963e-02 5.02185022e-03 9.98372492e-01 -2.32986513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.340714057 meters 0.04521910728264027 Centerline is valid? [True, True] Translation: X:32.52, Y:-3.32, Z:-2.33 [[ 9.97776804e-01 3.52054425e-02 5.65864529e-02 3.25247312e+01] [-3.48604698e-02 9.99367165e-01 -7.07227965e-03 -3.32352662e+00] [-5.67996257e-02 5.08392626e-03 9.98372654e-01 -2.33130223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.370714057 meters 0.058375962078087616 Centerline is valid? [True, True] Translation: X:32.55, Y:-3.35, Z:-2.34 [[ 9.97908807e-01 3.19355099e-02 5.61973041e-02 3.25516997e+01] [-3.15892299e-02 9.99476145e-01 -7.03965484e-03 -3.34665247e+00] [-5.63926798e-02 5.24970401e-03 9.98394865e-01 -2.33610413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.400714056999995 meters 0.05786135509037423 Centerline is valid? [True, True] Translation: X:32.58, Y:-3.35, Z:-2.34 [[ 9.97986942e-01 3.03763559e-02 5.56717147e-02 3.25821796e+01] [-3.00341010e-02 9.99524543e-01 -6.97432463e-03 -3.35036788e+00] [-5.58570998e-02 5.28823500e-03 9.98424769e-01 -2.33856685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.430714056999996 meters 0.05158011039329113 Centerline is valid? [True, True] Translation: X:32.61, Y:-3.35, Z:-2.34 [[ 9.98112402e-01 2.71284774e-02 5.50969881e-02 3.26136146e+01] [-2.67883027e-02 9.99617292e-01 -6.90342392e-03 -3.34711371e+00] [-5.52631814e-02 5.41443823e-03 9.98457142e-01 -2.34024483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.460714057 meters 0.051079659991883936 Centerline is valid? [True, True] Translation: X:32.64, Y:-3.35, Z:-2.34 [[ 9.98156134e-01 2.59380826e-02 5.48775678e-02 3.26448207e+01] [-2.55988506e-02 9.99648650e-01 -6.87566123e-03 -3.35130657e+00] [-5.50366280e-02 5.45818078e-03 9.98469418e-01 -2.34265734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.490714057 meters 0.051759396413847567 Centerline is valid? [True, True] Translation: X:32.68, Y:-3.36, Z:-2.35 [[ 9.98191196e-01 2.50718852e-02 5.46419044e-02 3.26759515e+01] [-2.47342357e-02 9.99670614e-01 -6.84695264e-03 -3.35700147e+00] [-5.47955722e-02 5.48304210e-03 9.98482539e-01 -2.34519600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.520714057 meters 0.05061210358481544 Centerline is valid? [True, True] Translation: X:32.71, Y:-3.36, Z:-2.35 [[ 9.98237885e-01 2.36583913e-02 5.44187909e-02 3.27069965e+01] [-2.33209980e-02 9.99704720e-01 -6.82671719e-03 -3.36063872e+00] [-5.45642313e-02 5.54558722e-03 9.98494863e-01 -2.34701214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.550714057 meters 0.051078194193817913 Centerline is valid? [True, True] Translation: X:32.74, Y:-3.37, Z:-2.35 [[ 9.98213169e-01 2.39860390e-02 5.47278569e-02 3.27388242e+01] [-2.36453352e-02 9.99696842e-01 -6.86455690e-03 -3.36543206e+00] [-5.48759193e-02 5.55823258e-03 9.98477711e-01 -2.34910632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.580714057 meters 0.059376250410073696 Centerline is valid? [True, True] Translation: X:32.77, Y:-3.38, Z:-2.35 [[ 9.98122014e-01 2.51732260e-02 5.58458109e-02 3.27674939e+01] [-2.48193546e-02 9.99667296e-01 -7.02123479e-03 -3.38056304e+00] [-5.60039779e-02 5.62199202e-03 9.98414717e-01 -2.35115515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.610714056999996 meters 0.05233222081528569 Centerline is valid? [True, True] Translation: X:32.80, Y:-3.37, Z:-2.35 [[ 9.98105541e-01 2.56320809e-02 5.59314335e-02 3.28012469e+01] [-2.52775903e-02 9.99655707e-01 -7.03634654e-03 -3.37452432e+00] [-5.60925329e-02 5.60920461e-03 9.98409818e-01 -2.35153936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.640714057 meters 0.05137839803586502 Centerline is valid? [True, True] Translation: X:32.83, Y:-3.38, Z:-2.35 [[ 9.98052713e-01 2.67648210e-02 5.63420535e-02 3.28325000e+01] [-2.64059293e-02 9.99626054e-01 -7.10486998e-03 -3.37682850e+00] [-5.65111452e-02 5.60327047e-03 9.98386245e-01 -2.35300922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.670714057 meters 0.05273406819165137 Centerline is valid? [True, True] Translation: X:32.86, Y:-3.38, Z:-2.36 [[ 9.97953363e-01 2.95481353e-02 5.67097335e-02 3.28618914e+01] [-2.91888312e-02 9.99548315e-01 -7.15391516e-03 -3.38181727e+00] [-5.68955034e-02 5.48398285e-03 9.98365077e-01 -2.35502040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.700714057 meters 0.05106818860843313 Centerline is valid? [True, True] Translation: X:32.89, Y:-3.38, Z:-2.36 [[ 9.97950423e-01 3.04770841e-02 5.62681144e-02 3.28943853e+01] [-3.01250526e-02 9.99520962e-01 -7.09416887e-03 -3.38321053e+00] [-5.64573694e-02 5.38454892e-03 9.98390491e-01 -2.35765349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.730714057 meters 0.043788278612360475 Centerline is valid? [True, True] Translation: X:32.93, Y:-3.38, Z:-2.36 [[ 9.97886944e-01 3.32501489e-02 5.58218052e-02 3.29260172e+01] [-3.29070429e-02 9.99433519e-01 -7.05467833e-03 -3.37669881e+00] [-5.60247523e-02 5.20284087e-03 9.98415824e-01 -2.35916039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.760714057 meters 0.04288470853205379 Centerline is valid? [True, True] Translation: X:32.96, Y:-3.38, Z:-2.36 [[ 9.97865129e-01 3.47612398e-02 5.52886985e-02 3.29573207e+01] [-3.44269400e-02 9.99382788e-01 -6.98771778e-03 -3.37877285e+00] [-5.54974754e-02 5.06937920e-03 9.98445958e-01 -2.36186971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.790714056999995 meters 0.0432753474203544 Centerline is valid? [True, True] Translation: X:32.99, Y:-3.38, Z:-2.36 [[ 9.97858889e-01 3.59984667e-02 5.46053917e-02 3.29874333e+01] [-3.56740995e-02 9.99339631e-01 -6.90366243e-03 -3.38272737e+00] [-5.48178532e-02 4.94088275e-03 9.98484146e-01 -2.36468782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.820714056999996 meters 0.049280202316598756 Centerline is valid? [True, True] Translation: X:33.02, Y:-3.39, Z:-2.37 [[ 9.97823980e-01 3.75392366e-02 5.42043467e-02 3.30161300e+01] [-3.72218214e-02 9.99283523e-01 -6.85396240e-03 -3.39452723e+00] [-5.44228030e-02 4.82146352e-03 9.98506340e-01 -2.36909012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.850714057 meters 0.041976310313627675 Centerline is valid? [True, True] Translation: X:33.05, Y:-3.39, Z:-2.37 [[ 9.97718241e-01 4.05646591e-02 5.39705536e-02 3.30476521e+01] [-4.02543060e-02 9.99166154e-01 -6.82555656e-03 -3.38749006e+00] [-5.42024268e-02 4.63743510e-03 9.98519199e-01 -2.36988583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.880714057 meters 0.043190839555782005 Centerline is valid? [True, True] Translation: X:33.08, Y:-3.39, Z:-2.37 [[ 9.97632455e-01 4.23686090e-02 5.41699776e-02 3.30780458e+01] [-4.20585914e-02 9.99091658e-01 -6.85080650e-03 -3.39255609e+00] [-5.44110319e-02 4.55627395e-03 9.98508227e-01 -2.37230616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.910714057 meters 0.04105391386411399 Centerline is valid? [True, True] Translation: X:33.11, Y:-3.39, Z:-2.37 [[ 9.97479432e-01 4.57731538e-02 5.42180796e-02 3.31089247e+01] [-4.54674417e-02 9.98942271e-01 -6.85934128e-03 -3.39168156e+00] [-5.44747053e-02 4.37689447e-03 9.98505558e-01 -2.37310893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.940714057 meters 0.04049767120796532 Centerline is valid? [True, True] Translation: X:33.14, Y:-3.39, Z:-2.37 [[ 9.97457105e-01 4.65030587e-02 5.40073002e-02 3.31389600e+01] [-4.62007644e-02 9.98908804e-01 -6.83304063e-03 -3.39391457e+00] [-5.42661250e-02 4.32048637e-03 9.98517161e-01 -2.37472560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.970714056999995 meters 0.041565153204710305 Centerline is valid? [True, True] Translation: X:33.17, Y:-3.40, Z:-2.38 [[ 9.97410756e-01 4.73344585e-02 5.41408550e-02 3.31676690e+01] [-4.70318534e-02 9.98869899e-01 -6.85045117e-03 -3.39858381e+00] [-5.44039328e-02 4.28636892e-03 9.98509809e-01 -2.37717363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.000714056999996 meters 0.04205155911779892 Centerline is valid? [True, True] Translation: X:33.20, Y:-3.40, Z:-2.38 [[ 9.97381609e-01 4.72056724e-02 5.47863992e-02 3.31972770e+01] [-4.68957180e-02 9.98875751e-01 -6.93009146e-03 -3.40322553e+00] [-5.50519453e-02 4.34269825e-03 9.98474048e-01 -2.37921676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.030714057 meters 0.04245737441302676 Centerline is valid? [True, True] Translation: X:33.23, Y:-3.41, Z:-2.38 [[ 9.97373151e-01 4.72142788e-02 5.49327660e-02 3.32269258e+01] [-4.69027871e-02 9.98875304e-01 -6.94660999e-03 -3.40786774e+00] [-5.51989625e-02 4.35186247e-03 9.98465891e-01 -2.38173941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.060714057 meters 0.0427263542934718 Centerline is valid? [True, True] Translation: X:33.26, Y:-3.41, Z:-2.38 [[ 9.97423803e-01 4.65861557e-02 5.45480262e-02 3.32571756e+01] [-4.62782187e-02 9.98904789e-01 -6.89552249e-03 -3.41249153e+00] [-5.48095205e-02 4.35337278e-03 9.98487338e-01 -2.38432002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.090714057 meters 0.04691569057988233 Centerline is valid? [True, True] Translation: X:33.29, Y:-3.42, Z:-2.39 [[ 9.97494218e-01 4.55344366e-02 5.41470190e-02 3.32864044e+01] [-4.52294916e-02 9.98953174e-01 -6.84458001e-03 -3.42253602e+00] [-5.44020007e-02 4.37838685e-03 9.98509515e-01 -2.38753081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.120714057 meters 0.04673167758914759 Centerline is valid? [True, True] Translation: X:33.32, Y:-3.43, Z:-2.39 [[ 9.97534604e-01 4.46816167e-02 5.41134553e-02 3.33165222e+01] [-4.43757382e-02 9.98991485e-01 -6.84155425e-03 -3.42646407e+00] [-5.43645728e-02 4.42336258e-03 9.98511356e-01 -2.38948458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.150714056999995 meters 0.049349127375034205 Centerline is valid? [True, True] Translation: X:33.35, Y:-3.43, Z:-2.39 [[ 9.97561855e-01 4.34943727e-02 5.45764058e-02 3.33461968e+01] [-4.31815585e-02 9.99043425e-01 -6.89842977e-03 -3.43492500e+00] [-5.48242422e-02 4.52491614e-03 9.98485767e-01 -2.39156440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.180714056999996 meters 0.049349127375034205 Centerline is valid? [True, True] Translation: X:33.38, Y:-3.44, Z:-2.39 [[ 9.97560420e-01 4.35284962e-02 5.45754295e-02 3.33768311e+01] [-4.32153134e-02 9.99041912e-01 -6.90614482e-03 -3.43883258e+00] [-5.48237555e-02 4.53080244e-03 9.98485767e-01 -2.39368846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.210714057 meters 0.04399834631494818 Centerline is valid? [True, True] Translation: X:33.41, Y:-3.44, Z:-2.39 [[ 9.97609412e-01 4.26006970e-02 5.44117731e-02 3.34085257e+01] [-4.22879088e-02 9.99081726e-01 -6.88751674e-03 -3.43530344e+00] [-5.46552212e-02 4.57009143e-03 9.98494828e-01 -2.39426627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.240714057 meters 0.0457232012327354 Centerline is valid? [True, True] Translation: X:33.44, Y:-3.44, Z:-2.40 [[ 9.97630711e-01 4.14914062e-02 5.48764728e-02 3.34392660e+01] [-4.11716032e-02 9.99127946e-01 -6.94592081e-03 -3.44316679e+00] [-5.51168136e-02 4.67011155e-03 9.98468991e-01 -2.39683626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.270714057 meters 0.04527728511445764 Centerline is valid? [True, True] Translation: X:33.47, Y:-3.45, Z:-2.40 [[ 9.97628918e-01 4.12712979e-02 5.50746881e-02 3.34710103e+01] [-4.09485546e-02 9.99136901e-01 -6.97624509e-03 -3.44693428e+00] [-5.53150719e-02 4.70447498e-03 9.98457866e-01 -2.39873051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.300714057 meters 0.044207250791657667 Centerline is valid? [True, True] Translation: X:33.50, Y:-3.45, Z:-2.40 [[ 9.97618289e-01 4.12852473e-02 5.52564796e-02 3.35032892e+01] [-4.09596047e-02 9.99136189e-01 -7.01336578e-03 -3.45023937e+00] [-5.54982970e-02 4.73337840e-03 9.98447562e-01 -2.39988549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.330714056999994 meters 0.04888394628048105 Centerline is valid? [True, True] Translation: X:33.53, Y:-3.46, Z:-2.40 [[ 9.97546387e-01 4.18830043e-02 5.60983030e-02 3.35333895e+01] [-4.15474484e-02 9.99111055e-01 -7.13507306e-03 -3.46249940e+00] [-5.63472730e-02 4.78682499e-03 9.98399755e-01 -2.40281177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.360714056999996 meters 0.04834237298970554 Centerline is valid? [True, True] Translation: X:33.57, Y:-3.47, Z:-2.41 [[ 9.97574087e-01 4.13485144e-02 5.60021604e-02 3.35656080e+01] [-4.10125395e-02 9.99133150e-01 -7.13588104e-03 -3.46665726e+00] [-5.62486730e-02 4.82177919e-03 9.98405147e-01 -2.40507144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.390714057 meters 0.047232860921365534 Centerline is valid? [True, True] Translation: X:33.60, Y:-3.47, Z:-2.41 [[ 9.97575577e-01 4.08981856e-02 5.63054756e-02 3.35975005e+01] [-4.05570542e-02 9.99151365e-01 -7.18848842e-03 -3.47029952e+00] [-5.65516890e-02 4.88747626e-03 9.98387710e-01 -2.40727734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.420714057 meters 0.04644113333099622 Centerline is valid? [True, True] Translation: X:33.63, Y:-3.48, Z:-2.41 [[ 9.97565829e-01 4.07351503e-02 5.65956178e-02 3.36290479e+01] [-4.03894200e-02 9.99157786e-01 -7.23973668e-03 -3.47573246e+00] [-5.68428639e-02 4.93624975e-03 9.98370934e-01 -2.40980808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.450714057 meters 0.04534052964003858 Centerline is valid? [True, True] Translation: X:33.66, Y:-3.48, Z:-2.41 [[ 9.97603299e-01 4.07280460e-02 5.59364309e-02 3.36615977e+01] [-4.03895452e-02 9.99158289e-01 -7.16923156e-03 -3.47836810e+00] [-5.61813374e-02 4.89280205e-03 9.98408593e-01 -2.41203644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.480714057 meters 0.044955319939278135 Centerline is valid? [True, True] Translation: X:33.69, Y:-3.48, Z:-2.41 [[ 9.97626313e-01 4.10284313e-02 5.53028748e-02 3.36940070e+01] [-4.06972776e-02 9.99146286e-01 -7.10143397e-03 -3.48290094e+00] [-5.55470227e-02 4.83390093e-03 9.98444371e-01 -2.41372779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.510714057 meters 0.04304986253769888 Centerline is valid? [True, True] Translation: X:33.73, Y:-3.48, Z:-2.42 [[ 9.97642296e-01 4.11544641e-02 5.49195746e-02 3.37266263e+01] [-4.08271801e-02 9.99141220e-01 -7.06851375e-03 -3.48436808e+00] [-5.51633117e-02 4.80963692e-03 9.98465761e-01 -2.41603934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.540714056999995 meters 0.049464929234582546 Centerline is valid? [True, True] Translation: X:33.76, Y:-3.50, Z:-2.42 [[ 9.97625934e-01 4.14277726e-02 5.50112234e-02 3.37567549e+01] [-4.10990270e-02 9.99129891e-01 -7.09438255e-03 -3.49836829e+00] [-5.52572621e-02 4.81663227e-03 9.98460533e-01 -2.41990207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.570714056999996 meters 0.04527412796533141 Centerline is valid? [True, True] Translation: X:33.79, Y:-3.50, Z:-2.42 [[ 9.97642786e-01 4.08407821e-02 5.51443719e-02 3.37888708e+01] [-4.05086762e-02 9.99153766e-01 -7.12734042e-03 -3.49766195e+00] [-5.53887930e-02 4.87671425e-03 9.98452953e-01 -2.42157271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.600714057 meters 0.05149350671441572 Centerline is valid? [True, True] Translation: X:33.82, Y:-3.51, Z:-2.42 [[ 9.97632699e-01 4.10055201e-02 5.52045799e-02 3.38193207e+01] [-4.06721696e-02 9.99146970e-01 -7.14895113e-03 -3.51097778e+00] [-5.54506352e-02 4.88673737e-03 9.98449471e-01 -2.42486775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.630714057 meters 0.044410332748497455 Centerline is valid? [True, True] Translation: X:33.85, Y:-3.51, Z:-2.43 [[ 9.97637797e-01 4.08574268e-02 5.52222548e-02 3.38522670e+01] [-4.05231339e-02 9.99152944e-01 -7.16030666e-03 -3.50556961e+00] [-5.54680302e-02 4.90561373e-03 9.98448413e-01 -2.42534221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.660714057 meters 0.04542598150711556 Centerline is valid? [True, True] Translation: X:33.88, Y:-3.51, Z:-2.43 [[ 9.97685595e-01 3.96973112e-02 5.52048634e-02 3.38836268e+01] [-3.93605518e-02 9.99199316e-01 -7.17456096e-03 -3.51214148e+00] [-5.54454725e-02 4.98506223e-03 9.98449272e-01 -2.42828708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.690714057 meters 0.046438649862406124 Centerline is valid? [True, True] Translation: X:33.91, Y:-3.52, Z:-2.43 [[ 9.97697364e-01 3.95423597e-02 5.51032884e-02 3.39144872e+01] [-3.92065001e-02 9.99205453e-01 -7.16326765e-03 -3.51859691e+00] [-5.53427588e-02 4.98636617e-03 9.98454964e-01 -2.43095176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.720714056999995 meters 0.04515661414974257 Centerline is valid? [True, True] Translation: X:33.95, Y:-3.52, Z:-2.43 [[ 9.97692182e-01 3.89342019e-02 5.56276776e-02 3.39463619e+01] [-3.85902447e-02 9.99228858e-01 -7.24446437e-03 -3.52240320e+00] [-5.58668382e-02 5.08105977e-03 9.98425300e-01 -2.43317182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.750714056999996 meters 0.04662817218754101 Centerline is valid? [True, True] Translation: X:33.98, Y:-3.53, Z:-2.44 [[ 9.97751681e-01 3.82119492e-02 5.50584281e-02 3.39765741e+01] [-3.78730482e-02 9.99256721e-01 -7.18599289e-03 -3.52863486e+00] [-5.52920951e-02 5.08460598e-03 9.98457276e-01 -2.43504426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.780714057 meters 0.04573185370871551 Centerline is valid? [True, True] Translation: X:34.01, Y:-3.53, Z:-2.44 [[ 9.97755040e-01 3.81910862e-02 5.50120173e-02 3.40081644e+01] [-3.78524175e-02 9.99257506e-01 -7.18550542e-03 -3.53161685e+00] [-5.52455934e-02 5.08703640e-03 9.98459837e-01 -2.43672987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.810714057 meters 0.04667973617854324 Centerline is valid? [True, True] Translation: X:34.04, Y:-3.54, Z:-2.44 [[ 9.97769750e-01 3.82642251e-02 5.46934578e-02 3.40403514e+01] [-3.79288814e-02 9.99254814e-01 -7.15662611e-03 -3.53710182e+00] [-5.49265438e-02 5.06620337e-03 9.98477545e-01 -2.43889017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.840714057 meters 0.04903435515751397 Centerline is valid? [True, True] Translation: X:34.07, Y:-3.54, Z:-2.44 [[ 9.97744446e-01 3.86120245e-02 5.49102193e-02 3.40706759e+01] [-3.82737440e-02 9.99241357e-01 -7.19932000e-03 -3.54473298e+00] [-5.51465424e-02 5.08146187e-03 9.98465341e-01 -2.44113985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.870714057 meters 0.04847550879269339 Centerline is valid? [True, True] Translation: X:34.10, Y:-3.55, Z:-2.44 [[ 9.97688206e-01 3.88389947e-02 5.57653697e-02 3.41037158e+01] [-3.84897193e-02 9.99232154e-01 -7.32413985e-03 -3.54865503e+00] [-5.60070128e-02 5.16081452e-03 9.98417037e-01 -2.44315512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.900714056999995 meters 0.045728456816797894 Centerline is valid? [True, True] Translation: X:34.14, Y:-3.55, Z:-2.45 [[ 9.97697472e-01 3.90387350e-02 5.54592872e-02 3.41370951e+01] [-3.86927165e-02 9.99224494e-01 -7.29967433e-03 -3.54956946e+00] [-5.57012482e-02 5.13699614e-03 9.98434265e-01 -2.44518237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.930714056999996 meters 0.044829161435383236 Centerline is valid? [True, True] Translation: X:34.17, Y:-3.55, Z:-2.45 [[ 9.97680242e-01 3.95778464e-02 5.53870898e-02 3.41693281e+01] [-3.92326169e-02 9.99203388e-01 -7.30696464e-03 -3.55373563e+00] [-5.56321616e-02 5.11703378e-03 9.98438220e-01 -2.44847156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.960714057 meters 0.04319283454041074 Centerline is valid? [True, True] Translation: X:34.20, Y:-3.56, Z:-2.45 [[ 9.97684272e-01 4.03685388e-02 5.47400581e-02 3.42012913e+01] [-4.00317461e-02 9.99172210e-01 -7.23562785e-03 -3.55568192e+00] [-5.49868366e-02 5.02753200e-03 9.98474422e-01 -2.45051346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.990714057 meters 0.04482418002060393 Centerline is valid? [True, True] Translation: X:34.23, Y:-3.56, Z:-2.45 [[ 9.97663760e-01 4.14768630e-02 5.42834345e-02 3.42324094e+01] [-4.11465259e-02 9.99127257e-01 -7.18942524e-03 -3.56181685e+00] [-5.45342538e-02 4.93905428e-03 9.98499685e-01 -2.45335650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.020714057 meters 0.04563766402860174 Centerline is valid? [True, True] Translation: X:34.26, Y:-3.57, Z:-2.46 [[ 9.97564997e-01 4.36028077e-02 5.44322680e-02 3.42614468e+01] [-4.32728059e-02 9.99037153e-01 -7.22711786e-03 -3.56564126e+00] [-5.46949807e-02 4.85408284e-03 9.98491310e-01 -2.45544851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.050714057 meters 0.043787988493195824 Centerline is valid? [True, True] Translation: X:34.29, Y:-3.57, Z:-2.46 [[ 9.97496735e-01 4.48457774e-02 5.46728502e-02 3.42931921e+01] [-4.45148298e-02 9.98982367e-01 -7.25668185e-03 -3.56726625e+00] [-5.49426449e-02 4.80476383e-03 9.98477952e-01 -2.45721548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.080714056999994 meters 0.043713942543770465 Centerline is valid? [True, True] Translation: X:34.32, Y:-3.57, Z:-2.46 [[ 9.97437419e-01 4.59695717e-02 5.48214701e-02 3.43246010e+01] [-4.56382417e-02 9.98931497e-01 -7.28114468e-03 -3.57116003e+00] [-5.50976043e-02 4.76053065e-03 9.98469625e-01 -2.45955716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.110714056999996 meters 0.04414840579255468 Centerline is valid? [True, True] Translation: X:34.35, Y:-3.58, Z:-2.46 [[ 9.97353467e-01 4.73873912e-02 5.51407004e-02 3.43547692e+01] [-4.70540729e-02 9.98865462e-01 -7.32826442e-03 -3.57590217e+00] [-5.54254085e-02 4.71427539e-03 9.98451701e-01 -2.46245235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.140714057 meters 0.04491739764921196 Centerline is valid? [True, True] Translation: X:34.39, Y:-3.58, Z:-2.46 [[ 9.97324112e-01 4.79750946e-02 5.51634389e-02 3.43855707e+01] [-4.76422801e-02 9.98837542e-01 -7.33331381e-03 -3.58068666e+00] [-5.54511302e-02 4.68557868e-03 9.98450408e-01 -2.46487440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.170714057 meters 0.043923123269326354 Centerline is valid? [True, True] Translation: X:34.42, Y:-3.58, Z:-2.47 [[ 9.97209169e-01 4.95773586e-02 5.58207773e-02 3.44164541e+01] [-4.92389175e-02 9.98759445e-01 -7.42295586e-03 -3.58246530e+00] [-5.61195391e-02 4.65368500e-03 9.98413211e-01 -2.46631361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.200714057 meters 0.046191553560257274 Centerline is valid? [True, True] Translation: X:34.45, Y:-3.59, Z:-2.47 [[ 9.97113304e-01 5.05847683e-02 5.66236761e-02 3.44454998e+01] [-5.02380364e-02 9.98708877e-01 -7.53117289e-03 -3.58892926e+00] [-5.69315306e-02 4.66477038e-03 9.98367187e-01 -2.46905031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.230714057 meters 0.04399131763584845 Centerline is valid? [True, True] Translation: X:34.48, Y:-3.59, Z:-2.47 [[ 9.97080964e-01 5.12908791e-02 5.65579033e-02 3.44765324e+01] [-5.09461549e-02 9.98673081e-01 -7.52112322e-03 -3.58950795e+00] [-5.68686206e-02 4.61776109e-03 9.98370991e-01 -2.47084370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.260714057 meters 0.0443085247013918 Centerline is valid? [True, True] Translation: X:34.51, Y:-3.59, Z:-2.47 [[ 9.97020772e-01 5.24879030e-02 5.65207916e-02 3.45053790e+01] [-5.21454993e-02 9.98611207e-01 -7.51691847e-03 -3.59377813e+00] [-5.68368432e-02 4.54721896e-03 9.98373125e-01 -2.47352931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.290714056999995 meters 0.0433662820533224 Centerline is valid? [True, True] Translation: X:34.54, Y:-3.60, Z:-2.48 [[ 9.96955529e-01 5.35214745e-02 5.67020635e-02 3.45354156e+01] [-5.31785966e-02 9.98556552e-01 -7.53981514e-03 -3.59623469e+00] [-5.70237590e-02 4.50152424e-03 9.98362673e-01 -2.47587835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.320714056999996 meters 0.042445234364152616 Centerline is valid? [True, True] Translation: X:34.57, Y:-3.60, Z:-2.48 [[ 9.96825903e-01 5.60136331e-02 5.65737746e-02 3.45654802e+01] [-5.56762809e-02 9.98420531e-01 -7.52296114e-03 -3.59806780e+00] [-5.69058065e-02 4.34926517e-03 9.98370078e-01 -2.47811226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.350714057 meters 0.04461612664587673 Centerline is valid? [True, True] Translation: X:34.59, Y:-3.60, Z:-2.48 [[ 9.96774546e-01 5.67093787e-02 5.67851315e-02 3.45931016e+01] [-5.63706543e-02 9.98381360e-01 -7.55045090e-03 -3.60408868e+00] [-5.71213982e-02 4.32508225e-03 9.98357871e-01 -2.48031333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.380714057 meters 0.04330546702552518 Centerline is valid? [True, True] Translation: X:34.62, Y:-3.61, Z:-2.48 [[ 9.96591114e-01 5.88596827e-02 5.78073489e-02 3.46236420e+01] [-5.85124322e-02 9.98257115e-01 -7.68288254e-03 -3.60533943e+00] [-5.81588094e-02 4.27424388e-03 9.98298194e-01 -2.48119328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.410714057 meters 0.04556888685757078 Centerline is valid? [True, True] Translation: X:34.65, Y:-3.61, Z:-2.48 [[ 9.96526351e-01 5.93612636e-02 5.84078150e-02 3.46513495e+01] [-5.90076611e-02 9.98227354e-01 -7.76176828e-03 -3.61184849e+00] [-5.87650270e-02 4.28829807e-03 9.98262632e-01 -2.48344515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.440714057 meters 0.0383850951534473 Centerline is valid? [True, True] Translation: X:34.68, Y:-3.60, Z:-2.48 [[ 9.96460343e-01 6.01759047e-02 5.86996225e-02 3.46815330e+01] [-5.98202342e-02 9.98178697e-01 -7.79928395e-03 -3.60487738e+00] [-5.90620417e-02 4.26025199e-03 9.98245223e-01 -2.48414995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.470714056999995 meters 0.038569408804529526 Centerline is valid? [True, True] Translation: X:34.71, Y:-3.61, Z:-2.49 [[ 9.96420868e-01 6.08180009e-02 5.87079612e-02 3.47101314e+01] [-6.04635905e-02 9.98139958e-01 -7.79610585e-03 -3.60946160e+00] [-5.90729054e-02 4.21850843e-03 9.98244758e-01 -2.48660640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.500714056999996 meters 0.03745710318199872 Centerline is valid? [True, True] Translation: X:34.74, Y:-3.61, Z:-2.49 [[ 9.96375590e-01 6.14300341e-02 5.88390510e-02 3.47392504e+01] [-6.10753506e-02 9.98102609e-01 -7.80924860e-03 -3.61160624e+00] [-5.92071327e-02 4.18732901e-03 9.98236937e-01 -2.48826539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.530714057 meters 0.03737521557835212 Centerline is valid? [True, True] Translation: X:34.77, Y:-3.61, Z:-2.49 [[ 9.96379034e-01 6.17285607e-02 5.84671366e-02 3.47675608e+01] [-6.13791145e-02 9.98084392e-01 -7.75564286e-03 -3.61445527e+00] [-5.88338811e-02 4.13889887e-03 9.98259207e-01 -2.49028585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.560714057 meters 0.03752584805581773 Centerline is valid? [True, True] Translation: X:34.80, Y:-3.62, Z:-2.49 [[ 9.96267476e-01 6.31409865e-02 5.88585706e-02 3.47957071e+01] [-6.27895572e-02 9.97996285e-01 -7.80304925e-03 -3.61866419e+00] [-5.92333270e-02 4.07822060e-03 9.98235834e-01 -2.49232922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.590714057 meters 0.03862077245951244 Centerline is valid? [True, True] Translation: X:34.82, Y:-3.62, Z:-2.49 [[ 9.96232889e-01 6.34933227e-02 5.90646088e-02 3.48231488e+01] [-6.31402145e-02 9.97973970e-01 -7.82744457e-03 -3.62445907e+00] [-5.94419326e-02 4.06860565e-03 9.98223474e-01 -2.49444898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.620714057 meters 0.03666343749074579 Centerline is valid? [True, True] Translation: X:34.85, Y:-3.63, Z:-2.50 [[ 9.96174154e-01 6.42248134e-02 5.92640478e-02 3.48518627e+01] [-6.38709286e-02 9.97927306e-01 -7.84837901e-03 -3.62597900e+00] [-5.96452722e-02 4.03310256e-03 9.98211488e-01 -2.49591099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.650714056999995 meters 0.037369495155584895 Centerline is valid? [True, True] Translation: X:34.88, Y:-3.63, Z:-2.50 [[ 9.96065310e-01 6.57249893e-02 5.94484957e-02 3.48796859e+01] [-6.53718127e-02 9.97829952e-01 -7.86845858e-03 -3.63177780e+00] [-5.98366439e-02 3.95124271e-03 9.98200363e-01 -2.49846954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.680714056999996 meters 0.03741933631309105 Centerline is valid? [True, True] Translation: X:34.91, Y:-3.64, Z:-2.50 [[ 9.96037841e-01 6.63925576e-02 5.91662702e-02 3.49084579e+01] [-6.60441567e-02 9.97786004e-01 -7.82684855e-03 -3.63587963e+00] [-5.95549208e-02 3.88825092e-03 9.98217458e-01 -2.50061984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.710714057 meters 0.03839682890364334 Centerline is valid? [True, True] Translation: X:34.94, Y:-3.64, Z:-2.50 [[ 9.96017355e-01 6.70071389e-02 5.88172806e-02 3.49354536e+01] [-6.66641451e-02 9.97745165e-01 -7.77668354e-03 -3.64132718e+00] [-5.92057507e-02 3.82470804e-03 9.98238474e-01 -2.50316449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.740714057 meters 0.03816062709554916 Centerline is valid? [True, True] Translation: X:34.96, Y:-3.65, Z:-2.51 [[ 9.95942162e-01 6.82432051e-02 5.86692007e-02 3.49643869e+01] [-6.79044023e-02 9.97661719e-01 -7.75153196e-03 -3.64552984e+00] [-5.90610050e-02 3.73618049e-03 9.98247383e-01 -2.50539735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.770714057 meters 0.03736747342621515 Centerline is valid? [True, True] Translation: X:34.99, Y:-3.65, Z:-2.51 [[ 9.95847125e-01 6.97887101e-02 5.84639986e-02 3.49934331e+01] [-6.94551065e-02 9.97555196e-01 -7.72137165e-03 -3.64927849e+00] [-5.88599301e-02 3.62868252e-03 9.98259656e-01 -2.50803082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.800714057 meters 0.034568125038400836 Centerline is valid? [True, True] Translation: X:35.02, Y:-3.65, Z:-2.51 [[ 9.95810006e-01 7.05225120e-02 5.82151735e-02 3.50220439e+01] [-7.01931611e-02 9.97503810e-01 -7.68566283e-03 -3.64933648e+00] [-5.86118696e-02 3.56715290e-03 9.98274473e-01 -2.51025611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.830714056999994 meters 0.03525640221597541 Centerline is valid? [True, True] Translation: X:35.05, Y:-3.66, Z:-2.51 [[ 9.95786384e-01 7.10682840e-02 5.79549545e-02 3.50490631e+01] [-7.07430293e-02 9.97465259e-01 -7.64730018e-03 -3.65507281e+00] [-5.83515342e-02 3.51516835e-03 9.98289909e-01 -2.51305466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.860714056999996 meters 0.033800447462903345 Centerline is valid? [True, True] Translation: X:35.08, Y:-3.66, Z:-2.52 [[ 9.95709499e-01 7.26092177e-02 5.73628406e-02 3.50774436e+01] [-7.22934362e-02 9.97354725e-01 -7.56387216e-03 -3.65918303e+00] [-5.77603070e-02 3.38446250e-03 9.98324743e-01 -2.51594559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.890714057 meters 0.034000117124391174 Centerline is valid? [True, True] Translation: X:35.11, Y:-3.66, Z:-2.52 [[ 9.95680230e-01 7.33068089e-02 5.69823747e-02 3.51054492e+01] [-7.29965808e-02 9.97303918e-01 -7.50961071e-03 -3.66402757e+00] [-5.73792512e-02 3.31765240e-03 9.98346941e-01 -2.51836935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.920714057 meters 0.033836680501865946 Centerline is valid? [True, True] Translation: X:35.13, Y:-3.67, Z:-2.52 [[ 9.95680212e-01 7.36033486e-02 5.65991355e-02 3.51341039e+01] [-7.32979927e-02 9.97282220e-01 -7.45505965e-03 -3.66943267e+00] [-5.69940288e-02 3.27425236e-03 9.98369150e-01 -2.51982708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.950714057 meters 0.0350655068887473 Centerline is valid? [True, True] Translation: X:35.16, Y:-3.68, Z:-2.52 [[ 9.95756319e-01 7.28264384e-02 5.62642213e-02 3.51610966e+01] [-7.25236562e-02 9.97339185e-01 -7.40740338e-03 -3.67521546e+00] [-5.66539674e-02 3.29548168e-03 9.98388435e-01 -2.52235651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.980714057 meters 0.03482176806343664 Centerline is valid? [True, True] Translation: X:35.19, Y:-3.68, Z:-2.52 [[ 9.95830202e-01 7.20673431e-02 5.59330597e-02 3.51893062e+01] [-7.17673038e-02 9.97394269e-01 -7.35712054e-03 -3.67943330e+00] [-5.63175213e-02 3.31227794e-03 9.98407415e-01 -2.52447419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.010714057 meters 0.03398487455667321 Centerline is valid? [True, True] Translation: X:35.22, Y:-3.68, Z:-2.53 [[ 9.95982047e-01 6.98250621e-02 5.60733732e-02 3.52186744e+01] [-6.95202263e-02 9.97553309e-01 -7.37113730e-03 -3.68493345e+00] [-5.64508691e-02 3.44328683e-03 9.98399441e-01 -2.52670759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.040714056999995 meters 0.03717576386424858 Centerline is valid? [True, True] Translation: X:35.25, Y:-3.69, Z:-2.53 [[ 9.96092808e-01 6.79948610e-02 5.63543834e-02 3.52458718e+01] [-6.76841484e-02 9.97679309e-01 -7.40621138e-03 -3.69492150e+00] [-5.67271866e-02 3.56297544e-03 9.98383359e-01 -2.52952676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.070714056999996 meters 0.0377661187920947 Centerline is valid? [True, True] Translation: X:35.27, Y:-3.70, Z:-2.53 [[ 9.96166575e-01 6.62209593e-02 5.71571389e-02 3.52747883e+01] [-6.58986080e-02 9.97798075e-01 -7.50833767e-03 -3.70170739e+00] [-5.75284925e-02 3.71297914e-03 9.98336960e-01 -2.53108299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.100714057 meters 0.0377661187920947 Centerline is valid? [True, True] Translation: X:35.30, Y:-3.71, Z:-2.53 [[ 9.96171128e-01 6.61522527e-02 5.71573484e-02 3.53028547e+01] [-6.58298799e-02 9.97802624e-01 -7.50674294e-03 -3.70533004e+00] [-5.75283401e-02 3.71533921e-03 9.98336960e-01 -2.53303289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.130714057 meters 0.037862434118616645 Centerline is valid? [True, True] Translation: X:35.33, Y:-3.71, Z:-2.53 [[ 9.96449367e-01 6.15941966e-02 5.74004727e-02 3.53330073e+01] [-6.12618251e-02 9.98093297e-01 -7.53387468e-03 -3.71145382e+00] [-5.77550700e-02 3.99066694e-03 9.98322807e-01 -2.53469467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.160714057 meters 0.039176481960539314 Centerline is valid? [True, True] Translation: X:35.36, Y:-3.72, Z:-2.54 [[ 9.96575953e-01 5.95908536e-02 5.73175301e-02 3.53618734e+01] [-5.92561278e-02 9.98214461e-01 -7.52334746e-03 -3.71844063e+00] [-5.76635101e-02 4.10117228e-03 9.98327652e-01 -2.53694262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.190714057 meters 0.04425343724399675 Centerline is valid? [True, True] Translation: X:35.39, Y:-3.73, Z:-2.54 [[ 9.96692799e-01 5.75301476e-02 5.73911705e-02 3.53899943e+01] [-5.71912940e-02 9.98334835e-01 -7.53076655e-03 -3.73070905e+00] [-5.77288508e-02 4.22358549e-03 9.98323365e-01 -2.53969447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.220714056999995 meters 0.0431640427695321 Centerline is valid? [True, True] Translation: X:35.42, Y:-3.74, Z:-2.54 [[ 9.96910939e-01 5.34296902e-02 5.75660358e-02 3.54198199e+01] [-5.30820430e-02 9.98561594e-01 -7.55249631e-03 -3.73535532e+00] [-5.78867600e-02 4.47344340e-03 9.98313133e-01 -2.54145048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.250714056999996 meters 0.041386176022878335 Centerline is valid? [True, True] Translation: X:35.45, Y:-3.74, Z:-2.54 [[ 9.97004133e-01 5.17641290e-02 5.74737589e-02 3.54503017e+01] [-5.14148471e-02 9.98648915e-01 -7.54041707e-03 -3.73718624e+00] [-5.77864301e-02 4.56282245e-03 9.98318541e-01 -2.54293151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.280714057 meters 0.04900485171405282 Centerline is valid? [True, True] Translation: X:35.48, Y:-3.75, Z:-2.55 [[ 9.97111412e-01 4.93603329e-02 5.77268502e-02 3.54788902e+01] [-4.90039750e-02 9.98769870e-01 -7.57343490e-03 -3.75295542e+00] [-5.80296659e-02 4.72271324e-03 9.98303688e-01 -2.54599309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.310714057 meters 0.04450892101744038 Centerline is valid? [True, True] Translation: X:35.51, Y:-3.75, Z:-2.55 [[ 9.97149290e-01 4.84947092e-02 5.78061973e-02 3.55112712e+01] [-4.81359941e-02 9.98812009e-01 -7.58267522e-03 -3.75121795e+00] [-5.81052437e-02 4.77850045e-03 9.98299027e-01 -2.54696376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.340714057 meters 0.04605316361087903 Centerline is valid? [True, True] Translation: X:35.54, Y:-3.76, Z:-2.55 [[ 9.97199242e-01 4.76418020e-02 5.76535338e-02 3.55415910e+01] [-4.72827911e-02 9.98852813e-01 -7.57602243e-03 -3.75763800e+00] [-5.79483298e-02 4.82878383e-03 9.98307905e-01 -2.54941797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.370714057 meters 0.04718395042672017 Centerline is valid? [True, True] Translation: X:35.57, Y:-3.76, Z:-2.55 [[ 9.97229498e-01 4.72098846e-02 5.74852577e-02 3.55734723e+01] [-4.68515020e-02 9.98873204e-01 -7.56696385e-03 -3.76384998e+00] [-5.77777190e-02 4.85272890e-03 9.98317678e-01 -2.55215724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.400714056999995 meters 0.048808751420446765 Centerline is valid? [True, True] Translation: X:35.60, Y:-3.77, Z:-2.55 [[ 9.97262736e-01 4.66025650e-02 5.74041527e-02 3.56037282e+01] [-4.62433706e-02 9.98901515e-01 -7.57057591e-03 -3.77033950e+00] [-5.76939034e-02 4.89529173e-03 9.98322318e-01 -2.55498775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.430714056999996 meters 0.044068544361754294 Centerline is valid? [True, True] Translation: X:35.64, Y:-3.77, Z:-2.56 [[ 9.97254686e-01 4.69604165e-02 5.72521656e-02 3.56377351e+01] [-4.66030039e-02 9.98884860e-01 -7.56277149e-03 -3.76766971e+00] [-5.75434724e-02 4.87388640e-03 9.98331104e-01 -2.55653425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.460714057 meters 0.04473390800476494 Centerline is valid? [True, True] Translation: X:35.67, Y:-3.77, Z:-2.56 [[ 9.97256670e-01 4.75872490e-02 5.66973346e-02 3.56698261e+01] [-4.72367903e-02 9.98855516e-01 -7.50620782e-03 -3.77230935e+00] [-5.69896452e-02 4.80741571e-03 9.98363195e-01 -2.55946675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.490714057 meters 0.04335577139658675 Centerline is valid? [True, True] Translation: X:35.70, Y:-3.77, Z:-2.56 [[ 9.97296384e-01 4.88806095e-02 5.48690116e-02 3.57021336e+01] [-4.85536295e-02 9.98794065e-01 -7.27739664e-03 -3.77295480e+00] [-5.51585668e-02 4.59363169e-03 9.98467041e-01 -2.56242458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.520714057 meters 0.04532822162388156 Centerline is valid? [True, True] Translation: X:35.73, Y:-3.78, Z:-2.57 [[ 9.97296377e-01 4.94193386e-02 5.43844230e-02 3.57327038e+01] [-4.90981476e-02 9.98767812e-01 -7.22706765e-03 -3.77924320e+00] [-5.46745680e-02 4.53735395e-03 9.98493918e-01 -2.56554777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.550714057 meters 0.04535837913936319 Centerline is valid? [True, True] Translation: X:35.76, Y:-3.78, Z:-2.57 [[ 9.97280259e-01 4.99259719e-02 5.42170000e-02 3.57636001e+01] [-4.96066617e-02 9.98742734e-01 -7.22019434e-03 -3.78262618e+00] [-5.45093100e-02 4.51103290e-03 9.98503072e-01 -2.56859764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.580714056999994 meters 0.043703929360625726 Centerline is valid? [True, True] Translation: X:35.79, Y:-3.78, Z:-2.57 [[ 9.97199277e-01 5.14475769e-02 5.42839707e-02 3.57947374e+01] [-5.11295971e-02 9.98665847e-01 -7.23124560e-03 -3.78320806e+00] [-5.45835776e-02 4.43547533e-03 9.98499354e-01 -2.57010292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.610714056999996 meters 0.04217375092692905 Centerline is valid? [True, True] Translation: X:35.83, Y:-3.78, Z:-2.57 [[ 9.97115782e-01 5.23903885e-02 5.49123384e-02 3.58256303e+01] [-5.20663343e-02 9.98616827e-01 -7.31638601e-03 -3.78433328e+00] [-5.52196935e-02 4.43619978e-03 9.98464374e-01 -2.57123420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.640714057 meters 0.04233502379826565 Centerline is valid? [True, True] Translation: X:35.86, Y:-3.79, Z:-2.57 [[ 9.97068978e-01 5.26892858e-02 5.54733541e-02 3.58556957e+01] [-5.23590265e-02 9.98600973e-01 -7.39113437e-03 -3.78743050e+00] [-5.57851790e-02 4.46493997e-03 9.98432811e-01 -2.57271907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.670714057 meters 0.04688050539895969 Centerline is valid? [True, True] Translation: X:35.88, Y:-3.80, Z:-2.57 [[ 9.97011343e-01 5.31463768e-02 5.60700029e-02 3.58838291e+01] [-5.28096706e-02 9.98576650e-01 -7.47084578e-03 -3.79617744e+00] [-5.63872440e-02 4.48747960e-03 9.98398889e-01 -2.57485324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.700714057 meters 0.04283223086726927 Centerline is valid? [True, True] Translation: X:35.91, Y:-3.79, Z:-2.58 [[ 9.97032550e-01 5.28735913e-02 5.59506673e-02 3.59146270e+01] [-5.25379609e-02 9.98591110e-01 -7.45372906e-03 -3.79400953e+00] [-5.62659444e-02 4.49207653e-03 9.98405711e-01 -2.57621517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.730714057 meters 0.04660312370300007 Centerline is valid? [True, True] Translation: X:35.94, Y:-3.80, Z:-2.58 [[ 9.97087617e-01 5.23009054e-02 5.55058477e-02 3.59429814e+01] [-5.19697042e-02 9.98621284e-01 -7.39469452e-03 -3.80236908e+00] [-5.58160701e-02 4.48853585e-03 9.98430979e-01 -2.58018615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.760714057 meters 0.040987818217009815 Centerline is valid? [True, True] Translation: X:35.97, Y:-3.80, Z:-2.58 [[ 9.97133942e-01 5.17156163e-02 5.52213356e-02 3.59744773e+01] [-5.13869824e-02 9.98651728e-01 -7.35558511e-03 -3.79854882e+00] [-5.55272808e-02 4.49684578e-03 9.98447044e-01 -2.58144289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.790714056999995 meters 0.04132915157428948 Centerline is valid? [True, True] Translation: X:36.00, Y:-3.80, Z:-2.58 [[ 9.97138737e-01 5.11695598e-02 5.56418519e-02 3.60049550e+01] [-5.08350509e-02 9.98679561e-01 -7.41159867e-03 -3.80269656e+00] [-5.59476285e-02 4.56183576e-03 9.98423283e-01 -2.58396080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.820714056999996 meters 0.05102563402818263 Centerline is valid? [True, True] Translation: X:36.03, Y:-3.82, Z:-2.59 [[ 9.97174597e-01 5.07071640e-02 5.54220703e-02 3.60326773e+01] [-5.03746001e-02 9.98703111e-01 -7.38209237e-03 -3.82007085e+00] [-5.57245190e-02 4.56937036e-03 9.98435726e-01 -2.58809482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.850714057 meters 0.04414828956392727 Centerline is valid? [True, True] Translation: X:36.06, Y:-3.81, Z:-2.59 [[ 9.97256534e-01 4.87307159e-02 5.57200469e-02 3.60648470e+01] [-4.83914426e-02 9.98800866e-01 -7.42280459e-03 -3.81379269e+00] [-5.60149497e-02 4.70606692e-03 9.98418839e-01 -2.58863793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.880714057 meters 0.04470384918457173 Centerline is valid? [True, True] Translation: X:36.10, Y:-3.82, Z:-2.59 [[ 9.97311948e-01 4.80802070e-02 5.52916950e-02 3.60960824e+01] [-4.77451029e-02 9.98832388e-01 -7.36650202e-03 -3.81817158e+00] [-5.55813188e-02 4.70679281e-03 9.98443070e-01 -2.59086199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.910714057 meters 0.0455862059505215 Centerline is valid? [True, True] Translation: X:36.13, Y:-3.82, Z:-2.59 [[ 9.97390843e-01 4.61984388e-02 5.54726049e-02 3.61268371e+01] [-4.58581225e-02 9.98920607e-01 -7.39285659e-03 -3.82317379e+00] [-5.57542666e-02 4.82969795e-03 9.98432840e-01 -2.59254279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.940714057 meters 0.04767854951827434 Centerline is valid? [True, True] Translation: X:36.16, Y:-3.83, Z:-2.59 [[ 9.97369184e-01 4.57513886e-02 5.62274017e-02 3.61571821e+01] [-4.54011160e-02 9.98940744e-01 -7.49193661e-03 -3.83035246e+00] [-5.65106090e-02 4.91943991e-03 9.98389879e-01 -2.59475503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.970714056999995 meters 0.045669058174595746 Centerline is valid? [True, True] Translation: X:36.19, Y:-3.83, Z:-2.60 [[ 9.97348527e-01 4.55080933e-02 5.67884575e-02 3.61892062e+01] [-4.51496451e-02 9.98951478e-01 -7.57979768e-03 -3.83186020e+00] [-5.70738557e-02 4.99572135e-03 9.98357460e-01 -2.59630835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.000714056999996 meters 0.04896965626006766 Centerline is valid? [True, True] Translation: X:36.22, Y:-3.84, Z:-2.60 [[ 9.97322602e-01 4.50921748e-02 5.75701561e-02 3.62197381e+01] [-4.47221540e-02 9.98969787e-01 -7.70026180e-03 -3.84027967e+00] [-5.78580681e-02 5.10498374e-03 9.98311766e-01 -2.59778469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.030714057 meters 0.04955174007444789 Centerline is valid? [True, True] Translation: X:36.25, Y:-3.85, Z:-2.60 [[ 9.97324099e-01 4.52820499e-02 5.73949282e-02 3.62528199e+01] [-4.49142382e-02 9.98961302e-01 -7.68296663e-03 -3.84513887e+00] [-5.76832127e-02 5.08455829e-03 9.98321989e-01 -2.60006414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.060714057 meters 0.04524504035663244 Centerline is valid? [True, True] Translation: X:36.29, Y:-3.84, Z:-2.60 [[ 9.97321875e-01 4.55726700e-02 5.72032213e-02 3.62860770e+01] [-4.52068725e-02 9.98948177e-01 -7.67321696e-03 -3.84362771e+00] [-5.74927426e-02 5.06668839e-03 9.98333067e-01 -2.60164364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.090714057 meters 0.05136213802886311 Centerline is valid? [True, True] Translation: X:36.32, Y:-3.86, Z:-2.61 [[ 9.97306792e-01 4.67099912e-02 5.65450267e-02 3.63158407e+01] [-4.63534248e-02 9.98896177e-01 -7.60184080e-03 -3.85606142e+00] [-5.68376929e-02 4.96031182e-03 9.98371109e-01 -2.60604872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.120714057 meters 0.04509421768695198 Centerline is valid? [True, True] Translation: X:36.35, Y:-3.85, Z:-2.61 [[ 9.97258961e-01 4.77927739e-02 5.64837680e-02 3.63488473e+01] [-4.74379624e-02 9.98845223e-01 -7.60662495e-03 -3.85106474e+00] [-5.67820836e-02 4.90630003e-03 9.98374541e-01 -2.60732515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.150714056999995 meters 0.04319288208677449 Centerline is valid? [True, True] Translation: X:36.38, Y:-3.85, Z:-2.61 [[ 9.97158469e-01 5.00685364e-02 5.62861355e-02 3.63792535e+01] [-4.97188245e-02 9.98734359e-01 -7.59726477e-03 -3.85162320e+00] [-5.65952813e-02 4.77719642e-03 9.98385773e-01 -2.60982783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.180714056999996 meters 0.04365897061975043 Centerline is valid? [True, True] Translation: X:36.41, Y:-3.86, Z:-2.61 [[ 9.97087067e-01 5.16336033e-02 5.61369076e-02 3.64098109e+01] [-5.12882314e-02 9.98655151e-01 -7.57668672e-03 -3.85573563e+00] [-5.64526235e-02 4.67545363e-03 9.98394332e-01 -2.61215106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.210714057 meters 0.052159602453282626 Centerline is valid? [True, True] Translation: X:36.44, Y:-3.87, Z:-2.62 [[ 9.97013618e-01 5.36722539e-02 5.55259784e-02 3.64381901e+01] [-5.33374443e-02 9.98548415e-01 -7.49533351e-03 -3.87104672e+00] [-5.58476692e-02 4.51133580e-03 9.98429109e-01 -2.61653492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.240714057 meters 0.05180032867197584 Centerline is valid? [True, True] Translation: X:36.47, Y:-3.87, Z:-2.62 [[ 9.96894953e-01 5.59414703e-02 5.54166513e-02 3.64691356e+01] [-5.56110629e-02 9.98424431e-01 -7.48768894e-03 -3.87408342e+00] [-5.57482108e-02 4.38266043e-03 9.98435240e-01 -2.61922681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.270714057 meters 0.041820120771796775 Centerline is valid? [True, True] Translation: X:36.50, Y:-3.86, Z:-2.62 [[ 9.96548622e-01 6.13901094e-02 5.58757391e-02 3.65018903e+01] [-6.10626489e-02 9.98105375e-01 -7.55067358e-03 -3.86294557e+00] [-5.62334123e-02 4.11269271e-03 9.98409179e-01 -2.61917372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.300714057 meters 0.04051924586706021 Centerline is valid? [True, True] Translation: X:36.53, Y:-3.86, Z:-2.62 [[ 9.96392051e-01 6.38208354e-02 5.59444518e-02 3.65320042e+01] [-6.34962932e-02 9.97953429e-01 -7.56142355e-03 -3.86379788e+00] [-5.63125338e-02 3.98187701e-03 9.98405250e-01 -2.62067153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.330714056999994 meters 0.03812263093178124 Centerline is valid? [True, True] Translation: X:36.56, Y:-3.86, Z:-2.62 [[ 9.96210962e-01 6.64207767e-02 5.61426644e-02 3.65619724e+01] [-6.60981575e-02 9.97784288e-01 -7.58600119e-03 -3.86267910e+00] [-5.65221365e-02 3.84633088e-03 9.98393937e-01 -2.62171844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.360714056999996 meters 0.03498207208922204 Centerline is valid? [True, True] Translation: X:36.59, Y:-3.86, Z:-2.62 [[ 9.95822900e-01 7.14308879e-02 5.68716120e-02 3.65931614e+01] [-7.11080928e-02 9.97439034e-01 -7.68201524e-03 -3.86017268e+00] [-5.72746989e-02 3.60589482e-03 9.98351945e-01 -2.62277169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.390714057 meters 0.033409169091492566 Centerline is valid? [True, True] Translation: X:36.62, Y:-3.86, Z:-2.62 [[ 9.95685131e-01 7.32178512e-02 5.70111067e-02 3.66225434e+01] [-7.28963473e-02 9.97309786e-01 -7.70149020e-03 -3.86072062e+00] [-5.74216212e-02 3.51235785e-03 9.98343839e-01 -2.62407362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.420714057 meters 0.034100818644495594 Centerline is valid? [True, True] Translation: X:36.65, Y:-3.86, Z:-2.63 [[ 9.95437030e-01 7.60829583e-02 5.75890895e-02 3.66511465e+01] [-7.57598635e-02 9.97095770e-01 -7.77616732e-03 -3.86495291e+00] [-5.80134713e-02 3.37774334e-03 9.98310086e-01 -2.62650457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.450714057 meters 0.031307889618036336 Centerline is valid? [True, True] Translation: X:36.68, Y:-3.86, Z:-2.63 [[ 9.95336887e-01 7.70462575e-02 5.80375335e-02 3.66799197e+01] [-7.67198381e-02 9.97021905e-01 -7.83495770e-03 -3.86418377e+00] [-5.84683464e-02 3.34579224e-03 9.98283656e-01 -2.62754746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.480714057 meters 0.030823188121079464 Centerline is valid? [True, True] Translation: X:36.71, Y:-3.87, Z:-2.63 [[ 9.95329153e-01 7.73271002e-02 5.77961703e-02 3.67088052e+01] [-7.70041169e-02 9.97000279e-01 -7.79806171e-03 -3.86706121e+00] [-5.82257995e-02 3.31109510e-03 9.98297948e-01 -2.62920152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.510714057 meters 0.03338045614792836 Centerline is valid? [True, True] Translation: X:36.73, Y:-3.88, Z:-2.63 [[ 9.95322818e-01 7.71630912e-02 5.81235355e-02 3.67344056e+01] [-7.68363819e-02 9.97012904e-01 -7.83836342e-03 -3.87522017e+00] [-5.85547472e-02 3.33569980e-03 9.98278626e-01 -2.63186867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.540714056999995 meters 0.03172899006607611 Centerline is valid? [True, True] Translation: X:36.76, Y:-3.88, Z:-2.63 [[ 9.95362067e-01 7.66446000e-02 5.81374311e-02 3.67633443e+01] [-7.63173351e-02 9.97052819e-01 -7.83203010e-03 -3.87663008e+00] [-5.85663724e-02 3.35881186e-03 9.98277866e-01 -2.63311832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.570714056999996 meters 0.03505126320887511 Centerline is valid? [True, True] Translation: X:36.79, Y:-3.89, Z:-2.64 [[ 9.95366571e-01 7.61239647e-02 5.87412287e-02 3.67903872e+01] [-7.57891939e-02 9.97092493e-01 -7.90933048e-03 -3.88644245e+00] [-5.91725278e-02 3.42073278e-03 9.98241910e-01 -2.63565405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.600714057 meters 0.033055213571798955 Centerline is valid? [True, True] Translation: X:36.82, Y:-3.89, Z:-2.64 [[ 9.95425522e-01 7.44809108e-02 5.98383212e-02 3.68201171e+01] [-7.41310117e-02 9.97216026e-01 -8.04930383e-03 -3.88785612e+00] [-6.02712524e-02 3.57660717e-03 9.98175628e-01 -2.63600499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.630714057 meters 0.033655015975380086 Centerline is valid? [True, True] Translation: X:36.85, Y:-3.89, Z:-2.64 [[ 9.95422837e-01 7.40668149e-02 6.03943919e-02 3.68482380e+01] [-7.37097338e-02 9.97246663e-01 -8.12214033e-03 -3.89319390e+00] [-6.08296868e-02 3.63330942e-03 9.98141547e-01 -2.63791870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.660714057 meters 0.03478272072765916 Centerline is valid? [True, True] Translation: X:36.87, Y:-3.90, Z:-2.64 [[ 9.95492712e-01 7.29596447e-02 6.05900210e-02 3.68748589e+01] [-7.25984644e-02 9.97327998e-01 -8.14414897e-03 -3.89961205e+00] [-6.10223185e-02 3.70869846e-03 9.98129512e-01 -2.63998286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.690714057 meters 0.035074751230423286 Centerline is valid? [True, True] Translation: X:36.90, Y:-3.90, Z:-2.64 [[ 9.95553842e-01 7.23681056e-02 6.02943167e-02 3.69029559e+01] [-7.20097135e-02 9.97371050e-01 -8.09871571e-03 -3.90405528e+00] [-6.07218947e-02 3.72093108e-03 9.98147788e-01 -2.64192742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.720714056999995 meters 0.03464821824934291 Centerline is valid? [True, True] Translation: X:36.93, Y:-3.91, Z:-2.64 [[ 9.95545822e-01 7.22286843e-02 6.05931803e-02 3.69315722e+01] [-7.18667367e-02 9.97381072e-01 -8.13446518e-03 -3.90762366e+00] [-6.10220328e-02 3.74359869e-03 9.98129399e-01 -2.64418118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.750714056999996 meters 0.032983819606883555 Centerline is valid? [True, True] Translation: X:36.96, Y:-3.91, Z:-2.65 [[ 9.95497493e-01 7.28007986e-02 6.07024356e-02 3.69599205e+01] [-7.24388718e-02 9.97339598e-01 -8.14471386e-03 -3.90961186e+00] [-6.11338843e-02 3.71082627e-03 9.98122677e-01 -2.64646084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.780714057 meters 0.03501482385279725 Centerline is valid? [True, True] Translation: X:36.99, Y:-3.92, Z:-2.65 [[ 9.95453412e-01 7.35691690e-02 6.04986148e-02 3.69872793e+01] [-7.32113590e-02 9.97283449e-01 -8.11287234e-03 -3.91712040e+00] [-6.09311246e-02 3.64680064e-03 9.98135311e-01 -2.64923191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.810714057 meters 0.032105642711164784 Centerline is valid? [True, True] Translation: X:37.02, Y:-3.92, Z:-2.65 [[ 9.95405650e-01 7.43701042e-02 6.03048941e-02 3.70169996e+01] [-7.40163267e-02 9.97224277e-01 -8.08232338e-03 -3.91624622e+00] [-6.07385877e-02 3.58164361e-03 9.98147282e-01 -2.65042325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.840714057 meters 0.03582647813155588 Centerline is valid? [True, True] Translation: X:37.04, Y:-3.93, Z:-2.65 [[ 9.95266911e-01 7.61075939e-02 6.04268966e-02 3.70437048e+01] [-7.57557585e-02 9.97093540e-01 -8.09557567e-03 -3.92525439e+00] [-6.08674030e-02 3.47957321e-03 9.98139796e-01 -2.65315909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.870714057 meters 0.032061773755959366 Centerline is valid? [True, True] Translation: X:37.07, Y:-3.92, Z:-2.65 [[ 9.94929495e-01 8.01432894e-02 6.07647394e-02 3.70745818e+01] [-7.97953767e-02 9.96778072e-01 -8.13464686e-03 -3.92325711e+00] [-6.12208972e-02 3.24465482e-03 9.98118968e-01 -2.65427618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.900714056999995 meters 0.029832648088254844 Centerline is valid? [True, True] Translation: X:37.11, Y:-3.92, Z:-2.66 [[ 9.94747368e-01 8.25345086e-02 6.05452563e-02 3.71050814e+01] [-8.21935844e-02 9.96583432e-01 -8.10421835e-03 -3.92306113e+00] [-6.10072770e-02 3.08521824e-03 9.98132553e-01 -2.65617693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.930714056999996 meters 0.03055544107472736 Centerline is valid? [True, True] Translation: X:37.13, Y:-3.93, Z:-2.66 [[ 9.94358759e-01 8.67791707e-02 6.09920785e-02 3.71330507e+01] [-8.64411985e-02 9.96223510e-01 -8.16314406e-03 -3.92917227e+00] [-6.14701334e-02 2.84486543e-03 9.98104869e-01 -2.65896848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.960714057 meters 0.030420946247400753 Centerline is valid? [True, True] Translation: X:37.16, Y:-3.93, Z:-2.66 [[ 9.94186563e-01 8.87080378e-02 6.10242814e-02 3.71604261e+01] [-8.83735246e-02 9.96053947e-01 -8.16429946e-03 -3.93277105e+00] [-6.15077153e-02 2.72390598e-03 9.98102891e-01 -2.66125248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.990714057 meters 0.030420946247400753 Centerline is valid? [True, True] Translation: X:37.19, Y:-3.94, Z:-2.66 [[ 9.94195705e-01 8.86050434e-02 6.10249704e-02 3.71876159e+01] [-8.82706525e-02 9.96063111e-01 -8.15914577e-03 -3.93631343e+00] [-6.15076633e-02 2.72507372e-03 9.98102891e-01 -2.66314313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.020714057 meters 0.029807771875646847 Centerline is valid? [True, True] Translation: X:37.22, Y:-3.94, Z:-2.67 [[ 9.94030845e-01 9.06411542e-02 6.07195293e-02 3.72160356e+01] [-9.03143001e-02 9.95880278e-01 -8.11168836e-03 -3.93915173e+00] [-6.12046345e-02 2.57942664e-03 9.98121906e-01 -2.66505255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.050714057 meters 0.027327330205452704 Centerline is valid? [True, True] Translation: X:37.25, Y:-3.94, Z:-2.67 [[ 9.93744301e-01 9.39505849e-02 6.03784032e-02 3.72459112e+01] [-9.36337614e-02 9.95574070e-01 -8.06164707e-03 -3.93830164e+00] [-6.08685690e-02 2.35775884e-03 9.98143005e-01 -2.66659730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.080714056999994 meters 0.026782641830695775 Centerline is valid? [True, True] Translation: X:37.27, Y:-3.94, Z:-2.67 [[ 9.93504920e-01 9.62696134e-02 6.06641215e-02 3.72746459e+01] [-9.59542117e-02 9.95352809e-01 -8.09784487e-03 -3.94183575e+00] [-6.11617801e-02 2.22427076e-03 9.98125388e-01 -2.66881148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.110714056999996 meters 0.026782641830695775 Centerline is valid? [True, True] Translation: X:37.30, Y:-3.95, Z:-2.67 [[ 9.93515231e-01 9.61627986e-02 6.06646650e-02 3.73018255e+01] [-9.58474467e-02 9.95363129e-01 -8.09377094e-03 -3.94537433e+00] [-6.11616904e-02 2.22673145e-03 9.98125388e-01 -2.67070106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.140714057 meters 0.026569395379062097 Centerline is valid? [True, True] Translation: X:37.33, Y:-3.95, Z:-2.67 [[ 9.93316244e-01 9.76763466e-02 6.14993623e-02 3.73302960e+01] [-9.73555784e-02 9.95215898e-01 -8.19806034e-03 -3.95056069e+00] [-6.20058997e-02 2.15596051e-03 9.98073454e-01 -2.67240188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.170714057 meters 0.025979704366383978 Centerline is valid? [True, True] Translation: X:37.36, Y:-3.95, Z:-2.67 [[ 9.93232116e-01 9.84376635e-02 6.16440652e-02 3.73585943e+01] [-9.81171232e-02 9.95140984e-01 -8.21288179e-03 -3.95375996e+00] [-6.21529926e-02 2.10895961e-03 9.98064406e-01 -2.67426595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.200714057 meters 0.026257609478764533 Centerline is valid? [True, True] Translation: X:37.39, Y:-3.96, Z:-2.68 [[ 9.93175998e-01 9.88421663e-02 6.19004311e-02 3.73860101e+01] [-9.85200134e-02 9.95100933e-01 -8.24258022e-03 -3.95963051e+00] [-6.24118912e-02 2.08790154e-03 9.98048294e-01 -2.67666885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.230714057 meters 0.025760153242257004 Centerline is valid? [True, True] Translation: X:37.41, Y:-3.96, Z:-2.68 [[ 9.93176535e-01 9.87617826e-02 6.20200069e-02 3.74140536e+01] [-9.84385724e-02 9.95108907e-01 -8.25297150e-03 -3.96353695e+00] [-6.25317394e-02 2.09149670e-03 9.98040784e-01 -2.67855799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.260714057 meters 0.025432375847678795 Centerline is valid? [True, True] Translation: X:37.44, Y:-3.97, Z:-2.68 [[ 9.93183919e-01 9.85765821e-02 6.21961390e-02 3.74427095e+01] [-9.82516130e-02 9.95127247e-01 -8.26933520e-03 -3.96797508e+00] [-6.27082354e-02 2.10209976e-03 9.98029688e-01 -2.68081028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.290714056999995 meters 0.02703732046023036 Centerline is valid? [True, True] Translation: X:37.47, Y:-3.98, Z:-2.68 [[ 9.93261183e-01 9.78568997e-02 6.20987080e-02 3.74696537e+01] [-9.75318277e-02 9.95198196e-01 -8.25188616e-03 -3.97642596e+00] [-6.26080262e-02 2.13967772e-03 9.98035900e-01 -2.68354553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.320714056999996 meters 0.026923024065889915 Centerline is valid? [True, True] Translation: X:37.50, Y:-3.98, Z:-2.69 [[ 9.93569180e-01 9.51231286e-02 6.14155869e-02 3.74985939e+01] [-9.48003345e-02 9.95462902e-01 -8.15517670e-03 -3.98421547e+00] [-6.19126843e-02 2.28051404e-03 9.98078964e-01 -2.68635107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.350714057 meters 0.027421922931502765 Centerline is valid? [True, True] Translation: X:37.53, Y:-3.99, Z:-2.69 [[ 9.93759220e-01 9.30216777e-02 6.15595633e-02 3.75265271e+01] [-9.26934663e-02 9.95661154e-01 -8.17231675e-03 -3.99112148e+00] [-6.20526685e-02 2.41514581e-03 9.98069954e-01 -2.68871885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.380714057 meters 0.031542670881789296 Centerline is valid? [True, True] Translation: X:37.55, Y:-4.00, Z:-2.69 [[ 9.94120807e-01 8.87564605e-02 6.20170237e-02 3.75544030e+01] [-8.84153653e-02 9.96049707e-01 -8.22826031e-03 -4.00489145e+00] [-6.25023496e-02 2.69662698e-03 9.98041174e-01 -2.69046391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.410714057 meters 0.030060565964133194 Centerline is valid? [True, True] Translation: X:37.58, Y:-4.01, Z:-2.69 [[ 9.94295888e-01 8.63870886e-02 6.25536428e-02 3.75835208e+01] [-8.60354384e-02 9.96257516e-01 -8.29853647e-03 -4.00802466e+00] [-6.30364232e-02 2.86937060e-03 9.98007102e-01 -2.69121312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.440714057 meters 0.02952115399758647 Centerline is valid? [True, True] Translation: X:37.61, Y:-4.01, Z:-2.69 [[ 9.94494113e-01 8.38080470e-02 6.29100261e-02 3.76127890e+01] [-8.34474456e-02 9.96477259e-01 -8.34238453e-03 -4.01249039e+00] [-6.33875694e-02 3.04677132e-03 9.97984335e-01 -2.69293000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.470714056999995 meters 0.030619256045660223 Centerline is valid? [True, True] Translation: X:37.64, Y:-4.02, Z:-2.70 [[ 9.94777495e-01 7.99008248e-02 6.35105793e-02 3.76421174e+01] [-7.95255175e-02 9.96797273e-01 -8.41952839e-03 -4.02374582e+00] [-6.39798995e-02 3.32484568e-03 9.97945649e-01 -2.69616802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.500714056999996 meters 0.03136464106325941 Centerline is valid? [True, True] Translation: X:37.67, Y:-4.03, Z:-2.70 [[ 9.94936065e-01 7.81215581e-02 6.32396129e-02 3.76704423e+01] [-7.77458537e-02 9.96937958e-01 -8.38387217e-03 -4.03106772e+00] [-6.37009318e-02 3.42479909e-03 9.97963157e-01 -2.69838470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.530714057 meters 0.030609981413816306 Centerline is valid? [True, True] Translation: X:37.70, Y:-4.04, Z:-2.70 [[ 9.95144080e-01 7.58333791e-02 6.27499679e-02 3.76998794e+01] [-7.54591684e-02 9.97114220e-01 -8.31547705e-03 -4.03618579e+00] [-6.31994760e-02 3.54003736e-03 9.97994636e-01 -2.70013606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.560714057 meters 0.031434656763928065 Centerline is valid? [True, True] Translation: X:37.73, Y:-4.04, Z:-2.70 [[ 9.95216297e-01 7.47304417e-02 6.29276112e-02 3.77269139e+01] [-7.43520412e-02 9.97197207e-01 -8.33695542e-03 -4.04149039e+00] [-6.33742625e-02 3.61827755e-03 9.97983272e-01 -2.70156272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.590714057 meters 0.030969759054453525 Centerline is valid? [True, True] Translation: X:37.76, Y:-4.05, Z:-2.70 [[ 9.95207108e-01 7.44000588e-02 6.34621380e-02 3.77552934e+01] [-7.40149066e-02 9.97221742e-01 -8.40178277e-03 -4.04549727e+00] [-6.39109169e-02 3.66436972e-03 9.97948880e-01 -2.70282031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.620714057 meters 0.031979197529489765 Centerline is valid? [True, True] Translation: X:37.78, Y:-4.05, Z:-2.70 [[ 9.95217371e-01 7.39157714e-02 6.38658182e-02 3.77826469e+01] [-7.35250037e-02 9.97257571e-01 -8.45055605e-03 -4.05134250e+00] [-6.43153001e-02 3.71440566e-03 9.97922715e-01 -2.70444585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.650714056999995 meters 0.03119935215745774 Centerline is valid? [True, True] Translation: X:37.81, Y:-4.06, Z:-2.71 [[ 9.95124213e-01 7.46555812e-02 6.44542036e-02 3.78111641e+01] [-7.42595547e-02 9.97202537e-01 -8.52161680e-03 -4.05687156e+00] [-6.49100816e-02 3.69372676e-03 9.97884281e-01 -2.70630952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.680714056999996 meters 0.03314334916852215 Centerline is valid? [True, True] Translation: X:37.84, Y:-4.06, Z:-2.71 [[ 9.95086707e-01 7.50308304e-02 6.45973638e-02 3.78378575e+01] [-7.46341371e-02 9.97174451e-01 -8.53578657e-03 -4.06471204e+00] [-6.50552880e-02 3.67267924e-03 9.97874902e-01 -2.70910413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.710714057 meters 0.03312054601293394 Centerline is valid? [True, True] Translation: X:37.87, Y:-4.07, Z:-2.71 [[ 9.95065399e-01 7.57464550e-02 6.40884311e-02 3.78667030e+01] [-7.53578812e-02 9.97120644e-01 -8.46227514e-03 -4.06887382e+00] [-6.45448851e-02 3.59094881e-03 9.97908344e-01 -2.71139905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.740714057 meters 0.03331144568626648 Centerline is valid? [True, True] Translation: X:37.89, Y:-4.07, Z:-2.71 [[ 9.94986452e-01 7.72948996e-02 6.34622575e-02 3.78942442e+01] [-7.69172385e-02 9.97002294e-01 -8.37634916e-03 -4.07328723e+00] [-6.39194654e-02 3.45301234e-03 9.97949086e-01 -2.71409051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.770714057 meters 0.03348520989425029 Centerline is valid? [True, True] Translation: X:37.92, Y:-4.08, Z:-2.72 [[ 9.94922493e-01 7.82098459e-02 6.33439207e-02 3.79217115e+01] [-7.78357716e-02 9.96931180e-01 -8.35556194e-03 -4.07826353e+00] [-6.38030168e-02 3.38271358e-03 9.97956779e-01 -2.71655607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.800714057 meters 0.029790072594364475 Centerline is valid? [True, True] Translation: X:37.95, Y:-4.08, Z:-2.72 [[ 9.94864552e-01 7.92801942e-02 6.29219714e-02 3.79509962e+01] [-7.89135813e-02 9.96846955e-01 -8.29432806e-03 -4.07754180e+00] [-6.33811515e-02 3.28633486e-03 9.97983983e-01 -2.71906666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.830714056999994 meters 0.030316116954457947 Centerline is valid? [True, True] Translation: X:37.98, Y:-4.08, Z:-2.72 [[ 9.94778032e-01 8.00241744e-02 6.33466491e-02 3.79778884e+01] [-7.96543914e-02 9.96787605e-01 -8.34561015e-03 -4.08343558e+00] [-6.38110052e-02 3.25619086e-03 9.97956689e-01 -2.72148358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.860714056999996 meters 0.030177560780485668 Centerline is valid? [True, True] Translation: X:38.01, Y:-4.09, Z:-2.72 [[ 9.94698398e-01 8.09899560e-02 6.33697422e-02 3.80063739e+01] [-8.06222377e-02 9.96709815e-01 -8.34267805e-03 -4.08769952e+00] [-6.38369171e-02 3.18943807e-03 9.97955247e-01 -2.72353902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.890714057 meters 0.030006782082178954 Centerline is valid? [True, True] Translation: X:38.04, Y:-4.09, Z:-2.73 [[ 9.94590157e-01 8.20660182e-02 6.36834946e-02 3.80354266e+01] [-8.16971504e-02 9.96621977e-01 -8.37918275e-03 -4.09147735e+00] [-6.41560164e-02 3.13109265e-03 9.97934969e-01 -2.72529093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.920714057 meters 0.029633636890747765 Centerline is valid? [True, True] Translation: X:38.06, Y:-4.09, Z:-2.73 [[ 9.94453063e-01 8.38174833e-02 6.35431667e-02 3.80641382e+01] [-8.34540233e-02 9.96476583e-01 -8.35731439e-03 -4.09420607e+00] [-6.40197667e-02 3.00802398e-03 9.97944097e-01 -2.72726378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.950714057 meters 0.028341850525679786 Centerline is valid? [True, True] Translation: X:38.09, Y:-4.10, Z:-2.73 [[ 9.94386349e-01 8.46829379e-02 6.34396468e-02 3.80933562e+01] [-8.43226996e-02 9.96403602e-01 -8.33931113e-03 -4.09565393e+00] [-6.39176899e-02 2.94309487e-03 9.97950834e-01 -2.72911083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.980714057 meters 0.029253304302421762 Centerline is valid? [True, True] Translation: X:38.12, Y:-4.10, Z:-2.73 [[ 9.94261295e-01 8.58366824e-02 6.38477911e-02 3.81202710e+01] [-8.54746821e-02 9.96305060e-01 -8.38483034e-03 -4.10359334e+00] [-6.43316034e-02 2.87934263e-03 9.97924423e-01 -2.73195872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.010714057 meters 0.029687942924517485 Centerline is valid? [True, True] Translation: X:38.15, Y:-4.11, Z:-2.73 [[ 9.94262338e-01 8.56430753e-02 6.40910867e-02 3.81484168e+01] [-8.52782990e-02 9.96321671e-01 -8.41070068e-03 -4.10931451e+00] [-6.45756569e-02 2.89686406e-03 9.97908609e-01 -2.73470281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.040714056999995 meters 0.029959287321639914 Centerline is valid? [True, True] Translation: X:38.18, Y:-4.11, Z:-2.74 [[ 9.94312221e-01 8.52575276e-02 6.38307280e-02 3.81763975e+01] [-8.48952155e-02 9.96354712e-01 -8.37197296e-03 -4.11453645e+00] [-6.43118204e-02 2.90543161e-03 9.97925623e-01 -2.73710378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.070714056999996 meters 0.029049512230695403 Centerline is valid? [True, True] Translation: X:38.20, Y:-4.12, Z:-2.74 [[ 9.94409579e-01 8.43582886e-02 6.35080242e-02 3.82044528e+01] [-8.39980917e-02 9.96431137e-01 -8.32522290e-03 -4.11768563e+00] [-6.39836743e-02 2.94412857e-03 9.97946603e-01 -2.73873487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.100714057 meters 0.02905092048128671 Centerline is valid? [True, True] Translation: X:38.23, Y:-4.12, Z:-2.74 [[ 9.94457890e-01 8.37683623e-02 6.35324106e-02 3.82333262e+01] [-8.34070668e-02 9.96480806e-01 -8.32251733e-03 -4.12193670e+00] [-6.40059914e-02 2.97734101e-03 9.97945073e-01 -2.74061849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.130714057 meters 0.029644436307959637 Centerline is valid? [True, True] Translation: X:38.26, Y:-4.13, Z:-2.74 [[ 9.94504935e-01 8.28064072e-02 6.40549200e-02 3.82616370e+01] [-8.24374538e-02 9.96560955e-01 -8.38620468e-03 -4.12828484e+00] [-6.45290638e-02 3.05959743e-03 9.97911138e-01 -2.74286585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.160714057 meters 0.030467108058740845 Centerline is valid? [True, True] Translation: X:38.29, Y:-4.13, Z:-2.74 [[ 9.94565113e-01 8.21859077e-02 6.39195721e-02 3.82886211e+01] [-8.18175319e-02 9.96612230e-01 -8.36391354e-03 -4.13465073e+00] [-6.43904231e-02 3.08871499e-03 9.97920003e-01 -2.74495062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.190714057 meters 0.029275086811349216 Centerline is valid? [True, True] Translation: X:38.32, Y:-4.14, Z:-2.75 [[ 9.94599105e-01 8.17494079e-02 6.39504054e-02 3.83169710e+01] [-8.13802054e-02 9.96648058e-01 -8.36130979e-03 -4.13719461e+00] [-6.44195795e-02 3.11185411e-03 9.97918050e-01 -2.74725556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.220714056999995 meters 0.03128980064233134 Centerline is valid? [True, True] Translation: X:38.34, Y:-4.15, Z:-2.75 [[ 9.94595828e-01 8.17092153e-02 6.40526529e-02 3.83441501e+01] [-8.13390487e-02 9.96651344e-01 -8.37000074e-03 -4.14573807e+00] [-6.45220688e-02 3.11478597e-03 9.97911419e-01 -2.74999067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.250714056999996 meters 0.03180589248756548 Centerline is valid? [True, True] Translation: X:38.37, Y:-4.15, Z:-2.75 [[ 9.94596909e-01 8.23588260e-02 6.31982051e-02 3.83713907e+01] [-8.20001881e-02 9.96598149e-01 -8.25213216e-03 -4.15124185e+00] [-6.36628502e-02 3.02528043e-03 9.97966878e-01 -2.75278440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.280714057 meters 0.029027148654665644 Centerline is valid? [True, True] Translation: X:38.40, Y:-4.15, Z:-2.75 [[ 9.94548075e-01 8.32021810e-02 6.28611415e-02 3.84010542e+01] [-8.28494157e-02 9.96528322e-01 -8.20225215e-03 -4.14975675e+00] [-6.33253532e-02 2.94952524e-03 9.97988577e-01 -2.75446616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.310714057 meters 0.028476590833712154 Centerline is valid? [True, True] Translation: X:38.43, Y:-4.15, Z:-2.76 [[ 9.94456462e-01 8.44987716e-02 6.25803727e-02 3.84300486e+01] [-8.41519333e-02 9.96419506e-01 -8.16215071e-03 -4.15301538e+00] [-6.30459958e-02 2.85064417e-03 9.98006551e-01 -2.75656219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.340714057 meters 0.029061517133448254 Centerline is valid? [True, True] Translation: X:38.46, Y:-4.16, Z:-2.76 [[ 9.94264045e-01 8.63982729e-02 6.30424268e-02 3.84579012e+01] [-8.60503119e-02 9.96256891e-01 -8.21896593e-03 -4.15816726e+00] [-6.35165566e-02 2.74700182e-03 9.97977004e-01 -2.75903228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.370714057 meters 0.028131758679698457 Centerline is valid? [True, True] Translation: X:38.49, Y:-4.16, Z:-2.76 [[ 9.93835015e-01 9.10154061e-02 6.33100200e-02 3.84871426e+01] [-9.06741305e-02 9.95846452e-01 -8.24898422e-03 -4.16131377e+00] [-6.37978435e-02 2.45754834e-03 9.97959817e-01 -2.76121446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.400714056999995 meters 0.02781201167579963 Centerline is valid? [True, True] Translation: X:38.52, Y:-4.16, Z:-2.76 [[ 9.93558404e-01 9.36013389e-02 6.38786890e-02 3.85150612e+01] [-9.32593655e-02 9.95607078e-01 -8.32091494e-03 -4.16483330e+00] [-6.43769236e-02 2.31002897e-03 9.97922981e-01 -2.76319662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.430714056999996 meters 0.025913884535876293 Centerline is valid? [True, True] Translation: X:38.55, Y:-4.16, Z:-2.76 [[ 9.92953920e-01 9.94046469e-02 6.45075849e-02 3.85454353e+01] [-9.90684237e-02 9.95045185e-01 -8.39801397e-03 -4.16451374e+00] [-6.50227634e-02 1.94817614e-03 9.97881879e-01 -2.76431472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.460714057 meters 0.02494080262393536 Centerline is valid? [True, True] Translation: X:38.57, Y:-4.17, Z:-2.77 [[ 9.92777565e-01 1.00971797e-01 6.47873670e-02 3.85738348e+01] [-1.00636044e-01 9.94887564e-01 -8.43341033e-03 -4.16777951e+00] [-6.53076823e-02 1.85255627e-03 9.97863455e-01 -2.76621863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.490714057 meters 0.024894201941983055 Centerline is valid? [True, True] Translation: X:38.60, Y:-4.17, Z:-2.77 [[ 9.92396062e-01 1.04468052e-01 6.50882661e-02 3.86008323e+01] [-1.04136981e-01 9.94526915e-01 -8.46787948e-03 -4.17331966e+00] [-6.56166554e-02 1.62539474e-03 9.97843581e-01 -2.76853472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.520714057 meters 0.02475955704016481 Centerline is valid? [True, True] Translation: X:38.63, Y:-4.18, Z:-2.77 [[ 9.92305026e-01 1.05530861e-01 6.47608817e-02 3.86292098e+01] [-1.05205908e-01 9.94414837e-01 -8.41715512e-03 -4.17683806e+00] [-6.52874512e-02 1.53915795e-03 9.97865311e-01 -2.77111856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.550714057 meters 0.024529292472701022 Centerline is valid? [True, True] Translation: X:38.66, Y:-4.18, Z:-2.77 [[ 9.92227380e-01 1.06440919e-01 6.44605105e-02 3.86571695e+01] [-1.06121197e-01 9.94317945e-01 -8.37347665e-03 -4.18094637e+00] [-6.49855229e-02 1.46776626e-03 9.97885127e-01 -2.77359931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.580714056999994 meters 0.02451129857666544 Centerline is valid? [True, True] Translation: X:38.69, Y:-4.19, Z:-2.78 [[ 9.92150726e-01 1.07069352e-01 6.45994595e-02 3.86859940e+01] [-1.06749888e-01 9.94250533e-01 -8.38678112e-03 -4.18528698e+00] [-6.51260143e-02 1.42496592e-03 9.97876030e-01 -2.77601818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.610714056999996 meters 0.024419109930287383 Centerline is valid? [True, True] Translation: X:38.71, Y:-4.19, Z:-2.78 [[ 9.92011836e-01 1.07961389e-01 6.52445803e-02 3.87132761e+01] [-1.07637749e-01 9.94154136e-01 -8.46570352e-03 -4.19200767e+00] [-6.57771385e-02 1.37529835e-03 9.97833391e-01 -2.77866190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.640714057 meters 0.024491637005038758 Centerline is valid? [True, True] Translation: X:38.74, Y:-4.20, Z:-2.78 [[ 9.92026849e-01 1.07667366e-01 6.55016772e-02 3.87394360e+01] [-1.07340919e-01 9.94185996e-01 -8.49312169e-03 -4.19730268e+00] [-6.60352822e-02 1.39439451e-03 9.97816314e-01 -2.78084947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.670714057 meters 0.024361081849767506 Centerline is valid? [True, True] Translation: X:38.77, Y:-4.21, Z:-2.78 [[ 9.92105488e-01 1.06386127e-01 6.63979863e-02 3.87677814e+01] [-1.06048387e-01 9.94323774e-01 -8.60069817e-03 -4.20532146e+00] [-6.69360913e-02 1.49140051e-03 9.97756150e-01 -2.78221771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.700714057 meters 0.025527822070814693 Centerline is valid? [True, True] Translation: X:38.79, Y:-4.21, Z:-2.78 [[ 9.92241213e-01 1.04818943e-01 6.68607865e-02 3.87949042e+01] [-1.04473244e-01 9.94490029e-01 -8.65581876e-03 -4.21312548e+00] [-6.73996793e-02 1.60349681e-03 9.97724768e-01 -2.78432289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.730714057 meters 0.02518365123598416 Centerline is valid? [True, True] Translation: X:38.82, Y:-4.22, Z:-2.79 [[ 9.92361045e-01 1.03404714e-01 6.72831457e-02 3.88229131e+01] [-1.03051936e-01 9.94637908e-01 -8.70234377e-03 -4.21830597e+00] [-6.78222307e-02 1.70220853e-03 9.97695969e-01 -2.78637946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.760714057 meters 0.025968828939747855 Centerline is valid? [True, True] Translation: X:38.85, Y:-4.23, Z:-2.79 [[ 9.92701490e-01 1.00185856e-01 6.71308181e-02 3.88512640e+01] [-9.98276559e-02 9.94966901e-01 -8.67780906e-03 -4.22782028e+00] [-6.76623358e-02 1.91296178e-03 9.97706444e-01 -2.78889682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.790714056999995 meters 0.025541604477156338 Centerline is valid? [True, True] Translation: X:38.88, Y:-4.23, Z:-2.79 [[ 9.92857015e-01 9.88839407e-02 6.67601278e-02 3.88798628e+01] [-9.85269104e-02 9.95096987e-01 -8.62756477e-03 -4.23286599e+00] [-6.72859296e-02 1.98826907e-03 9.97731753e-01 -2.79129816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.820714056999996 meters 0.02786453596101139 Centerline is valid? [True, True] Translation: X:38.91, Y:-4.24, Z:-2.79 [[ 9.92965495e-01 9.79034127e-02 6.65916419e-02 3.89065159e+01] [-9.75463114e-02 9.95193821e-01 -8.60092749e-03 -4.24444114e+00] [-6.71136507e-02 2.04465519e-03 9.97743242e-01 -2.79393147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.850714057 meters 0.027091658594385167 Centerline is valid? [True, True] Translation: X:38.93, Y:-4.25, Z:-2.80 [[ 9.93130956e-01 9.62246309e-02 6.65712016e-02 3.89345198e+01] [-9.58644459e-02 9.95357320e-01 -8.59143336e-03 -4.24994838e+00] [-6.70888404e-02 2.15060707e-03 9.97744688e-01 -2.79678619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.880714057 meters 0.0274004615221144 Centerline is valid? [True, True] Translation: X:38.96, Y:-4.26, Z:-2.80 [[ 9.93217711e-01 9.54397005e-02 6.64066479e-02 3.89628801e+01] [-9.50798609e-02 9.95432796e-01 -8.56549959e-03 -4.25606400e+00] [-6.69208439e-02 2.19347105e-03 9.97755877e-01 -2.79895418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.910714057 meters 0.0274004615221144 Centerline is valid? [True, True] Translation: X:38.99, Y:-4.26, Z:-2.80 [[ 9.93224349e-01 9.53701726e-02 6.64072458e-02 3.89909141e+01] [-9.50104878e-02 9.95439460e-01 -8.56086127e-03 -4.25961837e+00] [-6.69208437e-02 2.19347104e-03 9.97755877e-01 -2.80090177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.940714057 meters 0.0271047219051589 Centerline is valid? [True, True] Translation: X:39.02, Y:-4.27, Z:-2.80 [[ 9.93253561e-01 9.46842288e-02 6.69496793e-02 3.90191794e+01] [-9.43174037e-02 9.95504806e-01 -8.62599664e-03 -4.26622823e+00] [-6.74654734e-02 2.25328195e-03 9.97719065e-01 -2.80314303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.970714056999995 meters 0.027284025626837606 Centerline is valid? [True, True] Translation: X:39.05, Y:-4.27, Z:-2.81 [[ 9.93228176e-01 9.50110160e-02 6.68632715e-02 3.90476751e+01] [-9.46462019e-02 9.95473738e-01 -8.61005957e-03 -4.27112982e+00] [-6.73786813e-02 2.22339907e-03 9.97724997e-01 -2.80529190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.000714056999996 meters 0.028955512464200743 Centerline is valid? [True, True] Translation: X:39.07, Y:-4.28, Z:-2.81 [[ 9.93332949e-01 9.37782014e-02 6.70470086e-02 3.90748332e+01] [-9.34089121e-02 9.95590438e-01 -8.62872946e-03 -4.27981329e+00] [-6.75605474e-02 2.30841315e-03 9.97712506e-01 -2.80774472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.030714057 meters 0.029681682869297163 Centerline is valid? [True, True] Translation: X:39.10, Y:-4.29, Z:-2.81 [[ 9.93457465e-01 9.23135941e-02 6.72344094e-02 3.91026467e+01] [-9.19388675e-02 9.95727055e-01 -8.65314173e-03 -4.28697638e+00] [-6.77459231e-02 2.41507278e-03 9.97699683e-01 -2.81019978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.060714057 meters 0.028166285848414522 Centerline is valid? [True, True] Translation: X:39.13, Y:-4.29, Z:-2.81 [[ 9.93536323e-01 9.13855753e-02 6.73368494e-02 3.91317583e+01] [-9.10078911e-02 9.95812502e-01 -8.66171852e-03 -4.28909440e+00] [-6.78464326e-02 2.47754732e-03 9.97692700e-01 -2.81178653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.090714057 meters 0.028365282319974986 Centerline is valid? [True, True] Translation: X:39.16, Y:-4.29, Z:-2.81 [[ 9.93600883e-01 9.03739893e-02 6.77482580e-02 3.91604108e+01] [-8.99896568e-02 9.95904615e-01 -8.70975202e-03 -4.29400486e+00] [-6.82579379e-02 2.55737482e-03 9.97664429e-01 -2.81385187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.120714057 meters 0.029471113346561356 Centerline is valid? [True, True] Translation: X:39.19, Y:-4.30, Z:-2.82 [[ 9.93757132e-01 8.83193697e-02 6.81648792e-02 3.91889252e+01] [-8.79258070e-02 9.96088522e-01 -8.75836120e-03 -4.30250801e+00] [-6.86717867e-02 2.71023190e-03 9.97635625e-01 -2.81653971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.150714056999995 meters 0.030265842553702235 Centerline is valid? [True, True] Translation: X:39.22, Y:-4.31, Z:-2.82 [[ 9.93867746e-01 8.69251783e-02 6.83441047e-02 3.92177931e+01] [-8.65263371e-02 9.96210872e-01 -8.78015902e-03 -4.30856194e+00] [-6.88483570e-02 2.81275181e-03 9.97623171e-01 -2.81884453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.180714056999996 meters 0.030747248000765507 Centerline is valid? [True, True] Translation: X:39.25, Y:-4.31, Z:-2.82 [[ 9.93958639e-01 8.59415883e-02 6.82661473e-02 3.92471432e+01] [-8.55415105e-02 9.96296029e-01 -8.76773857e-03 -4.31411772e+00] [-6.87668049e-02 2.87518014e-03 9.97628618e-01 -2.82069667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.210714057 meters 0.03192539223221649 Centerline is valid? [True, True] Translation: X:39.28, Y:-4.32, Z:-2.82 [[ 9.94135244e-01 8.34919375e-02 6.87329069e-02 3.92765706e+01] [-8.30806902e-02 9.96503745e-01 -8.82526545e-03 -4.32148373e+00] [-6.92294376e-02 3.06313008e-03 9.97596062e-01 -2.82240930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.240714057 meters 0.03277051427116504 Centerline is valid? [True, True] Translation: X:39.31, Y:-4.33, Z:-2.82 [[ 9.94276245e-01 8.21137244e-02 6.83526560e-02 3.93058454e+01] [-8.17038567e-02 9.96618018e-01 -8.77527734e-03 -4.32796408e+00] [-6.88420593e-02 3.14037419e-03 9.97622629e-01 -2.82416867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.270714057 meters 0.03339788144197736 Centerline is valid? [True, True] Translation: X:39.34, Y:-4.33, Z:-2.83 [[ 9.94426152e-01 8.03904159e-02 6.82202961e-02 3.93369057e+01] [-7.99776891e-02 9.96758124e-01 -8.76417420e-03 -4.33309892e+00] [-6.87036900e-02 3.25922240e-03 9.97631786e-01 -2.82735724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.300714057 meters 0.035130184973591556 Centerline is valid? [True, True] Translation: X:39.37, Y:-4.34, Z:-2.83 [[ 9.94768473e-01 7.61555965e-02 6.80882536e-02 3.93673130e+01] [-7.57344199e-02 9.97089636e-01 -8.74956803e-03 -4.34082117e+00] [-6.85564206e-02 3.54717004e-03 9.97640935e-01 -2.83027195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.330714056999994 meters 0.03367627186077734 Centerline is valid? [True, True] Translation: X:39.40, Y:-4.34, Z:-2.83 [[ 9.94867259e-01 7.45158973e-02 6.84581517e-02 3.93989415e+01] [-7.40861730e-02 9.97213031e-01 -8.79830856e-03 -4.34296470e+00] [-6.89229748e-02 3.68134665e-03 9.97615192e-01 -2.83249629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.360714056999996 meters 0.03378453282145386 Centerline is valid? [True, True] Translation: X:39.43, Y:-4.35, Z:-2.84 [[ 9.95015158e-01 7.25001863e-02 6.84730459e-02 3.94309585e+01] [-7.20649159e-02 9.97361043e-01 -8.80898088e-03 -4.34678148e+00] [-6.89310013e-02 3.83056521e-03 9.97614076e-01 -2.83506732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.390714057 meters 0.03406010723074232 Centerline is valid? [True, True] Translation: X:39.46, Y:-4.35, Z:-2.84 [[ 9.95162181e-01 6.99384488e-02 6.89988956e-02 3.94623534e+01] [-6.94899750e-02 9.97543112e-01 -8.88163175e-03 -4.34986929e+00] [-6.94505405e-02 4.04393250e-03 9.97577200e-01 -2.83724462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.420714057 meters 0.035192532440071846 Centerline is valid? [True, True] Translation: X:39.49, Y:-4.35, Z:-2.84 [[ 9.95120633e-01 7.03961974e-02 6.91324895e-02 3.94938900e+01] [-6.99468890e-02 9.97511000e-01 -8.90158650e-03 -4.35456056e+00] [-6.95870566e-02 4.02254983e-03 9.97567772e-01 -2.83855261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.450714057 meters 0.03495482829996097 Centerline is valid? [True, True] Translation: X:39.53, Y:-4.36, Z:-2.84 [[ 9.95122541e-01 6.92332733e-02 7.02700717e-02 3.95254746e+01] [-6.87648474e-02 9.97591699e-01 -9.06629318e-03 -4.35772678e+00] [-7.07285293e-02 4.18996195e-03 9.97486802e-01 -2.83991321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.480714057 meters 0.033675228249257144 Centerline is valid? [True, True] Translation: X:39.56, Y:-4.36, Z:-2.84 [[ 9.95092838e-01 6.94974598e-02 7.04297345e-02 3.95586743e+01] [-6.90263625e-02 9.97573298e-01 -9.10370069e-03 -4.35881889e+00] [-7.08915065e-02 4.19751897e-03 9.97475200e-01 -2.84215127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.510714057 meters 0.03486143297308824 Centerline is valid? [True, True] Translation: X:39.59, Y:-4.36, Z:-2.84 [[ 9.94983649e-01 7.06128482e-02 7.08615826e-02 3.95892137e+01] [-7.01372600e-02 9.97495105e-01 -9.18048135e-03 -4.36297030e+00] [-7.13323417e-02 4.16439158e-03 9.97443911e-01 -2.84405644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.540714056999995 meters 0.03257768265805815 Centerline is valid? [True, True] Translation: X:39.62, Y:-4.36, Z:-2.85 [[ 9.94748895e-01 7.31711065e-02 7.15585369e-02 3.96211214e+01] [-7.26914907e-02 9.97311232e-01 -9.28730998e-03 -4.36100481e+00] [-7.20456953e-02 4.03684462e-03 9.97393163e-01 -2.84571641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.570714056999996 meters 0.03309137897497046 Centerline is valid? [True, True] Translation: X:39.65, Y:-4.36, Z:-2.85 [[ 9.94606094e-01 7.46558372e-02 7.20084977e-02 3.96526957e+01] [-7.41737719e-02 9.97201505e-01 -9.34928066e-03 -4.36415530e+00] [-7.25049607e-02 3.95770963e-03 9.97360199e-01 -2.84769765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.600714057 meters 0.04590210732584416 Centerline is valid? [True, True] Translation: X:39.68, Y:-4.39, Z:-2.85 [[ 9.94133795e-01 7.99758306e-02 7.28138982e-02 3.96798573e+01] [-7.94958003e-02 9.96790202e-01 -9.47158002e-03 -4.38684656e+00] [-7.33376778e-02 3.62761867e-03 9.97300569e-01 -2.84647425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.630714057 meters 0.030994903273873445 Centerline is valid? [True, True] Translation: X:39.71, Y:-4.37, Z:-2.85 [[ 9.94227255e-01 7.88543198e-02 7.27609944e-02 3.97145098e+01] [-7.83719912e-02 9.96879255e-01 -9.46476843e-03 -4.36504107e+00] [-7.32802637e-02 3.70770672e-03 9.97304495e-01 -2.85199506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.660714057 meters 0.031758957873212215 Centerline is valid? [True, True] Translation: X:39.75, Y:-4.37, Z:-2.85 [[ 9.94168282e-01 7.99462794e-02 7.23741640e-02 3.97458085e+01] [-7.94706790e-02 9.96792581e-01 -9.43195426e-03 -4.36929673e+00] [-7.28960794e-02 3.62532580e-03 9.97332953e-01 -2.85494338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.690714057 meters 0.03169616831792868 Centerline is valid? [True, True] Translation: X:39.78, Y:-4.37, Z:-2.86 [[ 9.94099440e-01 8.10379092e-02 7.21052114e-02 3.97772699e+01] [-8.05674117e-02 9.96704699e-01 -9.41466069e-03 -4.37276648e+00] [-7.26305474e-02 3.54977867e-03 9.97352597e-01 -2.85787695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.720714056999995 meters 0.029590678889295424 Centerline is valid? [True, True] Translation: X:39.81, Y:-4.37, Z:-2.86 [[ 9.94122703e-01 8.16713615e-02 7.10622232e-02 3.98088723e+01] [-8.12157454e-02 9.96653321e-01 -9.28224944e-03 -4.37090082e+00] [-7.15824947e-02 3.45632348e-03 9.97428694e-01 -2.86189936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.750714056999996 meters 0.029456588100845733 Centerline is valid? [True, True] Translation: X:39.84, Y:-4.37, Z:-2.86 [[ 9.94170514e-01 8.14683907e-02 7.06249998e-02 3.98391998e+01] [-8.10176827e-02 9.96669948e-01 -9.22768850e-03 -4.37272411e+00] [-7.11415798e-02 3.45202200e-03 9.97460254e-01 -2.86476668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.780714057 meters 0.02975639024182772 Centerline is valid? [True, True] Translation: X:39.87, Y:-4.38, Z:-2.87 [[ 9.94375045e-01 8.05361393e-02 6.87909933e-02 3.98693590e+01] [-8.01063546e-02 9.96745798e-01 -8.98807413e-03 -4.37554110e+00] [-6.92909984e-02 3.42692091e-03 9.97590604e-01 -2.86776467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.810714057 meters 0.03259645383135438 Centerline is valid? [True, True] Translation: X:39.90, Y:-4.38, Z:-2.87 [[ 9.94463368e-01 7.98714939e-02 6.82872937e-02 3.98989387e+01] [-7.94463423e-02 9.96799202e-01 -8.92353730e-03 -4.38329027e+00] [-6.87814561e-02 3.44895525e-03 9.97625790e-01 -2.87082785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.840714057 meters 0.03075604197909609 Centerline is valid? [True, True] Translation: X:39.93, Y:-4.38, Z:-2.87 [[ 9.94547966e-01 7.90340953e-02 6.80290702e-02 3.99299875e+01] [-7.86101201e-02 9.96865787e-01 -8.89106061e-03 -4.38351126e+00] [-6.85185496e-02 3.49481287e-03 9.97643721e-01 -2.87305246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.870714057 meters 0.031899486425159565 Centerline is valid? [True, True] Translation: X:39.96, Y:-4.39, Z:-2.88 [[ 9.94622096e-01 7.82439378e-02 6.78584733e-02 3.99597633e+01] [-7.78202585e-02 9.96927958e-01 -8.86875942e-03 -4.38878427e+00] [-6.83439358e-02 3.54030015e-03 9.97655538e-01 -2.87536942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.900714056999995 meters 0.034234704315549515 Centerline is valid? [True, True] Translation: X:39.99, Y:-4.39, Z:-2.88 [[ 9.94773649e-01 7.72492679e-02 6.67677956e-02 3.99898955e+01] [-7.68368143e-02 9.97005485e-01 -8.72734682e-03 -4.39461446e+00] [-6.72420396e-02 3.55150993e-03 9.97730372e-01 -2.87785724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.930714056999996 meters 0.03357849538582706 Centerline is valid? [True, True] Translation: X:40.02, Y:-4.40, Z:-2.88 [[ 9.94858915e-01 7.53704398e-02 6.76390144e-02 4.00205277e+01] [-7.49424655e-02 9.97148620e-01 -8.84622922e-03 -4.39813104e+00] [-6.81128940e-02 3.73171551e-03 9.97670641e-01 -2.88076348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.960714057 meters 0.035161871846492915 Centerline is valid? [True, True] Translation: X:40.05, Y:-4.40, Z:-2.88 [[ 9.95118763e-01 7.27734897e-02 6.66533323e-02 4.00502607e+01] [-7.23518342e-02 9.97341038e-01 -8.72154457e-03 -4.40277328e+00] [-6.71108009e-02 3.85648180e-03 9.97738076e-01 -2.88331257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.990714057 meters 0.03597272297163822 Centerline is valid? [True, True] Translation: X:40.08, Y:-4.41, Z:-2.89 [[ 9.95253325e-01 7.11993280e-02 6.63436143e-02 4.00815138e+01] [-7.07779159e-02 9.97454298e-01 -8.68387313e-03 -4.40687927e+00] [-6.67930091e-02 3.94699086e-03 9.97759047e-01 -2.88546084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.020714057 meters 0.036414526680571206 Centerline is valid? [True, True] Translation: X:40.11, Y:-4.41, Z:-2.89 [[ 9.95410914e-01 6.94882663e-02 6.57912781e-02 4.01134902e+01] [-6.90691114e-02 9.97574575e-01 -8.62698505e-03 -4.41026517e+00] [-6.62311805e-02 4.04324997e-03 9.97796113e-01 -2.88757985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.050714057 meters 0.0403726641964844 Centerline is valid? [True, True] Translation: X:40.14, Y:-4.42, Z:-2.89 [[ 9.95692929e-01 6.54492062e-02 6.56657610e-02 4.01427126e+01] [-6.50225921e-02 9.97846601e-01 -8.61533944e-03 -4.41748444e+00] [-6.60882236e-02 4.30847457e-03 9.97804482e-01 -2.88986608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.080714056999994 meters 0.03624861614929129 Centerline is valid? [True, True] Translation: X:40.17, Y:-4.41, Z:-2.89 [[ 9.95806046e-01 6.36264326e-02 6.57418946e-02 4.01745866e+01] [-6.31947962e-02 9.97963928e-01 -8.62653033e-03 -4.41437162e+00] [-6.61569147e-02 4.43580542e-03 9.97799372e-01 -2.89137341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.110714056999996 meters 0.035614039001805015 Centerline is valid? [True, True] Translation: X:40.21, Y:-4.41, Z:-2.89 [[ 9.96039988e-01 5.90392828e-02 6.64733376e-02 4.02057621e+01] [-5.85876435e-02 9.98244139e-01 -8.72503713e-03 -4.41423880e+00] [-6.68717396e-02 4.79596968e-03 9.97750053e-01 -2.89276697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.140714057 meters 0.037350929066881124 Centerline is valid? [True, True] Translation: X:40.24, Y:-4.42, Z:-2.89 [[ 9.96152059e-01 5.71368600e-02 6.64564126e-02 4.02353431e+01] [-5.66812428e-02 9.98354220e-01 -8.72283906e-03 -4.41922885e+00] [-6.68454356e-02 4.92244203e-03 9.97751200e-01 -2.89447971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.170714057 meters 0.04063391294682855 Centerline is valid? [True, True] Translation: X:40.27, Y:-4.43, Z:-2.90 [[ 9.96215560e-01 5.59561615e-02 6.65091415e-02 4.02657563e+01] [-5.54968005e-02 9.98420648e-01 -8.73580498e-03 -4.42585264e+00] [-6.68929223e-02 5.01170030e-03 9.97747573e-01 -2.89660937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.200714057 meters 0.040188439527987146 Centerline is valid? [True, True] Translation: X:40.30, Y:-4.42, Z:-2.90 [[ 9.96451204e-01 5.33521698e-02 6.51041027e-02 4.02969404e+01] [-5.29059764e-02 9.98562812e-01 -8.55965774e-03 -4.42417566e+00] [-6.54672122e-02 5.08488514e-03 9.97841765e-01 -2.89957832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.230714057 meters 0.04148463329000598 Centerline is valid? [True, True] Translation: X:40.33, Y:-4.43, Z:-2.90 [[ 9.96554917e-01 5.30883670e-02 6.37175179e-02 4.03281010e+01] [-5.26603774e-02 9.98577327e-01 -8.37888258e-03 -4.42777552e+00] [-6.40716900e-02 4.99462810e-03 9.97932799e-01 -2.90268038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.260714056999994 meters 0.041772992161482385 Centerline is valid? [True, True] Translation: X:40.36, Y:-4.43, Z:-2.91 [[ 9.96592910e-01 5.37573240e-02 6.25517512e-02 4.03600887e+01] [-5.33452788e-02 9.98542129e-01 -8.23999506e-03 -4.42751610e+00] [-6.29035189e-02 4.87508004e-03 9.98007706e-01 -2.90603774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.290714056999995 meters 0.041950125614490866 Centerline is valid? [True, True] Translation: X:40.39, Y:-4.43, Z:-2.91 [[ 9.96524503e-01 5.48845951e-02 6.26625638e-02 4.03923486e+01] [-5.44722986e-02 9.98481031e-01 -8.27043699e-03 -4.42879986e+00] [-6.30213008e-02 4.82831922e-03 9.98000502e-01 -2.90786358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.320714056999996 meters 0.041333217174942496 Centerline is valid? [True, True] Translation: X:40.42, Y:-4.43, Z:-2.91 [[ 9.96432757e-01 5.65091488e-02 6.26775699e-02 4.04246125e+01] [-5.60987941e-02 9.98390814e-01 -8.28907414e-03 -4.42901641e+00] [-6.30451186e-02 4.74336890e-03 9.97999406e-01 -2.90896223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.350714057 meters 0.03840976377996448 Centerline is valid? [True, True] Translation: X:40.46, Y:-4.42, Z:-2.91 [[ 9.96299183e-01 5.84424772e-02 6.30271037e-02 4.04567278e+01] [-5.80310482e-02 9.98279939e-01 -8.34032641e-03 -4.42491406e+00] [-6.34061226e-02 4.65193149e-03 9.97976965e-01 -2.90988377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.380714057 meters 0.037527169922470856 Centerline is valid? [True, True] Translation: X:40.49, Y:-4.42, Z:-2.91 [[ 9.95960619e-01 6.26513191e-02 6.43215101e-02 4.04874335e+01] [-6.22313369e-02 9.98025435e-01 -8.51424609e-03 -4.42083571e+00] [-6.47279318e-02 4.47704025e-03 9.97892906e-01 -2.90996927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.410714057 meters 0.03477500841359019 Centerline is valid? [True, True] Translation: X:40.52, Y:-4.42, Z:-2.91 [[ 9.95804142e-01 6.47789409e-02 6.46358976e-02 4.05193994e+01] [-6.43593797e-02 9.97890120e-01 -8.55450679e-03 -4.41759017e+00] [-6.50536755e-02 4.35868703e-03 9.97872247e-01 -2.91126882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.440714057 meters 0.03334463826497815 Centerline is valid? [True, True] Translation: X:40.55, Y:-4.41, Z:-2.91 [[ 9.95540101e-01 6.90240681e-02 6.43085160e-02 4.05508389e+01] [-6.86173977e-02 9.97606721e-01 -8.51369668e-03 -4.41315381e+00] [-6.47422577e-02 4.06304344e-03 9.97893748e-01 -2.91398620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.470714056999995 meters 0.03567775982052375 Centerline is valid? [True, True] Translation: X:40.58, Y:-4.42, Z:-2.92 [[ 9.95438820e-01 7.11395386e-02 6.35666652e-02 4.05791902e+01] [-7.07464774e-02 9.97458826e-01 -8.41589896e-03 -4.41822435e+00] [-6.40038344e-02 3.88039489e-03 9.97942108e-01 -2.91745533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.500714056999996 meters 0.03267137942445633 Centerline is valid? [True, True] Translation: X:40.61, Y:-4.41, Z:-2.92 [[ 9.95393649e-01 7.30414782e-02 6.21001215e-02 4.06099180e+01] [-7.26702033e-02 9.97322156e-01 -8.21939825e-03 -4.41393496e+00] [-6.25341840e-02 3.66870837e-03 9.98036080e-01 -2.92017490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.530714057 meters 0.032704170734453294 Centerline is valid? [True, True] Translation: X:40.64, Y:-4.41, Z:-2.92 [[ 9.95345452e-01 7.49070006e-02 6.06331040e-02 4.06387119e+01] [-7.45565817e-02 9.97184499e-01 -8.02441801e-03 -4.41429346e+00] [-6.10634766e-02 3.46647099e-03 9.98127865e-01 -2.92328315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.560714057 meters 0.03406610354932927 Centerline is valid? [True, True] Translation: X:40.67, Y:-4.41, Z:-2.93 [[ 9.95171116e-01 7.85591481e-02 5.88465024e-02 4.06675193e+01] [-7.82356567e-02 9.96904499e-01 -7.78470006e-03 -4.41463279e+00] [-5.92759024e-02 3.14321388e-03 9.98236689e-01 -2.92690544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.590714057 meters 0.03028744090699305 Centerline is valid? [True, True] Translation: X:40.70, Y:-4.41, Z:-2.93 [[ 9.95059008e-01 8.01174918e-02 5.86409259e-02 4.06970419e+01] [-7.97990590e-02 9.96780798e-01 -7.75575979e-03 -4.40916545e+00] [-5.90735209e-02 3.03794794e-03 9.98249012e-01 -2.92785129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.620714057 meters 0.030967051237912324 Centerline is valid? [True, True] Translation: X:40.72, Y:-4.41, Z:-2.93 [[ 9.94882912e-01 8.20373294e-02 5.89734526e-02 4.07247127e+01] [-8.17188794e-02 9.96624931e-01 -7.79555975e-03 -4.41234516e+00] [-5.94139401e-02 2.93642472e-03 9.98229113e-01 -2.92985235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.650714056999995 meters 0.02950896686289001 Centerline is valid? [True, True] Translation: X:40.76, Y:-4.41, Z:-2.93 [[ 9.94581122e-01 8.52998946e-02 5.94333296e-02 4.07550807e+01] [-8.49826113e-02 9.96351507e-01 -7.85043959e-03 -4.40889211e+00] [-5.98861292e-02 2.75709946e-03 9.98201407e-01 -2.93163604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.680714056999996 meters 0.027621340343320488 Centerline is valid? [True, True] Translation: X:40.78, Y:-4.41, Z:-2.93 [[ 9.94462580e-01 8.68138876e-02 5.92243613e-02 4.07843780e+01] [-8.65016174e-02 9.96221010e-01 -7.82105739e-03 -4.40724916e+00] [-5.96795294e-02 2.65474587e-03 9.98214058e-01 -2.93309871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.710714057 meters 0.0271805191039399 Centerline is valid? [True, True] Translation: X:40.81, Y:-4.41, Z:-2.94 [[ 9.94140314e-01 9.03795625e-02 5.93006741e-02 4.08136585e+01] [-9.00730932e-02 9.95904406e-01 -7.82640806e-03 -4.40645285e+00] [-5.97651499e-02 2.43915263e-03 9.98209486e-01 -2.93535653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.740714057 meters 0.028019598540118085 Centerline is valid? [True, True] Translation: X:40.84, Y:-4.41, Z:-2.94 [[ 9.93896914e-01 9.25446804e-02 6.00367139e-02 4.08416657e+01] [-9.22346029e-02 9.95705793e-01 -7.92160587e-03 -4.41016693e+00] [-6.05120063e-02 2.33579716e-03 9.98164736e-01 -2.93774152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.770714057 meters 0.02674686068996569 Centerline is valid? [True, True] Translation: X:40.87, Y:-4.41, Z:-2.94 [[ 9.93708879e-01 9.42296283e-02 6.05263645e-02 4.08713424e+01] [-9.39178628e-02 9.95547954e-01 -7.98163628e-03 -4.40977450e+00] [-6.10090050e-02 2.24691604e-03 9.98134687e-01 -2.93929679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.800714057 meters 0.02674686068996569 Centerline is valid? [True, True] Translation: X:40.90, Y:-4.41, Z:-2.94 [[ 9.93718924e-01 9.41234005e-02 6.05267381e-02 4.08985281e+01] [-9.38116108e-02 9.95557994e-01 -7.97880277e-03 -4.41327025e+00] [-6.10088700e-02 2.25057651e-03 9.98134687e-01 -2.94118594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.830714056999994 meters 0.026173848391657335 Centerline is valid? [True, True] Translation: X:40.93, Y:-4.41, Z:-2.94 [[ 9.93356265e-01 9.75440657e-02 6.10613248e-02 4.09277983e+01] [-9.72336283e-02 9.95229093e-01 -8.04204983e-03 -4.41417433e+00] [-6.15544611e-02 2.05140643e-03 9.98101618e-01 -2.94297946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.860714056999996 meters 0.025882136608266593 Centerline is valid? [True, True] Translation: X:40.96, Y:-4.42, Z:-2.95 [[ 9.93222885e-01 9.88541692e-02 6.11240894e-02 4.09565246e+01] [-9.85456885e-02 9.95099980e-01 -8.04836237e-03 -4.41677107e+00] [-6.16201943e-02 1.97030222e-03 9.98097725e-01 -2.94513382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.890714057 meters 0.025825088216605178 Centerline is valid? [True, True] Translation: X:40.98, Y:-4.42, Z:-2.95 [[ 9.93178392e-01 9.94611507e-02 6.08618197e-02 4.09843053e+01] [-9.91567104e-02 9.95039593e-01 -8.00963162e-03 -4.41994161e+00] [-6.13565675e-02 1.92013522e-03 9.98114064e-01 -2.94734039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.920714057 meters 0.02584573255818839 Centerline is valid? [True, True] Translation: X:41.01, Y:-4.42, Z:-2.95 [[ 9.93167815e-01 9.98272930e-02 6.04334609e-02 4.10128417e+01] [-9.95281370e-02 9.95003006e-01 -7.94782028e-03 -4.42307004e+00] [-6.09248847e-02 1.87868952e-03 9.98140586e-01 -2.95016352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.950714057 meters 0.026010668663682263 Centerline is valid? [True, True] Translation: X:41.04, Y:-4.43, Z:-2.95 [[ 9.93210451e-01 9.95884678e-02 6.01260058e-02 4.10409489e+01] [-9.92921718e-02 9.95026937e-01 -7.90315647e-03 -4.42722917e+00] [-6.06140586e-02 1.87945590e-03 9.98159508e-01 -2.95291468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.980714057 meters 0.02785401159013449 Centerline is valid? [True, True] Translation: X:41.07, Y:-4.44, Z:-2.96 [[ 9.93297962e-01 9.88795529e-02 5.98497545e-02 4.10673817e+01] [-9.85849162e-02 9.95097576e-01 -7.86314090e-03 -4.43528935e+00] [-6.03338495e-02 1.91015880e-03 9.98176426e-01 -2.95685503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.010714056999994 meters 0.025567806490894705 Centerline is valid? [True, True] Translation: X:41.10, Y:-4.43, Z:-2.96 [[ 9.93243537e-01 9.91213781e-02 6.03508807e-02 4.10962243e+01] [-9.88227329e-02 9.95073530e-01 -7.92066151e-03 -4.43482888e+00] [-6.08386707e-02 1.90310689e-03 9.98145798e-01 -2.95770857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.040714056999995 meters 0.025599118395645687 Centerline is valid? [True, True] Translation: X:41.12, Y:-4.44, Z:-2.96 [[ 9.93266867e-01 9.87774552e-02 6.05305287e-02 4.11247297e+01] [-9.84766554e-02 9.95107686e-01 -7.93989178e-03 -4.43848090e+00] [-6.10186766e-02 1.92558742e-03 9.98134767e-01 -2.95937896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.070714056999996 meters 0.025920812606657895 Centerline is valid? [True, True] Translation: X:41.15, Y:-4.44, Z:-2.96 [[ 9.93258703e-01 9.82497512e-02 6.15153263e-02 4.11511123e+01] [-9.79382904e-02 9.95159807e-01 -8.06537538e-03 -4.44280060e+00] [-6.20100013e-02 1.98629840e-03 9.98073552e-01 -2.96053388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.100714057 meters 0.025560471708565787 Centerline is valid? [True, True] Translation: X:41.18, Y:-4.45, Z:-2.96 [[ 9.93256000e-01 9.77662986e-02 6.23238998e-02 4.11794248e+01] [-9.74464629e-02 9.95207330e-01 -8.15823575e-03 -4.44629166e+00] [-6.28228024e-02 2.02997303e-03 9.98022632e-01 -2.96158476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.130714057 meters 0.0255522737182163 Centerline is valid? [True, True] Translation: X:41.21, Y:-4.45, Z:-2.96 [[ 9.93239524e-01 9.72779767e-02 6.33422682e-02 4.12081342e+01] [-9.69468954e-02 9.95255056e-01 -8.28688186e-03 -4.45072440e+00] [-6.38478438e-02 2.09002234e-03 9.97957456e-01 -2.96334755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.160714057 meters 0.02697537142813911 Centerline is valid? [True, True] Translation: X:41.23, Y:-4.46, Z:-2.97 [[ 9.93362925e-01 9.55863627e-02 6.39792637e-02 4.12345976e+01] [-9.52453657e-02 9.95418673e-01 -8.36576101e-03 -4.46000229e+00] [-6.44858065e-02 2.21650845e-03 9.97916163e-01 -2.96591153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.190714057 meters 0.026506625239938523 Centerline is valid? [True, True] Translation: X:41.26, Y:-4.46, Z:-2.97 [[ 9.93506452e-01 9.43680311e-02 6.35578869e-02 4.12632887e+01] [-9.40295927e-02 9.95534788e-01 -8.30189327e-03 -4.46369913e+00] [-6.40575208e-02 2.27166231e-03 9.97943622e-01 -2.96780959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.220714056999995 meters 0.026350042258381407 Centerline is valid? [True, True] Translation: X:41.29, Y:-4.47, Z:-2.97 [[ 9.93650740e-01 9.30784032e-02 6.32029870e-02 4.12911677e+01] [-9.27414165e-02 9.95656039e-01 -8.25114612e-03 -4.46811914e+00] [-6.36964392e-02 2.33722290e-03 9.97966583e-01 -2.97003916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.250714056999996 meters 0.027143705818646897 Centerline is valid? [True, True] Translation: X:41.32, Y:-4.48, Z:-2.97 [[ 9.94082485e-01 8.92319126e-02 6.19490030e-02 4.13195420e+01] [-8.89010893e-02 9.96007672e-01 -8.08170890e-03 -4.47545263e+00] [-6.24228286e-02 2.52655141e-03 9.98046596e-01 -2.97341417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.280714057 meters 0.02734001768931194 Centerline is valid? [True, True] Translation: X:41.35, Y:-4.48, Z:-2.98 [[ 9.94280624e-01 8.71858424e-02 6.16820076e-02 4.13485737e+01] [-8.68541570e-02 9.96188566e-01 -8.04341249e-03 -4.48140582e+00] [-6.21481824e-02 2.64007041e-03 9.98063442e-01 -2.97584373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.310714057 meters 0.028476682618687514 Centerline is valid? [True, True] Translation: X:41.38, Y:-4.49, Z:-2.98 [[ 9.94718814e-01 8.24536448e-02 6.11218194e-02 4.13780808e+01] [-8.21192063e-02 9.96590662e-01 -7.96790683e-03 -4.49000452e+00] [-6.15704174e-02 2.90655154e-03 9.98098510e-01 -2.97871622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.340714057 meters 0.029309778282038165 Centerline is valid? [True, True] Translation: X:41.41, Y:-4.50, Z:-2.98 [[ 9.94938295e-01 7.99314413e-02 6.08995449e-02 4.14068286e+01] [-7.95947080e-02 9.96795692e-01 -7.93919445e-03 -4.49660228e+00] [-6.13389953e-02 3.05172709e-03 9.98112326e-01 -2.98089541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.370714057 meters 0.03107530963070828 Centerline is valid? [True, True] Translation: X:41.43, Y:-4.50, Z:-2.98 [[ 9.95129151e-01 7.75963551e-02 6.08011327e-02 4.14341706e+01] [-7.72564865e-02 9.96979759e-01 -7.92441729e-03 -4.50412522e+00] [-6.12324045e-02 3.18853677e-03 9.98118443e-01 -2.98348421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.400714056999995 meters 0.03149477488698534 Centerline is valid? [True, True] Translation: X:41.46, Y:-4.51, Z:-2.99 [[ 9.95286552e-01 7.54524587e-02 6.09229454e-02 4.14630948e+01] [-7.51075110e-02 9.97143865e-01 -7.93560875e-03 -4.50984575e+00] [-6.13477024e-02 3.32243388e-03 9.98110926e-01 -2.98575796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.430714056999996 meters 0.03229437713115404 Centerline is valid? [True, True] Translation: X:41.49, Y:-4.52, Z:-2.99 [[ 9.95637234e-01 7.14150058e-02 6.00532635e-02 4.14923231e+01] [-7.10726670e-02 9.97440485e-01 -7.82013078e-03 -4.51566284e+00] [-6.04580309e-02 3.51786779e-03 9.98164541e-01 -2.98777984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.460714057 meters 0.03429169417197977 Centerline is valid? [True, True] Translation: X:41.52, Y:-4.52, Z:-2.99 [[ 9.95747588e-01 6.98594944e-02 6.00532407e-02 4.15202940e+01] [-6.95144212e-02 9.97550306e-01 -7.81877442e-03 -4.52330584e+00] [-6.04523442e-02 3.61095950e-03 9.98164553e-01 -2.98986009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.490714057 meters 0.033081848411004824 Centerline is valid? [True, True] Translation: X:41.55, Y:-4.53, Z:-2.99 [[ 9.95913145e-01 6.72182095e-02 6.03218104e-02 4.15491713e+01] [-6.68654114e-02 9.97731119e-01 -7.85051335e-03 -4.52542127e+00] [-6.07126449e-02 3.78498676e-03 9.98148110e-01 -2.99084042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.520714057 meters 0.032843542824487516 Centerline is valid? [True, True] Translation: X:41.58, Y:-4.53, Z:-2.99 [[ 9.95905615e-01 6.62207833e-02 6.15370964e-02 4.15779851e+01] [-6.58519477e-02 9.97797296e-01 -8.00483145e-03 -4.52936119e+00] [-6.19316346e-02 3.91971893e-03 9.98072697e-01 -2.99239536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.550714057 meters 0.034923905176180596 Centerline is valid? [True, True] Translation: X:41.61, Y:-4.54, Z:-2.99 [[ 9.95999538e-01 6.48595230e-02 6.14667659e-02 4.16058327e+01] [-6.44891635e-02 9.97886402e-01 -7.99227091e-03 -4.53638998e+00] [-6.18552247e-02 3.99635782e-03 9.98077131e-01 -2.99427133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.580714056999994 meters 0.03433547970560915 Centerline is valid? [True, True] Translation: X:41.64, Y:-4.54, Z:-3.00 [[ 9.96145582e-01 6.21746858e-02 6.18731619e-02 4.16354598e+01] [-6.17944813e-02 9.98056500e-01 -8.04144611e-03 -4.53928597e+00] [-6.22528858e-02 4.18703107e-03 9.98051625e-01 -2.99623967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.610714056999996 meters 0.035548765417466544 Centerline is valid? [True, True] Translation: X:41.66, Y:-4.54, Z:-3.00 [[ 9.96236897e-01 6.09807693e-02 6.15905095e-02 4.16645750e+01] [-6.06018377e-02 9.98129931e-01 -8.00357540e-03 -4.54469391e+00] [-6.19633952e-02 4.24095906e-03 9.98069412e-01 -2.99867076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.640714057 meters 0.03581277932768174 Centerline is valid? [True, True] Translation: X:41.69, Y:-4.55, Z:-3.00 [[ 9.96295399e-01 5.99152499e-02 6.16898720e-02 4.16941682e+01] [-5.95331324e-02 9.98194150e-01 -8.01535212e-03 -4.54862865e+00] [-6.20587112e-02 4.31306712e-03 9.98063181e-01 -3.00098487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.670714057 meters 0.03736285507330484 Centerline is valid? [True, True] Translation: X:41.72, Y:-4.55, Z:-3.00 [[ 9.96419357e-01 5.80058408e-02 6.15125037e-02 4.17239502e+01] [-5.76223885e-02 9.98306469e-01 -7.99094066e-03 -4.55375020e+00] [-6.18718516e-02 4.41783056e-03 9.98074324e-01 -3.00339198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.700714057 meters 0.040449050094593625 Centerline is valid? [True, True] Translation: X:41.75, Y:-4.56, Z:-3.01 [[ 9.96450760e-01 5.75949082e-02 6.13898083e-02 4.17544198e+01] [-5.72122329e-02 9.98330189e-01 -7.97465550e-03 -4.56156205e+00] [-6.17465985e-02 4.43410353e-03 9.98082009e-01 -3.00611458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.730714057 meters 0.04026185597233145 Centerline is valid? [True, True] Translation: X:41.79, Y:-4.56, Z:-3.01 [[ 9.96498387e-01 5.62138747e-02 6.18947940e-02 4.17858208e+01] [-5.58212288e-02 9.98408278e-01 -8.05614279e-03 -4.56364476e+00] [-6.22491417e-02 4.57288984e-03 9.98050166e-01 -3.00756891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.760714056999994 meters 0.0409148725287823 Centerline is valid? [True, True] Translation: X:41.82, Y:-4.57, Z:-3.01 [[ 9.96514807e-01 5.60717740e-02 6.17591696e-02 4.18172253e+01] [-5.56805197e-02 9.98416269e-01 -8.03943938e-03 -4.56773115e+00] [-6.21121453e-02 4.57263773e-03 9.98058702e-01 -3.00992825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.790714056999995 meters 0.03859745556792017 Centerline is valid? [True, True] Translation: X:41.85, Y:-4.57, Z:-3.01 [[ 9.96492616e-01 5.61500716e-02 6.20454289e-02 4.18496335e+01] [-5.57544318e-02 9.98411728e-01 -8.09101283e-03 -4.56760144e+00] [-6.24011948e-02 4.60332691e-03 9.98040530e-01 -3.01166791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.820714056999996 meters 0.04219835210341941 Centerline is valid? [True, True] Translation: X:41.88, Y:-4.58, Z:-3.01 [[ 9.96521277e-01 5.60622329e-02 6.16633613e-02 4.18798902e+01] [-5.56702705e-02 9.98416694e-01 -8.05762358e-03 -4.57590429e+00] [-6.20174577e-02 4.59677734e-03 9.98064479e-01 -3.01427731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.850714057 meters 0.03922558305939366 Centerline is valid? [True, True] Translation: X:41.91, Y:-4.57, Z:-3.02 [[ 9.96618840e-01 5.50459482e-02 6.09986202e-02 4.19123298e+01] [-5.46600414e-02 9.98473147e-01 -7.97844399e-03 -4.57325771e+00] [-6.13446652e-02 4.61728049e-03 9.98105963e-01 -3.01581086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.880714057 meters 0.0386449746656348 Centerline is valid? [True, True] Translation: X:41.94, Y:-4.58, Z:-3.02 [[ 9.96678998e-01 5.44177132e-02 6.05779469e-02 4.19440165e+01] [-5.40350978e-02 9.98507487e-01 -7.93765626e-03 -4.57551850e+00] [-6.09194826e-02 4.63796000e-03 9.98131908e-01 -3.01756776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.910714057 meters 0.04004275950955218 Centerline is valid? [True, True] Translation: X:41.98, Y:-4.58, Z:-3.02 [[ 9.96832834e-01 5.20060782e-02 6.01636916e-02 4.19750025e+01] [-5.16233581e-02 9.98635384e-01 -7.89930826e-03 -4.57981212e+00] [-6.04924033e-02 4.76843804e-03 9.98157268e-01 -3.02011226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.940714057 meters 0.04825069639566964 Centerline is valid? [True, True] Translation: X:42.00, Y:-4.59, Z:-3.02 [[ 9.96889693e-01 5.08476654e-02 6.02117557e-02 4.20039597e+01] [-5.04621448e-02 9.98694673e-01 -7.90710328e-03 -4.59431353e+00] [-6.05352174e-02 4.84409543e-03 9.98154308e-01 -3.02335990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.970714056999995 meters 0.043784978410234286 Centerline is valid? [True, True] Translation: X:42.04, Y:-4.59, Z:-3.02 [[ 9.96954923e-01 4.94067421e-02 6.03312214e-02 4.20364043e+01] [-4.90165565e-02 9.98766476e-01 -7.93122445e-03 -4.58978268e+00] [-6.06486573e-02 4.94984454e-03 9.98146903e-01 -3.02495848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.000714056999996 meters 0.044060157266342104 Centerline is valid? [True, True] Translation: X:42.07, Y:-4.59, Z:-3.03 [[ 9.96957332e-01 4.94407772e-02 6.02634826e-02 4.20681432e+01] [-4.90515021e-02 9.98764827e-01 -7.92278498e-03 -4.59263206e+00] [-6.05807555e-02 4.94266424e-03 9.98151062e-01 -3.02703084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.030714057 meters 0.044323559750087296 Centerline is valid? [True, True] Translation: X:42.10, Y:-4.60, Z:-3.03 [[ 9.96968089e-01 4.98606244e-02 5.97373158e-02 4.21010364e+01] [-4.94780019e-02 9.98744221e-01 -7.86813763e-03 -4.59559801e+00] [-6.00546092e-02 4.88859911e-03 9.98183122e-01 -3.02965755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.060714057 meters 0.04289141053492228 Centerline is valid? [True, True] Translation: X:42.13, Y:-4.59, Z:-3.03 [[ 9.96885131e-01 5.14800850e-02 5.97481031e-02 4.21327799e+01] [-5.10990588e-02 9.98662433e-01 -7.88870219e-03 -4.59477316e+00] [-6.00742971e-02 4.81105808e-03 9.98182314e-01 -3.03186086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.090714057 meters 0.04556696548022185 Centerline is valid? [True, True] Translation: X:42.16, Y:-4.60, Z:-3.03 [[ 9.96829395e-01 5.23668126e-02 5.99072051e-02 4.21634850e+01] [-5.19853067e-02 9.98616521e-01 -7.91027328e-03 -4.60102491e+00] [-6.02385606e-02 4.77089850e-03 9.98172607e-01 -3.03382684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.120714057 meters 0.04560435050256716 Centerline is valid? [True, True] Translation: X:42.19, Y:-4.60, Z:-3.04 [[ 9.96736287e-01 5.34795365e-02 6.04707568e-02 4.21942076e+01] [-5.30918840e-02 9.98557583e-01 -8.00038553e-03 -4.60348621e+00] [-6.08113896e-02 4.76376816e-03 9.98137907e-01 -3.03506285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.150714056999995 meters 0.040321811898848633 Centerline is valid? [True, True] Translation: X:42.23, Y:-4.60, Z:-3.04 [[ 9.96526321e-01 5.57916097e-02 6.18270795e-02 4.22258102e+01] [-5.53906085e-02 9.98431235e-01 -8.18227863e-03 -4.59647211e+00] [-6.21865899e-02 4.72921646e-03 9.98053337e-01 -3.03510938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.180714056999996 meters 0.04525082812583792 Centerline is valid? [True, True] Translation: X:42.26, Y:-4.61, Z:-3.04 [[ 9.96437774e-01 5.73092971e-02 6.18660455e-02 4.22552746e+01] [-5.69107020e-02 9.98345702e-01 -8.18732104e-03 -4.60600912e+00] [-6.22329102e-02 4.63731587e-03 9.98050881e-01 -3.03724068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.210714057 meters 0.037179856750786916 Centerline is valid? [True, True] Translation: X:42.29, Y:-4.59, Z:-3.04 [[ 9.96274370e-01 6.11159914e-02 6.08458359e-02 4.22873583e+01] [-6.07374321e-02 9.98121288e-01 -8.05355243e-03 -4.59472668e+00] [-6.12237249e-02 4.32792804e-03 9.98114685e-01 -3.03916664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.240714057 meters 0.03553113401205002 Centerline is valid? [True, True] Translation: X:42.32, Y:-4.59, Z:-3.04 [[ 9.96181292e-01 6.35269967e-02 5.98928608e-02 4.23175410e+01] [-6.31645539e-02 9.97971641e-01 -7.92739262e-03 -4.59373810e+00] [-6.02749800e-02 4.11401439e-03 9.98173332e-01 -3.04176807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.270714057 meters 0.036628609979445066 Centerline is valid? [True, True] Translation: X:42.35, Y:-4.60, Z:-3.05 [[ 9.96048007e-01 6.63634379e-02 5.90276371e-02 4.23458893e+01] [-6.60164037e-02 9.97787956e-01 -7.81213186e-03 -4.59728728e+00] [-5.94155053e-02 3.88446605e-03 9.98225780e-01 -3.04504273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.300714057 meters 0.03670110400199142 Centerline is valid? [True, True] Translation: X:42.37, Y:-4.60, Z:-3.05 [[ 9.95619870e-01 7.30806202e-02 5.83120625e-02 4.23745017e+01] [-7.27536126e-02 9.97320111e-01 -7.71418284e-03 -4.59734151e+00] [-5.87195499e-02 3.43798052e-03 9.98268598e-01 -3.04839621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.330714056999994 meters 0.03102158610554213 Centerline is valid? [True, True] Translation: X:42.41, Y:-4.59, Z:-3.05 [[ 9.95380761e-01 7.64698625e-02 5.80473933e-02 4.24061816e+01] [-7.61517403e-02 9.97066693e-01 -7.67606789e-03 -4.58980137e+00] [-5.84641104e-02 3.22020029e-03 9.98284317e-01 -3.04885215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.360714056999996 meters 0.03050500271695578 Centerline is valid? [True, True] Translation: X:42.44, Y:-4.59, Z:-3.05 [[ 9.94833318e-01 8.31169759e-02 5.82944017e-02 4.24357744e+01] [-8.28075632e-02 9.96535749e-01 -7.70768776e-03 -4.58915833e+00] [-5.87330950e-02 2.84064724e-03 9.98269680e-01 -3.05073994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.390714057 meters 0.02840474940451309 Centerline is valid? [True, True] Translation: X:42.47, Y:-4.59, Z:-3.05 [[ 9.94580571e-01 8.57390738e-02 5.88073106e-02 4.24660094e+01] [-8.54288236e-02 9.96313945e-01 -7.77431682e-03 -4.58797720e+00] [-5.92571063e-02 2.70834510e-03 9.98239080e-01 -3.05182139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.420714057 meters 0.027910927440107525 Centerline is valid? [True, True] Translation: X:42.50, Y:-4.59, Z:-3.05 [[ 9.94327299e-01 8.84531838e-02 5.90699384e-02 4.24956282e+01] [-8.81450569e-02 9.96077056e-01 -7.80685759e-03 -4.58967246e+00] [-5.95287518e-02 2.55584853e-03 9.98223319e-01 -3.05371683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.450714057 meters 0.027019235309843653 Centerline is valid? [True, True] Translation: X:42.52, Y:-4.59, Z:-3.05 [[ 9.94100109e-01 9.07011732e-02 5.94833595e-02 4.25244814e+01] [-9.03928370e-02 9.95875173e-01 -7.85963475e-03 -4.59014087e+00] [-5.99508790e-02 2.43639415e-03 9.98198355e-01 -3.05497888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.480714057 meters 0.02592024993514806 Centerline is valid? [True, True] Translation: X:42.56, Y:-4.59, Z:-3.06 [[ 9.93721998e-01 9.50142857e-02 5.90667133e-02 4.25550490e+01] [-9.47181433e-02 9.95473574e-01 -7.79978935e-03 -4.59001150e+00] [-5.95404436e-02 2.15613284e-03 9.98223565e-01 -3.05637047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.510714056999994 meters 0.02616753489006894 Centerline is valid? [True, True] Translation: X:42.58, Y:-4.59, Z:-3.06 [[ 9.93537527e-01 9.68748727e-02 5.91476287e-02 4.25830042e+01] [-9.65811474e-02 9.95294460e-01 -7.81146874e-03 -4.59386216e+00] [-5.96260423e-02 2.04844148e-03 9.98218683e-01 -3.05840923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.540714056999995 meters 0.024982842581710938 Centerline is valid? [True, True] Translation: X:42.61, Y:-4.59, Z:-3.06 [[ 9.93389297e-01 9.83633753e-02 5.91806606e-02 4.26115956e+01] [-9.80728367e-02 9.95148663e-01 -7.80111491e-03 -4.59423972e+00] [-5.96608993e-02 1.94552880e-03 9.98216806e-01 -3.05987793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.570714056999996 meters 0.023841094100200057 Centerline is valid? [True, True] Translation: X:42.64, Y:-4.60, Z:-3.06 [[ 9.92941173e-01 1.02556709e-01 5.95814478e-02 4.26416323e+01] [-1.02270806e-01 9.94725728e-01 -7.83638882e-03 -4.59557183e+00] [-6.00708732e-02 1.68763043e-03 9.98192688e-01 -3.06120133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.600714057 meters 0.02379521204298306 Centerline is valid? [True, True] Translation: X:42.67, Y:-4.60, Z:-3.06 [[ 9.92714779e-01 1.04406437e-01 6.01387002e-02 4.26693388e+01] [-1.04118575e-01 9.94533442e-01 -7.90913600e-03 -4.59902717e+00] [-6.06357133e-02 1.58996043e-03 9.98158696e-01 -3.06315809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.630714057 meters 0.0230976926395448 Centerline is valid? [True, True] Translation: X:42.70, Y:-4.60, Z:-3.07 [[ 9.92255702e-01 1.08564699e-01 6.03517046e-02 4.26982077e+01] [-1.08282816e-01 9.94088489e-01 -7.93143668e-03 -4.60186937e+00] [-6.08560089e-02 1.33496075e-03 9.98145663e-01 -3.06518650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.660714057 meters 0.022874213423039618 Centerline is valid? [True, True] Translation: X:42.73, Y:-4.61, Z:-3.07 [[ 9.92080288e-01 1.10379649e-01 5.99419401e-02 4.27269571e+01] [-1.10105065e-01 9.93888758e-01 -7.87475320e-03 -4.60545878e+00] [-6.04448329e-02 1.21247622e-03 9.98170803e-01 -3.06762297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.690714057 meters 0.022838663817603015 Centerline is valid? [True, True] Translation: X:42.76, Y:-4.61, Z:-3.07 [[ 9.91883911e-01 1.12201058e-01 5.98099523e-02 4.27552178e+01] [-1.11931899e-01 9.93684934e-01 -7.84236892e-03 -4.60930169e+00] [-6.03121706e-02 1.08407801e-03 9.98178975e-01 -3.07013612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.720714056999995 meters 0.022838663817603015 Centerline is valid? [True, True] Translation: X:42.78, Y:-4.61, Z:-3.07 [[ 9.91915448e-01 1.11920897e-01 5.98118443e-02 4.27823021e+01] [-1.11652100e-01 9.93716525e-01 -7.82791120e-03 -4.61278033e+00] [-6.03121249e-02 1.08650804e-03 9.98178975e-01 -3.07202390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.750714056999996 meters 0.02251843654257134 Centerline is valid? [True, True] Translation: X:42.81, Y:-4.62, Z:-3.08 [[ 9.91576400e-01 1.15155727e-01 5.92908242e-02 4.28093786e+01] [-1.14898486e-01 9.93347076e-01 -7.74113000e-03 -4.61778652e+00] [-5.97878023e-02 8.63495907e-04 9.98210736e-01 -3.07560176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.780714057 meters 0.0226275428181159 Centerline is valid? [True, True] Translation: X:42.84, Y:-4.62, Z:-3.08 [[ 9.91419005e-01 1.16421548e-01 5.94506562e-02 4.28381528e+01] [-1.16165424e-01 9.93199580e-01 -7.75808312e-03 -4.62188213e+00] [-5.99495749e-02 7.85400333e-04 9.98201098e-01 -3.07788014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.810714057 meters 0.022351316989161162 Centerline is valid? [True, True] Translation: X:42.87, Y:-4.63, Z:-3.08 [[ 9.91253494e-01 1.17615038e-01 5.98599448e-02 4.28669442e+01] [-1.17358447e-01 9.93059015e-01 -7.79658738e-03 -4.62617760e+00] [-6.03614537e-02 7.03324346e-04 9.98176337e-01 -3.07981232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.840714057 meters 0.022700705057566446 Centerline is valid? [True, True] Translation: X:42.89, Y:-4.63, Z:-3.08 [[ 9.91074708e-01 1.18974651e-01 6.01328206e-02 4.28942379e+01] [-1.18719220e-01 9.92897107e-01 -7.81553781e-03 -4.63335576e+00] [-6.06355545e-02 6.06860310e-04 9.98159787e-01 -3.08248685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.870714057 meters 0.02275947228308626 Centerline is valid? [True, True] Translation: X:42.92, Y:-4.64, Z:-3.08 [[ 9.91096269e-01 1.18624101e-01 6.04690688e-02 4.29215700e+01] [-1.18365391e-01 9.92939036e-01 -7.85530070e-03 -4.63815642e+00] [-6.09739269e-02 6.27914224e-04 9.98139162e-01 -3.08392396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.900714056999995 meters 0.02302852585168407 Centerline is valid? [True, True] Translation: X:42.95, Y:-4.65, Z:-3.09 [[ 9.91171287e-01 1.17850754e-01 6.07509564e-02 4.29485296e+01] [-1.17589333e-01 9.93031099e-01 -7.87302438e-03 -4.64790879e+00] [-6.12554309e-02 6.59851294e-04 9.98121905e-01 -3.08676340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.930714056999996 meters 0.02302810852996759 Centerline is valid? [True, True] Translation: X:42.98, Y:-4.66, Z:-3.09 [[ 9.91296266e-01 1.16600529e-01 6.11230632e-02 4.29765967e+01] [-1.16333784e-01 9.93178621e-01 -7.91692146e-03 -4.65506797e+00] [-6.16292369e-02 7.37337447e-04 9.98098840e-01 -3.08929489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.960714057 meters 0.02330870595408391 Centerline is valid? [True, True] Translation: X:43.00, Y:-4.66, Z:-3.09 [[ 9.91449038e-01 1.15296890e-01 6.11181869e-02 4.30035857e+01] [-1.15028713e-01 9.93330752e-01 -7.90010577e-03 -4.66268871e+00] [-6.16214322e-02 8.02205897e-04 9.98099271e-01 -3.09178521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.990714057 meters 0.023096944244505358 Centerline is valid? [True, True] Translation: X:43.03, Y:-4.67, Z:-3.09 [[ 9.91693185e-01 1.13389231e-01 6.07248690e-02 4.30318880e+01] [-1.13121171e-01 9.93550227e-01 -7.84524650e-03 -4.66916250e+00] [-6.12227738e-02 9.10809174e-04 9.98123711e-01 -3.09333197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.020714057 meters 0.0242975548111442 Centerline is valid? [True, True] Translation: X:43.06, Y:-4.68, Z:-3.10 [[ 9.92026711e-01 1.10021547e-01 6.14675856e-02 4.30583726e+01] [-1.09741459e-01 9.93928576e-01 -7.92452539e-03 -4.68230752e+00] [-6.19662584e-02 1.11579835e-03 9.98077621e-01 -3.09612012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.050714057 meters 0.0243615729699116 Centerline is valid? [True, True] Translation: X:43.09, Y:-4.69, Z:-3.10 [[ 9.92194415e-01 1.08424104e-01 6.15991527e-02 4.30857878e+01] [-1.08140280e-01 9.94103994e-01 -7.93279264e-03 -4.69027375e+00] [-6.20960697e-02 1.20952295e-03 9.98069444e-01 -3.09774260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.080714056999994 meters 0.025027209817327735 Centerline is valid? [True, True] Translation: X:43.11, Y:-4.70, Z:-3.10 [[ 9.92621253e-01 1.04500048e-01 6.15043807e-02 4.31137700e+01] [-1.04209916e-01 9.94523828e-01 -7.91505425e-03 -4.70321768e+00] [-6.19946957e-02 1.44728469e-03 9.98075430e-01 -3.10117904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.110714056999996 meters 0.025680532059921428 Centerline is valid? [True, True] Translation: X:43.14, Y:-4.71, Z:-3.10 [[ 9.92872991e-01 1.02398815e-01 6.09729938e-02 4.31403572e+01] [-1.02109827e-01 9.94742197e-01 -7.84498630e-03 -4.71244052e+00] [-6.14557271e-02 1.56313315e-03 9.98108586e-01 -3.10435428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.140714057 meters 0.026450088952470755 Centerline is valid? [True, True] Translation: X:43.17, Y:-4.72, Z:-3.11 [[ 9.93093674e-01 1.00477066e-01 6.05748669e-02 4.31670483e+01] [-1.00188584e-01 9.94937980e-01 -7.78870595e-03 -4.72105156e+00] [-6.10508220e-02 1.66600446e-03 9.98133268e-01 -3.10717998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.170714057 meters 0.02814618762401739 Centerline is valid? [True, True] Translation: X:43.20, Y:-4.73, Z:-3.11 [[ 9.93553485e-01 9.61927368e-02 5.99869125e-02 4.31951048e+01] [-9.59023592e-02 9.95360903e-01 -7.70778397e-03 -4.73391075e+00] [-6.04500603e-02 1.90520919e-03 9.98169405e-01 -3.11080453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.200714057 meters 0.02841425848275174 Centerline is valid? [True, True] Translation: X:43.22, Y:-4.74, Z:-3.11 [[ 9.93774480e-01 9.39344664e-02 5.99049136e-02 4.32227086e+01] [-9.36408611e-02 9.95576296e-01 -7.69602934e-03 -4.74114343e+00] [-6.03628344e-02 2.03856986e-03 9.98174420e-01 -3.11284589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.230714057 meters 0.026288794848307866 Centerline is valid? [True, True] Translation: X:43.25, Y:-4.75, Z:-3.11 [[ 9.94170224e-01 8.94639373e-02 6.01811350e-02 4.32522941e+01] [-8.91599314e-02 9.95987377e-01 -7.72340355e-03 -4.74533391e+00] [-6.06306169e-02 2.31263197e-03 9.98157593e-01 -3.11355437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.260714056999994 meters 0.03221524463945179 Centerline is valid? [True, True] Translation: X:43.28, Y:-4.76, Z:-3.12 [[ 9.94334411e-01 8.73145531e-02 6.06238185e-02 4.32780222e+01] [-8.70021791e-02 9.96177754e-01 -7.77837612e-03 -4.76297392e+00] [-6.10712648e-02 2.45990272e-03 9.98130377e-01 -3.11763877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.290714056999995 meters 0.027068109007193107 Centerline is valid? [True, True] Translation: X:43.31, Y:-4.76, Z:-3.12 [[ 9.94522620e-01 8.50456524e-02 6.07617887e-02 4.33078196e+01] [-8.47279865e-02 9.96373665e-01 -7.79024406e-03 -4.75986964e+00] [-6.12039725e-02 2.59934992e-03 9.98121895e-01 -3.11767596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.320714056999996 meters 0.028314695624309674 Centerline is valid? [True, True] Translation: X:43.34, Y:-4.77, Z:-3.12 [[ 9.94742145e-01 8.16288111e-02 6.18449864e-02 4.33358961e+01] [-8.12933263e-02 9.96658707e-01 -7.92574402e-03 -4.76975632e+00] [-6.22853133e-02 2.85648694e-03 9.98054297e-01 -3.11931273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.350714057 meters 0.028870250631932635 Centerline is valid? [True, True] Translation: X:43.36, Y:-4.78, Z:-3.12 [[ 9.94825096e-01 8.03744968e-02 6.21527913e-02 4.33634448e+01] [-8.00335009e-02 9.96760386e-01 -7.96069130e-03 -4.77618458e+00] [-6.25912768e-02 2.94519000e-03 9.98034898e-01 -3.12107173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.380714057 meters 0.029806738799944964 Centerline is valid? [True, True] Translation: X:43.39, Y:-4.78, Z:-3.12 [[ 9.95056518e-01 7.74196875e-02 6.21990235e-02 4.33918530e+01] [-7.70728587e-02 9.96993689e-01 -7.95976343e-03 -4.78417858e+00] [-6.26282763e-02 3.12655793e-03 9.98032025e-01 -3.12399381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.410714057 meters 0.0295319076828184 Centerline is valid? [True, True] Translation: X:43.42, Y:-4.79, Z:-3.13 [[ 9.95166120e-01 7.61972385e-02 6.19546119e-02 4.34204724e+01] [-7.58509840e-02 9.97087670e-01 -7.92511730e-03 -4.78892890e+00] [-6.23780516e-02 3.18748996e-03 9.98047503e-01 -3.12656093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.440714057 meters 0.03136932944620276 Centerline is valid? [True, True] Translation: X:43.45, Y:-4.80, Z:-3.13 [[ 9.95269341e-01 7.48839613e-02 6.18977508e-02 4.34482063e+01] [-7.45360262e-02 9.97186915e-01 -7.91441691e-03 -4.79746113e+00] [-6.23162901e-02 3.26336412e-03 9.98051116e-01 -3.12998458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.470714056999995 meters 0.03203969527937073 Centerline is valid? [True, True] Translation: X:43.48, Y:-4.80, Z:-3.13 [[ 9.95402755e-01 7.35005996e-02 6.14086165e-02 4.34768946e+01] [-7.31557425e-02 9.97289647e-01 -7.84840127e-03 -4.80343494e+00] [-6.18190396e-02 3.31992731e-03 9.98081853e-01 -3.13263915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.500714056999996 meters 0.030112225535527202 Centerline is valid? [True, True] Translation: X:43.51, Y:-4.81, Z:-3.13 [[ 9.95609802e-01 7.11196898e-02 6.08531976e-02 4.35069169e+01] [-7.07767617e-02 9.97461878e-01 -7.77513166e-03 -4.80512827e+00] [-6.12517097e-02 3.43400503e-03 9.98116444e-01 -3.13479622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.530714057 meters 0.03297559811457277 Centerline is valid? [True, True] Translation: X:43.54, Y:-4.81, Z:-3.14 [[ 9.95689297e-01 6.99391613e-02 6.09207529e-02 4.35357151e+01] [-6.95933399e-02 9.97545086e-01 -7.78261769e-03 -4.81380300e+00] [-6.13155074e-02 3.50939047e-03 9.98112265e-01 -3.13741575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.560714057 meters 0.031301921019287235 Centerline is valid? [True, True] Translation: X:43.57, Y:-4.81, Z:-3.14 [[ 9.95736893e-01 6.92497264e-02 6.09304111e-02 4.35656435e+01] [-6.89025714e-02 9.97593035e-01 -7.78285128e-03 -4.81452523e+00] [-6.13227140e-02 3.55141015e-03 9.98111673e-01 -3.13902866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.590714057 meters 0.032392688249474326 Centerline is valid? [True, True] Translation: X:43.59, Y:-4.82, Z:-3.14 [[ 9.95732128e-01 6.84110433e-02 6.19472268e-02 4.35946282e+01] [-6.80507245e-02 9.97650503e-01 -7.91026701e-03 -4.82023172e+00] [-6.23428316e-02 3.66095333e-03 9.98048079e-01 -3.14071679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.620714057 meters 0.03046907203221705 Centerline is valid? [True, True] Translation: X:43.63, Y:-4.82, Z:-3.14 [[ 9.95750312e-01 6.78885873e-02 6.22290654e-02 4.36251939e+01] [-6.75240407e-02 9.97686013e-01 -7.94499173e-03 -4.82127567e+00] [-6.26244424e-02 3.70927004e-03 9.98030270e-01 -3.14245526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.650714056999995 meters 0.032094893887042474 Centerline is valid? [True, True] Translation: X:43.65, Y:-4.83, Z:-3.15 [[ 9.95717654e-01 6.81416725e-02 6.24745282e-02 4.36539865e+01] [-6.77747289e-02 9.97668764e-01 -7.97643728e-03 -4.82754144e+00] [-6.28724131e-02 3.70808520e-03 9.98014684e-01 -3.14553765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.680714056999996 meters 0.03223052327802497 Centerline is valid? [True, True] Translation: X:43.68, Y:-4.83, Z:-3.15 [[ 9.95729629e-01 6.84739236e-02 6.19179164e-02 4.36839813e+01] [-6.81142182e-02 9.97646219e-01 -7.90410577e-03 -4.83030907e+00] [-6.23134003e-02 3.65286183e-03 9.98049947e-01 -3.14826069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.710714057 meters 0.03415060828788806 Centerline is valid? [True, True] Translation: X:43.71, Y:-4.84, Z:-3.15 [[ 9.95732025e-01 6.90252618e-02 6.12637514e-02 4.37122799e+01] [-6.86741598e-02 9.97608488e-01 -7.82072421e-03 -4.83698300e+00] [-6.16570659e-02 3.58010890e-03 9.98090972e-01 -3.15113925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.740714057 meters 0.03376130124189187 Centerline is valid? [True, True] Translation: X:43.74, Y:-4.84, Z:-3.15 [[ 9.95726034e-01 6.94425163e-02 6.08884474e-02 4.37423215e+01] [-6.90965619e-02 9.97579705e-01 -7.77157978e-03 -4.83944186e+00] [-6.12807575e-02 3.53118193e-03 9.98114322e-01 -3.15352331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.770714057 meters 0.03384010871947113 Centerline is valid? [True, True] Translation: X:43.77, Y:-4.84, Z:-3.16 [[ 9.95599796e-01 7.08893653e-02 6.12841324e-02 4.37713479e+01] [-7.05416389e-02 9.97478168e-01 -7.82181329e-03 -4.84163279e+00] [-6.16840676e-02 3.46431257e-03 9.98089713e-01 -3.15586061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.800714057 meters 0.03090248648969897 Centerline is valid? [True, True] Translation: X:43.80, Y:-4.84, Z:-3.16 [[ 9.95542541e-01 7.14068695e-02 6.16125602e-02 4.38010780e+01] [-7.10562048e-02 9.97441292e-01 -7.86666669e-03 -4.83974555e+00] [-6.20166457e-02 3.45364666e-03 9.98069140e-01 -3.15695439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.830714056999994 meters 0.03017604380091944 Centerline is valid? [True, True] Translation: X:43.83, Y:-4.84, Z:-3.16 [[ 9.95480753e-01 7.18218959e-02 6.21263757e-02 4.38307537e+01] [-7.14662981e-02 9.97411492e-01 -7.92996641e-03 -4.84135492e+00] [-6.25351063e-02 3.45418685e-03 9.98036787e-01 -3.15837741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.860714056999996 meters 0.03186516421417633 Centerline is valid? [True, True] Translation: X:43.86, Y:-4.85, Z:-3.16 [[ 9.95365541e-01 7.24641906e-02 6.32169293e-02 4.38587498e+01] [-7.20974226e-02 9.97364973e-01 -8.06675404e-03 -4.84512989e+00] [-6.36349017e-02 3.47159134e-03 9.97967208e-01 -3.15950008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.890714057 meters 0.03403357644846706 Centerline is valid? [True, True] Translation: X:43.89, Y:-4.85, Z:-3.16 [[ 9.95322536e-01 7.28745599e-02 6.34219864e-02 4.38869755e+01] [-7.25063554e-02 9.97335131e-01 -8.09103161e-03 -4.85099898e+00] [-6.38426055e-02 3.45468902e-03 9.97954000e-01 -3.16197281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.920714057 meters 0.030104560299635794 Centerline is valid? [True, True] Translation: X:43.92, Y:-4.85, Z:-3.16 [[ 9.95216712e-01 7.43616275e-02 6.33564850e-02 4.39173604e+01] [-7.39974074e-02 9.97225707e-01 -8.07920569e-03 -4.84540695e+00] [-6.37814984e-02 3.35234489e-03 9.97958257e-01 -3.16381436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.950714057 meters 0.033416480195905436 Centerline is valid? [True, True] Translation: X:43.95, Y:-4.85, Z:-3.17 [[ 9.95076579e-01 7.59590034e-02 6.36618617e-02 4.39455412e+01] [-7.55946651e-02 9.97105601e-01 -8.11580186e-03 -4.85368456e+00] [-6.40940671e-02 3.26334723e-03 9.97938526e-01 -3.16664079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.980714057 meters 0.029466594394492476 Centerline is valid? [True, True] Translation: X:43.97, Y:-4.85, Z:-3.17 [[ 9.94951615e-01 7.76012399e-02 6.36343644e-02 4.39748922e+01] [-7.72407007e-02 9.96979488e-01 -8.11015447e-03 -4.84949596e+00] [-6.40715141e-02 3.15404839e-03 9.97940325e-01 -3.16862077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.010714056999994 meters 0.027290209526853692 Centerline is valid? [True, True] Translation: X:44.01, Y:-4.85, Z:-3.17 [[ 9.94529190e-01 8.26137830e-02 6.39269314e-02 4.40061529e+01] [-8.22605504e-02 9.96577594e-01 -8.14252303e-03 -4.84672654e+00] [-6.43808321e-02 2.83931228e-03 9.97921363e-01 -3.17051371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.040714056999995 meters 0.026907939708769892 Centerline is valid? [True, True] Translation: X:44.04, Y:-4.85, Z:-3.17 [[ 9.94208568e-01 8.58687130e-02 6.46211131e-02 4.40359459e+01] [-8.55146354e-02 9.96302919e-01 -8.23053292e-03 -4.84806070e+00] [-6.50889489e-02 2.65681541e-03 9.97875929e-01 -3.17237699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.070714056999996 meters 0.026323792917194798 Centerline is valid? [True, True] Translation: X:44.06, Y:-4.85, Z:-3.17 [[ 9.93880652e-01 8.90360298e-02 6.53745815e-02 4.40648244e+01] [-8.86806215e-02 9.96025329e-01 -8.32413886e-03 -4.84881328e+00] [-6.58558873e-02 2.47574205e-03 9.97826073e-01 -3.17382743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.100714057 meters 0.024860593189265857 Centerline is valid? [True, True] Translation: X:44.09, Y:-4.85, Z:-3.18 [[ 9.93106182e-01 9.62936667e-02 6.68404073e-02 4.40942566e+01] [-9.59387576e-02 9.95350886e-01 -8.50702601e-03 -4.84671800e+00] [-6.73488313e-02 2.03579449e-03 9.97727413e-01 -3.17547370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.130714057 meters 0.023685239834752462 Centerline is valid? [True, True] Translation: X:44.12, Y:-4.85, Z:-3.18 [[ 9.92703970e-01 9.99229328e-02 6.74850790e-02 4.41235477e+01] [-9.95696001e-02 9.94993542e-01 -8.58760923e-03 -4.84670412e+00] [-6.80053169e-02 1.80549144e-03 9.97683325e-01 -3.17721304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.160714057 meters 0.022313728800471493 Centerline is valid? [True, True] Translation: X:44.15, Y:-4.85, Z:-3.18 [[ 9.91934113e-01 1.06443172e-01 6.88227138e-02 4.41534420e+01] [-1.06091591e-01 9.94317827e-01 -8.75401956e-03 -4.84526514e+00] [-6.93634568e-02 1.38189946e-03 9.97590498e-01 -3.17928103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.190714057 meters 0.02229003191719526 Centerline is valid? [True, True] Translation: X:44.18, Y:-4.85, Z:-3.18 [[ 9.91577042e-01 1.09669349e-01 6.89028562e-02 4.41813303e+01] [-1.09324901e-01 9.93967454e-01 -8.76162967e-03 -4.84733250e+00] [-6.94480788e-02 1.15503290e-03 9.97584899e-01 -3.18132711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.220714056999995 meters 0.02188370069670357 Centerline is valid? [True, True] Translation: X:44.21, Y:-4.85, Z:-3.18 [[ 9.91165229e-01 1.13338342e-01 6.88905569e-02 4.42102182e+01] [-1.13003299e-01 9.93556050e-01 -8.75379821e-03 -4.84886711e+00] [-6.94387706e-02 8.91600169e-04 9.97585817e-01 -3.18410349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.250714056999996 meters 0.021308942637133673 Centerline is valid? [True, True] Translation: X:44.24, Y:-4.85, Z:-3.19 [[ 9.90391795e-01 1.20328261e-01 6.81557132e-02 4.42377598e+01] [-1.20017195e-01 9.92734081e-01 -8.65546644e-03 -4.84973805e+00] [-6.87019966e-02 3.92445400e-04 9.97637149e-01 -3.18765216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.280714057 meters 0.02145174661046874 Centerline is valid? [True, True] Translation: X:44.27, Y:-4.85, Z:-3.19 [[ 9.90012252e-01 1.23715628e-01 6.76031420e-02 4.42667163e+01] [-1.23417895e-01 9.92317702e-01 -8.57917936e-03 -4.85256448e+00] [-6.81451730e-02 1.50055187e-04 9.97675405e-01 -3.19045545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.310714057 meters 0.02125873448014876 Centerline is valid? [True, True] Translation: X:44.29, Y:-4.86, Z:-3.19 [[ 9.89594523e-01 1.27209555e-01 6.72339951e-02 4.42933706e+01] [-1.26923445e-01 9.91875859e-01 -8.52755165e-03 -4.85543194e+00] [-6.77725627e-02 -9.47518394e-05 9.97700792e-01 -3.19298857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.340714057 meters 0.02124224630820078 Centerline is valid? [True, True] Translation: X:44.32, Y:-4.86, Z:-3.20 [[ 9.88840947e-01 1.33356233e-01 6.64055477e-02 4.43212355e+01] [-1.33091527e-01 9.91068033e-01 -8.41417963e-03 -4.85916305e+00] [-6.69344989e-02 -5.17730408e-04 9.97757237e-01 -3.19637388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.370714057 meters 0.021366919489393007 Centerline is valid? [True, True] Translation: X:44.35, Y:-4.86, Z:-3.20 [[ 9.88486366e-01 1.36027911e-01 6.62654592e-02 4.43486602e+01] [-1.35770713e-01 9.90704756e-01 -8.39048061e-03 -4.86323976e+00] [-6.67908451e-02 -7.03032964e-04 9.97766751e-01 -3.19842555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.400714056999995 meters 0.021255899993329264 Centerline is valid? [True, True] Translation: X:44.38, Y:-4.87, Z:-3.20 [[ 9.88026280e-01 1.39345982e-01 6.62326718e-02 4.43764023e+01] [-1.39096855e-01 9.90243318e-01 -8.38075093e-03 -4.87139178e+00] [-6.67542846e-02 -9.32354149e-04 9.97769009e-01 -3.20100184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.430714056999996 meters 0.021590050350145745 Centerline is valid? [True, True] Translation: X:44.40, Y:-4.88, Z:-3.20 [[ 9.87875371e-01 1.40337992e-01 6.63889993e-02 4.44038713e+01] [-1.40091080e-01 9.90103131e-01 -8.38328545e-03 -4.87683568e+00] [-6.69084496e-02 -1.01886537e-03 9.97758599e-01 -3.20296310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.460714057 meters 0.0216534095213149 Centerline is valid? [True, True] Translation: X:44.43, Y:-4.88, Z:-3.21 [[ 9.87722890e-01 1.41144944e-01 6.69447392e-02 4.44318102e+01] [-1.40896127e-01 9.89988343e-01 -8.44757111e-03 -4.88329796e+00] [-6.74668435e-02 -1.08839511e-03 9.97720923e-01 -3.20511703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.490714057 meters 0.021681070358783038 Centerline is valid? [True, True] Translation: X:44.46, Y:-4.89, Z:-3.21 [[ 9.87660579e-01 1.41281986e-01 6.75720432e-02 4.44586060e+01] [-1.41029939e-01 9.89968755e-01 -8.51003720e-03 -4.89054986e+00] [-6.80965264e-02 -1.12465284e-03 9.97678104e-01 -3.20725100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.520714057 meters 0.021081370917692133 Centerline is valid? [True, True] Translation: X:44.49, Y:-4.90, Z:-3.21 [[ 9.87667809e-01 1.40696176e-01 6.86795781e-02 4.44850602e+01] [-1.40435738e-01 9.90052185e-01 -8.62991172e-03 -4.90493874e+00] [-6.92105619e-02 -1.12158125e-03 9.97601444e-01 -3.20968416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.550714057 meters 0.021140332063785756 Centerline is valid? [True, True] Translation: X:44.51, Y:-4.91, Z:-3.21 [[ 9.87771040e-01 1.39531121e-01 6.95660752e-02 4.45123438e+01] [-1.39262486e-01 9.90217104e-01 -8.72050825e-03 -4.91381183e+00] [-7.01022998e-02 -1.07407908e-03 9.97539229e-01 -3.21184707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.580714056999994 meters 0.020887839597074877 Centerline is valid? [True, True] Translation: X:44.54, Y:-4.93, Z:-3.21 [[ 9.88167432e-01 1.36287694e-01 7.03618623e-02 4.45385989e+01] [-1.36005941e-01 9.90668918e-01 -8.80222278e-03 -4.92890284e+00] [-7.09049446e-02 -8.71561391e-04 9.97482696e-01 -3.21382914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.610714056999996 meters 0.020887839597074877 Centerline is valid? [True, True] Translation: X:44.57, Y:-4.93, Z:-3.22 [[ 9.88182045e-01 1.36181284e-01 7.03626603e-02 4.45657943e+01] [-1.35899716e-01 9.90683552e-01 -8.79583922e-03 -4.93222077e+00] [-7.09049589e-02 -8.70375193e-04 9.97482696e-01 -3.21571808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.640714057 meters 0.020701098006109166 Centerline is valid? [True, True] Translation: X:44.59, Y:-4.94, Z:-3.22 [[ 9.88505728e-01 1.33721405e-01 7.05337660e-02 4.45931531e+01] [-1.33432754e-01 9.91018714e-01 -8.80959457e-03 -4.94259816e+00] [-7.10783134e-02 -7.03179921e-04 9.97470490e-01 -3.21757000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.670714057 meters 0.02101634627961529 Centerline is valid? [True, True] Translation: X:44.62, Y:-4.95, Z:-3.22 [[ 9.88877495e-01 1.30914774e-01 7.05876902e-02 4.46195745e+01] [-1.30618910e-01 9.91393496e-01 -8.81110221e-03 -4.95237081e+00] [-7.11336804e-02 -5.06986450e-04 9.97466662e-01 -3.21962973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.700714057 meters 0.020971856817890874 Centerline is valid? [True, True] Translation: X:44.65, Y:-4.97, Z:-3.22 [[ 9.89696896e-01 1.24694852e-01 7.03651028e-02 4.46462914e+01] [-1.24385591e-01 9.92195137e-01 -8.77696877e-03 -4.97081886e+00] [-7.09103557e-02 -6.58661262e-05 9.97482690e-01 -3.22219149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.730714057 meters 0.021328454760873812 Centerline is valid? [True, True] Translation: X:44.67, Y:-4.98, Z:-3.22 [[ 9.90094686e-01 1.21663238e-01 7.00754543e-02 4.46726983e+01] [-1.21349303e-01 9.92571426e-01 -8.73563880e-03 -4.98095866e+00] [-7.06176997e-02 1.45502056e-04 9.97503443e-01 -3.22459945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.760714056999994 meters 0.021316554988760256 Centerline is valid? [True, True] Translation: X:44.70, Y:-4.99, Z:-3.23 [[ 9.90502295e-01 1.18554271e-01 6.96425829e-02 4.47002576e+01] [-1.18237059e-01 9.92947510e-01 -8.67414432e-03 -4.99182485e+00] [-7.01797861e-02 3.57425661e-04 9.97534295e-01 -3.22687535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.790714056999995 meters 0.0216658087585801 Centerline is valid? [True, True] Translation: X:44.73, Y:-5.00, Z:-3.23 [[ 9.90836128e-01 1.15997440e-01 6.91979925e-02 4.47283481e+01] [-1.15678390e-01 9.93249371e-01 -8.61377963e-03 -5.00236820e+00] [-6.97300389e-02 5.30131709e-04 9.97565758e-01 -3.22895595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.820714056999996 meters 0.022122278753352972 Centerline is valid? [True, True] Translation: X:44.76, Y:-5.02, Z:-3.23 [[ 9.91311800e-01 1.11684249e-01 6.94805225e-02 4.47552693e+01] [-1.11352353e-01 9.93743396e-01 -8.64390285e-03 -5.01868637e+00] [-7.00111982e-02 8.31983224e-04 9.97545859e-01 -3.23097720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.850714057 meters 0.022670466983811616 Centerline is valid? [True, True] Translation: X:44.78, Y:-5.03, Z:-3.23 [[ 9.91515245e-01 1.09829272e-01 6.95345259e-02 4.47823706e+01] [-1.09492661e-01 9.93950005e-01 -8.64553389e-03 -5.02791866e+00] [-7.00633751e-02 9.58658383e-04 9.97542082e-01 -3.23344522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.880714057 meters 0.02306379108210743 Centerline is valid? [True, True] Translation: X:44.81, Y:-5.04, Z:-3.24 [[ 9.91694277e-01 1.08333229e-01 6.93280044e-02 4.48099092e+01] [-1.07995474e-01 9.94114078e-01 -8.61260882e-03 -5.04201772e+00] [-6.98529769e-02 1.05396418e-03 9.97556741e-01 -3.23501083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.910714057 meters 0.0232199650654567 Centerline is valid? [True, True] Translation: X:44.84, Y:-5.05, Z:-3.24 [[ 9.91789587e-01 1.07473202e-01 6.93031477e-02 4.48386111e+01] [-1.07133937e-01 9.94207363e-01 -8.60460007e-03 -5.04939311e+00] [-6.98264637e-02 1.10923367e-03 9.97558537e-01 -3.23763217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.940714057 meters 0.02478030211160037 Centerline is valid? [True, True] Translation: X:44.87, Y:-5.06, Z:-3.24 [[ 9.91733643e-01 1.08376080e-01 6.86950309e-02 4.48677117e+01] [-1.08045089e-01 9.94109429e-01 -8.52656574e-03 -5.05839549e+00] [-6.92144537e-02 1.03392136e-03 9.97601268e-01 -3.23856643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.970714056999995 meters 0.02401580943609689 Centerline is valid? [True, True] Translation: X:44.89, Y:-5.07, Z:-3.24 [[ 9.91756349e-01 1.07339013e-01 6.99834234e-02 4.48948626e+01] [-1.06993082e-01 9.94221842e-01 -8.68381318e-03 -5.07107131e+00] [-7.05111601e-02 1.12448472e-03 9.97510357e-01 -3.24035612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.000714056999996 meters 0.023931188785950516 Centerline is valid? [True, True] Translation: X:44.92, Y:-5.08, Z:-3.24 [[ 9.91776354e-01 1.07344966e-01 6.96901901e-02 4.49244002e+01] [-1.07002210e-01 9.94221210e-01 -8.64368502e-03 -5.07780309e+00] [-7.02153212e-02 1.11559806e-03 9.97531235e-01 -3.24237908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.030714057 meters 0.02379336838618004 Centerline is valid? [True, True] Translation: X:44.95, Y:-5.09, Z:-3.24 [[ 9.91818139e-01 1.07590320e-01 6.87102827e-02 4.49540741e+01] [-1.07257737e-01 9.94194725e-01 -8.52215651e-03 -5.08969288e+00] [-6.92283022e-02 1.08271996e-03 9.97600256e-01 -3.24478584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.060714057 meters 0.02424956022872599 Centerline is valid? [True, True] Translation: X:44.98, Y:-5.10, Z:-3.25 [[ 9.91860596e-01 1.07646614e-01 6.80056182e-02 4.49841675e+01] [-1.07320875e-01 9.94188646e-01 -8.43598554e-03 -5.09722605e+00] [-6.85185187e-02 1.06889920e-03 9.97649272e-01 -3.24768109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.090714057 meters 0.024165063622249704 Centerline is valid? [True, True] Translation: X:45.01, Y:-5.11, Z:-3.25 [[ 9.91764197e-01 1.08633423e-01 6.78421486e-02 4.50141412e+01] [-1.08311386e-01 9.94081374e-01 -8.41818531e-03 -5.10848942e+00] [-6.83551125e-02 1.00077764e-03 9.97660552e-01 -3.24901282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.120714057 meters 0.024552996271755594 Centerline is valid? [True, True] Translation: X:45.04, Y:-5.12, Z:-3.25 [[ 9.91718136e-01 1.08992451e-01 6.79395670e-02 4.50446387e+01] [-1.08670158e-01 9.94042094e-01 -8.43276007e-03 -5.11553324e+00] [-6.84538966e-02 9.79917622e-04 9.97653800e-01 -3.25135015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.150714056999995 meters 0.024590486787166504 Centerline is valid? [True, True] Translation: X:45.07, Y:-5.12, Z:-3.25 [[ 9.91683922e-01 1.09627082e-01 6.74158826e-02 4.50740942e+01] [-1.09311042e-01 9.93972352e-01 -8.37020967e-03 -5.12245747e+00] [-6.79271250e-02 9.31301985e-04 9.97689851e-01 -3.25329232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.180714056999996 meters 0.024404481497400717 Centerline is valid? [True, True] Translation: X:45.10, Y:-5.13, Z:-3.26 [[ 9.91749623e-01 1.09876343e-01 6.60293496e-02 4.51044538e+01] [-1.09573664e-01 9.93944860e-01 -8.19918873e-03 -5.13162959e+00] [-6.65304296e-02 8.96464580e-04 9.97783994e-01 -3.25633379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.210714057 meters 0.02629642688141074 Centerline is valid? [True, True] Translation: X:45.13, Y:-5.14, Z:-3.26 [[ 9.91754035e-01 1.10928976e-01 6.41770757e-02 4.51339218e+01] [-1.10645129e-01 9.93828011e-01 -7.97123117e-03 -5.13943762e+00] [-6.46652160e-02 8.04619839e-04 9.97906690e-01 -3.25758645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.240714057 meters 0.026608907324369484 Centerline is valid? [True, True] Translation: X:45.16, Y:-5.15, Z:-3.26 [[ 9.91841731e-01 1.10454417e-01 6.36380541e-02 4.51648837e+01] [-1.10173949e-01 9.93880840e-01 -7.91049638e-03 -5.14682122e+00] [-6.41223920e-02 8.34704696e-04 9.97941693e-01 -3.25981170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.270714057 meters 0.024724259776237077 Centerline is valid? [True, True] Translation: X:45.19, Y:-5.15, Z:-3.26 [[ 9.92005489e-01 1.08744881e-01 6.40285921e-02 4.51949172e+01] [-1.08457246e-01 9.94069234e-01 -7.96139112e-03 -5.15443407e+00] [-6.45146141e-02 9.53378919e-04 9.97916307e-01 -3.26328361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.300714057 meters 0.02628729604198422 Centerline is valid? [True, True] Translation: X:45.22, Y:-5.17, Z:-3.26 [[ 9.92177455e-01 1.07651326e-01 6.32067239e-02 4.52249565e+01] [-1.07368740e-01 9.94188195e-01 -7.86046928e-03 -5.16720901e+00] [-6.36855687e-02 1.01255412e-03 9.97969500e-01 -3.26404527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.330714056999994 meters 0.025501368285585062 Centerline is valid? [True, True] Translation: X:45.26, Y:-5.17, Z:-3.27 [[ 9.92303688e-01 1.06044421e-01 6.39372438e-02 4.52561501e+01] [-1.05750954e-01 9.94360736e-01 -7.96635377e-03 -5.17424822e+00] [-6.44214722e-02 1.14361767e-03 9.97922124e-01 -3.26641375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.360714056999996 meters 0.02551882300013295 Centerline is valid? [True, True] Translation: X:45.29, Y:-5.18, Z:-3.27 [[ 9.92526818e-01 1.03719413e-01 6.42868555e-02 4.52877255e+01] [-1.03416819e-01 9.94605725e-01 -8.02585015e-03 -5.18396630e+00] [-6.47725110e-02 1.31752944e-03 9.97899186e-01 -3.26709525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.390714057 meters 0.027644746653943113 Centerline is valid? [True, True] Translation: X:45.32, Y:-5.19, Z:-3.27 [[ 9.92671436e-01 1.02783296e-01 6.35532452e-02 4.53177830e+01] [-1.02484621e-01 9.94702816e-01 -7.95047285e-03 -5.19297106e+00] [-6.40337677e-02 1.37897706e-03 9.97946780e-01 -3.26784278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.420714057 meters 0.026750790156725733 Centerline is valid? [True, True] Translation: X:45.35, Y:-5.20, Z:-3.27 [[ 9.92944440e-01 1.00272386e-01 6.32991864e-02 4.53492673e+01] [-9.99700535e-02 9.94958817e-01 -7.93352589e-03 -5.20069107e+00] [-6.37755972e-02 1.54952737e-03 9.97963062e-01 -3.27029045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.450714057 meters 0.029184872271554467 Centerline is valid? [True, True] Translation: X:45.38, Y:-5.21, Z:-3.27 [[ 9.93507497e-01 9.52749789e-02 6.21734048e-02 4.53789954e+01] [-9.49724861e-02 9.95449266e-01 -7.80930250e-03 -5.21393809e+00] [-6.26345014e-02 1.85383776e-03 9.98034810e-01 -3.27165766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.480714057 meters 0.027860370870370615 Centerline is valid? [True, True] Translation: X:45.41, Y:-5.22, Z:-3.28 [[ 9.93922348e-01 9.07945452e-02 6.22472183e-02 4.54094034e+01] [-9.04824180e-02 9.95867344e-01 -7.82083440e-03 -5.22222099e+00] [-6.27000610e-02 2.14102327e-03 9.98030119e-01 -3.27507642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.510714056999994 meters 0.028656182401338298 Centerline is valid? [True, True] Translation: X:45.44, Y:-5.23, Z:-3.28 [[ 9.94210446e-01 8.78327150e-02 6.18951034e-02 4.54403293e+01] [-8.75183244e-02 9.96132548e-01 -7.77757512e-03 -5.23077432e+00] [-6.23388526e-02 2.31559068e-03 9.98052356e-01 -3.27717258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.540714056999995 meters 0.032132986073270364 Centerline is valid? [True, True] Translation: X:45.47, Y:-5.24, Z:-3.28 [[ 9.94824069e-01 8.15960087e-02 6.05571043e-02 4.54685164e+01] [-8.12825882e-02 9.96661927e-01 -7.62520273e-03 -5.24326197e+00] [-6.09771464e-02 2.66349703e-03 9.98135609e-01 -3.27766114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.570714056999996 meters 0.03273690710526766 Centerline is valid? [True, True] Translation: X:45.50, Y:-5.25, Z:-3.28 [[ 9.95221838e-01 7.67016876e-02 6.04180755e-02 4.54973326e+01] [-7.63807668e-02 9.97049705e-01 -7.60679409e-03 -5.25189846e+00] [-6.08232783e-02 2.95566866e-03 9.98144174e-01 -3.28002784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.600714057 meters 0.032797422932651206 Centerline is valid? [True, True] Translation: X:45.53, Y:-5.26, Z:-3.28 [[ 9.95713521e-01 7.06291874e-02 5.97168532e-02 4.55279885e+01] [-7.03048386e-02 9.97497224e-01 -7.51781107e-03 -5.25560581e+00] [-6.00983722e-02 3.28720240e-03 9.98187047e-01 -3.27921190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.630714057 meters 0.03490873128308485 Centerline is valid? [True, True] Translation: X:45.56, Y:-5.26, Z:-3.28 [[ 9.95901978e-01 6.77543905e-02 5.99048705e-02 4.55574974e+01] [-6.74228084e-02 9.97695991e-01 -7.54155052e-03 -5.26416845e+00] [-6.02778223e-02 3.47169047e-03 9.98175602e-01 -3.28134720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.660714057 meters 0.0339395165651765 Centerline is valid? [True, True] Translation: X:45.59, Y:-5.27, Z:-3.28 [[ 9.96087355e-01 6.51394319e-02 5.97229980e-02 4.55889331e+01] [-6.48051247e-02 9.97869606e-01 -7.51961646e-03 -5.26691848e+00] [-6.00855881e-02 3.61983854e-03 9.98186665e-01 -3.28279615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.690714057 meters 0.033710981420854845 Centerline is valid? [True, True] Translation: X:45.62, Y:-5.27, Z:-3.29 [[ 9.96329410e-01 6.03706364e-02 6.06884926e-02 4.56185477e+01] [-6.00164513e-02 9.98168121e-01 -7.64377458e-03 -5.27178844e+00] [-6.10387781e-02 3.97340945e-03 9.98127487e-01 -3.28538458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.720714056999995 meters 0.036443220147864476 Centerline is valid? [True, True] Translation: X:45.65, Y:-5.28, Z:-3.29 [[ 9.96381619e-01 6.01370490e-02 6.00600122e-02 4.56499042e+01] [-5.97898506e-02 9.98182336e-01 -7.56296798e-03 -5.27698047e+00] [-6.04056578e-02 3.94462312e-03 9.98166117e-01 -3.28653463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.750714056999996 meters 0.03735790809289363 Centerline is valid? [True, True] Translation: X:45.68, Y:-5.28, Z:-3.29 [[ 9.96449389e-01 5.86844472e-02 6.03717784e-02 4.56816024e+01] [-5.83299873e-02 9.98268286e-01 -7.61849918e-03 -5.28140512e+00] [-6.07143192e-02 4.06996379e-03 9.98146886e-01 -3.28891068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.780714057 meters 0.03637431654294409 Centerline is valid? [True, True] Translation: X:45.71, Y:-5.28, Z:-3.29 [[ 9.96506205e-01 5.63868552e-02 6.16109197e-02 4.57132569e+01] [-5.60129945e-02 9.98399729e-01 -7.77986111e-03 -5.28134000e+00] [-6.19510074e-02 4.30166777e-03 9.98069922e-01 -3.29061477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.810714057 meters 0.036837299258567775 Centerline is valid? [True, True] Translation: X:45.74, Y:-5.28, Z:-3.29 [[ 9.96533853e-01 5.51187228e-02 6.23073497e-02 4.57445578e+01] [-5.47338097e-02 9.98469974e-01 -7.86898340e-03 -5.28412641e+00] [-6.26457461e-02 4.43138973e-03 9.98025988e-01 -3.29322030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.840714057 meters 0.036450565907920264 Centerline is valid? [True, True] Translation: X:45.78, Y:-5.28, Z:-3.29 [[ 9.96562745e-01 5.39238764e-02 6.28880888e-02 4.57773991e+01] [-5.35283365e-02 9.98534614e-01 -7.95875915e-03 -5.28305508e+00] [-6.32251007e-02 4.56510808e-03 9.97988851e-01 -3.29479114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.870714057 meters 0.03694395727348429 Centerline is valid? [True, True] Translation: X:45.81, Y:-5.29, Z:-3.30 [[ 9.96561545e-01 5.36964536e-02 6.31013342e-02 4.58099450e+01] [-5.32975232e-02 9.98546714e-01 -7.98961246e-03 -5.28542841e+00] [-6.34386438e-02 4.59899571e-03 9.97975144e-01 -3.29688885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.900714056999995 meters 0.039460568015941035 Centerline is valid? [True, True] Translation: X:45.84, Y:-5.29, Z:-3.30 [[ 9.96555872e-01 5.40695664e-02 6.28719028e-02 4.58431008e+01] [-5.36732352e-02 9.98526691e-01 -7.97697301e-03 -5.28865660e+00] [-6.32105845e-02 4.57496086e-03 9.97989725e-01 -3.29878086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.930714056999996 meters 0.03941847777048021 Centerline is valid? [True, True] Translation: X:45.87, Y:-5.29, Z:-3.30 [[ 9.96611554e-01 5.22320431e-02 6.35391523e-02 4.58725293e+01] [-5.18222023e-02 9.98623620e-01 -8.08236200e-03 -5.29113398e+00] [-6.38738566e-02 4.76223655e-03 9.97946618e-01 -3.30264090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.960714057 meters 0.04080687957461968 Centerline is valid? [True, True] Translation: X:45.90, Y:-5.29, Z:-3.31 [[ 9.96750916e-01 5.02591653e-02 6.29414680e-02 4.59040355e+01] [-4.98531169e-02 9.98724471e-01 -8.00614217e-03 -5.29068419e+00] [-6.32635663e-02 4.84230118e-03 9.97985107e-01 -3.30635938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.990714057 meters 0.041694709685501555 Centerline is valid? [True, True] Translation: X:45.94, Y:-5.29, Z:-3.31 [[ 9.96844358e-01 4.92438310e-02 6.22605024e-02 4.59362913e+01] [-4.88444408e-02 9.98774984e-01 -7.92157609e-03 -5.29222722e+00] [-6.25743211e-02 4.85549901e-03 9.98028496e-01 -3.30956551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.020714057 meters 0.04369638491831908 Centerline is valid? [True, True] Translation: X:45.97, Y:-5.29, Z:-3.31 [[ 9.96967493e-01 4.71615588e-02 6.18999630e-02 4.59665345e+01] [-4.67624913e-02 9.98874949e-01 -7.88071473e-03 -5.29228001e+00] [-6.22019892e-02 4.96221992e-03 9.98051246e-01 -3.31281913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.050714057 meters 0.04509381098990976 Centerline is valid? [True, True] Translation: X:46.00, Y:-5.29, Z:-3.32 [[ 9.97015566e-01 4.63016531e-02 6.17747298e-02 4.59977559e+01] [-4.59026564e-02 9.98914969e-01 -7.86326972e-03 -5.29495347e+00] [-6.20717847e-02 5.00417812e-03 9.98059142e-01 -3.31574412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.080714056999994 meters 0.040083404897922836 Centerline is valid? [True, True] Translation: X:46.03, Y:-5.29, Z:-3.32 [[ 9.97082097e-01 4.50898377e-02 6.15970655e-02 4.60311032e+01] [-4.46898821e-02 9.98970017e-01 -7.85613104e-03 -5.28812777e+00] [-6.18878532e-02 5.08044202e-03 9.98070179e-01 -3.31746516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.110714056999996 meters 0.048276995522740396 Centerline is valid? [True, True] Translation: X:46.06, Y:-5.29, Z:-3.32 [[ 9.97229522e-01 4.32203270e-02 6.05415798e-02 4.60599947e+01] [-4.28302520e-02 9.99052485e-01 -7.72664565e-03 -5.29494579e+00] [-6.08181639e-02 5.11222803e-03 9.98135770e-01 -3.32130548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.140714057 meters 0.04850585741206234 Centerline is valid? [True, True] Translation: X:46.09, Y:-5.29, Z:-3.32 [[ 9.97273680e-01 4.26101458e-02 6.02460246e-02 4.60919943e+01] [-4.22228833e-02 9.99078644e-01 -7.68708787e-03 -5.29495297e+00] [-6.05180645e-02 5.12236954e-03 9.98153959e-01 -3.32350788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.170714057 meters 0.04957392745718519 Centerline is valid? [True, True] Translation: X:46.12, Y:-5.30, Z:-3.33 [[ 9.97344477e-01 4.18303578e-02 5.96172426e-02 4.61242437e+01] [-4.14488645e-02 9.99111554e-01 -7.62191775e-03 -5.29695955e+00] [-5.98831035e-02 5.13061055e-03 9.98192211e-01 -3.32612368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.200714057 meters 0.04625150957246517 Centerline is valid? [True, True] Translation: X:46.16, Y:-5.29, Z:-3.33 [[ 9.97411888e-01 4.01327626e-02 5.96564054e-02 4.61567962e+01] [-3.97474835e-02 9.99180613e-01 -7.63146505e-03 -5.28898431e+00] [-5.99137955e-02 5.24052198e-03 9.98189799e-01 -3.32731268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.230714057 meters 0.05186811810674706 Centerline is valid? [True, True] Translation: X:46.19, Y:-5.30, Z:-3.33 [[ 9.97399070e-01 4.01504382e-02 5.98584707e-02 4.61868679e+01] [-3.97625390e-02 9.99179812e-01 -7.65786193e-03 -5.29675162e+00] [-6.01168421e-02 5.25781959e-03 9.98177500e-01 -3.32968799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.260714056999994 meters 0.07000981878763432 Centerline is valid? [True, True] Translation: X:46.21, Y:-5.32, Z:-3.33 [[ 9.97138306e-01 4.50112010e-02 6.07387113e-02 4.62140540e+01] [-4.46197288e-02 9.98973696e-01 -7.78687985e-03 -5.31655318e+00] [-6.10268717e-02 5.05445135e-03 9.98123326e-01 -3.33333605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.290714056999995 meters 0.04669112818562004 Centerline is valid? [True, True] Translation: X:46.25, Y:-5.28, Z:-3.33 [[ 9.97289791e-01 4.31004286e-02 5.96273980e-02 4.62500393e+01] [-4.27198095e-02 9.99057850e-01 -7.64399589e-03 -5.28353756e+00] [-5.99006796e-02 5.07600798e-03 9.98191436e-01 -3.33301495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.320714056999996 meters 0.04442324305115138 Centerline is valid? [True, True] Translation: X:46.28, Y:-5.27, Z:-3.33 [[ 9.97070620e-01 4.69590137e-02 6.03740817e-02 4.62820781e+01] [-4.65756519e-02 9.98884761e-01 -7.74221576e-03 -5.27495036e+00] [-6.06703170e-02 4.90757366e-03 9.98145795e-01 -3.33429272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.350714057 meters 0.0409815151251768 Centerline is valid? [True, True] Translation: X:46.31, Y:-5.27, Z:-3.34 [[ 9.96899867e-01 4.96560132e-02 6.10322557e-02 4.63140835e+01] [-4.92692593e-02 9.98754868e-01 -7.82646672e-03 -5.27021234e+00] [-6.13448936e-02 4.79518960e-03 9.98105110e-01 -3.33538840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.380714057 meters 0.03798750382681433 Centerline is valid? [True, True] Translation: X:46.35, Y:-5.27, Z:-3.34 [[ 9.96691975e-01 5.26784461e-02 6.18877143e-02 4.63453739e+01] [-5.22864613e-02 9.98600582e-01 -7.93744866e-03 -5.26532959e+00] [-6.22192400e-02 4.67530180e-03 9.98051556e-01 -3.33687142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.410714057 meters 0.037865872734427285 Centerline is valid? [True, True] Translation: X:46.38, Y:-5.26, Z:-3.34 [[ 9.96479265e-01 5.59525813e-02 6.24370257e-02 4.63752624e+01] [-5.55599798e-02 9.98423238e-01 -8.00790095e-03 -5.26476302e+00] [-6.27866401e-02 4.51070737e-03 9.98016779e-01 -3.33835256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.440714057 meters 0.034555728652474194 Centerline is valid? [True, True] Translation: X:46.41, Y:-5.25, Z:-3.34 [[ 9.95993481e-01 6.33285901e-02 6.31385474e-02 4.64077192e+01] [-6.29418362e-02 9.97984344e-01 -8.09779260e-03 -5.25493173e+00] [-6.35241036e-02 4.09129253e-03 9.97971918e-01 -3.33925549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.470714056999995 meters 0.0325895999997452 Centerline is valid? [True, True] Translation: X:46.44, Y:-5.25, Z:-3.34 [[ 9.95461770e-01 7.13964144e-02 6.29159433e-02 4.64398474e+01] [-7.10283515e-02 9.97441649e-01 -8.07027292e-03 -5.24641442e+00] [-6.33311708e-02 3.56483243e-03 9.97986200e-01 -3.34192949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.500714056999996 meters 0.03228419720502535 Centerline is valid? [True, True] Translation: X:46.47, Y:-5.24, Z:-3.34 [[ 9.95106538e-01 7.68142411e-02 6.21494185e-02 4.64706917e+01] [-7.64655581e-02 9.97040345e-01 -7.97305347e-03 -5.24438419e+00] [-6.25779217e-02 3.18174766e-03 9.98035010e-01 -3.34390602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.530714057 meters 0.03228419720502535 Centerline is valid? [True, True] Translation: X:46.50, Y:-5.25, Z:-3.35 [[ 9.95103744e-01 7.68504148e-02 6.21494287e-02 4.65012494e+01] [-7.65018071e-02 9.97037565e-01 -7.97297418e-03 -5.24833360e+00] [-6.25780414e-02 3.17939286e-03 9.98035010e-01 -3.34602812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.560714057 meters 0.029885183308090688 Centerline is valid? [True, True] Translation: X:46.53, Y:-5.25, Z:-3.35 [[ 9.94903831e-01 7.93238000e-02 6.22422758e-02 4.65327955e+01] [-7.89788259e-02 9.96844296e-01 -7.98719361e-03 -5.24665657e+00] [-6.26794321e-02 3.03066766e-03 9.98029110e-01 -3.34906877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.590714057 meters 0.028093379373176068 Centerline is valid? [True, True] Translation: X:46.56, Y:-5.24, Z:-3.35 [[ 9.94609365e-01 8.31565073e-02 6.19451909e-02 4.65637027e+01] [-8.28220732e-02 9.96532627e-01 -7.95159501e-03 -5.24365635e+00] [-6.23916307e-02 2.77830172e-03 9.98047877e-01 -3.35139480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.620714057 meters 0.027776990362228204 Centerline is valid? [True, True] Translation: X:46.59, Y:-5.24, Z:-3.35 [[ 9.93997446e-01 9.04570635e-02 6.15353354e-02 4.65933025e+01] [-9.01409810e-02 9.95897689e-01 -7.89913090e-03 -5.24145789e+00] [-6.19974306e-02 2.30486044e-03 9.98073648e-01 -3.35382301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.650714056999995 meters 0.02739683448962753 Centerline is valid? [True, True] Translation: X:46.62, Y:-5.24, Z:-3.36 [[ 9.93547456e-01 9.49885211e-02 6.19728436e-02 4.66234115e+01] [-9.46767951e-02 9.95476287e-01 -7.95399016e-03 -5.24052646e+00] [-6.24480340e-02 2.03527648e-03 9.98046142e-01 -3.35548392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.680714056999996 meters 0.025239563755518047 Centerline is valid? [True, True] Translation: X:46.65, Y:-5.24, Z:-3.36 [[ 9.93291329e-01 9.74007622e-02 6.23331921e-02 4.66525899e+01] [-9.70902635e-02 9.95243442e-01 -7.99819427e-03 -5.23889177e+00] [-6.28157309e-02 1.89259097e-03 9.98023347e-01 -3.35657623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.710714057 meters 0.023903650493190206 Centerline is valid? [True, True] Translation: X:46.68, Y:-5.24, Z:-3.36 [[ 9.92613953e-01 1.03558740e-01 6.31912032e-02 4.66824417e+01] [-1.03252381e-01 9.94622180e-01 -8.10342053e-03 -5.23538506e+00] [-6.36905522e-02 1.51892607e-03 9.97968540e-01 -3.35739867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.740714057 meters 0.023467605064398458 Centerline is valid? [True, True] Translation: X:46.71, Y:-5.24, Z:-3.36 [[ 9.92368591e-01 1.05922760e-01 6.31264431e-02 4.67110774e+01] [-1.05621939e-01 9.94373425e-01 -8.09301221e-03 -5.23571127e+00] [-6.36284916e-02 1.36371382e-03 9.97972723e-01 -3.35917071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.770714057 meters 0.02264838072316404 Centerline is valid? [True, True] Translation: X:46.74, Y:-5.24, Z:-3.36 [[ 9.91823656e-01 1.10684797e-01 6.35193781e-02 4.67386495e+01] [-1.10390250e-01 9.93854995e-01 -8.13888973e-03 -5.23582038e+00] [-6.40299026e-02 1.06042332e-03 9.97947417e-01 -3.36160546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.800714057 meters 0.02210716327896028 Centerline is valid? [True, True] Translation: X:46.77, Y:-5.24, Z:-3.36 [[ 9.91567442e-01 1.12795206e-01 6.38063492e-02 4.67673859e+01] [-1.12502723e-01 9.93617829e-01 -8.16989530e-03 -5.23731678e+00] [-6.43206512e-02 9.22614161e-04 9.97928856e-01 -3.36353288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.830714056999994 meters 0.021860994117570063 Centerline is valid? [True, True] Translation: X:46.80, Y:-5.24, Z:-3.37 [[ 9.91330633e-01 1.14682171e-01 6.41215763e-02 4.67962699e+01] [-1.14391034e-01 9.93401913e-01 -8.20553450e-03 -5.23980653e+00] [-6.46395251e-02 7.99464313e-04 9.97908359e-01 -3.36578196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.860714056999996 meters 0.021632894170014398 Centerline is valid? [True, True] Translation: X:46.82, Y:-5.24, Z:-3.37 [[ 9.90874290e-01 1.18915621e-01 6.34603524e-02 4.68237686e+01] [-1.18639410e-01 9.92904231e-01 -8.11658985e-03 -5.24207506e+00] [-6.39752417e-02 5.13621423e-04 9.97951354e-01 -3.36823064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.890714057 meters 0.02315991013990175 Centerline is valid? [True, True] Translation: X:46.85, Y:-5.25, Z:-3.37 [[ 9.90575071e-01 1.21840886e-01 6.25765746e-02 4.68526427e+01] [-1.21578664e-01 9.92549596e-01 -7.99547263e-03 -5.24595287e+00] [-6.30845293e-02 3.12139559e-04 9.98008139e-01 -3.37073408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.920714057 meters 0.02163224381947457 Centerline is valid? [True, True] Translation: X:46.88, Y:-5.25, Z:-3.37 [[ 9.90218545e-01 1.24560851e-01 6.28635588e-02 4.68798693e+01] [-1.24301970e-01 9.92211961e-01 -8.02770321e-03 -5.24934420e+00] [-6.33739125e-02 1.35116386e-04 9.97989844e-01 -3.37339086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.950714057 meters 0.021356084459042166 Centerline is valid? [True, True] Translation: X:46.91, Y:-5.25, Z:-3.38 [[ 9.90071094e-01 1.25737614e-01 6.28433153e-02 4.69078583e+01] [-1.25481592e-01 9.92063531e-01 -8.02001344e-03 -5.25412264e+00] [-6.33529786e-02 5.47042342e-05 9.97991181e-01 -3.37534846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.980714057 meters 0.02124726423206998 Centerline is valid? [True, True] Translation: X:46.94, Y:-5.26, Z:-3.38 [[ 9.89897812e-01 1.26979265e-01 6.30760448e-02 4.69354907e+01] [-1.26724599e-01 9.91905371e-01 -8.03811089e-03 -5.25898918e+00] [-6.35861410e-02 -3.63780932e-05 9.97976353e-01 -3.37758390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.010714056999994 meters 0.021292805099641546 Centerline is valid? [True, True] Translation: X:46.96, Y:-5.27, Z:-3.38 [[ 9.89690203e-01 1.28348828e-01 6.35600521e-02 4.69624492e+01] [-1.28093498e-01 9.91729076e-01 -8.09290176e-03 -5.26678835e+00] [-6.40730663e-02 -1.32163797e-04 9.97945201e-01 -3.37967728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.040714056999995 meters 0.02137179904045257 Centerline is valid? [True, True] Translation: X:46.99, Y:-5.27, Z:-3.38 [[ 9.89608997e-01 1.29013417e-01 6.34789058e-02 4.69897241e+01] [-1.28760559e-01 9.91642831e-01 -8.07546827e-03 -5.27231686e+00] [-6.39902457e-02 -1.82023373e-04 9.97950507e-01 -3.38158069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.070714056999996 meters 0.022096574413286645 Centerline is valid? [True, True] Translation: X:47.02, Y:-5.28, Z:-3.38 [[ 9.89480213e-01 1.30043216e-01 6.33850861e-02 4.70179356e+01] [-1.29793679e-01 9.91508294e-01 -8.05630258e-03 -5.27820901e+00] [-6.38945061e-02 -2.55431552e-04 9.97956626e-01 -3.38340136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.100714057 meters 0.021639936455768526 Centerline is valid? [True, True] Translation: X:47.05, Y:-5.29, Z:-3.39 [[ 9.89366316e-01 1.30400813e-01 6.44198807e-02 4.70450828e+01] [-1.30144120e-01 9.91461318e-01 -8.18308859e-03 -5.28723285e+00] [-6.49369013e-02 -2.87796473e-04 9.97889331e-01 -3.38624939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.130714057 meters 0.02176893001292037 Centerline is valid? [True, True] Translation: X:47.07, Y:-5.29, Z:-3.39 [[ 9.89326561e-01 1.30447646e-01 6.49335633e-02 4.70708353e+01] [-1.30187411e-01 9.91455154e-01 -8.24114355e-03 -5.29394996e+00] [-6.54537538e-02 -3.00350305e-04 9.97855559e-01 -3.38840793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.160714057 meters 0.02195972472671746 Centerline is valid? [True, True] Translation: X:47.10, Y:-5.31, Z:-3.39 [[ 9.89335945e-01 1.29965611e-01 6.57520106e-02 4.70982040e+01] [-1.29698281e-01 9.91518462e-01 -8.33634645e-03 -5.30544037e+00] [-6.62777708e-02 -2.80475543e-04 9.97801172e-01 -3.39095772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.190714057 meters 0.0222041432107917 Centerline is valid? [True, True] Translation: X:47.13, Y:-5.31, Z:-3.39 [[ 9.89420602e-01 1.29283849e-01 6.58221803e-02 4.71258408e+01] [-1.29014753e-01 9.91607598e-01 -8.34053878e-03 -5.31327002e+00] [-6.63480711e-02 -2.39731451e-04 9.97796510e-01 -3.39253273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.220714056999995 meters 0.022336527325410766 Centerline is valid? [True, True] Translation: X:47.15, Y:-5.32, Z:-3.39 [[ 9.89519557e-01 1.28409538e-01 6.60457133e-02 4.71519804e+01] [-1.28137152e-01 9.91721208e-01 -8.36155871e-03 -5.32033201e+00] [-6.65726385e-02 -1.88983705e-04 9.97781563e-01 -3.39466617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.250714056999996 meters 0.022624477827177778 Centerline is valid? [True, True] Translation: X:47.18, Y:-5.33, Z:-3.40 [[ 9.89753760e-01 1.26450278e-01 6.63160702e-02 4.71785022e+01] [-1.26171836e-01 9.91972945e-01 -8.38719495e-03 -5.33326841e+00] [-6.68443106e-02 -6.59625665e-05 9.97763416e-01 -3.39628356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.280714057 meters 0.022452785942949017 Centerline is valid? [True, True] Translation: X:47.21, Y:-5.34, Z:-3.40 [[ 9.89913034e-01 1.24927041e-01 6.68238025e-02 4.72059668e+01] [-1.24641249e-01 9.92165930e-01 -8.44543599e-03 -5.34155674e+00] [-6.73553635e-02 3.12449288e-05 9.97729048e-01 -3.39838283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.310714057 meters 0.023032389418228143 Centerline is valid? [True, True] Translation: X:47.23, Y:-5.35, Z:-3.40 [[ 9.90241235e-01 1.22606220e-01 6.62571565e-02 4.72325824e+01] [-1.22320561e-01 9.92455381e-01 -8.36647969e-03 -5.35480049e+00] [-6.67830539e-02 1.80220643e-04 9.97767504e-01 -3.40119396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.340714057 meters 0.023034818640325725 Centerline is valid? [True, True] Translation: X:47.26, Y:-5.36, Z:-3.40 [[ 9.90372025e-01 1.21510242e-01 6.63212835e-02 4.72591612e+01] [-1.21221983e-01 9.92590147e-01 -8.36847201e-03 -5.36302233e+00] [-6.68467076e-02 2.48303084e-04 9.97763226e-01 -3.40345302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.370714057 meters 0.023001639918289893 Centerline is valid? [True, True] Translation: X:47.29, Y:-5.37, Z:-3.41 [[ 9.90454615e-01 1.20696716e-01 6.65729490e-02 4.72874672e+01] [-1.20404835e-01 9.92689384e-01 -8.39417351e-03 -5.37065958e+00] [-6.70994089e-02 2.98342976e-04 9.97746250e-01 -3.40536886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.400714056999995 meters 0.023382126711439587 Centerline is valid? [True, True] Translation: X:47.31, Y:-5.38, Z:-3.41 [[ 9.90639147e-01 1.19027019e-01 6.68329936e-02 4.73149510e+01] [-1.18729383e-01 9.92890932e-01 -8.42207010e-03 -5.38161990e+00] [-6.73603272e-02 4.08192217e-04 9.97728630e-01 -3.40767573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.430714056999996 meters 0.024006926473621782 Centerline is valid? [True, True] Translation: X:47.34, Y:-5.39, Z:-3.41 [[ 9.90725655e-01 1.18886647e-01 6.57924137e-02 4.73434291e+01] [-1.18598227e-01 9.92907750e-01 -8.28617247e-03 -5.38931364e+00] [-6.63109127e-02 4.06460030e-04 9.97798926e-01 -3.40971398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.460714057 meters 0.023626484193635607 Centerline is valid? [True, True] Translation: X:47.37, Y:-5.40, Z:-3.41 [[ 9.90942491e-01 1.17284817e-01 6.54007023e-02 4.73715196e+01] [-1.16996654e-01 9.93098190e-01 -8.23208221e-03 -5.39661053e+00] [-6.59148174e-02 5.05856702e-04 9.97825125e-01 -3.41237990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.490714057 meters 0.023746109513084118 Centerline is valid? [True, True] Translation: X:47.40, Y:-5.41, Z:-3.41 [[ 9.91382950e-01 1.13840484e-01 6.48088710e-02 4.73988232e+01] [-1.13550478e-01 9.93498777e-01 -8.15280900e-03 -5.40907097e+00] [-6.53156538e-02 7.23477578e-04 9.97864391e-01 -3.41478416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.520714057 meters 0.024580474209753875 Centerline is valid? [True, True] Translation: X:47.43, Y:-5.42, Z:-3.42 [[ 9.91680791e-01 1.11252700e-01 6.47460143e-02 4.74263248e+01] [-1.10957978e-01 9.93791751e-01 -8.14136367e-03 -5.41781860e+00] [-6.52498036e-02 8.89547140e-04 9.97868564e-01 -3.41690787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.550714057 meters 0.025122561714658816 Centerline is valid? [True, True] Translation: X:47.46, Y:-5.43, Z:-3.42 [[ 9.92241984e-01 1.05599043e-01 6.56101150e-02 4.74558215e+01] [-1.05284291e-01 9.94407973e-01 -8.24624381e-03 -5.43134651e+00] [-6.61140170e-02 1.27455489e-03 9.97811261e-01 -3.41745122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.580714056999994 meters 0.025867854319375768 Centerline is valid? [True, True] Translation: X:47.49, Y:-5.44, Z:-3.42 [[ 9.92536777e-01 1.02437198e-01 6.61616681e-02 4.74867043e+01] [-1.02110058e-01 9.94738345e-01 -8.31631898e-03 -5.44024096e+00] [-6.66654486e-02 1.49848068e-03 9.97774259e-01 -3.41883322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.610714056999996 meters 0.0266130714569735 Centerline is valid? [True, True] Translation: X:47.52, Y:-5.45, Z:-3.42 [[ 9.92887924e-01 9.86235757e-02 6.66855372e-02 4.75177332e+01] [-9.82815666e-02 9.95123212e-01 -8.39805359e-03 -5.44893169e+00] [-6.71885720e-02 1.78436693e-03 9.97738699e-01 -3.42025576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.640714057 meters 0.026501078850813337 Centerline is valid? [True, True] Translation: X:47.55, Y:-5.46, Z:-3.42 [[ 9.93240250e-01 9.47015346e-02 6.71224612e-02 4.75494427e+01] [-9.43457492e-02 9.95503562e-01 -8.45796628e-03 -5.45636269e+00] [-6.76216316e-02 2.06807365e-03 9.97708894e-01 -3.42239396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.670714057 meters 0.029350289161144304 Centerline is valid? [True, True] Translation: X:47.58, Y:-5.47, Z:-3.42 [[ 9.93968750e-01 8.74307388e-02 6.61965988e-02 4.75784881e+01] [-8.70682849e-02 9.96167382e-01 -8.34628750e-03 -5.46968256e+00] [-6.66726146e-02 2.53232463e-03 9.97771692e-01 -3.42292989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.700714057 meters 0.029742998758557494 Centerline is valid? [True, True] Translation: X:47.61, Y:-5.48, Z:-3.43 [[ 9.94381346e-01 8.24845331e-02 6.63478793e-02 4.76077037e+01] [-8.21094226e-02 9.96588210e-01 -8.36552868e-03 -5.47856396e+00] [-6.68115410e-02 2.87073961e-03 9.97761483e-01 -3.42630989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.730714057 meters 0.032293913936678215 Centerline is valid? [True, True] Translation: X:47.64, Y:-5.49, Z:-3.43 [[ 9.95055848e-01 7.46589552e-02 6.54973218e-02 4.76363314e+01] [-7.42761989e-02 9.97203474e-01 -8.26298558e-03 -5.49195463e+00] [-6.59310627e-02 3.35724003e-03 9.97818533e-01 -3.42884643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.760714056999994 meters 0.03317856443593884 Centerline is valid? [True, True] Translation: X:47.67, Y:-5.50, Z:-3.43 [[ 9.95312310e-01 7.14433993e-02 6.51862409e-02 4.76663924e+01] [-7.10573633e-02 9.97438324e-01 -8.22437482e-03 -5.49856274e+00] [-6.56068322e-02 3.55385910e-03 9.97839222e-01 -3.43073057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.790714056999995 meters 0.03402238659252313 Centerline is valid? [True, True] Translation: X:47.70, Y:-5.50, Z:-3.43 [[ 9.95720550e-01 6.61213531e-02 6.45643259e-02 4.76963903e+01] [-6.57314373e-02 9.97804090e-01 -8.14712558e-03 -5.50469939e+00] [-6.49612474e-02 3.86835442e-03 9.97880289e-01 -3.43251029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.820714056999996 meters 0.03865114177860513 Centerline is valid? [True, True] Translation: X:47.73, Y:-5.51, Z:-3.43 [[ 9.95783607e-01 6.52679919e-02 6.44600411e-02 4.77264091e+01] [-6.48776008e-02 9.97860084e-01 -8.13329429e-03 -5.51489334e+00] [-6.48529457e-02 3.91698831e-03 9.97887144e-01 -3.43353897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.850714057 meters 0.03868810843156432 Centerline is valid? [True, True] Translation: X:47.76, Y:-5.52, Z:-3.44 [[ 9.95889049e-01 6.28452376e-02 6.52340334e-02 4.77566915e+01] [-6.24391438e-02 9.98014696e-01 -8.24740051e-03 -5.51990851e+00] [-6.56228339e-02 4.14033866e-03 9.97835909e-01 -3.43640622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.880714057 meters 0.03772318891068002 Centerline is valid? [True, True] Translation: X:47.79, Y:-5.52, Z:-3.44 [[ 9.96058078e-01 6.04036998e-02 6.49592053e-02 4.77878142e+01] [-5.99957859e-02 9.98164836e-01 -8.21379913e-03 -5.52057750e+00] [-6.53361384e-02 4.28414240e-03 9.97854115e-01 -3.43890345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.910714057 meters 0.037911430167590125 Centerline is valid? [True, True] Translation: X:47.82, Y:-5.52, Z:-3.44 [[ 9.96087527e-01 6.00365392e-02 6.48479198e-02 4.78198260e+01] [-5.96292246e-02 9.98186913e-01 -8.20012184e-03 -5.52447857e+00] [-6.52226518e-02 4.30120791e-03 9.97861466e-01 -3.44115458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.940714057 meters 0.0397006638936482 Centerline is valid? [True, True] Translation: X:47.85, Y:-5.53, Z:-3.44 [[ 9.96254991e-01 5.80035968e-02 6.41215669e-02 4.78494007e+01] [-5.76000777e-02 9.98306671e-01 -8.12538942e-03 -5.52837620e+00] [-6.44842898e-02 4.40155253e-03 9.97909015e-01 -3.44488234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.970714056999995 meters 0.04081657889419438 Centerline is valid? [True, True] Translation: X:47.88, Y:-5.53, Z:-3.45 [[ 9.96322048e-01 5.72651925e-02 6.37422426e-02 4.78813309e+01] [-5.68650103e-02 9.98349210e-01 -8.07621659e-03 -5.53213115e+00] [-6.40995037e-02 4.42180938e-03 9.97933716e-01 -3.44741851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.000714056999996 meters 0.041467376488187845 Centerline is valid? [True, True] Translation: X:47.91, Y:-5.53, Z:-3.45 [[ 9.96393533e-01 5.62007280e-02 6.35720499e-02 4.79135300e+01] [-5.57994624e-02 9.98409372e-01 -8.07131490e-03 -5.53497855e+00] [-6.39245442e-02 4.49491976e-03 9.97944612e-01 -3.44957479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.030714057 meters 0.04128576307649331 Centerline is valid? [True, True] Translation: X:47.95, Y:-5.54, Z:-3.45 [[ 9.96428478e-01 5.55921671e-02 6.35594081e-02 4.79452201e+01] [-5.51895872e-02 9.98443252e-01 -8.07351305e-03 -5.53653452e+00] [-6.39092862e-02 4.53686083e-03 9.97945399e-01 -3.45176781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.060714057 meters 0.03964080401092674 Centerline is valid? [True, True] Translation: X:47.98, Y:-5.53, Z:-3.45 [[ 9.96619032e-01 5.23579936e-02 6.33178085e-02 4.79768127e+01] [-5.19509776e-02 9.98617121e-01 -8.05864584e-03 -5.53247672e+00] [-6.36521821e-02 4.74197777e-03 9.97960878e-01 -3.45375906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.090714057 meters 0.04568149795498099 Centerline is valid? [True, True] Translation: X:48.01, Y:-5.54, Z:-3.46 [[ 9.96694131e-01 5.12657876e-02 6.30287898e-02 4.80071724e+01] [-5.08603158e-02 9.98673559e-01 -8.02186195e-03 -5.54272174e+00] [-6.33564330e-02 4.78967857e-03 9.97979469e-01 -3.45615671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.120714057 meters 0.04873790478345089 Centerline is valid? [True, True] Translation: X:48.04, Y:-5.55, Z:-3.46 [[ 9.96807759e-01 4.82687630e-02 6.35957426e-02 4.80364083e+01] [-4.78493506e-02 9.98821700e-01 -8.10249158e-03 -5.54559394e+00] [-6.39119050e-02 5.03361149e-03 9.97942850e-01 -3.45804281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.150714056999995 meters 0.0432406812753362 Centerline is valid? [True, True] Translation: X:48.07, Y:-5.54, Z:-3.46 [[ 9.96872701e-01 4.63530314e-02 6.40016703e-02 4.80684044e+01] [-4.59241930e-02 9.98911631e-01 -8.15615950e-03 -5.53797670e+00] [-6.43100755e-02 5.19142770e-03 9.97916461e-01 -3.45983169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.180714056999996 meters 0.044261519040326894 Centerline is valid? [True, True] Translation: X:48.10, Y:-5.54, Z:-3.46 [[ 9.96932019e-01 4.60786247e-02 6.32717113e-02 4.81008925e+01] [-4.56589835e-02 9.98924543e-01 -8.06310597e-03 -5.53888153e+00] [-6.35752022e-02 5.14944649e-03 9.97963765e-01 -3.46065328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.210714057 meters 0.04878549822652479 Centerline is valid? [True, True] Translation: X:48.13, Y:-5.54, Z:-3.46 [[ 9.97040935e-01 4.41084470e-02 6.29588603e-02 4.81310937e+01] [-4.36879553e-02 9.99012869e-01 -8.04059057e-03 -5.54178393e+00] [-6.32513696e-02 5.26625407e-03 9.97983733e-01 -3.46276870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.240714057 meters 0.044059909238538975 Centerline is valid? [True, True] Translation: X:48.16, Y:-5.54, Z:-3.47 [[ 9.97054473e-01 4.18906263e-02 6.42460350e-02 4.81629675e+01] [-4.14479627e-02 9.99106948e-01 -8.20812033e-03 -5.53664218e+00] [-6.45325032e-02 5.52107583e-03 9.97900333e-01 -3.46604178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.270714057 meters 0.041909865461355285 Centerline is valid? [True, True] Translation: X:48.20, Y:-5.53, Z:-3.47 [[ 9.97045592e-01 4.17294915e-02 6.44882729e-02 4.81961023e+01] [-4.12831239e-02 9.99113515e-01 -8.23936278e-03 -5.52994452e+00] [-6.47749294e-02 5.55274298e-03 9.97884450e-01 -3.46791134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.300714057 meters 0.04335612271221683 Centerline is valid? [True, True] Translation: X:48.23, Y:-5.53, Z:-3.47 [[ 9.97017648e-01 4.21775086e-02 6.46286920e-02 4.82270781e+01] [-4.17290030e-02 9.99094701e-01 -8.27454457e-03 -5.53234304e+00] [-6.49191834e-02 5.55297608e-03 9.97875074e-01 -3.46985558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.330714056999994 meters 0.043908234466561454 Centerline is valid? [True, True] Translation: X:48.26, Y:-5.53, Z:-3.47 [[ 9.96988181e-01 4.30020396e-02 6.45398441e-02 4.82589653e+01] [-4.25554630e-02 9.99059805e-01 -8.27884895e-03 -5.53305347e+00] [-6.48351714e-02 5.50739161e-03 9.97880789e-01 -3.47201108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.360714056999996 meters 0.04381858006473897 Centerline is valid? [True, True] Translation: X:48.29, Y:-5.53, Z:-3.47 [[ 9.96968757e-01 4.45144410e-02 6.38103640e-02 4.82917877e+01] [-4.40798905e-02 9.98994336e-01 -8.20244111e-03 -5.52773869e+00] [-6.41113193e-02 5.36482366e-03 9.97928333e-01 -3.47440942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.390714057 meters 0.045830349322531744 Centerline is valid? [True, True] Translation: X:48.32, Y:-5.53, Z:-3.48 [[ 9.96933183e-01 4.58227465e-02 6.34389861e-02 4.83228846e+01] [-4.53957080e-02 9.98935777e-01 -8.15733895e-03 -5.53000484e+00] [-6.37452646e-02 5.25246419e-03 9.97952380e-01 -3.47709707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.420714057 meters 0.045830349322531744 Centerline is valid? [True, True] Translation: X:48.36, Y:-5.53, Z:-3.48 [[ 9.96920300e-01 4.61047416e-02 6.34371173e-02 4.83552165e+01] [-4.56773527e-02 9.98922820e-01 -8.17184507e-03 -5.53425054e+00] [-6.37455449e-02 5.24903865e-03 9.97952380e-01 -3.47933979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.450714057 meters 0.044686094638436195 Centerline is valid? [True, True] Translation: X:48.39, Y:-5.53, Z:-3.48 [[ 9.96909993e-01 4.72013361e-02 6.27893262e-02 4.83881835e+01] [-4.67836654e-02 9.98872151e-01 -8.10641868e-03 -5.53233005e+00] [-6.31011432e-02 5.14385496e-03 9.97993881e-01 -3.48188828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.480714057 meters 0.04087217769747443 Centerline is valid? [True, True] Translation: X:48.42, Y:-5.52, Z:-3.48 [[ 9.96835406e-01 5.02855582e-02 6.15673296e-02 4.84203987e+01] [-4.98888126e-02 9.98723014e-01 -7.96541855e-03 -5.52262237e+00] [-6.18892545e-02 4.86869027e-03 9.98071148e-01 -3.48421944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.510714056999994 meters 0.043849644732252356 Centerline is valid? [True, True] Translation: X:48.45, Y:-5.53, Z:-3.49 [[ 9.96787191e-01 5.16688710e-02 6.12014962e-02 4.84514190e+01] [-5.12794478e-02 9.98652957e-01 -7.91768222e-03 -5.52743749e+00] [-6.15281529e-02 4.75386529e-03 9.98094027e-01 -3.48699254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.540714056999995 meters 0.04292513680447503 Centerline is valid? [True, True] Translation: X:48.48, Y:-5.52, Z:-3.49 [[ 9.96664447e-01 5.46946517e-02 6.05679462e-02 4.84833212e+01] [-5.43178402e-02 9.98492826e-01 -7.85163072e-03 -5.52146712e+00] [-6.09061020e-02 4.53552116e-03 9.98133195e-01 -3.48884254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.570714056999996 meters 0.04241314800057368 Centerline is valid? [True, True] Translation: X:48.52, Y:-5.52, Z:-3.49 [[ 9.96569387e-01 5.64142887e-02 6.05548142e-02 4.85153114e+01] [-5.60407461e-02 9.98397617e-01 -7.85072838e-03 -5.52041980e+00] [-6.09006754e-02 4.43025860e-03 9.98133999e-01 -3.49048927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.600714057 meters 0.03777568321429298 Centerline is valid? [True, True] Translation: X:48.55, Y:-5.51, Z:-3.49 [[ 9.96403844e-01 5.95141110e-02 6.03112830e-02 4.85483155e+01] [-5.91490057e-02 9.98218514e-01 -7.82259638e-03 -5.50890702e+00] [-6.06693942e-02 4.22711267e-03 9.98148965e-01 -3.49072299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.630714057 meters 0.03747639043067919 Centerline is valid? [True, True] Translation: X:48.58, Y:-5.51, Z:-3.49 [[ 9.96352890e-01 6.06520236e-02 6.00187476e-02 4.85809378e+01] [-6.02925597e-02 9.98150399e-01 -7.78382406e-03 -5.50849305e+00] [-6.03798415e-02 4.13675168e-03 9.98166901e-01 -3.49233353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.660714057 meters 0.035088893305312355 Centerline is valid? [True, True] Translation: X:48.61, Y:-5.51, Z:-3.49 [[ 9.96285052e-01 6.16954792e-02 6.00813061e-02 4.86143255e+01] [-6.13361766e-02 9.98086624e-01 -7.80803120e-03 -5.50548981e+00] [-6.04480682e-02 4.09386717e-03 9.98162948e-01 -3.49408616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.690714056999994 meters 0.03639616624316106 Centerline is valid? [True, True] Translation: X:48.65, Y:-5.50, Z:-3.50 [[ 9.96273137e-01 6.21187042e-02 5.98423162e-02 4.86468527e+01] [-6.17625494e-02 9.98060512e-01 -7.78473949e-03 -5.50491019e+00] [-6.02098307e-02 4.05971282e-03 9.98177487e-01 -3.49629989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.720714056999995 meters 0.03652625264261328 Centerline is valid? [True, True] Translation: X:48.68, Y:-5.51, Z:-3.50 [[ 9.96257627e-01 6.22281570e-02 5.99866468e-02 4.86799013e+01] [-6.18694799e-02 9.98053613e-01 -7.82000267e-03 -5.50603576e+00] [-6.03565140e-02 4.07939466e-03 9.98168548e-01 -3.49827694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.750714056999996 meters 0.03726430634482921 Centerline is valid? [True, True] Translation: X:48.71, Y:-5.50, Z:-3.50 [[ 9.96366960e-01 6.07195882e-02 5.97160974e-02 4.87125514e+01] [-6.03602940e-02 9.98146148e-01 -7.80393378e-03 -5.50481011e+00] [-6.00792442e-02 4.17110058e-03 9.98184896e-01 -3.49948092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.780714057 meters 0.03814479562265803 Centerline is valid? [True, True] Translation: X:48.74, Y:-5.51, Z:-3.50 [[ 9.96479524e-01 5.96292591e-02 5.89314010e-02 4.87441791e+01] [-5.92773011e-02 9.98211825e-01 -7.70412333e-03 -5.50681806e+00] [-5.92854125e-02 4.18370674e-03 9.98232306e-01 -3.50178269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.810714057 meters 0.039301095994281963 Centerline is valid? [True, True] Translation: X:48.78, Y:-5.51, Z:-3.50 [[ 9.96582638e-01 5.89080231e-02 5.79041498e-02 4.87754674e+01] [-5.85662550e-02 9.98254721e-01 -7.58320855e-03 -5.51004664e+00] [-5.82498027e-02 4.16606478e-03 9.98293346e-01 -3.50441417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.840714057 meters 0.04001757634879904 Centerline is valid? [True, True] Translation: X:48.81, Y:-5.51, Z:-3.51 [[ 9.96659090e-01 5.77358018e-02 5.77688079e-02 4.88074100e+01] [-5.73927932e-02 9.98322894e-01 -7.58062454e-03 -5.51244532e+00] [-5.81095969e-02 4.23978511e-03 9.98301207e-01 -3.50674467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.870714057 meters 0.04043021260094796 Centerline is valid? [True, True] Translation: X:48.84, Y:-5.51, Z:-3.51 [[ 9.96808009e-01 5.55591185e-02 5.73321763e-02 4.88387563e+01] [-5.52174361e-02 9.98445975e-01 -7.52798362e-03 -5.51109895e+00] [-5.76613288e-02 4.33821857e-03 9.98326776e-01 -3.50759830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.900714056999995 meters 0.04259827929578265 Centerline is valid? [True, True] Translation: X:48.87, Y:-5.52, Z:-3.51 [[ 9.96858610e-01 5.47673742e-02 5.72140453e-02 4.88692216e+01] [-5.44258130e-02 9.98489557e-01 -7.51233173e-03 -5.51514668e+00] [-5.75390575e-02 4.37481163e-03 9.98333671e-01 -3.50888631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.930714056999996 meters 0.038893554651489 Centerline is valid? [True, True] Translation: X:48.90, Y:-5.51, Z:-3.51 [[ 9.96877085e-01 5.46806483e-02 5.69745941e-02 4.89029560e+01] [-5.43414814e-02 9.98494344e-01 -7.48650439e-03 -5.50698638e+00] [-5.72981769e-02 4.36704082e-03 9.98347559e-01 -3.50907829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.960714057 meters 0.03926370725323455 Centerline is valid? [True, True] Translation: X:48.94, Y:-5.51, Z:-3.51 [[ 9.96855727e-01 5.53225686e-02 5.67280601e-02 4.89354255e+01] [-5.49865380e-02 9.98459163e-01 -7.46861899e-03 -5.50872262e+00] [-5.70538346e-02 4.32585598e-03 9.98361732e-01 -3.51095370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.990714057 meters 0.044193768213378025 Centerline is valid? [True, True] Translation: X:48.97, Y:-5.52, Z:-3.51 [[ 9.96816555e-01 5.62271331e-02 5.65266727e-02 4.89654509e+01] [-5.58940433e-02 9.98408853e-01 -7.45771565e-03 -5.51683919e+00] [-5.68560565e-02 4.27447013e-03 9.98373236e-01 -3.51408902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.020714057 meters 0.0388674997681434 Centerline is valid? [True, True] Translation: X:49.00, Y:-5.51, Z:-3.52 [[ 9.96782173e-01 5.75373105e-02 5.58100050e-02 4.89986327e+01] [-5.72141693e-02 9.98334710e-01 -7.37197868e-03 -5.50782016e+00] [-5.61412290e-02 4.15513385e-03 9.98414191e-01 -3.51599752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.050714057 meters 0.03716790792337445 Centerline is valid? [True, True] Translation: X:49.03, Y:-5.51, Z:-3.52 [[ 9.96703787e-01 5.84134209e-02 5.62977113e-02 4.90298130e+01] [-5.80857053e-02 9.98283866e-01 -7.44138909e-03 -5.50703737e+00] [-5.66357739e-02 4.14676842e-03 9.98386295e-01 -3.51785071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.080714056999994 meters 0.03760876132466355 Centerline is valid? [True, True] Translation: X:49.06, Y:-5.51, Z:-3.52 [[ 9.96586606e-01 6.01206064e-02 5.65742780e-02 4.90607333e+01] [-5.97923329e-02 9.98182820e-01 -7.47898638e-03 -5.50584941e+00] [-5.69211135e-02 4.07074959e-03 9.98370380e-01 -3.51966345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.110714056999996 meters 0.03785873960240005 Centerline is valid? [True, True] Translation: X:49.09, Y:-5.51, Z:-3.52 [[ 9.96520047e-01 6.09486279e-02 5.68600060e-02 4.90916376e+01] [-6.06182991e-02 9.98132708e-01 -7.51791675e-03 -5.50754240e+00] [-5.72120385e-02 4.04499791e-03 9.98353855e-01 -3.52203467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.140714057 meters 0.03786573362036103 Centerline is valid? [True, True] Translation: X:49.12, Y:-5.51, Z:-3.52 [[ 9.96490332e-01 6.17320978e-02 5.65346437e-02 4.91226799e+01] [-6.14067662e-02 9.98084829e-01 -7.47544198e-03 -5.50875736e+00] [-5.68878449e-02 3.97759602e-03 9.98372652e-01 -3.52393813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.170714057 meters 0.03810788379682756 Centerline is valid? [True, True] Translation: X:49.15, Y:-5.51, Z:-3.53 [[ 9.96461571e-01 6.27066018e-02 5.59662414e-02 4.91531817e+01] [-6.23892737e-02 9.98024450e-01 -7.40103519e-03 -5.50778565e+00] [-5.63197711e-02 3.88315400e-03 9.98405231e-01 -3.52632663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.200714057 meters 0.03903291139234228 Centerline is valid? [True, True] Translation: X:49.18, Y:-5.51, Z:-3.53 [[ 9.96462423e-01 6.28949295e-02 5.57392845e-02 4.91813285e+01] [-6.25805095e-02 9.98012705e-01 -7.37025319e-03 -5.50992529e+00] [-5.60920656e-02 3.85598753e-03 9.98418155e-01 -3.52850743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.230714057 meters 0.0398296538398627 Centerline is valid? [True, True] Translation: X:49.21, Y:-5.51, Z:-3.53 [[ 9.96464104e-01 6.29969133e-02 5.55938652e-02 4.92108603e+01] [-6.26844022e-02 9.98006341e-01 -7.34905343e-03 -5.51277936e+00] [-5.59459977e-02 3.83819974e-03 9.98426419e-01 -3.53090895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.260714056999994 meters 0.04048132039031038 Centerline is valid? [True, True] Translation: X:49.24, Y:-5.51, Z:-3.53 [[ 9.96512562e-01 6.27973304e-02 5.49473362e-02 4.92391826e+01] [-6.24918916e-02 9.98019058e-01 -7.26108987e-03 -5.51234835e+00] [-5.52944658e-02 3.80200428e-03 9.98462852e-01 -3.53361339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.290714056999995 meters 0.041096058262625294 Centerline is valid? [True, True] Translation: X:49.27, Y:-5.52, Z:-3.54 [[ 9.96550021e-01 6.23802614e-02 5.47426581e-02 4.92689668e+01] [-6.20764074e-02 9.98045175e-01 -7.23519576e-03 -5.51520782e+00] [-5.50869791e-02 3.81200694e-03 9.98474283e-01 -3.53651504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.320714056999996 meters 0.04235009232904605 Centerline is valid? [True, True] Translation: X:49.30, Y:-5.52, Z:-3.54 [[ 9.96657510e-01 6.12842430e-02 5.40189630e-02 4.92970919e+01] [-6.09868689e-02 9.98113046e-01 -7.13789167e-03 -5.51775385e+00] [-5.43544720e-02 3.81958592e-03 9.98514398e-01 -3.54079986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.350714057 meters 0.037470558485227345 Centerline is valid? [True, True] Translation: X:49.33, Y:-5.51, Z:-3.54 [[ 9.96691499e-01 6.08072011e-02 5.39308773e-02 4.93276660e+01] [-6.05102508e-02 9.98142157e-01 -7.12353119e-03 -5.51267593e+00] [-5.42638442e-02 3.83659208e-03 9.98519262e-01 -3.54166262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.380714057 meters 0.04321879774166358 Centerline is valid? [True, True] Translation: X:49.35, Y:-5.52, Z:-3.55 [[ 9.96717951e-01 6.01295253e-02 5.42011604e-02 4.93547807e+01] [-5.98286860e-02 9.98182999e-01 -7.15749533e-03 -5.52305960e+00] [-5.45330536e-02 3.89121987e-03 9.98504384e-01 -3.54523131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.410714057 meters 0.03714242467623589 Centerline is valid? [True, True] Translation: X:49.39, Y:-5.51, Z:-3.54 [[ 9.96807193e-01 5.83322816e-02 5.45230671e-02 4.93859632e+01] [-5.80253571e-02 9.98289169e-01 -7.19679879e-03 -5.51459535e+00] [-5.48495930e-02 4.01010037e-03 9.98486575e-01 -3.54471949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.440714056999994 meters 0.038023191800807654 Centerline is valid? [True, True] Translation: X:49.41, Y:-5.52, Z:-3.55 [[ 9.96840580e-01 5.77056069e-02 5.45794842e-02 4.94149175e+01] [-5.73972167e-02 9.98325441e-01 -7.20235179e-03 -5.51796358e+00] [-5.49037037e-02 4.04688606e-03 9.98483453e-01 -3.54690742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.470714056999995 meters 0.041096625723121026 Centerline is valid? [True, True] Translation: X:49.44, Y:-5.52, Z:-3.55 [[ 9.96909473e-01 5.63658941e-02 5.47210026e-02 4.94440659e+01] [-5.60540549e-02 9.98401643e-01 -7.21812491e-03 -5.52333807e+00] [-5.50403950e-02 4.12848302e-03 9.98475593e-01 -3.55020859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.500714056999996 meters 0.040799641206863524 Centerline is valid? [True, True] Translation: X:49.47, Y:-5.53, Z:-3.55 [[ 9.96964140e-01 5.54048349e-02 5.47065579e-02 4.94746752e+01] [-5.50917911e-02 9.98455226e-01 -7.21498119e-03 -5.52572726e+00] [-5.50217935e-02 4.17919526e-03 9.98476408e-01 -3.55221788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.530714057 meters 0.04108155391213801 Centerline is valid? [True, True] Translation: X:49.50, Y:-5.53, Z:-3.55 [[ 9.96991182e-01 5.46960789e-02 5.49265177e-02 4.95046897e+01] [-5.43794409e-02 9.98494067e-01 -7.24399062e-03 -5.52868382e+00] [-5.52400199e-02 4.23532144e-03 9.98464122e-01 -3.55434517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.560714057 meters 0.04176156579069047 Centerline is valid? [True, True] Translation: X:49.53, Y:-5.53, Z:-3.56 [[ 9.96987901e-01 5.38158953e-02 5.58477821e-02 4.95344660e+01] [-5.34871636e-02 9.98541373e-01 -7.36543281e-03 -5.53047545e+00] [-5.61626984e-02 4.35610794e-03 9.98412127e-01 -3.55609931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.590714057 meters 0.04250173028812782 Centerline is valid? [True, True] Translation: X:49.56, Y:-5.53, Z:-3.56 [[ 9.96961588e-01 5.38184207e-02 5.63131460e-02 4.95647928e+01] [-5.34841653e-02 9.98541077e-01 -7.42713649e-03 -5.53355577e+00] [-5.66307062e-02 4.39270817e-03 9.98385530e-01 -3.55798543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.620714057 meters 0.04125196707976547 Centerline is valid? [True, True] Translation: X:49.60, Y:-5.53, Z:-3.56 [[ 9.96908455e-01 5.47212315e-02 5.63836774e-02 4.95954930e+01] [-5.43875712e-02 9.98492209e-01 -7.43643887e-03 -5.53171111e+00] [-5.67055937e-02 4.34687752e-03 9.98381480e-01 -3.55912646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.650714056999995 meters 0.04119055089125207 Centerline is valid? [True, True] Translation: X:49.63, Y:-5.53, Z:-3.56 [[ 9.96852659e-01 5.55518690e-02 5.65576299e-02 4.96260078e+01] [-5.52174718e-02 9.98446488e-01 -7.45938145e-03 -5.53335317e+00] [-5.68841495e-02 4.31293490e-03 9.98371470e-01 -3.56086236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.680714056999996 meters 0.038775303212011655 Centerline is valid? [True, True] Translation: X:49.66, Y:-5.53, Z:-3.56 [[ 9.96765039e-01 5.63259962e-02 5.73309583e-02 4.96565485e+01] [-5.59836506e-02 9.98403053e-01 -7.56137567e-03 -5.53214317e+00] [-5.76653058e-02 4.32731858e-03 9.98326593e-01 -3.56216252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.710714057 meters 0.039217729156077415 Centerline is valid? [True, True] Translation: X:49.69, Y:-5.53, Z:-3.56 [[ 9.96687048e-01 5.76269241e-02 5.73939599e-02 4.96868083e+01] [-5.72859562e-02 9.98329112e-01 -7.56988058e-03 -5.53336653e+00] [-5.77342899e-02 4.25693405e-03 9.98322909e-01 -3.56441114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.740714057 meters 0.03782413731751578 Centerline is valid? [True, True] Translation: X:49.72, Y:-5.53, Z:-3.57 [[ 9.96639483e-01 5.84741166e-02 5.73630508e-02 4.97170248e+01] [-5.81349711e-02 9.98280071e-01 -7.56476021e-03 -5.53390494e+00] [-5.77067331e-02 4.20453940e-03 9.98324724e-01 -3.56673603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.770714057 meters 0.040246251389612304 Centerline is valid? [True, True] Translation: X:49.75, Y:-5.54, Z:-3.57 [[ 9.96593471e-01 5.98059315e-02 5.67864766e-02 4.97456231e+01] [-5.94757752e-02 9.98201665e-01 -7.48789282e-03 -5.53858827e+00] [-5.71321759e-02 4.08496537e-03 9.98358266e-01 -3.57022595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.800714057 meters 0.03829485222697294 Centerline is valid? [True, True] Translation: X:49.78, Y:-5.54, Z:-3.57 [[ 9.96574624e-01 6.02852399e-02 5.66101489e-02 4.97753187e+01] [-5.99580077e-02 9.98173003e-01 -7.46279672e-03 -5.53738779e+00] [-5.69566188e-02 4.04300209e-03 9.98368468e-01 -3.57236660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.830714056999994 meters 0.03684444976677946 Centerline is valid? [True, True] Translation: X:49.80, Y:-5.54, Z:-3.57 [[ 9.96512605e-01 6.09733727e-02 5.69638056e-02 4.98042590e+01] [-6.06433178e-02 9.98131274e-01 -7.50651310e-03 -5.53734491e+00] [-5.73150532e-02 4.02586077e-03 9.98348024e-01 -3.57378317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.860714056999996 meters 0.03644557360421859 Centerline is valid? [True, True] Translation: X:49.83, Y:-5.54, Z:-3.58 [[ 9.96361263e-01 6.31173658e-02 5.72750565e-02 4.98340580e+01] [-6.27874781e-02 9.97998415e-01 -7.54290157e-03 -5.53739684e+00] [-5.76365037e-02 3.91929858e-03 9.98329942e-01 -3.57633778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.890714057 meters 0.03669027953693053 Centerline is valid? [True, True] Translation: X:49.86, Y:-5.54, Z:-3.58 [[ 9.96270527e-01 6.43652865e-02 5.74643125e-02 4.98621541e+01] [-6.40353762e-02 9.97918947e-01 -7.56610409e-03 -5.54009431e+00] [-5.78317206e-02 3.85813764e-03 9.98318890e-01 -3.57829688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.920714057 meters 0.03805896468958003 Centerline is valid? [True, True] Translation: X:49.89, Y:-5.54, Z:-3.58 [[ 9.96214072e-01 6.56295613e-02 5.70112491e-02 4.98894459e+01] [-6.53071267e-02 9.97837007e-01 -7.50249007e-03 -5.54294577e+00] [-5.73803193e-02 3.75084532e-03 9.98345346e-01 -3.58136153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.950714057 meters 0.038113224151229606 Centerline is valid? [True, True] Translation: X:49.92, Y:-5.55, Z:-3.58 [[ 9.96177958e-01 6.60528418e-02 5.71532845e-02 4.99185774e+01] [-6.57297839e-02 9.97809152e-01 -7.51607250e-03 -5.54536381e+00] [-5.75245283e-02 3.73067272e-03 9.98337123e-01 -3.58352480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.980714057 meters 0.03522651968794496 Centerline is valid? [True, True] Translation: X:49.95, Y:-5.54, Z:-3.58 [[ 9.96185742e-01 6.60658472e-02 5.70023713e-02 4.99476699e+01] [-6.57446763e-02 9.97808341e-01 -7.49344607e-03 -5.54223048e+00] [-5.73725024e-02 3.71726169e-03 9.98345921e-01 -3.58497846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.010714056999994 meters 0.03570500722654311 Centerline is valid? [True, True] Translation: X:49.98, Y:-5.55, Z:-3.59 [[ 9.96198504e-01 6.55921715e-02 5.73254568e-02 4.99759278e+01] [-6.52668072e-02 9.97839425e-01 -7.53171405e-03 -5.54533725e+00] [-5.76956224e-02 3.76163273e-03 9.98327133e-01 -3.58729547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.040714056999995 meters 0.036088964634247066 Centerline is valid? [True, True] Translation: X:50.00, Y:-5.55, Z:-3.59 [[ 9.96248841e-01 6.49182117e-02 5.72177659e-02 5.00042093e+01] [-6.45932035e-02 9.97883393e-01 -7.51342393e-03 -5.54891121e+00] [-5.75844165e-02 3.78936109e-03 9.98333449e-01 -3.58918937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.070714056999996 meters 0.039191533642830234 Centerline is valid? [True, True] Translation: X:50.03, Y:-5.56, Z:-3.59 [[ 9.96299687e-01 6.42470844e-02 5.70897984e-02 5.00314709e+01] [-6.39226600e-02 9.97926727e-01 -7.49269498e-03 -5.55625293e+00] [-5.74528194e-02 3.81563790e-03 9.98340931e-01 -3.59171286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.100714057 meters 0.035927256308687705 Centerline is valid? [True, True] Translation: X:50.06, Y:-5.55, Z:-3.59 [[ 9.96436091e-01 6.23909810e-02 5.67669053e-02 5.00612851e+01] [-6.20675264e-02 9.98044184e-01 -7.44504743e-03 -5.55276203e+00] [-5.71203835e-02 3.89513257e-03 9.98359700e-01 -3.59321172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.130714057 meters 0.039831073132920704 Centerline is valid? [True, True] Translation: X:50.09, Y:-5.56, Z:-3.60 [[ 9.96582873e-01 6.02916428e-02 5.64579041e-02 5.00884622e+01] [-5.99685779e-02 9.98172831e-01 -7.40059464e-03 -5.56069085e+00] [-5.68009399e-02 3.98960565e-03 9.98377552e-01 -3.59675858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.160714057 meters 0.04064815816672331 Centerline is valid? [True, True] Translation: X:50.12, Y:-5.57, Z:-3.60 [[ 9.96620981e-01 5.94148745e-02 5.67141385e-02 5.01172035e+01] [-5.90877084e-02 9.98225146e-01 -7.42974990e-03 -5.56520813e+00] [-5.70549169e-02 4.05353616e-03 9.98362812e-01 -3.59909890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.190714056999994 meters 0.03725860513970333 Centerline is valid? [True, True] Translation: X:50.15, Y:-5.56, Z:-3.60 [[ 9.96634291e-01 5.86364946e-02 5.72874389e-02 5.01460974e+01] [-5.83015312e-02 9.98270827e-01 -7.50245941e-03 -5.56361511e+00] [-5.76282969e-02 4.13726291e-03 9.98329536e-01 -3.60007180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.220714056999995 meters 0.03529786766745864 Centerline is valid? [True, True] Translation: X:50.18, Y:-5.56, Z:-3.60 [[ 9.96691208e-01 5.77466803e-02 5.72010146e-02 5.01752463e+01] [-5.74115110e-02 9.98322525e-01 -7.48698975e-03 -5.56347444e+00] [-5.75374101e-02 4.17822018e-03 9.98334608e-01 -3.60163097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.250714056999996 meters 0.04371592889322612 Centerline is valid? [True, True] Translation: X:50.20, Y:-5.58, Z:-3.60 [[ 9.96689074e-01 5.74069123e-02 5.75789483e-02 5.02010326e+01] [-5.70669645e-02 9.98341938e-01 -7.53240510e-03 -5.57777041e+00] [-5.79158910e-02 4.22161007e-03 9.98312540e-01 -3.60480258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.280714057 meters 0.03658667743749804 Centerline is valid? [True, True] Translation: X:50.23, Y:-5.57, Z:-3.61 [[ 9.96694450e-01 5.80522479e-02 5.68340522e-02 5.02317446e+01] [-5.77224581e-02 9.98305030e-01 -7.42859976e-03 -5.56926368e+00] [-5.71689671e-02 4.12344296e-03 9.98356002e-01 -3.60533158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.310714057 meters 0.03931321751625639 Centerline is valid? [True, True] Translation: X:50.26, Y:-5.58, Z:-3.61 [[ 9.96666417e-01 5.83641525e-02 5.70059517e-02 5.02586715e+01] [-5.80330287e-02 9.98286878e-01 -7.44828937e-03 -5.57551367e+00] [-5.73430067e-02 4.11523185e-03 9.98346054e-01 -3.60828797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.340714057 meters 0.03931321751625639 Centerline is valid? [True, True] Translation: X:50.29, Y:-5.58, Z:-3.61 [[ 9.96670485e-01 5.82939591e-02 5.70066516e-02 5.02867491e+01] [-5.79630261e-02 9.98290985e-01 -7.44292866e-03 -5.57911901e+00] [-5.73431041e-02 4.11386928e-03 9.98346054e-01 -3.61024018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.370714057 meters 0.0381618498048752 Centerline is valid? [True, True] Translation: X:50.32, Y:-5.58, Z:-3.61 [[ 9.96617805e-01 5.90059696e-02 5.71948098e-02 5.03156371e+01] [-5.86742465e-02 9.98249283e-01 -7.46340638e-03 -5.58040483e+00] [-5.75350634e-02 4.08230131e-03 9.98335140e-01 -3.61192452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.400714056999995 meters 0.036880742590908455 Centerline is valid? [True, True] Translation: X:50.34, Y:-5.58, Z:-3.61 [[ 9.96548930e-01 5.97293844e-02 5.76422668e-02 5.03447644e+01] [-5.93938907e-02 9.98206317e-01 -7.51758547e-03 -5.58119939e+00] [-5.79878956e-02 4.06804326e-03 9.98308998e-01 -3.61347042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.430714056999996 meters 0.037760089077283926 Centerline is valid? [True, True] Translation: X:50.37, Y:-5.58, Z:-3.61 [[ 9.96311050e-01 6.21155573e-02 5.92110554e-02 5.03733231e+01] [-6.17659923e-02 9.98060821e-01 -7.71753641e-03 -5.58411508e+00] [-5.95756136e-02 4.03183721e-03 9.98215653e-01 -3.61444076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.460714057 meters 0.03477414496545254 Centerline is valid? [True, True] Translation: X:50.40, Y:-5.58, Z:-3.62 [[ 9.96173460e-01 6.34248941e-02 6.01308682e-02 5.04026870e+01] [-6.30669307e-02 9.97978550e-01 -7.83426709e-03 -5.58247021e+00] [-6.05062043e-02 4.01201965e-03 9.98159758e-01 -3.61535999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.490714057 meters 0.035352631870775836 Centerline is valid? [True, True] Translation: X:50.43, Y:-5.58, Z:-3.62 [[ 9.95956073e-01 6.60885103e-02 6.08589308e-02 5.04319032e+01] [-6.57270544e-02 9.97806173e-01 -7.92430212e-03 -5.58498483e+00] [-6.12491222e-02 3.89217857e-03 9.98114921e-01 -3.61668913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.520714057 meters 0.034334200315648794 Centerline is valid? [True, True] Translation: X:50.46, Y:-5.59, Z:-3.62 [[ 9.95911584e-01 6.66432070e-02 6.09819600e-02 5.04612412e+01] [-6.62814500e-02 9.97769389e-01 -7.93821878e-03 -5.58583058e+00] [-6.13749613e-02 3.86379131e-03 9.98107301e-01 -3.61882210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.550714057 meters 0.03514082065391622 Centerline is valid? [True, True] Translation: X:50.49, Y:-5.59, Z:-3.62 [[ 9.95891664e-01 6.72772134e-02 6.06099841e-02 5.04890533e+01] [-6.69212244e-02 9.97727092e-01 -7.88663701e-03 -5.59046870e+00] [-6.10028141e-02 3.79814170e-03 9.98130368e-01 -3.62130772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.580714056999994 meters 0.03365603266123421 Centerline is valid? [True, True] Translation: X:50.52, Y:-5.59, Z:-3.63 [[ 9.95982142e-01 6.75380332e-02 5.88063430e-02 5.05181883e+01] [-6.72036418e-02 9.97709968e-01 -7.64784484e-03 -5.59068734e+00] [-5.91881950e-02 3.66511648e-03 9.98240114e-01 -3.62510435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.610714056999996 meters 0.03560622068956479 Centerline is valid? [True, True] Translation: X:50.54, Y:-5.60, Z:-3.63 [[ 9.96129346e-01 6.72107921e-02 5.66483483e-02 5.05446385e+01] [-6.69002188e-02 9.97732500e-01 -7.36332938e-03 -5.59649545e+00] [-5.70147934e-02 3.54504158e-03 9.98367040e-01 -3.62975455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.640714057 meters 0.03471601219925498 Centerline is valid? [True, True] Translation: X:50.57, Y:-5.60, Z:-3.63 [[ 9.96213726e-01 6.68042056e-02 5.56364187e-02 5.05731695e+01] [-6.65042758e-02 9.97759966e-01 -7.22709366e-03 -5.59808997e+00] [-5.59945915e-02 3.49967017e-03 9.98424939e-01 -3.63220101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.670714057 meters 0.03550708736830135 Centerline is valid? [True, True] Translation: X:50.60, Y:-5.60, Z:-3.64 [[ 9.96276259e-01 6.63982936e-02 5.49989270e-02 5.06011679e+01] [-6.61048098e-02 9.97787137e-01 -7.14033178e-03 -5.60212893e+00] [-5.53513278e-02 3.47804942e-03 9.98460882e-01 -3.63522544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.700714057 meters 0.03484511755748284 Centerline is valid? [True, True] Translation: X:50.63, Y:-5.60, Z:-3.64 [[ 9.96317106e-01 6.59204443e-02 5.48335583e-02 5.06299546e+01] [-6.56282221e-02 9.97818778e-01 -7.11492831e-03 -5.60425931e+00] [-5.51829733e-02 3.49009585e-03 9.98470159e-01 -3.63727908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.730714057 meters 0.03576972389533691 Centerline is valid? [True, True] Translation: X:50.66, Y:-5.61, Z:-3.64 [[ 9.96321893e-01 6.47244670e-02 5.61553971e-02 5.06582527e+01] [-6.44163155e-02 9.97896541e-01 -7.28222618e-03 -5.60818156e+00] [-5.65086148e-02 3.63811760e-03 9.98395483e-01 -3.63859618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.760714056999994 meters 0.036053840705787606 Centerline is valid? [True, True] Translation: X:50.69, Y:-5.61, Z:-3.64 [[ 9.96283778e-01 6.41868430e-02 5.74341694e-02 5.06870239e+01] [-6.38638351e-02 9.97930860e-01 -7.44380100e-03 -5.61208371e+00] [-5.77931241e-02 3.74817186e-03 9.98321544e-01 -3.63989819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.790714056999995 meters 0.038815421047689 Centerline is valid? [True, True] Translation: X:50.71, Y:-5.62, Z:-3.64 [[ 9.96322213e-01 6.23663473e-02 5.87578686e-02 5.07146427e+01] [-6.20253650e-02 9.98045553e-01 -7.61101070e-03 -5.61905772e+00] [-5.91177004e-02 3.93854078e-03 9.98243250e-01 -3.64129343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.820714056999996 meters 0.04086533744217194 Centerline is valid? [True, True] Translation: X:50.74, Y:-5.63, Z:-3.64 [[ 9.96381893e-01 6.08887793e-02 5.92931742e-02 5.07437103e+01] [-6.05391847e-02 9.98136304e-01 -7.67632515e-03 -5.62506319e+00] [-5.96500718e-02 4.05899096e-03 9.98211097e-01 -3.64327522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.850714057 meters 0.03965072498842475 Centerline is valid? [True, True] Translation: X:50.77, Y:-5.63, Z:-3.64 [[ 9.96559193e-01 5.80120915e-02 5.91977325e-02 5.07742142e+01] [-5.76589730e-02 9.98306971e-01 -7.65731547e-03 -5.62628667e+00] [-5.95417259e-02 4.21768767e-03 9.98216907e-01 -3.64439867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.880714057 meters 0.03771807215724645 Centerline is valid? [True, True] Translation: X:50.80, Y:-5.63, Z:-3.65 [[ 9.96689372e-01 5.63132792e-02 5.86439281e-02 5.08035392e+01] [-5.59638652e-02 9.98403983e-01 -7.58497443e-03 -5.62681463e+00] [-5.89774662e-02 4.27792251e-03 9.98250148e-01 -3.64638986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.910714057 meters 0.04301023360335658 Centerline is valid? [True, True] Translation: X:50.83, Y:-5.64, Z:-3.65 [[ 9.96770703e-01 5.54063443e-02 5.81231704e-02 5.08310236e+01] [-5.50617788e-02 9.98454674e-01 -7.51430833e-03 -5.63858383e+00] [-5.84496915e-02 4.28967725e-03 9.98281139e-01 -3.65006156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.940714056999994 meters 0.043914729977907796 Centerline is valid? [True, True] Translation: X:50.86, Y:-5.64, Z:-3.66 [[ 9.96834947e-01 5.61414604e-02 5.62869817e-02 5.08601411e+01] [-5.58196787e-02 9.98414369e-01 -7.27405049e-03 -5.64379110e+00] [-5.66061071e-02 4.10910650e-03 9.98388133e-01 -3.65540826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.970714056999995 meters 0.04402507293216343 Centerline is valid? [True, True] Translation: X:50.89, Y:-5.65, Z:-3.66 [[ 9.96827603e-01 5.72054420e-02 5.53377555e-02 5.08882703e+01] [-5.68961778e-02 9.98354502e-01 -7.14936885e-03 -5.64780529e+00] [-5.56556801e-02 3.97818144e-03 9.98442096e-01 -3.65932126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.000714056999996 meters 0.03784573867080309 Centerline is valid? [True, True] Translation: X:50.92, Y:-5.64, Z:-3.66 [[ 9.96794385e-01 5.80896892e-02 5.50140249e-02 5.09181982e+01] [-5.77854142e-02 9.98303731e-01 -7.10686041e-03 -5.64223943e+00] [-5.53335416e-02 3.90507033e-03 9.98460289e-01 -3.65997812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.030714057 meters 0.043137086392156916 Centerline is valid? [True, True] Translation: X:50.95, Y:-5.65, Z:-3.66 [[ 9.96618485e-01 6.04038566e-02 5.57043090e-02 5.09460911e+01] [-6.00957387e-02 9.98166712e-01 -7.19145295e-03 -5.65134990e+00] [-5.60365784e-02 3.81954334e-03 9.98421411e-01 -3.66174616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.060714057 meters 0.04342723974763622 Centerline is valid? [True, True] Translation: X:50.97, Y:-5.65, Z:-3.66 [[ 9.96514373e-01 6.16989521e-02 5.61457392e-02 5.09744166e+01] [-6.13880631e-02 9.98087666e-01 -7.24678267e-03 -5.65461915e+00] [-5.64854887e-02 3.77484492e-03 9.98396284e-01 -3.66287888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.090714057 meters 0.035309652609184575 Centerline is valid? [True, True] Translation: X:51.01, Y:-5.65, Z:-3.66 [[ 9.96225859e-01 6.49885134e-02 5.75372212e-02 5.10059127e+01] [-6.46677218e-02 9.97879252e-01 -7.42184660e-03 -5.64533557e+00] [-5.78975341e-02 3.67303448e-03 9.98315774e-01 -3.66049570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.120714057 meters 0.03479838296679117 Centerline is valid? [True, True] Translation: X:51.03, Y:-5.65, Z:-3.66 [[ 9.96079842e-01 6.65507757e-02 5.82747102e-02 5.10348853e+01] [-6.62243504e-02 9.97776442e-01 -7.51708038e-03 -5.64813927e+00] [-5.86454005e-02 3.62840741e-03 9.98272283e-01 -3.66157734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.150714056999995 meters 0.03509099983602098 Centerline is valid? [True, True] Translation: X:51.06, Y:-5.65, Z:-3.66 [[ 9.95971454e-01 6.78439299e-02 5.86350075e-02 5.10620668e+01] [-6.75160790e-02 9.97689568e-01 -7.55681357e-03 -5.65206317e+00] [-5.90122193e-02 3.56756480e-03 9.98250886e-01 -3.66323786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.180714056999996 meters 0.03285365461122602 Centerline is valid? [True, True] Translation: X:51.09, Y:-5.65, Z:-3.66 [[ 9.95778818e-01 6.98621198e-02 5.95300758e-02 5.10918787e+01] [-6.95281086e-02 9.97550535e-01 -7.66633038e-03 -5.65156741e+00] [-5.99198450e-02 3.49495583e-03 9.98197073e-01 -3.66352764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.210714057 meters 0.032618556465511275 Centerline is valid? [True, True] Translation: X:51.12, Y:-5.65, Z:-3.67 [[ 9.95701238e-01 7.06428223e-02 5.99052326e-02 5.11204861e+01] [-7.03061029e-02 9.97495647e-01 -7.71274922e-03 -5.65456728e+00] [-6.03000591e-02 3.46789050e-03 9.98174272e-01 -3.66548213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.240714057 meters 0.03459186387583412 Centerline is valid? [True, True] Translation: X:51.15, Y:-5.66, Z:-3.67 [[ 9.95616390e-01 7.26832636e-02 5.88655065e-02 5.11480368e+01] [-7.23619461e-02 9.97349674e-01 -7.57471939e-03 -5.66108734e+00] [-5.92600490e-02 3.28189216e-03 9.98237184e-01 -3.66930578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.270714057 meters 0.03162773974623824 Centerline is valid? [True, True] Translation: X:51.18, Y:-5.66, Z:-3.67 [[ 9.95616491e-01 7.35084930e-02 5.78299578e-02 5.11770765e+01] [-7.32000179e-02 9.97289548e-01 -7.43743887e-03 -5.65991697e+00] [-5.82199274e-02 3.17168284e-03 9.98298743e-01 -3.67152855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.300714057 meters 0.0314040061660406 Centerline is valid? [True, True] Translation: X:51.21, Y:-5.66, Z:-3.67 [[ 9.95556748e-01 7.49988471e-02 5.69379824e-02 5.12053097e+01] [-7.47024862e-02 9.97179009e-01 -7.31869559e-03 -5.66348414e+00] [-5.73262545e-02 3.03276794e-03 9.98350892e-01 -3.67446768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.330714056999994 meters 0.030627335877621998 Centerline is valid? [True, True] Translation: X:51.24, Y:-5.67, Z:-3.68 [[ 9.95383467e-01 7.81935361e-02 5.56554034e-02 5.12352805e+01] [-7.79156241e-02 9.96934322e-01 -7.14927587e-03 -5.66600907e+00] [-5.60438090e-02 2.77984552e-03 9.98424441e-01 -3.67751805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.360714056999996 meters 0.03529668549138576 Centerline is valid? [True, True] Translation: X:51.26, Y:-5.68, Z:-3.68 [[ 9.95259684e-01 7.98277077e-02 5.55490655e-02 5.12619375e+01] [-7.95533766e-02 9.96805065e-01 -7.13594321e-03 -5.67668295e+00] [-5.59412359e-02 2.68300086e-03 9.98430458e-01 -3.68116885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.390714057 meters 0.030785692770950848 Centerline is valid? [True, True] Translation: X:51.29, Y:-5.67, Z:-3.68 [[ 9.94964098e-01 8.31750103e-02 5.59317515e-02 5.12931822e+01] [-8.29026150e-02 9.96531810e-01 -7.17692591e-03 -5.67271565e+00] [-5.63347105e-02 2.50389515e-03 9.98408799e-01 -3.68026936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.420714057 meters 0.03044190216507346 Centerline is valid? [True, True] Translation: X:51.32, Y:-5.68, Z:-3.68 [[ 9.94791517e-01 8.46997271e-02 5.67079745e-02 5.13218370e+01] [-8.44222029e-02 9.96403508e-01 -7.27611807e-03 -5.67582022e+00] [-5.71203099e-02 2.45080840e-03 9.98364294e-01 -3.68159709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.450714057 meters 0.02985245838364221 Centerline is valid? [True, True] Translation: X:51.35, Y:-5.68, Z:-3.68 [[ 9.94585202e-01 8.61248766e-02 5.81616893e-02 5.13510477e+01] [-8.58356011e-02 9.96281397e-01 -7.45840927e-03 -5.67927908e+00] [-5.85877636e-02 2.42567993e-03 9.98279315e-01 -3.68267281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.480714057 meters 0.027597504994467094 Centerline is valid? [True, True] Translation: X:51.38, Y:-5.68, Z:-3.68 [[ 9.94274136e-01 8.82559458e-02 6.02480772e-02 5.13796329e+01] [-8.79496016e-02 9.96094987e-01 -7.72292116e-03 -5.68082021e+00] [-6.06944014e-02 2.37990638e-03 9.98153558e-01 -3.68258682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.510714056999994 meters 0.026151406827568925 Centerline is valid? [True, True] Translation: X:51.41, Y:-5.68, Z:-3.68 [[ 9.94159466e-01 8.90574419e-02 6.09567796e-02 5.14084568e+01] [-8.87456059e-02 9.96023709e-01 -7.80945923e-03 -5.68230078e+00] [-6.14098882e-02 2.35420147e-03 9.98109855e-01 -3.68373688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.540714056999995 meters 0.02767875735455422 Centerline is valid? [True, True] Translation: X:51.44, Y:-5.69, Z:-3.69 [[ 9.94057064e-01 9.00406398e-02 6.11820035e-02 5.14356316e+01] [-8.97286170e-02 9.95935442e-01 -7.83398542e-03 -5.68970505e+00] [-6.16387027e-02 2.29765198e-03 9.98095883e-01 -3.68586740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.570714056999996 meters 0.026007477116594836 Centerline is valid? [True, True] Translation: X:51.46, Y:-5.69, Z:-3.69 [[ 9.94072660e-01 9.00607635e-02 6.08983233e-02 5.14634334e+01] [-8.97519968e-02 9.95933662e-01 -7.79232830e-03 -5.69051724e+00] [-6.13524732e-02 2.28039440e-03 9.98113558e-01 -3.68754826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.600714057 meters 0.02588964716403204 Centerline is valid? [True, True] Translation: X:51.49, Y:-5.69, Z:-3.69 [[ 9.94096080e-01 9.01372873e-02 6.04007650e-02 5.14913466e+01] [-8.98340859e-02 9.95926807e-01 -7.72222053e-03 -5.69488734e+00] [-6.08508011e-02 2.25058164e-03 9.98144336e-01 -3.69009495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.630714057 meters 0.02611569947763245 Centerline is valid? [True, True] Translation: X:51.52, Y:-5.70, Z:-3.69 [[ 9.94163057e-01 8.98203620e-02 5.97672023e-02 5.15194515e+01] [-8.95233273e-02 9.95955465e-01 -7.63454928e-03 -5.70118949e+00] [-6.02112098e-02 2.23942804e-03 9.98183147e-01 -3.69324373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.660714057 meters 0.02611391827117127 Centerline is valid? [True, True] Translation: X:51.55, Y:-5.71, Z:-3.70 [[ 9.94148500e-01 8.99528414e-02 5.98100893e-02 5.15478789e+01] [-8.96558778e-02 9.95943532e-01 -7.63573822e-03 -5.70652436e+00] [-6.02543279e-02 2.22873164e-03 9.98180569e-01 -3.69545229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.690714056999994 meters 0.026589417481482414 Centerline is valid? [True, True] Translation: X:51.57, Y:-5.71, Z:-3.70 [[ 9.94217790e-01 8.90395955e-02 6.00244725e-02 5.15743724e+01] [-8.87390885e-02 9.96025459e-01 -7.65893552e-03 -5.71493585e+00] [-6.04678513e-02 2.28813297e-03 9.98167523e-01 -3.69796580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.720714056999995 meters 0.025809114092952473 Centerline is valid? [True, True] Translation: X:51.60, Y:-5.72, Z:-3.70 [[ 9.94234666e-01 8.85209927e-02 6.05100254e-02 5.16028177e+01] [-8.82149780e-02 9.96071579e-01 -7.71534796e-03 -5.71806828e+00] [-6.09552868e-02 2.33297584e-03 9.98137771e-01 -3.69977338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.750714056999996 meters 0.025910696688218837 Centerline is valid? [True, True] Translation: X:51.63, Y:-5.72, Z:-3.70 [[ 9.94265428e-01 8.79779003e-02 6.07959467e-02 5.16308785e+01] [-8.76682442e-02 9.96119600e-01 -7.74733409e-03 -5.72363087e+00] [-6.12416283e-02 2.37303255e-03 9.98120149e-01 -3.70170477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.780714057 meters 0.026745069762714284 Centerline is valid? [True, True] Translation: X:51.66, Y:-5.73, Z:-3.70 [[ 9.94237544e-01 8.75370521e-02 6.18786842e-02 5.16581813e+01] [-8.72156812e-02 9.96158279e-01 -7.88081696e-03 -5.73218644e+00] [-6.23308270e-02 2.43861250e-03 9.98052564e-01 -3.70322451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.810714057 meters 0.02658457669816672 Centerline is valid? [True, True] Translation: X:51.69, Y:-5.74, Z:-3.70 [[ 9.94216569e-01 8.73894833e-02 6.24218897e-02 5.16858881e+01] [-8.70624998e-02 9.96171174e-01 -7.94439821e-03 -5.73673417e+00] [-6.28771440e-02 2.46384657e-03 9.98018233e-01 -3.70453306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.840714057 meters 0.025936099975937852 Centerline is valid? [True, True] Translation: X:51.71, Y:-5.74, Z:-3.71 [[ 9.94147544e-01 8.77318932e-02 6.30378855e-02 5.17144944e+01] [-8.73995490e-02 9.96141088e-01 -8.01575992e-03 -5.74178741e+00] [-6.34978656e-02 2.45936528e-03 9.97978944e-01 -3.70591860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.870714057 meters 0.025789214706527525 Centerline is valid? [True, True] Translation: X:51.74, Y:-5.75, Z:-3.71 [[ 9.94135318e-01 8.77799675e-02 6.31636497e-02 5.17429662e+01] [-8.74466851e-02 9.96136859e-01 -8.02713211e-03 -5.74688693e+00] [-6.36242611e-02 2.45660375e-03 9.97970901e-01 -3.70804525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.900714056999995 meters 0.02644374058224182 Centerline is valid? [True, True] Translation: X:51.77, Y:-5.75, Z:-3.71 [[ 9.94213421e-01 8.74664341e-02 6.23642164e-02 5.17703916e+01] [-8.71412094e-02 9.96164477e-01 -7.92112256e-03 -5.75316372e+00] [-6.28178494e-02 2.44079312e-03 9.98022024e-01 -3.71065602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.930714056999996 meters 0.026652797773096513 Centerline is valid? [True, True] Translation: X:51.80, Y:-5.76, Z:-3.71 [[ 9.94288571e-01 8.72559420e-02 6.14543607e-02 5.17975421e+01] [-8.69400923e-02 9.96183005e-01 -7.80003853e-03 -5.76105215e+00] [-6.19003895e-02 2.41264136e-03 9.98079416e-01 -3.71411556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.960714057 meters 0.026795566159475537 Centerline is valid? [True, True] Translation: X:51.83, Y:-5.77, Z:-3.72 [[ 9.94323009e-01 8.71539539e-02 6.10404957e-02 5.18258517e+01] [-8.68425026e-02 9.96191971e-01 -7.74191968e-03 -5.76724836e+00] [-6.14827906e-02 2.39705948e-03 9.98105265e-01 -3.71706586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.990714057 meters 0.027393419249242167 Centerline is valid? [True, True] Translation: X:51.85, Y:-5.78, Z:-3.72 [[ 9.94439756e-01 8.65601794e-02 5.99742219e-02 5.18520480e+01] [-8.62586664e-02 9.96243763e-01 -7.60312803e-03 -5.77589130e+00] [-6.04070726e-02 2.38755638e-03 9.98170970e-01 -3.72033833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.020714057 meters 0.0276756318758285 Centerline is valid? [True, True] Translation: X:51.88, Y:-5.78, Z:-3.72 [[ 9.94482181e-01 8.61062269e-02 5.99241941e-02 5.18802365e+01] [-8.58049925e-02 9.96283063e-01 -7.58690922e-03 -5.78180502e+00] [-6.03547398e-02 2.40325101e-03 9.98174098e-01 -3.72281279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.050714057 meters 0.03157211090099485 Centerline is valid? [True, True] Translation: X:51.91, Y:-5.80, Z:-3.73 [[ 9.94548829e-01 8.56507855e-02 5.94690619e-02 5.19067072e+01] [-8.53535431e-02 9.96322309e-01 -7.52529109e-03 -5.79550699e+00] [-5.98949002e-02 2.40837430e-03 9.98201784e-01 -3.72678538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.080714056999994 meters 0.02734574386256599 Centerline is valid? [True, True] Translation: X:51.94, Y:-5.79, Z:-3.73 [[ 9.94612922e-01 8.51763669e-02 5.90772604e-02 5.19365938e+01] [-8.48825112e-02 9.96362962e-01 -7.47046745e-03 -5.79277009e+00] [-5.94987014e-02 2.41559724e-03 9.98225460e-01 -3.72705851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.110714056999996 meters 0.027192369017784126 Centerline is valid? [True, True] Translation: X:51.97, Y:-5.80, Z:-3.73 [[ 9.94573830e-01 8.51681595e-02 5.97434557e-02 5.19653475e+01] [-8.48678759e-02 9.96363606e-01 -7.55038419e-03 -5.79809026e+00] [-6.01692573e-02 2.43911434e-03 9.98185209e-01 -3.72875979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.140714057 meters 0.028112680072518357 Centerline is valid? [True, True] Translation: X:51.99, Y:-5.80, Z:-3.73 [[ 9.94599463e-01 8.46142832e-02 6.01026790e-02 5.19925497e+01] [-8.43095997e-02 9.96410686e-01 -7.59189873e-03 -5.80465094e+00] [-6.05293346e-02 2.48366560e-03 9.98163329e-01 -3.72989565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.170714057 meters 0.02742049668100487 Centerline is valid? [True, True] Translation: X:52.02, Y:-5.81, Z:-3.73 [[ 9.94561108e-01 8.37839781e-02 6.18744545e-02 5.20211476e+01] [-8.34599669e-02 9.96480547e-01 -7.80721741e-03 -5.80928503e+00] [-6.23108100e-02 2.60071487e-03 9.98053405e-01 -3.73029455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.200714057 meters 0.02925179127039453 Centerline is valid? [True, True] Translation: X:52.05, Y:-5.82, Z:-3.73 [[ 9.94616853e-01 8.24927862e-02 6.27076973e-02 5.20472463e+01] [-8.21576967e-02 9.96587968e-01 -7.90793468e-03 -5.81976756e+00] [-6.31460842e-02 2.71344513e-03 9.98000606e-01 -3.73192714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.230714057 meters 0.02925179127039453 Centerline is valid? [True, True] Translation: X:52.07, Y:-5.82, Z:-3.73 [[ 9.94625346e-01 8.23896860e-02 6.27085378e-02 5.20744576e+01] [-8.20548120e-02 9.96596497e-01 -7.90126394e-03 -5.82310306e+00] [-6.31460918e-02 2.71326010e-03 9.98000606e-01 -3.73381815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.260714056999994 meters 0.02794934729286465 Centerline is valid? [True, True] Translation: X:52.10, Y:-5.83, Z:-3.74 [[ 9.94707217e-01 8.14535917e-02 6.26327705e-02 5.21025341e+01] [-8.11180975e-02 9.96673307e-01 -7.88506606e-03 -5.82593688e+00] [-6.30666775e-02 2.76268093e-03 9.98005492e-01 -3.73568733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.290714056999995 meters 0.03183786848627216 Centerline is valid? [True, True] Translation: X:52.13, Y:-5.84, Z:-3.74 [[ 9.94815747e-01 8.03594181e-02 6.23216882e-02 5.21283764e+01] [-8.00254603e-02 9.96761985e-01 -7.84036866e-03 -5.83828113e+00] [-6.27499371e-02 2.81240042e-03 9.98025318e-01 -3.73925081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.320714056999996 meters 0.030425046013227795 Centerline is valid? [True, True] Translation: X:52.16, Y:-5.84, Z:-3.74 [[ 9.94951388e-01 7.88509353e-02 6.20827265e-02 5.21565108e+01] [-7.85170362e-02 9.96882230e-01 -7.80349253e-03 -5.84155879e+00] [-6.25044795e-02 2.88954405e-03 9.98040500e-01 -3.74154358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.350714057 meters 0.02934699174269186 Centerline is valid? [True, True] Translation: X:52.19, Y:-5.85, Z:-3.75 [[ 9.95257785e-01 7.57541901e-02 6.10183987e-02 5.21851077e+01] [-7.54261912e-02 9.97121933e-01 -7.66425375e-03 -5.84799580e+00] [-6.14233830e-02 3.02552280e-03 9.98107216e-01 -3.74513856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.380714057 meters 0.029488342840791278 Centerline is valid? [True, True] Translation: X:52.21, Y:-5.85, Z:-3.75 [[ 9.95411101e-01 7.41574207e-02 6.04765819e-02 5.22135573e+01] [-7.38324818e-02 9.97241751e-01 -7.59308924e-03 -5.85429346e+00] [-6.08728564e-02 3.09310919e-03 9.98140736e-01 -3.74802156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.410714057 meters 0.031077129206593824 Centerline is valid? [True, True] Translation: X:52.24, Y:-5.86, Z:-3.75 [[ 9.95700514e-01 7.14754825e-02 5.89214915e-02 5.22406717e+01] [-7.11626297e-02 9.97437323e-01 -7.39368579e-03 -5.86391712e+00] [-5.92989620e-02 3.16888847e-03 9.98235238e-01 -3.75157078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.440714056999994 meters 0.031111083850375088 Centerline is valid? [True, True] Translation: X:52.27, Y:-5.87, Z:-3.75 [[ 9.95795504e-01 7.05575863e-02 5.84203796e-02 5.22690218e+01] [-7.02487122e-02 9.97502601e-01 -7.32662197e-03 -5.86917513e+00] [-5.87914294e-02 3.19186078e-03 9.98265185e-01 -3.75381635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.470714056999995 meters 0.03165815646217993 Centerline is valid? [True, True] Translation: X:52.30, Y:-5.87, Z:-3.76 [[ 9.95900398e-01 6.94710037e-02 5.79325261e-02 5.22967828e+01] [-6.91656752e-02 9.97578759e-01 -7.26145210e-03 -5.87428323e+00] [-5.82967179e-02 3.22474075e-03 9.98294092e-01 -3.75582506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.500714056999996 meters 0.03245297591816513 Centerline is valid? [True, True] Translation: X:52.32, Y:-5.88, Z:-3.76 [[ 9.95964084e-01 6.82343759e-02 5.83062079e-02 5.23242935e+01] [-6.79233360e-02 9.97663820e-01 -7.30222469e-03 -5.88121472e+00] [-5.86682568e-02 3.31240138e-03 9.98272039e-01 -3.75699560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.530714057 meters 0.03403810474416024 Centerline is valid? [True, True] Translation: X:52.35, Y:-5.89, Z:-3.76 [[ 9.96015741e-01 6.63309954e-02 5.96057244e-02 5.23523810e+01] [-6.60025473e-02 9.97791534e-01 -7.46454329e-03 -5.88940328e+00] [-5.99692178e-02 3.50067297e-03 9.98194088e-01 -3.75818240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.560714057 meters 0.035292351375108236 Centerline is valid? [True, True] Translation: X:52.38, Y:-5.90, Z:-3.76 [[ 9.95988204e-01 6.56914706e-02 6.07628917e-02 5.23799969e+01] [-6.53491495e-02 9.97833471e-01 -7.60605905e-03 -5.89587246e+00] [-6.11309003e-02 3.60474179e-03 9.98123248e-01 -3.75992366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.590714057 meters 0.03169082452927027 Centerline is valid? [True, True] Translation: X:52.41, Y:-5.89, Z:-3.76 [[ 9.96000909e-01 6.47191552e-02 6.15923725e-02 5.24099665e+01] [-6.43657144e-02 9.97896613e-01 -7.70737928e-03 -5.89489499e+00] [-6.19616350e-02 3.71211971e-03 9.98071629e-01 -3.76085215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.620714057 meters 0.036273018723964726 Centerline is valid? [True, True] Translation: X:52.44, Y:-5.91, Z:-3.76 [[ 9.96003235e-01 6.41632627e-02 6.21339855e-02 5.24376926e+01] [-6.38026446e-02 9.97932266e-01 -7.77271388e-03 -5.90692453e+00] [-6.25042317e-02 3.77733557e-03 9.98037551e-01 -3.76327776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.650714056999995 meters 0.03292176590893823 Centerline is valid? [True, True] Translation: X:52.47, Y:-5.91, Z:-3.76 [[ 9.96076756e-01 6.25297203e-02 6.26189269e-02 5.24685247e+01] [-6.21603089e-02 9.98035447e-01 -7.83211419e-03 -5.90737529e+00] [-6.29856486e-02 3.90897506e-03 9.98006778e-01 -3.76492177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.680714056999996 meters 0.03376892729613234 Centerline is valid? [True, True] Translation: X:52.50, Y:-5.91, Z:-3.77 [[ 9.96231748e-01 6.10073822e-02 6.16474142e-02 5.24974846e+01] [-6.06464621e-02 9.98129527e-01 -7.71060143e-03 -5.91398322e+00] [-6.20025080e-02 3.94284837e-03 9.98068206e-01 -3.76801476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.710714057 meters 0.034979020768362304 Centerline is valid? [True, True] Translation: X:52.53, Y:-5.92, Z:-3.77 [[ 9.96348410e-01 6.00518329e-02 6.06928600e-02 5.25269091e+01] [-5.97002648e-02 9.98187484e-01 -7.59107446e-03 -5.92016270e+00] [-6.10387111e-02 3.93997516e-03 9.98127623e-01 -3.77116221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.740714057 meters 0.03426290641403502 Centerline is valid? [True, True] Translation: X:52.56, Y:-5.92, Z:-3.77 [[ 9.96426411e-01 5.91995604e-02 6.02479889e-02 5.25574933e+01] [-5.88515111e-02 9.98238297e-01 -7.53665624e-03 -5.92322391e+00] [-6.05880166e-02 3.96403814e-03 9.98154987e-01 -3.77413238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.770714057 meters 0.03729175931895436 Centerline is valid? [True, True] Translation: X:52.59, Y:-5.93, Z:-3.78 [[ 9.96483443e-01 5.86794817e-02 5.98119174e-02 5.25870314e+01] [-5.83355655e-02 9.98268996e-01 -7.48148817e-03 -5.93249451e+00] [-6.01473926e-02 3.96601707e-03 9.98181628e-01 -3.77702399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.800714057 meters 0.03610242115035921 Centerline is valid? [True, True] Translation: X:52.62, Y:-5.93, Z:-3.78 [[ 9.96493854e-01 5.89034044e-02 5.94170751e-02 5.26186192e+01] [-5.85641361e-02 9.98255947e-01 -7.43678692e-03 -5.93372514e+00] [-5.97515007e-02 3.93100279e-03 9.98205543e-01 -3.77898468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.830714056999994 meters 0.03652608811286543 Centerline is valid? [True, True] Translation: X:52.65, Y:-5.94, Z:-3.78 [[ 9.96531803e-01 5.79789519e-02 5.96892572e-02 5.26489458e+01] [-5.76347736e-02 9.98309764e-01 -7.47318667e-03 -5.93820248e+00] [-6.00216558e-02 4.00709135e-03 9.98189032e-01 -3.78112446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.860714056999996 meters 0.03717076877362861 Centerline is valid? [True, True] Translation: X:52.68, Y:-5.94, Z:-3.78 [[ 9.96541884e-01 5.76830046e-02 5.98075563e-02 5.26802090e+01] [-5.73368723e-02 9.98326800e-01 -7.48892973e-03 -5.94276156e+00] [-6.01394702e-02 4.03385392e-03 9.98181833e-01 -3.78321742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.890714057 meters 0.03574460071879393 Centerline is valid? [True, True] Translation: X:52.71, Y:-5.94, Z:-3.79 [[ 9.96530679e-01 5.77715938e-02 5.99086741e-02 5.27116319e+01] [-5.74243187e-02 9.98321662e-01 -7.50372614e-03 -5.94378031e+00] [-6.02416294e-02 4.03747851e-03 9.98175658e-01 -3.78502884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.920714057 meters 0.03679885161395457 Centerline is valid? [True, True] Translation: X:52.74, Y:-5.95, Z:-3.79 [[ 9.96567336e-01 5.68926738e-02 6.01395712e-02 5.27419099e+01] [-5.65409783e-02 9.98371845e-01 -7.53499838e-03 -5.94840706e+00] [-6.04703408e-02 4.10878307e-03 9.98161538e-01 -3.78741865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.950714057 meters 0.03897845923095519 Centerline is valid? [True, True] Translation: X:52.77, Y:-5.95, Z:-3.79 [[ 9.96573470e-01 5.66574590e-02 6.02598587e-02 5.27724093e+01] [-5.63039621e-02 9.98385131e-01 -7.54946588e-03 -5.95455735e+00] [-6.05902805e-02 4.13072861e-03 9.98154174e-01 -3.79020074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.980714057 meters 0.038133814031775924 Centerline is valid? [True, True] Translation: X:52.80, Y:-5.96, Z:-3.79 [[ 9.96665685e-01 5.46372502e-02 6.05993685e-02 5.28035291e+01] [-5.42750748e-02 9.98497039e-01 -7.60780218e-03 -5.95565324e+00] [-6.09239594e-02 4.29340012e-03 9.98133176e-01 -3.79145633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.010714056999994 meters 0.03790565528376452 Centerline is valid? [True, True] Translation: X:52.84, Y:-5.96, Z:-3.79 [[ 9.96679288e-01 5.37652133e-02 6.11530695e-02 5.28354124e+01] [-5.33947785e-02 9.98543972e-01 -7.67679834e-03 -5.95846387e+00] [-6.14767737e-02 4.38605130e-03 9.98098877e-01 -3.79310666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.040714056999995 meters 0.0380696798075822 Centerline is valid? [True, True] Translation: X:52.87, Y:-5.96, Z:-3.79 [[ 9.96733265e-01 5.27238643e-02 6.11800044e-02 5.28675276e+01] [-5.23501354e-02 9.98599131e-01 -7.69669192e-03 -5.96234676e+00] [-6.15000986e-02 4.46876735e-03 9.98097073e-01 -3.79471673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.070714056999996 meters 0.040460311994467014 Centerline is valid? [True, True] Translation: X:52.90, Y:-5.97, Z:-3.80 [[ 9.96870708e-01 4.98280223e-02 6.13674117e-02 5.28965995e+01] [-4.94462366e-02 9.98746910e-01 -7.72524678e-03 -5.96809872e+00] [-6.16754465e-02 4.66668467e-03 9.98085348e-01 -3.79715882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.100714057 meters 0.042542051729127894 Centerline is valid? [True, True] Translation: X:52.93, Y:-5.97, Z:-3.80 [[ 9.96987943e-01 4.82668696e-02 6.07070837e-02 5.29256273e+01] [-4.78904346e-02 9.98823365e-01 -7.64146631e-03 -5.97438052e+00] [-6.10044833e-02 4.71116116e-03 9.98126374e-01 -3.80015909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.130714057 meters 0.04088366421666623 Centerline is valid? [True, True] Translation: X:52.96, Y:-5.97, Z:-3.80 [[ 9.97187795e-01 4.53323692e-02 5.96781149e-02 5.29563526e+01] [-4.49630382e-02 9.98960364e-01 -7.51778313e-03 -5.97488320e+00] [-5.99568703e-02 4.81333223e-03 9.98189364e-01 -3.80361770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.160714057 meters 0.04467122293392992 Centerline is valid? [True, True] Translation: X:52.99, Y:-5.98, Z:-3.81 [[ 9.97269621e-01 4.45815262e-02 5.88709696e-02 5.29864676e+01] [-4.42209435e-02 9.98994263e-01 -7.41427182e-03 -5.98328801e+00] [-5.91423005e-02 4.79069823e-03 9.98238067e-01 -3.80724455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.190714056999994 meters 0.04310582065287969 Centerline is valid? [True, True] Translation: X:53.02, Y:-5.98, Z:-3.81 [[ 9.97375523e-01 4.34540515e-02 5.79121102e-02 5.30187108e+01] [-4.31023794e-02 9.99043929e-01 -7.30845653e-03 -5.98426336e+00] [-5.81743241e-02 4.79312591e-03 9.98294933e-01 -3.81013566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.220714056999995 meters 0.04526320427376948 Centerline is valid? [True, True] Translation: X:53.05, Y:-5.99, Z:-3.81 [[ 9.97482789e-01 4.20502320e-02 5.70952087e-02 5.30480199e+01] [-4.17059207e-02 9.99103920e-01 -7.20924784e-03 -5.98910091e+00] [-5.73471973e-02 4.80989240e-03 9.98342709e-01 -3.81353717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.250714056999996 meters 0.041949403263440065 Centerline is valid? [True, True] Translation: X:53.08, Y:-5.99, Z:-3.82 [[ 9.97447757e-01 4.23244473e-02 5.75031597e-02 5.30818181e+01] [-4.19754705e-02 9.99092237e-01 -7.26373688e-03 -5.98809192e+00] [-5.77583941e-02 4.83147588e-03 9.98318899e-01 -3.81507519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.280714057 meters 0.0426329066759988 Centerline is valid? [True, True] Translation: X:53.11, Y:-5.99, Z:-3.82 [[ 9.97410517e-01 4.24240551e-02 5.80728864e-02 5.31143035e+01] [-4.20672813e-02 9.99087723e-01 -7.35289484e-03 -5.99173382e+00] [-5.83318474e-02 4.89088620e-03 9.98285267e-01 -3.81677982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.310714057 meters 0.04237995184417907 Centerline is valid? [True, True] Translation: X:53.15, Y:-5.99, Z:-3.82 [[ 9.97329696e-01 4.33046030e-02 5.88063674e-02 5.31467896e+01] [-4.29392143e-02 9.99049809e-01 -7.46350749e-03 -5.99291009e+00] [-5.90736943e-02 4.91847844e-03 9.98241507e-01 -3.81787075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.340714057 meters 0.04231415807688643 Centerline is valid? [True, True] Translation: X:53.18, Y:-6.00, Z:-3.82 [[ 9.97252298e-01 4.43380605e-02 5.93463652e-02 5.31784645e+01] [-4.39667168e-02 9.99004474e-01 -7.54909676e-03 -5.99535965e+00] [-5.96219966e-02 4.91908926e-03 9.98208906e-01 -3.81940266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.370714057 meters 0.0382315745824847 Centerline is valid? [True, True] Translation: X:53.21, Y:-5.99, Z:-3.82 [[ 9.97154354e-01 4.61946267e-02 5.95755824e-02 5.32111366e+01] [-4.58234971e-02 9.98920782e-01 -7.58151167e-03 -5.99034225e+00] [-5.98615124e-02 4.82997585e-03 9.98195006e-01 -3.82079910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.400714056999995 meters 0.03915565913780531 Centerline is valid? [True, True] Translation: X:53.24, Y:-5.99, Z:-3.82 [[ 9.97089247e-01 4.74160425e-02 5.97055474e-02 5.32419137e+01] [-4.70453526e-02 9.98863843e-01 -7.59988353e-03 -5.99405654e+00] [-5.99980689e-02 4.76889362e-03 9.98187101e-01 -3.82345468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.430714056999996 meters 0.043103195576158555 Centerline is valid? [True, True] Translation: X:53.27, Y:-6.00, Z:-3.83 [[ 9.97086446e-01 4.81855618e-02 5.91334951e-02 5.32720481e+01] [-4.78224515e-02 9.98827384e-01 -7.54124861e-03 -6.00241328e+00] [-5.94275335e-02 4.69136807e-03 9.98221598e-01 -3.82669486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.460714057 meters 0.043297449531297987 Centerline is valid? [True, True] Translation: X:53.30, Y:-6.00, Z:-3.83 [[ 9.97093786e-01 4.98879037e-02 5.75775891e-02 5.33023191e+01] [-4.95456426e-02 9.98744760e-01 -7.35755114e-03 -6.00380656e+00] [-5.78723682e-02 4.48344987e-03 9.98313922e-01 -3.83022497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.490714057 meters 0.03900186685826469 Centerline is valid? [True, True] Translation: X:53.34, Y:-6.00, Z:-3.83 [[ 9.97109747e-01 5.04881383e-02 5.67723474e-02 5.33357058e+01] [-5.01561214e-02 9.98715010e-01 -7.25888773e-03 -5.99995854e+00] [-5.70658832e-02 4.39042697e-03 9.98360761e-01 -3.83188230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.520714057 meters 0.039165254165432276 Centerline is valid? [True, True] Translation: X:53.37, Y:-6.00, Z:-3.83 [[ 9.97091905e-01 5.13076452e-02 5.63494340e-02 5.33677037e+01] [-5.09810509e-02 9.98673529e-01 -7.21913047e-03 -6.00273678e+00] [-5.66450847e-02 4.32538319e-03 9.98385009e-01 -3.83432663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.550714057 meters 0.03914433259503282 Centerline is valid? [True, True] Translation: X:53.40, Y:-6.00, Z:-3.84 [[ 9.97059802e-01 5.27904218e-02 5.55420830e-02 5.33979940e+01] [-5.24744683e-02 9.98596793e-01 -7.13266189e-03 -6.00389227e+00] [-5.58406822e-02 4.19714917e-03 9.98430870e-01 -3.83625816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.580714056999994 meters 0.03680117056247411 Centerline is valid? [True, True] Translation: X:53.43, Y:-6.00, Z:-3.84 [[ 9.97037889e-01 5.32933466e-02 5.54550937e-02 5.34290297e+01] [-5.29790872e-02 9.98570219e-01 -7.12272679e-03 -6.00290390e+00] [-5.57553990e-02 4.16366823e-03 9.98435776e-01 -3.83796186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.610714056999996 meters 0.03778216128889742 Centerline is valid? [True, True] Translation: X:53.46, Y:-6.01, Z:-3.84 [[ 9.96960204e-01 5.40644777e-02 5.61015462e-02 5.34584485e+01] [-5.37440755e-02 9.98528746e-01 -7.20533894e-03 -6.00576937e+00] [-5.64085595e-02 4.16831044e-03 9.98399068e-01 -3.83935878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.640714057 meters 0.03870975409119509 Centerline is valid? [True, True] Translation: X:53.49, Y:-6.01, Z:-3.84 [[ 9.96936704e-01 5.41548451e-02 5.64310284e-02 5.34881986e+01] [-5.38306594e-02 9.98523757e-01 -7.25025302e-03 -6.01048893e+00] [-5.67403588e-02 4.19032388e-03 9.98380175e-01 -3.84136397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.670714057 meters 0.038643290226340395 Centerline is valid? [True, True] Translation: X:53.52, Y:-6.01, Z:-3.84 [[ 9.96913392e-01 5.40507074e-02 5.69404135e-02 5.35173266e+01] [-5.37205137e-02 9.98529218e-01 -7.31485902e-03 -6.01334343e+00] [-5.72520398e-02 4.23341265e-03 9.98350781e-01 -3.84288936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.700714057 meters 0.039092041343518666 Centerline is valid? [True, True] Translation: X:53.55, Y:-6.02, Z:-3.84 [[ 9.96899701e-01 5.36447241e-02 5.75606627e-02 5.35474634e+01] [-5.33067597e-02 9.98550824e-01 -7.39203871e-03 -6.01732146e+00] [-5.78737911e-02 4.30074877e-03 9.98314644e-01 -3.84399479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.730714057 meters 0.04116267845607806 Centerline is valid? [True, True] Translation: X:53.58, Y:-6.02, Z:-3.85 [[ 9.96955706e-01 5.16313217e-02 5.84253904e-02 5.35766762e+01] [-5.12796763e-02 9.98656146e-01 -7.50308852e-03 -6.02375344e+00] [-5.87342696e-02 4.48421181e-03 9.98263581e-01 -3.84514060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.760714056999994 meters 0.04221147904675221 Centerline is valid? [True, True] Translation: X:53.61, Y:-6.03, Z:-3.85 [[ 9.97082258e-01 4.84949574e-02 5.89509082e-02 5.36067663e+01] [-4.81315063e-02 9.98812317e-01 -7.57053254e-03 -6.02976581e+00] [-5.92480259e-02 4.71104767e-03 9.98232176e-01 -3.84762624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.790714056999995 meters 0.04340704880148713 Centerline is valid? [True, True] Translation: X:53.64, Y:-6.04, Z:-3.85 [[ 9.97162873e-01 4.69425384e-02 5.88438861e-02 5.36376720e+01] [-4.65777250e-02 9.98886085e-01 -7.55678108e-03 -6.03594974e+00] [-5.91330735e-02 4.79452718e-03 9.98238595e-01 -3.85022467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.820714056999996 meters 0.043513720524453854 Centerline is valid? [True, True] Translation: X:53.67, Y:-6.04, Z:-3.85 [[ 9.97246159e-01 4.55906499e-02 5.84943629e-02 5.36684084e+01] [-4.52277341e-02 9.98948443e-01 -7.51396509e-03 -6.04093417e+00] [-5.87754193e-02 4.84770533e-03 9.98259460e-01 -3.85282743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.850714057 meters 0.043884006966933474 Centerline is valid? [True, True] Translation: X:53.70, Y:-6.05, Z:-3.86 [[ 9.97345736e-01 4.40124756e-02 5.80033125e-02 5.36993248e+01] [-4.36528680e-02 9.99018959e-01 -7.45295065e-03 -6.04580912e+00] [-5.82744316e-02 4.90115761e-03 9.98288570e-01 -3.85553779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.880714057 meters 0.04651360296175593 Centerline is valid? [True, True] Translation: X:53.73, Y:-6.05, Z:-3.86 [[ 9.97481540e-01 4.20222105e-02 5.71376456e-02 5.37289424e+01] [-4.16699046e-02 9.99104442e-01 -7.34395877e-03 -6.05378265e+00] [-5.73950849e-02 4.94454306e-03 9.98339299e-01 -3.85792542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.910714057 meters 0.044751355161705475 Centerline is valid? [True, True] Translation: X:53.76, Y:-6.06, Z:-3.86 [[ 9.97505308e-01 4.14338332e-02 5.71524073e-02 5.37612781e+01] [-4.10804772e-02 9.99128848e-01 -7.34429170e-03 -6.05589688e+00] [-5.74069210e-02 4.97812179e-03 9.98338451e-01 -3.85966131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.940714056999994 meters 0.04579964264280758 Centerline is valid? [True, True] Translation: X:53.79, Y:-6.06, Z:-3.86 [[ 9.97504906e-01 4.07557657e-02 5.76448674e-02 5.37925009e+01] [-4.03942939e-02 9.99156247e-01 -7.42254532e-03 -6.06220985e+00] [-5.78987410e-02 5.07550165e-03 9.98309559e-01 -3.86175853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.970714056999995 meters 0.045596062917353394 Centerline is valid? [True, True] Translation: X:53.83, Y:-6.07, Z:-3.86 [[ 9.97459829e-01 4.10094576e-02 5.82418606e-02 5.38256307e+01] [-4.06400937e-02 9.99145605e-01 -7.51278250e-03 -6.06671644e+00] [-5.85001942e-02 5.12674408e-03 9.98274233e-01 -3.86400013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.000714056999996 meters 0.045853537873976224 Centerline is valid? [True, True] Translation: X:53.86, Y:-6.07, Z:-3.87 [[ 9.97406809e-01 4.14231855e-02 5.88538537e-02 5.38577266e+01] [-4.10456689e-02 9.99128295e-01 -7.60947756e-03 -6.07191877e+00] [-5.91177593e-02 5.17404894e-03 9.98237607e-01 -3.86613442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.030714057 meters 0.04498773142102703 Centerline is valid? [True, True] Translation: X:53.89, Y:-6.08, Z:-3.87 [[ 9.97253727e-01 4.24816408e-02 6.06655907e-02 5.38886640e+01] [-4.20813597e-02 9.99083260e-01 -7.86118384e-03 -6.07532368e+00] [-6.09439322e-02 5.28670433e-03 9.98127190e-01 -3.86697181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.060714057 meters 0.04454422805493276 Centerline is valid? [True, True] Translation: X:53.92, Y:-6.08, Z:-3.87 [[ 9.97145673e-01 4.37820212e-02 6.15113190e-02 5.39204168e+01] [-4.33728017e-02 9.99027143e-01 -7.97293960e-03 -6.07910176e+00] [-6.18005487e-02 5.28226398e-03 9.98074541e-01 -3.86856580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.090714057 meters 0.042793200104310716 Centerline is valid? [True, True] Translation: X:53.95, Y:-6.08, Z:-3.87 [[ 9.96986508e-01 4.66164082e-02 6.20065527e-02 5.39512684e+01] [-4.62057711e-02 9.98899581e-01 -8.04076710e-03 -6.08078301e+00] [-6.23131511e-02 5.15147574e-03 9.98043353e-01 -3.86989190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.120714057 meters 0.03860948184642381 Centerline is valid? [True, True] Translation: X:53.98, Y:-6.08, Z:-3.87 [[ 9.96939389e-01 4.82134449e-02 6.15411935e-02 5.39836117e+01] [-4.78119283e-02 9.98824469e-01 -7.98122135e-03 -6.07919274e+00] [-6.18536521e-02 5.01439081e-03 9.98072633e-01 -3.87174643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.150714056999995 meters 0.03860948184642381 Centerline is valid? [True, True] Translation: X:54.02, Y:-6.08, Z:-3.87 [[ 9.96925205e-01 4.85061392e-02 6.15409565e-02 5.40159911e+01] [-4.81050640e-02 9.98810379e-01 -7.98305016e-03 -6.08345937e+00] [-6.18549731e-02 4.99807227e-03 9.98072633e-01 -3.87399436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.180714056999996 meters 0.04237924765890663 Centerline is valid? [True, True] Translation: X:54.05, Y:-6.09, Z:-3.88 [[ 9.96885015e-01 4.98941841e-02 6.10805742e-02 5.40463891e+01] [-4.95005429e-02 9.98742521e-01 -7.94186642e-03 -6.09314787e+00] [-6.14000196e-02 4.89360604e-03 9.98101242e-01 -3.87726847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.210714057 meters 0.04090758712211785 Centerline is valid? [True, True] Translation: X:54.08, Y:-6.10, Z:-3.88 [[ 9.96794264e-01 5.24390063e-02 6.04263664e-02 5.40774979e+01] [-5.20574345e-02 9.98613059e-01 -7.87279597e-03 -6.09546636e+00] [-6.07554003e-02 4.70191625e-03 9.98141610e-01 -3.88021730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.240714057 meters 0.04288244955433715 Centerline is valid? [True, True] Translation: X:54.11, Y:-6.10, Z:-3.88 [[ 9.96748737e-01 5.37120407e-02 6.00580730e-02 5.41077749e+01] [-5.33374264e-02 9.98545891e-01 -7.82451210e-03 -6.10269033e+00] [-6.03910125e-02 4.59572951e-03 9.98164217e-01 -3.88301201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.270714057 meters 0.03564936833075944 Centerline is valid? [True, True] Translation: X:54.14, Y:-6.10, Z:-3.89 [[ 9.96611678e-01 5.65095920e-02 5.97647790e-02 5.41397577e+01] [-5.61426977e-02 9.98392272e-01 -7.80178139e-03 -6.09691119e+00] [-6.01095690e-02 4.41999052e-03 9.98181999e-01 -3.88501120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.300714057 meters 0.03699329275246713 Centerline is valid? [True, True] Translation: X:54.17, Y:-6.10, Z:-3.89 [[ 9.96510420e-01 5.84545293e-02 5.95823092e-02 5.41684272e+01] [-5.80932063e-02 9.98280848e-01 -7.78002188e-03 -6.10282925e+00] [-5.99346556e-02 4.29154549e-03 9.98193077e-01 -3.88757477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.330714056999994 meters 0.036557169528018525 Centerline is valid? [True, True] Translation: X:54.20, Y:-6.11, Z:-3.89 [[ 9.96393671e-01 6.04144212e-02 5.95797850e-02 5.41984938e+01] [-6.00566873e-02 9.98164661e-01 -7.77842919e-03 -6.10609164e+00] [-5.99403652e-02 4.17221309e-03 9.98193240e-01 -3.89001671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.360714056999996 meters 0.033716611123639585 Centerline is valid? [True, True] Translation: X:54.23, Y:-6.11, Z:-3.89 [[ 9.96066621e-01 6.53237028e-02 5.98673520e-02 5.42289622e+01] [-6.49713164e-02 9.97856522e-01 -7.81599991e-03 -6.10583814e+00] [-6.02495977e-02 3.89559595e-03 9.98175741e-01 -3.89145737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.390714057 meters 0.03340572610904207 Centerline is valid? [True, True] Translation: X:54.26, Y:-6.11, Z:-3.89 [[ 9.95901957e-01 6.76924118e-02 5.99752382e-02 5.42583115e+01] [-6.73430211e-02 9.97699156e-01 -7.83015916e-03 -6.10847874e+00] [-6.03672869e-02 3.75915711e-03 9.98169154e-01 -3.89317076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.420714057 meters 0.03050573691959032 Centerline is valid? [True, True] Translation: X:54.29, Y:-6.11, Z:-3.89 [[ 9.95721266e-01 7.00884482e-02 6.02226722e-02 5.42885066e+01] [-6.97406696e-02 9.97534189e-01 -7.86008809e-03 -6.10768073e+00] [-6.06250758e-02 3.62648737e-03 9.98154021e-01 -3.89460154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.450714057 meters 0.029478333010583446 Centerline is valid? [True, True] Translation: X:54.32, Y:-6.11, Z:-3.90 [[ 9.95391219e-01 7.43537665e-02 6.05626813e-02 5.43182341e+01] [-7.40099705e-02 9.97226184e-01 -7.90334995e-03 -6.11025373e+00] [-6.09823354e-02 3.38468289e-03 9.98133107e-01 -3.89670036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.480714057 meters 0.03151893747038601 Centerline is valid? [True, True] Translation: X:54.35, Y:-6.12, Z:-3.90 [[ 9.95299694e-01 7.57250156e-02 6.03675554e-02 5.43454372e+01] [-7.53860074e-02 9.97123315e-01 -7.87688844e-03 -6.11727820e+00] [-6.07903744e-02 3.28899568e-03 9.98145136e-01 -3.89941214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.510714056999994 meters 0.030064845266965123 Centerline is valid? [True, True] Translation: X:54.37, Y:-6.12, Z:-3.90 [[ 9.95251655e-01 7.67721477e-02 5.98346043e-02 5.43738726e+01] [-7.64412878e-02 9.97043555e-01 -7.80245599e-03 -6.11835445e+00] [-6.02567179e-02 3.19157302e-03 9.98177811e-01 -3.90129336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.540714056999995 meters 0.029270328851504 Centerline is valid? [True, True] Translation: X:54.40, Y:-6.12, Z:-3.90 [[ 9.95098305e-01 7.87185023e-02 5.98561698e-02 5.44020364e+01] [-7.83911773e-02 9.96892156e-01 -7.80086256e-03 -6.12207172e+00] [-6.02842183e-02 3.07042949e-03 9.98176530e-01 -3.90386894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.570714056999996 meters 0.028162285684690258 Centerline is valid? [True, True] Translation: X:54.43, Y:-6.12, Z:-3.91 [[ 9.95084099e-01 7.91828970e-02 5.94786011e-02 5.44304768e+01] [-7.88607800e-02 9.96855534e-01 -7.74733781e-03 -6.12416022e+00] [-5.99050293e-02 3.01872379e-03 9.98199517e-01 -3.90602177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.600714057 meters 0.028881516319769724 Centerline is valid? [True, True] Translation: X:54.46, Y:-6.13, Z:-3.91 [[ 9.94979187e-01 8.03025693e-02 5.97320287e-02 5.44574127e+01] [-7.99799551e-02 9.96766139e-01 -7.77625247e-03 -6.13010521e+00] [-6.01633167e-02 2.95984439e-03 9.98184159e-01 -3.90852473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.630714057 meters 0.02866124691931403 Centerline is valid? [True, True] Translation: X:54.49, Y:-6.13, Z:-3.91 [[ 9.94909675e-01 8.09018994e-02 6.00801309e-02 5.44864106e+01] [-8.05770320e-02 9.96717752e-01 -7.81440628e-03 -6.13378963e+00] [-6.05151333e-02 2.93354978e-03 9.98162969e-01 -3.91053757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.660714057 meters 0.02865371318179906 Centerline is valid? [True, True] Translation: X:54.52, Y:-6.14, Z:-3.91 [[ 9.94876441e-01 8.12599111e-02 6.01472629e-02 5.45151176e+01] [-8.09354805e-02 9.96688707e-01 -7.81470062e-03 -6.13773965e+00] [-6.05831196e-02 2.90661391e-03 9.98158924e-01 -3.91238544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.690714056999994 meters 0.028065235630218302 Centerline is valid? [True, True] Translation: X:54.54, Y:-6.14, Z:-3.91 [[ 9.94797200e-01 8.17388349e-02 6.08053696e-02 5.45438456e+01] [-8.14084218e-02 9.96649550e-01 -7.89573230e-03 -6.14140273e+00] [-6.12470322e-02 2.90458321e-03 9.98118412e-01 -3.91421230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.720714056999995 meters 0.02816263119023928 Centerline is valid? [True, True] Translation: X:54.57, Y:-6.15, Z:-3.92 [[ 9.94796643e-01 8.15539864e-02 6.10621576e-02 5.45722622e+01] [-8.12207035e-02 9.96664637e-01 -7.92456564e-03 -6.14577438e+00] [-6.15047730e-02 2.92381989e-03 9.98102507e-01 -3.91651662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.750714056999996 meters 0.02860662130769889 Centerline is valid? [True, True] Translation: X:54.60, Y:-6.15, Z:-3.92 [[ 9.94757699e-01 8.17969982e-02 6.13707735e-02 5.46007024e+01] [-8.14610736e-02 9.96644736e-01 -7.96010083e-03 -6.15093421e+00] [-6.18159707e-02 2.91904249e-03 9.98083296e-01 -3.91926242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.780714057 meters 0.028950703013384736 Centerline is valid? [True, True] Translation: X:54.63, Y:-6.16, Z:-3.92 [[ 9.94821413e-01 8.15533132e-02 6.06581683e-02 5.46288834e+01] [-8.12249704e-02 9.96664774e-01 -7.86332252e-03 -6.15634985e+00] [-6.10971396e-02 2.89564369e-03 9.98127624e-01 -3.92168129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.810714057 meters 0.02853120139483367 Centerline is valid? [True, True] Translation: X:54.66, Y:-6.16, Z:-3.92 [[ 9.94810320e-01 8.15868865e-02 6.07947918e-02 5.46578438e+01] [-8.12573924e-02 9.96662026e-01 -7.87664583e-03 -6.15991858e+00] [-6.12344914e-02 2.89574231e-03 9.98119207e-01 -3.92385776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.840714057 meters 0.03082769325136108 Centerline is valid? [True, True] Translation: X:54.68, Y:-6.17, Z:-3.93 [[ 9.94853130e-01 8.16429638e-02 6.00139709e-02 5.46836619e+01] [-8.13222258e-02 9.96657563e-01 -7.77163115e-03 -6.16768474e+00] [-6.04478770e-02 2.85116187e-03 9.98167283e-01 -3.92719127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.870714057 meters 0.028120060605824018 Centerline is valid? [True, True] Translation: X:54.71, Y:-6.17, Z:-3.93 [[ 9.94829383e-01 8.17473619e-02 6.02649742e-02 5.47124068e+01] [-8.14246102e-02 9.96649012e-01 -7.79611492e-03 -6.16667380e+00] [-6.07003388e-02 2.84875216e-03 9.98151969e-01 -3.92890833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.900714056999995 meters 0.02772991449925563 Centerline is valid? [True, True] Translation: X:54.74, Y:-6.17, Z:-3.93 [[ 9.94828928e-01 8.20110142e-02 5.99132550e-02 5.47412363e+01] [-8.16927650e-02 9.96627457e-01 -7.74624456e-03 -6.17031596e+00] [-6.03464723e-02 2.81170871e-03 9.98173531e-01 -3.93088888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.930714056999996 meters 0.027660575218343864 Centerline is valid? [True, True] Translation: X:54.77, Y:-6.17, Z:-3.93 [[ 9.94695085e-01 8.30782307e-02 6.06604883e-02 5.47702472e+01] [-8.27542462e-02 9.96539160e-01 -7.83818740e-03 -6.17322041e+00] [-6.11017348e-02 2.77669350e-03 9.98127681e-01 -3.93254919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.960714057 meters 0.031034647681230803 Centerline is valid? [True, True] Translation: X:54.80, Y:-6.18, Z:-3.94 [[ 9.94625684e-01 8.36738454e-02 6.09789901e-02 5.47969523e+01] [-8.33477526e-02 9.96489396e-01 -7.87622578e-03 -6.18216459e+00] [-6.14239511e-02 2.75143468e-03 9.98107974e-01 -3.93513126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.990714057 meters 0.03121510387215345 Centerline is valid? [True, True] Translation: X:54.82, Y:-6.18, Z:-3.94 [[ 9.94482227e-01 8.48023085e-02 6.17549018e-02 5.48248263e+01] [-8.44703786e-02 9.96394110e-01 -7.97071149e-03 -6.18487522e+00] [-6.22081551e-02 2.71027098e-03 9.98059517e-01 -3.93602025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.020714057 meters 0.031060911862296193 Centerline is valid? [True, True] Translation: X:54.85, Y:-6.19, Z:-3.94 [[ 9.94384049e-01 8.53911147e-02 6.25197691e-02 5.48534869e+01] [-8.50524036e-02 9.96343847e-01 -8.06398224e-03 -6.18782079e+00] [-6.29797797e-02 2.70123867e-03 9.98011148e-01 -3.93768593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.050714057 meters 0.031326046672506394 Centerline is valid? [True, True] Translation: X:54.88, Y:-6.19, Z:-3.94 [[ 9.94291085e-01 8.59156977e-02 6.32750423e-02 5.48815251e+01] [-8.55700753e-02 9.96298762e-01 -8.15709166e-03 -6.19159153e+00] [-6.37416685e-02 2.69607339e-03 9.97962790e-01 -3.93925272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.080714056999994 meters 0.02827303205589899 Centerline is valid? [True, True] Translation: X:54.91, Y:-6.19, Z:-3.94 [[ 9.94173470e-01 8.69767862e-02 6.36722088e-02 5.49107509e+01] [-8.66292477e-02 9.96206840e-01 -8.20404251e-03 -6.18980967e+00] [-6.41442511e-02 2.64036586e-03 9.97937144e-01 -3.94111493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.110714056999996 meters 0.02813208819140606 Centerline is valid? [True, True] Translation: X:54.94, Y:-6.19, Z:-3.94 [[ 9.94102523e-01 8.75732669e-02 6.39616842e-02 5.49379702e+01] [-8.72240756e-02 9.96154664e-01 -8.23687897e-03 -6.19334296e+00] [-6.44370604e-02 2.60930339e-03 9.97918362e-01 -3.94334855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.140714057 meters 0.026827807682067814 Centerline is valid? [True, True] Translation: X:54.97, Y:-6.19, Z:-3.95 [[ 9.94098507e-01 8.83950644e-02 6.28845793e-02 5.49669501e+01] [-8.80595399e-02 9.96082339e-01 -8.09268848e-03 -6.19335862e+00] [-6.33535726e-02 2.50734241e-03 9.97987995e-01 -3.94576820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.170714057 meters 0.028636547590006826 Centerline is valid? [True, True] Translation: X:54.99, Y:-6.20, Z:-3.95 [[ 9.94107676e-01 8.87667105e-02 6.22125357e-02 5.49938055e+01] [-8.84393277e-02 9.96049424e-01 -8.00186457e-03 -6.19972861e+00] [-6.26770596e-02 2.45268015e-03 9.98030846e-01 -3.94823926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.200714057 meters 0.0258222038749406 Centerline is valid? [True, True] Translation: X:55.02, Y:-6.20, Z:-3.95 [[ 9.94120383e-01 8.90426391e-02 6.16122819e-02 5.50227329e+01] [-8.87224282e-02 9.96024909e-01 -7.91907419e-03 -6.19791741e+00] [-6.20725028e-02 2.40612181e-03 9.98068743e-01 -3.94943002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.230714057 meters 0.02879588123974192 Centerline is valid? [True, True] Translation: X:55.05, Y:-6.21, Z:-3.95 [[ 9.94051844e-01 8.99936013e-02 6.13358150e-02 5.50496927e+01] [-8.96783215e-02 9.95939613e-01 -7.87943446e-03 -6.20699308e+00] [-6.17958665e-02 2.33207342e-03 9.98086085e-01 -3.95267275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.260714056999994 meters 0.026338630276192706 Centerline is valid? [True, True] Translation: X:55.08, Y:-6.21, Z:-3.95 [[ 9.93986012e-01 9.05397766e-02 6.15983471e-02 5.50785562e+01] [-9.02233529e-02 9.95890185e-01 -7.90482271e-03 -6.20629003e+00] [-6.20608901e-02 2.29967379e-03 9.98069716e-01 -3.95402212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.290714056999995 meters 0.025370142495997013 Centerline is valid? [True, True] Translation: X:55.11, Y:-6.21, Z:-3.96 [[ 9.93944812e-01 9.09290529e-02 6.16896977e-02 5.51075681e+01] [-9.06127124e-02 9.95854776e-01 -7.91211850e-03 -6.20836962e+00] [-6.21534215e-02 2.27433830e-03 9.98064016e-01 -3.95555884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.320714056999996 meters 0.0269953501325844 Centerline is valid? [True, True] Translation: X:55.13, Y:-6.22, Z:-3.96 [[ 9.93823415e-01 9.25715118e-02 6.12007769e-02 5.51344639e+01] [-9.22635316e-02 9.95703717e-01 -7.84533137e-03 -6.21543217e+00] [-6.16640953e-02 2.15027420e-03 9.98094643e-01 -3.95847871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.350714057 meters 0.026888678075797545 Centerline is valid? [True, True] Translation: X:55.16, Y:-6.22, Z:-3.96 [[ 9.93691216e-01 9.39554683e-02 6.12383640e-02 5.51634191e+01] [-9.36502477e-02 9.95574275e-01 -7.84179533e-03 -6.21891381e+00] [-6.17041194e-02 2.05733518e-03 9.98092365e-01 -3.96049578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.380714057 meters 0.02472736574888505 Centerline is valid? [True, True] Translation: X:55.19, Y:-6.22, Z:-3.96 [[ 9.93387529e-01 9.69272825e-02 6.15330719e-02 5.51923488e+01] [-9.66249897e-02 9.95289693e-01 -7.87650439e-03 -6.21808302e+00] [-6.20066804e-02 1.87878880e-03 9.98073966e-01 -3.96101775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.410714057 meters 0.024393910594684425 Centerline is valid? [True, True] Translation: X:55.22, Y:-6.22, Z:-3.96 [[ 9.93200187e-01 9.86028624e-02 6.18939704e-02 5.52213264e+01] [-9.83004705e-02 9.95125270e-01 -7.91925862e-03 -6.22099632e+00] [-6.23731156e-02 1.78120274e-03 9.98051312e-01 -3.96269406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.440714056999994 meters 0.024270259202437004 Centerline is valid? [True, True] Translation: X:55.25, Y:-6.22, Z:-3.96 [[ 9.93032549e-01 1.00115814e-01 6.21544894e-02 5.52484716e+01] [-9.98147768e-02 9.94974375e-01 -7.93743448e-03 -6.22463556e+00] [-6.26367869e-02 1.67819431e-03 9.98034978e-01 -3.96440249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.470714056999995 meters 0.023498174966379307 Centerline is valid? [True, True] Translation: X:55.28, Y:-6.23, Z:-3.97 [[ 9.92761958e-01 1.02391477e-01 6.27668715e-02 5.52770123e+01] [-1.02089558e-01 9.94742987e-01 -8.00700680e-03 -6.22663799e+00] [-6.32567545e-02 1.54120960e-03 9.97996096e-01 -3.96551825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.500714056999996 meters 0.022826976051096758 Centerline is valid? [True, True] Translation: X:55.31, Y:-6.23, Z:-3.97 [[ 9.92740470e-01 1.02950915e-01 6.21889807e-02 5.53051412e+01] [-1.02655912e-01 9.94685326e-01 -7.92882877e-03 -6.22973874e+00] [-6.26747467e-02 1.48720267e-03 9.98032897e-01 -3.96739983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.530714057 meters 0.023070788705970714 Centerline is valid? [True, True] Translation: X:55.33, Y:-6.24, Z:-3.97 [[ 9.92817119e-01 1.02985325e-01 6.08949255e-02 5.53322524e+01] [-1.02702814e-01 9.94681819e-01 -7.75957458e-03 -6.23640825e+00] [-6.13701976e-02 1.44975829e-03 9.98114020e-01 -3.97136453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.560714057 meters 0.02293438442930195 Centerline is valid? [True, True] Translation: X:55.36, Y:-6.24, Z:-3.97 [[ 9.92893269e-01 1.02710176e-01 6.01130213e-02 5.53606388e+01] [-1.02434717e-01 9.94710279e-01 -7.65435813e-03 -6.24019274e+00] [-6.05812207e-02 1.44230032e-03 9.98162229e-01 -3.97406215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.590714057 meters 0.025238843959073876 Centerline is valid? [True, True] Translation: X:55.39, Y:-6.25, Z:-3.98 [[ 9.92987446e-01 1.02076616e-01 5.96346876e-02 5.53866877e+01] [-1.01804641e-01 9.94775461e-01 -7.58924425e-03 -6.25090024e+00] [-6.00978082e-02 1.46493632e-03 9.98191418e-01 -3.97887006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.620714056999994 meters 0.023006623655525776 Centerline is valid? [True, True] Translation: X:55.42, Y:-6.25, Z:-3.98 [[ 9.93133104e-01 1.00949998e-01 5.91247431e-02 5.54159304e+01] [-1.00680995e-01 9.94890348e-01 -7.51883858e-03 -6.25211690e+00] [-5.95816630e-02 1.51446956e-03 9.98222286e-01 -3.97961259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.650714056999995 meters 0.023393306941594565 Centerline is valid? [True, True] Translation: X:55.44, Y:-6.26, Z:-3.98 [[ 9.93242201e-01 1.00042698e-01 5.88335657e-02 5.54432130e+01] [-9.97749978e-02 9.94981927e-01 -7.47767288e-03 -6.25731978e+00] [-5.92864212e-02 1.55702137e-03 9.98239799e-01 -3.98157701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.680714056999996 meters 0.023829891257245623 Centerline is valid? [True, True] Translation: X:55.47, Y:-6.26, Z:-3.98 [[ 9.93314832e-01 9.92112324e-02 5.90150451e-02 5.54714472e+01] [-9.89407432e-02 9.95065099e-01 -7.49515932e-03 -6.26201157e+00] [-5.94674157e-02 1.60606051e-03 9.98228955e-01 -3.98374737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.710714057 meters 0.0241147538246423 Centerline is valid? [True, True] Translation: X:55.50, Y:-6.27, Z:-3.99 [[ 9.93544526e-01 9.68381532e-02 5.90901526e-02 5.54990476e+01] [-9.65630058e-02 9.95298609e-01 -7.50096771e-03 -6.26841044e+00] [-5.95387265e-02 1.74662266e-03 9.98224468e-01 -3.98529801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.740714057 meters 0.024390917025474825 Centerline is valid? [True, True] Translation: X:55.53, Y:-6.27, Z:-3.99 [[ 9.93691079e-01 9.55201279e-02 5.87702784e-02 5.55268946e+01] [-9.52461432e-02 9.95425858e-01 -7.45210937e-03 -6.27317627e+00] [-5.92132812e-02 1.80745225e-03 9.98243718e-01 -3.98677551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.770714057 meters 0.025556404734184357 Centerline is valid? [True, True] Translation: X:55.55, Y:-6.28, Z:-3.99 [[ 9.94063856e-01 9.16706438e-02 5.85964515e-02 5.55547965e+01] [-9.13919350e-02 9.95787323e-01 -7.42443670e-03 -6.28142770e+00] [-5.90302065e-02 2.02512108e-03 9.98254143e-01 -3.98938152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.800714057 meters 0.025894043779299217 Centerline is valid? [True, True] Translation: X:55.58, Y:-6.29, Z:-3.99 [[ 9.94320316e-01 8.90717092e-02 5.82523815e-02 5.55841335e+01] [-8.87920096e-02 9.96022867e-01 -7.37755340e-03 -6.28678746e+00] [-5.86778353e-02 2.16330521e-03 9.98274627e-01 -3.99165423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.830714056999994 meters 0.026560573233885883 Centerline is valid? [True, True] Translation: X:55.61, Y:-6.29, Z:-3.99 [[ 9.94578701e-01 8.64498521e-02 5.77895425e-02 5.56129533e+01] [-8.61702881e-02 9.96253554e-01 -7.31688275e-03 -6.29256510e+00] [-5.82055805e-02 2.29747421e-03 9.98301974e-01 -3.99386098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.860714056999996 meters 0.026952579437206386 Centerline is valid? [True, True] Translation: X:55.64, Y:-6.30, Z:-4.00 [[ 9.94879141e-01 8.32196814e-02 5.73583507e-02 5.56415734e+01] [-8.29390297e-02 9.96528175e-01 -7.26043664e-03 -6.29815736e+00] [-5.77634238e-02 2.46601101e-03 9.98327254e-01 -3.99598898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.890714057 meters 0.029891399835259742 Centerline is valid? [True, True] Translation: X:55.67, Y:-6.31, Z:-4.00 [[ 9.95392831e-01 7.67235156e-02 5.75031700e-02 5.56694726e+01] [-7.64308341e-02 9.97048343e-01 -7.27524756e-03 -6.30827529e+00] [-5.78916229e-02 2.84671401e-03 9.98318815e-01 -3.99897379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.920714057 meters 0.030835167349128452 Centerline is valid? [True, True] Translation: X:55.70, Y:-6.31, Z:-4.00 [[ 9.95672541e-01 7.31350734e-02 5.73363128e-02 5.56986660e+01] [-7.28382228e-02 9.97317395e-01 -7.25303906e-03 -6.31477689e+00] [-5.77129537e-02 3.04537670e-03 9.98328573e-01 -4.00123584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.950714057 meters 0.03416284906209666 Centerline is valid? [True, True] Translation: X:55.73, Y:-6.32, Z:-4.00 [[ 9.96169143e-01 6.62710566e-02 5.70542359e-02 5.57267654e+01] [-6.59659838e-02 9.97795780e-01 -7.21599559e-03 -6.32476740e+00] [-5.74066875e-02 3.42471334e-03 9.98345002e-01 -4.00379113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.980714057 meters 0.037327563840242155 Centerline is valid? [True, True] Translation: X:55.76, Y:-6.33, Z:-4.01 [[ 9.96368774e-01 6.30837359e-02 5.71813644e-02 5.57552229e+01] [-6.27720005e-02 9.98001681e-01 -7.23335657e-03 -6.33325899e+00] [-5.75234049e-02 3.61770198e-03 9.98337603e-01 -4.00623856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.010714056999994 meters 0.03383573229267962 Centerline is valid? [True, True] Translation: X:55.79, Y:-6.33, Z:-4.01 [[ 9.96511833e-01 6.06074549e-02 5.73664005e-02 5.57859251e+01] [-6.02897492e-02 9.98154557e-01 -7.25440125e-03 -6.33154395e+00] [-5.77002049e-02 3.77049079e-03 9.98326835e-01 -4.00654736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.040714056999995 meters 0.03383573229267962 Centerline is valid? [True, True] Translation: X:55.81, Y:-6.34, Z:-4.01 [[ 9.96514030e-01 6.05713318e-02 5.73663895e-02 5.58148451e+01] [-6.02535615e-02 9.98156742e-01 -7.25448856e-03 -6.33517145e+00] [-5.77000624e-02 3.77267035e-03 9.98326835e-01 -4.00855490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.070714056999996 meters 0.0365307715127346 Centerline is valid? [True, True] Translation: X:55.84, Y:-6.34, Z:-4.01 [[ 9.96655607e-01 5.71003553e-02 5.84564049e-02 5.58442723e+01] [-5.67645932e-02 9.98360242e-01 -7.38968627e-03 -6.34322226e+00] [-5.87825043e-02 4.04671821e-03 9.98262611e-01 -4.01009694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.100714057 meters 0.040730519249182 Centerline is valid? [True, True] Translation: X:55.87, Y:-6.35, Z:-4.01 [[ 9.96724931e-01 5.57313324e-02 5.85954875e-02 5.58743293e+01] [-5.53917153e-02 9.98437236e-01 -7.40558550e-03 -6.35274182e+00] [-5.89166398e-02 4.13562713e-03 9.98254339e-01 -4.01271275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.130714057 meters 0.03765517466789849 Centerline is valid? [True, True] Translation: X:55.91, Y:-6.35, Z:-4.01 [[ 9.96760703e-01 5.43863183e-02 5.92471851e-02 5.59062890e+01] [-5.40358924e-02 9.98510812e-01 -7.50200754e-03 -6.35168222e+00] [-5.95669615e-02 4.27623180e-03 9.98215153e-01 -4.01436924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.160714057 meters 0.036334284881808246 Centerline is valid? [True, True] Translation: X:55.94, Y:-6.35, Z:-4.02 [[ 9.96773855e-01 5.44435000e-02 5.89727652e-02 5.59388126e+01] [-5.40956025e-02 9.98507737e-01 -7.48097426e-03 -6.35319006e+00] [-5.92920528e-02 4.26667229e-03 9.98231560e-01 -4.01644704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.190714056999994 meters 0.037253468794016135 Centerline is valid? [True, True] Translation: X:55.97, Y:-6.36, Z:-4.02 [[ 9.96784181e-01 5.47044752e-02 5.85552439e-02 5.59709569e+01] [-5.43610646e-02 9.98493605e-01 -7.44287460e-03 -6.35765845e+00] [-5.88741951e-02 4.23581426e-03 9.98256423e-01 -4.01892134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.220714056999995 meters 0.03834440494673137 Centerline is valid? [True, True] Translation: X:56.00, Y:-6.36, Z:-4.02 [[ 9.96832478e-01 5.56159458e-02 5.68496099e-02 5.60020169e+01] [-5.52928022e-02 9.98443914e-01 -7.24264643e-03 -6.36098764e+00] [-5.71639537e-02 4.07633095e-03 9.98356482e-01 -4.02240388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.250714056999996 meters 0.03746303332370864 Centerline is valid? [True, True] Translation: X:56.03, Y:-6.36, Z:-4.02 [[ 9.96811711e-01 5.61743492e-02 5.66644166e-02 5.60331620e+01] [-5.58536659e-02 9.98412799e-01 -7.22853775e-03 -6.36257813e+00] [-5.69805372e-02 4.04057568e-03 9.98367113e-01 -4.02461676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.280714057 meters 0.03683042739241389 Centerline is valid? [True, True] Translation: X:56.06, Y:-6.36, Z:-4.03 [[ 9.96782211e-01 5.65658251e-02 5.67937656e-02 5.60632925e+01] [-5.62441641e-02 9.98390739e-01 -7.24751547e-03 -6.36409132e+00] [-5.71123313e-02 4.02987662e-03 9.98359625e-01 -4.02681065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.310714057 meters 0.03768705662671646 Centerline is valid? [True, True] Translation: X:56.09, Y:-6.37, Z:-4.03 [[ 9.96689251e-01 5.76406946e-02 5.73418377e-02 5.60935636e+01] [-5.73145663e-02 9.98329354e-01 -7.31726051e-03 -6.36651329e+00] [-5.76678117e-02 4.00651234e-03 9.98327788e-01 -4.02853732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.340714057 meters 0.038147511806895726 Centerline is valid? [True, True] Translation: X:56.12, Y:-6.37, Z:-4.03 [[ 9.96653996e-01 5.80594398e-02 5.75318461e-02 5.61224288e+01] [-5.77317547e-02 9.98305127e-01 -7.34293102e-03 -6.36946679e+00] [-5.78606634e-02 3.99694711e-03 9.98316667e-01 -4.03025489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.370714056999994 meters 0.03921553619459717 Centerline is valid? [True, True] Translation: X:56.15, Y:-6.37, Z:-4.03 [[ 9.96610713e-01 5.89683900e-02 5.73569186e-02 5.61522430e+01] [-5.86442646e-02 9.98252111e-01 -7.31938639e-03 -6.37189680e+00] [-5.76882775e-02 3.93092457e-03 9.98326906e-01 -4.03217380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.400714056999995 meters 0.039082134130274816 Centerline is valid? [True, True] Translation: X:56.18, Y:-6.37, Z:-4.03 [[ 9.96576043e-01 5.94764838e-02 5.74346478e-02 5.61827659e+01] [-5.91523172e-02 9.98222062e-01 -7.32930551e-03 -6.37453234e+00] [-5.77684539e-02 3.90681778e-03 9.98322364e-01 -4.03471621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.430714056999996 meters 0.03888079109381022 Centerline is valid? [True, True] Translation: X:56.21, Y:-6.38, Z:-4.04 [[ 9.96539943e-01 6.00480144e-02 5.74663245e-02 5.62127939e+01] [-5.97244347e-02 9.98187965e-01 -7.33334781e-03 -6.37711172e+00] [-5.78025465e-02 3.87583026e-03 9.98320511e-01 -4.03699853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.460714057 meters 0.03941665735878512 Centerline is valid? [True, True] Translation: X:56.24, Y:-6.38, Z:-4.04 [[ 9.96479781e-01 6.10367980e-02 5.74678589e-02 5.62421534e+01] [-6.07148258e-02 9.98128211e-01 -7.33372929e-03 -6.37920943e+00] [-5.78079186e-02 3.81876192e-03 9.98320420e-01 -4.03970250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.490714057 meters 0.03735745163254729 Centerline is valid? [True, True] Translation: X:56.27, Y:-6.38, Z:-4.04 [[ 9.96429445e-01 6.15191959e-02 5.78251726e-02 5.62722672e+01] [-6.11940578e-02 9.98098615e-01 -7.37850158e-03 -6.37872352e+00] [-5.81691442e-02 3.81359927e-03 9.98299458e-01 -4.04143729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.520714057 meters 0.037247195352514056 Centerline is valid? [True, True] Translation: X:56.30, Y:-6.38, Z:-4.04 [[ 9.96336310e-01 6.28691204e-02 5.79778459e-02 5.63019134e+01] [-6.25446548e-02 9.98014763e-01 -7.39592302e-03 -6.37980246e+00] [-5.83277213e-02 3.74262230e-03 9.98290474e-01 -4.04364632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.550714057 meters 0.0343728304449225 Centerline is valid? [True, True] Translation: X:56.33, Y:-6.38, Z:-4.04 [[ 9.96289740e-01 6.34226268e-02 5.81749378e-02 5.63316923e+01] [-6.30969652e-02 9.97979820e-01 -7.41973461e-03 -6.37764004e+00] [-5.85279930e-02 3.72154344e-03 9.98278831e-01 -4.04470233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.580714056999994 meters 0.04013345281709797 Centerline is valid? [True, True] Translation: X:56.36, Y:-6.39, Z:-4.05 [[ 9.96229406e-01 6.40981105e-02 5.84671150e-02 5.63590499e+01] [-6.37707257e-02 9.97936766e-01 -7.45015344e-03 -6.38884941e+00] [-5.88240245e-02 3.69357158e-03 9.98261535e-01 -4.04752909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.610714056999996 meters 0.0333550910757619 Centerline is valid? [True, True] Translation: X:56.39, Y:-6.38, Z:-4.05 [[ 9.96126609e-01 6.54779910e-02 5.86891054e-02 5.63888977e+01] [-6.51506742e-02 9.97847437e-01 -7.47541346e-03 -6.38007966e+00] [-5.90522485e-02 3.62282347e-03 9.98248319e-01 -4.04781604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.640714057 meters 0.033381443634098694 Centerline is valid? [True, True] Translation: X:56.42, Y:-6.38, Z:-4.05 [[ 9.96100359e-01 6.60511723e-02 5.84920264e-02 5.64179633e+01] [-6.57272985e-02 9.97809842e-01 -7.44587187e-03 -6.38255059e+00] [-5.88557282e-02 3.57231276e-03 9.98260107e-01 -4.05014334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.670714057 meters 0.03247026174874059 Centerline is valid? [True, True] Translation: X:56.45, Y:-6.38, Z:-4.05 [[ 9.96029101e-01 6.72052497e-02 5.83907923e-02 5.64471722e+01] [-6.68846595e-02 9.97733051e-01 -7.42979384e-03 -6.38331914e+00] [-5.87577445e-02 3.49484262e-03 9.98266154e-01 -4.05264181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.700714057 meters 0.03194832117627338 Centerline is valid? [True, True] Translation: X:56.48, Y:-6.39, Z:-4.05 [[ 9.95985894e-01 6.79726119e-02 5.82393658e-02 5.64755767e+01] [-6.76551668e-02 9.97681265e-01 -7.40752587e-03 -6.38512452e+00] [-5.86078330e-02 3.43759726e-03 9.98275165e-01 -4.05498556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.730714057 meters 0.031346624272442024 Centerline is valid? [True, True] Translation: X:56.50, Y:-6.39, Z:-4.06 [[ 9.95876573e-01 6.98197080e-02 5.79228756e-02 5.65041630e+01] [-6.95090668e-02 9.97554147e-01 -7.36303292e-03 -6.38574504e+00] [-5.82952896e-02 3.30650696e-03 9.98293908e-01 -4.05768587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.760714056999994 meters 0.03094820525038352 Centerline is valid? [True, True] Translation: X:56.53, Y:-6.39, Z:-4.06 [[ 9.95815248e-01 7.10047997e-02 5.75352936e-02 5.65329090e+01] [-7.07005214e-02 9.97470805e-01 -7.30955536e-03 -6.38747359e+00] [-5.79087891e-02 3.21119143e-03 9.98316713e-01 -4.05997205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.790714056999995 meters 0.031057125606887333 Centerline is valid? [True, True] Translation: X:56.56, Y:-6.39, Z:-4.06 [[ 9.95717889e-01 7.23164357e-02 5.75866191e-02 5.65601678e+01] [-7.20140340e-02 9.97376816e-01 -7.31202044e-03 -6.39002676e+00] [-5.79643381e-02 3.13366481e-03 9.98313736e-01 -4.06213657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.820714056999996 meters 0.030769904530562126 Centerline is valid? [True, True] Translation: X:56.59, Y:-6.39, Z:-4.06 [[ 9.95604023e-01 7.39219376e-02 5.75167491e-02 5.65886528e+01] [-7.36232544e-02 9.97259425e-01 -7.29771279e-03 -6.39210447e+00] [-5.78985812e-02 3.03106196e-03 9.98317869e-01 -4.06384284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.850714057 meters 0.029632748206731892 Centerline is valid? [True, True] Translation: X:56.62, Y:-6.39, Z:-4.07 [[ 9.95301395e-01 7.73772784e-02 5.82055843e-02 5.66184816e+01] [-7.70775471e-02 9.96997783e-01 -7.38047749e-03 -6.39120028e+00] [-5.86019198e-02 2.85945588e-03 9.98277335e-01 -4.06515506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.880714057 meters 0.029539000577639626 Centerline is valid? [True, True] Translation: X:56.65, Y:-6.39, Z:-4.07 [[ 9.95118747e-01 7.92884845e-02 5.87538534e-02 5.66467295e+01] [-7.89865005e-02 9.96847861e-01 -7.44817078e-03 -6.39369764e+00] [-5.91592072e-02 2.77105311e-03 9.98244714e-01 -4.06698755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.910714057 meters 0.02797295598516038 Centerline is valid? [True, True] Translation: X:56.68, Y:-6.39, Z:-4.07 [[ 9.94706529e-01 8.37110454e-02 5.95934675e-02 5.66766570e+01] [-8.34085487e-02 9.96486835e-01 -7.54993360e-03 -6.39279365e+00] [-6.00161186e-02 2.53936361e-03 9.98194178e-01 -4.06815401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.940714056999994 meters 0.027020419007604324 Centerline is valid? [True, True] Translation: X:56.71, Y:-6.39, Z:-4.07 [[ 9.94538817e-01 8.54151302e-02 5.99732978e-02 5.67055985e+01] [-8.51119631e-02 9.96342437e-01 -7.59617879e-03 -6.39359266e+00] [-6.04027703e-02 2.45024956e-03 9.98171078e-01 -4.06977394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.970714056999995 meters 0.02659234927822557 Centerline is valid? [True, True] Translation: X:56.73, Y:-6.40, Z:-4.07 [[ 9.94365610e-01 8.73651922e-02 6.00362989e-02 5.67342439e+01] [-8.70651985e-02 9.96173627e-01 -7.59975593e-03 -6.39551571e+00] [-6.04705318e-02 2.32986366e-03 9.98167264e-01 -4.07178832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.000714056999996 meters 0.025804833021229066 Centerline is valid? [True, True] Translation: X:56.76, Y:-6.40, Z:-4.07 [[ 9.93977556e-01 9.12191100e-02 6.07263763e-02 5.67639089e+01] [-9.09196365e-02 9.95828600e-01 -7.68233874e-03 -6.39705487e+00] [-6.11738385e-02 2.11485221e-03 9.98124886e-01 -4.07368187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.030714057 meters 0.025521668380053007 Centerline is valid? [True, True] Translation: X:56.79, Y:-6.40, Z:-4.08 [[ 9.93781149e-01 9.30522300e-02 6.11580697e-02 5.67918942e+01] [-9.27520641e-02 9.95659191e-01 -7.73495850e-03 -6.40002487e+00] [-6.16123493e-02 2.01431875e-03 9.98098122e-01 -4.07547010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.060714057 meters 0.024930294612848777 Centerline is valid? [True, True] Translation: X:56.82, Y:-6.40, Z:-4.08 [[ 9.93464379e-01 9.62056589e-02 6.14247404e-02 5.68195532e+01] [-9.59091496e-02 9.95359809e-01 -7.76434002e-03 -6.40183852e+00] [-6.18866914e-02 1.82240061e-03 9.98081518e-01 -4.07692282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.090714057 meters 0.0246995457652221 Centerline is valid? [True, True] Translation: X:56.85, Y:-6.40, Z:-4.08 [[ 9.93378840e-01 9.72086061e-02 6.12288033e-02 5.68476624e+01] [-9.69162313e-02 9.95262492e-01 -7.73404114e-03 -6.40485902e+00] [-6.16905467e-02 1.74876796e-03 9.98093792e-01 -4.07918834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.120714056999994 meters 0.02458329083070752 Centerline is valid? [True, True] Translation: X:56.88, Y:-6.41, Z:-4.08 [[ 9.93326772e-01 9.80560433e-02 6.07201474e-02 5.68757315e+01] [-9.77703548e-02 9.95179480e-01 -7.66551593e-03 -6.40856316e+00] [-6.11790949e-02 1.67773185e-03 9.98125395e-01 -4.08198938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.150714056999995 meters 0.024828926802972894 Centerline is valid? [True, True] Translation: X:56.90, Y:-6.41, Z:-4.09 [[ 9.93409046e-01 9.79772829e-02 5.94888102e-02 5.69023395e+01] [-9.77031473e-02 9.95187292e-01 -7.50656355e-03 -6.41412588e+00] [-5.99379806e-02 1.64484415e-03 9.98200748e-01 -4.08539042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.180714056999996 meters 0.023994771067395733 Centerline is valid? [True, True] Translation: X:56.93, Y:-6.42, Z:-4.09 [[ 9.93480764e-01 9.75758549e-02 5.89484834e-02 5.69313320e+01] [-9.73065085e-02 9.95226731e-01 -7.42944951e-03 -6.41643555e+00] [-5.93920413e-02 1.64494408e-03 9.98233379e-01 -4.08709080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.210714057 meters 0.02430949896072329 Centerline is valid? [True, True] Translation: X:56.96, Y:-6.42, Z:-4.09 [[ 9.93609959e-01 9.65763406e-02 5.84145484e-02 5.69596671e+01] [-9.63102760e-02 9.95324151e-01 -7.35972100e-03 -6.42132087e+00] [-5.88521857e-02 1.68677081e-03 9.98265283e-01 -4.08964214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.240714057 meters 0.024747960321573916 Centerline is valid? [True, True] Translation: X:56.99, Y:-6.43, Z:-4.09 [[ 9.93780824e-01 9.50351428e-02 5.80344266e-02 5.69861726e+01] [-9.47708619e-02 9.95472379e-01 -7.29557539e-03 -6.42868024e+00] [-5.84650048e-02 1.75023029e-03 9.98287924e-01 -4.09181416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.270714057 meters 0.0249314100575711 Centerline is valid? [True, True] Translation: X:57.01, Y:-6.43, Z:-4.09 [[ 9.93886804e-01 9.38126555e-02 5.82082994e-02 5.70145844e+01] [-9.35450886e-02 9.95588203e-01 -7.31070898e-03 -6.43395601e+00] [-5.86373332e-02 1.82091666e-03 9.98277691e-01 -4.09391999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.300714057 meters 0.025048396061656143 Centerline is valid? [True, True] Translation: X:57.04, Y:-6.44, Z:-4.10 [[ 9.94086148e-01 9.13294042e-02 5.87509140e-02 5.70430431e+01] [-9.10527445e-02 9.95818765e-01 -7.37456662e-03 -6.44091232e+00] [-5.91787775e-02 1.98152256e-03 9.98245434e-01 -4.09558804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.330714056999994 meters 0.026456796397069292 Centerline is valid? [True, True] Translation: X:57.07, Y:-6.45, Z:-4.10 [[ 9.94233487e-01 8.96405642e-02 5.88586716e-02 5.70694494e+01] [-8.93601698e-02 9.95972005e-01 -7.38411604e-03 -6.44816809e+00] [-5.92835055e-02 2.08191454e-03 9.98239015e-01 -4.09798022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.360714056999996 meters 0.027529909103397286 Centerline is valid? [True, True] Translation: X:57.10, Y:-6.46, Z:-4.10 [[ 9.94510215e-01 8.62028115e-02 5.93170161e-02 5.70982388e+01] [-8.59123528e-02 9.96274960e-01 -7.43446228e-03 -6.45676626e+00] [-5.97369294e-02 2.29758426e-03 9.98211511e-01 -4.10010806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.390714057 meters 0.026728633420700736 Centerline is valid? [True, True] Translation: X:57.13, Y:-6.46, Z:-4.10 [[ 9.94637690e-01 8.44543064e-02 5.96936854e-02 5.71265923e+01] [-8.41571090e-02 9.96424424e-01 -7.47987312e-03 -6.46018683e+00] [-6.01119536e-02 2.41611572e-03 9.98188717e-01 -4.10135060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.420714057 meters 0.0278593965222595 Centerline is valid? [True, True] Translation: X:57.15, Y:-6.47, Z:-4.10 [[ 9.94822871e-01 8.22272051e-02 5.97171810e-02 5.71542047e+01] [-8.19260425e-02 9.96610354e-01 -7.47830337e-03 -6.46715952e+00] [-6.01296809e-02 2.54719492e-03 9.98187324e-01 -4.10362351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.450714057 meters 0.028700977182695937 Centerline is valid? [True, True] Translation: X:57.18, Y:-6.47, Z:-4.11 [[ 9.95028334e-01 7.97021502e-02 5.97175115e-02 5.71827850e+01] [-7.93966439e-02 9.96815076e-01 -7.47510282e-03 -6.47330729e+00] [-6.01230976e-02 2.69656911e-03 9.98187328e-01 -4.10550919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.480714057 meters 0.029267251302876943 Centerline is valid? [True, True] Translation: X:57.21, Y:-6.48, Z:-4.11 [[ 9.95445057e-01 7.44432658e-02 5.95595335e-02 5.72121673e+01] [-7.41302010e-02 9.97220730e-01 -7.45179881e-03 -6.48037725e+00] [-5.99487377e-02 3.00269611e-03 9.98196941e-01 -4.10768634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.510714056999994 meters 0.03152208733361333 Centerline is valid? [True, True] Translation: X:57.24, Y:-6.49, Z:-4.11 [[ 9.95681890e-01 7.14440664e-02 5.92732624e-02 5.72393171e+01] [-7.11287427e-02 9.97439579e-01 -7.41546125e-03 -6.48902791e+00] [-5.96512886e-02 3.16740784e-03 9.98214251e-01 -4.10988388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.540714056999995 meters 0.034511795433261785 Centerline is valid? [True, True] Translation: X:57.27, Y:-6.50, Z:-4.11 [[ 9.96079179e-01 6.59212910e-02 5.89970496e-02 5.72675905e+01] [-6.55995372e-02 9.97818768e-01 -7.37610117e-03 -6.49985926e+00] [-5.93546054e-02 3.47700166e-03 9.98230906e-01 -4.11249992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.570714056999996 meters 0.03595206925041449 Centerline is valid? [True, True] Translation: X:57.30, Y:-6.51, Z:-4.11 [[ 9.96239193e-01 6.33963242e-02 5.90624798e-02 5.72968991e+01] [-6.30695013e-02 9.97981827e-01 -7.38320482e-03 -6.50666223e+00] [-5.94113495e-02 3.63039687e-03 9.98226984e-01 -4.11473713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.600714057 meters 0.03775941332675902 Centerline is valid? [True, True] Translation: X:57.33, Y:-6.51, Z:-4.12 [[ 9.96386889e-01 6.11490898e-02 5.89402723e-02 5.73256223e+01] [-6.08197679e-02 9.98121578e-01 -7.36689203e-03 -6.51384797e+00] [-5.92800363e-02 3.75554095e-03 9.98234328e-01 -4.11722490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.630714057 meters 0.03523742968723622 Centerline is valid? [True, True] Translation: X:57.36, Y:-6.52, Z:-4.12 [[ 9.96544823e-01 5.79755123e-02 5.94748323e-02 5.73561020e+01] [-5.76346290e-02 9.98310076e-01 -7.43250322e-03 -6.51535333e+00] [-5.98052275e-02 3.97901271e-03 9.98202135e-01 -4.11853889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.660714057 meters 0.04108039432877675 Centerline is valid? [True, True] Translation: X:57.39, Y:-6.53, Z:-4.12 [[ 9.96600368e-01 5.69340605e-02 5.95501466e-02 5.73852490e+01] [-5.65904721e-02 9.98369740e-01 -7.44175880e-03 -6.52827655e+00] [-5.98767540e-02 4.04648864e-03 9.98197576e-01 -4.12165016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.690714056999994 meters 0.03777212155871525 Centerline is valid? [True, True] Translation: X:57.42, Y:-6.53, Z:-4.12 [[ 9.96671331e-01 5.51714195e-02 6.00197623e-02 5.74164090e+01] [-5.48191570e-02 9.98468123e-01 -7.50121978e-03 -6.52790393e+00] [-6.03416724e-02 4.18601793e-03 9.98169004e-01 -4.12256325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.720714056999995 meters 0.043812010838961524 Centerline is valid? [True, True] Translation: X:57.45, Y:-6.54, Z:-4.13 [[ 9.96757568e-01 5.41988698e-02 5.94712874e-02 5.74457476e+01] [-5.38510901e-02 9.98521288e-01 -7.43625603e-03 -6.54023121e+00] [-5.97863832e-02 4.20955082e-03 9.98202318e-01 -4.12605929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.750714056999996 meters 0.045242733793876076 Centerline is valid? [True, True] Translation: X:57.48, Y:-6.55, Z:-4.13 [[ 9.96807636e-01 5.36546207e-02 5.91245998e-02 5.74764097e+01] [-5.33099113e-02 9.98550645e-01 -7.39336025e-03 -6.54643348e+00] [-5.94355952e-02 4.21783079e-03 9.98223232e-01 -4.12917589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.780714057 meters 0.04654224155751909 Centerline is valid? [True, True] Translation: X:57.51, Y:-6.55, Z:-4.13 [[ 9.96964930e-01 5.17860642e-02 5.81303019e-02 5.75071091e+01] [-5.14488748e-02 9.98649071e-01 -7.28330917e-03 -6.55292543e+00] [-5.84289459e-02 4.27046519e-03 9.98282436e-01 -4.13250628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.810714057 meters 0.04264154856796001 Centerline is valid? [True, True] Translation: X:57.54, Y:-6.55, Z:-4.13 [[ 9.97003336e-01 5.10280775e-02 5.81419278e-02 5.75400949e+01] [-5.06894784e-02 9.98687894e-01 -7.28466055e-03 -6.55151921e+00] [-5.84373617e-02 4.31564688e-03 9.98281749e-01 -4.13400218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.840714057 meters 0.04501365690535373 Centerline is valid? [True, True] Translation: X:57.57, Y:-6.56, Z:-4.14 [[ 9.97113325e-01 4.91525801e-02 5.78708996e-02 5.75694248e+01] [-4.88130607e-02 9.98781497e-01 -7.26676661e-03 -6.55851604e+00] [-5.81575641e-02 4.42093408e-03 9.98297628e-01 -4.13673184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.870714056999994 meters 0.044946829200172726 Centerline is valid? [True, True] Translation: X:57.60, Y:-6.56, Z:-4.14 [[ 9.97169392e-01 4.86618998e-02 5.73168618e-02 5.76013902e+01] [-4.83282062e-02 9.98805598e-01 -7.19456587e-03 -6.56216298e+00] [-5.75985037e-02 4.40417976e-03 9.98330114e-01 -4.13896895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.900714056999995 meters 0.040995748137215925 Centerline is valid? [True, True] Translation: X:57.63, Y:-6.56, Z:-4.14 [[ 9.97214619e-01 4.83712387e-02 5.67734763e-02 5.76340707e+01] [-4.80426121e-02 9.98819768e-01 -7.13985412e-03 -6.56001018e+00] [-5.70518340e-02 4.39242080e-03 9.98361555e-01 -4.14066168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.930714056999996 meters 0.04194924615087034 Centerline is valid? [True, True] Translation: X:57.67, Y:-6.56, Z:-4.14 [[ 9.97218553e-01 4.89755080e-02 5.61832427e-02 5.76659313e+01] [-4.86538494e-02 9.98790610e-01 -7.07962258e-03 -6.56481836e+00] [-5.64620233e-02 4.32639996e-03 9.98395374e-01 -4.14348738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.960714057 meters 0.04194924615087034 Centerline is valid? [True, True] Translation: X:57.70, Y:-6.57, Z:-4.15 [[ 9.97204721e-01 4.92582866e-02 5.61815476e-02 5.76983053e+01] [-4.89363221e-02 9.98776714e-01 -7.09304647e-03 -6.56898628e+00] [-5.64622128e-02 4.32390112e-03 9.98395374e-01 -4.14572942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.990714057 meters 0.04050485256671484 Centerline is valid? [True, True] Translation: X:57.73, Y:-6.57, Z:-4.15 [[ 9.97166102e-01 5.00688508e-02 5.61504612e-02 5.77309205e+01] [-4.97475833e-02 9.98736545e-01 -7.10568216e-03 -6.57049044e+00] [-5.64352909e-02 4.29219564e-03 9.98397033e-01 -4.14796966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.020714057 meters 0.04130967510874143 Centerline is valid? [True, True] Translation: X:57.76, Y:-6.57, Z:-4.15 [[ 9.97122064e-01 5.11422561e-02 5.59648019e-02 5.77613851e+01] [-5.08239196e-02 9.98682408e-01 -7.09767192e-03 -6.57496377e+00] [-5.62540541e-02 4.23289468e-03 9.98407514e-01 -4.15051344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.050714057 meters 0.041408043743052486 Centerline is valid? [True, True] Translation: X:57.79, Y:-6.58, Z:-4.15 [[ 9.97000592e-01 5.34187947e-02 5.60022495e-02 5.77908391e+01] [-5.31030918e-02 9.98563713e-01 -7.11142827e-03 -6.57689371e+00] [-5.63016982e-02 4.11620559e-03 9.98405316e-01 -4.15205925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.080714056999994 meters 0.0403788510687205 Centerline is valid? [True, True] Translation: X:57.82, Y:-6.58, Z:-4.15 [[ 9.96893272e-01 5.50273639e-02 5.63541832e-02 5.78219466e+01] [-5.47099814e-02 9.98476612e-01 -7.16049053e-03 -6.57816089e+00] [-5.66623568e-02 4.05510852e-03 9.98385163e-01 -4.15342985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.110714056999996 meters 0.04003259777061066 Centerline is valid? [True, True] Translation: X:57.85, Y:-6.58, Z:-4.16 [[ 9.96662313e-01 5.87061604e-02 5.67258412e-02 5.78517938e+01] [-5.83904162e-02 9.98267794e-01 -7.20909451e-03 -6.57934974e+00] [-5.70507986e-02 3.87278733e-03 9.98363765e-01 -4.15515331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.140714057 meters 0.040068805825810114 Centerline is valid? [True, True] Translation: X:57.88, Y:-6.58, Z:-4.16 [[ 9.96570734e-01 6.01349450e-02 5.68380264e-02 5.78820570e+01] [-5.98203168e-02 9.98183033e-01 -7.22236167e-03 -6.58173185e+00] [-5.71690699e-02 3.79752553e-03 9.98357289e-01 -4.15728706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.170714057 meters 0.04483990254144735 Centerline is valid? [True, True] Translation: X:57.91, Y:-6.59, Z:-4.16 [[ 9.96461681e-01 6.18891836e-02 5.68669299e-02 5.79101000e+01] [-6.15770544e-02 9.98076172e-01 -7.22642117e-03 -6.59152475e+00] [-5.72047650e-02 3.69915375e-03 9.98355614e-01 -4.16067370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.200714057 meters 0.0345493453801846 Centerline is valid? [True, True] Translation: X:57.94, Y:-6.58, Z:-4.16 [[ 9.96327380e-01 6.47431500e-02 5.60363848e-02 5.79417385e+01] [-6.44446801e-02 9.97895888e-01 -7.11901494e-03 -6.57815661e+00] [-5.63793855e-02 3.48162261e-03 9.98403347e-01 -4.16034723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.230714057 meters 0.03910031186756998 Centerline is valid? [True, True] Translation: X:57.97, Y:-6.59, Z:-4.16 [[ 9.96244020e-01 6.61156486e-02 5.59157804e-02 5.79685586e+01] [-6.58206920e-02 9.97806190e-01 -7.10233667e-03 -6.58725617e+00] [-5.62626875e-02 3.39524507e-03 9.98410227e-01 -4.16400491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.260714056999994 meters 0.03812656773497267 Centerline is valid? [True, True] Translation: X:58.00, Y:-6.59, Z:-4.17 [[ 9.96069291e-01 6.91330071e-02 5.53768482e-02 5.79972120e+01] [-6.88486588e-02 9.97602357e-01 -7.02849781e-03 -6.58697012e+00] [-5.57299755e-02 3.18824909e-03 9.98440787e-01 -4.16603788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.290714056999995 meters 0.037938348538351284 Centerline is valid? [True, True] Translation: X:58.03, Y:-6.59, Z:-4.17 [[ 9.95998992e-01 7.04313238e-02 5.50039651e-02 5.80261355e+01] [-7.01529082e-02 9.97511838e-01 -6.97865036e-03 -6.58899745e+00] [-5.53586220e-02 3.09204061e-03 9.98461748e-01 -4.16816746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.320714056999996 meters 0.037483581664375744 Centerline is valid? [True, True] Translation: X:58.06, Y:-6.59, Z:-4.17 [[ 9.95932037e-01 7.17231599e-02 5.45450890e-02 5.80553678e+01] [-7.14514849e-02 9.97420091e-01 -6.91717200e-03 -6.59108777e+00] [-5.49004891e-02 2.99170559e-03 9.98487349e-01 -4.17044967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.350714057 meters 0.03099099252139861 Centerline is valid? [True, True] Translation: X:58.09, Y:-6.58, Z:-4.17 [[ 9.95781968e-01 7.42392685e-02 5.39147867e-02 5.80869439e+01] [-7.39778114e-02 9.97236486e-01 -6.83183026e-03 -6.58335300e+00] [-5.42729825e-02 2.81451546e-03 9.98522169e-01 -4.17076881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.380714057 meters 0.031029838315918348 Centerline is valid? [True, True] Translation: X:58.12, Y:-6.59, Z:-4.17 [[ 9.95689638e-01 7.51391890e-02 5.43713739e-02 5.81156264e+01] [-7.48747612e-02 9.97169163e-01 -6.88704769e-03 -6.58641521e+00] [-5.47349445e-02 2.78631839e-03 9.98497032e-01 -4.17294502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.410714057 meters 0.029735345481011068 Centerline is valid? [True, True] Translation: X:58.14, Y:-6.59, Z:-4.17 [[ 9.95590843e-01 7.66259410e-02 5.41048793e-02 5.81443454e+01] [-7.63664988e-02 9.97056289e-01 -6.84946419e-03 -6.58601330e+00] [-5.44704567e-02 2.68746364e-03 9.98511766e-01 -4.17452220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.440714056999994 meters 0.030119862387919392 Centerline is valid? [True, True] Translation: X:58.17, Y:-6.59, Z:-4.18 [[ 9.95491607e-01 7.78119417e-02 5.42380110e-02 5.81722162e+01] [-7.75531917e-02 9.96964599e-01 -6.86234342e-03 -6.58983390e+00] [-5.46073491e-02 2.62507442e-03 9.98504455e-01 -4.17704127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.470714056999995 meters 0.02942742118749624 Centerline is valid? [True, True] Translation: X:58.20, Y:-6.59, Z:-4.18 [[ 9.95422365e-01 7.89839314e-02 5.38131416e-02 5.82013412e+01] [-7.87311403e-02 9.96872661e-01 -6.80473341e-03 -6.59147251e+00] [-5.41823143e-02 2.53681383e-03 9.98527837e-01 -4.17892789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.500714056999996 meters 0.029227256863670135 Centerline is valid? [True, True] Translation: X:58.23, Y:-6.59, Z:-4.18 [[ 9.95243781e-01 8.12737929e-02 5.37064924e-02 5.82290376e+01] [-8.10254985e-02 9.96688914e-01 -6.78809731e-03 -6.59296426e+00] [-5.40803600e-02 2.40421631e-03 9.98533692e-01 -4.18052331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.530714057 meters 0.02880261229044162 Centerline is valid? [True, True] Translation: X:58.26, Y:-6.59, Z:-4.18 [[ 9.95110060e-01 8.23984380e-02 5.44652692e-02 5.82579335e+01] [-8.21451553e-02 9.96596651e-01 -6.87661967e-03 -6.59499258e+00] [-5.48465276e-02 2.36893541e-03 9.98491986e-01 -4.18231781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.560714057 meters 0.02886348908480437 Centerline is valid? [True, True] Translation: X:58.29, Y:-6.60, Z:-4.18 [[ 9.95048369e-01 8.30615527e-02 5.45849985e-02 5.82850858e+01] [-8.28083520e-02 9.96541686e-01 -6.88804838e-03 -6.59815521e+00] [-5.49683584e-02 2.33384754e-03 9.98485369e-01 -4.18380647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.590714057 meters 0.02904736125571562 Centerline is valid? [True, True] Translation: X:58.31, Y:-6.60, Z:-4.19 [[ 9.94898410e-01 8.39860309e-02 5.58882837e-02 5.83123303e+01] [-8.37223004e-02 9.96464202e-01 -7.04780277e-03 -6.60145897e+00] [-5.62825910e-02 2.33275209e-03 9.98412153e-01 -4.18522022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.620714056999994 meters 0.027911472873557573 Centerline is valid? [True, True] Translation: X:58.34, Y:-6.60, Z:-4.19 [[ 9.94923232e-01 8.36376368e-02 5.59688131e-02 5.83411927e+01] [-8.33730152e-02 9.96493467e-01 -7.05051479e-03 -6.60293817e+00] [-5.63622451e-02 2.34843225e-03 9.98407623e-01 -4.18650292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.650714056999995 meters 0.028270751408880145 Centerline is valid? [True, True] Translation: X:58.37, Y:-6.61, Z:-4.19 [[ 9.95093102e-01 8.21857420e-02 5.50928494e-02 5.83693654e+01] [-8.19273459e-02 9.96614167e-01 -6.93625478e-03 -6.60728427e+00] [-5.54763755e-02 2.38860836e-03 9.98457143e-01 -4.18881701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.680714056999996 meters 0.02879211251565071 Centerline is valid? [True, True] Translation: X:58.40, Y:-6.61, Z:-4.19 [[ 9.95185964e-01 8.11559157e-02 5.49419126e-02 5.83975610e+01] [-8.08975909e-02 9.96698443e-01 -6.91326221e-03 -6.61216805e+00] [-5.53215709e-02 2.43531315e-03 9.98465619e-01 -4.19092965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.710714057 meters 0.029464789036603184 Centerline is valid? [True, True] Translation: X:58.43, Y:-6.62, Z:-4.19 [[ 9.95353224e-01 7.93907185e-02 5.44891947e-02 5.84264361e+01] [-7.91342415e-02 9.96840420e-01 -6.85190311e-03 -6.61738182e+00] [-5.48610092e-02 2.50810277e-03 9.98490851e-01 -4.19364492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.740714057 meters 0.030110320225861027 Centerline is valid? [True, True] Translation: X:58.46, Y:-6.62, Z:-4.20 [[ 9.95645681e-01 7.62264511e-02 5.36582279e-02 5.84550010e+01] [-7.59732523e-02 9.97087037e-01 -6.74576401e-03 -6.62380081e+00] [-5.40161291e-02 2.63980071e-03 9.98536574e-01 -4.19545073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.770714057 meters 0.03416685322347856 Centerline is valid? [True, True] Translation: X:58.48, Y:-6.63, Z:-4.20 [[ 9.95765525e-01 7.44920404e-02 5.38698042e-02 5.84811270e+01] [-7.42344283e-02 9.97217837e-01 -6.77015603e-03 -6.63426556e+00] [-5.42242523e-02 2.74249386e-03 9.98525017e-01 -4.19873021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.800714057 meters 0.032061350339843676 Centerline is valid? [True, True] Translation: X:58.51, Y:-6.64, Z:-4.20 [[ 9.96016564e-01 7.11370127e-02 5.37636418e-02 5.85118196e+01] [-7.08759275e-02 9.97462302e-01 -6.74973986e-03 -6.63623564e+00] [-5.41073622e-02 2.91230473e-03 9.98530877e-01 -4.19924189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.830714056999994 meters 0.037342434939484276 Centerline is valid? [True, True] Translation: X:58.54, Y:-6.65, Z:-4.20 [[ 9.96149575e-01 6.93727414e-02 5.36045418e-02 5.85387930e+01] [-6.91106140e-02 9.97586298e-01 -6.73054133e-03 -6.64846876e+00] [-5.39420726e-02 2.99998308e-03 9.98539560e-01 -4.20343315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.860714056999996 meters 0.03813369205359565 Centerline is valid? [True, True] Translation: X:58.57, Y:-6.65, Z:-4.21 [[ 9.96246219e-01 6.79486141e-02 5.36326101e-02 5.85679544e+01] [-6.76843261e-02 9.97684082e-01 -6.73091769e-03 -6.65447126e+00] [-5.39657579e-02 3.07556423e-03 9.98538050e-01 -4.20543630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.890714057 meters 0.038364854276379146 Centerline is valid? [True, True] Translation: X:58.60, Y:-6.66, Z:-4.21 [[ 9.96364246e-01 6.64299835e-02 5.33417885e-02 5.85966776e+01] [-6.61664618e-02 9.97786150e-01 -6.69307675e-03 -6.65931143e+00] [-5.36683188e-02 3.13930496e-03 9.98553883e-01 -4.20724493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.920714057 meters 0.03484112648002954 Centerline is valid? [True, True] Translation: X:58.63, Y:-6.66, Z:-4.21 [[ 9.96562593e-01 6.35008019e-02 5.32038231e-02 5.86274345e+01] [-6.32347115e-02 9.97976383e-01 -6.67156147e-03 -6.65913219e+00] [-5.35198085e-02 3.28430020e-03 9.98561387e-01 -4.20716589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.950714057 meters 0.03542847752007274 Centerline is valid? [True, True] Translation: X:58.66, Y:-6.66, Z:-4.21 [[ 9.96674575e-01 6.13800407e-02 5.35936778e-02 5.86561278e+01] [-6.11069371e-02 9.98108595e-01 -6.72123378e-03 -6.66449471e+00] [-5.39048600e-02 3.42393732e-03 9.98540206e-01 -4.20860050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.980714057 meters 0.03974486459525185 Centerline is valid? [True, True] Translation: X:58.68, Y:-6.67, Z:-4.21 [[ 9.96734318e-01 6.03904271e-02 5.36068668e-02 5.86839141e+01] [-6.01159210e-02 9.98168782e-01 -6.71998999e-03 -6.67479595e+00] [-5.39145240e-02 3.47541847e-03 9.98539506e-01 -4.21179770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.010714056999994 meters 0.03791710291353966 Centerline is valid? [True, True] Translation: X:58.71, Y:-6.68, Z:-4.21 [[ 9.96776701e-01 5.96037218e-02 5.36992034e-02 5.87130934e+01] [-5.93272883e-02 9.98215907e-01 -6.72867450e-03 -6.67636117e+00] [-5.40044531e-02 3.52115785e-03 9.98534486e-01 -4.21324079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.040714056999995 meters 0.03967433905609706 Centerline is valid? [True, True] Translation: X:58.74, Y:-6.68, Z:-4.22 [[ 9.96835393e-01 5.79515696e-02 5.44133642e-02 5.87414085e+01] [-5.76654493e-02 9.98312702e-01 -6.81500259e-03 -6.68341025e+00] [-5.47164927e-02 3.65566469e-03 9.98495239e-01 -4.21502531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.070714056999996 meters 0.03459657520950055 Centerline is valid? [True, True] Translation: X:58.77, Y:-6.68, Z:-4.22 [[ 9.96856958e-01 5.71137260e-02 5.49019781e-02 5.87716203e+01] [-5.68212787e-02 9.98360700e-01 -6.87429504e-03 -6.67979151e+00] [-5.52045939e-02 3.73308824e-03 9.98468085e-01 -4.21524936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.100714057 meters 0.04181530409359662 Centerline is valid? [True, True] Translation: X:58.80, Y:-6.69, Z:-4.22 [[ 9.96919347e-01 5.56422489e-02 5.52788911e-02 5.87990779e+01] [-5.53436459e-02 9.98443391e-01 -6.91917565e-03 -6.69497393e+00] [-5.55778420e-02 3.83852469e-03 9.98446979e-01 -4.21818791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.130714057 meters 0.035855125359215305 Centerline is valid? [True, True] Translation: X:58.83, Y:-6.69, Z:-4.22 [[ 9.96943151e-01 5.50937244e-02 5.53988666e-02 5.88299943e+01] [-5.47930242e-02 9.98473661e-01 -6.93340115e-03 -6.69047252e+00] [-5.56962961e-02 3.87673536e-03 9.98440230e-01 -4.21846364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.160714057 meters 0.04067136920512723 Centerline is valid? [True, True] Translation: X:58.86, Y:-6.70, Z:-4.22 [[ 9.96991887e-01 5.45136066e-02 5.50948714e-02 5.88578385e+01] [-5.42154646e-02 9.98505470e-01 -6.89276547e-03 -6.70160812e+00] [-5.53882799e-02 3.88503720e-03 9.98457333e-01 -4.22211783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.190714056999994 meters 0.03767626770204596 Centerline is valid? [True, True] Translation: X:58.89, Y:-6.70, Z:-4.22 [[ 9.97094112e-01 5.33283878e-02 5.44005125e-02 5.88886072e+01] [-5.30359439e-02 9.98569408e-01 -6.80635650e-03 -6.70212626e+00] [-5.46856596e-02 3.90139545e-03 9.98495998e-01 -4.22388961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.220714056999995 meters 0.03852601180013474 Centerline is valid? [True, True] Translation: X:58.92, Y:-6.71, Z:-4.23 [[ 9.97157223e-01 5.24978751e-02 5.40504010e-02 5.89186644e+01] [-5.22079752e-02 9.98613336e-01 -6.76255206e-03 -6.70779094e+00] [-5.43304709e-02 3.92146564e-03 9.98515309e-01 -4.22649494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.250714056999996 meters 0.03755755203938809 Centerline is valid? [True, True] Translation: X:58.95, Y:-6.71, Z:-4.23 [[ 9.97175291e-01 5.22441002e-02 5.39628912e-02 5.89493108e+01] [-5.19547700e-02 9.98626616e-01 -6.75160321e-03 -6.71092165e+00] [-5.42415108e-02 3.92890229e-03 9.98520116e-01 -4.22837105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.280714057 meters 0.03860919174759857 Centerline is valid? [True, True] Translation: X:58.98, Y:-6.72, Z:-4.23 [[ 9.97191723e-01 5.19809250e-02 5.39133645e-02 5.89787543e+01] [-5.16917581e-02 9.98640308e-01 -6.74514797e-03 -6.71697997e+00] [-5.41906780e-02 3.93932913e-03 9.98522835e-01 -4.23074952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.310714057 meters 0.039857141224619114 Centerline is valid? [True, True] Translation: X:59.01, Y:-6.72, Z:-4.23 [[ 9.97199074e-01 5.18137245e-02 5.39383407e-02 5.90086969e+01] [-5.15239929e-02 9.98648950e-01 -6.74925418e-03 -6.72303927e+00] [-5.42151713e-02 3.95123133e-03 9.98521458e-01 -4.23350342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.340714057 meters 0.04101841390118228 Centerline is valid? [True, True] Translation: X:59.04, Y:-6.73, Z:-4.24 [[ 9.97155298e-01 5.18336202e-02 5.47228265e-02 5.90380999e+01] [-5.15353628e-02 9.98647688e-01 -6.84842085e-03 -6.72915226e+00] [-5.50038026e-02 4.00877842e-03 9.98478098e-01 -4.23538301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.370714056999994 meters 0.04165874769553102 Centerline is valid? [True, True] Translation: X:59.07, Y:-6.73, Z:-4.24 [[ 9.97127018e-01 5.17074954e-02 5.53538190e-02 5.90691892e+01] [-5.14020746e-02 9.98654008e-01 -6.92815966e-03 -6.73421794e+00] [-5.56375510e-02 4.06295404e-03 9.98442765e-01 -4.23739967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.400714056999995 meters 0.04251742770827134 Centerline is valid? [True, True] Translation: X:59.10, Y:-6.74, Z:-4.24 [[ 9.97154053e-01 5.11792784e-02 5.53577010e-02 5.91000904e+01] [-5.08728969e-02 9.98681088e-01 -6.93060037e-03 -6.73979700e+00] [-5.56393921e-02 4.09466963e-03 9.98442533e-01 -4.23927766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.430714056999996 meters 0.042494711176106155 Centerline is valid? [True, True] Translation: X:59.13, Y:-6.74, Z:-4.24 [[ 9.97162931e-01 4.99538776e-02 5.63089537e-02 5.91320015e+01] [-4.96348292e-02 9.98742541e-01 -7.05129024e-03 -6.74498115e+00] [-5.65903868e-02 4.23639994e-03 9.98388492e-01 -4.24091123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.460714057 meters 0.045062062987217474 Centerline is valid? [True, True] Translation: X:59.16, Y:-6.75, Z:-4.24 [[ 9.97237130e-01 4.88625615e-02 5.59513824e-02 5.91623460e+01] [-4.85457378e-02 9.98796372e-01 -7.00852846e-03 -6.75291232e+00] [-5.62264923e-02 4.27296367e-03 9.98408896e-01 -4.24316993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.490714057 meters 0.04718291461398257 Centerline is valid? [True, True] Translation: X:59.19, Y:-6.76, Z:-4.24 [[ 9.97294892e-01 4.70255203e-02 5.64933519e-02 5.91920144e+01] [-4.66987182e-02 9.98883845e-01 -7.09179658e-03 -6.76038671e+00] [-5.67637920e-02 4.43444539e-03 9.98377788e-01 -4.24484157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.520714057 meters 0.04818187888052854 Centerline is valid? [True, True] Translation: X:59.22, Y:-6.77, Z:-4.25 [[ 9.97351293e-01 4.58878182e-02 5.64332108e-02 5.92235928e+01] [-4.55598836e-02 9.98936487e-01 -7.08460736e-03 -6.76585806e+00] [-5.66982905e-02 4.49475179e-03 9.98381240e-01 -4.24704235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.550714057 meters 0.04474332418273391 Centerline is valid? [True, True] Translation: X:59.25, Y:-6.77, Z:-4.25 [[ 9.97439702e-01 4.42062999e-02 5.62124886e-02 5.92547437e+01] [-4.38780485e-02 9.99011942e-01 -7.06095495e-03 -6.76501656e+00] [-5.64690860e-02 4.57638250e-03 9.98393860e-01 -4.24790846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.580714056999994 meters 0.04240928977743675 Centerline is valid? [True, True] Translation: X:59.29, Y:-6.77, Z:-4.25 [[ 9.97444832e-01 4.36125147e-02 5.65840527e-02 5.92872446e+01] [-4.32789292e-02 9.99037742e-01 -7.10808003e-03 -6.76659320e+00] [-5.68396055e-02 4.64102048e-03 9.98372536e-01 -4.24988592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.610714056999996 meters 0.044734948847602915 Centerline is valid? [True, True] Translation: X:59.32, Y:-6.77, Z:-4.25 [[ 9.97452610e-01 4.31047957e-02 5.68354361e-02 5.93180429e+01] [-4.27665772e-02 9.99059475e-01 -7.15434705e-03 -6.77461192e+00] [-5.70903676e-02 4.70546507e-03 9.98357926e-01 -4.25253776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.640714057 meters 0.04442021298671058 Centerline is valid? [True, True] Translation: X:59.35, Y:-6.78, Z:-4.25 [[ 9.97439799e-01 4.23978605e-02 5.75870541e-02 5.93493618e+01] [-4.20486618e-02 9.99089167e-01 -7.26264546e-03 -6.77952514e+00] [-5.78425226e-02 4.82259306e-03 9.98314071e-01 -4.25482069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.670714057 meters 0.04371276794227966 Centerline is valid? [True, True] Translation: X:59.38, Y:-6.78, Z:-4.26 [[ 9.97412630e-01 4.25523741e-02 5.79425627e-02 5.93821496e+01] [-4.21983469e-02 9.99082434e-01 -7.32044549e-03 -6.78275568e+00] [-5.82008989e-02 4.85642443e-03 9.98293078e-01 -4.25648628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.700714057 meters 0.044354259313378025 Centerline is valid? [True, True] Translation: X:59.41, Y:-6.79, Z:-4.26 [[ 9.97380410e-01 4.27479521e-02 5.83517866e-02 5.94149741e+01] [-4.23882296e-02 9.99073890e-01 -7.38919834e-03 -6.78866561e+00] [-5.86136195e-02 4.89641274e-03 9.98268736e-01 -4.25869698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.730714057 meters 0.04463292364399598 Centerline is valid? [True, True] Translation: X:59.45, Y:-6.79, Z:-4.26 [[ 9.97374209e-01 4.30449764e-02 5.82393167e-02 5.94481704e+01] [-4.26861662e-02 9.99061187e-01 -7.39163760e-03 -6.79348015e+00] [-5.85028137e-02 4.88621555e-03 9.98275286e-01 -4.26092379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.760714056999994 meters 0.04321612291329312 Centerline is valid? [True, True] Translation: X:59.48, Y:-6.80, Z:-4.26 [[ 9.97315255e-01 4.51005155e-02 5.76907725e-02 5.94800018e+01] [-4.47507687e-02 9.98971212e-01 -7.34072960e-03 -6.79561988e+00] [-5.79624916e-02 4.73931520e-03 9.98307512e-01 -4.26317206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.790714056999995 meters 0.0441846546483827 Centerline is valid? [True, True] Translation: X:59.51, Y:-6.80, Z:-4.27 [[ 9.97266558e-01 4.62253168e-02 5.76422842e-02 5.95112375e+01] [-4.58779639e-02 9.98920118e-01 -7.33558274e-03 -6.80094239e+00] [-5.79191270e-02 4.67102071e-03 9.98310351e-01 -4.26555683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.820714056999996 meters 0.043501235647049975 Centerline is valid? [True, True] Translation: X:59.54, Y:-6.80, Z:-4.27 [[ 9.97259096e-01 4.67802562e-02 5.73228046e-02 5.95432252e+01] [-4.64368367e-02 9.98894487e-01 -7.30917161e-03 -6.80404718e+00] [-5.76013584e-02 4.62724815e-03 9.98328940e-01 -4.26731610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.850714057 meters 0.043501235647049975 Centerline is valid? [True, True] Translation: X:59.58, Y:-6.81, Z:-4.27 [[ 9.97246014e-01 4.70604218e-02 5.73210573e-02 5.95756002e+01] [-4.67166808e-02 9.98881338e-01 -7.32284649e-03 -6.80826399e+00] [-5.76015507e-02 4.62482994e-03 9.98328940e-01 -4.26955873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.880714057 meters 0.04195861542672128 Centerline is valid? [True, True] Translation: X:59.61, Y:-6.81, Z:-4.27 [[ 9.97111873e-01 4.97796642e-02 5.73576241e-02 5.96064872e+01] [-4.94388381e-02 9.98750132e-01 -7.34677682e-03 -6.81010185e+00] [-5.76516547e-02 4.48986411e-03 9.98326664e-01 -4.27100122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.910714057 meters 0.04325809360845961 Centerline is valid? [True, True] Translation: X:59.64, Y:-6.82, Z:-4.27 [[ 9.97053110e-01 5.09562318e-02 5.73459560e-02 5.96360739e+01] [-5.06174179e-02 9.98691098e-01 -7.34630970e-03 -6.81582983e+00] [-5.76452360e-02 4.42195671e-03 9.98327338e-01 -4.27346800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.940714056999994 meters 0.04142647730105797 Centerline is valid? [True, True] Translation: X:59.67, Y:-6.82, Z:-4.28 [[ 9.96858795e-01 5.45824114e-02 5.73873017e-02 5.96663420e+01] [-5.42490079e-02 9.98500366e-01 -7.35279555e-03 -6.81707741e+00] [-5.77025751e-02 4.21649474e-03 9.98324914e-01 -4.27502503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.970714056999995 meters 0.04078887894331661 Centerline is valid? [True, True] Translation: X:59.70, Y:-6.82, Z:-4.28 [[ 9.96785487e-01 5.61936801e-02 5.71048470e-02 5.96972702e+01] [-5.58661971e-02 9.98411458e-01 -7.31636028e-03 -6.81958800e+00] [-5.74252667e-02 4.10261111e-03 9.98341378e-01 -4.27722527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.000714056999996 meters 0.039145429931073845 Centerline is valid? [True, True] Translation: X:59.73, Y:-6.82, Z:-4.28 [[ 9.96626148e-01 5.82814096e-02 5.77892546e-02 5.97285020e+01] [-5.79493758e-02 9.98292050e-01 -7.40630218e-03 -6.82074955e+00] [-5.81222032e-02 4.03246318e-03 9.98301332e-01 -4.27890804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.030714057 meters 0.039861761618682844 Centerline is valid? [True, True] Translation: X:59.76, Y:-6.82, Z:-4.28 [[ 9.96373681e-01 6.24585100e-02 5.77790856e-02 5.97577074e+01] [-6.21334965e-02 9.98040367e-01 -7.40637683e-03 -6.82488702e+00] [-5.81284511e-02 3.78950234e-03 9.98301920e-01 -4.28093480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.060714057 meters 0.035199597850178024 Centerline is valid? [True, True] Translation: X:59.79, Y:-6.82, Z:-4.28 [[ 9.96242019e-01 6.44402886e-02 5.78730446e-02 5.97876636e+01] [-6.41175866e-02 9.97914783e-01 -7.41766236e-03 -6.82230677e+00] [-5.82303631e-02 3.67910698e-03 9.98296393e-01 -4.28152600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.090714057 meters 0.03804481714914123 Centerline is valid? [True, True] Translation: X:59.82, Y:-6.83, Z:-4.28 [[ 9.95931379e-01 6.86299555e-02 5.84004861e-02 5.98166177e+01] [-6.83086380e-02 9.97636174e-01 -7.48298800e-03 -6.83017903e+00] [-5.87759947e-02 3.46328489e-03 9.98265189e-01 -4.28435611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.120714056999994 meters 0.034090536974450775 Centerline is valid? [True, True] Translation: X:59.85, Y:-6.83, Z:-4.29 [[ 9.95877263e-01 6.93375574e-02 5.84874350e-02 5.98462699e+01] [-6.90165267e-02 9.97587372e-01 -7.49360785e-03 -6.82895749e+00] [-5.88659150e-02 3.42611406e-03 9.98260019e-01 -4.28535536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.150714056999995 meters 0.03219535661741348 Centerline is valid? [True, True] Translation: X:59.88, Y:-6.83, Z:-4.29 [[ 9.95780646e-01 7.03802449e-02 5.88857126e-02 5.98752534e+01] [-7.00570158e-02 9.97514506e-01 -7.53824371e-03 -6.82978941e+00] [-5.92698959e-02 3.38107989e-03 9.98236268e-01 -4.28667051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.180714056999996 meters 0.032275372115509106 Centerline is valid? [True, True] Translation: X:59.90, Y:-6.83, Z:-4.29 [[ 9.95609211e-01 7.31465558e-02 5.84113068e-02 5.99047322e+01] [-7.28335321e-02 9.97316114e-01 -7.47292580e-03 -6.83327581e+00] [-5.88011563e-02 3.18581197e-03 9.98264632e-01 -4.28881527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.210714057 meters 0.03181835973674425 Centerline is valid? [True, True] Translation: X:59.93, Y:-6.84, Z:-4.29 [[ 9.95522740e-01 7.42695640e-02 5.84679974e-02 5.99322576e+01] [-7.39579563e-02 9.97233319e-01 -7.47856175e-03 -6.83752720e+00] [-5.88616646e-02 3.12090469e-03 9.98261271e-01 -4.29116365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.240714057 meters 0.029829551812345364 Centerline is valid? [True, True] Translation: X:59.96, Y:-6.84, Z:-4.29 [[ 9.95401801e-01 7.61377600e-02 5.81231162e-02 5.99609526e+01] [-7.58333131e-02 9.97092833e-01 -7.42903048e-03 -6.83857655e+00] [-5.85197723e-02 2.98720185e-03 9.98281780e-01 -4.29278474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.270714057 meters 0.03324157607922284 Centerline is valid? [True, True] Translation: X:59.99, Y:-6.85, Z:-4.30 [[ 9.95337765e-01 7.67350006e-02 5.84334890e-02 5.99873684e+01] [-7.64285587e-02 9.97047118e-01 -7.46456066e-03 -6.84852603e+00] [-5.88337349e-02 2.96377178e-03 9.98263396e-01 -4.29601254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.300714057 meters 0.030434091484974064 Centerline is valid? [True, True] Translation: X:60.02, Y:-6.85, Z:-4.30 [[ 9.95272961e-01 7.75246509e-02 5.84949754e-02 6.00169352e+01] [-7.72192213e-02 9.96986174e-01 -7.46734285e-03 -6.84809655e+00] [-5.88975849e-02 2.91510798e-03 9.98259774e-01 -4.29667720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.330714056999994 meters 0.030239671736027304 Centerline is valid? [True, True] Translation: X:60.05, Y:-6.85, Z:-4.30 [[ 9.95218619e-01 7.75743392e-02 5.93474721e-02 6.00453887e+01] [-7.72604651e-02 9.96982214e-01 -7.56869726e-03 -6.85251361e+00] [-5.97555108e-02 2.94729513e-03 9.98208692e-01 -4.29793658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.360714056999996 meters 0.03059494534442394 Centerline is valid? [True, True] Translation: X:60.07, Y:-6.86, Z:-4.30 [[ 9.95192837e-01 7.73934125e-02 6.00123069e-02 6.00731963e+01] [-7.70723935e-02 9.96996157e-01 -7.64911394e-03 -6.85823147e+00] [-6.04240304e-02 2.98705127e-03 9.98168330e-01 -4.29971711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.390714057 meters 0.029639979788029118 Centerline is valid? [True, True] Translation: X:60.10, Y:-6.86, Z:-4.30 [[ 9.95208427e-01 7.73657073e-02 5.97890824e-02 6.01019468e+01] [-7.70472813e-02 9.96998348e-01 -7.61641971e-03 -6.86069827e+00] [-6.01988661e-02 2.97333882e-03 9.98181975e-01 -4.30122364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.420714057 meters 0.03126989305119111 Centerline is valid? [True, True] Translation: X:60.13, Y:-6.87, Z:-4.30 [[ 9.95225201e-01 7.74283051e-02 5.94277404e-02 6.01294173e+01] [-7.71140814e-02 9.96993566e-01 -7.56624467e-03 -6.86784837e+00] [-5.98349163e-02 2.94740176e-03 9.98203935e-01 -4.30376612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.450714057 meters 0.03201211008103034 Centerline is valid? [True, True] Translation: X:60.16, Y:-6.87, Z:-4.31 [[ 9.95329921e-01 7.73345490e-02 5.77729716e-02 6.01563756e+01] [-7.70377424e-02 9.97001082e-01 -7.35047772e-03 -6.87285035e+00] [-5.81681610e-02 2.86545110e-03 9.98302687e-01 -4.30642803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.480714057 meters 0.03227975392359157 Centerline is valid? [True, True] Translation: X:60.19, Y:-6.88, Z:-4.31 [[ 9.95367642e-01 7.72866094e-02 5.71842364e-02 6.01850715e+01] [-7.69960449e-02 9.97004889e-01 -7.27046233e-03 -6.87762861e+00] [-5.75748727e-02 2.83382292e-03 9.98337169e-01 -4.30893394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.510714056999994 meters 0.0331670787007503 Centerline is valid? [True, True] Translation: X:60.21, Y:-6.88, Z:-4.31 [[ 9.95432728e-01 7.65205516e-02 5.70814297e-02 6.02116009e+01] [-7.62299817e-02 9.97063875e-01 -7.25383226e-03 -6.88437669e+00] [-5.74688987e-02 2.86938570e-03 9.98343174e-01 -4.31122661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.540714056999995 meters 0.029562373465890142 Centerline is valid? [True, True] Translation: X:60.24, Y:-6.88, Z:-4.31 [[ 9.95464311e-01 7.60360203e-02 5.71780464e-02 6.02406878e+01] [-7.57440263e-02 9.97100866e-01 -7.25989684e-03 -6.88266458e+00] [-5.75642932e-02 2.89607276e-03 9.98337601e-01 -4.31129450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.570714056999996 meters 0.033910966145831285 Centerline is valid? [True, True] Translation: X:60.27, Y:-6.89, Z:-4.31 [[ 9.95466372e-01 7.57979437e-02 5.74575901e-02 6.02672276e+01] [-7.55029226e-02 9.97118922e-01 -7.29135184e-03 -6.89419666e+00] [-5.78447198e-02 2.92007958e-03 9.98321322e-01 -4.31431549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.600714057 meters 0.03534717357695334 Centerline is valid? [True, True] Translation: X:60.29, Y:-6.90, Z:-4.32 [[ 9.95556011e-01 7.47757376e-02 5.72434899e-02 6.02946752e+01] [-7.44815324e-02 9.97195973e-01 -7.25894113e-03 -6.90002603e+00] [-5.76257703e-02 2.96309964e-03 9.98333857e-01 -4.31552433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.630714057 meters 0.030649141208369104 Centerline is valid? [True, True] Translation: X:60.32, Y:-6.90, Z:-4.32 [[ 9.95578245e-01 7.45025349e-02 5.72130286e-02 6.03240984e+01] [-7.42084780e-02 9.97216394e-01 -7.25014795e-03 -6.89600143e+00] [-5.75939245e-02 2.97239780e-03 9.98335667e-01 -4.31548828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.660714057 meters 0.03103458683086069 Centerline is valid? [True, True] Translation: X:60.35, Y:-6.90, Z:-4.32 [[ 9.95670318e-01 7.36703911e-02 5.66859085e-02 6.03523674e+01] [-7.33806223e-02 9.97278167e-01 -7.17929927e-03 -6.90078587e+00] [-5.70605207e-02 2.98856794e-03 9.98366248e-01 -4.31775938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.690714056999994 meters 0.0325453550216099 Centerline is valid? [True, True] Translation: X:60.38, Y:-6.91, Z:-4.32 [[ 9.95702693e-01 7.34165155e-02 5.64460992e-02 6.03795266e+01] [-7.31290084e-02 9.97296895e-01 -7.14508777e-03 -6.90793094e+00] [-5.68180869e-02 2.98653587e-03 9.98380081e-01 -4.32056018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.720714056999995 meters 0.03145713179851069 Centerline is valid? [True, True] Translation: X:60.41, Y:-6.91, Z:-4.32 [[ 9.95772471e-01 7.28290200e-02 5.59742698e-02 6.04079177e+01] [-7.25456717e-02 9.97339960e-01 -7.08020070e-03 -6.91064333e+00] [-5.63410201e-02 2.98957795e-03 9.98407107e-01 -4.32280640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.750714056999996 meters 0.03157558009053761 Centerline is valid? [True, True] Translation: X:60.44, Y:-6.91, Z:-4.32 [[ 9.95917404e-01 7.12270090e-02 5.54548231e-02 6.04374916e+01] [-7.09466723e-02 9.97455477e-01 -7.01011169e-03 -6.91487704e+00] [-5.58130263e-02 3.04715708e-03 9.98436588e-01 -4.32465353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.780714057 meters 0.031246517185631872 Centerline is valid? [True, True] Translation: X:60.47, Y:-6.92, Z:-4.33 [[ 9.95984397e-01 7.03364865e-02 5.53882601e-02 6.04663383e+01] [-7.00555368e-02 9.97518531e-01 -7.00016647e-03 -6.91863955e+00] [-5.57431830e-02 3.09180229e-03 9.98440353e-01 -4.32617307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.810714057 meters 0.03238132578463166 Centerline is valid? [True, True] Translation: X:60.49, Y:-6.92, Z:-4.33 [[ 9.96166487e-01 6.77291469e-02 5.53632860e-02 6.04949152e+01] [-6.74446774e-02 9.97698510e-01 -6.99274913e-03 -6.92445774e+00] [-5.57094808e-02 3.23198337e-03 9.98441790e-01 -4.32761117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.840714057 meters 0.033342304710892334 Centerline is valid? [True, True] Translation: X:60.52, Y:-6.93, Z:-4.33 [[ 9.96269082e-01 6.62607109e-02 5.52940781e-02 6.05233896e+01] [-6.59748699e-02 9.97796864e-01 -6.98097326e-03 -6.93025562e+00] [-5.56348220e-02 3.30690820e-03 9.98445708e-01 -4.32945570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.870714056999994 meters 0.033112391379335034 Centerline is valid? [True, True] Translation: X:60.55, Y:-6.93, Z:-4.33 [[ 9.96418419e-01 6.40505667e-02 5.52074276e-02 6.05529429e+01] [-6.37624119e-02 9.97940788e-01 -6.96702015e-03 -6.93416082e+00] [-5.55399853e-02 3.42190846e-03 9.98450600e-01 -4.33115535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.900714056999995 meters 0.03537132557879361 Centerline is valid? [True, True] Translation: X:60.58, Y:-6.94, Z:-4.33 [[ 9.96666534e-01 5.99209065e-02 5.53651875e-02 6.05816298e+01] [-5.96248798e-02 9.98196417e-01 -6.98474805e-03 -6.94270603e+00] [-5.56838642e-02 3.66032199e-03 9.98441741e-01 -4.33294310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.930714056999996 meters 0.035554359504887924 Centerline is valid? [True, True] Translation: X:60.61, Y:-6.95, Z:-4.33 [[ 9.96765713e-01 5.79580208e-02 5.56684890e-02 6.06117712e+01] [-5.76557856e-02 9.98311831e-01 -7.02134308e-03 -6.94709073e+00] [-5.59814543e-02 3.78902357e-03 9.98424619e-01 -4.33451604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.960714057 meters 0.03845118216144985 Centerline is valid? [True, True] Translation: X:60.64, Y:-6.96, Z:-4.34 [[ 9.96962897e-01 5.44775948e-02 5.56522536e-02 6.06401271e+01] [-5.41701331e-02 9.98507047e-01 -7.01947198e-03 -6.95542629e+00] [-5.59515714e-02 3.98346313e-03 9.98425537e-01 -4.33613523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.990714057 meters 0.03842004894528759 Centerline is valid? [True, True] Translation: X:60.67, Y:-6.96, Z:-4.34 [[ 9.97008988e-01 5.34056894e-02 5.58651004e-02 6.06713833e+01] [-5.30942748e-02 9.98564654e-01 -7.04490872e-03 -6.95936111e+00] [-5.61611528e-02 4.05772032e-03 9.98413471e-01 -4.33777008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.020714057 meters 0.03991862214158953 Centerline is valid? [True, True] Translation: X:60.70, Y:-6.96, Z:-4.34 [[ 9.97108155e-01 5.16359769e-02 5.57588823e-02 6.07017425e+01] [-5.13228714e-02 9.98657343e-01 -7.03374637e-03 -6.96488450e+00] [-5.60472116e-02 4.15169993e-03 9.98419488e-01 -4.33970539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.050714057 meters 0.03973610529237479 Centerline is valid? [True, True] Translation: X:60.73, Y:-6.97, Z:-4.34 [[ 9.97091352e-01 5.13122464e-02 5.63550292e-02 6.07332937e+01] [-5.09919856e-02 9.98673773e-01 -7.10720688e-03 -6.96885137e+00] [-5.66449764e-02 4.21287967e-03 9.98385496e-01 -4.34176337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.080714056999994 meters 0.04164259704093089 Centerline is valid? [True, True] Translation: X:60.76, Y:-6.98, Z:-4.34 [[ 9.97112360e-01 4.99419796e-02 5.72078769e-02 6.07635626e+01] [-4.96088387e-02 9.98742557e-01 -7.22967173e-03 -6.97626160e+00] [-5.74970054e-02 4.37077870e-03 9.98336111e-01 -4.34419190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.110714056999996 meters 0.043298564577946994 Centerline is valid? [True, True] Translation: X:60.79, Y:-6.98, Z:-4.35 [[ 9.97153560e-01 4.90686164e-02 5.72455060e-02 6.07935627e+01] [-4.87327709e-02 9.98785548e-01 -7.24893327e-03 -6.98270598e+00] [-5.75316792e-02 4.43856749e-03 9.98333814e-01 -4.34694761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.140714057 meters 0.0422064771365507 Centerline is valid? [True, True] Translation: X:60.83, Y:-6.99, Z:-4.35 [[ 9.97169627e-01 4.87414960e-02 5.72450958e-02 6.08260825e+01] [-4.84047909e-02 9.98801455e-01 -7.25459326e-03 -6.98537397e+00] [-5.75300847e-02 4.46312317e-03 9.98333797e-01 -4.34883343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.170714057 meters 0.043752187643981456 Centerline is valid? [True, True] Translation: X:60.86, Y:-6.99, Z:-4.35 [[ 9.97236331e-01 4.77759771e-02 5.68960136e-02 6.08570734e+01] [-4.74409910e-02 9.98847915e-01 -7.22467608e-03 -6.99080625e+00] [-5.71756305e-02 4.50550620e-03 9.98353969e-01 -4.35128398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.200714057 meters 0.044627647971291796 Centerline is valid? [True, True] Translation: X:60.89, Y:-7.00, Z:-4.35 [[ 9.97231093e-01 4.79035802e-02 5.68805194e-02 6.08897405e+01] [-4.75682671e-02 9.98841785e-01 -7.23521209e-03 -6.99567472e+00] [-5.71612321e-02 4.50947073e-03 9.98354776e-01 -4.35421767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.230714057 meters 0.04244273009079147 Centerline is valid? [True, True] Translation: X:60.92, Y:-7.00, Z:-4.36 [[ 9.97253041e-01 4.80455782e-02 5.63737073e-02 6.09218419e+01] [-4.77155370e-02 9.98835110e-01 -7.18679050e-03 -6.99603056e+00] [-5.66533316e-02 4.47714696e-03 9.98383872e-01 -4.35704029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.260714056999994 meters 0.04736342032786024 Centerline is valid? [True, True] Translation: X:60.95, Y:-7.01, Z:-4.36 [[ 9.97218278e-01 4.82753951e-02 5.67907791e-02 6.09527907e+01] [-4.79400031e-02 9.98823875e-01 -7.25416657e-03 -7.00687593e+00] [-5.70741838e-02 4.51143736e-03 9.98359747e-01 -4.36040504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.290714056999995 meters 0.04162003947294471 Centerline is valid? [True, True] Translation: X:60.99, Y:-7.00, Z:-4.36 [[ 9.97088818e-01 4.88851226e-02 5.85160956e-02 6.09861285e+01] [-4.85290933e-02 9.98793680e-01 -7.49084888e-03 -7.00206173e+00] [-5.88116975e-02 4.62930860e-03 9.98258360e-01 -4.36060649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.320714056999996 meters 0.040935682282897 Centerline is valid? [True, True] Translation: X:61.02, Y:-7.00, Z:-4.36 [[ 9.97016309e-01 4.92676633e-02 5.94237142e-02 6.10182801e+01] [-4.89002493e-02 9.98774582e-01 -7.62227452e-03 -7.00412816e+00] [-5.97264270e-02 4.69369757e-03 9.98203748e-01 -4.36201469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.350714057 meters 0.04187238058907657 Centerline is valid? [True, True] Translation: X:61.05, Y:-7.01, Z:-4.36 [[ 9.96925350e-01 5.02514685e-02 6.01218547e-02 6.10492666e+01] [-4.98761447e-02 9.98725511e-01 -7.72814843e-03 -7.00867197e+00] [-6.04335808e-02 4.70574075e-03 9.98161128e-01 -4.36380683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.380714057 meters 0.04239581938207913 Centerline is valid? [True, True] Translation: X:61.08, Y:-7.01, Z:-4.37 [[ 9.96849374e-01 5.18911263e-02 5.99886304e-02 6.10810717e+01] [-5.15198628e-02 9.98642130e-01 -7.72016205e-03 -7.01067054e+00] [-6.03077816e-02 4.60523270e-03 9.98169206e-01 -4.36605637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.410714057 meters 0.039735310781557995 Centerline is valid? [True, True] Translation: X:61.11, Y:-7.01, Z:-4.37 [[ 9.96808290e-01 5.25362201e-02 6.01097274e-02 6.11138996e+01] [-5.21644038e-02 9.98608521e-01 -7.73929529e-03 -7.00998551e+00] [-6.04326793e-02 4.57900561e-03 9.98161772e-01 -4.36816734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.440714056999994 meters 0.04066673225262361 Centerline is valid? [True, True] Translation: X:61.15, Y:-7.01, Z:-4.37 [[ 9.96787302e-01 5.29745018e-02 6.00730950e-02 6.11457781e+01] [-5.26030053e-02 9.98585431e-01 -7.74985916e-03 -7.01412953e+00] [-6.03986624e-02 4.56493587e-03 9.98163896e-01 -4.37145106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.470714056999995 meters 0.041496992519412974 Centerline is valid? [True, True] Translation: X:61.18, Y:-7.02, Z:-4.37 [[ 9.96841291e-01 5.24998097e-02 5.95920359e-02 6.11776306e+01] [-5.21325132e-02 9.98610470e-01 -7.70267014e-03 -7.01891920e+00] [-5.99136196e-02 4.57165704e-03 9.98193097e-01 -4.37445509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.500714056999996 meters 0.04161919213957068 Centerline is valid? [True, True] Translation: X:61.21, Y:-7.02, Z:-4.38 [[ 9.96845662e-01 5.21768290e-02 5.98022076e-02 6.12094917e+01] [-5.18054490e-02 9.98627164e-01 -7.74489122e-03 -7.02302508e+00] [-6.01242128e-02 4.62238101e-03 9.98180200e-01 -4.37726750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.530714057 meters 0.04411823083546606 Centerline is valid? [True, True] Translation: X:61.24, Y:-7.03, Z:-4.38 [[ 9.96943272e-01 5.00173477e-02 6.00198125e-02 6.12386012e+01] [-4.96383339e-02 9.98736877e-01 -7.79020332e-03 -7.02907951e+00] [-6.03336453e-02 4.78710729e-03 9.98166787e-01 -4.38050409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.560714057 meters 0.045345314263900406 Centerline is valid? [True, True] Translation: X:61.27, Y:-7.03, Z:-4.38 [[ 9.97026589e-01 4.80884853e-02 6.02119486e-02 6.12693942e+01] [-4.77035539e-02 9.98830965e-01 -7.81500209e-03 -7.03358200e+00] [-6.05173704e-02 4.91944094e-03 9.98155022e-01 -4.38244139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.590714057 meters 0.047521142772949984 Centerline is valid? [True, True] Translation: X:61.30, Y:-7.04, Z:-4.38 [[ 9.97067965e-01 4.70803546e-02 6.03234140e-02 6.13000809e+01] [-4.66921982e-02 9.98878645e-01 -7.82889622e-03 -7.03946339e+00] [-6.06243573e-02 4.98930882e-03 9.98148182e-01 -4.38469301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.620714056999994 meters 0.04599983218309282 Centerline is valid? [True, True] Translation: X:61.33, Y:-7.04, Z:-4.39 [[ 9.97108531e-01 4.61043382e-02 6.04066833e-02 6.13323486e+01] [-4.57124222e-02 9.98923760e-01 -7.85463990e-03 -7.04040591e+00] [-6.07038042e-02 5.07059264e-03 9.98142944e-01 -4.38639266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.650714056999995 meters 0.04464493024768047 Centerline is valid? [True, True] Translation: X:61.36, Y:-7.04, Z:-4.39 [[ 9.97135581e-01 4.51980698e-02 6.06446051e-02 6.13644807e+01] [-4.48011295e-02 9.98964768e-01 -7.88988614e-03 -7.04167178e+00] [-6.09384315e-02 5.15033939e-03 9.98128239e-01 -4.38825536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.680714056999996 meters 0.052105086267955576 Centerline is valid? [True, True] Translation: X:61.39, Y:-7.05, Z:-4.39 [[ 9.97214412e-01 4.33517834e-02 6.06962843e-02 6.13933587e+01] [-4.29504815e-02 9.99045957e-01 -7.90138714e-03 -7.05349177e+00] [-6.09809166e-02 5.27244250e-03 9.98125007e-01 -4.39104499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.710714057 meters 0.049337004174648154 Centerline is valid? [True, True] Translation: X:61.42, Y:-7.05, Z:-4.39 [[ 9.97234124e-01 4.17439212e-02 6.14942823e-02 6.14246045e+01] [-4.13288796e-02 9.99113518e-01 -8.00638421e-03 -7.05146950e+00] [-6.17739866e-02 5.44274975e-03 9.98075323e-01 -4.39229173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.740714057 meters 0.04927767349140468 Centerline is valid? [True, True] Translation: X:61.46, Y:-7.05, Z:-4.39 [[ 9.97262060e-01 4.09641604e-02 6.15655801e-02 6.14562717e+01] [-4.05467011e-02 9.99145495e-01 -8.01535016e-03 -7.05456957e+00] [-6.18413141e-02 5.49712344e-03 9.98070856e-01 -4.39432717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.770714057 meters 0.04927767349140468 Centerline is valid? [True, True] Translation: X:61.49, Y:-7.06, Z:-4.40 [[ 9.97250599e-01 4.12448894e-02 6.15638070e-02 6.14886546e+01] [-4.08271277e-02 9.99133966e-01 -8.02894466e-03 -7.05888153e+00] [-6.18416436e-02 5.49339646e-03 9.98070856e-01 -4.39657174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.800714057 meters 0.05061946880653099 Centerline is valid? [True, True] Translation: X:61.52, Y:-7.06, Z:-4.40 [[ 9.97251164e-01 4.09788059e-02 6.17321097e-02 6.15196889e+01] [-4.05571252e-02 9.99144640e-01 -8.06896124e-03 -7.06368629e+00] [-6.20099630e-02 5.54310408e-03 9.98060138e-01 -4.39858537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.830714056999994 meters 0.04580542913734991 Centerline is valid? [True, True] Translation: X:61.55, Y:-7.06, Z:-4.40 [[ 9.97273057e-01 4.02727625e-02 6.18429756e-02 6.15523645e+01] [-3.98473323e-02 9.99172967e-01 -8.09768066e-03 -7.05904663e+00] [-6.21179453e-02 5.61132115e-03 9.98053042e-01 -4.40046247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.860714056999996 meters 0.04610951881370358 Centerline is valid? [True, True] Translation: X:61.58, Y:-7.06, Z:-4.40 [[ 9.97300688e-01 4.02322706e-02 6.14223327e-02 6.15841714e+01] [-3.98116556e-02 9.99174718e-01 -8.05694027e-03 -7.06243739e+00] [-6.16957910e-02 5.58986731e-03 9.98079347e-01 -4.40296922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.890714057 meters 0.05471075033784769 Centerline is valid? [True, True] Translation: X:61.61, Y:-7.08, Z:-4.41 [[ 9.97343832e-01 3.99955210e-02 6.08739565e-02 6.16136034e+01] [-3.95810054e-02 9.99184335e-01 -8.00057222e-03 -7.07651442e+00] [-6.11442908e-02 5.56986896e-03 9.98113396e-01 -4.40749722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.920714057 meters 0.04717766247761487 Centerline is valid? [True, True] Translation: X:61.65, Y:-7.07, Z:-4.41 [[ 9.97327888e-01 4.04208682e-02 6.08542359e-02 6.16472481e+01] [-4.00065336e-02 9.99167294e-01 -8.01222559e-03 -7.07008260e+00] [-6.11274233e-02 5.55624898e-03 9.98114506e-01 -4.40913059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.950714057 meters 0.04769094948886274 Centerline is valid? [True, True] Translation: X:61.68, Y:-7.07, Z:-4.41 [[ 9.97336001e-01 4.05324250e-02 6.06467118e-02 6.16790527e+01] [-4.01201730e-02 9.99162832e-01 -8.00042846e-03 -7.07404430e+00] [-6.09202171e-02 5.54595876e-03 9.98127231e-01 -4.41164882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.980714057 meters 0.05099275633739599 Centerline is valid? [True, True] Translation: X:61.71, Y:-7.08, Z:-4.41 [[ 9.97272704e-01 4.14508235e-02 6.10653968e-02 6.17095982e+01] [-4.10335781e-02 9.99125165e-01 -8.07156804e-03 -7.08144134e+00] [-6.13465478e-02 5.54382276e-03 9.98101131e-01 -4.41418413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.010714057 meters 0.05189573686078816 Centerline is valid? [True, True] Translation: X:61.74, Y:-7.09, Z:-4.42 [[ 9.97227906e-01 4.19155882e-02 6.14783502e-02 6.17414560e+01] [-4.14925828e-02 9.99105639e-01 -8.14171276e-03 -7.08650516e+00] [-6.17646311e-02 5.56824763e-03 9.98075210e-01 -4.41678881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.040714057 meters 0.04950711738373162 Centerline is valid? [True, True] Translation: X:61.77, Y:-7.09, Z:-4.42 [[ 9.97230469e-01 4.17672107e-02 6.15377249e-02 6.17744209e+01] [-4.13428316e-02 9.99111747e-01 -8.15401495e-03 -7.08629693e+00] [-6.18236342e-02 5.58728836e-03 9.98071451e-01 -4.41861163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.070714057 meters 0.05166680226022494 Centerline is valid? [True, True] Translation: X:61.81, Y:-7.09, Z:-4.42 [[ 9.97232689e-01 4.16529785e-02 6.15791566e-02 6.18053599e+01] [-4.12267765e-02 9.99116361e-01 -8.17619353e-03 -7.09300115e+00] [-6.18653057e-02 5.61485733e-03 9.98068714e-01 -4.42147008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.100714057 meters 0.054690491935902155 Centerline is valid? [True, True] Translation: X:61.84, Y:-7.10, Z:-4.42 [[ 9.97243515e-01 4.17108552e-02 6.13642991e-02 6.18357981e+01] [-4.12872505e-02 9.99114033e-01 -8.15552237e-03 -7.10096017e+00] [-6.16501062e-02 5.59947860e-03 9.98082116e-01 -4.42420777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.130714057 meters 0.050104906130568165 Centerline is valid? [True, True] Translation: X:61.87, Y:-7.10, Z:-4.43 [[ 9.97242926e-01 4.20952523e-02 6.11108560e-02 6.18683998e+01] [-4.16749850e-02 9.99098093e-01 -8.13607279e-03 -7.09847275e+00] [-6.13982297e-02 5.56684703e-03 9.98097825e-01 -4.42666530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.160714057 meters 0.05075316547736257 Centerline is valid? [True, True] Translation: X:61.90, Y:-7.10, Z:-4.43 [[ 9.97222005e-01 4.25109307e-02 6.11644838e-02 6.19005860e+01] [-4.20897383e-02 9.99080521e-01 -8.15881292e-03 -7.10334524e+00] [-6.14550831e-02 5.56175066e-03 9.98094354e-01 -4.42933650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.19071405700001 meters 0.04612530299877994 Centerline is valid? [True, True] Translation: X:61.93, Y:-7.10, Z:-4.43 [[ 9.97229854e-01 4.32515925e-02 6.05137890e-02 6.19338597e+01] [-4.28397906e-02 9.99049227e-01 -8.08661942e-03 -7.10056598e+00] [-6.08060133e-02 5.47182025e-03 9.98134604e-01 -4.43168309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.22071405700001 meters 0.04784504794789677 Centerline is valid? [True, True] Translation: X:61.96, Y:-7.11, Z:-4.43 [[ 9.97200135e-01 4.40288705e-02 6.04429387e-02 6.19645673e+01] [-4.36185022e-02 9.99015483e-01 -8.09270695e-03 -7.10682819e+00] [-6.07397443e-02 5.43361801e-03 9.98138848e-01 -4.43404624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.25071405700001 meters 0.048180451165715156 Centerline is valid? [True, True] Translation: X:62.00, Y:-7.11, Z:-4.44 [[ 9.97141107e-01 4.50679111e-02 6.06506107e-02 6.19966761e+01] [-4.46557480e-02 9.98969314e-01 -8.13476001e-03 -7.11098968e+00] [-6.09547156e-02 5.40310521e-03 9.98125908e-01 -4.43585568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.280714057 meters 0.04566759329149817 Centerline is valid? [True, True] Translation: X:62.03, Y:-7.11, Z:-4.44 [[ 9.97067980e-01 4.63697753e-02 6.08710760e-02 6.20288552e+01] [-4.59559896e-02 9.98909965e-01 -8.18097705e-03 -7.11044166e+00] [-6.11840745e-02 5.35959972e-03 9.98112110e-01 -4.43718733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.310714057 meters 0.04549140874383425 Centerline is valid? [True, True] Translation: X:62.06, Y:-7.11, Z:-4.44 [[ 9.97013970e-01 4.73631238e-02 6.09908078e-02 6.20607609e+01] [-4.69494303e-02 9.98863618e-01 -8.19899458e-03 -7.11387449e+00] [-6.13098290e-02 5.31102845e-03 9.98104653e-01 -4.43927809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.340714057 meters 0.04613029642371094 Centerline is valid? [True, True] Translation: X:62.09, Y:-7.12, Z:-4.44 [[ 9.96938987e-01 4.90611568e-02 6.08741216e-02 6.20913325e+01] [-4.86511462e-02 9.98782169e-01 -8.20026890e-03 -7.11764214e+00] [-6.12023019e-02 5.21357198e-03 9.98111766e-01 -4.44170477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.370714057 meters 0.04605413493315121 Centerline is valid? [True, True] Translation: X:62.12, Y:-7.12, Z:-4.44 [[ 9.96878065e-01 5.01704014e-02 6.09676492e-02 6.21230158e+01] [-4.97610582e-02 9.98727366e-01 -8.21493864e-03 -7.12144667e+00] [-6.13022065e-02 5.15547739e-03 9.98105937e-01 -4.44416554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.400714057 meters 0.04610068033524036 Centerline is valid? [True, True] Translation: X:62.15, Y:-7.12, Z:-4.45 [[ 9.96764097e-01 5.26848979e-02 6.07094361e-02 6.21526929e+01] [-5.22834253e-02 9.98598753e-01 -8.18377042e-03 -7.12342949e+00] [-6.10555283e-02 4.98319127e-03 9.98121932e-01 -4.44691597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.430714057 meters 0.046033502329934646 Centerline is valid? [True, True] Translation: X:62.18, Y:-7.13, Z:-4.45 [[ 9.96672923e-01 5.43636910e-02 6.07262152e-02 6.21830842e+01] [-5.39651043e-02 9.98509269e-01 -8.18577396e-03 -7.12655063e+00] [-6.10806977e-02 4.88144272e-03 9.98120894e-01 -4.44875395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.460714057 meters 0.04247855256361201 Centerline is valid? [True, True] Translation: X:62.22, Y:-7.12, Z:-4.45 [[ 9.96579981e-01 5.58837338e-02 6.08715924e-02 6.22154772e+01] [-5.54859251e-02 9.98425736e-01 -8.20737461e-03 -7.12481247e+00] [-6.12344232e-02 4.80178862e-03 9.98111862e-01 -4.45021261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.490714057 meters 0.04204473030305335 Centerline is valid? [True, True] Translation: X:62.25, Y:-7.13, Z:-4.45 [[ 9.96439705e-01 5.86423105e-02 6.05722185e-02 6.22461626e+01] [-5.82532572e-02 9.98268401e-01 -8.17053010e-03 -7.12579448e+00] [-6.09464705e-02 4.61291158e-03 9.98130377e-01 -4.45221281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.520714057 meters 0.04228221847255234 Centerline is valid? [True, True] Translation: X:62.28, Y:-7.13, Z:-4.45 [[ 9.96414889e-01 5.95420621e-02 6.01008494e-02 6.22764296e+01] [-5.91606027e-02 9.98215548e-01 -8.10815080e-03 -7.12958380e+00] [-6.04763784e-02 4.52347970e-03 9.98159379e-01 -4.45449422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.55071405700001 meters 0.041326449249626696 Centerline is valid? [True, True] Translation: X:62.31, Y:-7.13, Z:-4.46 [[ 9.96368124e-01 6.06197466e-02 5.97980528e-02 6.23064925e+01] [-6.02440466e-02 9.98151076e-01 -8.06744792e-03 -7.13123359e+00] [-6.01765374e-02 4.43567128e-03 9.98177895e-01 -4.45683172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.58071405700001 meters 0.04191427507338076 Centerline is valid? [True, True] Translation: X:62.34, Y:-7.14, Z:-4.46 [[ 9.96398473e-01 6.04087676e-02 5.95051620e-02 6.23358449e+01] [-6.00364245e-02 9.98163912e-01 -8.02703538e-03 -7.13545645e+00] [-5.98808086e-02 4.42564863e-03 9.98195723e-01 -4.45935172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.61071405700001 meters 0.042737387787858065 Centerline is valid? [True, True] Translation: X:62.36, Y:-7.14, Z:-4.46 [[ 9.96429293e-01 6.02920438e-02 5.91061146e-02 6.23637861e+01] [-5.99245958e-02 9.98171078e-01 -7.97128556e-03 -7.14018968e+00] [-5.94786193e-02 4.40091241e-03 9.98219878e-01 -4.46151771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.64071405700001 meters 0.046045459614893286 Centerline is valid? [True, True] Translation: X:62.39, Y:-7.15, Z:-4.46 [[ 9.96512785e-01 5.92125152e-02 5.87890095e-02 6.23914844e+01] [-5.88473239e-02 9.98235534e-01 -7.92539507e-03 -7.14898726e+00] [-5.91545608e-02 4.43818163e-03 9.98238970e-01 -4.46423701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.670714057 meters 0.04430508779767312 Centerline is valid? [True, True] Translation: X:62.42, Y:-7.15, Z:-4.47 [[ 9.96530975e-01 5.87217245e-02 5.89726679e-02 6.24212822e+01] [-5.83535687e-02 9.98264346e-01 -7.94715853e-03 -7.15088835e+00] [-5.93369825e-02 4.47832401e-03 9.98227964e-01 -4.46606505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.700714057 meters 0.040128473527249166 Centerline is valid? [True, True] Translation: X:62.45, Y:-7.15, Z:-4.47 [[ 9.96621525e-01 5.73316285e-02 5.88100351e-02 6.24518905e+01] [-5.69632290e-02 9.98344838e-01 -7.92305540e-03 -7.14959142e+00] [-5.91669366e-02 4.54627806e-03 9.98237750e-01 -4.46708895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.730714057 meters 0.04435726913355507 Centerline is valid? [True, True] Translation: X:62.48, Y:-7.16, Z:-4.47 [[ 9.96625046e-01 5.68525796e-02 5.92140396e-02 6.24800885e+01] [-5.64783186e-02 9.98371963e-01 -7.97639576e-03 -7.16059353e+00] [-5.95711156e-02 4.60516639e-03 9.98213441e-01 -4.46936373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.760714057 meters 0.046151624313481 Centerline is valid? [True, True] Translation: X:62.51, Y:-7.17, Z:-4.47 [[ 9.96657630e-01 5.62513253e-02 5.92398291e-02 6.25088026e+01] [-5.58757474e-02 9.98405849e-01 -7.97879155e-03 -7.16763789e+00] [-5.95942095e-02 4.64205375e-03 9.98211892e-01 -4.47136527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.790714057 meters 0.043710535932119904 Centerline is valid? [True, True] Translation: X:62.54, Y:-7.17, Z:-4.47 [[ 9.96703402e-01 5.53951310e-02 5.92765428e-02 6.25387597e+01] [-5.50176441e-02 9.98453472e-01 -7.98271519e-03 -7.16880031e+00] [-5.96270735e-02 4.69514364e-03 9.98209681e-01 -4.47321512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.820714057 meters 0.04442959385397283 Centerline is valid? [True, True] Translation: X:62.57, Y:-7.18, Z:-4.48 [[ 9.96834607e-01 5.42736984e-02 5.80958789e-02 6.25692738e+01] [-5.39093207e-02 9.98515197e-01 -7.82217413e-03 -7.17645900e+00] [-5.84341563e-02 4.66550451e-03 9.98280363e-01 -4.47627713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.850714057 meters 0.04363599050732617 Centerline is valid? [True, True] Translation: X:62.60, Y:-7.18, Z:-4.48 [[ 9.96931211e-01 5.22990689e-02 5.82491925e-02 6.25994867e+01] [-5.19292846e-02 9.98619950e-01 -7.84507078e-03 -7.18265937e+00] [-5.85790955e-02 4.79615702e-03 9.98271249e-01 -4.47858369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.880714057 meters 0.05227566661003943 Centerline is valid? [True, True] Translation: X:62.63, Y:-7.20, Z:-4.48 [[ 9.96990248e-01 5.13142631e-02 5.81144785e-02 6.26279876e+01] [-5.09444785e-02 9.98670809e-01 -7.82779811e-03 -7.20010489e+00] [-5.84389109e-02 4.84362658e-03 9.98279236e-01 -4.48226266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.910714057 meters 0.04250199372527022 Centerline is valid? [True, True] Translation: X:62.66, Y:-7.19, Z:-4.48 [[ 9.97039925e-01 5.07480551e-02 5.77583087e-02 6.26610852e+01] [-5.03818521e-02 9.98699726e-01 -7.77984415e-03 -7.19272914e+00] [-5.80780191e-02 4.84684466e-03 9.98300281e-01 -4.48264351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.94071405700001 meters 0.04645130255157658 Centerline is valid? [True, True] Translation: X:62.69, Y:-7.20, Z:-4.49 [[ 9.97089298e-01 4.95829337e-02 5.79177476e-02 6.26910576e+01] [-4.92119485e-02 9.98757783e-01 -7.81511363e-03 -7.20398969e+00] [-5.82332974e-02 4.94212095e-03 9.98290769e-01 -4.48515236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.97071405700001 meters 0.04762422719082098 Centerline is valid? [True, True] Translation: X:62.72, Y:-7.21, Z:-4.49 [[ 9.97177021e-01 4.72500625e-02 5.83559801e-02 6.27205305e+01] [-4.68685344e-02 9.98869904e-01 -7.89019180e-03 -7.21420163e+00] [-5.86628443e-02 5.13285869e-03 9.98264657e-01 -4.48730314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.00071405700001 meters 0.04743552444815292 Centerline is valid? [True, True] Translation: X:62.75, Y:-7.22, Z:-4.49 [[ 9.97275617e-01 4.45155044e-02 5.88193230e-02 6.27499786e+01] [-4.41231000e-02 9.98994437e-01 -7.95400948e-03 -7.22314201e+00] [-5.91142532e-02 5.33704884e-03 9.98236956e-01 -4.48892650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.030714057 meters 0.047540139169759646 Centerline is valid? [True, True] Translation: X:62.78, Y:-7.23, Z:-4.49 [[ 9.97361179e-01 4.29434485e-02 5.85366416e-02 6.27802321e+01] [-4.25521205e-02 9.99062888e-01 -7.91594011e-03 -7.22984282e+00] [-5.88217240e-02 5.40419313e-03 9.98253875e-01 -4.49162979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.060714057 meters 0.04631879174755254 Centerline is valid? [True, True] Translation: X:62.81, Y:-7.24, Z:-4.49 [[ 9.97431387e-01 4.14975573e-02 5.83830487e-02 6.28105050e+01] [-4.11057683e-02 9.99123599e-01 -7.89621932e-03 -7.23520312e+00] [-5.86595555e-02 5.47605691e-03 9.98263026e-01 -4.49399842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.090714057 meters 0.048534089187102225 Centerline is valid? [True, True] Translation: X:62.84, Y:-7.25, Z:-4.50 [[ 9.97637996e-01 3.84997041e-02 5.68876175e-02 6.28392718e+01] [-3.81228638e-02 9.99243430e-01 -7.69515223e-03 -7.24753188e+00] [-5.71408391e-02 5.50825736e-03 9.98350932e-01 -4.49780912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.120714057 meters 0.04922369387385582 Centerline is valid? [True, True] Translation: X:62.87, Y:-7.26, Z:-4.50 [[ 9.97709588e-01 3.74121117e-02 5.63552300e-02 6.28705249e+01] [-3.70406225e-02 9.99284689e-01 -7.62247298e-03 -7.25553842e+00] [-5.66000913e-02 5.51758157e-03 9.98381684e-01 -4.50064866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.150714057 meters 0.050027836249150595 Centerline is valid? [True, True] Translation: X:62.90, Y:-7.27, Z:-4.50 [[ 9.97789618e-01 3.53062375e-02 5.62969522e-02 6.28999679e+01] [-3.49319332e-02 9.99360649e-01 -7.61931190e-03 -7.26677772e+00] [-5.65299679e-02 5.63590894e-03 9.98384996e-01 -4.50316866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.180714057 meters 0.05334400690077213 Centerline is valid? [True, True] Translation: X:62.93, Y:-7.28, Z:-4.51 [[ 9.97788937e-01 3.46920607e-02 5.66894805e-02 6.29295953e+01] [-3.43116119e-02 9.99381743e-01 -7.67100547e-03 -7.27893318e+00] [-5.69205549e-02 5.70893694e-03 9.98362388e-01 -4.50613572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.210714057 meters 0.048764602308641165 Centerline is valid? [True, True] Translation: X:62.96, Y:-7.28, Z:-4.51 [[ 9.97811292e-01 3.43263249e-02 5.65184018e-02 6.29617689e+01] [-3.39468530e-02 9.99394278e-01 -7.66085800e-03 -7.28066483e+00] [-5.67471365e-02 5.72546874e-03 9.98372166e-01 -4.50803170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.240714057 meters 0.049741968688470736 Centerline is valid? [True, True] Translation: X:62.99, Y:-7.29, Z:-4.51 [[ 9.97758692e-01 3.46398137e-02 5.72509905e-02 6.29915153e+01] [-3.42499948e-02 9.99383042e-01 -7.77650200e-03 -7.29325708e+00] [-5.74850456e-02 5.79822633e-03 9.98329530e-01 -4.51100116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.270714057 meters 0.05075833908895518 Centerline is valid? [True, True] Translation: X:63.02, Y:-7.30, Z:-4.51 [[ 9.97717628e-01 3.57278215e-02 5.72979724e-02 6.30224591e+01] [-3.53387162e-02 9.99345030e-01 -7.79016572e-03 -7.30182152e+00] [-5.75387696e-02 5.74754888e-03 9.98326728e-01 -4.51346890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.30071405700001 meters 0.05149701000586681 Centerline is valid? [True, True] Translation: X:63.05, Y:-7.31, Z:-4.52 [[ 9.97591593e-01 3.83306411e-02 5.78080971e-02 6.30511794e+01] [-3.79378585e-02 9.99249052e-01 -7.87723735e-03 -7.31214780e+00] [-5.80666258e-02 5.66515034e-03 9.98296636e-01 -4.51570742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.33071405700001 meters 0.048526275511165486 Centerline is valid? [True, True] Translation: X:63.08, Y:-7.31, Z:-4.52 [[ 9.97514449e-01 4.03372181e-02 5.77739866e-02 6.30822400e+01] [-3.99482950e-02 9.99170743e-01 -7.87147794e-03 -7.31493234e+00] [-5.80435907e-02 5.54394071e-03 9.98298656e-01 -4.51726701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.36071405700001 meters 0.04899960173940834 Centerline is valid? [True, True] Translation: X:63.11, Y:-7.32, Z:-4.52 [[ 9.97422656e-01 4.22722296e-02 5.79750303e-02 6.31108956e+01] [-4.18837964e-02 9.99091261e-01 -7.89939545e-03 -7.32212367e+00] [-5.82562712e-02 5.45082162e-03 9.98286780e-01 -4.51979710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.39071405700001 meters 0.04904190194859108 Centerline is valid? [True, True] Translation: X:63.14, Y:-7.33, Z:-4.52 [[ 9.97268144e-01 4.60671239e-02 5.77413921e-02 6.31390323e+01] [-4.56878282e-02 9.98924744e-01 -7.87258906e-03 -7.33157835e+00] [-5.80419728e-02 5.21300348e-03 9.98300533e-01 -4.52249760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.420714057 meters 0.04868646459088939 Centerline is valid? [True, True] Translation: X:63.17, Y:-7.34, Z:-4.53 [[ 9.97148731e-01 4.83928498e-02 5.79011277e-02 6.31693801e+01] [-4.80154205e-02 9.98815409e-01 -7.89291069e-03 -7.33828977e+00] [-5.82144990e-02 5.09025888e-03 9.98291121e-01 -4.52510820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.450714057 meters 0.04735677831893639 Centerline is valid? [True, True] Translation: X:63.20, Y:-7.35, Z:-4.53 [[ 9.96889643e-01 5.33004474e-02 5.80525815e-02 6.31978284e+01] [-5.29292076e-02 9.98566899e-01 -7.91495549e-03 -7.34622232e+00] [-5.83912570e-02 4.81766001e-03 9.98282150e-01 -4.52758308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.480714057 meters 0.046489952386670974 Centerline is valid? [True, True] Translation: X:63.23, Y:-7.35, Z:-4.53 [[ 9.96730116e-01 5.59832778e-02 5.82661860e-02 6.32282261e+01] [-5.56139338e-02 9.98420756e-01 -7.94258025e-03 -7.35227580e+00] [-5.86188211e-02 4.67619712e-03 9.98269486e-01 -4.52996470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.510714057 meters 0.045700978399995866 Centerline is valid? [True, True] Translation: X:63.26, Y:-7.36, Z:-4.53 [[ 9.96606566e-01 5.82042752e-02 5.82032235e-02 6.32584825e+01] [-5.78394309e-02 9.98294363e-01 -7.93501086e-03 -7.35774223e+00] [-5.85658015e-02 4.54164259e-03 9.98273219e-01 -4.53240171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.540714057 meters 0.0380878244654676 Centerline is valid? [True, True] Translation: X:63.29, Y:-7.36, Z:-4.53 [[ 9.96267255e-01 6.32911982e-02 5.87007747e-02 6.32896413e+01] [-6.29287838e-02 9.97985924e-01 -8.00395330e-03 -7.35651103e+00] [-5.90891267e-02 4.28010822e-03 9.98243535e-01 -4.53377643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.570714057 meters 0.03827917571455869 Centerline is valid? [True, True] Translation: X:63.32, Y:-7.36, Z:-4.54 [[ 9.96094338e-01 6.58200838e-02 5.88539343e-02 6.33184784e+01] [-6.54601246e-02 9.97822912e-01 -8.02543083e-03 -7.36382569e+00] [-5.92540387e-02 4.14150034e-03 9.98234345e-01 -4.53585679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.600714057 meters 0.03728275003926409 Centerline is valid? [True, True] Translation: X:63.35, Y:-7.37, Z:-4.54 [[ 9.95792190e-01 6.99021270e-02 5.92588182e-02 6.33480264e+01] [-6.95443775e-02 9.97546131e-01 -8.08062641e-03 -7.37132526e+00] [-5.96782578e-02 3.92550704e-03 9.98209946e-01 -4.53912653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.630714057 meters 0.03425537394867928 Centerline is valid? [True, True] Translation: X:63.38, Y:-7.37, Z:-4.54 [[ 9.95648491e-01 7.19204175e-02 5.92582142e-02 6.33794363e+01] [-7.15662438e-02 9.97403119e-01 -8.08033202e-03 -7.37358968e+00] [-5.96854685e-02 3.80428258e-03 9.98209984e-01 -4.54106527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.660714057 meters 0.037107941936703505 Centerline is valid? [True, True] Translation: X:63.41, Y:-7.38, Z:-4.54 [[ 9.95450909e-01 7.42705153e-02 5.96772803e-02 6.34086318e+01] [-7.39154108e-02 9.97231301e-01 -8.13910448e-03 -7.38390430e+00] [-6.01165473e-02 3.69100826e-03 9.98184541e-01 -4.54366853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.69071405700001 meters 0.037107941936703505 Centerline is valid? [True, True] Translation: X:63.44, Y:-7.39, Z:-4.55 [[ 9.95450932e-01 7.42710214e-02 5.96762738e-02 6.34383435e+01] [-7.39154776e-02 9.97231236e-01 -8.14647713e-03 -7.38795733e+00] [-6.01160915e-02 3.69841796e-03 9.98184541e-01 -4.54573172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.72071405700001 meters 0.0356530496990199 Centerline is valid? [True, True] Translation: X:63.47, Y:-7.39, Z:-4.55 [[ 9.95303092e-01 7.55477355e-02 6.05334236e-02 6.34682195e+01] [-7.51842392e-02 9.97135420e-01 -8.26348764e-03 -7.39442574e+00] [-6.09843086e-02 3.67351539e-03 9.98131965e-01 -4.54779616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.75071405700001 meters 0.036090190091823966 Centerline is valid? [True, True] Translation: X:63.50, Y:-7.40, Z:-4.55 [[ 9.95265146e-01 7.57014662e-02 6.09637412e-02 6.34978403e+01] [-7.53330628e-02 9.97123699e-01 -8.32223079e-03 -7.40184555e+00] [-6.14183962e-02 3.69024089e-03 9.98105286e-01 -4.54982899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.780714057 meters 0.03484848185438181 Centerline is valid? [True, True] Translation: X:63.53, Y:-7.41, Z:-4.55 [[ 9.95254360e-01 7.53132947e-02 6.16170924e-02 6.35282735e+01] [-7.49362142e-02 9.97152855e-01 -8.41118664e-03 -7.40897519e+00] [-6.20751338e-02 3.75391854e-03 9.98064420e-01 -4.55155344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.810714057 meters 0.03435090094754841 Centerline is valid? [True, True] Translation: X:63.56, Y:-7.41, Z:-4.55 [[ 9.95324932e-01 7.44504268e-02 6.15257091e-02 6.35593717e+01] [-7.40726869e-02 9.97217459e-01 -8.40093298e-03 -7.41479839e+00] [-6.19799644e-02 3.80428346e-03 9.98070144e-01 -4.55377103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.840714057 meters 0.036965216577366615 Centerline is valid? [True, True] Translation: X:63.59, Y:-7.43, Z:-4.56 [[ 9.95367588e-01 7.36692525e-02 6.17754423e-02 6.35896701e+01] [-7.32868746e-02 9.97275221e-01 -8.43604575e-03 -7.42570312e+00] [-6.22285951e-02 3.86963742e-03 9.98054421e-01 -4.55645456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.870714057 meters 0.035462103080328065 Centerline is valid? [True, True] Translation: X:63.62, Y:-7.43, Z:-4.56 [[ 9.95511667e-01 7.12144685e-02 6.23299366e-02 6.36201585e+01] [-7.08193824e-02 9.97452701e-01 -8.52788437e-03 -7.43180201e+00] [-6.27784724e-02 4.07544076e-03 9.98019165e-01 -4.55787903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.900714057 meters 0.037417477016055516 Centerline is valid? [True, True] Translation: X:63.65, Y:-7.44, Z:-4.56 [[ 9.95489450e-01 7.06613828e-02 6.33065858e-02 6.36507066e+01] [-7.02526763e-02 9.97491623e-01 -8.66164665e-03 -7.44110504e+00] [-6.37598330e-02 4.17512078e-03 9.97956538e-01 -4.55966056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.930714057 meters 0.03831380302788903 Centerline is valid? [True, True] Translation: X:63.68, Y:-7.45, Z:-4.56 [[ 9.95537691e-01 6.97814666e-02 6.35236418e-02 6.36822633e+01] [-6.93672071e-02 9.97553202e-01 -8.70630606e-03 -7.44792365e+00] [-6.39757511e-02 4.26099821e-03 9.97942357e-01 -4.56120389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.960714057 meters 0.03594123612064337 Centerline is valid? [True, True] Translation: X:63.71, Y:-7.45, Z:-4.56 [[ 9.95639825e-01 6.77052139e-02 6.41665198e-02 6.37136232e+01] [-6.72771268e-02 9.97695418e-01 -8.81136932e-03 -7.45149244e+00] [-6.46152185e-02 4.45601112e-03 9.97900304e-01 -4.56326599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.990714057 meters 0.03580650261210684 Centerline is valid? [True, True] Translation: X:63.75, Y:-7.46, Z:-4.57 [[ 9.95604443e-01 6.81649005e-02 6.42288041e-02 6.37458889e+01] [-6.77368338e-02 9.97664224e-01 -8.82142912e-03 -7.45580480e+00] [-6.46800918e-02 4.43199820e-03 9.97896209e-01 -4.56556416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.020714057 meters 0.035915313541958524 Centerline is valid? [True, True] Translation: X:63.78, Y:-7.46, Z:-4.57 [[ 9.95787248e-01 6.48820398e-02 6.47925753e-02 6.37756110e+01] [-6.44383229e-02 9.97881852e-01 -8.91691410e-03 -7.46352984e+00] [-6.52338827e-02 4.70422446e-03 9.97858913e-01 -4.56800875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.05071405700001 meters 0.037506863338453586 Centerline is valid? [True, True] Translation: X:63.81, Y:-7.47, Z:-4.57 [[ 9.95835842e-01 6.39901726e-02 6.49325298e-02 6.38059853e+01] [-6.35426168e-02 9.97939112e-01 -8.93667114e-03 -7.47177758e+00] [-6.53705702e-02 4.77347457e-03 9.97849639e-01 -4.57028574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.08071405700001 meters 0.04018562323401756 Centerline is valid? [True, True] Translation: X:63.84, Y:-7.48, Z:-4.57 [[ 9.95846513e-01 6.37088013e-02 6.50454509e-02 6.38362833e+01] [-6.32580461e-02 9.97956909e-01 -8.96809435e-03 -7.48033822e+00] [-6.54839037e-02 4.81619736e-03 9.97842003e-01 -4.57291111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.11071405700001 meters 0.039012653108091475 Centerline is valid? [True, True] Translation: X:63.87, Y:-7.48, Z:-4.58 [[ 9.95899807e-01 6.28704052e-02 6.50452618e-02 6.38679324e+01] [-6.24168552e-02 9.98009735e-01 -8.98362534e-03 -7.48313235e+00] [-6.54806086e-02 4.88687005e-03 9.97841875e-01 -4.57555594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.14071405700001 meters 0.03800538139379361 Centerline is valid? [True, True] Translation: X:63.90, Y:-7.49, Z:-4.58 [[ 9.95906249e-01 6.30415955e-02 6.47803945e-02 6.39004890e+01] [-6.25910968e-02 9.97999013e-01 -8.96236601e-03 -7.48704674e+00] [-6.52157717e-02 4.87100037e-03 9.97859297e-01 -4.57789608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.170714057 meters 0.03957855533477069 Centerline is valid? [True, True] Translation: X:63.93, Y:-7.49, Z:-4.58 [[ 9.95924761e-01 6.30114655e-02 6.45246087e-02 6.39312932e+01] [-6.25631743e-02 9.98000904e-01 -8.94674490e-03 -7.49334365e+00] [-6.49593654e-02 4.87342044e-03 9.97876010e-01 -4.58013646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.200714057 meters 0.03960668810963769 Centerline is valid? [True, True] Translation: X:63.96, Y:-7.50, Z:-4.58 [[ 9.95910589e-01 6.31825499e-02 6.45760336e-02 6.39639213e+01] [-6.27333312e-02 9.97990081e-01 -8.96260175e-03 -7.49797352e+00] [-6.50125210e-02 4.87488028e-03 9.97872541e-01 -4.58248461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.230714057 meters 0.04160113950318686 Centerline is valid? [True, True] Translation: X:63.99, Y:-7.50, Z:-4.58 [[ 9.95903082e-01 6.39181446e-02 6.39650080e-02 6.39946454e+01] [-6.34776896e-02 9.97943602e-01 -8.89668771e-03 -7.50465899e+00] [-6.44021302e-02 4.79988778e-03 9.97912484e-01 -4.58483329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.260714057 meters 0.04187160233683457 Centerline is valid? [True, True] Translation: X:64.02, Y:-7.51, Z:-4.59 [[ 9.95780607e-01 6.58638231e-02 6.38978856e-02 6.40244618e+01] [-6.54272615e-02 9.97817623e-01 -8.90303694e-03 -7.50946582e+00] [-6.43448244e-02 4.68480786e-03 9.97916728e-01 -4.58652239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.290714057 meters 0.04064831484746456 Centerline is valid? [True, True] Translation: X:64.06, Y:-7.51, Z:-4.59 [[ 9.95768374e-01 6.65326166e-02 6.33936546e-02 6.40570831e+01] [-6.61038524e-02 9.97773594e-01 -8.83940811e-03 -7.51180158e+00] [-6.38406236e-02 4.61143826e-03 9.97949452e-01 -4.58876581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.320714057 meters 0.04163621972137146 Centerline is valid? [True, True] Translation: X:64.09, Y:-7.52, Z:-4.59 [[ 9.95730638e-01 6.78480568e-02 6.25870348e-02 6.40872854e+01] [-6.74321603e-02 9.97685615e-01 -8.73603039e-03 -7.51625273e+00] [-6.30349070e-02 4.47835416e-03 9.98001275e-01 -4.59143577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.350714057 meters 0.04087810096947485 Centerline is valid? [True, True] Translation: X:64.12, Y:-7.52, Z:-4.59 [[ 9.95529694e-01 7.12273979e-02 6.20264962e-02 6.41167599e+01] [-7.08253740e-02 9.97451146e-01 -8.65898951e-03 -7.51788178e+00] [-6.24851570e-02 4.22723139e-03 9.98036941e-01 -4.59343588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.380714057 meters 0.036567887015926795 Centerline is valid? [True, True] Translation: X:64.15, Y:-7.52, Z:-4.59 [[ 9.95348350e-01 7.32439393e-02 6.25858468e-02 6.41490584e+01] [-7.28386056e-02 9.97305473e-01 -8.73672960e-03 -7.51505020e+00] [-6.30571200e-02 4.13742358e-03 9.98001343e-01 -4.59474614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.410714057 meters 0.03603746074776645 Centerline is valid? [True, True] Translation: X:64.18, Y:-7.52, Z:-4.60 [[ 9.95022105e-01 7.69564327e-02 6.33144435e-02 6.41786587e+01] [-7.65488240e-02 9.97026626e-01 -8.84222346e-03 -7.51622053e+00] [-6.38066520e-02 3.95156160e-03 9.97954456e-01 -4.59553393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.44071405700001 meters 0.035791033574106526 Centerline is valid? [True, True] Translation: X:64.21, Y:-7.52, Z:-4.60 [[ 9.94806859e-01 7.90492642e-02 6.41133981e-02 6.42105168e+01] [-7.86356434e-02 9.96863217e-01 -8.95329931e-03 -7.51922737e+00] [-6.46200400e-02 3.86520525e-03 9.97902455e-01 -4.59728261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.47071405700001 meters 0.03531102441836052 Centerline is valid? [True, True] Translation: X:64.24, Y:-7.52, Z:-4.60 [[ 9.94448299e-01 8.26133980e-02 6.51736726e-02 6.42404343e+01] [-8.21933335e-02 9.96574811e-01 -9.10507002e-03 -7.52134016e+00] [-6.57026412e-02 3.69767998e-03 9.97832396e-01 -4.59877586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.50071405700001 meters 0.033755935557759416 Centerline is valid? [True, True] Translation: X:64.27, Y:-7.52, Z:-4.60 [[ 9.94338975e-01 8.38363074e-02 6.52799828e-02 6.42714644e+01] [-8.34174951e-02 9.96472955e-01 -9.11989175e-03 -7.52208365e+00] [-6.58143153e-02 3.62277117e-03 9.97825311e-01 -4.60091532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.530714057 meters 0.03515393636163113 Centerline is valid? [True, True] Translation: X:64.30, Y:-7.53, Z:-4.60 [[ 9.94248653e-01 8.47579324e-02 6.54653272e-02 6.43015428e+01] [-8.43386805e-02 9.96395167e-01 -9.14644050e-03 -7.52845112e+00] [-6.60045690e-02 3.57257683e-03 9.97812925e-01 -4.60314510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.560714057 meters 0.036354977832253194 Centerline is valid? [True, True] Translation: X:64.33, Y:-7.53, Z:-4.61 [[ 9.94311771e-01 8.46148529e-02 6.46871600e-02 6.43317473e+01] [-8.42050856e-02 9.96407439e-01 -9.03983384e-03 -7.53254892e+00] [-6.52196716e-02 3.54142535e-03 9.97864647e-01 -4.60648371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.590714057 meters 0.037567198496232544 Centerline is valid? [True, True] Translation: X:64.36, Y:-7.54, Z:-4.61 [[ 9.94356106e-01 8.38856090e-02 6.49548968e-02 6.43611681e+01] [-8.34705429e-02 9.96468854e-01 -9.08249719e-03 -7.53840100e+00] [-6.54874224e-02 3.60941603e-03 9.97846867e-01 -4.60907688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.620714057 meters 0.03401587777609273 Centerline is valid? [True, True] Translation: X:64.39, Y:-7.54, Z:-4.61 [[ 9.94612697e-01 8.09074930e-02 6.48040145e-02 6.43929049e+01] [-8.04879925e-02 9.96714380e-01 -9.06243856e-03 -7.53761815e+00] [-6.53243123e-02 3.79767142e-03 9.97856859e-01 -4.61123702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.650714057 meters 0.0405720186108797 Centerline is valid? [True, True] Translation: X:64.42, Y:-7.55, Z:-4.61 [[ 9.94818171e-01 7.82976739e-02 6.48558521e-02 6.44212506e+01] [-7.78718352e-02 9.96922102e-01 -9.07188740e-03 -7.55069181e+00] [-6.53665401e-02 3.97443420e-03 9.97853406e-01 -4.61412477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.680714057 meters 0.04207864951110606 Centerline is valid? [True, True] Translation: X:64.45, Y:-7.56, Z:-4.62 [[ 9.94957808e-01 7.61308424e-02 6.52920821e-02 6.44517840e+01] [-7.56942408e-02 9.97089199e-01 -9.13839432e-03 -7.55741228e+00] [-6.57977436e-02 4.15008219e-03 9.97824350e-01 -4.61592827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.710714057 meters 0.03659624196912346 Centerline is valid? [True, True] Translation: X:64.48, Y:-7.55, Z:-4.62 [[ 9.95214784e-01 7.21056279e-02 6.59417292e-02 6.44829825e+01] [-7.16513356e-02 9.97387018e-01 -9.23161500e-03 -7.55380527e+00] [-6.64350760e-02 4.46262676e-03 9.97780770e-01 -4.61681270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.740714057 meters 0.03520640694811728 Centerline is valid? [True, True] Translation: X:64.51, Y:-7.56, Z:-4.62 [[ 9.95373478e-01 6.97777591e-02 6.60507663e-02 6.45141036e+01] [-6.93168516e-02 9.97551836e-01 -9.24706883e-03 -7.55624874e+00] [-6.65343029e-02 4.62585590e-03 9.97773415e-01 -4.61880131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.770714057 meters 0.04000154486521047 Centerline is valid? [True, True] Translation: X:64.54, Y:-7.57, Z:-4.62 [[ 9.95611118e-01 6.64888906e-02 6.58614342e-02 6.45422788e+01] [-6.60233036e-02 9.97775454e-01 -9.22311948e-03 -7.56757511e+00] [-6.63281574e-02 4.83425083e-03 9.97786152e-01 -4.62121129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.80071405700001 meters 0.038170872865806005 Centerline is valid? [True, True] Translation: X:64.57, Y:-7.57, Z:-4.62 [[ 9.95744303e-01 6.46277407e-02 6.57003690e-02 6.45730270e+01] [-6.41604188e-02 9.97897186e-01 -9.20039028e-03 -7.56936212e+00] [-6.61568138e-02 4.94587301e-03 9.97796981e-01 -4.62350652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.83071405700001 meters 0.040653305310576336 Centerline is valid? [True, True] Translation: X:64.60, Y:-7.58, Z:-4.63 [[ 9.95841740e-01 6.34231638e-02 6.53967230e-02 6.46028109e+01] [-6.29573563e-02 9.97974169e-01 -9.16125268e-03 -7.57788215e+00] [-6.58452759e-02 5.00595301e-03 9.97817288e-01 -4.62573621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.86071405700001 meters 0.041230690201051724 Centerline is valid? [True, True] Translation: X:64.63, Y:-7.58, Z:-4.63 [[ 9.95974281e-01 6.14069413e-02 6.53025127e-02 6.46334896e+01] [-6.09380144e-02 9.98099608e-01 -9.15047305e-03 -7.58305836e+00] [-6.57403149e-02 5.13423036e-03 9.97823557e-01 -4.62821752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.89071405700001 meters 0.041519194717018613 Centerline is valid? [True, True] Translation: X:64.67, Y:-7.59, Z:-4.63 [[ 9.96017419e-01 6.07724300e-02 6.52381305e-02 6.46653092e+01] [-6.03029621e-02 9.98138244e-01 -9.14320910e-03 -7.58726403e+00] [-6.56723281e-02 5.17274301e-03 9.97827835e-01 -4.63056577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.920714057 meters 0.044375278729644675 Centerline is valid? [True, True] Translation: X:64.69, Y:-7.59, Z:-4.63 [[ 9.96145040e-01 5.92013655e-02 6.47322067e-02 6.46948967e+01] [-5.87347495e-02 9.98232243e-01 -9.08948505e-03 -7.59431726e+00] [-6.51558858e-02 5.25241550e-03 9.97861274e-01 -4.63261645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.950714057 meters 0.044286812717561796 Centerline is valid? [True, True] Translation: X:64.73, Y:-7.60, Z:-4.63 [[ 9.96145323e-01 5.90076603e-02 6.49044765e-02 6.47272049e+01] [-5.85381158e-02 9.98243568e-01 -9.11411889e-03 -7.59825327e+00] [-6.53282791e-02 5.27960115e-03 9.97849859e-01 -4.63499232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.980714057 meters 0.046294530681178996 Centerline is valid? [True, True] Translation: X:64.76, Y:-7.60, Z:-4.64 [[ 9.96163861e-01 5.88043375e-02 6.48044196e-02 6.47572392e+01] [-5.83347253e-02 9.98255451e-01 -9.11674369e-03 -7.60464803e+00] [-6.52274692e-02 5.30142258e-03 9.97856338e-01 -4.63758867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.010714057 meters 0.04496425464655616 Centerline is valid? [True, True] Translation: X:64.79, Y:-7.61, Z:-4.64 [[ 9.96189213e-01 5.88239281e-02 6.43956378e-02 6.47896611e+01] [-5.83597848e-02 9.98254441e-01 -9.06675514e-03 -7.60637903e+00] [-6.48165735e-02 5.27408810e-03 9.97883258e-01 -4.63974292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.040714057 meters 0.0441968126185785 Centerline is valid? [True, True] Translation: X:64.82, Y:-7.61, Z:-4.64 [[ 9.96128921e-01 5.97675529e-02 6.44593908e-02 6.48218757e+01] [-5.93033983e-02 9.98198600e-01 -9.09188614e-03 -7.60904659e+00] [-6.48866734e-02 5.23402980e-03 9.97878913e-01 -4.64152298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.070714057 meters 0.04114897915956593 Centerline is valid? [True, True] Translation: X:64.85, Y:-7.61, Z:-4.64 [[ 9.95965378e-01 6.21389117e-02 6.47435021e-02 6.48531351e+01] [-6.16745028e-02 9.98054382e-01 -9.14908143e-03 -7.60672747e+00] [-6.51860500e-02 5.11914504e-03 9.97859997e-01 -4.64353107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.100714057 meters 0.044650343708097846 Centerline is valid? [True, True] Translation: X:64.88, Y:-7.62, Z:-4.65 [[ 9.95867796e-01 6.36393277e-02 6.47871108e-02 6.48824518e+01] [-6.31773858e-02 9.97960311e-01 -9.15613275e-03 -7.61501834e+00] [-6.52376554e-02 5.02521744e-03 9.97857102e-01 -4.64588367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.130714057 meters 0.044633577369668456 Centerline is valid? [True, True] Translation: X:64.91, Y:-7.62, Z:-4.65 [[ 9.95779144e-01 6.51182568e-02 6.46800550e-02 6.49137442e+01] [-6.46604661e-02 9.97865388e-01 -9.14827625e-03 -7.61808410e+00] [-6.51377080e-02 4.92742018e-03 9.97864119e-01 -4.64828063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.160714057 meters 0.03694194476533277 Centerline is valid? [True, True] Translation: X:64.95, Y:-7.61, Z:-4.65 [[ 9.95635533e-01 6.75458946e-02 6.44006039e-02 6.49458562e+01] [-6.70969518e-02 9.97704860e-01 -9.11106173e-03 -7.60932199e+00] [-6.48682103e-02 4.75021258e-03 9.97882534e-01 -4.65046419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.19071405700001 meters 0.04007283996346905 Centerline is valid? [True, True] Translation: X:64.98, Y:-7.62, Z:-4.65 [[ 9.95555662e-01 6.88373346e-02 6.42677662e-02 6.49760821e+01] [-6.83928954e-02 9.97617029e-01 -9.09262935e-03 -7.61724708e+00] [-6.47405304e-02 4.65676002e-03 9.97891266e-01 -4.65312650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.22071405700001 meters 0.044305909227794475 Centerline is valid? [True, True] Translation: X:65.01, Y:-7.63, Z:-4.66 [[ 9.95504476e-01 7.00963311e-02 6.36972761e-02 6.50067543e+01] [-6.96613432e-02 9.97529853e-01 -9.02713512e-03 -7.62501854e+00] [-6.41727036e-02 4.54931560e-03 9.97928438e-01 -4.65521250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.25071405700001 meters 0.03775808833836546 Centerline is valid? [True, True] Translation: X:65.04, Y:-7.62, Z:-4.66 [[ 9.95495996e-01 7.03637815e-02 6.35347125e-02 6.50408752e+01] [-6.99306344e-02 9.97511089e-01 -9.01846762e-03 -7.61892422e+00] [-6.40111538e-02 4.53482566e-03 9.97938880e-01 -4.65665029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.280714057 meters 0.03728603096970439 Centerline is valid? [True, True] Translation: X:65.07, Y:-7.62, Z:-4.66 [[ 9.95500507e-01 7.02069012e-02 6.36374978e-02 6.50729611e+01] [-6.97708226e-02 9.97521978e-01 -9.05186016e-03 -7.62090700e+00] [-6.41153057e-02 4.57109081e-03 9.97932028e-01 -4.65815637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.310714057 meters 0.04077627136577519 Centerline is valid? [True, True] Translation: X:65.10, Y:-7.63, Z:-4.66 [[ 9.95451075e-01 7.00734270e-02 6.45513200e-02 6.51034699e+01] [-6.96233263e-02 9.97530939e-01 -9.19882749e-03 -7.62717021e+00] [-6.50365322e-02 4.66270510e-03 9.97871990e-01 -4.65956372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.340714057 meters 0.04040924944336125 Centerline is valid? [True, True] Translation: X:65.14, Y:-7.63, Z:-4.66 [[ 9.95384901e-01 7.03176365e-02 6.53018237e-02 6.51364024e+01] [-6.98564854e-02 9.97513501e-01 -9.32134544e-03 -7.63010341e+00] [-6.57949057e-02 4.71657062e-03 9.97822020e-01 -4.66095019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.370714057 meters 0.038931797154716244 Centerline is valid? [True, True] Translation: X:65.17, Y:-7.63, Z:-4.66 [[ 9.95351837e-01 6.99373151e-02 6.62079480e-02 6.51686752e+01] [-6.94611260e-02 9.97539709e-01 -9.47000599e-03 -7.62950627e+00] [-6.67073639e-02 4.82710925e-03 9.97760907e-01 -4.66194670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.400714057 meters 0.03825890244627758 Centerline is valid? [True, True] Translation: X:65.20, Y:-7.63, Z:-4.66 [[ 9.95368937e-01 6.94645506e-02 6.64481347e-02 6.52007604e+01] [-6.89827030e-02 9.97572418e-01 -9.52140976e-03 -7.63191445e+00] [-6.69482269e-02 4.89354357e-03 9.97744450e-01 -4.66424753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.430714057 meters 0.03901037784022547 Centerline is valid? [True, True] Translation: X:65.23, Y:-7.64, Z:-4.67 [[ 9.95393583e-01 6.91256202e-02 6.64324008e-02 6.52328721e+01] [-6.86420982e-02 9.97595770e-01 -9.53634448e-03 -7.63683438e+00] [-6.69318877e-02 4.93235672e-03 9.97745355e-01 -4.66645126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.460714057 meters 0.04062514992666199 Centerline is valid? [True, True] Translation: X:65.26, Y:-7.64, Z:-4.67 [[ 9.95552443e-01 6.80129374e-02 6.51887520e-02 6.52638248e+01] [-6.75439266e-02 9.97672261e-01 -9.37431512e-03 -7.64148034e+00] [-6.56745843e-02 4.92951804e-03 9.97828918e-01 -4.67019891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.490714057 meters 0.041017037321759806 Centerline is valid? [True, True] Translation: X:65.30, Y:-7.65, Z:-4.67 [[ 9.95646061e-01 6.72606621e-02 6.45362324e-02 6.52957096e+01] [-6.67984572e-02 9.97723187e-01 -9.29557530e-03 -7.64583219e+00] [-6.50145220e-02 4.94418218e-03 9.97872069e-01 -4.67344277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.520714057 meters 0.0401779090806137 Centerline is valid? [True, True] Translation: X:65.33, Y:-7.65, Z:-4.68 [[ 9.95819505e-01 6.60092364e-02 6.31371113e-02 6.53280707e+01] [-6.55633636e-02 9.97806820e-01 -9.11017376e-03 -7.64790909e+00] [-6.35999959e-02 4.93260734e-03 9.97963281e-01 -4.67683922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.55071405700001 meters 0.04105749150779115 Centerline is valid? [True, True] Translation: X:65.36, Y:-7.65, Z:-4.68 [[ 9.95855612e-01 6.58864464e-02 6.26943094e-02 6.53590421e+01] [-6.54463392e-02 9.97815050e-01 -9.05000267e-03 -7.65203994e+00] [-6.31535980e-02 4.90938291e-03 9.97991744e-01 -4.67927331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.58071405700001 meters 0.04096977123018732 Centerline is valid? [True, True] Translation: X:65.39, Y:-7.66, Z:-4.68 [[ 9.95825708e-01 6.64957080e-02 6.25258421e-02 6.53907127e+01] [-6.60582298e-02 9.97774815e-01 -9.04041042e-03 -7.65524625e+00] [-6.29878590e-02 4.87232666e-03 9.98002400e-01 -4.68135614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.61071405700001 meters 0.04096977123018732 Centerline is valid? [True, True] Translation: X:65.42, Y:-7.66, Z:-4.68 [[ 9.95806785e-01 6.67805786e-02 6.25236120e-02 6.54229885e+01] [-6.63426972e-02 9.97755801e-01 -9.05580622e-03 -7.65999447e+00] [-6.29880486e-02 4.86984821e-03 9.98002400e-01 -4.68359799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.64071405700001 meters 0.042500926452702925 Centerline is valid? [True, True] Translation: X:65.45, Y:-7.66, Z:-4.69 [[ 9.95690484e-01 6.86789255e-02 6.23190617e-02 6.54536524e+01] [-6.82463707e-02 9.97627489e-01 -9.04574284e-03 -7.66326071e+00] [-6.27924610e-02 4.75371028e-03 9.98015285e-01 -4.68559277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.670714057 meters 0.041496820214573335 Centerline is valid? [True, True] Translation: X:65.48, Y:-7.66, Z:-4.69 [[ 9.95550003e-01 7.00923375e-02 6.29861515e-02 6.54849853e+01] [-6.96531190e-02 9.97529355e-01 -9.14488999e-03 -7.66475001e+00] [-6.34715218e-02 4.71701336e-03 9.97972502e-01 -4.68779025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.700714057 meters 0.04089229493335567 Centerline is valid? [True, True] Translation: X:65.51, Y:-7.66, Z:-4.69 [[ 9.95264575e-01 7.37655452e-02 6.33014220e-02 6.55145984e+01] [-7.33291300e-02 9.97265423e-01 -9.19319386e-03 -7.66499058e+00] [-6.38064603e-02 4.50782198e-03 9.97952111e-01 -4.68973349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.730714057 meters 0.040582323989706896 Centerline is valid? [True, True] Translation: X:65.54, Y:-7.67, Z:-4.69 [[ 9.95171284e-01 7.50543400e-02 6.32531489e-02 6.55449209e+01] [-7.46212465e-02 9.97169646e-01 -9.18512277e-03 -7.66739810e+00] [-6.37635034e-02 4.42074161e-03 9.97955246e-01 -4.69229255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.760714057 meters 0.04089212832945841 Centerline is valid? [True, True] Translation: X:65.57, Y:-7.67, Z:-4.69 [[ 9.95044156e-01 7.65572799e-02 6.34516396e-02 6.55741429e+01] [-7.61245114e-02 9.97055749e-01 -9.21372304e-03 -7.67076468e+00] [-6.39701996e-02 4.33783620e-03 9.97942381e-01 -4.69448804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.790714057 meters 0.04158200537627819 Centerline is valid? [True, True] Translation: X:65.60, Y:-7.67, Z:-4.70 [[ 9.94947600e-01 7.77427004e-02 6.35243659e-02 6.56036016e+01] [-7.73111207e-02 9.96964312e-01 -9.22770026e-03 -7.67297872e+00] [-6.40489122e-02 4.26993831e-03 9.97937626e-01 -4.69626384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.820714057 meters 0.04182940819778923 Centerline is valid? [True, True] Translation: X:65.63, Y:-7.68, Z:-4.70 [[ 9.94921839e-01 7.78926657e-02 6.37437605e-02 6.56329024e+01] [-7.74584673e-02 9.96952589e-01 -9.25853871e-03 -7.67601441e+00] [-6.42706793e-02 4.27402837e-03 9.97923350e-01 -4.69806657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.850714057 meters 0.04350176977605672 Centerline is valid? [True, True] Translation: X:65.66, Y:-7.68, Z:-4.70 [[ 9.95029238e-01 7.71275640e-02 6.29932810e-02 6.56622887e+01] [-7.67021617e-02 9.97012089e-01 -9.14732689e-03 -7.67990506e+00] [-6.35105737e-02 4.27013688e-03 9.97972030e-01 -4.70069634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.880714057 meters 0.04455302825842509 Centerline is valid? [True, True] Translation: X:65.69, Y:-7.68, Z:-4.70 [[ 9.95137402e-01 7.61350465e-02 6.24900385e-02 6.56920991e+01] [-7.57145510e-02 9.97088254e-01 -9.07310963e-03 -7.68407009e+00] [-6.29988650e-02 4.29758554e-03 9.98004346e-01 -4.70350854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.910714057 meters 0.044603833242187634 Centerline is valid? [True, True] Translation: X:65.72, Y:-7.69, Z:-4.71 [[ 9.95337289e-01 7.43491130e-02 6.14482768e-02 6.57221204e+01] [-7.39391567e-02 9.97222844e-01 -8.92188088e-03 -7.68568598e+00] [-6.19409593e-02 4.33684697e-03 9.98070393e-01 -4.70607193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.94071405700001 meters 0.04171439020911331 Centerline is valid? [True, True] Translation: X:65.75, Y:-7.68, Z:-4.71 [[ 9.95417980e-01 7.32744567e-02 6.14320756e-02 6.57526182e+01] [-7.28626931e-02 9.97302097e-01 -8.91935687e-03 -7.68435723e+00] [-6.19198988e-02 4.40238173e-03 9.98071413e-01 -4.70800582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.97071405700001 meters 0.041953753061519015 Centerline is valid? [True, True] Translation: X:65.78, Y:-7.69, Z:-4.71 [[ 9.95499657e-01 7.23205986e-02 6.12385775e-02 6.57826165e+01] [-7.19097088e-02 9.97371526e-01 -8.89007018e-03 -7.68798057e+00] [-6.17205486e-02 4.44641354e-03 9.98083565e-01 -4.71045212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.00071405700001 meters 0.0442258915215992 Centerline is valid? [True, True] Translation: X:65.81, Y:-7.69, Z:-4.71 [[ 9.95596319e-01 7.11348622e-02 6.10557149e-02 6.58117741e+01] [-7.07242032e-02 9.97456527e-01 -8.86364456e-03 -7.69364816e+00] [-6.15309354e-02 4.50649511e-03 9.98095003e-01 -4.71376116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.030714057 meters 0.045916704057482265 Centerline is valid? [True, True] Translation: X:65.84, Y:-7.70, Z:-4.72 [[ 9.95671435e-01 7.03594715e-02 6.07283989e-02 6.58418932e+01] [-6.99518573e-02 9.97511422e-01 -8.81482617e-03 -7.69906036e+00] [-6.11974781e-02 4.52860632e-03 9.98115404e-01 -4.71618972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.060714057 meters 0.04698855792566513 Centerline is valid? [True, True] Translation: X:65.87, Y:-7.70, Z:-4.72 [[ 9.95761836e-01 6.87221070e-02 6.11198694e-02 6.58720694e+01] [-6.83060758e-02 9.97624956e-01 -8.87282030e-03 -7.70212311e+00] [-6.15844659e-02 4.66035740e-03 9.98090995e-01 -4.71745010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.090714057 meters 0.048543782187396016 Centerline is valid? [True, True] Translation: X:65.90, Y:-7.71, Z:-4.72 [[ 9.95828538e-01 6.77933259e-02 6.10703595e-02 6.59019729e+01] [-6.73762419e-02 9.97688250e-01 -8.86551593e-03 -7.70658658e+00] [-6.15302029e-02 4.71384245e-03 9.98094091e-01 -4.71890422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.120714057 meters 0.0493982054417011 Centerline is valid? [True, True] Translation: X:65.93, Y:-7.71, Z:-4.72 [[ 9.95832596e-01 6.71076359e-02 6.17576329e-02 6.59331862e+01] [-6.66797273e-02 9.97734143e-01 -8.96623877e-03 -7.71074113e+00] [-6.22194021e-02 4.81089071e-03 9.98050901e-01 -4.72036393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.150714057 meters 0.05213597100543949 Centerline is valid? [True, True] Translation: X:65.96, Y:-7.72, Z:-4.72 [[ 9.95980652e-01 6.48195716e-02 6.18139513e-02 6.59624381e+01] [-6.43863882e-02 9.97884672e-01 -8.97629227e-03 -7.71602864e+00] [-6.22650340e-02 4.96023636e-03 9.98047324e-01 -4.72201009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.180714057 meters 0.04754216452282462 Centerline is valid? [True, True] Translation: X:65.99, Y:-7.71, Z:-4.72 [[ 9.96033528e-01 6.38758207e-02 6.19442588e-02 6.59947308e+01] [-6.34387277e-02 9.97945157e-01 -8.99948068e-03 -7.71411478e+00] [-6.23918224e-02 5.03411951e-03 9.98039036e-01 -4.72368793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.210714057 meters 0.04638259907937466 Centerline is valid? [True, True] Translation: X:66.03, Y:-7.71, Z:-4.73 [[ 9.96247644e-01 6.10787407e-02 6.13189954e-02 6.60250504e+01] [-6.06450411e-02 9.98119619e-01 -8.91094221e-03 -7.71468257e+00] [-6.17479615e-02 5.15881219e-03 9.98078442e-01 -4.72659893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.240714057 meters 0.049194999444605494 Centerline is valid? [True, True] Translation: X:66.06, Y:-7.72, Z:-4.73 [[ 9.96301540e-01 6.05185948e-02 6.09978822e-02 6.60552471e+01] [-6.00884712e-02 9.98153707e-01 -8.86298703e-03 -7.72214835e+00] [-6.14216377e-02 5.16493814e-03 9.98098545e-01 -4.72950526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.270714057 meters 0.04798202246481746 Centerline is valid? [True, True] Translation: X:66.09, Y:-7.72, Z:-4.73 [[ 9.96382014e-01 5.95487243e-02 6.06368912e-02 6.60871790e+01] [-5.91209871e-02 9.98211811e-01 -8.82551290e-03 -7.72369554e+00] [-6.10540090e-02 5.20866944e-03 9.98120873e-01 -4.73188126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.30071405700001 meters 0.05400215623008732 Centerline is valid? [True, True] Translation: X:66.12, Y:-7.73, Z:-4.73 [[ 9.96481408e-01 5.80455346e-02 6.04608986e-02 6.61161510e+01] [-5.76172519e-02 9.98299921e-01 -8.80457202e-03 -7.73352692e+00] [-6.08691764e-02 5.29000150e-03 9.98131734e-01 -4.73496848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.33071405700001 meters 0.04711341250501427 Centerline is valid? [True, True] Translation: X:66.15, Y:-7.73, Z:-4.74 [[ 9.96511911e-01 5.79052070e-02 6.00915778e-02 6.61495345e+01] [-5.74819442e-02 9.98308201e-01 -8.74999413e-03 -7.72757224e+00] [-6.04965851e-02 5.26529265e-03 9.98154517e-01 -4.73690168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.36071405700001 meters 0.052655575361866366 Centerline is valid? [True, True] Translation: X:66.18, Y:-7.74, Z:-4.74 [[ 9.96557590e-01 5.73075753e-02 5.99066877e-02 6.61793119e+01] [-5.68849335e-02 9.98342501e-01 -8.73818749e-03 -7.73774185e+00] [-6.03081568e-02 5.30031913e-03 9.98165734e-01 -4.74008926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.39071405700001 meters 0.047606468352674444 Centerline is valid? [True, True] Translation: X:66.21, Y:-7.73, Z:-4.74 [[ 9.96554578e-01 5.72547527e-02 6.00072270e-02 6.62121333e+01] [-5.68297643e-02 9.98345394e-01 -8.76655847e-03 -7.73465924e+00] [-6.04098659e-02 5.32615740e-03 9.98159446e-01 -4.74135000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.420714057 meters 0.05837668467791076 Centerline is valid? [True, True] Translation: X:66.24, Y:-7.75, Z:-4.74 [[ 9.96518901e-01 5.70789996e-02 6.07623950e-02 6.62407262e+01] [-5.66419443e-02 9.98354953e-01 -8.89256996e-03 -7.75166669e+00] [-6.11700170e-02 5.41991384e-03 9.98112646e-01 -4.74371418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.450714057 meters 0.04940650263274912 Centerline is valid? [True, True] Translation: X:66.28, Y:-7.74, Z:-4.74 [[ 9.96479789e-01 5.73470196e-02 6.11502176e-02 6.62757552e+01] [-5.69039956e-02 9.98339418e-01 -8.96331542e-03 -7.74339156e+00] [-6.15626921e-02 5.45207095e-03 9.98088328e-01 -4.74445346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.480714057 meters 0.05001097789479281 Centerline is valid? [True, True] Translation: X:66.31, Y:-7.75, Z:-4.75 [[ 9.96445986e-01 5.74669036e-02 6.15869474e-02 6.63084574e+01] [-5.70166519e-02 9.98332255e-01 -9.04492750e-03 -7.74840953e+00] [-6.20040201e-02 5.50130015e-03 9.98060738e-01 -4.74660559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.510714057 meters 0.05156474365752861 Centerline is valid? [True, True] Translation: X:66.34, Y:-7.75, Z:-4.75 [[ 9.96431723e-01 5.74000773e-02 6.18793464e-02 6.63391301e+01] [-5.69442863e-02 9.98335832e-01 -9.10579488e-03 -7.75358578e+00] [-6.22990421e-02 5.54962766e-03 9.98042099e-01 -4.74856670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.540714057 meters 0.060270565435421954 Centerline is valid? [True, True] Translation: X:66.37, Y:-7.77, Z:-4.75 [[ 9.96458986e-01 5.76318643e-02 6.12213837e-02 6.63689925e+01] [-5.71853234e-02 9.98322809e-01 -9.02258851e-03 -7.76902887e+00] [-6.16386924e-02 5.48967477e-03 9.98083431e-01 -4.75248932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.570714057 meters 0.04864030584354165 Centerline is valid? [True, True] Translation: X:66.40, Y:-7.76, Z:-4.75 [[ 9.96537672e-01 5.75916590e-02 5.99655692e-02 6.64033584e+01] [-5.71622818e-02 9.98325649e-01 -8.85279933e-03 -7.75687172e+00] [-6.03750132e-02 5.39437927e-03 9.98161189e-01 -4.75470913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.600714057 meters 0.053938628927407826 Centerline is valid? [True, True] Translation: X:66.43, Y:-7.77, Z:-4.76 [[ 9.96559606e-01 5.74711766e-02 5.97161242e-02 6.64329764e+01] [-5.70442504e-02 9.98332593e-01 -8.83099969e-03 -7.76765493e+00] [-6.01240811e-02 5.39415602e-03 9.98176336e-01 -4.75774182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.630714057 meters 0.05453134503025518 Centerline is valid? [True, True] Translation: X:66.47, Y:-7.77, Z:-4.76 [[ 9.96553745e-01 5.77934462e-02 5.95025369e-02 6.64657771e+01] [-5.73693457e-02 9.98314126e-01 -8.81269182e-03 -7.77262641e+00] [-5.99115390e-02 5.36869942e-03 9.98189253e-01 -4.76040333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.660714057 meters 0.05510386934478987 Centerline is valid? [True, True] Translation: X:66.50, Y:-7.78, Z:-4.76 [[ 9.96510930e-01 5.87532135e-02 5.92792153e-02 6.64970021e+01] [-5.83329871e-02 9.98258428e-01 -8.79619231e-03 -7.77667942e+00] [-5.96927808e-02 5.30756809e-03 9.98202686e-01 -4.76299691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.69071405700001 meters 0.05577900940150571 Centerline is valid? [True, True] Translation: X:66.53, Y:-7.78, Z:-4.76 [[ 9.96446014e-01 5.94676982e-02 5.96567995e-02 6.65286457e+01] [-5.90425742e-02 9.98216099e-01 -8.86531040e-03 -7.78153699e+00] [-6.00775773e-02 5.31151220e-03 9.98179579e-01 -4.76486479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.72071405700001 meters 0.04306943167202364 Centerline is valid? [True, True] Translation: X:66.56, Y:-7.77, Z:-4.77 [[ 9.96316692e-01 6.11643811e-02 6.00996431e-02 6.65624420e+01] [-6.07350126e-02 9.98113826e-01 -8.94693457e-03 -7.76721513e+00] [-6.05335185e-02 5.26382767e-03 9.98152286e-01 -4.76513779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.75071405700001 meters 0.04381062805746839 Centerline is valid? [True, True] Translation: X:66.59, Y:-7.77, Z:-4.77 [[ 9.96240331e-01 6.23736818e-02 6.01225893e-02 6.65924107e+01] [-6.19460661e-02 9.98039351e-01 -8.95203516e-03 -7.77131693e+00] [-6.05630814e-02 5.19402058e-03 9.98150858e-01 -4.76722920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.780714057 meters 0.043637988036075374 Centerline is valid? [True, True] Translation: X:66.62, Y:-7.77, Z:-4.77 [[ 9.96178381e-01 6.32172250e-02 6.02678619e-02 6.66233291e+01] [-6.27886229e-02 9.97986438e-01 -8.98098029e-03 -7.77455483e+00] [-6.07142615e-02 5.16252235e-03 9.98141837e-01 -4.76908246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.810714057 meters 0.04236982724723807 Centerline is valid? [True, True] Translation: X:66.65, Y:-7.78, Z:-4.77 [[ 9.95940238e-01 6.57515004e-02 6.14799298e-02 6.66541501e+01] [-6.53101741e-02 9.97822943e-01 -9.16275075e-03 -7.77601090e+00] [-6.19485491e-02 5.11028725e-03 9.98066261e-01 -4.76996764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.840714057 meters 0.041473643894212354 Centerline is valid? [True, True] Translation: X:66.68, Y:-7.78, Z:-4.77 [[ 9.95787408e-01 6.70790830e-02 6.25126808e-02 6.66846359e+01] [-6.66252954e-02 9.97734557e-01 -9.31793309e-03 -7.77878156e+00] [-6.29961003e-02 5.11375461e-03 9.98000672e-01 -4.77228021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.870714057 meters 0.041367379491309995 Centerline is valid? [True, True] Translation: X:66.71, Y:-7.78, Z:-4.77 [[ 9.95598010e-01 6.93032442e-02 6.31004240e-02 6.67132600e+01] [-6.88452904e-02 9.97583008e-01 -9.40571766e-03 -7.78224093e+00] [-6.35997576e-02 5.02014676e-03 9.97962860e-01 -4.77388967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.900714057 meters 0.04374119691579672 Centerline is valid? [True, True] Translation: X:66.74, Y:-7.79, Z:-4.78 [[ 9.95545460e-01 6.99494320e-02 6.32163992e-02 6.67415491e+01] [-6.94912370e-02 9.97538080e-01 -9.42060287e-03 -7.78927911e+00] [-6.37197313e-02 4.98565265e-03 9.97955379e-01 -4.77615268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.930714057 meters 0.041617013794635116 Centerline is valid? [True, True] Translation: X:66.77, Y:-7.79, Z:-4.78 [[ 9.95512059e-01 7.03828706e-02 6.32612958e-02 6.67715377e+01] [-6.99249596e-02 9.97507717e-01 -9.42623784e-03 -7.79043599e+00] [-6.37670765e-02 4.96038988e-03 9.97952481e-01 -4.77860462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.960714057 meters 0.04212151189545064 Centerline is valid? [True, True] Translation: X:66.80, Y:-7.80, Z:-4.78 [[ 9.95602662e-01 7.02548269e-02 6.19644914e-02 6.68005335e+01] [-6.98154189e-02 9.97517218e-01 -9.23081150e-03 -7.79511755e+00] [-6.24591561e-02 4.86414358e-03 9.98035668e-01 -4.78264535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.990714057 meters 0.04230217535473394 Centerline is valid? [True, True] Translation: X:66.83, Y:-7.80, Z:-4.79 [[ 9.95627254e-01 7.01243022e-02 6.17167192e-02 6.68297237e+01] [-6.96882961e-02 9.97526468e-01 -9.19168385e-03 -7.79998061e+00] [-6.22086213e-02 4.85055794e-03 9.98051381e-01 -4.78518427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.020714057 meters 0.042097957906882914 Centerline is valid? [True, True] Translation: X:66.86, Y:-7.80, Z:-4.79 [[ 9.95659033e-01 7.01364647e-02 6.11879542e-02 6.68586433e+01] [-6.97080674e-02 9.97525829e-01 -9.11074895e-03 -7.80415126e+00] [-6.16755605e-02 4.80590545e-03 9.98084680e-01 -4.78782500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.05071405700001 meters 0.04400189569367364 Centerline is valid? [True, True] Translation: X:66.89, Y:-7.81, Z:-4.79 [[ 9.95639599e-01 7.03156094e-02 6.12984779e-02 6.68861764e+01] [-6.98861278e-02 9.97513239e-01 -9.12510397e-03 -7.81063241e+00] [-6.17876804e-02 4.80140160e-03 9.98077767e-01 -4.78978225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.08071405700001 meters 0.042480101914318086 Centerline is valid? [True, True] Translation: X:66.92, Y:-7.81, Z:-4.79 [[ 9.95632434e-01 7.03522142e-02 6.13728077e-02 6.69157460e+01] [-6.99219697e-02 9.97510657e-01 -9.13274992e-03 -7.81287103e+00] [-6.18625389e-02 4.80155444e-03 9.98073129e-01 -4.79154984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.11071405700001 meters 0.04359354513026192 Centerline is valid? [True, True] Translation: X:66.94, Y:-7.82, Z:-4.79 [[ 9.95582550e-01 7.10701441e-02 6.13548687e-02 6.69436543e+01] [-7.06416338e-02 9.97459994e-01 -9.12800484e-03 -7.81791265e+00] [-6.18477556e-02 4.75347417e-03 9.98074276e-01 -4.79323168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.14071405700001 meters 0.0440174708507982 Centerline is valid? [True, True] Translation: X:66.97, Y:-7.82, Z:-4.80 [[ 9.95548678e-01 7.19565379e-02 6.08694275e-02 6.69722237e+01] [-7.15366352e-02 9.97396892e-01 -9.05256797e-03 -7.82200891e+00] [-6.13623693e-02 4.65787804e-03 9.98104686e-01 -4.79592382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.170714057 meters 0.04495380083200325 Centerline is valid? [True, True] Translation: X:67.00, Y:-7.83, Z:-4.80 [[ 9.95513994e-01 7.22511170e-02 6.10873509e-02 6.70005742e+01] [-7.18289395e-02 9.97375618e-01 -9.08188068e-03 -7.82767773e+00] [-6.15832104e-02 4.65329967e-03 9.98091106e-01 -4.79864091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.200714057 meters 0.04467904234029323 Centerline is valid? [True, True] Translation: X:67.03, Y:-7.83, Z:-4.80 [[ 9.95527145e-01 7.25450877e-02 6.05220156e-02 6.70295701e+01] [-7.21314752e-02 9.97354580e-01 -8.99398301e-03 -7.83139949e+00] [-6.10143787e-02 4.58821197e-03 9.98126342e-01 -4.80097978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.230714057 meters 0.04534914327601567 Centerline is valid? [True, True] Translation: X:67.06, Y:-7.84, Z:-4.80 [[ 9.95431613e-01 7.40760276e-02 6.02382448e-02 6.70582212e+01] [-7.36695142e-02 9.97242597e-01 -8.94459592e-03 -7.83610407e+00] [-6.07347238e-02 4.46601131e-03 9.98143952e-01 -4.80338702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.260714057 meters 0.040379669564236845 Centerline is valid? [True, True] Translation: X:67.09, Y:-7.83, Z:-4.81 [[ 9.95419328e-01 7.42452917e-02 6.02328593e-02 6.70876646e+01] [-7.38392670e-02 9.97230065e-01 -8.94202126e-03 -7.83299361e+00] [-6.07299212e-02 4.45351062e-03 9.98144300e-01 -4.80502001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.290714057 meters 0.037591772363902605 Centerline is valid? [True, True] Translation: X:67.12, Y:-7.83, Z:-4.81 [[ 9.95368871e-01 7.50529990e-02 6.00654542e-02 6.71168427e+01] [-7.46509532e-02 9.97169893e-01 -8.91287776e-03 -7.83236659e+00] [-6.05644008e-02 4.38765766e-03 9.98154648e-01 -4.80636686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.320714057 meters 0.04136983572575287 Centerline is valid? [True, True] Translation: X:67.14, Y:-7.84, Z:-4.81 [[ 9.95332435e-01 7.54460062e-02 6.01767774e-02 6.71435762e+01] [-7.50434436e-02 9.97140324e-01 -8.92506467e-03 -7.84188356e+00] [-6.06780518e-02 4.36753375e-03 9.98147834e-01 -4.80902291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.350714057 meters 0.04239402333908528 Centerline is valid? [True, True] Translation: X:67.17, Y:-7.85, Z:-4.81 [[ 9.95298441e-01 7.58011504e-02 6.02926137e-02 6.71709387e+01] [-7.53980222e-02 9.97113471e-01 -8.93665426e-03 -7.84769611e+00] [-6.07959860e-02 4.34869422e-03 9.98140740e-01 -4.81112188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.380714057 meters 0.038212013915081854 Centerline is valid? [True, True] Translation: X:67.20, Y:-7.85, Z:-4.81 [[ 9.95332633e-01 7.55666482e-02 6.00219180e-02 6.71998464e+01] [-7.51670376e-02 9.97131317e-01 -8.89118430e-03 -7.84598534e+00] [-6.05216111e-02 4.33801611e-03 9.98157461e-01 -4.81270698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.410714057 meters 0.03782961127649762 Centerline is valid? [True, True] Translation: X:67.23, Y:-7.85, Z:-4.82 [[ 9.95376843e-01 7.53003918e-02 5.96220683e-02 6.72287235e+01] [-7.49058794e-02 9.97151534e-01 -8.82766048e-03 -7.84911358e+00] [-6.01169632e-02 4.32080536e-03 9.98181988e-01 -4.81519691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.44071405700001 meters 0.03910990069918459 Centerline is valid? [True, True] Translation: X:67.26, Y:-7.86, Z:-4.82 [[ 9.95445733e-01 7.48343023e-02 5.90560746e-02 6.72560044e+01] [-7.44466858e-02 9.97186697e-01 -8.73974490e-03 -7.85506647e+00] [-5.95439646e-02 4.30341275e-03 9.98216408e-01 -4.81764930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.47071405700001 meters 0.03946621997278643 Centerline is valid? [True, True] Translation: X:67.28, Y:-7.86, Z:-4.82 [[ 9.95430639e-01 7.47795284e-02 5.93789925e-02 6.72841613e+01] [-7.43878930e-02 9.97190713e-01 -8.78195173e-03 -7.86020597e+00] [-5.98688901e-02 4.32474568e-03 9.98196881e-01 -4.81961568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.50071405700001 meters 0.03946621997278643 Centerline is valid? [True, True] Translation: X:67.31, Y:-7.86, Z:-4.82 [[ 9.95435872e-01 7.47093538e-02 5.93796089e-02 6.73121772e+01] [-7.43178417e-02 9.97195973e-01 -8.77778187e-03 -7.86428600e+00] [-5.98688893e-02 4.32475457e-03 9.98196881e-01 -4.82156735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.530714057 meters 0.04031517576611493 Centerline is valid? [True, True] Translation: X:67.34, Y:-7.87, Z:-4.82 [[ 9.95529735e-01 7.34735936e-02 5.93479437e-02 6.73415008e+01] [-7.30805915e-02 9.97287491e-01 -8.76852674e-03 -7.87034239e+00] [-5.98312170e-02 4.39214627e-03 9.98198845e-01 -4.82415182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.560714057 meters 0.03930120101410028 Centerline is valid? [True, True] Translation: X:67.37, Y:-7.87, Z:-4.83 [[ 9.95602276e-01 7.26074578e-02 5.91968255e-02 6.73703405e+01] [-7.22150440e-02 9.97350752e-01 -8.74439653e-03 -7.87391976e+00] [-5.96749069e-02 4.43103973e-03 9.98208030e-01 -4.82612292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.590714057 meters 0.050559451166988845 Centerline is valid? [True, True] Translation: X:67.40, Y:-7.90, Z:-4.83 [[ 9.95740883e-01 7.06245589e-02 5.92643730e-02 6.73965491e+01] [-7.02280616e-02 9.97492591e-01 -8.74930595e-03 -7.89501942e+00] [-5.97336888e-02 4.55001959e-03 9.98203979e-01 -4.83050876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.620714057 meters 0.04119404009293043 Centerline is valid? [True, True] Translation: X:67.43, Y:-7.89, Z:-4.83 [[ 9.95842774e-01 6.93953869e-02 5.90038050e-02 6.74278541e+01] [-6.90001672e-02 9.97578608e-01 -8.71190376e-03 -7.88687521e+00] [-5.94654996e-02 4.60441400e-03 9.98219742e-01 -4.83112915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.650714057 meters 0.042419756624079555 Centerline is valid? [True, True] Translation: X:67.46, Y:-7.89, Z:-4.83 [[ 9.96055669e-01 6.69192161e-02 5.82659625e-02 6.74573406e+01] [-6.65297591e-02 9.97747372e-01 -8.60070438e-03 -7.89388903e+00] [-5.87102634e-02 4.69035990e-03 9.98264046e-01 -4.83379633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.680714057 meters 0.042917999690909425 Centerline is valid? [True, True] Translation: X:67.49, Y:-7.90, Z:-4.84 [[ 9.96156927e-01 6.57094650e-02 5.79106508e-02 6.74871799e+01] [-6.53227925e-02 9.97827581e-01 -8.54703374e-03 -7.89965925e+00] [-5.83464656e-02 4.73130144e-03 9.98285182e-01 -4.83646497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.710714057 meters 0.042583670109424605 Centerline is valid? [True, True] Translation: X:67.52, Y:-7.90, Z:-4.84 [[ 9.96242668e-01 6.44988304e-02 5.77966038e-02 6.75164173e+01] [-6.41116380e-02 9.97906272e-01 -8.53057158e-03 -7.90441622e+00] [-5.82258053e-02 4.79308445e-03 9.98291932e-01 -4.83855634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.740714057 meters 0.0439538350851331 Centerline is valid? [True, True] Translation: X:67.55, Y:-7.91, Z:-4.84 [[ 9.96374035e-01 6.26204636e-02 5.75973897e-02 6.75455891e+01] [-6.22329577e-02 9.98025465e-01 -8.49889246e-03 -7.91184346e+00] [-5.80158662e-02 4.88361985e-03 9.98303716e-01 -4.84086538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.770714057 meters 0.04492915756270797 Centerline is valid? [True, True] Translation: X:67.58, Y:-7.92, Z:-4.84 [[ 9.96426368e-01 6.21465235e-02 5.72040439e-02 6.75756380e+01] [-6.17635956e-02 9.98055124e-01 -8.43962929e-03 -7.91795627e+00] [-5.76172827e-02 4.87634172e-03 9.98326835e-01 -4.84338582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.80071405700001 meters 0.04392288708072299 Centerline is valid? [True, True] Translation: X:67.61, Y:-7.92, Z:-4.85 [[ 9.96465424e-01 6.26202131e-02 5.59943476e-02 6.76055427e+01] [-6.22540735e-02 9.98026144e-01 -8.26115611e-03 -7.92074758e+00] [-5.64011382e-02 4.74608019e-03 9.98396908e-01 -4.84546780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.83071405700001 meters 0.04530999000577956 Centerline is valid? [True, True] Translation: X:67.63, Y:-7.93, Z:-4.85 [[ 9.96441946e-01 6.32901295e-02 5.56579621e-02 6.76343462e+01] [-6.29294061e-02 9.97984197e-01 -8.21174881e-03 -7.92688573e+00] [-5.60654892e-02 4.68000846e-03 9.98416125e-01 -4.84815901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.86071405700001 meters 0.0396109781910219 Centerline is valid? [True, True] Translation: X:67.66, Y:-7.92, Z:-4.85 [[ 9.96411471e-01 6.42082925e-02 5.51495804e-02 6.76648802e+01] [-6.38555735e-02 9.97925985e-01 -8.13601123e-03 -7.92345236e+00] [-5.55575987e-02 4.58520684e-03 9.98444955e-01 -4.84926719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.890714057 meters 0.049280443463898475 Centerline is valid? [True, True] Translation: X:67.69, Y:-7.94, Z:-4.85 [[ 9.96251371e-01 6.64210256e-02 5.54206967e-02 6.76916877e+01] [-6.60683403e-02 9.97781620e-01 -8.17391412e-03 -7.94082148e+00] [-5.58406723e-02 4.48171970e-03 9.98429634e-01 -4.85287956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.920714057 meters 0.039664282898542284 Centerline is valid? [True, True] Translation: X:67.72, Y:-7.93, Z:-4.85 [[ 9.96201871e-01 6.72916451e-02 5.52599936e-02 6.77232217e+01] [-6.69424488e-02 9.97723567e-01 -8.14816297e-03 -7.93106120e+00] [-5.56825012e-02 4.41797590e-03 9.98438752e-01 -4.85217547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.950714057 meters 0.03873961495925823 Centerline is valid? [True, True] Translation: X:67.75, Y:-7.93, Z:-4.85 [[ 9.96009338e-01 6.98522546e-02 5.55523329e-02 6.77534686e+01] [-6.95034330e-02 9.97548101e-01 -8.18895740e-03 -7.93298536e+00] [-5.59881413e-02 4.29520019e-03 9.98422195e-01 -4.85346105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.980714057 meters 0.038940084886709025 Centerline is valid? [True, True] Translation: X:67.78, Y:-7.94, Z:-4.86 [[ 9.95902306e-01 7.11984454e-02 5.57618077e-02 6.77820610e+01] [-7.08491020e-02 9.97453180e-01 -8.21945543e-03 -7.93722440e+00] [-5.62050048e-02 4.23510060e-03 9.98410267e-01 -4.85515943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.010714057 meters 0.040234077720997116 Centerline is valid? [True, True] Translation: X:67.81, Y:-7.94, Z:-4.86 [[ 9.95805735e-01 7.24828965e-02 5.58316026e-02 6.78089955e+01] [-7.21348993e-02 9.97360963e-01 -8.22589820e-03 -7.94304188e+00] [-5.62804979e-02 4.16398957e-03 9.98406313e-01 -4.85741559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.040714057 meters 0.03750735542733756 Centerline is valid? [True, True] Translation: X:67.84, Y:-7.94, Z:-4.86 [[ 9.95670358e-01 7.42742692e-02 5.58916030e-02 6.78393132e+01] [-7.39286678e-02 9.97229583e-01 -8.22870197e-03 -7.94296617e+00] [-5.63479407e-02 4.06108289e-03 9.98402933e-01 -4.85997932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.070714057 meters 0.03735853233780771 Centerline is valid? [True, True] Translation: X:67.87, Y:-7.95, Z:-4.86 [[ 9.95586420e-01 7.50743795e-02 5.63162391e-02 6.78667654e+01] [-7.47247854e-02 9.97169728e-01 -8.29098304e-03 -7.94692927e+00] [-5.67792892e-02 4.04617124e-03 9.98378556e-01 -4.86194009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.100714057 meters 0.03703659596206108 Centerline is valid? [True, True] Translation: X:67.90, Y:-7.95, Z:-4.86 [[ 9.95472075e-01 7.61331656e-02 5.69129979e-02 6.78952014e+01] [-7.57781387e-02 9.97089544e-01 -8.37352583e-03 -7.95027318e+00] [-5.73848581e-02 4.02285009e-03 9.98344026e-01 -4.86385427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.130714057 meters 0.03749812869190274 Centerline is valid? [True, True] Translation: X:67.92, Y:-7.96, Z:-4.87 [[ 9.95477363e-01 7.63485523e-02 5.65306799e-02 6.79239866e+01] [-7.59988648e-02 9.97073249e-01 -8.31317777e-03 -7.95502720e+00] [-5.69999278e-02 3.97931278e-03 9.98366252e-01 -4.86563909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.160714057 meters 0.04033735730012274 Centerline is valid? [True, True] Translation: X:67.95, Y:-7.96, Z:-4.87 [[ 9.95477186e-01 7.63036893e-02 5.65943318e-02 6.79508814e+01] [-7.59533647e-02 9.97076671e-01 -8.31861945e-03 -7.96278594e+00] [-5.70636293e-02 3.98246596e-03 9.98362601e-01 -4.86825709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.19071405700001 meters 0.04026335921381861 Centerline is valid? [True, True] Translation: X:67.98, Y:-7.97, Z:-4.87 [[ 9.95507302e-01 7.64050918e-02 5.59238185e-02 6.79799392e+01] [-7.60634945e-02 9.97069137e-01 -8.21465278e-03 -7.96598724e+00] [-5.63875548e-02 3.92398577e-03 9.98401245e-01 -4.87058117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.22071405700001 meters 0.03891276529823061 Centerline is valid? [True, True] Translation: X:68.01, Y:-7.97, Z:-4.87 [[ 9.95554368e-01 7.61330647e-02 5.54549927e-02 6.80084452e+01] [-7.57969074e-02 9.97090025e-01 -8.14312908e-03 -7.96861975e+00] [-5.59135814e-02 3.90361079e-03 9.98427981e-01 -4.87219973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.25071405700001 meters 0.03842132414414187 Centerline is valid? [True, True] Translation: X:68.04, Y:-7.97, Z:-4.87 [[ 9.95583596e-01 7.56342851e-02 5.56125687e-02 6.80367414e+01] [-7.52956613e-02 9.97127845e-01 -8.16230041e-03 -7.97220256e+00] [-5.60701906e-02 3.93886725e-03 9.98419060e-01 -4.87476500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.280714057 meters 0.03743814804769063 Centerline is valid? [True, True] Translation: X:68.07, Y:-7.98, Z:-4.88 [[ 9.95631320e-01 7.52933185e-02 5.52194825e-02 6.80654630e+01] [-7.49591685e-02 9.97153700e-01 -8.10067812e-03 -7.97528315e+00] [-5.56722382e-02 3.92608235e-03 9.98441379e-01 -4.87730495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.310714057 meters 0.039263015836494906 Centerline is valid? [True, True] Translation: X:68.09, Y:-7.98, Z:-4.88 [[ 9.95749906e-01 7.42675005e-02 5.44652448e-02 6.80919300e+01] [-7.39411014e-02 9.97230631e-01 -7.98640666e-03 -7.98192163e+00] [-5.49075409e-02 3.92524349e-03 9.98483728e-01 -4.88024327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.340714057 meters 0.03943057952323597 Centerline is valid? [True, True] Translation: X:68.12, Y:-7.99, Z:-4.88 [[ 9.95763147e-01 7.38124064e-02 5.48405301e-02 6.81200298e+01] [-7.34811037e-02 9.97264233e-01 -8.03598572e-03 -7.98617807e+00] [-5.52836546e-02 3.97219575e-03 9.98462788e-01 -4.88243934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.370714057 meters 0.040842841782729365 Centerline is valid? [True, True] Translation: X:68.15, Y:-7.99, Z:-4.88 [[ 9.95796974e-01 7.31333543e-02 5.51352729e-02 6.81469840e+01] [-7.27976518e-02 9.97314038e-01 -8.07540255e-03 -7.99253147e+00] [-5.55777629e-02 4.02774304e-03 9.98446238e-01 -4.88465239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.400714057 meters 0.04062627666288424 Centerline is valid? [True, True] Translation: X:68.17, Y:-8.00, Z:-4.89 [[ 9.95797566e-01 7.29537639e-02 5.53620431e-02 6.81749797e+01] [-7.26153034e-02 9.97327104e-01 -8.10345174e-03 -7.99694923e+00] [-5.58052434e-02 4.04926596e-03 9.98433462e-01 -4.88679671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.430714057 meters 0.042125332770680535 Centerline is valid? [True, True] Translation: X:68.20, Y:-8.00, Z:-4.89 [[ 9.95836299e-01 7.23158553e-02 5.55021007e-02 6.82015733e+01] [-7.19748897e-02 9.97373387e-01 -8.12044500e-03 -8.00316712e+00] [-5.59435551e-02 4.09187631e-03 9.98425548e-01 -4.88912886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.460714057 meters 0.04223818884384644 Centerline is valid? [True, True] Translation: X:68.23, Y:-8.01, Z:-4.89 [[ 9.95915069e-01 7.13186825e-02 5.53788771e-02 6.82293610e+01] [-7.09780261e-02 9.97445019e-01 -8.09656860e-03 -8.00769953e+00] [-5.58148217e-02 4.13281130e-03 9.98432584e-01 -4.89124607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.490714057 meters 0.04409639357073072 Centerline is valid? [True, True] Translation: X:68.26, Y:-8.01, Z:-4.89 [[ 9.95911611e-01 7.08485664e-02 5.60405462e-02 6.82564450e+01] [-7.04993050e-02 9.97478228e-01 -8.18739365e-03 -8.01408266e+00] [-5.64792898e-02 4.20310085e-03 9.98394924e-01 -4.89334558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.520714057 meters 0.045874827904469125 Centerline is valid? [True, True] Translation: X:68.28, Y:-8.02, Z:-4.89 [[ 9.95927119e-01 7.01133805e-02 5.66858647e-02 6.82847839e+01] [-6.97551807e-02 9.97529813e-01 -8.27563039e-03 -8.02050623e+00] [-5.71260725e-02 4.28779200e-03 9.98357765e-01 -4.89433024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.55071405700001 meters 0.04449108198091308 Centerline is valid? [True, True] Translation: X:68.31, Y:-8.02, Z:-4.90 [[ 9.95968008e-01 6.93430366e-02 5.69145959e-02 6.83141017e+01] [-6.89808661e-02 9.97583406e-01 -8.30589929e-03 -8.02302039e+00] [-5.73530127e-02 4.34639185e-03 9.98344500e-01 -4.89606402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.58071405700001 meters 0.047469208342335874 Centerline is valid? [True, True] Translation: X:68.34, Y:-8.03, Z:-4.90 [[ 9.96014912e-01 6.86889172e-02 5.68869796e-02 6.83417113e+01] [-6.83261410e-02 9.97628512e-01 -8.30008827e-03 -8.03222869e+00] [-5.73221969e-02 4.38014389e-03 9.98346122e-01 -4.89898342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.61071405700001 meters 0.04102034478642008 Centerline is valid? [True, True] Translation: X:68.37, Y:-8.03, Z:-4.90 [[ 9.96035755e-01 6.83402566e-02 5.69419428e-02 6.83709408e+01] [-6.79763784e-02 9.97652362e-01 -8.30521377e-03 -8.02845134e+00] [-5.73758442e-02 4.40158281e-03 9.98342946e-01 -4.90035543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.640714057 meters 0.043998510548094456 Centerline is valid? [True, True] Translation: X:68.40, Y:-8.04, Z:-4.90 [[ 9.96099447e-01 6.75896883e-02 5.67232344e-02 6.83987283e+01] [-6.72275736e-02 9.97703391e-01 -8.27019637e-03 -8.03669722e+00] [-5.71519433e-02 4.42457262e-03 9.98355687e-01 -4.90321127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.670714057 meters 0.04070226548897117 Centerline is valid? [True, True] Translation: X:68.43, Y:-8.04, Z:-4.90 [[ 9.96196708e-01 6.66389175e-02 5.61371049e-02 6.84289644e+01] [-6.62829445e-02 9.97767325e-01 -8.18145861e-03 -8.03647061e+00] [-5.65569726e-02 4.42940952e-03 9.98389548e-01 -4.90454285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.700714057 meters 0.04086585266376102 Centerline is valid? [True, True] Translation: X:68.46, Y:-8.04, Z:-4.91 [[ 9.96275026e-01 6.57957909e-02 5.57403561e-02 6.84582519e+01] [-6.54436433e-02 9.97823215e-01 -8.12158952e-03 -8.04068646e+00] [-5.61533877e-02 4.44348483e-03 9.98412266e-01 -4.90639988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.730714057 meters 0.041707024686011764 Centerline is valid? [True, True] Translation: X:68.49, Y:-8.05, Z:-4.91 [[ 9.96403321e-01 6.37304856e-02 5.58466452e-02 6.84873877e+01] [-6.33738983e-02 9.97956699e-01 -8.13481819e-03 -8.04689243e+00] [-5.62509696e-02 4.56634025e-03 9.98406218e-01 -4.90828823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.760714057 meters 0.04156018338251283 Centerline is valid? [True, True] Translation: X:68.52, Y:-8.05, Z:-4.91 [[ 9.96447433e-01 6.28708773e-02 5.60336163e-02 6.85163444e+01] [-6.25105918e-02 9.98010932e-01 -8.16124610e-03 -8.05196785e+00] [-5.64352663e-02 4.62955822e-03 9.98395527e-01 -4.91039138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.790714057 meters 0.042399485491269796 Centerline is valid? [True, True] Translation: X:68.55, Y:-8.06, Z:-4.91 [[ 9.96502712e-01 6.20053021e-02 5.60150638e-02 6.85461825e+01] [-6.16440393e-02 9.98064873e-01 -8.15604963e-03 -8.05828149e+00] [-5.64123859e-02 4.67453078e-03 9.98396610e-01 -4.91256410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.820714057 meters 0.044138326874494656 Centerline is valid? [True, True] Translation: X:68.58, Y:-8.07, Z:-4.91 [[ 9.96558833e-01 6.10295281e-02 5.60882213e-02 6.85752020e+01] [-6.06657742e-02 9.98124724e-01 -8.16691704e-03 -8.06540741e+00] [-5.64814635e-02 4.73617795e-03 9.98392414e-01 -4.91465865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.850714057 meters 0.04284586401966479 Centerline is valid? [True, True] Translation: X:68.61, Y:-8.07, Z:-4.92 [[ 9.96614681e-01 6.04614159e-02 5.57099242e-02 6.86057101e+01] [-6.01017469e-02 9.98159305e-01 -8.11061179e-03 -8.06774443e+00] [-5.60977583e-02 4.73489101e-03 9.98414054e-01 -4.91640661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.880714057 meters 0.04171010875528325 Centerline is valid? [True, True] Translation: X:68.64, Y:-8.07, Z:-4.92 [[ 9.96619589e-01 6.04333688e-02 5.56525138e-02 6.86362718e+01] [-6.00743983e-02 9.98161019e-01 -8.10225362e-03 -8.07054730e+00] [-5.60398164e-02 4.73157339e-03 9.98417323e-01 -4.91792724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.910714057 meters 0.041997301989473455 Centerline is valid? [True, True] Translation: X:68.67, Y:-8.08, Z:-4.92 [[ 9.96629944e-01 6.04159632e-02 5.54857208e-02 6.86664702e+01] [-6.00591174e-02 9.98162136e-01 -8.07797082e-03 -8.07523709e+00] [-5.58717840e-02 4.71832419e-03 9.98426803e-01 -4.92046204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.94071405700001 meters 0.04296836434727603 Centerline is valid? [True, True] Translation: X:68.70, Y:-8.08, Z:-4.92 [[ 9.96650599e-01 6.01984279e-02 5.53510039e-02 6.86953505e+01] [-5.98429693e-02 9.98175274e-01 -8.05858944e-03 -8.08162138e+00] [-5.57351179e-02 4.71922956e-03 9.98434437e-01 -4.92330530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.97071405700001 meters 0.044392117087544126 Centerline is valid? [True, True] Translation: X:68.72, Y:-8.09, Z:-4.93 [[ 9.96668412e-01 6.01757993e-02 5.50540691e-02 6.87244705e+01] [-5.98241970e-02 9.98176759e-01 -8.01388478e-03 -8.08828379e+00] [-5.54359342e-02 4.69362034e-03 9.98451214e-01 -4.92586800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.00071405700001 meters 0.04316435342635112 Centerline is valid? [True, True] Translation: X:68.76, Y:-8.09, Z:-4.93 [[ 9.96647790e-01 5.98804476e-02 5.57450911e-02 6.87551268e+01] [-5.95194229e-02 9.98194156e-01 -8.11572048e-03 -8.09153661e+00] [-5.61303971e-02 4.77059923e-03 9.98412049e-01 -4.92709211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.030714057 meters 0.04415249941631106 Centerline is valid? [True, True] Translation: X:68.79, Y:-8.10, Z:-4.93 [[ 9.96662859e-01 5.96699517e-02 5.57013730e-02 6.87852614e+01] [-5.93091678e-02 9.98206723e-01 -8.10935573e-03 -8.09731102e+00] [-5.60853699e-02 4.77869159e-03 9.98414541e-01 -4.92897603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.060714057 meters 0.04401869432431924 Centerline is valid? [True, True] Translation: X:68.82, Y:-8.10, Z:-4.93 [[ 9.96629434e-01 6.01627915e-02 5.57692607e-02 6.88159435e+01] [-5.98019041e-02 9.98177246e-01 -8.11901803e-03 -8.10167226e+00] [-5.61560698e-02 4.75654436e-03 9.98410673e-01 -4.93099193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.090714057 meters 0.04100132844466128 Centerline is valid? [True, True] Translation: X:68.85, Y:-8.10, Z:-4.93 [[ 9.96551016e-01 6.13277114e-02 5.59015678e-02 6.88471396e+01] [-6.09668685e-02 9.98106604e-01 -8.13928929e-03 -8.10211776e+00] [-5.62948880e-02 4.70307347e-03 9.98403108e-01 -4.93198252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.120714057 meters 0.043924172273820894 Centerline is valid? [True, True] Translation: X:68.88, Y:-8.11, Z:-4.94 [[ 9.96541171e-01 6.22009765e-02 5.51065590e-02 6.88760545e+01] [-6.18515933e-02 9.98053096e-01 -8.02477807e-03 -8.11016196e+00] [-5.54984209e-02 4.58859325e-03 9.98448231e-01 -4.93500189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.150714057 meters 0.04291809958000411 Centerline is valid? [True, True] Translation: X:68.91, Y:-8.11, Z:-4.94 [[ 9.96472326e-01 6.31919274e-02 5.52239406e-02 6.89061232e+01] [-6.28425623e-02 9.97991052e-01 -8.04187151e-03 -8.11341372e+00] [-5.56211799e-02 4.54308848e-03 9.98441608e-01 -4.93737507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.180714057 meters 0.04412886783530475 Centerline is valid? [True, True] Translation: X:68.93, Y:-8.12, Z:-4.94 [[ 9.96471742e-01 6.37698839e-02 5.45661888e-02 6.89347180e+01] [-6.34296492e-02 9.97954676e-01 -7.94632849e-03 -8.11949962e+00] [-5.49613197e-02 4.45717758e-03 9.98478536e-01 -4.93965082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.210714057 meters 0.03934790414954714 Centerline is valid? [True, True] Translation: X:68.96, Y:-8.12, Z:-4.94 [[ 9.96437155e-01 6.46009491e-02 5.42191302e-02 6.89647010e+01] [-6.42662936e-02 9.97901554e-01 -7.89508678e-03 -8.11733718e+00] [-5.46153844e-02 4.38249527e-03 9.98497849e-01 -4.94112112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.240714057 meters 0.04017499971046404 Centerline is valid? [True, True] Translation: X:68.99, Y:-8.12, Z:-4.94 [[ 9.96403981e-01 6.51562483e-02 5.41642917e-02 6.89930447e+01] [-6.48231807e-02 9.97865610e-01 -7.88534528e-03 -8.12304106e+00] [-5.45624635e-02 4.34588776e-03 9.98500902e-01 -4.94346293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.270714057 meters 0.04497687520780027 Centerline is valid? [True, True] Translation: X:69.02, Y:-8.13, Z:-4.95 [[ 9.96346829e-01 6.59967184e-02 5.41980499e-02 6.90205183e+01] [-6.56646344e-02 9.97810577e-01 -7.88724557e-03 -8.13370844e+00] [-5.45999198e-02 4.29953699e-03 9.98499055e-01 -4.94636895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.30071405700001 meters 0.03995931890144459 Centerline is valid? [True, True] Translation: X:69.05, Y:-8.13, Z:-4.95 [[ 9.96309045e-01 6.64783480e-02 5.43039156e-02 6.90509276e+01] [-6.61458503e-02 9.97778696e-01 -7.89943741e-03 -8.13095665e+00] [-5.47084317e-02 4.27830227e-03 9.98493207e-01 -4.94704869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.33071405700001 meters 0.040256391343664114 Centerline is valid? [True, True] Translation: X:69.08, Y:-8.14, Z:-4.95 [[ 9.96234372e-01 6.71984692e-02 5.47854079e-02 6.90801218e+01] [-6.68612348e-02 9.97730472e-01 -7.96745189e-03 -8.13538763e+00] [-5.51964715e-02 4.27442941e-03 9.98466363e-01 -4.94906435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.36071405700001 meters 0.04062841787840789 Centerline is valid? [True, True] Translation: X:69.11, Y:-8.14, Z:-4.95 [[ 9.96181870e-01 6.91268157e-02 5.33213319e-02 6.91091303e+01] [-6.88102312e-02 9.97599643e-01 -7.75265482e-03 -8.13927239e+00] [-5.37292580e-02 4.05400100e-03 9.98547311e-01 -4.95121131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.390714057 meters 0.04062841787840789 Centerline is valid? [True, True] Translation: X:69.14, Y:-8.14, Z:-4.95 [[ 9.96186713e-01 6.90568331e-02 5.33215313e-02 6.91371658e+01] [-6.87402220e-02 9.97604480e-01 -7.75128330e-03 -8.14328502e+00] [-5.37290776e-02 4.05639153e-03 9.98547311e-01 -4.95316274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.420714057 meters 0.038091681803570775 Centerline is valid? [True, True] Translation: X:69.17, Y:-8.14, Z:-4.95 [[ 9.96135277e-01 7.00241336e-02 5.30200926e-02 6.91666234e+01] [-6.97126731e-02 9.97537368e-01 -7.70343695e-03 -8.14324298e+00] [-5.34289501e-02 3.97749292e-03 9.98563732e-01 -4.95472562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.450714057 meters 0.03838345982244089 Centerline is valid? [True, True] Translation: X:69.20, Y:-8.15, Z:-4.96 [[ 9.96007216e-01 7.23597273e-02 5.22847539e-02 6.91950487e+01] [-7.20602040e-02 9.97371376e-01 -7.59375437e-03 -8.14644460e+00] [-5.26967989e-02 3.79578412e-03 9.98603344e-01 -4.95710188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.480714057 meters 0.038679854203720665 Centerline is valid? [True, True] Translation: X:69.22, Y:-8.15, Z:-4.96 [[ 9.95906103e-01 7.36664459e-02 5.23859554e-02 6.92231294e+01] [-7.33676958e-02 9.97275956e-01 -7.60583934e-03 -8.15036738e+00] [-5.28035489e-02 3.73126497e-03 9.98597949e-01 -4.95882080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.510714057 meters 0.03575889067155817 Centerline is valid? [True, True] Translation: X:69.25, Y:-8.15, Z:-4.96 [[ 9.95666505e-01 7.64723327e-02 5.29168484e-02 6.92533673e+01] [-7.61716653e-02 9.97065152e-01 -7.67850418e-03 -8.14893745e+00] [-5.33487386e-02 3.61446495e-03 9.98569401e-01 -4.95956335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.540714057 meters 0.035783607338487254 Centerline is valid? [True, True] Translation: X:69.28, Y:-8.15, Z:-4.96 [[ 9.95531472e-01 7.78626265e-02 5.34275219e-02 6.92817547e+01] [-7.75581907e-02 9.96957696e-01 -7.75115490e-03 -8.15217152e+00] [-5.38685044e-02 3.57277671e-03 9.98541646e-01 -4.96128030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.570714057 meters 0.036000253556623035 Centerline is valid? [True, True] Translation: X:69.31, Y:-8.16, Z:-4.96 [[ 9.95445341e-01 7.88268508e-02 5.36181023e-02 6.93097047e+01] [-7.85218404e-02 9.96882075e-01 -7.77488242e-03 -8.15571460e+00] [-5.40637946e-02 3.52927841e-03 9.98531247e-01 -4.96242167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.600714057 meters 0.03591036926879752 Centerline is valid? [True, True] Translation: X:69.34, Y:-8.16, Z:-4.96 [[ 9.95207032e-01 8.07356116e-02 5.51790146e-02 6.93393135e+01] [-8.04157359e-02 9.96729333e-01 -7.99663398e-03 -8.15904781e+00] [-5.56441556e-02 3.52104530e-03 9.98444455e-01 -4.96310536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.630714057 meters 0.03659586669200545 Centerline is valid? [True, True] Translation: X:69.37, Y:-8.16, Z:-4.96 [[ 9.95196730e-01 8.08493485e-02 5.51982900e-02 6.93667183e+01] [-8.05294953e-02 9.96720136e-01 -7.99813417e-03 -8.16398704e+00] [-5.56638911e-02 3.51462654e-03 9.98443378e-01 -4.96464640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.660714057 meters 0.03789672880409934 Centerline is valid? [True, True] Translation: X:69.39, Y:-8.17, Z:-4.97 [[ 9.95278200e-01 7.97964549e-02 5.52614735e-02 6.93939714e+01] [-7.94745274e-02 9.96804776e-01 -8.00237031e-03 -8.17003349e+00] [-5.57234615e-02 3.57270522e-03 9.98439849e-01 -4.96726974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.69071405700001 meters 0.035452148742673925 Centerline is valid? [True, True] Translation: X:69.42, Y:-8.17, Z:-4.97 [[ 9.95403737e-01 7.85274535e-02 5.48164139e-02 6.94240693e+01] [-7.82090839e-02 9.96905419e-01 -7.93247123e-03 -8.17077370e+00] [-5.52696968e-02 3.60887000e-03 9.98464940e-01 -4.96913819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.72071405700001 meters 0.03841543782588695 Centerline is valid? [True, True] Translation: X:69.45, Y:-8.18, Z:-4.97 [[ 9.95692168e-01 7.54768400e-02 5.38549310e-02 6.94516662e+01] [-7.51652188e-02 9.97140654e-01 -7.79141162e-03 -8.18037884e+00] [-5.42890122e-02 3.70982985e-03 9.98518373e-01 -4.97350708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.75071405700001 meters 0.037074562565714876 Centerline is valid? [True, True] Translation: X:69.48, Y:-8.18, Z:-4.98 [[ 9.95804859e-01 7.39552395e-02 5.38823271e-02 6.94810243e+01] [-7.36411912e-02 9.97254349e-01 -7.79343183e-03 -8.18309190e+00] [-5.43107502e-02 3.79277854e-03 9.98516879e-01 -4.97552729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.780714057 meters 0.04295216955435164 Centerline is valid? [True, True] Translation: X:69.51, Y:-8.20, Z:-4.98 [[ 9.95999863e-01 7.11100961e-02 5.41075484e-02 6.95083322e+01] [-7.07893650e-02 9.97460603e-01 -7.82370608e-03 -8.19618489e+00] [-5.45264923e-02 3.96217119e-03 9.98504463e-01 -4.97881977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.810714057 meters 0.043988353059071436 Centerline is valid? [True, True] Translation: X:69.54, Y:-8.20, Z:-4.98 [[ 9.96143310e-01 6.93464630e-02 5.37547579e-02 6.95375891e+01] [-6.90273767e-02 9.97584489e-01 -7.77226636e-03 -8.20180163e+00] [-5.41638919e-02 4.03174121e-03 9.98523920e-01 -4.98114452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.840714057 meters 0.04936741452036368 Centerline is valid? [True, True] Translation: X:69.57, Y:-8.21, Z:-4.98 [[ 9.96329012e-01 6.59148910e-02 5.46235106e-02 6.95657774e+01] [-6.55803858e-02 9.97816050e-01 -7.89578109e-03 -8.21427890e+00] [-5.50246652e-02 4.28456487e-03 9.98475803e-01 -4.98428080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.870714057 meters 0.04190998582864376 Centerline is valid? [True, True] Translation: X:69.60, Y:-8.21, Z:-4.98 [[ 9.96421418e-01 6.42022431e-02 5.49766338e-02 6.95964642e+01] [-6.38608627e-02 9.97927179e-01 -7.94577568e-03 -8.20849303e+00] [-5.53728137e-02 4.40648581e-03 9.98456025e-01 -4.98411910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.900714057 meters 0.04277060526228784 Centerline is valid? [True, True] Translation: X:69.63, Y:-8.21, Z:-4.99 [[ 9.96474234e-01 6.27615609e-02 5.56784325e-02 6.96256724e+01] [-6.24092923e-02 9.98018216e-01 -8.04493413e-03 -8.21457950e+00] [-5.60730025e-02 4.54171800e-03 9.98416342e-01 -4.98666293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.930714057 meters 0.04459595613829978 Centerline is valid? [True, True] Translation: X:69.65, Y:-8.22, Z:-4.99 [[ 9.96595399e-01 6.01838153e-02 5.63517447e-02 6.96546400e+01] [-5.98189352e-02 9.98176045e-01 -8.14113564e-03 -8.22206553e+00] [-5.67389263e-02 4.74251696e-03 9.98377786e-01 -4.98890954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.960714057 meters 0.04650726317879846 Centerline is valid? [True, True] Translation: X:69.69, Y:-8.23, Z:-4.99 [[ 9.96648921e-01 5.81613477e-02 5.75168311e-02 6.96852883e+01] [-5.77779387e-02 9.98294889e-01 -8.30810579e-03 -8.22946688e+00] [-5.79019691e-02 4.95706073e-03 9.98309967e-01 -4.99074045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.990714057 meters 0.04641730945963829 Centerline is valid? [True, True] Translation: X:69.72, Y:-8.23, Z:-4.99 [[ 9.96670693e-01 5.72397416e-02 5.80615323e-02 6.97170982e+01] [-5.68473725e-02 9.98347639e-01 -8.38852772e-03 -8.23431419e+00] [-5.84457509e-02 5.05995419e-03 9.98277762e-01 -4.99295195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.020714057 meters 0.046456271332185745 Centerline is valid? [True, True] Translation: X:69.75, Y:-8.24, Z:-4.99 [[ 9.96688987e-01 5.66816293e-02 5.82945618e-02 6.97484558e+01] [-5.62849974e-02 9.98379197e-01 -8.42484334e-03 -8.23925699e+00] [-5.86776116e-02 5.11583932e-03 9.98263876e-01 -4.99487348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.05071405700001 meters 0.05431655791258157 Centerline is valid? [True, True] Translation: X:69.78, Y:-8.26, Z:-5.00 [[ 9.96691816e-01 5.57921342e-02 5.90987421e-02 6.97772736e+01] [-5.53819895e-02 9.98428575e-01 -8.55661841e-03 -8.25525083e+00] [-5.94832649e-02 5.25530562e-03 9.98215469e-01 -4.99885124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.08071405700001 meters 0.04398801580766887 Centerline is valid? [True, True] Translation: X:69.81, Y:-8.25, Z:-5.00 [[ 9.96667933e-01 5.60130482e-02 5.92922327e-02 6.98119431e+01] [-5.56004589e-02 9.98416172e-01 -8.58693842e-03 -8.24618077e+00] [-5.96793047e-02 5.26165082e-03 9.98203735e-01 -5.00000012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.11071405700001 meters 0.054015608708516814 Centerline is valid? [True, True] Translation: X:69.84, Y:-8.26, Z:-5.00 [[ 9.96621077e-01 5.70530623e-02 5.90878812e-02 6.98411989e+01] [-5.66440534e-02 9.98357608e-01 -8.57538492e-03 -8.26469807e+00] [-5.94800878e-02 5.19943225e-03 9.98215951e-01 -5.00435254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.140714057 meters 0.04425289293088078 Centerline is valid? [True, True] Translation: X:69.88, Y:-8.26, Z:-5.01 [[ 9.96604620e-01 5.76549282e-02 5.87804366e-02 6.98752751e+01] [-5.72503177e-02 9.98323280e-01 -8.54580042e-03 -8.25559223e+00] [-5.91745858e-02 5.15158551e-03 9.98234356e-01 -5.00574694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.170714057 meters 0.04575987755551664 Centerline is valid? [True, True] Translation: X:69.91, Y:-8.26, Z:-5.01 [[ 9.96626708e-01 5.80951577e-02 5.79668726e-02 6.99070072e+01] [-5.77014669e-02 9.98298172e-01 -8.44390526e-03 -8.26214263e+00] [-5.83587730e-02 5.07064792e-03 9.98282797e-01 -5.00882972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.200714057 meters 0.04671533361083436 Centerline is valid? [True, True] Translation: X:69.94, Y:-8.27, Z:-5.01 [[ 9.96634710e-01 5.79443710e-02 5.79802014e-02 6.99383881e+01] [-5.75500313e-02 9.98306866e-01 -8.44951615e-03 -8.26802306e+00] [-5.83716351e-02 5.08431868e-03 9.98281975e-01 -5.01194277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.230714057 meters 0.04677285803786039 Centerline is valid? [True, True] Translation: X:69.97, Y:-8.27, Z:-5.02 [[ 9.96718155e-01 5.71878436e-02 5.72928516e-02 6.99701626e+01] [-5.68006192e-02 9.98350491e-01 -8.36584921e-03 -8.27298733e+00] [-5.76767713e-02 5.08412435e-03 9.98322364e-01 -5.01547585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.260714057 meters 0.047435598329035454 Centerline is valid? [True, True] Translation: X:70.00, Y:-8.28, Z:-5.02 [[ 9.96731326e-01 5.69519799e-02 5.72986548e-02 7.00017608e+01] [-5.65641585e-02 9.98363890e-01 -8.36898320e-03 -8.27836890e+00] [-5.76815381e-02 5.10057752e-03 9.98322004e-01 -5.01818616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.290714057 meters 0.04766145859208304 Centerline is valid? [True, True] Translation: X:70.03, Y:-8.28, Z:-5.02 [[ 9.96735491e-01 5.64694912e-02 5.77023185e-02 7.00338431e+01] [-5.60745215e-02 9.98390890e-01 -8.44264050e-03 -8.28339271e+00] [-5.80862207e-02 5.17944952e-03 9.98298134e-01 -5.02048956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.320714057 meters 0.049169119812353536 Centerline is valid? [True, True] Translation: X:70.07, Y:-8.29, Z:-5.02 [[ 9.96751838e-01 5.55026725e-02 5.83543179e-02 7.00651432e+01] [-5.50960908e-02 9.98444409e-01 -8.55469312e-03 -8.28981298e+00] [-5.87383508e-02 5.31181129e-03 9.98259280e-01 -5.02255588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.350714057 meters 0.0463635570893925 Centerline is valid? [True, True] Translation: X:70.10, Y:-8.29, Z:-5.02 [[ 9.96734582e-01 5.53753029e-02 5.87686030e-02 7.00978191e+01] [-5.49625484e-02 9.98451225e-01 -8.61797426e-03 -8.29031363e+00] [-5.91548066e-02 5.35976078e-03 9.98234432e-01 -5.02423782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.380714057 meters 0.05063809864923072 Centerline is valid? [True, True] Translation: X:70.13, Y:-8.30, Z:-5.03 [[ 9.96719667e-01 5.55156380e-02 5.88890503e-02 7.01286832e+01] [-5.51005390e-02 9.98443337e-01 -8.65064044e-03 -8.30020313e+00] [-5.92776257e-02 5.37744504e-03 9.98227051e-01 -5.02711387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.410714057 meters 0.05026592817893341 Centerline is valid? [True, True] Translation: X:70.16, Y:-8.30, Z:-5.03 [[ 9.96715259e-01 5.56456980e-02 5.88408707e-02 7.01611311e+01] [-5.52304522e-02 9.98436067e-01 -8.66128113e-03 -8.30390115e+00] [-5.92308105e-02 5.38302317e-03 9.98229800e-01 -5.02924263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.44071405700001 meters 0.05156102494308986 Centerline is valid? [True, True] Translation: X:70.19, Y:-8.31, Z:-5.03 [[ 9.96697848e-01 5.59066862e-02 5.88883876e-02 7.01927468e+01] [-5.54910032e-02 9.98421527e-01 -8.67192198e-03 -8.30949730e+00] [-5.92802523e-02 5.37551027e-03 9.98226906e-01 -5.03198815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.47071405700001 meters 0.04795863699783976 Centerline is valid? [True, True] Translation: X:70.23, Y:-8.31, Z:-5.03 [[ 9.96661220e-01 5.64529725e-02 5.89870716e-02 7.02254884e+01] [-5.60359065e-02 9.98390830e-01 -8.70216356e-03 -8.30895876e+00] [-5.93834144e-02 5.36771492e-03 9.98220816e-01 -5.03359974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.50071405700001 meters 0.05211350979990735 Centerline is valid? [True, True] Translation: X:70.26, Y:-8.32, Z:-5.04 [[ 9.96596040e-01 5.70874598e-02 5.94756694e-02 7.02560057e+01] [-5.66636489e-02 9.98354634e-01 -8.78950920e-03 -8.31853007e+00] [-5.98795810e-02 5.38948161e-03 9.98191059e-01 -5.03629938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.530714057 meters 0.05263703842241817 Centerline is valid? [True, True] Translation: X:70.29, Y:-8.32, Z:-5.04 [[ 9.96474392e-01 5.81240866e-02 6.05010411e-02 7.02883119e+01] [-5.76864533e-02 9.98294572e-01 -8.95664975e-03 -8.32241490e+00] [-6.09184580e-02 5.43498163e-03 9.98127949e-01 -5.03810407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.560714057 meters 0.054293351248079054 Centerline is valid? [True, True] Translation: X:70.32, Y:-8.33, Z:-5.04 [[ 9.96303911e-01 5.90562201e-02 6.23769250e-02 7.03179809e+01] [-5.85917415e-02 9.98239163e-01 -9.25102509e-03 -8.32801791e+00] [-6.28134200e-02 5.56205980e-03 9.98009788e-01 -5.03993127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.590714057 meters 0.046632302118562896 Centerline is valid? [True, True] Translation: X:70.35, Y:-8.32, Z:-5.04 [[ 9.96253925e-01 5.95375411e-02 6.27168103e-02 7.03516955e+01] [-5.90685649e-02 9.98210540e-01 -9.30709818e-03 -8.32208284e+00] [-6.31587028e-02 5.56764112e-03 9.97987966e-01 -5.04143925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.620714057 meters 0.05409137608750174 Centerline is valid? [True, True] Translation: X:70.38, Y:-8.34, Z:-5.04 [[ 9.96218872e-01 6.02369223e-02 6.26056904e-02 7.03814968e+01] [-5.97699581e-02 9.98168792e-01 -9.30675294e-03 -8.33652663e+00] [-6.30516565e-02 5.52962342e-03 9.97994946e-01 -5.04412429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.650714057 meters 0.04649044745318266 Centerline is valid? [True, True] Translation: X:70.41, Y:-8.33, Z:-5.05 [[ 9.96173675e-01 6.13583154e-02 6.22347734e-02 7.04145905e+01] [-6.08979761e-02 9.98100961e-01 -9.26865984e-03 -8.32959543e+00] [-6.26852965e-02 5.44322319e-03 9.98018499e-01 -5.04676530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.680714057 meters 0.04383404757593485 Centerline is valid? [True, True] Translation: X:70.45, Y:-8.33, Z:-5.05 [[ 9.96134120e-01 6.23446118e-02 6.18866978e-02 7.04467264e+01] [-6.18911716e-02 9.98040327e-01 -9.21892776e-03 -8.32997053e+00] [-6.23401706e-02 5.35304827e-03 9.98040604e-01 -5.04871584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.710714057 meters 0.04622188420495341 Centerline is valid? [True, True] Translation: X:70.48, Y:-8.34, Z:-5.05 [[ 9.96120739e-01 6.36688300e-02 6.07433483e-02 7.04772597e+01] [-6.32335083e-02 9.97957597e-01 -9.06409593e-03 -8.33585336e+00] [-6.11963863e-02 5.18791891e-03 9.98112262e-01 -5.05210125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.740714057 meters 0.043706381683693105 Centerline is valid? [True, True] Translation: X:70.51, Y:-8.34, Z:-5.05 [[ 9.96121934e-01 6.41832614e-02 6.01797449e-02 7.05081757e+01] [-6.37559565e-02 9.97924973e-01 -8.99592813e-03 -8.33612225e+00] [-6.06322583e-02 5.12422412e-03 9.98147019e-01 -5.05471298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.770714057 meters 0.04426306138711255 Centerline is valid? [True, True] Translation: X:70.54, Y:-8.34, Z:-5.06 [[ 9.96039659e-01 6.53864900e-02 6.02462082e-02 7.05371769e+01] [-6.49604455e-02 9.97847204e-01 -9.00548394e-03 -8.34049546e+00] [-6.07053473e-02 5.05619863e-03 9.98142923e-01 -5.05757622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.80071405700001 meters 0.044256518988028404 Centerline is valid? [True, True] Translation: X:70.57, Y:-8.34, Z:-5.06 [[ 9.96001442e-01 6.58607526e-02 6.03613215e-02 7.05676141e+01] [-6.54337356e-02 9.97816094e-01 -9.02604236e-03 -8.34433581e+00] [-6.08239600e-02 5.04028445e-03 9.98135783e-01 -5.05936782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.83071405700001 meters 0.04359880029294417 Centerline is valid? [True, True] Translation: X:70.60, Y:-8.35, Z:-5.06 [[ 9.95909027e-01 6.67653193e-02 6.08900868e-02 7.05975791e+01] [-6.63324535e-02 9.97756034e-01 -9.10511051e-03 -8.34705624e+00] [-6.13613571e-02 5.02887290e-03 9.98102948e-01 -5.06190348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.86071405700001 meters 0.04337145432237036 Centerline is valid? [True, True] Translation: X:70.63, Y:-8.35, Z:-5.06 [[ 9.95731525e-01 6.87526691e-02 6.15776051e-02 7.06277677e+01] [-6.83137192e-02 9.97621395e-01 -9.20805220e-03 -8.34879726e+00] [-6.20642145e-02 4.96215262e-03 9.98059823e-01 -5.06275659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.890714057 meters 0.04956207728405567 Centerline is valid? [True, True] Translation: X:70.66, Y:-8.36, Z:-5.07 [[ 9.95620547e-01 6.99073527e-02 6.20700319e-02 7.06552382e+01] [-6.94636473e-02 9.97541315e-01 -9.28045346e-03 -8.36051814e+00] [-6.25661932e-02 4.92819934e-03 9.98028649e-01 -5.06505449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.920714057 meters 0.04122736480626465 Centerline is valid? [True, True] Translation: X:70.69, Y:-8.35, Z:-5.07 [[ 9.95391109e-01 7.29809069e-02 6.22119603e-02 7.06869085e+01] [-7.25412786e-02 9.97322058e-01 -9.29924805e-03 -8.35137578e+00] [-6.27240279e-02 4.74345367e-03 9.98019637e-01 -5.06641260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.950714057 meters 0.039881313832013224 Centerline is valid? [True, True] Translation: X:70.72, Y:-8.35, Z:-5.07 [[ 9.95232268e-01 7.45990085e-02 6.28308969e-02 7.07165988e+01] [-7.41537885e-02 9.97202594e-01 -9.39158531e-03 -8.35342385e+00] [-6.33557363e-02 4.68765970e-03 9.97979998e-01 -5.06822355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.980714057 meters 0.038793686840648045 Centerline is valid? [True, True] Translation: X:70.75, Y:-8.36, Z:-5.07 [[ 9.95047484e-01 7.67108248e-02 6.32135633e-02 7.07462580e+01] [-7.62645372e-02 9.97042870e-01 -9.44647049e-03 -8.35547836e+00] [-6.37512791e-02 4.57873354e-03 9.97955314e-01 -5.06988603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.010714057 meters 0.03590764330716412 Centerline is valid? [True, True] Translation: X:70.78, Y:-8.35, Z:-5.07 [[ 9.94720593e-01 8.12788215e-02 6.26473809e-02 7.07776686e+01] [-8.08496613e-02 9.96682363e-01 -9.35944567e-03 -8.35461757e+00] [-6.32002644e-02 4.24501381e-03 9.97991837e-01 -5.07103476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.040714057 meters 0.036095205556702016 Centerline is valid? [True, True] Translation: X:70.81, Y:-8.36, Z:-5.07 [[ 9.94536151e-01 8.37608025e-02 6.23054832e-02 7.08066864e+01] [-8.33411930e-02 9.96477600e-01 -9.30791698e-03 -8.35859809e+00] [-6.28656570e-02 4.06444662e-03 9.98013722e-01 -5.07324706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.070714057 meters 0.035438201275649756 Centerline is valid? [True, True] Translation: X:70.84, Y:-8.36, Z:-5.08 [[ 9.94108805e-01 8.93633039e-02 6.13341926e-02 7.08355751e+01] [-8.89674350e-02 9.95992409e-01 -9.16066056e-03 -8.36146592e+00] [-6.19070171e-02 3.64994753e-03 9.98075247e-01 -5.07587089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.100714057 meters 0.03471455606314827 Centerline is valid? [True, True] Translation: X:70.86, Y:-8.36, Z:-5.08 [[ 9.93869487e-01 9.20078976e-02 6.13024371e-02 7.08647550e+01] [-9.16176186e-02 9.95752194e-01 -9.15314745e-03 -8.36464108e+00] [-6.18841981e-02 3.48065066e-03 9.98077267e-01 -5.07857513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.130714057 meters 0.032776941928620754 Centerline is valid? [True, True] Translation: X:70.90, Y:-8.37, Z:-5.08 [[ 9.93405116e-01 9.70447682e-02 6.10621749e-02 7.08950149e+01] [-9.66671658e-02 9.95275026e-01 -9.11492461e-03 -8.36586831e+00] [-6.16582135e-02 3.15210535e-03 9.98092345e-01 -5.08064798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.160714057 meters 0.02867471111816855 Centerline is valid? [True, True] Translation: X:70.92, Y:-8.36, Z:-5.08 [[ 9.93228815e-01 9.89435415e-02 6.08826396e-02 7.09248159e+01] [-9.85717008e-02 9.95088449e-01 -9.08833157e-03 -8.36268447e+00] [-6.14828432e-02 3.02548746e-03 9.98103555e-01 -5.08128596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.19071405700001 meters 0.028911777332589598 Centerline is valid? [True, True] Translation: X:70.95, Y:-8.37, Z:-5.08 [[ 9.92887447e-01 1.02385226e-01 6.07600521e-02 7.09530130e+01] [-1.02021591e-01 9.94740878e-01 -9.06536937e-03 -8.36764235e+00] [-6.13686675e-02 2.80205423e-03 9.98111234e-01 -5.08328573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.22071405700001 meters 0.027662697918340137 Centerline is valid? [True, True] Translation: X:70.98, Y:-8.37, Z:-5.09 [[ 9.92734271e-01 1.03837684e-01 6.07980499e-02 7.09815218e+01] [-1.03476509e-01 9.94590563e-01 -9.06779515e-03 -8.36953172e+00] [-6.14107455e-02 2.71074105e-03 9.98108898e-01 -5.08538868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.25071405700001 meters 0.027210548371024528 Centerline is valid? [True, True] Translation: X:71.01, Y:-8.37, Z:-5.09 [[ 9.92631673e-01 1.04849852e-01 6.07360632e-02 7.10097529e+01] [-1.04491579e-01 9.94484557e-01 -9.05405556e-03 -8.37372958e+00] [-6.13503933e-02 2.64093516e-03 9.98112797e-01 -5.08746611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.280714057 meters 0.027210548371024528 Centerline is valid? [True, True] Translation: X:71.04, Y:-8.38, Z:-5.09 [[ 9.92643002e-01 1.04742192e-01 6.07366780e-02 7.10368788e+01] [-1.04383970e-01 9.94495895e-01 -9.04992906e-03 -8.37768491e+00] [-6.13502864e-02 2.64341316e-03 9.98112797e-01 -5.08935609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.310714057 meters 0.027786885072581844 Centerline is valid? [True, True] Translation: X:71.06, Y:-8.38, Z:-5.09 [[ 9.92593981e-01 1.05186462e-01 6.07700410e-02 7.10641840e+01] [-1.04829099e-01 9.94449090e-01 -9.04802300e-03 -8.38399954e+00] [-6.13844416e-02 2.61054452e-03 9.98110783e-01 -5.09137499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.340714057 meters 0.028679767122387685 Centerline is valid? [True, True] Translation: X:71.09, Y:-8.39, Z:-5.09 [[ 9.92733410e-01 1.03465192e-01 6.14437250e-02 7.10918051e+01] [-1.03096917e-01 9.94629297e-01 -9.14261993e-03 -8.39088881e+00] [-6.20596719e-02 2.74152561e-03 9.98068676e-01 -5.09233495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.370714057 meters 0.03016671052255133 Centerline is valid? [True, True] Translation: X:71.12, Y:-8.40, Z:-5.09 [[ 9.92911499e-01 1.01728850e-01 6.14653985e-02 7.11190380e+01] [-1.01357344e-01 9.94808094e-01 -9.14027879e-03 -8.39813354e+00] [-6.20761060e-02 2.84551835e-03 9.98067363e-01 -5.09411682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.400714057 meters 0.02966862871498019 Centerline is valid? [True, True] Translation: X:71.15, Y:-8.40, Z:-5.10 [[ 9.93115945e-01 9.98278649e-02 6.12790076e-02 7.11483353e+01] [-9.94553655e-02 9.95000351e-01 -9.10672734e-03 -8.40304246e+00] [-6.18817392e-02 2.94951003e-03 9.98079131e-01 -5.09530865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.430714057 meters 0.03218896443466414 Centerline is valid? [True, True] Translation: X:71.18, Y:-8.41, Z:-5.10 [[ 9.93663789e-01 9.45896021e-02 6.07048804e-02 7.11763498e+01] [-9.42144541e-02 9.95511071e-01 -9.01912139e-03 -8.41379896e+00] [-6.12854956e-02 3.24269716e-03 9.98115010e-01 -5.09804486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.460714057 meters 0.032155432961426166 Centerline is valid? [True, True] Translation: X:71.21, Y:-8.42, Z:-5.10 [[ 9.93942997e-01 9.17982502e-02 6.04185446e-02 7.12053439e+01] [-9.14215708e-02 9.95771830e-01 -8.97541654e-03 -8.42019701e+00] [-6.09870123e-02 3.39749416e-03 9.98132777e-01 -5.10051411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.490714057 meters 0.03744803124132443 Centerline is valid? [True, True] Translation: X:71.23, Y:-8.44, Z:-5.10 [[ 9.94527815e-01 8.54833362e-02 6.00585076e-02 7.12321931e+01] [-8.50998260e-02 9.96332507e-01 -8.91934553e-03 -8.43675060e+00] [-6.06006989e-02 3.75956867e-03 9.98155008e-01 -5.10356759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.520714057 meters 0.03849937006363711 Centerline is valid? [True, True] Translation: X:71.26, Y:-8.44, Z:-5.11 [[ 9.94804501e-01 8.24324108e-02 5.97402866e-02 7.12609928e+01] [-8.20474047e-02 9.96588925e-01 -8.87341183e-03 -8.44459938e+00] [-6.02679648e-02 3.92577455e-03 9.98174514e-01 -5.10553627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.55071405700001 meters 0.04060750202088233 Centerline is valid? [True, True] Translation: X:71.29, Y:-8.45, Z:-5.11 [[ 9.95037927e-01 7.97592002e-02 5.94810337e-02 7.12894988e+01] [-7.93728441e-02 9.96805856e-01 -8.83386795e-03 -8.45391820e+00] [-5.99956250e-02 4.06885484e-03 9.98190347e-01 -5.10812007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.58071405700001 meters 0.043949435368453825 Centerline is valid? [True, True] Translation: X:71.32, Y:-8.47, Z:-5.11 [[ 9.95470946e-01 7.55456517e-02 5.77100606e-02 7.13169188e+01] [-7.51750384e-02 9.97133532e-01 -8.56931878e-03 -8.46582753e+00] [-5.81920113e-02 4.19215184e-03 9.98296607e-01 -5.11103584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.61071405700001 meters 0.04479204377462235 Centerline is valid? [True, True] Translation: X:71.35, Y:-8.47, Z:-5.11 [[ 9.95595723e-01 7.41138511e-02 5.74133636e-02 7.13459758e+01] [-7.37445089e-02 9.97240702e-01 -8.52817576e-03 -8.47253259e+00] [-5.78869990e-02 4.25669501e-03 9.98314067e-01 -5.11350573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.640714057 meters 0.04681473857768508 Centerline is valid? [True, True] Translation: X:71.37, Y:-8.48, Z:-5.12 [[ 9.95789868e-01 7.23285465e-02 5.63126951e-02 7.13736660e+01] [-7.19705086e-02 9.97371699e-01 -8.36298176e-03 -8.48169622e+00] [-5.67695707e-02 4.27491920e-03 9.98378155e-01 -5.11583495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.670714057 meters 0.04721661261854357 Centerline is valid? [True, True] Translation: X:71.40, Y:-8.49, Z:-5.12 [[ 9.95814745e-01 7.20812760e-02 5.61897155e-02 7.14023064e+01] [-7.17245566e-02 9.97389591e-01 -8.34215559e-03 -8.48738721e+00] [-5.66443506e-02 4.27705911e-03 9.98385258e-01 -5.11758454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.700714057 meters 0.047820903575887155 Centerline is valid? [True, True] Translation: X:71.43, Y:-8.49, Z:-5.12 [[ 9.95746984e-01 7.27744784e-02 5.64961824e-02 7.14302922e+01] [-7.24152060e-02 9.97339339e-01 -8.38334940e-03 -8.49361041e+00] [-5.69559591e-02 4.25651220e-03 9.98367618e-01 -5.11897173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.730714057 meters 0.04783442780597465 Centerline is valid? [True, True] Translation: X:71.46, Y:-8.50, Z:-5.12 [[ 9.95715136e-01 7.34271653e-02 5.62122642e-02 7.14583141e+01] [-7.30725872e-02 9.97291751e-01 -8.34026402e-03 -8.49801842e+00] [-5.66724293e-02 4.19695155e-03 9.98384005e-01 -5.12121602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.760714057 meters 0.038204688906761784 Centerline is valid? [True, True] Translation: X:71.49, Y:-8.49, Z:-5.12 [[ 9.95653942e-01 7.43203067e-02 5.61223573e-02 7.14888710e+01] [-7.39684802e-02 9.97225846e-01 -8.32327441e-03 -8.48963056e+00] [-5.65852536e-02 4.13581550e-03 9.98389205e-01 -5.12099725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.790714057 meters 0.03834993535809441 Centerline is valid? [True, True] Translation: X:71.52, Y:-8.49, Z:-5.12 [[ 9.95599448e-01 7.52502024e-02 5.58493091e-02 7.15157889e+01] [-7.49034657e-02 9.97156422e-01 -8.27894616e-03 -8.49498711e+00] [-5.63134896e-02 4.05920742e-03 9.98404885e-01 -5.12303013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.820714057 meters 0.038336925523497066 Centerline is valid? [True, True] Translation: X:71.54, Y:-8.50, Z:-5.13 [[ 9.95588500e-01 7.55719529e-02 5.56095237e-02 7.15444086e+01] [-7.52289833e-02 9.97132254e-01 -8.23817771e-03 -8.49933028e+00] [-5.60726249e-02 4.01838706e-03 9.98418606e-01 -5.12521332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.850714057 meters 0.03825050739551937 Centerline is valid? [True, True] Translation: X:71.57, Y:-8.50, Z:-5.13 [[ 9.95629115e-01 7.58847825e-02 5.44441532e-02 7.15726988e+01] [-7.55567299e-02 9.97108916e-01 -8.06171089e-03 -8.50422438e+00] [-5.48985117e-02 3.91285190e-03 9.98484273e-01 -5.12793650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.880714057 meters 0.04170106170103503 Centerline is valid? [True, True] Translation: X:71.60, Y:-8.51, Z:-5.13 [[ 9.95645348e-01 7.59915270e-02 5.39965655e-02 7.15990203e+01] [-7.56692052e-02 9.97100949e-01 -7.99183278e-03 -8.51315374e+00] [-5.44473382e-02 3.87115394e-03 9.98509139e-01 -5.13098660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.910714057 meters 0.038553304683704395 Centerline is valid? [True, True] Translation: X:71.63, Y:-8.51, Z:-5.13 [[ 9.95590510e-01 7.63778334e-02 5.44606640e-02 7.16279758e+01] [-7.60507987e-02 9.97071405e-01 -8.05535926e-03 -8.51364675e+00] [-5.49164217e-02 3.87806223e-03 9.98483424e-01 -5.13116657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.94071405700001 meters 0.03810994423193171 Centerline is valid? [True, True] Translation: X:71.66, Y:-8.52, Z:-5.13 [[ 9.95557858e-01 7.63802118e-02 5.50510256e-02 7.16564364e+01] [-7.60462653e-02 9.97071074e-01 -8.13868377e-03 -8.51686669e+00] [-5.55114196e-02 3.91610568e-03 9.98450373e-01 -5.13232015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.97071405700001 meters 0.038680586276626606 Centerline is valid? [True, True] Translation: X:71.68, Y:-8.52, Z:-5.13 [[ 9.95478635e-01 7.70160537e-02 5.55950928e-02 7.16843375e+01] [-7.66766795e-02 9.97022166e-01 -8.21504851e-03 -8.52175452e+00] [-5.60622305e-02 3.91505817e-03 9.98419600e-01 -5.13342552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.00071405700001 meters 0.037119498333003965 Centerline is valid? [True, True] Translation: X:71.71, Y:-8.52, Z:-5.14 [[ 9.95444077e-01 7.77711330e-02 5.51610392e-02 7.17132521e+01] [-7.74384141e-02 9.96963850e-01 -8.14700802e-03 -8.52372218e+00] [-5.56271640e-02 3.83830748e-03 9.98444233e-01 -5.13511335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.030714057 meters 0.036567294806905265 Centerline is valid? [True, True] Translation: X:71.74, Y:-8.53, Z:-5.14 [[ 9.95424955e-01 7.87773930e-02 5.40673844e-02 7.17415034e+01] [-7.84594371e-02 9.96885354e-01 -7.98166398e-03 -8.52686669e+00] [-5.45277583e-02 3.70305096e-03 9.98505389e-01 -5.13781976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.060714057 meters 0.040983510211999995 Centerline is valid? [True, True] Translation: X:71.77, Y:-8.54, Z:-5.14 [[ 9.95369603e-01 7.93947111e-02 5.41833227e-02 7.17683764e+01] [-7.90765142e-02 9.96836490e-01 -7.99483194e-03 -8.53738528e+00] [-5.46466605e-02 3.67318441e-03 9.98498999e-01 -5.14177109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.090714057 meters 0.035769990560377454 Centerline is valid? [True, True] Translation: X:71.80, Y:-8.53, Z:-5.14 [[ 9.95344572e-01 7.98325182e-02 5.39995533e-02 7.17984965e+01] [-7.95173305e-02 9.96801671e-01 -7.96384776e-03 -8.53381811e+00] [-5.44626189e-02 3.63287232e-03 9.98509201e-01 -5.14215364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.120714057 meters 0.03556435705534026 Centerline is valid? [True, True] Translation: X:71.83, Y:-8.54, Z:-5.14 [[ 9.95222387e-01 8.16190938e-02 5.35791291e-02 7.18274040e+01] [-8.13116007e-02 9.96657439e-01 -7.89769287e-03 -8.53726194e+00] [-5.40446402e-02 3.50335600e-03 9.98532375e-01 -5.14397312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.150714057 meters 0.03355578235765123 Centerline is valid? [True, True] Translation: X:71.86, Y:-8.54, Z:-5.15 [[ 9.95139734e-01 8.27034176e-02 5.34514198e-02 7.18564616e+01] [-8.23990845e-02 9.96568289e-01 -7.87631725e-03 -8.53755846e+00] [-5.39193883e-02 3.43368819e-03 9.98539388e-01 -5.14533066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.180714057 meters 0.03362872579942369 Centerline is valid? [True, True] Translation: X:71.88, Y:-8.54, Z:-5.15 [[ 9.94976146e-01 8.48458362e-02 5.31380469e-02 7.18848942e+01] [-8.45483298e-02 9.96388646e-01 -7.82596598e-03 -8.54050102e+00] [-5.36101472e-02 3.29391636e-03 9.98556509e-01 -5.14713745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.210714057 meters 0.03289448097159572 Centerline is valid? [True, True] Translation: X:71.91, Y:-8.54, Z:-5.15 [[ 9.94857467e-01 8.62977417e-02 5.30218836e-02 7.19140426e+01] [-8.60037440e-02 9.96264234e-01 -7.80595750e-03 -8.54283703e+00] [-5.34974427e-02 3.20573460e-03 9.98562841e-01 -5.14928441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.240714057 meters 0.03356363957359482 Centerline is valid? [True, True] Translation: X:71.94, Y:-8.55, Z:-5.15 [[ 9.94808649e-01 8.72965665e-02 5.22978158e-02 7.19415431e+01] [-8.70120251e-02 9.96177522e-01 -7.69749667e-03 -8.54729474e+00] [-5.27698736e-02 3.10699741e-03 9.98601866e-01 -5.15191210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.270714057 meters 0.03366730274146635 Centerline is valid? [True, True] Translation: X:71.97, Y:-8.55, Z:-5.15 [[ 9.94662109e-01 8.95893500e-02 5.11960594e-02 7.19697650e+01] [-8.93200600e-02 9.95974522e-01 -7.52852210e-03 -8.55013866e+00] [-5.16644462e-02 2.91550057e-03 9.98660245e-01 -5.15435597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.30071405700001 meters 0.03184145767050172 Centerline is valid? [True, True] Translation: X:72.00, Y:-8.55, Z:-5.15 [[ 9.94509423e-01 9.12343304e-02 5.12572333e-02 7.19992867e+01] [-9.09667140e-02 9.95825429e-01 -7.53477745e-03 -8.55005242e+00] [-5.17306867e-02 2.83070510e-03 9.98657060e-01 -5.15457300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.33071405700001 meters 0.032244469985758376 Centerline is valid? [True, True] Translation: X:72.03, Y:-8.55, Z:-5.16 [[ 9.94385332e-01 9.21898153e-02 5.19504489e-02 7.20270977e+01] [-9.19163388e-02 9.95737469e-01 -7.63408830e-03 -8.55449564e+00] [-5.24327937e-02 2.81613037e-03 9.98620484e-01 -5.15629596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.36071405700001 meters 0.0320834962388055 Centerline is valid? [True, True] Translation: X:72.06, Y:-8.56, Z:-5.16 [[ 9.94341222e-01 9.27636486e-02 5.17729685e-02 7.20558561e+01] [-9.24930085e-02 9.95684296e-01 -7.60429816e-03 -8.55763215e+00] [-5.22549342e-02 2.77262950e-03 9.98629929e-01 -5.15769283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.390714057 meters 0.03148894239536977 Centerline is valid? [True, True] Translation: X:72.09, Y:-8.56, Z:-5.16 [[ 9.94168135e-01 9.42939370e-02 5.23294656e-02 7.20851419e+01] [-9.40197688e-02 9.95540693e-01 -7.68196678e-03 -8.55990219e+00] [-5.28204753e-02 2.71716234e-03 9.98600328e-01 -5.15923267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.420714057 meters 0.030159045457103913 Centerline is valid? [True, True] Translation: X:72.11, Y:-8.56, Z:-5.16 [[ 9.94130313e-01 9.45125024e-02 5.26527078e-02 7.21144508e+01] [-9.42353744e-02 9.95519960e-01 -7.72686472e-03 -8.56160833e+00] [-5.31471068e-02 2.71976282e-03 9.98582990e-01 -5.16030786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.450714057 meters 0.030594353021324835 Centerline is valid? [True, True] Translation: X:72.14, Y:-8.57, Z:-5.16 [[ 9.94110238e-01 9.41801077e-02 5.36184776e-02 7.21416949e+01] [-9.38924178e-02 9.95551282e-01 -7.86506913e-03 -8.56709978e+00] [-5.41206772e-02 2.78437724e-03 9.98530520e-01 -5.16214338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.480714057 meters 0.034811170493883846 Centerline is valid? [True, True] Translation: X:72.17, Y:-8.58, Z:-5.17 [[ 9.94189785e-01 9.34003986e-02 5.35073569e-02 7.21678363e+01] [-9.31131069e-02 9.95624649e-01 -7.84264895e-03 -8.57819993e+00] [-5.40057499e-02 2.81484524e-03 9.98536657e-01 -5.16609222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.510714057 meters 0.03181369082341154 Centerline is valid? [True, True] Translation: X:72.20, Y:-8.58, Z:-5.17 [[ 9.94397351e-01 9.13776469e-02 5.31416355e-02 7.21970801e+01] [-9.10916797e-02 9.95812090e-01 -7.78373905e-03 -8.57912408e+00] [-5.36303428e-02 2.89936866e-03 9.98556648e-01 -5.16664934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.540714057 meters 0.03291740080616884 Centerline is valid? [True, True] Translation: X:72.23, Y:-8.59, Z:-5.17 [[ 9.94565147e-01 8.97168489e-02 5.28304407e-02 7.22259852e+01] [-8.94320574e-02 9.95962889e-01 -7.73502515e-03 -8.58578410e+00] [-5.33111204e-02 2.96825142e-03 9.98573540e-01 -5.16911462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.570714057 meters 0.034213774858134774 Centerline is valid? [True, True] Translation: X:72.26, Y:-8.59, Z:-5.17 [[ 9.94917145e-01 8.57463916e-02 5.27961289e-02 7.22556161e+01] [-8.54565316e-02 9.96311932e-01 -7.72754915e-03 -8.59362521e+00] [-5.32640227e-02 3.17649707e-03 9.98575412e-01 -5.17160271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.600714057 meters 0.034605692800642324 Centerline is valid? [True, True] Translation: X:72.28, Y:-8.60, Z:-5.17 [[ 9.95155688e-01 8.33204783e-02 5.21809872e-02 7.22847968e+01] [-8.30339896e-02 9.96517444e-01 -7.63809040e-03 -8.59938159e+00] [-5.26356733e-02 3.26829356e-03 9.98608434e-01 -5.17388125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.630714057 meters 0.035625687644430054 Centerline is valid? [True, True] Translation: X:72.31, Y:-8.61, Z:-5.18 [[ 9.95319459e-01 8.15863371e-02 5.17961708e-02 7.23133315e+01] [-8.13018237e-02 9.96660704e-01 -7.57988378e-03 -8.60645601e+00] [-5.22416231e-02 3.33328267e-03 9.98628911e-01 -5.17696350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.660714057 meters 0.04131556568236276 Centerline is valid? [True, True] Translation: X:72.34, Y:-8.62, Z:-5.18 [[ 9.95678677e-01 7.81533786e-02 5.01599629e-02 7.23409962e+01] [-7.78823367e-02 9.96935549e-01 -7.33850889e-03 -8.61988016e+00] [-5.05797794e-02 3.40022170e-03 9.98714236e-01 -5.18231288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.69071405700001 meters 0.03725210698724652 Centerline is valid? [True, True] Translation: X:72.37, Y:-8.62, Z:-5.18 [[ 9.95797497e-01 7.69415172e-02 4.96723963e-02 7.23708059e+01] [-7.66742601e-02 9.97029717e-01 -7.26646554e-03 -8.61829018e+00] [-5.00839481e-02 3.42733397e-03 9.98739131e-01 -5.18302756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.72071405700001 meters 0.0399608570774528 Centerline is valid? [True, True] Translation: X:72.40, Y:-8.63, Z:-5.19 [[ 9.95946332e-01 7.54716383e-02 4.89380848e-02 7.23986581e+01] [-7.52105976e-02 9.97141992e-01 -7.15641015e-03 -8.62636738e+00] [-4.93383254e-02 3.44673783e-03 9.98776176e-01 -5.18703044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.75071405700001 meters 0.039854586581607926 Centerline is valid? [True, True] Translation: X:72.43, Y:-8.63, Z:-5.19 [[ 9.95941055e-01 7.52768851e-02 4.93437514e-02 7.24266615e+01] [-7.50113764e-02 9.97156588e-01 -7.21332470e-03 -8.63074568e+00] [-4.97464434e-02 3.48270350e-03 9.98755807e-01 -5.18909738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.780714057 meters 0.037784168393775956 Centerline is valid? [True, True] Translation: X:72.46, Y:-8.63, Z:-5.19 [[ 9.95839021e-01 7.56272512e-02 5.08444929e-02 7.24561912e+01] [-7.53459904e-02 9.97129779e-01 -7.42866963e-03 -8.63190668e+00] [-5.12603679e-02 3.56683041e-03 9.98678954e-01 -5.19020817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.810714057 meters 0.03847292935651383 Centerline is valid? [True, True] Translation: X:72.48, Y:-8.64, Z:-5.19 [[ 9.95746944e-01 7.61265677e-02 5.18918948e-02 7.24837836e+01] [-7.58343829e-02 9.97091620e-01 -7.57936627e-03 -8.63694783e+00] [-5.23179646e-02 3.61194098e-03 9.98623945e-01 -5.19216466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.840714057 meters 0.038085481670098134 Centerline is valid? [True, True] Translation: X:72.51, Y:-8.64, Z:-5.19 [[ 9.95616400e-01 7.70579018e-02 5.30100408e-02 7.25126689e+01] [-7.67545654e-02 9.97019994e-01 -7.73749179e-03 -8.64015660e+00] [-5.34483054e-02 3.63481108e-03 9.98564002e-01 -5.19316267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.870714057 meters 0.038442505437440586 Centerline is valid? [True, True] Translation: X:72.54, Y:-8.64, Z:-5.19 [[ 9.95397438e-01 7.86837367e-02 5.47065872e-02 7.25418061e+01] [-7.83633433e-02 9.96892922e-01 -7.98055708e-03 -8.64304956e+00] [-5.51645496e-02 3.65683500e-03 9.98470580e-01 -5.19442537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.900714057 meters 0.03835906667408669 Centerline is valid? [True, True] Translation: X:72.57, Y:-8.65, Z:-5.20 [[ 9.95289415e-01 7.94747513e-02 5.55224742e-02 7.25701901e+01] [-7.91460301e-02 9.96830140e-01 -8.09800757e-03 -8.64667052e+00] [-5.59900629e-02 3.66547780e-03 9.98424598e-01 -5.19605497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.930714057 meters 0.03680246241470466 Centerline is valid? [True, True] Translation: X:72.60, Y:-8.65, Z:-5.20 [[ 9.95160636e-01 8.03000289e-02 5.66322704e-02 7.25991866e+01] [-7.99595827e-02 9.96763918e-01 -8.25575688e-03 -8.64822998e+00] [-5.71119413e-02 3.68751156e-03 9.98360971e-01 -5.19807589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.960714057 meters 0.03566257412363199 Centerline is valid? [True, True] Translation: X:72.63, Y:-8.65, Z:-5.20 [[ 9.95129724e-01 8.03861200e-02 5.70517745e-02 7.26278606e+01] [-8.00409845e-02 9.96756911e-01 -8.31276195e-03 -8.65057454e+00] [-5.75349812e-02 3.70579630e-03 9.98336613e-01 -5.19982884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.990714057 meters 0.03546932418813068 Centerline is valid? [True, True] Translation: X:72.66, Y:-8.65, Z:-5.20 [[ 9.95151537e-01 8.00988194e-02 5.70753679e-02 7.26565284e+01] [-7.97531670e-02 9.96779987e-01 -8.31205157e-03 -8.65384595e+00] [-5.75573699e-02 3.71980955e-03 9.98335270e-01 -5.20239690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.020714057 meters 0.03563952465811178 Centerline is valid? [True, True] Translation: X:72.68, Y:-8.66, Z:-5.20 [[ 9.95237312e-01 7.91885814e-02 5.68494678e-02 7.26849924e+01] [-7.88444230e-02 9.96852587e-01 -8.27502307e-03 -8.65725564e+00] [-5.73258264e-02 3.75334823e-03 9.98348467e-01 -5.20461170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.05071405700001 meters 0.03462844976097543 Centerline is valid? [True, True] Translation: X:72.71, Y:-8.66, Z:-5.21 [[ 9.95295096e-01 7.83151155e-02 5.70474710e-02 7.27136359e+01] [-7.79673661e-02 9.96921364e-01 -8.29965998e-03 -8.65953017e+00] [-5.75218314e-02 3.81276982e-03 9.98336968e-01 -5.20668414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.08071405700001 meters 0.03587315068004294 Centerline is valid? [True, True] Translation: X:72.74, Y:-8.66, Z:-5.21 [[ 9.95430243e-01 7.66543656e-02 5.69450593e-02 7.27418515e+01] [-7.63054174e-02 9.97050109e-01 -8.28032266e-03 -8.66480660e+00] [-5.74118004e-02 3.89726708e-03 9.98342975e-01 -5.20968383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.11071405700001 meters 0.03576817250430357 Centerline is valid? [True, True] Translation: X:72.77, Y:-8.67, Z:-5.21 [[ 9.95539532e-01 7.55858898e-02 5.64607264e-02 7.27702889e+01] [-7.52413155e-02 9.97131581e-01 -8.20701056e-03 -8.66820575e+00] [-5.69191076e-02 3.92222413e-03 9.98371089e-01 -5.21174260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.140714057 meters 0.03701442062786724 Centerline is valid? [True, True] Translation: X:72.80, Y:-8.67, Z:-5.21 [[ 9.95660402e-01 7.40472954e-02 5.63680961e-02 7.27988878e+01] [-7.37016502e-02 9.97246712e-01 -8.18915734e-03 -8.67300280e+00] [-5.68192834e-02 3.99919799e-03 9.98376470e-01 -5.21447972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.170714057 meters 0.03752273327133929 Centerline is valid? [True, True] Translation: X:72.83, Y:-8.68, Z:-5.22 [[ 9.95647331e-01 7.38038641e-02 5.69155668e-02 7.28268734e+01] [-7.34512388e-02 9.97264555e-01 -8.26571511e-03 -8.67744867e+00] [-5.73699191e-02 4.04921830e-03 9.98344778e-01 -5.21651223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.200714057 meters 0.03752273327133929 Centerline is valid? [True, True] Translation: X:72.85, Y:-8.68, Z:-5.22 [[ 9.95652594e-01 7.37323784e-02 5.69161590e-02 7.28548973e+01] [-7.33798690e-02 9.97269843e-01 -8.26163526e-03 -8.68145674e+00] [-5.73699189e-02 4.04921829e-03 9.98344778e-01 -5.21846373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.230714057 meters 0.037669148048704984 Centerline is valid? [True, True] Translation: X:72.88, Y:-8.68, Z:-5.22 [[ 9.95667758e-01 7.32999140e-02 5.72087295e-02 7.28831037e+01] [-7.29432999e-02 9.97301553e-01 -8.29989017e-03 -8.68452604e+00] [-5.76627360e-02 4.09093952e-03 9.98327738e-01 -5.22023174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.260714057 meters 0.03897694830688091 Centerline is valid? [True, True] Translation: X:72.91, Y:-8.69, Z:-5.22 [[ 9.95598661e-01 7.32912441e-02 5.84097630e-02 7.29108303e+01] [-7.29197111e-02 9.97301848e-01 -8.46992671e-03 -8.68881534e+00] [-5.88729361e-02 4.17342464e-03 9.98256761e-01 -5.22195680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.290714057 meters 0.03898941527561537 Centerline is valid? [True, True] Translation: X:72.94, Y:-8.69, Z:-5.22 [[ 9.95462933e-01 7.39818431e-02 5.98350681e-02 7.29397612e+01] [-7.35935149e-02 9.97250626e-01 -8.67088689e-03 -8.69086966e+00] [-6.03120473e-02 4.22807352e-03 9.98170617e-01 -5.22368986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.320714057 meters 0.039601888505416884 Centerline is valid? [True, True] Translation: X:72.97, Y:-8.69, Z:-5.23 [[ 9.95419176e-01 7.39648625e-02 6.05794005e-02 7.29686509e+01] [-7.35670377e-02 9.97251675e-01 -8.77431913e-03 -8.69499155e+00] [-6.10618999e-02 4.27747847e-03 9.98124816e-01 -5.22560249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.350714057 meters 0.04022891289342273 Centerline is valid? [True, True] Translation: X:73.00, Y:-8.70, Z:-5.23 [[ 9.95379858e-01 7.37860175e-02 6.14374623e-02 7.29967110e+01] [-7.33767635e-02 9.97264631e-01 -8.89413380e-03 -8.69880706e+00] [-6.19256709e-02 4.34495950e-03 9.98071306e-01 -5.22732030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.380714057 meters 0.040769417049186685 Centerline is valid? [True, True] Translation: X:73.03, Y:-8.70, Z:-5.23 [[ 9.95385458e-01 7.28320159e-02 6.24763005e-02 7.30259528e+01] [-7.24072128e-02 9.97334186e-01 -9.03978933e-03 -8.70211000e+00] [-6.29681364e-02 4.47434005e-03 9.98005508e-01 -5.22919274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.410714057 meters 0.04207124523063281 Centerline is valid? [True, True] Translation: X:73.06, Y:-8.71, Z:-5.23 [[ 9.95434789e-01 7.18441136e-02 6.28331486e-02 7.30553135e+01] [-7.14126228e-02 9.97405446e-01 -9.08916920e-03 -8.70786129e+00] [-6.33231279e-02 4.56059528e-03 9.97982656e-01 -5.23125169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.44071405700001 meters 0.04286500224303952 Centerline is valid? [True, True] Translation: X:73.08, Y:-8.71, Z:-5.23 [[ 9.95654546e-01 6.90213905e-02 6.25145831e-02 7.30846880e+01] [-6.85888870e-02 9.97604044e-01 -9.04078908e-03 -8.71300619e+00] [-6.29888088e-02 4.71369707e-03 9.98003102e-01 -5.23448515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.47071405700001 meters 0.04291982797039056 Centerline is valid? [True, True] Translation: X:73.11, Y:-8.72, Z:-5.24 [[ 9.95819304e-01 6.71775262e-02 6.18958268e-02 7.31147391e+01] [-6.67500932e-02 9.97729583e-01 -8.95010122e-03 -8.71789959e+00] [-6.23565431e-02 4.78113136e-03 9.98042485e-01 -5.23730945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.50071405700001 meters 0.043344104800423285 Centerline is valid? [True, True] Translation: X:73.15, Y:-8.72, Z:-5.24 [[ 9.96001547e-01 6.52135340e-02 6.10582811e-02 7.31450909e+01] [-6.47939515e-02 9.97859607e-01 -8.82886760e-03 -8.72295875e+00] [-6.15033540e-02 4.83735848e-03 9.98095154e-01 -5.24032612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.530714057 meters 0.04535820291399853 Centerline is valid? [True, True] Translation: X:73.17, Y:-8.73, Z:-5.24 [[ 9.96281802e-01 6.17816688e-02 6.00466158e-02 7.31747357e+01] [-6.13696372e-02 9.98077332e-01 -8.68376118e-03 -8.72985669e+00] [-6.04676633e-02 4.96643421e-03 9.98157801e-01 -5.24340204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.560714057 meters 0.04984384182419352 Centerline is valid? [True, True] Translation: X:73.20, Y:-8.74, Z:-5.25 [[ 9.96363695e-01 6.09080017e-02 5.95785393e-02 7.32045260e+01] [-6.05009327e-02 9.98130968e-01 -8.61434145e-03 -8.74056675e+00] [-5.99918675e-02 4.97845988e-03 9.98186451e-01 -5.24636639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.590714057 meters 0.04707391613546528 Centerline is valid? [True, True] Translation: X:73.24, Y:-8.74, Z:-5.25 [[ 9.96484149e-01 5.93689254e-02 5.91157460e-02 7.32357334e+01] [-5.89645751e-02 9.98223352e-01 -8.56257925e-03 -8.74006089e+00] [-5.95190692e-02 5.04673965e-03 9.98214411e-01 -5.24816265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.620714057 meters 0.047506785257337265 Centerline is valid? [True, True] Translation: X:73.27, Y:-8.75, Z:-5.25 [[ 9.96431884e-01 5.95046620e-02 5.98556310e-02 7.32670994e+01] [-5.90902618e-02 9.98214982e-01 -8.67126798e-03 -8.74540303e+00] [-6.02647685e-02 5.10344298e-03 9.98169381e-01 -5.25048689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.650714057 meters 0.04492737043490283 Centerline is valid? [True, True] Translation: X:73.30, Y:-8.75, Z:-5.25 [[ 9.96408843e-01 5.99599962e-02 5.97847566e-02 7.32998656e+01] [-5.95464995e-02 9.98187831e-01 -8.67578808e-03 -8.74602862e+00] [-6.01966167e-02 5.08465898e-03 9.98173589e-01 -5.25170157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.680714057 meters 0.046353567345006785 Centerline is valid? [True, True] Translation: X:73.33, Y:-8.75, Z:-5.25 [[ 9.96183620e-01 6.24781192e-02 6.09481660e-02 7.33286761e+01] [-6.20519288e-02 9.98033575e-01 -8.86237574e-03 -8.75180299e+00] [-6.13820206e-02 5.04660229e-03 9.98101588e-01 -5.25354410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.710714057 meters 0.04590208442596329 Centerline is valid? [True, True] Translation: X:73.36, Y:-8.75, Z:-5.26 [[ 9.95844405e-01 6.65248403e-02 6.21961943e-02 7.33587122e+01] [-6.60888969e-02 9.97772764e-01 -9.04260465e-03 -8.75368228e+00] [-6.26592266e-02 4.89454937e-03 9.98022978e-01 -5.25501904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.740714057 meters 0.04776696527066058 Centerline is valid? [True, True] Translation: X:73.39, Y:-8.76, Z:-5.26 [[ 9.95641311e-01 6.85857962e-02 6.32010089e-02 7.33881299e+01] [-6.81397546e-02 9.97633471e-01 -9.18863919e-03 -8.75974814e+00] [-6.36816520e-02 4.84208754e-03 9.97958517e-01 -5.25721037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.770714057 meters 0.04682653394065387 Centerline is valid? [True, True] Translation: X:73.42, Y:-8.76, Z:-5.26 [[ 9.95419678e-01 7.09133364e-02 6.41168000e-02 7.34181860e+01] [-7.04590470e-02 9.97471116e-01 -9.32178380e-03 -8.76322048e+00] [-6.46156948e-02 4.76147840e-03 9.97898863e-01 -5.25882984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.80071405700001 meters 0.039941196079162494 Centerline is valid? [True, True] Translation: X:73.45, Y:-8.76, Z:-5.26 [[ 9.95062053e-01 7.47079077e-02 6.53470618e-02 7.34503687e+01] [-7.42441167e-02 9.97194840e-01 -9.50060976e-03 -8.75648999e+00] [-6.58735236e-02 4.60206138e-03 9.97817368e-01 -5.26055771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.83071405700001 meters 0.042902891940875015 Centerline is valid? [True, True] Translation: X:73.48, Y:-8.76, Z:-5.26 [[ 9.94942614e-01 7.61369809e-02 6.55160660e-02 7.34782012e+01] [-7.56737883e-02 9.97087121e-01 -9.52631089e-03 -8.76409346e+00] [-6.60505301e-02 4.52028376e-03 9.97806041e-01 -5.26286507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.86071405700001 meters 0.03980115662769846 Centerline is valid? [True, True] Translation: X:73.51, Y:-8.76, Z:-5.27 [[ 9.94792688e-01 7.82210266e-02 6.53374290e-02 7.35076792e+01] [-7.77650615e-02 9.96926479e-01 -9.49682603e-03 -8.76466491e+00] [-6.58794645e-02 4.36640391e-03 9.97818035e-01 -5.26576237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.890714057 meters 0.039079814252532305 Centerline is valid? [True, True] Translation: X:73.54, Y:-8.77, Z:-5.27 [[ 9.94761295e-01 7.87725792e-02 6.51524924e-02 7.35361388e+01] [-7.83205153e-02 9.96883272e-01 -9.46777726e-03 -8.76808840e+00] [-6.56952311e-02 4.31540159e-03 9.97830403e-01 -5.26847676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.920714057 meters 0.04284521689545534 Centerline is valid? [True, True] Translation: X:73.56, Y:-8.78, Z:-5.27 [[ 9.94825662e-01 7.87651783e-02 6.41712432e-02 7.35628685e+01] [-7.83269192e-02 9.96884154e-01 -9.32082414e-03 -8.77745189e+00] [-6.47054518e-02 4.24625927e-03 9.97895372e-01 -5.27136325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.950714057 meters 0.039846978523343395 Centerline is valid? [True, True] Translation: X:73.59, Y:-8.78, Z:-5.27 [[ 9.94871042e-01 7.91659159e-02 6.29632306e-02 7.35916299e+01] [-7.87451731e-02 9.96852878e-01 -9.13991738e-03 -8.77769987e+00] [-6.34886475e-02 4.13498863e-03 9.97973994e-01 -5.27433115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.980714057 meters 0.04105176220261126 Centerline is valid? [True, True] Translation: X:73.62, Y:-8.78, Z:-5.28 [[ 9.94816622e-01 8.02245221e-02 6.24813220e-02 7.36186296e+01] [-7.98125497e-02 9.96768664e-01 -9.06572802e-03 -8.78395170e+00] [-6.30067175e-02 4.03194331e-03 9.98004958e-01 -5.27656997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.010714057 meters 0.040721654261447374 Centerline is valid? [True, True] Translation: X:73.65, Y:-8.79, Z:-5.28 [[ 9.94742166e-01 8.07209065e-02 6.30250647e-02 7.36470207e+01] [-8.03030476e-02 9.96728595e-01 -9.13935134e-03 -8.78775414e+00] [-6.35566209e-02 4.03019337e-03 9.97970096e-01 -5.27800730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.040714057 meters 0.033756109604331 Centerline is valid? [True, True] Translation: X:73.68, Y:-8.78, Z:-5.28 [[ 9.94655127e-01 8.12880241e-02 6.36665968e-02 7.36772516e+01] [-8.08630357e-02 9.96682503e-01 -9.22804681e-03 -8.78179891e+00] [-6.42055128e-02 4.03044979e-03 9.97928558e-01 -5.27867655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.070714057 meters 0.04156890070497779 Centerline is valid? [True, True] Translation: X:73.70, Y:-8.80, Z:-5.28 [[ 9.94449966e-01 8.24027294e-02 6.54144839e-02 7.37026094e+01] [-8.19567689e-02 9.96590831e-01 -9.47647152e-03 -8.79834522e+00] [-6.59723619e-02 4.06271705e-03 9.97813180e-01 -5.27996243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.100714057 meters 0.04149795714080851 Centerline is valid? [True, True] Translation: X:73.73, Y:-8.80, Z:-5.28 [[ 9.94410792e-01 8.26875256e-02 6.56502138e-02 7.37313211e+01] [-8.22393357e-02 9.96567282e-01 -9.50491649e-03 -8.80351627e+00] [-6.62107932e-02 4.05276156e-03 9.97797427e-01 -5.28118625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.130714057 meters 0.03451225845758298 Centerline is valid? [True, True] Translation: X:73.76, Y:-8.80, Z:-5.28 [[ 9.94365459e-01 8.29036641e-02 6.60629774e-02 7.37615375e+01] [-8.24505785e-02 9.96549298e-01 -9.56028541e-03 -8.79798752e+00] [-6.66275965e-02 4.05948688e-03 9.97769655e-01 -5.28288747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.160714057 meters 0.042491130078311734 Centerline is valid? [True, True] Translation: X:73.79, Y:-8.81, Z:-5.29 [[ 9.94371386e-01 8.27858715e-02 6.61214435e-02 7.37875082e+01] [-8.23320389e-02 9.96559062e-01 -9.56402067e-03 -8.81372105e+00] [-6.66856895e-02 4.06627524e-03 9.97765746e-01 -5.28512988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.19071405700001 meters 0.034743436425837694 Centerline is valid? [True, True] Translation: X:73.82, Y:-8.81, Z:-5.29 [[ 9.94402038e-01 8.25510329e-02 6.59538755e-02 7.38176366e+01] [-8.20994142e-02 9.96578547e-01 -9.53338483e-03 -8.80662212e+00] [-6.65152081e-02 4.06524276e-03 9.97777130e-01 -5.28673361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.22071405700001 meters 0.03295386535162547 Centerline is valid? [True, True] Translation: X:73.85, Y:-8.81, Z:-5.29 [[ 9.94458664e-01 8.24748823e-02 6.51909428e-02 7.38465078e+01] [-8.20338126e-02 9.96585042e-01 -9.41846032e-03 -8.80873176e+00] [-6.57451048e-02 4.01840788e-03 9.97828359e-01 -5.28980502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.25071405700001 meters 0.03501735521155664 Centerline is valid? [True, True] Translation: X:73.87, Y:-8.82, Z:-5.29 [[ 9.94491458e-01 8.24644570e-02 6.47020376e-02 7.38735829e+01] [-8.20302734e-02 9.96586042e-01 -9.34314634e-03 -8.81690595e+00] [-6.52516251e-02 3.98415338e-03 9.97860888e-01 -5.29241183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.280714057 meters 0.03323222650250798 Centerline is valid? [True, True] Translation: X:73.90, Y:-8.82, Z:-5.29 [[ 9.94526568e-01 8.27290618e-02 6.38185593e-02 7.39023175e+01] [-8.23075905e-02 9.96564419e-01 -9.20976422e-03 -8.81848984e+00] [-6.43612206e-02 3.90660335e-03 9.97919021e-01 -5.29478671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.310714057 meters 0.03355507593787799 Centerline is valid? [True, True] Translation: X:73.93, Y:-8.82, Z:-5.30 [[ 9.94515461e-01 8.28260839e-02 6.38657708e-02 7.39295732e+01] [-8.24044837e-02 9.96556391e-01 -9.21197948e-03 -8.82345178e+00] [-6.44088342e-02 3.89863015e-03 9.97915980e-01 -5.29673142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.340714057 meters 0.03472128948594765 Centerline is valid? [True, True] Translation: X:73.96, Y:-8.83, Z:-5.30 [[ 9.94467507e-01 8.38143837e-02 6.33208166e-02 7.39570937e+01] [-8.34023226e-02 9.96474154e-01 -9.12760202e-03 -8.82952887e+00] [-6.38625815e-02 3.79600045e-03 9.97951482e-01 -5.29903498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.370714057 meters 0.03294948245997205 Centerline is valid? [True, True] Translation: X:73.99, Y:-8.83, Z:-5.30 [[ 9.94427323e-01 8.43191791e-02 6.32817148e-02 7.39858441e+01] [-8.39089348e-02 9.96431715e-01 -9.11743364e-03 -8.83018171e+00] [-6.38246821e-02 3.75672385e-03 9.97954056e-01 -5.30102317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.400714057 meters 0.031883417460190765 Centerline is valid? [True, True] Translation: X:74.01, Y:-8.83, Z:-5.30 [[ 9.94370521e-01 8.51064966e-02 6.31201389e-02 7.40149649e+01] [-8.47002269e-02 9.96365020e-01 -9.08945300e-03 -8.83352233e+00] [-6.36642700e-02 3.69199402e-03 9.97964543e-01 -5.30243485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.430714057 meters 0.03168932173535789 Centerline is valid? [True, True] Translation: X:74.04, Y:-8.84, Z:-5.30 [[ 9.94201318e-01 8.66481704e-02 6.36854247e-02 7.40431268e+01] [-8.62379507e-02 9.96232390e-01 -9.16739709e-03 -8.83723557e+00] [-6.42398210e-02 3.62213776e-03 9.97927916e-01 -5.30436121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.460714057 meters 0.030772695851814174 Centerline is valid? [True, True] Translation: X:74.07, Y:-8.84, Z:-5.31 [[ 9.94129131e-01 8.73137804e-02 6.39028522e-02 7.40714921e+01] [-8.69024215e-02 9.96174402e-01 -9.19402181e-03 -8.84022754e+00] [-6.44611504e-02 3.58673232e-03 9.97913772e-01 -5.30602836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.490714057 meters 0.03158094703722672 Centerline is valid? [True, True] Translation: X:74.10, Y:-8.85, Z:-5.31 [[ 9.94061241e-01 8.78062849e-02 6.42830173e-02 7.40986076e+01] [-8.73913387e-02 9.96131167e-01 -9.24403408e-03 -8.84500968e+00] [-6.48460014e-02 3.57135704e-03 9.97888892e-01 -5.30779800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.520714057 meters 0.030984158531084334 Centerline is valid? [True, True] Translation: X:74.13, Y:-8.85, Z:-5.31 [[ 9.94054244e-01 8.77388533e-02 6.44829705e-02 7.41260574e+01] [-8.73215567e-02 9.96137074e-01 -9.26695172e-03 -8.84876425e+00] [-6.50469492e-02 3.58109932e-03 9.97875779e-01 -5.30940264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.55071405700001 meters 0.036051292619927656 Centerline is valid? [True, True] Translation: X:74.15, Y:-8.86, Z:-5.31 [[ 9.94140700e-01 8.69097507e-02 6.42725692e-02 7.41519032e+01] [-8.64939122e-02 9.96209625e-01 -9.22962603e-03 -8.86100274e+00] [-6.48310966e-02 3.61636092e-03 9.97889699e-01 -5.31135638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.58071405700001 meters 0.03181146819139238 Centerline is valid? [True, True] Translation: X:74.18, Y:-8.86, Z:-5.31 [[ 9.94290832e-01 8.55552313e-02 6.37655396e-02 7.41807176e+01] [-8.51435281e-02 9.96326671e-01 -9.15117185e-03 -8.85868298e+00] [-6.43142385e-02 3.66970326e-03 9.97922949e-01 -5.31261886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.61071405700001 meters 0.03267585122708129 Centerline is valid? [True, True] Translation: X:74.21, Y:-8.86, Z:-5.31 [[ 9.94410923e-01 8.44255634e-02 6.33974786e-02 7.42080840e+01] [-8.40167623e-02 9.96422867e-01 -9.09146124e-03 -8.86468857e+00] [-6.39382491e-02 3.71419748e-03 9.97946945e-01 -5.31479227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.640714057 meters 0.0325015261718038 Centerline is valid? [True, True] Translation: X:74.24, Y:-8.87, Z:-5.32 [[ 9.94700781e-01 8.15623203e-02 6.25934884e-02 7.42380427e+01] [-8.11586435e-02 9.96660840e-01 -8.96905756e-03 -8.87023861e+00] [-6.31160159e-02 3.84152594e-03 9.97998803e-01 -5.31758653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.670714057 meters 0.03706092896186062 Centerline is valid? [True, True] Translation: X:74.27, Y:-8.88, Z:-5.32 [[ 9.95029455e-01 7.82468418e-02 6.15939615e-02 7.42655299e+01] [-7.78496461e-02 9.96926043e-01 -8.82592186e-03 -8.88369617e+00] [-6.20952248e-02 3.98698412e-03 9.98062266e-01 -5.32131019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.700714057 meters 0.0353042102613619 Centerline is valid? [True, True] Translation: X:74.29, Y:-8.89, Z:-5.32 [[ 9.95168513e-01 7.68683392e-02 6.10809974e-02 7.42946393e+01] [-7.64751915e-02 9.97033073e-01 -8.75188383e-03 -8.88585425e+00] [-6.15725173e-02 4.03841825e-03 9.98094443e-01 -5.32317909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.730714057 meters 0.03591742787869098 Centerline is valid? [True, True] Translation: X:74.32, Y:-8.89, Z:-5.33 [[ 9.95345922e-01 7.53082393e-02 6.01262361e-02 7.43231809e+01] [-7.49246698e-02 9.97152009e-01 -8.61184119e-03 -8.89097489e+00] [-6.06035398e-02 4.06682262e-03 9.98153631e-01 -5.32579261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.760714057 meters 0.038556984608130444 Centerline is valid? [True, True] Translation: X:74.35, Y:-8.90, Z:-5.33 [[ 9.95510389e-01 7.36658991e-02 5.94340067e-02 7.43506466e+01] [-7.32884066e-02 9.97274485e-01 -8.50946179e-03 -8.90004660e+00] [-5.98988755e-02 4.11543397e-03 9.98195967e-01 -5.32897824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.790714057 meters 0.0387831867886081 Centerline is valid? [True, True] Translation: X:74.38, Y:-8.90, Z:-5.33 [[ 9.95575062e-01 7.28931685e-02 5.93033120e-02 7.43798358e+01] [-7.25161762e-02 9.97331123e-01 -8.48736731e-03 -8.90476438e+00] [-5.97637098e-02 4.14936182e-03 9.98203928e-01 -5.33065747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.820714057 meters 0.03969000060918353 Centerline is valid? [True, True] Translation: X:74.41, Y:-8.91, Z:-5.33 [[ 9.95591397e-01 7.26133034e-02 5.93723700e-02 7.44078732e+01] [-7.22350547e-02 9.97351456e-01 -8.49527925e-03 -8.91056755e+00] [-5.98319900e-02 4.16906054e-03 9.98199756e-01 -5.33211784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.850714057 meters 0.038729928377841366 Centerline is valid? [True, True] Translation: X:74.44, Y:-8.91, Z:-5.33 [[ 9.95559910e-01 7.26876654e-02 5.98077641e-02 7.44369336e+01] [-7.23041770e-02 9.97345944e-01 -8.55421211e-03 -8.91319654e+00] [-6.02708167e-02 4.19187947e-03 9.98173260e-01 -5.33385256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.880714057 meters 0.040320934218336775 Centerline is valid? [True, True] Translation: X:74.47, Y:-8.92, Z:-5.34 [[ 9.95586244e-01 7.24802795e-02 5.96207928e-02 7.44653935e+01] [-7.20989373e-02 9.97361047e-01 -8.52550189e-03 -8.91930630e+00] [-6.00813871e-02 4.18927660e-03 9.98184691e-01 -5.33573555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.910714057 meters 0.03991277606911546 Centerline is valid? [True, True] Translation: X:74.49, Y:-8.92, Z:-5.34 [[ 9.95543292e-01 7.28599849e-02 5.98746766e-02 7.44948446e+01] [-7.24762673e-02 9.97333416e-01 -8.55847468e-03 -8.92194713e+00] [-6.03385861e-02 4.18083899e-03 9.98169212e-01 -5.33672540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.94071405700001 meters 0.04260093599219895 Centerline is valid? [True, True] Translation: X:74.52, Y:-8.93, Z:-5.34 [[ 9.95544272e-01 7.25819057e-02 6.01952590e-02 7.45230193e+01] [-7.21936783e-02 9.97353535e-01 -8.60229415e-03 -8.92911332e+00] [-6.06603252e-02 4.21824751e-03 9.98149554e-01 -5.33857459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.97071405700001 meters 0.04366410832060548 Centerline is valid? [True, True] Translation: X:74.55, Y:-8.93, Z:-5.34 [[ 9.95560381e-01 7.22334037e-02 6.03478456e-02 7.45506467e+01] [-7.18427630e-02 9.97378713e-01 -8.62086648e-03 -8.93442728e+00] [-6.08123711e-02 4.24703715e-03 9.98140180e-01 -5.34096209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.00071405700001 meters 0.04389440730156679 Centerline is valid? [True, True] Translation: X:74.58, Y:-8.94, Z:-5.34 [[ 9.95591083e-01 7.17458896e-02 6.04228592e-02 7.45794359e+01] [-7.13535509e-02 9.97413763e-01 -8.62883166e-03 -8.93921131e+00] [-6.08856745e-02 4.27940230e-03 9.98135573e-01 -5.34286263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.030714057 meters 0.04448886129609692 Centerline is valid? [True, True] Translation: X:74.61, Y:-8.94, Z:-5.35 [[ 9.95646122e-01 7.05445653e-02 6.09283465e-02 7.46096406e+01] [-7.01435312e-02 9.97498981e-01 -8.69869668e-03 -8.94471123e+00] [-6.13896094e-02 4.38709424e-03 9.98104238e-01 -5.34541169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.060714057 meters 0.03751265668297157 Centerline is valid? [True, True] Translation: X:74.64, Y:-8.94, Z:-5.35 [[ 9.95743125e-01 6.96007003e-02 6.04265795e-02 7.46404071e+01] [-6.92045101e-02 9.97565188e-01 -8.62733693e-03 -8.93886789e+00] [-6.08799208e-02 4.40881960e-03 9.98135360e-01 -5.34687135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.090714057 meters 0.03751265668297157 Centerline is valid? [True, True] Translation: X:74.67, Y:-8.94, Z:-5.35 [[ 9.95745603e-01 6.95649784e-02 6.04268880e-02 7.46692786e+01] [-6.91688535e-02 9.97567680e-01 -8.62517515e-03 -8.94295936e+00] [-6.08799206e-02 4.40882166e-03 9.98135360e-01 -5.34888057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.120714057 meters 0.03755123320665666 Centerline is valid? [True, True] Translation: X:74.70, Y:-8.95, Z:-5.35 [[ 9.95910379e-01 6.81992858e-02 5.92568442e-02 7.46996967e+01] [-6.78161185e-02 9.97662004e-01 -8.45572897e-03 -8.94625955e+00] [-5.96949766e-02 4.40257908e-03 9.98206956e-01 -5.35125181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.150714057 meters 0.04474550933272842 Centerline is valid? [True, True] Translation: X:74.73, Y:-8.96, Z:-5.35 [[ 9.96003339e-01 6.75596559e-02 5.84212358e-02 7.47276287e+01] [-6.71861309e-02 9.97705630e-01 -8.33666645e-03 -8.95929023e+00] [-5.88504182e-02 4.37825083e-03 9.98257211e-01 -5.35479242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.180714057 meters 0.040942707078967036 Centerline is valid? [True, True] Translation: X:74.76, Y:-8.96, Z:-5.36 [[ 9.96144460e-01 6.66190701e-02 5.70798898e-02 7.47576346e+01] [-6.62610371e-02 9.97769083e-01 -8.14443474e-03 -8.95690326e+00] [-5.74951240e-02 4.33086085e-03 9.98336393e-01 -5.35634283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.210714057 meters 0.040059729777246283 Centerline is valid? [True, True] Translation: X:74.79, Y:-8.96, Z:-5.36 [[ 9.96207263e-01 6.60166382e-02 5.66823919e-02 7.47874073e+01] [-6.56627282e-02 9.97809114e-01 -8.08569648e-03 -8.95934761e+00] [-5.70919978e-02 4.33310906e-03 9.98359518e-01 -5.35843704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.240714057 meters 0.04081519531365856 Centerline is valid? [True, True] Translation: X:74.82, Y:-8.96, Z:-5.36 [[ 9.96244984e-01 6.56297342e-02 5.64683082e-02 7.48170729e+01] [-6.52780256e-02 9.97834623e-01 -8.05257886e-03 -8.96362516e+00] [-5.68745217e-02 4.33620163e-03 9.98371918e-01 -5.36076940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.270714057 meters 0.0404507867951794 Centerline is valid? [True, True] Translation: X:74.85, Y:-8.97, Z:-5.36 [[ 9.96309190e-01 6.45034632e-02 5.66330349e-02 7.48465358e+01] [-6.41478229e-02 9.97907719e-01 -8.07723484e-03 -8.96590094e+00] [-5.70355523e-02 4.41453741e-03 9.98362388e-01 -5.36255086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.30071405700001 meters 0.03930102924584821 Centerline is valid? [True, True] Translation: X:74.88, Y:-8.97, Z:-5.36 [[ 9.96332557e-01 6.35350542e-02 5.73125954e-02 7.48772954e+01] [-6.31693688e-02 9.97969366e-01 -8.17165987e-03 -8.96634260e+00] [-5.77154014e-02 4.52129029e-03 9.98322839e-01 -5.36333650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.33071405700001 meters 0.040559953299578407 Centerline is valid? [True, True] Translation: X:74.91, Y:-8.97, Z:-5.37 [[ 9.96359172e-01 6.30614023e-02 5.73729858e-02 7.49068834e+01] [-6.26941538e-02 9.97999260e-01 -8.18046495e-03 -8.97080346e+00] [-5.77740690e-02 4.55373049e-03 9.98319298e-01 -5.36538534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.36071405700001 meters 0.040315970444898486 Centerline is valid? [True, True] Translation: X:74.94, Y:-8.97, Z:-5.37 [[ 9.96381501e-01 6.27751061e-02 5.72991347e-02 7.49367277e+01] [-6.24083940e-02 9.98017265e-01 -8.16889062e-03 -8.97337149e+00] [-5.76983287e-02 4.56338451e-03 9.98323634e-01 -5.36741680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.390714057 meters 0.04086757881827227 Centerline is valid? [True, True] Translation: X:74.97, Y:-8.98, Z:-5.37 [[ 9.96341694e-01 6.25580632e-02 5.82212730e-02 7.49670613e+01] [-6.21791422e-02 9.98030500e-01 -8.29908396e-03 -8.97672820e+00] [-5.86257808e-02 4.64857457e-03 9.98269206e-01 -5.36915622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.420714057 meters 0.043559885439655235 Centerline is valid? [True, True] Translation: X:75.00, Y:-8.98, Z:-5.37 [[ 9.96332661e-01 6.22895553e-02 5.86620774e-02 7.49957954e+01] [-6.19043941e-02 9.98047054e-01 -8.36208790e-03 -8.98346864e+00] [-5.90683843e-02 4.69998093e-03 9.98242874e-01 -5.37130391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.450714057 meters 0.048381160536323096 Centerline is valid? [True, True] Translation: X:75.02, Y:-8.99, Z:-5.37 [[ 9.96325426e-01 6.13389835e-02 5.97760427e-02 7.50249766e+01] [-6.09374188e-02 9.98105230e-01 -8.51947533e-03 -8.99334447e+00] [-6.01853568e-02 4.84557213e-03 9.98175457e-01 -5.37391240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.480714057 meters 0.04297486094846594 Centerline is valid? [True, True] Translation: X:75.06, Y:-8.99, Z:-5.38 [[ 9.96368913e-01 6.04660737e-02 5.99403328e-02 7.50569519e+01] [-6.00606721e-02 9.98158163e-01 -8.54380498e-03 -8.98942618e+00] [-6.03465428e-02 4.91272501e-03 9.98165397e-01 -5.37546562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.510714057 meters 0.04411038734968076 Centerline is valid? [True, True] Translation: X:75.09, Y:-8.99, Z:-5.38 [[ 9.96477067e-01 5.89744367e-02 5.96277655e-02 7.50874995e+01] [-5.85704709e-02 9.98247075e-01 -8.50154170e-03 -8.99441422e+00] [-6.00246161e-02 4.97916505e-03 9.98184479e-01 -5.37803416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.540714057 meters 0.04558726087631653 Centerline is valid? [True, True] Translation: X:75.12, Y:-9.00, Z:-5.38 [[ 9.96551356e-01 5.82349810e-02 5.91107655e-02 7.51181222e+01] [-5.78367610e-02 9.98290486e-01 -8.42697472e-03 -9.00048350e+00] [-5.95004595e-02 4.97913787e-03 9.98215860e-01 -5.38100629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.570714057 meters 0.045142717228464746 Centerline is valid? [True, True] Translation: X:75.15, Y:-9.00, Z:-5.38 [[ 9.96622708e-01 5.72070033e-02 5.89112615e-02 7.51496420e+01] [-5.68088239e-02 9.98349627e-01 -8.41310242e-03 -9.00398985e+00] [-5.92953243e-02 5.03800943e-03 9.98227771e-01 -5.38346356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.600714057 meters 0.045587075725926074 Centerline is valid? [True, True] Translation: X:75.18, Y:-9.01, Z:-5.39 [[ 9.96773208e-01 5.51244422e-02 5.83478221e-02 7.51806368e+01] [-5.47298333e-02 9.98466362e-01 -8.34083890e-03 -9.00883430e+00] [-5.87181218e-02 5.12055817e-03 9.98261470e-01 -5.38695868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.630714057 meters 0.04790139436300198 Centerline is valid? [True, True] Translation: X:75.21, Y:-9.02, Z:-5.39 [[ 9.96899618e-01 5.33940065e-02 5.77947378e-02 7.52101961e+01] [-5.30038397e-02 9.98560113e-01 -8.26403271e-03 -9.01647201e+00] [-5.81527697e-02 5.17506803e-03 9.98294282e-01 -5.38993365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.660714057 meters 0.050759041478993044 Centerline is valid? [True, True] Translation: X:75.24, Y:-9.02, Z:-5.39 [[ 9.96934410e-01 5.28323174e-02 5.77107263e-02 7.52408287e+01] [-5.24424214e-02 9.98589864e-01 -8.25084382e-03 -9.02403141e+00] [-5.80652575e-02 5.19905988e-03 9.98299252e-01 -5.39268604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.69071405700001 meters 0.04835523823725364 Centerline is valid? [True, True] Translation: X:75.27, Y:-9.02, Z:-5.39 [[ 9.96971242e-01 5.24353879e-02 5.74358226e-02 7.52730098e+01] [-5.20477911e-02 9.98610726e-01 -8.22465694e-03 -9.02481837e+00] [-5.77872916e-02 5.21033875e-03 9.98315322e-01 -5.39428598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.72071405700001 meters 0.047179426707403625 Centerline is valid? [True, True] Translation: X:75.30, Y:-9.03, Z:-5.40 [[ 9.96992438e-01 5.23166168e-02 5.71756095e-02 7.53049437e+01] [-5.19314087e-02 9.98616959e-01 -8.20348083e-03 -9.02700918e+00] [-5.75257117e-02 5.20959840e-03 9.98330433e-01 -5.39584650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.75071405700001 meters 0.046116580337343 Centerline is valid? [True, True] Translation: X:75.34, Y:-9.03, Z:-5.40 [[ 9.96948461e-01 5.25848642e-02 5.76940094e-02 7.53383340e+01] [-5.21928838e-02 9.98602687e-01 -8.28112835e-03 -9.03024233e+00] [-5.80488548e-02 5.24464143e-03 9.98299967e-01 -5.39824011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.780714057 meters 0.04668763745619825 Centerline is valid? [True, True] Translation: X:75.37, Y:-9.04, Z:-5.40 [[ 9.96859028e-01 5.39468946e-02 5.79811252e-02 7.53685302e+01] [-5.35521118e-02 9.98530208e-01 -8.34233092e-03 -9.03538757e+00] [-5.83459478e-02 5.21111619e-03 9.98282823e-01 -5.40045564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.810714057 meters 0.05442033432259852 Centerline is valid? [True, True] Translation: X:75.40, Y:-9.05, Z:-5.40 [[ 9.96818775e-01 5.47359887e-02 5.79335997e-02 7.53975334e+01] [-5.43431658e-02 9.98487525e-01 -8.33564665e-03 -9.04939453e+00] [-5.83022364e-02 5.16083387e-03 9.98285638e-01 -5.40390583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.840714057 meters 0.0462880621762066 Centerline is valid? [True, True] Translation: X:75.43, Y:-9.04, Z:-5.40 [[ 9.96622197e-01 5.70268593e-02 5.90942773e-02 7.54302834e+01] [-5.66211538e-02 9.98359393e-01 -8.51862455e-03 -9.04222218e+00] [-5.94831172e-02 5.14386416e-03 9.98216058e-01 -5.40407641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.870714057 meters 0.04536129731424119 Centerline is valid? [True, True] Translation: X:75.46, Y:-9.04, Z:-5.41 [[ 9.96535757e-01 5.84675692e-02 5.91441293e-02 7.54616507e+01] [-5.80636398e-02 9.98276469e-01 -8.52671744e-03 -9.04482868e+00] [-5.95407290e-02 5.06305540e-03 9.98213037e-01 -5.40599579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.900714057 meters 0.045508573848463005 Centerline is valid? [True, True] Translation: X:75.49, Y:-9.05, Z:-5.41 [[ 9.96442310e-01 6.00923376e-02 5.90900542e-02 7.54915285e+01] [-5.96918435e-02 9.98180481e-01 -8.52123201e-03 -9.04902600e+00] [-5.94945995e-02 4.96372183e-03 9.98216286e-01 -5.40872586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.930714057 meters 0.0468433412962256 Centerline is valid? [True, True] Translation: X:75.52, Y:-9.06, Z:-5.41 [[ 9.96455184e-01 6.02588428e-02 5.87021162e-02 7.55219158e+01] [-5.98638316e-02 9.98170649e-01 -8.46618425e-03 -9.05501288e+00] [-5.91048919e-02 4.92203958e-03 9.98239643e-01 -5.41172043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.960714057 meters 0.04746701109561343 Centerline is valid? [True, True] Translation: X:75.55, Y:-9.06, Z:-5.42 [[ 9.96530953e-01 5.99907755e-02 5.76816019e-02 7.55515480e+01] [-5.96088608e-02 9.98187132e-01 -8.32059716e-03 -9.06039021e+00] [-5.80761919e-02 4.85339804e-03 9.98300356e-01 -5.41504418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.990714057 meters 0.048104569760344905 Centerline is valid? [True, True] Translation: X:75.58, Y:-9.07, Z:-5.42 [[ 9.96574840e-01 5.97851904e-02 5.71342146e-02 7.55818990e+01] [-5.94098881e-02 9.98199610e-01 -8.24644314e-03 -9.06557957e+00] [-5.75243659e-02 4.82386046e-03 9.98332448e-01 -5.41752470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.020714057 meters 0.04956529918818081 Centerline is valid? [True, True] Translation: X:75.61, Y:-9.07, Z:-5.42 [[ 9.96610379e-01 5.95692102e-02 5.67385333e-02 7.56112403e+01] [-5.91986919e-02 9.98212619e-01 -8.19031704e-03 -9.07186766e+00] [-5.71250107e-02 4.80370802e-03 9.98355477e-01 -5.42065890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.05071405700001 meters 0.04534501172103497 Centerline is valid? [True, True] Translation: X:75.64, Y:-9.07, Z:-5.42 [[ 9.96591230e-01 5.94170766e-02 5.72322587e-02 7.56421663e+01] [-5.90397548e-02 9.98221435e-01 -8.26278110e-03 -9.07069859e+00] [-5.76214177e-02 4.85563666e-03 9.98326698e-01 -5.42189494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.08071405700001 meters 0.0455231957497608 Centerline is valid? [True, True] Translation: X:75.67, Y:-9.07, Z:-5.42 [[ 9.96499441e-01 6.03766254e-02 5.78232376e-02 7.56731082e+01] [-5.99930833e-02 9.98163887e-01 -8.34773534e-03 -9.07499148e+00] [-5.82210757e-02 4.84951929e-03 9.98291936e-01 -5.42355896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.11071405700001 meters 0.04336584186590696 Centerline is valid? [True, True] Translation: X:75.70, Y:-9.08, Z:-5.43 [[ 9.96420470e-01 6.14027906e-02 5.81028844e-02 7.57037668e+01] [-6.10171108e-02 9.98101453e-01 -8.39057086e-03 -9.07546361e+00] [-5.85077778e-02 4.81526642e-03 9.98275339e-01 -5.42517209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.140714057 meters 0.043322565409709614 Centerline is valid? [True, True] Translation: X:75.73, Y:-9.08, Z:-5.43 [[ 9.96309130e-01 6.30621163e-02 5.82347574e-02 7.57347349e+01] [-6.26775044e-02 9.97998403e-01 -8.40943669e-03 -9.07896632e+00] [-5.86485118e-02 4.72838929e-03 9.98267496e-01 -5.42711441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.170714057 meters 0.0394352316068293 Centerline is valid? [True, True] Translation: X:75.77, Y:-9.08, Z:-5.43 [[ 9.96056965e-01 6.66900475e-02 5.85060757e-02 7.57658027e+01] [-6.63079749e-02 9.97763425e-01 -8.44989258e-03 -9.07614008e+00] [-5.89387462e-02 4.53715496e-03 9.98251290e-01 -5.42847464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.200714057 meters 0.04185406135860477 Centerline is valid? [True, True] Translation: X:75.79, Y:-9.08, Z:-5.43 [[ 9.95867740e-01 6.90811929e-02 5.89511097e-02 7.57938545e+01] [-6.86974318e-02 9.97601208e-01 -8.51426491e-03 -9.08306466e+00] [-5.93978738e-02 4.42929192e-03 9.98224561e-01 -5.43119126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.230714057 meters 0.040813959551978626 Centerline is valid? [True, True] Translation: X:75.82, Y:-9.08, Z:-5.43 [[ 9.95528321e-01 7.36128969e-02 5.91988403e-02 7.58225054e+01] [-7.32339850e-02 9.97278154e-01 -8.54793511e-03 -9.08425782e+00] [-5.96669485e-02 4.17434450e-03 9.98209612e-01 -5.43272955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.260714057 meters 0.03932082106458777 Centerline is valid? [True, True] Translation: X:75.85, Y:-9.09, Z:-5.43 [[ 9.95351946e-01 7.57850424e-02 5.94233160e-02 7.58522080e+01] [-7.54072531e-02 9.97115926e-01 -8.57771902e-03 -9.08536410e+00] [-5.99019976e-02 4.05690029e-03 9.98196019e-01 -5.43489001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.290714057 meters 0.036735946180333746 Centerline is valid? [True, True] Translation: X:75.88, Y:-9.08, Z:-5.44 [[ 9.95158429e-01 7.79616305e-02 5.98471813e-02 7.58824471e+01] [-7.75824756e-02 9.96948528e-01 -8.63663528e-03 -9.08498924e+00] [-6.03378855e-02 3.95172792e-03 9.98170188e-01 -5.43621945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.320714057 meters 0.037697567940221395 Centerline is valid? [True, True] Translation: X:75.91, Y:-9.09, Z:-5.44 [[ 9.94825796e-01 8.20358626e-02 5.99312404e-02 7.59120532e+01] [-8.16630573e-02 9.96622477e-01 -8.64772115e-03 -9.08873082e+00] [-6.04382445e-02 3.70880775e-03 9.98165048e-01 -5.43783233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.350714057 meters 0.03470942867726861 Centerline is valid? [True, True] Translation: X:75.94, Y:-9.09, Z:-5.44 [[ 9.94598061e-01 8.50655615e-02 5.94856983e-02 7.59424294e+01] [-8.47037585e-02 9.96369219e-01 -8.58211482e-03 -9.08732758e+00] [-5.99997611e-02 3.49709254e-03 9.98192266e-01 -5.44040694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.380714057 meters 0.035344154910018584 Centerline is valid? [True, True] Translation: X:75.97, Y:-9.09, Z:-5.44 [[ 9.94517945e-01 8.62738608e-02 5.90836443e-02 7.59696743e+01] [-8.59190762e-02 9.96265655e-01 -8.52387032e-03 -9.09198534e+00] [-5.95983928e-02 3.40072986e-03 9.98216643e-01 -5.44325589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.410714057 meters 0.034036473194939854 Centerline is valid? [True, True] Translation: X:76.00, Y:-9.09, Z:-5.45 [[ 9.94454731e-01 8.73881518e-02 5.85072539e-02 7.59980940e+01] [-8.70425756e-02 9.96168889e-01 -8.43411587e-03 -9.09377134e+00] [-5.90201479e-02 3.29472436e-03 9.98251355e-01 -5.44541993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.44071405700001 meters 0.033194649820155464 Centerline is valid? [True, True] Translation: X:76.03, Y:-9.10, Z:-5.45 [[ 9.94318519e-01 8.93889603e-02 5.77953024e-02 7.60274610e+01] [-8.90553673e-02 9.95991867e-01 -8.32726005e-03 -9.09544209e+00] [-5.83080162e-02 3.13296700e-03 9.98293724e-01 -5.44788608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.47071405700001 meters 0.030609219723775432 Centerline is valid? [True, True] Translation: X:76.06, Y:-9.09, Z:-5.45 [[ 9.94142153e-01 9.11464117e-02 5.80836660e-02 7.60572140e+01] [-9.08126478e-02 9.95832857e-01 -8.36569675e-03 -9.09442957e+00] [-5.86041263e-02 3.04196027e-03 9.98276666e-01 -5.44883857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.50071405700001 meters 0.0334331162803027 Centerline is valid? [True, True] Translation: X:76.08, Y:-9.10, Z:-5.45 [[ 9.94072358e-01 9.18947299e-02 5.80991066e-02 7.60840899e+01] [-9.15622281e-02 9.95764221e-01 -8.36508703e-03 -9.10231801e+00] [-5.86217191e-02 2.99581813e-03 9.98275773e-01 -5.45153024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.530714057 meters 0.030432288972419223 Centerline is valid? [True, True] Translation: X:76.11, Y:-9.10, Z:-5.45 [[ 9.93976613e-01 9.27404903e-02 5.83925881e-02 7.61132357e+01] [-9.24063952e-02 9.95685928e-01 -8.40184468e-03 -9.10112997e+00] [-5.89198695e-02 2.95538854e-03 9.98258341e-01 -5.45240153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.560714057 meters 0.02958883845034131 Centerline is valid? [True, True] Translation: X:76.14, Y:-9.10, Z:-5.45 [[ 9.93810679e-01 9.44630526e-02 5.84556775e-02 7.61419893e+01] [-9.41314534e-02 9.95524282e-01 -8.40669438e-03 -9.10302597e+00] [-5.89881685e-02 2.85214476e-03 9.98254607e-01 -5.45403283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.590714057 meters 0.029740135151086627 Centerline is valid? [True, True] Translation: X:76.17, Y:-9.11, Z:-5.46 [[ 9.93742327e-01 9.52040778e-02 5.84155074e-02 7.61695703e+01] [-9.48744504e-02 9.95453832e-01 -8.39686143e-03 -9.10633434e+00] [-5.89493562e-02 2.80217745e-03 9.98257042e-01 -5.45583152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.620714057 meters 0.029191130588877123 Centerline is valid? [True, True] Translation: X:76.20, Y:-9.11, Z:-5.46 [[ 9.93552567e-01 9.66324766e-02 5.92913192e-02 7.61986712e+01] [-9.62957466e-02 9.95316325e-01 -8.51718668e-03 -9.10793843e+00] [-5.98366548e-02 2.75277085e-03 9.98204386e-01 -5.45712726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.650714057 meters 0.028969379638778242 Centerline is valid? [True, True] Translation: X:76.23, Y:-9.11, Z:-5.46 [[ 9.93435331e-01 9.72754119e-02 6.01974926e-02 7.62270854e+01] [-9.69297415e-02 9.95253699e-01 -8.64294625e-03 -9.11150212e+00] [-6.07525233e-02 2.75128077e-03 9.98149068e-01 -5.45857542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.680714057 meters 0.02823308179650105 Centerline is valid? [True, True] Translation: X:76.26, Y:-9.11, Z:-5.46 [[ 9.93288080e-01 9.80961125e-02 6.12857429e-02 7.62554671e+01] [-9.77396497e-02 9.95173158e-01 -8.79468902e-03 -9.11460599e+00] [-6.18526511e-02 2.74561273e-03 9.98081515e-01 -5.45970469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.710714057 meters 0.028417162745871652 Centerline is valid? [True, True] Translation: X:76.28, Y:-9.12, Z:-5.46 [[ 9.93293422e-01 9.79284312e-02 6.14670609e-02 7.62836543e+01] [-9.75698102e-02 9.95189633e-01 -8.81624806e-03 -9.11898703e+00] [-6.20347431e-02 2.75979175e-03 9.98070175e-01 -5.46151693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.740714057 meters 0.028635748284006234 Centerline is valid? [True, True] Translation: X:76.31, Y:-9.12, Z:-5.46 [[ 9.93285112e-01 9.77884839e-02 6.18231243e-02 7.63112093e+01] [-9.74256876e-02 9.95203337e-01 -8.86303343e-03 -9.12367486e+00] [-6.23932822e-02 2.78035876e-03 9.98047768e-01 -5.46353238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.770714057 meters 0.029809699520275255 Centerline is valid? [True, True] Translation: X:76.34, Y:-9.13, Z:-5.47 [[ 9.93469704e-01 9.61501334e-02 6.14255618e-02 7.63381232e+01] [-9.57892899e-02 9.95362740e-01 -8.79931349e-03 -9.12981663e+00] [-6.19867706e-02 2.85794042e-03 9.98072879e-01 -5.46602457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.80071405700001 meters 0.031686822821524886 Centerline is valid? [True, True] Translation: X:76.36, Y:-9.14, Z:-5.47 [[ 9.93560698e-01 9.52085704e-02 6.14204224e-02 7.63644528e+01] [-9.48463101e-02 9.95453089e-01 -8.79348319e-03 -9.13752368e+00] [-6.19783641e-02 2.91135887e-03 9.98073247e-01 -5.46835624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.83071405700001 meters 0.03177187950048779 Centerline is valid? [True, True] Translation: X:76.39, Y:-9.14, Z:-5.47 [[ 9.93851887e-01 9.28925555e-02 6.02445084e-02 7.63934065e+01] [-9.25403920e-02 9.95671657e-01 -8.61558079e-03 -9.14294108e+00] [-6.07840728e-02 2.98756079e-03 9.98146468e-01 -5.47103536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.86071405700001 meters 0.030059372718425858 Centerline is valid? [True, True] Translation: X:76.42, Y:-9.15, Z:-5.47 [[ 9.93959121e-01 9.19483166e-02 5.99230551e-02 7.64218061e+01] [-9.15983042e-02 9.95759179e-01 -8.56782651e-03 -9.14518543e+00] [-6.04567294e-02 3.02721908e-03 9.98166229e-01 -5.47292009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.890714057 meters 0.03087219917117163 Centerline is valid? [True, True] Translation: X:76.45, Y:-9.15, Z:-5.48 [[ 9.94156956e-01 9.02557965e-02 5.92101104e-02 7.64502834e+01] [-8.99113469e-02 9.95913828e-01 -8.46147422e-03 -9.15174270e+00] [-5.97318648e-02 3.08837268e-03 9.98209681e-01 -5.47550428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.920714057 meters 0.03113067691803717 Centerline is valid? [True, True] Translation: X:76.48, Y:-9.16, Z:-5.48 [[ 9.94203773e-01 8.98409978e-02 5.90546649e-02 7.64776744e+01] [-8.94978006e-02 9.95951290e-01 -8.43636306e-03 -9.15767852e+00] [-5.95735010e-02 3.10220136e-03 9.98219101e-01 -5.47759475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.950714057 meters 0.031371377085862476 Centerline is valid? [True, True] Translation: X:76.51, Y:-9.16, Z:-5.48 [[ 9.94263662e-01 8.90300676e-02 5.92740943e-02 7.65057386e+01] [-8.86832062e-02 9.96023936e-01 -8.46219652e-03 -9.16301524e+00] [-5.97918066e-02 3.15703777e-03 9.98205877e-01 -5.47929109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.980714057 meters 0.03244370138528991 Centerline is valid? [True, True] Translation: X:76.53, Y:-9.17, Z:-5.48 [[ 9.94296296e-01 8.88894351e-02 5.89367733e-02 7.65325268e+01] [-8.85465106e-02 9.96036539e-01 -8.40999073e-03 -9.16887280e+00] [-5.94507390e-02 3.14337701e-03 9.98226291e-01 -5.48141455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.010714057 meters 0.03244370138528991 Centerline is valid? [True, True] Translation: X:76.56, Y:-9.17, Z:-5.48 [[ 9.94305449e-01 8.87865212e-02 5.89374870e-02 7.65596928e+01] [-8.84437124e-02 9.96045715e-01 -8.40498580e-03 -9.17265416e+00] [-5.94506808e-02 3.14447303e-03 9.98226291e-01 -5.48330598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.040714057 meters 0.03339951578418911 Centerline is valid? [True, True] Translation: X:76.59, Y:-9.18, Z:-5.49 [[ 9.94356630e-01 8.87048375e-02 5.81923073e-02 7.65865461e+01] [-8.83708808e-02 9.96053122e-01 -8.29248920e-03 -9.17834998e+00] [-5.86982133e-02 3.10318616e-03 9.98270950e-01 -5.48584315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.070714057 meters 0.03032227549559361 Centerline is valid? [True, True] Translation: X:76.62, Y:-9.18, Z:-5.49 [[ 9.94363061e-01 8.90265110e-02 5.75880537e-02 7.66152481e+01] [-8.87002979e-02 9.96024596e-01 -8.20126694e-03 -9.17863639e+00] [-5.80892482e-02 3.04695937e-03 9.98306744e-01 -5.48751596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.100714057 meters 0.029891794368862246 Centerline is valid? [True, True] Translation: X:76.64, Y:-9.18, Z:-5.49 [[ 9.94388090e-01 8.89767599e-02 5.72316535e-02 7.66441102e+01] [-8.86547336e-02 9.96029103e-01 -8.14638534e-03 -9.18246492e+00] [-5.77292315e-02 3.02681157e-03 9.98327689e-01 -5.48936524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.130714057 meters 0.029491248709640854 Centerline is valid? [True, True] Translation: X:76.67, Y:-9.19, Z:-5.49 [[ 9.94354544e-01 8.91354694e-02 5.75665522e-02 7.66726465e+01] [-8.88101706e-02 9.96014900e-01 -8.18980707e-03 -9.18788292e+00] [-5.80671460e-02 3.03107655e-03 9.98308078e-01 -5.49122798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.160714057 meters 0.03103065686529533 Centerline is valid? [True, True] Translation: X:76.70, Y:-9.20, Z:-5.49 [[ 9.94359102e-01 8.89504372e-02 5.77736673e-02 7.66986724e+01] [-8.86226633e-02 9.96031385e-01 -8.21611784e-03 -9.19502494e+00] [-5.82752131e-02 3.04971528e-03 9.98295897e-01 -5.49381783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.19071405700001 meters 0.029641475654536262 Centerline is valid? [True, True] Translation: X:76.73, Y:-9.20, Z:-5.49 [[ 9.94364633e-01 8.88349702e-02 5.78560770e-02 7.67267704e+01] [-8.85067263e-02 9.96041690e-01 -8.21651814e-03 -9.19684189e+00] [-5.83569789e-02 3.04956307e-03 9.98291121e-01 -5.49498311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.22071405700001 meters 0.03534369590227894 Centerline is valid? [True, True] Translation: X:76.75, Y:-9.21, Z:-5.50 [[ 9.94418041e-01 8.81367785e-02 5.80057662e-02 7.67526058e+01] [-8.78060369e-02 9.96103583e-01 -8.23114147e-03 -9.21081781e+00] [-5.85052178e-02 3.09193913e-03 9.98282314e-01 -5.49842729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.25071405700001 meters 0.03057282450622843 Centerline is valid? [True, True] Translation: X:76.78, Y:-9.21, Z:-5.50 [[ 9.94429687e-01 8.77016987e-02 5.84637526e-02 7.67825137e+01] [-8.73652864e-02 9.96141844e-01 -8.29056374e-03 -9.20806229e+00] [-5.89652869e-02 3.13668021e-03 9.98255106e-01 -5.49894221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.280714057 meters 0.03242186451222163 Centerline is valid? [True, True] Translation: X:76.81, Y:-9.22, Z:-5.50 [[ 9.94592772e-01 8.57297251e-02 5.86142600e-02 7.68103115e+01] [-8.53884278e-02 9.96313105e-01 -8.30745792e-03 -9.21687895e+00] [-5.91103514e-02 3.25755810e-03 9.98246139e-01 -5.50089130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.310714057 meters 0.032321306586421746 Centerline is valid? [True, True] Translation: X:76.84, Y:-9.22, Z:-5.50 [[ 9.94691561e-01 8.41170640e-02 5.92707208e-02 7.68380796e+01] [-8.37653798e-02 9.96450118e-01 -8.39777198e-03 -9.22207106e+00] [-5.97667126e-02 3.38835848e-03 9.98206621e-01 -5.50264911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.340714057 meters 0.03637107627119054 Centerline is valid? [True, True] Translation: X:76.86, Y:-9.23, Z:-5.51 [[ 9.94849589e-01 8.23139804e-02 5.91498408e-02 7.68646549e+01] [-8.19609846e-02 9.96600362e-01 -8.37349445e-03 -9.23323951e+00] [-5.96380085e-02 3.48238832e-03 9.98213996e-01 -5.50529755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.370714057 meters 0.03327739236274546 Centerline is valid? [True, True] Translation: X:76.89, Y:-9.23, Z:-5.51 [[ 9.95105362e-01 7.94536494e-02 5.87574349e-02 7.68944778e+01] [-7.91006017e-02 9.96831969e-01 -8.31392383e-03 -9.23482662e+00] [-5.92318611e-02 3.62548173e-03 9.98237668e-01 -5.50758229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.400714057 meters 0.0342666713348469 Centerline is valid? [True, True] Translation: X:76.92, Y:-9.24, Z:-5.51 [[ 9.95263860e-01 7.78180578e-02 5.82597615e-02 7.69228947e+01] [-7.74682253e-02 9.96960747e-01 -8.24280887e-03 -9.24094599e+00] [-5.87241347e-02 3.69048944e-03 9.98267427e-01 -5.51015013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.430714057 meters 0.03648500113505489 Centerline is valid? [True, True] Translation: X:76.95, Y:-9.25, Z:-5.51 [[ 9.95481706e-01 7.55055446e-02 5.75767870e-02 7.69505320e+01] [-7.51602088e-02 9.97138222e-01 -8.14306756e-03 -9.24952452e+00] [-5.80268617e-02 3.77879145e-03 9.98307870e-01 -5.51299803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.460714057 meters 0.03709119185815011 Centerline is valid? [True, True] Translation: X:76.98, Y:-9.25, Z:-5.52 [[ 9.95588876e-01 7.45180923e-02 5.70074027e-02 7.69785520e+01] [-7.41781174e-02 9.97212439e-01 -8.05965595e-03 -9.25464755e+00] [-5.74490813e-02 3.79540200e-03 9.98341223e-01 -5.51518803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.490714057 meters 0.03618050844738191 Centerline is valid? [True, True] Translation: X:77.01, Y:-9.26, Z:-5.52 [[ 9.95678213e-01 7.33644462e-02 5.69434225e-02 7.70074243e+01] [-7.30235925e-02 9.97297753e-01 -8.04653581e-03 -9.25769785e+00] [-5.73798770e-02 3.85354712e-03 9.98344980e-01 -5.51677543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.520714057 meters 0.03610173533597095 Centerline is valid? [True, True] Translation: X:77.04, Y:-9.26, Z:-5.52 [[ 9.95726824e-01 7.29492418e-02 5.66259604e-02 7.70360985e+01] [-7.26117492e-02 9.97328217e-01 -7.99758144e-03 -9.26154438e+00] [-5.70580856e-02 3.85169634e-03 9.98363430e-01 -5.51848009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.55071405700001 meters 0.038819062799510876 Centerline is valid? [True, True] Translation: X:77.06, Y:-9.27, Z:-5.52 [[ 9.95704282e-01 7.27961686e-02 5.72162580e-02 7.70632448e+01] [-7.24515745e-02 9.97339226e-01 -8.07692701e-03 -9.26950079e+00] [-5.76519879e-02 3.89682283e-03 9.98329136e-01 -5.52067890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.58071405700001 meters 0.03935564822280301 Centerline is valid? [True, True] Translation: X:77.09, Y:-9.27, Z:-5.52 [[ 9.95723156e-01 7.27937463e-02 5.68899531e-02 7.70921866e+01] [-7.24533774e-02 9.97339510e-01 -8.02555807e-03 -9.27371849e+00] [-5.73228084e-02 3.86936476e-03 9.98348198e-01 -5.52226372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.61071405700001 meters 0.03593818478721275 Centerline is valid? [True, True] Translation: X:77.12, Y:-9.27, Z:-5.52 [[ 9.95734625e-01 7.29243663e-02 5.65207393e-02 7.71210020e+01] [-7.25888380e-02 9.97330109e-01 -7.96958360e-03 -9.27200587e+00] [-5.69510119e-02 3.83281555e-03 9.98369617e-01 -5.52353017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.640714057 meters 0.037732187193154666 Centerline is valid? [True, True] Translation: X:77.15, Y:-9.28, Z:-5.53 [[ 9.95737833e-01 7.33364821e-02 5.59278829e-02 7.71480808e+01] [-7.30088266e-02 9.97300147e-01 -7.88217749e-03 -9.27897810e+00] [-5.63549370e-02 3.76535322e-03 9.98403698e-01 -5.52705964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.670714057 meters 0.03811798014426014 Centerline is valid? [True, True] Translation: X:77.18, Y:-9.28, Z:-5.53 [[ 9.95775515e-01 7.29542988e-02 5.57565593e-02 7.71764227e+01] [-7.26283629e-02 9.97328160e-01 -7.85254949e-03 -9.28342918e+00] [-5.61804640e-02 3.76986889e-03 9.98413513e-01 -5.52932644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.700714057 meters 0.03662811203784729 Centerline is valid? [True, True] Translation: X:77.21, Y:-9.29, Z:-5.53 [[ 9.95750115e-01 7.28211405e-02 5.63807536e-02 7.72050601e+01] [-7.24878069e-02 9.97337712e-01 -7.93759667e-03 -9.28616734e+00] [-5.68086767e-02 3.81694562e-03 9.98377787e-01 -5.53054469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.730714057 meters 0.03595004879121864 Centerline is valid? [True, True] Translation: X:77.23, Y:-9.29, Z:-5.53 [[ 9.95722351e-01 7.27387464e-02 5.69743271e-02 7.72333009e+01] [-7.23984560e-02 9.97343568e-01 -8.01694462e-03 -9.28916919e+00] [-5.74061212e-02 3.85779763e-03 9.98343455e-01 -5.53168752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.760714057 meters 0.037255299075015076 Centerline is valid? [True, True] Translation: X:77.26, Y:-9.29, Z:-5.53 [[ 9.95745644e-01 7.20407950e-02 5.74520286e-02 7.72610003e+01] [-7.16938387e-02 9.97393956e-01 -8.08023534e-03 -9.29478125e+00] [-5.78844126e-02 3.92690268e-03 9.98315568e-01 -5.53268311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.790714057 meters 0.0369126580523251 Centerline is valid? [True, True] Translation: X:77.29, Y:-9.30, Z:-5.53 [[ 9.95726857e-01 7.17733808e-02 5.81085832e-02 7.72892277e+01] [-7.14183545e-02 9.97413019e-01 -8.16627773e-03 -9.29776031e+00] [-5.85443787e-02 3.98136266e-03 9.98276868e-01 -5.53396596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.820714057 meters 0.039115040155566196 Centerline is valid? [True, True] Translation: X:77.32, Y:-9.31, Z:-5.54 [[ 9.95733700e-01 7.13077806e-02 5.85627862e-02 7.73164181e+01] [-7.09466101e-02 9.97446194e-01 -8.22610695e-03 -9.30539220e+00] [-5.89998137e-02 4.03618074e-03 9.98249834e-01 -5.53590121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.850714057 meters 0.040508615262690624 Centerline is valid? [True, True] Translation: X:77.34, Y:-9.31, Z:-5.54 [[ 9.95774900e-01 7.01765569e-02 5.92249826e-02 7.73440847e+01] [-6.98055515e-02 9.97525981e-01 -8.31275256e-03 -9.31242939e+00] [-5.96618192e-02 4.14339779e-03 9.98210048e-01 -5.53771252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.880714057 meters 0.041691440421042406 Centerline is valid? [True, True] Translation: X:77.37, Y:-9.32, Z:-5.54 [[ 9.95839268e-01 6.96166820e-02 5.88019465e-02 7.73731362e+01] [-6.92501861e-02 9.97565209e-01 -8.25015735e-03 -9.31872699e+00] [-5.92331247e-02 4.14378492e-03 9.98235576e-01 -5.53997962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.910714057 meters 0.036783946727894985 Centerline is valid? [True, True] Translation: X:77.40, Y:-9.32, Z:-5.54 [[ 9.95862212e-01 6.97264394e-02 5.82810324e-02 7.74039170e+01] [-6.93667210e-02 9.97557731e-01 -8.17508585e-03 -9.31617226e+00] [-5.87087141e-02 4.09849496e-03 9.98266743e-01 -5.54117685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.94071405700001 meters 0.0423380496187351 Centerline is valid? [True, True] Translation: X:77.43, Y:-9.33, Z:-5.54 [[ 9.95853926e-01 7.00411630e-02 5.80447472e-02 7.74313647e+01] [-6.96850052e-02 9.97535834e-01 -8.13999525e-03 -9.32839553e+00] [-5.84718501e-02 4.06139772e-03 9.98280796e-01 -5.54468249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.97071405700001 meters 0.03802090886606993 Centerline is valid? [True, True] Translation: X:77.46, Y:-9.33, Z:-5.55 [[ 9.95898762e-01 7.02436893e-02 5.70217450e-02 7.74612998e+01] [-6.99005093e-02 9.97521943e-01 -7.99327907e-03 -9.32650813e+00] [-5.74419193e-02 3.97464771e-03 9.98340938e-01 -5.54669148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.00071405700001 meters 0.0360848018485829 Centerline is valid? [True, True] Translation: X:77.49, Y:-9.33, Z:-5.55 [[ 9.95868790e-01 7.03520144e-02 5.74103341e-02 7.74901557e+01] [-7.00044103e-02 9.97514232e-01 -8.04608070e-03 -9.32831552e+00] [-5.78336833e-02 3.99386408e-03 9.98318243e-01 -5.54818033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.030714057 meters 0.035740965828088785 Centerline is valid? [True, True] Translation: X:77.52, Y:-9.33, Z:-5.55 [[ 9.95747138e-01 7.16102438e-02 5.79621497e-02 7.75186702e+01] [-7.12582867e-02 9.97424853e-01 -8.11912253e-03 -9.33303583e+00] [-5.83943009e-02 3.95430954e-03 9.98285765e-01 -5.55045857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.060714057 meters 0.035343837816820815 Centerline is valid? [True, True] Translation: X:77.55, Y:-9.34, Z:-5.55 [[ 9.95666915e-01 7.24760907e-02 5.82632832e-02 7.75472703e+01] [-7.21221874e-02 9.97362448e-01 -8.15703033e-03 -9.33679179e+00] [-5.87008004e-02 3.91960980e-03 9.98267926e-01 -5.55273956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.090714057 meters 0.03378186136665174 Centerline is valid? [True, True] Translation: X:77.58, Y:-9.34, Z:-5.55 [[ 9.95596849e-01 7.35254836e-02 5.81456506e-02 7.75761481e+01] [-7.31750377e-02 9.97285924e-01 -8.13634081e-03 -9.33833666e+00] [-5.85860673e-02 3.84570510e-03 9.98274954e-01 -5.55424223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.120714057 meters 0.03351040247948746 Centerline is valid? [True, True] Translation: X:77.61, Y:-9.34, Z:-5.56 [[ 9.95309486e-01 7.61096246e-02 5.97189389e-02 7.76060178e+01] [-7.57448581e-02 9.97092257e-01 -8.35148016e-03 -9.34212853e+00] [-6.01809196e-02 3.78890487e-03 9.98180295e-01 -5.55588109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.150714057 meters 0.033476530556053895 Centerline is valid? [True, True] Translation: X:77.63, Y:-9.35, Z:-5.56 [[ 9.95242554e-01 7.67904060e-02 5.99624266e-02 7.76345279e+01] [-7.64239242e-02 9.97040159e-01 -8.38487034e-03 -9.34600831e+00] [-6.04288249e-02 3.76241584e-03 9.98165418e-01 -5.55759448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.180714057 meters 0.03227354377443782 Centerline is valid? [True, True] Translation: X:77.66, Y:-9.35, Z:-5.56 [[ 9.95062744e-01 7.79639249e-02 6.14146694e-02 7.76636199e+01] [-7.75819657e-02 9.96949029e-01 -8.58321860e-03 -9.34918690e+00] [-6.18964765e-02 3.77617028e-03 9.98075431e-01 -5.55895665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.210714057 meters 0.031904300835250345 Centerline is valid? [True, True] Translation: X:77.69, Y:-9.35, Z:-5.56 [[ 9.95061961e-01 7.79075637e-02 6.14988253e-02 7.76918111e+01] [-7.75246520e-02 9.96953415e-01 -8.59170017e-03 -9.35260273e+00] [-6.19808223e-02 3.78159899e-03 9.98070176e-01 -5.56123521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.240714057 meters 0.033479981931532725 Centerline is valid? [True, True] Translation: X:77.72, Y:-9.36, Z:-5.56 [[ 9.95239279e-01 7.66098701e-02 6.02470403e-02 7.77192526e+01] [-7.62403326e-02 9.97053985e-01 -8.41207496e-03 -9.35959041e+00] [-6.07139996e-02 3.77877302e-03 9.98148051e-01 -5.56449461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.270714057 meters 0.03448336871344645 Centerline is valid? [True, True] Translation: X:77.75, Y:-9.37, Z:-5.57 [[ 9.95373106e-01 7.54676486e-02 5.94727967e-02 7.77475180e+01] [-7.51056161e-02 9.97141020e-01 -8.30258127e-03 -9.36588909e+00] [-5.99293415e-02 3.79742507e-03 9.98195399e-01 -5.56748435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.30071405700001 meters 0.03545307005281561 Centerline is valid? [True, True] Translation: X:77.78, Y:-9.37, Z:-5.57 [[ 9.95523009e-01 7.41237397e-02 5.86481798e-02 7.77764043e+01] [-7.37695661e-02 9.97241731e-01 -8.18415928e-03 -9.37187247e+00] [-5.90930529e-02 3.82106809e-03 9.98245166e-01 -5.57035038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.33071405700001 meters 0.03655204545694057 Centerline is valid? [True, True] Translation: X:77.81, Y:-9.38, Z:-5.57 [[ 9.95739292e-01 7.16122634e-02 5.80942834e-02 7.78053631e+01] [-7.12606359e-02 9.97424803e-01 -8.10462624e-03 -9.37869799e+00] [-5.85250698e-02 3.93025921e-03 9.98278202e-01 -5.57365796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.36071405700001 meters 0.03925040134232607 Centerline is valid? [True, True] Translation: X:77.83, Y:-9.39, Z:-5.58 [[ 9.95910048e-01 6.98994074e-02 5.72472555e-02 7.78327695e+01] [-6.95551989e-02 9.97546140e-01 -7.98575585e-03 -9.38705798e+00] [-5.76649783e-02 3.97125026e-03 9.98328092e-01 -5.57651374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.390714057 meters 0.03968783259190527 Centerline is valid? [True, True] Translation: X:77.86, Y:-9.39, Z:-5.58 [[ 9.95919339e-01 6.95345377e-02 5.75292755e-02 7.78616358e+01] [-6.91865103e-02 9.97571490e-01 -8.02180637e-03 -9.39234367e+00] [-5.79473577e-02 4.00882228e-03 9.98311591e-01 -5.57885791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.420714057 meters 0.038228185190218915 Centerline is valid? [True, True] Translation: X:77.89, Y:-9.39, Z:-5.58 [[ 9.95950556e-01 6.89413887e-02 5.77024713e-02 7.78907832e+01] [-6.85903776e-02 9.97612476e-01 -8.04410514e-03 -9.39430014e+00] [-5.81192770e-02 4.05369669e-03 9.98301416e-01 -5.58028305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.450714057 meters 0.039724976910930895 Centerline is valid? [True, True] Translation: X:77.92, Y:-9.40, Z:-5.58 [[ 9.95970209e-01 6.80876011e-02 5.83731244e-02 7.79191124e+01] [-6.77271120e-02 9.97670724e-01 -8.13422969e-03 -9.40078918e+00] [-5.87909974e-02 4.14800731e-03 9.98261695e-01 -5.58196633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.480714057 meters 0.04022814282986089 Centerline is valid? [True, True] Translation: X:77.95, Y:-9.41, Z:-5.58 [[ 9.95974082e-01 6.77608786e-02 5.86863849e-02 7.79482801e+01] [-6.73960647e-02 9.97692802e-01 -8.17578342e-03 -9.40593911e+00] [-5.91049821e-02 4.18763699e-03 9.98242989e-01 -5.58399012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.510714057 meters 0.04193974947391916 Centerline is valid? [True, True] Translation: X:77.98, Y:-9.41, Z:-5.59 [[ 9.96057588e-01 6.64595928e-02 5.87571600e-02 7.79771687e+01] [-6.60917890e-02 9.97779991e-01 -8.18324024e-03 -9.41339960e+00] [-5.91705734e-02 4.26761271e-03 9.98238764e-01 -5.58630726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.540714057 meters 0.03909799526892253 Centerline is valid? [True, True] Translation: X:78.01, Y:-9.41, Z:-5.59 [[ 9.96123750e-01 6.57295713e-02 5.84559519e-02 7.80080745e+01] [-6.53642850e-02 9.97828257e-01 -8.14129031e-03 -9.41351492e+00] [-5.88641241e-02 4.28880113e-03 9.98256791e-01 -5.58777060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.570714057 meters 0.03664230201900674 Centerline is valid? [True, True] Translation: X:78.04, Y:-9.41, Z:-5.59 [[ 9.96186779e-01 6.50260454e-02 5.81679898e-02 7.80382653e+01] [-6.46631517e-02 9.97874263e-01 -8.10136942e-03 -9.41413457e+00] [-5.85711399e-02 4.30915156e-03 9.98273937e-01 -5.58929525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.600714057 meters 0.04044302842160231 Centerline is valid? [True, True] Translation: X:78.07, Y:-9.43, Z:-5.59 [[ 9.96334429e-01 6.31723019e-02 5.76798522e-02 7.80670329e+01] [-6.28124795e-02 9.97993026e-01 -8.03193425e-03 -9.42521036e+00] [-5.80714861e-02 4.37947809e-03 9.98302821e-01 -5.59254743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.630714057 meters 0.0463631667624104 Centerline is valid? [True, True] Translation: X:78.10, Y:-9.44, Z:-5.60 [[ 9.96416671e-01 6.20537271e-02 5.74730673e-02 7.80955082e+01] [-6.16945736e-02 9.98062980e-01 -8.00420352e-03 -9.43815342e+00] [-5.78584315e-02 4.42974544e-03 9.98314970e-01 -5.59575101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.660714057 meters 0.05027742629596894 Centerline is valid? [True, True] Translation: X:78.12, Y:-9.45, Z:-5.60 [[ 9.96619862e-01 5.92749605e-02 5.68799562e-02 7.81236554e+01] [-5.89186458e-02 9.98231350e-01 -7.92249523e-03 -9.44914827e+00] [-5.72489610e-02 4.54442612e-03 9.98349590e-01 -5.59845973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.69071405700001 meters 0.04231186846579268 Centerline is valid? [True, True] Translation: X:78.16, Y:-9.44, Z:-5.60 [[ 9.96685840e-01 5.81976002e-02 5.68363906e-02 7.81565671e+01] [-5.78401371e-02 9.98294476e-01 -7.91565335e-03 -9.44341111e+00] [-5.72001269e-02 4.60199499e-03 9.98352126e-01 -5.59937822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.72071405700001 meters 0.04437396342953156 Centerline is valid? [True, True] Translation: X:78.19, Y:-9.45, Z:-5.60 [[ 9.96855318e-01 5.67522603e-02 5.53051239e-02 7.81855275e+01] [-5.64107442e-02 9.98377814e-01 -7.71804194e-03 -9.45151057e+00] [-5.56534250e-02 4.57396795e-03 9.98439670e-01 -5.60227214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.75071405700001 meters 0.045249356986800174 Centerline is valid? [True, True] Translation: X:78.22, Y:-9.46, Z:-5.60 [[ 9.96897496e-01 5.68480555e-02 5.44396989e-02 7.82168772e+01] [-5.65174855e-02 9.98372729e-01 -7.59387960e-03 -9.45771153e+00] [-5.47828081e-02 4.49352467e-03 9.98488183e-01 -5.60477453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.780714057 meters 0.04621148090216392 Centerline is valid? [True, True] Translation: X:78.25, Y:-9.46, Z:-5.61 [[ 9.96914377e-01 5.69434961e-02 5.40292782e-02 7.82487737e+01] [-5.66173107e-02 9.98367406e-01 -7.54997133e-03 -9.46395363e+00] [-5.43709921e-02 4.46768254e-03 9.98510809e-01 -5.60740081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.810714057 meters 0.04904645315195784 Centerline is valid? [True, True] Translation: X:78.28, Y:-9.47, Z:-5.61 [[ 9.97008723e-01 5.58690945e-02 5.34064698e-02 7.82783718e+01] [-5.55480639e-02 9.98428012e-01 -7.47783361e-03 -9.47276490e+00] [-5.37402953e-02 4.48883934e-03 9.98544857e-01 -5.61052628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.840714057 meters 0.043284028810290795 Centerline is valid? [True, True] Translation: X:78.31, Y:-9.47, Z:-5.61 [[ 9.96987490e-01 5.64206088e-02 5.32227296e-02 7.83113514e+01] [-5.61023182e-02 9.98397179e-01 -7.45672292e-03 -9.46949842e+00] [-5.35581359e-02 4.44834096e-03 9.98554825e-01 -5.61072195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.870714057 meters 0.04266194231294716 Centerline is valid? [True, True] Translation: X:78.34, Y:-9.47, Z:-5.61 [[ 9.96947292e-01 5.68692877e-02 5.34974944e-02 7.83431027e+01] [-5.65476008e-02 9.98371667e-01 -7.50891407e-03 -9.47325452e+00] [-5.38374092e-02 4.46083659e-03 9.98539751e-01 -5.61257075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.900714057 meters 0.04266194231294716 Centerline is valid? [True, True] Translation: X:78.37, Y:-9.48, Z:-5.61 [[ 9.96933144e-01 5.71185287e-02 5.34956030e-02 7.83745929e+01] [-5.67964813e-02 9.98357438e-01 -7.52236164e-03 -9.47772570e+00] [-5.38373993e-02 4.46092963e-03 9.98539751e-01 -5.61475538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.930714057 meters 0.043687441926156666 Centerline is valid? [True, True] Translation: X:78.41, Y:-9.48, Z:-5.62 [[ 9.96863833e-01 5.79675761e-02 5.38726075e-02 7.84051456e+01] [-5.76414313e-02 9.98308502e-01 -7.58949547e-03 -9.48414803e+00] [-5.42214267e-02 4.46039935e-03 9.98518974e-01 -5.61689915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.960714057 meters 0.042363495711635044 Centerline is valid? [True, True] Translation: X:78.44, Y:-9.49, Z:-5.62 [[ 9.96743270e-01 5.90974451e-02 5.48666117e-02 7.84369417e+01] [-5.87599771e-02 9.98242094e-01 -7.74506792e-03 -9.48727525e+00] [-5.52278751e-02 4.49588348e-03 9.98463654e-01 -5.61796781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.990714057 meters 0.04327419805072919 Centerline is valid? [True, True] Translation: X:78.47, Y:-9.49, Z:-5.62 [[ 9.96705691e-01 6.00370571e-02 5.45281351e-02 7.84678140e+01] [-5.97051113e-02 9.98186377e-01 -7.69782938e-03 -9.49330612e+00] [-5.48913966e-02 4.41686197e-03 9.98482562e-01 -5.61997118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.020714057 meters 0.04203645119587285 Centerline is valid? [True, True] Translation: X:78.50, Y:-9.50, Z:-5.62 [[ 9.96681749e-01 6.03968698e-02 5.45683849e-02 7.84985712e+01] [-6.00641087e-02 9.98164675e-01 -7.71913912e-03 -9.49628824e+00] [-5.49344460e-02 4.41592368e-03 9.98480198e-01 -5.62233566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.05071405700001 meters 0.03935430422973066 Centerline is valid? [True, True] Translation: X:78.53, Y:-9.50, Z:-5.62 [[ 9.96724995e-01 6.03575836e-02 5.38167847e-02 7.85299804e+01] [-6.00338435e-02 9.98167307e-01 -7.61350475e-03 -9.49722610e+00] [-5.41776878e-02 4.35774206e-03 9.98521802e-01 -5.62446804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.08071405700001 meters 0.040291043825813895 Centerline is valid? [True, True] Translation: X:78.56, Y:-9.50, Z:-5.63 [[ 9.96813074e-01 6.01950953e-02 5.23473534e-02 7.85596894e+01] [-5.98885235e-02 9.98177591e-01 -7.40690776e-03 -9.50312517e+00] [-5.26978146e-02 4.24829679e-03 9.98601468e-01 -5.62808945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.11071405700001 meters 0.040020169052917255 Centerline is valid? [True, True] Translation: X:78.59, Y:-9.51, Z:-5.63 [[ 9.96855701e-01 6.01563061e-02 5.15745185e-02 7.85902264e+01] [-5.98584850e-02 9.98180171e-01 -7.30127736e-03 -9.50722457e+00] [-5.19198795e-02 4.19114742e-03 9.98642459e-01 -5.63059009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.140714057 meters 0.04735926835039367 Centerline is valid? [True, True] Translation: X:78.62, Y:-9.52, Z:-5.64 [[ 9.96940314e-01 5.93431160e-02 5.08763777e-02 7.86186774e+01] [-5.90520050e-02 9.98228888e-01 -7.20743763e-03 -9.52122033e+00] [-5.12139818e-02 4.18103302e-03 9.98678951e-01 -5.63542570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.170714057 meters 0.04444999769581987 Centerline is valid? [True, True] Translation: X:78.65, Y:-9.52, Z:-5.64 [[ 9.96988601e-01 5.87307772e-02 5.06401556e-02 7.86498820e+01] [-5.84415191e-02 9.98265048e-01 -7.17521004e-03 -9.52103117e+00] [-5.09737030e-02 4.19411500e-03 9.98691189e-01 -5.63679137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.200714057 meters 0.043643837952233026 Centerline is valid? [True, True] Translation: X:78.68, Y:-9.52, Z:-5.64 [[ 9.96987054e-01 5.85106607e-02 5.09246206e-02 7.86805325e+01] [-5.82178550e-02 9.98277826e-01 -7.21551592e-03 -9.52407311e+00] [-5.12591042e-02 4.22905378e-03 9.98676434e-01 -5.63831401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.230714057 meters 0.04259381618736552 Centerline is valid? [True, True] Translation: X:78.71, Y:-9.53, Z:-5.64 [[ 9.96913727e-01 5.91638707e-02 5.16009521e-02 7.87116142e+01] [-5.88641106e-02 9.98239232e-01 -7.31104768e-03 -9.52582449e+00] [-5.19426447e-02 4.25103963e-03 9.98641022e-01 -5.63898488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.260714057 meters 0.04079133882577986 Centerline is valid? [True, True] Translation: X:78.74, Y:-9.53, Z:-5.64 [[ 9.96885190e-01 5.97192582e-02 5.15124030e-02 7.87425607e+01] [-5.94211993e-02 9.98206309e-01 -7.29973292e-03 -9.52677017e+00] [-5.18559403e-02 4.21606688e-03 9.98645676e-01 -5.63960385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.290714057 meters 0.04390389607751086 Centerline is valid? [True, True] Translation: X:78.77, Y:-9.53, Z:-5.64 [[ 9.96730767e-01 6.13583465e-02 5.25635950e-02 7.87719551e+01] [-6.10502463e-02 9.98106900e-01 -7.44869550e-03 -9.53352729e+00] [-5.29211265e-02 4.21532356e-03 9.98589798e-01 -5.64060536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.320714057 meters 0.04070302638067423 Centerline is valid? [True, True] Translation: X:78.80, Y:-9.53, Z:-5.64 [[ 9.96686056e-01 6.16569135e-02 5.30596911e-02 7.88032711e+01] [-6.13433831e-02 9.98088400e-01 -7.51899642e-03 -9.53292311e+00] [-5.34218603e-02 4.23921793e-03 9.98563034e-01 -5.64145324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.350714057 meters 0.04111230009019269 Centerline is valid? [True, True] Translation: X:78.83, Y:-9.54, Z:-5.64 [[ 9.96631187e-01 6.19485498e-02 5.37462065e-02 7.88320584e+01] [-6.16272503e-02 9.98070173e-01 -7.61654140e-03 -9.53746827e+00] [-5.41143194e-02 4.27865178e-03 9.98525580e-01 -5.64282755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.380714057 meters 0.041420270405724824 Centerline is valid? [True, True] Translation: X:78.86, Y:-9.54, Z:-5.64 [[ 9.96637254e-01 6.16408502e-02 5.39869435e-02 7.88618463e+01] [-6.13162818e-02 9.98089074e-01 -7.64941231e-03 -9.54198255e+00] [-5.43552947e-02 4.31341064e-03 9.98512342e-01 -5.64463740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.410714057 meters 0.04265165719767921 Centerline is valid? [True, True] Translation: X:78.89, Y:-9.55, Z:-5.65 [[ 9.96657957e-01 6.12498050e-02 5.40497754e-02 7.88905594e+01] [-6.09238951e-02 9.98113032e-01 -7.65856544e-03 -9.54786990e+00] [-5.44168709e-02 4.34004734e-03 9.98508872e-01 -5.64664491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.44071405700001 meters 0.04360078637682718 Centerline is valid? [True, True] Translation: X:78.92, Y:-9.55, Z:-5.65 [[ 9.96752078e-01 6.02182067e-02 5.34702073e-02 7.89206335e+01] [-5.98978627e-02 9.98175769e-01 -7.57497807e-03 -9.55385621e+00] [-5.38288169e-02 4.34762400e-03 9.98540714e-01 -5.64898020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.47071405700001 meters 0.04054705767674452 Centerline is valid? [True, True] Translation: X:78.95, Y:-9.55, Z:-5.65 [[ 9.96866620e-01 5.95495153e-02 5.20653251e-02 7.89511157e+01] [-5.92448360e-02 9.98216223e-01 -7.37713337e-03 -9.55435895e+00] [-5.24117569e-02 4.26941636e-03 9.98616433e-01 -5.65090856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.50071405700001 meters 0.0451914907890423 Centerline is valid? [True, True] Translation: X:78.98, Y:-9.57, Z:-5.66 [[ 9.96956436e-01 5.92109472e-02 5.07141886e-02 7.89800120e+01] [-5.89214749e-02 9.98236761e-01 -7.18537529e-03 -9.56504289e+00] [-5.10502203e-02 4.17535134e-03 9.98687359e-01 -5.65530757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.530714057 meters 0.04197117352676408 Centerline is valid? [True, True] Translation: X:79.01, Y:-9.57, Z:-5.66 [[ 9.97034223e-01 5.98546697e-02 4.83753651e-02 7.90106259e+01] [-5.95920025e-02 9.98199279e-01 -6.85518537e-03 -9.56520682e+00] [-4.86985694e-02 3.95206954e-03 9.98805702e-01 -5.65815992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.560714057 meters 0.04219211490223983 Centerline is valid? [True, True] Translation: X:79.04, Y:-9.57, Z:-5.66 [[ 9.97026632e-01 6.04267404e-02 4.78174050e-02 7.90397409e+01] [-6.01707214e-02 9.98165096e-01 -6.77685100e-03 -9.56947118e+00] [-4.81391677e-02 3.87949317e-03 9.98833104e-01 -5.66046953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.590714057 meters 0.04160417112769235 Centerline is valid? [True, True] Translation: X:79.07, Y:-9.57, Z:-5.66 [[ 9.96949093e-01 6.18800082e-02 4.75748890e-02 7.90696693e+01] [-6.16283074e-02 9.98076407e-01 -6.74076314e-03 -9.57293970e+00] [-4.79004928e-02 3.78823782e-03 9.98844929e-01 -5.66237150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.620714057 meters 0.04093863103490696 Centerline is valid? [True, True] Translation: X:79.10, Y:-9.57, Z:-5.66 [[ 9.96746123e-01 6.50257266e-02 4.76321448e-02 7.90999635e+01] [-6.47771008e-02 9.97876952e-01 -6.74649088e-03 -9.57486572e+00] [-4.79697149e-02 3.63906639e-03 9.98842162e-01 -5.66345965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.650714057 meters 0.039926964463828186 Centerline is valid? [True, True] Translation: X:79.13, Y:-9.58, Z:-5.66 [[ 9.96535127e-01 6.76493033e-02 4.83871178e-02 7.91297981e+01] [-6.73957939e-02 9.97702780e-01 -6.85351582e-03 -9.57700863e+00] [-4.87395975e-02 3.56868103e-03 9.98805144e-01 -5.66467070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.680714057 meters 0.03908189858521652 Centerline is valid? [True, True] Translation: X:79.16, Y:-9.58, Z:-5.67 [[ 9.96200700e-01 7.25814751e-02 4.81258147e-02 7.91593628e+01] [-7.23364526e-02 9.97356998e-01 -6.81583102e-03 -9.57691026e+00] [-4.84933212e-02 3.30868492e-03 9.98818027e-01 -5.66547794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.710714057 meters 0.04439782775193939 Centerline is valid? [True, True] Translation: X:79.19, Y:-9.59, Z:-5.67 [[ 9.96009294e-01 7.49154893e-02 4.85093312e-02 7.91869660e+01] [-7.46693517e-02 9.97184689e-01 -6.86900127e-03 -9.58733345e+00] [-4.88873569e-02 3.21942880e-03 9.98799110e-01 -5.66947348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.740714057 meters 0.03480423613443089 Centerline is valid? [True, True] Translation: X:79.22, Y:-9.58, Z:-5.67 [[ 9.95665182e-01 7.85774031e-02 4.97638185e-02 7.92192591e+01] [-7.83230261e-02 9.96903146e-01 -7.04428180e-03 -9.57741945e+00] [-5.01632285e-02 3.11609326e-03 9.98736172e-01 -5.66698804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.770714057 meters 0.035150904373401036 Centerline is valid? [True, True] Translation: X:79.25, Y:-9.58, Z:-5.67 [[ 9.95540149e-01 8.01187453e-02 4.98076071e-02 7.92476554e+01] [-7.98657879e-02 9.96780684e-01 -7.05152087e-03 -9.58142203e+00] [-5.02122197e-02 3.04214836e-03 9.98733938e-01 -5.66831830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.80071405700001 meters 0.03863677462750859 Centerline is valid? [True, True] Translation: X:79.27, Y:-9.59, Z:-5.67 [[ 9.95539824e-01 8.02131231e-02 4.96619980e-02 7.92743149e+01] [-7.99619075e-02 9.96773144e-01 -7.02798158e-03 -9.59023835e+00] [-5.00654822e-02 3.02556746e-03 9.98741355e-01 -5.67212390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.83071405700001 meters 0.036263751863531875 Centerline is valid? [True, True] Translation: X:79.30, Y:-9.59, Z:-5.67 [[ 9.95595247e-01 7.97545068e-02 4.92881569e-02 7.93036163e+01] [-7.95067802e-02 9.96809961e-01 -6.96950968e-03 -9.59098612e+00] [-4.96867756e-02 3.02006806e-03 9.98760283e-01 -5.67273555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.86071405700001 meters 0.037932128322771305 Centerline is valid? [True, True] Translation: X:79.33, Y:-9.60, Z:-5.68 [[ 9.95764347e-01 7.79102140e-02 4.88197097e-02 7.93309710e+01] [-7.76651373e-02 9.96955625e-01 -6.89990472e-03 -9.59774790e+00] [-4.92086572e-02 3.07908966e-03 9.98783774e-01 -5.67609392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.890714057 meters 0.033543894265482495 Centerline is valid? [True, True] Translation: X:79.36, Y:-9.60, Z:-5.68 [[ 9.95881388e-01 7.65881574e-02 4.85233448e-02 7.93606431e+01] [-7.63446649e-02 9.97057927e-01 -6.85440189e-03 -9.59592108e+00] [-4.89055516e-02 3.12167277e-03 9.98798529e-01 -5.67609450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.920714057 meters 0.041372336656876806 Centerline is valid? [True, True] Translation: X:79.39, Y:-9.61, Z:-5.68 [[ 9.96147655e-01 7.32966507e-02 4.81398973e-02 7.93871533e+01] [-7.30533316e-02 9.97304875e-01 -6.79689962e-03 -9.61269319e+00] [-4.85083443e-02 3.25393574e-03 9.98817477e-01 -5.68180914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.950714057 meters 0.03574113916041865 Centerline is valid? [True, True] Translation: X:79.42, Y:-9.61, Z:-5.68 [[ 9.96262409e-01 7.15124506e-02 4.84477233e-02 7.94178139e+01] [-7.12639333e-02 9.97434042e-01 -6.83984405e-03 -9.60926284e+00] [-4.88125425e-02 3.36170418e-03 9.98802300e-01 -5.68084942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.980714057 meters 0.03354921224238082 Centerline is valid? [True, True] Translation: X:79.45, Y:-9.61, Z:-5.68 [[ 9.96375803e-01 6.97733509e-02 4.86511846e-02 7.94478008e+01] [-6.95207641e-02 9.97556871e-01 -6.86680938e-03 -9.61054426e+00] [-4.90114437e-02 3.45965519e-03 9.98792225e-01 -5.68145725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.010714057 meters 0.036359906416153394 Centerline is valid? [True, True] Translation: X:79.48, Y:-9.62, Z:-5.68 [[ 9.96499231e-01 6.74182877e-02 4.94374113e-02 7.94754882e+01] [-6.71546586e-02 9.97718189e-01 -6.97622076e-03 -9.61858990e+00] [-4.97949293e-02 3.63184614e-03 9.98752860e-01 -5.68310247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.040714057 meters 0.037617449871127334 Centerline is valid? [True, True] Translation: X:79.50, Y:-9.62, Z:-5.68 [[ 9.96527396e-01 6.63697696e-02 5.02812348e-02 7.95026542e+01] [-6.60958415e-02 9.97788068e-01 -7.09305073e-03 -9.62394334e+00] [-5.06407802e-02 3.74503885e-03 9.98709911e-01 -5.68487568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.070714057 meters 0.0377611087009231 Centerline is valid? [True, True] Translation: X:79.53, Y:-9.63, Z:-5.69 [[ 9.96557463e-01 6.47715218e-02 5.17481626e-02 7.95316756e+01] [-6.44795058e-02 9.97892371e-01 -7.29445547e-03 -9.62803468e+00] [-5.21115696e-02 3.93264808e-03 9.98633526e-01 -5.68605127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.100714057 meters 0.05105135513379521 Centerline is valid? [True, True] Translation: X:79.56, Y:-9.65, Z:-5.69 [[ 9.96566713e-01 6.40931680e-02 5.24104198e-02 7.95577284e+01] [-6.37928968e-02 9.97935842e-01 -7.38387571e-03 -9.65057221e+00] [-5.27754924e-02 4.01511225e-03 9.98598331e-01 -5.69191030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.130714057 meters 0.04063128340325607 Centerline is valid? [True, True] Translation: X:79.59, Y:-9.64, Z:-5.69 [[ 9.96599773e-01 6.27346650e-02 5.34158563e-02 7.95890562e+01] [-6.24207488e-02 9.98021543e-01 -7.52666116e-03 -9.64113219e+00] [-5.37823579e-02 4.16681105e-03 9.98543988e-01 -5.69123142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.160714057 meters 0.04121677858771783 Centerline is valid? [True, True] Translation: X:79.62, Y:-9.65, Z:-5.69 [[ 9.96644594e-01 6.18829782e-02 5.35728502e-02 7.96180915e+01] [-6.15660945e-02 9.98074477e-01 -7.54684104e-03 -9.64627979e+00] [-5.39367154e-02 4.22324716e-03 9.98535425e-01 -5.69352027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.19071405700001 meters 0.04393960717563948 Centerline is valid? [True, True] Translation: X:79.65, Y:-9.65, Z:-5.70 [[ 9.96779112e-01 5.99303909e-02 5.32892967e-02 7.96467958e+01] [-5.96142029e-02 9.98193281e-01 -7.50472048e-03 -9.65310314e+00] [-5.36427788e-02 4.30374967e-03 9.98550915e-01 -5.69631353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.22071405700001 meters 0.04462393593807701 Centerline is valid? [True, True] Translation: X:79.68, Y:-9.66, Z:-5.70 [[ 9.96860472e-01 5.88919195e-02 5.29239165e-02 7.96767231e+01] [-5.85786693e-02 9.98254981e-01 -7.45205821e-03 -9.65805995e+00] [-5.32704292e-02 4.32844967e-03 9.98570742e-01 -5.69911780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.25071405700001 meters 0.04518390814174705 Centerline is valid? [True, True] Translation: X:79.71, Y:-9.66, Z:-5.70 [[ 9.96919881e-01 5.82177892e-02 5.25494006e-02 7.97068385e+01] [-5.79080324e-02 9.98294501e-01 -7.39932375e-03 -9.66310709e+00] [-5.28905499e-02 4.33350056e-03 9.98590912e-01 -5.70170848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.280714057 meters 0.04805157371574379 Centerline is valid? [True, True] Translation: X:79.74, Y:-9.67, Z:-5.70 [[ 9.97026375e-01 5.62376690e-02 5.26852119e-02 7.97355116e+01] [-5.59235633e-02 9.98407493e-01 -7.41844693e-03 -9.67176550e+00] [-5.30185065e-02 4.45004247e-03 9.98583614e-01 -5.70496419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.310714057 meters 0.04142898323417298 Centerline is valid? [True, True] Translation: X:79.77, Y:-9.67, Z:-5.71 [[ 9.97053407e-01 5.54808952e-02 5.29752261e-02 7.97683499e+01] [-5.51624508e-02 9.98449557e-01 -7.45566828e-03 -9.66734547e+00] [-5.33067381e-02 4.51145616e-03 9.98567994e-01 -5.70553596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.340714057 meters 0.05084676731055377 Centerline is valid? [True, True] Translation: X:79.80, Y:-9.68, Z:-5.71 [[ 9.97145655e-01 5.37791513e-02 5.29938321e-02 7.97958400e+01] [-5.34572265e-02 9.98542165e-01 -7.47462544e-03 -9.68411125e+00] [-5.33185548e-02 4.62038699e-03 9.98566865e-01 -5.71004840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.370714057 meters 0.05127229388472432 Centerline is valid? [True, True] Translation: X:79.83, Y:-9.69, Z:-5.71 [[ 9.97141320e-01 5.37284468e-02 5.31266671e-02 7.98277707e+01] [-5.34050241e-02 9.98544845e-01 -7.48978486e-03 -9.68887186e+00] [-5.34517740e-02 4.63114302e-03 9.98559693e-01 -5.71247439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.400714057 meters 0.052088529973633606 Centerline is valid? [True, True] Translation: X:79.86, Y:-9.69, Z:-5.72 [[ 9.97126113e-01 5.37778287e-02 5.33615981e-02 7.98592336e+01] [-5.34509123e-02 9.98542043e-01 -7.53580445e-03 -9.69429469e+00] [-5.36890584e-02 4.66192130e-03 9.98546820e-01 -5.71525054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.430714057 meters 0.046049445971233095 Centerline is valid? [True, True] Translation: X:79.89, Y:-9.69, Z:-5.72 [[ 9.97090767e-01 5.43625538e-02 5.34295356e-02 7.98919294e+01] [-5.40348175e-02 9.98510429e-01 -7.56059840e-03 -9.69050207e+00] [-5.37609619e-02 4.65154766e-03 9.98543000e-01 -5.71626190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.460714057 meters 0.04329936543813105 Centerline is valid? [True, True] Translation: X:79.92, Y:-9.69, Z:-5.72 [[ 9.96988871e-01 5.56449585e-02 5.40076780e-02 7.99235022e+01] [-5.53117058e-02 9.98439853e-01 -7.64685884e-03 -9.68947548e+00] [-5.43489273e-02 4.63657636e-03 9.98511240e-01 -5.71685421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.490714057 meters 0.04303606627664386 Centerline is valid? [True, True] Translation: X:79.96, Y:-9.69, Z:-5.72 [[ 9.96924346e-01 5.64431339e-02 5.43692938e-02 7.99551293e+01] [-5.61064771e-02 9.98395100e-01 -7.69984682e-03 -9.69275040e+00] [-5.47166400e-02 4.62569522e-03 9.98491208e-01 -5.71865684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.520714057 meters 0.04717416098897085 Centerline is valid? [True, True] Translation: X:79.99, Y:-9.70, Z:-5.72 [[ 9.96848200e-01 5.72263656e-02 5.49436893e-02 7.99856781e+01] [-5.68836900e-02 9.98350484e-01 -7.78189156e-03 -9.70183581e+00] [-5.52983882e-02 4.63196481e-03 9.98459129e-01 -5.72079872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.55071405700001 meters 0.0410198577612261 Centerline is valid? [True, True] Translation: X:80.02, Y:-9.70, Z:-5.72 [[ 9.96744316e-01 5.78511203e-02 5.61606392e-02 8.00185077e+01] [-5.74931751e-02 9.98314087e-01 -7.96986747e-03 -9.69802210e+00] [-5.65270230e-02 4.71506663e-03 9.98389936e-01 -5.72064298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.58071405700001 meters 0.03997279722937506 Centerline is valid? [True, True] Translation: X:80.05, Y:-9.70, Z:-5.72 [[ 9.96736489e-01 5.77524120e-02 5.64006322e-02 8.00492277e+01] [-5.73910487e-02 9.98319664e-01 -8.00729019e-03 -9.70100709e+00] [-5.67683005e-02 4.74426687e-03 9.98376107e-01 -5.72260794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.61071405700001 meters 0.04178030819479412 Centerline is valid? [True, True] Translation: X:80.08, Y:-9.71, Z:-5.73 [[ 9.96745794e-01 5.74666510e-02 5.65279288e-02 8.00793681e+01] [-5.71032091e-02 9.98336026e-01 -8.02513965e-03 -9.70804011e+00] [-5.68950457e-02 4.77109806e-03 9.98368765e-01 -5.72528635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.640714057 meters 0.04183893234093351 Centerline is valid? [True, True] Translation: X:80.11, Y:-9.71, Z:-5.73 [[ 9.96753626e-01 5.73304374e-02 5.65281301e-02 8.01112673e+01] [-5.69660152e-02 9.98343756e-01 -8.03851101e-03 -9.71291379e+00] [-5.68953570e-02 4.79223268e-03 9.98368646e-01 -5.72765273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.670714057 meters 0.04244076001352698 Centerline is valid? [True, True] Translation: X:80.14, Y:-9.72, Z:-5.73 [[ 9.96827758e-01 5.69111475e-02 5.56376021e-02 8.01425956e+01] [-5.65566932e-02 9.98367928e-01 -7.92598385e-03 -9.71862215e+00] [-5.59978743e-02 4.75416192e-03 9.98419569e-01 -5.73034588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.700714057 meters 0.0434344480049859 Centerline is valid? [True, True] Translation: X:80.17, Y:-9.73, Z:-5.73 [[ 9.96821577e-01 5.70179830e-02 5.56389513e-02 8.01744075e+01] [-5.66628739e-02 9.98361792e-01 -7.94048674e-03 -9.72506670e+00] [-5.60005536e-02 4.76258563e-03 9.98419379e-01 -5.73344899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.730714057 meters 0.04523335924447574 Centerline is valid? [True, True] Translation: X:80.20, Y:-9.73, Z:-5.74 [[ 9.96836398e-01 5.67559913e-02 5.56412828e-02 8.02046282e+01] [-5.63996398e-02 9.98376580e-01 -7.95522177e-03 -9.73263990e+00] [-5.60024601e-02 4.79190631e-03 9.98419131e-01 -5.73612048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.760714057 meters 0.04484221071328187 Centerline is valid? [True, True] Translation: X:80.24, Y:-9.74, Z:-5.74 [[ 9.96815010e-01 5.69563635e-02 5.58194305e-02 8.02362688e+01] [-5.65973047e-02 9.98365087e-01 -7.99366558e-03 -9.73695329e+00] [-5.61834607e-02 4.80897651e-03 9.98408880e-01 -5.73794830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.790714057 meters 0.045538902788038155 Centerline is valid? [True, True] Translation: X:80.27, Y:-9.74, Z:-5.74 [[ 9.96750245e-01 5.68721640e-02 5.70482815e-02 8.02677958e+01] [-5.64961139e-02 9.98369273e-01 -8.18439582e-03 -9.74342944e+00] [-5.74207156e-02 4.93479233e-03 9.98337873e-01 -5.73941406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.820714057 meters 0.046588388898790994 Centerline is valid? [True, True] Translation: X:80.30, Y:-9.75, Z:-5.74 [[ 9.96726968e-01 5.68745186e-02 5.74512034e-02 8.02983270e+01] [-5.64922796e-02 9.98368892e-01 -8.25694764e-03 -9.75021756e+00] [-5.78271042e-02 4.98437293e-03 9.98314170e-01 -5.74149773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.850714057 meters 0.046588388898790994 Centerline is valid? [True, True] Translation: X:80.33, Y:-9.75, Z:-5.74 [[ 9.96711170e-01 5.71525003e-02 5.74494071e-02 8.03306422e+01] [-5.67700055e-02 9.98353035e-01 -8.26942517e-03 -9.75495258e+00] [-5.78274083e-02 4.98082529e-03 9.98314170e-01 -5.74374177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.880714057 meters 0.047845282102245576 Centerline is valid? [True, True] Translation: X:80.36, Y:-9.76, Z:-5.75 [[ 9.96758251e-01 5.62373210e-02 5.75356586e-02 8.03622641e+01] [-5.58510824e-02 9.98404607e-01 -8.30047314e-03 -9.76229663e+00] [-5.79106630e-02 5.06013629e-03 9.98308945e-01 -5.74611532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.910714057 meters 0.05054116328198754 Centerline is valid? [True, True] Translation: X:80.39, Y:-9.77, Z:-5.75 [[ 9.96873562e-01 5.39900439e-02 5.76903589e-02 8.03909739e+01] [-5.35977494e-02 9.98527888e-01 -8.32695792e-03 -9.77212579e+00] [-5.80550051e-02 5.20885080e-03 9.98299797e-01 -5.74857290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.94071405700001 meters 0.05188427231821188 Centerline is valid? [True, True] Translation: X:80.42, Y:-9.78, Z:-5.75 [[ 9.96938038e-01 5.29791529e-02 5.75131045e-02 8.04220385e+01] [-5.25874868e-02 9.98581800e-01 -8.30335897e-03 -9.77934833e+00] [-5.78714443e-02 5.25346479e-03 9.98310221e-01 -5.75116573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.97071405700001 meters 0.052719200504591404 Centerline is valid? [True, True] Translation: X:80.45, Y:-9.79, Z:-5.75 [[ 9.97053736e-01 5.05119299e-02 5.77268826e-02 8.04518377e+01] [-5.01123437e-02 9.98708684e-01 -8.34972376e-03 -9.78744541e+00] [-5.80740996e-02 5.43229389e-03 9.98297495e-01 -5.75344618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.00071405700001 meters 0.04646685675948971 Centerline is valid? [True, True] Translation: X:80.48, Y:-9.78, Z:-5.75 [[ 9.97117441e-01 4.92860894e-02 5.76861306e-02 8.04841290e+01] [-4.88850327e-02 9.98769560e-01 -8.34389500e-03 -9.78478669e+00] [-5.80263892e-02 5.49985485e-03 9.98299900e-01 -5.75486932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.030714057 meters 0.049006299564587574 Centerline is valid? [True, True] Translation: X:80.51, Y:-9.79, Z:-5.76 [[ 9.97170536e-01 4.82825090e-02 5.76170237e-02 8.05140793e+01] [-4.78806846e-02 9.98818285e-01 -8.33512037e-03 -9.79497784e+00] [-5.79513773e-02 5.55279391e-03 9.98303964e-01 -5.75755541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.060714057 meters 0.04970318767290076 Centerline is valid? [True, True] Translation: X:80.55, Y:-9.80, Z:-5.76 [[ 9.97155560e-01 4.84827243e-02 5.77080092e-02 8.05467288e+01] [-4.80796468e-02 9.98808572e-01 -8.35366850e-03 -9.80204677e+00] [-5.80442628e-02 5.55532630e-03 9.98298553e-01 -5.76004213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.090714057 meters 0.05028532983714873 Centerline is valid? [True, True] Translation: X:80.58, Y:-9.81, Z:-5.76 [[ 9.97104099e-01 4.87899000e-02 5.83349156e-02 8.05779217e+01] [-4.83775014e-02 9.98793279e-01 -8.46181559e-03 -9.80821672e+00] [-5.86773728e-02 5.61521354e-03 9.98261206e-01 -5.76203384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.120714057 meters 0.05025607832218588 Centerline is valid? [True, True] Translation: X:80.61, Y:-9.81, Z:-5.76 [[ 9.96961215e-01 5.04460121e-02 5.93593798e-02 8.06087950e+01] [-5.00208519e-02 9.98710908e-01 -8.62767321e-03 -9.81331434e+00] [-5.97180918e-02 5.63224883e-03 9.98199393e-01 -5.76278930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.150714057 meters 0.051933888375630684 Centerline is valid? [True, True] Translation: X:80.64, Y:-9.82, Z:-5.76 [[ 9.96768553e-01 5.33924621e-02 6.00141320e-02 8.06382963e+01] [-5.29630701e-02 9.98558363e-01 -8.72405788e-03 -9.81951178e+00] [-6.03934124e-02 5.51733387e-03 9.98159403e-01 -5.76345312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.180714057 meters 0.05272545055312378 Centerline is valid? [True, True] Translation: X:80.67, Y:-9.82, Z:-5.77 [[ 9.96682754e-01 5.50827380e-02 5.99114398e-02 8.06687504e+01] [-5.46578516e-02 9.98467162e-01 -8.70897202e-03 -9.82475056e+00] [-6.02993193e-02 5.40545163e-03 9.98165704e-01 -5.76553504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.210714057 meters 0.05038694518017222 Centerline is valid? [True, True] Translation: X:80.70, Y:-9.83, Z:-5.77 [[ 9.96552628e-01 5.73399132e-02 5.99582613e-02 8.06999280e+01] [-5.69182730e-02 9.98340776e-01 -8.71804737e-03 -9.82625732e+00] [-6.03586692e-02 5.27527234e-03 9.98162814e-01 -5.76730923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.240714057 meters 0.04964719234886512 Centerline is valid? [True, True] Translation: X:80.73, Y:-9.83, Z:-5.77 [[ 9.96304734e-01 6.17014968e-02 5.97478286e-02 8.07296964e+01] [-6.12905194e-02 9.98082151e-01 -8.68864981e-03 -9.82925346e+00] [-6.01693440e-02 4.99456749e-03 9.98175688e-01 -5.76985568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.270714057 meters 0.048968629533709986 Centerline is valid? [True, True] Translation: X:80.76, Y:-9.83, Z:-5.77 [[ 9.96096042e-01 6.56561410e-02 5.90080132e-02 8.07591267e+01] [-6.52621747e-02 9.97831255e-01 -8.58113357e-03 -9.83268005e+00] [-5.94434439e-02 4.69664193e-03 9.98220626e-01 -5.77258609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.30071405700001 meters 0.04913161604798871 Centerline is valid? [True, True] Translation: X:80.79, Y:-9.84, Z:-5.78 [[ 9.96036760e-01 6.69195011e-02 5.85879922e-02 8.07902406e+01] [-6.65333899e-02 9.97747835e-01 -8.51855816e-03 -9.83701008e+00] [-5.90261001e-02 4.58673934e-03 9.98245902e-01 -5.77522339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.33071405700001 meters 0.04866141004803606 Centerline is valid? [True, True] Translation: X:80.82, Y:-9.84, Z:-5.78 [[ 9.95981213e-01 6.84508628e-02 5.77572814e-02 8.08210640e+01] [-6.80780726e-02 9.97644635e-01 -8.39988829e-03 -9.84089779e+00] [-5.81962215e-02 4.43412653e-03 9.98295316e-01 -5.77763307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.36071405700001 meters 0.0471871014531266 Centerline is valid? [True, True] Translation: X:80.85, Y:-9.84, Z:-5.78 [[ 9.95951753e-01 7.00204170e-02 5.63670765e-02 8.08512856e+01] [-6.96678069e-02 9.97536553e-01 -8.19895230e-03 -9.84282058e+00] [-5.68023132e-02 4.23879032e-03 9.98376447e-01 -5.78034525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.390714057 meters 0.049222169296804 Centerline is valid? [True, True] Translation: X:80.88, Y:-9.85, Z:-5.78 [[ 9.95987251e-01 7.00458073e-02 5.57044135e-02 8.08792152e+01] [-6.97015185e-02 9.97534989e-01 -8.10204813e-03 -9.84989061e+00] [-5.61346160e-02 4.18685444e-03 9.98414431e-01 -5.78358693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.420714057 meters 0.05018867123890728 Centerline is valid? [True, True] Translation: X:80.91, Y:-9.86, Z:-5.79 [[ 9.96062978e-01 6.96351007e-02 5.48588818e-02 8.09076504e+01] [-6.93007405e-02 9.97563927e-01 -7.97614825e-03 -9.85702033e+00] [-5.52806615e-02 4.14298484e-03 9.98462260e-01 -5.78686874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.450714057 meters 0.05099003129806655 Centerline is valid? [True, True] Translation: X:80.94, Y:-9.86, Z:-5.79 [[ 9.96118872e-01 6.91731909e-02 5.44266634e-02 8.09365947e+01] [-6.88434976e-02 9.97596101e-01 -7.91153218e-03 -9.86326094e+00] [-5.48430932e-02 4.13390463e-03 9.98486428e-01 -5.78894288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.480714057 meters 0.04130487602656204 Centerline is valid? [True, True] Translation: X:80.97, Y:-9.86, Z:-5.79 [[ 9.96201116e-01 6.76443191e-02 5.48414391e-02 8.09678902e+01] [-6.73073713e-02 9.97700454e-01 -7.97005861e-03 -9.85593305e+00] [-5.52544579e-02 4.24854817e-03 9.98463267e-01 -5.78791160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.510714057 meters 0.038852036889669234 Centerline is valid? [True, True] Translation: X:81.00, Y:-9.86, Z:-5.79 [[ 9.96295743e-01 6.63018191e-02 5.47618663e-02 8.09978610e+01] [-6.59639430e-02 9.97790284e-01 -7.95654542e-03 -9.85754641e+00] [-5.51683915e-02 4.31476370e-03 9.98467742e-01 -5.78866648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.540714057 meters 0.04372287595567698 Centerline is valid? [True, True] Translation: X:81.03, Y:-9.87, Z:-5.79 [[ 9.96491708e-01 6.34181352e-02 5.46115092e-02 8.10260331e+01] [-6.30779473e-02 9.97977080e-01 -7.93228422e-03 -9.87106689e+00] [-5.50040851e-02 4.45967355e-03 9.98476170e-01 -5.79186967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.570714057 meters 0.04295203392184873 Centerline is valid? [True, True] Translation: X:81.06, Y:-9.88, Z:-5.79 [[ 9.96584191e-01 6.18872474e-02 5.46801561e-02 8.10563134e+01] [-6.15439413e-02 9.98072779e-01 -7.94178510e-03 -9.87603878e+00] [-5.50662706e-02 4.54942516e-03 9.98472337e-01 -5.79383335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.600714057 meters 0.045537722891116635 Centerline is valid? [True, True] Translation: X:81.08, Y:-9.89, Z:-5.80 [[ 9.96873433e-01 5.78462836e-02 5.38253278e-02 8.10848682e+01] [-5.75078292e-02 9.98314451e-01 -7.81702073e-03 -9.88687056e+00] [-5.41867882e-02 4.69720253e-03 9.98519769e-01 -5.79655574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.630714057 meters 0.046318864828405464 Centerline is valid? [True, True] Translation: X:81.12, Y:-9.89, Z:-5.80 [[ 9.96996332e-01 5.59954035e-02 5.35054153e-02 8.11151818e+01] [-5.56581800e-02 9.98419623e-01 -7.77320216e-03 -9.89414176e+00] [-5.38561202e-02 4.77184001e-03 9.98537304e-01 -5.79886798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.660714057 meters 0.048868405576845624 Centerline is valid? [True, True] Translation: X:81.14, Y:-9.91, Z:-5.80 [[ 9.97171012e-01 5.28683094e-02 5.34313968e-02 8.11430239e+01] [-5.25275142e-02 9.98589299e-01 -7.76347961e-03 -9.90525643e+00] [-5.37664631e-02 4.93489837e-03 9.98541343e-01 -5.80139018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.69071405700001 meters 0.04979142529702733 Centerline is valid? [True, True] Translation: X:81.17, Y:-9.91, Z:-5.80 [[ 9.97269217e-01 5.12652053e-02 5.31600193e-02 8.11730037e+01] [-5.09255982e-02 9.98672578e-01 -7.72428825e-03 -9.91247644e+00] [-5.34854407e-02 4.99598912e-03 9.98556131e-01 -5.80337356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.72071405700001 meters 0.04887509750547754 Centerline is valid? [True, True] Translation: X:81.20, Y:-9.92, Z:-5.81 [[ 9.97314774e-01 5.03281248e-02 5.32007589e-02 8.12045041e+01] [-4.99866999e-02 9.98719971e-01 -7.72975807e-03 -9.91770673e+00] [-5.35216846e-02 5.04967156e-03 9.98553919e-01 -5.80547161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.75071405700001 meters 0.04655631492036561 Centerline is valid? [True, True] Translation: X:81.24, Y:-9.92, Z:-5.81 [[ 9.97420817e-01 4.84000417e-02 5.30014192e-02 8.12350441e+01] [-4.80576417e-02 9.98814757e-01 -7.71646533e-03 -9.92223941e+00] [-5.33120769e-02 5.14943994e-03 9.98564623e-01 -5.80767868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.780714057 meters 0.05016947418967645 Centerline is valid? [True, True] Translation: X:81.26, Y:-9.93, Z:-5.81 [[ 9.97434389e-01 4.80827947e-02 5.30347506e-02 8.12647404e+01] [-4.77396432e-02 9.98829987e-01 -7.71900163e-03 -9.93314756e+00] [-5.33438504e-02 5.16733760e-03 9.98562833e-01 -5.81066054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.810714057 meters 0.04873510345967924 Centerline is valid? [True, True] Translation: X:81.30, Y:-9.94, Z:-5.81 [[ 9.97466519e-01 4.75795220e-02 5.28841492e-02 8.12963738e+01] [-4.72369561e-02 9.98853960e-01 -7.70952645e-03 -9.93809999e+00] [-5.31903574e-02 5.19190828e-03 9.98570894e-01 -5.81241235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.840714057 meters 0.04968373424112907 Centerline is valid? [True, True] Translation: X:81.33, Y:-9.95, Z:-5.81 [[ 9.97414996e-01 4.81343826e-02 5.33517311e-02 8.13279515e+01] [-4.77857854e-02 9.98827220e-01 -7.79117455e-03 -9.94623257e+00] [-5.36641847e-02 5.22157996e-03 9.98545387e-01 -5.81443116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.870714057 meters 0.04625650944836223 Centerline is valid? [True, True] Translation: X:81.36, Y:-9.95, Z:-5.82 [[ 9.97357234e-01 4.89564723e-02 5.36824991e-02 8.13601877e+01] [-4.86039713e-02 9.98787255e-01 -7.85317753e-03 -9.94723585e+00] [-5.40018598e-02 5.22324077e-03 9.98527174e-01 -5.81566132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.900714057 meters 0.04442100394021315 Centerline is valid? [True, True] Translation: X:81.39, Y:-9.95, Z:-5.82 [[ 9.97313985e-01 4.97578467e-02 5.37491589e-02 8.13921231e+01] [-4.94048608e-02 9.98747773e-01 -7.87695997e-03 -9.95064926e+00] [-5.40737932e-02 5.20033263e-03 9.98523401e-01 -5.81740561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.930714057 meters 0.04824074078254746 Centerline is valid? [True, True] Translation: X:81.42, Y:-9.96, Z:-5.82 [[ 9.97207623e-01 5.17262213e-02 5.38642255e-02 8.14207276e+01] [-5.13735847e-02 9.98648165e-01 -7.91184887e-03 -9.96138734e+00] [-5.42006600e-02 5.12255765e-03 9.98516924e-01 -5.82047732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.960714057 meters 0.04601442762764677 Centerline is valid? [True, True] Translation: X:81.45, Y:-9.96, Z:-5.82 [[ 9.97164508e-01 5.35223925e-02 5.28989460e-02 8.14521137e+01] [-5.31848304e-02 9.98554460e-01 -7.76950266e-03 -9.96349670e+00] [-5.32383208e-02 4.93405082e-03 9.98569645e-01 -5.82263573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.990714057 meters 0.04664686210505431 Centerline is valid? [True, True] Translation: X:81.48, Y:-9.97, Z:-5.83 [[ 9.97114957e-01 5.45481931e-02 5.27850065e-02 8.14825572e+01] [-5.42135678e-02 9.98499274e-01 -7.75166841e-03 -9.96959940e+00] [-5.31286302e-02 4.86764098e-03 9.98575813e-01 -5.82552336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.020714057 meters 0.04276662110468085 Centerline is valid? [True, True] Translation: X:81.52, Y:-9.97, Z:-5.83 [[ 9.97091644e-01 5.56904367e-02 5.20271845e-02 8.15153366e+01] [-5.53662853e-02 9.98436788e-01 -7.65215886e-03 -9.97035016e+00] [-5.23720071e-02 4.74935172e-03 9.98616351e-01 -5.82734667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.05071405700001 meters 0.04494310322141753 Centerline is valid? [True, True] Translation: X:81.54, Y:-9.98, Z:-5.83 [[ 9.97004556e-01 5.76518159e-02 5.15575744e-02 8.15437868e+01] [-5.73351719e-02 9.98326051e-01 -7.60086434e-03 -9.98033081e+00] [-5.19094733e-02 4.62203398e-03 9.98641098e-01 -5.83157970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.08071405700001 meters 0.045560733673681485 Centerline is valid? [True, True] Translation: X:81.57, Y:-9.99, Z:-5.83 [[ 9.96957158e-01 5.86749203e-02 5.13193884e-02 8.15746348e+01] [-5.83627460e-02 9.98266802e-01 -7.56181557e-03 -9.98681271e+00] [-5.16741306e-02 4.54366573e-03 9.98653663e-01 -5.83402567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.11071405700001 meters 0.04280384192875171 Centerline is valid? [True, True] Translation: X:81.61, Y:-9.99, Z:-5.84 [[ 9.96877358e-01 6.05890999e-02 5.06408392e-02 8.16062210e+01] [-6.02868243e-02 9.98153093e-01 -7.47671886e-03 -9.98886788e+00] [-5.10003179e-02 4.40039636e-03 9.98688943e-01 -5.83529660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.140714057 meters 0.04192069011772047 Centerline is valid? [True, True] Translation: X:81.64, Y:-9.99, Z:-5.84 [[ 9.96810378e-01 6.18986529e-02 5.03748601e-02 8.16370993e+01] [-6.16010486e-02 9.98073118e-01 -7.44055544e-03 -9.99237056e+00] [-5.07383540e-02 4.31367868e-03 9.98702664e-01 -5.83700226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.170714057 meters 0.043318457359840905 Centerline is valid? [True, True] Translation: X:81.67, Y:-10.00, Z:-5.84 [[ 9.96573767e-01 6.55825918e-02 5.03949362e-02 8.16660292e+01] [-6.52892778e-02 9.97838595e-01 -7.44637690e-03 -9.99950949e+00] [-5.07743651e-02 4.13061489e-03 9.98701608e-01 -5.83933531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.200714057 meters 0.042240328906481744 Centerline is valid? [True, True] Translation: X:81.70, Y:-10.00, Z:-5.84 [[ 9.96437057e-01 6.74355461e-02 5.06521392e-02 8.16963374e+01] [-6.71416663e-02 9.97715390e-01 -7.48315386e-03 -1.00033185e+01] [-5.10410493e-02 4.05562278e-03 9.98688321e-01 -5.84107843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.230714057 meters 0.04154036887510538 Centerline is valid? [True, True] Translation: X:81.73, Y:-10.01, Z:-5.84 [[ 9.96154797e-01 7.09699567e-02 5.13700863e-02 8.17252806e+01] [-7.06723296e-02 9.97470712e-01 -7.58949759e-03 -1.00078224e+01] [-5.17787828e-02 3.92987076e-03 9.98650847e-01 -5.84244497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.260714057 meters 0.04064886029388218 Centerline is valid? [True, True] Translation: X:81.76, Y:-10.01, Z:-5.84 [[ 9.96010142e-01 7.26965187e-02 5.17591917e-02 8.17552678e+01] [-7.23967213e-02 9.97346605e-01 -7.64613120e-03 -1.00113355e+01] [-5.21777013e-02 3.86842845e-03 9.98630323e-01 -5.84359244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.290714057 meters 0.04014742686003861 Centerline is valid? [True, True] Translation: X:81.78, Y:-10.01, Z:-5.84 [[ 9.95754580e-01 7.61036249e-02 5.17789067e-02 8.17841909e+01] [-7.58082213e-02 9.97093084e-01 -7.64818282e-03 -1.00144156e+01] [-5.22104442e-02 3.69044625e-03 9.98629286e-01 -5.84484800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.320714057 meters 0.037714035607849763 Centerline is valid? [True, True] Translation: X:81.81, Y:-10.02, Z:-5.85 [[ 9.95653204e-01 7.73444259e-02 5.18896574e-02 8.18129282e+01] [-7.70494485e-02 9.96997815e-01 -7.66421060e-03 -1.00153420e+01] [-5.23266590e-02 3.63282635e-03 9.98623414e-01 -5.84592188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.350714057 meters 0.03684157782985119 Centerline is valid? [True, True] Translation: X:81.84, Y:-10.02, Z:-5.85 [[ 9.95658508e-01 7.74972597e-02 5.15588085e-02 8.18412402e+01] [-7.72064312e-02 9.96986073e-01 -7.61166749e-03 -1.00193932e+01] [-5.19932974e-02 3.59794989e-03 9.98640952e-01 -5.84860021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.380714057 meters 0.0410273589671152 Centerline is valid? [True, True] Translation: X:81.87, Y:-10.03, Z:-5.85 [[ 9.95694125e-01 7.72103861e-02 5.13007387e-02 8.18686684e+01] [-7.69222943e-02 9.97008356e-01 -7.56955139e-03 -1.00309477e+01] [-5.17317132e-02 3.59078733e-03 9.98654563e-01 -5.85261748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.410714057 meters 0.03909386328518691 Centerline is valid? [True, True] Translation: X:81.90, Y:-10.03, Z:-5.85 [[ 9.95912661e-01 7.50030053e-02 5.03241582e-02 8.18986919e+01] [-7.47231536e-02 9.97176695e-01 -7.42216396e-03 -1.00349624e+01] [-5.07387623e-02 3.63144726e-03 9.98705357e-01 -5.85454586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.44071405700001 meters 0.04058036416367093 Centerline is valid? [True, True] Translation: X:81.93, Y:-10.04, Z:-5.86 [[ 9.96044490e-01 7.36213136e-02 4.97521520e-02 8.19276397e+01] [-7.33461240e-02 9.97279557e-01 -7.33693773e-03 -1.00420993e+01] [-5.01569591e-02 3.65878889e-03 9.98734646e-01 -5.85738190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.47071405700001 meters 0.039353334370018804 Centerline is valid? [True, True] Translation: X:81.96, Y:-10.05, Z:-5.86 [[ 9.96147746e-01 7.22968132e-02 4.96269964e-02 8.19575634e+01] [-7.20214330e-02 9.97376243e-01 -7.31730346e-03 -1.00450671e+01] [-5.00258050e-02 3.71490795e-03 9.98741017e-01 -5.85902757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.500714057 meters 0.036784373560774374 Centerline is valid? [True, True] Translation: X:81.99, Y:-10.05, Z:-5.86 [[ 9.96362365e-01 6.95523360e-02 4.92393211e-02 8.19879825e+01] [-6.92779026e-02 9.97570979e-01 -7.26039795e-03 -1.00467953e+01] [-4.96246954e-02 3.82279038e-03 9.98760620e-01 -5.85919177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.530714057 meters 0.03866373326604002 Centerline is valid? [True, True] Translation: X:82.02, Y:-10.05, Z:-5.86 [[ 9.96465010e-01 6.73780298e-02 5.01765392e-02 8.20166754e+01] [-6.70903494e-02 9.97719480e-01 -7.39762464e-03 -1.00548198e+01] [-5.05605479e-02 4.00511257e-03 9.98712967e-01 -5.86070486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.560714057 meters 0.04813907330862722 Centerline is valid? [True, True] Translation: X:82.04, Y:-10.07, Z:-5.86 [[ 9.96462898e-01 6.68741392e-02 5.08875547e-02 8.20444457e+01] [-6.65776684e-02 9.97753051e-01 -7.50085248e-03 -1.00728993e+01] [-5.12748260e-02 4.08634645e-03 9.98676221e-01 -5.86478765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.590714057 meters 0.04054614003179981 Centerline is valid? [True, True] Translation: X:82.08, Y:-10.07, Z:-5.86 [[ 9.96401181e-01 6.65069904e-02 5.25500451e-02 8.20763686e+01] [-6.61902327e-02 9.97776946e-01 -7.74720013e-03 -1.00676159e+01] [-5.29484665e-02 4.24101964e-03 9.98588240e-01 -5.86341931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.620714057 meters 0.03798539610293231 Centerline is valid? [True, True] Translation: X:82.11, Y:-10.07, Z:-5.86 [[ 9.96382935e-01 6.66445186e-02 5.27214764e-02 8.21082134e+01] [-6.63259101e-02 9.97767744e-01 -7.77189903e-03 -1.00687328e+01] [-5.31217430e-02 4.24698767e-03 9.98579012e-01 -5.86473646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.650714057 meters 0.03939501155913354 Centerline is valid? [True, True] Translation: X:82.14, Y:-10.07, Z:-5.87 [[ 9.96339120e-01 6.68789426e-02 5.32500274e-02 8.21375710e+01] [-6.65541141e-02 9.97751920e-01 -7.85212579e-03 -1.00749619e+01] [-5.36554589e-02 4.27937170e-03 9.98550339e-01 -5.86671568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.680714057 meters 0.04128483236144295 Centerline is valid? [True, True] Translation: X:82.17, Y:-10.08, Z:-5.87 [[ 9.96332405e-01 6.71636650e-02 5.30167940e-02 8.21681396e+01] [-6.68422034e-02 9.97732950e-01 -7.81541750e-03 -1.00821609e+01] [-5.34215143e-02 4.24299439e-03 9.98563037e-01 -5.86917496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.710714057 meters 0.04213024173227072 Centerline is valid? [True, True] Translation: X:82.20, Y:-10.09, Z:-5.87 [[ 9.96363110e-01 6.68577463e-02 5.28260803e-02 8.21981430e+01] [-6.65373185e-02 9.97753424e-01 -7.80325973e-03 -1.00883379e+01] [-5.32291109e-02 4.25997440e-03 9.98573239e-01 -5.87143560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.740714057 meters 0.04213024173227072 Centerline is valid? [True, True] Translation: X:82.23, Y:-10.09, Z:-5.87 [[ 9.96360760e-01 6.68928339e-02 5.28259819e-02 8.22286815e+01] [-6.65724200e-02 9.97751077e-01 -7.80392600e-03 -1.00928806e+01] [-5.32292071e-02 4.25877218e-03 9.98573239e-01 -5.87356168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.770714057 meters 0.04195107704260786 Centerline is valid? [True, True] Translation: X:82.26, Y:-10.10, Z:-5.88 [[ 9.96383023e-01 6.65852078e-02 5.27947203e-02 8.22596880e+01] [-6.62646437e-02 9.97771586e-01 -7.80120592e-03 -1.00976217e+01] [-5.31965167e-02 4.27456580e-03 9.98574914e-01 -5.87598615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.80071405700001 meters 0.041857992568820744 Centerline is valid? [True, True] Translation: X:82.29, Y:-10.10, Z:-5.88 [[ 9.96519725e-01 6.51098672e-02 5.20494258e-02 8.22907831e+01] [-6.47962058e-02 9.97868864e-01 -7.69291900e-03 -1.01024776e+01] [-5.24393864e-02 4.29354022e-03 9.98614879e-01 -5.87887297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.83071405700001 meters 0.045232306046167854 Centerline is valid? [True, True] Translation: X:82.32, Y:-10.11, Z:-5.88 [[ 9.96563710e-01 6.46513036e-02 5.17781866e-02 8.23210362e+01] [-6.43402771e-02 9.97898671e-01 -7.65312067e-03 -1.01118224e+01] [-5.21641679e-02 4.29539946e-03 9.98629285e-01 -5.88190032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.86071405700001 meters 0.042834703095678245 Centerline is valid? [True, True] Translation: X:82.35, Y:-10.11, Z:-5.88 [[ 9.96586284e-01 6.43378802e-02 5.17340868e-02 8.23537779e+01] [-6.40267038e-02 9.97918851e-01 -7.65160465e-03 -1.01135247e+01] [-5.21187085e-02 4.31312120e-03 9.98631582e-01 -5.88345553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.890714057 meters 0.044518371565662435 Centerline is valid? [True, True] Translation: X:82.38, Y:-10.12, Z:-5.89 [[ 9.96622789e-01 6.38619552e-02 5.16204086e-02 8.23839857e+01] [-6.35508139e-02 9.97949297e-01 -7.64821304e-03 -1.01209385e+01] [-5.20029803e-02 4.34186443e-03 9.98637491e-01 -5.88604049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.920714057 meters 0.04568635340576703 Centerline is valid? [True, True] Translation: X:82.41, Y:-10.13, Z:-5.89 [[ 9.96588327e-01 6.46706108e-02 5.12778491e-02 8.24143832e+01] [-6.43640320e-02 9.97897474e-01 -7.60944694e-03 -1.01261520e+01] [-5.16621436e-02 4.28303688e-03 9.98655435e-01 -5.88839030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.950714057 meters 0.0470750045861517 Centerline is valid? [True, True] Translation: X:82.44, Y:-10.13, Z:-5.89 [[ 9.96507523e-01 6.58116887e-02 5.13962921e-02 8.24445053e+01] [-6.55044096e-02 9.97823015e-01 -7.64219797e-03 -1.01315710e+01] [-5.17873491e-02 4.24882400e-03 9.98649097e-01 -5.89094143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.980714057 meters 0.04359555490733614 Centerline is valid? [True, True] Translation: X:82.48, Y:-10.13, Z:-5.89 [[ 9.96278638e-01 6.85692733e-02 5.22219260e-02 8.24756502e+01] [-6.82556828e-02 9.97637627e-01 -7.76701269e-03 -1.01296799e+01] [-5.26311368e-02 4.17366561e-03 9.98605299e-01 -5.89135140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.010714057 meters 0.04487270760778199 Centerline is valid? [True, True] Translation: X:82.51, Y:-10.13, Z:-5.89 [[ 9.96137953e-01 7.01933130e-02 5.27454019e-02 8.25052949e+01] [-6.98755657e-02 9.97524855e-01 -7.84658670e-03 -1.01348980e+01] [-5.31656273e-02 4.13066801e-03 9.98577165e-01 -5.89359699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.040714057 meters 0.04524089177437892 Centerline is valid? [True, True] Translation: X:82.53, Y:-10.14, Z:-5.90 [[ 9.96001839e-01 7.17089042e-02 5.32744820e-02 8.25343780e+01] [-7.13868822e-02 9.97417214e-01 -7.92554879e-03 -1.01393046e+01] [-5.37052178e-02 4.09076200e-03 9.98548454e-01 -5.89549105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.070714057 meters 0.038516770438585056 Centerline is valid? [True, True] Translation: X:82.57, Y:-10.13, Z:-5.90 [[ 9.95766205e-01 7.38227963e-02 5.47709833e-02 8.25661765e+01] [-7.34856487e-02 9.97262998e-01 -8.14697027e-03 -1.01331788e+01] [-5.52225071e-02 4.08759643e-03 9.98465706e-01 -5.89521527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.100714057 meters 0.03871440326356467 Centerline is valid? [True, True] Translation: X:82.60, Y:-10.14, Z:-5.90 [[ 9.95673815e-01 7.44952571e-02 5.55347713e-02 8.25961105e+01] [-7.41496553e-02 9.97212910e-01 -8.26080611e-03 -1.01365511e+01] [-5.59953818e-02 4.10718419e-03 9.98422580e-01 -5.89702067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.130714057 meters 0.03897271651175217 Centerline is valid? [True, True] Translation: X:82.63, Y:-10.14, Z:-5.90 [[ 9.95701302e-01 7.39712989e-02 5.57419513e-02 8.26257521e+01] [-7.36223639e-02 9.97251732e-01 -8.29038684e-03 -1.01415699e+01] [-5.62020082e-02 4.15089475e-03 9.98410789e-01 -5.89884870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.160714057 meters 0.04022374107168969 Centerline is valid? [True, True] Translation: X:82.66, Y:-10.15, Z:-5.90 [[ 9.95768549e-01 7.27654488e-02 5.61265118e-02 8.26558768e+01] [-7.24097729e-02 9.97340034e-01 -8.34758174e-03 -1.01479644e+01] [-5.65846327e-02 4.24815139e-03 9.98388768e-01 -5.90146109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.19071405700001 meters 0.0417686442756068 Centerline is valid? [True, True] Translation: X:82.69, Y:-10.16, Z:-5.90 [[ 9.96020704e-01 6.93303980e-02 5.60004698e-02 8.26856516e+01] [-6.89709285e-02 9.97583902e-01 -8.32879180e-03 -1.01557523e+01] [-5.64426057e-02 4.43324467e-03 9.98396003e-01 -5.90440979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.22071405700001 meters 0.045222051071925375 Centerline is valid? [True, True] Translation: X:82.71, Y:-10.17, Z:-5.91 [[ 9.96364492e-01 6.48076396e-02 5.52970987e-02 8.27141240e+01] [-6.44502831e-02 9.97887036e-01 -8.22339369e-03 -1.01654305e+01] [-5.57131966e-02 4.62958381e-03 9.98436080e-01 -5.90780107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.250714057 meters 0.042991112969783626 Centerline is valid? [True, True] Translation: X:82.74, Y:-10.17, Z:-5.91 [[ 9.96525895e-01 6.26817547e-02 5.48373772e-02 8.27448637e+01] [-6.23268553e-02 9.98022434e-01 -8.15998420e-03 -1.01670334e+01] [-5.52404148e-02 4.71379428e-03 9.98461956e-01 -5.90968233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.280714057 meters 0.04370232509244034 Centerline is valid? [True, True] Translation: X:82.78, Y:-10.17, Z:-5.91 [[ 9.96645889e-01 6.07618000e-02 5.48176539e-02 8.27754944e+01] [-6.04041449e-02 9.98140653e-01 -8.15941496e-03 -1.01727858e+01] [-5.52115096e-02 4.82083387e-03 9.98463043e-01 -5.91213561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.310714057 meters 0.0471536594202968 Centerline is valid? [True, True] Translation: X:82.80, Y:-10.18, Z:-5.91 [[ 9.96762821e-01 5.84509497e-02 5.52029469e-02 8.28040432e+01] [-5.80846376e-02 9.98277833e-01 -8.21840647e-03 -1.01816002e+01] [-5.55882519e-02 4.98535885e-03 9.98441331e-01 -5.91480131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.340714057 meters 0.04811447488947868 Centerline is valid? [True, True] Translation: X:82.84, Y:-10.19, Z:-5.92 [[ 9.96722118e-01 5.80551859e-02 5.63437175e-02 8.28359009e+01] [-5.76728280e-02 9.98300282e-01 -8.39002386e-03 -1.01878011e+01] [-5.67350334e-02 5.11302082e-03 9.98376178e-01 -5.91620038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.370714057 meters 0.04343421993087269 Centerline is valid? [True, True] Translation: X:82.87, Y:-10.19, Z:-5.92 [[ 9.96692159e-01 5.80389247e-02 5.68878066e-02 8.28689235e+01] [-5.76482870e-02 9.98300893e-01 -8.48538056e-03 -1.01860113e+01] [-5.72836305e-02 5.17782767e-03 9.98344518e-01 -5.91707208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.400714057 meters 0.04554481824461969 Centerline is valid? [True, True] Translation: X:82.90, Y:-10.19, Z:-5.92 [[ 9.96619994e-01 5.85245605e-02 5.76494939e-02 8.28995604e+01] [-5.81232776e-02 9.98272245e-01 -8.61453991e-03 -1.01932473e+01] [-5.80540518e-02 5.23464518e-03 9.98299717e-01 -5.91931098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.430714057 meters 0.05218794476223069 Centerline is valid? [True, True] Translation: X:82.93, Y:-10.21, Z:-5.92 [[ 9.96507567e-01 5.94208447e-02 5.86671369e-02 8.29287954e+01] [-5.90059280e-02 9.98219010e-01 -8.78111793e-03 -1.02064498e+01] [-5.90844328e-02 5.28874160e-03 9.98238979e-01 -5.92203698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.460714057 meters 0.04412411240407263 Centerline is valid? [True, True] Translation: X:82.96, Y:-10.20, Z:-5.92 [[ 9.96446586e-01 6.01705569e-02 5.89381483e-02 8.29627849e+01] [-5.97522676e-02 9.98174133e-01 -8.83554182e-03 -1.01999974e+01] [-5.93621745e-02 5.28245748e-03 9.98222534e-01 -5.92315858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.490714057 meters 0.04687821231351994 Centerline is valid? [True, True] Translation: X:82.99, Y:-10.21, Z:-5.93 [[ 9.96423840e-01 6.07056870e-02 5.87737245e-02 8.29927251e+01] [-6.02897393e-02 9.98141895e-01 -8.82632432e-03 -1.02079323e+01] [-5.92003248e-02 5.25130745e-03 9.98232310e-01 -5.92599949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.520714057 meters 0.05227715743969402 Centerline is valid? [True, True] Translation: X:83.02, Y:-10.22, Z:-5.93 [[ 9.96473534e-01 6.05345843e-02 5.81038696e-02 8.30221185e+01] [-6.01269829e-02 9.98152477e-01 -8.73948826e-03 -1.02198868e+01] [-5.85255626e-02 5.21505838e-03 9.98272288e-01 -5.92972680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.55071405700001 meters 0.04763912983882631 Centerline is valid? [True, True] Translation: X:83.05, Y:-10.22, Z:-5.93 [[ 9.96482577e-01 6.05939837e-02 5.78864704e-02 8.30549443e+01] [-6.01887557e-02 9.98148924e-01 -8.72005643e-03 -1.02186143e+01] [-5.83077011e-02 5.20526967e-03 9.98285088e-01 -5.93153646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.58071405700001 meters 0.05278166971797489 Centerline is valid? [True, True] Translation: X:83.08, Y:-10.23, Z:-5.93 [[ 9.96527170e-01 5.98892773e-02 5.78521653e-02 8.30840469e+01] [-5.94823772e-02 9.98191167e-01 -8.73161113e-03 -1.02303035e+01] [-5.82704502e-02 5.26010342e-03 9.98286976e-01 -5.93453019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.61071405700001 meters 0.04896285009545663 Centerline is valid? [True, True] Translation: X:83.12, Y:-10.23, Z:-5.94 [[ 9.96631012e-01 5.84393659e-02 5.75453412e-02 8.31154636e+01] [-5.80342706e-02 9.98276793e-01 -8.68721840e-03 -1.02295854e+01] [-5.79538542e-02 5.31834937e-03 9.98305097e-01 -5.93622692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.640714057 meters 0.04843631229687162 Centerline is valid? [True, True] Translation: X:83.15, Y:-10.23, Z:-5.94 [[ 9.96730698e-01 5.72135997e-02 5.70484020e-02 8.31464752e+01] [-5.68133242e-02 9.98347648e-01 -8.61511414e-03 -1.02334324e+01] [-5.74470396e-02 5.34583938e-03 9.98334242e-01 -5.93915064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.670714057 meters 0.04628348910181261 Centerline is valid? [True, True] Translation: X:83.18, Y:-10.24, Z:-5.94 [[ 9.96753434e-01 5.70398565e-02 5.68247061e-02 8.31786599e+01] [-5.66424630e-02 9.98357651e-01 -8.58090954e-03 -1.02353469e+01] [-5.72208340e-02 5.33435973e-03 9.98347295e-01 -5.94111256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.700714057 meters 0.045832112802285684 Centerline is valid? [True, True] Translation: X:83.21, Y:-10.24, Z:-5.94 [[ 9.96741504e-01 5.70576885e-02 5.70157447e-02 8.32105502e+01] [-5.66567917e-02 9.98356462e-01 -8.62456974e-03 -1.02392338e+01] [-5.74141351e-02 5.36613745e-03 9.98336026e-01 -5.94391059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.730714057 meters 0.045816342831291115 Centerline is valid? [True, True] Translation: X:83.24, Y:-10.24, Z:-5.95 [[ 9.96729171e-01 5.73453474e-02 5.69426970e-02 8.32429405e+01] [-5.69451173e-02 9.98340029e-01 -8.62790510e-03 -1.02436644e+01] [-5.73429439e-02 5.35707614e-03 9.98340167e-01 -5.94606274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.760714057 meters 0.04483434364825567 Centerline is valid? [True, True] Translation: X:83.28, Y:-10.25, Z:-5.95 [[ 9.96651454e-01 5.78100885e-02 5.78262372e-02 8.32753029e+01] [-5.73970535e-02 9.98312824e-01 -8.77968145e-03 -1.02464689e+01] [-5.82362283e-02 5.43122665e-03 9.98288056e-01 -5.94776982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.790714057 meters 0.04473906165547682 Centerline is valid? [True, True] Translation: X:83.31, Y:-10.25, Z:-5.95 [[ 9.96588518e-01 5.83683569e-02 5.83477603e-02 8.33071748e+01] [-5.79478656e-02 9.98280167e-01 -8.87430132e-03 -1.02511000e+01] [-5.87653903e-02 5.46289863e-03 9.98256874e-01 -5.94929249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.820714057 meters 0.04691173958951387 Centerline is valid? [True, True] Translation: X:83.34, Y:-10.26, Z:-5.95 [[ 9.96471121e-01 5.95218976e-02 5.91814951e-02 8.33373352e+01] [-5.90902437e-02 9.98211904e-01 -9.01878704e-03 -1.02577006e+01] [-5.96124882e-02 5.48991186e-03 9.98206498e-01 -5.95172966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.850714057 meters 0.04758625830395649 Centerline is valid? [True, True] Translation: X:83.37, Y:-10.26, Z:-5.95 [[ 9.96397475e-01 6.05987560e-02 5.93284348e-02 8.33687322e+01] [-6.01668226e-02 9.98147386e-01 -9.04152911e-03 -1.02624995e+01] [-5.97664276e-02 5.43935336e-03 9.98197569e-01 -5.95405367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.880714057 meters 0.04627844234998911 Centerline is valid? [True, True] Translation: X:83.40, Y:-10.26, Z:-5.96 [[ 9.96382712e-01 6.09864679e-02 5.91788960e-02 8.34009843e+01] [-6.05564935e-02 9.98123891e-01 -9.03375113e-03 -1.02649545e+01] [-5.96188065e-02 5.41740702e-03 9.98206517e-01 -5.95611229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.910714057 meters 0.04761741266320003 Centerline is valid? [True, True] Translation: X:83.43, Y:-10.27, Z:-5.96 [[ 9.96374666e-01 6.12347119e-02 5.90578915e-02 8.34320756e+01] [-6.08059892e-02 9.98108748e-01 -9.03104418e-03 -1.02712610e+01] [-5.94992115e-02 5.40723012e-03 9.98213707e-01 -5.95885502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.94071405700001 meters 0.04394567563158195 Centerline is valid? [True, True] Translation: X:83.46, Y:-10.27, Z:-5.96 [[ 9.96384357e-01 6.12470777e-02 5.88813113e-02 8.34647584e+01] [-6.08203470e-02 9.98108027e-01 -9.01402397e-03 -1.02709417e+01] [-5.93219921e-02 5.40025069e-03 9.98224293e-01 -5.96140201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.97071405700001 meters 0.04391525770087745 Centerline is valid? [True, True] Translation: X:83.50, Y:-10.28, Z:-5.96 [[ 9.96380768e-01 6.13534439e-02 5.88312857e-02 8.34965022e+01] [-6.09267112e-02 9.98101470e-01 -9.02171811e-03 -1.02761461e+01] [-5.92731062e-02 5.40466966e-03 9.98227173e-01 -5.96423076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.000714057 meters 0.04618916974498194 Centerline is valid? [True, True] Translation: X:83.53, Y:-10.28, Z:-5.97 [[ 9.96449118e-01 6.09879490e-02 5.80484734e-02 8.35271704e+01] [-6.05710134e-02 9.98124062e-01 -8.91679688e-03 -1.02835636e+01] [-5.84833952e-02 5.36907952e-03 9.98273943e-01 -5.96695230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.030714057 meters 0.04656458626435713 Centerline is valid? [True, True] Translation: X:83.56, Y:-10.29, Z:-5.97 [[ 9.96435673e-01 6.11386030e-02 5.81207392e-02 8.35603203e+01] [-6.07200908e-02 9.98114784e-01 -8.94136979e-03 -1.02883928e+01] [-5.85578320e-02 5.38040326e-03 9.98269519e-01 -5.96887301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.060714057 meters 0.047455718035133515 Centerline is valid? [True, True] Translation: X:83.59, Y:-10.29, Z:-5.97 [[ 9.96384948e-01 6.15784890e-02 5.85245672e-02 8.35916768e+01] [-6.11538328e-02 9.98087584e-01 -9.02128482e-03 -1.02933340e+01] [-5.89681610e-02 5.40967081e-03 9.98245206e-01 -5.97027291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.090714057 meters 0.048177988391604934 Centerline is valid? [True, True] Translation: X:83.62, Y:-10.30, Z:-5.97 [[ 9.96300256e-01 6.25099162e-02 5.89772010e-02 8.36225227e+01] [-6.20793549e-02 9.98029672e-01 -9.10646837e-03 -1.02987950e+01] [-5.94302411e-02 5.41151018e-03 9.98217793e-01 -5.97187635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.120714057 meters 0.047965889370822606 Centerline is valid? [True, True] Translation: X:83.65, Y:-10.30, Z:-5.97 [[ 9.96100848e-01 6.41725808e-02 6.05390848e-02 8.36529302e+01] [-6.37209141e-02 9.97923825e-01 -9.36404467e-03 -1.03028210e+01] [-6.10143100e-02 5.46992701e-03 9.98121903e-01 -5.97263027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.150714057 meters 0.047112791439120234 Centerline is valid? [True, True] Translation: X:83.68, Y:-10.31, Z:-5.97 [[ 9.96020293e-01 6.52095538e-02 6.07559918e-02 8.36840077e+01] [-6.47565672e-02 9.97856842e-01 -9.39733503e-03 -1.03064284e+01] [-6.12385781e-02 5.42558692e-03 9.98108411e-01 -5.97482703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.180714057 meters 0.047909563986489205 Centerline is valid? [True, True] Translation: X:83.71, Y:-10.31, Z:-5.98 [[ 9.95867189e-01 6.73886601e-02 6.08876800e-02 8.37135461e+01] [-6.69375889e-02 9.97712694e-01 -9.42018281e-03 -1.03104959e+01] [-6.13832247e-02 5.30557648e-03 9.98100171e-01 -5.97712837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.210714057 meters 0.047440176525165204 Centerline is valid? [True, True] Translation: X:83.74, Y:-10.31, Z:-5.98 [[ 9.95791171e-01 6.86485250e-02 6.07233447e-02 8.37448187e+01] [-6.82022276e-02 9.97627285e-01 -9.39450157e-03 -1.03141400e+01] [-6.12241842e-02 5.21349434e-03 9.98110424e-01 -5.97915364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.240714057 meters 0.04660783046594854 Centerline is valid? [True, True] Translation: X:83.78, Y:-10.32, Z:-5.98 [[ 9.95637571e-01 7.04738847e-02 6.11494756e-02 8.37759681e+01] [-7.00245694e-02 9.97500385e-01 -9.46263078e-03 -1.03172171e+01] [-6.16634938e-02 5.13938504e-03 9.98083764e-01 -5.98162163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.270714057 meters 0.046223851017340896 Centerline is valid? [True, True] Translation: X:83.81, Y:-10.32, Z:-5.98 [[ 9.95558272e-01 7.13624053e-02 6.14095537e-02 8.38078462e+01] [-7.09108810e-02 9.97437380e-01 -9.50367528e-03 -1.03217772e+01] [-6.19303894e-02 5.10685700e-03 9.98067406e-01 -5.98374768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.30071405700001 meters 0.0474221060988293 Centerline is valid? [True, True] Translation: X:83.84, Y:-10.33, Z:-5.99 [[ 9.95560447e-01 7.15779281e-02 6.11228005e-02 8.38392174e+01] [-7.11300946e-02 9.97422051e-01 -9.47428890e-03 -1.03285622e+01] [-6.16433789e-02 5.08455672e-03 9.98085287e-01 -5.98649371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.33071405700001 meters 0.04869408272749198 Centerline is valid? [True, True] Translation: X:83.87, Y:-10.34, Z:-5.99 [[ 9.95593474e-01 7.18822937e-02 6.02210091e-02 8.38699966e+01] [-7.14471958e-02 9.97400558e-01 -9.35019040e-03 -1.03355598e+01] [-6.07365812e-02 5.00636631e-03 9.98141275e-01 -5.99054952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.36071405700001 meters 0.05040718343680639 Centerline is valid? [True, True] Translation: X:83.90, Y:-10.34, Z:-5.99 [[ 9.95627491e-01 7.18992076e-02 5.96355904e-02 8.39002110e+01] [-7.14716250e-02 9.97399509e-01 -9.27499373e-03 -1.03423356e+01] [-6.01473733e-02 4.97218618e-03 9.98177124e-01 -5.99348004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.390714057 meters 0.051685122895385856 Centerline is valid? [True, True] Translation: X:83.93, Y:-10.35, Z:-6.00 [[ 9.95662766e-01 7.17909767e-02 5.91752668e-02 8.39307116e+01] [-7.13690033e-02 9.97407399e-01 -9.21655574e-03 -1.03477587e+01] [-5.96835145e-02 4.95330157e-03 9.98205061e-01 -5.99589907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.420714057 meters 0.05205054859896779 Centerline is valid? [True, True] Translation: X:83.96, Y:-10.35, Z:-6.00 [[ 9.95626397e-01 7.19425019e-02 5.96016281e-02 8.39611221e+01] [-7.15137929e-02 9.97396275e-01 -9.29779014e-03 -1.03530879e+01] [-6.01153481e-02 4.99478680e-03 9.98178940e-01 -5.99824124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.450714057 meters 0.042202292130724864 Centerline is valid? [True, True] Translation: X:83.99, Y:-10.34, Z:-6.00 [[ 9.95513029e-01 7.27135404e-02 6.05520418e-02 8.39939241e+01] [-7.22723172e-02 9.97340185e-01 -9.44811180e-03 -1.03439169e+01] [-6.10779902e-02 5.02948203e-03 9.98120325e-01 -5.99877707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.480714057 meters 0.05416480078890762 Centerline is valid? [True, True] Translation: X:84.02, Y:-10.36, Z:-6.00 [[ 9.95458560e-01 7.32865270e-02 6.07564060e-02 8.40219720e+01] [-7.28433249e-02 9.97298333e-01 -9.48080876e-03 -1.03641852e+01] [-6.12870779e-02 5.01205361e-03 9.98107596e-01 -6.00203745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.510714057 meters 0.044111702096965355 Centerline is valid? [True, True] Translation: X:84.06, Y:-10.35, Z:-6.00 [[ 9.95385245e-01 7.40869451e-02 6.09863778e-02 8.40554087e+01] [-7.36408882e-02 9.97239264e-01 -9.53257141e-03 -1.03537541e+01] [-6.15242496e-02 4.99748990e-03 9.98093078e-01 -6.00246130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.540714057 meters 0.0443460730524128 Centerline is valid? [True, True] Translation: X:84.09, Y:-10.36, Z:-6.00 [[ 9.95397782e-01 7.41801972e-02 6.06675674e-02 8.40853228e+01] [-7.37388220e-02 9.97232479e-01 -9.48516722e-03 -1.03574785e+01] [-6.12032802e-02 4.96795946e-03 9.98112958e-01 -6.00425319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.570714057 meters 0.04366277311968828 Centerline is valid? [True, True] Translation: X:84.12, Y:-10.36, Z:-6.01 [[ 9.95447150e-01 7.39873821e-02 6.00902544e-02 8.41154665e+01] [-7.35540316e-02 9.97246981e-01 -9.39490631e-03 -1.03594052e+01] [-6.06199293e-02 4.93225224e-03 9.98148735e-01 -6.00626767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.600714057 meters 0.04692358600183845 Centerline is valid? [True, True] Translation: X:84.14, Y:-10.37, Z:-6.01 [[ 9.95517487e-01 7.33404368e-02 5.97169399e-02 8.41448130e+01] [-7.29113159e-02 9.97294727e-01 -9.33639368e-03 -1.03678753e+01] [-6.02401245e-02 4.94050250e-03 9.98171688e-01 -6.00889707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.630714057 meters 0.043285507967866704 Centerline is valid? [True, True] Translation: X:84.18, Y:-10.37, Z:-6.01 [[ 9.95667154e-01 7.19012447e-02 5.89671976e-02 8.41763373e+01] [-7.14802811e-02 9.97399397e-01 -9.22021242e-03 -1.03665756e+01] [-5.94767921e-02 4.96527079e-03 9.98217340e-01 -6.01099949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.660714057 meters 0.043285507967866704 Centerline is valid? [True, True] Translation: X:84.21, Y:-10.37, Z:-6.01 [[ 9.95667159e-01 7.19013280e-02 5.89670078e-02 8.42060113e+01] [-7.14802932e-02 9.97399385e-01 -9.22142657e-03 -1.03712155e+01] [-5.94766901e-02 4.96649259e-03 9.98217340e-01 -6.01306768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.69071405700001 meters 0.04141215771529456 Centerline is valid? [True, True] Translation: X:84.24, Y:-10.37, Z:-6.01 [[ 9.95721647e-01 7.09959994e-02 5.91436362e-02 8.42363379e+01] [-7.05708504e-02 9.97463889e-01 -9.24904822e-03 -1.03725281e+01] [-5.96502868e-02 5.03566083e-03 9.98206635e-01 -6.01468965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.72071405700001 meters 0.04543553878592967 Centerline is valid? [True, True] Translation: X:84.27, Y:-10.38, Z:-6.02 [[ 9.95826560e-01 6.99473722e-02 5.86244683e-02 8.42654672e+01] [-6.95278988e-02 9.97537885e-01 -9.16725527e-03 -1.03804877e+01] [-5.91213536e-02 5.05296017e-03 9.98238014e-01 -6.01669454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.750714057 meters 0.04627869584426323 Centerline is valid? [True, True] Translation: X:84.30, Y:-10.39, Z:-6.02 [[ 9.95828998e-01 7.01947787e-02 5.82863529e-02 8.42950696e+01] [-6.97803512e-02 9.97520710e-01 -9.11788423e-03 -1.03851324e+01] [-5.87818720e-02 5.01261135e-03 9.98258266e-01 -6.01892292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.780714057 meters 0.04434045222810145 Centerline is valid? [True, True] Translation: X:84.33, Y:-10.38, Z:-6.02 [[ 9.95762893e-01 7.11853068e-02 5.82143785e-02 8.43258610e+01] [-7.07732075e-02 9.97450804e-01 -9.11300150e-03 -1.03843605e+01] [-5.87146904e-02 4.95437045e-03 9.98262510e-01 -6.02054861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.810714057 meters 0.040068737594937384 Centerline is valid? [True, True] Translation: X:84.36, Y:-10.38, Z:-6.02 [[ 9.95559151e-01 7.35595259e-02 5.87449786e-02 8.43575729e+01] [-7.31439789e-02 9.97278995e-01 -9.19589119e-03 -1.03807591e+01] [-5.92615787e-02 4.85821215e-03 9.98230666e-01 -6.02120433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.840714057 meters 0.03906835408414678 Centerline is valid? [True, True] Translation: X:84.39, Y:-10.38, Z:-6.02 [[ 9.95487539e-01 7.47190053e-02 5.84947058e-02 8.43876364e+01] [-7.43088975e-02 9.97193219e-01 -9.15816029e-03 -1.03823836e+01] [-5.90148126e-02 4.77015735e-03 9.98245710e-01 -6.02317938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.870714057 meters 0.04006005519764155 Centerline is valid? [True, True] Translation: X:84.42, Y:-10.39, Z:-6.03 [[ 9.95443367e-01 7.56850178e-02 5.80024283e-02 8.44155535e+01] [-7.52834810e-02 9.97120830e-01 -9.08006775e-03 -1.03868768e+01] [-5.85226545e-02 4.67206851e-03 9.98275148e-01 -6.02539198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.900714057 meters 0.040437907361249935 Centerline is valid? [True, True] Translation: X:84.45, Y:-10.39, Z:-6.03 [[ 9.95395424e-01 7.64535582e-02 5.78169891e-02 8.44450918e+01] [-7.60559543e-02 9.97062483e-01 -9.04968900e-03 -1.03909541e+01] [-5.83390316e-02 4.61069273e-03 9.98286181e-01 -6.02783647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.930714057 meters 0.04101565467378413 Centerline is valid? [True, True] Translation: X:84.47, Y:-10.39, Z:-6.03 [[ 9.95312135e-01 7.73402746e-02 5.80709536e-02 8.44744804e+01] [-7.69407899e-02 9.96994251e-01 -9.08728456e-03 -1.03946111e+01] [-5.85992199e-02 4.57665956e-03 9.98271098e-01 -6.02976093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.960714057 meters 0.04261276515688844 Centerline is valid? [True, True] Translation: X:84.50, Y:-10.40, Z:-6.03 [[ 9.95359322e-01 7.65486542e-02 5.83105813e-02 8.45033291e+01] [-7.61446388e-02 9.97055049e-01 -9.12263534e-03 -1.04004828e+01] [-5.88371850e-02 4.64026198e-03 9.98256807e-01 -6.03279702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.990714057 meters 0.042694421614744925 Centerline is valid? [True, True] Translation: X:84.53, Y:-10.41, Z:-6.04 [[ 9.95388061e-01 7.62075470e-02 5.82667856e-02 8.45323273e+01] [-7.58036837e-02 9.97081111e-01 -9.11366491e-03 -1.04050853e+01] [-5.87912414e-02 4.65479626e-03 9.98259447e-01 -6.03525859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.020714057 meters 0.039570901624318464 Centerline is valid? [True, True] Translation: X:84.56, Y:-10.40, Z:-6.04 [[ 9.95472497e-01 7.49724704e-02 5.84263413e-02 8.45626849e+01] [-7.45644023e-02 9.97174345e-01 -9.13650147e-03 -1.04043429e+01] [-5.89462347e-02 4.73861071e-03 9.98249912e-01 -6.03658844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.05071405700001 meters 0.04231982185124302 Centerline is valid? [True, True] Translation: X:84.59, Y:-10.41, Z:-6.04 [[ 9.95580166e-01 7.36923762e-02 5.82199921e-02 8.45910267e+01] [-7.32851557e-02 9.97269493e-01 -9.10187753e-03 -1.04124533e+01] [-5.87317610e-02 4.79498756e-03 9.98262284e-01 -6.03932862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.08071405700001 meters 0.04386230472667421 Centerline is valid? [True, True] Translation: X:84.62, Y:-10.42, Z:-6.04 [[ 9.95654326e-01 7.29377934e-02 5.79011353e-02 8.46193421e+01] [-7.25338136e-02 9.97324883e-01 -9.05113484e-03 -1.04190012e+01] [-5.84064128e-02 4.81201140e-03 9.98281291e-01 -6.04176426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.11071405700001 meters 0.04611407290307981 Centerline is valid? [True, True] Translation: X:84.65, Y:-10.43, Z:-6.05 [[ 9.95881264e-01 7.07689900e-02 5.66767887e-02 8.46479648e+01] [-7.03785794e-02 9.97481027e-01 -8.85752672e-03 -1.04259904e+01] [-5.71608596e-02 4.83221303e-03 9.98353287e-01 -6.04515964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.140714057 meters 0.048370541737085875 Centerline is valid? [True, True] Translation: X:84.68, Y:-10.43, Z:-6.05 [[ 9.96016186e-01 6.93567043e-02 5.60482361e-02 8.46764604e+01] [-6.89727553e-02 9.97580098e-01 -8.75829923e-03 -1.04329661e+01] [-5.65200516e-02 4.85760652e-03 9.98389647e-01 -6.04861576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.170714057 meters 0.041903724375475834 Centerline is valid? [True, True] Translation: X:84.71, Y:-10.43, Z:-6.05 [[ 9.96070128e-01 6.87050184e-02 5.58920358e-02 8.47080551e+01] [-6.83222596e-02 9.97625084e-01 -8.73269164e-03 -1.04284292e+01] [-5.63592766e-02 4.87970311e-03 9.98398628e-01 -6.04933674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.200714057 meters 0.04230327709857385 Centerline is valid? [True, True] Translation: X:84.74, Y:-10.43, Z:-6.05 [[ 9.96083713e-01 6.81604861e-02 5.63150551e-02 8.47380638e+01] [-6.77710406e-02 9.97662101e-01 -8.79878510e-03 -1.04329531e+01] [-5.67831257e-02 4.94779664e-03 9.98374276e-01 -6.05142976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.230714057 meters 0.04448295851987206 Centerline is valid? [True, True] Translation: X:84.77, Y:-10.44, Z:-6.05 [[ 9.96062642e-01 6.80652754e-02 5.68008017e-02 8.47672744e+01] [-6.76689078e-02 9.97668359e-01 -8.87488471e-03 -1.04383724e+01] [-5.72724341e-02 4.99629290e-03 9.98346085e-01 -6.05257031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.260714057 meters 0.04465032994354632 Centerline is valid? [True, True] Translation: X:84.80, Y:-10.44, Z:-6.05 [[ 9.96006345e-01 6.85373157e-02 5.72188591e-02 8.47975123e+01] [-6.81359292e-02 9.97636001e-01 -8.93893621e-03 -1.04426976e+01] [-5.76962445e-02 5.00457704e-03 9.98321640e-01 -6.05404790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.290714057 meters 0.04471928949880479 Centerline is valid? [True, True] Translation: X:84.83, Y:-10.45, Z:-6.06 [[ 9.95797301e-01 7.05823726e-02 5.83597752e-02 8.48274206e+01] [-7.01682780e-02 9.97493504e-01 -9.11717423e-03 -1.04458807e+01] [-5.88570084e-02 4.98385256e-03 9.98253983e-01 -6.05526976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.320714057 meters 0.041677996031220514 Centerline is valid? [True, True] Translation: X:84.86, Y:-10.44, Z:-6.06 [[ 9.95520378e-01 7.35648579e-02 5.93918197e-02 8.48579363e+01] [-7.31412255e-02 9.97278432e-01 -9.27847697e-03 -1.04447244e+01] [-5.99127507e-02 4.89292242e-03 9.98191626e-01 -6.05694475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.350714057 meters 0.040252877868465105 Centerline is valid? [True, True] Translation: X:84.89, Y:-10.45, Z:-6.06 [[ 9.95363875e-01 7.52447909e-02 5.99080728e-02 8.48876853e+01] [-7.48167876e-02 9.97153379e-01 -9.35883545e-03 -1.04463073e+01] [-6.04417408e-02 4.83331717e-03 9.98160025e-01 -6.05842410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.380714057 meters 0.041098332060324955 Centerline is valid? [True, True] Translation: X:84.92, Y:-10.45, Z:-6.06 [[ 9.95192411e-01 7.71290654e-02 6.03586974e-02 8.49158702e+01] [-7.66981825e-02 9.97009792e-01 -9.42671608e-03 -1.04510237e+01] [-6.09052861e-02 4.75199392e-03 9.98132238e-01 -6.06025290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.410714057 meters 0.041722521811428936 Centerline is valid? [True, True] Translation: X:84.95, Y:-10.46, Z:-6.06 [[ 9.94926558e-01 8.06820448e-02 6.00961892e-02 8.49454391e+01] [-8.02613510e-02 9.96729666e-01 -9.38558472e-03 -1.04550478e+01] [-6.06569028e-02 4.51456617e-03 9.98148465e-01 -6.06252328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.44071405700001 meters 0.04145856513009099 Centerline is valid? [True, True] Translation: X:84.97, Y:-10.46, Z:-6.06 [[ 9.94811085e-01 8.24160341e-02 5.96531825e-02 8.49749311e+01] [-8.20046309e-02 9.96588404e-01 -9.31631837e-03 -1.04591345e+01] [-6.02174840e-02 4.37613957e-03 9.98175688e-01 -6.06498724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.47071405700001 meters 0.037466100487179736 Centerline is valid? [True, True] Translation: X:85.01, Y:-10.46, Z:-6.07 [[ 9.94518011e-01 8.63228475e-02 5.90109496e-02 8.50055368e+01] [-8.59272429e-02 9.96258810e-01 -9.21365650e-03 -1.04575820e+01] [-5.95855276e-02 4.09249913e-03 9.98214815e-01 -6.06785889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.500714057 meters 0.037623070309799125 Centerline is valid? [True, True] Translation: X:85.03, Y:-10.46, Z:-6.07 [[ 9.94342734e-01 8.84761501e-02 5.87749835e-02 8.50341584e+01] [-8.80874408e-02 9.96070473e-01 -9.17693116e-03 -1.04616982e+01] [-5.93559651e-02 3.94767694e-03 9.98229075e-01 -6.07057390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.530714057 meters 0.035440986447050536 Centerline is valid? [True, True] Translation: X:85.06, Y:-10.46, Z:-6.07 [[ 9.93945672e-01 9.31934368e-02 5.81978115e-02 8.50649207e+01] [-9.28205187e-02 9.95641414e-01 -9.08440416e-03 -1.04624560e+01] [-5.87907582e-02 3.62745315e-03 9.98263737e-01 -6.07281670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.560714057 meters 0.034835569963184244 Centerline is valid? [True, True] Translation: X:85.09, Y:-10.47, Z:-6.07 [[ 9.93686252e-01 9.56377074e-02 5.86605580e-02 8.50940062e+01] [-9.52630591e-02 9.95410018e-01 -9.15674604e-03 -1.04654859e+01] [-5.92670372e-02 3.51074845e-03 9.98235991e-01 -6.07468110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.590714057 meters 0.030937111283289433 Centerline is valid? [True, True] Translation: X:85.12, Y:-10.46, Z:-6.08 [[ 9.93192915e-01 1.00586165e-01 5.87388813e-02 8.51246567e+01] [-1.00219272e-01 9.94923149e-01 -9.16655354e-03 -1.04633459e+01] [-5.93627012e-02 3.21738814e-03 9.98231295e-01 -6.07600175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.620714057 meters 0.03254288978343638 Centerline is valid? [True, True] Translation: X:85.15, Y:-10.47, Z:-6.08 [[ 9.92985413e-01 1.02791279e-01 5.84287824e-02 8.51521651e+01] [-1.02432036e-01 9.94698211e-01 -9.11852206e-03 -1.04702200e+01] [-5.90563099e-02 3.06958027e-03 9.98249934e-01 -6.07930056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.650714057 meters 0.03195461986604967 Centerline is valid? [True, True] Translation: X:85.18, Y:-10.47, Z:-6.08 [[ 9.92609659e-01 1.06394566e-01 5.83631827e-02 8.51809062e+01] [-1.06042604e-01 9.94319912e-01 -9.10373210e-03 -1.04743490e+01] [-5.90002623e-02 2.84746855e-03 9.98253906e-01 -6.08236775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.680714057 meters 0.028324069588846097 Centerline is valid? [True, True] Translation: X:85.21, Y:-10.47, Z:-6.08 [[ 9.92433814e-01 1.07830009e-01 5.87180842e-02 8.52107160e+01] [-1.07476364e-01 9.94165468e-01 -9.15719757e-03 -1.04734729e+01] [-5.93629123e-02 2.77710634e-03 9.98232604e-01 -6.08316346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.710714057 meters 0.03163368658845504 Centerline is valid? [True, True] Translation: X:85.24, Y:-10.48, Z:-6.09 [[ 9.92260945e-01 1.09012640e-01 5.94513284e-02 8.52374648e+01] [-1.08652405e-01 9.94036595e-01 -9.26835335e-03 -1.04845625e+01] [-6.01071637e-02 2.73709526e-03 9.98188177e-01 -6.08580531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.740714057 meters 0.02829733456665605 Centerline is valid? [True, True] Translation: X:85.27, Y:-10.48, Z:-6.09 [[ 9.92259468e-01 1.08787372e-01 5.98870284e-02 8.52656433e+01] [-1.08421672e-01 9.94061191e-01 -9.33213908e-03 -1.04837775e+01] [-6.05465897e-02 2.76685161e-03 9.98161538e-01 -6.08598898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.770714057 meters 0.028612931635641648 Centerline is valid? [True, True] Translation: X:85.29, Y:-10.49, Z:-6.09 [[ 9.92345119e-01 1.07372997e-01 6.10098634e-02 8.52936873e+01] [-1.06991210e-01 9.94214580e-01 -9.50001004e-03 -1.04909983e+01] [-6.16769403e-02 2.89976949e-03 9.98091953e-01 -6.08684961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.80071405700001 meters 0.02930676408655931 Centerline is valid? [True, True] Translation: X:85.32, Y:-10.50, Z:-6.09 [[ 9.92473549e-01 1.06026251e-01 6.12755098e-02 8.53217474e+01] [-1.05638849e-01 9.94358830e-01 -9.53685250e-03 -1.04978765e+01] [-6.19410010e-02 2.99199950e-03 9.98075328e-01 -6.08872038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.83071405700001 meters 0.02941900060152185 Centerline is valid? [True, True] Translation: X:85.35, Y:-10.51, Z:-6.09 [[ 9.92795261e-01 1.02588434e-01 6.19126970e-02 8.53508389e+01] [-1.02186564e-01 9.94718627e-01 -9.63113141e-03 -1.05060462e+01] [-6.25737557e-02 3.23509582e-03 9.98035099e-01 -6.09006787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.86071405700001 meters 0.03143610156179601 Centerline is valid? [True, True] Translation: X:85.38, Y:-10.52, Z:-6.09 [[ 9.93024182e-01 1.00649644e-01 6.14216852e-02 8.53786136e+01] [-1.00250493e-01 9.94916360e-01 -9.55386283e-03 -1.05151278e+01] [-6.20710323e-02 3.32966262e-03 9.98066180e-01 -6.09242002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.890714057 meters 0.03215487732804622 Centerline is valid? [True, True] Translation: X:85.41, Y:-10.52, Z:-6.10 [[ 9.93440361e-01 9.66956727e-02 6.10425790e-02 8.54078390e+01] [-9.62942226e-02 9.95307659e-01 -9.49134937e-03 -1.05231513e+01] [-6.16739188e-02 3.55104185e-03 9.98090035e-01 -6.09520279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.920714057 meters 0.03410476973122247 Centerline is valid? [True, True] Translation: X:85.43, Y:-10.53, Z:-6.10 [[ 9.93679282e-01 9.44726855e-02 6.06332951e-02 8.54348548e+01] [-9.40725581e-02 9.95520715e-01 -9.42656088e-03 -1.05309235e+01] [-6.12522538e-02 3.66304907e-03 9.98115596e-01 -6.09771115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.950714057 meters 0.03295374472853193 Centerline is valid? [True, True] Translation: X:85.46, Y:-10.53, Z:-6.10 [[ 9.93894565e-01 9.24586150e-02 6.02079567e-02 8.54641499e+01] [-9.20606925e-02 9.95709444e-01 -9.35581102e-03 -1.05349002e+01] [-6.08146564e-02 3.75590354e-03 9.98142009e-01 -6.09950790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.980714057 meters 0.03393503254513747 Centerline is valid? [True, True] Translation: X:85.49, Y:-10.54, Z:-6.10 [[ 9.94256264e-01 8.85163780e-02 6.01608922e-02 8.54938252e+01] [-8.81120425e-02 9.96066724e-01 -9.34607897e-03 -1.05424573e+01] [-6.07515439e-02 3.99149846e-03 9.98144938e-01 -6.10174206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.010714057 meters 0.03693093405546422 Centerline is valid? [True, True] Translation: X:85.52, Y:-10.55, Z:-6.10 [[ 9.94585052e-01 8.49749723e-02 5.98316756e-02 8.55216088e+01] [-8.45687128e-02 9.96374300e-01 -9.29442368e-03 -1.05527589e+01] [-6.04045373e-02 4.18420707e-03 9.98165209e-01 -6.10431913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.040714057 meters 0.0407390184201712 Centerline is valid? [True, True] Translation: X:85.55, Y:-10.56, Z:-6.11 [[ 9.94940629e-01 8.10547253e-02 5.93571985e-02 8.55493496e+01] [-8.06480938e-02 9.96700008e-01 -9.21843027e-03 -1.05627422e+01] [-5.99085176e-02 4.38474589e-03 9.98194241e-01 -6.10682674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.070714057 meters 0.040825547932810125 Centerline is valid? [True, True] Translation: X:85.58, Y:-10.57, Z:-6.11 [[ 9.95099275e-01 7.94106916e-02 5.89183715e-02 8.55778988e+01] [-7.90072479e-02 9.96832054e-01 -9.14939923e-03 -1.05677200e+01] [-5.94582813e-02 4.44958216e-03 9.98220874e-01 -6.10841921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.100714057 meters 0.042849162171660536 Centerline is valid? [True, True] Translation: X:85.61, Y:-10.58, Z:-6.11 [[ 9.95219440e-01 7.78808077e-02 5.89308644e-02 8.56051997e+01] [-7.74747306e-02 9.96952347e-01 -9.14794003e-03 -1.05752773e+01] [-5.94637125e-02 4.53855490e-03 9.98220150e-01 -6.11057912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.130714057 meters 0.043227928206420914 Centerline is valid? [True, True] Translation: X:85.63, Y:-10.58, Z:-6.11 [[ 9.95356866e-01 7.62313468e-02 5.87664057e-02 8.56345480e+01] [-7.58247945e-02 9.97079444e-01 -9.12049900e-03 -1.05802008e+01] [-5.92900431e-02 4.62220066e-03 9.98230097e-01 -6.11311973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.160714057 meters 0.04510474042788311 Centerline is valid? [True, True] Translation: X:85.66, Y:-10.59, Z:-6.12 [[ 9.95507727e-01 7.44117083e-02 5.85428383e-02 8.56642919e+01] [-7.40052664e-02 9.97216482e-01 -9.08339128e-03 -1.05873730e+01] [-5.90557940e-02 4.71010786e-03 9.98243572e-01 -6.11572854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.19071405700001 meters 0.0430227861775777 Centerline is valid? [True, True] Translation: X:85.70, Y:-10.59, Z:-6.12 [[ 9.95649521e-01 7.29042221e-02 5.80259015e-02 8.56950400e+01] [-7.25023952e-02 9.97327602e-01 -9.00318439e-03 -1.05888309e+01] [-5.85272033e-02 4.75699938e-03 9.98274480e-01 -6.11738309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.22071405700001 meters 0.04008935908917375 Centerline is valid? [True, True] Translation: X:85.73, Y:-10.59, Z:-6.12 [[ 9.95755149e-01 7.17783487e-02 5.76155512e-02 8.57253433e+01] [-7.13803003e-02 9.97409109e-01 -8.93989990e-03 -1.05886312e+01] [-5.81079669e-02 4.78933600e-03 9.98298816e-01 -6.11890127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.250714057 meters 0.0513161687921661 Centerline is valid? [True, True] Translation: X:85.75, Y:-10.61, Z:-6.12 [[ 9.95891462e-01 7.03607598e-02 5.70048993e-02 8.57530456e+01] [-6.99689938e-02 9.97509980e-01 -8.84198546e-03 -1.06073509e+01] [-5.74850847e-02 4.81708239e-03 9.98334744e-01 -6.12286722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.280714057 meters 0.04281827956427983 Centerline is valid? [True, True] Translation: X:85.79, Y:-10.60, Z:-6.12 [[ 9.95974047e-01 6.96680837e-02 5.64097157e-02 8.57853683e+01] [-6.92831367e-02 9.97558630e-01 -8.75367146e-03 -1.05996244e+01] [-5.68818502e-02 4.81018755e-03 9.98369329e-01 -6.12338475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.310714057 meters 0.04450286289949044 Centerline is valid? [True, True] Translation: X:85.81, Y:-10.61, Z:-6.13 [[ 9.96046240e-01 6.90265710e-02 5.59215477e-02 8.58139822e+01] [-6.86472515e-02 9.97603250e-01 -8.67813608e-03 -1.06057493e+01] [-5.63865398e-02 4.80496427e-03 9.98397451e-01 -6.12578355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.340714057 meters 0.0429696165753359 Centerline is valid? [True, True] Translation: X:85.84, Y:-10.61, Z:-6.13 [[ 9.96138380e-01 6.83346329e-02 5.51244496e-02 8.58448615e+01] [-6.79650812e-02 9.97651036e-01 -8.55321689e-03 -1.06072420e+01] [-5.55794452e-02 4.77364992e-03 9.98442856e-01 -6.12831756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.370714057 meters 0.04395318588624864 Centerline is valid? [True, True] Translation: X:85.87, Y:-10.61, Z:-6.13 [[ 9.96193056e-01 6.79106970e-02 5.46583314e-02 8.58747822e+01] [-6.75467439e-02 9.97680065e-01 -8.48089309e-03 -1.06122592e+01] [-5.51074710e-02 4.75661449e-03 9.98469099e-01 -6.13062186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.400714057 meters 0.0453127641045606 Centerline is valid? [True, True] Translation: X:85.90, Y:-10.62, Z:-6.13 [[ 9.96207689e-01 6.74686239e-02 5.49383724e-02 8.59039203e+01] [-6.71002471e-02 9.97709822e-01 -8.52458135e-03 -1.06169704e+01] [-5.53876955e-02 4.80587513e-03 9.98453357e-01 -6.13212745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.430714057 meters 0.04384008104974661 Centerline is valid? [True, True] Translation: X:85.93, Y:-10.62, Z:-6.13 [[ 9.96237142e-01 6.72822197e-02 5.46320317e-02 8.59345060e+01] [-6.69177350e-02 9.97722495e-01 -8.47581465e-03 -1.06182875e+01] [-5.50778786e-02 4.78806955e-03 9.98470581e-01 -6.13386897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.460714057 meters 0.04503619171201401 Centerline is valid? [True, True] Translation: X:85.96, Y:-10.62, Z:-6.14 [[ 9.96248071e-01 6.71956618e-02 5.45392044e-02 8.59637423e+01] [-6.68322743e-02 9.97728344e-01 -8.46165750e-03 -1.06232720e+01] [-5.49838968e-02 4.78493089e-03 9.98475776e-01 -6.13621432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.490714057 meters 0.046789366923098964 Centerline is valid? [True, True] Translation: X:85.99, Y:-10.63, Z:-6.14 [[ 9.96229963e-01 6.74490410e-02 5.45571933e-02 8.59927609e+01] [-6.70858752e-02 9.97711313e-01 -8.46290270e-03 -1.06286159e+01] [-5.50031436e-02 4.77098019e-03 9.98474783e-01 -6.13763208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.520714057 meters 0.047105675432551286 Centerline is valid? [True, True] Translation: X:86.02, Y:-10.63, Z:-6.14 [[ 9.96182594e-01 6.76989775e-02 5.51097824e-02 8.60225910e+01] [-6.73286879e-02 9.97694211e-01 -8.55040602e-03 -1.06326061e+01] [-5.55615646e-02 4.80729631e-03 9.98443690e-01 -6.13939491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.55071405700001 meters 0.047105675432551286 Centerline is valid? [True, True] Translation: X:86.05, Y:-10.64, Z:-6.14 [[ 9.96182589e-01 6.76988958e-02 5.51099670e-02 8.60522792e+01] [-6.73286714e-02 9.97694222e-01 -8.54921562e-03 -1.06372122e+01] [-5.55616682e-02 4.80609889e-03 9.98443690e-01 -6.14146449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.58071405700001 meters 0.047635892347873604 Centerline is valid? [True, True] Translation: X:86.08, Y:-10.64, Z:-6.14 [[ 9.96154687e-01 6.77822338e-02 5.55104336e-02 8.60810396e+01] [-6.74067179e-02 9.97688416e-01 -8.61156156e-03 -1.06418243e+01] [-5.59658274e-02 4.83667128e-03 9.98420970e-01 -6.14322737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.61071405700001 meters 0.04373578975831631 Centerline is valid? [True, True] Translation: X:86.11, Y:-10.64, Z:-6.14 [[ 9.96109556e-01 6.80084496e-02 5.60410863e-02 8.61113330e+01] [-6.76261097e-02 9.97672862e-01 -8.69309429e-03 -1.06397495e+01] [-5.65018748e-02 4.86943365e-03 9.98390618e-01 -6.14396420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.640714057 meters 0.045726964602010776 Centerline is valid? [True, True] Translation: X:86.14, Y:-10.65, Z:-6.15 [[ 9.96081953e-01 6.82910349e-02 5.61878744e-02 8.61400309e+01] [-6.79072627e-02 9.97653586e-01 -8.71356992e-03 -1.06461896e+01] [-5.66510930e-02 4.86386500e-03 9.98382190e-01 -6.14658530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.670714057 meters 0.051373260940597874 Centerline is valid? [True, True] Translation: X:86.17, Y:-10.66, Z:-6.15 [[ 9.96065457e-01 6.86270639e-02 5.60707679e-02 8.61677507e+01] [-6.82454779e-02 9.97630674e-01 -8.69438614e-03 -1.06577473e+01] [-5.65345882e-02 4.83360135e-03 9.98388941e-01 -6.14987507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.700714057 meters 0.051636568710892825 Centerline is valid? [True, True] Translation: X:86.20, Y:-10.66, Z:-6.15 [[ 9.96020979e-01 6.93904516e-02 5.59211491e-02 8.61974355e+01] [-6.90121409e-02 9.97578142e-01 -8.67038095e-03 -1.06611903e+01] [-5.63873577e-02 4.77664309e-03 9.98397541e-01 -6.15255244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.730714057 meters 0.043444884507839863 Centerline is valid? [True, True] Translation: X:86.23, Y:-10.65, Z:-6.15 [[ 9.96058043e-01 6.93462434e-02 5.53124999e-02 8.62290896e+01] [-6.89761686e-02 9.97581461e-01 -8.57417916e-03 -1.06531475e+01] [-5.57733115e-02 4.72513581e-03 9.98432277e-01 -6.15308939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.760714057 meters 0.04316875932530745 Centerline is valid? [True, True] Translation: X:86.26, Y:-10.66, Z:-6.16 [[ 9.96076365e-01 6.92772221e-02 5.50685117e-02 8.62586191e+01] [-6.89104169e-02 9.97586347e-01 -8.53433987e-03 -1.06563457e+01] [-5.55268307e-02 4.70606014e-03 9.98446105e-01 -6.15504684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.790714057 meters 0.04560614622818753 Centerline is valid? [True, True] Translation: X:86.29, Y:-10.66, Z:-6.16 [[ 9.96108101e-01 6.90337978e-02 5.47995103e-02 8.62868160e+01] [-6.86703147e-02 9.97603276e-01 -8.49069892e-03 -1.06630628e+01] [-5.52543162e-02 4.69455436e-03 9.98461277e-01 -6.15829675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.820714057 meters 0.041734274231189916 Centerline is valid? [True, True] Translation: X:86.32, Y:-10.66, Z:-6.16 [[ 9.96183240e-01 6.82962011e-02 5.43560664e-02 8.63167646e+01] [-6.79376196e-02 9.97654042e-01 -8.41972486e-03 -1.06616282e+01] [-5.48035846e-02 4.69476703e-03 9.98486117e-01 -6.15997644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.850714057 meters 0.043783131030368364 Centerline is valid? [True, True] Translation: X:86.35, Y:-10.67, Z:-6.16 [[ 9.96230764e-01 6.76186335e-02 5.43321754e-02 8.63450772e+01] [-6.72594668e-02 9.97700038e-01 -8.41422645e-03 -1.06676083e+01] [-5.47761719e-02 4.72815810e-03 9.98487464e-01 -6.16283582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.880714057 meters 0.044165107761922624 Centerline is valid? [True, True] Translation: X:86.37, Y:-10.67, Z:-6.16 [[ 9.96242268e-01 6.71098669e-02 5.47504233e-02 8.63748449e+01] [-6.67445668e-02 9.97734096e-01 -8.47562128e-03 -1.06716299e+01] [-5.51951619e-02 4.78947889e-03 9.98464098e-01 -6.16461407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.910714057 meters 0.04511271327764028 Centerline is valid? [True, True] Translation: X:86.40, Y:-10.67, Z:-6.17 [[ 9.96208357e-01 6.70294796e-02 5.54613218e-02 8.64032755e+01] [-6.66546105e-02 9.97739187e-01 -8.58361200e-03 -1.06749294e+01] [-5.59112892e-02 4.85431320e-03 9.98423940e-01 -6.16545207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.94071405700001 meters 0.04511554470018841 Centerline is valid? [True, True] Translation: X:86.43, Y:-10.68, Z:-6.17 [[ 9.96205678e-01 6.68431450e-02 5.57336634e-02 8.64330143e+01] [-6.64644122e-02 9.97751530e-01 -8.62360878e-03 -1.06784796e+01] [-5.61847770e-02 4.88658285e-03 9.98408430e-01 -6.16723094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.97071405700001 meters 0.04491021726172721 Centerline is valid? [True, True] Translation: X:86.46, Y:-10.68, Z:-6.17 [[ 9.96193472e-01 6.71957562e-02 5.55274445e-02 8.64626575e+01] [-6.68204815e-02 9.97728039e-01 -8.58967523e-03 -1.06812064e+01] [-5.59784781e-02 4.84660782e-03 9.98420212e-01 -6.16973895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.000714057 meters 0.046052214329662174 Centerline is valid? [True, True] Translation: X:86.49, Y:-10.69, Z:-6.17 [[ 9.96182456e-01 6.74142915e-02 5.54601536e-02 8.64906902e+01] [-6.70403640e-02 9.97713394e-01 -8.57745830e-03 -1.06865262e+01] [-5.59115814e-02 4.82664458e-03 9.98424057e-01 -6.17227282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.030714057 meters 0.046995250769020024 Centerline is valid? [True, True] Translation: X:86.52, Y:-10.69, Z:-6.17 [[ 9.96148536e-01 6.77386183e-02 5.56738131e-02 8.65185207e+01] [-6.73624734e-02 9.97691440e-01 -8.60746548e-03 -1.06914507e+01] [-5.61283445e-02 4.82398839e-03 9.98411908e-01 -6.17476896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.060714057 meters 0.047988581016169575 Centerline is valid? [True, True] Translation: X:86.55, Y:-10.69, Z:-6.18 [[ 9.96142112e-01 6.81744164e-02 5.52552385e-02 8.65468763e+01] [-6.78047431e-02 9.97662061e-01 -8.53980104e-03 -1.06946776e+01] [-5.57082511e-02 4.76028819e-03 9.98435742e-01 -6.17682975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.090714057 meters 0.04798945409784591 Centerline is valid? [True, True] Translation: X:86.58, Y:-10.70, Z:-6.18 [[ 9.96008280e-01 6.97578029e-02 5.56898043e-02 8.65753507e+01] [-6.93849081e-02 9.97552859e-01 -8.60395880e-03 -1.06969184e+01] [-5.61537167e-02 4.70558226e-03 9.98411046e-01 -6.17877774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.120714057 meters 0.047948139838661905 Centerline is valid? [True, True] Translation: X:86.60, Y:-10.70, Z:-6.18 [[ 9.95951669e-01 7.07074119e-02 5.55043752e-02 8.66049257e+01] [-7.03386392e-02 9.97486338e-01 -8.57215743e-03 -1.07000038e+01] [-5.59709710e-02 4.63335228e-03 9.98421646e-01 -6.18095067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.150714057 meters 0.04857791378852603 Centerline is valid? [True, True] Translation: X:86.63, Y:-10.70, Z:-6.18 [[ 9.95780687e-01 7.34247826e-02 5.50420230e-02 8.66334155e+01] [-7.30663508e-02 9.97290868e-01 -8.49903615e-03 -1.07027318e+01] [-5.55169467e-02 4.44145630e-03 9.98447866e-01 -6.18346846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.180714057 meters 0.047481966002018976 Centerline is valid? [True, True] Translation: X:86.66, Y:-10.70, Z:-6.19 [[ 9.95672102e-01 7.50023272e-02 5.48791130e-02 8.66629913e+01] [-7.46485574e-02 9.97173924e-01 -8.47096213e-03 -1.07042380e+01] [-5.53593624e-02 4.33765405e-03 9.98457073e-01 -6.18553153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.210714057 meters 0.04701850391039975 Centerline is valid? [True, True] Translation: X:86.69, Y:-10.71, Z:-6.19 [[ 9.95514515e-01 7.70289296e-02 5.49308175e-02 8.66927086e+01] [-7.66776737e-02 9.97019898e-01 -8.47681589e-03 -1.07069074e+01] [-5.54200782e-02 4.22682596e-03 9.98454180e-01 -6.18758397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.240714057 meters 0.04651668307920026 Centerline is valid? [True, True] Translation: X:86.72, Y:-10.71, Z:-6.19 [[ 9.95116617e-01 8.18590265e-02 5.51544905e-02 8.67218174e+01] [-8.15123151e-02 9.96635999e-01 -8.51051867e-03 -1.07074744e+01] [-5.56656135e-02 3.97318834e-03 9.98441562e-01 -6.18980207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.270714057 meters 0.04414946034188223 Centerline is valid? [True, True] Translation: X:86.75, Y:-10.71, Z:-6.19 [[ 9.94857821e-01 8.47184719e-02 5.55040161e-02 8.67520842e+01] [-8.43718635e-02 9.96397545e-01 -8.56278810e-03 -1.07071933e+01] [-5.60294917e-02 3.83577944e-03 9.98421746e-01 -6.19147639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.30071405700001 meters 0.03447709444212507 Centerline is valid? [True, True] Translation: X:86.78, Y:-10.70, Z:-6.19 [[ 9.94329021e-01 9.03062244e-02 5.61656864e-02 8.67839451e+01] [-8.99602022e-02 9.95907675e-01 -8.66404770e-03 -1.06957787e+01] [-5.67182556e-02 3.56223756e-03 9.98383869e-01 -6.19135265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.33071405700001 meters 0.03296585472559636 Centerline is valid? [True, True] Translation: X:86.81, Y:-10.70, Z:-6.19 [[ 9.93842383e-01 9.54454823e-02 5.62803503e-02 8.68132784e+01] [-9.51063405e-02 9.95429275e-01 -8.68003016e-03 -1.06954974e+01] [-5.68515780e-02 3.27396370e-03 9.98377273e-01 -6.19394280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.36071405700001 meters 0.036300951361101896 Centerline is valid? [True, True] Translation: X:86.84, Y:-10.70, Z:-6.20 [[ 9.93634476e-01 9.76206924e-02 5.62203602e-02 8.68414597e+01] [-9.72858008e-02 9.95218724e-01 -8.66972740e-03 -1.07034461e+01] [-5.67978999e-02 3.14509728e-03 9.98380742e-01 -6.19722435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.390714057 meters 0.03560213936801469 Centerline is valid? [True, True] Translation: X:86.87, Y:-10.71, Z:-6.20 [[ 9.93424752e-01 9.97958357e-02 5.61075070e-02 8.68715464e+01] [-9.94658703e-02 9.95003375e-01 -8.65010409e-03 -1.07055443e+01] [-5.66904032e-02 3.01244549e-03 9.98387261e-01 -6.19956146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.420714057 meters 0.03167409594178996 Centerline is valid? [True, True] Translation: X:86.90, Y:-10.70, Z:-6.20 [[ 9.93038411e-01 1.03688635e-01 5.58872170e-02 8.69027542e+01] [-1.03367452e-01 9.94605926e-01 -8.61520463e-03 -1.07016594e+01] [-5.64790561e-02 2.77830988e-03 9.98399918e-01 -6.20046071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.450714057 meters 0.033876298890562755 Centerline is valid? [True, True] Translation: X:86.93, Y:-10.71, Z:-6.20 [[ 9.92876807e-01 1.05233282e-01 5.58713057e-02 8.69294575e+01] [-1.04914728e-01 9.94443926e-01 -8.61260684e-03 -1.07087922e+01] [-5.64672135e-02 2.68953472e-03 9.98400831e-01 -6.20334855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.480714057 meters 0.02868589055380087 Centerline is valid? [True, True] Translation: X:86.96, Y:-10.70, Z:-6.20 [[ 9.92524926e-01 1.08270860e-01 5.63177708e-02 8.69607038e+01] [-1.07952391e-01 9.94118209e-01 -8.67567394e-03 -1.07034822e+01] [-5.69258442e-02 2.53118461e-03 9.98375201e-01 -6.20357575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.510714057 meters 0.027721532319683998 Centerline is valid? [True, True] Translation: X:86.99, Y:-10.71, Z:-6.20 [[ 9.92390683e-01 1.09537844e-01 5.62333834e-02 8.69893785e+01] [-1.09222379e-01 9.93979596e-01 -8.66230542e-03 -1.07054567e+01] [-5.68436859e-02 2.45444730e-03 9.98380073e-01 -6.20490107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.540714057 meters 0.027919160898942117 Centerline is valid? [True, True] Translation: X:87.02, Y:-10.71, Z:-6.21 [[ 9.92204729e-01 1.11264826e-01 5.61241059e-02 8.70168380e+01] [-1.10953562e-01 9.93788021e-01 -8.64159659e-03 -1.07089473e+01] [-5.67369699e-02 2.34706352e-03 9.98386402e-01 -6.20675303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.570714057 meters 0.026633269646954616 Centerline is valid? [True, True] Translation: X:87.05, Y:-10.71, Z:-6.21 [[ 9.91725271e-01 1.15014996e-01 5.70310172e-02 8.70467494e+01] [-1.14700097e-01 9.93361404e-01 -8.77545813e-03 -1.07103414e+01] [-5.76617206e-02 2.16138038e-03 9.98333839e-01 -6.20844003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.600714057 meters 0.02492975925755035 Centerline is valid? [True, True] Translation: X:87.08, Y:-10.71, Z:-6.21 [[ 9.91264001e-01 1.18744188e-01 5.74064281e-02 8.70763820e+01] [-1.18431517e-01 9.92922956e-01 -8.83057037e-03 -1.07110163e+01] [-5.80487392e-02 1.95469616e-03 9.98311837e-01 -6.20953242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.630714057 meters 0.02472850258742665 Centerline is valid? [True, True] Translation: X:87.10, Y:-10.71, Z:-6.21 [[ 9.91042873e-01 1.20349253e-01 5.78798817e-02 8.71034245e+01] [-1.20034197e-01 9.92729843e-01 -8.90221049e-03 -1.07149940e+01] [-5.85304603e-02 1.87490713e-03 9.98283862e-01 -6.21171445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.660714057 meters 0.02510401032206245 Centerline is valid? [True, True] Translation: X:87.13, Y:-10.72, Z:-6.21 [[ 9.90889552e-01 1.21501997e-01 5.80961225e-02 8.71304950e+01] [-1.21187015e-01 9.92589544e-01 -8.92771504e-03 -1.07200091e+01] [-5.87503390e-02 1.80588392e-03 9.98271074e-01 -6.21374485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.69071405700001 meters 0.026488105714912405 Centerline is valid? [True, True] Translation: X:87.16, Y:-10.73, Z:-6.22 [[ 9.90645404e-01 1.23190669e-01 5.87004567e-02 8.71571964e+01] [-1.22872542e-01 9.92381538e-01 -9.01231262e-03 -1.07282788e+01] [-5.93634824e-02 1.71533175e-03 9.98234960e-01 -6.21604940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.72071405700001 meters 0.026748573373201735 Centerline is valid? [True, True] Translation: X:87.18, Y:-10.73, Z:-6.22 [[ 9.90568843e-01 1.23552876e-01 5.92288288e-02 8.71840647e+01] [-1.23229956e-01 9.92336528e-01 -9.08809515e-03 -1.07334829e+01] [-5.98977906e-02 1.70361794e-03 9.98203062e-01 -6.21761244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.750714057 meters 0.024518392327859063 Centerline is valid? [True, True] Translation: X:87.21, Y:-10.74, Z:-6.22 [[ 9.90745224e-01 1.21966237e-01 5.95662541e-02 8.72129285e+01] [-1.21636969e-01 9.92532606e-01 -9.13640119e-03 -1.07357233e+01] [-6.02357819e-02 1.80638723e-03 9.98182542e-01 -6.21774560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.780714057 meters 0.025426619923209097 Centerline is valid? [True, True] Translation: X:87.24, Y:-10.74, Z:-6.22 [[ 9.90891443e-01 1.20578936e-01 5.99572286e-02 8.72397509e+01] [-1.20243789e-01 9.92701949e-01 -9.17992667e-03 -1.07440290e+01] [-6.06265635e-02 1.88682645e-03 9.98158735e-01 -6.22020636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.810714057 meters 0.026707988066998894 Centerline is valid? [True, True] Translation: X:87.27, Y:-10.75, Z:-6.22 [[ 9.91368435e-01 1.16586330e-01 5.99687770e-02 8.72680808e+01] [-1.16244110e-01 9.93178287e-01 -9.17594498e-03 -1.07543518e+01] [-6.06294770e-02 2.12572511e-03 9.98158078e-01 -6.22256007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.840714057 meters 0.0270231576322183 Centerline is valid? [True, True] Translation: X:87.30, Y:-10.76, Z:-6.22 [[ 9.91648870e-01 1.14206437e-01 5.99116710e-02 8.72966799e+01] [-1.13860661e-01 9.93454453e-01 -9.16512256e-03 -1.07616089e+01] [-6.05662324e-02 2.26700096e-03 9.98161606e-01 -6.22419508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.870714057 meters 0.028885601664010385 Centerline is valid? [True, True] Translation: X:87.33, Y:-10.77, Z:-6.23 [[ 9.92187778e-01 1.09256606e-01 6.02196633e-02 8.73256271e+01] [-1.08898309e-01 9.94010230e-01 -9.20983692e-03 -1.07738585e+01] [-6.08651969e-02 2.58006816e-03 9.98142661e-01 -6.22634005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.900714057 meters 0.02984094717423591 Centerline is valid? [True, True] Translation: X:87.35, Y:-10.78, Z:-6.23 [[ 9.92421191e-01 1.06907055e-01 6.05892837e-02 8.73545378e+01] [-1.06539957e-01 9.94265240e-01 -9.26662105e-03 -1.07825385e+01] [-6.12324858e-02 2.74121141e-03 9.98119767e-01 -6.22868978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.930714057 meters 0.031317226894950034 Centerline is valid? [True, True] Translation: X:87.38, Y:-10.79, Z:-6.23 [[ 9.92667915e-01 1.04585782e-01 6.05988896e-02 8.73821218e+01] [-1.04214376e-01 9.94511691e-01 -9.26610347e-03 -1.07916881e+01] [-6.12354068e-02 2.88288816e-03 9.98119188e-01 -6.23094592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.960714057 meters 0.03338658231926308 Centerline is valid? [True, True] Translation: X:87.41, Y:-10.80, Z:-6.23 [[ 9.93161641e-01 1.00262466e-01 5.98113094e-02 8.74098202e+01] [-9.98930414e-02 9.94956178e-01 -9.14247527e-03 -1.08045708e+01] [-6.04262789e-02 3.10522214e-03 9.98167833e-01 -6.23418791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.990714057 meters 0.030013874228080245 Centerline is valid? [True, True] Translation: X:87.44, Y:-10.81, Z:-6.24 [[ 9.93369215e-01 9.83111587e-02 5.96030153e-02 8.74391545e+01] [-9.79409184e-02 9.95150545e-01 -9.10876614e-03 -1.08061326e+01] [-6.02094665e-02 3.21079381e-03 9.98180600e-01 -6.23546891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.020714057 meters 0.031196439020862433 Centerline is valid? [True, True] Translation: X:87.47, Y:-10.82, Z:-6.24 [[ 9.93691797e-01 9.47499463e-02 5.99921695e-02 8.74678598e+01] [-9.43686001e-02 9.95495141e-01 -9.16465288e-03 -1.08170555e+01] [-6.05902636e-02 3.44546334e-03 9.98156776e-01 -6.23724098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.05071405700001 meters 0.03056921695841686 Centerline is valid? [True, True] Translation: X:87.50, Y:-10.82, Z:-6.24 [[ 9.93840337e-01 9.30356591e-02 6.02142012e-02 8.74963651e+01] [-9.26484086e-02 9.95656405e-01 -9.19756928e-03 -1.08223428e+01] [-6.08083571e-02 3.56216544e-03 9.98143103e-01 -6.23855444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.08071405700001 meters 0.031616013369549355 Centerline is valid? [True, True] Translation: X:87.52, Y:-10.83, Z:-6.24 [[ 9.93946405e-01 9.15706982e-02 6.07070933e-02 8.75230202e+01] [-9.11746305e-02 9.95791788e-01 -9.26832578e-03 -1.08304053e+01] [-6.13003320e-02 3.67727229e-03 9.98112592e-01 -6.24051418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.11071405700001 meters 0.03490141552040746 Centerline is valid? [True, True] Translation: X:87.55, Y:-10.84, Z:-6.24 [[ 9.94191111e-01 8.88464508e-02 6.07482015e-02 8.75499109e+01] [-8.84451469e-02 9.96037925e-01 -9.26867970e-03 -1.08432767e+01] [-6.13310018e-02 3.84195536e-03 9.98110088e-01 -6.24289533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.140714057 meters 0.03461546945352049 Centerline is valid? [True, True] Translation: X:87.58, Y:-10.85, Z:-6.24 [[ 9.94429489e-01 8.59341460e-02 6.10353434e-02 8.75793697e+01] [-8.55237952e-02 9.96292640e-01 -9.30892211e-03 -1.08503728e+01] [-6.16090177e-02 4.03709246e-03 9.98092196e-01 -6.24429991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.170714057 meters 0.035235668902275565 Centerline is valid? [True, True] Translation: X:87.61, Y:-10.86, Z:-6.25 [[ 9.94523684e-01 8.47779192e-02 6.11174844e-02 8.76075277e+01] [-8.43643358e-02 9.96391381e-01 -9.32070218e-03 -1.08574125e+01] [-6.16871244e-02 4.11352309e-03 9.98087059e-01 -6.24636763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.200714057 meters 0.037681424812499774 Centerline is valid? [True, True] Translation: X:87.64, Y:-10.87, Z:-6.25 [[ 9.94785379e-01 8.22304689e-02 6.03340618e-02 8.76358076e+01] [-8.18230670e-02 9.96604441e-01 -9.19645946e-03 -1.08677355e+01] [-6.08854230e-02 4.21178544e-03 9.98135876e-01 -6.24931425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.230714057 meters 0.038639968146069646 Centerline is valid? [True, True] Translation: X:87.66, Y:-10.87, Z:-6.25 [[ 9.94909210e-01 8.11396899e-02 5.97663362e-02 8.76645041e+01] [-8.07380295e-02 9.96693733e-01 -9.10899515e-03 -1.08745763e+01] [-6.03078337e-02 4.23720696e-03 9.98170833e-01 -6.25181754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.260714057 meters 0.039732395683057295 Centerline is valid? [True, True] Translation: X:87.69, Y:-10.88, Z:-6.25 [[ 9.94988457e-01 8.01425743e-02 5.97924573e-02 8.76918192e+01] [-7.97388846e-02 9.96774146e-01 -9.11112146e-03 -1.08811160e+01] [-6.03297642e-02 4.29767684e-03 9.98169249e-01 -6.25389587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.290714057 meters 0.041520923015021076 Centerline is valid? [True, True] Translation: X:87.72, Y:-10.89, Z:-6.26 [[ 9.95127537e-01 7.85795591e-02 5.95519696e-02 8.77194680e+01] [-7.81765967e-02 9.96898266e-01 -9.07009571e-03 -1.08892757e+01] [-6.00799794e-02 4.37033170e-03 9.98183999e-01 -6.25607236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.320714057 meters 0.041888677819212176 Centerline is valid? [True, True] Translation: X:87.75, Y:-10.89, Z:-6.26 [[ 9.95186822e-01 7.76862562e-02 5.97330361e-02 8.77480902e+01] [-7.72794288e-02 9.96967993e-01 -9.09449693e-03 -1.08946432e+01] [-6.02584425e-02 4.43458858e-03 9.98172958e-01 -6.25805418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.350714057 meters 0.043728742639404246 Centerline is valid? [True, True] Translation: X:87.78, Y:-10.90, Z:-6.26 [[ 9.95327489e-01 7.63995787e-02 5.90448532e-02 8.77761605e+01] [-7.60000171e-02 9.97067318e-01 -8.98667514e-03 -1.09018464e+01] [-5.95582717e-02 4.45727494e-03 9.98214879e-01 -6.26040200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.380714057 meters 0.0372044429340301 Centerline is valid? [True, True] Translation: X:87.81, Y:-10.90, Z:-6.26 [[ 9.95401990e-01 7.58336804e-02 5.85160814e-02 8.78065130e+01] [-7.54404845e-02 9.97110563e-01 -8.90277274e-03 -1.08976771e+01] [-5.90221329e-02 4.44735616e-03 9.98246768e-01 -6.26128055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.410714057 meters 0.04609793095803106 Centerline is valid? [True, True] Translation: X:87.83, Y:-10.91, Z:-6.27 [[ 9.95479768e-01 7.50939830e-02 5.81457198e-02 8.78330047e+01] [-7.47046284e-02 9.97166484e-01 -8.84427675e-03 -1.09146234e+01] [-5.86451149e-02 4.46054418e-03 9.98268929e-01 -6.26565555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.44071405700001 meters 0.04635540431929086 Centerline is valid? [True, True] Translation: X:87.86, Y:-10.92, Z:-6.27 [[ 9.95508758e-01 7.47673899e-02 5.80702250e-02 8.78621934e+01] [-7.43786221e-02 9.97190975e-01 -8.83063167e-03 -1.09194248e+01] [-5.85673476e-02 4.47178784e-03 9.98273444e-01 -6.26756195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.47071405700001 meters 0.04635540431929086 Centerline is valid? [True, True] Translation: X:87.89, Y:-10.92, Z:-6.27 [[ 9.95511238e-01 7.47341323e-02 5.80705191e-02 8.78910379e+01] [-7.43454205e-02 9.97193468e-01 -8.82869693e-03 -1.09237769e+01] [-5.85673474e-02 4.47178984e-03 9.98273444e-01 -6.26957179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.500714057 meters 0.046986283617505675 Centerline is valid? [True, True] Translation: X:87.92, Y:-10.93, Z:-6.27 [[ 9.95525702e-01 7.46730687e-02 5.79008566e-02 8.79197366e+01] [-7.42866409e-02 9.97198094e-01 -8.80093163e-03 -1.09286645e+01] [-5.83958164e-02 4.46029350e-03 9.98283544e-01 -6.27137231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.530714057 meters 0.03946733998392569 Centerline is valid? [True, True] Translation: X:87.95, Y:-10.92, Z:-6.27 [[ 9.95533024e-01 7.43395124e-02 5.82033880e-02 8.79507757e+01] [-7.39485791e-02 9.97222831e-01 -8.84495437e-03 -1.09220503e+01] [-5.86992769e-02 4.50138633e-03 9.98265562e-01 -6.27180360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.560714057 meters 0.04174061031748964 Centerline is valid? [True, True] Translation: X:87.98, Y:-10.93, Z:-6.27 [[ 9.95568496e-01 7.40528593e-02 5.79615706e-02 8.79785149e+01] [-7.36648027e-02 9.97244176e-01 -8.80627889e-03 -1.09289166e+01] [-5.84539688e-02 4.49752617e-03 9.98279974e-01 -6.27389357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.590714057 meters 0.04030285735660555 Centerline is valid? [True, True] Translation: X:88.01, Y:-10.93, Z:-6.28 [[ 9.95578372e-01 7.39327100e-02 5.79453242e-02 8.80080203e+01] [-7.35448641e-02 9.97253079e-01 -8.80048082e-03 -1.09308585e+01] [-5.84367964e-02 4.49998737e-03 9.98280968e-01 -6.27520991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.620714057 meters 0.04119282225704737 Centerline is valid? [True, True] Translation: X:88.04, Y:-10.94, Z:-6.28 [[ 9.95596865e-01 7.38616526e-02 5.77177469e-02 8.80368288e+01] [-7.34768546e-02 9.97258415e-01 -8.76383008e-03 -1.09359326e+01] [-5.82068198e-02 4.48432326e-03 9.98294474e-01 -6.27720094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.650714057 meters 0.042251144971688796 Centerline is valid? [True, True] Translation: X:88.06, Y:-10.94, Z:-6.28 [[ 9.95548928e-01 7.41022383e-02 5.82339201e-02 8.80648722e+01] [-7.37110528e-02 9.97240460e-01 -8.84004573e-03 -1.09410779e+01] [-5.87282884e-02 4.50821449e-03 9.98263825e-01 -6.27890731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.680714057 meters 0.051213583291688576 Centerline is valid? [True, True] Translation: X:88.09, Y:-10.96, Z:-6.28 [[ 9.95490999e-01 7.46476912e-02 5.85268504e-02 8.80910699e+01] [-7.42536017e-02 9.97199830e-01 -8.88263916e-03 -1.09568295e+01] [-5.90260338e-02 4.49675790e-03 9.98246316e-01 -6.28229965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.710714057 meters 0.04111405508341578 Centerline is valid? [True, True] Translation: X:88.12, Y:-10.95, Z:-6.28 [[ 9.95421389e-01 7.58548935e-02 5.81574808e-02 8.81228601e+01] [-7.54679017e-02 9.97109178e-01 -8.82512228e-03 -1.09459643e+01] [-5.86587866e-02 4.39569244e-03 9.98268413e-01 -6.28264238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.740714057 meters 0.038623384606128006 Centerline is valid? [True, True] Translation: X:88.15, Y:-10.95, Z:-6.28 [[ 9.95367110e-01 7.66940768e-02 5.79856397e-02 8.81523806e+01] [-7.63108961e-02 9.97045263e-01 -8.79717492e-03 -1.09461687e+01] [-5.84889986e-02 4.33148245e-03 9.98278656e-01 -6.28427799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.770714057 meters 0.043082411393650474 Centerline is valid? [True, True] Translation: X:88.18, Y:-10.96, Z:-6.29 [[ 9.95243978e-01 7.81113737e-02 5.82068548e-02 8.81802287e+01] [-7.77278658e-02 9.96935533e-01 -8.82737196e-03 -1.09559231e+01] [-5.87179999e-02 4.26109418e-03 9.98265516e-01 -6.28774388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.80071405700001 meters 0.04357165167121601 Centerline is valid? [True, True] Translation: X:88.21, Y:-10.96, Z:-6.29 [[ 9.95216440e-01 7.87340130e-02 5.78376465e-02 8.82078622e+01] [-7.83564983e-02 9.96886829e-01 -8.76981282e-03 -1.09606120e+01] [-5.83480706e-02 4.19590644e-03 9.98287482e-01 -6.28984146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.83071405700001 meters 0.0387016288041493 Centerline is valid? [True, True] Translation: X:88.24, Y:-10.96, Z:-6.29 [[ 9.95137667e-01 7.95111966e-02 5.81291164e-02 8.82372090e+01] [-7.91314827e-02 9.96825267e-01 -8.80885174e-03 -1.09577468e+01] [-5.86449743e-02 4.16617699e-03 9.98270209e-01 -6.29130604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.86071405700001 meters 0.03959182986403445 Centerline is valid? [True, True] Translation: X:88.26, Y:-10.96, Z:-6.29 [[ 9.95090275e-01 8.02211270e-02 5.79647824e-02 8.82642873e+01] [-7.98449895e-02 9.96768624e-01 -8.77998253e-03 -1.09622368e+01] [-5.84818165e-02 4.10867778e-03 9.98280019e-01 -6.29383778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.890714057 meters 0.039326696102455885 Centerline is valid? [True, True] Translation: X:88.29, Y:-10.97, Z:-6.30 [[ 9.95098223e-01 8.04540561e-02 5.75036714e-02 8.82932728e+01] [-8.00845795e-02 9.96750062e-01 -8.70488160e-03 -1.09656455e+01] [-5.80171311e-02 4.05705486e-03 9.98307344e-01 -6.29599986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.920714057 meters 0.037393650114725244 Centerline is valid? [True, True] Translation: X:88.32, Y:-10.97, Z:-6.30 [[ 9.95066722e-01 8.06157174e-02 5.78214988e-02 8.83222566e+01] [-8.02426502e-02 9.96736963e-01 -8.74890025e-03 -1.09665839e+01] [-5.83381240e-02 4.06598919e-03 9.98288601e-01 -6.29787865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.950714057 meters 0.04030489137465596 Centerline is valid? [True, True] Translation: X:88.35, Y:-10.97, Z:-6.30 [[ 9.95019950e-01 8.09318631e-02 5.81836070e-02 8.83490172e+01] [-8.05548761e-02 9.96711331e-01 -8.79966402e-03 -1.09745814e+01] [-5.87044335e-02 4.06886800e-03 9.98267115e-01 -6.30016387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.980714057 meters 0.04102047594989903 Centerline is valid? [True, True] Translation: X:88.38, Y:-10.98, Z:-6.30 [[ 9.94922922e-01 8.18798862e-02 5.85154919e-02 8.83764646e+01] [-8.15005333e-02 9.96634055e-01 -8.84439654e-03 -1.09793934e+01] [-5.90427101e-02 4.03044906e-03 9.98247321e-01 -6.30151815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.010714057 meters 0.038046593423757005 Centerline is valid? [True, True] Translation: X:88.41, Y:-10.98, Z:-6.30 [[ 9.94857172e-01 8.23917162e-02 5.89136048e-02 8.84061402e+01] [-8.20083943e-02 9.96591907e-01 -8.89910564e-03 -1.09789262e+01] [-5.94460343e-02 4.02192894e-03 9.98223418e-01 -6.30270685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.040714057 meters 0.035493323573562274 Centerline is valid? [True, True] Translation: X:88.44, Y:-10.98, Z:-6.30 [[ 9.94882383e-01 8.26101670e-02 5.81773538e-02 8.84356425e+01] [-8.22369190e-02 9.96574088e-01 -8.78503150e-03 -1.09784944e+01] [-5.87037762e-02 3.95574673e-03 9.98267609e-01 -6.30405911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.070714057 meters 0.0419758239934943 Centerline is valid? [True, True] Translation: X:88.46, Y:-10.99, Z:-6.31 [[ 9.94828800e-01 8.30554934e-02 5.84589137e-02 8.84620997e+01] [-8.26796372e-02 9.96537118e-01 -8.82325343e-03 -1.09916120e+01] [-5.89892971e-02 3.94426484e-03 9.98250823e-01 -6.30763537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.100714057 meters 0.03679830785500935 Centerline is valid? [True, True] Translation: X:88.49, Y:-10.99, Z:-6.31 [[ 9.94811188e-01 8.33011593e-02 5.84090451e-02 8.84913527e+01] [-8.29266167e-02 9.96516700e-01 -8.81148342e-03 -1.09888516e+01] [-5.89395956e-02 3.92209780e-03 9.98253846e-01 -6.30862058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.130714057 meters 0.036367606576929425 Centerline is valid? [True, True] Translation: X:88.52, Y:-10.99, Z:-6.31 [[ 9.94817449e-01 8.33997261e-02 5.81612336e-02 8.85195742e+01] [-8.30287709e-02 9.96508561e-01 -8.76994735e-03 -1.09922048e+01] [-5.86895784e-02 3.89544091e-03 9.98268681e-01 -6.31038140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.160714057 meters 0.03686135662008396 Centerline is valid? [True, True] Translation: X:88.55, Y:-11.00, Z:-6.31 [[ 9.94841128e-01 8.34364914e-02 5.77016695e-02 8.85484544e+01] [-8.30716854e-02 9.96505627e-01 -8.69652640e-03 -1.09965370e+01] [-5.82256460e-02 3.85828720e-03 9.98295992e-01 -6.31247768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.19071405700001 meters 0.03347222827529855 Centerline is valid? [True, True] Translation: X:88.58, Y:-10.99, Z:-6.31 [[ 9.94813153e-01 8.43093051e-02 5.69098543e-02 8.85776596e+01] [-8.39561042e-02 9.96432573e-01 -8.57322701e-03 -1.09949020e+01] [-5.74296354e-02 3.75082934e-03 9.98342510e-01 -6.31399127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.22071405700001 meters 0.0340887964683608 Centerline is valid? [True, True] Translation: X:88.61, Y:-11.00, Z:-6.32 [[ 9.94730563e-01 8.53108154e-02 5.68609836e-02 8.86052735e+01] [-8.49600922e-02 9.96347570e-01 -8.56164079e-03 -1.10001900e+01] [-5.73837034e-02 3.68561136e-03 9.98345395e-01 -6.31647108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.250714057 meters 0.033945735524974506 Centerline is valid? [True, True] Translation: X:88.63, Y:-11.00, Z:-6.32 [[ 9.94577342e-01 8.68276444e-02 5.72439560e-02 8.86334972e+01] [-8.64749218e-02 9.96216778e-01 -8.61502758e-03 -1.10041970e+01] [-5.77754120e-02 3.61814462e-03 9.98323049e-01 -6.31862976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.280714057 meters 0.03276397453182469 Centerline is valid? [True, True] Translation: X:88.66, Y:-11.01, Z:-6.32 [[ 9.94302655e-01 8.92576166e-02 5.82692690e-02 8.86637525e+01] [-8.88965659e-02 9.96002301e-01 -8.76448437e-03 -1.10072055e+01] [-5.88186230e-02 3.53461217e-03 9.98262428e-01 -6.31993121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.310714057 meters 0.0339147587793853 Centerline is valid? [True, True] Translation: X:88.69, Y:-11.01, Z:-6.32 [[ 9.94175186e-01 9.04088266e-02 5.86680813e-02 8.86911647e+01] [-9.00448294e-02 9.95898622e-01 -8.82406254e-03 -1.10127765e+01] [-5.92252345e-02 3.48990664e-03 9.98238545e-01 -6.32173841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.340714057 meters 0.032690242579075414 Centerline is valid? [True, True] Translation: X:88.72, Y:-11.01, Z:-6.32 [[ 9.94084041e-01 9.14758805e-02 5.85583699e-02 8.87199418e+01] [-9.11154130e-02 9.95801438e-01 -8.80208064e-03 -1.10143924e+01] [-5.91176871e-02 3.41443783e-03 9.98245181e-01 -6.32303865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.370714057 meters 0.03181449775195477 Centerline is valid? [True, True] Translation: X:88.75, Y:-11.02, Z:-6.32 [[ 9.93963505e-01 9.25127059e-02 5.89741399e-02 8.87483491e+01] [-9.21491662e-02 9.95705793e-01 -8.86030526e-03 -1.10169015e+01] [-5.95405836e-02 3.37240225e-03 9.98220189e-01 -6.32445818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.400714057 meters 0.030185249306731554 Centerline is valid? [True, True] Translation: X:88.78, Y:-11.02, Z:-6.33 [[ 9.93818399e-01 9.41819417e-02 5.87771342e-02 8.87774177e+01] [-9.38239985e-02 9.95549674e-01 -8.82631286e-03 -1.10193286e+01] [-5.93468361e-02 3.25704636e-03 9.98232110e-01 -6.32645050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.430714057 meters 0.03234689348125301 Centerline is valid? [True, True] Translation: X:88.80, Y:-11.03, Z:-6.33 [[ 9.93821914e-01 9.46125390e-02 5.80212945e-02 8.88036175e+01] [-9.42646275e-02 9.95509070e-01 -8.71039225e-03 -1.10278477e+01] [-5.85848373e-02 3.18722298e-03 9.98277345e-01 -6.33034725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.460714057 meters 0.0308312120355647 Centerline is valid? [True, True] Translation: X:88.83, Y:-11.03, Z:-6.33 [[ 9.93881891e-01 9.43798510e-02 5.73692511e-02 8.88318716e+01] [-9.40397955e-02 9.95531254e-01 -8.60463840e-03 -1.10301062e+01] [-5.79249869e-02 3.15700165e-03 9.98315947e-01 -6.33243566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.490714057 meters 0.030615216101028485 Centerline is valid? [True, True] Translation: X:88.86, Y:-11.03, Z:-6.33 [[ 9.94006307e-01 9.37454673e-02 5.62427647e-02 8.88604612e+01] [-9.34178670e-02 9.95591286e-01 -8.43168726e-03 -1.10343998e+01] [-5.67852389e-02 3.12707120e-03 9.98381519e-01 -6.33488868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.520714057 meters 0.030862847110339896 Centerline is valid? [True, True] Translation: X:88.89, Y:-11.04, Z:-6.34 [[ 9.94187427e-01 9.27922132e-02 5.45982171e-02 8.88888827e+01] [-9.24822934e-02 9.95680718e-01 -8.18129567e-03 -1.10395797e+01] [-5.51215525e-02 3.08437296e-03 9.98474888e-01 -6.33750776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.55071405700001 meters 0.03506742931446086 Centerline is valid? [True, True] Translation: X:88.91, Y:-11.05, Z:-6.34 [[ 9.94274082e-01 9.19411150e-02 5.44599101e-02 8.89146066e+01] [-9.16316862e-02 9.95759557e-01 -8.15707111e-03 -1.10507892e+01] [-5.49789462e-02 3.12011099e-03 9.98482639e-01 -6.34050974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.58071405700001 meters 0.03183479426569096 Centerline is valid? [True, True] Translation: X:88.94, Y:-11.05, Z:-6.34 [[ 9.94256681e-01 9.18928840e-02 5.48575529e-02 8.89434950e+01] [-9.15792052e-02 9.95763950e-01 -8.21007344e-03 -1.10508499e+01] [-5.53796209e-02 3.13910927e-03 9.98460437e-01 -6.34088193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.61071405700001 meters 0.03731005138924987 Centerline is valid? [True, True] Translation: X:88.97, Y:-11.06, Z:-6.34 [[ 9.94224822e-01 9.19981416e-02 5.52570866e-02 8.89691684e+01] [-9.16802275e-02 9.95754188e-01 -8.26639595e-03 -1.10639399e+01] [-5.57829685e-02 3.15267377e-03 9.98437941e-01 -6.34443432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.640714057 meters 0.030686657650892665 Centerline is valid? [True, True] Translation: X:89.00, Y:-11.06, Z:-6.34 [[ 9.94207252e-01 9.20777859e-02 5.54402587e-02 8.89987756e+01] [-9.17582756e-02 9.95746829e-01 -8.28676555e-03 -1.10586080e+01] [-5.59674889e-02 3.15165987e-03 9.98427617e-01 -6.34318236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.670714057 meters 0.02999186179927693 Centerline is valid? [True, True] Translation: X:89.03, Y:-11.06, Z:-6.34 [[ 9.94203511e-01 9.22858548e-02 5.51606698e-02 8.90270023e+01] [-9.19701066e-02 9.95727667e-01 -8.24094370e-03 -1.10613386e+01] [-5.56855276e-02 3.12004247e-03 9.98443482e-01 -6.34458216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.700714057 meters 0.03175620214767361 Centerline is valid? [True, True] Translation: X:89.05, Y:-11.07, Z:-6.35 [[ 9.94144758e-01 9.24870782e-02 5.58779088e-02 8.90541970e+01] [-9.21635990e-02 9.95708917e-01 -8.34407893e-03 -1.10691038e+01] [-5.64098516e-02 3.14531315e-03 9.98402742e-01 -6.34669630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.730714057 meters 0.03155218970257805 Centerline is valid? [True, True] Translation: X:89.08, Y:-11.07, Z:-6.35 [[ 9.94168848e-01 9.21418836e-02 5.60194154e-02 8.90827219e+01] [-9.18165251e-02 9.95740850e-01 -8.35975443e-03 -1.10732208e+01] [-5.65511038e-02 3.16749938e-03 9.98394681e-01 -6.34827893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.760714057 meters 0.030506099961762043 Centerline is valid? [True, True] Translation: X:89.11, Y:-11.08, Z:-6.35 [[ 9.94220539e-01 9.17604974e-02 5.57272980e-02 8.91108057e+01] [-9.14381576e-02 9.95776065e-01 -8.31213231e-03 -1.10776558e+01] [-5.62546349e-02 3.16849121e-03 9.98411427e-01 -6.34997494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.790714057 meters 0.032541836563838036 Centerline is valid? [True, True] Translation: X:89.14, Y:-11.09, Z:-6.35 [[ 9.94280873e-01 9.12465732e-02 5.54942151e-02 8.91380600e+01] [-9.09263479e-02 9.95823252e-01 -8.27348674e-03 -1.10854433e+01] [-5.60173571e-02 3.18028331e-03 9.98424730e-01 -6.35276645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.820714057 meters 0.032597906412075064 Centerline is valid? [True, True] Translation: X:89.17, Y:-11.09, Z:-6.35 [[ 9.94357426e-01 9.08788581e-02 5.47205837e-02 8.91661460e+01] [-9.05672434e-02 9.95856970e-01 -8.15293240e-03 -1.10902107e+01] [-5.52348039e-02 3.15103645e-03 9.98468421e-01 -6.35483116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.850714057 meters 0.032998771194034084 Centerline is valid? [True, True] Translation: X:89.19, Y:-11.10, Z:-6.36 [[ 9.94472758e-01 8.99925369e-02 5.40858249e-02 8.91938120e+01] [-8.96870096e-02 9.95937428e-01 -8.05475392e-03 -1.10964934e+01] [-5.45909651e-02 3.15943745e-03 9.98503803e-01 -6.35722451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.880714057 meters 0.03145547923210538 Centerline is valid? [True, True] Translation: X:89.22, Y:-11.10, Z:-6.36 [[ 9.94519673e-01 8.93769946e-02 5.42436367e-02 8.92221771e+01] [-8.90690483e-02 9.95992735e-01 -8.07314050e-03 -1.10988344e+01] [-5.47478212e-02 3.19746795e-03 9.98495094e-01 -6.35867493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.910714057 meters 0.033510567293618676 Centerline is valid? [True, True] Translation: X:89.25, Y:-11.11, Z:-6.36 [[ 9.94579101e-01 8.88214878e-02 5.40662180e-02 8.92486398e+01] [-8.85149410e-02 9.96042376e-01 -8.04301504e-03 -1.11074395e+01] [-5.45666368e-02 3.21374657e-03 9.98504959e-01 -6.36175781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.94071405700001 meters 0.03261036503069533 Centerline is valid? [True, True] Translation: X:89.28, Y:-11.11, Z:-6.36 [[ 9.94569204e-01 8.90014097e-02 5.39522658e-02 8.92770825e+01] [-8.86967017e-02 9.96026386e-01 -8.02087527e-03 -1.11111394e+01] [-5.44517495e-02 3.19192750e-03 9.98511301e-01 -6.36369428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.97071405700001 meters 0.032219132306194 Centerline is valid? [True, True] Translation: X:89.31, Y:-11.12, Z:-6.37 [[ 9.94542590e-01 8.93070335e-02 5.39378341e-02 8.93058157e+01] [-8.90031490e-02 9.95999097e-01 -8.01482656e-03 -1.11156857e+01] [-5.44378145e-02 3.17044928e-03 9.98512129e-01 -6.36549113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.000714057 meters 0.03153934941659074 Centerline is valid? [True, True] Translation: X:89.33, Y:-11.12, Z:-6.37 [[ 9.94341689e-01 9.09309011e-02 5.49197294e-02 8.93345730e+01] [-9.06185312e-02 9.95852274e-01 -8.15665327e-03 -1.11193355e+01] [-5.54336292e-02 3.13375518e-03 9.98457456e-01 -6.36598001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.030714057 meters 0.028916993934789446 Centerline is valid? [True, True] Translation: X:89.36, Y:-11.12, Z:-6.37 [[ 9.94225989e-01 9.19653220e-02 5.52907143e-02 8.93640706e+01] [-9.16505308e-02 9.95757407e-01 -8.20772386e-03 -1.11192426e+01] [-5.58109643e-02 3.09290905e-03 9.98436563e-01 -6.36627994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.060714057 meters 0.03054737823042126 Centerline is valid? [True, True] Translation: X:89.39, Y:-11.13, Z:-6.37 [[ 9.93961890e-01 9.40214959e-02 5.65660641e-02 8.93924115e+01] [-9.36955886e-02 9.95565521e-01 -8.39222629e-03 -1.11272012e+01] [-5.71042728e-02 3.04156243e-03 9.98363587e-01 -6.36821854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.090714057 meters 0.02965857723394557 Centerline is valid? [True, True] Translation: X:89.42, Y:-11.13, Z:-6.37 [[ 9.93699166e-01 9.64366738e-02 5.71133594e-02 8.94218304e+01] [-9.61085204e-02 9.95334813e-01 -8.47126141e-03 -1.11304774e+01] [-5.76638552e-02 2.92880493e-03 9.98331759e-01 -6.36948058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.120714057 meters 0.028983313739425996 Centerline is valid? [True, True] Translation: X:89.45, Y:-11.14, Z:-6.37 [[ 9.93700254e-01 9.64559789e-02 5.70618036e-02 8.94490522e+01] [-9.61285370e-02 9.95332958e-01 -8.46210791e-03 -1.11354921e+01] [-5.76117147e-02 2.92353108e-03 9.98334785e-01 -6.37129640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.150714057 meters 0.028358860769038215 Centerline is valid? [True, True] Translation: X:89.48, Y:-11.14, Z:-6.37 [[ 9.93631312e-01 9.69438592e-02 5.74343371e-02 8.94778272e+01] [-9.66132528e-02 9.95285601e-01 -8.51187549e-03 -1.11395278e+01] [-5.79887427e-02 2.90874789e-03 9.98312999e-01 -6.37336890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.180714057 meters 0.028208229833340183 Centerline is valid? [True, True] Translation: X:89.51, Y:-11.14, Z:-6.38 [[ 9.93666169e-01 9.67448061e-02 5.71663027e-02 8.95064379e+01] [-9.64171957e-02 9.95304987e-01 -8.46796935e-03 -1.11441241e+01] [-5.77171382e-02 2.90252007e-03 9.98328757e-01 -6.37602686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.210714057 meters 0.02912925541295042 Centerline is valid? [True, True] Translation: X:89.53, Y:-11.15, Z:-6.38 [[ 9.93778909e-01 9.60497538e-02 5.63730806e-02 8.95333327e+01] [-9.57302901e-02 9.95372315e-01 -8.34658270e-03 -1.11515481e+01] [-5.69138910e-02 2.89804649e-03 9.98374885e-01 -6.37936483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.240714057 meters 0.02908209395226271 Centerline is valid? [True, True] Translation: X:89.56, Y:-11.16, Z:-6.38 [[ 9.93995557e-01 9.41842388e-02 5.56970471e-02 8.95617624e+01] [-9.38697901e-02 9.95550375e-01 -8.24100936e-03 -1.11583405e+01] [-5.62253893e-02 2.96325657e-03 9.98413704e-01 -6.38272411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.270714057 meters 0.030373616047882867 Centerline is valid? [True, True] Translation: X:89.59, Y:-11.17, Z:-6.39 [[ 9.94102358e-01 9.30714307e-02 5.56615715e-02 8.95885064e+01] [-9.27557695e-02 9.95654848e-01 -8.23354413e-03 -1.11661881e+01] [-5.61860212e-02 3.02205374e-03 9.98415744e-01 -6.38582277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.30071405700001 meters 0.031249862841748646 Centerline is valid? [True, True] Translation: X:89.62, Y:-11.17, Z:-6.39 [[ 9.94269979e-01 9.12768729e-02 5.56393881e-02 8.96175798e+01] [-9.09591154e-02 9.95820684e-01 -8.22223562e-03 -1.11740588e+01] [-5.61573535e-02 3.11421250e-03 9.98417074e-01 -6.38737743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.33071405700001 meters 0.03186411705037451 Centerline is valid? [True, True] Translation: X:89.65, Y:-11.18, Z:-6.39 [[ 9.94269940e-01 9.09639113e-02 5.61502707e-02 8.96462279e+01] [-9.06398796e-02 9.95849179e-01 -8.29610722e-03 -1.11797994e+01] [-5.66718473e-02 3.15911625e-03 9.98387861e-01 -6.38955457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.36071405700001 meters 0.03186411705037451 Centerline is valid? [True, True] Translation: X:89.67, Y:-11.18, Z:-6.39 [[ 9.94279516e-01 9.08588631e-02 5.61507927e-02 8.96733863e+01] [-9.05348636e-02 9.95858761e-01 -8.29257264e-03 -1.11837183e+01] [-5.66717126e-02 3.16153075e-03 9.98387861e-01 -6.39144602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.390714057 meters 0.032063343602356666 Centerline is valid? [True, True] Translation: X:89.70, Y:-11.19, Z:-6.39 [[ 9.94190780e-01 9.13985378e-02 5.68418967e-02 8.97009994e+01] [-9.10677458e-02 9.95809370e-01 -8.38830570e-03 -1.11893576e+01] [-5.73703722e-02 3.16311278e-03 9.98347953e-01 -6.39229243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.420714057 meters 0.03201124903237051 Centerline is valid? [True, True] Translation: X:89.73, Y:-11.19, Z:-6.39 [[ 9.94136395e-01 9.18569879e-02 5.70536830e-02 8.97297517e+01] [-9.15248180e-02 9.95767251e-01 -8.41361602e-03 -1.11935757e+01] [-5.75850385e-02 3.14245393e-03 9.98335659e-01 -6.39401281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.450714057 meters 0.032407367746725806 Centerline is valid? [True, True] Translation: X:89.76, Y:-11.20, Z:-6.40 [[ 9.94053482e-01 9.24906220e-02 5.74731233e-02 8.97579778e+01] [-9.21548379e-02 9.95708653e-01 -8.47135376e-03 -1.11984297e+01] [-5.80100069e-02 3.12455234e-03 9.98311112e-01 -6.39593284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.480714057 meters 0.032124352328780054 Centerline is valid? [True, True] Translation: X:89.79, Y:-11.20, Z:-6.40 [[ 9.93715677e-01 9.47755254e-02 5.95546152e-02 8.97861968e+01] [-9.44193040e-02 9.95493856e-01 -8.77363905e-03 -1.12039740e+01] [-6.01177798e-02 3.09539736e-03 9.98186491e-01 -6.39720452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.510714057 meters 0.03217838863152793 Centerline is valid? [True, True] Translation: X:89.82, Y:-11.21, Z:-6.40 [[ 9.93572401e-01 9.56667437e-02 6.05124661e-02 8.98150472e+01] [-9.53008002e-02 9.95408631e-01 -8.91151133e-03 -1.12086013e+01] [-6.10871663e-02 3.08734526e-03 9.98127660e-01 -6.39887170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.540714057 meters 0.03191243719404791 Centerline is valid? [True, True] Translation: X:89.84, Y:-11.21, Z:-6.40 [[ 9.93441508e-01 9.67825382e-02 6.08860383e-02 8.98440002e+01] [-9.64143396e-02 9.95300926e-01 -8.96335097e-03 -1.12127245e+01] [-6.14674262e-02 3.03427774e-03 9.98104478e-01 -6.40028191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.570714057 meters 0.031775228894510975 Centerline is valid? [True, True] Translation: X:89.87, Y:-11.22, Z:-6.40 [[ 9.93218204e-01 9.85494018e-02 6.16896656e-02 8.98716524e+01] [-9.81749958e-02 9.95127756e-01 -9.07853847e-03 -1.12175100e+01] [-6.22837830e-02 2.96058701e-03 9.98054089e-01 -6.40220776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.600714057 meters 0.03219852331091852 Centerline is valid? [True, True] Translation: X:89.90, Y:-11.22, Z:-6.40 [[ 9.93183850e-01 9.88499762e-02 6.17618152e-02 8.98996754e+01] [-9.84755354e-02 9.95098002e-01 -9.08493926e-03 -1.12226041e+01] [-6.23571050e-02 2.94098712e-03 9.98049569e-01 -6.40449892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.630714057 meters 0.032780347173499244 Centerline is valid? [True, True] Translation: X:89.93, Y:-11.23, Z:-6.41 [[ 9.93216029e-01 9.90031040e-02 6.09943032e-02 8.99270536e+01] [-9.86384502e-02 9.95082925e-01 -8.96818956e-03 -1.12280465e+01] [-6.15822682e-02 2.89096608e-03 9.98097824e-01 -6.40731990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.660714057 meters 0.033520850690171154 Centerline is valid? [True, True] Translation: X:89.95, Y:-11.24, Z:-6.41 [[ 9.93366499e-01 9.80674885e-02 6.00480348e-02 8.99548211e+01] [-9.77127307e-02 9.95175549e-01 -8.82316257e-03 -1.12353583e+01] [-6.06236014e-02 2.89717666e-03 9.98156493e-01 -6.41134861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.69071405700001 meters 0.034860905091333 Centerline is valid? [True, True] Translation: X:89.98, Y:-11.24, Z:-6.41 [[ 9.93561760e-01 9.69138398e-02 5.86748359e-02 8.99818465e+01] [-9.65733538e-02 9.95288562e-01 -8.61774727e-03 -1.12436559e+01] [-5.92335721e-02 2.89583845e-03 9.98239950e-01 -6.41467851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.72071405700001 meters 0.035063219491864875 Centerline is valid? [True, True] Translation: X:90.01, Y:-11.25, Z:-6.42 [[ 9.93581687e-01 9.68026559e-02 5.85207476e-02 9.00096477e+01] [-9.64640600e-02 9.95299399e-01 -8.59014803e-03 -1.12496909e+01] [-5.90772141e-02 2.88986487e-03 9.98249233e-01 -6.41690009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.750714057 meters 0.035490552512408804 Centerline is valid? [True, True] Translation: X:90.04, Y:-11.26, Z:-6.42 [[ 9.93606738e-01 9.64461705e-02 5.86837902e-02 9.00383303e+01] [-9.61052908e-02 9.95333932e-01 -8.61024406e-03 -1.12551708e+01] [-5.92403927e-02 2.91537379e-03 9.98239489e-01 -6.41918875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.780714057 meters 0.035643150540398474 Centerline is valid? [True, True] Translation: X:90.07, Y:-11.26, Z:-6.42 [[ 9.93483733e-01 9.77101124e-02 5.86754347e-02 9.00659598e+01] [-9.73717530e-02 9.95210878e-01 -8.60520485e-03 -1.12605467e+01] [-5.92352464e-02 2.83580111e-03 9.98240023e-01 -6.42080246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.810714057 meters 0.03507644604641674 Centerline is valid? [True, True] Translation: X:90.09, Y:-11.26, Z:-6.42 [[ 9.93349217e-01 9.89992405e-02 5.87918679e-02 9.00946251e+01] [-9.86620116e-02 9.95083680e-01 -8.61848061e-03 -1.12641549e+01] [-5.93560513e-02 2.76063700e-03 9.98233058e-01 -6.42242247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.840714057 meters 0.030040074451504157 Centerline is valid? [True, True] Translation: X:90.13, Y:-11.26, Z:-6.42 [[ 9.92925292e-01 1.03261802e-01 5.86205153e-02 9.01256004e+01] [-1.02934191e-01 9.94651084e-01 -8.58917798e-03 -1.12614685e+01] [-5.91938930e-02 2.49435676e-03 9.98243388e-01 -6.42274624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.870714057 meters 0.026304161853969707 Centerline is valid? [True, True] Translation: X:90.16, Y:-11.26, Z:-6.42 [[ 9.92663960e-01 1.05849760e-01 5.84302274e-02 9.01552027e+01] [-1.05528772e-01 9.94379400e-01 -8.56084297e-03 -1.12592236e+01] [-5.90079776e-02 2.33197013e-03 9.98254787e-01 -6.42324127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.900714057 meters 0.02506021013462893 Centerline is valid? [True, True] Translation: X:90.18, Y:-11.26, Z:-6.42 [[ 9.92333936e-01 1.08616745e-01 5.89555897e-02 9.01843686e+01] [-1.08295053e-01 9.94081303e-01 -8.63394043e-03 -1.12618416e+01] [-5.95444399e-02 2.18315336e-03 9.98223268e-01 -6.42449638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.930714057 meters 0.023355760035782002 Centerline is valid? [True, True] Translation: X:90.21, Y:-11.26, Z:-6.42 [[ 9.91694002e-01 1.13742693e-01 6.00467045e-02 9.02147956e+01] [-1.13418821e-01 9.93508420e-01 -8.78580042e-03 -1.12637464e+01] [-6.06562271e-02 1.90239912e-03 9.98156903e-01 -6.42448483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.960714057 meters 0.022098831518908228 Centerline is valid? [True, True] Translation: X:90.24, Y:-11.27, Z:-6.42 [[ 9.91133401e-01 1.17803084e-01 6.14574227e-02 9.02442495e+01] [-1.17471648e-01 9.93035533e-01 -8.99117568e-03 -1.12664432e+01] [-6.20885927e-02 1.69194979e-03 9.98069208e-01 -6.42475965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.990714057 meters 0.022655646665514218 Centerline is valid? [True, True] Translation: X:90.27, Y:-11.27, Z:-6.43 [[ 9.90977423e-01 1.19149677e-01 6.13767143e-02 9.02710153e+01] [-1.18821810e-01 9.92875009e-01 -8.97743209e-03 -1.12723043e+01] [-6.20090639e-02 1.60354024e-03 9.98074298e-01 -6.42669664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.020714057 meters 0.02247561249221942 Centerline is valid? [True, True] Translation: X:90.30, Y:-11.28, Z:-6.43 [[ 9.90838197e-01 1.20431434e-01 6.11223048e-02 9.02992035e+01] [-1.20109077e-01 9.92720497e-01 -8.93440345e-03 -1.12772670e+01] [-6.17533478e-02 1.51120457e-03 9.98090297e-01 -6.42885818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.05071405700001 meters 0.022643939442986077 Centerline is valid? [True, True] Translation: X:90.33, Y:-11.29, Z:-6.43 [[ 9.90829650e-01 1.20743643e-01 6.06430344e-02 9.03264874e+01] [-1.20427177e-01 9.92682626e-01 -8.86002996e-03 -1.12855367e+01] [-6.12690789e-02 1.47571097e-03 9.98120194e-01 -6.43141312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.08071405700001 meters 0.022830397202698402 Centerline is valid? [True, True] Translation: X:90.35, Y:-11.29, Z:-6.43 [[ 9.90971411e-01 1.19662195e-01 6.04700010e-02 9.03547533e+01] [-1.19345787e-01 9.92813480e-01 -8.83045543e-03 -1.12927390e+01] [-6.10921038e-02 1.53388903e-03 9.98130954e-01 -6.43386745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.11071405700001 meters 0.022819934210153665 Centerline is valid? [True, True] Translation: X:90.38, Y:-11.30, Z:-6.44 [[ 9.91452978e-01 1.16029339e-01 5.96505252e-02 9.03836727e+01] [-1.15715157e-01 9.93244281e-01 -8.70637724e-03 -1.13010276e+01] [-6.02577382e-02 1.72949375e-03 9.98181353e-01 -6.43575936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.140714057 meters 0.023417383573309407 Centerline is valid? [True, True] Translation: X:90.41, Y:-11.31, Z:-6.44 [[ 9.91817692e-01 1.13431508e-01 5.85743784e-02 9.04127902e+01] [-1.13124175e-01 9.93544094e-01 -8.54719817e-03 -1.13084622e+01] [-5.91657493e-02 1.85108413e-03 9.98246456e-01 -6.43841329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.170714057 meters 0.0251086138981328 Centerline is valid? [True, True] Translation: X:90.44, Y:-11.32, Z:-6.44 [[ 9.92511453e-01 1.07772058e-01 5.74995653e-02 9.04402591e+01] [-1.07466549e-01 9.94173314e-01 -8.38828025e-03 -1.13207031e+01] [-5.80685556e-02 2.14618433e-03 9.98310291e-01 -6.44166681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.200714057 meters 0.026126822812767566 Centerline is valid? [True, True] Translation: X:90.47, Y:-11.33, Z:-6.44 [[ 9.92851201e-01 1.04480610e-01 5.77087045e-02 9.04682651e+01] [-1.04167437e-01 9.94524158e-01 -8.41685029e-03 -1.13288698e+01] [-5.82720984e-02 2.34531207e-03 9.98297983e-01 -6.44392396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.230714057 meters 0.02592938243769095 Centerline is valid? [True, True] Translation: X:90.50, Y:-11.34, Z:-6.45 [[ 9.93121287e-01 1.01660160e-01 5.80975061e-02 9.04974197e+01] [-1.01338132e-01 9.94815983e-01 -8.47018056e-03 -1.13357684e+01] [-5.86574076e-02 2.52442389e-03 9.98274980e-01 -6.44567621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.260714057 meters 0.029294504397866173 Centerline is valid? [True, True] Translation: X:90.53, Y:-11.35, Z:-6.45 [[ 9.93640825e-01 9.62113377e-02 5.84917868e-02 9.05250485e+01] [-9.58756306e-02 9.95356810e-01 -8.52546077e-03 -1.13496998e+01] [-5.90404443e-02 2.86330893e-03 9.98251485e-01 -6.44792084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.290714057 meters 0.028638899505939425 Centerline is valid? [True, True] Translation: X:90.55, Y:-11.35, Z:-6.45 [[ 9.93906985e-01 9.33787163e-02 5.85604005e-02 9.05538562e+01] [-9.30374338e-02 9.95626042e-01 -8.53352086e-03 -1.13546144e+01] [-5.91011090e-02 3.03321660e-03 9.98247393e-01 -6.44956882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.320714057 meters 0.030770631774534735 Centerline is valid? [True, True] Translation: X:90.58, Y:-11.37, Z:-6.45 [[ 9.94334558e-01 8.82350059e-02 5.92736971e-02 9.05825844e+01] [-8.78764669e-02 9.96093965e-01 -8.63366154e-03 -1.13652470e+01] [-5.98039631e-02 3.37598495e-03 9.98204432e-01 -6.45144116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.350714057 meters 0.03184436973760299 Centerline is valid? [True, True] Translation: X:90.61, Y:-11.37, Z:-6.45 [[ 9.94535993e-01 8.55219759e-02 5.98677722e-02 9.06122916e+01] [-8.51513244e-02 9.96329873e-01 -8.71992258e-03 -1.13719552e+01] [-6.03937948e-02 3.57445677e-03 9.98168229e-01 -6.45306897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.380714057 meters 0.032775130755947096 Centerline is valid? [True, True] Translation: X:90.64, Y:-11.38, Z:-6.45 [[ 9.94720847e-01 8.32309361e-02 6.00253975e-02 9.06419323e+01] [-8.28541746e-02 9.96523330e-01 -8.74288117e-03 -1.13791735e+01] [-6.05443872e-02 3.72337140e-03 9.98158561e-01 -6.45487445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.410714057 meters 0.036865358673008816 Centerline is valid? [True, True] Translation: X:90.67, Y:-11.39, Z:-6.46 [[ 9.95042290e-01 7.88104907e-02 6.06609178e-02 9.06700589e+01] [-7.84175287e-02 9.96881451e-01 -8.83532636e-03 -1.13920782e+01] [-6.11680602e-02 4.03464412e-03 9.98119327e-01 -6.45728466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.44071405700001 meters 0.038234786736461274 Centerline is valid? [True, True] Translation: X:90.70, Y:-11.40, Z:-6.46 [[ 9.95272012e-01 7.65240154e-02 5.98138562e-02 9.06998383e+01] [-7.61378025e-02 9.97059236e-01 -8.71290537e-03 -1.13992596e+01] [-6.03047043e-02 4.11761528e-03 9.98171522e-01 -6.46059070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.47071405700001 meters 0.039483057265086274 Centerline is valid? [True, True] Translation: X:90.73, Y:-11.41, Z:-6.46 [[ 9.95697115e-01 7.17999031e-02 5.85835227e-02 9.07292180e+01] [-7.14212408e-02 9.97409727e-01 -8.53479423e-03 -1.14077906e+01] [-5.90445727e-02 4.31396211e-03 9.98246026e-01 -6.46478416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.500714057 meters 0.04097146487082995 Centerline is valid? [True, True] Translation: X:90.76, Y:-11.41, Z:-6.47 [[ 9.95904593e-01 6.92827248e-02 5.80856724e-02 9.07593304e+01] [-6.89062031e-02 9.97587249e-01 -8.46264863e-03 -1.14145290e+01] [-5.85318415e-02 4.42552750e-03 9.98275733e-01 -6.46782693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.530714057 meters 0.04386029165981213 Centerline is valid? [True, True] Translation: X:90.79, Y:-11.42, Z:-6.47 [[ 9.96156698e-01 6.54658680e-02 5.81897997e-02 9.07876973e+01] [-6.50814445e-02 9.97843930e-01 -8.47918627e-03 -1.14236843e+01] [-5.86194357e-02 4.65952199e-03 9.98269528e-01 -6.47015595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.560714057 meters 0.0414406544387516 Centerline is valid? [True, True] Translation: X:90.82, Y:-11.42, Z:-6.47 [[ 9.96278274e-01 6.34905097e-02 5.82971334e-02 9.08192055e+01] [-6.31013882e-02 9.97970980e-01 -8.49345413e-03 -1.14245135e+01] [-5.87181011e-02 4.78321378e-03 9.98263144e-01 -6.47223408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.590714057 meters 0.042851919734271965 Centerline is valid? [True, True] Translation: X:90.85, Y:-11.43, Z:-6.47 [[ 9.96329736e-01 6.26458366e-02 5.83314351e-02 9.08500454e+01] [-6.22548073e-02 9.98024104e-01 -8.49866280e-03 -1.14311948e+01] [-5.87485841e-02 4.83605821e-03 9.98261096e-01 -6.47463124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.620714057 meters 0.04549548062137989 Centerline is valid? [True, True] Translation: X:90.88, Y:-11.44, Z:-6.48 [[ 9.96414397e-01 6.11569367e-02 5.84651986e-02 9.08788529e+01] [-6.07606654e-02 9.98115886e-01 -8.53342304e-03 -1.14385513e+01] [-5.88769215e-02 4.95044120e-03 9.98252975e-01 -6.47745336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.650714057 meters 0.04537519563788709 Centerline is valid? [True, True] Translation: X:90.91, Y:-11.44, Z:-6.48 [[ 9.96363160e-01 6.14289571e-02 5.90502945e-02 9.09112809e+01] [-6.10249633e-02 9.98098997e-01 -8.62239898e-03 -1.14427657e+01] [-5.94677047e-02 4.98749863e-03 9.98217770e-01 -6.47973172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.680714057 meters 0.04620460760902359 Centerline is valid? [True, True] Translation: X:90.94, Y:-11.45, Z:-6.48 [[ 9.96326130e-01 6.17882300e-02 5.92997302e-02 9.09435325e+01] [-6.13804006e-02 9.98076735e-01 -8.67622767e-03 -1.14460352e+01] [-5.97217698e-02 5.00451114e-03 9.98202517e-01 -6.48186791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.710714057 meters 0.04627722895313699 Centerline is valid? [True, True] Translation: X:90.98, Y:-11.45, Z:-6.48 [[ 9.96239546e-01 6.27528769e-02 5.97397925e-02 9.09758635e+01] [-6.23397776e-02 9.98016579e-01 -8.75563465e-03 -1.14495689e+01] [-6.01707446e-02 4.99854411e-03 9.98175584e-01 -6.48420658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.740714057 meters 0.046839172188406664 Centerline is valid? [True, True] Translation: X:91.01, Y:-11.45, Z:-6.49 [[ 9.96110974e-01 6.43773173e-02 6.01538680e-02 9.10064638e+01] [-6.39603884e-02 9.97913346e-01 -8.83300364e-03 -1.14519051e+01] [-6.05969928e-02 4.95118710e-03 9.98150034e-01 -6.48580122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.770714057 meters 0.042863476911035175 Centerline is valid? [True, True] Translation: X:91.04, Y:-11.45, Z:-6.49 [[ 9.96018171e-01 6.60821012e-02 5.98411131e-02 9.10390520e+01] [-6.56724390e-02 9.97802527e-01 -8.78902451e-03 -1.14472067e+01] [-6.02904111e-02 4.82411627e-03 9.98169221e-01 -6.48779821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.80071405700001 meters 0.042083744393889344 Centerline is valid? [True, True] Translation: X:91.07, Y:-11.45, Z:-6.49 [[ 9.95934098e-01 6.71564676e-02 6.00439952e-02 9.10715511e+01] [-6.67458538e-02 9.97731021e-01 -8.82051898e-03 -1.14490283e+01] [-6.05001115e-02 4.77696788e-03 9.98156760e-01 -6.48983459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.83071405700001 meters 0.038365344939550745 Centerline is valid? [True, True] Translation: X:91.10, Y:-11.45, Z:-6.49 [[ 9.95834597e-01 6.83469351e-02 6.03502397e-02 9.11037038e+01] [-6.79332499e-02 9.97650327e-01 -8.88250900e-03 -1.14464607e+01] [-6.08155287e-02 4.74572186e-03 9.98137741e-01 -6.49118479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.86071405700001 meters 0.03996290524980189 Centerline is valid? [True, True] Translation: X:91.13, Y:-11.45, Z:-6.49 [[ 9.95710553e-01 6.98272805e-02 6.07012759e-02 9.11337855e+01] [-6.94113847e-02 9.97548098e-01 -8.93593368e-03 -1.14514715e+01] [-6.11764143e-02 4.68424385e-03 9.98115977e-01 -6.49333964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.890714057 meters 0.0467965274844027 Centerline is valid? [True, True] Translation: X:91.16, Y:-11.46, Z:-6.50 [[ 9.95436471e-01 7.28172986e-02 6.16755458e-02 9.11624833e+01] [-7.23931449e-02 9.97334778e-01 -9.08703192e-03 -1.14616105e+01] [-6.21728599e-02 4.58067626e-03 9.98054885e-01 -6.49646621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.920714057 meters 0.03788800925143317 Centerline is valid? [True, True] Translation: X:91.20, Y:-11.45, Z:-6.50 [[ 9.95160254e-01 7.58801068e-02 6.24361985e-02 9.11952436e+01] [-7.54514045e-02 9.97107047e-01 -9.19899686e-03 -1.14502496e+01] [-6.29535944e-02 4.44357718e-03 9.98006563e-01 -6.49761057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.950714057 meters 0.03522144534294962 Centerline is valid? [True, True] Translation: X:91.23, Y:-11.45, Z:-6.50 [[ 9.95030294e-01 7.76603702e-02 6.23183804e-02 9.12273828e+01] [-7.72367092e-02 9.96970498e-01 -9.18240241e-03 -1.14487043e+01] [-6.28426955e-02 4.32350195e-03 9.98014080e-01 -6.49973581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.980714057 meters 0.035074210617853305 Centerline is valid? [True, True] Translation: X:91.26, Y:-11.45, Z:-6.50 [[ 9.94745646e-01 8.09791476e-02 6.26376606e-02 9.12573817e+01] [-8.05573170e-02 9.96707195e-01 -9.23499931e-03 -1.14487052e+01] [-6.31792494e-02 4.14055348e-03 9.97993606e-01 -6.50192952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.010714057 meters 0.03608976073395693 Centerline is valid? [True, True] Translation: X:91.29, Y:-11.45, Z:-6.50 [[ 9.94602663e-01 8.24627363e-02 6.29717421e-02 9.12863048e+01] [-8.20393383e-02 9.96585846e-01 -9.28434525e-03 -1.14527293e+01] [-6.35223594e-02 4.06807444e-03 9.97972124e-01 -6.50417305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.040714057 meters 0.03501286998421725 Centerline is valid? [True, True] Translation: X:91.32, Y:-11.45, Z:-6.51 [[ 9.94458593e-01 8.38905268e-02 6.33599767e-02 9.13166343e+01] [-8.34648456e-02 9.96466948e-01 -9.34034750e-03 -1.14536052e+01] [-6.39196893e-02 4.00025815e-03 9.97947028e-01 -6.50598821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.070714057 meters 0.031432777112723055 Centerline is valid? [True, True] Translation: X:91.35, Y:-11.45, Z:-6.51 [[ 9.94281827e-01 8.60010222e-02 6.33046068e-02 9.13475070e+01] [-8.55803298e-02 9.96287566e-01 -9.33237622e-03 -1.14489048e+01] [-6.38721865e-02 3.86138295e-03 9.97950617e-01 -6.50740240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.100714057 meters 0.03240511961424469 Centerline is valid? [True, True] Translation: X:91.38, Y:-11.45, Z:-6.51 [[ 9.94280557e-01 8.63216326e-02 6.28867984e-02 9.13760579e+01] [-8.59072799e-02 9.96260025e-01 -9.26830151e-03 -1.14508016e+01] [-6.34516583e-02 3.81285819e-03 9.97977630e-01 -6.51045144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.130714057 meters 0.033369247149083146 Centerline is valid? [True, True] Translation: X:91.40, Y:-11.45, Z:-6.51 [[ 9.94479330e-01 8.47359228e-02 6.18925313e-02 9.14048756e+01] [-8.43317439e-02 9.96396012e-01 -9.11837499e-03 -1.14540332e+01] [-6.24421253e-02 3.84853035e-03 9.98041166e-01 -6.51394034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.160714057 meters 0.033369247149083146 Centerline is valid? [True, True] Translation: X:91.43, Y:-11.46, Z:-6.52 [[ 9.94482331e-01 8.47003238e-02 6.18930340e-02 9.14337091e+01] [-8.42962879e-02 9.96399043e-01 -9.11496161e-03 -1.14582504e+01] [-6.24422001e-02 3.84731526e-03 9.98041166e-01 -6.51594847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.19071405700001 meters 0.0335078760308057 Centerline is valid? [True, True] Translation: X:91.46, Y:-11.46, Z:-6.52 [[ 9.94580794e-01 8.36948059e-02 6.16783900e-02 9.14630046e+01] [-8.32917871e-02 9.96483824e-01 -9.08111413e-03 -1.14620546e+01] [-6.22215600e-02 3.89459837e-03 9.98054763e-01 -6.51828627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.22071405700001 meters 0.0348767153527276 Centerline is valid? [True, True] Translation: X:91.49, Y:-11.47, Z:-6.52 [[ 9.94804438e-01 8.09587721e-02 6.17236307e-02 9.14929477e+01] [-8.05500752e-02 9.96709157e-01 -9.08529101e-03 -1.14666772e+01] [-6.22560419e-02 4.06624473e-03 9.98051928e-01 -6.52074653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.250714057 meters 0.0348767153527276 Centerline is valid? [True, True] Translation: X:91.52, Y:-11.47, Z:-6.52 [[ 9.94807318e-01 8.09234111e-02 6.17235979e-02 9.15217887e+01] [-8.05146327e-02 9.96712018e-01 -9.08551390e-03 -1.14708917e+01] [-6.22558826e-02 4.06868289e-03 9.98051928e-01 -6.52275400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.280714057 meters 0.03646046381599485 Centerline is valid? [True, True] Translation: X:91.55, Y:-11.48, Z:-6.52 [[ 9.94902854e-01 7.93518959e-02 6.22220810e-02 9.15502966e+01] [-7.89335908e-02 9.96837827e-01 -9.15618108e-03 -1.14762670e+01] [-6.27518843e-02 4.19809842e-03 9.98020329e-01 -6.52463139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.310714057 meters 0.04074845446936561 Centerline is valid? [True, True] Translation: X:91.58, Y:-11.48, Z:-6.53 [[ 9.95058669e-01 7.65730330e-02 6.32045520e-02 9.15794555e+01] [-7.61356543e-02 9.97054066e-01 -9.30330369e-03 -1.14840910e+01] [-6.37307378e-02 4.44521307e-03 9.97957230e-01 -6.52650805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.340714057 meters 0.03943362941598485 Centerline is valid? [True, True] Translation: X:91.61, Y:-11.49, Z:-6.53 [[ 9.95115803e-01 7.53034883e-02 6.38272880e-02 9.16104754e+01] [-7.48548425e-02 9.97150184e-01 -9.39489230e-03 -1.14854998e+01] [-6.43528601e-02 4.57122421e-03 9.97916737e-01 -6.52824089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.370714057 meters 0.03726393092346514 Centerline is valid? [True, True] Translation: X:91.64, Y:-11.49, Z:-6.53 [[ 9.95150218e-01 7.38396935e-02 6.49903254e-02 9.16417740e+01] [-7.33713395e-02 9.97258800e-01 -9.56726373e-03 -1.14854821e+01] [-6.55186178e-02 4.75243736e-03 9.97840030e-01 -6.53006595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.400714057 meters 0.03676610914872742 Centerline is valid? [True, True] Translation: X:91.67, Y:-11.49, Z:-6.53 [[ 9.95149230e-01 7.35088810e-02 6.53793142e-02 9.16738182e+01] [-7.30341457e-02 9.97282994e-01 -9.62510968e-03 -1.14883669e+01] [-6.59092092e-02 4.80349812e-03 9.97814062e-01 -6.53209585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.430714057 meters 0.04219712376277494 Centerline is valid? [True, True] Translation: X:91.70, Y:-11.50, Z:-6.53 [[ 9.95137400e-01 7.36182291e-02 6.54363100e-02 9.17045412e+01] [-7.31417730e-02 9.97274861e-01 -9.65053287e-03 -1.15004637e+01] [-6.59684421e-02 4.81747846e-03 9.97810080e-01 -6.53498059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.460714057 meters 0.03939531153424761 Centerline is valid? [True, True] Translation: X:91.74, Y:-11.50, Z:-6.54 [[ 9.95245291e-01 7.23850865e-02 6.51706170e-02 9.17370700e+01] [-7.19086511e-02 9.97364733e-01 -9.62989352e-03 -1.14989616e+01] [-6.56959357e-02 4.89777503e-03 9.97827668e-01 -6.53741235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.490714057 meters 0.040355362478572715 Centerline is valid? [True, True] Translation: X:91.77, Y:-11.50, Z:-6.54 [[ 9.95385381e-01 7.10234650e-02 6.45260396e-02 9.17688781e+01] [-7.05532776e-02 9.97462398e-01 -9.53932157e-03 -1.15036991e+01] [-6.50398139e-02 4.94277766e-03 9.97870428e-01 -6.54065362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.520714057 meters 0.03947184179932378 Centerline is valid? [True, True] Translation: X:91.80, Y:-11.51, Z:-6.54 [[ 9.95422017e-01 7.03677065e-02 6.46791608e-02 9.18011294e+01] [-6.98936374e-02 9.97508581e-01 -9.56607203e-03 -1.15068275e+01] [-6.51911605e-02 5.00161690e-03 9.97860259e-01 -6.54353501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.55071405700001 meters 0.040829934643000214 Centerline is valid? [True, True] Translation: X:91.83, Y:-11.51, Z:-6.55 [[ 9.95516680e-01 6.91143697e-02 6.45735491e-02 9.18311779e+01] [-6.86381217e-02 9.97595746e-01 -9.56748009e-03 -1.15126002e+01] [-6.50795482e-02 5.09237889e-03 9.97867085e-01 -6.54639337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.58071405700001 meters 0.04151238395130861 Centerline is valid? [True, True] Translation: X:91.86, Y:-11.52, Z:-6.55 [[ 9.95713097e-01 6.72258843e-02 6.35303710e-02 9.18620180e+01] [-6.67605715e-02 9.97724544e-01 -9.42130895e-03 -1.15169511e+01] [-6.40191663e-02 5.13959684e-03 9.97935434e-01 -6.54967503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.61071405700001 meters 0.04309803094579276 Centerline is valid? [True, True] Translation: X:91.89, Y:-11.52, Z:-6.55 [[ 9.95899294e-01 6.51468522e-02 6.27732663e-02 9.18919742e+01] [-6.46883345e-02 9.97862073e-01 -9.31139035e-03 -1.15221474e+01] [-6.32456694e-02 5.21250903e-03 9.97984376e-01 -6.55335474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.640714057 meters 0.04441484588297341 Centerline is valid? [True, True] Translation: X:91.92, Y:-11.53, Z:-6.56 [[ 9.95997163e-01 6.43419932e-02 6.20464265e-02 9.19221179e+01] [-6.38924374e-02 9.97914341e-01 -9.20458094e-03 -1.15275732e+01] [-6.25092599e-02 5.20343908e-03 9.98030819e-01 -6.55641934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.670714057 meters 0.045031802422862 Centerline is valid? [True, True] Translation: X:91.95, Y:-11.53, Z:-6.56 [[ 9.96007056e-01 6.41527717e-02 6.20835411e-02 9.19537524e+01] [-6.37022504e-02 9.97926440e-01 -9.21107551e-03 -1.15321562e+01] [-6.25457232e-02 5.21943493e-03 9.98028452e-01 -6.55856747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.700714057 meters 0.046040690569017204 Centerline is valid? [True, True] Translation: X:91.98, Y:-11.54, Z:-6.56 [[ 9.96016715e-01 6.40627500e-02 6.20215128e-02 9.19845603e+01] [-6.36119743e-02 9.97932139e-01 -9.21756742e-03 -1.15366600e+01] [-6.24837636e-02 5.23554034e-03 9.98032248e-01 -6.56044708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.730714057 meters 0.05120923474935816 Centerline is valid? [True, True] Translation: X:92.02, Y:-11.55, Z:-6.56 [[ 9.95953876e-01 6.43608842e-02 6.27180503e-02 9.20150133e+01] [-6.38995308e-02 9.97912663e-01 -9.33632325e-03 -1.15456703e+01] [-6.31880306e-02 5.29089334e-03 9.97987615e-01 -6.56186665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.760714057 meters 0.04826157855486028 Centerline is valid? [True, True] Translation: X:92.05, Y:-11.54, Z:-6.56 [[ 9.95891660e-01 6.45476949e-02 6.35090239e-02 9.20483188e+01] [-6.40744411e-02 9.97900258e-01 -9.46259002e-03 -1.15445589e+01] [-6.39864597e-02 5.35440928e-03 9.97936402e-01 -6.56246085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.790714057 meters 0.04898961131653042 Centerline is valid? [True, True] Translation: X:92.08, Y:-11.55, Z:-6.56 [[ 9.95866272e-01 6.44666070e-02 6.39876945e-02 9.20805515e+01] [-6.39848361e-02 9.97905155e-01 -9.55213777e-03 -1.15493986e+01] [-6.44694441e-02 5.41840969e-03 9.97904971e-01 -6.56495812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.820714057 meters 0.05008717835331229 Centerline is valid? [True, True] Translation: X:92.11, Y:-11.55, Z:-6.57 [[ 9.95878470e-01 6.45709806e-02 6.36919236e-02 9.21122205e+01] [-6.40928783e-02 9.97898495e-01 -9.52344805e-03 -1.15544717e+01] [-6.41730131e-02 5.40199816e-03 9.97924167e-01 -6.56703222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.850714057 meters 0.050316322698190453 Centerline is valid? [True, True] Translation: X:92.14, Y:-11.56, Z:-6.57 [[ 9.95840213e-01 6.54577242e-02 6.33841910e-02 9.21433454e+01] [-6.49850358e-02 9.97841085e-01 -9.49281849e-03 -1.15570926e+01] [-6.38687282e-02 5.33430647e-03 9.97944052e-01 -6.56977188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.880714057 meters 0.051601095403997356 Centerline is valid? [True, True] Translation: X:92.17, Y:-11.56, Z:-6.57 [[ 9.95859885e-01 6.58383274e-02 6.26769748e-02 9.21749703e+01] [-6.53760246e-02 9.97816418e-01 -9.40063937e-03 -1.15619495e+01] [-6.31590368e-02 5.26414820e-03 9.97989592e-01 -6.57230592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.910714057 meters 0.05201400733633733 Centerline is valid? [True, True] Translation: X:92.21, Y:-11.56, Z:-6.57 [[ 9.95808115e-01 6.70778140e-02 6.21833252e-02 9.22066252e+01] [-6.66241766e-02 9.97734402e-01 -9.34248786e-03 -1.15642748e+01] [-6.26691165e-02 5.16041238e-03 9.98021018e-01 -6.57431982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.94071405700001 meters 0.05293012779923082 Centerline is valid? [True, True] Translation: X:92.24, Y:-11.57, Z:-6.58 [[ 9.95753740e-01 6.79038112e-02 6.21575487e-02 9.22379774e+01] [-6.74512273e-02 9.97678730e-01 -9.35326821e-03 -1.15690464e+01] [-6.26483868e-02 5.12094886e-03 9.98022523e-01 -6.57628557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.97071405700001 meters 0.05245315571656694 Centerline is valid? [True, True] Translation: X:92.27, Y:-11.57, Z:-6.58 [[ 9.95652613e-01 6.93142079e-02 6.22207017e-02 9.22695226e+01] [-6.88624519e-02 9.97582081e-01 -9.37841504e-03 -1.15718606e+01] [-6.27203145e-02 5.05297336e-03 9.98018351e-01 -6.57844149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.000714057 meters 0.05145260552075552 Centerline is valid? [True, True] Translation: X:92.30, Y:-11.57, Z:-6.58 [[ 9.95403401e-01 7.22443653e-02 6.28714635e-02 9.22989610e+01] [-7.17886938e-02 9.97374814e-01 -9.47966535e-03 -1.15720391e+01] [-6.33912666e-02 4.92263088e-03 9.97976610e-01 -6.58018678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.030714057 meters 0.05081493644642722 Centerline is valid? [True, True] Translation: X:92.33, Y:-11.57, Z:-6.58 [[ 9.95271104e-01 7.41096558e-02 6.27948093e-02 9.23296544e+01] [-7.36585414e-02 9.97238538e-01 -9.47191228e-03 -1.15744070e+01] [-6.33233640e-02 4.80174653e-03 9.97981510e-01 -6.58240072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.060714057 meters 0.03723662999078503 Centerline is valid? [True, True] Translation: X:92.36, Y:-11.56, Z:-6.58 [[ 9.94860654e-01 7.89582185e-02 6.33867447e-02 9.23630438e+01] [-7.85082364e-02 9.96867602e-01 -9.56248151e-03 -1.15571236e+01] [-6.39432286e-02 4.53695508e-03 9.97943225e-01 -6.58373327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.090714057 meters 0.04832592018091906 Centerline is valid? [True, True] Translation: X:92.39, Y:-11.58, Z:-6.59 [[ 9.94649787e-01 8.16154615e-02 6.33302248e-02 9.23891182e+01] [-8.11717646e-02 9.96654356e-01 -9.55194480e-03 -1.15753871e+01] [-6.38979308e-02 4.36021376e-03 9.97946914e-01 -6.58659770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.120714057 meters 0.04631097533812987 Centerline is valid? [True, True] Translation: X:92.42, Y:-11.57, Z:-6.59 [[ 9.94145198e-01 8.74221298e-02 6.35035227e-02 9.24196877e+01] [-8.69880118e-02 9.96163348e-01 -9.57438907e-03 -1.15734358e+01] [-6.40968953e-02 3.99428773e-03 9.97935686e-01 -6.58834369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.150714057 meters 0.045197899365984194 Centerline is valid? [True, True] Translation: X:92.45, Y:-11.58, Z:-6.59 [[ 9.93896328e-01 9.01247727e-02 6.36208640e-02 9.24497059e+01] [-8.96945943e-02 9.95923131e-01 -9.59147471e-03 -1.15753844e+01] [-6.42259195e-02 3.82648391e-03 9.97928048e-01 -6.59026033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.180714057 meters 0.04285104071990714 Centerline is valid? [True, True] Translation: X:92.48, Y:-11.57, Z:-6.59 [[ 9.93457154e-01 9.47053121e-02 6.38262293e-02 9.24793971e+01] [-9.42818203e-02 9.95499054e-01 -9.62143279e-03 -1.15748547e+01] [-6.44501517e-02 3.54082815e-03 9.97914646e-01 -6.59252005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.210714057 meters 0.04211991579439292 Centerline is valid? [True, True] Translation: X:92.51, Y:-11.58, Z:-6.59 [[ 9.93322984e-01 9.63962322e-02 6.33815051e-02 9.25086591e+01] [-9.59821254e-02 9.95337212e-01 -9.55335049e-03 -1.15773538e+01] [-6.40068776e-02 3.40607105e-03 9.97943645e-01 -6.59469415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.240714057 meters 0.04159850766678141 Centerline is valid? [True, True] Translation: X:92.54, Y:-11.58, Z:-6.60 [[ 9.93181892e-01 9.80988486e-02 6.29789278e-02 9.25372891e+01] [-9.76935856e-02 9.95171295e-01 -9.48980948e-03 -1.15806516e+01] [-6.36057605e-02 3.27246966e-03 9.97969738e-01 -6.59741356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.270714057 meters 0.03323961523090706 Centerline is valid? [True, True] Translation: X:92.57, Y:-11.57, Z:-6.60 [[ 9.93144585e-01 9.93970843e-02 6.15146613e-02 9.25676024e+01] [-9.90131845e-02 9.95042984e-01 -9.26548884e-03 -1.15720158e+01] [-6.21306947e-02 3.11120755e-03 9.98063173e-01 -6.59990176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.30071405700001 meters 0.03316071779532972 Centerline is valid? [True, True] Translation: X:92.60, Y:-11.58, Z:-6.60 [[ 9.93188420e-01 9.96277099e-02 6.04241851e-02 9.25957117e+01] [-9.92579981e-02 9.95020147e-01 -9.09708996e-03 -1.15762306e+01] [-6.10296038e-02 3.03754075e-03 9.98131334e-01 -6.60293038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.33071405700001 meters 0.033403043852209956 Centerline is valid? [True, True] Translation: X:92.62, Y:-11.58, Z:-6.61 [[ 9.93240936e-01 9.99136856e-02 5.90736688e-02 9.26226411e+01] [-9.95610729e-02 9.94991740e-01 -8.88989452e-03 -1.15814743e+01] [-5.96660347e-02 2.94836931e-03 9.98214041e-01 -6.60633520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.36071405700001 meters 0.03378173826805257 Centerline is valid? [True, True] Translation: X:92.65, Y:-11.59, Z:-6.61 [[ 9.93255874e-01 1.00009629e-01 5.86587062e-02 9.26512373e+01] [-9.96624340e-02 9.94982194e-01 -8.82226078e-03 -1.15864155e+01] [-5.92466792e-02 2.91669290e-03 9.98239112e-01 -6.60877896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.390714057 meters 0.031174458816402163 Centerline is valid? [True, True] Translation: X:92.68, Y:-11.59, Z:-6.61 [[ 9.93327730e-01 9.95197085e-02 5.82739103e-02 9.26802430e+01] [-9.91764502e-02 9.95031299e-01 -8.76046639e-03 -1.15857188e+01] [-5.88562037e-02 2.92261463e-03 9.98262193e-01 -6.60950855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.420714057 meters 0.033846889693398614 Centerline is valid? [True, True] Translation: X:92.71, Y:-11.59, Z:-6.61 [[ 9.93347393e-01 9.88534453e-02 5.90673550e-02 9.27072102e+01] [-9.84998388e-02 9.95097486e-01 -8.87557519e-03 -1.15939107e+01] [-5.96551576e-02 2.99840454e-03 9.98214542e-01 -6.61041860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.450714057 meters 0.03433536729848456 Centerline is valid? [True, True] Translation: X:92.74, Y:-11.60, Z:-6.61 [[ 9.93397279e-01 9.81098608e-02 5.94668090e-02 9.27355548e+01] [-9.77504537e-02 9.95170891e-01 -8.93007210e-03 -1.15988051e+01] [-6.00557655e-02 3.05820176e-03 9.98190339e-01 -6.61140822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.480714057 meters 0.035888423836589016 Centerline is valid? [True, True] Translation: X:92.76, Y:-11.61, Z:-6.61 [[ 9.93478538e-01 9.62766413e-02 6.10835714e-02 9.27627349e+01] [-9.58942122e-02 9.95349305e-01 -9.16852445e-03 -1.16064560e+01] [-6.16822050e-02 3.25117131e-03 9.98090545e-01 -6.61239188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.510714057 meters 0.032050473341231914 Centerline is valid? [True, True] Translation: X:92.79, Y:-11.61, Z:-6.61 [[ 9.93650888e-01 9.45062105e-02 6.10449817e-02 9.27932199e+01] [-9.41212069e-02 9.95518620e-01 -9.15835345e-03 -1.16052850e+01] [-6.16369373e-02 3.35457868e-03 9.98092999e-01 -6.61330455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.540714057 meters 0.0330994005401905 Centerline is valid? [True, True] Translation: X:92.82, Y:-11.61, Z:-6.62 [[ 9.94016106e-01 9.09482775e-02 6.05011750e-02 9.28221064e+01] [-9.05636888e-02 9.95849322e-01 -9.07445565e-03 -1.16126425e+01] [-6.10753603e-02 3.54094548e-03 9.98126877e-01 -6.61568708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.570714057 meters 0.03354294271293627 Centerline is valid? [True, True] Translation: X:92.85, Y:-11.62, Z:-6.62 [[ 9.94264131e-01 8.85518500e-02 5.99783880e-02 9.28508836e+01] [-8.81695945e-02 9.96064861e-01 -8.99525537e-03 -1.16184008e+01] [-6.05389112e-02 3.65538962e-03 9.98159145e-01 -6.61816701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.600714057 meters 0.034723584718011874 Centerline is valid? [True, True] Translation: X:92.88, Y:-11.63, Z:-6.62 [[ 9.94496588e-01 8.58260398e-02 6.00868400e-02 9.28802966e+01] [-8.54376643e-02 9.96302797e-01 -9.00792695e-03 -1.16252049e+01] [-6.06378014e-02 3.82467335e-03 9.98152508e-01 -6.62080286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.630714057 meters 0.036530509721872786 Centerline is valid? [True, True] Translation: X:92.91, Y:-11.63, Z:-6.62 [[ 9.94932403e-01 8.11605472e-02 5.93504820e-02 9.29094706e+01] [-8.07734586e-02 9.96692783e-01 -8.89631195e-03 -1.16345033e+01] [-5.98762266e-02 4.05728532e-03 9.98197564e-01 -6.62433911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.660714057 meters 0.03924663549808438 Centerline is valid? [True, True] Translation: X:92.94, Y:-11.64, Z:-6.63 [[ 9.95403109e-01 7.66935825e-02 5.73650107e-02 9.29377789e+01] [-7.63246150e-02 9.97045944e-01 -8.59873079e-03 -1.16441964e+01] [-5.78550187e-02 4.18084101e-03 9.98316241e-01 -6.62849218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.69071405700001 meters 0.040508668797906565 Centerline is valid? [True, True] Translation: X:92.97, Y:-11.65, Z:-6.63 [[ 9.95542701e-01 7.51569813e-02 5.69750657e-02 9.29660647e+01] [-7.47904971e-02 9.97162694e-01 -8.54065656e-03 -1.16506425e+01] [-5.74553000e-02 4.24139481e-03 9.98339070e-01 -6.63113211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.72071405700001 meters 0.0411803978422819 Centerline is valid? [True, True] Translation: X:93.00, Y:-11.66, Z:-6.63 [[ 9.95659466e-01 7.39868214e-02 5.64639531e-02 9.29953137e+01] [-7.36252063e-02 9.97250091e-01 -8.46081090e-03 -1.16559180e+01] [-5.69346708e-02 4.26691627e-03 9.98368788e-01 -6.63379222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.750714057 meters 0.0426907332509285 Centerline is valid? [True, True] Translation: X:93.02, Y:-11.66, Z:-6.64 [[ 9.95787617e-01 7.26455089e-02 5.59432839e-02 9.30234941e+01] [-7.22885385e-02 9.97348548e-01 -8.38101151e-03 -1.16617758e+01] [-5.64037958e-02 4.30164925e-03 9.98398772e-01 -6.63662544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.780714057 meters 0.04347570131052466 Centerline is valid? [True, True] Translation: X:93.05, Y:-11.67, Z:-6.64 [[ 9.95814070e-01 7.24661636e-02 5.57045121e-02 9.30524696e+01] [-7.21121380e-02 9.97361644e-01 -8.34206124e-03 -1.16669202e+01] [-5.61620610e-02 4.29017049e-03 9.98412449e-01 -6.63837365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.810714057 meters 0.04460370365762255 Centerline is valid? [True, True] Translation: X:93.08, Y:-11.67, Z:-6.64 [[ 9.95776215e-01 7.25465489e-02 5.62736813e-02 9.30803369e+01] [-7.21854720e-02 9.97355638e-01 -8.42549153e-03 -1.16725546e+01] [-5.67361136e-02 4.32776182e-03 9.98379829e-01 -6.64016238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.840714057 meters 0.04462447056389927 Centerline is valid? [True, True] Translation: X:93.11, Y:-11.68, Z:-6.64 [[ 9.95767714e-01 7.26757333e-02 5.62574217e-02 9.31095009e+01] [-7.23152494e-02 9.97346284e-01 -8.41990027e-03 -1.16768965e+01] [-5.67200529e-02 4.31599536e-03 9.98380793e-01 -6.64208234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.870714057 meters 0.04537353827431791 Centerline is valid? [True, True] Translation: X:93.14, Y:-11.68, Z:-6.64 [[ 9.95773761e-01 7.25011688e-02 5.63754957e-02 9.31375816e+01] [-7.21389910e-02 9.97358914e-01 -8.43580315e-03 -1.16819933e+01] [-5.68382088e-02 4.33328006e-03 9.98373998e-01 -6.64377278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.900714057 meters 0.04523797547123447 Centerline is valid? [True, True] Translation: X:93.17, Y:-11.69, Z:-6.65 [[ 9.95809358e-01 7.22890897e-02 5.60179376e-02 9.31668533e+01] [-7.19313389e-02 9.97374389e-01 -8.37921239e-03 -1.16851770e+01] [-5.64765819e-02 4.31465286e-03 9.98394601e-01 -6.64563095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.930714057 meters 0.0417315987805536 Centerline is valid? [True, True] Translation: X:93.20, Y:-11.68, Z:-6.65 [[ 9.95841901e-01 7.20309600e-02 5.57713989e-02 9.31968458e+01] [-7.16760604e-02 9.97393092e-01 -8.34043427e-03 -1.16842234e+01] [-5.62267775e-02 4.30827976e-03 9.98408728e-01 -6.64707265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.960714057 meters 0.048590875437689245 Centerline is valid? [True, True] Translation: X:93.22, Y:-11.70, Z:-6.65 [[ 9.95893749e-01 7.17631355e-02 5.51878050e-02 9.32236731e+01] [-7.14153220e-02 9.97412535e-01 -8.25142935e-03 -1.16975116e+01] [-5.56371570e-02 4.27629204e-03 9.98441896e-01 -6.65057215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.990714057 meters 0.04388389037912817 Centerline is valid? [True, True] Translation: X:93.25, Y:-11.70, Z:-6.65 [[ 9.95953257e-01 7.12930007e-02 5.47212722e-02 9.32528867e+01] [-7.09504925e-02 9.97446305e-01 -8.17901412e-03 -1.16954453e+01] [-5.51646372e-02 4.26341454e-03 9.98468170e-01 -6.65101896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.020714057 meters 0.04439041448236341 Centerline is valid? [True, True] Translation: X:93.28, Y:-11.70, Z:-6.65 [[ 9.96007150e-01 7.06036887e-02 5.46340258e-02 9.32820465e+01] [-7.02614829e-02 9.97495219e-01 -8.16162848e-03 -1.17004112e+01] [-5.50734206e-02 4.29037265e-03 9.98473090e-01 -6.65277770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.05071405700001 meters 0.052206429539002765 Centerline is valid? [True, True] Translation: X:93.31, Y:-11.72, Z:-6.66 [[ 9.96126218e-01 6.94081469e-02 5.39913529e-02 9.33095306e+01] [-6.90723380e-02 9.97579067e-01 -8.06328441e-03 -1.17151353e+01] [-5.44203011e-02 4.30274003e-03 9.98508847e-01 -6.65628924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.08071405700001 meters 0.04644972484466443 Centerline is valid? [True, True] Translation: X:93.34, Y:-11.71, Z:-6.66 [[ 9.96166168e-01 6.90158249e-02 5.37566895e-02 9.33399102e+01] [-6.86823452e-02 9.97606274e-01 -8.02860669e-03 -1.17116862e+01] [-5.41821116e-02 4.30569085e-03 9.98521787e-01 -6.65688263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.11071405700001 meters 0.04765376480395278 Centerline is valid? [True, True] Translation: X:93.37, Y:-11.72, Z:-6.66 [[ 9.96227242e-01 6.88858101e-02 5.27828257e-02 9.33675723e+01] [-6.85642186e-02 9.97615571e-01 -7.88162382e-03 -1.17169801e+01] [-5.31999009e-02 4.23287516e-03 9.98574911e-01 -6.65942383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.140714057 meters 0.04765376480395278 Centerline is valid? [True, True] Translation: X:93.40, Y:-11.72, Z:-6.66 [[ 9.96229533e-01 6.88523447e-02 5.27832618e-02 9.33964368e+01] [-6.85308604e-02 9.97617886e-01 -7.87870262e-03 -1.17212560e+01] [-5.31999932e-02 4.23171389e-03 9.98574911e-01 -6.66143470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.170714057 meters 0.04431761642177826 Centerline is valid? [True, True] Translation: X:93.43, Y:-11.72, Z:-6.66 [[ 9.96201964e-01 6.93422533e-02 5.26621115e-02 9.34269106e+01] [-6.90230191e-02 9.97584112e-01 -7.85883835e-03 -1.17205846e+01] [-5.30798354e-02 4.19409227e-03 9.98581464e-01 -6.66223454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.200714057 meters 0.044978119382092875 Centerline is valid? [True, True] Translation: X:93.46, Y:-11.72, Z:-6.66 [[ 9.96009269e-01 7.13927685e-02 5.35593993e-02 9.34554851e+01] [-7.10655977e-02 9.97439636e-01 -7.99081017e-03 -1.17247506e+01] [-5.39927538e-02 4.15269027e-03 9.98532692e-01 -6.66272338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.230714057 meters 0.04446104806811765 Centerline is valid? [True, True] Translation: X:93.49, Y:-11.73, Z:-6.66 [[ 9.95875514e-01 7.29867196e-02 5.38971175e-02 9.34855219e+01] [-7.26578207e-02 9.97324525e-01 -8.03940930e-03 -1.17278058e+01] [-5.43396872e-02 4.09020377e-03 9.98514130e-01 -6.66374180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.260714057 meters 0.03703297044303964 Centerline is valid? [True, True] Translation: X:93.52, Y:-11.72, Z:-6.66 [[ 9.95617771e-01 7.61707384e-02 5.42519413e-02 9.35174318e+01] [-7.58423423e-02 9.97087007e-01 -8.08947629e-03 -1.17199946e+01] [-5.47100871e-02 3.93943205e-03 9.98494510e-01 -6.66250445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.290714057 meters 0.04311048481267521 Centerline is valid? [True, True] Translation: X:93.54, Y:-11.73, Z:-6.67 [[ 9.95493190e-01 7.78631824e-02 5.41353346e-02 9.35448014e+01] [-7.75386774e-02 9.96956665e-01 -8.07223828e-03 -1.17315972e+01] [-5.45991129e-02 3.83827598e-03 9.98500979e-01 -6.66591330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.320714057 meters 0.03613158447130892 Centerline is valid? [True, True] Translation: X:93.58, Y:-11.72, Z:-6.67 [[ 9.95383875e-01 7.93836186e-02 5.39368319e-02 9.35756271e+01] [-7.90638032e-02 9.96837127e-01 -8.04095179e-03 -1.17249572e+01] [-5.44045564e-02 3.73938270e-03 9.98511974e-01 -6.66573430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.350714057 meters 0.03628914894480867 Centerline is valid? [True, True] Translation: X:93.60, Y:-11.73, Z:-6.67 [[ 9.95270023e-01 8.09898046e-02 5.36491705e-02 9.36034518e+01] [-8.06758470e-02 9.96708321e-01 -7.99565181e-03 -1.17271782e+01] [-5.41201409e-02 3.62964029e-03 9.98527834e-01 -6.66827602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.380714057 meters 0.03720975612455776 Centerline is valid? [True, True] Translation: X:93.63, Y:-11.73, Z:-6.67 [[ 9.95269296e-01 8.10664184e-02 5.35468478e-02 9.36304985e+01] [-8.07540317e-02 9.96702151e-01 -7.97554652e-03 -1.17323547e+01] [-5.40168073e-02 3.61369273e-03 9.98533488e-01 -6.67053364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.410714057 meters 0.035677105949870586 Centerline is valid? [True, True] Translation: X:93.66, Y:-11.73, Z:-6.67 [[ 9.95420759e-01 7.95618846e-02 5.29850883e-02 9.36598788e+01] [-7.92541844e-02 9.96823242e-01 -7.88665887e-03 -1.17336401e+01] [-5.34442449e-02 3.65125400e-03 9.98564160e-01 -6.67285659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.44071405700001 meters 0.03793174499279816 Centerline is valid? [True, True] Translation: X:93.69, Y:-11.74, Z:-6.68 [[ 9.95545641e-01 7.85213368e-02 5.21850292e-02 9.36863485e+01] [-7.82215618e-02 9.96905756e-01 -7.76540247e-03 -1.17401173e+01] [-5.26333058e-02 3.64881809e-03 9.98607241e-01 -6.67549555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.47071405700001 meters 0.038199254481964484 Centerline is valid? [True, True] Translation: X:93.72, Y:-11.74, Z:-6.68 [[ 9.95681225e-01 7.72871115e-02 5.14354007e-02 9.37153570e+01] [-7.69945682e-02 9.97002180e-01 -7.64789826e-03 -1.17441720e+01] [-5.18722906e-02 3.65462224e-03 9.98647039e-01 -6.67761838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.500714057 meters 0.04027697126042211 Centerline is valid? [True, True] Translation: X:93.74, Y:-11.75, Z:-6.68 [[ 9.95875894e-01 7.52162035e-02 5.07319038e-02 9.37444823e+01] [-7.49290370e-02 9.97160351e-01 -7.54149134e-03 -1.17501108e+01] [-5.11550853e-02 3.70909674e-03 9.98683834e-01 -6.68010400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.530714057 meters 0.04073560136088276 Centerline is valid? [True, True] Translation: X:93.77, Y:-11.75, Z:-6.68 [[ 9.95967287e-01 7.38198450e-02 5.09881746e-02 9.37732761e+01] [-7.35280237e-02 9.97264359e-01 -7.57811341e-03 -1.17544892e+01] [-5.14081044e-02 3.79849335e-03 9.98670505e-01 -6.68167916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.560714057 meters 0.03826637145254214 Centerline is valid? [True, True] Translation: X:93.80, Y:-11.75, Z:-6.68 [[ 9.95989853e-01 7.32106693e-02 5.14238382e-02 9.38021353e+01] [-7.29131550e-02 9.97309027e-01 -7.64040409e-03 -1.17545543e+01] [-5.18448171e-02 3.86029067e-03 9.98647692e-01 -6.68213608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.590714057 meters 0.04356190043562101 Centerline is valid? [True, True] Translation: X:93.83, Y:-11.77, Z:-6.69 [[ 9.95975692e-01 7.29437344e-02 5.20733391e-02 9.38284731e+01] [-7.26384748e-02 9.97328355e-01 -7.73331393e-03 -1.17660939e+01] [-5.24983144e-02 3.91966477e-03 9.98613320e-01 -6.68531905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.620714057 meters 0.03842601879471637 Centerline is valid? [True, True] Translation: X:93.86, Y:-11.76, Z:-6.68 [[ 9.95969358e-01 7.27597761e-02 5.24504758e-02 9.38585322e+01] [-7.24500883e-02 9.97341662e-01 -7.78425750e-03 -1.17622032e+01] [-5.28774256e-02 3.95284034e-03 9.98593187e-01 -6.68487401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.650714057 meters 0.04072067100811475 Centerline is valid? [True, True] Translation: X:93.89, Y:-11.77, Z:-6.69 [[ 9.95960709e-01 7.29167892e-02 5.23966424e-02 9.38857343e+01] [-7.26081367e-02 9.97330257e-01 -7.77280499e-03 -1.17689483e+01] [-5.28235249e-02 3.93698580e-03 9.98596102e-01 -6.68739977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.680714057 meters 0.04056226194158334 Centerline is valid? [True, True] Translation: X:93.91, Y:-11.77, Z:-6.69 [[ 9.95945896e-01 7.29250803e-02 5.26659818e-02 9.39143045e+01] [-7.26135417e-02 9.97329594e-01 -7.80735338e-03 -1.17719147e+01] [-5.30946941e-02 3.95143809e-03 9.98581664e-01 -6.68906571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.710714057 meters 0.039312778762670024 Centerline is valid? [True, True] Translation: X:93.94, Y:-11.77, Z:-6.69 [[ 9.95959880e-01 7.27345778e-02 5.26649574e-02 9.39430853e+01] [-7.24229846e-02 9.97343480e-01 -7.80347982e-03 -1.17738540e+01] [-5.30926347e-02 3.95779943e-03 9.98581748e-01 -6.69023050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.740714057 meters 0.03928787081187813 Centerline is valid? [True, True] Translation: X:93.97, Y:-11.78, Z:-6.69 [[ 9.95976012e-01 7.20517460e-02 5.32947408e-02 9.39711263e+01] [-7.17318612e-02 9.97392719e-01 -7.89334440e-03 -1.17777102e+01] [-5.37245156e-02 4.03865072e-03 9.98547628e-01 -6.69140439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.770714057 meters 0.04005261997616377 Centerline is valid? [True, True] Translation: X:94.00, Y:-11.78, Z:-6.69 [[ 9.96008778e-01 7.13799508e-02 5.35856025e-02 9.39979493e+01] [-7.10558915e-02 9.97440806e-01 -7.93093565e-03 -1.17827792e+01] [-5.40145763e-02 4.09170877e-03 9.98531764e-01 -6.69336934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.80071405700001 meters 0.03985408760208113 Centerline is valid? [True, True] Translation: X:94.03, Y:-11.79, Z:-6.69 [[ 9.96065600e-01 7.04287909e-02 5.37875978e-02 9.40262278e+01] [-7.01012533e-02 9.97508166e-01 -7.95438255e-03 -1.17866161e+01] [-5.42137856e-02 4.15250881e-03 9.98520717e-01 -6.69489128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.83071405700001 meters 0.04492806659232301 Centerline is valid? [True, True] Translation: X:94.05, Y:-11.80, Z:-6.70 [[ 9.96191221e-01 6.91856046e-02 5.30698019e-02 9.40534418e+01] [-6.88652288e-02 9.97595133e-01 -7.84412298e-03 -1.17983878e+01] [-5.34848765e-02 4.15958240e-03 9.98559996e-01 -6.69834575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.86071405700001 meters 0.04223511931641165 Centerline is valid? [True, True] Translation: X:94.08, Y:-11.80, Z:-6.70 [[ 9.96269088e-01 6.82209926e-02 5.28564189e-02 9.40832826e+01] [-6.79020116e-02 9.97661430e-01 -7.80941832e-03 -1.17995966e+01] [-5.32655768e-02 4.19122489e-03 9.98571586e-01 -6.69980549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.890714057 meters 0.044056348138564065 Centerline is valid? [True, True] Translation: X:94.11, Y:-11.81, Z:-6.70 [[ 9.96436325e-01 6.63705096e-02 5.20538674e-02 9.41127954e+01] [-6.60587708e-02 9.97786113e-01 -7.68845712e-03 -1.18072036e+01] [-5.24489128e-02 4.22244347e-03 9.98614682e-01 -6.70328376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.920714057 meters 0.04308432276823495 Centerline is valid? [True, True] Translation: X:94.14, Y:-11.81, Z:-6.70 [[ 9.96488709e-01 6.56062571e-02 5.20199165e-02 9.41424369e+01] [-6.52938614e-02 9.97836493e-01 -7.68401604e-03 -1.18104399e+01] [-5.24114906e-02 4.26045400e-03 9.98616485e-01 -6.70480594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.950714057 meters 0.04555578807607018 Centerline is valid? [True, True] Translation: X:94.17, Y:-11.82, Z:-6.71 [[ 9.96619342e-01 6.40923881e-02 5.14009082e-02 9.41695791e+01] [-6.37854722e-02 9.97934762e-01 -7.59104748e-03 -1.18184073e+01] [-5.17812814e-02 4.28675354e-03 9.98649249e-01 -6.70698508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.980714057 meters 0.04764479282045895 Centerline is valid? [True, True] Translation: X:94.20, Y:-11.83, Z:-6.71 [[ 9.96674406e-01 6.33224026e-02 5.12874337e-02 9.41973342e+01] [-6.30159712e-02 9.97983797e-01 -7.57156378e-03 -1.18255096e+01] [-5.16634774e-02 4.31445639e-03 9.98655231e-01 -6.70897680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.010714057 meters 0.04519443363598848 Centerline is valid? [True, True] Translation: X:94.23, Y:-11.83, Z:-6.71 [[ 9.96716519e-01 6.26392999e-02 5.13078809e-02 9.42266907e+01] [-6.23318670e-02 9.98026756e-01 -7.57185500e-03 -1.18271017e+01] [-5.16809336e-02 4.34887696e-03 9.98654179e-01 -6.70949356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.040714057 meters 0.047110338448598535 Centerline is valid? [True, True] Translation: X:94.26, Y:-11.84, Z:-6.71 [[ 9.96820415e-01 6.09497666e-02 5.13243327e-02 9.42554844e+01] [-6.06400966e-02 9.98130985e-01 -7.57076249e-03 -1.18354682e+01] [-5.16898429e-02 4.43437812e-03 9.98653341e-01 -6.71168767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.070714057 meters 0.05137123998778507 Centerline is valid? [True, True] Translation: X:94.28, Y:-11.85, Z:-6.72 [[ 9.96863511e-01 6.02309042e-02 5.13359352e-02 9.42830695e+01] [-5.99201457e-02 9.98174450e-01 -7.57252860e-03 -1.18464523e+01] [-5.16983191e-02 4.47272073e-03 9.98652732e-01 -6.71530047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.100714057 meters 0.04875795969920393 Centerline is valid? [True, True] Translation: X:94.31, Y:-11.85, Z:-6.72 [[ 9.96933433e-01 5.91482157e-02 5.12368793e-02 9.43136097e+01] [-5.88373617e-02 9.98238989e-01 -7.55553460e-03 -1.18495113e+01] [-5.15935469e-02 4.51772225e-03 9.98657947e-01 -6.71703501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.130714057 meters 0.048092184035855814 Centerline is valid? [True, True] Translation: X:94.34, Y:-11.85, Z:-6.72 [[ 9.96945185e-01 5.89407571e-02 5.12473039e-02 9.43440772e+01] [-5.86295047e-02 9.98251207e-01 -7.55707185e-03 -1.18539852e+01] [-5.16031025e-02 4.52938234e-03 9.98657401e-01 -6.71899946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.160714057 meters 0.05289828402667625 Centerline is valid? [True, True] Translation: X:94.37, Y:-11.87, Z:-6.72 [[ 9.96941225e-01 5.87069238e-02 5.15915814e-02 9.43723905e+01] [-5.83911449e-02 9.98264790e-01 -7.60812814e-03 -1.18654019e+01] [-5.19487089e-02 4.57236508e-03 9.98639287e-01 -6.72195290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.19071405700001 meters 0.05395297614508359 Centerline is valid? [True, True] Translation: X:94.40, Y:-11.87, Z:-6.72 [[ 9.96971320e-01 5.83983485e-02 5.13597215e-02 9.44010004e+01] [-5.80850461e-02 9.98282914e-01 -7.57302642e-03 -1.18725409e+01] [-5.17137847e-02 4.56685836e-03 9.98651505e-01 -6.72344360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.22071405700001 meters 0.05356359762309216 Centerline is valid? [True, True] Translation: X:94.43, Y:-11.88, Z:-6.72 [[ 9.96962636e-01 5.83541228e-02 5.15780843e-02 9.44313113e+01] [-5.80381488e-02 9.98285406e-01 -7.60406904e-03 -1.18789113e+01] [-5.19333776e-02 4.58747618e-03 9.98640015e-01 -6.72473878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.250714057 meters 0.0435020855701032 Centerline is valid? [True, True] Translation: X:94.46, Y:-11.87, Z:-6.72 [[ 9.96979236e-01 5.80928851e-02 5.15521061e-02 9.44635703e+01] [-5.77768835e-02 9.98300590e-01 -7.60023911e-03 -1.18711822e+01] [-5.19060177e-02 4.59876056e-03 9.98641385e-01 -6.72397225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.280714057 meters 0.0465943795070839 Centerline is valid? [True, True] Translation: X:94.49, Y:-11.88, Z:-6.73 [[ 9.96980723e-01 5.78781900e-02 5.17643947e-02 9.44929265e+01] [-5.75593058e-02 9.98312922e-01 -7.63124130e-03 -1.18809918e+01] [-5.21187465e-02 4.62867784e-03 9.98630168e-01 -6.72637091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.310714057 meters 0.045171966518811835 Centerline is valid? [True, True] Translation: X:94.52, Y:-11.89, Z:-6.73 [[ 9.96983467e-01 5.78266948e-02 5.17690985e-02 9.45229385e+01] [-5.75076192e-02 9.98315886e-01 -7.63317304e-03 -1.18858289e+01] [-5.21233146e-02 4.63302972e-03 9.98629909e-01 -6.72811215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.340714057 meters 0.04523023081576521 Centerline is valid? [True, True] Translation: X:94.55, Y:-11.89, Z:-6.73 [[ 9.96965045e-01 5.86890683e-02 5.11497071e-02 9.45526395e+01] [-5.83787162e-02 9.98266020e-01 -7.54184594e-03 -1.18926387e+01] [-5.15036384e-02 4.53290254e-03 9.98662520e-01 -6.73082164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.370714057 meters 0.04463742027294322 Centerline is valid? [True, True] Translation: X:94.58, Y:-11.90, Z:-6.73 [[ 9.96978202e-01 5.90764244e-02 5.04424477e-02 9.45826317e+01] [-5.87750967e-02 9.98243543e-01 -7.43756302e-03 -1.18974056e+01] [-5.07932324e-02 4.45032846e-03 9.98699275e-01 -6.73269550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.400714057 meters 0.04763111369789021 Centerline is valid? [True, True] Translation: X:94.61, Y:-11.91, Z:-6.74 [[ 9.96921842e-01 6.00616905e-02 5.03928067e-02 9.46113643e+01] [-5.97622045e-02 9.98184988e-01 -7.43024362e-03 -1.19067366e+01] [-5.07476162e-02 4.39578693e-03 9.98701836e-01 -6.73590431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.430714057 meters 0.04588149226666535 Centerline is valid? [True, True] Translation: X:94.64, Y:-11.91, Z:-6.74 [[ 9.96824776e-01 6.18141733e-02 5.01933711e-02 9.46415372e+01] [-6.15192432e-02 9.98078457e-01 -7.40115378e-03 -1.19097539e+01] [-5.05544185e-02 4.28979525e-03 9.98712095e-01 -6.73703523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.460714057 meters 0.04364136781423064 Centerline is valid? [True, True] Translation: X:94.67, Y:-11.91, Z:-6.74 [[ 9.96791540e-01 6.23150628e-02 5.02340467e-02 9.46714283e+01] [-6.20203139e-02 9.98047405e-01 -7.40658189e-03 -1.19114964e+01] [-5.05975015e-02 4.26728683e-03 9.98710010e-01 -6.73828102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.490714057 meters 0.04385415684393433 Centerline is valid? [True, True] Translation: X:94.70, Y:-11.92, Z:-6.74 [[ 9.96699004e-01 6.36308358e-02 5.04203493e-02 9.47008884e+01] [-6.33356588e-02 9.97964607e-01 -7.43219724e-03 -1.19179499e+01] [-5.07906410e-02 4.21425755e-03 9.98700431e-01 -6.74076346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.520714057 meters 0.04526733838990294 Centerline is valid? [True, True] Translation: X:94.73, Y:-11.92, Z:-6.74 [[ 9.96693305e-01 6.38284909e-02 5.02830035e-02 9.47290360e+01] [-6.35352433e-02 9.97952081e-01 -7.41052985e-03 -1.19246287e+01] [-5.06530309e-02 4.19128263e-03 9.98707517e-01 -6.74321667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.55071405700001 meters 0.045422904278246336 Centerline is valid? [True, True] Translation: X:94.76, Y:-11.93, Z:-6.75 [[ 9.96601653e-01 6.48045999e-02 5.08478994e-02 9.47586253e+01] [-6.45061301e-02 9.97889195e-01 -7.49085424e-03 -1.19306961e+01] [-5.12260112e-02 4.18539651e-03 9.98678316e-01 -6.74544995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.58071405700001 meters 0.04632771977087353 Centerline is valid? [True, True] Translation: X:94.79, Y:-11.94, Z:-6.75 [[ 9.96559285e-01 6.51563666e-02 5.12273383e-02 9.47864342e+01] [-6.48539888e-02 9.97866242e-01 -7.54468197e-03 -1.19367157e+01] [-5.16096157e-02 4.19642564e-03 9.98658519e-01 -6.74754434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.61071405700001 meters 0.042864044539789106 Centerline is valid? [True, True] Translation: X:94.82, Y:-11.94, Z:-6.75 [[ 9.96519903e-01 6.55195364e-02 5.15293505e-02 9.48167936e+01] [-6.52142166e-02 9.97842451e-01 -7.58616161e-03 -1.19365624e+01] [-5.19152152e-02 4.19931480e-03 9.98642667e-01 -6.74811357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.640714057 meters 0.041524945055322296 Centerline is valid? [True, True] Translation: X:94.85, Y:-11.94, Z:-6.75 [[ 9.96482080e-01 6.61417616e-02 5.14658345e-02 9.48461194e+01] [-6.58381144e-02 9.97801565e-01 -7.57496827e-03 -1.19400001e+01] [-5.18537120e-02 4.15990664e-03 9.98646027e-01 -6.74995192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.670714057 meters 0.04073175234184692 Centerline is valid? [True, True] Translation: X:94.88, Y:-11.94, Z:-6.75 [[ 9.96413258e-01 6.68533477e-02 5.18772436e-02 9.48752285e+01] [-6.65458781e-02 9.97754165e-01 -7.63361478e-03 -1.19442846e+01] [-5.22710686e-02 4.15401824e-03 9.98624293e-01 -6.75164793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.700714057 meters 0.047155924740790604 Centerline is valid? [True, True] Translation: X:94.90, Y:-11.96, Z:-6.76 [[ 9.96367024e-01 6.72305339e-02 5.22762649e-02 9.49018172e+01] [-6.69189134e-02 9.97728777e-01 -7.69067494e-03 -1.19579735e+01] [-5.26745820e-02 4.16446406e-03 9.98603047e-01 -6.75504636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.730714057 meters 0.04132930371403967 Centerline is valid? [True, True] Translation: X:94.93, Y:-11.96, Z:-6.76 [[ 9.96305821e-01 6.77104917e-02 5.28204495e-02 9.49320254e+01] [-6.73931809e-02 9.97696259e-01 -7.76755596e-03 -1.19550156e+01] [-5.32247099e-02 4.17912311e-03 9.98573816e-01 -6.75563090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.760714057 meters 0.039835104483256105 Centerline is valid? [True, True] Translation: X:94.96, Y:-11.96, Z:-6.76 [[ 9.96208112e-01 6.88805855e-02 5.31494409e-02 9.49612894e+01] [-6.85610618e-02 9.97616320e-01 -7.81401129e-03 -1.19589645e+01] [-5.35609833e-02 4.14039933e-03 9.98555997e-01 -6.75790410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.790714057 meters 0.043843228137032654 Centerline is valid? [True, True] Translation: X:94.99, Y:-11.97, Z:-6.76 [[ 9.96187041e-01 6.94265694e-02 5.28330551e-02 9.49881196e+01] [-6.91117127e-02 9.97578703e-01 -7.76548958e-03 -1.19691883e+01] [-5.32442619e-02 4.08449716e-03 9.98573165e-01 -6.76158915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.820714057 meters 0.040570726675831 Centerline is valid? [True, True] Translation: X:95.02, Y:-11.97, Z:-6.76 [[ 9.96130379e-01 7.07850131e-02 5.20936590e-02 9.50180998e+01] [-7.04808392e-02 9.97483758e-01 -7.65536093e-03 -1.19704993e+01] [-5.25044636e-02 3.95413278e-03 9.98612861e-01 -6.76344812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.850714057 meters 0.0371609955523979 Centerline is valid? [True, True] Translation: X:95.05, Y:-11.97, Z:-6.76 [[ 9.96115047e-01 7.10333451e-02 5.20487951e-02 9.50473206e+01] [-7.07300981e-02 9.97466174e-01 -7.64751447e-03 -1.19701015e+01] [-5.24601410e-02 3.93638785e-03 9.98615260e-01 -6.76449436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.880714057 meters 0.03614567827301902 Centerline is valid? [True, True] Translation: X:95.08, Y:-11.97, Z:-6.77 [[ 9.96097325e-01 7.15097463e-02 5.17346614e-02 9.50758442e+01] [-7.12109892e-02 9.97432340e-01 -7.59756865e-03 -1.19737087e+01] [-5.21451245e-02 3.88384140e-03 9.98631965e-01 -6.76634917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.910714057 meters 0.036636627561675184 Centerline is valid? [True, True] Translation: X:95.10, Y:-11.98, Z:-6.77 [[ 9.96106926e-01 7.18316306e-02 5.10999977e-02 9.51025988e+01] [-7.15407656e-02 9.97409472e-01 -7.50091455e-03 -1.19802836e+01] [-5.15064247e-02 3.81597997e-03 9.98665373e-01 -6.76913092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.94071405700001 meters 0.037574184238461004 Centerline is valid? [True, True] Translation: X:95.13, Y:-11.99, Z:-6.77 [[ 9.96129395e-01 7.17066061e-02 5.08369002e-02 9.51310657e+01] [-7.14188268e-02 9.97418538e-01 -7.45728922e-03 -1.19861992e+01] [-5.12404035e-02 3.79771323e-03 9.98679127e-01 -6.77137027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.97071405700001 meters 0.0384867751186188 Centerline is valid? [True, True] Translation: X:95.16, Y:-11.99, Z:-6.77 [[ 9.96088584e-01 7.20185139e-02 5.11944005e-02 9.51582107e+01] [-7.17272585e-02 9.97396038e-01 -7.50623221e-03 -1.19933109e+01] [-5.16016799e-02 3.80483821e-03 9.98660498e-01 -6.77359744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.000714057 meters 0.040117461876399724 Centerline is valid? [True, True] Translation: X:95.19, Y:-12.00, Z:-6.78 [[ 9.96128227e-01 7.14339367e-02 5.12420457e-02 9.51859109e+01] [-7.11416436e-02 9.97437967e-01 -7.50791997e-03 -1.20007372e+01] [-5.16470821e-02 3.83340766e-03 9.98658042e-01 -6.77623682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.030714057 meters 0.03990098091132967 Centerline is valid? [True, True] Translation: X:95.21, Y:-12.01, Z:-6.78 [[ 9.96144828e-01 7.11092141e-02 5.13708132e-02 9.52145251e+01] [-7.08151640e-02 9.97461078e-01 -7.52399930e-03 -1.20062013e+01] [-5.17754124e-02 3.85716043e-03 9.98651305e-01 -6.77834368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.060714057 meters 0.03990098091132967 Centerline is valid? [True, True] Translation: X:95.24, Y:-12.01, Z:-6.78 [[ 9.96149799e-01 7.10392890e-02 5.13711677e-02 9.52425573e+01] [-7.07452707e-02 9.97466056e-01 -7.52157829e-03 -1.20102432e+01] [-5.17753236e-02 3.85835154e-03 9.98651305e-01 -6.78029548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.090714057 meters 0.040622239011026316 Centerline is valid? [True, True] Translation: X:95.27, Y:-12.02, Z:-6.78 [[ 9.96154852e-01 7.09572572e-02 5.13865523e-02 9.52717938e+01] [-7.06631761e-02 9.97471890e-01 -7.51954882e-03 -1.20162555e+01] [-5.17902080e-02 3.85949805e-03 9.98650529e-01 -6.78221143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.120714057 meters 0.04152972190452347 Centerline is valid? [True, True] Translation: X:95.30, Y:-12.02, Z:-6.78 [[ 9.96130973e-01 7.08192093e-02 5.20357888e-02 9.52997973e+01] [-7.05175389e-02 9.97481488e-01 -7.61294510e-03 -1.20223819e+01] [-5.24438788e-02 3.91405465e-03 9.98616202e-01 -6.78388269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.150714057 meters 0.04293154198924585 Centerline is valid? [True, True] Translation: X:95.33, Y:-12.03, Z:-6.78 [[ 9.96138162e-01 7.02555555e-02 5.26585154e-02 9.53281271e+01] [-6.99459826e-02 9.97521053e-01 -7.70118894e-03 -1.20292597e+01] [-5.30690290e-02 3.98819659e-03 9.98582882e-01 -6.78423821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.180714057 meters 0.04462721331470269 Centerline is valid? [True, True] Translation: X:95.36, Y:-12.04, Z:-6.79 [[ 9.96138756e-01 6.92473609e-02 5.39664962e-02 9.53558017e+01] [-6.89208884e-02 9.97590931e-01 -7.88954759e-03 -1.20368923e+01] [-5.43828176e-02 4.13966526e-03 9.98511578e-01 -6.78521511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.210714057 meters 0.045788610045046856 Centerline is valid? [True, True] Translation: X:95.39, Y:-12.04, Z:-6.79 [[ 9.96174285e-01 6.84382832e-02 5.43414692e-02 9.53850040e+01] [-6.81062265e-02 9.97646470e-01 -7.94126702e-03 -1.20440142e+01] [-5.47570615e-02 4.20989359e-03 9.98490832e-01 -6.78742305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.240714057 meters 0.046902359882527424 Centerline is valid? [True, True] Translation: X:95.41, Y:-12.05, Z:-6.79 [[ 9.96229320e-01 6.73520661e-02 5.46885860e-02 9.54145121e+01] [-6.70142519e-02 9.97720029e-01 -7.98965219e-03 -1.20512741e+01] [-5.51020172e-02 4.29461109e-03 9.98471494e-01 -6.78970469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.270714057 meters 0.049880018921946205 Centerline is valid? [True, True] Translation: X:95.44, Y:-12.06, Z:-6.79 [[ 9.96391589e-01 6.48204640e-02 5.47915105e-02 9.54431508e+01] [-6.44776202e-02 9.97887055e-01 -8.00385972e-03 -1.20622656e+01] [-5.51945529e-02 4.44215230e-03 9.98465737e-01 -6.79285443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.30071405700001 meters 0.051180366462544175 Centerline is valid? [True, True] Translation: X:95.47, Y:-12.07, Z:-6.80 [[ 9.96492281e-01 6.35327124e-02 5.44676742e-02 9.54738792e+01] [-6.31917964e-02 9.97969654e-01 -7.96034864e-03 -1.20693245e+01] [-5.48628285e-02 4.49051580e-03 9.98483803e-01 -6.79565246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.33071405700001 meters 0.05110320706522771 Centerline is valid? [True, True] Translation: X:95.50, Y:-12.08, Z:-6.80 [[ 9.96619241e-01 6.22625584e-02 5.36046856e-02 9.55048027e+01] [-6.19304547e-02 9.98049706e-01 -7.83598242e-03 -1.20750114e+01] [-5.39880290e-02 4.48972830e-03 9.98531489e-01 -6.79842339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.36071405700001 meters 0.05135802371228246 Centerline is valid? [True, True] Translation: X:95.54, Y:-12.08, Z:-6.80 [[ 9.96644076e-01 6.22899698e-02 5.31088017e-02 9.55365394e+01] [-6.19640946e-02 9.98048194e-01 -7.76225491e-03 -1.20801607e+01] [-5.34886542e-02 4.44536656e-03 9.98558562e-01 -6.80099979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.390714057 meters 0.052439438446394225 Centerline is valid? [True, True] Translation: X:95.57, Y:-12.09, Z:-6.80 [[ 9.96671371e-01 6.24519763e-02 5.24016161e-02 9.55682616e+01] [-6.21343105e-02 9.98038317e-01 -7.67107738e-03 -1.20864679e+01] [-5.27778946e-02 4.38960492e-03 9.98596628e-01 -6.80384945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.420714057 meters 0.04251048936064946 Centerline is valid? [True, True] Translation: X:95.60, Y:-12.08, Z:-6.80 [[ 9.96643706e-01 6.29543839e-02 5.23265576e-02 9.56014416e+01] [-6.26375053e-02 9.98006829e-01 -7.67544473e-03 -1.20787469e+01] [-5.27054647e-02 4.37207865e-03 9.98600530e-01 -6.80379875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.450714057 meters 0.0415703123509116 Centerline is valid? [True, True] Translation: X:95.63, Y:-12.08, Z:-6.81 [[ 9.96646979e-01 6.30940192e-02 5.20955325e-02 9.56328687e+01] [-6.27800263e-02 9.97998119e-01 -7.64343821e-03 -1.20820242e+01] [-5.24734987e-02 4.34725070e-03 9.98612855e-01 -6.80560496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.480714057 meters 0.043005014901743764 Centerline is valid? [True, True] Translation: X:95.66, Y:-12.09, Z:-6.81 [[ 9.96550628e-01 6.43963909e-02 5.23445412e-02 9.56628212e+01] [-6.40810666e-02 9.97915129e-01 -7.68190137e-03 -1.20895732e+01] [-5.27300963e-02 4.30110960e-03 9.98599538e-01 -6.80797019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.510714057 meters 0.042599502755842546 Centerline is valid? [True, True] Translation: X:95.69, Y:-12.09, Z:-6.81 [[ 9.96494304e-01 6.49897730e-02 5.26823619e-02 9.56926358e+01] [-6.46710508e-02 9.97876666e-01 -7.73397887e-03 -1.20934028e+01] [-5.30731291e-02 4.29984219e-03 9.98581371e-01 -6.80950867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.540714057 meters 0.0390052106489052 Centerline is valid? [True, True] Translation: X:95.72, Y:-12.09, Z:-6.81 [[ 9.96319177e-01 6.70747934e-02 5.33766848e-02 9.57237519e+01] [-6.67505957e-02 9.97738925e-01 -7.83551183e-03 -1.20929942e+01] [-5.37815615e-02 4.24374519e-03 9.98543707e-01 -6.81050587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.570714057 meters 0.03764046588833109 Centerline is valid? [True, True] Translation: X:95.75, Y:-12.10, Z:-6.81 [[ 9.96213500e-01 6.84330818e-02 5.36244000e-02 9.57544772e+01] [-6.81077324e-02 9.97646904e-01 -7.87346323e-03 -1.20954612e+01] [-5.40370220e-02 4.19141407e-03 9.98530136e-01 -6.81253354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.600714057 meters 0.03913700433560505 Centerline is valid? [True, True] Translation: X:95.78, Y:-12.10, Z:-6.82 [[ 9.96093923e-01 7.01938240e-02 5.35697963e-02 9.57838690e+01] [-6.98715984e-02 9.97524974e-01 -7.86670810e-03 -1.21016489e+01] [-5.39894040e-02 4.09297284e-03 9.98533120e-01 -6.81522258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.630714057 meters 0.03818569182512092 Centerline is valid? [True, True] Translation: X:95.81, Y:-12.10, Z:-6.82 [[ 9.95849109e-01 7.37306637e-02 5.33698606e-02 9.58143116e+01] [-7.34158848e-02 9.97270617e-01 -7.83740201e-03 -1.21036725e+01] [-5.38020507e-02 3.88667427e-03 9.98544057e-01 -6.81731760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.660714057 meters 0.03731913216595747 Centerline is valid? [True, True] Translation: X:95.84, Y:-12.11, Z:-6.82 [[ 9.95777576e-01 7.48553792e-02 5.31384257e-02 9.58438920e+01] [-7.45449040e-02 9.97187124e-01 -7.80370230e-03 -1.21054360e+01] [-5.35731030e-02 3.80955291e-03 9.98556663e-01 -6.81929555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.69071405700001 meters 0.03699955725269634 Centerline is valid? [True, True] Translation: X:95.87, Y:-12.11, Z:-6.82 [[ 9.95508699e-01 7.76006076e-02 5.42270715e-02 9.58723140e+01] [-7.72814109e-02 9.96977529e-01 -7.96180131e-03 -1.21076487e+01] [-5.46810124e-02 3.73529787e-03 9.98496888e-01 -6.82108139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.72071405700001 meters 0.03698973565246225 Centerline is valid? [True, True] Translation: X:95.90, Y:-12.11, Z:-6.82 [[ 9.95382274e-01 7.90123751e-02 5.45084636e-02 9.59008482e+01] [-7.86921089e-02 9.96866865e-01 -8.00037687e-03 -1.21110608e+01] [-5.49698100e-02 3.67404737e-03 9.98481257e-01 -6.82253144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.750714057 meters 0.037068196710231746 Centerline is valid? [True, True] Translation: X:95.93, Y:-12.11, Z:-6.82 [[ 9.95193017e-01 8.07979691e-02 5.53402838e-02 9.59296905e+01] [-8.04708366e-02 9.96723905e-01 -8.11800262e-03 -1.21143017e+01] [-5.58149019e-02 3.62570058e-03 9.98434550e-01 -6.82358764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.780714057 meters 0.037472850194854815 Centerline is valid? [True, True] Translation: X:95.96, Y:-12.12, Z:-6.83 [[ 9.95178642e-01 8.08632771e-02 5.55031570e-02 9.59577868e+01] [-8.05344012e-02 9.96718589e-01 -8.14035611e-03 -1.21185808e+01] [-5.59792842e-02 3.63119502e-03 9.98425327e-01 -6.82598395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.810714057 meters 0.03782777129903885 Centerline is valid? [True, True] Translation: X:95.99, Y:-12.12, Z:-6.83 [[ 9.95166369e-01 8.11377489e-02 5.53223683e-02 9.59862518e+01] [-8.08116518e-02 9.96696396e-01 -8.10998828e-03 -1.21227175e+01] [-5.57976313e-02 3.60009562e-03 9.98435608e-01 -6.82821444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.840714057 meters 0.03833779486791599 Centerline is valid? [True, True] Translation: X:96.01, Y:-12.13, Z:-6.83 [[ 9.95188160e-01 8.14252046e-02 5.45019528e-02 9.60137754e+01] [-8.11093412e-02 9.96673214e-01 -7.98621611e-03 -1.21268857e+01] [-5.49709157e-02 3.52717023e-03 9.98481726e-01 -6.83103663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.870714057 meters 0.03892949636387514 Centerline is valid? [True, True] Translation: X:96.04, Y:-12.13, Z:-6.83 [[ 9.95172662e-01 8.15986812e-02 5.45254793e-02 9.60420583e+01] [-8.12830779e-02 9.96659072e-01 -7.98468649e-03 -1.21316551e+01] [-5.49948535e-02 3.51414293e-03 9.98480454e-01 -6.83336863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.900714057 meters 0.039095311765443695 Centerline is valid? [True, True] Translation: X:96.07, Y:-12.14, Z:-6.84 [[ 9.95049724e-01 8.28400621e-02 5.48960023e-02 9.60699231e+01] [-8.25222399e-02 9.96556830e-01 -8.03515121e-03 -1.21355797e+01] [-5.53726185e-02 3.46523392e-03 9.98459746e-01 -6.83540215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.930714057 meters 0.03183304368198201 Centerline is valid? [True, True] Translation: X:96.10, Y:-12.13, Z:-6.84 [[ 9.94938482e-01 8.35955162e-02 5.57602659e-02 9.61003429e+01] [-8.32689893e-02 9.96493715e-01 -8.15786599e-03 -1.21288354e+01] [-5.62467155e-02 3.47347382e-03 9.98410858e-01 -6.83515989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.960714057 meters 0.03920795005353991 Centerline is valid? [True, True] Translation: X:96.13, Y:-12.14, Z:-6.84 [[ 9.94794826e-01 8.48082059e-02 5.64873689e-02 9.61263155e+01] [-8.44752729e-02 9.96391337e-01 -8.26020641e-03 -1.21430610e+01] [-5.69840583e-02 3.44542470e-03 9.98369143e-01 -6.83861689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.990714057 meters 0.03208861399146458 Centerline is valid? [True, True] Translation: X:96.16, Y:-12.14, Z:-6.84 [[ 9.94594903e-01 8.62206059e-02 5.78531412e-02 9.61569033e+01] [-8.58740496e-02 9.96270128e-01 -8.45454623e-03 -1.21365067e+01] [-5.83663125e-02 3.44076507e-03 9.98289304e-01 -6.83821948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.020714057 meters 0.0323865860180257 Centerline is valid? [True, True] Translation: X:96.19, Y:-12.14, Z:-6.84 [[ 9.94509945e-01 8.69268415e-02 5.82554174e-02 9.61853516e+01] [-8.65770030e-02 9.96208838e-01 -8.50731707e-03 -1.21399789e+01] [-5.87740758e-02 3.41703199e-03 9.98265462e-01 -6.84038570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.05071405700001 meters 0.03191450558530008 Centerline is valid? [True, True] Translation: X:96.21, Y:-12.14, Z:-6.84 [[ 9.94421546e-01 8.78858481e-02 5.83255285e-02 9.62145205e+01] [-8.75370658e-02 9.96124886e-01 -8.51318647e-03 -1.21426959e+01] [-5.88476990e-02 3.36005042e-03 9.98261318e-01 -6.84298078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.08071405700001 meters 0.03227192079919415 Centerline is valid? [True, True] Translation: X:96.24, Y:-12.15, Z:-6.85 [[ 9.94481677e-01 8.73836210e-02 5.80542644e-02 9.62430102e+01] [-8.70373998e-02 9.96169031e-01 -8.47065737e-03 -1.21467237e+01] [-5.85720570e-02 3.37102132e-03 9.98277492e-01 -6.84564998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.11071405700001 meters 0.031724928149580625 Centerline is valid? [True, True] Translation: X:96.27, Y:-12.15, Z:-6.85 [[ 9.94501456e-01 8.71019180e-02 5.81387128e-02 9.62711393e+01] [-8.67544533e-02 9.96193643e-01 -8.47880570e-03 -1.21500274e+01] [-5.86559363e-02 3.38839237e-03 9.98272508e-01 -6.84796045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.140714057 meters 0.03278016551831615 Centerline is valid? [True, True] Translation: X:96.30, Y:-12.16, Z:-6.85 [[ 9.94670244e-01 8.47456597e-02 5.87305614e-02 9.63001292e+01] [-8.43872611e-02 9.96396261e-01 -8.56046401e-03 -1.21558143e+01] [-5.92443740e-02 3.55872760e-03 9.98237166e-01 -6.85140275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.170714057 meters 0.034703213018481636 Centerline is valid? [True, True] Translation: X:96.33, Y:-12.16, Z:-6.85 [[ 9.94771932e-01 8.34069221e-02 5.89244293e-02 9.63275028e+01] [-8.30439207e-02 9.96508892e-01 -8.58689845e-03 -1.21630464e+01] [-5.94349246e-02 3.64868992e-03 9.98225514e-01 -6.85383815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.200714057 meters 0.035474665351222824 Centerline is valid? [True, True] Translation: X:96.36, Y:-12.17, Z:-6.86 [[ 9.94997671e-01 8.02812419e-02 5.94521323e-02 9.63576335e+01] [-7.99064434e-02 9.96764759e-01 -8.65885816e-03 -1.21684295e+01] [-5.99549342e-02 3.86493525e-03 9.98193603e-01 -6.85609170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.230714057 meters 0.038494020671214685 Centerline is valid? [True, True] Translation: X:96.39, Y:-12.18, Z:-6.86 [[ 9.95144989e-01 7.86941138e-02 5.91074183e-02 9.63850150e+01] [-7.83208545e-02 9.96891032e-01 -8.60890992e-03 -1.21762332e+01] [-5.96011258e-02 3.93777006e-03 9.98214506e-01 -6.85895010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.260714057 meters 0.03578663738137121 Centerline is valid? [True, True] Translation: X:96.42, Y:-12.18, Z:-6.86 [[ 9.95347916e-01 7.58476504e-02 5.94109435e-02 9.64153041e+01] [-7.54656078e-02 9.97110875e-01 -8.65129506e-03 -1.21759628e+01] [-5.98954783e-02 4.12756555e-03 9.98196120e-01 -6.86136726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.290714057 meters 0.03643049573963135 Centerline is valid? [True, True] Translation: X:96.44, Y:-12.18, Z:-6.86 [[ 9.95435658e-01 7.45317681e-02 5.96059232e-02 9.64440083e+01] [-7.41449141e-02 9.97209712e-01 -8.67886319e-03 -1.21806547e+01] [-6.00864565e-02 4.21977384e-03 9.98184257e-01 -6.86337530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.320714057 meters 0.03931377146098374 Centerline is valid? [True, True] Translation: X:96.47, Y:-12.19, Z:-6.87 [[ 9.95547689e-01 7.21312603e-02 6.06784923e-02 9.64720765e+01] [-7.17261030e-02 9.97385264e-01 -8.83179489e-03 -1.21881499e+01] [-6.11568826e-02 4.44024120e-03 9.98118290e-01 -6.86502685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.350714057 meters 0.0425183439346164 Centerline is valid? [True, True] Translation: X:96.50, Y:-12.20, Z:-6.87 [[ 9.95554808e-01 7.11921371e-02 6.16628171e-02 9.65008623e+01] [-7.07720758e-02 9.97452158e-01 -8.97251169e-03 -1.21967589e+01] [-6.21444823e-02 4.56862158e-03 9.98056707e-01 -6.86700299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.380714057 meters 0.04151486740105479 Centerline is valid? [True, True] Translation: X:96.53, Y:-12.20, Z:-6.87 [[ 9.95602578e-01 7.00136340e-02 6.22382310e-02 9.65318301e+01] [-6.95833857e-02 9.97535029e-01 -9.05639941e-03 -1.21994305e+01] [-6.27188870e-02 4.68582777e-03 9.98020232e-01 -6.86843485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.410714057 meters 0.047063981728882556 Centerline is valid? [True, True] Translation: X:96.56, Y:-12.21, Z:-6.87 [[ 9.95689142e-01 6.81048372e-02 6.29671608e-02 9.65607708e+01] [-6.76604927e-02 9.97666309e-01 -9.16483417e-03 -1.22102168e+01] [-6.34443844e-02 4.86493675e-03 9.97973518e-01 -6.87076469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.44071405700001 meters 0.04394648344599419 Centerline is valid? [True, True] Translation: X:96.59, Y:-12.21, Z:-6.87 [[ 9.95733410e-01 6.72716622e-02 6.31624853e-02 9.65928604e+01] [-6.68228814e-02 9.97722499e-01 -9.19335793e-03 -1.22100181e+01] [-6.36370852e-02 4.93343438e-03 9.97960912e-01 -6.87306923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.47071405700001 meters 0.04384876367924296 Centerline is valid? [True, True] Translation: X:96.62, Y:-12.21, Z:-6.88 [[ 9.95888175e-01 6.51328526e-02 6.29639182e-02 9.66238197e+01] [-6.46816746e-02 9.97863724e-01 -9.17979724e-03 -1.22134704e+01] [-6.34273163e-02 5.06943985e-03 9.97973585e-01 -6.87649121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.500714057 meters 0.045856513284488414 Centerline is valid? [True, True] Translation: X:96.65, Y:-12.22, Z:-6.88 [[ 9.95933318e-01 6.47789198e-02 6.26140399e-02 9.66538884e+01] [-6.43319824e-02 9.97886787e-01 -9.12995683e-03 -1.22203419e+01] [-6.30731518e-02 5.06474289e-03 9.97996055e-01 -6.87929935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.530714057 meters 0.04464291578661463 Centerline is valid? [True, True] Translation: X:96.69, Y:-12.22, Z:-6.88 [[ 9.96011128e-01 6.36420902e-02 6.25421189e-02 9.66856228e+01] [-6.31930528e-02 9.97959524e-01 -9.13378515e-03 -1.22217106e+01] [-6.29957964e-02 5.14512424e-03 9.98000530e-01 -6.88221541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.560714057 meters 0.04273828655106679 Centerline is valid? [True, True] Translation: X:96.72, Y:-12.22, Z:-6.88 [[ 9.96014282e-01 6.40219326e-02 6.21026820e-02 9.67190564e+01] [-6.35790557e-02 9.97935466e-01 -9.08349900e-03 -1.22221819e+01] [-6.25560120e-02 5.09886485e-03 9.98028430e-01 -6.88378811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.590714057 meters 0.04359228607204831 Centerline is valid? [True, True] Translation: X:96.75, Y:-12.23, Z:-6.89 [[ 9.96037414e-01 6.31930131e-02 6.25788589e-02 9.67504771e+01] [-6.27404612e-02 9.97987725e-01 -9.17250260e-03 -1.22270162e+01] [-6.30325711e-02 5.20992930e-03 9.97997872e-01 -6.88622140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.620714057 meters 0.04416204794032769 Centerline is valid? [True, True] Translation: X:96.78, Y:-12.23, Z:-6.89 [[ 9.96050286e-01 6.27935519e-02 6.27757803e-02 9.67829597e+01] [-6.23368694e-02 9.98012679e-01 -9.20903565e-03 -1.22303139e+01] [-6.32292927e-02 5.25941697e-03 9.97985168e-01 -6.88829551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.650714057 meters 0.04366172472969618 Centerline is valid? [True, True] Translation: X:96.81, Y:-12.23, Z:-6.89 [[ 9.96072525e-01 6.25466349e-02 6.26693241e-02 9.68145053e+01] [-6.20900088e-02 9.98028065e-01 -9.20937245e-03 -1.22334167e+01] [-6.31217595e-02 5.28206398e-03 9.97991855e-01 -6.89053240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.680714057 meters 0.04559891116233521 Centerline is valid? [True, True] Translation: X:96.84, Y:-12.24, Z:-6.89 [[ 9.96163105e-01 6.07267613e-02 6.30184785e-02 9.68440178e+01] [-6.02604122e-02 9.98139585e-01 -9.27640540e-03 -1.22390100e+01] [-6.34645640e-02 5.44329331e-03 9.97969248e-01 -6.89333632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.710714057 meters 0.047409121029096626 Centerline is valid? [True, True] Translation: X:96.87, Y:-12.25, Z:-6.90 [[ 9.96192932e-01 5.98732831e-02 6.33627076e-02 9.68748355e+01] [-5.93997870e-02 9.98190652e-01 -9.33204328e-03 -1.22453453e+01] [-6.38068025e-02 5.53278422e-03 9.97946933e-01 -6.89588217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.740714057 meters 0.04372289744762302 Centerline is valid? [True, True] Translation: X:96.91, Y:-12.24, Z:-6.90 [[ 9.96252674e-01 5.82334158e-02 6.39490336e-02 9.69060210e+01] [-5.77471862e-02 9.98286728e-01 -9.42715430e-03 -1.22437562e+01] [-6.43884469e-02 5.69895093e-03 9.97908638e-01 -6.89742502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.770714057 meters 0.04921693601738276 Centerline is valid? [True, True] Translation: X:96.94, Y:-12.26, Z:-6.90 [[ 9.96272464e-01 5.75908564e-02 6.42220470e-02 9.69354848e+01] [-5.70989726e-02 9.98323609e-01 -9.46991751e-03 -1.22552165e+01] [-6.46597664e-02 5.76760514e-03 9.97890700e-01 -6.90014887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.80071405700001 meters 0.04362192720135958 Centerline is valid? [True, True] Translation: X:96.97, Y:-12.25, Z:-6.90 [[ 9.96324647e-01 5.66260565e-02 6.42704259e-02 9.69682000e+01] [-5.61304048e-02 9.98378315e-01 -9.49303149e-03 -1.22519777e+01] [-6.47037525e-02 5.85061622e-03 9.97887366e-01 -6.90182903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.83071405700001 meters 0.05106934920913235 Centerline is valid? [True, True] Translation: X:97.00, Y:-12.27, Z:-6.90 [[ 9.96374471e-01 5.56966768e-02 6.43101396e-02 9.69975407e+01] [-5.51982205e-02 9.98430192e-01 -9.50310296e-03 -1.22656327e+01] [-6.47384762e-02 5.91884391e-03 9.97884711e-01 -6.90453188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.86071405700001 meters 0.04700194280247465 Centerline is valid? [True, True] Translation: X:97.03, Y:-12.26, Z:-6.91 [[ 9.96394895e-01 5.48149474e-02 6.47497839e-02 9.70303864e+01] [-5.43067371e-02 9.98478302e-01 -9.58427940e-03 -1.22640573e+01] [-6.51766160e-02 6.03337758e-03 9.97855504e-01 -6.90694815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.890714057 meters 0.04796097488660893 Centerline is valid? [True, True] Translation: X:97.06, Y:-12.27, Z:-6.91 [[ 9.96409412e-01 5.48743317e-02 6.44755168e-02 9.70620433e+01] [-5.43702833e-02 9.98475194e-01 -9.54776422e-03 -1.22698340e+01] [-6.49011313e-02 6.00793001e-03 9.97873613e-01 -6.90929610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.920714057 meters 0.04837815760165417 Centerline is valid? [True, True] Translation: X:97.09, Y:-12.27, Z:-6.91 [[ 9.96426894e-01 5.46710046e-02 6.43779896e-02 9.70934076e+01] [-5.41669701e-02 9.98486221e-01 -9.55014208e-03 -1.22743557e+01] [-6.48026514e-02 6.02885778e-03 9.97879887e-01 -6.91190470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.950714057 meters 0.04837815760165417 Centerline is valid? [True, True] Translation: X:97.13, Y:-12.28, Z:-6.91 [[ 9.96411358e-01 5.49548457e-02 6.43767809e-02 9.71257176e+01] [-5.44508766e-02 9.98470701e-01 -9.55828260e-03 -1.22792332e+01] [-6.48036035e-02 6.01860920e-03 9.97879887e-01 -6.91415213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.980714057 meters 0.04934011605118897 Centerline is valid? [True, True] Translation: X:97.16, Y:-12.28, Z:-6.92 [[ 9.96449373e-01 5.50720462e-02 6.36845084e-02 9.71574719e+01] [-5.45779256e-02 9.98464568e-01 -9.47400131e-03 -1.22845358e+01] [-6.41084778e-02 5.96459431e-03 9.97925111e-01 -6.91744334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.010714057 meters 0.04867328622091094 Centerline is valid? [True, True] Translation: X:97.19, Y:-12.29, Z:-6.92 [[ 9.96434996e-01 5.55186816e-02 6.35214495e-02 9.71897917e+01] [-5.50269667e-02 9.98440000e-01 -9.46573275e-03 -1.22879169e+01] [-6.39478810e-02 5.93659469e-03 9.97935582e-01 -6.91978730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.040714057 meters 0.048025201220962 Centerline is valid? [True, True] Translation: X:97.22, Y:-12.29, Z:-6.92 [[ 9.96374835e-01 5.64495772e-02 6.36445890e-02 9.72223196e+01] [-5.59567462e-02 9.98387988e-01 -9.50098109e-03 -1.22913844e+01] [-6.40783195e-02 5.90519435e-03 9.97927401e-01 -6.92203684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.070714057 meters 0.04969980106012666 Centerline is valid? [True, True] Translation: X:97.25, Y:-12.30, Z:-6.92 [[ 9.96303251e-01 5.71122155e-02 6.41718473e-02 9.72534411e+01] [-5.66121897e-02 9.98350233e-01 -9.58496709e-03 -1.22975011e+01] [-6.46133974e-02 5.91662508e-03 9.97892831e-01 -6.92426473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.100714057 meters 0.0465484128499238 Centerline is valid? [True, True] Translation: X:97.29, Y:-12.30, Z:-6.93 [[ 9.96150142e-01 5.87969855e-02 6.50216083e-02 9.72856085e+01] [-5.82860346e-02 9.98252515e-01 -9.72902874e-03 -1.22959441e+01] [-6.54800216e-02 5.90172164e-03 9.97836428e-01 -6.92543519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.130714057 meters 0.0474723715062045 Centerline is valid? [True, True] Translation: X:97.32, Y:-12.30, Z:-6.93 [[ 9.96069822e-01 6.00506944e-02 6.51062454e-02 9.73166576e+01] [-5.95408241e-02 9.98178300e-01 -9.74533247e-03 -1.23011189e+01] [-6.55728553e-02 5.83055208e-03 9.97830750e-01 -6.92792599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.160714057 meters 0.04510761234516456 Centerline is valid? [True, True] Translation: X:97.35, Y:-12.30, Z:-6.93 [[ 9.95908022e-01 6.19482907e-02 6.57998545e-02 9.73469837e+01] [-6.14314155e-02 9.98062686e-01 -9.85166284e-03 -1.23023275e+01] [-6.62826732e-02 5.76917185e-03 9.97784207e-01 -6.93058078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.19071405700001 meters 0.04507174455426782 Centerline is valid? [True, True] Translation: X:97.38, Y:-12.31, Z:-6.93 [[ 9.95841812e-01 6.29274428e-02 6.58727723e-02 9.73786548e+01] [-6.24115778e-02 9.98001771e-01 -9.86205156e-03 -1.23067486e+01] [-6.63617371e-02 5.70981964e-03 9.97779293e-01 -6.93355699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.22071405700001 meters 0.04427225930942764 Centerline is valid? [True, True] Translation: X:97.41, Y:-12.31, Z:-6.94 [[ 9.95787250e-01 6.37955695e-02 6.58625728e-02 9.74105115e+01] [-6.32806342e-02 9.97946893e-01 -9.87725902e-03 -1.23102299e+01] [-6.63574753e-02 5.66782322e-03 9.97779816e-01 -6.93611001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.250714057 meters 0.045199730654280026 Centerline is valid? [True, True] Translation: X:97.44, Y:-12.32, Z:-6.94 [[ 9.95692633e-01 6.49896058e-02 6.61251243e-02 9.74410505e+01] [-6.44720002e-02 9.97870070e-01 -9.93399726e-03 -1.23150141e+01] [-6.66298890e-02 5.62798886e-03 9.97761887e-01 -6.93802363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.280714057 meters 0.053670326366065745 Centerline is valid? [True, True] Translation: X:97.47, Y:-12.33, Z:-6.94 [[ 9.95664353e-01 6.51500398e-02 6.63925371e-02 9.74709849e+01] [-6.46284461e-02 9.97859528e-01 -9.97624235e-03 -1.23305838e+01] [-6.69003784e-02 5.64214238e-03 9.97743707e-01 -6.94055048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.310714057 meters 0.04915494395874355 Centerline is valid? [True, True] Translation: X:97.50, Y:-12.33, Z:-6.94 [[ 9.95667729e-01 6.54253378e-02 6.60704091e-02 9.75048819e+01] [-6.49082288e-02 9.97841676e-01 -9.94544960e-03 -1.23300768e+01] [-6.65784921e-02 5.61384999e-03 9.97765398e-01 -6.94394587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.340714057 meters 0.04383937509111826 Centerline is valid? [True, True] Translation: X:97.54, Y:-12.33, Z:-6.95 [[ 9.95664292e-01 6.54299731e-02 6.61175999e-02 9.75378424e+01] [-6.49108920e-02 9.97841246e-01 -9.97115195e-03 -1.23283371e+01] [-6.66272804e-02 5.63616756e-03 9.97762015e-01 -6.94667906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.370714057 meters 0.04986440534164807 Centerline is valid? [True, True] Translation: X:97.57, Y:-12.34, Z:-6.95 [[ 9.95658121e-01 6.56125257e-02 6.60295525e-02 9.75679059e+01] [-6.50940929e-02 9.97829274e-01 -9.97487734e-03 -1.23420855e+01] [-6.65406974e-02 5.63343381e-03 9.97767809e-01 -6.94952433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.400714057 meters 0.04508479360773839 Centerline is valid? [True, True] Translation: X:97.60, Y:-12.34, Z:-6.95 [[ 9.95719700e-01 6.54069966e-02 6.53008665e-02 9.76008922e+01] [-6.48983473e-02 9.97842942e-01 -9.88267097e-03 -1.23406166e+01] [-6.58064046e-02 5.60245186e-03 9.97816681e-01 -6.95258381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.430714057 meters 0.05166642681242267 Centerline is valid? [True, True] Translation: X:97.63, Y:-12.35, Z:-6.96 [[ 9.95743464e-01 6.54397987e-02 6.49044460e-02 9.76303921e+01] [-6.49362923e-02 9.97840901e-01 -9.83937381e-03 -1.23539843e+01] [-6.54081975e-02 5.58283808e-03 9.97842973e-01 -6.95568717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.460714057 meters 0.04406550531890189 Centerline is valid? [True, True] Translation: X:97.66, Y:-12.35, Z:-6.96 [[ 9.95813912e-01 6.57381209e-02 6.35071010e-02 9.76642557e+01] [-6.52557711e-02 9.97821986e-01 -9.64203389e-03 -1.23478186e+01] [-6.40026308e-02 5.45746664e-03 9.97934807e-01 -6.95856981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.490714057 meters 0.04679898863694307 Centerline is valid? [True, True] Translation: X:97.69, Y:-12.36, Z:-6.96 [[ 9.95798836e-01 6.61571941e-02 6.33080102e-02 9.76946537e+01] [-6.56775046e-02 9.97794426e-01 -9.63064336e-03 -1.23558830e+01] [-6.38055161e-02 5.43227131e-03 9.97947567e-01 -6.96106380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.520714057 meters 0.04483152454369661 Centerline is valid? [True, True] Translation: X:97.73, Y:-12.36, Z:-6.96 [[ 9.95780349e-01 6.70165092e-02 6.26919770e-02 9.77269434e+01] [-6.65468923e-02 9.97737581e-01 -9.55149375e-03 -1.23572948e+01] [-6.31902492e-02 5.33923354e-03 9.97987217e-01 -6.96346492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.55071405700001 meters 0.04536875098547832 Centerline is valid? [True, True] Translation: X:97.76, Y:-12.36, Z:-6.97 [[ 9.95735300e-01 6.77081948e-02 6.26642806e-02 9.77589409e+01] [-6.72393456e-02 9.97691042e-01 -9.56317512e-03 -1.23623317e+01] [-6.31670967e-02 5.30888583e-03 9.97988844e-01 -6.96570802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.58071405700001 meters 0.04616182753559024 Centerline is valid? [True, True] Translation: X:97.79, Y:-12.37, Z:-6.97 [[ 9.95641359e-01 6.91156412e-02 6.26203879e-02 9.77892140e+01] [-6.86491404e-02 9.97594931e-01 -9.57339686e-03 -1.23672382e+01] [-6.31314530e-02 5.23283405e-03 9.97991502e-01 -6.96750651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.610714057 meters 0.04364192763765279 Centerline is valid? [True, True] Translation: X:97.82, Y:-12.37, Z:-6.97 [[ 9.95448666e-01 7.12129843e-02 6.33298021e-02 9.78206967e+01] [-7.07398929e-02 9.97447785e-01 -9.68424509e-03 -1.23661315e+01] [-6.38578148e-02 5.16022543e-03 9.97945666e-01 -6.96824841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.640714057 meters 0.044883477768671534 Centerline is valid? [True, True] Translation: X:97.85, Y:-12.37, Z:-6.97 [[ 9.95207533e-01 7.41105877e-02 6.37933204e-02 9.78498445e+01] [-7.36363561e-02 9.97237434e-01 -9.75644563e-03 -1.23703875e+01] [-6.43401431e-02 5.01218053e-03 9.97915439e-01 -6.96903265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.670714057 meters 0.045047431941493264 Centerline is valid? [True, True] Translation: X:97.88, Y:-12.37, Z:-6.97 [[ 9.95104230e-01 7.54413498e-02 6.38449230e-02 9.78791705e+01] [-7.49691487e-02 9.97138059e-01 -9.76309565e-03 -1.23740238e+01] [-6.43987437e-02 4.92889825e-03 9.97912074e-01 -6.97099841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.700714057 meters 0.04503625954999507 Centerline is valid? [True, True] Translation: X:97.91, Y:-12.38, Z:-6.97 [[ 9.95028014e-01 7.66020566e-02 6.36504299e-02 9.79091799e+01] [-7.61351624e-02 9.97050009e-01 -9.73224833e-03 -1.23773356e+01] [-6.42081719e-02 4.83782391e-03 9.97924800e-01 -6.97287388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.730714057 meters 0.0404589952257428 Centerline is valid? [True, True] Translation: X:97.94, Y:-12.37, Z:-6.97 [[ 9.94889835e-01 7.85982138e-02 6.33761575e-02 9.79404174e+01] [-7.81394340e-02 9.96895355e-01 -9.68922149e-03 -1.23739723e+01] [-6.39409525e-02 4.68753089e-03 9.97942675e-01 -6.97413770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.760714057 meters 0.03795374275378731 Centerline is valid? [True, True] Translation: X:97.97, Y:-12.37, Z:-6.98 [[ 9.94868513e-01 7.93355689e-02 6.27893979e-02 9.79698005e+01] [-7.88867709e-02 9.96837370e-01 -9.59868004e-03 -1.23735791e+01] [-6.33523350e-02 4.59617170e-03 9.97980640e-01 -6.97604363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.790714057 meters 0.037382595377657875 Centerline is valid? [True, True] Translation: X:98.00, Y:-12.38, Z:-6.98 [[ 9.94827063e-01 8.02721194e-02 6.22535247e-02 9.79986481e+01] [-7.98330704e-02 9.96762860e-01 -9.51220573e-03 -1.23761754e+01] [-6.28155663e-02 4.49310967e-03 9.98015038e-01 -6.97832888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.820714057 meters 0.036661030455526995 Centerline is valid? [True, True] Translation: X:98.03, Y:-12.38, Z:-6.98 [[ 9.94826567e-01 8.04749919e-02 6.19990163e-02 9.80275267e+01] [-8.00402071e-02 9.96746662e-01 -9.46878115e-03 -1.23793840e+01] [-6.25593126e-02 4.45738094e-03 9.98031294e-01 -6.98069132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.850714057 meters 0.03851595305557507 Centerline is valid? [True, True] Translation: X:98.05, Y:-12.39, Z:-6.98 [[ 9.94840831e-01 8.04684871e-02 6.17781853e-02 9.80547418e+01] [-8.00370647e-02 9.96747276e-01 -9.43060043e-03 -1.23865259e+01] [-6.23361041e-02 4.43740175e-03 9.98045349e-01 -6.98324150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.880714057 meters 0.03951753931254185 Centerline is valid? [True, True] Translation: X:98.08, Y:-12.39, Z:-6.99 [[ 9.94947025e-01 7.97752117e-02 6.09617297e-02 9.80817704e+01] [-7.93541829e-02 9.96803098e-01 -9.30042445e-03 -1.23924389e+01] [-6.15087843e-02 4.41586139e-03 9.98096774e-01 -6.98529570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.910714057 meters 0.0463956211448304 Centerline is valid? [True, True] Translation: X:98.11, Y:-12.41, Z:-6.99 [[ 9.95019185e-01 7.93344424e-02 6.03561716e-02 9.81075463e+01] [-7.89212715e-02 9.96838374e-01 -9.20266011e-03 -1.24062890e+01] [-6.08954358e-02 4.39343756e-03 9.98134482e-01 -6.98855651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.94071405700001 meters 0.03988094240999908 Centerline is valid? [True, True] Translation: X:98.14, Y:-12.40, Z:-6.99 [[ 9.95187780e-01 7.80185979e-02 5.92822161e-02 9.81378882e+01] [-7.76180385e-02 9.96942245e-01 -9.03327821e-03 -1.24020881e+01] [-5.98057093e-02 4.38843876e-03 9.98200390e-01 -6.98997681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.97071405700001 meters 0.04266060095673203 Centerline is valid? [True, True] Translation: X:98.16, Y:-12.41, Z:-6.99 [[ 9.95254483e-01 7.74465066e-02 5.89114050e-02 9.81641355e+01] [-7.70500411e-02 9.96986828e-01 -8.97531187e-03 -1.24102019e+01] [-5.94290014e-02 4.39359320e-03 9.98222866e-01 -6.99272836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.000714057 meters 0.03923022669675394 Centerline is valid? [True, True] Translation: X:98.19, Y:-12.41, Z:-6.99 [[ 9.95339445e-01 7.66310764e-02 5.85411542e-02 9.81930972e+01] [-7.62385719e-02 9.97049773e-01 -8.91235478e-03 -1.24104560e+01] [-5.90514079e-02 4.40772427e-03 9.98245212e-01 -6.99468228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.030714057 meters 0.044366134002177184 Centerline is valid? [True, True] Translation: X:98.22, Y:-12.42, Z:-7.00 [[ 9.95317219e-01 7.67779926e-02 5.87262580e-02 9.82196541e+01] [-7.63834980e-02 9.97038466e-01 -8.93639581e-03 -1.24225464e+01] [-5.92384567e-02 4.40883162e-03 9.98234125e-01 -6.99763812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.060714057 meters 0.037761826466020804 Centerline is valid? [True, True] Translation: X:98.25, Y:-12.42, Z:-7.00 [[ 9.95282713e-01 7.69218255e-02 5.91215230e-02 9.82497923e+01] [-7.65225772e-02 9.97027310e-01 -8.99101635e-03 -1.24178132e+01] [-5.96373785e-02 4.42447183e-03 9.98210302e-01 -6.99846817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.090714057 meters 0.04044377820208886 Centerline is valid? [True, True] Translation: X:98.28, Y:-12.43, Z:-7.00 [[ 9.95206057e-01 7.73993493e-02 5.97849903e-02 9.82767195e+01] [-7.69921938e-02 9.96990280e-01 -9.08758770e-03 -1.24254504e+01] [-6.03084276e-02 4.44104476e-03 9.98169911e-01 -7.00034218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.120714057 meters 0.03891918526825086 Centerline is valid? [True, True] Translation: X:98.31, Y:-12.43, Z:-7.00 [[ 9.95212800e-01 7.76062965e-02 5.94032501e-02 9.83057110e+01] [-7.72050317e-02 9.96974398e-01 -9.02400121e-03 -1.24274271e+01] [-5.99238388e-02 4.39457171e-03 9.98193279e-01 -7.00194376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.150714057 meters 0.03792433405909859 Centerline is valid? [True, True] Translation: X:98.33, Y:-12.43, Z:-7.00 [[ 9.95304911e-01 7.71500611e-02 5.84465797e-02 9.83342459e+01] [-7.67610988e-02 9.97010018e-01 -8.87451894e-03 -1.24302067e+01] [-5.89564951e-02 4.34642860e-03 9.98251091e-01 -7.00417382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.180714057 meters 0.039120893047179715 Centerline is valid? [True, True] Translation: X:98.36, Y:-12.44, Z:-7.01 [[ 9.95354922e-01 7.65926548e-02 5.83278983e-02 9.83612185e+01] [-7.62045646e-02 9.97052907e-01 -8.85237989e-03 -1.24367462e+01] [-5.88340279e-02 4.36640780e-03 9.98258229e-01 -7.00663400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.210714057 meters 0.040201537331839406 Centerline is valid? [True, True] Translation: X:98.39, Y:-12.44, Z:-7.01 [[ 9.95440972e-01 7.57017257e-02 5.80217274e-02 9.83894177e+01] [-7.53165225e-02 9.97120842e-01 -8.80042977e-03 -1.24431137e+01] [-5.85208814e-02 4.39031362e-03 9.98276531e-01 -7.00916523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.240714057 meters 0.0395014320157346 Centerline is valid? [True, True] Translation: X:98.42, Y:-12.45, Z:-7.01 [[ 9.95617047e-01 7.36681008e-02 5.76168942e-02 9.84185737e+01] [-7.32851399e-02 9.97272779e-01 -8.73453871e-03 -1.24477397e+01] [-5.81032171e-02 4.47379349e-03 9.98300557e-01 -7.01116231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.270714057 meters 0.041175218495536695 Centerline is valid? [True, True] Translation: X:98.45, Y:-12.45, Z:-7.01 [[ 9.95693495e-01 7.26314966e-02 5.76118854e-02 9.84474372e+01] [-7.22470025e-02 9.97348549e-01 -8.73165957e-03 -1.24548332e+01] [-5.80933239e-02 4.53177061e-03 9.98300871e-01 -7.01320348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.30071405700001 meters 0.042166363481943844 Centerline is valid? [True, True] Translation: X:98.48, Y:-12.46, Z:-7.01 [[ 9.95761245e-01 7.14509405e-02 5.79163658e-02 9.84754536e+01] [-7.10604995e-02 9.97433402e-01 -8.77581161e-03 -1.24606511e+01] [-5.83947578e-02 4.62304721e-03 9.98282866e-01 -7.01451051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.33071405700001 meters 0.043381788124347974 Centerline is valid? [True, True] Translation: X:98.50, Y:-12.47, Z:-7.02 [[ 9.95759491e-01 7.14009720e-02 5.80080798e-02 9.85039181e+01] [-7.10093861e-02 9.97436946e-01 -8.78665974e-03 -1.24659425e+01] [-5.84867780e-02 4.63028170e-03 9.98277445e-01 -7.01668573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.360714057 meters 0.037399449934394625 Centerline is valid? [True, True] Translation: X:98.53, Y:-12.46, Z:-7.02 [[ 9.95755797e-01 7.15927953e-02 5.78348029e-02 9.85339860e+01] [-7.12039912e-02 9.97423322e-01 -8.75833730e-03 -1.24623568e+01] [-5.83128151e-02 4.60309634e-03 9.98287748e-01 -7.01746109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.390714057 meters 0.044105465134781 Centerline is valid? [True, True] Translation: X:98.56, Y:-12.48, Z:-7.02 [[ 9.95718359e-01 7.18575385e-02 5.81501850e-02 9.85609694e+01] [-7.14650443e-02 9.97404249e-01 -8.80405686e-03 -1.24760047e+01] [-5.86318795e-02 4.61065550e-03 9.98269024e-01 -7.02061930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.420714057 meters 0.03912883576034981 Centerline is valid? [True, True] Translation: X:98.59, Y:-12.47, Z:-7.02 [[ 9.95691034e-01 7.19403659e-02 5.85145200e-02 9.85916193e+01] [-7.15432800e-02 9.97398183e-01 -8.85571389e-03 -1.24738157e+01] [-5.89993592e-02 4.63123423e-03 9.98247278e-01 -7.02091360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.450714057 meters 0.03977283529419951 Centerline is valid? [True, True] Translation: X:98.62, Y:-12.48, Z:-7.02 [[ 9.95711883e-01 7.15825472e-02 5.85984998e-02 9.86202155e+01] [-7.11838230e-02 9.97423807e-01 -8.86640892e-03 -1.24792554e+01] [-5.90822189e-02 4.65712348e-03 9.98242256e-01 -7.02253711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.480714057 meters 0.04069418217508219 Centerline is valid? [True, True] Translation: X:98.65, Y:-12.49, Z:-7.02 [[ 9.95748404e-01 7.10784176e-02 5.85915913e-02 9.86492176e+01] [-7.06791222e-02 9.97459737e-01 -8.86196389e-03 -1.24850851e+01] [-5.90726477e-02 4.68308416e-03 9.98242701e-01 -7.02476119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.510714057 meters 0.04289038583180169 Centerline is valid? [True, True] Translation: X:98.68, Y:-12.49, Z:-7.03 [[ 9.95921657e-01 6.92739734e-02 5.78028582e-02 9.86779672e+01] [-6.88824862e-02 9.97586492e-01 -8.74040395e-03 -1.24932573e+01] [-5.82688330e-02 4.72315300e-03 9.98289755e-01 -7.02684079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.540714057 meters 0.043810430646508365 Centerline is valid? [True, True] Translation: X:98.71, Y:-12.50, Z:-7.03 [[ 9.95990922e-01 6.85018872e-02 5.75289084e-02 9.87069009e+01] [-6.81128785e-02 9.97639704e-01 -8.69812818e-03 -1.24994544e+01] [-5.79889613e-02 4.74479716e-03 9.98305949e-01 -7.02935031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.570714057 meters 0.045174481350860864 Centerline is valid? [True, True] Translation: X:98.74, Y:-12.51, Z:-7.03 [[ 9.96191305e-01 6.66860385e-02 5.61770059e-02 9.87359404e+01] [-6.63123812e-02 9.97762778e-01 -8.49154272e-03 -1.25067471e+01] [-5.66175928e-02 4.73397000e-03 9.98384714e-01 -7.03294755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.600714057 meters 0.04635346487774199 Centerline is valid? [True, True] Translation: X:98.77, Y:-12.51, Z:-7.04 [[ 9.96283595e-01 6.58028632e-02 5.55786113e-02 9.87657281e+01] [-6.54358385e-02 9.97821423e-01 -8.39988870e-03 -1.25139711e+01] [-5.60102658e-02 4.73183827e-03 9.98418980e-01 -7.03597898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.630714057 meters 0.04763395717041845 Centerline is valid? [True, True] Translation: X:98.80, Y:-12.52, Z:-7.04 [[ 9.96373724e-01 6.47088780e-02 5.52463777e-02 9.87956669e+01] [-6.43445783e-02 9.97892811e-01 -8.34945301e-03 -1.25219543e+01] [-5.56702469e-02 4.76437071e-03 9.98437842e-01 -7.03881894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.660714057 meters 0.048734113248083216 Centerline is valid? [True, True] Translation: X:98.83, Y:-12.53, Z:-7.04 [[ 9.96432056e-01 6.41340015e-02 5.48633562e-02 9.88252867e+01] [-6.37738122e-02 9.97929923e-01 -8.29275483e-03 -1.25282382e+01] [-5.52816324e-02 4.76432137e-03 9.98459435e-01 -7.04098473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.69071405700001 meters 0.05075816394717823 Centerline is valid? [True, True] Translation: X:98.85, Y:-12.54, Z:-7.04 [[ 9.96393084e-01 6.46016869e-02 5.50222195e-02 9.88543634e+01] [-6.42401255e-02 9.97899815e-01 -8.31654374e-03 -1.25357125e+01] [-5.54439254e-02 4.75191238e-03 9.98450495e-01 -7.04311748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.72071405700001 meters 0.04638137448734343 Centerline is valid? [True, True] Translation: X:98.89, Y:-12.53, Z:-7.04 [[ 9.96360136e-01 6.50849575e-02 5.50493182e-02 9.88857557e+01] [-6.47237055e-02 9.97868523e-01 -8.32181747e-03 -1.25348966e+01] [-5.54736070e-02 4.72853133e-03 9.98448957e-01 -7.04395677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.750714057 meters 0.05034187707089835 Centerline is valid? [True, True] Translation: X:98.91, Y:-12.54, Z:-7.05 [[ 9.96332693e-01 6.56002428e-02 5.49342529e-02 9.89137672e+01] [-6.52412657e-02 9.97834961e-01 -8.30465161e-03 -1.25446264e+01] [-5.53601052e-02 4.69021572e-03 9.98455437e-01 -7.04636861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.780714057 meters 0.05065686460349468 Centerline is valid? [True, True] Translation: X:98.94, Y:-12.55, Z:-7.05 [[ 9.96210586e-01 6.72076111e-02 5.52051229e-02 9.89427461e+01] [-6.68476389e-02 9.97728308e-01 -8.34362022e-03 -1.25487373e+01] [-5.56404687e-02 4.62167066e-03 9.98440173e-01 -7.04733924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.810714057 meters 0.05111060719174218 Centerline is valid? [True, True] Translation: X:98.97, Y:-12.55, Z:-7.05 [[ 9.96144345e-01 6.80481813e-02 5.53704635e-02 9.89725403e+01] [-6.76870902e-02 9.97671464e-01 -8.37299415e-03 -1.25538386e+01] [-5.58112985e-02 4.59284521e-03 9.98430771e-01 -7.04871024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.840714057 meters 0.04896689642083749 Centerline is valid? [True, True] Translation: X:99.00, Y:-12.56, Z:-7.05 [[ 9.96038273e-01 6.93665718e-02 5.56420473e-02 9.90025866e+01] [-6.90040195e-02 9.97580906e-01 -8.41311998e-03 -1.25553045e+01] [-5.60910333e-02 4.54026458e-03 9.98415335e-01 -7.04979446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.870714057 meters 0.04896689642083749 Centerline is valid? [True, True] Translation: X:99.03, Y:-12.56, Z:-7.05 [[ 9.96040569e-01 6.93335047e-02 5.56421568e-02 9.90314456e+01] [-6.89709413e-02 9.97583200e-01 -8.41239624e-03 -1.25596338e+01] [-5.60909417e-02 4.54139601e-03 9.98415335e-01 -7.05180469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.900714057 meters 0.0518602740033316 Centerline is valid? [True, True] Translation: X:99.06, Y:-12.57, Z:-7.05 [[ 9.96027933e-01 6.96480266e-02 5.54752968e-02 9.90594474e+01] [-6.92882152e-02 9.97561440e-01 -8.38549796e-03 -1.25675899e+01] [-5.59240504e-02 4.50840590e-03 9.98424847e-01 -7.05452203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.930714057 meters 0.05313958539683009 Centerline is valid? [True, True] Translation: X:99.09, Y:-12.57, Z:-7.06 [[ 9.95986987e-01 7.04618667e-02 5.51819473e-02 9.90878703e+01] [-7.01072625e-02 9.97504610e-01 -8.33815553e-03 -1.25737770e+01] [-5.56317689e-02 4.43603914e-03 9.98441499e-01 -7.05705741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.960714057 meters 0.052829211167941745 Centerline is valid? [True, True] Translation: X:99.12, Y:-12.58, Z:-7.06 [[ 9.95978079e-01 7.07302755e-02 5.49990314e-02 9.91169400e+01] [-7.03785278e-02 9.97485753e-01 -8.30871205e-03 -1.25779047e+01] [-5.54484277e-02 4.40454421e-03 9.98451838e-01 -7.05921187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.990714057 meters 0.053516386011028046 Centerline is valid? [True, True] Translation: X:99.15, Y:-12.58, Z:-7.06 [[ 9.95959822e-01 7.10793381e-02 5.48795185e-02 9.91457981e+01] [-7.07297454e-02 9.97461076e-01 -8.28885751e-03 -1.25832424e+01] [-5.53293501e-02 4.37375468e-03 9.98458579e-01 -7.06138839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.020714057 meters 0.05304479447113571 Centerline is valid? [True, True] Translation: X:99.18, Y:-12.59, Z:-7.06 [[ 9.95857623e-01 7.22831661e-02 5.51610235e-02 9.91758229e+01] [-7.19319037e-02 9.97374763e-01 -8.32963155e-03 -1.25871012e+01] [-5.56183049e-02 4.32728964e-03 9.98442727e-01 -7.06332379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.05071405700001 meters 0.05363285066385186 Centerline is valid? [True, True] Translation: X:99.20, Y:-12.59, Z:-7.07 [[ 9.95783012e-01 7.33069132e-02 5.51569609e-02 9.92037318e+01] [-7.29573681e-02 9.97300297e-01 -8.32711789e-03 -1.25915599e+01] [-5.56184888e-02 4.26789583e-03 9.98442972e-01 -7.06555143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.08071405700001 meters 0.053606045773186 Centerline is valid? [True, True] Translation: X:99.23, Y:-12.59, Z:-7.07 [[ 9.95655745e-01 7.50533339e-02 5.51056752e-02 9.92321784e+01] [-7.47072809e-02 9.97170831e-01 -8.31605595e-03 -1.25948467e+01] [-5.55739196e-02 4.16313373e-03 9.98445896e-01 -7.06720557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.110714057 meters 0.039764512964963084 Centerline is valid? [True, True] Translation: X:99.26, Y:-12.58, Z:-7.07 [[ 9.95587452e-01 7.61250666e-02 5.48689331e-02 9.92641459e+01] [-7.57835528e-02 9.97089903e-01 -8.28120957e-03 -1.25800997e+01] [-5.53396668e-02 4.08650565e-03 9.98459224e-01 -7.06636486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.140714057 meters 0.03880973470245255 Centerline is valid? [True, True] Translation: X:99.29, Y:-12.58, Z:-7.07 [[ 9.95533193e-01 7.70010059e-02 5.46306322e-02 9.92928286e+01] [-7.66639153e-02 9.97022921e-01 -8.24254344e-03 -1.25831821e+01] [-5.51026766e-02 4.01752743e-03 9.98472611e-01 -7.06864170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.170714057 meters 0.038252718652318315 Centerline is valid? [True, True] Translation: X:99.32, Y:-12.59, Z:-7.07 [[ 9.95443526e-01 7.89246879e-02 5.35077508e-02 9.93226735e+01] [-7.86043363e-02 9.96873240e-01 -8.06858083e-03 -1.25861077e+01] [-5.39772552e-02 3.82587531e-03 9.98534836e-01 -7.07151945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.200714057 meters 0.035542143723285534 Centerline is valid? [True, True] Translation: X:99.35, Y:-12.58, Z:-7.07 [[ 9.95341732e-01 8.05263441e-02 5.30126834e-02 9.93522939e+01] [-8.02141791e-02 9.96745599e-01 -7.99354306e-03 -1.25847993e+01] [-5.34838497e-02 3.70393811e-03 9.98561845e-01 -7.07302034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.230714057 meters 0.03532895737453277 Centerline is valid? [True, True] Translation: X:99.38, Y:-12.59, Z:-7.07 [[ 9.95278224e-01 8.13837130e-02 5.28956416e-02 9.93813156e+01] [-8.10742861e-02 9.96676172e-01 -7.97298331e-03 -1.25881894e+01] [-5.33686966e-02 3.64686028e-03 9.98568216e-01 -7.07462947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.260714057 meters 0.03621027862892287 Centerline is valid? [True, True] Translation: X:99.41, Y:-12.59, Z:-7.08 [[ 9.95181662e-01 8.22219200e-02 5.34136274e-02 9.94088734e+01] [-8.19077248e-02 9.96607417e-01 -8.04868687e-03 -1.25928921e+01] [-5.38941957e-02 3.63491689e-03 9.98540036e-01 -7.07646593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.290714057 meters 0.03602577944995192 Centerline is valid? [True, True] Translation: X:99.44, Y:-12.60, Z:-7.08 [[ 9.95018727e-01 8.35420956e-02 5.43916435e-02 9.94374286e+01] [-8.32185518e-02 9.96497662e-01 -8.19032965e-03 -1.25951016e+01] [-5.48853829e-02 3.62313759e-03 9.98486088e-01 -7.07730476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.320714057 meters 0.04059477783615832 Centerline is valid? [True, True] Translation: X:99.46, Y:-12.60, Z:-7.08 [[ 9.94956723e-01 8.41743111e-02 5.45509394e-02 9.94635824e+01] [-8.38500104e-02 9.96444559e-01 -8.21072618e-03 -1.26045091e+01] [-5.50481190e-02 3.59522037e-03 9.98477230e-01 -7.08055314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.350714057 meters 0.04028144032633602 Centerline is valid? [True, True] Translation: X:99.49, Y:-12.61, Z:-7.08 [[ 9.94825291e-01 8.57436857e-02 5.45037625e-02 9.94917702e+01] [-8.54226044e-02 9.96311082e-01 -8.19791244e-03 -1.26067267e+01] [-5.50056219e-02 3.49963729e-03 9.98479912e-01 -7.08249216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.380714057 meters 0.03629221428953281 Centerline is valid? [True, True] Translation: X:99.52, Y:-12.60, Z:-7.08 [[ 9.94837180e-01 8.59823504e-02 5.39075224e-02 9.95211410e+01] [-8.56688072e-02 9.96290706e-01 -8.10465801e-03 -1.26041318e+01] [-5.44044211e-02 3.44462198e-03 9.98513041e-01 -7.08351041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.410714057 meters 0.037546979979091 Centerline is valid? [True, True] Translation: X:99.55, Y:-12.61, Z:-7.09 [[ 9.94824424e-01 8.63832671e-02 5.35004432e-02 9.95485294e+01] [-8.60752125e-02 9.96256200e-01 -8.03996690e-03 -1.26090945e+01] [-5.39946669e-02 3.39329341e-03 9.98535458e-01 -7.08603373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.44071405700001 meters 0.038268601832964745 Centerline is valid? [True, True] Translation: X:99.58, Y:-12.61, Z:-7.09 [[ 9.94744399e-01 8.69196293e-02 5.41161538e-02 9.95764002e+01] [-8.66054887e-02 9.96209531e-01 -8.12767210e-03 -1.26124864e+01] [-5.46174825e-02 3.39820035e-03 9.98501569e-01 -7.08712133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.47071405700001 meters 0.03912783560938303 Centerline is valid? [True, True] Translation: X:99.60, Y:-12.62, Z:-7.09 [[ 9.94754683e-01 8.66070611e-02 5.44273684e-02 9.96049151e+01] [-8.62890991e-02 9.96236644e-01 -8.16946413e-03 -1.26169341e+01] [-5.49300721e-02 3.43012412e-03 9.98484312e-01 -7.08860819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.500714057 meters 0.04050714462068189 Centerline is valid? [True, True] Translation: X:99.63, Y:-12.62, Z:-7.09 [[ 9.94806071e-01 8.54711484e-02 5.52771530e-02 9.96320068e+01] [-8.51416249e-02 9.96334343e-01 -8.29339268e-03 -1.26221573e+01] [-5.57833717e-02 3.54393077e-03 9.98436606e-01 -7.08953726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.530714057 meters 0.033813744382665815 Centerline is valid? [True, True] Translation: X:99.66, Y:-12.62, Z:-7.09 [[ 9.94852688e-01 8.45762360e-02 5.58120865e-02 9.96624216e+01] [-8.42391718e-02 9.96410421e-01 -8.36873120e-03 -1.26167795e+01] [-5.63195404e-02 3.62409079e-03 9.98406218e-01 -7.08921836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.560714057 meters 0.03483723077488817 Centerline is valid? [True, True] Translation: X:99.69, Y:-12.62, Z:-7.09 [[ 9.94929396e-01 8.33586163e-02 5.62746668e-02 9.96904421e+01] [-8.30142353e-02 9.96512672e-01 -8.43389292e-03 -1.26224615e+01] [-5.67814563e-02 3.71952956e-03 9.98379703e-01 -7.09154036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.590714057 meters 0.036480044594676464 Centerline is valid? [True, True] Translation: X:99.72, Y:-12.63, Z:-7.09 [[ 9.95038820e-01 8.22108526e-02 5.60278634e-02 9.97169180e+01] [-8.18678865e-02 9.96607848e-01 -8.39324723e-03 -1.26292458e+01] [-5.65278244e-02 3.76472406e-03 9.98393926e-01 -7.09384908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.620714057 meters 0.04547271950753627 Centerline is valid? [True, True] Translation: X:99.74, Y:-12.65, Z:-7.10 [[ 9.95114817e-01 8.18323427e-02 5.52265172e-02 9.97421300e+01] [-8.14988946e-02 9.96639146e-01 -8.26701647e-03 -1.26454190e+01] [-5.57174182e-02 3.72573048e-03 9.98439627e-01 -7.09840781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.650714057 meters 0.03376779330727463 Centerline is valid? [True, True] Translation: X:99.77, Y:-12.63, Z:-7.10 [[ 9.95138334e-01 8.23581058e-02 5.40077693e-02 9.97738049e+01] [-8.20402681e-02 9.96596264e-01 -8.07966879e-03 -1.26321124e+01] [-5.44893674e-02 3.60957626e-03 9.98507827e-01 -7.09767276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.680714057 meters 0.046113680866125474 Centerline is valid? [True, True] Translation: X:99.80, Y:-12.65, Z:-7.10 [[ 9.95148589e-01 8.26124045e-02 5.34272981e-02 9.97984727e+01] [-8.23019274e-02 9.96575418e-01 -7.98926099e-03 -1.26531419e+01] [-5.39043440e-02 3.55333219e-03 9.98539782e-01 -7.10365504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.710714057 meters 0.034192059017857615 Centerline is valid? [True, True] Translation: X:99.83, Y:-12.64, Z:-7.10 [[ 9.95116595e-01 8.31188658e-02 5.32373564e-02 9.98301984e+01] [-8.28116319e-02 9.96533467e-01 -7.95498499e-03 -1.26404212e+01] [-5.37140167e-02 3.50746521e-03 9.98550200e-01 -7.10173485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.740714057 meters 0.0350063308814286 Centerline is valid? [True, True] Translation: X:99.86, Y:-12.65, Z:-7.10 [[ 9.95009081e-01 8.44124585e-02 5.32115165e-02 9.98580199e+01] [-8.41075070e-02 9.96424984e-01 -7.94845605e-03 -1.26455705e+01] [-5.36922332e-02 3.43329795e-03 9.98551629e-01 -7.10433673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.770714057 meters 0.0354803929608894 Centerline is valid? [True, True] Translation: X:99.89, Y:-12.65, Z:-7.11 [[ 9.94911490e-01 8.52902341e-02 5.36349021e-02 9.98868739e+01] [-8.49819035e-02 9.96350318e-01 -8.00746561e-03 -1.26503169e+01] [-5.41221104e-02 3.40872346e-03 9.98528506e-01 -7.10664559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.80071405700001 meters 0.03276764345255834 Centerline is valid? [True, True] Translation: X:99.92, Y:-12.65, Z:-7.11 [[ 9.94634387e-01 8.88331809e-02 5.30198233e-02 9.99173597e+01] [-8.85370779e-02 9.96041456e-01 -7.91229803e-03 -1.26497352e+01] [-5.35128166e-02 3.17562348e-03 9.98562113e-01 -7.10788456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.83071405700001 meters 0.03266788813914759 Centerline is valid? [True, True] Translation: X:99.95, Y:-12.65, Z:-7.11 [[ 9.94407331e-01 9.18165780e-02 5.21898156e-02 9.99461730e+01] [-9.15338085e-02 9.95771516e-01 -7.78778234e-03 -1.26535623e+01] [-5.26841794e-02 2.96709526e-03 9.98606816e-01 -7.11179045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.860714057 meters 0.029759927955933043 Centerline is valid? [True, True] Translation: X:99.98, Y:-12.66, Z:-7.12 [[ 9.93831514e-01 9.99615794e-02 4.80271197e-02 9.99750557e+01] [-9.97317126e-02 9.94988568e-01 -7.16490594e-03 -1.26584287e+01] [-4.85026503e-02 2.33088242e-03 9.98820334e-01 -7.12081914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.890714057 meters 0.02783780866602519 Centerline is valid? [True, True] Translation: X:100.01, Y:-12.66, Z:-7.12 [[ 9.93254155e-01 1.04816118e-01 4.95960214e-02 1.00005868e+02] [-1.04577096e-01 9.94489272e-01 -7.39716548e-03 -1.26589985e+01] [-5.00980534e-02 2.16065745e-03 9.98741967e-01 -7.11969534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.920714057 meters 0.026054962509979785 Centerline is valid? [True, True] Translation: X:100.04, Y:-12.66, Z:-7.12 [[ 9.92662154e-01 1.09198465e-01 5.19378877e-02 1.00036513e+02] [-1.08942284e-01 9.94017891e-01 -7.74666854e-03 -1.26564181e+01] [-5.24731139e-02 2.03159255e-03 9.98620271e-01 -7.11613175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.950714057 meters 0.024916591378790254 Centerline is valid? [True, True] Translation: X:100.07, Y:-12.65, Z:-7.11 [[ 9.91540086e-01 1.17257632e-01 5.56678088e-02 1.00066597e+02] [-1.16976085e-01 9.93100042e-01 -8.30070027e-03 -1.26543792e+01] [-5.62570237e-02 1.71867474e-03 9.98414840e-01 -7.11236049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.980714057 meters 0.024009510462977727 Centerline is valid? [True, True] Translation: X:100.10, Y:-12.66, Z:-7.11 [[ 9.91174584e-01 1.20009309e-01 5.63090604e-02 1.00095553e+02] [-1.19725620e-01 9.92771507e-01 -8.39706255e-03 -1.26584846e+01] [-5.69097564e-02 1.58131781e-03 9.98378074e-01 -7.11457979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.010714057 meters 0.023551659462874817 Centerline is valid? [True, True] Translation: X:100.12, Y:-12.67, Z:-7.12 [[ 9.90814485e-01 1.23409267e-01 5.52884240e-02 1.00121269e+02] [-1.23141879e-01 9.92354947e-01 -8.23028871e-03 -1.26701232e+01] [-5.58814349e-02 1.34636887e-03 9.98436504e-01 -7.12243599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.040714057 meters 0.023694979432309745 Centerline is valid? [True, True] Translation: X:100.15, Y:-12.68, Z:-7.13 [[ 9.90886429e-01 1.23028273e-01 5.48464062e-02 1.00148071e+02] [-1.22764835e-01 9.92402245e-01 -8.15961420e-03 -1.26791715e+01] [-5.54335599e-02 1.35204100e-03 9.98461463e-01 -7.12681323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.070714057 meters 0.02389824005985545 Centerline is valid? [True, True] Translation: X:100.18, Y:-12.69, Z:-7.13 [[ 9.91059549e-01 1.21459280e-01 5.52142529e-02 1.00176365e+02] [-1.21190021e-01 9.92595361e-01 -8.21146749e-03 -1.26865868e+01] [-5.58027702e-02 1.44663678e-03 9.98440763e-01 -7.12858142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.100714057 meters 0.02420558892113918 Centerline is valid? [True, True] Translation: X:100.20, Y:-12.69, Z:-7.13 [[ 9.91249162e-01 1.19533862e-01 5.60067290e-02 1.00204928e+02] [-1.19254549e-01 9.92828894e-01 -8.31508162e-03 -1.26921735e+01] [-5.65990326e-02 1.56326048e-03 9.98395766e-01 -7.12849555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.130714057 meters 0.025756343303654693 Centerline is valid? [True, True] Translation: X:100.23, Y:-12.70, Z:-7.13 [[ 9.91772739e-01 1.14398450e-01 5.74441434e-02 1.00233924e+02] [-1.14096999e-01 9.93433155e-01 -8.51121976e-03 -1.27014470e+01] [-5.80405870e-02 1.88699133e-03 9.98312441e-01 -7.12707347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.160714057 meters 0.026010258801552395 Centerline is valid? [True, True] Translation: X:100.26, Y:-12.72, Z:-7.13 [[ 9.92341539e-01 1.08722972e-01 5.86309286e-02 1.00262493e+02] [-1.08399178e-01 9.94069513e-01 -8.68457361e-03 -1.27155279e+01] [-5.92274313e-02 2.26251869e-03 9.98241951e-01 -7.12950967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.19071405700001 meters 0.027486637104807515 Centerline is valid? [True, True] Translation: X:100.29, Y:-12.73, Z:-7.13 [[ 9.92644828e-01 1.05499900e-01 5.93802726e-02 1.00288912e+02] [-1.05161968e-01 9.94416203e-01 -8.79629526e-03 -1.27282606e+01] [-5.99767135e-02 2.48705069e-03 9.98196678e-01 -7.13276010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.22071405700001 meters 0.02811381899454268 Centerline is valid? [True, True] Translation: X:100.32, Y:-12.74, Z:-7.13 [[ 9.92899686e-01 1.02624439e-01 6.01534517e-02 1.00317072e+02] [-1.02272711e-01 9.94716537e-01 -8.90528534e-03 -1.27389920e+01] [-6.07495330e-02 2.68999842e-03 9.98149417e-01 -7.13493570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.250714057 meters 0.02909410309044674 Centerline is valid? [True, True] Translation: X:100.35, Y:-12.75, Z:-7.14 [[ 9.93177228e-01 9.96377812e-02 6.05912980e-02 1.00345320e+02] [-9.92754820e-02 9.95019573e-01 -8.96819128e-03 -1.27480878e+01] [-6.11830981e-02 2.89177304e-03 9.98122370e-01 -7.13641283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.280714057 meters 0.029803011753758206 Centerline is valid? [True, True] Translation: X:100.37, Y:-12.76, Z:-7.14 [[ 9.93605864e-01 9.50979288e-02 6.08586190e-02 1.00374630e+02] [-9.47242462e-02 9.95462842e-01 -9.00263620e-03 -1.27571346e+01] [-6.14386259e-02 3.18028531e-03 9.98105797e-01 -7.13657650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.310714057 meters 0.03056926102751151 Centerline is valid? [True, True] Translation: X:100.40, Y:-12.76, Z:-7.14 [[ 9.93741844e-01 9.35290333e-02 6.10693588e-02 1.00401080e+02] [-9.31498351e-02 9.95611123e-01 -9.03328457e-03 -1.27640011e+01] [-6.16462072e-02 3.28815217e-03 9.98092648e-01 -7.13831793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.340714057 meters 0.031127318031890155 Centerline is valid? [True, True] Translation: X:100.43, Y:-12.78, Z:-7.14 [[ 9.93908604e-01 9.17442839e-02 6.10628670e-02 1.00428698e+02] [-9.13622293e-02 9.95776824e-01 -9.02554829e-03 -1.27761367e+01] [-6.16330302e-02 3.39173043e-03 9.98093115e-01 -7.14206413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.370714057 meters 0.03182015344107199 Centerline is valid? [True, True] Translation: X:100.46, Y:-12.79, Z:-7.15 [[ 9.93949847e-01 9.11794561e-02 6.12373109e-02 1.00455527e+02] [-9.07943328e-02 9.95828558e-01 -9.04829226e-03 -1.27857210e+01] [-6.18068814e-02 3.43354792e-03 9.98082221e-01 -7.14552557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.400714057 meters 0.032517169567186775 Centerline is valid? [True, True] Translation: X:100.48, Y:-12.79, Z:-7.15 [[ 9.93976407e-01 9.06361153e-02 6.16116635e-02 1.00483227e+02] [-9.02456239e-02 9.95877989e-01 -9.09716264e-03 -1.27945824e+01] [-6.21822310e-02 3.48218203e-03 9.98058738e-01 -7.14843599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.430714057 meters 0.033482653243955565 Centerline is valid? [True, True] Translation: X:100.51, Y:-12.80, Z:-7.15 [[ 9.93933703e-01 9.04485329e-02 6.25688214e-02 1.00509838e+02] [-9.00457075e-02 9.95894825e-01 -9.23402933e-03 -1.28029941e+01] [-6.31471698e-02 3.54395917e-03 9.97997934e-01 -7.14919245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.460714057 meters 0.03358485139577361 Centerline is valid? [True, True] Translation: X:100.54, Y:-12.81, Z:-7.15 [[ 9.93871380e-01 9.06224952e-02 6.33027930e-02 1.00537949e+02] [-9.02108705e-02 9.95878922e-01 -9.33656152e-03 -1.28082383e+01] [-6.38880197e-02 3.56874122e-03 9.97950693e-01 -7.14987243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.490714057 meters 0.03297367923685771 Centerline is valid? [True, True] Translation: X:100.57, Y:-12.81, Z:-7.15 [[ 9.93847302e-01 9.08748926e-02 6.33189855e-02 1.00566246e+02] [-9.04638533e-02 9.95855993e-01 -9.33448167e-03 -1.28130440e+01] [-6.39048612e-02 3.54897002e-03 9.97949685e-01 -7.15263863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.520714057 meters 0.02941717330489137 Centerline is valid? [True, True] Translation: X:100.59, Y:-12.81, Z:-7.16 [[ 9.93843110e-01 9.11283081e-02 6.30198648e-02 1.00594872e+02] [-9.07219390e-02 9.95832968e-01 -9.28595225e-03 -1.28135359e+01] [-6.36034722e-02 3.51149534e-03 9.97969072e-01 -7.15504680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.55071405700001 meters 0.03155465825009114 Centerline is valid? [True, True] Translation: X:100.62, Y:-12.82, Z:-7.16 [[ 9.93823967e-01 9.14732364e-02 6.28217317e-02 1.00621586e+02] [-9.10704006e-02 9.95801476e-01 -9.25216387e-03 -1.28232124e+01] [-6.34042985e-02 3.47382192e-03 9.97981877e-01 -7.15849718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.58071405700001 meters 0.028817736026069983 Centerline is valid? [True, True] Translation: X:100.65, Y:-12.83, Z:-7.16 [[ 9.93768757e-01 9.23908494e-02 6.23505371e-02 1.00650067e+02] [-9.19962097e-02 9.95717069e-01 -9.17693609e-03 -1.28256437e+01] [-6.29313590e-02 3.38373928e-03 9.98012121e-01 -7.16108641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.610714057 meters 0.030670293231640684 Centerline is valid? [True, True] Translation: X:100.68, Y:-12.83, Z:-7.16 [[ 9.93638310e-01 9.35915036e-02 6.26381623e-02 1.00677218e+02] [-9.31958783e-02 9.95605152e-01 -9.21464089e-03 -1.28334825e+01] [-6.32252892e-02 3.31840165e-03 9.97993763e-01 -7.16256088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.640714057 meters 0.033881060601599414 Centerline is valid? [True, True] Translation: X:100.70, Y:-12.84, Z:-7.16 [[ 9.93546022e-01 9.42658011e-02 6.30893149e-02 1.00703885e+02] [-9.38661797e-02 9.95541618e-01 -9.27508344e-03 -1.28426186e+01] [-6.36823619e-02 3.29326928e-03 9.97964785e-01 -7.16442499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.670714057 meters 0.0295863949699053 Centerline is valid? [True, True] Translation: X:100.73, Y:-12.84, Z:-7.17 [[ 9.93468781e-01 9.50414290e-02 6.31419714e-02 1.00733685e+02] [-9.46430720e-02 9.95468044e-01 -9.27700098e-03 -1.28411676e+01] [-6.37375141e-02 3.24046071e-03 9.97961436e-01 -7.16611356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.700714057 meters 0.028910447952434106 Centerline is valid? [True, True] Translation: X:100.76, Y:-12.85, Z:-7.17 [[ 9.93426573e-01 9.60055500e-02 6.23424312e-02 1.00762233e+02] [-9.56193287e-02 9.95375862e-01 -9.15628383e-03 -1.28463979e+01] [-6.29332053e-02 3.13495425e-03 9.98012817e-01 -7.16924702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.730714057 meters 0.030832687993495242 Centerline is valid? [True, True] Translation: X:100.79, Y:-12.85, Z:-7.17 [[ 9.93424066e-01 9.63035957e-02 6.19212549e-02 1.00788687e+02] [-9.59234354e-02 9.95347209e-01 -9.09002699e-03 -1.28545619e+01] [-6.25085506e-02 3.09055207e-03 9.98039643e-01 -7.17281606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.760714057 meters 0.030832687993495242 Centerline is valid? [True, True] Translation: X:100.82, Y:-12.86, Z:-7.17 [[ 9.93430669e-01 9.62349277e-02 6.19220809e-02 1.00816673e+02] [-9.58549846e-02 9.95353855e-01 -9.08439655e-03 -1.28586065e+01] [-6.25086182e-02 3.08917803e-03 9.98039643e-01 -7.17476541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.790714057 meters 0.029931282115719073 Centerline is valid? [True, True] Translation: X:100.85, Y:-12.86, Z:-7.18 [[ 9.93387986e-01 9.71992222e-02 6.10951735e-02 1.00845147e+02] [-9.68314518e-02 9.95260473e-01 -8.95885775e-03 -1.28612924e+01] [-6.16764053e-02 2.98368731e-03 9.98091739e-01 -7.17685449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.820714057 meters 0.0312703822132138 Centerline is valid? [True, True] Translation: X:100.87, Y:-12.87, Z:-7.18 [[ 9.93482022e-01 9.65214623e-02 6.06389196e-02 1.00872067e+02] [-9.61581707e-02 9.95326386e-01 -8.88776169e-03 -1.28678418e+01] [-6.12133765e-02 2.99890388e-03 9.98120198e-01 -7.18015756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.850714057 meters 0.029479065840387737 Centerline is valid? [True, True] Translation: X:100.90, Y:-12.87, Z:-7.18 [[ 9.93483944e-01 9.66511093e-02 6.04004710e-02 1.00901061e+02] [-9.62912472e-02 9.95313880e-01 -8.84732451e-03 -1.28686190e+01] [-6.09725309e-02 2.97363816e-03 9.98135015e-01 -7.18133794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.880714057 meters 0.029528317411853224 Centerline is valid? [True, True] Translation: X:100.93, Y:-12.87, Z:-7.18 [[ 9.93479974e-01 9.66693434e-02 6.04365805e-02 1.00929707e+02] [-9.63093501e-02 9.95312121e-01 -8.84825956e-03 -1.28722982e+01] [-6.10086165e-02 2.96996089e-03 9.98132821e-01 -7.18324208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.910714057 meters 0.02870463898882775 Centerline is valid? [True, True] Translation: X:100.96, Y:-12.87, Z:-7.19 [[ 9.93488902e-01 9.66047105e-02 6.03931466e-02 1.00958553e+02] [-9.62453801e-02 9.95318403e-01 -8.83757907e-03 -1.28744067e+01] [-6.09641620e-02 2.96747538e-03 9.98135544e-01 -7.18521838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.94071405700001 meters 0.028239523352376564 Centerline is valid? [True, True] Translation: X:100.99, Y:-12.88, Z:-7.19 [[ 9.93432403e-01 9.71370971e-02 6.04685485e-02 1.00987640e+02] [-9.67781310e-02 9.95266686e-01 -8.84402719e-03 -1.28779238e+01] [-6.10414150e-02 2.93391007e-03 9.98130922e-01 -7.18715297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.97071405700001 meters 0.02872435599658254 Centerline is valid? [True, True] Translation: X:101.02, Y:-12.88, Z:-7.19 [[ 9.93296823e-01 9.89470060e-02 5.97571070e-02 1.01015682e+02] [-9.85999003e-02 9.95088803e-01 -8.73686972e-03 -1.28805361e+01] [-6.03281152e-02 2.78626014e-03 9.98174712e-01 -7.18954405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.000714057 meters 0.027586141494348675 Centerline is valid? [True, True] Translation: X:101.05, Y:-12.88, Z:-7.19 [[ 9.93195693e-01 1.00340336e-01 5.91111823e-02 1.01045300e+02] [-1.00003427e-01 9.94949596e-01 -8.63802197e-03 -1.28804196e+01] [-5.96793890e-02 2.66792541e-03 9.98214032e-01 -7.19148785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.030714057 meters 0.02690318706670256 Centerline is valid? [True, True] Translation: X:101.07, Y:-12.88, Z:-7.19 [[ 9.92810982e-01 1.04604167e-01 5.81749355e-02 1.01074374e+02] [-1.04285353e-01 9.94511112e-01 -8.49787094e-03 -1.28795012e+01] [-5.87445325e-02 2.36998591e-03 9.98270235e-01 -7.19477957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.060714057 meters 0.026510158933236876 Centerline is valid? [True, True] Translation: X:101.10, Y:-12.88, Z:-7.20 [[ 9.92567211e-01 1.07045958e-01 5.78921031e-02 1.01103695e+02] [-1.06734494e-01 9.94251611e-01 -8.45463137e-03 -1.28813078e+01] [-5.84643509e-02 2.21270551e-03 9.98287045e-01 -7.19768369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.090714057 meters 0.026207847401937205 Centerline is valid? [True, True] Translation: X:101.13, Y:-12.88, Z:-7.20 [[ 9.92323686e-01 1.09243980e-01 5.79608125e-02 1.01133141e+02] [-1.08935701e-01 9.94012785e-01 -8.46152443e-03 -1.28826810e+01] [-5.85381593e-02 2.08256939e-03 9.98282999e-01 -7.20018241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.120714057 meters 0.024503241613440998 Centerline is valid? [True, True] Translation: X:101.16, Y:-12.88, Z:-7.20 [[ 9.91791327e-01 1.13363159e-01 5.91503058e-02 1.01163769e+02] [-1.13049603e-01 9.93551852e-01 -8.63159394e-03 -1.28808486e+01] [-5.97474007e-02 1.87382142e-03 9.98211770e-01 -7.20131888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.150714057 meters 0.024510137474651597 Centerline is valid? [True, True] Translation: X:101.19, Y:-12.88, Z:-7.20 [[ 9.91586255e-01 1.14609699e-01 6.01773728e-02 1.01191939e+02] [-1.14287478e-01 9.93408914e-01 -8.78077756e-03 -1.28834830e+01] [-6.07871008e-02 1.82937818e-03 9.98149078e-01 -7.20270596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.180714057 meters 0.023657735925668076 Centerline is valid? [True, True] Translation: X:101.22, Y:-12.88, Z:-7.20 [[ 9.91427725e-01 1.15331266e-01 6.13984182e-02 1.01221200e+02] [-1.14997479e-01 9.93325424e-01 -8.95446266e-03 -1.28821259e+01] [-6.20213393e-02 1.81703922e-03 9.98073170e-01 -7.20273670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.210714057 meters 0.024110790215901803 Centerline is valid? [True, True] Translation: X:101.25, Y:-12.89, Z:-7.20 [[ 9.91423693e-01 1.14838145e-01 6.23799737e-02 1.01248647e+02] [-1.14492899e-01 9.93382450e-01 -9.09305437e-03 -1.28874070e+01] [-6.30114006e-02 1.87300550e-03 9.98011050e-01 -7.20472347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.240714057 meters 0.023911826703859364 Centerline is valid? [True, True] Translation: X:101.28, Y:-12.89, Z:-7.21 [[ 9.91571484e-01 1.13158586e-01 6.30961694e-02 1.01277353e+02] [-1.12802339e-01 9.93574933e-01 -9.19154983e-03 -1.28905689e+01] [-6.37308750e-02 1.99668322e-03 9.97965124e-01 -7.20636871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.270714057 meters 0.024847645907690293 Centerline is valid? [True, True] Translation: X:101.31, Y:-12.90, Z:-7.21 [[ 9.92020432e-01 1.08680240e-01 6.39067060e-02 1.01305723e+02] [-1.08305797e-01 9.94074078e-01 -9.30489705e-03 -1.28973601e+01] [-6.45392583e-02 2.30918124e-03 9.97912497e-01 -7.20878201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.30071405700001 meters 0.025874152164147325 Centerline is valid? [True, True] Translation: X:101.33, Y:-12.90, Z:-7.21 [[ 9.92314824e-01 1.06029830e-01 6.37884400e-02 1.01334284e+02] [-1.05651639e-01 9.94359877e-01 -9.28258213e-03 -1.29036657e+01] [-6.44128959e-02 2.47189065e-03 9.97920272e-01 -7.21116572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.33071405700001 meters 0.027237983711147776 Centerline is valid? [True, True] Translation: X:101.36, Y:-12.91, Z:-7.21 [[ 9.92690635e-01 1.02694896e-01 6.33960757e-02 1.01361772e+02] [-1.02314779e-01 9.94709323e-01 -9.22213842e-03 -1.29103451e+01] [-6.40077341e-02 2.66837495e-03 9.97945835e-01 -7.21372512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.360714057 meters 0.029746702588293338 Centerline is valid? [True, True] Translation: X:101.39, Y:-12.92, Z:-7.22 [[ 9.93416818e-01 9.64008794e-02 6.18861612e-02 1.01389821e+02] [-9.60267924e-02 9.95338081e-01 -8.99774341e-03 -1.29192009e+01] [-6.24650433e-02 2.99578008e-03 9.98042656e-01 -7.21669324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.390714057 meters 0.031313317721383495 Centerline is valid? [True, True] Translation: X:101.42, Y:-12.93, Z:-7.22 [[ 9.93720925e-01 9.34142653e-02 6.15832574e-02 1.01416973e+02] [-9.30381704e-02 9.95622290e-01 -8.95288737e-03 -1.29265042e+01] [-6.21499912e-02 3.16707793e-03 9.98061796e-01 -7.21898563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.420714057 meters 0.032952506905724245 Centerline is valid? [True, True] Translation: X:101.45, Y:-12.94, Z:-7.22 [[ 9.94140636e-01 8.87120386e-02 6.17622067e-02 1.01446606e+02] [-8.83250064e-02 9.96051283e-01 -8.97412667e-03 -1.29351216e+01] [-6.23144383e-02 3.46639669e-03 9.98050547e-01 -7.22088805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.450714057 meters 0.032593504803442606 Centerline is valid? [True, True] Translation: X:101.48, Y:-12.94, Z:-7.22 [[ 9.94275116e-01 8.68922854e-02 6.21829992e-02 1.01475585e+02] [-8.64964172e-02 9.96211191e-01 -9.03513747e-03 -1.29390996e+01] [-6.27324835e-02 3.60480571e-03 9.98023868e-01 -7.22272619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.480714057 meters 0.031647292638073664 Centerline is valid? [True, True] Translation: X:101.50, Y:-12.94, Z:-7.22 [[ 9.94397592e-01 8.55781395e-02 6.20468456e-02 1.01504611e+02] [-8.51816679e-02 9.96324680e-01 -9.01201269e-03 -1.29418320e+01] [-6.25900348e-02 3.67626992e-03 9.98032551e-01 -7.22391489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.510714057 meters 0.03181665226903782 Centerline is valid? [True, True] Translation: X:101.53, Y:-12.95, Z:-7.22 [[ 9.94411327e-01 8.51440868e-02 6.24227343e-02 1.01532936e+02] [-8.47421502e-02 9.96361694e-01 -9.06324616e-03 -1.29455341e+01] [-6.29673031e-02 3.72275791e-03 9.98008647e-01 -7.22468311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.540714057 meters 0.030979328680891698 Centerline is valid? [True, True] Translation: X:101.56, Y:-12.95, Z:-7.23 [[ 9.94381850e-01 8.54734853e-02 6.24421238e-02 1.01561995e+02] [-8.50722479e-02 9.96333582e-01 -9.06126176e-03 -1.29483396e+01] [-6.29876825e-02 3.69826240e-03 9.98007452e-01 -7.22621242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.570714057 meters 0.03113040535421225 Centerline is valid? [True, True] Translation: X:101.59, Y:-12.95, Z:-7.23 [[ 9.94250442e-01 8.58334441e-02 6.40209211e-02 1.01590699e+02] [-8.54125181e-02 9.96302381e-01 -9.28807051e-03 -1.29533304e+01] [-6.45814232e-02 3.76648013e-03 9.97905333e-01 -7.22722115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.600714057 meters 0.03170597471798923 Centerline is valid? [True, True] Translation: X:101.62, Y:-12.96, Z:-7.23 [[ 9.94178682e-01 8.62475903e-02 6.45763185e-02 1.01619828e+02] [-8.58205108e-02 9.96266612e-01 -9.36368333e-03 -1.29586903e+01] [-6.51428251e-02 3.76720171e-03 9.97868839e-01 -7.22909399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.630714057 meters 0.030274202619306165 Centerline is valid? [True, True] Translation: X:101.65, Y:-12.96, Z:-7.23 [[ 9.94079590e-01 8.67730146e-02 6.53927637e-02 1.01649058e+02] [-8.63363386e-02 9.96220946e-01 -9.47968242e-03 -1.29608951e+01] [-6.59682215e-02 3.77778703e-03 9.97814573e-01 -7.23010246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.660714057 meters 0.030864441440644038 Centerline is valid? [True, True] Translation: X:101.68, Y:-12.97, Z:-7.23 [[ 9.94023012e-01 8.70352258e-02 6.59023646e-02 1.01676697e+02] [-8.65925282e-02 9.96198040e-01 -9.54981904e-03 -1.29665341e+01] [-6.64829771e-02 3.78608752e-03 9.97780376e-01 -7.23154708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.69071405700001 meters 0.03069931701146156 Centerline is valid? [True, True] Translation: X:101.71, Y:-12.97, Z:-7.23 [[ 9.94076773e-01 8.69344569e-02 6.52209298e-02 1.01705519e+02] [-8.65009068e-02 9.96206976e-01 -9.44742906e-03 -1.29712105e+01] [-6.57948524e-02 3.74980022e-03 9.97826125e-01 -7.23417993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.72071405700001 meters 0.03285588415521328 Centerline is valid? [True, True] Translation: X:101.73, Y:-12.98, Z:-7.24 [[ 9.94301260e-01 8.59521416e-02 6.30653128e-02 1.01733014e+02] [-8.55449916e-02 9.96292448e-01 -9.13301793e-03 -1.29802690e+01] [-6.36164973e-02 3.68604958e-03 9.97967612e-01 -7.23804207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.750714057 meters 0.03464097682230191 Centerline is valid? [True, True] Translation: X:101.76, Y:-12.99, Z:-7.24 [[ 9.94468269e-01 8.50794979e-02 6.15982251e-02 1.01760203e+02] [-8.46896556e-02 9.96367477e-01 -8.91697024e-03 -1.29879450e+01] [-6.21331195e-02 3.65091149e-03 9.98061194e-01 -7.24143944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.780714057 meters 0.03211253788056937 Centerline is valid? [True, True] Translation: X:101.79, Y:-12.99, Z:-7.24 [[ 9.94685041e-01 8.36127684e-02 6.00880493e-02 1.01790384e+02] [-8.32392164e-02 9.96491638e-01 -8.69758798e-03 -1.29895246e+01] [-6.06044681e-02 3.64967852e-03 9.98155187e-01 -7.24395818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.810714057 meters 0.031167435692924964 Centerline is valid? [True, True] Translation: X:101.82, Y:-12.99, Z:-7.25 [[ 9.95018227e-01 8.03813285e-02 5.89709168e-02 1.01819618e+02] [-8.00158994e-02 9.96757038e-01 -8.53601262e-03 -1.29945147e+01] [-5.94658123e-02 3.77487720e-03 9.98223205e-01 -7.24698497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.840714057 meters 0.03436793159387166 Centerline is valid? [True, True] Translation: X:101.85, Y:-13.00, Z:-7.25 [[ 9.95157106e-01 7.87984706e-02 5.87633827e-02 1.01848064e+02] [-7.84329424e-02 9.96883114e-01 -8.50469617e-03 -1.30043874e+01] [-5.92503811e-02 3.85452381e-03 9.98235711e-01 -7.25023768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.870714057 meters 0.03316306917913819 Centerline is valid? [True, True] Translation: X:101.88, Y:-13.01, Z:-7.25 [[ 9.95439001e-01 7.56198821e-02 5.81620946e-02 1.01877930e+02] [-7.52564014e-02 9.97128685e-01 -8.41779461e-03 -1.30081711e+01] [-5.86316456e-02 4.00233111e-03 9.98271662e-01 -7.25143447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.900714057 meters 0.03388636831403733 Centerline is valid? [True, True] Translation: X:101.91, Y:-13.01, Z:-7.25 [[ 9.95508090e-01 7.45062189e-02 5.84163099e-02 1.01907557e+02] [-7.41377173e-02 9.97212184e-01 -8.45332297e-03 -1.30142402e+01] [-5.88832811e-02 4.08449954e-03 9.98256518e-01 -7.25355160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.930714057 meters 0.03747653209796161 Centerline is valid? [True, True] Translation: X:101.94, Y:-13.03, Z:-7.26 [[ 9.95590892e-01 7.31335770e-02 5.87388799e-02 1.01936285e+02] [-7.27586235e-02 9.97313359e-01 -8.49982882e-03 -1.30252437e+01] [-5.92026925e-02 4.18859211e-03 9.98237195e-01 -7.25631443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.960714057 meters 0.03708866701079724 Centerline is valid? [True, True] Translation: X:101.97, Y:-13.03, Z:-7.26 [[ 9.95629196e-01 7.26848395e-02 5.86465506e-02 1.01967524e+02] [-7.23102371e-02 9.97346075e-01 -8.48739108e-03 -1.30302714e+01] [-5.91078117e-02 4.20954838e-03 9.98242729e-01 -7.25842131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.990714057 meters 0.038256337872160553 Centerline is valid? [True, True] Translation: X:102.00, Y:-13.04, Z:-7.26 [[ 9.95624816e-01 7.22830609e-02 5.92147385e-02 1.01998012e+02] [-7.19004209e-02 9.97374996e-01 -8.57006711e-03 -1.30375173e+01] [-5.96787703e-02 4.27500686e-03 9.98208480e-01 -7.26071447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.020714057 meters 0.03916036370116395 Centerline is valid? [True, True] Translation: X:102.03, Y:-13.05, Z:-7.26 [[ 9.95678937e-01 7.12567777e-02 5.95476740e-02 1.02029016e+02] [-7.08670585e-02 9.97448404e-01 -8.63378349e-03 -1.30455234e+01] [-6.00109480e-02 4.37650787e-03 9.98188125e-01 -7.26255992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.05071405700001 meters 0.037050187702261116 Centerline is valid? [True, True] Translation: X:102.06, Y:-13.05, Z:-7.26 [[ 9.95727362e-01 7.06725716e-02 5.94340584e-02 1.02061003e+02] [-7.02831447e-02 9.97489837e-01 -8.62000221e-03 -1.30480351e+01] [-5.98940669e-02 4.40595954e-03 9.98195015e-01 -7.26429410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.08071405700001 meters 0.039910229946861206 Centerline is valid? [True, True] Translation: X:102.09, Y:-13.06, Z:-7.27 [[ 9.95871815e-01 6.84408751e-02 5.96252840e-02 1.02090116e+02] [-6.80439073e-02 9.97644697e-01 -8.66522742e-03 -1.30584727e+01] [-6.00779041e-02 4.57231846e-03 9.98183219e-01 -7.26660937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.110714057 meters 0.03959150808915455 Centerline is valid? [True, True] Translation: X:102.12, Y:-13.06, Z:-7.27 [[ 9.95982463e-01 6.73169805e-02 5.90538494e-02 1.02121618e+02] [-6.69255998e-02 9.97721053e-01 -8.58275892e-03 -1.30635308e+01] [-5.94970342e-02 4.59606308e-03 9.98217902e-01 -7.26930144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.140714057 meters 0.04315675873374102 Centerline is valid? [True, True] Translation: X:102.15, Y:-13.07, Z:-7.27 [[ 9.96128716e-01 6.57346191e-02 5.83655827e-02 1.02150028e+02] [-6.53493842e-02 9.97826354e-01 -8.48680269e-03 -1.30742123e+01] [-5.87965933e-02 4.63979298e-03 9.98259201e-01 -7.27284661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.170714057 meters 0.040618246250808586 Centerline is valid? [True, True] Translation: X:102.18, Y:-13.08, Z:-7.28 [[ 9.96343894e-01 6.30204993e-02 5.76824208e-02 1.02180854e+02] [-6.26393869e-02 9.98000932e-01 -8.39330852e-03 -1.30780535e+01] [-5.80960602e-02 4.74943022e-03 9.98299700e-01 -7.27566806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.200714057 meters 0.04133753747536219 Centerline is valid? [True, True] Translation: X:102.21, Y:-13.08, Z:-7.28 [[ 9.96386002e-01 6.24937434e-02 5.75279643e-02 1.02212355e+02] [-6.21138862e-02 9.98033977e-01 -8.36936350e-03 -1.30846413e+01] [-5.79378959e-02 4.76583121e-03 9.98308813e-01 -7.27834286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.230714057 meters 0.04795284408272197 Centerline is valid? [True, True] Translation: X:102.24, Y:-13.10, Z:-7.28 [[ 9.96370983e-01 6.27597296e-02 5.74985315e-02 1.02242866e+02] [-6.23798529e-02 9.98017302e-01 -8.37970483e-03 -1.30989857e+01] [-5.79104372e-02 4.76254480e-03 9.98310422e-01 -7.28164248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.260714057 meters 0.042301300625475886 Centerline is valid? [True, True] Translation: X:102.28, Y:-13.10, Z:-7.28 [[ 9.96293581e-01 6.37369478e-02 5.77641969e-02 1.02276256e+02] [-6.33541402e-02 9.97955452e-01 -8.43621605e-03 -1.30962151e+01] [-5.81837939e-02 4.74534686e-03 9.98294610e-01 -7.28254105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.290714057 meters 0.04313610029741761 Centerline is valid? [True, True] Translation: X:102.31, Y:-13.10, Z:-7.28 [[ 9.96194610e-01 6.49336128e-02 5.81371278e-02 1.02307111e+02] [-6.45476312e-02 9.97878472e-01 -8.49460655e-03 -1.31020939e+01] [-5.85653737e-02 4.70966738e-03 9.98272466e-01 -7.28462087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.320714057 meters 0.041119160625569494 Centerline is valid? [True, True] Translation: X:102.34, Y:-13.10, Z:-7.29 [[ 9.96044671e-01 6.77230935e-02 5.75204035e-02 1.02337765e+02] [-6.73489717e-02 9.97693949e-01 -8.42025114e-03 -1.31025932e+01] [-5.79580040e-02 4.51300624e-03 9.98308821e-01 -7.28635599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.350714057 meters 0.03800218066918907 Centerline is valid? [True, True] Translation: X:102.37, Y:-13.10, Z:-7.29 [[ 9.95949635e-01 6.91764458e-02 5.74364396e-02 1.02369366e+02] [-6.88058398e-02 9.97594642e-01 -8.40756580e-03 -1.31022101e+01] [-5.78798900e-02 4.42154962e-03 9.98313762e-01 -7.28787614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.380714057 meters 0.04062258354112081 Centerline is valid? [True, True] Translation: X:102.40, Y:-13.11, Z:-7.29 [[ 9.95780330e-01 7.14732434e-02 5.75596258e-02 1.02398400e+02] [-7.11047070e-02 9.97433249e-01 -8.42814388e-03 -1.31088188e+01] [-5.80142714e-02 4.29981956e-03 9.98306494e-01 -7.29082602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.410714057 meters 0.03909911693306935 Centerline is valid? [True, True] Translation: X:102.43, Y:-13.11, Z:-7.29 [[ 9.95693219e-01 7.26458668e-02 5.75985448e-02 1.02430531e+02] [-7.22789334e-02 9.97348821e-01 -8.43121509e-03 -1.31105925e+01] [-5.80583337e-02 4.23174230e-03 9.98304223e-01 -7.29250393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.44071405700001 meters 0.03785482976984769 Centerline is valid? [True, True] Translation: X:102.46, Y:-13.11, Z:-7.29 [[ 9.95621704e-01 7.34839418e-02 5.77713926e-02 1.02463080e+02] [-7.31153472e-02 9.97287514e-01 -8.47116548e-03 -1.31133020e+01] [-5.82371832e-02 4.21010077e-03 9.98293897e-01 -7.29397747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.47071405700001 meters 0.03823090573386109 Centerline is valid? [True, True] Translation: X:102.49, Y:-13.12, Z:-7.30 [[ 9.95583061e-01 7.34855146e-02 5.84315645e-02 1.02493980e+02] [-7.31074232e-02 9.97287120e-01 -8.58517145e-03 -1.31178057e+01] [-5.89039324e-02 4.27547016e-03 9.98254500e-01 -7.29649632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.500714057 meters 0.04049658224153824 Centerline is valid? [True, True] Translation: X:102.52, Y:-13.13, Z:-7.30 [[ 9.95616230e-01 7.32469139e-02 5.81653870e-02 1.02524115e+02] [-7.28718504e-02 9.97304695e-01 -8.54622005e-03 -1.31256015e+01] [-5.86345978e-02 4.27013601e-03 9.98270379e-01 -7.29935080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.530714057 meters 0.038658578208724155 Centerline is valid? [True, True] Translation: X:102.56, Y:-13.13, Z:-7.30 [[ 9.95738027e-01 7.23454293e-02 5.72007105e-02 1.02555969e+02] [-7.19803817e-02 9.97370512e-01 -8.41938280e-03 -1.31274987e+01] [-5.76594058e-02 4.26617064e-03 9.98327197e-01 -7.30196478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.560714057 meters 0.03976426152540272 Centerline is valid? [True, True] Translation: X:102.59, Y:-13.13, Z:-7.30 [[ 9.95789650e-01 7.20450601e-02 5.66787670e-02 1.02586860e+02] [-7.16859758e-02 9.97392333e-01 -8.34594589e-03 -1.31333693e+01] [-5.71322519e-02 4.24773382e-03 9.98357583e-01 -7.30497505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.590714057 meters 0.04059277147644794 Centerline is valid? [True, True] Translation: X:102.62, Y:-13.14, Z:-7.31 [[ 9.95827930e-01 7.20728681e-02 5.59663823e-02 1.02618930e+02] [-7.17224625e-02 9.97390532e-01 -8.24718224e-03 -1.31385264e+01] [-5.64147379e-02 4.19872766e-03 9.98398592e-01 -7.30766412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.620714057 meters 0.04102470404279566 Centerline is valid? [True, True] Translation: X:102.65, Y:-13.14, Z:-7.31 [[ 9.95868753e-01 7.16138830e-02 5.58290080e-02 1.02649833e+02] [-7.12635459e-02 9.97423456e-01 -8.24352972e-03 -1.31432349e+01] [-5.62755133e-02 4.23090059e-03 9.98406313e-01 -7.30978659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.650714057 meters 0.043146798490755506 Centerline is valid? [True, True] Translation: X:102.68, Y:-13.15, Z:-7.31 [[ 9.95795197e-01 7.13255240e-02 5.74856087e-02 1.02680124e+02] [-7.09535756e-02 9.97443502e-01 -8.48822360e-03 -1.31501732e+01] [-5.79440739e-02 4.37372281e-03 9.98310250e-01 -7.31072241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.680714057 meters 0.043146798490755506 Centerline is valid? [True, True] Translation: X:102.71, Y:-13.15, Z:-7.31 [[ 9.95778048e-01 7.15660604e-02 5.74837134e-02 1.02711542e+02] [-7.11937746e-02 9.97426277e-01 -8.50103783e-03 -1.31548738e+01] [-5.79441520e-02 4.37266432e-03 9.98310250e-01 -7.31290596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.710714057 meters 0.043473512002880216 Centerline is valid? [True, True] Translation: X:102.74, Y:-13.16, Z:-7.31 [[ 9.95735982e-01 7.12778491e-02 5.85604107e-02 1.02743486e+02] [-7.08900983e-02 9.97446409e-01 -8.67502350e-03 -1.31595846e+01] [-5.90292084e-02 4.48667977e-03 9.98246173e-01 -7.31455065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.740714057 meters 0.04476069670337419 Centerline is valid? [True, True] Translation: X:102.77, Y:-13.17, Z:-7.32 [[ 9.95807700e-01 6.95121699e-02 5.94565595e-02 1.02773725e+02] [-6.91083076e-02 9.97570132e-01 -8.82458824e-03 -1.31650179e+01] [-5.99255042e-02 4.67865071e-03 9.98191887e-01 -7.31657862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.770714057 meters 0.04263721582741905 Centerline is valid? [True, True] Translation: X:102.81, Y:-13.17, Z:-7.32 [[ 9.95899635e-01 6.85017024e-02 5.90883574e-02 1.02805843e+02] [-6.81010358e-02 9.97639879e-01 -8.77048339e-03 -1.31668491e+01] [-5.95496947e-02 4.71054287e-03 9.98214228e-01 -7.31881707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.80071405700001 meters 0.04331645620553102 Centerline is valid? [True, True] Translation: X:102.84, Y:-13.17, Z:-7.32 [[ 9.95974168e-01 6.74003484e-02 5.90986452e-02 1.02837062e+02] [-6.69973921e-02 9.97714556e-01 -8.77578180e-03 -1.31720796e+01] [-5.95550693e-02 4.78099688e-03 9.98213572e-01 -7.32158572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.83071405700001 meters 0.0427913902741372 Centerline is valid? [True, True] Translation: X:102.87, Y:-13.17, Z:-7.32 [[ 9.96180659e-01 6.49059101e-02 5.84064809e-02 1.02867650e+02] [-6.45076025e-02 9.97879453e-01 -8.68136799e-03 -1.31745538e+01] [-5.88460993e-02 4.88054884e-03 9.98255136e-01 -7.32369447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.860714057 meters 0.043637920019751614 Centerline is valid? [True, True] Translation: X:102.90, Y:-13.18, Z:-7.33 [[ 9.96267634e-01 6.37484427e-02 5.81973992e-02 1.02899464e+02] [-6.33509959e-02 9.97953814e-01 -8.65081159e-03 -1.31793713e+01] [-5.86297923e-02 4.93166040e-03 9.98267613e-01 -7.32598875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.890714057 meters 0.04106859387634576 Centerline is valid? [True, True] Translation: X:102.93, Y:-13.18, Z:-7.33 [[ 9.96304781e-01 6.32571386e-02 5.80974932e-02 1.02931509e+02] [-6.28600788e-02 9.97984963e-01 -8.63851661e-03 -1.31795810e+01] [-5.85268724e-02 4.95458240e-03 9.98273538e-01 -7.32768010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.920714057 meters 0.04498088381734549 Centerline is valid? [True, True] Translation: X:102.96, Y:-13.19, Z:-7.33 [[ 9.96452832e-01 6.17095832e-02 5.72160975e-02 1.02960364e+02] [-6.13210258e-02 9.98081699e-01 -8.52375289e-03 -1.31876749e+01] [-5.76323371e-02 4.98496791e-03 9.98325430e-01 -7.33011762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.950714057 meters 0.04330910418342318 Centerline is valid? [True, True] Translation: X:102.99, Y:-13.19, Z:-7.33 [[ 9.96512403e-01 6.11935807e-02 5.67307358e-02 1.02992924e+02] [-6.08109341e-02 9.98113547e-01 -8.44853952e-03 -1.31894830e+01] [-5.71407123e-02 4.96922538e-03 9.98353768e-01 -7.33244500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.980714057 meters 0.04913657789216317 Centerline is valid? [True, True] Translation: X:103.02, Y:-13.20, Z:-7.34 [[ 9.96589348e-01 6.04013007e-02 5.62259138e-02 1.03022681e+02] [-6.00233625e-02 9.98161729e-01 -8.38799994e-03 -1.32003998e+01] [-5.66292014e-02 4.98452299e-03 9.98382836e-01 -7.33632160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.010714057 meters 0.04657791053748793 Centerline is valid? [True, True] Translation: X:103.06, Y:-13.20, Z:-7.34 [[ 9.96579696e-01 6.06326961e-02 5.61478871e-02 1.03056225e+02] [-6.02554471e-02 9.98147736e-01 -8.38915267e-03 -1.32012637e+01] [-5.65525434e-02 4.97724318e-03 9.98387218e-01 -7.33807090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.040714057 meters 0.04258582591892525 Centerline is valid? [True, True] Translation: X:103.09, Y:-13.20, Z:-7.34 [[ 9.96538054e-01 6.13679961e-02 5.60881156e-02 1.03088749e+02] [-6.09917709e-02 9.98102950e-01 -8.39673810e-03 -1.31998996e+01] [-5.64970046e-02 4.94675555e-03 9.98390514e-01 -7.33968114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.070714057 meters 0.04348062572822356 Centerline is valid? [True, True] Translation: X:103.12, Y:-13.20, Z:-7.34 [[ 9.96358773e-01 6.34547358e-02 5.69446313e-02 1.03118187e+02] [-6.30692600e-02 9.97972588e-01 -8.54297212e-03 -1.32038119e+01] [-5.73712731e-02 4.92040947e-03 9.98340787e-01 -7.34108500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.100714057 meters 0.05018753048212831 Centerline is valid? [True, True] Translation: X:103.15, Y:-13.22, Z:-7.34 [[ 9.96218879e-01 6.51710698e-02 5.74515176e-02 1.03146909e+02] [-6.47815327e-02 9.97862249e-01 -8.61882305e-03 -1.32165153e+01] [-5.78903985e-02 4.86443687e-03 9.98311093e-01 -7.34361909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.130714057 meters 0.04953251112165595 Centerline is valid? [True, True] Translation: X:103.18, Y:-13.22, Z:-7.34 [[ 9.95966242e-01 6.82617685e-02 5.82372446e-02 1.03176594e+02] [-6.78666460e-02 9.97656135e-01 -8.73811611e-03 -1.32178986e+01] [-5.86972236e-02 4.75050220e-03 9.98264528e-01 -7.34485564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.160714057 meters 0.044385061979314674 Centerline is valid? [True, True] Translation: X:103.21, Y:-13.21, Z:-7.35 [[ 9.95850803e-01 6.98923491e-02 5.82772512e-02 1.03208835e+02] [-6.94995359e-02 9.97543673e-01 -8.74272461e-03 -1.32149185e+01] [-5.87451528e-02 4.65620741e-03 9.98262153e-01 -7.34607029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.19071405700001 meters 0.03743241122724668 Centerline is valid? [True, True] Translation: X:103.24, Y:-13.21, Z:-7.35 [[ 9.95781976e-01 7.08863202e-02 5.82527838e-02 1.03242025e+02] [-7.04954157e-02 9.97473805e-01 -8.74092625e-03 -1.32088130e+01] [-5.87252381e-02 4.59750260e-03 9.98263597e-01 -7.34735765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.22071405700001 meters 0.04401675818255559 Centerline is valid? [True, True] Translation: X:103.27, Y:-13.22, Z:-7.35 [[ 9.95679378e-01 7.23922357e-02 5.81544530e-02 1.03270256e+02] [-7.20049864e-02 9.97366067e-01 -8.72984448e-03 -1.32221685e+01] [-5.86332510e-02 4.50471553e-03 9.98269427e-01 -7.35117552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.250714057 meters 0.0417939327014351 Centerline is valid? [True, True] Translation: X:103.30, Y:-13.22, Z:-7.35 [[ 9.95722429e-01 7.23612609e-02 5.74516457e-02 1.03301733e+02] [-7.19832248e-02 9.97368548e-01 -8.62524070e-03 -1.32228709e+01] [-5.79245977e-02 4.45279090e-03 9.98311031e-01 -7.35310027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.280714057 meters 0.04148534277681787 Centerline is valid? [True, True] Translation: X:103.33, Y:-13.23, Z:-7.36 [[ 9.95827875e-01 7.16358490e-02 5.65256404e-02 1.03332482e+02] [-7.12686319e-02 9.97421039e-01 -8.48840785e-03 -1.32253423e+01] [-5.69879372e-02 4.42448809e-03 9.98365063e-01 -7.35527387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.310714057 meters 0.04082516007575886 Centerline is valid? [True, True] Translation: X:103.36, Y:-13.23, Z:-7.36 [[ 9.95892286e-01 7.08335881e-02 5.64017547e-02 1.03362554e+02] [-7.04666337e-02 9.97478168e-01 -8.47102679e-03 -1.32282257e+01] [-5.68595522e-02 4.46178845e-03 9.98372217e-01 -7.35733960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.340714057 meters 0.04434904304902235 Centerline is valid? [True, True] Translation: X:103.39, Y:-13.24, Z:-7.36 [[ 9.95931294e-01 7.02716374e-02 5.64159132e-02 1.03391447e+02] [-6.99036151e-02 9.97517766e-01 -8.47294517e-03 -1.32370928e+01] [-5.68712835e-02 4.49479496e-03 9.98371401e-01 -7.36019273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.370714057 meters 0.04207671253833111 Centerline is valid? [True, True] Translation: X:103.42, Y:-13.24, Z:-7.36 [[ 9.95997689e-01 6.94964223e-02 5.62036526e-02 1.03423063e+02] [-6.91298974e-02 9.97571948e-01 -8.44186057e-03 -1.32368538e+01] [-5.66538664e-02 4.52272088e-03 9.98383636e-01 -7.36157606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.400714057 meters 0.043283467099068045 Centerline is valid? [True, True] Translation: X:103.45, Y:-13.24, Z:-7.36 [[ 9.95989377e-01 6.97349607e-02 5.60552909e-02 1.03453102e+02] [-6.93706184e-02 9.97555407e-01 -8.42182985e-03 -1.32417337e+01] [-5.65055545e-02 4.49946287e-03 9.98392146e-01 -7.36375926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.430714057 meters 0.043927599002444466 Centerline is valid? [True, True] Translation: X:103.48, Y:-13.25, Z:-7.37 [[ 9.95791328e-01 7.16139025e-02 5.71933581e-02 1.03482590e+02] [-7.12375989e-02 9.97422351e-01 -8.59407234e-03 -1.32451397e+01] [-5.76613887e-02 4.48358521e-03 9.98326130e-01 -7.36533200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.460714057 meters 0.04374062809012723 Centerline is valid? [True, True] Translation: X:103.51, Y:-13.25, Z:-7.37 [[ 9.95630739e-01 7.33379148e-02 5.78012195e-02 1.03513230e+02] [-7.29564538e-02 9.97297309e-01 -8.68523362e-03 -1.32481367e+01] [-5.82819575e-02 4.43031357e-03 9.98290331e-01 -7.36681360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.490714057 meters 0.04222034702420962 Centerline is valid? [True, True] Translation: X:103.54, Y:-13.25, Z:-7.37 [[ 9.95387368e-01 7.57732300e-02 5.88422021e-02 1.03544187e+02] [-7.53820487e-02 9.97115517e-01 -8.84270623e-03 -1.32501354e+01] [-5.93425132e-02 4.36627233e-03 9.98228131e-01 -7.36809461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.520714057 meters 0.041680046151329635 Centerline is valid? [True, True] Translation: X:103.57, Y:-13.25, Z:-7.37 [[ 9.94944788e-01 8.03033886e-02 6.03011966e-02 1.03574360e+02] [-7.99007286e-02 9.96761622e-01 -9.06321039e-03 -1.32516924e+01] [-6.08337250e-02 4.19928440e-03 9.98139080e-01 -7.36861514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.55071405700001 meters 0.04060410592502295 Centerline is valid? [True, True] Translation: X:103.60, Y:-13.25, Z:-7.37 [[ 9.94693726e-01 8.27289816e-02 6.11580562e-02 1.03603805e+02] [-8.23193354e-02 9.96563612e-01 -9.19202557e-03 -1.32538296e+01] [-6.17083403e-02 4.10875962e-03 9.98085767e-01 -7.37011662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.58071405700001 meters 0.03975953331188772 Centerline is valid? [True, True] Translation: X:103.63, Y:-13.26, Z:-7.37 [[ 9.94299777e-01 8.71503434e-02 6.14228912e-02 1.03633638e+02] [-8.67456639e-02 9.96187735e-01 -9.22960447e-03 -1.32551778e+01] [-6.19930940e-02 3.84882419e-03 9.98069157e-01 -7.37127104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.610714057 meters 0.03924082127572304 Centerline is valid? [True, True] Translation: X:103.66, Y:-13.26, Z:-7.37 [[ 9.94129026e-01 8.91959483e-02 6.12500073e-02 1.03663278e+02] [-8.87974812e-02 9.96007190e-01 -9.20248507e-03 -1.32581392e+01] [-6.18262720e-02 3.70961114e-03 9.98080032e-01 -7.37331466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.640714057 meters 0.034088993117787424 Centerline is valid? [True, True] Translation: X:103.69, Y:-13.25, Z:-7.38 [[ 9.93778122e-01 9.31711855e-02 6.10260066e-02 1.03694790e+02] [-9.27832302e-02 9.95644136e-01 -9.16658692e-03 -1.32546028e+01] [-6.16142474e-02 3.44736352e-03 9.98094084e-01 -7.37521694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.670714057 meters 0.034082315509544894 Centerline is valid? [True, True] Translation: X:103.72, Y:-13.26, Z:-7.38 [[ 9.93601504e-01 9.51591108e-02 6.08341595e-02 1.03722309e+02] [-9.47772884e-02 9.95456560e-01 -9.13803677e-03 -1.32583621e+01] [-6.14273306e-02 3.31387040e-03 9.98106057e-01 -7.37745473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.700714057 meters 0.031091089131444694 Centerline is valid? [True, True] Translation: X:103.75, Y:-13.26, Z:-7.38 [[ 9.93438887e-01 9.70169620e-02 6.05548280e-02 1.03751303e+02] [-9.66424067e-02 9.95277651e-01 -9.09075581e-03 -1.32573596e+01] [-6.11508245e-02 3.17894603e-03 9.98123475e-01 -7.37918198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.730714057 meters 0.03090173791160113 Centerline is valid? [True, True] Translation: X:103.78, Y:-13.26, Z:-7.38 [[ 9.93261661e-01 9.95938671e-02 5.92649544e-02 1.03780300e+02] [-9.92399589e-02 9.95023795e-01 -8.89262700e-03 -1.32605160e+01] [-5.98556909e-02 2.95125382e-03 9.98202678e-01 -7.38213123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.760714057 meters 0.03215248645446399 Centerline is valid? [True, True] Translation: X:103.81, Y:-13.27, Z:-7.39 [[ 9.93225266e-01 1.00225818e-01 5.88077897e-02 1.03807194e+02] [-9.98785554e-02 9.94960521e-01 -8.82242077e-03 -1.32664481e+01] [-5.93956635e-02 2.88901413e-03 9.98230339e-01 -7.38509000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.790714057 meters 0.029402741295154928 Centerline is valid? [True, True] Translation: X:103.84, Y:-13.27, Z:-7.39 [[ 9.93268471e-01 1.00541244e-01 5.75256702e-02 1.03836318e+02] [-1.00209801e-01 9.94928945e-01 -8.62498237e-03 -1.32668175e+01] [-5.81011208e-02 2.80228710e-03 9.98306770e-01 -7.38771564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.820714057 meters 0.029965325580235416 Centerline is valid? [True, True] Translation: X:103.86, Y:-13.27, Z:-7.39 [[ 9.93349983e-01 9.98910481e-02 5.72502416e-02 1.03864650e+02] [-9.95619364e-02 9.94994378e-01 -8.57958593e-03 -1.32724632e+01] [-5.78206924e-02 2.82258662e-03 9.98322994e-01 -7.39051718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.850714057 meters 0.028682644140816116 Centerline is valid? [True, True] Translation: X:103.89, Y:-13.27, Z:-7.39 [[ 9.93376435e-01 9.95429341e-02 5.73974040e-02 1.03893073e+02] [-9.92117848e-02 9.95029198e-01 -8.59754493e-03 -1.32748770e+01] [-5.79679177e-02 2.84609964e-03 9.98314389e-01 -7.39198438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.880714057 meters 0.029278161061112713 Centerline is valid? [True, True] Translation: X:103.92, Y:-13.28, Z:-7.39 [[ 9.93436505e-01 9.87710697e-02 5.76904361e-02 1.03920607e+02] [-9.84354676e-02 9.95105952e-01 -8.63734831e-03 -1.32809625e+01] [-5.82612165e-02 2.90187206e-03 9.98297155e-01 -7.39388841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.910714057 meters 0.029704418377547757 Centerline is valid? [True, True] Translation: X:103.95, Y:-13.29, Z:-7.40 [[ 9.93483676e-01 9.80549511e-02 5.80982938e-02 1.03949007e+02] [-9.77136854e-02 9.95176602e-01 -8.69288324e-03 -1.32855182e+01] [-5.86704429e-02 2.95923919e-03 9.98273020e-01 -7.39509845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.94071405700001 meters 0.030414360520359913 Centerline is valid? [True, True] Translation: X:103.98, Y:-13.29, Z:-7.40 [[ 9.93505778e-01 9.72832601e-02 5.90104746e-02 1.03976828e+02] [-9.69300739e-02 9.95252067e-01 -8.82516541e-03 -1.32905788e+01] [-5.95888377e-02 3.04796317e-03 9.98218353e-01 -7.39579845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.97071405700001 meters 0.034896466659326525 Centerline is valid? [True, True] Translation: X:104.00, Y:-13.30, Z:-7.40 [[ 9.93544261e-01 9.66950274e-02 5.93285223e-02 1.04003484e+02] [-9.63372879e-02 9.95309246e-01 -8.86749415e-03 -1.33015461e+01] [-5.99076693e-02 3.09469899e-03 9.98199125e-01 -7.39857865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.000714057 meters 0.03132169433029537 Centerline is valid? [True, True] Translation: X:104.03, Y:-13.30, Z:-7.40 [[ 9.93592443e-01 9.60520046e-02 5.95656801e-02 1.04033055e+02] [-9.56906410e-02 9.95371366e-01 -8.89635317e-03 -1.33009405e+01] [-6.01444849e-02 3.13947116e-03 9.98184745e-01 -7.39922460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.030714057 meters 0.032325968233238474 Centerline is valid? [True, True] Translation: X:104.06, Y:-13.31, Z:-7.40 [[ 9.93692539e-01 9.50253469e-02 5.95426032e-02 1.04060051e+02] [-9.46626740e-02 9.95469722e-01 -8.88880745e-03 -1.33071337e+01] [-6.01175207e-02 3.19627960e-03 9.98186189e-01 -7.40146760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.060714057 meters 0.03269574433749688 Centerline is valid? [True, True] Translation: X:104.09, Y:-13.31, Z:-7.40 [[ 9.93916204e-01 9.28450132e-02 5.92484901e-02 1.04088956e+02] [-9.24823987e-02 9.95675084e-01 -8.83924258e-03 -1.33135395e+01] [-5.98129250e-02 3.30602394e-03 9.98204130e-01 -7.40429598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.090714057 meters 0.03025733460317011 Centerline is valid? [True, True] Translation: X:104.12, Y:-13.31, Z:-7.41 [[ 9.94041556e-01 9.17886423e-02 5.87897099e-02 1.04117624e+02] [-9.14298908e-02 9.95772905e-01 -8.76908628e-03 -1.33143874e+01] [-5.93461027e-02 3.34169941e-03 9.98231873e-01 -7.40583417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.120714057 meters 0.03149478298982408 Centerline is valid? [True, True] Translation: X:104.15, Y:-13.32, Z:-7.41 [[ 9.94163937e-01 9.12986328e-02 5.74684729e-02 1.04145210e+02] [-9.09552519e-02 9.95818120e-01 -8.56820242e-03 -1.33197833e+01] [-5.80104119e-02 3.29113842e-03 9.98310553e-01 -7.40849850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.150714057 meters 0.031112126033285194 Centerline is valid? [True, True] Translation: X:104.17, Y:-13.32, Z:-7.41 [[ 9.94124142e-01 9.19431865e-02 5.71282777e-02 1.04173617e+02] [-9.16052871e-02 9.95759023e-01 -8.51119786e-03 -1.33230970e+01] [-5.76685446e-02 3.22793499e-03 9.98330566e-01 -7.41020921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.180714057 meters 0.03184469638645126 Centerline is valid? [True, True] Translation: X:104.20, Y:-13.33, Z:-7.41 [[ 9.94097547e-01 9.24037722e-02 5.68472481e-02 1.04201255e+02] [-9.20701686e-02 9.95716536e-01 -8.46540825e-03 -1.33276373e+01] [-5.73859806e-02 3.18150586e-03 9.98346997e-01 -7.41248037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.210714057 meters 0.03138510881439809 Centerline is valid? [True, True] Translation: X:104.23, Y:-13.33, Z:-7.41 [[ 9.93870414e-01 9.49637950e-02 5.65992787e-02 1.04231370e+02] [-9.46375716e-02 9.95476163e-01 -8.42257693e-03 -1.33295581e+01] [-5.71430727e-02 3.01453172e-03 9.98361448e-01 -7.41447796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.240714057 meters 0.03175701896703243 Centerline is valid? [True, True] Translation: X:104.26, Y:-13.33, Z:-7.42 [[ 9.93807087e-01 9.56497385e-02 5.65561761e-02 1.04259315e+02] [-9.53251306e-02 9.95410614e-01 -8.41596076e-03 -1.33326892e+01] [-5.71016024e-02 2.97261658e-03 9.98363947e-01 -7.41640540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.270714057 meters 0.031323487046090705 Centerline is valid? [True, True] Translation: X:104.29, Y:-13.33, Z:-7.42 [[ 9.93661655e-01 9.68233504e-02 5.71117759e-02 1.04287868e+02] [-9.64945657e-02 9.95297274e-01 -8.49328999e-03 -1.33344504e+01] [-5.76655436e-02 2.92848058e-03 9.98331663e-01 -7.41719075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.30071405700001 meters 0.030134245898694154 Centerline is valid? [True, True] Translation: X:104.32, Y:-13.34, Z:-7.42 [[ 9.93560472e-01 9.73980590e-02 5.78896017e-02 1.04316387e+02] [-9.70614613e-02 9.95241192e-01 -8.60480864e-03 -1.33367043e+01] [-5.84522079e-02 2.93054840e-03 9.98285907e-01 -7.41788433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.33071405700001 meters 0.02939421604897738 Centerline is valid? [True, True] Translation: X:104.34, Y:-13.34, Z:-7.42 [[ 9.93588558e-01 9.68204482e-02 5.83744737e-02 1.04344987e+02] [-9.64774363e-02 9.95297387e-01 -8.67266648e-03 -1.33391238e+01] [-5.89396526e-02 2.98524261e-03 9.98257084e-01 -7.41904422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.360714057 meters 0.029424595789071507 Centerline is valid? [True, True] Translation: X:104.37, Y:-13.34, Z:-7.42 [[ 9.93781853e-01 9.44368617e-02 5.89856525e-02 1.04373838e+02] [-9.40827037e-02 9.95525854e-01 -8.75897349e-03 -1.33424723e+01] [-5.95489120e-02 3.15497924e-03 9.98220403e-01 -7.42012986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.390714057 meters 0.030280903896940478 Centerline is valid? [True, True] Translation: X:104.40, Y:-13.35, Z:-7.42 [[ 9.93949935e-01 9.27892783e-02 5.87679942e-02 1.04402825e+02] [-9.24350661e-02 9.95680503e-01 -8.72323980e-03 -1.33477956e+01] [-5.93235691e-02 3.23824020e-03 9.98233554e-01 -7.42232458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.420714057 meters 0.03206279519531785 Centerline is valid? [True, True] Translation: X:104.43, Y:-13.35, Z:-7.42 [[ 9.94349939e-01 8.91196093e-02 5.76705590e-02 1.04432488e+02] [-8.87725031e-02 9.96015162e-01 -8.55807466e-03 -1.33546097e+01] [-5.82034434e-02 3.39016114e-03 9.98298986e-01 -7.42450612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.450714057 meters 0.032935988485143154 Centerline is valid? [True, True] Translation: X:104.46, Y:-13.36, Z:-7.43 [[ 9.94538771e-01 8.74863285e-02 5.69102320e-02 1.04460946e+02] [-8.71456992e-02 9.96159784e-01 -8.44462441e-03 -1.33599929e+01] [-5.74304736e-02 3.43902443e-03 9.98343585e-01 -7.42672184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.480714057 meters 0.033847162342900285 Centerline is valid? [True, True] Translation: X:104.49, Y:-13.37, Z:-7.43 [[ 9.94943739e-01 8.36492002e-02 5.55856735e-02 1.04491048e+02] [-8.33184977e-02 9.96488864e-01 -8.24454798e-03 -1.33657649e+01] [-5.60801544e-02 3.57154658e-03 9.98419882e-01 -7.42894226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.510714057 meters 0.036013766048811686 Centerline is valid? [True, True] Translation: X:104.52, Y:-13.37, Z:-7.43 [[ 9.95092616e-01 8.21419965e-02 5.51668284e-02 1.04518495e+02] [-8.18139401e-02 9.96614028e-01 -8.18278673e-03 -1.33724181e+01] [-5.56521855e-02 3.62921506e-03 9.98443620e-01 -7.43146532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.540714057 meters 0.03674530715026111 Centerline is valid? [True, True] Translation: X:104.55, Y:-13.38, Z:-7.43 [[ 9.95225335e-01 8.09139663e-02 5.45844563e-02 1.04547524e+02] [-8.05912133e-02 9.96714390e-01 -8.09199807e-03 -1.33768829e+01] [-5.50598688e-02 3.65433393e-03 9.98476368e-01 -7.43310383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.570714057 meters 0.03641231070382565 Centerline is valid? [True, True] Translation: X:104.58, Y:-13.38, Z:-7.43 [[ 9.95404751e-01 7.95194659e-02 5.33482508e-02 1.04577202e+02] [-7.92092910e-02 9.96826650e-01 -7.90688035e-03 -1.33790998e+01] [-5.38077090e-02 3.64486915e-03 9.98544664e-01 -7.43431489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.600714057 meters 0.03641231070382565 Centerline is valid? [True, True] Translation: X:104.61, Y:-13.38, Z:-7.44 [[ 9.95410366e-01 7.94490081e-02 5.33484544e-02 1.04605212e+02] [-7.91388058e-02 9.96832259e-01 -7.90550626e-03 -1.33831888e+01] [-5.38075450e-02 3.64728991e-03 9.98544664e-01 -7.43626527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.630714057 meters 0.03688387260558202 Centerline is valid? [True, True] Translation: X:104.63, Y:-13.39, Z:-7.44 [[ 9.95453269e-01 7.92146288e-02 5.28945305e-02 1.04633768e+02] [-7.89095624e-02 9.96850993e-01 -7.83444876e-03 -1.33867662e+01] [-5.33485682e-02 3.62494337e-03 9.98569372e-01 -7.43849381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.660714057 meters 0.037395965471407965 Centerline is valid? [True, True] Translation: X:104.66, Y:-13.39, Z:-7.44 [[ 9.95432391e-01 7.97279757e-02 5.25148044e-02 1.04661202e+02] [-7.94281725e-02 9.96810272e-01 -7.77475171e-03 -1.33897798e+01] [-5.29671616e-02 3.56808475e-03 9.98589880e-01 -7.43975009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.69071405700001 meters 0.03682354744206975 Centerline is valid? [True, True] Translation: X:104.69, Y:-13.39, Z:-7.44 [[ 9.95376574e-01 8.02303711e-02 5.28068503e-02 1.04690281e+02] [-7.99281984e-02 9.96770005e-01 -7.81283360e-03 -1.33923028e+01] [-5.32631109e-02 3.55595513e-03 9.98574182e-01 -7.44116926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.72071405700001 meters 0.03941357495653097 Centerline is valid? [True, True] Translation: X:104.72, Y:-13.40, Z:-7.44 [[ 9.95334638e-01 8.08330055e-02 5.26781208e-02 1.04717604e+02] [-8.05333321e-02 9.96721473e-01 -7.79028067e-03 -1.33990946e+01] [-5.31351259e-02 3.51159159e-03 9.98581157e-01 -7.44366199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.750714057 meters 0.03569938485903572 Centerline is valid? [True, True] Translation: X:104.75, Y:-13.39, Z:-7.44 [[ 9.95239010e-01 8.26200934e-02 5.17033254e-02 1.04747361e+02] [-8.23340692e-02 9.96575492e-01 -7.64134104e-03 -1.33948727e+01] [-5.21575953e-02 3.34801552e-03 9.98633254e-01 -7.44382709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.780714057 meters 0.03728350536356185 Centerline is valid? [True, True] Translation: X:104.77, Y:-13.40, Z:-7.45 [[ 9.95203628e-01 8.33849186e-02 5.11536263e-02 1.04774806e+02] [-8.31061281e-02 9.96512050e-01 -7.55676537e-03 -1.33992035e+01] [-5.16053253e-02 3.26934049e-03 9.98662206e-01 -7.44593769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.810714057 meters 0.032663926877812194 Centerline is valid? [True, True] Translation: X:104.81, Y:-13.39, Z:-7.45 [[ 9.95234683e-01 8.39045509e-02 4.96784880e-02 1.04805335e+02] [-8.36424948e-02 9.96468836e-01 -7.33432800e-03 -1.33934738e+01] [-5.01184486e-02 3.14414493e-03 9.98738332e-01 -7.44505450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.840714057 meters 0.03376088828063846 Centerline is valid? [True, True] Translation: X:104.83, Y:-13.40, Z:-7.45 [[ 9.95253492e-01 8.36881970e-02 4.96666110e-02 1.04832306e+02] [-8.34261675e-02 9.96487008e-01 -7.32919958e-03 -1.33985034e+01] [-5.01055001e-02 3.15091647e-03 9.98738960e-01 -7.44695551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.870714057 meters 0.03303014386156846 Centerline is valid? [True, True] Translation: X:104.86, Y:-13.40, Z:-7.45 [[ 9.95309158e-01 8.32875144e-02 4.92226641e-02 1.04860734e+02] [-8.30299051e-02 9.96520619e-01 -7.25886103e-03 -1.34005367e+01] [-4.96559721e-02 3.13785774e-03 9.98761452e-01 -7.44799530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.900714057 meters 0.040377803734693685 Centerline is valid? [True, True] Translation: X:104.89, Y:-13.41, Z:-7.45 [[ 9.95415392e-01 8.18084777e-02 4.95537058e-02 1.04886134e+02] [-8.15457168e-02 9.96642834e-01 -7.30462770e-03 -1.34142410e+01] [-4.99849262e-02 3.23024639e-03 9.98744749e-01 -7.45115496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.930714057 meters 0.03380679239837938 Centerline is valid? [True, True] Translation: X:104.92, Y:-13.41, Z:-7.45 [[ 9.95494212e-01 8.09577276e-02 4.93672058e-02 1.04916696e+02] [-8.06962067e-02 9.96712223e-01 -7.27101838e-03 -1.34082141e+01] [-4.97935425e-02 3.25451046e-03 9.98754230e-01 -7.44990568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.960714057 meters 0.03450858640644702 Centerline is valid? [True, True] Translation: X:104.95, Y:-13.41, Z:-7.45 [[ 9.95671780e-01 7.97102489e-02 4.77910309e-02 1.04945665e+02] [-7.94639471e-02 9.96812918e-01 -7.03471342e-03 -1.34125488e+01] [-4.81994558e-02 3.20660168e-03 9.98832584e-01 -7.45267578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.990714057 meters 0.03667890863987503 Centerline is valid? [True, True] Translation: X:104.97, Y:-13.42, Z:-7.46 [[ 9.95755495e-01 7.91231262e-02 4.70162129e-02 1.04972214e+02] [-7.88841285e-02 9.96859773e-01 -6.92010462e-03 -1.34196277e+01] [-4.74161116e-02 3.18189923e-03 9.98870156e-01 -7.45605504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.020714057 meters 0.03578718621557143 Centerline is valid? [True, True] Translation: X:105.00, Y:-13.42, Z:-7.46 [[ 9.95855562e-01 7.88891546e-02 4.52570630e-02 1.05000851e+02] [-7.86676812e-02 9.96878670e-01 -6.65681079e-03 -1.34215415e+01] [-4.56409510e-02 3.06895384e-03 9.98953195e-01 -7.45840360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.05071405700001 meters 0.03742917849756763 Centerline is valid? [True, True] Translation: X:105.03, Y:-13.43, Z:-7.46 [[ 9.95913521e-01 7.86019307e-02 4.44746518e-02 1.05028124e+02] [-7.83878938e-02 9.96901490e-01 -6.53897195e-03 -1.34263231e+01] [-4.48508225e-02 3.02597629e-03 9.98989113e-01 -7.46123996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.08071405700001 meters 0.03551797105458979 Centerline is valid? [True, True] Translation: X:105.06, Y:-13.42, Z:-7.46 [[ 9.95860864e-01 7.87385829e-02 4.54023714e-02 1.05057621e+02] [-7.85158707e-02 9.96890545e-01 -6.67070965e-03 -1.34249478e+01] [-4.57864370e-02 3.07829195e-03 9.98946508e-01 -7.46017431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.110714057 meters 0.0371610945656396 Centerline is valid? [True, True] Translation: X:105.08, Y:-13.43, Z:-7.46 [[ 9.95820484e-01 7.86380613e-02 4.64501747e-02 1.05084894e+02] [-7.84049803e-02 9.96898253e-01 -6.82151142e-03 -1.34304321e+01] [-4.68425284e-02 3.15107577e-03 9.98897316e-01 -7.46196416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.140714057 meters 0.03712529018169156 Centerline is valid? [True, True] Translation: X:105.11, Y:-13.43, Z:-7.46 [[ 9.95808547e-01 7.86447104e-02 4.66941963e-02 1.05113954e+02] [-7.84094177e-02 9.96897693e-01 -6.85228721e-03 -1.34340190e+01] [-4.70882327e-02 3.16230143e-03 9.98885728e-01 -7.46345332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.170714057 meters 0.03778489190026615 Centerline is valid? [True, True] Translation: X:105.14, Y:-13.44, Z:-7.47 [[ 9.95795099e-01 7.84095618e-02 4.73715323e-02 1.05141552e+02] [-7.81672122e-02 9.96916038e-01 -6.94980560e-03 -1.34386651e+01] [-4.77703715e-02 3.21768174e-03 9.98853161e-01 -7.46542525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.200714057 meters 0.03979561919345872 Centerline is valid? [True, True] Translation: X:105.17, Y:-13.44, Z:-7.47 [[ 9.95937845e-01 7.68286833e-02 4.69591537e-02 1.05169797e+02] [-7.65890234e-02 9.97038980e-01 -6.88438903e-03 -1.34447128e+01] [-4.73490252e-02 3.25986785e-03 9.98873087e-01 -7.46817950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.230714057 meters 0.04094270779908908 Centerline is valid? [True, True] Translation: X:105.20, Y:-13.45, Z:-7.47 [[ 9.96072408e-01 7.47155526e-02 4.75115114e-02 1.05198686e+02] [-7.44679659e-02 9.97199101e-01 -6.96243309e-03 -1.34501929e+01] [-4.78986385e-02 3.39700188e-03 9.98846425e-01 -7.47027306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.260714057 meters 0.04302290934202802 Centerline is valid? [True, True] Translation: X:105.23, Y:-13.46, Z:-7.47 [[ 9.96184454e-01 7.33723395e-02 4.72549860e-02 1.05226674e+02] [-7.31259805e-02 9.97298679e-01 -6.92355063e-03 -1.34570091e+01] [-4.76353323e-02 3.44156631e-03 9.98858864e-01 -7.47305734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.290714057 meters 0.04044637741408362 Centerline is valid? [True, True] Translation: X:105.26, Y:-13.46, Z:-7.47 [[ 9.96305328e-01 7.19610238e-02 4.68754201e-02 1.05255981e+02] [-7.17171528e-02 9.97401378e-01 -6.86591985e-03 -1.34575933e+01] [-4.72476872e-02 3.47878086e-03 9.98877147e-01 -7.47438700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.320714057 meters 0.04253905001743255 Centerline is valid? [True, True] Translation: X:105.28, Y:-13.46, Z:-7.48 [[ 9.96464963e-01 7.00075003e-02 4.64384175e-02 1.05283415e+02] [-6.97662136e-02 9.97540203e-01 -6.79843562e-03 -1.34639682e+01] [-4.68001299e-02 3.53457035e-03 9.98898020e-01 -7.47812936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.350714057 meters 0.04029622179983193 Centerline is valid? [True, True] Translation: X:105.31, Y:-13.46, Z:-7.48 [[ 9.96509712e-01 6.96172488e-02 4.60633601e-02 1.05312161e+02] [-6.93795544e-02 9.97567560e-01 -6.74091793e-03 -1.34644775e+01] [-4.64205979e-02 3.52153478e-03 9.98915776e-01 -7.47924372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.380714057 meters 0.04752820994548669 Centerline is valid? [True, True] Translation: X:105.34, Y:-13.48, Z:-7.48 [[ 9.96484566e-01 6.99241893e-02 4.61423635e-02 1.05338135e+02] [-6.96861437e-02 9.97546132e-01 -6.74950057e-03 -1.34765772e+01] [-4.65010896e-02 3.51028977e-03 9.98912071e-01 -7.48401760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.410714057 meters 0.048457560127150315 Centerline is valid? [True, True] Translation: X:105.37, Y:-13.48, Z:-7.49 [[ 9.96360472e-01 7.11017677e-02 4.70143440e-02 1.05366493e+02] [-7.08561792e-02 9.97462871e-01 -6.87188567e-03 -1.34808981e+01] [-4.73836658e-02 3.51561846e-03 9.98870577e-01 -7.48594076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.44071405700001 meters 0.047490010752616656 Centerline is valid? [True, True] Translation: X:105.40, Y:-13.48, Z:-7.49 [[ 9.96285221e-01 7.22128452e-02 4.69155017e-02 1.05395185e+02] [-7.19696083e-02 9.97383266e-01 -6.85543689e-03 -1.34824294e+01] [-4.72877868e-02 3.45348018e-03 9.98875337e-01 -7.48785197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.47071405700001 meters 0.04145226097707476 Centerline is valid? [True, True] Translation: X:105.43, Y:-13.48, Z:-7.49 [[ 9.96162099e-01 7.33955129e-02 4.76882724e-02 1.05425151e+02] [-7.31456899e-02 9.97296944e-01 -6.96516605e-03 -1.34776487e+01] [-4.80705803e-02 3.45024284e-03 9.98837982e-01 -7.48723235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.500714057 meters 0.04167410062841234 Centerline is valid? [True, True] Translation: X:105.45, Y:-13.48, Z:-7.49 [[ 9.95873987e-01 7.56541060e-02 5.01144449e-02 1.05454027e+02] [-7.53812537e-02 9.97127953e-01 -7.31514027e-03 -1.34806175e+01] [-5.05239343e-02 3.50726821e-03 9.98716692e-01 -7.48833554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.530714057 meters 0.03574229273398999 Centerline is valid? [True, True] Translation: X:105.48, Y:-13.48, Z:-7.49 [[ 9.95729089e-01 7.68009996e-02 5.12365814e-02 1.05484386e+02] [-7.65173646e-02 9.97040210e-01 -7.47745090e-03 -1.34757023e+01] [-5.16592076e-02 3.52502720e-03 9.98658550e-01 -7.48743294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.560714057 meters 0.03413430385447126 Centerline is valid? [True, True] Translation: X:105.51, Y:-13.48, Z:-7.49 [[ 9.95452525e-01 7.91187177e-02 5.30518427e-02 1.05514768e+02] [-7.88180714e-02 9.96858979e-01 -7.73876720e-03 -1.34754829e+01] [-5.34974871e-02 3.52213143e-03 9.98561772e-01 -7.48851180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.590714057 meters 0.04118898352545401 Centerline is valid? [True, True] Translation: X:105.54, Y:-13.49, Z:-7.49 [[ 9.95329808e-01 8.04151080e-02 5.34039647e-02 1.05540584e+02] [-8.01123053e-02 9.96755402e-01 -7.79020487e-03 -1.34892134e+01] [-5.38571405e-02 3.47550839e-03 9.98542603e-01 -7.49306135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.620714057 meters 0.03334186945534487 Centerline is valid? [True, True] Translation: X:105.57, Y:-13.48, Z:-7.49 [[ 9.95193189e-01 8.15632742e-02 5.42028443e-02 1.05570916e+02] [-8.12533210e-02 9.96662162e-01 -7.90138652e-03 -1.34808793e+01] [-5.46663870e-02 3.45924495e-03 9.98498683e-01 -7.49314046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.650714057 meters 0.0325903361707091 Centerline is valid? [True, True] Translation: X:105.60, Y:-13.48, Z:-7.50 [[ 9.94982756e-01 8.40822150e-02 5.42171280e-02 1.05601003e+02] [-8.37760827e-02 9.96453300e-01 -7.89866499e-03 -1.34819511e+01] [-5.46889734e-02 3.31693686e-03 9.98497929e-01 -7.49600749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.680714057 meters 0.04055710306575898 Centerline is valid? [True, True] Translation: X:105.63, Y:-13.50, Z:-7.50 [[ 9.94912960e-01 8.50279836e-02 5.40226316e-02 1.05626340e+02] [-8.47254333e-02 9.96373253e-01 -7.87034970e-03 -1.34967292e+01] [-5.44959051e-02 3.25322204e-03 9.98508694e-01 -7.50139509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.710714057 meters 0.03621079683606456 Centerline is valid? [True, True] Translation: X:105.66, Y:-13.49, Z:-7.50 [[ 9.94711618e-01 8.73280822e-02 5.40610997e-02 1.05657367e+02] [-8.70288093e-02 9.96174709e-01 -7.86996802e-03 -1.34931812e+01] [-5.45415694e-02 3.12347549e-03 9.98506615e-01 -7.50340882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.740714057 meters 0.0359397446142039 Centerline is valid? [True, True] Translation: X:105.69, Y:-13.50, Z:-7.51 [[ 9.94641538e-01 8.81268476e-02 5.40543132e-02 1.05686252e+02] [-8.78288363e-02 9.96104502e-01 -7.86876593e-03 -1.34961610e+01] [-5.45371942e-02 3.07907403e-03 9.98506992e-01 -7.50582331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.770714057 meters 0.03632932081485682 Centerline is valid? [True, True] Translation: X:105.71, Y:-13.50, Z:-7.51 [[ 9.94504838e-01 8.93979844e-02 5.44805224e-02 1.05714286e+02] [-8.90973581e-02 9.95991377e-01 -7.92701493e-03 -1.34998743e+01] [-5.49707897e-02 3.02938408e-03 9.98483367e-01 -7.50832741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.80071405700001 meters 0.03198567330228933 Centerline is valid? [True, True] Translation: X:105.75, Y:-13.50, Z:-7.51 [[ 9.94162025e-01 9.22737191e-02 5.59234259e-02 1.05745387e+02] [-9.19617103e-02 9.95729332e-01 -8.13270267e-03 -1.34952001e+01] [-5.64350302e-02 2.94241026e-03 9.98401938e-01 -7.50887039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.83071405700001 meters 0.03007137668085226 Centerline is valid? [True, True] Translation: X:105.78, Y:-13.50, Z:-7.51 [[ 9.93907001e-01 9.45244392e-02 5.66921879e-02 1.05775930e+02] [-9.42075886e-02 9.95518460e-01 -8.24174166e-03 -1.34954002e+01] [-5.72171656e-02 2.85069042e-03 9.98357686e-01 -7.51035270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.860714057 meters 0.02905634082776158 Centerline is valid? [True, True] Translation: X:105.81, Y:-13.49, Z:-7.51 [[ 9.93237205e-01 9.98278726e-02 5.92811178e-02 1.05805228e+02] [-9.94908596e-02 9.95001164e-01 -8.61701170e-03 -1.34949644e+01] [-5.98449992e-02 2.66080724e-03 9.98204136e-01 -7.51226361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.890714057 meters 0.028260738527163577 Centerline is valid? [True, True] Translation: X:105.84, Y:-13.50, Z:-7.51 [[ 9.92874048e-01 1.02610924e-01 6.05980468e-02 1.05835342e+02] [-1.02264002e-01 9.94718307e-01 -8.80706517e-03 -1.34965350e+01] [-6.11816876e-02 2.54730769e-03 9.98123395e-01 -7.51371766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.920714057 meters 0.027407969430778382 Centerline is valid? [True, True] Translation: X:105.87, Y:-13.50, Z:-7.51 [[ 9.92109587e-01 1.07564303e-01 6.44087620e-02 1.05865475e+02] [-1.07182793e-01 9.94195275e-01 -9.35966929e-03 -1.34968334e+01] [-6.50416532e-02 2.38230659e-03 9.97879706e-01 -7.51450291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.950714057 meters 0.02679031558590222 Centerline is valid? [True, True] Translation: X:105.89, Y:-13.50, Z:-7.52 [[ 9.91801651e-01 1.09321102e-01 6.61693366e-02 1.05894219e+02] [-1.08922391e-01 9.94003760e-01 -9.61441471e-03 -1.34998189e+01] [-6.68236278e-02 2.32827003e-03 9.97762087e-01 -7.51550392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.980714057 meters 0.025820524036255975 Centerline is valid? [True, True] Translation: X:105.92, Y:-13.50, Z:-7.52 [[ 9.91532816e-01 1.10392812e-01 6.83820316e-02 1.05922668e+02] [-1.09969838e-01 9.93885312e-01 -9.93083945e-03 -1.35018458e+01] [-6.90601901e-02 2.32679227e-03 9.97609782e-01 -7.51661229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.010714057 meters 0.02764661076650786 Centerline is valid? [True, True] Translation: X:105.95, Y:-13.51, Z:-7.52 [[ 9.91576523e-01 1.10245580e-01 6.79846451e-02 1.05948564e+02] [-1.09827511e-01 9.93901674e-01 -9.86818651e-03 -1.35097722e+01] [-6.86579765e-02 2.31847769e-03 9.97637563e-01 -7.51828087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.040714057 meters 0.025438532132325012 Centerline is valid? [True, True] Translation: X:105.98, Y:-13.51, Z:-7.52 [[ 9.91732237e-01 1.08823727e-01 6.80041699e-02 1.05976992e+02] [-1.08402670e-01 9.94058144e-01 -9.86247778e-03 -1.35098740e+01] [-6.86733705e-02 2.40910356e-03 9.97636289e-01 -7.52067379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.070714057 meters 0.02667352025466047 Centerline is valid? [True, True] Translation: X:106.00, Y:-13.52, Z:-7.52 [[ 9.92189524e-01 1.05296679e-01 6.68771844e-02 1.06004724e+02] [-1.04881909e-01 9.94437446e-01 -9.69282921e-03 -1.35188137e+01] [-6.75257992e-02 2.60291683e-03 9.97714133e-01 -7.52428510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.100714057 meters 0.02865630198223646 Centerline is valid? [True, True] Translation: X:106.03, Y:-13.53, Z:-7.53 [[ 9.92494387e-01 1.03268571e-01 6.55018661e-02 1.06031064e+02] [-1.02866536e-01 9.94649896e-01 -9.49001849e-03 -1.35284097e+01] [-6.61314449e-02 2.68084001e-03 9.97807319e-01 -7.52712317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.130714057 meters 0.028410350884884417 Centerline is valid? [True, True] Translation: X:106.06, Y:-13.53, Z:-7.53 [[ 9.93000441e-01 1.00031499e-01 6.27998627e-02 1.06059543e+02] [-9.96558972e-02 9.94980413e-01 -9.09288949e-03 -1.35343974e+01] [-6.33942086e-02 2.77086662e-03 9.97984718e-01 -7.53068523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.160714057 meters 0.030752191774345974 Centerline is valid? [True, True] Translation: X:106.09, Y:-13.54, Z:-7.53 [[ 9.93186646e-01 9.82814499e-02 6.26182300e-02 1.06086381e+02] [-9.79047548e-02 9.95154518e-01 -9.06339660e-03 -1.35431070e+01] [-6.32055783e-02 2.87102201e-03 9.97996399e-01 -7.53364210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.19071405700001 meters 0.031357283291368186 Centerline is valid? [True, True] Translation: X:106.11, Y:-13.55, Z:-7.54 [[ 9.93281897e-01 9.74102087e-02 6.24685794e-02 1.06113974e+02] [-9.70339508e-02 9.95240052e-01 -9.03613266e-03 -1.35493657e+01] [-6.30514438e-02 2.91385393e-03 9.98006024e-01 -7.53543674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.22071405700001 meters 0.029360020687887813 Centerline is valid? [True, True] Translation: X:106.14, Y:-13.55, Z:-7.54 [[ 9.93378931e-01 9.60436964e-02 6.30389344e-02 1.06142413e+02] [-9.56581325e-02 9.95372529e-01 -9.11315496e-03 -1.35514076e+01] [-6.36224847e-02 3.02262939e-03 9.97969460e-01 -7.53577237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.250714057 meters 0.029684343110381185 Centerline is valid? [True, True] Translation: X:106.17, Y:-13.56, Z:-7.54 [[ 9.93452528e-01 9.52089879e-02 6.31452569e-02 1.06170302e+02] [-9.48208060e-02 9.95452555e-01 -9.12278964e-03 -1.35563108e+01] [-6.37266789e-02 3.07557427e-03 9.97962650e-01 -7.53694028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.280714057 meters 0.029799435547354418 Centerline is valid? [True, True] Translation: X:106.20, Y:-13.56, Z:-7.54 [[ 9.93543923e-01 9.40444452e-02 6.34516757e-02 1.06198041e+02] [-9.36504844e-02 9.95562985e-01 -9.16128704e-03 -1.35616059e+01] [-6.40317079e-02 3.15986090e-03 9.97942862e-01 -7.53817294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.310714057 meters 0.0337246402203232 Centerline is valid? [True, True] Translation: X:106.22, Y:-13.57, Z:-7.54 [[ 9.93676381e-01 9.27780284e-02 6.32414971e-02 1.06224351e+02] [-9.23844884e-02 9.95681594e-01 -9.12519686e-03 -1.35724255e+01] [-6.38150125e-02 3.22495923e-03 9.97956534e-01 -7.54037874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.340714057 meters 0.032099442244520014 Centerline is valid? [True, True] Translation: X:106.25, Y:-13.58, Z:-7.54 [[ 9.93982425e-01 8.95220230e-02 6.31248483e-02 1.06254536e+02] [-8.91237842e-02 9.95978966e-01 -9.10222850e-03 -1.35765927e+01] [-6.36858710e-02 3.42152980e-03 9.97964129e-01 -7.54150827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.370714057 meters 0.03222552045884231 Centerline is valid? [True, True] Translation: X:106.28, Y:-13.58, Z:-7.54 [[ 9.94186246e-01 8.70175503e-02 6.34165100e-02 1.06283119e+02] [-8.66105256e-02 9.96200278e-01 -9.14453538e-03 -1.35820109e+01] [-6.39712800e-02 3.59883404e-03 9.97945251e-01 -7.54348751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.400714057 meters 0.03241091418732752 Centerline is valid? [True, True] Translation: X:106.31, Y:-13.59, Z:-7.54 [[ 9.94650886e-01 8.18537875e-02 6.30045368e-02 1.06312320e+02] [-8.14419607e-02 9.96636711e-01 -9.08142829e-03 -1.35892679e+01] [-6.35359837e-02 3.90163769e-03 9.97971921e-01 -7.54486070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.430714057 meters 0.036042451876047925 Centerline is valid? [True, True] Translation: X:106.34, Y:-13.60, Z:-7.55 [[ 9.94877442e-01 7.92390227e-02 6.27698392e-02 1.06339219e+02] [-7.88250535e-02 9.96847402e-01 -9.04807690e-03 -1.36002124e+01] [-6.32889119e-02 4.05389168e-03 9.97987014e-01 -7.54721844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.460714057 meters 0.03518455079125733 Centerline is valid? [True, True] Translation: X:106.37, Y:-13.60, Z:-7.55 [[ 9.95106623e-01 7.69762002e-02 6.19473384e-02 1.06368103e+02] [-7.65689544e-02 9.97024344e-01 -8.92486866e-03 -1.36037935e+01] [-6.24500068e-02 4.13795299e-03 9.98039515e-01 -7.54916518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.490714057 meters 0.03883929090726926 Centerline is valid? [True, True] Translation: X:106.40, Y:-13.62, Z:-7.55 [[ 9.95381221e-01 7.37509432e-02 6.14574866e-02 1.06395490e+02] [-7.33442249e-02 9.97267410e-01 -8.85080147e-03 -1.36166940e+01] [-6.19423035e-02 4.30236986e-03 9.98070459e-01 -7.55206446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.520714057 meters 0.03883929090726926 Centerline is valid? [True, True] Translation: X:106.42, Y:-13.62, Z:-7.55 [[ 9.95386359e-01 7.36813314e-02 6.14577725e-02 1.06423516e+02] [-7.32746032e-02 9.97272546e-01 -8.84881547e-03 -1.36206670e+01] [-6.19421418e-02 4.30469632e-03 9.98070459e-01 -7.55401489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.55071405700001 meters 0.0389988336661339 Centerline is valid? [True, True] Translation: X:106.45, Y:-13.63, Z:-7.56 [[ 9.95561527e-01 7.19724224e-02 6.06400597e-02 1.06452777e+02] [-7.15735875e-02 9.97397147e-01 -8.72655271e-03 -1.36254038e+01] [-6.11102937e-02 4.34759351e-03 9.98121551e-01 -7.55643258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.58071405700001 meters 0.03883162696477844 Centerline is valid? [True, True] Translation: X:106.48, Y:-13.63, Z:-7.56 [[ 9.95641708e-01 7.13212155e-02 6.00905468e-02 1.06481355e+02] [-7.09285294e-02 9.97443933e-01 -8.64547904e-03 -1.36301955e+01] [-6.05535574e-02 4.34566541e-03 9.98155490e-01 -7.55900386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.610714057 meters 0.04380003397139357 Centerline is valid? [True, True] Translation: X:106.51, Y:-13.64, Z:-7.56 [[ 9.95706916e-01 7.09930069e-02 5.93947020e-02 1.06508696e+02] [-7.06089960e-02 9.97467495e-01 -8.54202708e-03 -1.36413312e+01] [-5.98507088e-02 4.31155516e-03 9.98198028e-01 -7.56296019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.640714057 meters 0.04007283069316344 Centerline is valid? [True, True] Translation: X:106.54, Y:-13.64, Z:-7.56 [[ 9.95689126e-01 7.14976278e-02 5.90868233e-02 1.06538668e+02] [-7.11186033e-02 9.97431686e-01 -8.49562522e-03 -1.36399936e+01] [-5.95424868e-02 4.25682931e-03 9.98216696e-01 -7.56440085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.670714057 meters 0.039613702426658653 Centerline is valid? [True, True] Translation: X:106.57, Y:-13.64, Z:-7.57 [[ 9.95521979e-01 7.34731466e-02 5.94784549e-02 1.06568718e+02] [-7.30927175e-02 9.97288503e-01 -8.54961003e-03 -1.36424419e+01] [-5.99453460e-02 4.16388279e-03 9.98192976e-01 -7.56653567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.700714057 meters 0.0382785483464173 Centerline is valid? [True, True] Translation: X:106.60, Y:-13.64, Z:-7.57 [[ 9.95392282e-01 7.47847892e-02 6.00120089e-02 1.06597989e+02] [-7.43999203e-02 9.97191183e-01 -8.62537229e-03 -1.36444098e+01] [-6.04884928e-02 4.12074032e-03 9.98160389e-01 -7.56835964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.730714057 meters 0.042161655775320904 Centerline is valid? [True, True] Translation: X:106.63, Y:-13.65, Z:-7.57 [[ 9.95246417e-01 7.64584112e-02 6.03214861e-02 1.06625143e+02] [-7.60727377e-02 9.97064596e-01 -8.66781102e-03 -1.36539481e+01] [-6.08071452e-02 4.03778727e-03 9.98141366e-01 -7.57109398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.760714057 meters 0.03714071744250183 Centerline is valid? [True, True] Translation: X:106.66, Y:-13.65, Z:-7.57 [[ 9.94883157e-01 8.07455044e-02 6.07261729e-02 1.06656822e+02] [-8.03627965e-02 9.96727516e-01 -8.72232458e-03 -1.36492624e+01] [-6.12317360e-02 3.79756874e-03 9.98116352e-01 -7.57242129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.790714057 meters 0.03329643676497943 Centerline is valid? [True, True] Translation: X:106.69, Y:-13.65, Z:-7.57 [[ 9.94685250e-01 8.32485692e-02 6.05881980e-02 1.06687928e+02] [-8.28722278e-02 9.96522183e-01 -8.70241068e-03 -1.36457395e+01] [-6.11019466e-02 3.63508059e-03 9.98124911e-01 -7.57369269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.820714057 meters 0.03180537286290068 Centerline is valid? [True, True] Translation: X:106.72, Y:-13.65, Z:-7.58 [[ 9.94123036e-01 8.92492193e-02 6.12696190e-02 1.06717499e+02] [-8.88757623e-02 9.96003852e-01 -8.79919958e-03 -1.36452709e+01] [-6.18100982e-02 3.30210291e-03 9.98082465e-01 -7.57533928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.850714057 meters 0.030763579200484285 Centerline is valid? [True, True] Translation: X:106.75, Y:-13.65, Z:-7.58 [[ 9.93855402e-01 9.20755679e-02 6.14290575e-02 1.06747447e+02] [-9.17056430e-02 9.95747094e-01 -8.82042520e-03 -1.36465830e+01] [-6.19799512e-02 3.13283602e-03 9.98072478e-01 -7.57736942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.880714057 meters 0.030216129822236593 Centerline is valid? [True, True] Translation: X:106.78, Y:-13.65, Z:-7.58 [[ 9.93535153e-01 9.52136705e-02 6.18244097e-02 1.06777701e+02] [-9.48450855e-02 9.95452473e-01 -8.87606103e-03 -1.36489375e+01] [-6.23883839e-02 2.95493722e-03 9.98047573e-01 -7.57972195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.910714057 meters 0.029404473870274183 Centerline is valid? [True, True] Translation: X:106.81, Y:-13.65, Z:-7.58 [[ 9.93366529e-01 9.74572167e-02 6.10330313e-02 1.06806721e+02] [-9.71022928e-02 9.95235841e-01 -8.76160869e-03 -1.36508326e+01] [-6.15961423e-02 2.77704153e-03 9.98097292e-01 -7.58243659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.94071405700001 meters 0.02945939376719509 Centerline is valid? [True, True] Translation: X:106.84, Y:-13.65, Z:-7.59 [[ 9.92948738e-01 1.01782483e-01 6.07711333e-02 1.06835668e+02] [-1.01438888e-01 9.94803550e-01 -8.72058149e-03 -1.36543242e+01] [-6.13429415e-02 2.49453421e-03 9.98113631e-01 -7.58582188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.97071405700001 meters 0.028221632236795056 Centerline is valid? [True, True] Translation: X:106.87, Y:-13.66, Z:-7.59 [[ 9.92829012e-01 1.03112110e-01 6.04850883e-02 1.06865013e+02] [-1.02774332e-01 9.94666848e-01 -8.67749429e-03 -1.36555328e+01] [-6.10572669e-02 2.39895351e-03 9.98131382e-01 -7.58770814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.000714057 meters 0.027527335743276083 Centerline is valid? [True, True] Translation: X:106.89, Y:-13.66, Z:-7.59 [[ 9.92577687e-01 1.05815401e-01 5.99385977e-02 1.06894277e+02] [-1.05488784e-01 9.94383336e-01 -8.59642271e-03 -1.36577788e+01] [-6.05115766e-02 2.20976758e-03 9.98165049e-01 -7.58994038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.030714057 meters 0.027365520053936408 Centerline is valid? [True, True] Translation: X:106.92, Y:-13.66, Z:-7.59 [[ 9.92423405e-01 1.07146707e-01 6.01279256e-02 1.06922562e+02] [-1.06820917e-01 9.94240944e-01 -8.61605126e-03 -1.36613340e+01] [-6.07048271e-02 2.12785078e-03 9.98153493e-01 -7.59216282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.060714057 meters 0.027110706789304478 Centerline is valid? [True, True] Translation: X:106.95, Y:-13.67, Z:-7.59 [[ 9.92356938e-01 1.07931285e-01 5.98209422e-02 1.06951077e+02] [-1.07610498e-01 9.94156212e-01 -8.56780107e-03 -1.36655027e+01] [-6.03960950e-02 2.06495549e-03 9.98172354e-01 -7.59400996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.090714057 meters 0.026895445560168374 Centerline is valid? [True, True] Translation: X:106.98, Y:-13.67, Z:-7.60 [[ 9.92184156e-01 1.08906987e-01 6.09086997e-02 1.06978627e+02] [-1.08576511e-01 9.94049856e-01 -8.71928823e-03 -1.36711242e+01] [-6.14958755e-02 2.03788552e-03 9.98105257e-01 -7.59559209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.120714057 meters 0.027318538367412416 Centerline is valid? [True, True] Translation: X:107.01, Y:-13.68, Z:-7.60 [[ 9.92262840e-01 1.08240507e-01 6.08148804e-02 1.07007073e+02] [-1.07910139e-01 9.94122581e-01 -8.70036324e-03 -1.36760966e+01] [-6.13991775e-02 2.07050494e-03 9.98111143e-01 -7.59735447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.150714057 meters 0.02666918795834434 Centerline is valid? [True, True] Translation: X:107.04, Y:-13.68, Z:-7.60 [[ 9.92468816e-01 1.07067952e-01 5.95155736e-02 1.07035521e+02] [-1.06749706e-01 9.94249502e-01 -8.51044178e-03 -1.36800921e+01] [-6.00845250e-02 2.09307807e-03 9.98191098e-01 -7.59964825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.180714057 meters 0.028372268205964536 Centerline is valid? [True, True] Translation: X:107.06, Y:-13.69, Z:-7.60 [[ 9.92585582e-01 1.06373714e-01 5.88089723e-02 1.07062384e+02] [-1.06062012e-01 9.94323991e-01 -8.40538310e-03 -1.36883838e+01] [-5.93692838e-02 2.10566413e-03 9.98233868e-01 -7.60318052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.210714057 meters 0.027205263320320236 Centerline is valid? [True, True] Translation: X:107.09, Y:-13.69, Z:-7.61 [[ 9.92856746e-01 1.04786910e-01 5.70542316e-02 1.07090278e+02] [-1.04491222e-01 9.94492417e-01 -8.14966546e-03 -1.36921605e+01] [-5.75939790e-02 2.12978397e-03 9.98337817e-01 -7.60626561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.240714057 meters 0.0276412059155365 Centerline is valid? [True, True] Translation: X:107.12, Y:-13.70, Z:-7.61 [[ 9.92986947e-01 1.03865805e-01 5.64696082e-02 1.07118058e+02] [-1.03574964e-01 9.94588984e-01 -8.06095321e-03 -1.36977719e+01] [-5.70013076e-02 2.15558370e-03 9.98371777e-01 -7.60927286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.270714057 meters 0.02800117234894267 Centerline is valid? [True, True] Translation: X:107.15, Y:-13.70, Z:-7.61 [[ 9.93253793e-01 1.01644820e-01 5.58142781e-02 1.07146797e+02] [-1.01357444e-01 9.94818204e-01 -7.96304132e-03 -1.37042339e+01] [-5.63344617e-02 2.25212843e-03 9.98409413e-01 -7.61136405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.30071405700001 meters 0.02823956800036728 Centerline is valid? [True, True] Translation: X:107.18, Y:-13.71, Z:-7.61 [[ 9.93343183e-01 1.00595995e-01 5.61227769e-02 1.07175378e+02] [-1.00303851e-01 9.94924646e-01 -8.00544902e-03 -1.37094596e+01] [-5.66432500e-02 2.32282758e-03 9.98391780e-01 -7.61278268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.33071405700001 meters 0.02859820855192251 Centerline is valid? [True, True] Translation: X:107.20, Y:-13.71, Z:-7.61 [[ 9.93445354e-01 9.94772116e-02 5.63082026e-02 1.07203450e+02] [-9.91815704e-02 9.95036969e-01 -8.02783251e-03 -1.37148089e+01] [-5.68273296e-02 2.39047695e-03 9.98381160e-01 -7.61430825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.360714057 meters 0.02977068694909545 Centerline is valid? [True, True] Translation: X:107.23, Y:-13.72, Z:-7.62 [[ 9.93654983e-01 9.68206563e-02 5.72323009e-02 1.07232232e+02] [-9.65110883e-02 9.95298501e-01 -8.15501592e-03 -1.37224282e+01] [-5.77527973e-02 2.57972055e-03 9.98327581e-01 -7.61619353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.390714057 meters 0.030353788928788986 Centerline is valid? [True, True] Translation: X:107.26, Y:-13.73, Z:-7.62 [[ 9.93799201e-01 9.50523287e-02 5.76905714e-02 1.07260554e+02] [-9.47349049e-02 9.95468609e-01 -8.21861595e-03 -1.37284863e+01] [-5.82103515e-02 2.70234318e-03 9.98300682e-01 -7.61861907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.420714057 meters 0.032379325257794585 Centerline is valid? [True, True] Translation: X:107.29, Y:-13.74, Z:-7.62 [[ 9.94130209e-01 9.09989629e-02 5.85176500e-02 1.07288585e+02] [-9.06656298e-02 9.95846536e-01 -8.33185314e-03 -1.37381369e+01] [-5.90327890e-02 2.97740732e-03 9.98251604e-01 -7.62106949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.450714057 meters 0.031721834737596315 Centerline is valid? [True, True] Translation: X:107.32, Y:-13.74, Z:-7.62 [[ 9.94329341e-01 8.86987774e-02 5.86659089e-02 1.07317985e+02] [-8.83598848e-02 9.96053610e-01 -8.35087121e-03 -1.37420603e+01] [-5.91751024e-02 3.11980332e-03 9.98242743e-01 -7.62312315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.480714057 meters 0.03469500693121046 Centerline is valid? [True, True] Translation: X:107.35, Y:-13.75, Z:-7.63 [[ 9.94564681e-01 8.63754150e-02 5.81410668e-02 1.07345008e+02] [-8.60387130e-02 9.96257433e-01 -8.27442963e-03 -1.37519693e+01] [-5.86381773e-02 3.22707291e-03 9.98274086e-01 -7.62612381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.510714057 meters 0.03293394245318427 Centerline is valid? [True, True] Translation: X:107.38, Y:-13.76, Z:-7.63 [[ 9.94998640e-01 8.17532843e-02 5.73943059e-02 1.07375424e+02] [-8.14178051e-02 9.96646628e-01 -8.16334911e-03 -1.37555985e+01] [-5.78692221e-02 3.44960285e-03 9.98318212e-01 -7.62796363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.540714057 meters 0.036743854826263744 Centerline is valid? [True, True] Translation: X:107.40, Y:-13.77, Z:-7.63 [[ 9.95230475e-01 7.95299392e-02 5.64915017e-02 1.07402467e+02] [-7.92013528e-02 9.96826253e-01 -8.03538991e-03 -1.37661932e+01] [-5.69512660e-02 3.52286157e-03 9.98370744e-01 -7.63122551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.570714057 meters 0.04122236415441908 Centerline is valid? [True, True] Translation: X:107.43, Y:-13.78, Z:-7.63 [[ 9.95579571e-01 7.57311486e-02 5.55527805e-02 1.07430021e+02] [-7.54077325e-02 9.97121504e-01 -7.89805404e-03 -1.37779104e+01] [-5.59910007e-02 3.67403205e-03 9.98424514e-01 -7.63486899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.600714057 meters 0.042372145866065414 Centerline is valid? [True, True] Translation: X:107.46, Y:-13.78, Z:-7.64 [[ 9.95697638e-01 7.43500052e-02 5.53018070e-02 1.07459086e+02] [-7.40274509e-02 9.97225219e-01 -7.86126540e-03 -1.37840888e+01] [-5.57328418e-02 3.73359159e-03 9.98438737e-01 -7.63742101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.630714057 meters 0.03823950343458484 Centerline is valid? [True, True] Translation: X:107.49, Y:-13.78, Z:-7.64 [[ 9.95874045e-01 7.28372729e-02 5.41259408e-02 1.07489330e+02] [-7.25261800e-02 9.97336844e-01 -7.69235024e-03 -1.37822355e+01] [-5.45420848e-02 3.73506423e-03 9.98504487e-01 -7.63900155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.660714057 meters 0.03840304847431387 Centerline is valid? [True, True] Translation: X:107.52, Y:-13.79, Z:-7.64 [[ 9.95852807e-01 7.31666376e-02 5.40724432e-02 1.07517684e+02] [-7.28567213e-02 9.97312822e-01 -7.68331040e-03 -1.37859305e+01] [-5.44893029e-02 3.71190531e-03 9.98507455e-01 -7.64124941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.69071405700001 meters 0.03611943625287743 Centerline is valid? [True, True] Translation: X:107.55, Y:-13.79, Z:-7.64 [[ 9.95827378e-01 7.37974714e-02 5.36820810e-02 1.07546806e+02] [-7.34931346e-02 9.97266581e-01 -7.62407796e-03 -1.37856730e+01] [-5.40979830e-02 3.64700116e-03 9.98528972e-01 -7.64217816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.72071405700001 meters 0.03588395204649083 Centerline is valid? [True, True] Translation: X:107.58, Y:-13.79, Z:-7.64 [[ 9.95548756e-01 7.67004143e-02 5.47697074e-02 1.07576151e+02] [-7.63882281e-02 9.97047844e-01 -7.77395705e-03 -1.37877346e+01] [-5.52042844e-02 3.55559238e-03 9.98468750e-01 -7.64329630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.750714057 meters 0.036183473202959886 Centerline is valid? [True, True] Translation: X:107.60, Y:-13.79, Z:-7.64 [[ 9.95354978e-01 7.86917585e-02 5.54623696e-02 1.07604583e+02] [-7.83747935e-02 9.96892897e-01 -7.87045653e-03 -1.37911132e+01] [-5.59093824e-02 3.48704633e-03 9.98429758e-01 -7.64456484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.780714057 meters 0.03177018195431485 Centerline is valid? [True, True] Translation: X:107.64, Y:-13.79, Z:-7.64 [[ 9.94940167e-01 8.29679585e-02 5.66602252e-02 1.07635722e+02] [-8.26442480e-02 9.96546707e-01 -8.03674669e-03 -1.37856409e+01] [-5.71313533e-02 3.31344039e-03 9.98361172e-01 -7.64404970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.810714057 meters 0.0319296359081545 Centerline is valid? [True, True] Translation: X:107.66, Y:-13.79, Z:-7.65 [[ 9.94739825e-01 8.51236999e-02 5.69792696e-02 1.07664200e+02] [-8.47998298e-02 9.96365226e-01 -8.08235589e-03 -1.37881972e+01] [-5.74601629e-02 3.20800891e-03 9.98342646e-01 -7.64566246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.840714057 meters 0.030809746163681262 Centerline is valid? [True, True] Translation: X:107.69, Y:-13.79, Z:-7.65 [[ 9.94558160e-01 8.72077367e-02 5.69989261e-02 1.07692965e+02] [-8.68872215e-02 9.96185369e-01 -8.08219125e-03 -1.37886479e+01] [-5.74863258e-02 3.08573094e-03 9.98341525e-01 -7.64724134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.870714057 meters 0.031167267388046864 Centerline is valid? [True, True] Translation: X:107.72, Y:-13.79, Z:-7.65 [[ 9.94210660e-01 9.02229252e-02 5.83522748e-02 1.07721610e+02] [-8.98924392e-02 9.95917149e-01 -8.26937919e-03 -1.37913614e+01] [-5.88601188e-02 2.97607662e-03 9.98261804e-01 -7.64976625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.900714057 meters 0.03129860834252307 Centerline is valid? [True, True] Translation: X:107.75, Y:-13.79, Z:-7.65 [[ 9.94153748e-01 9.07414861e-02 5.85175864e-02 1.07749081e+02] [-9.04101139e-02 9.95870106e-01 -8.29117845e-03 -1.37945635e+01] [-5.90282688e-02 2.95212448e-03 9.98251946e-01 -7.65161762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.930714057 meters 0.037116030481609406 Centerline is valid? [True, True] Translation: X:107.78, Y:-13.81, Z:-7.65 [[ 9.94083572e-01 9.08702534e-02 5.95016715e-02 1.07775268e+02] [-9.05281865e-02 9.95858255e-01 -8.42512522e-03 -1.38077794e+01] [-6.00208240e-02 2.98870016e-03 9.98192651e-01 -7.65481723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.960714057 meters 0.03181693194816868 Centerline is valid? [True, True] Translation: X:107.81, Y:-13.80, Z:-7.66 [[ 9.94186513e-01 9.03977100e-02 5.84930004e-02 1.07805122e+02] [-9.00666536e-02 9.95901345e-01 -8.27703464e-03 -1.38032855e+01] [-5.90014827e-02 2.96064740e-03 9.98253505e-01 -7.65556574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.990714057 meters 0.03284517494484712 Centerline is valid? [True, True] Translation: X:107.83, Y:-13.81, Z:-7.66 [[ 9.94296442e-01 8.92839278e-02 5.83349422e-02 1.07832006e+02] [-8.89529837e-02 9.96001653e-01 -8.25070460e-03 -1.38087861e+01] [-5.88383542e-02 3.01457906e-03 9.98262972e-01 -7.65834624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.020714057 meters 0.03327456379349396 Centerline is valid? [True, True] Translation: X:107.86, Y:-13.81, Z:-7.66 [[ 9.94446620e-01 8.81950313e-02 5.74243534e-02 1.07859832e+02] [-8.78728113e-02 9.96098629e-01 -8.11727930e-03 -1.38134605e+01] [-5.79162234e-02 3.02616160e-03 9.98316860e-01 -7.66113737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.05071405700001 meters 0.035287727413087215 Centerline is valid? [True, True] Translation: X:107.89, Y:-13.82, Z:-7.67 [[ 9.94741490e-01 8.58025534e-02 5.59221813e-02 1.07886930e+02] [-8.54936210e-02 9.96307414e-01 -7.89790726e-03 -1.38209643e+01] [-5.63933444e-02 3.07538626e-03 9.98403893e-01 -7.66508602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.08071405700001 meters 0.03577171693531874 Centerline is valid? [True, True] Translation: X:107.92, Y:-13.83, Z:-7.67 [[ 9.94873976e-01 8.43299683e-02 5.58052670e-02 1.07916104e+02] [-8.40202738e-02 9.96432912e-01 -7.87689014e-03 -1.38261516e+01] [-5.62704626e-02 3.14773921e-03 9.98410600e-01 -7.66747871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.110714057 meters 0.03747513580959275 Centerline is valid? [True, True] Translation: X:107.94, Y:-13.83, Z:-7.67 [[ 9.94942528e-01 8.31090919e-02 5.64113831e-02 1.07943562e+02] [-8.27907486e-02 9.96535154e-01 -7.96107064e-03 -1.38321728e+01] [-5.68775637e-02 3.25046711e-03 9.98375870e-01 -7.66976565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.140714057 meters 0.03741778808311314 Centerline is valid? [True, True] Translation: X:107.97, Y:-13.84, Z:-7.67 [[ 9.94891981e-01 8.33717789e-02 5.69130324e-02 1.07971685e+02] [-8.30484631e-02 9.96513183e-01 -8.02675307e-03 -1.38361370e+01] [-5.73837917e-02 3.25921239e-03 9.98346873e-01 -7.67132951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.170714057 meters 0.03372152744098685 Centerline is valid? [True, True] Translation: X:108.00, Y:-13.83, Z:-7.67 [[ 9.94854746e-01 8.33945613e-02 5.75272234e-02 1.08000792e+02] [-8.30644847e-02 9.96511178e-01 -8.10947767e-03 -1.38337224e+01] [-5.80028075e-02 3.28928318e-03 9.98311001e-01 -7.67154661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.200714057 meters 0.03794996113719163 Centerline is valid? [True, True] Translation: X:108.03, Y:-13.84, Z:-7.67 [[ 9.94660598e-01 8.47769186e-02 5.88486996e-02 1.08027627e+02] [-8.44341376e-02 9.96394563e-01 -8.29161833e-03 -1.38429839e+01] [-5.93394622e-02 3.27850685e-03 9.98232478e-01 -7.67324238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.230714057 meters 0.033781961280670646 Centerline is valid? [True, True] Translation: X:108.06, Y:-13.84, Z:-7.67 [[ 9.94583800e-01 8.52070213e-02 5.95216595e-02 1.08057148e+02] [-8.48574420e-02 9.96357855e-01 -8.38094603e-03 -1.38405767e+01] [-6.00189884e-02 3.28469738e-03 9.98191831e-01 -7.67376403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.260714057 meters 0.03580912137167465 Centerline is valid? [True, True] Translation: X:108.08, Y:-13.85, Z:-7.68 [[ 9.94439120e-01 8.67717878e-02 5.96782505e-02 1.08083839e+02] [-8.64234113e-02 9.96223093e-01 -8.39900100e-03 -1.38471778e+01] [-6.01816477e-02 3.19469717e-03 9.98182330e-01 -7.67680846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.290714057 meters 0.03328564872204618 Centerline is valid? [True, True] Translation: X:108.11, Y:-13.85, Z:-7.68 [[ 9.94403349e-01 8.70332257e-02 5.98932064e-02 1.08112639e+02] [-8.66831654e-02 9.96200320e-01 -8.42328034e-03 -1.38467418e+01] [-6.03987367e-02 3.18440546e-03 9.98169250e-01 -7.67854799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.320714057 meters 0.03240761079624484 Centerline is valid? [True, True] Translation: X:108.14, Y:-13.85, Z:-7.68 [[ 9.94367038e-01 8.75092580e-02 5.98023660e-02 1.08141484e+02] [-8.71613696e-02 9.96158737e-01 -8.40634001e-03 -1.38488327e+01] [-6.03082820e-02 3.14653129e-03 9.98174840e-01 -7.68047673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.350714057 meters 0.033674398047355746 Centerline is valid? [True, True] Translation: X:108.17, Y:-13.85, Z:-7.68 [[ 9.94314169e-01 8.85868567e-02 5.90906221e-02 1.08168906e+02] [-8.82493404e-02 9.96063815e-01 -8.30238051e-03 -1.38538811e+01] [-5.95935123e-02 3.04046615e-03 9.98218097e-01 -7.68376863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.380714057 meters 0.037697002362500925 Centerline is valid? [True, True] Translation: X:108.20, Y:-13.86, Z:-7.69 [[ 9.94282909e-01 8.92184466e-02 5.86648643e-02 1.08196011e+02] [-8.88872208e-02 9.96007639e-01 -8.23678580e-03 -1.38631273e+01] [-5.91655262e-02 2.97513859e-03 9.98243752e-01 -7.68737447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.410714057 meters 0.037697002362500925 Centerline is valid? [True, True] Translation: X:108.22, Y:-13.87, Z:-7.69 [[ 9.94291362e-01 8.91238509e-02 5.86653808e-02 1.08223190e+02] [-8.87926775e-02 9.96016102e-01 -8.23310568e-03 -1.38668358e+01] [-5.91654300e-02 2.97704962e-03 9.98243752e-01 -7.68926538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.44071405700001 meters 0.0305112543985386 Centerline is valid? [True, True] Translation: X:108.25, Y:-13.86, Z:-7.69 [[ 9.94115470e-01 9.17614583e-02 5.75696713e-02 1.08254399e+02] [-9.14473183e-02 9.95777189e-01 -8.07323074e-03 -1.38584476e+01] [-5.80673769e-02 2.76113152e-03 9.98308848e-01 -7.68979618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.47071405700001 meters 0.029851206816247956 Centerline is valid? [True, True] Translation: X:108.28, Y:-13.86, Z:-7.69 [[ 9.93923433e-01 9.37498276e-02 5.76817129e-02 1.08282741e+02] [-9.34378984e-02 9.95592264e-01 -8.08724870e-03 -1.38612786e+01] [-5.81856453e-02 2.64844796e-03 9.98302267e-01 -7.69191554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.500714057 meters 0.028744338494613234 Centerline is valid? [True, True] Translation: X:108.31, Y:-13.86, Z:-7.69 [[ 9.93455823e-01 9.84183370e-02 5.79599790e-02 1.08311598e+02] [-9.81115682e-02 9.95142280e-01 -8.12180379e-03 -1.38624981e+01] [-5.84777601e-02 2.38210883e-03 9.98285869e-01 -7.69322625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.530714057 meters 0.026749848102264627 Centerline is valid? [True, True] Translation: X:108.34, Y:-13.86, Z:-7.69 [[ 9.93162048e-01 1.00792451e-01 5.89069504e-02 1.08341154e+02] [-1.00479808e-01 9.94904867e-01 -8.25315698e-03 -1.38623013e+01] [-5.94386676e-02 2.27776323e-03 9.98229361e-01 -7.69419514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.560714057 meters 0.026297650186467948 Centerline is valid? [True, True] Translation: X:108.37, Y:-13.86, Z:-7.70 [[ 9.92974631e-01 1.02562225e-01 5.90116196e-02 1.08369565e+02] [-1.02252024e-01 9.94724227e-01 -8.26048486e-03 -1.38645123e+01] [-5.95475014e-02 2.16839438e-03 9.98223118e-01 -7.69572346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.590714057 meters 0.025815162689200553 Centerline is valid? [True, True] Translation: X:108.40, Y:-13.87, Z:-7.70 [[ 9.92561769e-01 1.05953570e-01 5.99581153e-02 1.08398016e+02] [-1.05639776e-01 9.94369083e-01 -8.38837156e-03 -1.38670488e+01] [-6.05092740e-02 1.99201502e-03 9.98165647e-01 -7.69777022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.620714057 meters 0.02557299534859492 Centerline is valid? [True, True] Translation: X:108.43, Y:-13.87, Z:-7.70 [[ 9.92457744e-01 1.06867282e-01 6.00583964e-02 1.08426389e+02] [-1.06554252e-01 9.94271407e-01 -8.39999928e-03 -1.38708323e+01] [-6.06120314e-02 1.93716684e-03 9.98159521e-01 -7.69976576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.650714057 meters 0.02540485563493587 Centerline is valid? [True, True] Translation: X:108.45, Y:-13.88, Z:-7.70 [[ 9.92316019e-01 1.07920219e-01 6.05156567e-02 1.08454343e+02] [-1.07604615e-01 9.94157775e-01 -8.45966471e-03 -1.38751880e+01] [-6.10750795e-02 1.88289689e-03 9.98131399e-01 -7.70169123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.680714057 meters 0.025620947018606777 Centerline is valid? [True, True] Translation: X:108.48, Y:-13.88, Z:-7.70 [[ 9.92286651e-01 1.08074305e-01 6.07218818e-02 1.08481303e+02] [-1.07757084e-01 9.94141050e-01 -8.48436457e-03 -1.38799100e+01] [-6.12830571e-02 1.87570878e-03 9.98118665e-01 -7.70362801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.710714057 meters 0.02447036455790608 Centerline is valid? [True, True] Translation: X:108.51, Y:-13.88, Z:-7.71 [[ 9.92298428e-01 1.07788702e-01 6.10362593e-02 1.08509642e+02] [-1.07467978e-01 9.94172014e-01 -8.52287869e-03 -1.38816790e+01] [-6.15992109e-02 1.89779574e-03 9.98099161e-01 -7.70513172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.740714057 meters 0.02690327051948893 Centerline is valid? [True, True] Translation: X:108.54, Y:-13.89, Z:-7.71 [[ 9.92496592e-01 1.06219332e-01 6.05637630e-02 1.08535991e+02] [-1.05900901e-01 9.94340762e-01 -8.45270643e-03 -1.38910930e+01] [-6.11188590e-02 1.97552523e-03 9.98128540e-01 -7.70770133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.770714057 meters 0.027344170228584708 Centerline is valid? [True, True] Translation: X:108.56, Y:-13.90, Z:-7.71 [[ 9.92636976e-01 1.04683294e-01 6.09363674e-02 1.08564009e+02] [-1.04358387e-01 9.94503440e-01 -8.49906845e-03 -1.38970487e+01] [-6.14911375e-02 2.07726859e-03 9.98105468e-01 -7.70967817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.80071405700001 meters 0.029641401936426476 Centerline is valid? [True, True] Translation: X:108.59, Y:-13.91, Z:-7.71 [[ 9.93068812e-01 1.00117886e-01 6.15690087e-02 1.08591909e+02] [-9.97777057e-02 9.94972735e-01 -8.58288058e-03 -1.39074059e+01] [-6.21187848e-02 2.38017659e-03 9.98065925e-01 -7.71171996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.83071405700001 meters 0.031118988630843357 Centerline is valid? [True, True] Translation: X:108.62, Y:-13.92, Z:-7.71 [[ 9.93305749e-01 9.74455495e-02 6.20326783e-02 1.08620213e+02] [-9.70951445e-02 9.95237553e-01 -8.64552417e-03 -1.39155510e+01] [-6.25797189e-02 2.56457699e-03 9.98036674e-01 -7.71407111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.860714057 meters 0.028316560609320085 Centerline is valid? [True, True] Translation: X:108.65, Y:-13.92, Z:-7.72 [[ 9.93567762e-01 9.46808745e-02 6.21178987e-02 1.08649586e+02] [-9.43243084e-02 9.95503906e-01 -8.65432282e-03 -1.39165844e+01] [-6.26580096e-02 2.73942833e-03 9.98031297e-01 -7.71588252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.890714057 meters 0.032774573132829374 Centerline is valid? [True, True] Translation: X:108.68, Y:-13.93, Z:-7.72 [[ 9.94077107e-01 8.96786859e-02 6.13876051e-02 1.08677209e+02] [-8.93211647e-02 9.95966185e-01 -8.54917888e-03 -1.39304792e+01] [-6.19066580e-02 3.01533062e-03 9.98077389e-01 -7.72006839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.920714057 meters 0.030222000853993507 Centerline is valid? [True, True] Translation: X:108.71, Y:-13.93, Z:-7.72 [[ 9.94504508e-01 8.54622681e-02 6.04730023e-02 1.08707476e+02] [-8.51077010e-02 9.96336183e-01 -8.41958679e-03 -1.39322690e+01] [-6.09709973e-02 3.22659882e-03 9.98134323e-01 -7.72167269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.950714057 meters 0.030130470777982442 Centerline is valid? [True, True] Translation: X:108.74, Y:-13.94, Z:-7.72 [[ 9.94697881e-01 8.33360081e-02 6.02597279e-02 1.08736277e+02] [-8.29801028e-02 9.96515893e-01 -8.38908811e-03 -1.39366541e+01] [-6.07488897e-02 3.34424976e-03 9.98147478e-01 -7.72342538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.980714057 meters 0.03716138511741902 Centerline is valid? [True, True] Translation: X:108.76, Y:-13.95, Z:-7.73 [[ 9.94851149e-01 8.14011786e-02 6.03741638e-02 1.08763203e+02] [-8.10405743e-02 9.96675392e-01 -8.40165896e-03 -1.39520899e+01] [-6.08573483e-02 3.46564316e-03 9.98140457e-01 -7.72650066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.010714057 meters 0.03254151776029341 Centerline is valid? [True, True] Translation: X:108.79, Y:-13.95, Z:-7.73 [[ 9.95095601e-01 7.76189467e-02 6.13192051e-02 1.08793615e+02] [-7.72400249e-02 9.96976041e-01 -8.52948532e-03 -1.39500653e+01] [-6.17958281e-02 3.75135639e-03 9.98081762e-01 -7.72609453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.040714057 meters 0.03395270481359861 Centerline is valid? [True, True] Translation: X:108.82, Y:-13.96, Z:-7.73 [[ 9.95131699e-01 7.64801445e-02 6.21585827e-02 1.08821287e+02] [-7.60886120e-02 9.97063580e-01 -8.64525771e-03 -1.39566088e+01] [-6.26372495e-02 3.87360971e-03 9.98028842e-01 -7.72718289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.070714057 meters 0.03613339965804702 Centerline is valid? [True, True] Translation: X:108.85, Y:-13.96, Z:-7.73 [[ 9.95195346e-01 7.43925805e-02 6.36550597e-02 1.08848976e+02] [-7.39778816e-02 9.97220609e-01 -8.85037202e-03 -1.39634351e+01] [-6.41365394e-02 4.09878257e-03 9.97932715e-01 -7.72819260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.100714057 meters 0.03534316079318944 Centerline is valid? [True, True] Translation: X:108.88, Y:-13.97, Z:-7.73 [[ 9.95215363e-01 7.37948791e-02 6.40366836e-02 1.08878816e+02] [-7.33742622e-02 9.97264775e-01 -8.89865842e-03 -1.39663501e+01] [-6.45182042e-02 4.15743717e-03 9.97907870e-01 -7.72955930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.130714057 meters 0.0332616518016482 Centerline is valid? [True, True] Translation: X:108.91, Y:-13.97, Z:-7.73 [[ 9.95223206e-01 7.30135980e-02 6.48057462e-02 1.08908701e+02] [-7.25813064e-02 9.97321862e-01 -9.00316823e-03 -1.39674457e+01] [-6.52895412e-02 4.25647623e-03 9.97857283e-01 -7.73114664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.160714057 meters 0.03735517200463435 Centerline is valid? [True, True] Translation: X:108.94, Y:-13.98, Z:-7.73 [[ 9.95310772e-01 7.19802863e-02 6.46166078e-02 1.08936899e+02] [-7.15485131e-02 9.97396746e-01 -8.97443516e-03 -1.39778007e+01] [-6.50943767e-02 4.30912978e-03 9.97869808e-01 -7.73433712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.19071405700001 meters 0.03453500065653693 Centerline is valid? [True, True] Translation: X:108.97, Y:-13.98, Z:-7.74 [[ 9.95414676e-01 7.10984298e-02 6.39893415e-02 1.08968003e+02] [-7.06732813e-02 9.97459937e-01 -8.88607104e-03 -1.39775080e+01] [-6.44585902e-02 4.32298879e-03 9.97911019e-01 -7.73694826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.22071405700001 meters 0.04058535164025064 Centerline is valid? [True, True] Translation: X:109.00, Y:-13.99, Z:-7.74 [[ 9.95591004e-01 7.00228530e-02 6.24127689e-02 1.08996121e+02] [-6.96163290e-02 9.97536189e-01 -8.66712107e-03 -1.39896701e+01] [-6.28658922e-02 4.28395991e-03 9.98012789e-01 -7.74118409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.250714057 meters 0.04099598778513147 Centerline is valid? [True, True] Translation: X:109.03, Y:-13.99, Z:-7.74 [[ 9.95619485e-01 7.00650447e-02 6.19090523e-02 1.09025845e+02] [-6.96651370e-02 9.97533385e-01 -8.59734460e-03 -1.39937087e+01] [-6.23587199e-02 4.24678119e-03 9.98044766e-01 -7.74345026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.280714057 meters 0.04189584300336339 Centerline is valid? [True, True] Translation: X:109.06, Y:-14.00, Z:-7.75 [[ 9.95587134e-01 7.03484832e-02 6.21075570e-02 1.09055035e+02] [-6.99465446e-02 9.97513454e-01 -8.62501359e-03 -1.39980208e+01] [-6.25598803e-02 4.24274357e-03 9.98032194e-01 -7.74501839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.310714057 meters 0.03656698115853417 Centerline is valid? [True, True] Translation: X:109.09, Y:-13.99, Z:-7.75 [[ 9.95370310e-01 7.26665840e-02 6.29087766e-02 1.09086313e+02] [-7.22588638e-02 9.97347659e-01 -8.73518504e-03 -1.39923711e+01] [-6.33766771e-02 4.14902711e-03 9.97981053e-01 -7.74540661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.340714057 meters 0.03688609336128997 Centerline is valid? [True, True] Translation: X:109.12, Y:-14.00, Z:-7.75 [[ 9.95226214e-01 7.44055224e-02 6.31553801e-02 1.09115632e+02] [-7.39981439e-02 9.97219831e-01 -8.76837265e-03 -1.39951993e+01] [-6.36322127e-02 4.05313341e-03 9.97965187e-01 -7.74688251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.370714057 meters 0.03146468232121374 Centerline is valid? [True, True] Translation: X:109.15, Y:-13.99, Z:-7.75 [[ 9.94817105e-01 7.88698880e-02 6.41752949e-02 1.09147009e+02] [-7.84586229e-02 9.96877576e-01 -8.90751902e-03 -1.39880492e+01] [-6.46774474e-02 3.82624702e-03 9.97898886e-01 -7.74734720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.400714057 meters 0.03077037029177274 Centerline is valid? [True, True] Translation: X:109.18, Y:-13.99, Z:-7.75 [[ 9.94572386e-01 8.16057320e-02 6.45466758e-02 1.09177326e+02] [-8.11954451e-02 9.96657936e-01 -8.95867695e-03 -1.39894790e+01] [-6.50620361e-02 3.66915663e-03 9.97874475e-01 -7.74916565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.430714057 meters 0.03062169257832459 Centerline is valid? [True, True] Translation: X:109.21, Y:-13.99, Z:-7.75 [[ 9.94300948e-01 8.44662438e-02 6.50467452e-02 1.09205787e+02] [-8.40557307e-02 9.96420166e-01 -9.02698489e-03 -1.39922906e+01] [-6.55763642e-02 3.50798793e-03 9.97841387e-01 -7.75097497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.460714057 meters 0.029338636051289377 Centerline is valid? [True, True] Translation: X:109.24, Y:-13.99, Z:-7.75 [[ 9.93808506e-01 8.90630284e-02 6.64261246e-02 1.09236875e+02] [-8.86453697e-02 9.96020627e-01 -9.21461162e-03 -1.39918170e+01] [-6.69824715e-02 3.26919104e-03 9.97748796e-01 -7.75254451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.490714057 meters 0.027823703240416178 Centerline is valid? [True, True] Translation: X:109.27, Y:-13.99, Z:-7.75 [[ 9.93585480e-01 9.11910429e-02 6.68736738e-02 1.09266377e+02] [-9.07725816e-02 9.95828447e-01 -9.27593187e-03 -1.39927648e+01] [-6.74405886e-02 3.14613521e-03 9.97718331e-01 -7.75439096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.520714057 meters 0.027427433384595235 Centerline is valid? [True, True] Translation: X:109.30, Y:-13.99, Z:-7.76 [[ 9.93224616e-01 9.42632417e-02 6.79654636e-02 1.09296024e+02] [-9.38384078e-02 9.95542841e-01 -9.42359422e-03 -1.39942909e+01] [-6.85508293e-02 2.98197486e-03 9.97643168e-01 -7.75593347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.55071405700001 meters 0.02698091964650766 Centerline is valid? [True, True] Translation: X:109.32, Y:-14.00, Z:-7.76 [[ 9.93124226e-01 9.52705989e-02 6.80278293e-02 1.09324962e+02] [-9.48475082e-02 9.95447150e-01 -9.42978860e-03 -1.39971048e+01] [-6.86164905e-02 2.91268140e-03 9.97638859e-01 -7.75825143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.58071405700001 meters 0.026969225877892432 Centerline is valid? [True, True] Translation: X:109.35, Y:-14.00, Z:-7.76 [[ 9.93028443e-01 9.63388117e-02 6.79216060e-02 1.09353580e+02] [-9.59198702e-02 9.95344577e-01 -9.41017808e-03 -1.40006477e+01] [-6.85119675e-02 2.82954287e-03 9.97646282e-01 -7.76078027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.610714057 meters 0.02694443725130938 Centerline is valid? [True, True] Translation: X:109.38, Y:-14.00, Z:-7.76 [[ 9.92956086e-01 9.77430544e-02 6.69664555e-02 1.09382530e+02] [-9.73393372e-02 9.95208050e-01 -9.27310973e-03 -1.40038894e+01] [-6.75519377e-02 2.68932035e-03 9.97712134e-01 -7.76423715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.640714057 meters 0.026847771126488465 Centerline is valid? [True, True] Translation: X:109.41, Y:-14.01, Z:-7.77 [[ 9.92964976e-01 9.82505721e-02 6.60861729e-02 1.09410894e+02] [-9.78587661e-02 9.95158269e-01 -9.14778152e-03 -1.40076307e+01] [-6.66649762e-02 2.61631532e-03 9.97771986e-01 -7.76654422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.670714057 meters 0.025183048054030852 Centerline is valid? [True, True] Translation: X:109.44, Y:-14.01, Z:-7.77 [[ 9.92966403e-01 9.92324140e-02 6.45805781e-02 1.09439694e+02] [-9.88606448e-02 9.95061174e-01 -8.93493921e-03 -1.40081277e+01] [-6.51482614e-02 2.48761686e-03 9.97872495e-01 -7.77001514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.700714057 meters 0.02525639344333959 Centerline is valid? [True, True] Translation: X:109.47, Y:-14.01, Z:-7.77 [[ 9.93018268e-01 9.94534627e-02 6.34328682e-02 1.09467893e+02] [-9.90955499e-02 9.95039261e-01 -8.77161563e-03 -1.40118960e+01] [-6.39905618e-02 2.42445960e-03 9.97947559e-01 -7.77301354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.730714057 meters 0.02490752788682094 Centerline is valid? [True, True] Translation: X:109.50, Y:-14.02, Z:-7.78 [[ 9.92992133e-01 1.00209929e-01 6.26465803e-02 1.09496483e+02] [-9.98626327e-02 9.94963561e-01 -8.65839607e-03 -1.40153921e+01] [-6.31987218e-02 2.34166674e-03 9.97998216e-01 -7.77580083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.760714057 meters 0.02712342812942636 Centerline is valid? [True, True] Translation: X:109.52, Y:-14.02, Z:-7.78 [[ 9.92918973e-01 1.01219562e-01 6.21813006e-02 1.09523482e+02] [-1.00879664e-01 9.94861553e-01 -8.58970490e-03 -1.40228825e+01] [-6.27312314e-02 2.25605228e-03 9.98027907e-01 -7.77890325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.790714057 meters 0.027042050640961074 Centerline is valid? [True, True] Translation: X:109.55, Y:-14.03, Z:-7.78 [[ 9.92740286e-01 1.02532331e-01 6.28796117e-02 1.09550931e+02] [-1.02187738e-01 9.94727257e-01 -8.68040478e-03 -1.40267147e+01] [-6.34380859e-02 2.19186224e-03 9.97983369e-01 -7.78032966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.820714057 meters 0.02426217707249208 Centerline is valid? [True, True] Translation: X:109.58, Y:-14.02, Z:-7.78 [[ 9.92693598e-01 1.03003770e-01 6.28461920e-02 1.09580453e+02] [-1.02660828e-01 9.94678631e-01 -8.67040890e-03 -1.40248559e+01] [-6.34048490e-02 2.15521730e-03 9.97985561e-01 -7.78179100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.850714057 meters 0.024440575077505498 Centerline is valid? [True, True] Translation: X:109.61, Y:-14.03, Z:-7.78 [[ 9.92632794e-01 1.03734441e-01 6.26043227e-02 1.09607668e+02] [-1.03395868e-01 9.94602821e-01 -8.63261241e-03 -1.40287428e+01] [-6.31619352e-02 2.09598591e-03 9.98001091e-01 -7.78428241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.880714057 meters 0.023550203106137986 Centerline is valid? [True, True] Translation: X:109.64, Y:-14.03, Z:-7.79 [[ 9.92539233e-01 1.05055675e-01 6.18803441e-02 1.09636519e+02] [-1.04727810e-01 9.94464365e-01 -8.52717987e-03 -1.40306532e+01] [-6.24336257e-02 1.98296764e-03 9.98047148e-01 -7.78692312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.910714057 meters 0.02359104021667735 Centerline is valid? [True, True] Translation: X:109.66, Y:-14.03, Z:-7.79 [[ 9.92528132e-01 1.05456025e-01 6.13753581e-02 1.09663766e+02] [-1.05134513e-01 9.94422080e-01 -8.45351422e-03 -1.40346245e+01] [-6.19244853e-02 1.93768228e-03 9.98078957e-01 -7.78920592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.94071405700001 meters 0.023696994829724354 Centerline is valid? [True, True] Translation: X:109.69, Y:-14.04, Z:-7.79 [[ 9.92325068e-01 1.07456599e-01 6.11885567e-02 1.09690739e+02] [-1.07141382e-01 9.94208150e-01 -8.41901469e-03 -1.40393217e+01] [-6.17388404e-02 1.79857283e-03 9.98090718e-01 -7.79154911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.97071405700001 meters 0.023416322002295594 Centerline is valid? [True, True] Translation: X:109.72, Y:-14.04, Z:-7.79 [[ 9.92308990e-01 1.08005758e-01 6.04783020e-02 1.09719728e+02] [-1.07699185e-01 9.94148749e-01 -8.31570417e-03 -1.40423724e+01] [-6.10225722e-02 1.73828416e-03 9.98134873e-01 -7.79384956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.000714057 meters 0.02328335565922673 Centerline is valid? [True, True] Translation: X:109.75, Y:-14.05, Z:-7.80 [[ 9.92280608e-01 1.08411156e-01 6.02180714e-02 1.09747707e+02] [-1.08108230e-01 9.94104685e-01 -8.27556402e-03 -1.40464548e+01] [-6.07602304e-02 1.70161258e-03 9.98150940e-01 -7.79603839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.030714057 meters 0.023705037588639698 Centerline is valid? [True, True] Translation: X:109.78, Y:-14.05, Z:-7.80 [[ 9.92277587e-01 1.08755951e-01 5.96433917e-02 1.09775328e+02] [-1.08459666e-01 9.94067094e-01 -8.19230304e-03 -1.40525146e+01] [-6.01804948e-02 1.66013637e-03 9.98186131e-01 -7.79849056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.060714057 meters 0.024111197379698322 Centerline is valid? [True, True] Translation: X:109.80, Y:-14.06, Z:-7.80 [[ 9.92408392e-01 1.07807843e-01 5.91865982e-02 1.09803454e+02] [-1.07514654e-01 9.94170296e-01 -8.12532754e-03 -1.40581182e+01] [-5.97175319e-02 1.70021660e-03 9.98213868e-01 -7.80083557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.090714057 meters 0.02382316691932937 Centerline is valid? [True, True] Translation: X:109.83, Y:-14.06, Z:-7.80 [[ 9.92742439e-01 1.05360114e-01 5.79801449e-02 1.09832203e+02] [-1.05074855e-01 9.94432495e-01 -7.95535481e-03 -1.40648900e+01] [-5.84955173e-02 1.80536299e-03 9.98286039e-01 -7.80351389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.120714057 meters 0.024871421895837974 Centerline is valid? [True, True] Translation: X:109.86, Y:-14.07, Z:-7.81 [[ 9.93001030e-01 1.03154446e-01 5.75162037e-02 1.09859104e+02] [-1.02870134e-01 9.94663501e-01 -7.89019508e-03 -1.40723135e+01] [-5.80231772e-02 1.91827228e-03 9.98313393e-01 -7.80611791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.150714057 meters 0.025296398732934336 Centerline is valid? [True, True] Translation: X:109.89, Y:-14.08, Z:-7.81 [[ 9.93474948e-01 9.84775599e-02 5.75299699e-02 1.09887102e+02] [-9.81856064e-02 9.95136870e-01 -7.88650792e-03 -1.40815452e+01] [-5.80268382e-02 2.18643307e-03 9.98312629e-01 -7.80808747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.180714057 meters 0.026385726820048198 Centerline is valid? [True, True] Translation: X:109.92, Y:-14.09, Z:-7.81 [[ 9.93759506e-01 9.57835619e-02 5.71625257e-02 1.09915444e+02] [-9.54910453e-02 9.95399467e-01 -7.83332238e-03 -1.40892391e+01] [-5.76498512e-02 2.32592925e-03 9.98334155e-01 -7.81033318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.210714057 meters 0.02796973984470937 Centerline is valid? [True, True] Translation: X:109.94, Y:-14.10, Z:-7.81 [[ 9.94043425e-01 9.29157273e-02 5.69590800e-02 1.09943054e+02] [-9.26208624e-02 9.95670891e-01 -7.80078764e-03 -1.40980623e+01] [-5.74373138e-02 2.47872256e-03 9.98346038e-01 -7.81291531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.240714057 meters 0.029671732264653118 Centerline is valid? [True, True] Translation: X:109.97, Y:-14.11, Z:-7.82 [[ 9.94513265e-01 8.80505480e-02 5.64842159e-02 1.09971692e+02] [-8.77529550e-02 9.96112258e-01 -7.73229164e-03 -1.41091919e+01] [-5.69454523e-02 2.73320975e-03 9.98373550e-01 -7.81555263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.270714057 meters 0.03026452226601682 Centerline is valid? [True, True] Translation: X:110.00, Y:-14.12, Z:-7.82 [[ 9.94744332e-01 8.59388417e-02 5.56617421e-02 1.10000398e+02] [-8.56466087e-02 9.96296447e-01 -7.61895072e-03 -1.41159244e+01] [-5.61103597e-02 2.81166859e-03 9.98420614e-01 -7.81806231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.30071405700001 meters 0.032464474138636394 Centerline is valid? [True, True] Translation: X:110.03, Y:-14.13, Z:-7.82 [[ 9.95044113e-01 8.31069210e-02 5.45935268e-02 1.10027900e+02] [-8.28216537e-02 9.96536380e-01 -7.47105749e-03 -1.41267107e+01] [-5.50253322e-02 2.91250560e-03 9.98480711e-01 -7.82169190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.33071405700001 meters 0.032464474138636394 Centerline is valid? [True, True] Translation: X:110.06, Y:-14.13, Z:-7.82 [[ 9.95052669e-01 8.30042250e-02 5.45938188e-02 1.10055094e+02] [-8.27189204e-02 9.96544929e-01 -7.46892311e-03 -1.41303361e+01] [-5.50251455e-02 2.91603012e-03 9.98480711e-01 -7.82358263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.360714057 meters 0.02954736820735619 Centerline is valid? [True, True] Translation: X:110.08, Y:-14.13, Z:-7.82 [[ 9.95184579e-01 8.18488641e-02 5.39297366e-02 1.10084206e+02] [-8.15691040e-02 9.96640424e-01 -7.37204010e-03 -1.41306170e+01] [-5.43519486e-02 2.93754034e-03 9.98517519e-01 -7.82433157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.390714057 meters 0.029372265551711938 Centerline is valid? [True, True] Translation: X:110.11, Y:-14.13, Z:-7.83 [[ 9.95326925e-01 8.04387999e-02 5.34220123e-02 1.10112162e+02] [-8.01624598e-02 9.96755087e-01 -7.29902171e-03 -1.41344399e+01] [-5.38357871e-02 2.98247292e-03 9.98545348e-01 -7.82613449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.420714057 meters 0.03639698599659344 Centerline is valid? [True, True] Translation: X:110.14, Y:-14.15, Z:-7.83 [[ 9.95603777e-01 7.74396066e-02 5.26899086e-02 1.10139119e+02] [-7.71669159e-02 9.96992239e-01 -7.19329085e-03 -1.41507252e+01] [-5.30884755e-02 3.09574980e-03 9.98585014e-01 -7.83087297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.450714057 meters 0.03761991977704287 Centerline is valid? [True, True] Translation: X:110.17, Y:-14.16, Z:-7.83 [[ 9.95736959e-01 7.58239139e-02 5.25227828e-02 1.10168070e+02] [-7.55508190e-02 9.97116185e-01 -7.16848923e-03 -1.41565640e+01] [-5.29148598e-02 3.16979040e-03 9.98593997e-01 -7.83340902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.480714057 meters 0.03374930391083367 Centerline is valid? [True, True] Translation: X:110.20, Y:-14.16, Z:-7.83 [[ 9.96028203e-01 7.22362797e-02 5.20551428e-02 1.10198881e+02] [-7.19632736e-02 9.97381995e-01 -7.10236543e-03 -1.41566668e+01] [-5.24319106e-02 3.32809780e-03 9.98618956e-01 -7.83397833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.510714057 meters 0.03505035887974393 Centerline is valid? [True, True] Translation: X:110.23, Y:-14.16, Z:-7.84 [[ 9.96148779e-01 7.06402206e-02 5.19381326e-02 1.10227795e+02] [-7.03662522e-02 9.97496048e-01 -7.08698327e-03 -1.41629735e+01] [-5.23087080e-02 3.40499799e-03 9.98625157e-01 -7.83664622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.540714057 meters 0.04248525180506319 Centerline is valid? [True, True] Translation: X:110.25, Y:-14.18, Z:-7.84 [[ 9.96311691e-01 6.87059462e-02 5.14053168e-02 1.10254639e+02] [-6.84351095e-02 9.97630924e-01 -7.01244494e-03 -1.41775547e+01] [-5.17653304e-02 3.46865239e-03 9.98653253e-01 -7.84125877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.570714057 meters 0.03844112985014188 Centerline is valid? [True, True] Translation: X:110.29, Y:-14.18, Z:-7.84 [[ 9.96484656e-01 6.60803229e-02 5.14948678e-02 1.10285339e+02] [-6.58051649e-02 9.97807779e-01 -7.02250743e-03 -1.41762583e+01] [-5.18460292e-02 3.60919263e-03 9.98648568e-01 -7.84091093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.600714057 meters 0.03950699731777145 Centerline is valid? [True, True] Translation: X:110.31, Y:-14.18, Z:-7.84 [[ 9.96574082e-01 6.47566928e-02 5.14458010e-02 1.10314456e+02] [-6.44803375e-02 9.97894320e-01 -7.01520375e-03 -1.41811836e+01] [-5.17917540e-02 3.67392762e-03 9.98651149e-01 -7.84248347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.630714057 meters 0.04040441268301349 Centerline is valid? [True, True] Translation: X:110.34, Y:-14.19, Z:-7.84 [[ 9.96653606e-01 6.34954155e-02 5.14773837e-02 1.10344309e+02] [-6.32171575e-02 9.97975124e-01 -7.01739527e-03 -1.41855508e+01] [-5.18187208e-02 3.73965843e-03 9.98649506e-01 -7.84336675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.660714057 meters 0.04142750720957734 Centerline is valid? [True, True] Translation: X:110.37, Y:-14.19, Z:-7.85 [[ 9.96685342e-01 6.29604778e-02 5.15199632e-02 1.10374526e+02] [-6.26811107e-02 9.98008903e-01 -7.02199814e-03 -1.41903373e+01] [-5.18594903e-02 3.76939410e-03 9.98647278e-01 -7.84551119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.69071405700001 meters 0.04170624404493607 Centerline is valid? [True, True] Translation: X:110.40, Y:-14.19, Z:-7.85 [[ 9.96710938e-01 6.28333002e-02 5.11789235e-02 1.10404856e+02] [-6.25574570e-02 9.98016987e-01 -6.97551557e-03 -1.41943681e+01] [-5.15157297e-02 3.75094937e-03 9.98665139e-01 -7.84759231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.72071405700001 meters 0.04349820460663541 Centerline is valid? [True, True] Translation: X:110.43, Y:-14.20, Z:-7.85 [[ 9.96775575e-01 6.26106920e-02 5.01832009e-02 1.10434227e+02] [-6.23451932e-02 9.98031207e-01 -6.84011247e-03 -1.41992252e+01] [-5.05126647e-02 3.68937569e-03 9.98716606e-01 -7.85047194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.750714057 meters 0.037697239457802054 Centerline is valid? [True, True] Translation: X:110.47, Y:-14.19, Z:-7.85 [[ 9.96792823e-01 6.25068993e-02 4.99695508e-02 1.10465289e+02] [-6.22435549e-02 9.98037753e-01 -6.81047865e-03 -1.41942014e+01] [-5.02972002e-02 3.67835375e-03 9.98727521e-01 -7.85076074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.780714057 meters 0.03840315945159445 Centerline is valid? [True, True] Translation: X:110.50, Y:-14.20, Z:-7.85 [[ 9.96842401e-01 6.19770480e-02 4.96394247e-02 1.10495187e+02] [-6.17166535e-02 9.98070798e-01 -6.76286383e-03 -1.41968992e+01] [-4.99628025e-02 3.67793025e-03 9.98744307e-01 -7.85285194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.810714057 meters 0.03956830754545657 Centerline is valid? [True, True] Translation: X:110.52, Y:-14.20, Z:-7.86 [[ 9.96868435e-01 6.18021086e-02 4.93337941e-02 1.10524541e+02] [-6.15446587e-02 9.98081694e-01 -6.72207878e-03 -1.42017219e+01] [-4.96545955e-02 3.66479663e-03 9.98759726e-01 -7.85543147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.840714057 meters 0.046484410679512096 Centerline is valid? [True, True] Translation: X:110.55, Y:-14.21, Z:-7.86 [[ 9.96906230e-01 6.15422125e-02 4.88929870e-02 1.10552600e+02] [-6.12890803e-02 9.98097830e-01 -6.66113502e-03 -1.42140785e+01] [-4.92099252e-02 3.64392080e-03 9.98781811e-01 -7.85980557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.870714057 meters 0.039886787864917096 Centerline is valid? [True, True] Translation: X:110.58, Y:-14.21, Z:-7.86 [[ 9.96928891e-01 6.12653783e-02 4.87784851e-02 1.10583637e+02] [-6.10131275e-02 9.98114844e-01 -6.64501849e-03 -1.42058342e+01] [-4.90936396e-02 3.64848298e-03 9.98787517e-01 -7.85885168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.900714057 meters 0.040544818866027024 Centerline is valid? [True, True] Translation: X:110.61, Y:-14.21, Z:-7.86 [[ 9.96917912e-01 6.16315242e-02 4.85410306e-02 1.10611997e+02] [-6.13822256e-02 9.98092437e-01 -6.61127399e-03 -1.42090241e+01] [-4.88558984e-02 3.61134097e-03 9.98799309e-01 -7.86038384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.930714057 meters 0.040060342598929786 Centerline is valid? [True, True] Translation: X:110.64, Y:-14.21, Z:-7.86 [[ 9.96793276e-01 6.25980147e-02 4.98462927e-02 1.10642158e+02] [-6.23364705e-02 9.98032121e-01 -6.78595557e-03 -1.42081867e+01] [-5.01729886e-02 3.65695293e-03 9.98733847e-01 -7.86003296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.960714057 meters 0.039241886456330026 Centerline is valid? [True, True] Translation: X:110.67, Y:-14.21, Z:-7.86 [[ 9.96663879e-01 6.35453894e-02 5.12161748e-02 1.10672148e+02] [-6.32705967e-02 9.97972065e-01 -6.97055533e-03 -1.42095925e+01] [-5.15552584e-02 3.70682277e-03 9.98663264e-01 -7.86068671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.990714057 meters 0.03657617511819664 Centerline is valid? [True, True] Translation: X:110.70, Y:-14.21, Z:-7.86 [[ 9.96533041e-01 6.44983683e-02 5.25533835e-02 1.10701969e+02] [-6.42104419e-02 9.97910762e-01 -7.15061092e-03 -1.42082460e+01] [-5.29047897e-02 3.75134407e-03 9.98592515e-01 -7.86087945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.020714057 meters 0.040496068060748174 Centerline is valid? [True, True] Translation: X:110.73, Y:-14.22, Z:-7.86 [[ 9.96268017e-01 6.63769641e-02 5.51736958e-02 1.10730448e+02] [-6.60625560e-02 9.97787259e-01 -7.50497779e-03 -1.42156974e+01] [-5.55497683e-02 3.83205397e-03 9.98448566e-01 -7.86295800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.05071405700001 meters 0.037199863005439336 Centerline is valid? [True, True] Translation: X:110.76, Y:-14.21, Z:-7.86 [[ 9.96203475e-01 6.69870661e-02 5.56000889e-02 1.10760697e+02] [-6.66688330e-02 9.97746510e-01 -7.56092917e-03 -1.42134055e+01] [-5.59812791e-02 3.82543087e-03 9.98424490e-01 -7.86407167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.08071405700001 meters 0.036109721463051955 Centerline is valid? [True, True] Translation: X:110.79, Y:-14.21, Z:-7.87 [[ 9.96062820e-01 6.88755697e-02 5.58123168e-02 1.10790421e+02] [-6.85579617e-02 9.97618280e-01 -7.58776389e-03 -1.42131070e+01] [-5.62019991e-02 3.73151082e-03 9.98412445e-01 -7.86656876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.110714057 meters 0.034551258075225855 Centerline is valid? [True, True] Translation: X:110.82, Y:-14.21, Z:-7.87 [[ 9.96014597e-01 6.94647491e-02 5.59425689e-02 1.10819466e+02] [-6.91466685e-02 9.97577525e-01 -7.60389293e-03 -1.42131632e+01] [-5.63352520e-02 3.70534609e-03 9.98405033e-01 -7.86869132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.140714057 meters 0.034489338992235975 Centerline is valid? [True, True] Translation: X:110.85, Y:-14.21, Z:-7.87 [[ 9.95966868e-01 7.06496720e-02 5.53048111e-02 1.10848053e+02] [-7.03408542e-02 9.97494720e-01 -7.51317209e-03 -1.42146241e+01] [-5.56970602e-02 3.59268282e-03 9.98441250e-01 -7.87154451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.170714057 meters 0.035761736146330006 Centerline is valid? [True, True] Translation: X:110.88, Y:-14.22, Z:-7.87 [[ 9.95945719e-01 7.09336624e-02 5.53221593e-02 1.10875155e+02] [-7.06253019e-02 9.97474632e-01 -7.51167035e-03 -1.42193143e+01] [-5.57152808e-02 3.57407172e-03 9.98440300e-01 -7.87444316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.200714057 meters 0.035629321000959654 Centerline is valid? [True, True] Translation: X:110.90, Y:-14.22, Z:-7.88 [[ 9.95914628e-01 7.17910439e-02 5.47731600e-02 1.10904154e+02] [-7.14903584e-02 9.97413603e-01 -7.43192648e-03 -1.42205284e+01] [-5.51650406e-02 3.48581146e-03 9.98471165e-01 -7.87696918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.230714057 meters 0.03759345139288677 Centerline is valid? [True, True] Translation: X:110.93, Y:-14.23, Z:-7.88 [[ 9.95850831e-01 7.25823971e-02 5.48900456e-02 1.10931193e+02] [-7.22818297e-02 9.97356468e-01 -7.44402545e-03 -1.42261648e+01] [-5.52852472e-02 3.44558601e-03 9.98464656e-01 -7.88020176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.260714057 meters 0.03442025482538371 Centerline is valid? [True, True] Translation: X:110.96, Y:-14.22, Z:-7.88 [[ 9.95769289e-01 7.34906271e-02 5.51602261e-02 1.10960313e+02] [-7.31887587e-02 9.97290089e-01 -7.47560126e-03 -1.42246520e+01] [-5.55601334e-02 3.40686568e-03 9.98449530e-01 -7.88110927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.290714057 meters 0.03460351614347041 Centerline is valid? [True, True] Translation: X:110.99, Y:-14.23, Z:-7.88 [[ 9.95448814e-01 7.68165838e-02 5.63992132e-02 1.10988916e+02] [-7.65065490e-02 9.97039815e-01 -7.63909673e-03 -1.42262930e+01] [-5.68190704e-02 3.28942061e-03 9.98379073e-01 -7.88305125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.320714057 meters 0.032489381243854476 Centerline is valid? [True, True] Translation: X:111.02, Y:-14.22, Z:-7.88 [[ 9.95009258e-01 8.12609871e-02 5.79070688e-02 1.11020037e+02] [-8.09418402e-02 9.96687995e-01 -7.83962929e-03 -1.42246157e+01] [-5.83523363e-02 3.11339902e-03 9.98291196e-01 -7.88450035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.350714057 meters 0.031770401099418935 Centerline is valid? [True, True] Translation: X:111.05, Y:-14.23, Z:-7.89 [[ 9.94728301e-01 8.44246085e-02 5.82073210e-02 1.11050357e+02] [-8.41075470e-02 9.96425524e-01 -7.88006401e-03 -1.42262985e+01] [-5.86645316e-02 2.94284770e-03 9.98273416e-01 -7.88609016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.380714057 meters 0.03087793161568191 Centerline is valid? [True, True] Translation: X:111.08, Y:-14.23, Z:-7.89 [[ 9.94430867e-01 8.74110182e-02 5.88775335e-02 1.11080405e+02] [-8.70918821e-02 9.96168403e-01 -7.96973905e-03 -1.42273192e+01] [-5.93485815e-02 2.79759932e-03 9.98233399e-01 -7.88801561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.410714057 meters 0.028940529955292588 Centerline is valid? [True, True] Translation: X:111.11, Y:-14.22, Z:-7.89 [[ 9.93774231e-01 9.40378684e-02 5.97465993e-02 1.11111227e+02] [-9.37212357e-02 9.95565640e-01 -8.08617884e-03 -1.42245632e+01] [-6.02420684e-02 2.43631105e-03 9.98180824e-01 -7.88917491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.44071405700001 meters 0.02820940729976566 Centerline is valid? [True, True] Translation: X:111.14, Y:-14.23, Z:-7.89 [[ 9.93449461e-01 9.70816580e-02 6.02770221e-02 1.11141245e+02] [-9.67649622e-02 9.95273827e-01 -8.15789612e-03 -1.42257614e+01] [-6.07841246e-02 2.27175374e-03 9.98148350e-01 -7.89086294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.47071405700001 meters 0.027135293575388048 Centerline is valid? [True, True] Translation: X:111.17, Y:-14.23, Z:-7.89 [[ 9.92791720e-01 1.03172756e-01 6.09916598e-02 1.11170737e+02] [-1.02860018e-01 9.94661598e-01 -8.25365185e-03 -1.42259102e+01] [-6.15176138e-02 1.92055398e-03 9.98104150e-01 -7.89338260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.500714057 meters 0.024956243145687042 Centerline is valid? [True, True] Translation: X:111.20, Y:-14.22, Z:-7.90 [[ 9.92487978e-01 1.05802988e-01 6.14275287e-02 1.11199789e+02] [-1.05490902e-01 9.94385539e-01 -8.31076543e-03 -1.42245059e+01] [-6.19619501e-02 1.76828938e-03 9.98076946e-01 -7.89508999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.530714057 meters 0.02477793081474404 Centerline is valid? [True, True] Translation: X:111.23, Y:-14.23, Z:-7.90 [[ 9.92243917e-01 1.08141620e-01 6.12976216e-02 1.11228168e+02] [-1.07835507e-01 9.94134186e-01 -8.28997243e-03 -1.42267446e+01] [-6.18345522e-02 1.61561461e-03 9.98085106e-01 -7.89769951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.560714057 meters 0.024071776958067344 Centerline is valid? [True, True] Translation: X:111.26, Y:-14.23, Z:-7.90 [[ 9.91772952e-01 1.12547049e-01 6.09883123e-02 1.11257480e+02] [-1.12253290e-01 9.93645522e-01 -8.23263945e-03 -1.42278595e+01] [-6.15273227e-02 1.31877044e-03 9.98104528e-01 -7.90086081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.590714057 meters 0.023757644940009034 Centerline is valid? [True, True] Translation: X:111.29, Y:-14.23, Z:-7.90 [[ 9.91600565e-01 1.13744835e-01 6.15664863e-02 1.11286123e+02] [-1.13448683e-01 9.93509220e-01 -8.29613227e-03 -1.42312971e+01] [-6.21105140e-02 1.24181266e-03 9.98068506e-01 -7.90310211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.620714057 meters 0.023397893290779976 Centerline is valid? [True, True] Translation: X:111.31, Y:-14.24, Z:-7.91 [[ 9.91335222e-01 1.15658346e-01 6.22705745e-02 1.11314038e+02] [-1.15360144e-01 9.93288425e-01 -8.37510298e-03 -1.42353611e+01] [-6.28212914e-02 1.11899214e-03 9.98024165e-01 -7.90553435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.650714057 meters 0.02322372545219355 Centerline is valid? [True, True] Translation: X:111.34, Y:-14.24, Z:-7.91 [[ 9.91256526e-01 1.15988007e-01 6.29069381e-02 1.11341434e+02] [-1.15685418e-01 9.93250013e-01 -8.44364874e-03 -1.42406623e+01] [-6.34616791e-02 1.09240648e-03 9.97983678e-01 -7.90776415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.680714057 meters 0.02320532536656257 Centerline is valid? [True, True] Translation: X:111.37, Y:-14.25, Z:-7.91 [[ 9.91258852e-01 1.15732150e-01 6.33400150e-02 1.11369070e+02] [-1.15425161e-01 9.93279836e-01 -8.49697519e-03 -1.42455997e+01] [-6.38977330e-02 1.11167042e-03 9.97955833e-01 -7.90979240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.710714057 meters 0.02325772216013444 Centerline is valid? [True, True] Translation: X:111.40, Y:-14.25, Z:-7.91 [[ 9.91345933e-01 1.14807069e-01 6.36598661e-02 1.11397574e+02] [-1.14496300e-01 9.93387133e-01 -8.52064827e-03 -1.42519337e+01] [-6.42171225e-02 1.15809085e-03 9.97935278e-01 -7.91149791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.740714057 meters 0.023571454030777005 Centerline is valid? [True, True] Translation: X:111.42, Y:-14.26, Z:-7.91 [[ 9.91572541e-01 1.12660707e-01 6.39645254e-02 1.11424966e+02] [-1.12342787e-01 9.93632668e-01 -8.55686541e-03 -1.42598978e+01] [-6.45212645e-02 1.29879974e-03 9.97915487e-01 -7.91413706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.770714057 meters 0.023663586250604295 Centerline is valid? [True, True] Translation: X:111.45, Y:-14.26, Z:-7.92 [[ 9.91774056e-01 1.11028557e-01 6.36936458e-02 1.11453552e+02] [-1.10710336e-01 9.93816240e-01 -8.51489534e-03 -1.42648387e+01] [-6.42451761e-02 1.39330738e-03 9.97933172e-01 -7.91615481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.80071405700001 meters 0.023872999353941018 Centerline is valid? [True, True] Translation: X:111.48, Y:-14.27, Z:-7.92 [[ 9.92012902e-01 1.09024213e-01 6.34359790e-02 1.11481272e+02] [-1.08704771e-01 9.94037944e-01 -8.47578544e-03 -1.42712259e+01] [-6.39818359e-02 1.51229496e-03 9.97949917e-01 -7.91890439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.83071405700001 meters 0.025165021155796684 Centerline is valid? [True, True] Translation: X:111.51, Y:-14.28, Z:-7.92 [[ 9.92606327e-01 1.03914559e-01 6.27251420e-02 1.11507992e+02] [-1.03592340e-01 9.94584569e-01 -8.37629461e-03 -1.42837329e+01] [-6.32558773e-02 1.81651876e-03 9.97995688e-01 -7.92219277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.860714057 meters 0.02548668226482322 Centerline is valid? [True, True] Translation: X:111.54, Y:-14.29, Z:-7.92 [[ 9.92896519e-01 1.01110055e-01 6.27156956e-02 1.11537181e+02] [-1.00782708e-01 9.94873258e-01 -8.36935137e-03 -1.42906231e+01] [-6.32403940e-02 1.98924218e-03 9.97996340e-01 -7.92441688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.890714057 meters 0.026575286089084462 Centerline is valid? [True, True] Translation: X:111.57, Y:-14.30, Z:-7.93 [[ 9.93534224e-01 9.48790155e-02 6.23515648e-02 1.11565615e+02] [-9.45433622e-02 9.95485990e-01 -8.31839128e-03 -1.43020631e+01] [-6.28593500e-02 2.36967986e-03 9.98019582e-01 -7.92648944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.920714057 meters 0.027211593589331284 Centerline is valid? [True, True] Translation: X:111.59, Y:-14.31, Z:-7.93 [[ 9.93822738e-01 9.16916407e-02 6.25220599e-02 1.11593919e+02] [-9.13479129e-02 9.95784113e-01 -8.34019600e-03 -1.43089103e+01] [-6.30232002e-02 2.57741675e-03 9.98008734e-01 -7.92843381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.950714057 meters 0.029962873725165637 Centerline is valid? [True, True] Translation: X:111.62, Y:-14.32, Z:-7.93 [[ 9.94057496e-01 8.88484570e-02 6.28939351e-02 1.11620668e+02] [-8.84951627e-02 9.96041302e-01 -8.38638935e-03 -1.43196452e+01] [-6.33900747e-02 2.77074418e-03 9.97984981e-01 -7.93006031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.980714057 meters 0.02908544141516159 Centerline is valid? [True, True] Translation: X:111.65, Y:-14.33, Z:-7.93 [[ 9.94419381e-01 8.36999407e-02 6.42216060e-02 1.11650697e+02] [-8.33211640e-02 9.96485994e-01 -8.55846334e-03 -1.43257417e+01] [-6.47122738e-02 3.15968285e-03 9.97898962e-01 -7.93081947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.010714057 meters 0.030946949651138762 Centerline is valid? [True, True] Translation: X:111.68, Y:-14.33, Z:-7.93 [[ 9.94612846e-01 8.13544423e-02 6.42397192e-02 1.11678422e+02] [-8.09705609e-02 9.96679726e-01 -8.56110987e-03 -1.43345415e+01] [-6.47229101e-02 3.31346375e-03 9.97897773e-01 -7.93255835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.040714057 meters 0.03272872371917373 Centerline is valid? [True, True] Translation: X:111.71, Y:-14.34, Z:-7.93 [[ 9.94990082e-01 7.66626224e-02 6.41683693e-02 1.11708177e+02] [-7.62701403e-02 9.97050554e-01 -8.54746665e-03 -1.43441129e+01] [-6.46343794e-02 3.61051402e-03 9.97902481e-01 -7.93481749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.070714057 meters 0.03278115208034651 Centerline is valid? [True, True] Translation: X:111.74, Y:-14.35, Z:-7.94 [[ 9.95189408e-01 7.42829308e-02 6.38755761e-02 1.11737389e+02] [-7.38890901e-02 9.97230161e-01 -8.50934350e-03 -1.43490398e+01] [-6.43307500e-02 3.74870032e-03 9.97921591e-01 -7.93749657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.100714057 meters 0.03416477523727294 Centerline is valid? [True, True] Translation: X:111.77, Y:-14.36, Z:-7.94 [[ 9.95635424e-01 6.95535084e-02 6.22286999e-02 1.11766873e+02] [-6.91707013e-02 9.97570414e-01 -8.28752181e-03 -1.43572961e+01] [-6.26539361e-02 3.94694748e-03 9.98027508e-01 -7.94121497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.130714057 meters 0.03504319983344225 Centerline is valid? [True, True] Translation: X:111.80, Y:-14.36, Z:-7.94 [[ 9.95863648e-01 6.72603733e-02 6.10871276e-02 1.11797315e+02] [-6.68872161e-02 9.97727375e-01 -8.13540875e-03 -1.43636601e+01] [-6.14954901e-02 4.01580993e-03 9.98099283e-01 -7.94417757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.160714057 meters 0.03903091994766221 Centerline is valid? [True, True] Translation: X:111.83, Y:-14.37, Z:-7.95 [[ 9.96210138e-01 6.32518599e-02 5.97039695e-02 1.11825585e+02] [-6.28882021e-02 9.97988894e-01 -7.95239046e-03 -1.43744706e+01] [-6.00869020e-02 4.16757670e-03 9.98184450e-01 -7.94758797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.19071405700001 meters 0.040755538051911934 Centerline is valid? [True, True] Translation: X:111.86, Y:-14.38, Z:-7.95 [[ 9.96314201e-01 6.17590086e-02 5.95301468e-02 1.11855646e+02] [-6.13948698e-02 9.98082066e-01 -7.92839071e-03 -1.43815810e+01] [-5.99056214e-02 4.24432264e-03 9.98195022e-01 -7.95014390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.220714057 meters 0.040755538051911934 Centerline is valid? [True, True] Translation: X:111.89, Y:-14.39, Z:-7.95 [[ 9.96299259e-01 6.20003779e-02 5.95293096e-02 1.11887132e+02] [-6.16362940e-02 9.98067136e-01 -7.93467216e-03 -1.43858314e+01] [-5.99062002e-02 4.23614197e-03 9.98195022e-01 -7.95232919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.250714057 meters 0.04127755322384002 Centerline is valid? [True, True] Translation: X:111.92, Y:-14.39, Z:-7.95 [[ 9.96379003e-01 6.08269266e-02 5.94051166e-02 1.11918294e+02] [-6.04614047e-02 9.98139012e-01 -7.93289166e-03 -1.43914136e+01] [-5.97770978e-02 4.31244989e-03 9.98202435e-01 -7.95483426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.280714057 meters 0.04083193860326595 Centerline is valid? [True, True] Translation: X:111.95, Y:-14.40, Z:-7.96 [[ 9.96564775e-01 5.80469553e-02 5.90694582e-02 1.11948860e+02] [-5.76797906e-02 9.98303850e-01 -7.90343153e-03 -1.43950532e+01] [-5.94280377e-02 4.46916748e-03 9.98222588e-01 -7.95682418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.310714057 meters 0.03719632178437664 Centerline is valid? [True, True] Translation: X:111.98, Y:-14.39, Z:-7.96 [[ 9.96660925e-01 5.69175372e-02 5.85439522e-02 1.11981337e+02] [-5.65549214e-02 9.98368757e-01 -7.83361164e-03 -1.43936501e+01] [-5.88943227e-02 4.49650601e-03 9.98254096e-01 -7.95845842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.340714057 meters 0.0389598391937969 Centerline is valid? [True, True] Translation: X:112.01, Y:-14.40, Z:-7.96 [[ 9.96704552e-01 5.60585705e-02 5.86299601e-02 1.12011538e+02] [-5.56931286e-02 9.98417074e-01 -7.84989666e-03 -1.43990796e+01] [-5.89772072e-02 4.55874182e-03 9.98248920e-01 -7.96002990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.370714057 meters 0.039277115936392 Centerline is valid? [True, True] Translation: X:112.04, Y:-14.40, Z:-7.96 [[ 9.96683609e-01 5.62689012e-02 5.87842973e-02 1.12044715e+02] [-5.59019050e-02 9.98405246e-01 -7.87036192e-03 -1.44027474e+01] [-5.91334074e-02 4.55810653e-03 9.98239683e-01 -7.96186857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.400714057 meters 0.03951803518332903 Centerline is valid? [True, True] Translation: X:112.08, Y:-14.41, Z:-7.96 [[ 9.96615435e-01 5.69372409e-02 5.92944013e-02 1.12076629e+02] [-5.65639318e-02 9.98367273e-01 -7.95674442e-03 -1.44065712e+01] [-5.96506248e-02 4.57588982e-03 9.98208828e-01 -7.96347843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.430714057 meters 0.03977661403460613 Centerline is valid? [True, True] Translation: X:112.11, Y:-14.41, Z:-7.96 [[ 9.96531370e-01 5.87551322e-02 5.89326979e-02 1.12107761e+02] [-5.83885160e-02 9.98262476e-01 -7.92524169e-03 -1.44080381e+01] [-5.92959495e-02 4.45675919e-03 9.98230498e-01 -7.96479181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.460714057 meters 0.03941862305512438 Centerline is valid? [True, True] Translation: X:112.14, Y:-14.41, Z:-7.97 [[ 9.96479078e-01 6.00863046e-02 5.84729248e-02 1.12139618e+02] [-5.97275568e-02 9.98183728e-01 -7.86536258e-03 -1.44102471e+01] [-5.88393227e-02 4.34522431e-03 9.98258009e-01 -7.96675819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.490714057 meters 0.03631565883202481 Centerline is valid? [True, True] Translation: X:112.17, Y:-14.41, Z:-7.97 [[ 9.96389633e-01 6.26534208e-02 5.72908994e-02 1.12171093e+02] [-6.23130684e-02 9.98026874e-01 -7.70981482e-03 -1.44063397e+01] [-5.76609035e-02 4.11200783e-03 9.98327758e-01 -7.96884571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.520714057 meters 0.03992901769581011 Centerline is valid? [True, True] Translation: X:112.20, Y:-14.41, Z:-7.97 [[ 9.96294731e-01 6.43105653e-02 5.71048234e-02 1.12200692e+02] [-6.39750685e-02 9.97921900e-01 -7.68582838e-03 -1.44142364e+01] [-5.74804338e-02 4.00406533e-03 9.98338603e-01 -7.97200944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.55071405700001 meters 0.037770534322352396 Centerline is valid? [True, True] Translation: X:112.23, Y:-14.41, Z:-7.97 [[ 9.96098681e-01 6.78574470e-02 5.64161727e-02 1.12231176e+02] [-6.75355854e-02 9.97687962e-01 -7.59446279e-03 -1.44120098e+01] [-5.68010772e-02 3.75473512e-03 9.98378455e-01 -7.97441480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.58071405700001 meters 0.03808231566587558 Centerline is valid? [True, True] Translation: X:112.26, Y:-14.41, Z:-7.98 [[ 9.95956080e-01 6.95507327e-02 5.68698693e-02 1.12259702e+02] [-6.92263998e-02 9.97571599e-01 -7.65575754e-03 -1.44145165e+01] [-5.72642300e-02 3.68790196e-03 9.98352246e-01 -7.97618515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.610714057 meters 0.03470133295637658 Centerline is valid? [True, True] Translation: X:112.29, Y:-14.41, Z:-7.98 [[ 9.95670523e-01 7.36710500e-02 5.66814467e-02 1.12290758e+02] [-7.33557126e-02 9.97276677e-01 -7.62682164e-03 -1.44096144e+01] [-5.70889608e-02 3.43589358e-03 9.98363183e-01 -7.97678914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.640714057 meters 0.03386116320573387 Centerline is valid? [True, True] Translation: X:112.32, Y:-14.41, Z:-7.98 [[ 9.95500886e-01 7.57122934e-02 5.69704690e-02 1.12320830e+02] [-7.53970381e-02 9.97124124e-01 -7.66600624e-03 -1.44108459e+01] [-5.73870399e-02 3.33611138e-03 9.98346432e-01 -7.97834671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.670714057 meters 0.032860652034227326 Centerline is valid? [True, True] Translation: X:112.35, Y:-14.41, Z:-7.98 [[ 9.95372491e-01 7.73679070e-02 5.69895714e-02 1.12350093e+02] [-7.70553080e-02 9.96997350e-01 -7.66569019e-03 -1.44114332e+01] [-5.74115301e-02 3.23886815e-03 9.98345344e-01 -7.97995830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.700714057 meters 0.031241093138295074 Centerline is valid? [True, True] Translation: X:112.38, Y:-14.41, Z:-7.98 [[ 9.95037796e-01 8.07647763e-02 5.81105512e-02 1.12380496e+02] [-8.04457198e-02 9.96728371e-01 -7.81290571e-03 -1.44105084e+01] [-5.85514426e-02 3.09939136e-03 9.98279581e-01 -7.98031464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.730714057 meters 0.03169605881646099 Centerline is valid? [True, True] Translation: X:112.41, Y:-14.41, Z:-7.98 [[ 9.94959339e-01 8.19403554e-02 5.78073639e-02 1.12408977e+02] [-8.16266398e-02 9.96632679e-01 -7.77147115e-03 -1.44139273e+01] [-5.82495050e-02 3.01367693e-03 9.98297507e-01 -7.98227726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.760714057 meters 0.030794322118845068 Centerline is valid? [True, True] Translation: X:112.44, Y:-14.41, Z:-7.98 [[ 9.94666187e-01 8.48743582e-02 5.86132991e-02 1.12438347e+02] [-8.45570985e-02 9.96387504e-01 -7.87642329e-03 -1.44148693e+01] [-5.90700652e-02 2.87824141e-03 9.98249690e-01 -7.98338739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.790714057 meters 0.030306527291779135 Centerline is valid? [True, True] Translation: X:112.47, Y:-14.42, Z:-7.99 [[ 9.94610208e-01 8.60285010e-02 5.78759935e-02 1.12467451e+02] [-8.57212295e-02 9.96288819e-01 -7.77565529e-03 -1.44163520e+01] [-5.83301332e-02 2.77254480e-03 9.98293498e-01 -7.98524551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.820714057 meters 0.031882680973007435 Centerline is valid? [True, True] Translation: X:112.50, Y:-14.42, Z:-7.99 [[ 9.94365579e-01 8.91184233e-02 5.74021157e-02 1.12495984e+02] [-8.88215614e-02 9.96017733e-01 -7.70749664e-03 -1.44219478e+01] [-5.78604051e-02 2.56552382e-03 9.98321387e-01 -7.98919317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.850714057 meters 0.029802042448693066 Centerline is valid? [True, True] Translation: X:112.53, Y:-14.42, Z:-7.99 [[ 9.94320189e-01 8.98679131e-02 5.70185980e-02 1.12525132e+02] [-8.95763328e-02 9.95950547e-01 -7.65436320e-03 -1.44213693e+01] [-5.74755855e-02 2.50337095e-03 9.98343774e-01 -7.99113043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.880714057 meters 0.03125210279763501 Centerline is valid? [True, True] Translation: X:112.55, Y:-14.43, Z:-8.00 [[ 9.94220644e-01 9.18496577e-02 5.55783277e-02 1.12552774e+02] [-9.15759407e-02 9.95770173e-01 -7.45720142e-03 -1.44270920e+01] [-5.60281824e-02 2.32446596e-03 9.98426482e-01 -7.99513695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.910714057 meters 0.03128092270795882 Centerline is valid? [True, True] Translation: X:112.58, Y:-14.43, Z:-8.00 [[ 9.94172250e-01 9.24718928e-02 5.54119774e-02 1.12580616e+02] [-9.22009849e-02 9.95712687e-01 -7.43117854e-03 -1.44307473e+01] [-5.58615840e-02 2.27883260e-03 9.98435922e-01 -7.99736312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94071405700001 meters 0.02752570234082866 Centerline is valid? [True, True] Translation: X:112.61, Y:-14.43, Z:-8.00 [[ 9.94082192e-01 9.33022413e-02 5.56353073e-02 1.12609836e+02] [-9.30307091e-02 9.95635320e-01 -7.45633769e-03 -1.44280280e+01] [-5.60881700e-02 2.23642042e-03 9.98423315e-01 -7.99745247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.970714057 meters 0.02721540008987082 Centerline is valid? [True, True] Translation: X:112.64, Y:-14.43, Z:-8.00 [[ 9.94076856e-01 9.35795872e-02 5.52636059e-02 1.12638738e+02] [-9.33123212e-02 9.95609367e-01 -7.40260732e-03 -1.44309809e+01] [-5.57136966e-02 2.20198527e-03 9.98444358e-01 -7.99951878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.000714057 meters 0.028362930785860132 Centerline is valid? [True, True] Translation: X:112.67, Y:-14.44, Z:-8.00 [[ 9.94096912e-01 9.28497558e-02 5.61271076e-02 1.12665978e+02] [-9.25731244e-02 9.95677534e-01 -7.51434948e-03 -1.44380629e+01] [-5.65822056e-02 2.27412990e-03 9.98395354e-01 -8.00164537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.030714057 meters 0.028688489628366405 Centerline is valid? [True, True] Translation: X:112.69, Y:-14.44, Z:-8.00 [[ 9.94159254e-01 9.21123547e-02 5.62378224e-02 1.12694616e+02] [-9.18337527e-02 9.95745928e-01 -7.52388659e-03 -1.44434905e+01] [-5.66916256e-02 2.31541120e-03 9.98389052e-01 -8.00321292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.060714057 meters 0.027753338103980566 Centerline is valid? [True, True] Translation: X:112.72, Y:-14.45, Z:-8.00 [[ 9.94281193e-01 9.09339647e-02 5.59993074e-02 1.12723132e+02] [-9.06560773e-02 9.95854108e-01 -7.48812087e-03 -1.44456096e+01] [-5.64480648e-02 2.36862021e-03 9.98402727e-01 -8.00409863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.090714057 meters 0.027828936662257147 Centerline is valid? [True, True] Translation: X:112.75, Y:-14.45, Z:-8.01 [[ 9.94448496e-01 8.92149629e-02 5.57931840e-02 1.12751661e+02] [-8.89366466e-02 9.96009374e-01 -7.45655416e-03 -1.44507720e+01] [-5.62357704e-02 2.45310038e-03 9.98414503e-01 -8.00568920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.120714057 meters 0.028319294614281718 Centerline is valid? [True, True] Translation: X:112.78, Y:-14.46, Z:-8.01 [[ 9.94593911e-01 8.78350131e-02 5.53891915e-02 1.12780247e+02] [-8.75588054e-02 9.96131877e-01 -7.39858651e-03 -1.44558686e+01] [-5.58247942e-02 2.50877765e-03 9.98437428e-01 -8.00820217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.150714057 meters 0.029122216444044623 Centerline is valid? [True, True] Translation: X:112.81, Y:-14.46, Z:-8.01 [[ 9.94774051e-01 8.59976016e-02 5.50363465e-02 1.12808347e+02] [-8.57223343e-02 9.96291975e-01 -7.34726419e-03 -1.44630040e+01] [-5.54641174e-02 2.59102367e-03 9.98457319e-01 -8.01084700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.180714057 meters 0.029647620246611734 Centerline is valid? [True, True] Translation: X:112.84, Y:-14.47, Z:-8.01 [[ 9.94873206e-01 8.50526222e-02 5.47115626e-02 1.12836516e+02] [-8.47793218e-02 9.96373002e-01 -7.30121341e-03 -1.44688199e+01] [-5.51341112e-02 2.62537242e-03 9.98475507e-01 -8.01330739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.210714057 meters 0.02996810975999087 Centerline is valid? [True, True] Translation: X:112.87, Y:-14.48, Z:-8.02 [[ 9.95094712e-01 8.26171041e-02 5.44144039e-02 1.12865237e+02] [-8.23433755e-02 9.96577594e-01 -7.25721883e-03 -1.44759676e+01] [-5.48277462e-02 2.74095439e-03 9.98492066e-01 -8.01600756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.240714057 meters 0.029813072373420034 Centerline is valid? [True, True] Translation: X:112.89, Y:-14.48, Z:-8.02 [[ 9.95169198e-01 8.14719793e-02 5.47775862e-02 1.12893700e+02] [-8.11929344e-02 9.96671639e-01 -7.30415146e-03 -1.44806668e+01] [-5.51903503e-02 2.82131359e-03 9.98471865e-01 -8.01734250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.270714057 meters 0.029322497565079642 Centerline is valid? [True, True] Translation: X:112.92, Y:-14.48, Z:-8.02 [[ 9.95277274e-01 8.01720514e-02 5.47319806e-02 1.12921803e+02] [-7.98917327e-02 9.96776859e-01 -7.29408321e-03 -1.44849186e+01] [-5.51403533e-02 2.88700249e-03 9.98474440e-01 -8.01868186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.30071405700001 meters 0.031116535494997676 Centerline is valid? [True, True] Translation: X:112.95, Y:-14.49, Z:-8.02 [[ 9.95504020e-01 7.79510528e-02 5.38087392e-02 1.12949665e+02] [-7.76771141e-02 9.96952808e-01 -7.16689732e-03 -1.44934173e+01] [-5.42034409e-02 2.95496751e-03 9.98525541e-01 -8.02092845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.33071405700001 meters 0.033593139617719876 Centerline is valid? [True, True] Translation: X:112.98, Y:-14.50, Z:-8.02 [[ 9.95607046e-01 7.69975348e-02 5.32727847e-02 1.12975977e+02] [-7.67277849e-02 9.97026845e-01 -7.09341453e-03 -1.45018450e+01] [-5.36605719e-02 2.97475071e-03 9.98554803e-01 -8.02371279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.360714057 meters 0.03348931720300973 Centerline is valid? [True, True] Translation: X:113.01, Y:-14.51, Z:-8.03 [[ 9.95796132e-01 7.52300443e-02 5.22542303e-02 1.13005057e+02] [-7.49684472e-02 9.97161679e-01 -6.95115975e-03 -1.45072272e+01] [-5.26288521e-02 3.00451948e-03 9.98609622e-01 -8.02623755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.390714057 meters 0.03221246597815595 Centerline is valid? [True, True] Translation: X:113.03, Y:-14.51, Z:-8.03 [[ 9.95897485e-01 7.41213687e-02 5.19058944e-02 1.13033631e+02] [-7.38618155e-02 9.97244590e-01 -6.90360299e-03 -1.45101769e+01] [-5.22745769e-02 3.04141726e-03 9.98628118e-01 -8.02794309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.420714057 meters 0.03400986949772172 Centerline is valid? [True, True] Translation: X:113.06, Y:-14.52, Z:-8.03 [[ 9.95988498e-01 7.28767263e-02 5.19220141e-02 1.13060624e+02] [-7.26155099e-02 9.97336125e-01 -6.90225904e-03 -1.45180098e+01] [-5.22867144e-02 3.10422708e-03 9.98627289e-01 -8.03033733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.450714057 meters 0.03284086876329747 Centerline is valid? [True, True] Translation: X:113.09, Y:-14.52, Z:-8.03 [[ 9.96023145e-01 7.23022761e-02 5.20603146e-02 1.13089362e+02] [-7.20391453e-02 9.97377830e-01 -6.91565475e-03 -1.45201689e+01] [-5.24238212e-02 3.13777163e-03 9.98619996e-01 -8.03124860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.480714057 meters 0.034393983733069414 Centerline is valid? [True, True] Translation: X:113.12, Y:-14.53, Z:-8.03 [[ 9.96013683e-01 7.22824592e-02 5.22684379e-02 1.13116775e+02] [-7.20173782e-02 9.97379234e-01 -6.93974772e-03 -1.45262015e+01] [-5.26330766e-02 3.14784783e-03 9.98608958e-01 -8.03352409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.510714057 meters 0.03497706974657413 Centerline is valid? [True, True] Translation: X:113.14, Y:-14.53, Z:-8.03 [[ 9.96013017e-01 7.22801964e-02 5.22842586e-02 1.13144114e+02] [-7.20152029e-02 9.97379410e-01 -6.93708048e-03 -1.45300425e+01] [-5.26486566e-02 3.14416096e-03 9.98608148e-01 -8.03416825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.540714057 meters 0.03295710314840593 Centerline is valid? [True, True] Translation: X:113.17, Y:-14.53, Z:-8.03 [[ 9.96018909e-01 7.21976132e-02 5.22861044e-02 1.13173418e+02] [-7.19327473e-02 9.97385393e-01 -6.93240232e-03 -1.45301819e+01] [-5.26498997e-02 3.14372066e-03 9.98608084e-01 -8.03492188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.570714057 meters 0.03445320805380065 Centerline is valid? [True, True] Translation: X:113.20, Y:-14.54, Z:-8.04 [[ 9.96029648e-01 7.18518913e-02 5.25570800e-02 1.13200157e+02] [-7.15839807e-02 9.97410260e-01 -6.96474112e-03 -1.45356825e+01] [-5.29214006e-02 3.17484364e-03 9.98593634e-01 -8.03715881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.600714057 meters 0.03395716832726613 Centerline is valid? [True, True] Translation: X:113.23, Y:-14.54, Z:-8.04 [[ 9.96066956e-01 7.12154388e-02 5.27160349e-02 1.13228871e+02] [-7.09452832e-02 9.97455781e-01 -6.98077648e-03 -1.45386830e+01] [-5.30790528e-02 3.21336676e-03 9.98585143e-01 -8.03863299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.630714057 meters 0.03546473234538963 Centerline is valid? [True, True] Translation: X:113.26, Y:-14.54, Z:-8.04 [[ 9.96182260e-01 6.95042452e-02 5.28210621e-02 1.13256274e+02] [-6.92308187e-02 9.97576173e-01 -6.99087592e-03 -1.45445272e+01] [-5.31789285e-02 3.30734120e-03 9.98579523e-01 -8.04143037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.660714057 meters 0.036686237942634856 Centerline is valid? [True, True] Translation: X:113.28, Y:-14.55, Z:-8.04 [[ 9.96289499e-01 6.82042022e-02 5.24921097e-02 1.13284749e+02] [-6.79325904e-02 9.97665752e-01 -6.94333481e-03 -1.45499955e+01] [-5.28431447e-02 3.35164658e-03 9.98597200e-01 -8.04373416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.69071405700001 meters 0.03797627055269034 Centerline is valid? [True, True] Translation: X:113.31, Y:-14.56, Z:-8.05 [[ 9.96404991e-01 6.61778166e-02 5.28922467e-02 1.13312855e+02] [-6.58993525e-02 9.97801767e-01 -6.99343739e-03 -1.45551179e+01] [-5.32387876e-02 3.48273112e-03 9.98575737e-01 -8.04562208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.720714057 meters 0.039064794325736486 Centerline is valid? [True, True] Translation: X:113.34, Y:-14.56, Z:-8.05 [[ 9.96478384e-01 6.52453040e-02 5.26676407e-02 1.13342301e+02] [-6.49680699e-02 9.97863066e-01 -6.96066584e-03 -1.45601492e+01] [-5.30092442e-02 3.51443808e-03 9.98587837e-01 -8.04754419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.750714057 meters 0.041644180453920925 Centerline is valid? [True, True] Translation: X:113.37, Y:-14.57, Z:-8.05 [[ 9.96572457e-01 6.30674466e-02 5.35334881e-02 1.13370573e+02] [-6.27779878e-02 9.98002452e-01 -7.07319467e-03 -1.45676309e+01] [-5.38726407e-02 3.68822633e-03 9.98541003e-01 -8.04909024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.780714057 meters 0.042233330076933064 Centerline is valid? [True, True] Translation: X:113.40, Y:-14.57, Z:-8.05 [[ 9.96649130e-01 6.19756075e-02 5.33810354e-02 1.13399889e+02] [-6.16863388e-02 9.98070677e-01 -7.05120342e-03 -1.45726523e+01] [-5.37150488e-02 3.73469512e-03 9.98549321e-01 -8.05118250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.810714057 meters 0.04456101113861779 Centerline is valid? [True, True] Translation: X:113.43, Y:-14.58, Z:-8.05 [[ 9.96770490e-01 5.96636489e-02 5.37479276e-02 1.13428703e+02] [-5.93671574e-02 9.98210982e-01 -7.09755723e-03 -1.45799037e+01] [-5.40752378e-02 3.88377392e-03 9.98529311e-01 -8.05387847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.840714057 meters 0.04569935721714697 Centerline is valid? [True, True] Translation: X:113.46, Y:-14.59, Z:-8.06 [[ 9.96831902e-01 5.87263995e-02 5.36411105e-02 1.13458448e+02] [-5.84298001e-02 9.98266397e-01 -7.08229980e-03 -1.45853702e+01] [-5.39640361e-02 3.92562302e-03 9.98535163e-01 -8.05661710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.870714057 meters 0.046484898394309145 Centerline is valid? [True, True] Translation: X:113.49, Y:-14.59, Z:-8.06 [[ 9.96919012e-01 5.73735537e-02 5.34860695e-02 1.13489150e+02] [-5.70767598e-02 9.98344821e-01 -7.06133800e-03 -1.45906949e+01] [-5.38026746e-02 3.98677056e-03 9.98543628e-01 -8.05984448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.900714057 meters 0.047658737113539275 Centerline is valid? [True, True] Translation: X:113.52, Y:-14.60, Z:-8.06 [[ 9.96944004e-01 5.66589679e-02 5.37811751e-02 1.13519721e+02] [-5.63577538e-02 9.98385378e-01 -7.10212107e-03 -1.45963863e+01] [-5.40967377e-02 4.04943079e-03 9.98527488e-01 -8.06227870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.930714057 meters 0.04799363048470324 Centerline is valid? [True, True] Translation: X:113.55, Y:-14.60, Z:-8.06 [[ 9.96973395e-01 5.61552029e-02 5.37646985e-02 1.13550875e+02] [-5.58533483e-02 9.98413726e-01 -7.10174309e-03 -1.46011923e+01] [-5.40782128e-02 4.07731049e-03 9.98528378e-01 -8.06430572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.960714057 meters 0.04687389757420783 Centerline is valid? [True, True] Translation: X:113.58, Y:-14.60, Z:-8.06 [[ 9.96961044e-01 5.50365107e-02 5.51331032e-02 1.13582797e+02] [-5.47174045e-02 9.98475327e-01 -7.28196351e-03 -1.46035162e+01] [-5.54498171e-02 4.24309363e-03 9.98452460e-01 -8.06443578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.990714057 meters 0.04920578391990454 Centerline is valid? [True, True] Translation: X:113.61, Y:-14.61, Z:-8.07 [[ 9.96986950e-01 5.37544256e-02 5.59239090e-02 1.13613331e+02] [-5.34233061e-02 9.98544534e-01 -7.40021245e-03 -1.46096261e+01] [-5.62403078e-02 4.39027513e-03 9.98407609e-01 -8.06522857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.020714057 meters 0.050030857426399566 Centerline is valid? [True, True] Translation: X:113.64, Y:-14.61, Z:-8.07 [[ 9.97013769e-01 5.30966526e-02 5.60739690e-02 1.13644678e+02] [-5.27624109e-02 9.98579486e-01 -7.42551270e-03 -1.46143676e+01] [-5.63885850e-02 4.44474061e-03 9.98399004e-01 -8.06693281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.05071405700001 meters 0.05027225108099362 Centerline is valid? [True, True] Translation: X:113.68, Y:-14.62, Z:-8.07 [[ 9.96986306e-01 5.30323620e-02 5.66204458e-02 1.13676817e+02] [-5.26907571e-02 9.98582636e-01 -7.51022972e-03 -1.46191458e+01] [-5.69384793e-02 4.50422202e-03 9.98367528e-01 -8.06912614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.08071405700001 meters 0.0525587074247936 Centerline is valid? [True, True] Translation: X:113.71, Y:-14.63, Z:-8.07 [[ 9.97041935e-01 5.25321061e-02 5.61048802e-02 1.13706987e+02] [-5.21951792e-02 9.98609077e-01 -7.45488718e-03 -1.46272351e+01] [-5.64184636e-02 4.50443087e-03 9.98397049e-01 -8.07305119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.110714057 meters 0.0525587074247936 Centerline is valid? [True, True] Translation: X:113.74, Y:-14.63, Z:-8.08 [[ 9.97028196e-01 5.27939793e-02 5.61032336e-02 1.13739326e+02] [-5.24567724e-02 9.98595277e-01 -7.46725642e-03 -1.46316504e+01] [-5.64186503e-02 4.50207064e-03 9.98397049e-01 -8.07529368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.140714057 meters 0.053918126121906794 Centerline is valid? [True, True] Translation: X:113.77, Y:-14.64, Z:-8.08 [[ 9.97062210e-01 5.26519550e-02 5.56302248e-02 1.13771135e+02] [-5.23193502e-02 9.98602843e-01 -7.41943846e-03 -1.46377153e+01] [-5.59431486e-02 4.48710449e-03 9.98423873e-01 -8.07870117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.170714057 meters 0.05570188400434939 Centerline is valid? [True, True] Translation: X:113.80, Y:-14.64, Z:-8.08 [[ 9.97110355e-01 5.28013787e-02 5.46164237e-02 1.13802072e+02] [-5.24803299e-02 9.98595299e-01 -7.29685456e-03 -1.46431053e+01] [-5.49249879e-02 4.40948131e-03 9.98480747e-01 -8.08248826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.200714057 meters 0.05483207270966053 Centerline is valid? [True, True] Translation: X:113.83, Y:-14.65, Z:-8.08 [[ 9.97078851e-01 5.35073585e-02 5.45043750e-02 1.13834615e+02] [-5.31880446e-02 9.98557880e-01 -7.29335968e-03 -1.46457695e+01] [-5.48160215e-02 4.37307356e-03 9.98486895e-01 -8.08462078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.230714057 meters 0.0557435019159787 Centerline is valid? [True, True] Translation: X:113.87, Y:-14.65, Z:-8.09 [[ 9.97004178e-01 5.39089096e-02 5.54662005e-02 1.13865340e+02] [-5.35780270e-02 9.98535976e-01 -7.43640242e-03 -1.46501527e+01] [-5.57858850e-02 4.44235469e-03 9.98432872e-01 -8.08625827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.260714057 meters 0.05465872706102239 Centerline is valid? [True, True] Translation: X:113.90, Y:-14.65, Z:-8.09 [[ 9.96932460e-01 5.46694203e-02 5.60082580e-02 1.13897187e+02] [-5.43328706e-02 9.98494597e-01 -7.51529367e-03 -1.46531993e+01] [-5.63347997e-02 4.44915077e-03 9.98402021e-01 -8.08823040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.290714057 meters 0.0555399606431646 Centerline is valid? [True, True] Translation: X:113.93, Y:-14.66, Z:-8.09 [[ 9.96856167e-01 5.53195961e-02 5.67232304e-02 1.13928554e+02] [-5.49746828e-02 9.98458639e-01 -7.62433884e-03 -1.46588669e+01] [-5.70575747e-02 4.48202760e-03 9.98360829e-01 -8.09012121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.320714057 meters 0.042185964610673914 Centerline is valid? [True, True] Translation: X:113.96, Y:-14.64, Z:-8.09 [[ 9.96677980e-01 5.67587371e-02 5.84076183e-02 1.13962354e+02] [-5.63945520e-02 9.98377573e-01 -7.86613097e-03 -1.46449640e+01] [-5.87593279e-02 4.54612806e-03 9.98261826e-01 -8.08887109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.350714057 meters 0.05504577996577501 Centerline is valid? [True, True] Translation: X:113.99, Y:-14.67, Z:-8.09 [[ 9.96604404e-01 5.77698662e-02 5.86711587e-02 1.13990698e+02] [-5.74041046e-02 9.98319753e-01 -7.90192526e-03 -1.46665809e+01] [-5.90290698e-02 4.50712819e-03 9.98246089e-01 -8.09311253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.380714057 meters 0.03827580939467359 Centerline is valid? [True, True] Translation: X:114.02, Y:-14.65, Z:-8.09 [[ 9.96541915e-01 5.92919562e-02 5.82123292e-02 1.14024916e+02] [-5.89335885e-02 9.98230998e-01 -7.85533662e-03 -1.46460908e+01] [-5.85751098e-02 4.39751074e-03 9.98273318e-01 -8.09288170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.410714057 meters 0.03881335781057428 Centerline is valid? [True, True] Translation: X:114.06, Y:-14.65, Z:-8.10 [[ 9.96560645e-01 6.00791925e-02 5.70733950e-02 1.14056048e+02] [-5.97360212e-02 9.98184499e-01 -7.70150385e-03 -1.46498855e+01] [-5.74324783e-02 4.26567811e-03 9.98340280e-01 -8.09577745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44071405700001 meters 0.03918647782437786 Centerline is valid? [True, True] Translation: X:114.09, Y:-14.65, Z:-8.10 [[ 9.96494076e-01 6.14200316e-02 5.68078867e-02 1.14085740e+02] [-6.10813062e-02 9.98103235e-01 -7.68154642e-03 -1.46538532e+01] [-5.71719363e-02 4.18471558e-03 9.98355577e-01 -8.09891727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.470714057 meters 0.03951238052021552 Centerline is valid? [True, True] Translation: X:114.12, Y:-14.66, Z:-8.10 [[ 9.96472131e-01 6.17411391e-02 5.68447424e-02 1.14115490e+02] [-6.14024221e-02 9.98083484e-01 -7.68776147e-03 -1.46580088e+01] [-5.72104497e-02 4.17023518e-03 9.98353431e-01 -8.10155002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.500714057 meters 0.040545842476411784 Centerline is valid? [True, True] Translation: X:114.14, Y:-14.66, Z:-8.10 [[ 9.96430472e-01 6.19870171e-02 5.73055367e-02 1.14144496e+02] [-6.16431716e-02 9.98068160e-01 -7.75027238e-03 -1.46627569e+01] [-5.76752479e-02 4.19011253e-03 9.98326604e-01 -8.10379058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.530714057 meters 0.042154457801683975 Centerline is valid? [True, True] Translation: X:114.17, Y:-14.67, Z:-8.11 [[ 9.96467427e-01 6.14513152e-02 5.72398722e-02 1.14174418e+02] [-6.11074501e-02 9.98101182e-01 -7.74017756e-03 -1.46680677e+01] [-5.76068282e-02 4.21505218e-03 9.98330450e-01 -8.10613742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.560714057 meters 0.06080092586262981 Centerline is valid? [True, True] Translation: X:114.20, Y:-14.70, Z:-8.11 [[ 9.96521445e-01 6.09927871e-02 5.67881073e-02 1.14201267e+02] [-6.06536814e-02 9.98129343e-01 -7.67759944e-03 -1.46970349e+01] [-5.71501544e-02 4.20648472e-03 9.98356733e-01 -8.11355327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.590714057 meters 0.06106601770255146 Centerline is valid? [True, True] Translation: X:114.23, Y:-14.70, Z:-8.12 [[ 9.96539122e-01 6.06963097e-02 5.67955735e-02 1.14232589e+02] [-6.03561420e-02 9.98147305e-01 -7.68724052e-03 -1.47015499e+01] [-5.71569358e-02 4.23267421e-03 9.98356234e-01 -8.11645872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.620714057 meters 0.04525946847253807 Centerline is valid? [True, True] Translation: X:114.27, Y:-14.68, Z:-8.12 [[ 9.96598857e-01 6.01159952e-02 5.63629730e-02 1.14265523e+02] [-5.97799583e-02 9.98182412e-01 -7.63073595e-03 -1.46843117e+01] [-5.67192577e-02 4.23540655e-03 9.98381183e-01 -8.11603752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.650714057 meters 0.04480513547145784 Centerline is valid? [True, True] Translation: X:114.30, Y:-14.69, Z:-8.12 [[ 9.96553604e-01 6.02643518e-02 5.70010709e-02 1.14295406e+02] [-5.99208935e-02 9.98173298e-01 -7.71712523e-03 -1.46874244e+01] [-5.73620145e-02 4.27497386e-03 9.98344291e-01 -8.11823632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.680714057 meters 0.04425032644058892 Centerline is valid? [True, True] Translation: X:114.33, Y:-14.69, Z:-8.12 [[ 9.96507098e-01 6.05265760e-02 5.75337880e-02 1.14325990e+02] [-6.01770930e-02 9.98157325e-01 -7.78924747e-03 -1.46908972e+01] [-5.78992284e-02 4.29982428e-03 9.98313173e-01 -8.11995225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.710714057 meters 0.04285821447930858 Centerline is valid? [True, True] Translation: X:114.36, Y:-14.69, Z:-8.12 [[ 9.96380026e-01 6.09176420e-02 5.92949010e-02 1.14356412e+02] [-6.05470910e-02 9.98133060e-01 -8.02767683e-03 -1.46923604e+01] [-5.96732281e-02 4.40848308e-03 9.98208230e-01 -8.12032874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.740714057 meters 0.046032170540272525 Centerline is valid? [True, True] Translation: X:114.39, Y:-14.70, Z:-8.12 [[ 9.96327435e-01 6.08109702e-02 6.02799211e-02 1.14385496e+02] [-6.04278005e-02 9.98139209e-01 -8.16089867e-03 -1.47006761e+01] [-6.06640249e-02 4.48834419e-03 9.98148151e-01 -8.12219031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.770714057 meters 0.042277745818631904 Centerline is valid? [True, True] Translation: X:114.42, Y:-14.70, Z:-8.12 [[ 9.96282613e-01 6.02017524e-02 6.16174053e-02 1.14417700e+02] [-5.98002218e-02 9.98175510e-01 -8.34169764e-03 -1.46996164e+01] [-6.20071698e-02 4.62595381e-03 9.98064984e-01 -8.12335494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.80071405700001 meters 0.048052671785191056 Centerline is valid? [True, True] Translation: X:114.45, Y:-14.71, Z:-8.13 [[ 9.96281275e-01 6.00999214e-02 6.17383293e-02 1.14447822e+02] [-5.96957323e-02 9.98181509e-01 -8.37227009e-03 -1.47118466e+01] [-6.21292315e-02 4.65562114e-03 9.98057255e-01 -8.12667551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.83071405700001 meters 0.04813914807650818 Centerline is valid? [True, True] Translation: X:114.48, Y:-14.72, Z:-8.13 [[ 9.96357324e-01 5.87706264e-02 6.17907547e-02 1.14479345e+02] [-5.83622691e-02 9.98260176e-01 -8.39448538e-03 -1.47163778e+01] [-6.21765988e-02 4.75765833e-03 9.98053824e-01 -8.12974314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.860714057 meters 0.04993558824762151 Centerline is valid? [True, True] Translation: X:114.51, Y:-14.72, Z:-8.13 [[ 9.96423380e-01 5.80972171e-02 6.13609041e-02 1.14509832e+02] [-5.76930325e-02 9.98299535e-01 -8.33981086e-03 -1.47232230e+01] [-6.17410818e-02 4.76988590e-03 9.98080802e-01 -8.13215162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.890714057 meters 0.050502183623048494 Centerline is valid? [True, True] Translation: X:114.54, Y:-14.73, Z:-8.13 [[ 9.96490962e-01 5.71185233e-02 6.11819984e-02 1.14540907e+02] [-5.67144451e-02 9.98355754e-01 -8.32229041e-03 -1.47284631e+01] [-6.15567571e-02 4.82318409e-03 9.98091931e-01 -8.13482166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.920714057 meters 0.043449582123929305 Centerline is valid? [True, True] Translation: X:114.57, Y:-14.72, Z:-8.14 [[ 9.96638609e-01 5.46293588e-02 6.10501111e-02 1.14572340e+02] [-5.42214923e-02 9.98494279e-01 -8.31889676e-03 -1.47235882e+01] [-6.14126427e-02 4.98070557e-03 9.98100035e-01 -8.13694810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.950714057 meters 0.04435337078539289 Centerline is valid? [True, True] Translation: X:114.60, Y:-14.73, Z:-8.14 [[ 9.96710482e-01 5.36947873e-02 6.07049035e-02 1.14603370e+02] [-5.32897541e-02 9.98544823e-01 -8.27273275e-03 -1.47297971e+01] [-6.10607698e-02 5.01057006e-03 9.98121474e-01 -8.13963094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.980714057 meters 0.04370857874623943 Centerline is valid? [True, True] Translation: X:114.63, Y:-14.73, Z:-8.14 [[ 9.96852446e-01 5.17344330e-02 6.00728667e-02 1.14633550e+02] [-5.13333365e-02 9.98647893e-01 -8.20204689e-03 -1.47337991e+01] [-6.04159700e-02 5.09248983e-03 9.98160296e-01 -8.14300544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.010714057 meters 0.04894831693329247 Centerline is valid? [True, True] Translation: X:114.66, Y:-14.75, Z:-8.15 [[ 9.96863612e-01 5.15249648e-02 6.00676041e-02 1.14663453e+02] [-5.11235259e-02 9.98658657e-01 -8.20191623e-03 -1.47455379e+01] [-6.04096363e-02 5.10532413e-03 9.98160614e-01 -8.14675940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.040714057 meters 0.04486378565488192 Centerline is valid? [True, True] Translation: X:114.70, Y:-14.74, Z:-8.15 [[ 9.96799446e-01 5.25967288e-02 6.02033895e-02 1.14696216e+02] [-5.21945384e-02 9.98602983e-01 -8.23480871e-03 -1.47447594e+01] [-6.05524084e-02 5.06616464e-03 9.98152163e-01 -8.14893124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.070714057 meters 0.05607469145215279 Centerline is valid? [True, True] Translation: X:114.72, Y:-14.76, Z:-8.15 [[ 9.96709243e-01 5.36900216e-02 6.07294599e-02 1.14724940e+02] [-5.32818139e-02 9.98544834e-01 -8.32244091e-03 -1.47629029e+01] [-6.10879205e-02 5.05927800e-03 9.98119567e-01 -8.15206000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.100714057 meters 0.0409592725257136 Centerline is valid? [True, True] Translation: X:114.76, Y:-14.75, Z:-8.15 [[ 9.96344808e-01 5.87906018e-02 6.19732875e-02 1.14759021e+02] [-5.83742671e-02 9.98258506e-01 -8.50883299e-03 -1.47452863e+01] [-6.23656008e-02 4.86008633e-03 9.98041538e-01 -8.15062244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.130714057 meters 0.0427888234298627 Centerline is valid? [True, True] Translation: X:114.79, Y:-14.75, Z:-8.15 [[ 9.96128408e-01 6.17601963e-02 6.25609481e-02 1.14788015e+02] [-6.13416584e-02 9.98079857e-01 -8.59065250e-03 -1.47512344e+01] [-6.29713825e-02 4.71980069e-03 9.98004173e-01 -8.15233543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.160714057 meters 0.03820954396109634 Centerline is valid? [True, True] Translation: X:114.82, Y:-14.75, Z:-8.15 [[ 9.95867403e-01 6.54071332e-02 6.30081189e-02 1.14819585e+02] [-6.49898330e-02 9.97848417e-01 -8.65202927e-03 -1.47478274e+01] [-6.34384562e-02 4.52138679e-03 9.97975510e-01 -8.15344771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.19071405700001 meters 0.03970768536764748 Centerline is valid? [True, True] Translation: X:114.85, Y:-14.75, Z:-8.16 [[ 9.95811196e-01 6.63852476e-02 6.28733652e-02 1.14848079e+02] [-6.59716525e-02 9.97784144e-01 -8.63381902e-03 -1.47542784e+01] [-6.33072051e-02 4.44979385e-03 9.97984167e-01 -8.15651131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.220714057 meters 0.03832737839268012 Centerline is valid? [True, True] Translation: X:114.88, Y:-14.76, Z:-8.16 [[ 9.95812523e-01 6.69680378e-02 6.22310337e-02 1.14878287e+02] [-6.65639954e-02 9.97745562e-01 -8.54561356e-03 -1.47569023e+01] [-6.26630207e-02 4.36748276e-03 9.98025186e-01 -8.15985331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.250714057 meters 0.0383282663396064 Centerline is valid? [True, True] Translation: X:114.91, Y:-14.76, Z:-8.17 [[ 9.95888165e-01 6.71060941e-02 6.08566700e-02 1.14908381e+02] [-6.67199851e-02 9.97736742e-01 -8.35688489e-03 -1.47625405e+01] [-6.12797336e-02 4.26216664e-03 9.98111531e-01 -8.16538382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.280714057 meters 0.03901444270961571 Centerline is valid? [True, True] Translation: X:114.94, Y:-14.77, Z:-8.17 [[ 9.95941268e-01 6.66704882e-02 6.04651710e-02 1.14938215e+02] [-6.62885405e-02 9.97765948e-01 -8.30312394e-03 -1.47681897e+01] [-6.08836620e-02 4.26127584e-03 9.98135773e-01 -8.16874260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.310714057 meters 0.040257753854543 Centerline is valid? [True, True] Translation: X:114.97, Y:-14.77, Z:-8.17 [[ 9.96117080e-01 6.54202422e-02 5.89148155e-02 1.14968322e+02] [-6.50554846e-02 9.97848852e-01 -8.09022792e-03 -1.47737343e+01] [-5.93173457e-02 4.22608234e-03 9.98230230e-01 -8.17239574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.340714057 meters 0.04118332432615743 Centerline is valid? [True, True] Translation: X:115.00, Y:-14.78, Z:-8.17 [[ 9.96190717e-01 6.47268766e-02 5.84336114e-02 1.14997917e+02] [-6.43668662e-02 9.97894041e-01 -8.02431880e-03 -1.47788583e+01] [-5.88299417e-02 4.23256345e-03 9.98259046e-01 -8.17449434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.370714057 meters 0.04292506921971189 Centerline is valid? [True, True] Translation: X:115.03, Y:-14.79, Z:-8.18 [[ 9.96255419e-01 6.33847149e-02 5.88006601e-02 1.15027641e+02] [-6.30179187e-02 9.97979741e-01 -8.07335062e-03 -1.47855082e+01] [-5.91935946e-02 4.33762408e-03 9.98237098e-01 -8.17686802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.400714057 meters 0.044150728563201125 Centerline is valid? [True, True] Translation: X:115.06, Y:-14.79, Z:-8.18 [[ 9.96257794e-01 6.27583132e-02 5.94289677e-02 1.15057174e+02] [-6.23824446e-02 9.98018953e-01 -8.16082506e-03 -1.47915183e+01] [-5.98233958e-02 4.42296128e-03 9.98199178e-01 -8.17883884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.430714057 meters 0.045201453781676615 Centerline is valid? [True, True] Translation: X:115.09, Y:-14.80, Z:-8.18 [[ 9.96286721e-01 6.19636607e-02 5.97768762e-02 1.15088141e+02] [-6.15819678e-02 9.98068277e-01 -8.20831241e-03 -1.47974098e+01] [-6.01700209e-02 4.49665499e-03 9.98178015e-01 -8.18042412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.460714057 meters 0.04604824377431333 Centerline is valid? [True, True] Translation: X:115.12, Y:-14.80, Z:-8.18 [[ 9.96326567e-01 6.02189326e-02 6.08855630e-02 1.15117847e+02] [-5.98195643e-02 9.98174176e-01 -8.36261069e-03 -1.48031126e+01] [-6.12779842e-02 4.68974334e-03 9.98109721e-01 -8.18085775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.490714057 meters 0.04675420375010961 Centerline is valid? [True, True] Translation: X:115.15, Y:-14.81, Z:-8.18 [[ 9.96329324e-01 5.96828392e-02 6.13664126e-02 1.15149762e+02] [-5.92760116e-02 9.98206033e-01 -8.43036916e-03 -1.48088462e+01] [-6.17594716e-02 4.76186781e-03 9.98079702e-01 -8.18272206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.520714057 meters 0.046564288523799055 Centerline is valid? [True, True] Translation: X:115.18, Y:-14.81, Z:-8.18 [[ 9.96447096e-01 5.72538347e-02 6.17671624e-02 1.15180282e+02] [-5.68360287e-02 9.98347329e-01 -8.50155898e-03 -1.48142331e+01] [-6.21518284e-02 4.96075355e-03 9.98054378e-01 -8.18443351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.55071405700001 meters 0.04869820111032526 Centerline is valid? [True, True] Translation: X:115.21, Y:-14.82, Z:-8.19 [[ 9.96484395e-01 5.62560578e-02 6.20814557e-02 1.15211670e+02] [-5.58319238e-02 9.98403598e-01 -8.54699343e-03 -1.48222006e+01] [-6.24631689e-02 5.05081848e-03 9.98034489e-01 -8.18648866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.58071405700001 meters 0.04338959901423301 Centerline is valid? [True, True] Translation: X:115.24, Y:-14.82, Z:-8.19 [[ 9.96538246e-01 5.47287576e-02 6.25802504e-02 1.15243419e+02] [-5.42944949e-02 9.98487757e-01 -8.62019057e-03 -1.48211313e+01] [-6.29573861e-02 5.19258651e-03 9.98002708e-01 -8.18754991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.610714057 meters 0.04457008198851579 Centerline is valid? [True, True] Translation: X:115.28, Y:-14.83, Z:-8.19 [[ 9.96581569e-01 5.40784625e-02 6.24555557e-02 1.15275255e+02] [-5.36445418e-02 9.98523018e-01 -8.60496515e-03 -1.48280359e+01] [-6.28286533e-02 5.22515000e-03 9.98010650e-01 -8.18973499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.640714057 meters 0.04660250750997662 Centerline is valid? [True, True] Translation: X:115.31, Y:-14.84, Z:-8.19 [[ 9.96633350e-01 5.32615636e-02 6.23311426e-02 1.15305030e+02] [-5.28274472e-02 9.98566681e-01 -8.59324984e-03 -1.48366913e+01] [-6.26994921e-02 5.27152423e-03 9.98018529e-01 -8.19165495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.670714057 meters 0.04557728349088293 Centerline is valid? [True, True] Translation: X:115.34, Y:-14.84, Z:-8.19 [[ 9.96671712e-01 5.30935119e-02 6.18593287e-02 1.15336902e+02] [-5.26651961e-02 9.98575749e-01 -8.53520809e-03 -1.48404772e+01] [-6.22243897e-02 5.24896679e-03 9.98048382e-01 -8.19375181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.700714057 meters 0.045898788516589184 Centerline is valid? [True, True] Translation: X:115.37, Y:-14.85, Z:-8.20 [[ 9.96673935e-01 5.35771995e-02 6.14048125e-02 1.15368501e+02] [-5.31551266e-02 9.98550194e-01 -8.48783299e-03 -1.48460865e+01] [-6.17705418e-02 5.19562133e-03 9.98076854e-01 -8.19623841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.730714057 meters 0.04433136981824268 Centerline is valid? [True, True] Translation: X:115.40, Y:-14.85, Z:-8.20 [[ 9.96672803e-01 5.47758784e-02 6.03566653e-02 1.15399822e+02] [-5.43693041e-02 9.98485905e-01 -8.35923759e-03 -1.48498659e+01] [-6.07231641e-02 5.04987487e-03 9.98141872e-01 -8.19948439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.760714057 meters 0.04588071259871725 Centerline is valid? [True, True] Translation: X:115.43, Y:-14.86, Z:-8.20 [[ 9.96622300e-01 5.62477262e-02 5.98346431e-02 1.15429543e+02] [-5.58505867e-02 9.98404718e-01 -8.29043160e-03 -1.48574428e+01] [-6.02055079e-02 4.92062909e-03 9.98173875e-01 -8.20199357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.790714057 meters 0.04560170663700814 Centerline is valid? [True, True] Translation: X:115.46, Y:-14.86, Z:-8.21 [[ 9.96475526e-01 5.95214181e-02 5.91077641e-02 1.15458489e+02] [-5.91395199e-02 9.98216121e-01 -8.19105398e-03 -1.48615804e+01] [-5.94898661e-02 4.66658003e-03 9.98218002e-01 -8.20502335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.820714057 meters 0.0392301840642198 Centerline is valid? [True, True] Translation: X:115.49, Y:-14.86, Z:-8.21 [[ 9.96350282e-01 6.17238748e-02 5.89599729e-02 1.15490042e+02] [-6.13477721e-02 9.98083017e-01 -8.16962880e-03 -1.48564650e+01] [-5.93512088e-02 4.52274898e-03 9.98226917e-01 -8.20586706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.850714057 meters 0.036032721761690104 Centerline is valid? [True, True] Translation: X:115.52, Y:-14.86, Z:-8.21 [[ 9.95960275e-01 6.75213619e-02 5.91945713e-02 1.15521263e+02] [-6.71524358e-02 9.97709015e-01 -8.20198662e-03 -1.48551516e+01] [-5.96127667e-02 4.19379320e-03 9.98212768e-01 -8.20664643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.880714057 meters 0.03496897517301588 Centerline is valid? [True, True] Translation: X:115.55, Y:-14.86, Z:-8.21 [[ 9.95693931e-01 7.08041551e-02 5.98361733e-02 1.15551197e+02] [-7.04329905e-02 9.97482047e-01 -8.29218026e-03 -1.48572418e+01] [-6.02726294e-02 4.04203293e-03 9.98173768e-01 -8.20772330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.910714057 meters 0.03298554014408085 Centerline is valid? [True, True] Translation: X:115.58, Y:-14.86, Z:-8.21 [[ 9.95126592e-01 7.71482302e-02 6.14102298e-02 1.15581079e+02] [-7.67693230e-02 9.97012569e-01 -8.50933818e-03 -1.48570846e+01] [-6.18832513e-02 3.75344694e-03 9.98076337e-01 -8.20853734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94071405700001 meters 0.03190545954532602 Centerline is valid? [True, True] Translation: X:115.61, Y:-14.86, Z:-8.21 [[ 9.94861966e-01 8.03143046e-02 6.16383106e-02 1.15611314e+02] [-7.99387461e-02 9.96763203e-01 -8.53893288e-03 -1.48597624e+01] [-6.21245983e-02 3.56777029e-03 9.98062025e-01 -8.21047237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.970714057 meters 0.033094415690712614 Centerline is valid? [True, True] Translation: X:115.64, Y:-14.87, Z:-8.21 [[ 9.94415093e-01 8.58099064e-02 6.14433221e-02 1.15639841e+02] [-8.54472358e-02 9.96306346e-01 -8.51082505e-03 -1.48659549e+01] [-6.19466848e-02 3.21313085e-03 9.98074288e-01 -8.21362684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.000714057 meters 0.033094415690712614 Centerline is valid? [True, True] Translation: X:115.67, Y:-14.87, Z:-8.22 [[ 9.94423792e-01 8.57089661e-02 6.14434262e-02 1.15667024e+02] [-8.53461498e-02 9.96315017e-01 -8.51007324e-03 -1.48696225e+01] [-6.19463978e-02 3.21865944e-03 9.98074288e-01 -8.21551652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.030714057 meters 0.02850172497030613 Centerline is valid? [True, True] Translation: X:115.70, Y:-14.87, Z:-8.22 [[ 9.94279903e-01 8.79112982e-02 6.06553987e-02 1.15696853e+02] [-8.75622006e-02 9.96123681e-01 -8.39479510e-03 -1.48661423e+01] [-6.11582764e-02 3.03565587e-03 9.98123464e-01 -8.21693710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.060714057 meters 0.028836572859554807 Centerline is valid? [True, True] Translation: X:115.72, Y:-14.87, Z:-8.22 [[ 9.94005224e-01 9.10787120e-02 6.04837434e-02 1.15724937e+02] [-9.07378722e-02 9.95839688e-01 -8.36385407e-03 -1.48721940e+01] [-6.09938812e-02 2.82554846e-03 9.98134141e-01 -8.22029488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.090714057 meters 0.02698020597556702 Centerline is valid? [True, True] Translation: X:115.75, Y:-14.87, Z:-8.22 [[ 9.93943129e-01 9.20013936e-02 6.01065660e-02 1.15753582e+02] [-9.16666683e-02 9.95755085e-01 -8.30858322e-03 -1.48736160e+01] [-6.06158199e-02 2.74849056e-03 9.98157386e-01 -8.22170245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.120714057 meters 0.027956377977502236 Centerline is valid? [True, True] Translation: X:115.78, Y:-14.88, Z:-8.22 [[ 9.93862881e-01 9.24727622e-02 6.07071812e-02 1.15780878e+02] [-9.21324402e-02 9.95711437e-01 -8.38738495e-03 -1.48814687e+01] [-6.12224393e-02 2.74280983e-03 9.98120378e-01 -8.22354529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.150714057 meters 0.027077727312900767 Centerline is valid? [True, True] Translation: X:115.81, Y:-14.89, Z:-8.22 [[ 9.93856092e-01 9.22889930e-02 6.10967222e-02 1.15808832e+02] [-9.19443965e-02 9.95728427e-01 -8.43376179e-03 -1.48851383e+01] [-6.16140865e-02 2.76444428e-03 9.98096219e-01 -8.22492555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.180714057 meters 0.029196323134988763 Centerline is valid? [True, True] Translation: X:115.84, Y:-14.90, Z:-8.23 [[ 9.93866630e-01 9.18108472e-02 6.16432538e-02 1.15835384e+02] [-9.14595679e-02 9.95772494e-01 -8.50220755e-03 -1.48953644e+01] [-6.21632515e-02 2.81219500e-03 9.98062033e-01 -8.22716366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.210714057 meters 0.030348661592773597 Centerline is valid? [True, True] Translation: X:115.86, Y:-14.90, Z:-8.23 [[ 9.93925095e-01 9.12728777e-02 6.14993358e-02 1.15862257e+02] [-9.09225626e-02 9.95821888e-01 -8.47672227e-03 -1.49026554e+01] [-6.20160795e-02 2.83354977e-03 9.98071128e-01 -8.22951556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.240714057 meters 0.027632032056212466 Centerline is valid? [True, True] Translation: X:115.89, Y:-14.90, Z:-8.23 [[ 9.93972276e-01 9.07557164e-02 6.15021512e-02 1.15891461e+02] [-9.04047223e-02 9.95869077e-01 -8.47163639e-03 -1.49036513e+01] [-6.20169400e-02 2.86048680e-03 9.98070998e-01 -8.23098699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.270714057 meters 0.028749923713295312 Centerline is valid? [True, True] Translation: X:115.92, Y:-14.91, Z:-8.23 [[ 9.94081601e-01 8.96387303e-02 6.13731919e-02 1.15918182e+02] [-8.92873577e-02 9.95970067e-01 -8.44949735e-03 -1.49127466e+01] [-6.18832642e-02 2.91963972e-03 9.98079124e-01 -8.23311984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.30071405700001 meters 0.03140151611677665 Centerline is valid? [True, True] Translation: X:115.94, Y:-14.92, Z:-8.24 [[ 9.94179248e-01 8.87380479e-02 6.10997608e-02 1.15944731e+02] [-8.83884501e-02 9.96050609e-01 -8.40631354e-03 -1.49223667e+01] [-6.16044138e-02 2.95686932e-03 9.98096264e-01 -8.23557512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.33071405700001 meters 0.02921322770680604 Centerline is valid? [True, True] Translation: X:115.97, Y:-14.93, Z:-8.24 [[ 9.94383481e-01 8.69048503e-02 6.04072754e-02 1.15974263e+02] [-8.65601216e-02 9.96212009e-01 -8.30529801e-03 -1.49258149e+01] [-6.09002239e-02 3.02979005e-03 9.98139260e-01 -8.23722260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.360714057 meters 0.0287550254712959 Centerline is valid? [True, True] Translation: X:116.00, Y:-14.93, Z:-8.24 [[ 9.94479815e-01 8.58147986e-02 6.03797812e-02 1.16002350e+02] [-8.54684976e-02 9.96306304e-01 -8.29961874e-03 -1.49305642e+01] [-6.08689868e-02 3.09323412e-03 9.98140971e-01 -8.23893460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.390714057 meters 0.029529362908781703 Centerline is valid? [True, True] Translation: X:116.03, Y:-14.94, Z:-8.24 [[ 9.94568641e-01 8.47501146e-02 6.04204909e-02 1.16029032e+02] [-8.44016448e-02 9.96397238e-01 -8.30100752e-03 -1.49374313e+01] [-6.09063216e-02 3.15633296e-03 9.98138496e-01 -8.24082114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.420714057 meters 0.030939297003819095 Centerline is valid? [True, True] Translation: X:116.06, Y:-14.95, Z:-8.24 [[ 9.94762971e-01 8.29598887e-02 5.97016700e-02 1.16056479e+02] [-8.26168576e-02 9.96547684e-01 -8.19565416e-03 -1.49466824e+01] [-6.01754715e-02 3.22036891e-03 9.98182619e-01 -8.24373973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.450714057 meters 0.030285933053226508 Centerline is valid? [True, True] Translation: X:116.08, Y:-14.95, Z:-8.25 [[ 9.94882978e-01 8.23321853e-02 5.85599821e-02 1.16084064e+02] [-8.20012395e-02 9.96599827e-01 -8.03627770e-03 -1.49527672e+01] [-5.90225123e-02 3.19316478e-03 9.98251545e-01 -8.24604546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.480714057 meters 0.030166263077441094 Centerline is valid? [True, True] Translation: X:116.11, Y:-14.96, Z:-8.25 [[ 9.94913497e-01 8.22224678e-02 5.81944895e-02 1.16111996e+02] [-8.18958267e-02 9.96608948e-01 -7.97985835e-03 -1.49574937e+01] [-5.86532726e-02 3.17338295e-03 9.98273371e-01 -8.24821547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.510714057 meters 0.033471543951734004 Centerline is valid? [True, True] Translation: X:116.14, Y:-14.97, Z:-8.25 [[ 9.94884752e-01 8.26059388e-02 5.81428315e-02 1.16138874e+02] [-8.22807799e-02 9.96577331e-01 -7.96852504e-03 -1.49687869e+01] [-5.86020753e-02 3.14372654e-03 9.98276472e-01 -8.25119896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.540714057 meters 0.034167618247786656 Centerline is valid? [True, True] Translation: X:116.17, Y:-14.98, Z:-8.25 [[ 9.94835931e-01 8.28948588e-02 5.85654654e-02 1.16166202e+02] [-8.25656938e-02 9.96553335e-01 -8.02229110e-03 -1.49766940e+01] [-5.90286166e-02 3.14536515e-03 9.98251336e-01 -8.25312440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.570714057 meters 0.030003679968192008 Centerline is valid? [True, True] Translation: X:116.20, Y:-14.98, Z:-8.25 [[ 9.94852403e-01 8.29172054e-02 5.82531832e-02 1.16195673e+02] [-8.25918825e-02 9.96551549e-01 -7.97444273e-03 -1.49775180e+01] [-5.87135185e-02 3.12215345e-03 9.98269991e-01 -8.25380887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.600714057 meters 0.03323827318662531 Centerline is valid? [True, True] Translation: X:116.22, Y:-14.99, Z:-8.26 [[ 9.94879589e-01 8.26188063e-02 5.82128482e-02 1.16222018e+02] [-8.22936648e-02 9.96576296e-01 -7.96484816e-03 -1.49880898e+01] [-5.86715909e-02 3.13351625e-03 9.98272420e-01 -8.25687817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.630714057 meters 0.03087536997679412 Centerline is valid? [True, True] Translation: X:116.25, Y:-14.99, Z:-8.26 [[ 9.94936750e-01 8.19856957e-02 5.81309647e-02 1.16250617e+02] [-8.16607119e-02 9.96628494e-01 -7.94820994e-03 -1.49915796e+01] [-5.85866153e-02 3.16095020e-03 9.98277325e-01 -8.25860078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.660714057 meters 0.03127708127445539 Centerline is valid? [True, True] Translation: X:116.28, Y:-15.00, Z:-8.26 [[ 9.94953117e-01 8.17247538e-02 5.82182085e-02 1.16277371e+02] [-8.13985848e-02 9.96649874e-01 -7.95610009e-03 -1.49984619e+01] [-5.86733805e-02 3.17706680e-03 9.98272178e-01 -8.26082346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.69071405700001 meters 0.03164951842112266 Centerline is valid? [True, True] Translation: X:116.31, Y:-15.00, Z:-8.26 [[ 9.95000802e-01 8.13650965e-02 5.79061745e-02 1.16305132e+02] [-8.10421239e-02 9.96679304e-01 -7.90812900e-03 -1.50041774e+01] [-5.83573314e-02 3.17575533e-03 9.98290707e-01 -8.26302520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.720714057 meters 0.03146664488381834 Centerline is valid? [True, True] Translation: X:116.33, Y:-15.01, Z:-8.26 [[ 9.95065362e-01 8.07641281e-02 5.76374995e-02 1.16333741e+02] [-8.04433950e-02 9.96728132e-01 -7.86714529e-03 -1.50099740e+01] [-5.80843004e-02 3.19176764e-03 9.98306580e-01 -8.26492342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.750714057 meters 0.03161842975875777 Centerline is valid? [True, True] Translation: X:116.36, Y:-15.02, Z:-8.27 [[ 9.95105179e-01 8.04497461e-02 5.73892125e-02 1.16361636e+02] [-8.01314208e-02 9.96753551e-01 -7.83036101e-03 -1.50153382e+01] [-5.78328519e-02 3.19335366e-03 9.98321173e-01 -8.26657976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.780714057 meters 0.030240884746578395 Centerline is valid? [True, True] Translation: X:116.39, Y:-15.02, Z:-8.27 [[ 9.95232844e-01 7.94103364e-02 5.66178855e-02 1.16390651e+02] [-7.90990891e-02 9.96836858e-01 -7.72086326e-03 -1.50183352e+01] [-5.70519115e-02 3.20563354e-03 9.98366067e-01 -8.26788566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.810714057 meters 0.032049784430680656 Centerline is valid? [True, True] Translation: X:116.42, Y:-15.03, Z:-8.27 [[ 9.95323288e-01 7.79937811e-02 5.69958120e-02 1.16417955e+02] [-7.76761875e-02 9.96948363e-01 -7.76994011e-03 -1.50265531e+01] [-5.74278884e-02 3.30638496e-03 9.98344182e-01 -8.27051769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.840714057 meters 0.03366469671347594 Centerline is valid? [True, True] Translation: X:116.45, Y:-15.04, Z:-8.27 [[ 9.95488630e-01 7.56605284e-02 5.72527098e-02 1.16446050e+02] [-7.53365273e-02 9.97127662e-01 -7.79962059e-03 -1.50350877e+01] [-5.76783841e-02 3.45121327e-03 9.98329251e-01 -8.27305570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.870714057 meters 0.0342436927952983 Centerline is valid? [True, True] Translation: X:116.48, Y:-15.04, Z:-8.28 [[ 9.95613565e-01 7.41803497e-02 5.70167151e-02 1.16475877e+02] [-7.38564917e-02 9.97238615e-01 -7.76937391e-03 -1.50407780e+01] [-5.74356048e-02 3.52423951e-03 9.98342993e-01 -8.27540710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.900714057 meters 0.03442711050437414 Centerline is valid? [True, True] Translation: X:116.51, Y:-15.05, Z:-8.28 [[ 9.95710382e-01 7.29766675e-02 5.68791738e-02 1.16505538e+02] [-7.26524174e-02 9.97327205e-01 -7.75063187e-03 -1.50461608e+01] [-5.72927628e-02 3.58497515e-03 9.98350984e-01 -8.27769845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.930714057 meters 0.03699556958744799 Centerline is valid? [True, True] Translation: X:116.53, Y:-15.05, Z:-8.28 [[ 9.95821987e-01 7.14650695e-02 5.68446501e-02 1.16534347e+02] [-7.11387623e-02 9.97436352e-01 -7.74592750e-03 -1.50547665e+01] [-5.72524837e-02 3.66970686e-03 9.98352987e-01 -8.28019743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.960714057 meters 0.036010996354909335 Centerline is valid? [True, True] Translation: X:116.57, Y:-15.06, Z:-8.28 [[ 9.95965854e-01 7.03197451e-02 5.57418247e-02 1.16565784e+02] [-7.00042323e-02 9.97517779e-01 -7.59521146e-03 -1.50578087e+01] [-5.61375545e-02 3.66240763e-03 9.98416327e-01 -8.28279327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.990714057 meters 0.037183003051462035 Centerline is valid? [True, True] Translation: X:116.60, Y:-15.06, Z:-8.29 [[ 9.96011641e-01 7.02470638e-02 5.50105465e-02 1.16595248e+02] [-6.99395552e-02 9.97523054e-01 -7.49773386e-03 -1.50636764e+01] [-5.54009821e-02 3.62041705e-03 9.98457622e-01 -8.28501817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.020714057 meters 0.03715752452962641 Centerline is valid? [True, True] Translation: X:116.63, Y:-15.07, Z:-8.29 [[ 9.96003624e-01 7.02450242e-02 5.51581218e-02 1.16625015e+02] [-6.99357912e-02 9.97523157e-01 -7.51905417e-03 -1.50671443e+01] [-5.55496799e-02 3.63147831e-03 9.98449320e-01 -8.28707015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.05071405700001 meters 0.03794224789611217 Centerline is valid? [True, True] Translation: X:116.65, Y:-15.07, Z:-8.29 [[ 9.95997111e-01 7.03696654e-02 5.51168284e-02 1.16654612e+02] [-7.00610983e-02 9.97514408e-01 -7.51319754e-03 -1.50721819e+01] [-5.55085317e-02 3.62157751e-03 9.98451645e-01 -8.28816423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08071405700001 meters 0.03791335330142791 Centerline is valid? [True, True] Translation: X:116.69, Y:-15.08, Z:-8.29 [[ 9.95939063e-01 7.07415518e-02 5.56867630e-02 1.16685258e+02] [-7.04270725e-02 9.97488039e-01 -7.59209569e-03 -1.50758478e+01] [-5.60839567e-02 3.63940897e-03 9.98419423e-01 -8.28967944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.110714057 meters 0.037934402560277795 Centerline is valid? [True, True] Translation: X:116.72, Y:-15.08, Z:-8.29 [[ 9.95785207e-01 7.23642845e-02 5.63491927e-02 1.16715446e+02] [-7.20448538e-02 9.97371806e-01 -7.68240852e-03 -1.50779489e+01] [-5.67570281e-02 3.59035942e-03 9.98381565e-01 -8.28985873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.140714057 meters 0.03793138703788208 Centerline is valid? [True, True] Translation: X:116.74, Y:-15.08, Z:-8.29 [[ 9.95671733e-01 7.38389250e-02 5.64412332e-02 1.16744728e+02] [-7.35207949e-02 9.97263996e-01 -7.69515583e-03 -1.50810759e+01] [-5.68550118e-02 3.51224482e-03 9.98376268e-01 -8.29152103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.170714057 meters 0.03776484723051749 Centerline is valid? [True, True] Translation: X:116.78, Y:-15.08, Z:-8.29 [[ 9.95522792e-01 7.54387564e-02 5.69505514e-02 1.16775363e+02] [-7.51175241e-02 9.97144466e-01 -7.76342160e-03 -1.50836448e+01] [-5.73735900e-02 3.45067872e-03 9.98346815e-01 -8.29301565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.200714057 meters 0.036733280331632014 Centerline is valid? [True, True] Translation: X:116.80, Y:-15.08, Z:-8.29 [[ 9.95244321e-01 7.86012157e-02 5.75377328e-02 1.16804965e+02] [-7.82785595e-02 9.96900668e-01 -7.84376821e-03 -1.50831771e+01] [-5.79759340e-02 3.30249493e-03 9.98312519e-01 -8.29387299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.230714057 meters 0.03192594520462476 Centerline is valid? [True, True] Translation: X:116.84, Y:-15.08, Z:-8.29 [[ 9.95042712e-01 8.09868249e-02 5.77159896e-02 1.16836252e+02] [-8.06662636e-02 9.96710126e-01 -7.86629104e-03 -1.50764429e+01] [-5.81631772e-02 3.17156234e-03 9.98302051e-01 -8.29431482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.260714057 meters 0.03224122841592873 Centerline is valid? [True, True] Translation: X:116.86, Y:-15.08, Z:-8.30 [[ 9.95022248e-01 8.14720549e-02 5.73849375e-02 1.16863816e+02] [-8.11559823e-02 9.96670728e-01 -7.82094174e-03 -1.50792097e+01] [-5.78310756e-02 3.12488005e-03 9.98321492e-01 -8.29652247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.290714057 meters 0.0324964486177149 Centerline is valid? [True, True] Translation: X:116.89, Y:-15.08, Z:-8.30 [[ 9.95030313e-01 8.13925741e-02 5.73578637e-02 1.16892894e+02] [-8.10769846e-02 9.96677229e-01 -7.81179364e-03 -1.50820052e+01] [-5.78030986e-02 3.12256884e-03 9.98323120e-01 -8.29888017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.320714057 meters 0.03179010008908888 Centerline is valid? [True, True] Translation: X:116.92, Y:-15.08, Z:-8.30 [[ 9.95069544e-01 8.11332041e-02 5.70438938e-02 1.16921507e+02] [-8.08208686e-02 9.96698395e-01 -7.76506428e-03 -1.50835546e+01] [-5.74855619e-02 3.11644193e-03 9.98341474e-01 -8.30095523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.350714057 meters 0.03131938395780313 Centerline is valid? [True, True] Translation: X:116.95, Y:-15.08, Z:-8.30 [[ 9.95251601e-01 7.86032887e-02 5.74088316e-02 1.16950721e+02] [-7.82829918e-02 9.96900581e-01 -7.81049349e-03 -1.50844416e+01] [-5.78448281e-02 3.27927105e-03 9.98320200e-01 -8.30256123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.380714057 meters 0.03519573264147492 Centerline is valid? [True, True] Translation: X:116.98, Y:-15.09, Z:-8.30 [[ 9.95538269e-01 7.47999289e-02 5.75197779e-02 1.16979201e+02] [-7.44722881e-02 9.97192408e-01 -7.82180378e-03 -1.50918752e+01] [-5.79433562e-02 3.50327553e-03 9.98313726e-01 -8.30475168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.410714057 meters 0.03470841048566312 Centerline is valid? [True, True] Translation: X:117.01, Y:-15.09, Z:-8.31 [[ 9.95687975e-01 7.27086513e-02 5.76099750e-02 1.17009753e+02] [-7.23765049e-02 9.97346615e-01 -7.83391734e-03 -1.50948688e+01] [-5.80267072e-02 3.63052866e-03 9.98308430e-01 -8.30667157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.44071405700001 meters 0.03599412494160791 Centerline is valid? [True, True] Translation: X:117.04, Y:-15.10, Z:-8.31 [[ 9.95823738e-01 7.07551268e-02 5.76957016e-02 1.17039852e+02] [-7.04187266e-02 9.97486667e-01 -7.84557461e-03 -1.50996947e+01] [-5.81058077e-02 3.74995160e-03 9.98303387e-01 -8.30909765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.470714057 meters 0.03834735816190401 Centerline is valid? [True, True] Translation: X:117.07, Y:-15.10, Z:-8.31 [[ 9.96147269e-01 6.68562020e-02 5.67526778e-02 1.17069592e+02] [-6.65244297e-02 9.97754952e-01 -7.71730315e-03 -1.51048395e+01] [-5.71412149e-02 3.91213093e-03 9.98358441e-01 -8.31202850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.500714057 meters 0.043308143765022435 Centerline is valid? [True, True] Translation: X:117.10, Y:-15.12, Z:-8.32 [[ 9.96232736e-01 6.56588016e-02 5.66503166e-02 1.17098907e+02] [-6.53263688e-02 9.97834226e-01 -7.70220448e-03 -1.51150650e+01] [-5.70333423e-02 3.97242876e-03 9.98364371e-01 -8.31598017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.530714057 meters 0.03839945724518264 Centerline is valid? [True, True] Translation: X:117.13, Y:-15.11, Z:-8.32 [[ 9.96444666e-01 6.35117008e-02 5.53560421e-02 1.17130906e+02] [-6.31905669e-02 9.97973040e-01 -7.53417010e-03 -1.51103165e+01] [-5.57223456e-02 4.00940393e-03 9.98438253e-01 -8.31842394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.560714057 meters 0.042714452463551926 Centerline is valid? [True, True] Translation: X:117.16, Y:-15.12, Z:-8.32 [[ 9.96516672e-01 6.28230695e-02 5.48432719e-02 1.17161120e+02] [-6.25068574e-02 9.98016625e-01 -7.46385571e-03 -1.51193002e+01] [-5.52033994e-02 4.00977608e-03 9.98467078e-01 -8.32220196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.590714057 meters 0.03936430416040523 Centerline is valid? [True, True] Translation: X:117.19, Y:-15.12, Z:-8.32 [[ 9.96639773e-01 6.11719801e-02 5.44715592e-02 1.17192445e+02] [-6.08571186e-02 9.98118894e-01 -7.42193117e-03 -1.51165092e+01] [-5.48231066e-02 4.08200966e-03 9.98487739e-01 -8.32349640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.620714057 meters 0.046230422318844513 Centerline is valid? [True, True] Translation: X:117.22, Y:-15.13, Z:-8.33 [[ 9.96641823e-01 6.09794972e-02 5.46495893e-02 1.17222074e+02] [-6.06623875e-02 9.98130581e-01 -7.44431081e-03 -1.51286470e+01] [-5.50013767e-02 4.10413694e-03 9.98477844e-01 -8.32714071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.650714057 meters 0.04548104250288785 Centerline is valid? [True, True] Translation: X:117.25, Y:-15.13, Z:-8.33 [[ 9.96618669e-01 6.11572300e-02 5.48727832e-02 1.17254518e+02] [-6.08370875e-02 9.98119626e-01 -7.48739850e-03 -1.51304044e+01] [-5.52275104e-02 4.12378081e-03 9.98465281e-01 -8.32853353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.680714057 meters 0.03947099859025544 Centerline is valid? [True, True] Translation: X:117.29, Y:-15.12, Z:-8.33 [[ 9.96624221e-01 6.08945408e-02 5.50637474e-02 1.17287325e+02] [-6.05708836e-02 9.98135500e-01 -7.52933320e-03 -1.51234053e+01] [-5.54195763e-02 4.16865601e-03 9.98454452e-01 -8.32897161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.710714057 meters 0.04076514889557364 Centerline is valid? [True, True] Translation: X:117.32, Y:-15.13, Z:-8.33 [[ 9.96575243e-01 6.15034290e-02 5.52730861e-02 1.17318339e+02] [-6.11782619e-02 9.98098244e-01 -7.55744581e-03 -1.51281387e+01] [-5.56327790e-02 4.15005206e-03 9.98442673e-01 -8.33128285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.740714057 meters 0.039968606903345784 Centerline is valid? [True, True] Translation: X:117.35, Y:-15.13, Z:-8.33 [[ 9.96426853e-01 6.33849611e-02 5.58200029e-02 1.17349840e+02] [-6.30553785e-02 9.97980727e-01 -7.64774608e-03 -1.51275982e+01] [-5.61920392e-02 4.10066815e-03 9.98411558e-01 -8.33200279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.770714057 meters 0.03779967942067197 Centerline is valid? [True, True] Translation: X:117.38, Y:-15.13, Z:-8.33 [[ 9.96288826e-01 6.46438674e-02 5.68308592e-02 1.17381265e+02] [-6.43041275e-02 9.97899954e-01 -7.78852601e-03 -1.51267035e+01] [-5.72149922e-02 4.10516262e-03 9.98353441e-01 -8.33259041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.80071405700001 meters 0.038893526055258844 Centerline is valid? [True, True] Translation: X:117.41, Y:-15.13, Z:-8.33 [[ 9.95948224e-01 6.86910037e-02 5.80403437e-02 1.17410644e+02] [-6.83433754e-02 9.97630137e-01 -7.95570873e-03 -1.51275952e+01] [-5.84492816e-02 3.95680098e-03 9.98282538e-01 -8.33347079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.83071405700001 meters 0.03793065364028279 Centerline is valid? [True, True] Translation: X:117.44, Y:-15.13, Z:-8.34 [[ 9.95746471e-01 7.11316539e-02 5.85598345e-02 1.17440190e+02] [-7.07820128e-02 9.97459517e-01 -8.02607818e-03 -1.51282534e+01] [-5.89819725e-02 3.84695607e-03 9.98251636e-01 -8.33550756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.860714057 meters 0.03435581096816185 Centerline is valid? [True, True] Translation: X:117.47, Y:-15.12, Z:-8.34 [[ 9.95380312e-01 7.63022387e-02 5.82752269e-02 1.17471930e+02] [-7.59649555e-02 9.97078519e-01 -7.98455906e-03 -1.51232449e+01] [-5.87142167e-02 3.52079788e-03 9.98268624e-01 -8.33813722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.890714057 meters 0.03330779060808595 Centerline is valid? [True, True] Translation: X:117.50, Y:-15.12, Z:-8.34 [[ 9.95193050e-01 7.88127837e-02 5.81320754e-02 1.17501624e+02] [-7.84813414e-02 9.96883753e-01 -7.96630798e-03 -1.51241496e+01] [-5.85787684e-02 3.36573108e-03 9.98277116e-01 -8.34091645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.920714057 meters 0.03330779060808595 Centerline is valid? [True, True] Translation: X:117.53, Y:-15.13, Z:-8.34 [[ 9.95198557e-01 7.87430398e-02 5.81323060e-02 1.17529655e+02] [-7.84115771e-02 9.96889256e-01 -7.96462461e-03 -1.51279279e+01] [-5.85786301e-02 3.36813712e-03 9.98277116e-01 -8.34286538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.950714057 meters 0.03243028200405055 Centerline is valid? [True, True] Translation: X:117.56, Y:-15.13, Z:-8.35 [[ 9.94841266e-01 8.39566647e-02 5.69397357e-02 1.17559749e+02] [-8.36474431e-02 9.96464910e-01 -7.79670215e-03 -1.51267631e+01] [-5.73930337e-02 2.99361774e-03 9.98347173e-01 -8.34573824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.980714057 meters 0.03164837077691381 Centerline is valid? [True, True] Translation: X:117.59, Y:-15.13, Z:-8.35 [[ 9.94642006e-01 8.67650868e-02 5.62058666e-02 1.17588791e+02] [-8.64683187e-02 9.96224881e-01 -7.69521713e-03 -1.51274097e+01] [-5.66613589e-02 2.79395942e-03 9.98389545e-01 -8.34793362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.010714057 meters 0.030231419422703642 Centerline is valid? [True, True] Translation: X:117.62, Y:-15.13, Z:-8.35 [[ 9.94417780e-01 8.95383188e-02 5.58226497e-02 1.17619227e+02] [-8.92500634e-02 9.95979943e-01 -7.64062221e-03 -1.51275585e+01] [-5.62823679e-02 2.61579555e-03 9.98411465e-01 -8.34984356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.040714057 meters 0.02863714808824226 Centerline is valid? [True, True] Translation: X:117.65, Y:-15.13, Z:-8.35 [[ 9.93915190e-01 9.50004419e-02 5.57450592e-02 1.17648633e+02] [-9.47216030e-02 9.95474568e-01 -7.62908504e-03 -1.51264665e+01] [-5.62175552e-02 2.30240213e-03 9.98415888e-01 -8.35233020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.070714057 meters 0.026947473793908928 Centerline is valid? [True, True] Translation: X:117.68, Y:-15.13, Z:-8.35 [[ 9.93318449e-01 1.00979799e-01 5.58707417e-02 1.17678655e+02] [-1.00709201e-01 9.94886531e-01 -7.64505048e-03 -1.51260065e+01] [-5.63570441e-02 1.96727191e-03 9.98408741e-01 -8.35408009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.100714057 meters 0.026069490735895828 Centerline is valid? [True, True] Translation: X:117.71, Y:-15.13, Z:-8.36 [[ 9.92949916e-01 1.04367191e-01 5.61956689e-02 1.17708756e+02] [-1.04098921e-01 9.94537232e-01 -7.68817276e-03 -1.51275292e+01] [-5.66910780e-02 1.78406198e-03 9.98390174e-01 -8.35577762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.130714057 meters 0.02465144145172391 Centerline is valid? [True, True] Translation: X:117.74, Y:-15.13, Z:-8.36 [[ 9.92569809e-01 1.07691988e-01 5.66357586e-02 1.17738095e+02] [-1.07424918e-01 9.94183009e-01 -7.74800909e-03 -1.51272860e+01] [-5.71407074e-02 1.60634818e-03 9.98364843e-01 -8.35685603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.160714057 meters 0.023255519602460816 Centerline is valid? [True, True] Translation: X:117.77, Y:-15.13, Z:-8.36 [[ 9.91721035e-01 1.15002213e-01 5.71303706e-02 1.17767544e+02] [-1.14742808e-01 9.93364521e-01 -7.81128966e-03 -1.51264439e+01] [-5.76495989e-02 1.19132113e-03 9.98336168e-01 -8.35850868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.19071405700001 meters 0.02211579972129082 Centerline is valid? [True, True] Translation: X:117.80, Y:-15.13, Z:-8.36 [[ 9.91343264e-01 1.18109526e-01 5.73469584e-02 1.17796456e+02] [-1.17853319e-01 9.93000055e-01 -7.84125700e-03 -1.51265637e+01] [-5.78716601e-02 1.01484793e-03 9.98323515e-01 -8.35951037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.220714057 meters 0.021485578374937583 Centerline is valid? [True, True] Translation: X:117.83, Y:-15.13, Z:-8.36 [[ 9.90606073e-01 1.24137751e-01 5.73535205e-02 1.17825026e+02] [-1.23892521e-01 9.92264784e-01 -7.82576758e-03 -1.51280715e+01] [-5.78813518e-02 6.46580678e-04 9.98323260e-01 -8.36142984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.250714057 meters 0.02161275592799824 Centerline is valid? [True, True] Translation: X:117.85, Y:-15.13, Z:-8.37 [[ 9.90323598e-01 1.26310910e-01 5.74867360e-02 1.17852094e+02] [-1.26068402e-01 9.91990568e-01 -7.84038221e-03 -1.51328815e+01] [-5.80166257e-02 5.17254564e-04 9.98315483e-01 -8.36542738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.280714057 meters 0.021443782239483206 Centerline is valid? [True, True] Translation: X:117.88, Y:-15.14, Z:-8.37 [[ 9.90143644e-01 1.27824609e-01 5.72401449e-02 1.17880930e+02] [-1.27587083e-01 9.91796699e-01 -7.80021610e-03 -1.51359707e+01] [-5.77676464e-02 4.20231262e-04 9.98329967e-01 -8.36681714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.310714057 meters 0.02182804428222957 Centerline is valid? [True, True] Translation: X:117.91, Y:-15.14, Z:-8.37 [[ 9.90244420e-01 1.27281015e-01 5.67056556e-02 1.17908690e+02] [-1.27047780e-01 9.91866601e-01 -7.71409792e-03 -1.51414663e+01] [-5.72263041e-02 4.34514788e-04 9.98361138e-01 -8.36766950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.340714057 meters 0.022160204810301277 Centerline is valid? [True, True] Translation: X:117.94, Y:-15.15, Z:-8.37 [[ 9.90472894e-01 1.25505968e-01 5.66718424e-02 1.17937104e+02] [-1.25270929e-01 9.92092727e-01 -7.69515242e-03 -1.51482075e+01] [-5.71895102e-02 5.22505521e-04 9.98363204e-01 -8.37000037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.370714057 meters 0.023002792915536703 Centerline is valid? [True, True] Translation: X:117.96, Y:-15.16, Z:-8.37 [[ 9.91080109e-01 1.20291848e-01 5.73592926e-02 1.17963196e+02] [-1.20043261e-01 9.92738235e-01 -7.77255840e-03 -1.51628063e+01] [-5.78777383e-02 8.17631492e-04 9.98323344e-01 -8.37453061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.400714057 meters 0.02246219927169454 Centerline is valid? [True, True] Translation: X:117.99, Y:-15.17, Z:-8.37 [[ 9.91375519e-01 1.17455772e-01 5.81267693e-02 1.17991235e+02] [-1.17196005e-01 9.93077621e-01 -7.86983691e-03 -1.51681009e+01] [-5.86487516e-02 9.89738508e-04 9.98278190e-01 -8.37412750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.430714057 meters 0.023209468137680538 Centerline is valid? [True, True] Translation: X:118.02, Y:-15.18, Z:-8.38 [[ 9.91682664e-01 1.14391960e-01 5.89912983e-02 1.18017655e+02] [-1.14119976e-01 9.93435004e-01 -7.97024777e-03 -1.51775657e+01] [-5.95157529e-02 1.17187100e-03 9.98226679e-01 -8.37671031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.460714057 meters 0.023601560635793457 Centerline is valid? [True, True] Translation: X:118.05, Y:-15.19, Z:-8.38 [[ 9.92171697e-01 1.09584322e-01 5.98882279e-02 1.18045788e+02] [-1.09295601e-01 9.93976406e-01 -8.08554140e-03 -1.51893155e+01] [-6.04135341e-02 1.47672550e-03 9.98172342e-01 -8.37803288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.490714057 meters 0.023401399100754405 Centerline is valid? [True, True] Translation: X:118.07, Y:-15.20, Z:-8.38 [[ 9.92398538e-01 1.07277862e-01 6.03042464e-02 1.18074301e+02] [-1.06980973e-01 9.94227748e-01 -8.13982400e-03 -1.51955376e+01] [-6.08293780e-02 1.62654251e-03 9.98146853e-01 -8.37939245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.520714057 meters 0.02435936749924738 Centerline is valid? [True, True] Translation: X:118.10, Y:-15.21, Z:-8.38 [[ 9.92846787e-01 1.02950862e-01 6.04679815e-02 1.18101839e+02] [-1.02644625e-01 9.94684643e-01 -8.15730723e-03 -1.52070240e+01] [-6.09863744e-02 1.89224301e-03 9.98136805e-01 -8.38090905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.55071405700001 meters 0.024541444093792796 Centerline is valid? [True, True] Translation: X:118.13, Y:-15.21, Z:-8.38 [[ 9.93128125e-01 1.00344826e-01 6.02282556e-02 1.18129446e+02] [-1.00036394e-01 9.94950626e-01 -8.12230068e-03 -1.52144577e+01] [-6.07391715e-02 2.04146776e-03 9.98151584e-01 -8.38297228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.58071405700001 meters 0.025783162891457052 Centerline is valid? [True, True] Translation: X:118.16, Y:-15.23, Z:-8.39 [[ 9.93581044e-01 9.53742290e-02 6.08314456e-02 1.18158447e+02] [-9.50508472e-02 9.95438691e-01 -8.19440719e-03 -1.52280998e+01] [-6.13355099e-02 2.35972722e-03 9.98114416e-01 -8.38562858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.610714057 meters 0.026390247701763885 Centerline is valid? [True, True] Translation: X:118.19, Y:-15.24, Z:-8.39 [[ 9.93813951e-01 9.26634041e-02 6.12154004e-02 1.18186822e+02] [-9.23307675e-02 9.95694242e-01 -8.24650571e-03 -1.52363947e+01] [-6.17159710e-02 2.54342752e-03 9.98090512e-01 -8.38763898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.640714057 meters 0.030023148351995224 Centerline is valid? [True, True] Translation: X:118.21, Y:-15.25, Z:-8.39 [[ 9.94237715e-01 8.71644079e-02 6.23997792e-02 1.18213712e+02] [-8.68081796e-02 9.96189610e-01 -8.40245631e-03 -1.52517153e+01] [-6.28944068e-02 2.93722772e-03 9.98015865e-01 -8.38982974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.670714057 meters 0.029578481487282055 Centerline is valid? [True, True] Translation: X:118.24, Y:-15.26, Z:-8.39 [[ 9.94539523e-01 8.39149386e-02 6.20436952e-02 1.18242199e+02] [-8.35565979e-02 9.96468029e-01 -8.35241125e-03 -1.52568408e+01] [-6.25254507e-02 3.12264302e-03 9.98038485e-01 -8.39218753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.700714057 meters 0.032854820403615995 Centerline is valid? [True, True] Translation: X:118.27, Y:-15.27, Z:-8.40 [[ 9.95059892e-01 7.86747384e-02 6.05482943e-02 1.18270009e+02] [-7.83240575e-02 9.96894661e-01 -8.14718968e-03 -1.52700139e+01] [-6.10012493e-02 3.36455361e-03 9.98132019e-01 -8.39630666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.730714057 meters 0.03285609966728218 Centerline is valid? [True, True] Translation: X:118.30, Y:-15.28, Z:-8.40 [[ 9.95262311e-01 7.63670663e-02 6.01747754e-02 1.18299752e+02] [-7.60164933e-02 9.97073683e-01 -8.09710203e-03 -1.52758380e+01] [-6.06170369e-02 3.48446507e-03 9.98155015e-01 -8.39900578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.760714057 meters 0.032175474771653036 Centerline is valid? [True, True] Translation: X:118.33, Y:-15.28, Z:-8.40 [[ 9.95424937e-01 7.45225856e-02 5.97961398e-02 1.18329847e+02] [-7.41731030e-02 9.97212921e-01 -8.04615292e-03 -1.52805004e+01] [-6.02291034e-02 3.57407603e-03 9.98178181e-01 -8.40112479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.790714057 meters 0.032518581966267966 Centerline is valid? [True, True] Translation: X:118.36, Y:-15.29, Z:-8.40 [[ 9.95516936e-01 7.23535140e-02 6.09179729e-02 1.18360578e+02] [-7.19867484e-02 9.97371906e-01 -8.19684301e-03 -1.52878606e+01] [-6.13509452e-02 3.77480925e-03 9.98109118e-01 -8.40307382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.820714057 meters 0.03395444181048664 Centerline is valid? [True, True] Translation: X:118.39, Y:-15.30, Z:-8.41 [[ 9.95516497e-01 7.20566068e-02 6.12760107e-02 1.18391469e+02] [-7.16848952e-02 9.97393243e-01 -8.24591696e-03 -1.52950501e+01] [-6.17104518e-02 3.81638196e-03 9.98086798e-01 -8.40532884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.850714057 meters 0.03417037230386637 Centerline is valid? [True, True] Translation: X:118.42, Y:-15.30, Z:-8.41 [[ 9.95616479e-01 7.11983708e-02 6.06516148e-02 1.18423016e+02] [-7.08317603e-02 9.97454768e-01 -8.17598410e-03 -1.52999405e+01] [-6.10793592e-02 3.84408386e-03 9.98125511e-01 -8.40788826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.880714057 meters 0.03494755360951239 Centerline is valid? [True, True] Translation: X:118.45, Y:-15.31, Z:-8.41 [[ 9.95644031e-01 7.12774632e-02 6.01039701e-02 1.18453560e+02] [-7.09166255e-02 9.97449210e-01 -8.11817545e-03 -1.53056085e+01] [-6.05293004e-02 3.82044219e-03 9.98159110e-01 -8.41038609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.910714057 meters 0.03579465075996437 Centerline is valid? [True, True] Translation: X:118.48, Y:-15.31, Z:-8.41 [[ 9.95650921e-01 7.12454510e-02 6.00277382e-02 1.18484551e+02] [-7.08849131e-02 9.97451473e-01 -8.11709758e-03 -1.53112546e+01] [-6.04530622e-02 3.82673467e-03 9.98163706e-01 -8.41306591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.94071405700001 meters 0.03471811710685542 Centerline is valid? [True, True] Translation: X:118.52, Y:-15.31, Z:-8.42 [[ 9.95649286e-01 7.13090986e-02 5.99792614e-02 1.18515407e+02] [-7.09491292e-02 9.97446944e-01 -8.11268081e-03 -1.53142245e+01] [-6.04046389e-02 3.82190849e-03 9.98166656e-01 -8.41520115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.970714057 meters 0.033828677468711356 Centerline is valid? [True, True] Translation: X:118.55, Y:-15.32, Z:-8.42 [[ 9.95672122e-01 7.10490485e-02 5.99087437e-02 1.18546269e+02] [-7.06893274e-02 9.97465450e-01 -8.10530177e-03 -1.53167853e+01] [-6.03327760e-02 3.83531422e-03 9.98170951e-01 -8.41712632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.000714057 meters 0.038548417285134084 Centerline is valid? [True, True] Translation: X:118.58, Y:-15.33, Z:-8.42 [[ 9.95641874e-01 7.10830525e-02 6.03693526e-02 1.18575981e+02] [-7.07177463e-02 9.97462915e-01 -8.16903349e-03 -1.53272559e+01] [-6.07968703e-02 3.86424724e-03 9.98142679e-01 -8.41927874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.030714057 meters 0.03190826809591563 Centerline is valid? [True, True] Translation: X:118.61, Y:-15.32, Z:-8.42 [[ 9.95608352e-01 7.12277446e-02 6.07504475e-02 1.18608262e+02] [-7.08574962e-02 9.97452496e-01 -8.23000702e-03 -1.53208891e+01] [-6.11818903e-02 3.88923913e-03 9.98119056e-01 -8.42005039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.060714057 meters 0.032659399455182134 Centerline is valid? [True, True] Translation: X:118.64, Y:-15.33, Z:-8.42 [[ 9.95553736e-01 7.16025777e-02 6.12031828e-02 1.18639022e+02] [-7.12274304e-02 9.97425632e-01 -8.29224709e-03 -1.53256663e+01] [-6.16393696e-02 3.89603212e-03 9.98090882e-01 -8.42194206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.090714057 meters 0.032676852251746845 Centerline is valid? [True, True] Translation: X:118.67, Y:-15.33, Z:-8.42 [[ 9.95495002e-01 7.19716147e-02 6.17234824e-02 1.18670751e+02] [-7.15897443e-02 9.97398968e-01 -8.37900949e-03 -1.53287939e+01] [-6.21659885e-02 3.92249374e-03 9.98058117e-01 -8.42340267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.120714057 meters 0.03351936894563112 Centerline is valid? [True, True] Translation: X:118.70, Y:-15.33, Z:-8.43 [[ 9.95483043e-01 7.21233637e-02 6.17392259e-02 1.18701925e+02] [-7.17414473e-02 9.97388030e-01 -8.38341319e-03 -1.53332466e+01] [-6.21826049e-02 3.91628425e-03 9.98057106e-01 -8.42586851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.150714057 meters 0.03326209624850135 Centerline is valid? [True, True] Translation: X:118.73, Y:-15.34, Z:-8.43 [[ 9.95604893e-01 7.13583266e-02 6.06538199e-02 1.18733299e+02] [-7.09873664e-02 9.97443082e-01 -8.25174647e-03 -1.53356628e+01] [-6.10875639e-02 3.90982423e-03 9.98124753e-01 -8.42838074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.180714057 meters 0.03329170866461594 Centerline is valid? [True, True] Translation: X:118.76, Y:-15.34, Z:-8.43 [[ 9.95642988e-01 7.11076717e-02 6.03219682e-02 1.18764829e+02] [-7.07401733e-02 9.97460998e-01 -8.20881205e-03 -1.53393291e+01] [-6.07525201e-02 3.90585968e-03 9.98145218e-01 -8.43068290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.210714057 meters 0.03400507410380829 Centerline is valid? [True, True] Translation: X:118.79, Y:-15.34, Z:-8.43 [[ 9.95663844e-01 7.06152437e-02 6.05557354e-02 1.18794683e+02] [-7.02438624e-02 9.97495794e-01 -8.24256509e-03 -1.53429793e+01] [-6.09861422e-02 3.95315530e-03 9.98130785e-01 -8.43269228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.240714057 meters 0.03729663442817324 Centerline is valid? [True, True] Translation: X:118.83, Y:-15.35, Z:-8.43 [[ 9.95587893e-01 7.09603429e-02 6.13952504e-02 1.18825261e+02] [-7.05789916e-02 9.97471155e-01 -8.36067312e-03 -1.53511557e+01] [-6.18332676e-02 3.99057008e-03 9.98078515e-01 -8.43458465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.270714057 meters 0.03614985605347504 Centerline is valid? [True, True] Translation: X:118.86, Y:-15.35, Z:-8.44 [[ 9.95504538e-01 7.13497484e-02 6.22890726e-02 1.18857092e+02] [-7.09569369e-02 9.97443175e-01 -8.49855080e-03 -1.53529015e+01] [-6.27361798e-02 4.04050409e-03 9.98021967e-01 -8.43582217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.30071405700001 meters 0.03658002193037421 Centerline is valid? [True, True] Translation: X:118.89, Y:-15.36, Z:-8.44 [[ 9.95300392e-01 7.30888459e-02 6.35228326e-02 1.18887140e+02] [-7.26836631e-02 9.97317366e-01 -8.66927623e-03 -1.53554935e+01] [-6.39860515e-02 4.01146186e-03 9.97942731e-01 -8.43659932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.33071405700001 meters 0.03671604443212897 Centerline is valid? [True, True] Translation: X:118.92, Y:-15.36, Z:-8.44 [[ 9.95036454e-01 7.63171362e-02 6.38603914e-02 1.18916999e+02] [-7.59141643e-02 9.97076256e-01 -8.71657015e-03 -1.53574711e+01] [-6.43389036e-02 3.82539681e-03 9.97920774e-01 -8.43873418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.360714057 meters 0.03351597040329304 Centerline is valid? [True, True] Translation: X:118.95, Y:-15.36, Z:-8.44 [[ 9.94882407e-01 7.80647270e-02 6.41474481e-02 1.18948102e+02] [-7.76617339e-02 9.96941318e-01 -8.75575171e-03 -1.53551821e+01] [-6.46347568e-02 3.72914129e-03 9.97902020e-01 -8.44057633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.390714057 meters 0.032847598276623834 Centerline is valid? [True, True] Translation: X:118.98, Y:-15.36, Z:-8.44 [[ 9.94687752e-01 8.03773810e-02 6.43098175e-02 1.18977839e+02] [-7.99771450e-02 9.96758046e-01 -8.77804723e-03 -1.53569216e+01] [-6.48068844e-02 3.58810047e-03 9.97891373e-01 -8.44249151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.420714057 meters 0.031804859052531456 Centerline is valid? [True, True] Translation: X:119.01, Y:-15.36, Z:-8.44 [[ 9.94366104e-01 8.46736611e-02 6.37685065e-02 1.19006923e+02] [-8.42890841e-02 9.96403345e-01 -8.70196065e-03 -1.53564857e+01] [-6.42759801e-02 3.27794570e-03 9.97926778e-01 -8.44485467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.450714057 meters 0.02815894408764764 Centerline is valid? [True, True] Translation: X:119.04, Y:-15.35, Z:-8.45 [[ 9.94096184e-01 8.86703752e-02 6.25327189e-02 1.19038053e+02] [-8.83086328e-02 9.96056632e-01 -8.53057988e-03 -1.53523190e+01] [-6.30425391e-02 2.95803800e-03 9.98006457e-01 -8.44768357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.480714057 meters 0.030945876785063338 Centerline is valid? [True, True] Translation: X:119.07, Y:-15.36, Z:-8.45 [[ 9.93990703e-01 9.01917719e-02 6.20316648e-02 1.19065445e+02] [-8.98388144e-02 9.95920374e-01 -8.46143731e-03 -1.53599430e+01] [-6.25417508e-02 2.83773880e-03 9.98038314e-01 -8.45094535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.510714057 meters 0.027640679162977164 Centerline is valid? [True, True] Translation: X:119.10, Y:-15.36, Z:-8.45 [[ 9.93921875e-01 9.14024753e-02 6.13587321e-02 1.19095115e+02] [-9.10597153e-02 9.95810298e-01 -8.36528489e-03 -1.53576817e+01] [-6.18662651e-02 2.72713097e-03 9.98080722e-01 -8.45271174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.540714057 meters 0.026650516101107174 Centerline is valid? [True, True] Translation: X:119.13, Y:-15.36, Z:-8.46 [[ 9.93672337e-01 9.43693636e-02 6.09073812e-02 1.19125287e+02] [-9.40374809e-02 9.95534067e-01 -8.29904137e-03 -1.53581862e+01] [-6.14185482e-02 2.51895113e-03 9.98108920e-01 -8.45520614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.570714057 meters 0.02577171817564814 Centerline is valid? [True, True] Translation: X:119.15, Y:-15.36, Z:-8.46 [[ 9.93544312e-01 9.56929076e-02 6.09308417e-02 1.19153920e+02] [-9.53632943e-02 9.95407920e-01 -8.30153473e-03 -1.53597584e+01] [-6.14454404e-02 2.43737682e-03 9.98107468e-01 -8.45702965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.600714057 meters 0.024781094376379917 Centerline is valid? [True, True] Translation: X:119.18, Y:-15.36, Z:-8.46 [[ 9.93261469e-01 9.84839312e-02 6.10947593e-02 1.19182737e+02] [-9.81580783e-02 9.95136060e-01 -8.31944148e-03 -1.53604053e+01] [-6.16169294e-02 2.26643650e-03 9.98097299e-01 -8.45845615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.630714057 meters 0.024241952419004894 Centerline is valid? [True, True] Translation: X:119.21, Y:-15.36, Z:-8.46 [[ 9.93161115e-01 9.95182492e-02 6.10501206e-02 1.19211533e+02] [-9.91950958e-02 9.95033313e-01 -8.30893064e-03 -1.53623288e+01] [-6.15737940e-02 2.19623426e-03 9.98100117e-01 -8.46011670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.660714057 meters 0.024645836814695735 Centerline is valid? [True, True] Translation: X:119.24, Y:-15.36, Z:-8.46 [[ 9.93055396e-01 1.01138191e-01 6.01003012e-02 1.19240242e+02] [-1.00828252e-01 9.94870257e-01 -8.17529785e-03 -1.53648495e+01] [-6.06188370e-02 2.05871532e-03 9.98158864e-01 -8.46229047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.69071405700001 meters 0.02398331472424769 Centerline is valid? [True, True] Translation: X:119.27, Y:-15.37, Z:-8.46 [[ 9.92993391e-01 1.01209125e-01 6.09986811e-02 1.19268101e+02] [-1.00890248e-01 9.94862997e-01 -8.29303890e-03 -1.53688026e+01] [-6.15246619e-02 2.08076078e-03 9.98103395e-01 -8.46452097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.720714057 meters 0.02438962452933892 Centerline is valid? [True, True] Translation: X:119.30, Y:-15.37, Z:-8.47 [[ 9.93014679e-01 1.01206696e-01 6.06551954e-02 1.19295879e+02] [-1.00891729e-01 9.94863280e-01 -8.24096823e-03 -1.53722755e+01] [-6.11776678e-02 2.06379487e-03 9.98124759e-01 -8.46638361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.750714057 meters 0.024561957460186738 Centerline is valid? [True, True] Translation: X:119.32, Y:-15.38, Z:-8.47 [[ 9.93040067e-01 1.00853484e-01 6.08276234e-02 1.19324512e+02] [-1.00536485e-01 9.94899105e-01 -8.25748009e-03 -1.53767347e+01] [-6.13501437e-02 2.08461312e-03 9.98114129e-01 -8.46849899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.780714057 meters 0.024472373692104043 Centerline is valid? [True, True] Translation: X:119.35, Y:-15.38, Z:-8.47 [[ 9.93075110e-01 1.00466381e-01 6.08960705e-02 1.19353347e+02] [-1.00148213e-01 9.94938224e-01 -8.26236047e-03 -1.53813633e+01] [-6.14179177e-02 2.10651190e-03 9.98109915e-01 -8.47049501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.810714057 meters 0.024472373692104043 Centerline is valid? [True, True] Translation: X:119.38, Y:-15.38, Z:-8.47 [[ 9.93085757e-01 1.00360753e-01 6.08966225e-02 1.19380518e+02] [-1.00042636e-01 9.94948879e-01 -8.25829060e-03 -1.53849600e+01] [-6.14178345e-02 2.10893214e-03 9.98109915e-01 -8.47238444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.840714057 meters 0.025311637256708607 Centerline is valid? [True, True] Translation: X:119.41, Y:-15.39, Z:-8.48 [[ 9.93316113e-01 9.85697072e-02 6.00592455e-02 1.19408941e+02] [-9.82574287e-02 9.95127756e-01 -8.13803703e-03 -1.53906730e+01] [-6.05687861e-02 2.18237627e-03 9.98161640e-01 -8.47527359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.870714057 meters 0.02522194643875334 Centerline is valid? [True, True] Translation: X:119.44, Y:-15.40, Z:-8.48 [[ 9.93407887e-01 9.78337593e-02 5.97438406e-02 1.19437683e+02] [-9.75236853e-02 9.95200314e-01 -8.09104273e-03 -1.53950207e+01] [-6.02486661e-02 2.21126615e-03 9.98180950e-01 -8.47730121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.900714057 meters 0.025362795615217888 Centerline is valid? [True, True] Translation: X:119.47, Y:-15.40, Z:-8.48 [[ 9.93553143e-01 9.64762471e-02 5.95355783e-02 1.19466483e+02] [-9.61661585e-02 9.95332673e-01 -8.05857322e-03 -1.53994597e+01] [-6.00351671e-02 2.28131290e-03 9.98193656e-01 -8.47919755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.930714057 meters 0.026657251040572535 Centerline is valid? [True, True] Translation: X:119.49, Y:-15.41, Z:-8.48 [[ 9.93908037e-01 9.30423770e-02 5.90756280e-02 1.19494775e+02] [-9.27312785e-02 9.95659098e-01 -7.99189355e-03 -1.54066435e+01] [-5.95627713e-02 2.46504871e-03 9.98221518e-01 -8.48105008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.960714057 meters 0.028190075171241794 Centerline is valid? [True, True] Translation: X:119.52, Y:-15.42, Z:-8.48 [[ 9.94286000e-01 8.88867369e-02 5.91142855e-02 1.19524376e+02] [-8.85681247e-02 9.96038048e-01 -7.99342353e-03 -1.54152894e+01] [-5.95905868e-02 2.71210771e-03 9.98219218e-01 -8.48309458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.990714057 meters 0.028267833255238302 Centerline is valid? [True, True] Translation: X:119.55, Y:-15.42, Z:-8.49 [[ 9.94441105e-01 8.69969924e-02 5.93161989e-02 1.19553750e+02] [-8.66728259e-02 9.96204539e-01 -8.02104534e-03 -1.54203646e+01] [-5.97888734e-02 2.83535462e-03 9.98207018e-01 -8.48524483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.020714057 meters 0.030215652488278136 Centerline is valid? [True, True] Translation: X:119.58, Y:-15.43, Z:-8.49 [[ 9.94627130e-01 8.52303896e-02 5.87592876e-02 1.19581164e+02] [-8.49093358e-02 9.96357015e-01 -7.94372614e-03 -1.54276974e+01] [-5.92222753e-02 2.91183345e-03 9.98240574e-01 -8.48740620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.05071405700001 meters 0.029782869687224336 Centerline is valid? [True, True] Translation: X:119.61, Y:-15.43, Z:-8.49 [[ 9.94905913e-01 8.18542325e-02 5.88396921e-02 1.19611449e+02] [-8.15266052e-02 9.96639448e-01 -7.95135825e-03 -1.54317581e+01] [-5.92928106e-02 3.11385299e-03 9.98235777e-01 -8.48959823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.08071405700001 meters 0.0295363163892867 Centerline is valid? [True, True] Translation: X:119.64, Y:-15.44, Z:-8.49 [[ 9.95059494e-01 8.02153250e-02 5.84987633e-02 1.19640886e+02] [-7.98886456e-02 9.96772444e-01 -7.90564149e-03 -1.54359233e+01] [-5.89441089e-02 3.19319665e-03 9.98256177e-01 -8.49161076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.110714057 meters 0.030768848811514274 Centerline is valid? [True, True] Translation: X:119.67, Y:-15.44, Z:-8.49 [[ 9.95319916e-01 7.68427134e-02 5.85957495e-02 1.19670711e+02] [-7.65092753e-02 9.97037444e-01 -7.91622370e-03 -1.54421790e+01] [-5.90304604e-02 3.39605678e-03 9.98250405e-01 -8.49443937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.140714057 meters 0.03191651682212982 Centerline is valid? [True, True] Translation: X:119.70, Y:-15.45, Z:-8.50 [[ 9.95475091e-01 7.51527475e-02 5.81498764e-02 1.19698891e+02] [-7.48214681e-02 9.97165996e-01 -7.85653633e-03 -1.54480074e+01] [-5.85755197e-02 3.47012709e-03 9.98276949e-01 -8.49670880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.170714057 meters 0.032773317116418725 Centerline is valid? [True, True] Translation: X:119.73, Y:-15.45, Z:-8.50 [[ 9.95562495e-01 7.32627132e-02 5.90583854e-02 1.19728379e+02] [-7.29178935e-02 9.97306056e-01 -7.97562474e-03 -1.54536355e+01] [-5.94836013e-02 3.63381981e-03 9.98222669e-01 -8.49879702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.200714057 meters 0.035957416967580064 Centerline is valid? [True, True] Translation: X:119.76, Y:-15.46, Z:-8.50 [[ 9.95795696e-01 7.00019111e-02 5.90818363e-02 1.19757070e+02] [-6.96511691e-02 9.97539508e-01 -7.97770767e-03 -1.54623896e+01] [-5.94949207e-02 3.82904800e-03 9.98221264e-01 -8.50083927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.230714057 meters 0.0347054778943491 Centerline is valid? [True, True] Translation: X:119.79, Y:-15.46, Z:-8.50 [[ 9.95892980e-01 6.87052914e-02 5.89640243e-02 1.19787484e+02] [-6.83537613e-02 9.97629386e-01 -7.96056194e-03 -1.54647640e+01] [-5.93711761e-02 3.89745491e-03 9.98228367e-01 -8.50264567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.260714057 meters 0.03709921557287881 Centerline is valid? [True, True] Translation: X:119.82, Y:-15.47, Z:-8.51 [[ 9.96172033e-01 6.58221444e-02 5.75215259e-02 1.19816618e+02] [-6.54828456e-02 9.97823476e-01 -7.76581442e-03 -1.54716987e+01] [-5.79074915e-02 3.96941394e-03 9.98314062e-01 -8.50620072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.290714057 meters 0.036713751689199076 Centerline is valid? [True, True] Translation: X:119.85, Y:-15.48, Z:-8.51 [[ 9.96229048e-01 6.47951755e-02 5.76998261e-02 1.19847655e+02] [-6.44520760e-02 9.97890402e-01 -7.78951028e-03 -1.54755489e+01] [-5.80828253e-02 4.04126283e-03 9.98303588e-01 -8.50852572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.320714057 meters 0.03711412176870078 Centerline is valid? [True, True] Translation: X:119.88, Y:-15.48, Z:-8.51 [[ 9.96321954e-01 6.40814342e-02 5.68870202e-02 1.19878973e+02] [-6.37468016e-02 9.97936556e-01 -7.67956967e-03 -1.54794480e+01] [-5.72617548e-02 4.02495828e-03 9.98351086e-01 -8.51177211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.350714057 meters 0.03838942296242517 Centerline is valid? [True, True] Translation: X:119.91, Y:-15.49, Z:-8.51 [[ 9.96294542e-01 6.45245334e-02 5.68662458e-02 1.19909660e+02] [-6.41900934e-02 9.97908058e-01 -7.69018714e-03 -1.54850272e+01] [-5.72434907e-02 4.01144184e-03 9.98352188e-01 -8.51439670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.380714057 meters 0.05530067853670535 Centerline is valid? [True, True] Translation: X:119.94, Y:-15.51, Z:-8.52 [[ 9.96000436e-01 6.77985391e-02 5.81935547e-02 1.19935358e+02] [-6.74528667e-02 9.97691294e-01 -7.88622700e-03 -1.55113007e+01] [-5.85938776e-02 3.92936344e-03 9.98274170e-01 -8.51925816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.410714057 meters 0.03541504021634192 Centerline is valid? [True, True] Translation: X:119.97, Y:-15.48, Z:-8.52 [[ 9.96123724e-01 6.74911543e-02 5.64133919e-02 1.19970104e+02] [-6.71659395e-02 9.97712542e-01 -7.64331583e-03 -1.54836466e+01] [-5.68002048e-02 3.82462976e-03 9.98378239e-01 -8.51681439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.44071405700001 meters 0.03553836204973854 Centerline is valid? [True, True] Translation: X:120.00, Y:-15.48, Z:-8.52 [[ 9.95888424e-01 7.04516028e-02 5.69457509e-02 1.19999796e+02] [-7.01250262e-02 9.97508372e-01 -7.71544388e-03 -1.54846811e+01] [-5.73474286e-02 3.69039897e-03 9.98347461e-01 -8.51873905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.470714057 meters 0.03545080321587945 Centerline is valid? [True, True] Translation: X:120.03, Y:-15.49, Z:-8.52 [[ 9.95754287e-01 7.21031077e-02 5.72236178e-02 1.20029651e+02] [-7.17760341e-02 9.97390639e-01 -7.75328514e-03 -1.54868753e+01] [-5.76333367e-02 3.61308257e-03 9.98331280e-01 -8.52085315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.500714057 meters 0.03479051099478859 Centerline is valid? [True, True] Translation: X:120.06, Y:-15.49, Z:-8.52 [[ 9.95594504e-01 7.38149106e-02 5.78181926e-02 1.20059195e+02] [-7.34839183e-02 9.97265641e-01 -7.83298276e-03 -1.54884629e+01] [-5.82382878e-02 3.54976724e-03 9.98296399e-01 -8.52238356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.530714057 meters 0.03274901207631955 Centerline is valid? [True, True] Translation: X:120.09, Y:-15.49, Z:-8.52 [[ 9.95351549e-01 7.71179109e-02 5.76898818e-02 1.20089407e+02] [-7.67940291e-02 9.97016362e-01 -7.81355644e-03 -1.54859159e+01] [-5.81203212e-02 3.34699704e-03 9.98303975e-01 -8.52302152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.560714057 meters 0.029815013581860922 Centerline is valid? [True, True] Translation: X:120.12, Y:-15.48, Z:-8.52 [[ 9.95046456e-01 8.00016695e-02 5.90108665e-02 1.20120152e+02] [-7.96679395e-02 9.96789433e-01 -7.99035680e-03 -1.54822037e+01] [-5.94606500e-02 3.24950208e-03 9.98225361e-01 -8.52347633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.590714057 meters 0.030309025404234812 Centerline is valid? [True, True] Translation: X:120.15, Y:-15.49, Z:-8.53 [[ 9.94937043e-01 8.14231110e-02 5.89114366e-02 1.20148195e+02] [-8.10931211e-02 9.96674626e-01 -7.97465791e-03 -1.54852581e+01] [-5.93648555e-02 3.15697030e-03 9.98231360e-01 -8.52542056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.620714057 meters 0.029973052785776028 Centerline is valid? [True, True] Translation: X:120.18, Y:-15.49, Z:-8.53 [[ 9.94846300e-01 8.26047443e-02 5.87987664e-02 1.20176950e+02] [-8.22783294e-02 9.96577640e-01 -7.95509131e-03 -1.54867139e+01] [-5.92546642e-02 3.07622889e-03 9.98238159e-01 -8.52768165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.650714057 meters 0.02875329122463588 Centerline is valid? [True, True] Translation: X:120.21, Y:-15.49, Z:-8.53 [[ 9.94600838e-01 8.54004423e-02 5.89570872e-02 1.20206827e+02] [-8.50774331e-02 9.96342451e-01 -7.97189612e-03 -1.54869356e+01] [-5.94222522e-02 2.91293692e-03 9.98228687e-01 -8.52983456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.680714057 meters 0.02893756591194022 Centerline is valid? [True, True] Translation: X:120.24, Y:-15.49, Z:-8.53 [[ 9.94517339e-01 8.63377017e-02 5.90005343e-02 1.20235311e+02] [-8.60159684e-02 9.96261832e-01 -7.97594023e-03 -1.54898451e+01] [-5.94686047e-02 2.85722276e-03 9.98226087e-01 -8.53184540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.710714057 meters 0.028868748668249237 Centerline is valid? [True, True] Translation: X:120.26, Y:-15.49, Z:-8.53 [[ 9.94349241e-01 8.77131415e-02 5.97995904e-02 1.20263599e+02] [-8.73853613e-02 9.96141816e-01 -8.07965973e-03 -1.54907190e+01] [-6.02775649e-02 2.80839471e-03 9.98177704e-01 -8.53214420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.740714057 meters 0.027545482447815073 Centerline is valid? [True, True] Translation: X:120.29, Y:-15.49, Z:-8.53 [[ 9.94323657e-01 8.77889831e-02 6.01128908e-02 1.20292265e+02] [-8.74582347e-02 9.96135122e-01 -8.11635759e-03 -1.54923022e+01] [-6.05930886e-02 2.81291904e-03 9.98158587e-01 -8.53367576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.770714057 meters 0.027353274421892625 Centerline is valid? [True, True] Translation: X:120.32, Y:-15.49, Z:-8.54 [[ 9.94409918e-01 8.70485818e-02 5.97616940e-02 1.20321126e+02] [-8.67206221e-02 9.96200028e-01 -8.06458019e-03 -1.54947771e+01] [-6.02366116e-02 2.83692724e-03 9.98180095e-01 -8.53602960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.80071405700001 meters 0.028420332755619566 Centerline is valid? [True, True] Translation: X:120.35, Y:-15.50, Z:-8.54 [[ 9.94659545e-01 8.52652632e-02 5.81568918e-02 1.20349186e+02] [-8.49519220e-02 9.96354178e-01 -7.84362930e-03 -1.55009271e+01] [-5.86136512e-02 2.86120102e-03 9.98276642e-01 -8.54043683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.83071405700001 meters 0.034159633661441806 Centerline is valid? [True, True] Translation: X:120.37, Y:-15.51, Z:-8.54 [[ 9.94807790e-01 8.38540890e-02 5.76710697e-02 1.20374900e+02] [-8.35437657e-02 9.96473775e-01 -7.77533037e-03 -1.55138364e+01] [-5.81197018e-02 2.91690089e-03 9.98305360e-01 -8.54498890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.860714057 meters 0.030001860212448685 Centerline is valid? [True, True] Translation: X:120.40, Y:-15.51, Z:-8.55 [[ 9.95076763e-01 8.13913881e-02 5.65480109e-02 1.20404991e+02] [-8.10894069e-02 9.96677716e-01 -7.61827467e-03 -1.55110798e+01] [-5.69802043e-02 2.99532343e-03 9.98370815e-01 -8.54631387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.890714057 meters 0.031206864877806457 Centerline is valid? [True, True] Translation: X:120.43, Y:-15.52, Z:-8.55 [[ 9.95171523e-01 8.04054879e-02 5.62902897e-02 1.20432375e+02] [-8.01047543e-02 9.96757612e-01 -7.58233282e-03 -1.55162875e+01] [-5.67174359e-02 3.03660187e-03 9.98385653e-01 -8.54855413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.920714057 meters 0.03191809514250355 Centerline is valid? [True, True] Translation: X:120.46, Y:-15.52, Z:-8.55 [[ 9.95329227e-01 7.84318711e-02 5.62865198e-02 1.20460878e+02] [-7.81284034e-02 9.96914524e-01 -7.57531476e-03 -1.55213426e+01] [-5.67069952e-02 3.14235626e-03 9.98385919e-01 -8.55042884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.950714057 meters 0.031531538633216644 Centerline is valid? [True, True] Translation: X:120.49, Y:-15.52, Z:-8.55 [[ 9.95390594e-01 7.74084377e-02 5.66171333e-02 1.20489305e+02] [-7.70999031e-02 9.96994276e-01 -7.61696999e-03 -1.55243974e+01] [-5.70365755e-02 3.21668479e-03 9.98366908e-01 -8.55200039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.980714057 meters 0.032051263416122584 Centerline is valid? [True, True] Translation: X:120.52, Y:-15.53, Z:-8.55 [[ 9.95382101e-01 7.67943957e-02 5.75942208e-02 1.20518017e+02] [-7.64743291e-02 9.97041476e-01 -7.74416749e-03 -1.55285696e+01] [-5.80185356e-02 3.30392631e-03 9.98310039e-01 -8.55253186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.010714057 meters 0.03410552514862341 Centerline is valid? [True, True] Translation: X:120.55, Y:-15.54, Z:-8.55 [[ 9.95303755e-01 7.72017683e-02 5.83979639e-02 1.20545220e+02] [-7.68736335e-02 9.97009955e-01 -7.84814251e-03 -1.55350520e+01] [-5.88292418e-02 3.32202204e-03 9.98262533e-01 -8.55438564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.040714057 meters 0.0337617095719573 Centerline is valid? [True, True] Translation: X:120.58, Y:-15.54, Z:-8.55 [[ 9.95072122e-01 7.93438406e-02 5.94645008e-02 1.20575469e+02] [-7.90077732e-02 9.96842017e-01 -7.98529545e-03 -1.55372212e+01] [-5.99102969e-02 3.24778710e-03 9.98198481e-01 -8.55486542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.070714057 meters 0.03148330659847454 Centerline is valid? [True, True] Translation: X:120.60, Y:-15.54, Z:-8.56 [[ 9.94982907e-01 8.03554351e-02 5.95988220e-02 1.20604930e+02] [-8.00196736e-02 9.96761157e-01 -8.00299480e-03 -1.55370838e+01] [-6.00488749e-02 3.19376475e-03 9.98190329e-01 -8.55619259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.100714057 meters 0.0338984563458795 Centerline is valid? [True, True] Translation: X:120.63, Y:-15.54, Z:-8.56 [[ 9.94852992e-01 8.18927073e-02 5.96750227e-02 1.20632464e+02] [-8.15592119e-02 9.96636334e-01 -8.00706187e-03 -1.55440502e+01] [-6.01300158e-02 3.09880164e-03 9.98185744e-01 -8.55959886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.130714057 meters 0.032150753046937076 Centerline is valid? [True, True] Translation: X:120.66, Y:-15.55, Z:-8.56 [[ 9.94860191e-01 8.22728854e-02 5.90285672e-02 1.20661763e+02] [-8.19475089e-02 9.96605209e-01 -7.91602705e-03 -1.55454318e+01] [-5.94794520e-02 3.03809614e-03 9.98224907e-01 -8.56220951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.160714057 meters 0.0341521116037516 Centerline is valid? [True, True] Translation: X:120.69, Y:-15.55, Z:-8.57 [[ 9.94934983e-01 8.20962809e-02 5.80050065e-02 1.20688754e+02] [-8.17819592e-02 9.96619909e-01 -7.77615283e-03 -1.55524205e+01] [-5.84473375e-02 2.99300341e-03 9.98286006e-01 -8.56563532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.19071405700001 meters 0.0358522855038331 Centerline is valid? [True, True] Translation: X:120.72, Y:-15.56, Z:-8.57 [[ 9.95079077e-01 8.10769629e-02 5.69574909e-02 1.20715638e+02] [-8.07725186e-02 9.96703351e-01 -7.63090750e-03 -1.55587374e+01] [-5.73884129e-02 2.99275640e-03 9.98347441e-01 -8.56924694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.220714057 meters 0.03652209014964003 Centerline is valid? [True, True] Translation: X:120.74, Y:-15.56, Z:-8.57 [[ 9.95253614e-01 7.96484040e-02 5.59139938e-02 1.20744454e+02] [-7.93530608e-02 9.96818464e-01 -7.48612502e-03 -1.55629591e+01] [-5.63323593e-02 3.01364644e-03 9.98407524e-01 -8.57151306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.250714057 meters 0.03859409020978155 Centerline is valid? [True, True] Translation: X:120.77, Y:-15.57, Z:-8.57 [[ 9.95473723e-01 7.73521757e-02 5.52151088e-02 1.20772434e+02] [-7.70608104e-02 9.96999008e-01 -7.38983637e-03 -1.55690853e+01] [-5.56210286e-02 3.10146689e-03 9.98447135e-01 -8.57439748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.280714057 meters 0.03048957172486013 Centerline is valid? [True, True] Translation: X:120.80, Y:-15.56, Z:-8.57 [[ 9.95604700e-01 7.61147730e-02 5.45694366e-02 1.20803040e+02] [-7.58284658e-02 9.97094147e-01 -7.30111370e-03 -1.55605837e+01] [-5.49665885e-02 3.13110645e-03 9.98483285e-01 -8.57353509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.310714057 meters 0.030877693750217306 Centerline is valid? [True, True] Translation: X:120.83, Y:-15.57, Z:-8.58 [[ 9.95716865e-01 7.47532731e-02 5.44047151e-02 1.20830851e+02] [-7.44668761e-02 9.97196949e-01 -7.27531518e-03 -1.55650218e+01] [-5.47960695e-02 3.19280485e-03 9.98492462e-01 -8.57553213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.340714057 meters 0.03223212051189442 Centerline is valid? [True, True] Translation: X:120.86, Y:-15.57, Z:-8.58 [[ 9.95837052e-01 7.26219988e-02 5.50873114e-02 1.20859378e+02] [-7.23254270e-02 9.97353924e-01 -7.36095952e-03 -1.55716506e+01] [-5.54761137e-02 3.34610291e-03 9.98454408e-01 -8.57672382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.370714057 meters 0.03202516851441222 Centerline is valid? [True, True] Translation: X:120.89, Y:-15.58, Z:-8.58 [[ 9.95914830e-01 7.10323540e-02 5.57499473e-02 1.20888672e+02] [-7.07263025e-02 9.97467967e-01 -7.44618132e-03 -1.55754298e+01] [-5.61377064e-02 3.47277476e-03 9.98416996e-01 -8.57754933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.400714057 meters 0.03560364626412956 Centerline is valid? [True, True] Translation: X:120.92, Y:-15.58, Z:-8.58 [[ 9.95943923e-01 7.06307330e-02 5.57404777e-02 1.20916142e+02] [-7.03242628e-02 9.97496415e-01 -7.44307897e-03 -1.55844510e+01] [-5.61266369e-02 3.49298127e-03 9.98417548e-01 -8.57991783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.430714057 meters 0.03320136095588614 Centerline is valid? [True, True] Translation: X:120.95, Y:-15.58, Z:-8.58 [[ 9.95960020e-01 7.02479362e-02 5.59362741e-02 1.20945046e+02] [-6.99388674e-02 9.97523337e-01 -7.46635482e-03 -1.55846666e+01] [-5.63222349e-02 3.52407123e-03 9.98406424e-01 -8.58050966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.460714057 meters 0.0338968174185585 Centerline is valid? [True, True] Translation: X:120.97, Y:-15.59, Z:-8.58 [[ 9.95966996e-01 6.97067412e-02 5.64864003e-02 1.20973170e+02] [-6.93909272e-02 9.97561083e-01 -7.53560091e-03 -1.55891091e+01] [-5.68739168e-02 3.58556611e-03 9.98374930e-01 -8.58186727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.490714057 meters 0.03461498247226 Centerline is valid? [True, True] Translation: X:121.00, Y:-15.59, Z:-8.58 [[ 9.95996131e-01 6.92813641e-02 5.64960138e-02 1.21001004e+02] [-6.89650076e-02 9.97590642e-01 -7.53256172e-03 -1.55940784e+01] [-5.68817608e-02 3.60615430e-03 9.98374409e-01 -8.58402110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.520714057 meters 0.03660144276782919 Centerline is valid? [True, True] Translation: X:121.03, Y:-15.60, Z:-8.59 [[ 9.95992473e-01 6.99269998e-02 5.57602712e-02 1.21029304e+02] [-6.96200272e-02 9.97545903e-01 -7.43125896e-03 -1.56010548e+01] [-5.61430757e-02 3.51944640e-03 9.98416531e-01 -8.58771707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.55071405700001 meters 0.03456832463838028 Centerline is valid? [True, True] Translation: X:121.06, Y:-15.60, Z:-8.59 [[ 9.95981021e-01 7.03517454e-02 5.54295710e-02 1.21058180e+02] [-7.00491469e-02 9.97516200e-01 -7.38567489e-03 -1.56016225e+01] [-5.58114901e-02 3.47319786e-03 9.98435283e-01 -8.58938248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.58071405700001 meters 0.0358283223424599 Centerline is valid? [True, True] Translation: X:121.09, Y:-15.61, Z:-8.59 [[ 9.95946997e-01 7.19597823e-02 5.39571050e-02 1.21085476e+02] [-7.16756054e-02 9.97402110e-01 -7.18598075e-03 -1.56061543e+01] [-5.43340319e-02 3.28944778e-03 9.98517397e-01 -8.59234807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.610714057 meters 0.03510936196424103 Centerline is valid? [True, True] Translation: X:121.11, Y:-15.61, Z:-8.59 [[ 9.95885191e-01 7.32126960e-02 5.34096190e-02 1.21113844e+02] [-7.29363247e-02 9.97311269e-01 -7.10810400e-03 -1.56083341e+01] [-5.37864184e-02 3.18335419e-03 9.98547389e-01 -8.59421778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.640714057 meters 0.03494128134029695 Centerline is valid? [True, True] Translation: X:121.14, Y:-15.61, Z:-8.60 [[ 9.95708127e-01 7.62741821e-02 5.24173139e-02 1.21142145e+02] [-7.60124513e-02 9.97082496e-01 -6.97167060e-03 -1.56110424e+01] [-5.27961446e-02 2.95738056e-03 9.98600932e-01 -8.59656416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.670714057 meters 0.03423253356425192 Centerline is valid? [True, True] Translation: X:121.17, Y:-15.61, Z:-8.60 [[ 9.95635408e-01 7.75092751e-02 5.19850525e-02 1.21171318e+02] [-7.72535093e-02 9.96987505e-01 -6.91447979e-03 -1.56131791e+01] [-5.23643841e-02 2.86827317e-03 9.98623925e-01 -8.59867953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.700714057 meters 0.02988726228536121 Centerline is valid? [True, True] Translation: X:121.20, Y:-15.61, Z:-8.60 [[ 9.95302273e-01 8.16197975e-02 5.20729724e-02 1.21201588e+02] [-8.13691170e-02 9.96660016e-01 -6.91954897e-03 -1.56096417e+01] [-5.24638217e-02 2.64991103e-03 9.98619310e-01 -8.59960562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.730714057 meters 0.02988726228536121 Centerline is valid? [True, True] Translation: X:121.23, Y:-15.61, Z:-8.60 [[ 9.95310992e-01 8.15133462e-02 5.20730657e-02 1.21228789e+02] [-8.12625571e-02 9.96668714e-01 -6.91884763e-03 -1.56131649e+01] [-5.24635738e-02 2.65481463e-03 9.98619310e-01 -8.60149556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.760714057 meters 0.03212223574651057 Centerline is valid? [True, True] Translation: X:121.26, Y:-15.62, Z:-8.60 [[ 9.95133446e-01 8.35580964e-02 5.22251723e-02 1.21255845e+02] [-8.33089619e-02 9.96499649e-01 -6.93304228e-03 -1.56203727e+01] [-5.26216777e-02 2.54847737e-03 9.98611268e-01 -8.60490602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.790714057 meters 0.02871346952808468 Centerline is valid? [True, True] Translation: X:121.29, Y:-15.62, Z:-8.60 [[ 9.94951773e-01 8.54405096e-02 5.26392320e-02 1.21285703e+02] [-8.51903151e-02 9.96340229e-01 -6.98265916e-03 -1.56181278e+01] [-5.30431865e-02 2.46305634e-03 9.98589182e-01 -8.60487066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.820714057 meters 0.03126755945222066 Centerline is valid? [True, True] Translation: X:121.31, Y:-15.63, Z:-8.61 [[ 9.94563117e-01 8.96051850e-02 5.30576816e-02 1.21313695e+02] [-8.93570711e-02 9.95974810e-01 -7.03498493e-03 -1.56256552e+01] [-5.34744855e-02 2.25565752e-03 9.98566668e-01 -8.60814801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.850714057 meters 0.026536397984268986 Centerline is valid? [True, True] Translation: X:121.34, Y:-15.62, Z:-8.61 [[ 9.94355297e-01 9.16460322e-02 5.34653945e-02 1.21343910e+02] [-9.13971184e-02 9.95789303e-01 -7.08738259e-03 -1.56210209e+01] [-5.38897984e-02 2.16079342e-03 9.98544551e-01 -8.60692275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.880714057 meters 0.02552648133471836 Centerline is valid? [True, True] Translation: X:121.37, Y:-15.62, Z:-8.61 [[ 9.94003743e-01 9.51895880e-02 5.38098533e-02 1.21373990e+02] [-9.49428208e-02 9.95457196e-01 -7.12956885e-03 -1.56235225e+01] [-5.42440664e-02 1.97795887e-03 9.98525748e-01 -8.60852057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.910714057 meters 0.025408194383732423 Centerline is valid? [True, True] Translation: X:121.40, Y:-15.63, Z:-8.61 [[ 9.93959438e-01 9.57494064e-02 5.36347549e-02 1.21403113e+02] [-9.55050814e-02 9.95403579e-01 -7.10593073e-03 -1.56266055e+01] [-5.40686156e-02 1.94061528e-03 9.98535337e-01 -8.61017694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.94071405700001 meters 0.02546086520704407 Centerline is valid? [True, True] Translation: X:121.43, Y:-15.63, Z:-8.61 [[ 9.93928043e-01 9.59291185e-02 5.38948014e-02 1.21430697e+02] [-9.56828132e-02 9.95386281e-01 -7.13792901e-03 -1.56319504e+01] [-5.43308812e-02 1.93778160e-03 9.98521107e-01 -8.61211825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.970714057 meters 0.025031722966077235 Centerline is valid? [True, True] Translation: X:121.46, Y:-15.64, Z:-8.61 [[ 9.94033570e-01 9.50731511e-02 5.34636104e-02 1.21459545e+02] [-9.48298126e-02 9.95468352e-01 -7.07576450e-03 -1.56360131e+01] [-5.38940474e-02 1.96360329e-03 9.98544729e-01 -8.61397842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.000714057 meters 0.02606413736662649 Centerline is valid? [True, True] Translation: X:121.49, Y:-15.64, Z:-8.62 [[ 9.94195954e-01 9.36778281e-02 5.29043531e-02 1.21486554e+02] [-9.34377782e-02 9.95600526e-01 -6.99817530e-03 -1.56426277e+01] [-5.33271756e-02 2.01429235e-03 9.98575062e-01 -8.61696569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.030714057 meters 0.027055382416932172 Centerline is valid? [True, True] Translation: X:121.52, Y:-15.65, Z:-8.62 [[ 9.94566381e-01 9.00944915e-02 5.21603019e-02 1.21515238e+02] [-8.98565275e-02 9.95930858e-01 -6.89418766e-03 -1.56512250e+01] [-5.25691825e-02 2.16978367e-03 9.98614927e-01 -8.62029159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.060714057 meters 0.02752852662843812 Centerline is valid? [True, True] Translation: X:121.54, Y:-15.66, Z:-8.62 [[ 9.94788396e-01 8.79338469e-02 5.16109158e-02 1.21543702e+02] [-8.76980529e-02 9.96123757e-01 -6.82004052e-03 -1.56572419e+01] [-5.20105718e-02 2.25832033e-03 9.98643981e-01 -8.62256232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.090714057 meters 0.03143696978185064 Centerline is valid? [True, True] Translation: X:121.57, Y:-15.67, Z:-8.63 [[ 9.95200365e-01 8.38798015e-02 5.04024990e-02 1.21570624e+02] [-8.36498948e-02 9.96472967e-01 -6.65738474e-03 -1.56704684e+01] [-5.07831479e-02 2.40926798e-03 9.98706797e-01 -8.62729801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.120714057 meters 0.030688070425179993 Centerline is valid? [True, True] Translation: X:121.60, Y:-15.67, Z:-8.63 [[ 9.95333303e-01 8.23905314e-02 5.02336250e-02 1.21598756e+02] [-8.21602863e-02 9.96597043e-01 -6.63481776e-03 -1.56739533e+01] [-5.06093283e-02 2.47664607e-03 9.98715456e-01 -8.62839144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.150714057 meters 0.029158983106456586 Centerline is valid? [True, True] Translation: X:121.63, Y:-15.68, Z:-8.63 [[ 9.95373764e-01 8.13133690e-02 5.11781726e-02 1.21627337e+02] [-8.10733278e-02 9.96685267e-01 -6.75235897e-03 -1.56769014e+01] [-5.15575877e-02 2.57193621e-03 9.98666711e-01 -8.62768994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.180714057 meters 0.028556987570453038 Centerline is valid? [True, True] Translation: X:121.66, Y:-15.68, Z:-8.63 [[ 9.95326158e-01 8.12909340e-02 5.21308362e-02 1.21656066e+02] [-8.10420371e-02 9.96686979e-01 -6.87416682e-03 -1.56807177e+01] [-5.25169331e-02 2.61724888e-03 9.98616604e-01 -8.62876242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.210714057 meters 0.028096905060022125 Centerline is valid? [True, True] Translation: X:121.68, Y:-15.69, Z:-8.63 [[ 9.95179969e-01 8.20461794e-02 5.37145640e-02 1.21684721e+02] [-8.17832313e-02 9.96625001e-01 -7.07890152e-03 -1.56863296e+01] [-5.41140742e-02 2.65183038e-03 9.98531239e-01 -8.62906140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.240714057 meters 0.029013608793792403 Centerline is valid? [True, True] Translation: X:121.71, Y:-15.69, Z:-8.63 [[ 9.95091057e-01 8.25177365e-02 5.46315971e-02 1.21711732e+02] [-8.22466445e-02 9.96586027e-01 -7.19588713e-03 -1.56925068e+01] [-5.50388746e-02 2.66729738e-03 9.98480650e-01 -8.63095553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.270714057 meters 0.03157470652541624 Centerline is valid? [True, True] Translation: X:121.74, Y:-15.70, Z:-8.63 [[ 9.94933027e-01 8.40944009e-02 5.51035728e-02 1.21738322e+02] [-8.38212930e-02 9.96454407e-01 -7.25295354e-03 -1.57023744e+01] [-5.55181307e-02 2.59735030e-03 9.98454301e-01 -8.63405558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.30071405700001 meters 0.027076616135956005 Centerline is valid? [True, True] Translation: X:121.77, Y:-15.70, Z:-8.63 [[ 9.94863027e-01 8.50506437e-02 5.48994157e-02 1.21767869e+02] [-8.47812910e-02 9.96373419e-01 -7.22100286e-03 -1.56991300e+01] [-5.53144694e-02 2.52946542e-03 9.98465779e-01 -8.63413079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.33071405700001 meters 0.027925290840909993 Centerline is valid? [True, True] Translation: X:121.80, Y:-15.71, Z:-8.64 [[ 9.94721501e-01 8.70931037e-02 5.42579582e-02 1.21795429e+02] [-8.68332606e-02 9.96197325e-01 -7.13269649e-03 -1.57062753e+01] [-5.46728415e-02 2.38365114e-03 9.98501477e-01 -8.63731255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.360714057 meters 0.027200475088548635 Centerline is valid? [True, True] Translation: X:121.82, Y:-15.71, Z:-8.64 [[ 9.94694471e-01 8.76702422e-02 5.38222792e-02 1.21824251e+02] [-8.74156133e-02 9.96146828e-01 -7.07154123e-03 -1.57092849e+01] [-5.42348565e-02 2.32911541e-03 9.98525491e-01 -8.63914861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.390714057 meters 0.02721154619987176 Centerline is valid? [True, True] Translation: X:121.85, Y:-15.72, Z:-8.64 [[ 9.94578361e-01 8.93938849e-02 5.31283148e-02 1.21851800e+02] [-8.91484425e-02 9.95993917e-01 -6.97657550e-03 -1.57152344e+01] [-5.35391415e-02 2.20244451e-03 9.98563323e-01 -8.64215922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.420714057 meters 0.026468357886795777 Centerline is valid? [True, True] Translation: X:121.88, Y:-15.72, Z:-8.64 [[ 9.94544613e-01 9.00581372e-02 5.26359706e-02 1.21880006e+02] [-8.98183548e-02 9.95934205e-01 -6.90817271e-03 -1.57187248e+01] [-5.30441007e-02 2.14280967e-03 9.98589872e-01 -8.64413624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.450714057 meters 0.025505242059848072 Centerline is valid? [True, True] Translation: X:121.91, Y:-15.72, Z:-8.65 [[ 9.94407640e-01 9.15376047e-02 5.26717445e-02 1.21908170e+02] [-9.12997672e-02 9.95799486e-01 -6.90908748e-03 -1.57236406e+01] [-5.30829375e-02 2.06153136e-03 9.98587979e-01 -8.64575900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.480714057 meters 0.026307569481282767 Centerline is valid? [True, True] Translation: X:121.94, Y:-15.73, Z:-8.65 [[ 9.94320956e-01 9.21165055e-02 5.32952711e-02 1.21935305e+02] [-9.18740248e-02 9.95746124e-01 -6.98720727e-03 -1.57296786e+01] [-5.37121967e-02 2.05107555e-03 9.98554352e-01 -8.64821511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.510714057 meters 0.025710745445141233 Centerline is valid? [True, True] Translation: X:121.96, Y:-15.73, Z:-8.65 [[ 9.94135443e-01 9.39329028e-02 5.35847998e-02 1.21963526e+02] [-9.36906860e-02 9.95576604e-01 -7.02006332e-03 -1.57335482e+01] [-5.40071879e-02 1.95849711e-03 9.98538626e-01 -8.64826182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.540714057 meters 0.024529689996553812 Centerline is valid? [True, True] Translation: X:121.99, Y:-15.74, Z:-8.65 [[ 9.94041250e-01 9.40939549e-02 5.50301764e-02 1.21991486e+02] [-9.38389571e-02 9.95561316e-01 -7.20527242e-03 -1.57378937e+01] [-5.54638874e-02 1.99836364e-03 9.98458694e-01 -8.65042096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.570714057 meters 0.023476696842036463 Centerline is valid? [True, True] Translation: X:122.02, Y:-15.74, Z:-8.65 [[ 9.93741027e-01 9.62392448e-02 5.67166505e-02 1.22020557e+02] [-9.59721015e-02 9.95356356e-01 -7.42161636e-03 -1.57423109e+01] [-5.71675293e-02 1.93194852e-03 9.98362730e-01 -8.65123915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.600714057 meters 0.023517331825479364 Centerline is valid? [True, True] Translation: X:122.05, Y:-15.75, Z:-8.65 [[ 9.93615820e-01 9.73149872e-02 5.70736055e-02 1.22047886e+02] [-9.70463983e-02 9.95251859e-01 -7.46554132e-03 -1.57470453e+01] [-5.75291210e-02 1.87909211e-03 9.98342060e-01 -8.65335619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.630714057 meters 0.023213204535255813 Centerline is valid? [True, True] Translation: X:122.08, Y:-15.75, Z:-8.65 [[ 9.93420182e-01 9.91575027e-02 5.73073448e-02 1.22076608e+02] [-9.88900944e-02 9.95070170e-01 -7.49044557e-03 -1.57522383e+01] [-5.77675632e-02 1.77403106e-03 9.98328484e-01 -8.65475198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.660714057 meters 0.023109909697398262 Centerline is valid? [True, True] Translation: X:122.10, Y:-15.76, Z:-8.66 [[ 9.93306412e-01 1.00020522e-01 5.77777371e-02 1.22104872e+02] [-9.97503314e-02 9.94983862e-01 -7.54894677e-03 -1.57570790e+01] [-5.82429655e-02 1.73506881e-03 9.98300930e-01 -8.65664662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.69071405700001 meters 0.02451622051147017 Centerline is valid? [True, True] Translation: X:122.13, Y:-15.77, Z:-8.66 [[ 9.93235162e-01 1.00755702e-01 5.77252164e-02 1.22131833e+02] [-1.00487474e-01 9.94909767e-01 -7.53810508e-03 -1.57657129e+01] [-5.81908887e-02 1.68644983e-03 9.98304050e-01 -8.65995008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.720714057 meters 0.022651073456984014 Centerline is valid? [True, True] Translation: X:122.16, Y:-15.77, Z:-8.66 [[ 9.93217644e-01 1.00990271e-01 5.76166292e-02 1.22160492e+02] [-1.00723756e-01 9.94886021e-01 -7.51860733e-03 -1.57696133e+01] [-5.80812851e-02 1.66425016e-03 9.98310470e-01 -8.66101922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.750714057 meters 0.02320859857158097 Centerline is valid? [True, True] Translation: X:122.19, Y:-15.78, Z:-8.66 [[ 9.93268200e-01 1.01054883e-01 5.66232507e-02 1.22187635e+02] [-1.00797811e-01 9.94879521e-01 -7.38519318e-03 -1.57774089e+01] [-5.70796223e-02 1.62797785e-03 9.98368302e-01 -8.66380616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.780714057 meters 0.022694180445618398 Centerline is valid? [True, True] Translation: X:122.22, Y:-15.78, Z:-8.67 [[ 9.93220989e-01 1.01414857e-01 5.68075195e-02 1.22216415e+02] [-1.01156997e-01 9.94842924e-01 -7.40395131e-03 -1.57819067e+01] [-5.72654295e-02 1.60728177e-03 9.98357695e-01 -8.66554456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.810714057 meters 0.022794129600379822 Centerline is valid? [True, True] Translation: X:122.25, Y:-15.79, Z:-8.67 [[ 9.93276457e-01 1.01225877e-01 5.61711867e-02 1.22245231e+02] [-1.00973691e-01 9.94862189e-01 -7.31705572e-03 -1.57868057e+01] [-5.66232651e-02 1.59604713e-03 9.98394340e-01 -8.66730238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.840714057 meters 0.023490090333334643 Centerline is valid? [True, True] Translation: X:122.27, Y:-15.80, Z:-8.67 [[ 9.93263254e-01 1.01390209e-01 5.61082298e-02 1.22271641e+02] [-1.01139066e-01 9.94845478e-01 -7.30504713e-03 -1.57955375e+01] [-5.65596790e-02 1.58110093e-03 9.98397968e-01 -8.67046062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.870714057 meters 0.023809497571371026 Centerline is valid? [True, True] Translation: X:122.30, Y:-15.80, Z:-8.67 [[ 9.93244400e-01 1.01334607e-01 5.65407831e-02 1.22299598e+02] [-1.01079786e-01 9.94851127e-01 -7.35605447e-03 -1.58010000e+01] [-5.69950847e-02 1.59122966e-03 9.98373191e-01 -8.67232937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.900714057 meters 0.02340427741956158 Centerline is valid? [True, True] Translation: X:122.33, Y:-15.81, Z:-8.67 [[ 9.93177430e-01 1.01386757e-01 5.76135271e-02 1.22327476e+02] [-1.01122486e-01 9.94845777e-01 -7.49158263e-03 -1.58075212e+01] [-5.80761213e-02 1.61444772e-03 9.98310852e-01 -8.67326495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.930714057 meters 0.023557919467240118 Centerline is valid? [True, True] Translation: X:122.35, Y:-15.81, Z:-8.68 [[ 9.93173242e-01 1.01109748e-01 5.81698317e-02 1.22354215e+02] [-1.00840080e-01 9.94873922e-01 -7.56031678e-03 -1.58131450e+01] [-5.86360703e-02 1.64285384e-03 9.98278074e-01 -8.67514997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.960714057 meters 0.022508028615344275 Centerline is valid? [True, True] Translation: X:122.38, Y:-15.82, Z:-8.68 [[ 9.93284309e-01 9.98704319e-02 5.84138588e-02 1.22382322e+02] [-9.95967916e-02 9.94998971e-01 -7.58461748e-03 -1.58169240e+01] [-5.88792084e-02 1.71584861e-03 9.98263640e-01 -8.67610794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.990714057 meters 0.023319790092704337 Centerline is valid? [True, True] Translation: X:122.41, Y:-15.82, Z:-8.68 [[ 9.93345275e-01 9.92061644e-02 5.85089921e-02 1.22409035e+02] [-9.89307991e-02 9.95065357e-01 -7.59157856e-03 -1.58239354e+01] [-5.89734025e-02 1.75271735e-03 9.98258016e-01 -8.67857794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.020714057 meters 0.025655077140661092 Centerline is valid? [True, True] Translation: X:122.44, Y:-15.84, Z:-8.68 [[ 9.93469831e-01 9.72215631e-02 5.97131766e-02 1.22435255e+02] [-9.69314912e-02 9.95260943e-01 -7.74221771e-03 -1.58360300e+01] [-6.01829030e-02 1.90357246e-03 9.98185551e-01 -8.68098374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.05071405700001 meters 0.02401240222397671 Centerline is valid? [True, True] Translation: X:122.46, Y:-15.84, Z:-8.68 [[ 9.93580028e-01 9.57508036e-02 6.02537282e-02 1.22463932e+02] [-9.54530860e-02 9.95403317e-01 -7.80678055e-03 -1.58383750e+01] [-6.07242663e-02 2.00525694e-03 9.98152565e-01 -8.68159561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.08071405700001 meters 0.024105766286146135 Centerline is valid? [True, True] Translation: X:122.49, Y:-15.85, Z:-8.68 [[ 9.93850441e-01 9.27243224e-02 6.05268681e-02 1.22492995e+02] [-9.24185770e-02 9.95689399e-01 -7.83753498e-03 -1.58452998e+01] [-6.09926911e-02 2.19553058e-03 9.98135798e-01 -8.68349039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.110714057 meters 0.02612687587233057 Centerline is valid? [True, True] Translation: X:122.52, Y:-15.85, Z:-8.69 [[ 9.93965618e-01 9.12966231e-02 6.08052449e-02 1.22519437e+02] [-9.09855038e-02 9.95821106e-01 -7.87171686e-03 -1.58545399e+01] [-6.12698073e-02 2.29182007e-03 9.98118609e-01 -8.68607456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.140714057 meters 0.027092889868152902 Centerline is valid? [True, True] Translation: X:122.55, Y:-15.86, Z:-8.69 [[ 9.94083277e-01 8.98250797e-02 6.10728615e-02 1.22546950e+02] [-8.95087991e-02 9.95954696e-01 -7.90055843e-03 -1.58609087e+01] [-6.15354715e-02 2.38725453e-03 9.98102042e-01 -8.68814054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.170714057 meters 0.025819528130132944 Centerline is valid? [True, True] Translation: X:122.58, Y:-15.87, Z:-8.69 [[ 9.94310681e-01 8.71613018e-02 6.12305198e-02 1.22575886e+02] [-8.68386173e-02 9.96190937e-01 -7.91654591e-03 -1.58653599e+01] [-6.16873053e-02 2.55433248e-03 9.98092256e-01 -8.69001550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.200714057 meters 0.02655265465854911 Centerline is valid? [True, True] Translation: X:122.60, Y:-15.87, Z:-8.69 [[ 9.94381811e-01 8.62829301e-02 6.13194145e-02 1.22603357e+02] [-8.59578435e-02 9.96267257e-01 -7.92476674e-03 -1.58720380e+01] [-6.17742969e-02 2.60935927e-03 9.98086733e-01 -8.69245146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.230714057 meters 0.027660118132095412 Centerline is valid? [True, True] Translation: X:122.63, Y:-15.88, Z:-8.70 [[ 9.94599315e-01 8.44139568e-02 6.03861489e-02 1.22631828e+02] [-8.40955591e-02 9.96427171e-01 -7.79938308e-03 -1.58807813e+01] [-6.08287763e-02 2.67905411e-03 9.98144620e-01 -8.69607790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.260714057 meters 0.026555468567143227 Centerline is valid? [True, True] Translation: X:122.66, Y:-15.88, Z:-8.70 [[ 9.94712141e-01 8.34100219e-02 5.99209913e-02 1.22661379e+02] [-8.30947563e-02 9.96511605e-01 -7.73838753e-03 -1.58835507e+01] [-6.03574223e-02 2.71834786e-03 9.98173127e-01 -8.69805896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.290714057 meters 0.02910825354388991 Centerline is valid? [True, True] Translation: X:122.69, Y:-15.89, Z:-8.70 [[ 9.94841687e-01 8.21293818e-02 5.95380773e-02 1.22689849e+02] [-8.18160058e-02 9.96617811e-01 -7.68636629e-03 -1.58936062e+01] [-5.99679848e-02 2.77554993e-03 9.98196442e-01 -8.70113076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.320714057 meters 0.027171774270812476 Centerline is valid? [True, True] Translation: X:122.72, Y:-15.89, Z:-8.70 [[ 9.94897324e-01 8.12155362e-02 5.98611080e-02 1.22720507e+02] [-8.08970728e-02 9.96692497e-01 -7.72846347e-03 -1.58945454e+01] [-6.02907885e-02 2.84643921e-03 9.98176797e-01 -8.70229214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.350714057 meters 0.028205844719184445 Centerline is valid? [True, True] Translation: X:122.75, Y:-15.90, Z:-8.70 [[ 9.94908501e-01 8.05444127e-02 6.05778230e-02 1.22749269e+02] [-8.02170181e-02 9.96746738e-01 -7.82113695e-03 -1.59013859e+01] [-6.10106963e-02 2.92194331e-03 9.98132835e-01 -8.70400647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.380714057 meters 0.028123790207014634 Centerline is valid? [True, True] Translation: X:122.78, Y:-15.91, Z:-8.71 [[ 9.94932035e-01 7.91562700e-02 6.20042818e-02 1.22779960e+02] [-7.88106604e-02 9.96857472e-01 -8.00377847e-03 -1.59072139e+01] [-6.24429809e-02 3.07661721e-03 9.98043791e-01 -8.70538945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.410714057 meters 0.028956602749420027 Centerline is valid? [True, True] Translation: X:122.81, Y:-15.91, Z:-8.71 [[ 9.94899723e-01 7.90559691e-02 6.26473865e-02 1.22810858e+02] [-7.87028651e-02 9.96865308e-01 -8.08803519e-03 -1.59138744e+01] [-6.30904137e-02 3.11625516e-03 9.98002950e-01 -8.70760615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.44071405700001 meters 0.030518685626834414 Centerline is valid? [True, True] Translation: X:122.84, Y:-15.92, Z:-8.71 [[ 9.94933211e-01 7.87051758e-02 6.25571774e-02 1.22841067e+02] [-7.83514180e-02 9.96892961e-01 -8.09192310e-03 -1.59221631e+01] [-6.29996861e-02 3.14947948e-03 9.98008577e-01 -8.71037695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.470714057 meters 0.029548064377668562 Centerline is valid? [True, True] Translation: X:122.87, Y:-15.93, Z:-8.71 [[ 9.94904011e-01 7.90099104e-02 6.26373961e-02 1.22873049e+02] [-7.86553135e-02 9.96868877e-01 -8.11071048e-03 -1.59258023e+01] [-6.30820973e-02 3.14261436e-03 9.98003393e-01 -8.71242693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.500714057 meters 0.0305996999596596 Centerline is valid? [True, True] Translation: X:122.90, Y:-15.93, Z:-8.72 [[ 9.94947610e-01 7.94018312e-02 6.14377998e-02 1.22904293e+02] [-7.90604985e-02 9.96837953e-01 -7.97074222e-03 -1.59320396e+01] [-6.18764222e-02 3.07316784e-03 9.98079087e-01 -8.71528429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.530714057 meters 0.030045064784921867 Centerline is valid? [True, True] Translation: X:122.94, Y:-15.94, Z:-8.72 [[ 9.95002804e-01 7.88822245e-02 6.12128626e-02 1.22936088e+02] [-7.85414537e-02 9.96879093e-01 -7.95704760e-03 -1.59366863e+01] [-6.16494926e-02 3.10953746e-03 9.98093017e-01 -8.71814768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.560714057 meters 0.02950340953786989 Centerline is valid? [True, True] Translation: X:122.97, Y:-15.94, Z:-8.72 [[ 9.95065955e-01 7.84608585e-02 6.07259360e-02 1.22968220e+02] [-7.81237770e-02 9.96912294e-01 -7.90903765e-03 -1.59419451e+01] [-6.11589821e-02 3.12587461e-03 9.98123143e-01 -8.72100352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.590714057 meters 0.02960796386948851 Centerline is valid? [True, True] Translation: X:123.00, Y:-15.95, Z:-8.72 [[ 9.95018738e-01 7.85085484e-02 6.14338593e-02 1.23000428e+02] [-7.81626437e-02 9.96908383e-01 -8.01731957e-03 -1.59476101e+01] [-6.18733575e-02 3.17555034e-03 9.98078957e-01 -8.72302689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.620714057 meters 0.02960796386948851 Centerline is valid? [True, True] Translation: X:123.03, Y:-15.95, Z:-8.73 [[ 9.94998920e-01 7.87609045e-02 6.14318241e-02 1.23031875e+02] [-7.84145208e-02 9.96888477e-01 -8.03288237e-03 -1.59517544e+01] [-6.18733547e-02 3.17556224e-03 9.98078957e-01 -8.72520672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.650714057 meters 0.03112234608895166 Centerline is valid? [True, True] Translation: X:123.06, Y:-15.96, Z:-8.73 [[ 9.94907597e-01 7.91741674e-02 6.23724702e-02 1.23062637e+02] [-7.88168522e-02 9.96855615e-01 -8.17232714e-03 -1.59586326e+01] [-6.28233843e-02 3.21470859e-03 9.98019483e-01 -8.72655036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.680714057 meters 0.030124868967945292 Centerline is valid? [True, True] Translation: X:123.09, Y:-15.96, Z:-8.73 [[ 9.94801009e-01 8.00298008e-02 6.29776390e-02 1.23094412e+02] [-7.96662615e-02 9.96787314e-01 -8.26663146e-03 -1.59610470e+01] [-6.34368885e-02 3.20646027e-03 9.97980701e-01 -8.72819938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.710714057 meters 0.029764144382289595 Centerline is valid? [True, True] Translation: X:123.12, Y:-15.96, Z:-8.73 [[ 9.94547127e-01 8.22639853e-02 6.40987384e-02 1.23124620e+02] [-8.18908537e-02 9.96605639e-01 -8.43134128e-03 -1.59648660e+01] [-6.45747599e-02 3.13626584e-03 9.97907944e-01 -8.72979337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.740714057 meters 0.0307488859760505 Centerline is valid? [True, True] Translation: X:123.16, Y:-15.97, Z:-8.73 [[ 9.94395222e-01 8.43296209e-02 6.37703514e-02 1.23155290e+02] [-8.39644719e-02 9.96433434e-01 -8.38922833e-03 -1.59690987e+01] [-6.42503707e-02 2.98776469e-03 9.97929338e-01 -8.73202645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.770714057 meters 0.027553745253541494 Centerline is valid? [True, True] Translation: X:123.19, Y:-15.97, Z:-8.73 [[ 9.94248587e-01 8.54981042e-02 6.44966826e-02 1.23186513e+02] [-8.51268747e-02 9.96333972e-01 -8.48711729e-03 -1.59685019e+01] [-6.49858684e-02 2.94790335e-03 9.97881830e-01 -8.73384224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.80071405700001 meters 0.02893318515852469 Centerline is valid? [True, True] Translation: X:123.22, Y:-15.98, Z:-8.74 [[ 9.94122719e-01 8.68503111e-02 6.46300506e-02 1.23216707e+02] [-8.64802804e-02 9.96217247e-01 -8.50635810e-03 -1.59752351e+01] [-6.51243509e-02 2.86713895e-03 9.97873037e-01 -8.73600179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.83071405700001 meters 0.027287717493504938 Centerline is valid? [True, True] Translation: X:123.25, Y:-15.98, Z:-8.74 [[ 9.94065695e-01 8.76649048e-02 6.44069754e-02 1.23247280e+02] [-8.72980796e-02 9.96146029e-01 -8.49318890e-03 -1.59755555e+01] [-6.49033074e-02 2.82018246e-03 9.97887572e-01 -8.73771892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.860714057 meters 0.027656629679546303 Centerline is valid? [True, True] Translation: X:123.28, Y:-15.98, Z:-8.74 [[ 9.93854694e-01 8.94583475e-02 6.51924240e-02 1.23276953e+02] [-8.90863528e-02 9.95986806e-01 -8.59676406e-03 -1.59800176e+01] [-6.56998464e-02 2.73617903e-03 9.97835680e-01 -8.73943227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.890714057 meters 0.027721322957618737 Centerline is valid? [True, True] Translation: X:123.31, Y:-15.98, Z:-8.74 [[ 9.93742969e-01 9.03303458e-02 6.56912478e-02 1.23306796e+02] [-8.99545426e-02 9.95908201e-01 -8.66230857e-03 -1.59845226e+01] [-6.62049218e-02 2.69888208e-03 9.97802397e-01 -8.74126404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.920714057 meters 0.026293328822676813 Centerline is valid? [True, True] Translation: X:123.34, Y:-15.99, Z:-8.74 [[ 9.93716127e-01 9.08163734e-02 6.54266438e-02 1.23337729e+02] [-9.04442148e-02 9.95864097e-01 -8.63395753e-03 -1.59855336e+01] [-6.59401503e-02 2.66224140e-03 9.97820028e-01 -8.74302055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.950714057 meters 0.02554541819496545 Centerline is valid? [True, True] Translation: X:123.37, Y:-15.99, Z:-8.75 [[ 9.93724261e-01 9.10849332e-02 6.49278741e-02 1.23367505e+02] [-9.07190077e-02 9.95839670e-01 -8.56813791e-03 -1.59888013e+01] [-6.54381810e-02 2.62417420e-03 9.97853175e-01 -8.74549085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.980714057 meters 0.02784449440499583 Centerline is valid? [True, True] Translation: X:123.40, Y:-16.00, Z:-8.75 [[ 9.93807798e-01 9.11391349e-02 6.35587887e-02 1.23396215e+02] [-9.07886068e-02 9.95834865e-01 -8.38755301e-03 -1.59980672e+01] [-6.40584921e-02 2.56520171e-03 9.97942849e-01 -8.74893139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.010714057 meters 0.028101509142541583 Centerline is valid? [True, True] Translation: X:123.43, Y:-16.00, Z:-8.75 [[ 9.93880753e-01 9.06777110e-02 6.30761595e-02 1.23426029e+02] [-9.03316475e-02 9.95876964e-01 -8.32260258e-03 -1.60033651e+01] [-6.35707688e-02 2.57390111e-03 9.97974014e-01 -8.75176154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.040714057 meters 0.02599129075436711 Centerline is valid? [True, True] Translation: X:123.46, Y:-16.00, Z:-8.75 [[ 9.93879878e-01 9.09093935e-02 6.27556347e-02 1.23456829e+02] [-9.05673039e-02 9.95855913e-01 -8.28031084e-03 -1.60039853e+01] [-6.32483280e-02 2.54602569e-03 9.97994573e-01 -8.75385100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.070714057 meters 0.026014359257232642 Centerline is valid? [True, True] Translation: X:123.49, Y:-16.01, Z:-8.76 [[ 9.93900801e-01 9.09841418e-02 6.23143955e-02 1.23487214e+02] [-9.06469992e-02 9.95849145e-01 -8.22209141e-03 -1.60091186e+01] [-6.28038174e-02 2.52333027e-03 9.98022702e-01 -8.75609982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.100714057 meters 0.029921596153439558 Centerline is valid? [True, True] Translation: X:123.52, Y:-16.02, Z:-8.76 [[ 9.93844312e-01 9.09055817e-02 6.33218611e-02 1.23515688e+02] [-9.05572684e-02 9.95856201e-01 -8.35511038e-03 -1.60213411e+01] [-6.38189942e-02 2.56942416e-03 9.97958183e-01 -8.75888943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.130714057 meters 0.025757950374462754 Centerline is valid? [True, True] Translation: X:123.55, Y:-16.02, Z:-8.76 [[ 9.93833273e-01 9.05613710e-02 6.39848685e-02 1.23546266e+02] [-9.02050800e-02 9.95887437e-01 -8.44139755e-03 -1.60191836e+01] [-6.44861912e-02 2.61758157e-03 9.97915166e-01 -8.75923993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.160714057 meters 0.02687819282390918 Centerline is valid? [True, True] Translation: X:123.58, Y:-16.03, Z:-8.76 [[ 9.93922830e-01 8.97897416e-02 6.36805377e-02 1.23575221e+02] [-8.94353337e-02 9.95957208e-01 -8.40006094e-03 -1.60255411e+01] [-6.41773298e-02 2.65372220e-03 9.97934982e-01 -8.76200334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.19071405700001 meters 0.027111381294353736 Centerline is valid? [True, True] Translation: X:123.61, Y:-16.03, Z:-8.76 [[ 9.94232160e-01 8.68917665e-02 6.28667811e-02 1.23605588e+02] [-8.65406788e-02 9.96213814e-01 -8.29137539e-03 -1.60315246e+01] [-6.33492081e-02 2.80301816e-03 9.97987485e-01 -8.76477167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.220714057 meters 0.028501015902059532 Centerline is valid? [True, True] Translation: X:123.64, Y:-16.04, Z:-8.77 [[ 9.94423710e-01 8.47703817e-02 6.27333001e-02 1.23635908e+02] [-8.44165407e-02 9.96396198e-01 -8.27433551e-03 -1.60390466e+01] [-6.32086403e-02 2.93246723e-03 9.97996026e-01 -8.76733460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.250714057 meters 0.03178016453879154 Centerline is valid? [True, True] Translation: X:123.66, Y:-16.05, Z:-8.77 [[ 9.94776654e-01 7.96226115e-02 6.38721274e-02 1.23664016e+02] [-7.92446207e-02 9.96819524e-01 -8.43364875e-03 -1.60500969e+01] [-6.43404928e-02 3.32807438e-03 9.97922454e-01 -8.76857775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.280714057 meters 0.0329691419219806 Centerline is valid? [True, True] Translation: X:123.70, Y:-16.06, Z:-8.77 [[ 9.94896023e-01 7.80989465e-02 6.38941117e-02 1.23695445e+02] [-7.77176919e-02 9.96939727e-01 -8.43457576e-03 -1.60553885e+01] [-6.43573097e-02 3.42582300e-03 9.97921039e-01 -8.77008657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.310714057 meters 0.03384739378256564 Centerline is valid? [True, True] Translation: X:123.72, Y:-16.06, Z:-8.77 [[ 9.95134715e-01 7.42183796e-02 6.47960688e-02 1.23724769e+02] [-7.38170090e-02 9.97234980e-01 -8.56990264e-03 -1.60622873e+01] [-6.52529507e-02 3.74515562e-03 9.97861727e-01 -8.77161923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.340714057 meters 0.03613120353725701 Centerline is valid? [True, True] Translation: X:123.75, Y:-16.07, Z:-8.77 [[ 9.95539799e-01 6.90227671e-02 6.43145884e-02 1.23754656e+02] [-6.86165550e-02 9.97606843e-01 -8.50621046e-03 -1.60699494e+01] [-6.47477957e-02 4.05522556e-03 9.97893420e-01 -8.77431524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.370714057 meters 0.03455586734549492 Centerline is valid? [True, True] Translation: X:123.78, Y:-16.07, Z:-8.78 [[ 9.95864430e-01 6.53315469e-02 6.31333968e-02 1.23784939e+02] [-6.49327536e-02 9.97854705e-01 -8.35012637e-03 -1.60717180e+01] [-6.35434838e-02 4.21616854e-03 9.97970165e-01 -8.77698778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.400714057 meters 0.0373725988465795 Centerline is valid? [True, True] Translation: X:123.82, Y:-16.08, Z:-8.78 [[ 9.95905291e-01 6.56299742e-02 6.21720019e-02 1.23816033e+02] [-6.52438783e-02 9.97835473e-01 -8.22223335e-03 -1.60785011e+01] [-6.25770539e-02 4.13222318e-03 9.98031581e-01 -8.77985751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.430714057 meters 0.03744749737359715 Centerline is valid? [True, True] Translation: X:123.85, Y:-16.08, Z:-8.78 [[ 9.95990878e-01 6.42451603e-02 6.22473281e-02 1.23846189e+02] [-6.38542664e-02 9.97925126e-01 -8.25084084e-03 -1.60830337e+01] [-6.26482493e-02 4.24300475e-03 9.98026650e-01 -8.78260165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.460714057 meters 0.03553703325307237 Centerline is valid? [True, True] Translation: X:123.88, Y:-16.08, Z:-8.79 [[ 9.96034419e-01 6.45204770e-02 6.12580217e-02 1.23879811e+02] [-6.41424214e-02 9.97907718e-01 -8.12012060e-03 -1.60821911e+01] [-6.16537667e-02 4.15868176e-03 9.98088933e-01 -8.78505308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.490714057 meters 0.0354496824828521 Centerline is valid? [True, True] Translation: X:123.91, Y:-16.08, Z:-8.79 [[ 9.96036123e-01 6.53465841e-02 6.03478646e-02 1.23912406e+02] [-6.49801206e-02 9.97854352e-01 -8.01728223e-03 -1.60839908e+01] [-6.07422813e-02 4.06409119e-03 9.98145209e-01 -8.78714548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.520714057 meters 0.03562600799557119 Centerline is valid? [True, True] Translation: X:123.94, Y:-16.09, Z:-8.79 [[ 9.96101680e-01 6.42972158e-02 6.03929788e-02 1.23944246e+02] [-6.39273166e-02 9.97922176e-01 -8.03918088e-03 -1.60854354e+01] [-6.07843898e-02 4.14708051e-03 9.98142304e-01 -8.78991887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.55071405700001 meters 0.0368050224692911 Centerline is valid? [True, True] Translation: X:123.98, Y:-16.09, Z:-8.79 [[ 9.96098410e-01 6.45617350e-02 6.01642824e-02 1.23975396e+02] [-6.41942595e-02 9.97905171e-01 -8.02285766e-03 -1.60905644e+01] [-6.05562181e-02 4.12935420e-03 9.98156247e-01 -8.79211859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.58071405700001 meters 0.03570423936469552 Centerline is valid? [True, True] Translation: X:124.01, Y:-16.09, Z:-8.79 [[ 9.96107504e-01 6.45262704e-02 6.00516574e-02 1.24007438e+02] [-6.41590990e-02 9.97907419e-01 -8.02449217e-03 -1.60919800e+01] [-6.04437850e-02 4.14039663e-03 9.98163016e-01 -8.79452008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.610714057 meters 0.03592771392332742 Centerline is valid? [True, True] Translation: X:124.04, Y:-16.09, Z:-8.80 [[ 9.96075796e-01 6.52384884e-02 5.98075966e-02 1.24039557e+02] [-6.48746499e-02 9.97861295e-01 -8.00724417e-03 -1.60931529e+01] [-6.02020663e-02 4.09582522e-03 9.98177808e-01 -8.79683870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.640714057 meters 0.03902547431294148 Centerline is valid? [True, True] Translation: X:124.07, Y:-16.10, Z:-8.80 [[ 9.96030794e-01 6.61768235e-02 5.95254945e-02 1.24069941e+02] [-6.58171082e-02 9.97799748e-01 -7.98567476e-03 -1.60986638e+01] [-5.99229900e-02 4.03618206e-03 9.98194843e-01 -8.79944070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.670714057 meters 0.03804007609481868 Centerline is valid? [True, True] Translation: X:124.10, Y:-16.10, Z:-8.80 [[ 9.96094882e-01 6.41800254e-02 6.06292824e-02 1.24101672e+02] [-6.38025404e-02 9.97929314e-01 -8.14366782e-03 -1.60985928e+01] [-6.10263990e-02 4.24356360e-03 9.98127132e-01 -8.80082680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.700714057 meters 0.03843288498681913 Centerline is valid? [True, True] Translation: X:124.13, Y:-16.10, Z:-8.80 [[ 9.96136131e-01 6.36460929e-02 6.05143233e-02 1.24134145e+02] [-6.32690280e-02 9.97963403e-01 -8.12876420e-03 -1.61016424e+01] [-6.09084441e-02 4.26867330e-03 9.98134229e-01 -8.80286291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.730714057 meters 0.03495017958415531 Centerline is valid? [True, True] Translation: X:124.17, Y:-16.10, Z:-8.80 [[ 9.96173421e-01 6.29892851e-02 6.05876741e-02 1.24167309e+02] [-6.26091678e-02 9.98004813e-01 -8.15381886e-03 -1.60993868e+01] [-6.09803936e-02 4.32927377e-03 9.98129575e-01 -8.80438950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.760714057 meters 0.042047810878400815 Centerline is valid? [True, True] Translation: X:124.20, Y:-16.11, Z:-8.81 [[ 9.96336842e-01 6.05313908e-02 6.04056904e-02 1.24195687e+02] [-6.01480134e-02 9.98156225e-01 -8.14662928e-03 -1.61110144e+01] [-6.07874427e-02 4.48350461e-03 9.98140664e-01 -8.80754895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.790714057 meters 0.03898078483388257 Centerline is valid? [True, True] Translation: X:124.23, Y:-16.11, Z:-8.81 [[ 9.96470667e-01 5.87883059e-02 5.99178261e-02 1.24227800e+02] [-5.84076772e-02 9.98260068e-01 -8.08575992e-03 -1.61091796e+01] [-6.02889213e-02 4.55756152e-03 9.98170564e-01 -8.80943001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.820714057 meters 0.04081963084140449 Centerline is valid? [True, True] Translation: X:124.26, Y:-16.11, Z:-8.81 [[ 9.96739352e-01 5.51837060e-02 5.88678479e-02 1.24257910e+02] [-5.48099322e-02 9.98465184e-01 -7.94649265e-03 -1.61129286e+01] [-5.92160135e-02 4.69403918e-03 9.98234156e-01 -8.81230970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.850714057 meters 0.04189801658324703 Centerline is valid? [True, True] Translation: X:124.29, Y:-16.12, Z:-8.81 [[ 9.96837413e-01 5.34532562e-02 5.88040922e-02 1.24288856e+02] [-5.30773117e-02 9.98558857e-01 -7.93775229e-03 -1.61172927e+01] [-5.91436458e-02 4.79148533e-03 9.98237983e-01 -8.81442743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.880714057 meters 0.04236629013526845 Centerline is valid? [True, True] Translation: X:124.32, Y:-16.12, Z:-8.82 [[ 9.96974225e-01 5.15840669e-02 5.81504863e-02 1.24319773e+02] [-5.12131559e-02 9.98656879e-01 -7.85181520e-03 -1.61194967e+01] [-5.84774117e-02 4.84998746e-03 9.98276951e-01 -8.81682743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.910714057 meters 0.043070030848601545 Centerline is valid? [True, True] Translation: X:124.35, Y:-16.12, Z:-8.82 [[ 9.96977137e-01 5.13496404e-02 5.83078236e-02 1.24351927e+02] [-5.09763916e-02 9.98668835e-01 -7.87181816e-03 -1.61231364e+01] [-5.86344213e-02 4.87570028e-03 9.98267616e-01 -8.81931499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.94071405700001 meters 0.0428012419458593 Centerline is valid? [True, True] Translation: X:124.39, Y:-16.12, Z:-8.82 [[ 9.97004665e-01 5.16945184e-02 5.75271650e-02 1.24385255e+02] [-5.13309676e-02 9.98651389e-01 -7.78047089e-03 -1.61233644e+01] [-5.78517909e-02 4.80424073e-03 9.98313623e-01 -8.82168184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.970714057 meters 0.04348025113803511 Centerline is valid? [True, True] Translation: X:124.42, Y:-16.13, Z:-8.82 [[ 9.96982583e-01 5.21656417e-02 5.74845698e-02 1.24417737e+02] [-5.18023110e-02 9.98626947e-01 -7.79363478e-03 -1.61267267e+01] [-5.78122004e-02 4.79228457e-03 9.98315974e-01 -8.82419542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.00071405699998 meters 0.0436409110126191 Centerline is valid? [True, True] Translation: X:124.45, Y:-16.13, Z:-8.83 [[ 9.96902401e-01 5.38955676e-02 5.72788862e-02 1.24449185e+02] [-5.35373379e-02 9.98535606e-01 -7.77149433e-03 -1.61264733e+01] [-5.76138565e-02 4.68086227e-03 9.98327969e-01 -8.82622030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.03071405699998 meters 0.042599388798055714 Centerline is valid? [True, True] Translation: X:124.48, Y:-16.13, Z:-8.83 [[ 9.96869398e-01 5.36559390e-02 5.80727363e-02 1.24481144e+02] [-5.32872938e-02 9.98548137e-01 -7.87917781e-03 -1.61278349e+01] [-5.84111874e-02 4.75997228e-03 9.98281261e-01 -8.82807182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.06071405699998 meters 0.040726819654369584 Centerline is valid? [True, True] Translation: X:124.51, Y:-16.13, Z:-8.83 [[ 9.96717464e-01 5.51982976e-02 5.92236787e-02 1.24513036e+02] [-5.48165443e-02 9.98463971e-01 -8.05259743e-03 -1.61254290e+01] [-5.95771991e-02 4.77972709e-03 9.98212258e-01 -8.82863138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.09071405699999 meters 0.04066251198105872 Centerline is valid? [True, True] Translation: X:124.54, Y:-16.13, Z:-8.83 [[ 9.96613774e-01 5.63820197e-02 5.98502595e-02 1.24544939e+02] [-5.59942257e-02 9.98397925e-01 -8.13822553e-03 -1.61273298e+01] [-6.02132244e-02 4.75939872e-03 9.98174191e-01 -8.83040280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.120714057 meters 0.03825030429827768 Centerline is valid? [True, True] Translation: X:124.58, Y:-16.13, Z:-8.83 [[ 9.96522202e-01 5.75367888e-02 6.02745314e-02 1.24577701e+02] [-5.71446232e-02 9.98332141e-01 -8.21142499e-03 -1.61260480e+01] [-6.06464610e-02 4.73850193e-03 9.98148062e-01 -8.83234289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.150714057 meters 0.04328340688137115 Centerline is valid? [True, True] Translation: X:124.61, Y:-16.13, Z:-8.84 [[ 9.96466219e-01 5.90482084e-02 5.97359409e-02 1.24607803e+02] [-5.86646841e-02 9.98244431e-01 -8.15538019e-03 -1.61337053e+01] [-6.01126309e-02 4.62217077e-03 9.98180899e-01 -8.83543945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.180714057 meters 0.039648508966698415 Centerline is valid? [True, True] Translation: X:124.64, Y:-16.13, Z:-8.84 [[ 9.96420311e-01 5.98118715e-02 5.97419812e-02 1.24640740e+02] [-5.94296080e-02 9.98199174e-01 -8.15661339e-03 -1.61302521e+01] [-6.01222586e-02 4.57697273e-03 9.98180527e-01 -8.83769259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.210714057 meters 0.04017121114312713 Centerline is valid? [True, True] Translation: X:124.67, Y:-16.13, Z:-8.84 [[ 9.96390813e-01 6.01085274e-02 5.99359129e-02 1.24673122e+02] [-5.97233952e-02 9.98181299e-01 -8.19818509e-03 -1.61342155e+01] [-6.03196882e-02 4.58902009e-03 9.98168561e-01 -8.84068443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.240714057 meters 0.03987394572708823 Centerline is valid? [True, True] Translation: X:124.71, Y:-16.14, Z:-8.84 [[ 9.96387539e-01 6.03496895e-02 5.97476930e-02 1.24705787e+02] [-5.99663664e-02 9.98166801e-01 -8.18970860e-03 -1.61366757e+01] [-6.01324100e-02 4.57727155e-03 9.98179915e-01 -8.84331491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.270714057 meters 0.041864000400394216 Centerline is valid? [True, True] Translation: X:124.74, Y:-16.14, Z:-8.85 [[ 9.96458382e-01 6.02870965e-02 5.86187631e-02 1.24736286e+02] [-5.99169640e-02 9.98170880e-01 -8.05310559e-03 -1.61407739e+01] [-5.89970407e-02 4.51232624e-03 9.98247959e-01 -8.84706296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.300714057 meters 0.04202983135294866 Centerline is valid? [True, True] Translation: X:124.77, Y:-16.14, Z:-8.85 [[ 9.96478222e-01 6.03592663e-02 5.82057738e-02 1.24768439e+02] [-5.99940604e-02 9.98166650e-01 -8.00319177e-03 -1.61440150e+01] [-5.85821290e-02 4.48300559e-03 9.98272526e-01 -8.84981271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.330714057 meters 0.03720475410360635 Centerline is valid? [True, True] Translation: X:124.80, Y:-16.14, Z:-8.85 [[ 9.96500003e-01 6.02754253e-02 5.79190646e-02 1.24801897e+02] [-5.99128430e-02 9.98171730e-01 -7.97798236e-03 -1.61389634e+01] [-5.82940492e-02 4.47996362e-03 9.98289404e-01 -8.85126529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.360714057 meters 0.03802535344900118 Centerline is valid? [True, True] Translation: X:124.83, Y:-16.14, Z:-8.85 [[ 9.96489824e-01 6.02683793e-02 5.81012327e-02 1.24832285e+02] [-5.99025698e-02 9.98172019e-01 -8.01891073e-03 -1.61432516e+01] [-5.84783115e-02 4.51034979e-03 9.98278490e-01 -8.85341613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.390714057 meters 0.038828101490491373 Centerline is valid? [True, True] Translation: X:124.86, Y:-16.15, Z:-8.85 [[ 9.96469864e-01 5.99939148e-02 5.87242733e-02 1.24863891e+02] [-5.96190381e-02 9.98188204e-01 -8.11663242e-03 -1.61475439e+01] [-5.91048255e-02 4.58689491e-03 9.98241243e-01 -8.85487257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.420714057 meters 0.04694665127995096 Centerline is valid? [True, True] Translation: X:124.89, Y:-16.16, Z:-8.86 [[ 9.96404047e-01 5.99023297e-02 5.99223307e-02 1.24893356e+02] [-5.95108450e-02 9.98193167e-01 -8.29823052e-03 -1.61606268e+01] [-6.03111444e-02 4.70236193e-03 9.98168550e-01 -8.85702817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.450714057 meters 0.0411175496749591 Centerline is valid? [True, True] Translation: X:124.93, Y:-16.16, Z:-8.86 [[ 9.96363752e-01 5.98139791e-02 6.06758811e-02 1.24926517e+02] [-5.94115196e-02 9.98198088e-01 -8.41710136e-03 -1.61562495e+01] [-6.10700089e-02 4.78164839e-03 9.98122032e-01 -8.85797066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.480714057 meters 0.04832008466457085 Centerline is valid? [True, True] Translation: X:124.96, Y:-16.17, Z:-8.86 [[ 9.96356133e-01 5.90010103e-02 6.15900788e-02 1.24956158e+02] [-5.85837782e-02 9.98245796e-01 -8.55988110e-03 -1.61682065e+01] [-6.19870789e-02 4.92051051e-03 9.98064823e-01 -8.86069235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.510714057 meters 0.03991375271919843 Centerline is valid? [True, True] Translation: X:124.99, Y:-16.16, Z:-8.86 [[ 9.96379501e-01 5.86770430e-02 6.15214979e-02 1.24989511e+02] [-5.82592495e-02 9.98264749e-01 -8.56451303e-03 -1.61600841e+01] [-6.19172830e-02 4.94930892e-03 9.98069013e-01 -8.86207845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54071405699997 meters 0.03991375271919843 Centerline is valid? [True, True] Translation: X:125.02, Y:-16.16, Z:-8.86 [[ 9.96362613e-01 5.89653428e-02 6.15193529e-02 1.25021831e+02] [-5.85471514e-02 9.98247773e-01 -8.57989177e-03 -1.61646589e+01] [-6.19174733e-02 4.94690052e-03 9.98069013e-01 -8.86432081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.57071405699998 meters 0.04220031259345942 Centerline is valid? [True, True] Translation: X:125.05, Y:-16.17, Z:-8.87 [[ 9.96542865e-01 5.68958095e-02 6.05407779e-02 1.25051404e+02] [-5.64858779e-02 9.98367533e-01 -8.46256764e-03 -1.61702709e+01] [-6.09234317e-02 5.01361240e-03 9.98129851e-01 -8.86782398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60071405699998 meters 0.04364669849499773 Centerline is valid? [True, True] Translation: X:125.08, Y:-16.18, Z:-8.87 [[ 9.96687214e-01 5.54971119e-02 5.94530747e-02 1.25080598e+02] [-5.50990716e-02 9.98446271e-01 -8.31486519e-03 -1.61755775e+01] [-5.98221517e-02 5.01151060e-03 9.98196471e-01 -8.87117344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.63071405699998 meters 0.040826465656238355 Centerline is valid? [True, True] Translation: X:125.11, Y:-16.18, Z:-8.87 [[ 9.96813639e-01 5.42715024e-02 5.84565914e-02 1.25112890e+02] [-5.38843092e-02 9.98513673e-01 -8.18082027e-03 -1.61761924e+01] [-5.88136912e-02 5.00486019e-03 9.98256431e-01 -8.87431074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.66071405699998 meters 0.04416025790808627 Centerline is valid? [True, True] Translation: X:125.14, Y:-16.18, Z:-8.88 [[ 9.97047153e-01 5.15372989e-02 5.69287495e-02 1.25141228e+02] [-5.11654243e-02 9.98658376e-01 -7.97162499e-03 -1.61839694e+01] [-5.72632086e-02 5.03530238e-03 9.98346418e-01 -8.87825705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.69071405699998 meters 0.04645030285904698 Centerline is valid? [True, True] Translation: X:125.17, Y:-16.19, Z:-8.88 [[ 9.97152022e-01 5.09442334e-02 5.56105249e-02 1.25171687e+02] [-5.05885624e-02 9.98689231e-01 -7.78575558e-03 -1.61888654e+01] [-5.59342717e-02 4.95032541e-03 9.98422181e-01 -8.88100616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.72071405699998 meters 0.04596920651421609 Centerline is valid? [True, True] Translation: X:125.20, Y:-16.19, Z:-8.88 [[ 9.97146275e-01 5.15425829e-02 5.51603863e-02 1.25204055e+02] [-5.11928583e-02 9.98658828e-01 -7.73539801e-03 -1.61909549e+01] [-5.54851091e-02 4.88950548e-03 9.98447543e-01 -8.88297749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.75071405699998 meters 0.046306572629037084 Centerline is valid? [True, True] Translation: X:125.24, Y:-16.19, Z:-8.89 [[ 9.97086106e-01 5.28298334e-02 5.50300536e-02 1.25235508e+02] [-5.24827938e-02 9.98591883e-01 -7.73356287e-03 -1.61940718e+01] [-5.53611276e-02 4.82289713e-03 9.98454749e-01 -8.88527675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.78071405699998 meters 0.04168805652608727 Centerline is valid? [True, True] Translation: X:125.27, Y:-16.19, Z:-8.89 [[ 9.96807975e-01 5.69697925e-02 5.59312486e-02 1.25266904e+02] [-5.66175280e-02 9.98364970e-01 -7.86397051e-03 -1.61889469e+01] [-5.62878081e-02 4.67217948e-03 9.98403653e-01 -8.88565823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.81071405699998 meters 0.04208042401889992 Centerline is valid? [True, True] Translation: X:125.30, Y:-16.19, Z:-8.89 [[ 9.96378197e-01 6.26343248e-02 5.75102670e-02 1.25296500e+02] [-6.22712149e-02 9.98026508e-01 -8.08613196e-03 -1.61892062e+01] [-5.79032403e-02 4.47561138e-03 9.98312167e-01 -8.88669427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.84071405699999 meters 0.039702132543122035 Centerline is valid? [True, True] Translation: X:125.33, Y:-16.19, Z:-8.89 [[ 9.96151938e-01 6.55234610e-02 5.82064626e-02 1.25328379e+02] [-6.51564919e-02 9.97841511e-01 -8.18231468e-03 -1.61877204e+01] [-5.86169582e-02 4.35829971e-03 9.98271034e-01 -8.88765486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.870714057 meters 0.042451714619249466 Centerline is valid? [True, True] Translation: X:125.36, Y:-16.19, Z:-8.89 [[ 9.95879969e-01 6.83848244e-02 5.95533558e-02 1.25357331e+02] [-6.80056015e-02 9.97649797e-01 -8.37383152e-03 -1.61934021e+01] [-5.99860364e-02 4.28936929e-03 9.98190000e-01 -8.88949959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.900714057 meters 0.0360665557463893 Centerline is valid? [True, True] Translation: X:125.39, Y:-16.19, Z:-8.89 [[ 9.95437829e-01 7.23518135e-02 6.21992305e-02 1.25389311e+02] [-7.19457842e-02 9.97370199e-01 -8.74588679e-03 -1.61850150e+01] [-6.26684397e-02 4.23101414e-03 9.98025433e-01 -8.88888370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.930714057 meters 0.03545474293856245 Centerline is valid? [True, True] Translation: X:125.42, Y:-16.19, Z:-8.89 [[ 9.95305380e-01 7.36607784e-02 6.27796947e-02 1.25418614e+02] [-7.32497128e-02 9.97274563e-01 -8.82749421e-03 -1.61869353e+01] [-6.32588327e-02 4.18745788e-03 9.97988369e-01 -8.89022048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.960714057 meters 0.034072513181353806 Centerline is valid? [True, True] Translation: X:125.45, Y:-16.19, Z:-8.89 [[ 9.95243943e-01 7.43268816e-02 6.29683175e-02 1.25448827e+02] [-7.39148100e-02 9.97225274e-01 -8.85172074e-03 -1.61867585e+01] [-6.34515185e-02 4.15533022e-03 9.97976271e-01 -8.89249448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.990714057 meters 0.03581507031708302 Centerline is valid? [True, True] Translation: X:125.48, Y:-16.19, Z:-8.90 [[ 9.95364096e-01 7.33118423e-02 6.22550419e-02 1.25476489e+02] [-7.29072302e-02 9.97300349e-01 -8.74927748e-03 -1.61927640e+01] [-6.27284006e-02 4.16987400e-03 9.98021924e-01 -8.89546718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.020714057 meters 0.03591595016331845 Centerline is valid? [True, True] Translation: X:125.51, Y:-16.20, Z:-8.90 [[ 9.95619045e-01 7.13053466e-02 6.04835872e-02 1.25505981e+02] [-7.09200001e-02 9.97445817e-01 -8.49679924e-03 -1.61967486e+01] [-6.09349682e-02 4.17007914e-03 9.98133027e-01 -8.89933128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.050714057 meters 0.03667465928744617 Centerline is valid? [True, True] Translation: X:125.54, Y:-16.20, Z:-8.90 [[ 9.95808562e-01 6.95044744e-02 5.94511176e-02 1.25535546e+02] [-6.91290636e-02 9.97572774e-01 -8.35068998e-03 -1.62018176e+01] [-5.98872266e-02 4.20588849e-03 9.98196289e-01 -8.90254746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.080714057 meters 0.040171828340593144 Centerline is valid? [True, True] Translation: X:125.56, Y:-16.21, Z:-8.91 [[ 9.95976658e-01 6.80959539e-02 5.82532296e-02 1.25563734e+02] [-6.77332067e-02 9.97669924e-01 -8.18138977e-03 -1.62108546e+01] [-5.86746147e-02 4.20279519e-03 9.98268314e-01 -8.90618208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.110714057 meters 0.04234333123420269 Centerline is valid? [True, True] Translation: X:125.59, Y:-16.22, Z:-8.91 [[ 9.96250155e-01 6.57219697e-02 5.62694553e-02 1.25592553e+02] [-6.53798328e-02 9.97829163e-01 -7.90179002e-03 -1.62174148e+01] [-5.66666247e-02 4.19327196e-03 9.98384350e-01 -8.91000199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.140714057 meters 0.04027369518216914 Centerline is valid? [True, True] Translation: X:125.62, Y:-16.22, Z:-8.91 [[ 9.96291382e-01 6.52894567e-02 5.60425593e-02 1.25622986e+02] [-6.49494645e-02 9.97857530e-01 -7.86873795e-03 -1.62184639e+01] [-5.64362354e-02 4.19962159e-03 9.98397373e-01 -8.91196019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.170714057 meters 0.04182648573766192 Centerline is valid? [True, True] Translation: X:125.65, Y:-16.22, Z:-8.91 [[ 9.96224801e-01 6.56571180e-02 5.67916283e-02 1.25651810e+02] [-6.53085740e-02 9.97833258e-01 -7.97362068e-03 -1.62236100e+01] [-5.71921005e-02 4.23453841e-03 9.98354212e-01 -8.91410233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.200714057 meters 0.04147254896196808 Centerline is valid? [True, True] Translation: X:125.68, Y:-16.23, Z:-8.92 [[ 9.96132761e-01 6.66808820e-02 5.72117291e-02 1.25681767e+02] [-6.63287304e-02 9.97765478e-01 -8.03437934e-03 -1.62265228e+01] [-5.76196277e-02 4.20852712e-03 9.98329739e-01 -8.91549203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.230714057 meters 0.03846380697997195 Centerline is valid? [True, True] Translation: X:125.71, Y:-16.22, Z:-8.92 [[ 9.95813554e-01 7.04819205e-02 5.82036409e-02 1.25712601e+02] [-7.01238844e-02 9.97504803e-01 -8.17370976e-03 -1.62239906e+01] [-5.86345101e-02 4.05802558e-03 9.98271269e-01 -8.91548186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.260714057 meters 0.0371572126069231 Centerline is valid? [True, True] Translation: X:125.74, Y:-16.23, Z:-8.92 [[ 9.95621929e-01 7.28621872e-02 5.85497730e-02 1.25742153e+02] [-7.25039601e-02 9.97334231e-01 -8.22242073e-03 -1.62252205e+01] [-5.89927963e-02 3.94133199e-03 9.98250628e-01 -8.91627502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.29071405699997 meters 0.03280370219137107 Centerline is valid? [True, True] Translation: X:125.77, Y:-16.22, Z:-8.92 [[ 9.95302605e-01 7.66433683e-02 5.91482705e-02 1.25773975e+02] [-7.62845536e-02 9.97051508e-01 -8.30406185e-03 -1.62198502e+01] [-5.96103236e-02 3.75295498e-03 9.98214669e-01 -8.91628254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32071405699998 meters 0.032807596814022476 Centerline is valid? [True, True] Translation: X:125.80, Y:-16.22, Z:-8.92 [[ 9.95199510e-01 7.82086824e-02 5.88331323e-02 1.25802875e+02] [-7.78563871e-02 9.96930365e-01 -8.26017494e-03 -1.62225238e+01] [-5.92985534e-02 3.63998693e-03 9.98233656e-01 -8.91820632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.35071405699998 meters 0.033901414625720584 Centerline is valid? [True, True] Translation: X:125.83, Y:-16.23, Z:-8.92 [[ 9.95078494e-01 8.00352048e-02 5.84222325e-02 1.25830699e+02] [-7.96912054e-02 9.96785885e-01 -8.19821253e-03 -1.62270550e+01] [-5.88906023e-02 3.50212685e-03 9.98258299e-01 -8.92123624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.38071405699998 meters 0.03419495004651793 Centerline is valid? [True, True] Translation: X:125.86, Y:-16.23, Z:-8.92 [[ 9.95037060e-01 8.07357501e-02 5.81634659e-02 1.25858680e+02] [-8.03962464e-02 9.96729602e-01 -8.15748208e-03 -1.62317787e+01] [-5.86318487e-02 3.44087265e-03 9.98273743e-01 -8.92402197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.41071405699998 meters 0.03339650547944819 Centerline is valid? [True, True] Translation: X:125.89, Y:-16.23, Z:-8.93 [[ 9.95000277e-01 8.18298573e-02 5.72566509e-02 1.25887368e+02] [-8.15028381e-02 9.96640781e-01 -8.02747836e-03 -1.62339174e+01] [-5.77212007e-02 3.32076365e-03 9.98327219e-01 -8.92584333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.44071405699998 meters 0.033177045625021946 Centerline is valid? [True, True] Translation: X:125.91, Y:-16.24, Z:-8.93 [[ 9.94903084e-01 8.34781017e-02 5.65619959e-02 1.25914967e+02] [-8.31618547e-02 9.96504532e-01 -7.92618714e-03 -1.62370214e+01] [-5.70259483e-02 3.18198755e-03 9.98367626e-01 -8.92868424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.47071405699998 meters 0.03208453748600251 Centerline is valid? [True, True] Translation: X:125.94, Y:-16.24, Z:-8.93 [[ 9.94700594e-01 8.64045962e-02 5.57223031e-02 1.25944748e+02] [-8.61025732e-02 9.96255721e-01 -7.80284813e-03 -1.62376770e+01] [-5.61878652e-02 2.96366399e-03 9.98415815e-01 -8.93084583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.50071405699998 meters 0.02995064137128097 Centerline is valid? [True, True] Translation: X:125.97, Y:-16.24, Z:-8.93 [[ 9.94574017e-01 8.79210511e-02 5.56094755e-02 1.25974036e+02] [-8.76226970e-02 9.96123310e-01 -7.78555571e-03 -1.62367624e+01] [-5.60784090e-02 2.87065920e-03 9.98422241e-01 -8.93149188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.53071405699998 meters 0.02884529894452995 Centerline is valid? [True, True] Translation: X:126.00, Y:-16.24, Z:-8.93 [[ 9.94430898e-01 8.93671871e-02 5.58631740e-02 1.26002990e+02] [-8.90686044e-02 9.95994818e-01 -7.81701083e-03 -1.62377357e+01] [-5.63380161e-02 2.79782216e-03 9.98407833e-01 -8.93242020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.56071405699998 meters 0.028361576674839892 Centerline is valid? [True, True] Translation: X:126.03, Y:-16.24, Z:-8.93 [[ 9.94087686e-01 9.24147735e-02 5.70016019e-02 1.26032134e+02] [-9.21091461e-02 9.95717007e-01 -7.97159827e-03 -1.62401864e+01] [-5.74941579e-02 2.67409880e-03 9.98342261e-01 -8.93441262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.59071405699999 meters 0.028759058369309958 Centerline is valid? [True, True] Translation: X:126.06, Y:-16.25, Z:-8.94 [[ 9.93959882e-01 9.35160937e-02 5.74325110e-02 1.26059937e+02] [-9.32077561e-02 9.95614299e-01 -8.03011657e-03 -1.62450127e+01] [-5.79315743e-02 2.62845824e-03 9.98317096e-01 -8.93629084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.620714057 meters 0.03119229636493528 Centerline is valid? [True, True] Translation: X:126.09, Y:-16.25, Z:-8.94 [[ 9.93861762e-01 9.42665978e-02 5.79016921e-02 1.26086655e+02] [-9.39546787e-02 9.95543589e-01 -8.09206866e-03 -1.62517455e+01] [-5.84064701e-02 2.60226275e-03 9.98289493e-01 -8.93848698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.650714057 meters 0.03198867468073782 Centerline is valid? [True, True] Translation: X:126.11, Y:-16.26, Z:-8.94 [[ 9.93922328e-01 9.37610086e-02 5.76825764e-02 1.26113868e+02] [-9.34510598e-02 9.95591302e-01 -8.05355370e-03 -1.62559172e+01] [-5.81833806e-02 2.61410895e-03 9.98302490e-01 -8.94059536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.680714057 meters 0.02864936910351159 Centerline is valid? [True, True] Translation: X:126.14, Y:-16.25, Z:-8.94 [[ 9.94016368e-01 9.30574952e-02 5.71993221e-02 1.26143191e+02] [-9.27518451e-02 9.95657268e-01 -7.98120020e-03 -1.62540933e+01] [-5.76936313e-02 2.62810098e-03 9.98330876e-01 -8.94124153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.710714057 meters 0.028497446046562906 Centerline is valid? [True, True] Translation: X:126.17, Y:-16.26, Z:-8.94 [[ 9.94290833e-01 9.05861616e-02 5.63904875e-02 1.26172717e+02] [-9.02853933e-02 9.95884886e-01 -7.86392119e-03 -1.62584996e+01] [-5.68707967e-02 2.72778741e-03 9.98377820e-01 -8.94364020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.740714057 meters 0.0292720571144217 Centerline is valid? [True, True] Translation: X:126.20, Y:-16.26, Z:-8.95 [[ 9.94442413e-01 8.90769356e-02 5.61211880e-02 1.26199891e+02] [-8.87766919e-02 9.96020814e-01 -7.82546065e-03 -1.62645354e+01] [-5.65949393e-02 2.79971656e-03 9.98393296e-01 -8.94606443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.770714057 meters 0.030747368469740553 Centerline is valid? [True, True] Translation: X:126.23, Y:-16.27, Z:-8.95 [[ 9.94812813e-01 8.56789878e-02 5.48322761e-02 1.26229271e+02] [-8.53877258e-02 9.96318529e-01 -7.63709668e-03 -1.62717614e+01] [-5.52847513e-02 2.91547827e-03 9.98466372e-01 -8.94828260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.800714057 meters 0.030882592777448977 Centerline is valid? [True, True] Translation: X:126.26, Y:-16.28, Z:-8.95 [[ 9.94997264e-01 8.37841804e-02 5.44119108e-02 1.26258721e+02] [-8.34945888e-02 9.96479418e-01 -7.57782398e-03 -1.62764591e+01] [-5.48552509e-02 2.99681401e-03 9.98489820e-01 -8.95018960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.830714057 meters 0.03227718123625437 Centerline is valid? [True, True] Translation: X:126.29, Y:-16.28, Z:-8.95 [[ 9.95336023e-01 7.98166797e-02 5.41802514e-02 1.26288163e+02] [-7.95238171e-02 9.96804424e-01 -7.54333310e-03 -1.62842413e+01] [-5.46091981e-02 3.19953077e-03 9.98502678e-01 -8.95235828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.860714057 meters 0.032604050547532265 Centerline is valid? [True, True] Translation: X:126.32, Y:-16.29, Z:-8.95 [[ 9.95495187e-01 7.77756957e-02 5.42242857e-02 1.26317238e+02] [-7.74793814e-02 9.96965377e-01 -7.54872920e-03 -1.62894554e+01] [-5.46468431e-02 3.31345947e-03 9.98500247e-01 -8.95431970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.890714057 meters 0.0353159611337747 Centerline is valid? [True, True] Translation: X:126.34, Y:-16.30, Z:-8.96 [[ 9.95650403e-01 7.55671493e-02 5.44966205e-02 1.26344931e+02] [-7.52646513e-02 9.97134746e-01 -7.58487119e-03 -1.62988552e+01] [-5.49136410e-02 3.45021091e-03 9.98485147e-01 -8.95733498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.920714057 meters 0.03604910231441415 Centerline is valid? [True, True] Translation: X:126.37, Y:-16.31, Z:-8.96 [[ 9.95873045e-01 7.23642958e-02 5.47748756e-02 1.26373911e+02] [-7.20540690e-02 9.97371618e-01 -7.62009454e-03 -1.63068024e+01] [-5.51823291e-02 3.64189408e-03 9.98469653e-01 -8.95944765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.950714057 meters 0.03672000723613336 Centerline is valid? [True, True] Translation: X:126.40, Y:-16.31, Z:-8.96 [[ 9.95968805e-01 7.10240064e-02 5.47880475e-02 1.26402727e+02] [-7.07116541e-02 9.97467683e-01 -7.62117860e-03 -1.63125273e+01] [-5.51905935e-02 3.71630268e-03 9.98468922e-01 -8.96175800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.980714057 meters 0.037862053596688545 Centerline is valid? [True, True] Translation: X:126.43, Y:-16.32, Z:-8.96 [[ 9.96174259e-01 6.88582957e-02 5.38087447e-02 1.26432782e+02] [-6.85540110e-02 9.97619346e-01 -7.48255252e-03 -1.63188698e+01] [-5.41958805e-02 3.76512093e-03 9.98523225e-01 -8.96400188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.010714057 meters 0.035716856314333446 Centerline is valid? [True, True] Translation: X:126.46, Y:-16.32, Z:-8.97 [[ 9.96210990e-01 6.84315194e-02 5.36729916e-02 1.26461756e+02] [-6.81280967e-02 9.97648656e-01 -7.46473359e-03 -1.63202235e+01] [-5.40576109e-02 3.77981088e-03 9.98530664e-01 -8.96523020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04071405699997 meters 0.03542357302837723 Centerline is valid? [True, True] Translation: X:126.49, Y:-16.32, Z:-8.97 [[ 9.96275500e-01 6.79005904e-02 5.31473179e-02 1.26490293e+02] [-6.76025446e-02 9.97684979e-01 -7.38777002e-03 -1.63240932e+01] [-5.35259147e-02 3.76736035e-03 9.98559354e-01 -8.96680515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.07071405699998 meters 0.03703478569875919 Centerline is valid? [True, True] Translation: X:126.52, Y:-16.33, Z:-8.97 [[ 9.96307711e-01 6.74766698e-02 5.30833702e-02 1.26517479e+02] [-6.71789399e-02 9.97713685e-01 -7.37521047e-03 -1.63306002e+01] [-5.34596595e-02 3.78189453e-03 9.98562848e-01 -8.96941951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10071405699998 meters 0.03955385981315759 Centerline is valid? [True, True] Translation: X:126.55, Y:-16.34, Z:-8.97 [[ 9.96414250e-01 6.64050340e-02 5.24310310e-02 1.26545259e+02] [-6.61133939e-02 9.97785564e-01 -7.27920995e-03 -1.63392607e+01] [-5.27983020e-02 3.78671512e-03 9.98598017e-01 -8.97252535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.13071405699998 meters 0.039528836007779615 Centerline is valid? [True, True] Translation: X:126.57, Y:-16.34, Z:-8.97 [[ 9.96468269e-01 6.61070902e-02 5.17768526e-02 1.26573929e+02] [-6.58224373e-02 9.97805479e-01 -7.18557794e-03 -1.63433408e+01] [-5.21382449e-02 3.75212177e-03 9.98632828e-01 -8.97439121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.16071405699998 meters 0.04005511367546098 Centerline is valid? [True, True] Translation: X:126.60, Y:-16.35, Z:-8.98 [[ 9.96544675e-01 6.53052893e-02 5.13218250e-02 1.26602852e+02] [-6.50247238e-02 9.97858256e-01 -7.11938522e-03 -1.63483726e+01] [-5.16768403e-02 3.75759794e-03 9.98656790e-01 -8.97632009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.19071405699998 meters 0.041225842183290735 Centerline is valid? [True, True] Translation: X:126.63, Y:-16.35, Z:-8.98 [[ 9.96578199e-01 6.49342174e-02 5.11413887e-02 1.26630713e+02] [-6.46552160e-02 9.97882455e-01 -7.09283890e-03 -1.63540232e+01] [-5.14936624e-02 3.76201109e-03 9.98666236e-01 -8.97863077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.22071405699998 meters 0.039840719982819905 Centerline is valid? [True, True] Translation: X:126.66, Y:-16.36, Z:-8.98 [[ 9.96566782e-01 6.46589129e-02 5.17095159e-02 1.26660148e+02] [-6.43734628e-02 9.97900130e-01 -7.16856125e-03 -1.63564510e+01] [-5.20644440e-02 3.81522942e-03 9.98636439e-01 -8.97989391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.25071405699998 meters 0.03785778548465909 Centerline is valid? [True, True] Translation: X:126.69, Y:-16.36, Z:-8.98 [[ 9.96548599e-01 6.45752605e-02 5.21624857e-02 1.26689496e+02] [-6.42847359e-02 9.97905406e-01 -7.23006212e-03 -1.63573479e+01] [-5.25201096e-02 3.85185666e-03 9.98612438e-01 -8.98052204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.28071405699998 meters 0.0376639976172025 Centerline is valid? [True, True] Translation: X:126.72, Y:-16.36, Z:-8.98 [[ 9.96498148e-01 6.49471953e-02 5.26621502e-02 1.26719282e+02] [-6.46518277e-02 9.97881219e-01 -7.29479836e-03 -1.63601779e+01] [-5.30243473e-02 3.86454880e-03 9.98585742e-01 -8.98146754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.31071405699998 meters 0.036644610222013194 Centerline is valid? [True, True] Translation: X:126.75, Y:-16.36, Z:-8.98 [[ 9.96443933e-01 6.55353892e-02 5.29584888e-02 1.26748538e+02] [-6.52376009e-02 9.97842806e-01 -7.33414210e-03 -1.63622863e+01] [-5.33248929e-02 3.85317664e-03 9.98569782e-01 -8.98227188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.34071405699999 meters 0.03728903785757249 Centerline is valid? [True, True] Translation: X:126.78, Y:-16.37, Z:-8.98 [[ 9.96364429e-01 6.60779272e-02 5.37738907e-02 1.26776633e+02] [-6.57718388e-02 9.97806921e-01 -7.44399142e-03 -1.63668763e+01] [-5.41478439e-02 3.88012058e-03 9.98525391e-01 -8.98394516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.370714057 meters 0.038739061559957225 Centerline is valid? [True, True] Translation: X:126.80, Y:-16.37, Z:-8.99 [[ 9.96252981e-01 6.70103894e-02 5.46772860e-02 1.26804604e+02] [-6.66954826e-02 9.97744691e-01 -7.56597313e-03 -1.63732162e+01] [-5.50609706e-02 3.89089530e-03 9.98475413e-01 -8.98605564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.400714057 meters 0.03658988754600129 Centerline is valid? [True, True] Translation: X:126.83, Y:-16.37, Z:-8.99 [[ 9.96255742e-01 6.69569816e-02 5.46923982e-02 1.26833468e+02] [-6.66419711e-02 9.97748272e-01 -7.56533351e-03 -1.63740652e+01] [-5.50757977e-02 3.89219773e-03 9.98474590e-01 -8.98770655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.430714057 meters 0.03658988754600129 Centerline is valid? [True, True] Translation: X:126.86, Y:-16.38, Z:-8.99 [[ 9.96260522e-01 6.68853858e-02 5.46929419e-02 1.26861517e+02] [-6.65704829e-02 9.97753074e-01 -7.56140066e-03 -1.63778844e+01] [-5.50757981e-02 3.89218942e-03 9.98474590e-01 -8.98965809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.460714057 meters 0.036871862469943305 Centerline is valid? [True, True] Translation: X:126.89, Y:-16.38, Z:-8.99 [[ 9.96291631e-01 6.66912044e-02 5.43623795e-02 1.26889809e+02] [-6.63800302e-02 9.97766138e-01 -7.51175400e-03 -1.63823404e+01] [-5.47419093e-02 3.87532125e-03 9.98493017e-01 -8.99234092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.490714057 meters 0.03745871120732873 Centerline is valid? [True, True] Translation: X:126.92, Y:-16.39, Z:-8.99 [[ 9.96342136e-01 6.61733238e-02 5.40688298e-02 1.26918835e+02] [-6.58649892e-02 9.97800607e-01 -7.46675291e-03 -1.63875194e+01] [-5.44440110e-02 3.87819766e-03 9.98509294e-01 -8.99457810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.520714057 meters 0.03818189951024052 Centerline is valid? [True, True] Translation: X:126.95, Y:-16.39, Z:-9.00 [[ 9.96480281e-01 6.48528353e-02 5.31145805e-02 1.26947675e+02] [-6.45535374e-02 9.97887302e-01 -7.33308484e-03 -1.63935413e+01] [-5.34779368e-02 3.87854039e-03 9.98561499e-01 -8.99748615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.550714057 meters 0.03962082228991225 Centerline is valid? [True, True] Translation: X:126.98, Y:-16.40, Z:-9.00 [[ 9.96545514e-01 6.40983100e-02 5.28057226e-02 1.26975793e+02] [-6.38015209e-02 9.97935990e-01 -7.28881319e-03 -1.64000910e+01] [-5.31639316e-02 3.89454868e-03 9.98578204e-01 -9.00038245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.580714057 meters 0.03643651314742181 Centerline is valid? [True, True] Translation: X:127.01, Y:-16.40, Z:-9.00 [[ 9.96604119e-01 6.34528579e-02 5.24782309e-02 1.27005290e+02] [-6.31590076e-02 9.97977210e-01 -7.24069670e-03 -1.63999722e+01] [-5.28315214e-02 3.90163518e-03 9.98595818e-01 -9.00133666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.610714057 meters 0.03925575705810901 Centerline is valid? [True, True] Translation: X:127.03, Y:-16.41, Z:-9.00 [[ 9.96611540e-01 6.33668580e-02 5.24412028e-02 1.27033317e+02] [-6.30734428e-02 9.97982678e-01 -7.23297030e-03 -1.64081916e+01] [-5.27937426e-02 3.90081446e-03 9.98597819e-01 -9.00421936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.640714057 meters 0.037931346676181074 Centerline is valid? [True, True] Translation: X:127.06, Y:-16.41, Z:-9.01 [[ 9.96524675e-01 6.47105862e-02 5.24510455e-02 1.27062863e+02] [-6.44190251e-02 9.97896731e-01 -7.23216027e-03 -1.64111919e+01] [-5.28087241e-02 3.82818095e-03 9.98597308e-01 -9.00585059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.670714057 meters 0.03684557299474838 Centerline is valid? [True, True] Translation: X:127.09, Y:-16.41, Z:-9.01 [[ 9.96468849e-01 6.57907902e-02 5.21670805e-02 1.27092299e+02] [-6.55039516e-02 9.97826398e-01 -7.19112305e-03 -1.64135382e+01] [-5.25267997e-02 3.74858019e-03 9.98612479e-01 -9.00723917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.700714057 meters 0.03609015660466229 Centerline is valid? [True, True] Translation: X:127.12, Y:-16.42, Z:-9.01 [[ 9.96297523e-01 6.78700055e-02 5.27722229e-02 1.27121028e+02] [-6.75794706e-02 9.97687388e-01 -7.27256421e-03 -1.64170653e+01] [-5.31437702e-02 3.67931883e-03 9.98580093e-01 -9.00953656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.730714057 meters 0.03669867646842031 Centerline is valid? [True, True] Translation: X:127.15, Y:-16.42, Z:-9.01 [[ 9.96243532e-01 6.92013979e-02 5.20575698e-02 1.27148489e+02] [-6.89205534e-02 9.97596364e-01 -7.17297022e-03 -1.64209813e+01] [-5.24288220e-02 3.55818867e-03 9.98618324e-01 -9.01131280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.760714057 meters 0.033912104718312054 Centerline is valid? [True, True] Translation: X:127.18, Y:-16.42, Z:-9.01 [[ 9.95956010e-01 7.22354859e-02 5.34196629e-02 1.27179093e+02] [-7.19443765e-02 9.97381527e-01 -7.35506555e-03 -1.64201570e+01] [-5.38110817e-02 3.48207740e-03 9.98545063e-01 -9.01136365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.79071405699997 meters 0.03315801706695595 Centerline is valid? [True, True] Translation: X:127.21, Y:-16.42, Z:-9.01 [[ 9.95779326e-01 7.41010029e-02 5.41532575e-02 1.27208608e+02] [-7.38046192e-02 9.97244853e-01 -7.45531742e-03 -1.64234631e+01] [-5.45565038e-02 3.42709041e-03 9.98504804e-01 -9.01277152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82071405699998 meters 0.03277553667784696 Centerline is valid? [True, True] Translation: X:127.24, Y:-16.43, Z:-9.01 [[ 9.95626634e-01 7.59578275e-02 5.43876290e-02 1.27237881e+02] [-7.56617375e-02 9.97105445e-01 -7.48556826e-03 -1.64271384e+01] [-5.47987885e-02 3.33776862e-03 9.98491839e-01 -9.01431753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.85071405699998 meters 0.0313945296692279 Centerline is valid? [True, True] Translation: X:127.27, Y:-16.43, Z:-9.02 [[ 9.95294052e-01 8.01536515e-02 5.44531209e-02 1.27267732e+02] [-7.98632327e-02 9.96777674e-01 -7.49213141e-03 -1.64295931e+01] [-5.48781769e-02 3.10807157e-03 9.98488220e-01 -9.01605606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.88071405699998 meters 0.03131670206149495 Centerline is valid? [True, True] Translation: X:127.30, Y:-16.43, Z:-9.02 [[ 9.95122477e-01 8.22987330e-02 5.43891066e-02 1.27296089e+02] [-8.20121642e-02 9.96603230e-01 -7.48376299e-03 -1.64338802e+01] [-5.48202635e-02 2.98669242e-03 9.98491772e-01 -9.01867893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.91071405699998 meters 0.029878556597961844 Centerline is valid? [True, True] Translation: X:127.33, Y:-16.44, Z:-9.02 [[ 9.94637910e-01 8.81513376e-02 5.40811308e-02 1.27325623e+02] [-8.78768107e-02 9.96103580e-01 -7.43800091e-03 -1.64361677e+01] [-5.45260778e-02 2.64564038e-03 9.98508842e-01 -9.02138013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.94071405699998 meters 0.028743589811664545 Centerline is valid? [True, True] Translation: X:127.36, Y:-16.44, Z:-9.02 [[ 9.94357642e-01 9.15594925e-02 5.35699460e-02 1.27355073e+02] [-9.12951155e-02 9.95796632e-01 -7.36678828e-03 -1.64383030e+01] [-5.40192712e-02 2.43454782e-03 9.98536925e-01 -9.02346606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.97071405699998 meters 0.02672715440705693 Centerline is valid? [True, True] Translation: X:127.38, Y:-16.44, Z:-9.03 [[ 9.93645848e-01 9.93466027e-02 5.28978467e-02 1.27384627e+02] [-9.90999353e-02 9.95050912e-01 -7.27228842e-03 -1.64383338e+01] [-5.33585277e-02 1.98390601e-03 9.98573448e-01 -9.02590559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.00071405699998 meters 0.0237046988497262 Centerline is valid? [True, True] Translation: X:127.42, Y:-16.44, Z:-9.03 [[ 9.92818350e-01 1.07419220e-01 5.26577074e-02 1.27415733e+02] [-1.07186185e-01 9.94212620e-01 -7.23792418e-03 -1.64368324e+01] [-5.31304494e-02 1.54176516e-03 9.98586390e-01 -9.02627234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.03071405699998 meters 0.023018276091803798 Centerline is valid? [True, True] Translation: X:127.44, Y:-16.44, Z:-9.03 [[ 9.92383540e-01 1.11098880e-01 5.32160588e-02 1.27444676e+02] [-1.10865981e-01 9.93808424e-01 -7.31787667e-03 -1.64397920e+01] [-5.36995754e-02 1.36228979e-03 9.98556208e-01 -9.02800345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.06071405699998 meters 0.02214286079881274 Centerline is valid? [True, True] Translation: X:127.47, Y:-16.44, Z:-9.03 [[ 9.91909187e-01 1.14553410e-01 5.47145407e-02 1.27473160e+02] [-1.14313300e-01 9.93416374e-01 -7.50844154e-03 -1.64418402e+01] [-5.52144382e-02 1.19309242e-03 9.98473807e-01 -9.02858782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.09071405699999 meters 0.021484627722082525 Centerline is valid? [True, True] Translation: X:127.50, Y:-16.45, Z:-9.03 [[ 9.91186704e-01 1.19906278e-01 5.63152023e-02 1.27502553e+02] [-1.19660791e-01 9.92784793e-01 -7.72338192e-03 -1.64453962e+01] [-5.68349584e-02 9.16591794e-04 9.98383167e-01 -9.02999814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.120714057 meters 0.021330839812023477 Centerline is valid? [True, True] Translation: X:127.53, Y:-16.45, Z:-9.03 [[ 9.90940728e-01 1.21633997e-01 5.69354441e-02 1.27530355e+02] [-1.21385898e-01 9.92574676e-01 -7.80875700e-03 -1.64498170e+01] [-5.74624903e-02 8.26855361e-04 9.98347324e-01 -9.03197429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.150714057 meters 0.021168218825925348 Centerline is valid? [True, True] Translation: X:127.56, Y:-16.46, Z:-9.03 [[ 9.90837144e-01 1.22500097e-01 5.68812831e-02 1.27558245e+02] [-1.22254720e-01 9.92468209e-01 -7.78699456e-03 -1.64560940e+01] [-5.74067727e-02 7.61638091e-04 9.98350581e-01 -9.03433094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.180714057 meters 0.020889298404718787 Centerline is valid? [True, True] Translation: X:127.58, Y:-16.46, Z:-9.04 [[ 9.90920851e-01 1.21866007e-01 5.67850727e-02 1.27584927e+02] [-1.21621222e-01 9.92546252e-01 -7.75983721e-03 -1.64624706e+01] [-5.73074715e-02 7.83114519e-04 9.98356269e-01 -9.03687718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.210714057 meters 0.021306658222899292 Centerline is valid? [True, True] Translation: X:127.61, Y:-16.47, Z:-9.04 [[ 9.91395148e-01 1.18609708e-01 5.53840998e-02 1.27612022e+02] [-1.18372799e-01 9.92940519e-01 -7.55029681e-03 -1.64725673e+01] [-5.58886552e-02 9.29356737e-04 9.98436575e-01 -9.04027862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.240714057 meters 0.02156157848538727 Centerline is valid? [True, True] Translation: X:127.64, Y:-16.48, Z:-9.04 [[ 9.91760694e-01 1.15849572e-01 5.46772564e-02 1.27638431e+02] [-1.15614725e-01 9.93266197e-01 -7.44960534e-03 -1.64808045e+01] [-5.51721041e-02 1.06672981e-03 9.98476290e-01 -9.04325169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.270714057 meters 0.022451030707002714 Centerline is valid? [True, True] Translation: X:127.67, Y:-16.49, Z:-9.05 [[ 9.92208491e-01 1.12267792e-01 5.40208636e-02 1.27665833e+02] [-1.12033708e-01 9.93677211e-01 -7.35178584e-03 -1.64896352e+01] [-5.45046699e-02 1.24234668e-03 9.98512743e-01 -9.04592286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.300714057 meters 0.02288871469251417 Centerline is valid? [True, True] Translation: X:127.69, Y:-16.50, Z:-9.05 [[ 9.93002684e-01 1.05004241e-01 5.40349757e-02 1.27694817e+02] [-1.04759473e-01 9.94470425e-01 -7.35030981e-03 -1.65020952e+01] [-5.45079990e-02 1.63820177e-03 9.98511990e-01 -9.04691375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.330714057 meters 0.02529347324796114 Centerline is valid? [True, True] Translation: X:127.72, Y:-16.52, Z:-9.05 [[ 9.93719557e-01 9.74492504e-02 5.50007793e-02 1.27721766e+02] [-9.71841429e-02 9.95238304e-01 -7.48068140e-03 -1.65175498e+01] [-5.54678691e-02 2.08849582e-03 9.98458288e-01 -9.04885918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.360714057 meters 0.02611158601789434 Centerline is valid? [True, True] Translation: X:127.75, Y:-16.53, Z:-9.05 [[ 9.94069828e-01 9.35907977e-02 5.53709311e-02 1.27750305e+02] [-9.33161735e-02 9.95608049e-01 -7.53028731e-03 -1.65261444e+01] [-5.58325103e-02 2.31862800e-03 9.98437457e-01 -9.05014094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.390714057 meters 0.027012899357280067 Centerline is valid? [True, True] Translation: X:127.78, Y:-16.53, Z:-9.05 [[ 9.94310583e-01 9.08624503e-02 5.55920758e-02 1.27778720e+02] [-9.05815419e-02 9.95860367e-01 -7.55732447e-03 -1.65335863e+01] [-5.60486221e-02 2.47871176e-03 9.98424964e-01 -9.05091970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.420714057 meters 0.03259887456600591 Centerline is valid? [True, True] Translation: X:127.81, Y:-16.55, Z:-9.05 [[ 9.94873763e-01 8.35598736e-02 5.69556278e-02 1.27805789e+02] [-8.32532746e-02 9.96498369e-01 -7.73899212e-03 -1.65532529e+01] [-5.74028594e-02 2.95757769e-03 9.98346716e-01 -9.05355267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.450714057 meters 0.030072948147649697 Centerline is valid? [True, True] Translation: X:127.83, Y:-16.56, Z:-9.05 [[ 9.95086768e-01 8.07349199e-02 5.73079112e-02 1.27834876e+02] [-8.04198809e-02 9.96730665e-01 -7.78620184e-03 -1.65555578e+01] [-5.77491708e-02 3.13925103e-03 9.98326188e-01 -9.05393756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.480714057 meters 0.030846748108339452 Centerline is valid? [True, True] Translation: X:127.86, Y:-16.56, Z:-9.06 [[ 9.95443284e-01 7.59144561e-02 5.77032304e-02 1.27864588e+02] [-7.55871966e-02 9.97108404e-01 -7.83621532e-03 -1.65646349e+01] [-5.81312580e-02 3.43888250e-03 9.98303026e-01 -9.05584972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.510714057 meters 0.03386593322579731 Centerline is valid? [True, True] Translation: X:127.89, Y:-16.58, Z:-9.06 [[ 9.95608742e-01 7.37596845e-02 5.76432334e-02 1.27892534e+02] [-7.34295482e-02 9.97269689e-01 -7.82741645e-03 -1.65750847e+01] [-5.80631972e-02 3.56032766e-03 9.98306561e-01 -9.05877373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54071405699997 meters 0.03212229992996766 Centerline is valid? [True, True] Translation: X:127.92, Y:-16.58, Z:-9.06 [[ 9.95990495e-01 6.94302429e-02 5.64125512e-02 1.27922876e+02] [-6.91070474e-02 9.97579824e-01 -7.66225195e-03 -1.65786731e+01] [-5.68080149e-02 3.73302526e-03 9.98378142e-01 -9.06091805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.57071405699998 meters 0.038789994498728615 Centerline is valid? [True, True] Translation: X:127.95, Y:-16.59, Z:-9.07 [[ 9.96173417e-01 6.74973378e-02 5.55214548e-02 1.27950942e+02] [-6.71812854e-02 9.97712284e-01 -7.54145089e-03 -1.65933073e+01] [-5.59034653e-02 3.78259020e-03 9.98429013e-01 -9.06514836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60071405699998 meters 0.03709803458649803 Centerline is valid? [True, True] Translation: X:127.98, Y:-16.60, Z:-9.07 [[ 9.96286697e-01 6.64971138e-02 5.46895990e-02 1.27982643e+02] [-6.61890699e-02 9.97779460e-01 -7.42672169e-03 -1.65953109e+01] [-5.50620141e-02 3.77929033e-03 9.98475784e-01 -9.06676681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.63071405699998 meters 0.03711072651928737 Centerline is valid? [True, True] Translation: X:128.01, Y:-16.60, Z:-9.07 [[ 9.96527688e-01 6.30206355e-02 5.44147608e-02 1.28012914e+02] [-6.27100503e-02 9.98004367e-01 -7.39813940e-03 -1.66012923e+01] [-5.47724044e-02 3.96009836e-03 9.98491012e-01 -9.06928659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.66071405699998 meters 0.039866966669620016 Centerline is valid? [True, True] Translation: X:128.04, Y:-16.61, Z:-9.07 [[ 9.96651410e-01 6.09152267e-02 5.45463242e-02 1.28042265e+02] [-6.06000215e-02 9.98134583e-01 -7.41566893e-03 -1.66103804e+01] [-5.48962997e-02 4.08532848e-03 9.98483704e-01 -9.07201029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.69071405699998 meters 0.03907937171706891 Centerline is valid? [True, True] Translation: X:128.07, Y:-16.61, Z:-9.07 [[ 9.96713414e-01 6.02727893e-02 5.41254216e-02 1.28074708e+02] [-5.99615146e-02 9.98173570e-01 -7.35808164e-03 -1.66134543e+01] [-5.44700574e-02 4.08845641e-03 9.98507034e-01 -9.07367263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.72071405699998 meters 0.041479243963442415 Centerline is valid? [True, True] Translation: X:128.10, Y:-16.62, Z:-9.08 [[ 9.96728036e-01 5.96990452e-02 5.44907928e-02 1.28104867e+02] [-5.93819149e-02 9.98207745e-01 -7.42198652e-03 -1.66204464e+01] [-5.48362170e-02 4.16193443e-03 9.98486689e-01 -9.07547388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.75071405699998 meters 0.03880832695414634 Centerline is valid? [True, True] Translation: X:128.14, Y:-16.62, Z:-9.08 [[ 9.96711419e-01 5.98561241e-02 5.46222699e-02 1.28138370e+02] [-5.95370309e-02 9.98198282e-01 -7.45193771e-03 -1.66208223e+01] [-5.49699001e-02 4.17538363e-03 9.98479282e-01 -9.07667170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.78071405699998 meters 0.039685037187487386 Centerline is valid? [True, True] Translation: X:128.17, Y:-16.63, Z:-9.08 [[ 9.96751002e-01 5.95499639e-02 5.42332114e-02 1.28170109e+02] [-5.92340640e-02 9.98216580e-01 -7.41517260e-03 -1.66258740e+01] [-5.45780641e-02 4.17862720e-03 9.98500763e-01 -9.07861185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.81071405699998 meters 0.04112252367665368 Centerline is valid? [True, True] Translation: X:128.20, Y:-16.63, Z:-9.08 [[ 9.96781203e-01 5.82636923e-02 5.50688300e-02 1.28200178e+02] [-5.79350695e-02 9.98291830e-01 -7.54655035e-03 -1.66320062e+01] [-5.54144529e-02 4.33184305e-03 9.98454042e-01 -9.08020535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.84071405699999 meters 0.038972428505685545 Centerline is valid? [True, True] Translation: X:128.23, Y:-16.63, Z:-9.08 [[ 9.96797541e-01 5.69894106e-02 5.60969576e-02 1.28232807e+02] [-5.66462896e-02 9.98364701e-01 -7.68907402e-03 -1.66333939e+01] [-5.64434181e-02 4.48676557e-03 9.98395718e-01 -9.08037524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.870714057 meters 0.03876834167010907 Centerline is valid? [True, True] Translation: X:128.26, Y:-16.64, Z:-9.08 [[ 9.96783836e-01 5.66004015e-02 5.67307601e-02 1.28264735e+02] [-5.62487229e-02 9.98386489e-01 -7.77811443e-03 -1.66373249e+01] [-5.70794689e-02 4.56206592e-03 9.98359215e-01 -9.08196672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.900714057 meters 0.04034880308407729 Centerline is valid? [True, True] Translation: X:128.30, Y:-16.64, Z:-9.08 [[ 9.96859134e-01 5.53158784e-02 5.66746870e-02 1.28295499e+02] [-5.49619037e-02 9.98458089e-01 -7.78672976e-03 -1.66425118e+01] [-5.70180295e-02 4.64732400e-03 9.98362332e-01 -9.08392066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.930714057 meters 0.041227927476763106 Centerline is valid? [True, True] Translation: X:128.33, Y:-16.65, Z:-9.09 [[ 9.96907891e-01 5.56330932e-02 5.54942943e-02 1.28327805e+02] [-5.52939654e-02 9.98440972e-01 -7.62905937e-03 -1.66470660e+01] [-5.58322053e-02 4.53696990e-03 9.98429858e-01 -9.08586477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.960714057 meters 0.039991991288709255 Centerline is valid? [True, True] Translation: X:128.36, Y:-16.65, Z:-9.09 [[ 9.96948598e-01 5.44816604e-02 5.59038610e-02 1.28359539e+02] [-5.41347286e-02 9.98503931e-01 -7.70269337e-03 -1.66494965e+01] [-5.62398805e-02 4.65284902e-03 9.98406444e-01 -9.08828927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.990714057 meters 0.04263646367494123 Centerline is valid? [True, True] Translation: X:128.39, Y:-16.66, Z:-9.09 [[ 9.97035056e-01 5.33899033e-02 5.54131246e-02 1.28389406e+02] [-5.30464835e-02 9.98562734e-01 -7.65096965e-03 -1.66571041e+01] [-5.57419657e-02 4.68881356e-03 9.98434198e-01 -9.09159048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.020714057 meters 0.04200793467963118 Centerline is valid? [True, True] Translation: X:128.42, Y:-16.66, Z:-9.09 [[ 9.97090831e-01 5.27423758e-02 5.50283334e-02 1.28420886e+02] [-5.24027707e-02 9.98597132e-01 -7.59723346e-03 -1.66602854e+01] [-5.53518321e-02 4.69149468e-03 9.98455890e-01 -9.09408972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.050714057 meters 0.04671485386889743 Centerline is valid? [True, True] Translation: X:128.45, Y:-16.67, Z:-9.10 [[ 9.97178882e-01 5.15706044e-02 5.45412721e-02 1.28450531e+02] [-5.12343910e-02 9.98658150e-01 -7.54569148e-03 -1.66702603e+01] [-5.48572218e-02 4.73001533e-03 9.98483005e-01 -9.09750541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.080714057 meters 0.043172729110729925 Centerline is valid? [True, True] Translation: X:128.48, Y:-16.67, Z:-9.10 [[ 9.97180806e-01 5.17419358e-02 5.43434663e-02 1.28484278e+02] [-5.14084953e-02 9.98649420e-01 -7.51680733e-03 -1.66695572e+01] [-5.46590053e-02 4.70190015e-03 9.98494009e-01 -9.09908996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.110714057 meters 0.04589444387463706 Centerline is valid? [True, True] Translation: X:128.51, Y:-16.68, Z:-9.10 [[ 9.97200153e-01 5.18508394e-02 5.38827048e-02 1.28514869e+02] [-5.15223011e-02 9.98643910e-01 -7.46952990e-03 -1.66765477e+01] [-5.41969364e-02 4.67245542e-03 9.98519334e-01 -9.10180286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.140714057 meters 0.04528195698170423 Centerline is valid? [True, True] Translation: X:128.55, Y:-16.68, Z:-9.10 [[ 9.97168810e-01 5.22099354e-02 5.41154996e-02 1.28546906e+02] [-5.18783823e-02 9.98625138e-01 -7.51446746e-03 -1.66796839e+01] [-5.44334281e-02 4.68576800e-03 9.98506407e-01 -9.10417201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.170714057 meters 0.045148966945881705 Centerline is valid? [True, True] Translation: X:128.58, Y:-16.68, Z:-9.11 [[ 9.97144018e-01 5.36413709e-02 5.31639906e-02 1.28578066e+02] [-5.33225342e-02 9.98549932e-01 -7.39864115e-03 -1.66818458e+01] [-5.34837724e-02 4.54267206e-03 9.98558386e-01 -9.10650146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.200714057 meters 0.04351095723594005 Centerline is valid? [True, True] Translation: X:128.61, Y:-16.68, Z:-9.11 [[ 9.97058980e-01 5.46471109e-02 5.37315863e-02 1.28609679e+02] [-5.43227638e-02 9.98495415e-01 -7.47958967e-03 -1.66832992e+01] [-5.40594805e-02 4.53874379e-03 9.98527402e-01 -9.10837823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.230714057 meters 0.0430346160576637 Centerline is valid? [True, True] Translation: X:128.64, Y:-16.68, Z:-9.11 [[ 9.96891852e-01 5.80310875e-02 5.32825263e-02 1.28639967e+02] [-5.77168128e-02 9.98305425e-01 -7.41948718e-03 -1.66839690e+01] [-5.36227960e-02 4.32112872e-03 9.98551913e-01 -9.10954493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.260714057 meters 0.042338185218011706 Centerline is valid? [True, True] Translation: X:128.67, Y:-16.69, Z:-9.11 [[ 9.96792613e-01 5.82224694e-02 5.49056567e-02 1.28671846e+02] [-5.78891888e-02 9.98293762e-01 -7.64242251e-03 -1.66873546e+01] [-5.52569353e-02 4.43946638e-03 9.98462299e-01 -9.11180542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.29071405699997 meters 0.04131240383463808 Centerline is valid? [True, True] Translation: X:128.70, Y:-16.69, Z:-9.11 [[ 9.96613847e-01 6.00951452e-02 5.61196405e-02 1.28704024e+02] [-5.97489335e-02 9.98182740e-01 -7.82831451e-03 -1.66885520e+01] [-5.64881002e-02 4.44871797e-03 9.98393361e-01 -9.11310701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32071405699998 meters 0.041878597687212755 Centerline is valid? [True, True] Translation: X:128.74, Y:-16.69, Z:-9.12 [[ 9.96567186e-01 6.07452713e-02 5.62481670e-02 1.28735787e+02] [-6.03984584e-02 9.98143503e-01 -7.84694126e-03 -1.66928568e+01] [-5.66204070e-02 4.42270159e-03 9.98385982e-01 -9.11528489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.35071405699998 meters 0.041878597687212755 Centerline is valid? [True, True] Translation: X:128.77, Y:-16.70, Z:-9.12 [[ 9.96549999e-01 6.10283186e-02 5.62462841e-02 1.28768095e+02] [-6.06811978e-02 9.98126248e-01 -7.86041276e-03 -1.66974517e+01] [-5.66206002e-02 4.42020243e-03 9.98385982e-01 -9.11752704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.38071405699998 meters 0.043827186696680384 Centerline is valid? [True, True] Translation: X:128.80, Y:-16.70, Z:-9.12 [[ 9.96430412e-01 6.20848577e-02 5.72005595e-02 1.28798673e+02] [-6.17265612e-02 9.98060946e-01 -8.01126648e-03 -1.67040950e+01] [-5.75870228e-02 4.45187572e-03 9.98330564e-01 -9.12057686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.41071405699998 meters 0.04307664643848652 Centerline is valid? [True, True] Translation: X:128.83, Y:-16.71, Z:-9.12 [[ 9.96446929e-01 6.21945729e-02 5.67921907e-02 1.28831099e+02] [-6.18408179e-02 9.98054227e-01 -7.96699881e-03 -1.67069331e+01] [-5.71771901e-02 4.42661597e-03 9.98354233e-01 -9.12293551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.44071405699998 meters 0.04343352859075604 Centerline is valid? [True, True] Translation: X:128.86, Y:-16.71, Z:-9.13 [[ 9.96519046e-01 6.15709506e-02 5.62032836e-02 1.28863268e+02] [-6.12227294e-02 9.98092878e-01 -7.89831839e-03 -1.67106296e+01] [-5.65824040e-02 4.42990629e-03 9.98388105e-01 -9.12566681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.47071405699998 meters 0.04345719057633869 Centerline is valid? [True, True] Translation: X:128.90, Y:-16.71, Z:-9.13 [[ 9.96563769e-01 6.15230823e-02 5.54577663e-02 1.28895042e+02] [-6.11832327e-02 9.98096020e-01 -7.80685278e-03 -1.67143295e+01] [-5.58324775e-02 4.38694121e-03 9.98430513e-01 -9.12790349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.50071405699998 meters 0.04532217386543438 Centerline is valid? [True, True] Translation: X:128.93, Y:-16.72, Z:-9.13 [[ 9.96652157e-01 6.03914535e-02 5.51121577e-02 1.28925291e+02] [-6.00532072e-02 9.98164901e-01 -7.77452330e-03 -1.67197023e+01] [-5.54805362e-02 4.43883360e-03 9.98449902e-01 -9.13113677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.53071405699998 meters 0.046470336878539485 Centerline is valid? [True, True] Translation: X:128.96, Y:-16.73, Z:-9.13 [[ 9.96691646e-01 5.99619515e-02 5.48664571e-02 1.28956499e+02] [-5.96261041e-02 9.98190779e-01 -7.73928797e-03 -1.67256481e+01] [-5.52312544e-02 4.44221058e-03 9.98463708e-01 -9.13421563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.56071405699998 meters 0.04816059998154475 Centerline is valid? [True, True] Translation: X:128.99, Y:-16.73, Z:-9.14 [[ 9.96776113e-01 5.89150887e-02 5.44645935e-02 1.28986883e+02] [-5.85819269e-02 9.98252948e-01 -7.69482655e-03 -1.67313949e+01] [-5.48227824e-02 4.47937847e-03 9.98486053e-01 -9.13774269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.59071405699999 meters 0.04939929702524185 Centerline is valid? [True, True] Translation: X:129.02, Y:-16.74, Z:-9.14 [[ 9.96853788e-01 5.82866042e-02 5.37140320e-02 1.29017203e+02] [-5.79608795e-02 9.98289901e-01 -7.60334028e-03 -1.67362169e+01] [-5.40653486e-02 4.46610603e-03 9.98527412e-01 -9.14006330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.620714057 meters 0.05140556597688961 Centerline is valid? [True, True] Translation: X:129.05, Y:-16.74, Z:-9.14 [[ 9.96872437e-01 5.79881432e-02 5.36909569e-02 1.29047415e+02] [-5.76622345e-02 9.98307215e-01 -7.60071098e-03 -1.67413461e+01] [-5.40408208e-02 4.48099873e-03 9.98528673e-01 -9.14245200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.650714057 meters 0.05132957334392719 Centerline is valid? [True, True] Translation: X:129.08, Y:-16.74, Z:-9.14 [[ 9.96831298e-01 5.82986560e-02 5.41168125e-02 1.29079317e+02] [-5.79677386e-02 9.98289024e-01 -7.66586811e-03 -1.67447089e+01] [-5.44711298e-02 4.50454802e-03 9.98505185e-01 -9.14420458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.680714057 meters 0.04382529832700618 Centerline is valid? [True, True] Translation: X:129.11, Y:-16.74, Z:-9.14 [[ 9.96731657e-01 5.94680496e-02 5.46768184e-02 1.29112000e+02] [-5.91311175e-02 9.98220055e-01 -7.76093117e-03 -1.67365107e+01] [-5.50410241e-02 4.50246441e-03 9.98473942e-01 -9.14352871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.710714057 meters 0.042327866786420525 Centerline is valid? [True, True] Translation: X:129.14, Y:-16.74, Z:-9.15 [[ 9.96694083e-01 6.00314979e-02 5.47460026e-02 1.29144398e+02] [-5.96946062e-02 9.98186447e-01 -7.76982519e-03 -1.67375361e+01] [-5.51131521e-02 4.47609773e-03 9.98470082e-01 -9.14507365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.740714057 meters 0.04159075701051624 Centerline is valid? [True, True] Translation: X:129.18, Y:-16.74, Z:-9.15 [[ 9.96600833e-01 6.05785962e-02 5.58302247e-02 1.29176870e+02] [-6.02282434e-02 9.98153066e-01 -7.93824549e-03 -1.67394673e+01] [-5.62079977e-02 4.54870571e-03 9.98408719e-01 -9.14633291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.770714057 meters 0.04299874423778228 Centerline is valid? [True, True] Translation: X:129.21, Y:-16.75, Z:-9.15 [[ 9.96554507e-01 6.07859318e-02 5.64285917e-02 1.29207817e+02] [-6.04275016e-02 9.98140223e-01 -8.03820278e-03 -1.67456715e+01] [-5.68122567e-02 4.60066839e-03 9.98374279e-01 -9.14863927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.800714057 meters 0.041048380794272206 Centerline is valid? [True, True] Translation: X:129.24, Y:-16.75, Z:-9.15 [[ 9.96612139e-01 6.02349992e-02 5.59998996e-02 1.29239834e+02] [-5.98804049e-02 9.98173580e-01 -7.99012660e-03 -1.67462966e+01] [-5.63789055e-02 4.60976050e-03 9.98398803e-01 -9.15059980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.830714057 meters 0.041775479959407946 Centerline is valid? [True, True] Translation: X:129.27, Y:-16.75, Z:-9.15 [[ 9.96647627e-01 5.99275044e-02 5.56974122e-02 1.29271554e+02] [-5.95755269e-02 9.98192063e-01 -7.96000574e-03 -1.67509913e+01] [-5.60737380e-02 4.61511815e-03 9.98415964e-01 -9.15343814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.860714057 meters 0.04278978153599396 Centerline is valid? [True, True] Translation: X:129.30, Y:-16.76, Z:-9.16 [[ 9.96676244e-01 5.98412378e-02 5.52764920e-02 1.29303037e+02] [-5.94936533e-02 9.98197313e-01 -7.91388519e-03 -1.67563703e+01] [-5.56504225e-02 4.59898091e-03 9.98439723e-01 -9.15628116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.890714057 meters 0.043249744881340875 Centerline is valid? [True, True] Translation: X:129.34, Y:-16.76, Z:-9.16 [[ 9.96704775e-01 5.98899647e-02 5.47063367e-02 1.29335230e+02] [-5.95488383e-02 9.98194558e-01 -7.84598937e-03 -1.67611778e+01] [-5.50774637e-02 4.56243627e-03 9.98471661e-01 -9.15875842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.920714057 meters 0.04445581990122482 Centerline is valid? [True, True] Translation: X:129.37, Y:-16.77, Z:-9.16 [[ 9.96729457e-01 5.93580098e-02 5.48362696e-02 1.29366802e+02] [-5.90136890e-02 9.98226083e-01 -7.87857115e-03 -1.67664613e+01] [-5.52066509e-02 4.61671338e-03 9.98464277e-01 -9.16150773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.950714057 meters 0.04176850099366313 Centerline is valid? [True, True] Translation: X:129.40, Y:-16.77, Z:-9.16 [[ 9.96697469e-01 5.96724310e-02 5.50759212e-02 1.29399565e+02] [-5.93248000e-02 9.98207260e-01 -7.92680195e-03 -1.67669665e+01] [-5.54501959e-02 4.63325543e-03 9.98450704e-01 -9.16293928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.980714057 meters 0.04249893243669939 Centerline is valid? [True, True] Translation: X:129.43, Y:-16.77, Z:-9.16 [[ 9.96646452e-01 6.03579735e-02 5.52518297e-02 1.29431853e+02] [-6.00083645e-02 9.98166085e-01 -7.96640557e-03 -1.67705788e+01] [-5.56313386e-02 4.62411791e-03 9.98440670e-01 -9.16456776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.010714057 meters 0.04078254559636758 Centerline is valid? [True, True] Translation: X:129.46, Y:-16.77, Z:-9.17 [[ 9.96543941e-01 6.15208210e-02 5.58154285e-02 1.29463770e+02] [-6.11648843e-02 9.98095094e-01 -8.06470281e-03 -1.67704475e+01] [-5.62052525e-02 4.62288650e-03 9.98408533e-01 -9.16590176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04071405699997 meters 0.04127740655633404 Centerline is valid? [True, True] Translation: X:129.49, Y:-16.77, Z:-9.17 [[ 9.96503105e-01 6.21079737e-02 5.58941956e-02 1.29494503e+02] [-6.17518297e-02 9.98058843e-01 -8.07816242e-03 -1.67740067e+01] [-5.62874145e-02 4.59834509e-03 9.98404018e-01 -9.16813216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.07071405699998 meters 0.041920994414355664 Centerline is valid? [True, True] Translation: X:129.53, Y:-16.78, Z:-9.17 [[ 9.96433955e-01 6.28284560e-02 5.63201445e-02 1.29525491e+02] [-6.24678798e-02 9.98013765e-01 -8.14180159e-03 -1.67784910e+01] [-5.67198163e-02 4.59456755e-03 9.98379563e-01 -9.17046572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10071405699998 meters 0.041580364785305635 Centerline is valid? [True, True] Translation: X:129.56, Y:-16.78, Z:-9.17 [[ 9.96294263e-01 6.39207208e-02 5.75489532e-02 1.29556330e+02] [-6.35458883e-02 9.97944221e-01 -8.32178270e-03 -1.67807484e+01] [-5.79625796e-02 4.63394501e-03 9.98308002e-01 -9.17207241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.13071405699998 meters 0.04163053650310685 Centerline is valid? [True, True] Translation: X:129.59, Y:-16.78, Z:-9.17 [[ 9.96237072e-01 6.45010367e-02 5.78905215e-02 1.29586688e+02] [-6.41226350e-02 9.97906905e-01 -8.37241819e-03 -1.67844545e+01] [-5.83093808e-02 4.62882060e-03 9.98287829e-01 -9.17379158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.16071405699998 meters 0.04226767794180251 Centerline is valid? [True, True] Translation: X:129.62, Y:-16.79, Z:-9.18 [[ 9.96169926e-01 6.56040909e-02 5.78064246e-02 1.29617373e+02] [-6.52286332e-02 9.97835323e-01 -8.36025567e-03 -1.67872014e+01] [-5.82297593e-02 4.55760121e-03 9.98292804e-01 -9.17556210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.19071405699998 meters 0.04337769294561659 Centerline is valid? [True, True] Translation: X:129.65, Y:-16.79, Z:-9.18 [[ 9.96130205e-01 6.54176469e-02 5.86953668e-02 1.29646082e+02] [-6.50302045e-02 9.97847188e-01 -8.48898438e-03 -1.67926504e+01] [-5.91243361e-02 4.63916204e-03 9.98239846e-01 -9.17764559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.22071405699998 meters 0.043001725476669535 Centerline is valid? [True, True] Translation: X:129.68, Y:-16.80, Z:-9.18 [[ 9.96076019e-01 6.61049361e-02 5.88447183e-02 1.29676732e+02] [-6.57167793e-02 9.97802032e-01 -8.50937276e-03 -1.67953605e+01] [-5.92778911e-02 4.60889678e-03 9.98230880e-01 -9.17960195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.25071405699998 meters 0.04377014758836016 Centerline is valid? [True, True] Translation: X:129.71, Y:-16.80, Z:-9.18 [[ 9.96061624e-01 6.64448852e-02 5.87053499e-02 1.29706081e+02] [-6.60591443e-02 9.97779595e-01 -8.48938200e-03 -1.68004667e+01] [-5.91390763e-02 4.57792244e-03 9.98239256e-01 -9.18243330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.28071405699998 meters 0.04459294481006488 Centerline is valid? [True, True] Translation: X:129.74, Y:-16.80, Z:-9.19 [[ 9.96082421e-01 6.73442045e-02 5.73111566e-02 1.29735188e+02] [-6.69781284e-02 9.97720031e-01 -8.28678964e-03 -1.68041931e+01] [-5.77385562e-02 4.41573148e-03 9.98321972e-01 -9.18602668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.31071405699998 meters 0.04435081806373703 Centerline is valid? [True, True] Translation: X:129.76, Y:-16.81, Z:-9.19 [[ 9.96070838e-01 6.79121905e-02 5.68403046e-02 1.29764768e+02] [-6.75530767e-02 9.97681837e-01 -8.21792313e-03 -1.68070027e+01] [-5.72666367e-02 4.34589613e-03 9.98349461e-01 -9.18845094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.34071405699999 meters 0.041303902219245694 Centerline is valid? [True, True] Translation: X:129.79, Y:-16.80, Z:-9.19 [[ 9.95924148e-01 7.01325276e-02 5.67143722e-02 1.29794981e+02] [-6.97786937e-02 9.97528812e-01 -8.19776053e-03 -1.68048021e+01] [-5.71491499e-02 4.20689287e-03 9.98356788e-01 -9.18987783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.370714057 meters 0.03948532460669999 Centerline is valid? [True, True] Translation: X:129.82, Y:-16.81, Z:-9.19 [[ 9.95810233e-01 7.15665908e-02 5.69227784e-02 1.29824572e+02] [-7.12125917e-02 9.97427241e-01 -8.22587491e-03 -1.68054699e+01] [-5.73650276e-02 4.13779184e-03 9.98344696e-01 -9.19143148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.400714057 meters 0.03843574596401175 Centerline is valid? [True, True] Translation: X:129.85, Y:-16.81, Z:-9.19 [[ 9.95442214e-01 7.53554196e-02 5.84496306e-02 1.29854770e+02] [-7.49887835e-02 9.97148625e-01 -8.44406187e-03 -1.68066698e+01] [-5.89192746e-02 4.02250895e-03 9.98254646e-01 -9.19288944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.430714057 meters 0.03775746254156465 Centerline is valid? [True, True] Translation: X:129.88, Y:-16.81, Z:-9.19 [[ 9.95257618e-01 7.72508202e-02 5.91150147e-02 1.29884155e+02] [-7.68790954e-02 9.97003846e-01 -8.54029155e-03 -1.68090978e+01] [-5.95976416e-02 3.95508137e-03 9.98214645e-01 -9.19431028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.460714057 meters 0.03352333434003422 Centerline is valid? [True, True] Translation: X:129.92, Y:-16.81, Z:-9.19 [[ 9.94828184e-01 8.14155850e-02 6.07320859e-02 1.29915662e+02] [-8.10310822e-02 9.96672978e-01 -8.77146218e-03 -1.68050626e+01] [-6.12441626e-02 3.80491115e-03 9.98115562e-01 -9.19426379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.490714057 meters 0.03168184686730548 Centerline is valid? [True, True] Translation: X:129.95, Y:-16.81, Z:-9.20 [[ 9.94637963e-01 8.34824211e-02 6.10410329e-02 1.29945539e+02] [-8.30978604e-02 9.96502394e-01 -8.81613233e-03 -1.68051251e+01] [-6.15635275e-02 3.69648067e-03 9.98096322e-01 -9.19562370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.520714057 meters 0.031224550949181 Centerline is valid? [True, True] Translation: X:129.97, Y:-16.81, Z:-9.20 [[ 9.94123915e-01 8.88189796e-02 6.18775425e-02 1.29974586e+02] [-8.84342300e-02 9.96041948e-01 -8.93452516e-03 -1.68069811e+01] [-6.24261834e-02 3.40993230e-03 9.98043759e-01 -9.19737218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.550714057 meters 0.02899018297367055 Centerline is valid? [True, True] Translation: X:130.01, Y:-16.81, Z:-9.20 [[ 9.93660660e-01 9.33730709e-02 6.26096093e-02 1.30005527e+02] [-9.29882446e-02 9.95626178e-01 -9.03876041e-03 -1.68066505e+01] [-6.31797428e-02 3.15950298e-03 9.97997163e-01 -9.19916726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.580714057 meters 0.03061799618715811 Centerline is valid? [True, True] Translation: X:130.03, Y:-16.81, Z:-9.20 [[ 9.93425989e-01 9.56349272e-02 6.29187260e-02 1.30032942e+02] [-9.52508041e-02 9.95411862e-01 -9.08341271e-03 -1.68130793e+01] [-6.34987377e-02 3.03063901e-03 9.97977317e-01 -9.20179309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.610714057 meters 0.028468695438917647 Centerline is valid? [True, True] Translation: X:130.06, Y:-16.81, Z:-9.20 [[ 9.93278118e-01 9.71957995e-02 6.28614091e-02 1.30062269e+02] [-9.68157784e-02 9.95260985e-01 -9.07063633e-03 -1.68133080e+01] [-6.34451357e-02 2.92368834e-03 9.97981045e-01 -9.20359235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.640714057 meters 0.02834492678331644 Centerline is valid? [True, True] Translation: X:130.09, Y:-16.82, Z:-9.21 [[ 9.92986207e-01 1.00245458e-01 6.26836628e-02 1.30090730e+02] [-9.98739394e-02 9.94959029e-01 -9.04029548e-03 -1.68170044e+01] [-6.32739248e-02 2.71642437e-03 9.97992501e-01 -9.20693974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.670714057 meters 0.028082874524695253 Centerline is valid? [True, True] Translation: X:130.12, Y:-16.82, Z:-9.21 [[ 9.92875405e-01 1.01683000e-01 6.21208265e-02 1.30118058e+02] [-1.01321057e-01 9.94813456e-01 -8.95723777e-03 -1.68213593e+01] [-6.27094329e-02 2.59927331e-03 9.98028442e-01 -9.20968370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.700714057 meters 0.02748504235956387 Centerline is valid? [True, True] Translation: X:130.15, Y:-16.83, Z:-9.21 [[ 9.92739955e-01 1.02968083e-01 6.21687706e-02 1.30146672e+02] [-1.02608444e-01 9.94681482e-01 -8.95857659e-03 -1.68254508e+01] [-6.27605723e-02 2.51449610e-03 9.98025445e-01 -9.21291925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.730714057 meters 0.02609217413850886 Centerline is valid? [True, True] Translation: X:130.18, Y:-16.83, Z:-9.21 [[ 9.92665823e-01 1.03316438e-01 6.27716247e-02 1.30175151e+02] [-1.02950758e-01 9.94645365e-01 -9.04099219e-03 -1.68283030e+01] [-6.33695887e-02 2.51229761e-03 9.97986966e-01 -9.21470821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.760714057 meters 0.029023698404244534 Centerline is valid? [True, True] Translation: X:130.20, Y:-16.84, Z:-9.22 [[ 9.92698188e-01 1.03104958e-01 6.26073046e-02 1.30201279e+02] [-1.02741056e-01 9.94667303e-01 -9.01285431e-03 -1.68377191e+01] [-6.32027088e-02 2.51470356e-03 9.97997542e-01 -9.21715193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.79071405699997 meters 0.02966032655276887 Centerline is valid? [True, True] Translation: X:130.23, Y:-16.84, Z:-9.22 [[ 9.92735755e-01 1.02523692e-01 6.29651694e-02 1.30229229e+02] [-1.02154819e-01 9.94727267e-01 -9.05851050e-03 -1.68432990e+01] [-6.35618828e-02 2.56051176e-03 9.97974614e-01 -9.21893090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82071405699998 meters 0.031125735613064427 Centerline is valid? [True, True] Translation: X:130.26, Y:-16.85, Z:-9.22 [[ 9.92877115e-01 1.00751782e-01 6.35933448e-02 1.30255830e+02] [-1.00372153e-01 9.94907939e-01 -9.14457750e-03 -1.68516794e+01] [-6.41908561e-02 2.69644080e-03 9.97933997e-01 -9.22114504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.85071405699998 meters 0.032058221884889694 Centerline is valid? [True, True] Translation: X:130.28, Y:-16.86, Z:-9.22 [[ 9.92980512e-01 9.95905721e-02 6.38076908e-02 1.30283494e+02] [-9.92063384e-02 9.95024630e-01 -9.16992164e-03 -1.68584119e+01] [-6.44034617e-02 2.77542611e-03 9.97920083e-01 -9.22317801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88071405699998 meters 0.03338121303294386 Centerline is valid? [True, True] Translation: X:130.31, Y:-16.87, Z:-9.23 [[ 9.93140145e-01 9.73395327e-02 6.47894088e-02 1.30312197e+02] [-9.69388847e-02 9.95246824e-01 -9.30650352e-03 -1.68671644e+01] [-6.53873441e-02 2.96204923e-03 9.97855561e-01 -9.22546302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.91071405699998 meters 0.029459443139284246 Centerline is valid? [True, True] Translation: X:130.34, Y:-16.87, Z:-9.23 [[ 9.93416424e-01 9.43401084e-02 6.49903988e-02 1.30341490e+02] [-9.39307009e-02 9.95534988e-01 -9.33334163e-03 -1.68675006e+01] [-6.55807243e-02 3.16730115e-03 9.97842240e-01 -9.22750328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.94071405699998 meters 0.030196122996654456 Centerline is valid? [True, True] Translation: X:130.37, Y:-16.87, Z:-9.23 [[ 9.93558876e-01 9.28052372e-02 6.50226671e-02 1.30368988e+02] [-9.23924738e-02 9.95678927e-01 -9.33299921e-03 -1.68738932e+01] [-6.56078506e-02 3.26527914e-03 9.97840141e-01 -9.22968325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.97071405699998 meters 0.03083016860740087 Centerline is valid? [True, True] Translation: X:130.40, Y:-16.88, Z:-9.23 [[ 9.93745637e-01 9.09848107e-02 6.47408082e-02 1.30398248e+02] [-9.05721671e-02 9.95846596e-01 -9.28653964e-03 -1.68802933e+01] [-6.53168475e-02 3.36474296e-03 9.97858902e-01 -9.23199828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.00071405699998 meters 0.03137578086186339 Centerline is valid? [True, True] Translation: X:130.43, Y:-16.89, Z:-9.24 [[ 9.94134118e-01 8.70063071e-02 6.42437373e-02 1.30427513e+02] [-8.65918617e-02 9.96201271e-01 -9.21287601e-03 -1.68872640e+01] [-6.48012710e-02 3.59584955e-03 9.97891710e-01 -9.23515195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.03071405699998 meters 0.03406656668390274 Centerline is valid? [True, True] Translation: X:130.45, Y:-16.90, Z:-9.24 [[ 9.94307425e-01 8.52522104e-02 6.39124797e-02 1.30454772e+02] [-8.48384918e-02 9.96352571e-01 -9.16435506e-03 -1.68970962e+01] [-6.44606450e-02 3.68994789e-03 9.97913428e-01 -9.23769209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.06071405699998 meters 0.035922604986361004 Centerline is valid? [True, True] Translation: X:130.48, Y:-16.91, Z:-9.24 [[ 9.94641459e-01 8.15962325e-02 6.34856170e-02 1.30483966e+02] [-8.11808474e-02 9.96657849e-01 -9.09952747e-03 -1.69057292e+01] [-6.40159256e-02 3.89695109e-03 9.97941268e-01 -9.24051678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.09071405699999 meters 0.037765548290106615 Centerline is valid? [True, True] Translation: X:130.51, Y:-16.91, Z:-9.24 [[ 9.94792278e-01 7.95933442e-02 6.36649355e-02 1.30511953e+02] [-7.91715861e-02 9.96819245e-01 -9.12425118e-03 -1.69134817e+01] [-6.41886626e-02 4.03628069e-03 9.97929619e-01 -9.24247271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.120714057 meters 0.034649360592526574 Centerline is valid? [True, True] Translation: X:130.54, Y:-16.91, Z:-9.24 [[ 9.94966797e-01 7.71439240e-02 6.39522332e-02 1.30541326e+02] [-7.67135285e-02 9.97011079e-01 -9.16204350e-03 -1.69134873e+01] [-6.44678810e-02 4.20992761e-03 9.97910902e-01 -9.24422270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.150714057 meters 0.04139943237435858 Centerline is valid? [True, True] Translation: X:130.57, Y:-16.93, Z:-9.25 [[ 9.95072514e-01 7.58560994e-02 6.38478230e-02 1.30568284e+02] [-7.54246950e-02 9.97109577e-01 -9.14365348e-03 -1.69281898e+01] [-6.43568777e-02 4.28289568e-03 9.97917757e-01 -9.24704013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.180714057 meters 0.04285036141974702 Centerline is valid? [True, True] Translation: X:130.60, Y:-16.93, Z:-9.25 [[ 9.95181069e-01 7.48818818e-02 6.33035854e-02 1.30596903e+02] [-7.44560049e-02 9.97183112e-01 -9.06333194e-03 -1.69341968e+01] [-6.38039456e-02 4.30632430e-03 9.97953161e-01 -9.24964063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.210714057 meters 0.0436717409517242 Centerline is valid? [True, True] Translation: X:130.63, Y:-16.94, Z:-9.25 [[ 9.95261734e-01 7.44169452e-02 6.25795409e-02 1.30625983e+02] [-7.39999312e-02 9.97218008e-01 -8.95848753e-03 -1.69393856e+01] [-6.30721084e-02 4.28515811e-03 9.97999773e-01 -9.25257650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.240714057 meters 0.0436717409517242 Centerline is valid? [True, True] Translation: X:130.65, Y:-16.94, Z:-9.25 [[ 9.95264180e-01 7.43843043e-02 6.25794445e-02 1.30654846e+02] [-7.39671840e-02 9.97220432e-01 -8.95916066e-03 -1.69434832e+01] [-6.30719216e-02 4.28790641e-03 9.97999773e-01 -9.25458411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.270714057 meters 0.036376180901037364 Centerline is valid? [True, True] Translation: X:130.69, Y:-16.94, Z:-9.26 [[ 9.95273227e-01 7.42284485e-02 6.26206071e-02 1.30685341e+02] [-7.38106038e-02 9.97231999e-01 -8.96296376e-03 -1.69367464e+01] [-6.31125801e-02 4.29853305e-03 9.97997157e-01 -9.25562950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.300714057 meters 0.0372312112285157 Centerline is valid? [True, True] Translation: X:130.71, Y:-16.94, Z:-9.26 [[ 9.95236345e-01 7.41322439e-02 6.33168890e-02 1.30714864e+02] [-7.37050115e-02 9.97238932e-01 -9.06003843e-03 -1.69415439e+01] [-6.38137077e-02 4.35010750e-03 9.97952347e-01 -9.25755768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.330714057 meters 0.03550856500841606 Centerline is valid? [True, True] Translation: X:130.75, Y:-16.94, Z:-9.26 [[ 9.95218234e-01 7.44059595e-02 6.32804937e-02 1.30745500e+02] [-7.39796954e-02 9.97218629e-01 -9.05598488e-03 -1.69430274e+01] [-6.37783064e-02 4.33120963e-03 9.97954692e-01 -9.25934648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.360714057 meters 0.037430900723570436 Centerline is valid? [True, True] Translation: X:130.77, Y:-16.95, Z:-9.26 [[ 9.95181095e-01 7.47334875e-02 6.34782954e-02 1.30774134e+02] [-7.43052071e-02 9.97194169e-01 -9.08437504e-03 -1.69485339e+01] [-6.39790930e-02 4.32383042e-03 9.97941872e-01 -9.26110196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.390714057 meters 0.037916235459617156 Centerline is valid? [True, True] Translation: X:130.80, Y:-16.95, Z:-9.26 [[ 9.95110058e-01 7.54281927e-02 6.37695793e-02 1.30803532e+02] [-7.49974600e-02 9.97141975e-01 -9.12488591e-03 -1.69530387e+01] [-6.42755979e-02 4.29770928e-03 9.97922931e-01 -9.26278038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.420714057 meters 0.037071937633314234 Centerline is valid? [True, True] Translation: X:130.83, Y:-16.95, Z:-9.26 [[ 9.95039283e-01 7.64746656e-02 6.36274400e-02 1.30833013e+02] [-7.60480493e-02 9.97062596e-01 -9.10349674e-03 -1.69542954e+01] [-6.41367274e-02 4.21959418e-03 9.97932200e-01 -9.26475779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.450714057 meters 0.038934895458277476 Centerline is valid? [True, True] Translation: X:130.86, Y:-16.96, Z:-9.27 [[ 9.94933650e-01 7.75640492e-02 6.39597622e-02 1.30860974e+02] [-7.71353479e-02 9.96978655e-01 -9.14869364e-03 -1.69599981e+01] [-6.44761274e-02 4.16878465e-03 9.97910542e-01 -9.26673413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.480714057 meters 0.03828094721585097 Centerline is valid? [True, True] Translation: X:130.89, Y:-16.96, Z:-9.27 [[ 9.94643276e-01 8.03836853e-02 6.49862751e-02 1.30891307e+02] [-7.99471655e-02 9.96755772e-01 -9.29414240e-03 -1.69611250e+01] [-6.55225423e-02 4.04888776e-03 9.97842875e-01 -9.26824624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.510714057 meters 0.03717551354266126 Centerline is valid? [True, True] Translation: X:130.92, Y:-16.96, Z:-9.27 [[ 9.94515137e-01 8.16963201e-02 6.53096775e-02 1.30920802e+02] [-8.12583221e-02 9.96649317e-01 -9.33935720e-03 -1.69624127e+01] [-6.58538366e-02 3.98117730e-03 9.97821338e-01 -9.26971311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54071405699997 meters 0.03763632990639487 Centerline is valid? [True, True] Translation: X:130.95, Y:-16.96, Z:-9.27 [[ 9.94325463e-01 8.38738129e-02 6.54374321e-02 1.30949241e+02] [-8.34390152e-02 9.96468981e-01 -9.35420918e-03 -1.69644699e+01] [-6.59909444e-02 3.84109348e-03 9.97812829e-01 -9.27052626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.57071405699998 meters 0.031791247998092693 Centerline is valid? [True, True] Translation: X:130.98, Y:-16.96, Z:-9.27 [[ 9.94310103e-01 8.44194327e-02 6.49675208e-02 1.30979722e+02] [-8.39922355e-02 9.96423160e-01 -9.28386450e-03 -1.69578095e+01] [-6.55188809e-02 3.77427297e-03 9.97844192e-01 -9.27187715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60071405699998 meters 0.03284096018383282 Centerline is valid? [True, True] Translation: X:131.01, Y:-16.96, Z:-9.27 [[ 9.94290332e-01 8.48340420e-02 6.47296044e-02 1.31007758e+02] [-8.44113155e-02 9.96388128e-01 -9.24271679e-03 -1.69609198e+01] [-6.52799064e-02 3.72603288e-03 9.97860036e-01 -9.27372315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.63071405699998 meters 0.032448465676323104 Centerline is valid? [True, True] Translation: X:131.04, Y:-16.96, Z:-9.28 [[ 9.94261347e-01 8.49342539e-02 6.50426439e-02 1.31036513e+02] [-8.45079511e-02 9.96379566e-01 -9.28261372e-03 -1.69639681e+01] [-6.55955731e-02 3.73272346e-03 9.97839309e-01 -9.27574220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.66071405699998 meters 0.032892392063679846 Centerline is valid? [True, True] Translation: X:131.07, Y:-16.97, Z:-9.28 [[ 9.94267846e-01 8.46838763e-02 6.52693840e-02 1.31065344e+02] [-8.42543670e-02 9.96400783e-01 -9.31022570e-03 -1.69683897e+01] [-6.58228914e-02 3.75762741e-03 9.97824247e-01 -9.27742049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.69071405699998 meters 0.0337903425484771 Centerline is valid? [True, True] Translation: X:131.09, Y:-16.97, Z:-9.28 [[ 9.94312895e-01 8.38585703e-02 6.56475972e-02 1.31093644e+02] [-8.34225851e-02 9.96470307e-01 -9.35941710e-03 -1.69725585e+01] [-6.62007487e-02 3.82969686e-03 9.97798975e-01 -9.27861754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.72071405699998 meters 0.032427534636242185 Centerline is valid? [True, True] Translation: X:131.12, Y:-16.97, Z:-9.28 [[ 9.94391045e-01 8.30613220e-02 6.54772235e-02 1.31122307e+02] [-8.26261886e-02 9.96536931e-01 -9.33046530e-03 -1.69734845e+01] [-6.60254722e-02 3.86799772e-03 9.97810441e-01 -9.28085556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.75071405699998 meters 0.03362761732199649 Centerline is valid? [True, True] Translation: X:131.15, Y:-16.98, Z:-9.28 [[ 9.94418664e-01 8.30505299e-02 6.50701995e-02 1.31149576e+02] [-8.26210871e-02 9.96537940e-01 -9.26772810e-03 -1.69792062e+01] [-6.56146123e-02 3.83983116e-03 9.97837651e-01 -9.28302354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.78071405699998 meters 0.03436849219714859 Centerline is valid? [True, True] Translation: X:131.18, Y:-16.98, Z:-9.29 [[ 9.94463372e-01 8.29544777e-02 6.45070333e-02 1.31176599e+02] [-8.25325456e-02 9.96546061e-01 -9.18294409e-03 -1.69832514e+01] [-6.50459963e-02 3.80817187e-03 9.97875000e-01 -9.28532598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.81071405699998 meters 0.03233288129900285 Centerline is valid? [True, True] Translation: X:131.21, Y:-16.98, Z:-9.29 [[ 9.94426392e-01 8.35797206e-02 6.42696000e-02 1.31205183e+02] [-8.31625741e-02 9.96494047e-01 -9.14329012e-03 -1.69833116e+01] [-6.48084675e-02 3.74750363e-03 9.97890685e-01 -9.28744342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.84071405699999 meters 0.031786741621438026 Centerline is valid? [True, True] Translation: X:131.23, Y:-16.99, Z:-9.29 [[ 9.94380193e-01 8.42293297e-02 6.41362004e-02 1.31233836e+02] [-8.38155658e-02 9.96439553e-01 -9.11961190e-03 -1.69862233e+01] [-6.46759857e-02 3.69274952e-03 9.97899484e-01 -9.28924178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.870714057 meters 0.031164330185383858 Centerline is valid? [True, True] Translation: X:131.26, Y:-16.99, Z:-9.29 [[ 9.94233782e-01 8.60057663e-02 6.40483755e-02 1.31262315e+02] [-8.55971094e-02 9.96288252e-01 -9.10244254e-03 -1.69880460e+01] [-6.45935066e-02 3.56760007e-03 9.97905282e-01 -9.29110518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.900714057 meters 0.03165219900478625 Centerline is valid? [True, True] Translation: X:131.29, Y:-16.99, Z:-9.29 [[ 9.94030191e-01 8.83403932e-02 6.40308834e-02 1.31291170e+02] [-8.79370959e-02 9.96084507e-01 -9.09512353e-03 -1.69922122e+01] [-6.45836377e-02 3.41013744e-03 9.97906471e-01 -9.29372863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.930714057 meters 0.031154672781984524 Centerline is valid? [True, True] Translation: X:131.32, Y:-17.00, Z:-9.30 [[ 9.93926357e-01 8.96656399e-02 6.38002398e-02 1.31320308e+02] [-8.92680962e-02 9.95966424e-01 -9.06035847e-03 -1.69954021e+01] [-6.43552995e-02 3.31000314e-03 9.97921560e-01 -9.29563654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.960714057 meters 0.029498861142975653 Centerline is valid? [True, True] Translation: X:131.35, Y:-17.00, Z:-9.30 [[ 9.93797205e-01 9.10349551e-02 6.38729348e-02 1.31349362e+02] [-9.06397744e-02 9.95842498e-01 -9.06366134e-03 -1.69962897e+01] [-6.44324930e-02 3.21801291e-03 9.97916879e-01 -9.29772595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.990714057 meters 0.02850982996250423 Centerline is valid? [True, True] Translation: X:131.38, Y:-17.00, Z:-9.30 [[ 9.93539771e-01 9.39985752e-02 6.35845193e-02 1.31379239e+02] [-9.36133203e-02 9.95567790e-01 -9.01787021e-03 -1.69980965e+01] [-6.41503663e-02 3.00725474e-03 9.97935713e-01 -9.29955258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.020714057 meters 0.028886678487764227 Centerline is valid? [True, True] Translation: X:131.41, Y:-17.00, Z:-9.30 [[ 9.93421386e-01 9.53283541e-02 6.34543533e-02 1.31406614e+02] [-9.49474340e-02 9.95441616e-01 -8.99858336e-03 -1.70027436e+01] [-6.40229241e-02 2.91455712e-03 9.97944172e-01 -9.30165468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.050714057 meters 0.02638883801528108 Centerline is valid? [True, True] Translation: X:131.44, Y:-17.00, Z:-9.30 [[ 9.93159262e-01 9.79229425e-02 6.36064316e-02 1.31436369e+02] [-9.75458773e-02 9.95190206e-01 -9.01421171e-03 -1.70027634e+01] [-6.41831959e-02 2.74800268e-03 9.97934349e-01 -9.30291515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.080714057 meters 0.02693986163720338 Centerline is valid? [True, True] Translation: X:131.46, Y:-17.01, Z:-9.30 [[ 9.93049405e-01 9.88711863e-02 6.38542709e-02 1.31463150e+02] [-9.84933458e-02 9.95096594e-01 -9.04594517e-03 -1.70086599e+01] [-6.44355509e-02 2.69384968e-03 9.97918235e-01 -9.30478391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.110714057 meters 0.026665181712635343 Centerline is valid? [True, True] Translation: X:131.49, Y:-17.01, Z:-9.31 [[ 9.92999243e-01 9.97174174e-02 6.33161953e-02 1.31491323e+02] [-9.93480200e-02 9.95012372e-01 -8.96382692e-03 -1.70137002e+01] [-6.38942474e-02 2.61073471e-03 9.97953260e-01 -9.30770468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.140714057 meters 0.02669305680414123 Centerline is valid? [True, True] Translation: X:131.52, Y:-17.02, Z:-9.31 [[ 9.92996141e-01 9.98752390e-02 6.31157646e-02 1.31519954e+02] [-9.95087903e-02 9.94996603e-01 -8.93087064e-03 -1.70194491e+01] [-6.36919443e-02 2.58774670e-03 9.97966252e-01 -9.31055663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.170714057 meters 0.026819105275743285 Centerline is valid? [True, True] Translation: X:131.55, Y:-17.03, Z:-9.31 [[ 9.93069262e-01 9.97137991e-02 6.22141461e-02 1.31547682e+02] [-9.93577230e-02 9.95012876e-01 -8.79885786e-03 -1.70250374e+01] [-6.27812440e-02 2.55641938e-03 9.98024038e-01 -9.31321317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.200714057 meters 0.02653812891054802 Centerline is valid? [True, True] Translation: X:131.58, Y:-17.03, Z:-9.32 [[ 9.93230361e-01 9.86324925e-02 6.13602550e-02 1.31575536e+02] [-9.82843499e-02 9.95120572e-01 -8.67372492e-03 -1.70327071e+01] [-6.19163631e-02 2.58425417e-03 9.98077996e-01 -9.31640173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.230714057 meters 0.027270071750438853 Centerline is valid? [True, True] Translation: X:131.60, Y:-17.04, Z:-9.32 [[ 9.93455370e-01 9.70555213e-02 6.02217112e-02 1.31602744e+02] [-9.67175582e-02 9.95275498e-01 -8.50863997e-03 -1.70414454e+01] [-6.07630040e-02 2.62845722e-03 9.98148761e-01 -9.31951373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.260714057 meters 0.02738239542673969 Centerline is valid? [True, True] Translation: X:131.63, Y:-17.05, Z:-9.32 [[ 9.93578262e-01 9.60520187e-02 5.98017269e-02 1.31630431e+02] [-9.57172703e-02 9.95372746e-01 -8.44394506e-03 -1.70471960e+01] [-6.03360671e-02 2.66566220e-03 9.98174561e-01 -9.32161040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.29071405699997 meters 0.028037645823756487 Centerline is valid? [True, True] Translation: X:131.66, Y:-17.05, Z:-9.32 [[ 9.93678865e-01 9.54865616e-02 5.90307577e-02 1.31657752e+02] [-9.51596985e-02 9.95427165e-01 -8.33016787e-03 -1.70537369e+01] [-5.95562388e-02 2.66016265e-03 9.98221407e-01 -9.32378729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32071405699998 meters 0.028024811629787993 Centerline is valid? [True, True] Translation: X:131.69, Y:-17.06, Z:-9.33 [[ 9.93792290e-01 9.42240255e-02 5.91499515e-02 1.31685956e+02] [-9.38940938e-02 9.95547268e-01 -8.33888497e-03 -1.70612091e+01] [-5.96722959e-02 2.73328850e-03 9.98214279e-01 -9.32594403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.35071405699998 meters 0.028013580710494014 Centerline is valid? [True, True] Translation: X:131.71, Y:-17.07, Z:-9.33 [[ 9.93840517e-01 9.37123450e-02 5.91525463e-02 1.31714039e+02] [-9.33817359e-02 9.95595490e-01 -8.33498169e-03 -1.70670177e+01] [-5.96730990e-02 2.75987505e-03 9.98214158e-01 -9.32845527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.38071405699998 meters 0.028371837886682755 Centerline is valid? [True, True] Translation: X:131.74, Y:-17.08, Z:-9.33 [[ 9.94030560e-01 9.21136615e-02 5.84663933e-02 1.31741360e+02] [-9.17881675e-02 9.95744510e-01 -8.23428943e-03 -1.70750105e+01] [-5.89760807e-02 2.81861224e-03 9.98255417e-01 -9.33067756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.41071405699998 meters 0.027542094220745113 Centerline is valid? [True, True] Translation: X:131.77, Y:-17.08, Z:-9.33 [[ 9.94197956e-01 9.03791457e-02 5.83269619e-02 1.31768978e+02] [-9.00525389e-02 9.95903181e-01 -8.20938748e-03 -1.70814170e+01] [-5.88299643e-02 2.90926525e-03 9.98263779e-01 -9.33231904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.44071405699998 meters 0.02848109841010713 Centerline is valid? [True, True] Translation: X:131.80, Y:-17.09, Z:-9.33 [[ 9.94275271e-01 8.95349067e-02 5.83111148e-02 1.31795480e+02] [-8.92073480e-02 9.95979307e-01 -8.20176833e-03 -1.70886329e+01] [-5.88110083e-02 2.95303552e-03 9.98264767e-01 -9.33472581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.47071405699998 meters 0.03204491972444815 Centerline is valid? [True, True] Translation: X:131.82, Y:-17.10, Z:-9.34 [[ 9.94452700e-01 8.78591604e-02 5.78324835e-02 1.31822075e+02] [-8.75344862e-02 9.96128326e-01 -8.12851674e-03 -1.71016372e+01] [-5.83227396e-02 3.02108870e-03 9.98293209e-01 -9.33786512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.50071405699998 meters 0.03232295417362978 Centerline is valid? [True, True] Translation: X:131.85, Y:-17.11, Z:-9.34 [[ 9.94524602e-01 8.71695509e-02 5.76392688e-02 1.31850629e+02] [-8.68460923e-02 9.96188828e-01 -8.09790543e-03 -1.71075767e+01] [-5.81254864e-02 3.04782091e-03 9.98304632e-01 -9.34000527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.53071405699998 meters 0.029986947172147182 Centerline is valid? [True, True] Translation: X:131.88, Y:-17.11, Z:-9.34 [[ 9.94571217e-01 8.63264529e-02 5.81019687e-02 1.31878957e+02] [-8.59965792e-02 9.96262025e-01 -8.15883377e-03 -1.71118056e+01] [-5.85891082e-02 3.11797067e-03 9.98277314e-01 -9.34081760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.56071405699998 meters 0.035467864302576986 Centerline is valid? [True, True] Translation: X:131.90, Y:-17.13, Z:-9.34 [[ 9.94564320e-01 8.61976330e-02 5.84104646e-02 1.31904420e+02] [-8.58642644e-02 9.96273115e-01 -8.19802757e-03 -1.71262675e+01] [-5.88994261e-02 3.13809413e-03 9.98258989e-01 -9.34445038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.59071405699999 meters 0.030035053369356884 Centerline is valid? [True, True] Translation: X:131.93, Y:-17.12, Z:-9.34 [[ 9.94577764e-01 8.61150788e-02 5.83032090e-02 1.31933512e+02] [-8.57831141e-02 9.96280274e-01 -8.17753582e-03 -1.71240871e+01] [-5.87905462e-02 3.13176447e-03 9.98265427e-01 -9.34496187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.620714057 meters 0.030921368264737265 Centerline is valid? [True, True] Translation: X:131.96, Y:-17.13, Z:-9.35 [[ 9.94575149e-01 8.66541522e-02 5.75441571e-02 1.31959891e+02] [-8.63319139e-02 9.96233769e-01 -8.06713364e-03 -1.71328902e+01] [-5.80264831e-02 3.05547342e-03 9.98310368e-01 -9.34881085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.650714057 meters 0.03115225563823844 Centerline is valid? [True, True] Translation: X:131.99, Y:-17.14, Z:-9.35 [[ 9.94526959e-01 8.75048428e-02 5.70879222e-02 1.31987046e+02] [-8.71893922e-02 9.96159646e-01 -7.99805199e-03 -1.71408520e+01] [-5.75685527e-02 2.97681708e-03 9.98337118e-01 -9.35147081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.680714057 meters 0.030436750516933214 Centerline is valid? [True, True] Translation: X:132.02, Y:-17.15, Z:-9.35 [[ 9.94455316e-01 8.81838656e-02 5.72907443e-02 1.32015875e+02] [-8.78675771e-02 9.96099867e-01 -8.02149816e-03 -1.71458848e+01] [-5.77746695e-02 2.94302260e-03 9.98325311e-01 -9.35343310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.710714057 meters 0.031000410804048913 Centerline is valid? [True, True] Translation: X:132.04, Y:-17.15, Z:-9.36 [[ 9.94403756e-01 8.86779734e-02 5.74228845e-02 1.32043311e+02] [-8.83613982e-02 9.96056083e-01 -8.03388072e-03 -1.71524883e+01] [-5.79088417e-02 2.91495480e-03 9.98317619e-01 -9.35587068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.740714057 meters 0.030352337055547345 Centerline is valid? [True, True] Translation: X:132.07, Y:-17.16, Z:-9.36 [[ 9.94298906e-01 8.98888533e-02 5.73557340e-02 1.32071119e+02] [-8.95753416e-02 9.95947766e-01 -8.01904991e-03 -1.71590210e+01] [-5.78441383e-02 2.83567308e-03 9.98321599e-01 -9.35784658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.770714057 meters 0.030371425552559117 Centerline is valid? [True, True] Translation: X:132.10, Y:-17.16, Z:-9.36 [[ 9.94273783e-01 9.02213299e-02 5.72691560e-02 1.32099311e+02] [-8.99095494e-02 9.95917781e-01 -8.00289157e-03 -1.71648480e+01] [-5.77574023e-02 2.80802126e-03 9.98326699e-01 -9.36052235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.800714057 meters 0.028619622051098564 Centerline is valid? [True, True] Translation: X:132.13, Y:-17.17, Z:-9.36 [[ 9.94335822e-01 8.99018587e-02 5.66915181e-02 1.32128133e+02] [-8.95960508e-02 9.95946710e-01 -7.91824883e-03 -1.71693042e+01] [-5.71735963e-02 2.79406232e-03 9.98360342e-01 -9.36239092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.830714057 meters 0.029951820913767937 Centerline is valid? [True, True] Translation: X:132.15, Y:-17.18, Z:-9.36 [[ 9.94454332e-01 8.86297263e-02 5.66158383e-02 1.32154347e+02] [-8.83228942e-02 9.96060537e-01 -7.90393794e-03 -1.71788434e+01] [-5.70933262e-02 2.85963063e-03 9.98364750e-01 -9.36459220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.860714057 meters 0.0301459180361777 Centerline is valid? [True, True] Translation: X:132.18, Y:-17.19, Z:-9.37 [[ 9.94476034e-01 8.82073744e-02 5.68935496e-02 1.32182345e+02] [-8.78972151e-02 9.96097936e-01 -7.93604367e-03 -1.71854338e+01] [-5.73715649e-02 2.89142067e-03 9.98348708e-01 -9.36666057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.890714057 meters 0.03139884962927358 Centerline is valid? [True, True] Translation: X:132.21, Y:-17.19, Z:-9.37 [[ 9.94540714e-01 8.73107788e-02 5.71453900e-02 1.32209143e+02] [-8.69966175e-02 9.96176747e-01 -7.96721484e-03 -1.71932392e+01] [-5.76225325e-02 2.95226390e-03 9.98334076e-01 -9.36887135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.920714057 meters 0.03224546740847729 Centerline is valid? [True, True] Translation: X:132.24, Y:-17.20, Z:-9.37 [[ 9.94709883e-01 8.51824433e-02 5.74125350e-02 1.32237530e+02] [-8.48621340e-02 9.96360597e-01 -7.99871743e-03 -1.72023328e+01] [-5.78849379e-02 3.08425304e-03 9.98318497e-01 -9.37121801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.950714057 meters 0.033743970622321026 Centerline is valid? [True, True] Translation: X:132.27, Y:-17.21, Z:-9.37 [[ 9.94870022e-01 8.32538266e-02 5.74668653e-02 1.32265148e+02] [-8.29298121e-02 9.96523244e-01 -8.00442801e-03 -1.72119432e+01] [-5.79334663e-02 3.19764913e-03 9.98315325e-01 -9.37350965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.980714057 meters 0.03475948095894222 Centerline is valid? [True, True] Translation: X:132.29, Y:-17.22, Z:-9.38 [[ 9.94927063e-01 8.22257616e-02 5.79574360e-02 1.32294312e+02] [-8.18946383e-02 9.96608324e-01 -8.06948374e-03 -1.72188851e+01] [-5.84243826e-02 3.28214450e-03 9.98286441e-01 -9.37585374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.010714057 meters 0.034976490747454264 Centerline is valid? [True, True] Translation: X:132.32, Y:-17.22, Z:-9.38 [[ 9.95001229e-01 8.09696036e-02 5.84506466e-02 1.32323129e+02] [-8.06307760e-02 9.96710832e-01 -8.13609019e-03 -1.72247493e+01] [-5.89171686e-02 3.38249875e-03 9.98257144e-01 -9.37747011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04071405699997 meters 0.03736607502313213 Centerline is valid? [True, True] Translation: X:132.35, Y:-17.23, Z:-9.38 [[ 9.95073065e-01 7.93729751e-02 5.94098229e-02 1.32352096e+02] [-7.90202413e-02 9.96838732e-01 -8.26701967e-03 -1.72343101e+01] [-5.98781905e-02 3.53171006e-03 9.98199444e-01 -9.37935880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.07071405699998 meters 0.0363673382781433 Centerline is valid? [True, True] Translation: X:132.38, Y:-17.24, Z:-9.38 [[ 9.95137270e-01 7.83952770e-02 5.96321517e-02 1.32382774e+02] [-7.80380839e-02 9.96915836e-01 -8.29900151e-03 -1.72375250e+01] [-6.00988389e-02 3.60506686e-03 9.98185921e-01 -9.38100656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10071405699998 meters 0.03556967838434508 Centerline is valid? [True, True] Translation: X:132.41, Y:-17.24, Z:-9.38 [[ 9.95239064e-01 7.69885479e-02 5.97659511e-02 1.32413200e+02] [-7.66271839e-02 9.97025116e-01 -8.31826651e-03 -1.72421559e+01] [-6.02285655e-02 3.69896726e-03 9.98177758e-01 -9.38259987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.13071405699998 meters 0.040698912280593684 Centerline is valid? [True, True] Translation: X:132.44, Y:-17.25, Z:-9.39 [[ 9.95314074e-01 7.60164962e-02 5.97610733e-02 1.32443178e+02] [-7.56532374e-02 9.97099467e-01 -8.32106879e-03 -1.72544740e+01] [-6.02202729e-02 3.76095822e-03 9.98178027e-01 -9.38578077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.16071405699998 meters 0.040698912280593684 Centerline is valid? [True, True] Translation: X:132.47, Y:-17.26, Z:-9.39 [[ 9.95296411e-01 7.62481451e-02 5.97601362e-02 1.32474601e+02] [-7.58848996e-02 9.97081807e-01 -8.32779381e-03 -1.72589180e+01] [-6.02207234e-02 3.75373136e-03 9.98178027e-01 -9.38796403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.19071405699998 meters 0.03706581856883921 Centerline is valid? [True, True] Translation: X:132.51, Y:-17.26, Z:-9.39 [[ 9.95408082e-01 7.48543068e-02 5.96622441e-02 1.32507086e+02] [-7.44888254e-02 9.97187059e-01 -8.32967756e-03 -1.72594764e+01] [-6.01179300e-02 3.84725788e-03 9.98183867e-01 -9.38921867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.22071405699998 meters 0.03379542861402003 Centerline is valid? [True, True] Translation: X:132.54, Y:-17.26, Z:-9.39 [[ 9.95420518e-01 7.45077500e-02 5.98881248e-02 1.32539229e+02] [-7.41387014e-02 9.97212864e-01 -8.36396702e-03 -1.72593042e+01] [-6.03443888e-02 3.88563659e-03 9.98170054e-01 -9.39104474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.25071405699998 meters 0.03484880375023847 Centerline is valid? [True, True] Translation: X:132.57, Y:-17.27, Z:-9.39 [[ 9.95412329e-01 7.44686648e-02 6.00725603e-02 1.32569764e+02] [-7.40962529e-02 9.97215662e-01 -8.40642102e-03 -1.72655657e+01] [-6.05313129e-02 3.91670351e-03 9.98158614e-01 -9.39336094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.28071405699998 meters 0.03432343883971768 Centerline is valid? [True, True] Translation: X:132.60, Y:-17.27, Z:-9.40 [[ 9.95318428e-01 7.56051614e-02 6.02086935e-02 1.32602156e+02] [-7.52325962e-02 9.97130343e-01 -8.43418373e-03 -1.72688588e+01] [-6.06735830e-02 3.86504217e-03 9.98150178e-01 -9.39530742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.31071405699998 meters 0.03399309732461658 Centerline is valid? [True, True] Translation: X:132.63, Y:-17.27, Z:-9.40 [[ 9.95188134e-01 7.72412483e-02 6.02857210e-02 1.32633293e+02] [-7.68701548e-02 9.97005269e-01 -8.45416885e-03 -1.72720554e+01] [-6.07581921e-02 3.77931581e-03 9.98145360e-01 -9.39704789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.34071405699999 meters 0.03349145857886689 Centerline is valid? [True, True] Translation: X:132.66, Y:-17.27, Z:-9.40 [[ 9.94855504e-01 8.16063640e-02 6.00243912e-02 1.32663324e+02] [-8.12462335e-02 9.96658493e-01 -8.42012903e-03 -1.72736831e+01] [-6.05109553e-02 3.50005601e-03 9.98161397e-01 -9.39849032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.370714057 meters 0.03316204085588484 Centerline is valid? [True, True] Translation: X:132.69, Y:-17.28, Z:-9.40 [[ 9.94679345e-01 8.37825338e-02 5.99457086e-02 1.32693569e+02] [-8.34273355e-02 9.96478390e-01 -8.40822405e-03 -1.72765020e+01] [-6.04390655e-02 3.36237604e-03 9.98166226e-01 -9.40076426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.400714057 meters 0.03253260785028665 Centerline is valid? [True, True] Translation: X:132.72, Y:-17.28, Z:-9.40 [[ 9.94333291e-01 8.75765911e-02 6.02631504e-02 1.32723116e+02] [-8.72245428e-02 9.96152813e-01 -8.45294142e-03 -1.72789120e+01] [-6.07715866e-02 3.14861532e-03 9.98146733e-01 -9.40324095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.430714057 meters 0.03220417371872569 Centerline is valid? [True, True] Translation: X:132.75, Y:-17.28, Z:-9.41 [[ 9.94180045e-01 8.91527077e-02 6.04800280e-02 1.32752241e+02] [-8.88011093e-02 9.96013263e-01 -8.48194726e-03 -1.72821196e+01] [-6.09950986e-02 3.06188913e-03 9.98133369e-01 -9.40519952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.460714057 meters 0.0320014417596192 Centerline is valid? [True, True] Translation: X:132.78, Y:-17.29, Z:-9.41 [[ 9.93958564e-01 9.11565058e-02 6.11298928e-02 1.32780338e+02] [-9.08012218e-02 9.95832155e-01 -8.57072585e-03 -1.72855273e+01] [-6.16563903e-02 2.96827740e-03 9.98093021e-01 -9.40686115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.490714057 meters 0.03174327789468565 Centerline is valid? [True, True] Translation: X:132.81, Y:-17.29, Z:-9.41 [[ 9.93891804e-01 9.19292068e-02 6.10581958e-02 1.32809177e+02] [-9.15762274e-02 9.95761274e-01 -8.56039478e-03 -1.72890540e+01] [-6.15863371e-02 2.91662698e-03 9.98097498e-01 -9.40904494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.520714057 meters 0.031964978432385126 Centerline is valid? [True, True] Translation: X:132.84, Y:-17.29, Z:-9.41 [[ 9.93955197e-01 9.19336381e-02 6.00105977e-02 1.32837657e+02] [-9.15929414e-02 9.95761023e-01 -8.40940358e-03 -1.72931123e+01] [-6.05293212e-02 2.86202324e-03 9.98162317e-01 -9.41156649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.550714057 meters 0.03142461561768592 Centerline is valid? [True, True] Translation: X:132.87, Y:-17.30, Z:-9.41 [[ 9.94013571e-01 9.14883272e-02 5.97235888e-02 1.32865667e+02] [-9.11503247e-02 9.95802009e-01 -8.36520891e-03 -1.72965684e+01] [-6.02381887e-02 2.87130667e-03 9.98179902e-01 -9.41350170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.580714057 meters 0.03355161563449007 Centerline is valid? [True, True] Translation: X:132.89, Y:-17.30, Z:-9.42 [[ 9.94227286e-01 8.93954200e-02 5.93343319e-02 1.32893134e+02] [-8.90584269e-02 9.95991777e-01 -8.30522833e-03 -1.73043789e+01] [-5.98389561e-02 2.97306236e-03 9.98203617e-01 -9.41586652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.610714057 meters 0.033861839731182314 Centerline is valid? [True, True] Translation: X:132.92, Y:-17.31, Z:-9.42 [[ 9.94290594e-01 8.86679527e-02 5.93650510e-02 1.32922127e+02] [-8.83295126e-02 9.96056677e-01 -8.30627945e-03 -1.73093583e+01] [-5.98674562e-02 3.01516950e-03 9.98201781e-01 -9.41787480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.640714057 meters 0.03465916042556478 Centerline is valid? [True, True] Translation: X:132.95, Y:-17.32, Z:-9.42 [[ 9.94431004e-01 8.69779228e-02 5.95131845e-02 1.32950510e+02] [-8.66348875e-02 9.96205345e-01 -8.32510441e-03 -1.73164795e+01] [-6.00114527e-02 3.12282390e-03 9.98192804e-01 -9.42003833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.670714057 meters 0.03640275950063728 Centerline is valid? [True, True] Translation: X:132.98, Y:-17.32, Z:-9.42 [[ 9.94477527e-01 8.63293107e-02 5.96799719e-02 1.32978632e+02] [-8.59833770e-02 9.96261620e-01 -8.34522527e-03 -1.73238344e+01] [-6.01773030e-02 3.16765346e-03 9.98182678e-01 -9.42254186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.700714057 meters 0.03687801252897282 Centerline is valid? [True, True] Translation: X:133.01, Y:-17.33, Z:-9.42 [[ 9.94551085e-01 8.55154524e-02 5.96258971e-02 1.33007263e+02] [-8.51688023e-02 9.96331667e-01 -8.33578147e-03 -1.73289474e+01] [-6.01200075e-02 3.21209426e-03 9.98185988e-01 -9.42414437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.730714057 meters 0.037329219164590796 Centerline is valid? [True, True] Translation: X:133.04, Y:-17.33, Z:-9.43 [[ 9.94626607e-01 8.44302621e-02 5.99119632e-02 1.33037133e+02] [-8.40785190e-02 9.96423959e-01 -8.37235027e-03 -1.73343342e+01] [-6.04045953e-02 3.29005321e-03 9.98168553e-01 -9.42519576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.760714057 meters 0.03829034628684401 Centerline is valid? [True, True] Translation: X:133.07, Y:-17.34, Z:-9.43 [[ 9.94674723e-01 8.36882458e-02 6.01537454e-02 1.33067497e+02] [-8.33323023e-02 9.96486359e-01 -8.40613794e-03 -1.73398897e+01] [-6.06458817e-02 3.34862284e-03 9.98153728e-01 -9.42709688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.79071405699997 meters 0.03626284316302223 Centerline is valid? [True, True] Translation: X:133.10, Y:-17.34, Z:-9.43 [[ 9.94815906e-01 8.16161015e-02 6.06640413e-02 1.33097688e+02] [-8.12502469e-02 9.96657680e-01 -8.47744884e-03 -1.73425321e+01] [-6.11531790e-02 3.50453261e-03 9.98122240e-01 -9.42892063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82071405699998 meters 0.03815848552735833 Centerline is valid? [True, True] Translation: X:133.13, Y:-17.35, Z:-9.43 [[ 9.94937265e-01 8.02900889e-02 6.04428664e-02 1.33126861e+02] [-7.99244726e-02 9.96765136e-01 -8.44641067e-03 -1.73508842e+01] [-6.09255050e-02 3.57278452e-03 9.98135922e-01 -9.43165577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.85071405699998 meters 0.041013849715598176 Centerline is valid? [True, True] Translation: X:133.16, Y:-17.36, Z:-9.43 [[ 9.95220141e-01 7.67361297e-02 6.04022943e-02 1.33155761e+02] [-7.63644324e-02 9.97044238e-01 -8.44164609e-03 -1.73602357e+01] [-6.08715387e-02 3.78870929e-03 9.98138418e-01 -9.43429627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88071405699998 meters 0.04295348569744943 Centerline is valid? [True, True] Translation: X:133.19, Y:-17.37, Z:-9.44 [[ 9.95536864e-01 7.27594458e-02 6.01033765e-02 1.33185335e+02] [-7.23840730e-02 9.97341441e-01 -8.40214745e-03 -1.73679041e+01] [-6.05549237e-02 4.01412033e-03 9.98156795e-01 -9.43646742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.91071405699998 meters 0.044863468228522156 Centerline is valid? [True, True] Translation: X:133.21, Y:-17.37, Z:-9.44 [[ 9.95706209e-01 7.08309590e-02 5.95996687e-02 1.33214763e+02] [-7.04584527e-02 9.97479923e-01 -8.33126528e-03 -1.73745773e+01] [-6.00395844e-02 4.09619213e-03 9.98187592e-01 -9.43882286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.94071405699998 meters 0.04608306652593147 Centerline is valid? [True, True] Translation: X:133.25, Y:-17.38, Z:-9.44 [[ 9.95841798e-01 6.90893638e-02 5.93782204e-02 1.33245734e+02] [-6.87162392e-02 9.97601673e-01 -8.30543180e-03 -1.73802472e+01] [-5.98096290e-02 4.19064814e-03 9.98201005e-01 -9.44190243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.97071405699998 meters 0.04858929854537512 Centerline is valid? [True, True] Translation: X:133.27, Y:-17.39, Z:-9.45 [[ 9.96131632e-01 6.59272135e-02 5.80979631e-02 1.33274206e+02] [-6.55645435e-02 9.97815221e-01 -8.12870844e-03 -1.73875300e+01] [-5.85069349e-02 4.28809718e-03 9.98277792e-01 -9.44523029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.00071405699998 meters 0.05186730077208523 Centerline is valid? [True, True] Translation: X:133.30, Y:-17.39, Z:-9.45 [[ 9.96359840e-01 6.26570313e-02 5.78028119e-02 1.33303043e+02] [-6.22926185e-02 9.98025168e-01 -8.08664411e-03 -1.73949193e+01] [-5.81953462e-02 4.45651892e-03 9.98295268e-01 -9.44823144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.03071405699998 meters 0.05298336716566484 Centerline is valid? [True, True] Translation: X:133.33, Y:-17.40, Z:-9.45 [[ 9.96467623e-01 6.11620296e-02 5.75454861e-02 1.33333387e+02] [-6.07984466e-02 9.98117605e-01 -8.04954450e-03 -1.73997215e+01] [-5.79294893e-02 4.52243431e-03 9.98310434e-01 -9.45065447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.06071405699998 meters 0.054602326012189194 Centerline is valid? [True, True] Translation: X:133.36, Y:-17.41, Z:-9.45 [[ 9.96516160e-01 6.01587306e-02 5.77621875e-02 1.33364534e+02] [-5.97907878e-02 9.98178238e-01 -8.07880477e-03 -1.74052842e+01] [-5.81429691e-02 4.59701281e-03 9.98297682e-01 -9.45274469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.09071405699999 meters 0.056976290418320634 Centerline is valid? [True, True] Translation: X:133.39, Y:-17.41, Z:-9.45 [[ 9.96613360e-01 5.80648142e-02 5.82261840e-02 1.33393661e+02] [-5.76865314e-02 9.98301412e-01 -8.15815220e-03 -1.74100228e+01] [-5.86009833e-02 4.77165688e-03 9.98270082e-01 -9.45463527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.120714057 meters 0.057915028532968114 Centerline is valid? [True, True] Translation: X:133.43, Y:-17.41, Z:-9.46 [[ 9.96616096e-01 5.77584614e-02 5.84834850e-02 1.33425553e+02] [-5.73764255e-02 9.98319005e-01 -8.19206438e-03 -1.74146900e+01] [-5.88583356e-02 4.80876989e-03 9.98254763e-01 -9.45689262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.150714057 meters 0.05997572842741478 Centerline is valid? [True, True] Translation: X:133.46, Y:-17.42, Z:-9.46 [[ 9.96694554e-01 5.63343240e-02 5.85355465e-02 1.33455266e+02] [-5.59482704e-02 9.98399876e-01 -8.21459405e-03 -1.74176276e+01] [-5.89046460e-02 4.91247856e-03 9.98251527e-01 -9.45916777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.180714057 meters 0.060960035047714925 Centerline is valid? [True, True] Translation: X:133.49, Y:-17.42, Z:-9.46 [[ 9.96712811e-01 5.63882455e-02 5.81716292e-02 1.33486550e+02] [-5.60071940e-02 9.98397007e-01 -8.16150138e-03 -1.74216750e+01] [-5.85385932e-02 4.87664326e-03 9.98273235e-01 -9.46157361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.210714057 meters 0.062332967574298306 Centerline is valid? [True, True] Translation: X:133.52, Y:-17.42, Z:-9.46 [[ 9.96794915e-01 5.57283555e-02 5.73955468e-02 1.33518729e+02] [-5.53555757e-02 9.98434126e-01 -8.06570661e-03 -1.74239938e+01] [-5.77551612e-02 4.86269180e-03 9.98318935e-01 -9.46457590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.240714057 meters 0.06308342602159132 Centerline is valid? [True, True] Translation: X:133.55, Y:-17.43, Z:-9.47 [[ 9.96832915e-01 5.54367342e-02 5.70167384e-02 1.33551043e+02] [-5.50682872e-02 9.98450427e-01 -8.01430829e-03 -1.74273315e+01] [-5.73726739e-02 4.84911216e-03 9.98341055e-01 -9.46690141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.270714057 meters 0.06569358123941867 Centerline is valid? [True, True] Translation: X:133.58, Y:-17.43, Z:-9.47 [[ 9.96862569e-01 5.47396725e-02 5.71715519e-02 1.33581861e+02] [-5.43673502e-02 9.98488562e-01 -8.04876637e-03 -1.74310763e+01] [-5.75257275e-02 4.91524814e-03 9.98331924e-01 -9.46915351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.300714057 meters 0.06628873879665112 Centerline is valid? [True, True] Translation: X:133.61, Y:-17.43, Z:-9.47 [[ 9.96884213e-01 5.44573137e-02 5.70637030e-02 1.33613682e+02] [-5.40852879e-02 9.98503912e-01 -8.04488801e-03 -1.74345384e+01] [-5.74164337e-02 4.93351505e-03 9.98338126e-01 -9.47123101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.330714057 meters 0.06861805416408011 Centerline is valid? [True, True] Translation: X:133.64, Y:-17.44, Z:-9.47 [[ 9.96958532e-01 5.32310761e-02 5.69222060e-02 1.33643669e+02] [-5.28580856e-02 9.98569673e-01 -8.03937333e-03 -1.74376478e+01] [-5.72687332e-02 5.00612300e-03 9.98346248e-01 -9.47369440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.360714057 meters 0.04608909810757843 Centerline is valid? [True, True] Translation: X:133.68, Y:-17.41, Z:-9.47 [[ 9.96993678e-01 5.29707627e-02 5.65482506e-02 1.33680554e+02] [-5.26023555e-02 9.98583615e-01 -7.98468337e-03 -1.74102700e+01] [-5.68911113e-02 4.98610766e-03 9.98367938e-01 -9.47190447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.390714057 meters 0.04695692496520394 Centerline is valid? [True, True] Translation: X:133.71, Y:-17.41, Z:-9.47 [[ 9.96989342e-01 5.28687421e-02 5.67199093e-02 1.33712126e+02] [-5.24970921e-02 9.98588843e-01 -8.02354461e-03 -1.74135453e+01] [-5.70640634e-02 5.02175816e-03 9.98357889e-01 -9.47390694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.420714057 meters 0.045679955714879816 Centerline is valid? [True, True] Translation: X:133.74, Y:-17.41, Z:-9.48 [[ 9.97029060e-01 5.16651788e-02 5.71293549e-02 1.33744872e+02] [-5.12853012e-02 9.98651221e-01 -8.09668213e-03 -1.74112369e+01] [-5.74706165e-02 5.14273119e-03 9.98333952e-01 -9.47541861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.450714057 meters 0.04701929187228339 Centerline is valid? [True, True] Translation: X:133.78, Y:-17.42, Z:-9.48 [[ 9.97071235e-01 5.11558608e-02 5.68509415e-02 1.33775391e+02] [-5.07786592e-02 9.98677401e-01 -8.06075792e-03 -1.74150057e+01] [-5.71881055e-02 5.15033527e-03 9.98350136e-01 -9.47768283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.480714057 meters 0.07592525667142429 Centerline is valid? [True, True] Translation: X:133.80, Y:-17.45, Z:-9.48 [[ 9.97112673e-01 5.04878660e-02 5.67211864e-02 1.33801408e+02] [-5.01109749e-02 9.98711227e-01 -8.04832314e-03 -1.74533523e+01] [-5.70544284e-02 5.18273105e-03 9.98357617e-01 -9.48445430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.510714057 meters 0.048142547318004 Centerline is valid? [True, True] Translation: X:133.84, Y:-17.42, Z:-9.48 [[ 9.97122086e-01 5.00315494e-02 5.69595393e-02 1.33838568e+02] [-4.96499786e-02 9.98733870e-01 -8.09544408e-03 -1.74195579e+01] [-5.72924488e-02 5.24410618e-03 9.98343666e-01 -9.48189300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.54071405699997 meters 0.05250409061293433 Centerline is valid? [True, True] Translation: X:133.87, Y:-17.43, Z:-9.48 [[ 9.97167548e-01 4.88440686e-02 5.71938639e-02 1.33869048e+02] [-4.84565308e-02 9.98792090e-01 -8.14404476e-03 -1.74257063e+01] [-5.75225672e-02 5.34956092e-03 9.98329874e-01 -9.48402264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.57071405699998 meters 0.05209487296090671 Centerline is valid? [True, True] Translation: X:133.90, Y:-17.43, Z:-9.49 [[ 9.97172449e-01 4.83539539e-02 5.75239181e-02 1.33901084e+02] [-4.79609852e-02 9.98815605e-01 -8.19329921e-03 -1.74281106e+01] [-5.78519655e-02 5.41122845e-03 9.98310507e-01 -9.48601780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60071405699998 meters 0.051575144577302494 Centerline is valid? [True, True] Translation: X:133.93, Y:-17.43, Z:-9.49 [[ 9.97143934e-01 4.79240214e-02 5.83717605e-02 1.33933186e+02] [-4.75176901e-02 9.98835661e-01 -8.33014230e-03 -1.74309820e+01] [-5.87030099e-02 5.53265964e-03 9.98260160e-01 -9.48780108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.63071405699998 meters 0.05231236967239643 Centerline is valid? [True, True] Translation: X:133.96, Y:-17.43, Z:-9.49 [[ 9.97208864e-01 4.66901256e-02 5.82624490e-02 1.33963451e+02] [-4.62827468e-02 9.98893707e-01 -8.32280997e-03 -1.74338356e+01] [-5.85865867e-02 5.60303370e-03 9.98266607e-01 -9.48982037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.66071405699998 meters 0.05400723447556918 Centerline is valid? [True, True] Translation: X:133.99, Y:-17.44, Z:-9.49 [[ 9.97204851e-01 4.66996913e-02 5.83234438e-02 1.33994056e+02] [-4.62913939e-02 9.98893222e-01 -8.33288547e-03 -1.74396197e+01] [-5.86480359e-02 5.60972030e-03 9.98262961e-01 -9.49237788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.69071405699998 meters 0.04717099017844845 Centerline is valid? [True, True] Translation: X:134.03, Y:-17.43, Z:-9.49 [[ 9.97236282e-01 4.65305226e-02 5.79198440e-02 1.34027599e+02] [-4.61268331e-02 9.98901208e-01 -8.28806913e-03 -1.74338575e+01] [-5.82418503e-02 5.59350427e-03 9.98286832e-01 -9.49444461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.72071405699998 meters 0.056546673246469746 Centerline is valid? [True, True] Translation: X:134.06, Y:-17.45, Z:-9.50 [[ 9.97267916e-01 4.64967068e-02 5.74000070e-02 1.34057017e+02] [-4.60992660e-02 9.98902964e-01 -8.22960353e-03 -1.74499210e+01] [-5.77196866e-02 5.56102137e-03 9.98317341e-01 -9.49882062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.75071405699998 meters 0.049679885310095415 Centerline is valid? [True, True] Translation: X:134.09, Y:-17.44, Z:-9.50 [[ 9.97309937e-01 4.68476456e-02 5.63754235e-02 1.34090921e+02] [-4.64645023e-02 9.98887192e-01 -8.08869009e-03 -1.74445706e+01] [-5.66916245e-02 5.44747501e-03 9.98376875e-01 -9.50077956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.78071405699998 meters 0.04978029564534282 Centerline is valid? [True, True] Translation: X:134.12, Y:-17.45, Z:-9.50 [[ 9.97291695e-01 4.71190602e-02 5.64718420e-02 1.34123740e+02] [-4.67340973e-02 9.98874370e-01 -8.11899072e-03 -1.74490149e+01] [-5.67908348e-02 5.45784146e-03 9.98371180e-01 -9.50324238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.81071405699998 meters 0.0504838823906068 Centerline is valid? [True, True] Translation: X:134.16, Y:-17.45, Z:-9.51 [[ 9.97261137e-01 4.79356280e-02 5.63240656e-02 1.34155322e+02] [-4.75530205e-02 9.98835755e-01 -8.11446932e-03 -1.74537061e+01] [-5.66474627e-02 5.41386546e-03 9.98379565e-01 -9.50522992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.84071405699999 meters 0.057835455770759596 Centerline is valid? [True, True] Translation: X:134.18, Y:-17.47, Z:-9.51 [[ 9.97152135e-01 4.94766307e-02 5.69182032e-02 1.34184099e+02] [-4.90874032e-02 9.98760685e-01 -8.21713534e-03 -1.74659461e+01] [-5.72542198e-02 5.39976726e-03 9.98345029e-01 -9.50763810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.870714057 meters 0.044921049336066186 Centerline is valid? [True, True] Translation: X:134.22, Y:-17.45, Z:-9.51 [[ 9.96983732e-01 5.25661568e-02 5.70984861e-02 1.34217067e+02] [-5.21794045e-02 9.98603695e-01 -8.24437001e-03 -1.74517127e+01] [-5.74521340e-02 5.24013778e-03 9.98334510e-01 -9.50727097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.900714057 meters 0.04679277001130099 Centerline is valid? [True, True] Translation: X:134.25, Y:-17.46, Z:-9.51 [[ 9.96861701e-01 5.46693247e-02 5.72539411e-02 1.34246410e+02] [-5.42838896e-02 9.98491320e-01 -8.26695443e-03 -1.74576580e+01] [-5.76195121e-02 5.13304364e-03 9.98325420e-01 -9.51002160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.930714057 meters 0.04303276421150334 Centerline is valid? [True, True] Translation: X:134.28, Y:-17.46, Z:-9.51 [[ 9.96781221e-01 5.66803814e-02 5.66968386e-02 1.34277969e+02] [-5.63056580e-02 9.98380016e-01 -8.18630590e-03 -1.74558087e+01] [-5.70689936e-02 4.96760319e-03 9.98357878e-01 -9.51207624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.960714057 meters 0.04110142539077763 Centerline is valid? [True, True] Translation: X:134.31, Y:-17.45, Z:-9.51 [[ 9.96526257e-01 6.13565169e-02 5.63098277e-02 1.34309075e+02] [-6.09942426e-02 9.98104995e-01 -8.13147027e-03 -1.74549105e+01] [-5.67020390e-02 4.66864834e-03 9.98380229e-01 -9.51490873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.990714057 meters 0.0386671760614239 Centerline is valid? [True, True] Translation: X:134.34, Y:-17.45, Z:-9.52 [[ 9.96178730e-01 6.64568108e-02 5.66694738e-02 1.34339789e+02] [-6.60980100e-02 9.97779568e-01 -8.18458694e-03 -1.74535447e+01] [-5.70875646e-02 4.40757198e-03 9.98359446e-01 -9.51663133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.020714057 meters 0.03923821732631756 Centerline is valid? [True, True] Translation: X:134.37, Y:-17.46, Z:-9.52 [[ 9.96007773e-01 6.86872778e-02 5.70138078e-02 1.34368810e+02] [-6.83277219e-02 9.97628948e-01 -8.23440076e-03 -1.74571097e+01] [-5.74442236e-02 4.30590356e-03 9.98339431e-01 -9.51848635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.050714057 meters 0.03923821732631756 Centerline is valid? [True, True] Translation: X:134.40, Y:-17.46, Z:-9.52 [[ 9.96007769e-01 6.86871940e-02 5.70139840e-02 1.34398517e+02] [-6.83277075e-02 9.97628959e-01 -8.23318032e-03 -1.74614001e+01] [-5.74443156e-02 4.30467673e-03 9.98339431e-01 -9.52055399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.080714057 meters 0.04122832749552038 Centerline is valid? [True, True] Translation: X:134.43, Y:-17.47, Z:-9.52 [[ 9.95845117e-01 7.07377520e-02 5.73469560e-02 1.34427696e+02] [-7.03774262e-02 9.97486059e-01 -8.28126358e-03 -1.74668622e+01] [-5.77885871e-02 4.21092473e-03 9.98319962e-01 -9.52237137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.110714057 meters 0.03836094559079058 Centerline is valid? [True, True] Translation: X:134.46, Y:-17.46, Z:-9.52 [[ 9.95525596e-01 7.46880806e-02 5.78833137e-02 1.34459370e+02] [-7.43276181e-02 9.97198847e-01 -8.35856581e-03 -1.74640517e+01] [-5.83454589e-02 4.01883737e-03 9.98288363e-01 -9.52309171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.140714057 meters 0.03817391568697566 Centerline is valid? [True, True] Translation: X:134.49, Y:-17.47, Z:-9.52 [[ 9.95369877e-01 7.63488573e-02 5.83922958e-02 1.34489549e+02] [-7.59847897e-02 9.97073313e-01 -8.43325897e-03 -1.74667949e+01] [-5.88652695e-02 3.95728562e-03 9.98258093e-01 -9.52458413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.170714057 meters 0.03349274227393914 Centerline is valid? [True, True] Translation: X:134.52, Y:-17.46, Z:-9.53 [[ 9.95187225e-01 7.84199827e-02 5.87596169e-02 1.34520900e+02] [-7.80549493e-02 9.96912945e-01 -8.48554792e-03 -1.74617414e+01] [-5.92436593e-02 3.85822998e-03 9.98236096e-01 -9.52544390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.200714057 meters 0.03733342898065462 Centerline is valid? [True, True] Translation: X:134.55, Y:-17.47, Z:-9.53 [[ 9.95120802e-01 7.94304995e-02 5.85267900e-02 1.34547572e+02] [-7.90702362e-02 9.96833237e-01 -8.44955129e-03 -1.74703791e+01] [-5.90126016e-02 3.78059715e-03 9.98250079e-01 -9.52827691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.230714057 meters 0.0362300207488242 Centerline is valid? [True, True] Translation: X:134.58, Y:-17.47, Z:-9.53 [[ 9.95083860e-01 8.00065844e-02 5.83700088e-02 1.34576269e+02] [-7.96495729e-02 9.96787354e-01 -8.42122752e-03 -1.74713022e+01] [-5.88562403e-02 3.73068132e-03 9.98259498e-01 -9.53098444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.260714057 meters 0.0341644747238929 Centerline is valid? [True, True] Translation: X:134.60, Y:-17.47, Z:-9.53 [[ 9.95086770e-01 8.02048604e-02 5.80474045e-02 1.34604779e+02] [-7.98522976e-02 9.96771551e-01 -8.37174831e-03 -1.74720221e+01] [-5.85314563e-02 3.69539736e-03 9.98278725e-01 -9.53302855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.29071405699997 meters 0.033390066609343905 Centerline is valid? [True, True] Translation: X:134.63, Y:-17.47, Z:-9.54 [[ 9.95169143e-01 7.97692345e-02 5.72297616e-02 1.34633494e+02] [-7.94260711e-02 9.96806622e-01 -8.24965975e-03 -1.74731158e+01] [-5.77050744e-02 3.66427171e-03 9.98326949e-01 -9.53524805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32071405699998 meters 0.033176521087706544 Centerline is valid? [True, True] Translation: X:134.66, Y:-17.48, Z:-9.54 [[ 9.95230530e-01 7.94420696e-02 5.66140483e-02 1.34662157e+02] [-7.91059691e-02 9.96832841e-01 -8.15678262e-03 -1.74759724e+01] [-5.70827343e-02 3.63936993e-03 9.98362818e-01 -9.53696974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.35071405699998 meters 0.034575137865852035 Centerline is valid? [True, True] Translation: X:134.69, Y:-17.48, Z:-9.54 [[ 9.95238841e-01 7.89773385e-02 5.71159329e-02 1.34689019e+02] [-7.86347172e-02 9.96869565e-01 -8.22503195e-03 -1.74815893e+01] [-5.75867263e-02 3.69457603e-03 9.98333671e-01 -9.53906992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.38071405699998 meters 0.03493597810419322 Centerline is valid? [True, True] Translation: X:134.72, Y:-17.48, Z:-9.54 [[ 9.95247527e-01 7.84252110e-02 5.77221509e-02 1.34718057e+02] [-7.80746662e-02 9.96912907e-01 -8.30680342e-03 -1.74849207e+01] [-5.81954200e-02 3.76068790e-03 9.98298127e-01 -9.54069656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.41071405699998 meters 0.037782769367131507 Centerline is valid? [True, True] Translation: X:134.75, Y:-17.49, Z:-9.54 [[ 9.95203949e-01 7.85519985e-02 5.82982301e-02 1.34745309e+02] [-7.81948709e-02 9.96902826e-01 -8.38558791e-03 -1.74928840e+01] [-5.87763751e-02 3.78674762e-03 9.98263992e-01 -9.54229853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.44071405699998 meters 0.034849811651116135 Centerline is valid? [True, True] Translation: X:134.77, Y:-17.49, Z:-9.54 [[ 9.95085004e-01 7.89832444e-02 5.97283940e-02 1.34774611e+02] [-7.86094683e-02 9.96868516e-01 -8.58563999e-03 -1.74909865e+01] [-6.02194772e-02 3.84822431e-03 9.98177743e-01 -9.54216685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.47071405699998 meters 0.03388246269044366 Centerline is valid? [True, True] Translation: X:134.80, Y:-17.49, Z:-9.54 [[ 9.95064365e-01 7.89790256e-02 6.00768030e-02 1.34802873e+02] [-7.86011274e-02 9.96868779e-01 -8.63134798e-03 -1.74935904e+01] [-6.05703847e-02 3.86664235e-03 9.98156439e-01 -9.54354053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.50071405699998 meters 0.034936509199550374 Centerline is valid? [True, True] Translation: X:134.83, Y:-17.50, Z:-9.55 [[ 9.95056399e-01 7.86517463e-02 6.06355088e-02 1.34829840e+02] [-7.82664394e-02 9.96894452e-01 -8.70724370e-03 -1.74989667e+01] [-6.11320423e-02 3.91847319e-03 9.98121996e-01 -9.54560066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.53071405699998 meters 0.035442728171127 Centerline is valid? [True, True] Translation: X:134.86, Y:-17.50, Z:-9.55 [[ 9.95095772e-01 7.79478349e-02 6.08977725e-02 1.34858380e+02] [-7.75582228e-02 9.96949522e-01 -8.73918751e-03 -1.75039412e+01] [-6.13932059e-02 3.97320554e-03 9.98105750e-01 -9.54780014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.56071405699998 meters 0.036821425030277896 Centerline is valid? [True, True] Translation: X:134.89, Y:-17.51, Z:-9.55 [[ 9.95156869e-01 7.77764844e-02 6.01134268e-02 1.34885606e+02] [-7.73967989e-02 9.96963083e-01 -8.62249253e-03 -1.75097681e+01] [-6.06014945e-02 3.92814586e-03 9.98154311e-01 -9.55057382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.59071405699999 meters 0.03756406039706857 Centerline is valid? [True, True] Translation: X:134.91, Y:-17.51, Z:-9.55 [[ 9.95162660e-01 7.78820829e-02 5.98803946e-02 1.34912502e+02] [-7.75058532e-02 9.96954945e-01 -8.58372151e-03 -1.75145231e+01] [-6.03665737e-02 3.90111805e-03 9.98168652e-01 -9.55266636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.620714057 meters 0.03701570758302219 Centerline is valid? [True, True] Translation: X:134.94, Y:-17.52, Z:-9.55 [[ 9.95132618e-01 7.82230840e-02 5.99351527e-02 1.34941356e+02] [-7.78471095e-02 9.96928335e-01 -8.58613037e-03 -1.75179149e+01] [-6.04226856e-02 3.87855999e-03 9.98165345e-01 -9.55424235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.650714057 meters 0.03746461475907228 Centerline is valid? [True, True] Translation: X:134.97, Y:-17.52, Z:-9.56 [[ 9.95142709e-01 7.89435205e-02 5.88124908e-02 1.34969041e+02] [-7.85830026e-02 9.96872004e-01 -8.42139719e-03 -1.75218512e+01] [-5.92933403e-02 3.75882989e-03 9.98233525e-01 -9.55648053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.680714057 meters 0.03648787323148893 Centerline is valid? [True, True] Translation: X:135.00, Y:-17.52, Z:-9.56 [[ 9.95127501e-01 7.93018547e-02 5.85873148e-02 1.34998043e+02] [-7.89450297e-02 9.96843716e-01 -8.38381891e-03 -1.75247994e+01] [-5.90672490e-02 3.71779144e-03 9.98247083e-01 -9.55849879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.710714057 meters 0.03649413564302637 Centerline is valid? [True, True] Translation: X:135.03, Y:-17.53, Z:-9.56 [[ 9.95159907e-01 7.93576587e-02 5.79579365e-02 1.35026436e+02] [-7.90088015e-02 9.96839451e-01 -8.28969117e-03 -1.75291386e+01] [-5.84326080e-02 3.67038120e-03 9.98284608e-01 -9.56140448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.740714057 meters 0.03913802419021796 Centerline is valid? [True, True] Translation: X:135.05, Y:-17.54, Z:-9.56 [[ 9.95185437e-01 7.94357417e-02 5.74099996e-02 1.35053573e+02] [-7.90938111e-02 9.96833390e-01 -8.20746741e-03 -1.75375825e+01] [-5.78801708e-02 3.62717638e-03 9.98316948e-01 -9.56453014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.770714057 meters 0.036412059078702645 Centerline is valid? [True, True] Translation: X:135.08, Y:-17.54, Z:-9.57 [[ 9.95221156e-01 7.92038845e-02 5.71103836e-02 1.35082840e+02] [-7.88654367e-02 9.96851878e-01 -8.15945989e-03 -1.75376354e+01] [-5.75768541e-02 3.61643175e-03 9.98334527e-01 -9.56625863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.800714057 meters 0.0336851832207577 Centerline is valid? [True, True] Translation: X:135.11, Y:-17.54, Z:-9.57 [[ 9.95297270e-01 7.89724973e-02 5.60953607e-02 1.35111507e+02] [-7.86458405e-02 9.96870434e-01 -8.01059739e-03 -1.75376984e+01] [-5.65524234e-02 3.56125893e-03 9.98393280e-01 -9.56835602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.830714057 meters 0.03383338934490728 Centerline is valid? [True, True] Translation: X:135.14, Y:-17.54, Z:-9.57 [[ 9.95374448e-01 7.84588410e-02 5.54429384e-02 1.35140077e+02] [-7.81391788e-02 9.96911052e-01 -7.91342918e-03 -1.75417181e+01] [-5.58925566e-02 3.54455952e-03 9.98430497e-01 -9.57110026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.860714057 meters 0.03874092099874661 Centerline is valid? [True, True] Translation: X:135.17, Y:-17.55, Z:-9.57 [[ 9.95398409e-01 7.83154277e-02 5.52150366e-02 1.35166152e+02] [-7.79983840e-02 9.96922366e-01 -7.87709637e-03 -1.75525157e+01] [-5.56620031e-02 3.53416558e-03 9.98443414e-01 -9.57421666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.890714057 meters 0.034924637783885916 Centerline is valid? [True, True] Translation: X:135.20, Y:-17.55, Z:-9.57 [[ 9.95458440e-01 7.78508349e-02 5.47881561e-02 1.35195680e+02] [-7.75382685e-02 9.96958778e-01 -7.81098378e-03 -1.75506915e+01] [-5.52296248e-02 3.52733097e-03 9.98467449e-01 -9.57470803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.920714057 meters 0.03566104064381902 Centerline is valid? [True, True] Translation: X:135.22, Y:-17.56, Z:-9.58 [[ 9.95478177e-01 7.74676702e-02 5.49723405e-02 1.35222858e+02] [-7.71526176e-02 9.96988520e-01 -7.83358675e-03 -1.75550115e+01] [-5.54136421e-02 3.55690470e-03 9.98457148e-01 -9.57631116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.950714057 meters 0.03663647932921112 Centerline is valid? [True, True] Translation: X:135.25, Y:-17.56, Z:-9.58 [[ 9.95459708e-01 7.73584878e-02 5.54583988e-02 1.35250510e+02] [-7.70379843e-02 9.96996883e-01 -7.89712341e-03 -1.75606315e+01] [-5.59027602e-02 3.58886491e-03 9.98429768e-01 -9.57843685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.980714057 meters 0.03809525069397968 Centerline is valid? [True, True] Translation: X:135.28, Y:-17.57, Z:-9.58 [[ 9.95526024e-01 7.69236681e-02 5.48697128e-02 1.35277343e+02] [-7.66095530e-02 9.97030594e-01 -7.80843858e-03 -1.75653728e+01] [-5.53074361e-02 3.56995964e-03 9.98462990e-01 -9.58124077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.01071405699997 meters 0.03967698520357968 Centerline is valid? [True, True] Translation: X:135.30, Y:-17.57, Z:-9.58 [[ 9.95601647e-01 7.63396192e-02 5.43104347e-02 1.35304783e+02] [-7.60312695e-02 9.97075515e-01 -7.72426083e-03 -1.75715048e+01] [-5.47412718e-02 3.56099551e-03 9.98494223e-01 -9.58430522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04071405699997 meters 0.03959876699995084 Centerline is valid? [True, True] Translation: X:135.33, Y:-17.58, Z:-9.59 [[ 9.95852644e-01 7.43974611e-02 5.23691695e-02 1.35334251e+02] [-7.41084279e-02 9.97222420e-01 -7.44221072e-03 -1.75752522e+01] [-5.27773915e-02 3.53034840e-03 9.98600062e-01 -9.58789443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.07071405699998 meters 0.04252905091050748 Centerline is valid? [True, True] Translation: X:135.36, Y:-17.58, Z:-9.59 [[ 9.95954463e-01 7.30221353e-02 5.23686585e-02 1.35362007e+02] [-7.27312963e-02 9.97323817e-01 -7.44062528e-03 -1.75831442e+01] [-5.27718408e-02 3.60168353e-03 9.98600100e-01 -9.59050044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10071405699998 meters 0.04270896961971577 Centerline is valid? [True, True] Translation: X:135.39, Y:-17.59, Z:-9.59 [[ 9.96113669e-01 7.09789713e-02 5.21492525e-02 1.35390952e+02] [-7.06879234e-02 9.97470981e-01 -7.40676797e-03 -1.75870302e+01] [-5.25430908e-02 3.69166045e-03 9.98611834e-01 -9.59192408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.13071405699998 meters 0.04371654994710423 Centerline is valid? [True, True] Translation: X:135.42, Y:-17.59, Z:-9.59 [[ 9.96183164e-01 6.99580067e-02 5.22013456e-02 1.35418838e+02] [-6.96650963e-02 9.97542900e-01 -7.41200828e-03 -1.75924235e+01] [-5.25916110e-02 3.74710609e-03 9.98609073e-01 -9.59383249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.16071405699998 meters 0.046588156373089946 Centerline is valid? [True, True] Translation: X:135.45, Y:-17.60, Z:-9.60 [[ 9.96307933e-01 6.80340494e-02 5.23628719e-02 1.35446722e+02] [-6.77369439e-02 9.97675550e-01 -7.42994050e-03 -1.76000105e+01] [-5.27466459e-02 3.85560775e-03 9.98600483e-01 -9.59621211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.19071405699998 meters 0.04102140794995462 Centerline is valid? [True, True] Translation: X:135.48, Y:-17.60, Z:-9.60 [[ 9.96374585e-01 6.69310732e-02 5.25158804e-02 1.35476705e+02] [-6.66308428e-02 9.97749890e-01 -7.44903387e-03 -1.75963067e+01] [-5.28962858e-02 3.92285066e-03 9.98592306e-01 -9.59618405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.22071405699998 meters 0.04302927566748246 Centerline is valid? [True, True] Translation: X:135.50, Y:-17.60, Z:-9.60 [[ 9.96414667e-01 6.62216906e-02 5.26545169e-02 1.35504802e+02] [-6.59190457e-02 9.97797045e-01 -7.46570622e-03 -1.76025488e+01] [-5.30329131e-02 3.96800367e-03 9.98584881e-01 -9.59848816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.25071405699998 meters 0.05008426270086151 Centerline is valid? [True, True] Translation: X:135.53, Y:-17.61, Z:-9.60 [[ 9.96453039e-01 6.55767784e-02 5.27354534e-02 1.35531638e+02] [-6.52724186e-02 9.97839484e-01 -7.47502692e-03 -1.76149085e+01] [-5.31117058e-02 4.00634270e-03 9.98580541e-01 -9.60237798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.28071405699998 meters 0.04405784661376506 Centerline is valid? [True, True] Translation: X:135.56, Y:-17.61, Z:-9.60 [[ 9.96468581e-01 6.56681071e-02 5.23265422e-02 1.35562136e+02] [-6.53687389e-02 9.97833633e-01 -7.41404705e-03 -1.76094508e+01] [-5.27000502e-02 3.96734487e-03 9.98602506e-01 -9.60345041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.31071405699998 meters 0.04478775431908696 Centerline is valid? [True, True] Translation: X:135.59, Y:-17.61, Z:-9.61 [[ 9.96497721e-01 6.55287126e-02 5.19449682e-02 1.35591085e+02] [-6.52336050e-02 9.97842890e-01 -7.35819507e-03 -1.76138543e+01] [-5.23150902e-02 3.94386708e-03 9.98622840e-01 -9.60617918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.34071405699999 meters 0.04446359155707727 Centerline is valid? [True, True] Translation: X:135.62, Y:-17.62, Z:-9.61 [[ 9.96471289e-01 6.58799315e-02 5.20077408e-02 1.35620554e+02] [-6.55846786e-02 9.97819825e-01 -7.36529717e-03 -1.76171459e+01] [-5.23795801e-02 3.92839620e-03 9.98619521e-01 -9.60776054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.370714057 meters 0.03779326677313357 Centerline is valid? [True, True] Translation: X:135.65, Y:-17.61, Z:-9.61 [[ 9.96464391e-01 6.60045991e-02 5.19818368e-02 1.35650622e+02] [-6.57098697e-02 9.97811624e-01 -7.36047213e-03 -1.76106660e+01] [-5.23539060e-02 3.91872865e-03 9.98620905e-01 -9.60731604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.400714057 meters 0.03793375453968087 Centerline is valid? [True, True] Translation: X:135.68, Y:-17.61, Z:-9.61 [[ 9.96449494e-01 6.61054946e-02 5.21389454e-02 1.35679099e+02] [-6.58093191e-02 9.97804934e-01 -7.37885937e-03 -1.76141956e+01] [-5.25122801e-02 3.92143219e-03 9.98612579e-01 -9.60904970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.430714057 meters 0.039299237964470185 Centerline is valid? [True, True] Translation: X:135.71, Y:-17.62, Z:-9.61 [[ 9.96445083e-01 6.62183801e-02 5.20799688e-02 1.35707144e+02] [-6.59232598e-02 9.97797507e-01 -7.36610581e-03 -1.76191238e+01] [-5.24530346e-02 3.90663861e-03 9.98615751e-01 -9.61127226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.460714057 meters 0.04729374916615529 Centerline is valid? [True, True] Translation: X:135.73, Y:-17.63, Z:-9.62 [[ 9.96431134e-01 6.65501834e-02 5.19236754e-02 1.35733211e+02] [-6.62573681e-02 9.97775551e-01 -7.34234465e-03 -1.76341173e+01] [-5.22968083e-02 3.87581473e-03 9.98624064e-01 -9.61656995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.490714057 meters 0.04028226538436061 Centerline is valid? [True, True] Translation: X:135.76, Y:-17.63, Z:-9.62 [[ 9.96444491e-01 6.67359516e-02 5.14265384e-02 1.35763188e+02] [-6.64490953e-02 9.97763334e-01 -7.26960418e-03 -1.76279389e+01] [-5.17966583e-02 3.82651009e-03 9.98650321e-01 -9.61629424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.520714057 meters 0.0403350924744869 Centerline is valid? [True, True] Translation: X:135.79, Y:-17.63, Z:-9.62 [[ 9.96401730e-01 6.69948362e-02 5.19161353e-02 1.35791717e+02] [-6.67030318e-02 9.97745911e-01 -7.33505327e-03 -1.76313355e+01] [-5.22905224e-02 3.84569614e-03 9.98624510e-01 -9.61796635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.550714057 meters 0.04189363187424978 Centerline is valid? [True, True] Translation: X:135.82, Y:-17.64, Z:-9.62 [[ 9.96286154e-01 6.79255773e-02 5.29151661e-02 1.35818864e+02] [-6.76239324e-02 9.97682900e-01 -7.47232475e-03 -1.76364545e+01] [-5.33001183e-02 3.86624207e-03 9.98571054e-01 -9.61871716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.580714057 meters 0.042043127159639794 Centerline is valid? [True, True] Translation: X:135.85, Y:-17.64, Z:-9.62 [[ 9.96277003e-01 6.79643729e-02 5.30375057e-02 1.35847043e+02] [-6.76615858e-02 9.97680245e-01 -7.48584046e-03 -1.76400749e+01] [-5.34232421e-02 3.86936896e-03 9.98564462e-01 -9.61991210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.610714057 meters 0.043381387054133656 Centerline is valid? [True, True] Translation: X:135.87, Y:-17.65, Z:-9.62 [[ 9.96202269e-01 6.81375929e-02 5.42061659e-02 1.35874480e+02] [-6.78217565e-02 9.97668147e-01 -7.64707025e-03 -1.76460314e+01] [-5.46008180e-02 3.94167135e-03 9.98500483e-01 -9.62148482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.640714057 meters 0.04386812245429807 Centerline is valid? [True, True] Translation: X:135.90, Y:-17.65, Z:-9.62 [[ 9.96236202e-01 6.76463584e-02 5.41977917e-02 1.35902551e+02] [-6.73301725e-02 9.97701491e-01 -7.64085177e-03 -1.76511868e+01] [-5.45900934e-02 3.96294648e-03 9.98500985e-01 -9.62357238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.670714057 meters 0.04379073839367932 Centerline is valid? [True, True] Translation: X:135.93, Y:-17.66, Z:-9.63 [[ 9.96206621e-01 6.78390785e-02 5.44998035e-02 1.35930764e+02] [-6.75198799e-02 9.97688377e-01 -7.67908718e-03 -1.76555785e+01] [-5.48947627e-02 3.97013730e-03 9.98484253e-01 -9.62589321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.700714057 meters 0.04428066646203156 Centerline is valid? [True, True] Translation: X:135.96, Y:-17.66, Z:-9.63 [[ 9.96217529e-01 6.80266327e-02 5.40648872e-02 1.35959645e+02] [-6.77128652e-02 9.97675778e-01 -7.61641143e-03 -1.76600221e+01] [-5.44573472e-02 3.92671416e-03 9.98508377e-01 -9.62809878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.730714057 meters 0.04483875880718089 Centerline is valid? [True, True] Translation: X:135.99, Y:-17.66, Z:-9.63 [[ 9.96208394e-01 6.80683195e-02 5.41806156e-02 1.35987921e+02] [-6.77534060e-02 9.97672921e-01 -7.63017064e-03 -1.76648059e+01] [-5.45739059e-02 3.93031880e-03 9.98501999e-01 -9.63036877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76071405699997 meters 0.04587840066296105 Centerline is valid? [True, True] Translation: X:136.02, Y:-17.67, Z:-9.63 [[ 9.96239636e-01 6.83201673e-02 5.32817280e-02 1.36015612e+02] [-6.80161902e-02 9.97656028e-01 -7.49979881e-03 -1.76699640e+01] [-5.36692247e-02 3.84757669e-03 9.98551356e-01 -9.63312705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.79071405699997 meters 0.04654613893210576 Centerline is valid? [True, True] Translation: X:136.04, Y:-17.68, Z:-9.64 [[ 9.96268388e-01 6.81532676e-02 5.29568739e-02 1.36042403e+02] [-6.78528708e-02 9.97667508e-01 -7.45192185e-03 -1.76750502e+01] [-5.33412252e-02 3.83083825e-03 9.98568995e-01 -9.63574671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82071405699998 meters 0.04786131869216818 Centerline is valid? [True, True] Translation: X:136.07, Y:-17.68, Z:-9.64 [[ 9.96337211e-01 6.73058414e-02 5.27454735e-02 1.36070831e+02] [-6.70069203e-02 9.97724940e-01 -7.41729026e-03 -1.76817950e+01] [-5.31247014e-02 3.85581055e-03 9.98580442e-01 -9.63908419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.85071405699998 meters 0.04799025465285935 Centerline is valid? [True, True] Translation: X:136.10, Y:-17.69, Z:-9.64 [[ 9.96335692e-01 6.72078655e-02 5.28988818e-02 1.36099066e+02] [-6.69071909e-02 9.97731490e-01 -7.43647829e-03 -1.76863937e+01] [-5.32786700e-02 3.86991316e-03 9.98572184e-01 -9.64128291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.88071405699998 meters 0.039849532100772425 Centerline is valid? [True, True] Translation: X:136.13, Y:-17.68, Z:-9.64 [[ 9.96322697e-01 6.72346833e-02 5.31091420e-02 1.36129085e+02] [-6.69318336e-02 9.97729642e-01 -7.46258758e-03 -1.76793487e+01] [-5.34903100e-02 3.88045313e-03 9.98560829e-01 -9.64057966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.91071405699998 meters 0.03722479273414443 Centerline is valid? [True, True] Translation: X:136.16, Y:-17.68, Z:-9.64 [[ 9.96267286e-01 6.77269015e-02 5.35216064e-02 1.36158090e+02] [-6.74202364e-02 9.97696352e-01 -7.51671412e-03 -1.76791152e+01] [-5.39073952e-02 3.88021702e-03 9.98538400e-01 -9.64126443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.94071405699998 meters 0.03797101796363867 Centerline is valid? [True, True] Translation: X:136.19, Y:-17.68, Z:-9.64 [[ 9.96177007e-01 6.84485566e-02 5.42786010e-02 1.36185696e+02] [-6.81344176e-02 9.97647056e-01 -7.61922317e-03 -1.76837168e+01] [-5.46724114e-02 3.89185407e-03 9.98496761e-01 -9.64239565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.97071405699998 meters 0.03797101796363867 Centerline is valid? [True, True] Translation: X:136.21, Y:-17.69, Z:-9.64 [[ 9.96181861e-01 6.83773121e-02 5.42793135e-02 1.36213739e+02] [-6.80633433e-02 9.97651946e-01 -7.61414344e-03 -1.76875908e+01] [-5.46724975e-02 3.89064003e-03 9.98496761e-01 -9.64434773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.00071405699998 meters 0.039228760469175596 Centerline is valid? [True, True] Translation: X:136.24, Y:-17.69, Z:-9.65 [[ 9.96133843e-01 6.87784451e-02 5.46524676e-02 1.36240811e+02] [-6.84609474e-02 9.97624369e-01 -7.66271361e-03 -1.76933089e+01] [-5.50496630e-02 3.89152864e-03 9.98476034e-01 -9.64613646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.03071405699998 meters 0.03626764059737346 Centerline is valid? [True, True] Translation: X:136.27, Y:-17.69, Z:-9.65 [[ 9.96078821e-01 6.90290295e-02 5.53351128e-02 1.36269775e+02] [-6.87042196e-02 9.97606946e-01 -7.75314706e-03 -1.76931214e+01] [-5.57378851e-02 3.92098984e-03 9.98437737e-01 -9.64741537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.06071405699998 meters 0.03771648466087653 Centerline is valid? [True, True] Translation: X:136.30, Y:-17.70, Z:-9.65 [[ 9.96047165e-01 6.91760511e-02 5.57199987e-02 1.36297053e+02] [-6.88471475e-02 9.97596702e-01 -7.80320105e-03 -1.76997851e+01] [-5.61258816e-02 3.93619332e-03 9.98415941e-01 -9.64978623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.09071405699999 meters 0.037797937113844035 Centerline is valid? [True, True] Translation: X:136.33, Y:-17.70, Z:-9.65 [[ 9.96019917e-01 6.92156903e-02 5.61561449e-02 1.36325655e+02] [-6.88819953e-02 9.97593862e-01 -7.85859689e-03 -1.77046383e+01] [-5.65649637e-02 3.95917171e-03 9.98391071e-01 -9.65199918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.120714057 meters 0.03797183756859885 Centerline is valid? [True, True] Translation: X:136.35, Y:-17.71, Z:-9.65 [[ 9.95992315e-01 6.95804621e-02 5.61949053e-02 1.36353484e+02] [-6.92471142e-02 9.97568573e-01 -7.85994211e-03 -1.77094160e+01] [-5.66051699e-02 3.93710692e-03 9.98388879e-01 -9.65437490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.150714057 meters 0.03884844484615186 Centerline is valid? [True, True] Translation: X:136.38, Y:-17.71, Z:-9.66 [[ 9.96008815e-01 6.97720771e-02 5.56623499e-02 1.36381417e+02] [-6.94455477e-02 9.97555394e-01 -7.78145739e-03 -1.77149187e+01] [-5.60692059e-02 3.88489778e-03 9.98419327e-01 -9.65658820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.180714057 meters 0.03706691094973921 Centerline is valid? [True, True] Translation: X:136.41, Y:-17.72, Z:-9.66 [[ 9.96046924e-01 7.00060593e-02 5.46779430e-02 1.36410362e+02] [-6.96915637e-02 9.97539332e-01 -7.63982676e-03 -1.77158279e+01] [-5.50782329e-02 3.79903459e-03 9.98474815e-01 -9.65863854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.210714057 meters 0.040310452212542126 Centerline is valid? [True, True] Translation: X:136.44, Y:-17.72, Z:-9.66 [[ 9.96110813e-01 6.99144335e-02 5.36210800e-02 1.36437391e+02] [-6.96120028e-02 9.97546027e-01 -7.48952902e-03 -1.77242269e+01] [-5.40131215e-02 3.72773007e-03 9.98533268e-01 -9.66217830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.240714057 meters 0.03835155835116288 Centerline is valid? [True, True] Translation: X:136.47, Y:-17.73, Z:-9.66 [[ 9.96158663e-01 6.97439844e-02 5.29499322e-02 1.36465921e+02] [-6.94490525e-02 9.97558113e-01 -7.39192907e-03 -1.77251217e+01] [-5.33361771e-02 3.68621155e-03 9.98569809e-01 -9.66449040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.270714057 meters 0.0354985938702417 Centerline is valid? [True, True] Translation: X:136.50, Y:-17.72, Z:-9.67 [[ 9.96257784e-01 6.99775591e-02 5.07303587e-02 1.36495078e+02] [-6.97073401e-02 9.97542370e-01 -7.07860115e-03 -1.77247651e+01] [-5.11010255e-02 3.51583313e-03 9.98687300e-01 -9.66697689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.300714057 meters 0.04010075504263592 Centerline is valid? [True, True] Translation: X:136.52, Y:-17.73, Z:-9.67 [[ 9.96290558e-01 7.02960422e-02 4.96345769e-02 1.36521621e+02] [-7.00379425e-02 9.97520309e-01 -6.92237245e-03 -1.77347485e+01] [-4.99981139e-02 3.42039067e-03 9.98743455e-01 -9.67089418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.330714057 meters 0.03833668225549519 Centerline is valid? [True, True] Translation: X:136.55, Y:-17.73, Z:-9.67 [[ 9.96276037e-01 7.10220136e-02 4.88869204e-02 1.36550897e+02] [-7.07727499e-02 9.97469197e-01 -6.81319315e-03 -1.77349178e+01] [-4.92470839e-02 3.32795929e-03 9.98781082e-01 -9.67182967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.360714057 meters 0.034430881314752304 Centerline is valid? [True, True] Translation: X:136.58, Y:-17.73, Z:-9.67 [[ 9.96249261e-01 7.14029733e-02 4.88776638e-02 1.36580764e+02] [-7.11544287e-02 9.97442074e-01 -6.80848551e-03 -1.77325185e+01] [-4.92387844e-02 3.30508642e-03 9.98781567e-01 -9.67184246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.390714057 meters 0.03649284421158782 Centerline is valid? [True, True] Translation: X:136.61, Y:-17.74, Z:-9.67 [[ 9.96196225e-01 7.18620744e-02 4.92841193e-02 1.36607671e+02] [-7.16101007e-02 9.97409099e-01 -6.86174048e-03 -1.77386842e+01] [-4.96495279e-02 3.30639921e-03 9.98761229e-01 -9.67397107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.420714057 meters 0.03929590577838811 Centerline is valid? [True, True] Translation: X:136.64, Y:-17.75, Z:-9.67 [[ 9.96087899e-01 7.23057096e-02 5.08014027e-02 1.36635201e+02] [-7.20387901e-02 9.97376787e-01 -7.06809697e-03 -1.77450974e+01] [-5.11792035e-02 3.38077427e-03 9.98683764e-01 -9.67492328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.450714057 meters 0.03756281010221531 Centerline is valid? [True, True] Translation: X:136.66, Y:-17.75, Z:-9.67 [[ 9.95999350e-01 7.27939699e-02 5.18298461e-02 1.36664847e+02] [-7.25170580e-02 9.97341141e-01 -7.20585611e-03 -1.77457222e+01] [-5.22165807e-02 3.41848005e-03 9.98629933e-01 -9.67498267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.480714057 meters 0.04450257449097275 Centerline is valid? [True, True] Translation: X:136.69, Y:-17.76, Z:-9.68 [[ 9.95995151e-01 7.26811923e-02 5.20682522e-02 1.36690719e+02] [-7.24016876e-02 9.97349299e-01 -7.23677827e-03 -1.77587797e+01] [-5.24562125e-02 3.43796674e-03 9.98617307e-01 -9.67909837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.51071405699997 meters 0.03671508161995704 Centerline is valid? [True, True] Translation: X:136.72, Y:-17.75, Z:-9.68 [[ 9.96045582e-01 7.19819726e-02 5.20748881e-02 1.36720600e+02] [-7.17016858e-02 9.97399895e-01 -7.23313196e-03 -1.77506567e+01] [-5.24601430e-02 3.47067187e-03 9.98616988e-01 -9.67789420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54071405699997 meters 0.0364953001855922 Centerline is valid? [True, True] Translation: X:136.75, Y:-17.75, Z:-9.68 [[ 9.96102809e-01 7.12275386e-02 5.20176095e-02 1.36749237e+02] [-7.09471053e-02 9.97453947e-01 -7.22022238e-03 -1.77534526e+01] [-5.23994485e-02 3.50158498e-03 9.98620066e-01 -9.67947880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.57071405699998 meters 0.03827295256676482 Centerline is valid? [True, True] Translation: X:136.78, Y:-17.76, Z:-9.68 [[ 9.96156096e-01 7.09875289e-02 5.13205910e-02 1.36776618e+02] [-7.07144260e-02 9.97471190e-01 -7.12011123e-03 -1.77589066e+01] [-5.16962501e-02 3.46363607e-03 9.98656848e-01 -9.68102533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.60071405699998 meters 0.03815051637041766 Centerline is valid? [True, True] Translation: X:136.81, Y:-17.76, Z:-9.68 [[ 9.96366049e-01 6.83005019e-02 5.08894675e-02 1.36806332e+02] [-6.80287788e-02 9.97658417e-01 -7.05460582e-03 -1.77627458e+01] [-5.12521387e-02 3.56702140e-03 9.98679375e-01 -9.68296831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.63071405699998 meters 0.0393264862497042 Centerline is valid? [True, True] Translation: X:136.83, Y:-17.77, Z:-9.69 [[ 9.96462866e-01 6.72552957e-02 5.03833551e-02 1.36834846e+02] [-6.69876476e-02 9.97729361e-01 -6.98405117e-03 -1.77681922e+01] [-5.07386672e-02 3.58428521e-03 9.98705532e-01 -9.68582016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.66071405699998 meters 0.04120068894444219 Centerline is valid? [True, True] Translation: X:136.86, Y:-17.78, Z:-9.69 [[ 9.96663417e-01 6.50310081e-02 4.93254641e-02 1.36863531e+02] [-6.47719794e-02 9.97876693e-01 -6.83348863e-03 -1.77751656e+01] [-4.96651197e-02 3.61578018e-03 9.98759381e-01 -9.68984202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.69071405699998 meters 0.04239076439484048 Centerline is valid? [True, True] Translation: X:136.89, Y:-17.78, Z:-9.69 [[ 9.96733565e-01 6.41344537e-02 4.90812893e-02 1.36891018e+02] [-6.38768684e-02 9.97934617e-01 -6.80040886e-03 -1.77808745e+01] [-4.94160581e-02 3.64303671e-03 9.98771636e-01 -9.69268361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.72071405699998 meters 0.04407429002115365 Centerline is valid? [True, True] Translation: X:136.92, Y:-17.79, Z:-9.70 [[ 9.96810077e-01 6.28475770e-02 4.91920052e-02 1.36918427e+02] [-6.25875517e-02 9.98016243e-01 -6.81006094e-03 -1.77870097e+01] [-4.95224160e-02 3.70953020e-03 9.98766124e-01 -9.69564742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.75071405699998 meters 0.04477033418698681 Centerline is valid? [True, True] Translation: X:136.95, Y:-17.79, Z:-9.70 [[ 9.96807601e-01 6.26815160e-02 4.94533517e-02 1.36946575e+02] [-6.24186869e-02 9.98026595e-01 -6.84277946e-03 -1.77916572e+01] [-4.97846760e-02 3.73412130e-03 9.98752994e-01 -9.69750963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.78071405699998 meters 0.047022467562606154 Centerline is valid? [True, True] Translation: X:136.97, Y:-17.80, Z:-9.70 [[ 9.96822170e-01 6.22826640e-02 4.96631761e-02 1.36974176e+02] [-6.20172942e-02 9.98051444e-01 -6.86804470e-03 -1.77978768e+01] [-4.99941647e-02 3.76624342e-03 9.98742409e-01 -9.69989707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.81071405699998 meters 0.04736519882209065 Centerline is valid? [True, True] Translation: X:137.00, Y:-17.80, Z:-9.70 [[ 9.96784421e-01 6.27286066e-02 4.98591976e-02 1.37002415e+02] [-6.24618042e-02 9.98023552e-01 -6.89287971e-03 -1.78023340e+01] [-5.01930342e-02 3.75641967e-03 9.98732471e-01 -9.70168552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.84071405699999 meters 0.0396317230513755 Centerline is valid? [True, True] Translation: X:137.03, Y:-17.80, Z:-9.70 [[ 9.96749017e-01 6.30710751e-02 5.01341952e-02 1.37032352e+02] [-6.28019158e-02 9.98001968e-01 -6.92759221e-03 -1.77951612e+01] [-5.04709561e-02 3.75654722e-03 9.98718464e-01 -9.70092833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.870714057 meters 0.047734552688445876 Centerline is valid? [True, True] Translation: X:137.06, Y:-17.81, Z:-9.71 [[ 9.96671438e-01 6.40217002e-02 5.04704489e-02 1.37059197e+02] [-6.37503303e-02 9.97941538e-01 -6.97003169e-03 -1.78093428e+01] [-5.08127907e-02 3.72932373e-03 9.98701233e-01 -9.70581569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.900714057 meters 0.04694723793510958 Centerline is valid? [True, True] Translation: X:137.09, Y:-17.81, Z:-9.71 [[ 9.96625937e-01 6.46450215e-02 5.05743219e-02 1.37088064e+02] [-6.43734587e-02 9.97901454e-01 -6.98184985e-03 -1.78116352e+01] [-5.09195311e-02 3.70264864e-03 9.98695896e-01 -9.70712433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.930714057 meters 0.03838502615600972 Centerline is valid? [True, True] Translation: X:137.12, Y:-17.80, Z:-9.71 [[ 9.96614779e-01 6.43869227e-02 5.11205060e-02 1.37118991e+02] [-6.41092921e-02 9.97917953e-01 -7.05388386e-03 -1.78032032e+01] [-5.14682486e-02 3.75270546e-03 9.98667581e-01 -9.70530796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.960714057 meters 0.03873130336820764 Centerline is valid? [True, True] Translation: X:137.15, Y:-17.81, Z:-9.71 [[ 9.96637703e-01 6.40230873e-02 5.11305466e-02 1.37147097e+02] [-6.37450648e-02 9.97941302e-01 -7.05152110e-03 -1.78080502e+01] [-5.14767444e-02 3.76849178e-03 9.98667083e-01 -9.70758975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.990714057 meters 0.03925700708909473 Centerline is valid? [True, True] Translation: X:137.18, Y:-17.81, Z:-9.71 [[ 9.96684724e-01 6.33046812e-02 5.11084986e-02 1.37175501e+02] [-6.30261528e-02 9.97987012e-01 -7.04473654e-03 -1.78143161e+01] [-5.14515826e-02 3.80020924e-03 9.98668260e-01 -9.71017173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.020714057 meters 0.039406618274091136 Centerline is valid? [True, True] Translation: X:137.20, Y:-17.82, Z:-9.71 [[ 9.96716267e-01 6.28593967e-02 5.10429107e-02 1.37204221e+02] [-6.25812096e-02 9.98015104e-01 -7.03168530e-03 -1.78192006e+01] [-5.13836033e-02 3.81426803e-03 9.98671706e-01 -9.71212279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.050714057 meters 0.04055662663268697 Centerline is valid? [True, True] Translation: X:137.23, Y:-17.82, Z:-9.71 [[ 9.96715283e-01 6.27123949e-02 5.12425607e-02 1.37231254e+02] [-6.24319460e-02 9.98024274e-01 -7.05697860e-03 -1.78249189e+01] [-5.15838795e-02 3.83462564e-03 9.98661303e-01 -9.71399444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.080714057 meters 0.041302222668214914 Centerline is valid? [True, True] Translation: X:137.26, Y:-17.83, Z:-9.72 [[ 9.96728201e-01 6.23717535e-02 5.14067893e-02 1.37260228e+02] [-6.20893412e-02 9.98045526e-01 -7.07401109e-03 -1.78305457e+01] [-5.17475345e-02 3.85905267e-03 9.98652743e-01 -9.71530302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.110714057 meters 0.040568514781623426 Centerline is valid? [True, True] Translation: X:137.29, Y:-17.84, Z:-9.72 [[ 9.96734412e-01 6.20791597e-02 5.16400044e-02 1.37289687e+02] [-6.17938826e-02 9.98063648e-01 -7.10424730e-03 -1.78353886e+01] [-5.19810369e-02 3.89001138e-03 9.98640496e-01 -9.71719421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.140714057 meters 0.04113132318157921 Centerline is valid? [True, True] Translation: X:137.32, Y:-17.84, Z:-9.72 [[ 9.96722171e-01 6.17807561e-02 5.22307512e-02 1.37318192e+02] [-6.14885710e-02 9.98081932e-01 -7.18416667e-03 -1.78413774e+01] [-5.25744123e-02 3.94902395e-03 9.98609201e-01 -9.71876866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.170714057 meters 0.04369630976227103 Centerline is valid? [True, True] Translation: X:137.35, Y:-17.85, Z:-9.72 [[ 9.96663085e-01 6.24363305e-02 5.25775673e-02 1.37345628e+02] [-6.21413694e-02 9.98041186e-01 -7.22780609e-03 -1.78494694e+01] [-5.29258553e-02 3.93644548e-03 9.98590686e-01 -9.72100255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.200714057 meters 0.04458651834126495 Centerline is valid? [True, True] Translation: X:137.37, Y:-17.86, Z:-9.72 [[ 9.96680420e-01 6.11542038e-02 5.37429430e-02 1.37374012e+02] [-6.08443262e-02 9.98119949e-01 -7.38482354e-03 -1.78577037e+01] [-5.40935165e-02 4.09035587e-03 9.98527496e-01 -9.72256298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.230714057 meters 0.0458991932194776 Centerline is valid? [True, True] Translation: X:137.40, Y:-17.86, Z:-9.73 [[ 9.96693804e-01 6.09231744e-02 5.37571268e-02 1.37404128e+02] [-6.06129303e-02 9.98134031e-01 -7.38435336e-03 -1.78646043e+01] [-5.41066959e-02 4.10156226e-03 9.98526736e-01 -9.72507766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26071405699997 meters 0.040114710415765226 Centerline is valid? [True, True] Translation: X:137.44, Y:-17.86, Z:-9.73 [[ 9.96655610e-01 6.15098511e-02 5.37971496e-02 1.37435051e+02] [-6.11999934e-02 9.98098167e-01 -7.38985110e-03 -1.78627264e+01] [-5.41493850e-02 4.07275135e-03 9.98524540e-01 -9.72624731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.29071405699997 meters 0.039683710107898236 Centerline is valid? [True, True] Translation: X:137.46, Y:-17.87, Z:-9.73 [[ 9.96597454e-01 6.20911974e-02 5.42051484e-02 1.37464893e+02] [-6.17774703e-02 9.98062174e-01 -7.44589589e-03 -1.78678969e+01] [-5.45624328e-02 4.07190395e-03 9.98502058e-01 -9.72882444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.32071405699998 meters 0.04020186404196176 Centerline is valid? [True, True] Translation: X:137.49, Y:-17.88, Z:-9.73 [[ 9.96516607e-01 6.31402737e-02 5.44789686e-02 1.37493685e+02] [-6.28249533e-02 9.97996508e-01 -7.48294867e-03 -1.78754068e+01] [-5.48422959e-02 4.03424396e-03 9.98486879e-01 -9.73143314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.35071405699998 meters 0.04033107993657696 Centerline is valid? [True, True] Translation: X:137.52, Y:-17.88, Z:-9.73 [[ 9.96453776e-01 6.39837337e-02 5.46438882e-02 1.37523032e+02] [-6.36675777e-02 9.97942912e-01 -7.50889827e-03 -1.78804803e+01] [-5.50119282e-02 4.00322604e-03 9.98477672e-01 -9.73340157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.38071405699998 meters 0.04039731965880723 Centerline is valid? [True, True] Translation: X:137.55, Y:-17.89, Z:-9.74 [[ 9.96416089e-01 6.46955703e-02 5.44927622e-02 1.37552625e+02] [-6.43823410e-02 9.97897227e-01 -7.48594494e-03 -1.78855477e+01] [-5.48624838e-02 3.95074438e-03 9.98486104e-01 -9.73559254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.41071405699998 meters 0.04055829571145571 Centerline is valid? [True, True] Translation: X:137.58, Y:-17.89, Z:-9.74 [[ 9.96346975e-01 6.62672485e-02 5.38642437e-02 1.37580271e+02] [-6.59635478e-02 9.97794603e-01 -7.39862906e-03 -1.78918072e+01] [-5.42357385e-02 3.81852507e-03 9.98520858e-01 -9.73856262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.44071405699998 meters 0.036303551852683746 Centerline is valid? [True, True] Translation: X:137.61, Y:-17.89, Z:-9.74 [[ 9.96175288e-01 6.90507373e-02 5.35424210e-02 1.37610701e+02] [-6.87547004e-02 9.97606493e-01 -7.35361732e-03 -1.78918833e+01] [-5.39220396e-02 3.64419874e-03 9.98538499e-01 -9.74050056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.47071405699998 meters 0.035148691940303095 Centerline is valid? [True, True] Translation: X:137.64, Y:-17.89, Z:-9.74 [[ 9.96049534e-01 7.06920074e-02 5.37398049e-02 1.37640621e+02] [-7.03962104e-02 9.97491811e-01 -7.37974275e-03 -1.78949920e+01] [-5.41267041e-02 3.56751071e-03 9.98527703e-01 -9.74289340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.50071405699998 meters 0.03936145830555292 Centerline is valid? [True, True] Translation: X:137.67, Y:-17.91, Z:-9.75 [[ 9.95932915e-01 7.23521243e-02 5.36917007e-02 1.37668131e+02] [-7.20592964e-02 9.97373102e-01 -7.37241553e-03 -1.79059661e+01] [-5.40840680e-02 3.47344512e-03 9.98530344e-01 -9.74643686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.53071405699998 meters 0.03896537827949065 Centerline is valid? [True, True] Translation: X:137.70, Y:-17.91, Z:-9.75 [[ 9.95643900e-01 7.52120970e-02 5.51032244e-02 1.37697012e+02] [-7.49081250e-02 9.97161750e-01 -7.56414280e-03 -1.79109718e+01] [-5.55157427e-02 3.40351342e-03 9.98452011e-01 -9.74818680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.56071405699998 meters 0.035557580294300326 Centerline is valid? [True, True] Translation: X:137.73, Y:-17.91, Z:-9.75 [[ 9.95516206e-01 7.63597794e-02 5.58271186e-02 1.37726596e+02] [-7.60496505e-02 9.97074595e-01 -7.66180595e-03 -1.79107387e+01] [-5.62488554e-02 3.38181913e-03 9.98411052e-01 -9.74914506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.59071405699999 meters 0.03975620411037954 Centerline is valid? [True, True] Translation: X:137.75, Y:-17.92, Z:-9.75 [[ 9.95350755e-01 7.78588019e-02 5.66999289e-02 1.37753485e+02] [-7.75414726e-02 9.96958781e-01 -7.77872131e-03 -1.79227826e+01] [-5.71331340e-02 3.34596014e-03 9.98360962e-01 -9.75259760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.620714057 meters 0.03972724502337428 Centerline is valid? [True, True] Translation: X:137.78, Y:-17.93, Z:-9.76 [[ 9.95341704e-01 7.81643362e-02 5.64378299e-02 1.37782011e+02] [-7.78506533e-02 9.96934996e-01 -7.73878545e-03 -1.79274847e+01] [-5.68697448e-02 3.30901397e-03 9.98376123e-01 -9.75511454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.650714057 meters 0.03920637135237748 Centerline is valid? [True, True] Translation: X:137.81, Y:-17.93, Z:-9.76 [[ 9.95334989e-01 7.81831995e-02 5.65300479e-02 1.37810618e+02] [-7.78687370e-02 9.96933515e-01 -7.74762160e-03 -1.79318410e+01] [-5.69624332e-02 3.30955544e-03 9.98370837e-01 -9.75733782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.680714057 meters 0.04084383281123687 Centerline is valid? [True, True] Translation: X:137.84, Y:-17.94, Z:-9.76 [[ 9.95330128e-01 7.77762251e-02 5.71733799e-02 1.37837043e+02] [-7.74541007e-02 9.96965155e-01 -7.83207830e-03 -1.79401048e+01] [-5.76090170e-02 3.36719077e-03 9.98333543e-01 -9.75878203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.710714057 meters 0.04101510070391802 Centerline is valid? [True, True] Translation: X:137.87, Y:-17.94, Z:-9.76 [[ 9.95333388e-01 7.71912603e-02 5.79047200e-02 1.37865337e+02] [-7.68601405e-02 9.97010370e-01 -7.92721196e-03 -1.79449497e+01] [-5.83435178e-02 3.43965382e-03 9.98290640e-01 -9.75967106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.740714057 meters 0.03569827448962886 Centerline is valid? [True, True] Translation: X:137.89, Y:-17.94, Z:-9.76 [[ 9.95329854e-01 7.60863263e-02 5.94083587e-02 1.37894910e+02] [-7.57360392e-02 9.97094765e-01 -8.12910531e-03 -1.79424107e+01] [-5.98542772e-02 3.59178742e-03 9.98200663e-01 -9.75782985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.770714057 meters 0.03630335928890461 Centerline is valid? [True, True] Translation: X:137.92, Y:-17.95, Z:-9.76 [[ 9.95342917e-01 7.55037318e-02 5.99304892e-02 1.37923138e+02] [-7.51464674e-02 9.97138823e-01 -8.19613046e-03 -1.79485240e+01] [-6.03778558e-02 3.65439585e-03 9.98168904e-01 -9.75927617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.800714057 meters 0.03755274333842341 Centerline is valid? [True, True] Translation: X:137.95, Y:-17.96, Z:-9.76 [[ 9.95435398e-01 7.38228390e-02 6.04860055e-02 1.37950756e+02] [-7.34560205e-02 9.97264177e-01 -8.26885172e-03 -1.79573333e+01] [-6.09309566e-02 3.78804644e-03 9.98134795e-01 -9.76095759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.830714057 meters 0.0391081661622925 Centerline is valid? [True, True] Translation: X:137.98, Y:-17.96, Z:-9.76 [[ 9.95515161e-01 7.26164311e-02 6.06334801e-02 1.37978784e+02] [-7.22457752e-02 9.97352440e-01 -8.28601979e-03 -1.79648088e+01] [-6.10746505e-02 3.86834555e-03 9.98125705e-01 -9.76318101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.860714057 meters 0.0391081661622925 Centerline is valid? [True, True] Translation: X:138.01, Y:-17.97, Z:-9.77 [[ 9.95517602e-01 7.25826358e-02 6.06338540e-02 1.38007663e+02] [-7.22120837e-02 9.97354903e-01 -8.28328239e-03 -1.79687220e+01] [-6.10746941e-02 3.86765649e-03 9.98125705e-01 -9.76518921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.890714057 meters 0.040766879705398454 Centerline is valid? [True, True] Translation: X:138.04, Y:-17.98, Z:-9.77 [[ 9.95602411e-01 7.15652909e-02 6.04503867e-02 1.38036691e+02] [-7.11952977e-02 9.97428233e-01 -8.25522716e-03 -1.79761409e+01] [-6.08857102e-02 3.91514078e-03 9.98137066e-01 -9.76762385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.920714057 meters 0.03538843597838598 Centerline is valid? [True, True] Translation: X:138.07, Y:-17.98, Z:-9.77 [[ 9.95725263e-01 7.01073327e-02 6.01345366e-02 1.38067762e+02] [-6.97382049e-02 9.97531478e-01 -8.21788506e-03 -1.79754404e+01] [-6.05622272e-02 3.98908112e-03 9.98156453e-01 -9.76941950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.950714057 meters 0.03556889406379205 Centerline is valid? [True, True] Translation: X:138.10, Y:-17.98, Z:-9.77 [[ 9.95789597e-01 6.92797181e-02 6.00283262e-02 1.38097629e+02] [-6.89103993e-02 9.97589125e-01 -8.20337052e-03 -1.79819554e+01] [-6.04519326e-02 4.03225509e-03 9.98162965e-01 -9.77224385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.980714057 meters 0.03623473892277642 Centerline is valid? [True, True] Translation: X:138.13, Y:-17.99, Z:-9.77 [[ 9.95753745e-01 6.96201673e-02 6.02288320e-02 1.38127041e+02] [-6.92490014e-02 9.97565453e-01 -8.23062964e-03 -1.79877641e+01] [-6.06552199e-02 4.02489381e-03 9.98150662e-01 -9.77446417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.01071405699997 meters 0.04212153170472094 Centerline is valid? [True, True] Translation: X:138.16, Y:-18.00, Z:-9.78 [[ 9.95743471e-01 6.99683494e-02 5.99947470e-02 1.38155522e+02] [-6.96006306e-02 9.97541236e-01 -8.19972055e-03 -1.80006765e+01] [-6.04209550e-02 3.98914598e-03 9.98165014e-01 -9.77785300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04071405699997 meters 0.036149640339333204 Centerline is valid? [True, True] Translation: X:138.19, Y:-18.00, Z:-9.78 [[ 9.95686446e-01 7.11263897e-02 5.95780024e-02 1.38186489e+02] [-7.07657589e-02 9.97459715e-01 -8.14396994e-03 -1.79972693e+01] [-6.00059085e-02 3.89275794e-03 9.98190431e-01 -9.77865900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.07071405699998 meters 0.0352935579769216 Centerline is valid? [True, True] Translation: X:138.22, Y:-18.00, Z:-9.78 [[ 9.95683924e-01 7.14308083e-02 5.92550747e-02 1.38216697e+02] [-7.10746183e-02 9.97438114e-01 -8.09982758e-03 -1.80000930e+01] [-5.96818472e-02 3.85333629e-03 9.98210012e-01 -9.78048546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10071405699998 meters 0.036112858991870236 Centerline is valid? [True, True] Translation: X:138.25, Y:-18.01, Z:-9.78 [[ 9.95700777e-01 7.14940421e-02 5.88945291e-02 1.38245426e+02] [-7.11422800e-02 9.97433688e-01 -8.05070744e-03 -1.80064359e+01] [-5.93189650e-02 3.82620457e-03 9.98231747e-01 -9.78289893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.13071405699998 meters 0.03707616718410194 Centerline is valid? [True, True] Translation: X:138.27, Y:-18.01, Z:-9.79 [[ 9.95717360e-01 7.10241803e-02 5.91819711e-02 1.38274299e+02] [-7.06682092e-02 9.97467079e-01 -8.08893271e-03 -1.80126464e+01] [-5.96065777e-02 3.87200680e-03 9.98214438e-01 -9.78554398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.16071405699998 meters 0.036946369580287616 Centerline is valid? [True, True] Translation: X:138.30, Y:-18.02, Z:-9.79 [[ 9.95747318e-01 7.03661866e-02 5.94632577e-02 1.38304333e+02] [-7.00057242e-02 9.97513491e-01 -8.12616582e-03 -1.80173569e+01] [-5.98872091e-02 3.92883940e-03 9.98197419e-01 -9.78778345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.19071405699998 meters 0.03880309644114709 Centerline is valid? [True, True] Translation: X:138.33, Y:-18.03, Z:-9.79 [[ 9.95829379e-01 6.91974653e-02 5.94605679e-02 1.38333979e+02] [-6.88349722e-02 9.97594968e-01 -8.12564640e-03 -1.80254941e+01] [-5.98798374e-02 3.99879087e-03 9.98197583e-01 -9.79007393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.22071405699998 meters 0.039100770949350896 Centerline is valid? [True, True] Translation: X:138.36, Y:-18.03, Z:-9.79 [[ 9.95877482e-01 6.83695019e-02 5.96125090e-02 1.38364801e+02] [-6.80036213e-02 9.97651807e-01 -8.14731769e-03 -1.80314071e+01] [-6.00295554e-02 4.05986374e-03 9.98188344e-01 -9.79229972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.25071405699998 meters 0.034946014933970294 Centerline is valid? [True, True] Translation: X:138.40, Y:-18.03, Z:-9.79 [[ 9.95914321e-01 6.81326832e-02 5.92672075e-02 1.38397017e+02] [-6.77704962e-02 9.97668038e-01 -8.10216431e-03 -1.80300184e+01] [-5.96810208e-02 4.05249341e-03 9.98209273e-01 -9.79367646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.28071405699998 meters 0.040943850240931 Centerline is valid? [True, True] Translation: X:138.43, Y:-18.04, Z:-9.80 [[ 9.95899475e-01 6.81044443e-02 5.95484686e-02 1.38426417e+02] [-6.77387267e-02 9.97669879e-01 -8.14110528e-03 -1.80432589e+01] [-5.99641589e-02 4.07398504e-03 9.98192217e-01 -9.79702378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.31071405699998 meters 0.037309340039211554 Centerline is valid? [True, True] Translation: X:138.46, Y:-18.04, Z:-9.80 [[ 9.95974242e-01 6.74051433e-02 5.90919257e-02 1.38458521e+02] [-6.70429131e-02 9.97717266e-01 -8.09350296e-03 -1.80430084e+01] [-5.95025783e-02 4.09922564e-03 9.98219735e-01 -9.79818767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.34071405699999 meters 0.042065435130221436 Centerline is valid? [True, True] Translation: X:138.49, Y:-18.05, Z:-9.80 [[ 9.95989756e-01 6.70498819e-02 5.92344433e-02 1.38488252e+02] [-6.66848597e-02 9.97741046e-01 -8.11997525e-03 -1.80547112e+01] [-5.96450789e-02 4.13737162e-03 9.98211073e-01 -9.80119399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.370714057 meters 0.03741859931824414 Centerline is valid? [True, True] Translation: X:138.52, Y:-18.05, Z:-9.80 [[ 9.96084399e-01 6.59354278e-02 5.88930293e-02 1.38520454e+02] [-6.55717595e-02 9.97815073e-01 -8.08851400e-03 -1.80530055e+01] [-5.92976720e-02 4.19512305e-03 9.98231530e-01 -9.80209829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.400714057 meters 0.038037899562894543 Centerline is valid? [True, True] Translation: X:138.55, Y:-18.06, Z:-9.80 [[ 9.96083806e-01 6.57802074e-02 5.90763593e-02 1.38552663e+02] [-6.54139856e-02 9.97825223e-01 -8.11387806e-03 -1.80583049e+01] [-5.94816140e-02 4.21768242e-03 9.98220491e-01 -9.80413334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.430714057 meters 0.035564906516339666 Centerline is valid? [True, True] Translation: X:138.58, Y:-18.06, Z:-9.81 [[ 9.96035640e-01 6.61185114e-02 5.95092134e-02 1.38584938e+02] [-6.57465830e-02 9.97802753e-01 -8.18852836e-03 -1.80594629e+01] [-5.99198703e-02 4.24353864e-03 9.98194170e-01 -9.80569270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.460714057 meters 0.03862770786067303 Centerline is valid? [True, True] Translation: X:138.61, Y:-18.07, Z:-9.81 [[ 9.95945145e-01 6.78663663e-02 5.90544126e-02 1.38614642e+02] [-6.75021236e-02 9.97685897e-01 -8.14340844e-03 -1.80662575e+01] [-5.94704181e-02 4.12408985e-03 9.98221549e-01 -9.80846855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.490714057 meters 0.03647380630573 Centerline is valid? [True, True] Translation: X:138.65, Y:-18.07, Z:-9.81 [[ 9.95922887e-01 6.82474257e-02 5.89906090e-02 1.38645798e+02] [-6.78845795e-02 9.97660011e-01 -8.13555070e-03 -1.80673776e+01] [-5.94078020e-02 4.09782845e-03 9.98225386e-01 -9.81018831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.520714057 meters 0.03275710039637869 Centerline is valid? [True, True] Translation: X:138.68, Y:-18.06, Z:-9.81 [[ 9.95767812e-01 7.05905724e-02 5.88509612e-02 1.38677386e+02] [-7.02333803e-02 9.97497550e-01 -8.11853442e-03 -1.80634695e+01] [-5.92767816e-02 3.95087332e-03 9.98233767e-01 -9.81134106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.550714057 meters 0.03325866417341082 Centerline is valid? [True, True] Translation: X:138.71, Y:-18.07, Z:-9.81 [[ 9.95683499e-01 7.16372585e-02 5.90124807e-02 1.38706540e+02] [-7.12798470e-02 9.97423124e-01 -8.14218731e-03 -1.80666918e+01] [-5.94436969e-02 3.90064095e-03 9.98224039e-01 -9.81317247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.580714057 meters 0.03382755572703311 Centerline is valid? [True, True] Translation: X:138.74, Y:-18.07, Z:-9.82 [[ 9.95523163e-01 7.34613400e-02 5.94732087e-02 1.38735456e+02] [-7.31013760e-02 9.97290733e-01 -8.20874616e-03 -1.80685993e+01] [-5.99151053e-02 3.82442356e-03 9.98196150e-01 -9.81501143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.610714057 meters 0.037325584704831806 Centerline is valid? [True, True] Translation: X:138.76, Y:-18.08, Z:-9.82 [[ 9.95480856e-01 7.37933958e-02 5.97695549e-02 1.38764345e+02] [-7.34305691e-02 9.97266230e-01 -8.24727400e-03 -1.80769012e+01] [-6.02147530e-02 3.82109096e-03 9.98178132e-01 -9.81811911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.640714057 meters 0.034410843261929454 Centerline is valid? [True, True] Translation: X:138.79, Y:-18.08, Z:-9.82 [[ 9.95461410e-01 7.36433904e-02 6.02763036e-02 1.38794696e+02] [-7.32741616e-02 9.97277162e-01 -8.31622274e-03 -1.80758758e+01] [-6.07246158e-02 3.86178320e-03 9.98147087e-01 -9.81942371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.670714057 meters 0.034865810648626795 Centerline is valid? [True, True] Translation: X:138.82, Y:-18.08, Z:-9.82 [[ 9.95574105e-01 7.21671775e-02 6.02004953e-02 1.38824263e+02] [-7.17963255e-02 9.97384749e-01 -8.30358058e-03 -1.80790078e+01] [-6.06423019e-02 3.94465545e-03 9.98151767e-01 -9.82151031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.700714057 meters 0.0352886949808032 Centerline is valid? [True, True] Translation: X:138.85, Y:-18.08, Z:-9.82 [[ 9.95758536e-01 6.96819331e-02 6.00780023e-02 1.38854033e+02] [-6.93082323e-02 9.97560895e-01 -8.28435732e-03 -1.80820801e+01] [-6.05087358e-02 4.08531938e-03 9.98159307e-01 -9.82414757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.730714057 meters 0.03698065165813945 Centerline is valid? [True, True] Translation: X:138.88, Y:-18.09, Z:-9.83 [[ 9.95886964e-01 6.81454568e-02 5.97105719e-02 1.38883129e+02] [-6.77736389e-02 9.97666757e-01 -8.23260330e-03 -1.80876646e+01] [-6.01322671e-02 4.15193957e-03 9.98181783e-01 -9.82695014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.76071405699997 meters 0.038341614643506314 Centerline is valid? [True, True] Translation: X:138.91, Y:-18.09, Z:-9.83 [[ 9.96020439e-01 6.64388516e-02 5.94067700e-02 1.38914060e+02] [-6.60678877e-02 9.97781525e-01 -8.18917035e-03 -1.80930229e+01] [-5.98190566e-02 4.23170124e-03 9.98200267e-01 -9.82937773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.79071405699997 meters 0.03944019480463798 Centerline is valid? [True, True] Translation: X:138.94, Y:-18.10, Z:-9.83 [[ 9.96325555e-01 6.26361075e-02 5.84132311e-02 1.38944610e+02] [-6.22708285e-02 9.98026787e-01 -8.05460163e-03 -1.80965237e+01] [-5.88024782e-02 4.38756515e-03 9.98259995e-01 -9.83180467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.82071405699998 meters 0.04507704508053789 Centerline is valid? [True, True] Translation: X:138.97, Y:-18.11, Z:-9.84 [[ 9.96639942e-01 5.86182394e-02 5.72077606e-02 1.38972657e+02] [-5.82613185e-02 9.98270199e-01 -7.88851745e-03 -1.81064003e+01] [-5.75712135e-02 4.52901201e-03 9.98331129e-01 -9.83558241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.85071405699998 meters 0.044808226968945826 Centerline is valid? [True, True] Translation: X:139.00, Y:-18.11, Z:-9.84 [[ 9.96774918e-01 5.65645253e-02 5.69229003e-02 1.39003018e+02] [-5.62078176e-02 9.98388235e-01 -7.84945576e-03 -1.81095786e+01] [-5.72751547e-02 4.62462863e-03 9.98347720e-01 -9.83825770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.88071405699998 meters 0.046319814193116204 Centerline is valid? [True, True] Translation: X:139.03, Y:-18.12, Z:-9.84 [[ 9.96859172e-01 5.49944556e-02 5.69859780e-02 1.39032659e+02] [-5.46343513e-02 9.98475499e-01 -7.85916775e-03 -1.81154005e+01] [-5.73313135e-02 4.72109151e-03 9.98344045e-01 -9.84086410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.91071405699998 meters 0.04656886381616993 Centerline is valid? [True, True] Translation: X:139.06, Y:-18.12, Z:-9.84 [[ 9.96984174e-01 5.31017108e-02 5.65929838e-02 1.39063427e+02] [-5.27434974e-02 9.98577586e-01 -7.80566689e-03 -1.81191377e+01] [-5.69269794e-02 4.79721446e-03 9.98366819e-01 -9.84313165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.94071405699998 meters 0.050572814152936185 Centerline is valid? [True, True] Translation: X:139.09, Y:-18.13, Z:-9.85 [[ 9.97162729e-01 4.99512164e-02 5.63149038e-02 1.39092466e+02] [-4.95913624e-02 9.98739364e-01 -7.77037428e-03 -1.81271434e+01] [-5.66320509e-02 4.95559481e-03 9.98382819e-01 -9.84619375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.97071405699998 meters 0.04836171114499165 Centerline is valid? [True, True] Translation: X:139.12, Y:-18.13, Z:-9.85 [[ 9.97312362e-01 4.73239235e-02 5.59329937e-02 1.39123419e+02] [-4.69649038e-02 9.98866734e-01 -7.71662377e-03 -1.81268266e+01] [-5.62347876e-02 5.06899661e-03 9.98404704e-01 -9.84770964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.00071405699998 meters 0.053625342114472584 Centerline is valid? [True, True] Translation: X:139.15, Y:-18.14, Z:-9.85 [[ 9.97338387e-01 4.64097810e-02 5.62341073e-02 1.39153665e+02] [-4.60455759e-02 9.98909232e-01 -7.75576249e-03 -1.81376721e+01] [-5.65327121e-02 5.14578780e-03 9.98387487e-01 -9.85049570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.03071405699998 meters 0.05557016795779851 Centerline is valid? [True, True] Translation: X:139.18, Y:-18.14, Z:-9.85 [[ 9.97343917e-01 4.59444288e-02 5.65174398e-02 1.39183886e+02] [-4.55750459e-02 9.98930403e-01 -7.80806753e-03 -1.81442819e+01] [-5.68157261e-02 5.21154374e-03 9.98371080e-01 -9.85231773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.06071405699998 meters 0.057612990341988586 Centerline is valid? [True, True] Translation: X:139.22, Y:-18.15, Z:-9.85 [[ 9.97368375e-01 4.50843731e-02 5.67778408e-02 1.39215922e+02] [-4.47093638e-02 9.98969127e-01 -7.85854653e-03 -1.81499847e+01] [-5.70736077e-02 5.29936464e-03 9.98355909e-01 -9.85388478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.09071405699999 meters 0.05680008659009528 Centerline is valid? [True, True] Translation: X:139.25, Y:-18.15, Z:-9.86 [[ 9.97333230e-01 4.56252591e-02 5.69628232e-02 1.39248418e+02] [-4.52485583e-02 9.98944631e-01 -7.88614034e-03 -1.81528240e+01] [-5.72625136e-02 5.28762420e-03 9.98345154e-01 -9.85618408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.120714057 meters 0.04787263853743406 Centerline is valid? [True, True] Translation: X:139.28, Y:-18.14, Z:-9.86 [[ 9.97322334e-01 4.62671511e-02 5.66349084e-02 1.39282174e+02] [-4.58950545e-02 9.98915392e-01 -7.85392833e-03 -1.81441631e+01] [-5.69368606e-02 5.23363593e-03 9.98364063e-01 -9.85713624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.150714057 meters 0.04740162302259573 Centerline is valid? [True, True] Translation: X:139.31, Y:-18.15, Z:-9.86 [[ 9.97329247e-01 4.68880985e-02 5.59989190e-02 1.39313932e+02] [-4.65245035e-02 9.98886854e-01 -7.77974187e-03 -1.81471555e+01] [-5.63013613e-02 5.15364220e-03 9.98400519e-01 -9.85983718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.180714057 meters 0.04888949608959521 Centerline is valid? [True, True] Translation: X:139.35, Y:-18.15, Z:-9.86 [[ 9.97318658e-01 4.80813330e-02 5.51695530e-02 1.39345520e+02] [-4.77293561e-02 9.98830775e-01 -7.68064460e-03 -1.81514324e+01] [-5.54743429e-02 5.02684293e-03 9.98447459e-01 -9.86277972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.210714057 meters 0.04877226564579759 Centerline is valid? [True, True] Translation: X:139.38, Y:-18.15, Z:-9.87 [[ 9.97311527e-01 4.90181419e-02 5.44696303e-02 1.39376308e+02] [-4.86763442e-02 9.98785804e-01 -7.58487122e-03 -1.81542948e+01] [-5.47752898e-02 4.91309702e-03 9.98486619e-01 -9.86516808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.240714057 meters 0.04509905523064664 Centerline is valid? [True, True] Translation: X:139.41, Y:-18.15, Z:-9.87 [[ 9.97281622e-01 5.00302851e-02 5.40956239e-02 1.39408800e+02] [-4.96939799e-02 9.98735992e-01 -7.54503620e-03 -1.81521783e+01] [-5.44047269e-02 4.83629909e-03 9.98507254e-01 -9.86689673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.270714057 meters 0.04525565032584741 Centerline is valid? [True, True] Translation: X:139.44, Y:-18.15, Z:-9.87 [[ 9.97170026e-01 5.19568918e-02 5.43361884e-02 1.39439314e+02] [-5.16194613e-02 9.98637938e-01 -7.59611114e-03 -1.81538672e+01] [-5.46568495e-02 4.76980956e-03 9.98493805e-01 -9.86796970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.300714057 meters 0.04474146183778227 Centerline is valid? [True, True] Translation: X:139.47, Y:-18.16, Z:-9.87 [[ 9.97083203e-01 5.30372669e-02 5.48829177e-02 1.39470605e+02] [-5.26946522e-02 9.98581200e-01 -7.67206000e-03 -1.81557157e+01] [-5.52119549e-02 4.75764590e-03 9.98463322e-01 -9.86976281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.330714057 meters 0.04163096156398151 Centerline is valid? [True, True] Translation: X:139.50, Y:-18.15, Z:-9.87 [[ 9.96904404e-01 5.53176850e-02 5.58709545e-02 1.39501393e+02] [-5.49660148e-02 9.98457660e-01 -7.81271965e-03 -1.81542610e+01] [-5.62169641e-02 4.71753091e-03 9.98407431e-01 -9.87128353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.360714057 meters 0.04314208371860326 Centerline is valid? [True, True] Translation: X:139.53, Y:-18.16, Z:-9.87 [[ 9.96827950e-01 5.61752506e-02 5.63771129e-02 1.39532146e+02] [-5.58186297e-02 9.98409815e-01 -7.88176641e-03 -1.81598865e+01] [-5.67302231e-02 4.70987186e-03 9.98378435e-01 -9.87415718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.390714057 meters 0.04477838210909688 Centerline is valid? [True, True] Translation: X:139.56, Y:-18.17, Z:-9.88 [[ 9.96788091e-01 5.67738444e-02 5.64821488e-02 1.39563780e+02] [-5.64163293e-02 9.98376032e-01 -7.90551367e-03 -1.81661476e+01] [-5.68392500e-02 4.69360637e-03 9.98372310e-01 -9.87669465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.420714057 meters 0.046241680348751826 Centerline is valid? [True, True] Translation: X:139.60, Y:-18.17, Z:-9.88 [[ 9.96733082e-01 5.76005300e-02 5.66157416e-02 1.39595723e+02] [-5.72424533e-02 9.98328832e-01 -7.92752843e-03 -1.81700253e+01] [-5.69777570e-02 4.66080590e-03 9.98364569e-01 -9.87914255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.450714057 meters 0.04364454395316796 Centerline is valid? [True, True] Translation: X:139.63, Y:-18.17, Z:-9.88 [[ 9.96708579e-01 5.80011879e-02 5.66380762e-02 1.39628412e+02] [-5.76426482e-02 9.98305665e-01 -7.94505269e-03 -1.81697704e+01] [-5.70029349e-02 4.65413347e-03 9.98363163e-01 -9.88092149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.480714057 meters 0.0466355858862881 Centerline is valid? [True, True] Translation: X:139.66, Y:-18.18, Z:-9.88 [[ 9.96630406e-01 5.84031944e-02 5.75925388e-02 1.39659158e+02] [-5.80321990e-02 9.98281893e-01 -8.09475382e-03 -1.81767131e+01] [-5.79663481e-02 4.72525612e-03 9.98307355e-01 -9.88350083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.51071405699997 meters 0.04354072509213339 Centerline is valid? [True, True] Translation: X:139.69, Y:-18.18, Z:-9.88 [[ 9.96592347e-01 5.84313009e-02 5.82192195e-02 1.39692245e+02] [-5.80513866e-02 9.98279943e-01 -8.19708861e-03 -1.81763416e+01] [-5.85980457e-02 4.78944936e-03 9.98270169e-01 -9.88495098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54071405699997 meters 0.04458759984267944 Centerline is valid? [True, True] Translation: X:139.72, Y:-18.18, Z:-9.89 [[ 9.96557516e-01 5.82606729e-02 5.89814427e-02 1.39723665e+02] [-5.78694716e-02 9.98289483e-01 -8.32058476e-03 -1.81819636e+01] [-5.93653168e-02 4.87871636e-03 9.98224402e-01 -9.88735141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.57071405699998 meters 0.04850533063359336 Centerline is valid? [True, True] Translation: X:139.75, Y:-18.19, Z:-9.89 [[ 9.96627729e-01 5.71344900e-02 5.88966906e-02 1.39754106e+02] [-5.67415125e-02 9.98354196e-01 -8.32463023e-03 -1.81912264e+01] [-5.92753817e-02 4.95467002e-03 9.98229373e-01 -9.89007767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60071405699998 meters 0.044420680518099415 Centerline is valid? [True, True] Translation: X:139.79, Y:-18.19, Z:-9.89 [[ 9.96662319e-01 5.65789200e-02 5.88476653e-02 1.39786745e+02] [-5.61847815e-02 9.98385620e-01 -8.33211369e-03 -1.81898935e+01] [-5.92240848e-02 4.99796053e-03 9.98232202e-01 -9.89224539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.63071405699998 meters 0.04622835426364099 Centerline is valid? [True, True] Translation: X:139.82, Y:-18.20, Z:-9.90 [[ 9.96832145e-01 5.50379176e-02 5.74151738e-02 1.39816167e+02] [-5.46592166e-02 9.98471833e-01 -8.14673701e-03 -1.81962778e+01] [-5.77758133e-02 4.98266091e-03 9.98317148e-01 -9.89607067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.66071405699998 meters 0.04596234971274422 Centerline is valid? [True, True] Translation: X:139.85, Y:-18.20, Z:-9.90 [[ 9.96850196e-01 5.46933069e-02 5.74310747e-02 1.39848109e+02] [-5.43139130e-02 9.98490669e-01 -8.14753803e-03 -1.82007478e+01] [-5.77900080e-02 5.00256849e-03 9.98316227e-01 -9.89909766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.69071405699998 meters 0.04710724837691975 Centerline is valid? [True, True] Translation: X:139.88, Y:-18.21, Z:-9.90 [[ 9.96894935e-01 5.43973266e-02 5.69334622e-02 1.39878071e+02] [-5.40230443e-02 9.98506886e-01 -8.09376279e-03 -1.82067956e+01] [-5.72887331e-02 4.99291218e-03 9.98345167e-01 -9.90217256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.72071405699998 meters 0.04746533236142918 Centerline is valid? [True, True] Translation: X:139.91, Y:-18.21, Z:-9.90 [[ 9.96854385e-01 5.51005874e-02 5.69671957e-02 1.39910327e+02] [-5.47269143e-02 9.98468504e-01 -8.10004089e-03 -1.82119767e+01] [-5.73262677e-02 4.95692245e-03 9.98343191e-01 -9.90436486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.75071405699998 meters 0.04461488742247931 Centerline is valid? [True, True] Translation: X:139.94, Y:-18.21, Z:-9.90 [[ 9.96699805e-01 5.61767929e-02 5.85974909e-02 1.39942310e+02] [-5.57828997e-02 9.98408110e-01 -8.33756438e-03 -1.82126243e+01] [-5.89725877e-02 5.04131084e-03 9.98246873e-01 -9.90493094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.78071405699998 meters 0.04461488742247931 Centerline is valid? [True, True] Translation: X:139.97, Y:-18.22, Z:-9.91 [[ 9.96683806e-01 5.64600902e-02 5.85973547e-02 1.39974639e+02] [-5.60666266e-02 9.98392209e-01 -8.33852383e-03 -1.82173072e+01] [-5.89739362e-02 5.02551566e-03 9.98246873e-01 -9.90717938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.81071405699998 meters 0.04409960724994736 Centerline is valid? [True, True] Translation: X:140.01, Y:-18.22, Z:-9.91 [[ 9.96557430e-01 5.74265445e-02 5.97953233e-02 1.40006508e+02] [-5.70174382e-02 9.98336767e-01 -8.52707400e-03 -1.82209060e+01] [-6.01855501e-02 5.08834280e-03 9.98174237e-01 -9.90865479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.84071405699999 meters 0.04532604863917539 Centerline is valid? [True, True] Translation: X:140.04, Y:-18.23, Z:-9.91 [[ 9.96452809e-01 5.84014166e-02 6.05893901e-02 1.40037606e+02] [-5.79821840e-02 9.98280091e-01 -8.65599260e-03 -1.82268536e+01] [-6.09907041e-02 5.11218297e-03 9.98125242e-01 -9.91006635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.870714057 meters 0.04479922651543549 Centerline is valid? [True, True] Translation: X:140.07, Y:-18.23, Z:-9.91 [[ 9.96370771e-01 5.93331814e-02 6.10316340e-02 1.40070149e+02] [-5.89085252e-02 9.98225163e-01 -8.73550147e-03 -1.82307289e+01] [-6.14416179e-02 5.10851478e-03 9.98097606e-01 -9.91102571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.900714057 meters 0.04609919819687422 Centerline is valid? [True, True] Translation: X:140.10, Y:-18.24, Z:-9.91 [[ 9.96299719e-01 5.99113881e-02 6.16238155e-02 1.40100434e+02] [-5.94790106e-02 9.98190514e-01 -8.82869225e-03 -1.82375082e+01] [-6.20412472e-02 5.13070004e-03 9.98060399e-01 -9.91327135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.930714057 meters 0.048823515812740075 Centerline is valid? [True, True] Translation: X:140.13, Y:-18.25, Z:-9.92 [[ 9.96374568e-01 5.94259500e-02 6.08792036e-02 1.40130631e+02] [-5.90022236e-02 9.98219626e-01 -8.73589835e-03 -1.82476085e+01] [-6.12899549e-02 5.11221855e-03 9.98106911e-01 -9.91737297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.960714057 meters 0.048022218950868216 Centerline is valid? [True, True] Translation: X:140.16, Y:-18.25, Z:-9.92 [[ 9.96451689e-01 5.90351230e-02 5.99907118e-02 1.40162790e+02] [-5.86221796e-02 9.98243009e-01 -8.62181807e-03 -1.82523671e+01] [-6.03942987e-02 5.07443890e-03 9.98161700e-01 -9.92045308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.990714057 meters 0.05042519913799635 Centerline is valid? [True, True] Translation: X:140.19, Y:-18.26, Z:-9.92 [[ 9.96621222e-01 5.78390674e-02 5.83162313e-02 1.40191349e+02] [-5.74459059e-02 9.98313304e-01 -8.39734517e-03 -1.82620447e+01] [-5.87035641e-02 5.01894366e-03 9.98262842e-01 -9.92458539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.020714057 meters 0.050487382964786255 Centerline is valid? [True, True] Translation: X:140.22, Y:-18.27, Z:-9.93 [[ 9.96667646e-01 5.78488188e-02 5.75075486e-02 1.40223290e+02] [-5.74666645e-02 9.98313103e-01 -8.27836813e-03 -1.82675007e+01] [-5.78894331e-02 4.94601467e-03 9.98310748e-01 -9.92717697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.050714057 meters 0.05154897415013285 Centerline is valid? [True, True] Translation: X:140.25, Y:-18.27, Z:-9.93 [[ 9.96663292e-01 5.83031574e-02 5.71228850e-02 1.40253881e+02] [-5.79260474e-02 9.98286896e-01 -8.23685484e-03 -1.82742336e+01] [-5.75052622e-02 4.90046792e-03 9.98333176e-01 -9.92945229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.080714057 meters 0.051337379940458755 Centerline is valid? [True, True] Translation: X:140.28, Y:-18.28, Z:-9.93 [[ 9.96576832e-01 6.02758472e-02 5.65812685e-02 1.40284460e+02] [-5.99081770e-02 9.98170428e-01 -8.17349927e-03 -1.82782890e+01] [-5.69704136e-02 4.75583936e-03 9.98364540e-01 -9.93076962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.110714057 meters 0.05050034294955664 Centerline is valid? [True, True] Translation: X:140.31, Y:-18.28, Z:-9.93 [[ 9.96303636e-01 6.43641396e-02 5.68886914e-02 1.40314327e+02] [-6.39989936e-02 9.97916115e-01 -8.21924635e-03 -1.82809149e+01] [-5.72991667e-02 4.54804603e-03 9.98346694e-01 -9.93215098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.140714057 meters 0.0404936007794442 Centerline is valid? [True, True] Translation: X:140.35, Y:-18.27, Z:-9.93 [[ 9.96155597e-01 6.65229868e-02 5.69975293e-02 1.40345996e+02] [-6.61599412e-02 9.97775047e-01 -8.23510323e-03 -1.82711083e+01] [-5.74185361e-02 4.43249099e-03 9.98340355e-01 -9.93204482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.170714057 meters 0.04013486767504952 Centerline is valid? [True, True] Translation: X:140.38, Y:-18.27, Z:-9.93 [[ 9.95956826e-01 6.91795972e-02 5.73078079e-02 1.40376022e+02] [-6.88170110e-02 9.97594947e-01 -8.27888694e-03 -1.82742137e+01] [-5.77427096e-02 4.30166191e-03 9.98322230e-01 -9.93382055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.200714057 meters 0.03877939943977308 Centerline is valid? [True, True] Translation: X:140.41, Y:-18.27, Z:-9.93 [[ 9.95541706e-01 7.43689641e-02 5.80169616e-02 1.40405616e+02] [-7.40061461e-02 9.97222573e-01 -8.38038790e-03 -1.82749032e+01] [-5.84790644e-02 4.04941393e-03 9.98280422e-01 -9.93463050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.230714057 meters 0.03704979330166335 Centerline is valid? [True, True] Translation: X:140.44, Y:-18.28, Z:-9.94 [[ 9.95044212e-01 7.96945596e-02 5.94625430e-02 1.40435639e+02] [-7.93229689e-02 9.96811980e-01 -8.58743509e-03 -1.82757337e+01] [-5.99573470e-02 3.82813213e-03 9.98193599e-01 -9.93574862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.26071405699997 meters 0.036883946008870114 Centerline is valid? [True, True] Translation: X:140.46, Y:-18.28, Z:-9.94 [[ 9.94845327e-01 8.21083278e-02 5.95062877e-02 1.40463862e+02] [-8.17406025e-02 9.96616604e-01 -8.59180414e-03 -1.82788556e+01] [-6.00104130e-02 3.68343638e-03 9.98190955e-01 -9.93756683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.29071405699997 meters 0.03652072249142295 Centerline is valid? [True, True] Translation: X:140.49, Y:-18.28, Z:-9.94 [[ 9.94593796e-01 8.46597031e-02 6.01324906e-02 1.40493273e+02] [-8.42889129e-02 9.96403544e-01 -8.68080481e-03 -1.82819096e+01] [-6.06511411e-02 3.56537234e-03 9.98152657e-01 -9.93943185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.32071405699998 meters 0.03523804717230072 Centerline is valid? [True, True] Translation: X:140.52, Y:-18.28, Z:-9.94 [[ 9.94217728e-01 8.93548033e-02 5.95552496e-02 1.40523070e+02] [-8.89996225e-02 9.95994572e-01 -8.59532174e-03 -1.82825284e+01] [-6.00847386e-02 3.24522652e-03 9.98188005e-01 -9.94226222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.35071405699998 meters 0.03502154433125009 Centerline is valid? [True, True] Translation: X:140.55, Y:-18.29, Z:-9.94 [[ 9.94117304e-01 9.10984083e-02 5.85821335e-02 1.40550944e+02] [-9.07578137e-02 9.95837108e-01 -8.45415506e-03 -1.82857355e+01] [-5.91084225e-02 3.08763547e-03 9.98246794e-01 -9.94493954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.38071405699998 meters 0.03475291609119728 Centerline is valid? [True, True] Translation: X:140.58, Y:-18.29, Z:-9.95 [[ 9.93962129e-01 9.37056750e-02 5.70835640e-02 1.40579481e+02] [-9.33868262e-02 9.95595855e-01 -8.23377178e-03 -1.82891583e+01] [-5.76037108e-02 2.85320446e-03 9.98335451e-01 -9.94901504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.41071405699998 meters 0.03478138560115523 Centerline is valid? [True, True] Translation: X:140.61, Y:-18.29, Z:-9.95 [[ 9.93929582e-01 9.43822397e-02 5.65329827e-02 1.40608244e+02] [-9.40706577e-02 9.95532135e-01 -8.15352435e-03 -1.82934286e+01] [-5.70499488e-02 2.78593419e-03 9.98367438e-01 -9.95216251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.44071405699998 meters 0.03485867482223931 Centerline is valid? [True, True] Translation: X:140.64, Y:-18.30, Z:-9.95 [[ 9.93763665e-01 9.62525335e-02 5.62959044e-02 1.40635319e+02] [-9.59469759e-02 9.95353392e-01 -8.11190971e-03 -1.82982057e+01] [-5.68151113e-02 2.65989933e-03 9.98381174e-01 -9.95485046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.47071405699998 meters 0.034239006544711174 Centerline is valid? [True, True] Translation: X:140.66, Y:-18.30, Z:-9.96 [[ 9.93613824e-01 9.76725966e-02 5.64945358e-02 1.40664260e+02] [-9.73674415e-02 9.95215249e-01 -8.13568420e-03 -1.83010957e+01] [-5.70188569e-02 2.58299988e-03 9.98369760e-01 -9.95661339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.50071405699998 meters 0.03442276837211635 Centerline is valid? [True, True] Translation: X:140.69, Y:-18.30, Z:-9.96 [[ 9.93525398e-01 9.87870439e-02 5.61106314e-02 1.40691754e+02] [-9.84879936e-02 9.95105461e-01 -8.07696876e-03 -1.83048020e+01] [-5.66338956e-02 2.49845010e-03 9.98391887e-01 -9.95835886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.53071405699998 meters 0.03414546324937319 Centerline is valid? [True, True] Translation: X:140.72, Y:-18.31, Z:-9.96 [[ 9.93303119e-01 1.00502040e-01 5.69934611e-02 1.40719948e+02] [-1.00196589e-01 9.94933876e-01 -8.19917395e-03 -1.83077063e+01] [-5.75287588e-02 2.43371463e-03 9.98340883e-01 -9.95940075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.56071405699998 meters 0.033933611788040066 Centerline is valid? [True, True] Translation: X:140.75, Y:-18.31, Z:-9.96 [[ 9.93213561e-01 1.01264382e-01 5.72044401e-02 1.40748392e+02] [-1.00958137e-01 9.94856668e-01 -8.22585082e-03 -1.83116895e+01] [-5.77432044e-02 2.39477291e-03 9.98328597e-01 -9.96072550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.59071405699999 meters 0.03413875589022414 Centerline is valid? [True, True] Translation: X:140.78, Y:-18.32, Z:-9.96 [[ 9.93141161e-01 1.02037820e-01 5.70869357e-02 1.40775507e+02] [-1.01734282e-01 9.94777763e-01 -8.20593063e-03 -1.83165140e+01] [-5.76261295e-02 2.34194906e-03 9.98335487e-01 -9.96223899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.620714057 meters 0.03403233836573582 Centerline is valid? [True, True] Translation: X:140.80, Y:-18.32, Z:-9.96 [[ 9.93112124e-01 1.02166353e-01 5.73615247e-02 1.40803800e+02] [-1.01860518e-01 9.94764579e-01 -8.23816221e-03 -1.83210372e+01] [-5.79028759e-02 2.33854415e-03 9.98319482e-01 -9.96382003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.650714057 meters 0.026982286966229816 Centerline is valid? [True, True] Translation: X:140.83, Y:-18.31, Z:-9.96 [[ 9.93162197e-01 1.01715291e-01 5.72961654e-02 1.40834448e+02] [-1.01409606e-01 9.94810754e-01 -8.22531329e-03 -1.83134072e+01] [-5.78354817e-02 2.35868867e-03 9.98323341e-01 -9.96173957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.680714057 meters 0.03680274005689849 Centerline is valid? [True, True] Translation: X:140.86, Y:-18.34, Z:-9.97 [[ 9.92865016e-01 1.02846095e-01 6.03468376e-02 1.40858966e+02] [-1.02509307e-01 9.94694359e-01 -8.65870003e-03 -1.83352408e+01] [-6.09171725e-02 2.41080781e-03 9.98139913e-01 -9.96628574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.710714057 meters 0.02747659568501831 Centerline is valid? [True, True] Translation: X:140.89, Y:-18.32, Z:-9.97 [[ 9.93297278e-01 1.00331710e-01 5.73939454e-02 1.40890562e+02] [-1.00023245e-01 9.94951067e-01 -8.22952363e-03 -1.83237527e+01] [-5.79298494e-02 2.43363478e-03 9.98317690e-01 -9.96552858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.740714057 meters 0.028291024773106944 Centerline is valid? [True, True] Translation: X:140.92, Y:-18.33, Z:-9.97 [[ 9.93603581e-01 9.79827296e-02 5.61365240e-02 1.40919697e+02] [-9.76840216e-02 9.95184945e-01 -8.04723431e-03 -1.83305889e+01] [-5.66547135e-02 2.51211941e-03 9.98390671e-01 -9.96805834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.770714057 meters 0.028999913493163672 Centerline is valid? [True, True] Translation: X:140.95, Y:-18.34, Z:-9.97 [[ 9.93819199e-01 9.63935423e-02 5.50607451e-02 1.40946580e+02] [-9.61038242e-02 9.95340030e-01 -7.89175091e-03 -1.83370093e+01] [-5.55648775e-02 2.55142539e-03 9.98451819e-01 -9.97092670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.800714057 meters 0.029255436571796065 Centerline is valid? [True, True] Translation: X:140.98, Y:-18.34, Z:-9.97 [[ 9.94154651e-01 9.37807469e-02 5.34948785e-02 1.40975445e+02] [-9.35038117e-02 9.95589440e-01 -7.66189185e-03 -1.83442056e+01] [-5.39774740e-02 2.61513037e-03 9.98538729e-01 -9.97424901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.830714057 meters 0.03112098340558662 Centerline is valid? [True, True] Translation: X:141.00, Y:-18.35, Z:-9.98 [[ 9.94311727e-01 9.26845169e-02 5.24763742e-02 1.41002676e+02] [-9.24165703e-02 9.95692072e-01 -7.51498440e-03 -1.83518697e+01] [-5.29468325e-02 2.62255059e-03 9.98593889e-01 -9.97735747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.860714057 meters 0.03101776513352851 Centerline is valid? [True, True] Translation: X:141.03, Y:-18.36, Z:-9.98 [[ 9.94404653e-01 9.16968789e-02 5.24506235e-02 1.41031310e+02] [-9.14280935e-02 9.95783390e-01 -7.50624822e-03 -1.83564378e+01] [-5.29177593e-02 2.66878765e-03 9.98595308e-01 -9.97938632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.890714057 meters 0.03214686917955113 Centerline is valid? [True, True] Translation: X:141.06, Y:-18.36, Z:-9.98 [[ 9.94461753e-01 9.09137948e-02 5.27304747e-02 1.41057872e+02] [-9.06411876e-02 9.95855046e-01 -7.54339730e-03 -1.83629758e+01] [-5.31977081e-02 2.72206726e-03 9.98580289e-01 -9.98083020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.920714057 meters 0.030831031111839297 Centerline is valid? [True, True] Translation: X:141.09, Y:-18.37, Z:-9.98 [[ 9.94332042e-01 9.22779152e-02 5.28069785e-02 1.41087000e+02] [-9.20068614e-02 9.95729778e-01 -7.54630638e-03 -1.83650990e+01] [-5.32778384e-02 2.64492988e-03 9.98576225e-01 -9.98117131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.950714057 meters 0.03319894346623019 Centerline is valid? [True, True] Translation: X:141.11, Y:-18.37, Z:-9.98 [[ 9.94211209e-01 9.35321024e-02 5.28754963e-02 1.41113741e+02] [-9.32623007e-02 9.95612928e-01 -7.55256359e-03 -1.83729875e+01] [-5.33499349e-02 2.57755293e-03 9.98572552e-01 -9.98401422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.980714057 meters 0.030416756237446687 Centerline is valid? [True, True] Translation: X:141.14, Y:-18.37, Z:-9.98 [[ 9.94118740e-01 9.46691665e-02 5.25897353e-02 1.41142706e+02] [-9.44041242e-02 9.95505655e-01 -7.50681889e-03 -1.83719431e+01] [-5.30640432e-02 2.49798144e-03 9.98587987e-01 -9.98410553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.01071405699997 meters 0.02916813478064439 Centerline is valid? [True, True] Translation: X:141.17, Y:-18.37, Z:-9.98 [[ 9.93907431e-01 9.62510948e-02 5.37005127e-02 1.41171544e+02] [-9.59772391e-02 9.95354043e-01 -7.66147714e-03 -1.83732860e+01] [-5.41884480e-02 2.46077212e-03 9.98527695e-01 -9.98475413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.04071405699997 meters 0.02852343826172762 Centerline is valid? [True, True] Translation: X:141.20, Y:-18.38, Z:-9.99 [[ 9.93779947e-01 9.69864516e-02 5.47270127e-02 1.41200575e+02] [-9.67033614e-02 9.95282655e-01 -7.80367280e-03 -1.83767050e+01] [-5.52256971e-02 2.46284745e-03 9.98470859e-01 -9.98589143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.07071405699998 meters 0.029369876204329935 Centerline is valid? [True, True] Translation: X:141.23, Y:-18.38, Z:-9.99 [[ 9.93815755e-01 9.65815595e-02 5.47927722e-02 1.41227824e+02] [-9.62973127e-02 9.95321969e-01 -7.81054688e-03 -1.83821980e+01] [-5.52908047e-02 2.48584782e-03 9.98467199e-01 -9.98807221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10071405699998 meters 0.028890794350906336 Centerline is valid? [True, True] Translation: X:141.26, Y:-18.39, Z:-9.99 [[ 9.93890817e-01 9.56958488e-02 5.49849778e-02 1.41255777e+02] [-9.54084927e-02 9.95407381e-01 -7.83358422e-03 -1.83858736e+01] [-5.54820942e-02 2.53969357e-03 9.98456452e-01 -9.99005262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.13071405699998 meters 0.02923729537011603 Centerline is valid? [True, True] Translation: X:141.28, Y:-18.39, Z:-9.99 [[ 9.94115168e-01 9.35093714e-02 5.46903141e-02 1.41284604e+02] [-9.32222659e-02 9.95614902e-01 -7.78300787e-03 -1.83926567e+01] [-5.51782759e-02 2.63885118e-03 9.98473031e-01 -9.99285649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.16071405699998 meters 0.0330972530728845 Centerline is valid? [True, True] Translation: X:141.31, Y:-18.40, Z:-10.00 [[ 9.94288438e-01 9.18842345e-02 5.42935454e-02 1.41311234e+02] [-9.15989356e-02 9.95766014e-01 -7.72532499e-03 -1.84033815e+01] [-5.47735028e-02 2.70797035e-03 9.98495133e-01 -9.99690509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.19071405699998 meters 0.03158612387427348 Centerline is valid? [True, True] Translation: X:141.34, Y:-18.41, Z:-10.00 [[ 9.94692200e-01 8.81175691e-02 5.31292811e-02 1.41341523e+02] [-8.78393374e-02 9.96106013e-01 -7.55396290e-03 -1.84062460e+01] [-5.35880332e-02 2.84702713e-03 9.98559070e-01 -9.99828772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.22071405699998 meters 0.03046825827444883 Centerline is valid? [True, True] Translation: X:141.37, Y:-18.41, Z:-10.00 [[ 9.94903547e-01 8.60620175e-02 5.25381940e-02 1.41371054e+02] [-8.57871265e-02 9.96285491e-01 -7.46928793e-03 -1.84086179e+01] [-5.29858624e-02 2.92412036e-03 9.98590981e-01 -9.99983494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.25071405699998 meters 0.03224851779783458 Centerline is valid? [True, True] Translation: X:141.40, Y:-18.42, Z:-10.00 [[ 9.95143671e-01 8.36517197e-02 5.18793215e-02 1.41399082e+02] [-8.33805080e-02 9.96490499e-01 -7.37401950e-03 -1.84159355e+01] [-5.23141004e-02 3.01248465e-03 9.98626136e-01 -1.00026328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.28071405699998 meters 0.0333038190069687 Centerline is valid? [True, True] Translation: X:141.43, Y:-18.42, Z:-10.01 [[ 9.95491899e-01 7.95695637e-02 5.16194101e-02 1.41428491e+02] [-7.92957779e-02 9.96824156e-01 -7.33364921e-03 -1.84234422e+01] [-5.20390102e-02 3.20738710e-03 9.98639902e-01 -1.00053974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.31071405699998 meters 0.03372362667196456 Centerline is valid? [True, True] Translation: X:141.46, Y:-18.43, Z:-10.01 [[ 9.95627232e-01 7.77168969e-02 5.18314373e-02 1.41457841e+02] [-7.74383921e-02 9.96969950e-01 -7.36307362e-03 -1.84288890e+01] [-5.22466207e-02 3.31713345e-03 9.98628703e-01 -1.00072088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.34071405699999 meters 0.03450398048563686 Centerline is valid? [True, True] Translation: X:141.49, Y:-18.43, Z:-10.01 [[ 9.95754481e-01 7.49480770e-02 5.34396756e-02 1.41486909e+02] [-7.46481425e-02 9.97181054e-01 -7.58949203e-03 -1.84348439e+01] [-5.38578499e-02 3.56809818e-03 9.98542238e-01 -1.00087897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.370714057 meters 0.035485621430931306 Centerline is valid? [True, True] Translation: X:141.51, Y:-18.44, Z:-10.01 [[ 9.95830209e-01 7.38104373e-02 5.36117017e-02 1.41514952e+02] [-7.35070055e-02 9.97265647e-01 -7.61245788e-03 -1.84399590e+01] [-5.40269872e-02 3.63987986e-03 9.98532842e-01 -1.00102843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.400714057 meters 0.03677915250890057 Centerline is valid? [True, True] Translation: X:141.54, Y:-18.45, Z:-10.01 [[ 9.95887893e-01 7.28628182e-02 5.38359950e-02 1.41541747e+02] [-7.25556653e-02 9.97335098e-01 -7.64056342e-03 -1.84450657e+01] [-5.42492403e-02 3.70303817e-03 9.98520559e-01 -1.00116111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.430714057 meters 0.0371467929822199 Centerline is valid? [True, True] Translation: X:141.57, Y:-18.45, Z:-10.01 [[ 9.95921533e-01 7.23852841e-02 5.38578806e-02 1.41570322e+02] [-7.20774576e-02 9.97369786e-01 -7.63868306e-03 -1.84492794e+01] [-5.42691511e-02 3.72558984e-03 9.98519394e-01 -1.00137434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.460714057 meters 0.038352350186635596 Centerline is valid? [True, True] Translation: X:141.60, Y:-18.45, Z:-10.02 [[ 9.95986646e-01 7.15962730e-02 5.37082395e-02 1.41597663e+02] [-7.12892119e-02 9.97426628e-01 -7.61384296e-03 -1.84546639e+01] [-5.41151510e-02 3.75446785e-03 9.98527643e-01 -1.00164272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.490714057 meters 0.039344884791286026 Centerline is valid? [True, True] Translation: X:141.63, Y:-18.46, Z:-10.02 [[ 9.96050966e-01 7.07020102e-02 5.37000792e-02 1.41626023e+02] [-7.03940268e-02 9.97490253e-01 -7.60758054e-03 -1.84599091e+01] [-5.41031769e-02 3.79737314e-03 9.98528130e-01 -1.00188577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.520714057 meters 0.03938715417752867 Centerline is valid? [True, True] Translation: X:141.66, Y:-18.46, Z:-10.02 [[ 9.96095171e-01 6.99316726e-02 5.38885135e-02 1.41655090e+02] [-6.96206359e-02 9.97544360e-01 -7.62994468e-03 -1.84638981e+01] [-5.42897575e-02 3.84839847e-03 9.98517808e-01 -1.00209230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.550714057 meters 0.0408651749669869 Centerline is valid? [True, True] Translation: X:141.68, Y:-18.47, Z:-10.02 [[ 9.96165054e-01 6.87936070e-02 5.40612985e-02 1.41682834e+02] [-6.84789960e-02 9.97623207e-01 -7.65272132e-03 -1.84693540e+01] [-5.44592643e-02 3.92131010e-03 9.98508293e-01 -1.00229904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.580714057 meters 0.041719170959998594 Centerline is valid? [True, True] Translation: X:141.71, Y:-18.47, Z:-10.03 [[ 9.96201968e-01 6.87442893e-02 5.34402585e-02 1.41711175e+02] [-6.84369008e-02 9.97626780e-01 -7.56300028e-03 -1.84742084e+01] [-5.38333461e-02 3.87699009e-03 9.98542408e-01 -1.00252380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.610714057 meters 0.04202071190562907 Centerline is valid? [True, True] Translation: X:141.74, Y:-18.48, Z:-10.03 [[ 9.96185195e-01 6.97839261e-02 5.23952439e-02 1.41739786e+02] [-6.94902870e-02 9.97555126e-01 -7.40750514e-03 -1.84768833e+01] [-5.27840689e-02 3.73828641e-03 9.98598952e-01 -1.00288055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.640714057 meters 0.036464528875516024 Centerline is valid? [True, True] Translation: X:141.77, Y:-18.47, Z:-10.03 [[ 9.96138966e-01 7.08859633e-02 5.17913122e-02 1.41769528e+02] [-7.06005638e-02 9.97477796e-01 -7.32172525e-03 -1.84720709e+01] [-5.21796915e-02 3.63695998e-03 9.98631089e-01 -1.00295583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.670714057 meters 0.036464528875516024 Centerline is valid? [True, True] Translation: X:141.80, Y:-18.48, Z:-10.03 [[ 9.96144032e-01 7.08143557e-02 5.17918407e-02 1.41797566e+02] [-7.05290535e-02 9.97482882e-01 -7.31798506e-03 -1.84759735e+01] [-5.21796929e-02 3.63693764e-03 9.98631089e-01 -1.00315098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.700714057 meters 0.041601232392142785 Centerline is valid? [True, True] Translation: X:141.83, Y:-18.49, Z:-10.04 [[ 9.95992292e-01 7.28535197e-02 5.18817837e-02 1.41825477e+02] [-7.25702061e-02 9.97336398e-01 -7.32629048e-03 -1.84865749e+01] [-5.22773374e-02 3.53185710e-03 9.98626360e-01 -1.00356444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.730714057 meters 0.04022062429278466 Centerline is valid? [True, True] Translation: X:141.85, Y:-18.49, Z:-10.04 [[ 9.95544544e-01 7.83061365e-02 5.25281836e-02 1.41854546e+02] [-7.80233557e-02 9.96923950e-01 -7.41576828e-03 -1.84852571e+01] [-5.29473044e-02 3.28430250e-03 9.98591907e-01 -1.00371466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76071405699997 meters 0.03667330517588176 Centerline is valid? [True, True] Translation: X:141.89, Y:-18.48, Z:-10.04 [[ 9.94766387e-01 8.64012597e-02 5.45404304e-02 1.41886554e+02] [-8.61086433e-02 9.96256021e-01 -7.69688197e-03 -1.84802569e+01] [-5.50012525e-02 2.96019700e-03 9.98481897e-01 -1.00369754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.79071405699997 meters 0.030683062371564245 Centerline is valid? [True, True] Translation: X:141.92, Y:-18.47, Z:-10.04 [[ 9.94280546e-01 9.11213410e-02 5.57054482e-02 1.41918088e+02] [-9.08235148e-02 9.95835984e-01 -7.86020803e-03 -1.84735631e+01] [-5.61897225e-02 2.75588734e-03 9.98416306e-01 -1.00365163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82071405699998 meters 0.03259377844251137 Centerline is valid? [True, True] Translation: X:141.95, Y:-18.48, Z:-10.04 [[ 9.93804094e-01 9.58275408e-02 5.63072372e-02 1.41947310e+02] [-9.55307630e-02 9.95394770e-01 -7.94515146e-03 -1.84785607e+01] [-5.68092937e-02 2.51685072e-03 9.98381876e-01 -1.00391875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.85071405699998 meters 0.02686087708087143 Centerline is valid? [True, True] Translation: X:141.98, Y:-18.47, Z:-10.04 [[ 9.92808864e-01 1.04916057e-01 5.76470346e-02 1.41978904e+02] [-1.04620320e-01 9.94478982e-01 -8.13281090e-03 -1.84691216e+01] [-5.81820267e-02 2.04327553e-03 9.98303900e-01 -1.00390259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.88071405699998 meters 0.024467659531372758 Centerline is valid? [True, True] Translation: X:142.01, Y:-18.47, Z:-10.04 [[ 9.91937681e-01 1.12518271e-01 5.83033157e-02 1.42009994e+02] [-1.12228962e-01 9.93648345e-01 -8.22349903e-03 -1.84658932e+01] [-5.88582871e-02 1.61387796e-03 9.98265044e-01 -1.00408416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.91071405699998 meters 0.023722909744071274 Centerline is valid? [True, True] Translation: X:142.04, Y:-18.47, Z:-10.04 [[ 9.91484373e-01 1.16252409e-01 5.86865949e-02 1.42039067e+02] [-1.15965795e-01 9.93218714e-01 -8.27778026e-03 -1.84670791e+01] [-5.92509362e-02 1.40165216e-03 9.98242136e-01 -1.00427245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.94071405699998 meters 0.023246948492916558 Centerline is valid? [True, True] Translation: X:142.07, Y:-18.47, Z:-10.04 [[ 9.91131518e-01 1.19024890e-01 5.90879865e-02 1.42068104e+02] [-1.18739414e-01 9.92890494e-01 -8.33174328e-03 -1.84689409e+01] [-5.96595849e-02 1.24178045e-03 9.98218008e-01 -1.00443531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.97071405699998 meters 0.022697044575637537 Centerline is valid? [True, True] Translation: X:142.10, Y:-18.47, Z:-10.05 [[ 9.90478629e-01 1.23850962e-01 6.01084444e-02 1.42096003e+02] [-1.23565401e-01 9.92300375e-01 -8.45914753e-03 -1.84698560e+01] [-6.06933054e-02 9.51280793e-04 9.98156009e-01 -1.00453225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.00071405699998 meters 0.022343405743425283 Centerline is valid? [True, True] Translation: X:142.12, Y:-18.47, Z:-10.05 [[ 9.90250218e-01 1.25292911e-01 6.08784998e-02 1.42124816e+02] [-1.25002968e-01 9.92119413e-01 -8.56316614e-03 -1.84733811e+01] [-6.14716455e-02 8.69683963e-04 9.98108451e-01 -1.00476613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.03071405699998 meters 0.022253170449325378 Centerline is valid? [True, True] Translation: X:142.15, Y:-18.48, Z:-10.05 [[ 9.90098757e-01 1.26305173e-01 6.12491134e-02 1.42152203e+02] [-1.26014608e-01 9.91991114e-01 -8.59934351e-03 -1.84792379e+01] [-6.18447178e-02 7.95916300e-04 9.98085466e-01 -1.00503466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.06071405699998 meters 0.022371638737214213 Centerline is valid? [True, True] Translation: X:142.18, Y:-18.49, Z:-10.05 [[ 9.90175223e-01 1.25562382e-01 6.15395532e-02 1.42179523e+02] [-1.25267873e-01 9.92085369e-01 -8.63605272e-03 -1.84850100e+01] [-6.21368537e-02 8.42276514e-04 9.98067283e-01 -1.00524921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.09071405699999 meters 0.02274629821150643 Centerline is valid? [True, True] Translation: X:142.21, Y:-18.49, Z:-10.06 [[ 9.90499412e-01 1.23045233e-01 6.14067214e-02 1.42206439e+02] [-1.22748271e-01 9.92400579e-01 -8.59954385e-03 -1.84938948e+01] [-6.19981988e-02 9.80274230e-04 9.98075780e-01 -1.00561520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.120714057 meters 0.023092008842557483 Centerline is valid? [True, True] Translation: X:142.23, Y:-18.50, Z:-10.06 [[ 9.90692091e-01 1.21689036e-01 6.09996608e-02 1.42234152e+02] [-1.21393683e-01 9.92567714e-01 -8.53851583e-03 -1.85001935e+01] [-6.15853376e-02 1.05406664e-03 9.98101265e-01 -1.00590919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.150714057 meters 0.02356012244937979 Centerline is valid? [True, True] Translation: X:142.26, Y:-18.51, Z:-10.06 [[ 9.91072069e-01 1.19339403e-01 5.94496447e-02 1.42260916e+02] [-1.19055551e-01 9.92852846e-01 -8.30677335e-03 -1.85097001e+01] [-6.00160743e-02 1.15480084e-03 9.98196743e-01 -1.00635684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.180714057 meters 0.024261901537633204 Centerline is valid? [True, True] Translation: X:142.29, Y:-18.52, Z:-10.07 [[ 9.91299899e-01 1.17699474e-01 5.89181101e-02 1.42288934e+02] [-1.17417995e-01 9.93048487e-01 -8.22901638e-03 -1.85163314e+01] [-5.94770910e-02 1.23937677e-03 9.98228901e-01 -1.00662594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.210714057 meters 0.023608498438096637 Centerline is valid? [True, True] Translation: X:142.32, Y:-18.52, Z:-10.07 [[ 9.91639210e-01 1.14631134e-01 5.92568973e-02 1.42316736e+02] [-1.14341824e-01 9.93407115e-01 -8.26144170e-03 -1.85221270e+01] [-5.98132418e-02 1.41682778e-03 9.98208580e-01 -1.00662668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.240714057 meters 0.02430466899658849 Centerline is valid? [True, True] Translation: X:142.34, Y:-18.53, Z:-10.07 [[ 9.91803772e-01 1.12658537e-01 6.02771259e-02 1.42343914e+02] [-1.12355862e-01 9.93632543e-01 -8.39822838e-03 -1.85303937e+01] [-6.08394461e-02 1.55690615e-03 9.98146351e-01 -1.00683145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.270714057 meters 0.023925000630481193 Centerline is valid? [True, True] Translation: X:142.37, Y:-18.54, Z:-10.07 [[ 9.92006855e-01 1.10356481e-01 6.11869828e-02 1.42372629e+02] [-1.10040563e-01 9.93890585e-01 -8.51937232e-03 -1.85354369e+01] [-6.17533341e-02 1.71822571e-03 9.98089963e-01 -1.00689292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.300714057 meters 0.02465892781190019 Centerline is valid? [True, True] Translation: X:142.40, Y:-18.55, Z:-10.07 [[ 9.92281114e-01 1.07098545e-01 6.25147314e-02 1.42400071e+02] [-1.06762591e-01 9.94246482e-01 -8.69953321e-03 -1.85468219e+01] [-6.30867591e-02 1.95814781e-03 9.98006125e-01 -1.00700746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.330714057 meters 0.024417925670811358 Centerline is valid? [True, True] Translation: X:142.43, Y:-18.55, Z:-10.07 [[ 9.92368360e-01 1.05969076e-01 6.30523008e-02 1.42428021e+02] [-1.05625247e-01 9.94367325e-01 -8.77102249e-03 -1.85521355e+01] [-6.36266048e-02 2.04417037e-03 9.97971681e-01 -1.00716139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.360714057 meters 0.024752558556762016 Centerline is valid? [True, True] Translation: X:142.46, Y:-18.56, Z:-10.07 [[ 9.92536181e-01 1.04269009e-01 6.32447825e-02 1.42455397e+02] [-1.03919919e-01 9.94546796e-01 -8.79328585e-03 -1.85610208e+01] [-6.38167630e-02 2.15526171e-03 9.97959306e-01 -1.00734699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.390714057 meters 0.025312803848096636 Centerline is valid? [True, True] Translation: X:142.48, Y:-18.57, Z:-10.08 [[ 9.92604005e-01 1.03554643e-01 6.33539701e-02 1.42482009e+02] [-1.03203261e-01 9.94621335e-01 -8.80272330e-03 -1.85680850e+01] [-6.39247731e-02 2.19928212e-03 9.97952297e-01 -1.00757713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.420714057 meters 0.026433059552311126 Centerline is valid? [True, True] Translation: X:142.51, Y:-18.58, Z:-10.08 [[ 9.92826932e-01 1.01637550e-01 6.29642121e-02 1.42508284e+02] [-1.01286994e-01 9.94818831e-01 -8.74295081e-03 -1.85778025e+01] [-6.35265959e-02 2.30278124e-03 9.97977489e-01 -1.00784308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.450714057 meters 0.025677179032420415 Centerline is valid? [True, True] Translation: X:142.54, Y:-18.58, Z:-10.08 [[ 9.92894937e-01 1.01089163e-01 6.27743935e-02 1.42536917e+02] [-1.00739983e-01 9.94874653e-01 -8.71097943e-03 -1.85829398e+01] [-6.33332386e-02 2.32519604e-03 9.97989727e-01 -1.00807351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.480714057 meters 0.0257444414243512 Centerline is valid? [True, True] Translation: X:142.57, Y:-18.59, Z:-10.08 [[ 9.92984391e-01 1.00192382e-01 6.27971732e-02 1.42565113e+02] [-9.98414476e-02 9.94965240e-01 -8.70960171e-03 -1.85894482e+01] [-6.33536402e-02 2.37873788e-03 9.97988305e-01 -1.00834113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.51071405699997 meters 0.02823652937080402 Centerline is valid? [True, True] Translation: X:142.59, Y:-18.60, Z:-10.09 [[ 9.93260712e-01 9.81716332e-02 6.16075424e-02 1.42590822e+02] [-9.78302659e-02 9.95166468e-01 -8.54047936e-03 -1.86015633e+01] [-6.21481932e-02 2.45584035e-03 9.98063911e-01 -1.00871872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54071405699997 meters 0.02855665126304127 Centerline is valid? [True, True] Translation: X:142.62, Y:-18.61, Z:-10.09 [[ 9.93392938e-01 9.72885144e-02 6.08721214e-02 1.42618522e+02] [-9.69540176e-02 9.95253145e-01 -8.43183118e-03 -1.86077937e+01] [-6.14034906e-02 2.47432482e-03 9.98109958e-01 -1.00898485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.57071405699998 meters 0.026082330391404642 Centerline is valid? [True, True] Translation: X:142.65, Y:-18.61, Z:-10.09 [[ 9.93627349e-01 9.53224596e-02 6.01524655e-02 1.42646807e+02] [-9.49924785e-02 9.95443152e-01 -8.32825464e-03 -1.86101793e+01] [-6.06722296e-02 2.56114980e-03 9.98154458e-01 -1.00912174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60071405699998 meters 0.030235940461785682 Centerline is valid? [True, True] Translation: X:142.67, Y:-18.62, Z:-10.09 [[ 9.93700716e-01 9.43652040e-02 6.04491153e-02 1.42672971e+02] [-9.40305354e-02 9.95534182e-01 -8.36365983e-03 -1.86223470e+01] [-6.09683991e-02 2.62691208e-03 9.98136240e-01 -1.00940305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.63071405699998 meters 0.031312880076243 Centerline is valid? [True, True] Translation: X:142.70, Y:-18.63, Z:-10.10 [[ 9.93808970e-01 9.26011681e-02 6.13901834e-02 1.42699887e+02] [-9.22529040e-02 9.95699418e-01 -8.48939787e-03 -1.86298081e+01] [-6.19122981e-02 2.77341706e-03 9.98077740e-01 -1.00954262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.66071405699998 meters 0.03140471803086226 Centerline is valid? [True, True] Translation: X:142.73, Y:-18.63, Z:-10.10 [[ 9.93861370e-01 9.16736867e-02 6.19315101e-02 1.42728429e+02] [-9.13177884e-02 9.95785021e-01 -8.55883863e-03 -1.86346746e+01] [-6.24550904e-02 2.85085056e-03 9.98043704e-01 -1.00967196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.69071405699998 meters 0.02782228280644057 Centerline is valid? [True, True] Translation: X:142.76, Y:-18.63, Z:-10.10 [[ 9.93928537e-01 8.97197573e-02 6.36900960e-02 1.42757584e+02] [-8.93396133e-02 9.95962368e-01 -8.79745493e-03 -1.86337421e+01] [-6.42222443e-02 3.05399296e-03 9.97930948e-01 -1.00966825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.72071405699998 meters 0.02824350594985477 Centerline is valid? [True, True] Translation: X:142.79, Y:-18.64, Z:-10.10 [[ 9.93941633e-01 8.90801052e-02 6.43798550e-02 1.42786054e+02] [-8.86906425e-02 9.96019565e-01 -8.88796119e-03 -1.86391013e+01] [-6.49153357e-02 3.12422396e-03 9.97885884e-01 -1.00980145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.75071405699998 meters 0.030060045745947537 Centerline is valid? [True, True] Translation: X:142.81, Y:-18.65, Z:-10.10 [[ 9.93977621e-01 8.82651589e-02 6.49442098e-02 1.42813427e+02] [-8.78674031e-02 9.96091872e-01 -8.96115305e-03 -1.86462457e+01] [-6.54813571e-02 3.20070653e-03 9.97848660e-01 -1.00999832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.78071405699998 meters 0.03105259834187677 Centerline is valid? [True, True] Translation: X:142.84, Y:-18.65, Z:-10.10 [[ 9.94205588e-01 8.59341129e-02 6.45800099e-02 1.42842055e+02] [-8.55362984e-02 9.96295259e-01 -8.90497606e-03 -1.86526238e+01] [-6.51059989e-02 3.32944196e-03 9.97872799e-01 -1.01027125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.81071405699998 meters 0.029872707371103105 Centerline is valid? [True, True] Translation: X:142.87, Y:-18.66, Z:-10.11 [[ 9.94483762e-01 8.30903714e-02 6.40159216e-02 1.42871716e+02] [-8.26938432e-02 9.96535936e-01 -8.82369313e-03 -1.86555988e+01] [-6.45273303e-02 3.48129695e-03 9.97909868e-01 -1.01053833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.84071405699999 meters 0.030807840890745196 Centerline is valid? [True, True] Translation: X:142.90, Y:-18.66, Z:-10.11 [[ 9.94604092e-01 8.17274276e-02 6.39009201e-02 1.42901209e+02] [-8.13295934e-02 9.96648352e-01 -8.80675350e-03 -1.86608806e+01] [-6.44065001e-02 3.56219721e-03 9.97917388e-01 -1.01072020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.870714057 meters 0.03161485516255904 Centerline is valid? [True, True] Translation: X:142.93, Y:-18.67, Z:-10.11 [[ 9.94658092e-01 8.05976254e-02 6.44926548e-02 1.42930138e+02] [-8.01901659e-02 9.96739975e-01 -8.88593710e-03 -1.86664213e+01] [-6.49985925e-02 3.66679256e-03 9.97878619e-01 -1.01092149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.900714057 meters 0.03329673241359421 Centerline is valid? [True, True] Translation: X:142.96, Y:-18.67, Z:-10.11 [[ 9.94875565e-01 7.81637412e-02 6.41329887e-02 1.42959616e+02] [-7.77559390e-02 9.96933285e-01 -8.83401087e-03 -1.86728330e+01] [-6.46268104e-02 3.80202079e-03 9.97902260e-01 -1.01117968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.930714057 meters 0.034221286238278616 Centerline is valid? [True, True] Translation: X:142.99, Y:-18.68, Z:-10.11 [[ 9.94955268e-01 7.72718660e-02 6.39771263e-02 1.42989897e+02] [-7.68642899e-02 9.97002629e-01 -8.81132589e-03 -1.86786694e+01] [-6.44662307e-02 3.84931873e-03 9.97912465e-01 -1.01144337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.960714057 meters 0.035167374153852925 Centerline is valid? [True, True] Translation: X:143.02, Y:-18.69, Z:-10.12 [[ 9.95127589e-01 7.57073030e-02 6.31623803e-02 1.43019750e+02] [-7.53069271e-02 9.97122457e-01 -8.69902722e-03 -1.86850629e+01] [-6.36392077e-02 3.90007721e-03 9.97965350e-01 -1.01174426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.990714057 meters 0.036243295739408855 Centerline is valid? [True, True] Translation: X:143.05, Y:-18.69, Z:-10.12 [[ 9.95263172e-01 7.43526961e-02 6.26330189e-02 1.43050382e+02] [-7.39562808e-02 9.97224168e-01 -8.62712486e-03 -1.86902000e+01] [-6.31006102e-02 3.95415452e-03 9.97999338e-01 -1.01204260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.020714057 meters 0.03744537898490746 Centerline is valid? [True, True] Translation: X:143.08, Y:-18.70, Z:-10.12 [[ 9.95462484e-01 7.25039469e-02 6.16248445e-02 1.43081332e+02] [-7.21165531e-02 9.97360073e-01 -8.49038702e-03 -1.86958662e+01] [-6.20777460e-02 4.00769038e-03 9.98063270e-01 -1.01239651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.050714057 meters 0.038673477164092356 Centerline is valid? [True, True] Translation: X:143.11, Y:-18.70, Z:-10.13 [[ 9.95557774e-01 7.15252901e-02 6.12278581e-02 1.43111533e+02] [-7.11409067e-02 9.97430586e-01 -8.43781488e-03 -1.87012571e+01] [-6.16740556e-02 4.04452686e-03 9.98088149e-01 -1.01266024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.080714057 meters 0.03955081689584999 Centerline is valid? [True, True] Translation: X:143.14, Y:-18.71, Z:-10.13 [[ 9.95671354e-01 7.05463983e-02 6.05124793e-02 1.43142439e+02] [-7.01690323e-02 9.97500240e-01 -8.34131765e-03 -1.87062342e+01] [-6.09496625e-02 4.05910892e-03 9.98132588e-01 -1.01289963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.110714057 meters 0.04153302362957977 Centerline is valid? [True, True] Translation: X:143.17, Y:-18.71, Z:-10.13 [[ 9.95834544e-01 6.86777076e-02 5.99744340e-02 1.43171830e+02] [-6.83035615e-02 9.97630317e-01 -8.26880989e-03 -1.87113243e+01] [-6.04001965e-02 4.13789908e-03 9.98165665e-01 -1.01317413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.140714057 meters 0.04329320619981542 Centerline is valid? [True, True] Translation: X:143.20, Y:-18.72, Z:-10.13 [[ 9.95923450e-01 6.71985057e-02 6.01734366e-02 1.43202627e+02] [-6.68189443e-02 9.97730593e-01 -8.30019753e-03 -1.87158892e+01] [-6.05946394e-02 4.24563586e-03 9.98153427e-01 -1.01337778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.170714057 meters 0.044918152855041395 Centerline is valid? [True, True] Translation: X:143.23, Y:-18.72, Z:-10.14 [[ 9.95984720e-01 6.64650962e-02 5.99735619e-02 1.43234320e+02] [-6.60859447e-02 9.97779533e-01 -8.28567478e-03 -1.87208758e+01] [-6.03911007e-02 4.28899598e-03 9.98165577e-01 -1.01358767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.200714057 meters 0.04505693432094193 Centerline is valid? [True, True] Translation: X:143.27, Y:-18.72, Z:-10.14 [[ 9.96020632e-01 6.60252550e-02 5.98629017e-02 1.43266553e+02] [-6.56458877e-02 9.97808595e-01 -8.28406768e-03 -1.87243039e+01] [-6.02786755e-02 4.32134899e-03 9.98172233e-01 -1.01382129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.230714057 meters 0.047159862918414674 Centerline is valid? [True, True] Translation: X:143.30, Y:-18.73, Z:-10.14 [[ 9.96098482e-01 6.46505453e-02 6.00676433e-02 1.43297917e+02] [-6.42652166e-02 9.97898114e-01 -8.32682071e-03 -1.87292214e+01] [-6.04797215e-02 4.43407336e-03 9.98159578e-01 -1.01405490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26071405699997 meters 0.0387392655253037 Centerline is valid? [True, True] Translation: X:143.33, Y:-18.72, Z:-10.14 [[ 9.96094949e-01 6.42177852e-02 6.05881895e-02 1.43331212e+02] [-6.38241433e-02 9.97925707e-01 -8.41206758e-03 -1.87211347e+01] [-6.10027162e-02 4.51222874e-03 9.98127401e-01 -1.01412165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.29071405699997 meters 0.04990823868574047 Centerline is valid? [True, True] Translation: X:143.36, Y:-18.74, Z:-10.14 [[ 9.96123470e-01 6.30371590e-02 6.13542914e-02 1.43360431e+02] [-6.26303403e-02 9.98000313e-01 -8.53326636e-03 -1.87384137e+01] [-6.17695148e-02 4.65754675e-03 9.98079573e-01 -1.01441011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32071405699998 meters 0.05011058832560682 Centerline is valid? [True, True] Translation: X:143.39, Y:-18.74, Z:-10.15 [[ 9.96140009e-01 6.23819457e-02 6.17541497e-02 1.43392230e+02] [-6.19676283e-02 9.98041077e-01 -8.60363984e-03 -1.87416667e+01] [-6.21698898e-02 4.74367168e-03 9.98054308e-01 -1.01462392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.35071405699998 meters 0.04187014090940648 Centerline is valid? [True, True] Translation: X:143.43, Y:-18.73, Z:-10.15 [[ 9.96172554e-01 6.19841811e-02 6.16295627e-02 1.43425455e+02] [-6.15698943e-02 9.98065719e-01 -8.60053745e-03 -1.87336749e+01] [-6.20434511e-02 4.77309370e-03 9.98062036e-01 -1.01474226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.38071405699998 meters 0.043457016238415455 Centerline is valid? [True, True] Translation: X:143.46, Y:-18.74, Z:-10.15 [[ 9.96289648e-01 6.08940066e-02 6.08182386e-02 1.43456184e+02] [-6.04877048e-02 9.98132740e-01 -8.50119297e-03 -1.87370270e+01] [-6.12223469e-02 4.79089489e-03 9.98112655e-01 -1.01501868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.41071405699998 meters 0.04419608199592085 Centerline is valid? [True, True] Translation: X:143.49, Y:-18.74, Z:-10.15 [[ 9.96382905e-01 6.03843675e-02 5.97899264e-02 1.43488205e+02] [-5.99899974e-02 9.98163880e-01 -8.37075307e-03 -1.87409508e+01] [-6.01856075e-02 4.75367773e-03 9.98175884e-01 -1.01533854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.44071405699998 meters 0.046451204340936435 Centerline is valid? [True, True] Translation: X:143.52, Y:-18.75, Z:-10.16 [[ 9.96566165e-01 5.91997396e-02 5.78901499e-02 1.43517890e+02] [-5.88271679e-02 9.98235154e-01 -8.12048430e-03 -1.87453470e+01] [-5.82687133e-02 4.68708633e-03 9.98289932e-01 -1.01575416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.47071405699998 meters 0.047255192651935875 Centerline is valid? [True, True] Translation: X:143.55, Y:-18.75, Z:-10.16 [[ 9.96588086e-01 5.89459072e-02 5.77716800e-02 1.43550109e+02] [-5.85743722e-02 9.98250145e-01 -8.10499019e-03 -1.87492924e+01] [-5.81483440e-02 4.69339677e-03 9.98296921e-01 -1.01601547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.50071405699998 meters 0.042250917070331774 Centerline is valid? [True, True] Translation: X:143.58, Y:-18.74, Z:-10.16 [[ 9.96565099e-01 5.93180571e-02 5.77873021e-02 1.43583685e+02] [-5.89461353e-02 9.98228131e-01 -8.12102553e-03 -1.87429502e+01] [-5.81666341e-02 4.68679248e-03 9.98295886e-01 -1.01611927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.53071405699998 meters 0.04814496838039576 Centerline is valid? [True, True] Translation: X:143.61, Y:-18.75, Z:-10.16 [[ 9.96464991e-01 6.04796879e-02 5.83071908e-02 1.43614083e+02] [-6.01021320e-02 9.98158478e-01 -8.20898250e-03 -1.87531660e+01] [-5.86962935e-02 4.67557720e-03 9.98264937e-01 -1.01641502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.56071405699998 meters 0.04206748742154462 Centerline is valid? [True, True] Translation: X:143.65, Y:-18.75, Z:-10.17 [[ 9.96396051e-01 6.17642460e-02 5.81385255e-02 1.43646706e+02] [-6.13900685e-02 9.98080151e-01 -8.20189764e-03 -1.87469312e+01] [-5.85334924e-02 4.60321035e-03 9.98274832e-01 -1.01652800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.59071405699999 meters 0.04206748742154462 Centerline is valid? [True, True] Translation: X:143.68, Y:-18.75, Z:-10.17 [[ 9.96380904e-01 6.20081016e-02 5.81385295e-02 1.43678180e+02] [-6.16343377e-02 9.98065097e-01 -8.20187164e-03 -1.87514249e+01] [-5.85346195e-02 4.58885853e-03 9.98274832e-01 -1.01674689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.620714057 meters 0.03878614790265381 Centerline is valid? [True, True] Translation: X:143.71, Y:-18.75, Z:-10.17 [[ 9.96193892e-01 6.53805667e-02 5.76464356e-02 1.43709672e+02] [-6.50177426e-02 9.97850832e-01 -8.14924438e-03 -1.87458283e+01] [-5.80553459e-02 4.37018636e-03 9.98303801e-01 -1.01696736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.650714057 meters 0.04684005254309634 Centerline is valid? [True, True] Translation: X:143.74, Y:-18.76, Z:-10.17 [[ 9.96088897e-01 6.71833189e-02 5.73873728e-02 1.43738011e+02] [-6.68266940e-02 9.97731612e-01 -8.11316349e-03 -1.87579078e+01] [-5.78022652e-02 4.24642367e-03 9.98319020e-01 -1.01734810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.680714057 meters 0.04117307990607161 Centerline is valid? [True, True] Translation: X:143.77, Y:-18.75, Z:-10.18 [[ 9.95842428e-01 7.14710800e-02 5.64778124e-02 1.43770403e+02] [-7.11325361e-02 9.97434914e-01 -7.98460640e-03 -1.87482851e+01] [-5.69036104e-02 3.93399980e-03 9.98371926e-01 -1.01752871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.710714057 meters 0.037203053596286104 Centerline is valid? [True, True] Translation: X:143.80, Y:-18.74, Z:-10.18 [[ 9.95675264e-01 7.38247083e-02 5.63975358e-02 1.43800971e+02] [-7.34908686e-02 9.97264015e-01 -7.97348886e-03 -1.87436897e+01] [-5.68318735e-02 3.79430173e-03 9.98376553e-01 -1.01764975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.740714057 meters 0.0396786030198467 Centerline is valid? [True, True] Translation: X:143.83, Y:-18.75, Z:-10.18 [[ 9.95293227e-01 7.82147915e-02 5.72174677e-02 1.43830623e+02] [-7.78785075e-02 9.96930056e-01 -8.08713502e-03 -1.87450955e+01] [-5.76743468e-02 3.59305972e-03 9.98328984e-01 -1.01779640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.770714057 meters 0.0324546796200545 Centerline is valid? [True, True] Translation: X:143.86, Y:-18.74, Z:-10.18 [[ 9.95068747e-01 8.05394556e-02 5.78928738e-02 1.43862656e+02] [-8.01991642e-02 9.96745283e-01 -8.18133039e-03 -1.87355740e+01] [-5.83633688e-02 3.49802610e-03 9.98289277e-01 -1.01773191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.800714057 meters 0.03631794529837211 Centerline is valid? [True, True] Translation: X:143.89, Y:-18.74, Z:-10.18 [[ 9.94577703e-01 8.62620801e-02 5.80865490e-02 1.43890894e+02] [-8.59292818e-02 9.96267431e-01 -8.20763595e-03 -1.87414848e+01] [-5.85777447e-02 3.17179626e-03 9.98277811e-01 -1.01817318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.830714057 meters 0.030245017000750704 Centerline is valid? [True, True] Translation: X:143.92, Y:-18.73, Z:-10.18 [[ 9.94314858e-01 8.93249395e-02 5.79570451e-02 1.43922329e+02] [-8.89988851e-02 9.95998070e-01 -8.18802167e-03 -1.87345362e+01] [-5.84564996e-02 2.98335921e-03 9.98285499e-01 -1.01832260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.860714057 meters 0.0288777832797047 Centerline is valid? [True, True] Translation: X:143.95, Y:-18.74, Z:-10.19 [[ 9.93953468e-01 9.35087854e-02 5.75552752e-02 1.43952360e+02] [-9.31942787e-02 9.95614746e-01 -8.13042912e-03 -1.87356737e+01] [-5.80631473e-02 2.71744587e-03 9.98309214e-01 -1.01861920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.890714057 meters 0.02702004231081916 Centerline is valid? [True, True] Translation: X:143.98, Y:-18.74, Z:-10.19 [[ 9.93383267e-01 9.99218114e-02 5.66155224e-02 1.43982794e+02] [-9.96280230e-02 9.94992630e-01 -7.99524490e-03 -1.87361994e+01] [-5.71309269e-02 2.30184992e-03 9.98364041e-01 -1.01906708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.920714057 meters 0.024846114250027956 Centerline is valid? [True, True] Translation: X:144.01, Y:-18.73, Z:-10.19 [[ 9.92844278e-01 1.04536206e-01 5.77271318e-02 1.44013901e+02] [-1.04238535e-01 9.94518914e-01 -8.15217233e-03 -1.87333504e+01] [-5.82629216e-02 2.07644600e-03 9.98299114e-01 -1.01896112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.950714057 meters 0.02523222815511658 Centerline is valid? [True, True] Translation: X:144.04, Y:-18.74, Z:-10.19 [[ 9.92679420e-01 1.05608640e-01 5.86036186e-02 1.44041161e+02] [-1.05303715e-01 9.94405670e-01 -8.27594269e-03 -1.87366590e+01] [-5.91497817e-02 2.04417924e-03 9.98247026e-01 -1.01904671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.980714057 meters 0.024809403418464458 Centerline is valid? [True, True] Translation: X:144.07, Y:-18.74, Z:-10.19 [[ 9.92596829e-01 1.05946951e-01 5.93866799e-02 1.44070161e+02] [-1.05634929e-01 9.94369685e-01 -8.37799011e-03 -1.87392824e+01] [-5.99399367e-02 2.04265872e-03 9.98199896e-01 -1.01914146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.01071405699997 meters 0.02516745472001163 Centerline is valid? [True, True] Translation: X:144.10, Y:-18.75, Z:-10.19 [[ 9.92718907e-01 1.04758659e-01 5.94541371e-02 1.44097837e+02] [-1.04444057e-01 9.94495430e-01 -8.38322762e-03 -1.87461535e+01] [-6.00050833e-02 2.11255727e-03 9.98195836e-01 -1.01941264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04071405699997 meters 0.025493089206478043 Centerline is valid? [True, True] Translation: X:144.13, Y:-18.75, Z:-10.20 [[ 9.92897545e-01 1.03378961e-01 5.88834126e-02 1.44126283e+02] [-1.03068206e-01 9.94639673e-01 -8.29856335e-03 -1.87524157e+01] [-5.94256751e-02 2.17061549e-03 9.98230373e-01 -1.01975640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.07071405699998 meters 0.043333386335720876 Centerline is valid? [True, True] Translation: X:144.15, Y:-18.79, Z:-10.21 [[ 9.92823019e-01 1.02735576e-01 6.12197166e-02 1.44148135e+02] [-1.02398681e-01 9.94706059e-01 -8.62355262e-03 -1.87889133e+01] [-6.17815687e-02 2.29284329e-03 9.98087061e-01 -1.02055721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10071405699998 meters 0.028145800207520447 Centerline is valid? [True, True] Translation: X:144.18, Y:-18.77, Z:-10.20 [[ 9.93601014e-01 9.65793127e-02 5.85616098e-02 1.44181530e+02] [-9.62608839e-02 9.95322023e-01 -8.24097975e-03 -1.87697434e+01] [-5.90835681e-02 2.55105351e-03 9.98249780e-01 -1.02036036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.13071405699998 meters 0.028557342418321377 Centerline is valid? [True, True] Translation: X:144.21, Y:-18.78, Z:-10.21 [[ 9.93991460e-01 9.24045304e-02 5.86718015e-02 1.44211257e+02] [-9.20776571e-02 9.95717600e-01 -8.25630692e-03 -1.87775169e+01] [-5.91834655e-02 2.80433655e-03 9.98243183e-01 -1.02053039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.16071405699998 meters 0.029300271270832266 Centerline is valid? [True, True] Translation: X:144.24, Y:-18.78, Z:-10.21 [[ 9.94124645e-01 9.07153588e-02 5.90501032e-02 1.44238432e+02] [-9.03812096e-02 9.95872567e-01 -8.31072739e-03 -1.87845467e+01] [-5.95602885e-02 2.92487916e-03 9.98220425e-01 -1.02072459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.19071405699998 meters 0.029300479387666684 Centerline is valid? [True, True] Translation: X:144.27, Y:-18.79, Z:-10.21 [[ 9.94337739e-01 8.86934298e-02 5.85314946e-02 1.44267485e+02] [-8.83621459e-02 9.96054422e-01 -8.22918702e-03 -1.87902299e+01] [-5.90304288e-02 3.01062275e-03 9.98251644e-01 -1.02092437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.22071405699998 meters 0.03131107613529803 Centerline is valid? [True, True] Translation: X:144.29, Y:-18.80, Z:-10.21 [[ 9.94603221e-01 8.51898348e-02 5.92209775e-02 1.44294956e+02] [-8.48446312e-02 9.96359423e-01 -8.32392865e-03 -1.88019266e+01] [-5.97144931e-02 3.25442426e-03 9.98210192e-01 -1.02123179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.25071405699998 meters 0.031684986984948864 Centerline is valid? [True, True] Translation: X:144.32, Y:-18.81, Z:-10.21 [[ 9.94747259e-01 8.34536979e-02 5.92736962e-02 1.44323486e+02] [-8.31049187e-02 9.96505992e-01 -8.32949533e-03 -1.88086653e+01] [-5.97617206e-02 3.35980695e-03 9.98207017e-01 -1.02141849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.28071405699998 meters 0.03160196754475878 Centerline is valid? [True, True] Translation: X:144.35, Y:-18.82, Z:-10.21 [[ 9.94978780e-01 7.97301670e-02 6.05006417e-02 1.44353434e+02] [-7.93602270e-02 9.96809790e-01 -8.49692053e-03 -1.88155129e+01] [-6.09850928e-02 3.65291097e-03 9.98131993e-01 -1.02147810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.31071405699998 meters 0.036131831248485693 Centerline is valid? [True, True] Translation: X:144.38, Y:-18.83, Z:-10.22 [[ 9.95110650e-01 7.77483373e-02 6.09096821e-02 1.44380121e+02] [-7.73696427e-02 9.96965773e-01 -8.55489027e-03 -1.88278404e+01] [-6.13899968e-02 3.80050208e-03 9.98106620e-01 -1.02169787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.34071405699999 meters 0.035804644145772814 Centerline is valid? [True, True] Translation: X:144.41, Y:-18.84, Z:-10.22 [[ 9.95430412e-01 7.34008396e-02 6.10787375e-02 1.44410033e+02] [-7.30121990e-02 9.97294195e-01 -8.57365313e-03 -1.88358411e+01] [-6.15427837e-02 4.07498213e-03 9.98096128e-01 -1.02195438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.370714057 meters 0.03840121739366363 Centerline is valid? [True, True] Translation: X:144.44, Y:-18.85, Z:-10.22 [[ 9.95620677e-01 7.08195892e-02 6.10250290e-02 1.44437738e+02] [-7.04268065e-02 9.97480168e-01 -8.56617386e-03 -1.88461447e+01] [-6.14779091e-02 4.23086191e-03 9.98099477e-01 -1.02222295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.400714057 meters 0.04007087215134862 Centerline is valid? [True, True] Translation: X:144.47, Y:-18.86, Z:-10.23 [[ 9.95910173e-01 6.68710743e-02 6.07551325e-02 1.44466320e+02] [-6.64746025e-02 9.97751690e-01 -8.52593793e-03 -1.88580924e+01] [-6.11886748e-02 4.45239504e-03 9.98116287e-01 -1.02251120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.430714057 meters 0.039055751913036965 Centerline is valid? [True, True] Translation: X:144.50, Y:-18.86, Z:-10.23 [[ 9.96057680e-01 6.48602261e-02 6.05165204e-02 1.44496939e+02] [-6.44632496e-02 9.97883955e-01 -8.49130298e-03 -1.88629584e+01] [-6.09392125e-02 4.55673599e-03 9.98131078e-01 -1.02266577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.460714057 meters 0.039557485116716244 Centerline is valid? [True, True] Translation: X:144.53, Y:-18.87, Z:-10.23 [[ 9.96215645e-01 6.15448306e-02 6.13728088e-02 1.44526291e+02] [-6.11301990e-02 9.98092642e-01 -8.61263990e-03 -1.88723132e+01] [-6.17858123e-02 4.82831460e-03 9.98077753e-01 -1.02280119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.490714057 meters 0.04026887892770231 Centerline is valid? [True, True] Translation: X:144.56, Y:-18.88, Z:-10.23 [[ 9.96265612e-01 6.03722908e-02 6.17253320e-02 1.44557338e+02] [-5.99506874e-02 9.98163762e-01 -8.66134947e-03 -1.88800756e+01] [-6.21348951e-02 4.92852854e-03 9.98055592e-01 -1.02297792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.520714057 meters 0.041276497117112475 Centerline is valid? [True, True] Translation: X:144.59, Y:-18.89, Z:-10.23 [[ 9.96282339e-01 5.96536992e-02 6.21525339e-02 1.44588476e+02] [-5.92239112e-02 9.98206496e-01 -8.73614032e-03 -1.88886801e+01] [-6.25622062e-02 5.02274617e-03 9.98028428e-01 -1.02321459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.550714057 meters 0.04145200662538374 Centerline is valid? [True, True] Translation: X:144.62, Y:-18.90, Z:-10.23 [[ 9.96262101e-01 5.89817537e-02 6.31108435e-02 1.44619633e+02] [-5.85362314e-02 9.98245728e-01 -8.88682165e-03 -1.88979175e+01] [-6.35242902e-02 5.15933268e-03 9.97966956e-01 -1.02342580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.580714057 meters 0.041982602829313494 Centerline is valid? [True, True] Translation: X:144.65, Y:-18.90, Z:-10.24 [[ 9.96236008e-01 5.98253313e-02 6.27275617e-02 1.44651301e+02] [-5.93858645e-02 9.98195882e-01 -8.84878629e-03 -1.89048831e+01] [-6.31437753e-02 5.09034905e-03 9.97991459e-01 -1.02364470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.610714057 meters 0.037813141814916615 Centerline is valid? [True, True] Translation: X:144.68, Y:-18.91, Z:-10.24 [[ 9.96127362e-01 6.24668371e-02 6.18722378e-02 1.44682314e+02] [-6.20432967e-02 9.98035147e-01 -8.74501218e-03 -1.89053514e+01] [-6.22969412e-02 4.87238831e-03 9.98045766e-01 -1.02385583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.640714057 meters 0.03934894407703327 Centerline is valid? [True, True] Translation: X:144.71, Y:-18.91, Z:-10.24 [[ 9.96015101e-01 6.46078708e-02 6.14796082e-02 1.44711604e+02] [-6.41936693e-02 9.97899616e-01 -8.69077479e-03 -1.89123233e+01] [-6.19119699e-02 4.70954129e-03 9.98070503e-01 -1.02415551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.670714057 meters 0.03750182747303274 Centerline is valid? [True, True] Translation: X:144.74, Y:-18.92, Z:-10.24 [[ 9.95800858e-01 6.88485800e-02 6.03367509e-02 1.44742030e+02] [-6.84573931e-02 9.97617581e-01 -8.52917999e-03 -1.89150160e+01] [-6.07802254e-02 4.36286808e-03 9.98141638e-01 -1.02444873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.700714057 meters 0.0366330825459774 Centerline is valid? [True, True] Translation: X:144.77, Y:-18.92, Z:-10.25 [[ 9.95683817e-01 7.09919013e-02 5.97819894e-02 1.44772917e+02] [-7.06117131e-02 9.97468078e-01 -8.45096153e-03 -1.89190926e+01] [-6.02305759e-02 4.19317695e-03 9.98175683e-01 -1.02462320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.730714057 meters 0.03593538683575072 Centerline is valid? [True, True] Translation: X:144.80, Y:-18.92, Z:-10.25 [[ 9.95386265e-01 7.42246957e-02 6.08019599e-02 1.44803552e+02] [-7.38373297e-02 9.97233249e-01 -8.59627951e-03 -1.89241732e+01] [-6.12717922e-02 4.06716420e-03 9.98112832e-01 -1.02484409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.76071405699997 meters 0.03670684518614054 Centerline is valid? [True, True] Translation: X:144.83, Y:-18.93, Z:-10.25 [[ 9.95276367e-01 7.55390071e-02 6.09820592e-02 1.44832635e+02] [-7.51517147e-02 9.97134827e-01 -8.62301511e-03 -1.89306608e+01] [-6.14587090e-02 3.99937684e-03 9.98101614e-01 -1.02506739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.79071405699997 meters 0.03304311356923437 Centerline is valid? [True, True] Translation: X:144.86, Y:-18.93, Z:-10.25 [[ 9.95145708e-01 7.78946191e-02 6.01452261e-02 1.44862497e+02] [-7.75222426e-02 9.96954357e-01 -8.50363258e-03 -1.89316845e+01] [-6.06244325e-02 3.79976065e-03 9.98153415e-01 -1.02537101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.82071405699998 meters 0.03144788787546049 Centerline is valid? [True, True] Translation: X:144.89, Y:-18.93, Z:-10.26 [[ 9.95105713e-01 7.91241432e-02 5.91945155e-02 1.44892297e+02] [-7.87656812e-02 9.96858033e-01 -8.36831708e-03 -1.89341230e+01] [-5.96706642e-02 3.66486380e-03 9.98211391e-01 -1.02562748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.85071405699998 meters 0.03297938037957232 Centerline is valid? [True, True] Translation: X:144.92, Y:-18.94, Z:-10.26 [[ 9.95054590e-01 8.01387674e-02 5.86867964e-02 1.44920037e+02] [-7.97883119e-02 9.96777320e-01 -8.29453800e-03 -1.89412122e+01] [-5.91623817e-02 3.57099769e-03 9.98241985e-01 -1.02593673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.88071405699998 meters 0.03327512233010791 Centerline is valid? [True, True] Translation: X:144.95, Y:-18.95, Z:-10.26 [[ 9.94922153e-01 8.22573993e-02 5.79968140e-02 1.44948492e+02] [-8.19189279e-02 9.96605315e-01 -8.19364450e-03 -1.89471002e+01] [-5.84739209e-02 3.40100160e-03 9.98283143e-01 -1.02627255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.91071405699998 meters 0.030489337834240775 Centerline is valid? [True, True] Translation: X:144.98, Y:-18.95, Z:-10.26 [[ 9.94878409e-01 8.30276230e-02 5.76486340e-02 1.44977394e+02] [-8.26945929e-02 9.96541670e-01 -8.14279500e-03 -1.89472272e+01] [-5.81253429e-02 3.33386061e-03 9.98303726e-01 -1.02640346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.94071405699998 meters 0.030143164207485158 Centerline is valid? [True, True] Translation: X:145.01, Y:-18.95, Z:-10.27 [[ 9.94694323e-01 8.51772650e-02 5.76891443e-02 1.45006631e+02] [-8.48476375e-02 9.96360656e-01 -8.14385922e-03 -1.89513143e+01] [-5.81728652e-02 3.20586294e-03 9.98301377e-01 -1.02658080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.97071405699998 meters 0.029951526675140998 Centerline is valid? [True, True] Translation: X:145.04, Y:-18.96, Z:-10.27 [[ 9.94643841e-01 8.60203528e-02 5.73073179e-02 1.45035052e+02] [-8.56965720e-02 9.96288451e-01 -8.08826065e-03 -1.89552992e+01] [-5.77903741e-02 3.13389795e-03 9.98323821e-01 -1.02679206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.00071405699998 meters 0.031189382703636352 Centerline is valid? [True, True] Translation: X:145.06, Y:-18.96, Z:-10.27 [[ 9.94607022e-01 8.69294712e-02 5.65697657e-02 1.45062350e+02] [-8.66156677e-02 9.96209838e-01 -7.98028803e-03 -1.89605193e+01] [-5.70490793e-02 3.03742249e-03 9.98366755e-01 -1.02703142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.03071405699998 meters 0.028939636226864195 Centerline is valid? [True, True] Translation: X:145.09, Y:-18.96, Z:-10.27 [[ 9.94585335e-01 8.75947642e-02 5.59210917e-02 1.45091894e+02] [-8.72894793e-02 9.96151795e-01 -7.88335118e-03 -1.89607331e+01] [-5.63964362e-02 2.95934249e-03 9.98404069e-01 -1.02719933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.06071405699998 meters 0.030841663988695363 Centerline is valid? [True, True] Translation: X:145.12, Y:-18.97, Z:-10.28 [[ 9.94526055e-01 8.85769765e-02 5.54260351e-02 1.45118905e+02] [-8.82787432e-02 9.96065185e-01 -7.81099033e-03 -1.89672550e+01] [-5.58998178e-02 2.87529268e-03 9.98432243e-01 -1.02750966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.09071405699999 meters 0.02904873520914937 Centerline is valid? [True, True] Translation: X:145.15, Y:-18.97, Z:-10.28 [[ 9.94375259e-01 9.03620565e-02 5.52498319e-02 1.45147941e+02] [-9.00687580e-02 9.95905154e-01 -7.78089671e-03 -1.89672243e+01] [-5.57266902e-02 2.76084743e-03 9.98442244e-01 -1.02766723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.120714057 meters 0.02902494413391031 Centerline is valid? [True, True] Translation: X:145.18, Y:-18.97, Z:-10.28 [[ 9.94267974e-01 9.13573175e-02 5.55431064e-02 1.45176608e+02] [-9.10626676e-02 9.95814474e-01 -7.81816375e-03 -1.89702516e+01] [-5.60248758e-02 2.71544639e-03 9.98425681e-01 -1.02782712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.150714057 meters 0.02981925391165424 Centerline is valid? [True, True] Translation: X:145.20, Y:-18.97, Z:-10.28 [[ 9.94041564e-01 9.26381230e-02 5.74416907e-02 1.45204278e+02] [-9.23253293e-02 9.95696101e-01 -8.08129513e-03 -1.89740880e+01] [-5.79431035e-02 2.72982024e-03 9.98316155e-01 -1.02785081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.180714057 meters 0.029749246185231466 Centerline is valid? [True, True] Translation: X:145.23, Y:-18.98, Z:-10.28 [[ 9.93932412e-01 9.30454134e-02 5.86592852e-02 1.45232750e+02] [-9.27202358e-02 9.95658046e-01 -8.24706355e-03 -1.89781135e+01] [-5.91719407e-02 2.75812101e-03 9.98243995e-01 -1.02795633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.210714057 meters 0.030145564841867336 Centerline is valid? [True, True] Translation: X:145.26, Y:-18.98, Z:-10.28 [[ 9.93893397e-01 9.26984122e-02 5.98575014e-02 1.45261170e+02] [-9.23594284e-02 9.95690206e-01 -8.41122956e-03 -1.89829932e+01] [-6.03792355e-02 2.83146091e-03 9.98171494e-01 -1.02804179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.240714057 meters 0.03145469527211491 Centerline is valid? [True, True] Translation: X:145.29, Y:-18.99, Z:-10.28 [[ 9.93863451e-01 9.20623856e-02 6.13184931e-02 1.45288286e+02] [-9.17056865e-02 9.95748912e-01 -8.61224993e-03 -1.89895697e+01] [-6.18506870e-02 2.93614594e-03 9.98081095e-01 -1.02812262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.270714057 meters 0.03117436851877052 Centerline is valid? [True, True] Translation: X:145.32, Y:-18.99, Z:-10.28 [[ 9.93879884e-01 9.17925194e-02 6.14565673e-02 1.45316887e+02] [-9.14340334e-02 9.95773773e-01 -8.62620217e-03 -1.89940739e+01] [-6.19886587e-02 2.95418698e-03 9.98072482e-01 -1.02825205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.300714057 meters 0.031389657669907235 Centerline is valid? [True, True] Translation: X:145.34, Y:-19.00, Z:-10.28 [[ 9.93928333e-01 9.14390752e-02 6.11993862e-02 1.45344955e+02] [-9.10831789e-02 9.95806275e-01 -8.58591482e-03 -1.89990927e+01] [-6.17278209e-02 2.95954936e-03 9.98088632e-01 -1.02845748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.330714057 meters 0.02803824220779943 Centerline is valid? [True, True] Translation: X:145.37, Y:-19.00, Z:-10.29 [[ 9.93999073e-01 9.12284440e-02 6.03590486e-02 1.45374480e+02] [-9.08821272e-02 9.95825688e-01 -8.46398032e-03 -1.89983444e+01] [-6.08792468e-02 2.92762985e-03 9.98140845e-01 -1.02863227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.360714057 meters 0.02805879373946581 Centerline is valid? [True, True] Translation: X:145.40, Y:-19.00, Z:-10.29 [[ 9.93958772e-01 9.23584653e-02 5.92947940e-02 1.45401993e+02] [-9.20265190e-02 9.95721875e-01 -8.31065255e-03 -1.90036434e+01] [-5.98086826e-02 2.80375252e-03 9.98205921e-01 -1.02895295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.390714057 meters 0.03151340496081816 Centerline is valid? [True, True] Translation: X:145.43, Y:-19.01, Z:-10.29 [[ 9.93753204e-01 9.50787950e-02 5.84345168e-02 1.45429238e+02] [-9.47614397e-02 9.95466365e-01 -8.18451448e-03 -1.90143554e+01] [-5.89477698e-02 2.59604854e-03 9.98257693e-01 -1.02935613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.420714057 meters 0.02617206158636257 Centerline is valid? [True, True] Translation: X:145.46, Y:-19.01, Z:-10.29 [[ 9.93618676e-01 9.66692508e-02 5.81118059e-02 1.45459492e+02] [-9.63582897e-02 9.95313459e-01 -8.13621467e-03 -1.90103922e+01] [-5.86259843e-02 2.48474062e-03 9.98276926e-01 -1.02940085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.450714057 meters 0.025057297851589323 Centerline is valid? [True, True] Translation: X:145.49, Y:-19.01, Z:-10.30 [[ 9.93438726e-01 9.87943392e-02 5.76122933e-02 1.45488239e+02] [-9.84924400e-02 9.95105131e-01 -8.06337953e-03 -1.90117872e+01] [-5.81269049e-02 2.33609814e-03 9.98306469e-01 -1.02955815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.480714057 meters 0.025057297851589323 Centerline is valid? [True, True] Translation: X:145.52, Y:-19.02, Z:-10.30 [[ 9.93449392e-01 9.86867131e-02 5.76128249e-02 1.45515402e+02] [-9.83848533e-02 9.95115804e-01 -8.05957965e-03 -1.90155010e+01] [-5.81268060e-02 2.33855518e-03 9.98306469e-01 -1.02974714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.51071405699997 meters 0.024939981078646437 Centerline is valid? [True, True] Translation: X:145.54, Y:-19.02, Z:-10.30 [[ 9.93061659e-01 1.02290863e-01 5.80096621e-02 1.45544347e+02] [-1.01991380e-01 9.94752241e-01 -8.10789385e-03 -1.90201773e+01] [-5.85346048e-02 2.13515304e-03 9.98283097e-01 -1.02992314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54071405699997 meters 0.024525574088165795 Centerline is valid? [True, True] Translation: X:145.57, Y:-19.02, Z:-10.30 [[ 9.92867812e-01 1.03770186e-01 5.86962991e-02 1.45573271e+02] [-1.03466261e-01 9.94599147e-01 -8.20185339e-03 -1.90241534e+01] [-5.92303968e-02 2.07026963e-03 9.98242192e-01 -1.03007056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.57071405699998 meters 0.02400014630235742 Centerline is valid? [True, True] Translation: X:145.60, Y:-19.03, Z:-10.30 [[ 9.92675385e-01 1.04730828e-01 6.02248592e-02 1.45602102e+02] [-1.04412804e-01 9.94498467e-01 -8.41225380e-03 -1.90286983e+01] [-6.07745525e-02 2.06239084e-03 9.98149388e-01 -1.03006146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60071405699998 meters 0.023346194916977956 Centerline is valid? [True, True] Translation: X:145.63, Y:-19.03, Z:-10.30 [[ 9.92681743e-01 1.04160245e-01 6.11031917e-02 1.45630522e+02] [-1.03832064e-01 9.94558261e-01 -8.53044547e-03 -1.90330388e+01] [-6.16592173e-02 2.12354696e-03 9.98095001e-01 -1.03019005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.63071405699998 meters 0.02459923147585627 Centerline is valid? [True, True] Translation: X:145.66, Y:-19.04, Z:-10.30 [[ 9.92898825e-01 1.01501051e-01 6.20440231e-02 1.45658169e+02] [-1.01157790e-01 9.94832728e-01 -8.65702285e-03 -1.90424152e+01] [-6.26021217e-02 2.31931156e-03 9.98035869e-01 -1.03035634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.66071405699998 meters 0.02583664375681591 Centerline is valid? [True, True] Translation: X:145.69, Y:-19.05, Z:-10.31 [[ 9.93116153e-01 9.90522705e-02 6.25216315e-02 1.45686781e+02] [-9.86990802e-02 9.95079118e-01 -8.72010413e-03 -1.90494588e+01] [-6.30777160e-02 2.48924875e-03 9.98005514e-01 -1.03054133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.69071405699998 meters 0.026629631452056227 Centerline is valid? [True, True] Translation: X:145.72, Y:-19.06, Z:-10.31 [[ 9.93321770e-01 9.67510743e-02 6.28577077e-02 1.45715905e+02] [-9.63896199e-02 9.95305090e-01 -8.76469827e-03 -1.90568396e+01] [-6.34105904e-02 2.64733503e-03 9.97984012e-01 -1.03077617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.72071405699998 meters 0.0289979560599082 Centerline is valid? [True, True] Translation: X:145.74, Y:-19.07, Z:-10.31 [[ 9.93819478e-01 9.15714897e-02 6.27495559e-02 1.45743904e+02] [-9.12011241e-02 9.95794074e-01 -8.74736531e-03 -1.90684237e+01] [-6.32866452e-02 2.97047199e-03 9.97990970e-01 -1.03105737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.75071405699998 meters 0.030965988461535872 Centerline is valid? [True, True] Translation: X:145.77, Y:-19.08, Z:-10.31 [[ 9.94238652e-01 8.72705426e-02 6.22362884e-02 1.45772912e+02] [-8.68979644e-02 9.96179459e-01 -8.67350637e-03 -1.90788349e+01] [-6.27554537e-02 3.21532850e-03 9.98023755e-01 -1.03136579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.78071405699998 meters 0.031856322338604734 Centerline is valid? [True, True] Translation: X:145.80, Y:-19.09, Z:-10.32 [[ 9.94451490e-01 8.52668799e-02 6.16100060e-02 1.45801400e+02] [-8.48979932e-02 9.96352659e-01 -8.58540375e-03 -1.90855087e+01] [-6.21173439e-02 3.30720168e-03 9.98063374e-01 -1.03162209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.81071405699998 meters 0.03296474204165561 Centerline is valid? [True, True] Translation: X:145.83, Y:-19.09, Z:-10.32 [[ 9.94658309e-01 8.33811458e-02 6.08476146e-02 1.45830338e+02] [-8.30180500e-02 9.96512001e-01 -8.47558564e-03 -1.90922968e+01] [-6.13420822e-02 3.37886137e-03 9.98111082e-01 -1.03189549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.84071405699999 meters 0.03087388554020863 Centerline is valid? [True, True] Translation: X:145.86, Y:-19.10, Z:-10.32 [[ 9.94962273e-01 8.03052569e-02 6.00095137e-02 1.45860336e+02] [-7.99466703e-02 9.96764113e-01 -8.35663171e-03 -1.90959696e+01] [-6.04864111e-02 3.51697248e-03 9.98162825e-01 -1.03214247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.870714057 meters 0.03174472125255238 Centerline is valid? [True, True] Translation: X:145.89, Y:-19.10, Z:-10.32 [[ 9.95067675e-01 7.90054204e-02 5.99872090e-02 1.45888778e+02] [-7.86448160e-02 9.96867709e-01 -8.35241732e-03 -1.91028586e+01] [-6.04591978e-02 3.59353748e-03 9.98164201e-01 -1.03237684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.900714057 meters 0.03380368116093074 Centerline is valid? [True, True] Translation: X:145.92, Y:-19.11, Z:-10.33 [[ 9.95299748e-01 7.60900670e-02 5.99058630e-02 1.45918185e+02] [-7.57252683e-02 9.97093844e-01 -8.33969936e-03 -1.91112291e+01] [-6.03663355e-02 3.76411312e-03 9.98169193e-01 -1.03262188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.930714057 meters 0.03481218828312382 Centerline is valid? [True, True] Translation: X:145.95, Y:-19.12, Z:-10.33 [[ 9.95402170e-01 7.49778614e-02 5.96057007e-02 1.45948977e+02] [-7.46146745e-02 9.97177908e-01 -8.29883683e-03 -1.91174286e+01] [-6.00597169e-02 3.81322024e-03 9.98187502e-01 -1.03287851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.960714057 meters 0.03543937229439602 Centerline is valid? [True, True] Translation: X:145.98, Y:-19.12, Z:-10.33 [[ 9.95453527e-01 7.40548726e-02 5.99011743e-02 1.45980057e+02] [-7.36862766e-02 9.97246580e-01 -8.34214771e-03 -1.91239144e+01] [-6.03540179e-02 3.89032587e-03 9.98169453e-01 -1.03308581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.990714057 meters 0.035584767278471506 Centerline is valid? [True, True] Translation: X:146.01, Y:-19.13, Z:-10.33 [[ 9.95497054e-01 7.36656932e-02 5.96571942e-02 1.46011203e+02] [-7.32992750e-02 9.97275366e-01 -8.31029307e-03 -1.91278341e+01] [-6.01068336e-02 3.90004319e-03 9.98184331e-01 -1.03329377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.020714057 meters 0.03402603332187049 Centerline is valid? [True, True] Translation: X:146.04, Y:-19.13, Z:-10.33 [[ 9.95407543e-01 7.45970651e-02 5.99925174e-02 1.46042394e+02] [-7.42280618e-02 9.97206257e-01 -8.35916768e-03 -1.91290828e+01] [-6.04484831e-02 3.86765027e-03 9.98163825e-01 -1.03341810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.050714057 meters 0.03583695904697695 Centerline is valid? [True, True] Translation: X:146.07, Y:-19.14, Z:-10.34 [[ 9.95294784e-01 7.60387896e-02 6.00532757e-02 1.46072916e+02] [-7.56716118e-02 9.97097678e-01 -8.36823813e-03 -1.91357637e+01] [-6.05152925e-02 3.78453560e-03 9.98160096e-01 -1.03366131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.080714057 meters 0.035727859483752775 Centerline is valid? [True, True] Translation: X:146.10, Y:-19.14, Z:-10.34 [[ 9.95060016e-01 7.80340397e-02 6.13698134e-02 1.46103132e+02] [-7.76533299e-02 9.96943605e-01 -8.56794394e-03 -1.91389414e+01] [-6.18508342e-02 3.76004806e-03 9.98078322e-01 -1.03379055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.110714057 meters 0.03443837769565501 Centerline is valid? [True, True] Translation: X:146.13, Y:-19.14, Z:-10.34 [[ 9.94967849e-01 7.89827650e-02 6.16498323e-02 1.46134139e+02] [-7.86003118e-02 9.96869044e-01 -8.60813846e-03 -1.91405649e+01] [-6.21367040e-02 3.71912497e-03 9.98060719e-01 -1.03393996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.140714057 meters 0.03406977265757212 Centerline is valid? [True, True] Translation: X:146.16, Y:-19.14, Z:-10.34 [[ 9.94854531e-01 8.02356166e-02 6.18603989e-02 1.46164585e+02] [-7.98528772e-02 9.96769226e-01 -8.63875462e-03 -1.91426870e+01] [-6.23536777e-02 3.65457333e-03 9.98047425e-01 -1.03410780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.170714057 meters 0.0314967708186868 Centerline is valid? [True, True] Translation: X:146.20, Y:-19.14, Z:-10.34 [[ 9.94865649e-01 8.04820157e-02 6.13594797e-02 1.46195726e+02] [-8.01059257e-02 9.96749525e-01 -8.56880165e-03 -1.91421003e+01] [-6.18496667e-02 3.60954850e-03 9.98078950e-01 -1.03430899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.200714057 meters 0.031322361731598816 Centerline is valid? [True, True] Translation: X:146.23, Y:-19.15, Z:-10.35 [[ 9.94896041e-01 8.03936854e-02 6.09813285e-02 1.46226138e+02] [-8.00220585e-02 9.96756715e-01 -8.51599314e-03 -1.91452995e+01] [-6.14681807e-02 3.59267643e-03 9.98102578e-01 -1.03456911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.230714057 meters 0.03271009249043942 Centerline is valid? [True, True] Translation: X:146.26, Y:-19.15, Z:-10.35 [[ 9.94930908e-01 8.02000032e-02 6.06666961e-02 1.46255552e+02] [-7.98318402e-02 9.96772341e-01 -8.47218929e-03 -1.91505480e+01] [-6.11503543e-02 3.58610900e-03 9.98122124e-01 -1.03483144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26071405699997 meters 0.030801669656821015 Centerline is valid? [True, True] Translation: X:146.29, Y:-19.15, Z:-10.35 [[ 9.94832437e-01 8.06960365e-02 6.16163322e-02 1.46285202e+02] [-8.03172501e-02 9.96732218e-01 -8.60378725e-03 -1.91506990e+01] [-6.21092750e-02 3.61047227e-03 9.98062825e-01 -1.03499653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.29071405699997 meters 0.03098072903260972 Centerline is valid? [True, True] Translation: X:146.32, Y:-19.15, Z:-10.35 [[ 9.94757294e-01 8.15847269e-02 6.16592171e-02 1.46315191e+02] [-8.12072685e-02 9.96660070e-01 -8.60726074e-03 -1.91540627e+01] [-6.21555007e-02 3.55495880e-03 9.98060146e-01 -1.03521829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32071405699998 meters 0.0306810153535303 Centerline is valid? [True, True] Translation: X:146.34, Y:-19.16, Z:-10.35 [[ 9.94690228e-01 8.26912948e-02 6.12658190e-02 1.46344787e+02] [-8.23207194e-02 9.96569191e-01 -8.55259333e-03 -1.91561775e+01] [-6.17628527e-02 3.46373470e-03 9.98084842e-01 -1.03542419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.35071405699998 meters 0.03028835442399058 Centerline is valid? [True, True] Translation: X:146.37, Y:-19.16, Z:-10.36 [[ 9.94407708e-01 8.60778564e-02 6.11875280e-02 1.46374024e+02] [-8.57147513e-02 9.96283122e-01 -8.53942171e-03 -1.91563475e+01] [-6.16951566e-02 3.24699302e-03 9.98089758e-01 -1.03562034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.38071405699998 meters 0.02965898713564277 Centerline is valid? [True, True] Translation: X:146.40, Y:-19.16, Z:-10.36 [[ 9.94219159e-01 8.77986150e-02 6.18034629e-02 1.46403060e+02] [-8.74315923e-02 9.96133201e-01 -8.62332524e-03 -1.91577321e+01] [-6.23215973e-02 3.16990000e-03 9.98051086e-01 -1.03579971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.41071405699998 meters 0.029081982173381475 Centerline is valid? [True, True] Translation: X:146.43, Y:-19.16, Z:-10.36 [[ 9.93740324e-01 9.25826679e-02 6.25189354e-02 1.46432861e+02] [-9.22168124e-02 9.95700782e-01 -8.71847461e-03 -1.91579941e+01] [-6.30573325e-02 2.89860285e-03 9.98005697e-01 -1.03595685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.44071405699998 meters 0.027774259304597784 Centerline is valid? [True, True] Translation: X:146.46, Y:-19.16, Z:-10.36 [[ 9.93500326e-01 9.51115619e-02 6.25371327e-02 1.46462024e+02] [-9.47505625e-02 9.95462855e-01 -8.71981481e-03 -1.91582005e+01] [-6.30827478e-02 2.73771036e-03 9.98004545e-01 -1.03613958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.47071405699998 meters 0.026714449743707045 Centerline is valid? [True, True] Translation: X:146.49, Y:-19.16, Z:-10.36 [[ 9.93219860e-01 9.78487052e-02 6.27689394e-02 1.46491474e+02] [-9.74907643e-02 9.95197986e-01 -8.74749626e-03 -1.91591362e+01] [-6.33234532e-02 2.56879514e-03 9.97989750e-01 -1.03635956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.50071405699998 meters 0.024813052771725443 Centerline is valid? [True, True] Translation: X:146.52, Y:-19.16, Z:-10.37 [[ 9.92727470e-01 1.02962793e-01 6.23765543e-02 1.46521576e+02] [-1.02619525e-01 9.94682717e-01 -8.69059830e-03 -1.91566782e+01] [-6.29396888e-02 2.22634331e-03 9.98014849e-01 -1.03656711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.53071405699998 meters 0.0228978738294087 Centerline is valid? [True, True] Translation: X:146.55, Y:-19.16, Z:-10.37 [[ 9.92237898e-01 1.07923943e-01 6.17768321e-02 1.46551789e+02] [-1.07596981e-01 9.94157355e-01 -8.60483701e-03 -1.91550104e+01] [-6.23445599e-02 1.89104475e-03 9.98052894e-01 -1.03679079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.56071405699998 meters 0.022736673677533504 Centerline is valid? [True, True] Translation: X:146.58, Y:-19.16, Z:-10.37 [[ 9.91988402e-01 1.10279784e-01 6.16228802e-02 1.46579220e+02] [-1.09959108e-01 9.93899066e-01 -8.58146478e-03 -1.91574025e+01] [-6.21932851e-02 1.73671658e-03 9.98062613e-01 -1.03705297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.59071405699999 meters 0.022333654005440413 Centerline is valid? [True, True] Translation: X:146.61, Y:-19.16, Z:-10.37 [[ 9.91717686e-01 1.12751275e-01 6.15075780e-02 1.46607784e+02] [-1.12436902e-01 9.93621998e-01 -8.55964375e-03 -1.91596957e+01] [-6.20803934e-02 1.57302856e-03 9.98069913e-01 -1.03727675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.620714057 meters 0.021537163732360958 Centerline is valid? [True, True] Translation: X:146.64, Y:-19.16, Z:-10.38 [[ 9.91204843e-01 1.17696875e-01 6.05012853e-02 1.46635917e+02] [-1.17402177e-01 9.93048796e-01 -8.41526552e-03 -1.91605567e+01] [-6.10711790e-02 1.23826934e-03 9.98132645e-01 -1.03753637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.650714057 meters 0.021407940306175453 Centerline is valid? [True, True] Translation: X:146.66, Y:-19.16, Z:-10.38 [[ 9.90944347e-01 1.19829469e-01 6.05821749e-02 1.46663817e+02] [-1.19538222e-01 9.92793876e-01 -8.42225377e-03 -1.91634919e+01] [-6.11548465e-02 1.10409931e-03 9.98127680e-01 -1.03774654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.680714057 meters 0.021010480872566812 Centerline is valid? [True, True] Translation: X:146.69, Y:-19.17, Z:-10.38 [[ 9.90638612e-01 1.22154242e-01 6.09383360e-02 1.46692075e+02] [-1.21864294e-01 9.92510664e-01 -8.46615060e-03 -1.91663660e+01] [-6.15161246e-02 9.60688404e-04 9.98105627e-01 -1.03792539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.710714057 meters 0.02120752495286154 Centerline is valid? [True, True] Translation: X:146.72, Y:-19.17, Z:-10.38 [[ 9.90588776e-01 1.22477920e-01 6.10985764e-02 1.46718851e+02] [-1.22187307e-01 9.92470794e-01 -8.48439286e-03 -1.91723066e+01] [-6.16777035e-02 9.39073849e-04 9.98095676e-01 -1.03815783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.740714057 meters 0.021152945278079847 Centerline is valid? [True, True] Translation: X:146.75, Y:-19.18, Z:-10.38 [[ 9.90851174e-01 1.19966188e-01 6.18228433e-02 1.46747380e+02] [-1.19664278e-01 9.92777369e-01 -8.57654533e-03 -1.91788525e+01] [-6.24052151e-02 1.10009411e-03 9.98050289e-01 -1.03820299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.770714057 meters 0.021376111684679656 Centerline is valid? [True, True] Translation: X:146.78, Y:-19.19, Z:-10.38 [[ 9.91170175e-01 1.17227661e-01 6.19625695e-02 1.46775724e+02] [-1.16919318e-01 9.93104254e-01 -8.59145028e-03 -1.91853626e+01] [-6.25424470e-02 1.27096790e-03 9.98041496e-01 -1.03834235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.800714057 meters 0.02171597762601375 Centerline is valid? [True, True] Translation: X:146.80, Y:-19.19, Z:-10.39 [[ 9.91515931e-01 1.13792615e-01 6.28283363e-02 1.46803566e+02] [-1.13468992e-01 9.93503387e-01 -8.70682253e-03 -1.91928117e+01] [-6.34109370e-02 1.50388527e-03 9.97986368e-01 -1.03853377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.830714057 meters 0.024746448300058038 Centerline is valid? [True, True] Translation: X:146.83, Y:-19.21, Z:-10.39 [[ 9.92339943e-01 1.06045044e-01 6.33710246e-02 1.46830441e+02] [-1.05700334e-01 9.94359293e-01 -8.77705505e-03 -1.92078569e+01] [-6.39443304e-02 2.01148382e-03 9.97951440e-01 -1.03879562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.860714057 meters 0.0243174388340448 Centerline is valid? [True, True] Translation: X:146.86, Y:-19.21, Z:-10.39 [[ 9.92740294e-01 1.02111102e-01 6.35612422e-02 1.46859061e+02] [-1.01756326e-01 9.94770409e-01 -8.80250454e-03 -1.92136533e+01] [-6.41276763e-02 2.27084250e-03 9.97939119e-01 -1.03895556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.890714057 meters 0.026825084335879677 Centerline is valid? [True, True] Translation: X:146.89, Y:-19.23, Z:-10.39 [[ 9.93476725e-01 9.49496440e-02 6.31550590e-02 1.46887235e+02] [-9.45851800e-02 9.95478382e-01 -8.74265958e-03 -1.92255464e+01] [-6.36996084e-02 2.71209619e-03 9.97965432e-01 -1.03918328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.920714057 meters 0.026688287875252792 Centerline is valid? [True, True] Translation: X:146.92, Y:-19.23, Z:-10.39 [[ 9.93799366e-01 9.22870561e-02 6.20154829e-02 1.46916594e+02] [-9.19305466e-02 9.95728424e-01 -8.58376005e-03 -1.92304440e+01] [-6.25427489e-02 2.82941806e-03 9.98038275e-01 -1.03940313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.950714057 meters 0.02826114914339774 Centerline is valid? [True, True] Translation: X:146.94, Y:-19.24, Z:-10.40 [[ 9.94245458e-01 8.81489895e-02 6.08746630e-02 1.46944819e+02] [-8.77978958e-02 9.96102691e-01 -8.42364523e-03 -1.92395398e+01] [-6.13799515e-02 3.03050370e-03 9.98109873e-01 -1.03971309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.980714057 meters 0.029029956180631325 Centerline is valid? [True, True] Translation: X:146.97, Y:-19.25, Z:-10.40 [[ 9.94462502e-01 8.62389713e-02 6.00597352e-02 1.46973230e+02] [-8.58938796e-02 9.96269645e-01 -8.30884133e-03 -1.92451849e+01] [-6.05522370e-02 3.10406747e-03 9.98160203e-01 -1.03999162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.01071405699997 meters 0.029575261119201987 Centerline is valid? [True, True] Translation: X:147.00, Y:-19.25, Z:-10.40 [[ 9.94609615e-01 8.49968830e-02 5.93905986e-02 1.47001799e+02] [-8.46574354e-02 9.96376267e-01 -8.21304551e-03 -1.92511375e+01] [-5.98734661e-02 3.14091827e-03 9.98201033e-01 -1.04021599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04071405699997 meters 0.030510959067312042 Centerline is valid? [True, True] Translation: X:147.03, Y:-19.26, Z:-10.41 [[ 9.94924684e-01 8.27004266e-02 5.73193906e-02 1.47030805e+02] [-8.23806601e-02 9.96569439e-01 -7.92341816e-03 -1.92561227e+01] [-5.77780230e-02 3.16119507e-03 9.98324450e-01 -1.04053984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.07071405699998 meters 0.031967751486553314 Centerline is valid? [True, True] Translation: X:147.06, Y:-19.26, Z:-10.41 [[ 9.95090414e-01 8.13406186e-02 5.63805954e-02 1.47059117e+02] [-8.10291820e-02 9.96681272e-01 -7.79184709e-03 -1.92616211e+01] [-5.68272772e-02 3.18511883e-03 9.98378944e-01 -1.04084060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10071405699998 meters 0.03011220185807371 Centerline is valid? [True, True] Translation: X:147.09, Y:-19.26, Z:-10.41 [[ 9.95066708e-01 8.10305924e-02 5.72388807e-02 1.47088866e+02] [-8.07092708e-02 9.96706321e-01 -7.90712975e-03 -1.92627134e+01] [-5.76910736e-02 3.24841325e-03 9.98329198e-01 -1.04097121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.13071405699998 meters 0.03295994642041822 Centerline is valid? [True, True] Translation: X:147.12, Y:-19.27, Z:-10.41 [[ 9.95001886e-01 8.12493224e-02 5.80499242e-02 1.47116094e+02] [-8.09193059e-02 9.96688412e-01 -8.01717045e-03 -1.92710782e+01] [-5.85090764e-02 3.27974015e-03 9.98281489e-01 -1.04119529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.16071405699998 meters 0.02959176439123553 Centerline is valid? [True, True] Translation: X:147.15, Y:-19.27, Z:-10.41 [[ 9.94880010e-01 8.18322290e-02 5.93064165e-02 1.47146049e+02] [-8.14889929e-02 9.96640614e-01 -8.18718931e-03 -1.92689074e+01] [-5.97771594e-02 3.31245082e-03 9.98206251e-01 -1.04119882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.19071405699998 meters 0.028784660060599095 Centerline is valid? [True, True] Translation: X:147.18, Y:-19.27, Z:-10.41 [[ 9.94769007e-01 8.24138720e-02 6.03537558e-02 1.47176305e+02] [-8.20595932e-02 9.96592616e-01 -8.32949300e-03 -1.92693194e+01] [-6.08345731e-02 3.33331683e-03 9.98142296e-01 -1.04127802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.22071405699998 meters 0.03238077322906493 Centerline is valid? [True, True] Translation: X:147.20, Y:-19.28, Z:-10.41 [[ 9.94730864e-01 8.25563582e-02 6.07861444e-02 1.47203611e+02] [-8.21973754e-02 9.96580779e-01 -8.38700209e-03 -1.92775840e+01] [-6.12707035e-02 3.34634831e-03 9.98115576e-01 -1.04148418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.25071405699998 meters 0.03112769107174894 Centerline is valid? [True, True] Translation: X:147.23, Y:-19.28, Z:-10.42 [[ 9.94697205e-01 8.24666242e-02 6.14550794e-02 1.47233001e+02] [-8.20997380e-02 9.96588077e-01 -8.47569562e-03 -1.92786982e+01] [-6.19443614e-02 3.38530482e-03 9.98073863e-01 -1.04160987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.28071405699998 meters 0.03349028482250768 Centerline is valid? [True, True] Translation: X:147.26, Y:-19.29, Z:-10.42 [[ 9.94810588e-01 8.07274631e-02 6.19271393e-02 1.47262085e+02] [-8.03517019e-02 9.96730003e-01 -8.53843381e-03 -1.92855012e+01] [-6.24139239e-02 3.51817333e-03 9.98044150e-01 -1.04185111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.31071405699998 meters 0.03284921027240132 Centerline is valid? [True, True] Translation: X:147.29, Y:-19.29, Z:-10.42 [[ 9.94928286e-01 7.92612571e-02 6.19302757e-02 1.47292246e+02] [-7.88827054e-02 9.96847344e-01 -8.53764489e-03 -1.92879679e+01] [-6.24117353e-02 3.60911670e-03 9.98043962e-01 -1.04208747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.34071405699999 meters 0.03344226871282676 Centerline is valid? [True, True] Translation: X:147.32, Y:-19.29, Z:-10.42 [[ 9.95233837e-01 7.62156134e-02 6.08341258e-02 1.47322817e+02] [-7.58447062e-02 9.97084374e-01 -8.38640002e-03 -1.92921390e+01] [-6.12959309e-02 3.73248267e-03 9.98112658e-01 -1.04234867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.370714057 meters 0.03551127961476093 Centerline is valid? [True, True] Translation: X:147.35, Y:-19.30, Z:-10.43 [[ 9.95367924e-01 7.47802768e-02 6.04202385e-02 1.47352116e+02] [-7.44117421e-02 9.97192813e-01 -8.32987909e-03 -1.92988132e+01] [-6.08735383e-02 3.79531925e-03 9.98138271e-01 -1.04265240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.400714057 meters 0.03551127961476093 Centerline is valid? [True, True] Translation: X:147.38, Y:-19.30, Z:-10.43 [[ 9.95367944e-01 7.47806885e-02 6.04194110e-02 1.47381823e+02] [-7.44117919e-02 9.97192759e-01 -8.33587677e-03 -1.93029092e+01] [-6.08731618e-02 3.80134787e-03 9.98138271e-01 -1.04285874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.430714057 meters 0.036914703358100404 Centerline is valid? [True, True] Translation: X:147.41, Y:-19.31, Z:-10.43 [[ 9.95500146e-01 7.35784400e-02 5.97132590e-02 1.47411760e+02] [-7.32159851e-02 9.97282081e-01 -8.23830383e-03 -1.93087492e+01] [-6.01571248e-02 3.82926758e-03 9.98181575e-01 -1.04318399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.460714057 meters 0.03611698144299203 Centerline is valid? [True, True] Translation: X:147.44, Y:-19.31, Z:-10.43 [[ 9.95703888e-01 7.17897861e-02 5.84807147e-02 1.47442835e+02] [-7.14390316e-02 9.97412328e-01 -8.06926138e-03 -1.93102286e+01] [-5.89086763e-02 3.85678931e-03 9.98255926e-01 -1.04346554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.490714057 meters 0.03666546697887806 Centerline is valid? [True, True] Translation: X:147.47, Y:-19.31, Z:-10.44 [[ 9.95750381e-01 7.18685413e-02 5.75855101e-02 1.47473885e+02] [-7.15285407e-02 9.97406898e-01 -7.94656726e-03 -1.93145690e+01] [-5.80072932e-02 3.79378987e-03 9.98308951e-01 -1.04374352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.520714057 meters 0.03616479490864153 Centerline is valid? [True, True] Translation: X:147.50, Y:-19.32, Z:-10.44 [[ 9.95789490e-01 7.25202130e-02 5.60723694e-02 1.47504010e+02] [-7.21987631e-02 9.97360230e-01 -7.74012074e-03 -1.93158862e+01] [-5.64856665e-02 3.65917517e-03 9.98396705e-01 -1.04408100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.550714057 meters 0.03644877164952745 Centerline is valid? [True, True] Translation: X:147.53, Y:-19.32, Z:-10.44 [[ 9.95741733e-01 7.35236130e-02 5.56118576e-02 1.47533522e+02] [-7.32089728e-02 9.97287077e-01 -7.67677299e-03 -1.93191637e+01] [-5.60254110e-02 3.57279627e-03 9.98422951e-01 -1.04433141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.580714057 meters 0.03380868923487071 Centerline is valid? [True, True] Translation: X:147.56, Y:-19.32, Z:-10.44 [[ 9.95561668e-01 7.62263601e-02 5.51951767e-02 1.47563633e+02] [-7.59205973e-02 9.97084761e-01 -7.61852083e-03 -1.93162307e+01] [-5.56150017e-02 3.39425652e-03 9.98446519e-01 -1.04446496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.610714057 meters 0.033201683595214554 Centerline is valid? [True, True] Translation: X:147.59, Y:-19.32, Z:-10.45 [[ 9.95466528e-01 7.76580125e-02 5.49147071e-02 1.47593614e+02] [-7.73576304e-02 9.96974610e-01 -7.57784171e-03 -1.93177098e+01] [-5.53370488e-02 3.29541616e-03 9.98462293e-01 -1.04462642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.640714057 meters 0.035966849959138 Centerline is valid? [True, True] Translation: X:147.62, Y:-19.32, Z:-10.45 [[ 9.95379149e-01 7.88566273e-02 5.47903514e-02 1.47621593e+02] [-7.85595096e-02 9.96880768e-01 -7.55894717e-03 -1.93234659e+01] [-5.52155206e-02 3.21971526e-03 9.98469268e-01 -1.04487755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.670714057 meters 0.032379699192903295 Centerline is valid? [True, True] Translation: X:147.65, Y:-19.32, Z:-10.45 [[ 9.95102938e-01 8.14049585e-02 5.60658210e-02 1.47652571e+02] [-8.10980552e-02 9.96676141e-01 -7.73139302e-03 -1.93178448e+01] [-5.65088399e-02 3.14670285e-03 9.98397140e-01 -1.04482537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.700714057 meters 0.03227385304662463 Centerline is valid? [True, True] Translation: X:147.68, Y:-19.32, Z:-10.45 [[ 9.94975056e-01 8.25811698e-02 5.66126153e-02 1.47681753e+02] [-8.22701752e-02 9.96579491e-01 -7.80617528e-03 -1.93202034e+01] [-5.70636145e-02 3.10941990e-03 9.98365702e-01 -1.04496109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.730714057 meters 0.032718633516483714 Centerline is valid? [True, True] Translation: X:147.71, Y:-19.32, Z:-10.45 [[ 9.94849117e-01 8.34165109e-02 5.75927109e-02 1.47709811e+02] [-8.30961959e-02 9.96509910e-01 -7.93855081e-03 -1.93216041e+01] [-5.80539134e-02 3.11192507e-03 9.98308599e-01 -1.04513566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76071405699997 meters 0.0333167746756321 Centerline is valid? [True, True] Translation: X:147.74, Y:-19.32, Z:-10.45 [[ 9.94830430e-01 8.35335875e-02 5.77456055e-02 1.47737581e+02] [-8.32120621e-02 9.96500115e-01 -7.95451016e-03 -1.93249472e+01] [-5.82079713e-02 3.10825786e-03 9.98299640e-01 -1.04536995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.79071405699997 meters 0.03325551042946382 Centerline is valid? [True, True] Translation: X:147.77, Y:-19.33, Z:-10.46 [[ 9.94843396e-01 8.34637990e-02 5.76230081e-02 1.47766105e+02] [-8.31438249e-02 9.96505986e-01 -7.93242543e-03 -1.93272100e+01] [-5.80837429e-02 3.10052376e-03 9.98306899e-01 -1.04561438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82071405699998 meters 0.0314645611976777 Centerline is valid? [True, True] Translation: X:147.80, Y:-19.32, Z:-10.46 [[ 9.94981489e-01 8.25562655e-02 5.65358236e-02 1.47795783e+02] [-8.22470242e-02 9.96581615e-01 -7.77895663e-03 -1.93243972e+01] [-5.69847640e-02 3.09001460e-03 9.98370266e-01 -1.04576815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.85071405699998 meters 0.030876347847398827 Centerline is valid? [True, True] Translation: X:147.82, Y:-19.33, Z:-10.46 [[ 9.95063511e-01 8.17614239e-02 5.62465900e-02 1.47824853e+02] [-8.14543050e-02 9.96647061e-01 -7.73515430e-03 -1.93253053e+01] [-5.66904359e-02 3.11544290e-03 9.98386943e-01 -1.04591808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.88071405699998 meters 0.03176068259955302 Centerline is valid? [True, True] Translation: X:147.85, Y:-19.33, Z:-10.46 [[ 9.95178280e-01 8.00511486e-02 5.66745508e-02 1.47854574e+02] [-7.97368325e-02 9.96785515e-01 -7.78941457e-03 -1.93278230e+01] [-5.71159228e-02 3.23280703e-03 9.98362319e-01 -1.04609667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.91071405699998 meters 0.03216507067825279 Centerline is valid? [True, True] Translation: X:147.88, Y:-19.33, Z:-10.46 [[ 9.95231580e-01 7.93891956e-02 5.66697271e-02 1.47882865e+02] [-7.90739584e-02 9.96838337e-01 -7.78710477e-03 -1.93310382e+01] [-5.71087685e-02 3.26887294e-03 9.98362611e-01 -1.04628639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.94071405699998 meters 0.032363057541419014 Centerline is valid? [True, True] Translation: X:147.91, Y:-19.33, Z:-10.46 [[ 9.95277128e-01 7.79728649e-02 5.78244902e-02 1.47911704e+02] [-7.76425013e-02 9.96949635e-01 -7.94150608e-03 -1.93321473e+01] [-5.82673263e-02 3.41436131e-03 9.98295177e-01 -1.04642529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.97071405699998 meters 0.033636193314868265 Centerline is valid? [True, True] Translation: X:147.94, Y:-19.34, Z:-10.47 [[ 9.95280413e-01 7.78832803e-02 5.78886278e-02 1.47939395e+02] [-7.75522677e-02 9.96956620e-01 -7.94627424e-03 -1.93366546e+01] [-5.83313326e-02 3.41937675e-03 9.98291422e-01 -1.04663154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.00071405699998 meters 0.032384880299801695 Centerline is valid? [True, True] Translation: X:147.97, Y:-19.34, Z:-10.47 [[ 9.95251517e-01 7.79738584e-02 5.82622928e-02 1.47968520e+02] [-7.76390296e-02 9.96949501e-01 -7.99208570e-03 -1.93369074e+01] [-5.87077375e-02 3.43070754e-03 9.98269318e-01 -1.04677986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.03071405699998 meters 0.031275433293041735 Centerline is valid? [True, True] Translation: X:148.00, Y:-19.34, Z:-10.47 [[ 9.95213701e-01 7.91128631e-02 5.73658843e-02 1.47997862e+02] [-7.87903932e-02 9.96860178e-01 -7.86502497e-03 -1.93362180e+01] [-5.78079903e-02 3.30750003e-03 9.98322241e-01 -1.04698533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.06071405699998 meters 0.03214057652519117 Centerline is valid? [True, True] Translation: X:148.03, Y:-19.34, Z:-10.47 [[ 9.95189412e-01 7.96833270e-02 5.69965004e-02 1.48025426e+02] [-7.93661609e-02 9.96814933e-01 -7.81043090e-03 -1.93400151e+01] [-5.74373238e-02 3.24926472e-03 9.98343827e-01 -1.04727593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.09071405699999 meters 0.03211316403449621 Centerline is valid? [True, True] Translation: X:148.05, Y:-19.34, Z:-10.48 [[ 9.95189316e-01 8.03076994e-02 5.61150491e-02 1.48054302e+02] [-8.00015747e-02 9.96765118e-01 -7.68423201e-03 -1.93414486e+01] [-5.65506265e-02 3.15797330e-03 9.98394738e-01 -1.04760089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.120714057 meters 0.03255673619329996 Centerline is valid? [True, True] Translation: X:148.08, Y:-19.34, Z:-10.48 [[ 9.95225966e-01 8.00976003e-02 5.57642510e-02 1.48082153e+02] [-7.97951802e-02 9.96782060e-01 -7.63241365e-03 -1.93449398e+01] [-5.61961430e-02 3.14625779e-03 9.98414791e-01 -1.04786253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.150714057 meters 0.032089069225225884 Centerline is valid? [True, True] Translation: X:148.11, Y:-19.35, Z:-10.48 [[ 9.95285652e-01 7.94461504e-02 5.56307539e-02 1.48110443e+02] [-7.91444440e-02 9.96834117e-01 -7.60916631e-03 -1.93467803e+01] [-5.60591525e-02 3.17042896e-03 9.98422416e-01 -1.04804017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.180714057 meters 0.035250073630324355 Centerline is valid? [True, True] Translation: X:148.14, Y:-19.35, Z:-10.48 [[ 9.95558779e-01 7.66081614e-02 5.47166063e-02 1.48138651e+02] [-7.63123388e-02 9.97055915e-01 -7.47856218e-03 -1.93541556e+01] [-5.51284349e-02 3.26979603e-03 9.98473918e-01 -1.04840675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.210714057 meters 0.036253799946866165 Centerline is valid? [True, True] Translation: X:148.17, Y:-19.36, Z:-10.49 [[ 9.95763092e-01 7.44056287e-02 5.40339405e-02 1.48167261e+02] [-7.41140071e-02 9.97222440e-01 -7.38368860e-03 -1.93591348e+01] [-5.44332460e-02 3.34773274e-03 9.98511800e-01 -1.04868591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.240714057 meters 0.039170397629184665 Centerline is valid? [True, True] Translation: X:148.20, Y:-19.37, Z:-10.49 [[ 9.96114554e-01 7.03076090e-02 5.30342844e-02 1.48195316e+02] [-7.00211631e-02 9.97519216e-01 -7.24232021e-03 -1.93663430e+01] [-5.34119080e-02 3.50065829e-03 9.98566429e-01 -1.04908273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.270714057 meters 0.04000887648742321 Centerline is valid? [True, True] Translation: X:148.22, Y:-19.37, Z:-10.49 [[ 9.96206855e-01 6.90450742e-02 5.29592336e-02 1.48222941e+02] [-6.87574235e-02 9.97607161e-01 -7.23658333e-03 -1.93714170e+01] [-5.33321611e-02 3.56779347e-03 9.98570454e-01 -1.04930199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.300714057 meters 0.04209609912142644 Centerline is valid? [True, True] Translation: X:148.25, Y:-19.38, Z:-10.49 [[ 9.96259191e-01 6.80863830e-02 5.32153068e-02 1.48251525e+02] [-6.77947928e-02 9.97672816e-01 -7.26761008e-03 -1.93763737e+01] [-5.35862903e-02 3.63270264e-03 9.98556615e-01 -1.04946368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.330714057 meters 0.04176382377080974 Centerline is valid? [True, True] Translation: X:148.28, Y:-19.38, Z:-10.50 [[ 9.96216629e-01 6.83368757e-02 5.36889170e-02 1.48280625e+02] [-6.80405654e-02 9.97655630e-01 -7.32974462e-03 -1.93784250e+01] [-5.40639422e-02 3.64898921e-03 9.98530808e-01 -1.04956994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.360714057 meters 0.03458263657315841 Centerline is valid? [True, True] Translation: X:148.31, Y:-19.37, Z:-10.49 [[ 9.95930022e-01 7.13813777e-02 5.50280846e-02 1.48312732e+02] [-7.10749542e-02 9.97442720e-01 -7.50807135e-03 -1.93697475e+01] [-5.54232988e-02 3.56639508e-03 9.98456578e-01 -1.04946844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.390714057 meters 0.041727685868562 Centerline is valid? [True, True] Translation: X:148.34, Y:-19.38, Z:-10.50 [[ 9.95793895e-01 7.30672190e-02 5.52783858e-02 1.48339548e+02] [-7.27606126e-02 9.97320919e-01 -7.54168395e-03 -1.93829160e+01] [-5.56813405e-02 3.48787361e-03 9.98442499e-01 -1.04982438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.420714057 meters 0.033268338004679675 Centerline is valid? [True, True] Translation: X:148.37, Y:-19.37, Z:-10.50 [[ 9.95616066e-01 7.48438381e-02 5.60985727e-02 1.48371076e+02] [-7.45310475e-02 9.97189348e-01 -7.65028179e-03 -1.93735807e+01] [-5.65134756e-02 3.43565807e-03 9.98395925e-01 -1.04975484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.450714057 meters 0.03272862434862915 Centerline is valid? [True, True] Translation: X:148.40, Y:-19.37, Z:-10.50 [[ 9.95269120e-01 7.87143447e-02 5.69511254e-02 1.48400343e+02] [-7.83983994e-02 9.96891873e-01 -7.76428120e-03 -1.93745810e+01] [-5.73852744e-02 3.26267225e-03 9.98346776e-01 -1.04985988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.480714057 meters 0.031008943538125448 Centerline is valid? [True, True] Translation: X:148.43, Y:-19.37, Z:-10.50 [[ 9.95113952e-01 8.05419169e-02 5.71071095e-02 1.48429854e+02] [-8.02272917e-02 9.96746198e-01 -7.78453076e-03 -1.93741162e+01] [-5.75482753e-02 3.16494643e-03 9.98337708e-01 -1.04997829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.51071405699997 meters 0.029573255294871256 Centerline is valid? [True, True] Translation: X:148.46, Y:-19.37, Z:-10.50 [[ 9.94671099e-01 8.46455870e-02 5.88602601e-02 1.48460707e+02] [-8.43187013e-02 9.96406564e-01 -8.01972757e-03 -1.93741406e+01] [-5.93275841e-02 3.01397054e-03 9.98234018e-01 -1.05006754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.54071405699997 meters 0.02891505506802421 Centerline is valid? [True, True] Translation: X:148.49, Y:-19.38, Z:-10.50 [[ 9.94496218e-01 8.65051801e-02 5.91111394e-02 1.48489388e+02] [-8.61787623e-02 9.96247135e-01 -8.05405945e-03 -1.93768187e+01] [-5.95860211e-02 2.91560684e-03 9.98218917e-01 -1.05030154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.57071405699998 meters 0.029470496073001593 Centerline is valid? [True, True] Translation: X:148.52, Y:-19.38, Z:-10.51 [[ 9.94338119e-01 8.83010491e-02 5.91154007e-02 1.48517422e+02] [-8.79780035e-02 9.96089887e-01 -8.05034714e-03 -1.93804668e+01] [-5.95951069e-02 2.80391210e-03 9.98218694e-01 -1.05054756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60071405699998 meters 0.028400943518429984 Centerline is valid? [True, True] Translation: X:148.55, Y:-19.38, Z:-10.51 [[ 9.94143692e-01 9.11233852e-02 5.80934437e-02 1.48546952e+02] [-9.08164910e-02 9.95836256e-01 -7.90672839e-03 -1.93805609e+01] [-5.85720453e-02 2.58458145e-03 9.98279838e-01 -1.05082821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.63071405699998 meters 0.028643257707977 Centerline is valid? [True, True] Translation: X:148.57, Y:-19.38, Z:-10.51 [[ 9.94117650e-01 9.18874505e-02 5.73305659e-02 1.48574785e+02] [-9.15899252e-02 9.95766249e-01 -7.80143608e-03 -1.93837189e+01] [-5.78046967e-02 2.50464306e-03 9.98324769e-01 -1.05108527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.66071405699998 meters 0.027900991038965442 Centerline is valid? [True, True] Translation: X:148.60, Y:-19.38, Z:-10.51 [[ 9.94073300e-01 9.30941847e-02 5.61404149e-02 1.48603582e+02] [-9.28111062e-02 9.95654465e-01 -7.63439437e-03 -1.93847715e+01] [-5.66071725e-02 2.37869360e-03 9.98393695e-01 -1.05135960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.69071405699998 meters 0.02883171124031086 Centerline is valid? [True, True] Translation: X:148.63, Y:-19.39, Z:-10.52 [[ 9.94117408e-01 9.30358284e-02 5.54519004e-02 1.48630899e+02] [-9.27597763e-02 9.95659991e-01 -7.53704721e-03 -1.93897881e+01] [-5.59124541e-02 2.34900396e-03 9.98432912e-01 -1.05170044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.72071405699998 meters 0.02783188577307193 Centerline is valid? [True, True] Translation: X:148.66, Y:-19.39, Z:-10.52 [[ 9.94201375e-01 9.25789220e-02 5.47062155e-02 1.48659388e+02] [-9.23098377e-02 9.95702605e-01 -7.43071506e-03 -1.93909958e+01] [-5.51590489e-02 2.33770525e-03 9.98474844e-01 -1.05185632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.75071405699998 meters 0.028719132763268884 Centerline is valid? [True, True] Translation: X:148.69, Y:-19.40, Z:-10.52 [[ 9.94381246e-01 9.07887848e-02 5.44365206e-02 1.48687527e+02] [-9.05198908e-02 9.95867228e-01 -7.39014297e-03 -1.93956487e+01] [-5.48824889e-02 2.42103167e-03 9.98489885e-01 -1.05209239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.78071405699998 meters 0.029410096010106843 Centerline is valid? [True, True] Translation: X:148.72, Y:-19.40, Z:-10.52 [[ 9.94498728e-01 8.95730882e-02 5.43041675e-02 1.48715543e+02] [-8.93039088e-02 9.95977169e-01 -7.36825838e-03 -1.94004610e+01] [-5.47457087e-02 2.47814916e-03 9.98497254e-01 -1.05225705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.81071405699998 meters 0.03040857668734011 Centerline is valid? [True, True] Translation: X:148.74, Y:-19.41, Z:-10.52 [[ 9.94744572e-01 8.69302915e-02 5.40958505e-02 1.48744337e+02] [-8.66594865e-02 9.96210979e-01 -7.33618189e-03 -1.94050441e+01] [-5.45286166e-02 2.60970848e-03 9.98508798e-01 -1.05235164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.84071405699999 meters 0.03046429245562353 Centerline is valid? [True, True] Translation: X:148.77, Y:-19.41, Z:-10.52 [[ 9.94832622e-01 8.56947322e-02 5.44469234e-02 1.48772662e+02] [-8.54187873e-02 9.96317808e-01 -7.37950955e-03 -1.94091528e+01] [-5.48788244e-02 2.69058666e-03 9.98489397e-01 -1.05249704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.870714057 meters 0.031622645361890765 Centerline is valid? [True, True] Translation: X:148.80, Y:-19.42, Z:-10.53 [[ 9.94992257e-01 8.31813828e-02 5.54190067e-02 1.48800613e+02] [-8.28918257e-02 9.96530274e-01 -7.50719892e-03 -1.94162833e+01] [-5.58511771e-02 2.87582215e-03 9.98434963e-01 -1.05269156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.900714057 meters 0.03186253983715578 Centerline is valid? [True, True] Translation: X:148.83, Y:-19.42, Z:-10.53 [[ 9.95111553e-01 8.15353827e-02 5.57223299e-02 1.48829016e+02] [-8.12403118e-02 9.96665992e-01 -7.54401710e-03 -1.94212963e+01] [-5.61516556e-02 2.98023912e-03 9.98417803e-01 -1.05286003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.930714057 meters 0.032699217552843794 Centerline is valid? [True, True] Translation: X:148.86, Y:-19.43, Z:-10.53 [[ 9.95253224e-01 8.00106448e-02 5.54014185e-02 1.48856748e+02] [-7.97168227e-02 9.96789359e-01 -7.49682045e-03 -1.94263434e+01] [-5.58233699e-02 3.04480967e-03 9.98436017e-01 -1.05304688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.960714057 meters 0.03392248875332965 Centerline is valid? [True, True] Translation: X:148.89, Y:-19.43, Z:-10.53 [[ 9.95430605e-01 7.77447588e-02 5.54406360e-02 1.48885784e+02] [-7.74473349e-02 9.96968261e-01 -7.49647896e-03 -1.94324809e+01] [-5.58553664e-02 3.16849508e-03 9.98433843e-01 -1.05320989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.990714057 meters 0.03461326256750645 Centerline is valid? [True, True] Translation: X:148.91, Y:-19.44, Z:-10.53 [[ 9.95475431e-01 7.68664286e-02 5.58589107e-02 1.48914398e+02] [-7.65632064e-02 9.97036133e-01 -7.55145131e-03 -1.94370920e+01] [-5.62738054e-02 3.24054694e-03 9.98410115e-01 -1.05341933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.020714057 meters 0.035219190010598506 Centerline is valid? [True, True] Translation: X:148.94, Y:-19.44, Z:-10.54 [[ 9.95579220e-01 7.54822690e-02 5.58967174e-02 1.48942712e+02] [-7.51766894e-02 9.97141627e-01 -7.55254876e-03 -1.94421986e+01] [-5.63070273e-02 3.31703044e-03 9.98407991e-01 -1.05356118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.050714057 meters 0.03587778384979209 Centerline is valid? [True, True] Translation: X:148.97, Y:-19.45, Z:-10.54 [[ 9.95670300e-01 7.46799789e-02 5.53493780e-02 1.48971359e+02] [-7.43793466e-02 9.97202007e-01 -7.47467198e-03 -1.94467278e+01] [-5.57527191e-02 3.32545833e-03 9.98439070e-01 -1.05379232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.080714057 meters 0.03600824950968052 Centerline is valid? [True, True] Translation: X:149.00, Y:-19.45, Z:-10.54 [[ 9.95676948e-01 7.44853977e-02 5.54918069e-02 1.48999326e+02] [-7.41831347e-02 9.97216508e-01 -7.48995227e-03 -1.94516653e+01] [-5.58952379e-02 3.34101663e-03 9.98431049e-01 -1.05398642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.110714057 meters 0.037322500742725015 Centerline is valid? [True, True] Translation: X:149.03, Y:-19.46, Z:-10.54 [[ 9.95810949e-01 7.32690602e-02 5.47009846e-02 1.49026686e+02] [-7.29737637e-02 9.97306562e-01 -7.37905611e-03 -1.94585652e+01] [-5.50943074e-02 3.35640815e-03 9.98475514e-01 -1.05426067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.140714057 meters 0.03862285356803614 Centerline is valid? [True, True] Translation: X:149.05, Y:-19.46, Z:-10.55 [[ 9.95904806e-01 7.25543581e-02 5.39396110e-02 1.49054068e+02] [-7.22662870e-02 9.97358844e-01 -7.27458327e-03 -1.94641686e+01] [-5.43249508e-02 3.34677704e-03 9.98517701e-01 -1.05450906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.170714057 meters 0.0402122065214099 Centerline is valid? [True, True] Translation: X:149.08, Y:-19.47, Z:-10.55 [[ 9.96102722e-01 7.07206860e-02 5.27062733e-02 1.49081807e+02] [-7.04433565e-02 9.97490489e-01 -7.10337653e-03 -1.94714053e+01] [-5.30763620e-02 3.36288591e-03 9.98584794e-01 -1.05478241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.200714057 meters 0.04071992023181347 Centerline is valid? [True, True] Translation: X:149.11, Y:-19.48, Z:-10.55 [[ 9.96166956e-01 6.99964907e-02 5.24584233e-02 1.49109653e+02] [-6.97209034e-02 9.97541502e-01 -7.06739327e-03 -1.94766925e+01] [-5.28241471e-02 3.38285498e-03 9.98598100e-01 -1.05497582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.230714057 meters 0.041598257893633 Centerline is valid? [True, True] Translation: X:149.14, Y:-19.48, Z:-10.55 [[ 9.96251830e-01 6.94953497e-02 5.15042574e-02 1.49138097e+02] [-6.92292793e-02 9.97576675e-01 -6.93425641e-03 -1.94826712e+01] [-5.18613445e-02 3.34266301e-03 9.98648701e-01 -1.05522743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26071405699997 meters 0.04279666978377124 Centerline is valid? [True, True] Translation: X:149.17, Y:-19.49, Z:-10.55 [[ 9.96349664e-01 6.87081510e-02 5.06609957e-02 1.49165241e+02] [-6.84498626e-02 9.97631261e-01 -6.81790191e-03 -1.94894513e+01] [-5.10094384e-02 3.32527609e-03 9.98692635e-01 -1.05547916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.29071405699997 meters 0.04279666978377124 Centerline is valid? [True, True] Translation: X:149.19, Y:-19.49, Z:-10.56 [[ 9.96354148e-01 6.86425673e-02 5.06617227e-02 1.49193299e+02] [-6.83844682e-02 9.97635782e-01 -6.81249519e-03 -1.94931583e+01] [-5.10095745e-02 3.32318288e-03 9.98692635e-01 -1.05567433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32071405699998 meters 0.04289382376864923 Centerline is valid? [True, True] Translation: X:149.22, Y:-19.50, Z:-10.56 [[ 9.96310668e-01 6.88869365e-02 5.11824525e-02 1.49221368e+02] [-6.86239985e-02 9.97618878e-01 -6.87904844e-03 -1.94985399e+01] [-5.15344574e-02 3.34132480e-03 9.98665627e-01 -1.05582549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.35071405699998 meters 0.043099760011504284 Centerline is valid? [True, True] Translation: X:149.25, Y:-19.50, Z:-10.56 [[ 9.96258582e-01 6.92198200e-02 5.17441250e-02 1.49249543e+02] [-6.89517020e-02 9.97595783e-01 -6.95104228e-03 -1.95035001e+01] [-5.21008707e-02 3.35719003e-03 9.98636184e-01 -1.05595409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.38071405699998 meters 0.044349178371088156 Centerline is valid? [True, True] Translation: X:149.28, Y:-19.51, Z:-10.56 [[ 9.96226737e-01 6.92775243e-02 5.22772685e-02 1.49276423e+02] [-6.90040969e-02 9.97591681e-01 -7.01941198e-03 -1.95094437e+01] [-5.26376557e-02 3.38558019e-03 9.98607939e-01 -1.05611329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.41071405699998 meters 0.045234443141287856 Centerline is valid? [True, True] Translation: X:149.30, Y:-19.52, Z:-10.56 [[ 9.96221587e-01 6.85896177e-02 5.32730160e-02 1.49304511e+02] [-6.83049384e-02 9.97638881e-01 -7.14837128e-03 -1.95153875e+01] [-5.36375361e-02 3.48255171e-03 9.98554398e-01 -1.05615573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.44071405699998 meters 0.04464058010105778 Centerline is valid? [True, True] Translation: X:149.33, Y:-19.52, Z:-10.56 [[ 9.96234413e-01 6.79866857e-02 5.38033884e-02 1.49332689e+02] [-6.76956194e-02 9.97679925e-01 -7.21601071e-03 -1.95194156e+01] [-5.41691532e-02 3.54658450e-03 9.98525475e-01 -1.05626997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.47071405699998 meters 0.048778263635272934 Centerline is valid? [True, True] Translation: X:149.36, Y:-19.53, Z:-10.57 [[ 9.96383091e-01 6.53103527e-02 5.43626086e-02 1.49360678e+02] [-6.50094558e-02 9.97858041e-01 -7.28695941e-03 -1.95308103e+01] [-5.47220800e-02 3.72651954e-03 9.98494671e-01 -1.05651951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.50071405699998 meters 0.05042605723176011 Centerline is valid? [True, True] Translation: X:149.39, Y:-19.54, Z:-10.57 [[ 9.96464341e-01 6.36414172e-02 5.48505941e-02 1.49390231e+02] [-6.33326957e-02 9.97965403e-01 -7.35014277e-03 -1.95386192e+01] [-5.52067687e-02 3.85031918e-03 9.98467520e-01 -1.05670472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.53071405699998 meters 0.05243903655676008 Centerline is valid? [True, True] Translation: X:149.42, Y:-19.55, Z:-10.57 [[ 9.96636292e-01 6.01626226e-02 5.56467499e-02 1.49419409e+02] [-5.98394727e-02 9.98180161e-01 -7.45679088e-03 -1.95478029e+01] [-5.59941019e-02 4.10183624e-03 9.98422674e-01 -1.05688523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.56071405699998 meters 0.03838200750684511 Centerline is valid? [True, True] Translation: X:149.45, Y:-19.53, Z:-10.57 [[ 9.96694813e-01 5.91208962e-02 5.57150817e-02 1.49452897e+02] [-5.87953471e-02 9.98242140e-01 -7.46570723e-03 -1.95329855e+01] [-5.60585217e-02 4.16524410e-03 9.98418796e-01 -1.05673670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.59071405699999 meters 0.04066647898073549 Centerline is valid? [True, True] Translation: X:149.48, Y:-19.54, Z:-10.57 [[ 9.96756067e-01 5.82843593e-02 5.55002420e-02 1.49483155e+02] [-5.79600581e-02 9.98291206e-01 -7.43643288e-03 -1.95408207e+01] [-5.58388312e-02 4.19551234e-03 9.98430980e-01 -1.05698996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.620714057 meters 0.04262964895259063 Centerline is valid? [True, True] Translation: X:149.51, Y:-19.55, Z:-10.57 [[ 9.96921741e-01 5.65301136e-02 5.43266882e-02 1.49512867e+02] [-5.62159628e-02 9.98391984e-01 -7.29469884e-03 -1.95487096e+01] [-5.46517002e-02 4.21821678e-03 9.98496569e-01 -1.05732574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.650714057 meters 0.04272846003136539 Centerline is valid? [True, True] Translation: X:149.54, Y:-19.55, Z:-10.58 [[ 9.97011002e-01 5.57581093e-02 5.34798610e-02 1.49543944e+02] [-5.54526217e-02 9.98435501e-01 -7.18030730e-03 -1.95543403e+01] [-5.37965522e-02 4.19324688e-03 9.98543113e-01 -1.05762068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.680714057 meters 0.04185725258382884 Centerline is valid? [True, True] Translation: X:149.57, Y:-19.56, Z:-10.58 [[ 9.97216874e-01 5.45339741e-02 5.08384897e-02 1.49574626e+02] [-5.42559756e-02 9.98503677e-01 -6.83339287e-03 -1.95584791e+01] [-5.11350710e-02 4.05608282e-03 9.98683510e-01 -1.05803710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.710714057 meters 0.04347125241585383 Centerline is valid? [True, True] Translation: X:149.61, Y:-19.57, Z:-10.58 [[ 9.97223577e-01 5.47258930e-02 5.04996436e-02 1.49605299e+02] [-5.44519203e-02 9.98493333e-01 -6.78619682e-03 -1.95659254e+01] [-5.07949382e-02 4.01755289e-03 9.98701023e-01 -1.05837301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.740714057 meters 0.04475336255994656 Centerline is valid? [True, True] Translation: X:149.64, Y:-19.57, Z:-10.59 [[ 9.97228228e-01 5.49112230e-02 5.02057651e-02 1.49636205e+02] [-5.46400774e-02 9.98483243e-01 -6.75835622e-03 -1.95724550e+01] [-5.05007247e-02 3.99637671e-03 9.98716029e-01 -1.05863387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.770714057 meters 0.04150805321809994 Centerline is valid? [True, True] Translation: X:149.67, Y:-19.57, Z:-10.59 [[ 9.97123850e-01 5.64490863e-02 5.05720115e-02 1.49668187e+02] [-5.61751627e-02 9.98397617e-01 -6.82272118e-03 -1.95718571e+01] [-5.08761122e-02 3.96220703e-03 9.98697112e-01 -1.05857739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.800714057 meters 0.047095130221907144 Centerline is valid? [True, True] Translation: X:149.70, Y:-19.58, Z:-10.59 [[ 9.96907095e-01 5.85280491e-02 5.24472247e-02 1.49696320e+02] [-5.82361159e-02 9.98277741e-01 -7.07857242e-03 -1.95831335e+01] [-5.27711920e-02 4.00235642e-03 9.98598609e-01 -1.05873626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.830714057 meters 0.03765617241725975 Centerline is valid? [True, True] Translation: X:149.73, Y:-19.57, Z:-10.59 [[ 9.96832379e-01 5.97902671e-02 5.24436021e-02 1.49728413e+02] [-5.95001747e-02 9.98203209e-01 -7.07685618e-03 -1.95736391e+01] [-5.27724991e-02 3.93403590e-03 9.98598812e-01 -1.05861432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.860714057 meters 0.03756088025703179 Centerline is valid? [True, True] Translation: X:149.76, Y:-19.58, Z:-10.59 [[ 9.96655625e-01 6.17358256e-02 5.35373924e-02 1.49758235e+02] [-6.14362804e-02 9.98084861e-01 -7.22445468e-03 -1.95773154e+01] [-5.38808686e-02 3.91115514e-03 9.98539711e-01 -1.05878310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.890714057 meters 0.03712303240753804 Centerline is valid? [True, True] Translation: X:149.79, Y:-19.58, Z:-10.59 [[ 9.96433839e-01 6.44743577e-02 5.44303424e-02 1.49788549e+02] [-6.41687752e-02 9.97912029e-01 -7.34513243e-03 -1.95808479e+01] [-5.47902661e-02 3.82621010e-03 9.98490554e-01 -1.05889094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.920714057 meters 0.045198807683649096 Centerline is valid? [True, True] Translation: X:149.82, Y:-19.60, Z:-10.59 [[ 9.96360549e-01 6.55876251e-02 5.44418915e-02 1.49816721e+02] [-6.52836148e-02 9.97839711e-01 -7.34578778e-03 -1.95955798e+01] [-5.48060740e-02 3.76488968e-03 9.98489920e-01 -1.05931965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.950714057 meters 0.03623745066493408 Centerline is valid? [True, True] Translation: X:149.85, Y:-19.59, Z:-10.59 [[ 9.96163489e-01 6.78673313e-02 5.52478797e-02 1.49848561e+02] [-6.75577148e-02 9.97687517e-01 -7.45477198e-03 -1.95872638e+01] [-5.56260554e-02 3.69375117e-03 9.98444840e-01 -1.05927763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.980714057 meters 0.03730888285628839 Centerline is valid? [True, True] Translation: X:149.88, Y:-19.59, Z:-10.60 [[ 9.96145531e-01 6.81263028e-02 5.52529513e-02 1.49876959e+02] [-6.78170559e-02 9.97669921e-01 -7.45491408e-03 -1.95930963e+01] [-5.56320833e-02 3.67908685e-03 9.98444558e-01 -1.05954606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.01071405699997 meters 0.036195034955346136 Centerline is valid? [True, True] Translation: X:149.91, Y:-19.60, Z:-10.60 [[ 9.96080212e-01 6.89845981e-02 5.53654816e-02 1.49906349e+02] [-6.86755879e-02 9.97611101e-01 -7.46686717e-03 -1.95962726e+01] [-5.57483179e-02 3.63534163e-03 9.98438235e-01 -1.05976081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04071405699997 meters 0.03681347053550334 Centerline is valid? [True, True] Translation: X:149.93, Y:-19.60, Z:-10.60 [[ 9.96096980e-01 6.96487492e-02 5.42204579e-02 1.49933877e+02] [-6.93534734e-02 9.97565360e-01 -7.31078576e-03 -1.96021665e+01] [-5.45976377e-02 3.52187453e-03 9.98502226e-01 -1.06005928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.07071405699998 meters 0.03742224986965814 Centerline is valid? [True, True] Translation: X:149.96, Y:-19.61, Z:-10.60 [[ 9.96075729e-01 7.06109942e-02 5.33594327e-02 1.49961418e+02] [-7.03265797e-02 9.97498098e-01 -7.19147845e-03 -1.96082453e+01] [-5.37337300e-02 3.41067074e-03 9.98549475e-01 -1.06036848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10071405699998 meters 0.035031582201705685 Centerline is valid? [True, True] Translation: X:149.99, Y:-19.61, Z:-10.60 [[ 9.96100619e-01 7.07119735e-02 5.27576815e-02 1.49990214e+02] [-7.04341192e-02 9.97491096e-01 -7.10975501e-03 -1.96086547e+01] [-5.31280623e-02 3.36609055e-03 9.98582034e-01 -1.06047668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.13071405699998 meters 0.03754100317669844 Centerline is valid? [True, True] Translation: X:150.02, Y:-19.62, Z:-10.61 [[ 9.96083545e-01 7.12256224e-02 5.23878097e-02 1.50016643e+02] [-7.09525436e-02 9.97454732e-01 -7.05646932e-03 -1.96170216e+01] [-5.27570701e-02 3.31178462e-03 9.98601884e-01 -1.06082636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.16071405699998 meters 0.03544647931068419 Centerline is valid? [True, True] Translation: X:150.05, Y:-19.62, Z:-10.61 [[ 9.96010622e-01 7.22759331e-02 5.23357532e-02 1.50045888e+02] [-7.20050891e-02 9.97379386e-01 -7.04474851e-03 -1.96186291e+01] [-5.27077671e-02 3.24820377e-03 9.98604697e-01 -1.06103024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.19071405699998 meters 0.03405007933278309 Centerline is valid? [True, True] Translation: X:150.07, Y:-19.62, Z:-10.61 [[ 9.95943934e-01 7.31975946e-02 5.23239152e-02 1.50074386e+02] [-7.29284292e-02 9.97312346e-01 -7.03766367e-03 -1.96202803e+01] [-5.26984267e-02 3.19321749e-03 9.98605367e-01 -1.06116855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.22071405699998 meters 0.03554623711388527 Centerline is valid? [True, True] Translation: X:150.10, Y:-19.63, Z:-10.61 [[ 9.95797729e-01 7.45211212e-02 5.32304851e-02 1.50101764e+02] [-7.42446155e-02 9.97214385e-01 -7.15594698e-03 -1.96263465e+01] [-5.36154746e-02 3.17379886e-03 9.98556612e-01 -1.06142174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.25071405699998 meters 0.03422351358285082 Centerline is valid? [True, True] Translation: X:150.13, Y:-19.63, Z:-10.61 [[ 9.95705793e-01 7.52089023e-02 5.39777192e-02 1.50130264e+02] [-7.49258562e-02 9.97162743e-01 -7.25125484e-03 -1.96284246e+01] [-5.43699294e-02 3.17578962e-03 9.98515811e-01 -1.06149865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.28071405699998 meters 0.035548277454619116 Centerline is valid? [True, True] Translation: X:150.16, Y:-19.63, Z:-10.62 [[ 9.95650770e-01 7.52793742e-02 5.48867876e-02 1.50157680e+02] [-7.49870155e-02 9.97157277e-01 -7.36964433e-03 -1.96341196e+01] [-5.52855419e-02 3.22179567e-03 9.98465387e-01 -1.06172508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.31071405699998 meters 0.03578055374980633 Centerline is valid? [True, True] Translation: X:150.19, Y:-19.64, Z:-10.62 [[ 9.95660258e-01 7.46720216e-02 5.55404385e-02 1.50185850e+02] [-7.43719985e-02 9.97202723e-01 -7.45222745e-03 -1.96390008e+01] [-5.59415494e-02 3.28923329e-03 9.98428627e-01 -1.06187619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.34071405699999 meters 0.03675276732457903 Centerline is valid? [True, True] Translation: X:150.21, Y:-19.64, Z:-10.62 [[ 9.95716117e-01 7.36354552e-02 5.59216789e-02 1.50213559e+02] [-7.33298747e-02 9.97279542e-01 -7.49968374e-03 -1.96445162e+01] [-5.63217889e-02 3.36682626e-03 9.98406991e-01 -1.06207900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.370714057 meters 0.03946748219026408 Centerline is valid? [True, True] Translation: X:150.24, Y:-19.65, Z:-10.62 [[ 9.95833015e-01 7.16140821e-02 5.64626371e-02 1.50242332e+02] [-7.12996444e-02 9.97426242e-01 -7.56650819e-03 -1.96526962e+01] [-5.68591845e-02 3.50921272e-03 9.98376041e-01 -1.06232734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.400714057 meters 0.03984947822155661 Centerline is valid? [True, True] Translation: X:150.27, Y:-19.66, Z:-10.63 [[ 9.95945738e-01 6.98738059e-02 5.66545505e-02 1.50271384e+02] [-6.95544663e-02 9.97549270e-01 -7.59144368e-03 -1.96573876e+01] [-5.70461486e-02 3.62008895e-03 9.98364979e-01 -1.06253389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.430714057 meters 0.04268204477097062 Centerline is valid? [True, True] Translation: X:150.30, Y:-19.67, Z:-10.63 [[ 9.96160021e-01 6.67765911e-02 5.66224278e-02 1.50299228e+02] [-6.64527651e-02 9.97760743e-01 -7.58486194e-03 -1.96663124e+01] [-5.70021269e-02 3.79301934e-03 9.98366852e-01 -1.06282692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.460714057 meters 0.04349194387072684 Centerline is valid? [True, True] Translation: X:150.33, Y:-19.67, Z:-10.63 [[ 9.96250093e-01 6.51292022e-02 5.69555865e-02 1.50329257e+02] [-6.47988965e-02 9.97869180e-01 -7.62904823e-03 -1.96727187e+01] [-5.73310982e-02 3.90978086e-03 9.98347564e-01 -1.06308807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.490714057 meters 0.04571105842826318 Centerline is valid? [True, True] Translation: X:150.36, Y:-19.68, Z:-10.63 [[ 9.96379364e-01 6.30900676e-02 5.69895328e-02 1.50358848e+02] [-6.27560612e-02 9.97999703e-01 -7.63341032e-03 -1.96804219e+01] [-5.73571292e-02 4.02933391e-03 9.98345594e-01 -1.06338414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.520714057 meters 0.04892757985252866 Centerline is valid? [True, True] Translation: X:150.39, Y:-19.69, Z:-10.64 [[ 9.96612091e-01 5.88985039e-02 5.74047666e-02 1.50386730e+02] [-5.85526584e-02 9.98254705e-01 -7.68962791e-03 -1.96902087e+01] [-5.77574859e-02 4.30237446e-03 9.98321372e-01 -1.06360171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.550714057 meters 0.04987163455201145 Centerline is valid? [True, True] Translation: X:150.42, Y:-19.70, Z:-10.64 [[ 9.96696610e-01 5.72919305e-02 5.75630265e-02 1.50417623e+02] [-5.69413299e-02 9.98347725e-01 -7.71394437e-03 -1.96961193e+01] [-5.79098633e-02 4.41074692e-03 9.98312072e-01 -1.06381054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.580714057 meters 0.051908376616989944 Centerline is valid? [True, True] Translation: X:150.45, Y:-19.70, Z:-10.64 [[ 9.96767204e-01 5.49995711e-02 5.85678045e-02 1.50447643e+02] [-5.46325493e-02 9.98475664e-01 -7.85072613e-03 -1.97047168e+01] [-5.89103141e-02 4.62563787e-03 9.98252562e-01 -1.06396343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.610714057 meters 0.041150927677419694 Centerline is valid? [True, True] Translation: X:150.48, Y:-19.69, Z:-10.64 [[ 9.96780033e-01 5.42885742e-02 5.90111609e-02 1.50481286e+02] [-5.39148000e-02 9.98514218e-01 -7.90896300e-03 -1.96948143e+01] [-5.93528494e-02 4.70192146e-03 9.98225992e-01 -1.06395284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.640714057 meters 0.04042998953697384 Centerline is valid? [True, True] Translation: X:150.51, Y:-19.70, Z:-10.64 [[ 9.96798845e-01 5.38781657e-02 5.90694954e-02 1.50513131e+02] [-5.35020387e-02 9.98536237e-01 -7.93185139e-03 -1.96976284e+01] [-5.94103853e-02 4.74612188e-03 9.98222360e-01 -1.06411748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.670714057 meters 0.04079431847939644 Centerline is valid? [True, True] Translation: X:150.55, Y:-19.70, Z:-10.64 [[ 9.96789564e-01 5.41978837e-02 5.89334751e-02 1.50545433e+02] [-5.38231615e-02 9.98519007e-01 -7.92845375e-03 -1.97021819e+01] [-5.92759005e-02 4.73101401e-03 9.98230427e-01 -1.06434002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.700714057 meters 0.041975305500316445 Centerline is valid? [True, True] Translation: X:150.58, Y:-19.71, Z:-10.65 [[ 9.96762385e-01 5.53668898e-02 5.83031348e-02 1.50575610e+02] [-5.50011128e-02 9.98455347e-01 -7.86110026e-03 -1.97087059e+01] [-5.86483214e-02 4.62891175e-03 9.98267974e-01 -1.06473979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.730714057 meters 0.042404024450146544 Centerline is valid? [True, True] Translation: X:150.61, Y:-19.71, Z:-10.65 [[ 9.96743086e-01 5.63232940e-02 5.77140074e-02 1.50607014e+02] [-5.59657009e-02 9.98402263e-01 -7.79496627e-03 -1.97138861e+01] [-5.80608338e-02 4.53957385e-03 9.98302726e-01 -1.06504205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.76071405699997 meters 0.041997382946049135 Centerline is valid? [True, True] Translation: X:150.64, Y:-19.72, Z:-10.65 [[ 9.96721004e-01 5.71431300e-02 5.72878951e-02 1.50639106e+02] [-5.67913311e-02 9.98355977e-01 -7.75159980e-03 -1.97175603e+01] [-5.76366631e-02 4.47272652e-03 9.98327606e-01 -1.06533931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.79071405699997 meters 0.042793342110073275 Centerline is valid? [True, True] Translation: X:150.67, Y:-19.72, Z:-10.66 [[ 9.96656985e-01 5.89817787e-02 5.65332188e-02 1.50669259e+02] [-5.86412000e-02 9.98249690e-01 -7.66594766e-03 -1.97220733e+01] [-5.68864194e-02 4.32514449e-03 9.98371288e-01 -1.06562175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.82071405699998 meters 0.04041666034619039 Centerline is valid? [True, True] Translation: X:150.70, Y:-19.72, Z:-10.66 [[ 9.96441850e-01 6.20267338e-02 5.70642167e-02 1.50700846e+02] [-6.16845470e-02 9.98065682e-01 -7.74023180e-03 -1.97209888e+01] [-5.74339376e-02 4.19271054e-03 9.98340505e-01 -1.06573819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.85071405699998 meters 0.039549338438810346 Centerline is valid? [True, True] Translation: X:150.73, Y:-19.72, Z:-10.66 [[ 9.96269815e-01 6.42407527e-02 5.76158011e-02 1.50731568e+02] [-6.38955311e-02 9.97925985e-01 -7.81604138e-03 -1.97232341e+01] [-5.79984134e-02 4.10549390e-03 9.98308233e-01 -1.06590133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.88071405699998 meters 0.03954970560364145 Centerline is valid? [True, True] Translation: X:150.76, Y:-19.73, Z:-10.66 [[ 9.96095554e-01 6.66131819e-02 5.79338461e-02 1.50760768e+02] [-6.62680839e-02 9.97770898e-01 -7.85983560e-03 -1.97259001e+01] [-5.83282743e-02 3.98998232e-03 9.98289483e-01 -1.06608157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.91071405699998 meters 0.03762777036762775 Centerline is valid? [True, True] Translation: X:150.79, Y:-19.73, Z:-10.66 [[ 9.95771906e-01 7.11857589e-02 5.80594362e-02 1.50791864e+02] [-7.08466220e-02 9.97456084e-01 -7.88144765e-03 -1.97254281e+01] [-5.84727846e-02 3.73480923e-03 9.98282017e-01 -1.06629529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.94071405699998 meters 0.0372540204022948 Centerline is valid? [True, True] Translation: X:150.82, Y:-19.73, Z:-10.67 [[ 9.95583254e-01 7.34334915e-02 5.84936417e-02 1.50820960e+02] [-7.30930978e-02 9.97293510e-01 -7.94069842e-03 -1.97279782e+01] [-5.89184424e-02 3.63014491e-03 9.98256199e-01 -1.06653204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.97071405699998 meters 0.03704157441894356 Centerline is valid? [True, True] Translation: X:150.85, Y:-19.73, Z:-10.67 [[ 9.95305419e-01 7.69310259e-02 5.87259717e-02 1.50850346e+02] [-7.65940996e-02 9.97030501e-01 -7.97018541e-03 -1.97292438e+01] [-5.91647396e-02 3.43470580e-03 9.98242323e-01 -1.06681395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.00071405699998 meters 0.03527217274180785 Centerline is valid? [True, True] Translation: X:150.88, Y:-19.73, Z:-10.67 [[ 9.95172979e-01 7.82674882e-02 5.92025532e-02 1.50879130e+02] [-7.79275209e-02 9.96926662e-01 -8.03314488e-03 -1.97300409e+01] [-5.96493378e-02 3.38086052e-03 9.98213668e-01 -1.06695171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.03071405699998 meters 0.03590403153832781 Centerline is valid? [True, True] Translation: X:150.91, Y:-19.73, Z:-10.67 [[ 9.95057536e-01 7.93216764e-02 5.97375295e-02 1.50906145e+02] [-7.89776654e-02 9.96843464e-01 -8.10166615e-03 -1.97342065e+01] [-6.01916036e-02 3.34369333e-03 9.98181241e-01 -1.06717012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.06071405699998 meters 0.0347371704654017 Centerline is valid? [True, True] Translation: X:150.93, Y:-19.74, Z:-10.67 [[ 9.94913101e-01 8.07499894e-02 6.02275729e-02 1.50934797e+02] [-8.04032197e-02 9.96728994e-01 -8.16302324e-03 -1.97362205e+01] [-6.06897322e-02 3.27900799e-03 9.98151293e-01 -1.06737493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.09071405699999 meters 0.03487482630541721 Centerline is valid? [True, True] Translation: X:150.96, Y:-19.74, Z:-10.68 [[ 9.94858616e-01 8.09788400e-02 6.08174400e-02 1.50963120e+02] [-8.06259192e-02 9.96710381e-01 -8.23875651e-03 -1.97404632e+01] [-6.12845387e-02 3.29293590e-03 9.98114904e-01 -1.06756752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.120714057 meters 0.031585138227180766 Centerline is valid? [True, True] Translation: X:150.99, Y:-19.74, Z:-10.68 [[ 9.94803843e-01 8.05709153e-02 6.22385923e-02 1.50991978e+02] [-8.02007601e-02 9.96743109e-01 -8.42693100e-03 -1.97402296e+01] [-6.27148535e-02 3.39156094e-03 9.98025723e-01 -1.06760769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.150714057 meters 0.033644764923463855 Centerline is valid? [True, True] Translation: X:151.02, Y:-19.75, Z:-10.68 [[ 9.94833262e-01 7.96288431e-02 6.29764086e-02 1.51020084e+02] [-7.92482660e-02 9.96818482e-01 -8.52210358e-03 -1.97473664e+01] [-6.34546533e-02 3.48730092e-03 9.97978630e-01 -1.06780621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.180714057 meters 0.037708336164882776 Centerline is valid? [True, True] Translation: X:151.05, Y:-19.76, Z:-10.68 [[ 9.94885195e-01 7.81268152e-02 6.40285094e-02 1.51047686e+02] [-7.77304821e-02 9.96936783e-01 -8.66161065e-03 -1.97581839e+01] [-6.45090803e-02 3.64034129e-03 9.97910480e-01 -1.06804483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.210714057 meters 0.037708336164882776 Centerline is valid? [True, True] Translation: X:151.08, Y:-19.76, Z:-10.68 [[ 9.94887745e-01 7.80939668e-02 6.40289634e-02 1.51076558e+02] [-7.76977813e-02 9.96939361e-01 -8.65825319e-03 -1.97620557e+01] [-6.45091512e-02 3.63908159e-03 9.97910480e-01 -1.06824559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.240714057 meters 0.03662673605028442 Centerline is valid? [True, True] Translation: X:151.11, Y:-19.76, Z:-10.68 [[ 9.94930831e-01 7.73072368e-02 6.43135470e-02 1.51106203e+02] [-7.69060193e-02 9.97000436e-01 -8.69457623e-03 -1.97647775e+01] [-6.47927880e-02 3.70440307e-03 9.97891864e-01 -1.06844463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.270714057 meters 0.034646493789598394 Centerline is valid? [True, True] Translation: X:151.14, Y:-19.77, Z:-10.69 [[ 9.94963581e-01 7.71327265e-02 6.40157411e-02 1.51136027e+02] [-7.67350031e-02 9.97013982e-01 -8.65214166e-03 -1.97661578e+01] [-6.44919522e-02 3.69631775e-03 9.97911382e-01 -1.06866104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.300714057 meters 0.03473881801592152 Centerline is valid? [True, True] Translation: X:151.17, Y:-19.77, Z:-10.69 [[ 9.95134381e-01 7.58246163e-02 6.29141607e-02 1.51165422e+02] [-7.54380206e-02 9.97114255e-01 -8.50107202e-03 -1.97699460e+01] [-6.33771970e-02 3.71358929e-03 9.97982735e-01 -1.06903280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.330714057 meters 0.03366413822770101 Centerline is valid? [True, True] Translation: X:151.20, Y:-19.77, Z:-10.69 [[ 9.95142830e-01 7.53425345e-02 6.33581160e-02 1.51195032e+02] [-7.49496267e-02 9.97150591e-01 -8.55879465e-03 -1.97731490e+01] [-6.38224241e-02 3.76855598e-03 9.97954155e-01 -1.06924340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.360714057 meters 0.035417096194320104 Centerline is valid? [True, True] Translation: X:151.22, Y:-19.78, Z:-10.69 [[ 9.95165593e-01 7.44670468e-02 6.40320275e-02 1.51223732e+02] [-7.40640729e-02 9.97215992e-01 -8.64743683e-03 -1.97791415e+01] [-6.44977109e-02 3.86315885e-03 9.97910377e-01 -1.06947554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.390714057 meters 0.03523979457200714 Centerline is valid? [True, True] Translation: X:151.25, Y:-19.78, Z:-10.70 [[ 9.95101426e-01 7.50197661e-02 6.43831221e-02 1.51252837e+02] [-7.46135812e-02 9.97174625e-01 -8.69367726e-03 -1.97831372e+01] [-6.48534133e-02 3.84723533e-03 9.97887385e-01 -1.06957859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.420714057 meters 0.03644923492416124 Centerline is valid? [True, True] Translation: X:151.28, Y:-19.79, Z:-10.70 [[ 9.95042698e-01 7.49954491e-02 6.53124170e-02 1.51281846e+02] [-7.45774607e-02 9.97176236e-01 -8.81795528e-03 -1.97881545e+01] [-6.57892967e-02 3.90340780e-03 9.97825903e-01 -1.06972706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.450714057 meters 0.03449056463924651 Centerline is valid? [True, True] Translation: X:151.31, Y:-19.79, Z:-10.70 [[ 9.94944384e-01 7.57132193e-02 6.59786393e-02 1.51312211e+02] [-7.52882934e-02 9.97122030e-01 -8.90673519e-03 -1.97884591e+01] [-6.64631124e-02 3.89428701e-03 9.97781283e-01 -1.06986368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.480714057 meters 0.032809502690006695 Centerline is valid? [True, True] Translation: X:151.34, Y:-19.79, Z:-10.70 [[ 9.94883465e-01 7.59661954e-02 6.66035133e-02 1.51342778e+02] [-7.55338147e-02 9.97102715e-01 -8.98986191e-03 -1.97894429e+01] [-6.70934696e-02 3.91304753e-03 9.97739021e-01 -1.07002615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.51071405699997 meters 0.036870004385323105 Centerline is valid? [True, True] Translation: X:151.37, Y:-19.80, Z:-10.70 [[ 9.94919643e-01 7.53427465e-02 6.67710584e-02 1.51370827e+02] [-7.49067846e-02 9.97149812e-01 -9.01250037e-03 -1.97990689e+01] [-6.72597749e-02 3.96510836e-03 9.97727618e-01 -1.07018494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54071405699997 meters 0.03787277657909925 Centerline is valid? [True, True] Translation: X:151.40, Y:-19.80, Z:-10.70 [[ 9.94971429e-01 7.47371673e-02 6.66799095e-02 1.51401180e+02] [-7.43011262e-02 9.97195247e-01 -8.99896555e-03 -1.98044764e+01] [-6.71654461e-02 3.99932124e-03 9.97733836e-01 -1.07043093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.57071405699998 meters 0.037093101087784144 Centerline is valid? [True, True] Translation: X:151.43, Y:-19.81, Z:-10.71 [[ 9.95127771e-01 7.30026324e-02 6.62671460e-02 1.51431375e+02] [-7.25681549e-02 9.97323358e-01 -8.94325995e-03 -1.98072872e+01] [-6.67426542e-02 4.09080183e-03 9.97761837e-01 -1.07070889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60071405699998 meters 0.04022413271438018 Centerline is valid? [True, True] Translation: X:151.46, Y:-19.82, Z:-10.71 [[ 9.95144975e-01 7.26676467e-02 6.63768905e-02 1.51460808e+02] [-7.22309935e-02 9.97347702e-01 -8.95794006e-03 -1.98160942e+01] [-6.68517916e-02 4.11998029e-03 9.97754411e-01 -1.07091890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.63071405699998 meters 0.03760986980510566 Centerline is valid? [True, True] Translation: X:151.49, Y:-19.82, Z:-10.71 [[ 9.95245773e-01 7.15486297e-02 6.60805947e-02 1.51492106e+02] [-7.11130788e-02 9.97428348e-01 -8.92304939e-03 -1.98157617e+01] [-6.65490904e-02 4.18143264e-03 9.97774390e-01 -1.07114449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.66071405699998 meters 0.035993863844502434 Centerline is valid? [True, True] Translation: X:151.52, Y:-19.82, Z:-10.71 [[ 9.95241122e-01 7.15510363e-02 6.61480085e-02 1.51522984e+02] [-7.11144446e-02 9.97428148e-01 -8.93447967e-03 -1.98171092e+01] [-6.66171569e-02 4.18788269e-03 9.97769821e-01 -1.07137788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.69071405699998 meters 0.04052554207237443 Centerline is valid? [True, True] Translation: X:151.55, Y:-19.83, Z:-10.72 [[ 9.95336259e-01 7.09885725e-02 6.53173414e-02 1.51553289e+02] [-7.05615744e-02 9.97468396e-01 -8.82405875e-03 -1.98281492e+01] [-6.57783911e-02 4.17401118e-03 9.97825526e-01 -1.07169055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.72071405699998 meters 0.03986121832289213 Centerline is valid? [True, True] Translation: X:151.58, Y:-19.83, Z:-10.72 [[ 9.95548341e-01 6.92874957e-02 6.38963463e-02 1.51584619e+02] [-6.88744329e-02 9.97587858e-01 -8.64739541e-03 -1.98306167e+01] [-6.43413756e-02 4.20807554e-03 9.97919075e-01 -1.07206111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.75071405699998 meters 0.040906577765030164 Centerline is valid? [True, True] Translation: X:151.62, Y:-19.84, Z:-10.72 [[ 9.95679996e-01 6.81381654e-02 6.30756315e-02 1.51615182e+02] [-6.77332320e-02 9.97666930e-01 -8.53848174e-03 -1.98365726e+01] [-6.35102681e-02 4.22927909e-03 9.97972224e-01 -1.07235731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.78071405699998 meters 0.0415197489525526 Centerline is valid? [True, True] Translation: X:151.65, Y:-19.84, Z:-10.73 [[ 9.95967877e-01 6.49897405e-02 6.18410938e-02 1.51645498e+02] [-6.45943527e-02 9.97876472e-01 -8.37359917e-03 -1.98409187e+01] [-6.22539705e-02 4.34525036e-03 9.98050881e-01 -1.07263665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.81071405699998 meters 0.04294502952133337 Centerline is valid? [True, True] Translation: X:151.68, Y:-19.85, Z:-10.73 [[ 9.96091579e-01 6.35992107e-02 6.12919816e-02 1.51676227e+02] [-6.32082150e-02 9.97965854e-01 -8.29912728e-03 -1.98477136e+01] [-6.16951228e-02 4.39253404e-03 9.98085376e-01 -1.07285729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.84071405699999 meters 0.045179843536665 Centerline is valid? [True, True] Translation: X:151.71, Y:-19.85, Z:-10.73 [[ 9.96360904e-01 5.96590979e-02 6.08748038e-02 1.51705918e+02] [-5.92656063e-02 9.98208151e-01 -8.25078272e-03 -1.98539064e+01] [-6.12579596e-02 4.61297517e-03 9.98111308e-01 -1.07304689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.870714057 meters 0.04255305809337293 Centerline is valid? [True, True] Translation: X:151.74, Y:-19.86, Z:-10.73 [[ 9.96381817e-01 5.90028963e-02 6.11713398e-02 1.51737748e+02] [-5.86044129e-02 9.98246866e-01 -8.28958275e-03 -1.98550752e+01] [-6.15532076e-02 4.67467907e-03 9.98092856e-01 -1.07314949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.900714057 meters 0.04738699920258099 Centerline is valid? [True, True] Translation: X:151.77, Y:-19.86, Z:-10.73 [[ 9.96482807e-01 5.67258523e-02 6.16781375e-02 1.51766234e+02] [-5.63154052e-02 9.98377908e-01 -8.37419430e-03 -1.98649723e+01] [-6.20531233e-02 4.87131134e-03 9.98060960e-01 -1.07334687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.930714057 meters 0.04377245212100343 Centerline is valid? [True, True] Translation: X:151.80, Y:-19.87, Z:-10.74 [[ 9.96459395e-01 5.63838423e-02 6.23661418e-02 1.51798890e+02] [-5.59635972e-02 9.98396915e-01 -8.46616404e-03 -1.98651278e+01] [-6.27435185e-02 4.94595506e-03 9.98017429e-01 -1.07352385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.960714057 meters 0.0465279055549621 Centerline is valid? [True, True] Translation: X:151.83, Y:-19.87, Z:-10.74 [[ 9.96540675e-01 5.51680373e-02 6.21544043e-02 1.51829269e+02] [-5.47472717e-02 9.98464456e-01 -8.45380649e-03 -1.98737279e+01] [-6.25253434e-02 5.02177797e-03 9.98030743e-01 -1.07372235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.990714057 meters 0.04963516353335936 Centerline is valid? [True, True] Translation: X:151.86, Y:-19.88, Z:-10.74 [[ 9.96571422e-01 5.46642546e-02 6.21065267e-02 1.51859078e+02] [-5.42427270e-02 9.98491988e-01 -8.45432405e-03 -1.98819430e+01] [-6.24750186e-02 5.05651037e-03 9.98033719e-01 -1.07391204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.020714057 meters 0.051232454331008946 Centerline is valid? [True, True] Translation: X:151.89, Y:-19.89, Z:-10.74 [[ 9.96560874e-01 5.37656685e-02 6.30529800e-02 1.51889113e+02] [-5.33284037e-02 9.98540007e-01 -8.59864753e-03 -1.98877636e+01] [-6.34232351e-02 5.20656092e-03 9.97973138e-01 -1.07405184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.050714057 meters 0.046888085267470535 Centerline is valid? [True, True] Translation: X:151.92, Y:-19.89, Z:-10.74 [[ 9.96494854e-01 5.37766585e-02 6.40786775e-02 1.51921339e+02] [-5.33249567e-02 9.98538964e-01 -8.73994074e-03 -1.98873152e+01] [-6.44550610e-02 5.29231327e-03 9.97906577e-01 -1.07419472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.080714057 meters 0.043435081746582054 Centerline is valid? [True, True] Translation: X:151.95, Y:-19.89, Z:-10.74 [[ 9.96447484e-01 5.36850057e-02 6.48870640e-02 1.51953764e+02] [-5.32205561e-02 9.98543418e-01 -8.86647983e-03 -1.98883514e+01] [-6.52685477e-02 5.38165589e-03 9.97853223e-01 -1.07436340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.110714057 meters 0.04386042421580139 Centerline is valid? [True, True] Translation: X:151.99, Y:-19.89, Z:-10.75 [[ 9.96428768e-01 5.39690715e-02 6.49388208e-02 1.51986761e+02] [-5.35033956e-02 9.98528093e-01 -8.89008203e-03 -1.98940107e+01] [-6.53230264e-02 5.38388606e-03 9.97849646e-01 -1.07461497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.140714057 meters 0.04464790525068258 Centerline is valid? [True, True] Translation: X:152.02, Y:-19.90, Z:-10.75 [[ 9.96459480e-01 5.43642415e-02 6.41329418e-02 1.52018737e+02] [-5.39096807e-02 9.98507053e-01 -8.79838332e-03 -1.98993031e+01] [-6.45155121e-02 5.30984605e-03 9.97902578e-01 -1.07479815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.170714057 meters 0.04572566932470733 Centerline is valid? [True, True] Translation: X:152.05, Y:-19.91, Z:-10.75 [[ 9.96411563e-01 5.56279729e-02 6.37928351e-02 1.52049609e+02] [-5.51797580e-02 9.98437939e-01 -8.76790779e-03 -1.99059634e+01] [-6.41809277e-02 5.21637151e-03 9.97924645e-01 -1.07501743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.200714057 meters 0.0478065298154715 Centerline is valid? [True, True] Translation: X:152.08, Y:-19.91, Z:-10.75 [[ 9.96346031e-01 5.69193837e-02 6.36770825e-02 1.52080412e+02] [-5.64744640e-02 9.98365553e-01 -8.76679654e-03 -1.99133124e+01] [-6.40720063e-02 5.13863384e-03 9.97932048e-01 -1.07520955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.230714057 meters 0.045606330493071945 Centerline is valid? [True, True] Translation: X:152.11, Y:-19.92, Z:-10.75 [[ 9.96329050e-01 5.83599181e-02 6.26302195e-02 1.52112369e+02] [-5.79313301e-02 9.98283191e-01 -8.63893113e-03 -1.99151968e+01] [-6.30268627e-02 4.97896612e-03 9.97999411e-01 -1.07547482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26071405699997 meters 0.04385975854662158 Centerline is valid? [True, True] Translation: X:152.14, Y:-19.92, Z:-10.76 [[ 9.96294398e-01 5.94985862e-02 6.21078896e-02 1.52144388e+02] [-5.90791934e-02 9.98216520e-01 -8.56899554e-03 -1.99185626e+01] [-6.25069645e-02 4.86795824e-03 9.98032656e-01 -1.07572705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.29071405699997 meters 0.04734964049124596 Centerline is valid? [True, True] Translation: X:152.17, Y:-19.93, Z:-10.76 [[ 9.96252877e-01 6.07213330e-02 6.15883528e-02 1.52174131e+02] [-6.03103037e-02 9.98143377e-01 -8.51269497e-03 -1.99278141e+01] [-6.19909086e-02 4.76638460e-03 9.98065333e-01 -1.07608453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32071405699998 meters 0.043040399165331096 Centerline is valid? [True, True] Translation: X:152.21, Y:-19.93, Z:-10.76 [[ 9.96286010e-01 6.20671730e-02 5.96812582e-02 1.52206449e+02] [-6.16827532e-02 9.98061595e-01 -8.26386093e-03 -1.99251456e+01] [-6.00784862e-02 4.55186471e-03 9.98183278e-01 -1.07635433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.35071405699998 meters 0.043107800780480106 Centerline is valid? [True, True] Translation: X:152.24, Y:-19.93, Z:-10.77 [[ 9.96206271e-01 6.33111099e-02 5.97056923e-02 1.52236863e+02] [-6.29283912e-02 9.97983775e-01 -8.27061000e-03 -1.99306110e+01] [-6.01089337e-02 4.48205038e-03 9.98181761e-01 -1.07662210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.38071405699998 meters 0.039678323340226786 Centerline is valid? [True, True] Translation: X:152.27, Y:-19.93, Z:-10.77 [[ 9.96152138e-01 6.47497630e-02 5.90625683e-02 1.52269751e+02] [-6.43777626e-02 9.97892061e-01 -8.18163739e-03 -1.99298376e+01] [-5.94678271e-02 4.34783957e-03 9.98220754e-01 -1.07679485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.41071405699998 meters 0.043184151481768074 Centerline is valid? [True, True] Translation: X:152.30, Y:-19.94, Z:-10.77 [[ 9.96063106e-01 6.57177707e-02 5.94933971e-02 1.52300107e+02] [-6.53411047e-02 9.97828826e-01 -8.25675358e-03 -1.99395467e+01] [-5.99068420e-02 4.33688333e-03 9.98194551e-01 -1.07707147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.44071405699998 meters 0.04205488315325679 Centerline is valid? [True, True] Translation: X:152.33, Y:-19.94, Z:-10.77 [[ 9.96005509e-01 6.62828082e-02 5.98298883e-02 1.52330921e+02] [-6.59019287e-02 9.97791425e-01 -8.31914792e-03 -1.99425651e+01] [-6.02491660e-02 4.34301212e-03 9.98173921e-01 -1.07718204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.47071405699998 meters 0.04085666689644334 Centerline is valid? [True, True] Translation: X:152.36, Y:-19.95, Z:-10.77 [[ 9.95946707e-01 6.68238912e-02 6.02056882e-02 1.52362390e+02] [-6.64390577e-02 9.97755349e-01 -8.37353165e-03 -1.99456280e+01] [-6.06300994e-02 4.33958208e-03 9.98150870e-01 -1.07735712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.50071405699998 meters 0.039220609799431844 Centerline is valid? [True, True] Translation: X:152.39, Y:-19.95, Z:-10.78 [[ 9.95832848e-01 6.79568782e-02 6.08177767e-02 1.52393520e+02] [-6.75661331e-02 9.97678922e-01 -8.46085285e-03 -1.99491030e+01] [-6.12515871e-02 4.31637318e-03 9.98113026e-01 -1.07754174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.53071405699998 meters 0.04064986098319957 Centerline is valid? [True, True] Translation: X:152.42, Y:-19.96, Z:-10.78 [[ 9.95773075e-01 6.87543138e-02 6.09001402e-02 1.52423282e+02] [-6.83638823e-02 9.97624463e-01 -8.47407159e-03 -1.99562544e+01] [-6.13380987e-02 4.27488231e-03 9.98107891e-01 -1.07773816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.56071405699998 meters 0.039448098748039145 Centerline is valid? [True, True] Translation: X:152.45, Y:-19.96, Z:-10.78 [[ 9.95700003e-01 6.96820099e-02 6.10403282e-02 1.52453816e+02] [-6.92910926e-02 9.97560268e-01 -8.50033734e-03 -1.99585593e+01] [-6.14837268e-02 4.23423487e-03 9.98099105e-01 -1.07788659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.59071405699999 meters 0.03867150626224412 Centerline is valid? [True, True] Translation: X:152.48, Y:-19.96, Z:-10.78 [[ 9.95535634e-01 7.16159291e-02 6.14813739e-02 1.52483738e+02] [-7.12229999e-02 9.97423672e-01 -8.56175635e-03 -1.99631731e+01] [-6.19361358e-02 4.14464565e-03 9.98071509e-01 -1.07805192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.620714057 meters 0.0387516893674743 Centerline is valid? [True, True] Translation: X:152.51, Y:-19.97, Z:-10.78 [[ 9.95441450e-01 7.29175477e-02 6.14764299e-02 1.52513948e+02] [-7.25271504e-02 9.97329695e-01 -8.56106787e-03 -1.99676713e+01] [-6.19365212e-02 4.06333153e-03 9.98071819e-01 -1.07820906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.650714057 meters 0.038904482642500404 Centerline is valid? [True, True] Translation: X:152.54, Y:-19.97, Z:-10.78 [[ 9.95372366e-01 7.42863872e-02 6.09539651e-02 1.52543054e+02] [-7.39051529e-02 9.97229149e-01 -8.48843467e-03 -1.99726406e+01] [-6.14156458e-02 3.94434119e-03 9.98104484e-01 -1.07846631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.680714057 meters 0.03728734039933373 Centerline is valid? [True, True] Translation: X:152.57, Y:-19.97, Z:-10.79 [[ 9.95319212e-01 7.51042637e-02 6.08195313e-02 1.52572450e+02] [-7.47262880e-02 9.97168121e-01 -8.46878254e-03 -1.99746054e+01] [-6.12833395e-02 3.88432416e-03 9.98112852e-01 -1.07867253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.710714057 meters 0.0372297460023147 Centerline is valid? [True, True] Translation: X:152.60, Y:-19.98, Z:-10.79 [[ 9.95327909e-01 7.59205906e-02 5.96524806e-02 1.52601327e+02] [-7.55585859e-02 9.97106785e-01 -8.30420848e-03 -1.99790961e+01] [-6.01103536e-02 3.75815337e-03 9.98184663e-01 -1.07893317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.740714057 meters 0.037794202045079155 Centerline is valid? [True, True] Translation: X:152.63, Y:-19.98, Z:-10.79 [[ 9.95311670e-01 7.72545957e-02 5.81928477e-02 1.52629224e+02] [-7.69124900e-02 9.97004951e-01 -8.09920026e-03 -1.99839489e+01] [-5.86442577e-02 3.58547171e-03 9.98272506e-01 -1.07939554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.770714057 meters 0.03917324000597732 Centerline is valid? [True, True] Translation: X:152.66, Y:-19.99, Z:-10.80 [[ 9.95307787e-01 7.89942802e-02 5.58776673e-02 1.52657590e+02] [-7.86817741e-02 9.96869470e-01 -7.77419374e-03 -1.99883159e+01] [-5.63168575e-02 3.34116157e-03 9.98407356e-01 -1.07975369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.800714057 meters 0.03835633276732113 Centerline is valid? [True, True] Translation: X:152.69, Y:-19.99, Z:-10.80 [[ 9.95259520e-01 7.99792482e-02 5.53336042e-02 1.52686453e+02] [-7.96744675e-02 9.96791228e-01 -7.69588058e-03 -1.99899501e+01] [-5.57715620e-02 3.25072297e-03 9.98438263e-01 -1.07990313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.830714057 meters 0.03913672844338322 Centerline is valid? [True, True] Translation: X:152.71, Y:-19.99, Z:-10.80 [[ 9.95213202e-01 8.05606519e-02 5.53232676e-02 1.52714210e+02] [-8.02570797e-02 9.96744527e-01 -7.69086158e-03 -1.99941584e+01] [-5.57627450e-02 3.21396309e-03 9.98438875e-01 -1.08012590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.860714057 meters 0.03912943258149996 Centerline is valid? [True, True] Translation: X:152.74, Y:-20.00, Z:-10.80 [[ 9.95022975e-01 8.22690514e-02 5.62234999e-02 1.52742343e+02] [-8.19585222e-02 9.96605134e-01 -7.81072683e-03 -1.99980184e+01] [-5.66752097e-02 3.16385769e-03 9.98387655e-01 -1.08024670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.890714057 meters 0.0388367253203424 Centerline is valid? [True, True] Translation: X:152.77, Y:-20.00, Z:-10.80 [[ 9.94929477e-01 8.29718967e-02 5.68418818e-02 1.52770976e+02] [-8.26557894e-02 9.96546891e-01 -7.89390340e-03 -2.00019628e+01] [-5.73005728e-02 3.15556657e-03 9.98351985e-01 -1.08042955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.920714057 meters 0.039572320601523076 Centerline is valid? [True, True] Translation: X:152.80, Y:-20.01, Z:-10.81 [[ 9.94893879e-01 8.35110533e-02 5.66751618e-02 1.52798628e+02] [-8.31978771e-02 9.96501993e-01 -7.86715522e-03 -2.00067776e+01] [-5.71339061e-02 3.11173143e-03 9.98361675e-01 -1.08072363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.950714057 meters 0.040282027476932734 Centerline is valid? [True, True] Translation: X:152.83, Y:-20.01, Z:-10.81 [[ 9.94970035e-01 8.28443272e-02 5.63155943e-02 1.52825765e+02] [-8.25343175e-02 9.96557600e-01 -7.81259751e-03 -2.00112273e+01] [-5.67689628e-02 3.12533128e-03 9.98382450e-01 -1.08096293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.980714057 meters 0.03616350004905558 Centerline is valid? [True, True] Translation: X:152.86, Y:-20.01, Z:-10.81 [[ 9.95128567e-01 8.10893466e-02 5.60682930e-02 1.52855708e+02] [-8.07795608e-02 9.96701679e-01 -7.77336715e-03 -2.00081745e+01] [-5.65136991e-02 3.20632763e-03 9.98396675e-01 -1.08094307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.01071405699997 meters 0.03771052124753028 Centerline is valid? [True, True] Translation: X:152.88, Y:-20.01, Z:-10.81 [[ 9.95235857e-01 7.98664459e-02 5.59190535e-02 1.52882870e+02] [-7.95565179e-02 9.96800227e-01 -7.75034835e-03 -2.00133460e+01] [-5.63591180e-02 3.26469940e-03 9.98405224e-01 -1.08114168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04071405699997 meters 0.03635360030998655 Centerline is valid? [True, True] Translation: X:152.91, Y:-20.02, Z:-10.81 [[ 9.95506996e-01 7.65146613e-02 5.57792700e-02 1.52912570e+02] [-7.62014149e-02 9.97062525e-01 -7.72436983e-03 -2.00159438e+01] [-5.62064473e-02 3.43920492e-03 9.98413245e-01 -1.08130009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.07071405699998 meters 0.03759964414749994 Centerline is valid? [True, True] Translation: X:152.94, Y:-20.02, Z:-10.82 [[ 9.95714269e-01 7.42876323e-02 5.50857667e-02 1.52940943e+02] [-7.39787721e-02 9.97230644e-01 -7.62782125e-03 -2.00223000e+01] [-5.54998674e-02 3.51995308e-03 9.98452490e-01 -1.08155792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10071405699998 meters 0.03759964414749994 Centerline is valid? [True, True] Translation: X:152.97, Y:-20.03, Z:-10.82 [[ 9.95719439e-01 7.42180387e-02 5.50861352e-02 1.52968981e+02] [-7.39092192e-02 9.97235822e-01 -7.62515922e-03 -2.00261194e+01] [-5.54997916e-02 3.52114602e-03 9.98452490e-01 -1.08175294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.13071405699998 meters 0.0440697573544688 Centerline is valid? [True, True] Translation: X:153.00, Y:-20.04, Z:-10.82 [[ 9.96074632e-01 6.99987816e-02 5.41802431e-02 1.52997136e+02] [-6.96940980e-02 9.97540254e-01 -7.49497151e-03 -2.00396848e+01] [-5.45716123e-02 3.68950781e-03 9.98503043e-01 -1.08211878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.16071405699998 meters 0.041324029013490624 Centerline is valid? [True, True] Translation: X:153.03, Y:-20.04, Z:-10.82 [[ 9.96231730e-01 6.82135545e-02 5.35653900e-02 1.53027063e+02] [-6.79131541e-02 9.97663714e-01 -7.41055208e-03 -2.00390743e+01] [-5.39457461e-02 3.74483253e-03 9.98536846e-01 -1.08223403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.19071405699998 meters 0.04164619576614355 Centerline is valid? [True, True] Translation: X:153.06, Y:-20.04, Z:-10.82 [[ 9.96390007e-01 6.62009327e-02 5.31450028e-02 1.53056652e+02] [-6.59025089e-02 9.97798995e-01 -7.35013307e-03 -2.00432782e+01] [-5.35146160e-02 3.82121012e-03 9.98559755e-01 -1.08243076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.22071405699998 meters 0.045552300485112135 Centerline is valid? [True, True] Translation: X:153.09, Y:-20.05, Z:-10.83 [[ 9.96612288e-01 6.39631156e-02 5.16978455e-02 1.53085264e+02] [-6.36777763e-02 9.97944901e-01 -7.14944175e-03 -2.00515982e+01] [-5.20489019e-02 3.83321767e-03 9.98637180e-01 -1.08280030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.25071405699998 meters 0.04494334293891992 Centerline is valid? [True, True] Translation: X:153.12, Y:-20.05, Z:-10.83 [[ 9.96672833e-01 6.33609209e-02 5.12704301e-02 1.53115791e+02] [-6.30794937e-02 9.97983319e-01 -7.09033327e-03 -2.00540698e+01] [-5.16162840e-02 3.83262978e-03 9.98659637e-01 -1.08298589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.28071405699998 meters 0.04684093679346122 Centerline is valid? [True, True] Translation: X:153.14, Y:-20.06, Z:-10.83 [[ 9.96696271e-01 6.27359886e-02 5.15823558e-02 1.53144474e+02] [-6.24502762e-02 9.98022581e-01 -7.13375536e-03 -2.00600144e+01] [-5.19278991e-02 3.88885500e-03 9.98643265e-01 -1.08317735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.31071405699998 meters 0.04521585089258819 Centerline is valid? [True, True] Translation: X:153.17, Y:-20.06, Z:-10.83 [[ 9.96588840e-01 6.36331673e-02 5.25500085e-02 1.53174829e+02] [-6.33379106e-02 9.97965683e-01 -7.26664776e-03 -2.00604581e+01] [-5.29055050e-02 3.91345232e-03 9.98591855e-01 -1.08327638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.34071405699999 meters 0.04137917710849027 Centerline is valid? [True, True] Translation: X:153.21, Y:-20.06, Z:-10.83 [[ 9.96482708e-01 6.49712533e-02 5.29239926e-02 1.53205966e+02] [-6.46737125e-02 9.97879637e-01 -7.31718094e-03 -2.00587289e+01] [-5.32871809e-02 3.86865319e-03 9.98571735e-01 -1.08337468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.370714057 meters 0.0411724979049917 Centerline is valid? [True, True] Translation: X:153.24, Y:-20.06, Z:-10.84 [[ 9.96369310e-01 6.65292973e-02 5.31229834e-02 1.53235972e+02] [-6.62316991e-02 9.97777236e-01 -7.34495730e-03 -2.00610120e+01] [-5.34935584e-02 3.79986458e-03 9.98560965e-01 -1.08358408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.400714057 meters 0.03801445929256389 Centerline is valid? [True, True] Translation: X:153.27, Y:-20.06, Z:-10.84 [[ 9.96042176e-01 7.05506992e-02 5.40609194e-02 1.53267323e+02] [-7.02484394e-02 9.97501531e-01 -7.47345848e-03 -2.00582520e+01] [-5.44531075e-02 3.64618463e-03 9.98509672e-01 -1.08362950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.430714057 meters 0.03793585717332934 Centerline is valid? [True, True] Translation: X:153.30, Y:-20.06, Z:-10.84 [[ 9.95885182e-01 7.25342918e-02 5.43275270e-02 1.53296804e+02] [-7.22319606e-02 9.97359582e-01 -7.51058704e-03 -2.00601285e+01] [-5.47288547e-02 3.55549856e-03 9.98494923e-01 -1.08381583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.460714057 meters 0.03686165583267155 Centerline is valid? [True, True] Translation: X:153.33, Y:-20.06, Z:-10.84 [[ 9.95562618e-01 7.60218854e-02 5.54594109e-02 1.53327124e+02] [-7.57123281e-02 9.97100244e-01 -7.66464897e-03 -2.00607477e+01] [-5.58812732e-02 3.43167689e-03 9.98431523e-01 -1.08396472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.490714057 meters 0.03694797479315714 Centerline is valid? [True, True] Translation: X:153.36, Y:-20.06, Z:-10.84 [[ 9.95438729e-01 7.71336626e-02 5.61438795e-02 1.53355707e+02] [-7.68181396e-02 9.97014925e-01 -7.75973292e-03 -2.00644678e+01] [-5.65748224e-02 3.41147030e-03 9.98392534e-01 -1.08410455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.520714057 meters 0.03792095025757427 Centerline is valid? [True, True] Translation: X:153.38, Y:-20.07, Z:-10.84 [[ 9.95369478e-01 7.80514460e-02 5.61032499e-02 1.53383409e+02] [-7.77380449e-02 9.96943694e-01 -7.75034959e-03 -2.00683830e+01] [-5.65367072e-02 3.35310446e-03 9.98394891e-01 -1.08433485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.550714057 meters 0.03820278235785969 Centerline is valid? [True, True] Translation: X:153.41, Y:-20.07, Z:-10.85 [[ 9.95361631e-01 7.81639884e-02 5.60857765e-02 1.53411601e+02] [-7.78512527e-02 9.96934919e-01 -7.74277362e-03 -2.00727351e+01] [-5.65190751e-02 3.34051182e-03 9.98395931e-01 -1.08459577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.580714057 meters 0.03744850564800814 Centerline is valid? [True, True] Translation: X:153.44, Y:-20.08, Z:-10.85 [[ 9.95381952e-01 7.82816433e-02 5.55585592e-02 1.53440268e+02] [-7.79751659e-02 9.96925827e-01 -7.66612919e-03 -2.00758261e+01] [-5.59878798e-02 3.29853876e-03 9.98426000e-01 -1.08486388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.610714057 meters 0.034574533942494656 Centerline is valid? [True, True] Translation: X:153.47, Y:-20.08, Z:-10.85 [[ 9.95470452e-01 7.75259246e-02 5.50300914e-02 1.53469621e+02] [-7.72243199e-02 9.96984857e-01 -7.58938095e-03 -2.00758754e+01] [-5.54525416e-02 3.30534310e-03 9.98455853e-01 -1.08511075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.640714057 meters 0.03741459318716349 Centerline is valid? [True, True] Translation: X:153.50, Y:-20.08, Z:-10.85 [[ 9.95499615e-01 7.79417360e-02 5.39036418e-02 1.53496742e+02] [-7.76531702e-02 9.96952744e-01 -7.43041617e-03 -2.00825785e+01] [-5.43185232e-02 3.21118776e-03 9.98518496e-01 -1.08547577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.670714057 meters 0.037865691783044844 Centerline is valid? [True, True] Translation: X:153.52, Y:-20.09, Z:-10.86 [[ 9.95486358e-01 7.81908502e-02 5.37875727e-02 1.53524462e+02] [-7.79041552e-02 9.96933319e-01 -7.40951938e-03 -2.00865385e+01] [-5.42019799e-02 3.18580005e-03 9.98524910e-01 -1.08573425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.700714057 meters 0.03926652311623862 Centerline is valid? [True, True] Translation: X:153.55, Y:-20.09, Z:-10.86 [[ 9.95559226e-01 7.75692359e-02 5.33370517e-02 1.53551980e+02] [-7.72866888e-02 9.96981871e-01 -7.34284778e-03 -2.00917941e+01] [-5.37456526e-02 3.18799574e-03 9.98549569e-01 -1.08601633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.730714057 meters 0.03986814727872568 Centerline is valid? [True, True] Translation: X:153.58, Y:-20.10, Z:-10.86 [[ 9.95625936e-01 7.68985302e-02 5.30623289e-02 1.53580296e+02] [-7.66181982e-02 9.97033780e-01 -7.30022436e-03 -2.00952667e+01] [-5.34663109e-02 3.20275268e-03 9.98564518e-01 -1.08625877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76071405699997 meters 0.04177181531697102 Centerline is valid? [True, True] Translation: X:153.61, Y:-20.10, Z:-10.86 [[ 9.95721370e-01 7.49544847e-02 5.40442278e-02 1.53609630e+02] [-7.46610628e-02 9.97181282e-01 -7.43082800e-03 -2.01014196e+01] [-5.44488663e-02 3.36403475e-03 9.98510893e-01 -1.08643103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.79071405699997 meters 0.03757925862715146 Centerline is valid? [True, True] Translation: X:153.64, Y:-20.10, Z:-10.86 [[ 9.95771328e-01 7.35516830e-02 5.50419083e-02 1.53638663e+02] [-7.32451694e-02 9.97285249e-01 -7.56821235e-03 -2.00989500e+01] [-5.54491379e-02 3.50465496e-03 9.98455362e-01 -1.08645423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82071405699998 meters 0.04176182865885898 Centerline is valid? [True, True] Translation: X:153.67, Y:-20.11, Z:-10.87 [[ 9.95818236e-01 7.21304749e-02 5.60645596e-02 1.53665814e+02] [-7.18105888e-02 9.97388549e-01 -7.70211611e-03 -2.01094420e+01] [-5.64737070e-02 3.64387865e-03 9.98397437e-01 -1.08674659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.85071405699998 meters 0.04668863751254935 Centerline is valid? [True, True] Translation: X:153.69, Y:-20.12, Z:-10.87 [[ 9.96057672e-01 6.80879801e-02 5.68607165e-02 1.53693593e+02] [-6.77525787e-02 9.97671601e-01 -7.80799752e-03 -2.01210260e+01] [-5.72599529e-02 3.92475566e-03 9.98351588e-01 -1.08706007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.88071405699998 meters 0.04866677938312612 Centerline is valid? [True, True] Translation: X:153.72, Y:-20.13, Z:-10.87 [[ 9.96133505e-01 6.64376568e-02 5.74811123e-02 1.53722320e+02] [-6.60922209e-02 9.97782308e-01 -7.89203416e-03 -2.01278692e+01] [-5.78779652e-02 4.06246527e-03 9.98315400e-01 -1.08729344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.91071405699998 meters 0.042211426004166164 Centerline is valid? [True, True] Translation: X:153.75, Y:-20.12, Z:-10.87 [[ 9.96363769e-01 6.22987919e-02 5.81214254e-02 1.53753700e+02] [-6.19386733e-02 9.98048065e-01 -7.97879097e-03 -2.01227686e+01] [-5.85050452e-02 4.34981426e-03 9.98277636e-01 -1.08731831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.94071405699998 meters 0.04342673787070495 Centerline is valid? [True, True] Translation: X:153.78, Y:-20.13, Z:-10.87 [[ 9.96417678e-01 6.06316434e-02 5.89543392e-02 1.53784410e+02] [-6.02582214e-02 9.98150014e-01 -8.09301839e-03 -2.01293817e+01] [-5.93359674e-02 4.51154298e-03 9.98227874e-01 -1.08749283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.97071405699998 meters 0.04584673814410067 Centerline is valid? [True, True] Translation: X:153.81, Y:-20.14, Z:-10.88 [[ 9.96501052e-01 5.73434193e-02 6.08061351e-02 1.53813057e+02] [-5.69399097e-02 9.98342693e-01 -8.34954785e-03 -2.01378484e+01] [-6.11841523e-02 4.85803737e-03 9.98114672e-01 -1.08767747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.00071405699998 meters 0.04437195624036937 Centerline is valid? [True, True] Translation: X:153.84, Y:-20.14, Z:-10.88 [[ 9.96514285e-01 5.66480692e-02 6.12394993e-02 1.53844891e+02] [-5.62374796e-02 9.98382009e-01 -8.40897404e-03 -2.01409444e+01] [-6.16167665e-02 4.93570766e-03 9.98087678e-01 -1.08788430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.03071405699998 meters 0.04566587496972824 Centerline is valid? [True, True] Translation: X:153.88, Y:-20.15, Z:-10.88 [[ 9.96528511e-01 5.60752332e-02 6.15345017e-02 1.53876406e+02] [-5.56586282e-02 9.98413973e-01 -8.46495002e-03 -2.01478362e+01] [-6.19115804e-02 5.01063809e-03 9.98069061e-01 -1.08814823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.06071405699998 meters 0.0466916956607605 Centerline is valid? [True, True] Translation: X:153.91, Y:-20.15, Z:-10.89 [[ 9.96613088e-01 5.58087396e-02 6.03964955e-02 1.53906872e+02] [-5.54060330e-02 9.98429213e-01 -8.32330323e-03 -2.01539547e+01] [-6.07661385e-02 4.94878271e-03 9.98139763e-01 -1.08853669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.09071405699999 meters 0.04740078375366951 Centerline is valid? [True, True] Translation: X:153.94, Y:-20.16, Z:-10.89 [[ 9.96623882e-01 5.60680656e-02 5.99767365e-02 1.53937999e+02] [-5.56705971e-02 9.98414866e-01 -8.27893601e-03 -2.01597361e+01] [-6.03458492e-02 4.91204462e-03 9.98165442e-01 -1.08881969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.120714057 meters 0.04600205651120138 Centerline is valid? [True, True] Translation: X:153.97, Y:-20.16, Z:-10.89 [[ 9.96636372e-01 5.70897578e-02 5.87937176e-02 1.53969615e+02] [-5.67086949e-02 9.98357657e-01 -8.13095205e-03 -2.01627998e+01] [-5.91613522e-02 4.76948756e-03 9.98237039e-01 -1.08926268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.150714057 meters 0.04624519653472435 Centerline is valid? [True, True] Translation: X:154.00, Y:-20.17, Z:-10.90 [[ 9.96638462e-01 5.75478919e-02 5.83096614e-02 1.54001712e+02] [-5.71730258e-02 9.98331601e-01 -8.07829467e-03 -2.01675143e+01] [-5.86772665e-02 4.71739940e-03 9.98265859e-01 -1.08960176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.180714057 meters 0.04639931236974315 Centerline is valid? [True, True] Translation: X:154.03, Y:-20.17, Z:-10.90 [[ 9.96640068e-01 5.84254513e-02 5.74024489e-02 1.54033135e+02] [-5.80628129e-02 9.98281145e-01 -7.96657009e-03 -2.01726322e+01] [-5.77692329e-02 4.60685530e-03 9.98319334e-01 -1.08999656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.210714057 meters 0.046262285684058525 Centerline is valid? [True, True] Translation: X:154.07, Y:-20.18, Z:-10.90 [[ 9.96648054e-01 5.87930103e-02 5.68861800e-02 1.54065838e+02] [-5.84366925e-02 9.98259790e-01 -7.90846333e-03 -2.01764468e+01] [-5.72521485e-02 4.55771438e-03 9.98349347e-01 -1.09025336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.240714057 meters 0.04687468988424131 Centerline is valid? [True, True] Translation: X:154.10, Y:-20.18, Z:-10.90 [[ 9.96589363e-01 5.95240413e-02 5.71535697e-02 1.54097896e+02] [-5.91645928e-02 9.98216486e-01 -7.96232971e-03 -2.01814488e+01] [-5.75255855e-02 4.55370542e-03 9.98333647e-01 -1.09049755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.270714057 meters 0.046793150786249925 Centerline is valid? [True, True] Translation: X:154.13, Y:-20.19, Z:-10.91 [[ 9.96491501e-01 6.07555745e-02 5.75625577e-02 1.54130096e+02] [-6.03921730e-02 9.98142399e-01 -8.03348035e-03 -2.01855597e+01] [-5.79437082e-02 4.52896695e-03 9.98309579e-01 -1.09071979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.300714057 meters 0.051614054463896615 Centerline is valid? [True, True] Translation: X:154.16, Y:-20.20, Z:-10.91 [[ 9.96421088e-01 6.11774257e-02 5.83295711e-02 1.54159777e+02] [-6.08041281e-02 9.98116403e-01 -8.15498178e-03 -2.01968774e+01] [-5.87186025e-02 4.57911710e-03 9.98264072e-01 -1.09104314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.330714057 meters 0.04992266861919524 Centerline is valid? [True, True] Translation: X:154.19, Y:-20.20, Z:-10.91 [[ 9.96384818e-01 6.15906175e-02 5.85140266e-02 1.54191942e+02] [-6.12148155e-02 9.98090971e-01 -8.19506774e-03 -2.01990300e+01] [-5.89070609e-02 4.58351573e-03 9.98252949e-01 -1.09121274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.360714057 meters 0.0504790332231988 Centerline is valid? [True, True] Translation: X:154.22, Y:-20.20, Z:-10.91 [[ 9.96322570e-01 6.23096252e-02 5.88119585e-02 1.54223568e+02] [-6.19303761e-02 9.98046366e-01 -8.25110334e-03 -2.02041961e+01] [-5.92111846e-02 4.57851378e-03 9.98234979e-01 -1.09144952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.390714057 meters 0.05002238038192496 Centerline is valid? [True, True] Translation: X:154.25, Y:-20.21, Z:-10.92 [[ 9.96189916e-01 6.35191317e-02 5.97576047e-02 1.54253582e+02] [-6.31287385e-02 9.97970039e-01 -8.40023030e-03 -2.02080354e+01] [-6.01698744e-02 4.59580252e-03 9.98177572e-01 -1.09160757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.420714057 meters 0.045071625267300915 Centerline is valid? [True, True] Translation: X:154.29, Y:-20.21, Z:-10.92 [[ 9.96099550e-01 6.47292539e-02 5.99650752e-02 1.54285965e+02] [-6.43382733e-02 9.97892539e-01 -8.43014709e-03 -2.02053508e+01] [-6.03843783e-02 4.53921632e-03 9.98164877e-01 -1.09171296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.450714057 meters 0.05093630456986354 Centerline is valid? [True, True] Translation: X:154.32, Y:-20.22, Z:-10.92 [[ 9.96084446e-01 6.49266709e-02 6.00025335e-02 1.54316961e+02] [-6.45354659e-02 9.97879748e-01 -8.43691376e-03 -2.02179770e+01] [-6.04230938e-02 4.53158711e-03 9.98162569e-01 -1.09203877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.480714057 meters 0.045925538785440055 Centerline is valid? [True, True] Translation: X:154.35, Y:-20.22, Z:-10.92 [[ 9.96096655e-01 6.46383148e-02 6.01110877e-02 1.54349430e+02] [-6.42442109e-02 9.97898279e-01 -8.46798105e-03 -2.02167301e+01] [-6.05321070e-02 4.57313820e-03 9.98155775e-01 -1.09228981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.51071405699997 meters 0.04361380727375556 Centerline is valid? [True, True] Translation: X:154.38, Y:-20.22, Z:-10.93 [[ 9.96113047e-01 6.44230218e-02 6.00705644e-02 1.54381403e+02] [-6.40281750e-02 9.97912088e-01 -8.47689322e-03 -2.02190420e+01] [-6.04912494e-02 4.59773532e-03 9.98158139e-01 -1.09252576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54071405699997 meters 0.04391304059389001 Centerline is valid? [True, True] Translation: X:154.41, Y:-20.23, Z:-10.93 [[ 9.96099013e-01 6.46214609e-02 6.00901276e-02 1.54413121e+02] [-6.42258034e-02 9.97899237e-01 -8.49469199e-03 -2.02250213e+01] [-6.05128318e-02 4.60221759e-03 9.98156810e-01 -1.09277703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.57071405699998 meters 0.0451546941572769 Centerline is valid? [True, True] Translation: X:154.44, Y:-20.23, Z:-10.93 [[ 9.96219669e-01 6.30154538e-02 5.97948449e-02 1.54443618e+02] [-6.26198122e-02 9.98001517e-01 -8.46945773e-03 -2.02324598e+01] [-6.02090526e-02 4.69309842e-03 9.98174757e-01 -1.09310393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60071405699998 meters 0.04940442193694244 Centerline is valid? [True, True] Translation: X:154.47, Y:-20.24, Z:-10.93 [[ 9.96292294e-01 6.25179404e-02 5.91030578e-02 1.54473344e+02] [-6.21305256e-02 9.98032921e-01 -8.37179743e-03 -2.02438435e+01] [-5.95101849e-02 4.66865323e-03 9.98216781e-01 -1.09340332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.63071405699998 meters 0.04673891136074693 Centerline is valid? [True, True] Translation: X:154.51, Y:-20.25, Z:-10.94 [[ 9.96384389e-01 6.12560114e-02 5.88714663e-02 1.54505645e+02] [-6.08685536e-02 9.98110831e-01 -8.35399298e-03 -2.02459698e+01] [-5.92719805e-02 4.74036719e-03 9.98230615e-01 -1.09364028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.66071405699998 meters 0.04766749926052552 Centerline is valid? [True, True] Translation: X:154.54, Y:-20.25, Z:-10.94 [[ 9.96406303e-01 6.09400372e-02 5.88284887e-02 1.54536933e+02] [-6.05524491e-02 9.98130087e-01 -8.35042193e-03 -2.02523106e+01] [-5.92273596e-02 4.75820398e-03 9.98233179e-01 -1.09384534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.69071405699998 meters 0.04862732340740466 Centerline is valid? [True, True] Translation: X:154.57, Y:-20.26, Z:-10.94 [[ 9.96393064e-01 6.06086824e-02 5.93923355e-02 1.54568727e+02] [-6.02121548e-02 9.98149877e-01 -8.44512079e-03 -2.02593935e+01] [-5.97943000e-02 4.83851929e-03 9.98198993e-01 -1.09404371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.72071405699998 meters 0.048512872198098016 Centerline is valid? [True, True] Translation: X:154.60, Y:-20.26, Z:-10.94 [[ 9.96387336e-01 6.08979416e-02 5.91922100e-02 1.54601508e+02] [-6.05037581e-02 9.98132366e-01 -8.43064019e-03 -2.02643421e+01] [-5.95950692e-02 4.81883197e-03 9.98211003e-01 -1.09422628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.75071405699998 meters 0.05024142853975683 Centerline is valid? [True, True] Translation: X:154.63, Y:-20.27, Z:-10.94 [[ 9.96325815e-01 6.17227585e-02 5.93731529e-02 1.54632348e+02] [-6.13266016e-02 9.98081786e-01 -8.47326895e-03 -2.02716042e+01] [-5.97822560e-02 4.80098290e-03 9.98199896e-01 -1.09447126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.78071405699998 meters 0.049876068771615316 Centerline is valid? [True, True] Translation: X:154.66, Y:-20.28, Z:-10.95 [[ 9.96222464e-01 6.30368575e-02 5.97256761e-02 1.54662848e+02] [-6.26373438e-02 9.97999817e-01 -8.53976625e-03 -2.02759358e+01] [-6.01445339e-02 4.76644927e-03 9.98178299e-01 -1.09465811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.81071405699998 meters 0.0500184189607776 Centerline is valid? [True, True] Translation: X:154.69, Y:-20.28, Z:-10.95 [[ 9.96033583e-01 6.56807638e-02 6.00261587e-02 1.54692588e+02] [-6.52818373e-02 9.97829934e-01 -8.58509050e-03 -2.02798680e+01] [-6.04597733e-02 4.63242052e-03 9.98159885e-01 -1.09485928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.84071405699999 meters 0.05017226175904063 Centerline is valid? [True, True] Translation: X:154.72, Y:-20.28, Z:-10.95 [[ 9.95983119e-01 6.70058425e-02 5.93956529e-02 1.54723093e+02] [-6.66176226e-02 9.97742419e-01 -8.49462556e-03 -2.02839786e+01] [-5.98307519e-02 4.50370647e-03 9.98198376e-01 -1.09505998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.870714057 meters 0.04936172185861616 Centerline is valid? [True, True] Translation: X:154.75, Y:-20.29, Z:-10.95 [[ 9.95907728e-01 6.84618962e-02 5.89980163e-02 1.54754493e+02] [-6.80812860e-02 9.97644080e-01 -8.43971711e-03 -2.02867357e+01] [-5.94368207e-02 4.38851868e-03 9.98222423e-01 -1.09528084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.900714057 meters 0.049008287369097146 Centerline is valid? [True, True] Translation: X:154.78, Y:-20.29, Z:-10.95 [[ 9.95701396e-01 7.15698291e-02 5.87919237e-02 1.54784248e+02] [-7.11971225e-02 9.97426789e-01 -8.41255986e-03 -2.02898848e+01] [-5.92427252e-02 4.19058180e-03 9.98234811e-01 -1.09547946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.930714057 meters 0.049022011027720684 Centerline is valid? [True, True] Translation: X:154.81, Y:-20.29, Z:-10.96 [[ 9.95602760e-01 7.29376218e-02 5.87813492e-02 1.54814000e+02] [-7.25674490e-02 9.97328044e-01 -8.41054594e-03 -2.02939592e+01] [-5.92377333e-02 4.10795019e-03 9.98235451e-01 -1.09567833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.960714057 meters 0.048604238055680433 Centerline is valid? [True, True] Translation: X:154.84, Y:-20.30, Z:-10.96 [[ 9.95459466e-01 7.46031877e-02 5.91169721e-02 1.54843833e+02] [-7.42316895e-02 9.97205149e-01 -8.45856750e-03 -2.02972355e+01] [-5.95827851e-02 4.03180836e-03 9.98215225e-01 -1.09579951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.990714057 meters 0.04851004824502309 Centerline is valid? [True, True] Translation: X:154.87, Y:-20.30, Z:-10.96 [[ 9.95397764e-01 7.51556313e-02 5.94552226e-02 1.54873041e+02] [-7.47808270e-02 9.97163705e-01 -8.50723878e-03 -2.03017134e+01] [-5.99259570e-02 4.02197574e-03 9.98194722e-01 -1.09594228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.020714057 meters 0.04851004824502309 Centerline is valid? [True, True] Translation: X:154.90, Y:-20.31, Z:-10.96 [[ 9.95400106e-01 7.51243875e-02 5.94554892e-02 1.54901903e+02] [-7.47496386e-02 9.97166059e-01 -8.50537510e-03 -2.03058069e+01] [-5.99259570e-02 4.02197495e-03 9.98194722e-01 -1.09614312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.050714057 meters 0.03923055099853919 Centerline is valid? [True, True] Translation: X:154.93, Y:-20.30, Z:-10.96 [[ 9.95296761e-01 7.68327583e-02 5.90007193e-02 1.54933842e+02] [-7.64668331e-02 9.97036418e-01 -8.43831820e-03 -2.02965211e+01] [-5.94742050e-02 3.88703262e-03 9.98222275e-01 -1.09611155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.080714057 meters 0.035844705805620526 Centerline is valid? [True, True] Translation: X:154.96, Y:-20.30, Z:-10.96 [[ 9.95194308e-01 7.79144541e-02 5.93095831e-02 1.54964165e+02] [-7.75466457e-02 9.96952647e-01 -8.48161051e-03 -2.02957712e+01] [-5.97896859e-02 3.84159127e-03 9.98203604e-01 -1.09622417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.110714057 meters 0.035784687683774574 Centerline is valid? [True, True] Translation: X:154.99, Y:-20.30, Z:-10.96 [[ 9.95046617e-01 8.02618586e-02 5.86537576e-02 1.54992963e+02] [-7.99063334e-02 9.96767103e-01 -8.38571235e-03 -2.03000931e+01] [-5.91371889e-02 3.65736800e-03 9.98243165e-01 -1.09644136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.140714057 meters 0.04113249800602265 Centerline is valid? [True, True] Translation: X:155.02, Y:-20.31, Z:-10.97 [[ 9.94851374e-01 8.25803046e-02 5.87472373e-02 1.55019769e+02] [-8.22277833e-02 9.96578186e-01 -8.39710904e-03 -2.03126620e+01] [-5.92396510e-02 3.52322037e-03 9.98237572e-01 -1.09679591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.170714057 meters 0.043182680519413943 Centerline is valid? [True, True] Translation: X:155.05, Y:-20.32, Z:-10.97 [[ 9.94822365e-01 8.33957794e-02 5.80827535e-02 1.55046375e+02] [-8.30527455e-02 9.96510593e-01 -8.29934746e-03 -2.03194945e+01] [-5.85722097e-02 3.43244432e-03 9.98277273e-01 -1.09708465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.200714057 meters 0.032773065326629464 Centerline is valid? [True, True] Translation: X:155.08, Y:-20.31, Z:-10.97 [[ 9.94784583e-01 8.41849754e-02 5.75892663e-02 1.55077231e+02] [-8.38493469e-02 9.96444505e-01 -8.22407772e-03 -2.03078188e+01] [-5.80768517e-02 3.35236336e-03 9.98306486e-01 -1.09703047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.230714057 meters 0.03967571494528767 Centerline is valid? [True, True] Translation: X:155.10, Y:-20.32, Z:-10.97 [[ 9.94794256e-01 8.47974688e-02 5.65135190e-02 1.55103076e+02] [-8.44754817e-02 9.96392906e-01 -8.06660709e-03 -2.03223815e+01] [-5.69936973e-02 3.25060765e-03 9.98369246e-01 -1.09745820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26071405699997 meters 0.03441945673901912 Centerline is valid? [True, True] Translation: X:155.13, Y:-20.32, Z:-10.98 [[ 9.94848389e-01 8.46276323e-02 5.58108199e-02 1.55133093e+02] [-8.43136415e-02 9.96407462e-01 -7.96107087e-03 -2.03182386e+01] [-5.62840440e-02 3.21444506e-03 9.98409622e-01 -1.09751784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.29071405699997 meters 0.036063189962818674 Centerline is valid? [True, True] Translation: X:155.16, Y:-20.33, Z:-10.98 [[ 9.94956327e-01 8.41085186e-02 5.46595363e-02 1.55160181e+02] [-8.38067813e-02 9.96451548e-01 -7.79326563e-03 -2.03256341e+01] [-5.51210596e-02 3.17311914e-03 9.98474637e-01 -1.09781907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32071405699998 meters 0.03561658385778146 Centerline is valid? [True, True] Translation: X:155.19, Y:-20.33, Z:-10.98 [[ 9.95040272e-01 8.32996636e-02 5.43693290e-02 1.55188954e+02] [-8.30002002e-02 9.96519419e-01 -7.74684247e-03 -2.03297504e+01] [-5.48254015e-02 3.19575505e-03 9.98490842e-01 -1.09801731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.35071405699998 meters 0.03778219723357104 Centerline is valid? [True, True] Translation: X:155.22, Y:-20.34, Z:-10.98 [[ 9.95186585e-01 8.18373333e-02 5.39102165e-02 1.55216826e+02] [-8.15409938e-02 9.96640418e-01 -7.67741017e-03 -2.03378420e+01] [-5.43573995e-02 3.24456298e-03 9.98516272e-01 -1.09821519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.38071405699998 meters 0.03402644689526531 Centerline is valid? [True, True] Translation: X:155.25, Y:-20.34, Z:-10.98 [[ 9.95285338e-01 8.07924813e-02 5.36625725e-02 1.55246108e+02] [-8.04974847e-02 9.96725534e-01 -7.63964207e-03 -2.03362917e+01] [-5.41040819e-02 3.28392162e-03 9.98529901e-01 -1.09820995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.41071405699998 meters 0.03555027191587805 Centerline is valid? [True, True] Translation: X:155.27, Y:-20.34, Z:-10.98 [[ 9.95439476e-01 7.91994469e-02 5.31760979e-02 1.55273862e+02] [-7.89077394e-02 9.96853209e-01 -7.56625637e-03 -2.03436347e+01] [-5.36080072e-02 3.33574460e-03 9.98556485e-01 -1.09844795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.44071405699998 meters 0.03563393854728967 Centerline is valid? [True, True] Translation: X:155.30, Y:-20.35, Z:-10.99 [[ 9.95511920e-01 7.85947381e-02 5.27151189e-02 1.55302475e+02] [-7.83073644e-02 9.96901066e-01 -7.49810517e-03 -2.03486862e+01] [-5.31410698e-02 3.33647105e-03 9.98581441e-01 -1.09869563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.47071405699998 meters 0.041343144621354765 Centerline is valid? [True, True] Translation: X:155.33, Y:-20.36, Z:-10.99 [[ 9.95599394e-01 7.77313757e-02 5.23419531e-02 1.55328052e+02] [-7.74470589e-02 9.96968694e-01 -7.44151062e-03 -2.03616353e+01] [-5.27617275e-02 3.35503314e-03 9.98601494e-01 -1.09913321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.50071405699998 meters 0.04115068240517874 Centerline is valid? [True, True] Translation: X:155.36, Y:-20.37, Z:-10.99 [[ 9.95793245e-01 7.59070740e-02 5.13218174e-02 1.55356913e+02] [-7.56315860e-02 9.97109170e-01 -7.29157767e-03 -2.03670048e+01] [-5.17269370e-02 3.37935334e-03 9.98655548e-01 -1.09938865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.53071405699998 meters 0.04183018014516021 Centerline is valid? [True, True] Translation: X:155.38, Y:-20.37, Z:-11.00 [[ 9.95845090e-01 7.50462805e-02 5.15811283e-02 1.55384469e+02] [-7.47669798e-02 9.97174122e-01 -7.32591928e-03 -2.03733826e+01] [-5.19851493e-02 3.43891557e-03 9.98641937e-01 -1.09953941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.56071405699998 meters 0.042024524286944434 Centerline is valid? [True, True] Translation: X:155.41, Y:-20.38, Z:-11.00 [[ 9.95911222e-01 7.41885353e-02 5.15451094e-02 1.55412609e+02] [-7.39087272e-02 9.97238174e-01 -7.31608927e-03 -2.03782963e+01] [-5.19455207e-02 3.47654198e-03 9.98643869e-01 -1.09969000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.59071405699999 meters 0.03769793456812571 Centerline is valid? [True, True] Translation: X:155.44, Y:-20.38, Z:-11.00 [[ 9.95976946e-01 7.33710491e-02 5.14452336e-02 1.55442352e+02] [-7.30914342e-02 9.97298540e-01 -7.29818293e-03 -2.03766868e+01] [-5.18417318e-02 3.50861603e-03 9.98649150e-01 -1.09964120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.620714057 meters 0.038460324529475835 Centerline is valid? [True, True] Translation: X:155.47, Y:-20.38, Z:-11.00 [[ 9.96058162e-01 7.19815913e-02 5.18342395e-02 1.55470768e+02] [-7.16960034e-02 9.97399445e-01 -7.35054419e-03 -2.03833135e+01] [-5.22285456e-02 3.60526172e-03 9.98628650e-01 -1.09973062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.650714057 meters 0.038927522772389686 Centerline is valid? [True, True] Translation: X:155.50, Y:-20.39, Z:-11.00 [[ 9.96138317e-01 7.10853466e-02 5.15298725e-02 1.55499613e+02] [-7.08020720e-02 9.97463640e-01 -7.30434170e-03 -2.03883340e+01] [-5.19184058e-02 3.62771290e-03 9.98644741e-01 -1.09991141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.680714057 meters 0.04052682684185368 Centerline is valid? [True, True] Translation: X:155.53, Y:-20.40, Z:-11.00 [[ 9.96214900e-01 7.00450367e-02 5.14739359e-02 1.55527091e+02] [-6.97610771e-02 9.97537056e-01 -7.29486176e-03 -2.03960016e+01] [-5.18581273e-02 3.67637277e-03 9.98647695e-01 -1.10007511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.710714057 meters 0.03942609998198399 Centerline is valid? [True, True] Translation: X:155.56, Y:-20.40, Z:-11.00 [[ 9.96292637e-01 6.91470995e-02 5.11826155e-02 1.55556890e+02] [-6.88653254e-02 9.97599617e-01 -7.25057351e-03 -2.03992050e+01] [-5.15611138e-02 3.69898553e-03 9.98662991e-01 -1.10026296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.740714057 meters 0.039915402097486334 Centerline is valid? [True, True] Translation: X:155.59, Y:-20.41, Z:-11.01 [[ 9.96401343e-01 6.77578540e-02 5.09238353e-02 1.55586009e+02] [-6.74772146e-02 9.97694748e-01 -7.21210138e-03 -2.04053347e+01] [-5.12951196e-02 3.74994894e-03 9.98676498e-01 -1.10051075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.770714057 meters 0.0399389949588037 Centerline is valid? [True, True] Translation: X:155.61, Y:-20.41, Z:-11.01 [[ 9.96461480e-01 6.73859680e-02 5.02359530e-02 1.55614649e+02] [-6.71124808e-02 9.97720061e-01 -7.11303694e-03 -2.04102580e+01] [-5.06007370e-02 3.71640788e-03 9.98712047e-01 -1.10072490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.800714057 meters 0.044856014222740305 Centerline is valid? [True, True] Translation: X:155.64, Y:-20.42, Z:-11.01 [[ 9.96557324e-01 6.70305620e-02 4.87893717e-02 1.55642831e+02] [-6.67723140e-02 9.97744341e-01 -6.90571138e-03 -2.04219596e+01] [-4.91422132e-02 3.62415801e-03 9.98785216e-01 -1.10117715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.830714057 meters 0.04100467851010263 Centerline is valid? [True, True] Translation: X:155.67, Y:-20.42, Z:-11.01 [[ 9.96582242e-01 6.68232140e-02 4.85643120e-02 1.55673406e+02] [-6.65671259e-02 9.97758275e-01 -6.87334287e-03 -2.04206874e+01] [-4.89147430e-02 3.61706477e-03 9.98796408e-01 -1.10127891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.860714057 meters 0.03852226254856193 Centerline is valid? [True, True] Translation: X:155.70, Y:-20.42, Z:-11.01 [[ 9.96642433e-01 6.63710343e-02 4.79452371e-02 1.55703388e+02] [-6.61209999e-02 9.97788550e-01 -6.78406956e-03 -2.04212400e+01] [-4.82894743e-02 3.59110458e-03 9.98826927e-01 -1.10143147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.890714057 meters 0.03990027936770445 Centerline is valid? [True, True] Translation: X:155.73, Y:-20.43, Z:-11.02 [[ 9.96670572e-01 6.60700677e-02 4.77756858e-02 1.55730857e+02] [-6.58215862e-02 9.97808527e-01 -6.75739003e-03 -2.04272739e+01] [-4.81174479e-02 3.59022037e-03 9.98835232e-01 -1.10169876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.920714057 meters 0.041618343761571364 Centerline is valid? [True, True] Translation: X:155.76, Y:-20.43, Z:-11.02 [[ 9.96755362e-01 6.47798837e-02 4.77735889e-02 1.55760049e+02] [-6.45298843e-02 9.97892889e-01 -6.75848521e-03 -2.04335014e+01] [-4.81107385e-02 3.65373220e-03 9.98835325e-01 -1.10195714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.950714057 meters 0.04362476378594883 Centerline is valid? [True, True] Translation: X:155.79, Y:-20.44, Z:-11.02 [[ 9.96781144e-01 6.40983878e-02 4.81533687e-02 1.55789107e+02] [-6.38437059e-02 9.97936673e-01 -6.81010859e-03 -2.04407159e+01] [-4.84905295e-02 3.71389833e-03 9.98816738e-01 -1.10221322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.980714057 meters 0.04284715524728405 Centerline is valid? [True, True] Translation: X:155.82, Y:-20.44, Z:-11.02 [[ 9.96837311e-01 6.32481715e-02 4.81149120e-02 1.55818363e+02] [-6.29929372e-02 9.97990778e-01 -6.80416545e-03 -2.04437970e+01] [-4.84485895e-02 3.75174636e-03 9.98818631e-01 -1.10238862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.01071405699997 meters 0.04505021263940478 Centerline is valid? [True, True] Translation: X:155.85, Y:-20.45, Z:-11.03 [[ 9.96894057e-01 6.22465278e-02 4.82453048e-02 1.55847031e+02] [-6.19888428e-02 9.98053538e-01 -6.82052406e-03 -2.04512825e+01] [-4.85759511e-02 3.80866928e-03 9.98812230e-01 -1.10261502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04071405699997 meters 0.045985679794415965 Centerline is valid? [True, True] Translation: X:155.88, Y:-20.46, Z:-11.03 [[ 9.96949580e-01 6.07575580e-02 4.89903444e-02 1.55877299e+02] [-6.04901357e-02 9.98144778e-01 -6.92429922e-03 -2.04572173e+01] [-4.93201599e-02 3.93974462e-03 9.98775250e-01 -1.10278320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.07071405699998 meters 0.046146026517097455 Centerline is valid? [True, True] Translation: X:155.91, Y:-20.46, Z:-11.03 [[ 9.96968625e-01 6.01662901e-02 4.93313092e-02 1.55907797e+02] [-5.98943504e-02 9.98180362e-01 -6.97368447e-03 -2.04618543e+01] [-4.96611247e-02 3.99787790e-03 9.98758124e-01 -1.10297021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.10071405699998 meters 0.05038290041452106 Centerline is valid? [True, True] Translation: X:155.94, Y:-20.47, Z:-11.03 [[ 9.96985427e-01 5.95382719e-02 4.97519182e-02 1.55937192e+02] [-5.92609258e-02 9.98217755e-01 -7.03250771e-03 -2.04719636e+01] [-5.00819515e-02 4.06296297e-03 9.98736847e-01 -1.10328177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.13071405699998 meters 0.042589854127156414 Centerline is valid? [True, True] Translation: X:155.97, Y:-20.47, Z:-11.03 [[ 9.96985928e-01 5.88254531e-02 5.05828627e-02 1.55970115e+02] [-5.85377536e-02 9.98259578e-01 -7.15173688e-03 -2.04655311e+01] [-5.09155314e-02 4.16917387e-03 9.98694261e-01 -1.10313580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.16071405699998 meters 0.046732348024728504 Centerline is valid? [True, True] Translation: X:156.00, Y:-20.48, Z:-11.03 [[ 9.96951992e-01 5.91230666e-02 5.09037221e-02 1.55999769e+02] [-5.88321651e-02 9.98241955e-01 -7.19557060e-03 -2.04757271e+01] [-5.12396553e-02 4.17886226e-03 9.98677643e-01 -1.10341193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.19071405699998 meters 0.041765312584008736 Centerline is valid? [True, True] Translation: X:156.03, Y:-20.47, Z:-11.03 [[ 9.96873532e-01 6.01673641e-02 5.12157104e-02 1.56031656e+02] [-5.98734526e-02 9.98179610e-01 -7.25511414e-03 -2.04730493e+01] [-5.15589989e-02 4.16596985e-03 9.98661261e-01 -1.10345053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.22071405699998 meters 0.04266057655372451 Centerline is valid? [True, True] Translation: X:156.06, Y:-20.48, Z:-11.04 [[ 9.96721354e-01 6.25890804e-02 5.12752300e-02 1.56061142e+02] [-6.22975371e-02 9.98031173e-01 -7.26603718e-03 -2.04769002e+01] [-5.16290525e-02 4.04789388e-03 9.98658127e-01 -1.10369579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.25071405699998 meters 0.042438672840916 Centerline is valid? [True, True] Translation: X:156.09, Y:-20.48, Z:-11.04 [[ 9.96615505e-01 6.41968634e-02 5.13448837e-02 1.56090304e+02] [-6.39066302e-02 9.97929356e-01 -7.27620553e-03 -2.04799361e+01] [-5.17056763e-02 3.97030075e-03 9.98654475e-01 -1.10386774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.28071405699998 meters 0.040063068450224525 Centerline is valid? [True, True] Translation: X:156.12, Y:-20.48, Z:-11.04 [[ 9.96478059e-01 6.60662558e-02 5.16403759e-02 1.56120532e+02] [-6.57752105e-02 9.97807637e-01 -7.31715312e-03 -2.04799901e+01] [-5.20105784e-02 3.89472594e-03 9.98638939e-01 -1.10398999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.31071405699998 meters 0.03753334742713078 Centerline is valid? [True, True] Translation: X:156.15, Y:-20.48, Z:-11.04 [[ 9.96135584e-01 7.08383855e-02 5.19213096e-02 1.56150578e+02] [-7.05506445e-02 9.97481074e-01 -7.35615865e-03 -2.04785536e+01] [-5.23116221e-02 3.66464954e-03 9.98624086e-01 -1.10404541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.34071405699999 meters 0.036729364619472224 Centerline is valid? [True, True] Translation: X:156.18, Y:-20.48, Z:-11.04 [[ 9.95904324e-01 7.38968362e-02 5.20944760e-02 1.56180478e+02] [-7.36113987e-02 9.97259699e-01 -7.37940509e-03 -2.04802589e+01] [-5.24970361e-02 3.51443419e-03 9.98614896e-01 -1.10423884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.370714057 meters 0.0360502916395312 Centerline is valid? [True, True] Translation: X:156.21, Y:-20.48, Z:-11.04 [[ 9.95333314e-01 8.08437777e-02 5.26866015e-02 1.56210235e+02] [-8.05616000e-02 9.96721706e-01 -7.46117069e-03 -2.04805336e+01] [-5.31170686e-02 3.18183483e-03 9.98583223e-01 -1.10441302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.400714057 meters 0.03405281059313331 Centerline is valid? [True, True] Translation: X:156.24, Y:-20.48, Z:-11.05 [[ 9.95058317e-01 8.42060320e-02 5.26145496e-02 1.56240569e+02] [-8.39293416e-02 9.96443856e-01 -7.45029307e-03 -2.04797361e+01] [-5.30548044e-02 2.99757157e-03 9.98587103e-01 -1.10458555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.430714057 meters 0.030342543522684624 Centerline is valid? [True, True] Translation: X:156.27, Y:-20.47, Z:-11.05 [[ 9.94496875e-01 9.08287120e-02 5.22121625e-02 1.56271651e+02] [-9.05653725e-02 9.95863075e-01 -7.39253795e-03 -2.04746917e+01] [-5.26676194e-02 2.62324195e-03 9.98608652e-01 -1.10472723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.460714057 meters 0.02871942247383862 Centerline is valid? [True, True] Translation: X:156.30, Y:-20.48, Z:-11.05 [[ 9.94228925e-01 9.35380498e-02 5.25307368e-02 1.56301297e+02] [-9.32753185e-02 9.95612583e-01 -7.43640168e-03 -2.04753473e+01] [-5.29958491e-02 2.49366444e-03 9.98591619e-01 -1.10491528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.490714057 meters 0.031107882255031086 Centerline is valid? [True, True] Translation: X:156.33, Y:-20.48, Z:-11.05 [[ 9.93884470e-01 9.69276710e-02 5.29026144e-02 1.56329122e+02] [-9.66660795e-02 9.95288706e-01 -7.48736254e-03 -2.04817060e+01] [-5.33791073e-02 2.32768502e-03 9.98571606e-01 -1.10530654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.520714057 meters 0.027985122059356077 Centerline is valid? [True, True] Translation: X:156.36, Y:-20.48, Z:-11.05 [[ 9.93842610e-01 9.72152329e-02 5.31607412e-02 1.56358892e+02] [-9.69516321e-02 9.95260675e-01 -7.52124979e-03 -2.04793141e+01] [-5.36399753e-02 2.32091789e-03 9.98557643e-01 -1.10529292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.550714057 meters 0.02781750470477991 Centerline is valid? [True, True] Translation: X:156.39, Y:-20.48, Z:-11.05 [[ 9.93808143e-01 9.73604063e-02 5.35380754e-02 1.56387159e+02] [-9.70934692e-02 9.95246473e-01 -7.57069899e-03 -2.04830599e+01] [-5.40206671e-02 2.32562484e-03 9.98537109e-01 -1.10544971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.580714057 meters 0.028142902078284814 Centerline is valid? [True, True] Translation: X:156.41, Y:-20.49, Z:-11.06 [[ 9.93893468e-01 9.58305325e-02 5.47017702e-02 1.56414991e+02] [-9.55497532e-02 9.95394630e-01 -7.73141148e-03 -2.04883624e+01] [-5.51907536e-02 2.45745872e-03 9.98472805e-01 -1.10559576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.610714057 meters 0.028674156257440003 Centerline is valid? [True, True] Translation: X:156.44, Y:-20.49, Z:-11.06 [[ 9.94060054e-01 9.40953924e-02 5.46869900e-02 1.56443232e+02] [-9.38124353e-02 9.95559926e-01 -7.72409132e-03 -2.04935728e+01] [-5.51709771e-02 2.54789092e-03 9.98473671e-01 -1.10578147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.640714057 meters 0.03023551390323497 Centerline is valid? [True, True] Translation: X:156.47, Y:-20.50, Z:-11.06 [[ 9.94354360e-01 9.05142657e-02 5.53766521e-02 1.56471162e+02] [-9.02188245e-02 9.95891287e-01 -7.81713986e-03 -2.05018535e+01] [-5.58566880e-02 2.77699065e-03 9.98434935e-01 -1.10595945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.670714057 meters 0.031134949422269624 Centerline is valid? [True, True] Translation: X:156.50, Y:-20.51, Z:-11.06 [[ 9.94517546e-01 8.87272919e-02 5.53382204e-02 1.56499071e+02] [-8.84296704e-02 9.96051814e-01 -7.80873079e-03 -2.05079740e+01] [-5.58125824e-02 2.87237918e-03 9.98437131e-01 -1.10614062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.700714057 meters 0.03362528808849372 Centerline is valid? [True, True] Translation: X:156.53, Y:-20.52, Z:-11.06 [[ 9.94843017e-01 8.50586434e-02 5.52485155e-02 1.56527570e+02] [-8.47565410e-02 9.96371218e-01 -7.79262826e-03 -2.05171457e+01] [-5.57108611e-02 3.06976874e-03 9.98442225e-01 -1.10634662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.730714057 meters 0.03535864475535178 Centerline is valid? [True, True] Translation: X:156.56, Y:-20.53, Z:-11.07 [[ 9.95133169e-01 8.15412518e-02 5.53263118e-02 1.56556584e+02] [-8.12329368e-02 9.96664602e-01 -7.80260812e-03 -2.05259281e+01] [-5.57780109e-02 3.27031536e-03 9.98437839e-01 -1.10665643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76071405699997 meters 0.03606648276541817 Centerline is valid? [True, True] Translation: X:156.59, Y:-20.53, Z:-11.07 [[ 9.95273689e-01 8.00020597e-02 5.50450224e-02 1.56585338e+02] [-7.96945722e-02 9.96789107e-01 -7.76220490e-03 -2.05318852e+01] [-5.54892711e-02 3.33872879e-03 9.98453701e-01 -1.10688096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.79071405699997 meters 0.03782602219347678 Centerline is valid? [True, True] Translation: X:156.61, Y:-20.54, Z:-11.07 [[ 9.95414202e-01 7.82575256e-02 5.50120611e-02 1.56612497e+02] [-7.79478368e-02 9.96927268e-01 -7.75607285e-03 -2.05390768e+01] [-5.54499949e-02 3.43243390e-03 9.98455566e-01 -1.10711810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82071405699998 meters 0.04053200043261053 Centerline is valid? [True, True] Translation: X:156.64, Y:-20.55, Z:-11.07 [[ 9.95633148e-01 7.49910195e-02 5.55966038e-02 1.56640196e+02] [-7.46698817e-02 9.97177535e-01 -7.83412200e-03 -2.05475564e+01] [-5.60271731e-02 3.64851972e-03 9.98422578e-01 -1.10736628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.85071405699998 meters 0.038676556976878364 Centerline is valid? [True, True] Translation: X:156.67, Y:-20.55, Z:-11.07 [[ 9.95722245e-01 7.35298253e-02 5.59515552e-02 1.56670215e+02] [-7.32023826e-02 9.97285958e-01 -7.88220316e-03 -2.05486176e+01] [-5.63792774e-02 3.75269786e-03 9.98402371e-01 -1.10743782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.88071405699998 meters 0.04022226198942469 Centerline is valid? [True, True] Translation: X:156.70, Y:-20.55, Z:-11.08 [[ 9.95781074e-01 7.16325245e-02 5.73483545e-02 1.56699186e+02] [-7.12854971e-02 9.97423251e-01 -8.07689442e-03 -2.05545193e+01] [-5.77791505e-02 3.95471264e-03 9.98321556e-01 -1.10753020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.91071405699998 meters 0.04022226198942469 Centerline is valid? [True, True] Translation: X:156.73, Y:-20.56, Z:-11.08 [[ 9.95783521e-01 7.15982851e-02 5.73486314e-02 1.56728059e+02] [-7.12513139e-02 9.97425709e-01 -8.07492787e-03 -2.05585532e+01] [-5.77791504e-02 3.95471476e-03 9.98321556e-01 -1.10773107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.94071405699998 meters 0.038522125347714674 Centerline is valid? [True, True] Translation: X:156.76, Y:-20.56, Z:-11.08 [[ 9.95757242e-01 7.09053876e-02 5.86510177e-02 1.56758026e+02] [-7.05413841e-02 9.97474685e-01 -8.25620990e-03 -2.05607010e+01] [-5.90883152e-02 4.08385682e-03 9.98244406e-01 -1.10781959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.97071405699998 meters 0.0387228586002488 Centerline is valid? [True, True] Translation: X:156.79, Y:-20.57, Z:-11.08 [[ 9.95718554e-01 7.07714417e-02 5.94639760e-02 1.56787604e+02] [-7.03971821e-02 9.97483941e-01 -8.36802949e-03 -2.05653095e+01] [-5.99065787e-02 4.14610588e-03 9.98195377e-01 -1.10802804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.00071405699998 meters 0.041123780296643646 Centerline is valid? [True, True] Translation: X:156.82, Y:-20.57, Z:-11.08 [[ 9.95713414e-01 7.09455787e-02 5.93424216e-02 1.56815824e+02] [-7.05730786e-02 9.97471644e-01 -8.35223782e-03 -2.05730104e+01] [-5.97849371e-02 4.12845785e-03 9.98202743e-01 -1.10826268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.03071405699998 meters 0.03616723388920179 Centerline is valid? [True, True] Translation: X:156.85, Y:-20.57, Z:-11.08 [[ 9.95787872e-01 7.07273183e-02 5.83451862e-02 1.56847253e+02] [-7.03669477e-02 9.97487382e-01 -8.21069452e-03 -2.05698005e+01] [-5.87793074e-02 4.07053736e-03 9.98262703e-01 -1.10848855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.06071405699998 meters 0.04051656206819201 Centerline is valid? [True, True] Translation: X:156.88, Y:-20.58, Z:-11.09 [[ 9.95796398e-01 7.10984561e-02 5.77454966e-02 1.56875856e+02] [-7.07460753e-02 9.97461254e-01 -8.12648998e-03 -2.05800338e+01] [-5.81766764e-02 4.00706220e-03 9.98298261e-01 -1.10880937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.09071405699999 meters 0.037096851973420684 Centerline is valid? [True, True] Translation: X:156.91, Y:-20.58, Z:-11.09 [[ 9.95710015e-01 7.23517929e-02 5.76782763e-02 1.56905825e+02] [-7.20023743e-02 9.97371438e-01 -8.11616687e-03 -2.05796098e+01] [-5.81138846e-02 3.92837580e-03 9.98302231e-01 -1.10899356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.120714057 meters 0.03865555386637614 Centerline is valid? [True, True] Translation: X:156.93, Y:-20.59, Z:-11.09 [[ 9.95627802e-01 7.35903050e-02 5.75304052e-02 1.56934367e+02] [-7.32448552e-02 9.97281149e-01 -8.09328075e-03 -2.05859945e+01] [-5.79695756e-02 3.84408913e-03 9.98310949e-01 -1.10924282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.150714057 meters 0.03639354972451736 Centerline is valid? [True, True] Translation: X:156.96, Y:-20.59, Z:-11.09 [[ 9.95540209e-01 7.50715688e-02 5.71309975e-02 1.56964199e+02] [-7.47334491e-02 9.97171174e-01 -8.03505512e-03 -2.05867772e+01] [-5.75725880e-02 3.72962396e-03 9.98334356e-01 -1.10946579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.180714057 meters 0.035699190884531766 Centerline is valid? [True, True] Translation: X:156.99, Y:-20.59, Z:-11.10 [[ 9.95310452e-01 7.90749978e-02 5.57157830e-02 1.56992982e+02] [-7.87598015e-02 9.96862841e-01 -7.83392592e-03 -2.05887826e+01] [-5.61604614e-02 3.40902434e-03 9.98415936e-01 -1.10984796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.210714057 meters 0.03488170172749265 Centerline is valid? [True, True] Translation: X:157.02, Y:-20.59, Z:-11.10 [[ 9.95080552e-01 8.28641996e-02 5.42975140e-02 1.57021991e+02] [-8.25705372e-02 9.96555988e-01 -7.63347228e-03 -2.05896720e+01] [-5.47430542e-02 3.11254491e-03 9.98495623e-01 -1.11017641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.240714057 meters 0.034327872673008304 Centerline is valid? [True, True] Translation: X:157.05, Y:-20.59, Z:-11.10 [[ 9.94938917e-01 8.49467545e-02 5.36712339e-02 1.57050550e+02] [-8.46629272e-02 9.96381090e-01 -7.54405432e-03 -2.05921623e+01] [-5.41178454e-02 2.96190946e-03 9.98530163e-01 -1.11039383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.270714057 meters 0.03417137753942767 Centerline is valid? [True, True] Translation: X:157.08, Y:-20.59, Z:-11.11 [[ 9.94827890e-01 8.64725907e-02 5.32912804e-02 1.57079119e+02] [-8.61951490e-02 9.96250140e-01 -7.48701058e-03 -2.05946458e+01] [-5.37388668e-02 2.85483708e-03 9.98550942e-01 -1.11065422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.300714057 meters 0.03352170475243602 Centerline is valid? [True, True] Translation: X:157.11, Y:-20.60, Z:-11.11 [[ 9.94635300e-01 8.87159718e-02 5.31986459e-02 1.57107621e+02] [-8.84429037e-02 9.96053237e-01 -7.47005486e-03 -2.05971504e+01] [-5.36513967e-02 2.72493754e-03 9.98556009e-01 -1.11089388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.330714057 meters 0.03344060707581053 Centerline is valid? [True, True] Translation: X:157.14, Y:-20.60, Z:-11.11 [[ 9.94605748e-01 8.88616029e-02 5.35072128e-02 1.57136314e+02] [-8.85857010e-02 9.96040240e-01 -7.51085446e-03 -2.06008633e+01] [-5.39627637e-02 2.73036506e-03 9.98539216e-01 -1.11107306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.360714057 meters 0.034278413985017096 Centerline is valid? [True, True] Translation: X:157.16, Y:-20.61, Z:-11.11 [[ 9.94642652e-01 8.79645877e-02 5.42975759e-02 1.57164101e+02] [-8.76793283e-02 9.96119620e-01 -7.61824122e-03 -2.06053856e+01] [-5.47570161e-02 2.81665267e-03 9.98495736e-01 -1.11110492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.390714057 meters 0.035116784704229256 Centerline is valid? [True, True] Translation: X:157.19, Y:-20.61, Z:-11.11 [[ 9.94644401e-01 8.73154417e-02 5.53039671e-02 1.57191028e+02] [-8.70187673e-02 9.96176490e-01 -7.75460875e-03 -2.06102752e+01] [-5.57696089e-02 2.90059514e-03 9.98439451e-01 -1.11125444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.420714057 meters 0.03718504673980639 Centerline is valid? [True, True] Translation: X:157.22, Y:-20.62, Z:-11.11 [[ 9.94740711e-01 8.53202402e-02 5.66689943e-02 1.57218242e+02] [-8.50057875e-02 9.96348814e-01 -7.94089733e-03 -2.06178847e+01] [-5.71396045e-02 3.08194137e-03 9.98361441e-01 -1.11133556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.450714057 meters 0.037373652805023964 Centerline is valid? [True, True] Translation: X:157.25, Y:-20.62, Z:-11.11 [[ 9.94809929e-01 8.38864307e-02 5.75870810e-02 1.57246881e+02] [-8.35595280e-02 9.96470146e-01 -8.06562338e-03 -2.06227244e+01] [-5.80604033e-02 3.21181292e-03 9.98307905e-01 -1.11146229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.480714057 meters 0.038558647297730425 Centerline is valid? [True, True] Translation: X:157.27, Y:-20.63, Z:-11.12 [[ 9.94886881e-01 8.25499576e-02 5.81858883e-02 1.57273438e+02] [-8.22141471e-02 9.96581396e-01 -8.14588542e-03 -2.06287502e+01] [-5.86594163e-02 3.32053136e-03 9.98272531e-01 -1.11164148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.51071405699997 meters 0.040349469075927284 Centerline is valid? [True, True] Translation: X:157.30, Y:-20.64, Z:-11.12 [[ 9.95086451e-01 7.99616725e-02 5.83873802e-02 1.57303181e+02] [-7.96194918e-02 9.96791870e-01 -8.16730594e-03 -2.06360342e+01] [-5.88531373e-02 3.47840194e-03 9.98260592e-01 -1.11180459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54071405699997 meters 0.042358112441807795 Centerline is valid? [True, True] Translation: X:157.33, Y:-20.64, Z:-11.12 [[ 9.95235217e-01 7.79162632e-02 5.86167112e-02 1.57330403e+02] [-7.75678325e-02 9.96953357e-01 -8.19973437e-03 -2.06432903e+01] [-5.90770196e-02 3.61389318e-03 9.98246886e-01 -1.11195146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.57071405699998 meters 0.043156024480775275 Centerline is valid? [True, True] Translation: X:157.36, Y:-20.65, Z:-11.12 [[ 9.95306958e-01 7.69037203e-02 5.87356499e-02 1.57359213e+02] [-7.65522492e-02 9.97031735e-01 -8.21414784e-03 -2.06487652e+01] [-5.91930055e-02 3.67925239e-03 9.98239776e-01 -1.11214134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.60071405699998 meters 0.04443165577323544 Centerline is valid? [True, True] Translation: X:157.39, Y:-20.65, Z:-11.12 [[ 9.95405063e-01 7.57981350e-02 5.85098519e-02 1.57387889e+02] [-7.54475666e-02 9.97116211e-01 -8.18083404e-03 -2.06543781e+01] [-5.89612138e-02 3.72881767e-03 9.98253310e-01 -1.11229028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.63071405699998 meters 0.04544788607946829 Centerline is valid? [True, True] Translation: X:157.42, Y:-20.66, Z:-11.12 [[ 9.95445493e-01 7.52332719e-02 5.85510553e-02 1.57417112e+02] [-7.48814132e-02 9.97158865e-01 -8.18360697e-03 -2.06593097e+01] [-5.90003834e-02 3.76194891e-03 9.98250872e-01 -1.11248737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.66071405699998 meters 0.04596345211033461 Centerline is valid? [True, True] Translation: X:157.45, Y:-20.66, Z:-11.13 [[ 9.95474329e-01 7.52610457e-02 5.80227057e-02 1.57445905e+02] [-7.49156719e-02 9.97156910e-01 -8.10792241e-03 -2.06640619e+01] [-5.84679526e-02 3.72441864e-03 9.98282338e-01 -1.11273618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.69071405699998 meters 0.04724952558143523 Centerline is valid? [True, True] Translation: X:157.47, Y:-20.67, Z:-11.13 [[ 9.95591515e-01 7.47013776e-02 5.67207134e-02 1.57474110e+02] [-7.43705401e-02 9.97199191e-01 -7.92434734e-03 -2.06693138e+01] [-5.71538092e-02 3.67106289e-03 9.98358636e-01 -1.11308497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.72071405699998 meters 0.04746349169741161 Centerline is valid? [True, True] Translation: X:157.50, Y:-20.67, Z:-11.13 [[ 9.95673790e-01 7.43351838e-02 5.57492994e-02 1.57503237e+02] [-7.40151618e-02 9.97226720e-01 -7.78619330e-03 -2.06730499e+01] [-5.61734791e-02 3.62621518e-03 9.98414438e-01 -1.11337631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.75071405699998 meters 0.03626109391675879 Centerline is valid? [True, True] Translation: X:157.53, Y:-20.66, Z:-11.13 [[ 9.95732102e-01 7.37864519e-02 5.54359093e-02 1.57534136e+02] [-7.34692454e-02 9.97267439e-01 -7.74118677e-03 -2.06607189e+01] [-5.58556220e-02 3.63531375e-03 9.98432238e-01 -1.11329976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.78071405699998 meters 0.04193330118314469 Centerline is valid? [True, True] Translation: X:157.56, Y:-20.67, Z:-11.14 [[ 9.95792118e-01 7.31556496e-02 5.51933753e-02 1.57561345e+02] [-7.28404833e-02 9.97313855e-01 -7.70316608e-03 -2.06723032e+01] [-5.56086480e-02 3.65043994e-03 9.98445969e-01 -1.11370654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.81071405699998 meters 0.03853017047695839 Centerline is valid? [True, True] Translation: X:157.59, Y:-20.67, Z:-11.14 [[ 9.95922179e-01 7.13792069e-02 5.51726576e-02 1.57591295e+02] [-7.10617413e-02 9.97442221e-01 -7.69711805e-03 -2.06718123e+01] [-5.55809523e-02 3.74506547e-03 9.98447160e-01 -1.11388718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.84071405699999 meters 0.03960112610275017 Centerline is valid? [True, True] Translation: X:157.62, Y:-20.68, Z:-11.14 [[ 9.96044259e-01 7.01277798e-02 5.45704019e-02 1.57620007e+02] [-6.98154387e-02 9.97530887e-01 -7.61144239e-03 -2.06770364e+01] [-5.49694350e-02 3.77147694e-03 9.98480915e-01 -1.11411059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.870714057 meters 0.043128565295015374 Centerline is valid? [True, True] Translation: X:157.65, Y:-20.68, Z:-11.14 [[ 9.96260862e-01 6.75819911e-02 5.38235030e-02 1.57648210e+02] [-6.72746212e-02 9.97706275e-01 -7.50423963e-03 -2.06839642e+01] [-5.42071982e-02 3.85522447e-03 9.98522267e-01 -1.11445927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.900714057 meters 0.04401645767532296 Centerline is valid? [True, True] Translation: X:157.68, Y:-20.69, Z:-11.15 [[ 9.96394742e-01 6.61373071e-02 5.31354382e-02 1.57678556e+02] [-6.58358383e-02 9.97802984e-01 -7.40596597e-03 -2.06880392e+01] [-5.35085095e-02 3.88104943e-03 9.98559851e-01 -1.11471688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.930714057 meters 0.04085031654151601 Centerline is valid? [True, True] Translation: X:157.71, Y:-20.69, Z:-11.15 [[ 9.96484068e-01 6.47923946e-02 5.31172973e-02 1.57708646e+02] [-6.44892043e-02 9.97890938e-01 -7.40396769e-03 -2.06869772e+01] [-5.34849904e-02 3.95244361e-03 9.98560831e-01 -1.11478207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.960714057 meters 0.04314238729802267 Centerline is valid? [True, True] Translation: X:157.74, Y:-20.69, Z:-11.15 [[ 9.96544396e-01 6.26414562e-02 5.45464544e-02 1.57738657e+02] [-6.23186449e-02 9.98027362e-01 -7.60069454e-03 -2.06934833e+01] [-5.49149726e-02 4.17516842e-03 9.98482305e-01 -1.11493927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.990714057 meters 0.0441194243780032 Centerline is valid? [True, True] Translation: X:157.77, Y:-20.70, Z:-11.15 [[ 9.96580628e-01 6.12505658e-02 5.54564658e-02 1.57768626e+02] [-6.09147524e-02 9.98113061e-01 -7.72727701e-03 -2.06982298e+01] [-5.58251229e-02 4.32273770e-03 9.98431204e-01 -1.11506076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.020714057 meters 0.04287616441550944 Centerline is valid? [True, True] Translation: X:157.80, Y:-20.70, Z:-11.15 [[ 9.96656412e-01 6.04111698e-02 5.50135103e-02 1.57800046e+02] [-6.00793965e-02 9.98164162e-01 -7.66627844e-03 -2.06991798e+01] [-5.53756432e-02 4.33546707e-03 9.98456179e-01 -1.11519534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.050714057 meters 0.041247631714929546 Centerline is valid? [True, True] Translation: X:157.83, Y:-20.70, Z:-11.15 [[ 9.96659930e-01 6.01062396e-02 5.52831266e-02 1.57831158e+02] [-5.97706562e-02 9.98182397e-01 -7.70528460e-03 -2.06996979e+01] [-5.56457795e-02 4.37523965e-03 9.98440987e-01 -1.11534447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.080714057 meters 0.04829398899418528 Centerline is valid? [True, True] Translation: X:157.86, Y:-20.71, Z:-11.16 [[ 9.96713523e-01 6.00670314e-02 5.43516858e-02 1.57860743e+02] [-5.97425029e-02 9.98185060e-01 -7.57755386e-03 -2.07104303e+01] [-5.47082019e-02 4.30554465e-03 9.98493102e-01 -1.11578624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.110714057 meters 0.04228516744183104 Centerline is valid? [True, True] Translation: X:157.89, Y:-20.70, Z:-11.16 [[ 9.96702107e-01 6.02748859e-02 5.43309175e-02 1.57892529e+02] [-5.99500399e-02 9.98172518e-01 -7.59058638e-03 -2.07045126e+01] [-5.46891504e-02 4.30841277e-03 9.98494133e-01 -1.11586123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.140714057 meters 0.040745595672439884 Centerline is valid? [True, True] Translation: X:157.92, Y:-20.71, Z:-11.16 [[ 9.96686309e-01 6.03951838e-02 5.44869037e-02 1.57923080e+02] [-6.00686459e-02 9.98165222e-01 -7.61237926e-03 -2.07057417e+01] [-5.48466833e-02 4.31419966e-03 9.98485468e-01 -1.11605117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.170714057 meters 0.04279407359701218 Centerline is valid? [True, True] Translation: X:157.95, Y:-20.71, Z:-11.16 [[ 9.96659678e-01 6.10707452e-02 5.42203869e-02 1.57952737e+02] [-6.07484045e-02 9.98124367e-01 -7.57489254e-03 -2.07111322e+01] [-5.45812937e-02 4.25578796e-03 9.98500261e-01 -1.11629943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.200714057 meters 0.04735441259248256 Centerline is valid? [True, True] Translation: X:157.98, Y:-20.72, Z:-11.17 [[ 9.96572947e-01 6.24030915e-02 5.42974651e-02 1.57981210e+02] [-6.20817659e-02 9.98042235e-01 -7.58622090e-03 -2.07179678e+01] [-5.46645671e-02 4.18934001e-03 9.98495986e-01 -1.11656499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.230714057 meters 0.040296950988090455 Centerline is valid? [True, True] Translation: X:158.01, Y:-20.71, Z:-11.17 [[ 9.96511088e-01 6.30025211e-02 5.47387809e-02 1.58013201e+02] [-6.26766550e-02 9.98004557e-01 -7.65127448e-03 -2.07106435e+01] [-5.51116023e-02 4.19373617e-03 9.98471394e-01 -1.11663627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26071405699997 meters 0.041315147146588495 Centerline is valid? [True, True] Translation: X:158.04, Y:-20.71, Z:-11.17 [[ 9.96358898e-01 6.45725104e-02 5.56716883e-02 1.58042239e+02] [-6.42378362e-02 9.97904273e-01 -7.78212951e-03 -2.07141190e+01] [-5.60575273e-02 4.17756519e-03 9.98418801e-01 -1.11687625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.29071405699997 meters 0.04034313558352728 Centerline is valid? [True, True] Translation: X:158.07, Y:-20.72, Z:-11.17 [[ 9.96238189e-01 6.58505545e-02 5.63309445e-02 1.58071600e+02] [-6.55100458e-02 9.97820857e-01 -7.87218036e-03 -2.07158866e+01] [-5.67265787e-02 4.15232395e-03 9.98381116e-01 -1.11707083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32071405699998 meters 0.03531286258873515 Centerline is valid? [True, True] Translation: X:158.10, Y:-20.71, Z:-11.17 [[ 9.96076918e-01 6.87539623e-02 5.57105566e-02 1.58102490e+02] [-6.84255609e-02 9.97625864e-01 -7.78324906e-03 -2.07104299e+01] [-5.61134213e-02 3.94068865e-03 9.98416624e-01 -1.11722786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.35071405699998 meters 0.03874745503176926 Centerline is valid? [True, True] Translation: X:158.13, Y:-20.72, Z:-11.18 [[ 9.95743864e-01 7.35181552e-02 5.55809238e-02 1.58130754e+02] [-7.31987326e-02 9.97287154e-01 -7.76386809e-03 -2.07179972e+01] [-5.60009266e-02 3.66237083e-03 9.98424000e-01 -1.11757370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.38071405699998 meters 0.032392203034896094 Centerline is valid? [True, True] Translation: X:158.16, Y:-20.71, Z:-11.18 [[ 9.95325465e-01 7.87787387e-02 5.58670587e-02 1.58162715e+02] [-7.84642578e-02 9.96886383e-01 -7.80384783e-03 -2.07118558e+01] [-5.63078874e-02 3.38380117e-03 9.98407718e-01 -1.11761537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.41071405699998 meters 0.03085523433193003 Centerline is valid? [True, True] Translation: X:158.19, Y:-20.71, Z:-11.18 [[ 9.94698536e-01 8.59848708e-02 5.64041149e-02 1.58192494e+02] [-8.56758304e-02 9.96291912e-01 -7.87900361e-03 -2.07108694e+01] [-5.68724386e-02 3.00476397e-03 9.98376931e-01 -1.11772195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.44071405699998 meters 0.029394261971041526 Centerline is valid? [True, True] Translation: X:158.22, Y:-20.71, Z:-11.18 [[ 9.94297632e-01 9.06258525e-02 5.62065315e-02 1.58222462e+02] [-9.03264777e-02 9.95881275e-01 -7.84938388e-03 -2.07119696e+01] [-5.66863894e-02 2.72768579e-03 9.98388308e-01 -1.11808596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.47071405699998 meters 0.0287992659815992 Centerline is valid? [True, True] Translation: X:158.25, Y:-20.71, Z:-11.18 [[ 9.94152587e-01 9.23423776e-02 5.59778467e-02 1.58250853e+02] [-9.20481236e-02 9.95723869e-01 -7.81790119e-03 -2.07149345e+01] [-5.64604017e-02 2.61953093e-03 9.98401403e-01 -1.11840003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.50071405699998 meters 0.028421337277365927 Centerline is valid? [True, True] Translation: X:158.28, Y:-20.72, Z:-11.19 [[ 9.94058818e-01 9.36660662e-02 5.54412750e-02 1.58279240e+02] [-9.33797062e-02 9.95600491e-01 -7.73902097e-03 -2.07182000e+01] [-5.59222443e-02 2.51595207e-03 9.98431957e-01 -1.11872071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.53071405699998 meters 0.026877564897421272 Centerline is valid? [True, True] Translation: X:158.31, Y:-20.72, Z:-11.19 [[ 9.93786629e-01 9.65170934e-02 5.54309220e-02 1.58309205e+02] [-9.62354980e-02 9.95328551e-01 -7.73336563e-03 -2.07190280e+01] [-5.59183812e-02 2.35089298e-03 9.98432576e-01 -1.11895842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.56071405699998 meters 0.027696935061687997 Centerline is valid? [True, True] Translation: X:158.34, Y:-20.72, Z:-11.19 [[ 9.93641484e-01 9.76481623e-02 5.60485254e-02 1.58336378e+02] [-9.73621965e-02 9.95218318e-01 -7.81684030e-03 -2.07229355e+01] [-5.65438192e-02 2.31012926e-03 9.98397446e-01 -1.11905800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.59071405699999 meters 0.02762319558795752 Centerline is valid? [True, True] Translation: X:158.36, Y:-20.73, Z:-11.19 [[ 9.93618986e-01 9.72384505e-02 5.71488708e-02 1.58363892e+02] [-9.69407523e-02 9.95258281e-01 -7.96518064e-03 -2.07261419e+01] [-5.76524087e-02 2.37430019e-03 9.98333893e-01 -1.11913127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.620714057 meters 0.028435144748827756 Centerline is valid? [True, True] Translation: X:158.39, Y:-20.73, Z:-11.19 [[ 9.93670410e-01 9.61535796e-02 5.80827511e-02 1.58392358e+02] [-9.58446047e-02 9.95363444e-01 -8.08864080e-03 -2.07314917e+01] [-5.85911989e-02 2.47052471e-03 9.98279003e-01 -1.11928762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.650714057 meters 0.029102159664015338 Centerline is valid? [True, True] Translation: X:158.42, Y:-20.74, Z:-11.19 [[ 9.93810038e-01 9.31937704e-02 6.04692410e-02 1.58420777e+02] [-9.28536552e-02 9.95644194e-01 -8.41654084e-03 -2.07389516e+01] [-6.09902179e-02 2.74965272e-03 9.98134576e-01 -1.11940520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.680714057 meters 0.028951059365545477 Centerline is valid? [True, True] Translation: X:158.45, Y:-20.74, Z:-11.20 [[ 9.93984466e-01 9.05689036e-02 6.15804810e-02 1.58450266e+02] [-9.02114447e-02 9.95885795e-01 -8.56618587e-03 -2.07440969e+01] [-6.21029563e-02 2.95939153e-03 9.98065361e-01 -1.11954889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.710714057 meters 0.03144926896781258 Centerline is valid? [True, True] Translation: X:158.48, Y:-20.76, Z:-11.20 [[ 9.94358530e-01 8.54896461e-02 6.27903995e-02 1.58478038e+02] [-8.51080362e-02 9.96333464e-01 -8.73212339e-03 -2.07552618e+01] [-6.33066824e-02 3.33889379e-03 9.97988535e-01 -1.11972769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.740714057 meters 0.032828632238369994 Centerline is valid? [True, True] Translation: X:158.51, Y:-20.76, Z:-11.20 [[ 9.94566571e-01 8.26431088e-02 6.33044444e-02 1.58506288e+02] [-8.22495706e-02 9.96572894e-01 -8.80204688e-03 -2.07626096e+01] [-6.38149218e-02 3.54745821e-03 9.97955446e-01 -1.11994677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.770714057 meters 0.03560397521060941 Centerline is valid? [True, True] Translation: X:158.54, Y:-20.77, Z:-11.20 [[ 9.94954307e-01 7.76903619e-02 6.34833467e-02 1.58535213e+02] [-7.72848796e-02 9.96970021e-01 -8.82180821e-03 -2.07741878e+01] [-6.39763630e-02 3.87099326e-03 9.97943906e-01 -1.12029221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.800714057 meters 0.035513850640464445 Centerline is valid? [True, True] Translation: X:158.56, Y:-20.78, Z:-11.21 [[ 9.95121240e-01 7.56997157e-02 6.32714133e-02 1.58564378e+02] [-7.52928522e-02 9.97122689e-01 -8.79366601e-03 -2.07797156e+01] [-6.37550398e-02 3.98687866e-03 9.97957614e-01 -1.12055320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.830714057 meters 0.035513850640464445 Centerline is valid? [True, True] Translation: X:158.59, Y:-20.78, Z:-11.21 [[ 9.95126530e-01 7.56298943e-02 6.32717036e-02 1.58592408e+02] [-7.52230227e-02 9.97127978e-01 -8.79157671e-03 -2.07835491e+01] [-6.37548919e-02 3.98924243e-03 9.97957614e-01 -1.12074814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.860714057 meters 0.04256626209269919 Centerline is valid? [True, True] Translation: X:158.62, Y:-20.80, Z:-11.21 [[ 9.95302859e-01 7.31614782e-02 6.34004462e-02 1.58619378e+02] [-7.27482649e-02 9.97311469e-01 -8.80475230e-03 -2.08008588e+01] [-6.38741609e-02 4.15112268e-03 9.97949327e-01 -1.12103973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.890714057 meters 0.03814318027873249 Centerline is valid? [True, True] Translation: X:158.65, Y:-20.80, Z:-11.21 [[ 9.95362292e-01 7.21838564e-02 6.35877295e-02 1.58648994e+02] [-7.17663502e-02 9.97382398e-01 -8.82857419e-03 -2.07994765e+01] [-6.40585626e-02 4.22417057e-03 9.97937201e-01 -1.12114442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.920714057 meters 0.040284727321045516 Centerline is valid? [True, True] Translation: X:158.68, Y:-20.81, Z:-11.21 [[ 9.95403536e-01 7.14480927e-02 6.37728050e-02 1.58677381e+02] [-7.10268748e-02 9.97435135e-01 -8.85072515e-03 -2.08088059e+01] [-6.42416038e-02 4.28046007e-03 9.97925195e-01 -1.12132712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.950714057 meters 0.03725756578840453 Centerline is valid? [True, True] Translation: X:158.71, Y:-20.81, Z:-11.22 [[ 9.95424788e-01 7.12380167e-02 6.36760266e-02 1.58707813e+02] [-7.08177276e-02 9.97450135e-01 -8.83610386e-03 -2.08094235e+01] [-6.41431279e-02 4.28628530e-03 9.97931504e-01 -1.12151921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.980714057 meters 0.03976059932749288 Centerline is valid? [True, True] Translation: X:158.74, Y:-20.82, Z:-11.22 [[ 9.95273791e-01 7.25128582e-02 6.45907670e-02 1.58735885e+02] [-7.20830513e-02 9.97358359e-01 -8.96310094e-03 -2.08195357e+01] [-6.50700815e-02 4.26483988e-03 9.97871583e-01 -1.12175882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.01071405699997 meters 0.04085004742614025 Centerline is valid? [True, True] Translation: X:158.76, Y:-20.83, Z:-11.22 [[ 9.95201334e-01 7.34208489e-02 6.46814079e-02 1.58764271e+02] [-7.29918264e-02 9.97292161e-01 -8.97435689e-03 -2.08263347e+01] [-6.51651659e-02 4.21007785e-03 9.97865610e-01 -1.12198353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04071405699997 meters 0.04048189347191077 Centerline is valid? [True, True] Translation: X:158.79, Y:-20.83, Z:-11.22 [[ 9.95132790e-01 7.45482460e-02 6.44460226e-02 1.58793945e+02] [-7.41245548e-02 9.97208883e-01 -8.94389023e-03 -2.08313272e+01] [-6.49328976e-02 4.12332570e-03 9.97881114e-01 -1.12223717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.07071405699998 meters 0.04067639257278529 Centerline is valid? [True, True] Translation: X:158.82, Y:-20.84, Z:-11.23 [[ 9.94961760e-01 7.66968826e-02 6.45653546e-02 1.58822476e+02] [-7.62761150e-02 9.97046470e-01 -8.96051011e-03 -2.08374877e+01] [-6.50619021e-02 3.99057050e-03 9.97873251e-01 -1.12253999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.10071405699998 meters 0.039860124741653485 Centerline is valid? [True, True] Translation: X:158.85, Y:-20.84, Z:-11.23 [[ 9.94853112e-01 7.81526258e-02 6.44938260e-02 1.58851610e+02] [-7.77359024e-02 9.96933817e-01 -8.94955646e-03 -2.08415458e+01] [-6.49955074e-02 3.89000833e-03 9.97877974e-01 -1.12273511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.13071405699998 meters 0.03934266400626702 Centerline is valid? [True, True] Translation: X:158.88, Y:-20.85, Z:-11.23 [[ 9.94718510e-01 8.04041942e-02 6.37985228e-02 1.58879725e+02] [-8.00011630e-02 9.96755473e-01 -8.85103475e-03 -2.08460450e+01] [-6.43031870e-02 3.70033208e-03 9.97923548e-01 -1.12296785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.16071405699998 meters 0.03224072941580428 Centerline is valid? [True, True] Translation: X:158.91, Y:-20.84, Z:-11.23 [[ 9.94659168e-01 8.20319703e-02 6.26410021e-02 1.58909573e+02] [-8.16468538e-02 9.96623459e-01 -8.68750954e-03 -2.08410544e+01] [-6.31421457e-02 3.52667027e-03 9.97998313e-01 -1.12316871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.19071405699998 meters 0.032075643406540746 Centerline is valid? [True, True] Translation: X:158.94, Y:-20.85, Z:-11.23 [[ 9.94656182e-01 8.25839882e-02 6.19593770e-02 1.58938099e+02] [-8.22085641e-02 9.96578140e-01 -8.58854469e-03 -2.08461080e+01] [-6.24566369e-02 3.44905766e-03 9.98041719e-01 -1.12339940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.22071405699998 meters 0.03154778238664291 Centerline is valid? [True, True] Translation: X:158.97, Y:-20.85, Z:-11.24 [[ 9.94738998e-01 8.23787011e-02 6.08939610e-02 1.58966835e+02] [-8.20159790e-02 9.96595306e-01 -8.43653585e-03 -2.08503731e+01] [-6.13816266e-02 3.39787339e-03 9.98108586e-01 -1.12368405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.25071405699998 meters 0.0326194024002721 Centerline is valid? [True, True] Translation: X:158.99, Y:-20.86, Z:-11.24 [[ 9.94994158e-01 8.12792395e-02 5.81404449e-02 1.58993914e+02] [-8.09469885e-02 9.96685891e-01 -8.05103205e-03 -2.08585772e+01] [-5.86021429e-02 3.30443593e-03 9.98275949e-01 -1.12409521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.28071405699998 meters 0.03161537634786938 Centerline is valid? [True, True] Translation: X:159.02, Y:-20.86, Z:-11.24 [[ 9.95104139e-01 8.05952950e-02 5.72027110e-02 1.59022411e+02] [-8.02727969e-02 9.96741490e-01 -7.91714021e-03 -2.08628847e+01] [-5.76543996e-02 3.28655739e-03 9.98331192e-01 -1.12431568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.31071405699998 meters 0.033540528673847034 Centerline is valid? [True, True] Translation: X:159.05, Y:-20.87, Z:-11.25 [[ 9.95264549e-01 7.93737665e-02 5.61095587e-02 1.59049825e+02] [-7.90617992e-02 9.96839500e-01 -7.76159675e-03 -2.08725980e+01] [-5.65482916e-02 3.28871943e-03 9.98394449e-01 -1.12462725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.34071405699999 meters 0.03508063264509534 Centerline is valid? [True, True] Translation: X:159.08, Y:-20.88, Z:-11.25 [[ 9.95298277e-01 7.86637709e-02 5.65097410e-02 1.59076490e+02] [-7.83463479e-02 9.96895575e-01 -7.81422895e-03 -2.08803148e+01] [-5.69490075e-02 3.35015678e-03 9.98371467e-01 -1.12482396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.370714057 meters 0.034996399947420355 Centerline is valid? [True, True] Translation: X:159.10, Y:-20.89, Z:-11.25 [[ 9.95260672e-01 7.85679254e-02 5.72998815e-02 1.59104658e+02] [-7.82417042e-02 9.96902974e-01 -7.91811985e-03 -2.08857996e+01] [-5.77445325e-02 3.39735290e-03 9.98325612e-01 -1.12485843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.400714057 meters 0.03502584913909887 Centerline is valid? [True, True] Translation: X:159.13, Y:-20.89, Z:-11.25 [[ 9.95166309e-01 7.90154796e-02 5.83144262e-02 1.59133120e+02] [-7.86786003e-02 9.96867498e-01 -8.05411724e-03 -2.08906155e+01] [-5.87681561e-02 3.42708869e-03 9.98265776e-01 -1.12498672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.430714057 meters 0.034397885541282036 Centerline is valid? [True, True] Translation: X:159.16, Y:-20.89, Z:-11.25 [[ 9.95048687e-01 7.97406954e-02 5.93256368e-02 1.59162124e+02] [-7.93935617e-02 9.96809709e-01 -8.18937752e-03 -2.08946212e+01] [-5.97893974e-02 3.43875575e-03 9.98205091e-01 -1.12505108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.460714057 meters 0.03384742751729376 Centerline is valid? [True, True] Translation: X:159.19, Y:-20.90, Z:-11.25 [[ 9.94857087e-01 8.12776277e-02 6.04427295e-02 1.59191264e+02] [-8.09203019e-02 9.96685680e-01 -8.34032048e-03 -2.08990292e+01] [-6.09202844e-02 3.40638301e-03 9.98136822e-01 -1.12510001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.490714057 meters 0.031407638332301764 Centerline is valid? [True, True] Translation: X:159.22, Y:-20.90, Z:-11.25 [[ 9.94657936e-01 8.26117296e-02 6.18942039e-02 1.59220072e+02] [-8.22397842e-02 9.96576004e-01 -8.53736391e-03 -2.09007343e+01] [-6.23875648e-02 3.40159079e-03 9.98046202e-01 -1.12511209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.520714057 meters 0.03370402334563852 Centerline is valid? [True, True] Translation: X:159.25, Y:-20.91, Z:-11.25 [[ 9.94611797e-01 8.29763737e-02 6.21473584e-02 1.59247186e+02] [-8.26023624e-02 9.96545755e-01 -8.56784386e-03 -2.09089897e+01] [-6.26436148e-02 3.38815996e-03 9.98030209e-01 -1.12530148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.550714057 meters 0.033919605220159965 Centerline is valid? [True, True] Translation: X:159.28, Y:-20.91, Z:-11.25 [[ 9.94629694e-01 8.29322223e-02 6.19194533e-02 1.59275090e+02] [-8.25612234e-02 9.96549482e-01 -8.53074062e-03 -2.09135195e+01] [-6.24132724e-02 3.37278211e-03 9.98044692e-01 -1.12549545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.580714057 meters 0.032534907884360524 Centerline is valid? [True, True] Translation: X:159.30, Y:-20.92, Z:-11.26 [[ 9.94754944e-01 8.22177452e-02 6.08509902e-02 1.59304744e+02] [-8.18583974e-02 9.96608746e-01 -8.37913081e-03 -2.09175862e+01] [-6.13335423e-02 3.35401727e-03 9.98111691e-01 -1.12576146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.610714057 meters 0.03304237586907189 Centerline is valid? [True, True] Translation: X:159.33, Y:-20.92, Z:-11.26 [[ 9.94838354e-01 8.13143770e-02 6.07010833e-02 1.59333655e+02] [-8.09552576e-02 9.96682707e-01 -8.35632807e-03 -2.09242428e+01] [-6.11792097e-02 3.39912382e-03 9.98121010e-01 -1.12608479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.640714057 meters 0.034735725699456425 Centerline is valid? [True, True] Translation: X:159.36, Y:-20.93, Z:-11.26 [[ 9.95148219e-01 7.87660473e-02 5.89570412e-02 1.59361819e+02] [-7.84229716e-02 9.96887155e-01 -8.11404929e-03 -2.09341684e+01] [-5.94126286e-02 3.45109533e-03 9.98227544e-01 -1.12649616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.670714057 meters 0.03592670870261711 Centerline is valid? [True, True] Translation: X:159.39, Y:-20.94, Z:-11.27 [[ 9.95312150e-01 7.72857990e-02 5.81431733e-02 1.59389927e+02] [-7.69497184e-02 9.97002875e-01 -8.00049359e-03 -2.09411133e+01] [-5.85872355e-02 3.48888767e-03 9.98276196e-01 -1.12683252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.700714057 meters 0.03773106600000716 Centerline is valid? [True, True] Translation: X:159.42, Y:-20.95, Z:-11.27 [[ 9.95620749e-01 7.47012932e-02 5.62053439e-02 1.59418339e+02] [-7.43830210e-02 9.97199736e-01 -7.73646669e-03 -2.09494555e+01] [-5.66258781e-02 3.52186348e-03 9.98389256e-01 -1.12722482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.730714057 meters 0.03845639373539706 Centerline is valid? [True, True] Translation: X:159.45, Y:-20.96, Z:-11.27 [[ 9.95750038e-01 7.36286738e-02 5.53234182e-02 1.59447708e+02] [-7.33187165e-02 9.97279493e-01 -7.61434885e-03 -2.09554054e+01] [-5.57335449e-02 3.52574614e-03 9.98439453e-01 -1.12744693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.76071405699997 meters 0.03943923397961916 Centerline is valid? [True, True] Translation: X:159.48, Y:-20.96, Z:-11.28 [[ 9.95874602e-01 7.25186793e-02 5.45419020e-02 1.59477122e+02] [-7.22158855e-02 9.97360790e-01 -7.50470739e-03 -2.09611308e+01] [-5.49421859e-02 3.53495573e-03 9.98483280e-01 -1.12769044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.79071405699997 meters 0.0374455536370912 Centerline is valid? [True, True] Translation: X:159.51, Y:-20.96, Z:-11.28 [[ 9.96009872e-01 7.08950287e-02 5.42054393e-02 1.59507159e+02] [-7.05936211e-02 9.97477281e-01 -7.45749763e-03 -2.09635588e+01] [-5.45973937e-02 3.60118302e-03 9.98501956e-01 -1.12776480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.82071405699998 meters 0.0393427874652492 Centerline is valid? [True, True] Translation: X:159.54, Y:-20.97, Z:-11.28 [[ 9.96114320e-01 6.89765859e-02 5.47584978e-02 1.59535796e+02] [-6.86661593e-02 9.97611256e-01 -7.53260154e-03 -2.09719913e+01] [-5.51472669e-02 3.74327652e-03 9.98471215e-01 -1.12794005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.85071405699998 meters 0.03944763016730731 Centerline is valid? [True, True] Translation: X:159.57, Y:-20.98, Z:-11.28 [[ 9.96198054e-01 6.77742302e-02 5.47365558e-02 1.59566395e+02] [-6.74623266e-02 9.97693421e-01 -7.52815133e-03 -2.09769998e+01] [-5.51205163e-02 3.80687430e-03 9.98472451e-01 -1.12805794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.88071405699998 meters 0.03797792407945288 Centerline is valid? [True, True] Translation: X:159.60, Y:-20.98, Z:-11.28 [[ 9.96252785e-01 6.67704533e-02 5.49735929e-02 1.59597109e+02] [-6.64542656e-02 9.97760819e-01 -7.56172184e-03 -2.09793707e+01] [-5.53553966e-02 3.88015670e-03 9.98459175e-01 -1.12816984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.91071405699998 meters 0.04268266031190781 Centerline is valid? [True, True] Translation: X:159.63, Y:-20.99, Z:-11.28 [[ 9.96330322e-01 6.46408378e-02 5.61021546e-02 1.59626334e+02] [-6.43081239e-02 9.97900247e-01 -7.71760439e-03 -2.09907642e+01] [-5.64832263e-02 4.08145896e-03 9.98395206e-01 -1.12831557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.94071405699998 meters 0.04251477062405813 Centerline is valid? [True, True] Translation: X:159.66, Y:-21.00, Z:-11.28 [[ 9.96352574e-01 6.32730367e-02 5.72544410e-02 1.59657656e+02] [-6.29241246e-02 9.97987218e-01 -7.87831054e-03 -2.09970884e+01] [-5.76376849e-02 4.24688941e-03 9.98328534e-01 -1.12841339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.97071405699998 meters 0.04143518552474841 Centerline is valid? [True, True] Translation: X:159.69, Y:-21.00, Z:-11.29 [[ 9.96414682e-01 6.24093737e-02 5.71213831e-02 1.59689050e+02] [-6.20603349e-02 9.98041403e-01 -7.86588238e-03 -2.10006030e+01] [-5.75004101e-02 4.29270852e-03 9.98336254e-01 -1.12859444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.00071405699998 meters 0.04243986737617075 Centerline is valid? [True, True] Translation: X:159.72, Y:-21.01, Z:-11.29 [[ 9.96521381e-01 6.16450907e-02 5.60804849e-02 1.59720168e+02] [-6.13067535e-02 9.98088998e-01 -7.73524337e-03 -2.10069361e+01] [-5.64501547e-02 4.27022294e-03 9.98396287e-01 -1.12884752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.03071405699998 meters 0.04391462410067197 Centerline is valid? [True, True] Translation: X:159.75, Y:-21.01, Z:-11.29 [[ 9.96698393e-01 5.98868977e-02 5.48258493e-02 1.59750667e+02] [-5.95600856e-02 9.98195965e-01 -7.57704765e-03 -2.10137156e+01] [-5.51807074e-02 4.28659893e-03 9.98467183e-01 -1.12919584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.06071405699998 meters 0.04470393623555658 Centerline is valid? [True, True] Translation: X:159.78, Y:-21.02, Z:-11.29 [[ 9.96801500e-01 5.88375446e-02 5.40824656e-02 1.59782086e+02] [-5.85179370e-02 9.98258366e-01 -7.47569035e-03 -2.10193178e+01] [-5.44281250e-02 4.28698505e-03 9.98508488e-01 -1.12944369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.09071405699999 meters 0.04352306966803047 Centerline is valid? [True, True] Translation: X:159.81, Y:-21.02, Z:-11.30 [[ 9.96927304e-01 5.77390734e-02 5.29353348e-02 1.59814402e+02] [-5.74311659e-02 9.98322627e-01 -7.32074467e-03 -2.10223565e+01] [-5.32692355e-02 4.25811225e-03 9.98571108e-01 -1.12967556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.120714057 meters 0.047395559222212995 Centerline is valid? [True, True] Translation: X:159.84, Y:-21.03, Z:-11.30 [[ 9.96978742e-01 5.74003801e-02 5.23314889e-02 1.59844180e+02] [-5.70989394e-02 9.98342284e-01 -7.23842966e-03 -2.10320533e+01] [-5.26602267e-02 4.22848798e-03 9.98603535e-01 -1.13001703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.150714057 meters 0.04765820519787727 Centerline is valid? [True, True] Translation: X:159.88, Y:-21.04, Z:-11.30 [[ 9.96985655e-01 5.71344183e-02 5.24905824e-02 1.59876267e+02] [-5.68301406e-02 9.98357375e-01 -7.27240720e-03 -2.10376654e+01] [-5.28198648e-02 4.26743849e-03 9.98594938e-01 -1.13020258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.180714057 meters 0.05043917372598839 Centerline is valid? [True, True] Translation: X:159.91, Y:-21.05, Z:-11.30 [[ 9.96961053e-01 5.72606147e-02 5.28193213e-02 1.59907326e+02] [-5.69520106e-02 9.98350004e-01 -7.33062032e-03 -2.10459909e+01] [-5.31519254e-02 4.30017641e-03 9.98577178e-01 -1.13046609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.210714057 meters 0.046346286830268944 Centerline is valid? [True, True] Translation: X:159.94, Y:-21.04, Z:-11.31 [[ 9.96930052e-01 5.75879864e-02 5.30480489e-02 1.59941050e+02] [-5.72764432e-02 9.98331111e-01 -7.37578382e-03 -2.10448623e+01] [-5.33842741e-02 4.31473699e-03 9.98564721e-01 -1.13051130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.240714057 meters 0.04684676496589644 Centerline is valid? [True, True] Translation: X:159.97, Y:-21.05, Z:-11.31 [[ 9.96887320e-01 5.79217836e-02 5.34858662e-02 1.59973221e+02] [-5.76046994e-02 9.98311655e-01 -7.45238427e-03 -2.10500075e+01] [-5.38272190e-02 4.34815014e-03 9.98540797e-01 -1.13071503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.270714057 meters 0.04192965939040014 Centerline is valid? [True, True] Translation: X:160.01, Y:-21.05, Z:-11.31 [[ 9.96787343e-01 5.91320249e-02 5.40221763e-02 1.60005753e+02] [-5.88094353e-02 9.98240728e-01 -7.54310384e-03 -2.10481011e+01] [-5.43731756e-02 4.34185675e-03 9.98511245e-01 -1.13070891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.300714057 meters 0.0418635038315574 Centerline is valid? [True, True] Translation: X:160.04, Y:-21.05, Z:-11.31 [[ 9.96731565e-01 6.00532404e-02 5.40351360e-02 1.60037582e+02] [-5.97318305e-02 9.98185945e-01 -7.54508490e-03 -2.10528387e+01] [-5.43902201e-02 4.29280669e-03 9.98510529e-01 -1.13092061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.330714057 meters 0.04634641499228733 Centerline is valid? [True, True] Translation: X:160.07, Y:-21.06, Z:-11.31 [[ 9.96681111e-01 6.13174333e-02 5.35437716e-02 1.60066192e+02] [-6.10027546e-02 9.98109470e-01 -7.49326340e-03 -2.10639204e+01] [-5.39020132e-02 4.20207653e-03 9.98537388e-01 -1.13129231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.360714057 meters 0.04204700172738789 Centerline is valid? [True, True] Translation: X:160.10, Y:-21.06, Z:-11.31 [[ 9.96659154e-01 6.19409535e-02 5.32339116e-02 1.60099435e+02] [-6.16308004e-02 9.98071212e-01 -7.44978434e-03 -2.10624921e+01] [-5.35926814e-02 4.14404718e-03 9.98554281e-01 -1.13140142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.390714057 meters 0.043347764971039406 Centerline is valid? [True, True] Translation: X:160.13, Y:-21.07, Z:-11.32 [[ 9.96637960e-01 6.31976491e-02 5.21424323e-02 1.60130517e+02] [-6.29017007e-02 9.97993036e-01 -7.29906517e-03 -2.10684060e+01] [-5.24990681e-02 3.99467776e-03 9.98612983e-01 -1.13169771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.420714057 meters 0.04360464065779059 Centerline is valid? [True, True] Translation: X:160.16, Y:-21.07, Z:-11.32 [[ 9.96672633e-01 6.34674723e-02 5.11423805e-02 1.60161714e+02] [-6.31824772e-02 9.97976222e-01 -7.17178759e-03 -2.10738082e+01] [-5.14940549e-02 3.91662213e-03 9.98665621e-01 -1.13196832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.450714057 meters 0.04405207377190273 Centerline is valid? [True, True] Translation: X:160.19, Y:-21.08, Z:-11.32 [[ 9.96686380e-01 6.35171116e-02 5.08117695e-02 1.60192172e+02] [-6.32350984e-02 9.97973115e-01 -7.14024493e-03 -2.10792946e+01] [-5.11623077e-02 3.90349763e-03 9.98682723e-01 -1.13222055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.480714057 meters 0.04486907934993875 Centerline is valid? [True, True] Translation: X:160.22, Y:-21.09, Z:-11.33 [[ 9.96672094e-01 6.39812762e-02 5.05087538e-02 1.60222310e+02] [-6.37032929e-02 9.97943654e-01 -7.09608179e-03 -2.10863726e+01] [-5.08589067e-02 3.85489275e-03 9.98698409e-01 -1.13254238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.51071405699997 meters 0.0457680140447822 Centerline is valid? [True, True] Translation: X:160.25, Y:-21.09, Z:-11.33 [[ 9.96655981e-01 6.41786830e-02 5.05761953e-02 1.60251623e+02] [-6.38994426e-02 9.97930939e-01 -7.12057744e-03 -2.10917733e+01] [-5.09285393e-02 3.86497541e-03 9.98694821e-01 -1.13276667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.54071405699997 meters 0.045597044391480844 Centerline is valid? [True, True] Translation: X:160.28, Y:-21.10, Z:-11.33 [[ 9.96512598e-01 6.58601046e-02 5.12356171e-02 1.60282176e+02] [-6.55756899e-02 9.97821519e-01 -7.21428781e-03 -2.10955296e+01] [-5.15991350e-02 3.82931775e-03 9.98660536e-01 -1.13283949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.57071405699998 meters 0.045382921455131245 Centerline is valid? [True, True] Translation: X:160.31, Y:-21.10, Z:-11.33 [[ 9.96409101e-01 6.72451914e-02 5.14488861e-02 1.60312565e+02] [-6.69601702e-02 9.97729341e-01 -7.24558855e-03 -2.10992851e+01] [-5.18192941e-02 3.77454420e-03 9.98649345e-01 -1.13301740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.60071405699998 meters 0.045345014858784456 Centerline is valid? [True, True] Translation: X:160.34, Y:-21.10, Z:-11.33 [[ 9.96274301e-01 6.89486049e-02 5.18035518e-02 1.60343453e+02] [-6.86619390e-02 9.97613310e-01 -7.29526518e-03 -2.11034384e+01] [-5.21829112e-02 3.71115290e-03 9.98630648e-01 -1.13320071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.63071405699998 meters 0.03845820185148161 Centerline is valid? [True, True] Translation: X:160.38, Y:-21.10, Z:-11.33 [[ 9.95940948e-01 7.27997830e-02 5.29322177e-02 1.60375209e+02] [-7.25058212e-02 9.97340124e-01 -7.45535120e-03 -2.10979613e+01] [-5.33341725e-02 3.58719563e-03 9.98570277e-01 -1.13306276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.66071405699998 meters 0.04369746630161018 Centerline is valid? [True, True] Translation: X:160.40, Y:-21.11, Z:-11.33 [[ 9.95786116e-01 7.46056898e-02 5.33291808e-02 1.60403211e+02] [-7.43098543e-02 9.97206910e-01 -7.51161412e-03 -2.11090494e+01] [-5.37406367e-02 3.51707740e-03 9.98548734e-01 -1.13335159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.69071405699998 meters 0.035860146321126656 Centerline is valid? [True, True] Translation: X:160.44, Y:-21.10, Z:-11.33 [[ 9.95478294e-01 7.77430796e-02 5.45800325e-02 1.60435083e+02] [-7.74379249e-02 9.96967541e-01 -7.68694233e-03 -2.11022724e+01] [-5.50121274e-02 3.42561977e-03 9.98479810e-01 -1.13321414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.72071405699998 meters 0.035860146321126656 Centerline is valid? [True, True] Translation: X:160.46, Y:-21.11, Z:-11.33 [[ 9.95483652e-01 7.76743522e-02 5.45801499e-02 1.60463113e+02] [-7.73691403e-02 9.96972888e-01 -7.68610857e-03 -2.11061561e+01] [-5.50119432e-02 3.42857616e-03 9.98479810e-01 -1.13340909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.75071405699998 meters 0.03576382069078007 Centerline is valid? [True, True] Translation: X:160.49, Y:-21.11, Z:-11.34 [[ 9.95407525e-01 7.84093934e-02 5.49165443e-02 1.60492129e+02] [-7.81017456e-02 9.96915430e-01 -7.72934571e-03 -2.11098607e+01] [-5.53532037e-02 3.40477091e-03 9.98461031e-01 -1.13358846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.78071405699998 meters 0.0337675903659956 Centerline is valid? [True, True] Translation: X:160.52, Y:-21.11, Z:-11.34 [[ 9.95338859e-01 7.92551918e-02 5.49469865e-02 1.60521263e+02] [-7.89486323e-02 9.96848707e-01 -7.73097854e-03 -2.11119017e+01] [-5.53865527e-02 3.35695392e-03 9.98459344e-01 -1.13371644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.81071405699998 meters 0.03755989095842021 Centerline is valid? [True, True] Translation: X:160.55, Y:-21.12, Z:-11.34 [[ 9.95391182e-01 7.89801695e-02 5.43923458e-02 1.60548205e+02] [-7.86795914e-02 9.96870612e-01 -7.64884101e-03 -2.11219376e+01] [-5.48262378e-02 3.33402135e-03 9.98490344e-01 -1.13408421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.84071405699999 meters 0.03535769403149291 Centerline is valid? [True, True] Translation: X:160.58, Y:-21.12, Z:-11.34 [[ 9.95625086e-01 7.73274982e-02 5.24513747e-02 1.60577328e+02] [-7.70458702e-02 9.97000285e-01 -7.37324073e-03 -2.11235885e+01] [-5.28641898e-02 3.29982163e-03 9.98596259e-01 -1.13437164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.870714057 meters 0.04078080316811811 Centerline is valid? [True, True] Translation: X:160.60, Y:-21.14, Z:-11.35 [[ 9.95757360e-01 7.63197942e-02 5.14059337e-02 1.60603792e+02] [-7.60481253e-02 9.97077986e-01 -7.22302279e-03 -2.11351698e+01] [-5.18069844e-02 3.28305322e-03 9.98651720e-01 -1.13482739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.900714057 meters 0.037371948832393816 Centerline is valid? [True, True] Translation: X:160.63, Y:-21.13, Z:-11.35 [[ 9.96014715e-01 7.36037490e-02 5.03703776e-02 1.60634566e+02] [-7.33395222e-02 9.97281925e-01 -7.07648407e-03 -2.11345460e+01] [-5.07543229e-02 3.35414285e-03 9.98705536e-01 -1.13491094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.930714057 meters 0.03608950032370176 Centerline is valid? [True, True] Translation: X:160.66, Y:-21.14, Z:-11.35 [[ 9.96139999e-01 7.19960790e-02 5.02162087e-02 1.60664464e+02] [-7.17314646e-02 9.97399035e-01 -7.05426829e-03 -2.11368914e+01] [-5.05934777e-02 3.42495661e-03 9.98713457e-01 -1.13505604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.960714057 meters 0.036001154219584934 Centerline is valid? [True, True] Translation: X:160.69, Y:-21.14, Z:-11.35 [[ 9.96380610e-01 6.83738013e-02 5.05044951e-02 1.60694537e+02] [-6.81016211e-02 9.97653179e-01 -7.09254474e-03 -2.11410987e+01] [-5.08709144e-02 3.62743606e-03 9.98698649e-01 -1.13515017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.990714057 meters 0.037624523907780656 Centerline is valid? [True, True] Translation: X:160.72, Y:-21.15, Z:-11.35 [[ 9.96523402e-01 6.64808013e-02 5.02136580e-02 1.60724375e+02] [-6.62094099e-02 9.97780838e-01 -7.05073648e-03 -2.11470262e+01] [-5.05709644e-02 3.70160724e-03 9.98713610e-01 -1.13536630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.020714057 meters 0.046618158482373016 Centerline is valid? [True, True] Translation: X:160.75, Y:-21.16, Z:-11.36 [[ 9.96653148e-01 6.38161310e-02 5.10881959e-02 1.60752071e+02] [-6.35317841e-02 9.97954043e-01 -7.17217221e-03 -2.11627003e+01] [-5.14413719e-02 3.90244379e-03 9.98668392e-01 -1.13575500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.050714057 meters 0.038587529684501805 Centerline is valid? [True, True] Translation: X:160.78, Y:-21.16, Z:-11.36 [[ 9.96682786e-01 6.26577246e-02 5.19368299e-02 1.60784837e+02] [-6.23620188e-02 9.98026925e-01 -7.29627864e-03 -2.11552532e+01] [-5.22915229e-02 4.03318975e-03 9.98623718e-01 -1.13563294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.080714057 meters 0.047719446710930515 Centerline is valid? [True, True] Translation: X:160.81, Y:-21.17, Z:-11.36 [[ 9.96712812e-01 6.17329993e-02 5.24652969e-02 1.60813860e+02] [-6.14299405e-02 9.98084180e-01 -7.37099197e-03 -2.11716733e+01] [-5.28198163e-02 4.12382207e-03 9.98595544e-01 -1.13599476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.110714057 meters 0.04245016876715679 Centerline is valid? [True, True] Translation: X:160.85, Y:-21.17, Z:-11.36 [[ 9.96694459e-01 6.03888638e-02 5.43446417e-02 1.60847102e+02] [-6.00612359e-02 9.98165431e-01 -7.64335141e-03 -2.11674164e+01] [-5.47065160e-02 4.35407966e-03 9.98492984e-01 -1.13594213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.140714057 meters 0.04400566952205649 Centerline is valid? [True, True] Translation: X:160.88, Y:-21.17, Z:-11.36 [[ 9.96713840e-01 5.93000502e-02 5.51817408e-02 1.60878045e+02] [-5.89604704e-02 9.98230133e-01 -7.76307627e-03 -2.11724752e+01] [-5.55444272e-02 4.48402417e-03 9.98446148e-01 -1.13610216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.170714057 meters 0.0428737826925982 Centerline is valid? [True, True] Translation: X:160.91, Y:-21.17, Z:-11.36 [[ 9.96725815e-01 5.89883951e-02 5.52993574e-02 1.60910441e+02] [-5.86461897e-02 9.98248419e-01 -7.79215158e-03 -2.11747939e+01] [-5.56621427e-02 4.52354203e-03 9.98439414e-01 -1.13628290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.200714057 meters 0.0419621600590025 Centerline is valid? [True, True] Translation: X:160.94, Y:-21.18, Z:-11.37 [[ 9.96775385e-01 5.84886995e-02 5.49354609e-02 1.60942677e+02] [-5.81494808e-02 9.98277770e-01 -7.75450776e-03 -2.11768055e+01] [-5.52944005e-02 4.53503393e-03 9.98459795e-01 -1.13652813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.230714057 meters 0.04797815213365327 Centerline is valid? [True, True] Translation: X:160.97, Y:-21.19, Z:-11.37 [[ 9.96893261e-01 5.72383446e-02 5.41072893e-02 1.60971070e+02] [-5.69066020e-02 9.98350171e-01 -7.65337167e-03 -2.11866451e+01] [-5.44560878e-02 4.55053266e-03 9.98505797e-01 -1.13690628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.26071405699997 meters 0.045996643921524284 Centerline is valid? [True, True] Translation: X:161.00, Y:-21.19, Z:-11.37 [[ 9.96965737e-01 5.68299091e-02 5.31947496e-02 1.61003687e+02] [-5.65085732e-02 9.98373743e-01 -7.52664182e-03 -2.11872464e+01] [-5.35359797e-02 4.49784460e-03 9.98555791e-01 -1.13713589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.29071405699997 meters 0.044189956723890325 Centerline is valid? [True, True] Translation: X:161.03, Y:-21.19, Z:-11.37 [[ 9.97139140e-01 5.54754865e-02 5.13420484e-02 1.61034583e+02] [-5.51735884e-02 9.98450238e-01 -7.27996229e-03 -2.11868507e+01] [-5.16663399e-02 4.42641029e-03 9.98654593e-01 -1.13745345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.32071405699998 meters 0.044857579036600384 Centerline is valid? [True, True] Translation: X:161.07, Y:-21.19, Z:-11.38 [[ 9.97213863e-01 5.47321100e-02 5.06843882e-02 1.61065804e+02] [-5.44369972e-02 9.98491350e-01 -7.18584566e-03 -2.11912845e+01] [-5.10012197e-02 4.40671902e-03 9.98688869e-01 -1.13775384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.35071405699998 meters 0.04749431812156399 Centerline is valid? [True, True] Translation: X:161.09, Y:-21.20, Z:-11.38 [[ 9.97371400e-01 5.28017096e-02 4.96212695e-02 1.61094849e+02] [-5.25157098e-02 9.98595207e-01 -7.05074900e-03 -2.11967878e+01] [-4.99238535e-02 4.42631921e-03 9.98743219e-01 -1.13803727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.38071405699998 meters 0.0486461675159976 Centerline is valid? [True, True] Translation: X:161.13, Y:-21.20, Z:-11.38 [[ 9.97395937e-01 5.23625690e-02 4.95934137e-02 1.61126078e+02] [-5.20765638e-02 9.98618262e-01 -7.04255788e-03 -2.12018080e+01] [-4.98936551e-02 4.44156403e-03 9.98744660e-01 -1.13828507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.41071405699998 meters 0.04595500035258088 Centerline is valid? [True, True] Translation: X:161.16, Y:-21.20, Z:-11.38 [[ 9.97402012e-01 5.22674596e-02 4.95715580e-02 1.61159099e+02] [-5.19810438e-02 9.98623184e-01 -7.05039983e-03 -2.12002037e+01] [-4.98718136e-02 4.45530165e-03 9.98745690e-01 -1.13838965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.44071405699998 meters 0.0480747733553862 Centerline is valid? [True, True] Translation: X:161.19, Y:-21.21, Z:-11.39 [[ 9.97353820e-01 5.29552566e-02 4.98106262e-02 1.61190022e+02] [-5.26662627e-02 9.98586947e-01 -7.09747426e-03 -2.12064668e+01] [-5.01160898e-02 4.45535353e-03 9.98733462e-01 -1.13860656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.47071405699998 meters 0.04534127765799511 Centerline is valid? [True, True] Translation: X:161.22, Y:-21.21, Z:-11.39 [[ 9.97226804e-01 5.45470073e-02 5.06293005e-02 1.61222405e+02] [-5.42496815e-02 9.98501231e-01 -7.22935899e-03 -2.12050677e+01] [-5.09477587e-02 4.46268713e-03 9.98691349e-01 -1.13863095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.50071405699998 meters 0.04579491071702189 Centerline is valid? [True, True] Translation: X:161.25, Y:-21.21, Z:-11.39 [[ 9.97141546e-01 5.57132809e-02 5.10369158e-02 1.61253000e+02] [-5.54124971e-02 9.98436929e-01 -7.29068560e-03 -2.12087321e+01] [-5.13633294e-02 4.44176257e-03 9.98670155e-01 -1.13881571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.53071405699998 meters 0.04591504878581614 Centerline is valid? [True, True] Translation: X:161.28, Y:-21.21, Z:-11.39 [[ 9.97080823e-01 5.69997067e-02 5.08022188e-02 1.61284756e+02] [-5.67034361e-02 9.98364703e-01 -7.25532402e-03 -2.12123886e+01] [-5.11326934e-02 4.35348408e-03 9.98682379e-01 -1.13904004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.56071405699998 meters 0.04281102465482565 Centerline is valid? [True, True] Translation: X:161.32, Y:-21.21, Z:-11.39 [[ 9.97006995e-01 5.88376697e-02 5.01515724e-02 1.61316582e+02] [-5.85504429e-02 9.98258642e-01 -7.17846112e-03 -2.12108978e+01] [-5.04866044e-02 4.22057918e-03 9.98715820e-01 -1.13925996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.59071405699999 meters 0.04291098400601992 Centerline is valid? [True, True] Translation: X:161.35, Y:-21.21, Z:-11.39 [[ 9.96977707e-01 5.96340032e-02 4.97919450e-02 1.61347398e+02] [-5.93517798e-02 9.98211674e-01 -7.12879968e-03 -2.12149470e+01] [-5.01280196e-02 4.15201380e-03 9.98734170e-01 -1.13947912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.620714057 meters 0.04337859353010316 Centerline is valid? [True, True] Translation: X:161.38, Y:-21.22, Z:-11.40 [[ 9.96890887e-01 6.12422576e-02 4.95776717e-02 1.61377373e+02] [-6.09643286e-02 9.98114691e-01 -7.10024257e-03 -2.12192624e+01] [-4.99190374e-02 4.05569764e-03 9.98745033e-01 -1.13976490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.650714057 meters 0.0432833887065178 Centerline is valid? [True, True] Translation: X:161.41, Y:-21.22, Z:-11.40 [[ 9.96812666e-01 6.23356069e-02 4.97873680e-02 1.61407894e+02] [-6.20566223e-02 9.98047153e-01 -7.13128441e-03 -2.12232216e+01] [-5.01346739e-02 4.01891873e-03 9.98734380e-01 -1.13998024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.680714057 meters 0.043556842175416284 Centerline is valid? [True, True] Translation: X:161.44, Y:-21.23, Z:-11.40 [[ 9.96662145e-01 6.48735230e-02 4.95579986e-02 1.61437797e+02] [-6.46001767e-02 9.97885974e-01 -7.09931827e-03 -2.12260478e+01] [-4.99137895e-02 3.87416631e-03 9.98746016e-01 -1.14011140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.710714057 meters 0.04192635259175911 Centerline is valid? [True, True] Translation: X:161.47, Y:-21.23, Z:-11.40 [[ 9.96534879e-01 6.66265659e-02 4.97909231e-02 1.61468204e+02] [-6.63527865e-02 9.97770727e-01 -7.13324945e-03 -2.12268606e+01] [-5.01551895e-02 3.80476539e-03 9.98734189e-01 -1.14024879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.740714057 meters 0.042669353375880015 Centerline is valid? [True, True] Translation: X:161.50, Y:-21.23, Z:-11.40 [[ 9.96351167e-01 6.87510173e-02 5.05732067e-02 1.61496931e+02] [-6.84713549e-02 9.97626784e-01 -7.24379545e-03 -2.12312680e+01] [-5.09512038e-02 3.75454807e-03 9.98694086e-01 -1.14043092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.770714057 meters 0.0408641931884123 Centerline is valid? [True, True] Translation: X:161.53, Y:-21.23, Z:-11.41 [[ 9.95939531e-01 7.38745096e-02 5.14490856e-02 1.61526210e+02] [-7.35919457e-02 9.97261222e-01 -7.36759100e-03 -2.12308907e+01] [-5.18524551e-02 3.55143681e-03 9.98648442e-01 -1.14056993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.800714057 meters 0.034022137109150016 Centerline is valid? [True, True] Translation: X:161.56, Y:-21.22, Z:-11.41 [[ 9.95529923e-01 7.86248874e-02 5.23287716e-02 1.61557775e+02] [-7.83392608e-02 9.96898618e-01 -7.49039854e-03 -2.12230240e+01] [-5.27554118e-02 3.35751859e-03 9.98601819e-01 -1.14051823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.830714057 meters 0.038772546421673604 Centerline is valid? [True, True] Translation: X:161.59, Y:-21.23, Z:-11.41 [[ 9.95330801e-01 8.09661848e-02 5.25459149e-02 1.61585378e+02] [-8.06814092e-02 9.96711559e-01 -7.52181520e-03 -2.12326212e+01] [-5.29821334e-02 3.24721589e-03 9.98590181e-01 -1.14090869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.860714057 meters 0.03781835781084156 Centerline is valid? [True, True] Translation: X:161.62, Y:-21.23, Z:-11.41 [[ 9.95136787e-01 8.30728506e-02 5.29308642e-02 1.61615531e+02] [-8.27869678e-02 9.96538480e-01 -7.57469379e-03 -2.12346408e+01] [-5.33768943e-02 3.15587070e-03 9.98569451e-01 -1.14108115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.890714057 meters 0.03203093978440213 Centerline is valid? [True, True] Translation: X:161.65, Y:-21.23, Z:-11.41 [[ 9.94791687e-01 8.64951218e-02 5.39267389e-02 1.61646990e+02] [-8.62034242e-02 9.96247674e-01 -7.71628582e-03 -2.12285029e+01] [-5.43918093e-02 3.02742744e-03 9.98515080e-01 -1.14103701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.920714057 meters 0.031591472539517974 Centerline is valid? [True, True] Translation: X:161.68, Y:-21.23, Z:-11.41 [[ 9.94498004e-01 8.92786405e-02 5.48000425e-02 1.61677169e+02] [-8.89816723e-02 9.96002406e-01 -7.84023695e-03 -2.12306912e+01] [-5.52809398e-02 2.92090057e-03 9.98466567e-01 -1.14121274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.950714057 meters 0.03372563572592145 Centerline is valid? [True, True] Translation: X:161.70, Y:-21.24, Z:-11.41 [[ 9.94386270e-01 9.01739369e-02 5.53588996e-02 1.61704109e+02] [-8.98722616e-02 9.95921809e-01 -7.92008876e-03 -2.12375209e+01] [-5.58473210e-02 2.90039801e-03 9.98435108e-01 -1.14148820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.980714057 meters 0.029832407086888293 Centerline is valid? [True, True] Translation: X:161.73, Y:-21.23, Z:-11.41 [[ 9.94282419e-01 9.11368465e-02 5.56466212e-02 1.61733475e+02] [-9.08338181e-02 9.95834283e-01 -7.95605912e-03 -2.12343658e+01] [-5.61399033e-02 2.85597464e-03 9.98418827e-01 -1.14147832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.01071405699997 meters 0.029533111267460943 Centerline is valid? [True, True] Translation: X:161.76, Y:-21.24, Z:-11.42 [[ 9.94134340e-01 9.21037253e-02 5.66905411e-02 1.61762504e+02] [-9.17909796e-02 9.95745338e-01 -8.10170648e-03 -2.12379331e+01] [-5.71955394e-02 2.85050432e-03 9.98358926e-01 -1.14166046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04071405699997 meters 0.02918503158541267 Centerline is valid? [True, True] Translation: X:161.79, Y:-21.24, Z:-11.42 [[ 9.94165799e-01 9.15814925e-02 5.69841628e-02 1.61790537e+02] [-9.12650910e-02 9.95793398e-01 -8.13583110e-03 -2.12414313e+01] [-5.74895446e-02 2.88770022e-03 9.98341932e-01 -1.14185090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.07071405699998 meters 0.030762980543894536 Centerline is valid? [True, True] Translation: X:161.82, Y:-21.25, Z:-11.42 [[ 9.94359543e-01 8.99840452e-02 5.61424104e-02 1.61818146e+02] [-8.96746961e-02 9.95938895e-01 -8.01035706e-03 -2.12502082e+01] [-5.66352145e-02 2.93062140e-03 9.98390637e-01 -1.14228389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10071405699998 meters 0.03087837463076399 Centerline is valid? [True, True] Translation: X:161.85, Y:-21.26, Z:-11.43 [[ 9.94514575e-01 8.85486676e-02 5.56766898e-02 1.61846132e+02] [-8.82424280e-02 9.96067384e-01 -7.93974995e-03 -2.12556005e+01] [-5.61607890e-02 2.98315075e-03 9.98417281e-01 -1.14257539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.13071405699998 meters 0.03603121469209775 Centerline is valid? [True, True] Translation: X:161.87, Y:-21.27, Z:-11.43 [[ 9.94741624e-01 8.65376625e-02 5.47753011e-02 1.61872734e+02] [-8.62384461e-02 9.96243934e-01 -7.80733961e-03 -2.12684789e+01] [-5.52451903e-02 3.04254884e-03 9.98468183e-01 -1.14302971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.16071405699998 meters 0.03969713297043774 Centerline is valid? [True, True] Translation: X:161.90, Y:-21.28, Z:-11.43 [[ 9.95059016e-01 8.30906423e-02 5.43461054e-02 1.61899963e+02] [-8.27912302e-02 9.96536843e-01 -7.74161011e-03 -2.12797072e+01] [-5.48011517e-02 3.20397801e-03 9.98492147e-01 -1.14343139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.19071405699998 meters 0.03296910132293068 Centerline is valid? [True, True] Translation: X:161.93, Y:-21.28, Z:-11.43 [[ 9.95236581e-01 8.05496535e-02 5.49172181e-02 1.61930611e+02] [-8.02401579e-02 9.96744876e-01 -7.82111723e-03 -2.12751395e+01] [-5.53684441e-02 3.37729572e-03 9.98460279e-01 -1.14332840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.22071405699998 meters 0.035541582858692286 Centerline is valid? [True, True] Translation: X:161.96, Y:-21.28, Z:-11.44 [[ 9.95301395e-01 7.97364074e-02 5.49294009e-02 1.61956977e+02] [-7.94256175e-02 9.96810110e-01 -7.82147862e-03 -2.12828378e+01] [-5.53778387e-02 3.42192700e-03 9.98459606e-01 -1.14360846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.25071405699998 meters 0.03437199073545678 Centerline is valid? [True, True] Translation: X:161.99, Y:-21.29, Z:-11.44 [[ 9.95362280e-01 7.91638577e-02 5.46535996e-02 1.61985222e+02] [-7.88555928e-02 9.96855711e-01 -7.77736438e-03 -2.12856289e+01] [-5.50974390e-02 3.43155314e-03 9.98475086e-01 -1.14378383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.28071405699998 meters 0.03596122343081217 Centerline is valid? [True, True] Translation: X:162.01, Y:-21.29, Z:-11.44 [[ 9.95481517e-01 7.79706161e-02 5.41953161e-02 1.62012545e+02] [-7.76659457e-02 9.96949638e-01 -7.70848981e-03 -2.12919542e+01] [-5.46310365e-02 3.46452865e-03 9.98500599e-01 -1.14405111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.31071405699998 meters 0.03756206745627141 Centerline is valid? [True, True] Translation: X:162.04, Y:-21.30, Z:-11.44 [[ 9.95567133e-01 7.66795581e-02 5.44640163e-02 1.62039441e+02] [-7.63702040e-02 9.97049476e-01 -7.74177447e-03 -2.12982824e+01] [-5.48969548e-02 3.54802817e-03 9.98485721e-01 -1.14427477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.34071405699999 meters 0.03698775264301142 Centerline is valid? [True, True] Translation: X:162.07, Y:-21.30, Z:-11.44 [[ 9.95584465e-01 7.62051203e-02 5.48119810e-02 1.62068057e+02] [-7.58913634e-02 9.97085692e-01 -7.78612131e-03 -2.13015825e+01] [-5.52455843e-02 3.59198545e-03 9.98466335e-01 -1.14444275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.370714057 meters 0.03783902103489599 Centerline is valid? [True, True] Translation: X:162.10, Y:-21.31, Z:-11.45 [[ 9.95603560e-01 7.55545701e-02 5.53629669e-02 1.62095643e+02] [-7.52336676e-02 9.97134948e-01 -7.86076117e-03 -2.13066836e+01] [-5.57982655e-02 3.66104276e-03 9.98435351e-01 -1.14462517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.400714057 meters 0.039637444083854514 Centerline is valid? [True, True] Translation: X:162.12, Y:-21.31, Z:-11.45 [[ 9.95640447e-01 7.41617002e-02 5.65698079e-02 1.62123913e+02] [-7.38247560e-02 9.97238934e-01 -8.02586778e-03 -2.13128581e+01] [-5.70088269e-02 3.81462631e-03 9.98366387e-01 -1.14478035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.430714057 meters 0.04067044319001591 Centerline is valid? [True, True] Translation: X:162.15, Y:-21.32, Z:-11.45 [[ 9.95687648e-01 7.31063619e-02 5.71101396e-02 1.62152647e+02] [-7.27613944e-02 9.97316489e-01 -8.09941157e-03 -2.13182538e+01] [-5.75490025e-02 3.90907066e-03 9.98335030e-01 -1.14495754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.460714057 meters 0.03738342278426718 Centerline is valid? [True, True] Translation: X:162.18, Y:-21.32, Z:-11.45 [[ 9.95732093e-01 7.16275621e-02 5.81987173e-02 1.62182844e+02] [-7.12669453e-02 9.97423151e-01 -8.25111012e-03 -2.13179733e+01] [-5.86397549e-02 4.06825034e-03 9.98270919e-01 -1.14499251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.490714057 meters 0.037889155043557166 Centerline is valid? [True, True] Translation: X:162.21, Y:-21.32, Z:-11.45 [[ 9.95769649e-01 7.06394692e-02 5.87611471e-02 1.62211892e+02] [-7.02702553e-02 9.97493220e-01 -8.32870360e-03 -2.13229113e+01] [-5.92021810e-02 4.16430944e-03 9.98237327e-01 -1.14521007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.520714057 meters 0.039381140058188824 Centerline is valid? [True, True] Translation: X:162.24, Y:-21.33, Z:-11.45 [[ 9.95893777e-01 6.87116624e-02 5.89431337e-02 1.62241468e+02] [-6.83369349e-02 9.97627337e-01 -8.35219684e-03 -2.13291949e+01] [-5.93771749e-02 4.28990776e-03 9.98226401e-01 -1.14542980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.550714057 meters 0.03781413401734254 Centerline is valid? [True, True] Translation: X:162.27, Y:-21.33, Z:-11.46 [[ 9.95958864e-01 6.78276491e-02 5.88672265e-02 1.62272280e+02] [-6.74524254e-02 9.97687632e-01 -8.34022051e-03 -2.13312803e+01] [-5.92968014e-02 4.33577934e-03 9.98230980e-01 -1.14562277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.580714057 meters 0.03952346902519217 Centerline is valid? [True, True] Translation: X:162.30, Y:-21.34, Z:-11.46 [[ 9.96162202e-01 6.57422210e-02 5.77825984e-02 1.62302256e+02] [-6.53772409e-02 9.97827039e-01 -8.18636588e-03 -2.13381149e+01] [-5.81952289e-02 4.37728140e-03 9.98295625e-01 -1.14602997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.610714057 meters 0.043994175053784855 Centerline is valid? [True, True] Translation: X:162.33, Y:-21.35, Z:-11.46 [[ 9.96277105e-01 6.44815220e-02 5.72194313e-02 1.62331270e+02] [-6.41215066e-02 9.97909164e-01 -8.10760724e-03 -2.13489315e+01] [-5.76225857e-02 4.40842733e-03 9.98328705e-01 -1.14642213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.640714057 meters 0.043994175053784855 Centerline is valid? [True, True] Translation: X:162.36, Y:-21.35, Z:-11.47 [[ 9.96274896e-01 6.45157476e-02 5.72193127e-02 1.62361826e+02] [-6.41557405e-02 9.97906957e-01 -8.10844424e-03 -2.13532942e+01] [-5.76226725e-02 4.40729207e-03 9.98328705e-01 -1.14663467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.670714057 meters 0.03937074609508675 Centerline is valid? [True, True] Translation: X:162.39, Y:-21.35, Z:-11.47 [[ 9.96492193e-01 6.25649773e-02 5.55781624e-02 1.62393865e+02] [-6.22222346e-02 9.98031229e-01 -7.87773748e-03 -2.13510027e+01] [-5.59616122e-02 4.39190645e-03 9.98423262e-01 -1.14690283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.700714057 meters 0.046320092030401196 Centerline is valid? [True, True] Translation: X:162.42, Y:-21.36, Z:-11.47 [[ 9.96545335e-01 6.20112854e-02 5.52448795e-02 1.62423352e+02] [-6.16718316e-02 9.98065768e-01 -7.82995815e-03 -2.13644808e+01] [-5.56235689e-02 4.39585536e-03 9.98442134e-01 -1.14728293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.730714057 meters 0.04245855845695521 Centerline is valid? [True, True] Translation: X:162.46, Y:-21.36, Z:-11.47 [[ 9.96594847e-01 6.15843319e-02 5.48277395e-02 1.62455408e+02] [-6.12484901e-02 9.98092177e-01 -7.78639346e-03 -2.13627651e+01] [-5.52026578e-02 4.40176334e-03 9.98465468e-01 -1.14739780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76071405699997 meters 0.04250386465400093 Centerline is valid? [True, True] Translation: X:162.49, Y:-21.37, Z:-11.48 [[ 9.96588570e-01 6.17536110e-02 5.47513848e-02 1.62486722e+02] [-6.14188504e-02 9.98081778e-01 -7.77751391e-03 -2.13667666e+01] [-5.51266490e-02 4.38821435e-03 9.98469727e-01 -1.14758443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.79071405699997 meters 0.041105150522917994 Centerline is valid? [True, True] Translation: X:162.52, Y:-21.37, Z:-11.48 [[ 9.96509764e-01 6.22926631e-02 5.55689982e-02 1.62517657e+02] [-6.19485216e-02 9.98048113e-01 -7.89591574e-03 -2.13686096e+01] [-5.59523914e-02 4.42593985e-03 9.98423628e-01 -1.14774700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.82071405699998 meters 0.042010706188173555 Centerline is valid? [True, True] Translation: X:162.55, Y:-21.37, Z:-11.48 [[ 9.96324349e-01 6.42286192e-02 5.66787071e-02 1.62548519e+02] [-6.38736261e-02 9.97925489e-01 -8.05465355e-03 -2.13727638e+01] [-5.70784658e-02 4.40477291e-03 9.98359979e-01 -1.14792304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.85071405699998 meters 0.040753503715453825 Centerline is valid? [True, True] Translation: X:162.58, Y:-21.37, Z:-11.48 [[ 9.96209255e-01 6.54729195e-02 5.72749270e-02 1.62579235e+02] [-6.51123790e-02 9.97844732e-01 -8.14061645e-03 -2.13748312e+01] [-5.76844741e-02 4.38045070e-03 9.98325254e-01 -1.14805402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.88071405699998 meters 0.03992285841201306 Centerline is valid? [True, True] Translation: X:162.61, Y:-21.38, Z:-11.48 [[ 9.95999011e-01 6.73041966e-02 5.87887313e-02 1.62609792e+02] [-6.69274857e-02 9.97722854e-01 -8.35577692e-03 -2.13764183e+01] [-5.92172396e-02 4.38776357e-03 9.98235476e-01 -1.14813236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.91071405699998 meters 0.03814690189057089 Centerline is valid? [True, True] Translation: X:162.64, Y:-21.38, Z:-11.48 [[ 9.95936945e-01 6.73357494e-02 5.97954722e-02 1.62640331e+02] [-6.69460625e-02 9.97720399e-01 -8.49886730e-03 -2.13773403e+01] [-6.02314399e-02 4.46126452e-03 9.98174469e-01 -1.14830491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.94071405699998 meters 0.039758101842348216 Centerline is valid? [True, True] Translation: X:162.67, Y:-21.38, Z:-11.49 [[ 9.95921044e-01 6.69678927e-02 6.04696224e-02 1.62670128e+02] [-6.65686903e-02 9.97744829e-01 -8.59454891e-03 -2.13839993e+01] [-6.09088119e-02 4.53410855e-03 9.98133036e-01 -1.14853315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.97071405699998 meters 0.04380030164773634 Centerline is valid? [True, True] Translation: X:162.70, Y:-21.39, Z:-11.49 [[ 9.95962495e-01 6.62416849e-02 6.05867039e-02 1.62699366e+02] [-6.58395304e-02 9.97793057e-01 -8.61229201e-03 -2.13944602e+01] [-6.10234852e-02 4.58851970e-03 9.98125784e-01 -1.14884406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.00071405699998 meters 0.04157383962454051 Centerline is valid? [True, True] Translation: X:162.73, Y:-21.40, Z:-11.49 [[ 9.96204374e-01 6.33789913e-02 5.96652987e-02 1.62729718e+02] [-6.29838273e-02 9.97978500e-01 -8.48242371e-03 -2.13961470e+01] [-6.00822927e-02 4.69227874e-03 9.98182398e-01 -1.14914830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.03071405699998 meters 0.0422409699494586 Centerline is valid? [True, True] Translation: X:162.76, Y:-21.40, Z:-11.49 [[ 9.96369220e-01 6.16229668e-02 5.87451017e-02 1.62760547e+02] [-6.12368625e-02 9.98088318e-01 -8.35198730e-03 -2.14020515e+01] [-5.91474740e-02 4.72429736e-03 9.98238076e-01 -1.14948738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.06071405699998 meters 0.04635371243361557 Centerline is valid? [True, True] Translation: X:162.79, Y:-21.41, Z:-11.50 [[ 9.96697959e-01 5.76160878e-02 5.72150679e-02 1.62788346e+02] [-5.72431514e-02 9.98327105e-01 -8.13718940e-03 -2.14121094e+01] [-5.75881861e-02 4.83514927e-03 9.98328714e-01 -1.14994003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.09071405699999 meters 0.04630259983688049 Centerline is valid? [True, True] Translation: X:162.82, Y:-21.42, Z:-11.50 [[ 9.96847574e-01 5.60022850e-02 5.62019429e-02 1.62819387e+02] [-5.56400610e-02 9.98418918e-01 -7.99048735e-03 -2.14166399e+01] [-5.65605686e-02 4.83821840e-03 9.98387447e-01 -1.15022434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.120714057 meters 0.04410970679964428 Centerline is valid? [True, True] Translation: X:162.85, Y:-21.42, Z:-11.50 [[ 9.96951113e-01 5.46010941e-02 5.57422581e-02 1.62850380e+02] [-5.42424849e-02 9.98496325e-01 -7.92730827e-03 -2.14183566e+01] [-5.60912796e-02 4.87954021e-03 9.98413721e-01 -1.15043579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.150714057 meters 0.05151781689201656 Centerline is valid? [True, True] Translation: X:162.88, Y:-21.43, Z:-11.51 [[ 9.97032184e-01 5.31037088e-02 5.57388636e-02 1.62879015e+02] [-5.27427661e-02 9.98576662e-01 -7.92784423e-03 -2.14330380e+01] [-5.60805263e-02 4.96449400e-03 9.98413906e-01 -1.15077162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.180714057 meters 0.04513983346255341 Centerline is valid? [True, True] Translation: X:162.91, Y:-21.43, Z:-11.51 [[ 9.96959529e-01 5.26933953e-02 5.74029869e-02 1.62912209e+02] [-5.23099557e-02 9.98597533e-01 -8.16309022e-03 -2.14292155e+01] [-5.77526220e-02 5.13552289e-03 9.98317715e-01 -1.15079384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.210714057 meters 0.04588375732473746 Centerline is valid? [True, True] Translation: X:162.94, Y:-21.43, Z:-11.51 [[ 9.96886396e-01 5.34923954e-02 5.79316535e-02 1.62943157e+02] [-5.31022472e-02 9.98554964e-01 -8.25436637e-03 -2.14345319e+01] [-5.82894861e-02 5.15236456e-03 9.98286426e-01 -1.15094145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.240714057 meters 0.04580923699368518 Centerline is valid? [True, True] Translation: X:162.97, Y:-21.44, Z:-11.51 [[ 9.96771076e-01 5.44446687e-02 5.90186377e-02 1.62974036e+02] [-5.40407901e-02 9.98503236e-01 -8.41905884e-03 -2.14383094e+01] [-5.93886736e-02 5.20246052e-03 9.98221378e-01 -1.15110134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.270714057 meters 0.0536476449377475 Centerline is valid? [True, True] Translation: X:163.00, Y:-21.45, Z:-11.51 [[ 9.96535653e-01 5.70571692e-02 6.05076143e-02 1.63001650e+02] [-5.66372396e-02 9.98357490e-01 -8.63401607e-03 -2.14525178e+01] [-6.09008624e-02 5.17712060e-03 9.98130393e-01 -1.15136249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.300714057 meters 0.044393543293675536 Centerline is valid? [True, True] Translation: X:163.04, Y:-21.44, Z:-11.51 [[ 9.96469212e-01 5.80624223e-02 6.06453940e-02 1.63035804e+02] [-5.76424748e-02 9.98299792e-01 -8.65280136e-03 -2.14443865e+01] [-6.10446868e-02 5.12649956e-03 9.98121869e-01 -1.15144911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.330714057 meters 0.04142399490872092 Centerline is valid? [True, True] Translation: X:163.07, Y:-21.45, Z:-11.52 [[ 9.96373511e-01 5.92722901e-02 6.10460743e-02 1.63068155e+02] [-5.88487492e-02 9.98228874e-01 -8.71434432e-03 -2.14453217e+01] [-6.14544732e-02 5.09025673e-03 9.98096908e-01 -1.15170956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.360714057 meters 0.04355555201004892 Centerline is valid? [True, True] Translation: X:163.10, Y:-21.45, Z:-11.52 [[ 9.96385795e-01 5.93814790e-02 6.07386782e-02 1.63098311e+02] [-5.89614371e-02 9.98222470e-01 -8.68619942e-03 -2.14533192e+01] [-6.11465128e-02 5.07356596e-03 9.98115907e-01 -1.15203102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.390714057 meters 0.043191890685249784 Centerline is valid? [True, True] Translation: X:163.13, Y:-21.46, Z:-11.52 [[ 9.96556424e-01 5.72402234e-02 5.99904259e-02 1.63129138e+02] [-5.68256839e-02 9.98347119e-01 -8.59490048e-03 -2.14586714e+01] [-6.03832428e-02 5.15630631e-03 9.98161949e-01 -1.15243144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.420714057 meters 0.04513721884384063 Centerline is valid? [True, True] Translation: X:163.16, Y:-21.47, Z:-11.53 [[ 9.96663318e-01 5.63678804e-02 5.90329853e-02 1.63159267e+02] [-5.59649507e-02 9.98396908e-01 -8.45805211e-03 -2.14666036e+01] [-5.94151125e-02 5.12605216e-03 9.98220200e-01 -1.15277030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.450714057 meters 0.04766883650670166 Centerline is valid? [True, True] Translation: X:163.19, Y:-21.48, Z:-11.53 [[ 9.96933010e-01 5.36715208e-02 5.69556127e-02 1.63188521e+02] [-5.32912494e-02 9.98545543e-01 -8.17570359e-03 -2.14758190e+01] [-5.73115756e-02 5.11539302e-03 9.98343236e-01 -1.15317963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.480714057 meters 0.049140677575997584 Centerline is valid? [True, True] Translation: X:163.22, Y:-21.48, Z:-11.54 [[ 9.97017614e-01 5.26042650e-02 5.64682906e-02 1.63219905e+02] [-5.22287496e-02 9.98602245e-01 -8.10638610e-03 -2.14836763e+01] [-5.68157922e-02 5.13294152e-03 9.98371483e-01 -1.15353020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.51071405699997 meters 0.05683824112602479 Centerline is valid? [True, True] Translation: X:163.25, Y:-21.50, Z:-11.54 [[ 9.97116882e-01 5.12238993e-02 5.59824671e-02 1.63247899e+02] [-5.08523947e-02 9.98673804e-01 -8.04153713e-03 -2.14985315e+01] [-5.63201423e-02 5.17150991e-03 9.98399368e-01 -1.15387532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.54071405699997 meters 0.05319683461953211 Centerline is valid? [True, True] Translation: X:163.28, Y:-21.50, Z:-11.54 [[ 9.97180047e-01 4.98817909e-02 5.60692433e-02 1.63279659e+02] [-4.95070665e-02 9.98741305e-01 -8.05336364e-03 -2.14995574e+01] [-5.64003854e-02 5.25482978e-03 9.98394403e-01 -1.15396315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.57071405699998 meters 0.04970288328482805 Centerline is valid? [True, True] Translation: X:163.31, Y:-21.50, Z:-11.54 [[ 9.97185655e-01 4.95182742e-02 5.62912892e-02 1.63312016e+02] [-4.91399606e-02 9.98759171e-01 -8.08591728e-03 -2.15001988e+01] [-5.66218420e-02 5.29700899e-03 9.98381645e-01 -1.15399516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.60071405699998 meters 0.05056733489346614 Centerline is valid? [True, True] Translation: X:163.34, Y:-21.51, Z:-11.54 [[ 9.97151458e-01 4.97593509e-02 5.66831237e-02 1.63344396e+02] [-4.93753165e-02 9.98746990e-01 -8.15645022e-03 -2.15066740e+01] [-5.70179589e-02 5.33446905e-03 9.98358901e-01 -1.15418558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.63071405699998 meters 0.050153419418167935 Centerline is valid? [True, True] Translation: X:163.38, Y:-21.51, Z:-11.54 [[ 9.97131132e-01 4.97560951e-02 5.70424056e-02 1.63376680e+02] [-4.93661995e-02 9.98746879e-01 -8.22493874e-03 -2.15110931e+01] [-5.73801654e-02 5.38537570e-03 9.98337876e-01 -1.15433247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.66071405699998 meters 0.051343804869776084 Centerline is valid? [True, True] Translation: X:163.41, Y:-21.52, Z:-11.54 [[ 9.97037720e-01 5.04719913e-02 5.80376033e-02 1.63408576e+02] [-5.00686168e-02 9.98710586e-01 -8.38443545e-03 -2.15186951e+01] [-5.83859480e-02 5.45373589e-03 9.98279188e-01 -1.15444687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.69071405699998 meters 0.04895145383083874 Centerline is valid? [True, True] Translation: X:163.44, Y:-21.52, Z:-11.55 [[ 9.96870065e-01 5.21057072e-02 5.94564429e-02 1.63440239e+02] [-5.16846687e-02 9.98626437e-01 -8.59852499e-03 -2.15219029e+01] [-5.98228079e-02 5.49862561e-03 9.98193867e-01 -1.15451589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.72071405699998 meters 0.04913779029920102 Centerline is valid? [True, True] Translation: X:163.47, Y:-21.53, Z:-11.55 [[ 9.96818147e-01 5.31271497e-02 5.94229540e-02 1.63471360e+02] [-5.27081834e-02 9.98572951e-01 -8.59703075e-03 -2.15274153e+01] [-5.97948903e-02 5.43760030e-03 9.98195874e-01 -1.15471176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.75071405699998 meters 0.04884817747805128 Centerline is valid? [True, True] Translation: X:163.50, Y:-21.53, Z:-11.55 [[ 9.96740356e-01 5.49819300e-02 5.90393937e-02 1.63502510e+02] [-5.45714859e-02 9.98473318e-01 -8.54324065e-03 -2.15324569e+01] [-5.94189831e-02 5.29352529e-03 9.98219096e-01 -1.15491723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.78071405699998 meters 0.04567722924426954 Centerline is valid? [True, True] Translation: X:163.53, Y:-21.53, Z:-11.55 [[ 9.96715356e-01 5.60347771e-02 5.84688237e-02 1.63534968e+02] [-5.56338547e-02 9.98415364e-01 -8.46374219e-03 -2.15335107e+01] [-5.88504358e-02 5.18309576e-03 9.98253355e-01 -1.15517017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.81071405699998 meters 0.04587546908724759 Centerline is valid? [True, True] Translation: X:163.57, Y:-21.54, Z:-11.56 [[ 9.96684462e-01 5.71150021e-02 5.79479077e-02 1.63566872e+02] [-5.67221592e-02 9.98354640e-01 -8.40293659e-03 -2.15395425e+01] [-5.83324962e-02 5.08814589e-03 9.98284243e-01 -1.15551252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.84071405699999 meters 0.048748865532510705 Centerline is valid? [True, True] Translation: X:163.60, Y:-21.55, Z:-11.56 [[ 9.96684875e-01 5.80448788e-02 5.70092221e-02 1.63596414e+02] [-5.76653058e-02 9.98301617e-01 -8.28213712e-03 -2.15505194e+01] [-5.73931342e-02 4.96722658e-03 9.98339298e-01 -1.15591750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.870714057 meters 0.051454901388005694 Centerline is valid? [True, True] Translation: X:163.63, Y:-21.56, Z:-11.56 [[ 9.96714869e-01 5.81906239e-02 5.63322412e-02 1.63626498e+02] [-5.78198564e-02 9.98293431e-01 -8.19081545e-03 -2.15595514e+01] [-5.67127350e-02 4.90678545e-03 9.98378480e-01 -1.15622526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.900714057 meters 0.04504843509139378 Centerline is valid? [True, True] Translation: X:163.66, Y:-21.56, Z:-11.56 [[ 9.96779446e-01 5.87878971e-02 5.45409901e-02 1.63659876e+02] [-5.84406455e-02 9.98259298e-01 -7.94137832e-03 -2.15571047e+01] [-5.49129074e-02 4.72839201e-03 9.98479952e-01 -1.15647536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.930714057 meters 0.05212103200910233 Centerline is valid? [True, True] Translation: X:163.69, Y:-21.57, Z:-11.57 [[ 9.96809032e-01 5.93282332e-02 5.34033136e-02 1.63689603e+02] [-5.89952782e-02 9.98227858e-01 -7.79107081e-03 -2.15716070e+01] [-5.37709058e-02 4.61566641e-03 9.98542631e-01 -1.15691389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.960714057 meters 0.04568076728333546 Centerline is valid? [True, True] Translation: X:163.72, Y:-21.57, Z:-11.57 [[ 9.96800574e-01 6.05920929e-02 5.21269025e-02 1.63722996e+02] [-6.02757339e-02 9.98152670e-01 -7.62127008e-03 -2.15681857e+01] [-5.24923956e-02 4.45489909e-03 9.98611387e-01 -1.15705816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.990714057 meters 0.04673706064456766 Centerline is valid? [True, True] Translation: X:163.75, Y:-21.57, Z:-11.57 [[ 9.96788373e-01 6.14470729e-02 5.13536424e-02 1.63754853e+02] [-6.11410710e-02 9.98100881e-01 -7.51005945e-03 -2.15741950e+01] [-5.17175869e-02 4.34612325e-03 9.98652293e-01 -1.15732613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.020714057 meters 0.04060755872827854 Centerline is valid? [True, True] Translation: X:163.79, Y:-21.57, Z:-11.57 [[ 9.96591200e-01 6.41342508e-02 5.18919833e-02 1.63786525e+02] [-6.38245230e-02 9.97932154e-01 -7.60566648e-03 -2.15707852e+01] [-5.22724624e-02 4.26775921e-03 9.98623741e-01 -1.15731970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.050714057 meters 0.04058819755067675 Centerline is valid? [True, True] Translation: X:163.82, Y:-21.58, Z:-11.57 [[ 9.96424362e-01 6.61888521e-02 5.25121532e-02 1.63816306e+02] [-6.58743842e-02 9.97798224e-01 -7.69874620e-03 -2.15751234e+01] [-5.29061044e-02 4.21201252e-03 9.98590608e-01 -1.15748897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.080714057 meters 0.03852125079571697 Centerline is valid? [True, True] Translation: X:163.85, Y:-21.58, Z:-11.58 [[ 9.96039690e-01 7.10302484e-02 5.34755912e-02 1.63847095e+02] [-7.07110474e-02 9.97466030e-01 -7.84002822e-03 -2.15752293e+01] [-5.38969648e-02 4.02766421e-03 9.98538379e-01 -1.15753775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.110714057 meters 0.038398333632364515 Centerline is valid? [True, True] Translation: X:163.88, Y:-21.58, Z:-11.58 [[ 9.95818695e-01 7.38102021e-02 5.38254634e-02 1.63876844e+02] [-7.34908350e-02 9.97264670e-01 -7.89142222e-03 -2.15785184e+01] [-5.42607005e-02 3.90274753e-03 9.98519176e-01 -1.15770961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.140714057 meters 0.03754945652918074 Centerline is valid? [True, True] Translation: X:163.91, Y:-21.58, Z:-11.58 [[ 9.95605348e-01 7.64730101e-02 5.40543263e-02 1.63907150e+02] [-7.61548732e-02 9.97064514e-01 -7.92398587e-03 -2.15813940e+01] [-5.45016216e-02 3.77266235e-03 9.98506555e-01 -1.15787512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.170714057 meters 0.0358289259213559 Centerline is valid? [True, True] Translation: X:163.94, Y:-21.58, Z:-11.58 [[ 9.95174677e-01 8.17219929e-02 5.43035787e-02 1.63937360e+02] [-8.14087257e-02 9.96649017e-01 -7.95972541e-03 -2.15810051e+01] [-5.47720929e-02 3.50053202e-03 9.98492746e-01 -1.15803438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.200714057 meters 0.03471046882830953 Centerline is valid? [True, True] Translation: X:163.97, Y:-21.58, Z:-11.58 [[ 9.94760217e-01 8.64490634e-02 5.45771976e-02 1.63966576e+02] [-8.61398109e-02 9.96250955e-01 -7.99793789e-03 -2.15817003e+01] [-5.50639995e-02 3.25476094e-03 9.98477522e-01 -1.15814790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.230714057 meters 0.034491739429265 Centerline is valid? [True, True] Translation: X:163.99, Y:-21.59, Z:-11.58 [[ 9.94623831e-01 8.78378105e-02 5.48448157e-02 1.63994264e+02] [-8.75276318e-02 9.96129671e-01 -8.03687291e-03 -2.15850058e+01] [-5.53384895e-02 3.19322849e-03 9.98462546e-01 -1.15833488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26071405699997 meters 0.03299045360212908 Centerline is valid? [True, True] Translation: X:164.02, Y:-21.59, Z:-11.58 [[ 9.94579167e-01 8.85047900e-02 5.45818965e-02 1.64023697e+02] [-8.81988260e-02 9.96070813e-01 -7.99391842e-03 -2.15861592e+01] [-5.50749341e-02 3.13652553e-03 9.98477298e-01 -1.15846165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.29071405699997 meters 0.03241742197407717 Centerline is valid? [True, True] Translation: X:164.05, Y:-21.59, Z:-11.59 [[ 9.94601438e-01 8.84576498e-02 5.42514870e-02 1.64052650e+02] [-8.81556802e-02 9.96075073e-01 -7.93883697e-03 -2.15887766e+01] [-5.47408047e-02 3.11340193e-03 9.98495744e-01 -1.15867149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32071405699998 meters 0.03329227329162861 Centerline is valid? [True, True] Translation: X:164.08, Y:-21.59, Z:-11.59 [[ 9.94680977e-01 8.79091593e-02 5.36817754e-02 1.64080789e+02] [-8.76129170e-02 9.96123651e-01 -7.85165525e-03 -2.15938049e+01] [-5.41639186e-02 3.10667518e-03 9.98527225e-01 -1.15891803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.35071405699998 meters 0.03450949087055429 Centerline is valid? [True, True] Translation: X:164.11, Y:-21.60, Z:-11.59 [[ 9.94795820e-01 8.68171212e-02 5.33297633e-02 1.64107594e+02] [-8.65233832e-02 9.96219312e-01 -7.79663487e-03 -2.15996085e+01] [-5.38050215e-02 3.14178823e-03 9.98546518e-01 -1.15917634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.38071405699998 meters 0.03207572091497867 Centerline is valid? [True, True] Translation: X:164.14, Y:-21.60, Z:-11.59 [[ 9.94908919e-01 8.60046262e-02 5.25304364e-02 1.64136446e+02] [-8.57187348e-02 9.96289810e-01 -7.67553015e-03 -2.15985789e+01] [-5.29956696e-02 3.13361085e-03 9.98589825e-01 -1.15922735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.41071405699998 meters 0.036122939534125445 Centerline is valid? [True, True] Translation: X:164.16, Y:-21.61, Z:-11.60 [[ 9.94939574e-01 8.59198335e-02 5.20867128e-02 1.64162685e+02] [-8.56389668e-02 9.96297214e-01 -7.60450340e-03 -2.16075905e+01] [-5.25472245e-02 3.10536911e-03 9.98613612e-01 -1.15954899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.44071405699998 meters 0.0312831612474922 Centerline is valid? [True, True] Translation: X:164.19, Y:-21.60, Z:-11.60 [[ 9.94900650e-01 8.62822218e-02 5.22309788e-02 1.64192101e+02] [-8.60005573e-02 9.96265944e-01 -7.62055034e-03 -2.16031074e+01] [-5.26934635e-02 3.08979719e-03 9.98605954e-01 -1.15950902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.47071405699998 meters 0.033444012719126254 Centerline is valid? [True, True] Translation: X:164.22, Y:-21.61, Z:-11.60 [[ 9.94844039e-01 8.63891929e-02 5.31248028e-02 1.64219552e+02] [-8.60981469e-02 9.96256538e-01 -7.74722936e-03 -2.16087641e+01] [-5.35952091e-02 3.13333787e-03 9.98557828e-01 -1.15964887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.50071405699998 meters 0.03132521564693625 Centerline is valid? [True, True] Translation: X:164.25, Y:-21.61, Z:-11.60 [[ 9.94877781e-01 8.57997070e-02 5.34472738e-02 1.64248573e+02] [-8.55045449e-02 9.96307334e-01 -7.78908627e-03 -2.16091894e+01] [-5.39182121e-02 3.17920405e-03 9.98540294e-01 -1.15971790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.53071405699998 meters 0.03132521564693625 Centerline is valid? [True, True] Translation: X:164.28, Y:-21.61, Z:-11.60 [[ 9.94887088e-01 8.56914131e-02 5.34477610e-02 1.64275741e+02] [-8.53962744e-02 9.96316646e-01 -7.78574123e-03 -2.16130587e+01] [-5.39180651e-02 3.18169376e-03 9.98540294e-01 -1.15990707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.56071405699998 meters 0.03538370258864651 Centerline is valid? [True, True] Translation: X:164.30, Y:-21.62, Z:-11.60 [[ 9.95000950e-01 8.39504065e-02 5.40873185e-02 1.64303048e+02] [-8.36459549e-02 9.96464441e-01 -7.87227492e-03 -2.16225631e+01] [-5.45569702e-02 3.30873562e-03 9.98505177e-01 -1.16015675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.59071405699999 meters 0.032376908985184354 Centerline is valid? [True, True] Translation: X:164.33, Y:-21.62, Z:-11.60 [[ 9.95118130e-01 8.25156104e-02 5.41394658e-02 1.64333026e+02] [-8.22087013e-02 9.96584019e-01 -7.87539318e-03 -2.16222299e+01] [-5.46043693e-02 3.38621136e-03 9.98502327e-01 -1.16022761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.620714057 meters 0.0363375329610282 Centerline is valid? [True, True] Translation: X:164.36, Y:-21.63, Z:-11.61 [[ 9.95392953e-01 7.90121781e-02 5.43133897e-02 1.64360604e+02] [-7.86982107e-02 9.96867194e-01 -7.89867569e-03 -2.16322305e+01] [-5.47673279e-02 3.58791954e-03 9.98492697e-01 -1.16053818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.650714057 meters 0.036049903965439604 Centerline is valid? [True, True] Translation: X:164.39, Y:-21.64, Z:-11.61 [[ 9.95591518e-01 7.68228688e-02 5.38124121e-02 1.64389606e+02] [-7.65115842e-02 9.97037994e-01 -7.82411741e-03 -2.16358422e+01] [-5.42540905e-02 3.67235204e-03 9.98520409e-01 -1.16073185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.680714057 meters 0.036240625636490185 Centerline is valid? [True, True] Translation: X:164.42, Y:-21.64, Z:-11.61 [[ 9.95761659e-01 7.45960385e-02 5.37973071e-02 1.64418220e+02] [-7.42818551e-02 9.97206633e-01 -7.81900022e-03 -2.16406142e+01] [-5.42302980e-02 3.78969685e-03 9.98521263e-01 -1.16096140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.710714057 meters 0.03974427762075687 Centerline is valid? [True, True] Translation: X:164.45, Y:-21.65, Z:-11.61 [[ 9.96129238e-01 7.01288401e-02 5.29951688e-02 1.64446771e+02] [-6.98178627e-02 9.97530045e-01 -7.69901714e-03 -2.16501120e+01] [-5.34041962e-02 3.96920666e-03 9.98565089e-01 -1.16126248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.740714057 meters 0.04095441570403497 Centerline is valid? [True, True] Translation: X:164.48, Y:-21.66, Z:-11.62 [[ 9.96281818e-01 6.81971723e-02 5.26467876e-02 1.64475810e+02] [-6.78876319e-02 9.97663662e-01 -7.64770989e-03 -2.16562231e+01] [-5.30453391e-02 4.04520858e-03 9.98583911e-01 -1.16154620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.770714057 meters 0.04019858389739838 Centerline is valid? [True, True] Translation: X:164.51, Y:-21.66, Z:-11.62 [[ 9.96519567e-01 6.61609088e-02 5.07098272e-02 1.64505508e+02] [-6.58712319e-02 9.97800955e-01 -7.36438133e-03 -2.16589640e+01] [-5.10855482e-02 3.99843131e-03 9.98686277e-01 -1.16176502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.800714057 meters 0.04100079475066251 Centerline is valid? [True, True] Translation: X:164.53, Y:-21.66, Z:-11.62 [[ 9.96518882e-01 6.65352953e-02 5.02311818e-02 1.64534106e+02] [-6.62515371e-02 9.97776287e-01 -7.29491349e-03 -2.16631319e+01] [-5.06048513e-02 3.94162604e-03 9.98710976e-01 -1.16202421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.830714057 meters 0.04182322313743092 Centerline is valid? [True, True] Translation: X:164.56, Y:-21.67, Z:-11.62 [[ 9.96253207e-01 7.07052523e-02 4.98027526e-02 1.64563351e+02] [-7.04316589e-02 9.97490409e-01 -7.22941963e-03 -2.16655216e+01] [-5.01889260e-02 3.69464202e-03 9.98732908e-01 -1.16220616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.860714057 meters 0.039728658344299964 Centerline is valid? [True, True] Translation: X:164.59, Y:-21.67, Z:-11.62 [[ 9.95964754e-01 7.46070443e-02 4.98798418e-02 1.64593707e+02] [-7.43375348e-02 9.97206861e-01 -7.23923594e-03 -2.16651076e+01] [-5.02806184e-02 3.50207937e-03 9.98728990e-01 -1.16232570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.890714057 meters 0.032927113084811936 Centerline is valid? [True, True] Translation: X:164.63, Y:-21.66, Z:-11.62 [[ 9.95224789e-01 8.35811637e-02 5.04163569e-02 1.64626420e+02] [-8.33172713e-02 9.96496208e-01 -7.31704995e-03 -2.16553569e+01] [-5.08512760e-02 3.08155620e-03 9.98701483e-01 -1.16226941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.920714057 meters 0.03161319845221991 Centerline is valid? [True, True] Translation: X:164.66, Y:-21.66, Z:-11.62 [[ 9.94745470e-01 8.86674323e-02 5.11814012e-02 1.64656584e+02] [-8.84021962e-02 9.96057169e-01 -7.42745111e-03 -2.16559552e+01] [-5.16381747e-02 2.86387508e-03 9.98661753e-01 -1.16246247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.950714057 meters 0.028773718060334214 Centerline is valid? [True, True] Translation: X:164.69, Y:-21.65, Z:-11.63 [[ 9.93750188e-01 9.87625034e-02 5.20243290e-02 1.64686748e+02] [-9.85022178e-02 9.95108191e-01 -7.54990224e-03 -2.16517676e+01] [-5.25154832e-02 2.37820499e-03 9.98617278e-01 -1.16262204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98071405699997 meters 0.027711342738595563 Centerline is valid? [True, True] Translation: X:164.72, Y:-21.65, Z:-11.63 [[ 9.93221267e-01 1.03536939e-01 5.28357630e-02 1.64716953e+02] [-1.03275261e-01 9.94623268e-01 -7.66645793e-03 -2.16523207e+01] [-5.33454408e-02 2.15786186e-03 9.98573787e-01 -1.16279194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.01071405699997 meters 0.025924019019497816 Centerline is valid? [True, True] Translation: X:164.75, Y:-21.65, Z:-11.63 [[ 9.92276109e-01 1.11798155e-01 5.37521744e-02 1.64747438e+02] [-1.11539458e-01 9.93729408e-01 -7.79828420e-03 -2.16496492e+01] [-5.42869502e-02 1.74256270e-03 9.98523856e-01 -1.16294963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04071405699997 meters 0.02428022608292573 Centerline is valid? [True, True] Translation: X:164.78, Y:-21.65, Z:-11.63 [[ 9.91858660e-01 1.15242332e-01 5.41812152e-02 1.64776643e+02] [-1.14984577e-01 9.93336171e-01 -7.86118337e-03 -2.16484500e+01] [-5.47261019e-02 1.56717871e-03 9.98500174e-01 -1.16298659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.07071405699998 meters 0.023440037262613646 Centerline is valid? [True, True] Translation: X:164.81, Y:-21.65, Z:-11.63 [[ 9.91244527e-01 1.20076398e-01 5.49176402e-02 1.64805360e+02] [-1.19819225e-01 9.92763785e-01 -7.96370676e-03 -2.16492099e+01] [-5.54764975e-02 1.31379165e-03 9.98459129e-01 -1.16311094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.10071405699998 meters 0.023560921802000444 Centerline is valid? [True, True] Translation: X:164.83, Y:-21.65, Z:-11.63 [[ 9.91085233e-01 1.21192949e-01 5.53383266e-02 1.64833125e+02] [-1.20933700e-01 9.92628171e-01 -8.02211867e-03 -2.16527948e+01] [-5.59026061e-02 1.25833475e-03 9.98435434e-01 -1.16331493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.13071405699998 meters 0.02308246196809741 Centerline is valid? [True, True] Translation: X:164.86, Y:-21.66, Z:-11.63 [[ 9.91117930e-01 1.20710424e-01 5.58053987e-02 1.64860575e+02] [-1.20446163e-01 9.92686919e-01 -8.08715399e-03 -2.16580947e+01] [-5.63734931e-02 1.29377718e-03 9.98408912e-01 -1.16349931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.16071405699998 meters 0.02297353336139383 Centerline is valid? [True, True] Translation: X:164.89, Y:-21.66, Z:-11.64 [[ 9.91309939e-01 1.19179511e-01 5.56852642e-02 1.64888482e+02] [-1.18914898e-01 9.92871789e-01 -8.05336905e-03 -2.16629770e+01] [-5.62481245e-02 1.36157727e-03 9.98415893e-01 -1.16371149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.19071405699998 meters 0.02308634851204092 Centerline is valid? [True, True] Translation: X:164.92, Y:-21.67, Z:-11.64 [[ 9.91512804e-01 1.17668139e-01 5.52862439e-02 1.64915409e+02] [-1.17405867e-01 9.93051957e-01 -7.97948447e-03 -2.16697001e+01] [-5.58410438e-02 1.42083163e-03 9.98438661e-01 -1.16398037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.22071405699998 meters 0.023624849790236286 Centerline is valid? [True, True] Translation: X:164.94, Y:-21.68, Z:-11.64 [[ 9.91928597e-01 1.14743070e-01 5.39600510e-02 1.64944097e+02] [-1.14489220e-01 9.93394006e-01 -7.78255228e-03 -2.16782053e+01] [-5.44965852e-02 1.54189201e-03 9.98512766e-01 -1.16436723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.25071405699998 meters 0.024095055733985064 Centerline is valid? [True, True] Translation: X:164.97, Y:-21.69, Z:-11.65 [[ 9.92232824e-01 1.12705020e-01 5.26459971e-02 1.64970365e+02] [-1.12460569e-01 9.93627182e-01 -7.59228573e-03 -2.16867867e+01] [-5.31661824e-02 1.61271631e-03 9.98584376e-01 -1.16473174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.28071405699998 meters 0.0241013347995997 Centerline is valid? [True, True] Translation: X:165.00, Y:-21.69, Z:-11.65 [[ 9.92378542e-01 1.11727092e-01 5.19796679e-02 1.64998431e+02] [-1.11487623e-01 9.93737573e-01 -7.49302690e-03 -2.16917725e+01] [-5.24913232e-02 1.64082950e-03 9.98620032e-01 -1.16492153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.31071405699998 meters 0.024310991867376765 Centerline is valid? [True, True] Translation: X:165.03, Y:-21.70, Z:-11.65 [[ 9.92435134e-01 1.11266217e-01 5.18876976e-02 1.65026063e+02] [-1.11027798e-01 9.93789272e-01 -7.46390665e-03 -2.16975860e+01] [-5.23959179e-02 1.64646637e-03 9.98625033e-01 -1.16509668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.34071405699999 meters 0.025019565247835995 Centerline is valid? [True, True] Translation: X:165.05, Y:-21.70, Z:-11.65 [[ 9.92462554e-01 1.10934665e-01 5.20728341e-02 1.65053171e+02] [-1.10694333e-01 9.93826306e-01 -7.48580888e-03 -2.17046322e+01] [-5.25817881e-02 1.66521734e-03 9.98615233e-01 -1.16519061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.370714057 meters 0.024821307929326797 Centerline is valid? [True, True] Translation: X:165.08, Y:-21.71, Z:-11.65 [[ 9.92434350e-01 1.10932130e-01 5.26129541e-02 1.65081910e+02] [-1.10687046e-01 9.93826568e-01 -7.55842684e-03 -2.17093141e+01] [-5.31266240e-02 1.67766994e-03 9.98586374e-01 -1.16531987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.400714057 meters 0.025165645576574552 Centerline is valid? [True, True] Translation: X:165.11, Y:-21.72, Z:-11.65 [[ 9.92441600e-01 1.10293988e-01 5.38043411e-02 1.65108504e+02] [-1.10036904e-01 9.93897471e-01 -7.72641250e-03 -2.17163530e+01] [-5.43281754e-02 1.74755007e-03 9.98521605e-01 -1.16539965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.430714057 meters 0.026333013098596477 Centerline is valid? [True, True] Translation: X:165.14, Y:-21.73, Z:-11.66 [[ 9.92747160e-01 1.07267299e-01 5.42844589e-02 1.65135899e+02] [-1.07001506e-01 9.94228359e-01 -7.78767013e-03 -2.17256882e+01] [-5.48065108e-02 1.92266854e-03 9.98495143e-01 -1.16560542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.460714057 meters 0.027640291407368588 Centerline is valid? [True, True] Translation: X:165.16, Y:-21.73, Z:-11.66 [[ 9.93032440e-01 1.04592908e-01 5.42853275e-02 1.65163351e+02] [-1.04323273e-01 9.94512971e-01 -7.78496173e-03 -2.17336371e+01] [-5.48017141e-02 2.06749649e-03 9.98495116e-01 -1.16583043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.490714057 meters 0.026913517017881233 Centerline is valid? [True, True] Translation: X:165.19, Y:-21.74, Z:-11.66 [[ 9.93358996e-01 1.01714661e-01 5.37776174e-02 1.65192955e+02] [-1.01446003e-01 9.94811177e-01 -7.70918328e-03 -2.17377592e+01] [-5.42827118e-02 2.20246221e-03 9.98523178e-01 -1.16594474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.520714057 meters 0.03176134834187799 Centerline is valid? [True, True] Translation: X:165.22, Y:-21.75, Z:-11.66 [[ 9.94111178e-01 9.45927864e-02 5.28693646e-02 1.65220684e+02] [-9.43231985e-02 9.95512795e-01 -7.57684847e-03 -2.17533339e+01] [-5.33488441e-02 2.54542219e-03 9.98572692e-01 -1.16636075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.550714057 meters 0.031943754542868935 Centerline is valid? [True, True] Translation: X:165.25, Y:-21.76, Z:-11.67 [[ 9.94503830e-01 9.07803750e-02 5.21637443e-02 1.65250771e+02] [-9.05127737e-02 9.95867244e-01 -7.47457477e-03 -2.17592891e+01] [-5.26267090e-02 2.71200806e-03 9.98610572e-01 -1.16652162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.580714057 meters 0.03245482784240248 Centerline is valid? [True, True] Translation: X:165.28, Y:-21.77, Z:-11.67 [[ 9.95155297e-01 8.33352122e-02 5.21648991e-02 1.65279921e+02] [-8.30573922e-02 9.96516731e-01 -7.47493952e-03 -2.17666758e+01] [-5.26061203e-02 3.10604519e-03 9.98610509e-01 -1.16653897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.610714057 meters 0.035554830821996744 Centerline is valid? [True, True] Translation: X:165.31, Y:-21.78, Z:-11.67 [[ 9.95618033e-01 7.73909294e-02 5.24916704e-02 1.65308368e+02] [-7.71014179e-02 9.96994886e-01 -7.52116971e-03 -2.17773903e+01] [-5.29159973e-02 3.44102997e-03 9.98593039e-01 -1.16667188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.640714057 meters 0.03753967109821342 Centerline is valid? [True, True] Translation: X:165.34, Y:-21.79, Z:-11.67 [[ 9.95793362e-01 7.48373700e-02 5.28672688e-02 1.65337201e+02] [-7.45401633e-02 9.97189249e-01 -7.57408057e-03 -2.17851714e+01] [-5.32854963e-02 3.60148430e-03 9.98572824e-01 -1.16685382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.670714057 meters 0.03659033564402464 Centerline is valid? [True, True] Translation: X:165.37, Y:-21.79, Z:-11.67 [[ 9.95917799e-01 7.30592270e-02 5.30102551e-02 1.65366669e+02] [-7.27579392e-02 9.97320718e-01 -7.59389011e-03 -2.17885779e+01] [-5.34230295e-02 3.70597341e-03 9.98565093e-01 -1.16699913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.700714057 meters 0.039542079440159424 Centerline is valid? [True, True] Translation: X:165.39, Y:-21.80, Z:-11.67 [[ 9.96090034e-01 7.08447977e-02 5.27793350e-02 1.65394578e+02] [-7.05431424e-02 9.97480089e-01 -7.55890480e-03 -2.17976266e+01] [-5.31818448e-02 3.80612960e-03 9.98577591e-01 -1.16726042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.73071405699997 meters 0.04088405241955135 Centerline is valid? [True, True] Translation: X:165.42, Y:-21.80, Z:-11.67 [[ 9.96145851e-01 7.05727682e-02 5.20857835e-02 1.65422475e+02] [-7.02787105e-02 9.97499514e-01 -7.45800799e-03 -2.18031974e+01] [-5.24818760e-02 3.76874201e-03 9.98614765e-01 -1.16749949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.76071405699997 meters 0.038194074740335586 Centerline is valid? [True, True] Translation: X:165.45, Y:-21.80, Z:-11.68 [[ 9.96034880e-01 7.23680265e-02 5.17434667e-02 1.65452627e+02] [-7.20804060e-02 9.97371330e-01 -7.40569440e-03 -2.18034180e+01] [-5.21433857e-02 3.64663984e-03 9.98632950e-01 -1.16763530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.79071405699997 meters 0.03811997941944302 Centerline is valid? [True, True] Translation: X:165.48, Y:-21.81, Z:-11.68 [[ 9.95911430e-01 7.38583311e-02 5.20131817e-02 1.65482158e+02] [-7.35697564e-02 9.97262294e-01 -7.44364019e-03 -2.18073735e+01] [-5.24205598e-02 3.58660924e-03 9.98618657e-01 -1.16788603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82071405699998 meters 0.036658643104602186 Centerline is valid? [True, True] Translation: X:165.51, Y:-21.81, Z:-11.68 [[ 9.95656774e-01 7.68228018e-02 5.25913096e-02 1.65511994e+02] [-7.65319968e-02 9.97038735e-01 -7.52421279e-03 -2.18088174e+01] [-5.30136039e-02 3.46661550e-03 9.98587773e-01 -1.16799865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.85071405699998 meters 0.03627133270122505 Centerline is valid? [True, True] Translation: X:165.54, Y:-21.81, Z:-11.68 [[ 9.95469539e-01 7.84634760e-02 5.37017717e-02 1.65542136e+02] [-7.81626742e-02 9.96911020e-01 -7.68210537e-03 -2.18119899e+01] [-5.41386527e-02 3.44982780e-03 9.98527468e-01 -1.16816326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.88071405699998 meters 0.038469892592002834 Centerline is valid? [True, True] Translation: X:165.57, Y:-21.82, Z:-11.68 [[ 9.95092056e-01 8.23076185e-02 5.49295463e-02 1.65570748e+02] [-8.19987684e-02 9.96601461e-01 -7.85678682e-03 -2.18180053e+01] [-5.53895395e-02 3.31407101e-03 9.98459321e-01 -1.16836051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.91071405699998 meters 0.034870694283683085 Centerline is valid? [True, True] Translation: X:165.60, Y:-21.82, Z:-11.68 [[ 9.94913523e-01 8.42729539e-02 5.51828810e-02 1.65601090e+02] [-8.39643102e-02 9.96437510e-01 -7.89202512e-03 -2.18167617e+01] [-5.56513768e-02 3.21848999e-03 9.98445074e-01 -1.16843238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.94071405699998 meters 0.036378542030564245 Centerline is valid? [True, True] Translation: X:165.63, Y:-21.82, Z:-11.69 [[ 9.94789906e-01 8.57461104e-02 5.51420635e-02 1.65628388e+02] [-8.54402509e-02 9.96312096e-01 -7.88486638e-03 -2.18223000e+01] [-5.56148014e-02 3.13243375e-03 9.98447386e-01 -1.16874796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.97071405699998 meters 0.028969167612316177 Centerline is valid? [True, True] Translation: X:165.66, Y:-21.81, Z:-11.69 [[ 9.94685625e-01 8.72600951e-02 5.46459766e-02 1.65659085e+02] [-8.69622587e-02 9.96180999e-01 -7.80917534e-03 -2.18141911e+01] [-5.51187129e-02 3.01553690e-03 9.98475255e-01 -1.16872858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.00071405699998 meters 0.03514181087879072 Centerline is valid? [True, True] Translation: X:165.68, Y:-21.83, Z:-11.69 [[ 9.94620640e-01 8.79345400e-02 5.47476004e-02 1.65684939e+02] [-8.76367546e-02 9.96121795e-01 -7.82110768e-03 -2.18265593e+01] [-5.52230235e-02 2.98113310e-03 9.98469594e-01 -1.16916853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.03071405699998 meters 0.03456904218471354 Centerline is valid? [True, True] Translation: X:165.71, Y:-21.83, Z:-11.69 [[ 9.94648641e-01 8.74927080e-02 5.49463925e-02 1.65713176e+02] [-8.71923829e-02 9.96160609e-01 -7.84408306e-03 -2.18296615e+01] [-5.54217319e-02 3.01119966e-03 9.98458494e-01 -1.16934562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.06071405699998 meters 0.03737500414913811 Centerline is valid? [True, True] Translation: X:165.74, Y:-21.84, Z:-11.70 [[ 9.94826069e-01 8.60313464e-02 5.40342396e-02 1.65740536e+02] [-8.57389841e-02 9.96287801e-01 -7.71000714e-03 -2.18374952e+01] [-5.44969561e-02 3.03727529e-03 9.98509317e-01 -1.16973566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.09071405699999 meters 0.031427709214614165 Centerline is valid? [True, True] Translation: X:165.77, Y:-21.83, Z:-11.70 [[ 9.94905453e-01 8.52831185e-02 5.37580650e-02 1.65770126e+02] [-8.49927835e-02 9.96352059e-01 -7.66818828e-03 -2.18329990e+01] [-5.42159258e-02 3.06007475e-03 9.98524546e-01 -1.16973665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.120714057 meters 0.03849289702468046 Centerline is valid? [True, True] Translation: X:165.80, Y:-21.85, Z:-11.70 [[ 9.95020535e-01 8.38558639e-02 5.38732651e-02 1.65796287e+02] [-8.35623976e-02 9.96472944e-01 -7.68095233e-03 -2.18468785e+01] [-5.43273440e-02 3.14092610e-03 9.98518239e-01 -1.17015359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.150714057 meters 0.037609637819351976 Centerline is valid? [True, True] Translation: X:165.82, Y:-21.85, Z:-11.70 [[ 9.95062861e-01 8.31286195e-02 5.42174740e-02 1.65824534e+02] [-8.28305851e-02 9.96533701e-01 -7.72503494e-03 -2.18491464e+01] [-5.46717116e-02 3.19603028e-03 9.98499269e-01 -1.17024298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.180714057 meters 0.03654012494068917 Centerline is valid? [True, True] Translation: X:165.85, Y:-21.85, Z:-11.70 [[ 9.95107551e-01 8.18076943e-02 5.53937037e-02 1.65853681e+02] [-8.14948135e-02 9.96642554e-01 -7.88763094e-03 -2.18511894e+01] [-5.58529913e-02 3.33474155e-03 9.98433434e-01 -1.17020261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.210714057 meters 0.037247644991851556 Centerline is valid? [True, True] Translation: X:165.88, Y:-21.86, Z:-11.70 [[ 9.95154259e-01 8.07972579e-02 5.60339579e-02 1.65881983e+02] [-8.04757201e-02 9.96724666e-01 -7.97488318e-03 -2.18563455e+01] [-5.64947767e-02 3.42686585e-03 9.98397014e-01 -1.17036385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.240714057 meters 0.03615951275887648 Centerline is valid? [True, True] Translation: X:165.91, Y:-21.86, Z:-11.70 [[ 9.95246442e-01 7.93937977e-02 5.64016362e-02 1.65911250e+02] [-7.90660209e-02 9.96837096e-01 -8.02293587e-03 -2.18592172e+01] [-5.68602146e-02 3.52534543e-03 9.98375925e-01 -1.17044373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.270714057 meters 0.033982673240453454 Centerline is valid? [True, True] Translation: X:165.94, Y:-21.86, Z:-11.71 [[ 9.95523251e-01 7.58431360e-02 5.64027984e-02 1.65941968e+02] [-7.55098087e-02 9.97112800e-01 -8.02072846e-03 -2.18600810e+01] [-5.68482695e-02 3.72585715e-03 9.98375877e-01 -1.17052829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.300714057 meters 0.038595323705866366 Centerline is valid? [True, True] Translation: X:165.97, Y:-21.87, Z:-11.71 [[ 9.95910197e-01 7.09158413e-02 5.59805569e-02 1.65969518e+02] [-7.05797235e-02 9.97474372e-01 -7.96111905e-03 -2.18710776e+01] [-5.64037403e-02 3.97746741e-03 9.98400119e-01 -1.17083678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.330714057 meters 0.03911846885471286 Centerline is valid? [True, True] Translation: X:166.00, Y:-21.88, Z:-11.71 [[ 9.96103196e-01 6.82803669e-02 5.58230716e-02 1.65999335e+02] [-6.79421515e-02 9.97657695e-01 -7.93648995e-03 -2.18766449e+01] [-5.62342233e-02 4.11282342e-03 9.98409133e-01 -1.17105104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.360714057 meters 0.04311395448760962 Centerline is valid? [True, True] Translation: X:166.03, Y:-21.89, Z:-11.71 [[ 9.96251127e-01 6.60469502e-02 5.58703253e-02 1.66027170e+02] [-6.57047276e-02 9.97807502e-01 -7.94220207e-03 -2.18866288e+01] [-5.62723879e-02 4.24148325e-03 9.98406444e-01 -1.17137420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.390714057 meters 0.04068174660186171 Centerline is valid? [True, True] Translation: X:166.06, Y:-21.89, Z:-11.72 [[ 9.96548016e-01 6.18256078e-02 5.54043776e-02 1.66058086e+02] [-6.14826657e-02 9.98077087e-01 -7.87472057e-03 -2.18875594e+01] [-5.57846991e-02 4.44112834e-03 9.98432944e-01 -1.17153272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.420714057 meters 0.04213671235474206 Centerline is valid? [True, True] Translation: X:166.09, Y:-21.89, Z:-11.72 [[ 9.96686501e-01 6.00213410e-02 5.48949731e-02 1.66088389e+02] [-5.96819937e-02 9.98186952e-01 -7.80184267e-03 -2.18935516e+01] [-5.52637229e-02 4.49974983e-03 9.98461653e-01 -1.17177463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.450714057 meters 0.04213671235474206 Centerline is valid? [True, True] Translation: X:166.12, Y:-21.90, Z:-11.72 [[ 9.96671562e-01 6.02689332e-02 5.48949374e-02 1.66119864e+02] [-5.99299448e-02 9.98172094e-01 -7.80209632e-03 -2.18980762e+01] [-5.52648187e-02 4.48627695e-03 9.98461653e-01 -1.17199351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48071405699997 meters 0.04271792045161655 Centerline is valid? [True, True] Translation: X:166.15, Y:-21.90, Z:-11.72 [[ 9.96943174e-01 5.72237588e-02 5.31953949e-02 1.66150230e+02] [-5.69002634e-02 9.98351113e-01 -7.57723870e-03 -2.19032327e+01] [-5.35412798e-02 4.52724441e-03 9.98555374e-01 -1.17232019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.51071405699997 meters 0.044440967423168345 Centerline is valid? [True, True] Translation: X:166.18, Y:-21.91, Z:-11.73 [[ 9.97036395e-01 5.63669772e-02 5.23563894e-02 1.66180033e+02] [-5.60524647e-02 9.98399974e-01 -7.45737677e-03 -2.19098633e+01] [-5.26929676e-02 4.50057138e-03 9.98600619e-01 -1.17258904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54071405699997 meters 0.04603892296098325 Centerline is valid? [True, True] Translation: X:166.21, Y:-21.92, Z:-11.73 [[ 9.97129398e-01 5.50523321e-02 5.19827333e-02 1.66210989e+02] [-5.47404276e-02 9.98473152e-01 -7.40603547e-03 -2.19158247e+01] [-5.23110832e-02 4.53921863e-03 9.98620522e-01 -1.17284426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.57071405699998 meters 0.04158979917507848 Centerline is valid? [True, True] Translation: X:166.24, Y:-21.91, Z:-11.73 [[ 9.97126191e-01 5.49858810e-02 5.21144231e-02 1.66243863e+02] [-5.46723918e-02 9.98476753e-01 -7.42309274e-03 -2.19146513e+01] [-5.24432053e-02 4.55254002e-03 9.98613531e-01 -1.17290326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60071405699998 meters 0.04163933553576697 Centerline is valid? [True, True] Translation: X:166.28, Y:-21.92, Z:-11.73 [[ 9.97093236e-01 5.56525700e-02 5.20371937e-02 1.66276130e+02] [-5.53401991e-02 9.98439944e-01 -7.42566323e-03 -2.19183709e+01] [-5.23692700e-02 4.52432993e-03 9.98617539e-01 -1.17305596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.63071405699998 meters 0.04992055838539393 Centerline is valid? [True, True] Translation: X:166.31, Y:-21.93, Z:-11.73 [[ 9.97024473e-01 5.68381889e-02 5.20732266e-02 1.66305540e+02] [-5.65262595e-02 9.98373356e-01 -7.44469591e-03 -2.19332438e+01] [-5.24116650e-02 4.47903929e-03 9.98615519e-01 -1.17341561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.66071405699998 meters 0.043471377971070854 Centerline is valid? [True, True] Translation: X:166.34, Y:-21.93, Z:-11.73 [[ 9.96886387e-01 5.87997964e-02 5.25367951e-02 1.66337045e+02] [-5.84841120e-02 9.98259959e-01 -7.52743406e-03 -2.19283056e+01] [-5.28879906e-02 4.43142874e-03 9.98590618e-01 -1.17338931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.69071405699998 meters 0.04222592000175159 Centerline is valid? [True, True] Translation: X:166.37, Y:-21.93, Z:-11.74 [[ 9.96822356e-01 5.97547905e-02 5.26740568e-02 1.66368134e+02] [-5.94388052e-02 9.98203425e-01 -7.54653773e-03 -2.19304999e+01] [-5.30303657e-02 4.39167451e-03 9.98583243e-01 -1.17352573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.72071405699998 meters 0.04257887648783507 Centerline is valid? [True, True] Translation: X:166.40, Y:-21.93, Z:-11.74 [[ 9.96661735e-01 6.13160244e-02 5.39048392e-02 1.66398091e+02] [-6.09872913e-02 9.98108657e-01 -7.72389473e-03 -2.19346560e+01] [-5.42764852e-02 4.41060019e-03 9.98516204e-01 -1.17359547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.75071405699998 meters 0.04077672145819272 Centerline is valid? [True, True] Translation: X:166.43, Y:-21.94, Z:-11.74 [[ 9.96596599e-01 6.21974662e-02 5.40989358e-02 1.66428969e+02] [-6.18672431e-02 9.98054227e-01 -7.75911742e-03 -2.19362114e+01] [-5.44762690e-02 4.38575801e-03 9.98505434e-01 -1.17370128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.78071405699998 meters 0.04032168496687973 Centerline is valid? [True, True] Translation: X:166.46, Y:-21.94, Z:-11.74 [[ 9.96496962e-01 6.38878337e-02 5.39643313e-02 1.66459012e+02] [-6.35617146e-02 9.97947896e-01 -7.73981181e-03 -2.19392277e+01] [-5.43480707e-02 4.28263354e-03 9.98512867e-01 -1.17391339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.81071405699998 meters 0.041503200741522375 Centerline is valid? [True, True] Translation: X:166.49, Y:-21.94, Z:-11.74 [[ 9.96445596e-01 6.48444726e-02 5.37714456e-02 1.66487989e+02] [-6.45220940e-02 9.97886482e-01 -7.71164242e-03 -2.19448636e+01] [-5.41578560e-02 4.21478586e-03 9.98523491e-01 -1.17416960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.84071405699999 meters 0.04094938828712796 Centerline is valid? [True, True] Translation: X:166.52, Y:-21.95, Z:-11.74 [[ 9.96416469e-01 6.59086320e-02 5.30120078e-02 1.66518112e+02] [-6.55966750e-02 9.97817237e-01 -7.60510526e-03 -2.19480855e+01] [-5.33975372e-02 4.10044069e-03 9.98564915e-01 -1.17443974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.870714057 meters 0.041436116777698366 Centerline is valid? [True, True] Translation: X:166.55, Y:-21.95, Z:-11.75 [[ 9.96402710e-01 6.66588034e-02 5.23282293e-02 1.66546462e+02] [-6.63558347e-02 9.97767776e-01 -7.50784955e-03 -2.19527625e+01] [-5.27118853e-02 4.00855830e-03 9.98601717e-01 -1.17462345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.900714057 meters 0.042213218037416886 Centerline is valid? [True, True] Translation: X:166.58, Y:-21.96, Z:-11.75 [[ 9.96401542e-01 6.68328964e-02 5.21280341e-02 1.66575485e+02] [-6.65326421e-02 9.97756241e-01 -7.47606098e-03 -2.19579547e+01] [-5.25107182e-02 3.98094285e-03 9.98612426e-01 -1.17484227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.930714057 meters 0.03740365732583736 Centerline is valid? [True, True] Translation: X:166.61, Y:-21.96, Z:-11.75 [[ 9.96371151e-01 6.74802075e-02 5.18743818e-02 1.66605625e+02] [-6.71838370e-02 9.97712890e-01 -7.43788836e-03 -2.19558347e+01] [-5.22576496e-02 3.92577737e-03 9.98625919e-01 -1.17490411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.960714057 meters 0.042975247995439364 Centerline is valid? [True, True] Translation: X:166.63, Y:-21.97, Z:-11.75 [[ 9.96361275e-01 6.88211693e-02 5.02777943e-02 1.66632960e+02] [-6.85445680e-02 9.97622022e-01 -7.20717605e-03 -2.19681825e+01] [-5.06542411e-02 3.73468142e-03 9.98709267e-01 -1.17536224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.990714057 meters 0.03647495641991126 Centerline is valid? [True, True] Translation: X:166.66, Y:-21.96, Z:-11.75 [[ 9.96332663e-01 6.96532823e-02 4.96955222e-02 1.66662630e+02] [-6.93841416e-02 9.97564589e-01 -7.12259976e-03 -2.19630741e+01] [-5.00706056e-02 3.64839764e-03 9.98739017e-01 -1.17538936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.020714057 meters 0.07573157180727702 Centerline is valid? [True, True] Translation: X:166.68, Y:-22.02, Z:-11.77 [[ 9.95756313e-01 7.62472668e-02 5.15336823e-02 1.66683025e+02] [-7.59668673e-02 9.97083024e-01 -7.38095319e-03 -2.20215984e+01] [-5.19461373e-02 3.43477832e-03 9.98643981e-01 -1.17695210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.050714057 meters 0.037952602981174643 Centerline is valid? [True, True] Translation: X:166.72, Y:-21.97, Z:-11.76 [[ 9.96101607e-01 7.39132042e-02 4.81500401e-02 1.66721057e+02] [-7.36657449e-02 9.97259144e-01 -6.89619209e-03 -2.19743834e+01] [-4.85277875e-02 3.32229945e-03 9.98816308e-01 -1.17579350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.080714057 meters 0.04197100486497771 Centerline is valid? [True, True] Translation: X:166.75, Y:-21.98, Z:-11.76 [[ 9.95948698e-01 7.53998452e-02 4.90005485e-02 1.66748862e+02] [-7.51453752e-02 9.97147897e-01 -7.01743988e-03 -2.19848848e+01] [-4.93899077e-02 3.30684551e-03 9.98774099e-01 -1.17612092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.110714057 meters 0.03601518845059664 Centerline is valid? [True, True] Translation: X:166.78, Y:-21.98, Z:-11.76 [[ 9.95846648e-01 7.64770460e-02 4.94036017e-02 1.66779116e+02] [-7.62197578e-02 9.97065951e-01 -7.07374099e-03 -2.19808723e+01] [-4.97996279e-02 3.27883069e-03 9.98753847e-01 -1.17600662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.140714057 meters 0.03574063353914957 Centerline is valid? [True, True] Translation: X:166.81, Y:-21.99, Z:-11.76 [[ 9.95590383e-01 7.88182712e-02 5.08671787e-02 1.66808348e+02] [-7.85486997e-02 9.96883695e-01 -7.28012560e-03 -2.19856343e+01] [-5.12824680e-02 3.25247229e-03 9.98678892e-01 -1.17609754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.170714057 meters 0.03645059516946526 Centerline is valid? [True, True] Translation: X:166.84, Y:-21.99, Z:-11.76 [[ 9.95476518e-01 7.96856799e-02 5.17367854e-02 1.66835717e+02] [-7.94080223e-02 9.96814704e-01 -7.40355035e-03 -2.19912864e+01] [-5.21619453e-02 3.26174472e-03 9.98633312e-01 -1.17626126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.200714057 meters 0.03307588056619497 Centerline is valid? [True, True] Translation: X:166.86, Y:-21.99, Z:-11.76 [[ 9.95349644e-01 8.08020305e-02 5.24415610e-02 1.66864999e+02] [-8.05185575e-02 9.96724898e-01 -7.49935751e-03 -2.19907111e+01] [-5.28757728e-02 3.24196398e-03 9.98595835e-01 -1.17621398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.23071405699997 meters 0.03709141975621167 Centerline is valid? [True, True] Translation: X:166.89, Y:-22.00, Z:-11.77 [[ 9.95327004e-01 8.08527480e-02 5.27919256e-02 1.66891371e+02] [-8.05657365e-02 9.96720735e-01 -7.54579795e-03 -2.20017671e+01] [-5.32289054e-02 3.25731611e-03 9.98577024e-01 -1.17655208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26071405699997 meters 0.035058344764915844 Centerline is valid? [True, True] Translation: X:166.92, Y:-22.00, Z:-11.77 [[ 9.95393757e-01 8.05554472e-02 5.19816208e-02 1.66920065e+02] [-8.02770445e-02 9.96744935e-01 -7.42502966e-03 -2.20045876e+01] [-5.24105438e-02 3.21789729e-03 9.98620438e-01 -1.17678801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.29071405699997 meters 0.03486398684274402 Centerline is valid? [True, True] Translation: X:166.95, Y:-22.01, Z:-11.77 [[ 9.95429958e-01 8.01303556e-02 5.19454026e-02 1.66948144e+02] [-7.98519587e-02 9.96779146e-01 -7.41616197e-03 -2.20094005e+01] [-5.23723537e-02 3.23432765e-03 9.98622389e-01 -1.17706291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32071405699998 meters 0.03690579846871263 Centerline is valid? [True, True] Translation: X:166.98, Y:-22.02, Z:-11.77 [[ 9.95680754e-01 7.78186519e-02 5.06368853e-02 1.66976686e+02] [-7.75513692e-02 9.96962179e-01 -7.22491161e-03 -2.20177867e+01] [-5.10452924e-02 3.26674565e-03 9.98690997e-01 -1.17741710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.35071405699998 meters 0.03343825127399752 Centerline is valid? [True, True] Translation: X:167.01, Y:-22.02, Z:-11.78 [[ 9.95834767e-01 7.64064201e-02 4.97511438e-02 1.67006232e+02] [-7.61466702e-02 9.97071360e-01 -7.09836409e-03 -2.20172880e+01] [-5.01478012e-02 3.28041381e-03 9.98736420e-01 -1.17750680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.38071405699998 meters 0.037444547682202206 Centerline is valid? [True, True] Translation: X:167.03, Y:-22.03, Z:-11.78 [[ 9.95965943e-01 7.51523696e-02 4.90302066e-02 1.67033143e+02] [-7.48987331e-02 9.97166628e-01 -6.99257931e-03 -2.20276256e+01] [-4.94167947e-02 3.29207049e-03 9.98772818e-01 -1.17786157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.41071405699998 meters 0.03708100975984165 Centerline is valid? [True, True] Translation: X:167.06, Y:-22.03, Z:-11.78 [[ 9.96130366e-01 7.29746856e-02 4.89794710e-02 1.67062608e+02] [-7.27190635e-02 9.97328017e-01 -6.98315175e-03 -2.20318765e+01] [-4.93581920e-02 3.39438825e-03 9.98775374e-01 -1.17801580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.44071405699998 meters 0.04236711979376573 Centerline is valid? [True, True] Translation: X:167.09, Y:-22.04, Z:-11.78 [[ 9.96165368e-01 7.18533715e-02 4.99164529e-02 1.67088904e+02] [-7.15865096e-02 9.97409011e-01 -7.11586024e-03 -2.20446232e+01] [-5.02984185e-02 3.51522890e-03 9.98728047e-01 -1.17831668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.47071405699998 meters 0.035419158390087045 Centerline is valid? [True, True] Translation: X:167.12, Y:-22.04, Z:-11.78 [[ 9.96215633e-01 7.11373044e-02 4.99389230e-02 1.67118955e+02] [-7.08695475e-02 9.97460222e-01 -7.11429639e-03 -2.20380567e+01] [-5.03181811e-02 3.54822441e-03 9.98726935e-01 -1.17817677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.50071405699998 meters 0.03579140816784789 Centerline is valid? [True, True] Translation: X:167.15, Y:-22.04, Z:-11.78 [[ 9.96191736e-01 7.10605885e-02 5.05214661e-02 1.67147067e+02] [-7.07866378e-02 9.97465541e-01 -7.19347310e-03 -2.20424726e+01] [-5.09045939e-02 3.58983374e-03 9.98697069e-01 -1.17831738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.53071405699998 meters 0.03606702322924061 Centerline is valid? [True, True] Translation: X:167.18, Y:-22.05, Z:-11.78 [[ 9.96113896e-01 7.16166154e-02 5.12656503e-02 1.67175450e+02] [-7.13354576e-02 9.97425700e-01 -7.29557170e-03 -2.20457685e+01] [-5.16561612e-02 3.61016173e-03 9.98658404e-01 -1.17840366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.56071405699998 meters 0.03680243760593873 Centerline is valid? [True, True] Translation: X:167.20, Y:-22.05, Z:-11.79 [[ 9.96066344e-01 7.16808275e-02 5.20931630e-02 1.67203117e+02] [-7.13907836e-02 9.97420900e-01 -7.40977598e-03 -2.20506476e+01] [-5.24899484e-02 3.66165675e-03 9.98614739e-01 -1.17858749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.59071405699999 meters 0.03771922987991616 Centerline is valid? [True, True] Translation: X:167.23, Y:-22.06, Z:-11.79 [[ 9.96020854e-01 7.17211613e-02 5.29011629e-02 1.67230013e+02] [-7.14223694e-02 9.97417817e-01 -7.51958361e-03 -2.20557133e+01] [-5.33038756e-02 3.71133569e-03 9.98571441e-01 -1.17874871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.620714057 meters 0.037483732394764935 Centerline is valid? [True, True] Translation: X:167.26, Y:-22.06, Z:-11.79 [[ 9.96054607e-01 7.11859070e-02 5.29885436e-02 1.67258935e+02] [-7.08856568e-02 9.97456050e-01 -7.52669464e-03 -2.20596645e+01] [-5.33895380e-02 3.74087115e-03 9.98566754e-01 -1.17893359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.650714057 meters 0.03901009069989152 Centerline is valid? [True, True] Translation: X:167.29, Y:-22.07, Z:-11.79 [[ 9.96264720e-01 6.89958781e-02 5.19247221e-02 1.67287661e+02] [-6.87048696e-02 9.97609800e-01 -7.37079474e-03 -2.20652503e+01] [-5.23091661e-02 3.77578149e-03 9.98623800e-01 -1.17916747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.680714057 meters 0.04025839004160056 Centerline is valid? [True, True] Translation: X:167.32, Y:-22.07, Z:-11.79 [[ 9.96385568e-01 6.74362440e-02 5.16541735e-02 1.67316662e+02] [-6.71461563e-02 9.97716204e-01 -7.33284999e-03 -2.20708928e+01] [-5.20307057e-02 3.83796669e-03 9.98638110e-01 -1.17944431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.710714057 meters 0.0428285103823351 Centerline is valid? [True, True] Translation: X:167.34, Y:-22.08, Z:-11.80 [[ 9.96724011e-01 6.34957687e-02 5.00952476e-02 1.67344575e+02] [-6.32181652e-02 9.97974417e-01 -7.10824909e-03 -2.20793350e+01] [-5.04451193e-02 3.91803290e-03 9.98719149e-01 -1.17988291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.740714057 meters 0.044613942229015144 Centerline is valid? [True, True] Translation: X:167.37, Y:-22.09, Z:-11.80 [[ 9.96922739e-01 6.10877484e-02 4.91257573e-02 1.67373750e+02] [-6.08177027e-02 9.98124523e-01 -6.97452988e-03 -2.20865301e+01] [-4.94596814e-02 3.96535173e-03 9.98768249e-01 -1.18019892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.770714057 meters 0.04751495631370888 Centerline is valid? [True, True] Translation: X:167.40, Y:-22.09, Z:-11.80 [[ 9.97282542e-01 5.57365809e-02 4.81763844e-02 1.67402948e+02] [-5.54707382e-02 9.98436894e-01 -6.83861748e-03 -2.20945056e+01] [-4.84822408e-02 4.14765422e-03 9.98815433e-01 -1.18049247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.800714057 meters 0.04700398375269769 Centerline is valid? [True, True] Translation: X:167.43, Y:-22.10, Z:-11.81 [[ 9.97434586e-01 5.32696584e-02 4.78182977e-02 1.67433933e+02] [-5.30049693e-02 9.98571182e-01 -6.78727853e-03 -2.20977766e+01] [-4.81115301e-02 4.23525895e-03 9.98832991e-01 -1.18068753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.830714057 meters 0.05060426690287637 Centerline is valid? [True, True] Translation: X:167.46, Y:-22.11, Z:-11.81 [[ 9.97619750e-01 4.96255815e-02 4.78762512e-02 1.67462266e+02] [-4.93560373e-02 9.98758123e-01 -6.79658615e-03 -2.21067855e+01] [-4.81540794e-02 4.41742653e-03 9.98830151e-01 -1.18092900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.860714057 meters 0.05164204508979838 Centerline is valid? [True, True] Translation: X:167.49, Y:-22.11, Z:-11.81 [[ 9.97671542e-01 4.87649940e-02 4.76809228e-02 1.67493244e+02] [-4.84968832e-02 9.98800428e-01 -6.76447821e-03 -2.21126855e+01] [-4.79535959e-02 4.43635126e-03 9.98839713e-01 -1.18117887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.890714057 meters 0.053210856370494525 Centerline is valid? [True, True] Translation: X:167.52, Y:-22.12, Z:-11.81 [[ 9.97712564e-01 4.82427031e-02 4.73527251e-02 1.67523353e+02] [-4.79770722e-02 9.98825758e-01 -6.73090822e-03 -2.21179763e+01] [-4.76218388e-02 4.44366659e-03 9.98855552e-01 -1.18140361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.920714057 meters 0.04999099741365148 Centerline is valid? [True, True] Translation: X:167.55, Y:-22.12, Z:-11.81 [[ 9.97655057e-01 4.92436274e-02 4.75336962e-02 1.67554994e+02] [-4.89767188e-02 9.98777015e-01 -6.76429680e-03 -2.21176205e+01] [-4.78086617e-02 4.42039044e-03 9.98846731e-01 -1.18149303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.950714057 meters 0.050018068621088714 Centerline is valid? [True, True] Translation: X:167.58, Y:-22.12, Z:-11.82 [[ 9.97500563e-01 5.15983880e-02 4.82724864e-02 1.67584627e+02] [-5.13257210e-02 9.98658324e-01 -6.87190711e-03 -2.21198329e+01] [-4.85622997e-02 4.37711104e-03 9.98810565e-01 -1.18161290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98071405699997 meters 0.0495060533995541 Centerline is valid? [True, True] Translation: X:167.62, Y:-22.12, Z:-11.82 [[ 9.97366965e-01 5.34488916e-02 4.90138143e-02 1.67615116e+02] [-5.31699930e-02 9.98561099e-01 -6.97740931e-03 -2.21224400e+01] [-4.93162231e-02 4.35297338e-03 9.98773729e-01 -1.18173862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.01071405699997 meters 0.04880990493461804 Centerline is valid? [True, True] Translation: X:167.65, Y:-22.12, Z:-11.82 [[ 9.97060517e-01 5.72764641e-02 5.08894186e-02 1.67645462e+02] [-5.69807293e-02 9.98348994e-01 -7.24443119e-03 -2.21237734e+01] [-5.12203353e-02 4.32342012e-03 9.98678019e-01 -1.18167412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04071405699997 meters 0.05090992612735543 Centerline is valid? [True, True] Translation: X:167.67, Y:-22.13, Z:-11.82 [[ 9.96883604e-01 5.93144755e-02 5.20083895e-02 1.67674572e+02] [-5.90083324e-02 9.98230035e-01 -7.40364905e-03 -2.21300834e+01] [-5.23554800e-02 4.31164802e-03 9.98619203e-01 -1.18187259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.07071405699998 meters 0.0482173034152551 Centerline is valid? [True, True] Translation: X:167.71, Y:-22.13, Z:-11.82 [[ 9.96599088e-01 6.29763540e-02 5.31435480e-02 1.67705600e+02] [-6.26618510e-02 9.98006142e-01 -7.56525448e-03 -2.21301334e+01] [-5.35140195e-02 4.20945263e-03 9.98558226e-01 -1.18189203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10071405699998 meters 0.04777341137648151 Centerline is valid? [True, True] Translation: X:167.74, Y:-22.13, Z:-11.82 [[ 9.96530933e-01 6.41028118e-02 5.30747513e-02 1.67735611e+02] [-6.37906991e-02 9.97934697e-01 -7.55566736e-03 -2.21329978e+01] [-5.34494754e-02 4.14378075e-03 9.98561957e-01 -1.18211469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.13071405699998 meters 0.04597904129232745 Centerline is valid? [True, True] Translation: X:167.77, Y:-22.13, Z:-11.82 [[ 9.96407760e-01 6.64104519e-02 5.25473941e-02 1.67765909e+02] [-6.61077518e-02 9.97784455e-01 -7.47971893e-03 -2.21340255e+01] [-5.29277045e-02 3.97905989e-03 9.98590419e-01 -1.18243574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.16071405699998 meters 0.04840060130277714 Centerline is valid? [True, True] Translation: X:167.79, Y:-22.14, Z:-11.83 [[ 9.96367378e-01 6.75480074e-02 5.18586099e-02 1.67793910e+02] [-6.72547477e-02 9.97708532e-01 -7.38135441e-03 -2.21407156e+01] [-5.22383733e-02 3.86680302e-03 9.98627158e-01 -1.18282587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.19071405699998 meters 0.04528642701218639 Centerline is valid? [True, True] Translation: X:167.82, Y:-22.14, Z:-11.83 [[ 9.96226017e-01 7.02020118e-02 5.10431298e-02 1.67823999e+02] [-6.99215202e-02 9.97526059e-01 -7.26245775e-03 -2.21388601e+01] [-5.14266912e-02 3.66603613e-03 9.98670043e-01 -1.18306267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.22071405699998 meters 0.04495344992954722 Centerline is valid? [True, True] Translation: X:167.85, Y:-22.14, Z:-11.83 [[ 9.96131769e-01 7.17605166e-02 5.07141682e-02 1.67853990e+02] [-7.14857423e-02 9.97415536e-01 -7.21366763e-03 -2.21422544e+01] [-5.11007557e-02 3.56042354e-03 9.98687156e-01 -1.18328662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.25071405699998 meters 0.04402045412669054 Centerline is valid? [True, True] Translation: X:167.88, Y:-22.14, Z:-11.83 [[ 9.95855315e-01 7.50698629e-02 5.13488688e-02 1.67883811e+02] [-7.47925770e-02 9.97172370e-01 -7.30313521e-03 -2.21435818e+01] [-5.17519185e-02 3.43235180e-03 9.98654073e-01 -1.18339585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.28071405699998 meters 0.04372691567517586 Centerline is valid? [True, True] Translation: X:167.91, Y:-22.15, Z:-11.84 [[ 9.95711125e-01 7.67516146e-02 5.16579584e-02 1.67913182e+02] [-7.64732727e-02 9.97044568e-01 -7.34624548e-03 -2.21463150e+01] [-5.20691230e-02 3.36428521e-03 9.98637816e-01 -1.18355957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.31071405699998 meters 0.04344047110969224 Centerline is valid? [True, True] Translation: X:167.94, Y:-22.15, Z:-11.84 [[ 9.95565175e-01 7.80911110e-02 5.24572338e-02 1.67941041e+02] [-7.78059828e-02 9.96940617e-01 -7.45890522e-03 -2.21486521e+01] [-5.28792212e-02 3.34433965e-03 9.98595315e-01 -1.18370304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.34071405699999 meters 0.04344047110969224 Centerline is valid? [True, True] Translation: X:167.97, Y:-22.15, Z:-11.84 [[ 9.95570145e-01 7.80272904e-02 5.24578634e-02 1.67969069e+02] [-7.77423066e-02 9.96945618e-01 -7.45447408e-03 -2.21525661e+01] [-5.28792894e-02 3.34325654e-03 9.98595315e-01 -1.18389814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.370714057 meters 0.03441673268767403 Centerline is valid? [True, True] Translation: X:168.00, Y:-22.14, Z:-11.84 [[ 9.95251792e-01 8.16669451e-02 5.29563976e-02 1.68001699e+02] [-8.13818669e-02 9.96654617e-01 -7.52107436e-03 -2.21417339e+01] [-5.33934613e-02 3.17567224e-03 9.98568502e-01 -1.18374843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.400714057 meters 0.034051746871420305 Centerline is valid? [True, True] Translation: X:168.03, Y:-22.14, Z:-11.84 [[ 9.94840362e-01 8.54993441e-02 5.46124239e-02 1.68030783e+02] [-8.52019286e-02 9.96333520e-01 -7.75547016e-03 -2.21437657e+01] [-5.50752762e-02 3.06237090e-03 9.98477509e-01 -1.18391935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.430714057 meters 0.03209785891144919 Centerline is valid? [True, True] Translation: X:168.06, Y:-22.14, Z:-11.84 [[ 9.94664472e-01 8.71263583e-02 5.52411615e-02 1.68060355e+02] [-8.68245932e-02 9.96192734e-01 -7.84391402e-03 -2.21440309e+01] [-5.57142554e-02 3.00577122e-03 9.98442230e-01 -1.18404486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.460714057 meters 0.030419084555989892 Centerline is valid? [True, True] Translation: X:168.09, Y:-22.14, Z:-11.84 [[ 9.94528181e-01 8.81957105e-02 5.59929850e-02 1.68089115e+02] [-8.78875133e-02 9.96098698e-01 -7.94784806e-03 -2.21443195e+01] [-5.64755056e-02 2.98327466e-03 9.98399528e-01 -1.18415162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.490714057 meters 0.030684181850570282 Centerline is valid? [True, True] Translation: X:168.12, Y:-22.15, Z:-11.84 [[ 9.94350536e-01 8.91668397e-02 5.75872002e-02 1.68116853e+02] [-8.88426863e-02 9.96012163e-01 -8.16994258e-03 -2.21470532e+01] [-5.80860398e-02 3.00758523e-03 9.98307050e-01 -1.18431738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.520714057 meters 0.03590747989392957 Centerline is valid? [True, True] Translation: X:168.14, Y:-22.16, Z:-11.85 [[ 9.94294737e-01 8.90214460e-02 5.87635865e-02 1.68143005e+02] [-8.86839693e-02 9.96024971e-01 -8.33133815e-03 -2.21587974e+01] [-5.92716673e-02 3.07241757e-03 9.98237161e-01 -1.18467033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.550714057 meters 0.03185289695609113 Centerline is valid? [True, True] Translation: X:168.17, Y:-22.16, Z:-11.85 [[ 9.94377080e-01 8.76483259e-02 5.94305740e-02 1.68172198e+02] [-8.73010253e-02 9.96146389e-01 -8.42032390e-03 -2.21557643e+01] [-5.99395790e-02 3.18462704e-03 9.98196927e-01 -1.18477919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.580714057 meters 0.031527669600690686 Centerline is valid? [True, True] Translation: X:168.20, Y:-22.16, Z:-11.85 [[ 9.94459351e-01 8.63994806e-02 5.98809568e-02 1.68200874e+02] [-8.60448966e-02 9.96255173e-01 -8.47978096e-03 -2.21593232e+01] [-6.03893616e-02 3.28034673e-03 9.98169507e-01 -1.18500288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.610714057 meters 0.032498370168917004 Centerline is valid? [True, True] Translation: X:168.23, Y:-22.16, Z:-11.85 [[ 9.94821354e-01 8.27384421e-02 5.90323961e-02 1.68230261e+02] [-8.23877117e-02 9.96565332e-01 -8.35487328e-03 -2.21648306e+01] [-5.95209086e-02 3.44806233e-03 9.98221104e-01 -1.18533255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.640714057 meters 0.03495120889086588 Centerline is valid? [True, True] Translation: X:168.26, Y:-22.17, Z:-11.86 [[ 9.95018906e-01 8.03683816e-02 5.89771113e-02 1.68257293e+02] [-8.00142050e-02 9.96758780e-01 -8.34634515e-03 -2.21721287e+01] [-5.94567357e-02 3.58576455e-03 9.98224443e-01 -1.18563766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.670714057 meters 0.0348682158831826 Centerline is valid? [True, True] Translation: X:168.29, Y:-22.18, Z:-11.86 [[ 9.95435251e-01 7.56794761e-02 5.81487545e-02 1.68287592e+02] [-7.53274663e-02 9.97124928e-01 -8.22505630e-03 -2.21753924e+01] [-5.86040405e-02 3.80731264e-03 9.98274046e-01 -1.18586757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.700714057 meters 0.04067344327911385 Centerline is valid? [True, True] Translation: X:168.32, Y:-22.19, Z:-11.86 [[ 9.95660021e-01 7.30941951e-02 5.76052153e-02 1.68315139e+02] [-7.27444206e-02 9.97317327e-01 -8.14849695e-03 -2.21876782e+01] [-5.80462872e-02 3.92267464e-03 9.98306186e-01 -1.18622030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.73071405699997 meters 0.041956944207785354 Centerline is valid? [True, True] Translation: X:168.34, Y:-22.19, Z:-11.86 [[ 9.95984791e-01 6.86009172e-02 5.75170495e-02 1.68344944e+02] [-6.82449058e-02 9.97635443e-01 -8.13355857e-03 -2.21935241e+01] [-5.79390168e-02 4.17565501e-03 9.98311391e-01 -1.18646430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.76071405699997 meters 0.04043301718890636 Centerline is valid? [True, True] Translation: X:168.38, Y:-22.20, Z:-11.87 [[ 9.96088213e-01 6.67567550e-02 5.78947902e-02 1.68375086e+02] [-6.63929451e-02 9.97759966e-01 -8.18704959e-03 -2.21955683e+01] [-5.83116447e-02 4.31121798e-03 9.98289119e-01 -1.18663072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.79071405699997 meters 0.0449676328638007 Centerline is valid? [True, True] Translation: X:168.40, Y:-22.21, Z:-11.87 [[ 9.96202424e-01 6.48272804e-02 5.81218965e-02 1.68402640e+02] [-6.44573780e-02 9.97886618e-01 -8.21857911e-03 -2.22058956e+01] [-5.85318509e-02 4.44098337e-03 9.98275663e-01 -1.18691506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.82071405699998 meters 0.044282850258486876 Centerline is valid? [True, True] Translation: X:168.43, Y:-22.21, Z:-11.87 [[ 9.96336822e-01 6.21496341e-02 5.87397721e-02 1.68433377e+02] [-6.17671280e-02 9.98056018e-01 -8.30701650e-03 -2.22083359e+01] [-5.91418611e-02 4.64839939e-03 9.98238765e-01 -1.18701298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.85071405699998 meters 0.04654708587512493 Centerline is valid? [True, True] Translation: X:168.46, Y:-22.21, Z:-11.87 [[ 9.96343751e-01 6.08310611e-02 5.99892614e-02 1.68463663e+02] [-6.04296242e-02 9.98136395e-01 -8.48514506e-03 -2.22149315e+01] [-6.03936255e-02 4.82899274e-03 9.98162958e-01 -1.18712550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.88071405699998 meters 0.0467926296364859 Centerline is valid? [True, True] Translation: X:168.49, Y:-22.22, Z:-11.87 [[ 9.96316713e-01 6.05214731e-02 6.07466757e-02 1.68494714e+02] [-6.01087437e-02 9.98154783e-01 -8.60050113e-03 -2.22196876e+01] [-6.11550999e-02 4.91741665e-03 9.98116162e-01 -1.18731239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.91071405699998 meters 0.04766169276566141 Centerline is valid? [True, True] Translation: X:168.53, Y:-22.23, Z:-11.88 [[ 9.96271605e-01 6.05479497e-02 6.14559516e-02 1.68526114e+02] [-6.01255091e-02 9.98152896e-01 -8.70174041e-03 -2.22255328e+01] [-6.18693086e-02 4.97422651e-03 9.98071864e-01 -1.18752947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.94071405699998 meters 0.048778106987820175 Centerline is valid? [True, True] Translation: X:168.56, Y:-22.23, Z:-11.88 [[ 9.96243425e-01 6.07403985e-02 6.17222955e-02 1.68557387e+02] [-6.03136830e-02 9.98141077e-01 -8.75496709e-03 -2.22311149e+01] [-6.21393388e-02 4.99937943e-03 9.98054963e-01 -1.18776946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.97071405699998 meters 0.050135491921421714 Centerline is valid? [True, True] Translation: X:168.59, Y:-22.24, Z:-11.88 [[ 9.96312351e-01 6.07282251e-02 6.06117273e-02 1.68588390e+02] [-6.03161249e-02 9.98142214e-01 -8.60732395e-03 -2.22361639e+01] [-6.10218312e-02 4.91971865e-03 9.98124307e-01 -1.18809356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.00071405699998 meters 0.05173792366729583 Centerline is valid? [True, True] Translation: X:168.62, Y:-22.24, Z:-11.88 [[ 9.96332610e-01 6.08604847e-02 6.01442600e-02 1.68618384e+02] [-6.04541221e-02 9.98134316e-01 -8.55484987e-03 -2.22425315e+01] [-6.05527021e-02 4.88750747e-03 9.98153036e-01 -1.18843750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.03071405699998 meters 0.050949371378775005 Centerline is valid? [True, True] Translation: X:168.65, Y:-22.25, Z:-11.89 [[ 9.96337202e-01 6.11495314e-02 5.97738672e-02 1.68649946e+02] [-6.07482628e-02 9.98116849e-01 -8.50912671e-03 -2.22461999e+01] [-6.01816331e-02 4.84680090e-03 9.98175676e-01 -1.18874781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.06071405699998 meters 0.05190638751311088 Centerline is valid? [True, True] Translation: X:168.68, Y:-22.25, Z:-11.89 [[ 9.96370011e-01 6.16515144e-02 5.87017249e-02 1.68680924e+02] [-6.12645792e-02 9.98086464e-01 -8.37032590e-03 -2.22512197e+01] [-5.91054403e-02 4.74360524e-03 9.98240475e-01 -1.18909792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.09071405699999 meters 0.052843990022709966 Centerline is valid? [True, True] Translation: X:168.71, Y:-22.26, Z:-11.89 [[ 9.96361331e-01 6.22078103e-02 5.82605002e-02 1.68711937e+02] [-6.18267811e-02 9.98052202e-01 -8.32173036e-03 -2.22564204e+01] [-5.86646971e-02 4.68939115e-03 9.98266729e-01 -1.18935157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.120714057 meters 0.050963292139558226 Centerline is valid? [True, True] Translation: X:168.74, Y:-22.26, Z:-11.90 [[ 9.96354989e-01 6.35615160e-02 5.68917402e-02 1.68743196e+02] [-6.32002804e-02 9.97967763e-01 -8.12823393e-03 -2.22563425e+01] [-5.72927655e-02 4.50303249e-03 9.98347265e-01 -1.18957965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.150714057 meters 0.05174688950761241 Centerline is valid? [True, True] Translation: X:168.77, Y:-22.26, Z:-11.90 [[ 9.96346134e-01 6.39239167e-02 5.66402215e-02 1.68773858e+02] [-6.35664001e-02 9.97944794e-01 -8.09324124e-03 -2.22605566e+01] [-5.70411659e-02 4.46325464e-03 9.98361851e-01 -1.18974578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.180714057 meters 0.052712808804065384 Centerline is valid? [True, True] Translation: X:168.80, Y:-22.26, Z:-11.90 [[ 9.96279670e-01 6.47353956e-02 5.68871441e-02 1.68802655e+02] [-6.43759891e-02 9.97892598e-01 -8.12983234e-03 -2.22648519e+01] [-5.72935479e-02 4.43742052e-03 9.98347514e-01 -1.18988890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.210714057 meters 0.042646225863093475 Centerline is valid? [True, True] Translation: X:168.83, Y:-22.26, Z:-11.90 [[ 9.96215335e-01 6.54169298e-02 5.72331314e-02 1.68833982e+02] [-6.50542916e-02 9.97848210e-01 -8.17853910e-03 -2.22550138e+01] [-5.76449927e-02 4.42432525e-03 9.98327341e-01 -1.18985054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.240714057 meters 0.04064369957295604 Centerline is valid? [True, True] Translation: X:168.86, Y:-22.25, Z:-11.90 [[ 9.96080542e-01 6.73135283e-02 5.73798085e-02 1.68864721e+02] [-6.69522813e-02 9.97722505e-01 -8.19726431e-03 -2.22541668e+01] [-5.78009131e-02 4.32342640e-03 9.98318768e-01 -1.18987514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.270714057 meters 0.041247778729741565 Centerline is valid? [True, True] Translation: X:168.89, Y:-22.26, Z:-11.90 [[ 9.96000921e-01 6.84169452e-02 5.74568217e-02 1.68893122e+02] [-6.80565889e-02 9.97647701e-01 -8.20760372e-03 -2.22581482e+01] [-5.78832052e-02 4.26446558e-03 9.98314254e-01 -1.19001102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.300714057 meters 0.03977997312234855 Centerline is valid? [True, True] Translation: X:168.92, Y:-22.26, Z:-11.90 [[ 9.95887193e-01 7.00609749e-02 5.74470138e-02 1.68923355e+02] [-6.97036482e-02 9.97534016e-01 -8.20295155e-03 -2.22587800e+01] [-5.78800572e-02 4.16494795e-03 9.98314856e-01 -1.19019255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.330714057 meters 0.04052128182256877 Centerline is valid? [True, True] Translation: X:168.95, Y:-22.26, Z:-11.90 [[ 9.95855374e-01 7.03316306e-02 5.76674655e-02 1.68951023e+02] [-6.99721104e-02 9.97514976e-01 -8.23259085e-03 -2.22636932e+01] [-5.81031720e-02 4.16335557e-03 9.98301902e-01 -1.19042238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.360714057 meters 0.040040536336971605 Centerline is valid? [True, True] Translation: X:168.98, Y:-22.27, Z:-11.91 [[ 9.95877485e-01 7.01445791e-02 5.75132385e-02 1.68979720e+02] [-6.97869799e-02 9.97528171e-01 -8.20526968e-03 -2.22671544e+01] [-5.79466308e-02 4.15776811e-03 9.98311024e-01 -1.19058430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.390714057 meters 0.041174325089607965 Centerline is valid? [True, True] Translation: X:169.01, Y:-22.27, Z:-11.91 [[ 9.95904740e-01 6.97591144e-02 5.75101265e-02 1.69007863e+02] [-6.94011548e-02 9.97555125e-01 -8.20069619e-03 -2.22721766e+01] [-5.79415948e-02 4.17584302e-03 9.98311241e-01 -1.19077416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.420714057 meters 0.038620890382943716 Centerline is valid? [True, True] Translation: X:169.04, Y:-22.27, Z:-11.91 [[ 9.96021631e-01 6.80803385e-02 5.74976303e-02 1.69037750e+02] [-6.77200119e-02 9.97670712e-01 -8.19447740e-03 -2.22718770e+01] [-5.79215846e-02 4.26813654e-03 9.98312012e-01 -1.19093537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.450714057 meters 0.04321025042406509 Centerline is valid? [True, True] Translation: X:169.06, Y:-22.28, Z:-11.91 [[ 9.96068687e-01 6.74393056e-02 5.74378913e-02 1.69064637e+02] [-6.70788099e-02 9.97714119e-01 -8.18353965e-03 -2.22822450e+01] [-5.78584874e-02 4.29850220e-03 9.98315540e-01 -1.19126247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48071405699997 meters 0.045281539057937525 Centerline is valid? [True, True] Translation: X:169.09, Y:-22.29, Z:-11.92 [[ 9.96139403e-01 6.65700183e-02 5.72251968e-02 1.69092770e+02] [-6.62107574e-02 9.97772348e-01 -8.15338593e-03 -2.22888995e+01] [-5.76404900e-02 4.33298537e-03 9.98328002e-01 -1.19153076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.51071405699997 meters 0.0418139310110825 Centerline is valid? [True, True] Translation: X:169.12, Y:-22.29, Z:-11.92 [[ 9.96303613e-01 6.51391024e-02 5.60000648e-02 1.69123125e+02] [-6.47930179e-02 9.97866852e-01 -7.97558399e-03 -2.22878149e+01] [-5.64001308e-02 4.31768994e-03 9.98398910e-01 -1.19177305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54071405699997 meters 0.04176903799116358 Centerline is valid? [True, True] Translation: X:169.15, Y:-22.29, Z:-11.92 [[ 9.96346944e-01 6.45532080e-02 5.59075199e-02 1.69152659e+02] [-6.42073960e-02 9.97904817e-01 -7.96162017e-03 -2.22920554e+01] [-5.63043316e-02 4.34285965e-03 9.98404208e-01 -1.19202622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.57071405699998 meters 0.049056034689199196 Centerline is valid? [True, True] Translation: X:169.18, Y:-22.31, Z:-11.92 [[ 9.96430019e-01 6.32958120e-02 5.58646381e-02 1.69180116e+02] [-6.29486937e-02 9.97985074e-01 -7.95328825e-03 -2.23058291e+01] [-5.62554849e-02 4.40828917e-03 9.98406674e-01 -1.19244189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60071405699998 meters 0.04399168354931529 Centerline is valid? [True, True] Translation: X:169.21, Y:-22.30, Z:-11.93 [[ 9.96523465e-01 6.26796434e-02 5.48839392e-02 1.69210499e+02] [-6.23437332e-02 9.98024156e-01 -7.81294578e-03 -2.23026754e+01] [-5.52652097e-02 4.36411414e-03 9.98462173e-01 -1.19257907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.63071405699998 meters 0.05109998266552603 Centerline is valid? [True, True] Translation: X:169.24, Y:-22.32, Z:-11.93 [[ 9.96554288e-01 6.25060203e-02 5.45210773e-02 1.69237518e+02] [-6.21743899e-02 9.98035138e-01 -7.75937908e-03 -2.23164342e+01] [-5.48989588e-02 4.34282778e-03 9.98482471e-01 -1.19308443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.66071405699998 meters 0.04468090906716722 Centerline is valid? [True, True] Translation: X:169.27, Y:-22.31, Z:-11.93 [[ 9.96533353e-01 6.28139176e-02 5.45498664e-02 1.69268222e+02] [-6.24824998e-02 9.98015879e-01 -7.76156272e-03 -2.23116417e+01] [-5.49291670e-02 4.32624411e-03 9.98480881e-01 -1.19314796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.69071405699998 meters 0.03954427592975657 Centerline is valid? [True, True] Translation: X:169.30, Y:-22.31, Z:-11.93 [[ 9.96457276e-01 6.35432643e-02 5.50921929e-02 1.69299248e+02] [-6.32064429e-02 9.97969706e-01 -7.83655275e-03 -2.23073171e+01] [-5.54782997e-02 4.32660846e-03 9.98450519e-01 -1.19313475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.72071405699998 meters 0.04115068826945618 Centerline is valid? [True, True] Translation: X:169.33, Y:-22.31, Z:-11.93 [[ 9.96380906e-01 6.39867155e-02 5.59534713e-02 1.69326923e+02] [-6.36400116e-02 9.97941189e-01 -7.95815839e-03 -2.23130667e+01] [-5.63474901e-02 4.36847750e-03 9.98401661e-01 -1.19332107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.75071405699998 meters 0.03961555075926538 Centerline is valid? [True, True] Translation: X:169.36, Y:-22.31, Z:-11.93 [[ 9.96360951e-01 6.38865973e-02 5.64212607e-02 1.69355613e+02] [-6.35339743e-02 9.97947423e-01 -8.02346499e-03 -2.23145486e+01] [-5.68180436e-02 4.40960028e-03 9.98374812e-01 -1.19339041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.78071405699998 meters 0.04017170935747527 Centerline is valid? [True, True] Translation: X:169.38, Y:-22.32, Z:-11.94 [[ 9.96386749e-01 6.37107606e-02 5.61639156e-02 1.69384882e+02] [-6.33613303e-02 9.97958729e-01 -7.98234418e-03 -2.23196725e+01] [-5.65578310e-02 4.39488156e-03 9.98389652e-01 -1.19357715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.81071405699998 meters 0.04059160487390155 Centerline is valid? [True, True] Translation: X:169.41, Y:-22.32, Z:-11.94 [[ 9.96493571e-01 6.29369259e-02 5.51317143e-02 1.69414344e+02] [-6.25991712e-02 9.98008005e-01 -7.83367928e-03 -2.23248642e+01] [-5.55149199e-02 4.35501142e-03 9.98448360e-01 -1.19380621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.84071405699999 meters 0.04199759510159566 Centerline is valid? [True, True] Translation: X:169.44, Y:-22.33, Z:-11.94 [[ 9.96506896e-01 6.21177597e-02 5.58156744e-02 1.69441980e+02] [-6.17703898e-02 9.98058891e-01 -7.92900860e-03 -2.23321307e+01] [-5.61998624e-02 4.45355579e-03 9.98409606e-01 -1.19413844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.870714057 meters 0.043605219058908434 Centerline is valid? [True, True] Translation: X:169.47, Y:-22.34, Z:-11.95 [[ 9.96610019e-01 6.07484375e-02 5.54805970e-02 1.69470950e+02] [-6.04033177e-02 9.98142964e-01 -7.87795896e-03 -2.23407663e+01] [-5.58561412e-02 4.50004071e-03 9.98428686e-01 -1.19452988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.900714057 meters 0.04401325821556267 Centerline is valid? [True, True] Translation: X:169.50, Y:-22.35, Z:-11.95 [[ 9.96658706e-01 6.03096985e-02 5.50832471e-02 1.69501258e+02] [-5.99689127e-02 9.98169611e-01 -7.82033226e-03 -2.23461736e+01] [-5.54540652e-02 4.49091979e-03 9.98451140e-01 -1.19481027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.930714057 meters 0.0457981213093254 Centerline is valid? [True, True] Translation: X:169.53, Y:-22.35, Z:-11.95 [[ 9.96668511e-01 6.06589993e-02 5.45194076e-02 1.69529776e+02] [-6.03256689e-02 9.98148735e-01 -7.74052583e-03 -2.23532999e+01] [-5.48880103e-02 4.42581862e-03 9.98482708e-01 -1.19501743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.960714057 meters 0.0457802742856471 Centerline is valid? [True, True] Translation: X:169.56, Y:-22.36, Z:-11.95 [[ 9.96642433e-01 6.12939851e-02 5.42854406e-02 1.69559766e+02] [-6.09645016e-02 9.98110185e-01 -7.70633235e-03 -2.23568649e+01] [-5.46552030e-02 4.37097299e-03 9.98495720e-01 -1.19514666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.990714057 meters 0.045892768971561373 Centerline is valid? [True, True] Translation: X:169.59, Y:-22.36, Z:-11.95 [[ 9.96524976e-01 6.26549115e-02 5.48847428e-02 1.69588688e+02] [-6.23202079e-02 9.98025802e-01 -7.79040997e-03 -2.23614800e+01] [-5.52644969e-02 4.34290953e-03 9.98462305e-01 -1.19532881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.020714057 meters 0.04542454968461946 Centerline is valid? [True, True] Translation: X:169.62, Y:-22.37, Z:-11.95 [[ 9.96309005e-01 6.53089191e-02 5.57055774e-02 1.69617244e+02] [-6.49682786e-02 9.97856009e-01 -7.90614515e-03 -2.23662889e+01] [-5.61024869e-02 4.25786814e-03 9.98415936e-01 -1.19548906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.050714057 meters 0.04487083586324422 Centerline is valid? [True, True] Translation: X:169.65, Y:-22.37, Z:-11.96 [[ 9.96047054e-01 6.85723429e-02 5.64632604e-02 1.69646973e+02] [-6.82277116e-02 9.97637610e-01 -8.01117549e-03 -2.23708429e+01] [-5.68792172e-02 4.12714870e-03 9.98372536e-01 -1.19571924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.080714057 meters 0.044260593095614344 Centerline is valid? [True, True] Translation: X:169.68, Y:-22.37, Z:-11.96 [[ 9.95924418e-01 7.02163792e-02 5.66057763e-02 1.69676686e+02] [-6.98726439e-02 9.97523589e-01 -8.03137676e-03 -2.23745983e+01] [-5.70295313e-02 4.04344897e-03 9.98364304e-01 -1.19596555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.110714057 meters 0.04434345372593877 Centerline is valid? [True, True] Translation: X:169.70, Y:-22.38, Z:-11.96 [[ 9.95797740e-01 7.21314538e-02 5.64261884e-02 1.69704751e+02] [-7.17929880e-02 9.97387428e-01 -8.00532614e-03 -2.23792552e+01] [-5.68562067e-02 3.92068101e-03 9.98374679e-01 -1.19622032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.140714057 meters 0.038537257587379116 Centerline is valid? [True, True] Translation: X:169.74, Y:-22.38, Z:-11.96 [[ 9.95454347e-01 7.66458055e-02 5.65337417e-02 1.69735887e+02] [-7.63134823e-02 9.97051643e-01 -8.01713311e-03 -2.23752117e+01] [-5.69815396e-02 3.66640330e-03 9.98368500e-01 -1.19632902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.170714057 meters 0.04217147604121467 Centerline is valid? [True, True] Translation: X:169.76, Y:-22.38, Z:-11.97 [[ 9.95244426e-01 7.90010039e-02 5.69857333e-02 1.69763444e+02] [-7.86671573e-02 9.96868179e-01 -8.08162093e-03 -2.23846366e+01] [-5.74457203e-02 3.56028255e-03 9.98342283e-01 -1.19661386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.200714057 meters 0.03252246426778411 Centerline is valid? [True, True] Translation: X:169.80, Y:-22.38, Z:-11.97 [[ 9.94833316e-01 8.36449970e-02 5.75342268e-02 1.69795695e+02] [-8.33126214e-02 9.96490085e-01 -8.15581923e-03 -2.23752956e+01] [-5.80144800e-02 3.32035344e-03 9.98310220e-01 -1.19652198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.23071405699997 meters 0.03181552001830844 Centerline is valid? [True, True] Translation: X:169.82, Y:-22.38, Z:-11.97 [[ 9.94687907e-01 8.55663457e-02 5.72220980e-02 1.69824638e+02] [-8.52407176e-02 9.96327364e-01 -8.11191340e-03 -2.23790415e+01] [-5.77060489e-02 3.19116946e-03 9.98328517e-01 -1.19672570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.26071405699997 meters 0.03181552001830844 Centerline is valid? [True, True] Translation: X:169.85, Y:-22.38, Z:-11.97 [[ 9.94697001e-01 8.54603332e-02 5.72224486e-02 1.69851812e+02] [-8.51346723e-02 9.96336451e-01 -8.10943981e-03 -2.23828020e+01] [-5.77058468e-02 3.19482104e-03 9.98328517e-01 -1.19691478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.29071405699997 meters 0.032196512866610155 Centerline is valid? [True, True] Translation: X:169.88, Y:-22.39, Z:-11.97 [[ 9.94401519e-01 8.85804034e-02 5.76118975e-02 1.69880440e+02] [-8.82559158e-02 9.96064429e-01 -8.15755519e-03 -2.23883189e+01] [-5.81077614e-02 3.02729450e-03 9.98305726e-01 -1.19720619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32071405699998 meters 0.030256573232789803 Centerline is valid? [True, True] Translation: X:169.91, Y:-22.39, Z:-11.97 [[ 9.94264937e-01 9.01748544e-02 5.74954884e-02 1.69909040e+02] [-8.98544322e-02 9.95921649e-01 -8.13939291e-03 -2.23902312e+01] [-5.79949702e-02 2.92648851e-03 9.98312586e-01 -1.19738683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.35071405699998 meters 0.02949261679921681 Centerline is valid? [True, True] Translation: X:169.94, Y:-22.39, Z:-11.98 [[ 9.94129441e-01 9.21725644e-02 5.66645571e-02 1.69937550e+02] [-9.18648129e-02 9.95739209e-01 -8.01773150e-03 -2.23944115e+01] [-5.71621361e-02 2.76518400e-03 9.98361079e-01 -1.19767598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.38071405699998 meters 0.029017866453303114 Centerline is valid? [True, True] Translation: X:169.97, Y:-22.40, Z:-11.98 [[ 9.94098325e-01 9.25308487e-02 5.66265171e-02 1.69966044e+02] [-9.22243248e-02 9.95706052e-01 -8.00824941e-03 -2.23981592e+01] [-5.71243759e-02 2.73864502e-03 9.98363313e-01 -1.19792785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.41071405699998 meters 0.030229947280002858 Centerline is valid? [True, True] Translation: X:169.99, Y:-22.41, Z:-11.98 [[ 9.94117205e-01 9.23405257e-02 5.66057417e-02 1.69993117e+02] [-9.20341441e-02 9.95723704e-01 -8.00138310e-03 -2.24051122e+01] [-5.71025307e-02 2.74465161e-03 9.98364547e-01 -1.19824088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.44071405699998 meters 0.03000156722902321 Centerline is valid? [True, True] Translation: X:170.02, Y:-22.41, Z:-11.98 [[ 9.94181034e-01 9.15400164e-02 5.67846596e-02 1.70021615e+02] [-9.12306970e-02 9.95797478e-01 -8.02133692e-03 -2.24116030e+01] [-5.72802942e-02 2.79415696e-03 9.98354226e-01 -1.19846933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.47071405699998 meters 0.029907677752656996 Centerline is valid? [True, True] Translation: X:170.05, Y:-22.42, Z:-11.99 [[ 9.94269610e-01 9.06106365e-02 5.67243730e-02 1.70049897e+02] [-9.03006990e-02 9.95882344e-01 -8.00876683e-03 -2.24165606e+01] [-5.72164810e-02 2.84062294e-03 9.98357754e-01 -1.19866254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.50071405699998 meters 0.030734265560538186 Centerline is valid? [True, True] Translation: X:170.08, Y:-22.42, Z:-11.99 [[ 9.94505385e-01 8.78934199e-02 5.68663793e-02 1.70078179e+02] [-8.75777466e-02 9.96125366e-01 -8.02450340e-03 -2.24234928e+01] [-5.73513440e-02 3.00018249e-03 9.98349549e-01 -1.19894509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.53071405699998 meters 0.03298201706261723 Centerline is valid? [True, True] Translation: X:170.11, Y:-22.43, Z:-11.99 [[ 9.94618636e-01 8.66247903e-02 5.68323418e-02 1.70105094e+02] [-8.63075852e-02 9.96236281e-01 -8.01702401e-03 -2.24315582e+01] [-5.73129138e-02 3.06881930e-03 9.98351547e-01 -1.19916598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.56071405699998 meters 0.03023910201058092 Centerline is valid? [True, True] Translation: X:170.13, Y:-22.43, Z:-11.99 [[ 9.94705084e-01 8.54285430e-02 5.71293300e-02 1.70134284e+02] [-8.51063509e-02 9.96339324e-01 -8.05360151e-03 -2.24325971e+01] [-5.76082055e-02 3.14888956e-03 9.98334302e-01 -1.19925409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.59071405699999 meters 0.03365709579949408 Centerline is valid? [True, True] Translation: X:170.16, Y:-22.44, Z:-11.99 [[ 9.94862508e-01 8.27924901e-02 5.82579913e-02 1.70161231e+02] [-8.24531793e-02 9.96561135e-01 -8.20833534e-03 -2.24441430e+01] [-5.87372385e-02 3.36260848e-03 9.98267815e-01 -1.19949142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.620714057 meters 0.03482276093389072 Centerline is valid? [True, True] Translation: X:170.19, Y:-22.45, Z:-12.00 [[ 9.94983524e-01 8.04564900e-02 5.94519944e-02 1.70190321e+02] [-8.00992405e-02 9.96751737e-01 -8.37182271e-03 -2.24517854e+01] [-5.99324461e-02 3.56776607e-03 9.98196059e-01 -1.19959859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.650714057 meters 0.03380053618743143 Centerline is valid? [True, True] Translation: X:170.22, Y:-22.45, Z:-12.00 [[ 9.95062062e-01 7.92850824e-02 5.97107069e-02 1.70218473e+02] [-7.89227128e-02 9.96845291e-01 -8.40659553e-03 -2.24542080e+01] [-6.01888546e-02 3.65255331e-03 9.98180325e-01 -1.19968473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.680714057 meters 0.03538055194225002 Centerline is valid? [True, True] Translation: X:170.25, Y:-22.46, Z:-12.00 [[ 9.95069316e-01 7.84834227e-02 6.06416344e-02 1.70245414e+02] [-7.81085093e-02 9.96908353e-01 -8.53207068e-03 -2.24608734e+01] [-6.11237780e-02 3.75337408e-03 9.98123137e-01 -1.19985706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.710714057 meters 0.035398498967593096 Centerline is valid? [True, True] Translation: X:170.27, Y:-22.47, Z:-12.00 [[ 9.95090485e-01 7.68869275e-02 6.23163476e-02 1.70274264e+02] [-7.64882487e-02 9.97031986e-01 -8.76170602e-03 -2.24659673e+01] [-6.28050524e-02 3.95222200e-03 9.98017988e-01 -1.19998938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.740714057 meters 0.036476904392019956 Centerline is valid? [True, True] Translation: X:170.30, Y:-22.47, Z:-12.00 [[ 9.95166910e-01 7.54732024e-02 6.28221014e-02 1.70303071e+02] [-7.50654341e-02 9.97139521e-01 -8.82932504e-03 -2.24723867e+01] [-6.33087775e-02 4.07088381e-03 9.97985685e-01 -1.20019934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.770714057 meters 0.037392668201324766 Centerline is valid? [True, True] Translation: X:170.33, Y:-22.48, Z:-12.00 [[ 9.95213634e-01 7.49700376e-02 6.26842562e-02 1.70331732e+02] [-7.45632012e-02 9.97177392e-01 -8.80782661e-03 -2.24777510e+01] [-6.31676462e-02 4.09173032e-03 9.97994542e-01 -1.20040792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.800714057 meters 0.036813077052313715 Centerline is valid? [True, True] Translation: X:170.36, Y:-22.48, Z:-12.01 [[ 9.95282425e-01 7.41294899e-02 6.25916387e-02 1.70361392e+02] [-7.37224178e-02 9.97240049e-01 -8.79141932e-03 -2.24805544e+01] [-6.30705923e-02 4.13553820e-03 9.98000500e-01 -1.20064587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.830714057 meters 0.04175639585193036 Centerline is valid? [True, True] Translation: X:170.39, Y:-22.49, Z:-12.01 [[ 9.95455722e-01 7.21707678e-02 6.21231490e-02 1.70389514e+02] [-7.17661270e-02 9.97383340e-01 -8.72331246e-03 -2.24916039e+01] [-6.25901620e-02 4.22533350e-03 9.98030369e-01 -1.20093593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.860714057 meters 0.039236930915750395 Centerline is valid? [True, True] Translation: X:170.42, Y:-22.49, Z:-12.01 [[ 9.95556311e-01 7.06310929e-02 6.22806522e-02 1.70419868e+02] [-7.02214743e-02 9.97493099e-01 -8.74422189e-03 -2.24923893e+01] [-6.27421347e-02 4.33192607e-03 9.98020370e-01 -1.20114184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.890714057 meters 0.04091338876182429 Centerline is valid? [True, True] Translation: X:170.45, Y:-22.50, Z:-12.01 [[ 9.95771145e-01 6.77047870e-02 6.20957956e-02 1.70450166e+02] [-6.72919481e-02 9.97695237e-01 -8.71819558e-03 -2.24990121e+01] [-6.25429431e-02 4.50278054e-03 9.98032116e-01 -1.20140359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.920714057 meters 0.04023777754805063 Centerline is valid? [True, True] Translation: X:170.48, Y:-22.50, Z:-12.02 [[ 9.95880466e-01 6.61527481e-02 6.20154199e-02 1.70480862e+02] [-6.57379435e-02 9.97798928e-01 -8.70763074e-03 -2.25025516e+01] [-6.24549531e-02 4.59499319e-03 9.98037206e-01 -1.20161475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.950714057 meters 0.04102017094600353 Centerline is valid? [True, True] Translation: X:170.51, Y:-22.51, Z:-12.02 [[ 9.96066573e-01 6.36119519e-02 6.16838928e-02 1.70511039e+02] [-6.31966690e-02 9.97963500e-01 -8.66217548e-03 -2.25084816e+01] [-6.21092915e-02 4.72988689e-03 9.98058147e-01 -1.20189219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.98071405699997 meters 0.045920016666391714 Centerline is valid? [True, True] Translation: X:170.54, Y:-22.52, Z:-12.02 [[ 9.96123132e-01 6.29019276e-02 6.14983990e-02 1.70540719e+02] [-6.24878172e-02 9.98008364e-01 -8.63583000e-03 -2.25197804e+01] [-6.19191270e-02 4.75944931e-03 9.98069822e-01 -1.20223287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.01071405699997 meters 0.040436339923164824 Centerline is valid? [True, True] Translation: X:170.57, Y:-22.52, Z:-12.02 [[ 9.96200364e-01 6.25751312e-02 6.05738183e-02 1.70573607e+02] [-6.21719679e-02 9.98029089e-01 -8.51959057e-03 -2.25164671e+01] [-6.09875472e-02 4.72122575e-03 9.98127361e-01 -1.20244490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.04071405699997 meters 0.04129361999772811 Centerline is valid? [True, True] Translation: X:170.61, Y:-22.52, Z:-12.03 [[ 9.96343365e-01 6.22547093e-02 5.85170871e-02 1.70605134e+02] [-6.18771040e-02 9.98049723e-01 -8.24465749e-03 -2.25210511e+01] [-5.89162314e-02 4.59364190e-03 9.98252361e-01 -1.20280287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.07071405699998 meters 0.04196005018923524 Centerline is valid? [True, True] Translation: X:170.64, Y:-22.53, Z:-12.03 [[ 9.96354364e-01 6.30135185e-02 5.75089382e-02 1.70635684e+02] [-6.26492471e-02 9.98002598e-01 -8.11707691e-03 -2.25250906e+01] [-5.79055553e-02 4.48459332e-03 9.98311993e-01 -1.20304771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.10071405699998 meters 0.049333543283213696 Centerline is valid? [True, True] Translation: X:170.66, Y:-22.54, Z:-12.03 [[ 9.96327155e-01 6.36690192e-02 5.72578023e-02 1.70664953e+02] [-6.33081801e-02 9.97961187e-01 -8.09585809e-03 -2.25386055e+01] [-5.76565197e-02 4.44123601e-03 9.98326600e-01 -1.20334732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.13071405699998 meters 0.04233226755003745 Centerline is valid? [True, True] Translation: X:170.70, Y:-22.53, Z:-12.03 [[ 9.96308664e-01 6.40377397e-02 5.71682908e-02 1.70696865e+02] [-6.36780754e-02 9.97937678e-01 -8.09286124e-03 -2.25325365e+01] [-5.75686399e-02 4.42262104e-03 9.98331755e-01 -1.20335669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.16071405699998 meters 0.04272326494565113 Centerline is valid? [True, True] Translation: X:170.73, Y:-22.54, Z:-12.03 [[ 9.96226670e-01 6.46436644e-02 5.79104372e-02 1.70727501e+02] [-6.42756149e-02 9.97898513e-01 -8.19774210e-03 -2.25369396e+01] [-5.83186713e-02 4.44458035e-03 9.98288124e-01 -1.20349122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.19071405699998 meters 0.051415273397011206 Centerline is valid? [True, True] Translation: X:170.76, Y:-22.55, Z:-12.04 [[ 9.96187450e-01 6.47321194e-02 5.84834728e-02 1.70756148e+02] [-6.43568288e-02 9.97892600e-01 -8.27990719e-03 -2.25531493e+01] [-5.88962007e-02 4.48452879e-03 9.98254039e-01 -1.20385037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.22071405699998 meters 0.04541634100770105 Centerline is valid? [True, True] Translation: X:170.79, Y:-22.55, Z:-12.04 [[ 9.96242402e-01 6.44568636e-02 5.78479867e-02 1.70787933e+02] [-6.40892102e-02 9.97910563e-01 -8.19036917e-03 -2.25489223e+01] [-5.82550425e-02 4.45216128e-03 9.98291805e-01 -1.20392379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.25071405699998 meters 0.045039232579304214 Centerline is valid? [True, True] Translation: X:170.82, Y:-22.55, Z:-12.04 [[ 9.96285845e-01 6.42070453e-02 5.73756944e-02 1.70818342e+02] [-6.38446785e-02 9.97926743e-01 -8.12849775e-03 -2.25520333e+01] [-5.77786467e-02 4.43517449e-03 9.98319567e-01 -1.20411287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.28071405699998 meters 0.047148295765990535 Centerline is valid? [True, True] Translation: X:170.85, Y:-22.56, Z:-12.04 [[ 9.96278766e-01 6.44361318e-02 5.72416375e-02 1.70847587e+02] [-6.40758235e-02 9.97912081e-01 -8.10969147e-03 -2.25586877e+01] [-5.76446788e-02 4.41170835e-03 9.98327415e-01 -1.20429828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.31071405699998 meters 0.04599706131059751 Centerline is valid? [True, True] Translation: X:170.88, Y:-22.56, Z:-12.04 [[ 9.96272532e-01 6.47043699e-02 5.70472246e-02 1.70878447e+02] [-6.43470231e-02 9.97894865e-01 -8.08079276e-03 -2.25615549e+01] [-5.74499951e-02 4.37985278e-03 9.98338778e-01 -1.20448589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.34071405699999 meters 0.04760466355023212 Centerline is valid? [True, True] Translation: X:170.91, Y:-22.57, Z:-12.05 [[ 9.96222669e-01 6.54693248e-02 5.70452586e-02 1.70906900e+02] [-6.51131707e-02 9.97845158e-01 -8.08186320e-03 -2.25677789e+01] [-5.74514492e-02 4.33693767e-03 9.98338881e-01 -1.20467721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.370714057 meters 0.04625276453128721 Centerline is valid? [True, True] Translation: X:170.94, Y:-22.57, Z:-12.05 [[ 9.96100309e-01 6.71214267e-02 5.72615852e-02 1.70936819e+02] [-6.67653308e-02 9.97735733e-01 -8.11153350e-03 -2.25699690e+01] [-5.76763874e-02 4.25681234e-03 9.98326256e-01 -1.20484281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.400714057 meters 0.04634717144824653 Centerline is valid? [True, True] Translation: X:170.97, Y:-22.57, Z:-12.05 [[ 9.96074991e-01 6.79769511e-02 5.66899123e-02 1.70966638e+02] [-6.76293705e-02 9.97678201e-01 -8.02960665e-03 -2.25739151e+01] [-5.71041179e-02 4.16418729e-03 9.98359544e-01 -1.20503022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.430714057 meters 0.04609134748862069 Centerline is valid? [True, True] Translation: X:171.00, Y:-22.58, Z:-12.05 [[ 9.95955053e-01 7.04164449e-02 5.58126891e-02 1.70995612e+02] [-7.00833995e-02 9.97509816e-01 -7.90463896e-03 -2.25761625e+01] [-5.62303218e-02 3.96112213e-03 9.98409966e-01 -1.20528136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.460714057 meters 0.04550712560401119 Centerline is valid? [True, True] Translation: X:171.03, Y:-22.58, Z:-12.05 [[ 9.95849905e-01 7.19074843e-02 5.57878142e-02 1.71025177e+02] [-7.15771667e-02 9.97403785e-01 -7.89925902e-03 -2.25796277e+01] [-5.62109929e-02 3.87334267e-03 9.98411399e-01 -1.20549905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.490714057 meters 0.04449117488460054 Centerline is valid? [True, True] Translation: X:171.05, Y:-22.58, Z:-12.06 [[ 9.95620277e-01 7.54226994e-02 5.52420252e-02 1.71054676e+02] [-7.51043119e-02 9.97145019e-01 -7.82001185e-03 -2.25819625e+01] [-5.56741167e-02 3.63684807e-03 9.98442370e-01 -1.20579189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.520714057 meters 0.04414757841949144 Centerline is valid? [True, True] Translation: X:171.08, Y:-22.59, Z:-12.06 [[ 9.95497020e-01 7.71414341e-02 5.50897638e-02 1.71084390e+02] [-7.68274849e-02 9.97013912e-01 -7.79728759e-03 -2.25850522e+01] [-5.55267548e-02 3.52976857e-03 9.98450960e-01 -1.20603704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.550714057 meters 0.043232351398298646 Centerline is valid? [True, True] Translation: X:171.11, Y:-22.59, Z:-12.06 [[ 9.95148724e-01 8.09399156e-02 5.59262700e-02 1.71114086e+02] [-8.06223661e-02 9.96713294e-01 -7.91479922e-03 -2.25873576e+01] [-5.63830800e-02 3.36749413e-03 9.98403530e-01 -1.20617717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.580714057 meters 0.04284192143084399 Centerline is valid? [True, True] Translation: X:171.14, Y:-22.59, Z:-12.06 [[ 9.95001806e-01 8.24137330e-02 5.63860203e-02 1.71142444e+02] [-8.20933243e-02 9.96592704e-01 -7.97926561e-03 -2.25904836e+01] [-5.68514975e-02 3.31046784e-03 9.98377157e-01 -1.20630766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.610714057 meters 0.041792938941115305 Centerline is valid? [True, True] Translation: X:171.17, Y:-22.59, Z:-12.06 [[ 9.94663584e-01 8.50255004e-02 5.84381709e-02 1.71171131e+02] [-8.46860485e-02 9.96373402e-01 -8.26546412e-03 -2.25936576e+01] [-5.89290144e-02 3.27245838e-03 9.98256812e-01 -1.20637930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.640714057 meters 0.041485380751421226 Centerline is valid? [True, True] Translation: X:171.20, Y:-22.60, Z:-12.07 [[ 9.94546813e-01 8.59681492e-02 5.90433320e-02 1.71199587e+02] [-8.56233713e-02 9.96292590e-01 -8.34944574e-03 -2.25976911e+01] [-5.95422205e-02 3.24842551e-03 9.98220503e-01 -1.20653558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.670714057 meters 0.035836198831737914 Centerline is valid? [True, True] Translation: X:171.23, Y:-22.60, Z:-12.07 [[ 9.94498121e-01 8.66635318e-02 5.88465699e-02 1.71229153e+02] [-8.63224812e-02 9.96232523e-01 -8.31796284e-03 -2.25950708e+01] [-5.93457309e-02 3.19241650e-03 9.98232384e-01 -1.20671818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.700714057 meters 0.03728131605575034 Centerline is valid? [True, True] Translation: X:171.26, Y:-22.60, Z:-12.07 [[ 9.94630287e-01 8.58498699e-02 5.77961236e-02 1.71255693e+02] [-8.55197368e-02 9.96303012e-01 -8.16600710e-03 -2.26024376e+01] [-5.82835027e-02 3.17944870e-03 9.98295009e-01 -1.20709612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.73071405699997 meters 0.0436947755913135 Centerline is valid? [True, True] Translation: X:171.28, Y:-22.62, Z:-12.08 [[ 9.94759957e-01 8.50330340e-02 5.67627576e-02 1.71280918e+02] [-8.47136180e-02 9.96373110e-01 -8.01429526e-03 -2.26167206e+01] [-5.72383651e-02 3.16372145e-03 9.98355528e-01 -1.20755647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.76071405699997 meters 0.035663628149759305 Centerline is valid? [True, True] Translation: X:171.31, Y:-22.61, Z:-12.08 [[ 9.94846450e-01 8.41182638e-02 5.66097051e-02 1.71311191e+02] [-8.37994352e-02 9.96450634e-01 -7.98673434e-03 -2.26099396e+01] [-5.70806068e-02 3.20171299e-03 9.98364439e-01 -1.20755874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.79071405699997 meters 0.0478137029944498 Centerline is valid? [True, True] Translation: X:171.34, Y:-22.63, Z:-12.08 [[ 9.95006737e-01 8.21099025e-02 5.67411410e-02 1.71336705e+02] [-8.17865725e-02 9.96617749e-01 -8.00117037e-03 -2.26334912e+01] [-5.72062036e-02 3.32055497e-03 9.98356862e-01 -1.20819284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.82071405699998 meters 0.04836516074225099 Centerline is valid? [True, True] Translation: X:171.36, Y:-22.64, Z:-12.08 [[ 9.95054469e-01 8.12435462e-02 5.71497227e-02 1.71364498e+02] [-8.09142783e-02 9.96688508e-01 -8.05593791e-03 -2.26394041e+01] [-5.76149648e-02 3.39186845e-03 9.98333116e-01 -1.20847021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.85071405699998 meters 0.03979226931385072 Centerline is valid? [True, True] Translation: X:171.40, Y:-22.63, Z:-12.09 [[ 9.95206125e-01 7.93856038e-02 5.71199945e-02 1.71395240e+02] [-7.90538473e-02 9.96837860e-01 -8.04801166e-03 -2.26331691e+01] [-5.75782694e-02 3.49387518e-03 9.98334882e-01 -1.20854596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.88071405699998 meters 0.04011088961046769 Centerline is valid? [True, True] Translation: X:171.42, Y:-22.64, Z:-12.09 [[ 9.95313533e-01 7.81155925e-02 5.69993483e-02 1.71424366e+02] [-7.77832744e-02 9.96937960e-01 -8.02910451e-03 -2.26375377e+01] [-5.74520122e-02 3.55788043e-03 9.98341929e-01 -1.20879145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.91071405699998 meters 0.03800722947681124 Centerline is valid? [True, True] Translation: X:171.45, Y:-22.64, Z:-12.09 [[ 9.95355767e-01 7.68319515e-02 5.79978244e-02 1.71453275e+02] [-7.64857997e-02 9.97037213e-01 -8.16811682e-03 -2.26383345e+01] [-5.84535616e-02 3.69417220e-03 9.98283294e-01 -1.20887869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.94071405699998 meters 0.0384344673205386 Centerline is valid? [True, True] Translation: X:171.48, Y:-22.64, Z:-12.09 [[ 9.95371085e-01 7.61960970e-02 5.85709674e-02 1.71482032e+02] [-7.58422100e-02 9.97085746e-01 -8.24468789e-03 -2.26422422e+01] [-5.90284897e-02 3.76437232e-03 9.98249201e-01 -1.20903996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.97071405699998 meters 0.038849073954283025 Centerline is valid? [True, True] Translation: X:171.51, Y:-22.65, Z:-12.09 [[ 9.95324444e-01 7.60697366e-02 5.95201342e-02 1.71510677e+02] [-7.57043000e-02 9.97095148e-01 -8.37405498e-03 -2.26473417e+01] [-5.99842491e-02 3.82897152e-03 9.98191980e-01 -1.20920913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.00071405699998 meters 0.04039967284743418 Centerline is valid? [True, True] Translation: X:171.54, Y:-22.65, Z:-12.09 [[ 9.95224542e-01 7.55039952e-02 6.18648374e-02 1.71538524e+02] [-7.51083507e-02 9.97137431e-01 -8.69938202e-03 -2.26540884e+01] [-6.23445832e-02 4.01127257e-03 9.98046623e-01 -1.20930096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.03071405699998 meters 0.040939531405787224 Centerline is valid? [True, True] Translation: X:171.57, Y:-22.66, Z:-12.09 [[ 9.95194542e-01 7.52137358e-02 6.26954312e-02 1.71567372e+02] [-7.48070182e-02 9.97159087e-01 -8.81282426e-03 -2.26589169e+01] [-6.31801643e-02 4.08041635e-03 9.97993796e-01 -1.20949882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.06071405699998 meters 0.03557555347849951 Centerline is valid? [True, True] Translation: X:171.60, Y:-22.65, Z:-12.10 [[ 9.95327929e-01 7.31732430e-02 6.29919845e-02 1.71598915e+02] [-7.27587444e-02 9.97310285e-01 -8.85219715e-03 -2.26546629e+01] [-6.34702979e-02 4.22762137e-03 9.97974773e-01 -1.20965639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.09071405699999 meters 0.036363972320826984 Centerline is valid? [True, True] Translation: X:171.63, Y:-22.66, Z:-12.10 [[ 9.95436080e-01 7.17510522e-02 6.29189754e-02 1.71628250e+02] [-7.13346841e-02 9.97413245e-01 -8.84203023e-03 -2.26603222e+01] [-6.33906444e-02 4.31337068e-03 9.97979469e-01 -1.20994472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.120714057 meters 0.039362198886659684 Centerline is valid? [True, True] Translation: X:171.66, Y:-22.67, Z:-12.10 [[ 9.95706940e-01 6.89165151e-02 6.17916111e-02 1.71657263e+02] [-6.85096061e-02 9.97612675e-01 -8.68238824e-03 -2.26694323e+01] [-6.22424544e-02 4.41179530e-03 9.98051308e-01 -1.21035818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.150714057 meters 0.039362198886659684 Centerline is valid? [True, True] Translation: X:171.69, Y:-22.67, Z:-12.11 [[ 9.95706940e-01 6.89165151e-02 6.17916111e-02 1.71686976e+02] [-6.85096061e-02 9.97612675e-01 -8.68238824e-03 -2.26736073e+01] [-6.22424544e-02 4.41179530e-03 9.98051308e-01 -1.21056483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.180714057 meters 0.040139160432122276 Centerline is valid? [True, True] Translation: X:171.72, Y:-22.68, Z:-12.11 [[ 9.95815323e-01 6.77907088e-02 6.12883606e-02 1.71717457e+02] [-6.73883069e-02 9.97689661e-01 -8.61143366e-03 -2.26795804e+01] [-6.17305389e-02 4.44527873e-03 9.98082952e-01 -1.21088949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.210714057 meters 0.040533438072714076 Centerline is valid? [True, True] Translation: X:171.75, Y:-22.68, Z:-12.11 [[ 9.95956200e-01 6.66300249e-02 6.02634842e-02 1.71748137e+02] [-6.62387484e-02 9.97767856e-01 -8.46955655e-03 -2.26846469e+01] [-6.06932942e-02 4.44352959e-03 9.98146572e-01 -1.21122609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.240714057 meters 0.04171841272067017 Centerline is valid? [True, True] Translation: X:171.78, Y:-22.69, Z:-12.12 [[ 9.96137385e-01 6.54119403e-02 5.85797658e-02 1.71779262e+02] [-6.50401494e-02 9.97848683e-01 -8.23311849e-03 -2.26903227e+01] [-5.89922864e-02 4.39128039e-03 9.98248780e-01 -1.21159389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.270714057 meters 0.04289883553401001 Centerline is valid? [True, True] Translation: X:171.81, Y:-22.70, Z:-12.12 [[ 9.96197424e-01 6.57045201e-02 5.72154501e-02 1.71808680e+02] [-6.53494809e-02 9.97829915e-01 -8.05640977e-03 -2.26951504e+01] [-5.76206303e-02 4.28677469e-03 9.98329348e-01 -1.21194207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.300714057 meters 0.04265651564405077 Centerline is valid? [True, True] Translation: X:171.84, Y:-22.70, Z:-12.12 [[ 9.96127929e-01 6.65997147e-02 5.73901315e-02 1.71839350e+02] [-6.62439143e-02 9.97770727e-01 -8.08209519e-03 -2.26991067e+01] [-5.78004585e-02 4.24905379e-03 9.98319114e-01 -1.21214544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.330714057 meters 0.042684241360910674 Centerline is valid? [True, True] Translation: X:171.87, Y:-22.70, Z:-12.12 [[ 9.96088614e-01 6.71881339e-02 5.73866436e-02 1.71869993e+02] [-6.68333072e-02 9.97731420e-01 -8.08229507e-03 -2.27015735e+01] [-5.77994917e-02 4.21534291e-03 9.98319312e-01 -1.21237224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.360714057 meters 0.04193235381410198 Centerline is valid? [True, True] Translation: X:171.90, Y:-22.70, Z:-12.12 [[ 9.95836045e-01 7.03220570e-02 5.80119017e-02 1.71900938e+02] [-6.99647271e-02 9.97516006e-01 -8.17039776e-03 -2.27016967e+01] [-5.84423597e-02 4.07758972e-03 9.98282457e-01 -1.21243101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.390714057 meters 0.03751531289245019 Centerline is valid? [True, True] Translation: X:171.93, Y:-22.70, Z:-12.12 [[ 9.95703290e-01 7.16818234e-02 5.86231504e-02 1.71931831e+02] [-7.13192629e-02 9.97419368e-01 -8.25636791e-03 -2.26983269e+01] [-5.90636971e-02 4.03993282e-03 9.98246041e-01 -1.21248154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.420714057 meters 0.04237009973933412 Centerline is valid? [True, True] Translation: X:171.96, Y:-22.71, Z:-12.13 [[ 9.95493920e-01 7.37349017e-02 5.96239871e-02 1.71960098e+02] [-7.33635556e-02 9.97269918e-01 -8.39638352e-03 -2.27063976e+01] [-6.00803152e-02 3.98432106e-03 9.98185594e-01 -1.21274180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.450714057 meters 0.04191687106699294 Centerline is valid? [True, True] Translation: X:171.99, Y:-22.71, Z:-12.13 [[ 9.95412411e-01 7.46186735e-02 5.98847754e-02 1.71990070e+02] [-7.42457959e-02 9.97204334e-01 -8.43082280e-03 -2.27089703e+01] [-6.03464544e-02 3.94595283e-03 9.98169692e-01 -1.21289299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.48071405699997 meters 0.04189949893183708 Centerline is valid? [True, True] Translation: X:172.02, Y:-22.71, Z:-12.13 [[ 9.95331701e-01 7.53347447e-02 6.03281176e-02 1.72019692e+02] [-7.49576802e-02 9.97150553e-01 -8.49234265e-03 -2.27108585e+01] [-6.07959843e-02 3.93064211e-03 9.98142474e-01 -1.21305867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.51071405699997 meters 0.03508411053140249 Centerline is valid? [True, True] Translation: X:172.05, Y:-22.70, Z:-12.13 [[ 9.95368919e-01 7.50042926e-02 6.01254548e-02 1.72049665e+02] [-7.46292641e-02 9.97175444e-01 -8.46212017e-03 -2.27034613e+01] [-6.05903224e-02 3.93581296e-03 9.98154959e-01 -1.21310664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.54071405699997 meters 0.04438707159047558 Centerline is valid? [True, True] Translation: X:172.08, Y:-22.72, Z:-12.14 [[ 9.95467193e-01 7.39461489e-02 5.98083213e-02 1.72075664e+02] [-7.35734333e-02 9.97254315e-01 -8.41315979e-03 -2.27185636e+01] [-6.02662272e-02 3.97472103e-03 9.98174425e-01 -1.21351576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.57071405699998 meters 0.045741357769175775 Centerline is valid? [True, True] Translation: X:172.10, Y:-22.72, Z:-12.14 [[ 9.95535566e-01 7.32995448e-02 5.94652307e-02 1.72104678e+02] [-7.29302357e-02 9.97302005e-01 -8.36017142e-03 -2.27236925e+01] [-5.99175906e-02 3.98603469e-03 9.98195369e-01 -1.21379532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.60071405699998 meters 0.04622052005117301 Centerline is valid? [True, True] Translation: X:172.13, Y:-22.73, Z:-12.14 [[ 9.95563433e-01 7.27853051e-02 5.96301052e-02 1.72133426e+02] [-7.24130591e-02 9.97339500e-01 -8.38277994e-03 -2.27276409e+01] [-6.00816025e-02 4.02759085e-03 9.98185343e-01 -1.21399332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.63071405699998 meters 0.03682276279599845 Centerline is valid? [True, True] Translation: X:172.16, Y:-22.72, Z:-12.14 [[ 9.95690557e-01 7.16411192e-02 5.88885753e-02 1.72164456e+02] [-7.12763319e-02 9.97422286e-01 -8.27458027e-03 -2.27160763e+01] [-5.93295776e-02 4.04155980e-03 9.98230268e-01 -1.21408480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.66071405699998 meters 0.036425170856307094 Centerline is valid? [True, True] Translation: X:172.19, Y:-22.72, Z:-12.14 [[ 9.95779786e-01 7.12649954e-02 5.78266290e-02 1.72193261e+02] [-7.09128037e-02 9.97449447e-01 -8.12244847e-03 -2.27184385e+01] [-5.82579854e-02 3.98752160e-03 9.98293598e-01 -1.21429212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.69071405699998 meters 0.038729363234055916 Centerline is valid? [True, True] Translation: X:172.22, Y:-22.72, Z:-12.15 [[ 9.95869292e-01 7.11444640e-02 5.64164739e-02 1.72221786e+02] [-7.08093107e-02 9.97458427e-01 -7.92015112e-03 -2.27220148e+01] [-5.68365622e-02 3.89262366e-03 9.98375908e-01 -1.21470594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.72071405699998 meters 0.038704494791160456 Centerline is valid? [True, True] Translation: X:172.25, Y:-22.72, Z:-12.15 [[ 9.95865195e-01 7.16797193e-02 5.58079846e-02 1.72250813e+02] [-7.13527611e-02 9.97420395e-01 -7.83189935e-03 -2.27236762e+01] [-5.62254104e-02 3.81746217e-03 9.98410802e-01 -1.21491191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.75071405699998 meters 0.03965899086102873 Centerline is valid? [True, True] Translation: X:172.28, Y:-22.72, Z:-12.15 [[ 9.95736849e-01 7.28946559e-02 5.65198829e-02 1.72278901e+02] [-7.25614579e-02 9.97332433e-01 -7.92795404e-03 -2.27241364e+01] [-5.69470178e-02 3.79299087e-03 9.98369997e-01 -1.21507976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.78071405699998 meters 0.0345707563602701 Centerline is valid? [True, True] Translation: X:172.31, Y:-22.72, Z:-12.15 [[ 9.95612485e-01 7.39877594e-02 5.72851828e-02 1.72309344e+02] [-7.36475787e-02 9.97252002e-01 -8.02986640e-03 -2.27183695e+01] [-5.77218751e-02 3.77572022e-03 9.98325563e-01 -1.21507540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.81071405699998 meters 0.03441830546338865 Centerline is valid? [True, True] Translation: X:172.34, Y:-22.72, Z:-12.15 [[ 9.95467506e-01 7.51259895e-02 5.83140709e-02 1.72338251e+02] [-7.47755869e-02 9.97166910e-01 -8.17099289e-03 -2.27201236e+01] [-5.87627158e-02 3.77348904e-03 9.98264847e-01 -1.21520169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.84071405699999 meters 0.0367879690039074 Centerline is valid? [True, True] Translation: X:172.37, Y:-22.72, Z:-12.15 [[ 9.95187384e-01 7.72656944e-02 6.02667706e-02 1.72366609e+02] [-7.68955874e-02 9.97003429e-01 -8.43987104e-03 -2.27238813e+01] [-6.07382894e-02 3.76500446e-03 9.98146625e-01 -1.21528379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.870714057 meters 0.040046826067851996 Centerline is valid? [True, True] Translation: X:172.39, Y:-22.73, Z:-12.15 [[ 9.95094949e-01 7.78592225e-02 6.10244542e-02 1.72393735e+02] [-7.74810414e-02 9.96957225e-01 -8.54282941e-03 -2.27302735e+01] [-6.15039085e-02 3.77268814e-03 9.98099712e-01 -1.21547749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.900714057 meters 0.03699198879504712 Centerline is valid? [True, True] Translation: X:172.42, Y:-22.73, Z:-12.16 [[ 9.94985395e-01 7.95078826e-02 6.06840968e-02 1.72423560e+02] [-7.91373029e-02 9.96827574e-01 -8.48969038e-03 -2.27260156e+01] [-6.11665783e-02 3.64474219e-03 9.98120917e-01 -1.21567661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.930714057 meters 0.03312335967330806 Centerline is valid? [True, True] Translation: X:172.45, Y:-22.72, Z:-12.16 [[ 9.94820648e-01 8.12830908e-02 6.10322621e-02 1.72452915e+02] [-8.09118264e-02 9.96684727e-01 -8.53416650e-03 -2.27219410e+01] [-6.15236069e-02 3.55173325e-03 9.98099309e-01 -1.21586837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.960714057 meters 0.03314225857944472 Centerline is valid? [True, True] Translation: X:172.48, Y:-22.73, Z:-12.16 [[ 9.94755519e-01 8.23227866e-02 6.06993924e-02 1.72481724e+02] [-8.19577602e-02 9.96599699e-01 -8.48328182e-03 -2.27251511e+01] [-6.11913636e-02 3.46400516e-03 9.98120042e-01 -1.21611322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.990714057 meters 0.03322316090236093 Centerline is valid? [True, True] Translation: X:172.51, Y:-22.73, Z:-12.16 [[ 9.94683726e-01 8.34163745e-02 6.03820717e-02 1.72510178e+02] [-8.30574286e-02 9.96509067e-01 -8.43463939e-03 -2.27285070e+01] [-6.08748689e-02 3.37461893e-03 9.98139701e-01 -1.21637452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.020714057 meters 0.0320218913015 Centerline is valid? [True, True] Translation: X:172.54, Y:-22.73, Z:-12.17 [[ 9.94565476e-01 8.59474932e-02 5.87583473e-02 1.72540462e+02] [-8.56122877e-02 9.96294757e-01 -8.20328100e-03 -2.27288929e+01] [-5.92456847e-02 3.12826354e-03 9.98238530e-01 -1.21666875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.050714057 meters 0.03207303117963751 Centerline is valid? [True, True] Translation: X:172.57, Y:-22.73, Z:-12.17 [[ 9.94363079e-01 8.90912770e-02 5.74874946e-02 1.72569493e+02] [-8.87757144e-02 9.96019313e-01 -8.02504480e-03 -2.27301669e+01] [-5.79736163e-02 2.87631485e-03 9.98313972e-01 -1.21698840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.080714057 meters 0.02852261779841625 Centerline is valid? [True, True] Translation: X:172.60, Y:-22.73, Z:-12.17 [[ 9.94254286e-01 9.05769030e-02 5.70459461e-02 1.72598556e+02] [-9.02687027e-02 9.95885621e-01 -7.96184128e-03 -2.27276791e+01] [-5.75323964e-02 2.76663127e-03 9.98339806e-01 -1.21711595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.110714057 meters 0.028635731805874247 Centerline is valid? [True, True] Translation: X:172.63, Y:-22.73, Z:-12.17 [[ 9.94131830e-01 9.20719930e-02 5.67860192e-02 1.72626141e+02] [-9.17692567e-02 9.95748789e-01 -7.92160554e-03 -2.27310972e+01] [-5.72739679e-02 2.66390944e-03 9.98354945e-01 -1.21736554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.140714057 meters 0.028524947787842193 Centerline is valid? [True, True] Translation: X:172.66, Y:-22.73, Z:-12.17 [[ 9.93842190e-01 9.50876953e-02 5.68861352e-02 1.72655060e+02] [-9.47891476e-02 9.95465789e-01 -7.92976374e-03 -2.27332964e+01] [-5.73822244e-02 2.48874550e-03 9.98349181e-01 -1.21748728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.170714057 meters 0.027993191288268073 Centerline is valid? [True, True] Translation: X:172.68, Y:-22.74, Z:-12.18 [[ 9.93645983e-01 9.66247585e-02 5.77175599e-02 1.72683631e+02] [-9.63200971e-02 9.95317906e-01 -8.04390992e-03 -2.27358011e+01] [-5.82245617e-02 2.43343781e-03 9.98300545e-01 -1.21758195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.200714057 meters 0.02718468950131897 Centerline is valid? [True, True] Translation: X:172.71, Y:-22.74, Z:-12.18 [[ 9.93281938e-01 9.94760401e-02 5.91228246e-02 1.72713897e+02] [-9.91616512e-02 9.95037260e-01 -8.23521486e-03 -2.27370975e+01] [-5.96486199e-02 2.31717327e-03 9.98216746e-01 -1.21758001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.23071405699997 meters 0.026502296856486297 Centerline is valid? [True, True] Translation: X:172.74, Y:-22.74, Z:-12.18 [[ 9.93151246e-01 1.00393427e-01 5.97642256e-02 1.72742861e+02] [-1.00074001e-01 9.94945196e-01 -8.32168799e-03 -2.27389846e+01] [-6.02975719e-02 2.28384960e-03 9.98177833e-01 -1.21767665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.26071405699997 meters 0.026498502822791203 Centerline is valid? [True, True] Translation: X:172.77, Y:-22.74, Z:-12.18 [[ 9.93016634e-01 1.01307317e-01 6.04548763e-02 1.72771248e+02] [-1.00982415e-01 9.94852635e-01 -8.41344511e-03 -2.27429143e+01] [-6.09960366e-02 2.24981154e-03 9.98135473e-01 -1.21785069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.29071405699997 meters 0.026459822066914402 Centerline is valid? [True, True] Translation: X:172.80, Y:-22.75, Z:-12.18 [[ 9.93028637e-01 1.01204682e-01 6.04296154e-02 1.72798739e+02] [-1.00880109e-01 9.94863078e-01 -8.40588730e-03 -2.27473902e+01] [-6.09699084e-02 2.25114061e-03 9.98137066e-01 -1.21805460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.32071405699998 meters 0.027335602733600424 Centerline is valid? [True, True] Translation: X:172.83, Y:-22.75, Z:-12.18 [[ 9.93192174e-01 1.00037782e-01 5.96803875e-02 1.72825868e+02] [-9.97195068e-02 9.94981010e-01 -8.29518338e-03 -2.27546086e+01] [-6.02106840e-02 2.28741241e-03 9.98183070e-01 -1.21841062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.35071405699998 meters 0.02729181111464629 Centerline is valid? [True, True] Translation: X:172.85, Y:-22.76, Z:-12.19 [[ 9.93312287e-01 9.92769541e-02 5.89473217e-02 1.72854001e+02] [-9.89654399e-02 9.95057184e-01 -8.18796970e-03 -2.27595360e+01] [-5.94688326e-02 2.29946328e-03 9.98227514e-01 -1.21859390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.38071405699998 meters 0.02690986403488444 Centerline is valid? [True, True] Translation: X:172.88, Y:-22.76, Z:-12.19 [[ 9.93566735e-01 9.76871175e-02 5.72919703e-02 1.72882124e+02] [-9.73904637e-02 9.95214464e-01 -7.95412039e-03 -2.27648605e+01] [-5.77948126e-02 2.32325788e-03 9.98325780e-01 -1.21885636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.41071405699998 meters 0.027499467586468592 Centerline is valid? [True, True] Translation: X:172.91, Y:-22.77, Z:-12.19 [[ 9.93703237e-01 9.70155475e-02 5.60522943e-02 1.72909004e+02] [-9.67307539e-02 9.95280192e-01 -7.77826158e-03 -2.27714744e+01] [-5.65423505e-02 2.30730302e-03 9.98397536e-01 -1.21919136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.44071405699998 meters 0.028899280745136768 Centerline is valid? [True, True] Translation: X:172.94, Y:-22.78, Z:-12.19 [[ 9.93860957e-01 9.53002864e-02 5.61983417e-02 1.72936035e+02] [-9.50115283e-02 9.95445661e-01 -7.79396957e-03 -2.27792712e+01] [-5.66851630e-02 2.40663172e-03 9.98389203e-01 -1.21922248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.47071405699998 meters 0.028660225222447284 Centerline is valid? [True, True] Translation: X:172.96, Y:-22.78, Z:-12.19 [[ 9.93913080e-01 9.42331607e-02 5.70692628e-02 1.72964677e+02] [-9.39341065e-02 9.95547023e-01 -7.90627835e-03 -2.27840592e+01] [-5.75601682e-02 2.49740326e-03 9.98338915e-01 -1.21927093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.50071405699998 meters 0.028273255720544434 Centerline is valid? [True, True] Translation: X:172.99, Y:-22.79, Z:-12.19 [[ 9.93934282e-01 9.35760950e-02 5.77767880e-02 1.72992685e+02] [-9.32687086e-02 9.95608832e-01 -8.00009365e-03 -2.27888554e+01] [-5.82716979e-02 2.56280094e-03 9.98297471e-01 -1.21934490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.53071405699998 meters 0.029505450037380133 Centerline is valid? [True, True] Translation: X:173.02, Y:-22.80, Z:-12.20 [[ 9.94052339e-01 9.17770953e-02 5.86251896e-02 1.73019280e+02] [-9.14577310e-02 9.95775907e-01 -8.11338865e-03 -2.27994964e+01] [-5.91221746e-02 2.70340614e-03 9.98247094e-01 -1.21950427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.56071405699998 meters 0.03088599694858073 Centerline is valid? [True, True] Translation: X:173.05, Y:-22.81, Z:-12.20 [[ 9.94217984e-01 9.02174617e-02 5.82358202e-02 1.73045385e+02] [-8.98999694e-02 9.95918231e-01 -8.05429626e-03 -2.28103277e+01] [-5.87247532e-02 2.77232774e-03 9.98270363e-01 -1.21977602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.59071405699999 meters 0.031066972631832897 Centerline is valid? [True, True] Translation: X:173.07, Y:-22.82, Z:-12.20 [[ 9.94285698e-01 8.94096895e-02 5.83254551e-02 1.73073493e+02] [-8.90901467e-02 9.95990944e-01 -8.06135726e-03 -2.28164731e+01] [-5.88123885e-02 2.81906888e-03 9.98265073e-01 -1.21996643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.620714057 meters 0.03406453565719749 Centerline is valid? [True, True] Translation: X:173.10, Y:-22.83, Z:-12.20 [[ 9.94376287e-01 8.84911500e-02 5.81817452e-02 1.73100031e+02] [-8.81718471e-02 9.96072850e-01 -8.03753893e-03 -2.28270129e+01] [-5.86645079e-02 2.86234618e-03 9.98273651e-01 -1.22022501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.650714057 meters 0.034067260043832384 Centerline is valid? [True, True] Translation: X:173.13, Y:-22.83, Z:-12.20 [[ 9.94602234e-01 8.64643668e-02 5.73612159e-02 1.73128468e+02] [-8.61509669e-02 9.96250622e-01 -7.91885441e-03 -2.28348597e+01] [-5.78308458e-02 2.93438608e-03 9.98322084e-01 -1.22038626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.680714057 meters 0.0343629886778201 Centerline is valid? [True, True] Translation: X:173.16, Y:-22.84, Z:-12.21 [[ 9.94730277e-01 8.54208909e-02 5.67004996e-02 1.73156240e+02] [-8.51131412e-02 9.96340566e-01 -7.82497896e-03 -2.28417285e+01] [-5.71614245e-02 2.95778587e-03 9.98360568e-01 -1.22061450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.710714057 meters 0.036226878546688074 Centerline is valid? [True, True] Translation: X:173.18, Y:-22.85, Z:-12.21 [[ 9.94954376e-01 8.37020855e-02 5.53150058e-02 1.73182563e+02] [-8.34067678e-02 9.96486374e-01 -7.63010098e-03 -2.28542801e+01] [-5.57593049e-02 2.97795653e-03 9.98439799e-01 -1.22100376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.740714057 meters 0.03634748467722307 Centerline is valid? [True, True] Translation: X:173.21, Y:-22.86, Z:-12.21 [[ 9.95067793e-01 8.30398624e-02 5.42629520e-02 1.73210673e+02] [-8.27549012e-02 9.96541848e-01 -7.48136598e-03 -2.28612697e+01] [-5.46965541e-02 2.95394110e-03 9.98498654e-01 -1.22129422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.770714057 meters 0.037602099997682055 Centerline is valid? [True, True] Translation: X:173.24, Y:-22.87, Z:-12.22 [[ 9.95194242e-01 8.25244882e-02 5.27079563e-02 1.73237331e+02] [-8.22550922e-02 9.96584837e-01 -7.26378956e-03 -2.28714551e+01] [-5.31273906e-02 2.89338374e-03 9.98583551e-01 -1.22171392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.800714057 meters 0.03133347707398555 Centerline is valid? [True, True] Translation: X:173.27, Y:-22.87, Z:-12.22 [[ 9.95213179e-01 8.28630112e-02 5.18116830e-02 1.73267248e+02] [-8.26033965e-02 9.96556952e-01 -7.13586360e-03 -2.28679976e+01] [-5.22245921e-02 2.82188450e-03 9.98631378e-01 -1.22168740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.830714057 meters 0.03047756781254722 Centerline is valid? [True, True] Translation: X:173.30, Y:-22.87, Z:-12.22 [[ 9.95155079e-01 8.46781200e-02 4.99598343e-02 1.73295238e+02] [-8.44392023e-02 9.96404899e-01 -6.87737584e-03 -2.28737442e+01] [-5.03625869e-02 2.62548694e-03 9.98727549e-01 -1.22194539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.860714057 meters 0.029748727189148727 Centerline is valid? [True, True] Translation: X:173.32, Y:-22.88, Z:-12.22 [[ 9.95071211e-01 8.59151388e-02 4.95164029e-02 1.73323217e+02] [-8.56821523e-02 9.96299230e-01 -6.81276324e-03 -2.28788345e+01] [-4.99184736e-02 2.53651259e-03 9.98750075e-01 -1.22211109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.890714057 meters 0.03250075499566478 Centerline is valid? [True, True] Translation: X:173.35, Y:-22.89, Z:-12.23 [[ 9.95061459e-01 8.64459814e-02 4.87830358e-02 1.73349599e+02] [-8.62206058e-02 9.96253477e-01 -6.70945600e-03 -2.28887488e+01] [-4.91802746e-02 2.47021817e-03 9.98786863e-01 -1.22251814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.920714057 meters 0.03329664616062047 Centerline is valid? [True, True] Translation: X:173.38, Y:-22.90, Z:-12.23 [[ 9.94970232e-01 8.74794822e-02 4.88014178e-02 1.73376286e+02] [-8.72555302e-02 9.96163399e-01 -6.70479157e-03 -2.28961738e+01] [-4.92007179e-02 2.41287444e-03 9.98785997e-01 -1.22272272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.950714057 meters 0.03292238562707389 Centerline is valid? [True, True] Translation: X:173.40, Y:-22.90, Z:-12.23 [[ 9.94885081e-01 8.82140969e-02 4.92132944e-02 1.73404847e+02] [-8.79874716e-02 9.96098665e-01 -6.75673805e-03 -2.29018590e+01] [-4.96173364e-02 2.39202454e-03 9.98765437e-01 -1.22284506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.98071405699997 meters 0.0300063500831407 Centerline is valid? [True, True] Translation: X:173.43, Y:-22.90, Z:-12.23 [[ 9.94835503e-01 8.83578194e-02 4.99521551e-02 1.73433619e+02] [-8.81246841e-02 9.96085866e-01 -6.85477295e-03 -2.29032723e+01] [-5.03623085e-02 2.41735361e-03 9.98728088e-01 -1.22265170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.01071405699997 meters 0.028884388777719053 Centerline is valid? [True, True] Translation: X:173.46, Y:-22.91, Z:-12.23 [[ 9.94797459e-01 8.84999641e-02 5.04556337e-02 1.73462626e+02] [-8.82624693e-02 9.96073214e-01 -6.92020730e-03 -2.29071617e+01] [-5.08699434e-02 2.43086581e-03 9.98702328e-01 -1.22269666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.04071405699997 meters 0.030497383028383004 Centerline is valid? [True, True] Translation: X:173.49, Y:-22.92, Z:-12.23 [[ 9.94870940e-01 8.69699701e-02 5.16530537e-02 1.73489400e+02] [-8.67191899e-02 9.96207631e-01 -7.08081794e-03 -2.29167989e+01] [-5.20729848e-02 2.56518902e-03 9.98639987e-01 -1.22288166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.07071405699998 meters 0.030497383028383004 Centerline is valid? [True, True] Translation: X:173.52, Y:-22.92, Z:-12.23 [[ 9.94880135e-01 8.68643615e-02 5.16536485e-02 1.73516587e+02] [-8.66136643e-02 9.96216842e-01 -7.07647637e-03 -2.29204331e+01] [-5.20729282e-02 2.56633399e-03 9.98639987e-01 -1.22307079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.10071405699998 meters 0.030812310269163062 Centerline is valid? [True, True] Translation: X:173.54, Y:-22.93, Z:-12.23 [[ 9.94943187e-01 8.59532219e-02 5.19624660e-02 1.73544907e+02] [-8.56986036e-02 9.96295720e-01 -7.11254223e-03 -2.29267621e+01] [-5.23813283e-02 2.62346467e-03 9.98623710e-01 -1.22325360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.13071405699998 meters 0.03220652132395021 Centerline is valid? [True, True] Translation: X:173.57, Y:-22.94, Z:-12.23 [[ 9.95196920e-01 8.28965564e-02 5.20696804e-02 1.73571835e+02] [-8.26369094e-02 9.96554262e-01 -7.12350930e-03 -2.29368390e+01] [-5.24807763e-02 2.78641705e-03 9.98618047e-01 -1.22344850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.16071405699998 meters 0.032688271017958924 Centerline is valid? [True, True] Translation: X:173.60, Y:-22.94, Z:-12.24 [[ 9.95373676e-01 8.08556309e-02 5.19000263e-02 1.73601125e+02] [-8.05951462e-02 9.96721662e-01 -7.09579447e-03 -2.29427645e+01] [-5.23036155e-02 2.88007681e-03 9.98627076e-01 -1.22365414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.19071405699998 meters 0.03477700457016944 Centerline is valid? [True, True] Translation: X:173.63, Y:-22.95, Z:-12.24 [[ 9.95732820e-01 7.67185670e-02 5.12875409e-02 1.73629159e+02] [-7.64588337e-02 9.97048096e-01 -7.01010545e-03 -2.29542196e+01] [-5.16739503e-02 3.05880651e-03 9.98659325e-01 -1.22399556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.22071405699998 meters 0.035376041475185034 Centerline is valid? [True, True] Translation: X:173.66, Y:-22.96, Z:-12.24 [[ 9.95951775e-01 7.43720967e-02 5.04861690e-02 1.73657378e+02] [-7.41174682e-02 9.97225649e-01 -6.89967945e-03 -2.29607272e+01] [-5.08592463e-02 3.12984096e-03 9.98700927e-01 -1.22426427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.25071405699998 meters 0.036886070197712735 Centerline is valid? [True, True] Translation: X:173.69, Y:-22.97, Z:-12.25 [[ 9.96131188e-01 7.20535986e-02 5.03083962e-02 1.73686114e+02] [-7.17979698e-02 9.97395519e-01 -6.87239939e-03 -2.29686134e+01] [-5.06725501e-02 3.23377066e-03 9.98710086e-01 -1.22458464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.28071405699998 meters 0.03891627757797427 Centerline is valid? [True, True] Translation: X:173.71, Y:-22.98, Z:-12.25 [[ 9.96379113e-01 6.87338113e-02 5.00432377e-02 1.73713687e+02] [-6.84767942e-02 9.97629300e-01 -6.83442048e-03 -2.29785947e+01] [-5.03943559e-02 3.38287333e-03 9.98723668e-01 -1.22485440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.31071405699998 meters 0.039998386005756045 Centerline is valid? [True, True] Translation: X:173.74, Y:-22.98, Z:-12.25 [[ 9.96554497e-01 6.66713327e-02 4.93362685e-02 1.73742890e+02] [-6.64191199e-02 9.97769076e-01 -6.73584359e-03 -2.29843111e+01] [-4.96752907e-02 3.43576370e-03 9.98759511e-01 -1.22509586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.34071405699999 meters 0.041649973787908336 Centerline is valid? [True, True] Translation: X:173.77, Y:-22.99, Z:-12.25 [[ 9.96568807e-01 6.64290268e-02 4.93740460e-02 1.73771668e+02] [-6.61761747e-02 9.97785190e-01 -6.74013072e-03 -2.29907801e+01] [-4.97124321e-02 3.44961854e-03 9.98757615e-01 -1.22534871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.370714057 meters 0.04128353573336113 Centerline is valid? [True, True] Translation: X:173.80, Y:-22.99, Z:-12.26 [[ 9.96531620e-01 6.68091833e-02 4.96111264e-02 1.73800758e+02] [-6.65543907e-02 9.97759818e-01 -6.77194272e-03 -2.29939162e+01] [-4.99524164e-02 3.44661676e-03 9.98745652e-01 -1.22553197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.400714057 meters 0.04092467923523153 Centerline is valid? [True, True] Translation: X:173.83, Y:-23.00, Z:-12.26 [[ 9.96470672e-01 6.75803858e-02 4.97904777e-02 1.73830086e+02] [-6.73247901e-02 9.97707976e-01 -6.79469559e-03 -2.29964993e+01] [-5.01355449e-02 3.41858142e-03 9.98736572e-01 -1.22568476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.430714057 meters 0.041760287499983985 Centerline is valid? [True, True] Translation: X:173.86, Y:-23.00, Z:-12.26 [[ 9.96424246e-01 6.80075990e-02 5.01366966e-02 1.73858334e+02] [-6.77490437e-02 9.97678944e-01 -6.84049230e-03 -2.30002230e+01] [-5.04855320e-02 3.41931914e-03 9.98718939e-01 -1.22588462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.460714057 meters 0.03765576209163177 Centerline is valid? [True, True] Translation: X:173.89, Y:-23.00, Z:-12.26 [[ 9.96412597e-01 6.79166665e-02 5.04902267e-02 1.73888530e+02] [-6.76544820e-02 9.97685049e-01 -6.88578230e-03 -2.29974294e+01] [-5.08410036e-02 3.44519010e-03 9.98700818e-01 -1.22589601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.490714057 meters 0.034019760398971796 Centerline is valid? [True, True] Translation: X:173.92, Y:-22.99, Z:-12.26 [[ 9.96403038e-01 6.74265769e-02 5.13287730e-02 1.73918741e+02] [-6.71550504e-02 9.97718008e-01 -6.99829273e-03 -2.29943418e+01] [-5.16835121e-02 3.52613379e-03 9.98657289e-01 -1.22586536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.520714057 meters 0.038267226391085894 Centerline is valid? [True, True] Translation: X:173.95, Y:-23.00, Z:-12.26 [[ 9.96406560e-01 6.68005375e-02 5.20735548e-02 1.73946910e+02] [-6.65203350e-02 9.97759826e-01 -7.09754689e-03 -2.30036373e+01] [-5.24310209e-02 3.60809197e-03 9.98618030e-01 -1.22617845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.550714057 meters 0.03659645450611293 Centerline is valid? [True, True] Translation: X:173.98, Y:-23.01, Z:-12.26 [[ 9.96428225e-01 6.60458819e-02 5.26187524e-02 1.73976718e+02] [-6.57587659e-02 9.97809781e-01 -7.17114180e-03 -2.30051399e+01] [-5.29771302e-02 3.68538388e-03 9.98588925e-01 -1.22628509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.580714057 meters 0.03947771318539033 Centerline is valid? [True, True] Translation: X:174.01, Y:-23.01, Z:-12.26 [[ 9.96518377e-01 6.43258213e-02 5.30406704e-02 1.74005728e+02] [-6.40317730e-02 9.97921696e-01 -7.22641905e-03 -2.30116241e+01] [-5.33952811e-02 3.80497121e-03 9.98566205e-01 -1.22649591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.610714057 meters 0.040047491941684984 Centerline is valid? [True, True] Translation: X:174.04, Y:-23.01, Z:-12.27 [[ 9.96653505e-01 6.23808442e-02 5.28244367e-02 1.74036103e+02] [-6.20865406e-02 9.98044830e-01 -7.19573724e-03 -2.30145909e+01] [-5.31700321e-02 3.89197021e-03 9.98577889e-01 -1.22664611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.640714057 meters 0.03689262043375433 Centerline is valid? [True, True] Translation: X:174.07, Y:-23.01, Z:-12.27 [[ 9.96721628e-01 6.12717797e-02 5.28371547e-02 1.74066819e+02] [-6.09757854e-02 9.98113295e-01 -7.19746969e-03 -2.30131110e+01] [-5.31784683e-02 3.95208670e-03 9.98577204e-01 -1.22675364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.670714057 meters 0.03909638259873248 Centerline is valid? [True, True] Translation: X:174.10, Y:-23.02, Z:-12.27 [[ 9.96834423e-01 5.98475270e-02 5.23393461e-02 1.74096686e+02] [-5.95551890e-02 9.98199560e-01 -7.12872232e-03 -2.30199791e+01] [-5.26717486e-02 3.98907615e-03 9.98603913e-01 -1.22705935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.700714057 meters 0.038827086861435454 Centerline is valid? [True, True] Translation: X:174.13, Y:-23.02, Z:-12.27 [[ 9.97041402e-01 5.66889702e-02 5.19114964e-02 1.74126787e+02] [-5.63969380e-02 9.98383362e-01 -7.07439747e-03 -2.30229838e+01] [-5.22286146e-02 4.12581773e-03 9.98626632e-01 -1.22736858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.73071405699997 meters 0.03978004796635247 Centerline is valid? [True, True] Translation: X:174.16, Y:-23.03, Z:-12.28 [[ 9.97170168e-01 5.49002778e-02 5.13577212e-02 1.74157584e+02] [-5.46121119e-02 9.98483118e-01 -6.99859235e-03 -2.30284364e+01] [-5.16640423e-02 4.17403389e-03 9.98655799e-01 -1.22762814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.76071405699997 meters 0.042680746353226044 Centerline is valid? [True, True] Translation: X:174.19, Y:-23.04, Z:-12.28 [[ 9.97350211e-01 5.20639144e-02 5.08124441e-02 1.74186767e+02] [-5.17780871e-02 9.98634596e-01 -6.92625717e-03 -2.30358883e+01] [-5.11036727e-02 4.27693290e-03 9.98684196e-01 -1.22793280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.79071405699997 meters 0.04305430420747252 Centerline is valid? [True, True] Translation: X:174.22, Y:-23.04, Z:-12.28 [[ 9.97443026e-01 5.08739197e-02 5.01921685e-02 1.74218929e+02] [-5.05935033e-02 9.98695889e-01 -6.84245005e-03 -2.30398541e+01] [-5.04748146e-02 4.28555644e-03 9.98716139e-01 -1.22813532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.82071405699998 meters 0.04376466561952578 Centerline is valid? [True, True] Translation: X:174.25, Y:-23.04, Z:-12.28 [[ 9.97426175e-01 5.02682591e-02 5.11285362e-02 1.74251289e+02] [-4.99764443e-02 9.98726070e-01 -6.97080828e-03 -2.30439814e+01] [-5.14138124e-02 4.39764420e-03 9.98667753e-01 -1.22830403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.85071405699998 meters 0.04454436894881511 Centerline is valid? [True, True] Translation: X:174.28, Y:-23.05, Z:-12.28 [[ 9.97408098e-01 5.01923727e-02 5.15539780e-02 1.74283335e+02] [-4.98948867e-02 9.98729648e-01 -7.04207047e-03 -2.30487203e+01] [-5.18419445e-02 4.45153822e-03 9.98645381e-01 -1.22848069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.88071405699998 meters 0.042731010486288815 Centerline is valid? [True, True] Translation: X:174.31, Y:-23.05, Z:-12.29 [[ 9.97252943e-01 5.11233739e-02 5.36000724e-02 1.74314932e+02] [-5.08021676e-02 9.98681771e-01 -7.33898892e-03 -2.30500749e+01] [-5.39046091e-02 4.59582844e-03 9.98535513e-01 -1.22851405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.91071405699998 meters 0.04277152238609956 Centerline is valid? [True, True] Translation: X:174.35, Y:-23.05, Z:-12.29 [[ 9.97193003e-01 5.16841064e-02 5.41744265e-02 1.74347079e+02] [-5.13568466e-02 9.98652827e-01 -7.41661509e-03 -2.30537842e+01] [-5.44847653e-02 4.61356896e-03 9.98503944e-01 -1.22866089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.94071405699998 meters 0.042538057763125435 Centerline is valid? [True, True] Translation: X:174.38, Y:-23.06, Z:-12.29 [[ 9.97091332e-01 5.24955064e-02 5.52548359e-02 1.74379509e+02] [-5.21554738e-02 9.98610217e-01 -7.57903254e-03 -2.30567631e+01] [-5.55759088e-02 4.67514550e-03 9.98443519e-01 -1.22877287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.97071405699998 meters 0.04411729653542062 Centerline is valid? [True, True] Translation: X:174.41, Y:-23.06, Z:-12.29 [[ 9.97053886e-01 5.29322438e-02 5.55132957e-02 1.74410507e+02] [-5.25888760e-02 9.98587106e-01 -7.62903570e-03 -2.30629549e+01] [-5.58386833e-02 4.68717786e-03 9.98428802e-01 -1.22900693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.00071405699998 meters 0.045194692837470636 Centerline is valid? [True, True] Translation: X:174.44, Y:-23.07, Z:-12.29 [[ 9.97029158e-01 5.32734559e-02 5.56308997e-02 1.74441875e+02] [-5.29284315e-02 9.98568943e-01 -7.65813775e-03 -2.30687161e+01] [-5.59592642e-02 4.69093037e-03 9.98422033e-01 -1.22926007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.03071405699998 meters 0.04657284678810341 Centerline is valid? [True, True] Translation: X:174.47, Y:-23.08, Z:-12.30 [[ 9.97017632e-01 5.32794735e-02 5.58313445e-02 1.74472274e+02] [-5.29311621e-02 9.98568477e-01 -7.69998845e-03 -2.30752203e+01] [-5.61616720e-02 4.72180631e-03 9.98410522e-01 -1.22960021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.06071405699998 meters 0.044533944800069905 Centerline is valid? [True, True] Translation: X:174.50, Y:-23.08, Z:-12.30 [[ 9.97041536e-01 5.29910166e-02 5.56787924e-02 1.74504317e+02] [-5.26434561e-02 9.98583750e-01 -7.69154188e-03 -2.30776004e+01] [-5.60075200e-02 4.73766266e-03 9.98419107e-01 -1.22986114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.09071405699999 meters 0.04637858924854219 Centerline is valid? [True, True] Translation: X:174.53, Y:-23.08, Z:-12.30 [[ 9.97134308e-01 5.19510218e-02 5.49932932e-02 1.74534385e+02] [-5.16095583e-02 9.98638327e-01 -7.61220617e-03 -2.30847538e+01] [-5.53138722e-02 4.75221237e-03 9.98457707e-01 -1.23026083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.120714057 meters 0.04709806596406287 Centerline is valid? [True, True] Translation: X:174.57, Y:-23.09, Z:-12.31 [[ 9.97190449e-01 5.17285557e-02 5.41790133e-02 1.74565701e+02] [-5.13965487e-02 9.98650128e-01 -7.50440583e-03 -2.30902901e+01] [-5.44940706e-02 4.69870752e-03 9.98503039e-01 -1.23055927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.150714057 meters 0.04726223573707581 Centerline is valid? [True, True] Translation: X:174.60, Y:-23.10, Z:-12.31 [[ 9.97309381e-01 5.07071750e-02 5.29413016e-02 1.74597446e+02] [-5.03879295e-02 9.98702687e-01 -7.34846210e-03 -2.30957723e+01] [-5.32452399e-02 4.66108762e-03 9.98570588e-01 -1.23091960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.180714057 meters 0.05000909991120504 Centerline is valid? [True, True] Translation: X:174.63, Y:-23.10, Z:-12.31 [[ 9.97334116e-01 5.02449425e-02 5.29160432e-02 1.74627408e+02] [-4.99252845e-02 9.98725937e-01 -7.34631408e-03 -2.31042163e+01] [-5.32177400e-02 4.68488114e-03 9.98571942e-01 -1.23121306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.210714057 meters 0.05236795795372967 Centerline is valid? [True, True] Translation: X:174.66, Y:-23.11, Z:-12.31 [[ 9.97395775e-01 4.95409136e-02 5.24153197e-02 1.74657770e+02] [-4.92256940e-02 9.98761086e-01 -7.28865877e-03 -2.31121363e+01] [-5.27114684e-02 4.68949697e-03 9.98598773e-01 -1.23149727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.240714057 meters 0.0534323831455499 Centerline is valid? [True, True] Translation: X:174.69, Y:-23.12, Z:-12.32 [[ 9.97385469e-01 4.98993569e-02 5.22712180e-02 1.74689875e+02] [-4.95857451e-02 9.98743336e-01 -7.28026813e-03 -2.31182491e+01] [-5.25688113e-02 4.66932635e-03 9.98606388e-01 -1.23175102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.270714057 meters 0.05316009033991664 Centerline is valid? [True, True] Translation: X:174.72, Y:-23.12, Z:-12.32 [[ 9.97319788e-01 5.06509189e-02 5.27989145e-02 1.74721447e+02] [-5.03312969e-02 9.98705409e-01 -7.36659661e-03 -2.31222680e+01] [-5.31036864e-02 4.68941473e-03 9.98577993e-01 -1.23194079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.300714057 meters 0.04298131380430635 Centerline is valid? [True, True] Translation: X:174.75, Y:-23.11, Z:-12.32 [[ 9.97169143e-01 5.20566467e-02 5.42568446e-02 1.74754380e+02] [-5.17202797e-02 9.98632796e-01 -7.58628140e-03 -2.31126303e+01] [-5.45775807e-02 4.75862655e-03 9.98498194e-01 -1.23184877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.330714057 meters 0.04343100370049034 Centerline is valid? [True, True] Translation: X:174.78, Y:-23.12, Z:-12.32 [[ 9.96901950e-01 5.49925165e-02 5.62345625e-02 1.74783855e+02] [-5.46356179e-02 9.98475378e-01 -7.86562001e-03 -2.31165067e+01] [-5.65813763e-02 4.76884185e-03 9.98386601e-01 -1.23192627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.360714057 meters 0.04003158107980879 Centerline is valid? [True, True] Translation: X:174.82, Y:-23.12, Z:-12.32 [[ 9.96783342e-01 5.66769420e-02 5.66629887e-02 1.74816138e+02] [-5.63173755e-02 9.98381473e-01 -7.92381675e-03 -2.31153695e+01] [-5.70203759e-02 4.70721772e-03 9.98361918e-01 -1.23205607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.390714057 meters 0.03864653928658289 Centerline is valid? [True, True] Translation: X:174.85, Y:-23.12, Z:-12.32 [[ 9.96612673e-01 5.88325906e-02 5.74622111e-02 1.74846502e+02] [-5.84661261e-02 9.98257021e-01 -8.03944618e-03 -2.31177330e+01] [-5.78350371e-02 4.65262107e-03 9.98315312e-01 -1.23222470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.420714057 meters 0.03803299693172002 Centerline is valid? [True, True] Translation: X:174.88, Y:-23.12, Z:-12.32 [[ 9.96292616e-01 6.29490774e-02 5.86381923e-02 1.74876888e+02] [-6.25745144e-02 9.98006576e-01 -8.20397965e-03 -2.31194705e+01] [-5.90377345e-02 4.50430793e-03 9.98245590e-01 -1.23244644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.450714057 meters 0.03782077328580007 Centerline is valid? [True, True] Translation: X:174.91, Y:-23.12, Z:-12.33 [[ 9.96135424e-01 6.46656933e-02 5.94353805e-02 1.74908567e+02] [-6.42839262e-02 9.97897007e-01 -8.31500782e-03 -2.31233531e+01] [-5.98480841e-02 4.46213422e-03 9.98197524e-01 -1.23263786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.48071405699997 meters 0.03703647212500217 Centerline is valid? [True, True] Translation: X:174.94, Y:-23.13, Z:-12.33 [[ 9.95922105e-01 6.70217421e-02 6.03924432e-02 1.74939536e+02] [-6.66316403e-02 9.97741839e-01 -8.45259391e-03 -2.31262777e+01] [-6.08225749e-02 4.39407756e-03 9.98138921e-01 -1.23287344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.51071405699997 meters 0.03722516882505712 Centerline is valid? [True, True] Translation: X:174.97, Y:-23.13, Z:-12.33 [[ 9.95876055e-01 6.81337790e-02 5.99055214e-02 1.74970584e+02] [-6.77518945e-02 9.97666962e-01 -8.38538620e-03 -2.31310063e+01] [-6.03370875e-02 4.29209277e-03 9.98168830e-01 -1.23314176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.54071405699997 meters 0.03842456624735724 Centerline is valid? [True, True] Translation: X:175.00, Y:-23.14, Z:-12.34 [[ 9.95866997e-01 6.90927300e-02 5.89501335e-02 1.74999789e+02] [-6.87244816e-02 9.97601533e-01 -8.25392915e-03 -2.31371078e+01] [-5.93790300e-02 4.16849828e-03 9.98226805e-01 -1.23355232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.57071405699998 meters 0.03670796458392071 Centerline is valid? [True, True] Translation: X:175.03, Y:-23.14, Z:-12.34 [[ 9.95906311e-01 6.93232249e-02 5.80078513e-02 1.75030176e+02] [-6.89669895e-02 9.97585870e-01 -8.12320358e-03 -2.31387523e+01] [-5.84309394e-02 4.08932284e-03 9.98283077e-01 -1.23379274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.60071405699998 meters 0.036771542844186954 Centerline is valid? [True, True] Translation: X:175.06, Y:-23.14, Z:-12.34 [[ 9.95994384e-01 6.93717314e-02 5.64158730e-02 1.75060379e+02] [-6.90348842e-02 9.97582964e-01 -7.90026887e-03 -2.31435835e+01] [-5.68275691e-02 3.97396016e-03 9.98376099e-01 -1.23414401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.63071405699998 meters 0.0377270431910032 Centerline is valid? [True, True] Translation: X:175.09, Y:-23.15, Z:-12.34 [[ 9.96012729e-01 6.97193829e-02 5.56583449e-02 1.75088937e+02] [-6.93920598e-02 9.97559015e-01 -7.79441158e-03 -2.31495877e+01] [-5.60659053e-02 3.90108595e-03 9.98419449e-01 -1.23445499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.66071405699998 meters 0.03753721065300912 Centerline is valid? [True, True] Translation: X:175.12, Y:-23.15, Z:-12.35 [[ 9.95995682e-01 7.02772513e-02 5.52603702e-02 1.75118084e+02] [-6.99554948e-02 9.97520102e-01 -7.73791496e-03 -2.31533384e+01] [-5.56671295e-02 3.84116335e-03 9.98441994e-01 -1.23466050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.69071405699998 meters 0.036960555980144624 Centerline is valid? [True, True] Translation: X:175.15, Y:-23.16, Z:-12.35 [[ 9.95953499e-01 7.09353387e-02 5.51797568e-02 1.75147612e+02] [-7.06156359e-02 9.97473690e-01 -7.72465240e-03 -2.31562484e+01] [-5.55883064e-02 3.79684098e-03 9.98446555e-01 -1.23486038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.72071405699998 meters 0.037253554236141115 Centerline is valid? [True, True] Translation: X:175.18, Y:-23.16, Z:-12.35 [[ 9.95728837e-01 7.34980795e-02 5.58759016e-02 1.75176596e+02] [-7.31743767e-02 9.97288503e-01 -7.82005576e-03 -2.31598565e+01] [-5.62991533e-02 3.69797075e-03 9.98407097e-01 -1.23503469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.75071405699998 meters 0.03624833533569282 Centerline is valid? [True, True] Translation: X:175.21, Y:-23.16, Z:-12.35 [[ 9.95554384e-01 7.50365250e-02 5.69296876e-02 1.75206897e+02] [-7.47031143e-02 9.97174007e-01 -7.96525329e-03 -2.31621032e+01] [-5.73664896e-02 3.67701787e-03 9.98346416e-01 -1.23515153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.78071405699998 meters 0.03590355320074642 Centerline is valid? [True, True] Translation: X:175.24, Y:-23.16, Z:-12.35 [[ 9.95226493e-01 7.80930789e-02 5.85294630e-02 1.75236183e+02] [-7.77459526e-02 9.96939577e-01 -8.18817291e-03 -2.31644298e+01] [-5.89897777e-02 3.59865776e-03 9.98252100e-01 -1.23521478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.81071405699998 meters 0.03178922841175632 Centerline is valid? [True, True] Translation: X:175.27, Y:-23.16, Z:-12.35 [[ 9.95031852e-01 7.98795460e-02 5.94211405e-02 1.75267084e+02] [-7.95250548e-02 9.96798224e-01 -8.31062898e-03 -2.31620477e+01] [-5.98947365e-02 3.54387110e-03 9.98198408e-01 -1.23526747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.84071405699999 meters 0.031019940651706268 Centerline is valid? [True, True] Translation: X:175.30, Y:-23.16, Z:-12.35 [[ 9.94751763e-01 8.27176921e-02 6.02222017e-02 1.75296577e+02] [-8.23588020e-02 9.96567159e-01 -8.42167888e-03 -2.31641686e+01] [-6.07120903e-02 3.41765153e-03 9.98149469e-01 -1.23538131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.870714057 meters 0.030211725800082582 Centerline is valid? [True, True] Translation: X:175.33, Y:-23.17, Z:-12.36 [[ 9.94642408e-01 8.39312256e-02 6.03492226e-02 1.75325563e+02] [-8.35731607e-02 9.96465923e-01 -8.43749571e-03 -2.31663277e+01] [-6.08441131e-02 3.34871577e-03 9.98141663e-01 -1.23554801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.900714057 meters 0.031062361462226056 Centerline is valid? [True, True] Translation: X:175.35, Y:-23.17, Z:-12.36 [[ 9.94551770e-01 8.50375189e-02 6.02942522e-02 1.75353360e+02] [-8.46824054e-02 9.96372372e-01 -8.42531844e-03 -2.31709414e+01] [-6.07919953e-02 3.27355306e-03 9.98145088e-01 -1.23575702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.930714057 meters 0.03152083382512552 Centerline is valid? [True, True] Translation: X:175.38, Y:-23.17, Z:-12.36 [[ 9.94489627e-01 8.59321202e-02 6.00504176e-02 1.75381108e+02] [-8.55817608e-02 9.96295850e-01 -8.38697395e-03 -2.31748006e+01] [-6.05486923e-02 3.20153812e-03 9.98160110e-01 -1.23604568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.960714057 meters 0.03152083382512552 Centerline is valid? [True, True] Translation: X:175.41, Y:-23.18, Z:-12.36 [[ 9.94495650e-01 8.58618579e-02 6.00511805e-02 1.75409123e+02] [-8.55117001e-02 9.96301912e-01 -8.38150796e-03 -2.31786516e+01] [-6.05487578e-02 3.20029466e-03 9.98160110e-01 -1.23624065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.990714057 meters 0.031012248976388084 Centerline is valid? [True, True] Translation: X:175.44, Y:-23.18, Z:-12.36 [[ 9.94469281e-01 8.63904883e-02 5.97288266e-02 1.75437745e+02] [-8.60452918e-02 9.96256383e-01 -8.33225709e-03 -2.31824605e+01] [-6.02250525e-02 3.14678941e-03 9.98179864e-01 -1.23644078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.020714057 meters 0.032716267561530746 Centerline is valid? [True, True] Translation: X:175.46, Y:-23.19, Z:-12.37 [[ 9.94370725e-01 8.74588945e-02 5.98147330e-02 1.75464914e+02] [-8.71148817e-02 9.96163361e-01 -8.34005518e-03 -2.31899876e+01] [-6.03146574e-02 3.08235333e-03 9.98174655e-01 -1.23679787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.050714057 meters 0.03168636526805695 Centerline is valid? [True, True] Translation: X:175.49, Y:-23.19, Z:-12.37 [[ 9.94316536e-01 8.81362113e-02 5.97213099e-02 1.75493402e+02] [-8.77948232e-02 9.96103821e-01 -8.32152363e-03 -2.31918679e+01] [-6.02220525e-02 3.03100671e-03 9.98180403e-01 -1.23700479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.080714057 meters 0.02914866812200589 Centerline is valid? [True, True] Translation: X:175.52, Y:-23.19, Z:-12.37 [[ 9.94205161e-01 8.95556648e-02 5.94632806e-02 1.75522490e+02] [-8.92200039e-02 9.95977514e-01 -8.28141580e-03 -2.31911939e+01] [-5.99657381e-02 2.92811219e-03 9.98196141e-01 -1.23722257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.110714057 meters 0.029117562566956735 Centerline is valid? [True, True] Translation: X:175.55, Y:-23.19, Z:-12.37 [[ 9.94136654e-01 9.03905880e-02 5.93452132e-02 1.75550841e+02] [-9.00580028e-02 9.95902263e-01 -8.26064222e-03 -2.31947293e+01] [-5.98487165e-02 2.86769583e-03 9.98203340e-01 -1.23739823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.140714057 meters 0.029455626420199586 Centerline is valid? [True, True] Translation: X:175.58, Y:-23.20, Z:-12.38 [[ 9.94107423e-01 9.08820096e-02 5.90837716e-02 1.75578078e+02] [-9.05534631e-02 9.95857670e-01 -8.22013450e-03 -2.31987274e+01] [-5.95860895e-02 2.82145659e-03 9.98219183e-01 -1.23762782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.170714057 meters 0.029702897016186898 Centerline is valid? [True, True] Translation: X:175.60, Y:-23.20, Z:-12.38 [[ 9.94117236e-01 9.08484963e-02 5.89700913e-02 1.75604173e+02] [-9.05214528e-02 9.95860752e-01 -8.19933165e-03 -2.32036038e+01] [-5.94708965e-02 2.81303858e-03 9.98226076e-01 -1.23785314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.200714057 meters 0.03003729278781355 Centerline is valid? [True, True] Translation: X:175.63, Y:-23.21, Z:-12.38 [[ 9.94137784e-01 9.04107674e-02 5.92955339e-02 1.75632783e+02] [-9.00797977e-02 9.95900491e-01 -8.23665913e-03 -2.32081954e+01] [-5.97971340e-02 2.84704435e-03 9.98206490e-01 -1.23805104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.23071405699997 meters 0.030341940257250247 Centerline is valid? [True, True] Translation: X:175.66, Y:-23.21, Z:-12.38 [[ 9.94219028e-01 8.96141662e-02 5.91424134e-02 1.75660711e+02] [-8.92837515e-02 9.95972383e-01 -8.21119770e-03 -2.32129062e+01] [-5.96400500e-02 2.88327246e-03 9.98215784e-01 -1.23827528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.26071405699997 meters 0.03202491396596427 Centerline is valid? [True, True] Translation: X:175.69, Y:-23.22, Z:-12.38 [[ 9.94331476e-01 8.80246844e-02 5.96369957e-02 1.75687716e+02] [-8.76861108e-02 9.96113778e-01 -8.27575071e-03 -2.32200875e+01] [-6.01337034e-02 2.99950320e-03 9.98185825e-01 -1.23849352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.29071405699997 meters 0.03296208792636313 Centerline is valid? [True, True] Translation: X:175.72, Y:-23.23, Z:-12.39 [[ 9.94434258e-01 8.67799228e-02 5.97474036e-02 1.75715426e+02] [-8.64381704e-02 9.96222760e-01 -8.28582237e-03 -2.32254746e+01] [-6.02407664e-02 3.07524936e-03 9.98179139e-01 -1.23867979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.32071405699998 meters 0.03395630644688437 Centerline is valid? [True, True] Translation: X:175.74, Y:-23.23, Z:-12.39 [[ 9.94491075e-01 8.58196822e-02 6.01870822e-02 1.75742629e+02] [-8.54714417e-02 9.96305702e-01 -8.34153730e-03 -2.32321333e+01] [-6.06806013e-02 3.15130770e-03 9.98152260e-01 -1.23886729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.35071405699998 meters 0.029863456976737514 Centerline is valid? [True, True] Translation: X:175.77, Y:-23.23, Z:-12.39 [[ 9.94484759e-01 8.55320851e-02 6.06986523e-02 1.75771628e+02] [-8.51776878e-02 9.96330308e-01 -8.40704570e-03 -2.32300896e+01] [-6.11949791e-02 3.19050796e-03 9.98120732e-01 -1.23891968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.38071405699998 meters 0.030230346427046015 Centerline is valid? [True, True] Translation: X:175.80, Y:-23.23, Z:-12.39 [[ 9.94486596e-01 8.51715802e-02 6.11736307e-02 1.75799841e+02] [-8.48112055e-02 9.96361052e-01 -8.46832745e-03 -2.32346980e+01] [-6.16722839e-02 3.23342877e-03 9.98091215e-01 -1.23902286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.41071405699998 meters 0.029398039427890665 Centerline is valid? [True, True] Translation: X:175.83, Y:-23.24, Z:-12.39 [[ 9.94531453e-01 8.48933292e-02 6.08301826e-02 1.75828718e+02] [-8.45367460e-02 9.96384817e-01 -8.41640501e-03 -2.32372366e+01] [-6.13247669e-02 3.22799381e-03 9.98112645e-01 -1.23921238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.44071405699998 meters 0.031434928500038345 Centerline is valid? [True, True] Translation: X:175.86, Y:-23.25, Z:-12.40 [[ 9.94723548e-01 8.32322037e-02 5.99788634e-02 1.75856195e+02] [-8.28828031e-02 9.96524785e-01 -8.29422082e-03 -2.32453528e+01] [-6.04607702e-02 3.27924044e-03 9.98165188e-01 -1.23955971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.47071405699998 meters 0.031160148319677883 Centerline is valid? [True, True] Translation: X:175.88, Y:-23.25, Z:-12.40 [[ 9.94852360e-01 8.19413543e-02 5.96187583e-02 1.75884822e+02] [-8.15940720e-02 9.96631578e-01 -8.24046178e-03 -2.32494439e+01] [-6.00931718e-02 3.33350559e-03 9.98187206e-01 -1.23980900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.50071405699998 meters 0.03155623579372332 Centerline is valid? [True, True] Translation: X:175.91, Y:-23.26, Z:-12.40 [[ 9.95075272e-01 7.95789578e-02 5.90964689e-02 1.75913732e+02] [-7.92338649e-02 9.96822626e-01 -8.16370295e-03 -2.32555527e+01] [-5.95583563e-02 3.44105730e-03 9.98218894e-01 -1.24009843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.53071405699998 meters 0.03703097007069043 Centerline is valid? [True, True] Translation: X:175.94, Y:-23.27, Z:-12.40 [[ 9.95145616e-01 7.86581250e-02 5.91447530e-02 1.75940640e+02] [-7.83109673e-02 9.96895516e-01 -8.16837227e-03 -2.32678947e+01] [-5.96036479e-02 3.49703704e-03 9.98215997e-01 -1.24039440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.56071405699998 meters 0.03622250432113097 Centerline is valid? [True, True] Translation: X:175.97, Y:-23.27, Z:-12.41 [[ 9.95244568e-01 7.75092479e-02 5.89963220e-02 1.75970365e+02] [-7.71620237e-02 9.96985300e-01 -8.14450398e-03 -2.32696833e+01] [-5.94497402e-02 3.55349776e-03 9.98224975e-01 -1.24053733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.59071405699999 meters 0.03464463735934969 Centerline is valid? [True, True] Translation: X:176.00, Y:-23.27, Z:-12.41 [[ 9.95279166e-01 7.71849290e-02 5.88376389e-02 1.75999693e+02] [-7.68391096e-02 9.97010432e-01 -8.12089799e-03 -2.32707716e+01] [-5.92885507e-02 3.56152880e-03 9.98234533e-01 -1.24069529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.620714057 meters 0.03521281957726341 Centerline is valid? [True, True] Translation: X:176.03, Y:-23.27, Z:-12.41 [[ 9.95397524e-01 7.64447109e-02 5.77925184e-02 1.76028773e+02] [-7.61100970e-02 9.97067548e-01 -7.97228371e-03 -2.32741778e+01] [-5.82324836e-02 3.53699728e-03 9.98296783e-01 -1.24100233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.650714057 meters 0.035184549831805786 Centerline is valid? [True, True] Translation: X:176.06, Y:-23.28, Z:-12.41 [[ 9.95454004e-01 7.58959161e-02 5.75424623e-02 1.76057171e+02] [-7.55633784e-02 9.97109419e-01 -7.93614270e-03 -2.32774930e+01] [-5.79784520e-02 3.55196218e-03 9.98311516e-01 -1.24118778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.680714057 meters 0.037151013380342345 Centerline is valid? [True, True] Translation: X:176.09, Y:-23.28, Z:-12.41 [[ 9.95586360e-01 7.41366785e-02 5.75460940e-02 1.76085089e+02] [-7.38014212e-02 9.97241409e-01 -7.93237817e-03 -2.32825807e+01] [-5.79754281e-02 3.65038398e-03 9.98311336e-01 -1.24142112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.710714057 meters 0.03812127596422454 Centerline is valid? [True, True] Translation: X:176.11, Y:-23.29, Z:-12.42 [[ 9.95700810e-01 7.24013783e-02 5.77748793e-02 1.76114001e+02] [-7.20607175e-02 9.97368476e-01 -7.96085732e-03 -2.32861243e+01] [-5.81992204e-02 3.76333283e-03 9.98297895e-01 -1.24158635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.740714057 meters 0.0363731730268305 Centerline is valid? [True, True] Translation: X:176.14, Y:-23.29, Z:-12.42 [[ 9.95760542e-01 7.15458326e-02 5.78112181e-02 1.76143634e+02] [-7.12034935e-02 9.97430027e-01 -7.96268292e-03 -2.32865297e+01] [-5.82323416e-02 3.81256476e-03 9.98295777e-01 -1.24173415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.770714057 meters 0.041034038509184585 Centerline is valid? [True, True] Translation: X:176.17, Y:-23.30, Z:-12.42 [[ 9.95834907e-01 7.03007273e-02 5.80572590e-02 1.76171363e+02] [-6.99534706e-02 9.97518219e-01 -7.99466636e-03 -2.32959378e+01] [-5.84752045e-02 3.90006108e-03 9.98281243e-01 -1.24196761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.800714057 meters 0.038225208933712465 Centerline is valid? [True, True] Translation: X:176.20, Y:-23.29, Z:-12.42 [[ 9.96026373e-01 6.70726648e-02 5.85894386e-02 1.76201666e+02] [-6.67136549e-02 9.97739572e-01 -8.06445902e-03 -2.32941891e+01] [-5.89979061e-02 4.12369828e-03 9.98249589e-01 -1.24201626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.830714057 meters 0.0410543486126158 Centerline is valid? [True, True] Translation: X:176.23, Y:-23.30, Z:-12.42 [[ 9.96143006e-01 6.54772935e-02 5.84109176e-02 1.76231066e+02] [-6.51178200e-02 9.97845204e-01 -8.03860515e-03 -2.33011840e+01] [-5.88114001e-02 4.20400868e-03 9.98260259e-01 -1.24228238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.860714057 meters 0.043068730499524754 Centerline is valid? [True, True] Translation: X:176.26, Y:-23.31, Z:-12.43 [[ 9.96358936e-01 6.25161294e-02 5.79707230e-02 1.76261380e+02] [-6.21570150e-02 9.98034488e-01 -7.97912863e-03 -2.33062443e+01] [-5.83556051e-02 4.34678902e-03 9.98286396e-01 -1.24254004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.890714057 meters 0.03949587227276739 Centerline is valid? [True, True] Translation: X:176.29, Y:-23.30, Z:-12.43 [[ 9.96472447e-01 6.12239444e-02 5.73959084e-02 1.76293041e+02] [-6.08697846e-02 9.98114450e-01 -7.90022116e-03 -2.33043628e+01] [-5.77713682e-02 4.37867614e-03 9.98320237e-01 -1.24271332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.920714057 meters 0.04611586227147623 Centerline is valid? [True, True] Translation: X:176.32, Y:-23.32, Z:-12.43 [[ 9.96700505e-01 5.85688577e-02 5.61942284e-02 1.76321617e+02] [-5.82250638e-02 9.98273498e-01 -7.73723513e-03 -2.33164085e+01] [-5.65503700e-02 4.43979364e-03 9.98389876e-01 -1.24319277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.950714057 meters 0.04581456908049018 Centerline is valid? [True, True] Translation: X:176.35, Y:-23.32, Z:-12.44 [[ 9.96903999e-01 5.61646466e-02 5.50268096e-02 1.76351970e+02] [-5.58313843e-02 9.98411467e-01 -7.57625189e-03 -2.33185963e+01] [-5.53649152e-02 4.48057286e-03 9.98456134e-01 -1.24350828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.98071405699997 meters 0.04002288332445268 Centerline is valid? [True, True] Translation: X:176.39, Y:-23.31, Z:-12.44 [[ 9.96974692e-01 5.51679151e-02 5.47536742e-02 1.76385016e+02] [-5.48364546e-02 9.98466889e-01 -7.53884040e-03 -2.33142864e+01] [-5.50856329e-02 4.51353572e-03 9.98471432e-01 -1.24359927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.01071405699997 meters 0.04240236776832604 Centerline is valid? [True, True] Translation: X:176.42, Y:-23.32, Z:-12.44 [[ 9.96993676e-01 5.46334340e-02 5.49435915e-02 1.76415780e+02] [-5.42986799e-02 9.98496056e-01 -7.56827061e-03 -2.33216562e+01] [-5.52744400e-02 4.56215344e-03 9.98460777e-01 -1.24388892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.04071405699997 meters 0.04367190105539934 Centerline is valid? [True, True] Translation: X:176.45, Y:-23.33, Z:-12.44 [[ 9.96995869e-01 5.44603725e-02 5.50754479e-02 1.76446300e+02] [-5.41233983e-02 9.98505387e-01 -7.59269085e-03 -2.33257977e+01] [-5.54066322e-02 4.58901101e-03 9.98453327e-01 -1.24413137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.07071405699998 meters 0.042488104488624945 Centerline is valid? [True, True] Translation: X:176.48, Y:-23.33, Z:-12.44 [[ 9.96926770e-01 5.55505705e-02 5.52372112e-02 1.76478799e+02] [-5.52125596e-02 9.98445487e-01 -7.62778785e-03 -2.33275032e+01] [-5.55750722e-02 4.55455809e-03 9.98444123e-01 -1.24431243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.10071405699998 meters 0.042180408553558736 Centerline is valid? [True, True] Translation: X:176.51, Y:-23.33, Z:-12.45 [[ 9.96768530e-01 5.85367972e-02 5.50085529e-02 1.76509846e+02] [-5.82051552e-02 9.98275613e-01 -7.61318075e-03 -2.33282105e+01] [-5.53593481e-02 4.38679762e-03 9.98456859e-01 -1.24454627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.13071405699998 meters 0.0413697974701621 Centerline is valid? [True, True] Translation: X:176.54, Y:-23.33, Z:-12.45 [[ 9.96642958e-01 6.05495615e-02 5.51050355e-02 1.76540600e+02] [-6.02197608e-02 9.98156001e-01 -7.62739179e-03 -2.33300635e+01] [-5.54652571e-02 4.28337426e-03 9.98451430e-01 -1.24475528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.16071405699998 meters 0.036843607943442866 Centerline is valid? [True, True] Translation: X:176.57, Y:-23.32, Z:-12.45 [[ 9.96341509e-01 6.49554928e-02 5.55372101e-02 1.76572414e+02] [-6.46271912e-02 9.97879855e-01 -7.68898013e-03 -2.33246073e+01] [-5.59189047e-02 4.07163616e-03 9.98427012e-01 -1.24483013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.19071405699998 meters 0.03965874780980272 Centerline is valid? [True, True] Translation: X:176.60, Y:-23.33, Z:-12.45 [[ 9.96157158e-01 6.72526936e-02 5.61069717e-02 1.76601294e+02] [-6.69212236e-02 9.97728023e-01 -7.76803939e-03 -2.33312862e+01] [-5.65019195e-02 3.98344085e-03 9.98394544e-01 -1.24505096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.22071405699998 meters 0.03854736888076529 Centerline is valid? [True, True] Translation: X:176.63, Y:-23.33, Z:-12.45 [[ 9.95779904e-01 7.18841288e-02 5.70530916e-02 1.76631563e+02] [-7.15489984e-02 9.97405818e-01 -7.89779268e-03 -2.33306868e+01] [-5.74728114e-02 3.78237168e-03 9.98339907e-01 -1.24516718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.25071405699998 meters 0.038354705635968184 Centerline is valid? [True, True] Translation: X:176.66, Y:-23.33, Z:-12.45 [[ 9.95580587e-01 7.42773208e-02 5.74645512e-02 1.76659990e+02] [-7.39413005e-02 9.97230869e-01 -7.95471119e-03 -2.33322050e+01] [-5.78962789e-02 3.67055239e-03 9.98315856e-01 -1.24533691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.28071405699998 meters 0.03257059258854287 Centerline is valid? [True, True] Translation: X:176.69, Y:-23.33, Z:-12.45 [[ 9.95224673e-01 7.87289820e-02 5.77026609e-02 1.76692103e+02] [-7.83976703e-02 9.96890174e-01 -7.98668078e-03 -2.33251705e+01] [-5.81519989e-02 3.42478759e-03 9.98301866e-01 -1.24543638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.31071405699998 meters 0.03618972208863598 Centerline is valid? [True, True] Translation: X:176.72, Y:-23.33, Z:-12.46 [[ 9.95053887e-01 8.11727900e-02 5.72602836e-02 1.76720287e+02] [-8.08505636e-02 9.96694723e-01 -7.92563077e-03 -2.33335306e+01] [-5.77143681e-02 3.25690350e-03 9.98327824e-01 -1.24579884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.34071405699999 meters 0.03489715604579968 Centerline is valid? [True, True] Translation: X:176.75, Y:-23.33, Z:-12.46 [[ 9.94723275e-01 8.54394708e-02 5.67952765e-02 1.76749134e+02] [-8.51295044e-02 9.96338898e-01 -7.85925800e-03 -2.33342003e+01] [-5.72588341e-02 2.98283311e-03 9.98354911e-01 -1.24614756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.370714057 meters 0.03049138462031818 Centerline is valid? [True, True] Translation: X:176.78, Y:-23.33, Z:-12.46 [[ 9.94560952e-01 8.73315061e-02 5.67602034e-02 1.76778515e+02] [-8.70251001e-02 9.96175170e-01 -7.85253678e-03 -2.33307225e+01] [-5.72288791e-02 2.87026407e-03 9.98356959e-01 -1.24626021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.400714057 meters 0.028535055901309957 Centerline is valid? [True, True] Translation: X:176.81, Y:-23.33, Z:-12.46 [[ 9.94246275e-01 9.08912480e-02 5.66844461e-02 1.76808496e+02] [-9.05916801e-02 9.95857279e-01 -7.83760779e-03 -2.33299771e+01] [-5.71619882e-02 2.65737315e-03 9.98361380e-01 -1.24643796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.430714057 meters 0.027666123358894904 Centerline is valid? [True, True] Translation: X:176.84, Y:-23.33, Z:-12.47 [[ 9.94062474e-01 9.25097592e-02 5.72864912e-02 1.76837180e+02] [-9.22065638e-02 9.95708409e-01 -7.91914844e-03 -2.33316091e+01] [-5.77732395e-02 2.58993779e-03 9.98326372e-01 -1.24660406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.460714057 meters 0.028304107384912992 Centerline is valid? [True, True] Translation: X:176.86, Y:-23.34, Z:-12.47 [[ 9.93838765e-01 9.45766409e-02 5.77907345e-02 1.76864839e+02] [-9.42717993e-02 9.95514476e-01 -7.98478467e-03 -2.33354437e+01] [-5.82866869e-02 2.48755202e-03 9.98296787e-01 -1.24683309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.490714057 meters 0.026326239947056258 Centerline is valid? [True, True] Translation: X:176.89, Y:-23.34, Z:-12.47 [[ 9.93714986e-01 9.56598435e-02 5.81353626e-02 1.76893722e+02] [-9.53535188e-02 9.95411108e-01 -8.02696085e-03 -2.33353017e+01] [-5.86364435e-02 2.43309991e-03 9.98276438e-01 -1.24697321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.520714057 meters 0.026820339923278834 Centerline is valid? [True, True] Translation: X:176.92, Y:-23.34, Z:-12.47 [[ 9.93768060e-01 9.53643153e-02 5.77121308e-02 1.76920919e+02] [-9.50621796e-02 9.95439475e-01 -7.96446326e-03 -2.33404240e+01] [-5.82084588e-02 2.42858826e-03 9.98301496e-01 -1.24723292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.550714057 meters 0.027202836941625803 Centerline is valid? [True, True] Translation: X:176.95, Y:-23.35, Z:-12.48 [[ 9.93830758e-01 9.49024437e-02 5.73929412e-02 1.76949067e+02] [-9.46031923e-02 9.95483596e-01 -7.91497226e-03 -2.33455526e+01] [-5.78848817e-02 2.43658743e-03 9.98320291e-01 -1.24752686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.580714057 meters 0.03153523684400338 Centerline is valid? [True, True] Translation: X:176.97, Y:-23.36, Z:-12.48 [[ 9.94018917e-01 9.31841482e-02 5.69482844e-02 1.76974440e+02] [-9.28869011e-02 9.95645718e-01 -7.85030365e-03 -2.33584648e+01] [-5.74318393e-02 2.51360067e-03 9.98346265e-01 -1.24803540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.610714057 meters 0.0284246376807819 Centerline is valid? [True, True] Translation: X:177.00, Y:-23.36, Z:-12.48 [[ 9.94137081e-01 9.21974950e-02 5.64897078e-02 1.77003724e+02] [-9.19039224e-02 9.95737497e-01 -7.77851153e-03 -2.33574091e+01] [-5.69660795e-02 2.54128103e-03 9.98372880e-01 -1.24809126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.640714057 meters 0.028270129038748308 Centerline is valid? [True, True] Translation: X:177.03, Y:-23.36, Z:-12.48 [[ 9.94246546e-01 9.09058542e-02 5.66562502e-02 1.77032020e+02] [-9.06086873e-02 9.95856047e-01 -7.79737664e-03 -2.33603779e+01] [-5.71302966e-02 2.61896633e-03 9.98363296e-01 -1.24816909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.670714057 meters 0.0284802174081216 Centerline is valid? [True, True] Translation: X:177.06, Y:-23.36, Z:-12.48 [[ 9.94191518e-01 9.10077464e-02 5.74527299e-02 1.77060639e+02] [-9.07025728e-02 9.95846670e-01 -7.90271826e-03 -2.33646075e+01] [-5.79333184e-02 2.64570505e-03 9.98316949e-01 -1.24827206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.700714057 meters 0.028215480120631704 Centerline is valid? [True, True] Translation: X:177.09, Y:-23.37, Z:-12.48 [[ 9.94015984e-01 9.17887204e-02 5.92203966e-02 1.77088877e+02] [-9.14661023e-02 9.95774909e-01 -8.14140126e-03 -2.33683531e+01] [-5.97174739e-02 2.67602413e-03 9.98211732e-01 -1.24828155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.73071405699997 meters 0.027728352643474438 Centerline is valid? [True, True] Translation: X:177.12, Y:-23.37, Z:-12.48 [[ 9.93912904e-01 9.21756491e-02 6.03389531e-02 1.77117046e+02] [-9.18416938e-02 9.95739106e-01 -8.29072781e-03 -2.33716834e+01] [-6.08460584e-02 2.69862970e-03 9.98143514e-01 -1.24842588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.76071405699997 meters 0.029402229892595524 Centerline is valid? [True, True] Translation: X:177.14, Y:-23.38, Z:-12.49 [[ 9.93817025e-01 9.23723209e-02 6.16041743e-02 1.77143548e+02] [-9.20248336e-02 9.95720770e-01 -8.46033897e-03 -2.33788482e+01] [-6.21220571e-02 2.73891501e-03 9.98064802e-01 -1.24864059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.79071405699997 meters 0.028085380900490058 Centerline is valid? [True, True] Translation: X:177.17, Y:-23.38, Z:-12.49 [[ 9.93807002e-01 9.22554410e-02 6.19401071e-02 1.77171795e+02] [-9.19044261e-02 9.95731567e-01 -8.49841331e-03 -2.33802418e+01] [-6.24597448e-02 2.75321265e-03 9.98043686e-01 -1.24876892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.82071405699998 meters 0.028230596944590437 Centerline is valid? [True, True] Translation: X:177.20, Y:-23.38, Z:-12.49 [[ 9.93904818e-01 9.09570683e-02 6.22898455e-02 1.77199733e+02] [-9.05999619e-02 9.95850753e-01 -8.53953556e-03 -2.33840882e+01] [-6.28081207e-02 2.84402791e-03 9.98021569e-01 -1.24890295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.85071405699998 meters 0.03170792416809656 Centerline is valid? [True, True] Translation: X:177.23, Y:-23.39, Z:-12.49 [[ 9.93974838e-01 8.99683624e-02 6.26076235e-02 1.77226382e+02] [-8.96060039e-02 9.95940356e-01 -8.57738367e-03 -2.33943848e+01] [-6.31251520e-02 2.91568459e-03 9.98001360e-01 -1.24914444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.88071405699998 meters 0.03170792416809656 Centerline is valid? [True, True] Translation: X:177.25, Y:-23.40, Z:-12.49 [[ 9.93983874e-01 8.98679560e-02 6.26083776e-02 1.77253561e+02] [-8.95057451e-02 9.95949419e-01 -8.57187571e-03 -2.33980091e+01] [-6.31251142e-02 2.91649674e-03 9.98001360e-01 -1.24933352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.91071405699998 meters 0.030035317301379878 Centerline is valid? [True, True] Translation: X:177.28, Y:-23.40, Z:-12.50 [[ 9.94245375e-01 8.69681024e-02 6.25514478e-02 1.77283264e+02] [-8.66012646e-02 9.96206302e-01 -8.55719329e-03 -2.34010998e+01] [-6.30583494e-02 3.09091537e-03 9.98005056e-01 -1.24952051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.94071405699998 meters 0.029948395380820697 Centerline is valid? [True, True] Translation: X:177.31, Y:-23.41, Z:-12.50 [[ 9.94628596e-01 8.33172458e-02 6.14181814e-02 1.77313224e+02] [-8.29567372e-02 9.96517739e-01 -8.40093914e-03 -2.34071274e+01] [-6.19042504e-02 3.26076237e-03 9.98076766e-01 -1.24977120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.97071405699998 meters 0.0357201942798575 Centerline is valid? [True, True] Translation: X:177.34, Y:-23.42, Z:-12.50 [[ 9.94840860e-01 8.13589754e-02 6.06001680e-02 1.77339698e+02] [-8.10043665e-02 9.96679274e-01 -8.28959542e-03 -2.34210501e+01] [-6.10733644e-02 3.33795002e-03 9.98127698e-01 -1.25010856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.00071405699998 meters 0.0359282152203265 Centerline is valid? [True, True] Translation: X:177.37, Y:-23.43, Z:-12.50 [[ 9.95184183e-01 7.81378227e-02 5.91854957e-02 1.77368635e+02] [-7.77942062e-02 9.96936603e-01 -8.09137426e-03 -2.34277054e+01] [-5.96364294e-02 3.44811902e-03 9.98214209e-01 -1.25041835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.03071405699998 meters 0.0372206379673867 Centerline is valid? [True, True] Translation: X:177.40, Y:-23.43, Z:-12.51 [[ 9.95379847e-01 7.65255753e-02 5.79896316e-02 1.77396699e+02] [-7.61930357e-02 9.97061573e-01 -7.92724985e-03 -2.34345650e+01] [-5.84258706e-02 3.47221867e-03 9.98285711e-01 -1.25071789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.06071405699998 meters 0.03927725307431446 Centerline is valid? [True, True] Translation: X:177.42, Y:-23.44, Z:-12.51 [[ 9.95642436e-01 7.41622118e-02 5.65341140e-02 1.77424463e+02] [-7.38425774e-02 9.97239991e-01 -7.72488835e-03 -2.34439523e+01] [-5.69509742e-02 3.51660196e-03 9.98370783e-01 -1.25111927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.09071405699999 meters 0.03996598421953362 Centerline is valid? [True, True] Translation: X:177.45, Y:-23.45, Z:-12.51 [[ 9.95746793e-01 7.33440422e-02 5.57581859e-02 1.77452070e+02] [-7.30318087e-02 9.97300504e-01 -7.61970575e-03 -2.34495798e+01] [-5.61665270e-02 3.51517640e-03 9.98415227e-01 -1.25135764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.120714057 meters 0.03310564846751726 Centerline is valid? [True, True] Translation: X:177.48, Y:-23.44, Z:-12.51 [[ 9.95860292e-01 7.27634955e-02 5.44770812e-02 1.77481668e+02] [-7.24648510e-02 9.97343216e-01 -7.44002686e-03 -2.34435588e+01] [-5.48737098e-02 3.46155375e-03 9.98487303e-01 -1.25135403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.150714057 meters 0.033802867596984795 Centerline is valid? [True, True] Translation: X:177.51, Y:-23.45, Z:-12.52 [[ 9.95821628e-01 7.33568680e-02 5.43879997e-02 1.77508757e+02] [-7.30602873e-02 9.97299893e-01 -7.42410726e-03 -2.34477506e+01] [-5.47857555e-02 3.41948369e-03 9.98492277e-01 -1.25151999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.180714057 meters 0.03293362097093026 Centerline is valid? [True, True] Translation: X:177.54, Y:-23.45, Z:-12.52 [[ 9.95809119e-01 7.32053126e-02 5.48195234e-02 1.77537692e+02] [-7.29040650e-02 9.97310925e-01 -7.47772263e-03 -2.34495737e+01] [-5.52195186e-02 3.44981829e-03 9.98468279e-01 -1.25164946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.210714057 meters 0.033727617428778944 Centerline is valid? [True, True] Translation: X:177.56, Y:-23.45, Z:-12.52 [[ 9.95680970e-01 7.36535840e-02 5.65203929e-02 1.77564971e+02] [-7.33342823e-02 9.97277648e-01 -7.70560203e-03 -2.34547425e+01] [-5.69340697e-02 3.52743886e-03 9.98371709e-01 -1.25178391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.240714057 meters 0.034103860817907554 Centerline is valid? [True, True] Translation: X:177.59, Y:-23.46, Z:-12.52 [[ 9.95598672e-01 7.37617623e-02 5.78142371e-02 1.77593456e+02] [-7.34281648e-02 9.97269406e-01 -7.87635499e-03 -2.34595223e+01] [-5.82373437e-02 3.59649524e-03 9.98296287e-01 -1.25191371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.270714057 meters 0.03283056021144768 Centerline is valid? [True, True] Translation: X:177.62, Y:-23.46, Z:-12.52 [[ 9.95602447e-01 7.33990821e-02 5.82094633e-02 1.77622542e+02] [-7.30605328e-02 9.97296013e-01 -7.92597355e-03 -2.34611306e+01] [-5.86338249e-02 3.63830426e-03 9.98272927e-01 -1.25201408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.300714057 meters 0.03361387996911029 Centerline is valid? [True, True] Translation: X:177.65, Y:-23.47, Z:-12.52 [[ 9.95658185e-01 7.20074678e-02 5.89890060e-02 1.77652199e+02] [-7.16576291e-02 9.97396985e-01 -8.02736553e-03 -2.34655904e+01] [-5.94134870e-02 3.76549988e-03 9.98226356e-01 -1.25210885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.330714057 meters 0.03951247815700737 Centerline is valid? [True, True] Translation: X:177.68, Y:-23.48, Z:-12.52 [[ 9.95958658e-01 6.81709286e-02 5.84728669e-02 1.77679876e+02] [-6.78207454e-02 9.97665809e-01 -7.95490483e-03 -2.34775575e+01] [-5.88786733e-02 3.95708292e-03 9.98257303e-01 -1.25230561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.360714057 meters 0.03674566534503854 Centerline is valid? [True, True] Translation: X:177.71, Y:-23.48, Z:-12.52 [[ 9.96118180e-01 6.60545329e-02 5.81839405e-02 1.77710150e+02] [-6.57043146e-02 9.97807754e-01 -7.91391568e-03 -2.34778046e+01] [-5.85791369e-02 4.06025935e-03 9.98274511e-01 -1.25245405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.390714057 meters 0.040037941771358075 Centerline is valid? [True, True] Translation: X:177.74, Y:-23.49, Z:-12.53 [[ 9.96432417e-01 6.19090059e-02 5.73560209e-02 1.77738739e+02] [-6.15618917e-02 9.98072783e-01 -7.80091182e-03 -2.34881863e+01] [-5.77284301e-02 4.24213628e-03 9.98323311e-01 -1.25275591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.420714057 meters 0.041291826214253646 Centerline is valid? [True, True] Translation: X:177.77, Y:-23.49, Z:-12.53 [[ 9.96589275e-01 5.99758429e-02 5.66808216e-02 1.77769578e+02] [-5.96338390e-02 9.98190562e-01 -7.70765030e-03 -2.34947168e+01] [-5.70405340e-02 4.30126663e-03 9.98362598e-01 -1.25308238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.450714057 meters 0.044706160159435154 Centerline is valid? [True, True] Translation: X:177.80, Y:-23.50, Z:-12.53 [[ 9.96742293e-01 5.75882512e-02 5.64658790e-02 1.77798177e+02] [-5.72449086e-02 9.98330621e-01 -7.68062343e-03 -2.35032625e+01] [-5.68139297e-02 4.42321812e-03 9.98374986e-01 -1.25331055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.48071405699997 meters 0.04471049455616198 Centerline is valid? [True, True] Translation: X:177.83, Y:-23.51, Z:-12.53 [[ 9.96779755e-01 5.73858579e-02 5.60087713e-02 1.77829959e+02] [-5.70478434e-02 9.98342391e-01 -7.61664968e-03 -2.35072869e+01] [-5.63530186e-02 4.39694259e-03 9.98401224e-01 -1.25346278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.51071405699997 meters 0.04489810924390315 Centerline is valid? [True, True] Translation: X:177.86, Y:-23.51, Z:-12.54 [[ 9.96716429e-01 5.85820832e-02 5.58972260e-02 1.77860763e+02] [-5.82464914e-02 9.98273184e-01 -7.61554368e-03 -2.35109133e+01] [-5.62468362e-02 4.33472021e-03 9.98407484e-01 -1.25365988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.54071405699997 meters 0.04367137225381964 Centerline is valid? [True, True] Translation: X:177.89, Y:-23.51, Z:-12.54 [[ 9.96681568e-01 5.94349481e-02 5.56177994e-02 1.77892236e+02] [-5.91031872e-02 9.98223005e-01 -7.59244641e-03 -2.35131615e+01] [-5.59702235e-02 4.28006218e-03 9.98423265e-01 -1.25390091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.57071405699998 meters 0.0444114281051672 Centerline is valid? [True, True] Translation: X:177.92, Y:-23.52, Z:-12.54 [[ 9.96588147e-01 6.22087550e-02 5.42414674e-02 1.77921433e+02] [-6.18971855e-02 9.98055047e-01 -7.40688857e-03 -2.35169968e+01] [-5.45967436e-02 4.02422318e-03 9.98500376e-01 -1.25422637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.60071405699998 meters 0.04410760546149781 Centerline is valid? [True, True] Translation: X:177.95, Y:-23.52, Z:-12.54 [[ 9.96537976e-01 6.36153897e-02 5.35270518e-02 1.77951608e+02] [-6.33140001e-02 9.97966889e-01 -7.30933227e-03 -2.35191254e+01] [-5.38832113e-02 3.89501542e-03 9.98539648e-01 -1.25444345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.63071405699998 meters 0.04387966013037724 Centerline is valid? [True, True] Translation: X:177.98, Y:-23.52, Z:-12.55 [[ 9.96351243e-01 6.65088756e-02 5.34861684e-02 1.77980467e+02] [-6.62120570e-02 9.97778838e-01 -7.30438084e-03 -2.35205007e+01] [-5.38531731e-02 3.73629970e-03 9.98541875e-01 -1.25457887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.66071405699998 meters 0.04379506202757025 Centerline is valid? [True, True] Translation: X:178.01, Y:-23.52, Z:-12.55 [[ 9.96270108e-01 6.76227868e-02 5.36006572e-02 1.78010563e+02] [-6.73264442e-02 9.97704168e-01 -7.31730568e-03 -2.35231846e+01] [-5.39724157e-02 3.68127127e-03 9.98535641e-01 -1.25474371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.69071405699998 meters 0.04413741841913783 Centerline is valid? [True, True] Translation: X:178.04, Y:-23.53, Z:-12.55 [[ 9.96099945e-01 6.89681873e-02 5.50298980e-02 1.78039666e+02] [-6.86578927e-02 9.97611983e-01 -7.51168035e-03 -2.35266987e+01] [-5.54165526e-02 3.70414755e-03 9.98456451e-01 -1.25484099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.72071405699998 meters 0.04351696658504062 Centerline is valid? [True, True] Translation: X:178.07, Y:-23.53, Z:-12.55 [[ 9.96029355e-01 6.94766939e-02 5.56642843e-02 1.78068455e+02] [-6.91600667e-02 9.97576651e-01 -7.59680966e-03 -2.35296446e+01] [-5.60571915e-02 3.71689982e-03 9.98420641e-01 -1.25498556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.75071405699998 meters 0.03389713099102664 Centerline is valid? [True, True] Translation: X:178.10, Y:-23.52, Z:-12.55 [[ 9.95973781e-01 7.00846330e-02 5.58960778e-02 1.78099219e+02] [-6.97665176e-02 9.97534208e-01 -7.62480100e-03 -2.35192732e+01] [-5.62926310e-02 3.69442719e-03 9.98407477e-01 -1.25490156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.78071405699998 meters 0.03575844172197888 Centerline is valid? [True, True] Translation: X:178.13, Y:-23.53, Z:-12.55 [[ 9.95984509e-01 6.97445809e-02 5.61297802e-02 1.78126627e+02] [-6.94234780e-02 9.97557926e-01 -7.65281420e-03 -2.35253999e+01] [-5.65264494e-02 3.72535983e-03 9.98394152e-01 -1.25517102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.81071405699998 meters 0.03507844176977644 Centerline is valid? [True, True] Translation: X:178.16, Y:-23.53, Z:-12.55 [[ 9.96056149e-01 6.94154653e-02 5.52597563e-02 1.78155405e+02] [-6.91040734e-02 9.97581050e-01 -7.52836345e-03 -2.35280647e+01] [-5.56486705e-02 3.67999845e-03 9.98443630e-01 -1.25539098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.84071405699999 meters 0.03473667460057673 Centerline is valid? [True, True] Translation: X:178.18, Y:-23.53, Z:-12.56 [[ 9.96104419e-01 6.90483681e-02 5.48480592e-02 1.78184402e+02] [-6.87412699e-02 9.97606567e-01 -7.46831654e-03 -2.35309781e+01] [-5.52324591e-02 3.66889786e-03 9.98466782e-01 -1.25560766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.870714057 meters 0.03498545687922243 Centerline is valid? [True, True] Translation: X:178.21, Y:-23.54, Z:-12.56 [[ 9.96184677e-01 6.85785004e-02 5.39729473e-02 1.78212730e+02] [-6.82806616e-02 9.97639112e-01 -7.34526324e-03 -2.35355787e+01] [-5.43492504e-02 3.63193013e-03 9.98515382e-01 -1.25589187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.900714057 meters 0.036234728846366505 Centerline is valid? [True, True] Translation: X:178.24, Y:-23.54, Z:-12.56 [[ 9.96245300e-01 6.79755888e-02 5.36154963e-02 1.78239613e+02] [-6.76810160e-02 9.97680356e-01 -7.29295850e-03 -2.35408247e+01] [-5.39868706e-02 3.63682437e-03 9.98535023e-01 -1.25612922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.930714057 meters 0.037379702328041976 Centerline is valid? [True, True] Translation: X:178.27, Y:-23.55, Z:-12.56 [[ 9.96292320e-01 6.70544462e-02 5.39009750e-02 1.78267178e+02] [-6.67557151e-02 9.97742456e-01 -7.32568444e-03 -2.35463726e+01] [-5.42705109e-02 3.70032502e-03 9.98519414e-01 -1.25634683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.960714057 meters 0.041296377641320096 Centerline is valid? [True, True] Translation: X:178.29, Y:-23.56, Z:-12.57 [[ 9.96273941e-01 6.69857905e-02 5.43243827e-02 1.78294269e+02] [-6.66822556e-02 9.97746946e-01 -7.38295349e-03 -2.35559702e+01] [-5.46965399e-02 3.73297180e-03 9.98496046e-01 -1.25661202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.990714057 meters 0.03840132951487743 Centerline is valid? [True, True] Translation: X:178.32, Y:-23.56, Z:-12.57 [[ 9.96234512e-01 6.72942231e-02 5.46652118e-02 1.78323387e+02] [-6.69874095e-02 9.97726173e-01 -7.42773176e-03 -2.35558092e+01] [-5.50407560e-02 3.73788180e-03 9.98477112e-01 -1.25663950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.020714057 meters 0.034521917796562294 Centerline is valid? [True, True] Translation: X:178.35, Y:-23.55, Z:-12.57 [[ 9.96213824e-01 6.76707306e-02 5.45773748e-02 1.78352910e+02] [-6.73656758e-02 9.97700821e-01 -7.41197167e-03 -2.35539731e+01] [-5.49534652e-02 3.70726690e-03 9.98482034e-01 -1.25673379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.050714057 meters 0.03391310858892394 Centerline is valid? [True, True] Translation: X:178.38, Y:-23.56, Z:-12.57 [[ 9.96152359e-01 6.88681863e-02 5.42000950e-02 1.78381859e+02] [-6.85693352e-02 9.97619230e-01 -7.35648048e-03 -2.35570589e+01] [-5.45776845e-02 3.61171091e-03 9.98502995e-01 -1.25694067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.080714057 meters 0.03653769166146801 Centerline is valid? [True, True] Translation: X:178.41, Y:-23.56, Z:-12.57 [[ 9.96134246e-01 6.94529522e-02 5.37852348e-02 1.78408929e+02] [-6.91596444e-02 9.97578913e-01 -7.29773350e-03 -2.35646894e+01] [-5.41618651e-02 3.54975454e-03 9.98525859e-01 -1.25722712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.110714057 meters 0.03516670065248137 Centerline is valid? [True, True] Translation: X:178.44, Y:-23.57, Z:-12.57 [[ 9.96094674e-01 7.00772662e-02 5.37082642e-02 1.78437536e+02] [-6.97859831e-02 9.97535407e-01 -7.28208679e-03 -2.35671221e+01] [-5.40862039e-02 3.50556385e-03 9.98530117e-01 -1.25743577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.140714057 meters 0.032948834840451656 Centerline is valid? [True, True] Translation: X:178.47, Y:-23.57, Z:-12.58 [[ 9.95952699e-01 7.14923064e-02 5.44708288e-02 1.78466220e+02] [-7.11950078e-02 9.97435103e-01 -7.38148839e-03 -2.35688657e+01] [-5.48588364e-02 3.47356220e-03 9.98488078e-01 -1.25757150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.170714057 meters 0.03344290626032415 Centerline is valid? [True, True] Translation: X:178.49, Y:-23.57, Z:-12.58 [[ 9.95909924e-01 7.23728868e-02 5.40887071e-02 1.78493614e+02] [-7.20812452e-02 9.97371858e-01 -7.32598564e-03 -2.35734361e+01] [-5.44767571e-02 3.39724044e-03 9.98509260e-01 -1.25779143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.200714057 meters 0.03356315138264741 Centerline is valid? [True, True] Translation: X:178.52, Y:-23.58, Z:-12.58 [[ 9.95842072e-01 7.31856236e-02 5.42441928e-02 1.78520959e+02] [-7.28937759e-02 9.97312685e-01 -7.34202106e-03 -2.35775661e+01] [-5.46357520e-02 3.35742943e-03 9.98500707e-01 -1.25800177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.23071405699997 meters 0.03193997789008522 Centerline is valid? [True, True] Translation: X:178.55, Y:-23.58, Z:-12.58 [[ 9.95779904e-01 7.39872417e-02 5.42979769e-02 1.78549513e+02] [-7.36962847e-02 9.97253690e-01 -7.34411226e-03 -2.35789040e+01] [-5.46922284e-02 3.31156023e-03 9.98497769e-01 -1.25807789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.26071405699997 meters 0.03954418161375808 Centerline is valid? [True, True] Translation: X:178.58, Y:-23.59, Z:-12.59 [[ 9.95776867e-01 7.35982201e-02 5.48792657e-02 1.78575431e+02] [-7.33006193e-02 9.97282297e-01 -7.41884822e-03 -2.35941940e+01] [-5.52761342e-02 3.36483327e-03 9.98465436e-01 -1.25852385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.29071405699997 meters 0.034307102021138715 Centerline is valid? [True, True] Translation: X:178.60, Y:-23.59, Z:-12.59 [[ 9.95869959e-01 7.23984182e-02 5.47858888e-02 1.78604765e+02] [-7.21003149e-02 9.97369927e-01 -7.40094619e-03 -2.35919673e+01] [-5.51776146e-02 3.42030015e-03 9.98470697e-01 -1.25854807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.32071405699998 meters 0.03576207843313996 Centerline is valid? [True, True] Translation: X:178.63, Y:-23.60, Z:-12.59 [[ 9.96043429e-01 7.06505533e-02 5.39071999e-02 1.78633723e+02] [-7.03596350e-02 9.97495140e-01 -7.27790463e-03 -2.36000593e+01] [-5.42863579e-02 3.45621818e-03 9.98519427e-01 -1.25888217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.35071405699998 meters 0.033847290905149444 Centerline is valid? [True, True] Translation: X:178.66, Y:-23.60, Z:-12.59 [[ 9.96127381e-01 6.96251272e-02 5.36896898e-02 1.78662098e+02] [-6.93351322e-02 9.97567098e-01 -7.24743399e-03 -2.36015662e+01] [-5.40636715e-02 3.49678570e-03 9.98531368e-01 -1.25905794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.38071405699998 meters 0.03565870398465954 Centerline is valid? [True, True] Translation: X:178.69, Y:-23.61, Z:-12.59 [[ 9.96274261e-01 6.79429039e-02 5.31164605e-02 1.78689462e+02] [-6.76570018e-02 9.97682917e-01 -7.16435219e-03 -2.36096696e+01] [-5.34801521e-02 3.54395922e-03 9.98562624e-01 -1.25927744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.41071405699998 meters 0.037292705837332865 Centerline is valid? [True, True] Translation: X:178.72, Y:-23.62, Z:-12.60 [[ 9.96328343e-01 6.71218127e-02 5.31459859e-02 1.78716613e+02] [-6.68344777e-02 9.97738333e-01 -7.16744674e-03 -2.36161879e+01] [-5.35068793e-02 3.58914612e-03 9.98561031e-01 -1.25952775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.44071405699998 meters 0.037976512600500965 Centerline is valid? [True, True] Translation: X:178.75, Y:-23.62, Z:-12.60 [[ 9.96379236e-01 6.60749547e-02 5.35025177e-02 1.78745081e+02] [-6.57825851e-02 9.97807937e-01 -7.20923687e-03 -2.36230473e+01] [-5.38615868e-02 3.66360000e-03 9.98541690e-01 -1.25975565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.47071405699998 meters 0.035854815602332266 Centerline is valid? [True, True] Translation: X:178.77, Y:-23.63, Z:-12.60 [[ 9.96352579e-01 6.60905894e-02 5.39775258e-02 1.78774805e+02] [-6.57931935e-02 9.97806796e-01 -7.27008627e-03 -2.36251844e+01] [-5.43396263e-02 3.69221541e-03 9.98515685e-01 -1.25986071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.50071405699998 meters 0.03744275006864464 Centerline is valid? [True, True] Translation: X:178.80, Y:-23.63, Z:-12.60 [[ 9.96338937e-01 6.59393458e-02 5.44125516e-02 1.78803255e+02] [-6.56370032e-02 9.97816667e-01 -7.32691690e-03 -2.36317185e+01] [-5.47768830e-02 3.72861577e-03 9.98491658e-01 -1.26000912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.53071405699998 meters 0.03866836455245684 Centerline is valid? [True, True] Translation: X:178.83, Y:-23.64, Z:-12.60 [[ 9.96327002e-01 6.63443305e-02 5.41381105e-02 1.78831907e+02] [-6.60458011e-02 9.97789985e-01 -7.28679821e-03 -2.36370508e+01] [-5.45019022e-02 3.68443893e-03 9.98506869e-01 -1.26020788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.56071405699998 meters 0.04012988357461754 Centerline is valid? [True, True] Translation: X:178.86, Y:-23.64, Z:-12.60 [[ 9.96339404e-01 6.70491817e-02 5.30301698e-02 1.78859623e+02] [-6.67638564e-02 9.97743288e-01 -7.13575181e-03 -2.36424933e+01] [-5.33889423e-02 3.56913206e-03 9.98567415e-01 -1.26048139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.59071405699999 meters 0.04103614236595273 Centerline is valid? [True, True] Translation: X:178.89, Y:-23.65, Z:-12.61 [[ 9.96294477e-01 6.78998979e-02 5.27912808e-02 1.78887323e+02] [-6.76183770e-02 9.97685976e-01 -7.10269578e-03 -2.36477774e+01] [-5.31513928e-02 3.50671585e-03 9.98580308e-01 -1.26071006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.620714057 meters 0.04145263162004715 Centerline is valid? [True, True] Translation: X:178.92, Y:-23.65, Z:-12.61 [[ 9.96294117e-01 6.80382687e-02 5.26196327e-02 1.78915619e+02] [-6.77589600e-02 9.97676628e-01 -7.07601330e-03 -2.36520435e+01] [-5.29788174e-02 3.48433884e-03 9.98589557e-01 -1.26087392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.650714057 meters 0.03888357654366908 Centerline is valid? [True, True] Translation: X:178.94, Y:-23.65, Z:-12.61 [[ 9.96269585e-01 6.82925934e-02 5.27544849e-02 1.78944637e+02] [-6.80123949e-02 9.97659280e-01 -7.09056437e-03 -2.36523148e+01] [-5.31152344e-02 3.47615476e-03 9.98582339e-01 -1.26095091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.680714057 meters 0.03922898643747523 Centerline is valid? [True, True] Translation: X:178.97, Y:-23.66, Z:-12.61 [[ 9.96260486e-01 6.79635244e-02 5.33479452e-02 1.78973407e+02] [-6.76767125e-02 9.97681564e-01 -7.16655140e-03 -2.36567156e+01] [-5.37113255e-02 3.52933843e-03 9.98550268e-01 -1.26107633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.710714057 meters 0.03950301865900574 Centerline is valid? [True, True] Translation: X:179.00, Y:-23.66, Z:-12.61 [[ 9.96254901e-01 6.76314475e-02 5.38716925e-02 1.79001624e+02] [-6.73386913e-02 9.97703955e-01 -7.23313945e-03 -2.36614381e+01] [-5.42371884e-02 3.57840136e-03 9.98521668e-01 -1.26129734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.740714057 meters 0.042185132478030365 Centerline is valid? [True, True] Translation: X:179.03, Y:-23.67, Z:-12.62 [[ 9.96290142e-01 6.72032220e-02 5.37557392e-02 1.79029328e+02] [-6.69113212e-02 9.97732850e-01 -7.21360221e-03 -2.36701175e+01] [-5.41186441e-02 3.58997324e-03 9.98528059e-01 -1.26165484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.770714057 meters 0.042185132478030365 Centerline is valid? [True, True] Translation: X:179.06, Y:-23.67, Z:-12.62 [[ 9.96292353e-01 6.71701147e-02 5.37561408e-02 1.79058225e+02] [-6.68783267e-02 9.97735083e-01 -7.21060826e-03 -2.36739605e+01] [-5.41187250e-02 3.58875313e-03 9.98528059e-01 -1.26185573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.800714057 meters 0.04181598169621016 Centerline is valid? [True, True] Translation: X:179.09, Y:-23.68, Z:-12.62 [[ 9.96331121e-01 6.69265602e-02 5.33397808e-02 1.79087746e+02] [-6.66390284e-02 9.97751510e-01 -7.15298288e-03 -2.36775481e+01] [-5.36985713e-02 3.57222829e-03 9.98550801e-01 -1.26204277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.830714057 meters 0.041823495309272915 Centerline is valid? [True, True] Translation: X:179.12, Y:-23.68, Z:-12.62 [[ 9.96218435e-01 6.81531470e-02 5.38885759e-02 1.79116305e+02] [-6.78615337e-02 9.97668588e-01 -7.22496470e-03 -2.36806579e+01] [-5.42553435e-02 3.54068161e-03 9.98520817e-01 -1.26217604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.860714057 meters 0.041403501904309026 Centerline is valid? [True, True] Translation: X:179.15, Y:-23.68, Z:-12.62 [[ 9.96141287e-01 6.90431911e-02 5.41809354e-02 1.79145746e+02] [-6.87498748e-02 9.97607503e-01 -7.26116610e-03 -2.36832700e+01] [-5.45526418e-02 3.50821482e-03 9.98504733e-01 -1.26231373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.890714057 meters 0.03361998267026494 Centerline is valid? [True, True] Translation: X:179.18, Y:-23.68, Z:-12.62 [[ 9.95911686e-01 7.13605012e-02 5.53858557e-02 1.79176793e+02] [-7.10576465e-02 9.97444606e-01 -7.42078440e-03 -2.36760113e+01] [-5.57738739e-02 3.45485734e-03 9.98437449e-01 -1.26220679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.920714057 meters 0.04190116542382736 Centerline is valid? [True, True] Translation: X:179.20, Y:-23.69, Z:-12.63 [[ 9.95879134e-01 7.21455151e-02 5.49524867e-02 1.79202712e+02] [-7.18486470e-02 9.97388380e-01 -7.36145222e-03 -2.36910634e+01] [-5.53400675e-02 3.38285484e-03 9.98461834e-01 -1.26261069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.950714057 meters 0.03302586339326704 Centerline is valid? [True, True] Translation: X:179.23, Y:-23.68, Z:-12.63 [[ 9.95835005e-01 7.32619382e-02 5.42708994e-02 1.79232961e+02] [-7.29743259e-02 9.97307358e-01 -7.26506802e-03 -2.36817936e+01] [-5.46570203e-02 3.27442675e-03 9.98499819e-01 -1.26256542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.98071405699997 meters 0.033117863939388155 Centerline is valid? [True, True] Translation: X:179.26, Y:-23.69, Z:-12.63 [[ 9.95866103e-01 7.32144584e-02 5.37619602e-02 1.79261507e+02] [-7.29323634e-02 9.97310950e-01 -7.19305037e-03 -2.36855635e+01] [-5.41440269e-02 3.24232822e-03 9.98527872e-01 -1.26279542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.01071405699997 meters 0.0342026683500109 Centerline is valid? [True, True] Translation: X:179.29, Y:-23.69, Z:-12.63 [[ 9.95915831e-01 7.32541952e-02 5.27776518e-02 1.79288963e+02] [-7.29825889e-02 9.97308241e-01 -7.05785442e-03 -2.36915402e+01] [-5.31526046e-02 3.17717929e-03 9.98581347e-01 -1.26307958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.04071405699997 meters 0.0324381871716518 Centerline is valid? [True, True] Translation: X:179.32, Y:-23.69, Z:-12.63 [[ 9.95912375e-01 7.33035925e-02 5.27742849e-02 1.79317835e+02] [-7.30323591e-02 9.97304637e-01 -7.05234644e-03 -2.36932780e+01] [-5.31490013e-02 3.16928857e-03 9.98581564e-01 -1.26325625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.07071405699998 meters 0.03351469857962763 Centerline is valid? [True, True] Translation: X:179.35, Y:-23.70, Z:-12.64 [[ 9.96044284e-01 7.24788059e-02 5.14062908e-02 1.79346210e+02] [-7.22205606e-02 9.97365053e-01 -6.86591997e-03 -2.36990754e+01] [-5.17684717e-02 3.12616919e-03 9.98654221e-01 -1.26354528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.10071405699998 meters 0.0340722484157461 Centerline is valid? [True, True] Translation: X:179.37, Y:-23.70, Z:-12.64 [[ 9.96094925e-01 7.18762080e-02 5.12709566e-02 1.79374494e+02] [-7.16187183e-02 9.97408601e-01 -6.84415269e-03 -2.37044612e+01] [-5.16300248e-02 3.14546556e-03 9.98661327e-01 -1.26377505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.13071405699998 meters 0.03591658071727132 Centerline is valid? [True, True] Translation: X:179.40, Y:-23.71, Z:-12.64 [[ 9.96210383e-01 7.08625874e-02 5.04317945e-02 1.79401142e+02] [-7.06123356e-02 9.97481137e-01 -6.72893749e-03 -2.37110211e+01] [-5.07815937e-02 3.14233059e-03 9.98704839e-01 -1.26395165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.16071405699998 meters 0.035583602837070905 Centerline is valid? [True, True] Translation: X:179.43, Y:-23.71, Z:-12.64 [[ 9.96227641e-01 7.05170448e-02 5.05750345e-02 1.79429521e+02] [-7.02651787e-02 9.97505557e-01 -6.74306679e-03 -2.37147395e+01] [-5.09243791e-02 3.16396568e-03 9.98697500e-01 -1.26407386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.19071405699998 meters 0.03483901020727346 Centerline is valid? [True, True] Translation: X:179.46, Y:-23.72, Z:-12.64 [[ 9.96281654e-01 6.95508924e-02 5.08482007e-02 1.79457661e+02] [-6.92952139e-02 9.97573184e-01 -6.77614548e-03 -2.37179956e+01] [-5.11960884e-02 3.22741248e-03 9.98683405e-01 -1.26415142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.22071405699998 meters 0.035598664962099735 Centerline is valid? [True, True] Translation: X:179.49, Y:-23.72, Z:-12.64 [[ 9.96336333e-01 6.90723270e-02 5.04274339e-02 1.79485417e+02] [-6.88204846e-02 9.97606456e-01 -6.71559275e-03 -2.37230333e+01] [-5.07705952e-02 3.22054862e-03 9.98705149e-01 -1.26436113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.25071405699998 meters 0.03536812411135555 Centerline is valid? [True, True] Translation: X:179.51, Y:-23.73, Z:-12.65 [[ 9.96387020e-01 6.88522343e-02 4.97219924e-02 1.79514416e+02] [-6.86073569e-02 9.97621795e-01 -6.61698487e-03 -2.37265196e+01] [-5.00593375e-02 3.18178336e-03 9.98741177e-01 -1.26453152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.28071405699998 meters 0.03934855661066912 Centerline is valid? [True, True] Translation: X:179.54, Y:-23.74, Z:-12.65 [[ 9.96412643e-01 6.85366052e-02 4.96445182e-02 1.79540456e+02] [-6.82922468e-02 9.97643503e-01 -6.60376558e-03 -2.37365963e+01] [-4.99801307e-02 3.18973983e-03 9.98745119e-01 -1.26487330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.31071405699998 meters 0.034635935962315276 Centerline is valid? [True, True] Translation: X:179.57, Y:-23.73, Z:-12.65 [[ 9.96446293e-01 6.77913862e-02 4.99911242e-02 1.79569970e+02] [-6.75429704e-02 9.97694245e-01 -6.64384615e-03 -2.37327683e+01] [-5.03262524e-02 3.24368685e-03 9.98727564e-01 -1.26466443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.34071405699999 meters 0.03711123811212522 Centerline is valid? [True, True] Translation: X:179.60, Y:-23.74, Z:-12.65 [[ 9.96426451e-01 6.72925771e-02 5.10493487e-02 1.79596824e+02] [-6.70330436e-02 9.97727712e-01 -6.78110896e-03 -2.37409916e+01] [-5.13896682e-02 3.33488312e-03 9.98673110e-01 -1.26486221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.370714057 meters 0.03603633433516343 Centerline is valid? [True, True] Translation: X:179.63, Y:-23.74, Z:-12.65 [[ 9.96472769e-01 6.53073235e-02 5.26970035e-02 1.79626615e+02] [-6.50283218e-02 9.97858911e-01 -6.99361998e-03 -2.37444900e+01] [-5.30409091e-02 3.54215417e-03 9.98586058e-01 -1.26486629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.400714057 meters 0.037294433742616755 Centerline is valid? [True, True] Translation: X:179.66, Y:-23.75, Z:-12.65 [[ 9.96576220e-01 6.36584647e-02 5.27582972e-02 1.79655573e+02] [-6.33766161e-02 9.97965133e-01 -6.99984135e-03 -2.37505075e+01] [-5.30965402e-02 3.63223309e-03 9.98582778e-01 -1.26506173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.430714057 meters 0.037080200728447976 Centerline is valid? [True, True] Translation: X:179.68, Y:-23.76, Z:-12.65 [[ 9.96702313e-01 6.19928026e-02 5.23583028e-02 1.79684982e+02] [-6.17130435e-02 9.98069773e-01 -6.94463414e-03 -2.37557573e+01] [-5.26877567e-02 3.69054270e-03 9.98604216e-01 -1.26530954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.460714057 meters 0.0400827482080745 Centerline is valid? [True, True] Translation: X:179.71, Y:-23.76, Z:-12.66 [[ 9.96810783e-01 6.08471878e-02 5.16321871e-02 1.79713393e+02] [-6.05736629e-02 9.98140243e-01 -6.84740390e-03 -2.37636400e+01] [-5.19528091e-02 3.69801534e-03 9.98642694e-01 -1.26560050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.490714057 meters 0.041479361210662154 Centerline is valid? [True, True] Translation: X:179.74, Y:-23.77, Z:-12.66 [[ 9.96952059e-01 5.98241495e-02 5.00765705e-02 1.79742171e+02] [-5.95656366e-02 9.98202305e-01 -6.64022867e-03 -2.37700512e+01] [-5.03837942e-02 3.63714684e-03 9.98723307e-01 -1.26586842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.520714057 meters 0.04018836683850266 Centerline is valid? [True, True] Translation: X:179.77, Y:-23.77, Z:-12.66 [[ 9.97039426e-01 5.91263838e-02 4.91574370e-02 1.79771696e+02] [-5.88764651e-02 9.98243998e-01 -6.51785083e-03 -2.37718172e+01] [-4.94564934e-02 3.60433812e-03 9.98769775e-01 -1.26602393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.550714057 meters 0.043588641638770124 Centerline is valid? [True, True] Translation: X:179.80, Y:-23.78, Z:-12.66 [[ 9.97048601e-01 5.91006568e-02 4.90020383e-02 1.79800534e+02] [-5.88523886e-02 9.98245566e-01 -6.49517623e-03 -2.37805343e+01] [-4.92999366e-02 3.59211937e-03 9.98777559e-01 -1.26634333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.580714057 meters 0.04487633702156015 Centerline is valid? [True, True] Translation: X:179.83, Y:-23.79, Z:-12.67 [[ 9.97095513e-01 5.87829951e-02 4.84262165e-02 1.79829814e+02] [-5.85401858e-02 9.98264420e-01 -6.41833964e-03 -2.37858192e+01] [-4.87194581e-02 3.56481794e-03 9.98806141e-01 -1.26657692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.610714057 meters 0.04455743998018319 Centerline is valid? [True, True] Translation: X:179.86, Y:-23.79, Z:-12.67 [[ 9.97110932e-01 5.87420061e-02 4.81577271e-02 1.79859192e+02] [-5.85019160e-02 9.98266902e-01 -6.38112550e-03 -2.37895501e+01] [-4.84491051e-02 3.54537069e-03 9.98819360e-01 -1.26681967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.640714057 meters 0.04336683600809721 Centerline is valid? [True, True] Translation: X:179.89, Y:-23.79, Z:-12.67 [[ 9.97149001e-01 5.88747926e-02 4.71977561e-02 1.79889212e+02] [-5.86444100e-02 9.98259356e-01 -6.25236701e-03 -2.37911368e+01] [-4.74837084e-02 3.46665696e-03 9.98865997e-01 -1.26700388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.670714057 meters 0.047282184831334964 Centerline is valid? [True, True] Translation: X:179.92, Y:-23.80, Z:-12.67 [[ 9.97076480e-01 5.92968043e-02 4.81910934e-02 1.79916753e+02] [-5.90571689e-02 9.98234198e-01 -6.38258628e-03 -2.37984535e+01] [-4.84844644e-02 3.51789712e-03 9.98817742e-01 -1.26716479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.700714057 meters 0.047282184831334964 Centerline is valid? [True, True] Translation: X:179.95, Y:-23.80, Z:-12.67 [[ 9.97078403e-01 5.92641584e-02 4.81914606e-02 1.79945671e+02] [-5.90246184e-02 9.98236141e-01 -6.37981251e-03 -2.38022479e+01] [-4.84845519e-02 3.51669071e-03 9.98817742e-01 -1.26736579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.73071405699997 meters 0.0407812143852807 Centerline is valid? [True, True] Translation: X:179.98, Y:-23.80, Z:-12.67 [[ 9.97070147e-01 5.90118053e-02 4.86695864e-02 1.79975806e+02] [-5.87672290e-02 9.98250926e-01 -6.44220726e-03 -2.37963507e+01] [-4.89646260e-02 3.56315581e-03 9.98794158e-01 -1.26723626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.76071405699997 meters 0.03708012110903783 Centerline is valid? [True, True] Translation: X:180.01, Y:-23.79, Z:-12.67 [[ 9.97074524e-01 5.87778391e-02 4.88626548e-02 1.80005604e+02] [-5.85312413e-02 9.98264652e-01 -6.46361651e-03 -2.37945261e+01] [-4.91577785e-02 3.58471552e-03 9.98784593e-01 -1.26723949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.79071405699997 meters 0.042606758107933976 Centerline is valid? [True, True] Translation: X:180.03, Y:-23.81, Z:-12.68 [[ 9.97062932e-01 5.83123156e-02 4.96506201e-02 1.80033711e+02] [-5.80572294e-02 9.98291666e-01 -6.56562492e-03 -2.38063073e+01] [-4.99486571e-02 3.66376379e-03 9.98745067e-01 -1.26761734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.82071405699998 meters 0.04411968981989762 Centerline is valid? [True, True] Translation: X:180.06, Y:-23.81, Z:-12.68 [[ 9.97168691e-01 5.63556906e-02 4.97859107e-02 1.80062657e+02] [-5.60968338e-02 9.98403633e-01 -6.58258122e-03 -2.38124338e+01] [-5.00774001e-02 3.77111194e-03 9.98738220e-01 -1.26782446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.85071405699998 meters 0.04501156074458137 Centerline is valid? [True, True] Translation: X:180.09, Y:-23.82, Z:-12.68 [[ 9.97225086e-01 5.54659680e-02 4.96553450e-02 1.80092390e+02] [-5.52074319e-02 9.98453330e-01 -6.56413448e-03 -2.38181944e+01] [-4.99426306e-02 3.80457550e-03 9.98744842e-01 -1.26805546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.88071405699998 meters 0.04011554229163964 Centerline is valid? [True, True] Translation: X:180.12, Y:-23.82, Z:-12.68 [[ 9.97396143e-01 5.34264035e-02 4.84412346e-02 1.80123550e+02] [-5.31779961e-02 9.98564519e-01 -6.40327847e-03 -2.38159494e+01] [-4.87138023e-02 3.81059746e-03 9.98805509e-01 -1.26820154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.91071405699998 meters 0.04137925586218889 Centerline is valid? [True, True] Translation: X:180.15, Y:-23.82, Z:-12.69 [[ 9.97460092e-01 5.28263870e-02 4.77780065e-02 1.80153090e+02] [-5.25839994e-02 9.98596525e-01 -6.31683171e-03 -2.38223928e+01] [-4.80446467e-02 3.78842887e-03 9.98838005e-01 -1.26852947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.94071405699998 meters 0.03912764808073836 Centerline is valid? [True, True] Translation: X:180.18, Y:-23.82, Z:-12.69 [[ 9.97584343e-01 5.18025934e-02 4.62814260e-02 1.80183711e+02] [-5.15740728e-02 9.98650426e-01 -6.11896562e-03 -2.38241535e+01] [-4.65359441e-02 3.71726266e-03 9.98909700e-01 -1.26878480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.97071405699998 meters 0.0404062945379102 Centerline is valid? [True, True] Translation: X:180.21, Y:-23.83, Z:-12.69 [[ 9.97607729e-01 5.16985788e-02 4.58920097e-02 1.80213484e+02] [-5.14737819e-02 9.98655914e-01 -6.06748006e-03 -2.38298147e+01] [-4.61440070e-02 3.69072971e-03 9.98927980e-01 -1.26904206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.00071405699998 meters 0.04238903055971876 Centerline is valid? [True, True] Translation: X:180.24, Y:-23.84, Z:-12.69 [[ 9.97575313e-01 5.21709750e-02 4.60617439e-02 1.80242411e+02] [-5.19449919e-02 9.98631376e-01 -6.09032470e-03 -2.38366416e+01] [-4.63164409e-02 3.68288065e-03 9.98920029e-01 -1.26928349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.03071405699998 meters 0.03890688488648397 Centerline is valid? [True, True] Translation: X:180.27, Y:-23.84, Z:-12.69 [[ 9.97515272e-01 5.25271058e-02 4.69487478e-02 1.80272979e+02] [-5.22927288e-02 9.98612507e-01 -6.20738950e-03 -2.38355722e+01] [-4.72096629e-02 3.73688769e-03 9.98878012e-01 -1.26928465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.06071405699998 meters 0.04018618950009003 Centerline is valid? [True, True] Translation: X:180.30, Y:-23.84, Z:-12.70 [[ 9.97457634e-01 5.30590869e-02 4.75710257e-02 1.80301825e+02] [-5.28191973e-02 9.98584303e-01 -6.28659660e-03 -2.38413296e+01] [-4.78372406e-02 3.75795037e-03 9.98848075e-01 -1.26951247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.09071405699999 meters 0.039814389155013286 Centerline is valid? [True, True] Translation: X:180.33, Y:-23.84, Z:-12.70 [[ 9.97342879e-01 5.43033035e-02 4.85626728e-02 1.80332520e+02] [-5.40548424e-02 9.98517355e-01 -6.41601374e-03 -2.38445101e+01] [-4.88390824e-02 3.77391799e-03 9.98799530e-01 -1.26967582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.120714057 meters 0.03977369205901439 Centerline is valid? [True, True] Translation: X:180.36, Y:-23.85, Z:-12.70 [[ 9.97198212e-01 5.60032013e-02 4.95920017e-02 1.80363123e+02] [-5.57461261e-02 9.98423471e-01 -6.55293898e-03 -2.38481649e+01] [-4.98808041e-02 3.77001705e-03 9.98748063e-01 -1.26990921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.150714057 meters 0.04332489775491037 Centerline is valid? [True, True] Translation: X:180.39, Y:-23.86, Z:-12.70 [[ 9.97126720e-01 5.70590825e-02 4.98253513e-02 1.80392057e+02] [-5.68008273e-02 9.98363813e-01 -6.58501295e-03 -2.38563313e+01] [-5.01195625e-02 3.73597119e-03 9.98736237e-01 -1.27026201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.180714057 meters 0.04016403527970688 Centerline is valid? [True, True] Translation: X:180.42, Y:-23.85, Z:-12.70 [[ 9.97028086e-01 5.91218303e-02 4.93923557e-02 1.80422818e+02] [-5.88705346e-02 9.98244279e-01 -6.52838630e-03 -2.38541931e+01] [-4.96916067e-02 3.60123011e-03 9.98758117e-01 -1.27036331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.210714057 meters 0.04047781385226933 Centerline is valid? [True, True] Translation: X:180.45, Y:-23.86, Z:-12.71 [[ 9.96917751e-01 6.07118380e-02 4.96897447e-02 1.80452500e+02] [-6.04595608e-02 9.98149053e-01 -6.56582598e-03 -2.38574104e+01] [-4.99963950e-02 3.54136833e-03 9.98743120e-01 -1.27056950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.240714057 meters 0.0399864522847271 Centerline is valid? [True, True] Translation: X:180.48, Y:-23.86, Z:-12.71 [[ 9.96794469e-01 6.24203978e-02 5.00447813e-02 1.80482211e+02] [-6.21666689e-02 9.98043879e-01 -6.61216279e-03 -2.38600881e+01] [-5.03596215e-02 3.47984995e-03 9.98725087e-01 -1.27074773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.270714057 meters 0.03947409730092528 Centerline is valid? [True, True] Translation: X:180.51, Y:-23.86, Z:-12.71 [[ 9.96536589e-01 6.54033621e-02 5.13539314e-02 1.80511185e+02] [-6.51402140e-02 9.97853066e-01 -6.78309747e-03 -2.38618489e+01] [-5.16873153e-02 3.41439874e-03 9.98657480e-01 -1.27085147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.300714057 meters 0.0395445230252613 Centerline is valid? [True, True] Translation: X:180.54, Y:-23.87, Z:-12.71 [[ 9.96406709e-01 6.65812958e-02 5.23507556e-02 1.80540272e+02] [-6.63094875e-02 9.97775150e-01 -6.91383082e-03 -2.38650798e+01] [-5.26946148e-02 3.41763564e-03 9.98604825e-01 -1.27099682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.330714057 meters 0.039095720126666816 Centerline is valid? [True, True] Translation: X:180.57, Y:-23.87, Z:-12.71 [[ 9.96267318e-01 6.83669710e-02 5.27009406e-02 1.80570005e+02] [-6.80941559e-02 9.97654642e-01 -6.95706777e-03 -2.38671302e+01] [-5.30529717e-02 3.34247318e-03 9.98586105e-01 -1.27120342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.360714057 meters 0.039491712641663096 Centerline is valid? [True, True] Translation: X:180.60, Y:-23.87, Z:-12.71 [[ 9.96243972e-01 6.91247949e-02 5.21508526e-02 1.80597849e+02] [-6.88587495e-02 9.97602673e-01 -6.88322592e-03 -2.38708649e+01] [-5.25016315e-02 3.26632983e-03 9.98615496e-01 -1.27148299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.390714057 meters 0.03918552785647465 Centerline is valid? [True, True] Translation: X:180.63, Y:-23.87, Z:-12.72 [[ 9.96185560e-01 7.04026147e-02 5.15538794e-02 1.80626003e+02] [-7.01445161e-02 9.97513656e-01 -6.80095457e-03 -2.38731222e+01] [-5.19045037e-02 3.15879081e-03 9.98647057e-01 -1.27177925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.420714057 meters 0.04012868357254673 Centerline is valid? [True, True] Translation: X:180.65, Y:-23.88, Z:-12.72 [[ 9.96177275e-01 7.05179784e-02 5.15562919e-02 1.80653188e+02] [-7.02601777e-02 9.97505536e-01 -6.79803580e-03 -2.38777475e+01] [-5.19070703e-02 3.14969456e-03 9.98646952e-01 -1.27204094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.450714057 meters 0.03953495397984108 Centerline is valid? [True, True] Translation: X:180.68, Y:-23.88, Z:-12.72 [[ 9.96150629e-01 7.06363299e-02 5.19079308e-02 1.80681438e+02] [-7.03753999e-02 9.97497128e-01 -6.83974980e-03 -2.38801901e+01] [-5.22611468e-02 3.16037967e-03 9.98628452e-01 -1.27220685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.48071405699997 meters 0.03545809860446744 Centerline is valid? [True, True] Translation: X:180.71, Y:-23.88, Z:-12.72 [[ 9.96149932e-01 7.02364054e-02 5.24610357e-02 1.80710732e+02] [-6.99695136e-02 9.97525203e-01 -6.90909727e-03 -2.38783273e+01] [-5.28164755e-02 3.21182362e-03 9.98599071e-01 -1.27223704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.51071405699997 meters 0.0362747041500671 Centerline is valid? [True, True] Translation: X:180.74, Y:-23.88, Z:-12.72 [[ 9.96167951e-01 6.92770081e-02 5.33864234e-02 1.80738965e+02] [-6.89994584e-02 9.97591950e-01 -7.02681469e-03 -2.38832887e+01] [-5.37446629e-02 3.31625328e-03 9.98549204e-01 -1.27242991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.54071405699997 meters 0.03534050072186916 Centerline is valid? [True, True] Translation: X:180.77, Y:-23.89, Z:-12.73 [[ 9.96210615e-01 6.87685500e-02 5.32475065e-02 1.80767792e+02] [-6.84918607e-02 9.97627076e-01 -7.00593823e-03 -2.38857905e+01] [-5.36029424e-02 3.33236924e-03 9.98556768e-01 -1.27260056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.57071405699998 meters 0.036613991099681734 Centerline is valid? [True, True] Translation: X:180.80, Y:-23.89, Z:-12.73 [[ 9.96324651e-01 6.73069004e-02 5.29808460e-02 1.80795606e+02] [-6.70311410e-02 9.97726561e-01 -6.96674669e-03 -2.38917730e+01] [-5.33293074e-02 3.38977491e-03 9.98571227e-01 -1.27289058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.60071405699998 meters 0.03670270943295292 Centerline is valid? [True, True] Translation: X:180.82, Y:-23.90, Z:-12.73 [[ 9.96384192e-01 6.65369349e-02 5.28334975e-02 1.80823645e+02] [-6.62617661e-02 9.97778105e-01 -6.94484728e-03 -2.38962044e+01] [-5.31781959e-02 3.41889519e-03 9.98579186e-01 -1.27310824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.63071405699998 meters 0.03423550079910277 Centerline is valid? [True, True] Translation: X:180.85, Y:-23.90, Z:-12.73 [[ 9.96530348e-01 6.43422229e-02 5.27952983e-02 1.80853688e+02] [-6.40646133e-02 9.97921652e-01 -6.93557882e-03 -2.38971233e+01] [-5.31318218e-02 3.52920441e-03 9.98581271e-01 -1.27324865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.66071405699998 meters 0.03789198140524069 Centerline is valid? [True, True] Translation: X:180.88, Y:-23.91, Z:-12.74 [[ 9.96584451e-01 6.33154846e-02 5.30149100e-02 1.80880919e+02] [-6.30342028e-02 9.97987079e-01 -6.96274030e-03 -2.39063898e+01] [-5.33490445e-02 3.59720613e-03 9.98569447e-01 -1.27357588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.69071405699998 meters 0.03789198140524069 Centerline is valid? [True, True] Translation: X:180.91, Y:-23.91, Z:-12.74 [[ 9.96588825e-01 6.32463194e-02 5.30152527e-02 1.80908991e+02] [-6.29650785e-02 9.97991461e-01 -6.96013044e-03 -2.39100127e+01] [-5.33489721e-02 3.59827868e-03 9.98569447e-01 -1.27377096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.72071405699998 meters 0.035984707695498615 Centerline is valid? [True, True] Translation: X:180.94, Y:-23.91, Z:-12.74 [[ 9.96636123e-01 6.17743774e-02 5.38550398e-02 1.80938529e+02] [-6.14822442e-02 9.98083165e-01 -7.06601655e-03 -2.39114255e+01] [-5.41883074e-02 3.73111863e-03 9.98523763e-01 -1.27387591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.75071405699998 meters 0.036728116912418944 Centerline is valid? [True, True] Translation: X:180.97, Y:-23.92, Z:-12.74 [[ 9.96619344e-01 6.12942203e-02 5.47074163e-02 1.80968103e+02] [-6.09921826e-02 9.98112454e-01 -7.17517971e-03 -2.39165203e+01] [-5.50439506e-02 3.81419817e-03 9.98476647e-01 -1.27404527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.78071405699998 meters 0.042320234416147386 Centerline is valid? [True, True] Translation: X:181.00, Y:-23.93, Z:-12.74 [[ 9.96560430e-01 6.12593063e-02 5.58086636e-02 1.80996148e+02] [-6.09448563e-02 9.98114288e-01 -7.32066948e-03 -2.39285438e+01] [-5.61518836e-02 3.89423855e-03 9.98414644e-01 -1.27429164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.81071405699998 meters 0.042741700975596146 Centerline is valid? [True, True] Translation: X:181.03, Y:-23.93, Z:-12.75 [[ 9.96505887e-01 6.18196391e-02 5.61635985e-02 1.81025184e+02] [-6.15021437e-02 9.98079773e-01 -7.36568009e-03 -2.39329758e+01] [-5.65110953e-02 3.88576186e-03 9.98394410e-01 -1.27454062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.84071405699999 meters 0.037752450916388965 Centerline is valid? [True, True] Translation: X:181.06, Y:-23.93, Z:-12.75 [[ 9.96469619e-01 6.26991323e-02 5.58311559e-02 1.81056674e+02] [-6.23866603e-02 9.98025183e-01 -7.32389219e-03 -2.39296827e+01] [-5.61801013e-02 3.81491670e-03 9.98413363e-01 -1.27466588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.870714057 meters 0.03753644353050898 Centerline is valid? [True, True] Translation: X:181.09, Y:-23.93, Z:-12.75 [[ 9.96370374e-01 6.40656196e-02 5.60506407e-02 1.81086401e+02] [-6.37528211e-02 9.97938632e-01 -7.35289675e-03 -2.39327014e+01] [-5.64061675e-02 3.75282202e-03 9.98400852e-01 -1.27488635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.900714057 meters 0.03581727523826956 Centerline is valid? [True, True] Translation: X:181.12, Y:-23.93, Z:-12.75 [[ 9.96135152e-01 6.71478734e-02 5.66208557e-02 1.81116629e+02] [-6.68336799e-02 9.97736490e-01 -7.42669028e-03 -2.39322923e+01] [-5.69913803e-02 3.61380710e-03 9.98368130e-01 -1.27505110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.930714057 meters 0.03574015229542969 Centerline is valid? [True, True] Translation: X:181.15, Y:-23.93, Z:-12.75 [[ 9.96000486e-01 6.91392537e-02 5.65932394e-02 1.81145528e+02] [-6.88286117e-02 9.97600888e-01 -7.42226736e-03 -2.39349688e+01] [-5.69706359e-02 3.49734781e-03 9.98369729e-01 -1.27521930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.960714057 meters 0.03164269670703676 Centerline is valid? [True, True] Translation: X:181.18, Y:-23.93, Z:-12.75 [[ 9.95740169e-01 7.27207357e-02 5.66851844e-02 1.81176756e+02] [-7.24149837e-02 9.97346897e-01 -7.43213719e-03 -2.39304595e+01] [-5.70752632e-02 3.29562085e-03 9.98364439e-01 -1.27531688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.990714057 meters 0.035096741809703444 Centerline is valid? [True, True] Translation: X:181.20, Y:-23.94, Z:-12.76 [[ 9.95612930e-01 7.42662338e-02 5.69159105e-02 1.81203572e+02] [-7.39605125e-02 9.97233252e-01 -7.46215482e-03 -2.39384982e+01] [-5.73126246e-02 3.21988791e-03 9.98351088e-01 -1.27562574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.020714057 meters 0.030609126644208878 Centerline is valid? [True, True] Translation: X:181.23, Y:-23.93, Z:-12.76 [[ 9.95339310e-01 7.70982824e-02 5.79267918e-02 1.81234589e+02] [-7.67867239e-02 9.97018662e-01 -7.58857138e-03 -2.39341652e+01] [-5.83391583e-02 3.10519483e-03 9.98291992e-01 -1.27575319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.050714057 meters 0.033924162364442144 Centerline is valid? [True, True] Translation: X:181.26, Y:-23.94, Z:-12.76 [[ 9.95253514e-01 7.83517994e-02 5.77186172e-02 1.81261892e+02] [-7.80446073e-02 9.96921197e-01 -7.56081954e-03 -2.39424388e+01] [-5.81333168e-02 3.02030540e-03 9.98304260e-01 -1.27607398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.080714057 meters 0.029519478125886546 Centerline is valid? [True, True] Translation: X:181.29, Y:-23.94, Z:-12.76 [[ 9.95071073e-01 8.07528279e-02 5.75546756e-02 1.81292975e+02] [-8.04516544e-02 9.96730034e-01 -7.53465755e-03 -2.39373726e+01] [-5.79749187e-02 2.86715090e-03 9.98313923e-01 -1.27621570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.110714057 meters 0.028642782639837213 Centerline is valid? [True, True] Translation: X:181.32, Y:-23.94, Z:-12.76 [[ 9.94990330e-01 8.18191294e-02 5.74445231e-02 1.81322153e+02] [-8.15209178e-02 9.96643264e-01 -7.51959011e-03 -2.39391386e+01] [-5.78669433e-02 2.79898920e-03 9.98320381e-01 -1.27640453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.140714057 meters 0.02918266840588118 Centerline is valid? [True, True] Translation: X:181.35, Y:-23.94, Z:-12.77 [[ 9.94883062e-01 8.32326347e-02 5.72714746e-02 1.81349467e+02] [-8.29387110e-02 9.96526471e-01 -7.49421911e-03 -2.39425871e+01] [-5.76963040e-02 2.70584937e-03 9.98330514e-01 -1.27670130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.170714057 meters 0.02814752245118579 Centerline is valid? [True, True] Translation: X:181.38, Y:-23.94, Z:-12.77 [[ 9.94838346e-01 8.37870974e-02 5.72397361e-02 1.81377791e+02] [-8.34947236e-02 9.96480110e-01 -7.48472005e-03 -2.39447889e+01] [-5.76653815e-02 2.66687058e-03 9.98332405e-01 -1.27691577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.200714057 meters 0.02859310197576248 Centerline is valid? [True, True] Translation: X:181.41, Y:-23.95, Z:-12.77 [[ 9.94847253e-01 8.39648737e-02 5.68229072e-02 1.81405963e+02] [-8.36772722e-02 9.96465236e-01 -7.42611192e-03 -2.39488940e+01] [-5.72455842e-02 2.63306117e-03 9.98356655e-01 -1.27711098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.23071405699997 meters 0.027585846898697364 Centerline is valid? [True, True] Translation: X:181.43, Y:-23.95, Z:-12.77 [[ 9.94854804e-01 8.37760797e-02 5.69691827e-02 1.81434870e+02] [-8.34869227e-02 9.96481091e-01 -7.44109600e-03 -2.39499371e+01] [-5.73920992e-02 2.64662835e-03 9.98348207e-01 -1.27722461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.26071405699997 meters 0.02897608516392816 Centerline is valid? [True, True] Translation: X:181.46, Y:-23.96, Z:-12.77 [[ 9.94914471e-01 8.30685189e-02 5.69632908e-02 1.81462151e+02] [-8.27784968e-02 9.96540226e-01 -7.43630076e-03 -2.39553422e+01] [-5.73839332e-02 2.68314765e-03 9.98348579e-01 -1.27748605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.29071405699997 meters 0.028729934128288975 Centerline is valid? [True, True] Translation: X:181.49, Y:-23.96, Z:-12.78 [[ 9.94990818e-01 8.19786346e-02 5.72081789e-02 1.81490458e+02] [-8.16846295e-02 9.96630286e-01 -7.46280915e-03 -2.39584489e+01] [-5.76271946e-02 2.75239768e-03 9.98334378e-01 -1.27769799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.32071405699998 meters 0.029051501100809746 Centerline is valid? [True, True] Translation: X:181.52, Y:-23.96, Z:-12.78 [[ 9.95069269e-01 8.10883313e-02 5.71124621e-02 1.81518279e+02] [-8.07940780e-02 9.96702999e-01 -7.44634141e-03 -2.39632315e+01] [-5.75279737e-02 2.79527678e-03 9.98339982e-01 -1.27795216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.35071405699998 meters 0.0301463719895411 Centerline is valid? [True, True] Translation: X:181.55, Y:-23.97, Z:-12.78 [[ 9.95236319e-01 7.88382379e-02 5.73515589e-02 1.81546521e+02] [-7.85381154e-02 9.96883110e-01 -7.47186189e-03 -2.39690147e+01] [-5.77618688e-02 2.93198497e-03 9.98326084e-01 -1.27814198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.38071405699998 meters 0.030988231964690985 Centerline is valid? [True, True] Translation: X:181.57, Y:-23.97, Z:-12.78 [[ 9.95354609e-01 7.76489096e-02 5.69196773e-02 1.81574769e+02] [-7.73515218e-02 9.96976325e-01 -7.41274154e-03 -2.39742032e+01] [-5.73231621e-02 2.97548279e-03 9.98351242e-01 -1.27831177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.41071405699998 meters 0.032728282486469404 Centerline is valid? [True, True] Translation: X:181.60, Y:-23.98, Z:-12.79 [[ 9.95527551e-01 7.53443997e-02 5.69922438e-02 1.81602044e+02] [-7.50427324e-02 9.97152728e-01 -7.41795663e-03 -2.39806578e+01] [-5.73888728e-02 3.10792650e-03 9.98347063e-01 -1.27855046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.44071405699998 meters 0.033485350679592296 Centerline is valid? [True, True] Translation: X:181.63, Y:-23.99, Z:-12.79 [[ 9.95634287e-01 7.41652041e-02 5.66735323e-02 1.81630579e+02] [-7.38651732e-02 9.97240978e-01 -7.37348777e-03 -2.39860270e+01] [-5.70640250e-02 3.15509696e-03 9.98365535e-01 -1.27879424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.47071405699998 meters 0.03593007289589173 Centerline is valid? [True, True] Translation: X:181.66, Y:-23.99, Z:-12.79 [[ 9.95841822e-01 7.15201976e-02 5.64263015e-02 1.81657985e+02] [-7.12187895e-02 9.97433732e-01 -7.33715524e-03 -2.39935244e+01] [-5.68062513e-02 3.28803315e-03 9.98379807e-01 -1.27907868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.50071405699998 meters 0.03637428525072856 Centerline is valid? [True, True] Translation: X:181.69, Y:-24.00, Z:-12.79 [[ 9.95940613e-01 7.00601790e-02 5.65143095e-02 1.81687030e+02] [-6.97556611e-02 9.97537062e-01 -7.34556056e-03 -2.39986222e+01] [-5.68897496e-02 3.37354906e-03 9.98374767e-01 -1.27930623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.53071405699998 meters 0.038747509782990214 Centerline is valid? [True, True] Translation: X:181.72, Y:-24.01, Z:-12.80 [[ 9.96110109e-01 6.68771626e-02 5.73767887e-02 1.81715441e+02] [-6.65581261e-02 9.97754694e-01 -7.45564068e-03 -2.40066273e+01] [-5.77465723e-02 3.60774752e-03 9.98324756e-01 -1.27950165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.56071405699998 meters 0.0395732507312343 Centerline is valid? [True, True] Translation: X:181.74, Y:-24.01, Z:-12.80 [[ 9.96191055e-01 6.57331022e-02 5.72934648e-02 1.81744820e+02] [-6.54132229e-02 9.97830504e-01 -7.44285411e-03 -2.40117317e+01] [-5.76584087e-02 3.66675450e-03 9.98329636e-01 -1.27968630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.59071405699999 meters 0.04109853723946663 Centerline is valid? [True, True] Translation: X:181.77, Y:-24.02, Z:-12.80 [[ 9.96248835e-01 6.40683410e-02 5.81679091e-02 1.81773585e+02] [-6.37359137e-02 9.97938208e-01 -7.55426039e-03 -2.40176162e+01] [-5.85319679e-02 3.81853828e-03 9.98278232e-01 -1.27988085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.620714057 meters 0.04207322783359782 Centerline is valid? [True, True] Translation: X:181.80, Y:-24.02, Z:-12.80 [[ 9.96288362e-01 6.32451589e-02 5.83913471e-02 1.81802840e+02] [-6.29088119e-02 9.97990475e-01 -7.58244292e-03 -2.40225241e+01] [-5.87535610e-02 3.88096937e-03 9.98264973e-01 -1.28007487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.650714057 meters 0.042950529498172685 Centerline is valid? [True, True] Translation: X:181.83, Y:-24.03, Z:-12.80 [[ 9.96266174e-01 6.27410376e-02 5.93065961e-02 1.81833090e+02] [-6.23932983e-02 9.98021945e-01 -7.69897098e-03 -2.40278262e+01] [-5.96723258e-02 3.96989022e-03 9.98210125e-01 -1.28026938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.680714057 meters 0.04402082539296369 Centerline is valid? [True, True] Translation: X:181.86, Y:-24.03, Z:-12.80 [[ 9.96227070e-01 6.25313451e-02 6.01785373e-02 1.81862302e+02] [-6.21729012e-02 9.98034818e-01 -7.81229558e-03 -2.40334833e+01] [-6.05487889e-02 4.04134608e-03 9.98157058e-01 -1.28045422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.710714057 meters 0.045645536619881535 Centerline is valid? [True, True] Translation: X:181.89, Y:-24.04, Z:-12.81 [[ 9.96253416e-01 6.17559818e-02 6.05419672e-02 1.81891832e+02] [-6.13918418e-02 9.98082807e-01 -7.85821163e-03 -2.40400005e+01] [-6.09111882e-02 4.11198731e-03 9.98134720e-01 -1.28070721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.740714057 meters 0.04728743100252624 Centerline is valid? [True, True] Translation: X:181.92, Y:-24.05, Z:-12.81 [[ 9.96302982e-01 6.10964047e-02 6.03953437e-02 1.81921980e+02] [-6.07327638e-02 9.98123271e-01 -7.84016671e-03 -2.40461305e+01] [-6.07610040e-02 4.14320533e-03 9.98143744e-01 -1.28097291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.770714057 meters 0.04913489321127618 Centerline is valid? [True, True] Translation: X:181.95, Y:-24.05, Z:-12.81 [[ 9.96446475e-01 5.94243581e-02 5.96922728e-02 1.81951088e+02] [-5.90660982e-02 9.98223990e-01 -7.74998955e-03 -2.40533112e+01] [-6.00467969e-02 4.19666013e-03 9.98186741e-01 -1.28135530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.800714057 meters 0.049785153557845116 Centerline is valid? [True, True] Translation: X:181.98, Y:-24.06, Z:-12.82 [[ 9.96492977e-01 5.87656313e-02 5.95680050e-02 1.81983044e+02] [-5.84078092e-02 9.98262864e-01 -7.73193216e-03 -2.40587690e+01] [-5.99188991e-02 4.22557943e-03 9.98194305e-01 -1.28162128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.830714057 meters 0.05150134244767423 Centerline is valid? [True, True] Translation: X:182.01, Y:-24.07, Z:-12.82 [[ 9.96596593e-01 5.75828886e-02 5.89867859e-02 1.82014531e+02] [-5.72291004e-02 9.98331601e-01 -7.67105352e-03 -2.40655285e+01] [-5.93300938e-02 4.26918511e-03 9.98229289e-01 -1.28191341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.860714057 meters 0.053998987722831404 Centerline is valid? [True, True] Translation: X:182.04, Y:-24.07, Z:-12.82 [[ 9.96780629e-01 5.49103596e-02 5.84228510e-02 1.82043476e+02] [-5.45584945e-02 9.98481637e-01 -7.60208146e-03 -2.40728553e+01] [-5.87515769e-02 4.39014475e-03 9.98262981e-01 -1.28214050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.890714057 meters 0.05588875345877939 Centerline is valid? [True, True] Translation: X:182.07, Y:-24.08, Z:-12.82 [[ 9.96867579e-01 5.28891426e-02 5.88027954e-02 1.82072681e+02] [-5.25292084e-02 9.98590077e-01 -7.65113635e-03 -2.40801811e+01] [-5.91245500e-02 4.53830548e-03 9.98240297e-01 -1.28233398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.920714057 meters 0.05723802606112693 Centerline is valid? [True, True] Translation: X:182.10, Y:-24.09, Z:-12.83 [[ 9.96904614e-01 5.22588561e-02 5.87384255e-02 1.82104697e+02] [-5.18987439e-02 9.98623122e-01 -7.64073508e-03 -2.40862668e+01] [-5.90568459e-02 4.56863355e-03 9.98244167e-01 -1.28255548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.950714057 meters 0.058383681702991935 Centerline is valid? [True, True] Translation: X:182.14, Y:-24.09, Z:-12.83 [[ 9.96910240e-01 5.23227292e-02 5.85858856e-02 1.82135610e+02] [-5.19638466e-02 9.98619791e-01 -7.63361505e-03 -2.40918760e+01] [-5.89044364e-02 4.56568103e-03 9.98253185e-01 -1.28280155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.98071405699997 meters 0.03832241029086147 Centerline is valid? [True, True] Translation: X:182.17, Y:-24.07, Z:-12.83 [[ 9.96986618e-01 5.22413446e-02 5.73456677e-02 1.82171377e+02] [-5.18967666e-02 9.98624421e-01 -7.48270598e-03 -2.40688035e+01] [-5.76576908e-02 4.48410300e-03 9.98326341e-01 -1.28272507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.01071405699997 meters 0.04107507458828752 Centerline is valid? [True, True] Translation: X:182.20, Y:-24.08, Z:-12.83 [[ 9.97007203e-01 5.33497150e-02 5.59503869e-02 1.82202329e+02] [-5.30226444e-02 9.98566517e-01 -7.31506486e-03 -2.40751176e+01] [-5.62604396e-02 4.32653488e-03 9.98406753e-01 -1.28303104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.04071405699997 meters 0.041591027807226295 Centerline is valid? [True, True] Translation: X:182.23, Y:-24.08, Z:-12.83 [[ 9.96951822e-01 5.43655770e-02 5.59593476e-02 1.82233628e+02] [-5.40392383e-02 9.98511912e-01 -7.32959222e-03 -2.40792385e+01] [-5.62745526e-02 4.28324980e-03 9.98406144e-01 -1.28328088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.07071405699998 meters 0.0415501766855954 Centerline is valid? [True, True] Translation: X:182.27, Y:-24.08, Z:-12.83 [[ 9.96906628e-01 5.53496114e-02 5.57996066e-02 1.82265443e+02] [-5.50258883e-02 9.98458077e-01 -7.32252145e-03 -2.40828671e+01] [-5.61188666e-02 4.22944725e-03 9.98415136e-01 -1.28347689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.10071405699998 meters 0.037663430408931754 Centerline is valid? [True, True] Translation: X:182.30, Y:-24.08, Z:-12.84 [[ 9.96840704e-01 5.63500314e-02 5.59757504e-02 1.82297435e+02] [-5.60249046e-02 9.98402229e-01 -7.36196850e-03 -2.40803904e+01] [-5.63011612e-02 4.20267378e-03 9.98404986e-01 -1.28355443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.13071405699998 meters 0.04219069056990807 Centerline is valid? [True, True] Translation: X:182.33, Y:-24.09, Z:-12.84 [[ 9.96793384e-01 5.67762217e-02 5.63862644e-02 1.82327174e+02] [-5.64469221e-02 9.98378051e-01 -7.41696919e-03 -2.40905160e+01] [-5.67159163e-02 4.21035475e-03 9.98381479e-01 -1.28383223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.16071405699998 meters 0.03953533654145321 Centerline is valid? [True, True] Translation: X:182.36, Y:-24.09, Z:-12.84 [[ 9.96755054e-01 5.72307077e-02 5.66039673e-02 1.82359216e+02] [-5.68986616e-02 9.98352074e-01 -7.46179535e-03 -2.40905222e+01] [-5.69377320e-02 4.21689225e-03 9.98368826e-01 -1.28392961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.19071405699998 meters 0.039957038630164365 Centerline is valid? [True, True] Translation: X:182.39, Y:-24.09, Z:-12.84 [[ 9.96650516e-01 5.79041874e-02 5.77482008e-02 1.82389500e+02] [-5.75595499e-02 9.98313032e-01 -7.61495305e-03 -2.40938447e+01] [-5.80917191e-02 4.26548644e-03 9.98302138e-01 -1.28407225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.22071405699998 meters 0.04067535026885056 Centerline is valid? [True, True] Translation: X:182.42, Y:-24.10, Z:-12.84 [[ 9.96605251e-01 5.85042299e-02 5.79243364e-02 1.82420189e+02] [-5.81584401e-02 9.98278138e-01 -7.63905114e-03 -2.40983047e+01] [-5.82715155e-02 4.24432943e-03 9.98291749e-01 -1.28431593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.25071405699998 meters 0.04008375918966725 Centerline is valid? [True, True] Translation: X:182.45, Y:-24.10, Z:-12.85 [[ 9.96583829e-01 5.92099917e-02 5.75747237e-02 1.82451697e+02] [-5.88694191e-02 9.98236799e-01 -7.59502543e-03 -2.41014780e+01] [-5.79229093e-02 4.17968898e-03 9.98312309e-01 -1.28455711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.28071405699998 meters 0.040195238894047525 Centerline is valid? [True, True] Translation: X:182.48, Y:-24.11, Z:-12.85 [[ 9.96605441e-01 5.92935092e-02 5.71128238e-02 1.82482060e+02] [-5.89583821e-02 9.98231992e-01 -7.53654553e-03 -2.41050943e+01] [-5.74587161e-02 4.14368259e-03 9.98339284e-01 -1.28484505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.31071405699998 meters 0.03893217065312117 Centerline is valid? [True, True] Translation: X:182.51, Y:-24.11, Z:-12.85 [[ 9.96694273e-01 5.89076693e-02 5.59500963e-02 1.82512590e+02] [-5.85854626e-02 9.98255094e-01 -7.38311328e-03 -2.41068460e+01] [-5.62873907e-02 4.08084445e-03 9.98406268e-01 -1.28516802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.34071405699999 meters 0.038015545243661776 Centerline is valid? [True, True] Translation: X:182.54, Y:-24.11, Z:-12.85 [[ 9.96874204e-01 5.67967271e-02 5.49176971e-02 1.82543174e+02] [-5.64831467e-02 9.98377254e-01 -7.24663432e-03 -2.41092403e+01] [-5.52401647e-02 4.12205848e-03 9.98464588e-01 -1.28543763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.370714057 meters 0.04395043338374657 Centerline is valid? [True, True] Translation: X:182.57, Y:-24.12, Z:-12.86 [[ 9.96970452e-01 5.56504954e-02 5.43409583e-02 1.82571788e+02] [-5.53417287e-02 9.98441717e-01 -7.17153028e-03 -2.41210190e+01] [-5.46553789e-02 4.14248121e-03 9.98496685e-01 -1.28576666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.400714057 meters 0.04096153825573042 Centerline is valid? [True, True] Translation: X:182.60, Y:-24.12, Z:-12.86 [[ 9.97061614e-01 5.43475771e-02 5.39859156e-02 1.82603454e+02] [-5.40409006e-02 9.98513300e-01 -7.12539512e-03 -2.41207029e+01] [-5.42929027e-02 4.18701046e-03 9.98516274e-01 -1.28590057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.430714057 meters 0.04178413563326685 Centerline is valid? [True, True] Translation: X:182.63, Y:-24.13, Z:-12.86 [[ 9.97205438e-01 5.23224905e-02 5.33260888e-02 1.82633689e+02] [-5.20202818e-02 9.98621210e-01 -7.04047285e-03 -2.41255241e+01] [-5.36209384e-02 4.24675965e-03 9.98552332e-01 -1.28616206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.460714057 meters 0.04261333629209686 Centerline is valid? [True, True] Translation: X:182.66, Y:-24.13, Z:-12.86 [[ 9.97231109e-01 5.20010903e-02 5.31601457e-02 1.82664947e+02] [-5.17004287e-02 9.98637991e-01 -7.01631850e-03 -2.41307549e+01] [-5.34525973e-02 4.24848877e-03 9.98561350e-01 -1.28641835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.490714057 meters 0.0442173614567383 Centerline is valid? [True, True] Translation: X:182.70, Y:-24.14, Z:-12.87 [[ 9.97285414e-01 5.08408199e-02 5.32636196e-02 1.82695201e+02] [-5.05365219e-02 9.98697364e-01 -7.04527087e-03 -2.41357990e+01] [-5.35524238e-02 4.33438780e-03 9.98555632e-01 -1.28662788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.520714057 meters 0.04443660590195239 Centerline is valid? [True, True] Translation: X:182.73, Y:-24.14, Z:-12.87 [[ 9.97276955e-01 5.06030889e-02 5.36470085e-02 1.82726988e+02] [-5.02941093e-02 9.98709250e-01 -7.09483689e-03 -2.41400880e+01] [-5.39367842e-02 4.37738882e-03 9.98534757e-01 -1.28681021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.550714057 meters 0.04298994034817938 Centerline is valid? [True, True] Translation: X:182.76, Y:-24.14, Z:-12.87 [[ 9.97253836e-01 5.05399671e-02 5.41340842e-02 1.82758681e+02] [-5.02245012e-02 9.98712194e-01 -7.17302344e-03 -2.41424233e+01] [-5.44268944e-02 4.43446777e-03 9.98507911e-01 -1.28697549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.580714057 meters 0.04298994034817938 Centerline is valid? [True, True] Translation: X:182.79, Y:-24.15, Z:-12.87 [[ 9.97239430e-01 5.08250921e-02 5.41325226e-02 1.82791045e+02] [-5.05094088e-02 9.98697741e-01 -7.18478687e-03 -2.41467996e+01] [-5.44271955e-02 4.43075105e-03 9.98507911e-01 -1.28719983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.610714057 meters 0.04058584532536475 Centerline is valid? [True, True] Translation: X:182.82, Y:-24.15, Z:-12.87 [[ 9.97134648e-01 5.11414484e-02 5.57408748e-02 1.82823084e+02] [-5.08062269e-02 9.98680999e-01 -7.41544814e-03 -2.41487842e+01] [-5.60465893e-02 4.56221674e-03 9.98417731e-01 -1.28734487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.640714057 meters 0.04819901509232547 Centerline is valid? [True, True] Translation: X:182.85, Y:-24.16, Z:-12.88 [[ 9.97096887e-01 5.13764159e-02 5.61984072e-02 1.82853636e+02] [-5.10352102e-02 9.98668761e-01 -7.49082491e-03 -2.41638370e+01] [-5.65084455e-02 4.60098068e-03 9.98391520e-01 -1.28770717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.670714057 meters 0.04225431418177147 Centerline is valid? [True, True] Translation: X:182.89, Y:-24.16, Z:-12.88 [[ 9.96976116e-01 5.21984378e-02 5.75668888e-02 1.82886360e+02] [-5.18407902e-02 9.98625756e-01 -7.68974684e-03 -2.41607050e+01] [-5.78891707e-02 4.68218093e-03 9.98312036e-01 -1.28774713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.700714057 meters 0.042116997831010534 Centerline is valid? [True, True] Translation: X:182.92, Y:-24.16, Z:-12.88 [[ 9.96964245e-01 5.22169168e-02 5.77554109e-02 1.82918373e+02] [-5.18560924e-02 9.98624653e-01 -7.72967278e-03 -2.41646724e+01] [-5.80795969e-02 4.71123747e-03 9.98300839e-01 -1.28796117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.73071405699997 meters 0.04961293953396382 Centerline is valid? [True, True] Translation: X:182.95, Y:-24.18, Z:-12.88 [[ 9.96949303e-01 5.25295005e-02 5.77298787e-02 1.82948986e+02] [-5.21686763e-02 9.98608287e-01 -7.74068881e-03 -2.41793700e+01] [-5.80561498e-02 4.70538296e-03 9.98302230e-01 -1.28833752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.76071405699997 meters 0.04228008557119815 Centerline is valid? [True, True] Translation: X:182.98, Y:-24.17, Z:-12.88 [[ 9.96938292e-01 5.27367938e-02 5.77310278e-02 1.82982646e+02] [-5.23752856e-02 9.98597335e-01 -7.75828784e-03 -2.41746379e+01] [-5.80591978e-02 4.71085516e-03 9.98302027e-01 -1.28844498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.79071405699997 meters 0.04567645549940765 Centerline is valid? [True, True] Translation: X:183.01, Y:-24.18, Z:-12.89 [[ 9.96957073e-01 5.31477233e-02 5.70255494e-02 1.83013310e+02] [-5.27954974e-02 9.98575915e-01 -7.66659602e-03 -2.41844791e+01] [-5.73518023e-02 4.63257489e-03 9.98343283e-01 -1.28883250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.82071405699998 meters 0.03979599756778573 Centerline is valid? [True, True] Translation: X:183.05, Y:-24.18, Z:-12.89 [[ 9.96977437e-01 5.31674591e-02 5.66499032e-02 1.83046165e+02] [-5.28190275e-02 9.98574941e-01 -7.63132303e-03 -2.41811463e+01] [-5.69749118e-02 4.61606408e-03 9.98364939e-01 -1.28900092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.85071405699998 meters 0.040200689324283244 Centerline is valid? [True, True] Translation: X:183.08, Y:-24.19, Z:-12.89 [[ 9.97034026e-01 5.29896054e-02 5.58144558e-02 1.83078094e+02] [-5.26503166e-02 9.98584598e-01 -7.53293560e-03 -2.41859221e+01] [-5.61346231e-02 4.57194434e-03 9.98412741e-01 -1.28936703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.88071405699998 meters 0.043076924625412266 Centerline is valid? [True, True] Translation: X:183.11, Y:-24.19, Z:-12.90 [[ 9.97130408e-01 5.27778717e-02 5.42719577e-02 1.83107807e+02] [-5.24560341e-02 9.98596270e-01 -7.33858142e-03 -2.41948871e+01] [-5.45830892e-02 4.47063102e-03 9.98499224e-01 -1.28983559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.91071405699998 meters 0.043585722661782005 Centerline is valid? [True, True] Translation: X:183.14, Y:-24.20, Z:-12.90 [[ 9.97131769e-01 5.30942543e-02 5.39373270e-02 1.83139420e+02] [-5.27761685e-02 9.98579643e-01 -7.30565022e-03 -2.42009442e+01] [-5.42486048e-02 4.43809047e-03 9.98517597e-01 -1.29021358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.94071405699998 meters 0.042152806018211364 Centerline is valid? [True, True] Translation: X:183.17, Y:-24.20, Z:-12.90 [[ 9.97137306e-01 5.34815281e-02 5.34501595e-02 1.83171159e+02] [-5.31689325e-02 9.98559182e-01 -7.25432581e-03 -2.42035621e+01] [-5.37611200e-02 4.39167097e-03 9.98544168e-01 -1.29040691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.97071405699998 meters 0.0407828718452736 Centerline is valid? [True, True] Translation: X:183.20, Y:-24.21, Z:-12.91 [[ 9.97068946e-01 5.42733546e-02 5.39251362e-02 1.83203490e+02] [-5.39555676e-02 9.98516414e-01 -7.33265683e-03 -2.42056512e+01] [-5.42431015e-02 4.40160308e-03 9.98518058e-01 -1.29061513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.00071405699998 meters 0.0445961510827377 Centerline is valid? [True, True] Translation: X:183.23, Y:-24.21, Z:-12.91 [[ 9.97001190e-01 5.54970923e-02 5.39323695e-02 1.83233621e+02] [-5.51802284e-02 9.98449374e-01 -7.34778948e-03 -2.42147022e+01] [-5.42565215e-02 4.34975439e-03 9.98517556e-01 -1.29086334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.03071405699998 meters 0.041889009797923864 Centerline is valid? [True, True] Translation: X:183.26, Y:-24.21, Z:-12.91 [[ 9.96910594e-01 5.59598839e-02 5.51158604e-02 1.83264967e+02] [-5.56287563e-02 9.98423165e-01 -7.52501819e-03 -2.42148351e+01] [-5.54500509e-02 4.43574359e-03 9.98451609e-01 -1.29096922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.06071405699998 meters 0.04263915138829923 Centerline is valid? [True, True] Translation: X:183.30, Y:-24.22, Z:-12.91 [[ 9.96704485e-01 5.70004829e-02 5.77158124e-02 1.83295183e+02] [-5.66389244e-02 9.98363611e-01 -7.88238096e-03 -2.42196484e+01] [-5.80706664e-02 4.58744292e-03 9.98301935e-01 -1.29100560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.09071405699999 meters 0.04300612004517651 Centerline is valid? [True, True] Translation: X:183.33, Y:-24.22, Z:-12.91 [[ 9.96616514e-01 5.75949499e-02 5.86374073e-02 1.83326835e+02] [-5.72228214e-02 9.98329322e-01 -8.00715018e-03 -2.42245392e+01] [-5.90006144e-02 4.62466022e-03 9.98247234e-01 -1.29118761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.120714057 meters 0.045721476745732965 Centerline is valid? [True, True] Translation: X:183.36, Y:-24.23, Z:-12.91 [[ 9.96547624e-01 5.81581153e-02 5.92491891e-02 1.83356834e+02] [-5.77782662e-02 9.98296535e-01 -8.10561412e-03 -2.42331745e+01] [-5.96196674e-02 4.65431508e-03 9.98210315e-01 -1.29145111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.150714057 meters 0.04136422752338531 Centerline is valid? [True, True] Translation: X:183.39, Y:-24.23, Z:-12.92 [[ 9.96535092e-01 5.82991664e-02 5.93213008e-02 1.83389193e+02] [-5.79177568e-02 9.98288251e-01 -8.13022963e-03 -2.42324231e+01] [-5.96937433e-02 4.66630247e-03 9.98205832e-01 -1.29162547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.180714057 meters 0.043817507390500256 Centerline is valid? [True, True] Translation: X:183.42, Y:-24.24, Z:-12.92 [[ 9.96595496e-01 5.79190660e-02 5.86753715e-02 1.83419843e+02] [-5.75443910e-02 9.98310439e-01 -8.05665696e-03 -2.42417813e+01] [-5.90428700e-02 4.65278951e-03 9.98244605e-01 -1.29199395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.210714057 meters 0.04211129106659951 Centerline is valid? [True, True] Translation: X:183.45, Y:-24.24, Z:-12.92 [[ 9.96661208e-01 5.73646595e-02 5.81010565e-02 1.83452224e+02] [-5.69955093e-02 9.98342444e-01 -7.99230230e-03 -2.42444183e+01] [-5.84632264e-02 4.65411836e-03 9.98278714e-01 -1.29226082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.240714057 meters 0.0438208766492427 Centerline is valid? [True, True] Translation: X:183.48, Y:-24.25, Z:-12.93 [[ 9.96803202e-01 5.61131692e-02 5.68743260e-02 1.83480939e+02] [-5.57564599e-02 9.98413612e-01 -7.84069372e-03 -2.42522949e+01] [-5.72240674e-02 4.64451753e-03 9.98350557e-01 -1.29258520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.270714057 meters 0.0428036878117606 Centerline is valid? [True, True] Translation: X:183.51, Y:-24.26, Z:-12.93 [[ 9.96889828e-01 5.52002339e-02 5.62459261e-02 1.83513024e+02] [-5.48499811e-02 9.98464505e-01 -7.75320087e-03 -2.42562600e+01] [-5.65875393e-02 4.64399910e-03 9.98386841e-01 -1.29279331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.300714057 meters 0.0464635570534466 Centerline is valid? [True, True] Translation: X:183.54, Y:-24.27, Z:-12.93 [[ 9.96968336e-01 5.44230392e-02 5.56081742e-02 1.83542984e+02] [-5.40793837e-02 9.98507202e-01 -7.66727790e-03 -2.42664089e+01] [-5.59424390e-02 4.63677751e-03 9.98423229e-01 -1.29310841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.330714057 meters 0.0487229290853452 Centerline is valid? [True, True] Translation: X:183.57, Y:-24.28, Z:-12.93 [[ 9.97131084e-01 5.19348279e-02 5.50670122e-02 1.83571955e+02] [-5.15931957e-02 9.98639201e-01 -7.60847339e-03 -2.42754966e+01] [-5.53872218e-02 4.74556218e-03 9.98453672e-01 -1.29335957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.360714057 meters 0.046572376027061754 Centerline is valid? [True, True] Translation: X:183.60, Y:-24.28, Z:-12.94 [[ 9.97157080e-01 5.14271363e-02 5.50727439e-02 1.83603780e+02] [-5.10848472e-02 9.98665353e-01 -7.60597927e-03 -2.42783803e+01] [-5.53903949e-02 4.77097338e-03 9.98453375e-01 -1.29352266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.390714057 meters 0.048492089000528364 Centerline is valid? [True, True] Translation: X:183.63, Y:-24.29, Z:-12.94 [[ 9.97214025e-01 5.05356471e-02 5.48665443e-02 1.83634987e+02] [-5.01937095e-02 9.98710636e-01 -7.59328376e-03 -2.42874212e+01] [-5.51795328e-02 4.81817368e-03 9.98464824e-01 -1.29380333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.420714057 meters 0.053038036980050746 Centerline is valid? [True, True] Translation: X:183.66, Y:-24.30, Z:-12.94 [[ 9.97217908e-01 5.12204053e-02 5.41563848e-02 1.83664602e+02] [-5.08881237e-02 9.98676215e-01 -7.49777175e-03 -2.42991088e+01] [-5.44687323e-02 4.72099545e-03 9.98504316e-01 -1.29410934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.450714057 meters 0.04893791096139652 Centerline is valid? [True, True] Translation: X:183.70, Y:-24.30, Z:-12.94 [[ 9.97190250e-01 5.20824050e-02 5.38426300e-02 1.83697703e+02] [-5.17544313e-02 9.98631912e-01 -7.46875569e-03 -2.42982569e+01] [-5.41579593e-02 4.66117566e-03 9.98521501e-01 -1.29422433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.48071405699997 meters 0.04443763049422103 Centerline is valid? [True, True] Translation: X:183.73, Y:-24.30, Z:-12.94 [[ 9.97098716e-01 5.37142267e-02 5.39345129e-02 1.83729925e+02] [-5.33872160e-02 9.98545820e-01 -7.48670862e-03 -2.42965412e+01] [-5.42582251e-02 4.58557406e-03 9.98516408e-01 -1.29429809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.51071405699997 meters 0.04761873818023269 Centerline is valid? [True, True] Translation: X:183.76, Y:-24.31, Z:-12.94 [[ 9.96884394e-01 5.71861607e-02 5.43253890e-02 1.83758439e+02] [-5.68592848e-02 9.98353693e-01 -7.54492683e-03 -2.43053748e+01] [-5.46674182e-02 4.43251705e-03 9.98494780e-01 -1.29447790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.54071405699997 meters 0.047869496100842054 Centerline is valid? [True, True] Translation: X:183.79, Y:-24.31, Z:-12.95 [[ 9.96720563e-01 5.93265322e-02 5.50316414e-02 1.83787946e+02] [-5.89943947e-02 9.98229064e-01 -7.64182771e-03 -2.43104100e+01] [-5.53875470e-02 4.37020844e-03 9.98455368e-01 -1.29468635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.57071405699998 meters 0.04773605894375762 Centerline is valid? [True, True] Translation: X:183.82, Y:-24.31, Z:-12.95 [[ 9.96451851e-01 6.36008646e-02 5.51238417e-02 1.83816737e+02] [-6.32740936e-02 9.97966829e-01 -7.65486448e-03 -2.43148788e+01] [-5.54986216e-02 4.13979276e-03 9.98450182e-01 -1.29489004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.60071405699998 meters 0.04763016225629941 Centerline is valid? [True, True] Translation: X:183.85, Y:-24.32, Z:-12.95 [[ 9.96300611e-01 6.60082763e-02 5.50272589e-02 1.83846411e+02] [-6.56863675e-02 9.97811068e-01 -7.64022472e-03 -2.43185277e+01] [-5.54111260e-02 3.99741981e-03 9.98455621e-01 -1.29510329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.63071405699998 meters 0.045818081776572386 Centerline is valid? [True, True] Translation: X:183.88, Y:-24.32, Z:-12.95 [[ 9.96032882e-01 7.05529208e-02 5.42289873e-02 1.83876085e+02] [-7.02469764e-02 9.97501211e-01 -7.52965421e-03 -2.43197994e+01] [-5.46247197e-02 3.69036078e-03 9.98500136e-01 -1.29531082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.66071405699998 meters 0.03445615183963093 Centerline is valid? [True, True] Translation: X:183.91, Y:-24.31, Z:-12.95 [[ 9.95899049e-01 7.26483493e-02 5.39193914e-02 1.83908181e+02] [-7.23489811e-02 9.97351284e-01 -7.48604383e-03 -2.43076072e+01] [-5.43204230e-02 3.55433090e-03 9.98517230e-01 -1.29517681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.69071405699998 meters 0.036504008828137126 Centerline is valid? [True, True] Translation: X:183.94, Y:-24.32, Z:-12.95 [[ 9.95617189e-01 7.64000708e-02 5.39392363e-02 1.83936717e+02] [-7.61061170e-02 9.97071622e-01 -7.48590783e-03 -2.43151993e+01] [-5.43532057e-02 3.34799269e-03 9.98516159e-01 -1.29545991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.72071405699998 meters 0.03351421280266772 Centerline is valid? [True, True] Translation: X:183.97, Y:-24.31, Z:-12.96 [[ 9.95499223e-01 7.78414591e-02 5.40555690e-02 1.83966161e+02] [-7.75484018e-02 9.96960370e-01 -7.50109886e-03 -2.43149395e+01] [-5.44751566e-02 3.27541510e-03 9.98509754e-01 -1.29556109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.75071405699998 meters 0.032601896439809555 Centerline is valid? [True, True] Translation: X:184.00, Y:-24.32, Z:-12.96 [[ 9.95350329e-01 7.92514826e-02 5.47441874e-02 1.83995295e+02] [-7.89531937e-02 9.96849402e-01 -7.59360598e-03 -2.43188452e+01] [-5.51735151e-02 3.23606977e-03 9.98471537e-01 -1.29568343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.78071405699998 meters 0.03281274148603514 Centerline is valid? [True, True] Translation: X:184.02, Y:-24.32, Z:-12.96 [[ 9.95298795e-01 7.95136342e-02 5.52981976e-02 1.84023389e+02] [-7.92098309e-02 9.96828476e-01 -7.66761972e-03 -2.43236947e+01] [-5.57324984e-02 3.25141178e-03 9.98440442e-01 -1.29585395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.81071405699998 meters 0.0323122187294376 Centerline is valid? [True, True] Translation: X:184.05, Y:-24.33, Z:-12.96 [[ 9.95307486e-01 7.94161435e-02 5.52818675e-02 1.84051915e+02] [-7.91125936e-02 9.96836246e-01 -7.66134851e-03 -2.43275685e+01] [-5.57154040e-02 3.25190561e-03 9.98441395e-01 -1.29602695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.84071405699999 meters 0.03588175203527399 Centerline is valid? [True, True] Translation: X:184.08, Y:-24.34, Z:-12.96 [[ 9.95389002e-01 7.87459456e-02 5.47705303e-02 1.84078269e+02] [-7.84471786e-02 9.96889401e-01 -7.58692174e-03 -2.43385913e+01] [-5.51976005e-02 3.25534488e-03 9.98470144e-01 -1.29633687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.870714057 meters 0.03386707694714055 Centerline is valid? [True, True] Translation: X:184.11, Y:-24.34, Z:-12.96 [[ 9.95538534e-01 7.76153655e-02 5.36552172e-02 1.84106615e+02] [-7.73273378e-02 9.96978098e-01 -7.42658470e-03 -2.43413757e+01] [-5.40694935e-02 3.24443614e-03 9.98531904e-01 -1.29648213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.900714057 meters 0.03488634477010894 Centerline is valid? [True, True] Translation: X:184.13, Y:-24.35, Z:-12.97 [[ 9.95637216e-01 7.68224833e-02 5.29607361e-02 1.84134777e+02] [-7.65409563e-02 9.97039519e-01 -7.32669273e-03 -2.43477160e+01] [-5.33668015e-02 3.24106257e-03 9.98569717e-01 -1.29674193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.930714057 meters 0.03575675721894768 Centerline is valid? [True, True] Translation: X:184.16, Y:-24.35, Z:-12.97 [[ 9.95739815e-01 7.60325812e-02 5.21657761e-02 1.84161700e+02] [-7.57585508e-02 9.97100100e-01 -7.21333208e-03 -2.43535699e+01] [-5.25629489e-02 3.23059835e-03 9.98612387e-01 -1.29695754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.960714057 meters 0.03504338084183851 Centerline is valid? [True, True] Translation: X:184.19, Y:-24.36, Z:-12.97 [[ 9.95914228e-01 7.46893593e-02 5.07577556e-02 1.84191027e+02] [-7.44284716e-02 9.97201693e-01 -7.01334450e-03 -2.43582479e+01] [-5.11395420e-02 3.20686740e-03 9.98686369e-01 -1.29713635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.990714057 meters 0.03401818917771029 Centerline is valid? [True, True] Translation: X:184.22, Y:-24.36, Z:-12.97 [[ 9.95954541e-01 7.43881705e-02 5.04078533e-02 1.84219206e+02] [-7.41305453e-02 9.97224231e-01 -6.96385195e-03 -2.43616132e+01] [-5.07859609e-02 3.19891833e-03 9.98704437e-01 -1.29727907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.020714057 meters 0.034069875156091396 Centerline is valid? [True, True] Translation: X:184.25, Y:-24.37, Z:-12.97 [[ 9.96029903e-01 7.39776741e-02 4.95150094e-02 1.84247372e+02] [-7.37287744e-02 9.97254894e-01 -6.83698811e-03 -2.43673523e+01] [-4.98848699e-02 3.15916365e-03 9.98749978e-01 -1.29747365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.050714057 meters 0.03637442921855246 Centerline is valid? [True, True] Translation: X:184.27, Y:-24.38, Z:-12.98 [[ 9.96029809e-01 7.40088138e-02 4.94703515e-02 1.84274362e+02] [-7.37605652e-02 9.97252608e-01 -6.82754248e-03 -2.43756672e+01] [-4.98397354e-02 3.15147474e-03 9.98752256e-01 -1.29775593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.080714057 meters 0.035127630356819095 Centerline is valid? [True, True] Translation: X:184.30, Y:-24.38, Z:-12.98 [[ 9.95996650e-01 7.48966246e-02 4.87972257e-02 1.84302938e+02] [-7.46563842e-02 9.97186609e-01 -6.72994239e-03 -2.43783409e+01] [-4.91639899e-02 3.05997565e-03 9.98786032e-01 -1.29785420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.110714057 meters 0.040133192638959266 Centerline is valid? [True, True] Translation: X:184.33, Y:-24.39, Z:-12.98 [[ 9.95914477e-01 7.62093431e-02 4.84405793e-02 1.84329682e+02] [-7.59743192e-02 9.97087417e-01 -6.67730859e-03 -2.43903322e+01] [-4.88083654e-02 2.96978826e-03 9.98803746e-01 -1.29823956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.140714057 meters 0.03469239241809501 Centerline is valid? [True, True] Translation: X:184.36, Y:-24.39, Z:-12.98 [[ 9.95852816e-01 7.68443152e-02 4.87044122e-02 1.84359405e+02] [-7.66076491e-02 9.97038736e-01 -6.71018976e-03 -2.43868917e+01] [-4.90758256e-02 2.95123084e-03 9.98790696e-01 -1.29812684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.170714057 meters 0.034845743279920294 Centerline is valid? [True, True] Translation: X:184.39, Y:-24.39, Z:-12.98 [[ 9.95789777e-01 7.72352956e-02 4.93703317e-02 1.84387966e+02] [-7.69927641e-02 9.97008474e-01 -6.79835196e-03 -2.43917156e+01] [-4.97477117e-02 2.96857108e-03 9.98757404e-01 -1.29826507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.200714057 meters 0.03599446348221075 Centerline is valid? [True, True] Translation: X:184.42, Y:-24.40, Z:-12.98 [[ 9.95807004e-01 7.69584438e-02 4.94551163e-02 1.84415148e+02] [-7.67148969e-02 9.97029835e-01 -6.80683508e-03 -2.43974180e+01] [-4.98320699e-02 2.98434990e-03 9.98753152e-01 -1.29847488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.23071405699997 meters 0.0356128183410387 Centerline is valid? [True, True] Translation: X:184.44, Y:-24.40, Z:-12.99 [[ 9.95892013e-01 7.54858692e-02 5.00098265e-02 1.84443524e+02] [-7.52352150e-02 9.97142091e-01 -6.87840504e-03 -2.44025480e+01] [-5.03861253e-02 3.08764860e-03 9.98725040e-01 -1.29854165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.26071405699997 meters 0.036593019547108224 Centerline is valid? [True, True] Translation: X:184.47, Y:-24.41, Z:-12.99 [[ 9.96080841e-01 7.25962741e-02 5.05246395e-02 1.84473258e+02] [-7.23369737e-02 9.97356074e-01 -6.94436091e-03 -2.44101777e+01] [-5.08951908e-02 3.26234534e-03 9.98698672e-01 -1.29872617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.29071405699997 meters 0.03671220900068219 Centerline is valid? [True, True] Translation: X:184.50, Y:-24.42, Z:-12.99 [[ 9.96288570e-01 7.02830157e-02 4.96928773e-02 1.84503318e+02] [-7.00293274e-02 9.97521551e-01 -6.83003933e-03 -2.44153748e+01] [-5.00497518e-02 3.32473135e-03 9.98741192e-01 -1.29891459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.32071405699998 meters 0.04061307480353812 Centerline is valid? [True, True] Translation: X:184.53, Y:-24.43, Z:-12.99 [[ 9.96412330e-01 6.84367783e-02 4.97883142e-02 1.84530055e+02] [-6.81797556e-02 9.97649575e-01 -6.84445043e-03 -2.44256553e+01] [-5.01397026e-02 3.42533971e-03 9.98736340e-01 -1.29925634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.35071405699998 meters 0.03608630581043179 Centerline is valid? [True, True] Translation: X:184.56, Y:-24.43, Z:-12.99 [[ 9.96725115e-01 6.42077438e-02 4.91570018e-02 1.84561200e+02] [-6.39523241e-02 9.97930107e-01 -6.75291382e-03 -2.44251750e+01] [-4.94888414e-02 3.58709429e-03 9.98768235e-01 -1.29936144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.38071405699998 meters 0.039962525537988784 Centerline is valid? [True, True] Translation: X:184.59, Y:-24.44, Z:-13.00 [[ 9.96845946e-01 6.24058573e-02 4.90272286e-02 1.84588770e+02] [-6.21496479e-02 9.98044121e-01 -6.73451379e-03 -2.44353251e+01] [-4.93516103e-02 3.66624778e-03 9.98774738e-01 -1.29970379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.41071405699998 meters 0.04721111851637906 Centerline is valid? [True, True] Translation: X:184.62, Y:-24.45, Z:-13.00 [[ 9.97042661e-01 5.97337268e-02 4.83509393e-02 1.84616512e+02] [-5.94813084e-02 9.98207309e-01 -6.64393704e-03 -2.44494763e+01] [-4.86611281e-02 3.74831154e-03 9.98808312e-01 -1.30011185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.44071405699998 meters 0.047888289503151035 Centerline is valid? [True, True] Translation: X:184.65, Y:-24.45, Z:-13.00 [[ 9.97089262e-01 5.90124688e-02 4.82755897e-02 1.84645577e+02] [-5.87600724e-02 9.98250104e-01 -6.63204486e-03 -2.44544809e+01] [-4.85824857e-02 3.77606356e-03 9.98812036e-01 -1.30033703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.47071405699998 meters 0.04849051327583035 Centerline is valid? [True, True] Translation: X:184.68, Y:-24.46, Z:-13.01 [[ 9.97098284e-01 5.86318940e-02 4.85521587e-02 1.84675913e+02] [-5.83761283e-02 9.98272374e-01 -6.67040571e-03 -2.44593228e+01] [-4.88593773e-02 3.81676304e-03 9.98798375e-01 -1.30054567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.50071405699998 meters 0.04849051327583035 Centerline is valid? [True, True] Translation: X:184.71, Y:-24.46, Z:-13.01 [[ 9.97098284e-01 5.86318940e-02 4.85521587e-02 1.84705660e+02] [-5.83761283e-02 9.98272374e-01 -6.67040571e-03 -2.44634096e+01] [-4.88593773e-02 3.81676304e-03 9.98798375e-01 -1.30075247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.53071405699998 meters 0.050485711946645834 Centerline is valid? [True, True] Translation: X:184.74, Y:-24.47, Z:-13.01 [[ 9.97050237e-01 5.87501476e-02 4.93887173e-02 1.84735648e+02] [-5.84857092e-02 9.98265197e-01 -6.78368314e-03 -2.44697327e+01] [-4.97015800e-02 3.87513872e-03 9.98756595e-01 -1.30096864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.56071405699998 meters 0.04960730739620397 Centerline is valid? [True, True] Translation: X:184.77, Y:-24.47, Z:-13.01 [[ 9.96990510e-01 5.92099317e-02 5.00410491e-02 1.84766043e+02] [-5.89387212e-02 9.98237898e-01 -6.87939330e-03 -2.44728630e+01] [-5.03602001e-02 3.90933440e-03 9.98723469e-01 -1.30109665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.59071405699999 meters 0.04250402819114378 Centerline is valid? [True, True] Translation: X:184.80, Y:-24.47, Z:-13.01 [[ 9.96810432e-01 6.07034761e-02 5.18078149e-02 1.84798492e+02] [-6.04147724e-02 9.98147951e-01 -7.12199360e-03 -2.44662519e+01] [-5.21441940e-02 3.96932018e-03 9.98631678e-01 -1.30100476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.620714057 meters 0.042584501370245 Centerline is valid? [True, True] Translation: X:184.83, Y:-24.47, Z:-13.01 [[ 9.96717499e-01 6.18201003e-02 5.22733513e-02 1.84828799e+02] [-6.15276406e-02 9.98079503e-01 -7.18719839e-03 -2.44700005e+01] [-5.26172738e-02 3.94735043e-03 9.98606950e-01 -1.30122341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.650714057 meters 0.03685959344511843 Centerline is valid? [True, True] Translation: X:184.86, Y:-24.46, Z:-13.01 [[ 9.96525386e-01 6.46885300e-02 5.24647399e-02 1.84859949e+02] [-6.43978699e-02 9.97898231e-01 -7.21355833e-03 -2.44644259e+01] [-5.28211056e-02 3.80987650e-03 9.98596723e-01 -1.30130665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.680714057 meters 0.035063328807937146 Centerline is valid? [True, True] Translation: X:184.89, Y:-24.46, Z:-13.01 [[ 9.96468705e-01 6.59866998e-02 5.19218187e-02 1.84889520e+02] [-6.57037618e-02 9.97813633e-01 -7.13931400e-03 -2.44642348e+01] [-5.22793983e-02 3.70264417e-03 9.98625633e-01 -1.30147358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.710714057 meters 0.036650482887355874 Centerline is valid? [True, True] Translation: X:184.92, Y:-24.47, Z:-13.02 [[ 9.96219686e-01 7.00595159e-02 5.13614771e-02 1.84918660e+02] [-6.97881508e-02 9.97536851e-01 -7.06013861e-03 -2.44679353e+01] [-5.17295960e-02 3.44902657e-03 9.98655172e-01 -1.30185290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.740714057 meters 0.033789019474771635 Centerline is valid? [True, True] Translation: X:184.95, Y:-24.47, Z:-13.02 [[ 9.96065154e-01 7.23321249e-02 5.12081370e-02 1.84949015e+02] [-7.20654300e-02 9.97375076e-01 -7.03784520e-03 -2.44665585e+01] [-5.15827818e-02 3.31981595e-03 9.98663204e-01 -1.30199172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.770714057 meters 0.03368522012432868 Centerline is valid? [True, True] Translation: X:184.98, Y:-24.47, Z:-13.02 [[ 9.95885492e-01 7.48645883e-02 5.10625178e-02 1.84978099e+02] [-7.46027549e-02 9.97188642e-01 -7.01720133e-03 -2.44690660e+01] [-5.14443027e-02 3.17892450e-03 9.98670806e-01 -1.30221455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.800714057 meters 0.03240571441323924 Centerline is valid? [True, True] Translation: X:185.01, Y:-24.47, Z:-13.02 [[ 9.95379824e-01 8.07193257e-02 5.19941918e-02 1.85007105e+02] [-8.04558832e-02 9.96732573e-01 -7.14345737e-03 -2.44674913e+01] [-5.24009197e-02 2.92721472e-03 9.98621838e-01 -1.30231866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.830714057 meters 0.030930524508753252 Centerline is valid? [True, True] Translation: X:185.04, Y:-24.47, Z:-13.02 [[ 9.95066087e-01 8.41350134e-02 5.25811930e-02 1.85037095e+02] [-8.38704692e-02 9.96450498e-01 -7.22152312e-03 -2.44675711e+01] [-5.30021389e-02 2.77588343e-03 9.98590541e-01 -1.30241346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.860714057 meters 0.029397387124140494 Centerline is valid? [True, True] Translation: X:185.07, Y:-24.47, Z:-13.02 [[ 9.94305234e-01 9.14961008e-02 5.46403314e-02 1.85067244e+02] [-9.12215965e-02 9.95802359e-01 -7.50218929e-03 -2.44652092e+01] [-5.50973920e-02 2.47508781e-03 9.98477917e-01 -1.30242339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.890714057 meters 0.028431782402417685 Centerline is valid? [True, True] Translation: X:185.10, Y:-24.47, Z:-13.03 [[ 9.93877975e-01 9.52395225e-02 5.60000320e-02 1.85095838e+02] [-9.49571752e-02 9.95451675e-01 -7.68744566e-03 -2.44661868e+01] [-5.64774743e-02 2.32277807e-03 9.98401172e-01 -1.30255240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.920714057 meters 0.025089650259904214 Centerline is valid? [True, True] Translation: X:185.13, Y:-24.46, Z:-13.03 [[ 9.92892714e-01 1.04072217e-01 5.77324142e-02 1.85126891e+02] [-1.03787192e-01 9.94567978e-01 -7.92185036e-03 -2.44621225e+01] [-5.82432550e-02 1.87366237e-03 9.98300662e-01 -1.30260569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.950714057 meters 0.024810473780812414 Centerline is valid? [True, True] Translation: X:185.16, Y:-24.46, Z:-13.03 [[ 9.92416940e-01 1.08063700e-01 5.85734970e-02 1.85155539e+02] [-1.07777314e-01 9.94142582e-01 -8.03594895e-03 -2.44644582e+01] [-5.90988019e-02 1.66211768e-03 9.98250755e-01 -1.30281886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.98071405699997 meters 0.02219942313274921 Centerline is valid? [True, True] Translation: X:185.19, Y:-24.46, Z:-13.03 [[ 9.91930131e-01 1.12086936e-01 5.92548202e-02 1.85185118e+02] [-1.11801181e-01 9.93697367e-01 -8.12648048e-03 -2.44617116e+01] [-5.97922310e-02 1.43614199e-03 9.98209811e-01 -1.30281759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.01071405699997 meters 0.02139657341783626 Centerline is valid? [True, True] Translation: X:185.21, Y:-24.46, Z:-13.03 [[ 9.91088421e-01 1.18388449e-01 6.10566711e-02 1.85214034e+02] [-1.18097256e-01 9.92966767e-01 -8.36881830e-03 -2.44626370e+01] [-6.16180167e-02 1.08361362e-03 9.98099216e-01 -1.30288750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.04071405699997 meters 0.02164733024788709 Centerline is valid? [True, True] Translation: X:185.24, Y:-24.47, Z:-13.03 [[ 9.90797189e-01 1.20353104e-01 6.19359425e-02 1.85241311e+02] [-1.20057472e-01 9.92730671e-01 -8.48637045e-03 -2.44675354e+01] [-6.25070707e-02 9.72399304e-04 9.98044047e-01 -1.30312724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.07071405699998 meters 0.020820374019698717 Centerline is valid? [True, True] Translation: X:185.27, Y:-24.47, Z:-13.03 [[ 9.90524487e-01 1.22328779e-01 6.24252326e-02 1.85269324e+02] [-1.22032859e-01 9.92489271e-01 -8.54566632e-03 -2.44719479e+01] [-6.30017546e-02 8.46762129e-04 9.98013057e-01 -1.30328130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.10071405699998 meters 0.020830044393725034 Centerline is valid? [True, True] Translation: X:185.30, Y:-24.48, Z:-13.04 [[ 9.90557798e-01 1.22246534e-01 6.20567010e-02 1.85296496e+02] [-1.21954896e-01 9.92499417e-01 -8.47999393e-03 -2.44777300e+01] [-6.26278894e-02 8.31805572e-04 9.98036600e-01 -1.30351635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.13071405699998 meters 0.020857764118183977 Centerline is valid? [True, True] Translation: X:185.32, Y:-24.48, Z:-13.04 [[ 9.90711123e-01 1.21286605e-01 6.14900859e-02 1.85324774e+02] [-1.20999530e-01 9.92617151e-01 -8.38482635e-03 -2.44841375e+01] [-6.20530810e-02 8.66669223e-04 9.98072474e-01 -1.30377678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.16071405699998 meters 0.02137136577794463 Centerline is valid? [True, True] Translation: X:185.35, Y:-24.50, Z:-13.04 [[ 9.91076926e-01 1.18580422e-01 6.08704412e-02 1.85351638e+02] [-1.18295019e-01 9.92943938e-01 -8.28395781e-03 -2.44950780e+01] [-6.14232508e-02 1.00936947e-03 9.98111299e-01 -1.30414263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.19071405699998 meters 0.02157688579230286 Centerline is valid? [True, True] Translation: X:185.38, Y:-24.50, Z:-13.04 [[ 9.91259486e-01 1.17110276e-01 6.07438460e-02 1.85378684e+02] [-1.16823642e-01 9.93118316e-01 -8.26120681e-03 -2.45044138e+01] [-6.12932982e-02 1.09268233e-03 9.98119200e-01 -1.30446141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.22071405699998 meters 0.02141517929978742 Centerline is valid? [True, True] Translation: X:185.41, Y:-24.52, Z:-13.05 [[ 9.91680540e-01 1.13646029e-01 6.04506913e-02 1.85405865e+02] [-1.13356066e-01 9.93520459e-01 -8.21578888e-03 -2.45157910e+01] [-6.09926904e-02 1.29498538e-03 9.98137373e-01 -1.30471076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.25071405699998 meters 0.021510233222331632 Centerline is valid? [True, True] Translation: X:185.43, Y:-24.52, Z:-13.05 [[ 9.91838931e-01 1.12360551e-01 6.02548041e-02 1.85433326e+02] [-1.12070365e-01 9.93666565e-01 -8.18477919e-03 -2.45240901e+01] [-6.07928305e-02 1.36520478e-03 9.98149472e-01 -1.30494669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.28071405699998 meters 0.023152993200541927 Centerline is valid? [True, True] Translation: X:185.46, Y:-24.54, Z:-13.05 [[ 9.91929878e-01 1.11528768e-01 6.03029945e-02 1.85459510e+02] [-1.11236820e-01 9.93760200e-01 -8.18742062e-03 -2.45385856e+01] [-6.08398488e-02 1.41343380e-03 9.98146540e-01 -1.30525196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.31071405699998 meters 0.023028509366125677 Centerline is valid? [True, True] Translation: X:185.49, Y:-24.55, Z:-13.05 [[ 9.91948481e-01 1.11354287e-01 6.03194387e-02 1.85486306e+02] [-1.11062361e-01 9.93779763e-01 -8.18138244e-03 -2.45451672e+01] [-6.08552695e-02 1.41629060e-03 9.98145596e-01 -1.30539889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.34071405699999 meters 0.023091819531278434 Centerline is valid? [True, True] Translation: X:185.51, Y:-24.55, Z:-13.06 [[ 9.91880676e-01 1.11644194e-01 6.08958078e-02 1.85513241e+02] [-1.11347589e-01 9.93747251e-01 -8.25326007e-03 -2.45520800e+01] [-6.14364702e-02 1.40564780e-03 9.98110006e-01 -1.30555877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.370714057 meters 0.021407109100706347 Centerline is valid? [True, True] Translation: X:185.54, Y:-24.56, Z:-13.06 [[ 9.91857436e-01 1.11853917e-01 6.08894800e-02 1.85541431e+02] [-1.11558084e-01 9.93723692e-01 -8.24726373e-03 -2.45585508e+01] [-6.14298076e-02 1.38739611e-03 9.98110442e-01 -1.30561184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.400714057 meters 0.021346577772719273 Centerline is valid? [True, True] Translation: X:185.57, Y:-24.57, Z:-13.06 [[ 9.91879855e-01 1.11525270e-01 6.11266437e-02 1.85568518e+02] [-1.11226778e-01 9.93760600e-01 -8.27492979e-03 -2.45698314e+01] [-6.16681139e-02 1.40881656e-03 9.98095716e-01 -1.30585756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.430714057 meters 0.02137747968485362 Centerline is valid? [True, True] Translation: X:185.60, Y:-24.58, Z:-13.06 [[ 9.91866369e-01 1.11306492e-01 6.17411553e-02 1.85595252e+02] [-1.11001805e-01 9.93785094e-01 -8.35383435e-03 -2.45770675e+01] [-6.22872759e-02 1.43250769e-03 9.98057234e-01 -1.30602048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.460714057 meters 0.021479476713086414 Centerline is valid? [True, True] Translation: X:185.62, Y:-24.58, Z:-13.06 [[ 9.91848649e-01 1.11199282e-01 6.22171777e-02 1.85622078e+02] [-1.10890090e-01 9.93797080e-01 -8.41143462e-03 -2.45843392e+01] [-6.27665950e-02 1.44360164e-03 9.98027189e-01 -1.30620211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.490714057 meters 0.021498922972099842 Centerline is valid? [True, True] Translation: X:185.65, Y:-24.59, Z:-13.06 [[ 9.91960288e-01 1.10032303e-01 6.25114307e-02 1.85649994e+02] [-1.09718303e-01 9.93926853e-01 -8.44424467e-03 -2.45941121e+01] [-6.30609293e-02 1.51770731e-03 9.98008525e-01 -1.30639439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.520714057 meters 0.021628743094610336 Centerline is valid? [True, True] Translation: X:185.68, Y:-24.61, Z:-13.07 [[ 9.92139479e-01 1.08091824e-01 6.30508652e-02 1.85677145e+02] [-1.07768762e-01 9.94139544e-01 -8.51238212e-03 -2.46061642e+01] [-6.36014772e-02 1.65055666e-03 9.97974012e-01 -1.30666785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.550714057 meters 0.021811188463413105 Centerline is valid? [True, True] Translation: X:185.70, Y:-24.61, Z:-13.07 [[ 9.92297941e-01 1.06669731e-01 6.29790864e-02 1.85704715e+02] [-1.06344846e-01 9.94292994e-01 -8.49798653e-03 -2.46143715e+01] [-6.35261424e-02 1.73503331e-03 9.97978667e-01 -1.30688585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.580714057 meters 0.022434108637547457 Centerline is valid? [True, True] Translation: X:185.73, Y:-24.62, Z:-13.07 [[ 9.92459823e-01 1.04859525e-01 6.34663732e-02 1.85731029e+02] [-1.04526188e-01 9.94485303e-01 -8.55909679e-03 -2.46232118e+01] [-6.40138782e-02 1.86066165e-03 9.97947274e-01 -1.30709971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.610714057 meters 0.02778715753492622 Centerline is valid? [True, True] Translation: X:185.76, Y:-24.64, Z:-13.07 [[ 9.92920113e-01 9.93937801e-02 6.50424957e-02 1.85757113e+02] [-9.90324537e-02 9.95045610e-01 -8.76395429e-03 -2.46444722e+01] [-6.55913324e-02 2.26058853e-03 9.97844009e-01 -1.30735894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.640714057 meters 0.02531496505164223 Centerline is valid? [True, True] Translation: X:185.79, Y:-24.65, Z:-13.07 [[ 9.93220463e-01 9.60487271e-02 6.54809406e-02 1.85786909e+02] [-9.56754117e-02 9.95373504e-01 -8.82060160e-03 -2.46474285e+01] [-6.60252008e-02 2.49588606e-03 9.97814834e-01 -1.30748996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.670714057 meters 0.028002525956773754 Centerline is valid? [True, True] Translation: X:185.82, Y:-24.66, Z:-13.08 [[ 9.93882827e-01 8.84899726e-02 6.60791271e-02 1.85815241e+02] [-8.80932916e-02 9.96072480e-01 -8.89867646e-03 -2.46626480e+01] [-6.66070436e-02 3.02311390e-03 9.97774705e-01 -1.30778935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.700714057 meters 0.029099416410091162 Centerline is valid? [True, True] Translation: X:185.84, Y:-24.67, Z:-13.08 [[ 9.94232690e-01 8.45444188e-02 6.59818119e-02 1.85844881e+02] [-8.41402434e-02 9.96414304e-01 -8.88559662e-03 -2.46717384e+01] [-6.64964488e-02 3.28262492e-03 9.97781262e-01 -1.30803530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.73071405699997 meters 0.03188035763686705 Centerline is valid? [True, True] Translation: X:185.87, Y:-24.69, Z:-13.08 [[ 9.94839703e-01 7.78152866e-02 6.51056591e-02 1.85872866e+02] [-7.74073475e-02 9.96960987e-01 -8.76886021e-03 -2.46850937e+01] [-6.55901536e-02 3.68395391e-03 9.97839847e-01 -1.30838892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.76071405699997 meters 0.033119963063704884 Centerline is valid? [True, True] Translation: X:185.90, Y:-24.69, Z:-13.09 [[ 9.94997629e-01 7.56984654e-02 6.51878798e-02 1.85903246e+02] [-7.52850171e-02 9.97123408e-01 -8.77921316e-03 -2.46928061e+01] [-6.56649339e-02 3.82762563e-03 9.97834388e-01 -1.30863018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.79071405699997 meters 0.03514521821349928 Centerline is valid? [True, True] Translation: X:185.93, Y:-24.70, Z:-13.09 [[ 9.95102681e-01 7.33747720e-02 6.62328948e-02 1.85932508e+02] [-7.29426475e-02 9.97296225e-01 -8.92244000e-03 -2.47009336e+01] [-6.67084980e-02 4.04754127e-03 9.97764298e-01 -1.30879797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.82071405699998 meters 0.035606299596012615 Centerline is valid? [True, True] Translation: X:185.96, Y:-24.71, Z:-13.09 [[ 9.95068344e-01 7.40777576e-02 6.59657184e-02 1.85963271e+02] [-7.36506885e-02 9.97244512e-01 -8.88595788e-03 -2.47057968e+01] [-6.64422024e-02 3.98371482e-03 9.97782323e-01 -1.30896610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.85071405699998 meters 0.03469284253421126 Centerline is valid? [True, True] Translation: X:185.99, Y:-24.71, Z:-13.09 [[ 9.94886077e-01 7.73794041e-02 6.49162603e-02 1.85993824e+02] [-7.69718265e-02 9.96994785e-01 -8.75996022e-03 -2.47075334e+01] [-6.53990135e-02 3.71843933e-03 9.97852265e-01 -1.30926225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.88071405699998 meters 0.033877119341690944 Centerline is valid? [True, True] Translation: X:186.02, Y:-24.71, Z:-13.10 [[ 9.94733468e-01 7.99921829e-02 6.40825839e-02 1.86024929e+02] [-7.96003549e-02 9.96789339e-01 -8.64849638e-03 -2.47100194e+01] [-6.45686485e-02 3.50195238e-03 9.97907123e-01 -1.30953426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.91071405699998 meters 0.03213468218100629 Centerline is valid? [True, True] Translation: X:186.05, Y:-24.71, Z:-13.10 [[ 9.94307074e-01 8.58993762e-02 6.30455392e-02 1.86054513e+02] [-8.55318173e-02 9.96299087e-01 -8.51097714e-03 -2.47104324e+01] [-6.35433008e-02 3.07012524e-03 9.97974360e-01 -1.30986965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.94071405699998 meters 0.030976596182727512 Centerline is valid? [True, True] Translation: X:186.08, Y:-24.71, Z:-13.10 [[ 9.94019678e-01 8.92928418e-02 6.28623031e-02 1.86084785e+02] [-8.89342572e-02 9.96001356e-01 -8.48505068e-03 -2.47121947e+01] [-6.33685935e-02 2.84369510e-03 9.97986140e-01 -1.31008571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.97071405699998 meters 0.02865999621628589 Centerline is valid? [True, True] Translation: X:186.12, Y:-24.71, Z:-13.10 [[ 9.93714604e-01 9.24584478e-02 6.31088002e-02 1.86115471e+02] [-9.21034047e-02 9.95713011e-01 -8.51832245e-03 -2.47113432e+01] [-6.36258443e-02 2.65224606e-03 9.97970299e-01 -1.31025078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.00071405699998 meters 0.02820565630278662 Centerline is valid? [True, True] Translation: X:186.14, Y:-24.71, Z:-13.10 [[ 9.93027928e-01 9.88243363e-02 6.42595157e-02 1.86144295e+02] [-9.84694886e-02 9.95102269e-01 -8.67372050e-03 -2.47142773e+01] [-6.48019645e-02 2.28564505e-03 9.97895526e-01 -1.31043319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.03071405699998 meters 0.0243069016075728 Centerline is valid? [True, True] Translation: X:186.18, Y:-24.71, Z:-13.10 [[ 9.92372826e-01 1.04184382e-01 6.58922495e-02 1.86175181e+02] [-1.03823118e-01 9.94556021e-01 -8.89275454e-03 -2.47096306e+01] [-6.64600196e-02 1.98378915e-03 9.97787117e-01 -1.31044125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.06071405699998 meters 0.026047764727098483 Centerline is valid? [True, True] Translation: X:186.20, Y:-24.72, Z:-13.11 [[ 9.92052760e-01 1.06560072e-01 6.69049447e-02 1.86202767e+02] [-1.06193071e-01 9.94304542e-01 -9.02823926e-03 -2.47171144e+01] [-6.74859402e-02 1.85164813e-03 9.97718507e-01 -1.31060657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.09071405699999 meters 0.025259433146785384 Centerline is valid? [True, True] Translation: X:186.23, Y:-24.72, Z:-13.11 [[ 9.91749319e-01 1.08745017e-01 6.78808429e-02 1.86232031e+02] [-1.08372576e-01 9.94068181e-01 -9.15622898e-03 -2.47195484e+01] [-6.84738803e-02 1.72426205e-03 9.97651419e-01 -1.31074513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.120714057 meters 0.02270078841690916 Centerline is valid? [True, True] Translation: X:186.26, Y:-24.72, Z:-13.11 [[ 9.91312817e-01 1.11681338e-01 6.94706907e-02 1.86260998e+02] [-1.11298885e-01 9.93742861e-01 -9.36396438e-03 -2.47174366e+01] [-7.00817830e-02 1.55060749e-03 9.97540044e-01 -1.31089308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.150714057 meters 0.022903280363320306 Centerline is valid? [True, True] Translation: X:186.29, Y:-24.72, Z:-13.11 [[ 9.91261598e-01 1.12152283e-01 6.94428488e-02 1.86288121e+02] [-1.11771645e-01 9.93689881e-01 -9.35516539e-03 -2.47221230e+01] [-7.00538593e-02 1.51167476e-03 9.97542065e-01 -1.31109569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.180714057 meters 0.023262931674800945 Centerline is valid? [True, True] Translation: X:186.32, Y:-24.73, Z:-13.11 [[ 9.91367379e-01 1.10871886e-01 6.99867542e-02 1.86316377e+02] [-1.10482512e-01 9.93833405e-01 -9.42215020e-03 -2.47281918e+01] [-7.05998258e-02 1.60849996e-03 9.97503422e-01 -1.31140700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.210714057 meters 0.02420589146807608 Centerline is valid? [True, True] Translation: X:186.34, Y:-24.74, Z:-13.12 [[ 9.91678048e-01 1.07564713e-01 7.07423605e-02 1.86343960e+02] [-1.07158835e-01 9.94196347e-01 -9.51877841e-03 -2.47371578e+01] [-7.13556811e-02 1.85889468e-03 9.97449202e-01 -1.31158748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.240714057 meters 0.024526200775294316 Centerline is valid? [True, True] Translation: X:186.37, Y:-24.74, Z:-13.12 [[ 9.91900672e-01 1.05497084e-01 7.07348755e-02 1.86373372e+02] [-1.05086311e-01 9.94417594e-01 -9.51403208e-03 -2.47433451e+01] [-7.13437073e-02 2.00370766e-03 9.97449778e-01 -1.31181992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.270714057 meters 0.026673177947234082 Centerline is valid? [True, True] Translation: X:186.40, Y:-24.75, Z:-13.12 [[ 9.92396810e-01 1.00541849e-01 7.09923050e-02 1.86401439e+02] [-1.00115596e-01 9.94930017e-01 -9.54618492e-03 -2.47545339e+01] [-7.15921663e-02 2.36616653e-03 9.97431182e-01 -1.31210795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.300714057 meters 0.02731139243696358 Centerline is valid? [True, True] Translation: X:186.43, Y:-24.76, Z:-13.12 [[ 9.92585480e-01 9.85669020e-02 7.11240558e-02 1.86432197e+02] [-9.81340823e-02 9.95127256e-01 -9.56280535e-03 -2.47625034e+01] [-7.17200626e-02 2.51220778e-03 9.97421637e-01 -1.31237577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.330714057 meters 0.02670849642185583 Centerline is valid? [True, True] Translation: X:186.46, Y:-24.77, Z:-13.13 [[ 9.92893838e-01 9.57895404e-02 7.06129634e-02 1.86463254e+02] [-9.53557502e-02 9.95397959e-01 -9.49650386e-03 -2.47666488e+01] [-7.11976654e-02 2.69566806e-03 9.97458584e-01 -1.31268260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.360714057 meters 0.0288257256328004 Centerline is valid? [True, True] Translation: X:186.49, Y:-24.78, Z:-13.13 [[ 9.93451991e-01 9.07909241e-02 6.93552396e-02 1.86491414e+02] [-9.03601555e-02 9.95865452e-01 -9.32976667e-03 -2.47776757e+01] [-6.99155451e-02 3.00172504e-03 9.97548398e-01 -1.31307444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.390714057 meters 0.0288257256328004 Centerline is valid? [True, True] Translation: X:186.52, Y:-24.78, Z:-13.13 [[ 9.93426562e-01 9.10687882e-02 6.93551921e-02 1.86523654e+02] [-9.06386700e-02 9.95840138e-01 -9.33011971e-03 -2.47820908e+01] [-6.99163667e-02 2.98252637e-03 9.97548398e-01 -1.31329855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.420714057 meters 0.030792295416058862 Centerline is valid? [True, True] Translation: X:186.55, Y:-24.79, Z:-13.14 [[ 9.93676094e-01 8.88567748e-02 6.86461505e-02 1.86553923e+02] [-8.84288157e-02 9.96039510e-01 -9.25409908e-03 -2.47909251e+01] [-6.91965675e-02 3.12527924e-03 9.97598149e-01 -1.31358409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.450714057 meters 0.03087243659735191 Centerline is valid? [True, True] Translation: X:186.58, Y:-24.80, Z:-13.14 [[ 9.94064057e-01 8.45537170e-02 6.84639965e-02 1.86584227e+02] [-8.41167753e-02 9.96413014e-01 -9.24516685e-03 -2.47978305e+01] [-6.90001304e-02 3.43131746e-03 9.97610750e-01 -1.31382943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.48071405699997 meters 0.03478908123947281 Centerline is valid? [True, True] Translation: X:186.61, Y:-24.81, Z:-13.14 [[ 9.94235266e-01 8.06211466e-02 7.06856892e-02 1.86612821e+02] [-8.01452307e-02 9.96737467e-01 -9.54793864e-03 -2.48101147e+01] [-7.12248406e-02 3.82777645e-03 9.97452941e-01 -1.31387534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.51071405699997 meters 0.035070646867235024 Centerline is valid? [True, True] Translation: X:186.64, Y:-24.82, Z:-13.14 [[ 9.94320312e-01 7.86271135e-02 7.17279216e-02 1.86643673e+02] [-7.81315377e-02 9.96895935e-01 -9.69322464e-03 -2.48153843e+01] [-7.22674237e-02 4.03395734e-03 9.97377134e-01 -1.31403490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.54071405699997 meters 0.034716213718546725 Centerline is valid? [True, True] Translation: X:186.67, Y:-24.82, Z:-13.14 [[ 9.94428251e-01 7.64543515e-02 7.25753734e-02 1.86674780e+02] [-7.59410224e-02 9.97064050e-01 -9.81031368e-03 -2.48198664e+01] [-7.31123369e-02 4.24420502e-03 9.97314681e-01 -1.31417452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.57071405699998 meters 0.03729337448003024 Centerline is valid? [True, True] Translation: X:186.70, Y:-24.83, Z:-13.14 [[ 9.94744540e-01 7.16440143e-02 7.31466660e-02 1.86704213e+02] [-7.11094290e-02 9.97419489e-01 -9.88999030e-03 -2.48277792e+01] [-7.36664688e-02 4.63659620e-03 9.97272156e-01 -1.31434318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.60071405699998 meters 0.03876642428354893 Centerline is valid? [True, True] Translation: X:186.73, Y:-24.83, Z:-13.15 [[ 9.95103787e-01 6.66575370e-02 7.29741488e-02 1.86734341e+02] [-6.61121216e-02 9.97763415e-01 -9.86690751e-03 -2.48330698e+01] [-7.34686396e-02 4.99412123e-03 9.97285023e-01 -1.31463319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.63071405699998 meters 0.04015629087320412 Centerline is valid? [True, True] Translation: X:186.77, Y:-24.84, Z:-13.15 [[ 9.95263216e-01 6.44424279e-02 7.27894549e-02 1.86765195e+02] [-6.38938555e-02 9.97908164e-01 -9.84237117e-03 -2.48383352e+01] [-7.32714576e-02 5.14495107e-03 9.97298763e-01 -1.31489846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.66071405699998 meters 0.04296752444536821 Centerline is valid? [True, True] Translation: X:186.79, Y:-24.84, Z:-13.15 [[ 9.95435904e-01 6.17055314e-02 7.27996522e-02 1.86794758e+02] [-6.11493545e-02 9.98080062e-01 -9.84616757e-03 -2.48439533e+01] [-7.32674443e-02 5.34957697e-03 9.97297981e-01 -1.31514344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.69071405699998 meters 0.03682963547533443 Centerline is valid? [True, True] Translation: X:186.83, Y:-24.84, Z:-13.15 [[ 9.95458169e-01 6.09217112e-02 7.31544861e-02 1.86828181e+02] [-6.03578893e-02 9.98127750e-01 -9.89544992e-03 -2.48378032e+01] [-7.36203704e-02 5.43505608e-03 9.97271528e-01 -1.31544096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.72071405699998 meters 0.038121859983778796 Centerline is valid? [True, True] Translation: X:186.86, Y:-24.84, Z:-13.16 [[ 9.95400676e-01 6.11129686e-02 7.37746590e-02 1.86859927e+02] [-6.05386243e-02 9.98115778e-01 -9.99842876e-03 -2.48427995e+01] [-7.42466848e-02 5.48622638e-03 9.97224815e-01 -1.31561364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.75071405699998 meters 0.03822992996113077 Centerline is valid? [True, True] Translation: X:186.89, Y:-24.84, Z:-13.16 [[ 9.95210016e-01 6.23213572e-02 7.53198027e-02 1.86892470e+02] [-6.17244595e-02 9.98040809e-01 -1.02291480e-02 -2.48419920e+01] [-7.58097311e-02 5.53107642e-03 9.97106961e-01 -1.31575683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.78071405699998 meters 0.03806875629024145 Centerline is valid? [True, True] Translation: X:186.92, Y:-24.84, Z:-13.16 [[ 9.95054871e-01 6.40317086e-02 7.59324994e-02 1.86924385e+02] [-6.34286024e-02 9.97932912e-01 -1.03303549e-02 -2.48405019e+01] [-7.64370105e-02 5.46297765e-03 9.97059446e-01 -1.31588193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.81071405699998 meters 0.03867941545590988 Centerline is valid? [True, True] Translation: X:186.96, Y:-24.84, Z:-13.16 [[ 9.94996531e-01 6.46539308e-02 7.61693731e-02 1.86956979e+02] [-6.40485066e-02 9.97892936e-01 -1.03671453e-02 -2.48429327e+01] [-7.66791560e-02 5.43673899e-03 9.97040997e-01 -1.31608595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.84071405699999 meters 0.03896024229952845 Centerline is valid? [True, True] Translation: X:186.99, Y:-24.85, Z:-13.16 [[ 9.94894564e-01 6.54664070e-02 7.68046650e-02 1.86988957e+02] [-6.48517003e-02 9.97839951e-01 -1.04732215e-02 -2.48452289e+01] [-7.73244073e-02 5.43883805e-03 9.96991151e-01 -1.31633480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.870714057 meters 0.039031804398113434 Centerline is valid? [True, True] Translation: X:187.02, Y:-24.85, Z:-13.17 [[ 9.94824096e-01 6.66897761e-02 7.66648008e-02 1.87020485e+02] [-6.60794398e-02 9.97759399e-01 -1.04732804e-02 -2.48452901e+01] [-7.71914862e-02 5.35310457e-03 9.97001915e-01 -1.31669547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.900714057 meters 0.03845163719717443 Centerline is valid? [True, True] Translation: X:187.05, Y:-24.85, Z:-13.17 [[ 9.94817297e-01 6.76739706e-02 7.58866228e-02 1.87052699e+02] [-6.70774879e-02 9.97693726e-01 -1.03845792e-02 -2.48466296e+01] [-7.64143732e-02 5.24047498e-03 9.97062376e-01 -1.31705640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.930714057 meters 0.03690069257480418 Centerline is valid? [True, True] Translation: X:187.08, Y:-24.84, Z:-13.17 [[ 9.94784694e-01 6.93004518e-02 7.48388903e-02 1.87084502e+02] [-6.87236480e-02 9.97582993e-01 -1.02582884e-02 -2.48437697e+01] [-7.53689082e-02 5.06158669e-03 9.97142872e-01 -1.31740162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.960714057 meters 0.03472131878892453 Centerline is valid? [True, True] Translation: X:187.12, Y:-24.84, Z:-13.18 [[ 9.94723847e-01 7.03545651e-02 7.46639407e-02 1.87117549e+02] [-6.97831797e-02 9.97509651e-01 -1.02374003e-02 -2.48427779e+01] [-7.51982492e-02 4.97309905e-03 9.97156202e-01 -1.31763773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.990714057 meters 0.0385423983167008 Centerline is valid? [True, True] Translation: X:187.15, Y:-24.85, Z:-13.18 [[ 9.94653479e-01 7.21380886e-02 7.38955501e-02 1.87147613e+02] [-7.15828487e-02 9.97383130e-01 -1.01384064e-02 -2.48481390e+01] [-7.44335403e-02 4.79454719e-03 9.97214451e-01 -1.31782013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.020714057 meters 0.034836030255421306 Centerline is valid? [True, True] Translation: X:187.18, Y:-24.85, Z:-13.18 [[ 9.94623153e-01 7.27965884e-02 7.36575861e-02 1.87180930e+02] [-7.22465686e-02 9.97335583e-01 -1.01078256e-02 -2.48450401e+01] [-7.41971468e-02 4.73196956e-03 9.97232366e-01 -1.31816575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.050714057 meters 0.0349569144883573 Centerline is valid? [True, True] Translation: X:187.21, Y:-24.85, Z:-13.18 [[ 9.94675219e-01 7.33874830e-02 7.23566563e-02 1.87213512e+02] [-7.28575355e-02 9.97292824e-01 -9.93999764e-03 -2.48468774e+01] [-7.28902455e-02 4.61534168e-03 9.97329289e-01 -1.31843077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.080714057 meters 0.038187884962165665 Centerline is valid? [True, True] Translation: X:187.24, Y:-24.85, Z:-13.19 [[ 9.94730800e-01 7.31717611e-02 7.18089688e-02 1.87243936e+02] [-7.26479555e-02 9.97308681e-01 -9.88279893e-03 -2.48538340e+01] [-7.23388497e-02 4.61394972e-03 9.97369441e-01 -1.31868914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.110714057 meters 0.03618257327392542 Centerline is valid? [True, True] Translation: X:187.28, Y:-24.85, Z:-13.19 [[ 9.94798700e-01 7.25738376e-02 7.14743599e-02 1.87276723e+02] [-7.20521703e-02 9.97352191e-01 -9.85347177e-03 -2.48521615e+01] [-7.20002137e-02 4.65233816e-03 9.97393766e-01 -1.31895974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.140714057 meters 0.035761785258161684 Centerline is valid? [True, True] Translation: X:187.31, Y:-24.85, Z:-13.19 [[ 9.94789188e-01 7.27816070e-02 7.13954379e-02 1.87309810e+02] [-7.22603191e-02 9.97337061e-01 -9.86071154e-03 -2.48541202e+01] [-7.19229946e-02 4.65027210e-03 9.97399347e-01 -1.31915128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.170714057 meters 0.03702728387321047 Centerline is valid? [True, True] Translation: X:187.34, Y:-24.86, Z:-13.19 [[ 9.94728786e-01 7.33549050e-02 7.16498433e-02 1.87340809e+02] [-7.28298709e-02 9.97295078e-01 -9.91651321e-03 -2.48560583e+01] [-7.21834610e-02 4.64599230e-03 9.97380551e-01 -1.31920527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.200714057 meters 0.03563120570860983 Centerline is valid? [True, True] Translation: X:187.37, Y:-24.86, Z:-13.19 [[ 9.94704161e-01 7.36269813e-02 7.17126247e-02 1.87373789e+02] [-7.31005003e-02 9.97275023e-01 -9.94214923e-03 -2.48563680e+01] [-7.22492198e-02 4.64726846e-03 9.97375783e-01 -1.31939111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.23071405699997 meters 0.03710212074691872 Centerline is valid? [True, True] Translation: X:187.40, Y:-24.86, Z:-13.20 [[ 9.94630602e-01 7.40170137e-02 7.23287442e-02 1.87404960e+02] [-7.34809178e-02 9.97245998e-01 -1.00485802e-02 -2.48613673e+01] [-7.28733166e-02 4.67984281e-03 9.97330226e-01 -1.31956519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.26071405699997 meters 0.0349894104462515 Centerline is valid? [True, True] Translation: X:187.44, Y:-24.86, Z:-13.20 [[ 9.94661709e-01 7.29651984e-02 7.29668673e-02 1.87437037e+02] [-7.24153168e-02 9.97322846e-01 -1.01568914e-02 -2.48603842e+01] [-7.35126233e-02 4.81875213e-03 9.97282645e-01 -1.31977237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.29071405699997 meters 0.03610063774669866 Centerline is valid? [True, True] Translation: X:187.47, Y:-24.86, Z:-13.20 [[ 9.94772156e-01 7.15936890e-02 7.28196493e-02 1.87468458e+02] [-7.10411027e-02 9.97421708e-01 -1.01536968e-02 -2.48645106e+01] [-7.33588396e-02 4.92742666e-03 9.97293438e-01 -1.31995554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.32071405699998 meters 0.038847622630946606 Centerline is valid? [True, True] Translation: X:187.50, Y:-24.87, Z:-13.20 [[ 9.95122732e-01 6.78527661e-02 7.16013311e-02 1.87497601e+02] [-6.73077751e-02 9.97682148e-01 -9.99976327e-03 -2.48698428e+01] [-7.21138814e-02 5.13166546e-03 9.97383203e-01 -1.32026271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.35071405699998 meters 0.04156124254572601 Centerline is valid? [True, True] Translation: X:187.53, Y:-24.88, Z:-13.21 [[ 9.95509982e-01 6.34471654e-02 7.02448057e-02 1.87526110e+02] [-6.29116670e-02 9.97970866e-01 -9.81182974e-03 -2.48769570e+01] [-7.07248024e-02 5.34855662e-03 9.97481526e-01 -1.32059158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.38071405699998 meters 0.042855477196858824 Centerline is valid? [True, True] Translation: X:187.56, Y:-24.88, Z:-13.21 [[ 9.95727464e-01 6.13384563e-02 6.90247161e-02 1.87556479e+02] [-6.08163714e-02 9.98102401e-01 -9.64189872e-03 -2.48818091e+01] [-6.94851541e-02 5.40287059e-03 9.97568355e-01 -1.32089810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.41071405699998 meters 0.04411819220927392 Centerline is valid? [True, True] Translation: X:187.59, Y:-24.89, Z:-13.21 [[ 9.95866121e-01 6.02220172e-02 6.79998294e-02 1.87587824e+02] [-5.97125639e-02 9.98170390e-01 -9.50171422e-03 -2.48869007e+01] [-6.84476286e-02 5.40199113e-03 9.97640086e-01 -1.32117250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.44071405699998 meters 0.04220125256635961 Centerline is valid? [True, True] Translation: X:187.62, Y:-24.89, Z:-13.22 [[ 9.96076926e-01 5.87402545e-02 6.61841428e-02 1.87619629e+02] [-5.82534399e-02 9.98258850e-01 -9.26311865e-03 -2.48858031e+01] [-6.66130242e-02 5.37132476e-03 9.97764428e-01 -1.32150479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.47071405699998 meters 0.046773206759731914 Centerline is valid? [True, True] Translation: X:187.65, Y:-24.89, Z:-13.22 [[ 9.96135914e-01 5.85553925e-02 6.54561506e-02 1.87650074e+02] [-5.80787316e-02 9.98269953e-01 -9.16305853e-03 -2.48934767e+01] [-6.58794549e-02 5.32604148e-03 9.97813375e-01 -1.32176347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.50071405699998 meters 0.042578421664064905 Centerline is valid? [True, True] Translation: X:187.68, Y:-24.89, Z:-13.22 [[ 9.96109456e-01 5.91356117e-02 6.53370562e-02 1.87683065e+02] [-5.86609239e-02 9.98235925e-01 -9.16158606e-03 -2.48908608e+01] [-6.57635727e-02 5.29321043e-03 9.97821194e-01 -1.32192866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.53071405699998 meters 0.048156363201346884 Centerline is valid? [True, True] Translation: X:187.71, Y:-24.90, Z:-13.22 [[ 9.96003930e-01 6.03803991e-02 6.58056157e-02 1.87712452e+02] [-5.99004150e-02 9.98161549e-01 -9.24455958e-03 -2.48993586e+01] [-6.62428255e-02 5.26583398e-03 9.97789637e-01 -1.32210856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.56071405699998 meters 0.04166431313577869 Centerline is valid? [True, True] Translation: X:187.74, Y:-24.89, Z:-13.22 [[ 9.95934823e-01 6.22965804e-02 6.50612296e-02 1.87744912e+02] [-6.18314002e-02 9.98044748e-01 -9.14108416e-03 -2.48919494e+01] [-6.55034768e-02 5.08109711e-03 9.97839404e-01 -1.32229330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.59071405699999 meters 0.03748836893013325 Centerline is valid? [True, True] Translation: X:187.78, Y:-24.89, Z:-13.22 [[ 9.95891600e-01 6.36624783e-02 6.43972812e-02 1.87777417e+02] [-6.32094516e-02 9.97959249e-01 -9.05002712e-03 -2.48888886e+01] [-6.48420095e-02 4.94232916e-03 9.97883303e-01 -1.32249272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.620714057 meters 0.047102053097963476 Centerline is valid? [True, True] Translation: X:187.81, Y:-24.90, Z:-13.23 [[ 9.95793925e-01 6.51804263e-02 6.43892134e-02 1.87805500e+02] [-6.47304439e-02 9.97861727e-01 -9.05229061e-03 -2.49046458e+01] [-6.48415639e-02 4.84627363e-03 9.97883803e-01 -1.32279592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.650714057 meters 0.037897402815999875 Centerline is valid? [True, True] Translation: X:187.84, Y:-24.89, Z:-13.23 [[ 9.95577773e-01 6.88282591e-02 6.39340889e-02 1.87838254e+02] [-6.83916172e-02 9.97617995e-01 -8.99576112e-03 -2.48927953e+01] [-6.44009601e-02 4.58342409e-03 9.97913578e-01 -1.32296507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.680714057 meters 0.03459658582262198 Centerline is valid? [True, True] Translation: X:187.87, Y:-24.89, Z:-13.23 [[ 9.95413513e-01 7.14807438e-02 6.35801909e-02 1.87869138e+02] [-7.10542909e-02 9.97432330e-01 -8.94623678e-03 -2.48909017e+01] [-6.40564216e-02 4.38755960e-03 9.97936633e-01 -1.32314231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.710714057 meters 0.04275008630758199 Centerline is valid? [True, True] Translation: X:187.90, Y:-24.90, Z:-13.23 [[ 9.95031538e-01 7.71403825e-02 6.29412463e-02 1.87897231e+02] [-7.67337230e-02 9.97012286e-01 -8.85643108e-03 -2.49032225e+01] [-6.34363844e-02 3.98271207e-03 9.97977937e-01 -1.32348672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.740714057 meters 0.03332867082605177 Centerline is valid? [True, True] Translation: X:187.93, Y:-24.89, Z:-13.24 [[ 9.94819699e-01 8.03081787e-02 6.23246594e-02 1.87928934e+02] [-7.99157189e-02 9.96763057e-01 -8.76850770e-03 -2.48924313e+01] [-6.28271008e-02 3.74236423e-03 9.98017410e-01 -1.32362438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.770714057 meters 0.02932661239550064 Centerline is valid? [True, True] Translation: X:187.96, Y:-24.89, Z:-13.24 [[ 9.94411247e-01 8.62263761e-02 6.09203031e-02 1.87960512e+02] [-8.58625848e-02 9.96270136e-01 -8.56928549e-03 -2.48868772e+01] [-6.14319771e-02 3.29061919e-03 9.98105848e-01 -1.32383710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.800714057 meters 0.03020112103814755 Centerline is valid? [True, True] Translation: X:187.99, Y:-24.89, Z:-13.24 [[ 9.94212369e-01 8.90303725e-02 6.01278453e-02 1.87988551e+02] [-8.86810925e-02 9.96024159e-01 -8.45802563e-03 -2.48905918e+01] [-6.06418077e-02 3.07687069e-03 9.98154850e-01 -1.32409505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.830714057 meters 0.02811836169382741 Centerline is valid? [True, True] Translation: X:188.02, Y:-24.89, Z:-13.24 [[ 9.93983440e-01 9.16705882e-02 5.99451765e-02 1.88018643e+02] [-9.13284143e-02 9.95785154e-01 -8.42902394e-03 -2.48907971e+01] [-6.04652104e-02 2.90361229e-03 9.98166082e-01 -1.32430175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.860714057 meters 0.027711660953995087 Centerline is valid? [True, True] Translation: X:188.05, Y:-24.89, Z:-13.25 [[ 9.93719149e-01 9.51470962e-02 5.89006156e-02 1.88047006e+02] [-9.48230216e-02 9.95459718e-01 -8.27918593e-03 -2.48924659e+01] [-5.94209307e-02 2.64205125e-03 9.98229519e-01 -1.32461022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.890714057 meters 0.027265847017241465 Centerline is valid? [True, True] Translation: X:188.08, Y:-24.90, Z:-13.25 [[ 9.93470992e-01 9.77361976e-02 5.88474688e-02 1.88075980e+02] [-9.74173937e-02 9.95209261e-01 -8.26907758e-03 -2.48951336e+01] [-5.93737341e-02 2.48232167e-03 9.98232737e-01 -1.32482596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.920714057 meters 0.038488490270234016 Centerline is valid? [True, True] Translation: X:188.10, Y:-24.92, Z:-13.25 [[ 9.92990140e-01 1.00648564e-01 6.19713443e-02 1.88101430e+02] [-1.00301111e-01 9.94919089e-01 -8.70020823e-03 -2.49168955e+01] [-6.25321368e-02 2.42342632e-03 9.98040009e-01 -1.32525396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.950714057 meters 0.026965351726508616 Centerline is valid? [True, True] Translation: X:188.13, Y:-24.90, Z:-13.25 [[ 9.93382439e-01 9.83117449e-02 5.93812390e-02 1.88133225e+02] [-9.79887801e-02 9.95152627e-01 -8.33357192e-03 -2.49018480e+01] [-5.99126840e-02 2.45972882e-03 9.98200591e-01 -1.32511764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.98071405699997 meters 0.026880247152759735 Centerline is valid? [True, True] Translation: X:188.16, Y:-24.91, Z:-13.25 [[ 9.93513583e-01 9.68694861e-02 5.95572205e-02 1.88161884e+02] [-9.65422014e-02 9.95293823e-01 -8.35520361e-03 -2.49065481e+01] [-6.00862980e-02 2.55122311e-03 9.98189926e-01 -1.32527074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.01071405699997 meters 0.02821051279824591 Centerline is valid? [True, True] Translation: X:188.19, Y:-24.91, Z:-13.26 [[ 9.93663645e-01 9.55106120e-02 5.92476411e-02 1.88188598e+02] [-9.51845456e-02 9.95424975e-01 -8.30794201e-03 -2.49135944e+01] [-5.97700783e-02 2.61584015e-03 9.98208743e-01 -1.32550163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.04071405699997 meters 0.028508185822003894 Centerline is valid? [True, True] Translation: X:188.22, Y:-24.92, Z:-13.26 [[ 9.94043729e-01 9.15902033e-02 5.90618335e-02 1.88218201e+02] [-9.12597675e-02 9.95792750e-01 -8.27371552e-03 -2.49196920e+01] [-5.95711369e-02 2.83446583e-03 9.98220039e-01 -1.32559440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.07071405699998 meters 0.034037521016722576 Centerline is valid? [True, True] Translation: X:188.25, Y:-24.93, Z:-13.26 [[ 9.94172622e-01 8.96103901e-02 5.99230808e-02 1.88245213e+02] [-8.92666980e-02 9.95972392e-01 -8.39354805e-03 -2.49338514e+01] [-6.04338832e-02 2.99550011e-03 9.98167708e-01 -1.32583843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.10071405699998 meters 0.035561091813862966 Centerline is valid? [True, True] Translation: X:188.27, Y:-24.94, Z:-13.26 [[ 9.94585814e-01 8.45864681e-02 6.03671083e-02 1.88274352e+02] [-8.42286601e-02 9.96410606e-01 -8.45201096e-03 -2.49419054e+01] [-6.08653528e-02 3.32160956e-03 9.98140459e-01 -1.32592074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.13071405699998 meters 0.032629677294900294 Centerline is valid? [True, True] Translation: X:188.30, Y:-24.94, Z:-13.26 [[ 9.94752027e-01 8.24420734e-02 6.05946252e-02 1.88304112e+02] [-8.20775697e-02 9.96589830e-01 -8.48430231e-03 -2.49420748e+01] [-6.10874507e-02 3.46631736e-03 9.98126399e-01 -1.32601391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.16071405699998 meters 0.03485473981316508 Centerline is valid? [True, True] Translation: X:188.33, Y:-24.95, Z:-13.26 [[ 9.95157239e-01 7.78470129e-02 6.00159370e-02 1.88333229e+02] [-7.74812696e-02 9.96958413e-01 -8.40090398e-03 -2.49507278e+01] [-6.04873786e-02 3.71010942e-03 9.98162067e-01 -1.32621234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.19071405699998 meters 0.04078398174881099 Centerline is valid? [True, True] Translation: X:188.36, Y:-24.96, Z:-13.27 [[ 9.95283625e-01 7.61894514e-02 6.00472552e-02 1.88360909e+02] [-7.58203382e-02 9.97086070e-01 -8.40504124e-03 -2.49641887e+01] [-6.05126572e-02 3.81259672e-03 9.98160149e-01 -1.32652350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.22071405699998 meters 0.03861600346739497 Centerline is valid? [True, True] Translation: X:188.39, Y:-24.97, Z:-13.27 [[ 9.95524683e-01 7.36011959e-02 5.92745227e-02 1.88390924e+02] [-7.32370319e-02 9.97280059e-01 -8.29584064e-03 -2.49661283e+01] [-5.97238833e-02 3.91762401e-03 9.98207248e-01 -1.32668574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.25071405699998 meters 0.038323451306473896 Centerline is valid? [True, True] Translation: X:188.42, Y:-24.97, Z:-13.27 [[ 9.95587998e-01 7.31569301e-02 5.87588412e-02 1.88420983e+02] [-7.27983842e-02 9.97312782e-01 -8.22248940e-03 -2.49697714e+01] [-5.92024755e-02 3.90866307e-03 9.98238343e-01 -1.32688627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.28071405699998 meters 0.03916270633661405 Centerline is valid? [True, True] Translation: X:188.45, Y:-24.97, Z:-13.27 [[ 9.95602575e-01 7.29535797e-02 5.87646892e-02 1.88450679e+02] [-7.25946100e-02 9.97327629e-01 -8.22330775e-03 -2.49749662e+01] [-5.92075679e-02 3.92114668e-03 9.98237992e-01 -1.32706502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.31071405699998 meters 0.03916270633661405 Centerline is valid? [True, True] Translation: X:188.48, Y:-24.98, Z:-13.27 [[ 9.95602575e-01 7.29535797e-02 5.87646892e-02 1.88480385e+02] [-7.25946100e-02 9.97327629e-01 -8.22330775e-03 -2.49791233e+01] [-5.92075679e-02 3.92114668e-03 9.98237992e-01 -1.32727161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.34071405699999 meters 0.03930504909058548 Centerline is valid? [True, True] Translation: X:188.51, Y:-24.98, Z:-13.27 [[ 9.95607845e-01 7.28983876e-02 5.87438809e-02 1.88511031e+02] [-7.25395768e-02 9.97331657e-01 -8.22039591e-03 -2.49832872e+01] [-5.91863857e-02 3.92303440e-03 9.98239241e-01 -1.32745108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.370714057 meters 0.03923132242670436 Centerline is valid? [True, True] Translation: X:188.54, Y:-24.99, Z:-13.28 [[ 9.95565971e-01 7.31551450e-02 5.91330840e-02 1.88541786e+02] [-7.27920074e-02 9.97312815e-01 -8.27485953e-03 -2.49867741e+01] [-5.95795310e-02 3.93375267e-03 9.98215811e-01 -1.32757202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.400714057 meters 0.04040999823972422 Centerline is valid? [True, True] Translation: X:188.57, Y:-24.99, Z:-13.28 [[ 9.95554688e-01 7.30476615e-02 5.94550449e-02 1.88570955e+02] [-7.26803535e-02 9.97320582e-01 -8.32006174e-03 -2.49925605e+01] [-5.99035010e-02 3.96186280e-03 9.98196310e-01 -1.32782981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.430714057 meters 0.04117895883229756 Centerline is valid? [True, True] Translation: X:188.60, Y:-25.00, Z:-13.28 [[ 9.95613617e-01 7.24185055e-02 5.92375317e-02 1.88600439e+02] [-7.20528463e-02 9.97366376e-01 -8.28845309e-03 -2.49983192e+01] [-5.96817597e-02 3.98386400e-03 9.98209505e-01 -1.32811515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.460714057 meters 0.0420341618864457 Centerline is valid? [True, True] Translation: X:188.63, Y:-25.00, Z:-13.28 [[ 9.95699263e-01 7.17926375e-02 5.85559121e-02 1.88630309e+02] [-7.14342804e-02 9.97411659e-01 -8.19308159e-03 -2.50035603e+01] [-5.89925523e-02 3.97494586e-03 9.98250509e-01 -1.32839889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.490714057 meters 0.042373510156038345 Centerline is valid? [True, True] Translation: X:188.66, Y:-25.01, Z:-13.29 [[ 9.95916956e-01 6.97825535e-02 5.72696439e-02 1.88661252e+02] [-6.94365044e-02 9.97554193e-01 -8.01273991e-03 -2.50078488e+01] [-5.76887229e-02 4.00341966e-03 9.98326592e-01 -1.32873597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.520714057 meters 0.04556696535427926 Centerline is valid? [True, True] Translation: X:188.69, Y:-25.02, Z:-13.29 [[ 9.95999964e-01 6.87459674e-02 5.70794436e-02 1.88690037e+02] [-6.84004438e-02 9.97625971e-01 -7.98751528e-03 -2.50164876e+01] [-5.74930449e-02 4.05130566e-03 9.98337687e-01 -1.32906655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.550714057 meters 0.04445912894493944 Centerline is valid? [True, True] Translation: X:188.72, Y:-25.02, Z:-13.29 [[ 9.96195534e-01 6.73198849e-02 5.53397788e-02 1.88721410e+02] [-6.69926522e-02 9.97723375e-01 -7.74925144e-03 -2.50193403e+01] [-5.57354696e-02 4.01241112e-03 9.98437508e-01 -1.32932116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.580714057 meters 0.04713401345598888 Centerline is valid? [True, True] Translation: X:188.75, Y:-25.03, Z:-13.30 [[ 9.96428194e-01 6.45944536e-02 5.43912837e-02 1.88749846e+02] [-6.42741904e-02 9.97903193e-01 -7.61879467e-03 -2.50269501e+01] [-5.47693675e-02 4.09562609e-03 9.98490632e-01 -1.32963553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.610714057 meters 0.04350307411783443 Centerline is valid? [True, True] Translation: X:188.78, Y:-25.02, Z:-13.30 [[ 9.96596481e-01 6.18154780e-02 5.45371525e-02 1.88781349e+02] [-6.14894115e-02 9.98078509e-01 -7.63826057e-03 -2.50244716e+01] [-5.49045226e-02 4.25880619e-03 9.98482527e-01 -1.32959609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.640714057 meters 0.04614262124528652 Centerline is valid? [True, True] Translation: X:188.81, Y:-25.03, Z:-13.30 [[ 9.96631079e-01 6.09841995e-02 5.48399495e-02 1.88811545e+02] [-6.06532701e-02 9.98129348e-01 -7.68026318e-03 -2.50315005e+01] [-5.52057378e-02 4.32816670e-03 9.98465620e-01 -1.32978883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.670714057 meters 0.04502259991233912 Centerline is valid? [True, True] Translation: X:188.84, Y:-25.03, Z:-13.30 [[ 9.96658511e-01 6.03595953e-02 5.50320946e-02 1.88844073e+02] [-6.00247109e-02 9.98167042e-01 -7.71949102e-03 -2.50330689e+01] [-5.53971684e-02 4.39041086e-03 9.98454745e-01 -1.32996338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.700714057 meters 0.049046556163040655 Centerline is valid? [True, True] Translation: X:188.88, Y:-25.04, Z:-13.30 [[ 9.96592867e-01 6.04785175e-02 5.60803641e-02 1.88875005e+02] [-6.01301356e-02 9.98159439e-01 -7.88045695e-03 -2.50408471e+01] [-5.64537431e-02 4.48148729e-03 9.98395158e-01 -1.33018311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.73071405699997 meters 0.05078844361861767 Centerline is valid? [True, True] Translation: X:188.91, Y:-25.04, Z:-13.30 [[ 9.96501367e-01 6.07777623e-02 5.73680084e-02 1.88905747e+02] [-6.04127473e-02 9.98140800e-01 -8.07730698e-03 -2.50445003e+01] [-5.77522704e-02 4.58328845e-03 9.98320424e-01 -1.33030959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.76071405699997 meters 0.04337532686275779 Centerline is valid? [True, True] Translation: X:188.94, Y:-25.04, Z:-13.30 [[ 9.96467331e-01 6.12411879e-02 5.74662924e-02 1.88938971e+02] [-6.08749759e-02 9.98112505e-01 -8.10337147e-03 -2.50375712e+01] [-5.78540851e-02 4.57648578e-03 9.98314560e-01 -1.33031439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.79071405699997 meters 0.040416235616956925 Centerline is valid? [True, True] Translation: X:188.97, Y:-25.04, Z:-13.30 [[ 9.96387475e-01 6.17812270e-02 5.82673107e-02 1.88971428e+02] [-6.14047711e-02 9.98079007e-01 -8.23104455e-03 -2.50360289e+01] [-5.86639037e-02 4.62341882e-03 9.98267084e-01 -1.33041353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.82071405699998 meters 0.040534140297759466 Centerline is valid? [True, True] Translation: X:189.00, Y:-25.04, Z:-13.31 [[ 9.96323118e-01 6.19765818e-02 5.91535891e-02 1.89003497e+02] [-6.15879910e-02 9.98066548e-01 -8.37166029e-03 -2.50376629e+01] [-5.95580654e-02 4.69772798e-03 9.98213789e-01 -1.33051853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.85071405699998 meters 0.04644579852872237 Centerline is valid? [True, True] Translation: X:189.03, Y:-25.05, Z:-13.31 [[ 9.96325605e-01 6.16590536e-02 5.94428235e-02 1.89033223e+02] [-6.12651613e-02 9.98085942e-01 -8.42802647e-03 -2.50485459e+01] [-5.98487106e-02 4.75528441e-03 9.98196133e-01 -1.33082028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.88071405699998 meters 0.04721129058477676 Centerline is valid? [True, True] Translation: X:189.06, Y:-25.05, Z:-13.31 [[ 9.96469646e-01 6.01064230e-02 5.86128163e-02 1.89064016e+02] [-5.97198902e-02 9.98180453e-01 -8.32580090e-03 -2.50524997e+01] [-5.90066016e-02 4.79605692e-03 9.98246071e-01 -1.33120363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.91071405699998 meters 0.047961884505942104 Centerline is valid? [True, True] Translation: X:189.10, Y:-25.06, Z:-13.32 [[ 9.96596631e-01 5.86743226e-02 5.79005929e-02 1.89095075e+02] [-5.82946264e-02 9.98265526e-01 -8.22660308e-03 -2.50571856e+01] [-5.82828561e-02 4.82331149e-03 9.98288457e-01 -1.33153390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.94071405699998 meters 0.044644892520594726 Centerline is valid? [True, True] Translation: X:189.13, Y:-25.06, Z:-13.32 [[ 9.96720625e-01 5.70612559e-02 5.73760233e-02 1.89126247e+02] [-5.66856425e-02 9.98358777e-01 -8.15421820e-03 -2.50565907e+01] [-5.77471464e-02 4.87508071e-03 9.98319338e-01 -1.33175703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.97071405699998 meters 0.05341590910412989 Centerline is valid? [True, True] Translation: X:189.15, Y:-25.07, Z:-13.32 [[ 9.96944939e-01 5.42050059e-02 5.62370459e-02 1.89153693e+02] [-5.38395925e-02 9.98517601e-01 -7.99371891e-03 -2.50704761e+01] [-5.65869797e-02 4.94151798e-03 9.98385444e-01 -1.33214060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.00071405699998 meters 0.05408205874572228 Centerline is valid? [True, True] Translation: X:189.18, Y:-25.07, Z:-13.32 [[ 9.97042846e-01 5.27910983e-02 5.58449972e-02 1.89184571e+02] [-5.24286488e-02 9.98593134e-01 -7.93659415e-03 -2.50743771e+01] [-5.61854122e-02 4.98524668e-03 9.98407906e-01 -1.33238731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.03071405699998 meters 0.05026723565576687 Centerline is valid? [True, True] Translation: X:189.22, Y:-25.07, Z:-13.33 [[ 9.97172903e-01 5.08519059e-02 5.53198383e-02 1.89216377e+02] [-5.04931932e-02 9.98693446e-01 -7.86374455e-03 -2.50720995e+01] [-5.56474463e-02 5.04823770e-03 9.98437718e-01 -1.33254322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.06071405699998 meters 0.049454442095350604 Centerline is valid? [True, True] Translation: X:189.25, Y:-25.07, Z:-13.33 [[ 9.97222854e-01 5.01183881e-02 5.50883520e-02 1.89248471e+02] [-4.97614702e-02 9.98730418e-01 -7.83257001e-03 -2.50745621e+01] [-5.54109685e-02 5.06954043e-03 9.98450762e-01 -1.33275042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.09071405699999 meters 0.04749644012463873 Centerline is valid? [True, True] Translation: X:189.28, Y:-25.07, Z:-13.33 [[ 9.97233790e-01 4.99325592e-02 5.50591343e-02 1.89280743e+02] [-4.95756522e-02 9.98739679e-01 -7.82999261e-03 -2.50744322e+01] [-5.53807136e-02 5.07874071e-03 9.98452394e-01 -1.33295590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.120714057 meters 0.050035330771618695 Centerline is valid? [True, True] Translation: X:189.31, Y:-25.08, Z:-13.33 [[ 9.97220429e-01 5.02841970e-02 5.49810465e-02 1.89312068e+02] [-4.99280728e-02 9.98722102e-01 -7.83260479e-03 -2.50811703e+01] [-5.53046426e-02 5.06573582e-03 9.98456676e-01 -1.33322153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.150714057 meters 0.05091938992924747 Centerline is valid? [True, True] Translation: X:189.34, Y:-25.08, Z:-13.33 [[ 9.97176446e-01 5.11274718e-02 5.50010742e-02 1.89343198e+02] [-5.07715061e-02 9.98679437e-01 -7.85084353e-03 -2.50840873e+01] [-5.53298356e-02 5.03618887e-03 9.98455430e-01 -1.33349431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.180714057 meters 0.052210753648943856 Centerline is valid? [True, True] Translation: X:189.38, Y:-25.09, Z:-13.34 [[ 9.97172952e-01 5.14260563e-02 5.47856275e-02 1.89375071e+02] [-5.10726613e-02 9.98664229e-01 -7.83209781e-03 -2.50888081e+01] [-5.51152203e-02 5.01190830e-03 9.98467422e-01 -1.33376256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.210714057 meters 0.05306788482633982 Centerline is valid? [True, True] Translation: X:189.41, Y:-25.09, Z:-13.34 [[ 9.97164632e-01 5.19184085e-02 5.44717867e-02 1.89407327e+02] [-5.15689933e-02 9.98638960e-01 -7.80163993e-03 -2.50923378e+01] [-5.48026972e-02 4.97046420e-03 9.98484832e-01 -1.33401501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.240714057 meters 0.05106488672169971 Centerline is valid? [True, True] Translation: X:189.44, Y:-25.09, Z:-13.34 [[ 9.97141350e-01 5.22174277e-02 5.46119796e-02 1.89440615e+02] [-5.18659529e-02 9.98623325e-01 -7.83445210e-03 -2.50933720e+01] [-5.49458915e-02 4.97955378e-03 9.98476917e-01 -1.33418372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.270714057 meters 0.04916430876085747 Centerline is valid? [True, True] Translation: X:189.47, Y:-25.09, Z:-13.34 [[ 9.97097867e-01 5.28778853e-02 5.47701840e-02 1.89473231e+02] [-5.25244795e-02 9.98588601e-01 -7.87302450e-03 -2.50929592e+01] [-5.51091903e-02 4.97340053e-03 9.98467948e-01 -1.33435620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.300714057 meters 0.04618454563500783 Centerline is valid? [True, True] Translation: X:189.51, Y:-25.09, Z:-13.35 [[ 9.97078146e-01 5.33637769e-02 5.46578247e-02 1.89505759e+02] [-5.30118034e-02 9.98562871e-01 -7.87033856e-03 -2.50923689e+01] [-5.49992654e-02 4.94983272e-03 9.98474126e-01 -1.33453556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.330714057 meters 0.04817994700595286 Centerline is valid? [True, True] Translation: X:189.54, Y:-25.10, Z:-13.35 [[ 9.97038928e-01 5.38894610e-02 5.48570973e-02 1.89536604e+02] [-5.35349108e-02 9.98534623e-01 -7.91333482e-03 -2.50973170e+01] [-5.52031563e-02 4.95313307e-03 9.98462858e-01 -1.33479742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.360714057 meters 0.05139921328794702 Centerline is valid? [True, True] Translation: X:189.57, Y:-25.11, Z:-13.35 [[ 9.97023549e-01 5.41497121e-02 5.48803422e-02 1.89567402e+02] [-5.37944700e-02 9.98520534e-01 -7.93081893e-03 -2.51050460e+01] [-5.52286002e-02 4.95495431e-03 9.98461441e-01 -1.33506712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.390714057 meters 0.049750753211677705 Centerline is valid? [True, True] Translation: X:189.60, Y:-25.11, Z:-13.35 [[ 9.96945579e-01 5.54125521e-02 5.50359996e-02 1.89599374e+02] [-5.50567233e-02 9.98451484e-01 -7.96184230e-03 -2.51059381e+01] [-5.53919615e-02 4.90742168e-03 9.98452627e-01 -1.33527767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.420714057 meters 0.050645345119287 Centerline is valid? [True, True] Translation: X:189.63, Y:-25.11, Z:-13.36 [[ 9.96883195e-01 5.59539272e-02 5.56152231e-02 1.89631609e+02] [-5.55911432e-02 9.98421164e-01 -8.05011046e-03 -2.51111200e+01] [-5.59778511e-02 4.93330600e-03 9.98419823e-01 -1.33555530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.450714057 meters 0.04781791747838806 Centerline is valid? [True, True] Translation: X:189.66, Y:-25.11, Z:-13.36 [[ 9.96778906e-01 5.74518648e-02 5.59562007e-02 1.89663911e+02] [-5.70866512e-02 9.98336329e-01 -8.10480489e-03 -2.51107155e+01] [-5.63287441e-02 4.88434644e-03 9.98400328e-01 -1.33570323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.48071405699997 meters 0.04833616350928858 Centerline is valid? [True, True] Translation: X:189.70, Y:-25.12, Z:-13.36 [[ 9.96710183e-01 5.86842011e-02 5.59014776e-02 1.89695398e+02] [-5.83215872e-02 9.98265006e-01 -8.09754217e-03 -2.51151508e+01] [-5.62796866e-02 4.81063985e-03 9.98403453e-01 -1.33595506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.51071405699997 meters 0.044619362273721395 Centerline is valid? [True, True] Translation: X:189.73, Y:-25.11, Z:-13.36 [[ 9.96534164e-01 6.05239573e-02 5.70658487e-02 1.89726984e+02] [-6.01480826e-02 9.98155098e-01 -8.28301580e-03 -2.51129016e+01] [-5.74618887e-02 4.82190684e-03 9.98336056e-01 -1.33601376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.54071405699997 meters 0.041786990709775804 Centerline is valid? [True, True] Translation: X:189.76, Y:-25.11, Z:-13.36 [[ 9.96459974e-01 6.14597960e-02 5.73603788e-02 1.89758381e+02] [-6.10815042e-02 9.98098048e-01 -8.32679792e-03 -2.51126552e+01] [-5.77630454e-02 4.79366262e-03 9.98318812e-01 -1.33614149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.57071405699998 meters 0.048387109793507334 Centerline is valid? [True, True] Translation: X:189.79, Y:-25.13, Z:-13.36 [[ 9.96348585e-01 6.27189809e-02 5.79294906e-02 1.89787298e+02] [-6.23351941e-02 9.98019835e-01 -8.41030178e-03 -2.51257299e+01] [-5.83422662e-02 4.76854624e-03 9.98285250e-01 -1.33643973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.60071405699998 meters 0.04117044189197486 Centerline is valid? [True, True] Translation: X:189.82, Y:-25.12, Z:-13.37 [[ 9.96097975e-01 6.60409318e-02 5.85441728e-02 1.89819118e+02] [-6.56544907e-02 9.97806195e-01 -8.50205373e-03 -2.51195831e+01] [-5.89772218e-02 4.62519065e-03 9.98248614e-01 -1.33654293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.63071405699998 meters 0.043012639715201396 Centerline is valid? [True, True] Translation: X:189.85, Y:-25.12, Z:-13.37 [[ 9.95807789e-01 7.01299288e-02 5.87251215e-02 1.89847838e+02] [-6.97481378e-02 9.97528175e-01 -8.52856511e-03 -2.51248212e+01] [-5.91780710e-02 4.39684370e-03 9.98237759e-01 -1.33685965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.66071405699998 meters 0.0410161055156445 Centerline is valid? [True, True] Translation: X:189.88, Y:-25.13, Z:-13.37 [[ 9.95641320e-01 7.27010699e-02 5.84201749e-02 1.89877723e+02] [-7.23277012e-02 9.97344845e-01 -8.48318941e-03 -2.51253651e+01] [-5.88817972e-02 4.22081694e-03 9.98256039e-01 -1.33706549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.69071405699998 meters 0.035725243588538756 Centerline is valid? [True, True] Translation: X:189.91, Y:-25.12, Z:-13.37 [[ 9.95456173e-01 7.53364848e-02 5.82359157e-02 1.89908708e+02] [-7.49700703e-02 9.97149944e-01 -8.45444487e-03 -2.51210346e+01] [-5.87068683e-02 4.05007863e-03 9.98267049e-01 -1.33722522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.72071405699998 meters 0.036590691847255934 Centerline is valid? [True, True] Translation: X:189.94, Y:-25.12, Z:-13.38 [[ 9.95033503e-01 8.11046412e-02 5.77093238e-02 1.89937743e+02] [-8.07546193e-02 9.96698822e-01 -8.37557310e-03 -2.51247160e+01] [-5.81981129e-02 3.67368136e-03 9.98298294e-01 -1.33758252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.75071405699998 meters 0.037067678813025716 Centerline is valid? [True, True] Translation: X:189.97, Y:-25.13, Z:-13.38 [[ 9.94818030e-01 8.38469763e-02 5.75045359e-02 1.89966198e+02] [-8.35040901e-02 9.96472499e-01 -8.34423874e-03 -2.51290145e+01] [-5.80013278e-02 3.49913520e-03 9.98310374e-01 -1.33786003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.78071405699998 meters 0.03359463158568201 Centerline is valid? [True, True] Translation: X:190.00, Y:-25.13, Z:-13.38 [[ 9.94388911e-01 8.87829027e-02 5.75177426e-02 1.89996829e+02] [-8.84482137e-02 9.96045829e-01 -8.34380960e-03 -2.51273107e+01] [-5.80310953e-02 3.20965015e-03 9.98309616e-01 -1.33799728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.81071405699998 meters 0.033070306392794235 Centerline is valid? [True, True] Translation: X:190.03, Y:-25.13, Z:-13.38 [[ 9.93984290e-01 9.28476724e-02 5.80908041e-02 1.90025931e+02] [-9.25131806e-02 9.95675799e-01 -8.42701899e-03 -2.51286397e+01] [-5.86220369e-02 3.00215944e-03 9.98275735e-01 -1.33807259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.84071405699999 meters 0.030680094833006384 Centerline is valid? [True, True] Translation: X:190.06, Y:-25.13, Z:-13.38 [[ 9.93748976e-01 9.48896140e-02 5.88126982e-02 1.90055389e+02] [-9.45503822e-02 9.95483529e-01 -8.53051058e-03 -2.51283848e+01] [-5.93565292e-02 2.91642307e-03 9.98232587e-01 -1.33813663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.870714057 meters 0.027416681788718488 Centerline is valid? [True, True] Translation: X:190.08, Y:-25.13, Z:-13.38 [[ 9.93544145e-01 9.67809251e-02 5.91902441e-02 1.90084723e+02] [-9.64408376e-02 9.95301717e-01 -8.58235153e-03 -2.51264630e+01] [-5.97427596e-02 2.81858839e-03 9.98209827e-01 -1.33820150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.900714057 meters 0.02944653541920741 Centerline is valid? [True, True] Translation: X:190.11, Y:-25.13, Z:-13.39 [[ 9.93168300e-01 1.00580562e-01 5.91631491e-02 1.90112904e+02] [-1.00247787e-01 9.94925561e-01 -8.57371788e-03 -2.51330842e+01] [-5.97252787e-02 2.58417007e-03 9.98211507e-01 -1.33852975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.930714057 meters 0.02724126760839896 Centerline is valid? [True, True] Translation: X:190.14, Y:-25.13, Z:-13.39 [[ 9.92955891e-01 1.02678398e-01 5.91248307e-02 1.90142193e+02] [-1.02349883e-01 9.94711578e-01 -8.56614833e-03 -2.51336047e+01] [-5.96917120e-02 2.45438795e-03 9.98213843e-01 -1.33870412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.960714057 meters 0.025660120611645167 Centerline is valid? [True, True] Translation: X:190.17, Y:-25.14, Z:-13.39 [[ 9.92728677e-01 1.05007094e-01 5.88496696e-02 1.90171423e+02] [-1.04685801e-01 9.94468808e-01 -8.52483219e-03 -2.51351981e+01] [-5.94193287e-02 2.30212061e-03 9.98230456e-01 -1.33890320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.990714057 meters 0.026306664368726317 Centerline is valid? [True, True] Translation: X:190.20, Y:-25.14, Z:-13.39 [[ 9.92674122e-01 1.05519690e-01 5.88530574e-02 1.90199108e+02] [-1.05200187e-01 9.94414655e-01 -8.50971856e-03 -2.51405984e+01] [-5.94222856e-02 2.25602477e-03 9.98230385e-01 -1.33914480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.020714057 meters 0.02629718208011169 Centerline is valid? [True, True] Translation: X:190.23, Y:-25.15, Z:-13.39 [[ 9.92707758e-01 1.05225250e-01 5.88128756e-02 1.90227144e+02] [-1.04905923e-01 9.94445828e-01 -8.49962145e-03 -2.51453261e+01] [-5.93805935e-02 2.26782118e-03 9.98232840e-01 -1.33936813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.050714057 meters 0.02599566895360993 Centerline is valid? [True, True] Translation: X:190.26, Y:-25.15, Z:-13.40 [[ 9.92833738e-01 1.04151166e-01 5.85978174e-02 1.90255425e+02] [-1.03832553e-01 9.94558774e-01 -8.46437966e-03 -2.51495840e+01] [-5.91605485e-02 2.31936070e-03 9.98245786e-01 -1.33956425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.080714057 meters 0.027895160714943707 Centerline is valid? [True, True] Translation: X:190.28, Y:-25.16, Z:-13.40 [[ 9.93183392e-01 1.00882478e-01 5.83907064e-02 1.90282946e+02] [-1.00560740e-01 9.94895206e-01 -8.43005648e-03 -2.51598210e+01] [-5.89430789e-02 2.50077943e-03 9.98258213e-01 -1.33986667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.110714057 meters 0.028551192250851898 Centerline is valid? [True, True] Translation: X:190.31, Y:-25.17, Z:-13.40 [[ 9.93420148e-01 9.85637929e-02 5.83231356e-02 1.90311303e+02] [-9.82390009e-02 9.95127253e-01 -8.41713519e-03 -2.51668500e+01] [-5.88685665e-02 2.63214512e-03 9.98262272e-01 -1.34006805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.140714057 meters 0.028904115042499876 Centerline is valid? [True, True] Translation: X:190.34, Y:-25.17, Z:-13.40 [[ 9.93643101e-01 9.62406297e-02 5.84048778e-02 1.90340269e+02] [-9.59111178e-02 9.95354242e-01 -8.42564061e-03 -2.51726336e+01] [-5.89444319e-02 2.77040254e-03 9.98257421e-01 -1.34024295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.170714057 meters 0.03227436006221799 Centerline is valid? [True, True] Translation: X:190.37, Y:-25.18, Z:-13.40 [[ 9.93912980e-01 9.26712478e-02 5.95737243e-02 1.90367282e+02] [-9.23221192e-02 9.95692120e-01 -8.59235605e-03 -2.51845170e+01] [-6.01133522e-02 3.04008173e-03 9.98186928e-01 -1.34042338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.200714057 meters 0.03227436006221799 Centerline is valid? [True, True] Translation: X:190.39, Y:-25.19, Z:-13.41 [[ 9.93922393e-01 9.25698720e-02 5.95742821e-02 1.90394441e+02] [-9.22207931e-02 9.95701543e-01 -8.58848725e-03 -2.51883372e+01] [-6.01132397e-02 3.04230226e-03 9.98186928e-01 -1.34061245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.23071405699997 meters 0.028890472636688105 Centerline is valid? [True, True] Translation: X:190.42, Y:-25.19, Z:-13.41 [[ 9.94009961e-01 9.11666413e-02 6.02730576e-02 1.90423579e+02] [-9.08071445e-02 9.95830645e-01 -8.68263777e-03 -2.51881433e+01] [-6.08133248e-02 3.15740417e-03 9.98144163e-01 -1.34065734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.26071405699997 meters 0.03410042157876482 Centerline is valid? [True, True] Translation: X:190.45, Y:-25.20, Z:-13.41 [[ 9.94209947e-01 8.83143101e-02 6.12140859e-02 1.90450145e+02] [-8.79383901e-02 9.96086925e-01 -8.81345351e-03 -2.52027333e+01] [-6.17529046e-02 3.37935498e-03 9.98085747e-01 -1.34086302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.29071405699997 meters 0.034970015519744324 Centerline is valid? [True, True] Translation: X:190.48, Y:-25.21, Z:-13.41 [[ 9.94314460e-01 8.66492414e-02 6.18923522e-02 1.90478711e+02] [-8.62619367e-02 9.96232670e-01 -8.90762828e-03 -2.52097730e+01] [-6.24310225e-02 3.51802944e-03 9.98043081e-01 -1.34104042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.32071405699998 meters 0.03223848085470716 Centerline is valid? [True, True] Translation: X:190.51, Y:-25.21, Z:-13.41 [[ 9.94477872e-01 8.48802281e-02 6.17179716e-02 1.90508050e+02] [-8.44919106e-02 9.96384601e-01 -8.87937130e-03 -2.52108968e+01] [-6.22485196e-02 3.61566894e-03 9.98054131e-01 -1.34119258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.35071405699998 meters 0.03920069824521858 Centerline is valid? [True, True] Translation: X:190.53, Y:-25.23, Z:-13.42 [[ 9.94804778e-01 8.10585313e-02 6.15870816e-02 1.90534983e+02] [-8.06647915e-02 9.96701934e-01 -8.85696967e-03 -2.52285370e+01] [-6.21018963e-02 3.84304665e-03 9.98062416e-01 -1.34158299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.38071405699998 meters 0.03329894937519611 Centerline is valid? [True, True] Translation: X:190.57, Y:-25.23, Z:-13.42 [[ 9.95123373e-01 7.78493802e-02 6.05718255e-02 1.90565584e+02] [-7.74626848e-02 9.96957206e-01 -8.70986463e-03 -2.52273982e+01] [-6.10655755e-02 3.97533364e-03 9.98125840e-01 -1.34181385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.41071405699998 meters 0.03712067264562748 Centerline is valid? [True, True] Translation: X:190.59, Y:-25.24, Z:-13.42 [[ 9.95244209e-01 7.66744139e-02 6.00832588e-02 1.90592439e+02] [-7.62918789e-02 9.97048106e-01 -8.63848605e-03 -2.52382144e+01] [-6.05682503e-02 4.01353851e-03 9.98155989e-01 -1.34213051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.44071405699998 meters 0.03730834761380586 Centerline is valid? [True, True] Translation: X:190.62, Y:-25.24, Z:-13.42 [[ 9.95380339e-01 7.58675424e-02 5.88395784e-02 1.90620909e+02] [-7.54993227e-02 9.97109970e-01 -8.45929767e-03 -2.52430233e+01] [-5.93113164e-02 3.97787027e-03 9.98231609e-01 -1.34238763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.47071405699998 meters 0.03611622093733542 Centerline is valid? [True, True] Translation: X:190.65, Y:-25.25, Z:-13.43 [[ 9.95562726e-01 7.48064819e-02 5.70863272e-02 1.90650388e+02] [-7.44584213e-02 9.97190381e-01 -8.20293286e-03 -2.52455856e+01] [-5.75395689e-02 3.91597640e-03 9.98335546e-01 -1.34262325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.50071405699998 meters 0.0386756252754409 Centerline is valid? [True, True] Translation: X:190.68, Y:-25.25, Z:-13.43 [[ 9.95522161e-01 7.56517550e-02 5.66783779e-02 1.90677160e+02] [-7.53101019e-02 9.97126914e-01 -8.14288561e-03 -2.52533846e+01] [-5.71315596e-02 3.83796866e-03 9.98359281e-01 -1.34285656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.53071405699998 meters 0.03527794560146512 Centerline is valid? [True, True] Translation: X:190.71, Y:-25.25, Z:-13.43 [[ 9.95449587e-01 7.63365561e-02 5.70337572e-02 1.90706221e+02] [-7.59920253e-02 9.97074801e-01 -8.18859442e-03 -2.52522645e+01] [-5.74920112e-02 3.81722222e-03 9.98338669e-01 -1.34295250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.56071405699998 meters 0.03621203420957473 Centerline is valid? [True, True] Translation: X:190.73, Y:-25.26, Z:-13.43 [[ 9.95352547e-01 7.72292123e-02 5.75235182e-02 1.90733720e+02] [-7.68804516e-02 9.97006146e-01 -8.25481368e-03 -2.52573225e+01] [-5.79888139e-02 3.79401577e-03 9.98310023e-01 -1.34312737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.59071405699999 meters 0.03375745457144339 Centerline is valid? [True, True] Translation: X:190.76, Y:-25.26, Z:-13.43 [[ 9.95133749e-01 7.95389902e-02 5.81581525e-02 1.90764067e+02] [-7.91867469e-02 9.96824911e-01 -8.34005975e-03 -2.52573501e+01] [-5.86368551e-02 3.69412002e-03 9.98272544e-01 -1.34323697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.620714057 meters 0.032926534650330415 Centerline is valid? [True, True] Translation: X:190.79, Y:-25.26, Z:-13.43 [[ 9.95062363e-01 8.05085495e-02 5.80453861e-02 1.90792862e+02] [-8.01593442e-02 9.96747310e-01 -8.32337937e-03 -2.52600362e+01] [-5.85266857e-02 3.62940146e-03 9.98279247e-01 -1.34337384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.650714057 meters 0.03323800736869573 Centerline is valid? [True, True] Translation: X:190.82, Y:-25.26, Z:-13.44 [[ 9.94870508e-01 8.24409275e-02 5.86188100e-02 1.90821574e+02] [-8.20883949e-02 9.96589645e-01 -8.40091077e-03 -2.52635742e+01] [-5.91114779e-02 3.54589434e-03 9.98245090e-01 -1.34355824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.680714057 meters 0.03133866989532304 Centerline is valid? [True, True] Translation: X:190.85, Y:-25.26, Z:-13.44 [[ 9.94665931e-01 8.43733187e-02 5.93365648e-02 1.90851409e+02] [-8.40156415e-02 9.96428168e-01 -8.50158976e-03 -2.52647216e+01] [-5.98419319e-02 3.47104214e-03 9.98201831e-01 -1.34371641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.710714057 meters 0.03400853683484267 Centerline is valid? [True, True] Translation: X:190.88, Y:-25.27, Z:-13.44 [[ 9.94624781e-01 8.49140136e-02 5.92549978e-02 1.90878447e+02] [-8.45583774e-02 9.96382372e-01 -8.48820688e-03 -2.52723377e+01] [-5.97614029e-02 3.43207445e-03 9.98206790e-01 -1.34396315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.740714057 meters 0.031384373430501676 Centerline is valid? [True, True] Translation: X:190.91, Y:-25.27, Z:-13.44 [[ 9.94541776e-01 8.57929481e-02 5.93820293e-02 1.90907819e+02] [-8.54376800e-02 9.96307251e-01 -8.50079303e-03 -2.52726713e+01] [-5.98920545e-02 3.38093099e-03 9.98199134e-01 -1.34405576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.770714057 meters 0.031010482142799632 Centerline is valid? [True, True] Translation: X:190.94, Y:-25.28, Z:-13.44 [[ 9.94476669e-01 8.64190267e-02 5.95643013e-02 1.90936923e+02] [-8.60629603e-02 9.96253249e-01 -8.52238644e-03 -2.52761249e+01] [-6.00776250e-02 3.34903438e-03 9.98188090e-01 -1.34422573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.800714057 meters 0.03152620493800564 Centerline is valid? [True, True] Translation: X:190.97, Y:-25.28, Z:-13.44 [[ 9.94428434e-01 8.71067591e-02 5.93675160e-02 1.90965011e+02] [-8.67544595e-02 9.96193539e-01 -8.49099630e-03 -2.52813293e+01] [-5.98811590e-02 3.29329140e-03 9.98200081e-01 -1.34448804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.830714057 meters 0.030780465319856575 Centerline is valid? [True, True] Translation: X:190.99, Y:-25.28, Z:-13.45 [[ 9.94466604e-01 8.71818286e-02 5.86131581e-02 1.90992871e+02] [-8.68387230e-02 9.96187133e-01 -8.38047037e-03 -2.52843945e+01] [-5.91202987e-02 3.24420610e-03 9.98245594e-01 -1.34467935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.860714057 meters 0.030088128225411685 Centerline is valid? [True, True] Translation: X:191.02, Y:-25.29, Z:-13.45 [[ 9.94447373e-01 8.76613624e-02 5.82229087e-02 1.91021744e+02] [-8.73240317e-02 9.96145233e-01 -8.31793327e-03 -2.52878471e+01] [-5.87276343e-02 3.18748776e-03 9.98268954e-01 -1.34494622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.890714057 meters 0.0314850050197446 Centerline is valid? [True, True] Translation: X:191.05, Y:-25.29, Z:-13.45 [[ 9.94486182e-01 8.81332394e-02 5.68310255e-02 1.91048355e+02] [-8.78128536e-02 9.96103933e-01 -8.11523173e-03 -2.52942733e+01] [-5.73248296e-02 3.07999130e-03 9.98350829e-01 -1.34531870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.920714057 meters 0.03096468343846941 Centerline is valid? [True, True] Translation: X:191.08, Y:-25.30, Z:-13.46 [[ 9.94472801e-01 8.84164123e-02 5.66249561e-02 1.91077292e+02] [-8.80991118e-02 9.96078939e-01 -8.08046007e-03 -2.52978779e+01] [-5.71173715e-02 3.04718942e-03 9.98362820e-01 -1.34554137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.950714057 meters 0.029382551334377796 Centerline is valid? [True, True] Translation: X:191.11, Y:-25.30, Z:-13.46 [[ 9.94381952e-01 8.91428326e-02 5.70796746e-02 1.91106177e+02] [-8.88218387e-02 9.96014258e-01 -8.14123254e-03 -2.52999287e+01] [-5.75779023e-02 3.02557306e-03 9.98336432e-01 -1.34563416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.98071405699997 meters 0.032525068065952255 Centerline is valid? [True, True] Translation: X:191.13, Y:-25.31, Z:-13.46 [[ 9.94335899e-01 8.95921738e-02 5.71783302e-02 1.91133166e+02] [-8.92710405e-02 9.95974015e-01 -8.15128310e-03 -2.53086440e+01] [-5.76784222e-02 3.00074439e-03 9.98330704e-01 -1.34587993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.01071405699997 meters 0.030330139999857526 Centerline is valid? [True, True] Translation: X:191.16, Y:-25.31, Z:-13.46 [[ 9.94268407e-01 9.02276993e-02 5.73523931e-02 1.91162395e+02] [-8.99059750e-02 9.95916742e-01 -8.17063981e-03 -2.53092001e+01] [-5.78554265e-02 2.96748621e-03 9.98320562e-01 -1.34594376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.04071405699997 meters 0.02875385748473187 Centerline is valid? [True, True] Translation: X:191.19, Y:-25.31, Z:-13.46 [[ 9.94089796e-01 9.13732890e-02 5.86208101e-02 1.91191403e+02] [-9.10393965e-02 9.95812309e-01 -8.34704988e-03 -2.53106809e+01] [-5.91380217e-02 2.96091394e-03 9.98245424e-01 -1.34593611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.07071405699998 meters 0.030514975944372906 Centerline is valid? [True, True] Translation: X:191.22, Y:-25.32, Z:-13.46 [[ 9.94036151e-01 9.09449873e-02 6.01759133e-02 1.91217546e+02] [-9.05925626e-02 9.95851210e-01 -8.56478055e-03 -2.53180137e+01] [-6.07051799e-02 3.06221130e-03 9.98151043e-01 -1.34606829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.10071405699998 meters 0.031418259406392805 Centerline is valid? [True, True] Translation: X:191.25, Y:-25.32, Z:-13.46 [[ 9.94131886e-01 8.97620498e-02 6.03702613e-02 1.91246065e+02] [-8.94058714e-02 9.95958311e-01 -8.58091544e-03 -2.53238143e+01] [-6.08965041e-02 3.13310583e-03 9.98139168e-01 -1.34628638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.13071405699998 meters 0.03270465783829724 Centerline is valid? [True, True] Translation: X:191.27, Y:-25.33, Z:-13.47 [[ 9.94413387e-01 8.68823405e-02 5.99455950e-02 1.91274702e+02] [-8.65262188e-02 9.96213175e-01 -8.51608847e-03 -2.53315644e+01] [-6.04584892e-02 3.28164671e-03 9.98165318e-01 -1.34652573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.16071405699998 meters 0.03631839183609513 Centerline is valid? [True, True] Translation: X:191.30, Y:-25.34, Z:-13.47 [[ 9.94562488e-01 8.52891109e-02 5.97597254e-02 1.91302136e+02] [-8.49324471e-02 9.96350559e-01 -8.48778095e-03 -2.53417325e+01] [-6.02655511e-02 3.36608883e-03 9.98176704e-01 -1.34680231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.19071405699998 meters 0.032192850272306714 Centerline is valid? [True, True] Translation: X:191.33, Y:-25.34, Z:-13.47 [[ 9.94849558e-01 8.19764898e-02 5.96172130e-02 1.91332726e+02] [-8.16158068e-02 9.96627924e-01 -8.46415678e-03 -2.53411343e+01] [-6.01100411e-02 3.55485569e-03 9.98185427e-01 -1.34691998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.22071405699998 meters 0.035888954987914744 Centerline is valid? [True, True] Translation: X:191.36, Y:-25.35, Z:-13.47 [[ 9.95032454e-01 8.00224149e-02 5.92184779e-02 1.91359780e+02] [-7.96631373e-02 9.96786390e-01 -8.40695544e-03 -2.53512732e+01] [-5.97009177e-02 3.64766377e-03 9.98209645e-01 -1.34718589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.25071405699998 meters 0.03419348999228057 Centerline is valid? [True, True] Translation: X:191.39, Y:-25.35, Z:-13.47 [[ 9.95331471e-01 7.70642914e-02 5.81064334e-02 1.91389587e+02] [-7.67136537e-02 9.97019079e-01 -8.24444179e-03 -2.53544553e+01] [-5.85685748e-02 3.74839557e-03 9.98276350e-01 -1.34740503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.28071405699998 meters 0.03673062359176454 Centerline is valid? [True, True] Translation: X:191.42, Y:-25.36, Z:-13.48 [[ 9.95479058e-01 7.55641468e-02 5.75456813e-02 1.91417372e+02] [-7.52177972e-02 9.97133706e-01 -8.16422643e-03 -2.53622898e+01] [-5.79976612e-02 3.79885705e-03 9.98309491e-01 -1.34765725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.31071405699998 meters 0.03737555952536779 Centerline is valid? [True, True] Translation: X:191.45, Y:-25.37, Z:-13.48 [[ 9.95574862e-01 7.46481851e-02 5.70818916e-02 1.91445979e+02] [-7.43060831e-02 9.97202623e-01 -8.09534275e-03 -2.53678577e+01] [-5.75265147e-02 3.81798795e-03 9.98336678e-01 -1.34790379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.34071405699999 meters 0.03881667041394717 Centerline is valid? [True, True] Translation: X:191.47, Y:-25.37, Z:-13.48 [[ 9.95673179e-01 7.41058074e-02 5.60646983e-02 1.91473489e+02] [-7.37751142e-02 9.97243230e-01 -7.94817862e-03 -2.53743819e+01] [-5.64991470e-02 3.77760875e-03 9.98395501e-01 -1.34817175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.370714057 meters 0.03301485043457789 Centerline is valid? [True, True] Translation: X:191.50, Y:-25.37, Z:-13.48 [[ 9.95591688e-01 7.63519105e-02 5.44754756e-02 1.91504026e+02] [-7.60432295e-02 9.97074636e-01 -7.71991632e-03 -2.53693280e+01] [-5.49055454e-02 3.54339342e-03 9.98485266e-01 -1.34826721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.400714057 meters 0.03486962423585743 Centerline is valid? [True, True] Translation: X:191.53, Y:-25.38, Z:-13.49 [[ 9.95435563e-01 7.86634847e-02 5.40379157e-02 1.91531881e+02] [-7.83632319e-02 9.96895474e-01 -7.65618037e-03 -2.53750323e+01] [-5.44724154e-02 3.38664850e-03 9.98509533e-01 -1.34851231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.430714057 meters 0.03026029496000037 Centerline is valid? [True, True] Translation: X:191.56, Y:-25.37, Z:-13.49 [[ 9.94890766e-01 8.52014648e-02 5.41578715e-02 1.91563033e+02] [-8.49097129e-02 9.96359131e-01 -7.66958066e-03 -2.53703948e+01] [-5.46141493e-02 3.03186565e-03 9.98502931e-01 -1.34850466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.460714057 meters 0.02920103363475801 Centerline is valid? [True, True] Translation: X:191.59, Y:-25.37, Z:-13.49 [[ 9.94546743e-01 8.88476296e-02 5.46157023e-02 1.91593515e+02] [-8.85564222e-02 9.96041137e-01 -7.73390735e-03 -2.53719573e+01] [-5.50866256e-02 2.85516118e-03 9.98477497e-01 -1.34862964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.490714057 meters 0.02846692311675701 Centerline is valid? [True, True] Translation: X:191.62, Y:-25.37, Z:-13.49 [[ 9.94182730e-01 9.23988301e-02 5.53457885e-02 1.91622531e+02] [-9.21053030e-02 9.95718435e-01 -7.83649549e-03 -2.53739105e+01] [-5.58329050e-02 2.69326786e-03 9.98436494e-01 -1.34876971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.520714057 meters 0.02655791048287333 Centerline is valid? [True, True] Translation: X:191.65, Y:-25.37, Z:-13.49 [[ 9.93378678e-01 9.97959056e-02 5.69172984e-02 1.91653105e+02] [-9.94976753e-02 9.95005176e-01 -8.05683686e-03 -2.53734500e+01] [-5.74370459e-02 2.34035107e-03 9.98346387e-01 -1.34883298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.550714057 meters 0.024320987318465687 Centerline is valid? [True, True] Translation: X:191.68, Y:-25.37, Z:-13.49 [[ 9.93049352e-01 1.02767626e-01 5.73742111e-02 1.91683565e+02] [-1.02469644e-01 9.94702994e-01 -8.11952406e-03 -2.53733234e+01] [-5.79047238e-02 2.18397309e-03 9.98319725e-01 -1.34893639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.580714057 meters 0.025183758548254925 Centerline is valid? [True, True] Translation: X:191.71, Y:-25.38, Z:-13.49 [[ 9.92525180e-01 1.07516348e-01 5.77408244e-02 1.91711392e+02] [-1.07222598e-01 9.94201466e-01 -8.17070442e-03 -2.53791292e+01] [-5.82844966e-02 1.91850868e-03 9.98298170e-01 -1.34928024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.610714057 meters 0.02392870252435998 Centerline is valid? [True, True] Translation: X:191.74, Y:-25.38, Z:-13.49 [[ 9.92402786e-01 1.08772152e-01 5.74919927e-02 1.91740370e+02] [-1.08483206e-01 9.94065016e-01 -8.13251628e-03 -2.53810383e+01] [-5.80353699e-02 1.83381611e-03 9.98312843e-01 -1.34943633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.640714057 meters 0.023353980697027276 Centerline is valid? [True, True] Translation: X:191.77, Y:-25.38, Z:-13.50 [[ 9.92381446e-01 1.09155196e-01 5.71332509e-02 1.91768961e+02] [-1.08870716e-01 9.94023097e-01 -8.07772607e-03 -2.53844853e+01] [-5.76734967e-02 1.79604753e-03 9.98333883e-01 -1.34964255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.670714057 meters 0.023681679220297045 Centerline is valid? [True, True] Translation: X:191.80, Y:-25.39, Z:-13.50 [[ 9.92482093e-01 1.08235346e-01 5.71349676e-02 1.91796683e+02] [-1.07949559e-01 9.94123586e-01 -8.07397032e-03 -2.53900292e+01] [-5.76731078e-02 1.84557642e-03 9.98333815e-01 -1.34990170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.700714057 meters 0.02515316018718832 Centerline is valid? [True, True] Translation: X:191.82, Y:-25.40, Z:-13.50 [[ 9.92864905e-01 1.05057542e-01 5.64109312e-02 1.91823470e+02] [-1.04774133e-01 9.94464135e-01 -7.96649843e-03 -2.53999374e+01] [-5.69355887e-02 1.99925029e-03 9.98375852e-01 -1.35020965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.73071405699997 meters 0.025638498208117727 Centerline is valid? [True, True] Translation: X:191.85, Y:-25.41, Z:-13.50 [[ 9.93109186e-01 1.02765424e-01 5.63330487e-02 1.91852420e+02] [-1.02479419e-01 9.94703354e-01 -7.95021828e-03 -2.54065751e+01] [-5.68516801e-02 2.12245671e-03 9.98380379e-01 -1.35043674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.76071405699997 meters 0.0266755481053694 Centerline is valid? [True, True] Translation: X:191.88, Y:-25.42, Z:-13.51 [[ 9.93543367e-01 9.85760336e-02 5.61635482e-02 1.91881985e+02] [-9.82852064e-02 9.95126741e-01 -7.92386166e-03 -2.54153691e+01] [-5.66709515e-02 2.35265427e-03 9.98390138e-01 -1.35065387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.79071405699997 meters 0.027305899944207162 Centerline is valid? [True, True] Translation: X:191.91, Y:-25.42, Z:-13.51 [[ 9.93744433e-01 9.65349205e-02 5.61516711e-02 1.91911290e+02] [-9.62409416e-02 9.95326536e-01 -7.92261456e-03 -2.54217149e+01] [-5.66540573e-02 2.46896441e-03 9.98390816e-01 -1.35084918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.82071405699998 meters 0.028113531686785785 Centerline is valid? [True, True] Translation: X:191.94, Y:-25.43, Z:-13.51 [[ 9.93916969e-01 9.45712991e-02 5.64387045e-02 1.91938870e+02] [-9.42712002e-02 9.95514713e-01 -7.96216241e-03 -2.54280436e+01] [-5.69385527e-02 2.59318392e-03 9.98374317e-01 -1.35107030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.85071405699998 meters 0.028096728447155068 Centerline is valid? [True, True] Translation: X:191.97, Y:-25.43, Z:-13.51 [[ 9.94149270e-01 9.15078434e-02 5.73894028e-02 1.91967588e+02] [-9.11929373e-02 9.95800399e-01 -8.08781603e-03 -2.54343547e+01] [-5.78884888e-02 2.80698819e-03 9.98319109e-01 -1.35122012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.88071405699998 meters 0.028877472215201018 Centerline is valid? [True, True] Translation: X:192.00, Y:-25.44, Z:-13.51 [[ 9.94331585e-01 8.86778853e-02 5.86594594e-02 1.91996794e+02] [-8.83441641e-02 9.96055734e-01 -8.26334580e-03 -2.54403256e+01] [-5.91608670e-02 3.03428481e-03 9.98243850e-01 -1.35133490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.91071405699998 meters 0.030279269321318147 Centerline is valid? [True, True] Translation: X:192.02, Y:-25.45, Z:-13.51 [[ 9.94459749e-01 8.70708003e-02 5.88938300e-02 1.92023618e+02] [-8.67316846e-02 9.96197174e-01 -8.29485787e-03 -2.54464300e+01] [-5.93921070e-02 3.14094119e-03 9.98229789e-01 -1.35147009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.94071405699998 meters 0.03061559494214205 Centerline is valid? [True, True] Translation: X:192.05, Y:-25.45, Z:-13.52 [[ 9.94647055e-01 8.43548178e-02 5.96783077e-02 1.92052509e+02] [-8.40021498e-02 9.96430182e-01 -8.39828714e-03 -2.54508870e+01] [-6.01737030e-02 3.34022543e-03 9.98182332e-01 -1.35157038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.97071405699998 meters 0.03087977823431667 Centerline is valid? [True, True] Translation: X:192.08, Y:-25.46, Z:-13.52 [[ 9.94770586e-01 8.27145822e-02 5.99147603e-02 1.92081173e+02] [-8.23563456e-02 9.96567307e-01 -8.42827756e-03 -2.54556612e+01] [-6.04062327e-02 3.44984191e-03 9.98167915e-01 -1.35175820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.00071405699998 meters 0.031600010743104985 Centerline is valid? [True, True] Translation: X:192.11, Y:-25.46, Z:-13.52 [[ 9.94896153e-01 8.09518536e-02 6.02365462e-02 1.92109700e+02] [-8.05867379e-02 9.96711610e-01 -8.47021865e-03 -2.54612186e+01] [-6.07241449e-02 3.57272118e-03 9.98148192e-01 -1.35201626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.03071405699998 meters 0.03414737211374264 Centerline is valid? [True, True] Translation: X:192.14, Y:-25.47, Z:-13.52 [[ 9.95206145e-01 7.73211573e-02 5.98846122e-02 1.92137911e+02] [-7.69539635e-02 9.96999115e-01 -8.41732124e-03 -2.54703642e+01] [-6.03557424e-02 3.76861157e-03 9.98169816e-01 -1.35236874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.06071405699998 meters 0.03426563344517316 Centerline is valid? [True, True] Translation: X:192.17, Y:-25.48, Z:-13.53 [[ 9.95302615e-01 7.58991459e-02 6.01001129e-02 1.92167386e+02] [-7.55268535e-02 9.97108003e-01 -8.44542476e-03 -2.54754575e+01] [-6.05673041e-02 3.86658093e-03 9.98156627e-01 -1.35260169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.09071405699999 meters 0.037355744679329846 Centerline is valid? [True, True] Translation: X:192.20, Y:-25.48, Z:-13.53 [[ 9.95562936e-01 7.36285010e-02 5.85942263e-02 1.92195841e+02] [-7.32708764e-02 9.97278106e-01 -8.23158236e-03 -2.54830309e+01] [-5.90408181e-02 3.90180800e-03 9.98247944e-01 -1.35297576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.120714057 meters 0.037355744679329846 Centerline is valid? [True, True] Translation: X:192.22, Y:-25.49, Z:-13.53 [[ 9.95565496e-01 7.35937867e-02 5.85943488e-02 1.92224710e+02] [-7.32361533e-02 9.97280663e-01 -8.23071046e-03 -2.54870544e+01] [-5.90407402e-02 3.90298663e-03 9.98247944e-01 -1.35317656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.150714057 meters 0.03713300540640785 Centerline is valid? [True, True] Translation: X:192.25, Y:-25.49, Z:-13.53 [[ 9.95635751e-01 7.31532421e-02 5.79487317e-02 1.92254059e+02] [-7.28028342e-02 9.97313151e-01 -8.13798538e-03 -2.54904994e+01] [-5.83883522e-02 3.88363728e-03 9.98286391e-01 -1.35344346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.180714057 meters 0.03677282316114372 Centerline is valid? [True, True] Translation: X:192.28, Y:-25.49, Z:-13.54 [[ 9.95723987e-01 7.30553641e-02 5.65389802e-02 1.92283500e+02] [-7.27217746e-02 9.97320676e-01 -7.93806016e-03 -2.54916549e+01] [-5.69674118e-02 3.79250194e-03 9.98368835e-01 -1.35375621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.210714057 meters 0.038591233382303886 Centerline is valid? [True, True] Translation: X:192.31, Y:-25.50, Z:-13.54 [[ 9.95694523e-01 7.35242204e-02 5.64500387e-02 1.92311300e+02] [-7.31925334e-02 9.97286352e-01 -7.92376690e-03 -2.54974765e+01] [-5.68794419e-02 3.75792996e-03 9.98373982e-01 -1.35402535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.240714057 meters 0.03889455924722174 Centerline is valid? [True, True] Translation: X:192.34, Y:-25.50, Z:-13.54 [[ 9.95580033e-01 7.46540607e-02 5.69839414e-02 1.92340072e+02] [-7.43180900e-02 9.97202534e-01 -7.99544647e-03 -2.55007072e+01] [-5.74214233e-02 3.72516917e-03 9.98343079e-01 -1.35427595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.270714057 meters 0.036787544083681824 Centerline is valid? [True, True] Translation: X:192.37, Y:-25.50, Z:-13.54 [[ 9.95186014e-01 7.89688020e-02 5.80407286e-02 1.92370764e+02] [-7.86276761e-02 9.96870808e-01 -8.14135026e-03 -2.54994016e+01] [-5.85020206e-02 3.53855031e-03 9.98281019e-01 -1.35441881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.300714057 meters 0.03498558788780577 Centerline is valid? [True, True] Translation: X:192.40, Y:-25.50, Z:-13.55 [[ 9.94669008e-01 8.51576288e-02 5.81527597e-02 1.92400523e+02] [-8.48257037e-02 9.96362414e-01 -8.15717215e-03 -2.54971820e+01] [-5.86358695e-02 3.18083757e-03 9.98274370e-01 -1.35455278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.330714057 meters 0.029510698288815907 Centerline is valid? [True, True] Translation: X:192.43, Y:-25.49, Z:-13.55 [[ 9.94404210e-01 8.82147481e-02 5.81242199e-02 1.92432141e+02] [-8.78884491e-02 9.96096970e-01 -8.15149941e-03 -2.54906774e+01] [-5.86164418e-02 2.99743779e-03 9.98276078e-01 -1.35461673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.360714057 meters 0.031216528536097094 Centerline is valid? [True, True] Translation: X:192.46, Y:-25.49, Z:-13.55 [[ 9.93739274e-01 9.49349286e-02 5.89034320e-02 1.92461647e+02] [-9.46116434e-02 9.95479993e-01 -8.25955554e-03 -2.54938476e+01] [-5.94213084e-02 2.63489422e-03 9.98229515e-01 -1.35491829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.390714057 meters 0.02590022757388929 Centerline is valid? [True, True] Translation: X:192.49, Y:-25.49, Z:-13.55 [[ 9.93455015e-01 9.76097895e-02 5.93250505e-02 1.92492262e+02] [-9.72866011e-02 9.95221641e-01 -8.31879806e-03 -2.54877966e+01] [-5.98535703e-02 2.49281912e-03 9.98204055e-01 -1.35492798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.420714057 meters 0.02871755344203979 Centerline is valid? [True, True] Translation: X:192.52, Y:-25.49, Z:-13.55 [[ 9.92931674e-01 1.02355493e-01 6.00836400e-02 1.92520019e+02] [-1.02032765e-01 9.94745378e-01 -8.42308729e-03 -2.54944817e+01] [-6.06300724e-02 2.23305024e-03 9.98157807e-01 -1.35522671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.450714057 meters 0.024357103727669967 Centerline is valid? [True, True] Translation: X:192.55, Y:-25.49, Z:-13.55 [[ 9.92727807e-01 1.04102644e-01 6.04494931e-02 1.92549670e+02] [-1.03779393e-01 9.94564264e-01 -8.47121173e-03 -2.54894496e+01] [-6.10027812e-02 2.13619574e-03 9.98135310e-01 -1.35522350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.48071405699997 meters 0.024211558367967467 Centerline is valid? [True, True] Translation: X:192.58, Y:-25.49, Z:-13.56 [[ 9.92542189e-01 1.06044318e-01 6.01215970e-02 1.92578360e+02] [-1.05728385e-01 9.94359390e-01 -8.42094392e-03 -2.54907392e+01] [-6.06754677e-02 2.00158275e-03 9.98155540e-01 -1.35551422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.51071405699997 meters 0.02403208483291461 Centerline is valid? [True, True] Translation: X:192.61, Y:-25.49, Z:-13.56 [[ 9.92519959e-01 1.06254966e-01 6.01166668e-02 1.92607321e+02] [-1.05939733e-01 9.94336937e-01 -8.41593806e-03 -2.54936372e+01] [-6.06704576e-02 1.98424289e-03 9.98155879e-01 -1.35574790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.54071405699997 meters 0.023869817667003777 Centerline is valid? [True, True] Translation: X:192.63, Y:-25.50, Z:-13.56 [[ 9.92520815e-01 1.06145763e-01 6.02951824e-02 1.92634904e+02] [-1.05828701e-01 9.94348584e-01 -8.43683986e-03 -2.54968150e+01] [-6.08499640e-02 1.99277836e-03 9.98144935e-01 -1.35596185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.57071405699998 meters 0.02436944731323623 Centerline is valid? [True, True] Translation: X:192.66, Y:-25.50, Z:-13.56 [[ 9.92704940e-01 1.04985640e-01 5.92867409e-02 1.92662384e+02] [-1.04677433e-01 9.94471681e-01 -8.28922965e-03 -2.55015965e+01] [-5.98292349e-02 2.02277539e-03 9.98206577e-01 -1.35623863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.60071405699998 meters 0.02506028364670666 Centerline is valid? [True, True] Translation: X:192.69, Y:-25.51, Z:-13.57 [[ 9.92839715e-01 1.03910086e-01 5.89236283e-02 1.92690926e+02] [-1.03604081e-01 9.94584542e-01 -8.23301853e-03 -2.55070263e+01] [-5.94600236e-02 2.06933944e-03 9.98228543e-01 -1.35652314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.63071405699998 meters 0.027128665313333182 Centerline is valid? [True, True] Translation: X:192.72, Y:-25.52, Z:-13.57 [[ 9.93136306e-01 1.01267177e-01 5.85255182e-02 1.92718410e+02] [-1.00960974e-01 9.94856815e-01 -8.17306562e-03 -2.55152585e+01] [-5.90521740e-02 2.20817489e-03 9.98252455e-01 -1.35686018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.66071405699998 meters 0.026029641234850475 Centerline is valid? [True, True] Translation: X:192.75, Y:-25.52, Z:-13.57 [[ 9.93351377e-01 9.94073965e-02 5.80621301e-02 1.92747152e+02] [-9.91030287e-02 9.95044166e-01 -8.10545231e-03 -2.55179897e+01] [-5.85801257e-02 2.29742927e-03 9.98280066e-01 -1.35697276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.69071405699998 meters 0.029616471878441263 Centerline is valid? [True, True] Translation: X:192.77, Y:-25.53, Z:-13.57 [[ 9.93702348e-01 9.55491406e-02 5.85320918e-02 1.92774474e+02] [-9.52334029e-02 9.95421471e-01 -8.16663190e-03 -2.55295050e+01] [-5.90444156e-02 2.54099101e-03 9.98252123e-01 -1.35727542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.72071405699998 meters 0.027682781822296144 Centerline is valid? [True, True] Translation: X:192.80, Y:-25.53, Z:-13.57 [[ 9.93922614e-01 9.32104513e-02 5.85632103e-02 1.92803664e+02] [-9.28905030e-02 9.95642826e-01 -8.16802258e-03 -2.55312002e+01] [-5.90693853e-02 2.67841629e-03 9.98250286e-01 -1.35740455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.75071405699998 meters 0.03400663550348156 Centerline is valid? [True, True] Translation: X:192.83, Y:-25.55, Z:-13.58 [[ 9.94381070e-01 8.84325657e-02 5.81890879e-02 1.92830290e+02] [-8.81088135e-02 9.96077831e-01 -8.11117746e-03 -2.55469507e+01] [-5.86781527e-02 2.93862982e-03 9.98272628e-01 -1.35780107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.78071405699998 meters 0.03552722114987604 Centerline is valid? [True, True] Translation: X:192.86, Y:-25.55, Z:-13.58 [[ 9.94593346e-01 8.60729878e-02 5.80992011e-02 1.92858932e+02] [-8.57462831e-02 9.96284098e-01 -8.09763931e-03 -2.55542896e+01] [-5.85802982e-02 3.07206763e-03 9.98277973e-01 -1.35804455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.81071405699998 meters 0.03503014085402026 Centerline is valid? [True, True] Translation: X:192.89, Y:-25.56, Z:-13.58 [[ 9.94808361e-01 8.33815137e-02 5.83425051e-02 1.92887898e+02] [-8.30475560e-02 9.96512424e-01 -8.12977063e-03 -2.55581889e+01] [-5.88169037e-02 3.24236134e-03 9.98263522e-01 -1.35824205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.84071405699999 meters 0.03357026480906312 Centerline is valid? [True, True] Translation: X:192.92, Y:-25.56, Z:-13.58 [[ 9.95157818e-01 7.90371751e-02 5.84298115e-02 1.92917682e+02] [-7.86949578e-02 9.96865522e-01 -8.13852200e-03 -2.55617647e+01] [-5.88899103e-02 3.50098224e-03 9.98258344e-01 -1.35837233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.870714057 meters 0.03559870187676141 Centerline is valid? [True, True] Translation: X:192.94, Y:-25.57, Z:-13.59 [[ 9.95371186e-01 7.64801794e-02 5.81977962e-02 1.92944993e+02] [-7.61363321e-02 9.97064466e-01 -8.10611506e-03 -2.55694683e+01] [-5.86469117e-02 3.63762663e-03 9.98272161e-01 -1.35859805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.900714057 meters 0.043714918756710776 Centerline is valid? [True, True] Translation: X:192.97, Y:-25.59, Z:-13.59 [[ 9.95667873e-01 7.21607624e-02 5.86371170e-02 1.92972277e+02] [-7.18044403e-02 9.97385318e-01 -8.16395237e-03 -2.55879331e+01] [-5.90729166e-02 3.91817972e-03 9.98245981e-01 -1.35899436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.930714057 meters 0.03677967900515207 Centerline is valid? [True, True] Translation: X:193.00, Y:-25.58, Z:-13.59 [[ 9.95858297e-01 6.97430595e-02 5.83280177e-02 1.93003788e+02] [-6.93864440e-02 9.97556812e-01 -8.11956485e-03 -2.55829748e+01] [-5.87517947e-02 4.03876230e-03 9.98264451e-01 -1.35908272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.960714057 meters 0.03773528651717709 Centerline is valid? [True, True] Translation: X:193.03, Y:-25.59, Z:-13.59 [[ 9.96187384e-01 6.53364852e-02 5.78086439e-02 1.93033906e+02] [-6.49788243e-02 9.97854195e-01 -8.04725395e-03 -2.55900269e+01] [-5.82103771e-02 4.26023515e-03 9.98295248e-01 -1.35931184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.990714057 meters 0.03875332625686184 Centerline is valid? [True, True] Translation: X:193.06, Y:-25.60, Z:-13.60 [[ 9.96349547e-01 6.34424809e-02 5.71194567e-02 1.93064091e+02] [-6.30902233e-02 9.97976153e-01 -7.95119019e-03 -2.55962962e+01] [-5.75082989e-02 4.31848547e-03 9.98335688e-01 -1.35959287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.020714057 meters 0.039748026157165293 Centerline is valid? [True, True] Translation: X:193.09, Y:-25.60, Z:-13.60 [[ 9.96510080e-01 6.17066079e-02 5.62134805e-02 1.93094153e+02] [-6.13626500e-02 9.98084855e-01 -7.82608598e-03 -2.56026504e+01] [-5.65887447e-02 4.34936543e-03 9.98388099e-01 -1.35986824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.050714057 meters 0.04302312833667371 Centerline is valid? [True, True] Translation: X:193.12, Y:-25.61, Z:-13.60 [[ 9.96704664e-01 5.92464042e-02 5.54046661e-02 1.93122799e+02] [-5.89084428e-02 9.98233579e-01 -7.71470234e-03 -2.56121338e+01] [-5.57638665e-02 4.42547720e-03 9.98434177e-01 -1.36025857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.080714057 meters 0.042085153077567085 Centerline is valid? [True, True] Translation: X:193.15, Y:-25.62, Z:-13.60 [[ 9.96805684e-01 5.81555391e-02 5.47390284e-02 1.93154931e+02] [-5.78240802e-02 9.98297699e-01 -7.62105136e-03 -2.56156295e+01] [-5.50890525e-02 4.43147334e-03 9.98471611e-01 -1.36049454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.110714057 meters 0.042840961177344115 Centerline is valid? [True, True] Translation: X:193.19, Y:-25.62, Z:-13.61 [[ 9.96911665e-01 5.69110187e-02 5.41134742e-02 1.93186569e+02] [-5.65850704e-02 9.98369326e-01 -7.53783848e-03 -2.56208334e+01] [-5.44542188e-02 4.45254436e-03 9.98506341e-01 -1.36070938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.140714057 meters 0.04336639943782564 Centerline is valid? [True, True] Translation: X:193.22, Y:-25.63, Z:-13.61 [[ 9.96930357e-01 5.67742261e-02 5.39124424e-02 1.93218109e+02] [-5.64504290e-02 9.98377149e-01 -7.51113637e-03 -2.56254535e+01] [-5.42513895e-02 4.44469936e-03 9.98517417e-01 -1.36090595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.170714057 meters 0.043574377292779534 Centerline is valid? [True, True] Translation: X:193.25, Y:-25.63, Z:-13.61 [[ 9.96893235e-01 5.68821649e-02 5.44820779e-02 1.93250025e+02] [-5.65508744e-02 9.98370758e-01 -7.60444423e-03 -2.56301283e+01] [-5.48258706e-02 4.49980987e-03 9.98485791e-01 -1.36112814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.200714057 meters 0.042965043008461865 Centerline is valid? [True, True] Translation: X:193.28, Y:-25.63, Z:-13.61 [[ 9.96832918e-01 5.75510765e-02 5.48817564e-02 1.93281748e+02] [-5.72151311e-02 9.98332377e-01 -7.67426096e-03 -2.56330849e+01] [-5.52318963e-02 4.50988906e-03 9.98463369e-01 -1.36126924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.23071405699997 meters 0.04267516811152041 Centerline is valid? [True, True] Translation: X:193.31, Y:-25.64, Z:-13.61 [[ 9.96791462e-01 5.81985259e-02 5.49519117e-02 1.93314152e+02] [-5.78617988e-02 9.98294905e-01 -7.70027531e-03 -2.56370426e+01] [-5.53063581e-02 4.49595223e-03 9.98459310e-01 -1.36149003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.26071405699997 meters 0.04302154805261316 Centerline is valid? [True, True] Translation: X:193.35, Y:-25.64, Z:-13.62 [[ 9.96792031e-01 5.87071507e-02 5.43977720e-02 1.93345979e+02] [-5.83777944e-02 9.98265440e-01 -7.62530094e-03 -2.56410282e+01] [-5.47510755e-02 4.42521727e-03 9.98490229e-01 -1.36171757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.29071405699997 meters 0.043350871383731227 Centerline is valid? [True, True] Translation: X:193.38, Y:-25.65, Z:-13.62 [[ 9.96802494e-01 5.87830519e-02 5.41233829e-02 1.93376830e+02] [-5.84562215e-02 9.98261017e-01 -7.60340149e-03 -2.56451094e+01] [-5.44762144e-02 4.41524111e-03 9.98505307e-01 -1.36196656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.32071405699998 meters 0.04382943099875275 Centerline is valid? [True, True] Translation: X:193.41, Y:-25.65, Z:-13.62 [[ 9.96818066e-01 5.87362897e-02 5.38868427e-02 1.93407509e+02] [-5.84121411e-02 9.98263835e-01 -7.57209565e-03 -2.56490921e+01] [-5.42380431e-02 4.40035589e-03 9.98518338e-01 -1.36222750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.35071405699998 meters 0.045232938194724945 Centerline is valid? [True, True] Translation: X:193.44, Y:-25.65, Z:-13.62 [[ 9.96807000e-01 5.89688389e-02 5.38375495e-02 1.93438067e+02] [-5.86456666e-02 9.98250203e-01 -7.56431899e-03 -2.56536949e+01] [-5.41894038e-02 4.38282714e-03 9.98521056e-01 -1.36245594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.38071405699998 meters 0.046047888705905135 Centerline is valid? [True, True] Translation: X:193.47, Y:-25.66, Z:-13.63 [[ 9.96805549e-01 5.89170306e-02 5.39210658e-02 1.93469221e+02] [-5.85919513e-02 9.98253152e-01 -7.59126855e-03 -2.56579526e+01] [-5.42741290e-02 4.40767814e-03 9.98516345e-01 -1.36265852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.41071405699998 meters 0.04692413946925635 Centerline is valid? [True, True] Translation: X:193.50, Y:-25.66, Z:-13.63 [[ 9.96800145e-01 5.89631232e-02 5.39705658e-02 1.93499614e+02] [-5.86373964e-02 9.98250414e-01 -7.60038186e-03 -2.56620866e+01] [-5.43242819e-02 4.41136827e-03 9.98513601e-01 -1.36286488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.44071405699998 meters 0.04839152651040392 Centerline is valid? [True, True] Translation: X:193.53, Y:-25.67, Z:-13.63 [[ 9.96787378e-01 5.86686471e-02 5.45244307e-02 1.93529350e+02] [-5.83357016e-02 9.98267486e-01 -7.67934233e-03 -2.56664483e+01] [-5.48805030e-02 4.47395058e-03 9.98482906e-01 -1.36303941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.47071405699998 meters 0.049384317891367345 Centerline is valid? [True, True] Translation: X:193.56, Y:-25.67, Z:-13.63 [[ 9.96797513e-01 5.83123091e-02 5.47210367e-02 1.93559962e+02] [-5.79763823e-02 9.98288200e-01 -7.70775618e-03 -2.56712001e+01] [-5.50768223e-02 4.51054445e-03 9.98471932e-01 -1.36324742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.50071405699998 meters 0.050425679272271685 Centerline is valid? [True, True] Translation: X:193.59, Y:-25.68, Z:-13.63 [[ 9.96749386e-01 5.86852502e-02 5.51969477e-02 1.93590957e+02] [-5.83440416e-02 9.98266264e-01 -7.77430372e-03 -2.56754867e+01] [-5.55574877e-02 4.52861945e-03 9.98445220e-01 -1.36342798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.53071405699998 meters 0.051401742647212936 Centerline is valid? [True, True] Translation: X:193.62, Y:-25.68, Z:-13.64 [[ 9.96751628e-01 5.86744438e-02 5.51679457e-02 1.93621932e+02] [-5.83327684e-02 9.98266841e-01 -7.78476955e-03 -2.56799128e+01] [-5.55290979e-02 4.54138272e-03 9.98446741e-01 -1.36365420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.56071405699998 meters 0.050841571902457916 Centerline is valid? [True, True] Translation: X:193.65, Y:-25.68, Z:-13.64 [[ 9.96708716e-01 5.91136165e-02 5.54735629e-02 1.93653522e+02] [-5.87687351e-02 9.98240922e-01 -7.82932421e-03 -2.56833253e+01] [-5.58388003e-02 4.54344456e-03 9.98429459e-01 -1.36382973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.59071405699999 meters 0.052569386883582224 Centerline is valid? [True, True] Translation: X:193.68, Y:-25.69, Z:-13.64 [[ 9.96740962e-01 5.84824315e-02 5.55631079e-02 1.93683986e+02] [-5.81352807e-02 9.98277888e-01 -7.84517971e-03 -2.56887010e+01] [-5.59262272e-02 4.58943510e-03 9.98424356e-01 -1.36403526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.620714057 meters 0.05353019592515666 Centerline is valid? [True, True] Translation: X:193.72, Y:-25.69, Z:-13.64 [[ 9.96759461e-01 5.83037300e-02 5.54188845e-02 1.93715529e+02] [-5.79578073e-02 9.98288325e-01 -7.83018625e-03 -2.56938271e+01] [-5.57805545e-02 4.59285519e-03 9.98432489e-01 -1.36424581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.650714057 meters 0.05485852882198635 Centerline is valid? [True, True] Translation: X:193.75, Y:-25.70, Z:-13.65 [[ 9.96795756e-01 5.77164303e-02 5.53808117e-02 1.93745709e+02] [-5.73692259e-02 9.98322244e-01 -7.84017698e-03 -2.56993675e+01] [-5.57404032e-02 4.63790085e-03 9.98434523e-01 -1.36454237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.680714057 meters 0.03980546132676271 Centerline is valid? [True, True] Translation: X:193.78, Y:-25.68, Z:-13.64 [[ 9.96810804e-01 5.75387542e-02 5.52947799e-02 1.93780145e+02] [-5.71922586e-02 9.98332480e-01 -7.82977830e-03 -2.56832759e+01] [-5.56530905e-02 4.64237425e-03 9.98439373e-01 -1.36449038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.710714057 meters 0.04244258952562494 Centerline is valid? [True, True] Translation: X:193.81, Y:-25.69, Z:-13.65 [[ 9.96826229e-01 5.76329718e-02 5.49173001e-02 1.93810900e+02] [-5.72913036e-02 9.98327214e-01 -7.77696626e-03 -2.56904024e+01] [-5.52736448e-02 4.60600024e-03 9.98460620e-01 -1.36481056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.740714057 meters 0.0436080768202833 Centerline is valid? [True, True] Translation: X:193.84, Y:-25.70, Z:-13.65 [[ 9.96842680e-01 5.79101246e-02 5.43239222e-02 1.93842025e+02] [-5.75758630e-02 9.98311444e-01 -7.69941639e-03 -2.56957619e+01] [-5.46780674e-02 4.54736016e-03 9.98493681e-01 -1.36512799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.770714057 meters 0.0477500221438456 Centerline is valid? [True, True] Translation: X:193.87, Y:-25.70, Z:-13.66 [[ 9.96889682e-01 5.85264522e-02 5.27789476e-02 1.93871701e+02] [-5.82111738e-02 9.98276175e-01 -7.49246299e-03 -2.57047523e+01] [-5.31264732e-02 4.39683455e-03 9.98578112e-01 -1.36558860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.800714057 meters 0.04405373189596504 Centerline is valid? [True, True] Translation: X:193.90, Y:-25.70, Z:-13.66 [[ 9.96939695e-01 5.81657589e-02 5.22301515e-02 1.93903075e+02] [-5.78556938e-02 9.98297306e-01 -7.43024200e-03 -2.57034569e+01] [-5.25734052e-02 4.38569154e-03 9.98607432e-01 -1.36577077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.830714057 meters 0.04526943045949621 Centerline is valid? [True, True] Translation: X:193.93, Y:-25.71, Z:-13.66 [[ 9.96928952e-01 5.83949351e-02 5.21794617e-02 1.93932937e+02] [-5.80857837e-02 9.98283998e-01 -7.42303088e-03 -2.57090006e+01] [-5.25233890e-02 4.36934947e-03 9.98610135e-01 -1.36599029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.860714057 meters 0.04429464833935501 Centerline is valid? [True, True] Translation: X:193.96, Y:-25.71, Z:-13.66 [[ 9.96810622e-01 5.93712277e-02 5.33257958e-02 1.93963282e+02] [-5.90497126e-02 9.98226218e-01 -7.58610795e-03 -2.57110001e+01] [-5.36816040e-02 4.41304007e-03 9.98548352e-01 -1.36607070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.890714057 meters 0.0447607912553851 Centerline is valid? [True, True] Translation: X:193.99, Y:-25.71, Z:-13.66 [[ 9.96720304e-01 6.03615828e-02 5.38991172e-02 1.93993568e+02] [-6.00345455e-02 9.98166850e-01 -7.66766844e-03 -2.57148431e+01] [-5.42631446e-02 4.40671182e-03 9.98516946e-01 -1.36621940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.920714057 meters 0.0461536928891068 Centerline is valid? [True, True] Translation: X:194.02, Y:-25.72, Z:-13.66 [[ 9.96542113e-01 6.25512222e-02 5.46915226e-02 1.94023376e+02] [-6.22177587e-02 9.98032272e-01 -7.78039573e-03 -2.57186583e+01] [-5.50705778e-02 4.35070805e-03 9.98472986e-01 -1.36637892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.950714057 meters 0.044500553139552444 Centerline is valid? [True, True] Translation: X:194.05, Y:-25.72, Z:-13.66 [[ 9.96456522e-01 6.36915173e-02 5.49344235e-02 1.94053881e+02] [-6.33567893e-02 9.97960340e-01 -7.81517957e-03 -2.57191333e+01] [-5.53201366e-02 4.30701797e-03 9.98459379e-01 -1.36649960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.98071405699997 meters 0.04569462657211167 Centerline is valid? [True, True] Translation: X:194.08, Y:-25.72, Z:-13.67 [[ 9.96339762e-01 6.51455465e-02 5.53456005e-02 1.94082084e+02] [-6.48080402e-02 9.97866690e-01 -7.87313688e-03 -2.57233028e+01] [-5.57404310e-02 4.25747943e-03 9.98436216e-01 -1.36665425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.01071405699997 meters 0.04569462657211167 Centerline is valid? [True, True] Translation: X:194.11, Y:-25.73, Z:-13.67 [[ 9.96341940e-01 6.51118698e-02 5.53460338e-02 1.94110968e+02] [-6.47744801e-02 9.97868893e-01 -7.87008983e-03 -2.57273779e+01] [-5.57405218e-02 4.25629000e-03 9.98436216e-01 -1.36685528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.04071405699997 meters 0.04048785746450998 Centerline is valid? [True, True] Translation: X:194.14, Y:-25.72, Z:-13.67 [[ 9.96136337e-01 6.78606375e-02 5.57434478e-02 1.94141858e+02] [-6.75227685e-02 9.97686262e-01 -7.92456420e-03 -2.57218737e+01] [-5.61522381e-02 4.12999443e-03 9.98413676e-01 -1.36695715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.07071405699998 meters 0.038945051244961726 Centerline is valid? [True, True] Translation: X:194.17, Y:-25.72, Z:-13.67 [[ 9.96043495e-01 6.91669829e-02 5.57968182e-02 1.94171713e+02] [-6.88305765e-02 9.97596839e-01 -7.93083934e-03 -2.57230090e+01] [-5.62112817e-02 4.05893377e-03 9.98410645e-01 -1.36713345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.10071405699998 meters 0.03738202477794898 Centerline is valid? [True, True] Translation: X:194.20, Y:-25.72, Z:-13.67 [[ 9.95977170e-01 7.06239794e-02 5.51518893e-02 1.94200638e+02] [-7.02976174e-02 9.97495271e-01 -7.83768981e-03 -2.57218698e+01] [-5.55672776e-02 3.92911370e-03 9.98447214e-01 -1.36729020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.13071405699998 meters 0.03762069431571744 Centerline is valid? [True, True] Translation: X:194.23, Y:-25.72, Z:-13.67 [[ 9.95940873e-01 7.10874209e-02 5.52119175e-02 1.94229066e+02] [-7.07612808e-02 9.97462451e-01 -7.84217250e-03 -2.57249905e+01] [-5.56292944e-02 3.90347413e-03 9.98443861e-01 -1.36746517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.16071405699998 meters 0.038466149223025554 Centerline is valid? [True, True] Translation: X:194.26, Y:-25.73, Z:-13.68 [[ 9.95908749e-01 7.16446419e-02 5.50709438e-02 1.94257515e+02] [-7.13212509e-02 9.97422759e-01 -7.81789031e-03 -2.57289537e+01] [-5.54891227e-02 3.85817676e-03 9.98451837e-01 -1.36768440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.19071405699998 meters 0.038453906022067136 Centerline is valid? [True, True] Translation: X:194.29, Y:-25.73, Z:-13.68 [[ 9.95890275e-01 7.21724089e-02 5.47147522e-02 1.94285289e+02] [-7.18541233e-02 9.97384927e-01 -7.76481989e-03 -2.57306935e+01] [-5.51320749e-02 3.80142806e-03 9.98471834e-01 -1.36791287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.22071405699998 meters 0.040670891426144766 Centerline is valid? [True, True] Translation: X:194.31, Y:-25.74, Z:-13.68 [[ 9.95886699e-01 7.23986432e-02 5.44804534e-02 1.94312679e+02] [-7.20836910e-02 9.97368659e-01 -7.72659849e-03 -2.57367026e+01] [-5.48964920e-02 3.76766449e-03 9.98484942e-01 -1.36816278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.25071405699998 meters 0.03932048752415075 Centerline is valid? [True, True] Translation: X:194.34, Y:-25.74, Z:-13.68 [[ 9.95885452e-01 7.25977240e-02 5.42377775e-02 1.94341600e+02] [-7.22861607e-02 9.97354312e-01 -7.68684199e-03 -2.57376176e+01] [-5.46523285e-02 3.73457341e-03 9.98498461e-01 -1.36834809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.28071405699998 meters 0.03959157848709669 Centerline is valid? [True, True] Translation: X:194.37, Y:-25.74, Z:-13.69 [[ 9.95816024e-01 7.37664011e-02 5.39348096e-02 1.94369161e+02] [-7.34602123e-02 9.97268882e-01 -7.64033217e-03 -2.57395464e+01] [-5.43511071e-02 3.64630264e-03 9.98515229e-01 -1.36855615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.31071405699998 meters 0.040890058047375596 Centerline is valid? [True, True] Translation: X:194.40, Y:-25.74, Z:-13.69 [[ 9.95790982e-01 7.40710817e-02 5.39795733e-02 1.94396782e+02] [-7.37650836e-02 9.97246365e-01 -7.64199912e-03 -2.57443265e+01] [-5.43969844e-02 3.62802607e-03 9.98512797e-01 -1.36876757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.34071405699999 meters 0.03878865122245909 Centerline is valid? [True, True] Translation: X:194.43, Y:-25.74, Z:-13.69 [[ 9.95704616e-01 7.49827929e-02 5.43129757e-02 1.94425675e+02] [-7.46746399e-02 9.97178347e-01 -7.68387121e-03 -2.57432247e+01] [-5.47358815e-02 3.59506412e-03 9.98494396e-01 -1.36883702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.370714057 meters 0.04051613146154908 Centerline is valid? [True, True] Translation: X:194.45, Y:-25.75, Z:-13.69 [[ 9.95616757e-01 7.56830251e-02 5.49486412e-02 1.94453048e+02] [-7.53688738e-02 9.97125448e-01 -7.77010244e-03 -2.57492056e+01] [-5.53787533e-02 3.59462698e-03 9.98458949e-01 -1.36901745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.400714057 meters 0.034162633175160606 Centerline is valid? [True, True] Translation: X:194.48, Y:-25.74, Z:-13.69 [[ 9.95582282e-01 7.59510695e-02 5.52028604e-02 1.94483114e+02] [-7.56346887e-02 9.97105078e-01 -7.80106669e-03 -2.57426941e+01] [-5.56355518e-02 3.59135261e-03 9.98444684e-01 -1.36899845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.430714057 meters 0.04167903244134388 Centerline is valid? [True, True] Translation: X:194.51, Y:-25.76, Z:-13.69 [[ 9.95580393e-01 7.61047466e-02 5.50249798e-02 1.94509381e+02] [-7.57908502e-02 9.97093447e-01 -7.77209998e-03 -2.57567156e+01] [-5.54565404e-02 3.56736036e-03 9.98454729e-01 -1.36941255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.460714057 meters 0.03480376141868014 Centerline is valid? [True, True] Translation: X:194.54, Y:-25.75, Z:-13.69 [[ 9.95595305e-01 7.60724409e-02 5.47993818e-02 1.94538203e+02] [-7.57613300e-02 9.97095975e-01 -7.73549139e-03 -2.57499557e+01] [-5.52287007e-02 3.54974486e-03 9.98467421e-01 -1.36943368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.490714057 meters 0.036407126027138255 Centerline is valid? [True, True] Translation: X:194.57, Y:-25.76, Z:-13.70 [[ 9.95674061e-01 7.55273195e-02 5.41182720e-02 1.94565265e+02] [-7.52234373e-02 9.97137487e-01 -7.63321394e-03 -2.57555136e+01] [-5.45398739e-02 3.52923069e-03 9.98505356e-01 -1.36971854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.520714057 meters 0.03655784159311206 Centerline is valid? [True, True] Translation: X:194.59, Y:-25.76, Z:-13.70 [[ 9.95734505e-01 7.49293462e-02 5.38366858e-02 1.94593456e+02] [-7.46280315e-02 9.97182568e-01 -7.58835509e-03 -2.57597798e+01] [-5.42535951e-02 3.53826112e-03 9.98520920e-01 -1.36995531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.550714057 meters 0.035976367640682766 Centerline is valid? [True, True] Translation: X:194.62, Y:-25.76, Z:-13.70 [[ 9.95793680e-01 7.44150164e-02 5.34542075e-02 1.94621603e+02] [-7.41174401e-02 9.97221086e-01 -7.53065302e-03 -2.57633361e+01] [-5.38660565e-02 3.53708767e-03 9.98541905e-01 -1.37015672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.580714057 meters 0.03605856923994361 Centerline is valid? [True, True] Translation: X:194.65, Y:-25.77, Z:-13.70 [[ 9.95936503e-01 7.27828109e-02 5.30390931e-02 1.94650260e+02] [-7.24877419e-02 9.97341341e-01 -7.46841736e-03 -2.57680604e+01] [-5.34416527e-02 3.59338537e-03 9.98564508e-01 -1.37029235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.610714057 meters 0.03972768339793592 Centerline is valid? [True, True] Translation: X:194.68, Y:-25.78, Z:-13.71 [[ 9.95991429e-01 7.21848204e-02 5.28244773e-02 1.94676327e+02] [-7.18914847e-02 9.97384750e-01 -7.43474300e-03 -2.57775752e+01] [-5.32230037e-02 3.60731020e-03 9.98576136e-01 -1.37059370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.640714057 meters 0.04107214040830285 Centerline is valid? [True, True] Translation: X:194.70, Y:-25.78, Z:-13.71 [[ 9.96145965e-01 7.06038126e-02 5.20415099e-02 1.94704709e+02] [-7.03173097e-02 9.97497830e-01 -7.31811197e-03 -2.57845627e+01] [-5.24279798e-02 3.63048874e-03 9.98618108e-01 -1.37086949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.670714057 meters 0.041897549817418354 Centerline is valid? [True, True] Translation: X:194.73, Y:-25.79, Z:-13.71 [[ 9.96199381e-01 7.01910352e-02 5.15753119e-02 1.94732929e+02] [-6.99092233e-02 9.97527010e-01 -7.25014536e-03 -2.57904488e+01] [-5.19566619e-02 3.61700032e-03 9.98642790e-01 -1.37115010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.700714057 meters 0.036347422577508955 Centerline is valid? [True, True] Translation: X:194.76, Y:-25.79, Z:-13.71 [[ 9.96241189e-01 6.97570102e-02 5.13561294e-02 1.94762725e+02] [-6.94771992e-02 9.97557442e-01 -7.21582958e-03 -2.57868369e+01] [-5.17340438e-02 3.62062660e-03 9.98654334e-01 -1.37115063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.73071405699997 meters 0.04370816045412017 Centerline is valid? [True, True] Translation: X:194.79, Y:-25.80, Z:-13.72 [[ 9.96250908e-01 6.95429678e-02 5.14577884e-02 1.94788267e+02] [-6.92619464e-02 9.97572333e-01 -7.22657653e-03 -2.58018488e+01] [-5.18354236e-02 3.63541685e-03 9.98649024e-01 -1.37156169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.76071405699997 meters 0.04367087461101222 Centerline is valid? [True, True] Translation: X:194.82, Y:-25.81, Z:-13.72 [[ 9.96208130e-01 6.99129663e-02 5.17835767e-02 1.94816360e+02] [-6.96291363e-02 9.97546476e-01 -7.26719723e-03 -2.58057980e+01] [-5.21645957e-02 3.63399524e-03 9.98631889e-01 -1.37172490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.79071405699997 meters 0.043615299683720236 Centerline is valid? [True, True] Translation: X:194.84, Y:-25.81, Z:-13.72 [[ 9.96031311e-01 7.17114756e-02 5.27170941e-02 1.94844778e+02] [-7.14200209e-02 9.97418922e-01 -7.39429298e-03 -2.58098509e+01] [-5.31112828e-02 3.59989137e-03 9.98582111e-01 -1.37177678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.82071405699998 meters 0.03784179956380156 Centerline is valid? [True, True] Translation: X:194.87, Y:-25.81, Z:-13.72 [[ 9.95949031e-01 7.26381789e-02 5.30021053e-02 1.94874656e+02] [-7.23449928e-02 9.97351978e-01 -7.43189399e-03 -2.58053023e+01] [-5.34015938e-02 3.56735069e-03 9.98566745e-01 -1.37169866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.85071405699998 meters 0.04389192629941397 Centerline is valid? [True, True] Translation: X:194.90, Y:-25.82, Z:-13.72 [[ 9.95869195e-01 7.34926806e-02 5.33232842e-02 1.94900969e+02] [-7.31973368e-02 9.97289476e-01 -7.47336000e-03 -2.58178228e+01] [-5.37279874e-02 3.53936662e-03 9.98549336e-01 -1.37201794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.88071405699998 meters 0.03442555150486455 Centerline is valid? [True, True] Translation: X:194.93, Y:-25.81, Z:-13.72 [[ 9.95655857e-01 7.57452256e-02 5.41486442e-02 1.94932927e+02] [-7.54442897e-02 9.97121183e-01 -7.58320068e-03 -2.58088022e+01] [-5.45671514e-02 3.46505217e-03 9.98504091e-01 -1.37179250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.91071405699998 meters 0.03539470895353452 Centerline is valid? [True, True] Translation: X:194.96, Y:-25.81, Z:-13.72 [[ 9.95523993e-01 7.69526259e-02 5.48659530e-02 1.94961355e+02] [-7.66455089e-02 9.97028804e-01 -7.68311647e-03 -2.58144067e+01] [-5.52941714e-02 3.44349790e-03 9.98464169e-01 -1.37200583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.94071405699998 meters 0.03390766053110118 Centerline is valid? [True, True] Translation: X:194.99, Y:-25.82, Z:-13.72 [[ 9.95471675e-01 7.78182334e-02 5.45936545e-02 1.94990227e+02] [-7.75156042e-02 9.96961848e-01 -7.64230598e-03 -2.58166895e+01] [-5.50225014e-02 3.37583903e-03 9.98479408e-01 -1.37214000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.97071405699998 meters 0.032185235017015014 Centerline is valid? [True, True] Translation: X:195.02, Y:-25.82, Z:-13.72 [[ 9.95238079e-01 8.02516239e-02 5.53248931e-02 1.95019638e+02] [-7.99448259e-02 9.96769240e-01 -7.74000882e-03 -2.58196331e+01] [-5.57672999e-02 3.28021255e-03 9.98438405e-01 -1.37227219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.00071405699998 meters 0.03276233439809623 Centerline is valid? [True, True] Translation: X:195.05, Y:-25.83, Z:-13.72 [[ 9.95108884e-01 8.16935735e-02 5.55379940e-02 1.95047343e+02] [-8.13867324e-02 9.96652324e-01 -7.76818557e-03 -2.58252338e+01] [-5.59866817e-02 3.21013462e-03 9.98426355e-01 -1.37249874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.03071405699998 meters 0.03087904241624511 Centerline is valid? [True, True] Translation: X:195.08, Y:-25.83, Z:-13.73 [[ 9.94840803e-01 8.51813734e-02 5.50991036e-02 1.95077166e+02] [-8.48849581e-02 9.96360990e-01 -7.70207830e-03 -2.58274622e+01] [-5.55546710e-02 2.98525666e-03 9.98451184e-01 -1.37269881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.06071405699998 meters 0.03097373103350557 Centerline is valid? [True, True] Translation: X:195.10, Y:-25.83, Z:-13.73 [[ 9.94691854e-01 8.71122901e-02 5.47682794e-02 1.95104270e+02] [-8.68223222e-02 9.96194392e-01 -7.65622290e-03 -2.58314069e+01] [-5.52268040e-02 2.86047334e-03 9.98469738e-01 -1.37292524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.09071405699999 meters 0.030791674324393795 Centerline is valid? [True, True] Translation: X:195.13, Y:-25.84, Z:-13.73 [[ 9.94550108e-01 8.90251066e-02 5.42642834e-02 1.95131388e+02] [-8.87436800e-02 9.96025663e-01 -7.57872903e-03 -2.58351739e+01] [-5.47233160e-02 2.72181358e-03 9.98497847e-01 -1.37316220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.120714057 meters 0.028753746448215264 Centerline is valid? [True, True] Translation: X:195.16, Y:-25.84, Z:-13.73 [[ 9.94186426e-01 9.36021488e-02 5.32164253e-02 1.95161120e+02] [-9.33383398e-02 9.95606749e-01 -7.42666528e-03 -2.58367888e+01] [-5.36777840e-02 2.41635703e-03 9.98555385e-01 -1.37340639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.150714057 meters 0.02818397008032735 Centerline is valid? [True, True] Translation: X:195.19, Y:-25.84, Z:-13.74 [[ 9.94052449e-01 9.52759254e-02 5.27468223e-02 1.95190051e+02] [-9.50189785e-02 9.95448227e-01 -7.36352774e-03 -2.58397045e+01] [-5.32082977e-02 2.30778360e-03 9.98580768e-01 -1.37365087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.180714057 meters 0.028777171204487424 Centerline is valid? [True, True] Translation: X:195.22, Y:-25.84, Z:-13.74 [[ 9.93908947e-01 9.69380372e-02 5.24215706e-02 1.95217556e+02] [-9.66873308e-02 9.95288008e-01 -7.30353381e-03 -2.58448941e+01] [-5.28825508e-02 2.19054587e-03 9.98598336e-01 -1.37394457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.210714057 meters 0.02727680543339544 Centerline is valid? [True, True] Translation: X:195.25, Y:-25.85, Z:-13.74 [[ 9.93651949e-01 9.93108185e-02 5.28504140e-02 1.95245993e+02] [-9.90596088e-02 9.95054296e-01 -7.35818655e-03 -2.58484389e+01] [-5.33197790e-02 2.07613506e-03 9.98575331e-01 -1.37412014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.240714057 meters 0.027065992230236726 Centerline is valid? [True, True] Translation: X:195.27, Y:-25.85, Z:-13.74 [[ 9.93604383e-01 9.97718319e-02 5.28763740e-02 1.95274705e+02] [-9.95212301e-02 9.95008234e-01 -7.35798833e-03 -2.58528809e+01] [-5.33465475e-02 2.04860767e-03 9.98573958e-01 -1.37432586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.270714057 meters 0.0268796599192586 Centerline is valid? [True, True] Translation: X:195.30, Y:-25.86, Z:-13.75 [[ 9.93600017e-01 9.98403601e-02 5.28290548e-02 1.95302680e+02] [-9.95905071e-02 9.95001379e-01 -7.34759265e-03 -2.58582786e+01] [-5.32985687e-02 2.03929582e-03 9.98576539e-01 -1.37451193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.300714057 meters 0.027553960760624552 Centerline is valid? [True, True] Translation: X:195.33, Y:-25.86, Z:-13.75 [[ 9.93624966e-01 9.93893119e-02 5.32089469e-02 1.95329449e+02] [-9.91353999e-02 9.95046461e-01 -7.39677826e-03 -2.58645993e+01] [-5.36805351e-02 2.07473331e-03 9.98556005e-01 -1.37472138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.330714057 meters 0.027643711412148567 Centerline is valid? [True, True] Translation: X:195.36, Y:-25.87, Z:-13.75 [[ 9.93712332e-01 9.86352517e-02 5.29800744e-02 1.95357752e+02] [-9.83827211e-02 9.95121436e-01 -7.35993795e-03 -2.58694825e+01] [-5.34475570e-02 2.10133722e-03 9.98568447e-01 -1.37489046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.360714057 meters 0.028943030977342472 Centerline is valid? [True, True] Translation: X:195.39, Y:-25.88, Z:-13.75 [[ 9.93912550e-01 9.66279701e-02 5.29233274e-02 1.95385005e+02] [-9.63733300e-02 9.95318130e-01 -7.34852495e-03 -2.58775523e+01] [-5.33856204e-02 2.20339387e-03 9.98571540e-01 -1.37501854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.390714057 meters 0.02794985023336422 Centerline is valid? [True, True] Translation: X:195.41, Y:-25.88, Z:-13.75 [[ 9.94037970e-01 9.51027226e-02 5.33290332e-02 1.95412991e+02] [-9.48422263e-02 9.95464811e-01 -7.40009201e-03 -2.58812182e+01] [-5.37909449e-02 2.29812821e-03 9.98549575e-01 -1.37512012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.420714057 meters 0.03232729475831123 Centerline is valid? [True, True] Translation: X:195.44, Y:-25.90, Z:-13.75 [[ 9.94311790e-01 9.15825339e-02 5.43755756e-02 1.95439413e+02] [-9.13067585e-02 9.95794270e-01 -7.53970884e-03 -2.58966909e+01] [-5.48373923e-02 2.53196384e-03 9.98492088e-01 -1.37545542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.45071405699997 meters 0.03366798852859356 Centerline is valid? [True, True] Translation: X:195.47, Y:-25.90, Z:-13.76 [[ 9.94511312e-01 8.93559131e-02 5.44313358e-02 1.95466907e+02] [-8.90763965e-02 9.95996221e-01 -7.54469620e-03 -2.59046171e+01] [-5.48875680e-02 2.65473847e-03 9.98489012e-01 -1.37564975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.48071405699997 meters 0.03504951157026091 Centerline is valid? [True, True] Translation: X:195.50, Y:-25.91, Z:-13.76 [[ 9.94689778e-01 8.72161590e-02 5.46405208e-02 1.95496051e+02] [-8.69315146e-02 9.96185534e-01 -7.56923517e-03 -2.59118896e+01] [-5.50922560e-02 2.77905762e-03 9.98477401e-01 -1.37587963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.51071405699997 meters 0.032361665565522946 Centerline is valid? [True, True] Translation: X:195.53, Y:-25.91, Z:-13.76 [[ 9.95053335e-01 8.28694281e-02 5.47861082e-02 1.95525820e+02] [-8.25768093e-02 9.96555820e-01 -7.58735044e-03 -2.59145661e+01] [-5.52261744e-02 3.02575636e-03 9.98469286e-01 -1.37586024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.54071405699997 meters 0.03225244682164421 Centerline is valid? [True, True] Translation: X:195.55, Y:-25.92, Z:-13.76 [[ 9.95182364e-01 8.09304893e-02 5.53382234e-02 1.95554351e+02] [-8.06289797e-02 9.96714724e-01 -7.66326880e-03 -2.59199387e+01] [-5.57766142e-02 3.16448546e-03 9.98438258e-01 -1.37604980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.57071405699998 meters 0.03268716323890545 Centerline is valid? [True, True] Translation: X:195.58, Y:-25.93, Z:-13.76 [[ 9.95535998e-01 7.64837827e-02 5.53019745e-02 1.95583588e+02] [-7.61760382e-02 9.97065002e-01 -7.65460354e-03 -2.59275682e+01] [-5.57251164e-02 3.40774804e-03 9.98440333e-01 -1.37622003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.60071405699998 meters 0.03329565441172088 Centerline is valid? [True, True] Translation: X:195.61, Y:-25.93, Z:-13.76 [[ 9.95672809e-01 7.44974096e-02 5.55499266e-02 1.95611940e+02] [-7.41838045e-02 9.97214942e-01 -7.68917374e-03 -2.59342333e+01] [-5.59680404e-02 3.53499631e-03 9.98426303e-01 -1.37643333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.63071405699998 meters 0.03412703268050284 Centerline is valid? [True, True] Translation: X:195.64, Y:-25.94, Z:-13.77 [[ 9.95882015e-01 7.20679189e-02 5.50020682e-02 1.95640345e+02] [-7.17569497e-02 9.97393113e-01 -7.61044582e-03 -2.59406014e+01] [-5.54071530e-02 3.63232547e-03 9.98457237e-01 -1.37665002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.66071405699998 meters 0.03585306432144352 Centerline is valid? [True, True] Translation: X:195.67, Y:-25.95, Z:-13.77 [[ 9.96186591e-01 6.84265722e-02 5.41302233e-02 1.95668184e+02] [-6.81202644e-02 9.97649032e-01 -7.48582896e-03 -2.59495314e+01] [-5.45151945e-02 3.76991730e-03 9.98505824e-01 -1.37691213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.69071405699998 meters 0.03726479622285979 Centerline is valid? [True, True] Translation: X:195.70, Y:-25.96, Z:-13.77 [[ 9.96318240e-01 6.67636172e-02 5.37827519e-02 1.95696342e+02] [-6.64588809e-02 9.97761450e-01 -7.43673956e-03 -2.59565325e+01] [-5.41588602e-02 3.83501776e-03 9.98524967e-01 -1.37716731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.72071405699998 meters 0.03613644063006608 Centerline is valid? [True, True] Translation: X:195.73, Y:-25.96, Z:-13.77 [[ 9.96442327e-01 6.52292714e-02 5.33650685e-02 1.95725539e+02] [-6.49272275e-02 9.97862741e-01 -7.37602195e-03 -2.59594042e+01] [-5.37321460e-02 3.88493453e-03 9.98547827e-01 -1.37734065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.75071405699998 meters 0.03770077106598582 Centerline is valid? [True, True] Translation: X:195.75, Y:-25.97, Z:-13.78 [[ 9.96636074e-01 6.28561415e-02 5.25893718e-02 1.95754861e+02] [-6.25597237e-02 9.98014777e-01 -7.26535880e-03 -2.59668586e+01] [-5.29416426e-02 3.95094210e-03 9.98589792e-01 -1.37755172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.78071405699998 meters 0.037742497748108374 Centerline is valid? [True, True] Translation: X:195.78, Y:-25.97, Z:-13.78 [[ 9.96680930e-01 6.19763057e-02 5.27831600e-02 1.95784427e+02] [-6.16765410e-02 9.98069561e-01 -7.29081012e-03 -2.59713801e+01] [-5.31331228e-02 4.01112868e-03 9.98579382e-01 -1.37777294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.81071405699998 meters 0.03964088035828775 Centerline is valid? [True, True] Translation: X:195.81, Y:-25.98, Z:-13.78 [[ 9.96725686e-01 6.13464653e-02 5.26736933e-02 1.95812598e+02] [-6.10470254e-02 9.98108367e-01 -7.27653642e-03 -2.59782310e+01] [-5.30204438e-02 4.03713846e-03 9.98585266e-01 -1.37802587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.84071405699999 meters 0.041187473747926924 Centerline is valid? [True, True] Translation: X:195.84, Y:-25.98, Z:-13.78 [[ 9.96758067e-01 6.07158584e-02 5.27914759e-02 1.95841521e+02] [-6.04143163e-02 9.98146762e-01 -7.29057509e-03 -2.59845588e+01] [-5.31362942e-02 4.07757861e-03 9.98578944e-01 -1.37823468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.870714057 meters 0.038953652666326194 Centerline is valid? [True, True] Translation: X:195.87, Y:-25.99, Z:-13.78 [[ 9.96746064e-01 6.07489707e-02 5.29796829e-02 1.95871846e+02] [-6.04453844e-02 9.98144700e-01 -7.31533558e-03 -2.59856625e+01] [-5.33257887e-02 4.08915465e-03 9.98568795e-01 -1.37837437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.900714057 meters 0.041578561720101645 Centerline is valid? [True, True] Translation: X:195.90, Y:-25.99, Z:-13.79 [[ 9.96713785e-01 6.10584643e-02 5.32305768e-02 1.95900471e+02] [-6.07524162e-02 9.98125803e-01 -7.35024845e-03 -2.59931756e+01] [-5.35796071e-02 4.09220780e-03 9.98555196e-01 -1.37862270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.930714057 meters 0.041578561720101645 Centerline is valid? [True, True] Translation: X:195.93, Y:-26.00, Z:-13.79 [[ 9.96713781e-01 6.10583808e-02 5.32307447e-02 1.95930208e+02] [-6.07523972e-02 9.98125813e-01 -7.34903264e-03 -2.59972817e+01] [-5.35797003e-02 4.09098677e-03 9.98555196e-01 -1.37882949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.960714057 meters 0.04075852546366171 Centerline is valid? [True, True] Translation: X:195.96, Y:-26.00, Z:-13.79 [[ 9.96631567e-01 6.22973705e-02 5.33343846e-02 1.95961100e+02] [-6.19919657e-02 9.98049488e-01 -7.36314489e-03 -2.59991549e+01] [-5.36890598e-02 4.03203929e-03 9.98549562e-01 -1.37901183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.990714057 meters 0.04022976424305392 Centerline is valid? [True, True] Translation: X:195.99, Y:-26.00, Z:-13.79 [[ 9.96573495e-01 6.31286755e-02 5.34419331e-02 1.95991442e+02] [-6.28231749e-02 9.97997395e-01 -7.37890177e-03 -2.60017522e+01] [-5.38007303e-02 3.99622601e-03 9.98543695e-01 -1.37918590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.020714057 meters 0.03768677546595061 Centerline is valid? [True, True] Translation: X:196.02, Y:-26.00, Z:-13.79 [[ 9.96517899e-01 6.38101838e-02 5.36687799e-02 1.96021011e+02] [-6.35030486e-02 9.97954131e-01 -7.41049117e-03 -2.60015235e+01] [-5.40318454e-02 3.97655595e-03 9.98531295e-01 -1.37929449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.050714057 meters 0.03633931660513897 Centerline is valid? [True, True] Translation: X:196.05, Y:-26.00, Z:-13.79 [[ 9.96446225e-01 6.48368253e-02 5.37690072e-02 1.96051142e+02] [-6.45300800e-02 9.97888152e-01 -7.42333010e-03 -2.60025348e+01] [-5.41367604e-02 3.92723092e-03 9.98525807e-01 -1.37949457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.080714057 meters 0.03808160805199099 Centerline is valid? [True, True] Translation: X:196.08, Y:-26.01, Z:-13.80 [[ 9.96424247e-01 6.50018081e-02 5.39767055e-02 1.96079663e+02] [-6.46929820e-02 9.97877398e-01 -7.45097808e-03 -2.60084777e+01] [-5.43464615e-02 3.93242118e-03 9.98514396e-01 -1.37973344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.110714057 meters 0.04260605256458042 Centerline is valid? [True, True] Translation: X:196.11, Y:-26.02, Z:-13.80 [[ 9.96373242e-01 6.50646212e-02 5.48357389e-02 1.96107351e+02] [-6.47460132e-02 9.97873072e-01 -7.56875701e-03 -2.60173229e+01] [-5.52115656e-02 3.99091148e-03 9.98466702e-01 -1.37999623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.140714057 meters 0.04297621264100529 Centerline is valid? [True, True] Translation: X:196.14, Y:-26.02, Z:-13.80 [[ 9.96368400e-01 6.49177765e-02 5.50971319e-02 1.96136647e+02] [-6.45960104e-02 9.97882535e-01 -7.60278939e-03 -2.60212571e+01] [-5.54740218e-02 4.01612419e-03 9.98452054e-01 -1.38016550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.170714057 meters 0.03732806729698993 Centerline is valid? [True, True] Translation: X:196.17, Y:-26.02, Z:-13.80 [[ 9.96387190e-01 6.42901262e-02 5.54918717e-02 1.96167051e+02] [-6.39628657e-02 9.97922917e-01 -7.65535902e-03 -2.60166134e+01] [-5.58687745e-02 4.07828252e-03 9.98429791e-01 -1.38016386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.20071405699997 meters 0.046140403059469 Centerline is valid? [True, True] Translation: X:196.19, Y:-26.03, Z:-13.81 [[ 9.96425950e-01 6.32915222e-02 5.59420129e-02 1.96194695e+02] [-6.29574890e-02 9.97986388e-01 -7.71516341e-03 -2.60326538e+01] [-5.63176718e-02 4.16562037e-03 9.98404210e-01 -1.38058166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.23071405699997 meters 0.0394893234419212 Centerline is valid? [True, True] Translation: X:196.23, Y:-26.03, Z:-13.81 [[ 9.96458041e-01 6.27074169e-02 5.60281377e-02 1.96226706e+02] [-6.23715057e-02 9.98023100e-01 -7.72580028e-03 -2.60270127e+01] [-5.64018406e-02 4.20387650e-03 9.98399299e-01 -1.38065148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.26071405699997 meters 0.04835848399817648 Centerline is valid? [True, True] Translation: X:196.25, Y:-26.04, Z:-13.81 [[ 9.96517028e-01 6.17748444e-02 5.60150127e-02 1.96254304e+02] [-6.14376146e-02 9.98081037e-01 -7.72420804e-03 -2.60425319e+01] [-5.63846837e-02 4.25587608e-03 9.98400048e-01 -1.38097970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.29071405699997 meters 0.04012027115087325 Centerline is valid? [True, True] Translation: X:196.29, Y:-26.03, Z:-13.81 [[ 9.96568256e-01 6.11395194e-02 5.58002763e-02 1.96286607e+02] [-6.08039532e-02 9.98120079e-01 -7.69337214e-03 -2.60345305e+01] [-5.61657453e-02 4.27409306e-03 9.98412310e-01 -1.38099276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.32071405699998 meters 0.0412095709046632 Centerline is valid? [True, True] Translation: X:196.32, Y:-26.04, Z:-13.81 [[ 9.96580711e-01 6.09806419e-02 5.57516694e-02 1.96315200e+02] [-6.06454235e-02 9.98129776e-01 -7.68649932e-03 -2.60395285e+01] [-5.61161290e-02 4.27913335e-03 9.98415079e-01 -1.38120235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.35071405699998 meters 0.043028416146744505 Centerline is valid? [True, True] Translation: X:196.34, Y:-26.04, Z:-13.81 [[ 9.96567958e-01 6.09878304e-02 5.59713226e-02 1.96343920e+02] [-6.06499074e-02 9.98129261e-01 -7.71794772e-03 -2.60448499e+01] [-5.63373157e-02 4.29680387e-03 9.98402546e-01 -1.38143858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.38071405699998 meters 0.04178180266015065 Centerline is valid? [True, True] Translation: X:196.37, Y:-26.05, Z:-13.82 [[ 9.96555951e-01 6.09425734e-02 5.62337979e-02 1.96374016e+02] [-6.06014663e-02 9.98131932e-01 -7.75292892e-03 -2.60465551e+01] [-5.66012328e-02 4.31837684e-03 9.98387526e-01 -1.38160282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.41071405699998 meters 0.039211811033506475 Centerline is valid? [True, True] Translation: X:196.40, Y:-26.05, Z:-13.82 [[ 9.96497146e-01 6.15420233e-02 5.66217019e-02 1.96404657e+02] [-6.11971488e-02 9.98095170e-01 -7.80640907e-03 -2.60470876e+01] [-5.69942694e-02 4.31397765e-03 9.98365185e-01 -1.38178117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.44071405699998 meters 0.04358445626581692 Centerline is valid? [True, True] Translation: X:196.43, Y:-26.06, Z:-13.82 [[ 9.96432645e-01 6.21110804e-02 5.71331575e-02 1.96432741e+02] [-6.17608563e-02 9.98059892e-01 -7.87712030e-03 -2.60554300e+01] [-5.75115695e-02 4.32042708e-03 9.98335491e-01 -1.38205484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.47071405699998 meters 0.04359970306462439 Centerline is valid? [True, True] Translation: X:196.46, Y:-26.06, Z:-13.82 [[ 9.96392738e-01 6.24613640e-02 5.74464009e-02 1.96462643e+02] [-6.21079334e-02 9.98038022e-01 -7.91907405e-03 -2.60588070e+01] [-5.78283284e-02 4.32263064e-03 9.98317184e-01 -1.38222476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.50071405699998 meters 0.03936153495893227 Centerline is valid? [True, True] Translation: X:196.49, Y:-26.06, Z:-13.82 [[ 9.96308355e-01 6.31056641e-02 5.82008284e-02 1.96493892e+02] [-6.27439681e-02 9.97997407e-01 -8.02307304e-03 -2.60560765e+01] [-5.85905772e-02 4.34170378e-03 9.98272655e-01 -1.38228342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.53071405699998 meters 0.04051659142947033 Centerline is valid? [True, True] Translation: X:196.52, Y:-26.06, Z:-13.82 [[ 9.96290624e-01 6.30657611e-02 5.85465766e-02 1.96522725e+02] [-6.26996701e-02 9.97999806e-01 -8.07090549e-03 -2.60612719e+01] [-5.89384699e-02 4.37011643e-03 9.98252052e-01 -1.38248461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.56071405699998 meters 0.03857372584736387 Centerline is valid? [True, True] Translation: X:196.55, Y:-26.06, Z:-13.83 [[ 9.96264432e-01 6.31251693e-02 5.89270342e-02 1.96553572e+02] [-6.27544738e-02 9.97995945e-01 -8.12212560e-03 -2.60623542e+01] [-5.93216518e-02 4.39384982e-03 9.98229250e-01 -1.38265925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.59071405699999 meters 0.03963443161132205 Centerline is valid? [True, True] Translation: X:196.58, Y:-26.07, Z:-13.83 [[ 9.96268153e-01 6.27352923e-02 5.92794257e-02 1.96582949e+02] [-6.23594637e-02 9.98020310e-01 -8.17059519e-03 -2.60678444e+01] [-5.96746555e-02 4.44347059e-03 9.98207990e-01 -1.38292565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.620714057 meters 0.04041652755794133 Centerline is valid? [True, True] Translation: X:196.61, Y:-26.07, Z:-13.83 [[ 9.96275438e-01 6.23011959e-02 5.96138628e-02 1.96613149e+02] [-6.19202884e-02 9.98047269e-01 -8.21748451e-03 -2.60731750e+01] [-6.00094121e-02 4.49557040e-03 9.98187688e-01 -1.38315333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.650714057 meters 0.04008058280230024 Centerline is valid? [True, True] Translation: X:196.64, Y:-26.08, Z:-13.83 [[ 9.96298252e-01 6.17650481e-02 5.97902338e-02 1.96643770e+02] [-6.13809208e-02 9.98080385e-01 -8.24179639e-03 -2.60770823e+01] [-6.01845145e-02 4.54130774e-03 9.98176939e-01 -1.38335269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.680714057 meters 0.041641683135761734 Centerline is valid? [True, True] Translation: X:196.67, Y:-26.08, Z:-13.84 [[ 9.96368070e-01 6.08308659e-02 5.95841749e-02 1.96673232e+02] [-6.04477356e-02 9.98137573e-01 -8.21323997e-03 -2.60836421e+01] [-5.99728222e-02 4.58168162e-03 9.98189495e-01 -1.38364975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.710714057 meters 0.042232522141021744 Centerline is valid? [True, True] Translation: X:196.70, Y:-26.09, Z:-13.84 [[ 9.96394708e-01 6.02462268e-02 5.97325592e-02 1.96704162e+02] [-5.98600837e-02 9.98172811e-01 -8.23462076e-03 -2.60887808e+01] [-6.01195213e-02 4.62933655e-03 9.98180451e-01 -1.38388581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.740714057 meters 0.04347552646488456 Centerline is valid? [True, True] Translation: X:196.73, Y:-26.09, Z:-13.84 [[ 9.96462555e-01 5.95759749e-02 5.92712467e-02 1.96734979e+02] [-5.91945820e-02 9.98213018e-01 -8.17140405e-03 -2.60947970e+01] [-5.96521495e-02 4.63396147e-03 9.98208469e-01 -1.38423151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.770714057 meters 0.04369809615943568 Centerline is valid? [True, True] Translation: X:196.77, Y:-26.10, Z:-13.85 [[ 9.96459887e-01 5.94851388e-02 5.94071757e-02 1.96765512e+02] [-5.91009044e-02 9.98218288e-01 -8.20562317e-03 -2.60998656e+01] [-5.97894419e-02 4.66555652e-03 9.98200108e-01 -1.38450502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.800714057 meters 0.04560577164769314 Centerline is valid? [True, True] Translation: X:196.80, Y:-26.11, Z:-13.85 [[ 9.96448757e-01 5.94415023e-02 5.96370915e-02 1.96796208e+02] [-5.90541299e-02 9.98220784e-01 -8.23864457e-03 -2.61069161e+01] [-6.00207017e-02 4.68757059e-03 9.98186126e-01 -1.38479235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.830714057 meters 0.04719267654141286 Centerline is valid? [True, True] Translation: X:196.83, Y:-26.11, Z:-13.85 [[ 9.96383244e-01 5.97377236e-02 6.04304187e-02 1.96827047e+02] [-5.93399586e-02 9.98202849e-01 -8.35714036e-03 -2.61140007e+01] [-6.08210527e-02 4.74097607e-03 9.98137427e-01 -1.38500903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.860714057 meters 0.04162225273304091 Centerline is valid? [True, True] Translation: X:196.86, Y:-26.11, Z:-13.85 [[ 9.96341932e-01 6.01832443e-02 6.06690406e-02 1.96860197e+02] [-5.97830466e-02 9.98176119e-01 -8.39177898e-03 -2.61107186e+01] [-6.10634320e-02 4.73410120e-03 9.98122661e-01 -1.38514341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.890714057 meters 0.04939975262868871 Centerline is valid? [True, True] Translation: X:196.89, Y:-26.13, Z:-13.85 [[ 9.96308091e-01 6.05045850e-02 6.09047085e-02 1.96890693e+02] [-6.01008988e-02 9.98156624e-01 -8.44008045e-03 -2.61258636e+01] [-6.13031018e-02 4.74849272e-03 9.98107901e-01 -1.38545330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.920714057 meters 0.049193651247907526 Centerline is valid? [True, True] Translation: X:196.92, Y:-26.13, Z:-13.86 [[ 9.96268312e-01 6.05926080e-02 6.14653232e-02 1.96922198e+02] [-6.01805315e-02 9.98151018e-01 -8.53516712e-03 -2.61304507e+01] [-6.18688429e-02 4.80430072e-03 9.98072725e-01 -1.38567590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.95071405699997 meters 0.048400208695243176 Centerline is valid? [True, True] Translation: X:196.95, Y:-26.13, Z:-13.86 [[ 9.96269907e-01 6.04769958e-02 6.15532672e-02 1.96954343e+02] [-6.00626002e-02 9.98157890e-01 -8.56216856e-03 -2.61344217e+01] [-6.19576935e-02 4.83318160e-03 9.98067074e-01 -1.38585285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.98071405699997 meters 0.03799394374942514 Centerline is valid? [True, True] Translation: X:196.99, Y:-26.13, Z:-13.86 [[ 9.96316502e-01 5.99514729e-02 6.13127137e-02 1.96987797e+02] [-5.95384368e-02 9.98189456e-01 -8.54310582e-03 -2.61254798e+01] [-6.17138761e-02 4.86117418e-03 9.98082044e-01 -1.38598969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.01071405699997 meters 0.038208270676403706 Centerline is valid? [True, True] Translation: X:197.02, Y:-26.13, Z:-13.86 [[ 9.96361717e-01 5.98606186e-02 6.06632864e-02 1.97018990e+02] [-5.94551619e-02 9.98195055e-01 -8.46848708e-03 -2.61311152e+01] [-6.10607214e-02 4.83093082e-03 9.98122362e-01 -1.38627229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.04071405699997 meters 0.04266413691938413 Centerline is valid? [True, True] Translation: X:197.05, Y:-26.14, Z:-13.87 [[ 9.96400790e-01 5.96018237e-02 6.02751007e-02 1.97049062e+02] [-5.92001914e-02 9.98210545e-01 -8.42887631e-03 -2.61426485e+01] [-6.06696175e-02 4.83024151e-03 9.98146215e-01 -1.38660347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.07071405699998 meters 0.04238811396188667 Centerline is valid? [True, True] Translation: X:197.08, Y:-26.15, Z:-13.87 [[ 9.96535412e-01 5.88866414e-02 5.87327478e-02 1.97080250e+02] [-5.85032802e-02 9.98253316e-01 -8.22700491e-03 -2.61487518e+01] [-5.91146209e-02 4.76244333e-03 9.98239841e-01 -1.38701100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.10071405699998 meters 0.042737645383922815 Centerline is valid? [True, True] Translation: X:197.11, Y:-26.15, Z:-13.87 [[ 9.96569922e-01 5.88383202e-02 5.81931487e-02 1.97112041e+02] [-5.84611054e-02 9.98256296e-01 -8.16495342e-03 -2.61546671e+01] [-5.85720893e-02 4.73491120e-03 9.98271952e-01 -1.38732931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.13071405699998 meters 0.04415111561348251 Centerline is valid? [True, True] Translation: X:197.14, Y:-26.16, Z:-13.88 [[ 9.96595954e-01 5.92744601e-02 5.72978349e-02 1.97142777e+02] [-5.89086732e-02 9.98230889e-01 -8.05356242e-03 -2.61623968e+01] [-5.76738393e-02 4.65080830e-03 9.98324646e-01 -1.38769684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.16071405699998 meters 0.04375750512880189 Centerline is valid? [True, True] Translation: X:197.17, Y:-26.17, Z:-13.88 [[ 9.96603385e-01 5.94842162e-02 5.69501662e-02 1.97174826e+02] [-5.91223081e-02 9.98218527e-01 -8.02024471e-03 -2.61663805e+01] [-5.73257890e-02 4.62597775e-03 9.98344807e-01 -1.38796108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.19071405699998 meters 0.043592295682366014 Centerline is valid? [True, True] Translation: X:197.21, Y:-26.17, Z:-13.88 [[ 9.96571034e-01 5.99859728e-02 5.69899686e-02 1.97205985e+02] [-5.96234040e-02 9.98188542e-01 -8.04270157e-03 -2.61706816e+01] [-5.73691829e-02 4.61718750e-03 9.98342355e-01 -1.38818156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.22071405699998 meters 0.0447463649409632 Centerline is valid? [True, True] Translation: X:197.24, Y:-26.18, Z:-13.88 [[ 9.96516460e-01 6.07362263e-02 5.71494136e-02 1.97236236e+02] [-6.03728511e-02 9.98143313e-01 -8.06514288e-03 -2.61769579e+01] [-5.75331514e-02 4.58677459e-03 9.98333060e-01 -1.38839573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.25071405699998 meters 0.04303139362773282 Centerline is valid? [True, True] Translation: X:197.27, Y:-26.18, Z:-13.89 [[ 9.96434146e-01 6.15543850e-02 5.77065917e-02 1.97267617e+02] [-6.11843413e-02 9.98093133e-01 -8.15924444e-03 -2.61786001e+01] [-5.80987902e-02 4.59940996e-03 9.98300243e-01 -1.38855354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.28071405699998 meters 0.04530070698675635 Centerline is valid? [True, True] Translation: X:197.30, Y:-26.19, Z:-13.89 [[ 9.96413972e-01 6.18918612e-02 5.76939646e-02 1.97297194e+02] [-6.15224110e-02 9.98072348e-01 -8.15969642e-03 -2.61854921e+01] [-5.80877695e-02 4.58096372e-03 9.98300970e-01 -1.38879633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.31071405699998 meters 0.04337390667643747 Centerline is valid? [True, True] Translation: X:197.33, Y:-26.19, Z:-13.89 [[ 9.96372139e-01 6.24055539e-02 5.78628350e-02 1.97328421e+02] [-6.20347455e-02 9.98040433e-01 -8.18442355e-03 -2.61870967e+01] [-5.82602024e-02 4.56522535e-03 9.98290993e-01 -1.38895504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.34071405699999 meters 0.03989226464660253 Centerline is valid? [True, True] Translation: X:197.36, Y:-26.19, Z:-13.89 [[ 9.96343343e-01 6.25984960e-02 5.81495603e-02 1.97359290e+02] [-6.22241827e-02 9.98028287e-01 -8.22739754e-03 -2.61864513e+01] [-5.85499287e-02 4.57900390e-03 9.98273980e-01 -1.38911013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.370714057 meters 0.04445070326036872 Centerline is valid? [True, True] Translation: X:197.39, Y:-26.20, Z:-13.89 [[ 9.96352808e-01 6.27523239e-02 5.78206453e-02 1.97387978e+02] [-6.23825072e-02 9.98018787e-01 -8.18067561e-03 -2.61965586e+01] [-5.82194467e-02 4.54384230e-03 9.98293469e-01 -1.38936048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.400714057 meters 0.041716641911842246 Centerline is valid? [True, True] Translation: X:197.42, Y:-26.20, Z:-13.89 [[ 9.96268346e-01 6.26523304e-02 5.93638599e-02 1.97418346e+02] [-6.22622271e-02 9.98024474e-01 -8.40027966e-03 -2.61963928e+01] [-5.97728821e-02 4.67280659e-03 9.98201066e-01 -1.38944066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.430714057 meters 0.04723761353664142 Centerline is valid? [True, True] Translation: X:197.45, Y:-26.21, Z:-13.90 [[ 9.96231623e-01 6.28957796e-02 5.97216367e-02 1.97448197e+02] [-6.25014581e-02 9.98009103e-01 -8.44972717e-03 -2.62084009e+01] [-6.01341893e-02 4.68519604e-03 9.98179307e-01 -1.38967052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.460714057 meters 0.048932495572152075 Centerline is valid? [True, True] Translation: X:197.48, Y:-26.21, Z:-13.90 [[ 9.96209331e-01 6.30046889e-02 5.99781469e-02 1.97479236e+02] [-6.26066847e-02 9.98002132e-01 -8.49393371e-03 -2.62148723e+01] [-6.03934762e-02 4.70670308e-03 9.98163551e-01 -1.38987885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.490714057 meters 0.05027003710526362 Centerline is valid? [True, True] Translation: X:197.51, Y:-26.22, Z:-13.90 [[ 9.96214948e-01 6.28053316e-02 6.00938268e-02 1.97510439e+02] [-6.24045267e-02 9.98014527e-01 -8.52518464e-03 -2.62204060e+01] [-6.05099391e-02 4.74278955e-03 9.98156327e-01 -1.39009528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.520714057 meters 0.05080389017988633 Centerline is valid? [True, True] Translation: X:197.54, Y:-26.23, Z:-13.90 [[ 9.96233374e-01 6.30571183e-02 5.95219573e-02 1.97540957e+02] [-6.26642940e-02 9.97998930e-01 -8.44521149e-03 -2.62256001e+01] [-5.99353804e-02 4.68350011e-03 9.98191272e-01 -1.39035180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.550714057 meters 0.051412730929429086 Centerline is valid? [True, True] Translation: X:197.57, Y:-26.23, Z:-13.91 [[ 9.96324202e-01 6.22160748e-02 5.88833215e-02 1.97571931e+02] [-6.18296755e-02 9.98051676e-01 -8.36324546e-03 -2.62310139e+01] [-5.92889260e-02 4.69176720e-03 9.98229839e-01 -1.39068375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.580714057 meters 0.04226039348220417 Centerline is valid? [True, True] Translation: X:197.60, Y:-26.22, Z:-13.91 [[ 9.96399356e-01 6.14925182e-02 5.83694595e-02 1.97604647e+02] [-6.11114992e-02 9.98096501e-01 -8.29215776e-03 -2.62227403e+01] [-5.87682590e-02 4.69525547e-03 9.98260610e-01 -1.39077910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.610714057 meters 0.042084525766562825 Centerline is valid? [True, True] Translation: X:197.64, Y:-26.23, Z:-13.91 [[ 9.96440306e-01 6.10473471e-02 5.81372314e-02 1.97635472e+02] [-6.06684835e-02 9.98123783e-01 -8.26125963e-03 -2.62271854e+01] [-5.85324813e-02 4.70475441e-03 9.98274418e-01 -1.39099298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.640714057 meters 0.04135956718524278 Centerline is valid? [True, True] Translation: X:197.67, Y:-26.23, Z:-13.91 [[ 9.96543693e-01 5.95406042e-02 5.79274126e-02 1.97666759e+02] [-5.91618256e-02 9.98214450e-01 -8.23353437e-03 -2.62308731e+01] [-5.83142099e-02 4.77798526e-03 9.98286844e-01 -1.39124133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.670714057 meters 0.04200435413899505 Centerline is valid? [True, True] Translation: X:197.70, Y:-26.24, Z:-13.92 [[ 9.96571721e-01 5.91948310e-02 5.77994505e-02 1.97698061e+02] [-5.88171562e-02 9.98234968e-01 -8.21522820e-03 -2.62367051e+01] [-5.81837317e-02 4.78746480e-03 9.98294412e-01 -1.39150612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.70071405699997 meters 0.0435793606135996 Centerline is valid? [True, True] Translation: X:197.73, Y:-26.24, Z:-13.92 [[ 9.96668407e-01 5.80260621e-02 5.73154731e-02 1.97729269e+02] [-5.76518593e-02 9.98303381e-01 -8.16231844e-03 -2.62430861e+01] [-5.76918578e-02 4.83078132e-03 9.98322750e-01 -1.39177385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.73071405699997 meters 0.04484748224294344 Centerline is valid? [True, True] Translation: X:197.76, Y:-26.25, Z:-13.92 [[ 9.96722356e-01 5.76106628e-02 5.67939845e-02 1.97760621e+02] [-5.72422534e-02 9.98327509e-01 -8.09374203e-03 -2.62488209e+01] [-5.71652829e-02 4.81619797e-03 9.98353111e-01 -1.39203156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.76071405699997 meters 0.045103414426283815 Centerline is valid? [True, True] Translation: X:197.79, Y:-26.25, Z:-13.92 [[ 9.96699835e-01 5.78278090e-02 5.69682671e-02 1.97791138e+02] [-5.74565816e-02 9.98314867e-01 -8.13428488e-03 -2.62535631e+01] [-5.73426559e-02 4.83423851e-03 9.98342852e-01 -1.39224889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.79071405699997 meters 0.07673032131555803 Centerline is valid? [True, True] Translation: X:197.81, Y:-26.30, Z:-13.93 [[ 9.96486481e-01 5.97907830e-02 5.86494326e-02 1.97814654e+02] [-5.94000689e-02 9.98199046e-01 -8.38434202e-03 -2.62990718e+01] [-5.90451141e-02 4.87110313e-03 9.98243431e-01 -1.39291231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.82071405699998 meters 0.07673032131555803 Centerline is valid? [True, True] Translation: X:197.85, Y:-26.30, Z:-13.93 [[ 9.96473358e-01 6.00088002e-02 5.86497267e-02 1.97846924e+02] [-5.96185809e-02 9.98186036e-01 -8.38228699e-03 -2.63038512e+01] [-5.90463491e-02 4.85611220e-03 9.98243431e-01 -1.39313698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.85071405699998 meters 0.046546743329666664 Centerline is valid? [True, True] Translation: X:197.88, Y:-26.27, Z:-13.93 [[ 9.96667672e-01 5.84721384e-02 5.68732029e-02 1.97883301e+02] [-5.81019375e-02 9.98277448e-01 -8.14257462e-03 -2.62679848e+01] [-5.72513496e-02 4.81099760e-03 9.98348204e-01 -1.39289377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.88071405699998 meters 0.04788336280558319 Centerline is valid? [True, True] Translation: X:197.91, Y:-26.27, Z:-13.93 [[ 9.96603099e-01 5.95518760e-02 5.68844241e-02 1.97913876e+02] [-5.91832162e-02 9.98213906e-01 -8.14518489e-03 -2.62727262e+01] [-5.72678842e-02 4.75091334e-03 9.98347544e-01 -1.39311255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.91071405699998 meters 0.04729870272200098 Centerline is valid? [True, True] Translation: X:197.95, Y:-26.28, Z:-13.93 [[ 9.96596108e-01 5.98693608e-02 5.66732574e-02 1.97945122e+02] [-5.95030883e-02 9.98195014e-01 -8.12996017e-03 -2.62756867e+01] [-5.70576985e-02 4.73005282e-03 9.98359677e-01 -1.39326802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.94071405699998 meters 0.043028822500260376 Centerline is valid? [True, True] Translation: X:197.98, Y:-26.27, Z:-13.93 [[ 9.96552324e-01 6.04209661e-02 5.68574781e-02 1.97976858e+02] [-6.00530820e-02 9.98161845e-01 -8.15837422e-03 -2.62744067e+01] [-5.72459020e-02 4.71577999e-03 9.98348971e-01 -1.39337796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.97071405699998 meters 0.04963829705278134 Centerline is valid? [True, True] Translation: X:198.01, Y:-26.29, Z:-13.94 [[ 9.96455514e-01 6.16751507e-02 5.72065013e-02 1.98005719e+02] [-6.13046482e-02 9.98085329e-01 -8.21075005e-03 -2.62868627e+01] [-5.76033689e-02 4.67462272e-03 9.98328603e-01 -1.39367032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.00071405699998 meters 0.043215383715069146 Centerline is valid? [True, True] Translation: X:198.04, Y:-26.28, Z:-13.94 [[ 9.96397879e-01 6.25370283e-02 5.72746539e-02 1.98037539e+02] [-6.21669932e-02 9.98031898e-01 -8.22159393e-03 -2.62824487e+01] [-5.76760856e-02 4.63138575e-03 9.98324606e-01 -1.39376175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.03071405699998 meters 0.047240242045552945 Centerline is valid? [True, True] Translation: X:198.07, Y:-26.29, Z:-13.94 [[ 9.96349486e-01 6.31584609e-02 5.74344062e-02 1.98066811e+02] [-6.27873208e-02 9.97992867e-01 -8.24555799e-03 -2.62915601e+01] [-5.78399045e-02 4.60930497e-03 9.98315231e-01 -1.39404785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.06071405699998 meters 0.0422885752243259 Centerline is valid? [True, True] Translation: X:198.10, Y:-26.29, Z:-13.94 [[ 9.96241673e-01 6.50508036e-02 5.71919724e-02 1.98098185e+02] [-6.46858208e-02 9.97871890e-01 -8.21195756e-03 -2.62884768e+01] [-5.76044560e-02 4.48158466e-03 9.98329426e-01 -1.39416796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.09071405699999 meters 0.04068786997772198 Centerline is valid? [True, True] Translation: X:198.13, Y:-26.29, Z:-13.94 [[ 9.96141438e-01 6.62626159e-02 5.75456402e-02 1.98127549e+02] [-6.58950846e-02 9.97792342e-01 -8.26311748e-03 -2.62901313e+01] [-5.79661349e-02 4.43925890e-03 9.98308680e-01 -1.39432830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.120714057 meters 0.04457584947096183 Centerline is valid? [True, True] Translation: X:198.16, Y:-26.30, Z:-13.95 [[ 9.96037436e-01 6.82070921e-02 5.70720437e-02 1.98155933e+02] [-6.78488823e-02 9.97661968e-01 -8.19306512e-03 -2.62982228e+01] [-5.74974326e-02 4.28832520e-03 9.98336444e-01 -1.39457886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.150714057 meters 0.04456568299119853 Centerline is valid? [True, True] Translation: X:198.18, Y:-26.30, Z:-13.95 [[ 9.95998070e-01 6.91730231e-02 5.65944966e-02 1.98184980e+02] [-6.88224556e-02 9.97595857e-01 -8.12249182e-03 -2.63021389e+01] [-5.70202927e-02 4.19501394e-03 9.98364206e-01 -1.39482784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.180714057 meters 0.04080582760063753 Centerline is valid? [True, True] Translation: X:198.21, Y:-26.30, Z:-13.95 [[ 9.95967070e-01 6.98677264e-02 5.62858518e-02 1.98213906e+02] [-6.95221644e-02 9.97547711e-01 -8.07670480e-03 -2.63007182e+01] [-5.67121236e-02 4.13101777e-03 9.98382026e-01 -1.39498793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.210714057 meters 0.04531092920034829 Centerline is valid? [True, True] Translation: X:198.24, Y:-26.31, Z:-13.95 [[ 9.95997149e-01 7.05075592e-02 5.49396266e-02 1.98240844e+02] [-7.01795419e-02 9.97503256e-01 -7.87948869e-03 -2.63104177e+01] [-5.53580199e-02 3.99231045e-03 9.98458588e-01 -1.39539934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.240714057 meters 0.038880033153106563 Centerline is valid? [True, True] Translation: X:198.27, Y:-26.31, Z:-13.95 [[ 9.95941940e-01 7.12796106e-02 5.49442423e-02 1.98270759e+02] [-7.09528538e-02 9.97448564e-01 -7.87748430e-03 -2.63051727e+01] [-5.53655596e-02 3.94706621e-03 9.98458349e-01 -1.39547059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.270714057 meters 0.03876545166601093 Centerline is valid? [True, True] Translation: X:198.30, Y:-26.31, Z:-13.96 [[ 9.95922488e-01 7.22946469e-02 5.39618519e-02 1.98299104e+02] [-7.19811727e-02 9.97376014e-01 -7.73283617e-03 -2.63070927e+01] [-5.43792994e-02 3.81706806e-03 9.98513055e-01 -1.39569436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.300714057 meters 0.03899027316049782 Centerline is valid? [True, True] Translation: X:198.33, Y:-26.31, Z:-13.96 [[ 9.95826882e-01 7.35010559e-02 5.40963595e-02 1.98327774e+02] [-7.31879981e-02 9.97288064e-01 -7.74820636e-03 -2.63108046e+01] [-5.45191550e-02 3.75666793e-03 9.98505658e-01 -1.39591552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.330714057 meters 0.03762056558729532 Centerline is valid? [True, True] Translation: X:198.36, Y:-26.31, Z:-13.96 [[ 9.95740838e-01 7.47476081e-02 5.39720208e-02 1.98357165e+02] [-7.44380333e-02 9.97195710e-01 -7.72630851e-03 -2.63117783e+01] [-5.43981906e-02 3.67582983e-03 9.98512556e-01 -1.39604134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.360714057 meters 0.03878601202165952 Centerline is valid? [True, True] Translation: X:198.39, Y:-26.32, Z:-13.96 [[ 9.95460688e-01 7.84598179e-02 5.38709131e-02 1.98386252e+02] [-7.81569922e-02 9.96911262e-01 -7.70847931e-03 -2.63151136e+01] [-5.43093259e-02 3.46309958e-03 9.98518154e-01 -1.39617596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.390714057 meters 0.033557685144277836 Centerline is valid? [True, True] Translation: X:198.42, Y:-26.31, Z:-13.96 [[ 9.94980351e-01 8.37016167e-02 5.48465153e-02 1.98418590e+02] [-8.33957147e-02 9.96485617e-01 -7.84661871e-03 -2.63085666e+01] [-5.53105383e-02 3.23326710e-03 9.98463965e-01 -1.39608089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.420714057 meters 0.03128551119558189 Centerline is valid? [True, True] Translation: X:198.45, Y:-26.31, Z:-13.96 [[ 9.94686076e-01 8.70908317e-02 5.49071677e-02 1.98449162e+02] [-8.67893966e-02 9.96195712e-01 -7.85523346e-03 -2.63077288e+01] [-5.53824038e-02 3.04813139e-03 9.98460564e-01 -1.39614810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.45071405699997 meters 0.02943642652982083 Centerline is valid? [True, True] Translation: X:198.48, Y:-26.31, Z:-13.96 [[ 9.94387429e-01 9.02920875e-02 5.51450807e-02 1.98478981e+02] [-8.99929774e-02 9.95911158e-01 -7.88850065e-03 -2.63073660e+01] [-5.56318704e-02 2.88155588e-03 9.98447190e-01 -1.39624679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.48071405699997 meters 0.028928434462059553 Centerline is valid? [True, True] Translation: X:198.51, Y:-26.31, Z:-13.96 [[ 9.94061540e-01 9.36745113e-02 5.53781669e-02 1.98509020e+02] [-9.33782224e-02 9.95599211e-01 -7.91954598e-03 -2.63090754e+01] [-5.58763188e-02 2.70140129e-03 9.98434044e-01 -1.39643920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.51071405699997 meters 0.02772134442970895 Centerline is valid? [True, True] Translation: X:198.54, Y:-26.31, Z:-13.97 [[ 9.93498347e-01 9.92672875e-02 5.57408242e-02 1.98538648e+02] [-9.89759283e-02 9.95057907e-01 -7.97042612e-03 -2.63094633e+01] [-5.62565504e-02 2.40160536e-03 9.98413458e-01 -1.39666680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.54071405699997 meters 0.027149535784808568 Centerline is valid? [True, True] Translation: X:198.57, Y:-26.31, Z:-13.97 [[ 9.93309790e-01 1.01491486e-01 5.50920905e-02 1.98567687e+02] [-1.01210319e-01 9.94833867e-01 -7.87711525e-03 -2.63111680e+01] [-5.56069376e-02 2.24852763e-03 9.98450205e-01 -1.39689849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.57071405699998 meters 0.02599984775409461 Centerline is valid? [True, True] Translation: X:198.60, Y:-26.31, Z:-13.97 [[ 9.92874269e-01 1.05840019e-01 5.47592549e-02 1.98597896e+02] [-1.05569096e-01 9.94381183e-01 -7.82488084e-03 -2.63121116e+01] [-5.52797582e-02 1.98823783e-03 9.98468926e-01 -1.39713732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.60071405699998 meters 0.024912849008904447 Centerline is valid? [True, True] Translation: X:198.63, Y:-26.31, Z:-13.97 [[ 9.92702828e-01 1.07502378e-01 5.46290605e-02 1.98627189e+02] [-1.07235147e-01 9.94203025e-01 -7.80823365e-03 -2.63135670e+01] [-5.51517809e-02 1.89310031e-03 9.98476188e-01 -1.39733157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.63071405699998 meters 0.024701828956278597 Centerline is valid? [True, True] Translation: X:198.66, Y:-26.32, Z:-13.98 [[ 9.92543039e-01 1.09041399e-01 5.44820133e-02 1.98655579e+02] [-1.08778616e-01 9.94035597e-01 -7.77457246e-03 -2.63163596e+01] [-5.50048109e-02 1.79011979e-03 9.98484485e-01 -1.39753505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.66071405699998 meters 0.024730941566293806 Centerline is valid? [True, True] Translation: X:198.68, Y:-26.32, Z:-13.98 [[ 9.92372479e-01 1.10755191e-01 5.41308729e-02 1.98683040e+02] [-1.10499206e-01 9.93846318e-01 -7.70850206e-03 -2.63200514e+01] [-5.46515254e-02 1.66828681e-03 9.98504095e-01 -1.39778640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.69071405699998 meters 0.024805917822043413 Centerline is valid? [True, True] Translation: X:198.71, Y:-26.32, Z:-13.98 [[ 9.92375539e-01 1.10733306e-01 5.41195477e-02 1.98709435e+02] [-1.10477637e-01 9.93848763e-01 -7.70248434e-03 -2.63247083e+01] [-5.46395671e-02 1.66475731e-03 9.98504755e-01 -1.39801735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.72071405699998 meters 0.02466082960131999 Centerline is valid? [True, True] Translation: X:198.74, Y:-26.33, Z:-13.98 [[ 9.92611010e-01 1.08731585e-01 5.38593069e-02 1.98737955e+02] [-1.08475691e-01 9.94069585e-01 -7.66062985e-03 -2.63293395e+01] [-5.43728513e-02 1.76160003e-03 9.98519148e-01 -1.39825939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.75071405699998 meters 0.02669276396540676 Centerline is valid? [True, True] Translation: X:198.76, Y:-26.34, Z:-13.99 [[ 9.92760566e-01 1.07231238e-01 5.41102524e-02 1.98764537e+02] [-1.06971604e-01 9.94232412e-01 -7.68030301e-03 -2.63374466e+01] [-5.46217352e-02 1.83644149e-03 9.98505430e-01 -1.39854662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.78071405699998 meters 0.025533759860607328 Centerline is valid? [True, True] Translation: X:198.79, Y:-26.34, Z:-13.99 [[ 9.92925487e-01 1.05357402e-01 5.47612554e-02 1.98792824e+02] [-1.05088786e-01 9.94432489e-01 -7.76990082e-03 -2.63400409e+01] [-5.52749881e-02 1.96013872e-03 9.98469245e-01 -1.39861147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.81071405699998 meters 0.026424762619663793 Centerline is valid? [True, True] Translation: X:198.82, Y:-26.35, Z:-13.99 [[ 9.93215209e-01 1.02424667e-01 5.50702837e-02 1.98821072e+02] [-1.02149432e-01 9.94738507e-01 -7.79714348e-03 -2.63472386e+01] [-5.55791516e-02 2.11884330e-03 9.98452036e-01 -1.39876052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.84071405699999 meters 0.026793754719800965 Centerline is valid? [True, True] Translation: X:198.85, Y:-26.35, Z:-13.99 [[ 9.93344777e-01 1.00813868e-01 5.57020432e-02 1.98848676e+02] [-1.00529895e-01 9.94902801e-01 -7.88397923e-03 -2.63533464e+01] [-5.62129332e-02 2.23178904e-03 9.98416309e-01 -1.39891700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.870714057 meters 0.02810545749001896 Centerline is valid? [True, True] Translation: X:198.88, Y:-26.36, Z:-13.99 [[ 9.93675105e-01 9.72943100e-02 5.60678408e-02 1.98877245e+02] [-9.70013233e-02 9.95252660e-01 -7.93004822e-03 -2.63616746e+01] [-5.65732163e-02 2.44123675e-03 9.98395469e-01 -1.39908226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.900714057 meters 0.029556217498925976 Centerline is valid? [True, True] Translation: X:198.90, Y:-26.37, Z:-13.99 [[ 9.93862022e-01 9.57140713e-02 5.54715969e-02 1.98904466e+02] [-9.54249072e-02 9.95405722e-01 -7.84443082e-03 -2.63687000e+01] [-5.59675674e-02 2.50290989e-03 9.98429450e-01 -1.39927259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.930714057 meters 0.026709804490111826 Centerline is valid? [True, True] Translation: X:198.93, Y:-26.37, Z:-13.99 [[ 9.93952413e-01 9.46021508e-02 5.57587034e-02 1.98933115e+02] [-9.43084839e-02 9.95511831e-01 -7.88065664e-03 -2.63685780e+01] [-5.62539760e-02 2.57447890e-03 9.98413172e-01 -1.39934157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.960714057 meters 0.027785958718481312 Centerline is valid? [True, True] Translation: X:198.96, Y:-26.38, Z:-14.00 [[ 9.94016278e-01 9.41238006e-02 5.54287797e-02 1.98960060e+02] [-9.38333262e-02 9.95557163e-01 -7.82572142e-03 -2.63760815e+01] [-5.59191053e-02 2.57782771e-03 9.98431975e-01 -1.39968511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.990714057 meters 0.031067731301298505 Centerline is valid? [True, True] Translation: X:198.99, Y:-26.39, Z:-14.00 [[ 9.93966327e-01 9.48354861e-02 5.51105399e-02 1.98987006e+02] [-9.45497308e-02 9.95489775e-01 -7.77542843e-03 -2.63864649e+01] [-5.55993655e-02 2.51782732e-03 9.98449984e-01 -1.40009076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.020714057 meters 0.03080715188613632 Centerline is valid? [True, True] Translation: X:199.02, Y:-26.39, Z:-14.00 [[ 9.93708853e-01 9.74589331e-02 5.51767320e-02 1.99015715e+02] [-9.71767744e-02 9.95236727e-01 -7.78024503e-03 -2.63906597e+01] [-5.56721646e-02 2.36940153e-03 9.98446291e-01 -1.40032250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.050714057 meters 0.03034983175924111 Centerline is valid? [True, True] Translation: X:199.04, Y:-26.39, Z:-14.00 [[ 9.93545103e-01 9.88627583e-02 5.56262777e-02 1.99044705e+02] [-9.85782212e-02 9.95098400e-01 -7.84276045e-03 -2.63938004e+01] [-5.61289768e-02 2.30859674e-03 9.98420857e-01 -1.40049196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.080714057 meters 0.029687535060148033 Centerline is valid? [True, True] Translation: X:199.07, Y:-26.40, Z:-14.01 [[ 9.93355356e-01 1.00358559e-01 5.63320277e-02 1.99073499e+02] [-1.00069563e-01 9.94948802e-01 -7.93494934e-03 -2.63970864e+01] [-5.68438235e-02 2.24510305e-03 9.98380558e-01 -1.40063510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.110714057 meters 0.025269777844920523 Centerline is valid? [True, True] Translation: X:199.10, Y:-26.39, Z:-14.00 [[ 9.93065374e-01 1.02049145e-01 5.83706688e-02 1.99103171e+02] [-1.01741975e-01 9.94776876e-01 -8.21811992e-03 -2.63932510e+01] [-5.89044437e-02 2.22238319e-03 9.98261152e-01 -1.40046600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.140714057 meters 0.02511988515232719 Centerline is valid? [True, True] Translation: X:199.13, Y:-26.40, Z:-14.01 [[ 9.93012842e-01 1.02033674e-01 5.92842654e-02 1.99131100e+02] [-1.01717039e-01 9.94778392e-01 -8.34231721e-03 -2.63978384e+01] [-5.98259035e-02 2.25380820e-03 9.98206282e-01 -1.40059374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.170714057 meters 0.026359975427560287 Centerline is valid? [True, True] Translation: X:199.16, Y:-26.40, Z:-14.01 [[ 9.93216869e-01 9.97088857e-02 5.98196332e-02 1.99158476e+02] [-9.93825506e-02 9.95013731e-01 -8.41336693e-03 -2.64042530e+01] [-6.03602439e-02 2.41127023e-03 9.98173746e-01 -1.40080261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.20071405699997 meters 0.028276828148030474 Centerline is valid? [True, True] Translation: X:199.19, Y:-26.41, Z:-14.01 [[ 9.93410671e-01 9.81070248e-02 5.92473741e-02 1.99185212e+02] [-9.77843950e-02 9.95172782e-01 -8.32744630e-03 -2.64121234e+01] [-5.97783551e-02 2.47910537e-03 9.98208597e-01 -1.40109912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.23071405699997 meters 0.02828611793597535 Centerline is valid? [True, True] Translation: X:199.21, Y:-26.42, Z:-14.01 [[ 9.93847521e-01 9.43302165e-02 5.80423599e-02 1.99214769e+02] [-9.40144387e-02 9.95537446e-01 -8.15346003e-03 -2.64174819e+01] [-5.85524604e-02 2.64647615e-03 9.98280825e-01 -1.40138668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.26071405699997 meters 0.02919818513490226 Centerline is valid? [True, True] Translation: X:199.24, Y:-26.42, Z:-14.02 [[ 9.94041543e-01 9.24655568e-02 5.77194180e-02 1.99242532e+02] [-9.21501429e-02 9.95712111e-01 -8.10826842e-03 -2.64235069e+01] [-5.82216591e-02 2.74110304e-03 9.98299917e-01 -1.40164916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.29071405699997 meters 0.02893042402457613 Centerline is valid? [True, True] Translation: X:199.27, Y:-26.43, Z:-14.02 [[ 9.94189591e-01 9.07387750e-02 5.79096924e-02 1.99270594e+02] [-9.04188484e-02 9.95870670e-01 -8.12656249e-03 -2.64272923e+01] [-5.84079585e-02 2.84321614e-03 9.98288749e-01 -1.40177511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.32071405699998 meters 0.030926068132375462 Centerline is valid? [True, True] Translation: X:199.30, Y:-26.43, Z:-14.02 [[ 9.94372804e-01 8.80734761e-02 5.88709639e-02 1.99298255e+02] [-8.77385205e-02 9.96109330e-01 -8.25555783e-03 -2.64349365e+01] [-5.93690121e-02 3.04385092e-03 9.98231464e-01 -1.40195235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.35071405699998 meters 0.02970362885902645 Centerline is valid? [True, True] Translation: X:199.33, Y:-26.44, Z:-14.02 [[ 9.94485648e-01 8.69341564e-02 5.86579004e-02 1.99326594e+02] [-8.65998164e-02 9.96209243e-01 -8.22285808e-03 -2.64370071e+01] [-5.91503898e-02 3.09775094e-03 9.98244276e-01 -1.40207783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.38071405699998 meters 0.032503384304923326 Centerline is valid? [True, True] Translation: X:199.35, Y:-26.45, Z:-14.02 [[ 9.94675577e-01 8.50507676e-02 5.81967627e-02 1.99354399e+02] [-8.47187908e-02 9.96371548e-01 -8.15256413e-03 -2.64454541e+01] [-5.86789804e-02 3.17879706e-03 9.98271843e-01 -1.40240315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.41071405699998 meters 0.0353705667329541 Centerline is valid? [True, True] Translation: X:199.38, Y:-26.45, Z:-14.03 [[ 9.94739958e-01 8.45368990e-02 5.78440027e-02 1.99381421e+02] [-8.42082269e-02 9.96415253e-01 -8.10053673e-03 -2.64538338e+01] [-5.83214408e-02 3.18698666e-03 9.98292769e-01 -1.40274317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.44071405699998 meters 0.035697436632060944 Centerline is valid? [True, True] Translation: X:199.41, Y:-26.46, Z:-14.03 [[ 9.94735397e-01 8.44328050e-02 5.80740246e-02 1.99408811e+02] [-8.41016932e-02 9.96424038e-01 -8.12661686e-03 -2.64579866e+01] [-5.85525071e-02 3.19970964e-03 9.98279202e-01 -1.40296619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.47071405699998 meters 0.031525378699044516 Centerline is valid? [True, True] Translation: X:199.44, Y:-26.46, Z:-14.03 [[ 9.94720454e-01 8.45109658e-02 5.82161080e-02 1.99438000e+02] [-8.41787286e-02 9.96417421e-01 -8.14028111e-03 -2.64551533e+01] [-5.86954873e-02 3.19674616e-03 9.98270815e-01 -1.40300725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.50071405699998 meters 0.03053747147624859 Centerline is valid? [True, True] Translation: X:199.47, Y:-26.46, Z:-14.03 [[ 9.94677753e-01 8.47166251e-02 5.86452181e-02 1.99466831e+02] [-8.43800735e-02 9.96399934e-01 -8.19602617e-03 -2.64569253e+01] [-5.91284311e-02 3.20391708e-03 9.98245242e-01 -1.40311694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.53071405699998 meters 0.030431126338399842 Centerline is valid? [True, True] Translation: X:199.50, Y:-26.46, Z:-14.03 [[ 9.94638868e-01 8.46941824e-02 5.93331025e-02 1.99495957e+02] [-8.43499012e-02 9.96401730e-01 -8.28777738e-03 -2.64598112e+01] [-5.98215325e-02 3.23860418e-03 9.98203835e-01 -1.40324080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.56071405699998 meters 0.030701157524839623 Centerline is valid? [True, True] Translation: X:199.52, Y:-26.46, Z:-14.03 [[ 9.94647687e-01 8.43703150e-02 5.96458588e-02 1.99524290e+02] [-8.40220721e-02 9.96429100e-01 -8.32710481e-03 -2.64630387e+01] [-6.01354298e-02 3.27096689e-03 9.98184868e-01 -1.40341885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.59071405699999 meters 0.03089121985420583 Centerline is valid? [True, True] Translation: X:199.55, Y:-26.47, Z:-14.04 [[ 9.94781172e-01 8.26825385e-02 5.97830954e-02 1.99553660e+02] [-8.23299343e-02 9.96570218e-01 -8.34160578e-03 -2.64666984e+01] [-6.02677575e-02 3.37613406e-03 9.98176537e-01 -1.40358494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.620714057 meters 0.03144005036690811 Centerline is valid? [True, True] Translation: X:199.58, Y:-26.47, Z:-14.04 [[ 9.94874127e-01 8.11335052e-02 6.03558218e-02 1.99581956e+02] [-8.07713830e-02 9.96697093e-01 -8.41956177e-03 -2.64715535e+01] [-6.08395807e-02 3.50138097e-03 9.98141416e-01 -1.40382137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.650714057 meters 0.03409211416343562 Centerline is valid? [True, True] Translation: X:199.61, Y:-26.48, Z:-14.04 [[ 9.95073434e-01 7.92155231e-02 5.96134447e-02 1.99609843e+02] [-7.88591083e-02 9.96851122e-01 -8.31153763e-03 -2.64792088e+01] [-6.00841321e-02 3.56952719e-03 9.98186934e-01 -1.40410395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.680714057 meters 0.03216377232463266 Centerline is valid? [True, True] Translation: X:199.64, Y:-26.48, Z:-14.04 [[ 9.95448866e-01 7.54737674e-02 5.81830439e-02 1.99640183e+02] [-7.51281130e-02 9.97140921e-01 -8.10866947e-03 -2.64803147e+01] [-5.86286858e-02 3.70058352e-03 9.98273000e-01 -1.40440977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.710714057 meters 0.0396631531573778 Centerline is valid? [True, True] Translation: X:199.67, Y:-26.49, Z:-14.05 [[ 9.95618031e-01 7.36834056e-02 5.75803094e-02 1.99667129e+02] [-7.33419405e-02 9.97274573e-01 -8.02407178e-03 -2.64947417e+01] [-5.80146194e-02 3.76585892e-03 9.98308631e-01 -1.40483320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.740714057 meters 0.0396631531573778 Centerline is valid? [True, True] Translation: X:199.70, Y:-26.50, Z:-14.05 [[ 9.95622956e-01 7.36164576e-02 5.75807792e-02 1.99695165e+02] [-7.32750753e-02 9.97279515e-01 -8.02069935e-03 -2.64985820e+01] [-5.80145870e-02 3.76635647e-03 9.98308631e-01 -1.40502825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.770714057 meters 0.04158376798504584 Centerline is valid? [True, True] Translation: X:199.72, Y:-26.50, Z:-14.05 [[ 9.95795624e-01 7.14951371e-02 5.72671000e-02 1.99724434e+02] [-7.11542257e-02 9.97433462e-01 -7.97273819e-03 -2.65041907e+01] [-5.76901338e-02 3.86442165e-03 9.98327058e-01 -1.40526626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.800714057 meters 0.035383708891580296 Centerline is valid? [True, True] Translation: X:199.75, Y:-26.50, Z:-14.05 [[ 9.95799649e-01 7.11030775e-02 5.76837239e-02 1.99754609e+02] [-7.07566181e-02 9.97461294e-01 -8.02916740e-03 -2.64990144e+01] [-5.81081804e-02 3.91393686e-03 9.98302620e-01 -1.40528703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.830714057 meters 0.03525841674887227 Centerline is valid? [True, True] Translation: X:199.78, Y:-26.50, Z:-14.05 [[ 9.95775594e-01 7.13879933e-02 5.77470413e-02 1.99783318e+02] [-7.10414702e-02 9.97441007e-01 -8.03417296e-03 -2.65014485e+01] [-5.81728105e-02 3.89779863e-03 9.98298919e-01 -1.40540195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.860714057 meters 0.03823540574496548 Centerline is valid? [True, True] Translation: X:199.81, Y:-26.51, Z:-14.06 [[ 9.95722310e-01 7.20489369e-02 5.78448988e-02 1.99810234e+02] [-7.17027400e-02 9.97393633e-01 -8.04103797e-03 -2.65090140e+01] [-5.82734820e-02 3.85900317e-03 9.98293198e-01 -1.40567226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.890714057 meters 0.037833027716602324 Centerline is valid? [True, True] Translation: X:199.84, Y:-26.51, Z:-14.06 [[ 9.95688134e-01 7.28902500e-02 5.73772770e-02 1.99838532e+02] [-7.25513393e-02 9.97332829e-01 -7.97060625e-03 -2.65117380e+01] [-5.78052215e-02 3.77343977e-03 9.98320749e-01 -1.40590868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.920714057 meters 0.0378428293145308 Centerline is valid? [True, True] Translation: X:199.87, Y:-26.52, Z:-14.06 [[ 9.95575078e-01 7.52547896e-02 5.62759312e-02 1.99866596e+02] [-7.49327748e-02 9.97157976e-01 -7.81347419e-03 -2.65160442e+01] [-5.67039950e-02 3.56198850e-03 9.98384680e-01 -1.40632892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.95071405699997 meters 0.03607386018608628 Centerline is valid? [True, True] Translation: X:199.90, Y:-26.52, Z:-14.07 [[ 9.95516101e-01 7.63755277e-02 5.58074440e-02 1.99895950e+02] [-7.60607759e-02 9.97073099e-01 -7.74550852e-03 -2.65174157e+01] [-5.62356684e-02 3.46602096e-03 9.98411506e-01 -1.40659219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.98071405699997 meters 0.03273377641879791 Centerline is valid? [True, True] Translation: X:199.93, Y:-26.52, Z:-14.07 [[ 9.95161748e-01 8.01853819e-02 5.67749902e-02 1.99926864e+02] [-7.98659842e-02 9.96774493e-01 -7.87619628e-03 -2.65151067e+01] [-5.72234179e-02 3.30369879e-03 9.98355932e-01 -1.40660308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.01071405699997 meters 0.0309838575721075 Centerline is valid? [True, True] Translation: X:199.96, Y:-26.51, Z:-14.07 [[ 9.94962394e-01 8.21604713e-02 5.74412031e-02 1.99956913e+02] [-8.18367995e-02 9.96613887e-01 -7.96864625e-03 -2.65147539e+01] [-5.79014084e-02 3.22769913e-03 9.98317088e-01 -1.40663306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.04071405699997 meters 0.03101306742630858 Centerline is valid? [True, True] Translation: X:199.99, Y:-26.52, Z:-14.07 [[ 9.94534783e-01 8.55905925e-02 5.97897638e-02 1.99986178e+02] [-8.52461848e-02 9.96325413e-01 -8.29216445e-03 -2.65169414e+01] [-6.02797924e-02 3.14999671e-03 9.98176550e-01 -1.40667079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.07071405699998 meters 0.030505784042888118 Centerline is valid? [True, True] Translation: X:200.02, Y:-26.52, Z:-14.07 [[ 9.94380065e-01 8.69365057e-02 6.04179714e-02 2.00015207e+02] [-8.65874139e-02 9.96209035e-01 -8.37721359e-03 -2.65199558e+01] [-6.09172147e-02 3.09869829e-03 9.98138012e-01 -1.40684728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.10071405699998 meters 0.029824744213273715 Centerline is valid? [True, True] Translation: X:200.04, Y:-26.52, Z:-14.07 [[ 9.94257323e-01 8.80199644e-02 6.08675705e-02 2.00043581e+02] [-8.76678701e-02 9.96114036e-01 -8.43635072e-03 -2.65231318e+01] [-6.13736086e-02 3.05177322e-03 9.98110198e-01 -1.40704269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.13071405699998 meters 0.03306224143080723 Centerline is valid? [True, True] Translation: X:200.07, Y:-26.53, Z:-14.07 [[ 9.94192948e-01 8.85516392e-02 6.11472771e-02 2.00070528e+02] [-8.81975744e-02 9.96066984e-01 -8.47065760e-03 -2.65333348e+01] [-6.16568744e-02 3.02842653e-03 9.98092811e-01 -1.40745907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.16071405699998 meters 0.028982014659409017 Centerline is valid? [True, True] Translation: X:200.10, Y:-26.53, Z:-14.08 [[ 9.94213155e-01 8.83161831e-02 6.11592532e-02 2.00099893e+02] [-8.79618046e-02 9.96087855e-01 -8.46795916e-03 -2.65315564e+01] [-6.16678471e-02 3.03927811e-03 9.98092100e-01 -1.40761636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.19071405699998 meters 0.029712974395070344 Centerline is valid? [True, True] Translation: X:200.13, Y:-26.54, Z:-14.08 [[ 9.94269755e-01 8.79251531e-02 6.08014883e-02 2.00126835e+02] [-8.75744483e-02 9.96122441e-01 -8.41415047e-03 -2.65368798e+01] [-6.13055425e-02 3.04127853e-03 9.98114413e-01 -1.40785148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.22071405699998 meters 0.029487039287058803 Centerline is valid? [True, True] Translation: X:200.15, Y:-26.54, Z:-14.08 [[ 9.94414914e-01 8.65874281e-02 6.03456353e-02 2.00154851e+02] [-8.62398532e-02 9.96239449e-01 -8.34551485e-03 -2.65418728e+01] [-6.08413192e-02 3.09470570e-03 9.98142653e-01 -1.40812446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.25071405699998 meters 0.029000226681573593 Centerline is valid? [True, True] Translation: X:200.18, Y:-26.55, Z:-14.08 [[ 9.94534320e-01 8.53894830e-02 6.00843010e-02 2.00183122e+02] [-8.50430002e-02 9.96342669e-01 -8.30505048e-03 -2.65465216e+01] [-6.05737168e-02 3.14990851e-03 9.98158756e-01 -1.40837873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.28071405699998 meters 0.029470636100666338 Centerline is valid? [True, True] Translation: X:200.21, Y:-26.55, Z:-14.09 [[ 9.94578542e-01 8.47806177e-02 6.02143793e-02 2.00211424e+02] [-8.44317895e-02 9.96394537e-01 -8.31858380e-03 -2.65519634e+01] [-6.07025333e-02 3.18947715e-03 9.98150805e-01 -1.40859737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.31071405699998 meters 0.03193691923355933 Centerline is valid? [True, True] Translation: X:200.24, Y:-26.56, Z:-14.09 [[ 9.94576343e-01 8.44014530e-02 6.07806982e-02 2.00238493e+02] [-8.40455870e-02 9.96426569e-01 -8.39242851e-03 -2.65610572e+01] [-6.12718357e-02 3.23856140e-03 9.98115862e-01 -1.40882349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.34071405699999 meters 0.030960561199394065 Centerline is valid? [True, True] Translation: X:200.27, Y:-26.56, Z:-14.09 [[ 9.94591881e-01 8.35954030e-02 6.16344009e-02 2.00266813e+02] [-8.32282774e-02 9.96494219e-01 -8.50445415e-03 -2.65641543e+01] [-6.21292575e-02 3.32873603e-03 9.98062561e-01 -1.40888270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.370714057 meters 0.030240717171610646 Centerline is valid? [True, True] Translation: X:200.30, Y:-26.57, Z:-14.09 [[ 9.94589580e-01 8.33306975e-02 6.20287219e-02 2.00295207e+02] [-8.29586225e-02 9.96516277e-01 -8.55434205e-03 -2.65678323e+01] [-6.25254703e-02 3.36224214e-03 9.98037705e-01 -1.40905160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.400714057 meters 0.031234359125822155 Centerline is valid? [True, True] Translation: X:200.32, Y:-26.58, Z:-14.09 [[ 9.94678065e-01 8.23332598e-02 6.19417635e-02 2.00322270e+02] [-8.19605788e-02 9.96599000e-01 -8.53793150e-03 -2.65753003e+01] [-6.24340553e-02 3.41571039e-03 9.98043246e-01 -1.40936555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.430714057 meters 0.03170190980828316 Centerline is valid? [True, True] Translation: X:200.35, Y:-26.58, Z:-14.10 [[ 9.94762406e-01 8.15924543e-02 6.15664400e-02 2.00350698e+02] [-8.12232206e-02 9.96659856e-01 -8.48055206e-03 -2.65810041e+01] [-6.20527483e-02 3.43550984e-03 9.98066959e-01 -1.40963649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.460714057 meters 0.03220218216094178 Centerline is valid? [True, True] Translation: X:200.38, Y:-26.59, Z:-14.10 [[ 9.94808061e-01 8.09330036e-02 6.16990302e-02 2.00378796e+02] [-8.05611900e-02 9.96713470e-01 -8.49435788e-03 -2.65868436e+01] [-6.21837284e-02 3.47970840e-03 9.98058653e-01 -1.40989454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.490714057 meters 0.033714932617065665 Centerline is valid? [True, True] Translation: X:200.41, Y:-26.59, Z:-14.10 [[ 9.95017949e-01 7.90338592e-02 6.07694800e-02 2.00405885e+02] [-7.86699272e-02 9.96865648e-01 -8.36192136e-03 -2.65947388e+01] [-6.12398820e-02 3.53953127e-03 9.98116801e-01 -1.41019137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.520714057 meters 0.034796174288339136 Centerline is valid? [True, True] Translation: X:200.43, Y:-26.60, Z:-14.10 [[ 9.95118662e-01 7.78726879e-02 6.06192526e-02 2.00433366e+02] [-7.75085614e-02 9.96956813e-01 -8.33878538e-03 -2.66015725e+01] [-6.10841405e-02 3.59956989e-03 9.98126130e-01 -1.41043231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.550714057 meters 0.03702824435107221 Centerline is valid? [True, True] Translation: X:200.46, Y:-26.61, Z:-14.11 [[ 9.95292314e-01 7.52812102e-02 6.10405583e-02 2.00460293e+02] [-7.49074860e-02 9.97155182e-01 -8.39120422e-03 -2.66110405e+01] [-6.14986090e-02 3.77930630e-03 9.98100014e-01 -1.41064384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.580714057 meters 0.03798131373145253 Centerline is valid? [True, True] Translation: X:200.49, Y:-26.62, Z:-14.11 [[ 9.95334437e-01 7.43773983e-02 6.14602421e-02 2.00489542e+02] [-7.39970777e-02 9.97222706e-01 -8.44433349e-03 -2.66172283e+01] [-6.19176165e-02 3.85705761e-03 9.98073811e-01 -1.41082791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.610714057 meters 0.03868731434248189 Centerline is valid? [True, True] Translation: X:200.52, Y:-26.62, Z:-14.11 [[ 9.95359660e-01 7.36851390e-02 6.18841394e-02 2.00518464e+02] [-7.32983487e-02 9.97273831e-01 -8.50042244e-03 -2.66229557e+01] [-6.23417876e-02 3.92497236e-03 9.98047141e-01 -1.41101214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.640714057 meters 0.03988996724044592 Centerline is valid? [True, True] Translation: X:200.55, Y:-26.63, Z:-14.11 [[ 9.95389069e-01 7.32560135e-02 6.19205703e-02 2.00546319e+02] [-7.28680675e-02 9.97305338e-01 -8.50340059e-03 -2.66298718e+01] [-6.23766405e-02 3.95215970e-03 9.98044856e-01 -1.41122769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.670714057 meters 0.04042496387082651 Centerline is valid? [True, True] Translation: X:200.58, Y:-26.63, Z:-14.11 [[ 9.95429616e-01 7.28248885e-02 6.17771405e-02 2.00575723e+02] [-7.24381181e-02 9.97336854e-01 -8.48043602e-03 -2.66348066e+01] [-6.22302058e-02 3.96665737e-03 9.98053940e-01 -1.41146207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.70071405699997 meters 0.041671329626956466 Centerline is valid? [True, True] Translation: X:200.60, Y:-26.64, Z:-14.12 [[ 9.95484875e-01 7.20289153e-02 6.18198971e-02 2.00603857e+02] [-7.16402071e-02 9.97394454e-01 -8.48429306e-03 -2.66410954e+01] [-6.22699370e-02 4.01719518e-03 9.98051260e-01 -1.41167381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.73071405699997 meters 0.04279440336442045 Centerline is valid? [True, True] Translation: X:200.63, Y:-26.65, Z:-14.12 [[ 9.95508254e-01 7.15898755e-02 6.19532500e-02 2.00632361e+02] [-7.11988218e-02 9.97425929e-01 -8.49968699e-03 -2.66468339e+01] [-6.24022695e-02 4.05051015e-03 9.98042860e-01 -1.41186495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.76071405699997 meters 0.04449659806352144 Centerline is valid? [True, True] Translation: X:200.66, Y:-26.65, Z:-14.12 [[ 9.95674494e-01 6.98034625e-02 6.13170362e-02 2.00661778e+02] [-6.94172428e-02 9.97552271e-01 -8.40915543e-03 -2.66543597e+01] [-6.17539368e-02 4.11632199e-03 9.98082916e-01 -1.41212494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.79071405699997 meters 0.04549562757061784 Centerline is valid? [True, True] Translation: X:200.69, Y:-26.66, Z:-14.12 [[ 9.95757189e-01 6.88123369e-02 6.10940571e-02 2.00692036e+02] [-6.84271389e-02 9.97620942e-01 -8.37745914e-03 -2.66603243e+01] [-6.15251833e-02 4.16142363e-03 9.98096856e-01 -1.41236657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.82071405699998 meters 0.04576213959881886 Centerline is valid? [True, True] Translation: X:200.72, Y:-26.67, Z:-14.13 [[ 9.95831916e-01 6.76556058e-02 6.11679097e-02 2.00722223e+02] [-6.72673045e-02 9.97699733e-01 -8.38758610e-03 -2.66656003e+01] [-6.15946744e-02 4.23802553e-03 9.98092248e-01 -1.41260778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.85071405699998 meters 0.03779079694804792 Centerline is valid? [True, True] Translation: X:200.75, Y:-26.66, Z:-14.13 [[ 9.96010194e-01 6.53103252e-02 6.08132713e-02 2.00754266e+02] [-6.49221820e-02 9.97855488e-01 -8.33882581e-03 -2.66594487e+01] [-6.12274680e-02 4.35742524e-03 9.98114327e-01 -1.41275448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.88071405699998 meters 0.03849829506542351 Centerline is valid? [True, True] Translation: X:200.79, Y:-26.67, Z:-14.13 [[ 9.96145840e-01 6.29664085e-02 6.10630570e-02 2.00785095e+02] [-6.25706278e-02 9.98005407e-01 -8.37405620e-03 -2.66651228e+01] [-6.14685453e-02 4.52102743e-03 9.98098782e-01 -1.41296356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.91071405699998 meters 0.038894472920131005 Centerline is valid? [True, True] Translation: X:200.82, Y:-26.67, Z:-14.13 [[ 9.96228616e-01 6.17112261e-02 6.09940104e-02 2.00817071e+02] [-6.13138845e-02 9.98083468e-01 -8.36653011e-03 -2.66702597e+01] [-6.13934223e-02 4.59519700e-03 9.98103067e-01 -1.41316530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.94071405699998 meters 0.040436862148719034 Centerline is valid? [True, True] Translation: X:200.85, Y:-26.68, Z:-14.13 [[ 9.96268264e-01 6.07525594e-02 6.13080216e-02 2.00848036e+02] [-6.03490961e-02 9.98141878e-01 -8.41300287e-03 -2.66766027e+01] [-6.17052152e-02 4.68172408e-03 9.98083437e-01 -1.41339920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.97071405699998 meters 0.040913403996474924 Centerline is valid? [True, True] Translation: X:200.88, Y:-26.68, Z:-14.14 [[ 9.96369131e-01 5.92448601e-02 6.11441053e-02 2.00878838e+02] [-5.88397683e-02 9.98232046e-01 -8.40619326e-03 -2.66814101e+01] [-6.15340290e-02 4.77796649e-03 9.98093550e-01 -1.41362271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.00071405699998 meters 0.043625259328589135 Centerline is valid? [True, True] Translation: X:200.91, Y:-26.69, Z:-14.14 [[ 9.96479963e-01 5.75202691e-02 6.09844327e-02 2.00908068e+02] [-5.71139437e-02 9.98332441e-01 -8.38656721e-03 -2.66894542e+01] [-6.13651351e-02 4.87398473e-03 9.98103484e-01 -1.41400490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.03071405699998 meters 0.044383291038650685 Centerline is valid? [True, True] Translation: X:200.94, Y:-26.69, Z:-14.14 [[ 9.96549052e-01 5.65527108e-02 6.07599944e-02 2.00939317e+02] [-5.61476196e-02 9.98387517e-01 -8.35522619e-03 -2.66949211e+01] [-6.11345307e-02 4.91486369e-03 9.98117435e-01 -1.41431470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.06071405699998 meters 0.04618474834144686 Centerline is valid? [True, True] Translation: X:200.97, Y:-26.70, Z:-14.15 [[ 9.96571396e-01 5.62034474e-02 6.07175937e-02 2.00969697e+02] [-5.57973768e-02 9.98407078e-01 -8.36413342e-03 -2.67021930e+01] [-6.10909684e-02 4.94757367e-03 9.98119940e-01 -1.41456815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.09071405699999 meters 0.04515681229963781 Centerline is valid? [True, True] Translation: X:201.00, Y:-26.71, Z:-14.15 [[ 9.96622381e-01 5.59160368e-02 6.01433846e-02 2.01002183e+02] [-5.55166728e-02 9.98423327e-01 -8.29213123e-03 -2.67050624e+01] [-6.05122213e-02 4.92516296e-03 9.98155305e-01 -1.41485219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.120714057 meters 0.04673121144028049 Centerline is valid? [True, True] Translation: X:201.03, Y:-26.71, Z:-14.15 [[ 9.96723952e-01 5.55229710e-02 5.88095560e-02 2.01032177e+02] [-5.51394962e-02 9.98445605e-01 -8.12469615e-03 -2.67107916e+01] [-5.91692500e-02 4.85534996e-03 9.98236157e-01 -1.41519446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.150714057 meters 0.0463448093506128 Centerline is valid? [True, True] Translation: X:201.07, Y:-26.71, Z:-14.15 [[ 9.96767649e-01 5.59280887e-02 5.76741173e-02 2.01065363e+02] [-5.55600016e-02 9.98423561e-01 -7.96734138e-03 -2.67144331e+01] [-5.80287957e-02 4.73721408e-03 9.98303670e-01 -1.41544748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.180714057 meters 0.04719195720987449 Centerline is valid? [True, True] Translation: X:201.10, Y:-26.72, Z:-14.16 [[ 9.96697585e-01 5.74221562e-02 5.74162050e-02 2.01095009e+02] [-5.70587865e-02 9.98339171e-01 -7.94955295e-03 -2.67192478e+01] [-5.77773269e-02 4.64720125e-03 9.98318679e-01 -1.41568381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.210714057 meters 0.04756681231224005 Centerline is valid? [True, True] Translation: X:201.13, Y:-26.72, Z:-14.16 [[ 9.96631640e-01 5.85343786e-02 5.74377901e-02 2.01125777e+02] [-5.81721796e-02 9.98274836e-01 -7.95926190e-03 -2.67236410e+01] [-5.78045909e-02 4.59117081e-03 9.98317360e-01 -1.41589907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.240714057 meters 0.041109076376877836 Centerline is valid? [True, True] Translation: X:201.16, Y:-26.72, Z:-14.16 [[ 9.96438718e-01 6.13613999e-02 5.78330389e-02 2.01157425e+02] [-6.09987815e-02 9.98105649e-01 -8.01639000e-03 -2.67174224e+01] [-5.82153797e-02 4.46009647e-03 9.98294083e-01 -1.41595045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.270714057 meters 0.03880526944844644 Centerline is valid? [True, True] Translation: X:201.19, Y:-26.72, Z:-14.16 [[ 9.96340670e-01 6.28255181e-02 5.79501791e-02 2.01188585e+02] [-6.24638977e-02 9.98014900e-01 -8.03244238e-03 -2.67175411e+01] [-5.83397846e-02 4.38325496e-03 9.98287161e-01 -1.41608252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.300714057 meters 0.03748794227444349 Centerline is valid? [True, True] Translation: X:201.22, Y:-26.72, Z:-14.16 [[ 9.96097637e-01 6.57580630e-02 5.88674275e-02 2.01219149e+02] [-6.53898996e-02 9.97826419e-01 -8.16084558e-03 -2.67184608e+01] [-5.92761157e-02 4.27966383e-03 9.98232451e-01 -1.41616600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.330714057 meters 0.037364934048105626 Centerline is valid? [True, True] Translation: X:201.25, Y:-26.72, Z:-14.16 [[ 9.95940075e-01 6.72943768e-02 5.97899170e-02 2.01249122e+02] [-6.69173088e-02 9.97724094e-01 -8.28888175e-03 -2.67222944e+01] [-6.02116359e-02 4.25424917e-03 9.98176568e-01 -1.41636451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.360714057 meters 0.034925199124819756 Centerline is valid? [True, True] Translation: X:201.28, Y:-26.72, Z:-14.17 [[ 9.95825531e-01 6.83297742e-02 6.05190387e-02 2.01279352e+02] [-6.79454080e-02 9.97653772e-01 -8.38884750e-03 -2.67228715e+01] [-6.09502553e-02 4.24183774e-03 9.98131791e-01 -1.41651544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.390714057 meters 0.03889455292740158 Centerline is valid? [True, True] Translation: X:201.31, Y:-26.73, Z:-14.17 [[ 9.95621919e-01 6.98667760e-02 6.20936984e-02 2.01308051e+02] [-6.94651676e-02 9.97547257e-01 -8.60582082e-03 -2.67340968e+01] [-6.25426594e-02 4.25479468e-03 9.98033222e-01 -1.41668946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.420714057 meters 0.037789282685834494 Centerline is valid? [True, True] Translation: X:201.34, Y:-26.74, Z:-14.17 [[ 9.95529481e-01 7.01715817e-02 6.32218408e-02 2.01338182e+02] [-6.97558339e-02 9.97525613e-01 -8.76217473e-03 -2.67380015e+01] [-6.36802612e-02 4.31291103e-03 9.97961033e-01 -1.41681737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.45071405699997 meters 0.03372318133765049 Centerline is valid? [True, True] Translation: X:201.37, Y:-26.74, Z:-14.17 [[ 9.95468619e-01 7.03415020e-02 6.39867229e-02 2.01368529e+02] [-6.99159653e-02 9.97513465e-01 -8.86818288e-03 -2.67380278e+01] [-6.44514190e-02 4.35430427e-03 9.97911346e-01 -1.41696577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.48071405699997 meters 0.03375013383509185 Centerline is valid? [True, True] Translation: X:201.40, Y:-26.74, Z:-14.17 [[ 9.95473021e-01 7.03208590e-02 6.39409168e-02 2.01398906e+02] [-6.98958900e-02 9.97514928e-01 -8.86183441e-03 -2.67436420e+01] [-6.44051908e-02 4.35250979e-03 9.97914339e-01 -1.41721286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.51071405699997 meters 0.040012304558299155 Centerline is valid? [True, True] Translation: X:201.43, Y:-26.76, Z:-14.18 [[ 9.95497745e-01 7.03198799e-02 6.35559157e-02 2.01427603e+02] [-6.99000252e-02 9.97515112e-01 -8.80839167e-03 -2.67584688e+01] [-6.40173914e-02 4.32617394e-03 9.97939406e-01 -1.41753603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.54071405699997 meters 0.04106758525728961 Centerline is valid? [True, True] Translation: X:201.46, Y:-26.77, Z:-14.18 [[ 9.95447601e-01 7.11189299e-02 6.34521200e-02 2.01455642e+02] [-7.07019757e-02 9.97458707e-01 -8.79535201e-03 -2.67673800e+01] [-6.39163856e-02 4.26912180e-03 9.97946126e-01 -1.41790167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.57071405699998 meters 0.040631243585404896 Centerline is valid? [True, True] Translation: X:201.49, Y:-26.77, Z:-14.18 [[ 9.95389092e-01 7.20409473e-02 6.33297501e-02 2.01485633e+02] [-7.16275337e-02 9.97392830e-01 -8.77721080e-03 -2.67721417e+01] [-6.37969572e-02 4.20058608e-03 9.97954059e-01 -1.41817140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.60071405699998 meters 0.033860697111726616 Centerline is valid? [True, True] Translation: X:201.52, Y:-26.77, Z:-14.18 [[ 9.95169994e-01 7.45935965e-02 6.38159711e-02 2.01516902e+02] [-7.41790194e-02 9.97205719e-01 -8.84459879e-03 -2.67690710e+01] [-6.42974018e-02 4.06807316e-03 9.97922489e-01 -1.41827579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.63071405699998 meters 0.033860697111726616 Centerline is valid? [True, True] Translation: X:201.55, Y:-26.77, Z:-14.18 [[ 9.95172669e-01 7.45579236e-02 6.38159500e-02 2.01545771e+02] [-7.41432638e-02 9.97208377e-01 -8.84475125e-03 -2.67730422e+01] [-6.42972462e-02 4.07053189e-03 9.97922489e-01 -1.41847650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.66071405699998 meters 0.034053242253912736 Centerline is valid? [True, True] Translation: X:201.57, Y:-26.78, Z:-14.19 [[ 9.94879366e-01 7.83000113e-02 6.39073932e-02 2.01574786e+02] [-7.78919949e-02 9.96922477e-01 -8.85504234e-03 -2.67791692e+01] [-6.44040667e-02 3.83182457e-03 9.97916546e-01 -1.41864874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.69071405699998 meters 0.03336154869886133 Centerline is valid? [True, True] Translation: X:201.60, Y:-26.78, Z:-14.19 [[ 9.94713691e-01 8.02508678e-02 6.40661436e-02 2.01603938e+02] [-7.98449577e-02 9.96767782e-01 -8.87531106e-03 -2.67829571e+01] [-6.45713193e-02 3.71303490e-03 9.97906187e-01 -1.41885193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.72071405699998 meters 0.031182785673501752 Centerline is valid? [True, True] Translation: X:201.63, Y:-26.78, Z:-14.19 [[ 9.94585483e-01 8.21875826e-02 6.35996647e-02 2.01634109e+02] [-8.17916651e-02 9.96610524e-01 -8.80833249e-03 -2.67843938e+01] [-6.41080307e-02 3.55871716e-03 9.97936619e-01 -1.41907044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.75071405699998 meters 0.030681710502655307 Centerline is valid? [True, True] Translation: X:201.66, Y:-26.79, Z:-14.19 [[ 9.94365218e-01 8.47343192e-02 6.37017160e-02 2.01663697e+02] [-8.43424002e-02 9.96397783e-01 -8.82140633e-03 -2.67891955e+01] [-6.42197244e-02 3.39894401e-03 9.97929995e-01 -1.41932525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.78071405699998 meters 0.02879243883822082 Centerline is valid? [True, True] Translation: X:201.69, Y:-26.79, Z:-14.20 [[ 9.93980271e-01 8.90526470e-02 6.38188674e-02 2.01692931e+02] [-8.86683381e-02 9.96022025e-01 -8.83467866e-03 -2.67923833e+01] [-6.43517491e-02 3.12278337e-03 9.97922392e-01 -1.41961574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.81071405699998 meters 0.028500749791303646 Centerline is valid? [True, True] Translation: X:201.72, Y:-26.80, Z:-14.20 [[ 9.93763694e-01 9.13059750e-02 6.40073373e-02 2.01721266e+02] [-9.09241911e-02 9.95818416e-01 -8.85853669e-03 -2.67974672e+01] [-6.45485226e-02 2.98347677e-03 9.97910110e-01 -1.41985226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.84071405699999 meters 0.027726637426514402 Centerline is valid? [True, True] Translation: X:201.75, Y:-26.80, Z:-14.20 [[ 9.93487424e-01 9.41314022e-02 6.42029429e-02 2.01749021e+02] [-9.37534694e-02 9.95555834e-01 -8.88080501e-03 -2.68032923e+01] [-6.47535770e-02 2.80371945e-03 9.97897346e-01 -1.42008193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.870714057 meters 0.02794243351668484 Centerline is valid? [True, True] Translation: X:201.78, Y:-26.81, Z:-14.20 [[ 9.93416665e-01 9.48807189e-02 6.41948452e-02 2.01777080e+02] [-9.45046652e-02 9.95484847e-01 -8.87623521e-03 -2.68094267e+01] [-6.47471792e-02 2.75108763e-03 9.97897908e-01 -1.42030694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.900714057 meters 0.027044972756723854 Centerline is valid? [True, True] Translation: X:201.81, Y:-26.81, Z:-14.21 [[ 9.93415366e-01 9.49898438e-02 6.40534131e-02 2.01805816e+02] [-9.46159722e-02 9.95474489e-01 -8.85207374e-03 -2.68136828e+01] [-6.46043958e-02 2.73331013e-03 9.97907211e-01 -1.42052271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.930714057 meters 0.02760170043171825 Centerline is valid? [True, True] Translation: X:201.83, Y:-26.82, Z:-14.21 [[ 9.93537104e-01 9.39927787e-02 6.36347378e-02 2.01832024e+02] [-9.36220409e-02 9.95569011e-01 -8.78963850e-03 -2.68237121e+01] [-6.41789355e-02 2.77521797e-03 9.97934548e-01 -1.42078620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.960714057 meters 0.028523577763578827 Centerline is valid? [True, True] Translation: X:201.86, Y:-26.83, Z:-14.21 [[ 9.93818697e-01 9.14312976e-02 6.29659851e-02 2.01859927e+02] [-9.10635688e-02 9.95807153e-01 -8.69140462e-03 -2.68345049e+01] [-6.34966447e-02 2.90377309e-03 9.97977828e-01 -1.42105817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.990714057 meters 0.028843186356586878 Centerline is valid? [True, True] Translation: X:201.89, Y:-26.84, Z:-14.21 [[ 9.93944286e-01 9.01474901e-02 6.28346015e-02 2.01888281e+02] [-8.97789498e-02 9.95923979e-01 -8.66995044e-03 -2.68416826e+01] [-6.33600606e-02 2.97622316e-03 9.97986295e-01 -1.42130098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.020714057 meters 0.03200520997204201 Centerline is valid? [True, True] Translation: X:201.91, Y:-26.85, Z:-14.22 [[ 9.94112371e-01 8.87035443e-02 6.22276121e-02 2.01914640e+02] [-8.83395547e-02 9.96053450e-01 -8.58183634e-03 -2.68531618e+01] [-6.27432670e-02 3.03415012e-03 9.98025088e-01 -1.42158417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.050714057 meters 0.03296127518150072 Centerline is valid? [True, True] Translation: X:201.94, Y:-26.86, Z:-14.22 [[ 9.94351169e-01 8.63444654e-02 6.17283305e-02 2.01942512e+02] [-8.59821290e-02 9.96260358e-01 -8.50723625e-03 -2.68634990e+01] [-6.22320414e-02 3.15164703e-03 9.98056732e-01 -1.42186299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.080714057 meters 0.030235970010687552 Centerline is valid? [True, True] Translation: X:201.97, Y:-26.87, Z:-14.22 [[ 9.94421767e-01 8.52038487e-02 6.21743778e-02 2.01972329e+02] [-8.48342365e-02 9.96358262e-01 -8.56538013e-03 -2.68660640e+01] [-6.26777583e-02 3.24308458e-03 9.98028547e-01 -1.42205533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.110714057 meters 0.030585870635387806 Centerline is valid? [True, True] Translation: X:202.00, Y:-26.87, Z:-14.22 [[ 9.94610914e-01 8.34747660e-02 6.14905957e-02 2.02000691e+02] [-8.31100878e-02 9.96504384e-01 -8.46909716e-03 -2.68743615e+01] [-6.19826041e-02 3.31296766e-03 9.98071731e-01 -1.42222191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.140714057 meters 0.029247524751443297 Centerline is valid? [True, True] Translation: X:202.03, Y:-26.88, Z:-14.22 [[ 9.94656824e-01 8.31552997e-02 6.11800559e-02 2.02029939e+02] [-8.27939119e-02 9.96531095e-01 -8.42288206e-03 -2.68778161e+01] [-6.16682354e-02 3.31254096e-03 9.98091206e-01 -1.42239360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.170714057 meters 0.03166612283638218 Centerline is valid? [True, True] Translation: X:202.06, Y:-26.89, Z:-14.23 [[ 9.94737928e-01 8.27117097e-02 6.04584734e-02 2.02057437e+02] [-8.23581201e-02 9.96568058e-01 -8.32144839e-03 -2.68871207e+01] [-6.09392646e-02 3.29841412e-03 9.98136026e-01 -1.42266754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.20071405699997 meters 0.03001663324979742 Centerline is valid? [True, True] Translation: X:202.09, Y:-26.89, Z:-14.23 [[ 9.94837869e-01 8.23807476e-02 5.92539263e-02 2.02086996e+02] [-8.20407444e-02 9.96595634e-01 -8.15227012e-03 -2.68921241e+01] [-5.97237943e-02 3.24895081e-03 9.98209654e-01 -1.42295732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.23071405699997 meters 0.029866092758203528 Centerline is valid? [True, True] Translation: X:202.12, Y:-26.90, Z:-14.23 [[ 9.94849328e-01 8.23728083e-02 5.90722809e-02 2.02115645e+02] [-8.20350050e-02 9.96596328e-01 -8.12510802e-03 -2.68976644e+01] [-5.95405062e-02 3.23726339e-03 9.98220641e-01 -1.42317683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.26071405699997 meters 0.031610595612129436 Centerline is valid? [True, True] Translation: X:202.14, Y:-26.91, Z:-14.23 [[ 9.94935089e-01 8.16836772e-02 5.85828016e-02 2.02143158e+02] [-8.13503831e-02 9.96653008e-01 -8.05581063e-03 -2.69065982e+01] [-5.90447537e-02 3.24927532e-03 9.98250048e-01 -1.42336238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.29071405699997 meters 0.031761137393027786 Centerline is valid? [True, True] Translation: X:202.17, Y:-26.91, Z:-14.24 [[ 9.94982624e-01 8.11149135e-02 5.85657697e-02 2.02171878e+02] [-8.07810229e-02 9.96699363e-01 -8.05024058e-03 -2.69111548e+01] [-5.90254599e-02 3.27884671e-03 9.98251093e-01 -1.42353230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.32071405699998 meters 0.031938711956708936 Centerline is valid? [True, True] Translation: X:202.20, Y:-26.92, Z:-14.24 [[ 9.95081913e-01 8.05816563e-02 5.76071361e-02 2.02200708e+02] [-8.02579203e-02 9.96742703e-01 -7.91521657e-03 -2.69162842e+01] [-5.80573138e-02 3.25285991e-03 9.98307952e-01 -1.42371776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.35071405699998 meters 0.030543343241450815 Centerline is valid? [True, True] Translation: X:202.23, Y:-26.92, Z:-14.24 [[ 9.95222835e-01 8.01593271e-02 5.57314269e-02 2.02229858e+02] [-7.98558041e-02 9.96777028e-01 -7.65557416e-03 -2.69196514e+01] [-5.61654717e-02 3.16852431e-03 9.98416446e-01 -1.42396628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.38071405699998 meters 0.031098634538787504 Centerline is valid? [True, True] Translation: X:202.26, Y:-26.93, Z:-14.24 [[ 9.95254827e-01 8.03412275e-02 5.48918643e-02 2.02258335e+02] [-8.00471645e-02 9.96762571e-01 -7.53848721e-03 -2.69251941e+01] [-5.53198071e-02 3.10877769e-03 9.98463847e-01 -1.42420391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.41071405699998 meters 0.03194689273416975 Centerline is valid? [True, True] Translation: X:202.29, Y:-26.93, Z:-14.24 [[ 9.95192228e-01 8.17736145e-02 5.39027446e-02 2.02286657e+02] [-8.14923311e-02 9.96646501e-01 -7.39947821e-03 -2.69312500e+01] [-5.43270639e-02 2.97124289e-03 9.98518774e-01 -1.42449876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.44071405699998 meters 0.030051382985931692 Centerline is valid? [True, True] Translation: X:202.32, Y:-26.93, Z:-14.25 [[ 9.95131906e-01 8.32523947e-02 5.27402004e-02 2.02315237e+02] [-8.29852655e-02 9.96524485e-01 -7.23858371e-03 -2.69319188e+01] [-5.31595305e-02 2.82668607e-03 9.98582032e-01 -1.42464630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.47071405699998 meters 0.02922647259507396 Centerline is valid? [True, True] Translation: X:202.34, Y:-26.93, Z:-14.25 [[ 9.95024300e-01 8.50436276e-02 5.19059116e-02 2.02344390e+02] [-8.47875309e-02 9.96373614e-01 -7.12005716e-03 -2.69341425e+01] [-5.23231962e-02 2.68365581e-03 9.98626597e-01 -1.42478634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.50071405699998 meters 0.029608529590253146 Centerline is valid? [True, True] Translation: X:202.37, Y:-26.94, Z:-14.25 [[ 9.94567386e-01 9.05365864e-02 5.13696560e-02 2.02373653e+02] [-9.02932341e-02 9.95890318e-01 -7.04314843e-03 -2.69381034e+01] [-5.17962057e-02 2.36655335e-03 9.98654872e-01 -1.42493459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.53071405699998 meters 0.02890264522403071 Centerline is valid? [True, True] Translation: X:202.40, Y:-26.94, Z:-14.25 [[ 9.94309943e-01 9.33256672e-02 5.13620198e-02 2.02403337e+02] [-9.30861471e-02 9.95633161e-01 -7.04114418e-03 -2.69405949e+01] [-5.17948496e-02 2.21998714e-03 9.98655278e-01 -1.42507133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.56071405699998 meters 0.027329670975730164 Centerline is valid? [True, True] Translation: X:202.43, Y:-26.94, Z:-14.25 [[ 9.93687672e-01 9.87579375e-02 5.32135426e-02 2.02434013e+02] [-9.85087158e-02 9.95109467e-01 -7.29254462e-03 -2.69417077e+01] [-5.36734967e-02 2.00451394e-03 9.98556527e-01 -1.42500546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.59071405699999 meters 0.024437076815316715 Centerline is valid? [True, True] Translation: X:202.46, Y:-26.94, Z:-14.25 [[ 9.93470695e-01 1.00461926e-01 5.40682884e-02 2.02463620e+02] [-1.00207100e-01 9.94939004e-01 -7.41047661e-03 -2.69392747e+01] [-5.45391198e-02 1.94406497e-03 9.98509742e-01 -1.42487409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.620714057 meters 0.025256474964784444 Centerline is valid? [True, True] Translation: X:202.49, Y:-26.94, Z:-14.25 [[ 9.93226375e-01 1.01945682e-01 5.57534392e-02 2.02491038e+02] [-1.01677273e-01 9.94788120e-01 -7.63728346e-03 -2.69449991e+01] [-5.62414471e-02 1.91669372e-03 9.98415357e-01 -1.42495106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.650714057 meters 0.025656646730823837 Centerline is valid? [True, True] Translation: X:202.52, Y:-26.95, Z:-14.25 [[ 9.93231481e-01 1.01426304e-01 5.66032672e-02 2.02517906e+02] [-1.01149110e-01 9.94841104e-01 -7.74824371e-03 -2.69505853e+01] [-5.70971325e-02 1.97042945e-03 9.98366684e-01 -1.42515354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.680714057 meters 0.025690593164852737 Centerline is valid? [True, True] Translation: X:202.55, Y:-26.96, Z:-14.25 [[ 9.93566851e-01 9.80549033e-02 5.66581809e-02 2.02546771e+02] [-9.77720146e-02 9.95178661e-01 -7.75024398e-03 -2.69561593e+01] [-5.71449620e-02 2.16080101e-03 9.98363553e-01 -1.42519718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.710714057 meters 0.026569817558136106 Centerline is valid? [True, True] Translation: X:202.58, Y:-26.97, Z:-14.25 [[ 9.94040143e-01 9.33238318e-02 5.63458679e-02 2.02576123e+02] [-9.30366843e-02 9.95632878e-01 -7.70378103e-03 -2.69656729e+01] [-5.68187450e-02 2.41563486e-03 9.98381588e-01 -1.42546388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.740714057 meters 0.026569817558136106 Centerline is valid? [True, True] Translation: X:202.60, Y:-26.97, Z:-14.26 [[ 9.94046908e-01 9.32518146e-02 5.63457515e-02 2.02604138e+02] [-9.29645036e-02 9.95639613e-01 -7.70463315e-03 -2.69694449e+01] [-5.68185332e-02 2.42061194e-03 9.98381588e-01 -1.42565856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.770714057 meters 0.028136712367348084 Centerline is valid? [True, True] Translation: X:202.63, Y:-26.98, Z:-14.26 [[ 9.94502185e-01 8.87123577e-02 5.56374071e-02 2.02631836e+02] [-8.84254162e-02 9.96053784e-01 -7.60297549e-03 -2.69792751e+01] [-5.60923278e-02 2.64141485e-03 9.98422092e-01 -1.42591677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.800714057 meters 0.03175348791887625 Centerline is valid? [True, True] Translation: X:202.66, Y:-26.99, Z:-14.26 [[ 9.94730279e-01 8.64705857e-02 5.50863923e-02 2.02659114e+02] [-8.61858926e-02 9.96250636e-01 -7.52743138e-03 -2.69900110e+01] [-5.55307548e-02 2.74009402e-03 9.98453217e-01 -1.42627493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.830714057 meters 0.03077609939994178 Centerline is valid? [True, True] Translation: X:202.69, Y:-26.99, Z:-14.26 [[ 9.95027444e-01 8.36723614e-02 5.40307505e-02 2.02688547e+02] [-8.33945603e-02 9.96489281e-01 -7.37977896e-03 -2.69941319e+01] [-5.44585472e-02 2.83721192e-03 9.98512001e-01 -1.42644732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.860714057 meters 0.03167752291635868 Centerline is valid? [True, True] Translation: X:202.72, Y:-27.00, Z:-14.27 [[ 9.95162922e-01 8.22101166e-02 5.37796890e-02 2.02717783e+02] [-8.19328030e-02 9.96610791e-01 -7.34481383e-03 -2.70002879e+01] [-5.42012364e-02 2.90296573e-03 9.98525813e-01 -1.42667775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.890714057 meters 0.032495159216604064 Centerline is valid? [True, True] Translation: X:202.75, Y:-27.01, Z:-14.27 [[ 9.95275265e-01 8.08948084e-02 5.36952152e-02 2.02746699e+02] [-8.06165629e-02 9.96718225e-01 -7.33135665e-03 -2.70060777e+01] [-5.41120683e-02 2.96799424e-03 9.98530458e-01 -1.42691379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.920714057 meters 0.033625694238501494 Centerline is valid? [True, True] Translation: X:202.78, Y:-27.01, Z:-14.27 [[ 9.95395505e-01 7.95017888e-02 5.35467510e-02 2.02775606e+02] [-7.92231905e-02 9.96830109e-01 -7.30892366e-03 -2.70127077e+01] [-5.39580861e-02 3.03312530e-03 9.98538595e-01 -1.42711921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.95071405699997 meters 0.034287994183453095 Centerline is valid? [True, True] Translation: X:202.80, Y:-27.02, Z:-14.27 [[ 9.95418441e-01 7.91394115e-02 5.36570588e-02 2.02803938e+02] [-7.88591626e-02 9.96858866e-01 -7.32353285e-03 -2.70175881e+01] [-5.40680948e-02 3.05862893e-03 9.98532566e-01 -1.42730402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.98071405699997 meters 0.03452230841759415 Centerline is valid? [True, True] Translation: X:202.83, Y:-27.02, Z:-14.27 [[ 9.95330788e-01 7.98759871e-02 5.41890185e-02 2.02833392e+02] [-7.95914057e-02 9.96800156e-01 -7.39300883e-03 -2.70216948e+01] [-5.46061460e-02 3.04550914e-03 9.98503327e-01 -1.42738437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.01071405699997 meters 0.03405085987856026 Centerline is valid? [True, True] Translation: X:202.86, Y:-27.03, Z:-14.27 [[ 9.95260241e-01 8.04418214e-02 5.46458211e-02 2.02863358e+02] [-8.01533842e-02 9.96754676e-01 -7.45318100e-03 -2.70251803e+01] [-5.50680252e-02 3.03780722e-03 9.98477984e-01 -1.42744373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.04071405699997 meters 0.03452139116634316 Centerline is valid? [True, True] Translation: X:202.89, Y:-27.03, Z:-14.27 [[ 9.95101804e-01 8.15016995e-02 5.59452688e-02 2.02892415e+02] [-8.12010772e-02 9.96668538e-01 -7.62962090e-03 -2.70293755e+01] [-5.63807163e-02 3.04943343e-03 9.98404685e-01 -1.42742099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.07071405699998 meters 0.0350399342339824 Centerline is valid? [True, True] Translation: X:202.92, Y:-27.03, Z:-14.28 [[ 9.95103097e-01 8.12992590e-02 5.62161537e-02 2.02921740e+02] [-8.09955037e-02 9.96684996e-01 -7.66461365e-03 -2.70340757e+01] [-5.66529244e-02 3.07382510e-03 9.98389202e-01 -1.42752891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.10071405699998 meters 0.03556758500886045 Centerline is valid? [True, True] Translation: X:202.95, Y:-27.04, Z:-14.28 [[ 9.95131059e-01 8.10083594e-02 5.61410797e-02 2.02950681e+02] [-8.07050633e-02 9.96708650e-01 -7.65246050e-03 -2.70383914e+01] [-5.65762130e-02 3.08433174e-03 9.98393519e-01 -1.42771487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.13071405699998 meters 0.03635648387780586 Centerline is valid? [True, True] Translation: X:202.98, Y:-27.04, Z:-14.28 [[ 9.95176678e-01 8.04949629e-02 5.60708565e-02 2.02978850e+02] [-8.01917108e-02 9.96750170e-01 -7.64118204e-03 -2.70432612e+01] [-5.65037125e-02 3.10790825e-03 9.98397552e-01 -1.42788214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.16071405699998 meters 0.03702282792700173 Centerline is valid? [True, True] Translation: X:203.01, Y:-27.05, Z:-14.28 [[ 9.95211350e-01 8.02142374e-02 5.58573685e-02 2.03008031e+02] [-7.99130225e-02 9.96772798e-01 -7.60907291e-03 -2.70479836e+01] [-5.62874614e-02 3.10890457e-03 9.98409764e-01 -1.42814309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.19071405699998 meters 0.037832577491829174 Centerline is valid? [True, True] Translation: X:203.04, Y:-27.05, Z:-14.28 [[ 9.95260475e-01 8.00962461e-02 5.51468776e-02 2.03036095e+02] [-7.98025633e-02 9.96782394e-01 -7.51068426e-03 -2.70515299e+01] [-5.55710142e-02 3.07422500e-03 9.98450005e-01 -1.42840851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.22071405699998 meters 0.0383447948146801 Centerline is valid? [True, True] Translation: X:203.07, Y:-27.06, Z:-14.29 [[ 9.95307505e-01 7.98341594e-02 5.46761203e-02 2.03065378e+02] [-7.95452424e-02 9.96803464e-01 -7.44365109e-03 -2.70554123e+01] [-5.50956038e-02 3.05949655e-03 9.98476396e-01 -1.42868872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.25071405699998 meters 0.03935794082051915 Centerline is valid? [True, True] Translation: X:203.09, Y:-27.06, Z:-14.29 [[ 9.95343232e-01 7.99348080e-02 5.38727917e-02 2.03094733e+02] [-7.96545701e-02 9.96795557e-01 -7.33253783e-03 -2.70596593e+01] [-5.42862844e-02 3.00717784e-03 9.98520884e-01 -1.42892594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.28071405699998 meters 0.03346312090682482 Centerline is valid? [True, True] Translation: X:203.13, Y:-27.05, Z:-14.29 [[ 9.95484510e-01 7.76636854e-02 5.45796939e-02 2.03125456e+02] [-7.73727337e-02 9.96974574e-01 -7.42696850e-03 -2.70545307e+01] [-5.49913728e-02 3.17045197e-03 9.98481796e-01 -1.42900962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.31071405699998 meters 0.04189526572778838 Centerline is valid? [True, True] Translation: X:203.15, Y:-27.07, Z:-14.30 [[ 9.95559152e-01 7.65240846e-02 5.48273531e-02 2.03153921e+02] [-7.62289110e-02 9.97062451e-01 -7.45798054e-03 -2.70709605e+01] [-5.52370102e-02 3.24543136e-03 9.98467996e-01 -1.42952880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.34071405699999 meters 0.03471678448630493 Centerline is valid? [True, True] Translation: X:203.19, Y:-27.06, Z:-14.29 [[ 9.95859648e-01 7.27615992e-02 5.44913927e-02 2.03185581e+02] [-7.24643585e-02 9.97343450e-01 -7.41353421e-03 -2.70636499e+01] [-5.48860542e-02 3.43415575e-03 9.98486719e-01 -1.42943300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.370714057 meters 0.037948904447717834 Centerline is valid? [True, True] Translation: X:203.21, Y:-27.07, Z:-14.30 [[ 9.96017819e-01 7.10952606e-02 5.37956066e-02 2.03214207e+02] [-7.08032351e-02 9.97463462e-01 -7.31734387e-03 -2.70723129e+01] [-5.41793804e-02 3.47930190e-03 9.98525157e-01 -1.42976671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.400714057 meters 0.03783278204601705 Centerline is valid? [True, True] Translation: X:203.24, Y:-27.07, Z:-14.30 [[ 9.96409493e-01 6.63290484e-02 5.26172921e-02 2.03244649e+02] [-6.60427591e-02 9.97791083e-01 -7.16306172e-03 -2.70747507e+01] [-5.29761839e-02 3.66235155e-03 9.98589060e-01 -1.42998997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.430714057 meters 0.039321939913652855 Centerline is valid? [True, True] Translation: X:203.28, Y:-27.08, Z:-14.30 [[ 9.96559690e-01 6.43419548e-02 5.22388375e-02 2.03275008e+02] [-6.40570757e-02 9.97920899e-01 -7.11121964e-03 -2.70810851e+01] [-5.25877775e-02 3.74048767e-03 9.98609300e-01 -1.43023268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.460714057 meters 0.04535148740365655 Centerline is valid? [True, True] Translation: X:203.30, Y:-27.09, Z:-14.31 [[ 9.96868296e-01 5.98254530e-02 5.17157278e-02 2.03302770e+02] [-5.95401398e-02 9.98201077e-01 -7.04145407e-03 -2.70928372e+01] [-5.20439533e-02 3.94024066e-03 9.98637022e-01 -1.43061033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.490714057 meters 0.04334037181711664 Centerline is valid? [True, True] Translation: X:203.33, Y:-27.09, Z:-14.31 [[ 9.96974765e-01 5.82478475e-02 5.14636351e-02 2.03334301e+02] [-5.79633060e-02 9.98294134e-01 -7.00554933e-03 -2.70936856e+01] [-5.17839031e-02 4.00135347e-03 9.98650297e-01 -1.43076388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.520714057 meters 0.04349343397125934 Centerline is valid? [True, True] Translation: X:203.37, Y:-27.10, Z:-14.31 [[ 9.97013587e-01 5.75662442e-02 5.14784870e-02 2.03366224e+02] [-5.72807218e-02 9.98333529e-01 -7.00591295e-03 -2.70980411e+01] [-5.17960038e-02 4.03626551e-03 9.98649529e-01 -1.43095103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.550714057 meters 0.04349343397125934 Centerline is valid? [True, True] Translation: X:203.40, Y:-27.10, Z:-14.31 [[ 9.96997607e-01 5.78437773e-02 5.14768861e-02 2.03398537e+02] [-5.75580199e-02 9.98317498e-01 -7.01765325e-03 -2.71025313e+01] [-5.17962037e-02 4.03367586e-03 9.98649529e-01 -1.43117525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.580714057 meters 0.04523536377526305 Centerline is valid? [True, True] Translation: X:203.43, Y:-27.11, Z:-14.31 [[ 9.97074477e-01 5.67186243e-02 5.12394843e-02 2.03429494e+02] [-5.64332311e-02 9.98381831e-01 -7.00064857e-03 -2.71075528e+01] [-5.15536374e-02 4.08855835e-03 9.98661858e-01 -1.43138948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.610714057 meters 0.04590578181649133 Centerline is valid? [True, True] Translation: X:203.46, Y:-27.11, Z:-14.32 [[ 9.97081617e-01 5.71727691e-02 5.05917292e-02 2.03462218e+02] [-5.68946009e-02 9.98356190e-01 -6.92261847e-03 -2.71118026e+01] [-5.09043513e-02 4.02401937e-03 9.98695426e-01 -1.43160479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.640714057 meters 0.04453119006949842 Centerline is valid? [True, True] Translation: X:203.49, Y:-27.11, Z:-14.32 [[ 9.97064243e-01 5.78170612e-02 5.02004293e-02 2.03494963e+02] [-5.75431231e-02 9.98319271e-01 -6.88631574e-03 -2.71132013e+01] [-5.05142025e-02 3.97740971e-03 9.98715423e-01 -1.43179512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.670714057 meters 0.039953906447899416 Centerline is valid? [True, True] Translation: X:203.53, Y:-27.11, Z:-14.32 [[ 9.96924820e-01 6.03210448e-02 5.00227415e-02 2.03526341e+02] [-6.00518744e-02 9.98171631e-01 -6.86790847e-03 -2.71080506e+01] [-5.03455609e-02 3.84282903e-03 9.98724465e-01 -1.43183654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.70071405699997 meters 0.04035476626920754 Centerline is valid? [True, True] Translation: X:203.56, Y:-27.11, Z:-14.32 [[ 9.96784130e-01 6.20902481e-02 5.06576625e-02 2.03556525e+02] [-6.18164798e-02 9.98063302e-01 -6.95476245e-03 -2.71114632e+01] [-5.09913768e-02 3.80091847e-03 9.98691861e-01 -1.43200301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.73071405699997 meters 0.04394524522787881 Centerline is valid? [True, True] Translation: X:203.59, Y:-27.12, Z:-14.32 [[ 9.96503060e-01 6.55038935e-02 5.18737952e-02 2.03585895e+02] [-6.52213236e-02 9.97845398e-01 -7.12325113e-03 -2.71173136e+01] [-5.22286285e-02 3.71506397e-03 9.98628243e-01 -1.43220400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.76071405699997 meters 0.04391555046224465 Centerline is valid? [True, True] Translation: X:203.62, Y:-27.12, Z:-14.32 [[ 9.96359176e-01 6.69713661e-02 5.27563189e-02 2.03615883e+02] [-6.66811910e-02 9.97748041e-01 -7.24335602e-03 -2.71198878e+01] [-5.31226112e-02 3.69913006e-03 9.98581146e-01 -1.43235310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.79071405699997 meters 0.03913135574517304 Centerline is valid? [True, True] Translation: X:203.65, Y:-27.12, Z:-14.32 [[ 9.96224370e-01 6.86128077e-02 5.31910373e-02 2.03647658e+02] [-6.83201656e-02 9.97636720e-01 -7.30278096e-03 -2.71155607e+01] [-5.35663963e-02 3.64118788e-03 9.98557651e-01 -1.43237488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.82071405699998 meters 0.04340643293793144 Centerline is valid? [True, True] Translation: X:203.68, Y:-27.12, Z:-14.33 [[ 9.95944124e-01 7.16281504e-02 5.44491556e-02 2.03676759e+02] [-7.13258980e-02 9.97425042e-01 -7.47673603e-03 -2.71225327e+01] [-5.48444961e-02 3.56277639e-03 9.98488552e-01 -1.43266154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.85071405699998 meters 0.035836919158719935 Centerline is valid? [True, True] Translation: X:203.71, Y:-27.11, Z:-14.33 [[ 9.95833103e-01 7.25240899e-02 5.52873098e-02 2.03707849e+02] [-7.22137969e-02 9.97360278e-01 -7.59228514e-03 -2.71141167e+01] [-5.56919903e-02 3.56814231e-03 9.98441621e-01 -1.43262093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.88071405699998 meters 0.03614590351854355 Centerline is valid? [True, True] Translation: X:203.74, Y:-27.12, Z:-14.33 [[ 9.95733779e-01 7.34067825e-02 5.59078264e-02 2.03737175e+02] [-7.30910224e-02 9.97295745e-01 -7.67462923e-03 -2.71172513e+01] [-5.63200073e-02 3.55552737e-03 9.98406438e-01 -1.43283601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.91071405699998 meters 0.03667574970230255 Centerline is valid? [True, True] Translation: X:203.77, Y:-27.12, Z:-14.33 [[ 9.95745105e-01 7.32814084e-02 5.58705683e-02 2.03767173e+02] [-7.29657213e-02 9.97304939e-01 -7.67221013e-03 -2.71193148e+01] [-5.62822240e-02 3.56292937e-03 9.98408542e-01 -1.43307366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.94071405699998 meters 0.037548499224286706 Centerline is valid? [True, True] Translation: X:203.80, Y:-27.12, Z:-14.33 [[ 9.95826618e-01 7.24882867e-02 5.54508419e-02 2.03796630e+02] [-7.21762156e-02 9.97362844e-01 -7.61263612e-03 -2.71229715e+01] [-5.58564363e-02 3.57863376e-03 9.98432397e-01 -1.43334407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.97071405699998 meters 0.039391844835639775 Centerline is valid? [True, True] Translation: X:203.83, Y:-27.13, Z:-14.34 [[ 9.96005723e-01 7.05317459e-02 5.47528348e-02 2.03825657e+02] [-7.02246753e-02 9.97502896e-01 -7.51453938e-03 -2.71272458e+01] [-5.51461249e-02 3.63952418e-03 9.98471661e-01 -1.43363395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.00071405699998 meters 0.04063358610290584 Centerline is valid? [True, True] Translation: X:203.86, Y:-27.13, Z:-14.34 [[ 9.96148885e-01 6.86291241e-02 5.45659473e-02 2.03855540e+02] [-6.83213318e-02 9.97635263e-01 -7.48847567e-03 -2.71319734e+01] [-5.49508407e-02 3.73161850e-03 9.98482088e-01 -1.43390444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.03071405699998 meters 0.04203271960002054 Centerline is valid? [True, True] Translation: X:203.89, Y:-27.14, Z:-14.34 [[ 9.96287995e-01 6.68864576e-02 5.41888538e-02 2.03885253e+02] [-6.65803463e-02 9.97753353e-01 -7.43672443e-03 -2.71373667e+01] [-5.45645267e-02 3.80120662e-03 9.98503011e-01 -1.43418303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.06071405699998 meters 0.039496654515983165 Centerline is valid? [True, True] Translation: X:203.92, Y:-27.14, Z:-14.34 [[ 9.96514385e-01 6.33840690e-02 5.42359669e-02 2.03916115e+02] [-6.30722731e-02 9.97981207e-01 -7.44307389e-03 -2.71361792e+01] [-5.45982480e-02 3.99634449e-03 9.98500406e-01 -1.43428906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.09071405699999 meters 0.040377570450044226 Centerline is valid? [True, True] Translation: X:203.95, Y:-27.14, Z:-14.34 [[ 9.96607686e-01 6.17722056e-02 5.43811934e-02 2.03946673e+02] [-6.14563327e-02 9.98081869e-01 -7.46333307e-03 -2.71411469e+01] [-5.47379098e-02 4.09594638e-03 9.98492356e-01 -1.43448132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.120714057 meters 0.042857276508669315 Centerline is valid? [True, True] Translation: X:203.98, Y:-27.15, Z:-14.35 [[ 9.96754997e-01 5.83829657e-02 5.54157556e-02 2.03975781e+02] [-5.80496608e-02 9.98284716e-01 -7.60673342e-03 -2.71461617e+01] [-5.57648055e-02 4.36518373e-03 9.98434390e-01 -1.43455731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.150714057 meters 0.038985309157779605 Centerline is valid? [True, True] Translation: X:204.01, Y:-27.14, Z:-14.35 [[ 9.96789302e-01 5.73227089e-02 5.59034451e-02 2.04008603e+02] [-5.69819528e-02 9.98345732e-01 -7.67181479e-03 -2.71447759e+01] [-5.62507350e-02 4.46169544e-03 9.98406705e-01 -1.43459103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.180714057 meters 0.04478333119861225 Centerline is valid? [True, True] Translation: X:204.04, Y:-27.16, Z:-14.35 [[ 9.96904274e-01 5.47727504e-02 5.64075744e-02 2.04037359e+02] [-5.44214698e-02 9.98488008e-01 -7.74609708e-03 -2.71562591e+01] [-5.67465616e-02 4.65233418e-03 9.98377776e-01 -1.43485640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.210714057 meters 0.04249815461720474 Centerline is valid? [True, True] Translation: X:204.07, Y:-27.16, Z:-14.35 [[ 9.96949437e-01 5.40425380e-02 5.63136318e-02 2.04069114e+02] [-5.36914299e-02 9.98527652e-01 -7.73041507e-03 -2.71573408e+01] [-5.66484897e-02 4.68327353e-03 9.98383201e-01 -1.43502108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.240714057 meters 0.04305679573569665 Centerline is valid? [True, True] Translation: X:204.10, Y:-27.16, Z:-14.35 [[ 9.96973492e-01 5.38667850e-02 5.60555675e-02 2.04101096e+02] [-5.35178828e-02 9.98537142e-01 -7.70797811e-03 -2.71621901e+01] [-5.63887701e-02 4.68467456e-03 9.98397897e-01 -1.43529428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.270714057 meters 0.044208966134458856 Centerline is valid? [True, True] Translation: X:204.13, Y:-27.17, Z:-14.36 [[ 9.97061210e-01 5.36553580e-02 5.46813075e-02 2.04132764e+02] [-5.33223176e-02 9.98548943e-01 -7.53249178e-03 -2.71669967e+01] [-5.50061203e-02 4.59462133e-03 9.98475446e-01 -1.43563742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.300714057 meters 0.044891818887218396 Centerline is valid? [True, True] Translation: X:204.16, Y:-27.17, Z:-14.36 [[ 9.96957249e-01 5.56214502e-02 5.46122565e-02 2.04162611e+02] [-5.52912368e-02 9.98441799e-01 -7.54009347e-03 -2.71709141e+01] [-5.49465506e-02 4.49757163e-03 9.98479168e-01 -1.43587689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.330714057 meters 0.04170099000349449 Centerline is valid? [True, True] Translation: X:204.19, Y:-27.17, Z:-14.36 [[ 9.96852684e-01 5.71082834e-02 5.49851787e-02 2.04194444e+02] [-5.67758102e-02 9.98358093e-01 -7.59110135e-03 -2.71697989e+01] [-5.53284130e-02 4.44538168e-03 9.98458314e-01 -1.43599635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.360714057 meters 0.041457737368984525 Centerline is valid? [True, True] Translation: X:204.23, Y:-27.17, Z:-14.36 [[ 9.96725088e-01 5.90795748e-02 5.52150525e-02 2.04226059e+02] [-5.87472144e-02 9.98243773e-01 -7.62464414e-03 -2.71728207e+01] [-5.55685430e-02 4.35594358e-03 9.98445373e-01 -1.43621452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.390714057 meters 0.03773125580494564 Centerline is valid? [True, True] Translation: X:204.26, Y:-27.17, Z:-14.36 [[ 9.96587884e-01 6.15791464e-02 5.49599722e-02 2.04257927e+02] [-6.12534402e-02 9.98093365e-01 -7.59281895e-03 -2.71702587e+01] [-5.53227429e-02 4.20042400e-03 9.98459689e-01 -1.43633601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.420714057 meters 0.036746254029249505 Centerline is valid? [True, True] Translation: X:204.29, Y:-27.17, Z:-14.37 [[ 9.96271370e-01 6.67577540e-02 5.46512617e-02 2.04287702e+02] [-6.64433404e-02 9.97761620e-01 -7.55201254e-03 -2.71700791e+01] [-5.50330867e-02 3.89264150e-03 9.98476944e-01 -1.43658142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.45071405699997 meters 0.03646274256034648 Centerline is valid? [True, True] Translation: X:204.32, Y:-27.17, Z:-14.37 [[ 9.95947275e-01 7.12731494e-02 5.48558436e-02 2.04317199e+02] [-7.09632420e-02 9.97450136e-01 -7.57923028e-03 -2.71707273e+01] [-5.52561643e-02 3.65576524e-03 9.98465519e-01 -1.43680572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.48071405699997 meters 0.0359132659850917 Centerline is valid? [True, True] Translation: X:204.35, Y:-27.17, Z:-14.37 [[ 9.95784827e-01 7.35825468e-02 5.47556987e-02 2.04346648e+02] [-7.32772991e-02 9.97282917e-01 -7.56440523e-03 -2.71725734e+01] [-5.51635311e-02 3.52017024e-03 9.98471128e-01 -1.43694570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.51071405699997 meters 0.03508686200103516 Centerline is valid? [True, True] Translation: X:204.38, Y:-27.17, Z:-14.37 [[ 9.95606160e-01 7.55224871e-02 5.53599783e-02 2.04376455e+02] [-7.52135668e-02 9.97138137e-01 -7.64562452e-03 -2.71748150e+01] [-5.57789622e-02 3.44820945e-03 9.98437187e-01 -1.43711914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.54071405699997 meters 0.03498209534009679 Centerline is valid? [True, True] Translation: X:204.40, Y:-27.18, Z:-14.37 [[ 9.95465825e-01 7.71818382e-02 5.55945602e-02 2.04404761e+02] [-7.68728981e-02 9.97011341e-01 -7.67746119e-03 -2.71779530e+01] [-5.60209676e-02 3.36893527e-03 9.98423909e-01 -1.43725395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.57071405699998 meters 0.034094785277070445 Centerline is valid? [True, True] Translation: X:204.44, Y:-27.18, Z:-14.37 [[ 9.95238695e-01 7.94356579e-02 5.64793404e-02 2.04435178e+02] [-7.91206043e-02 9.96834565e-01 -7.79616859e-03 -2.71795285e+01] [-5.69198525e-02 3.29036911e-03 9.98373329e-01 -1.43740039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.60071405699998 meters 0.034012716443361186 Centerline is valid? [True, True] Translation: X:204.46, Y:-27.18, Z:-14.38 [[ 9.95131334e-01 8.04216055e-02 5.69736198e-02 2.04464011e+02] [-8.01026405e-02 9.96755600e-01 -7.86395767e-03 -2.71836467e+01] [-5.74212067e-02 3.26193331e-03 9.98344712e-01 -1.43750090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.63071405699998 meters 0.03551443381362273 Centerline is valid? [True, True] Translation: X:204.49, Y:-27.19, Z:-14.38 [[ 9.95065551e-01 8.07259083e-02 5.76877459e-02 2.04491193e+02] [-8.03996244e-02 9.96730937e-01 -7.95860037e-03 -2.71886347e+01] [-5.81416263e-02 3.28125597e-03 9.98302952e-01 -1.43763040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.66071405699998 meters 0.03396713017290985 Centerline is valid? [True, True] Translation: X:204.52, Y:-27.19, Z:-14.38 [[ 9.95073669e-01 8.07795047e-02 5.74722893e-02 2.04520323e+02] [-8.04560566e-02 9.96726663e-01 -7.92351668e-03 -2.71903858e+01] [-5.79242209e-02 3.26048905e-03 9.98315658e-01 -1.43778890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.69071405699998 meters 0.03195832777804302 Centerline is valid? [True, True] Translation: X:204.55, Y:-27.19, Z:-14.38 [[ 9.95129143e-01 8.04366005e-02 5.69907145e-02 2.04549143e+02] [-8.01182256e-02 9.96754432e-01 -7.85315268e-03 -2.71919951e+01] [-5.74374282e-02 3.24890618e-03 9.98343822e-01 -1.43797012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.72071405699998 meters 0.03226080525999775 Centerline is valid? [True, True] Translation: X:204.58, Y:-27.20, Z:-14.38 [[ 9.95375797e-01 7.86512277e-02 5.51453268e-02 2.04577768e+02] [-7.83506593e-02 9.96896932e-01 -7.59479763e-03 -2.71973792e+01] [-5.55715473e-02 3.23900503e-03 9.98449454e-01 -1.43831494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.75071405699998 meters 0.033177645359928384 Centerline is valid? [True, True] Translation: X:204.61, Y:-27.20, Z:-14.39 [[ 9.95551120e-01 7.73879533e-02 5.37500946e-02 2.04606014e+02] [-7.71007413e-02 9.96995847e-01 -7.39977799e-03 -2.72031633e+01] [-5.41612748e-02 3.22268512e-03 9.98527000e-01 -1.43858551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.78071405699998 meters 0.03526663164813427 Centerline is valid? [True, True] Translation: X:204.63, Y:-27.21, Z:-14.39 [[ 9.95830371e-01 7.48838718e-02 5.20987400e-02 2.04634855e+02] [-7.46108160e-02 9.97186958e-01 -7.16915111e-03 -2.72105201e+01] [-5.24890379e-02 3.25212890e-03 9.98616205e-01 -1.43886797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.81071405699998 meters 0.03531605331310771 Centerline is valid? [True, True] Translation: X:204.66, Y:-27.21, Z:-14.39 [[ 9.95973504e-01 7.33834469e-02 5.14941582e-02 2.04663851e+02] [-7.31147238e-02 9.97298367e-01 -7.08554261e-03 -2.72143805e+01] [-5.18750014e-02 3.29203155e-03 9.98648160e-01 -1.43907701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.84071405699999 meters 0.03746408660348286 Centerline is valid? [True, True] Translation: X:204.69, Y:-27.22, Z:-14.39 [[ 9.96192673e-01 7.08039536e-02 5.08621484e-02 2.04692715e+02] [-7.05386342e-02 9.97484522e-01 -6.99493061e-03 -2.72204929e+01] [-5.12294746e-02 3.38055214e-03 9.98681187e-01 -1.43939536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.870714057 meters 0.03779570847736203 Centerline is valid? [True, True] Translation: X:204.72, Y:-27.23, Z:-14.40 [[ 9.96179073e-01 7.06902620e-02 5.12849004e-02 2.04719649e+02] [-7.04203403e-02 9.97492469e-01 -7.05343242e-03 -2.72254120e+01] [-5.16549108e-02 3.41498164e-03 9.98659155e-01 -1.43954142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.900714057 meters 0.03820936879169141 Centerline is valid? [True, True] Translation: X:204.75, Y:-27.23, Z:-14.40 [[ 9.96220136e-01 7.00733502e-02 5.13338676e-02 2.04748218e+02] [-6.98023705e-02 9.97535893e-01 -7.05489166e-03 -2.72290530e+01] [-5.17017353e-02 3.44499948e-03 9.98656629e-01 -1.43972024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.930714057 meters 0.041162479113697595 Centerline is valid? [True, True] Translation: X:204.78, Y:-27.23, Z:-14.40 [[ 9.96398863e-01 6.68982803e-02 5.20953617e-02 2.04777855e+02] [-6.66151136e-02 9.97753092e-01 -7.15500510e-03 -2.72330256e+01] [-5.24569657e-02 3.65890051e-03 9.98616483e-01 -1.43993463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.960714057 meters 0.04034134041463275 Centerline is valid? [True, True] Translation: X:204.81, Y:-27.23, Z:-14.40 [[ 9.96326448e-01 6.76494445e-02 5.25086846e-02 2.04807468e+02] [-6.73628508e-02 9.97702486e-01 -7.21078950e-03 -2.72349079e+01] [-5.28758511e-02 3.64716560e-03 9.98594433e-01 -1.44013462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.990714057 meters 0.04224611150288716 Centerline is valid? [True, True] Translation: X:204.84, Y:-27.24, Z:-14.40 [[ 9.96329755e-01 6.77885093e-02 5.22660177e-02 2.04835639e+02] [-6.75048347e-02 9.97693141e-01 -7.17589297e-03 -2.72412420e+01] [-5.26318904e-02 3.62134680e-03 9.98607415e-01 -1.44029615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.020714057 meters 0.042886096637383436 Centerline is valid? [True, True] Translation: X:204.86, Y:-27.24, Z:-14.40 [[ 9.96254744e-01 6.92613994e-02 5.17623734e-02 2.04864291e+02] [-6.89852909e-02 9.97592383e-01 -7.10402397e-03 -2.72448168e+01] [-5.21297841e-02 3.50657520e-03 9.98634162e-01 -1.44043965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.050714057 meters 0.03709013090890835 Centerline is valid? [True, True] Translation: X:204.89, Y:-27.24, Z:-14.40 [[ 9.96215452e-01 6.97612513e-02 5.18472856e-02 2.04894435e+02] [-6.94850306e-02 9.97557633e-01 -7.11334450e-03 -2.72398256e+01] [-5.22168913e-02 3.48381348e-03 9.98629691e-01 -1.44043575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.080714057 meters 0.038244013008817 Centerline is valid? [True, True] Translation: X:204.92, Y:-27.25, Z:-14.41 [[ 9.96175879e-01 7.06938266e-02 5.13420009e-02 2.04922140e+02] [-7.04243944e-02 9.97492275e-01 -7.04029729e-03 -2.72451981e+01] [-5.17109548e-02 3.39764502e-03 9.98656314e-01 -1.44065601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.110714057 meters 0.03927161155235414 Centerline is valid? [True, True] Translation: X:204.95, Y:-27.25, Z:-14.41 [[ 9.96182741e-01 7.08775057e-02 5.09541489e-02 2.04949076e+02] [-7.06125411e-02 9.97479371e-01 -6.98382780e-03 -2.72504611e+01] [-5.13207087e-02 3.35916678e-03 9.98676575e-01 -1.44090467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.140714057 meters 0.038790833710970606 Centerline is valid? [True, True] Translation: X:204.98, Y:-27.25, Z:-14.41 [[ 9.96168912e-01 7.10019046e-02 5.10512278e-02 2.04977654e+02] [-7.07363616e-02 9.97470541e-01 -6.99187642e-03 -2.72543483e+01] [-5.14185324e-02 3.35391182e-03 9.98671561e-01 -1.44116071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.170714057 meters 0.039959560452657035 Centerline is valid? [True, True] Translation: X:205.00, Y:-27.26, Z:-14.42 [[ 9.96263755e-01 7.05670950e-02 4.97877118e-02 2.05004943e+02] [-7.03141797e-02 9.97501612e-01 -6.81538337e-03 -2.72605890e+01] [-5.01442646e-02 3.28913732e-03 9.98736569e-01 -1.44152236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.20071405699997 meters 0.04102872138007002 Centerline is valid? [True, True] Translation: X:205.03, Y:-27.27, Z:-14.42 [[ 9.96285211e-01 7.04864702e-02 4.94715723e-02 2.05032303e+02] [-7.02368185e-02 9.97507379e-01 -6.76894974e-03 -2.72659287e+01] [-4.98253778e-02 3.26907868e-03 9.98752594e-01 -1.44179267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.23071405699997 meters 0.04130563642491551 Centerline is valid? [True, True] Translation: X:205.06, Y:-27.27, Z:-14.42 [[ 9.96251719e-01 7.13834776e-02 4.88560189e-02 2.05061031e+02] [-7.11413040e-02 9.97443878e-01 -6.68016540e-03 -2.72701414e+01] [-4.92079904e-02 3.17944537e-03 9.98783492e-01 -1.44202459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.26071405699997 meters 0.04005711619782157 Centerline is valid? [True, True] Translation: X:205.09, Y:-27.27, Z:-14.42 [[ 9.96234735e-01 7.22122467e-02 4.79765044e-02 2.05089853e+02] [-7.19798344e-02 9.97384536e-01 -6.55668745e-03 -2.72719013e+01] [-4.83244967e-02 3.07865894e-03 9.98826944e-01 -1.44215276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.29071405699997 meters 0.03988072093380736 Centerline is valid? [True, True] Translation: X:205.12, Y:-27.28, Z:-14.42 [[ 9.96138869e-01 7.34618663e-02 4.80698256e-02 2.05118915e+02] [-7.32301765e-02 9.97293454e-01 -6.56572342e-03 -2.72751576e+01] [-4.84220527e-02 3.02021049e-03 9.98822398e-01 -1.44236419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.32071405699998 meters 0.040136588048330556 Centerline is valid? [True, True] Translation: X:205.15, Y:-27.28, Z:-14.43 [[ 9.95935472e-01 7.62235901e-02 4.79843693e-02 2.05147771e+02] [-7.59960527e-02 9.97086597e-01 -6.55120425e-03 -2.72793163e+01] [-4.83439278e-02 2.87795404e-03 9.98826603e-01 -1.44253509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.35071405699998 meters 0.039123100305636434 Centerline is valid? [True, True] Translation: X:205.18, Y:-27.28, Z:-14.43 [[ 9.95800387e-01 7.76544282e-02 4.84910275e-02 2.05177148e+02] [-7.74238120e-02 9.96976300e-01 -6.61900997e-03 -2.72818047e+01] [-4.88584006e-02 2.83685249e-03 9.98801687e-01 -1.44265176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.38071405699998 meters 0.039231293545843496 Centerline is valid? [True, True] Translation: X:205.21, Y:-27.29, Z:-14.43 [[ 9.95516111e-01 8.03773212e-02 4.98714188e-02 2.05206263e+02] [-8.01369268e-02 9.96760639e-01 -6.80446594e-03 -2.72861582e+01] [-5.02567920e-02 2.77741324e-03 9.98732467e-01 -1.44273074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.41071405699998 meters 0.03948915314156398 Centerline is valid? [True, True] Translation: X:205.23, Y:-27.29, Z:-14.43 [[ 9.95406184e-01 8.12277895e-02 5.06811165e-02 2.05233950e+02] [-8.09806618e-02 9.96691692e-01 -6.91404355e-03 -2.72900391e+01] [-5.10750602e-02 2.77809135e-03 9.98690953e-01 -1.44285405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.44071405699998 meters 0.03948915314156398 Centerline is valid? [True, True] Translation: X:205.26, Y:-27.29, Z:-14.43 [[ 9.95414089e-01 8.11305234e-02 5.06816403e-02 2.05261152e+02] [-8.08834651e-02 9.96699611e-01 -6.91020153e-03 -2.72936462e+01] [-5.10749994e-02 2.77920528e-03 9.98690953e-01 -1.44304323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.47071405699998 meters 0.039146361106111506 Centerline is valid? [True, True] Translation: X:205.29, Y:-27.30, Z:-14.43 [[ 9.95362177e-01 8.14405727e-02 5.12012669e-02 2.05289413e+02] [-8.11891213e-02 9.96674306e-01 -6.97532899e-03 -2.72969235e+01] [-5.15990619e-02 2.78599277e-03 9.98663995e-01 -1.44318203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.50071405699998 meters 0.038940727650213953 Centerline is valid? [True, True] Translation: X:205.32, Y:-27.30, Z:-14.43 [[ 9.95244502e-01 8.20130091e-02 5.25570833e-02 2.05318112e+02] [-8.17490363e-02 9.96627253e-01 -7.15642793e-03 -2.73014396e+01] [-5.29667417e-02 2.82590464e-03 9.98592278e-01 -1.44331569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.53071405699998 meters 0.0352881566979209 Centerline is valid? [True, True] Translation: X:205.35, Y:-27.30, Z:-14.43 [[ 9.95230813e-01 8.17561574e-02 5.32124082e-02 2.05346918e+02] [-8.14853490e-02 9.96648224e-01 -7.24265261e-03 -2.73003824e+01] [-5.36261836e-02 2.87207939e-03 9.98556951e-01 -1.44332996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.56071405699998 meters 0.03433389569978288 Centerline is valid? [True, True] Translation: X:205.38, Y:-27.30, Z:-14.44 [[ 9.95327291e-01 8.05137879e-02 5.33020903e-02 2.05375094e+02] [-8.02406184e-02 9.96749165e-01 -7.24874929e-03 -2.73039489e+01] [-5.37124383e-02 2.93788531e-03 9.98552123e-01 -1.44352390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.59071405699999 meters 0.0366991857263926 Centerline is valid? [True, True] Translation: X:205.40, Y:-27.31, Z:-14.44 [[ 9.95410723e-01 7.96867831e-02 5.29859300e-02 2.05401466e+02] [-7.94158691e-02 9.96815553e-01 -7.20223444e-03 -2.73126273e+01] [-5.33911220e-02 2.96125771e-03 9.98569286e-01 -1.44379611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.620714057 meters 0.03659517010813923 Centerline is valid? [True, True] Translation: X:205.43, Y:-27.32, Z:-14.44 [[ 9.95680357e-01 7.66874468e-02 5.23417873e-02 2.05431061e+02] [-7.64192592e-02 9.97050430e-01 -7.10897569e-03 -2.73179264e+01] [-5.27325707e-02 3.07834684e-03 9.98603925e-01 -1.44403396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.650714057 meters 0.035380792059489706 Centerline is valid? [True, True] Translation: X:205.46, Y:-27.32, Z:-14.44 [[ 9.95852521e-01 7.46638779e-02 5.19909829e-02 2.05460653e+02] [-7.43965624e-02 9.97203739e-01 -7.06072408e-03 -2.73207925e+01] [-5.23727836e-02 3.16348947e-03 9.98622593e-01 -1.44419335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.680714057 meters 0.0400408797320955 Centerline is valid? [True, True] Translation: X:205.49, Y:-27.33, Z:-14.45 [[ 9.96003168e-01 7.24845060e-02 5.21889483e-02 2.05487485e+02] [-7.22122555e-02 9.97364116e-01 -7.08598261e-03 -2.73330711e+01] [-5.25650083e-02 3.28897945e-03 9.98612088e-01 -1.44462661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.710714057 meters 0.04051318480867576 Centerline is valid? [True, True] Translation: X:205.52, Y:-27.34, Z:-14.45 [[ 9.96131142e-01 7.05786892e-02 5.23583523e-02 2.05516791e+02] [-7.03022131e-02 9.97500429e-01 -7.10581857e-03 -2.73391268e+01] [-5.27289982e-02 3.39741912e-03 9.98603079e-01 -1.44487264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.740714057 meters 0.0422983031676432 Centerline is valid? [True, True] Translation: X:205.55, Y:-27.35, Z:-14.45 [[ 9.96359271e-01 6.69122465e-02 5.28294914e-02 2.05546000e+02] [-6.66257565e-02 9.97752291e-01 -7.16753364e-03 -2.73483850e+01] [-5.31903419e-02 3.62163376e-03 9.98577824e-01 -1.44512638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.770714057 meters 0.039095093562488144 Centerline is valid? [True, True] Translation: X:205.58, Y:-27.35, Z:-14.45 [[ 9.96480081e-01 6.50679538e-02 5.28546130e-02 2.05576372e+02] [-6.47786342e-02 9.97873896e-01 -7.17049921e-03 -2.73475433e+01] [-5.32088083e-02 3.72140999e-03 9.98576474e-01 -1.44519404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.800714057 meters 0.04051216046950428 Centerline is valid? [True, True] Translation: X:205.60, Y:-27.35, Z:-14.45 [[ 9.96540034e-01 6.32884079e-02 5.38752176e-02 2.05604839e+02] [-6.29852479e-02 9.97987700e-01 -7.30821347e-03 -2.73541929e+01] [-5.42293296e-02 3.88958336e-03 9.98520932e-01 -1.44531749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.830714057 meters 0.040821451941264894 Centerline is valid? [True, True] Translation: X:205.64, Y:-27.36, Z:-14.45 [[ 9.96522134e-01 6.26600548e-02 5.49304550e-02 2.05635294e+02] [-6.23440767e-02 9.98026919e-01 -7.44885642e-03 -2.73588525e+01] [-5.52888185e-02 3.99836179e-03 9.98462398e-01 -1.44547966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.860714057 meters 0.04261777186860832 Centerline is valid? [True, True] Translation: X:205.66, Y:-27.37, Z:-14.46 [[ 9.96467273e-01 6.20315009e-02 5.66133126e-02 2.05664837e+02] [-6.16948419e-02 9.98065535e-01 -7.67685645e-03 -2.73658915e+01] [-5.69800031e-02 4.15698684e-03 9.98366665e-01 -1.44562363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.890714057 meters 0.04312746350649703 Centerline is valid? [True, True] Translation: X:205.70, Y:-27.37, Z:-14.46 [[ 9.96469225e-01 6.14499624e-02 5.72100196e-02 2.05695567e+02] [-6.11051582e-02 9.98101179e-01 -7.75861108e-03 -2.73707416e+01] [-5.75781544e-02 4.23538987e-03 9.98332018e-01 -1.44583893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.920714057 meters 0.0435085672358187 Centerline is valid? [True, True] Translation: X:205.73, Y:-27.38, Z:-14.46 [[ 9.96468415e-01 6.12720922e-02 5.74145256e-02 2.05726966e+02] [-6.09245343e-02 9.98112006e-01 -7.78612652e-03 -2.73757698e+01] [-5.77831996e-02 4.26067592e-03 9.98320063e-01 -1.44610796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.95071405699997 meters 0.045880165300101604 Centerline is valid? [True, True] Translation: X:205.76, Y:-27.38, Z:-14.46 [[ 9.96548426e-01 6.02655447e-02 5.70902607e-02 2.05757167e+02] [-5.99193811e-02 9.98173075e-01 -7.75752563e-03 -2.73828074e+01] [-5.74534726e-02 4.30993687e-03 9.98338882e-01 -1.44642769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.98071405699997 meters 0.046521520260604514 Centerline is valid? [True, True] Translation: X:205.79, Y:-27.39, Z:-14.47 [[ 9.96542313e-01 5.98614943e-02 5.76196147e-02 2.05788995e+02] [-5.95078482e-02 9.98197085e-01 -7.83553385e-03 -2.73882224e+01] [-5.79847782e-02 4.37962174e-03 9.98307861e-01 -1.44668789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.01071405699997 meters 0.04801640030279087 Centerline is valid? [True, True] Translation: X:205.82, Y:-27.39, Z:-14.47 [[ 9.96572427e-01 5.90133550e-02 5.79725958e-02 2.05819159e+02] [-5.86530367e-02 9.98247179e-01 -7.89883565e-03 -2.73940603e+01] [-5.83371170e-02 4.47149303e-03 9.98286926e-01 -1.44689023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.04071405699997 meters 0.049228888752164544 Centerline is valid? [True, True] Translation: X:205.85, Y:-27.40, Z:-14.47 [[ 9.96574401e-01 5.86522342e-02 5.83041953e-02 2.05850150e+02] [-5.82868060e-02 9.98268223e-01 -7.95007698e-03 -2.73999292e+01] [-5.86695152e-02 4.52447788e-03 9.98267207e-01 -1.44720630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.07071405699998 meters 0.051267425967338714 Centerline is valid? [True, True] Translation: X:205.88, Y:-27.41, Z:-14.48 [[ 9.96653803e-01 5.80872805e-02 5.75070773e-02 2.05880760e+02] [-5.77301366e-02 9.98301332e-01 -7.85380317e-03 -2.74055251e+01] [-5.78655979e-02 4.50763137e-03 9.98314206e-01 -1.44757185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.10071405699998 meters 0.0521499230859836 Centerline is valid? [True, True] Translation: X:205.91, Y:-27.41, Z:-14.48 [[ 9.96729629e-01 5.73094166e-02 5.69708439e-02 2.05910993e+02] [-5.69568285e-02 9.98346212e-01 -7.79487121e-03 -2.74097420e+01] [-5.73233458e-02 4.52450051e-03 9.98345413e-01 -1.44784629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.13071405699998 meters 0.052912235831177414 Centerline is valid? [True, True] Translation: X:205.94, Y:-27.41, Z:-14.48 [[ 9.96724229e-01 5.68085810e-02 5.75638514e-02 2.05942343e+02] [-5.64477720e-02 9.98374487e-01 -7.87605234e-03 -2.74138835e+01] [-5.79177080e-02 4.60090103e-03 9.98310759e-01 -1.44804955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.16071405699998 meters 0.055426982638723477 Centerline is valid? [True, True] Translation: X:205.97, Y:-27.42, Z:-14.48 [[ 9.96739317e-01 5.55165624e-02 5.85546313e-02 2.05973012e+02] [-5.51402362e-02 9.98446374e-01 -8.02445634e-03 -2.74189886e+01] [-5.89091496e-02 4.76957493e-03 9.98251954e-01 -1.44818546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.19071405699998 meters 0.056528283236964974 Centerline is valid? [True, True] Translation: X:206.01, Y:-27.42, Z:-14.48 [[ 9.96723028e-01 5.52019088e-02 5.91266061e-02 2.06005089e+02] [-5.48168845e-02 9.98463444e-01 -8.11541435e-03 -2.74234674e+01] [-5.94837412e-02 4.84768402e-03 9.98217504e-01 -1.44838294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.22071405699998 meters 0.05869907601982959 Centerline is valid? [True, True] Translation: X:206.04, Y:-27.43, Z:-14.49 [[ 9.96770408e-01 5.42740348e-02 5.91868493e-02 2.06035582e+02] [-5.38856931e-02 9.98513941e-01 -8.13890544e-03 -2.74273231e+01] [-5.95406254e-02 4.92329570e-03 9.98213742e-01 -1.44858868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.25071405699998 meters 0.04458241814838842 Centerline is valid? [True, True] Translation: X:206.07, Y:-27.41, Z:-14.49 [[ 9.96747494e-01 5.45382257e-02 5.93297087e-02 2.06071687e+02] [-5.41484867e-02 9.98499567e-01 -8.15824451e-03 -2.74116729e+01] [-5.96856246e-02 4.91909583e-03 9.98205104e-01 -1.44859375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.28071405699998 meters 0.04481080135705353 Centerline is valid? [True, True] Translation: X:206.10, Y:-27.41, Z:-14.49 [[ 9.96778094e-01 5.41865334e-02 5.91375551e-02 2.06104225e+02] [-5.37976705e-02 9.98518604e-01 -8.14917282e-03 -2.74145511e+01] [-5.94915244e-02 4.94145425e-03 9.98216580e-01 -1.44880408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.31071405699998 meters 0.04761673415366976 Centerline is valid? [True, True] Translation: X:206.14, Y:-27.42, Z:-14.49 [[ 9.96810549e-01 5.42758823e-02 5.85051935e-02 2.06135181e+02] [-5.38945324e-02 9.98513961e-01 -8.07770602e-03 -2.74189775e+01] [-5.88566771e-02 4.89883252e-03 9.98254423e-01 -1.44908974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.34071405699999 meters 0.047566385632649415 Centerline is valid? [True, True] Translation: X:206.17, Y:-27.42, Z:-14.49 [[ 9.96783223e-01 5.44513161e-02 5.88069714e-02 2.06167843e+02] [-5.40659111e-02 9.98504302e-01 -8.12625175e-03 -2.74217473e+01] [-5.91614990e-02 4.92065893e-03 9.98236297e-01 -1.44930897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.370714057 meters 0.04797352192928792 Centerline is valid? [True, True] Translation: X:206.20, Y:-27.42, Z:-14.50 [[ 9.96763768e-01 5.57672459e-02 5.78965048e-02 2.06198586e+02] [-5.53948191e-02 9.98432326e-01 -8.01900656e-03 -2.74229291e+01] [-5.82529399e-02 4.78588878e-03 9.98290384e-01 -1.44956408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.400714057 meters 0.045748133355590956 Centerline is valid? [True, True] Translation: X:206.23, Y:-27.42, Z:-14.50 [[ 9.96757883e-01 5.67127410e-02 5.70735220e-02 2.06231425e+02] [-5.63524012e-02 9.98379649e-01 -7.90465028e-03 -2.74217064e+01] [-5.74293372e-02 4.66279247e-03 9.98338685e-01 -1.44978393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.430714057 meters 0.04448139643264256 Centerline is valid? [True, True] Translation: X:206.26, Y:-27.42, Z:-14.50 [[ 9.96719862e-01 5.78581788e-02 5.65857555e-02 2.06264178e+02] [-5.75050199e-02 9.98314347e-01 -7.85099364e-03 -2.74219609e+01] [-5.69446158e-02 4.57127630e-03 9.98366874e-01 -1.45000074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.460714057 meters 0.04688952307024102 Centerline is valid? [True, True] Translation: X:206.29, Y:-27.43, Z:-14.50 [[ 9.96590841e-01 6.06149946e-02 5.59689071e-02 2.06293794e+02] [-6.02728667e-02 9.98151600e-01 -7.78230337e-03 -2.74251068e+01] [-5.63371785e-02 4.38236578e-03 9.98402182e-01 -1.45023480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.490714057 meters 0.04702070967379082 Centerline is valid? [True, True] Translation: X:206.32, Y:-27.43, Z:-14.50 [[ 9.96517845e-01 6.20425918e-02 5.57037009e-02 2.06323660e+02] [-6.17059179e-02 9.98064321e-01 -7.74542726e-03 -2.74276389e+01] [-5.60764227e-02 4.28120848e-03 9.98417301e-01 -1.45044069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.520714057 meters 0.04036452361467503 Centerline is valid? [True, True] Translation: X:206.36, Y:-27.42, Z:-14.50 [[ 9.96325408e-01 6.40022696e-02 5.69156514e-02 2.06355082e+02] [-6.36539184e-02 9.97940650e-01 -7.91434944e-03 -2.74184392e+01] [-5.73049785e-02 4.26236321e-03 9.98347621e-01 -1.45032870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.550714057 meters 0.046552702415462895 Centerline is valid? [True, True] Translation: X:206.38, Y:-27.43, Z:-14.51 [[ 9.96240408e-01 6.46541716e-02 5.76618385e-02 2.06382771e+02] [-6.42978623e-02 9.97898562e-01 -8.01528916e-03 -2.74300982e+01] [-5.80588876e-02 4.27762199e-03 9.98303996e-01 -1.45056877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.580714057 meters 0.038624635570917804 Centerline is valid? [True, True] Translation: X:206.41, Y:-27.42, Z:-14.51 [[ 9.96136830e-01 6.51578412e-02 5.88716494e-02 2.06414196e+02] [-6.47871287e-02 9.97865531e-01 -8.18592331e-03 -2.74209313e+01] [-5.92793668e-02 4.34017456e-03 9.98231997e-01 -1.45050161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.610714057 meters 0.03861604796472908 Centerline is valid? [True, True] Translation: X:206.44, Y:-27.42, Z:-14.51 [[ 9.96101353e-01 6.54011601e-02 5.92012111e-02 2.06443434e+02] [-6.50268377e-02 9.97849580e-01 -8.22954735e-03 -2.74238117e+01] [-5.96121255e-02 4.34779571e-03 9.98212147e-01 -1.45065005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.640714057 meters 0.0401536107191476 Centerline is valid? [True, True] Translation: X:206.47, Y:-27.43, Z:-14.51 [[ 9.96101364e-01 6.55151506e-02 5.90748502e-02 2.06471335e+02] [-6.51427462e-02 9.97842181e-01 -8.20996550e-03 -2.74281594e+01] [-5.94852546e-02 4.32965985e-03 9.98219795e-01 -1.45091333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.670714057 meters 0.03962416163873947 Centerline is valid? [True, True] Translation: X:206.50, Y:-27.43, Z:-14.51 [[ 9.96155703e-01 6.51043435e-02 5.86109186e-02 2.06501184e+02] [-6.47372668e-02 9.97869126e-01 -8.14211449e-03 -2.74305259e+01] [-5.90161131e-02 4.31650310e-03 9.98247698e-01 -1.45116258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.70071405699997 meters 0.04089931692863296 Centerline is valid? [True, True] Translation: X:206.53, Y:-27.43, Z:-14.51 [[ 9.96376865e-01 6.33588117e-02 5.67344972e-02 2.06529617e+02] [-6.30122368e-02 9.97981655e-01 -7.87874652e-03 -2.74345574e+01] [-5.71191755e-02 4.27523319e-03 9.98358213e-01 -1.45149971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.73071405699997 meters 0.04337531435167396 Centerline is valid? [True, True] Translation: X:206.56, Y:-27.44, Z:-14.52 [[ 9.96504669e-01 6.20764156e-02 5.59013789e-02 2.06558210e+02] [-6.17378508e-02 9.98062195e-01 -7.76487118e-03 -2.74413492e+01] [-5.62750683e-02 4.28649939e-03 9.98406101e-01 -1.45182615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.76071405699997 meters 0.04375984696010644 Centerline is valid? [True, True] Translation: X:206.59, Y:-27.45, Z:-14.52 [[ 9.96631267e-01 6.06478653e-02 5.52082769e-02 2.06588028e+02] [-6.03155322e-02 9.98149911e-01 -7.66761791e-03 -2.74456729e+01] [-5.55711613e-02 4.31187115e-03 9.98445419e-01 -1.45204467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.79071405699997 meters 0.04229710094296934 Centerline is valid? [True, True] Translation: X:206.62, Y:-27.45, Z:-14.52 [[ 9.96773959e-01 5.88992464e-02 5.45211317e-02 2.06618593e+02] [-5.85726136e-02 9.98254441e-01 -7.57097888e-03 -2.74472372e+01] [-5.48718868e-02 4.35310941e-03 9.98483914e-01 -1.45228199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.82071405699998 meters 0.04305043209616689 Centerline is valid? [True, True] Translation: X:206.65, Y:-27.45, Z:-14.53 [[ 9.96821406e-01 5.82438920e-02 5.43574589e-02 2.06648886e+02] [-5.79182525e-02 9.98292793e-01 -7.54825075e-03 -2.74526169e+01] [-5.47042989e-02 4.37596890e-03 9.98493010e-01 -1.45256299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.85071405699998 meters 0.04274597424759649 Centerline is valid? [True, True] Translation: X:206.68, Y:-27.45, Z:-14.53 [[ 9.96950535e-01 5.68464764e-02 5.34612783e-02 2.06678727e+02] [-5.65294900e-02 9.98373327e-01 -7.42407220e-03 -2.74540432e+01] [-5.37963466e-02 4.37929395e-03 9.98542325e-01 -1.45277817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.88071405699998 meters 0.04371501804083881 Centerline is valid? [True, True] Translation: X:206.71, Y:-27.46, Z:-14.53 [[ 9.96947470e-01 5.67854475e-02 5.35831524e-02 2.06708294e+02] [-5.64669642e-02 9.98376745e-01 -7.44027057e-03 -2.74587852e+01] [-5.39186724e-02 4.39188098e-03 9.98535672e-01 -1.45295835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.91071405699998 meters 0.04453347835067252 Centerline is valid? [True, True] Translation: X:206.74, Y:-27.46, Z:-14.53 [[ 9.96939747e-01 5.69693641e-02 5.35316081e-02 2.06737947e+02] [-5.66518765e-02 9.98366339e-01 -7.43090049e-03 -2.74617931e+01] [-5.38674893e-02 4.37549399e-03 9.98538506e-01 -1.45316353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.94071405699998 meters 0.045085782760217914 Centerline is valid? [True, True] Translation: X:206.77, Y:-27.47, Z:-14.53 [[ 9.96922758e-01 5.72432817e-02 5.35557760e-02 2.06767816e+02] [-5.69259658e-02 9.98350732e-01 -7.43302338e-03 -2.74657565e+01] [-5.38929388e-02 4.36143589e-03 9.98537195e-01 -1.45334365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.97071405699998 meters 0.045005192213778786 Centerline is valid? [True, True] Translation: X:206.80, Y:-27.47, Z:-14.54 [[ 9.96875669e-01 5.76327026e-02 5.40127048e-02 2.06798295e+02] [-5.73105095e-02 9.98328257e-01 -7.49644067e-03 -2.74690861e+01] [-5.43544495e-02 4.37752368e-03 9.98512109e-01 -1.45355034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.00071405699998 meters 0.04560198567059325 Centerline is valid? [True, True] Translation: X:206.83, Y:-27.47, Z:-14.54 [[ 9.96828063e-01 5.81673080e-02 5.43173827e-02 2.06828463e+02] [-5.78422529e-02 9.98297271e-01 -7.53872702e-03 -2.74735472e+01] [-5.46634024e-02 4.37297486e-03 9.98495263e-01 -1.45371007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.03071405699998 meters 0.045946844652358994 Centerline is valid? [True, True] Translation: X:206.86, Y:-27.48, Z:-14.54 [[ 9.96702374e-01 5.91615932e-02 5.55363303e-02 2.06857821e+02] [-5.88232725e-02 9.98238651e-01 -7.70835295e-03 -2.74755805e+01] [-5.58945499e-02 4.41610499e-03 9.98426911e-01 -1.45379511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.06071405699998 meters 0.04537534679054057 Centerline is valid? [True, True] Translation: X:206.89, Y:-27.48, Z:-14.54 [[ 9.96621975e-01 6.04332473e-02 5.56099082e-02 2.06886728e+02] [-6.00961059e-02 9.98162769e-01 -7.71656929e-03 -2.74772962e+01] [-5.59740773e-02 4.34856359e-03 9.98422752e-01 -1.45397673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.09071405699999 meters 0.04529007011132194 Centerline is valid? [True, True] Translation: X:206.92, Y:-27.48, Z:-14.54 [[ 9.96482303e-01 6.31162147e-02 5.51304168e-02 2.06916083e+02] [-6.27890560e-02 9.97997516e-01 -7.64808857e-03 -2.74788391e+01] [-5.55027374e-02 4.15959808e-03 9.98449870e-01 -1.45425705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.120714057 meters 0.04487944265767619 Centerline is valid? [True, True] Translation: X:206.94, Y:-27.48, Z:-14.54 [[ 9.96437773e-01 6.42667807e-02 5.46035257e-02 2.06944949e+02] [-6.39476482e-02 9.97924516e-01 -7.57357378e-03 -2.74807460e+01] [-5.49769262e-02 4.05482794e-03 9.98479392e-01 -1.45442999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.150714057 meters 0.04502039537463115 Centerline is valid? [True, True] Translation: X:206.97, Y:-27.48, Z:-14.55 [[ 9.96325178e-01 6.57925627e-02 5.48404800e-02 2.06974703e+02] [-6.54731980e-02 9.97825371e-01 -7.60191423e-03 -2.74843317e+01] [-5.52213717e-02 3.98339695e-03 9.98466190e-01 -1.45466871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.180714057 meters 0.045938412367947566 Centerline is valid? [True, True] Translation: X:207.00, Y:-27.49, Z:-14.55 [[ 9.96194712e-01 6.87652499e-02 5.35484427e-02 2.07003171e+02] [-6.84650784e-02 9.97625904e-01 -7.42216697e-03 -2.74871849e+01] [-5.39317007e-02 3.72772516e-03 9.98537669e-01 -1.45496520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.210714057 meters 0.04439519149889686 Centerline is valid? [True, True] Translation: X:207.03, Y:-27.49, Z:-14.55 [[ 9.96116653e-01 7.00913213e-02 5.32805810e-02 2.07031791e+02] [-6.97961062e-02 9.97533951e-01 -7.38372310e-03 -2.74875767e+01] [-5.36667234e-02 3.63627246e-03 9.98552282e-01 -1.45516931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.240714057 meters 0.03986960397736609 Centerline is valid? [True, True] Translation: X:207.06, Y:-27.48, Z:-14.55 [[ 9.96008185e-01 7.23472601e-02 5.22835527e-02 2.07062493e+02] [-7.20663063e-02 9.97373555e-01 -7.24153329e-03 -2.74828185e+01] [-5.26701379e-02 3.44474390e-03 9.98606024e-01 -1.45533271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.270714057 meters 0.03688994247529354 Centerline is valid? [True, True] Translation: X:207.09, Y:-27.48, Z:-14.55 [[ 9.95926552e-01 7.35076901e-02 5.22199501e-02 2.07091765e+02] [-7.32290732e-02 9.97288929e-01 -7.23147390e-03 -2.74811993e+01] [-5.26099471e-02 3.37799831e-03 9.98609424e-01 -1.45542381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.300714057 meters 0.03730526037558548 Centerline is valid? [True, True] Translation: X:207.12, Y:-27.49, Z:-14.56 [[ 9.95825771e-01 7.46046772e-02 5.25849407e-02 2.07119658e+02] [-7.43238759e-02 9.97207596e-01 -7.27812538e-03 -2.74853881e+01] [-5.29810845e-02 3.33942821e-03 9.98589932e-01 -1.45564614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.330714057 meters 0.03616060086980242 Centerline is valid? [True, True] Translation: X:207.15, Y:-27.49, Z:-14.56 [[ 9.95613322e-01 7.67994063e-02 5.34412253e-02 2.07149281e+02] [-7.65127627e-02 9.97041199e-01 -7.39216420e-03 -2.74860793e+01] [-5.38508171e-02 3.27080137e-03 9.98543635e-01 -1.45572879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.360714057 meters 0.03616060086980242 Centerline is valid? [True, True] Translation: X:207.18, Y:-27.49, Z:-14.56 [[ 9.95621539e-01 7.66927230e-02 5.34413448e-02 2.07176474e+02] [-7.64059726e-02 9.97049395e-01 -7.39130028e-03 -2.74897491e+01] [-5.38505194e-02 3.27569983e-03 9.98543635e-01 -1.45591787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.390714057 meters 0.041557573783767676 Centerline is valid? [True, True] Translation: X:207.20, Y:-27.50, Z:-14.56 [[ 9.95569873e-01 7.74449427e-02 5.33189315e-02 2.07203225e+02] [-7.71609222e-02 9.96991427e-01 -7.36800840e-03 -2.75016994e+01] [-5.37291325e-02 3.22122927e-03 9.98550351e-01 -1.45634255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.420714057 meters 0.03920074817737475 Centerline is valid? [True, True] Translation: X:207.23, Y:-27.50, Z:-14.57 [[ 9.95453549e-01 7.88907618e-02 5.33711409e-02 2.07232364e+02] [-7.86084641e-02 9.96878314e-01 -7.37130630e-03 -2.75010359e+01] [-5.37860610e-02 3.14236960e-03 9.98547538e-01 -1.45651995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.45071405699997 meters 0.038452796921872666 Centerline is valid? [True, True] Translation: X:207.26, Y:-27.50, Z:-14.57 [[ 9.95423173e-01 7.93226131e-02 5.32975577e-02 2.07261179e+02] [-7.90419072e-02 9.96844142e-01 -7.35748710e-03 -2.75036924e+01] [-5.37129733e-02 3.11107254e-03 9.98551570e-01 -1.45670371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.48071405699997 meters 0.037077927597440934 Centerline is valid? [True, True] Translation: X:207.29, Y:-27.51, Z:-14.57 [[ 9.95372356e-01 7.94620076e-02 5.40339024e-02 2.07289591e+02] [-7.91738928e-02 9.96832941e-01 -7.45536649e-03 -2.75054525e+01] [-5.44551922e-02 3.14279130e-03 9.98511269e-01 -1.45684689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.51071405699997 meters 0.03703452920050245 Centerline is valid? [True, True] Translation: X:207.32, Y:-27.51, Z:-14.57 [[ 9.95384020e-01 7.90739198e-02 5.43872059e-02 2.07317882e+02] [-7.87816570e-02 9.96863680e-01 -7.50022536e-03 -2.75094291e+01] [-5.48097024e-02 3.18089027e-03 9.98491752e-01 -1.45699354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.54071405699997 meters 0.03818630737170622 Centerline is valid? [True, True] Translation: X:207.35, Y:-27.52, Z:-14.57 [[ 9.95392013e-01 7.87011547e-02 5.47801825e-02 2.07346285e+02] [-7.84043170e-02 9.96893052e-01 -7.55023771e-03 -2.75153674e+01] [-5.52041957e-02 3.22044352e-03 9.98469892e-01 -1.45717797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.57071405699998 meters 0.03757155857864335 Centerline is valid? [True, True] Translation: X:207.37, Y:-27.52, Z:-14.57 [[ 9.95462449e-01 7.75486888e-02 5.51426691e-02 2.07374480e+02] [-7.72462815e-02 9.96983092e-01 -7.59772851e-03 -2.75185553e+01] [-5.55655027e-02 3.30368729e-03 9.98449578e-01 -1.45727088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.60071405699998 meters 0.038358432081105905 Centerline is valid? [True, True] Translation: X:207.40, Y:-27.52, Z:-14.58 [[ 9.95496828e-01 7.70629761e-02 5.52029266e-02 2.07402412e+02] [-7.67594516e-02 9.97020669e-01 -7.60085339e-03 -2.75243157e+01] [-5.56242032e-02 3.32927907e-03 9.98446225e-01 -1.45754210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.63071405699998 meters 0.04004640439279169 Centerline is valid? [True, True] Translation: X:207.43, Y:-27.53, Z:-14.58 [[ 9.95700092e-01 7.50460459e-02 5.43085346e-02 2.07429883e+02] [-7.47495067e-02 9.97174333e-01 -7.47396529e-03 -2.75316112e+01] [-5.47159684e-02 3.38229176e-03 9.98496231e-01 -1.45786482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.66071405699998 meters 0.040578713324315036 Centerline is valid? [True, True] Translation: X:207.46, Y:-27.54, Z:-14.58 [[ 9.95761335e-01 7.41575714e-02 5.44060569e-02 2.07456573e+02] [-7.38588365e-02 9.97240625e-01 -7.48389449e-03 -2.75376234e+01] [-5.48109177e-02 3.43380470e-03 9.98490847e-01 -1.45809351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.69071405699998 meters 0.04138488180204727 Centerline is valid? [True, True] Translation: X:207.48, Y:-27.54, Z:-14.58 [[ 9.95822619e-01 7.33019584e-02 5.44438604e-02 2.07484410e+02] [-7.30018351e-02 9.97303729e-01 -7.48363153e-03 -2.75433800e+01] [-5.48456298e-02 3.47786783e-03 9.98488789e-01 -1.45832882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.72071405699998 meters 0.04285246854671753 Centerline is valid? [True, True] Translation: X:207.51, Y:-27.55, Z:-14.59 [[ 9.95900928e-01 7.21324561e-02 5.45733530e-02 2.07510772e+02] [-7.18293357e-02 9.97388753e-01 -7.49813625e-03 -2.75506409e+01] [-5.49717075e-02 3.54743316e-03 9.98481611e-01 -1.45854668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.75071405699998 meters 0.04047094186280856 Centerline is valid? [True, True] Translation: X:207.54, Y:-27.55, Z:-14.59 [[ 9.95878596e-01 7.20775931e-02 5.50512786e-02 2.07539521e+02] [-7.17693888e-02 9.97392619e-01 -7.55770258e-03 -2.75513868e+01] [-5.54524799e-02 3.57555762e-03 9.98454925e-01 -1.45861378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.78071405699998 meters 0.043601621821943076 Centerline is valid? [True, True] Translation: X:207.57, Y:-27.56, Z:-14.59 [[ 9.95726874e-01 7.29206233e-02 5.66619391e-02 2.07566715e+02] [-7.25956897e-02 9.97331149e-01 -7.77470423e-03 -2.75610273e+01] [-5.70776531e-02 3.62806939e-03 9.98363150e-01 -1.45881989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.81071405699998 meters 0.04042338616479173 Centerline is valid? [True, True] Translation: X:207.60, Y:-27.56, Z:-14.59 [[ 9.95640022e-01 7.37373110e-02 5.71292895e-02 2.07596049e+02] [-7.34085595e-02 9.97271177e-01 -7.83477337e-03 -2.75608377e+01] [-5.75511089e-02 3.60683508e-03 9.98336046e-01 -1.45889679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.84071405699999 meters 0.04061891854348858 Centerline is valid? [True, True] Translation: X:207.62, Y:-27.57, Z:-14.59 [[ 9.95565459e-01 7.43883229e-02 5.75829358e-02 2.07623133e+02] [-7.40556294e-02 9.97222875e-01 -7.89314641e-03 -2.75652058e+01] [-5.80101787e-02 3.59380337e-03 9.98309523e-01 -1.45903303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.870714057 meters 0.040689900781627354 Centerline is valid? [True, True] Translation: X:207.65, Y:-27.57, Z:-14.59 [[ 9.95419910e-01 7.55973967e-02 5.85169802e-02 2.07650890e+02] [-7.52561995e-02 9.97132012e-01 -8.01587897e-03 -2.75706539e+01] [-5.89551338e-02 3.57539999e-03 9.98254231e-01 -1.45928884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.900714057 meters 0.03780204217950583 Centerline is valid? [True, True] Translation: X:207.68, Y:-27.57, Z:-14.59 [[ 9.95386131e-01 7.59756419e-02 5.86016347e-02 2.07679764e+02] [-7.56343432e-02 9.97103340e-01 -8.02349726e-03 -2.75709605e+01] [-5.90414760e-02 3.55418175e-03 9.98249203e-01 -1.45949331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.930714057 meters 0.041505766665736916 Centerline is valid? [True, True] Translation: X:207.71, Y:-27.58, Z:-14.60 [[ 9.95425989e-01 7.59354419e-02 5.79733544e-02 2.07705866e+02] [-7.56015905e-02 9.97106543e-01 -7.93360988e-03 -2.75822315e+01] [-5.84080532e-02 3.51444366e-03 9.98286606e-01 -1.45995741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.960714057 meters 0.0417210445340429 Centerline is valid? [True, True] Translation: X:207.73, Y:-27.59, Z:-14.60 [[ 9.95516750e-01 7.55301664e-02 5.69349998e-02 2.07734505e+02] [-7.52078169e-02 9.97137481e-01 -7.78639481e-03 -2.75873226e+01] [-5.73601300e-02 3.46952941e-03 9.98347524e-01 -1.46025575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.990714057 meters 0.03834654463125006 Centerline is valid? [True, True] Translation: X:207.76, Y:-27.59, Z:-14.60 [[ 9.95593733e-01 7.49185637e-02 5.63944008e-02 2.07763715e+02] [-7.46015481e-02 9.97183626e-01 -7.70876695e-03 -2.75872040e+01] [-5.68131029e-02 3.46769046e-03 9.98378809e-01 -1.46042160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.020714057 meters 0.04320714389054659 Centerline is valid? [True, True] Translation: X:207.79, Y:-27.60, Z:-14.61 [[ 9.95699712e-01 7.41247669e-02 5.55662042e-02 2.07789998e+02] [-7.38159681e-02 9.97242981e-01 -7.59212016e-03 -2.75990245e+01] [-5.59757712e-02 3.45779869e-03 9.98426140e-01 -1.46081152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.050714057 meters 0.040504231114691036 Centerline is valid? [True, True] Translation: X:207.82, Y:-27.60, Z:-14.61 [[ 9.95897116e-01 7.22981525e-02 5.44234482e-02 2.07819354e+02] [-7.19995534e-02 9.97376990e-01 -7.42999870e-03 -2.76007631e+01] [-5.48178701e-02 3.48105031e-03 9.98490302e-01 -1.46097102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.080714057 meters 0.04210429811789149 Centerline is valid? [True, True] Translation: X:207.85, Y:-27.61, Z:-14.61 [[ 9.96010322e-01 7.04650046e-02 5.47551042e-02 2.07846666e+02] [-7.01601504e-02 9.97507752e-01 -7.47244083e-03 -2.76093497e+01] [-5.51451865e-02 3.60100185e-03 9.98471853e-01 -1.46123262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.110714057 meters 0.04338939099848373 Centerline is valid? [True, True] Translation: X:207.87, Y:-27.62, Z:-14.61 [[ 9.96085532e-01 6.95446137e-02 5.45633632e-02 2.07873935e+02] [-6.92406560e-02 9.97572214e-01 -7.44379781e-03 -2.76159837e+01] [-5.49485710e-02 3.63665624e-03 9.98482563e-01 -1.46146485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.140714057 meters 0.04376945634778701 Centerline is valid? [True, True] Translation: X:207.90, Y:-27.62, Z:-14.62 [[ 9.96106958e-01 6.87711615e-02 5.51493974e-02 2.07902482e+02] [-6.84597283e-02 9.97625548e-01 -7.51877751e-03 -2.76211746e+01] [-5.55355229e-02 3.71399383e-03 9.98449804e-01 -1.46161099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.170714057 meters 0.04284569051707919 Centerline is valid? [True, True] Translation: X:207.93, Y:-27.62, Z:-14.62 [[ 9.96161509e-01 6.74660830e-02 5.57725274e-02 2.07931787e+02] [-6.71457658e-02 9.97714234e-01 -7.59951155e-03 -2.76242882e+01] [-5.61577538e-02 3.82545183e-03 9.98414580e-01 -1.46165565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.20071405699997 meters 0.0397136668615849 Centerline is valid? [True, True] Translation: X:207.96, Y:-27.62, Z:-14.62 [[ 9.96154004e-01 6.69298341e-02 5.65473119e-02 2.07960513e+02] [-6.65997727e-02 9.97750032e-01 -7.70353054e-03 -2.76241054e+01] [-5.69356782e-02 3.90786467e-03 9.98370200e-01 -1.46171820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.23071405699997 meters 0.04128753355714239 Centerline is valid? [True, True] Translation: X:207.99, Y:-27.63, Z:-14.62 [[ 9.96191575e-01 6.53403357e-02 5.77320224e-02 2.07987900e+02] [-6.49938970e-02 9.97854704e-01 -7.86025918e-03 -2.76311439e+01] [-5.81217621e-02 4.07809485e-03 9.98301172e-01 -1.46183254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.26071405699997 meters 0.04159585840577881 Centerline is valid? [True, True] Translation: X:208.02, Y:-27.64, Z:-14.62 [[ 9.96212774e-01 6.48225898e-02 5.79494591e-02 2.08016690e+02] [-6.44727587e-02 9.97888290e-01 -7.88820907e-03 -2.76364480e+01] [-5.83384208e-02 4.12217316e-03 9.98288353e-01 -1.46201094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.29071405699997 meters 0.03998452491056381 Centerline is valid? [True, True] Translation: X:208.05, Y:-27.64, Z:-14.62 [[ 9.96248449e-01 6.41025577e-02 5.81368175e-02 2.08046458e+02] [-6.37493591e-02 9.97934579e-01 -7.91166101e-03 -2.76379941e+01] [-5.85238983e-02 4.17579516e-03 9.98277274e-01 -1.46216849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.32071405699998 meters 0.04110811042134332 Centerline is valid? [True, True] Translation: X:208.07, Y:-27.64, Z:-14.62 [[ 9.96331025e-01 6.27104313e-02 5.82399395e-02 2.08074904e+02] [-6.23537266e-02 9.98022659e-01 -7.92375595e-03 -2.76448465e+01] [-5.86216814e-02 4.26320663e-03 9.98271167e-01 -1.46236565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.35071405699998 meters 0.039193697455070495 Centerline is valid? [True, True] Translation: X:208.10, Y:-27.65, Z:-14.63 [[ 9.96388453e-01 6.20789937e-02 5.79331451e-02 2.08104274e+02] [-6.17251742e-02 9.98062087e-01 -7.87872163e-03 -2.76464780e+01] [-5.83099788e-02 4.27433378e-03 9.98289375e-01 -1.46256172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.38071405699998 meters 0.046292126996664955 Centerline is valid? [True, True] Translation: X:208.13, Y:-27.66, Z:-14.63 [[ 9.96406680e-01 6.18710092e-02 5.78420848e-02 2.08132268e+02] [-6.15180898e-02 9.98074988e-01 -7.86401646e-03 -2.76614257e+01] [-5.82172927e-02 4.27742396e-03 9.98294771e-01 -1.46292570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.41071405699998 meters 0.0408693883839414 Centerline is valid? [True, True] Translation: X:208.16, Y:-27.66, Z:-14.63 [[ 9.96392051e-01 6.22596835e-02 5.76767937e-02 2.08163428e+02] [-6.19095002e-02 9.98050972e-01 -7.84030770e-03 -2.76579722e+01] [-5.80525151e-02 4.24127881e-03 9.98304521e-01 -1.46303652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.44071405699998 meters 0.0469969120558255 Centerline is valid? [True, True] Translation: X:208.19, Y:-27.67, Z:-14.63 [[ 9.96395166e-01 6.27145503e-02 5.71275622e-02 2.08191055e+02] [-6.23717456e-02 9.98022774e-01 -7.76584352e-03 -2.76711665e+01] [-5.75016395e-02 4.17470316e-03 9.98336683e-01 -1.46340524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.47071405699998 meters 0.04153963998574726 Centerline is valid? [True, True] Translation: X:208.22, Y:-27.67, Z:-14.64 [[ 9.96323642e-01 6.36413358e-02 5.73496359e-02 2.08221809e+02] [-6.32974314e-02 9.97964263e-01 -7.79519246e-03 -2.76674928e+01] [-5.77289836e-02 4.13644990e-03 9.98323722e-01 -1.46350647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.50071405699998 meters 0.04212782424965997 Centerline is valid? [True, True] Translation: X:208.25, Y:-27.67, Z:-14.64 [[ 9.96280271e-01 6.43492486e-02 5.73131314e-02 2.08250746e+02] [-6.40070647e-02 9.97919055e-01 -7.78818936e-03 -2.76723241e+01] [-5.76950300e-02 4.09077410e-03 9.98325873e-01 -1.46368071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.53071405699998 meters 0.04382579697014104 Centerline is valid? [True, True] Translation: X:208.28, Y:-27.68, Z:-14.64 [[ 9.96108321e-01 6.59522719e-02 5.84680348e-02 2.08278323e+02] [-6.55989981e-02 9.97814450e-01 -7.94317992e-03 -2.76796597e+01] [-5.88641207e-02 4.07682312e-03 9.98257680e-01 -1.46396355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.56071405699998 meters 0.041272133249355844 Centerline is valid? [True, True] Translation: X:208.31, Y:-27.68, Z:-14.64 [[ 9.96009814e-01 6.70236287e-02 5.89260925e-02 2.08308740e+02] [-6.66668596e-02 9.97743203e-01 -8.00194793e-03 -2.76803834e+01] [-5.93294278e-02 4.04160113e-03 9.98230276e-01 -1.46413661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.59071405699999 meters 0.041351351723969275 Centerline is valid? [True, True] Translation: X:208.34, Y:-27.68, Z:-14.64 [[ 9.95973456e-01 6.78440700e-02 5.86008236e-02 2.08338282e+02] [-6.74926972e-02 9.97688039e-01 -7.95692236e-03 -2.76842011e+01] [-5.90051707e-02 3.96975582e-03 9.98249784e-01 -1.46436056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.620714057 meters 0.039729590745978725 Centerline is valid? [True, True] Translation: X:208.37, Y:-27.69, Z:-14.65 [[ 9.95821249e-01 7.04004019e-02 5.81706390e-02 2.08368434e+02] [-7.00586424e-02 9.97511621e-01 -7.89632534e-03 -2.76855765e+01] [-5.85817929e-02 3.78797257e-03 9.98275425e-01 -1.46454442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.650714057 meters 0.04175411965150425 Centerline is valid? [True, True] Translation: X:208.40, Y:-27.69, Z:-14.65 [[ 9.95755736e-01 7.15576038e-02 5.78793951e-02 2.08395617e+02] [-7.12212354e-02 9.97429604e-01 -7.85631391e-03 -2.76927032e+01] [-5.82928011e-02 3.70072762e-03 9.98292669e-01 -1.46482838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.680714057 meters 0.03758813183544202 Centerline is valid? [True, True] Translation: X:208.43, Y:-27.69, Z:-14.65 [[ 9.95623530e-01 7.42735970e-02 5.67205358e-02 2.08426087e+02] [-7.39552210e-02 9.97231878e-01 -7.69457609e-03 -2.76909750e+01] [-5.71350303e-02 3.46612125e-03 9.98360443e-01 -1.46501993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.710714057 meters 0.03710124684550726 Centerline is valid? [True, True] Translation: X:208.45, Y:-27.69, Z:-14.65 [[ 9.95573679e-01 7.52528596e-02 5.63032616e-02 2.08454886e+02] [-7.49407367e-02 9.97158740e-01 -7.63759970e-03 -2.76942666e+01] [-5.67180406e-02 3.38438533e-03 9.98384500e-01 -1.46523296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.740714057 meters 0.03657482054002558 Centerline is valid? [True, True] Translation: X:208.48, Y:-27.70, Z:-14.66 [[ 9.95403920e-01 7.79712226e-02 5.56014771e-02 2.08483612e+02] [-7.76713046e-02 9.96950523e-01 -7.53810990e-03 -2.76981127e+01] [-5.60196773e-02 3.18482488e-03 9.98424585e-01 -1.46553732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.770714057 meters 0.033305401028285095 Centerline is valid? [True, True] Translation: X:208.51, Y:-27.70, Z:-14.66 [[ 9.95296439e-01 7.94470079e-02 5.54361962e-02 2.08512828e+02] [-7.91512333e-02 9.96834298e-01 -7.51425603e-03 -2.76964838e+01] [-5.58576869e-02 3.09106898e-03 9.98433956e-01 -1.46562632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.800714057 meters 0.03285431620102577 Centerline is valid? [True, True] Translation: X:208.54, Y:-27.70, Z:-14.66 [[ 9.95134639e-01 8.13518001e-02 5.55781950e-02 2.08541482e+02] [-8.10576940e-02 9.96680971e-01 -7.52942966e-03 -2.76996228e+01] [-5.60062620e-02 2.98775594e-03 9.98425947e-01 -1.46580033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.830714057 meters 0.03311208820677553 Centerline is valid? [True, True] Translation: X:208.57, Y:-27.70, Z:-14.66 [[ 9.94961815e-01 8.31705787e-02 5.59789456e-02 2.08569339e+02] [-8.28753115e-02 9.96531100e-01 -7.57959823e-03 -2.77032710e+01] [-5.64151597e-02 2.90213826e-03 9.98403179e-01 -1.46593952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.860714057 meters 0.03192230196051387 Centerline is valid? [True, True] Translation: X:208.60, Y:-27.71, Z:-14.66 [[ 9.94506645e-01 8.75106336e-02 5.74318941e-02 2.08599527e+02] [-8.72073180e-02 9.96159871e-01 -7.77136670e-03 -2.77051180e+01] [-5.78914255e-02 2.72019437e-03 9.98319179e-01 -1.46597544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.890714057 meters 0.03133147601184829 Centerline is valid? [True, True] Translation: X:208.63, Y:-27.71, Z:-14.66 [[ 9.94284826e-01 8.95402466e-02 5.81397328e-02 2.08628384e+02] [-8.92328194e-02 9.95979720e-01 -7.86779141e-03 -2.77084548e+01] [-5.86104788e-02 2.63485334e-03 9.98277451e-01 -1.46610498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.920714057 meters 0.03031173025787967 Centerline is valid? [True, True] Translation: X:208.66, Y:-27.71, Z:-14.66 [[ 9.93875684e-01 9.32571319e-02 5.92809545e-02 2.08658588e+02] [-9.29445681e-02 9.95639030e-01 -8.01428063e-03 -2.77111130e+01] [-5.97698209e-02 2.45535594e-03 9.98209166e-01 -1.46623120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.95071405699997 meters 0.029996959326983662 Centerline is valid? [True, True] Translation: X:208.69, Y:-27.71, Z:-14.66 [[ 9.93698762e-01 9.49595273e-02 5.95437607e-02 2.08687156e+02] [-9.46472671e-02 9.95478330e-01 -8.04919879e-03 -2.77148520e+01] [-6.00388715e-02 2.36282465e-03 9.98193243e-01 -1.46642868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.98071405699997 meters 0.03047586121391158 Centerline is valid? [True, True] Translation: X:208.71, Y:-27.72, Z:-14.67 [[ 9.93551038e-01 9.62557694e-02 5.99263095e-02 2.08714369e+02] [-9.59420822e-02 9.95353987e-01 -8.09675366e-03 -2.77205045e+01] [-6.04272504e-02 2.29508308e-03 9.98169965e-01 -1.46660484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.01071405699997 meters 0.028525211617412113 Centerline is valid? [True, True] Translation: X:208.74, Y:-27.72, Z:-14.67 [[ 9.93427438e-01 9.75262651e-02 5.99212273e-02 2.08743546e+02] [-9.72152645e-02 9.95230493e-01 -8.09065052e-03 -2.77216531e+01] [-6.04244835e-02 2.21221625e-03 9.98170320e-01 -1.46674840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.04071405699997 meters 0.0299581556456729 Centerline is valid? [True, True] Translation: X:208.77, Y:-27.73, Z:-14.67 [[ 9.93378310e-01 9.82585796e-02 5.95380916e-02 2.08770890e+02] [-9.79531215e-02 9.95158596e-01 -8.03458462e-03 -2.77296722e+01] [-6.00393106e-02 2.14944017e-03 9.98193699e-01 -1.46706432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.07071405699998 meters 0.028715273939068163 Centerline is valid? [True, True] Translation: X:208.80, Y:-27.73, Z:-14.67 [[ 9.93430281e-01 9.84843027e-02 5.82848152e-02 2.08798819e+02] [-9.81921955e-02 9.95136416e-01 -7.86166544e-03 -2.77330362e+01] [-5.87755928e-02 2.08690253e-03 9.98269039e-01 -1.46734535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.10071405699998 meters 0.029083055026987083 Centerline is valid? [True, True] Translation: X:208.83, Y:-27.74, Z:-14.68 [[ 9.93451273e-01 9.82186202e-02 5.83752536e-02 2.08827002e+02] [-9.79255403e-02 9.95162648e-01 -7.86719379e-03 -2.77389996e+01] [-5.88655769e-02 2.09924543e-03 9.98263711e-01 -1.46760596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.13071405699998 meters 0.02865690558433609 Centerline is valid? [True, True] Translation: X:208.86, Y:-27.74, Z:-14.68 [[ 9.93509243e-01 9.76721718e-02 5.83055019e-02 2.08855469e+02] [-9.73790986e-02 9.95216374e-01 -7.85363520e-03 -2.77434227e+01] [-5.87936718e-02 2.12492194e-03 9.98267894e-01 -1.46780982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.16071405699998 meters 0.02938100182088833 Centerline is valid? [True, True] Translation: X:208.88, Y:-27.75, Z:-14.68 [[ 9.93580196e-01 9.71938354e-02 5.78943167e-02 2.08882853e+02] [-9.69043089e-02 9.95263183e-01 -7.79426758e-03 -2.77500996e+01] [-5.83776367e-02 2.13402116e-03 9.98292291e-01 -1.46805909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.19071405699998 meters 0.028726144421070396 Centerline is valid? [True, True] Translation: X:208.91, Y:-27.76, Z:-14.68 [[ 9.93736901e-01 9.59018895e-02 5.73567646e-02 2.08910821e+02] [-9.56158776e-02 9.95388395e-01 -7.71664790e-03 -2.77564724e+01] [-5.78322990e-02 2.18410039e-03 9.98323923e-01 -1.46834199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.22071405699998 meters 0.029080103228728924 Centerline is valid? [True, True] Translation: X:208.94, Y:-27.76, Z:-14.69 [[ 9.93835338e-01 9.48857329e-02 5.73412533e-02 2.08938835e+02] [-9.45984286e-02 9.95485654e-01 -7.71041169e-03 -2.77628169e+01] [-5.78140031e-02 2.23848715e-03 9.98324862e-01 -1.46857476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.25071405699998 meters 0.029080103228728924 Centerline is valid? [True, True] Translation: X:208.97, Y:-27.77, Z:-14.69 [[ 9.93845367e-01 9.47803319e-02 5.73417472e-02 2.08966014e+02] [-9.44930642e-02 9.95495689e-01 -7.70673654e-03 -2.77663809e+01] [-5.78139092e-02 2.24090700e-03 9.98324862e-01 -1.46876373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.28071405699998 meters 0.029414793674032318 Centerline is valid? [True, True] Translation: X:208.99, Y:-27.77, Z:-14.69 [[ 9.94009212e-01 9.28220812e-02 5.77039605e-02 2.08993583e+02] [-9.25282523e-02 9.95679906e-01 -7.74896439e-03 -2.77735451e+01] [-5.81739490e-02 2.36329538e-03 9.98303664e-01 -1.46896859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.31071405699998 meters 0.030074999000426404 Centerline is valid? [True, True] Translation: X:209.02, Y:-27.78, Z:-14.69 [[ 9.94056378e-01 9.19627724e-02 5.82646176e-02 2.09020867e+02] [-9.16620418e-02 9.95759476e-01 -7.81889340e-03 -2.77805467e+01] [-5.87365922e-02 2.43176705e-03 9.98270554e-01 -1.46919578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.34071405699999 meters 0.030548570807437652 Centerline is valid? [True, True] Translation: X:209.05, Y:-27.79, Z:-14.69 [[ 9.94045547e-01 9.16313175e-02 5.89673794e-02 2.09047245e+02] [-9.13229997e-02 9.95789923e-01 -7.90812553e-03 -2.77886339e+01] [-5.94437541e-02 2.47595900e-03 9.98228586e-01 -1.46933551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.370714057 meters 0.030282539209342863 Centerline is valid? [True, True] Translation: X:209.08, Y:-27.79, Z:-14.69 [[ 9.94034172e-01 9.13625320e-02 5.95730893e-02 2.09075175e+02] [-9.10478357e-02 9.95814535e-01 -7.98141164e-03 -2.77937908e+01] [-6.00529502e-02 2.50979505e-03 9.98192038e-01 -1.46948446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.400714057 meters 0.02950415401813417 Centerline is valid? [True, True] Translation: X:209.10, Y:-27.80, Z:-14.70 [[ 9.94026915e-01 9.13474464e-02 5.97171423e-02 2.09103612e+02] [-9.10314520e-02 9.95815912e-01 -7.99648548e-03 -2.77974788e+01] [-6.01977391e-02 2.51258362e-03 9.98183309e-01 -1.46956889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.430714057 meters 0.029374311882824772 Centerline is valid? [True, True] Translation: X:209.13, Y:-27.80, Z:-14.70 [[ 9.93968724e-01 9.15502300e-02 6.03716075e-02 2.09131786e+02] [-9.12279032e-02 9.95797262e-01 -8.07972225e-03 -2.78044269e+01] [-6.08575819e-02 2.52341604e-03 9.98143270e-01 -1.46975267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.460714057 meters 0.02963009559592135 Centerline is valid? [True, True] Translation: X:209.16, Y:-27.81, Z:-14.70 [[ 9.93963587e-01 9.13344731e-02 6.07815944e-02 2.09158093e+02] [-9.10075784e-02 9.95817007e-01 -8.13079280e-03 -2.78101706e+01] [-6.12699671e-02 2.55012625e-03 9.98117973e-01 -1.46991540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.490714057 meters 0.02888066459240149 Centerline is valid? [True, True] Translation: X:209.19, Y:-27.81, Z:-14.70 [[ 9.93971628e-01 9.08490084e-02 6.13747554e-02 2.09186294e+02] [-9.05153980e-02 9.95861297e-01 -8.20001372e-03 -2.78145093e+01] [-6.18657066e-02 2.59522058e-03 9.98081109e-01 -1.47014087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.520714057 meters 0.028482746266179693 Centerline is valid? [True, True] Translation: X:209.21, Y:-27.82, Z:-14.70 [[ 9.94063633e-01 8.99697244e-02 6.11795910e-02 2.09214328e+02] [-8.96368472e-02 9.95941010e-01 -8.16952493e-03 -2.78192258e+01] [-6.16662736e-02 2.63708198e-03 9.98093341e-01 -1.47034880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.550714057 meters 0.029648118482126472 Centerline is valid? [True, True] Translation: X:209.24, Y:-27.83, Z:-14.71 [[ 9.94291347e-01 8.78155970e-02 6.06064171e-02 2.09241336e+02] [-8.74852225e-02 9.96132979e-01 -8.08845815e-03 -2.78289335e+01] [-6.10823436e-02 2.74011807e-03 9.98128969e-01 -1.47063111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.580714057 meters 0.03085455995257301 Centerline is valid? [True, True] Translation: X:209.27, Y:-27.84, Z:-14.71 [[ 9.94480444e-01 8.61082964e-02 5.99500482e-02 2.09268131e+02] [-8.57821552e-02 9.96281818e-01 -7.99756456e-03 -2.78364492e+01] [-6.04157997e-02 2.81077721e-03 9.98169340e-01 -1.47091634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.610714057 meters 0.031037127138327195 Centerline is valid? [True, True] Translation: X:209.30, Y:-27.84, Z:-14.71 [[ 9.94821737e-01 8.29172438e-02 5.87745074e-02 2.09297079e+02] [-8.25985676e-02 9.96552100e-01 -7.83507945e-03 -2.78443909e+01] [-5.92215220e-02 2.93981722e-03 9.98240537e-01 -1.47119395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.640714057 meters 0.031362884118559205 Centerline is valid? [True, True] Translation: X:209.33, Y:-27.85, Z:-14.71 [[ 9.94999748e-01 8.11120891e-02 5.82780498e-02 2.09325958e+02] [-8.07958148e-02 9.96700412e-01 -7.76685881e-03 -2.78500323e+01] [-5.87157425e-02 3.01940003e-03 9.98270176e-01 -1.47141706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.670714057 meters 0.032412735007059885 Centerline is valid? [True, True] Translation: X:209.35, Y:-27.86, Z:-14.72 [[ 9.95101774e-01 7.99202178e-02 5.81826336e-02 2.09352733e+02] [-7.96030338e-02 9.96796495e-01 -7.75270611e-03 -2.78570419e+01] [-5.86158432e-02 3.08321745e-03 9.98275852e-01 -1.47164952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.70071405699997 meters 0.03431140255715151 Centerline is valid? [True, True] Translation: X:209.38, Y:-27.87, Z:-14.72 [[ 9.95172559e-01 7.82932040e-02 5.91756019e-02 2.09380435e+02] [-7.79626289e-02 9.96925154e-01 -7.87817214e-03 -2.78658066e+01] [-5.96104534e-02 3.22665524e-03 9.98216501e-01 -1.47183789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.73071405699997 meters 0.03449440600397262 Centerline is valid? [True, True] Translation: X:209.41, Y:-27.87, Z:-14.72 [[ 9.95192440e-01 7.76692616e-02 5.96614820e-02 2.09408674e+02] [-7.73322730e-02 9.96973758e-01 -7.94016547e-03 -2.78708650e+01] [-6.00976387e-02 3.28823464e-03 9.98187087e-01 -1.47196131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.76071405699997 meters 0.03594063735022006 Centerline is valid? [True, True] Translation: X:209.44, Y:-27.88, Z:-14.72 [[ 9.95216260e-01 7.65905743e-02 6.06504770e-02 2.09436574e+02] [-7.62405830e-02 9.97056815e-01 -8.06730862e-03 -2.78779419e+01] [-6.10898512e-02 3.40468898e-03 9.98126464e-01 -1.47207464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.79071405699997 meters 0.03656051245755092 Centerline is valid? [True, True] Translation: X:209.47, Y:-27.88, Z:-14.72 [[ 9.95294327e-01 7.55266017e-02 6.07036723e-02 2.09465653e+02] [-7.51742274e-02 9.97137750e-01 -8.07107217e-03 -2.78825037e+01] [-6.11395039e-02 3.46974068e-03 9.98123200e-01 -1.47224299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.82071405699998 meters 0.03701957130207799 Centerline is valid? [True, True] Translation: X:209.49, Y:-27.89, Z:-14.72 [[ 9.95350212e-01 7.45608995e-02 6.09805462e-02 2.09494702e+02] [-7.42036246e-02 9.97210168e-01 -8.10575886e-03 -2.78869939e+01] [-6.14147934e-02 3.54309124e-03 9.98106041e-01 -1.47246618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.85071405699998 meters 0.03908318643671369 Centerline is valid? [True, True] Translation: X:209.52, Y:-27.89, Z:-14.73 [[ 9.95545065e-01 7.25631358e-02 6.02047746e-02 2.09523486e+02] [-7.22114020e-02 9.97357261e-01 -8.00045319e-03 -2.78940010e+01] [-6.06262071e-02 3.61734051e-03 9.98153985e-01 -1.47278204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.88071405699998 meters 0.036964911376774316 Centerline is valid? [True, True] Translation: X:209.55, Y:-27.89, Z:-14.73 [[ 9.95685191e-01 7.12305618e-02 5.94744352e-02 2.09554316e+02] [-7.08850248e-02 9.97453191e-01 -7.90224773e-03 -2.78949269e+01] [-5.98858467e-02 3.65230423e-03 9.98198550e-01 -1.47300684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.91071405699998 meters 0.04260650715323059 Centerline is valid? [True, True] Translation: X:209.58, Y:-27.91, Z:-14.73 [[ 9.95977274e-01 6.84654315e-02 5.78079086e-02 2.09582607e+02] [-6.81343779e-02 9.97646587e-01 -7.68081973e-03 -2.79061838e+01] [-5.81977334e-02 3.71121600e-03 9.98298177e-01 -1.47342325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.94071405699998 meters 0.03656447529422328 Centerline is valid? [True, True] Translation: X:209.61, Y:-27.90, Z:-14.73 [[ 9.96090475e-01 6.70519348e-02 5.75135103e-02 2.09613884e+02] [-6.67219046e-02 9.97742347e-01 -7.64170361e-03 -2.79008881e+01] [-5.78960558e-02 3.77441723e-03 9.98315481e-01 -1.47346723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.97071405699998 meters 0.03555690815759039 Centerline is valid? [True, True] Translation: X:209.64, Y:-27.90, Z:-14.74 [[ 9.96213146e-01 6.52534562e-02 5.74574088e-02 2.09644424e+02] [-6.49210944e-02 9.97861198e-01 -7.63424952e-03 -2.79027558e+01] [-5.78326799e-02 3.87514187e-03 9.98318769e-01 -1.47359806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.00071405699998 meters 0.042029702253183684 Centerline is valid? [True, True] Translation: X:209.67, Y:-27.91, Z:-14.74 [[ 9.96386624e-01 6.23435057e-02 5.76800117e-02 2.09673078e+02] [-6.20037536e-02 9.98046498e-01 -7.66308417e-03 -2.79146799e+01] [-5.80450772e-02 4.05901733e-03 9.98305711e-01 -1.47381702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.03071405699998 meters 0.03867001315064515 Centerline is valid? [True, True] Translation: X:209.71, Y:-27.91, Z:-14.74 [[ 9.96411911e-01 6.16962150e-02 5.79385866e-02 2.09706190e+02] [-6.13521841e-02 9.98086481e-01 -7.69972334e-03 -2.79128832e+01] [-5.83027638e-02 4.11743722e-03 9.98290456e-01 -1.47389077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.06071405699998 meters 0.03904902192080963 Centerline is valid? [True, True] Translation: X:209.74, Y:-27.91, Z:-14.74 [[ 9.96472167e-01 6.03218975e-02 5.83479960e-02 2.09738227e+02] [-5.99696552e-02 9.98169953e-01 -7.77084646e-03 -2.79147536e+01] [-5.87099686e-02 4.24432301e-03 9.98266059e-01 -1.47398743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.09071405699999 meters 0.0387171309814621 Centerline is valid? [True, True] Translation: X:209.77, Y:-27.92, Z:-14.74 [[ 9.96455596e-01 6.01265155e-02 5.88306670e-02 2.09770227e+02] [-5.97679181e-02 9.98181529e-01 -7.83776175e-03 -2.79171287e+01] [-5.91949424e-02 4.29379507e-03 9.98237207e-01 -1.47414974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.120714057 meters 0.040642035051997996 Centerline is valid? [True, True] Translation: X:209.80, Y:-27.92, Z:-14.74 [[ 9.96431108e-01 5.99795623e-02 5.93927468e-02 2.09801338e+02] [-5.96128311e-02 9.98190083e-01 -7.92899776e-03 -2.79229392e+01] [-5.97608286e-02 4.36013024e-03 9.98203202e-01 -1.47433877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.150714057 meters 0.04084718103782506 Centerline is valid? [True, True] Translation: X:209.83, Y:-27.93, Z:-14.74 [[ 9.96413762e-01 5.95062290e-02 6.01549948e-02 2.09833265e+02] [-5.91286888e-02 9.98218003e-01 -8.03839885e-03 -2.79257730e+01] [-6.05261336e-02 4.45268527e-03 9.98156681e-01 -1.47446448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.180714057 meters 0.041968592266998214 Centerline is valid? [True, True] Translation: X:209.86, Y:-27.93, Z:-14.75 [[ 9.96534417e-01 5.78486658e-02 5.97719571e-02 2.09864153e+02] [-5.74719490e-02 9.98315036e-01 -8.00404925e-03 -2.79281594e+01] [-6.01342671e-02 4.54109969e-03 9.98179968e-01 -1.47459474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.210714057 meters 0.04384568085265254 Centerline is valid? [True, True] Translation: X:209.89, Y:-27.93, Z:-14.75 [[ 9.96701043e-01 5.53667591e-02 5.93426698e-02 2.09894284e+02] [-5.49910099e-02 9.98455219e-01 -7.94761431e-03 -2.79332826e+01] [-5.96910320e-02 4.65808212e-03 9.98206032e-01 -1.47489352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.240714057 meters 0.04175508137291636 Centerline is valid? [True, True] Translation: X:209.93, Y:-27.93, Z:-14.75 [[ 9.96811711e-01 5.36954968e-02 5.90186971e-02 2.09925578e+02] [-5.33208753e-02 9.98546139e-01 -7.90525893e-03 -2.79335584e+01] [-5.93573689e-02 4.73312609e-03 9.98225576e-01 -1.47511538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.270714057 meters 0.04654957280699884 Centerline is valid? [True, True] Translation: X:209.95, Y:-27.94, Z:-14.75 [[ 9.96951901e-01 5.18952967e-02 5.82562121e-02 2.09954162e+02] [-5.15272328e-02 9.98641101e-01 -7.80352168e-03 -2.79434067e+01] [-5.85820139e-02 4.77795437e-03 9.98271165e-01 -1.47543840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.300714057 meters 0.04545520167754597 Centerline is valid? [True, True] Translation: X:209.98, Y:-27.95, Z:-14.76 [[ 9.97119886e-01 4.97544503e-02 5.72400899e-02 2.09984813e+02] [-4.93953179e-02 9.98749833e-01 -7.67285947e-03 -2.79450147e+01] [-5.75502891e-02 4.82336833e-03 9.98330957e-01 -1.47573506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.330714057 meters 0.04590202134853638 Centerline is valid? [True, True] Translation: X:210.02, Y:-27.95, Z:-14.76 [[ 9.97438075e-01 4.58607684e-02 5.49006092e-02 2.10015640e+02] [-4.55245360e-02 9.98936107e-01 -7.36006153e-03 -2.79477054e+01] [-5.51797389e-02 4.84188084e-03 9.98464698e-01 -1.47614550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.360714057 meters 0.046937743358149986 Centerline is valid? [True, True] Translation: X:210.05, Y:-27.95, Z:-14.76 [[ 9.97585825e-01 4.45954810e-02 5.32331140e-02 2.10046002e+02] [-4.42775190e-02 9.98993768e-01 -7.13808072e-03 -2.79517478e+01] [-5.34978753e-02 4.76381793e-03 9.98556600e-01 -1.47644757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.390714057 meters 0.04755194876759779 Centerline is valid? [True, True] Translation: X:210.08, Y:-27.96, Z:-14.77 [[ 9.97582650e-01 4.47811439e-02 5.31366691e-02 2.10078797e+02] [-4.44647602e-02 9.98985566e-01 -7.12207031e-03 -2.79557360e+01] [-5.34016999e-02 4.74214453e-03 9.98561851e-01 -1.47670084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.420714057 meters 0.05510216038201587 Centerline is valid? [True, True] Translation: X:210.11, Y:-27.97, Z:-14.77 [[ 9.97559136e-01 4.51195150e-02 5.32916476e-02 2.10108161e+02] [-4.48008883e-02 9.98970284e-01 -7.15908213e-03 -2.79687445e+01] [-5.35597866e-02 4.75409463e-03 9.98553327e-01 -1.47703954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.45071405699997 meters 0.04808674811933687 Centerline is valid? [True, True] Translation: X:210.14, Y:-27.96, Z:-14.77 [[ 9.97500800e-01 4.59877592e-02 5.36402905e-02 2.10142156e+02] [-4.56654011e-02 9.98930696e-01 -7.22050965e-03 -2.79622026e+01] [-5.39149878e-02 4.75295877e-03 9.98534217e-01 -1.47704876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.48071405699997 meters 0.049270505691622724 Centerline is valid? [True, True] Translation: X:210.17, Y:-27.96, Z:-14.77 [[ 9.97333254e-01 4.81525789e-02 5.48425857e-02 2.10172409e+02] [-4.78184904e-02 9.98828715e-01 -7.38856129e-03 -2.79645166e+01] [-5.51341276e-02 4.74636822e-03 9.98467676e-01 -1.47713307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.51071405699997 meters 0.0452036077997144 Centerline is valid? [True, True] Translation: X:210.20, Y:-27.96, Z:-14.77 [[ 9.97242352e-01 4.93062267e-02 5.54670023e-02 2.10204230e+02] [-4.89662723e-02 9.98772482e-01 -7.47222364e-03 -2.79610088e+01] [-5.57673427e-02 4.73560554e-03 9.98432560e-01 -1.47715716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.54071405699997 meters 0.04445474670106873 Centerline is valid? [True, True] Translation: X:210.24, Y:-27.96, Z:-14.77 [[ 9.97128677e-01 5.04439737e-02 5.64783784e-02 2.10236201e+02] [-5.00931933e-02 9.98715552e-01 -7.61037096e-03 -2.79626860e+01] [-5.67897322e-02 4.75933680e-03 9.98374817e-01 -1.47728286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.57071405699998 meters 0.04927260972757083 Centerline is valid? [True, True] Translation: X:210.27, Y:-27.97, Z:-14.78 [[ 9.96915652e-01 5.32649928e-02 5.76369951e-02 2.10265478e+02] [-5.29041043e-02 9.98569365e-01 -7.77036342e-03 -2.79707210e+01] [-5.79684260e-02 4.69716332e-03 9.98307367e-01 -1.47751339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.60071405699998 meters 0.04124203698259709 Centerline is valid? [True, True] Translation: X:210.30, Y:-27.96, Z:-14.78 [[ 9.96832281e-01 5.44685624e-02 5.79532584e-02 2.10299176e+02] [-5.41059012e-02 9.98504661e-01 -7.80982135e-03 -2.79624607e+01] [-5.82919884e-02 4.64946876e-03 9.98288749e-01 -1.47756784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.63071405699998 meters 0.040079999509757123 Centerline is valid? [True, True] Translation: X:210.33, Y:-27.96, Z:-14.78 [[ 9.96696003e-01 5.61820278e-02 5.86571247e-02 2.10330635e+02] [-5.58124098e-02 9.98409844e-01 -7.92203517e-03 -2.79623977e+01] [-5.90089267e-02 4.62206530e-03 9.98246755e-01 -1.47777105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.66071405699998 meters 0.04029888000016049 Centerline is valid? [True, True] Translation: X:210.36, Y:-27.97, Z:-14.78 [[ 9.96637407e-01 5.69152526e-02 5.89451617e-02 2.10362933e+02] [-5.65432525e-02 9.98368410e-01 -7.96112263e-03 -2.79661896e+01] [-5.93020967e-02 4.60140145e-03 9.98229477e-01 -1.47800894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.69071405699998 meters 0.040369382165468856 Centerline is valid? [True, True] Translation: X:210.39, Y:-27.97, Z:-14.78 [[ 9.96605383e-01 5.75354591e-02 5.88844725e-02 2.10394955e+02] [-5.71644022e-02 9.98332981e-01 -7.96806717e-03 -2.79697693e+01] [-5.92447574e-02 4.57492296e-03 9.98233003e-01 -1.47822827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.72071405699998 meters 0.04104233890624867 Centerline is valid? [True, True] Translation: X:210.43, Y:-27.97, Z:-14.79 [[ 9.96588006e-01 5.77319583e-02 5.89861563e-02 2.10425501e+02] [-5.73590436e-02 9.98321584e-01 -7.99721836e-03 -2.79739227e+01] [-5.93488481e-02 4.58654239e-03 9.98226767e-01 -1.47852314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.75071405699998 meters 0.040795432289856326 Centerline is valid? [True, True] Translation: X:210.46, Y:-27.98, Z:-14.79 [[ 9.96619939e-01 5.78646799e-02 5.83127482e-02 2.10457318e+02] [-5.74996774e-02 9.98314114e-01 -7.91939462e-03 -2.79777691e+01] [-5.86726928e-02 4.53966237e-03 9.98266952e-01 -1.47877310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.78071405699998 meters 0.04074837459849893 Centerline is valid? [True, True] Translation: X:210.49, Y:-27.98, Z:-14.79 [[ 9.96652501e-01 5.76414134e-02 5.79763694e-02 2.10487962e+02] [-5.72792538e-02 9.98327013e-01 -7.89060322e-03 -2.79816161e+01] [-5.83342012e-02 4.54334626e-03 9.98286772e-01 -1.47909296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.81071405699998 meters 0.04254390067607665 Centerline is valid? [True, True] Translation: X:210.52, Y:-27.99, Z:-14.79 [[ 9.96751534e-01 5.66844001e-02 5.72123955e-02 2.10518432e+02] [-5.63301767e-02 9.98381831e-01 -7.78651434e-03 -2.79883406e+01] [-5.75611901e-02 4.53843576e-03 9.98331664e-01 -1.47949557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.84071405699999 meters 0.04322286314223829 Centerline is valid? [True, True] Translation: X:210.55, Y:-27.99, Z:-14.80 [[ 9.96811737e-01 5.60828756e-02 5.67544848e-02 2.10550106e+02] [-5.57325907e-02 9.98415751e-01 -7.73728910e-03 -2.79936281e+01] [-5.70985010e-02 4.54954613e-03 9.98358184e-01 -1.47979139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.870714057 meters 0.045250970034897864 Centerline is valid? [True, True] Translation: X:210.58, Y:-28.00, Z:-14.80 [[ 9.96950916e-01 5.39707025e-02 5.63563174e-02 2.10579628e+02] [-5.36210147e-02 9.98531671e-01 -7.69986442e-03 -2.80012669e+01] [-5.66891349e-02 4.65450397e-03 9.98381028e-01 -1.48013177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.900714057 meters 0.04625766215316959 Centerline is valid? [True, True] Translation: X:210.61, Y:-28.01, Z:-14.80 [[ 9.96974170e-01 5.35643325e-02 5.63326384e-02 2.10611221e+02] [-5.32143919e-02 9.98553462e-01 -7.69492667e-03 -2.80074161e+01] [-5.66633247e-02 4.67393603e-03 9.98382403e-01 -1.48035870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.930714057 meters 0.047215743844155195 Centerline is valid? [True, True] Translation: X:210.64, Y:-28.01, Z:-14.81 [[ 9.96974311e-01 5.31175838e-02 5.67516146e-02 2.10642367e+02] [-5.27608052e-02 9.98576968e-01 -7.76767896e-03 -2.80131070e+01] [-5.70834556e-02 4.74991549e-03 9.98358111e-01 -1.48054737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.960714057 meters 0.04683953459368429 Centerline is valid? [True, True] Translation: X:210.67, Y:-28.02, Z:-14.81 [[ 9.96937658e-01 5.31685331e-02 5.73446878e-02 2.10674704e+02] [-5.28039680e-02 9.98574002e-01 -7.85514301e-03 -2.80171328e+01] [-5.76805609e-02 4.80306081e-03 9.98323536e-01 -1.48069004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.990714057 meters 0.04811049111462201 Centerline is valid? [True, True] Translation: X:210.70, Y:-28.02, Z:-14.81 [[ 9.96779205e-01 5.41182874e-02 5.91813074e-02 2.10704893e+02] [-5.37305188e-02 9.98522415e-01 -8.12518746e-03 -2.80232139e+01] [-5.95335832e-02 4.91917555e-03 9.98214183e-01 -1.48070334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.020714057 meters 0.0485575843518411 Centerline is valid? [True, True] Translation: X:210.74, Y:-28.03, Z:-14.81 [[ 9.96692732e-01 5.49452349e-02 5.98716902e-02 2.10737295e+02] [-5.45497289e-02 9.98477206e-01 -8.22168765e-03 -2.80283445e+01] [-6.02322605e-02 4.92851185e-03 9.98172222e-01 -1.48084593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.050714057 meters 0.04775974846353855 Centerline is valid? [True, True] Translation: X:210.77, Y:-28.03, Z:-14.81 [[ 9.96509603e-01 5.72174318e-02 6.07846682e-02 2.10768118e+02] [-5.68135878e-02 9.98349861e-01 -8.35291697e-03 -2.80315550e+01] [-6.11622975e-02 4.87036689e-03 9.98115952e-01 -1.48095472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.080714057 meters 0.04823994479513668 Centerline is valid? [True, True] Translation: X:210.80, Y:-28.04, Z:-14.81 [[ 9.96428302e-01 5.87325256e-02 6.06723144e-02 2.10798406e+02] [-5.83329076e-02 9.98262362e-01 -8.33839393e-03 -2.80368069e+01] [-6.10566228e-02 4.76941918e-03 9.98122909e-01 -1.48118886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.110714057 meters 0.04883492068164242 Centerline is valid? [True, True] Translation: X:210.83, Y:-28.04, Z:-14.81 [[ 9.96402624e-01 5.99806572e-02 5.98676098e-02 2.10828240e+02] [-5.95936911e-02 9.98188789e-01 -8.22998143e-03 -2.80414542e+01] [-6.02528167e-02 4.63264325e-03 9.98172398e-01 -1.48149456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.140714057 meters 0.04746856006450691 Centerline is valid? [True, True] Translation: X:210.86, Y:-28.04, Z:-14.82 [[ 9.96160439e-01 6.38375814e-02 5.99094537e-02 2.10858581e+02] [-6.34569335e-02 9.97950586e-01 -8.23684822e-03 -2.80448299e+01] [-6.03124949e-02 4.40355212e-03 9.98169831e-01 -1.48177145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.170714057 meters 0.04746856006450691 Centerline is valid? [True, True] Translation: X:210.89, Y:-28.05, Z:-14.82 [[ 9.96160440e-01 6.38376019e-02 5.99094127e-02 2.10888311e+02] [-6.34569361e-02 9.97950583e-01 -8.23714628e-03 -2.80489174e+01] [-6.03124730e-02 4.40385149e-03 9.98169831e-01 -1.48197813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.20071405699997 meters 0.046784976318563216 Centerline is valid? [True, True] Translation: X:210.92, Y:-28.05, Z:-14.82 [[ 9.96064005e-01 6.56702520e-02 5.95308045e-02 2.10918441e+02] [-6.52976423e-02 9.97832262e-01 -8.18509017e-03 -2.80519760e+01] [-5.99392742e-02 4.26565251e-03 9.98192911e-01 -1.48219423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.23071405699997 meters 0.0464975545381909 Centerline is valid? [True, True] Translation: X:210.95, Y:-28.06, Z:-14.82 [[ 9.95930591e-01 6.78030554e-02 5.93717476e-02 2.10948673e+02] [-6.74362042e-02 9.97690192e-01 -8.16322090e-03 -2.80558081e+01] [-5.97881016e-02 4.12619611e-03 9.98202563e-01 -1.48244893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.26071405699997 meters 0.04554841020490602 Centerline is valid? [True, True] Translation: X:210.98, Y:-28.06, Z:-14.83 [[ 9.95646237e-01 7.21107362e-02 5.90644701e-02 2.10978188e+02] [-7.17552042e-02 9.97389211e-01 -8.12114625e-03 -2.80581296e+01] [-5.94958870e-02 3.84760559e-03 9.98221136e-01 -1.48269708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.29071405699997 meters 0.04294929972646935 Centerline is valid? [True, True] Translation: X:211.01, Y:-28.06, Z:-14.83 [[ 9.95487815e-01 7.40382701e-02 5.93493477e-02 2.11008674e+02] [-7.36827737e-02 9.97248353e-01 -8.15913916e-03 -2.80583688e+01] [-5.97901278e-02 3.74929906e-03 9.98203929e-01 -1.48293110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.32071405699998 meters 0.04286189648838964 Centerline is valid? [True, True] Translation: X:211.04, Y:-28.06, Z:-14.83 [[ 9.95134086e-01 7.86584094e-02 5.93380630e-02 2.11038094e+02] [-7.83112788e-02 9.96895588e-01 -8.15662621e-03 -2.80613718e+01] [-5.97954405e-02 3.47009717e-03 9.98204620e-01 -1.48316120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.35071405699998 meters 0.0424928692131541 Centerline is valid? [True, True] Translation: X:211.07, Y:-28.06, Z:-14.83 [[ 9.95001085e-01 8.04704445e-02 5.91383810e-02 2.11066378e+02] [-8.01288900e-02 9.96751369e-01 -8.12827737e-03 -2.80639773e+01] [-5.96003484e-02 3.34895197e-03 9.98216701e-01 -1.48335492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.38071405699998 meters 0.04096690452717582 Centerline is valid? [True, True] Translation: X:211.10, Y:-28.07, Z:-14.84 [[ 9.94741563e-01 8.34665284e-02 5.93511758e-02 2.11096635e+02] [-8.31280083e-02 9.96505515e-01 -8.15436207e-03 -2.80653627e+01] [-5.98243903e-02 3.17773784e-03 9.98203859e-01 -1.48359935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.41071405699998 meters 0.040655229490268195 Centerline is valid? [True, True] Translation: X:211.13, Y:-28.07, Z:-14.84 [[ 9.94668683e-01 8.44451598e-02 5.91880625e-02 2.11125260e+02] [-8.41102574e-02 9.96423276e-01 -8.13143385e-03 -2.80689818e+01] [-5.96630234e-02 3.10975942e-03 9.98213731e-01 -1.48383026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.44071405699998 meters 0.04065304883170188 Centerline is valid? [True, True] Translation: X:211.15, Y:-28.07, Z:-14.84 [[ 9.94601181e-01 8.51086609e-02 5.93717579e-02 2.11154202e+02] [-8.47730867e-02 9.96366929e-01 -8.15274716e-03 -2.80728712e+01] [-5.98499254e-02 3.07560478e-03 9.98202648e-01 -1.48407168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.47071405699998 meters 0.03197055673588365 Centerline is valid? [True, True] Translation: X:211.18, Y:-28.06, Z:-14.84 [[ 9.94418298e-01 8.62016103e-02 6.08402039e-02 2.11184243e+02] [-8.58514158e-02 9.96272947e-01 -8.35160669e-03 -2.80643019e+01] [-6.13333711e-02 3.08177287e-03 9.98112579e-01 -1.48405448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.50071405699998 meters 0.032323695734975226 Centerline is valid? [True, True] Translation: X:211.21, Y:-28.07, Z:-14.84 [[ 9.94373366e-01 8.62869873e-02 6.14505116e-02 2.11212684e+02] [-8.59301622e-02 9.96265490e-01 -8.43090031e-03 -2.80693910e+01] [-6.19485011e-02 3.10301029e-03 9.98074524e-01 -1.48424057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.53071405699998 meters 0.03260724864266847 Centerline is valid? [True, True] Translation: X:211.24, Y:-28.07, Z:-14.84 [[ 9.94383830e-01 8.54684479e-02 6.24174902e-02 2.11240544e+02] [-8.50989604e-02 9.96335741e-01 -8.55912536e-03 -2.80745582e+01] [-6.29203115e-02 3.19939232e-03 9.98013426e-01 -1.48435935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.56071405699998 meters 0.034475494660486425 Centerline is valid? [True, True] Translation: X:211.27, Y:-28.08, Z:-14.85 [[ 9.94519592e-01 8.43096952e-02 6.18276411e-02 2.11267372e+02] [-8.39452807e-02 9.96434344e-01 -8.47274073e-03 -2.80820935e+01] [-6.23215192e-02 3.23616797e-03 9.98050878e-01 -1.48462966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.59071405699999 meters 0.03518347225508293 Centerline is valid? [True, True] Translation: X:211.30, Y:-28.09, Z:-14.85 [[ 9.94570940e-01 8.35699638e-02 6.20056955e-02 2.11295253e+02] [-8.32023665e-02 9.96496493e-01 -8.49147860e-03 -2.80883265e+01] [-6.24980906e-02 3.28635726e-03 9.98039673e-01 -1.48484307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.620714057 meters 0.03706630136214713 Centerline is valid? [True, True] Translation: X:211.32, Y:-28.10, Z:-14.85 [[ 9.94840356e-01 8.06943135e-02 6.14905973e-02 2.11323692e+02] [-8.03276199e-02 9.96732983e-01 -8.41634045e-03 -2.80985667e+01] [-6.19688573e-02 3.43352181e-03 9.98072178e-01 -1.48519454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.650714057 meters 0.038064726150152876 Centerline is valid? [True, True] Translation: X:211.35, Y:-28.11, Z:-14.85 [[ 9.95029881e-01 7.89905817e-02 6.06302226e-02 2.11352238e+02] [-7.86309980e-02 9.96869257e-01 -8.29767515e-03 -2.81058121e+01] [-6.10958431e-02 3.48901980e-03 9.98125806e-01 -1.48546246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.680714057 meters 0.03641023326389365 Centerline is valid? [True, True] Translation: X:211.38, Y:-28.11, Z:-14.86 [[ 9.95355071e-01 7.54141479e-02 5.98413683e-02 2.11382100e+02] [-7.50575679e-02 9.97145589e-01 -8.18754894e-03 -2.81103280e+01] [-6.02880134e-02 3.65797079e-03 9.98174321e-01 -1.48567814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.710714057 meters 0.04226284867090907 Centerline is valid? [True, True] Translation: X:211.41, Y:-28.12, Z:-14.86 [[ 9.95500917e-01 7.36690697e-02 5.95885267e-02 2.11408991e+02] [-7.33124350e-02 9.97275703e-01 -8.15219007e-03 -2.81239802e+01] [-6.00267541e-02 3.74693270e-03 9.98189736e-01 -1.48599209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.740714057 meters 0.04334043395336052 Centerline is valid? [True, True] Translation: X:211.44, Y:-28.13, Z:-14.86 [[ 9.95604868e-01 7.23075906e-02 5.95193975e-02 2.11437642e+02] [-7.19495558e-02 9.97375060e-01 -8.13952252e-03 -2.81304516e+01] [-5.99517119e-02 3.82135403e-03 9.98193964e-01 -1.48614709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.770714057 meters 0.04105350394509627 Centerline is valid? [True, True] Translation: X:211.47, Y:-28.13, Z:-14.86 [[ 9.95666120e-01 7.10162673e-02 6.00472044e-02 2.11467584e+02] [-7.06497094e-02 9.97467414e-01 -8.20838156e-03 -2.81315001e+01] [-6.04780583e-02 3.93048988e-03 9.98161788e-01 -1.48623473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.800714057 meters 0.03849880734824161 Centerline is valid? [True, True] Translation: X:211.50, Y:-28.13, Z:-14.86 [[ 9.95783615e-01 6.90510230e-02 6.03899691e-02 2.11497894e+02] [-6.86767378e-02 9.97604820e-01 -8.25407092e-03 -2.81329514e+01] [-6.08152763e-02 4.07188251e-03 9.98140733e-01 -1.48627607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.830714057 meters 0.038346105377783185 Centerline is valid? [True, True] Translation: X:211.53, Y:-28.14, Z:-14.86 [[ 9.95767447e-01 6.84717196e-02 6.13091802e-02 2.11527503e+02] [-6.80848647e-02 9.97644344e-01 -8.37936258e-03 -2.81381304e+01] [-6.17385062e-02 4.16966924e-03 9.98083649e-01 -1.48643570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.860714057 meters 0.0378874033035305 Centerline is valid? [True, True] Translation: X:211.56, Y:-28.14, Z:-14.87 [[ 9.95824085e-01 6.72642704e-02 6.17244734e-02 2.11557888e+02] [-6.68698419e-02 9.97726043e-01 -8.43612231e-03 -2.81426600e+01] [-6.21515642e-02 4.27338799e-03 9.98057574e-01 -1.48657541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.890714057 meters 0.037163648331024236 Centerline is valid? [True, True] Translation: X:211.59, Y:-28.15, Z:-14.87 [[ 9.95857869e-01 6.64449257e-02 6.20659040e-02 2.11588463e+02] [-6.60445323e-02 9.97780618e-01 -8.48278695e-03 -2.81457970e+01] [-6.24917942e-02 4.34853653e-03 9.98036004e-01 -1.48674866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.920714057 meters 0.0405181162605988 Centerline is valid? [True, True] Translation: X:211.62, Y:-28.16, Z:-14.87 [[ 9.95844282e-01 6.63299536e-02 6.24059574e-02 2.11617938e+02] [-6.59249357e-02 9.97788132e-01 -8.52915766e-03 -2.81552971e+01] [-6.28336623e-02 4.37960416e-03 9.98014404e-01 -1.48697311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.95071405699997 meters 0.041729665717804704 Centerline is valid? [True, True] Translation: X:211.65, Y:-28.16, Z:-14.87 [[ 9.95933312e-01 6.53406536e-02 6.20277163e-02 2.11648256e+02] [-6.49385657e-02 9.97853245e-01 -8.47850670e-03 -2.81599496e+01] [-6.24485491e-02 4.41603633e-03 9.98038415e-01 -1.48722376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.98071405699997 meters 0.04209120145766714 Centerline is valid? [True, True] Translation: X:211.68, Y:-28.16, Z:-14.87 [[ 9.95917112e-01 6.54740210e-02 6.21470685e-02 2.11679029e+02] [-6.50704992e-02 9.97844492e-01 -8.49706346e-03 -2.81643564e+01] [-6.25694469e-02 4.41843013e-03 9.98030832e-01 -1.48748392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.01071405699997 meters 0.04313421056486754 Centerline is valid? [True, True] Translation: X:211.71, Y:-28.17, Z:-14.88 [[ 9.95996226e-01 6.48807390e-02 6.14980222e-02 2.11708656e+02] [-6.44843501e-02 9.97883275e-01 -8.41059452e-03 -2.81691117e+01] [-6.19135334e-02 4.41126041e-03 9.98071769e-01 -1.48778202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.04071405699997 meters 0.04030374357126945 Centerline is valid? [True, True] Translation: X:211.74, Y:-28.17, Z:-14.88 [[ 9.96115037e-01 6.42830607e-02 6.01873842e-02 2.11740560e+02] [-6.39022748e-02 9.97922206e-01 -8.23223958e-03 -2.81677462e+01] [-6.05915208e-02 4.35414686e-03 9.98153149e-01 -1.48797124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.07071405699998 meters 0.042388283856591324 Centerline is valid? [True, True] Translation: X:211.77, Y:-28.17, Z:-14.88 [[ 9.96198501e-01 6.32201260e-02 5.99313152e-02 2.11770345e+02] [-6.28405271e-02 9.97989898e-01 -8.19952206e-03 -2.81739291e+01] [-6.03292220e-02 4.40223615e-03 9.98168826e-01 -1.48826773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.10071405699998 meters 0.047766342586224655 Centerline is valid? [True, True] Translation: X:211.80, Y:-28.18, Z:-14.89 [[ 9.96402005e-01 6.10367925e-02 5.88009645e-02 2.11799112e+02] [-6.06675911e-02 9.98125601e-01 -8.04537505e-03 -2.81843626e+01] [-5.91818119e-02 4.44911496e-03 9.98237306e-01 -1.48868912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.13071405699998 meters 0.04912764488036465 Centerline is valid? [True, True] Translation: X:211.83, Y:-28.19, Z:-14.89 [[ 9.96488705e-01 5.98931481e-02 5.85070296e-02 2.11829139e+02] [-5.95253946e-02 9.98194655e-01 -8.00992500e-03 -2.81894590e+01] [-5.88811438e-02 4.49914576e-03 9.98254862e-01 -1.48895976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.16071405699998 meters 0.04363399692746568 Centerline is valid? [True, True] Translation: X:211.86, Y:-28.18, Z:-14.89 [[ 9.96579059e-01 5.89743049e-02 5.78982851e-02 2.11862063e+02] [-5.86125438e-02 9.98249325e-01 -7.92815075e-03 -2.81847421e+01] [-5.82644811e-02 4.50746324e-03 9.98291006e-01 -1.48912599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.19071405699998 meters 0.041457306275752344 Centerline is valid? [True, True] Translation: X:211.89, Y:-28.18, Z:-14.89 [[ 9.96761617e-01 5.71077279e-02 5.66125970e-02 2.11893823e+02] [-5.67586378e-02 9.98357799e-01 -7.75646982e-03 -2.81835353e+01] [-5.69625821e-02 4.51809752e-03 9.98366091e-01 -1.48937986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.22071405699998 meters 0.05269373226390494 Centerline is valid? [True, True] Translation: X:211.92, Y:-28.20, Z:-14.90 [[ 9.96739812e-01 5.72193396e-02 5.68831614e-02 2.11923441e+02] [-5.68671122e-02 9.98351341e-01 -7.79298710e-03 -2.82023530e+01] [-5.72352901e-02 4.53279938e-03 9.98350427e-01 -1.48981729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.25071405699998 meters 0.04396120949072121 Centerline is valid? [True, True] Translation: X:211.96, Y:-28.19, Z:-14.90 [[ 9.96714269e-01 5.75359206e-02 5.70112577e-02 2.11957898e+02] [-5.71816978e-02 9.98333110e-01 -7.82653195e-03 -2.81928072e+01] [-5.73665329e-02 4.54081556e-03 9.98342858e-01 -1.48974208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.28071405699998 meters 0.04269842602638233 Centerline is valid? [True, True] Translation: X:211.99, Y:-28.19, Z:-14.90 [[ 9.96517415e-01 5.92902766e-02 5.86319374e-02 2.11990223e+02] [-5.89176002e-02 9.98230261e-01 -8.06614417e-03 -2.81918189e+01] [-5.90064181e-02 4.58360009e-03 9.98247080e-01 -1.48976836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.31071405699998 meters 0.041599129692736256 Centerline is valid? [True, True] Translation: X:212.02, Y:-28.19, Z:-14.90 [[ 9.96444238e-01 6.03375374e-02 5.88069919e-02 2.12022300e+02] [-5.99642499e-02 9.98167714e-01 -8.09343403e-03 -2.81930499e+01] [-5.91875785e-02 4.53833854e-03 9.98236562e-01 -1.48991975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.34071405699999 meters 0.040663906571610016 Centerline is valid? [True, True] Translation: X:212.05, Y:-28.19, Z:-14.90 [[ 9.96256771e-01 6.32805883e-02 5.88898418e-02 2.12053922e+02] [-6.29111422e-02 9.97986193e-01 -8.10839430e-03 -2.81929825e+01] [-5.92843530e-02 4.37321551e-03 9.98231557e-01 -1.49006180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.370714057 meters 0.03922520092567574 Centerline is valid? [True, True] Translation: X:212.08, Y:-28.19, Z:-14.90 [[ 9.96159017e-01 6.45735200e-02 5.91394362e-02 2.12084331e+02] [-6.42031211e-02 9.97903620e-01 -8.14399667e-03 -2.81931043e+01] [-5.95413440e-02 4.31577934e-03 9.98216511e-01 -1.49022924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.400714057 meters 0.039673788385168114 Centerline is valid? [True, True] Translation: X:212.11, Y:-28.20, Z:-14.90 [[ 9.96054956e-01 6.62070793e-02 5.90859338e-02 2.12113330e+02] [-6.58401882e-02 9.97797003e-01 -8.13695448e-03 -2.81958102e+01] [-5.94944916e-02 4.21462483e-03 9.98219737e-01 -1.49043624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.430714057 meters 0.03895964867970179 Centerline is valid? [True, True] Translation: X:212.14, Y:-28.20, Z:-14.91 [[ 9.95877277e-01 6.96080600e-02 5.81649938e-02 2.12142672e+02] [-6.92584241e-02 9.97566611e-01 -8.00800723e-03 -2.81952945e+01] [-5.85808776e-02 3.94657663e-03 9.98274865e-01 -1.49064758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.460714057 meters 0.03889422439580561 Centerline is valid? [True, True] Translation: X:212.17, Y:-28.20, Z:-14.91 [[ 9.95796374e-01 7.11967144e-02 5.76247207e-02 2.12171435e+02] [-7.08562879e-02 9.97454996e-01 -7.93208104e-03 -2.81973732e+01] [-5.80428037e-02 3.81566374e-03 9.98306803e-01 -1.49090898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.490714057 meters 0.03687147928445799 Centerline is valid? [True, True] Translation: X:212.20, Y:-28.20, Z:-14.91 [[ 9.95589998e-01 7.45010769e-02 5.70100399e-02 2.12201747e+02] [-7.41734692e-02 9.97214504e-01 -7.84406353e-03 -2.81965094e+01] [-5.74356299e-02 3.58083876e-03 9.98342790e-01 -1.49119199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.520714057 meters 0.035111080917762494 Centerline is valid? [True, True] Translation: X:212.23, Y:-28.20, Z:-14.91 [[ 9.95451547e-01 7.64360880e-02 5.68659927e-02 2.12231318e+02] [-7.61133245e-02 9.97068481e-01 -7.82343617e-03 -2.81966696e+01] [-5.72972818e-02 3.45959189e-03 9.98351167e-01 -1.49135526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.550714057 meters 0.03679397934373132 Centerline is valid? [True, True] Translation: X:212.26, Y:-28.20, Z:-14.92 [[ 9.95278028e-01 7.84629570e-02 5.71420232e-02 2.12259837e+02] [-7.81404936e-02 9.96911377e-01 -7.85933193e-03 -2.82022082e+01] [-5.75821995e-02 3.35711448e-03 9.98335124e-01 -1.49158664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.580714057 meters 0.03270476300420851 Centerline is valid? [True, True] Translation: X:212.29, Y:-28.20, Z:-14.92 [[ 9.94905664e-01 8.21640631e-02 5.84104918e-02 2.12291283e+02] [-8.18335917e-02 9.96613646e-01 -8.03147736e-03 -2.81969937e+01] [-5.88725920e-02 3.21062198e-03 9.98260342e-01 -1.49159752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.610714057 meters 0.03534518445431128 Centerline is valid? [True, True] Translation: X:212.32, Y:-28.20, Z:-14.92 [[ 9.94704794e-01 8.43488081e-02 5.87167036e-02 2.12318693e+02] [-8.40186914e-02 9.96431477e-01 -8.07286919e-03 -2.82048844e+01] [-5.91881086e-02 3.09682108e-03 9.98242044e-01 -1.49186629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.640714057 meters 0.034552567861937555 Centerline is valid? [True, True] Translation: X:212.35, Y:-28.21, Z:-14.92 [[ 9.94408803e-01 8.75089445e-02 5.91042938e-02 2.12347382e+02] [-8.71802040e-02 9.96159440e-01 -8.12291083e-03 -2.82064098e+01] [-5.95881276e-02 2.92476965e-03 9.98218764e-01 -1.49206844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.670714057 meters 0.03426523109268466 Centerline is valid? [True, True] Translation: X:212.38, Y:-28.21, Z:-14.92 [[ 9.94286926e-01 8.87472747e-02 5.93079208e-02 2.12376472e+02] [-8.84186391e-02 9.96050077e-01 -8.14786566e-03 -2.82097904e+01] [-5.97967600e-02 2.85739066e-03 9.98206483e-01 -1.49227092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.70071405699997 meters 0.029557053892776554 Centerline is valid? [True, True] Translation: X:212.41, Y:-28.21, Z:-14.92 [[ 9.94208066e-01 8.95137699e-02 5.94777756e-02 2.12406209e+02] [-8.91847825e-02 9.95981602e-01 -8.16839350e-03 -2.82055071e+01] [-5.99699539e-02 2.81657023e-03 9.98196209e-01 -1.49233087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.73071405699997 meters 0.030086616998440823 Centerline is valid? [True, True] Translation: X:212.43, Y:-28.21, Z:-14.92 [[ 9.94175629e-01 8.96943993e-02 5.97472386e-02 2.12433989e+02] [-8.93630014e-02 9.95965358e-01 -8.20115436e-03 -2.82103590e+01] [-6.02417775e-02 2.81419523e-03 9.98179848e-01 -1.49249831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.76071405699997 meters 0.035561468900782954 Centerline is valid? [True, True] Translation: X:212.46, Y:-28.22, Z:-14.93 [[ 9.94359019e-01 8.79870734e-02 5.92318806e-02 2.12459626e+02] [-8.76586747e-02 9.96117433e-01 -8.12508194e-03 -2.82243557e+01] [-5.97168110e-02 2.88706036e-03 9.98211184e-01 -1.49287072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.79071405699997 meters 0.036890103058469625 Centerline is valid? [True, True] Translation: X:212.49, Y:-28.23, Z:-14.93 [[ 9.94500373e-01 8.64650335e-02 5.90999685e-02 2.12486666e+02] [-8.61357363e-02 9.96250469e-01 -8.10166808e-03 -2.82311033e+01] [-5.95788823e-02 2.96649262e-03 9.98219193e-01 -1.49315359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.82071405699998 meters 0.03299482505508779 Centerline is valid? [True, True] Translation: X:212.52, Y:-28.23, Z:-14.93 [[ 9.94841100e-01 8.25611470e-02 5.89478002e-02 2.12517445e+02] [-8.22270447e-02 9.96580907e-01 -8.07526601e-03 -2.82317792e+01] [-5.94129554e-02 3.18650312e-03 9.98228404e-01 -1.49329104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.85071405699998 meters 0.03562205668735861 Centerline is valid? [True, True] Translation: X:212.54, Y:-28.24, Z:-14.94 [[ 9.95034347e-01 8.02844588e-02 5.88307302e-02 2.12544685e+02] [-7.99476808e-02 9.96766475e-01 -8.05988055e-03 -2.82411357e+01] [-5.92875828e-02 3.31647753e-03 9.98235435e-01 -1.49351490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.88071405699998 meters 0.033614037866991804 Centerline is valid? [True, True] Translation: X:212.57, Y:-28.24, Z:-14.94 [[ 9.95240464e-01 7.77395430e-02 5.87620850e-02 2.12574472e+02] [-7.73993979e-02 9.96967700e-01 -8.04601691e-03 -2.82430611e+01] [-5.92093944e-02 3.45957161e-03 9.98239590e-01 -1.49367585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.91071405699998 meters 0.0412029756056399 Centerline is valid? [True, True] Translation: X:212.60, Y:-28.26, Z:-14.94 [[ 9.95665605e-01 7.26311639e-02 5.80923101e-02 2.12601396e+02] [-7.22902243e-02 9.97351940e-01 -7.95186663e-03 -2.82605802e+01] [-5.85160314e-02 3.71789398e-03 9.98279546e-01 -1.49404670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.94071405699998 meters 0.03727091280246726 Centerline is valid? [True, True] Translation: X:212.63, Y:-28.26, Z:-14.94 [[ 9.95823604e-01 7.05119905e-02 5.79948984e-02 2.12631447e+02] [-7.01686000e-02 9.97503555e-01 -7.93885385e-03 -2.82598216e+01] [-5.84099017e-02 3.83627722e-03 9.98285313e-01 -1.49412536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.97071405699998 meters 0.03696311320802782 Centerline is valid? [True, True] Translation: X:212.66, Y:-28.27, Z:-14.94 [[ 9.96051892e-01 6.69319150e-02 5.83159321e-02 2.12661230e+02] [-6.65787371e-02 9.97749259e-01 -7.98052179e-03 -2.82654383e+01] [-5.87188296e-02 4.06641272e-03 9.98266279e-01 -1.49426263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.00071405699998 meters 0.037833075697043334 Centerline is valid? [True, True] Translation: X:212.69, Y:-28.27, Z:-14.94 [[ 9.96138746e-01 6.53451577e-02 5.86311231e-02 2.12690547e+02] [-6.49854653e-02 9.97853959e-01 -8.02277728e-03 -2.82708084e+01] [-5.90295479e-02 4.18162849e-03 9.98247478e-01 -1.49446711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.03071405699998 meters 0.03790012105013942 Centerline is valid? [True, True] Translation: X:212.72, Y:-28.28, Z:-14.95 [[ 9.96275001e-01 6.25217411e-02 5.93898528e-02 2.12720718e+02] [-6.21478287e-02 9.98033891e-01 -8.12408705e-03 -2.82758075e+01] [-5.97810180e-02 4.40287443e-03 9.98201806e-01 -1.49457613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.06071405699998 meters 0.03790012105013942 Centerline is valid? [True, True] Translation: X:212.75, Y:-28.28, Z:-14.95 [[ 9.96275001e-01 6.25217410e-02 5.93898528e-02 2.12750453e+02] [-6.21478287e-02 9.98033891e-01 -8.12408705e-03 -2.82798749e+01] [-5.97810180e-02 4.40287443e-03 9.98201806e-01 -1.49478282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.09071405699999 meters 0.039057508659859415 Centerline is valid? [True, True] Translation: X:212.78, Y:-28.29, Z:-14.95 [[ 9.96302930e-01 6.17468718e-02 5.97310289e-02 2.12780476e+02] [-6.13672609e-02 9.98081809e-01 -8.17075738e-03 -2.82858604e+01] [-6.01209721e-02 4.47501989e-03 9.98181067e-01 -1.49500047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.120714057 meters 0.03927856405754955 Centerline is valid? [True, True] Translation: X:212.81, Y:-28.29, Z:-14.95 [[ 9.96346153e-01 6.12128591e-02 5.95594685e-02 2.12809950e+02] [-6.08344811e-02 9.98114616e-01 -8.14728921e-03 -2.82906902e+01] [-5.99458949e-02 4.49425089e-03 9.98191510e-01 -1.49515030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.150714057 meters 0.0417767690976107 Centerline is valid? [True, True] Translation: X:212.84, Y:-28.30, Z:-14.95 [[ 9.96449634e-01 5.98129190e-02 5.92498223e-02 2.12839139e+02] [-5.94360606e-02 9.98199218e-01 -8.10412793e-03 -2.82977938e+01] [-5.96278578e-02 4.55377928e-03 9.98210289e-01 -1.49541602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.180714057 meters 0.042512203807352 Centerline is valid? [True, True] Translation: X:212.87, Y:-28.30, Z:-14.96 [[ 9.96485970e-01 5.92932679e-02 5.91609631e-02 2.12869631e+02] [-5.89162808e-02 9.98230082e-01 -8.09784755e-03 -2.83027827e+01] [-5.95364009e-02 4.58384756e-03 9.98215611e-01 -1.49566747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.210714057 meters 0.04303965710746742 Centerline is valid? [True, True] Translation: X:212.90, Y:-28.31, Z:-14.96 [[ 9.96507304e-01 5.92198850e-02 5.88744305e-02 2.12899361e+02] [-5.88462843e-02 9.98234510e-01 -8.06089860e-03 -2.83079344e+01] [-5.92478538e-02 4.56820285e-03 9.98232850e-01 -1.49590858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.240714057 meters 0.04493202228612631 Centerline is valid? [True, True] Translation: X:212.93, Y:-28.31, Z:-14.96 [[ 9.96568892e-01 5.93033554e-02 5.77369548e-02 2.12929444e+02] [-5.89441524e-02 9.98229973e-01 -7.90617166e-03 -2.83137250e+01] [-5.81036213e-02 4.47578887e-03 9.98300524e-01 -1.49628676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.270714057 meters 0.04500877795739812 Centerline is valid? [True, True] Translation: X:212.96, Y:-28.32, Z:-14.97 [[ 9.96606589e-01 5.90762500e-02 5.73175616e-02 2.12959999e+02] [-5.87218115e-02 9.98243521e-01 -7.84994050e-03 -2.83177170e+01] [-5.76806296e-02 4.45751137e-03 9.98325135e-01 -1.49653301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.300714057 meters 0.0462331354429241 Centerline is valid? [True, True] Translation: X:212.99, Y:-28.32, Z:-14.97 [[ 9.96678134e-01 5.89574959e-02 5.61846064e-02 2.12989616e+02] [-5.86167744e-02 9.98250904e-01 -7.69456812e-03 -2.83214698e+01] [-5.65399866e-02 4.37564740e-03 9.98390747e-01 -1.49676359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.330714057 meters 0.04713781887377162 Centerline is valid? [True, True] Translation: X:213.02, Y:-28.33, Z:-14.97 [[ 9.96661144e-01 5.92727409e-02 5.61543062e-02 2.13019262e+02] [-5.89328167e-02 9.98232319e-01 -7.69161048e-03 -2.83263273e+01] [-5.65109461e-02 4.35659787e-03 9.98392474e-01 -1.49699113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.360714057 meters 0.04712715314310882 Centerline is valid? [True, True] Translation: X:213.05, Y:-28.33, Z:-14.97 [[ 9.96659326e-01 5.92980411e-02 5.61598594e-02 2.13049242e+02] [-5.89580895e-02 9.98230821e-01 -7.69237111e-03 -2.83299068e+01] [-5.65166451e-02 4.35559540e-03 9.98392156e-01 -1.49721736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.390714057 meters 0.04120212100972034 Centerline is valid? [True, True] Translation: X:213.08, Y:-28.32, Z:-14.97 [[ 9.96619982e-01 6.00353143e-02 5.60747101e-02 2.13080424e+02] [-5.96975533e-02 9.98186961e-01 -7.68070798e-03 -2.83249256e+01] [-5.64341582e-02 4.30722405e-03 9.98397032e-01 -1.49731599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.420714057 meters 0.040965047228291605 Centerline is valid? [True, True] Translation: X:213.11, Y:-28.33, Z:-14.98 [[ 9.96547298e-01 6.15428276e-02 5.57311762e-02 2.13110199e+02] [-6.12115397e-02 9.98095624e-01 -7.63365320e-03 -2.83269463e+01] [-5.60948397e-02 4.19590536e-03 9.98416628e-01 -1.49751094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.45071405699997 meters 0.04695919668156815 Centerline is valid? [True, True] Translation: X:213.14, Y:-28.34, Z:-14.98 [[ 9.96505387e-01 6.24255926e-02 5.54982765e-02 2.13138539e+02] [-6.20984191e-02 9.98041079e-01 -7.60197718e-03 -2.83380007e+01] [-5.58641177e-02 4.12905598e-03 9.98429843e-01 -1.49783080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.48071405699997 meters 0.04035732671879751 Centerline is valid? [True, True] Translation: X:213.17, Y:-28.33, Z:-14.98 [[ 9.96329129e-01 6.48327858e-02 5.59014987e-02 2.13169581e+02] [-6.45046442e-02 9.97888035e-01 -7.65641899e-03 -2.83291417e+01] [-5.62798237e-02 4.02240698e-03 9.98406932e-01 -1.49778280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.51071405699997 meters 0.04195281622510239 Centerline is valid? [True, True] Translation: X:213.20, Y:-28.33, Z:-14.98 [[ 9.96260259e-01 6.57862399e-02 5.60148891e-02 2.13197943e+02] [-6.54583638e-02 9.97825822e-01 -7.67014707e-03 -2.83338260e+01] [-5.63976929e-02 3.97481972e-03 9.98400471e-01 -1.49802701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.54071405699997 meters 0.0413712372397979 Centerline is valid? [True, True] Translation: X:213.23, Y:-28.34, Z:-14.98 [[ 9.96153805e-01 6.69516825e-02 5.65249502e-02 2.13227078e+02] [-6.66198396e-02 9.97748434e-01 -7.73693063e-03 -2.83363679e+01] [-5.69156810e-02 3.94148977e-03 9.98371208e-01 -1.49819926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.57071405699998 meters 0.040361571842605665 Centerline is valid? [True, True] Translation: X:213.26, Y:-28.34, Z:-14.98 [[ 9.95965565e-01 6.92703179e-02 5.70457442e-02 2.13256916e+02] [-6.89362932e-02 9.97590532e-01 -7.80494927e-03 -2.83372652e+01] [-5.74489456e-02 3.84093855e-03 9.98341057e-01 -1.49837318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.60071405699998 meters 0.03707971439962729 Centerline is valid? [True, True] Translation: X:213.29, Y:-28.33, Z:-14.98 [[ 9.95908217e-01 7.00181180e-02 5.71339409e-02 2.13286615e+02] [-6.96843749e-02 9.97538474e-01 -7.81540818e-03 -2.83346116e+01] [-5.75405244e-02 3.80208627e-03 9.98335932e-01 -1.49847795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.63071405699998 meters 0.04054080876904377 Centerline is valid? [True, True] Translation: X:213.31, Y:-28.34, Z:-14.99 [[ 9.95846807e-01 7.07428664e-02 5.73112836e-02 2.13313313e+02] [-7.04084733e-02 9.97487469e-01 -7.83561865e-03 -2.83425871e+01] [-5.77216013e-02 3.76787584e-03 9.98325608e-01 -1.49870026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.66071405699998 meters 0.03715568483132779 Centerline is valid? [True, True] Translation: X:213.34, Y:-28.34, Z:-14.99 [[ 9.95851512e-01 7.11500723e-02 5.67224208e-02 2.13342600e+02] [-7.08234837e-02 9.97458758e-01 -7.74983531e-03 -2.83393016e+01] [-5.71296767e-02 3.70040577e-03 9.98359909e-01 -1.49876635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.69071405699998 meters 0.03706727221554895 Centerline is valid? [True, True] Translation: X:213.37, Y:-28.34, Z:-14.99 [[ 9.95815587e-01 7.15691630e-02 5.68258078e-02 2.13371133e+02] [-7.12422946e-02 9.97428855e-01 -7.75987119e-03 -2.83425954e+01] [-5.72350678e-02 3.67899975e-03 9.98353951e-01 -1.49896618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.72071405699998 meters 0.037948224241298664 Centerline is valid? [True, True] Translation: X:213.40, Y:-28.35, Z:-14.99 [[ 9.95766757e-01 7.14935244e-02 5.77688679e-02 2.13399661e+02] [-7.11558217e-02 9.97434050e-01 -7.88441679e-03 -2.83483091e+01] [-5.81843207e-02 3.74044887e-03 9.98298850e-01 -1.49916633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.75071405699998 meters 0.03616026892311693 Centerline is valid? [True, True] Translation: X:213.43, Y:-28.35, Z:-14.99 [[ 9.95744842e-01 7.16308355e-02 5.79761401e-02 2.13428085e+02] [-7.12911753e-02 9.97424194e-01 -7.90856796e-03 -2.83497507e+01] [-5.83933021e-02 3.74172859e-03 9.98286643e-01 -1.49928298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.78071405699998 meters 0.03608712854427375 Centerline is valid? [True, True] Translation: X:213.46, Y:-28.35, Z:-14.99 [[ 9.95735127e-01 7.18293599e-02 5.78973270e-02 2.13456914e+02] [-7.14912039e-02 9.97409995e-01 -7.89360370e-03 -2.83534056e+01] [-5.83143652e-02 3.72078887e-03 9.98291336e-01 -1.49949750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.81071405699998 meters 0.03995444349127519 Centerline is valid? [True, True] Translation: X:213.48, Y:-28.36, Z:-15.00 [[ 9.95640046e-01 7.30846194e-02 5.79615148e-02 2.13484014e+02] [-7.27480748e-02 9.97319075e-01 -7.89814665e-03 -2.83628263e+01] [-5.83833574e-02 3.64712248e-03 9.98287575e-01 -1.49980463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.84071405699999 meters 0.04015398339435598 Centerline is valid? [True, True] Translation: X:213.51, Y:-28.37, Z:-15.00 [[ 9.95600587e-01 7.36667666e-02 5.79023204e-02 2.13511628e+02] [-7.33321238e-02 9.97276396e-01 -7.88607410e-03 -2.83666397e+01] [-5.83255589e-02 3.60527987e-03 9.98291105e-01 -1.50005005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.870714057 meters 0.0395562043437214 Centerline is valid? [True, True] Translation: X:213.54, Y:-28.37, Z:-15.00 [[ 9.95504816e-01 7.47427208e-02 5.81694701e-02 2.13539771e+02] [-7.44071115e-02 9.97196520e-01 -7.91726635e-03 -2.83704481e+01] [-5.85981511e-02 3.55345453e-03 9.98275328e-01 -1.50023524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.900714057 meters 0.04040717908478768 Centerline is valid? [True, True] Translation: X:213.57, Y:-28.37, Z:-15.01 [[ 9.95446517e-01 7.57209073e-02 5.79014393e-02 2.13567358e+02] [-7.53902533e-02 9.97122992e-01 -7.87705322e-03 -2.83747781e+01] [-5.83313140e-02 3.47598101e-03 9.98291228e-01 -1.50051060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.930714057 meters 0.03972897896584131 Centerline is valid? [True, True] Translation: X:213.60, Y:-28.38, Z:-15.01 [[ 9.95431266e-01 7.59383300e-02 5.78788749e-02 2.13595590e+02] [-7.56085932e-02 9.97106524e-01 -7.86896120e-03 -2.83778311e+01] [-5.83089595e-02 3.45686971e-03 9.98292600e-01 -1.50067595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.960714057 meters 0.04087201849060899 Centerline is valid? [True, True] Translation: X:213.62, Y:-28.38, Z:-15.01 [[ 9.95437414e-01 7.57784638e-02 5.79825753e-02 2.13622354e+02] [-7.54474926e-02 9.97118645e-01 -7.87930230e-03 -2.83834304e+01] [-5.84125883e-02 3.46871239e-03 9.98286501e-01 -1.50091744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.990714057 meters 0.04087712060101749 Centerline is valid? [True, True] Translation: X:213.65, Y:-28.39, Z:-15.01 [[ 9.95477994e-01 7.55404198e-02 5.75952198e-02 2.13651070e+02] [-7.52137558e-02 9.97136757e-01 -7.82166569e-03 -2.83875369e+01] [-5.80211626e-02 3.45434327e-03 9.98309377e-01 -1.50115545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.020714057 meters 0.04182030506061146 Centerline is valid? [True, True] Translation: X:213.68, Y:-28.39, Z:-15.01 [[ 9.95517739e-01 7.54649492e-02 5.70041461e-02 2.13677852e+02] [-7.51450469e-02 9.97142592e-01 -7.73781874e-03 -2.83925285e+01] [-5.74251961e-02 3.41955658e-03 9.98343956e-01 -1.50147092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.050714057 meters 0.033885504103809805 Centerline is valid? [True, True] Translation: X:213.71, Y:-28.38, Z:-15.01 [[ 9.95519941e-01 7.58607689e-02 5.64374936e-02 2.13707841e+02] [-7.55481038e-02 9.97112765e-01 -7.65620841e-03 -2.83841795e+01] [-5.68553511e-02 3.35816252e-03 9.98376778e-01 -1.50146201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.080714057 meters 0.03355735754885327 Centerline is valid? [True, True] Translation: X:213.74, Y:-28.39, Z:-15.02 [[ 9.95442262e-01 7.65270512e-02 5.69061759e-02 2.13736209e+02] [-7.62104902e-02 9.97061899e-01 -7.71558127e-03 -2.83877699e+01] [-5.73294305e-02 3.34356812e-03 9.98349717e-01 -1.50159888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.110714057 meters 0.033371655254634376 Centerline is valid? [True, True] Translation: X:213.77, Y:-28.39, Z:-15.02 [[ 9.95378805e-01 7.70565670e-02 5.73002664e-02 2.13765133e+02] [-7.67367207e-02 9.97021155e-01 -7.76474948e-03 -2.83918061e+01] [-5.77279027e-02 3.33183253e-03 9.98326794e-01 -1.50171410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.140714057 meters 0.03313965639950529 Centerline is valid? [True, True] Translation: X:213.79, Y:-28.40, Z:-15.02 [[ 9.95206210e-01 7.82600938e-02 5.86511427e-02 2.13794156e+02] [-7.79273216e-02 9.96927399e-01 -7.94319338e-03 -2.83955752e+01] [-5.90925662e-02 3.33458892e-03 9.98246938e-01 -1.50184296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.170714057 meters 0.034129750159355085 Centerline is valid? [True, True] Translation: X:213.82, Y:-28.40, Z:-15.02 [[ 9.95122234e-01 7.89493690e-02 5.91501250e-02 2.13821125e+02] [-7.86122913e-02 9.96873103e-01 -8.00781865e-03 -2.84006405e+01] [-5.95973808e-02 3.31883153e-03 9.98216979e-01 -1.50202605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.20071405699997 meters 0.034838658168236995 Centerline is valid? [True, True] Translation: X:213.85, Y:-28.41, Z:-15.02 [[ 9.95030042e-01 7.94915277e-02 5.99692596e-02 2.13848715e+02] [-7.91463496e-02 9.96829991e-01 -8.11321027e-03 -2.84058611e+01] [-6.04240880e-02 3.32653997e-03 9.98167252e-01 -1.50221668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.23071405699997 meters 0.03456415861525992 Centerline is valid? [True, True] Translation: X:213.88, Y:-28.41, Z:-15.02 [[ 9.95027739e-01 7.92709958e-02 6.02984964e-02 2.13877391e+02] [-7.89219476e-02 9.96847465e-01 -8.15218024e-03 -2.84099403e+01] [-6.07546347e-02 3.35277069e-03 9.98147100e-01 -1.50240713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.26071405699997 meters 0.035098717691284635 Centerline is valid? [True, True] Translation: X:213.90, Y:-28.42, Z:-15.03 [[ 9.95035330e-01 7.87604675e-02 6.08397910e-02 2.13904528e+02] [-7.84044273e-02 9.96887737e-01 -8.22108384e-03 -2.84154068e+01] [-6.12979379e-02 3.41015991e-03 9.98113688e-01 -1.50258814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.29071405699997 meters 0.03686375793815039 Centerline is valid? [True, True] Translation: X:213.93, Y:-28.42, Z:-15.03 [[ 9.95101351e-01 7.76171860e-02 6.12280401e-02 2.13931328e+02] [-7.72547634e-02 9.96977101e-01 -8.26806941e-03 -2.84239275e+01] [-6.16846982e-02 3.49740930e-03 9.98089558e-01 -1.50281058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.32071405699998 meters 0.03760830382509399 Centerline is valid? [True, True] Translation: X:213.96, Y:-28.43, Z:-15.03 [[ 9.95211392e-01 7.62220593e-02 6.11921805e-02 2.13959935e+02] [-7.58577814e-02 9.97084454e-01 -8.25762640e-03 -2.84298501e+01] [-6.16431852e-02 3.57618081e-03 9.98091844e-01 -1.50304012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.35071405699998 meters 0.040181381004239375 Centerline is valid? [True, True] Translation: X:213.99, Y:-28.44, Z:-15.03 [[ 9.95461465e-01 7.32557387e-02 6.07459278e-02 2.13988206e+02] [-7.28914698e-02 9.97306217e-01 -8.19403704e-03 -2.84399984e+01] [-6.11825517e-02 3.72898817e-03 9.98119627e-01 -1.50339289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.38071405699998 meters 0.041514513576445804 Centerline is valid? [True, True] Translation: X:214.02, Y:-28.45, Z:-15.04 [[ 9.95612242e-01 7.13939594e-02 6.04910438e-02 2.14016442e+02] [-7.10293702e-02 9.97440856e-01 -8.15891836e-03 -2.84468029e+01] [-6.09187360e-02 3.82647826e-03 9.98135394e-01 -1.50362668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.41071405699998 meters 0.04324555872905824 Centerline is valid? [True, True] Translation: X:214.05, Y:-28.45, Z:-15.04 [[ 9.95839162e-01 6.90167933e-02 5.95066842e-02 2.14045884e+02] [-6.86599814e-02 9.97607861e-01 -8.02258060e-03 -2.84533642e+01] [-5.99180288e-02 3.90347211e-03 9.98195669e-01 -1.50391822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.44071405699998 meters 0.04672713716172289 Centerline is valid? [True, True] Translation: X:214.07, Y:-28.46, Z:-15.04 [[ 9.96237504e-01 6.50386916e-02 5.72783074e-02 2.14074173e+02] [-6.47016615e-02 9.97874782e-01 -7.72104664e-03 -2.84634937e+01] [-5.76587453e-02 3.98599457e-03 9.98328393e-01 -1.50443833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.47071405699998 meters 0.03950199122013872 Centerline is valid? [True, True] Translation: X:214.10, Y:-28.46, Z:-15.05 [[ 9.96416984e-01 6.30887968e-02 5.63293677e-02 2.14104758e+02] [-6.27597339e-02 9.97999776e-01 -7.59355687e-03 -2.84572729e+01] [-5.66957648e-02 4.03113291e-03 9.98383363e-01 -1.50457206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.50071405699998 meters 0.04091398414805489 Centerline is valid? [True, True] Translation: X:214.13, Y:-28.46, Z:-15.05 [[ 9.96688566e-01 5.96204072e-02 5.52929352e-02 2.14133744e+02] [-5.92981847e-02 9.98212503e-01 -7.45146094e-03 -2.84649956e+01] [-5.56383584e-02 4.14801523e-03 9.98442370e-01 -1.50489673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.53071405699998 meters 0.04739432401373541 Centerline is valid? [True, True] Translation: X:214.16, Y:-28.48, Z:-15.05 [[ 9.96734745e-01 5.85546424e-02 5.55985738e-02 2.14161841e+02] [-5.82272122e-02 9.98275241e-01 -7.49235427e-03 -2.84788127e+01] [-5.59413918e-02 4.23053986e-03 9.98425091e-01 -1.50527721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.56071405699998 meters 0.042354889199085526 Centerline is valid? [True, True] Translation: X:214.19, Y:-28.48, Z:-15.05 [[ 9.96782213e-01 5.73569924e-02 5.59945934e-02 2.14192526e+02] [-5.70229976e-02 9.98344349e-01 -7.54571937e-03 -2.84757543e+01] [-5.63346857e-02 4.32845929e-03 9.98402558e-01 -1.50534651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.59071405699999 meters 0.05514831501980929 Centerline is valid? [True, True] Translation: X:214.22, Y:-28.50, Z:-15.06 [[ 9.96796205e-01 5.60293294e-02 5.70792487e-02 2.14220713e+02] [-5.56802371e-02 9.98419043e-01 -7.68931624e-03 -2.84980384e+01] [-5.74198361e-02 4.48649514e-03 9.98340039e-01 -1.50566189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.620714057 meters 0.044501039700039796 Centerline is valid? [True, True] Translation: X:214.25, Y:-28.49, Z:-15.06 [[ 9.96764434e-01 5.58982923e-02 5.77585006e-02 2.14254218e+02] [-5.55396935e-02 9.98426039e-01 -7.79659176e-03 -2.84876061e+01] [-5.81034072e-02 4.56347595e-03 9.98300140e-01 -1.50558263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.650714057 meters 0.04583549792354809 Centerline is valid? [True, True] Translation: X:214.29, Y:-28.49, Z:-15.06 [[ 9.96664863e-01 5.61009225e-02 5.92607573e-02 2.14285349e+02] [-5.57237264e-02 9.98414177e-01 -7.99983379e-03 -2.84939533e+01] [-5.96155783e-02 4.67092302e-03 9.98210481e-01 -1.50573411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.680714057 meters 0.04665321098993119 Centerline is valid? [True, True] Translation: X:214.32, Y:-28.50, Z:-15.06 [[ 9.96604714e-01 5.64440373e-02 5.99426020e-02 2.14315845e+02] [-5.60578273e-02 9.98394613e-01 -8.10655347e-03 -2.84995531e+01] [-6.03039375e-02 4.71877737e-03 9.98168908e-01 -1.50589850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.710714057 meters 0.04669293705063322 Centerline is valid? [True, True] Translation: X:214.35, Y:-28.50, Z:-15.06 [[ 9.96535338e-01 5.71086499e-02 6.04642178e-02 2.14347415e+02] [-5.67164203e-02 9.98356778e-01 -8.18485033e-03 -2.85043891e+01] [-6.08322874e-02 4.72717860e-03 9.98136808e-01 -1.50606107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.740714057 meters 0.04058140800729035 Centerline is valid? [True, True] Translation: X:214.38, Y:-28.50, Z:-15.06 [[ 9.96480281e-01 5.78827114e-02 6.06353223e-02 2.14380572e+02] [-5.74887834e-02 9.98312290e-01 -8.22265181e-03 -2.84989033e+01] [-6.10089369e-02 4.70785947e-03 9.98126117e-01 -1.50616954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.770714057 meters 0.04827446507275946 Centerline is valid? [True, True] Translation: X:214.41, Y:-28.51, Z:-15.07 [[ 9.96470844e-01 5.85951011e-02 6.01038436e-02 2.14409540e+02] [-5.82084053e-02 9.98271053e-01 -8.16610857e-03 -2.85145206e+01] [-6.04784212e-02 4.63874021e-03 9.98158726e-01 -1.50653616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.800714057 meters 0.04876822985048448 Centerline is valid? [True, True] Translation: X:214.44, Y:-28.52, Z:-15.07 [[ 9.96546126e-01 5.83963564e-02 5.90396768e-02 2.14439946e+02] [-5.80219787e-02 9.98282953e-01 -8.03711922e-03 -2.85193599e+01] [-5.94076414e-02 4.58376116e-03 9.98223282e-01 -1.50688221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.830714057 meters 0.051275262339261246 Centerline is valid? [True, True] Translation: X:214.47, Y:-28.53, Z:-15.07 [[ 9.96630844e-01 5.86234730e-02 5.73607011e-02 2.14470237e+02] [-5.82704409e-02 9.98270289e-01 -7.80940012e-03 -2.85270054e+01] [-5.77192978e-02 4.44065569e-03 9.98322975e-01 -1.50742034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.860714057 meters 0.04348361587119041 Centerline is valid? [True, True] Translation: X:214.50, Y:-28.52, Z:-15.08 [[ 9.96649514e-01 5.86988552e-02 5.69577948e-02 2.14501535e+02] [-5.83503860e-02 9.98265978e-01 -7.76340139e-03 -2.85199665e+01] [-5.73147314e-02 4.41388091e-03 9.98346402e-01 -1.50757541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.890714057 meters 0.05151646737840486 Centerline is valid? [True, True] Translation: X:214.53, Y:-28.53, Z:-15.08 [[ 9.96720467e-01 5.87943736e-02 5.56015503e-02 2.14530087e+02] [-5.84624841e-02 9.98260841e-01 -7.57832151e-03 -2.85338141e+01] [-5.59504130e-02 4.30286341e-03 9.98424277e-01 -1.50798760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.920714057 meters 0.041999354307125154 Centerline is valid? [True, True] Translation: X:214.56, Y:-28.52, Z:-15.08 [[ 9.96709010e-01 5.89429547e-02 5.56495961e-02 2.14562115e+02] [-5.86106525e-02 9.98252094e-01 -7.58608529e-03 -2.85226709e+01] [-5.59994721e-02 4.29946042e-03 9.98421541e-01 -1.50795750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.95071405699997 meters 0.04359573250746371 Centerline is valid? [True, True] Translation: X:214.59, Y:-28.53, Z:-15.08 [[ 9.96685840e-01 5.94612741e-02 5.55130040e-02 2.14591515e+02] [-5.91313892e-02 9.98221523e-01 -7.56769093e-03 -2.85278076e+01] [-5.58642599e-02 4.26004934e-03 9.98429285e-01 -1.50816609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.98071405699997 meters 0.04359573250746371 Centerline is valid? [True, True] Translation: X:214.62, Y:-28.53, Z:-15.08 [[ 9.96685836e-01 5.94611917e-02 5.55131677e-02 2.14621259e+02] [-5.91313732e-02 9.98221533e-01 -7.56649001e-03 -2.85318621e+01] [-5.58643519e-02 4.25884359e-03 9.98429285e-01 -1.50837288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.01071405699997 meters 0.04721587546232316 Centerline is valid? [True, True] Translation: X:214.65, Y:-28.54, Z:-15.09 [[ 9.96625464e-01 5.99888725e-02 5.60269465e-02 2.14650130e+02] [-5.96537287e-02 9.98189918e-01 -7.63673096e-03 -2.85400522e+01] [-5.63836520e-02 4.26874428e-03 9.98400051e-01 -1.50865729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.04071405699997 meters 0.04642859759095838 Centerline is valid? [True, True] Translation: X:214.68, Y:-28.54, Z:-15.09 [[ 9.96525981e-01 6.06919955e-02 5.70302643e-02 2.14680272e+02] [-6.03459269e-02 9.98147263e-01 -7.77245476e-03 -2.85421124e+01] [-5.73963280e-02 4.30390895e-03 9.98342195e-01 -1.50878448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.07071405699998 meters 0.041898874329240686 Centerline is valid? [True, True] Translation: X:214.71, Y:-28.54, Z:-15.09 [[ 9.96492790e-01 6.08587286e-02 5.74311308e-02 2.14711269e+02] [-6.05081140e-02 9.98137026e-01 -7.82591382e-03 -2.85384684e+01] [-5.78004133e-02 4.32341728e-03 9.98318797e-01 -1.50887845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.10071405699998 meters 0.04416170612880727 Centerline is valid? [True, True] Translation: X:214.74, Y:-28.54, Z:-15.09 [[ 9.96420161e-01 6.12648681e-02 5.82535707e-02 2.14739965e+02] [-6.09048041e-02 9.98112013e-01 -7.93815962e-03 -2.85438907e+01] [-5.86299190e-02 4.36181998e-03 9.98270258e-01 -1.50904075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.13071405699998 meters 0.040958100147152066 Centerline is valid? [True, True] Translation: X:214.77, Y:-28.54, Z:-15.09 [[ 9.96383024e-01 6.14504219e-02 5.86917023e-02 2.14771040e+02] [-6.10853054e-02 9.98100516e-01 -7.99664031e-03 -2.85418052e+01] [-5.90716152e-02 4.38251609e-03 9.98244127e-01 -1.50916667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.16071405699998 meters 0.04180792551643596 Centerline is valid? [True, True] Translation: X:214.80, Y:-28.54, Z:-15.09 [[ 9.96250404e-01 6.33462970e-02 5.89269030e-02 2.14799894e+02] [-6.29815196e-02 9.97982396e-01 -8.02901511e-03 -2.85449837e+01] [-5.93166203e-02 4.28760364e-03 9.98230011e-01 -1.50938105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.19071405699998 meters 0.03932548147580863 Centerline is valid? [True, True] Translation: X:214.83, Y:-28.54, Z:-15.10 [[ 9.96139548e-01 6.48786574e-02 5.91334148e-02 2.14829879e+02] [-6.45141254e-02 9.97884284e-01 -8.05502069e-03 -2.85446188e+01] [-5.95309042e-02 4.20898413e-03 9.98217589e-01 -1.50954351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.22071405699998 meters 0.04251614212925672 Centerline is valid? [True, True] Translation: X:214.86, Y:-28.55, Z:-15.10 [[ 9.96094756e-01 6.56586686e-02 5.90269082e-02 2.14858038e+02] [-6.52969491e-02 9.97833501e-01 -8.03820861e-03 -2.85525843e+01] [-5.94268045e-02 4.15254043e-03 9.98224029e-01 -1.50982352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.25071405699998 meters 0.038374930525468705 Centerline is valid? [True, True] Translation: X:214.89, Y:-28.55, Z:-15.10 [[ 9.96066469e-01 6.64997669e-02 5.85608248e-02 2.14888241e+02] [-6.61452417e-02 9.97778144e-01 -7.97387298e-03 -2.85503704e+01] [-5.89609717e-02 4.06898760e-03 9.98251996e-01 -1.51003652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.28071405699998 meters 0.03822875593300156 Centerline is valid? [True, True] Translation: X:214.92, Y:-28.56, Z:-15.11 [[ 9.95928667e-01 7.00001559e-02 5.67984932e-02 2.14916217e+02] [-6.96724417e-02 9.97539957e-01 -7.73208090e-03 -2.85551684e+01] [-5.72000134e-02 3.74331131e-03 9.98355721e-01 -1.51051032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.31071405699998 meters 0.036701241316396044 Centerline is valid? [True, True] Translation: X:214.95, Y:-28.56, Z:-15.11 [[ 9.95870518e-01 7.10845854e-02 5.64702838e-02 2.14945294e+02] [-7.07625508e-02 9.97463588e-01 -7.68452777e-03 -2.85565762e+01] [-5.68733033e-02 3.65681333e-03 9.98374707e-01 -1.51071805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.34071405699999 meters 0.036691398710681326 Centerline is valid? [True, True] Translation: X:214.97, Y:-28.56, Z:-15.11 [[ 9.95746263e-01 7.26264932e-02 5.66989549e-02 2.14973996e+02] [-7.23045677e-02 9.97352787e-01 -7.71147096e-03 -2.85591665e+01] [-5.71089179e-02 3.57907497e-03 9.98361539e-01 -1.51089684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.370714057 meters 0.03817468269015012 Centerline is valid? [True, True] Translation: X:215.00, Y:-28.56, Z:-15.11 [[ 9.95712744e-01 7.30951718e-02 5.66853322e-02 2.15001710e+02] [-7.27743915e-02 9.97318662e-01 -7.70551753e-03 -2.85647548e+01] [-5.70965757e-02 3.54724145e-03 9.98362358e-01 -1.51114934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.400714057 meters 0.03994579134730516 Centerline is valid? [True, True] Translation: X:215.03, Y:-28.57, Z:-15.11 [[ 9.95677862e-01 7.37250006e-02 5.64820258e-02 2.15028452e+02] [-7.34077493e-02 9.97272486e-01 -7.67401162e-03 -2.85708891e+01] [-5.68937368e-02 3.49462509e-03 9.98374123e-01 -1.51144999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.430714057 meters 0.034862271309805876 Centerline is valid? [True, True] Translation: X:215.06, Y:-28.57, Z:-15.12 [[ 9.95636556e-01 7.41618201e-02 5.66380923e-02 2.15058040e+02] [-7.38438059e-02 9.97240169e-01 -7.69011543e-03 -2.85676157e+01] [-5.70520937e-02 3.47418775e-03 9.98365158e-01 -1.51155834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.460714057 meters 0.03492413120646113 Centerline is valid? [True, True] Translation: X:215.09, Y:-28.57, Z:-15.12 [[ 9.95614974e-01 7.36971955e-02 5.76155103e-02 2.15086067e+02] [-7.33675699e-02 9.97274320e-01 -7.81854368e-03 -2.85717661e+01] [-5.80346737e-02 3.55714919e-03 9.98308231e-01 -1.51171482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.490714057 meters 0.041016863206003305 Centerline is valid? [True, True] Translation: X:215.11, Y:-28.58, Z:-15.12 [[ 9.95662411e-01 7.25311316e-02 5.82717602e-02 2.15111630e+02] [-7.21921875e-02 9.97359424e-01 -7.90365926e-03 -2.85849823e+01] [-5.86911505e-02 3.66261060e-03 9.98269470e-01 -1.51192740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.520714057 meters 0.03676002975097861 Centerline is valid? [True, True] Translation: X:215.14, Y:-28.58, Z:-15.12 [[ 9.95815233e-01 6.91554572e-02 5.97456667e-02 2.15142206e+02] [-6.87935240e-02 9.97598067e-01 -8.09617491e-03 -2.85821870e+01] [-6.01620563e-02 3.95217935e-03 9.98180799e-01 -1.51183205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.550714057 meters 0.03743006870622922 Centerline is valid? [True, True] Translation: X:215.17, Y:-28.59, Z:-15.12 [[ 9.95935006e-01 6.69766640e-02 6.02294770e-02 2.15171533e+02] [-6.66049316e-02 9.97746052e-01 -8.16077312e-03 -2.85878185e+01] [-6.06403042e-02 4.11601943e-03 9.98151197e-01 -1.51199136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.580714057 meters 0.03739141103654493 Centerline is valid? [True, True] Translation: X:215.20, Y:-28.59, Z:-15.12 [[ 9.96121546e-01 6.35922666e-02 6.08102756e-02 2.15200498e+02] [-6.32071925e-02 9.97966433e-01 -8.23711358e-03 -2.85941094e+01] [-6.12104306e-02 4.36151952e-03 9.98115354e-01 -1.51225208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.610714057 meters 0.03950462104228565 Centerline is valid? [True, True] Translation: X:215.23, Y:-28.60, Z:-15.12 [[ 9.96222711e-01 6.17942946e-02 6.10063522e-02 2.15229144e+02] [-6.14034535e-02 9.98078828e-01 -8.26245560e-03 -2.86024275e+01] [-6.13997211e-02 4.48524522e-03 9.98103179e-01 -1.51249720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.640714057 meters 0.04317744996506443 Centerline is valid? [True, True] Translation: X:215.26, Y:-28.61, Z:-15.13 [[ 9.96372801e-01 5.95191139e-02 6.08170662e-02 2.15258371e+02] [-5.91265334e-02 9.98216520e-01 -8.23606047e-03 -2.86125611e+01] [-6.11988032e-02 4.61028436e-03 9.98114949e-01 -1.51276754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.670714057 meters 0.04309214257223005 Centerline is valid? [True, True] Translation: X:215.29, Y:-28.62, Z:-15.13 [[ 9.96592070e-01 5.51065082e-02 6.13801212e-02 2.15287779e+02] [-5.46980880e-02 9.98468311e-01 -8.31574400e-03 -2.86188802e+01] [-6.17443576e-02 4.93002925e-03 9.98079821e-01 -1.51287145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.70071405699997 meters 0.0440471570379039 Centerline is valid? [True, True] Translation: X:215.32, Y:-28.62, Z:-15.13 [[ 9.96713683e-01 5.29079297e-02 6.13399148e-02 2.15318785e+02] [-5.24959050e-02 9.98586560e-01 -8.31042298e-03 -2.86246603e+01] [-6.16929017e-02 5.06301796e-03 9.98082337e-01 -1.51307294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.73071405699997 meters 0.047569676426683645 Centerline is valid? [True, True] Translation: X:215.35, Y:-28.64, Z:-15.13 [[ 9.96933610e-01 4.90813753e-02 6.09458495e-02 2.15348052e+02] [-4.86673888e-02 9.98780890e-01 -8.25953072e-03 -2.86352352e+01] [-6.12769389e-02 5.26812842e-03 9.98106900e-01 -1.51337212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.76071405699997 meters 0.04822601027477096 Centerline is valid? [True, True] Translation: X:215.38, Y:-28.64, Z:-15.14 [[ 9.97025661e-01 4.75482117e-02 6.06547515e-02 2.15378802e+02] [-4.71353781e-02 9.98854689e-01 -8.21984494e-03 -2.86424018e+01] [-6.09761219e-02 5.33641169e-03 9.98124960e-01 -1.51366684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.79071405699997 meters 0.05000450161002999 Centerline is valid? [True, True] Translation: X:215.41, Y:-28.65, Z:-15.14 [[ 9.97120491e-01 4.61970866e-02 6.01378090e-02 2.15409489e+02] [-4.57887126e-02 9.98917885e-01 -8.15181868e-03 -2.86498622e+01] [-6.04493233e-02 5.37471259e-03 9.98156797e-01 -1.51396632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.82071405699998 meters 0.055367683756017014 Centerline is valid? [True, True] Translation: X:215.44, Y:-28.66, Z:-15.14 [[ 9.97240543e-01 4.43338897e-02 5.95466757e-02 2.15437830e+02] [-4.39300014e-02 9.99001973e-01 -8.07542909e-03 -2.86632951e+01] [-5.98452617e-02 5.43725974e-03 9.98192858e-01 -1.51432975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.85071405699998 meters 0.051787334565984645 Centerline is valid? [True, True] Translation: X:215.47, Y:-28.66, Z:-15.15 [[ 9.97293038e-01 4.35193686e-02 5.92677043e-02 2.15470297e+02] [-4.31178752e-02 9.99037665e-01 -8.03694998e-03 -2.86632307e+01] [-5.95604320e-02 5.45969678e-03 9.98209771e-01 -1.51450945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.88071405699998 meters 0.0501567407965461 Centerline is valid? [True, True] Translation: X:215.50, Y:-28.67, Z:-15.15 [[ 9.97347886e-01 4.24012128e-02 5.91551478e-02 2.15502147e+02] [-4.19990396e-02 9.99085414e-01 -8.02601134e-03 -2.86659101e+01] [-5.94413579e-02 5.52026605e-03 9.98216535e-01 -1.51465054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.91071405699998 meters 0.0534834167257895 Centerline is valid? [True, True] Translation: X:215.53, Y:-28.67, Z:-15.15 [[ 9.97312247e-01 4.20659894e-02 5.99894600e-02 2.15532384e+02] [-4.16515314e-02 9.99099013e-01 -8.14319953e-03 -2.86749369e+01] [-6.02779620e-02 5.62265975e-03 9.98165794e-01 -1.51488011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.94071405699998 meters 0.05509775427725742 Centerline is valid? [True, True] Translation: X:215.56, Y:-28.68, Z:-15.15 [[ 9.97326810e-01 4.15474977e-02 6.01085612e-02 2.15562640e+02] [-4.11299567e-02 9.99120421e-01 -8.16763663e-03 -2.86820059e+01] [-6.03950359e-02 5.67354047e-03 9.98158430e-01 -1.51508855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.97071405699998 meters 0.05589787029698106 Centerline is valid? [True, True] Translation: X:215.59, Y:-28.69, Z:-15.15 [[ 9.97321046e-01 4.00331899e-02 6.12215206e-02 2.15593007e+02] [-3.95966709e-02 9.99181044e-01 -8.32732011e-03 -2.86882849e+01] [-6.15047521e-02 5.88084320e-03 9.98089466e-01 -1.51534884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.00071405699998 meters 0.05613037504375678 Centerline is valid? [True, True] Translation: X:215.62, Y:-28.69, Z:-15.16 [[ 9.97303252e-01 3.97286402e-02 6.17078477e-02 2.15624430e+02] [-3.92845173e-02 9.99192805e-01 -8.39430681e-03 -2.86936982e+01] [-6.19915319e-02 5.94750647e-03 9.98058955e-01 -1.51559290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.03071405699998 meters 0.05879488718921885 Centerline is valid? [True, True] Translation: X:215.65, Y:-28.70, Z:-15.16 [[ 9.97324286e-01 3.93274458e-02 6.16248294e-02 2.15654104e+02] [-3.88827383e-02 9.99208477e-01 -8.39950442e-03 -2.87026410e+01] [-6.19063830e-02 5.98088764e-03 9.98064040e-01 -1.51588539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.06071405699998 meters 0.05932800400438826 Centerline is valid? [True, True] Translation: X:215.69, Y:-28.71, Z:-15.16 [[ 9.97281002e-01 3.96901151e-02 6.20910493e-02 2.15685622e+02] [-3.92392773e-02 9.99193995e-01 -8.46400425e-03 -2.87082386e+01] [-6.23769410e-02 6.00458274e-03 9.98034600e-01 -1.51612916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.09071405699999 meters 0.05968066981367897 Centerline is valid? [True, True] Translation: X:215.72, Y:-28.71, Z:-15.16 [[ 9.97265490e-01 3.98361734e-02 6.22464674e-02 2.15718115e+02] [-3.93824263e-02 9.99188058e-01 -8.49998511e-03 -2.87131510e+01] [-6.25345338e-02 6.02532490e-03 9.98024613e-01 -1.51636144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.120714057 meters 0.061439537808249754 Centerline is valid? [True, True] Translation: X:215.75, Y:-28.72, Z:-15.17 [[ 9.97181605e-01 4.04840009e-02 6.31655958e-02 2.15748180e+02] [-4.00168760e-02 9.99161619e-01 -8.64342716e-03 -2.87204352e+01] [-6.34625594e-02 6.09137675e-03 9.97965630e-01 -1.51657778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.150714057 meters 0.05394934954155877 Centerline is valid? [True, True] Translation: X:215.78, Y:-28.72, Z:-15.17 [[ 9.97128314e-01 4.09958374e-02 6.36746907e-02 2.15781447e+02] [-4.05212632e-02 9.99140562e-01 -8.72725383e-03 -2.87153995e+01] [-6.39777473e-02 6.12201300e-03 9.97932547e-01 -1.51673667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.180714057 meters 0.05423403580261111 Centerline is valid? [True, True] Translation: X:215.81, Y:-28.72, Z:-15.17 [[ 9.97114872e-01 4.12613584e-02 6.37136809e-02 2.15814188e+02] [-4.07857155e-02 9.99129615e-01 -8.74853868e-03 -2.87212814e+01] [-6.40192021e-02 6.12468996e-03 9.97929872e-01 -1.51701582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.210714057 meters 0.05414401593688343 Centerline is valid? [True, True] Translation: X:215.84, Y:-28.73, Z:-15.17 [[ 9.97062318e-01 4.26485331e-02 6.36226180e-02 2.15844155e+02] [-4.21758064e-02 9.99071841e-01 -8.75539597e-03 -2.87272875e+01] [-6.39369709e-02 6.04634018e-03 9.97935622e-01 -1.51738172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.240714057 meters 0.04794543852876552 Centerline is valid? [True, True] Translation: X:215.88, Y:-28.72, Z:-15.18 [[ 9.97041262e-01 4.37052078e-02 6.32343014e-02 2.15876078e+02] [-4.32402065e-02 9.99026787e-01 -8.70418834e-03 -2.87240163e+01] [-6.35531793e-02 5.94417067e-03 9.97960751e-01 -1.51763776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.270714057 meters 0.05508594683907162 Centerline is valid? [True, True] Translation: X:215.90, Y:-28.74, Z:-15.18 [[ 9.97001108e-01 4.71616254e-02 6.13560987e-02 2.15904240e+02] [-4.67302145e-02 9.98871822e-01 -8.44810870e-03 -2.87377660e+01] [-6.16853046e-02 5.55559009e-03 9.98080186e-01 -1.51809072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.300714057 meters 0.0462675398386482 Centerline is valid? [True, True] Translation: X:215.94, Y:-28.73, Z:-15.18 [[ 9.96939679e-01 4.94876878e-02 6.05164881e-02 2.15936358e+02] [-4.90722747e-02 9.98760473e-01 -8.33241853e-03 -2.87293239e+01] [-6.08538284e-02 5.33723692e-03 9.98132419e-01 -1.51831495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.330714057 meters 0.04701540254231309 Centerline is valid? [True, True] Translation: X:215.97, Y:-28.73, Z:-15.19 [[ 9.96827428e-01 5.26118786e-02 5.97249383e-02 2.15965087e+02] [-5.22127714e-02 9.98602115e-01 -8.22454659e-03 -2.87337934e+01] [-6.00741586e-02 5.08004908e-03 9.98180990e-01 -1.51856303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.360714057 meters 0.04086478112674918 Centerline is valid? [True, True] Translation: X:216.00, Y:-28.73, Z:-15.19 [[ 9.96428602e-01 5.96550564e-02 5.97604816e-02 2.15996749e+02] [-5.92680941e-02 9.98208187e-01 -8.22853926e-03 -2.87269189e+01] [-6.01442760e-02 4.65726202e-03 9.98178830e-01 -1.51865460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.390714057 meters 0.04006575492172633 Centerline is valid? [True, True] Translation: X:216.03, Y:-28.73, Z:-15.19 [[ 9.96153088e-01 6.35430176e-02 6.03432702e-02 2.16025927e+02] [-6.31555290e-02 9.97969107e-01 -8.30901839e-03 -2.87283977e+01] [-6.07486996e-02 4.46604317e-03 9.98143101e-01 -1.51880428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.420714057 meters 0.036362009281594325 Centerline is valid? [True, True] Translation: X:216.06, Y:-28.73, Z:-15.19 [[ 9.95839201e-01 6.78482937e-02 6.08349755e-02 2.16057551e+02] [-6.74625163e-02 9.97686655e-01 -8.37542631e-03 -2.87256104e+01] [-6.12625016e-02 4.23649732e-03 9.98112698e-01 -1.51885289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.45071405699997 meters 0.03494262976556451 Centerline is valid? [True, True] Translation: X:216.09, Y:-28.72, Z:-15.19 [[ 9.95120699e-01 7.65000641e-02 6.23099826e-02 2.16087134e+02] [-7.61121067e-02 9.97062353e-01 -8.57970141e-03 -2.87244806e+01] [-6.27832855e-02 3.79529443e-03 9.98019967e-01 -1.51895918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.48071405699997 meters 0.03352669554786405 Centerline is valid? [True, True] Translation: X:216.12, Y:-28.73, Z:-15.19 [[ 9.94733496e-01 8.10777371e-02 6.27030508e-02 2.16117650e+02] [-8.06940094e-02 9.96701540e-01 -8.63229719e-03 -2.87251149e+01] [-6.31961145e-02 3.52707458e-03 9.97994895e-01 -1.51912110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.51071405699997 meters 0.03222909370720048 Centerline is valid? [True, True] Translation: X:216.15, Y:-28.73, Z:-15.19 [[ 9.94120184e-01 8.72512102e-02 6.41271081e-02 2.16147896e+02] [-8.68626273e-02 9.96181182e-01 -8.82813398e-03 -2.87250493e+01] [-6.46524837e-02 3.20597708e-03 9.97902690e-01 -1.51929522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.54071405699997 meters 0.03184821741656372 Centerline is valid? [True, True] Translation: X:216.18, Y:-28.73, Z:-15.19 [[ 9.93891648e-01 8.94226718e-02 6.46759372e-02 2.16176310e+02] [-8.90319777e-02 9.95988971e-01 -8.90371079e-03 -2.87278170e+01] [-6.52127138e-02 3.09109720e-03 9.97866598e-01 -1.51946966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.57071405699998 meters 0.03163337728862266 Centerline is valid? [True, True] Translation: X:216.21, Y:-28.73, Z:-15.20 [[ 9.93720684e-01 9.10161714e-02 6.50788600e-02 2.16205001e+02] [-9.06242960e-02 9.95844894e-01 -8.95455347e-03 -2.87309010e+01] [-6.56234596e-02 3.00059913e-03 9.97839946e-01 -1.51967114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.60071405699998 meters 0.03174804087663007 Centerline is valid? [True, True] Translation: X:216.23, Y:-28.73, Z:-15.20 [[ 9.93715988e-01 9.13458773e-02 6.46874549e-02 2.16232522e+02] [-9.09596932e-02 9.95814837e-01 -8.89629235e-03 -2.87349619e+01] [-6.52293670e-02 2.95643689e-03 9.97865917e-01 -1.51986852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.63071405699998 meters 0.03257550548951663 Centerline is valid? [True, True] Translation: X:216.26, Y:-28.74, Z:-15.20 [[ 9.93817771e-01 9.05717301e-02 6.42105830e-02 2.16260742e+02] [-9.01900977e-02 9.95885483e-01 -8.82330122e-03 -2.87407420e+01] [-6.47455291e-02 2.97759480e-03 9.97897365e-01 -1.52008702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.66071405699998 meters 0.03000722094588137 Centerline is valid? [True, True] Translation: X:216.29, Y:-28.74, Z:-15.20 [[ 9.93892608e-01 8.97094895e-02 6.42626680e-02 2.16289513e+02] [-8.93257288e-02 9.95963361e-01 -8.82601215e-03 -2.87412194e+01] [-6.47950398e-02 3.03179859e-03 9.97893988e-01 -1.52026471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.69071405699998 meters 0.03533702926250741 Centerline is valid? [True, True] Translation: X:216.32, Y:-28.76, Z:-15.21 [[ 9.94133406e-01 8.71854029e-02 6.40115422e-02 2.16316006e+02] [-8.67997325e-02 9.96187030e-01 -8.78675791e-03 -2.87567897e+01] [-6.45335451e-02 3.17902483e-03 9.97910475e-01 -1.52058295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.72071405699998 meters 0.035592012026931956 Centerline is valid? [True, True] Translation: X:216.34, Y:-28.76, Z:-15.21 [[ 9.94283152e-01 8.59399207e-02 6.33667326e-02 2.16343809e+02] [-8.55596769e-02 9.96295106e-01 -8.69505319e-03 -2.87622550e+01] [-6.38792177e-02 3.22370772e-03 9.97952430e-01 -1.52083885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.75071405699998 meters 0.0325204809088296 Centerline is valid? [True, True] Translation: X:216.37, Y:-28.76, Z:-15.21 [[ 9.94515149e-01 8.44325792e-02 6.17313383e-02 2.16372771e+02] [-8.40692565e-02 9.96423966e-01 -8.46403603e-03 -2.87640467e+01] [-6.22252254e-02 3.22790433e-03 9.98056913e-01 -1.52108504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.78071405699998 meters 0.03164383977495465 Centerline is valid? [True, True] Translation: X:216.40, Y:-28.77, Z:-15.21 [[ 9.94578970e-01 8.42161328e-02 6.09943941e-02 2.16401035e+02] [-8.38612317e-02 9.96442375e-01 -8.35988207e-03 -2.87675617e+01] [-6.14814358e-02 3.19949788e-03 9.98103099e-01 -1.52131346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.81071405699998 meters 0.03464737471760342 Centerline is valid? [True, True] Translation: X:216.43, Y:-28.78, Z:-15.22 [[ 9.94625087e-01 8.40548385e-02 6.04625545e-02 2.16427672e+02] [-8.37060713e-02 9.96456065e-01 -8.28273202e-03 -2.87773340e+01] [-6.09444829e-02 3.17713015e-03 9.98136101e-01 -1.52162044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.84071405699999 meters 0.032710832788460695 Centerline is valid? [True, True] Translation: X:216.46, Y:-28.78, Z:-15.22 [[ 9.94631256e-01 8.39023749e-02 6.05727401e-02 2.16456554e+02] [-8.35523981e-02 9.96468884e-01 -8.29216696e-03 -2.87794274e+01] [-6.10545833e-02 3.18665074e-03 9.98129342e-01 -1.52174814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.870714057 meters 0.032710832788460695 Centerline is valid? [True, True] Translation: X:216.48, Y:-28.78, Z:-15.22 [[ 9.94640136e-01 8.37966395e-02 6.05732904e-02 2.16483740e+02] [-8.34467116e-02 9.96477773e-01 -8.28814567e-03 -2.87830572e+01] [-6.10544563e-02 3.18908045e-03 9.98129342e-01 -1.52193722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.900714057 meters 0.03247660687678535 Centerline is valid? [True, True] Translation: X:216.51, Y:-28.79, Z:-15.22 [[ 9.94535206e-01 8.38534586e-02 6.21958370e-02 2.16511579e+02] [-8.34850631e-02 9.96472751e-01 -8.50301582e-03 -2.87892357e+01] [-6.26894641e-02 3.26412520e-03 9.98027743e-01 -1.52199757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.930714057 meters 0.035094640011831664 Centerline is valid? [True, True] Translation: X:216.54, Y:-28.80, Z:-15.22 [[ 9.94447676e-01 8.43842252e-02 6.28738530e-02 2.16538318e+02] [-8.40090858e-02 9.96427953e-01 -8.59118010e-03 -2.87990674e+01] [-6.33742247e-02 3.26150418e-03 9.97984504e-01 -1.52218187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.960714057 meters 0.03264066010200907 Centerline is valid? [True, True] Translation: X:216.57, Y:-28.80, Z:-15.22 [[ 9.94279414e-01 8.52439183e-02 6.43577542e-02 2.16567450e+02] [-8.48530098e-02 9.96354724e-01 -8.78806000e-03 -2.88020345e+01] [-6.48722811e-02 3.27683800e-03 9.97888195e-01 -1.52224802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.990714057 meters 0.03553278348280216 Centerline is valid? [True, True] Translation: X:216.59, Y:-28.81, Z:-15.22 [[ 9.94197717e-01 8.60207251e-02 6.45858652e-02 2.16594313e+02] [-8.56291127e-02 9.96288109e-01 -8.81241058e-03 -2.88122377e+01] [-6.51041794e-02 3.23084815e-03 9.97873242e-01 -1.52247965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.020714057 meters 0.03506506140991666 Centerline is valid? [True, True] Translation: X:216.62, Y:-28.82, Z:-15.23 [[ 9.94228114e-01 8.61572889e-02 6.39326141e-02 2.16622936e+02] [-8.57742231e-02 9.96276461e-01 -8.71753514e-03 -2.88167915e+01] [-6.44456377e-02 3.18344822e-03 9.97916141e-01 -1.52267930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.050714057 meters 0.03633937071074947 Centerline is valid? [True, True] Translation: X:216.65, Y:-28.83, Z:-15.23 [[ 9.94323153e-01 8.59681766e-02 6.26972152e-02 2.16649091e+02] [-8.55996878e-02 9.96292968e-01 -8.54485150e-03 -2.88259352e+01] [-6.31993799e-02 3.12948164e-03 9.97996014e-01 -1.52301981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.080714057 meters 0.036419209086854906 Centerline is valid? [True, True] Translation: X:216.68, Y:-28.83, Z:-15.23 [[ 9.94416413e-01 8.55150917e-02 6.18317607e-02 2.16676995e+02] [-8.51560716e-02 9.96332019e-01 -8.42331840e-03 -2.88321905e+01] [-6.23252838e-02 3.11093622e-03 9.98051041e-01 -1.52328224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.110714057 meters 0.03721815313677263 Centerline is valid? [True, True] Translation: X:216.70, Y:-28.84, Z:-15.24 [[ 9.94523127e-01 8.46809876e-02 6.12607507e-02 2.16704653e+02] [-8.43272513e-02 9.96403199e-01 -8.34147754e-03 -2.88397095e+01] [-6.17467725e-02 3.12984161e-03 9.98086940e-01 -1.52354281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.140714057 meters 0.03845461961028982 Centerline is valid? [True, True] Translation: X:216.73, Y:-28.85, Z:-15.24 [[ 9.94716793e-01 8.33971180e-02 5.98616999e-02 2.16731996e+02] [-8.30573020e-02 9.96511471e-01 -8.14697409e-03 -2.88510763e+01] [-6.03323047e-02 3.13198066e-03 9.98173434e-01 -1.52391842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.170714057 meters 0.032114590066672055 Centerline is valid? [True, True] Translation: X:216.76, Y:-28.85, Z:-15.24 [[ 9.94751108e-01 8.31300458e-02 5.96626170e-02 2.16761247e+02] [-8.27921757e-02 9.96533776e-01 -8.11714145e-03 -2.88472886e+01] [-6.01305914e-02 3.13493758e-03 9.98185596e-01 -1.52393675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.20071405699997 meters 0.03189438636005159 Centerline is valid? [True, True] Translation: X:216.79, Y:-28.86, Z:-15.24 [[ 9.94798516e-01 8.22370894e-02 6.01080180e-02 2.16789270e+02] [-8.18927928e-02 9.96607630e-01 -8.17331800e-03 -2.88564332e+01] [-6.05762593e-02 3.20839115e-03 9.98158416e-01 -1.52413912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.23071405699997 meters 0.03248760380306357 Centerline is valid? [True, True] Translation: X:216.82, Y:-28.86, Z:-15.24 [[ 9.94777357e-01 8.22674607e-02 6.04158494e-02 2.16816711e+02] [-8.19199429e-02 9.96605090e-01 -8.21085476e-03 -2.88635147e+01] [-6.08862291e-02 3.21870947e-03 9.98139523e-01 -1.52433588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.26071405699997 meters 0.03274482823198485 Centerline is valid? [True, True] Translation: X:216.85, Y:-28.87, Z:-15.25 [[ 9.94817866e-01 8.20480331e-02 6.00461027e-02 2.16845082e+02] [-8.17047020e-02 9.96623217e-01 -8.15502525e-03 -2.88698422e+01] [-6.05124439e-02 3.20671589e-03 9.98162292e-01 -1.52456410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.29071405699997 meters 0.032049711677349206 Centerline is valid? [True, True] Translation: X:216.87, Y:-28.88, Z:-15.25 [[ 9.94781882e-01 8.32444185e-02 5.89862123e-02 2.16873567e+02] [-8.29154708e-02 9.96524419e-01 -8.00674714e-03 -2.88768017e+01] [-5.94477179e-02 3.07409743e-03 9.98226687e-01 -1.52480784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.32071405699998 meters 0.03141522534200271 Centerline is valid? [True, True] Translation: X:216.90, Y:-28.88, Z:-15.25 [[ 9.94747693e-01 8.42544767e-02 5.81223780e-02 2.16901729e+02] [-8.39369942e-02 9.96439854e-01 -7.88658654e-03 -2.88807096e+01] [-5.85799341e-02 2.96654606e-03 9.98278313e-01 -1.52502765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.35071405699998 meters 0.032265016804400554 Centerline is valid? [True, True] Translation: X:216.93, Y:-28.89, Z:-15.25 [[ 9.94580089e-01 8.65055890e-02 5.76821465e-02 2.16929063e+02] [-8.61969194e-02 9.96247407e-01 -7.82268161e-03 -2.88894578e+01] [-5.81423946e-02 2.80826004e-03 9.98304350e-01 -1.52525711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.38071405699998 meters 0.032384830171215954 Centerline is valid? [True, True] Translation: X:216.96, Y:-28.90, Z:-15.25 [[ 9.94557400e-01 8.68772867e-02 5.75144763e-02 2.16957523e+02] [-8.65712726e-02 9.96215158e-01 -7.79577899e-03 -2.88951887e+01] [-5.79740692e-02 2.77424828e-03 9.98314235e-01 -1.52544682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.41071405699998 meters 0.03099081291653191 Centerline is valid? [True, True] Translation: X:216.99, Y:-28.90, Z:-15.26 [[ 9.94494989e-01 8.73651010e-02 5.78537518e-02 2.16986268e+02] [-8.70565211e-02 9.96172542e-01 -7.83770630e-03 -2.88977905e+01] [-5.83170610e-02 2.75801327e-03 9.98294302e-01 -1.52555009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.44071405699998 meters 0.030419974868428967 Centerline is valid? [True, True] Translation: X:217.01, Y:-28.90, Z:-15.26 [[ 9.94474503e-01 8.70336581e-02 5.86992703e-02 2.17014414e+02] [-8.67156593e-02 9.96201397e-01 -7.94796151e-03 -2.89042387e+01] [-5.91680352e-02 2.81389916e-03 9.98244071e-01 -1.52564107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.47071405699998 meters 0.030529966580218483 Centerline is valid? [True, True] Translation: X:217.04, Y:-28.91, Z:-15.26 [[ 9.94505024e-01 8.65411693e-02 5.89099572e-02 2.17042757e+02] [-8.62202750e-02 9.96244201e-01 -7.97218948e-03 -2.89105737e+01] [-5.93786258e-02 2.84914978e-03 9.98231467e-01 -1.52585584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.50071405699998 meters 0.03172206518589091 Centerline is valid? [True, True] Translation: X:217.07, Y:-28.92, Z:-15.26 [[ 9.94575832e-01 8.56350908e-02 5.90385055e-02 2.17069494e+02] [-8.53114415e-02 9.96322332e-01 -7.98555670e-03 -2.89188149e+01] [-5.95052254e-02 2.90558168e-03 9.98223765e-01 -1.52611196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.53071405699998 meters 0.029977667080077482 Centerline is valid? [True, True] Translation: X:217.10, Y:-28.92, Z:-15.26 [[ 9.94783804e-01 8.30087370e-02 5.92851839e-02 2.17098368e+02] [-8.26781127e-02 9.96544094e-01 -8.01244283e-03 -2.89236364e+01] [-5.97454026e-02 3.06906124e-03 9.98208930e-01 -1.52623474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.56071405699998 meters 0.03707144378299339 Centerline is valid? [True, True] Translation: X:217.13, Y:-28.94, Z:-15.27 [[ 9.94945732e-01 8.10119715e-02 5.93300228e-02 2.17125305e+02] [-8.06775282e-02 9.96708031e-01 -8.01483406e-03 -2.89418134e+01] [-5.97840077e-02 3.18772536e-03 9.98206247e-01 -1.52661390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.59071405699999 meters 0.037664876691062825 Centerline is valid? [True, True] Translation: X:217.15, Y:-28.95, Z:-15.27 [[ 9.95414534e-01 7.54934897e-02 5.87421366e-02 2.17154620e+02] [-7.51561508e-02 9.97140212e-01 -7.93415991e-03 -2.89508321e+01] [-5.91731240e-02 3.48294521e-03 9.98241659e-01 -1.52678075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.620714057 meters 0.03597069074967346 Centerline is valid? [True, True] Translation: X:217.19, Y:-28.95, Z:-15.27 [[ 9.95623819e-01 7.25911398e-02 5.88535197e-02 2.17185707e+02] [-7.22474883e-02 9.97355060e-01 -7.94889373e-03 -2.89544814e+01] [-5.92748749e-02 3.66208896e-03 9.98234982e-01 -1.52693179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.650714057 meters 0.04140214139873194 Centerline is valid? [True, True] Translation: X:217.21, Y:-28.97, Z:-15.27 [[ 9.95868323e-01 6.92373016e-02 5.87578009e-02 2.17214285e+02] [-6.88888232e-02 9.97592760e-01 -7.93824771e-03 -2.89691615e+01] [-5.91659796e-02 3.85769368e-03 9.98240705e-01 -1.52723449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.680714057 meters 0.03811035630886631 Centerline is valid? [True, True] Translation: X:217.25, Y:-28.97, Z:-15.27 [[ 9.96238342e-01 6.31552207e-02 5.93345072e-02 2.17245465e+02] [-6.27890694e-02 9.97994618e-01 -8.01712169e-03 -2.89730322e+01] [-5.97218420e-02 4.26140553e-03 9.98205962e-01 -1.52736161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.710714057 meters 0.03955231521875755 Centerline is valid? [True, True] Translation: X:217.28, Y:-28.98, Z:-15.28 [[ 9.96385047e-01 6.04344144e-02 5.97035985e-02 2.17275845e+02] [-6.00587240e-02 9.98162234e-01 -8.06878556e-03 -2.89812844e+01] [-6.00815095e-02 4.45389534e-03 9.98183538e-01 -1.52760219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.740714057 meters 0.040946222419329575 Centerline is valid? [True, True] Translation: X:217.31, Y:-28.99, Z:-15.28 [[ 9.96626444e-01 5.66397145e-02 5.93942172e-02 2.17305319e+02] [-5.62610720e-02 9.98383804e-01 -8.02942712e-03 -2.89906450e+01] [-5.97530090e-02 4.66075707e-03 9.98202312e-01 -1.52783241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.770714057 meters 0.04245285133634408 Centerline is valid? [True, True] Translation: X:217.34, Y:-29.00, Z:-15.28 [[ 9.96700062e-01 5.60244580e-02 5.87387940e-02 2.17335361e+02] [-5.56531393e-02 9.98418594e-01 -7.93978208e-03 -2.89984083e+01] [-5.90907260e-02 4.64458301e-03 9.98241811e-01 -1.52807835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.800714057 meters 0.04341298369939821 Centerline is valid? [True, True] Translation: X:217.37, Y:-29.01, Z:-15.28 [[ 9.96717502e-01 5.63210034e-02 5.81563952e-02 2.17365911e+02] [-5.59570794e-02 9.98402168e-01 -7.86863672e-03 -2.90050098e+01] [-5.85066406e-02 4.58854591e-03 9.98276474e-01 -1.52836425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.830714057 meters 0.04380469164380751 Centerline is valid? [True, True] Translation: X:217.40, Y:-29.01, Z:-15.29 [[ 9.96647847e-01 5.82143060e-02 5.74818617e-02 2.17395782e+02] [-5.78613707e-02 9.98294259e-01 -7.78675116e-03 -2.90108444e+01] [-5.78371128e-02 4.43466947e-03 9.98316183e-01 -1.52865022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.860714057 meters 0.042190934991208816 Centerline is valid? [True, True] Translation: X:217.43, Y:-29.01, Z:-15.29 [[ 9.96570865e-01 5.96728286e-02 5.73207127e-02 2.17427568e+02] [-5.93242313e-02 9.98208561e-01 -7.76556867e-03 -2.90128960e+01] [-5.76814196e-02 4.33843228e-03 9.98325614e-01 -1.52883686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.890714057 meters 0.04309129252302585 Centerline is valid? [True, True] Translation: X:217.46, Y:-29.02, Z:-15.29 [[ 9.96291868e-01 6.37010998e-02 5.78332443e-02 2.17456734e+02] [-6.33527480e-02 9.97960411e-01 -7.83888344e-03 -2.90175786e+01] [-5.82146337e-02 4.14592087e-03 9.98295481e-01 -1.52897345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.920714057 meters 0.04313454094411779 Centerline is valid? [True, True] Translation: X:217.49, Y:-29.02, Z:-15.29 [[ 9.96102113e-01 6.61745025e-02 5.83225195e-02 2.17486088e+02] [-6.58245084e-02 9.97799910e-01 -7.90399289e-03 -2.90211516e+01] [-5.87172475e-02 4.03413284e-03 9.98266503e-01 -1.52912850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.95071405699997 meters 0.041999518221693816 Centerline is valid? [True, True] Translation: X:217.52, Y:-29.02, Z:-15.29 [[ 9.95928910e-01 6.85993465e-02 5.84785134e-02 2.17516685e+02] [-6.82516315e-02 9.97636661e-01 -7.92513352e-03 -2.90226010e+01] [-5.88839678e-02 3.90161564e-03 9.98257209e-01 -1.52927302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.98071405699997 meters 0.03921816518444162 Centerline is valid? [True, True] Translation: X:217.55, Y:-29.02, Z:-15.29 [[ 9.95587858e-01 7.26174697e-02 5.94265991e-02 2.17547682e+02] [-7.22654925e-02 9.97352916e-01 -8.05360295e-03 -2.90211222e+01] [-5.98541241e-02 3.72357685e-03 9.98200190e-01 -1.52935099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.01071405699997 meters 0.03677580025887192 Centerline is valid? [True, True] Translation: X:217.58, Y:-29.02, Z:-15.29 [[ 9.95488647e-01 7.41079605e-02 5.92483314e-02 2.17579239e+02] [-7.37607328e-02 9.97243644e-01 -8.02926477e-03 -2.90212502e+01] [-5.96800543e-02 3.62284158e-03 9.98210983e-01 -1.52946874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.04071405699997 meters 0.03834856708389349 Centerline is valid? [True, True] Translation: X:217.61, Y:-29.03, Z:-15.30 [[ 9.95346762e-01 7.55317762e-02 5.98312100e-02 2.17608911e+02] [-7.51800945e-02 9.97136988e-01 -8.11055261e-03 -2.90270612e+01] [-6.02725170e-02 3.57469625e-03 9.98175558e-01 -1.52964532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.07071405699998 meters 0.036029270981606194 Centerline is valid? [True, True] Translation: X:217.64, Y:-29.03, Z:-15.30 [[ 9.95389650e-01 7.48777150e-02 5.99397332e-02 2.17640865e+02] [-7.45235191e-02 9.97186146e-01 -8.12616861e-03 -2.90270036e+01] [-6.03795405e-02 3.62178428e-03 9.98168920e-01 -1.52982541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.10071405699998 meters 0.03647438682919926 Centerline is valid? [True, True] Translation: X:217.67, Y:-29.03, Z:-15.30 [[ 9.95457727e-01 7.31384541e-02 6.09481756e-02 2.17672199e+02] [-7.27689272e-02 9.97314592e-01 -8.26368685e-03 -2.90320603e+01] [-6.13888981e-02 3.79101758e-03 9.98106723e-01 -1.52999267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.13071405699998 meters 0.03703920444961343 Centerline is valid? [True, True] Translation: X:217.70, Y:-29.04, Z:-15.30 [[ 9.95530454e-01 7.19180693e-02 6.12119836e-02 2.17703861e+02] [-7.15420856e-02 9.97402924e-01 -8.31483795e-03 -2.90369433e+01] [-6.16509985e-02 3.89844143e-03 9.98090155e-01 -1.53019715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.16071405699998 meters 0.038282215745016855 Centerline is valid? [True, True] Translation: X:217.73, Y:-29.04, Z:-15.30 [[ 9.95637141e-01 7.06300231e-02 6.09760825e-02 2.17734542e+02] [-7.02543349e-02 9.97494697e-01 -8.28600946e-03 -2.90427876e+01] [-6.14085600e-02 3.96602465e-03 9.98104834e-01 -1.53041140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.19071405699998 meters 0.03986561522167126 Centerline is valid? [True, True] Translation: X:217.76, Y:-29.05, Z:-15.31 [[ 9.95942002e-01 6.70908711e-02 5.99861978e-02 2.17764302e+02] [-6.67199821e-02 9.97738315e-01 -8.16688150e-03 -2.90484050e+01] [-6.03984512e-02 4.13146226e-03 9.98165797e-01 -1.53067363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.22071405699998 meters 0.042187937848371763 Centerline is valid? [True, True] Translation: X:217.79, Y:-29.06, Z:-15.31 [[ 9.96055267e-01 6.57772446e-02 5.95588710e-02 2.17794762e+02] [-6.54093940e-02 9.97825580e-01 -8.10703462e-03 -2.90558620e+01] [-5.99626233e-02 4.17934488e-03 9.98191874e-01 -1.53092544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.25071405699998 meters 0.04303143616728352 Centerline is valid? [True, True] Translation: X:217.82, Y:-29.06, Z:-15.31 [[ 9.96299764e-01 6.26406638e-02 5.88466473e-02 2.17824819e+02] [-6.22752252e-02 9.98026748e-01 -8.02536600e-03 -2.90606797e+01] [-5.92332423e-02 4.33098204e-03 9.98234775e-01 -1.53125469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.28071405699998 meters 0.044856805668283546 Centerline is valid? [True, True] Translation: X:217.85, Y:-29.07, Z:-15.32 [[ 9.96344518e-01 6.19628053e-02 5.88065667e-02 2.17854632e+02] [-6.15966920e-02 9.98068900e-01 -8.01989495e-03 -2.90679491e+01] [-5.91899405e-02 4.36828840e-03 9.98237181e-01 -1.53154543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.31071405699998 meters 0.04728276694879428 Centerline is valid? [True, True] Translation: X:217.88, Y:-29.08, Z:-15.32 [[ 9.96424557e-01 6.07769654e-02 5.86878371e-02 2.17884933e+02] [-6.04102699e-02 9.98141541e-01 -8.00399909e-03 -2.90752396e+01] [-5.90652269e-02 4.43003317e-03 9.98244296e-01 -1.53183627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.34071405699999 meters 0.045540490913471454 Centerline is valid? [True, True] Translation: X:217.92, Y:-29.08, Z:-15.32 [[ 9.96503935e-01 5.96411757e-02 5.85050226e-02 2.17917609e+02] [-5.92739682e-02 9.98209748e-01 -7.99350876e-03 -2.90755022e+01] [-5.88770261e-02 4.49773808e-03 9.98255111e-01 -1.53208129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.370714057 meters 0.04126726417252625 Centerline is valid? [True, True] Translation: X:217.95, Y:-29.07, Z:-15.32 [[ 9.96499787e-01 6.02537784e-02 5.79452847e-02 2.17950115e+02] [-5.98944780e-02 9.98173301e-01 -7.91916457e-03 -2.90728745e+01] [-5.83165956e-02 4.42084323e-03 9.98288351e-01 -1.53221500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.400714057 meters 0.04867951298785294 Centerline is valid? [True, True] Translation: X:217.98, Y:-29.09, Z:-15.33 [[ 9.96429312e-01 6.16169305e-02 5.77233115e-02 2.17979975e+02] [-6.12617961e-02 9.98090440e-01 -7.90356521e-03 -2.90850432e+01] [-5.81000788e-02 4.33911030e-03 9.98301334e-01 -1.53260140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.430714057 meters 0.03929683613946981 Centerline is valid? [True, True] Translation: X:218.01, Y:-29.08, Z:-15.33 [[ 9.96375340e-01 6.28002356e-02 5.73786677e-02 2.18013783e+02] [-6.24505301e-02 9.98017036e-01 -7.86941919e-03 -2.90752252e+01] [-5.77590893e-02 4.25756701e-03 9.98321472e-01 -1.53264394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.460714057 meters 0.040003544114178606 Centerline is valid? [True, True] Translation: X:218.04, Y:-29.08, Z:-15.33 [[ 9.96299542e-01 6.42550092e-02 5.70834226e-02 2.18044978e+02] [-6.39104243e-02 9.97924814e-01 -7.84363647e-03 -2.90789634e+01] [-5.74689569e-02 4.16638565e-03 9.98338600e-01 -1.53293811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.490714057 meters 0.047039932238984616 Centerline is valid? [True, True] Translation: X:218.07, Y:-29.09, Z:-15.33 [[ 9.96076596e-01 6.78211152e-02 5.68481405e-02 2.18073026e+02] [-6.74842221e-02 9.97689637e-01 -7.82733801e-03 -2.90899598e+01] [-5.72476595e-02 3.96027567e-03 9.98352153e-01 -1.53328644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.520714057 meters 0.038724387760946194 Centerline is valid? [True, True] Translation: X:218.11, Y:-29.08, Z:-15.33 [[ 9.95901555e-01 7.01825552e-02 5.70482389e-02 2.18105108e+02] [-6.98471793e-02 9.97526784e-01 -7.85412613e-03 -2.90807212e+01] [-5.74583689e-02 3.83727786e-03 9.98340529e-01 -1.53329568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.550714057 meters 0.03457720497196091 Centerline is valid? [True, True] Translation: X:218.14, Y:-29.07, Z:-15.33 [[ 9.95436784e-01 7.59819425e-02 5.77265435e-02 2.18136489e+02] [-7.56482392e-02 9.97102895e-01 -7.94738093e-03 -2.90749966e+01] [-5.81631610e-02 3.54420394e-03 9.98300799e-01 -1.53326134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.580714057 meters 0.034652785066720655 Centerline is valid? [True, True] Translation: X:218.17, Y:-29.08, Z:-15.33 [[ 9.95145012e-01 7.90633496e-02 5.86122178e-02 2.18165675e+02] [-7.87245613e-02 9.96863737e-01 -8.07052857e-03 -2.90772313e+01] [-5.90664775e-02 3.41712511e-03 9.98248203e-01 -1.53341757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.610714057 meters 0.030300377173280553 Centerline is valid? [True, True] Translation: X:218.20, Y:-29.07, Z:-15.33 [[ 9.94624948e-01 8.44294859e-02 5.99405912e-02 2.18197200e+02] [-8.40849957e-02 9.96424425e-01 -8.25096114e-03 -2.90708477e+01] [-6.04228935e-02 3.16650745e-03 9.98167845e-01 -1.53343115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.640714057 meters 0.02959410875075398 Centerline is valid? [True, True] Translation: X:218.23, Y:-29.07, Z:-15.34 [[ 9.94384617e-01 8.66533730e-02 6.07488743e-02 2.18226569e+02] [-8.63036447e-02 9.96233784e-01 -8.36231015e-03 -2.90724518e+01] [-6.12447033e-02 3.07250331e-03 9.98118052e-01 -1.53360865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.670714057 meters 0.02989194669745707 Centerline is valid? [True, True] Translation: X:218.25, Y:-29.08, Z:-15.34 [[ 9.94231362e-01 8.80984503e-02 6.11772999e-02 2.18254272e+02] [-8.77466103e-02 9.96107247e-01 -8.41934780e-03 -2.90756847e+01] [-6.16808832e-02 3.00267894e-03 9.98091405e-01 -1.53379028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.70071405699997 meters 0.028945323713501742 Centerline is valid? [True, True] Translation: X:218.28, Y:-29.08, Z:-15.34 [[ 9.94132241e-01 8.93051290e-02 6.10383639e-02 2.18283697e+02] [-8.89574725e-02 9.96000046e-01 -8.39506682e-03 -2.90755589e+01] [-6.15439358e-02 2.91598801e-03 9.98100116e-01 -1.53394889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.73071405699997 meters 0.03073434871592254 Centerline is valid? [True, True] Translation: X:218.31, Y:-29.08, Z:-15.34 [[ 9.94180872e-01 8.87097267e-02 6.11144724e-02 2.18310641e+02] [-8.83604737e-02 9.96053152e-01 -8.39915919e-03 -2.90813285e+01] [-6.16183499e-02 2.95017968e-03 9.98095424e-01 -1.53421811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.76071405699997 meters 0.03086901075495077 Centerline is valid? [True, True] Translation: X:218.34, Y:-29.08, Z:-15.34 [[ 9.94373614e-01 8.60709069e-02 6.17488013e-02 2.18339861e+02] [-8.57096509e-02 9.96284065e-01 -8.48045097e-03 -2.90842218e+01] [-6.22492668e-02 3.14026848e-03 9.98055694e-01 -1.53434182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.79071405699997 meters 0.03086901075495077 Centerline is valid? [True, True] Translation: X:218.37, Y:-29.09, Z:-15.35 [[ 9.94379662e-01 8.60006658e-02 6.17492817e-02 2.18367881e+02] [-8.56394916e-02 9.96290128e-01 -8.47695121e-03 -2.90880088e+01] [-6.22492232e-02 3.14113079e-03 9.98055694e-01 -1.53453669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.82071405699998 meters 0.03155610717939759 Centerline is valid? [True, True] Translation: X:218.40, Y:-29.09, Z:-15.35 [[ 9.94509960e-01 8.40180669e-02 6.23771048e-02 2.18396787e+02] [-8.36459058e-02 9.96458787e-01 -8.55850195e-03 -2.90926665e+01] [-6.28752830e-02 3.29392600e-03 9.98015956e-01 -1.53471313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.85071405699998 meters 0.03283496578728475 Centerline is valid? [True, True] Translation: X:218.43, Y:-29.10, Z:-15.35 [[ 9.94659893e-01 8.21389560e-02 6.24891200e-02 2.18425495e+02] [-8.17619732e-02 9.96615034e-01 -8.57049942e-03 -2.90977236e+01] [-6.29815683e-02 3.41549828e-03 9.98008846e-01 -1.53489652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.88071405699998 meters 0.032922192500037833 Centerline is valid? [True, True] Translation: X:218.46, Y:-29.10, Z:-15.35 [[ 9.94975494e-01 7.83702758e-02 6.23046212e-02 2.18455213e+02] [-7.79883806e-02 9.96917676e-01 -8.54167112e-03 -2.91010034e+01] [-6.27819913e-02 3.63971693e-03 9.98020628e-01 -1.53511479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.91071405699998 meters 0.03381858149295007 Centerline is valid? [True, True] Translation: X:218.49, Y:-29.11, Z:-15.35 [[ 9.95136721e-01 7.64394291e-02 6.21282497e-02 2.18485275e+02] [-7.60560271e-02 9.97067176e-01 -8.51625871e-03 -2.91063877e+01] [-6.25970165e-02 3.74961393e-03 9.98031840e-01 -1.53537562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.94071405699998 meters 0.03503887969084442 Centerline is valid? [True, True] Translation: X:218.51, Y:-29.11, Z:-15.36 [[ 9.95398741e-01 7.35200406e-02 6.14503793e-02 2.18514608e+02] [-7.31394271e-02 9.97286152e-01 -8.42345910e-03 -2.91114756e+01] [-6.19029054e-02 3.89025505e-03 9.98074595e-01 -1.53569192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.97071405699998 meters 0.034387834879144916 Centerline is valid? [True, True] Translation: X:218.55, Y:-29.11, Z:-15.36 [[ 9.95500537e-01 7.25055226e-02 6.10051560e-02 2.18545041e+02] [-7.21285926e-02 9.97360294e-01 -8.36120627e-03 -2.91141955e+01] [-6.14503540e-02 3.92336929e-03 9.98102430e-01 -1.53596475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.00071405699998 meters 0.04020226414638516 Centerline is valid? [True, True] Translation: X:218.57, Y:-29.13, Z:-15.36 [[ 9.95551711e-01 7.21267502e-02 6.06178362e-02 2.18573993e+02] [-7.17539082e-02 9.97387765e-01 -8.30798548e-03 -2.91270589e+01] [-6.10587162e-02 3.92146251e-03 9.98126473e-01 -1.53633141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.03071405699998 meters 0.036092371238004795 Centerline is valid? [True, True] Translation: X:218.60, Y:-29.12, Z:-15.37 [[ 9.95574437e-01 7.21512186e-02 6.02141410e-02 2.18604875e+02] [-7.17833032e-02 9.97386099e-01 -8.25388860e-03 -2.91236841e+01] [-6.06522754e-02 3.89499055e-03 9.98151357e-01 -1.53656936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.06071405699998 meters 0.03685750702333089 Centerline is valid? [True, True] Translation: X:218.63, Y:-29.13, Z:-15.37 [[ 9.95511369e-01 7.32637559e-02 5.99127396e-02 2.18633953e+02] [-7.29015157e-02 9.97305330e-01 -8.21271918e-03 -2.91278972e+01] [-6.03529892e-02 3.80812579e-03 9.98169833e-01 -1.53678778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.09071405699999 meters 0.03593820438684006 Centerline is valid? [True, True] Translation: X:218.66, Y:-29.13, Z:-15.37 [[ 9.95389539e-01 7.47985741e-02 6.00403057e-02 2.18664064e+02] [-7.44376187e-02 9.97191716e-01 -8.22932982e-03 -2.91291877e+01] [-6.04872377e-02 3.72213143e-03 9.98162031e-01 -1.53699341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.120714057 meters 0.03470617589288281 Centerline is valid? [True, True] Translation: X:218.69, Y:-29.13, Z:-15.37 [[ 9.94999873e-01 7.95621040e-02 6.03748732e-02 2.18693802e+02] [-7.92060022e-02 9.96823944e-01 -8.27245178e-03 -2.91287488e+01] [-6.08412929e-02 3.44903613e-03 9.98141494e-01 -1.53717778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.150714057 meters 0.034048703440606946 Centerline is valid? [True, True] Translation: X:218.72, Y:-29.13, Z:-15.37 [[ 9.94798822e-01 8.18674381e-02 6.06055012e-02 2.18722224e+02] [-8.15129299e-02 9.96637699e-01 -8.30301676e-03 -2.91306918e+01] [-6.10814739e-02 3.31969933e-03 9.98127263e-01 -1.53733576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.180714057 meters 0.032716369750066525 Centerline is valid? [True, True] Translation: X:218.75, Y:-29.13, Z:-15.37 [[ 9.94463307e-01 8.49912939e-02 6.17997653e-02 2.18752859e+02] [-8.46288740e-02 9.96376599e-01 -8.46324291e-03 -2.91307421e+01] [-6.22951419e-02 3.18633999e-03 9.98052685e-01 -1.53742844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.210714057 meters 0.03008787587592811 Centerline is valid? [True, True] Translation: X:218.78, Y:-29.13, Z:-15.37 [[ 9.94317464e-01 8.58691821e-02 6.29226866e-02 2.18782325e+02] [-8.54953538e-02 9.96301326e-01 -8.61464526e-03 -2.91296834e+01] [-6.34296886e-02 3.18609488e-03 9.97981224e-01 -1.53749213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.240714057 meters 0.03152864789793991 Centerline is valid? [True, True] Translation: X:218.81, Y:-29.14, Z:-15.38 [[ 9.94288982e-01 8.55996224e-02 6.37348042e-02 2.18809976e+02] [-8.52158118e-02 9.96324348e-01 -8.72121977e-03 -2.91352098e+01] [-6.42470703e-02 3.24019965e-03 9.97928763e-01 -1.53764275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.270714057 meters 0.030493347594300328 Centerline is valid? [True, True] Translation: X:218.84, Y:-29.14, Z:-15.38 [[ 9.94398147e-01 8.38872525e-02 6.43059459e-02 2.18838659e+02] [-8.34933369e-02 9.96469537e-01 -8.79346600e-03 -2.91376477e+01] [-6.48165758e-02 3.37508829e-03 9.97891487e-01 -1.53785528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.300714057 meters 0.031234520052482718 Centerline is valid? [True, True] Translation: X:218.87, Y:-29.14, Z:-15.38 [[ 9.94528831e-01 8.23289848e-02 6.42988498e-02 2.18867580e+02] [-8.19322208e-02 9.96599161e-01 -8.78773596e-03 -2.91431883e+01] [-6.48036651e-02 3.47150921e-03 9.97891995e-01 -1.53813654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.330714057 meters 0.03271137727787296 Centerline is valid? [True, True] Translation: X:218.90, Y:-29.15, Z:-15.39 [[ 9.94936233e-01 7.82480812e-02 6.30803384e-02 2.18897076e+02] [-7.78582133e-02 9.96927186e-01 -8.61888029e-03 -2.91493770e+01] [-6.35609150e-02 3.66391386e-03 9.97971235e-01 -1.53851124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.360714057 meters 0.034481581409834774 Centerline is valid? [True, True] Translation: X:218.93, Y:-29.16, Z:-15.39 [[ 9.95146649e-01 7.60876176e-02 6.24004862e-02 2.18925772e+02] [-7.57019625e-02 9.97094047e-01 -8.52487295e-03 -2.91561313e+01] [-6.28677907e-02 3.75965948e-03 9.98014782e-01 -1.53877700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.390714057 meters 0.03584560383490801 Centerline is valid? [True, True] Translation: X:218.96, Y:-29.16, Z:-15.39 [[ 9.95370399e-01 7.37974766e-02 6.15767884e-02 2.18955202e+02] [-7.34176570e-02 9.97265811e-01 -8.41125085e-03 -2.91615017e+01] [-6.20291549e-02 3.85148659e-03 9.98066907e-01 -1.53901891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.420714057 meters 0.03866982590440179 Centerline is valid? [True, True] Translation: X:218.98, Y:-29.17, Z:-15.39 [[ 9.95742566e-01 6.95697995e-02 6.04713530e-02 2.18984383e+02] [-6.91958363e-02 9.97568908e-01 -8.25894065e-03 -2.91690260e+01] [-6.08989144e-02 4.03941291e-03 9.98135765e-01 -1.53929029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.45071405699997 meters 0.04163440252135268 Centerline is valid? [True, True] Translation: X:219.01, Y:-29.18, Z:-15.40 [[ 9.96073403e-01 6.51041272e-02 5.99935651e-02 2.19013228e+02] [-6.47279296e-02 9.97869300e-01 -8.19489012e-03 -2.91777371e+01] [-6.03992579e-02 4.27945284e-03 9.98165125e-01 -1.53954813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.48071405699997 meters 0.04335622487442603 Centerline is valid? [True, True] Translation: X:219.04, Y:-29.18, Z:-15.40 [[ 9.96219523e-01 6.32317645e-02 5.95685048e-02 2.19043844e+02] [-6.28576374e-02 9.97989344e-01 -8.13553433e-03 -2.91846826e+01] [-5.99631573e-02 4.36044264e-03 9.98191067e-01 -1.53978466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.51071405699997 meters 0.042325455241389934 Centerline is valid? [True, True] Translation: X:219.07, Y:-29.19, Z:-15.40 [[ 9.96366210e-01 6.13123200e-02 5.91199996e-02 2.19074966e+02] [-6.09403348e-02 9.98108736e-01 -8.07631588e-03 -2.91871532e+01] [-5.95033657e-02 4.44417568e-03 9.98218212e-01 -1.53998319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.54071405699997 meters 0.04229965208790336 Centerline is valid? [True, True] Translation: X:219.11, Y:-29.19, Z:-15.40 [[ 9.96579778e-01 5.76374052e-02 5.92171839e-02 2.19105065e+02] [-5.72576066e-02 9.98326643e-01 -8.09198106e-03 -2.91911640e+01] [-5.95844932e-02 4.67367047e-03 9.98212325e-01 -1.54017677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.57071405699998 meters 0.041034281666077685 Centerline is valid? [True, True] Translation: X:219.14, Y:-29.19, Z:-15.40 [[ 9.96665010e-01 5.60119002e-02 5.93424373e-02 2.19135953e+02] [-5.56276262e-02 9.98418654e-01 -8.10916072e-03 -2.91936576e+01] [-5.97028059e-02 4.78103783e-03 9.98204747e-01 -1.54034728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.60071405699998 meters 0.042312918339161995 Centerline is valid? [True, True] Translation: X:219.17, Y:-29.20, Z:-15.41 [[ 9.96796950e-01 5.30362078e-02 5.98581825e-02 2.19166163e+02] [-5.26398200e-02 9.98580054e-01 -8.18078953e-03 -2.91996450e+01] [-6.02070651e-02 5.00366210e-03 9.98173368e-01 -1.54051778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.63071405699998 meters 0.05209087312291419 Centerline is valid? [True, True] Translation: X:219.20, Y:-29.22, Z:-15.41 [[ 9.96827783e-01 5.18158985e-02 6.04109612e-02 2.19195061e+02] [-5.14099735e-02 9.98643511e-01 -8.25547096e-03 -2.92172137e+01] [-6.07567791e-02 5.12355690e-03 9.98139451e-01 -1.54083775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.66071405699998 meters 0.053754288728898814 Centerline is valid? [True, True] Translation: X:219.23, Y:-29.22, Z:-15.41 [[ 9.96847450e-01 5.11772983e-02 6.06303977e-02 2.19226207e+02] [-5.07663566e-02 9.98676067e-01 -8.29996005e-03 -2.92233486e+01] [-6.09748966e-02 5.19580963e-03 9.98125776e-01 -1.54103444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.69071405699998 meters 0.04720333139353565 Centerline is valid? [True, True] Translation: X:219.26, Y:-29.22, Z:-15.41 [[ 9.96869858e-01 4.99605072e-02 6.12734412e-02 2.19259542e+02] [-4.95376061e-02 9.98736913e-01 -8.40260391e-03 -2.92185312e+01] [-6.16158459e-02 5.34096297e-03 9.98085648e-01 -1.54110604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.72071405699998 meters 0.04876811166564137 Centerline is valid? [True, True] Translation: X:219.29, Y:-29.22, Z:-15.41 [[ 9.96920503e-01 4.83536198e-02 6.17368470e-02 2.19289830e+02] [-4.79209450e-02 9.98815213e-01 -8.47076630e-03 -2.92238992e+01] [-6.20732942e-02 5.48619255e-03 9.98056515e-01 -1.54125692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.75071405699998 meters 0.04618027819555484 Centerline is valid? [True, True] Translation: X:219.32, Y:-29.22, Z:-15.41 [[ 9.96948776e-01 4.78351598e-02 6.16841630e-02 2.19322323e+02] [-4.74021416e-02 9.98840016e-01 -8.46513480e-03 -2.92248453e+01] [-6.20175414e-02 5.51534434e-03 9.98059821e-01 -1.54145963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.78071405699998 meters 0.04699329194249013 Centerline is valid? [True, True] Translation: X:219.35, Y:-29.23, Z:-15.42 [[ 9.97025105e-01 4.67081028e-02 6.13130755e-02 2.19354242e+02] [-4.62771419e-02 9.98893060e-01 -8.43095055e-03 -2.92304207e+01] [-6.16389993e-02 5.56847546e-03 9.98082975e-01 -1.54172410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.81071405699998 meters 0.046789968958845844 Centerline is valid? [True, True] Translation: X:219.39, Y:-29.23, Z:-15.42 [[ 9.97260816e-01 4.44665863e-02 5.91065864e-02 2.19385101e+02] [-4.40619583e-02 9.98995702e-01 -8.13215814e-03 -2.92342405e+01] [-5.94088351e-02 5.50553071e-03 9.98218553e-01 -1.54211857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.84071405699999 meters 0.04806965803718588 Centerline is valid? [True, True] Translation: X:219.42, Y:-29.24, Z:-15.42 [[ 9.97322854e-01 4.41040787e-02 5.83262862e-02 2.19416672e+02] [-4.37095407e-02 9.99012062e-01 -8.02353032e-03 -2.92406449e+01] [-5.86225339e-02 5.45263498e-03 9.98265329e-01 -1.54245137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.870714057 meters 0.048142760677716896 Centerline is valid? [True, True] Translation: X:219.45, Y:-29.25, Z:-15.43 [[ 9.97425980e-01 4.34368004e-02 5.70496225e-02 2.19448033e+02] [-4.30574635e-02 9.99041660e-01 -7.86228663e-03 -2.92452613e+01] [-5.73364621e-02 5.38563691e-03 9.98340385e-01 -1.54281468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.900714057 meters 0.046779998767582494 Centerline is valid? [True, True] Translation: X:219.48, Y:-29.25, Z:-15.43 [[ 9.97422487e-01 4.37702520e-02 5.68554969e-02 2.19481501e+02] [-4.33932973e-02 9.99027239e-01 -7.84837909e-03 -2.92480283e+01] [-5.71437156e-02 5.36100231e-03 9.98351569e-01 -1.54305686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.930714057 meters 0.046754716059972945 Centerline is valid? [True, True] Translation: X:219.51, Y:-29.25, Z:-15.43 [[ 9.97389272e-01 4.44051975e-02 5.69457569e-02 2.19513413e+02] [-4.40270772e-02 9.98999275e-01 -7.87812189e-03 -2.92520711e+01] [-5.72385995e-02 5.35039901e-03 9.98346190e-01 -1.54328300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.960714057 meters 0.047017860103133684 Centerline is valid? [True, True] Translation: X:219.54, Y:-29.26, Z:-15.43 [[ 9.97287877e-01 4.61828526e-02 5.73064973e-02 2.19544412e+02] [-4.58018203e-02 9.98918947e-01 -7.94545701e-03 -2.92556900e+01] [-5.76114898e-02 5.29916605e-03 9.98325015e-01 -1.54342572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.990714057 meters 0.04728377596392177 Centerline is valid? [True, True] Translation: X:219.57, Y:-29.26, Z:-15.44 [[ 9.97235160e-01 4.75637523e-02 5.70940025e-02 2.19574892e+02] [-4.71877388e-02 9.98854665e-01 -7.91683218e-03 -2.92594493e+01] [-5.74051650e-02 5.20080654e-03 9.98337417e-01 -1.54359477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.020714057 meters 0.04652389454721715 Centerline is valid? [True, True] Translation: X:219.61, Y:-29.26, Z:-15.44 [[ 9.96999536e-01 5.12966865e-02 5.79704733e-02 2.19605657e+02] [-5.09151277e-02 9.98670613e-01 -8.04089816e-03 -2.92607380e+01] [-5.83058796e-02 5.06519768e-03 9.98285915e-01 -1.54369577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.050714057 meters 0.0464856852294363 Centerline is valid? [True, True] Translation: X:219.64, Y:-29.26, Z:-15.44 [[ 9.96865961e-01 5.32463067e-02 5.85071453e-02 2.19635082e+02] [-5.28609716e-02 9.98568906e-01 -8.11529918e-03 -2.92642149e+01] [-5.88555258e-02 4.99712097e-03 9.98254004e-01 -1.54387273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.080714057 meters 0.042849120706133774 Centerline is valid? [True, True] Translation: X:219.67, Y:-29.26, Z:-15.44 [[ 9.96576717e-01 5.70597159e-02 5.98250444e-02 2.19666016e+02] [-5.66636132e-02 9.98358842e-01 -8.29810203e-03 -2.92630329e+01] [-6.02003494e-02 4.87979210e-03 9.98174386e-01 -1.54393091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.110714057 meters 0.04035170754056242 Centerline is valid? [True, True] Translation: X:219.70, Y:-29.26, Z:-15.44 [[ 9.96448910e-01 5.87813606e-02 6.02853253e-02 2.19697443e+02] [-5.83822753e-02 9.98259281e-01 -8.36164046e-03 -2.92637947e+01] [-6.06718941e-02 4.81235307e-03 9.98146163e-01 -1.54408078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.140714057 meters 0.039710316280720095 Centerline is valid? [True, True] Translation: X:219.73, Y:-29.27, Z:-15.44 [[ 9.96242054e-01 6.18356984e-02 6.06474778e-02 2.19727872e+02] [-6.14372679e-02 9.98075479e-01 -8.41427112e-03 -2.92665686e+01] [-6.10510628e-02 4.65663540e-03 9.98123782e-01 -1.54425852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.170714057 meters 0.04049738728769312 Centerline is valid? [True, True] Translation: X:219.76, Y:-29.27, Z:-15.44 [[ 9.96156763e-01 6.32173546e-02 6.06239998e-02 2.19759229e+02] [-6.28218152e-02 9.97989321e-01 -8.41034373e-03 -2.92718797e+01] [-6.10337841e-02 4.56951108e-03 9.98125241e-01 -1.54449756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.20071405699997 meters 0.038725267040417705 Centerline is valid? [True, True] Translation: X:219.79, Y:-29.27, Z:-15.45 [[ 9.96074314e-01 6.46546131e-02 6.04627247e-02 2.19790220e+02] [-6.42627819e-02 9.97897617e-01 -8.40481359e-03 -2.92737428e+01] [-6.08790189e-02 4.48631604e-03 9.98135070e-01 -1.54470398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.23071405699997 meters 0.03863516279659177 Centerline is valid? [True, True] Translation: X:219.82, Y:-29.28, Z:-15.45 [[ 9.95914677e-01 6.75828667e-02 5.98874945e-02 2.19819993e+02] [-6.72035775e-02 9.97704533e-01 -8.32733562e-03 -2.92774381e+01] [-6.03128099e-02 4.26866189e-03 9.98170398e-01 -1.54497441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.26071405699997 meters 0.03648192318520375 Centerline is valid? [True, True] Translation: X:219.85, Y:-29.28, Z:-15.45 [[ 9.95792694e-01 6.95580720e-02 5.96538730e-02 2.19850771e+02] [-6.91852638e-02 9.97569343e-01 -8.29485063e-03 -2.92781814e+01] [-6.00858488e-02 4.13278272e-03 9.98184658e-01 -1.54520724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.29071405699997 meters 0.03576910941807306 Centerline is valid? [True, True] Translation: X:219.88, Y:-29.28, Z:-15.45 [[ 9.95503142e-01 7.37367554e-02 5.94675156e-02 2.19880175e+02] [-7.33736802e-02 9.97270237e-01 -8.26909167e-03 -2.92801132e+01] [-5.99149194e-02 3.86855627e-03 9.98195991e-01 -1.54540428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.32071405699998 meters 0.035009971617866675 Centerline is valid? [True, True] Translation: X:219.91, Y:-29.28, Z:-15.46 [[ 9.95317940e-01 7.59685753e-02 5.97576239e-02 2.19909550e+02] [-7.56060014e-02 9.97103155e-01 -8.30850464e-03 -2.92822868e+01] [-6.02157006e-02 3.75156873e-03 9.98178338e-01 -1.54556726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.35071405699998 meters 0.035317527618216694 Centerline is valid? [True, True] Translation: X:219.94, Y:-29.29, Z:-15.46 [[ 9.95174135e-01 7.79282696e-02 5.96290699e-02 2.19938190e+02] [-7.75708773e-02 9.96952385e-01 -8.28863326e-03 -2.92856605e+01] [-6.00932623e-02 3.62315417e-03 9.98186191e-01 -1.54573010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.38071405699998 meters 0.03377868836202061 Centerline is valid? [True, True] Translation: X:219.97, Y:-29.29, Z:-15.46 [[ 9.94850097e-01 8.17849440e-02 5.98707550e-02 2.19968350e+02] [-8.14318142e-02 9.96644199e-01 -8.31861405e-03 -2.92874361e+01] [-6.03501781e-02 3.40038979e-03 9.98171475e-01 -1.54597102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.41071405699998 meters 0.03344410093677708 Centerline is valid? [True, True] Translation: X:220.00, Y:-29.29, Z:-15.46 [[ 9.94780722e-01 8.28800438e-02 5.95164944e-02 2.19996765e+02] [-8.25330320e-02 9.96554020e-01 -8.26949975e-03 -2.92903989e+01] [-5.99967782e-02 3.31426219e-03 9.98193069e-01 -1.54616881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.44071405699998 meters 0.03325082830788474 Centerline is valid? [True, True] Translation: X:220.03, Y:-29.29, Z:-15.46 [[ 9.94696539e-01 8.43106153e-02 5.89110860e-02 2.20025853e+02] [-8.39733907e-02 9.96434413e-01 -8.18109745e-03 -2.92937133e+01] [-5.93907868e-02 3.19074567e-03 9.98229710e-01 -1.54641759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.47071405699998 meters 0.03512236609005074 Centerline is valid? [True, True] Translation: X:220.05, Y:-29.30, Z:-15.47 [[ 9.94769108e-01 8.39055661e-02 5.82604256e-02 2.20053187e+02] [-8.35752258e-02 9.96468647e-01 -8.08804776e-03 -2.93003673e+01] [-5.87333197e-02 3.17661183e-03 9.98268654e-01 -1.54670505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.50071405699998 meters 0.03383903455930615 Centerline is valid? [True, True] Translation: X:220.08, Y:-29.30, Z:-15.47 [[ 9.94836556e-01 8.32325708e-02 5.80737943e-02 2.20081574e+02] [-8.29035094e-02 9.96525009e-01 -8.05693080e-03 -2.93022314e+01] [-5.85425874e-02 3.20080794e-03 9.98279781e-01 -1.54687461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.53071405699998 meters 0.03574090619479088 Centerline is valid? [True, True] Translation: X:220.11, Y:-29.31, Z:-15.47 [[ 9.95005054e-01 8.12430174e-02 5.80044433e-02 2.20109001e+02] [-8.09116235e-02 9.96688827e-01 -8.04306319e-03 -2.93106231e+01] [-5.84658233e-02 3.30965484e-03 9.98283924e-01 -1.54712584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.56071405699998 meters 0.03645340888444156 Centerline is valid? [True, True] Translation: X:220.14, Y:-29.32, Z:-15.47 [[ 9.95136056e-01 7.97799056e-02 5.77875208e-02 2.20138401e+02] [-7.94487182e-02 9.96806774e-01 -8.00979616e-03 -2.93166374e+01] [-5.82420130e-02 3.37969250e-03 9.98296772e-01 -1.54731898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.59071405699999 meters 0.03965879692351582 Centerline is valid? [True, True] Translation: X:220.17, Y:-29.33, Z:-15.47 [[ 9.95340503e-01 7.70541777e-02 5.79649534e-02 2.20166834e+02] [-7.67164754e-02 9.97020595e-01 -8.03221192e-03 -2.93261566e+01] [-5.84111678e-02 3.54791893e-03 9.98286306e-01 -1.54749573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.620714057 meters 0.040778184172277646 Centerline is valid? [True, True] Translation: X:220.20, Y:-29.33, Z:-15.48 [[ 9.95526804e-01 7.49874089e-02 5.74740940e-02 2.20196086e+02] [-7.46520271e-02 9.97177847e-01 -7.96339730e-03 -2.93314624e+01] [-5.79090479e-02 3.63721784e-03 9.98315237e-01 -1.54769930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.650714057 meters 0.04167445870189528 Centerline is valid? [True, True] Translation: X:220.23, Y:-29.34, Z:-15.48 [[ 9.95633504e-01 7.36972298e-02 5.72943578e-02 2.20225419e+02] [-7.33619309e-02 9.97273803e-01 -7.93656320e-03 -2.93369820e+01] [-5.77230648e-02 3.69868352e-03 9.98325782e-01 -1.54786906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.680714057 meters 0.04167445870189528 Centerline is valid? [True, True] Translation: X:220.25, Y:-29.34, Z:-15.48 [[ 9.95635924e-01 7.36643296e-02 5.72946198e-02 2.20254294e+02] [-7.33290849e-02 9.97276234e-01 -7.93467131e-03 -2.93409477e+01] [-5.77230648e-02 3.69868176e-03 9.98325782e-01 -1.54806987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.710714057 meters 0.038459935958777634 Centerline is valid? [True, True] Translation: X:220.28, Y:-29.34, Z:-15.48 [[ 9.95725471e-01 7.14021899e-02 5.85876537e-02 2.20284508e+02] [-7.10478433e-02 9.97439925e-01 -8.11173730e-03 -2.93409612e+01] [-5.90168607e-02 3.91453700e-03 9.98249311e-01 -1.54799356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.740714057 meters 0.03912762619672409 Centerline is valid? [True, True] Translation: X:220.31, Y:-29.35, Z:-15.48 [[ 9.95735746e-01 7.08357417e-02 5.90984103e-02 2.20313971e+02] [-7.04743145e-02 9.97480051e-01 -8.18034128e-03 -2.93463668e+01] [-5.95289459e-02 3.98053828e-03 9.98218643e-01 -1.54815525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.770714057 meters 0.0403851619916534 Centerline is valid? [True, True] Translation: X:220.34, Y:-29.35, Z:-15.48 [[ 9.95780216e-01 6.98402035e-02 5.95324042e-02 2.20343213e+02] [-6.94718071e-02 9.97549899e-01 -8.23814951e-03 -2.93528503e+01] [-5.99618978e-02 4.06756260e-03 9.98192379e-01 -1.54833064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.800714057 meters 0.03783735509395929 Centerline is valid? [True, True] Translation: X:220.37, Y:-29.35, Z:-15.49 [[ 9.95864043e-01 6.91266676e-02 5.89602594e-02 2.20373824e+02] [-6.87641553e-02 9.97599590e-01 -8.15779344e-03 -2.93533070e+01] [-5.93826517e-02 4.06970072e-03 9.98226997e-01 -1.54853330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.830714057 meters 0.03578303427745583 Centerline is valid? [True, True] Translation: X:220.40, Y:-29.36, Z:-15.49 [[ 9.96001107e-01 6.82333458e-02 5.76715289e-02 2.20404382e+02] [-6.78850403e-02 9.97661240e-01 -7.97948354e-03 -2.93550754e+01] [-5.80811158e-02 4.03254038e-03 9.98303723e-01 -1.54874475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.860714057 meters 0.03640120148073468 Centerline is valid? [True, True] Translation: X:220.43, Y:-29.36, Z:-15.49 [[ 9.96082447e-01 6.80751064e-02 5.64405694e-02 2.20434465e+02] [-6.77412782e-02 9.97672359e-01 -7.80916691e-03 -2.93600256e+01] [-5.68408059e-02 3.95521777e-03 9.98375420e-01 -1.54904316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.890714057 meters 0.03897196804064195 Centerline is valid? [True, True] Translation: X:220.46, Y:-29.37, Z:-15.49 [[ 9.96140064e-01 6.80752900e-02 5.54141563e-02 2.20462328e+02] [-6.77534830e-02 9.97672628e-01 -7.66761879e-03 -2.93689228e+01] [-5.58071624e-02 3.88352016e-03 9.98434013e-01 -1.54936746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.920714057 meters 0.03850315761887571 Centerline is valid? [True, True] Translation: X:220.49, Y:-29.37, Z:-15.50 [[ 9.96241137e-01 6.79863973e-02 5.36791105e-02 2.20491873e+02] [-6.76844263e-02 9.97679146e-01 -7.42562595e-03 -2.93720051e+01] [-5.40593706e-02 3.76447425e-03 9.98530627e-01 -1.54965623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.95071405699997 meters 0.04024307085971574 Centerline is valid? [True, True] Translation: X:220.52, Y:-29.38, Z:-15.50 [[ 9.96321106e-01 6.77345254e-02 5.25003546e-02 2.20519526e+02] [-6.74454219e-02 9.97696544e-01 -7.26099010e-03 -2.93779285e+01] [-5.28712421e-02 3.69336912e-03 9.98594508e-01 -1.54994408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.98071405699997 meters 0.03871806501904715 Centerline is valid? [True, True] Translation: X:220.55, Y:-29.38, Z:-15.50 [[ 9.96407390e-01 6.76810974e-02 5.09075877e-02 2.20549399e+02] [-6.74093701e-02 9.97700580e-01 -7.03776345e-03 -2.93795182e+01] [-5.12668533e-02 3.58083109e-03 9.98678571e-01 -1.55010634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.01071405699997 meters 0.046767921823413716 Centerline is valid? [True, True] Translation: X:220.58, Y:-29.40, Z:-15.51 [[ 9.96368605e-01 6.79537830e-02 5.13019180e-02 2.20575697e+02] [-6.76782663e-02 9.97682001e-01 -7.09069733e-03 -2.93950658e+01] [-5.16648399e-02 3.59292334e-03 9.98658017e-01 -1.55056687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.04071405699997 meters 0.03850002571020739 Centerline is valid? [True, True] Translation: X:220.61, Y:-29.39, Z:-15.50 [[ 9.96370639e-01 6.78632503e-02 5.13821807e-02 2.20606549e+02] [-6.75869094e-02 9.97688137e-01 -7.09871956e-03 -2.93865975e+01] [-5.17451343e-02 3.60019296e-03 9.98653834e-01 -1.55040500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.07071405699998 meters 0.03964873803015349 Centerline is valid? [True, True] Translation: X:220.63, Y:-29.39, Z:-15.51 [[ 9.96338990e-01 6.81585637e-02 5.16045222e-02 2.20634409e+02] [-6.78802998e-02 9.97668010e-01 -7.12785014e-03 -2.93924275e+01] [-5.19700050e-02 3.59882457e-03 9.98642162e-01 -1.55064573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.10071405699998 meters 0.04373718848713385 Centerline is valid? [True, True] Translation: X:220.66, Y:-29.40, Z:-15.51 [[ 9.96352819e-01 6.82609913e-02 5.12005566e-02 2.20662235e+02] [-6.79873477e-02 9.97661138e-01 -7.06931289e-03 -2.94015528e+01] [-5.15633639e-02 3.56253978e-03 9.98663371e-01 -1.55101844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.13071405699998 meters 0.044768937603961625 Centerline is valid? [True, True] Translation: X:220.69, Y:-29.41, Z:-15.51 [[ 9.96345956e-01 6.83172856e-02 5.12589890e-02 2.20690335e+02] [-6.80432327e-02 9.97657290e-01 -7.07462608e-03 -2.94065505e+01] [-5.16222233e-02 3.56094777e-03 9.98660336e-01 -1.55121604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.16071405699998 meters 0.03827935581439255 Centerline is valid? [True, True] Translation: X:220.72, Y:-29.40, Z:-15.51 [[ 9.96360187e-01 6.82162937e-02 5.11166845e-02 2.20720168e+02] [-6.79437443e-02 9.97664225e-01 -7.05276644e-03 -2.94002255e+01] [-5.14784010e-02 3.55403675e-03 9.98667784e-01 -1.55114433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.19071405699998 meters 0.0373461161205744 Centerline is valid? [True, True] Translation: X:220.75, Y:-29.40, Z:-15.51 [[ 9.96406060e-01 6.80163384e-02 5.04850645e-02 2.20748871e+02] [-6.77504165e-02 9.97678010e-01 -6.96204954e-03 -2.94010317e+01] [-5.08413718e-02 3.51664420e-03 9.98700550e-01 -1.55121381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.22071405699998 meters 0.03770768757401852 Centerline is valid? [True, True] Translation: X:220.78, Y:-29.40, Z:-15.51 [[ 9.96409806e-01 6.78541990e-02 5.06291128e-02 2.20777757e+02] [-6.75867376e-02 9.97688998e-01 -6.97819514e-03 -2.94049622e+01] [-5.09856087e-02 3.53128551e-03 9.98693145e-01 -1.55141322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.25071405699998 meters 0.03805462109018421 Centerline is valid? [True, True] Translation: X:220.81, Y:-29.41, Z:-15.52 [[ 9.96437335e-01 6.77578235e-02 5.02146936e-02 2.20806497e+02] [-6.74948183e-02 9.97695648e-01 -6.91687559e-03 -2.94093209e+01] [-5.05676537e-02 3.50300146e-03 9.98714494e-01 -1.55158558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.28071405699998 meters 0.03896569328664331 Centerline is valid? [True, True] Translation: X:220.83, Y:-29.41, Z:-15.52 [[ 9.96456225e-01 6.74814517e-02 5.02120114e-02 2.20834591e+02] [-6.72182006e-02 9.97714336e-01 -6.91502516e-03 -2.94137936e+01] [-5.05638796e-02 3.51535881e-03 9.98714642e-01 -1.55173868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.31071405699998 meters 0.03969160339606976 Centerline is valid? [True, True] Translation: X:220.86, Y:-29.42, Z:-15.52 [[ 9.96462155e-01 6.73911085e-02 5.02156518e-02 2.20863004e+02] [-6.71278875e-02 9.97720438e-01 -6.91192487e-03 -2.94178736e+01] [-5.05669844e-02 3.51660092e-03 9.98714481e-01 -1.55190183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.34071405699999 meters 0.0399531877766086 Centerline is valid? [True, True] Translation: X:220.89, Y:-29.42, Z:-15.52 [[ 9.96381765e-01 6.86435892e-02 5.01142274e-02 2.20890797e+02] [-6.83831789e-02 9.97635307e-01 -6.89456444e-03 -2.94195983e+01] [-5.04689903e-02 3.44264811e-03 9.98719695e-01 -1.55198994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.370714057 meters 0.039885498891109566 Centerline is valid? [True, True] Translation: X:220.92, Y:-29.42, Z:-15.52 [[ 9.96306938e-01 6.97401812e-02 5.00878496e-02 2.20919536e+02] [-6.94816411e-02 9.97559460e-01 -6.88662966e-03 -2.94219516e+01] [-5.04458830e-02 3.38101092e-03 9.98721073e-01 -1.55219765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.400714057 meters 0.0397593083063948 Centerline is valid? [True, True] Translation: X:220.95, Y:-29.42, Z:-15.52 [[ 9.96145504e-01 7.22029034e-02 4.98083808e-02 2.20948255e+02] [-7.19505298e-02 9.97384722e-01 -6.84374558e-03 -2.94234022e+01] [-5.01722564e-02 3.23362700e-03 9.98735344e-01 -1.55241112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.430714057 meters 0.039777387298605006 Centerline is valid? [True, True] Translation: X:220.98, Y:-29.43, Z:-15.53 [[ 9.96051514e-01 7.34671812e-02 4.98392967e-02 2.20976751e+02] [-7.32160598e-02 9.97292591e-01 -6.84817543e-03 -2.94263129e+01] [-5.02074775e-02 3.17209858e-03 9.98733772e-01 -1.55260849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.460714057 meters 0.04028078761038435 Centerline is valid? [True, True] Translation: X:221.00, Y:-29.43, Z:-15.53 [[ 9.95994537e-01 7.42088527e-02 4.98791378e-02 2.21004514e+02] [-7.39584125e-02 9.97237797e-01 -6.85051873e-03 -2.94291706e+01] [-5.02497306e-02 3.13409739e-03 9.98731767e-01 -1.55282567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.490714057 meters 0.03989969212760797 Centerline is valid? [True, True] Translation: X:221.03, Y:-29.43, Z:-15.53 [[ 9.95858111e-01 7.57689378e-02 5.02562463e-02 2.21033968e+02] [-7.55169209e-02 9.97120665e-01 -6.89736028e-03 -2.94302599e+01] [-5.06341474e-02 3.07359520e-03 9.98712539e-01 -1.55299708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.520714057 meters 0.040065072712542726 Centerline is valid? [True, True] Translation: X:221.06, Y:-29.43, Z:-15.53 [[ 9.95870516e-01 7.59126295e-02 4.97914366e-02 2.21063049e+02] [-7.56655601e-02 9.97109853e-01 -6.83110351e-03 -2.94333033e+01] [-5.01660991e-02 3.03539764e-03 9.98736276e-01 -1.55322040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.550714057 meters 0.04136303299081258 Centerline is valid? [True, True] Translation: X:221.09, Y:-29.44, Z:-15.54 [[ 9.95989085e-01 7.48637079e-02 4.90017166e-02 2.21091098e+02] [-7.46232709e-02 9.97189151e-01 -6.72046042e-03 -2.94359945e+01] [-4.93670988e-02 3.03683685e-03 9.98776085e-01 -1.55350738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.580714057 meters 0.042064652244589065 Centerline is valid? [True, True] Translation: X:221.12, Y:-29.44, Z:-15.54 [[ 9.96062074e-01 7.41680421e-02 4.85741412e-02 2.21119307e+02] [-7.39310884e-02 9.97241118e-01 -6.65926346e-03 -2.94400800e+01] [-4.89340355e-02 3.04190064e-03 9.98797380e-01 -1.55374731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.610714057 meters 0.036400241712623106 Centerline is valid? [True, True] Translation: X:221.15, Y:-29.43, Z:-15.54 [[ 9.96234617e-01 7.18743085e-02 4.84837160e-02 2.21150210e+02] [-7.16357186e-02 9.97408739e-01 -6.64306967e-03 -2.94337492e+01] [-4.88355481e-02 3.14489014e-03 9.98801882e-01 -1.55367323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.640714057 meters 0.04537148217963151 Centerline is valid? [True, True] Translation: X:221.18, Y:-29.45, Z:-15.54 [[ 9.96316757e-01 7.06682487e-02 4.85687038e-02 2.21175425e+02] [-7.04274294e-02 9.97494712e-01 -6.65400444e-03 -2.94501196e+01] [-4.89172521e-02 3.20892716e-03 9.98797680e-01 -1.55424723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.670714057 meters 0.0384635178533921 Centerline is valid? [True, True] Translation: X:221.21, Y:-29.44, Z:-15.54 [[ 9.96399831e-01 6.93804235e-02 4.87209693e-02 2.21205273e+02] [-6.91367936e-02 9.97584891e-01 -6.67007858e-03 -2.94429813e+01] [-4.90660757e-02 3.27765357e-03 9.98790157e-01 -1.55415277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.70071405699997 meters 0.039540470911337736 Centerline is valid? [True, True] Translation: X:221.23, Y:-29.45, Z:-15.54 [[ 9.96533903e-01 6.72343249e-02 4.89869917e-02 2.21233957e+02] [-6.69856352e-02 9.97731426e-01 -6.70264524e-03 -2.94473383e+01] [-4.93265089e-02 3.39798847e-03 9.98776927e-01 -1.55438721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.73071405699997 meters 0.038301471976678006 Centerline is valid? [True, True] Translation: X:221.26, Y:-29.45, Z:-15.55 [[ 9.96603445e-01 6.58929096e-02 4.93933035e-02 2.21263869e+02] [-6.56385828e-02 9.97820597e-01 -6.75525930e-03 -2.94486599e+01] [-4.97307792e-02 3.49020825e-03 9.98756561e-01 -1.55450356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.76071405699997 meters 0.04171780821483788 Centerline is valid? [True, True] Translation: X:221.29, Y:-29.46, Z:-15.55 [[ 9.96743583e-01 6.34642182e-02 4.97445800e-02 2.21292632e+02] [-6.32033745e-02 9.97977496e-01 -6.80081356e-03 -2.94561781e+01] [-5.00755797e-02 3.63464195e-03 9.98738818e-01 -1.55475425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.79071405699997 meters 0.042599295307867276 Centerline is valid? [True, True] Translation: X:221.32, Y:-29.46, Z:-15.55 [[ 9.96811705e-01 6.19473926e-02 5.02886125e-02 2.21321967e+02] [-6.16788545e-02 9.98072363e-01 -6.87583894e-03 -2.94612172e+01] [-5.06176146e-02 3.75217273e-03 9.98711058e-01 -1.55488753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.82071405699998 meters 0.04647096682720155 Centerline is valid? [True, True] Translation: X:221.35, Y:-29.47, Z:-15.55 [[ 9.96959733e-01 5.89935707e-02 5.09023442e-02 2.21350119e+02] [-5.87147230e-02 9.98250557e-01 -6.95744515e-03 -2.94691516e+01] [-5.12237380e-02 3.94757562e-03 9.98679401e-01 -1.55508264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.85071405699998 meters 0.04777557846885319 Centerline is valid? [True, True] Translation: X:221.38, Y:-29.47, Z:-15.55 [[ 9.97027955e-01 5.77794108e-02 5.09587733e-02 2.21378519e+02] [-5.74983782e-02 9.98321304e-01 -6.96496930e-03 -2.94742053e+01] [-5.12756608e-02 4.01422228e-03 9.98676470e-01 -1.55527108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.88071405699998 meters 0.044190781037011496 Centerline is valid? [True, True] Translation: X:221.41, Y:-29.47, Z:-15.55 [[ 9.97083349e-01 5.61070751e-02 5.17377082e-02 2.21409241e+02] [-5.58152543e-02 9.98416087e-01 -7.06922963e-03 -2.94724951e+01] [-5.20523940e-02 4.16085781e-03 9.98635687e-01 -1.55531773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.91071405699998 meters 0.047574426304043356 Centerline is valid? [True, True] Translation: X:221.44, Y:-29.48, Z:-15.56 [[ 9.97058395e-01 5.55566825e-02 5.28016239e-02 2.21437814e+02] [-5.52520103e-02 9.98446383e-01 -7.21356534e-03 -2.94809600e+01] [-5.31203522e-02 4.27495001e-03 9.98578967e-01 -1.55557956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.94071405699998 meters 0.045880870508262485 Centerline is valid? [True, True] Translation: X:221.47, Y:-29.48, Z:-15.56 [[ 9.97052273e-01 5.54487374e-02 5.30301976e-02 2.21468228e+02] [-5.51413359e-02 9.98452285e-01 -7.24349828e-03 -2.94824087e+01] [-5.33497648e-02 4.29799048e-03 9.98566638e-01 -1.55571883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.97071405699998 meters 0.05243107367125607 Centerline is valid? [True, True] Translation: X:221.50, Y:-29.50, Z:-15.56 [[ 9.96993355e-01 5.62396430e-02 5.33043448e-02 2.21496479e+02] [-5.59302575e-02 9.98408141e-01 -7.27937736e-03 -2.94955858e+01] [-5.36288814e-02 4.27616512e-03 9.98551780e-01 -1.55621482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.00071405699998 meters 0.0520007764417154 Centerline is valid? [True, True] Translation: X:221.53, Y:-29.50, Z:-15.56 [[ 9.96949808e-01 5.74282015e-02 5.28496098e-02 2.21526425e+02] [-5.71253553e-02 9.98340874e-01 -7.22444117e-03 -2.94980957e+01] [-5.31768123e-02 4.18335251e-03 9.98576350e-01 -1.55644821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.03071405699998 meters 0.04422795780496776 Centerline is valid? [True, True] Translation: X:221.56, Y:-29.49, Z:-15.56 [[ 9.96955527e-01 5.75231246e-02 5.26380807e-02 2.21557891e+02] [-5.72228321e-02 9.98335501e-01 -7.19552555e-03 -2.94908854e+01] [-5.29643738e-02 4.16151891e-03 9.98587731e-01 -1.55648943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.06071405699998 meters 0.04571550478792616 Centerline is valid? [True, True] Translation: X:221.59, Y:-29.50, Z:-15.57 [[ 9.96880173e-01 5.83416518e-02 5.31617520e-02 2.21587076e+02] [-5.80365030e-02 9.98288011e-01 -7.26711042e-03 -2.94972427e+01] [-5.34947149e-02 4.15911612e-03 9.98559471e-01 -1.55677599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.09071405699999 meters 0.041126997294912544 Centerline is valid? [True, True] Translation: X:221.62, Y:-29.50, Z:-15.57 [[ 9.96852752e-01 5.82727139e-02 5.37483269e-02 2.21617885e+02] [-5.79606861e-02 9.98291829e-01 -7.34729409e-03 -2.94956216e+01] [-5.40846623e-02 4.20888043e-03 9.98527483e-01 -1.55695520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.120714057 meters 0.042019218459995136 Centerline is valid? [True, True] Translation: X:221.65, Y:-29.50, Z:-15.57 [[ 9.96905450e-01 5.79365546e-02 5.31307828e-02 2.21647695e+02] [-5.76311904e-02 9.98311523e-01 -7.26287699e-03 -2.95012486e+01] [-5.34618587e-02 4.17841139e-03 9.98561150e-01 -1.55719865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.150714057 meters 0.04464702721303801 Centerline is valid? [True, True] Translation: X:221.68, Y:-29.51, Z:-15.58 [[ 9.96958941e-01 5.70672021e-02 5.30679317e-02 2.21676200e+02] [-5.67613233e-02 9.98361419e-01 -7.25455385e-03 -2.95099770e+01] [-5.33949727e-02 4.22028629e-03 9.98564553e-01 -1.55756041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.180714057 meters 0.04447183057215488 Centerline is valid? [True, True] Translation: X:221.71, Y:-29.51, Z:-15.58 [[ 9.96994536e-01 5.63157597e-02 5.32017806e-02 2.21706809e+02] [-5.60073920e-02 9.98403881e-01 -7.27060740e-03 -2.95141633e+01] [-5.35263140e-02 4.26906288e-03 9.98557314e-01 -1.55778278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.210714057 meters 0.04520194987443502 Centerline is valid? [True, True] Translation: X:221.74, Y:-29.52, Z:-15.58 [[ 9.97025897e-01 5.55395945e-02 5.34295177e-02 2.21736441e+02] [-5.52272182e-02 9.98447079e-01 -7.30643234e-03 -2.95202771e+01] [-5.37523422e-02 4.33393863e-03 9.98544893e-01 -1.55801641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.240714057 meters 0.043994379442063136 Centerline is valid? [True, True] Translation: X:221.77, Y:-29.52, Z:-15.58 [[ 9.97032311e-01 5.49717372e-02 5.38950754e-02 2.21767974e+02] [-5.46530906e-02 9.98478207e-01 -7.36958589e-03 -2.95234355e+01] [-5.42181772e-02 4.40218281e-03 9.98519409e-01 -1.55822945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.270714057 meters 0.0465112258658978 Centerline is valid? [True, True] Translation: X:221.80, Y:-29.53, Z:-15.59 [[ 9.97062750e-01 5.48321703e-02 5.34724691e-02 2.21797995e+02] [-5.45183597e-02 9.98486004e-01 -7.31084447e-03 -2.95312872e+01] [-5.37923814e-02 4.37413939e-03 9.98542561e-01 -1.55850569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.300714057 meters 0.04252096620975264 Centerline is valid? [True, True] Translation: X:221.83, Y:-29.53, Z:-15.59 [[ 9.97164592e-01 5.32502821e-02 5.31712771e-02 2.21829475e+02] [-5.29369567e-02 9.98571284e-01 -7.28483181e-03 -2.95309481e+01] [-5.34832298e-02 4.44945074e-03 9.98558835e-01 -1.55864353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.330714057 meters 0.050310846041041024 Centerline is valid? [True, True] Translation: X:221.86, Y:-29.55, Z:-15.59 [[ 9.97152470e-01 5.30683701e-02 5.35789026e-02 2.21858491e+02] [-5.27500051e-02 9.98580775e-01 -7.33975958e-03 -2.95475264e+01] [-5.38923712e-02 4.49257202e-03 9.98536644e-01 -1.55906696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.360714057 meters 0.05313866230413495 Centerline is valid? [True, True] Translation: X:221.89, Y:-29.56, Z:-15.59 [[ 9.97171108e-01 5.20849691e-02 5.41935247e-02 2.21887905e+02] [-5.17569368e-02 9.98631998e-01 -7.43990707e-03 -2.95578374e+01] [-5.45068952e-02 4.61396954e-03 9.98502734e-01 -1.55930158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.390714057 meters 0.05303359247753378 Centerline is valid? [True, True] Translation: X:221.92, Y:-29.56, Z:-15.60 [[ 9.97155380e-01 5.23709296e-02 5.42073166e-02 2.21920078e+02] [-5.20432293e-02 9.98617116e-01 -7.44033494e-03 -2.95629333e+01] [-5.45220114e-02 4.59804622e-03 9.98501982e-01 -1.55952041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.420714057 meters 0.052847062056752776 Centerline is valid? [True, True] Translation: X:221.95, Y:-29.57, Z:-15.60 [[ 9.97141611e-01 5.25422049e-02 5.42947879e-02 2.21952888e+02] [-5.22128783e-02 9.98608059e-01 -7.46730377e-03 -2.95679244e+01] [-5.46115614e-02 4.61107216e-03 9.98497028e-01 -1.55970180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.45071405699997 meters 0.0537766767223852 Centerline is valid? [True, True] Translation: X:221.98, Y:-29.57, Z:-15.60 [[ 9.97136837e-01 5.33196107e-02 5.36204068e-02 2.21983356e+02] [-5.29987162e-02 9.98567237e-01 -7.38980124e-03 -2.95747537e+01] [-5.39376028e-02 4.52683031e-03 9.98534047e-01 -1.55983318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.48071405699997 meters 0.0435391175274213 Centerline is valid? [True, True] Translation: X:222.02, Y:-29.57, Z:-15.60 [[ 9.97130671e-01 5.36541426e-02 5.34009185e-02 2.22016903e+02] [-5.33357500e-02 9.98549433e-01 -7.37068860e-03 -2.95657653e+01] [-5.37189249e-02 4.50136163e-03 9.98545950e-01 -1.55979200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.51071405699997 meters 0.042940335806061165 Centerline is valid? [True, True] Translation: X:222.05, Y:-29.57, Z:-15.60 [[ 9.97055114e-01 5.45884579e-02 5.38627873e-02 2.22048235e+02] [-5.42649635e-02 9.98498769e-01 -7.45131540e-03 -2.95717631e+01] [-5.41886826e-02 4.50650994e-03 9.98520545e-01 -1.55998514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.54071405699997 meters 0.049854520022697885 Centerline is valid? [True, True] Translation: X:222.08, Y:-29.59, Z:-15.60 [[ 9.96989856e-01 5.52973572e-02 5.43454611e-02 2.22077302e+02] [-5.49690461e-02 9.98459751e-01 -7.51864279e-03 -2.95869969e+01] [-5.46775167e-02 4.50869244e-03 9.98493886e-01 -1.56038622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.57071405699998 meters 0.044343412798567176 Centerline is valid? [True, True] Translation: X:222.11, Y:-29.59, Z:-15.60 [[ 9.96891072e-01 5.67149987e-02 5.46955241e-02 2.22109062e+02] [-5.63836874e-02 9.98380379e-01 -7.58283837e-03 -2.95850418e+01] [-5.50369987e-02 4.47532854e-03 9.98474286e-01 -1.56043970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.60071405699998 meters 0.044343412798567176 Centerline is valid? [True, True] Translation: X:222.14, Y:-29.59, Z:-15.61 [[ 9.96877007e-01 5.69615614e-02 5.46956476e-02 2.22140555e+02] [-5.66306669e-02 9.98366406e-01 -7.58195096e-03 -2.95894594e+01] [-5.50381769e-02 4.46082158e-03 9.98474286e-01 -1.56065864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.63071405699998 meters 0.05607090898105181 Centerline is valid? [True, True] Translation: X:222.17, Y:-29.61, Z:-15.61 [[ 9.96842030e-01 5.78270261e-02 5.44242854e-02 2.22168474e+02] [-5.74999267e-02 9.98316899e-01 -7.55827463e-03 -2.96109768e+01] [-5.47697564e-02 4.40501341e-03 9.98489294e-01 -1.56116028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.66071405699998 meters 0.04265918757316534 Centerline is valid? [True, True] Translation: X:222.20, Y:-29.60, Z:-15.61 [[ 9.96830167e-01 5.83582722e-02 5.40733830e-02 2.22202075e+02] [-5.80353280e-02 9.98286171e-01 -7.52478122e-03 -2.95995197e+01] [-5.44198437e-02 4.36276239e-03 9.98508611e-01 -1.56124152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.69071405699998 meters 0.04310234713140217 Centerline is valid? [True, True] Translation: X:222.23, Y:-29.61, Z:-15.62 [[ 9.96831106e-01 5.89962208e-02 5.33590908e-02 2.22232218e+02] [-5.86826535e-02 9.98249070e-01 -7.42569200e-03 -2.96067597e+01] [-5.37037506e-02 4.27090773e-03 9.98547779e-01 -1.56154672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.72071405699998 meters 0.04555214469721145 Centerline is valid? [True, True] Translation: X:222.26, Y:-29.62, Z:-15.62 [[ 9.96718611e-01 6.14413047e-02 5.26970282e-02 2.22260933e+02] [-6.11383533e-02 9.98102288e-01 -7.34334138e-03 -2.96184700e+01] [-5.30482089e-02 4.09743550e-03 9.98583546e-01 -1.56196912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.75071405699998 meters 0.042556540167118996 Centerline is valid? [True, True] Translation: X:222.29, Y:-29.62, Z:-15.62 [[ 9.96590124e-01 6.35603176e-02 5.26137954e-02 2.22291947e+02] [-6.32612777e-02 9.97970071e-01 -7.33134958e-03 -2.96192691e+01] [-5.29729760e-02 3.97793467e-03 9.98588023e-01 -1.56212744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.78071405699998 meters 0.04158838961344243 Centerline is valid? [True, True] Translation: X:222.32, Y:-29.62, Z:-15.62 [[ 9.96393563e-01 6.64379053e-02 5.27813612e-02 2.22321689e+02] [-6.61408568e-02 9.97783175e-01 -7.35676689e-03 -2.96226423e+01] [-5.31531223e-02 3.83923072e-03 9.98578993e-01 -1.56224102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.81071405699998 meters 0.03848909250333616 Centerline is valid? [True, True] Translation: X:222.35, Y:-29.62, Z:-15.62 [[ 9.95780338e-01 7.39061559e-02 5.44003624e-02 2.22352295e+02] [-7.36017375e-02 9.97258900e-01 -7.58099109e-03 -2.96224798e+01] [-5.48115275e-02 3.54504068e-03 9.98490425e-01 -1.56225359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.84071405699999 meters 0.03691424556729728 Centerline is valid? [True, True] Translation: X:222.38, Y:-29.63, Z:-15.62 [[ 9.95451501e-01 7.79172662e-02 5.48197902e-02 2.22382394e+02] [-7.76141992e-02 9.96954202e-01 -7.63911809e-03 -2.96258134e+01] [-5.52480394e-02 3.34957745e-03 9.98467042e-01 -1.56237220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.870714057 meters 0.03445399551764898 Centerline is valid? [True, True] Translation: X:222.41, Y:-29.63, Z:-15.63 [[ 9.94724545e-01 8.56095535e-02 5.65162332e-02 2.22411143e+02] [-8.52997627e-02 9.96324206e-01 -7.87566339e-03 -2.96299854e+01] [-5.69827232e-02 3.01329440e-03 9.98370617e-01 -1.56254629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.900714057 meters 0.03358395166990609 Centerline is valid? [True, True] Translation: X:222.44, Y:-29.63, Z:-15.63 [[ 9.94383131e-01 8.86472586e-02 5.78260480e-02 2.22440452e+02] [-8.83281566e-02 9.96058851e-01 -8.05618940e-03 -2.96345300e+01] [-5.83123061e-02 2.90327062e-03 9.98294168e-01 -1.56271971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.930714057 meters 0.03286950391305204 Centerline is valid? [True, True] Translation: X:222.47, Y:-29.64, Z:-15.63 [[ 9.93883995e-01 9.24726414e-02 6.03607135e-02 2.22469123e+02] [-9.21320758e-02 9.95711304e-01 -8.40710330e-03 -2.96410424e+01] [-6.08792718e-02 2.79452758e-03 9.98141225e-01 -1.56269553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.960714057 meters 0.03282266320347897 Centerline is valid? [True, True] Translation: X:222.50, Y:-29.65, Z:-15.63 [[ 9.93724995e-01 9.32699529e-02 6.17361275e-02 2.22497321e+02] [-9.29153245e-02 9.95636901e-01 -8.59669310e-03 -2.96463726e+01] [-6.22685799e-02 2.80651649e-03 9.98055483e-01 -1.56277931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.990714057 meters 0.03433462412152519 Centerline is valid? [True, True] Translation: X:222.52, Y:-29.66, Z:-15.63 [[ 9.93708218e-01 9.19747787e-02 6.39110187e-02 2.22523765e+02] [-9.15922997e-02 9.95756862e-01 -8.89511852e-03 -2.96571179e+01] [-6.44579620e-02 2.98539519e-03 9.97915958e-01 -1.56286707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.020714057 meters 0.029447292779028342 Centerline is valid? [True, True] Translation: X:222.55, Y:-29.66, Z:-15.63 [[ 9.93818943e-01 9.01060480e-02 6.48445002e-02 2.22553222e+02] [-8.97086959e-02 9.95927206e-01 -9.01947331e-03 -2.96567442e+01] [-6.53931110e-02 3.14660788e-03 9.97854619e-01 -1.56297758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.050714057 meters 0.030838846112839543 Centerline is valid? [True, True] Translation: X:222.58, Y:-29.67, Z:-15.63 [[ 9.94056804e-01 8.70231011e-02 6.54068012e-02 2.22580287e+02] [-8.66124893e-02 9.96200581e-01 -9.09277874e-03 -2.96667211e+01] [-6.59495752e-02 3.37369271e-03 9.97817254e-01 -1.56322240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.080714057 meters 0.033929120545549765 Centerline is valid? [True, True] Translation: X:222.61, Y:-29.68, Z:-15.63 [[ 9.94659388e-01 7.88605009e-02 6.65862103e-02 2.22608393e+02] [-7.84169349e-02 9.96877707e-01 -9.25318906e-03 -2.96838442e+01] [-6.71080198e-02 3.98228485e-03 9.97737769e-01 -1.56344116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.110714057 meters 0.03923755112981962 Centerline is valid? [True, True] Translation: X:222.64, Y:-29.70, Z:-15.64 [[ 9.95286700e-01 6.96350416e-02 6.74933008e-02 2.22635057e+02] [-6.91582367e-02 9.97561620e-01 -9.37828892e-03 -2.97035231e+01] [-6.79817840e-02 4.66636856e-03 9.97675650e-01 -1.56362707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.140714057 meters 0.04204146379399095 Centerline is valid? [True, True] Translation: X:222.66, Y:-29.72, Z:-15.64 [[ 9.95584071e-01 6.50623485e-02 6.76701382e-02 2.22662542e+02] [-6.45722625e-02 9.97868696e-01 -9.40688030e-03 -2.97160730e+01] [-6.81379463e-02 4.99572627e-03 9.97663402e-01 -1.56379868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.170714057 meters 0.04381768535236415 Centerline is valid? [True, True] Translation: X:222.69, Y:-29.73, Z:-15.64 [[ 9.95812723e-01 6.07510365e-02 6.83105590e-02 2.22691595e+02] [-6.02412814e-02 9.98138641e-01 -9.49959450e-03 -2.97266782e+01] [-6.87605187e-02 5.34470147e-03 9.97618878e-01 -1.56406242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.20071405699997 meters 0.04968323567194065 Centerline is valid? [True, True] Translation: X:222.72, Y:-29.75, Z:-15.64 [[ 9.96216758e-01 5.29504082e-02 6.89088125e-02 2.22718578e+02] [-5.24131320e-02 9.98579506e-01 -9.58298415e-03 -2.97480368e+01] [-6.93183509e-02 5.93500273e-03 9.97576935e-01 -1.56436547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.23071405699997 meters 0.05203043420166314 Centerline is valid? [True, True] Translation: X:222.75, Y:-29.76, Z:-15.65 [[ 9.96332964e-01 4.95856546e-02 6.97272417e-02 2.22747155e+02] [-4.90273311e-02 9.98750364e-01 -9.69699225e-03 -2.97600397e+01] [-7.01209398e-02 6.24289246e-03 9.97518962e-01 -1.56461188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.26071405699997 meters 0.047446596254191356 Centerline is valid? [True, True] Translation: X:222.78, Y:-29.77, Z:-15.65 [[ 9.96534341e-01 4.52810969e-02 6.97777083e-02 2.22777352e+02] [-4.47114657e-02 9.98952804e-01 -9.70464276e-03 -2.97658129e+01] [-7.01440742e-02 6.55114617e-03 9.97515359e-01 -1.56495746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.29071405699997 meters 0.04960920555471263 Centerline is valid? [True, True] Translation: X:222.81, Y:-29.78, Z:-15.65 [[ 9.96601870e-01 4.39430184e-02 6.96686790e-02 2.22806575e+02] [-4.33718768e-02 9.99012001e-01 -9.69028263e-03 -2.97757593e+01] [-7.00256667e-02 6.63569242e-03 9.97523119e-01 -1.56522277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.32071405699998 meters 0.0498746936275337 Centerline is valid? [True, True] Translation: X:222.84, Y:-29.78, Z:-15.65 [[ 9.96620031e-01 4.40472839e-02 6.93422699e-02 2.22837831e+02] [-4.34816335e-02 9.99007654e-01 -9.64645051e-03 -2.97832018e+01] [-6.96983584e-02 6.59873064e-03 9.97546287e-01 -1.56546906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.35071405699998 meters 0.0471956045962695 Centerline is valid? [True, True] Translation: X:222.87, Y:-29.79, Z:-15.66 [[ 9.96590360e-01 4.54297515e-02 6.88751849e-02 2.22869226e+02] [-4.48737817e-02 9.98946549e-01 -9.59874384e-03 -2.97870698e+01] [-6.92386968e-02 6.47532557e-03 9.97579106e-01 -1.56570488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.38071405699998 meters 0.044421470908671296 Centerline is valid? [True, True] Translation: X:222.90, Y:-29.79, Z:-15.66 [[ 9.96484774e-01 4.71175809e-02 6.92678089e-02 2.22900399e+02] [-4.65590076e-02 9.98868858e-01 -9.65732831e-03 -2.97892468e+01] [-6.96444871e-02 6.39834017e-03 9.97551355e-01 -1.56591768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.41071405699998 meters 0.04628343088093664 Centerline is valid? [True, True] Translation: X:222.93, Y:-29.80, Z:-15.66 [[ 9.96185804e-01 5.14625239e-02 7.04659626e-02 2.22929338e+02] [-5.08949952e-02 9.98655661e-01 -9.82700075e-03 -2.97989381e+01] [-7.08769548e-02 6.20315382e-03 9.97465778e-01 -1.56613871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.44071405699998 meters 0.043762040558455007 Centerline is valid? [True, True] Translation: X:222.96, Y:-29.80, Z:-15.66 [[ 9.96021095e-01 5.31965145e-02 7.14990115e-02 2.22961077e+02] [-5.26166044e-02 9.98565005e-01 -9.97118389e-03 -2.98003786e+01] [-7.19268430e-02 6.16947430e-03 9.97390830e-01 -1.56636696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.47071405699998 meters 0.044008968567278095 Centerline is valid? [True, True] Translation: X:222.99, Y:-29.81, Z:-15.66 [[ 9.95693126e-01 5.78818431e-02 7.24216230e-02 2.22990375e+02] [-5.72988374e-02 9.98305944e-01 -1.01037437e-02 -2.98062004e+01] [-7.28837600e-02 5.91055339e-03 9.97322928e-01 -1.56645908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.50071405699998 meters 0.04076355058433557 Centerline is valid? [True, True] Translation: X:223.02, Y:-29.80, Z:-15.67 [[ 9.95444221e-01 6.19132448e-02 7.25089871e-02 2.23021752e+02] [-6.13393933e-02 9.98065696e-01 -1.01165567e-02 -2.98044237e+01] [-7.29950816e-02 5.62281067e-03 9.97316450e-01 -1.56665317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.53071405699998 meters 0.04438043323326951 Centerline is valid? [True, True] Translation: X:223.05, Y:-29.81, Z:-15.67 [[ 9.95350277e-01 6.34462486e-02 7.24734363e-02 2.23051675e+02] [-6.28769833e-02 9.97970058e-01 -1.01117563e-02 -2.98135428e+01] [-7.29678725e-02 5.50782838e-03 9.97319083e-01 -1.56688417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.56071405699998 meters 0.041304190559606484 Centerline is valid? [True, True] Translation: X:223.08, Y:-29.81, Z:-15.67 [[ 9.95256834e-01 6.49460403e-02 7.24282179e-02 2.23083085e+02] [-6.43812354e-02 9.97874182e-01 -1.01081090e-02 -2.98133563e+01] [-7.29307303e-02 5.39714642e-03 9.97322405e-01 -1.56721917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.59071405699999 meters 0.041927170043714504 Centerline is valid? [True, True] Translation: X:223.11, Y:-29.82, Z:-15.67 [[ 9.95166621e-01 6.63176746e-02 7.24248762e-02 2.23114176e+02] [-6.57562666e-02 9.97784484e-01 -1.01112371e-02 -2.98187660e+01] [-7.29349715e-02 5.29997617e-03 9.97322616e-01 -1.56749336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.620714057 meters 0.04225150336619668 Centerline is valid? [True, True] Translation: X:223.14, Y:-29.82, Z:-15.68 [[ 9.95099373e-01 6.73281235e-02 7.24165882e-02 2.23144729e+02] [-6.67681730e-02 9.97717109e-01 -1.01282557e-02 -2.98229828e+01] [-7.29331854e-02 5.24349760e-03 9.97323045e-01 -1.56775633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.650714057 meters 0.039713694537328995 Centerline is valid? [True, True] Translation: X:223.18, Y:-29.82, Z:-15.68 [[ 9.95208351e-01 6.66571536e-02 7.15343459e-02 2.23177676e+02] [-6.61078803e-02 9.97762156e-01 -1.00213519e-02 -2.98217064e+01] [-7.20422580e-02 5.24434908e-03 9.97387793e-01 -1.56801642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.680714057 meters 0.04009075189726425 Centerline is valid? [True, True] Translation: X:223.21, Y:-29.83, Z:-15.68 [[ 9.95302007e-01 6.60685602e-02 7.07733087e-02 2.23209486e+02] [-6.55281739e-02 9.97801283e-01 -9.93271505e-03 -2.98253907e+01] [-7.12739384e-02 5.24840554e-03 9.97442971e-01 -1.56826328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.710714057 meters 0.041028518468681746 Centerline is valid? [True, True] Translation: X:223.24, Y:-29.83, Z:-15.69 [[ 9.95423900e-01 6.55003235e-02 6.95770551e-02 2.23240314e+02] [-6.49754897e-02 9.97838912e-01 -9.78219359e-03 -2.98300982e+01] [-7.00674298e-02 5.21662607e-03 9.97528617e-01 -1.56855626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.740714057 meters 0.04382138862991147 Centerline is valid? [True, True] Translation: X:223.27, Y:-29.84, Z:-15.69 [[ 9.95673850e-01 6.35141619e-02 6.78198773e-02 2.23269988e+02] [-6.30103690e-02 9.97967236e-01 -9.54404506e-03 -2.98360418e+01] [-6.82881975e-02 5.22940059e-03 9.97651931e-01 -1.56897365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.770714057 meters 0.04447827841877381 Centerline is valid? [True, True] Translation: X:223.30, Y:-29.84, Z:-15.69 [[ 9.95787741e-01 6.25851996e-02 6.70064805e-02 2.23301651e+02] [-6.20911450e-02 9.98025909e-01 -9.43266578e-03 -2.98401671e+01] [-6.74645488e-02 5.23242385e-03 9.97707951e-01 -1.56926991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.800714057 meters 0.04128707276857847 Centerline is valid? [True, True] Translation: X:223.33, Y:-29.84, Z:-15.70 [[ 9.95949384e-01 6.15060285e-02 6.55883561e-02 2.23334326e+02] [-6.10301052e-02 9.98093182e-01 -9.23718929e-03 -2.98363083e+01] [-6.60314339e-02 5.19690871e-03 9.97804010e-01 -1.56950255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.830714057 meters 0.045819139945839894 Centerline is valid? [True, True] Translation: X:223.36, Y:-29.84, Z:-15.70 [[ 9.95977032e-01 6.13743354e-02 6.52912099e-02 2.23364564e+02] [-6.09014166e-02 9.98101286e-01 -9.21090181e-03 -2.98446503e+01] [-6.57325536e-02 5.19751947e-03 9.97823741e-01 -1.56968879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.860714057 meters 0.04318393002196428 Centerline is valid? [True, True] Translation: X:223.40, Y:-29.84, Z:-15.70 [[ 9.96021815e-01 6.04461056e-02 6.54737486e-02 2.23397561e+02] [-5.99674866e-02 9.98157447e-01 -9.25264946e-03 -2.98393549e+01] [-6.59123963e-02 5.28954457e-03 9.97811393e-01 -1.56977625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.890714057 meters 0.04865499799681896 Centerline is valid? [True, True] Translation: X:223.43, Y:-29.85, Z:-15.70 [[ 9.96023276e-01 5.97453054e-02 6.60918406e-02 2.23427760e+02] [-5.92557547e-02 9.98199096e-01 -9.34455525e-03 -2.98489955e+01] [-6.65311089e-02 5.39107264e-03 9.97769787e-01 -1.56992618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.920714057 meters 0.04582221004501294 Centerline is valid? [True, True] Translation: X:223.46, Y:-29.84, Z:-15.70 [[ 9.96163233e-01 5.80685449e-02 6.54740904e-02 2.23460276e+02] [-5.75834868e-02 9.98297628e-01 -9.27295477e-03 -2.98444798e+01] [-6.59010962e-02 5.46715019e-03 9.97811182e-01 -1.57007452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.95071405699997 meters 0.04464390251438084 Centerline is valid? [True, True] Translation: X:223.49, Y:-29.84, Z:-15.70 [[ 9.96283538e-01 5.68846865e-02 6.46780072e-02 2.23492403e+02] [-5.64087578e-02 9.98365716e-01 -9.16237241e-03 -2.98449371e+01] [-6.50935037e-02 5.47991475e-03 9.97864122e-01 -1.57030991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.98071405699997 meters 0.045414221757983354 Centerline is valid? [True, True] Translation: X:223.52, Y:-29.85, Z:-15.71 [[ 9.96461772e-01 5.53960474e-02 6.32077191e-02 2.23523316e+02] [-5.49382847e-02 9.98449561e-01 -8.95869626e-03 -2.98462000e+01] [-6.36059958e-02 5.45447468e-03 9.97960183e-01 -1.57065154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.01071405699997 meters 0.04614995372325168 Centerline is valid? [True, True] Translation: X:223.56, Y:-29.85, Z:-15.71 [[ 9.96525094e-01 5.52322210e-02 6.23469225e-02 2.23555701e+02] [-5.47864193e-02 9.98458976e-01 -8.83869064e-03 -2.98493540e+01] [-6.27390249e-02 5.39221239e-03 9.98015400e-01 -1.57090939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.04071405699997 meters 0.04645550004102657 Centerline is valid? [True, True] Translation: X:223.59, Y:-29.85, Z:-15.71 [[ 9.96531543e-01 5.55703804e-02 6.19420353e-02 2.23589041e+02] [-5.51300440e-02 9.98440432e-01 -8.79671976e-03 -2.98518577e+01] [-6.23342695e-02 5.35134158e-03 9.98040982e-01 -1.57112027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.07071405699998 meters 0.046408021760581966 Centerline is valid? [True, True] Translation: X:223.62, Y:-29.85, Z:-15.71 [[ 9.96426751e-01 5.79790449e-02 6.14179209e-02 2.23619677e+02] [-5.75494670e-02 9.98304382e-01 -8.74184905e-03 -2.98503344e+01] [-6.18206236e-02 5.17604363e-03 9.98073855e-01 -1.57121479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.10071405699998 meters 0.04596764819349807 Centerline is valid? [True, True] Translation: X:223.65, Y:-29.85, Z:-15.71 [[ 9.96071206e-01 6.33258094e-02 6.19031046e-02 2.23649805e+02] [-6.28996489e-02 9.97980963e-01 -8.81091687e-03 -2.98487080e+01] [-6.23360784e-02 4.88261705e-03 9.98043272e-01 -1.57131584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.13071405699998 meters 0.04238499856847308 Centerline is valid? [True, True] Translation: X:223.68, Y:-29.85, Z:-15.71 [[ 9.95822097e-01 6.67802522e-02 6.22796091e-02 2.23681475e+02] [-6.63555988e-02 9.97756662e-01 -8.86437758e-03 -2.98450245e+01] [-6.27318603e-02 4.69474231e-03 9.98019375e-01 -1.57141348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.16071405699998 meters 0.038403640827088324 Centerline is valid? [True, True] Translation: X:223.71, Y:-29.84, Z:-15.71 [[ 9.95529583e-01 7.04142265e-02 6.29498754e-02 2.23712683e+02] [-6.99875709e-02 9.97507623e-01 -8.95999330e-03 -2.98406334e+01] [-6.34238916e-02 4.51422952e-03 9.97976469e-01 -1.57147236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.19071405699998 meters 0.03537207403887311 Centerline is valid? [True, True] Translation: X:223.74, Y:-29.84, Z:-15.71 [[ 9.94876489e-01 7.76206194e-02 6.47750753e-02 2.23744929e+02] [-7.71839855e-02 9.96974235e-01 -9.21998309e-03 -2.98351125e+01] [-6.52947419e-02 4.17314593e-03 9.97857295e-01 -1.57143099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.22071405699998 meters 0.03522279089171782 Centerline is valid? [True, True] Translation: X:223.77, Y:-29.84, Z:-15.72 [[ 9.94632148e-01 8.03854474e-02 6.51542069e-02 2.23774196e+02] [-7.99494588e-02 9.96755759e-01 -9.27577590e-03 -2.98367980e+01] [-6.56884684e-02 4.01694132e-03 9.97832095e-01 -1.57155601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.25071405699998 meters 0.03536130008521355 Centerline is valid? [True, True] Translation: X:223.80, Y:-29.84, Z:-15.72 [[ 9.94309322e-01 8.38474444e-02 6.57158953e-02 2.23803244e+02] [-8.34115772e-02 9.96471286e-01 -9.35332330e-03 -2.98379676e+01] [-6.62682549e-02 3.81863007e-03 9.97794536e-01 -1.57164902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.28071405699998 meters 0.034503125931199315 Centerline is valid? [True, True] Translation: X:223.83, Y:-29.84, Z:-15.72 [[ 9.94204242e-01 8.53370206e-02 6.53874496e-02 2.23832347e+02] [-8.49088654e-02 9.96345279e-01 -9.30428566e-03 -2.98399105e+01] [-6.59424768e-02 3.69838612e-03 9.97816572e-01 -1.57184011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.31071405699998 meters 0.03466448562198059 Centerline is valid? [True, True] Translation: X:223.86, Y:-29.84, Z:-15.72 [[ 9.94124877e-01 8.66973184e-02 6.48020358e-02 2.23860364e+02] [-8.62799117e-02 9.96228294e-01 -9.21753446e-03 -2.98441208e+01] [-6.53567571e-02 3.57226638e-03 9.97855567e-01 -1.57205942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.34071405699999 meters 0.03482394673071586 Centerline is valid? [True, True] Translation: X:223.89, Y:-29.85, Z:-15.72 [[ 9.94149226e-01 8.66537298e-02 6.44860328e-02 2.23888645e+02] [-8.62405181e-02 9.96232151e-01 -9.16923145e-03 -2.98484739e+01] [-6.50376073e-02 3.55427547e-03 9.97876484e-01 -1.57228086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.370714057 meters 0.036340430529629375 Centerline is valid? [True, True] Translation: X:223.92, Y:-29.86, Z:-15.73 [[ 9.94241227e-01 8.59988446e-02 6.39420224e-02 2.23916026e+02] [-8.55915452e-02 9.96288870e-01 -9.08711952e-03 -2.98555070e+01] [-6.44862070e-02 3.56189236e-03 9.97912242e-01 -1.57252523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.400714057 meters 0.03668447831829771 Centerline is valid? [True, True] Translation: X:223.94, Y:-29.86, Z:-15.73 [[ 9.94260362e-01 8.56343164e-02 6.41334238e-02 2.23944676e+02] [-8.52237824e-02 9.96320143e-01 -9.11483451e-03 -2.98612697e+01] [-6.46779646e-02 3.59682571e-03 9.97899706e-01 -1.57276944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.430714057 meters 0.03660728917310071 Centerline is valid? [True, True] Translation: X:223.97, Y:-29.87, Z:-15.73 [[ 9.94416192e-01 8.53276041e-02 6.20937754e-02 2.23972307e+02] [-8.49424708e-02 9.96346812e-01 -8.82082001e-03 -2.98675766e+01] [-6.26195946e-02 3.49716754e-03 9.98031340e-01 -1.57316517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.460714057 meters 0.0369185006824053 Centerline is valid? [True, True] Translation: X:224.00, Y:-29.87, Z:-15.73 [[ 9.94492492e-01 8.50835348e-02 6.12002867e-02 2.23999340e+02] [-8.47092120e-02 9.96367822e-01 -8.68984256e-03 -2.98734763e+01] [-6.17173589e-02 3.45775512e-03 9.98087677e-01 -1.57342963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.490714057 meters 0.0369185006824053 Centerline is valid? [True, True] Translation: X:224.03, Y:-29.88, Z:-15.74 [[ 9.94498178e-01 8.50165147e-02 6.12010331e-02 2.24027354e+02] [-8.46423882e-02 9.96373546e-01 -8.68458271e-03 -2.98773878e+01] [-6.17174233e-02 3.45660008e-03 9.98087677e-01 -1.57362463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.520714057 meters 0.03826492295723989 Centerline is valid? [True, True] Translation: X:224.05, Y:-29.89, Z:-15.74 [[ 9.94639584e-01 8.44431856e-02 5.96778572e-02 2.24054148e+02] [-8.40866756e-02 9.96422491e-01 -8.46466828e-03 -2.98852711e+01] [-6.01791426e-02 3.40118152e-03 9.98181798e-01 -1.57382661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.550714057 meters 0.03352239633627427 Centerline is valid? [True, True] Translation: X:224.08, Y:-29.88, Z:-15.74 [[ 9.94732837e-01 8.36923353e-02 5.91791929e-02 2.24083027e+02] [-8.33407694e-02 9.96485800e-01 -8.38848488e-03 -2.98829659e+01] [-5.96732773e-02 3.41226189e-03 9.98212130e-01 -1.57387373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.580714057 meters 0.039694006383529844 Centerline is valid? [True, True] Translation: X:224.11, Y:-29.90, Z:-15.74 [[ 9.94754209e-01 8.29284916e-02 5.98909801e-02 2.24108911e+02] [-8.25673558e-02 9.96549374e-01 -8.48394268e-03 -2.98979567e+01] [-6.03878793e-02 3.49439781e-03 9.98168870e-01 -1.57417427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.610714057 meters 0.03453155743110361 Centerline is valid? [True, True] Translation: X:224.14, Y:-29.90, Z:-15.74 [[ 9.94908700e-01 8.03198719e-02 6.08719655e-02 2.24138603e+02] [-7.99423353e-02 9.96762250e-01 -8.61630136e-03 -2.98984820e+01] [-6.13669375e-02 3.70618610e-03 9.98108392e-01 -1.57415116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.640714057 meters 0.037556418017670755 Centerline is valid? [True, True] Translation: X:224.17, Y:-29.91, Z:-15.74 [[ 9.95040796e-01 7.82519417e-02 6.14039743e-02 2.24166336e+02] [-7.78640734e-02 9.96926128e-01 -8.68796788e-03 -2.99127778e+01] [-6.18950767e-02 3.86371892e-03 9.98075183e-01 -1.57439131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.670714057 meters 0.03594539550796634 Centerline is valid? [True, True] Translation: X:224.20, Y:-29.92, Z:-15.75 [[ 9.95092508e-01 7.73048572e-02 6.17645437e-02 2.24196590e+02] [-7.69106750e-02 9.96999699e-01 -8.73774522e-03 -2.99168840e+01] [-6.22547016e-02 3.94451206e-03 9.98052500e-01 -1.57458282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.70071405699997 meters 0.036404256527303516 Centerline is valid? [True, True] Translation: X:224.23, Y:-29.92, Z:-15.75 [[ 9.95148311e-01 7.67991621e-02 6.14957567e-02 2.24226422e+02] [-7.64074478e-02 9.97038724e-01 -8.69972030e-03 -2.99243048e+01] [-6.19817820e-02 3.95877813e-03 9.98069430e-01 -1.57478722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.73071405699997 meters 0.03658585956405353 Centerline is valid? [True, True] Translation: X:224.26, Y:-29.93, Z:-15.75 [[ 9.95263459e-01 7.58689070e-02 6.07828631e-02 2.24255656e+02] [-7.54845120e-02 9.97109898e-01 -8.59883109e-03 -2.99322435e+01] [-6.12595783e-02 3.96993761e-03 9.98113973e-01 -1.57496720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.76071405699997 meters 0.035949813695267716 Centerline is valid? [True, True] Translation: X:224.29, Y:-29.94, Z:-15.75 [[ 9.95306376e-01 7.56862273e-02 6.03059900e-02 2.24286021e+02] [-7.53074946e-02 9.97123859e-01 -8.53171458e-03 -2.99376586e+01] [-6.07782748e-02 3.95017690e-03 9.98143475e-01 -1.57518880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.79071405699997 meters 0.037258248073192744 Centerline is valid? [True, True] Translation: X:224.32, Y:-29.95, Z:-15.76 [[ 9.95478457e-01 7.52604152e-02 5.79526627e-02 2.24315284e+02] [-7.49099975e-02 9.97156595e-01 -8.19859790e-03 -2.99483598e+01] [-5.84049097e-02 3.82029377e-03 9.98285666e-01 -1.57553536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.82071405699998 meters 0.03927620429434859 Centerline is valid? [True, True] Translation: X:224.34, Y:-29.96, Z:-15.76 [[ 9.95535326e-01 7.49115988e-02 5.74253149e-02 2.24343974e+02] [-7.45668790e-02 9.97182911e-01 -8.12540502e-03 -2.99576904e+01] [-5.78722298e-02 3.80710122e-03 9.98316739e-01 -1.57585505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.85071405699998 meters 0.03721467133740983 Centerline is valid? [True, True] Translation: X:224.37, Y:-29.96, Z:-15.76 [[ 9.95636423e-01 7.33014386e-02 5.77495717e-02 2.24374987e+02] [-7.29502080e-02 9.97302122e-01 -8.16969017e-03 -2.99634824e+01] [-5.81926205e-02 3.92119782e-03 9.98297673e-01 -1.57594094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.88071405699998 meters 0.03727451471376918 Centerline is valid? [True, True] Translation: X:224.41, Y:-29.97, Z:-15.76 [[ 9.95640503e-01 7.25463000e-02 5.86261263e-02 2.24405597e+02] [-7.21828804e-02 9.97356912e-01 -8.29586338e-03 -2.99699287e+01] [-5.90730065e-02 4.02789492e-03 9.98245539e-01 -1.57609939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.91071405699998 meters 0.037339801036014024 Centerline is valid? [True, True] Translation: X:224.44, Y:-29.98, Z:-15.76 [[ 9.95840106e-01 7.02791652e-02 5.79941544e-02 2.24435268e+02] [-6.99195934e-02 9.97518856e-01 -8.20870952e-03 -2.99781699e+01] [-5.84271638e-02 4.11963446e-03 9.98283174e-01 -1.57631701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.94071405699998 meters 0.039680801676378934 Centerline is valid? [True, True] Translation: X:224.46, Y:-29.99, Z:-15.77 [[ 9.95938482e-01 6.92202012e-02 5.75769439e-02 2.24464831e+02] [-6.88639823e-02 9.97592763e-01 -8.15051651e-03 -2.99882036e+01] [-5.80025230e-02 4.15243539e-03 9.98307801e-01 -1.57664166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.97071405699998 meters 0.0389922951953977 Centerline is valid? [True, True] Translation: X:224.50, Y:-29.99, Z:-15.77 [[ 9.95987968e-01 6.88290213e-02 5.71885780e-02 2.24496770e+02] [-6.84769732e-02 9.97619853e-01 -8.09526450e-03 -2.99944226e+01] [-5.76096499e-02 4.14668532e-03 9.98330573e-01 -1.57689524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.00071405699998 meters 0.03987700554674308 Centerline is valid? [True, True] Translation: X:224.53, Y:-30.00, Z:-15.77 [[ 9.96059830e-01 6.75272216e-02 5.74881707e-02 2.24527493e+02] [-6.71683459e-02 9.97708334e-01 -8.15438339e-03 -3.00044572e+01] [-5.79070699e-02 4.26086840e-03 9.98312885e-01 -1.57716514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.03071405699998 meters 0.040386640635054635 Centerline is valid? [True, True] Translation: X:224.56, Y:-30.01, Z:-15.77 [[ 9.96094356e-01 6.66146184e-02 5.79528038e-02 2.24558396e+02] [-6.62482223e-02 9.97769290e-01 -8.22290243e-03 -3.00119326e+01] [-5.83712935e-02 4.35151647e-03 9.98285458e-01 -1.57729035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.06071405699998 meters 0.039203905070296946 Centerline is valid? [True, True] Translation: X:224.59, Y:-30.02, Z:-15.77 [[ 9.96075823e-01 6.63912213e-02 5.85248687e-02 2.24590594e+02] [-6.60163483e-02 9.97783872e-01 -8.31785451e-03 -3.00160176e+01] [-5.89474026e-02 4.42161566e-03 9.98251298e-01 -1.57743975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.09071405699999 meters 0.041510962204347815 Centerline is valid? [True, True] Translation: X:224.62, Y:-30.03, Z:-15.78 [[ 9.96090451e-01 6.61871842e-02 5.85070035e-02 2.24620254e+02] [-6.58112272e-02 9.97797307e-01 -8.33163830e-03 -3.00251789e+01] [-5.89295783e-02 4.44864766e-03 9.98252230e-01 -1.57766597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.120714057 meters 0.039294851459712773 Centerline is valid? [True, True] Translation: X:224.65, Y:-30.03, Z:-15.78 [[ 9.96209282e-01 6.35879731e-02 5.93602265e-02 2.24650968e+02] [-6.31958623e-02 9.97965272e-01 -8.46162977e-03 -3.00291999e+01] [-5.97775024e-02 4.67823341e-03 9.98200764e-01 -1.57787945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.150714057 meters 0.04468152036133071 Centerline is valid? [True, True] Translation: X:224.68, Y:-30.04, Z:-15.78 [[ 9.96327000e-01 6.18308481e-02 5.92406621e-02 2.24679102e+02] [-6.14370666e-02 9.98075212e-01 -8.44738426e-03 -3.00429745e+01] [-5.96489453e-02 4.77678452e-03 9.98207987e-01 -1.57821372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.180714057 meters 0.04528368754051209 Centerline is valid? [True, True] Translation: X:224.71, Y:-30.05, Z:-15.79 [[ 9.96541184e-01 5.88470822e-02 5.86744298e-02 2.24709168e+02] [-5.84556753e-02 9.98254945e-01 -8.36655661e-03 -3.00511135e+01] [-5.90643871e-02 4.90776481e-03 9.98242111e-01 -1.57851781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.210714057 meters 0.047371677859330656 Centerline is valid? [True, True] Translation: X:224.74, Y:-30.06, Z:-15.79 [[ 9.96669748e-01 5.72016699e-02 5.81152456e-02 2.24738146e+02] [-5.68148873e-02 9.98350333e-01 -8.28744191e-03 -3.00590540e+01] [-5.84934303e-02 4.95803151e-03 9.98275481e-01 -1.57880826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.240714057 meters 0.04930575694304099 Centerline is valid? [True, True] Translation: X:224.77, Y:-30.07, Z:-15.79 [[ 9.96809817e-01 5.50821870e-02 5.77593475e-02 2.24767854e+02] [-5.46966157e-02 9.98469048e-01 -8.23650868e-03 -3.00680463e+01] [-5.81246056e-02 5.05099188e-03 9.98296558e-01 -1.57909631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.270714057 meters 0.04758222925069328 Centerline is valid? [True, True] Translation: X:224.80, Y:-30.07, Z:-15.79 [[ 9.96822375e-01 5.44341035e-02 5.81556562e-02 2.24800134e+02] [-5.40421929e-02 9.98504225e-01 -8.29180285e-03 -3.00714981e+01] [-5.85200252e-02 5.12259542e-03 9.98273092e-01 -1.57926495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.300714057 meters 0.04300507977942925 Centerline is valid? [True, True] Translation: X:224.83, Y:-30.07, Z:-15.79 [[ 9.96867164e-01 5.31942689e-02 5.85339781e-02 2.24832666e+02] [-5.27941640e-02 9.98570406e-01 -8.36188039e-03 -3.00701150e+01] [-5.88951024e-02 5.24543155e-03 9.98250396e-01 -1.57929720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.330714057 meters 0.050208438946429075 Centerline is valid? [True, True] Translation: X:224.86, Y:-30.08, Z:-15.80 [[ 9.96824480e-01 5.34529706e-02 5.90231804e-02 2.24862703e+02] [-5.30464313e-02 9.98556426e-01 -8.43441588e-03 -3.00840290e+01] [-5.93888207e-02 5.27666314e-03 9.98220980e-01 -1.57958015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.360714057 meters 0.04535742361556314 Centerline is valid? [True, True] Translation: X:224.90, Y:-30.08, Z:-15.80 [[ 9.96709695e-01 5.45520783e-02 5.99487674e-02 2.24895054e+02] [-5.41334893e-02 9.98496796e-01 -8.58569340e-03 -3.00802189e+01] [-6.03270196e-02 5.31220789e-03 9.98164531e-01 -1.57957175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.390714057 meters 0.0448590612281266 Centerline is valid? [True, True] Translation: X:224.93, Y:-30.08, Z:-15.80 [[ 9.96570429e-01 5.60668228e-02 6.08596068e-02 2.24927051e+02] [-5.56380639e-02 9.98412939e-01 -8.71829768e-03 -3.00825668e+01] [-6.12518262e-02 5.30228697e-03 9.98108260e-01 -1.57968046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.42071405699997 meters 0.051283702295195945 Centerline is valid? [True, True] Translation: X:224.96, Y:-30.09, Z:-15.80 [[ 9.96429139e-01 5.79262881e-02 6.14289453e-02 2.24955023e+02] [-5.74927180e-02 9.98307108e-01 -8.80376008e-03 -3.00944554e+01] [-6.18349218e-02 5.24060606e-03 9.98072632e-01 -1.57987471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.45071405699997 meters 0.04346533000636049 Centerline is valid? [True, True] Translation: X:224.99, Y:-30.09, Z:-15.80 [[ 9.96069193e-01 6.25352303e-02 6.27336318e-02 2.24987084e+02] [-6.20921608e-02 9.98029936e-01 -8.98948993e-03 -3.00855127e+01] [-6.31722023e-02 5.05888722e-03 9.97989820e-01 -1.58003956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.48071405699997 meters 0.04285442601159378 Centerline is valid? [True, True] Translation: X:225.02, Y:-30.09, Z:-15.80 [[ 9.95816267e-01 6.63625714e-02 6.28169706e-02 2.25016377e+02] [-6.59258809e-02 9.97783921e-01 -9.00142136e-03 -3.00852852e+01] [-6.32751207e-02 4.82249769e-03 9.97984470e-01 -1.58030172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.51071405699997 meters 0.04222212090492305 Centerline is valid? [True, True] Translation: X:225.05, Y:-30.09, Z:-15.81 [[ 9.95678626e-01 6.81069188e-02 6.31309907e-02 2.25047478e+02] [-6.76694131e-02 9.97666797e-01 -9.04505488e-03 -3.00873640e+01] [-6.35997241e-02 4.73393071e-03 9.97964260e-01 -1.58054233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.54071405699997 meters 0.042327878697986494 Centerline is valid? [True, True] Translation: X:225.08, Y:-30.09, Z:-15.81 [[ 9.95464723e-01 7.05858082e-02 6.37779635e-02 2.25077417e+02] [-7.01441685e-02 9.97494988e-01 -9.14022099e-03 -3.00895132e+01] [-6.42633689e-02 4.62511533e-03 9.97922255e-01 -1.58075411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.57071405699998 meters 0.04223811844269122 Centerline is valid? [True, True] Translation: X:225.11, Y:-30.09, Z:-15.81 [[ 9.95364688e-01 7.18612378e-02 6.39147979e-02 2.25109394e+02] [-7.14203758e-02 9.97404254e-01 -9.15882167e-03 -3.00928925e+01] [-6.44070555e-02 4.55154878e-03 9.97913330e-01 -1.58104006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.60071405699998 meters 0.042706492074134565 Centerline is valid? [True, True] Translation: X:225.14, Y:-30.10, Z:-15.81 [[ 9.95305644e-01 7.31178743e-02 6.34070308e-02 2.25141243e+02] [-7.26855435e-02 9.97313378e-01 -9.10155441e-03 -3.00968978e+01] [-6.39021664e-02 4.45005398e-03 9.97946246e-01 -1.58129421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.63071405699998 meters 0.042560743942517625 Centerline is valid? [True, True] Translation: X:225.17, Y:-30.10, Z:-15.82 [[ 9.95237173e-01 7.52949282e-02 6.19164274e-02 2.25171338e+02] [-7.48858986e-02 9.97152359e-01 -8.90369986e-03 -3.00987463e+01] [-6.24105151e-02 4.22462576e-03 9.98041622e-01 -1.58177692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.66071405699998 meters 0.042335176746701224 Centerline is valid? [True, True] Translation: X:225.20, Y:-30.10, Z:-15.82 [[ 9.95165656e-01 7.75013290e-02 6.03229755e-02 2.25201644e+02] [-7.71170812e-02 9.96984298e-01 -8.67558965e-03 -3.01003555e+01] [-6.08134291e-02 3.98171706e-03 9.98141209e-01 -1.58219330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.69071405699998 meters 0.04198257638808415 Centerline is valid? [True, True] Translation: X:225.23, Y:-30.10, Z:-15.82 [[ 9.95081893e-01 7.88190036e-02 5.99965972e-02 2.25233164e+02] [-7.84412449e-02 9.96881389e-01 -8.62941306e-03 -3.01030865e+01] [-6.04896529e-02 3.88076491e-03 9.98161280e-01 -1.58246518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.72071405699998 meters 0.04145290861620382 Centerline is valid? [True, True] Translation: X:225.26, Y:-30.10, Z:-15.83 [[ 9.94776757e-01 8.16129161e-02 6.13069055e-02 2.25262850e+02] [-8.12235086e-02 9.96656874e-01 -8.82144346e-03 -3.01044537e+01] [-6.18218925e-02 3.79580495e-03 9.98079980e-01 -1.58260689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.75071405699998 meters 0.041236415401934304 Centerline is valid? [True, True] Translation: X:225.29, Y:-30.11, Z:-15.83 [[ 9.94630888e-01 8.27980103e-02 6.20796764e-02 2.25292868e+02] [-8.24010057e-02 9.96559222e-01 -8.93263738e-03 -3.01072746e+01] [-6.26056786e-02 3.76924928e-03 9.98031223e-01 -1.58278550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.78071405699998 meters 0.04039678976486432 Centerline is valid? [True, True] Translation: X:225.32, Y:-30.11, Z:-15.83 [[ 9.94274624e-01 8.62885614e-02 6.30258366e-02 2.25322461e+02] [-8.58863227e-02 9.96263668e-01 -9.06878025e-03 -3.01089823e+01] [-6.35728831e-02 3.60380073e-03 9.97970692e-01 -1.58293996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.81071405699998 meters 0.03925787288362187 Centerline is valid? [True, True] Translation: X:225.35, Y:-30.11, Z:-15.83 [[ 9.94135821e-01 8.78549487e-02 6.30513937e-02 2.25352171e+02] [-8.74555095e-02 9.96127111e-01 -9.07262329e-03 -3.01104391e+01] [-6.36042775e-02 3.50522804e-03 9.97969042e-01 -1.58309316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.84071405699999 meters 0.03899453126013059 Centerline is valid? [True, True] Translation: X:225.38, Y:-30.11, Z:-15.83 [[ 9.93979810e-01 8.95845280e-02 6.30773323e-02 2.25381044e+02] [-8.91883623e-02 9.95973440e-01 -9.07424522e-03 -3.01131907e+01] [-6.36362597e-02 3.39385258e-03 9.97967388e-01 -1.58323778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.870714057 meters 0.038157290615000256 Centerline is valid? [True, True] Translation: X:225.41, Y:-30.11, Z:-15.83 [[ 9.93646562e-01 9.27719269e-02 6.37171778e-02 2.25410112e+02] [-9.23743344e-02 9.95682178e-01 -9.16416035e-03 -3.01140565e+01] [-6.42922352e-02 3.22010453e-03 9.97925919e-01 -1.58329513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.900714057 meters 0.03804658018621332 Centerline is valid? [True, True] Translation: X:225.44, Y:-30.12, Z:-15.83 [[ 9.93490161e-01 9.39071009e-02 6.44884262e-02 2.25438600e+02] [-9.35023245e-02 9.95575876e-01 -9.27305688e-03 -3.01172956e+01] [-6.50739274e-02 3.18287301e-03 9.97875370e-01 -1.58347146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.930714057 meters 0.0385040944404997 Centerline is valid? [True, True] Translation: X:225.47, Y:-30.12, Z:-15.84 [[ 9.93338444e-01 9.51230917e-02 6.50410110e-02 2.25466694e+02] [-9.47142193e-02 9.95460611e-01 -9.34819029e-03 -3.01220174e+01] [-6.56349934e-02 3.12560821e-03 9.97838804e-01 -1.58359863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.960714057 meters 0.03291176191668269 Centerline is valid? [True, True] Translation: X:225.50, Y:-30.12, Z:-15.84 [[ 9.93305571e-01 9.52322561e-02 6.53824082e-02 2.25496220e+02] [-9.48195158e-02 9.95450154e-01 -9.39412917e-03 -3.01174712e+01] [-6.59795524e-02 3.13171256e-03 9.97816061e-01 -1.58372409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.990714057 meters 0.034228137878919374 Centerline is valid? [True, True] Translation: X:225.52, Y:-30.12, Z:-15.84 [[ 9.93447205e-01 9.39460273e-02 6.50906716e-02 2.25523869e+02] [-9.35345217e-02 9.95572155e-01 -9.34757218e-03 -3.01247702e+01] [-6.56806275e-02 3.19809461e-03 9.97835571e-01 -1.58404510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.020714057 meters 0.034520157346579844 Centerline is valid? [True, True] Translation: X:225.55, Y:-30.13, Z:-15.84 [[ 9.93563319e-01 9.29682857e-02 6.47211643e-02 2.25552652e+02] [-9.25596049e-02 9.95663797e-01 -9.29105804e-03 -3.01300924e+01] [-6.53042939e-02 3.24068906e-03 9.97860134e-01 -1.58430751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.050714057 meters 0.03303157887855982 Centerline is valid? [True, True] Translation: X:225.58, Y:-30.13, Z:-15.85 [[ 9.93844975e-01 9.09972149e-02 6.31796911e-02 2.25582179e+02] [-9.06039667e-02 9.95845721e-01 -9.06763012e-03 -3.01326682e+01] [-6.37423541e-02 3.28748800e-03 9.97960974e-01 -1.58465833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.080714057 meters 0.037076919739649924 Centerline is valid? [True, True] Translation: X:225.61, Y:-30.14, Z:-15.85 [[ 9.93956948e-01 8.99960527e-02 6.28513835e-02 2.25608974e+02] [-8.96050320e-02 9.95936548e-01 -9.01832087e-03 -3.01447114e+01] [-6.34076032e-02 3.33202246e-03 9.97982151e-01 -1.58497945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.110714057 meters 0.03890935381342586 Centerline is valid? [True, True] Translation: X:225.64, Y:-30.15, Z:-15.85 [[ 9.94183660e-01 8.77380341e-02 6.24570889e-02 2.25637201e+02] [-8.73476982e-02 9.96137606e-01 -8.95816608e-03 -3.01537409e+01] [-6.30018269e-02 3.45057939e-03 9.98007447e-01 -1.58529364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.140714057 meters 0.03467663827996496 Centerline is valid? [True, True] Translation: X:225.67, Y:-30.15, Z:-15.85 [[ 9.94309040e-01 8.52964773e-02 6.38282421e-02 2.25667908e+02] [-8.48838526e-02 9.96348806e-01 -9.15364839e-03 -3.01534876e+01] [-6.43759668e-02 3.68356824e-03 9.97918918e-01 -1.58534727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.17071405699997 meters 0.03529439273020039 Centerline is valid? [True, True] Translation: X:225.70, Y:-30.16, Z:-15.85 [[ 9.94378639e-01 8.41086088e-02 6.43184571e-02 2.25698186e+02] [-8.36871458e-02 9.96449388e-01 -9.22381644e-03 -3.01606004e+01] [-6.48658895e-02 3.78933794e-03 9.97886796e-01 -1.58549541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.20071405699997 meters 0.037191641656881935 Centerline is valid? [True, True] Translation: X:225.73, Y:-30.17, Z:-15.86 [[ 9.94466709e-01 8.21284512e-02 6.55048311e-02 2.25726822e+02] [-8.16868419e-02 9.96613752e-01 -9.39623937e-03 -3.01699352e+01] [-6.60547140e-02 3.99336446e-03 9.97808011e-01 -1.58566110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.23071405699997 meters 0.03745359495790471 Centerline is valid? [True, True] Translation: X:225.76, Y:-30.18, Z:-15.86 [[ 9.94443384e-01 8.18171748e-02 6.62442947e-02 2.25758208e+02] [-8.13644490e-02 9.96639064e-01 -9.50805575e-03 -3.01764219e+01] [-6.67995741e-02 4.06529259e-03 9.97758132e-01 -1.58589624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.26071405699997 meters 0.038046951496573556 Centerline is valid? [True, True] Translation: X:225.79, Y:-30.18, Z:-15.86 [[ 9.94457052e-01 8.17407195e-02 6.61334027e-02 2.25789396e+02] [-8.12882403e-02 9.96645277e-01 -9.50863230e-03 -3.01830428e+01] [-6.66887859e-02 4.08005851e-03 9.97765483e-01 -1.58611375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.29071405699997 meters 0.039238658959966095 Centerline is valid? [True, True] Translation: X:225.82, Y:-30.19, Z:-15.86 [[ 9.94502113e-01 8.09869911e-02 6.63826395e-02 2.25819949e+02] [-8.05283070e-02 9.96706466e-01 -9.56102697e-03 -3.01915599e+01] [-6.69383248e-02 4.16277995e-03 9.97748431e-01 -1.58645868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.32071405699998 meters 0.038633373288256244 Centerline is valid? [True, True] Translation: X:225.85, Y:-30.20, Z:-15.87 [[ 9.94555950e-01 8.05721719e-02 6.60801540e-02 2.25851122e+02] [-8.01157383e-02 9.96739984e-01 -9.53268347e-03 -3.01967114e+01] [-6.66328007e-02 4.18672674e-03 9.97768781e-01 -1.58672588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.35071405699998 meters 0.03790718709766146 Centerline is valid? [True, True] Translation: X:225.88, Y:-30.20, Z:-15.87 [[ 9.94661386e-01 7.98976279e-02 6.53077117e-02 2.25882528e+02] [-7.94498276e-02 9.96794266e-01 -9.42954208e-03 -3.02031436e+01] [-6.58517506e-02 4.19051495e-03 9.97820618e-01 -1.58709048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.38071405699998 meters 0.037890116318638985 Centerline is valid? [True, True] Translation: X:225.91, Y:-30.21, Z:-15.87 [[ 9.94744233e-01 7.94353170e-02 6.46060445e-02 2.25913774e+02] [-7.89950829e-02 9.96831210e-01 -9.34432542e-03 -3.02087205e+01] [-6.51435909e-02 4.19165398e-03 9.97867097e-01 -1.58733334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.41071405699998 meters 0.037890116318638985 Centerline is valid? [True, True] Translation: X:225.95, Y:-30.21, Z:-15.88 [[ 9.94721874e-01 7.97165313e-02 6.46039262e-02 2.25946011e+02] [-7.92759416e-02 9.96808776e-01 -9.35894717e-03 -3.02134650e+01] [-6.51438234e-02 4.18801239e-03 9.97867097e-01 -1.58755734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.44071405699998 meters 0.03923321433126587 Centerline is valid? [True, True] Translation: X:225.98, Y:-30.22, Z:-15.88 [[ 9.94912600e-01 7.79658474e-02 6.37984784e-02 2.25975082e+02] [-7.75313891e-02 9.96946896e-01 -9.26124962e-03 -3.02208778e+01] [-6.43257562e-02 4.26774928e-03 9.97919828e-01 -1.58790685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.47071405699998 meters 0.03999386290547125 Centerline is valid? [True, True] Translation: X:226.01, Y:-30.23, Z:-15.88 [[ 9.95051288e-01 7.68298427e-02 6.30088123e-02 2.26006657e+02] [-7.64034664e-02 9.97034978e-01 -9.15225701e-03 -3.02268142e+01] [-6.35251562e-02 4.29287345e-03 9.97971004e-01 -1.58812163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.50071405699998 meters 0.041025649511000635 Centerline is valid? [True, True] Translation: X:226.04, Y:-30.23, Z:-15.88 [[ 9.95250303e-01 7.48652941e-02 6.22255719e-02 2.26037254e+02] [-7.44453628e-02 9.97184091e-01 -9.04307232e-03 -3.02340476e+01] [-6.27273626e-02 4.36771520e-03 9.98021143e-01 -1.58842104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.53071405699998 meters 0.042714778100262744 Centerline is valid? [True, True] Translation: X:226.07, Y:-30.24, Z:-15.89 [[ 9.95323028e-01 7.40939394e-02 6.19851516e-02 2.26067395e+02] [-7.36757009e-02 9.97241559e-01 -9.00915734e-03 -3.02418004e+01] [-6.24816932e-02 4.40022227e-03 9.98036410e-01 -1.58874307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.56071405699998 meters 0.03915486892991244 Centerline is valid? [True, True] Translation: X:226.10, Y:-30.24, Z:-15.89 [[ 9.95452932e-01 7.23402995e-02 6.19704810e-02 2.26098278e+02] [-7.19179180e-02 9.97369745e-01 -9.02242069e-03 -3.02426455e+01] [-6.24601675e-02 4.52460716e-03 9.98037201e-01 -1.58895582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.59071405699999 meters 0.04376473630984803 Centerline is valid? [True, True] Translation: X:226.13, Y:-30.25, Z:-15.89 [[ 9.95453492e-01 7.21452391e-02 6.21885026e-02 2.26128450e+02] [-7.17195049e-02 9.97383746e-01 -9.05404140e-03 -3.02541547e+01] [-6.26790076e-02 4.55274851e-03 9.98023354e-01 -1.58920417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.620714057 meters 0.0415097272713169 Centerline is valid? [True, True] Translation: X:226.16, Y:-30.25, Z:-15.89 [[ 9.95489983e-01 7.17681944e-02 6.20404754e-02 2.26160726e+02] [-7.13428491e-02 9.97410823e-01 -9.04703307e-03 -3.02548043e+01] [-6.25291308e-02 4.58008652e-03 9.98032630e-01 -1.58931658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.650714057 meters 0.04190598314090563 Centerline is valid? [True, True] Translation: X:226.19, Y:-30.26, Z:-15.90 [[ 9.95487747e-01 7.15362986e-02 6.23434396e-02 2.26192313e+02] [-7.11053387e-02 9.97427237e-01 -9.10696181e-03 -3.02595510e+01] [-6.28345230e-02 4.63291750e-03 9.98013206e-01 -1.58952890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.680714057 meters 0.04815910883932684 Centerline is valid? [True, True] Translation: X:226.22, Y:-30.27, Z:-15.90 [[ 9.95499156e-01 7.04544420e-02 6.33845626e-02 2.26221532e+02] [-7.00056669e-02 9.97503463e-01 -9.27619629e-03 -3.02723274e+01] [-6.38798699e-02 4.79716700e-03 9.97946065e-01 -1.58960804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.710714057 meters 0.04244957637309102 Centerline is valid? [True, True] Translation: X:226.26, Y:-30.27, Z:-15.90 [[ 9.95459582e-01 7.02806031e-02 6.41939037e-02 2.26255003e+02] [-6.98198168e-02 9.97515366e-01 -9.39615509e-03 -3.02686036e+01] [-6.46947728e-02 4.87148602e-03 9.97893208e-01 -1.58971379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.740714057 meters 0.04357690149254889 Centerline is valid? [True, True] Translation: X:226.29, Y:-30.27, Z:-15.90 [[ 9.95563255e-01 6.74663271e-02 6.55903978e-02 2.26285584e+02] [-6.69780179e-02 9.97708093e-01 -9.61797890e-03 -3.02735089e+01] [-6.60889605e-02 5.18219154e-03 9.97800278e-01 -1.58979945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.770714057 meters 0.04328139526191314 Centerline is valid? [True, True] Translation: X:226.32, Y:-30.28, Z:-15.90 [[ 9.95666060e-01 6.60898474e-02 6.54310970e-02 2.26317523e+02] [-6.56008927e-02 9.97799803e-01 -9.59565521e-03 -3.02770468e+01] [-6.59213111e-02 5.26172984e-03 9.97810952e-01 -1.58996509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.800714057 meters 0.0460044135953563 Centerline is valid? [True, True] Translation: X:226.35, Y:-30.28, Z:-15.90 [[ 9.95888177e-01 6.25543768e-02 6.55262405e-02 2.26346063e+02] [-6.20560790e-02 9.98026355e-01 -9.61448837e-03 -3.02831923e+01] [-6.59983433e-02 5.50865375e-03 9.97804527e-01 -1.59013770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.830714057 meters 0.04585736583869886 Centerline is valid? [True, True] Translation: X:226.38, Y:-30.29, Z:-15.90 [[ 9.95987511e-01 6.09702530e-02 6.55095829e-02 2.26377325e+02] [-6.04687564e-02 9.98123801e-01 -9.61286011e-03 -3.02868273e+01] [-6.59727724e-02 5.61300561e-03 9.97805636e-01 -1.59036587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.860714057 meters 0.043746110598065505 Centerline is valid? [True, True] Translation: X:226.41, Y:-30.29, Z:-15.91 [[ 9.96114250e-01 5.93978718e-02 6.50253347e-02 2.26408337e+02] [-5.89002971e-02 9.98218244e-01 -9.54418886e-03 -3.02876452e+01] [-6.54763800e-02 5.67709099e-03 9.97837970e-01 -1.59062879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.890714057 meters 0.041932955653837395 Centerline is valid? [True, True] Translation: X:226.44, Y:-30.29, Z:-15.91 [[ 9.96399744e-01 5.68332508e-02 6.29089089e-02 2.26439838e+02] [-5.63624618e-02 9.98367665e-01 -9.23457955e-03 -3.02885635e+01] [-6.33310517e-02 5.65563172e-03 9.97976549e-01 -1.59098968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.92071405699997 meters 0.04704068706672433 Centerline is valid? [True, True] Translation: X:226.47, Y:-30.30, Z:-15.91 [[ 9.96555448e-01 5.55844798e-02 6.15435174e-02 2.26468239e+02] [-5.51314250e-02 9.98438213e-01 -9.03664159e-03 -3.02987408e+01] [-6.19496966e-02 5.61253259e-03 9.98063492e-01 -1.59135129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.95071405699997 meters 0.046072250790971464 Centerline is valid? [True, True] Translation: X:226.50, Y:-30.30, Z:-15.92 [[ 9.96789461e-01 5.43143684e-02 5.88278810e-02 2.26499692e+02] [-5.38983030e-02 9.98509071e-01 -8.63755716e-03 -3.02981844e+01] [-5.92093163e-02 5.43910299e-03 9.98230771e-01 -1.59162503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.98071405699997 meters 0.04556559366543479 Centerline is valid? [True, True] Translation: X:226.53, Y:-30.30, Z:-15.92 [[ 9.96801198e-01 5.47496446e-02 5.82224012e-02 2.26532533e+02] [-5.43428729e-02 9.98485743e-01 -8.54823437e-03 -3.02999529e+01] [-5.86022503e-02 5.35691772e-03 9.98267038e-01 -1.59182397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.01071405699997 meters 0.045739022692305696 Centerline is valid? [True, True] Translation: X:226.56, Y:-30.30, Z:-15.92 [[ 9.96717349e-01 5.61840173e-02 5.82913619e-02 2.26564350e+02] [-5.57775379e-02 9.98406370e-01 -8.57830398e-03 -3.03002317e+01] [-5.86804306e-02 5.29879575e-03 9.98262756e-01 -1.59196025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.04071405699997 meters 0.04625903679190851 Centerline is valid? [True, True] Translation: X:226.60, Y:-30.30, Z:-15.92 [[ 9.96610047e-01 5.77256918e-02 5.86187501e-02 2.26595011e+02] [-5.73171394e-02 9.98318732e-01 -8.62867967e-03 -3.03032800e+01] [-5.90182928e-02 5.23956979e-03 9.98243151e-01 -1.59211795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.07071405699998 meters 0.04528642843459185 Centerline is valid? [True, True] Translation: X:226.63, Y:-30.30, Z:-15.92 [[ 9.96376081e-01 6.15321587e-02 5.87239198e-02 2.26626092e+02] [-6.11285450e-02 9.98092449e-01 -8.64661158e-03 -3.03009381e+01] [-5.91439456e-02 5.02556919e-03 9.98236814e-01 -1.59215835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.10071405699998 meters 0.044465958577460926 Centerline is valid? [True, True] Translation: X:226.66, Y:-30.30, Z:-15.92 [[ 9.96217556e-01 6.39256977e-02 5.88564938e-02 2.26656980e+02] [-6.35243849e-02 9.97942657e-01 -8.66638757e-03 -3.03013366e+01] [-5.92894106e-02 4.89478488e-03 9.98228835e-01 -1.59229136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.13071405699998 meters 0.04451866448554917 Centerline is valid? [True, True] Translation: X:226.69, Y:-30.30, Z:-15.92 [[ 9.95919308e-01 6.81488013e-02 5.91647873e-02 2.26686976e+02] [-6.77505777e-02 9.97664242e-01 -8.71318443e-03 -3.03004080e+01] [-5.96203857e-02 4.66918010e-03 9.98210202e-01 -1.59249723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.16071405699998 meters 0.043310818608848486 Centerline is valid? [True, True] Translation: X:226.72, Y:-30.30, Z:-15.93 [[ 9.95801400e-01 7.02108717e-02 5.87367522e-02 2.26718404e+02] [-6.98220540e-02 9.97521971e-01 -8.64855529e-03 -3.03010077e+01] [-5.91984235e-02 4.51112277e-03 9.98236042e-01 -1.59266243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.19071405699998 meters 0.04039528544132374 Centerline is valid? [True, True] Translation: X:226.75, Y:-30.30, Z:-15.93 [[ 9.95650068e-01 7.27703573e-02 5.81843408e-02 2.26749771e+02] [-7.23930290e-02 9.97339366e-01 -8.56962158e-03 -3.02964443e+01] [-5.86531480e-02 4.32020364e-03 9.98269074e-01 -1.59281256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.22071405699998 meters 0.04455066775252457 Centerline is valid? [True, True] Translation: X:226.78, Y:-30.30, Z:-15.93 [[ 9.95600087e-01 7.34149276e-02 5.82298524e-02 2.26778754e+02] [-7.30381597e-02 9.97292279e-01 -8.57536643e-03 -3.03046021e+01] [-5.87017421e-02 4.28463431e-03 9.98266371e-01 -1.59314322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.25071405699998 meters 0.041663730392783066 Centerline is valid? [True, True] Translation: X:226.81, Y:-30.30, Z:-15.93 [[ 9.95601024e-01 7.48727456e-02 5.63264942e-02 2.26810259e+02] [-7.45221891e-02 9.97184801e-01 -8.30153090e-03 -3.03007349e+01] [-5.67894824e-02 4.06743901e-03 9.98377890e-01 -1.59341964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.28071405699998 meters 0.04106692340006026 Centerline is valid? [True, True] Translation: X:226.84, Y:-30.30, Z:-15.94 [[ 9.95627198e-01 7.54488449e-02 5.50813396e-02 2.26840610e+02] [-7.51144864e-02 9.97141868e-01 -8.11847547e-03 -3.03000782e+01] [-5.55364395e-02 3.94556845e-03 9.98448865e-01 -1.59374018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.31071405699998 meters 0.041761489694011486 Centerline is valid? [True, True] Translation: X:226.87, Y:-30.30, Z:-15.94 [[ 9.95627408e-01 7.56416226e-02 5.48124973e-02 2.26869198e+02] [-7.53109091e-02 9.97127387e-01 -8.07714285e-03 -3.03031097e+01] [-5.52660105e-02 3.91384579e-03 9.98463995e-01 -1.59397414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.34071405699999 meters 0.04088798887145354 Centerline is valid? [True, True] Translation: X:226.90, Y:-30.30, Z:-15.94 [[ 9.95596186e-01 7.62043726e-02 5.45997153e-02 2.26898932e+02] [-7.58772381e-02 9.97084731e-01 -8.04266907e-03 -3.03041050e+01] [-5.50534290e-02 3.86437504e-03 9.98475932e-01 -1.59416448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.370714057 meters 0.041214655200040945 Centerline is valid? [True, True] Translation: X:226.93, Y:-30.30, Z:-15.94 [[ 9.95426109e-01 7.83084017e-02 5.47234390e-02 2.26927897e+02] [-7.79830370e-02 9.96922111e-01 -8.05918052e-03 -3.03041392e+01] [-5.51861079e-02 3.75481875e-03 9.98469025e-01 -1.59440000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.400714057 meters 0.03986285427073414 Centerline is valid? [True, True] Translation: X:226.96, Y:-30.30, Z:-15.95 [[ 9.95290620e-01 7.98807964e-02 5.49148441e-02 2.26957916e+02] [-7.95557028e-02 9.96797640e-01 -8.08423587e-03 -3.03037081e+01] [-5.53847622e-02 3.67737512e-03 9.98458314e-01 -1.59456501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.430714057 meters 0.040263371385953074 Centerline is valid? [True, True] Translation: X:226.99, Y:-30.30, Z:-15.95 [[ 9.94929800e-01 8.39430030e-02 5.53919166e-02 2.26987731e+02] [-8.36186118e-02 9.96464484e-01 -8.15231577e-03 -3.03037514e+01] [-5.58804074e-02 3.47918674e-03 9.98431407e-01 -1.59472889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.460714057 meters 0.037240521499279526 Centerline is valid? [True, True] Translation: X:227.02, Y:-30.30, Z:-15.95 [[ 9.94725771e-01 8.59265742e-02 5.60112930e-02 2.27018186e+02] [-8.55980658e-02 9.96295655e-01 -8.24245641e-03 -3.03003411e+01] [-5.65120539e-02 3.40452546e-03 9.98396112e-01 -1.59476283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.490714057 meters 0.034443526529442256 Centerline is valid? [True, True] Translation: X:227.05, Y:-30.30, Z:-15.95 [[ 9.94462732e-01 8.83643049e-02 5.68825468e-02 2.27048789e+02] [-8.80295696e-02 9.96082708e-01 -8.36864348e-03 -3.02952070e+01] [-5.73992106e-02 3.31495795e-03 9.98345803e-01 -1.59480198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.520714057 meters 0.03484199262142956 Centerline is valid? [True, True] Translation: X:227.08, Y:-30.30, Z:-15.95 [[ 9.94420509e-01 8.86657895e-02 5.71509326e-02 2.27077546e+02] [-8.83284776e-02 9.96055928e-01 -8.40643642e-03 -3.02981858e+01] [-5.76708886e-02 3.31147792e-03 9.98330157e-01 -1.59498073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.550714057 meters 0.035699383485349595 Centerline is valid? [True, True] Translation: X:227.11, Y:-30.30, Z:-15.95 [[ 9.94429831e-01 8.83215198e-02 5.75206134e-02 2.27105552e+02] [-8.79794821e-02 9.96086388e-01 -8.45683183e-03 -3.03010928e+01] [-5.80424203e-02 3.34909206e-03 9.98308500e-01 -1.59522916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.580714057 meters 0.03617910041626104 Centerline is valid? [True, True] Translation: X:227.13, Y:-30.30, Z:-15.95 [[ 9.94547244e-01 8.71509099e-02 5.72756326e-02 2.27134091e+02] [-8.68101549e-02 9.96189327e-01 -8.41555036e-03 -3.03047290e+01] [-5.77907967e-02 3.39755588e-03 9.98322934e-01 -1.59543850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.610714057 meters 0.038100678285023115 Centerline is valid? [True, True] Translation: X:227.16, Y:-30.31, Z:-15.96 [[ 9.94886491e-01 8.38262539e-02 5.63385261e-02 2.27162615e+02] [-8.34915111e-02 9.96474142e-01 -8.27352211e-03 -3.03097059e+01] [-5.68334229e-02 3.52742670e-03 9.98377443e-01 -1.59572260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.640714057 meters 0.03960292211047219 Centerline is valid? [True, True] Translation: X:227.19, Y:-30.32, Z:-15.96 [[ 9.95065130e-01 8.18413378e-02 5.61015383e-02 2.27191212e+02] [-8.15063684e-02 9.96638783e-01 -8.23696358e-03 -3.03154389e+01] [-5.65870930e-02 3.62368259e-03 9.98391091e-01 -1.59597111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.67071405699997 meters 0.042750750739554366 Centerline is valid? [True, True] Translation: X:227.22, Y:-30.32, Z:-15.96 [[ 9.95382028e-01 7.80233409e-02 5.59193746e-02 2.27219911e+02] [-7.76847357e-02 9.96944195e-01 -8.20694019e-03 -3.03235376e+01] [-5.63888287e-02 3.82495893e-03 9.98401557e-01 -1.59631071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.70071405699997 meters 0.03913281809162913 Centerline is valid? [True, True] Translation: X:227.25, Y:-30.32, Z:-15.96 [[ 9.95560784e-01 7.61290420e-02 5.53452248e-02 2.27250057e+02] [-7.57945090e-02 9.97090383e-01 -8.12165465e-03 -3.03216786e+01] [-5.58024851e-02 3.89073673e-03 9.98434247e-01 -1.59643673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.73071405699997 meters 0.04577203544738919 Centerline is valid? [True, True] Translation: X:227.28, Y:-30.33, Z:-15.97 [[ 9.95764590e-01 7.33643457e-02 5.54125787e-02 2.27277568e+02] [-7.30248707e-02 9.97296989e-01 -8.12921296e-03 -3.03332149e+01] [-5.58591923e-02 4.04828602e-03 9.98430449e-01 -1.59676716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.76071405699997 meters 0.04129956363166289 Centerline is valid? [True, True] Translation: X:227.31, Y:-30.33, Z:-15.97 [[ 9.95849258e-01 7.23455937e-02 5.52301532e-02 2.27307711e+02] [-7.20068028e-02 9.97371231e-01 -8.10232677e-03 -3.03295484e+01] [-5.56711335e-02 4.09174936e-03 9.98440776e-01 -1.59685397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.79071405699997 meters 0.0419058293814924 Centerline is valid? [True, True] Translation: X:227.34, Y:-30.33, Z:-15.97 [[ 9.95924091e-01 7.17380187e-02 5.46704738e-02 2.27337346e+02] [-7.14053097e-02 9.97415160e-01 -8.01747658e-03 -3.03328855e+01] [-5.51043173e-02 4.08103597e-03 9.98472263e-01 -1.59703562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.82071405699998 meters 0.049475457525780184 Centerline is valid? [True, True] Translation: X:227.36, Y:-30.35, Z:-15.97 [[ 9.95987101e-01 7.10426409e-02 5.44301102e-02 2.27364550e+02] [-7.07119162e-02 9.97464855e-01 -7.98052692e-03 -3.03450664e+01] [-5.48590797e-02 4.09964448e-03 9.98485691e-01 -1.59742018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.85071405699998 meters 0.04433820318647398 Centerline is valid? [True, True] Translation: X:227.39, Y:-30.34, Z:-15.97 [[ 9.95991865e-01 7.08268914e-02 5.46237652e-02 2.27394637e+02] [-7.04936332e-02 9.97480099e-01 -8.00621227e-03 -3.03401945e+01] [-5.50531738e-02 4.12349463e-03 9.98474909e-01 -1.59747946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.88071405699998 meters 0.04535719479588552 Centerline is valid? [True, True] Translation: X:227.42, Y:-30.34, Z:-15.98 [[ 9.96006289e-01 7.06058749e-02 5.46468976e-02 2.27422678e+02] [-7.02722152e-02 9.97495726e-01 -8.00576530e-03 -3.03445305e+01] [-5.50753008e-02 4.13363404e-03 9.98473647e-01 -1.59766931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.91071405699998 meters 0.0444831440746332 Centerline is valid? [True, True] Translation: X:227.45, Y:-30.35, Z:-15.98 [[ 9.95945986e-01 7.08207545e-02 5.54618234e-02 2.27452009e+02] [-7.04776187e-02 9.97480303e-01 -8.12101258e-03 -3.03463378e+01] [-5.58972127e-02 4.17927264e-03 9.98427782e-01 -1.59779768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.94071405699998 meters 0.045905722394356294 Centerline is valid? [True, True] Translation: X:227.48, Y:-30.35, Z:-15.98 [[ 9.95941542e-01 7.04628653e-02 5.59949074e-02 2.27479086e+02] [-7.01126761e-02 9.97505404e-01 -8.19649855e-03 -3.03498205e+01] [-5.64327715e-02 4.23728060e-03 9.98397410e-01 -1.59793818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.97071405699998 meters 0.04413175739701839 Centerline is valid? [True, True] Translation: X:227.51, Y:-30.35, Z:-15.98 [[ 9.95933529e-01 7.03902414e-02 5.62282753e-02 2.27507780e+02] [-7.00372980e-02 9.97510460e-01 -8.22555418e-03 -3.03501805e+01] [-5.66672915e-02 4.25402873e-03 9.98384055e-01 -1.59805800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.00071405699998 meters 0.0443822039901825 Centerline is valid? [True, True] Translation: X:227.54, Y:-30.35, Z:-15.98 [[ 9.95974595e-01 6.95888201e-02 5.64978068e-02 2.27536404e+02] [-6.92314411e-02 9.97566423e-01 -8.26074211e-03 -3.03527081e+01] [-5.69351703e-02 4.31606469e-03 9.98368548e-01 -1.59830595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.03071405699998 meters 0.04529953334816201 Centerline is valid? [True, True] Translation: X:227.57, Y:-30.36, Z:-15.99 [[ 9.96015289e-01 6.92707563e-02 5.61703257e-02 2.27565720e+02] [-6.89171921e-02 9.97588604e-01 -8.20967193e-03 -3.03571715e+01] [-5.66035670e-02 4.30585763e-03 9.98387448e-01 -1.59855184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.06071405699998 meters 0.0433103145198151 Centerline is valid? [True, True] Translation: X:227.60, Y:-30.36, Z:-15.99 [[ 9.96019638e-01 6.87450517e-02 5.67362148e-02 2.27595215e+02] [-6.83835618e-02 9.97624655e-01 -8.29078775e-03 -3.03567299e+01] [-5.71713973e-02 4.37796296e-03 9.98354779e-01 -1.59866059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.09071405699999 meters 0.04411169305690764 Centerline is valid? [True, True] Translation: X:227.62, Y:-30.36, Z:-15.99 [[ 9.96048346e-01 6.81571163e-02 5.69412056e-02 2.27624940e+02] [-6.77923092e-02 9.97664795e-01 -8.31626358e-03 -3.03607979e+01] [-5.73750487e-02 4.42322476e-03 9.98342896e-01 -1.59882780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.120714057 meters 0.04466698706410891 Centerline is valid? [True, True] Translation: X:227.65, Y:-30.36, Z:-15.99 [[ 9.95997146e-01 6.80009493e-02 5.80134056e-02 2.27653501e+02] [-6.76221047e-02 9.97675045e-01 -8.47091788e-03 -3.03636054e+01] [-5.84545575e-02 4.51402145e-03 9.98279865e-01 -1.59893279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.150714057 meters 0.04512112241730482 Centerline is valid? [True, True] Translation: X:227.68, Y:-30.37, Z:-15.99 [[ 9.96017469e-01 6.77630698e-02 5.79427989e-02 2.27682523e+02] [-6.73849392e-02 9.97691206e-01 -8.45734604e-03 -3.03675914e+01] [-5.83821166e-02 4.51919242e-03 9.98284080e-01 -1.59910270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.180714057 meters 0.04140484714497291 Centerline is valid? [True, True] Translation: X:227.71, Y:-30.36, Z:-15.99 [[ 9.96072005e-01 6.73775849e-02 5.74527824e-02 2.27712451e+02] [-6.70052990e-02 9.97717394e-01 -8.38403146e-03 -3.03640528e+01] [-5.78865361e-02 4.50145816e-03 9.98313020e-01 -1.59922637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.210714057 meters 0.044206858160802845 Centerline is valid? [True, True] Translation: X:227.74, Y:-30.37, Z:-16.00 [[ 9.96093137e-01 6.74280608e-02 5.70255922e-02 2.27740459e+02] [-6.70615696e-02 9.97714162e-01 -8.31840542e-03 -3.03709761e+01] [-5.74561349e-02 4.46168083e-03 9.98338062e-01 -1.59951249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.240714057 meters 0.042532939767725 Centerline is valid? [True, True] Translation: X:227.77, Y:-30.37, Z:-16.00 [[ 9.96171721e-01 6.71322012e-02 5.59925871e-02 2.27769948e+02] [-6.67785418e-02 9.97734408e-01 -8.16558334e-03 -3.03710342e+01] [-5.64139043e-02 4.39521990e-03 9.98397793e-01 -1.59970333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.270714057 meters 0.04035165728473348 Centerline is valid? [True, True] Translation: X:227.80, Y:-30.37, Z:-16.00 [[ 9.96177090e-01 6.73030632e-02 5.56911413e-02 2.27799083e+02] [-6.69535582e-02 9.97723050e-01 -8.12008353e-03 -3.03708354e+01] [-5.61108419e-02 4.36032111e-03 9.98415024e-01 -1.59985457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.300714057 meters 0.04035165728473348 Centerline is valid? [True, True] Translation: X:227.83, Y:-30.37, Z:-16.00 [[ 9.96181942e-01 6.72307154e-02 5.56917314e-02 2.27827118e+02] [-6.68813232e-02 9.97727928e-01 -8.11603367e-03 -3.03748624e+01] [-5.61108426e-02 4.36030949e-03 9.98415024e-01 -1.60004982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.330714057 meters 0.041429542692949184 Centerline is valid? [True, True] Translation: X:227.86, Y:-30.38, Z:-16.00 [[ 9.96231057e-01 6.71695508e-02 5.48810695e-02 2.27855731e+02] [-6.68304119e-02 9.97732328e-01 -7.99365581e-03 -3.03794744e+01] [-5.52935475e-02 4.29580370e-03 9.98460900e-01 -1.60035533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.360714057 meters 0.04127884710985693 Centerline is valid? [True, True] Translation: X:227.88, Y:-30.38, Z:-16.01 [[ 9.96218418e-01 6.73513807e-02 5.48876635e-02 2.27883896e+02] [-6.70125888e-02 9.97720123e-01 -7.99182528e-03 -3.03832101e+01] [-5.53007868e-02 4.28343911e-03 9.98460553e-01 -1.60055783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.390714057 meters 0.042099006540275645 Centerline is valid? [True, True] Translation: X:227.91, Y:-30.39, Z:-16.01 [[ 9.96096986e-01 6.86994430e-02 5.54182439e-02 2.27912350e+02] [-6.83563749e-02 9.97628371e-01 -8.06475308e-03 -3.03870489e+01] [-5.58408564e-02 4.24508598e-03 9.98430658e-01 -1.60070762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.42071405699997 meters 0.044067283998739784 Centerline is valid? [True, True] Translation: X:227.94, Y:-30.39, Z:-16.01 [[ 9.95979666e-01 6.95108356e-02 5.65044121e-02 2.27939362e+02] [-6.91556264e-02 9.97572018e-01 -8.22000998e-03 -3.03930074e+01] [-5.69386002e-02 4.27936478e-03 9.98368511e-01 -1.60082834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.45071405699997 meters 0.04433125910583961 Centerline is valid? [True, True] Translation: X:227.97, Y:-30.40, Z:-16.01 [[ 9.95787019e-01 7.08023584e-02 5.82686865e-02 2.27967785e+02] [-7.04270993e-02 9.97480957e-01 -8.47132576e-03 -3.03967506e+01] [-5.87216951e-02 4.33194165e-03 9.98264993e-01 -1.60089655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.48071405699997 meters 0.03981669335432891 Centerline is valid? [True, True] Translation: X:228.00, Y:-30.39, Z:-16.01 [[ 9.95762024e-01 7.09402441e-02 5.85275499e-02 2.27996925e+02] [-7.05620456e-02 9.97471125e-01 -8.50607535e-03 -3.03935312e+01] [-5.89829641e-02 4.34020316e-03 9.98249554e-01 -1.60097955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.51071405699997 meters 0.03903287077935051 Centerline is valid? [True, True] Translation: X:228.03, Y:-30.40, Z:-16.01 [[ 9.95803741e-01 7.05168904e-02 5.83290500e-02 2.28025135e+02] [-7.01407846e-02 9.97501117e-01 -8.47298660e-03 -3.03964992e+01] [-5.87807812e-02 4.34618641e-03 9.98261454e-01 -1.60119167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.54071405699997 meters 0.041915340232618614 Centerline is valid? [True, True] Translation: X:228.05, Y:-30.40, Z:-16.01 [[ 9.95871819e-01 6.96417914e-02 5.82180402e-02 2.28052759e+02] [-6.92658949e-02 9.97562426e-01 -8.45238985e-03 -3.04047962e+01] [-5.86647689e-02 4.38497220e-03 9.98268109e-01 -1.60147402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.57071405699998 meters 0.043876842573542435 Centerline is valid? [True, True] Translation: X:228.08, Y:-30.41, Z:-16.02 [[ 9.96044467e-01 6.78293296e-02 5.73986177e-02 2.28080013e+02] [-6.74611527e-02 9.97687126e-01 -8.33018292e-03 -3.04123446e+01] [-5.78308926e-02 4.42505569e-03 9.98316586e-01 -1.60176154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.60071405699998 meters 0.041183533125986875 Centerline is valid? [True, True] Translation: X:228.11, Y:-30.41, Z:-16.02 [[ 9.96139616e-01 6.65976031e-02 5.71893835e-02 2.28109618e+02] [-6.62302337e-02 9.97769868e-01 -8.29738122e-03 -3.04127949e+01] [-5.76144293e-02 4.47768391e-03 9.98328868e-01 -1.60193235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.63071405699998 meters 0.043861354818281593 Centerline is valid? [True, True] Translation: X:228.14, Y:-30.42, Z:-16.02 [[ 9.96279597e-01 6.43411354e-02 5.73339564e-02 2.28138144e+02] [-6.39683267e-02 9.97917279e-01 -8.31604953e-03 -3.04222113e+01] [-5.77496099e-02 4.61755322e-03 9.98320420e-01 -1.60217842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.66071405699998 meters 0.04124107754576132 Centerline is valid? [True, True] Translation: X:228.17, Y:-30.42, Z:-16.02 [[ 9.96356915e-01 6.29501371e-02 5.75341417e-02 2.28167454e+02] [-6.25724527e-02 9.98005540e-01 -8.34442940e-03 -3.04234205e+01] [-5.79446752e-02 4.71397757e-03 9.98308666e-01 -1.60231288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.69071405699998 meters 0.04406717979357866 Centerline is valid? [True, True] Translation: X:228.20, Y:-30.43, Z:-16.03 [[ 9.96443610e-01 6.13197224e-02 5.77929437e-02 2.28195250e+02] [-6.09361069e-02 9.98106503e-01 -8.37852051e-03 -3.04326726e+01] [-5.81972815e-02 4.82704622e-03 9.98293432e-01 -1.60257334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.72071405699998 meters 0.045880511630224406 Centerline is valid? [True, True] Translation: X:228.22, Y:-30.44, Z:-16.03 [[ 9.96477162e-01 6.08777443e-02 5.76815985e-02 2.28224330e+02] [-6.04950091e-02 9.98133490e-01 -8.36003811e-03 -3.04396261e+01] [-5.80828755e-02 4.84113822e-03 9.98300027e-01 -1.60280541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.75071405699998 meters 0.04675297630264303 Centerline is valid? [True, True] Translation: X:228.25, Y:-30.45, Z:-16.03 [[ 9.96425473e-01 6.12495072e-02 5.81788210e-02 2.28253482e+02] [-6.08608276e-02 9.98110654e-01 -8.43101990e-03 -3.04452331e+01] [-5.85852969e-02 4.86007179e-03 9.98270576e-01 -1.60301770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.78071405699998 meters 0.044370963162401765 Centerline is valid? [True, True] Translation: X:228.28, Y:-30.45, Z:-16.03 [[ 9.96396903e-01 6.16579775e-02 5.82366262e-02 2.28284270e+02] [-6.12692887e-02 9.98085603e-01 -8.43816318e-03 -3.04460839e+01] [-5.86454182e-02 4.83964300e-03 9.98267145e-01 -1.60319848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.81071405699998 meters 0.04418730095014746 Centerline is valid? [True, True] Translation: X:228.31, Y:-30.45, Z:-16.03 [[ 9.96273805e-01 6.29216033e-02 5.89862503e-02 2.28314858e+02] [-6.25250341e-02 9.98006801e-01 -8.54664295e-03 -3.04505713e+01] [-5.94064474e-02 4.82667918e-03 9.98222208e-01 -1.60342111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.84071405699999 meters 0.04437163982644056 Centerline is valid? [True, True] Translation: X:228.34, Y:-30.46, Z:-16.04 [[ 9.96199823e-01 6.35185577e-02 5.95928329e-02 2.28344775e+02] [-6.31147750e-02 9.97968913e-01 -8.63557345e-03 -3.04551610e+01] [-6.00203138e-02 4.84156850e-03 9.98185414e-01 -1.60359870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.870714057 meters 0.04191664691668214 Centerline is valid? [True, True] Translation: X:228.38, Y:-30.46, Z:-16.04 [[ 9.96008482e-01 6.52430250e-02 6.09134812e-02 2.28375646e+02] [-6.48243191e-02 9.97857652e-01 -8.82694807e-03 -3.04555285e+01] [-6.13588801e-02 4.84304020e-03 9.98104019e-01 -1.60369192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.900714057 meters 0.04164082565188727 Centerline is valid? [True, True] Translation: X:228.41, Y:-30.46, Z:-16.04 [[ 9.95912159e-01 6.62755185e-02 6.13720430e-02 2.28405966e+02] [-6.58524206e-02 9.97789740e-01 -8.89339807e-03 -3.04596408e+01] [-6.18258094e-02 4.81554568e-03 9.98075338e-01 -1.60387539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.930714057 meters 0.048123676074523135 Centerline is valid? [True, True] Translation: X:228.43, Y:-30.47, Z:-16.04 [[ 9.95886737e-01 6.71075498e-02 6.08784323e-02 2.28433300e+02] [-6.66927634e-02 9.97734556e-01 -8.82221888e-03 -3.04725322e+01] [-6.13325531e-02 4.72577989e-03 9.98106199e-01 -1.60422275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.960714057 meters 0.04187638593977823 Centerline is valid? [True, True] Translation: X:228.46, Y:-30.47, Z:-16.04 [[ 9.95885562e-01 6.75317797e-02 6.04268656e-02 2.28464043e+02] [-6.71240943e-02 9.97706233e-01 -8.75374013e-03 -3.04683754e+01] [-6.08794161e-02 4.66162478e-03 9.98134242e-01 -1.60438122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.990714057 meters 0.04090404186059984 Centerline is valid? [True, True] Translation: X:228.49, Y:-30.47, Z:-16.05 [[ 9.95970658e-01 6.72560543e-02 5.93217665e-02 2.28492914e+02] [-6.68628077e-02 9.97725188e-01 -8.59153143e-03 -3.04727343e+01] [-5.97646532e-02 4.59049334e-03 9.98201940e-01 -1.60474231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.020714057 meters 0.04101794323130912 Centerline is valid? [True, True] Translation: X:228.52, Y:-30.48, Z:-16.05 [[ 9.96051178e-01 6.67575569e-02 5.85275882e-02 2.28522434e+02] [-6.63740539e-02 9.97758823e-01 -8.47440965e-03 -3.04775506e+01] [-5.89621484e-02 4.55623242e-03 9.98249821e-01 -1.60502172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.050714057 meters 0.0489169573119987 Centerline is valid? [True, True] Translation: X:228.55, Y:-30.49, Z:-16.05 [[ 9.96109472e-01 6.65257992e-02 5.77947985e-02 2.28550128e+02] [-6.61515978e-02 9.97774511e-01 -8.36604084e-03 -3.04931632e+01] [-5.82227344e-02 4.51027425e-03 9.98293429e-01 -1.60543835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.080714057 meters 0.04231203330679257 Centerline is valid? [True, True] Translation: X:228.58, Y:-30.49, Z:-16.06 [[ 9.96206585e-01 6.61217009e-02 5.65717374e-02 2.28580558e+02] [-6.57625894e-02 9.97801701e-01 -8.18820569e-03 -3.04879084e+01] [-5.69887939e-02 4.43684048e-03 9.98364959e-01 -1.60563111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.110714057 meters 0.04536078651854312 Centerline is valid? [True, True] Translation: X:228.61, Y:-30.50, Z:-16.06 [[ 9.96204870e-01 6.65341122e-02 5.61165641e-02 2.28607738e+02] [-6.61815157e-02 9.97774556e-01 -8.12052403e-03 -3.04968245e+01] [-5.65319716e-02 4.37582632e-03 9.98391200e-01 -1.60591267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.140714057 meters 0.04209885194447122 Centerline is valid? [True, True] Translation: X:228.64, Y:-30.50, Z:-16.06 [[ 9.96116548e-01 6.79320327e-02 5.60094747e-02 2.28637899e+02] [-6.75831598e-02 9.97680749e-01 -8.10179781e-03 -3.04957041e+01] [-5.64299463e-02 4.28503759e-03 9.98397366e-01 -1.60604815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.17071405699997 meters 0.042718617763306405 Centerline is valid? [True, True] Translation: X:228.67, Y:-30.50, Z:-16.06 [[ 9.95869711e-01 7.05863185e-02 5.71059589e-02 2.28666392e+02] [-7.02280892e-02 9.97496775e-01 -8.25830018e-03 -3.05006631e+01] [-5.75459329e-02 4.21374863e-03 9.98333967e-01 -1.60619893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.20071405699997 meters 0.041775810256255375 Centerline is valid? [True, True] Translation: X:228.70, Y:-30.50, Z:-16.06 [[ 9.95738508e-01 7.21413535e-02 5.74495327e-02 2.28696497e+02] [-7.17814970e-02 9.97385799e-01 -8.30573785e-03 -3.05031574e+01] [-5.78985352e-02 4.14652955e-03 9.98313861e-01 -1.60634545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.23071405699997 meters 0.041545449795784055 Centerline is valid? [True, True] Translation: X:228.72, Y:-30.51, Z:-16.06 [[ 9.95598407e-01 7.33986173e-02 5.82791199e-02 2.28724971e+02] [-7.30304507e-02 9.97294124e-01 -8.42513353e-03 -3.05065174e+01] [-5.87398170e-02 4.13189913e-03 9.98264775e-01 -1.60647837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.26071405699997 meters 0.03976107739812022 Centerline is valid? [True, True] Translation: X:228.75, Y:-30.51, Z:-16.07 [[ 9.95358044e-01 7.60691347e-02 5.89563522e-02 2.28754781e+02] [-7.56972758e-02 9.97094458e-01 -8.51850926e-03 -3.05072523e+01] [-5.94330476e-02 4.01613146e-03 9.98224215e-01 -1.60663066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.29071405699997 meters 0.036928353764448384 Centerline is valid? [True, True] Translation: X:228.78, Y:-30.51, Z:-16.07 [[ 9.95245170e-01 7.77073526e-02 5.87249425e-02 2.28784115e+02] [-7.73413349e-02 9.96968578e-01 -8.48359959e-03 -3.05072248e+01] [-5.92061605e-02 3.90139607e-03 9.98238153e-01 -1.60679847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.32071405699998 meters 0.04070256269953405 Centerline is valid? [True, True] Translation: X:228.81, Y:-30.52, Z:-16.07 [[ 9.95179507e-01 7.85187527e-02 5.87584403e-02 2.28810583e+02] [-7.81540771e-02 9.96905205e-01 -8.48248080e-03 -3.05171152e+01] [-5.92426288e-02 3.84937939e-03 9.98236191e-01 -1.60713179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.35071405699998 meters 0.037697125910209545 Centerline is valid? [True, True] Translation: X:228.84, Y:-30.52, Z:-16.07 [[ 9.95132470e-01 7.90787880e-02 5.88040126e-02 2.28839224e+02] [-7.87148340e-02 9.96861074e-01 -8.48374560e-03 -3.05171395e+01] [-5.92903155e-02 3.81370263e-03 9.98233497e-01 -1.60729348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.38071405699998 meters 0.03813164300206556 Centerline is valid? [True, True] Translation: X:228.87, Y:-30.52, Z:-16.07 [[ 9.95110148e-01 7.90356631e-02 5.92381444e-02 2.28867623e+02] [-7.86664858e-02 9.96864392e-01 -8.54212951e-03 -3.05219334e+01] [-5.97275297e-02 3.84030311e-03 9.98207330e-01 -1.60747483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.41071405699998 meters 0.039599558174896445 Centerline is valid? [True, True] Translation: X:228.89, Y:-30.53, Z:-16.08 [[ 9.95136364e-01 7.84008430e-02 5.96399587e-02 2.28894241e+02] [-7.80257407e-02 9.96914285e-01 -8.59605476e-03 -3.05285677e+01] [-6.01298647e-02 3.90079473e-03 9.98182941e-01 -1.60767945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.44071405699998 meters 0.0387804939133257 Centerline is valid? [True, True] Translation: X:228.92, Y:-30.53, Z:-16.08 [[ 9.95136484e-01 7.83925124e-02 5.96489157e-02 2.28922656e+02] [-7.80176516e-02 9.96914960e-01 -8.59121728e-03 -3.05322148e+01] [-6.01383835e-02 3.89576543e-03 9.98182447e-01 -1.60788720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.47071405699998 meters 0.037685647767378753 Centerline is valid? [True, True] Translation: X:228.95, Y:-30.54, Z:-16.08 [[ 9.95217143e-01 7.77673976e-02 5.91191131e-02 2.28950778e+02] [-7.73983078e-02 9.96963923e-01 -8.51107027e-03 -3.05351634e+01] [-5.96015067e-02 3.89464373e-03 9.98214652e-01 -1.60812625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.50071405699998 meters 0.041280706788494305 Centerline is valid? [True, True] Translation: X:228.98, Y:-30.55, Z:-16.09 [[ 9.95293136e-01 7.75648395e-02 5.80970643e-02 2.28977430e+02] [-7.72084218e-02 9.96979941e-01 -8.35802693e-03 -3.05465289e+01] [-5.85698968e-02 3.83310419e-03 9.98275951e-01 -1.60854662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.53071405699998 meters 0.03969826226711582 Centerline is valid? [True, True] Translation: X:229.01, Y:-30.55, Z:-16.09 [[ 9.95309909e-01 7.78429334e-02 5.74339809e-02 2.29005767e+02] [-7.74953803e-02 9.96958515e-01 -8.25740134e-03 -3.05485624e+01] [-5.79020767e-02 3.76780519e-03 9.98315157e-01 -1.60871653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.56071405699998 meters 0.03924026690576857 Centerline is valid? [True, True] Translation: X:229.03, Y:-30.55, Z:-16.09 [[ 9.95240322e-01 7.86853506e-02 5.74918901e-02 2.29034340e+02] [-7.83387268e-02 9.96892566e-01 -8.26171101e-03 -3.05528822e+01] [-5.79633134e-02 3.71854645e-03 9.98311788e-01 -1.60889700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.59071405699999 meters 0.039110249657350875 Centerline is valid? [True, True] Translation: X:229.06, Y:-30.56, Z:-16.09 [[ 9.94976891e-01 8.16323401e-02 5.79408900e-02 2.29062805e+02] [-8.12855036e-02 9.96656116e-01 -8.32181599e-03 -3.05574443e+01] [-5.84264717e-02 3.57026019e-03 9.98285330e-01 -1.60908001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.620714057 meters 0.038368616365422964 Centerline is valid? [True, True] Translation: X:229.09, Y:-30.56, Z:-16.09 [[ 9.94783653e-01 8.33459058e-02 5.88127843e-02 2.29091930e+02] [-8.29916412e-02 9.96514460e-01 -8.44497270e-03 -3.05611187e+01] [-5.93116440e-02 3.51995129e-03 9.98233309e-01 -1.60925798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.650714057 meters 0.034076978177106934 Centerline is valid? [True, True] Translation: X:229.12, Y:-30.56, Z:-16.09 [[ 9.94579953e-01 8.54493525e-02 5.92378766e-02 2.29122487e+02] [-8.50937857e-02 9.96336656e-01 -8.50383002e-03 -3.05592206e+01] [-5.97475146e-02 3.41696369e-03 9.98207673e-01 -1.60932920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.680714057 meters 0.03636686529557238 Centerline is valid? [True, True] Translation: X:229.15, Y:-30.57, Z:-16.10 [[ 9.93985216e-01 9.08523368e-02 6.11493503e-02 2.29150550e+02] [-9.04836660e-02 9.95859261e-01 -8.77711203e-03 -3.05682290e+01] [-6.16935680e-02 3.19130221e-03 9.98090036e-01 -1.60954124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.710714057 meters 0.029250977519488203 Centerline is valid? [True, True] Translation: X:229.18, Y:-30.56, Z:-16.10 [[ 9.93404828e-01 9.67583720e-02 6.15196281e-02 2.29182582e+02] [-9.63965840e-02 9.95303848e-01 -8.82885765e-03 -3.05604589e+01] [-6.20849885e-02 2.84034782e-03 9.98066825e-01 -1.60960506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.740714057 meters 0.028190018265260377 Centerline is valid? [True, True] Translation: X:229.21, Y:-30.56, Z:-16.10 [[ 9.93099543e-01 9.96811945e-02 6.17815199e-02 2.29212217e+02] [-9.93219513e-02 9.95015847e-01 -8.86646508e-03 -3.05626102e+01] [-6.23574112e-02 2.66902131e-03 9.98050314e-01 -1.60980566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.770714057 meters 0.028221973060514993 Centerline is valid? [True, True] Translation: X:229.24, Y:-30.57, Z:-16.10 [[ 9.92872697e-01 1.02193521e-01 6.13212143e-02 2.29240229e+02] [-1.01844520e-01 9.94761420e-01 -8.79840090e-03 -3.05665780e+01] [-6.18991178e-02 2.49046237e-03 9.98079304e-01 -1.61008520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.800714057 meters 0.026946051007222593 Centerline is valid? [True, True] Translation: X:229.27, Y:-30.57, Z:-16.10 [[ 9.92478830e-01 1.06570371e-01 6.02372643e-02 2.29269720e+02] [-1.06241933e-01 9.94302787e-01 -8.63828731e-03 -3.05697574e+01] [-6.08146652e-02 2.17359387e-03 9.98146709e-01 -1.61039586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.830714057 meters 0.027709355338934902 Centerline is valid? [True, True] Translation: X:229.30, Y:-30.58, Z:-16.11 [[ 9.92337764e-01 1.07976089e-01 6.00576923e-02 2.29297214e+02] [-1.07652294e-01 9.94151317e-01 -8.61062950e-03 -3.05762420e+01] [-6.06361759e-02 2.07930446e-03 9.98157768e-01 -1.61072074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.860714057 meters 0.02610209921927543 Centerline is valid? [True, True] Translation: X:229.33, Y:-30.58, Z:-16.11 [[ 9.92228429e-01 1.09121167e-01 5.97939443e-02 2.29325619e+02] [-1.08802549e-01 9.94026451e-01 -8.56851076e-03 -3.05794678e+01] [-6.03717682e-02 1.99618644e-03 9.98173965e-01 -1.61089098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.890714057 meters 0.02742439449225468 Centerline is valid? [True, True] Translation: X:229.35, Y:-30.59, Z:-16.11 [[ 9.92217248e-01 1.08994676e-01 6.02087410e-02 2.29351606e+02] [-1.08671632e-01 9.94040294e-01 -8.62386640e-03 -3.05883008e+01] [-6.07898701e-02 2.01376684e-03 9.98148554e-01 -1.61115649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.92071405699997 meters 0.029054098829608518 Centerline is valid? [True, True] Translation: X:229.38, Y:-30.60, Z:-16.11 [[ 9.92477852e-01 1.06291349e-01 6.07442297e-02 2.29378884e+02] [-1.05957993e-01 9.94332616e-01 -8.69208000e-03 -3.06007790e+01] [-6.13238618e-02 2.19036021e-03 9.98115518e-01 -1.61139736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.95071405699997 meters 0.02776369956019002 Centerline is valid? [True, True] Translation: X:229.41, Y:-30.60, Z:-16.12 [[ 9.92653207e-01 1.04490445e-01 6.10029355e-02 2.29407323e+02] [-1.04151037e-01 9.94523212e-01 -8.72600019e-03 -3.06045454e+01] [-6.15806190e-02 2.30837307e-03 9.98099443e-01 -1.61154077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.98071405699997 meters 0.029028127252272707 Centerline is valid? [True, True] Translation: X:229.43, Y:-30.62, Z:-16.12 [[ 9.93092813e-01 1.00433636e-01 6.06609413e-02 2.29434752e+02] [-1.00090753e-01 9.94940515e-01 -8.67257704e-03 -3.06166532e+01] [-6.12250466e-02 2.54107465e-03 9.98120753e-01 -1.61182023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.01071405699997 meters 0.029600780091977044 Centerline is valid? [True, True] Translation: X:229.46, Y:-30.62, Z:-16.12 [[ 9.93265510e-01 9.85752330e-02 6.08814503e-02 2.29462110e+02] [-9.82265514e-02 9.95126040e-01 -8.70110084e-03 -3.06246850e+01] [-6.14424296e-02 2.66232845e-03 9.98107078e-01 -1.61200267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.04071405699997 meters 0.030364365710157534 Centerline is valid? [True, True] Translation: X:229.49, Y:-30.63, Z:-16.12 [[ 9.93413753e-01 9.67943531e-02 6.13185840e-02 2.29490229e+02] [-9.64376095e-02 9.95300501e-01 -8.75787506e-03 -3.06329029e+01] [-6.18781302e-02 2.78677587e-03 9.98079822e-01 -1.61221270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.07071405699998 meters 0.031776883564446745 Centerline is valid? [True, True] Translation: X:229.52, Y:-30.64, Z:-16.12 [[ 9.93662649e-01 9.41645327e-02 6.13806166e-02 2.29516880e+02] [-9.38023363e-02 9.95552281e-01 -8.76233131e-03 -3.06443112e+01] [-6.19327137e-02 2.94915611e-03 9.98075970e-01 -1.61242001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.10071405699998 meters 0.03310455468120575 Centerline is valid? [True, True] Translation: X:229.54, Y:-30.66, Z:-16.13 [[ 9.93914601e-01 9.18875626e-02 6.07489989e-02 2.29544130e+02] [-9.15288233e-02 9.95764703e-01 -8.66775737e-03 -3.06558516e+01] [-6.12881680e-02 3.05472622e-03 9.98115439e-01 -1.61268620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.13071405699998 meters 0.03371384561191058 Centerline is valid? [True, True] Translation: X:229.57, Y:-30.66, Z:-16.13 [[ 9.94020301e-01 9.08661344e-02 6.05556557e-02 2.29572403e+02] [-9.05079761e-02 9.95858276e-01 -8.63711745e-03 -3.06634216e+01] [-6.10896724e-02 3.10470024e-03 9.98127453e-01 -1.61293553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.16071405699998 meters 0.034339217424545376 Centerline is valid? [True, True] Translation: X:229.60, Y:-30.67, Z:-16.13 [[ 9.94141001e-01 8.96575159e-02 6.03754881e-02 2.29600005e+02] [-8.92995243e-02 9.95967625e-01 -8.60721322e-03 -3.06709543e+01] [-6.09037329e-02 3.16528120e-03 9.98138626e-01 -1.61316003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.19071405699998 meters 0.03546605901936455 Centerline is valid? [True, True] Translation: X:229.63, Y:-30.68, Z:-16.13 [[ 9.94238012e-01 8.79097620e-02 6.13404357e-02 2.29628263e+02] [-8.75371881e-02 9.96122909e-01 -8.74020516e-03 -3.06818950e+01] [-6.18709626e-02 3.32027494e-03 9.98078634e-01 -1.61340838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.22071405699998 meters 0.03546605901936455 Centerline is valid? [True, True] Translation: X:229.66, Y:-30.69, Z:-16.14 [[ 9.94243938e-01 8.78425308e-02 6.13406993e-02 2.29656271e+02] [-8.74699432e-02 9.96128832e-01 -8.73835540e-03 -3.06858206e+01] [-6.18708384e-02 3.32258940e-03 9.98078634e-01 -1.61360323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.25071405699998 meters 0.03712926707282891 Centerline is valid? [True, True] Translation: X:229.68, Y:-30.70, Z:-16.14 [[ 9.94300371e-01 8.71991245e-02 6.13439850e-02 2.29682554e+02] [-8.68255328e-02 9.96185240e-01 -8.73470016e-03 -3.06965358e+01] [-6.18716306e-02 3.35869143e-03 9.98078464e-01 -1.61391338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.28071405699998 meters 0.03692356406096404 Centerline is valid? [True, True] Translation: X:229.71, Y:-30.70, Z:-16.14 [[ 9.94280557e-01 8.77641859e-02 6.08573925e-02 2.29710921e+02] [-8.73978860e-02 9.96135840e-01 -8.66011891e-03 -3.07022042e+01] [-6.13822781e-02 3.29178040e-03 9.98108902e-01 -1.61418666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.31071405699998 meters 0.036847487859862305 Centerline is valid? [True, True] Translation: X:229.74, Y:-30.71, Z:-16.15 [[ 9.94225275e-01 8.92832905e-02 5.95365154e-02 2.29738294e+02] [-8.89356903e-02 9.96001372e-01 -8.46822623e-03 -3.07087872e+01] [-6.00545221e-02 3.12440347e-03 9.98190209e-01 -1.61450494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.34071405699999 meters 0.03651254494964294 Centerline is valid? [True, True] Translation: X:229.77, Y:-30.71, Z:-16.15 [[ 9.94079453e-01 9.07508171e-02 5.97522349e-02 2.29766474e+02] [-9.04035741e-02 9.95868983e-01 -8.49488426e-03 -3.07134269e+01] [-6.02763151e-02 3.04277430e-03 9.98177092e-01 -1.61472156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.370714057 meters 0.035865820555028405 Centerline is valid? [True, True] Translation: X:229.79, Y:-30.72, Z:-16.15 [[ 9.93908620e-01 9.24073723e-02 6.00544110e-02 2.29794571e+02] [-9.20598603e-02 9.95716906e-01 -8.53382909e-03 -3.07178902e+01] [-6.05857810e-02 2.95324560e-03 9.98158625e-01 -1.61486147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.400714057 meters 0.034159413359744234 Centerline is valid? [True, True] Translation: X:229.82, Y:-30.72, Z:-16.15 [[ 9.93461281e-01 9.66075063e-02 6.08413726e-02 2.29822891e+02] [-9.62589204e-02 9.95318816e-01 -8.64146184e-03 -3.07217846e+01] [-6.13913930e-02 2.72843291e-03 9.98110040e-01 -1.61495483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.430714057 meters 0.03185544850017862 Centerline is valid? [True, True] Translation: X:229.85, Y:-30.72, Z:-16.15 [[ 9.92812360e-01 1.02274014e-01 6.21582103e-02 2.29853713e+02] [-1.01921435e-01 9.94753305e-01 -8.82510957e-03 -3.07236243e+01] [-6.27346645e-02 2.42642389e-03 9.98027291e-01 -1.61494071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.460714057 meters 0.030898310992965604 Centerline is valid? [True, True] Translation: X:229.88, Y:-30.73, Z:-16.15 [[ 9.92456334e-01 1.05334667e-01 6.27298432e-02 2.29882186e+02] [-1.04981666e-01 9.94434276e-01 -8.90618187e-03 -3.07256821e+01] [-6.33188359e-02 2.25351314e-03 9.97990805e-01 -1.61504200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.490714057 meters 0.024689640462093987 Centerline is valid? [True, True] Translation: X:229.91, Y:-30.72, Z:-16.15 [[ 9.91565652e-01 1.12574239e-01 6.42230398e-02 2.29914420e+02] [-1.12219564e-01 9.93641630e-01 -9.11487754e-03 -3.07176104e+01] [-6.48407863e-02 1.83091798e-03 9.97893942e-01 -1.61490077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.520714057 meters 0.024197284520000212 Centerline is valid? [True, True] Translation: X:229.94, Y:-30.72, Z:-16.15 [[ 9.91126645e-01 1.15747051e-01 6.53497876e-02 2.29943311e+02] [-1.15386734e-01 9.93277350e-01 -9.27405080e-03 -3.07208899e+01] [-6.59839079e-02 1.65126030e-03 9.97819321e-01 -1.61507055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.550714057 meters 0.023861091504050753 Centerline is valid? [True, True] Translation: X:229.97, Y:-30.73, Z:-16.15 [[ 9.90762997e-01 1.18300207e-01 6.62853358e-02 2.29972034e+02] [-1.17935745e-01 9.92976751e-01 -9.39850666e-03 -3.07250450e+01] [-6.69316427e-02 1.49428218e-03 9.97756444e-01 -1.61526007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.580714057 meters 0.023116389178584454 Centerline is valid? [True, True] Translation: X:230.00, Y:-30.73, Z:-16.15 [[ 9.90290595e-01 1.22210987e-01 6.62496145e-02 2.30000145e+02] [-1.21855976e-01 9.92503388e-01 -9.38861453e-03 -3.07317776e+01] [-6.69003587e-02 1.22454526e-03 9.97758910e-01 -1.61548052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.610714057 meters 0.02286419621445322 Centerline is valid? [True, True] Translation: X:230.03, Y:-30.74, Z:-16.16 [[ 9.90196928e-01 1.22965954e-01 6.62526798e-02 2.30027850e+02] [-1.22612920e-01 9.92410201e-01 -9.38423532e-03 -3.07377106e+01] [-6.69037768e-02 1.16880645e-03 9.97758748e-01 -1.61571439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.640714057 meters 0.023179498526543624 Centerline is valid? [True, True] Translation: X:230.05, Y:-30.75, Z:-16.16 [[ 9.90288877e-01 1.22362227e-01 6.59956472e-02 2.30054300e+02] [-1.22010909e-01 9.92484783e-01 -9.34306436e-03 -3.07468313e+01] [-6.66429137e-02 1.20014378e-03 9.97776168e-01 -1.61595434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.67071405699997 meters 0.023284208664145493 Centerline is valid? [True, True] Translation: X:230.08, Y:-30.76, Z:-16.16 [[ 9.90476231e-01 1.21191094e-01 6.53418277e-02 2.30081887e+02] [-1.20844558e-01 9.92628395e-01 -9.24460269e-03 -3.07566983e+01] [-6.59805170e-02 1.26035495e-03 9.97820115e-01 -1.61617437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.70071405699997 meters 0.02310358021106169 Centerline is valid? [True, True] Translation: X:230.11, Y:-30.76, Z:-16.16 [[ 9.90594691e-01 1.20158014e-01 6.54538763e-02 2.30109984e+02] [-1.19808351e-01 9.92753893e-01 -9.25567872e-03 -3.07644137e+01] [-6.60917344e-02 1.32670523e-03 9.97812669e-01 -1.61640617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.73071405699997 meters 0.024206481369517526 Centerline is valid? [True, True] Translation: X:230.14, Y:-30.78, Z:-16.17 [[ 9.90801718e-01 1.18636218e-01 6.50953371e-02 2.30136671e+02] [-1.18287408e-01 9.92936777e-01 -9.20030421e-03 -3.07763936e+01] [-6.57270435e-02 1.41571851e-03 9.97836636e-01 -1.61671582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.76071405699997 meters 0.02410670412503538 Centerline is valid? [True, True] Translation: X:230.16, Y:-30.78, Z:-16.17 [[ 9.90858727e-01 1.18436493e-01 6.45893261e-02 2.30164137e+02] [-1.18093052e-01 9.92960625e-01 -9.12291526e-03 -3.07842174e+01] [-6.52151437e-02 1.41196956e-03 9.97870228e-01 -1.61691143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.79071405699997 meters 0.024247205758089113 Centerline is valid? [True, True] Translation: X:230.19, Y:-30.79, Z:-16.17 [[ 9.90897777e-01 1.17918392e-01 6.49372704e-02 2.30192024e+02] [-1.17570434e-01 9.93022232e-01 -9.16735796e-03 -3.07947282e+01] [-6.55651533e-02 1.44921154e-03 9.97847238e-01 -1.61714008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.82071405699998 meters 0.02428704860074883 Centerline is valid? [True, True] Translation: X:230.22, Y:-30.80, Z:-16.17 [[ 9.90903025e-01 1.17911010e-01 6.48705575e-02 2.30218813e+02] [-1.17564052e-01 9.93023116e-01 -9.15336371e-03 -3.08017533e+01] [-6.54972455e-02 1.44365018e-03 9.97851706e-01 -1.61731951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.85071405699998 meters 0.02408085357606769 Centerline is valid? [True, True] Translation: X:230.25, Y:-30.81, Z:-16.18 [[ 9.90913944e-01 1.17240662e-01 6.59104160e-02 2.30245878e+02] [-1.16881480e-01 9.93102393e-01 -9.29282435e-03 -3.08119938e+01] [-6.65452888e-02 1.50468224e-03 9.97782271e-01 -1.61751238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.88071405699998 meters 0.024305825894035658 Centerline is valid? [True, True] Translation: X:230.27, Y:-30.82, Z:-16.18 [[ 9.90954556e-01 1.16808707e-01 6.60665950e-02 2.30272800e+02] [-1.16447263e-01 9.93153252e-01 -9.30880652e-03 -3.08204933e+01] [-6.67016032e-02 1.53133006e-03 9.97771793e-01 -1.61771237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.91071405699998 meters 0.02455359898059529 Centerline is valid? [True, True] Translation: X:230.30, Y:-30.83, Z:-16.18 [[ 9.91001623e-01 1.15746365e-01 6.72202551e-02 2.30299515e+02] [-1.15370151e-01 9.93277473e-01 -9.46515013e-03 -3.08338973e+01] [-6.78639219e-02 1.62476813e-03 9.97693264e-01 -1.61795477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.94071405699998 meters 0.024623380710844453 Centerline is valid? [True, True] Translation: X:230.33, Y:-30.84, Z:-16.18 [[ 9.91075451e-01 1.14906436e-01 6.75718963e-02 2.30327144e+02] [-1.14524655e-01 9.93374888e-01 -9.50977841e-03 -3.08414553e+01] [-6.82169596e-02 1.68625981e-03 9.97669085e-01 -1.61812904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.97071405699998 meters 0.024987152594516927 Centerline is valid? [True, True] Translation: X:230.35, Y:-30.85, Z:-16.18 [[ 9.91152706e-01 1.13746643e-01 6.83960191e-02 2.30353443e+02] [-1.13353072e-01 9.93508190e-01 -9.62070946e-03 -3.08506043e+01] [-6.90463285e-02 1.78269336e-03 9.97611862e-01 -1.61819010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.00071405699998 meters 0.025174897090376833 Centerline is valid? [True, True] Translation: X:230.38, Y:-30.86, Z:-16.18 [[ 9.91380779e-01 1.11349456e-01 6.90322353e-02 2.30381848e+02] [-1.10943237e-01 9.93779380e-01 -9.70272094e-03 -3.08612792e+01] [-6.96832046e-02 1.96043143e-03 9.97567245e-01 -1.61833596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.03071405699998 meters 0.025899077629240944 Centerline is valid? [True, True] Translation: X:230.41, Y:-30.87, Z:-16.19 [[ 9.91711290e-01 1.08648241e-01 6.85877316e-02 2.30410551e+02] [-1.08240970e-01 9.94077968e-01 -9.63773953e-03 -3.08744456e+01] [-6.92286763e-02 2.13385250e-03 9.97598535e-01 -1.61865093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.06071405699998 meters 0.026822843539868413 Centerline is valid? [True, True] Translation: X:230.44, Y:-30.89, Z:-16.19 [[ 9.91891827e-01 1.07222659e-01 6.82195307e-02 2.30439374e+02] [-1.06816391e-01 9.94232552e-01 -9.58600437e-03 -3.08855528e+01] [-6.88539150e-02 2.22131531e-03 9.97624280e-01 -1.61896438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.09071405699999 meters 0.027341931714954876 Centerline is valid? [True, True] Translation: X:230.47, Y:-30.90, Z:-16.19 [[ 9.92348846e-01 1.03616046e-01 6.71377901e-02 2.30468721e+02] [-1.03214260e-01 9.94614394e-01 -9.43522014e-03 -3.08980491e+01] [-6.77538526e-02 2.43345253e-03 9.97699100e-01 -1.61933505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.120714057 meters 0.02880187808334829 Centerline is valid? [True, True] Translation: X:230.50, Y:-30.91, Z:-16.20 [[ 9.92491064e-01 1.02536310e-01 6.66917826e-02 2.30498456e+02] [-1.02137349e-01 9.94726142e-01 -9.37358906e-03 -3.09083758e+01] [-6.73011928e-02 2.49148149e-03 9.97729594e-01 -1.61962171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.150714057 meters 0.029347021181931807 Centerline is valid? [True, True] Translation: X:230.53, Y:-30.92, Z:-16.20 [[ 9.92861427e-01 9.97115537e-02 6.54506968e-02 2.30528659e+02] [-9.93206063e-02 9.95012878e-01 -9.20816964e-03 -3.09194650e+01] [-6.60424471e-02 2.64183356e-03 9.97813317e-01 -1.61994494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.180714057 meters 0.029937959430371672 Centerline is valid? [True, True] Translation: X:230.56, Y:-30.93, Z:-16.20 [[ 9.93050856e-01 9.83022256e-02 6.47044861e-02 2.30559374e+02] [-9.79161924e-02 9.95152892e-01 -9.11815472e-03 -3.09277069e+01] [-6.52871914e-02 2.71917444e-03 9.97862811e-01 -1.62015808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.210714057 meters 0.030987990061883554 Centerline is valid? [True, True] Translation: X:230.59, Y:-30.94, Z:-16.20 [[ 9.93398650e-01 9.49692891e-02 6.43424932e-02 2.30589389e+02] [-9.45795733e-02 9.95475869e-01 -9.08288040e-03 -3.09403668e+01] [-6.49139940e-02 2.93743557e-03 9.97886539e-01 -1.62038861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.240714057 meters 0.031872568997647496 Centerline is valid? [True, True] Translation: X:230.62, Y:-30.95, Z:-16.21 [[ 9.93612632e-01 9.28963218e-02 6.40641195e-02 2.30620816e+02] [-9.25055408e-02 9.95671080e-01 -9.04573841e-03 -3.09490858e+01] [-6.46271069e-02 3.06167392e-03 9.97904787e-01 -1.62063827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.270714057 meters 0.03377117966968298 Centerline is valid? [True, True] Translation: X:230.65, Y:-30.96, Z:-16.21 [[ 9.94060575e-01 8.83290238e-02 6.35732394e-02 2.30649422e+02] [-8.79346037e-02 9.96085762e-01 -8.98114128e-03 -3.09613161e+01] [-6.41176940e-02 3.33751085e-03 9.97936763e-01 -1.62080243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.300714057 meters 0.036176178688296354 Centerline is valid? [True, True] Translation: X:230.68, Y:-30.97, Z:-16.21 [[ 9.94247822e-01 8.62414934e-02 6.35112115e-02 2.30678031e+02] [-8.58434472e-02 9.96268215e-01 -8.97476688e-03 -3.09710182e+01] [-6.40481987e-02 3.47112109e-03 9.97940770e-01 -1.62102279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.330714057 meters 0.037032192958534556 Centerline is valid? [True, True] Translation: X:230.71, Y:-30.98, Z:-16.21 [[ 9.94581914e-01 8.27656751e-02 6.29019787e-02 2.30708230e+02] [-8.23683282e-02 9.96562318e-01 -8.88848810e-03 -3.09795726e+01] [-6.34214035e-02 3.65919868e-03 9.97980128e-01 -1.62114519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.360714057 meters 0.0337172569793485 Centerline is valid? [True, True] Translation: X:230.74, Y:-30.98, Z:-16.21 [[ 9.94724815e-01 8.11940196e-02 6.26902929e-02 2.30740757e+02] [-8.07961070e-02 9.96691265e-01 -8.86066145e-03 -3.09796946e+01] [-6.32023001e-02 3.74878821e-03 9.97993695e-01 -1.62125596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.390714057 meters 0.03556813613647211 Centerline is valid? [True, True] Translation: X:230.77, Y:-30.99, Z:-16.21 [[ 9.94971826e-01 7.78470656e-02 6.30150737e-02 2.30770201e+02] [-7.74380103e-02 9.96957340e-01 -8.91159793e-03 -3.09883447e+01] [-6.35170820e-02 3.98702695e-03 9.97972787e-01 -1.62140198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.42071405699997 meters 0.036611106418396454 Centerline is valid? [True, True] Translation: X:230.80, Y:-31.00, Z:-16.22 [[ 9.95217114e-01 7.50396484e-02 6.25455615e-02 2.30800439e+02] [-7.46310864e-02 9.97171973e-01 -8.84634931e-03 -3.09965311e+01] [-6.30325079e-02 4.13619503e-03 9.98002903e-01 -1.62158208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.45071405699997 meters 0.04313693088445338 Centerline is valid? [True, True] Translation: X:230.83, Y:-31.01, Z:-16.22 [[ 9.95317075e-01 7.38155960e-02 6.24113585e-02 2.30829620e+02] [-7.34064000e-02 9.97263044e-01 -8.82728168e-03 -3.10109162e+01] [-6.28921325e-02 4.20455103e-03 9.98011474e-01 -1.62186751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.48071405699997 meters 0.03873436025683478 Centerline is valid? [True, True] Translation: X:230.86, Y:-31.01, Z:-16.22 [[ 9.95438243e-01 7.23149302e-02 6.22354771e-02 2.30861932e+02] [-7.19041939e-02 9.97372570e-01 -8.81721028e-03 -3.10088418e+01] [-6.27095737e-02 4.30199649e-03 9.98022546e-01 -1.62202019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.51071405699997 meters 0.04000398077633249 Centerline is valid? [True, True] Translation: X:230.89, Y:-31.02, Z:-16.22 [[ 9.95634701e-01 6.96650871e-02 6.21153619e-02 2.30892851e+02] [-6.92498094e-02 9.97560394e-01 -8.81615256e-03 -3.10151940e+01] [-6.25780029e-02 4.47619045e-03 9.98030038e-01 -1.62217042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.54071405699997 meters 0.04168879846064845 Centerline is valid? [True, True] Translation: X:230.92, Y:-31.02, Z:-16.22 [[ 9.95755584e-01 6.80989567e-02 6.19140501e-02 2.30922071e+02] [-6.76832077e-02 9.97668140e-01 -8.79004807e-03 -3.10208579e+01] [-6.23682684e-02 4.56219793e-03 9.98042777e-01 -1.62237216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.57071405699998 meters 0.04336697606426091 Centerline is valid? [True, True] Translation: X:230.95, Y:-31.03, Z:-16.23 [[ 9.95913510e-01 6.56009839e-02 6.20708652e-02 2.30951476e+02] [-6.51783022e-02 9.97834722e-01 -8.81231138e-03 -3.10264140e+01] [-6.25145608e-02 4.73062634e-03 9.98032841e-01 -1.62254576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.60071405699998 meters 0.04556866967172436 Centerline is valid? [True, True] Translation: X:230.98, Y:-31.03, Z:-16.23 [[ 9.96133489e-01 6.26111824e-02 6.16271984e-02 2.30980445e+02] [-6.21888442e-02 9.98026050e-01 -8.74939603e-03 -3.10312259e+01] [-6.20533594e-02 4.88304216e-03 9.98060888e-01 -1.62274838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.63071405699998 meters 0.04676046131692411 Centerline is valid? [True, True] Translation: X:231.01, Y:-31.04, Z:-16.23 [[ 9.96171282e-01 6.15138865e-02 6.21193845e-02 2.31011664e+02] [-6.10827391e-02 9.98093756e-01 -8.81778741e-03 -3.10360716e+01] [-6.25433862e-02 4.98960444e-03 9.98029773e-01 -1.62294175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.66071405699998 meters 0.04714515645164317 Centerline is valid? [True, True] Translation: X:231.04, Y:-31.04, Z:-16.23 [[ 9.96216011e-01 6.07950029e-02 6.21097966e-02 2.31043145e+02] [-6.03621397e-02 9.98137542e-01 -8.82380403e-03 -3.10393856e+01] [-6.25305629e-02 5.04133464e-03 9.98030317e-01 -1.62311916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.69071405699998 meters 0.0483438894961158 Centerline is valid? [True, True] Translation: X:231.07, Y:-31.04, Z:-16.23 [[ 9.96411782e-01 5.78077943e-02 6.18208740e-02 2.31073554e+02] [-5.73727215e-02 9.98314121e-01 -8.79123303e-03 -3.10418239e+01] [-6.22248533e-02 5.21285638e-03 9.98048543e-01 -1.62337133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.72071405699998 meters 0.04583020466477227 Centerline is valid? [True, True] Translation: X:231.10, Y:-31.04, Z:-16.24 [[ 9.96583753e-01 5.54998202e-02 6.11603903e-02 2.31104764e+02] [-5.50696712e-02 9.98444631e-01 -8.69775165e-03 -3.10407535e+01] [-6.15479870e-02 5.29995540e-03 9.98090054e-01 -1.62360081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.75071405699998 meters 0.04584573879197064 Centerline is valid? [True, True] Translation: X:231.14, Y:-31.04, Z:-16.24 [[ 9.96908571e-01 5.05569241e-02 6.01439869e-02 2.31135377e+02] [-5.01319855e-02 9.98705966e-01 -8.55440014e-03 -3.10422278e+01] [-6.04986427e-02 5.51281733e-03 9.98153056e-01 -1.62385469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.78071405699998 meters 0.05573443011792917 Centerline is valid? [True, True] Translation: X:231.16, Y:-31.06, Z:-16.24 [[ 9.97062810e-01 4.79402215e-02 5.97284595e-02 2.31162844e+02] [-4.75164702e-02 9.98834325e-01 -8.49567219e-03 -3.10586034e+01] [-6.00661199e-02 5.63263322e-03 9.98178508e-01 -1.62421319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.81071405699998 meters 0.05981800014036858 Centerline is valid? [True, True] Translation: X:231.19, Y:-31.06, Z:-16.24 [[ 9.97353683e-01 4.31398271e-02 5.85199601e-02 2.31192343e+02] [-4.27249434e-02 9.99052205e-01 -8.32296751e-03 -3.10642723e+01] [-5.88235465e-02 5.80068032e-03 9.98251543e-01 -1.62447198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.84071405699999 meters 0.051001654545497044 Centerline is valid? [True, True] Translation: X:231.22, Y:-31.05, Z:-16.24 [[ 9.97430842e-01 4.15885444e-02 5.83276019e-02 2.31224697e+02] [-4.11737616e-02 9.99117562e-01 -8.29565110e-03 -3.10548166e+01] [-5.86211355e-02 5.87277149e-03 9.98263028e-01 -1.62449072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.870714057 meters 0.053005860530474944 Centerline is valid? [True, True] Translation: X:231.26, Y:-31.06, Z:-16.25 [[ 9.97507183e-01 3.94917608e-02 5.84792358e-02 2.31255142e+02] [-3.90711881e-02 9.99201806e-01 -8.31830128e-03 -3.10568809e+01] [-5.87610623e-02 6.01271205e-03 9.98253968e-01 -1.62458798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.900714057 meters 0.06475049982434902 Centerline is valid? [True, True] Translation: X:231.28, Y:-31.07, Z:-16.25 [[ 9.97523454e-01 3.90752793e-02 5.84814659e-02 2.31284032e+02] [-3.86540262e-02 9.99218036e-01 -8.31761019e-03 -3.10746868e+01] [-5.87607485e-02 6.03646712e-03 9.98253843e-01 -1.62488087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.930714057 meters 0.06913779750282535 Centerline is valid? [True, True] Translation: X:231.31, Y:-31.08, Z:-16.25 [[ 9.97614181e-01 3.82673083e-02 5.74591927e-02 2.31314166e+02] [-3.78584587e-02 9.99249568e-01 -8.18765539e-03 -3.10797427e+01] [-5.77293930e-02 5.99280466e-03 9.98314281e-01 -1.62512900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.960714057 meters 0.05177875698488521 Centerline is valid? [True, True] Translation: X:231.35, Y:-31.06, Z:-16.25 [[ 9.97643721e-01 3.87023544e-02 5.66492224e-02 2.31350340e+02] [-3.83057240e-02 9.99233470e-01 -8.07112365e-03 -3.10591155e+01] [-5.69181706e-02 5.88211635e-03 9.98361519e-01 -1.62516732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.990714057 meters 0.0501310790533633 Centerline is valid? [True, True] Translation: X:231.38, Y:-31.06, Z:-16.25 [[ 9.97622334e-01 4.03930657e-02 5.58397678e-02 2.31382393e+02] [-4.00092283e-02 9.99167482e-01 -7.97528590e-03 -3.10560245e+01] [-5.61154264e-02 5.72221731e-03 9.98407890e-01 -1.62537107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.020714057 meters 0.05154786067605027 Centerline is valid? [True, True] Translation: X:231.41, Y:-31.06, Z:-16.26 [[ 9.97570782e-01 4.20037326e-02 5.55717716e-02 2.31412612e+02] [-4.16259826e-02 9.99101728e-01 -7.93816278e-03 -3.10595842e+01] [-5.58552855e-02 5.60564965e-03 9.98423139e-01 -1.62558830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.050714057 meters 0.04756802942223528 Centerline is valid? [True, True] Translation: X:231.44, Y:-31.06, Z:-16.26 [[ 9.97478368e-01 4.40346882e-02 5.56583432e-02 2.31444506e+02] [-4.36584756e-02 9.99014820e-01 -7.95785648e-03 -3.10553966e+01] [-5.59539314e-02 5.50783127e-03 9.98418160e-01 -1.62570507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.080714057 meters 0.06694196771788134 Centerline is valid? [True, True] Translation: X:231.47, Y:-31.08, Z:-16.26 [[ 9.97189212e-01 4.89893818e-02 5.66896478e-02 2.31471097e+02] [-4.86069256e-02 9.98785087e-01 -8.10663162e-03 -3.10792020e+01] [-5.70179137e-02 5.32833610e-03 9.98358937e-01 -1.62617246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.110714057 meters 0.06694196771788134 Centerline is valid? [True, True] Translation: X:231.50, Y:-31.08, Z:-16.26 [[ 9.97176915e-01 4.92385644e-02 5.66900735e-02 2.31503384e+02] [-4.88566747e-02 9.98772925e-01 -8.10365728e-03 -3.10839495e+01] [-5.70195230e-02 5.31109149e-03 9.98358937e-01 -1.62639722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.140714057 meters 0.04349079019095004 Centerline is valid? [True, True] Translation: X:231.54, Y:-31.05, Z:-16.26 [[ 9.97002799e-01 5.16863847e-02 5.75668014e-02 2.31538684e+02] [-5.12955904e-02 9.98649466e-01 -8.24664939e-03 -3.10541288e+01] [-5.79152949e-02 5.26900946e-03 9.98307596e-01 -1.62615062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.17071405699997 meters 0.044336358900373976 Centerline is valid? [True, True] Translation: X:231.57, Y:-31.05, Z:-16.26 [[ 9.96621291e-01 5.72059136e-02 5.89362836e-02 2.31568684e+02] [-5.68058474e-02 9.98349546e-01 -8.44269361e-03 -3.10530002e+01] [-5.93219840e-02 5.06624268e-03 9.98226044e-01 -1.62626101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.20071405699997 meters 0.04356126282690302 Centerline is valid? [True, True] Translation: X:231.60, Y:-31.05, Z:-16.26 [[ 9.96276222e-01 6.24037328e-02 5.94933898e-02 2.31598755e+02] [-6.20051744e-02 9.98039430e-01 -8.52372177e-03 -3.10503377e+01] [-5.99086609e-02 4.80308332e-03 9.98192307e-01 -1.62643155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.23071405699997 meters 0.04217522596090658 Centerline is valid? [True, True] Translation: X:231.63, Y:-31.05, Z:-16.27 [[ 9.96158922e-01 6.42400471e-02 5.95031007e-02 2.31630951e+02] [-6.38447199e-02 9.97923447e-01 -8.52328459e-03 -3.10494505e+01] [-5.99270755e-02 4.69158719e-03 9.98191732e-01 -1.62666062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.26071405699997 meters 0.04084391610547958 Centerline is valid? [True, True] Translation: X:231.66, Y:-31.05, Z:-16.27 [[ 9.95961608e-01 6.72871880e-02 5.94382771e-02 2.31662456e+02] [-6.68978973e-02 9.97723470e-01 -8.51756383e-03 -3.10459753e+01] [-5.98760869e-02 4.50687082e-03 9.98195643e-01 -1.62687459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.29071405699997 meters 0.03927848306592465 Centerline is valid? [True, True] Translation: X:231.70, Y:-31.05, Z:-16.27 [[ 9.95916973e-01 6.83219993e-02 5.90041291e-02 2.31695479e+02] [-6.79401637e-02 9.97653564e-01 -8.45574688e-03 -3.10457616e+01] [-5.94433932e-02 4.41247165e-03 9.98221926e-01 -1.62707726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.32071405699998 meters 0.04031685327197637 Centerline is valid? [True, True] Translation: X:231.73, Y:-31.05, Z:-16.27 [[ 9.95910722e-01 6.87523936e-02 5.86083849e-02 2.31726960e+02] [-6.83761741e-02 9.97624222e-01 -8.40303356e-03 -3.10469958e+01] [-5.90468731e-02 4.36125408e-03 9.98245684e-01 -1.62733494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.35071405699998 meters 0.04127180009311145 Centerline is valid? [True, True] Translation: X:231.76, Y:-31.05, Z:-16.28 [[ 9.95954070e-01 6.88009533e-02 5.78093396e-02 2.31757428e+02] [-6.84342292e-02 9.97621087e-01 -8.30199351e-03 -3.10506521e+01] [-5.82430012e-02 4.31226663e-03 9.98293122e-01 -1.62761125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.38071405699998 meters 0.04082223244354162 Centerline is valid? [True, True] Translation: X:231.79, Y:-31.05, Z:-16.28 [[ 9.96084797e-01 6.78504976e-02 5.66691022e-02 2.31789597e+02] [-6.74957418e-02 9.97686250e-01 -8.15305344e-03 -3.10508621e+01] [-5.70911728e-02 4.29620948e-03 9.98359725e-01 -1.62790895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.41071405699998 meters 0.04254031552876068 Centerline is valid? [True, True] Translation: X:231.82, Y:-31.06, Z:-16.28 [[ 9.96153825e-01 6.72701055e-02 5.61452559e-02 2.31819886e+02] [-6.69207171e-02 9.97725562e-01 -8.08216961e-03 -3.10555058e+01] [-5.65612454e-02 4.29380338e-03 9.98389898e-01 -1.62817372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.44071405699998 meters 0.04387823561205799 Centerline is valid? [True, True] Translation: X:231.85, Y:-31.06, Z:-16.28 [[ 9.96201640e-01 6.65057618e-02 5.62074363e-02 2.31850833e+02] [-6.61544035e-02 9.97776595e-01 -8.09087401e-03 -3.10574202e+01] [-5.66205541e-02 4.34177254e-03 9.98386329e-01 -1.62836325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.47071405699998 meters 0.044754018945774535 Centerline is valid? [True, True] Translation: X:231.88, Y:-31.06, Z:-16.29 [[ 9.96162468e-01 6.61308047e-02 5.73328426e-02 2.31882302e+02] [-6.57638151e-02 9.97800976e-01 -8.26641718e-03 -3.10618547e+01] [-5.77534311e-02 4.46426808e-03 9.98320896e-01 -1.62853153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.50071405699998 meters 0.04169561093602615 Centerline is valid? [True, True] Translation: X:231.92, Y:-31.06, Z:-16.29 [[ 9.96125025e-01 6.55670407e-02 5.86165355e-02 2.31915085e+02] [-6.51816295e-02 9.97837510e-01 -8.46519471e-03 -3.10581734e+01] [-5.90448156e-02 4.61167100e-03 9.98244681e-01 -1.62853938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.53071405699998 meters 0.04276483508546415 Centerline is valid? [True, True] Translation: X:231.95, Y:-31.06, Z:-16.29 [[ 9.96087674e-01 6.57340097e-02 5.90625559e-02 2.31946411e+02] [-6.53421215e-02 9.97826339e-01 -8.54423609e-03 -3.10625638e+01] [-5.94958209e-02 4.65153554e-03 9.98217717e-01 -1.62875434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.56071405699998 meters 0.042334512643169404 Centerline is valid? [True, True] Translation: X:231.98, Y:-31.06, Z:-16.29 [[ 9.96120986e-01 6.51504785e-02 5.91472466e-02 2.31979213e+02] [-6.47558400e-02 9.97864367e-01 -8.56658325e-03 -3.10623604e+01] [-5.95790468e-02 4.70322371e-03 9.98212511e-01 -1.62893360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.59071405699999 meters 0.04395530414634609 Centerline is valid? [True, True] Translation: X:232.01, Y:-31.07, Z:-16.29 [[ 9.96152322e-01 6.50526218e-02 5.87256935e-02 2.32009916e+02] [-6.46624877e-02 9.97870808e-01 -8.52139749e-03 -3.10670642e+01] [-5.91549945e-02 4.69126047e-03 9.98237787e-01 -1.62919433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.620714057 meters 0.043021027453260266 Centerline is valid? [True, True] Translation: X:232.04, Y:-31.07, Z:-16.29 [[ 9.96238035e-01 6.40556618e-02 5.83665207e-02 2.32042340e+02] [-6.36680703e-02 9.97935117e-01 -8.47816668e-03 -3.10661827e+01] [-5.87890752e-02 4.73018836e-03 9.98259220e-01 -1.62939012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.650714057 meters 0.04294134176568551 Centerline is valid? [True, True] Translation: X:232.07, Y:-31.07, Z:-16.30 [[ 9.96292053e-01 6.37143422e-02 5.78154713e-02 2.32074146e+02] [-6.33333404e-02 9.97957074e-01 -8.40042940e-03 -3.10690179e+01] [-5.82325864e-02 4.70763413e-03 9.98291943e-01 -1.62963984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.680714057 meters 0.0471311095992154 Centerline is valid? [True, True] Translation: X:232.10, Y:-31.08, Z:-16.30 [[ 9.96452308e-01 6.18430052e-02 5.70809941e-02 2.32103158e+02] [-6.14676510e-02 9.98074482e-01 -8.30999257e-03 -3.10754149e+01] [-5.74849986e-02 4.77187665e-03 9.98334966e-01 -1.63000441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.710714057 meters 0.05002752541740929 Centerline is valid? [True, True] Translation: X:232.13, Y:-31.08, Z:-16.30 [[ 9.96547881e-01 6.08757829e-02 5.64487368e-02 2.32133182e+02] [-6.05068875e-02 9.98133909e-01 -8.22290506e-03 -3.10815199e+01] [-5.68439741e-02 4.77898125e-03 9.98371636e-01 -1.63025894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.740714057 meters 0.043616632839872625 Centerline is valid? [True, True] Translation: X:232.17, Y:-31.07, Z:-16.30 [[ 9.96617161e-01 5.98368653e-02 5.63363416e-02 2.32167262e+02] [-5.94677051e-02 9.98196483e-01 -8.20807631e-03 -3.10727235e+01] [-5.67258836e-02 4.83011676e-03 9.98378107e-01 -1.63033429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.770714057 meters 0.04429734534070512 Centerline is valid? [True, True] Translation: X:232.20, Y:-31.07, Z:-16.30 [[ 9.96501933e-01 6.06173561e-02 5.75276790e-02 2.32199777e+02] [-6.02335424e-02 9.98149101e-01 -8.38410469e-03 -3.10734233e+01] [-5.79294233e-02 4.88968064e-03 9.98308706e-01 -1.63045144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.800714057 meters 0.046814707875698455 Centerline is valid? [True, True] Translation: X:232.23, Y:-31.08, Z:-16.31 [[ 9.96404681e-01 6.16404767e-02 5.81219727e-02 2.32230397e+02] [-6.12495138e-02 9.98086412e-01 -8.48594670e-03 -3.10790996e+01] [-5.85338290e-02 4.89549444e-03 9.98273422e-01 -1.63062968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.830714057 meters 0.0453212325409777 Centerline is valid? [True, True] Translation: X:232.26, Y:-31.08, Z:-16.31 [[ 9.96236546e-01 6.33197865e-02 5.91890936e-02 2.32262946e+02] [-6.29163230e-02 9.97981256e-01 -8.65733422e-03 -3.10768364e+01] [-5.96177865e-02 4.90079262e-03 9.98209247e-01 -1.63070423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.860714057 meters 0.04374164691095496 Centerline is valid? [True, True] Translation: X:232.30, Y:-31.08, Z:-16.31 [[ 9.96170706e-01 6.38071935e-02 5.97709521e-02 2.32295772e+02] [-6.33963215e-02 9.97950094e-01 -8.74733241e-03 -3.10775404e+01] [-6.02065700e-02 4.92457781e-03 9.98173791e-01 -1.63088948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.890714057 meters 0.04457656888074895 Centerline is valid? [True, True] Translation: X:232.33, Y:-31.08, Z:-16.31 [[ 9.96190816e-01 6.39287701e-02 5.93040587e-02 2.32326415e+02] [-6.35242695e-02 9.97942519e-01 -8.68311641e-03 -3.10808280e+01] [-5.97371427e-02 4.88279381e-03 9.98202200e-01 -1.63112226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.92071405699997 meters 0.04678342864975248 Centerline is valid? [True, True] Translation: X:232.36, Y:-31.08, Z:-16.31 [[ 9.96337913e-01 6.20487736e-02 5.88278211e-02 2.32355925e+02] [-6.16465581e-02 9.98060738e-01 -8.62928031e-03 -3.10841538e+01] [-5.92491748e-02 4.97114645e-03 9.98230847e-01 -1.63138752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.95071405699997 meters 0.047973776841130224 Centerline is valid? [True, True] Translation: X:232.39, Y:-31.09, Z:-16.32 [[ 9.96589486e-01 5.87523207e-02 5.79444605e-02 2.32386021e+02] [-5.83565863e-02 9.98259618e-01 -8.49967118e-03 -3.10882890e+01] [-5.83429904e-02 5.08924202e-03 9.98283625e-01 -1.63180027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.98071405699997 meters 0.04703684250518874 Centerline is valid? [True, True] Translation: X:232.42, Y:-31.09, Z:-16.32 [[ 9.96767492e-01 5.66452441e-02 5.69726575e-02 2.32416947e+02] [-5.62592783e-02 9.98381216e-01 -8.35713102e-03 -3.10910190e+01] [-5.73538227e-02 5.12487593e-03 9.98340761e-01 -1.63207140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.01071405699997 meters 0.047176443955003956 Centerline is valid? [True, True] Translation: X:232.45, Y:-31.09, Z:-16.32 [[ 9.97062242e-01 5.28178244e-02 5.54721749e-02 2.32447830e+02] [-5.24460311e-02 9.98590601e-01 -8.13787690e-03 -3.10928754e+01] [-5.58238174e-02 5.20467439e-03 9.98427069e-01 -1.63241954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.04071405699997 meters 0.04874318369487443 Centerline is valid? [True, True] Translation: X:232.48, Y:-31.10, Z:-16.33 [[ 9.97112731e-01 5.19364904e-02 5.53967768e-02 2.32478724e+02] [-5.15643442e-02 9.98636605e-01 -8.12712114e-03 -3.10985921e+01] [-5.57433433e-02 5.24715749e-03 9.98431343e-01 -1.63265565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.07071405699998 meters 0.049561251516420726 Centerline is valid? [True, True] Translation: X:232.51, Y:-31.10, Z:-16.33 [[ 9.97179513e-01 5.08613924e-02 5.51918207e-02 2.32510959e+02] [-5.04899314e-02 9.98691683e-01 -8.10490251e-03 -3.11022395e+01] [-5.55318389e-02 5.29541150e-03 9.98442874e-01 -1.63283557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.10071405699998 meters 0.051117778579860544 Centerline is valid? [True, True] Translation: X:232.54, Y:-31.11, Z:-16.33 [[ 9.97108269e-01 5.12470530e-02 5.61145205e-02 2.32541660e+02] [-5.08634675e-02 9.98671592e-01 -8.24371282e-03 -3.11060370e+01] [-5.64624436e-02 5.36569513e-03 9.98390305e-01 -1.63297436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.13071405699998 meters 0.0501579595342833 Centerline is valid? [True, True] Translation: X:232.57, Y:-31.11, Z:-16.33 [[ 9.97051576e-01 5.20271776e-02 5.64032565e-02 2.32573960e+02] [-5.16404666e-02 9.98631306e-01 -8.29313261e-03 -3.11083422e+01] [-5.67575261e-02 5.35599045e-03 9.98373626e-01 -1.63318444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.16071405699998 meters 0.05359827827173459 Centerline is valid? [True, True] Translation: X:232.60, Y:-31.12, Z:-16.33 [[ 9.96896037e-01 5.36087944e-02 5.76575123e-02 2.32602783e+02] [-5.32062541e-02 9.98547407e-01 -8.49531593e-03 -3.11153381e+01] [-5.80291831e-02 5.40120653e-03 9.98300276e-01 -1.63337265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.19071405699998 meters 0.052902407645253 Centerline is valid? [True, True] Translation: X:232.64, Y:-31.12, Z:-16.33 [[ 9.96796486e-01 5.44486358e-02 5.85842297e-02 2.32635265e+02] [-5.40346764e-02 9.98501780e-01 -8.62833173e-03 -3.11162249e+01] [-5.89662586e-02 5.43511085e-03 9.98245180e-01 -1.63344813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.22071405699998 meters 0.05004525972913151 Centerline is valid? [True, True] Translation: X:232.67, Y:-31.12, Z:-16.34 [[ 9.96804396e-01 5.42344129e-02 5.86483204e-02 2.32668181e+02] [-5.38183328e-02 9.98513259e-01 -8.65207593e-03 -3.11156348e+01] [-5.90303659e-02 5.46807250e-03 9.98241211e-01 -1.63357108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.25071405699998 meters 0.051333401823396616 Centerline is valid? [True, True] Translation: X:232.70, Y:-31.12, Z:-16.34 [[ 9.96777688e-01 5.41731607e-02 5.91566509e-02 2.32698516e+02] [-5.37488111e-02 9.98516218e-01 -8.74227861e-03 -3.11215006e+01] [-5.95424722e-02 5.53450862e-03 9.98210430e-01 -1.63377428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.28071405699998 meters 0.05324970598122932 Centerline is valid? [True, True] Translation: X:232.73, Y:-31.13, Z:-16.34 [[ 9.96901849e-01 5.22345692e-02 5.88069092e-02 2.32728250e+02] [-5.18109691e-02 9.98618960e-01 -8.70612415e-03 -3.11283064e+01] [-5.91804551e-02 5.63230831e-03 9.98231411e-01 -1.63400449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.31071405699998 meters 0.057502510372669534 Centerline is valid? [True, True] Translation: X:232.76, Y:-31.14, Z:-16.34 [[ 9.96957349e-01 5.11966841e-02 5.87787645e-02 2.32757430e+02] [-5.07716521e-02 9.98672369e-01 -8.70283872e-03 -3.11387781e+01] [-5.91462844e-02 5.69206404e-03 9.98233098e-01 -1.63431774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.34071405699999 meters 0.05934532524424451 Centerline is valid? [True, True] Translation: X:232.79, Y:-31.15, Z:-16.35 [[ 9.97152174e-01 4.87167655e-02 5.75692486e-02 2.32787019e+02] [-4.83048472e-02 9.98796249e-01 -8.52606672e-03 -3.11457115e+01] [-5.79153120e-02 5.72091221e-03 9.98305108e-01 -1.63470750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.370714057 meters 0.05831188017498471 Centerline is valid? [True, True] Translation: X:232.82, Y:-31.15, Z:-16.35 [[ 9.97257181e-01 4.80032857e-02 5.63364792e-02 2.32818409e+02] [-4.76077853e-02 9.98831269e-01 -8.34232149e-03 -3.11490626e+01] [-5.66710959e-02 5.63738501e-03 9.98376986e-01 -1.63501976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.400714057 meters 0.05942601623943571 Centerline is valid? [True, True] Translation: X:232.85, Y:-31.15, Z:-16.35 [[ 9.97274627e-01 4.83797547e-02 5.57020360e-02 2.32849499e+02] [-4.79934141e-02 9.98813552e-01 -8.25356694e-03 -3.11548511e+01] [-5.60352540e-02 5.55774202e-03 9.98413322e-01 -1.63530367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.430714057 meters 0.05836586332448414 Centerline is valid? [True, True] Translation: X:232.88, Y:-31.16, Z:-16.36 [[ 9.97246730e-01 4.92562865e-02 5.54326392e-02 2.32881274e+02] [-4.88743350e-02 9.98771062e-01 -8.22589064e-03 -3.11581168e+01] [-5.57696928e-02 5.49400917e-03 9.98428544e-01 -1.63553466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.460714057 meters 0.05914974049988184 Centerline is valid? [True, True] Translation: X:232.91, Y:-31.16, Z:-16.36 [[ 9.97150362e-01 5.10710640e-02 5.55238931e-02 2.32910927e+02] [-5.06897068e-02 9.98680325e-01 -8.25603702e-03 -3.11634245e+01] [-5.58722642e-02 5.41802044e-03 9.98423224e-01 -1.63575235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.490714057 meters 0.05705149693268904 Centerline is valid? [True, True] Translation: X:232.94, Y:-31.16, Z:-16.36 [[ 9.97019039e-01 5.30095486e-02 5.60626691e-02 2.32942338e+02] [-5.26237888e-02 9.98579616e-01 -8.33594483e-03 -3.11641822e+01] [-5.64249233e-02 5.36086565e-03 9.98392452e-01 -1.63582736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.520714057 meters 0.056929555371082324 Centerline is valid? [True, True] Translation: X:232.97, Y:-31.17, Z:-16.36 [[ 9.96914097e-01 5.44926070e-02 5.65052209e-02 2.32973153e+02] [-5.41030381e-02 9.98500004e-01 -8.40253203e-03 -3.11685255e+01] [-5.68783392e-02 5.31949850e-03 9.98366945e-01 -1.63597501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.550714057 meters 0.04590033733919623 Centerline is valid? [True, True] Translation: X:233.01, Y:-31.16, Z:-16.36 [[ 9.96713848e-01 5.69051114e-02 5.76481876e-02 2.33006502e+02] [-5.65034725e-02 9.98365581e-01 -8.57461644e-03 -3.11579355e+01] [-5.80419058e-02 5.28911616e-03 9.98300136e-01 -1.63596000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.580714057 meters 0.047325367014152804 Centerline is valid? [True, True] Translation: X:233.04, Y:-31.17, Z:-16.36 [[ 9.96609681e-01 5.81395680e-02 5.82145482e-02 2.33036471e+02] [-5.77319905e-02 9.98294554e-01 -8.66026463e-03 -3.11650103e+01] [-5.86187705e-02 5.27006183e-03 9.98266531e-01 -1.63618664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.610714057 meters 0.04551045603099412 Centerline is valid? [True, True] Translation: X:233.07, Y:-31.17, Z:-16.36 [[ 9.96558153e-01 5.91108710e-02 5.81184428e-02 2.33069006e+02] [-5.87062795e-02 9.98237858e-01 -8.64592639e-03 -3.11671449e+01] [-5.85270981e-02 5.20425088e-03 9.98272255e-01 -1.63637858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.640714057 meters 0.045904929819630284 Centerline is valid? [True, True] Translation: X:233.10, Y:-31.17, Z:-16.37 [[ 9.96530984e-01 5.99325564e-02 5.77415487e-02 2.33099338e+02] [-5.95336961e-02 9.98189208e-01 -8.60486563e-03 -3.11726169e+01] [-5.81527024e-02 5.13744741e-03 9.98294481e-01 -1.63662489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.67071405699997 meters 0.05301910336750252 Centerline is valid? [True, True] Translation: X:233.13, Y:-31.19, Z:-16.37 [[ 9.96548552e-01 6.00449218e-02 5.73200803e-02 2.33128612e+02] [-5.96512714e-02 9.98182612e-01 -8.55561855e-03 -3.11887071e+01] [-5.77296289e-02 5.10687361e-03 9.98319192e-01 -1.63707389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.70071405699997 meters 0.0461616277295144 Centerline is valid? [True, True] Translation: X:233.16, Y:-31.19, Z:-16.37 [[ 9.96573698e-01 6.00838420e-02 5.68400864e-02 2.33161525e+02] [-5.96960859e-02 9.98180434e-01 -8.49693263e-03 -3.11850730e+01] [-5.72471905e-02 5.07468889e-03 9.98347137e-01 -1.63720906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.73071405699997 meters 0.04465206088394691 Centerline is valid? [True, True] Translation: X:233.19, Y:-31.19, Z:-16.37 [[ 9.96574782e-01 6.01063272e-02 5.67973049e-02 2.33193256e+02] [-5.97183590e-02 9.98179033e-01 -8.50506760e-03 -3.11890405e+01] [-5.72050873e-02 5.08409404e-03 9.98349503e-01 -1.63742869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.76071405699997 meters 0.04504212661946891 Centerline is valid? [True, True] Translation: X:233.22, Y:-31.20, Z:-16.38 [[ 9.96625156e-01 5.98252827e-02 5.62070706e-02 2.33224408e+02] [-5.94440871e-02 9.98196031e-01 -8.43109536e-03 -3.11958010e+01] [-5.66100675e-02 5.06146372e-03 9.98383534e-01 -1.63768053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.79071405699997 meters 0.046994050045723525 Centerline is valid? [True, True] Translation: X:233.25, Y:-31.20, Z:-16.38 [[ 9.96559497e-01 6.04824800e-02 5.66660220e-02 2.33254330e+02] [-6.00952232e-02 9.98156331e-01 -8.51488964e-03 -3.12041751e+01] [-5.70765502e-02 5.08023691e-03 9.98356879e-01 -1.63791394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.82071405699998 meters 0.04551225995958858 Centerline is valid? [True, True] Translation: X:233.28, Y:-31.21, Z:-16.38 [[ 9.96480409e-01 6.18885473e-02 5.65385028e-02 2.33284975e+02] [-6.15043839e-02 9.98070522e-01 -8.51138798e-03 -3.12086413e+01] [-5.69561704e-02 5.00406560e-03 9.98364139e-01 -1.63815436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.85071405699998 meters 0.04656453803829733 Centerline is valid? [True, True] Translation: X:233.32, Y:-31.22, Z:-16.38 [[ 9.96392850e-01 6.29245436e-02 5.69367154e-02 2.33315038e+02] [-6.25364976e-02 9.98005853e-01 -8.57344431e-03 -3.12158716e+01] [-5.73626553e-02 4.98189585e-03 9.98340977e-01 -1.63839318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.88071405699998 meters 0.04432035700567627 Centerline is valid? [True, True] Translation: X:233.35, Y:-31.22, Z:-16.39 [[ 9.96265989e-01 6.50684439e-02 5.67465986e-02 2.33345930e+02] [-6.46863095e-02 9.97869044e-01 -8.54704651e-03 -3.12183438e+01] [-5.71818171e-02 4.84440370e-03 9.98352028e-01 -1.63855003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.91071405699998 meters 0.041472589854547486 Centerline is valid? [True, True] Translation: X:233.38, Y:-31.22, Z:-16.39 [[ 9.96159401e-01 6.64164610e-02 5.70552469e-02 2.33376971e+02] [-6.60322746e-02 9.97780471e-01 -8.59476888e-03 -3.12194172e+01] [-5.74994453e-02 4.79427209e-03 9.98334027e-01 -1.63869782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.94071405699998 meters 0.04045088335434247 Centerline is valid? [True, True] Translation: X:233.41, Y:-31.22, Z:-16.39 [[ 9.95976895e-01 6.91107172e-02 5.70415032e-02 2.33407869e+02] [-6.87310498e-02 9.97598212e-01 -8.59357351e-03 -3.12223058e+01] [-5.74984097e-02 4.63847826e-03 9.98334822e-01 -1.63887870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.97071405699998 meters 0.040747585556124205 Centerline is valid? [True, True] Translation: X:233.44, Y:-31.23, Z:-16.39 [[ 9.95909232e-01 7.03379722e-02 5.67218685e-02 2.33436499e+02] [-6.99644341e-02 9.97512870e-01 -8.54708492e-03 -3.12269097e+01] [-5.71819784e-02 4.54360735e-03 9.98353433e-01 -1.63910774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.00071405699998 meters 0.03968124123112322 Centerline is valid? [True, True] Translation: X:233.47, Y:-31.23, Z:-16.39 [[ 9.95668611e-01 7.34255084e-02 5.70325460e-02 2.33466727e+02] [-7.30530322e-02 9.97291052e-01 -8.59143553e-03 -3.12311674e+01] [-5.75088783e-02 4.38782226e-03 9.98335352e-01 -1.63944828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.03071405699998 meters 0.03968124123112322 Centerline is valid? [True, True] Translation: X:233.50, Y:-31.24, Z:-16.40 [[ 9.95671253e-01 7.33896776e-02 5.70325365e-02 2.33495576e+02] [-7.30171393e-02 9.97293680e-01 -8.59149890e-03 -3.12354823e+01] [-5.75087155e-02 4.38995582e-03 9.98335352e-01 -1.63964919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.06071405699998 meters 0.0398876250061052 Centerline is valid? [True, True] Translation: X:233.53, Y:-31.24, Z:-16.40 [[ 9.95625442e-01 7.44231682e-02 5.64904553e-02 2.33525010e+02] [-7.40594576e-02 9.97217536e-01 -8.50777745e-03 -3.12405280e+01] [-5.69664484e-02 4.28690720e-03 9.98366890e-01 -1.63992344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.09071405699999 meters 0.04017624861810314 Centerline is valid? [True, True] Translation: X:233.55, Y:-31.24, Z:-16.40 [[ 9.95507022e-01 7.64951840e-02 5.58055277e-02 2.33553386e+02] [-7.61435872e-02 9.97061456e-01 -8.40282041e-03 -3.12446324e+01] [-5.62843160e-02 4.11583365e-03 9.98406298e-01 -1.64018392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.120714057 meters 0.03936194607359834 Centerline is valid? [True, True] Translation: X:233.58, Y:-31.25, Z:-16.40 [[ 9.95434627e-01 7.75609028e-02 5.56256241e-02 2.33581995e+02] [-7.72133851e-02 9.96979432e-01 -8.37289735e-03 -3.12469122e+01] [-5.61070126e-02 4.03962922e-03 9.98416589e-01 -1.64034306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.150714057 meters 0.03889444725153269 Centerline is valid? [True, True] Translation: X:233.61, Y:-31.25, Z:-16.41 [[ 9.95291635e-01 7.93763931e-02 5.56232812e-02 2.33612012e+02] [-7.90319861e-02 9.96836960e-01 -8.36785898e-03 -3.12492065e+01] [-5.61115530e-02 3.93244166e-03 9.98416761e-01 -1.64052237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.180714057 meters 0.039221569940218644 Centerline is valid? [True, True] Translation: X:233.64, Y:-31.25, Z:-16.41 [[ 9.95207467e-01 8.01681544e-02 5.59925335e-02 2.33639819e+02] [-7.98204207e-02 9.96773672e-01 -8.42303259e-03 -3.12532599e+01] [-5.64871422e-02 3.91331736e-03 9.98395657e-01 -1.64071929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.210714057 meters 0.03813025133262028 Centerline is valid? [True, True] Translation: X:233.67, Y:-31.26, Z:-16.41 [[ 9.94978028e-01 8.19103146e-02 5.75275885e-02 2.33670215e+02] [-8.15464001e-02 9.96632017e-01 -8.64916464e-03 -3.12553071e+01] [-5.80422924e-02 3.91456103e-03 9.98306450e-01 -1.64077531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.240714057 meters 0.038566146689569744 Centerline is valid? [True, True] Translation: X:233.70, Y:-31.26, Z:-16.41 [[ 9.94888115e-01 8.25521739e-02 5.81616408e-02 2.33697644e+02] [-8.21812940e-02 9.96579036e-01 -8.74413335e-03 -3.12593672e+01] [-5.86845192e-02 3.91963545e-03 9.98268883e-01 -1.64084642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.270714057 meters 0.040045975775203996 Centerline is valid? [True, True] Translation: X:233.72, Y:-31.26, Z:-16.41 [[ 9.94726646e-01 8.30472581e-02 6.01834972e-02 2.33724963e+02] [-8.26513453e-02 9.96537499e-01 -9.04253619e-03 -3.12639907e+01] [-6.07260697e-02 4.02060468e-03 9.98146372e-01 -1.64090262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.300714057 meters 0.039826417314053446 Centerline is valid? [True, True] Translation: X:233.75, Y:-31.27, Z:-16.41 [[ 9.94697382e-01 8.30129002e-02 6.07122466e-02 2.33753744e+02] [-8.26102589e-02 9.96540232e-01 -9.11655698e-03 -3.12676065e+01] [-6.12589881e-02 4.05276095e-03 9.98113677e-01 -1.64102075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.330714057 meters 0.036269048512012354 Centerline is valid? [True, True] Translation: X:233.78, Y:-31.27, Z:-16.41 [[ 9.94718904e-01 8.27604053e-02 6.07043413e-02 2.33783338e+02] [-8.23576602e-02 9.96561189e-01 -9.11115122e-03 -3.12654076e+01] [-6.12496331e-02 4.06356684e-03 9.98114207e-01 -1.64117747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.360714057 meters 0.042025377604083355 Centerline is valid? [True, True] Translation: X:233.81, Y:-31.28, Z:-16.41 [[ 9.94760790e-01 8.26177167e-02 6.02103211e-02 2.33809614e+02] [-8.22215024e-02 9.96573144e-01 -9.03285293e-03 -3.12778076e+01] [-6.07502627e-02 4.03494486e-03 9.98144842e-01 -1.64149275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.390714057 meters 0.03653084696742484 Centerline is valid? [True, True] Translation: X:233.84, Y:-31.27, Z:-16.42 [[ 9.94839833e-01 8.22390255e-02 5.94175856e-02 2.33839697e+02] [-8.18528763e-02 9.96604613e-01 -8.90797486e-03 -3.12734664e+01] [-5.99484230e-02 3.99850794e-03 9.98193467e-01 -1.64164304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.42071405699997 meters 0.037341143603343264 Centerline is valid? [True, True] Translation: X:233.87, Y:-31.28, Z:-16.42 [[ 9.95056043e-01 8.08286917e-02 5.77078323e-02 2.33868756e+02] [-8.04623752e-02 9.96720137e-01 -8.64721473e-03 -3.12786863e+01] [-5.82175016e-02 3.96115402e-03 9.98296064e-01 -1.64206715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.45071405699997 meters 0.03932709236423202 Centerline is valid? [True, True] Translation: X:233.90, Y:-31.29, Z:-16.42 [[ 9.95348231e-01 7.88795608e-02 5.53164878e-02 2.33897338e+02] [-7.85401377e-02 9.96876510e-01 -8.28675449e-03 -3.12854674e+01] [-5.57973628e-02 3.90364186e-03 9.98434483e-01 -1.64248706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.48071405699997 meters 0.040465211062919525 Centerline is valid? [True, True] Translation: X:233.93, Y:-31.29, Z:-16.43 [[ 9.95461057e-01 7.78713377e-02 5.47114093e-02 2.33925347e+02] [-7.75378094e-02 9.96955724e-01 -8.19584500e-03 -3.12908927e+01] [-5.51830741e-02 3.91644170e-03 9.98468572e-01 -1.64275046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.51071405699997 meters 0.04065121799825468 Centerline is valid? [True, True] Translation: X:233.95, Y:-31.29, Z:-16.43 [[ 9.95514811e-01 7.71886129e-02 5.47008061e-02 2.33954098e+02] [-7.68544046e-02 9.97008685e-01 -8.19036172e-03 -3.12944168e+01] [-5.51693815e-02 3.94962852e-03 9.98469198e-01 -1.64297897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.54071405699997 meters 0.042144232529861714 Centerline is valid? [True, True] Translation: X:233.98, Y:-31.30, Z:-16.43 [[ 9.95548995e-01 7.65011671e-02 5.50433437e-02 2.33981257e+02] [-7.61619188e-02 9.97061432e-01 -8.23789754e-03 -3.12999362e+01] [-5.55118039e-02 4.00902394e-03 9.98449982e-01 -1.64314587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.57071405699998 meters 0.03927962767458613 Centerline is valid? [True, True] Translation: X:234.01, Y:-31.30, Z:-16.43 [[ 9.95544769e-01 7.63093219e-02 5.53850132e-02 2.34010491e+02] [-7.59658350e-02 9.97076010e-01 -8.28390918e-03 -3.12990715e+01] [-5.58552075e-02 4.03963368e-03 9.98430707e-01 -1.64322724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.60071405699998 meters 0.04374255417422631 Centerline is valid? [True, True] Translation: X:234.04, Y:-31.31, Z:-16.43 [[ 9.95507642e-01 7.64855437e-02 5.58076783e-02 2.34037323e+02] [-7.61372801e-02 9.97062438e-01 -8.34326932e-03 -3.13074413e+01] [-5.62818792e-02 4.05674353e-03 9.98406677e-01 -1.64330742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.63071405699998 meters 0.038884944768633904 Centerline is valid? [True, True] Translation: X:234.07, Y:-31.30, Z:-16.43 [[ 9.95530689e-01 7.61082344e-02 5.59122945e-02 2.34066700e+02] [-7.57583650e-02 9.97091212e-01 -8.35369771e-03 -3.13033478e+01] [-5.63854427e-02 4.08053843e-03 9.98400737e-01 -1.64332633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.66071405699998 meters 0.0378729032922361 Centerline is valid? [True, True] Translation: X:234.10, Y:-31.30, Z:-16.43 [[ 9.95563932e-01 7.52020011e-02 5.65430414e-02 2.34095486e+02] [-7.48429673e-02 9.97159582e-01 -8.44378249e-03 -3.13047825e+01] [-5.70174249e-02 4.17447630e-03 9.98364456e-01 -1.64335760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.69071405699998 meters 0.038805671278644725 Centerline is valid? [True, True] Translation: X:234.12, Y:-31.31, Z:-16.44 [[ 9.95584186e-01 7.44100213e-02 5.72300336e-02 2.34123179e+02] [-7.40411263e-02 9.97218601e-01 -8.54241837e-03 -3.13097713e+01] [-5.77064955e-02 4.26732050e-03 9.98324471e-01 -1.64350256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.72071405699998 meters 0.04037551383658727 Centerline is valid? [True, True] Translation: X:234.15, Y:-31.32, Z:-16.44 [[ 9.95621951e-01 7.33564039e-02 5.79290039e-02 2.34151056e+02] [-7.29770465e-02 9.97296194e-01 -8.64011195e-03 -3.13160624e+01] [-5.84061827e-02 4.37479750e-03 9.98283316e-01 -1.64373037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.75071405699998 meters 0.04062174596272103 Centerline is valid? [True, True] Translation: X:234.18, Y:-31.32, Z:-16.44 [[ 9.95911245e-01 6.97457696e-02 5.74135836e-02 2.34181263e+02] [-6.93673926e-02 9.97554459e-01 -8.55959687e-03 -3.13198991e+01] [-5.78701720e-02 4.54196818e-03 9.98313785e-01 -1.64393459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.78071405699998 meters 0.04350414951543468 Centerline is valid? [True, True] Translation: X:234.21, Y:-31.33, Z:-16.44 [[ 9.96227697e-01 6.57794388e-02 5.65989569e-02 2.34209453e+02] [-6.54053801e-02 9.97823097e-01 -8.43817956e-03 -3.13284959e+01] [-5.70308052e-02 4.70447189e-03 9.98361335e-01 -1.64424430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.81071405699998 meters 0.044909372657975295 Centerline is valid? [True, True] Translation: X:234.24, Y:-31.33, Z:-16.44 [[ 9.96419497e-01 6.34941968e-02 5.58271690e-02 2.34238763e+02] [-6.31267793e-02 9.97970817e-01 -8.32214401e-03 -3.13346977e+01] [-5.62422934e-02 4.76815716e-03 9.98405764e-01 -1.64448226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.84071405699999 meters 0.0461152841137444 Centerline is valid? [True, True] Translation: X:234.27, Y:-31.34, Z:-16.45 [[ 9.96566377e-01 6.15868135e-02 5.53400459e-02 2.34268792e+02] [-6.12229394e-02 9.98090035e-01 -8.24831067e-03 -3.13407206e+01] [-5.57423355e-02 4.83190881e-03 9.98433495e-01 -1.64474509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.870714057 meters 0.04827362234809748 Centerline is valid? [True, True] Translation: X:234.30, Y:-31.35, Z:-16.45 [[ 9.96767622e-01 5.86920160e-02 5.48594106e-02 2.34298277e+02] [-5.83301122e-02 9.98263865e-01 -8.17638329e-03 -3.13469746e+01] [-5.52440556e-02 4.94999856e-03 9.98460611e-01 -1.64497739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.900714057 meters 0.0439766195364348 Centerline is valid? [True, True] Translation: X:234.33, Y:-31.34, Z:-16.45 [[ 9.96792921e-01 5.83385917e-02 5.47766591e-02 2.34330873e+02] [-5.79771958e-02 9.98284517e-01 -8.16505604e-03 -3.13435103e+01] [-5.51590286e-02 4.96307296e-03 9.98465247e-01 -1.64506076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.930714057 meters 0.0487913761638488 Centerline is valid? [True, True] Translation: X:234.36, Y:-31.35, Z:-16.45 [[ 9.96734624e-01 5.88779016e-02 5.52583235e-02 2.34360394e+02] [-5.85108173e-02 9.98252775e-01 -8.23896151e-03 -3.13532733e+01] [-5.56468676e-02 4.97884853e-03 9.98438099e-01 -1.64531789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.960714057 meters 0.048968623246447365 Centerline is valid? [True, True] Translation: X:234.39, Y:-31.36, Z:-16.45 [[ 9.96629349e-01 6.00776845e-02 5.58624492e-02 2.34391292e+02] [-5.97042558e-02 9.98181341e-01 -8.33136014e-03 -3.13567233e+01] [-5.62613833e-02 4.96805207e-03 9.98403714e-01 -1.64544771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.990714057 meters 0.04488530271800007 Centerline is valid? [True, True] Translation: X:234.42, Y:-31.35, Z:-16.45 [[ 9.96358147e-01 6.32895305e-02 5.71391165e-02 2.34423294e+02] [-6.29039790e-02 9.97983190e-01 -8.52298063e-03 -3.13523837e+01] [-5.75632932e-02 4.89766340e-03 9.98329845e-01 -1.64541484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.020714057 meters 0.043690147203043934 Centerline is valid? [True, True] Translation: X:234.45, Y:-31.35, Z:-16.46 [[ 9.96196117e-01 6.53957739e-02 5.75907127e-02 2.34453874e+02] [-6.50075794e-02 9.97847793e-01 -8.59045631e-03 -3.13536769e+01] [-5.80285451e-02 4.81394639e-03 9.98303318e-01 -1.64556655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.050714057 meters 0.04282486660387701 Centerline is valid? [True, True] Translation: X:234.48, Y:-31.35, Z:-16.46 [[ 9.95831673e-01 7.03226177e-02 5.80862142e-02 2.34483178e+02] [-6.99359943e-02 9.97513848e-01 -8.66482323e-03 -3.13530407e+01] [-5.85511361e-02 4.56638827e-03 9.98273967e-01 -1.64575436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.080714057 meters 0.04143309062983904 Centerline is valid? [True, True] Translation: X:234.51, Y:-31.35, Z:-16.46 [[ 9.95621788e-01 7.32271998e-02 5.80950338e-02 2.34512027e+02] [-7.28455326e-02 9.97305608e-01 -8.66335011e-03 -3.13540273e+01] [-5.85728959e-02 4.39345644e-03 9.98273466e-01 -1.64598102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.110714057 meters 0.036724712173177194 Centerline is valid? [True, True] Translation: X:234.54, Y:-31.35, Z:-16.46 [[ 9.95250897e-01 7.86755912e-02 5.73219259e-02 2.34542827e+02] [-7.83131265e-02 9.96892181e-01 -8.54598496e-03 -3.13479923e+01] [-5.78161401e-02 4.01633997e-03 9.98319169e-01 -1.64611576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.140714057 meters 0.03922683389758946 Centerline is valid? [True, True] Translation: X:234.57, Y:-31.35, Z:-16.46 [[ 9.95066172e-01 8.11237512e-02 5.71161182e-02 2.34571322e+02] [-8.07679911e-02 9.96696568e-01 -8.51368577e-03 -3.13545900e+01] [-5.76181011e-02 3.85852659e-03 9.98331241e-01 -1.64640915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.17071405699997 meters 0.039327566386161014 Centerline is valid? [True, True] Translation: X:234.60, Y:-31.36, Z:-16.47 [[ 9.94872510e-01 8.32515954e-02 5.74270058e-02 2.34599654e+02] [-8.28955877e-02 9.96521491e-01 -8.55803933e-03 -3.13575334e+01] [-5.79397158e-02 3.75371267e-03 9.98313027e-01 -1.64664478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.20071405699997 meters 0.03385780642678869 Centerline is valid? [True, True] Translation: X:234.63, Y:-31.35, Z:-16.47 [[ 9.94626947e-01 8.66291625e-02 5.66800159e-02 2.34630574e+02] [-8.62880028e-02 9.96234453e-01 -8.44360452e-03 -3.13515854e+01] [-5.71980471e-02 3.50743122e-03 9.98356690e-01 -1.64669338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.23071405699997 meters 0.03469848083960981 Centerline is valid? [True, True] Translation: X:234.66, Y:-31.36, Z:-16.47 [[ 9.94484325e-01 8.84547835e-02 5.63620367e-02 2.34658528e+02] [-8.81204580e-02 9.96074453e-01 -8.39458500e-03 -3.13563532e+01] [-5.68833261e-02 3.38163470e-03 9.98375106e-01 -1.64694873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.26071405699997 meters 0.0337658004046185 Centerline is valid? [True, True] Translation: X:234.69, Y:-31.36, Z:-16.47 [[ 9.94242752e-01 9.19453199e-02 5.50218930e-02 2.34688359e+02] [-9.16323018e-02 9.95759228e-01 -8.19035630e-03 -3.13574579e+01] [-5.55416226e-02 3.10141968e-03 9.98451556e-01 -1.64723916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.29071405699997 meters 0.03194490988847891 Centerline is valid? [True, True] Translation: X:234.72, Y:-31.36, Z:-16.47 [[ 9.94106513e-01 9.36891216e-02 5.45398026e-02 2.34717839e+02] [-9.33841610e-02 9.95597047e-01 -8.11902705e-03 -3.13580670e+01] [-5.50603310e-02 2.97802396e-03 9.98478588e-01 -1.64742516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.32071405699998 meters 0.03144266554616473 Centerline is valid? [True, True] Translation: X:234.75, Y:-31.36, Z:-16.48 [[ 9.93697723e-01 9.77656649e-02 5.48334759e-02 2.34747810e+02] [-9.74640421e-02 9.95205639e-01 -8.15458416e-03 -3.13602299e+01] [-5.53678227e-02 2.75889950e-03 9.98462214e-01 -1.64763101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.35071405699998 meters 0.031096159531734068 Centerline is valid? [True, True] Translation: X:234.78, Y:-31.36, Z:-16.48 [[ 9.93552460e-01 9.93041196e-02 5.47010151e-02 2.34776986e+02] [-9.90061717e-02 9.95053552e-01 -8.13680415e-03 -3.13628737e+01] [-5.52384575e-02 2.66860368e-03 9.98469625e-01 -1.64779797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.38071405699998 meters 0.030758403060752407 Centerline is valid? [True, True] Translation: X:234.81, Y:-31.37, Z:-16.48 [[ 9.93355589e-01 1.01046517e-01 5.50842514e-02 2.34805469e+02] [-1.00747902e-01 9.94878371e-01 -8.17842688e-03 -3.13662968e+01] [-5.56285318e-02 2.57446328e-03 9.98448215e-01 -1.64793052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.41071405699998 meters 0.030798460567247006 Centerline is valid? [True, True] Translation: X:234.83, Y:-31.37, Z:-16.48 [[ 9.93043591e-01 1.03398423e-01 5.63310942e-02 2.34834124e+02] [-1.03090156e-01 9.94636893e-01 -8.35892723e-03 -3.13701311e+01] [-5.68932844e-02 2.49359783e-03 9.98377151e-01 -1.64812295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.44071405699998 meters 0.03030048560514141 Centerline is valid? [True, True] Translation: X:234.86, Y:-31.37, Z:-16.48 [[ 9.92904851e-01 1.04443913e-01 5.68456252e-02 2.34862723e+02] [-1.04131786e-01 9.94527750e-01 -8.43361717e-03 -3.13736324e+01] [-5.74153917e-02 2.45434291e-03 9.98347359e-01 -1.64819690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.47071405699998 meters 0.030791834329750703 Centerline is valid? [True, True] Translation: X:234.89, Y:-31.38, Z:-16.48 [[ 9.92955716e-01 1.03973179e-01 5.68200950e-02 2.34891088e+02] [-1.03660799e-01 9.94577018e-01 -8.42575198e-03 -3.13790888e+01] [-5.73880129e-02 2.47638217e-03 9.98348879e-01 -1.64838127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.50071405699998 meters 0.03126765356997176 Centerline is valid? [True, True] Translation: X:234.92, Y:-31.39, Z:-16.49 [[ 9.92992723e-01 1.03348244e-01 5.73113722e-02 2.34918990e+02] [-1.03029634e-01 9.94642015e-01 -8.49445852e-03 -3.13852728e+01] [-5.78821862e-02 2.53016580e-03 9.98320215e-01 -1.64861003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.53071405699998 meters 0.03261739005981813 Centerline is valid? [True, True] Translation: X:234.95, Y:-31.39, Z:-16.49 [[ 9.93347332e-01 1.00297695e-01 5.65813647e-02 2.34945923e+02] [-9.99824506e-02 9.94953892e-01 -8.38228213e-03 -3.13947361e+01] [-5.71365726e-02 2.66937408e-03 9.98362803e-01 -1.64895076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.56071405699998 meters 0.03387275868012642 Centerline is valid? [True, True] Translation: X:234.97, Y:-31.40, Z:-16.49 [[ 9.93608481e-01 9.82279743e-02 5.56188024e-02 2.34973750e+02] [-9.79203744e-02 9.95160176e-01 -8.23558947e-03 -3.14023563e+01] [-5.61585825e-02 2.73673759e-03 9.98418111e-01 -1.64922914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.59071405699999 meters 0.03620084956753792 Centerline is valid? [True, True] Translation: X:235.00, Y:-31.41, Z:-16.50 [[ 9.94085853e-01 9.38467388e-02 5.46452787e-02 2.35001274e+02] [-9.35433976e-02 9.95582348e-01 -8.08831704e-03 -3.14133925e+01] [-5.51629371e-02 2.92877651e-03 9.98473071e-01 -1.64953319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.620714057 meters 0.03764154154823128 Centerline is valid? [True, True] Translation: X:235.03, Y:-31.42, Z:-16.50 [[ 9.94347829e-01 9.14574141e-02 5.39252786e-02 2.35029295e+02] [-9.11585843e-02 9.95804410e-01 -7.98059639e-03 -3.14211423e+01] [-5.44289149e-02 3.01973665e-03 9.98513082e-01 -1.64980849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.650714057 meters 0.041174720373928046 Centerline is valid? [True, True] Translation: X:235.06, Y:-31.43, Z:-16.50 [[ 9.94886049e-01 8.59360752e-02 5.30729798e-02 2.35057115e+02] [-8.56389800e-02 9.96295300e-01 -7.85110200e-03 -3.14341017e+01] [-5.35510533e-02 3.26583599e-03 9.98559772e-01 -1.65005012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.680714057 meters 0.04318137417899277 Centerline is valid? [True, True] Translation: X:235.09, Y:-31.44, Z:-16.50 [[ 9.95122891e-01 8.30394700e-02 5.32435748e-02 2.35085759e+02] [-8.27363384e-02 9.96540347e-01 -7.87621662e-03 -3.14432691e+01] [-5.37134074e-02 3.43262503e-03 9.98550493e-01 -1.65027562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.710714057 meters 0.04726717989747082 Centerline is valid? [True, True] Translation: X:235.11, Y:-31.46, Z:-16.51 [[ 9.95554472e-01 7.75435315e-02 5.34630153e-02 2.35113615e+02] [-7.72300564e-02 9.96981939e-01 -7.90775291e-03 -3.14566664e+01] [-5.39148557e-02 3.74364708e-03 9.98538519e-01 -1.65052799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.740714057 meters 0.04927484235923995 Centerline is valid? [True, True] Translation: X:235.14, Y:-31.47, Z:-16.51 [[ 9.95730376e-01 7.53831637e-02 5.32766019e-02 2.35142294e+02] [-7.50688414e-02 9.97147223e-01 -7.87938252e-03 -3.14653378e+01] [-5.37185884e-02 3.84632775e-03 9.98548706e-01 -1.65075196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.770714057 meters 0.05122681737777155 Centerline is valid? [True, True] Translation: X:235.17, Y:-31.47, Z:-16.51 [[ 9.95998194e-01 7.20121478e-02 5.29324825e-02 2.35171782e+02] [-7.16972031e-02 9.97395730e-01 -7.82740313e-03 -3.14748881e+01] [-5.33583002e-02 4.00096843e-03 9.98567416e-01 -1.65096623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.800714057 meters 0.05278677245301005 Centerline is valid? [True, True] Translation: X:235.20, Y:-31.48, Z:-16.51 [[ 9.96122922e-01 7.05850296e-02 5.25059743e-02 2.35200363e+02] [-7.02731563e-02 9.97497565e-01 -7.76470507e-03 -3.14822279e+01] [-5.29226534e-02 4.04484017e-03 9.98590423e-01 -1.65118315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.830714057 meters 0.041559969680923584 Centerline is valid? [True, True] Translation: X:235.23, Y:-31.47, Z:-16.51 [[ 9.96232079e-01 6.93277126e-02 5.21086619e-02 2.35231446e+02] [-6.90189079e-02 9.97585600e-01 -7.70462341e-03 -3.14713423e+01] [-5.25169947e-02 4.07911006e-03 9.98611699e-01 -1.65104639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.860714057 meters 0.041811838679397285 Centerline is valid? [True, True] Translation: X:235.26, Y:-31.48, Z:-16.51 [[ 9.96369408e-01 6.76648258e-02 5.16669454e-02 2.35260353e+02] [-6.73591809e-02 9.97699568e-01 -7.63622215e-03 -3.14771580e+01] [-5.20647927e-02 4.12825503e-03 9.98635176e-01 -1.65121162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.890714057 meters 0.04404708466031995 Centerline is valid? [True, True] Translation: X:235.29, Y:-31.49, Z:-16.52 [[ 9.96563412e-01 6.57981922e-02 5.03186277e-02 2.35288147e+02] [-6.55060672e-02 9.97824475e-01 -7.43455787e-03 -3.14856641e+01] [-5.06983388e-02 4.11283294e-03 9.98705544e-01 -1.65156317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.92071405699997 meters 0.04404708466031995 Centerline is valid? [True, True] Translation: X:235.32, Y:-31.49, Z:-16.52 [[ 9.96568047e-01 6.57280747e-02 5.03184638e-02 2.35316187e+02] [-6.54358053e-02 9.97829077e-01 -7.43566757e-03 -3.14897439e+01] [-5.06979584e-02 4.11751950e-03 9.98705544e-01 -1.65175832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.95071405699997 meters 0.042488588254091686 Centerline is valid? [True, True] Translation: X:235.35, Y:-31.49, Z:-16.52 [[ 9.96659565e-01 6.46080272e-02 4.99551167e-02 2.35345234e+02] [-6.43187667e-02 9.97902129e-01 -7.37810152e-03 -3.14923655e+01] [-5.03270019e-02 4.14040396e-03 9.98724211e-01 -1.65197427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.98071405699997 meters 0.04365599946148604 Centerline is valid? [True, True] Translation: X:235.38, Y:-31.50, Z:-16.52 [[ 9.96810212e-01 6.26074343e-02 4.94945581e-02 2.35375032e+02] [-6.23212262e-02 9.98029399e-01 -7.30636526e-03 -3.14999161e+01] [-4.98544569e-02 4.19849794e-03 9.98747669e-01 -1.65224804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.01071405699997 meters 0.04455040836154659 Centerline is valid? [True, True] Translation: X:235.40, Y:-31.51, Z:-16.52 [[ 9.96866814e-01 6.16833458e-02 4.95148441e-02 2.35404022e+02] [-6.13957380e-02 9.98086733e-01 -7.31003697e-03 -3.15060394e+01] [-4.98710165e-02 4.24713287e-03 9.98746636e-01 -1.65246138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.04071405699997 meters 0.04561274940419108 Centerline is valid? [True, True] Translation: X:235.43, Y:-31.51, Z:-16.53 [[ 9.96937065e-01 6.08695319e-02 4.91058890e-02 2.35432862e+02] [-6.05857694e-02 9.98136680e-01 -7.24787640e-03 -3.15121077e+01] [-4.94555639e-02 4.25055856e-03 9.98767280e-01 -1.65267947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.07071405699998 meters 0.04575157409517607 Centerline is valid? [True, True] Translation: X:235.46, Y:-31.52, Z:-16.53 [[ 9.97009365e-01 6.02973907e-02 4.83378770e-02 2.35461614e+02] [-6.00218497e-02 9.98171577e-01 -7.13302525e-03 -3.15170617e+01] [-4.86795977e-02 4.21036419e-03 9.98805571e-01 -1.65285043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.10071405699998 meters 0.04692120555384573 Centerline is valid? [True, True] Translation: X:235.49, Y:-31.52, Z:-16.53 [[ 9.97000569e-01 6.03794218e-02 4.84168447e-02 2.35489957e+02] [-6.01031841e-02 9.98166616e-01 -7.14243758e-03 -3.15228416e+01] [-4.87593343e-02 4.21100780e-03 9.98801679e-01 -1.65307481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.13071405699998 meters 0.046905663748044134 Centerline is valid? [True, True] Translation: X:235.52, Y:-31.53, Z:-16.53 [[ 9.96893701e-01 6.16367961e-02 4.90291165e-02 2.35519792e+02] [-6.13551954e-02 9.98089814e-01 -7.22938938e-03 -3.15263934e+01] [-4.93810581e-02 4.19874172e-03 9.98771186e-01 -1.65316683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.16071405699998 meters 0.04720042903514155 Centerline is valid? [True, True] Translation: X:235.55, Y:-31.53, Z:-16.53 [[ 9.96822266e-01 6.23406213e-02 4.95884756e-02 2.35549278e+02] [-6.20534440e-02 9.98046049e-01 -7.31129622e-03 -3.15304545e+01] [-4.99473729e-02 4.21092717e-03 9.98742974e-01 -1.65333999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.19071405699998 meters 0.04511284642635515 Centerline is valid? [True, True] Translation: X:235.58, Y:-31.53, Z:-16.53 [[ 9.96623352e-01 6.48298946e-02 5.03882741e-02 2.35579419e+02] [-6.45366347e-02 9.97887700e-01 -7.42706821e-03 -3.15302811e+01] [-5.07633350e-02 4.15009997e-03 9.98702088e-01 -1.65336831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.22071405699998 meters 0.0469479350199577 Centerline is valid? [True, True] Translation: X:235.61, Y:-31.54, Z:-16.54 [[ 9.96514858e-01 6.62073432e-02 5.07417536e-02 2.35607972e+02] [-6.59117525e-02 9.97797430e-01 -7.47857971e-03 -3.15364254e+01] [-5.11251283e-02 4.10803790e-03 9.98683806e-01 -1.65358458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.25071405699998 meters 0.04725267153569495 Centerline is valid? [True, True] Translation: X:235.64, Y:-31.54, Z:-16.54 [[ 9.96407622e-01 6.81752746e-02 5.02392518e-02 2.35636517e+02] [-6.78880755e-02 9.97665477e-01 -7.40301625e-03 -3.15393521e+01] [-5.06266698e-02 3.96577570e-03 9.98709774e-01 -1.65382018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.28071405699998 meters 0.047099598116766846 Centerline is valid? [True, True] Translation: X:235.67, Y:-31.54, Z:-16.54 [[ 9.96363486e-01 6.88216375e-02 5.02333147e-02 2.35665356e+02] [-6.85354390e-02 9.97621239e-01 -7.39983614e-03 -3.15423883e+01] [-5.06230905e-02 3.93016425e-03 9.98710096e-01 -1.65407156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.31071405699998 meters 0.04759643646049205 Centerline is valid? [True, True] Translation: X:235.69, Y:-31.55, Z:-16.54 [[ 9.96382509e-01 6.89336596e-02 4.96995570e-02 2.35693865e+02] [-6.86538248e-02 9.97613704e-01 -7.31783599e-03 -3.15468178e+01] [-5.00854043e-02 3.87929911e-03 9.98737405e-01 -1.65437462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.34071405699999 meters 0.04860327413943412 Centerline is valid? [True, True] Translation: X:235.72, Y:-31.55, Z:-16.55 [[ 9.96388500e-01 6.88321460e-02 4.97201532e-02 2.35720785e+02] [-6.85521086e-02 9.97620699e-01 -7.31777624e-03 -3.15522191e+01] [-5.01055522e-02 3.88292674e-03 9.98736380e-01 -1.65460717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.370714057 meters 0.04230609829090953 Centerline is valid? [True, True] Translation: X:235.75, Y:-31.55, Z:-16.55 [[ 9.96537454e-01 6.72116418e-02 4.89458614e-02 2.35751673e+02] [-6.69385714e-02 9.97731128e-01 -7.19884546e-03 -3.15470907e+01] [-4.93186558e-02 3.89755309e-03 9.98775490e-01 -1.65460726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.400714057 meters 0.04239814138674212 Centerline is valid? [True, True] Translation: X:235.78, Y:-31.55, Z:-16.55 [[ 9.96599062e-01 6.65809095e-02 4.85519508e-02 2.35779658e+02] [-6.63115113e-02 9.97773421e-01 -7.14022633e-03 -3.15514378e+01] [-4.89192488e-02 3.89638963e-03 9.98795137e-01 -1.65475003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.430714057 meters 0.04355782841939604 Centerline is valid? [True, True] Translation: X:235.81, Y:-31.56, Z:-16.55 [[ 9.96676628e-01 6.54628593e-02 4.84800385e-02 2.35808490e+02] [-6.51931947e-02 9.97847227e-01 -7.12456478e-03 -3.15563222e+01] [-4.88420664e-02 3.94031861e-03 9.98798742e-01 -1.65494160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.460714057 meters 0.044222261661898105 Centerline is valid? [True, True] Translation: X:235.84, Y:-31.56, Z:-16.55 [[ 9.96654561e-01 6.54151025e-02 4.89954076e-02 2.35836969e+02] [-6.51397265e-02 9.97850192e-01 -7.19796248e-03 -3.15614446e+01] [-4.93609324e-02 3.98233469e-03 9.98773067e-01 -1.65514854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.490714057 meters 0.043505822513107 Centerline is valid? [True, True] Translation: X:235.87, Y:-31.56, Z:-16.55 [[ 9.96605014e-01 6.56622873e-02 4.96680039e-02 2.35865527e+02] [-6.53797761e-02 9.97833801e-01 -7.29316767e-03 -3.15641038e+01] [-5.00392992e-02 4.02112449e-03 9.98739155e-01 -1.65526534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.520714057 meters 0.044100089697218674 Centerline is valid? [True, True] Translation: X:235.89, Y:-31.57, Z:-16.55 [[ 9.96575122e-01 6.57727213e-02 5.01196028e-02 2.35894021e+02] [-6.54853676e-02 9.97826417e-01 -7.35581614e-03 -3.15689476e+01] [-5.04944758e-02 4.04852275e-03 9.98716135e-01 -1.65545041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.550714057 meters 0.044822040617544384 Centerline is valid? [True, True] Translation: X:235.92, Y:-31.57, Z:-16.56 [[ 9.96562967e-01 6.60325460e-02 5.00195572e-02 2.35921208e+02] [-6.57468295e-02 9.97809356e-01 -7.33786362e-03 -3.15732294e+01] [-5.03945200e-02 4.02401583e-03 9.98721282e-01 -1.65556568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.580714057 meters 0.041374911997634406 Centerline is valid? [True, True] Translation: X:235.95, Y:-31.57, Z:-16.56 [[ 9.96534628e-01 6.62230854e-02 5.03312850e-02 2.35950181e+02] [-6.59342798e-02 9.97796685e-01 -7.37875192e-03 -3.15720898e+01] [-5.07090331e-02 4.03462477e-03 9.98705320e-01 -1.65562749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.610714057 meters 0.045738415132154556 Centerline is valid? [True, True] Translation: X:235.98, Y:-31.58, Z:-16.56 [[ 9.96526351e-01 6.62542723e-02 5.04539637e-02 2.35976263e+02] [-6.59642645e-02 9.97794595e-01 -7.39341353e-03 -3.15823482e+01] [-5.08325374e-02 4.03957281e-03 9.98699021e-01 -1.65595448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.640714057 meters 0.042489993179692376 Centerline is valid? [True, True] Translation: X:236.01, Y:-31.58, Z:-16.56 [[ 9.96570749e-01 6.59341460e-02 4.99942973e-02 2.36005553e+02] [-6.56492660e-02 9.97815904e-01 -7.32086115e-03 -3.15816505e+01] [-5.03677997e-02 4.01366716e-03 9.98722672e-01 -1.65599347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.67071405699997 meters 0.04787855032239975 Centerline is valid? [True, True] Translation: X:236.03, Y:-31.59, Z:-16.56 [[ 9.96623377e-01 6.53738107e-02 4.96800778e-02 2.36031924e+02] [-6.50919764e-02 9.97852774e-01 -7.27158805e-03 -3.15931792e+01] [-5.00487749e-02 4.01326018e-03 9.98738712e-01 -1.65638246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.70071405699997 meters 0.04345936468774275 Centerline is valid? [True, True] Translation: X:236.06, Y:-31.59, Z:-16.56 [[ 9.96650600e-01 6.49569767e-02 4.96806994e-02 2.36061121e+02] [-6.46748637e-02 9.97879930e-01 -7.26684033e-03 -3.15911181e+01] [-5.00474049e-02 4.02940832e-03 9.98738715e-01 -1.65647535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.73071405699997 meters 0.04468779482254449 Centerline is valid? [True, True] Translation: X:236.09, Y:-31.60, Z:-16.57 [[ 9.96656152e-01 6.45067177e-02 5.01537352e-02 2.36088120e+02] [-6.42187953e-02 9.97908901e-01 -7.33286214e-03 -3.15972997e+01] [-5.05218777e-02 4.08752971e-03 9.98714590e-01 -1.65671341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.76071405699997 meters 0.044873642798861496 Centerline is valid? [True, True] Translation: X:236.12, Y:-31.60, Z:-16.57 [[ 9.96623691e-01 6.44393906e-02 5.08800954e-02 2.36116731e+02] [-6.41432601e-02 9.97913015e-01 -7.43343673e-03 -3.16017707e+01] [-5.12529156e-02 4.14472395e-03 9.98677105e-01 -1.65692200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.79071405699997 meters 0.04492670755834167 Centerline is valid? [True, True] Translation: X:236.14, Y:-31.61, Z:-16.57 [[ 9.96596111e-01 6.48895396e-02 5.08482060e-02 2.36144866e+02] [-6.45945474e-02 9.97883967e-01 -7.42516741e-03 -3.16060014e+01] [-5.12224252e-02 4.11537611e-03 9.98678791e-01 -1.65706442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.82071405699998 meters 0.04647474796888394 Centerline is valid? [True, True] Translation: X:236.17, Y:-31.61, Z:-16.57 [[ 9.96576037e-01 6.54578218e-02 5.05121434e-02 2.36171948e+02] [-6.51676106e-02 9.97847094e-01 -7.37284398e-03 -3.16103430e+01] [-5.08860059e-02 4.05584394e-03 9.98696232e-01 -1.65723003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.85071405699998 meters 0.047698489066163946 Centerline is valid? [True, True] Translation: X:236.20, Y:-31.62, Z:-16.57 [[ 9.96561127e-01 6.56469616e-02 5.05608290e-02 2.36199084e+02] [-6.53566589e-02 9.97834710e-01 -7.37549720e-03 -3.16158280e+01] [-5.09355291e-02 4.04564695e-03 9.98693749e-01 -1.65748466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.88071405699998 meters 0.048491728240724154 Centerline is valid? [True, True] Translation: X:236.23, Y:-31.62, Z:-16.58 [[ 9.96571083e-01 6.53918649e-02 5.06949712e-02 2.36227043e+02] [-6.50999305e-02 9.97851382e-01 -7.39036979e-03 -3.16213500e+01] [-5.10693172e-02 4.06478973e-03 9.98686839e-01 -1.65773379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.91071405699998 meters 0.043653593204075504 Centerline is valid? [True, True] Translation: X:236.26, Y:-31.62, Z:-16.58 [[ 9.96638418e-01 6.44247742e-02 5.06094075e-02 2.36256600e+02] [-6.41327812e-02 9.97914129e-01 -7.37410030e-03 -3.16203501e+01] [-5.09789176e-02 4.10358960e-03 9.98691299e-01 -1.65783483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.94071405699998 meters 0.044017195465872856 Centerline is valid? [True, True] Translation: X:236.28, Y:-31.63, Z:-16.58 [[ 9.96674148e-01 6.39944008e-02 5.04515621e-02 2.36284914e+02] [-6.37037898e-02 9.97941792e-01 -7.34896248e-03 -3.16254396e+01] [-5.08180148e-02 4.11056521e-03 9.98699471e-01 -1.65807190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.97071405699998 meters 0.04527350900475743 Centerline is valid? [True, True] Translation: X:236.31, Y:-31.63, Z:-16.58 [[ 9.96688820e-01 6.33043755e-02 5.10289337e-02 2.36313411e+02] [-6.30063618e-02 9.97985473e-01 -7.42932907e-03 -3.16317028e+01] [-5.13964435e-02 4.18958178e-03 9.98669541e-01 -1.65825078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.00071405699998 meters 0.04597264915468163 Centerline is valid? [True, True] Translation: X:236.34, Y:-31.64, Z:-16.58 [[ 9.96678100e-01 6.31680085e-02 5.14059192e-02 2.36342483e+02] [-6.28656118e-02 9.97993971e-01 -7.47993871e-03 -3.16370570e+01] [-5.17752903e-02 4.22342653e-03 9.98649830e-01 -1.65840664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.03071405699998 meters 0.046788311572513064 Centerline is valid? [True, True] Translation: X:236.37, Y:-31.64, Z:-16.59 [[ 9.96692333e-01 6.28610607e-02 5.15061211e-02 2.36371946e+02] [-6.25571707e-02 9.98013256e-01 -7.49269219e-03 -3.16428011e+01] [-5.18747903e-02 4.24583165e-03 9.98644571e-01 -1.65860615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.06071405699998 meters 0.04782428672263894 Centerline is valid? [True, True] Translation: X:236.40, Y:-31.65, Z:-16.59 [[ 9.96623558e-01 6.29259407e-02 5.27428664e-02 2.36399646e+02] [-6.26074594e-02 9.98008751e-01 -7.67062148e-03 -3.16489965e+01] [-5.31205233e-02 4.34262520e-03 9.98578666e-01 -1.65878254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.09071405699999 meters 0.048115874413845426 Centerline is valid? [True, True] Translation: X:236.43, Y:-31.65, Z:-16.59 [[ 9.96597966e-01 6.29862042e-02 5.31529189e-02 2.36429252e+02] [-6.26629126e-02 9.98004823e-01 -7.72872666e-03 -3.16543166e+01] [-5.35336726e-02 4.37171656e-03 9.98556475e-01 -1.65895936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.120714057 meters 0.051169260244274935 Centerline is valid? [True, True] Translation: X:236.46, Y:-31.66, Z:-16.59 [[ 9.96606770e-01 6.26983676e-02 5.33278533e-02 2.36457015e+02] [-6.23726326e-02 9.98022824e-01 -7.75230718e-03 -3.16624130e+01] [-5.37084717e-02 4.39980322e-03 9.98546965e-01 -1.65919132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.150714057 meters 0.05162759012202237 Centerline is valid? [True, True] Translation: X:236.49, Y:-31.67, Z:-16.59 [[ 9.96602262e-01 6.24410691e-02 5.37126030e-02 2.36485864e+02] [-6.21103416e-02 9.98038760e-01 -7.80636527e-03 -3.16676735e+01] [-5.40946975e-02 4.44373317e-03 9.98525922e-01 -1.65941213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.180714057 meters 0.052054490545948795 Centerline is valid? [True, True] Translation: X:236.52, Y:-31.67, Z:-16.60 [[ 9.96710333e-01 6.13800670e-02 5.29244638e-02 2.36515123e+02] [-6.10576106e-02 9.98104622e-01 -7.68977312e-03 -3.16724399e+01] [-5.32961507e-02 4.43303503e-03 9.98568910e-01 -1.65958440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.210714057 meters 0.052555830215240414 Centerline is valid? [True, True] Translation: X:236.54, Y:-31.68, Z:-16.60 [[ 9.96741699e-01 6.10939698e-02 5.26641560e-02 2.36544148e+02] [-6.07743191e-02 9.98122207e-01 -7.65131365e-03 -3.16777313e+01] [-5.30327128e-02 4.42575514e-03 9.98582968e-01 -1.65981755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.240714057 meters 0.053879243664349284 Centerline is valid? [True, True] Translation: X:236.57, Y:-31.68, Z:-16.60 [[ 9.96826615e-01 5.97826031e-02 5.25617782e-02 2.36573991e+02] [-5.94625074e-02 9.98201347e-01 -7.63415899e-03 -3.16846492e+01] [-5.29236278e-02 4.48447773e-03 9.98588493e-01 -1.66010707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.270714057 meters 0.05482091432454724 Centerline is valid? [True, True] Translation: X:236.60, Y:-31.69, Z:-16.60 [[ 9.96868060e-01 5.91392579e-02 5.25035086e-02 2.36603535e+02] [-5.88189872e-02 9.98239538e-01 -7.62569581e-03 -3.16909684e+01] [-5.28620562e-02 4.51360939e-03 9.98591623e-01 -1.66029982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.300714057 meters 0.055598474051523926 Centerline is valid? [True, True] Translation: X:236.63, Y:-31.70, Z:-16.60 [[ 9.96874286e-01 5.86289192e-02 5.29557089e-02 2.36633642e+02] [-5.83023868e-02 9.98269340e-01 -7.69137413e-03 -3.16967375e+01] [-5.33149975e-02 4.57988887e-03 9.98567241e-01 -1.66048330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.330714057 meters 0.05766157061884686 Centerline is valid? [True, True] Translation: X:236.66, Y:-31.70, Z:-16.61 [[ 9.96899851e-01 5.85046815e-02 5.26107421e-02 2.36662129e+02] [-5.81822096e-02 9.98276734e-01 -7.64152489e-03 -3.17031931e+01] [-5.29671448e-02 4.55682580e-03 9.98585859e-01 -1.66071320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.360714057 meters 0.0471423141354553 Centerline is valid? [True, True] Translation: X:236.69, Y:-31.69, Z:-16.61 [[ 9.96846737e-01 5.93134658e-02 5.27114317e-02 2.36694624e+02] [-5.89909383e-02 9.98229167e-01 -7.65502311e-03 -3.16927517e+01] [-5.30721345e-02 4.52138800e-03 9.98580445e-01 -1.66067876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.390714057 meters 0.04682360815975276 Centerline is valid? [True, True] Translation: X:236.73, Y:-31.70, Z:-16.61 [[ 9.96840486e-01 5.95428892e-02 5.25708093e-02 2.36725185e+02] [-5.92223988e-02 9.98215618e-01 -7.63460122e-03 -3.16963929e+01] [-5.29315892e-02 4.49711016e-03 9.98588015e-01 -1.66087892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.42071405699997 meters 0.04720586024037683 Centerline is valid? [True, True] Translation: X:236.75, Y:-31.70, Z:-16.61 [[ 9.96799790e-01 5.95380352e-02 5.33422957e-02 2.36754834e+02] [-5.92080365e-02 9.98215605e-01 -7.74690098e-03 -3.17016897e+01] [-5.37083472e-02 4.56381669e-03 9.98546236e-01 -1.66104639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.45071405699997 meters 0.04766234413167185 Centerline is valid? [True, True] Translation: X:236.79, Y:-31.71, Z:-16.61 [[ 9.96826706e-01 5.89724789e-02 5.34674288e-02 2.36785035e+02] [-5.86401865e-02 9.98248992e-01 -7.76386160e-03 -3.17068236e+01] [-5.38316611e-02 4.60388459e-03 9.98539412e-01 -1.66123587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.48071405699997 meters 0.04527873471349678 Centerline is valid? [True, True] Translation: X:236.82, Y:-31.71, Z:-16.61 [[ 9.96938942e-01 5.75323789e-02 5.29412033e-02 2.36815015e+02] [-5.72045745e-02 9.98332878e-01 -7.68772454e-03 -3.17077287e+01] [-5.32952370e-02 4.63571296e-03 9.98568039e-01 -1.66133851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.51071405699997 meters 0.04605842668339675 Centerline is valid? [True, True] Translation: X:236.84, Y:-31.71, Z:-16.62 [[ 9.97016308e-01 5.64122426e-02 5.26891006e-02 2.36844650e+02] [-5.60860564e-02 9.98396629e-01 -7.65015855e-03 -3.17132380e+01] [-5.30361830e-02 4.67220896e-03 9.98581661e-01 -1.66153734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.54071405699997 meters 0.0482093929196649 Centerline is valid? [True, True] Translation: X:236.87, Y:-31.72, Z:-16.62 [[ 9.97165652e-01 5.40548929e-02 5.23328853e-02 2.36874922e+02] [-5.37299688e-02 9.98526603e-01 -7.59692920e-03 -3.17211013e+01] [-5.26664294e-02 4.76355256e-03 9.98600799e-01 -1.66177342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.57071405699998 meters 0.049135631735238106 Centerline is valid? [True, True] Translation: X:236.91, Y:-31.73, Z:-16.62 [[ 9.97209074e-01 5.31488771e-02 5.24333890e-02 2.36905834e+02] [-5.28215899e-02 9.98574975e-01 -7.60908201e-03 -3.17276308e+01] [-5.27630843e-02 4.81823065e-03 9.98595434e-01 -1.66203095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.60071405699998 meters 0.050024877023554425 Centerline is valid? [True, True] Translation: X:236.94, Y:-31.73, Z:-16.62 [[ 9.97367678e-01 5.09975196e-02 5.15457922e-02 2.36935786e+02] [-5.06775835e-02 9.98686936e-01 -7.49572167e-03 -3.17338798e+01] [-5.18603725e-02 4.86377433e-03 9.98642501e-01 -1.66230656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.63071405699998 meters 0.05600417225886782 Centerline is valid? [True, True] Translation: X:236.97, Y:-31.75, Z:-16.63 [[ 9.97408176e-01 5.08660204e-02 5.08878914e-02 2.36965009e+02] [-5.05541833e-02 9.98693925e-01 -7.39723737e-03 -3.17464965e+01] [-5.11976960e-02 4.80546925e-03 9.98676976e-01 -1.66269843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.66071405699998 meters 0.055507887676410635 Centerline is valid? [True, True] Translation: X:237.00, Y:-31.75, Z:-16.63 [[ 9.97474557e-01 5.05413634e-02 4.99006856e-02 2.36996653e+02] [-5.02405534e-02 9.98710722e-01 -7.26498716e-03 -3.17503158e+01] [-5.02035322e-02 4.73960179e-03 9.98727761e-01 -1.66292406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.69071405699998 meters 0.04969866365174241 Centerline is valid? [True, True] Translation: X:237.03, Y:-31.75, Z:-16.63 [[ 9.97479850e-01 5.04327643e-02 4.99047602e-02 2.37029891e+02] [-5.01311585e-02 9.98716126e-01 -7.27775461e-03 -3.17468177e+01] [-5.02077261e-02 4.75763013e-03 9.98727465e-01 -1.66296256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.72071405699998 meters 0.060386526485349305 Centerline is valid? [True, True] Translation: X:237.06, Y:-31.77, Z:-16.63 [[ 9.97443027e-01 5.05490630e-02 5.05192968e-02 2.37059688e+02] [-5.02394573e-02 9.98709931e-01 -7.38044359e-03 -3.17663239e+01] [-5.08271979e-02 4.82350994e-03 9.98695814e-01 -1.66333983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.75071405699998 meters 0.054315587169040336 Centerline is valid? [True, True] Translation: X:237.09, Y:-31.76, Z:-16.63 [[ 9.97400393e-01 5.04739251e-02 5.14280017e-02 2.37092813e+02] [-5.01521945e-02 9.98713214e-01 -7.52814670e-03 -3.17636865e+01] [-5.17418000e-02 4.92934933e-03 9.98648330e-01 -1.66334210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.78071405699998 meters 0.05292431252978913 Centerline is valid? [True, True] Translation: X:237.12, Y:-31.77, Z:-16.63 [[ 9.97346130e-01 5.08358753e-02 5.21191923e-02 2.37124455e+02] [-5.05052230e-02 9.98694555e-01 -7.64254263e-03 -3.17670843e+01] [-5.24396689e-02 4.98996889e-03 9.98611627e-01 -1.66349651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.81071405699998 meters 0.07972587703294 Centerline is valid? [True, True] Translation: X:237.15, Y:-31.81, Z:-16.64 [[ 9.97275203e-01 5.17114091e-02 5.26127377e-02 2.37150052e+02] [-5.13749541e-02 9.98649532e-01 -7.72829385e-03 -3.18074450e+01] [-5.29413269e-02 5.00425883e-03 9.98585086e-01 -1.66426195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.84071405699999 meters 0.07972587703294 Centerline is valid? [True, True] Translation: X:237.18, Y:-31.81, Z:-16.64 [[ 9.97263249e-01 5.19433521e-02 5.26108448e-02 2.37182344e+02] [-5.16065443e-02 9.98637491e-01 -7.74115581e-03 -3.18123445e+01] [-5.29412636e-02 5.00490630e-03 9.98585086e-01 -1.66448639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.870714057 meters 0.07985692984426046 Centerline is valid? [True, True] Translation: X:237.21, Y:-31.82, Z:-16.65 [[ 9.97190476e-01 5.27529742e-02 5.31815620e-02 2.37213353e+02] [-5.24091002e-02 9.98594915e-01 -7.84099344e-03 -3.18174534e+01] [-5.35204731e-02 5.03176617e-03 9.98554075e-01 -1.66463881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.900714057 meters 0.05284475236086606 Centerline is valid? [True, True] Translation: X:237.25, Y:-31.79, Z:-16.64 [[ 9.97117986e-01 5.40946036e-02 5.31930066e-02 2.37249684e+02] [-5.37523922e-02 9.98523485e-01 -7.84417142e-03 -3.17866145e+01] [-5.35387936e-02 4.96231306e-03 9.98553440e-01 -1.66427691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.930714057 meters 0.053508053645516494 Centerline is valid? [True, True] Translation: X:237.28, Y:-31.79, Z:-16.65 [[ 9.97055394e-01 5.50841349e-02 5.33505384e-02 2.37279125e+02] [-5.47411779e-02 9.98469566e-01 -7.86956675e-03 -3.17926333e+01] [-5.37023772e-02 4.92592266e-03 9.98544836e-01 -1.66455275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.960714057 meters 0.05298705062985836 Centerline is valid? [True, True] Translation: X:237.31, Y:-31.80, Z:-16.65 [[ 9.97030920e-01 5.59881800e-02 5.28646208e-02 2.37310645e+02] [-5.56526883e-02 9.98419734e-01 -7.79827369e-03 -3.17969367e+01] [-5.32176918e-02 4.83306173e-03 9.98571239e-01 -1.66482354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.990714057 meters 0.05478739782612118 Centerline is valid? [True, True] Translation: X:237.34, Y:-31.80, Z:-16.65 [[ 9.96981016e-01 5.77284019e-02 5.19257753e-02 2.37340472e+02] [-5.74069195e-02 9.98321455e-01 -7.66273141e-03 -3.18037691e+01] [-5.22809728e-02 4.65869894e-03 9.98621548e-01 -1.66515409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.020714057 meters 0.054217586638944666 Centerline is valid? [True, True] Translation: X:237.37, Y:-31.81, Z:-16.65 [[ 9.96848491e-01 6.01223555e-02 5.17531557e-02 2.37371276e+02] [-5.98060992e-02 9.98180781e-01 -7.63934024e-03 -3.18071125e+01] [-5.21183005e-02 4.52011042e-03 9.98630688e-01 -1.66536402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.050714057 meters 0.04737080950391696 Centerline is valid? [True, True] Translation: X:237.40, Y:-31.80, Z:-16.65 [[ 9.96752703e-01 6.14966064e-02 5.19828408e-02 2.37402699e+02] [-6.11793108e-02 9.98097285e-01 -7.67469594e-03 -3.18021732e+01] [-5.23559000e-02 4.46949956e-03 9.98618487e-01 -1.66539440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.080714057 meters 0.04198424119588333 Centerline is valid? [True, True] Translation: X:237.43, Y:-31.80, Z:-16.65 [[ 9.96576265e-01 6.44064553e-02 5.18416460e-02 2.37433847e+02] [-6.40948474e-02 9.97914468e-01 -7.65272559e-03 -3.17983938e+01] [-5.22264136e-02 4.30374229e-03 9.98625996e-01 -1.66549935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.110714057 meters 0.04469994063134952 Centerline is valid? [True, True] Translation: X:237.46, Y:-31.81, Z:-16.66 [[ 9.96504561e-01 6.59528755e-02 5.12725792e-02 2.37461185e+02] [-6.56500829e-02 9.97813997e-01 -7.56925722e-03 -3.18066041e+01] [-5.16597115e-02 4.17675027e-03 9.98656011e-01 -1.66582669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.140714057 meters 0.04163675877749203 Centerline is valid? [True, True] Translation: X:237.49, Y:-31.81, Z:-16.66 [[ 9.96419756e-01 6.73197527e-02 5.11441201e-02 2.37490975e+02] [-6.70204257e-02 9.97723059e-01 -7.54717074e-03 -3.18058955e+01] [-5.15357417e-02 4.09244933e-03 9.98662765e-01 -1.66597884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.17071405699997 meters 0.04159483447818738 Centerline is valid? [True, True] Translation: X:237.52, Y:-31.81, Z:-16.66 [[ 9.96236640e-01 7.03146693e-02 5.06794228e-02 2.37519716e+02] [-7.00247062e-02 9.97517237e-01 -7.47673514e-03 -3.18088371e+01] [-5.10793220e-02 3.89978581e-03 9.98686985e-01 -1.66617072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.20071405699997 meters 0.04225706864237374 Centerline is valid? [True, True] Translation: X:237.55, Y:-31.81, Z:-16.66 [[ 9.95955336e-01 7.34484131e-02 5.17522920e-02 2.37548976e+02] [-7.31503584e-02 9.97291717e-01 -7.63259471e-03 -3.18128303e+01] [-5.21727342e-02 3.81602472e-03 9.98630785e-01 -1.66637348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.23071405699997 meters 0.03850781534293788 Centerline is valid? [True, True] Translation: X:237.58, Y:-31.81, Z:-16.66 [[ 9.95796571e-01 7.50140353e-02 5.25555280e-02 2.37579186e+02] [-7.47087956e-02 9.97175266e-01 -7.75138466e-03 -3.18113380e+01] [-5.29885352e-02 3.79244207e-03 9.98587919e-01 -1.66638184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.26071405699997 meters 0.038717221135189064 Centerline is valid? [True, True] Translation: X:237.61, Y:-31.82, Z:-16.67 [[ 9.95654570e-01 7.64060851e-02 5.32361401e-02 2.37607724e+02] [-7.60949367e-02 9.97069673e-01 -7.85028401e-03 -3.18153912e+01] [-5.36799503e-02 3.76517043e-03 9.98551094e-01 -1.66654542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.29071405699997 meters 0.03849430333227541 Centerline is valid? [True, True] Translation: X:237.64, Y:-31.82, Z:-16.67 [[ 9.95336484e-01 7.98031150e-02 5.41917573e-02 2.37637074e+02] [-7.94859445e-02 9.96803993e-01 -7.98651217e-03 -3.18182556e+01] [-5.46559087e-02 3.64178393e-03 9.98498607e-01 -1.66667431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.32071405699998 meters 0.038762632889153055 Centerline is valid? [True, True] Translation: X:237.67, Y:-31.82, Z:-16.67 [[ 9.95002964e-01 8.33490336e-02 5.49730947e-02 2.37666403e+02] [-8.30280944e-02 9.96514285e-01 -8.10037337e-03 -3.18218093e+01] [-5.54566325e-02 3.49558421e-03 9.98454978e-01 -1.66695070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.35071405699998 meters 0.0368256328325858 Centerline is valid? [True, True] Translation: X:237.70, Y:-31.82, Z:-16.67 [[ 9.94846284e-01 8.52918960e-02 5.48284865e-02 2.37696003e+02] [-8.49756394e-02 9.96350283e-01 -8.07801902e-03 -3.18227825e+01] [-5.53173676e-02 3.37730151e-03 9.98463110e-01 -1.66709621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.38071405699998 meters 0.03751650128326181 Centerline is valid? [True, True] Translation: X:237.72, Y:-31.83, Z:-16.67 [[ 9.94725131e-01 8.66917325e-02 5.48311649e-02 2.37723696e+02] [-8.63776313e-02 9.96229725e-01 -8.07716120e-03 -3.18268530e+01] [-5.53246594e-02 3.29836909e-03 9.98462970e-01 -1.66732948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.41071405699998 meters 0.03295412800832797 Centerline is valid? [True, True] Translation: X:237.75, Y:-31.82, Z:-16.67 [[ 9.94444056e-01 9.00000714e-02 5.45985917e-02 2.37754942e+02] [-8.96938938e-02 9.95936948e-01 -8.03751126e-03 -3.18226598e+01] [-5.51001314e-02 3.09569502e-03 9.98476035e-01 -1.66738238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.44071405699998 meters 0.03102967552586437 Centerline is valid? [True, True] Translation: X:237.79, Y:-31.82, Z:-16.68 [[ 9.94158728e-01 9.23531793e-02 5.58508227e-02 2.37785283e+02] [-9.20366308e-02 9.95721700e-01 -8.21912573e-03 -3.18234263e+01] [-5.63709385e-02 3.03079403e-03 9.98405294e-01 -1.66750352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.47071405699998 meters 0.03145165652167114 Centerline is valid? [True, True] Translation: X:237.81, Y:-31.83, Z:-16.68 [[ 9.94070315e-01 9.29509515e-02 5.64298653e-02 2.37812267e+02] [-9.26287687e-02 9.95666085e-01 -8.30412578e-03 -3.18280913e+01] [-5.69571794e-02 3.02785599e-03 9.98372031e-01 -1.66769534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.50071405699998 meters 0.037330678284481514 Centerline is valid? [True, True] Translation: X:237.84, Y:-31.84, Z:-16.68 [[ 9.93896464e-01 9.43087838e-02 5.72334920e-02 2.37838108e+02] [-9.39799030e-02 9.95538514e-01 -8.41697973e-03 -3.18422860e+01] [-5.77719407e-02 2.98680836e-03 9.98325339e-01 -1.66808045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.53071405699998 meters 0.031329267516706054 Centerline is valid? [True, True] Translation: X:237.87, Y:-31.84, Z:-16.68 [[ 9.93851894e-01 9.47550254e-02 5.72703942e-02 2.37868443e+02] [-9.44267758e-02 9.95496228e-01 -8.41692029e-03 -3.18369131e+01] [-5.78100069e-02 2.95731349e-03 9.98323223e-01 -1.66805878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.56071405699998 meters 0.03133719525313306 Centerline is valid? [True, True] Translation: X:237.90, Y:-31.84, Z:-16.68 [[ 9.93828049e-01 9.56208738e-02 5.62357259e-02 2.37896615e+02] [-9.53060015e-02 9.95413745e-01 -8.26084313e-03 -3.18411889e+01] [-5.67677236e-02 2.85025543e-03 9.98383344e-01 -1.66832233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.59071405699999 meters 0.03432609584804262 Centerline is valid? [True, True] Translation: X:237.92, Y:-31.85, Z:-16.69 [[ 9.93703005e-01 9.75601350e-02 5.51031620e-02 2.37922958e+02] [-9.72610085e-02 9.95226022e-01 -8.09079939e-03 -3.18507371e+01] [-5.56294402e-02 2.68046255e-03 9.98447886e-01 -1.66872708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.620714057 meters 0.031232381149076754 Centerline is valid? [True, True] Translation: X:237.95, Y:-31.85, Z:-16.69 [[ 9.93579080e-01 9.89758068e-02 5.48124217e-02 2.37951853e+02] [-9.86822660e-02 9.95086489e-01 -8.04294085e-03 -3.18497349e+01] [-5.53391569e-02 2.58228379e-03 9.98464276e-01 -1.66880702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.650714057 meters 0.033205589820766726 Centerline is valid? [True, True] Translation: X:237.98, Y:-31.86, Z:-16.69 [[ 9.93253512e-01 1.02147301e-01 5.48943577e-02 2.37979835e+02] [-1.01857952e-01 9.94766377e-01 -8.05057982e-03 -3.18581759e+01] [-5.54294063e-02 2.40483982e-03 9.98459713e-01 -1.66909248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.680714057 meters 0.028974670890091692 Centerline is valid? [True, True] Translation: X:238.01, Y:-31.85, Z:-16.69 [[ 9.93081332e-01 1.03685453e-01 5.51252646e-02 2.38009835e+02] [-1.03396108e-01 9.94607415e-01 -8.08296604e-03 -3.18546595e+01] [-5.56660829e-02 2.32730486e-03 9.98446729e-01 -1.66902453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.710714057 meters 0.02773445047620161 Centerline is valid? [True, True] Translation: X:238.04, Y:-31.86, Z:-16.69 [[ 9.92646046e-01 1.07781041e-01 5.51096601e-02 2.38039974e+02] [-1.07498395e-01 9.94172454e-01 -8.07634125e-03 -3.18562951e+01] [-5.56589825e-02 2.09274818e-03 9.98447644e-01 -1.66912508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.740714057 meters 0.02749541674880327 Centerline is valid? [True, True] Translation: X:238.07, Y:-31.86, Z:-16.69 [[ 9.92323499e-01 1.10531833e-01 5.54687892e-02 2.38066987e+02] [-1.10249863e-01 9.93870672e-01 -8.12741192e-03 -3.18607884e+01] [-5.60271406e-02 1.94959543e-03 9.98427343e-01 -1.66934347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.770714057 meters 0.026496317177249054 Centerline is valid? [True, True] Translation: X:238.10, Y:-31.86, Z:-16.70 [[ 9.91740110e-01 1.15608192e-01 5.55544784e-02 2.38096946e+02] [-1.15333771e-01 9.93293512e-01 -8.13147241e-03 -3.18647110e+01] [-5.61219678e-02 1.65699984e-03 9.98422545e-01 -1.66954818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.800714057 meters 0.02635565581896329 Centerline is valid? [True, True] Translation: X:238.13, Y:-31.87, Z:-16.70 [[ 9.91588201e-01 1.16881270e-01 5.56022275e-02 2.38125734e+02] [-1.16608280e-01 9.93144625e-01 -8.14015437e-03 -3.18692573e+01] [-5.61724850e-02 1.58800094e-03 9.98419817e-01 -1.66973950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.830714057 meters 0.025467276302984523 Centerline is valid? [True, True] Translation: X:238.15, Y:-31.87, Z:-16.70 [[ 9.91359558e-01 1.19019170e-01 5.51422189e-02 2.38153572e+02] [-1.18754686e-01 9.92890909e-01 -8.06023191e-03 -3.18748494e+01] [-5.57095299e-02 1.44219104e-03 9.98445977e-01 -1.66996178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.860714057 meters 0.025492692845288586 Centerline is valid? [True, True] Translation: X:238.18, Y:-31.88, Z:-16.70 [[ 9.91350485e-01 1.19142249e-01 5.50394499e-02 2.38180175e+02] [-1.18879831e-01 9.92876184e-01 -8.02921654e-03 -3.18814815e+01] [-5.56039779e-02 1.41668722e-03 9.98451897e-01 -1.67018181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.890714057 meters 0.025414398490536696 Centerline is valid? [True, True] Translation: X:238.21, Y:-31.89, Z:-16.70 [[ 9.91428361e-01 1.18580769e-01 5.48489452e-02 2.38208167e+02] [-1.18319604e-01 9.92943369e-01 -7.99609840e-03 -3.18911449e+01] [-5.54100799e-02 1.43785328e-03 9.98462646e-01 -1.67039824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.92071405699997 meters 0.025500776310243074 Centerline is valid? [True, True] Translation: X:238.24, Y:-31.90, Z:-16.71 [[ 9.91510930e-01 1.17804998e-01 5.50278006e-02 2.38235712e+02] [-1.17541724e-01 9.93035657e-01 -8.00793439e-03 -3.18984788e+01] [-5.55879428e-02 1.47189189e-03 9.98452710e-01 -1.67059581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.95071405699997 meters 0.025672137169044366 Centerline is valid? [True, True] Translation: X:238.26, Y:-31.91, Z:-16.71 [[ 9.91586314e-01 1.17152591e-01 5.50622540e-02 2.38262844e+02] [-1.16888894e-01 9.93112804e-01 -7.99660064e-03 -3.19062436e+01] [-5.56198519e-02 1.49315380e-03 9.98450901e-01 -1.67078735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.98071405699997 meters 0.02601734197209544 Centerline is valid? [True, True] Translation: X:238.29, Y:-31.92, Z:-16.71 [[ 9.91797642e-01 1.15639577e-01 5.44511333e-02 2.38289960e+02] [-1.15379576e-01 9.93290019e-01 -7.90518015e-03 -3.19162708e+01] [-5.49999189e-02 1.55779036e-03 9.98485144e-01 -1.67098934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.01071405699997 meters 0.02550603408868653 Centerline is valid? [True, True] Translation: X:238.32, Y:-31.93, Z:-16.71 [[ 9.91843815e-01 1.14944724e-01 5.50777439e-02 2.38317758e+02] [-1.14678555e-01 9.93370604e-01 -7.97953152e-03 -3.19255944e+01] [-5.56298168e-02 1.59821291e-03 9.98450184e-01 -1.67115045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.04071405699997 meters 0.02609999156767961 Centerline is valid? [True, True] Translation: X:238.34, Y:-31.93, Z:-16.71 [[ 9.91884624e-01 1.14474037e-01 5.53225731e-02 2.38344224e+02] [-1.14204983e-01 9.93424906e-01 -8.01108000e-03 -3.19345988e+01] [-5.58758827e-02 1.62795357e-03 9.98436395e-01 -1.67140936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.07071405699998 meters 0.025843052278290993 Centerline is valid? [True, True] Translation: X:238.37, Y:-31.94, Z:-16.71 [[ 9.92023710e-01 1.13058018e-01 5.57390625e-02 2.38372214e+02] [-1.12782968e-01 9.93586907e-01 -8.06595185e-03 -3.19437688e+01] [-5.62935233e-02 1.71519858e-03 9.98412789e-01 -1.67149014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.10071405699998 meters 0.02621913693440101 Centerline is valid? [True, True] Translation: X:238.40, Y:-31.95, Z:-16.72 [[ 9.92108067e-01 1.12267283e-01 5.58358371e-02 2.38398860e+02] [-1.11990245e-01 9.93676488e-01 -8.07606788e-03 -3.19514600e+01] [-5.63894367e-02 1.75926302e-03 9.98407300e-01 -1.67166542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.13071405699998 meters 0.027446825244061102 Centerline is valid? [True, True] Translation: X:238.43, Y:-31.96, Z:-16.72 [[ 9.92402271e-01 1.09848254e-01 5.54174403e-02 2.38425159e+02] [-1.09571872e-01 9.93946596e-01 -8.01053766e-03 -3.19624853e+01] [-5.59619197e-02 1.87748307e-03 9.98431139e-01 -1.67199330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.16071405699998 meters 0.02710077869959166 Centerline is valid? [True, True] Translation: X:238.45, Y:-31.97, Z:-16.72 [[ 9.92556353e-01 1.08576491e-01 5.51636800e-02 2.38453377e+02] [-1.08300963e-01 9.94086214e-01 -7.96873404e-03 -3.19688400e+01] [-5.57026710e-02 1.93513794e-03 9.98445526e-01 -1.67217692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.19071405699998 meters 0.028390977548853905 Centerline is valid? [True, True] Translation: X:238.48, Y:-31.98, Z:-16.72 [[ 9.93051661e-01 1.04324420e-01 5.44501124e-02 2.38481424e+02] [-1.04049854e-01 9.94541016e-01 -7.86105433e-03 -3.19813790e+01] [-5.49729700e-02 2.14090684e-03 9.98485548e-01 -1.67249239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.22071405699998 meters 0.031188303195069825 Centerline is valid? [True, True] Translation: X:238.51, Y:-31.99, Z:-16.73 [[ 9.93363356e-01 1.01519129e-01 5.40657825e-02 2.38508472e+02] [-1.01244307e-01 9.94830976e-01 -7.80509878e-03 -3.19928089e+01] [-5.45786820e-02 2.27944641e-03 9.98506871e-01 -1.67286245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.25071405699998 meters 0.030307752288397133 Centerline is valid? [True, True] Translation: X:238.54, Y:-32.00, Z:-16.73 [[ 9.93863077e-01 9.65320464e-02 5.40161831e-02 2.38538112e+02] [-9.62505640e-02 9.95326616e-01 -7.79458056e-03 -3.20003224e+01] [-5.45161716e-02 2.54765773e-03 9.98509638e-01 -1.67289482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.28071405699998 meters 0.03142683035132403 Centerline is valid? [True, True] Translation: X:238.57, Y:-32.01, Z:-16.73 [[ 9.94091184e-01 9.41199526e-02 5.40754337e-02 2.38565775e+02] [-9.38343195e-02 9.95557251e-01 -7.80264663e-03 -3.20087608e+01] [-5.45695749e-02 2.68241070e-03 9.98506368e-01 -1.67307956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.31071405699998 meters 0.03348179201655877 Centerline is valid? [True, True] Translation: X:238.59, Y:-32.02, Z:-16.73 [[ 9.94376359e-01 9.08912437e-02 5.43547532e-02 2.38593265e+02] [-9.05980034e-02 9.95856685e-01 -7.83997527e-03 -3.20202399e+01] [-5.48421294e-02 2.87145394e-03 9.98490909e-01 -1.67325985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.34071405699999 meters 0.03351151980631713 Centerline is valid? [True, True] Translation: X:238.62, Y:-32.03, Z:-16.73 [[ 9.94496276e-01 8.95026469e-02 5.44649807e-02 2.38621528e+02] [-8.92062847e-02 9.95982211e-01 -7.85323580e-03 -3.20256258e+01] [-5.49490373e-02 2.95139519e-03 9.98484798e-01 -1.67341491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.370714057 meters 0.03480538900672714 Centerline is valid? [True, True] Translation: X:238.65, Y:-32.03, Z:-16.74 [[ 9.94609204e-01 8.79022617e-02 5.50065876e-02 2.38648773e+02] [-8.75977655e-02 9.96124386e-01 -7.92709912e-03 -3.20347647e+01] [-5.54902133e-02 3.06591157e-03 9.98454524e-01 -1.67358889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.400714057 meters 0.03570812147514465 Centerline is valid? [True, True] Translation: X:238.68, Y:-32.04, Z:-16.74 [[ 9.94581122e-01 8.75313376e-02 5.60950639e-02 2.38675971e+02] [-8.72142189e-02 9.96156801e-01 -8.08130975e-03 -3.20426361e+01] [-5.65868473e-02 3.14523094e-03 9.98392726e-01 -1.67375408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.430714057 meters 0.03347924591545624 Centerline is valid? [True, True] Translation: X:238.70, Y:-32.04, Z:-16.74 [[ 9.94571386e-01 8.76516765e-02 5.60797777e-02 2.38704440e+02] [-8.73352123e-02 9.96146260e-01 -8.07397146e-03 -3.20438414e+01] [-5.65713579e-02 3.13240170e-03 9.98393645e-01 -1.67386202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.460714057 meters 0.032916908422551475 Centerline is valid? [True, True] Translation: X:238.73, Y:-32.05, Z:-16.74 [[ 9.94551818e-01 8.81269250e-02 5.56805667e-02 2.38733212e+02] [-8.78159231e-02 9.96104494e-01 -8.01249219e-03 -3.20473349e+01] [-5.61697791e-02 3.07919832e-03 9.98416483e-01 -1.67406111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.490714057 meters 0.03207193817418729 Centerline is valid? [True, True] Translation: X:238.76, Y:-32.05, Z:-16.74 [[ 9.94444447e-01 8.95421586e-02 5.53393441e-02 2.38761877e+02] [-8.92373689e-02 9.95978584e-01 -7.95937071e-03 -3.20511330e+01] [-5.58295008e-02 2.97681454e-03 9.98435879e-01 -1.67424486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.520714057 meters 0.03373471916916454 Centerline is valid? [True, True] Translation: X:238.79, Y:-32.06, Z:-16.74 [[ 9.94293173e-01 9.09397598e-02 5.57767559e-02 2.38789090e+02] [-9.06325394e-02 9.95852122e-01 -8.01835009e-03 -3.20581850e+01] [-5.62745876e-02 2.91740172e-03 9.98411067e-01 -1.67445107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.550714057 meters 0.03285108318203565 Centerline is valid? [True, True] Translation: X:238.82, Y:-32.06, Z:-16.75 [[ 9.94210686e-01 9.17722781e-02 5.58834542e-02 2.38817329e+02] [-9.14654927e-02 9.95775883e-01 -8.02833375e-03 -3.20610767e+01] [-5.63841745e-02 2.87044753e-03 9.98405021e-01 -1.67463830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.580714057 meters 0.03610861196991292 Centerline is valid? [True, True] Translation: X:238.84, Y:-32.07, Z:-16.75 [[ 9.94027350e-01 9.36030389e-02 5.61079139e-02 2.38844434e+02] [-9.32969166e-02 9.95605734e-01 -8.05653703e-03 -3.20707148e+01] [-5.66154771e-02 2.77372280e-03 9.98392205e-01 -1.67501617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.610714057 meters 0.032344267926879326 Centerline is valid? [True, True] Translation: X:238.87, Y:-32.07, Z:-16.75 [[ 9.93944268e-01 9.44896834e-02 5.60936052e-02 2.38874124e+02] [-9.41853508e-02 9.95522129e-01 -8.05049389e-03 -3.20679006e+01] [-5.66031139e-02 2.71854637e-03 9.98393057e-01 -1.67508616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.640714057 meters 0.03020831383040376 Centerline is valid? [True, True] Translation: X:238.90, Y:-32.07, Z:-16.75 [[ 9.93871061e-01 9.55094737e-02 5.56619724e-02 2.38903193e+02] [-9.52116246e-02 9.95425031e-01 -7.98467031e-03 -3.20663500e+01] [-5.61699322e-02 2.63606594e-03 9.98417743e-01 -1.67517988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.67071405699997 meters 0.03008610333319663 Centerline is valid? [True, True] Translation: X:238.93, Y:-32.07, Z:-16.75 [[ 9.93839362e-01 9.58119646e-02 5.57080715e-02 2.38931300e+02] [-9.55143263e-02 9.95396011e-01 -7.98717582e-03 -3.20701285e+01] [-5.62168591e-02 2.61705081e-03 9.98415152e-01 -1.67535442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.70071405699997 meters 0.030376914531823142 Centerline is valid? [True, True] Translation: X:238.96, Y:-32.07, Z:-16.75 [[ 9.93769979e-01 9.61782100e-02 5.63114678e-02 2.38958772e+02] [-9.58748869e-02 9.95360680e-01 -8.06983397e-03 -3.20749881e+01] [-5.68263631e-02 2.62070312e-03 9.98380637e-01 -1.67547285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.73071405699997 meters 0.030376914531823142 Centerline is valid? [True, True] Translation: X:238.99, Y:-32.08, Z:-16.76 [[ 9.93780223e-01 9.60718380e-02 5.63122662e-02 2.38985936e+02] [-9.57686599e-02 9.95370952e-01 -8.06425849e-03 -3.20787900e+01] [-5.68263422e-02 2.62115033e-03 9.98380637e-01 -1.67566196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.76071405699997 meters 0.03087509237773149 Centerline is valid? [True, True] Translation: X:239.01, Y:-32.08, Z:-16.76 [[ 9.93819608e-01 9.56635360e-02 5.63122881e-02 2.39014689e+02] [-9.53600784e-02 9.95410232e-01 -8.05768720e-03 -3.20829294e+01] [-5.68246546e-02 2.63794333e-03 9.98380689e-01 -1.67581778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.79071405699997 meters 0.03047604800793705 Centerline is valid? [True, True] Translation: X:239.04, Y:-32.08, Z:-16.76 [[ 9.93854243e-01 9.54241467e-02 5.61068273e-02 2.39044001e+02] [-9.51227498e-02 9.95433209e-01 -8.02426628e-03 -3.20849260e+01] [-5.66163079e-02 2.63791539e-03 9.98392526e-01 -1.67589078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.82071405699998 meters 0.03173765400942376 Centerline is valid? [True, True] Translation: X:239.07, Y:-32.09, Z:-16.76 [[ 9.93880950e-01 9.49630606e-02 5.64152045e-02 2.39070925e+02] [-9.46578222e-02 9.95477203e-01 -8.06441843e-03 -3.20913123e+01] [-5.69258718e-02 2.67493145e-03 9.98374824e-01 -1.67613284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.85071405699998 meters 0.032678074756671116 Centerline is valid? [True, True] Translation: X:239.10, Y:-32.10, Z:-16.76 [[ 9.94036517e-01 9.30539244e-02 5.68539398e-02 2.39098497e+02] [-9.27411124e-02 9.95657132e-01 -8.12170967e-03 -3.20972045e+01] [-5.73627876e-02 2.80057838e-03 9.98349472e-01 -1.67629177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.88071405699998 meters 0.031274137528780506 Centerline is valid? [True, True] Translation: X:239.13, Y:-32.10, Z:-16.76 [[ 9.94321158e-01 8.99794598e-02 5.68254558e-02 2.39128263e+02] [-8.96622076e-02 9.95939187e-01 -8.11326473e-03 -3.20987125e+01] [-5.73247254e-02 2.97209497e-03 9.98351162e-01 -1.67639931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.91071405699998 meters 0.03360342404786666 Centerline is valid? [True, True] Translation: X:239.16, Y:-32.11, Z:-16.77 [[ 9.94468190e-01 8.82468020e-02 5.69694794e-02 2.39155443e+02] [-8.79252029e-02 9.96093885e-01 -8.13211691e-03 -3.21074515e+01] [-5.74645833e-02 3.07807855e-03 9.98342800e-01 -1.67663639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.94071405699998 meters 0.03295492438797331 Centerline is valid? [True, True] Translation: X:239.19, Y:-32.11, Z:-16.77 [[ 9.94602217e-01 8.63651756e-02 5.75107467e-02 2.39185363e+02] [-8.60345646e-02 9.96258368e-01 -8.20473078e-03 -3.21097019e+01] [-5.80041656e-02 3.21253137e-03 9.98311172e-01 -1.67673255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.97071405699998 meters 0.03487005341518784 Centerline is valid? [True, True] Translation: X:239.21, Y:-32.12, Z:-16.77 [[ 9.94878395e-01 8.26342761e-02 5.82113029e-02 2.39213545e+02] [-8.22893299e-02 9.96573900e-01 -8.30227574e-03 -3.21166339e+01] [-5.86979177e-02 3.46958566e-03 9.98269761e-01 -1.67684027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.00071405699998 meters 0.03713799125312181 Centerline is valid? [True, True] Translation: X:239.24, Y:-32.12, Z:-16.77 [[ 9.94971277e-01 8.09305700e-02 5.90118677e-02 2.39241041e+02] [-8.05730900e-02 9.96713171e-01 -8.41618512e-03 -3.21240386e+01] [-5.94990324e-02 3.61909393e-03 9.98221803e-01 -1.67705805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.03071405699998 meters 0.035498765147006346 Centerline is valid? [True, True] Translation: X:239.27, Y:-32.13, Z:-16.77 [[ 9.95151352e-01 7.74998643e-02 6.05603602e-02 2.39271427e+02] [-7.71172465e-02 9.96984651e-01 -8.63341973e-03 -3.21256006e+01] [-6.10468385e-02 3.92131109e-03 9.98127200e-01 -1.67705652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.06071405699998 meters 0.037386751100786556 Centerline is valid? [True, True] Translation: X:239.30, Y:-32.13, Z:-16.77 [[ 9.95275970e-01 7.47671276e-02 6.19323812e-02 2.39300404e+02] [-7.43617581e-02 9.97192257e-01 -8.82785037e-03 -3.21322374e+01] [-6.24185240e-02 4.18074659e-03 9.98041306e-01 -1.67721460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.09071405699999 meters 0.03867259038470871 Centerline is valid? [True, True] Translation: X:239.33, Y:-32.14, Z:-16.77 [[ 9.95403166e-01 7.33205172e-02 6.16168727e-02 2.39331554e+02] [-7.29166085e-02 9.97299381e-01 -8.78141723e-03 -3.21374465e+01] [-6.20943270e-02 4.24815714e-03 9.98061244e-01 -1.67748194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.120714057 meters 0.03807417979913048 Centerline is valid? [True, True] Translation: X:239.36, Y:-32.14, Z:-16.78 [[ 9.95638291e-01 7.03913515e-02 6.12327652e-02 2.39362566e+02] [-6.99868197e-02 9.97509724e-01 -8.72898737e-03 -3.21394667e+01] [-6.16947240e-02 4.40542757e-03 9.98085344e-01 -1.67777093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.150714057 meters 0.03742086853353568 Centerline is valid? [True, True] Translation: X:239.39, Y:-32.14, Z:-16.78 [[ 9.95759156e-01 6.89065641e-02 6.09556259e-02 2.39394562e+02] [-6.85028824e-02 9.97613069e-01 -8.69019882e-03 -3.21425663e+01] [-6.14089407e-02 4.47770897e-03 9.98102646e-01 -1.67805998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.180714057 meters 0.04060960647999063 Centerline is valid? [True, True] Translation: X:239.42, Y:-32.15, Z:-16.78 [[ 9.95985910e-01 6.50738943e-02 6.14610136e-02 2.39423356e+02] [-6.46559042e-02 9.97869102e-01 -8.76749208e-03 -3.21504689e+01] [-6.19005813e-02 4.75848117e-03 9.98070977e-01 -1.67837336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.210714057 meters 0.04217854229521532 Centerline is valid? [True, True] Translation: X:239.45, Y:-32.16, Z:-16.79 [[ 9.96168503e-01 6.16707606e-02 6.20083114e-02 2.39453786e+02] [-6.12388016e-02 9.98083957e-01 -8.84448305e-03 -3.21550018e+01] [-6.24349468e-02 5.01328076e-03 9.98036444e-01 -1.67858053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.240714057 meters 0.04150127940310705 Centerline is valid? [True, True] Translation: X:239.48, Y:-32.16, Z:-16.79 [[ 9.96309051e-01 5.97072008e-02 6.16710977e-02 2.39484572e+02] [-5.92761948e-02 9.98202862e-01 -8.79649291e-03 -3.21565265e+01] [-6.20854802e-02 5.10839751e-03 9.98057763e-01 -1.67876584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.270714057 meters 0.04243828054853123 Centerline is valid? [True, True] Translation: X:239.52, Y:-32.16, Z:-16.79 [[ 9.96419381e-01 5.82804255e-02 6.12520128e-02 2.39515798e+02] [-5.78525299e-02 9.98286901e-01 -8.73772617e-03 -3.21607334e+01] [-6.16563204e-02 5.16285581e-03 9.98084086e-01 -1.67901874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.300714057 meters 0.04444219174371496 Centerline is valid? [True, True] Translation: X:239.54, Y:-32.16, Z:-16.79 [[ 9.96638708e-01 5.58134453e-02 5.99678599e-02 2.39544954e+02] [-5.53987523e-02 9.98427642e-01 -8.55701205e-03 -3.21645001e+01] [-6.03511653e-02 5.20610482e-03 9.98163631e-01 -1.67930288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.330714057 meters 0.053404388218623366 Centerline is valid? [True, True] Translation: X:239.57, Y:-32.18, Z:-16.80 [[ 9.96664620e-01 5.50076527e-02 6.02809504e-02 2.39574017e+02] [-5.45872612e-02 9.98471969e-01 -8.59985352e-03 -3.21799354e+01] [-6.06618971e-02 5.28059776e-03 9.98144403e-01 -1.67964210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.360714057 meters 0.04791229960821627 Centerline is valid? [True, True] Translation: X:239.61, Y:-32.17, Z:-16.80 [[ 9.96810387e-01 5.32394011e-02 5.94526568e-02 2.39606352e+02] [-5.28264399e-02 9.98567555e-01 -8.49742650e-03 -3.21731679e+01] [-5.98198920e-02 5.32965080e-03 9.98194959e-01 -1.67979625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.390714057 meters 0.048055637356752064 Centerline is valid? [True, True] Translation: X:239.64, Y:-32.18, Z:-16.80 [[ 9.96815720e-01 5.28989534e-02 5.96667585e-02 2.39638739e+02] [-5.24824562e-02 9.98585439e-01 -8.52714896e-03 -3.21760560e+01] [-6.00334335e-02 5.36853809e-03 9.98181930e-01 -1.68003897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.42071405699997 meters 0.05665420767264354 Centerline is valid? [True, True] Translation: X:239.67, Y:-32.19, Z:-16.80 [[ 9.96838267e-01 5.21889055e-02 5.99148379e-02 2.39668103e+02] [-5.17666799e-02 9.98622358e-01 -8.57884890e-03 -3.21877378e+01] [-6.02800174e-02 5.45013263e-03 9.98166627e-01 -1.68027270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.45071405699997 meters 0.05055124160873176 Centerline is valid? [True, True] Translation: X:239.70, Y:-32.18, Z:-16.80 [[ 9.96808965e-01 5.22251231e-02 6.03690650e-02 2.39701749e+02] [-5.17961192e-02 9.98620213e-01 -8.65058233e-03 -3.21823850e+01] [-6.07375463e-02 5.49609473e-03 9.98138639e-01 -1.68037110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.48071405699997 meters 0.052376482876248985 Centerline is valid? [True, True] Translation: X:239.73, Y:-32.19, Z:-16.81 [[ 9.96809361e-01 5.21544290e-02 6.04236116e-02 2.39733078e+02] [-5.17235501e-02 9.98623768e-01 -8.67431559e-03 -3.21850832e+01] [-6.07928587e-02 5.52131529e-03 9.98135133e-01 -1.68057753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.51071405699997 meters 0.05234470340796648 Centerline is valid? [True, True] Translation: X:239.77, Y:-32.19, Z:-16.81 [[ 9.96874168e-01 5.12437527e-02 6.01329468e-02 2.39765513e+02] [-5.08148527e-02 9.98670707e-01 -8.64119930e-03 -3.21866756e+01] [-6.04958200e-02 5.55854152e-03 9.98152973e-01 -1.68078251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.54071405699997 meters 0.053167428249916694 Centerline is valid? [True, True] Translation: X:239.80, Y:-32.19, Z:-16.81 [[ 9.96917326e-01 5.04405471e-02 6.00965665e-02 2.39797307e+02] [-5.00104638e-02 9.98711320e-01 -8.64022011e-03 -3.21906835e+01] [-6.04549387e-02 5.60812796e-03 9.98155173e-01 -1.68100946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.57071405699998 meters 0.05445084626098302 Centerline is valid? [True, True] Translation: X:239.83, Y:-32.20, Z:-16.81 [[ 9.96987912e-01 4.92780607e-02 5.98896981e-02 2.39828464e+02] [-4.88485900e-02 9.98769041e-01 -8.61496576e-03 -3.21951941e+01] [-6.02405051e-02 5.66348942e-03 9.98167825e-01 -1.68124148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.60071405699998 meters 0.0507460837607203 Centerline is valid? [True, True] Translation: X:239.86, Y:-32.19, Z:-16.81 [[ 9.97097748e-01 4.69622838e-02 5.99218232e-02 2.39860438e+02] [-4.65280767e-02 9.98879774e-01 -8.62181644e-03 -3.21923201e+01] [-6.02595973e-02 5.80874657e-03 9.98165838e-01 -1.68137116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.63071405699998 meters 0.05040485566110202 Centerline is valid? [True, True] Translation: X:239.89, Y:-32.19, Z:-16.82 [[ 9.97204350e-01 4.49113400e-02 5.97198086e-02 2.39891091e+02] [-4.44763576e-02 9.98973473e-01 -8.59379774e-03 -3.21941892e+01] [-6.00444636e-02 5.91365293e-03 9.98178186e-01 -1.68163187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.66071405699998 meters 0.051552864767356064 Centerline is valid? [True, True] Translation: X:239.92, Y:-32.20, Z:-16.82 [[ 9.97259746e-01 4.43203252e-02 5.92343445e-02 2.39921710e+02] [-4.38914172e-02 9.98999950e-01 -8.52307965e-03 -3.21989218e+01] [-5.95528529e-02 5.89984492e-03 9.98207719e-01 -1.68189712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.69071405699998 meters 0.052288567324203596 Centerline is valid? [True, True] Translation: X:239.95, Y:-32.20, Z:-16.82 [[ 9.97335898e-01 4.33145401e-02 5.86937627e-02 2.39953785e+02] [-4.28907999e-02 9.99043940e-01 -8.46076959e-03 -3.22026049e+01] [-5.90041223e-02 5.92080680e-03 9.98240180e-01 -1.68223163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.72071405699998 meters 0.055413555794227555 Centerline is valid? [True, True] Translation: X:239.98, Y:-32.21, Z:-16.82 [[ 9.97341956e-01 4.31677404e-02 5.86989620e-02 2.39983559e+02] [-4.27434504e-02 9.99050217e-01 -8.46529412e-03 -3.22103060e+01] [-5.90086384e-02 5.93379682e-03 9.98239836e-01 -1.68249746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.75071405699998 meters 0.04980004948406709 Centerline is valid? [True, True] Translation: X:240.02, Y:-32.21, Z:-16.83 [[ 9.97348970e-01 4.36003308e-02 5.82584226e-02 2.40017302e+02] [-4.31827733e-02 9.99031810e-01 -8.40776188e-03 -3.22053314e+01] [-5.85685986e-02 5.86971239e-03 9.98266130e-01 -1.68262241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.78071405699998 meters 0.05490659492956611 Centerline is valid? [True, True] Translation: X:240.05, Y:-32.22, Z:-16.83 [[ 9.97322595e-01 4.39667751e-02 5.84342672e-02 2.40046955e+02] [-4.35464045e-02 9.99015682e-01 -8.44854691e-03 -3.22156047e+01] [-5.87482047e-02 5.88132450e-03 9.98255508e-01 -1.68288558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.81071405699998 meters 0.051892477605752045 Centerline is valid? [True, True] Translation: X:240.08, Y:-32.21, Z:-16.83 [[ 9.97295990e-01 4.43049441e-02 5.86325815e-02 2.40079675e+02] [-4.38814688e-02 9.99000660e-01 -8.49110614e-03 -3.22145049e+01] [-5.89501856e-02 5.89526231e-03 9.98243518e-01 -1.68294946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.84071405699999 meters 0.05630285863637488 Centerline is valid? [True, True] Translation: X:240.11, Y:-32.22, Z:-16.83 [[ 9.97281758e-01 4.46023743e-02 5.86491483e-02 2.40110995e+02] [-4.41782870e-02 9.98987430e-01 -8.50841972e-03 -3.22241848e+01] [-5.89692577e-02 5.89427287e-03 9.98242398e-01 -1.68318188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.870714057 meters 0.056582986735432064 Centerline is valid? [True, True] Translation: X:240.14, Y:-32.23, Z:-16.83 [[ 9.97223461e-01 4.47918194e-02 5.94900159e-02 2.40143375e+02] [-4.43548090e-02 9.98978419e-01 -8.64690987e-03 -3.22285855e+01] [-5.98165528e-02 5.98423309e-03 9.98191449e-01 -1.68343054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.900714057 meters 0.049011216191652315 Centerline is valid? [True, True] Translation: X:240.18, Y:-32.22, Z:-16.84 [[ 9.97223373e-01 4.46350521e-02 5.96091902e-02 2.40176277e+02] [-4.41949780e-02 9.98985204e-01 -8.68140587e-03 -3.22230821e+01] [-5.99361940e-02 6.02287400e-03 9.98184040e-01 -1.68359344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.930714057 meters 0.052524015840503875 Centerline is valid? [True, True] Translation: X:240.21, Y:-32.23, Z:-16.84 [[ 9.97243509e-01 4.46432886e-02 5.92651722e-02 2.40206511e+02] [-4.42074491e-02 9.98984962e-01 -8.64558954e-03 -3.22317916e+01] [-5.95909834e-02 6.00179597e-03 9.98204835e-01 -1.68390589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.960714057 meters 0.060504170478566204 Centerline is valid? [True, True] Translation: X:240.24, Y:-32.25, Z:-16.84 [[ 9.97277436e-01 4.48871140e-02 5.85052296e-02 2.40236619e+02] [-4.44620127e-02 9.98974502e-01 -8.54830262e-03 -3.22465381e+01] [-5.88289413e-02 5.92376906e-03 9.98250502e-01 -1.68428311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.990714057 meters 0.05936455488466495 Centerline is valid? [True, True] Translation: X:240.27, Y:-32.25, Z:-16.85 [[ 9.97292114e-01 4.53667401e-02 5.78817553e-02 2.40269089e+02] [-4.49505459e-02 9.98953281e-01 -8.47294413e-03 -3.22492227e+01] [-5.82055592e-02 5.84818387e-03 9.98287489e-01 -1.68452638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.020714057 meters 0.05111541885872647 Centerline is valid? [True, True] Translation: X:240.30, Y:-32.24, Z:-16.85 [[ 9.97342035e-01 4.58472683e-02 5.66294359e-02 2.40303334e+02] [-4.54489520e-02 9.98932161e-01 -8.30240629e-03 -3.22418089e+01] [-5.69496074e-02 5.70659028e-03 9.98360745e-01 -1.68474639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.050714057 meters 0.052085269699338216 Centerline is valid? [True, True] Translation: X:240.33, Y:-32.25, Z:-16.85 [[ 9.97282499e-01 4.69136172e-02 5.68043099e-02 2.40332931e+02] [-4.65134126e-02 9.98882784e-01 -8.34781998e-03 -3.22471531e+01] [-5.71324736e-02 5.68297247e-03 9.98350432e-01 -1.68504559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.080714057 meters 0.052814449165595516 Centerline is valid? [True, True] Translation: X:240.37, Y:-32.25, Z:-16.85 [[ 9.97259969e-01 4.72290617e-02 5.69382923e-02 2.40365103e+02] [-4.68274909e-02 9.98867947e-01 -8.36719331e-03 -3.22527017e+01] [-5.72690098e-02 5.67798958e-03 9.98342637e-01 -1.68527634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.110714057 meters 0.053228441658212965 Centerline is valid? [True, True] Translation: X:240.40, Y:-32.26, Z:-16.85 [[ 9.97232489e-01 4.78714629e-02 5.68830833e-02 2.40396948e+02] [-4.74713122e-02 9.98837567e-01 -8.36594372e-03 -3.22574045e+01] [-5.72174505e-02 5.64247627e-03 9.98345795e-01 -1.68545584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.140714057 meters 0.05292104871644839 Centerline is valid? [True, True] Translation: X:240.43, Y:-32.26, Z:-16.86 [[ 9.97122140e-01 4.97165815e-02 5.72337201e-02 2.40427624e+02] [-4.93135000e-02 9.98747734e-01 -8.43454680e-03 -3.22598868e+01] [-5.75813852e-02 5.58787830e-03 9.98325177e-01 -1.68562970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.17071405699997 meters 0.05330668890760729 Centerline is valid? [True, True] Translation: X:240.46, Y:-32.26, Z:-16.86 [[ 9.97071638e-01 5.09345989e-02 5.70422253e-02 2.40459223e+02] [-5.05361510e-02 9.98686848e-01 -8.40695157e-03 -3.22642940e+01] [-5.73955249e-02 5.49963846e-03 9.98336370e-01 -1.68584711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.20071405699997 meters 0.05356836577021508 Centerline is valid? [True, True] Translation: X:240.49, Y:-32.27, Z:-16.86 [[ 9.96912431e-01 5.39219381e-02 5.70791566e-02 2.40488199e+02] [-5.35276026e-02 9.98530903e-01 -8.41619114e-03 -3.22679115e+01] [-5.74491190e-02 5.33489516e-03 9.98334181e-01 -1.68608915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.23071405699997 meters 0.05287365872320198 Centerline is valid? [True, True] Translation: X:240.52, Y:-32.27, Z:-16.86 [[ 9.96689386e-01 5.73304875e-02 5.76496576e-02 2.40518134e+02] [-5.69339320e-02 9.98341771e-01 -8.49917798e-03 -3.22694351e+01] [-5.80413233e-02 5.18881880e-03 9.98300697e-01 -1.68621685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.26071405699997 meters 0.05302920230187506 Centerline is valid? [True, True] Translation: X:240.55, Y:-32.27, Z:-16.86 [[ 9.96584889e-01 5.90865825e-02 5.76830595e-02 2.40549465e+02] [-5.86925146e-02 9.98239890e-01 -8.50354428e-03 -3.22729320e+01] [-5.80839764e-02 5.08893992e-03 9.98298730e-01 -1.68637562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.29071405699997 meters 0.05329672753314823 Centerline is valid? [True, True] Translation: X:240.58, Y:-32.28, Z:-16.87 [[ 9.96477851e-01 6.07782800e-02 5.77745046e-02 2.40581099e+02] [-6.03856083e-02 9.98138762e-01 -8.51995207e-03 -3.22765505e+01] [-5.81848005e-02 5.00119492e-03 9.98293302e-01 -1.68657814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.32071405699998 meters 0.05246964895974589 Centerline is valid? [True, True] Translation: X:240.61, Y:-32.28, Z:-16.87 [[ 9.96285202e-01 6.41105663e-02 5.74946262e-02 2.40610835e+02] [-6.37269860e-02 9.97931321e-01 -8.48234109e-03 -3.22775877e+01] [-5.79194959e-02 4.78687166e-03 9.98309781e-01 -1.68675675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.35071405699998 meters 0.0510640477796429 Centerline is valid? [True, True] Translation: X:240.64, Y:-32.28, Z:-16.87 [[ 9.96185536e-01 6.58145315e-02 5.72959498e-02 2.40641327e+02] [-6.54364614e-02 9.97820943e-01 -8.45193394e-03 -3.22794797e+01] [-5.77273587e-02 4.67045013e-03 9.98321461e-01 -1.68694623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.38071405699998 meters 0.04929479066876811 Centerline is valid? [True, True] Translation: X:240.67, Y:-32.28, Z:-16.87 [[ 9.95833224e-01 7.06073490e-02 5.77130246e-02 2.40671012e+02] [-7.02317242e-02 9.97494372e-01 -8.51365842e-03 -3.22807727e+01] [-5.81695441e-02 4.42489869e-03 9.98296912e-01 -1.68713377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.41071405699998 meters 0.049132074375966256 Centerline is valid? [True, True] Translation: X:240.70, Y:-32.28, Z:-16.87 [[ 9.95741402e-01 7.24167472e-02 5.70515205e-02 2.40700282e+02] [-7.20527006e-02 9.97365326e-01 -8.41512406e-03 -3.22832998e+01] [-5.75106043e-02 4.26857130e-03 9.98335770e-01 -1.68734662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.44071405699998 meters 0.04853762498894714 Centerline is valid? [True, True] Translation: X:240.73, Y:-32.28, Z:-16.87 [[ 9.95424238e-01 7.65316906e-02 5.72143931e-02 2.40729570e+02] [-7.61724314e-02 9.97058963e-01 -8.43710089e-03 -3.22847736e+01] [-5.76918291e-02 4.04033529e-03 9.98326264e-01 -1.68743716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.47071405699998 meters 0.048209073528204395 Centerline is valid? [True, True] Translation: X:240.76, Y:-32.29, Z:-16.88 [[ 9.95286920e-01 7.83473288e-02 5.71457972e-02 2.40759549e+02] [-7.79919717e-02 9.96918380e-01 -8.42586541e-03 -3.22875866e+01] [-5.76298396e-02 3.92924024e-03 9.98330287e-01 -1.68762553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.50071405699998 meters 0.04723685834628409 Centerline is valid? [True, True] Translation: X:240.79, Y:-32.29, Z:-16.88 [[ 9.95143038e-01 8.01700257e-02 5.71235611e-02 2.40789360e+02] [-7.98179850e-02 9.96773879e-01 -8.42166321e-03 -3.22898940e+01] [-5.76144385e-02 3.82127197e-03 9.98331595e-01 -1.68785509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.53071405699998 meters 0.04009553885518628 Centerline is valid? [True, True] Translation: X:240.82, Y:-32.28, Z:-16.88 [[ 9.94887101e-01 8.38233463e-02 5.63320685e-02 2.40820763e+02] [-8.34868899e-02 9.96474276e-01 -8.30394632e-03 -3.22825673e+01] [-5.68295217e-02 3.55849989e-03 9.98377555e-01 -1.68796541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.56071405699998 meters 0.032942463041359775 Centerline is valid? [True, True] Translation: X:240.85, Y:-32.27, Z:-16.88 [[ 9.94566866e-01 8.75364166e-02 5.63393777e-02 2.40852549e+02] [-8.72057951e-02 9.96155698e-01 -8.30512967e-03 -3.22737398e+01] [-5.68497934e-02 3.34688655e-03 9.98377133e-01 -1.68794043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.59071405699999 meters 0.03292162999062972 Centerline is valid? [True, True] Translation: X:240.88, Y:-32.28, Z:-16.88 [[ 9.94435404e-01 8.90294033e-02 5.63204514e-02 2.40879790e+02] [-8.87014629e-02 9.96023666e-01 -8.30102787e-03 -3.22767202e+01] [-5.68355381e-02 3.25912957e-03 9.98378235e-01 -1.68811648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.620714057 meters 0.032740099613339214 Centerline is valid? [True, True] Translation: X:240.91, Y:-32.28, Z:-16.88 [[ 9.94288409e-01 9.03700789e-02 5.67786012e-02 2.40908925e+02] [-9.00392765e-02 9.95903103e-01 -8.36288774e-03 -3.22793717e+01] [-5.73017400e-02 3.20281817e-03 9.98351768e-01 -1.68830989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.650714057 meters 0.032740099613339214 Centerline is valid? [True, True] Translation: X:240.94, Y:-32.28, Z:-16.88 [[ 9.94298027e-01 9.02639677e-02 5.67789594e-02 2.40936079e+02] [-8.99331315e-02 9.95912714e-01 -8.36045525e-03 -3.22832799e+01] [-5.73015355e-02 3.20647454e-03 9.98351768e-01 -1.68849897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.680714057 meters 0.03144453547431658 Centerline is valid? [True, True] Translation: X:240.97, Y:-32.28, Z:-16.89 [[ 9.94088354e-01 9.24673991e-02 5.69045205e-02 2.40966299e+02] [-9.21391074e-02 9.95710952e-01 -8.37171390e-03 -3.22847061e+01] [-5.74345649e-02 3.07909157e-03 9.98344525e-01 -1.68858906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.710714057 meters 0.031375874550965216 Centerline is valid? [True, True] Translation: X:240.99, Y:-32.29, Z:-16.89 [[ 9.93948313e-01 9.34261027e-02 5.77781403e-02 2.40994698e+02] [-9.30892843e-02 9.95621484e-01 -8.49971887e-03 -3.22886109e+01] [-5.83192534e-02 3.06975551e-03 9.98293264e-01 -1.68877875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.740714057 meters 0.03061976574949049 Centerline is valid? [True, True] Translation: X:241.02, Y:-32.29, Z:-16.89 [[ 9.93887491e-01 9.37331156e-02 5.83245932e-02 2.41023349e+02] [-9.33906683e-02 9.95592607e-01 -8.57579699e-03 -3.22920774e+01] [-5.88713700e-02 3.07640462e-03 9.98260836e-01 -1.68893200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.770714057 meters 0.03159350187727788 Centerline is valid? [True, True] Translation: X:241.05, Y:-32.30, Z:-16.89 [[ 9.93828856e-01 9.39463382e-02 5.89770276e-02 2.41050809e+02] [-9.35968031e-02 9.95572455e-01 -8.66749023e-03 -3.22978617e+01] [-5.95301831e-02 3.09394067e-03 9.98221711e-01 -1.68910985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.800714057 meters 0.03181545414056649 Centerline is valid? [True, True] Translation: X:241.08, Y:-32.30, Z:-16.89 [[ 9.93851558e-01 9.37641327e-02 5.88843540e-02 2.41079086e+02] [-9.34157079e-02 9.95589630e-01 -8.64832990e-03 -3.23021243e+01] [-5.94355554e-02 3.09443253e-03 9.98227348e-01 -1.68926222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.830714057 meters 0.0318595085418332 Centerline is valid? [True, True] Translation: X:241.11, Y:-32.31, Z:-16.90 [[ 9.93758756e-01 9.45448212e-02 5.92014428e-02 2.41106325e+02] [-9.41942569e-02 9.95515903e-01 -8.69075815e-03 -3.23070423e+01] [-5.97576439e-02 3.06008110e-03 9.98208225e-01 -1.68953997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.860714057 meters 0.03128884703779776 Centerline is valid? [True, True] Translation: X:241.14, Y:-32.31, Z:-16.90 [[ 9.93730027e-01 9.48862440e-02 5.91374197e-02 2.41135038e+02] [-9.45373764e-02 9.95483509e-01 -8.67575063e-03 -3.23102133e+01] [-5.96935354e-02 3.03065740e-03 9.98212150e-01 -1.68971548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.890714057 meters 0.030184892277882586 Centerline is valid? [True, True] Translation: X:241.16, Y:-32.31, Z:-16.90 [[ 9.93700196e-01 9.53195873e-02 5.89414704e-02 2.41163662e+02] [-9.49739734e-02 9.95442227e-01 -8.64393632e-03 -3.23129012e+01] [-5.94967650e-02 2.99157557e-03 9.98224016e-01 -1.68984343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.92071405699997 meters 0.029393791687184118 Centerline is valid? [True, True] Translation: X:241.19, Y:-32.32, Z:-16.90 [[ 9.93610594e-01 9.63710842e-02 5.87418188e-02 2.41192132e+02] [-9.60298998e-02 9.95341208e-01 -8.61031657e-03 -3.23158433e+01] [-5.92979384e-02 2.91433079e-03 9.98236075e-01 -1.68997086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.95071405699997 meters 0.0287650001383101 Centerline is valid? [True, True] Translation: X:241.22, Y:-32.32, Z:-16.90 [[ 9.93505186e-01 9.71983621e-02 5.91601563e-02 2.41220605e+02] [-9.68540193e-02 9.95260859e-01 -8.66723355e-03 -3.23194667e+01] [-5.97222289e-02 2.88104256e-03 9.98210877e-01 -1.69012231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.98071405699997 meters 0.029164042855728843 Centerline is valid? [True, True] Translation: X:241.25, Y:-32.32, Z:-16.90 [[ 9.93463380e-01 9.75965037e-02 5.92067137e-02 2.41248254e+02] [-9.72525778e-02 9.95221971e-01 -8.66979568e-03 -3.23247456e+01] [-5.97699640e-02 2.85511900e-03 9.98208094e-01 -1.69033429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.01071405699997 meters 0.028951203288482778 Centerline is valid? [True, True] Translation: X:241.28, Y:-32.33, Z:-16.91 [[ 9.93420214e-01 9.79722772e-02 5.93102967e-02 2.41276794e+02] [-9.76281517e-02 9.95185115e-01 -8.67931174e-03 -3.23290310e+01] [-5.98750564e-02 2.83184908e-03 9.98201862e-01 -1.69057676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.04071405699997 meters 0.03252257401646646 Centerline is valid? [True, True] Translation: X:241.30, Y:-32.34, Z:-16.91 [[ 9.93385236e-01 9.85824833e-02 5.88835015e-02 2.41303651e+02] [-9.82446242e-02 9.95125026e-01 -8.61254851e-03 -3.23395688e+01] [-5.94454924e-02 2.77059106e-03 9.98227708e-01 -1.69091638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.07071405699998 meters 0.028422867838269906 Centerline is valid? [True, True] Translation: X:241.33, Y:-32.34, Z:-16.91 [[ 9.93329229e-01 9.94108116e-02 5.84340103e-02 2.41333352e+02] [-9.90797758e-02 9.95042824e-01 -8.54258347e-03 -3.23361715e+01] [-5.89935678e-02 2.69596921e-03 9.98254722e-01 -1.69100224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.10071405699998 meters 0.029762650550711218 Centerline is valid? [True, True] Translation: X:241.36, Y:-32.34, Z:-16.91 [[ 9.93378849e-01 9.91540781e-02 5.80252626e-02 2.41360037e+02] [-9.88274650e-02 9.95068461e-01 -8.47876405e-03 -3.23420719e+01] [-5.85798128e-02 2.68813527e-03 9.98279109e-01 -1.69122250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.13071405699998 meters 0.028783259161182698 Centerline is valid? [True, True] Translation: X:241.39, Y:-32.35, Z:-16.91 [[ 9.93456938e-01 9.85299640e-02 5.77508292e-02 2.41388610e+02] [-9.82057031e-02 9.95130404e-01 -8.43322476e-03 -3.23454491e+01] [-5.83005313e-02 2.70658486e-03 9.98295408e-01 -1.69136197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.16071405699998 meters 0.029535540319658486 Centerline is valid? [True, True] Translation: X:241.42, Y:-32.35, Z:-16.92 [[ 9.93691030e-01 9.60136379e-02 5.79613476e-02 2.41417615e+02] [-9.56830095e-02 9.95375910e-01 -8.45932565e-03 -3.23518691e+01] [-5.85055397e-02 2.86003985e-03 9.98282987e-01 -1.69159182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.19071405699998 meters 0.03107037035669975 Centerline is valid? [True, True] Translation: X:241.44, Y:-32.36, Z:-16.92 [[ 9.93867985e-01 9.41733494e-02 5.79466030e-02 2.41444864e+02] [-9.38398750e-02 9.95551397e-01 -8.45540498e-03 -3.23594193e+01] [-5.84850954e-02 2.96585432e-03 9.98283876e-01 -1.69182915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.22071405699998 meters 0.03179069477815734 Centerline is valid? [True, True] Translation: X:241.47, Y:-32.37, Z:-16.92 [[ 9.94353085e-01 8.96179001e-02 5.68381456e-02 2.41474140e+02] [-8.92899333e-02 9.95971185e-01 -8.28889659e-03 -3.23664231e+01] [-5.73519887e-02 3.16701566e-03 9.98348997e-01 -1.69212798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.25071405699998 meters 0.033726876453293725 Centerline is valid? [True, True] Translation: X:241.50, Y:-32.37, Z:-16.92 [[ 9.94593650e-01 8.70581596e-02 5.66069559e-02 2.41501798e+02] [-8.67287262e-02 9.96197761e-01 -8.25522683e-03 -3.23741677e+01] [-5.71104075e-02 3.30114701e-03 9.98362411e-01 -1.69243877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.28071405699998 meters 0.03525095572545424 Centerline is valid? [True, True] Translation: X:241.53, Y:-32.38, Z:-16.93 [[ 9.94992383e-01 8.25282113e-02 5.63848620e-02 2.41530795e+02] [-8.21943260e-02 9.96582429e-01 -8.21917323e-03 -3.23822534e+01] [-5.68704764e-02 3.54349903e-03 9.98375276e-01 -1.69269984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.31071405699998 meters 0.035913772474132764 Centerline is valid? [True, True] Translation: X:241.56, Y:-32.39, Z:-16.93 [[ 9.95195297e-01 8.02233928e-02 5.61295650e-02 2.41559288e+02] [-7.98888537e-02 9.96770194e-01 -8.18241232e-03 -3.23878265e+01] [-5.66046983e-02 3.65897165e-03 9.98389964e-01 -1.69290725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.34071405699999 meters 0.0355654023816336 Centerline is valid? [True, True] Translation: X:241.59, Y:-32.39, Z:-16.93 [[ 9.95467517e-01 7.68760032e-02 5.59866351e-02 2.41588910e+02] [-7.65380970e-02 9.97033282e-01 -8.15809614e-03 -3.23923949e+01] [-5.64477004e-02 3.83600919e-03 9.98398188e-01 -1.69302289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.370714057 meters 0.038839040907516324 Centerline is valid? [True, True] Translation: X:241.62, Y:-32.40, Z:-16.93 [[ 9.95573670e-01 7.52159328e-02 5.63527327e-02 2.41615898e+02] [-7.48709658e-02 9.97159424e-01 -8.21103036e-03 -3.24020696e+01] [-5.68102588e-02 3.95550211e-03 9.98377157e-01 -1.69324914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.400714057 meters 0.04048235276621883 Centerline is valid? [True, True] Translation: X:241.64, Y:-32.41, Z:-16.93 [[ 9.95691880e-01 7.34693701e-02 5.65679309e-02 2.41644152e+02] [-7.31192102e-02 9.97289184e-01 -8.23795872e-03 -3.24086342e+01] [-5.70198233e-02 4.06626618e-03 9.98364766e-01 -1.69340411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.430714057 meters 0.04494389063841313 Centerline is valid? [True, True] Translation: X:241.67, Y:-32.42, Z:-16.94 [[ 9.95911999e-01 7.05188217e-02 5.64480914e-02 2.41671625e+02] [-7.01656178e-02 9.97501510e-01 -8.21729186e-03 -3.24194613e+01] [-5.68865301e-02 4.22298436e-03 9.98371719e-01 -1.69361653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.460714057 meters 0.04270931812640755 Centerline is valid? [True, True] Translation: X:241.70, Y:-32.42, Z:-16.94 [[ 9.96074401e-01 6.85924190e-02 5.59541490e-02 2.41701575e+02] [-6.82424678e-02 9.97635530e-01 -8.14343494e-03 -3.24206656e+01] [-5.63804250e-02 4.29301787e-03 9.98400129e-01 -1.69377545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.490714057 meters 0.04587155543390583 Centerline is valid? [True, True] Translation: X:241.73, Y:-32.43, Z:-16.94 [[ 9.96175491e-01 6.75466248e-02 5.54242234e-02 2.41728681e+02] [-6.72017563e-02 9.97706812e-01 -8.06479674e-03 -3.24288722e+01] [-5.58418751e-02 4.30934770e-03 9.98430325e-01 -1.69408151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.520714057 meters 0.04694474586408716 Centerline is valid? [True, True] Translation: X:241.76, Y:-32.43, Z:-16.94 [[ 9.96244998e-01 6.67146066e-02 5.51821059e-02 2.41757034e+02] [-6.63717179e-02 9.97762692e-01 -8.02531082e-03 -3.24346174e+01] [-5.55940519e-02 4.33264460e-03 9.98444054e-01 -1.69433462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.550714057 meters 0.04769500845154419 Centerline is valid? [True, True] Translation: X:241.79, Y:-32.44, Z:-16.95 [[ 9.96267118e-01 6.63032860e-02 5.52784302e-02 2.41785737e+02] [-6.59586913e-02 9.97789986e-01 -8.03712385e-03 -3.24389241e+01] [-5.56891518e-02 4.36102930e-03 9.98438631e-01 -1.69450966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.580714057 meters 0.04846301670672539 Centerline is valid? [True, True] Translation: X:241.81, Y:-32.44, Z:-16.95 [[ 9.96234075e-01 6.65745209e-02 5.55472843e-02 2.41814362e+02] [-6.62272076e-02 9.97771916e-01 -8.07215731e-03 -3.24437665e+01] [-5.59609203e-02 4.36301664e-03 9.98423427e-01 -1.69468066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.610714057 meters 0.048398536930287415 Centerline is valid? [True, True] Translation: X:241.84, Y:-32.45, Z:-16.95 [[ 9.96156027e-01 6.73385994e-02 5.60239470e-02 2.41843733e+02] [-6.69866673e-02 9.97720679e-01 -8.13831985e-03 -3.24469615e+01] [-5.64442736e-02 4.35417887e-03 9.98396257e-01 -1.69482015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.640714057 meters 0.045366610895153474 Centerline is valid? [True, True] Translation: X:241.87, Y:-32.45, Z:-16.95 [[ 9.96127561e-01 6.73589363e-02 5.65035849e-02 2.41872829e+02] [-6.70010635e-02 9.97719155e-01 -8.20647079e-03 -3.24468273e+01] [-5.69274881e-02 4.38889146e-03 9.98368669e-01 -1.69494260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.67071405699997 meters 0.046704826788248645 Centerline is valid? [True, True] Translation: X:241.90, Y:-32.45, Z:-16.95 [[ 9.96150532e-01 6.70375770e-02 5.64807974e-02 2.41900500e+02] [-6.66797164e-02 9.97740744e-01 -8.19901567e-03 -3.24527881e+01] [-5.69028350e-02 4.40133027e-03 9.98370019e-01 -1.69521407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.70071405699997 meters 0.04669148782575709 Centerline is valid? [True, True] Translation: X:241.93, Y:-32.46, Z:-16.95 [[ 9.96192399e-01 6.64110489e-02 5.64825332e-02 2.41929728e+02] [-6.60523448e-02 9.97782497e-01 -8.19613327e-03 -3.24572873e+01] [-5.69015968e-02 4.43412191e-03 9.98369945e-01 -1.69544427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.73071405699997 meters 0.04904053234256857 Centerline is valid? [True, True] Translation: X:241.96, Y:-32.46, Z:-16.96 [[ 9.96359921e-01 6.50636589e-02 5.50783869e-02 2.41957895e+02] [-6.47206937e-02 9.97871433e-01 -7.98972545e-03 -3.24646189e+01] [-5.54809896e-02 4.39593081e-03 9.98450067e-01 -1.69579578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.76071405699997 meters 0.049969361608056866 Centerline is valid? [True, True] Translation: X:241.99, Y:-32.47, Z:-16.96 [[ 9.96493488e-01 6.39163972e-02 5.39946497e-02 2.41986786e+02] [-6.35850144e-02 9.97945671e-01 -7.83483190e-03 -3.24697714e+01] [-5.43845011e-02 4.37410839e-03 9.98510487e-01 -1.69608708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.79071405699997 meters 0.05239568119395165 Centerline is valid? [True, True] Translation: X:242.01, Y:-32.48, Z:-16.96 [[ 9.96734813e-01 6.13059090e-02 5.25480586e-02 2.42014795e+02] [-6.09885634e-02 9.98109355e-01 -7.62305772e-03 -3.24774471e+01] [-5.29160474e-02 4.39333640e-03 9.98589300e-01 -1.69636662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.82071405699998 meters 0.053215750422484734 Centerline is valid? [True, True] Translation: X:242.04, Y:-32.48, Z:-16.97 [[ 9.96817073e-01 6.03114084e-02 5.21369080e-02 2.42044561e+02] [-5.99977555e-02 9.98169870e-01 -7.56170091e-03 -3.24830076e+01] [-5.24975475e-02 4.40953511e-03 9.98611318e-01 -1.69658727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.85071405699998 meters 0.04638777844806518 Centerline is valid? [True, True] Translation: X:242.08, Y:-32.48, Z:-16.96 [[ 9.96970864e-01 5.81793651e-02 5.16164574e-02 2.42075625e+02] [-5.78690998e-02 9.98296108e-01 -7.48651320e-03 -3.24768154e+01] [-5.19640692e-02 4.47683760e-03 9.98638920e-01 -1.69649328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.88071405699998 meters 0.04656405413916174 Centerline is valid? [True, True] Translation: X:242.10, Y:-32.48, Z:-16.97 [[ 9.97009468e-01 5.75238994e-02 5.16054419e-02 2.42104804e+02] [-5.72129290e-02 9.98333945e-01 -7.48427924e-03 -3.24805949e+01] [-5.19499894e-02 4.50939878e-03 9.98639506e-01 -1.69662318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.91071405699998 meters 0.048152803919168125 Centerline is valid? [True, True] Translation: X:242.13, Y:-32.49, Z:-16.97 [[ 9.96979102e-01 5.76434677e-02 5.20567030e-02 2.42133773e+02] [-5.73273053e-02 9.98326908e-01 -7.54752881e-03 -3.24865604e+01] [-5.24046730e-02 4.54045800e-03 9.98615609e-01 -1.69683028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.94071405699998 meters 0.04901414238394424 Centerline is valid? [True, True] Translation: X:242.16, Y:-32.49, Z:-16.97 [[ 9.96965555e-01 5.81437544e-02 5.17589261e-02 2.42163014e+02] [-5.78319199e-02 9.98298136e-01 -7.50343117e-03 -3.24903765e+01] [-5.21071170e-02 4.48734435e-03 9.98631420e-01 -1.69702196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.97071405699998 meters 0.044735324917014395 Centerline is valid? [True, True] Translation: X:242.19, Y:-32.49, Z:-16.97 [[ 9.96965371e-01 5.83102762e-02 5.15748110e-02 2.42193259e+02] [-5.80009116e-02 9.98288536e-01 -7.47612892e-03 -3.24881531e+01] [-5.19224777e-02 4.46205559e-03 9.98641150e-01 -1.69713477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.00071405699998 meters 0.05440790416143395 Centerline is valid? [True, True] Translation: X:242.22, Y:-32.50, Z:-16.98 [[ 9.96937191e-01 5.88066522e-02 5.15559424e-02 2.42220660e+02] [-5.84983028e-02 9.98259553e-01 -7.47088844e-03 -3.25042132e+01] [-5.19055499e-02 4.43207141e-03 9.98642163e-01 -1.69756011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.03071405699998 meters 0.04616171461577983 Centerline is valid? [True, True] Translation: X:242.25, Y:-32.50, Z:-16.98 [[ 9.96960026e-01 5.85901666e-02 5.13604782e-02 2.42252225e+02] [-5.82838371e-02 9.98272304e-01 -7.44317142e-03 -3.24961884e+01] [-5.17078396e-02 4.42705862e-03 9.98652442e-01 -1.69753425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.06071405699998 meters 0.047403911616452514 Centerline is valid? [True, True] Translation: X:242.28, Y:-32.50, Z:-16.98 [[ 9.96970438e-01 5.84213184e-02 5.13507002e-02 2.42281463e+02] [-5.81149811e-02 9.98282173e-01 -7.43986998e-03 -3.25010711e+01] [-5.16971356e-02 4.43308546e-03 9.98652970e-01 -1.69775011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.09071405699999 meters 0.04729333449095804 Centerline is valid? [True, True] Translation: X:242.31, Y:-32.50, Z:-16.98 [[ 9.96979469e-01 5.84530333e-02 5.11388407e-02 2.42310458e+02] [-5.81493413e-02 9.98280412e-01 -7.40765139e-03 -3.25047586e+01] [-5.14839027e-02 4.41158645e-03 9.98664080e-01 -1.69796395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.120714057 meters 0.04769512187335083 Centerline is valid? [True, True] Translation: X:242.34, Y:-32.51, Z:-16.98 [[ 9.96955768e-01 5.90186663e-02 5.09508899e-02 2.42338461e+02] [-5.87180791e-02 9.98247343e-01 -7.37767411e-03 -3.25085402e+01] [-5.12970109e-02 4.36347638e-03 9.98673909e-01 -1.69819588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.150714057 meters 0.046624114102533934 Centerline is valid? [True, True] Translation: X:242.37, Y:-32.51, Z:-16.98 [[ 9.96884678e-01 6.10679588e-02 4.99163590e-02 2.42368965e+02] [-6.07821799e-02 9.98124908e-01 -7.22462357e-03 -3.25091027e+01] [-5.02639543e-02 4.16809143e-03 9.98727271e-01 -1.69836642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.180714057 meters 0.046395330649353986 Centerline is valid? [True, True] Translation: X:242.40, Y:-32.51, Z:-16.99 [[ 9.96834655e-01 6.22158583e-02 4.94960312e-02 2.42398138e+02] [-6.19362924e-02 9.98054397e-01 -7.16356927e-03 -3.25119446e+01] [-4.98454192e-02 4.07529344e-03 9.98748630e-01 -1.69856956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.210714057 meters 0.046202300548841384 Centerline is valid? [True, True] Translation: X:242.43, Y:-32.52, Z:-16.99 [[ 9.96762437e-01 6.36583033e-02 4.91148176e-02 2.42427874e+02] [-6.33849315e-02 9.97963861e-01 -7.10513399e-03 -3.25153118e+01] [-4.94671137e-02 3.96899133e-03 9.98767867e-01 -1.69880605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.240714057 meters 0.0461760759903589 Centerline is valid? [True, True] Translation: X:242.46, Y:-32.52, Z:-16.99 [[ 9.96646985e-01 6.61547035e-02 4.81491606e-02 2.42456403e+02] [-6.58949025e-02 9.97802261e-01 -6.96495619e-03 -3.25186094e+01] [-4.85041059e-02 3.76881835e-03 9.98815873e-01 -1.69908454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.270714057 meters 0.0486552236366986 Centerline is valid? [True, True] Translation: X:242.48, Y:-32.53, Z:-16.99 [[ 9.96616430e-01 6.70158420e-02 4.75874823e-02 2.42483496e+02] [-6.67630767e-02 9.97745115e-01 -6.88310785e-03 -3.25256060e+01] [-4.79414553e-02 3.68273164e-03 9.98843358e-01 -1.69937073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.300714057 meters 0.046481183279885034 Centerline is valid? [True, True] Translation: X:242.51, Y:-32.53, Z:-16.99 [[ 9.96407849e-01 6.90723909e-02 4.89939188e-02 2.42514085e+02] [-6.88072011e-02 9.97604847e-01 -7.08081209e-03 -3.25266000e+01] [-4.93656595e-02 3.68424232e-03 9.98773977e-01 -1.69937228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.330714057 meters 0.04617665946910402 Centerline is valid? [True, True] Translation: X:242.54, Y:-32.53, Z:-17.00 [[ 9.96307908e-01 7.00332631e-02 4.96577695e-02 2.42543265e+02] [-6.97620289e-02 9.97537847e-01 -7.17650945e-03 -3.25303441e+01] [-5.00380989e-02 3.68578637e-03 9.98740509e-01 -1.69950025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.360714057 meters 0.04646332032009572 Centerline is valid? [True, True] Translation: X:242.57, Y:-32.53, Z:-17.00 [[ 9.96067825e-01 7.20761857e-02 5.15161219e-02 2.42571765e+02] [-7.17871220e-02 9.97392212e-01 -7.44201781e-03 -3.25348811e+01] [-5.19181710e-02 3.71456038e-03 9.98644434e-01 -1.69961578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.390714057 meters 0.046251311196054266 Centerline is valid? [True, True] Translation: X:242.60, Y:-32.54, Z:-17.00 [[ 9.95966491e-01 7.32479415e-02 5.18216847e-02 2.42600143e+02] [-7.29570757e-02 9.97306994e-01 -7.48492841e-03 -3.25382287e+01] [-5.22303842e-02 3.67397931e-03 9.98628304e-01 -1.69976926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.42071405699997 meters 0.04597896985867263 Centerline is valid? [True, True] Translation: X:242.63, Y:-32.54, Z:-17.00 [[ 9.95820757e-01 7.48371855e-02 5.23489699e-02 2.42629339e+02] [-7.45427628e-02 9.97189184e-01 -7.55700466e-03 -3.25420278e+01] [-5.27673715e-02 3.62318526e-03 9.98600259e-01 -1.69992934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.45071405699997 meters 0.04499042998079198 Centerline is valid? [True, True] Translation: X:242.66, Y:-32.54, Z:-17.00 [[ 9.95573230e-01 7.77644314e-02 5.27886054e-02 2.42657896e+02] [-7.74692461e-02 9.96965635e-01 -7.61827703e-03 -3.25442900e+01] [-5.32208565e-02 3.49505921e-03 9.98576650e-01 -1.70013343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.48071405699997 meters 0.04011743086175914 Centerline is valid? [True, True] Translation: X:242.69, Y:-32.54, Z:-17.00 [[ 9.95402485e-01 8.04039045e-02 5.20490727e-02 2.42688598e+02] [-8.01205373e-02 9.96756880e-01 -7.51143281e-03 -3.25409008e+01] [-5.24842198e-02 3.30669922e-03 9.98616279e-01 -1.70029825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.51071405699997 meters 0.03471257007008833 Centerline is valid? [True, True] Translation: X:242.72, Y:-32.54, Z:-17.00 [[ 9.95337710e-01 8.12573966e-02 5.19622815e-02 2.42718353e+02] [-8.09761315e-02 9.96687831e-01 -7.49892170e-03 -3.25364385e+01] [-5.23995165e-02 3.25625501e-03 9.98620893e-01 -1.70038363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.54071405699997 meters 0.03471257007008833 Centerline is valid? [True, True] Translation: X:242.75, Y:-32.54, Z:-17.01 [[ 9.95346468e-01 8.11497486e-02 5.19627381e-02 2.42745529e+02] [-8.08685020e-02 9.96696593e-01 -7.49575682e-03 -3.25402698e+01] [-5.23993628e-02 3.25872629e-03 9.98620893e-01 -1.70057284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.57071405699998 meters 0.04029945195936118 Centerline is valid? [True, True] Translation: X:242.77, Y:-32.55, Z:-17.01 [[ 9.95289071e-01 8.18242671e-02 5.20043788e-02 2.42771674e+02] [-8.15438036e-02 9.96641572e-01 -7.49570949e-03 -3.25535194e+01] [-5.24430568e-02 3.21976288e-03 9.98618726e-01 -1.70112591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.60071405699998 meters 0.04146274731089437 Centerline is valid? [True, True] Translation: X:242.80, Y:-32.56, Z:-17.02 [[ 9.95331983e-01 8.16941408e-02 5.13839505e-02 2.42798352e+02] [-8.14204098e-02 9.96652364e-01 -7.40154458e-03 -3.25589531e+01] [-5.18165986e-02 3.18329173e-03 9.98651544e-01 -1.70150292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.63071405699998 meters 0.0351313454334668 Centerline is valid? [True, True] Translation: X:242.83, Y:-32.55, Z:-17.01 [[ 9.95298002e-01 8.19342069e-02 5.16592088e-02 2.42827869e+02] [-8.16580919e-02 9.96632657e-01 -7.43663413e-03 -3.25539143e+01] [-5.20945692e-02 3.18327467e-03 9.98637083e-01 -1.70149655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.66071405699998 meters 0.036644573268911566 Centerline is valid? [True, True] Translation: X:242.85, Y:-32.56, Z:-17.02 [[ 9.95301064e-01 8.15459148e-02 5.22116457e-02 2.42854750e+02] [-8.12635119e-02 9.96664338e-01 -7.51260159e-03 -3.25599008e+01] [-5.26501073e-02 3.23439866e-03 9.98607783e-01 -1.70168521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.69071405699998 meters 0.03784752548205009 Centerline is valid? [True, True] Translation: X:242.88, Y:-32.57, Z:-17.02 [[ 9.95250045e-01 8.15377084e-02 5.31878822e-02 2.42882469e+02] [-8.12449002e-02 9.96664826e-01 -7.64789653e-03 -3.25654847e+01] [-5.36340833e-02 3.29032518e-03 9.98555236e-01 -1.70186833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.72071405699998 meters 0.03718470160481476 Centerline is valid? [True, True] Translation: X:242.91, Y:-32.57, Z:-17.02 [[ 9.95085694e-01 8.23945916e-02 5.49144084e-02 2.42911212e+02] [-8.20839639e-02 9.96594169e-01 -7.89212413e-03 -3.25683158e+01] [-5.53776475e-02 3.34574751e-03 9.98459875e-01 -1.70190943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.75071405699998 meters 0.037886966620465756 Centerline is valid? [True, True] Translation: X:242.94, Y:-32.57, Z:-17.02 [[ 9.95008067e-01 8.28960161e-02 5.55625594e-02 2.42938142e+02] [-8.25789944e-02 9.96552560e-01 -7.98147975e-03 -3.25731544e+01] [-5.60326438e-02 3.35333644e-03 9.98423306e-01 -1.70209018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.78071405699998 meters 0.03466665145927233 Centerline is valid? [True, True] Translation: X:242.97, Y:-32.57, Z:-17.02 [[ 9.94856888e-01 8.38581176e-02 5.68118699e-02 2.42967214e+02] [-8.35285282e-02 9.96472012e-01 -8.15561199e-03 -3.25721332e+01] [-5.72953526e-02 3.36825489e-03 9.98351590e-01 -1.70216097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.81071405699998 meters 0.03543797579281488 Centerline is valid? [True, True] Translation: X:242.99, Y:-32.58, Z:-17.02 [[ 9.94764491e-01 8.45304435e-02 5.74300655e-02 2.42994655e+02] [-8.41949835e-02 9.96415226e-01 -8.24030197e-03 -3.25779445e+01] [-5.79207481e-02 3.36183637e-03 9.98315524e-01 -1.70234278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.84071405699999 meters 0.035297802587268536 Centerline is valid? [True, True] Translation: X:243.02, Y:-32.58, Z:-17.03 [[ 9.94755863e-01 8.42529581e-02 5.79845805e-02 2.43023329e+02] [-8.39108298e-02 9.96438580e-01 -8.31441665e-03 -3.25820971e+01] [-5.84785873e-02 3.40528045e-03 9.98282855e-01 -1.70255111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.870714057 meters 0.03451453363106961 Centerline is valid? [True, True] Translation: X:243.05, Y:-32.59, Z:-17.03 [[ 9.94759756e-01 8.39688262e-02 5.83289320e-02 2.43051984e+02] [-8.36223768e-02 9.96462450e-01 -8.35961031e-03 -3.25862348e+01] [-5.88245371e-02 3.43819998e-03 9.98262417e-01 -1.70281039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.900714057 meters 0.03408409079605953 Centerline is valid? [True, True] Translation: X:243.08, Y:-32.59, Z:-17.03 [[ 9.94902956e-01 8.27344490e-02 5.76464946e-02 2.43080619e+02] [-8.23942454e-02 9.96565602e-01 -8.25770321e-03 -3.25906470e+01] [-5.81317101e-02 3.46587392e-03 9.98302906e-01 -1.70309419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.930714057 meters 0.034526478837691735 Centerline is valid? [True, True] Translation: X:243.11, Y:-32.60, Z:-17.03 [[ 9.94942518e-01 8.23645993e-02 5.74931185e-02 2.43108975e+02] [-8.20258344e-02 9.96596209e-01 -8.23154578e-03 -3.25960077e+01] [-5.79754119e-02 3.47399386e-03 9.98311967e-01 -1.70337790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.960714057 meters 0.03549966814345453 Centerline is valid? [True, True] Translation: X:243.14, Y:-32.60, Z:-17.04 [[ 9.95032831e-01 8.16241777e-02 5.69838548e-02 2.43136900e+02] [-8.12904227e-02 9.96657098e-01 -8.15453265e-03 -3.26016703e+01] [-5.74589703e-02 3.48178607e-03 9.98341797e-01 -1.70366662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.990714057 meters 0.035968988101678104 Centerline is valid? [True, True] Translation: X:243.16, Y:-32.61, Z:-17.04 [[ 9.95046616e-01 8.14691942e-02 5.69649170e-02 2.43163980e+02] [-8.11356341e-02 9.96669765e-01 -8.14789974e-03 -3.26069973e+01] [-5.74390133e-02 3.48565540e-03 9.98342932e-01 -1.70395838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.020714057 meters 0.036322020108779655 Centerline is valid? [True, True] Translation: X:243.19, Y:-32.61, Z:-17.04 [[ 9.94912550e-01 8.28980181e-02 5.72445367e-02 2.43191963e+02] [-8.25638375e-02 9.96552186e-01 -8.18249386e-03 -3.26114028e+01] [-5.77254807e-02 3.41453720e-03 9.98326655e-01 -1.70409965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.050714057 meters 0.036237205971189033 Centerline is valid? [True, True] Translation: X:243.22, Y:-32.62, Z:-17.04 [[ 9.94808580e-01 8.38569040e-02 5.76533546e-02 2.43220532e+02] [-8.35197710e-02 9.96472078e-01 -8.23679132e-03 -3.26151926e+01] [-5.81406699e-02 3.37883570e-03 9.98302683e-01 -1.70425062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.080714057 meters 0.03586535926451997 Centerline is valid? [True, True] Translation: X:243.25, Y:-32.62, Z:-17.04 [[ 9.94663930e-01 8.53631714e-02 5.79378652e-02 2.43249652e+02] [-8.50254927e-02 9.96344429e-01 -8.27316613e-03 -3.26183004e+01] [-5.84322928e-02 3.30282440e-03 9.98285910e-01 -1.70447506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.110714057 meters 0.032642578856812474 Centerline is valid? [True, True] Translation: X:243.28, Y:-32.62, Z:-17.05 [[ 9.94270776e-01 8.89661684e-02 5.92506938e-02 2.43280052e+02] [-8.86195715e-02 9.96029642e-01 -8.45712933e-03 -3.26170274e+01] [-5.97678457e-02 3.15790545e-03 9.98207309e-01 -1.70453743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.140714057 meters 0.03241007847785498 Centerline is valid? [True, True] Translation: X:243.31, Y:-32.62, Z:-17.05 [[ 9.94060454e-01 9.08939531e-02 5.98506727e-02 2.43307700e+02] [-9.05438030e-02 9.95855838e-01 -8.54225784e-03 -3.26203106e+01] [-6.03790814e-02 3.07241318e-03 9.98170790e-01 -1.70470564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.17071405699997 meters 0.0301812258615094 Centerline is valid? [True, True] Translation: X:243.34, Y:-32.62, Z:-17.05 [[ 9.93595798e-01 9.47221519e-02 6.16044146e-02 2.43337653e+02] [-9.43588561e-02 9.95499474e-01 -8.78653646e-03 -3.26196457e+01] [-6.21594420e-02 2.91734361e-03 9.98061968e-01 -1.70478790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.20071405699997 meters 0.03200127087815221 Centerline is valid? [True, True] Translation: X:243.36, Y:-32.63, Z:-17.05 [[ 9.93424443e-01 9.62230890e-02 6.20402576e-02 2.43364690e+02] [-9.58576675e-02 9.95355737e-01 -8.84673471e-03 -3.26271052e+01] [-6.26033865e-02 2.84152812e-03 9.98034439e-01 -1.70498831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.23071405699997 meters 0.02852221662076438 Centerline is valid? [True, True] Translation: X:243.39, Y:-32.62, Z:-17.05 [[ 9.93176117e-01 9.78713125e-02 6.34224445e-02 2.43393862e+02] [-9.74931345e-02 9.95195160e-01 -9.03786730e-03 -3.26242360e+01] [-6.40022577e-02 2.79294105e-03 9.97945845e-01 -1.70506864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.26071405699997 meters 0.02868041606552436 Centerline is valid? [True, True] Translation: X:243.42, Y:-32.63, Z:-17.05 [[ 9.93186158e-01 9.76464205e-02 6.36115765e-02 2.43421964e+02] [-9.72658267e-02 9.95217200e-01 -9.06005521e-03 -3.26289775e+01] [-6.41920170e-02 2.81108885e-03 9.97933606e-01 -1.70528750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.29071405699997 meters 0.029303358852441577 Centerline is valid? [True, True] Translation: X:243.45, Y:-32.64, Z:-17.06 [[ 9.93341841e-01 9.59673220e-02 6.37358618e-02 2.43450415e+02] [-9.55820971e-02 9.95380200e-01 -9.07300735e-03 -3.26350882e+01] [-6.43121271e-02 2.92059050e-03 9.97925559e-01 -1.70557817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.32071405699998 meters 0.0301443395811701 Centerline is valid? [True, True] Translation: X:243.48, Y:-32.64, Z:-17.06 [[ 9.93543139e-01 9.42058354e-02 6.32241367e-02 2.43477257e+02] [-9.38235167e-02 9.95548204e-01 -8.99559881e-03 -3.26412412e+01] [-6.37901136e-02 3.00560464e-03 9.97958811e-01 -1.70580568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.35071405699998 meters 0.031189039987331264 Centerline is valid? [True, True] Translation: X:243.50, Y:-32.65, Z:-17.06 [[ 9.93733564e-01 9.22866040e-02 6.30617626e-02 2.43504776e+02] [-9.19027736e-02 9.95727614e-01 -8.96659416e-03 -3.26473796e+01] [-6.36198349e-02 3.11485468e-03 9.97969345e-01 -1.70611039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.38071405699998 meters 0.033202419212357885 Centerline is valid? [True, True] Translation: X:243.53, Y:-32.66, Z:-17.06 [[ 9.94076844e-01 8.88408306e-02 6.25982098e-02 2.43532635e+02] [-8.84561196e-02 9.96040349e-01 -8.89596853e-03 -3.26556990e+01] [-6.31406680e-02 3.30608159e-03 9.97999161e-01 -1.70634330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.41071405699998 meters 0.033007261945192774 Centerline is valid? [True, True] Translation: X:243.56, Y:-32.66, Z:-17.07 [[ 9.94179549e-01 8.72798301e-02 6.31605491e-02 2.43560410e+02] [-8.68851563e-02 9.96177916e-01 -8.97385553e-03 -3.26604383e+01] [-6.37023807e-02 3.43390947e-03 9.97963033e-01 -1.70655470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.44071405699998 meters 0.03309801279557306 Centerline is valid? [True, True] Translation: X:243.59, Y:-32.67, Z:-17.07 [[ 9.94326122e-01 8.46215717e-02 6.44573638e-02 2.43588895e+02] [-8.42053325e-02 9.96406395e-01 -9.15199256e-03 -3.26662462e+01] [-6.50001855e-02 3.67241151e-03 9.97878494e-01 -1.70666207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.47071405699998 meters 0.033407277047221816 Centerline is valid? [True, True] Translation: X:243.62, Y:-32.67, Z:-17.07 [[ 9.94377808e-01 8.36388943e-02 6.49408287e-02 2.43617632e+02] [-8.32145242e-02 9.96489031e-01 -9.21707597e-03 -3.26712100e+01] [-6.54837295e-02 3.76123563e-03 9.97846548e-01 -1.70681631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.50071405699998 meters 0.037003057275632426 Centerline is valid? [True, True] Translation: X:243.64, Y:-32.68, Z:-17.07 [[ 9.94437780e-01 8.27620240e-02 6.51456004e-02 2.43643783e+02] [-8.23334088e-02 9.96561993e-01 -9.24138090e-03 -3.26811807e+01] [-6.56864648e-02 3.82631895e-03 9.97832976e-01 -1.70705658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.53071405699998 meters 0.034449642193114104 Centerline is valid? [True, True] Translation: X:243.67, Y:-32.68, Z:-17.07 [[ 9.94542628e-01 8.15571994e-02 6.50644573e-02 2.43672774e+02] [-8.11274780e-02 9.96661052e-01 -9.22391432e-03 -3.26822751e+01] [-6.55994870e-02 3.89506067e-03 9.97838432e-01 -1.70730830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.56071405699998 meters 0.036099841206722126 Centerline is valid? [True, True] Translation: X:243.70, Y:-32.69, Z:-17.08 [[ 9.94563834e-01 8.09186714e-02 6.55358648e-02 2.43699979e+02] [-8.04816237e-02 9.96712836e-01 -9.28600421e-03 -3.26896363e+01] [-6.60718488e-02 3.96109114e-03 9.97807006e-01 -1.70759656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.59071405699999 meters 0.03698778113897996 Centerline is valid? [True, True] Translation: X:243.73, Y:-32.70, Z:-17.08 [[ 9.94616241e-01 8.03270553e-02 6.54682975e-02 2.43728482e+02] [-7.98900784e-02 9.96760577e-01 -9.26971663e-03 -3.26950902e+01] [-6.60008270e-02 3.98954329e-03 9.97811593e-01 -1.70784165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.620714057 meters 0.03707406483506294 Centerline is valid? [True, True] Translation: X:243.76, Y:-32.70, Z:-17.08 [[ 9.94554283e-01 8.03808180e-02 6.63377834e-02 2.43757215e+02] [-7.99325742e-02 9.96756062e-01 -9.38806698e-03 -3.26998400e+01] [-6.68772083e-02 4.03439243e-03 9.97753057e-01 -1.70803913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.650714057 meters 0.03677860519104137 Centerline is valid? [True, True] Translation: X:243.79, Y:-32.70, Z:-17.08 [[ 9.94517001e-01 8.09468719e-02 6.62083002e-02 2.43785540e+02] [-8.05019406e-02 9.96710456e-01 -9.36506621e-03 -3.27034232e+01] [-6.67485779e-02 3.98382091e-03 9.97761874e-01 -1.70825090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.680714057 meters 0.034090153565779685 Centerline is valid? [True, True] Translation: X:243.82, Y:-32.70, Z:-17.09 [[ 9.94388580e-01 8.30144041e-02 6.55740889e-02 2.43816075e+02] [-8.25827567e-02 9.96541090e-01 -9.27065293e-03 -3.27030483e+01] [-6.61168718e-02 3.80334237e-03 9.97804637e-01 -1.70855107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.710714057 meters 0.03489080152570594 Centerline is valid? [True, True] Translation: X:243.84, Y:-32.71, Z:-17.09 [[ 9.94270050e-01 8.45639335e-02 6.53912031e-02 2.43843424e+02] [-8.41380959e-02 9.96411227e-01 -9.24381075e-03 -3.27083739e+01] [-6.59382219e-02 3.68895286e-03 9.97816888e-01 -1.70878919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.740714057 meters 0.03168822244551811 Centerline is valid? [True, True] Translation: X:243.87, Y:-32.71, Z:-17.09 [[ 9.93972021e-01 8.76780979e-02 6.58192407e-02 2.43873652e+02] [-8.72538601e-02 9.96142714e-01 -9.29823435e-03 -3.27071619e+01] [-6.63806085e-02 3.49920197e-03 9.97788239e-01 -1.70902766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.770714057 meters 0.03433374095074033 Centerline is valid? [True, True] Translation: X:243.90, Y:-32.71, Z:-17.09 [[ 9.93861141e-01 8.85716294e-02 6.62955472e-02 2.43900321e+02] [-8.81432719e-02 9.96063789e-01 -9.36443043e-03 -3.27147087e+01] [-6.68640167e-02 3.46343707e-03 9.97756086e-01 -1.70925088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.800714057 meters 0.031228875505697303 Centerline is valid? [True, True] Translation: X:243.93, Y:-32.71, Z:-17.09 [[ 9.93728164e-01 8.97673991e-02 6.66794621e-02 2.43929343e+02] [-8.93371501e-02 9.95956966e-01 -9.41255748e-03 -3.27124639e+01] [-6.72548156e-02 3.39657035e-03 9.97730050e-01 -1.70945602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.830714057 meters 0.03043266489698672 Centerline is valid? [True, True] Translation: X:243.96, Y:-32.71, Z:-17.10 [[ 9.93634941e-01 9.05392155e-02 6.70242830e-02 2.43957707e+02] [-9.01065786e-02 9.95887234e-01 -9.45633405e-03 -3.27145470e+01] [-6.76047968e-02 3.35681510e-03 9.97706532e-01 -1.70970202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.860714057 meters 0.031177513867882527 Centerline is valid? [True, True] Translation: X:243.98, Y:-32.72, Z:-17.10 [[ 9.93646029e-01 9.01071297e-02 6.74408880e-02 2.43984699e+02] [-8.96684356e-02 9.95926267e-01 -9.51014025e-03 -3.27190503e+01] [-6.80230832e-02 3.40239418e-03 9.97677946e-01 -1.70997113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.890714057 meters 0.031783596243912526 Centerline is valid? [True, True] Translation: X:244.01, Y:-32.72, Z:-17.10 [[ 9.93694083e-01 8.92158546e-02 6.79161345e-02 2.44013351e+02] [-8.87692978e-02 9.96006229e-01 -9.57093744e-03 -3.27238852e+01] [-6.84987724e-02 3.48171633e-03 9.97645125e-01 -1.71021350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.92071405699997 meters 0.0331070056054234 Centerline is valid? [True, True] Translation: X:244.04, Y:-32.73, Z:-17.11 [[ 9.93908576e-01 8.62542120e-02 6.85999583e-02 2.44041586e+02] [-8.57919208e-02 9.96266223e-01 -9.66228253e-03 -3.27308437e+01] [-6.91772339e-02 3.71810327e-03 9.97597457e-01 -1.71051503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.95071405699997 meters 0.0336461031465799 Centerline is valid? [True, True] Translation: X:244.07, Y:-32.74, Z:-17.11 [[ 9.94078757e-01 8.39684666e-02 6.89689856e-02 2.44070791e+02] [-8.34960624e-02 9.96460808e-01 -9.70906262e-03 -3.27363200e+01] [-6.95401462e-02 3.89293418e-03 9.97571558e-01 -1.71075330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.98071405699997 meters 0.03568165805089891 Centerline is valid? [True, True] Translation: X:244.10, Y:-32.74, Z:-17.11 [[ 9.94217757e-01 8.15594500e-02 6.98506048e-02 2.44098808e+02] [-8.10691305e-02 9.96660000e-01 -9.83058556e-03 -3.27439948e+01] [-7.04190809e-02 4.11101493e-03 9.97509024e-01 -1.71097383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.01071405699997 meters 0.03809701103927604 Centerline is valid? [True, True] Translation: X:244.13, Y:-32.75, Z:-17.11 [[ 9.94652314e-01 7.57348253e-02 7.02211489e-02 2.44128312e+02] [-7.52251232e-02 9.97117643e-01 -9.87861387e-03 -3.27526090e+01] [-7.07669016e-02 4.54339157e-03 9.97482533e-01 -1.71123379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.04071405699997 meters 0.03665588788154934 Centerline is valid? [True, True] Translation: X:244.16, Y:-32.76, Z:-17.11 [[ 9.94826310e-01 7.29202128e-02 7.07336918e-02 2.44158266e+02] [-7.23959487e-02 9.97326330e-01 -9.95075571e-03 -3.27560390e+01] [-7.12701845e-02 4.77844087e-03 9.97445601e-01 -1.71147310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.07071405699998 meters 0.040474421474599856 Centerline is valid? [True, True] Translation: X:244.19, Y:-32.77, Z:-17.12 [[ 9.95235916e-01 6.69847037e-02 7.08415204e-02 2.44186578e+02] [-6.64439612e-02 9.97740398e-01 -9.96489492e-03 -3.27672901e+01] [-7.13489422e-02 5.21043009e-03 9.97437808e-01 -1.71177767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.10071405699998 meters 0.043733667550270514 Centerline is valid? [True, True] Translation: X:244.22, Y:-32.78, Z:-17.12 [[ 9.95598721e-01 6.17043435e-02 7.05390722e-02 2.44216258e+02] [-6.11546871e-02 9.98078929e-01 -9.92750377e-03 -3.27769079e+01] [-7.10161318e-02 5.57001517e-03 9.97459615e-01 -1.71214398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.13071405699998 meters 0.04720373255801345 Centerline is valid? [True, True] Translation: X:244.25, Y:-32.79, Z:-17.12 [[ 9.95717360e-01 5.99214858e-02 7.04013889e-02 2.44245483e+02] [-5.93694936e-02 9.98186894e-01 -9.90898647e-03 -3.27867514e+01] [-7.08675049e-02 5.68685504e-03 9.97469527e-01 -1.71237444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.16071405699998 meters 0.04975964286364067 Centerline is valid? [True, True] Translation: X:244.28, Y:-32.79, Z:-17.13 [[ 9.95812597e-01 5.84635929e-02 7.02800053e-02 2.44275155e+02] [-5.79098104e-02 9.98272797e-01 -9.89322173e-03 -3.27945951e+01] [-7.07370108e-02 5.78189304e-03 9.97478243e-01 -1.71264890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.19071405699998 meters 0.04714649376437896 Centerline is valid? [True, True] Translation: X:244.31, Y:-32.79, Z:-17.13 [[ 9.95954899e-01 5.71544904e-02 6.93339926e-02 2.44307350e+02] [-5.66121536e-02 9.98348505e-01 -9.76358482e-03 -3.27941571e+01] [-6.97775205e-02 5.79894350e-03 9.97545723e-01 -1.71298714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.22071405699998 meters 0.04829577835085847 Centerline is valid? [True, True] Translation: X:244.34, Y:-32.80, Z:-17.13 [[ 9.95940407e-01 5.80229075e-02 6.88189444e-02 2.44338570e+02] [-5.74903300e-02 9.98298978e-01 -9.69597224e-03 -3.27977987e+01] [-6.92644704e-02 5.70018671e-03 9.97582047e-01 -1.71330665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.25071405699998 meters 0.04899626909110533 Centerline is valid? [True, True] Translation: X:244.37, Y:-32.80, Z:-17.13 [[ 9.95886014e-01 5.84059371e-02 6.92805441e-02 2.44370211e+02] [-5.78659847e-02 9.98276485e-01 -9.77689605e-03 -3.28022144e+01] [-6.97321668e-02 5.72768713e-03 9.97549306e-01 -1.71349536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.28071405699998 meters 0.04896416422401023 Centerline is valid? [True, True] Translation: X:244.40, Y:-32.80, Z:-17.14 [[ 9.95685065e-01 5.95024507e-02 7.12089214e-02 2.44402738e+02] [-5.89334985e-02 9.98211157e-01 -1.00662360e-02 -3.28047654e+01] [-7.16805056e-02 5.82621001e-03 9.97410628e-01 -1.71359738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.31071405699998 meters 0.04961544071497971 Centerline is valid? [True, True] Translation: X:244.43, Y:-32.81, Z:-17.14 [[ 9.95597898e-01 5.99920571e-02 7.20123568e-02 2.44434356e+02] [-5.94109375e-02 9.98181633e-01 -1.01866561e-02 -3.28094176e+01] [-7.24925303e-02 5.86349182e-03 9.97351720e-01 -1.71377411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.34071405699999 meters 0.05121312896948685 Centerline is valid? [True, True] Translation: X:244.46, Y:-32.81, Z:-17.14 [[ 9.95561436e-01 5.98311422e-02 7.26475202e-02 2.44464759e+02] [-5.92380282e-02 9.98190813e-01 -1.02935381e-02 -3.28142693e+01] [-7.31319614e-02 5.94435369e-03 9.97304558e-01 -1.71402959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.370714057 meters 0.05191082898605532 Centerline is valid? [True, True] Translation: X:244.50, Y:-32.82, Z:-17.14 [[ 9.95579125e-01 5.95246948e-02 7.26568405e-02 2.44496571e+02] [-5.89298612e-02 9.98208933e-01 -1.03051887e-02 -3.28191021e+01] [-7.31401205e-02 5.97797319e-03 9.97303758e-01 -1.71435774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.400714057 meters 0.05452566613536228 Centerline is valid? [True, True] Translation: X:244.53, Y:-32.83, Z:-17.15 [[ 9.95703260e-01 5.77712193e-02 7.23706095e-02 2.44526435e+02] [-5.71753092e-02 9.98311220e-01 -1.02806195e-02 -3.28253927e+01] [-7.28423155e-02 6.09863439e-03 9.97324824e-01 -1.71471440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.430714057 meters 0.05578571182318344 Centerline is valid? [True, True] Translation: X:244.56, Y:-32.83, Z:-17.15 [[ 9.95791573e-01 5.67959171e-02 7.19261161e-02 2.44557675e+02] [-5.62046545e-02 9.98366966e-01 -1.02194612e-02 -3.28314595e+01] [-7.23890820e-02 6.13387085e-03 9.97357607e-01 -1.71503185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.460714057 meters 0.05578571182318344 Centerline is valid? [True, True] Translation: X:244.59, Y:-32.84, Z:-17.15 [[ 9.95776673e-01 5.70593635e-02 7.19238973e-02 2.44589983e+02] [-5.64676642e-02 9.98351965e-01 -1.02350541e-02 -3.28361666e+01] [-7.23893699e-02 6.13045359e-03 9.97357607e-01 -1.71525620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.490714057 meters 0.05982011270246001 Centerline is valid? [True, True] Translation: X:244.62, Y:-32.84, Z:-17.16 [[ 9.96034396e-01 5.42704673e-02 7.04996333e-02 2.44618112e+02] [-5.36938197e-02 9.98506868e-01 -1.00503090e-02 -3.28445443e+01] [-7.09398030e-02 6.22505887e-03 9.97461174e-01 -1.71565988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.520714057 meters 0.059953685763000995 Centerline is valid? [True, True] Translation: X:244.65, Y:-32.85, Z:-17.16 [[ 9.96107168e-01 5.34242620e-02 7.01167456e-02 2.44649958e+02] [-5.28518526e-02 9.98552344e-01 -9.99494260e-03 -3.28492003e+01] [-7.05492131e-02 6.25023407e-03 9.97488718e-01 -1.71597237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.550714057 meters 0.06152133211486363 Centerline is valid? [True, True] Translation: X:244.68, Y:-32.86, Z:-17.16 [[ 9.96279705e-01 5.15484196e-02 6.90616389e-02 2.44679476e+02] [-5.09883608e-02 9.98650681e-01 -9.84910477e-03 -3.28552888e+01] [-6.94761585e-02 6.29112343e-03 9.97563775e-01 -1.71628044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.580714057 meters 0.050588949377674094 Centerline is valid? [True, True] Translation: X:244.71, Y:-32.84, Z:-17.17 [[ 9.96331380e-01 5.11813860e-02 6.85875190e-02 2.44713340e+02] [-5.06278267e-02 9.98669643e-01 -9.78609573e-03 -3.28447271e+01] [-6.89971390e-02 6.27775724e-03 9.97597105e-01 -1.71656424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.610714057 meters 0.06365239666165713 Centerline is valid? [True, True] Translation: X:244.74, Y:-32.87, Z:-17.17 [[ 9.96358547e-01 5.17554008e-02 6.77570957e-02 2.44741924e+02] [-5.12153630e-02 9.98640676e-01 -9.68435558e-03 -3.28655475e+01] [-6.81662095e-02 6.17888620e-03 9.97654845e-01 -1.71686931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.640714057 meters 0.04855163261154777 Centerline is valid? [True, True] Translation: X:244.78, Y:-32.85, Z:-17.17 [[ 9.96335146e-01 5.26379308e-02 6.74205158e-02 2.44777276e+02] [-5.21042008e-02 9.98595011e-01 -9.65178901e-03 -3.28493167e+01] [-6.78338409e-02 6.10352452e-03 9.97677963e-01 -1.71710430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.67071405699997 meters 0.04827691089657203 Centerline is valid? [True, True] Translation: X:244.81, Y:-32.85, Z:-17.17 [[ 9.96139921e-01 5.55570483e-02 6.79608205e-02 2.44806940e+02] [-5.50210151e-02 9.98437735e-01 -9.73537233e-03 -3.28524339e+01] [-6.83955162e-02 5.95851969e-03 9.97640491e-01 -1.71727800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.70071405699997 meters 0.05142447057120123 Centerline is valid? [True, True] Translation: X:244.84, Y:-32.86, Z:-17.17 [[ 9.96034188e-01 5.72246951e-02 6.81265712e-02 2.44837012e+02] [-5.66899660e-02 9.98344141e-01 -9.75823003e-03 -3.28601045e+01] [-6.85721749e-02 5.85743772e-03 9.97628963e-01 -1.71745737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.73071405699997 meters 0.04632945647094807 Centerline is valid? [True, True] Translation: X:244.87, Y:-32.86, Z:-17.18 [[ 9.95819325e-01 6.03230473e-02 6.85930127e-02 2.44869094e+02] [-5.97880740e-02 9.98162716e-01 -9.82749056e-03 -3.28555401e+01] [-6.90598120e-02 5.68536090e-03 9.97596321e-01 -1.71754325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.76071405699997 meters 0.04641605849996835 Centerline is valid? [True, True] Translation: X:244.90, Y:-32.86, Z:-17.18 [[ 9.95710485e-01 6.17659615e-02 6.88882916e-02 2.44900066e+02] [-6.12297657e-02 9.98074895e-01 -9.87012192e-03 -3.28591576e+01] [-6.93653120e-02 5.60976992e-03 9.97575553e-01 -1.71774330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.79071405699997 meters 0.04713560490836194 Centerline is valid? [True, True] Translation: X:244.93, Y:-32.86, Z:-17.18 [[ 9.95583163e-01 6.37142197e-02 6.89540742e-02 2.44930547e+02] [-6.31814630e-02 9.97953130e-01 -9.88200098e-03 -3.28646858e+01] [-6.94425581e-02 5.48173451e-03 9.97570891e-01 -1.71792586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.82071405699998 meters 0.04514450807333875 Centerline is valid? [True, True] Translation: X:244.96, Y:-32.87, Z:-17.18 [[ 9.95430924e-01 6.68072669e-02 6.82207062e-02 2.44961305e+02] [-6.62928547e-02 9.97752286e-01 -9.77922547e-03 -3.28654389e+01] [-6.87206889e-02 5.21199809e-03 9.97622324e-01 -1.71824995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.85071405699998 meters 0.04541679930976411 Centerline is valid? [True, True] Translation: X:244.99, Y:-32.87, Z:-17.19 [[ 9.95246586e-01 7.05863621e-02 6.70954436e-02 2.44991035e+02] [-7.00972754e-02 9.97493784e-01 -9.61888635e-03 -3.28688479e+01] [-6.76062501e-02 4.86995602e-03 9.97700195e-01 -1.71853713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.88071405699998 meters 0.04515063830262062 Centerline is valid? [True, True] Translation: X:245.02, Y:-32.87, Z:-17.19 [[ 9.95150094e-01 7.26511807e-02 6.63181410e-02 2.45020603e+02] [-7.21779296e-02 9.97346456e-01 -9.50756611e-03 -3.28718850e+01] [-6.68328988e-02 4.67474920e-03 9.97753231e-01 -1.71880042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.91071405699998 meters 0.03628243004021194 Centerline is valid? [True, True] Translation: X:245.05, Y:-32.86, Z:-17.19 [[ 9.94789954e-01 7.79004242e-02 6.57607064e-02 2.45051929e+02] [-7.74466567e-02 9.96951943e-01 -9.42543357e-03 -3.28621474e+01] [-6.62945093e-02 4.28337977e-03 9.97790905e-01 -1.71896659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.94071405699998 meters 0.03719390662690543 Centerline is valid? [True, True] Translation: X:245.08, Y:-32.87, Z:-17.19 [[ 9.94645465e-01 8.00701433e-02 6.53388971e-02 2.45080172e+02] [-7.96269544e-02 9.96780756e-01 -9.36331842e-03 -3.28672624e+01] [-6.58782775e-02 4.11044482e-03 9.97819200e-01 -1.71918864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.97071405699998 meters 0.03540676707811527 Centerline is valid? [True, True] Translation: X:245.11, Y:-32.87, Z:-17.19 [[ 9.94263080e-01 8.44800988e-02 6.56051816e-02 2.45111015e+02] [-8.40430785e-02 9.96417805e-01 -9.39780189e-03 -3.28676925e+01] [-6.61640983e-02 3.83022603e-03 9.97801404e-01 -1.71936961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.00071405699998 meters 0.034817057474174885 Centerline is valid? [True, True] Translation: X:245.14, Y:-32.87, Z:-17.20 [[ 9.94033636e-01 8.66965571e-02 6.61878897e-02 2.45140629e+02] [-8.62566383e-02 9.96227837e-01 -9.48094483e-03 -3.28708173e+01] [-6.67601835e-02 3.71523321e-03 9.97762133e-01 -1.71955232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.03071405699998 meters 0.03843041705622636 Centerline is valid? [True, True] Translation: X:245.17, Y:-32.88, Z:-17.20 [[ 9.93755992e-01 9.01081877e-02 6.57992629e-02 2.45168564e+02] [-8.96810269e-02 9.95925961e-01 -9.42298621e-03 -3.28788227e+01] [-6.63802824e-02 3.46320353e-03 9.97788387e-01 -1.71975675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.06071405699998 meters 0.03343419891389123 Centerline is valid? [True, True] Translation: X:245.20, Y:-32.87, Z:-17.20 [[ 9.93720293e-01 9.11603322e-02 6.48827708e-02 2.45197965e+02] [-9.07473799e-02 9.95830616e-01 -9.28962965e-03 -3.28741586e+01] [-6.54590954e-02 3.34335205e-03 9.97849652e-01 -1.71990944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.09071405699999 meters 0.030713925312312866 Centerline is valid? [True, True] Translation: X:245.23, Y:-32.87, Z:-17.20 [[ 9.93601368e-01 9.28790558e-02 6.42635340e-02 2.45227184e+02] [-9.24778328e-02 9.95672273e-01 -9.19649698e-03 -3.28735646e+01] [-6.48395809e-02 3.19469963e-03 9.97890587e-01 -1.72003521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.120714057 meters 0.029810755989524335 Centerline is valid? [True, True] Translation: X:245.26, Y:-32.88, Z:-17.20 [[ 9.93607016e-01 9.30139413e-02 6.39804965e-02 2.45256175e+02] [-9.26168291e-02 9.95659769e-01 -9.15135317e-03 -3.28760027e+01] [-6.45540098e-02 3.16717802e-03 9.97909189e-01 -1.72024080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.150714057 meters 0.03038082216140258 Centerline is valid? [True, True] Translation: X:245.28, Y:-32.88, Z:-17.20 [[ 9.93743133e-01 9.22174513e-02 6.30121194e-02 2.45283957e+02] [-9.18309798e-02 9.95733861e-01 -9.00831728e-03 -3.28815185e+01] [-6.35740250e-02 3.16548878e-03 9.97972105e-01 -1.72040572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.180714057 meters 0.03163900358723287 Centerline is valid? [True, True] Translation: X:245.31, Y:-32.89, Z:-17.21 [[ 9.93825473e-01 9.12664173e-02 6.30980967e-02 2.45311291e+02] [-9.08773501e-02 9.95821290e-01 -9.01478705e-03 -3.28881433e+01] [-6.36571754e-02 3.22493718e-03 9.97966615e-01 -1.72061500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.210714057 meters 0.031966976871726255 Centerline is valid? [True, True] Translation: X:245.34, Y:-32.89, Z:-17.21 [[ 9.93989275e-01 8.95602578e-02 6.29625321e-02 2.45340121e+02] [-8.91698355e-02 9.95975869e-01 -8.98940030e-03 -3.28940269e+01] [-6.35142557e-02 3.32100886e-03 9.97975406e-01 -1.72081880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.240714057 meters 0.03280462814569748 Centerline is valid? [True, True] Translation: X:245.37, Y:-32.90, Z:-17.21 [[ 9.94061284e-01 8.88147034e-02 6.28817258e-02 2.45367029e+02] [-8.84239156e-02 9.96042490e-01 -8.97601436e-03 -3.28999527e+01] [-6.34300728e-02 3.36245996e-03 9.97980621e-01 -1.72099347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.270714057 meters 0.03266502616262706 Centerline is valid? [True, True] Translation: X:245.40, Y:-32.90, Z:-17.21 [[ 9.94164845e-01 8.73648001e-02 6.32744242e-02 2.45395479e+02] [-8.69666987e-02 9.96170347e-01 -9.02400509e-03 -3.29042598e+01] [-6.38204856e-02 3.46858083e-03 9.97955367e-01 -1.72115134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.300714057 meters 0.033563267570198924 Centerline is valid? [True, True] Translation: X:245.42, Y:-32.91, Z:-17.21 [[ 9.94244349e-01 8.63241939e-02 6.34532021e-02 2.45422235e+02] [-8.59220141e-02 9.96260807e-01 -9.04499893e-03 -3.29101439e+01] [-6.39967406e-02 3.54091215e-03 9.97943826e-01 -1.72128934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.330714057 meters 0.03392727634917158 Centerline is valid? [True, True] Translation: X:245.45, Y:-32.92, Z:-17.21 [[ 9.94430548e-01 8.41945076e-02 6.33969200e-02 2.45451576e+02] [-8.37891505e-02 9.96442587e-01 -9.03043894e-03 -3.29159132e+01] [-6.39317043e-02 3.66817027e-03 9.97947535e-01 -1.72147274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.360714057 meters 0.03478414867326308 Centerline is valid? [True, True] Translation: X:245.48, Y:-32.92, Z:-17.22 [[ 9.94615397e-01 8.24410118e-02 6.27988243e-02 2.45480680e+02] [-8.20399420e-02 9.96588918e-01 -8.94298928e-03 -3.29218972e+01] [-6.33218815e-02 3.74282292e-03 9.97986137e-01 -1.72169337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.390714057 meters 0.035378426269884924 Centerline is valid? [True, True] Translation: X:245.51, Y:-32.93, Z:-17.22 [[ 9.94744359e-01 8.12838749e-02 6.22622775e-02 2.45508306e+02] [-8.08874981e-02 9.96683816e-01 -8.86475936e-03 -3.29277479e+01] [-6.27763664e-02 3.78192951e-03 9.98020453e-01 -1.72189910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.42071405699997 meters 0.03806373121054673 Centerline is valid? [True, True] Translation: X:245.54, Y:-32.94, Z:-17.22 [[ 9.95000333e-01 7.86701234e-02 6.15251906e-02 2.45536699e+02] [-7.82785541e-02 9.96893102e-01 -8.75277194e-03 -3.29370536e+01] [-6.20226198e-02 3.89290804e-03 9.98067152e-01 -1.72221568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.45071405699997 meters 0.03880431663320866 Centerline is valid? [True, True] Translation: X:245.57, Y:-32.94, Z:-17.22 [[ 9.95193996e-01 7.69539404e-02 6.05557632e-02 2.45565730e+02] [-7.65715272e-02 9.97026881e-01 -8.61392782e-03 -3.29429605e+01] [-6.10385994e-02 3.93568198e-03 9.98127647e-01 -1.72245034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.48071405699997 meters 0.03933213178588914 Centerline is valid? [True, True] Translation: X:245.60, Y:-32.95, Z:-17.23 [[ 9.95429673e-01 7.43039289e-02 5.99891089e-02 2.45595224e+02] [-7.39239981e-02 9.97227388e-01 -8.53107718e-03 -3.29493513e+01] [-6.04566749e-02 4.05745260e-03 9.98162576e-01 -1.72271575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.51071405699997 meters 0.04153599554024707 Centerline is valid? [True, True] Translation: X:245.62, Y:-32.96, Z:-17.23 [[ 9.95567811e-01 7.28336290e-02 5.94978609e-02 2.45623181e+02] [-7.24573380e-02 9.97335628e-01 -8.46046761e-03 -3.29571006e+01] [-5.99555430e-02 4.11191261e-03 9.98192579e-01 -1.72299456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.54071405699997 meters 0.044686412778515996 Centerline is valid? [True, True] Translation: X:245.65, Y:-32.97, Z:-17.23 [[ 9.95770400e-01 7.06621450e-02 5.87211421e-02 2.45651407e+02] [-7.02920750e-02 9.97491533e-01 -8.34663117e-03 -3.29669055e+01] [-5.91636329e-02 4.18369732e-03 9.98239531e-01 -1.72330415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.57071405699998 meters 0.041454923265457036 Centerline is valid? [True, True] Translation: X:245.68, Y:-32.97, Z:-17.23 [[ 9.95886321e-01 6.92479678e-02 5.84393260e-02 2.45681087e+02] [-6.88790751e-02 9.97590441e-01 -8.30574253e-03 -3.29666362e+01] [-5.88736688e-02 4.24632865e-03 9.98256410e-01 -1.72344955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.60071405699998 meters 0.046959639528241 Centerline is valid? [True, True] Translation: X:245.71, Y:-32.98, Z:-17.24 [[ 9.96035956e-01 6.69657513e-02 5.85488073e-02 2.45708497e+02] [-6.65917073e-02 9.97745631e-01 -8.31871721e-03 -3.29796015e+01] [-5.89738858e-02 4.38687642e-03 9.98249887e-01 -1.72371059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.63071405699998 meters 0.04805322242750048 Centerline is valid? [True, True] Translation: X:245.74, Y:-32.99, Z:-17.24 [[ 9.96102313e-01 6.55498834e-02 5.90202903e-02 2.45738442e+02] [-6.51672462e-02 9.97839111e-01 -8.38682283e-03 -3.29853795e+01] [-5.94425093e-02 4.50794382e-03 9.98221552e-01 -1.72392160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.66071405699998 meters 0.043731703358063014 Centerline is valid? [True, True] Translation: X:245.77, Y:-32.98, Z:-17.24 [[ 9.96165565e-01 6.33102559e-02 6.03819347e-02 2.45769284e+02] [-6.29056368e-02 9.97982593e-01 -8.58044957e-03 -3.29841424e+01] [-6.08033502e-02 4.74918434e-03 9.98138466e-01 -1.72392921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.69071405699998 meters 0.044233724965318286 Centerline is valid? [True, True] Translation: X:245.80, Y:-32.99, Z:-17.24 [[ 9.96227346e-01 6.22805993e-02 6.04334508e-02 2.45798736e+02] [-6.18734731e-02 9.98047064e-01 -8.58669188e-03 -3.29891241e+01] [-6.08502124e-02 4.81506977e-03 9.98135295e-01 -1.72413062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.72071405699998 meters 0.0463747477759789 Centerline is valid? [True, True] Translation: X:245.83, Y:-33.00, Z:-17.24 [[ 9.96314892e-01 6.06633517e-02 6.06349276e-02 2.45827841e+02] [-6.02506030e-02 9.98146113e-01 -8.61410509e-03 -3.29967876e+01] [-6.10450778e-02 4.92907023e-03 9.98122840e-01 -1.72433975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.75071405699998 meters 0.042135433609411355 Centerline is valid? [True, True] Translation: X:245.86, Y:-33.00, Z:-17.25 [[ 9.96363898e-01 6.00614010e-02 6.04285533e-02 2.45859251e+02] [-5.96503714e-02 9.98182417e-01 -8.58464723e-03 -3.29954534e+01] [-6.08343253e-02 4.94884693e-03 9.98135609e-01 -1.72450399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.78071405699998 meters 0.042898324017408805 Centerline is valid? [True, True] Translation: X:245.89, Y:-33.00, Z:-17.25 [[ 9.96456767e-01 5.90514325e-02 5.98902284e-02 2.45890463e+02] [-5.86458835e-02 9.98242590e-01 -8.50835607e-03 -3.30016204e+01] [-6.02874073e-02 4.96589363e-03 9.98168707e-01 -1.72478332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.81071405699998 meters 0.051402090683119496 Centerline is valid? [True, True] Translation: X:245.92, Y:-33.02, Z:-17.25 [[ 9.96492422e-01 5.85422696e-02 5.97967819e-02 2.45919403e+02] [-5.81366647e-02 9.98272430e-01 -8.50192758e-03 -3.30182932e+01] [-6.01912009e-02 4.99572095e-03 9.98174365e-01 -1.72519760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.84071405699999 meters 0.051641474710685156 Centerline is valid? [True, True] Translation: X:245.95, Y:-33.02, Z:-17.25 [[ 9.96564251e-01 5.80209897e-02 5.91037958e-02 2.45950749e+02] [-5.76230109e-02 9.98302929e-01 -8.41724697e-03 -3.30233965e+01] [-5.94918695e-02 4.98258875e-03 9.98216355e-01 -1.72547679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.870714057 meters 0.044212674771926516 Centerline is valid? [True, True] Translation: X:245.98, Y:-33.02, Z:-17.26 [[ 9.96752453e-01 5.59029548e-02 5.79603883e-02 2.45982577e+02] [-5.55158461e-02 9.98423565e-01 -8.26895139e-03 -3.30178580e+01] [-5.83312763e-02 5.02437759e-03 9.98284638e-01 -1.72565046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.900714057 meters 0.046439053503585695 Centerline is valid? [True, True] Translation: X:246.01, Y:-33.03, Z:-17.26 [[ 9.96900740e-01 5.42627686e-02 5.69602222e-02 2.46012059e+02] [-5.38862099e-02 9.98514008e-01 -8.12728563e-03 -3.30257884e+01] [-5.73165888e-02 5.03272657e-03 9.98343368e-01 -1.72598766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.930714057 meters 0.046582403187863025 Centerline is valid? [True, True] Translation: X:246.04, Y:-33.03, Z:-17.26 [[ 9.96958319e-01 5.37068923e-02 5.64772463e-02 2.46043973e+02] [-5.33359092e-02 9.98544125e-01 -8.05675690e-03 -3.30306723e+01] [-5.68277259e-02 5.01998553e-03 9.98371378e-01 -1.72623058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.960714057 meters 0.049264931072249406 Centerline is valid? [True, True] Translation: X:246.07, Y:-33.04, Z:-17.26 [[ 9.96985598e-01 5.25064006e-02 5.71208815e-02 2.46073495e+02] [-5.21239944e-02 9.98607240e-01 -8.16514004e-03 -3.30394565e+01] [-5.74700480e-02 5.16315852e-03 9.98333880e-01 -1.72647951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.990714057 meters 0.05014208118075136 Centerline is valid? [True, True] Translation: X:246.11, Y:-33.05, Z:-17.27 [[ 9.96951360e-01 5.23363942e-02 5.78695690e-02 2.46105317e+02] [-5.19436017e-02 9.98615759e-01 -8.27211294e-03 -3.30451080e+01] [-5.82223962e-02 5.24094040e-03 9.98289880e-01 -1.72666437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.020714057 meters 0.04756222167482839 Centerline is valid? [True, True] Translation: X:246.14, Y:-33.05, Z:-17.27 [[ 9.96949761e-01 5.21082877e-02 5.81024916e-02 2.46137690e+02] [-5.17110832e-02 9.98627429e-01 -8.32001045e-03 -3.30460067e+01] [-5.84562833e-02 5.29008966e-03 9.98275953e-01 -1.72675715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.050714057 meters 0.04883258903139444 Centerline is valid? [True, True] Translation: X:246.17, Y:-33.05, Z:-17.27 [[ 9.96896192e-01 5.22829324e-02 5.88598149e-02 2.46170376e+02] [-5.18747017e-02 9.98617907e-01 -8.44345063e-03 -3.30517047e+01] [-5.92199135e-02 5.36390843e-03 9.98230550e-01 -1.72690601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.080714057 meters 0.04722916189850165 Centerline is valid? [True, True] Translation: X:246.20, Y:-33.05, Z:-17.27 [[ 9.96806194e-01 5.28443048e-02 5.98739645e-02 2.46202871e+02] [-5.24217820e-02 9.98587942e-01 -8.60689002e-03 -3.30541915e+01] [-6.02442441e-02 5.44070137e-03 9.98168838e-01 -1.72708785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.110714057 meters 0.050064775991761054 Centerline is valid? [True, True] Translation: X:246.23, Y:-33.06, Z:-17.27 [[ 9.96823797e-01 5.28787193e-02 5.95496338e-02 2.46233260e+02] [-5.24599101e-02 9.98586209e-01 -8.57558734e-03 -3.30624486e+01] [-5.99189091e-02 5.42438110e-03 9.98188509e-01 -1.72733311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.140714057 meters 0.04978186175859219 Centerline is valid? [True, True] Translation: X:246.26, Y:-33.07, Z:-17.28 [[ 9.96833938e-01 5.29551263e-02 5.93115112e-02 2.46264742e+02] [-5.25389795e-02 9.98582229e-01 -8.55500378e-03 -3.30664309e+01] [-5.96804523e-02 5.41175183e-03 9.98202863e-01 -1.72759491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.17071405699997 meters 0.05129745652830759 Centerline is valid? [True, True] Translation: X:246.30, Y:-33.07, Z:-17.28 [[ 9.96919667e-01 5.29407201e-02 5.78658579e-02 2.46295655e+02] [-5.25437318e-02 9.98583616e-01 -8.36168494e-03 -3.30728175e+01] [-5.82265712e-02 5.29544005e-03 9.98289349e-01 -1.72791803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.20071405699997 meters 0.051820295692299706 Centerline is valid? [True, True] Translation: X:246.33, Y:-33.08, Z:-17.28 [[ 9.96994340e-01 5.30995730e-02 5.64156118e-02 2.46327035e+02] [-5.27221683e-02 9.98575894e-01 -8.15820698e-03 -3.30774452e+01] [-5.67684673e-02 5.15933280e-03 9.98374039e-01 -1.72832293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.23071405699997 meters 0.051845251333418246 Centerline is valid? [True, True] Translation: X:246.36, Y:-33.08, Z:-17.29 [[ 9.97010109e-01 5.34554615e-02 5.57974634e-02 2.46360009e+02] [-5.30861072e-02 9.98557233e-01 -8.08194970e-03 -3.30820063e+01] [-5.61489850e-02 5.09571543e-03 9.98409398e-01 -1.72863211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.26071405699997 meters 0.05432290918301493 Centerline is valid? [True, True] Translation: X:246.39, Y:-33.09, Z:-17.29 [[ 9.96999597e-01 5.40746454e-02 5.53871457e-02 2.46390404e+02] [-5.37107532e-02 9.98524178e-01 -8.03871464e-03 -3.30896990e+01] [-5.57400948e-02 5.03970995e-03 9.98432593e-01 -1.72895515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.29071405699997 meters 0.05540921177200894 Centerline is valid? [True, True] Translation: X:246.42, Y:-33.10, Z:-17.29 [[ 9.96951095e-01 5.46992912e-02 5.56462203e-02 2.46420787e+02] [-5.43322289e-02 9.98490148e-01 -8.08910788e-03 -3.30950056e+01] [-5.60046712e-02 5.04106179e-03 9.98417781e-01 -1.72919679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.32071405699998 meters 0.055210521920660935 Centerline is valid? [True, True] Translation: X:246.45, Y:-33.10, Z:-17.29 [[ 9.96917538e-01 5.53678473e-02 5.55861914e-02 2.46452813e+02] [-5.50019264e-02 9.98453454e-01 -8.09253649e-03 -3.30986977e+01] [-5.59482911e-02 5.01024394e-03 9.98421097e-01 -1.72937490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.35071405699998 meters 0.055210521920660935 Centerline is valid? [True, True] Translation: X:246.48, Y:-33.10, Z:-17.30 [[ 9.96904632e-01 5.56016389e-02 5.55842916e-02 2.46484289e+02] [-5.52353578e-02 9.98440461e-01 -8.10556196e-03 -3.31033532e+01] [-5.59482883e-02 5.01025402e-03 9.98421097e-01 -1.72959347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.38071405699998 meters 0.05503842235391157 Centerline is valid? [True, True] Translation: X:246.52, Y:-33.11, Z:-17.30 [[ 9.96758726e-01 5.69105526e-02 5.68615000e-02 2.46515388e+02] [-5.65284001e-02 9.98366424e-01 -8.30806102e-03 -3.31062094e+01] [-5.72414287e-02 5.06684271e-03 9.98347508e-01 -1.72973046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.41071405699998 meters 0.05484808013032183 Centerline is valid? [True, True] Translation: X:246.55, Y:-33.11, Z:-17.30 [[ 9.96666278e-01 5.76941297e-02 5.76863792e-02 2.46547249e+02] [-5.73020988e-02 9.98321306e-01 -8.42849530e-03 -3.31101353e+01] [-5.80758161e-02 5.09484644e-03 9.98299175e-01 -1.72988650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.44071405699998 meters 0.04713179355044237 Centerline is valid? [True, True] Translation: X:246.58, Y:-33.10, Z:-17.30 [[ 9.96558060e-01 5.84593351e-02 5.87753274e-02 2.46580431e+02] [-5.80527022e-02 9.98276444e-01 -8.60376048e-03 -3.31026671e+01] [-5.91769949e-02 5.16208028e-03 9.98234159e-01 -1.72988348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.47071405699998 meters 0.05106372952445925 Centerline is valid? [True, True] Translation: X:246.61, Y:-33.11, Z:-17.30 [[ 9.96510924e-01 5.86883571e-02 5.93435363e-02 2.46610030e+02] [-5.82741381e-02 9.98262811e-01 -8.68821178e-03 -3.31123145e+01] [-5.97503423e-02 5.19970452e-03 9.98199809e-01 -1.73016194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.50071405699998 meters 0.04957078404395518 Centerline is valid? [True, True] Translation: X:246.64, Y:-33.11, Z:-17.30 [[ 9.96546500e-01 5.81892000e-02 5.92375675e-02 2.46642107e+02] [-5.77751410e-02 9.98291885e-01 -8.68015996e-03 -3.31147898e+01] [-5.96414745e-02 5.22772421e-03 9.98206174e-01 -1.73044349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.53071405699998 meters 0.04859184565320848 Centerline is valid? [True, True] Translation: X:246.67, Y:-33.12, Z:-17.31 [[ 9.96563310e-01 5.77814482e-02 5.93538017e-02 2.46673698e+02] [-5.73641427e-02 9.98315307e-01 -8.71223580e-03 -3.31181556e+01] [-5.97572144e-02 5.27751459e-03 9.98198990e-01 -1.73068288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.56071405699998 meters 0.051605460075879614 Centerline is valid? [True, True] Translation: X:246.70, Y:-33.13, Z:-17.31 [[ 9.96709651e-01 5.58817230e-02 5.87120556e-02 2.46702961e+02] [-5.54692147e-02 9.98423070e-01 -8.63365719e-03 -3.31268823e+01] [-5.91019344e-02 5.34853782e-03 9.98237624e-01 -1.73101830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.59071405699999 meters 0.055044049682559895 Centerline is valid? [True, True] Translation: X:246.73, Y:-33.14, Z:-17.31 [[ 9.96791119e-01 5.48001081e-02 5.83473527e-02 2.46733257e+02] [-5.43908729e-02 9.98482856e-01 -8.58015585e-03 -3.31356375e+01] [-5.87290248e-02 5.37905970e-03 9.98259469e-01 -1.73136914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.620714057 meters 0.0469861364850975 Centerline is valid? [True, True] Translation: X:246.77, Y:-33.13, Z:-17.32 [[ 9.96918295e-01 5.32189801e-02 5.76337903e-02 2.46765658e+02] [-5.28166651e-02 9.98568198e-01 -8.48254598e-03 -3.31286680e+01] [-5.80027026e-02 5.41238067e-03 9.98301754e-01 -1.73151083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.650714057 meters 0.05111047675530862 Centerline is valid? [True, True] Translation: X:246.80, Y:-33.14, Z:-17.32 [[ 9.96926976e-01 5.25141976e-02 5.81279894e-02 2.46795621e+02] [-5.21038195e-02 9.98605036e-01 -8.55420751e-03 -3.31389982e+01] [-5.84961203e-02 5.49922996e-03 9.98272489e-01 -1.73182899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.680714057 meters 0.05671446284561637 Centerline is valid? [True, True] Translation: X:246.83, Y:-33.15, Z:-17.32 [[ 9.96897122e-01 5.23563561e-02 5.87787337e-02 2.46825117e+02] [-5.19356057e-02 9.98612850e-01 -8.66425889e-03 -3.31513296e+01] [-5.91508277e-02 5.58466562e-03 9.98233435e-01 -1.73212172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.710714057 meters 0.052442108419896855 Centerline is valid? [True, True] Translation: X:246.86, Y:-33.15, Z:-17.32 [[ 9.96900484e-01 5.20479383e-02 5.89952337e-02 2.46857475e+02] [-5.16227236e-02 9.98628675e-01 -8.70995061e-03 -3.31502147e+01] [-5.93676671e-02 5.63745934e-03 9.98220266e-01 -1.73226047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.740714057 meters 0.04876473423229415 Centerline is valid? [True, True] Translation: X:246.89, Y:-33.15, Z:-17.32 [[ 9.96883176e-01 5.15528690e-02 5.97179587e-02 2.46889528e+02] [-5.11154311e-02 9.98653710e-01 -8.83068503e-03 -3.31500428e+01] [-6.00928081e-02 5.75065213e-03 9.98176229e-01 -1.73237235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.770714057 meters 0.05240814961508275 Centerline is valid? [True, True] Translation: X:246.92, Y:-33.16, Z:-17.33 [[ 9.96831177e-01 5.14652506e-02 6.06542005e-02 2.46920026e+02] [-5.10128949e-02 9.98657585e-01 -8.98402295e-03 -3.31595640e+01] [-6.10351423e-02 5.86140782e-03 9.98118407e-01 -1.73257152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.800714057 meters 0.050915836803195294 Centerline is valid? [True, True] Translation: X:246.95, Y:-33.16, Z:-17.33 [[ 9.96835728e-01 5.18831690e-02 6.02218179e-02 2.46951842e+02] [-5.14371426e-02 9.98636270e-01 -8.93418623e-03 -3.31619936e+01] [-6.06032255e-02 5.80827781e-03 9.98145036e-01 -1.73278306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.830714057 meters 0.05337589219553509 Centerline is valid? [True, True] Translation: X:246.98, Y:-33.17, Z:-17.33 [[ 9.96826432e-01 5.24970135e-02 5.98425195e-02 2.46981906e+02] [-5.20567403e-02 9.98604525e-01 -8.89368420e-03 -3.31701304e+01] [-6.02259027e-02 5.75025299e-03 9.98168210e-01 -1.73308404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.860714057 meters 0.05409344621683811 Centerline is valid? [True, True] Translation: X:247.01, Y:-33.17, Z:-17.33 [[ 9.96768666e-01 5.44970370e-02 5.90110076e-02 2.47011856e+02] [-5.40714316e-02 9.98498412e-01 -8.78643042e-03 -3.31749344e+01] [-5.94012318e-02 5.56722887e-03 9.98218663e-01 -1.73339123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.890714057 meters 0.05398898855830143 Centerline is valid? [True, True] Translation: X:247.04, Y:-33.18, Z:-17.34 [[ 9.96689376e-01 5.59929525e-02 5.89497853e-02 2.47041694e+02] [-5.55708819e-02 9.98416172e-01 -8.77631215e-03 -3.31788287e+01] [-5.93478306e-02 5.47136552e-03 9.98222370e-01 -1.73359802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.92071405699997 meters 0.046547034738015705 Centerline is valid? [True, True] Translation: X:247.07, Y:-33.17, Z:-17.34 [[ 9.96426592e-01 6.03085058e-02 5.91348570e-02 2.47073821e+02] [-5.98908622e-02 9.98166041e-01 -8.81129706e-03 -3.31721737e+01] [-5.95578022e-02 5.23817312e-03 9.98211115e-01 -1.73377667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.95071405699997 meters 0.043683967022370256 Centerline is valid? [True, True] Translation: X:247.11, Y:-33.17, Z:-17.34 [[ 9.96252874e-01 6.29186381e-02 5.93418574e-02 2.47105334e+02] [-6.25025886e-02 9.98005623e-01 -8.84318806e-03 -3.31721935e+01] [-5.97799087e-02 5.10103182e-03 9.98198548e-01 -1.73399641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.98071405699997 meters 0.04206785711376059 Centerline is valid? [True, True] Translation: X:247.13, Y:-33.17, Z:-17.34 [[ 9.95854099e-01 6.86959316e-02 5.96278732e-02 2.47134906e+02] [-6.82860451e-02 9.97626200e-01 -8.88717424e-03 -3.31732373e+01] [-6.00968412e-02 4.77857725e-03 9.98181113e-01 -1.73413034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.01071405699997 meters 0.04174880346458616 Centerline is valid? [True, True] Translation: X:247.16, Y:-33.18, Z:-17.34 [[ 9.95616878e-01 7.14997257e-02 6.02894798e-02 2.47164178e+02] [-7.10858047e-02 9.97429732e-01 -8.98540485e-03 -3.31759304e+01] [-6.07769737e-02 4.66029454e-03 9.98140492e-01 -1.73429982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.04071405699997 meters 0.04066475405407918 Centerline is valid? [True, True] Translation: X:247.19, Y:-33.18, Z:-17.34 [[ 9.95130133e-01 7.67657842e-02 6.18306729e-02 2.47193549e+02] [-7.63406333e-02 9.97039233e-01 -9.21280681e-03 -3.31768044e+01] [-6.23548350e-02 4.44774895e-03 9.98044133e-01 -1.73435997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.07071405699998 meters 0.03911332666658804 Centerline is valid? [True, True] Translation: X:247.22, Y:-33.18, Z:-17.35 [[ 9.94947072e-01 7.88493733e-02 6.21538466e-02 2.47223502e+02] [-7.84239325e-02 9.96877104e-01 -9.25884634e-03 -3.31784343e+01] [-6.26898008e-02 4.33771299e-03 9.98023634e-01 -1.73451100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.10071405699998 meters 0.039082840623904186 Centerline is valid? [True, True] Translation: X:247.25, Y:-33.18, Z:-17.35 [[ 9.94613291e-01 8.24216815e-02 6.28575191e-02 2.47252522e+02] [-8.19937005e-02 9.96588870e-01 -9.36254132e-03 -3.31828948e+01] [-6.34147803e-02 4.15818744e-03 9.97978595e-01 -1.73474742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.13071405699998 meters 0.038227664021091456 Centerline is valid? [True, True] Translation: X:247.28, Y:-33.19, Z:-17.35 [[ 9.94567706e-01 8.34148834e-02 6.22658374e-02 2.47281764e+02] [-8.29969466e-02 9.96506656e-01 -9.27320157e-03 -3.31853462e+01] [-6.28218445e-02 4.05495243e-03 9.98016520e-01 -1.73502046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.16071405699998 meters 0.03748466752229931 Centerline is valid? [True, True] Translation: X:247.31, Y:-33.19, Z:-17.35 [[ 9.94353549e-01 8.59259433e-02 6.22715954e-02 2.47310672e+02] [-8.55130432e-02 9.96293920e-01 -9.27062943e-03 -3.31890588e+01] [-6.28373994e-02 3.89324966e-03 9.98016184e-01 -1.73521277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.19071405699998 meters 0.03744089363960507 Centerline is valid? [True, True] Translation: X:247.34, Y:-33.19, Z:-17.35 [[ 9.94272956e-01 8.71336035e-02 6.18791141e-02 2.47339154e+02] [-8.67283497e-02 9.96189422e-01 -9.21024041e-03 -3.31928886e+01] [-6.24458403e-02 3.79081950e-03 9.98041155e-01 -1.73544831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.22071405699998 meters 0.03346316533146858 Centerline is valid? [True, True] Translation: X:247.37, Y:-33.19, Z:-17.36 [[ 9.94104412e-01 8.93702557e-02 6.13952348e-02 2.47369775e+02] [-8.89758567e-02 9.95991905e-01 -9.13359907e-03 -3.31910634e+01] [-6.19654290e-02 3.61705752e-03 9.98071742e-01 -1.73556925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.25071405699998 meters 0.03460613849020353 Centerline is valid? [True, True] Translation: X:247.40, Y:-33.20, Z:-17.36 [[ 9.94005110e-01 9.03670050e-02 6.15438586e-02 2.47397337e+02] [-8.99726421e-02 9.95902159e-01 -9.15492575e-03 -3.31975337e+01] [-6.21189649e-02 3.56277940e-03 9.98062393e-01 -1.73577585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.28071405699998 meters 0.037765399987800846 Centerline is valid? [True, True] Translation: X:247.42, Y:-33.21, Z:-17.36 [[ 9.93876279e-01 9.20423210e-02 6.11404451e-02 2.47423964e+02] [-9.16565417e-02 9.95749185e-01 -9.09060309e-03 -3.32073049e+01] [-6.17172686e-02 3.43101301e-03 9.98087775e-01 -1.73609922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.31071405699998 meters 0.03806317115618173 Centerline is valid? [True, True] Translation: X:247.45, Y:-33.21, Z:-17.36 [[ 9.93848382e-01 9.26217926e-02 6.07173575e-02 2.47452134e+02] [-9.22427561e-02 9.95695673e-01 -9.02220115e-03 -3.32128233e+01] [-6.12916626e-02 3.36596361e-03 9.98114223e-01 -1.73633871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.34071405699999 meters 0.0365889121408606 Centerline is valid? [True, True] Translation: X:247.48, Y:-33.22, Z:-17.37 [[ 9.93790337e-01 9.30869036e-02 6.09556786e-02 2.47481299e+02] [-9.27060135e-02 9.95652365e-01 -9.05338549e-03 -3.32155018e+01] [-6.15334172e-02 3.34620905e-03 9.98099415e-01 -1.73656742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.370714057 meters 0.03415732960892986 Centerline is valid? [True, True] Translation: X:247.51, Y:-33.22, Z:-17.37 [[ 9.93733330e-01 9.38483800e-02 6.07169759e-02 2.47510369e+02] [-9.34720689e-02 9.95581088e-01 -9.01497503e-03 -3.32167421e+01] [-6.12947137e-02 3.28313980e-03 9.98114312e-01 -1.73670800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.400714057 meters 0.034865025884931164 Centerline is valid? [True, True] Translation: X:247.54, Y:-33.22, Z:-17.37 [[ 9.93652902e-01 9.46173657e-02 6.08396550e-02 2.47538075e+02] [-9.42412303e-02 9.95508448e-01 -9.02889611e-03 -3.32231121e+01] [-6.14206808e-02 3.23798490e-03 9.98106715e-01 -1.73685408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.430714057 meters 0.03461044987061399 Centerline is valid? [True, True] Translation: X:247.57, Y:-33.23, Z:-17.37 [[ 9.93602821e-01 9.50217633e-02 6.10270396e-02 2.47566655e+02] [-9.46443281e-02 9.95469992e-01 -9.05242384e-03 -3.32277329e+01] [-6.16107639e-02 3.21865070e-03 9.98095063e-01 -1.73703359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.460714057 meters 0.031847159764930695 Centerline is valid? [True, True] Translation: X:247.60, Y:-33.23, Z:-17.37 [[ 9.93543926e-01 9.54256092e-02 6.13548727e-02 2.47596106e+02] [-9.50451061e-02 9.95431398e-01 -9.09723505e-03 -3.32286239e+01] [-6.19426759e-02 3.20702225e-03 9.98074556e-01 -1.73709578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.490714057 meters 0.03173877742039066 Centerline is valid? [True, True] Translation: X:247.62, Y:-33.23, Z:-17.37 [[ 9.93505158e-01 9.58184808e-02 6.13703515e-02 2.47624531e+02] [-9.54390812e-02 9.95393762e-01 -9.09068688e-03 -3.32332314e+01] [-6.19587208e-02 3.17451435e-03 9.98073664e-01 -1.73727478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.520714057 meters 0.03216470158675159 Centerline is valid? [True, True] Translation: X:247.65, Y:-33.24, Z:-17.38 [[ 9.93519814e-01 9.56751198e-02 6.13567436e-02 2.47652389e+02] [-9.52958784e-02 9.95407539e-01 -9.08444770e-03 -3.32384137e+01] [-6.19441208e-02 3.17853402e-03 9.98074558e-01 -1.73751481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.550714057 meters 0.0332963589585742 Centerline is valid? [True, True] Translation: X:247.68, Y:-33.25, Z:-17.38 [[ 9.93631840e-01 9.49410319e-02 6.06792199e-02 2.47679374e+02] [-9.45691744e-02 9.95477813e-01 -8.97750622e-03 -3.32457711e+01] [-6.12571508e-02 3.18195229e-03 9.98116945e-01 -1.73772933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.580714057 meters 0.032646237198492425 Centerline is valid? [True, True] Translation: X:247.71, Y:-33.25, Z:-17.38 [[ 9.93733916e-01 9.31627453e-02 6.17544020e-02 2.47708183e+02] [-9.27745272e-02 9.95645278e-01 -9.13057471e-03 -3.32516765e+01] [-6.23361082e-02 3.34412632e-03 9.98049611e-01 -1.73788676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.610714057 meters 0.0350951359375617 Centerline is valid? [True, True] Translation: X:247.74, Y:-33.26, Z:-17.38 [[ 9.93842087e-01 9.20515337e-02 6.16799907e-02 2.47735052e+02] [-9.16622379e-02 9.95748413e-01 -9.11768672e-03 -3.32608640e+01] [-6.22570499e-02 3.40781482e-03 9.98054330e-01 -1.73811814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.640714057 meters 0.03411097212011745 Centerline is valid? [True, True] Translation: X:247.76, Y:-33.27, Z:-17.38 [[ 9.94045639e-01 9.03780212e-02 6.08693828e-02 2.47763693e+02] [-8.99961266e-02 9.95901520e-01 -8.99223138e-03 -3.32657770e+01] [-6.14326109e-02 3.46067971e-03 9.98105234e-01 -1.73837114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.67071405699997 meters 0.03696135078365528 Centerline is valid? [True, True] Translation: X:247.79, Y:-33.28, Z:-17.39 [[ 9.94156362e-01 8.97356284e-02 6.00053705e-02 2.47790453e+02] [-8.93635089e-02 9.95959652e-01 -8.86194568e-03 -3.32750286e+01] [-6.05581602e-02 3.44786922e-03 9.98158716e-01 -1.73869212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.70071405699997 meters 0.03172963635059169 Centerline is valid? [True, True] Translation: X:247.82, Y:-33.27, Z:-17.39 [[ 9.94283339e-01 8.91854299e-02 5.87077501e-02 2.47819497e+02] [-8.88287204e-02 9.96009241e-01 -8.66317554e-03 -3.32716344e+01] [-5.92460906e-02 3.39871679e-03 9.98237622e-01 -1.73887983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.73071405699997 meters 0.034819988999518076 Centerline is valid? [True, True] Translation: X:247.85, Y:-33.28, Z:-17.39 [[ 9.94315160e-01 8.91906942e-02 5.81582586e-02 2.47845540e+02] [-8.88409542e-02 9.96008896e-01 -8.57689638e-03 -3.32809692e+01] [-5.86911223e-02 3.36130291e-03 9.98270531e-01 -1.73918333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.76071405699997 meters 0.034936649988733186 Centerline is valid? [True, True] Translation: X:247.87, Y:-33.29, Z:-17.39 [[ 9.94261847e-01 8.98942794e-02 5.79861844e-02 2.47872552e+02] [-8.95481896e-02 9.95945835e-01 -8.54487632e-03 -3.32854393e+01] [-5.85192344e-02 3.30328668e-03 9.98280816e-01 -1.73940251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.79071405699997 meters 0.03499386737543197 Centerline is valid? [True, True] Translation: X:247.90, Y:-33.29, Z:-17.40 [[ 9.94201819e-01 9.06405368e-02 5.78535799e-02 2.47900620e+02] [-9.02976023e-02 9.95878383e-01 -8.51996882e-03 -3.32899041e+01] [-5.83873841e-02 3.24652895e-03 9.98288722e-01 -1.73957760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.82071405699998 meters 0.03515984970391358 Centerline is valid? [True, True] Translation: X:247.93, Y:-33.29, Z:-17.40 [[ 9.94056361e-01 9.20527390e-02 5.81226667e-02 2.47929469e+02] [-9.17092581e-02 9.95749074e-01 -8.55532510e-03 -3.32939616e+01] [-5.86631327e-02 3.17408869e-03 9.98272789e-01 -1.73975235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.85071405699998 meters 0.034759395532982476 Centerline is valid? [True, True] Translation: X:247.96, Y:-33.30, Z:-17.40 [[ 9.94018122e-01 9.24071162e-02 5.82142391e-02 2.47957812e+02] [-9.20633253e-02 9.95716310e-01 -8.56592936e-03 -3.32975210e+01] [-5.87564202e-02 3.15529259e-03 9.98267363e-01 -1.73990656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.88071405699998 meters 0.03503366499656774 Centerline is valid? [True, True] Translation: X:247.99, Y:-33.30, Z:-17.40 [[ 9.93955156e-01 9.29654792e-02 5.84000716e-02 2.47986778e+02] [-9.26206983e-02 9.95664419e-01 -8.58901635e-03 -3.33019270e+01] [-5.89453554e-02 3.12804167e-03 9.98256310e-01 -1.74006968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.91071405699998 meters 0.03148614199921099 Centerline is valid? [True, True] Translation: X:248.02, Y:-33.30, Z:-17.40 [[ 9.93874352e-01 9.33347829e-02 5.91809920e-02 2.48015848e+02] [-9.29815340e-02 9.95629815e-01 -8.70094886e-03 -3.33009741e+01] [-5.97344612e-02 3.14491050e-03 9.98209349e-01 -1.74010664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.94071405699998 meters 0.03251270411109477 Centerline is valid? [True, True] Translation: X:248.04, Y:-33.31, Z:-17.40 [[ 9.93986847e-01 9.19655873e-02 5.94346579e-02 2.48043564e+02] [-9.16071117e-02 9.95756925e-01 -8.73406686e-03 -3.33070530e+01] [-5.99857058e-02 3.23691024e-03 9.98193988e-01 -1.74031302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.97071405699998 meters 0.0322198214568115 Centerline is valid? [True, True] Translation: X:248.07, Y:-33.31, Z:-17.40 [[ 9.94141924e-01 9.03124849e-02 5.93758447e-02 2.48073077e+02] [-8.99521312e-02 9.95907919e-01 -8.71960911e-03 -3.33109565e+01] [-5.99203635e-02 3.32754520e-03 9.98197614e-01 -1.74045068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.00071405699998 meters 0.03520686565216784 Centerline is valid? [True, True] Translation: X:248.10, Y:-33.32, Z:-17.41 [[ 9.94533134e-01 8.57984227e-02 5.95187107e-02 2.48101173e+02] [-8.54284159e-02 9.96305991e-01 -8.73829981e-03 -3.33205672e+01] [-6.00485804e-02 3.60593952e-03 9.98188943e-01 -1.74071816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.03071405699998 meters 0.03584522188869903 Centerline is valid? [True, True] Translation: X:248.13, Y:-33.33, Z:-17.41 [[ 9.94852715e-01 8.26748301e-02 5.85913655e-02 2.48131163e+02] [-8.23109834e-02 9.96569583e-01 -8.60051060e-03 -3.33266240e+01] [-5.91014184e-02 3.73352841e-03 9.98245002e-01 -1.74092001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.06071405699998 meters 0.03911375462790386 Centerline is valid? [True, True] Translation: X:248.16, Y:-33.34, Z:-17.41 [[ 9.95269223e-01 7.72537993e-02 5.89154029e-02 2.48158836e+02] [-7.68764744e-02 9.97003121e-01 -8.64782436e-03 -3.33377983e+01] [-5.94069178e-02 4.07770497e-03 9.98225521e-01 -1.74119484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.09071405699999 meters 0.04128704749606379 Centerline is valid? [True, True] Translation: X:248.19, Y:-33.35, Z:-17.41 [[ 9.95436183e-01 7.45320194e-02 5.95968480e-02 2.48186914e+02] [-7.41409193e-02 9.97209387e-01 -8.75005394e-03 -3.33465463e+01] [-6.00826954e-02 4.29155519e-03 9.98184178e-01 -1.74136583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.120714057 meters 0.04336047754847894 Centerline is valid? [True, True] Translation: X:248.22, Y:-33.36, Z:-17.42 [[ 9.95858904e-01 6.91242937e-02 5.90497745e-02 2.48215696e+02] [-6.87310400e-02 9.97597574e-01 -8.66742715e-03 -3.33555258e+01] [-5.95070416e-02 4.57298208e-03 9.98217411e-01 -1.74154846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.150714057 meters 0.04534021360162652 Centerline is valid? [True, True] Translation: X:248.24, Y:-33.36, Z:-17.42 [[ 9.96010310e-01 6.69869768e-02 5.89593661e-02 2.48244118e+02] [-6.65912458e-02 9.97742814e-01 -8.65354085e-03 -3.33637807e+01] [-5.94059583e-02 4.69283827e-03 9.98222876e-01 -1.74176878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.180714057 meters 0.046723365665426925 Centerline is valid? [True, True] Translation: X:248.27, Y:-33.37, Z:-17.42 [[ 9.96315808e-01 6.36630346e-02 5.74615443e-02 2.48273741e+02] [-6.32817652e-02 9.97960075e-01 -8.43248789e-03 -3.33709642e+01] [-5.78811648e-02 4.76515304e-03 9.98312108e-01 -1.74213469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.210714057 meters 0.04755617781218148 Centerline is valid? [True, True] Translation: X:248.30, Y:-33.38, Z:-17.42 [[ 9.96397565e-01 6.27827762e-02 5.70106537e-02 2.48303579e+02] [-6.24060269e-02 9.98015775e-01 -8.36664374e-03 -3.33771112e+01] [-5.74228129e-02 4.77869506e-03 9.98338512e-01 -1.74238655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.240714057 meters 0.04822334001134347 Centerline is valid? [True, True] Translation: X:248.33, Y:-33.38, Z:-17.43 [[ 9.96433784e-01 6.22739958e-02 5.69356017e-02 2.48333185e+02] [-6.18974151e-02 9.98047541e-01 -8.35562941e-03 -3.33826824e+01] [-5.73447757e-02 4.80166487e-03 9.98342887e-01 -1.74262678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.270714057 meters 0.04822334001134347 Centerline is valid? [True, True] Translation: X:248.36, Y:-33.39, Z:-17.43 [[ 9.96433784e-01 6.22739958e-02 5.69356017e-02 2.48362903e+02] [-6.18974151e-02 9.98047541e-01 -8.35562941e-03 -3.33870436e+01] [-5.73447757e-02 4.80166487e-03 9.98342887e-01 -1.74283364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.300714057 meters 0.04825669056857101 Centerline is valid? [True, True] Translation: X:248.39, Y:-33.39, Z:-17.43 [[ 9.96434354e-01 6.22732028e-02 5.69264935e-02 2.48392860e+02] [-6.18967415e-02 9.98047594e-01 -8.35429273e-03 -3.33916822e+01] [-5.73355984e-02 4.80093983e-03 9.98343418e-01 -1.74299853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.330714057 meters 0.04437514333771779 Centerline is valid? [True, True] Translation: X:248.42, Y:-33.39, Z:-17.43 [[ 9.96263274e-01 6.42461395e-02 5.77228019e-02 2.48423772e+02] [-6.38623422e-02 9.97922763e-01 -8.47115561e-03 -3.33902461e+01] [-5.81471370e-02 4.75318789e-03 9.98296708e-01 -1.74298680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.360714057 meters 0.048007122250738284 Centerline is valid? [True, True] Translation: X:248.45, Y:-33.40, Z:-17.43 [[ 9.96111118e-01 6.56311153e-02 5.87809211e-02 2.48451986e+02] [-6.52354803e-02 9.97832608e-01 -8.62660398e-03 -3.33988376e+01] [-5.92196934e-02 4.75845452e-03 9.98233632e-01 -1.74315855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.390714057 meters 0.04506602151293004 Centerline is valid? [True, True] Translation: X:248.48, Y:-33.40, Z:-17.43 [[ 9.95913600e-01 6.77832397e-02 5.96785798e-02 2.48483003e+02] [-6.73793147e-02 9.97688999e-01 -8.75719115e-03 -3.33966724e+01] [-6.01342534e-02 4.70030396e-03 9.98179232e-01 -1.74317839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.42071405699997 meters 0.04179103568721992 Centerline is valid? [True, True] Translation: X:248.51, Y:-33.40, Z:-17.43 [[ 9.95799232e-01 6.89306886e-02 6.02698033e-02 2.48513359e+02] [-6.85208233e-02 9.97610490e-01 -8.84348016e-03 -3.33961074e+01] [-6.07353751e-02 4.67659421e-03 9.98142948e-01 -1.74331320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.45071405699997 meters 0.0468758471258994 Centerline is valid? [True, True] Translation: X:248.54, Y:-33.41, Z:-17.44 [[ 9.95732840e-01 6.99352697e-02 6.02093849e-02 2.48541315e+02] [-6.95281166e-02 9.97540881e-01 -8.83353261e-03 -3.34069436e+01] [-6.06790984e-02 4.60959338e-03 9.98146682e-01 -1.74361271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.48071405699997 meters 0.04924955974647233 Centerline is valid? [True, True] Translation: X:248.57, Y:-33.41, Z:-17.44 [[ 9.95682756e-01 7.10285427e-02 5.97561296e-02 2.48569926e+02] [-7.06295257e-02 9.97464099e-01 -8.76597072e-03 -3.34134399e+01] [-6.02272281e-02 4.50757880e-03 9.98174515e-01 -1.74397182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.51071405699997 meters 0.041393473565606416 Centerline is valid? [True, True] Translation: X:248.60, Y:-33.41, Z:-17.44 [[ 9.95684445e-01 7.17432602e-02 5.88675695e-02 2.48600536e+02] [-7.13573280e-02 9.97413441e-01 -8.63481374e-03 -3.34068234e+01] [-5.93347947e-02 4.39691727e-03 9.98228455e-01 -1.74416055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.54071405699997 meters 0.03956420867799367 Centerline is valid? [True, True] Translation: X:248.63, Y:-33.41, Z:-17.44 [[ 9.95729930e-01 7.16041886e-02 5.82644605e-02 2.48630576e+02] [-7.12260188e-02 9.97423606e-01 -8.54430468e-03 -3.34078944e+01] [-5.87261563e-02 4.35787433e-03 9.98264618e-01 -1.74437880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.57071405699998 meters 0.04328698581589185 Centerline is valid? [True, True] Translation: X:248.66, Y:-33.42, Z:-17.45 [[ 9.95788434e-01 7.12753871e-02 5.76646710e-02 2.48658445e+02] [-7.09045444e-02 9.97447277e-01 -8.45431933e-03 -3.34170402e+01] [-5.81200539e-02 4.33002618e-03 9.98300210e-01 -1.74472069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.60071405699998 meters 0.03980901000147776 Centerline is valid? [True, True] Translation: X:248.69, Y:-33.42, Z:-17.45 [[ 9.95856443e-01 7.12340873e-02 5.65300763e-02 2.48687267e+02] [-7.08777563e-02 9.97450593e-01 -8.28607214e-03 -3.34171036e+01] [-5.69762089e-02 4.24501336e-03 9.98366512e-01 -1.74503090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.63071405699998 meters 0.042705466166389185 Centerline is valid? [True, True] Translation: X:248.71, Y:-33.43, Z:-17.45 [[ 9.95897432e-01 7.13621450e-02 5.56394496e-02 2.48714732e+02] [-7.10174018e-02 9.97441770e-01 -8.15133902e-03 -3.34250250e+01] [-5.60788081e-02 4.16652845e-03 9.98417652e-01 -1.74534633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.66071405699998 meters 0.04053714270536334 Centerline is valid? [True, True] Translation: X:248.74, Y:-33.43, Z:-17.46 [[ 9.95810345e-01 7.25919763e-02 5.56072079e-02 2.48743614e+02] [-7.22496957e-02 9.97353327e-01 -8.14381365e-03 -3.34256612e+01] [-5.60512093e-02 4.09209004e-03 9.98419509e-01 -1.74550208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.69071405699998 meters 0.041205892582550335 Centerline is valid? [True, True] Translation: X:248.77, Y:-33.43, Z:-17.46 [[ 9.95737559e-01 7.34063288e-02 5.58410598e-02 2.48770924e+02] [-7.30626403e-02 9.97293854e-01 -8.17436701e-03 -3.34303810e+01] [-5.62899960e-02 4.05962899e-03 9.98406208e-01 -1.74566211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.72071405699998 meters 0.03633647903505934 Centerline is valid? [True, True] Translation: X:248.80, Y:-33.43, Z:-17.46 [[ 9.95515380e-01 7.55381570e-02 5.69483570e-02 2.48801608e+02] [-7.51844807e-02 9.97134842e-01 -8.33072962e-03 -3.34259704e+01] [-5.74144789e-02 4.01173682e-03 9.98342368e-01 -1.74560246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.75071405699998 meters 0.04245842588746054 Centerline is valid? [True, True] Translation: X:248.83, Y:-33.44, Z:-17.46 [[ 9.95371932e-01 7.70059692e-02 5.74873741e-02 2.48828671e+02] [-7.66481130e-02 9.97022759e-01 -8.40747232e-03 -3.34383885e+01] [-5.79636459e-02 3.96226321e-03 9.98310831e-01 -1.74585735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.78071405699998 meters 0.03736111658634967 Centerline is valid? [True, True] Translation: X:248.86, Y:-33.43, Z:-17.46 [[ 9.95239460e-01 7.83688740e-02 5.79373608e-02 2.48858624e+02] [-7.80078047e-02 9.96916758e-01 -8.47118815e-03 -3.34347745e+01] [-5.84226033e-02 3.91129438e-03 9.98284279e-01 -1.74586565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.81071405699998 meters 0.036892369390686276 Centerline is valid? [True, True] Translation: X:248.89, Y:-33.44, Z:-17.46 [[ 9.94991263e-01 8.08296185e-02 5.88129218e-02 2.48888631e+02] [-8.04621006e-02 9.96720616e-01 -8.59437028e-03 -3.34379633e+01] [-5.93147313e-02 3.81911211e-03 9.98232026e-01 -1.74599505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.84071405699999 meters 0.03650444972289417 Centerline is valid? [True, True] Translation: X:248.92, Y:-33.44, Z:-17.46 [[ 9.94884056e-01 8.18226140e-02 5.92517872e-02 2.48916963e+02] [-8.14513711e-02 9.96639712e-01 -8.65789857e-03 -3.34412651e+01] [-5.97610960e-02 3.78746594e-03 9.98205523e-01 -1.74616963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.870714057 meters 0.03697839290218318 Centerline is valid? [True, True] Translation: X:248.95, Y:-33.45, Z:-17.46 [[ 9.94673457e-01 8.44580406e-02 5.90893711e-02 2.48945881e+02] [-8.40937302e-02 9.96420480e-01 -8.62964230e-03 -3.34450968e+01] [-5.96067022e-02 3.61463051e-03 9.98215395e-01 -1.74640327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.900714057 meters 0.03547563723009476 Centerline is valid? [True, True] Translation: X:248.97, Y:-33.45, Z:-17.47 [[ 9.94564747e-01 8.59319132e-02 5.87934531e-02 2.48974970e+02] [-8.55739139e-02 9.96294840e-01 -8.58469211e-03 -3.34468157e+01] [-5.93133130e-02 3.50684624e-03 9.98233256e-01 -1.74655655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.930714057 meters 0.035273425960362315 Centerline is valid? [True, True] Translation: X:249.00, Y:-33.45, Z:-17.47 [[ 9.94435509e-01 8.85553940e-02 5.70610284e-02 2.49003838e+02] [-8.82227575e-02 9.96065961e-01 -8.32741605e-03 -3.34490977e+01] [-5.75739857e-02 3.24699695e-03 9.98335962e-01 -1.74683414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.960714057 meters 0.03511240989493862 Centerline is valid? [True, True] Translation: X:249.03, Y:-33.45, Z:-17.47 [[ 9.94296805e-01 9.01724545e-02 5.69455140e-02 2.49031239e+02] [-8.98438888e-02 9.95921199e-01 -8.30912549e-03 -3.34525462e+01] [-5.74624988e-02 3.14553050e-03 9.98342710e-01 -1.74704623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.990714057 meters 0.03468542953461763 Centerline is valid? [True, True] Translation: X:249.06, Y:-33.46, Z:-17.47 [[ 9.94012336e-01 9.35818758e-02 5.64084027e-02 2.49059893e+02] [-9.32652653e-02 9.95607320e-01 -8.22530343e-03 -3.34551164e+01] [-5.69303580e-02 2.91510843e-03 9.98373896e-01 -1.74727251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.020714057 meters 0.029894334729808653 Centerline is valid? [True, True] Translation: X:249.09, Y:-33.45, Z:-17.47 [[ 9.93830704e-01 9.54742811e-02 5.64375139e-02 2.49089983e+02] [-9.51604807e-02 9.95427941e-01 -8.22785078e-03 -3.34513174e+01] [-5.69650264e-02 2.80646979e-03 9.98372230e-01 -1.74728211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.050714057 meters 0.02921762294278849 Centerline is valid? [True, True] Translation: X:249.12, Y:-33.45, Z:-17.47 [[ 9.93425702e-01 9.93959078e-02 5.67963789e-02 2.49119040e+02] [-9.90846775e-02 9.95044582e-01 -8.27683481e-03 -3.34539005e+01] [-5.73376126e-02 2.59476954e-03 9.98351474e-01 -1.74742835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.080714057 meters 0.028564587970874245 Centerline is valid? [True, True] Translation: X:249.15, Y:-33.46, Z:-17.48 [[ 9.93220406e-01 1.01126189e-01 5.73299091e-02 2.49147699e+02] [-1.00812050e-01 9.94870424e-01 -8.35286979e-03 -3.34567054e+01] [-5.78805248e-02 2.51669507e-03 9.98320345e-01 -1.74758075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.110714057 meters 0.027804311189002253 Centerline is valid? [True, True] Translation: X:249.18, Y:-33.46, Z:-17.48 [[ 9.92875719e-01 1.03962004e-01 5.82211935e-02 2.49177429e+02] [-1.03643143e-01 9.94578414e-01 -8.47809818e-03 -3.34586900e+01] [-5.87869423e-02 2.38347034e-03 9.98267707e-01 -1.74767446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.140714057 meters 0.027802815338871485 Centerline is valid? [True, True] Translation: X:249.20, Y:-33.46, Z:-17.48 [[ 9.92719840e-01 1.05301882e-01 5.84707917e-02 2.49204574e+02] [-1.04982668e-01 9.94437612e-01 -8.51322679e-03 -3.34636023e+01] [-5.90420132e-02 2.31282944e-03 9.98252819e-01 -1.74783819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.17071405699997 meters 0.026450926759639157 Centerline is valid? [True, True] Translation: X:249.23, Y:-33.47, Z:-17.48 [[ 9.92581358e-01 1.06290264e-01 5.90307348e-02 2.49233790e+02] [-1.05967145e-01 9.94332560e-01 -8.58633355e-03 -3.34653325e+01] [-5.96088253e-02 2.26731620e-03 9.98219238e-01 -1.74796803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.20071405699997 meters 0.026811568934898285 Centerline is valid? [True, True] Translation: X:249.26, Y:-33.47, Z:-17.48 [[ 9.92580054e-01 1.06196838e-01 5.92205072e-02 2.49260195e+02] [-1.05871703e-01 9.94342521e-01 -8.61003330e-03 -3.34704917e+01] [-5.97998268e-02 2.27637134e-03 9.98207793e-01 -1.74819697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.23071405699997 meters 0.03000059220373056 Centerline is valid? [True, True] Translation: X:249.29, Y:-33.48, Z:-17.49 [[ 9.92801338e-01 1.04656090e-01 5.82460905e-02 2.49285978e+02] [-1.04339385e-01 9.94505761e-01 -8.46071450e-03 -3.34822832e+01] [-5.88115379e-02 2.32244742e-03 9.98266402e-01 -1.74862293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.26071405699997 meters 0.030447892386826787 Centerline is valid? [True, True] Translation: X:249.31, Y:-33.49, Z:-17.49 [[ 9.92968617e-01 1.03422982e-01 5.75935062e-02 2.49314098e+02] [-1.03111587e-01 9.94634658e-01 -8.36053150e-03 -3.34883318e+01] [-5.81491684e-02 2.36318756e-03 9.98305108e-01 -1.74892238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.29071405699997 meters 0.03141735625743963 Centerline is valid? [True, True] Translation: X:249.34, Y:-33.49, Z:-17.49 [[ 9.93149583e-01 1.02092555e-01 5.68420237e-02 2.49342261e+02] [-1.01787288e-01 9.94771996e-01 -8.24763360e-03 -3.34948767e+01] [-5.73868754e-02 2.40533842e-03 9.98349118e-01 -1.74923581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.32071405699998 meters 0.03284543625537897 Centerline is valid? [True, True] Translation: X:249.37, Y:-33.50, Z:-17.50 [[ 9.93489972e-01 9.98090196e-02 5.49166219e-02 2.49369629e+02] [-9.95208340e-02 9.95003603e-01 -7.96450162e-03 -3.35034652e+01] [-5.54371657e-02 2.44730447e-03 9.98459179e-01 -1.74967929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.35071405699998 meters 0.03050338856308099 Centerline is valid? [True, True] Translation: X:249.40, Y:-33.50, Z:-17.50 [[ 9.93598177e-01 9.90761192e-02 5.42824660e-02 2.49398562e+02] [-9.87935995e-02 9.95076824e-01 -7.87012468e-03 -3.35043954e+01] [-5.47949653e-02 2.45698133e-03 9.98494604e-01 -1.74983446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.38071405699998 meters 0.03057446015651804 Centerline is valid? [True, True] Translation: X:249.43, Y:-33.51, Z:-17.50 [[ 9.93644950e-01 9.91718546e-02 5.32414925e-02 2.49427056e+02] [-9.89004118e-02 9.95067424e-01 -7.71554634e-03 -3.35101478e+01] [-5.37440398e-02 2.40090812e-03 9.98551858e-01 -1.75009352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.41071405699998 meters 0.031169120152470902 Centerline is valid? [True, True] Translation: X:249.45, Y:-33.51, Z:-17.50 [[ 9.93631948e-01 9.92882902e-02 5.32671290e-02 2.49454511e+02] [-9.90169384e-02 9.95055834e-01 -7.71580935e-03 -3.35148335e+01] [-5.37698569e-02 2.39232665e-03 9.98550489e-01 -1.75028064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.44071405699998 meters 0.027762092921144996 Centerline is valid? [True, True] Translation: X:249.48, Y:-33.51, Z:-17.50 [[ 9.93433738e-01 1.01039785e-01 5.36690707e-02 2.49483819e+02] [-1.00767130e-01 9.94879704e-01 -7.76918724e-03 -3.35131420e+01] [-5.41792661e-02 2.31009452e-03 9.98528553e-01 -1.75018506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.47071405699998 meters 0.027356506851747623 Centerline is valid? [True, True] Translation: X:249.51, Y:-33.52, Z:-17.50 [[ 9.93333383e-01 1.01569933e-01 5.45191652e-02 2.49512718e+02] [-1.01289583e-01 9.94825712e-01 -7.88818188e-03 -3.35163974e+01] [-5.50382694e-02 2.31337088e-03 9.98481566e-01 -1.75031411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.50071405699998 meters 0.027594672469132605 Centerline is valid? [True, True] Translation: X:249.54, Y:-33.52, Z:-17.50 [[ 9.93156067e-01 1.02386618e-01 5.61961446e-02 2.49540702e+02] [-1.02090283e-01 9.94741943e-01 -8.12653429e-03 -3.35206669e+01] [-5.67327104e-02 2.33383656e-03 9.98386675e-01 -1.75029599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.53071405699998 meters 0.02747896151613881 Centerline is valid? [True, True] Translation: X:249.57, Y:-33.52, Z:-17.50 [[ 9.93052654e-01 1.02719466e-01 5.74032964e-02 2.49569488e+02] [-1.02411050e-01 9.94707565e-01 -8.29681615e-03 -3.35243441e+01] [-5.79517377e-02 2.36044341e-03 9.98316595e-01 -1.75038215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.56071405699998 meters 0.02752511949783122 Centerline is valid? [True, True] Translation: X:249.60, Y:-33.53, Z:-17.51 [[ 9.93000723e-01 1.02441138e-01 5.87824571e-02 2.49597845e+02] [-1.02117481e-01 9.94736101e-01 -8.49174046e-03 -3.35289339e+01] [-5.93429358e-02 2.42958795e-03 9.98234698e-01 -1.75051955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.59071405699999 meters 0.028363635466156455 Centerline is valid? [True, True] Translation: X:249.63, Y:-33.54, Z:-17.51 [[ 9.92960538e-01 1.01945201e-01 6.03037743e-02 2.49625144e+02] [-1.01603906e-01 9.94786827e-01 -8.70714168e-03 -3.35353255e+01] [-6.08770516e-02 2.51874906e-03 9.98142094e-01 -1.75063685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.620714057 meters 0.028863972484425994 Centerline is valid? [True, True] Translation: X:249.65, Y:-33.54, Z:-17.51 [[ 9.93102241e-01 1.00625551e-01 6.01866948e-02 2.49652903e+02] [-1.00283502e-01 9.94921000e-01 -8.68469354e-03 -3.35412281e+01] [-6.07549086e-02 2.58905611e-03 9.98149356e-01 -1.75089218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.650714057 meters 0.02967356572615706 Centerline is valid? [True, True] Translation: X:249.68, Y:-33.55, Z:-17.51 [[ 9.93633711e-01 9.61901700e-02 5.86472441e-02 2.49681804e+02] [-9.58579821e-02 9.95359086e-01 -8.45797978e-03 -3.35483974e+01] [-5.91886418e-02 2.78232736e-03 9.98242938e-01 -1.75129481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.680714057 meters 0.032018153185764515 Centerline is valid? [True, True] Translation: X:249.71, Y:-33.56, Z:-17.52 [[ 9.93981061e-01 9.32167807e-02 5.75524319e-02 2.49709069e+02] [-9.28919520e-02 9.95641603e-01 -8.29963121e-03 -3.35575860e+01] [-5.80752604e-02 2.90351850e-03 9.98307985e-01 -1.75163209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.710714057 meters 0.03355047407228542 Centerline is valid? [True, True] Translation: X:249.74, Y:-33.57, Z:-17.52 [[ 9.94311501e-01 9.01905179e-02 5.66595848e-02 2.49738006e+02] [-8.98710696e-02 9.95919928e-01 -8.16624382e-03 -3.35650308e+01] [-5.71649273e-02 3.02773267e-03 9.98360157e-01 -1.75194287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.740714057 meters 0.0371616054488337 Centerline is valid? [True, True] Translation: X:249.77, Y:-33.58, Z:-17.52 [[ 9.94943246e-01 8.39310986e-02 5.51679917e-02 2.49765404e+02] [-8.36187594e-02 9.96466108e-01 -7.94981394e-03 -3.35760350e+01] [-5.56402706e-02 3.29653466e-03 9.98445438e-01 -1.75228545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.770714057 meters 0.038816040054028986 Centerline is valid? [True, True] Translation: X:249.80, Y:-33.58, Z:-17.53 [[ 9.95232418e-01 8.07995990e-02 5.46247182e-02 2.49795101e+02] [-8.04886210e-02 9.96724436e-01 -7.87280689e-03 -3.35825361e+01] [-5.50819111e-02 3.43860440e-03 9.98475918e-01 -1.75254022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.800714057 meters 0.03918781481670492 Centerline is valid? [True, True] Translation: X:249.83, Y:-33.59, Z:-17.53 [[ 9.95542648e-01 7.69842279e-02 5.44817894e-02 2.49825036e+02] [-7.66692501e-02 9.97025670e-01 -7.85112154e-03 -3.35880623e+01] [-5.49241551e-02 3.63904839e-03 9.98483898e-01 -1.75272059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.830714057 meters 0.037368858670808365 Centerline is valid? [True, True] Translation: X:249.85, Y:-33.59, Z:-17.53 [[ 9.95665236e-01 7.54216985e-02 5.44270577e-02 2.49854210e+02] [-7.51050145e-02 9.97144782e-01 -7.84354511e-03 -3.35892565e+01] [-5.48632300e-02 3.72180025e-03 9.98486942e-01 -1.75282285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.860714057 meters 0.03860015132447292 Centerline is valid? [True, True] Translation: X:249.88, Y:-33.59, Z:-17.53 [[ 9.95707102e-01 7.44219666e-02 5.50339782e-02 2.49881693e+02] [-7.40967953e-02 9.97219537e-01 -7.92844351e-03 -3.35946196e+01] [-5.54710086e-02 3.81656609e-03 9.98453004e-01 -1.75298375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.890714057 meters 0.03934980627397732 Centerline is valid? [True, True] Translation: X:249.91, Y:-33.60, Z:-17.53 [[ 9.95669274e-01 7.36631741e-02 5.67136097e-02 2.49910153e+02] [-7.33169145e-02 9.97275270e-01 -8.16493260e-03 -3.35980415e+01] [-5.71605353e-02 3.97150564e-03 9.98357101e-01 -1.75304731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.92071405699997 meters 0.03980409009394211 Centerline is valid? [True, True] Translation: X:249.94, Y:-33.60, Z:-17.53 [[ 9.95644641e-01 7.37714518e-02 5.70045782e-02 2.49938831e+02] [-7.34220369e-02 9.97267226e-01 -8.20273575e-03 -3.36017510e+01] [-5.74539252e-02 3.98161765e-03 9.98340219e-01 -1.75322640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.95071405699997 meters 0.04013020517837059 Centerline is valid? [True, True] Translation: X:249.97, Y:-33.61, Z:-17.53 [[ 9.95525211e-01 7.43285106e-02 5.83508993e-02 2.49967993e+02] [-7.39635844e-02 9.97225632e-01 -8.39204090e-03 -3.36053445e+01] [-5.88127804e-02 4.03864662e-03 9.98260861e-01 -1.75333461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.98071405699997 meters 0.03985386513940744 Centerline is valid? [True, True] Translation: X:250.00, Y:-33.61, Z:-17.54 [[ 9.95528928e-01 7.37745619e-02 5.89870199e-02 2.49996365e+02] [-7.34008348e-02 9.97266463e-01 -8.48054444e-03 -3.36079851e+01] [-5.94514252e-02 4.11293080e-03 9.98222727e-01 -1.75350867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.010714057 meters 0.04043808335141171 Centerline is valid? [True, True] Translation: X:250.03, Y:-33.61, Z:-17.54 [[ 9.95586588e-01 7.24124305e-02 5.96974571e-02 2.50026009e+02] [-7.20274746e-02 9.97365760e-01 -8.57810672e-03 -3.36119218e+01] [-6.01613613e-02 4.24039092e-03 9.98179658e-01 -1.75366891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.040714057 meters 0.04056523680647657 Centerline is valid? [True, True] Translation: X:250.06, Y:-33.62, Z:-17.54 [[ 9.95707703e-01 7.08181379e-02 5.95899508e-02 2.50055638e+02] [-7.04318578e-02 9.97479860e-01 -8.56055278e-03 -3.36155493e+01] [-6.00460181e-02 4.32677740e-03 9.98186232e-01 -1.75387829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.07071405700003 meters 0.043630312030681725 Centerline is valid? [True, True] Translation: X:250.08, Y:-33.62, Z:-17.54 [[ 9.95825990e-01 6.95211282e-02 5.91389155e-02 2.50083669e+02] [-6.91385722e-02 9.97570913e-01 -8.49302450e-03 -3.36228309e+01] [-5.95857066e-02 4.36879434e-03 9.98213633e-01 -1.75409746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.100714057 meters 0.04751062227682703 Centerline is valid? [True, True] Translation: X:250.11, Y:-33.63, Z:-17.54 [[ 9.96091717e-01 6.65029960e-02 5.81261008e-02 2.50112287e+02] [-6.61281947e-02 9.97776196e-01 -8.35011181e-03 -3.36316066e+01] [-5.85521472e-02 4.47370310e-03 9.98274327e-01 -1.75448253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.13071405700003 meters 0.050121186285912306 Centerline is valid? [True, True] Translation: X:250.14, Y:-33.64, Z:-17.55 [[ 9.96368588e-01 6.35707196e-02 5.66427411e-02 2.50140743e+02] [-6.32101517e-02 9.97967070e-01 -8.13652661e-03 -3.36388333e+01] [-5.70448352e-02 4.52658328e-03 9.98361356e-01 -1.75491920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.160714057 meters 0.050121186285912306 Centerline is valid? [True, True] Translation: X:250.17, Y:-33.64, Z:-17.55 [[ 9.96368585e-01 6.35706564e-02 5.66428734e-02 2.50170464e+02] [-6.32101404e-02 9.97967079e-01 -8.13560577e-03 -3.36431024e+01] [-5.70449087e-02 4.52565803e-03 9.98361356e-01 -1.75512602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.19071405700004 meters 0.04989940050028249 Centerline is valid? [True, True] Translation: X:250.20, Y:-33.65, Z:-17.55 [[ 9.96516952e-01 6.19163766e-02 5.58598865e-02 2.50201166e+02] [-6.15632034e-02 9.98070942e-01 -8.02293918e-03 -3.36463761e+01] [-5.62488809e-02 4.55608134e-03 9.98406383e-01 -1.75540994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.220714057 meters 0.05218282396141519 Centerline is valid? [True, True] Translation: X:250.23, Y:-33.65, Z:-17.56 [[ 9.96622395e-01 6.08054930e-02 5.51950515e-02 2.50230813e+02] [-6.04589452e-02 9.98139197e-01 -7.92837706e-03 -3.36527569e+01] [-5.55744333e-02 4.56456354e-03 9.98444113e-01 -1.75569284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.25071405700004 meters 0.05269213478493813 Centerline is valid? [True, True] Translation: X:250.26, Y:-33.65, Z:-17.56 [[ 9.96715205e-01 5.96755026e-02 5.47506532e-02 2.50261566e+02] [-5.93327777e-02 9.98207271e-01 -7.86545750e-03 -3.36547046e+01] [-5.51218753e-02 4.59111275e-03 9.98469078e-01 -1.75594641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.280714057 meters 0.045469232819591934 Centerline is valid? [True, True] Translation: X:250.29, Y:-33.65, Z:-17.56 [[ 9.96715805e-01 5.98678153e-02 5.45293449e-02 2.50293510e+02] [-5.95280955e-02 9.98195885e-01 -7.83455747e-03 -3.36470856e+01] [-5.49000055e-02 4.56279921e-03 9.98481432e-01 -1.75592716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.310714057 meters 0.0540207384354168 Centerline is valid? [True, True] Translation: X:250.32, Y:-33.66, Z:-17.56 [[ 9.96561423e-01 6.12198809e-02 5.58341827e-02 2.50321997e+02] [-6.08657205e-02 9.98113716e-01 -8.02328845e-03 -3.36602000e+01] [-5.62200484e-02 4.59731200e-03 9.98407818e-01 -1.75619567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.340714057 meters 0.04202880210884471 Centerline is valid? [True, True] Translation: X:250.35, Y:-33.65, Z:-17.56 [[ 9.96471303e-01 6.18875652e-02 5.66998376e-02 2.50354820e+02] [-6.15233951e-02 9.98072386e-01 -8.14768177e-03 -3.36463610e+01] [-5.70947824e-02 4.63056456e-03 9.98358024e-01 -1.75606032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.370714057 meters 0.04223367469495143 Centerline is valid? [True, True] Translation: X:250.39, Y:-33.65, Z:-17.56 [[ 9.96367860e-01 6.27987348e-02 5.75100483e-02 2.50385414e+02] [-6.24255740e-02 9.98015407e-01 -8.26410782e-03 -3.36497224e+01] [-5.79148897e-02 4.64399365e-03 9.98310723e-01 -1.75620839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.400714057 meters 0.042205817202069174 Centerline is valid? [True, True] Translation: X:250.42, Y:-33.65, Z:-17.56 [[ 9.96232135e-01 6.36204214e-02 5.89404379e-02 2.50415600e+02] [-6.32298565e-02 9.97963049e-01 -8.46981883e-03 -3.36515318e+01] [-5.93592325e-02 4.71111027e-03 9.98225569e-01 -1.75629394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.430714057 meters 0.044602517625855806 Centerline is valid? [True, True] Translation: X:250.44, Y:-33.66, Z:-17.57 [[ 9.96208856e-01 6.35587340e-02 5.93986746e-02 2.50444193e+02] [-6.31620201e-02 9.97966793e-01 -8.53456875e-03 -3.36573306e+01] [-5.98203512e-02 4.75047269e-03 9.98197855e-01 -1.75650370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.460714057 meters 0.045029127680656596 Centerline is valid? [True, True] Translation: X:250.47, Y:-33.66, Z:-17.57 [[ 9.96227208e-01 6.32242244e-02 5.94478477e-02 2.50474074e+02] [-6.28263356e-02 9.97987932e-01 -8.54039472e-03 -3.36617632e+01] [-5.98681945e-02 4.77328316e-03 9.98194878e-01 -1.75671726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.490714057 meters 0.04597912240257579 Centerline is valid? [True, True] Translation: X:250.50, Y:-33.67, Z:-17.57 [[ 9.96284554e-01 6.24305783e-02 5.93254552e-02 2.50504408e+02] [-6.20329320e-02 9.98037713e-01 -8.52281156e-03 -3.36670020e+01] [-5.97411257e-02 4.81101360e-03 9.98202310e-01 -1.75698746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.520714057 meters 0.046982985871149734 Centerline is valid? [True, True] Translation: X:250.53, Y:-33.67, Z:-17.57 [[ 9.96477555e-01 6.02818902e-02 5.82973149e-02 2.50534394e+02] [-5.98942880e-02 9.98169592e-01 -8.37493251e-03 -3.36722651e+01] [-5.86954638e-02 4.85375609e-03 9.98264135e-01 -1.75730167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.550714057 meters 0.04834660835938368 Centerline is valid? [True, True] Translation: X:250.56, Y:-33.68, Z:-17.58 [[ 9.96586619e-01 5.92459411e-02 5.74893906e-02 2.50564484e+02] [-5.88672431e-02 9.98231646e-01 -8.26007151e-03 -3.36778277e+01] [-5.78771047e-02 4.84763480e-03 9.98311946e-01 -1.75758186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.580714057 meters 0.04916724468635537 Centerline is valid? [True, True] Translation: X:250.60, Y:-33.68, Z:-17.58 [[ 9.96750751e-01 5.78880773e-02 5.60081380e-02 2.50595278e+02] [-5.75265667e-02 9.98311546e-01 -8.04681970e-03 -3.36826571e+01] [-5.63793857e-02 4.79871769e-03 9.98397885e-01 -1.75796171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.610714057 meters 0.04796797514593536 Centerline is valid? [True, True] Translation: X:250.63, Y:-33.68, Z:-17.58 [[ 9.96813117e-01 5.74770219e-02 5.53172764e-02 2.50625800e+02] [-5.71236261e-02 9.98335460e-01 -7.94994445e-03 -3.36847431e+01] [-5.56821377e-02 4.76468550e-03 9.98437177e-01 -1.75826559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.640714057 meters 0.049949504540590814 Centerline is valid? [True, True] Translation: X:250.66, Y:-33.69, Z:-17.59 [[ 9.96793545e-01 5.82081430e-02 5.49039141e-02 2.50655190e+02] [-5.78611878e-02 9.98293465e-01 -7.88924136e-03 -3.36912094e+01] [-5.52694368e-02 4.68713918e-03 9.98460475e-01 -1.75855837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.670714057 meters 0.050417944564131435 Centerline is valid? [True, True] Translation: X:250.69, Y:-33.69, Z:-17.59 [[ 9.96664871e-01 6.08847721e-02 5.43339639e-02 2.50685039e+02] [-6.05485731e-02 9.98134666e-01 -7.81400503e-03 -3.36933868e+01] [-5.47083668e-02 4.49810033e-03 9.98492244e-01 -1.75880710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.700714057 meters 0.04928625255756343 Centerline is valid? [True, True] Translation: X:250.71, Y:-33.69, Z:-17.59 [[ 9.96542154e-01 6.29853296e-02 5.41902523e-02 2.50714708e+02] [-6.26539653e-02 9.98004878e-01 -7.79381163e-03 -3.36942027e+01] [-5.45730320e-02 4.37162764e-03 9.98500212e-01 -1.75896952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.730714057 meters 0.048601421557911695 Centerline is valid? [True, True] Translation: X:250.74, Y:-33.69, Z:-17.59 [[ 9.96134932e-01 6.87801544e-02 5.46304562e-02 2.50744281e+02] [-6.84521466e-02 9.97623477e-01 -7.85500158e-03 -3.36933257e+01] [-5.50408940e-02 4.08506946e-03 9.98475744e-01 -1.75912659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.76071405700003 meters 0.04662683658711502 Centerline is valid? [True, True] Translation: X:250.78, Y:-33.69, Z:-17.59 [[ 9.95835462e-01 7.24788595e-02 5.53041410e-02 2.50775445e+02] [-7.21484341e-02 9.97362216e-01 -7.95070200e-03 -3.36930712e+01] [-5.57345185e-02 3.92748382e-03 9.98437899e-01 -1.75929680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.790714057 meters 0.03723709709202187 Centerline is valid? [True, True] Translation: X:250.81, Y:-33.68, Z:-17.59 [[ 9.95238822e-01 7.96070110e-02 5.62353170e-02 2.50808750e+02] [-7.92766727e-02 9.96819869e-01 -8.08438517e-03 -3.36788673e+01] [-5.67000551e-02 3.58774516e-03 9.98384812e-01 -1.75918152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.82071405700003 meters 0.0369333422464204 Centerline is valid? [True, True] Translation: X:250.84, Y:-33.68, Z:-17.59 [[ 9.94865465e-01 8.34329724e-02 5.72856533e-02 2.50838185e+02] [-8.30964609e-02 9.96507478e-01 -8.23559985e-03 -3.36811059e+01] [-5.77727025e-02 3.43307882e-03 9.98323860e-01 -1.75934266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.850714057 meters 0.03413547091274373 Centerline is valid? [True, True] Translation: X:250.87, Y:-33.68, Z:-17.59 [[ 9.94492212e-01 8.71107862e-02 5.82833694e-02 2.50868558e+02] [-8.67688046e-02 9.96193249e-01 -8.37763436e-03 -3.36786412e+01] [-5.87912815e-02 3.27431383e-03 9.98264927e-01 -1.75944389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.88071405700003 meters 0.03202296134013784 Centerline is valid? [True, True] Translation: X:250.90, Y:-33.68, Z:-17.60 [[ 9.93845525e-01 9.31372074e-02 5.99711043e-02 2.50899513e+02] [-9.27861037e-02 9.95648759e-01 -8.61900219e-03 -3.36763048e+01] [-6.05129054e-02 3.00147166e-03 9.98162902e-01 -1.75953923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.910714057 meters 0.030047487086885198 Centerline is valid? [True, True] Translation: X:250.93, Y:-33.68, Z:-17.60 [[ 9.93653838e-01 9.49377402e-02 6.03230974e-02 2.50928878e+02] [-9.45857752e-02 9.95478961e-01 -8.67005246e-03 -3.36754086e+01] [-6.08734895e-02 2.90932396e-03 9.98141250e-01 -1.75966182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.94071405700004 meters 0.03100735300674224 Centerline is valid? [True, True] Translation: X:250.96, Y:-33.68, Z:-17.60 [[ 9.93566017e-01 9.55599127e-02 6.07854665e-02 2.50956126e+02] [-9.52039391e-02 9.95419487e-01 -8.73236182e-03 -3.36803755e+01] [-6.13415017e-02 2.88916210e-03 9.98112655e-01 -1.75998056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.970714057 meters 0.031306783374250434 Centerline is valid? [True, True] Translation: X:250.98, Y:-33.69, Z:-17.60 [[ 9.93665363e-01 9.48231395e-02 6.03135110e-02 2.50984107e+02] [-9.44718593e-02 9.95489902e-01 -8.65582945e-03 -3.36850878e+01] [-6.08622640e-02 2.90306839e-03 9.98141952e-01 -1.76028217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.00071405700004 meters 0.03192249285272993 Centerline is valid? [True, True] Translation: X:251.01, Y:-33.69, Z:-17.61 [[ 9.93863765e-01 9.33635742e-02 5.93132256e-02 2.51011879e+02] [-9.30215177e-02 9.95627746e-01 -8.50820546e-03 -3.36903750e+01] [-5.98482496e-02 2.93859086e-03 9.98203162e-01 -1.76059873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.030714057 meters 0.033105532544291855 Centerline is valid? [True, True] Translation: X:251.04, Y:-33.70, Z:-17.61 [[ 9.94293628e-01 8.99316886e-02 5.73800647e-02 2.51041462e+02] [-8.96062436e-02 9.95943308e-01 -8.22491777e-03 -3.36974354e+01] [-5.78869721e-02 3.03637127e-03 9.98318526e-01 -1.76108635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.060714057 meters 0.03267276449973531 Centerline is valid? [True, True] Translation: X:251.07, Y:-33.70, Z:-17.61 [[ 9.94512735e-01 8.81007108e-02 5.64152948e-02 2.51071059e+02] [-8.77831713e-02 9.96106779e-01 -8.08705302e-03 -3.37011252e+01] [-5.69081327e-02 3.09036373e-03 9.98374636e-01 -1.76129116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.090714057 meters 0.032761698519089194 Centerline is valid? [True, True] Translation: X:251.10, Y:-33.71, Z:-17.61 [[ 9.94770733e-01 8.51358575e-02 5.64187467e-02 2.51100465e+02] [-8.48136469e-02 9.96364025e-01 -8.08546850e-03 -3.37055522e+01] [-5.69019728e-02 3.25810776e-03 9.98374454e-01 -1.76143188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.120714057 meters 0.03423039276254697 Centerline is valid? [True, True] Translation: X:251.13, Y:-33.71, Z:-17.62 [[ 9.94834889e-01 8.38985533e-02 5.71364667e-02 2.51127102e+02] [-8.35661033e-02 9.96468601e-01 -8.18739695e-03 -3.37120072e+01] [-5.76216058e-02 3.37043625e-03 9.98332806e-01 -1.76160798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.150714057 meters 0.03444153401555072 Centerline is valid? [True, True] Translation: X:251.16, Y:-33.72, Z:-17.62 [[ 9.94808548e-01 8.26947127e-02 5.93088277e-02 2.51155947e+02] [-8.23349110e-02 9.96568562e-01 -8.48908448e-03 -3.37152455e+01] [-5.98073156e-02 3.56182676e-03 9.98203586e-01 -1.76161979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.180714057 meters 0.036479136860399455 Centerline is valid? [True, True] Translation: X:251.18, Y:-33.72, Z:-17.62 [[ 9.94737720e-01 8.28575448e-02 6.02618882e-02 2.51182765e+02] [-8.24866345e-02 9.96554881e-01 -8.62110380e-03 -3.37220423e+01] [-6.07686024e-02 3.60493679e-03 9.98145371e-01 -1.76175484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.210714057 meters 0.03488846912998615 Centerline is valid? [True, True] Translation: X:251.21, Y:-33.72, Z:-17.62 [[ 9.94683792e-01 8.28487511e-02 6.11574948e-02 2.51211479e+02] [-8.24670611e-02 9.96555436e-01 -8.74339710e-03 -3.37228093e+01] [-6.16712134e-02 3.65343652e-03 9.98089833e-01 -1.76188139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.240714057 meters 0.0351331499528914 Centerline is valid? [True, True] Translation: X:251.24, Y:-33.73, Z:-17.62 [[ 9.94687681e-01 8.25477245e-02 6.15003300e-02 2.51239366e+02] [-8.21614426e-02 9.96580288e-01 -8.78792417e-03 -3.37273224e+01] [-6.20154397e-02 3.68828408e-03 9.98068375e-01 -1.76209915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.270714057 meters 0.033855655289363865 Centerline is valid? [True, True] Translation: X:251.27, Y:-33.73, Z:-17.62 [[ 9.94717913e-01 8.20445661e-02 6.16843780e-02 2.51267868e+02] [-8.16552795e-02 9.96621695e-01 -8.80977178e-03 -3.37295598e+01] [-6.21987832e-02 3.72638267e-03 9.98056825e-01 -1.76231396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.300714057 meters 0.03915669729616257 Centerline is valid? [True, True] Translation: X:251.29, Y:-33.74, Z:-17.63 [[ 9.94795641e-01 8.14364553e-02 6.12350856e-02 2.51294049e+02] [-8.10519493e-02 9.96671547e-01 -8.74126234e-03 -3.37432062e+01] [-6.17431248e-02 3.73254663e-03 9.98085094e-01 -1.76271699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.330714057 meters 0.04039406270671353 Centerline is valid? [True, True] Translation: X:251.32, Y:-33.75, Z:-17.63 [[ 9.94941462e-01 8.04341039e-02 6.01817464e-02 2.51321754e+02] [-8.00612360e-02 9.96752972e-01 -8.58547711e-03 -3.37487394e+01] [-6.06768998e-02 3.72382214e-03 9.98150513e-01 -1.76300895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.360714057 meters 0.036944523809083425 Centerline is valid? [True, True] Translation: X:251.35, Y:-33.75, Z:-17.63 [[ 9.95172809e-01 7.88249176e-02 5.84612041e-02 2.51351259e+02] [-7.84706311e-02 9.96881582e-01 -8.33493186e-03 -3.37486947e+01] [-5.89358979e-02 3.70720998e-03 9.98254886e-01 -1.76324462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.390714057 meters 0.04217089393869951 Centerline is valid? [True, True] Translation: X:251.38, Y:-33.76, Z:-17.64 [[ 9.95266896e-01 7.82124591e-02 5.76768266e-02 2.51377640e+02] [-7.78667621e-02 9.96929883e-01 -8.22040827e-03 -3.37612342e+01] [-5.81426903e-02 3.69039249e-03 9.98301462e-01 -1.76361334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.420714057 meters 0.0404545502624087 Centerline is valid? [True, True] Translation: X:251.41, Y:-33.76, Z:-17.64 [[ 9.95292063e-01 7.78000159e-02 5.78002284e-02 2.51405952e+02] [-7.74524596e-02 9.96962056e-01 -8.23258840e-03 -3.37635006e+01] [-5.82651301e-02 3.71706004e-03 9.98294224e-01 -1.76380112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.450714057 meters 0.03863368083799986 Centerline is valid? [True, True] Translation: X:251.43, Y:-33.77, Z:-17.64 [[ 9.95331140e-01 7.72439350e-02 5.78731042e-02 2.51434821e+02] [-7.68947969e-02 9.97005170e-01 -8.23900170e-03 -3.37656440e+01] [-5.83361970e-02 3.75039436e-03 9.98289949e-01 -1.76396401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.480714057 meters 0.04466651475660256 Centerline is valid? [True, True] Translation: X:251.46, Y:-33.78, Z:-17.64 [[ 9.95319964e-01 7.73502016e-02 5.79233643e-02 2.51460484e+02] [-7.70008637e-02 9.96996957e-01 -8.24224834e-03 -3.37784915e+01] [-5.83869575e-02 3.74352524e-03 9.98287007e-01 -1.76426980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.51071405700003 meters 0.044616087395470835 Centerline is valid? [True, True] Translation: X:251.49, Y:-33.78, Z:-17.64 [[ 9.95217522e-01 7.78025604e-02 5.90664548e-02 2.51487726e+02] [-7.74403883e-02 9.96961601e-01 -8.39958725e-03 -3.37832364e+01] [-5.95404967e-02 3.78528721e-03 9.98218714e-01 -1.76437569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.540714057 meters 0.040329610165861486 Centerline is valid? [True, True] Translation: X:251.52, Y:-33.78, Z:-17.64 [[ 9.95171695e-01 7.79610772e-02 5.96269059e-02 2.51517059e+02] [-7.75925547e-02 9.96949134e-01 -8.47460142e-03 -3.37808888e+01] [-6.01056813e-02 3.80707950e-03 9.98184759e-01 -1.76442305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.57071405700003 meters 0.039587641627727106 Centerline is valid? [True, True] Translation: X:251.55, Y:-33.78, Z:-17.64 [[ 9.95123150e-01 7.81568875e-02 6.01782121e-02 2.51545721e+02] [-7.77823022e-02 9.96933741e-01 -8.54576147e-03 -3.37836109e+01] [-6.06616002e-02 3.82328519e-03 9.98151067e-01 -1.76447660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.600714057 meters 0.039951436611295424 Centerline is valid? [True, True] Translation: X:251.57, Y:-33.79, Z:-17.65 [[ 9.95012323e-01 7.86124372e-02 6.14049049e-02 2.51574340e+02] [-7.82235352e-02 9.96897747e-01 -8.71558957e-03 -3.37877466e+01] [-6.18995651e-02 3.86881028e-03 9.98074885e-01 -1.76451078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.63071405700003 meters 0.04070809494082227 Centerline is valid? [True, True] Translation: X:251.60, Y:-33.79, Z:-17.65 [[ 9.94973489e-01 7.89588749e-02 6.15893880e-02 2.51601739e+02] [-7.85685465e-02 9.96870421e-01 -8.73764219e-03 -3.37926475e+01] [-6.20865535e-02 3.85473363e-03 9.98063325e-01 -1.76466637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.660714057 meters 0.036811681230084256 Centerline is valid? [True, True] Translation: X:251.63, Y:-33.79, Z:-17.65 [[ 9.94964983e-01 7.89414378e-02 6.17489472e-02 2.51631538e+02] [-7.85493824e-02 9.96871780e-01 -8.75491427e-03 -3.37907127e+01] [-6.22469084e-02 3.86049146e-03 9.98053315e-01 -1.76480809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.69071405700004 meters 0.03789421261678046 Centerline is valid? [True, True] Translation: X:251.66, Y:-33.80, Z:-17.65 [[ 9.94965536e-01 7.89623025e-02 6.17133461e-02 2.51659013e+02] [-7.85710020e-02 9.96870158e-01 -8.74565801e-03 -3.37970847e+01] [-6.22107703e-02 3.85274887e-03 9.98055598e-01 -1.76503540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.720714057 meters 0.03866084183107468 Centerline is valid? [True, True] Translation: X:251.69, Y:-33.80, Z:-17.65 [[ 9.94993649e-01 7.86717005e-02 6.16311819e-02 2.51686887e+02] [-7.82812990e-02 9.96893109e-01 -8.72741327e-03 -3.38027048e+01] [-6.21263010e-02 3.85915179e-03 9.98060835e-01 -1.76526866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.75071405700004 meters 0.04014607178025568 Centerline is valid? [True, True] Translation: X:251.71, Y:-33.81, Z:-17.66 [[ 9.95126122e-01 7.77998592e-02 6.05902903e-02 2.51713749e+02] [-7.74211900e-02 9.96961590e-01 -8.57600632e-03 -3.38098484e+01] [-6.10734042e-02 3.84323553e-03 9.98125878e-01 -1.76555911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.780714057 meters 0.04070156185572562 Centerline is valid? [True, True] Translation: X:251.74, Y:-33.82, Z:-17.66 [[ 9.95210360e-01 7.69825876e-02 6.02496440e-02 2.51741591e+02] [-7.66070040e-02 9.97024942e-01 -8.52247068e-03 -3.38151213e+01] [-6.07264796e-02 3.86610640e-03 9.98146957e-01 -1.76583449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.810714057 meters 0.04161537791113703 Centerline is valid? [True, True] Translation: X:251.77, Y:-33.82, Z:-17.66 [[ 9.95259624e-01 7.64703051e-02 6.00880384e-02 2.51769593e+02] [-7.60960591e-02 9.97064299e-01 -8.49546724e-03 -3.38213453e+01] [-6.05612888e-02 3.88273262e-03 9.98156929e-01 -1.76608170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.840714057 meters 0.04311835777942262 Centerline is valid? [True, True] Translation: X:251.80, Y:-33.83, Z:-17.66 [[ 9.95368127e-01 7.53996310e-02 5.96421697e-02 2.51796465e+02] [-7.50292506e-02 9.97145712e-01 -8.42850230e-03 -3.38292418e+01] [-6.01074398e-02 3.91455525e-03 9.98184237e-01 -1.76634846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.870714057 meters 0.043640333546589895 Centerline is valid? [True, True] Translation: X:251.82, Y:-33.83, Z:-17.67 [[ 9.95460034e-01 7.48529210e-02 5.87908205e-02 2.51824777e+02] [-7.44924082e-02 9.97187013e-01 -8.30308978e-03 -3.38345372e+01] [-5.92469532e-02 3.88592423e-03 9.98235793e-01 -1.76657344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.900714057 meters 0.04464039497411232 Centerline is valid? [True, True] Translation: X:251.85, Y:-33.84, Z:-17.67 [[ 9.95416141e-01 7.53195694e-02 5.89378295e-02 2.51851403e+02] [-7.49582945e-02 9.97151961e-01 -8.31995481e-03 -3.38417934e+01] [-5.93966276e-02 3.86393814e-03 9.98226984e-01 -1.76672842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.930714057 meters 0.0427039820812158 Centerline is valid? [True, True] Translation: X:251.88, Y:-33.84, Z:-17.67 [[ 9.95364375e-01 7.57463944e-02 5.92642000e-02 2.51880747e+02] [-7.53821512e-02 9.97119664e-01 -8.36106074e-03 -3.38437486e+01] [-5.97268194e-02 3.85483912e-03 9.98207317e-01 -1.76685375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.960714057 meters 0.043255665151362484 Centerline is valid? [True, True] Translation: X:251.91, Y:-33.85, Z:-17.67 [[ 9.95286612e-01 7.63787417e-02 5.97565747e-02 2.51909124e+02] [-7.60099252e-02 9.97071474e-01 -8.42423762e-03 -3.38494311e+01] [-6.02250086e-02 3.84243814e-03 9.98177431e-01 -1.76701341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.990714057 meters 0.04349706377482944 Centerline is valid? [True, True] Translation: X:251.94, Y:-33.86, Z:-17.67 [[ 9.95095237e-01 7.83189984e-02 6.04284956e-02 2.51937890e+02] [-7.79456605e-02 9.96921249e-01 -8.51449650e-03 -3.38551852e+01] [-6.09092982e-02 3.76259591e-03 9.98136213e-01 -1.76710924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.020714057 meters 0.03488794427928642 Centerline is valid? [True, True] Translation: X:251.97, Y:-33.85, Z:-17.67 [[ 9.95011677e-01 7.90358902e-02 6.08694570e-02 2.51968617e+02] [-7.86585310e-02 9.96864740e-01 -8.57466693e-03 -3.38479803e+01] [-6.13563219e-02 3.74399165e-03 9.98108904e-01 -1.76713334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.050714057 meters 0.03844996308708818 Centerline is valid? [True, True] Translation: X:251.99, Y:-33.86, Z:-17.67 [[ 9.94926133e-01 8.06422264e-02 6.01566372e-02 2.51994827e+02] [-8.02767676e-02 9.96736614e-01 -8.47131388e-03 -3.38584174e+01] [-6.06434685e-02 3.59915118e-03 9.98153002e-01 -1.76739179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.080714057 meters 0.032155196920505696 Centerline is valid? [True, True] Translation: X:252.02, Y:-33.85, Z:-17.67 [[ 9.94873658e-01 8.15732217e-02 5.97679997e-02 2.52024932e+02] [-8.12144753e-02 9.96661157e-01 -8.41117988e-03 -3.38536436e+01] [-6.02545708e-02 3.51403456e-03 9.98176857e-01 -1.76745710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.110714057 meters 0.032155196920505696 Centerline is valid? [True, True] Translation: X:252.05, Y:-33.86, Z:-17.68 [[ 9.94882530e-01 8.14645314e-02 5.97685682e-02 2.52052110e+02] [-8.11058316e-02 9.96670038e-01 -8.40713843e-03 -3.38573792e+01] [-6.02544247e-02 3.51653573e-03 9.98176857e-01 -1.76764623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.140714057 meters 0.03302517209167557 Centerline is valid? [True, True] Translation: X:252.08, Y:-33.86, Z:-17.68 [[ 9.94866634e-01 8.21159494e-02 5.91384129e-02 2.52079321e+02] [-8.17663289e-02 9.96616868e-01 -8.31182106e-03 -3.38636650e+01] [-5.96208729e-02 3.43362251e-03 9.98215188e-01 -1.76792500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.170714057 meters 0.037579445047465125 Centerline is valid? [True, True] Translation: X:252.11, Y:-33.88, Z:-17.68 [[ 9.94826836e-01 8.36456257e-02 5.76452626e-02 2.52105077e+02] [-8.33163187e-02 9.96490257e-01 -8.09678550e-03 -3.38770967e+01] [-5.81202032e-02 3.25210843e-03 9.98304295e-01 -1.76841412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.200714057 meters 0.04108581063182753 Centerline is valid? [True, True] Translation: X:252.13, Y:-33.89, Z:-17.69 [[ 9.94758563e-01 8.48295723e-02 5.70906737e-02 2.52131666e+02] [-8.45088173e-02 9.96390506e-01 -8.01375733e-03 -3.38871740e+01] [-5.75644089e-02 3.14708841e-03 9.98336834e-01 -1.76880271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.230714057 meters 0.032893947509620866 Centerline is valid? [True, True] Translation: X:252.16, Y:-33.88, Z:-17.69 [[ 9.94593615e-01 8.76232221e-02 5.57289137e-02 2.52162471e+02] [-8.73222608e-02 9.96149441e-01 -7.81749987e-03 -3.38805529e+01] [-5.61993208e-02 2.90886072e-03 9.98415332e-01 -1.76881531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.26071405700003 meters 0.03225220261562318 Centerline is valid? [True, True] Translation: X:252.19, Y:-33.88, Z:-17.69 [[ 9.94483063e-01 8.90234506e-02 5.54820864e-02 2.52190661e+02] [-8.87274080e-02 9.96025551e-01 -7.78137455e-03 -3.38842667e+01] [-5.59543005e-02 2.81566349e-03 9.98429361e-01 -1.76899809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.290714057 meters 0.03188449048058982 Centerline is valid? [True, True] Translation: X:252.22, Y:-33.89, Z:-17.69 [[ 9.94332081e-01 9.07151242e-02 5.54479848e-02 2.52219150e+02] [-9.04222853e-02 9.95873182e-01 -7.77269739e-03 -3.38884376e+01] [-5.59242623e-02 2.71490887e-03 9.98431323e-01 -1.76921276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.32071405700003 meters 0.03036555356511293 Centerline is valid? [True, True] Translation: X:252.25, Y:-33.89, Z:-17.69 [[ 9.94013942e-01 9.38670426e-02 5.59040436e-02 2.52248668e+02] [-9.35745872e-02 9.95581466e-01 -7.83205713e-03 -3.38926928e+01] [-5.63922018e-02 2.55397617e-03 9.98405427e-01 -1.76938670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.350714057 meters 0.030108772270316046 Centerline is valid? [True, True] Translation: X:252.28, Y:-33.90, Z:-17.70 [[ 9.93809905e-01 9.54976764e-02 5.67632477e-02 2.52276978e+02] [-9.51988272e-02 9.95426516e-01 -7.95201012e-03 -3.38967419e+01] [-5.72630404e-02 2.49899182e-03 9.98355998e-01 -1.76956011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.38071405700003 meters 0.03057187955722827 Centerline is valid? [True, True] Translation: X:252.30, Y:-33.90, Z:-17.70 [[ 9.93657145e-01 9.71133231e-02 5.66963947e-02 2.52304773e+02] [-9.68180284e-02 9.95270439e-01 -7.93867210e-03 -3.39023783e+01] [-5.71991965e-02 2.39908510e-03 9.98359903e-01 -1.76974316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.410714057 meters 0.0295453006990587 Centerline is valid? [True, True] Translation: X:252.33, Y:-33.91, Z:-17.70 [[ 9.93416262e-01 9.89996151e-02 5.76472669e-02 2.52333478e+02] [-9.86977254e-02 9.95084756e-01 -8.06772764e-03 -3.39070470e+01] [-5.81626184e-02 2.32495771e-03 9.98304415e-01 -1.76980127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.44071405700004 meters 0.02954502828904474 Centerline is valid? [True, True] Translation: X:252.36, Y:-33.91, Z:-17.70 [[ 9.93334648e-01 9.95826534e-02 5.80480216e-02 2.52361806e+02] [-9.92777751e-02 9.95026629e-01 -8.11979714e-03 -3.39125914e+01] [-5.85679182e-02 2.30279740e-03 9.98280770e-01 -1.76998876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.470714057 meters 0.030123236076009707 Centerline is valid? [True, True] Translation: X:252.39, Y:-33.92, Z:-17.70 [[ 9.93309429e-01 9.97868248e-02 5.81288883e-02 2.52388631e+02] [-9.94816680e-02 9.95006203e-01 -8.12729865e-03 -3.39219259e+01] [-5.86496018e-02 2.29016361e-03 9.98276004e-01 -1.77026887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.50071405700004 meters 0.03042041850561778 Centerline is valid? [True, True] Translation: X:252.42, Y:-33.93, Z:-17.70 [[ 9.93380087e-01 9.92386807e-02 5.78592062e-02 2.52416342e+02] [-9.89357198e-02 9.95060985e-01 -8.08454747e-03 -3.39287290e+01] [-5.83757385e-02 2.30668626e-03 9.98292018e-01 -1.77049285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.530714057 meters 0.02758418908108077 Centerline is valid? [True, True] Translation: X:252.45, Y:-33.93, Z:-17.71 [[ 9.93487811e-01 9.84545230e-02 5.73469884e-02 2.52445558e+02] [-9.81558215e-02 9.95138828e-01 -8.00925148e-03 -3.39297665e+01] [-5.78567619e-02 2.32815296e-03 9.98322180e-01 -1.77058401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.560714057 meters 0.031188746598200225 Centerline is valid? [True, True] Translation: X:252.47, Y:-33.94, Z:-17.71 [[ 9.93692705e-01 9.67428543e-02 5.67065152e-02 2.52470845e+02] [-9.64482220e-02 9.95306523e-01 -7.91618659e-03 -3.39442096e+01] [-5.72061990e-02 2.39701429e-03 9.98359507e-01 -1.77095951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.590714057 meters 0.03258177633292638 Centerline is valid? [True, True] Translation: X:252.50, Y:-33.95, Z:-17.71 [[ 9.93857087e-01 9.55171603e-02 5.58977806e-02 2.52497959e+02] [-9.52292949e-02 9.95424827e-01 -7.79714538e-03 -3.39527910e+01] [-5.63867998e-02 2.42614196e-03 9.98406051e-01 -1.77123540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.620714057 meters 0.03316427416602861 Centerline is valid? [True, True] Translation: X:252.53, Y:-33.96, Z:-17.71 [[ 9.94082549e-01 9.35132013e-02 5.52735619e-02 2.52526621e+02] [-9.32289343e-02 9.95614885e-01 -7.70492399e-03 -3.39614080e+01] [-5.57516931e-02 2.50623521e-03 9.98441519e-01 -1.77145002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.650714057 meters 0.03481969381229426 Centerline is valid? [True, True] Translation: X:252.55, Y:-33.97, Z:-17.72 [[ 9.94118446e-01 9.28945849e-02 5.56696718e-02 2.52553702e+02] [-9.26053271e-02 9.95672664e-01 -7.75889182e-03 -3.39702203e+01] [-5.61495295e-02 2.55794931e-03 9.98419094e-01 -1.77170631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.680714057 meters 0.03524661757663847 Centerline is valid? [True, True] Translation: X:252.58, Y:-33.98, Z:-17.72 [[ 9.94181516e-01 9.22722852e-02 5.55782164e-02 2.52582015e+02] [-9.19832762e-02 9.95730460e-01 -7.74137742e-03 -3.39771843e+01] [-5.60552375e-02 2.58406792e-03 9.98424325e-01 -1.77190805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.710714057 meters 0.028964465260383505 Centerline is valid? [True, True] Translation: X:252.61, Y:-33.97, Z:-17.72 [[ 9.94242448e-01 9.15922995e-02 5.56130000e-02 2.52611330e+02] [-9.13020617e-02 9.95793143e-01 -7.74276708e-03 -3.39738305e+01] [-5.60882219e-02 2.62060614e-03 9.98422377e-01 -1.77176123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.740714057 meters 0.02911935249729193 Centerline is valid? [True, True] Translation: X:252.64, Y:-33.98, Z:-17.72 [[ 9.94252084e-01 9.12728986e-02 5.59647331e-02 2.52639308e+02] [-9.09786988e-02 9.95822388e-01 -7.78767216e-03 -3.39797418e+01] [-5.64417375e-02 2.65131068e-03 9.98402374e-01 -1.77195121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.770714057 meters 0.029260284690073263 Centerline is valid? [True, True] Translation: X:252.67, Y:-33.99, Z:-17.72 [[ 9.94246242e-01 9.11321526e-02 5.62969063e-02 2.52667050e+02] [-9.08344295e-02 9.95835224e-01 -7.83022573e-03 -3.39859208e+01] [-5.67760277e-02 2.67147513e-03 9.98383366e-01 -1.77214068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.800714057 meters 0.03190508918933078 Centerline is valid? [True, True] Translation: X:252.69, Y:-34.00, Z:-17.72 [[ 9.94250537e-01 9.04787173e-02 5.72666667e-02 2.52693697e+02] [-9.01699315e-02 9.95894595e-01 -7.95860427e-03 -3.39979026e+01] [-5.77516481e-02 2.74911516e-03 9.98327196e-01 -1.77242331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.830714057 meters 0.030955241230030753 Centerline is valid? [True, True] Translation: X:252.72, Y:-34.00, Z:-17.73 [[ 9.94243203e-01 9.01965952e-02 5.78362171e-02 2.52721877e+02] [-8.98814694e-02 9.95920079e-01 -8.03233965e-03 -3.40022149e+01] [-5.83247396e-02 2.78769492e-03 9.98293771e-01 -1.77254563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.860714057 meters 0.0282282306383867 Centerline is valid? [True, True] Translation: X:252.75, Y:-34.00, Z:-17.73 [[ 9.94460342e-01 8.78220079e-02 5.77574594e-02 2.52751684e+02] [-8.75040022e-02 9.96131907e-01 -8.01704692e-03 -3.40049308e+01] [-5.82381214e-02 2.91862636e-03 9.98298454e-01 -1.77255112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.890714057 meters 0.029940095151703445 Centerline is valid? [True, True] Translation: X:252.78, Y:-34.01, Z:-17.73 [[ 9.94591515e-01 8.60813735e-02 5.81181243e-02 2.52778209e+02] [-8.57565127e-02 9.96283478e-01 -8.06547516e-03 -3.40131680e+01] [-5.85964142e-02 3.03784549e-03 9.98277132e-01 -1.77277453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.920714057 meters 0.03203337650785229 Centerline is valid? [True, True] Translation: X:252.81, Y:-34.02, Z:-17.73 [[ 9.94718593e-01 8.44847210e-02 5.82859625e-02 2.52805081e+02] [-8.41555841e-02 9.96419842e-01 -8.08304800e-03 -3.40225459e+01] [-5.87601836e-02 3.13526891e-03 9.98267204e-01 -1.77308458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.950714057 meters 0.03232538985165766 Centerline is valid? [True, True] Translation: X:252.83, Y:-34.03, Z:-17.73 [[ 9.95071607e-01 8.10082973e-02 5.71852504e-02 2.52834267e+02] [-8.06859962e-02 9.96708052e-01 -7.92648983e-03 -3.40313520e+01] [-5.76391109e-02 3.27337608e-03 9.98332118e-01 -1.77333814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.980714057 meters 0.03278841467349968 Centerline is valid? [True, True] Translation: X:252.86, Y:-34.04, Z:-17.74 [[ 9.95203116e-01 7.94464742e-02 5.70877934e-02 2.52863004e+02] [-7.91227609e-02 9.96833480e-01 -7.91214922e-03 -3.40380788e+01] [-5.75356161e-02 3.35725173e-03 9.98337809e-01 -1.77358624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.01071405700003 meters 0.034603645750518136 Centerline is valid? [True, True] Translation: X:252.89, Y:-34.05, Z:-17.74 [[ 9.95438894e-01 7.69337386e-02 5.64146025e-02 2.52890796e+02] [-7.66137213e-02 9.97030208e-01 -7.81683055e-03 -3.40482007e+01] [-5.68484409e-02 3.45904452e-03 9.98376828e-01 -1.77390495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.040714057 meters 0.0348336705842217 Centerline is valid? [True, True] Translation: X:252.92, Y:-34.05, Z:-17.74 [[ 9.95505827e-01 7.61236829e-02 5.63323436e-02 2.52919507e+02] [-7.58034179e-02 9.97092246e-01 -7.80350442e-03 -3.40536527e+01] [-5.67625745e-02 3.49824993e-03 9.98381577e-01 -1.77409854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.07071405700003 meters 0.03612297805058395 Centerline is valid? [True, True] Translation: X:252.95, Y:-34.06, Z:-17.74 [[ 9.95572564e-01 7.54623388e-02 5.60419926e-02 2.52947151e+02] [-7.51444601e-02 9.97142456e-01 -7.76094841e-03 -3.40603832e+01] [-5.64675095e-02 3.51534203e-03 9.98398249e-01 -1.77430425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.100714057 meters 0.03569773672069727 Centerline is valid? [True, True] Translation: X:252.98, Y:-34.06, Z:-17.74 [[ 9.95594159e-01 7.51326822e-02 5.61012464e-02 2.52976837e+02] [-7.48137910e-02 9.97167281e-01 -7.76594240e-03 -3.40647357e+01] [-5.65258034e-02 3.53457997e-03 9.98394882e-01 -1.77445852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.13071405700003 meters 0.037129465344043294 Centerline is valid? [True, True] Translation: X:253.00, Y:-34.07, Z:-17.75 [[ 9.95560422e-01 7.53836947e-02 5.63626196e-02 2.53004363e+02] [-7.50623254e-02 9.97148335e-01 -7.80030018e-03 -3.40722865e+01] [-5.67899078e-02 3.53496084e-03 9.98379893e-01 -1.77468108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.160714057 meters 0.03692050905977492 Centerline is valid? [True, True] Translation: X:253.03, Y:-34.08, Z:-17.75 [[ 9.95465216e-01 7.60858722e-02 5.70959190e-02 2.53033978e+02] [-7.57574129e-02 9.97094994e-01 -7.89851478e-03 -3.40767303e+01] [-5.75310204e-02 3.53725761e-03 9.98337453e-01 -1.77484866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.19071405700004 meters 0.03334571608942899 Centerline is valid? [True, True] Translation: X:253.06, Y:-34.08, Z:-17.75 [[ 9.95312311e-01 7.73667166e-02 5.80327072e-02 2.53063851e+02] [-7.70296519e-02 9.96996496e-01 -8.02624139e-03 -3.40757234e+01] [-5.84793696e-02 3.51837763e-03 9.98282417e-01 -1.77490753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.220714057 meters 0.037759268023854584 Centerline is valid? [True, True] Translation: X:253.09, Y:-34.09, Z:-17.75 [[ 9.95260079e-01 7.77935759e-02 5.83569550e-02 2.53091156e+02] [-7.74536617e-02 9.96963311e-01 -8.06765098e-03 -3.40860534e+01] [-5.88073545e-02 3.50945110e-03 9.98263181e-01 -1.77515192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.25071405700004 meters 0.03475776011949555 Centerline is valid? [True, True] Translation: X:253.12, Y:-34.09, Z:-17.75 [[ 9.95220786e-01 7.82600682e-02 5.84033358e-02 2.53120790e+02] [-7.79205056e-02 9.96926893e-01 -8.07248122e-03 -3.40854740e+01] [-5.88556090e-02 3.48308364e-03 9.98260430e-01 -1.77531243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.280714057 meters 0.03470521453342377 Centerline is valid? [True, True] Translation: X:253.15, Y:-34.09, Z:-17.76 [[ 9.95193076e-01 7.87452122e-02 5.82231247e-02 2.53150071e+02] [-7.84087634e-02 9.96888838e-01 -8.04430661e-03 -3.40901818e+01] [-5.86754338e-02 3.44043504e-03 9.98271184e-01 -1.77551769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.310714057 meters 0.035957615432223394 Centerline is valid? [True, True] Translation: X:253.18, Y:-34.10, Z:-17.76 [[ 9.95159886e-01 7.87336707e-02 5.88031440e-02 2.53178011e+02] [-7.83905714e-02 9.96889635e-01 -8.12249309e-03 -3.40965102e+01] [-5.92597585e-02 3.47356724e-03 9.98236553e-01 -1.77574707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.340714057 meters 0.03394103639562082 Centerline is valid? [True, True] Translation: X:253.21, Y:-34.10, Z:-17.76 [[ 9.95068437e-01 7.89502471e-02 6.00471846e-02 2.53207726e+02] [-7.85930529e-02 9.96872305e-01 -8.29095437e-03 -3.40980489e+01] [-6.05139482e-02 3.53077544e-03 9.98161107e-01 -1.77580192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.370714057 meters 0.035750366495573775 Centerline is valid? [True, True] Translation: X:253.24, Y:-34.11, Z:-17.76 [[ 9.95011209e-01 7.91299816e-02 6.07547592e-02 2.53235750e+02] [-7.87647692e-02 9.96857952e-01 -8.38655591e-03 -3.41053976e+01] [-6.12274928e-02 3.55938255e-03 9.98117491e-01 -1.77600766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.400714057 meters 0.03294643557293941 Centerline is valid? [True, True] Translation: X:253.27, Y:-34.10, Z:-17.76 [[ 9.94961183e-01 7.99925827e-02 6.04436207e-02 2.53265992e+02] [-7.96328964e-02 9.96789367e-01 -8.34025166e-03 -3.41049353e+01] [-6.09167167e-02 3.48492607e-03 9.98136769e-01 -1.77621007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.430714057 meters 0.03333037599992745 Centerline is valid? [True, True] Translation: X:253.29, Y:-34.11, Z:-17.76 [[ 9.94892588e-01 8.08169109e-02 6.04761525e-02 2.53293874e+02] [-8.04584913e-02 9.96723048e-01 -8.34248073e-03 -3.41094743e+01] [-6.09521886e-02 3.43405226e-03 9.98134779e-01 -1.77647034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.460714057 meters 0.0365760286243478 Centerline is valid? [True, True] Translation: X:253.32, Y:-34.12, Z:-17.77 [[ 9.94871946e-01 8.14750359e-02 5.99302081e-02 2.53321219e+02] [-8.11243403e-02 9.96669714e-01 -8.26578819e-03 -3.41180136e+01] [-6.04040788e-02 3.36160218e-03 9.98168346e-01 -1.77677446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.490714057 meters 0.05559621194185906 Centerline is valid? [True, True] Translation: X:253.35, Y:-34.15, Z:-17.77 [[ 9.94514838e-01 8.55589775e-02 6.01655923e-02 2.53346726e+02] [-8.52131725e-02 9.96328215e-01 -8.29475662e-03 -3.41487013e+01] [-6.06543681e-02 3.12235754e-03 9.98153945e-01 -1.77744504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.520714057 meters 0.03619642677539906 Centerline is valid? [True, True] Translation: X:253.38, Y:-34.12, Z:-17.77 [[ 9.94637254e-01 8.39267898e-02 6.04402724e-02 2.53379940e+02] [-8.35748677e-02 9.96466670e-01 -8.33172699e-03 -3.41249360e+01] [-6.09259720e-02 3.23575829e-03 9.98137043e-01 -1.77720247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.550714057 meters 0.030552167775036776 Centerline is valid? [True, True] Translation: X:253.41, Y:-34.12, Z:-17.77 [[ 9.94548028e-01 8.44586785e-02 6.11633137e-02 2.53409577e+02] [-8.40993865e-02 9.96421715e-01 -8.42959993e-03 -3.41194488e+01] [-6.16564068e-02 3.23984483e-03 9.98092176e-01 -1.77722059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.580714057 meters 0.030497378703655122 Centerline is valid? [True, True] Translation: X:253.44, Y:-34.12, Z:-17.77 [[ 9.94525164e-01 8.46009104e-02 6.13382815e-02 2.53437948e+02] [-8.42401047e-02 9.96409662e-01 -8.44922087e-03 -3.41230534e+01] [-6.18328682e-02 3.23581951e-03 9.98081272e-01 -1.77741533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.610714057 meters 0.03108307410040381 Centerline is valid? [True, True] Translation: X:253.47, Y:-34.13, Z:-17.78 [[ 9.94598301e-01 8.41898649e-02 6.07147975e-02 2.53465437e+02] [-8.38358659e-02 9.96444516e-01 -8.35907242e-03 -3.41273338e+01] [-6.12026762e-02 3.22384160e-03 9.98120153e-01 -1.77760645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.640714057 meters 0.03250734178866973 Centerline is valid? [True, True] Translation: X:253.49, Y:-34.13, Z:-17.78 [[ 9.94678687e-01 8.31387473e-02 6.08461882e-02 2.53493358e+02] [-8.27816097e-02 9.96532551e-01 -8.37135614e-03 -3.41331825e+01] [-6.13311912e-02 3.28986413e-03 9.98112049e-01 -1.77785279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.670714057 meters 0.030578459197318116 Centerline is valid? [True, True] Translation: X:253.52, Y:-34.13, Z:-17.78 [[ 9.94733635e-01 8.21919434e-02 6.12329909e-02 2.53521846e+02] [-8.18286460e-02 9.96610832e-01 -8.42151663e-03 -3.41336544e+01] [-6.17176428e-02 3.36655312e-03 9.98087972e-01 -1.77805004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.700714057 meters 0.033184419927446286 Centerline is valid? [True, True] Translation: X:253.55, Y:-34.14, Z:-17.78 [[ 9.94785892e-01 8.13444594e-02 6.15151034e-02 2.53549745e+02] [-8.09765599e-02 9.96680150e-01 -8.45432318e-03 -3.41425706e+01] [-6.19985948e-02 3.42895997e-03 9.98070346e-01 -1.77838923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.730714057 meters 0.03225979768458273 Centerline is valid? [True, True] Translation: X:253.58, Y:-34.15, Z:-17.79 [[ 9.94795149e-01 8.10359018e-02 6.17721104e-02 2.53579531e+02] [-8.06645467e-02 9.96705181e-01 -8.48608465e-03 -3.41450750e+01] [-6.22562599e-02 3.45909656e-03 9.98054203e-01 -1.77859302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.76071405700003 meters 0.03147167538076071 Centerline is valid? [True, True] Translation: X:253.61, Y:-34.15, Z:-17.79 [[ 9.94797691e-01 8.10105250e-02 6.17644576e-02 2.53609051e+02] [-8.06393522e-02 9.96707247e-01 -8.48280674e-03 -3.41477578e+01] [-6.22482792e-02 3.45803070e-03 9.98054705e-01 -1.77878680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.790714057 meters 0.03435122330908379 Centerline is valid? [True, True] Translation: X:253.64, Y:-34.16, Z:-17.79 [[ 9.94657327e-01 8.14041589e-02 6.34835789e-02 2.53636926e+02] [-8.10129492e-02 9.96674933e-01 -8.71660206e-03 -3.41560562e+01] [-6.39820595e-02 3.52704014e-03 9.97944816e-01 -1.77902698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.82071405700003 meters 0.03248413357257007 Centerline is valid? [True, True] Translation: X:253.67, Y:-34.16, Z:-17.79 [[ 9.94569296e-01 8.17371841e-02 6.44278568e-02 2.53666986e+02] [-8.13351629e-02 9.96647580e-01 -8.84262090e-03 -3.41569657e+01] [-6.49346385e-02 3.55434901e-03 9.97883189e-01 -1.77915535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.850714057 meters 0.03349383327348132 Centerline is valid? [True, True] Translation: X:253.70, Y:-34.16, Z:-17.79 [[ 9.94429554e-01 8.20371046e-02 6.61798761e-02 2.53695700e+02] [-8.16137069e-02 9.96622669e-01 -9.08064672e-03 -3.41615720e+01] [-6.67013147e-02 3.62887845e-03 9.97766388e-01 -1.77934049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.88071405700003 meters 0.033547100979082575 Centerline is valid? [True, True] Translation: X:253.73, Y:-34.17, Z:-17.80 [[ 9.94417684e-01 8.19713395e-02 6.64392166e-02 2.53725230e+02] [-8.15446237e-02 9.96628021e-01 -9.11386382e-03 -3.41650966e+01] [-6.69622606e-02 3.64522644e-03 9.97748850e-01 -1.77955222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.910714057 meters 0.03251471982761374 Centerline is valid? [True, True] Translation: X:253.75, Y:-34.17, Z:-17.80 [[ 9.94434751e-01 8.16833329e-02 6.65384076e-02 2.53754802e+02] [-8.12548556e-02 9.96651584e-01 -9.12512249e-03 -3.41669525e+01] [-6.70609798e-02 3.66777021e-03 9.97742137e-01 -1.77974630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.94071405700004 meters 0.03230591735684887 Centerline is valid? [True, True] Translation: X:253.78, Y:-34.17, Z:-17.80 [[ 9.94425132e-01 8.10378526e-02 6.74649755e-02 2.53784672e+02] [-8.05960247e-02 9.96703930e-01 -9.24974166e-03 -3.41702130e+01] [-6.79921854e-02 3.76076674e-03 9.97678766e-01 -1.77990580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.970714057 meters 0.03230591735684887 Centerline is valid? [True, True] Translation: X:253.81, Y:-34.17, Z:-17.80 [[ 9.94425123e-01 8.10376875e-02 6.74653053e-02 2.53814369e+02] [-8.05960220e-02 9.96703952e-01 -9.24733588e-03 -3.41742845e+01] [-6.79923191e-02 3.75834790e-03 9.97678766e-01 -1.78011231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.00071405700004 meters 0.03419834592707689 Centerline is valid? [True, True] Translation: X:253.84, Y:-34.18, Z:-17.80 [[ 9.94467669e-01 8.03390846e-02 6.76733822e-02 2.53843019e+02] [-7.98930743e-02 9.96760280e-01 -9.27586369e-03 -3.41806290e+01] [-6.81993537e-02 3.81791199e-03 9.97664408e-01 -1.78026020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.030714057 meters 0.03443187540736519 Centerline is valid? [True, True] Translation: X:253.87, Y:-34.18, Z:-17.80 [[ 9.94544158e-01 7.90224256e-02 6.80982647e-02 2.53873445e+02] [-7.85677977e-02 9.96865085e-01 -9.33287915e-03 -3.41846676e+01] [-6.86222892e-02 3.93162975e-03 9.97634965e-01 -1.78045557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.060714057 meters 0.03380508331531873 Centerline is valid? [True, True] Translation: X:253.90, Y:-34.19, Z:-17.81 [[ 9.94788558e-01 7.61872986e-02 6.77585473e-02 2.53903903e+02] [-7.57306565e-02 9.97085068e-01 -9.28631513e-03 -3.41876553e+01] [-6.82685350e-02 4.10652076e-03 9.97658531e-01 -1.78076879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.090714057 meters 0.03983503458280181 Centerline is valid? [True, True] Translation: X:253.93, Y:-34.20, Z:-17.81 [[ 9.94964533e-01 7.44945550e-02 6.70532538e-02 2.53933614e+02] [-7.40434949e-02 9.97212662e-01 -9.19063793e-03 -3.42006667e+01] [-6.75510062e-02 4.17950152e-03 9.97707068e-01 -1.78108035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.120714057 meters 0.036852937770697806 Centerline is valid? [True, True] Translation: X:253.96, Y:-34.20, Z:-17.81 [[ 9.95312757e-01 7.10115644e-02 6.56496260e-02 2.53964351e+02] [-7.05706556e-02 9.97466057e-01 -9.01377956e-03 -3.41997871e+01] [-6.61233561e-02 4.33859264e-03 9.97802024e-01 -1.78143347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.150714057 meters 0.037968365447808315 Centerline is valid? [True, True] Translation: X:253.99, Y:-34.21, Z:-17.82 [[ 9.95412134e-01 7.02073427e-02 6.50047052e-02 2.53994544e+02] [-6.97733129e-02 9.97522938e-01 -8.92600762e-03 -3.42056465e+01] [-6.54703557e-02 4.34946267e-03 9.97845035e-01 -1.78172745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.180714057 meters 0.03837764846040633 Centerline is valid? [True, True] Translation: X:254.03, Y:-34.21, Z:-17.82 [[ 9.95443338e-01 6.98229018e-02 6.49409252e-02 2.54026239e+02] [-6.93884046e-02 9.97549795e-01 -8.92497902e-03 -3.42103621e+01] [-6.54049746e-02 4.37816371e-03 9.97849198e-01 -1.78196165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.210714057 meters 0.039533164239945184 Centerline is valid? [True, True] Translation: X:254.06, Y:-34.21, Z:-17.82 [[ 9.95435386e-01 6.98448815e-02 6.50391034e-02 2.54057487e+02] [-6.94080468e-02 9.97548162e-01 -8.95472431e-03 -3.42148828e+01] [-6.55050797e-02 4.39961231e-03 9.97842537e-01 -1.78217141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.240714057 meters 0.03993035077509206 Centerline is valid? [True, True] Translation: X:254.09, Y:-34.22, Z:-17.82 [[ 9.95369458e-01 7.09677559e-02 6.48322366e-02 2.54088881e+02] [-7.05351044e-02 9.97469227e-01 -8.94098287e-03 -3.42189691e+01] [-6.53026824e-02 4.32663269e-03 9.97856122e-01 -1.78231280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.270714057 meters 0.03639697768271984 Centerline is valid? [True, True] Translation: X:254.12, Y:-34.22, Z:-17.82 [[ 9.95198689e-01 7.24527690e-02 6.58039970e-02 2.54121042e+02] [-7.20091413e-02 9.97362534e-01 -9.09176221e-03 -3.42161060e+01] [-6.62891645e-02 4.30962051e-03 9.97791147e-01 -1.78244133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.300714057 meters 0.037786009971870066 Centerline is valid? [True, True] Translation: X:254.15, Y:-34.22, Z:-17.83 [[ 9.95119118e-01 7.34267911e-02 6.59275870e-02 2.54151287e+02] [-7.29834591e-02 9.97291532e-01 -9.11123185e-03 -3.42211771e+01] [-6.64180328e-02 4.25513765e-03 9.97782811e-01 -1.78263771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.330714057 meters 0.03804168769378177 Centerline is valid? [True, True] Translation: X:254.18, Y:-34.22, Z:-17.83 [[ 9.95055299e-01 7.40735764e-02 6.61668905e-02 2.54181642e+02] [-7.36282763e-02 9.97243809e-01 -9.14670377e-03 -3.42249416e+01] [-6.66620510e-02 4.22972196e-03 9.97766646e-01 -1.78285430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.360714057 meters 0.03496783558955261 Centerline is valid? [True, True] Translation: X:254.21, Y:-34.22, Z:-17.83 [[ 9.94935858e-01 7.56342859e-02 6.61973785e-02 2.54213258e+02] [-7.51919338e-02 9.97127079e-01 -9.15207622e-03 -3.42232777e+01] [-6.66994094e-02 4.12821990e-03 9.97764575e-01 -1.78306113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.390714057 meters 0.03480890482353602 Centerline is valid? [True, True] Translation: X:254.24, Y:-34.23, Z:-17.83 [[ 9.94876105e-01 7.64930215e-02 6.61086501e-02 2.54243848e+02] [-7.60536614e-02 9.97061825e-01 -9.14102946e-03 -3.42257630e+01] [-6.66136362e-02 4.06638690e-03 9.97770559e-01 -1.78326353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.420714057 meters 0.03228052331527933 Centerline is valid? [True, True] Translation: X:254.28, Y:-34.22, Z:-17.83 [[ 9.94823933e-01 7.76870720e-02 6.54985637e-02 2.54275152e+02] [-7.72583734e-02 9.96969970e-01 -9.05667110e-03 -3.42239076e+01] [-6.60036873e-02 3.94948067e-03 9.97811563e-01 -1.78344771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.450714057 meters 0.032318252998316505 Centerline is valid? [True, True] Translation: X:254.30, Y:-34.23, Z:-17.84 [[ 9.94828379e-01 7.80780570e-02 6.49639330e-02 2.54304718e+02] [-7.76571626e-02 9.96939654e-01 -8.98286020e-03 -3.42271222e+01] [-6.54664852e-02 3.89148955e-03 9.97847181e-01 -1.78370379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.480714057 meters 0.0321636635668977 Centerline is valid? [True, True] Translation: X:254.33, Y:-34.23, Z:-17.84 [[ 9.94819344e-01 7.83469137e-02 6.47783393e-02 2.54333659e+02] [-7.79291477e-02 9.96918682e-01 -8.95481984e-03 -3.42301092e+01] [-6.52803192e-02 3.86030723e-03 9.97859498e-01 -1.78397305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.51071405700003 meters 0.03254028430101243 Centerline is valid? [True, True] Translation: X:254.36, Y:-34.23, Z:-17.84 [[ 9.94818288e-01 7.96688626e-02 6.31620573e-02 2.54362213e+02] [-7.92745182e-02 9.96814604e-01 -8.72905706e-03 -3.42325592e+01] [-6.36562952e-02 3.67668394e-03 9.97965109e-01 -1.78424363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.540714057 meters 0.03154736362714607 Centerline is valid? [True, True] Translation: X:254.39, Y:-34.23, Z:-17.84 [[ 9.94776890e-01 8.04153950e-02 6.28673521e-02 2.54391234e+02] [-8.00262836e-02 9.96754898e-01 -8.68720129e-03 -3.42335226e+01] [-6.33619259e-02 3.61078653e-03 9.97984082e-01 -1.78444581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.57071405700003 meters 0.03142819534974577 Centerline is valid? [True, True] Translation: X:254.42, Y:-34.24, Z:-17.85 [[ 9.94738959e-01 8.12541227e-02 6.23872665e-02 2.54420210e+02] [-8.08728695e-02 9.96687182e-01 -8.61631706e-03 -3.42358716e+01] [-6.28807001e-02 3.52554900e-03 9.98014824e-01 -1.78465055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.600714057 meters 0.0314723409601395 Centerline is valid? [True, True] Translation: X:254.45, Y:-34.24, Z:-17.85 [[ 9.94499321e-01 8.36764405e-02 6.30028037e-02 2.54449492e+02] [-8.32927645e-02 9.96487173e-01 -8.69646914e-03 -3.42370973e+01] [-6.35091754e-02 3.40095496e-03 9.97975460e-01 -1.78479261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.63071405700003 meters 0.03059078539318461 Centerline is valid? [True, True] Translation: X:254.48, Y:-34.24, Z:-17.85 [[ 9.94406590e-01 8.47861778e-02 6.29828440e-02 2.54479020e+02] [-8.44051024e-02 9.96393615e-01 -8.69151377e-03 -3.42377625e+01] [-6.34926239e-02 3.32682517e-03 9.97976763e-01 -1.78493922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.660714057 meters 0.030321241220512708 Centerline is valid? [True, True] Translation: X:254.51, Y:-34.24, Z:-17.85 [[ 9.94218129e-01 8.66791313e-02 6.33801309e-02 2.54507248e+02] [-8.62972746e-02 9.96231068e-01 -8.74293952e-03 -3.42391098e+01] [-6.38990860e-02 3.22285641e-03 9.97951161e-01 -1.78507934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.69071405700004 meters 0.028679832887671772 Centerline is valid? [True, True] Translation: X:254.54, Y:-34.24, Z:-17.85 [[ 9.94151140e-01 8.69990961e-02 6.39895881e-02 2.54536559e+02] [-8.66108099e-02 9.96203159e-01 -8.82235622e-03 -3.42388155e+01] [-6.45141668e-02 3.22856545e-03 9.97911569e-01 -1.78526028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.720714057 meters 0.030273461887638013 Centerline is valid? [True, True] Translation: X:254.56, Y:-34.24, Z:-17.85 [[ 9.94121593e-01 8.74928939e-02 6.37750127e-02 2.54564033e+02] [-8.71085224e-02 9.96160064e-01 -8.78814048e-03 -3.42441702e+01] [-6.42990206e-02 3.18113309e-03 9.97925607e-01 -1.78544134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.75071405700004 meters 0.0294869907779134 Centerline is valid? [True, True] Translation: X:254.59, Y:-34.25, Z:-17.86 [[ 9.94118307e-01 8.76852297e-02 6.35617234e-02 2.54592700e+02] [-8.73042002e-02 9.96143245e-01 -8.75284058e-03 -3.42453265e+01] [-6.40840763e-02 3.15215363e-03 9.97939525e-01 -1.78555258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.780714057 meters 0.029686299583338027 Centerline is valid? [True, True] Translation: X:254.62, Y:-34.25, Z:-17.86 [[ 9.94123556e-01 8.76108297e-02 6.35822184e-02 2.54621508e+02] [-8.72296998e-02 9.96149787e-01 -8.75103141e-03 -3.42485499e+01] [-6.41040984e-02 3.15334864e-03 9.97938235e-01 -1.78575929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.810714057 meters 0.03257653116370675 Centerline is valid? [True, True] Translation: X:254.65, Y:-34.26, Z:-17.86 [[ 9.94277394e-01 8.66973039e-02 6.24182819e-02 2.54648020e+02] [-8.63285031e-02 9.96229724e-01 -8.58645804e-03 -3.42558340e+01] [-6.29273705e-02 3.14884428e-03 9.98013142e-01 -1.78604963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.840714057 meters 0.03327239187559848 Centerline is valid? [True, True] Translation: X:254.68, Y:-34.26, Z:-17.86 [[ 9.94401325e-01 8.57800903e-02 6.17072268e-02 2.54676178e+02] [-8.54182272e-02 9.96309068e-01 -8.48334332e-03 -3.42600525e+01] [-6.22071716e-02 3.16492592e-03 9.98058240e-01 -1.78633137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.870714057 meters 0.030662182983897213 Centerline is valid? [True, True] Translation: X:254.71, Y:-34.26, Z:-17.86 [[ 9.94475130e-01 8.49469353e-02 6.16703609e-02 2.54705243e+02] [-8.45841715e-02 9.96380303e-01 -8.47405578e-03 -3.42596483e+01] [-6.21669779e-02 3.21090134e-03 9.98060598e-01 -1.78649167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.900714057 meters 0.030347656160061662 Centerline is valid? [True, True] Translation: X:254.73, Y:-34.26, Z:-17.87 [[ 9.94562395e-01 8.37781603e-02 6.18616338e-02 2.54733369e+02] [-8.34111535e-02 9.96478999e-01 -8.49606783e-03 -3.42623833e+01] [-6.23556039e-02 3.28991933e-03 9.98048574e-01 -1.78667165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.930714057 meters 0.0319947892037031 Centerline is valid? [True, True] Translation: X:254.76, Y:-34.27, Z:-17.87 [[ 9.94608460e-01 8.31958279e-02 6.19069137e-02 2.54760511e+02] [-8.28275755e-02 9.96527680e-01 -8.49562639e-03 -3.42684212e+01] [-6.23987537e-02 3.32222232e-03 9.98045770e-01 -1.78684926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.960714057 meters 0.033486603762743816 Centerline is valid? [True, True] Translation: X:254.79, Y:-34.27, Z:-17.87 [[ 9.94665363e-01 8.24004499e-02 6.20562724e-02 2.54787930e+02] [-8.20292264e-02 9.96593587e-01 -8.51049574e-03 -3.42732497e+01] [-6.25461518e-02 3.37466732e-03 9.98036367e-01 -1.78704518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.990714057 meters 0.03128106434322791 Centerline is valid? [True, True] Translation: X:254.82, Y:-34.27, Z:-17.87 [[ 9.94708582e-01 8.20576370e-02 6.18173281e-02 2.54817343e+02] [-8.16890073e-02 9.96621865e-01 -8.47138900e-03 -3.42731204e+01] [-6.23036430e-02 3.37676717e-03 9.98051528e-01 -1.78724272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.020714057 meters 0.03079950941132969 Centerline is valid? [True, True] Translation: X:254.85, Y:-34.28, Z:-17.87 [[ 9.94724739e-01 8.19939964e-02 6.16415307e-02 2.54845430e+02] [-8.16276206e-02 9.96627137e-01 -8.44281930e-03 -3.42762872e+01] [-6.21258828e-02 3.36662974e-03 9.98062644e-01 -1.78745136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.050714057 meters 0.035717226130660355 Centerline is valid? [True, True] Translation: X:254.87, Y:-34.29, Z:-17.88 [[ 9.94756596e-01 8.16561465e-02 6.15758776e-02 2.54872014e+02] [-8.12901805e-02 9.96654831e-01 -8.42943104e-03 -3.42876359e+01] [-6.20582107e-02 3.37971792e-03 9.98066809e-01 -1.78781749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.080714057 meters 0.03492782910774208 Centerline is valid? [True, True] Translation: X:254.90, Y:-34.29, Z:-17.88 [[ 9.94756042e-01 8.15772952e-02 6.16892301e-02 2.54900761e+02] [-8.12101863e-02 9.96661269e-01 -8.43918917e-03 -3.42901520e+01] [-6.21717126e-02 3.38514055e-03 9.98059727e-01 -1.78801741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.110714057 meters 0.031881074984180996 Centerline is valid? [True, True] Translation: X:254.93, Y:-34.29, Z:-17.88 [[ 9.94904076e-01 8.06349156e-02 6.05300777e-02 2.54930247e+02] [-8.02800043e-02 9.96737989e-01 -8.27654972e-03 -3.42887692e+01] [-6.10000068e-02 3.37501815e-03 9.98132060e-01 -1.78825676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.140714057 meters 0.03175125341358647 Centerline is valid? [True, True] Translation: X:254.96, Y:-34.29, Z:-17.88 [[ 9.94993483e-01 8.00954757e-02 5.97719321e-02 2.54958644e+02] [-7.97487003e-02 9.96781530e-01 -8.16861273e-03 -3.42917882e+01] [-6.02338268e-02 3.36098253e-03 9.98178636e-01 -1.78846426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.170714057 meters 0.03174118351944791 Centerline is valid? [True, True] Translation: X:254.99, Y:-34.29, Z:-17.89 [[ 9.95021345e-01 7.98590570e-02 5.96242689e-02 2.54987594e+02] [-7.95138334e-02 9.96800494e-01 -8.14409916e-03 -3.42948619e+01] [-6.00838808e-02 3.36259832e-03 9.98187668e-01 -1.78870350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.200714057 meters 0.03236080647490608 Centerline is valid? [True, True] Translation: X:255.02, Y:-34.30, Z:-17.89 [[ 9.95131767e-01 7.91696129e-02 5.86936059e-02 2.55016582e+02] [-7.88341529e-02 9.96855542e-01 -8.01275505e-03 -3.42979924e+01] [-5.91434130e-02 3.34668638e-03 9.98243886e-01 -1.78891056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.230714057 meters 0.03169303845350486 Centerline is valid? [True, True] Translation: X:255.05, Y:-34.30, Z:-17.89 [[ 9.95159481e-01 7.88785021e-02 5.86155990e-02 2.55045315e+02] [-7.85436830e-02 9.96878590e-01 -7.99785708e-03 -3.42999885e+01] [-5.90634947e-02 3.35525828e-03 9.98248589e-01 -1.78909012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.26071405700003 meters 0.032281790568298704 Centerline is valid? [True, True] Translation: X:255.07, Y:-34.30, Z:-17.89 [[ 9.95183642e-01 7.83846687e-02 5.88673290e-02 2.55074391e+02] [-7.80463611e-02 9.96917408e-01 -8.02786364e-03 -3.43024887e+01] [-5.93151265e-02 3.39481775e-03 9.98233535e-01 -1.78933831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.290714057 meters 0.032942174496126714 Centerline is valid? [True, True] Translation: X:255.10, Y:-34.31, Z:-17.90 [[ 9.95210525e-01 7.82575791e-02 5.85812398e-02 2.55103263e+02] [-7.79225884e-02 9.96927438e-01 -7.98459809e-03 -3.43056966e+01] [-5.90261006e-02 3.38155422e-03 9.98250712e-01 -1.78959422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.32071405700003 meters 0.03339288051089828 Centerline is valid? [True, True] Translation: X:255.13, Y:-34.31, Z:-17.90 [[ 9.95185975e-01 7.84913201e-02 5.86854936e-02 2.55132144e+02] [-7.81557919e-02 9.96909103e-01 -7.99454049e-03 -3.43082131e+01] [-5.91316048e-02 3.36944335e-03 9.98244509e-01 -1.78982955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.350714057 meters 0.03399167674055354 Centerline is valid? [True, True] Translation: X:255.16, Y:-34.31, Z:-17.90 [[ 9.95208852e-01 7.84987353e-02 5.82862703e-02 2.55160431e+02] [-7.81680114e-02 9.96908611e-01 -7.93614478e-03 -3.43091985e+01] [-5.87290621e-02 3.34199970e-03 9.98268365e-01 -1.79007760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.38071405700003 meters 0.03444160025452294 Centerline is valid? [True, True] Translation: X:255.19, Y:-34.31, Z:-17.90 [[ 9.95223778e-01 7.85213630e-02 5.80002333e-02 2.55189463e+02] [-7.81942322e-02 9.96906907e-01 -7.89186295e-03 -3.43117049e+01] [-5.84405130e-02 3.31888595e-03 9.98285376e-01 -1.79033010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.410714057 meters 0.036019573898443416 Centerline is valid? [True, True] Translation: X:255.22, Y:-34.31, Z:-17.91 [[ 9.95194678e-01 7.86129015e-02 5.83743491e-02 2.55217454e+02] [-7.82819249e-02 9.96899652e-01 -7.93874465e-03 -3.43140468e+01] [-5.88174561e-02 3.33094001e-03 9.98263198e-01 -1.79055828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.44071405700004 meters 0.03377788505640984 Centerline is valid? [True, True] Translation: X:255.25, Y:-34.31, Z:-17.91 [[ 9.95178501e-01 7.84481537e-02 5.88696775e-02 2.55246622e+02] [-7.81115635e-02 9.96912520e-01 -8.00068827e-03 -3.43134566e+01] [-5.93155578e-02 3.36371040e-03 9.98233615e-01 -1.79065427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.470714057 meters 0.03286393200486345 Centerline is valid? [True, True] Translation: X:255.28, Y:-34.31, Z:-17.91 [[ 9.95162974e-01 7.81203281e-02 5.95639996e-02 2.55276031e+02] [-7.77754151e-02 9.96938075e-01 -8.09072674e-03 -3.43143235e+01] [-6.00136693e-02 3.41897688e-03 9.98191700e-01 -1.79077682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.50071405700004 meters 0.036949385406759606 Centerline is valid? [True, True] Translation: X:255.30, Y:-34.32, Z:-17.91 [[ 9.95247308e-01 7.65334791e-02 6.02114862e-02 2.55304064e+02] [-7.61784023e-02 9.97060698e-01 -8.17409238e-03 -3.43218475e+01] [-6.06600981e-02 3.54842861e-03 9.98152173e-01 -1.79094301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.530714057 meters 0.03840292860840196 Centerline is valid? [True, True] Translation: X:255.33, Y:-34.33, Z:-17.91 [[ 9.95305840e-01 7.55195894e-02 6.05233470e-02 2.55331635e+02] [-7.51591339e-02 9.97137725e-01 -8.21347040e-03 -3.43265045e+01] [-6.09703905e-02 3.62603272e-03 9.98132989e-01 -1.79112176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.560714057 meters 0.03611917804911679 Centerline is valid? [True, True] Translation: X:255.36, Y:-34.32, Z:-17.91 [[ 9.95364906e-01 7.41034161e-02 6.12975390e-02 2.55360713e+02] [-7.37313872e-02 9.97243496e-01 -8.31215200e-03 -3.43243010e+01] [-6.17445309e-02 3.75407182e-03 9.98084926e-01 -1.79125558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.590714057 meters 0.035342615983780086 Centerline is valid? [True, True] Translation: X:255.39, Y:-34.33, Z:-17.91 [[ 9.95445585e-01 7.33659146e-02 6.08730558e-02 2.55389928e+02] [-7.29979209e-02 9.97297968e-01 -8.25027577e-03 -3.43255160e+01] [-6.13138639e-02 3.76909408e-03 9.98111419e-01 -1.79144998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.620714057 meters 0.03419046191806574 Centerline is valid? [True, True] Translation: X:255.42, Y:-34.33, Z:-17.92 [[ 9.95469434e-01 7.30591368e-02 6.08520173e-02 2.55418508e+02] [-7.26910972e-02 9.97320438e-01 -8.24302956e-03 -3.43267948e+01] [-6.12911891e-02 3.78228407e-03 9.98112761e-01 -1.79165964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.650714057 meters 0.0355936834283011 Centerline is valid? [True, True] Translation: X:255.45, Y:-34.33, Z:-17.92 [[ 9.95404345e-01 7.29629077e-02 6.20209905e-02 2.55445428e+02] [-7.25806690e-02 9.97327198e-01 -8.39681787e-03 -3.43311164e+01] [-6.24678769e-02 3.85670401e-03 9.98039523e-01 -1.79189725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.680714057 meters 0.034838371454728304 Centerline is valid? [True, True] Translation: X:255.47, Y:-34.33, Z:-17.92 [[ 9.95374419e-01 7.33689064e-02 6.20223324e-02 2.55474022e+02] [-7.29877967e-02 9.97297533e-01 -8.39122888e-03 -3.43322982e+01] [-6.24703743e-02 3.82554119e-03 9.98039487e-01 -1.79211542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.710714057 meters 0.03274766097190861 Centerline is valid? [True, True] Translation: X:255.50, Y:-34.33, Z:-17.92 [[ 9.95330467e-01 7.37631175e-02 6.22596418e-02 2.55502921e+02] [-7.33801328e-02 9.97268509e-01 -8.41881457e-03 -3.43318120e+01] [-6.27105782e-02 3.81088186e-03 9.98024479e-01 -1.79231623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.740714057 meters 0.03446905593204734 Centerline is valid? [True, True] Translation: X:255.53, Y:-34.34, Z:-17.93 [[ 9.95310044e-01 7.42561612e-02 6.19995102e-02 2.55530361e+02] [-7.38776085e-02 9.97232114e-01 -8.37914459e-03 -3.43374830e+01] [-6.24501057e-02 3.75947122e-03 9.98041007e-01 -1.79258546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.770714057 meters 0.03189856135463514 Centerline is valid? [True, True] Translation: X:255.56, Y:-34.34, Z:-17.93 [[ 9.95141535e-01 7.60482527e-02 6.25299033e-02 2.55559775e+02] [-7.56670876e-02 9.97097376e-01 -8.44478555e-03 -3.43363173e+01] [-6.29906137e-02 3.67230118e-03 9.98007363e-01 -1.79281491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.800714057 meters 0.03269020443182397 Centerline is valid? [True, True] Translation: X:255.59, Y:-34.34, Z:-17.93 [[ 9.95053604e-01 7.71211142e-02 6.26151706e-02 2.55587361e+02] [-7.67412313e-02 9.97015211e-01 -8.45298626e-03 -3.43411311e+01] [-6.30801812e-02 3.60600916e-03 9.98001948e-01 -1.79303570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.830714057 meters 0.03204143298857871 Centerline is valid? [True, True] Translation: X:255.62, Y:-34.34, Z:-17.93 [[ 9.94793366e-01 7.95328222e-02 6.37235386e-02 2.55616817e+02] [-7.91446786e-02 9.96826074e-01 -8.59634707e-03 -3.43428510e+01] [-6.42049766e-02 3.50821005e-03 9.97930565e-01 -1.79317876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.860714057 meters 0.03220513351501837 Centerline is valid? [True, True] Translation: X:255.65, Y:-34.35, Z:-17.93 [[ 9.94725887e-01 8.02008884e-02 6.39392459e-02 2.55645657e+02] [-7.98116250e-02 9.96772664e-01 -8.62324434e-03 -3.43465829e+01] [-6.44244844e-02 3.47466925e-03 9.97916536e-01 -1.79336871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.890714057 meters 0.03308832803404763 Centerline is valid? [True, True] Translation: X:255.67, Y:-34.35, Z:-17.94 [[ 9.94637834e-01 8.11057345e-02 6.41672749e-02 2.55672825e+02] [-8.07158605e-02 9.96699623e-01 -8.64936786e-03 -3.43517596e+01] [-6.46570120e-02 3.42367170e-03 9.97901673e-01 -1.79361424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.920714057 meters 0.03308832803404763 Centerline is valid? [True, True] Translation: X:255.70, Y:-34.36, Z:-17.94 [[ 9.94643453e-01 8.10361847e-02 6.41680537e-02 2.55700854e+02] [-8.06465384e-02 9.96705285e-01 -8.64358610e-03 -3.43554752e+01] [-6.46570815e-02 3.42235492e-03 9.97901673e-01 -1.79380921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.950714057 meters 0.03095004601048453 Centerline is valid? [True, True] Translation: X:255.73, Y:-34.36, Z:-17.94 [[ 9.94534828e-01 8.20614835e-02 6.45475658e-02 2.55729916e+02] [-8.16696578e-02 9.96621568e-01 -8.69010737e-03 -3.43558141e+01] [-6.50426193e-02 3.37103683e-03 9.97876793e-01 -1.79402409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.980714057 meters 0.03132892332081657 Centerline is valid? [True, True] Translation: X:255.76, Y:-34.36, Z:-17.94 [[ 9.94508841e-01 8.23881929e-02 6.45317829e-02 2.55757598e+02] [-8.19975471e-02 9.96594703e-01 -8.68333462e-03 -3.43608017e+01] [-6.50274372e-02 3.34420514e-03 9.97877873e-01 -1.79425974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.01071405700003 meters 0.03225375774614334 Centerline is valid? [True, True] Translation: X:255.79, Y:-34.37, Z:-17.94 [[ 9.94540253e-01 8.21613850e-02 6.43365526e-02 2.55785032e+02] [-8.17730361e-02 9.96613433e-01 -8.65081856e-03 -3.43661872e+01] [-6.48294358e-02 3.34259203e-03 9.97890761e-01 -1.79447561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.040714057 meters 0.03180999024318817 Centerline is valid? [True, True] Translation: X:255.81, Y:-34.37, Z:-17.95 [[ 9.94535137e-01 8.24678196e-02 6.40228124e-02 2.55813795e+02] [-8.20842642e-02 9.96588263e-01 -8.60281145e-03 -3.43698601e+01] [-6.45138384e-02 3.30053282e-03 9.97911354e-01 -1.79469296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.07071405700003 meters 0.03160408726241528 Centerline is valid? [True, True] Translation: X:255.84, Y:-34.37, Z:-17.95 [[ 9.94537723e-01 8.25079157e-02 6.39309114e-02 2.55842602e+02] [-8.21258398e-02 9.96584983e-01 -8.58589493e-03 -3.43731794e+01] [-6.44209906e-02 3.28861661e-03 9.97917392e-01 -1.79489609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.100714057 meters 0.03220104639439178 Centerline is valid? [True, True] Translation: X:255.87, Y:-34.38, Z:-17.95 [[ 9.94522277e-01 8.29449924e-02 6.36047920e-02 2.55869607e+02] [-8.25679884e-02 9.96548863e-01 -8.53762870e-03 -3.43780688e+01] [-6.40934367e-02 3.23914220e-03 9.97938645e-01 -1.79505130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.13071405700003 meters 0.03141776555454332 Centerline is valid? [True, True] Translation: X:255.90, Y:-34.38, Z:-17.95 [[ 9.94558590e-01 8.28433862e-02 6.31679123e-02 2.55897568e+02] [-8.24716975e-02 9.96557384e-01 -8.47349680e-03 -3.43804882e+01] [-6.36524225e-02 3.21782408e-03 9.97966941e-01 -1.79525274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.160714057 meters 0.030505688307616543 Centerline is valid? [True, True] Translation: X:255.93, Y:-34.38, Z:-17.95 [[ 9.94573566e-01 8.26884016e-02 6.31351681e-02 2.55926338e+02] [-8.23172347e-02 9.96570251e-01 -8.46209023e-03 -3.43832627e+01] [-6.36183471e-02 3.21905880e-03 9.97969110e-01 -1.79545812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.19071405700004 meters 0.030806637456548654 Centerline is valid? [True, True] Translation: X:255.95, Y:-34.39, Z:-17.96 [[ 9.94621127e-01 8.22883032e-02 6.29082608e-02 2.55954229e+02] [-8.19192932e-02 9.96603338e-01 -8.42715784e-03 -3.43875154e+01] [-6.33880392e-02 3.22842896e-03 9.97983734e-01 -1.79568198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.220714057 meters 0.034476361056486535 Centerline is valid? [True, True] Translation: X:255.98, Y:-34.40, Z:-17.96 [[ 9.94657417e-01 8.19176024e-02 6.28182260e-02 2.55981019e+02] [-8.15492740e-02 9.96633833e-01 -8.40940510e-03 -3.43975755e+01] [-6.32956477e-02 3.24169643e-03 9.97989555e-01 -1.79599806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.25071405700004 meters 0.03512995286134506 Centerline is valid? [True, True] Translation: X:256.01, Y:-34.40, Z:-17.96 [[ 9.94707443e-01 8.15143926e-02 6.25500406e-02 2.56007913e+02] [-8.11488215e-02 9.96666876e-01 -8.36703429e-03 -3.44021012e+01] [-6.30235872e-02 3.24688920e-03 9.98006756e-01 -1.79617815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.280714057 meters 0.031103250744659503 Centerline is valid? [True, True] Translation: X:256.04, Y:-34.40, Z:-17.96 [[ 9.94857216e-01 8.04879116e-02 6.14883409e-02 2.56037568e+02] [-8.01329438e-02 9.96750281e-01 -8.22125108e-03 -3.43978938e+01] [-6.19502324e-02 3.25172919e-03 9.98073943e-01 -1.79634456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.310714057 meters 0.036992237800345294 Centerline is valid? [True, True] Translation: X:256.06, Y:-34.41, Z:-17.97 [[ 9.94900674e-01 7.97038738e-02 6.18056783e-02 2.56063137e+02] [-7.93440021e-02 9.96813080e-01 -8.25915726e-03 -3.44117876e+01] [-6.22669953e-02 3.31313125e-03 9.98054029e-01 -1.79666773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.340714057 meters 0.037492165666024715 Centerline is valid? [True, True] Translation: X:256.09, Y:-34.42, Z:-17.97 [[ 9.94974982e-01 7.88714591e-02 6.16772102e-02 2.56091122e+02] [-7.85118164e-02 9.96879155e-01 -8.23675998e-03 -3.44167973e+01] [-6.21343705e-02 3.35298030e-03 9.98062161e-01 -1.79688785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.370714057 meters 0.039653669185053066 Centerline is valid? [True, True] Translation: X:256.12, Y:-34.42, Z:-17.97 [[ 9.95159165e-01 7.62103188e-02 6.20501713e-02 2.56118936e+02] [-7.58414216e-02 9.97085494e-01 -8.28229046e-03 -3.44240674e+01] [-6.25005217e-02 3.53622406e-03 9.98038667e-01 -1.79705546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.400714057 meters 0.03360676709531988 Centerline is valid? [True, True] Translation: X:256.15, Y:-34.42, Z:-17.97 [[ 9.95192447e-01 7.54624984e-02 6.24291947e-02 2.56148567e+02] [-7.50877971e-02 9.97142134e-01 -8.32988732e-03 -3.44187735e+01] [-6.28793746e-02 3.60217025e-03 9.98014633e-01 -1.79711791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.430714057 meters 0.033866024532241364 Centerline is valid? [True, True] Translation: X:256.18, Y:-34.42, Z:-17.97 [[ 9.95317989e-01 7.39003041e-02 6.22964329e-02 2.56177297e+02] [-7.35244370e-02 9.97258813e-01 -8.30761492e-03 -3.44232754e+01] [-6.27396020e-02 3.68840842e-03 9.98023115e-01 -1.79725825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.460714057 meters 0.0341937192894016 Centerline is valid? [True, True] Translation: X:256.21, Y:-34.43, Z:-17.97 [[ 9.95345635e-01 7.32807053e-02 6.25859863e-02 2.56205606e+02] [-7.29003570e-02 9.97304338e-01 -8.34233528e-03 -3.44274612e+01] [-6.30286079e-02 3.74096626e-03 9.98004709e-01 -1.79745388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.490714057 meters 0.032590489858014 Centerline is valid? [True, True] Translation: X:256.23, Y:-34.43, Z:-17.98 [[ 9.95447152e-01 7.23452167e-02 6.20575278e-02 2.56234624e+02] [-7.19697460e-02 9.97372551e-01 -8.26740403e-03 -3.44287456e+01] [-6.24925820e-02 3.76349928e-03 9.98038333e-01 -1.79761741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.520714057 meters 0.035183069865904755 Centerline is valid? [True, True] Translation: X:256.26, Y:-34.44, Z:-17.98 [[ 9.95569803e-01 7.10856065e-02 6.15435138e-02 2.56262068e+02] [-7.07142375e-02 9.97462958e-01 -8.19420039e-03 -3.44379204e+01] [-6.19698650e-02 3.80589582e-03 9.98070765e-01 -1.79789468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.550714057 meters 0.03533323406339526 Centerline is valid? [True, True] Translation: X:256.29, Y:-34.44, Z:-17.98 [[ 9.95612803e-01 7.05069457e-02 6.15135584e-02 2.56290565e+02] [-7.01350454e-02 9.97503910e-01 -8.18689231e-03 -3.44425254e+01] [-6.19372478e-02 3.83671858e-03 9.98072671e-01 -1.79812452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.580714057 meters 0.03640428979571814 Centerline is valid? [True, True] Translation: X:256.32, Y:-34.45, Z:-17.98 [[ 9.95703078e-01 6.94182906e-02 6.12901457e-02 2.56318659e+02] [-6.90473211e-02 9.97580073e-01 -8.15258871e-03 -3.44485556e+01] [-6.17077669e-02 3.88563730e-03 9.98086696e-01 -1.79842273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.610714057 meters 0.03705588530334321 Centerline is valid? [True, True] Translation: X:256.35, Y:-34.45, Z:-17.99 [[ 9.95758616e-01 6.89947888e-02 6.08645799e-02 2.56346872e+02] [-6.86283738e-02 9.97609470e-01 -8.09272219e-03 -3.44539227e+01] [-6.12774369e-02 3.88136071e-03 9.98113225e-01 -1.79866309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.640714057 meters 0.03820855100483385 Centerline is valid? [True, True] Translation: X:256.37, Y:-34.46, Z:-17.99 [[ 9.95824832e-01 6.83870461e-02 6.04658198e-02 2.56374566e+02] [-6.80245097e-02 9.97651283e-01 -8.03641241e-03 -3.44597325e+01] [-6.08733892e-02 3.88970129e-03 9.98137917e-01 -1.79889685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.670714057 meters 0.03984778996814673 Centerline is valid? [True, True] Translation: X:256.40, Y:-34.47, Z:-17.99 [[ 9.95950086e-01 6.73752217e-02 5.95315531e-02 2.56402573e+02] [-6.70221618e-02 9.97720133e-01 -7.90987772e-03 -3.44664329e+01] [-5.99287588e-02 3.88791001e-03 9.98195085e-01 -1.79916972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.700714057 meters 0.036883527114482735 Centerline is valid? [True, True] Translation: X:256.43, Y:-34.47, Z:-17.99 [[ 9.95981828e-01 6.68978430e-02 5.95388691e-02 2.56432805e+02] [-6.65440440e-02 9.97752154e-01 -7.90757945e-03 -3.44663238e+01] [-5.99340349e-02 3.91384831e-03 9.98194667e-01 -1.79934488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.730714057 meters 0.04050489643609126 Centerline is valid? [True, True] Translation: X:256.46, Y:-34.48, Z:-18.00 [[ 9.96041800e-01 6.65999113e-02 5.88658235e-02 2.56461038e+02] [-6.62536947e-02 9.97772198e-01 -7.81592094e-03 -3.44767550e+01] [-5.92552218e-02 3.88490566e-03 9.98235306e-01 -1.79970742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.76071405700003 meters 0.04111808612456695 Centerline is valid? [True, True] Translation: X:256.49, Y:-34.48, Z:-18.00 [[ 9.96084359e-01 6.64783556e-02 5.82801682e-02 2.56490402e+02] [-6.61388476e-02 9.97780430e-01 -7.73729226e-03 -3.44815032e+01] [-5.86651738e-02 3.85241264e-03 9.98270282e-01 -1.79997548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.790714057 meters 0.036475845968373055 Centerline is valid? [True, True] Translation: X:256.52, Y:-34.48, Z:-18.00 [[ 9.96112386e-01 6.66236887e-02 5.76315839e-02 2.56520438e+02] [-6.62920597e-02 9.97770941e-01 -7.64925968e-03 -3.44782250e+01] [-5.80127416e-02 3.79900591e-03 9.98308614e-01 -1.80009727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.82071405700003 meters 0.03843912601085132 Centerline is valid? [True, True] Translation: X:256.55, Y:-34.48, Z:-18.00 [[ 9.96029214e-01 6.76439703e-02 5.78800339e-02 2.56548206e+02] [-6.73112977e-02 9.97702462e-01 -7.68031244e-03 -3.44846301e+01] [-5.82665792e-02 3.75383537e-03 9.98294002e-01 -1.80034180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.850714057 meters 0.04224495064626495 Centerline is valid? [True, True] Translation: X:256.58, Y:-34.49, Z:-18.01 [[ 9.95999195e-01 6.80937666e-02 5.78691806e-02 2.56576391e+02] [-6.77621673e-02 9.97671977e-01 -7.67556496e-03 -3.44933675e+01] [-5.82571179e-02 3.72351543e-03 9.98294668e-01 -1.80060176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.88071405700003 meters 0.03562353007406154 Centerline is valid? [True, True] Translation: X:256.61, Y:-34.49, Z:-18.00 [[ 9.95855297e-01 6.98593487e-02 5.82400058e-02 2.56607176e+02] [-6.95266036e-02 9.97550205e-01 -7.72271870e-03 -3.44857510e+01] [-5.86368338e-02 3.64148054e-03 9.98272739e-01 -1.80049145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.910714057 meters 0.035872458108102245 Centerline is valid? [True, True] Translation: X:256.64, Y:-34.49, Z:-18.01 [[ 9.95770721e-01 7.04207447e-02 5.90050068e-02 2.56636004e+02] [-7.00802781e-02 9.97510685e-01 -7.82232349e-03 -3.44893866e+01] [-5.94089786e-02 3.65415341e-03 9.98227039e-01 -1.80065707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.94071405700004 meters 0.03442774105024016 Centerline is valid? [True, True] Translation: X:256.67, Y:-34.49, Z:-18.01 [[ 9.95746818e-01 7.07136173e-02 5.90580990e-02 2.56665304e+02] [-7.03733008e-02 9.97490033e-01 -7.82514377e-03 -3.44902512e+01] [-5.94632093e-02 3.63574865e-03 9.98223877e-01 -1.80076682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.970714057 meters 0.0352005305343119 Centerline is valid? [True, True] Translation: X:256.69, Y:-34.49, Z:-18.01 [[ 9.95659055e-01 7.10586261e-02 6.01142068e-02 2.56692366e+02] [-7.07068999e-02 9.97465368e-01 -7.96073899e-03 -3.44949814e+01] [-6.05275186e-02 3.67569266e-03 9.98159761e-01 -1.80097923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.00071405700004 meters 0.03582552473043668 Centerline is valid? [True, True] Translation: X:256.72, Y:-34.50, Z:-18.01 [[ 9.95694538e-01 7.08221067e-02 5.98048235e-02 2.56720304e+02] [-7.04739059e-02 9.97482227e-01 -7.91423620e-03 -3.44991600e+01] [-6.02147514e-02 3.66548225e-03 9.98178715e-01 -1.80121256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.030714057 meters 0.03523015862131489 Centerline is valid? [True, True] Translation: X:256.75, Y:-34.50, Z:-18.01 [[ 9.95711500e-01 7.12263224e-02 5.90374413e-02 2.56749252e+02] [-7.08879708e-02 9.97453720e-01 -7.80847598e-03 -3.45020762e+01] [-5.94432845e-02 3.58994491e-03 9.98225229e-01 -1.80142758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.060714057 meters 0.05403567864320341 Centerline is valid? [True, True] Translation: X:256.77, Y:-34.53, Z:-18.02 [[ 9.95464609e-01 7.25970952e-02 6.14806775e-02 2.56774078e+02] [-7.22330227e-02 9.97354675e-01 -8.12669328e-03 -3.45331655e+01] [-6.19080155e-02 3.64890038e-03 9.98075189e-01 -1.80188775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.090714057 meters 0.034283255040759505 Centerline is valid? [True, True] Translation: X:256.81, Y:-34.51, Z:-18.02 [[ 9.95761648e-01 7.16089163e-02 5.77139854e-02 2.56807153e+02] [-7.12865954e-02 9.97426714e-01 -7.62706529e-03 -3.45074346e+01] [-5.81116366e-02 3.48050558e-03 9.98304024e-01 -1.80184520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.120714057 meters 0.03687115133097289 Centerline is valid? [True, True] Translation: X:256.83, Y:-34.51, Z:-18.02 [[ 9.95799941e-01 7.16512171e-02 5.69963264e-02 2.56834426e+02] [-7.13370955e-02 9.97423844e-01 -7.52955530e-03 -3.45144754e+01] [-5.73889968e-02 3.43197834e-03 9.98345994e-01 -1.80213197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.150714057 meters 0.03544762911460537 Centerline is valid? [True, True] Translation: X:256.86, Y:-34.52, Z:-18.02 [[ 9.95785841e-01 7.23412263e-02 5.63676032e-02 2.56863086e+02] [-7.20354032e-02 9.97374317e-01 -7.44127133e-03 -3.45166553e+01] [-5.67579104e-02 3.34944960e-03 9.98382352e-01 -1.80243601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.180714057 meters 0.03465842789335255 Centerline is valid? [True, True] Translation: X:256.89, Y:-34.52, Z:-18.03 [[ 9.95748961e-01 7.28762545e-02 5.63299113e-02 2.56891687e+02] [-7.25719234e-02 9.97335489e-01 -7.43224343e-03 -3.45196535e+01] [-5.67214537e-02 3.31267867e-03 9.98384547e-01 -1.80266180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.210714057 meters 0.03491822881920978 Centerline is valid? [True, True] Translation: X:256.92, Y:-34.52, Z:-18.03 [[ 9.95654320e-01 7.42506261e-02 5.62078185e-02 2.56919586e+02] [-7.39500262e-02 9.97234403e-01 -7.41206063e-03 -3.45232603e+01] [-5.66027205e-02 3.22328054e-03 9.98391578e-01 -1.80293124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.240714057 meters 0.033844092113445925 Centerline is valid? [True, True] Translation: X:256.95, Y:-34.52, Z:-18.03 [[ 9.95556134e-01 7.53568374e-02 5.64741571e-02 2.56948620e+02] [-7.50553827e-02 9.97151588e-01 -7.44311157e-03 -3.45249343e+01] [-5.68741848e-02 3.17134591e-03 9.98376317e-01 -1.80303557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.270714057 meters 0.03519917498154713 Centerline is valid? [True, True] Translation: X:256.98, Y:-34.53, Z:-18.03 [[ 9.95318624e-01 7.77603176e-02 5.73948507e-02 2.56976891e+02] [-7.74531866e-02 9.96967328e-01 -7.55985766e-03 -3.45304236e+01] [-5.78086478e-02 3.07905305e-03 9.98322934e-01 -1.80327130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.300714057 meters 0.033230494031447906 Centerline is valid? [True, True] Translation: X:257.01, Y:-34.53, Z:-18.03 [[ 9.95195676e-01 7.91441078e-02 5.76348547e-02 2.57005696e+02] [-7.88368098e-02 9.96858642e-01 -7.58977644e-03 -3.45303071e+01] [-5.80544891e-02 3.00956461e-03 9.98308879e-01 -1.80344371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.330714057 meters 0.034010738387608236 Centerline is valid? [True, True] Translation: X:257.03, Y:-34.54, Z:-18.04 [[ 9.95115866e-01 8.01366505e-02 5.76413920e-02 2.57033383e+02] [-7.98311806e-02 9.96779528e-01 -7.58653055e-03 -3.45351742e+01] [-5.80637186e-02 2.94789655e-03 9.98308527e-01 -1.80368495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.360714057 meters 0.032272102982040515 Centerline is valid? [True, True] Translation: X:257.06, Y:-34.54, Z:-18.04 [[ 9.95021761e-01 8.15030639e-02 5.73493337e-02 2.57062143e+02] [-8.12031812e-02 9.96669018e-01 -7.54405153e-03 -3.45360937e+01] [-5.77731674e-02 2.84954711e-03 9.98325669e-01 -1.80384191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.390714057 meters 0.0323898649693317 Centerline is valid? [True, True] Translation: X:257.09, Y:-34.54, Z:-18.04 [[ 9.95015269e-01 8.17636050e-02 5.70905177e-02 2.57090623e+02] [-8.14670860e-02 9.96647768e-01 -7.50597507e-03 -3.45394456e+01] [-5.75128526e-02 2.81756169e-03 9.98340790e-01 -1.80405347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.420714057 meters 0.0329398689386749 Centerline is valid? [True, True] Translation: X:257.12, Y:-34.54, Z:-18.04 [[ 9.95026560e-01 8.22416425e-02 5.62001481e-02 2.57118033e+02] [-8.19552805e-02 9.96608645e-01 -7.38523125e-03 -3.45443316e+01] [-5.66169270e-02 2.74260235e-03 9.98392208e-01 -1.80428899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.450714057 meters 0.03287353340743801 Centerline is valid? [True, True] Translation: X:257.15, Y:-34.55, Z:-18.05 [[ 9.95070010e-01 8.20283828e-02 5.57406444e-02 2.57146224e+02] [-8.17466395e-02 9.96626263e-01 -7.31981556e-03 -3.45482842e+01] [-5.61530227e-02 2.72711858e-03 9.98418450e-01 -1.80453956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.480714057 meters 0.03409125182648307 Centerline is valid? [True, True] Translation: X:257.17, Y:-34.55, Z:-18.05 [[ 9.95227653e-01 8.08350572e-02 5.46590565e-02 2.57172980e+02] [-8.05625395e-02 9.96723735e-01 -7.17453011e-03 -3.45543121e+01] [-5.50599325e-02 2.73681836e-03 9.98479301e-01 -1.80480235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.51071405700003 meters 0.03507198052576923 Centerline is valid? [True, True] Translation: X:257.20, Y:-34.56, Z:-18.05 [[ 9.95364115e-01 7.95800932e-02 5.40119119e-02 2.57201599e+02] [-7.93124827e-02 9.96824635e-01 -7.08358879e-03 -3.45593122e+01] [-5.44041170e-02 2.76693126e-03 9.98515166e-01 -1.80504852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.540714057 meters 0.0366578846582566 Centerline is valid? [True, True] Translation: X:257.23, Y:-34.57, Z:-18.05 [[ 9.95594088e-01 7.71704552e-02 5.32647409e-02 2.57228903e+02] [-7.69069581e-02 9.97013827e-01 -6.98206788e-03 -3.45663786e+01] [-5.36444925e-02 2.85487631e-03 9.98556017e-01 -1.80531367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.57071405700003 meters 0.037811588159297735 Centerline is valid? [True, True] Translation: X:257.26, Y:-34.57, Z:-18.06 [[ 9.95705878e-01 7.55340586e-02 5.35201932e-02 2.57257903e+02] [-7.52658989e-02 9.97138850e-01 -7.01130510e-03 -3.45723826e+01] [-5.38966562e-02 2.95295225e-03 9.98542153e-01 -1.80554606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.600714057 meters 0.03916582361567679 Centerline is valid? [True, True] Translation: X:257.29, Y:-34.58, Z:-18.06 [[ 9.95891877e-01 7.37260367e-02 5.25722533e-02 2.57287116e+02] [-7.34648835e-02 9.97274036e-01 -6.88540751e-03 -3.45779809e+01] [-5.29365770e-02 2.99490694e-03 9.98593385e-01 -1.80578705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.63071405700003 meters 0.041827716117426424 Centerline is valid? [True, True] Translation: X:257.32, Y:-34.59, Z:-18.06 [[ 9.96101242e-01 7.07784259e-02 5.26567124e-02 2.57315177e+02] [-7.05124229e-02 9.97487073e-01 -6.89471076e-03 -3.45860307e+01] [-5.30123867e-02 3.15487758e-03 9.98588871e-01 -1.80596828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.660714057 meters 0.039138268288957015 Centerline is valid? [True, True] Translation: X:257.35, Y:-34.59, Z:-18.06 [[ 9.96194111e-01 6.91348085e-02 5.30817459e-02 2.57345175e+02] [-6.88622595e-02 9.97601978e-01 -6.94861021e-03 -3.45863413e+01] [-5.34348456e-02 3.26683561e-03 9.98565994e-01 -1.80600192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.69071405700004 meters 0.03688961295941216 Centerline is valid? [True, True] Translation: X:257.38, Y:-34.59, Z:-18.06 [[ 9.96395122e-01 6.60752579e-02 5.32054676e-02 2.57375492e+02] [-6.57972053e-02 9.97808723e-01 -6.96271232e-03 -3.45869072e+01] [-5.35489427e-02 3.43684152e-03 9.98559312e-01 -1.80597105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.720714057 meters 0.03591328276394547 Centerline is valid? [True, True] Translation: X:257.40, Y:-34.59, Z:-18.06 [[ 9.96490303e-01 6.46229935e-02 5.32066310e-02 2.57404713e+02] [-6.43428909e-02 9.97903561e-01 -6.96245052e-03 -3.45888134e+01] [-5.35450210e-02 3.51454598e-03 9.98559251e-01 -1.80606412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.75071405700004 meters 0.03692311825712023 Centerline is valid? [True, True] Translation: X:257.43, Y:-34.59, Z:-18.06 [[ 9.96577888e-01 6.32416851e-02 5.32259602e-02 2.57434037e+02] [-6.29595899e-02 9.97991795e-01 -6.96178641e-03 -3.45941247e+01] [-5.35593467e-02 3.58687778e-03 9.98558226e-01 -1.80625800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.780714057 meters 0.03705653778719293 Centerline is valid? [True, True] Translation: X:257.46, Y:-34.60, Z:-18.06 [[ 9.96755651e-01 6.06768848e-02 5.28818257e-02 2.57464383e+02] [-6.03949700e-02 9.98150610e-01 -6.91432104e-03 -3.45984048e+01] [-5.32035661e-02 3.69809229e-03 9.98576840e-01 -1.80643121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.810714057 meters 0.03705653778719293 Centerline is valid? [True, True] Translation: X:257.49, Y:-34.60, Z:-18.07 [[ 9.96759994e-01 6.06056338e-02 5.28816829e-02 2.57492459e+02] [-6.03235616e-02 9.98154920e-01 -6.91541395e-03 -3.46020153e+01] [-5.32032250e-02 3.70299651e-03 9.98576840e-01 -1.80662616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.840714057 meters 0.03904548137480561 Centerline is valid? [True, True] Translation: X:257.52, Y:-34.61, Z:-18.07 [[ 9.96840952e-01 5.93764046e-02 5.27499728e-02 2.57520211e+02] [-5.90942451e-02 9.98228602e-01 -6.89406784e-03 -3.46083757e+01] [-5.30658765e-02 3.75506933e-03 9.98583954e-01 -1.80688987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.870714057 meters 0.03965057736050926 Centerline is valid? [True, True] Translation: X:257.55, Y:-34.61, Z:-18.07 [[ 9.96999440e-01 5.79826958e-02 5.12847243e-02 2.57549835e+02] [-5.77143589e-02 9.98310661e-01 -6.69906847e-03 -3.46123664e+01] [-5.15865170e-02 3.71910253e-03 9.98661604e-01 -1.80718617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.900714057 meters 0.040434007647073424 Centerline is valid? [True, True] Translation: X:257.58, Y:-34.62, Z:-18.07 [[ 9.97021607e-01 5.79877140e-02 5.08462468e-02 2.57578491e+02] [-5.77239609e-02 9.98310489e-01 -6.64172525e-03 -3.46166159e+01] [-5.11454800e-02 3.68689682e-03 9.98684408e-01 -1.80746538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.930714057 meters 0.03857222298791515 Centerline is valid? [True, True] Translation: X:257.61, Y:-34.62, Z:-18.08 [[ 9.97021372e-01 5.89418981e-02 4.97417046e-02 2.57608688e+02] [-5.86907157e-02 9.98255075e-01 -6.49658303e-03 -3.46154675e+01] [-5.00378300e-02 3.55785588e-03 9.98740986e-01 -1.80773247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.960714057 meters 0.04164729122062263 Centerline is valid? [True, True] Translation: X:257.64, Y:-34.62, Z:-18.08 [[ 9.97005121e-01 5.97428563e-02 4.91078294e-02 2.57636748e+02] [-5.94990167e-02 9.98207760e-01 -6.41360878e-03 -3.46224005e+01] [-4.94029837e-02 3.47253324e-03 9.98772890e-01 -1.80808624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.990714057 meters 0.038131299025651585 Centerline is valid? [True, True] Translation: X:257.67, Y:-34.62, Z:-18.08 [[ 9.96974302e-01 6.06567767e-02 4.86106691e-02 2.57666189e+02] [-6.04190457e-02 9.98152925e-01 -6.34641022e-03 -3.46195094e+01] [-4.89058344e-02 3.39019766e-03 9.98797640e-01 -1.80814016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.020714057 meters 0.03773875982004442 Centerline is valid? [True, True] Translation: X:257.70, Y:-34.62, Z:-18.08 [[ 9.96789777e-01 6.31769212e-02 4.91814713e-02 2.57695127e+02] [-6.29368188e-02 9.97996884e-01 -6.41690583e-03 -3.46196191e+01] [-4.94883554e-02 3.30098079e-03 9.98769246e-01 -1.80826673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.050714057 meters 0.04140739879087783 Centerline is valid? [True, True] Translation: X:257.72, Y:-34.63, Z:-18.09 [[ 9.96690585e-01 6.44607701e-02 4.95246007e-02 2.57721901e+02] [-6.42189845e-02 9.97914924e-01 -6.45956209e-03 -3.46268588e+01] [-4.98377265e-02 3.25776516e-03 9.98752015e-01 -1.80855914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.080714057 meters 0.0388956920030583 Centerline is valid? [True, True] Translation: X:257.75, Y:-34.63, Z:-18.09 [[ 9.96548775e-01 6.61897563e-02 5.00944572e-02 2.57752306e+02] [-6.59448055e-02 9.97801914e-01 -6.52867235e-03 -3.46255810e+01] [-5.04164764e-02 3.20267120e-03 9.98723146e-01 -1.80860355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.110714057 meters 0.03882556537745377 Centerline is valid? [True, True] Translation: X:257.78, Y:-34.63, Z:-18.09 [[ 9.96293544e-01 6.90713105e-02 5.12672251e-02 2.57781207e+02] [-6.88186928e-02 9.97606828e-01 -6.67856926e-03 -3.46271024e+01] [-5.16058314e-02 3.12567202e-03 9.98662640e-01 -1.80880397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.140714057 meters 0.03484640312536628 Centerline is valid? [True, True] Translation: X:257.81, Y:-34.62, Z:-18.09 [[ 9.96231832e-01 7.00912223e-02 5.10818756e-02 2.57810561e+02] [-6.98418231e-02 9.97535891e-01 -6.65328874e-03 -3.46232724e+01] [-5.14223414e-02 3.06056671e-03 9.98672306e-01 -1.80885216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.170714057 meters 0.03691223186227911 Centerline is valid? [True, True] Translation: X:257.84, Y:-34.63, Z:-18.09 [[ 9.96080056e-01 7.17160010e-02 5.17816366e-02 2.57837535e+02] [-7.14620877e-02 9.97420539e-01 -6.74084729e-03 -3.46282362e+01] [-5.21314945e-02 3.01399968e-03 9.98635681e-01 -1.80915451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.200714057 meters 0.03349323086394163 Centerline is valid? [True, True] Translation: X:257.87, Y:-34.63, Z:-18.09 [[ 9.96061875e-01 7.19195245e-02 5.18490394e-02 2.57866605e+02] [-7.16654804e-02 9.97405919e-01 -6.74470804e-03 -3.46253378e+01] [-5.21996150e-02 3.00236022e-03 9.98632158e-01 -1.80917475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.230714057 meters 0.03390648340313839 Centerline is valid? [True, True] Translation: X:257.89, Y:-34.63, Z:-18.09 [[ 9.96032605e-01 7.22540238e-02 5.19461875e-02 2.57894253e+02] [-7.19996648e-02 9.97381790e-01 -6.75379452e-03 -3.46288651e+01] [-5.22981703e-02 2.98689146e-03 9.98627047e-01 -1.80935602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.26071405700003 meters 0.038881292298504996 Centerline is valid? [True, True] Translation: X:257.92, Y:-34.64, Z:-18.10 [[ 9.96031177e-01 7.20350266e-02 5.22766633e-02 2.57919588e+02] [-7.17773114e-02 9.97397550e-01 -6.79307019e-03 -3.46387357e+01] [-5.26299548e-02 3.01383136e-03 9.98609536e-01 -1.80974632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.290714057 meters 0.03553013017705427 Centerline is valid? [True, True] Translation: X:257.95, Y:-34.64, Z:-18.10 [[ 9.96066427e-01 7.14819204e-02 5.23641933e-02 2.57949247e+02] [-7.12231202e-02 9.97437269e-01 -6.79419702e-03 -3.46366295e+01] [-5.27156602e-02 3.03793032e-03 9.98604942e-01 -1.80981917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.32071405700003 meters 0.036718216896203276 Centerline is valid? [True, True] Translation: X:257.98, Y:-34.64, Z:-18.10 [[ 9.96187325e-01 7.01299772e-02 5.18902586e-02 2.57976365e+02] [-6.98741342e-02 9.97533110e-01 -6.73050030e-03 -3.46411614e+01] [-5.22342609e-02 3.07905220e-03 9.98630112e-01 -1.81007712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.350714057 meters 0.03388685580217249 Centerline is valid? [True, True] Translation: X:258.01, Y:-34.64, Z:-18.10 [[ 9.96209449e-01 6.95691703e-02 5.22193900e-02 2.58005363e+02] [-6.93095634e-02 9.97572241e-01 -6.76819724e-03 -3.46398369e+01] [-5.25634718e-02 3.12323891e-03 9.98612701e-01 -1.81017618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.38071405700003 meters 0.03737448751580402 Centerline is valid? [True, True] Translation: X:258.03, Y:-34.65, Z:-18.10 [[ 9.96279720e-01 6.83136232e-02 5.25354052e-02 2.58031658e+02] [-6.80493187e-02 9.97658747e-01 -6.80546000e-03 -3.46479863e+01] [-5.28773122e-02 3.20514325e-03 9.98595873e-01 -1.81048889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.410714057 meters 0.03709838053375131 Centerline is valid? [True, True] Translation: X:258.06, Y:-34.65, Z:-18.11 [[ 9.96321269e-01 6.76017683e-02 5.26681015e-02 2.58060234e+02] [-6.73354075e-02 9.97707103e-01 -6.81751938e-03 -3.46512949e+01] [-5.30082153e-02 3.24601149e-03 9.98588801e-01 -1.81063715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.44071405700004 meters 0.03664965983309001 Centerline is valid? [True, True] Translation: X:258.09, Y:-34.65, Z:-18.11 [[ 9.96330334e-01 6.73076909e-02 5.28728751e-02 2.58089315e+02] [-6.70390435e-02 9.97726906e-01 -6.84021022e-03 -3.46541913e+01] [-5.32130888e-02 3.27056195e-03 9.98577824e-01 -1.81082149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.470714057 meters 0.03781975825534061 Centerline is valid? [True, True] Translation: X:258.12, Y:-34.66, Z:-18.11 [[ 9.96265174e-01 6.71829894e-02 5.42415884e-02 2.58116131e+02] [-6.69002585e-02 9.97735018e-01 -7.01350233e-03 -3.46598802e+01] [-5.45899202e-02 3.35853183e-03 9.98503210e-01 -1.81099259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.50071405700004 meters 0.03693302721266311 Centerline is valid? [True, True] Translation: X:258.14, Y:-34.66, Z:-18.11 [[ 9.96308599e-01 6.62839657e-02 5.45491725e-02 2.58144803e+02] [-6.59969809e-02 9.97794933e-01 -7.04768804e-03 -3.46622685e+01] [-5.48960366e-02 3.42159150e-03 9.98486213e-01 -1.81114817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.530714057 meters 0.03773739580332298 Centerline is valid? [True, True] Translation: X:258.17, Y:-34.67, Z:-18.11 [[ 9.96295316e-01 6.62412473e-02 5.48428787e-02 2.58171808e+02] [-6.59513006e-02 9.97797711e-01 -7.08192443e-03 -3.46676832e+01] [-5.51912143e-02 3.43872896e-03 9.98469882e-01 -1.81137414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.560714057 meters 0.03838900726584383 Centerline is valid? [True, True] Translation: X:258.20, Y:-34.67, Z:-18.12 [[ 9.96256496e-01 6.63988643e-02 5.53550894e-02 2.58198739e+02] [-6.61039886e-02 9.97787171e-01 -7.14310120e-03 -3.46718291e+01] [-5.57068919e-02 3.45716877e-03 9.98441180e-01 -1.81158958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.590714057 meters 0.038593148111143456 Centerline is valid? [True, True] Translation: X:258.23, Y:-34.68, Z:-18.12 [[ 9.96235911e-01 6.66288925e-02 5.54490866e-02 2.58225813e+02] [-6.63336427e-02 9.97771878e-01 -7.15031198e-03 -3.46764509e+01] [-5.58019567e-02 3.44525767e-03 9.98435913e-01 -1.81177747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.620714057 meters 0.03926516020922674 Centerline is valid? [True, True] Translation: X:258.25, Y:-34.68, Z:-18.12 [[ 9.96229911e-01 6.63251488e-02 5.59190398e-02 2.58254282e+02] [-6.60246798e-02 9.97791972e-01 -7.20577669e-03 -3.46832990e+01] [-5.62734932e-02 3.48657358e-03 9.98409304e-01 -1.81210431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.650714057 meters 0.04043950942535617 Centerline is valid? [True, True] Translation: X:258.28, Y:-34.69, Z:-18.12 [[ 9.96258938e-01 6.58529654e-02 5.59599429e-02 2.58281156e+02] [-6.55515218e-02 9.97823157e-01 -7.20737514e-03 -3.46898747e+01] [-5.63127539e-02 3.51215249e-03 9.98407000e-01 -1.81235600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.680714057 meters 0.0372678797444542 Centerline is valid? [True, True] Translation: X:258.31, Y:-34.69, Z:-18.13 [[ 9.96415290e-01 6.35009748e-02 5.58945024e-02 2.58310358e+02] [-6.31968455e-02 9.97975154e-01 -7.19376592e-03 -3.46912173e+01] [-5.62381358e-02 3.63562213e-03 9.98410764e-01 -1.81250524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.710714057 meters 0.0430932874707373 Centerline is valid? [True, True] Translation: X:258.34, Y:-34.71, Z:-18.13 [[ 9.96497567e-01 6.24669544e-02 5.55920798e-02 2.58337052e+02] [-6.21646784e-02 9.98040282e-01 -7.15184569e-03 -3.47055238e+01] [-5.59298890e-02 3.67093306e-03 9.98427950e-01 -1.81289717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.740714057 meters 0.03806064039890341 Centerline is valid? [True, True] Translation: X:258.37, Y:-34.70, Z:-18.13 [[ 9.96616197e-01 6.08720713e-02 5.52335600e-02 2.58366860e+02] [-6.05714124e-02 9.98138595e-01 -7.10280201e-03 -3.47032956e+01] [-5.55631102e-02 3.73319279e-03 9.98448198e-01 -1.81302650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.770714057 meters 0.03924481174750376 Centerline is valid? [True, True] Translation: X:258.39, Y:-34.71, Z:-18.13 [[ 9.96736466e-01 5.90107630e-02 5.50830979e-02 2.58394635e+02] [-5.87090935e-02 9.98250025e-01 -7.08023500e-03 -3.47125473e+01] [-5.54045139e-02 3.82324966e-03 9.98456670e-01 -1.81331960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.800714057 meters 0.04073910626999142 Centerline is valid? [True, True] Translation: X:258.42, Y:-34.72, Z:-18.14 [[ 9.96843870e-01 5.71416527e-02 5.51101647e-02 2.58423964e+02] [-5.68369824e-02 9.98358359e-01 -7.08125575e-03 -3.47217011e+01] [-5.54243283e-02 3.92661093e-03 9.98455170e-01 -1.81356486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.830714057 meters 0.04110554814506164 Centerline is valid? [True, True] Translation: X:258.45, Y:-34.73, Z:-18.14 [[ 9.96870343e-01 5.64987889e-02 5.52938080e-02 2.58454267e+02] [-5.61911116e-02 9.98394753e-01 -7.10462426e-03 -3.47278053e+01] [-5.56064504e-02 3.97536869e-03 9.98444850e-01 -1.81377096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.860714057 meters 0.04196217347939665 Centerline is valid? [True, True] Translation: X:258.48, Y:-34.73, Z:-18.14 [[ 9.96849539e-01 5.66315684e-02 5.55325244e-02 2.58484065e+02] [-5.63213743e-02 9.98387188e-01 -7.13629057e-03 -3.47346049e+01] [-5.58471002e-02 3.98613988e-03 9.98431376e-01 -1.81401884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.890714057 meters 0.037499216642883866 Centerline is valid? [True, True] Translation: X:258.52, Y:-34.74, Z:-18.14 [[ 9.96874123e-01 5.64320134e-02 5.52938631e-02 2.58515839e+02] [-5.61241381e-02 9.98398508e-01 -7.10634152e-03 -3.47355803e+01] [-5.56063355e-02 3.98080757e-03 9.98444835e-01 -1.81409267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.920714057 meters 0.04287176702221131 Centerline is valid? [True, True] Translation: X:258.55, Y:-34.75, Z:-18.14 [[ 9.96831451e-01 5.70246071e-02 5.54549581e-02 2.58545139e+02] [-5.67158721e-02 9.98364924e-01 -7.12654940e-03 -3.47496040e+01] [-5.57706737e-02 3.95879227e-03 9.98435757e-01 -1.81444716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.950714057 meters 0.043417112348121414 Centerline is valid? [True, True] Translation: X:258.58, Y:-34.76, Z:-18.15 [[ 9.96777806e-01 5.80669218e-02 5.53374943e-02 2.58575589e+02] [-5.77602141e-02 9.98305044e-01 -7.12720149e-03 -3.47581327e+01] [-5.56575543e-02 3.90793074e-03 9.98442269e-01 -1.81465136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.980714057 meters 0.043481800640444365 Centerline is valid? [True, True] Translation: X:258.61, Y:-34.76, Z:-18.15 [[ 9.96753022e-01 5.82708903e-02 5.55690219e-02 2.58605473e+02] [-5.79617902e-02 9.98293130e-01 -7.15938345e-03 -3.47638614e+01] [-5.58913564e-02 3.91525710e-03 9.98429180e-01 -1.81486230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.01071405700003 meters 0.03850806485083873 Centerline is valid? [True, True] Translation: X:258.64, Y:-34.76, Z:-18.15 [[ 9.96763479e-01 5.84615135e-02 5.51798744e-02 2.58636168e+02] [-5.81570235e-02 9.98282134e-01 -7.10924659e-03 -3.47622430e+01] [-5.55007001e-02 3.87714011e-03 9.98451121e-01 -1.81492825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.040714057 meters 0.03954799830243014 Centerline is valid? [True, True] Translation: X:258.67, Y:-34.77, Z:-18.15 [[ 9.96730563e-01 5.91351784e-02 5.50564726e-02 2.58665286e+02] [-5.88330857e-02 9.98242634e-01 -7.09310883e-03 -3.47718425e+01] [-5.53791704e-02 3.83077618e-03 9.98458048e-01 -1.81518985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.07071405700003 meters 0.04412415591863063 Centerline is valid? [True, True] Translation: X:258.69, Y:-34.78, Z:-18.16 [[ 9.96702852e-01 5.90958270e-02 5.55977405e-02 2.58694102e+02] [-5.87876386e-02 9.98244806e-01 -7.16387691e-03 -3.47847464e+01] [-5.59235109e-02 3.87179667e-03 9.98427549e-01 -1.81553961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.100714057 meters 0.03666431650412185 Centerline is valid? [True, True] Translation: X:258.73, Y:-34.78, Z:-18.16 [[ 9.96729684e-01 5.91383146e-02 5.50690133e-02 2.58726300e+02] [-5.88359924e-02 9.98242439e-01 -7.09646297e-03 -3.47819974e+01] [-5.53918990e-02 3.83321525e-03 9.98457332e-01 -1.81556768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.13071405700003 meters 0.044494386111179576 Centerline is valid? [True, True] Translation: X:258.76, Y:-34.80, Z:-18.16 [[ 9.96713702e-01 5.95447081e-02 5.49201595e-02 2.58755195e+02] [-5.92446691e-02 9.98218408e-01 -7.07664153e-03 -3.47997103e+01] [-5.52436908e-02 3.79965890e-03 9.98465672e-01 -1.81602646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.160714057 meters 0.040396508549191266 Centerline is valid? [True, True] Translation: X:258.79, Y:-34.80, Z:-18.16 [[ 9.96731879e-01 5.98418383e-02 5.42633978e-02 2.58787196e+02] [-5.95485308e-02 9.98200815e-01 -7.00753752e-03 -3.47994760e+01] [-5.45851118e-02 3.75333043e-03 9.98502067e-01 -1.81614547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.19071405700004 meters 0.037668936568366486 Centerline is valid? [True, True] Translation: X:258.82, Y:-34.80, Z:-18.16 [[ 9.96723669e-01 6.04335823e-02 5.37560178e-02 2.58817166e+02] [-6.01464686e-02 9.98165406e-01 -6.94438192e-03 -3.48028699e+01] [-5.40770712e-02 3.68839519e-03 9.98529953e-01 -1.81632547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.220714057 meters 0.03847794752483996 Centerline is valid? [True, True] Translation: X:258.85, Y:-34.81, Z:-18.17 [[ 9.96629320e-01 6.13506681e-02 5.44618617e-02 2.58846369e+02] [-6.10573939e-02 9.98109471e-01 -7.03416714e-03 -3.48117106e+01] [-5.47904508e-02 3.68515787e-03 9.98491075e-01 -1.81659140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.25071405700004 meters 0.03703554245545759 Centerline is valid? [True, True] Translation: X:258.88, Y:-34.82, Z:-18.17 [[ 9.96575376e-01 6.17875787e-02 5.49528399e-02 2.58876265e+02] [-6.14892576e-02 9.98082459e-01 -7.10460993e-03 -3.48150088e+01] [-5.52864423e-02 3.70126998e-03 9.98463675e-01 -1.81674577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.280714057 meters 0.03782092667375619 Centerline is valid? [True, True] Translation: X:258.91, Y:-34.82, Z:-18.17 [[ 9.96557420e-01 6.22157509e-02 5.47951574e-02 2.58906343e+02] [-6.19197854e-02 9.98055987e-01 -7.08422384e-03 -3.48211633e+01] [-5.51293852e-02 3.66693145e-03 9.98472486e-01 -1.81697530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.310714057 meters 0.038754020001824714 Centerline is valid? [True, True] Translation: X:258.94, Y:-34.83, Z:-18.17 [[ 9.96470645e-01 6.31962519e-02 5.52493244e-02 2.58935536e+02] [-6.28968658e-02 9.97994472e-01 -7.14270632e-03 -3.48284648e+01] [-5.55899126e-02 3.64248783e-03 9.98447041e-01 -1.81720762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.340714057 meters 0.03814178958179779 Centerline is valid? [True, True] Translation: X:258.97, Y:-34.83, Z:-18.17 [[ 9.96425694e-01 6.38548341e-02 5.53027641e-02 2.58965759e+02] [-6.35558077e-02 9.97952666e-01 -7.15085766e-03 -3.48322755e+01] [-5.56461577e-02 3.61048647e-03 9.98444024e-01 -1.81743802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.370714057 meters 0.039776895439658816 Centerline is valid? [True, True] Translation: X:258.99, Y:-34.84, Z:-18.18 [[ 9.96329575e-01 6.53215273e-02 5.53215641e-02 2.58994774e+02] [-6.50245596e-02 9.97858026e-01 -7.15305885e-03 -3.48398049e+01] [-5.56703154e-02 3.52954375e-03 9.98442967e-01 -1.81770551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.400714057 meters 0.036869645093423886 Centerline is valid? [True, True] Translation: X:259.03, Y:-34.84, Z:-18.18 [[ 9.96227614e-01 6.66618706e-02 5.55584001e-02 2.59025537e+02] [-6.63643571e-02 9.97769587e-01 -7.18490836e-03 -3.48398734e+01] [-5.59134414e-02 3.47070661e-03 9.98429588e-01 -1.81783571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.430714057 meters 0.03299683752983704 Centerline is valid? [True, True] Translation: X:259.06, Y:-34.84, Z:-18.18 [[ 9.96143990e-01 6.77300003e-02 5.57655626e-02 2.59055617e+02] [-6.74319012e-02 9.97697812e-01 -7.21215723e-03 -3.48385620e+01] [-5.61256592e-02 3.42396917e-03 9.98417842e-01 -1.81790004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.460714057 meters 0.03252365147585275 Centerline is valid? [True, True] Translation: X:259.09, Y:-34.84, Z:-18.18 [[ 9.95930602e-01 7.00618974e-02 5.66883327e-02 2.59085215e+02] [-6.97577327e-02 9.97537038e-01 -7.32914274e-03 -3.48420937e+01] [-5.70622051e-02 3.34486797e-03 9.98365022e-01 -1.81805781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.490714057 meters 0.03223813790279042 Centerline is valid? [True, True] Translation: X:259.11, Y:-34.85, Z:-18.18 [[ 9.95821856e-01 7.14565003e-02 5.68577085e-02 2.59114541e+02] [-7.11528244e-02 9.97438344e-01 -7.35020242e-03 -3.48454372e+01] [-5.72372784e-02 3.27390567e-03 9.98355235e-01 -1.81824416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.520714057 meters 0.03171636098778519 Centerline is valid? [True, True] Translation: X:259.14, Y:-34.85, Z:-18.18 [[ 9.95608793e-01 7.43988944e-02 5.68149349e-02 2.59142996e+02] [-7.41005541e-02 9.97223742e-01 -7.34279846e-03 -3.48491982e+01] [-5.72034981e-02 3.10053655e-03 9.98357725e-01 -1.81843319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.550714057 meters 0.03127446945754485 Centerline is valid? [True, True] Translation: X:259.17, Y:-34.85, Z:-18.19 [[ 9.95493713e-01 7.58064994e-02 5.69705435e-02 2.59171806e+02] [-7.55089838e-02 9.97117959e-01 -7.36000186e-03 -3.48521711e+01] [-5.73642880e-02 3.02504773e-03 9.98348730e-01 -1.81862477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.580714057 meters 0.03107803056070939 Centerline is valid? [True, True] Translation: X:259.20, Y:-34.86, Z:-18.19 [[ 9.95247531e-01 7.88434021e-02 5.71495330e-02 2.59200941e+02] [-7.85492625e-02 9.96882927e-01 -7.37856988e-03 -3.48551884e+01] [-5.75531453e-02 2.85444979e-03 9.98338363e-01 -1.81879488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.610714057 meters 0.030064380724516213 Centerline is valid? [True, True] Translation: X:259.23, Y:-34.86, Z:-18.19 [[ 9.95129297e-01 8.02374298e-02 5.72681246e-02 2.59230078e+02] [-7.99444750e-02 9.96771909e-01 -7.39201656e-03 -3.48569724e+01] [-5.76763743e-02 2.77774208e-03 9.98331468e-01 -1.81894702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.640714057 meters 0.02935546139854107 Centerline is valid? [True, True] Translation: X:259.26, Y:-34.86, Z:-18.19 [[ 9.94978203e-01 8.21017114e-02 5.72510738e-02 2.59258713e+02] [-8.18121744e-02 9.96620390e-01 -7.38692649e-03 -3.48592917e+01] [-5.76640668e-02 2.66599601e-03 9.98332484e-01 -1.81908550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.670714057 meters 0.029009995162379686 Centerline is valid? [True, True] Translation: X:259.29, Y:-34.86, Z:-18.19 [[ 9.94839247e-01 8.44260467e-02 5.62771217e-02 2.59287113e+02] [-8.41502232e-02 9.96426652e-01 -7.25727122e-03 -3.48618944e+01] [-5.66887267e-02 2.48408589e-03 9.98388811e-01 -1.81933047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.700714057 meters 0.03073184271001498 Centerline is valid? [True, True] Translation: X:259.31, Y:-34.87, Z:-18.20 [[ 9.94773000e-01 8.53973014e-02 5.59819647e-02 2.59314487e+02] [-8.51261117e-02 9.96344058e-01 -7.21547372e-03 -3.48684692e+01] [-5.63934799e-02 2.41223146e-03 9.98405707e-01 -1.81963619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.730714057 meters 0.03073184271001498 Centerline is valid? [True, True] Translation: X:259.34, Y:-34.87, Z:-18.20 [[ 9.94781583e-01 8.52968365e-02 5.59826038e-02 2.59341695e+02] [-8.50257668e-02 9.96352662e-01 -7.21051137e-03 -3.48718778e+01] [-5.63934501e-02 2.41292010e-03 9.98405707e-01 -1.81982527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.76071405700003 meters 0.028447621974503078 Centerline is valid? [True, True] Translation: X:259.37, Y:-34.87, Z:-18.20 [[ 9.94636695e-01 8.67373181e-02 5.63425493e-02 2.59371329e+02] [-8.64654160e-02 9.96228469e-01 -7.25047076e-03 -3.48713187e+01] [-5.67589380e-02 2.33990231e-03 9.98385170e-01 -1.81987961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.790714057 meters 0.028211918250686998 Centerline is valid? [True, True] Translation: X:259.40, Y:-34.87, Z:-18.20 [[ 9.94589749e-01 8.71224920e-02 5.65765203e-02 2.59399828e+02] [-8.68491077e-02 9.96194894e-01 -7.27774405e-03 -3.48743235e+01] [-5.69952958e-02 2.32474932e-03 9.98371740e-01 -1.82000741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.82071405700003 meters 0.031146061344352903 Centerline is valid? [True, True] Translation: X:259.43, Y:-34.88, Z:-18.20 [[ 9.94484297e-01 8.76805628e-02 5.75595509e-02 2.59426633e+02] [-8.73987497e-02 9.96145921e-01 -7.40017619e-03 -3.48824643e+01] [-5.79865635e-02 2.32872623e-03 9.98314648e-01 -1.82027941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.850714057 meters 0.028896688489315578 Centerline is valid? [True, True] Translation: X:259.46, Y:-34.88, Z:-18.20 [[ 9.94383859e-01 8.79141986e-02 5.89222754e-02 2.59456311e+02] [-8.76196145e-02 9.96125245e-01 -7.56967048e-03 -3.48821594e+01] [-5.93594475e-02 2.36441109e-03 9.98233873e-01 -1.82030106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.88071405700003 meters 0.02927152101888248 Centerline is valid? [True, True] Translation: X:259.48, Y:-34.89, Z:-18.20 [[ 9.94384619e-01 8.75782975e-02 5.94076757e-02 2.59484868e+02] [-8.72784149e-02 9.96154745e-01 -7.62903713e-03 -3.48869081e+01] [-5.98473761e-02 2.40118941e-03 9.98204651e-01 -1.82048811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.910714057 meters 0.03050878513869317 Centerline is valid? [True, True] Translation: X:259.51, Y:-34.89, Z:-18.21 [[ 9.94463436e-01 8.59835436e-02 6.04094785e-02 2.59511809e+02] [-8.56707652e-02 9.96293332e-01 -7.75354407e-03 -3.48935238e+01] [-6.08522377e-02 2.53528983e-03 9.98143566e-01 -1.82069760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.94071405700004 meters 0.02960972493109219 Centerline is valid? [True, True] Translation: X:259.54, Y:-34.90, Z:-18.21 [[ 9.94574563e-01 8.46940572e-02 6.04016245e-02 2.59540552e+02] [-8.43793140e-02 9.96403589e-01 -7.74719727e-03 -3.48964534e+01] [-6.08405370e-02 2.60851769e-03 9.98144090e-01 -1.82086004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.970714057 meters 0.03280573974470945 Centerline is valid? [True, True] Translation: X:259.57, Y:-34.91, Z:-18.21 [[ 9.94793528e-01 8.22072612e-02 6.02312380e-02 2.59568145e+02] [-8.18900124e-02 9.96611465e-01 -7.72098756e-03 -3.49067148e+01] [-6.06618636e-02 2.74845163e-03 9.98154589e-01 -1.82121948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.00071405700004 meters 0.031135394749925265 Centerline is valid? [True, True] Translation: X:259.60, Y:-34.91, Z:-18.21 [[ 9.94885587e-01 8.11597203e-02 6.01312564e-02 2.59597234e+02] [-8.08417992e-02 9.96697163e-01 -7.70517852e-03 -3.49080697e+01] [-6.05580028e-02 2.80465210e-03 9.98160740e-01 -1.82142342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.030714057 meters 0.03411971249471377 Centerline is valid? [True, True] Translation: X:259.62, Y:-34.92, Z:-18.22 [[ 9.94952642e-01 8.03765611e-02 6.00736883e-02 2.59623910e+02] [-8.00580729e-02 9.96760509e-01 -7.69373026e-03 -3.49178933e+01] [-6.04974756e-02 2.84551354e-03 9.98164294e-01 -1.82169667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.060714057 meters 0.03536060402952486 Centerline is valid? [True, True] Translation: X:259.65, Y:-34.92, Z:-18.22 [[ 9.95041219e-01 7.93624133e-02 5.99548158e-02 2.59651243e+02] [-7.90436678e-02 9.96841622e-01 -7.67326577e-03 -3.49247813e+01] [-6.03744247e-02 2.89616718e-03 9.98171599e-01 -1.82190707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.090714057 meters 0.035553758225496696 Centerline is valid? [True, True] Translation: X:259.68, Y:-34.93, Z:-18.22 [[ 9.95018113e-01 7.92991161e-02 6.04202445e-02 2.59679220e+02] [-7.89755930e-02 9.96846597e-01 -7.72768447e-03 -3.49296493e+01] [-6.08425137e-02 2.91746138e-03 9.98143114e-01 -1.82205749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.120714057 meters 0.031138235146248444 Centerline is valid? [True, True] Translation: X:259.71, Y:-34.93, Z:-18.22 [[ 9.94932254e-01 8.01634014e-02 6.06929860e-02 2.59708835e+02] [-7.98387910e-02 9.96777594e-01 -7.75862354e-03 -3.49274974e+01] [-6.11193661e-02 2.87365019e-03 9.98126327e-01 -1.82205301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.150714057 meters 0.031296422589526064 Centerline is valid? [True, True] Translation: X:259.74, Y:-34.93, Z:-18.22 [[ 9.94809158e-01 8.13293689e-02 6.11577712e-02 2.59736228e+02] [-8.10022162e-02 9.96683292e-01 -7.81383339e-03 -3.49319978e+01] [-6.15904229e-02 2.81935801e-03 9.98097526e-01 -1.82225243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.180714057 meters 0.030344621791033033 Centerline is valid? [True, True] Translation: X:259.76, Y:-34.94, Z:-18.22 [[ 9.94457396e-01 8.50140057e-02 6.18636144e-02 2.59764519e+02] [-8.46867064e-02 9.96376323e-01 -7.89835728e-03 -3.49361204e+01] [-6.23109117e-02 2.61555406e-03 9.98053360e-01 -1.82243410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.210714057 meters 0.029843355976711276 Centerline is valid? [True, True] Translation: X:259.79, Y:-34.94, Z:-18.23 [[ 9.94307297e-01 8.69448783e-02 6.15920963e-02 2.59793525e+02] [-8.66243399e-02 9.96210036e-01 -7.86053781e-03 -3.49396592e+01] [-6.20420980e-02 2.48041541e-03 9.98070451e-01 -1.82263445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.240714057 meters 0.029155362393604542 Centerline is valid? [True, True] Translation: X:259.82, Y:-34.94, Z:-18.23 [[ 9.94108086e-01 8.89813331e-02 6.18985912e-02 2.59822128e+02] [-8.86617209e-02 9.96030493e-01 -7.89658406e-03 -3.49432300e+01] [-6.23555329e-02 2.36202245e-03 9.98051205e-01 -1.82282754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.270714057 meters 0.02591904504483674 Centerline is valid? [True, True] Translation: X:259.85, Y:-34.94, Z:-18.23 [[ 9.93627000e-01 9.31561392e-02 6.34611585e-02 2.59852792e+02] [-9.28289516e-02 9.95649194e-01 -8.09128236e-03 -3.49431457e+01] [-6.39388039e-02 2.14868381e-03 9.97951508e-01 -1.82290134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.300714057 meters 0.027913449568155342 Centerline is valid? [True, True] Translation: X:259.88, Y:-34.95, Z:-18.23 [[ 9.93483055e-01 9.42617470e-02 6.40791964e-02 2.59879276e+02] [-9.39304968e-02 9.95545240e-01 -8.16921528e-03 -3.49516784e+01] [-6.45637835e-02 2.09698619e-03 9.97911379e-01 -1.82306225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.330714057 meters 0.025188778592451583 Centerline is valid? [True, True] Translation: X:259.91, Y:-34.95, Z:-18.23 [[ 9.93322378e-01 9.53701427e-02 6.49244945e-02 2.59908604e+02] [-9.50328336e-02 9.95439777e-01 -8.27104487e-03 -3.49528740e+01] [-6.54172350e-02 2.04585528e-03 9.97855901e-01 -1.82314615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.360714057 meters 0.024332321869069362 Centerline is valid? [True, True] Translation: X:259.94, Y:-34.96, Z:-18.23 [[ 9.93330540e-01 9.51777534e-02 6.50817530e-02 2.59936788e+02] [-9.48386201e-02 9.95458161e-01 -8.28763421e-03 -3.49559257e+01] [-6.55749606e-02 2.06009652e-03 9.97845519e-01 -1.82335582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.390714057 meters 0.024341485290654916 Centerline is valid? [True, True] Translation: X:259.96, Y:-34.96, Z:-18.24 [[ 9.93358579e-01 9.49207706e-02 6.50290825e-02 2.59963456e+02] [-9.45819516e-02 9.95482677e-01 -8.27613930e-03 -3.49620073e+01] [-6.55209026e-02 2.07059644e-03 9.97849049e-01 -1.82359387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.420714057 meters 0.025417007161251233 Centerline is valid? [True, True] Translation: X:259.99, Y:-34.97, Z:-18.24 [[ 9.93503319e-01 9.36307324e-02 6.46872573e-02 2.59990015e+02] [-9.32931310e-02 9.95604697e-01 -8.22668519e-03 -3.49722836e+01] [-6.51732078e-02 2.13836227e-03 9.97871675e-01 -1.82391218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.450714057 meters 0.02518652097102592 Centerline is valid? [True, True] Translation: X:260.02, Y:-34.98, Z:-18.24 [[ 9.93656518e-01 9.21229625e-02 6.44987151e-02 2.60018625e+02] [-9.17845473e-02 9.95745153e-01 -8.19674909e-03 -3.49775024e+01] [-6.49793918e-02 2.22476779e-03 9.97884126e-01 -1.82414909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.480714057 meters 0.025853406210861966 Centerline is valid? [True, True] Translation: X:260.05, Y:-34.99, Z:-18.24 [[ 9.93795666e-01 9.03901028e-02 6.48058959e-02 2.60045771e+02] [-9.00450826e-02 9.95903676e-01 -8.23108563e-03 -3.49850188e+01] [-6.52844386e-02 2.34456498e-03 9.97863941e-01 -1.82440769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.51071405700003 meters 0.02733508469125409 Centerline is valid? [True, True] Translation: X:260.07, Y:-35.00, Z:-18.25 [[ 9.94210156e-01 8.59316810e-02 6.45128768e-02 2.60074467e+02] [-8.55808077e-02 9.96297589e-01 -8.18779759e-03 -3.49971386e+01] [-6.49776148e-02 2.61932742e-03 9.97883284e-01 -1.82468921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.540714057 meters 0.028219170801036256 Centerline is valid? [True, True] Translation: X:260.10, Y:-35.01, Z:-18.25 [[ 9.94404601e-01 8.32936782e-02 6.49742472e-02 2.60103312e+02] [-8.29322172e-02 9.96521080e-01 -8.24523338e-03 -3.50053388e+01] [-6.54349828e-02 2.81063963e-03 9.97852877e-01 -1.82493351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.57071405700003 meters 0.030834852327749743 Centerline is valid? [True, True] Translation: X:260.13, Y:-35.02, Z:-18.25 [[ 9.94863462e-01 7.72794950e-02 6.53802137e-02 2.60131636e+02] [-7.69007037e-02 9.97004256e-01 -8.29433084e-03 -3.50187671e+01] [-6.58253330e-02 3.22394225e-03 9.97825953e-01 -1.82514268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.600714057 meters 0.03221706781580665 Centerline is valid? [True, True] Translation: X:260.16, Y:-35.03, Z:-18.25 [[ 9.95130483e-01 7.39582138e-02 6.51575383e-02 2.60161553e+02] [-7.35749756e-02 9.97255440e-01 -8.26504545e-03 -3.50267936e+01] [-6.55899775e-02 3.43083438e-03 9.97840761e-01 -1.82537276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.63071405700003 meters 0.03534269274438108 Centerline is valid? [True, True] Translation: X:260.19, Y:-35.04, Z:-18.26 [[ 9.95551748e-01 6.76350874e-02 6.55912531e-02 2.60190709e+02] [-6.72329757e-02 9.97702604e-01 -8.32117450e-03 -3.50402557e+01] [-6.60033673e-02 3.87426469e-03 9.97811879e-01 -1.82565857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.660714057 meters 0.03697454296323277 Centerline is valid? [True, True] Translation: X:260.22, Y:-35.05, Z:-18.26 [[ 9.95781429e-01 6.42212137e-02 6.55361131e-02 2.60221223e+02] [-6.38122467e-02 9.97927266e-01 -8.31678810e-03 -3.50491442e+01] [-6.59343884e-02 4.09969651e-03 9.97815539e-01 -1.82590621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.69071405700004 meters 0.041178673313272324 Centerline is valid? [True, True] Translation: X:260.25, Y:-35.06, Z:-18.26 [[ 9.96228238e-01 5.72439713e-02 6.52106251e-02 2.60249068e+02] [-5.68240401e-02 9.98349892e-01 -8.27778053e-03 -3.50621282e+01] [-6.55768736e-02 4.54102753e-03 9.97837187e-01 -1.82618813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.720714057 meters 0.043490625248052854 Centerline is valid? [True, True] Translation: X:260.28, Y:-35.07, Z:-18.26 [[ 9.96472729e-01 5.36261693e-02 6.45471501e-02 2.60278656e+02] [-5.32070884e-02 9.98549869e-01 -8.19543107e-03 -3.50701868e+01] [-6.48930378e-02 4.73215765e-03 9.97881005e-01 -1.82647137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.75071405700004 meters 0.041839852623672534 Centerline is valid? [True, True] Translation: X:260.31, Y:-35.07, Z:-18.27 [[ 9.96663046e-01 5.04627999e-02 6.41582353e-02 2.60308671e+02] [-5.00422399e-02 9.98713880e-01 -8.14622528e-03 -3.50727909e+01] [-6.44868014e-02 4.90841990e-03 9.97906489e-01 -1.82669999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.780714057 meters 0.04788670978849976 Centerline is valid? [True, True] Translation: X:260.34, Y:-35.09, Z:-18.27 [[ 9.96902394e-01 4.52698869e-02 6.43137206e-02 2.60337300e+02] [-4.48365036e-02 9.98960957e-01 -8.16671390e-03 -3.50866762e+01] [-6.46166020e-02 5.25781427e-03 9.97896312e-01 -1.82693947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.810714057 meters 0.050675262924072643 Centerline is valid? [True, True] Translation: X:260.37, Y:-35.09, Z:-18.27 [[ 9.96943521e-01 4.34865452e-02 6.49040605e-02 2.60366380e+02] [-4.30413495e-02 9.99039290e-01 -8.24251554e-03 -3.50942610e+01] [-6.52001451e-02 5.42376411e-03 9.97857467e-01 -1.82712724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.840714057 meters 0.04907445202871868 Centerline is valid? [True, True] Translation: X:260.40, Y:-35.10, Z:-18.27 [[ 9.97006018e-01 4.22931579e-02 6.47324457e-02 2.60398009e+02] [-4.18478481e-02 9.99090178e-01 -8.22033283e-03 -3.50955311e+01] [-6.50212146e-02 5.48680774e-03 9.97868797e-01 -1.82736022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.870714057 meters 0.052177575599573804 Centerline is valid? [True, True] Translation: X:260.43, Y:-35.10, Z:-18.28 [[ 9.97041879e-01 4.26277237e-02 6.39559975e-02 2.60429295e+02] [-4.21933139e-02 9.99076401e-01 -8.12827377e-03 -3.51030630e+01] [-6.42434176e-02 5.40571387e-03 9.97919617e-01 -1.82762864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.900714057 meters 0.046096915697171496 Centerline is valid? [True, True] Translation: X:260.46, Y:-35.10, Z:-18.28 [[ 9.97056340e-01 4.33820354e-02 6.32190878e-02 2.60462283e+02] [-4.29580683e-02 9.99044438e-01 -8.05084051e-03 -3.50980124e+01] [-6.35079398e-02 5.31137169e-03 9.97967199e-01 -1.82785426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.930714057 meters 0.05051714633802504 Centerline is valid? [True, True] Translation: X:260.49, Y:-35.11, Z:-18.28 [[ 9.97013313e-01 4.52565527e-02 6.25803287e-02 2.60492274e+02] [-4.48437434e-02 9.98962092e-01 -7.98607660e-03 -3.51052845e+01] [-6.28767984e-02 5.15588849e-03 9.98007978e-01 -1.82821592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.960714057 meters 0.046633274506044854 Centerline is valid? [True, True] Translation: X:260.52, Y:-35.10, Z:-18.28 [[ 9.96918181e-01 4.67374241e-02 6.30059743e-02 2.60524504e+02] [-4.63217753e-02 9.98894195e-01 -8.04243834e-03 -3.51026858e+01] [-6.33121848e-02 5.09910443e-03 9.97980745e-01 -1.82835260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.990714057 meters 0.04202999199710949 Centerline is valid? [True, True] Translation: X:260.56, Y:-35.10, Z:-18.28 [[ 9.96677758e-01 4.95108442e-02 6.46693415e-02 2.60556209e+02] [-4.90783726e-02 9.98760775e-01 -8.25996911e-03 -3.50967101e+01] [-6.49981597e-02 5.05866146e-03 9.97872562e-01 -1.82835561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.020714057 meters 0.04281652657905507 Centerline is valid? [True, True] Translation: X:260.59, Y:-35.10, Z:-18.29 [[ 9.96562349e-01 5.12147764e-02 6.51193589e-02 2.60586328e+02] [-5.07798057e-02 9.98675231e-01 -8.31835912e-03 -3.50996478e+01] [-6.54591137e-02 4.98301512e-03 9.97842810e-01 -1.82850964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.050714057 meters 0.040303602931206085 Centerline is valid? [True, True] Translation: X:260.62, Y:-35.10, Z:-18.29 [[ 9.96485293e-01 5.26548643e-02 6.51500353e-02 2.60618645e+02] [-5.22220696e-02 9.98600759e-01 -8.32943797e-03 -3.50980635e+01] [-6.54974601e-02 4.89789275e-03 9.97840715e-01 -1.82865981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.080714057 meters 0.038979678308536714 Centerline is valid? [True, True] Translation: X:260.65, Y:-35.10, Z:-18.29 [[ 9.96371551e-01 5.44082346e-02 6.54482723e-02 2.60650312e+02] [-5.39749790e-02 9.98507198e-01 -8.37119601e-03 -3.50967105e+01] [-6.58060330e-02 4.80825243e-03 9.97820849e-01 -1.82890623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.110714057 meters 0.040284951893171134 Centerline is valid? [True, True] Translation: X:260.68, Y:-35.10, Z:-18.29 [[ 9.96339100e-01 5.52587325e-02 6.52293656e-02 2.60680907e+02] [-5.48300683e-02 9.98460828e-01 -8.34499607e-03 -3.51012925e+01] [-6.55901003e-02 4.73791530e-03 9.97835403e-01 -1.82913652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.140714057 meters 0.03944670041179385 Centerline is valid? [True, True] Translation: X:260.71, Y:-35.10, Z:-18.29 [[ 9.96332454e-01 5.50036095e-02 6.55457404e-02 2.60713782e+02] [-5.45692009e-02 9.98474650e-01 -8.40091097e-03 -3.51012830e+01] [-6.59078407e-02 4.79332157e-03 9.97814201e-01 -1.82937998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.170714057 meters 0.04066467031065072 Centerline is valid? [True, True] Translation: X:260.74, Y:-35.11, Z:-18.30 [[ 9.96373086e-01 5.44020771e-02 6.54300227e-02 2.60744369e+02] [-5.39668024e-02 9.98507373e-01 -8.40295746e-03 -3.51059171e+01] [-6.57894985e-02 4.84143154e-03 9.97821779e-01 -1.82961794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.200714057 meters 0.04182149980606735 Centerline is valid? [True, True] Translation: X:260.78, Y:-35.11, Z:-18.30 [[ 9.96510198e-01 5.31806864e-02 6.43369206e-02 2.60775650e+02] [-5.27568168e-02 9.98573141e-01 -8.27050783e-03 -3.51101208e+01] [-6.46849521e-02 4.84743426e-03 9.97893962e-01 -1.82992251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.230714057 meters 0.04355414497483188 Centerline is valid? [True, True] Translation: X:260.81, Y:-35.11, Z:-18.30 [[ 9.96853379e-01 5.00314758e-02 6.14832733e-02 2.60805475e+02] [-4.96375512e-02 9.98735905e-01 -7.91874908e-03 -3.51137243e+01] [-6.18017393e-02 4.84195265e-03 9.98076701e-01 -1.83040123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.26071405700003 meters 0.04464633909607169 Centerline is valid? [True, True] Translation: X:260.84, Y:-35.12, Z:-18.31 [[ 9.97022373e-01 4.80881255e-02 6.02820025e-02 2.60836331e+02] [-4.77059437e-02 9.98831249e-01 -7.76399608e-03 -3.51178469e+01] [-6.05849038e-02 4.86506798e-03 9.98151191e-01 -1.83073598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.290714057 meters 0.04352131931104132 Centerline is valid? [True, True] Translation: X:260.87, Y:-35.12, Z:-18.31 [[ 9.97321394e-01 4.42857068e-02 5.82135194e-02 2.60867370e+02] [-4.39227785e-02 9.99006777e-01 -7.49988275e-03 -3.51172434e+01] [-5.84878380e-02 4.92289399e-03 9.98275983e-01 -1.83104033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.32071405700003 meters 0.04347537153746489 Centerline is valid? [True, True] Translation: X:260.90, Y:-35.12, Z:-18.31 [[ 9.97404011e-01 4.27060415e-02 5.79778730e-02 2.60898544e+02] [-4.23434119e-02 9.99075194e-01 -7.46936375e-03 -3.51198257e+01] [-5.82432417e-02 4.99499240e-03 9.98289925e-01 -1.83125865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.350714057 meters 0.04705390144276716 Centerline is valid? [True, True] Translation: X:260.93, Y:-35.13, Z:-18.31 [[ 9.97490987e-01 4.01984776e-02 5.82736007e-02 2.60928177e+02] [-3.98277799e-02 9.99178341e-01 -7.50934704e-03 -3.51250566e+01] [-5.85275840e-02 5.16959785e-03 9.98272406e-01 -1.83139185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.38071405700003 meters 0.044368216483389726 Centerline is valid? [True, True] Translation: X:260.96, Y:-35.12, Z:-18.32 [[ 9.97485657e-01 3.92956921e-02 5.89763709e-02 2.60960598e+02] [-3.89142057e-02 9.99213626e-01 -7.60353560e-03 -3.51234102e+01] [-5.92287796e-02 5.28939908e-03 9.98230421e-01 -1.83152481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.410714057 meters 0.048588918518362376 Centerline is valid? [True, True] Translation: X:260.99, Y:-35.13, Z:-18.32 [[ 9.97408256e-01 3.94681979e-02 6.01583930e-02 2.60991319e+02] [-3.90713105e-02 9.99206293e-01 -7.75991608e-03 -3.51319764e+01] [-6.04169148e-02 5.38933711e-03 9.98158681e-01 -1.83171087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.44071405700004 meters 0.04634567205584263 Centerline is valid? [True, True] Translation: X:261.02, Y:-35.13, Z:-18.32 [[ 9.97223442e-01 4.02694821e-02 6.26400410e-02 2.61024661e+02] [-3.98401176e-02 9.99173325e-01 -8.08896502e-03 -3.51288529e+01] [-6.29139965e-02 5.57091894e-03 9.98003404e-01 -1.83168943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.470714057 meters 0.043234725152725834 Centerline is valid? [True, True] Translation: X:261.06, Y:-35.12, Z:-18.32 [[ 9.97049679e-01 4.15300302e-02 6.45538134e-02 2.61057039e+02] [-4.10754477e-02 9.99121125e-01 -8.35378395e-03 -3.51247915e+01] [-6.48440116e-02 5.67756082e-03 9.97879261e-01 -1.83170654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.50071405700004 meters 0.048336471411388415 Centerline is valid? [True, True] Translation: X:261.09, Y:-35.13, Z:-18.32 [[ 9.97010740e-01 4.23442169e-02 6.46262508e-02 2.61086881e+02] [-4.18901957e-02 9.99087204e-01 -8.36486984e-03 -3.51343799e+01] [-6.49214640e-02 5.63265877e-03 9.97874479e-01 -1.83193308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.530714057 meters 0.04444960094209665 Centerline is valid? [True, True] Translation: X:261.12, Y:-35.13, Z:-18.32 [[ 9.97038663e-01 4.29198773e-02 6.38105678e-02 2.61119671e+02] [-4.24774744e-02 9.99063162e-01 -8.27424143e-03 -3.51306741e+01] [-6.41059171e-02 5.53922686e-03 9.97927727e-01 -1.83216763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.560714057 meters 0.04513094325915352 Centerline is valid? [True, True] Translation: X:261.15, Y:-35.13, Z:-18.33 [[ 9.97076358e-01 4.37140734e-02 6.26722904e-02 2.61151178e+02] [-4.32878637e-02 9.99029455e-01 -8.14301549e-03 -3.51319856e+01] [-6.29674285e-02 5.40625866e-03 9.98000940e-01 -1.83253824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.590714057 meters 0.04548970265009517 Centerline is valid? [True, True] Translation: X:261.18, Y:-35.13, Z:-18.33 [[ 9.97226888e-01 4.44674001e-02 5.96756584e-02 2.61183329e+02] [-4.40819348e-02 9.98997773e-01 -7.76100318e-03 -3.51327353e+01] [-5.99609614e-02 5.10886256e-03 9.98187649e-01 -1.83306069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.620714057 meters 0.04548970265009517 Centerline is valid? [True, True] Translation: X:261.22, Y:-35.14, Z:-18.33 [[ 9.97214305e-01 4.47512174e-02 5.96737677e-02 2.61215699e+02] [-4.43653943e-02 9.98985112e-01 -7.77551169e-03 -3.51370298e+01] [-5.99611691e-02 5.10640125e-03 9.98187649e-01 -1.83328503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.650714057 meters 0.04345167705622505 Centerline is valid? [True, True] Translation: X:261.25, Y:-35.14, Z:-18.34 [[ 9.97244754e-01 4.55886932e-02 5.85198371e-02 2.61248634e+02] [-4.52180146e-02 9.98947900e-01 -7.64358828e-03 -3.51365290e+01] [-5.88067296e-02 4.97637747e-03 9.98256983e-01 -1.83360979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.680714057 meters 0.04501530881259711 Centerline is valid? [True, True] Translation: X:261.28, Y:-35.14, Z:-18.34 [[ 9.97254623e-01 4.66361099e-02 5.75177440e-02 2.61279433e+02] [-4.62794983e-02 9.98900244e-01 -7.51729659e-03 -3.51404342e+01] [-5.78050660e-02 4.83476644e-03 9.98316182e-01 -1.83393948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.710714057 meters 0.045622199911653005 Centerline is valid? [True, True] Translation: X:261.31, Y:-35.14, Z:-18.34 [[ 9.97246310e-01 4.76526146e-02 5.68245130e-02 2.61310790e+02] [-4.73057836e-02 9.98852792e-01 -7.43392148e-03 -3.51428873e+01] [-5.71135693e-02 4.72532265e-03 9.98356505e-01 -1.83420453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.740714057 meters 0.04323004478974843 Centerline is valid? [True, True] Translation: X:261.34, Y:-35.14, Z:-18.34 [[ 9.97174602e-01 4.88096793e-02 5.71001535e-02 2.61342723e+02] [-4.84604641e-02 9.98797052e-01 -7.48544075e-03 -3.51411087e+01] [-5.73968270e-02 4.69719146e-03 9.98340393e-01 -1.83438934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.770714057 meters 0.04243309496300836 Centerline is valid? [True, True] Translation: X:261.37, Y:-35.14, Z:-18.35 [[ 9.96990939e-01 5.14430803e-02 5.79885894e-02 2.61374205e+02] [-5.10871811e-02 9.98665247e-01 -7.60425144e-03 -3.51383103e+01] [-5.83023751e-02 4.61889622e-03 9.98288284e-01 -1.83451967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.800714057 meters 0.03804289525888737 Centerline is valid? [True, True] Translation: X:261.41, Y:-35.13, Z:-18.34 [[ 9.96749292e-01 5.42618361e-02 5.95525140e-02 2.61406358e+02] [-5.38913830e-02 9.98516258e-01 -7.81037793e-03 -3.51302012e+01] [-5.98879588e-02 4.57562133e-03 9.98194618e-01 -1.83445958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.830714057 meters 0.040228784171553796 Centerline is valid? [True, True] Translation: X:261.44, Y:-35.13, Z:-18.35 [[ 9.96611020e-01 5.54757235e-02 6.07364741e-02 2.61437767e+02] [-5.50926153e-02 9.98449475e-01 -7.96555092e-03 -3.51347415e+01] [-6.10841954e-02 4.59242463e-03 9.98122052e-01 -1.83466132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.860714057 meters 0.040782229993031965 Centerline is valid? [True, True] Translation: X:261.47, Y:-35.14, Z:-18.35 [[ 9.96512113e-01 5.63501413e-02 6.15489267e-02 2.61468598e+02] [-5.59572992e-02 9.98400394e-01 -8.08912367e-03 -3.51375556e+01] [-6.19062959e-02 4.61679802e-03 9.98071288e-01 -1.83480034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.890714057 meters 0.040057535863676705 Centerline is valid? [True, True] Translation: X:261.50, Y:-35.14, Z:-18.35 [[ 9.96450079e-01 5.72224956e-02 6.17480829e-02 2.61500987e+02] [-5.68282470e-02 9.98350919e-01 -8.12365061e-03 -3.51390305e+01] [-6.21111109e-02 4.58577698e-03 9.98058706e-01 -1.83501234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.920714057 meters 0.03931449994372698 Centerline is valid? [True, True] Translation: X:261.53, Y:-35.14, Z:-18.35 [[ 9.96475793e-01 5.68174916e-02 6.17071072e-02 2.61533620e+02] [-5.64220225e-02 9.98373875e-01 -8.13390413e-03 -3.51396796e+01] [-6.20689118e-02 4.62359878e-03 9.98061157e-01 -1.83531397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.950714057 meters 0.043653916689816386 Centerline is valid? [True, True] Translation: X:261.56, Y:-35.15, Z:-18.36 [[ 9.96669291e-01 5.38761061e-02 6.12183776e-02 2.61562392e+02] [-5.34803259e-02 9.98536160e-01 -8.08648674e-03 -3.51489359e+01] [-6.15644321e-02 4.78557421e-03 9.98091639e-01 -1.83564159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.980714057 meters 0.045073504381828965 Centerline is valid? [True, True] Translation: X:261.59, Y:-35.15, Z:-18.36 [[ 9.96826382e-01 5.17703735e-02 6.04730731e-02 2.61592686e+02] [-5.13801240e-02 9.98647194e-01 -7.99157404e-03 -3.51544630e+01] [-6.08049915e-02 4.85909784e-03 9.98137837e-01 -1.83594948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.01071405700003 meters 0.05135619498863253 Centerline is valid? [True, True] Translation: X:261.62, Y:-35.17, Z:-18.36 [[ 9.96999294e-01 4.95303625e-02 5.94907646e-02 2.61621070e+02] [-4.91487134e-02 9.98760525e-01 -7.86236931e-03 -3.51667634e+01] [-5.98064533e-02 4.91488211e-03 9.98197892e-01 -1.83635074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.040714057 meters 0.04562277853871784 Centerline is valid? [True, True] Translation: X:261.65, Y:-35.16, Z:-18.37 [[ 9.97312381e-01 4.57992326e-02 5.71878080e-02 2.61652211e+02] [-4.54402640e-02 9.98938433e-01 -7.56237618e-03 -3.51628096e+01] [-5.74734503e-02 4.94342230e-03 9.98334796e-01 -1.83661446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.07071405700003 meters 0.04984048798281832 Centerline is valid? [True, True] Translation: X:261.68, Y:-35.17, Z:-18.37 [[ 9.97451448e-01 4.40470561e-02 5.61290091e-02 2.61680654e+02] [-4.36985681e-02 9.99017195e-01 -7.42158801e-03 -3.51728605e+01] [-5.64007443e-02 4.94991638e-03 9.98395941e-01 -1.83698578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.100714057 meters 0.04947259781886021 Centerline is valid? [True, True] Translation: X:261.71, Y:-35.18, Z:-18.37 [[ 9.97485893e-01 4.42386760e-02 5.53609313e-02 2.61712496e+02] [-4.38998422e-02 9.99009103e-01 -7.32225396e-03 -3.51760958e+01] [-5.56300012e-02 4.87350888e-03 9.98439558e-01 -1.83720325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.13071405700003 meters 0.05009846787366071 Centerline is valid? [True, True] Translation: X:261.74, Y:-35.18, Z:-18.37 [[ 9.97443557e-01 4.53212442e-02 5.52479464e-02 2.61743407e+02] [-4.49846575e-02 9.98960849e-01 -7.32139002e-03 -3.51806776e+01] [-5.55223499e-02 4.81736336e-03 9.98445823e-01 -1.83742518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.160714057 meters 0.04707880344715399 Centerline is valid? [True, True] Translation: X:261.78, Y:-35.18, Z:-18.38 [[ 9.97381695e-01 4.69873356e-02 5.49722162e-02 2.61775130e+02] [-4.66557735e-02 9.98884352e-01 -7.30004699e-03 -3.51795492e+01] [-5.52538963e-02 4.71616197e-03 9.98461198e-01 -1.83757300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.19071405700004 meters 0.04370657784235073 Centerline is valid? [True, True] Translation: X:261.81, Y:-35.18, Z:-18.38 [[ 9.97092667e-01 5.19417987e-02 5.57518047e-02 2.61806087e+02] [-5.16082946e-02 9.98639942e-01 -7.40608897e-03 -3.51763371e+01] [-5.60606646e-02 4.50730144e-03 9.98417190e-01 -1.83764963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.220714057 meters 0.04368620514427375 Centerline is valid? [True, True] Translation: X:261.84, Y:-35.18, Z:-18.38 [[ 9.96880502e-01 5.49496874e-02 5.66550632e-02 2.61835177e+02] [-5.46100839e-02 9.98479391e-01 -7.52629207e-03 -3.51786896e+01] [-5.69824803e-02 4.40887606e-03 9.98365443e-01 -1.83780969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.25071405700004 meters 0.03827736606830078 Centerline is valid? [True, True] Translation: X:261.87, Y:-35.17, Z:-18.38 [[ 9.96367812e-01 6.15208438e-02 5.88758753e-02 2.61867398e+02] [-6.11655730e-02 9.98097006e-01 -7.81919414e-03 -3.51720816e+01] [-5.92448783e-02 4.18961671e-03 9.98234688e-01 -1.83771141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.280714057 meters 0.041221008951026886 Centerline is valid? [True, True] Translation: X:261.90, Y:-35.18, Z:-18.38 [[ 9.96140228e-01 6.47167187e-02 5.92991845e-02 2.61896707e+02] [-6.43618983e-02 9.97895542e-01 -7.87614567e-03 -3.51793269e+01] [-5.96841102e-02 4.02913745e-03 9.98209183e-01 -1.83788466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.310714057 meters 0.03968605580965187 Centerline is valid? [True, True] Translation: X:261.93, Y:-35.18, Z:-18.38 [[ 9.95671677e-01 7.05646289e-02 6.04859139e-02 2.61926638e+02] [-7.02061607e-02 9.97500151e-01 -8.03397249e-03 -3.51785225e+01] [-6.09016226e-02 3.75271506e-03 9.98136719e-01 -1.83794086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.340714057 meters 0.03852788804870798 Centerline is valid? [True, True] Translation: X:261.96, Y:-35.18, Z:-18.38 [[ 9.95476356e-01 7.31173729e-02 6.06685549e-02 2.61956133e+02] [-7.27615481e-02 9.97316824e-01 -8.05665064e-03 -3.51800215e+01] [-6.10948517e-02 3.60586725e-03 9.98125451e-01 -1.83811081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.370714057 meters 0.037688133786963056 Centerline is valid? [True, True] Translation: X:261.99, Y:-35.18, Z:-18.38 [[ 9.95272238e-01 7.55905399e-02 6.09855990e-02 2.61985373e+02] [-7.52357323e-02 9.97132904e-01 -8.09664857e-03 -3.51825713e+01] [-6.14227775e-02 3.47007334e-03 9.98105807e-01 -1.83832779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.400714057 meters 0.03721601016029846 Centerline is valid? [True, True] Translation: X:262.01, Y:-35.19, Z:-18.39 [[ 9.95104208e-01 7.86440822e-02 5.98558493e-02 2.62014012e+02] [-7.83079387e-02 9.96897562e-01 -7.94466076e-03 -3.51858498e+01] [-6.02949508e-02 3.21857718e-03 9.98175415e-01 -1.83865354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.430714057 meters 0.032696617012564606 Centerline is valid? [True, True] Translation: X:262.04, Y:-35.18, Z:-18.39 [[ 9.95062084e-01 7.97153168e-02 5.91347364e-02 2.62043139e+02] [-7.93892166e-02 9.96812807e-01 -7.84732207e-03 -3.51819560e+01] [-5.95718144e-02 3.11391226e-03 9.98219166e-01 -1.83880197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.460714057 meters 0.03209052976401296 Centerline is valid? [True, True] Translation: X:262.07, Y:-35.19, Z:-18.39 [[ 9.94996448e-01 8.19420479e-02 5.71626538e-02 2.62071757e+02] [-8.16412532e-02 9.96632944e-01 -7.58165367e-03 -3.51851906e+01] [-5.75914402e-02 2.87688778e-03 9.98336090e-01 -1.83912669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.490714057 meters 0.03209052976401296 Centerline is valid? [True, True] Translation: X:262.10, Y:-35.19, Z:-18.39 [[ 9.95005104e-01 8.18365352e-02 5.71631396e-02 2.62098955e+02] [-8.15357769e-02 9.96641606e-01 -7.57798891e-03 -3.51887067e+01] [-5.75913197e-02 2.87929664e-03 9.98336090e-01 -1.83931575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.520714057 meters 0.031223501876868977 Centerline is valid? [True, True] Translation: X:262.13, Y:-35.19, Z:-18.40 [[ 9.94870244e-01 8.43639960e-02 5.58203680e-02 2.62127638e+02] [-8.40815377e-02 9.96431447e-01 -7.39369186e-03 -3.51917559e+01] [-5.62449315e-02 2.66230165e-03 9.98413451e-01 -1.83959564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.550714057 meters 0.030977126757831232 Centerline is valid? [True, True] Translation: X:262.16, Y:-35.20, Z:-18.40 [[ 9.94844459e-01 8.50264460e-02 5.52721167e-02 2.62156553e+02] [-8.47507547e-02 9.96375315e-01 -7.31712973e-03 -3.51954429e+01] [-5.56939223e-02 2.59505236e-03 9.98444517e-01 -1.83980368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.580714057 meters 0.03010031253898998 Centerline is valid? [True, True] Translation: X:262.19, Y:-35.20, Z:-18.40 [[ 9.94587681e-01 8.78606501e-02 5.54603588e-02 2.62186449e+02] [-8.75877080e-02 9.96129786e-01 -7.33776719e-03 -3.51996556e+01] [-5.58904164e-02 2.44040713e-03 9.98433927e-01 -1.83997897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.610714057 meters 0.02973578600870873 Centerline is valid? [True, True] Translation: X:262.21, Y:-35.20, Z:-18.40 [[ 9.94498964e-01 8.87951123e-02 5.55629333e-02 2.62214977e+02] [-8.85227572e-02 9.96047046e-01 -7.34876582e-03 -3.52037141e+01] [-5.59958300e-02 2.38975594e-03 9.98428143e-01 -1.84015266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.640714057 meters 0.02896474642203038 Centerline is valid? [True, True] Translation: X:262.24, Y:-35.21, Z:-18.40 [[ 9.94304959e-01 9.09032101e-02 5.56260363e-02 2.62243462e+02] [-9.06337490e-02 9.95857146e-01 -7.35312650e-03 -3.52075406e+01] [-5.60640086e-02 2.26965392e-03 9.98424597e-01 -1.84028680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.670714057 meters 0.030419416112003134 Centerline is valid? [True, True] Translation: X:262.27, Y:-35.22, Z:-18.41 [[ 9.94212845e-01 9.18708347e-02 5.56827437e-02 2.62270261e+02] [-9.16025528e-02 9.95768472e-01 -7.35678706e-03 -3.52150718e+01] [-5.61229948e-02 2.21353073e-03 9.98421409e-01 -1.84054681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.700714057 meters 0.029099909922386653 Centerline is valid? [True, True] Translation: X:262.30, Y:-35.22, Z:-18.41 [[ 9.94138966e-01 9.27548926e-02 5.55359923e-02 2.62298718e+02] [-9.24896948e-02 9.95686645e-01 -7.33215067e-03 -3.52174139e+01] [-5.59765387e-02 2.15266970e-03 9.98429764e-01 -1.84063811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.730714057 meters 0.030538475699262088 Centerline is valid? [True, True] Translation: X:262.32, Y:-35.23, Z:-18.41 [[ 9.94092493e-01 9.30926015e-02 5.58021777e-02 2.62324976e+02] [-9.28255969e-02 9.95655155e-01 -7.36350424e-03 -3.52274025e+01] [-5.62452136e-02 2.14013383e-03 9.98414691e-01 -1.84094998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.76071405700003 meters 0.028513451473386832 Centerline is valid? [True, True] Translation: X:262.35, Y:-35.23, Z:-18.41 [[ 9.94306372e-01 9.10196454e-02 5.54099580e-02 2.62354494e+02] [-9.07534814e-02 9.95846587e-01 -7.30623949e-03 -3.52300945e+01] [-5.58448289e-02 2.23599389e-03 9.98436956e-01 -1.84094541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.790714057 meters 0.029408140122456256 Centerline is valid? [True, True] Translation: X:262.38, Y:-35.24, Z:-18.41 [[ 9.94476973e-01 8.93183341e-02 5.51161075e-02 2.62381597e+02] [-8.90524540e-02 9.96000433e-01 -7.26619896e-03 -3.52376220e+01] [-5.55446717e-02 2.31784292e-03 9.98453513e-01 -1.84118645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.82071405700003 meters 0.03192073484615069 Centerline is valid? [True, True] Translation: X:262.41, Y:-35.25, Z:-18.42 [[ 9.94874973e-01 8.49105155e-02 5.48998453e-02 2.62409007e+02] [-8.46403528e-02 9.96385323e-01 -7.23176564e-03 -3.52502850e+01] [-5.53154530e-02 2.54796038e-03 9.98465677e-01 -1.84150558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.850714057 meters 0.03163064696478197 Centerline is valid? [True, True] Translation: X:262.44, Y:-35.26, Z:-18.42 [[ 9.95145432e-01 8.19487659e-02 5.44974137e-02 2.62438280e+02] [-8.16781536e-02 9.96632907e-01 -7.17823608e-03 -3.52559217e+01] [-5.49021634e-02 2.69214072e-03 9.98488110e-01 -1.84171255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.88071405700003 meters 0.03413267003066048 Centerline is valid? [True, True] Translation: X:262.47, Y:-35.27, Z:-18.42 [[ 9.95562900e-01 7.69602385e-02 5.41445737e-02 2.62466296e+02] [-7.66859017e-02 9.97029812e-01 -7.12931038e-03 -3.52683974e+01] [-5.45324275e-02 2.94555146e-03 9.98507655e-01 -1.84194825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.910714057 meters 0.035077977763362904 Centerline is valid? [True, True] Translation: X:262.50, Y:-35.28, Z:-18.42 [[ 9.95702663e-01 7.49115218e-02 5.44469469e-02 2.62495105e+02] [-7.46310214e-02 9.97185442e-01 -7.16977132e-03 -3.52760653e+01] [-5.48308012e-02 3.07552914e-03 9.98490924e-01 -1.84212203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.94071405700004 meters 0.036761276735173334 Centerline is valid? [True, True] Translation: X:262.52, Y:-35.28, Z:-18.42 [[ 9.95800762e-01 7.33136442e-02 5.48265574e-02 2.62522301e+02] [-7.30268840e-02 9.97303851e-01 -7.21827094e-03 -3.52842414e+01] [-5.52079346e-02 3.18414706e-03 9.98469802e-01 -1.84229038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.970714057 meters 0.03858959139851091 Centerline is valid? [True, True] Translation: X:262.55, Y:-35.29, Z:-18.42 [[ 9.95913473e-01 7.18365283e-02 5.47345161e-02 2.62549855e+02] [-7.15487375e-02 9.97411103e-01 -7.20202386e-03 -3.52922724e+01] [-5.51101825e-02 3.25640707e-03 9.98474969e-01 -1.84248099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.00071405700004 meters 0.038633221533288506 Centerline is valid? [True, True] Translation: X:262.58, Y:-35.30, Z:-18.43 [[ 9.95978945e-01 7.06512835e-02 5.50848104e-02 2.62579089e+02] [-7.03581445e-02 9.97495482e-01 -7.24529211e-03 -3.52996840e+01] [-5.54587387e-02 3.34049334e-03 9.98455392e-01 -1.84258471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.030714057 meters 0.03988884242639441 Centerline is valid? [True, True] Translation: X:262.61, Y:-35.31, Z:-18.43 [[ 9.95959579e-01 7.03291875e-02 5.58419501e-02 2.62606652e+02] [-7.00275192e-02 9.97518032e-01 -7.34312144e-03 -3.53079167e+01] [-5.62197880e-02 3.40297890e-03 9.98412618e-01 -1.84277644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.060714057 meters 0.034548837573922374 Centerline is valid? [True, True] Translation: X:262.64, Y:-35.30, Z:-18.43 [[ 9.95944682e-01 7.00922021e-02 5.64027831e-02 2.62636586e+02] [-6.97842336e-02 9.97534559e-01 -7.41377604e-03 -3.53046467e+01] [-5.67833733e-02 3.44768583e-03 9.98380570e-01 -1.84278845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.090714057 meters 0.036802888733826554 Centerline is valid? [True, True] Translation: X:262.66, Y:-35.31, Z:-18.43 [[ 9.95889660e-01 7.02596981e-02 5.71608212e-02 2.62664506e+02] [-6.99437701e-02 9.97522655e-01 -7.51149308e-03 -3.53133757e+01] [-5.75469693e-02 3.48257496e-03 9.98336726e-01 -1.84306221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.120714057 meters 0.04051154328582585 Centerline is valid? [True, True] Translation: X:262.69, Y:-35.32, Z:-18.43 [[ 9.95833362e-01 7.07846718e-02 5.74930096e-02 2.62692388e+02] [-7.04661580e-02 9.97485589e-01 -7.55116292e-03 -3.53237303e+01] [-5.78829551e-02 3.46838846e-03 9.98317351e-01 -1.84335624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.150714057 meters 0.04128175860853942 Centerline is valid? [True, True] Translation: X:262.72, Y:-35.33, Z:-18.44 [[ 9.95722596e-01 7.14439432e-02 5.85856154e-02 2.62720697e+02] [-7.11142042e-02 9.97438484e-01 -7.69674278e-03 -3.53309381e+01] [-5.89854331e-02 3.49755129e-03 9.98252716e-01 -1.84356161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.180714057 meters 0.042020756520093634 Centerline is valid? [True, True] Translation: X:262.75, Y:-35.34, Z:-18.44 [[ 9.95694162e-01 7.18037855e-02 5.86289320e-02 2.62749057e+02] [-7.14743038e-02 9.97412717e-01 -7.70032370e-03 -3.53383612e+01] [-5.90301547e-02 3.47670526e-03 9.98250146e-01 -1.84384533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.210714057 meters 0.035998707592375445 Centerline is valid? [True, True] Translation: X:262.78, Y:-35.33, Z:-18.44 [[ 9.95657983e-01 7.20046307e-02 5.89958883e-02 2.62780054e+02] [-7.16714233e-02 9.97398208e-01 -7.74740095e-03 -3.53343849e+01] [-5.94002420e-02 3.48544232e-03 9.98228162e-01 -1.84395962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.240714057 meters 0.03514431858374201 Centerline is valid? [True, True] Translation: X:262.81, Y:-35.34, Z:-18.44 [[ 9.95673244e-01 7.19941943e-02 5.87505576e-02 2.62810657e+02] [-7.16637383e-02 9.97399010e-01 -7.71518387e-03 -3.53382323e+01] [-5.91531964e-02 3.47151757e-03 9.98242880e-01 -1.84415703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.270714057 meters 0.03534805065697634 Centerline is valid? [True, True] Translation: X:262.84, Y:-35.35, Z:-18.44 [[ 9.95636011e-01 7.23624706e-02 5.89288226e-02 2.62839993e+02] [-7.20306358e-02 9.97372397e-01 -7.73875646e-03 -3.53453267e+01] [-5.93339766e-02 3.46030405e-03 9.98232190e-01 -1.84443115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.300714057 meters 0.03722780404977026 Centerline is valid? [True, True] Translation: X:262.87, Y:-35.35, Z:-18.45 [[ 9.95650954e-01 7.25360807e-02 5.84610466e-02 2.62868136e+02] [-7.22098591e-02 9.97359920e-01 -7.67630034e-03 -3.53528984e+01] [-5.88635135e-02 3.42145182e-03 9.98260177e-01 -1.84471192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.330714057 meters 0.03451814965411633 Centerline is valid? [True, True] Translation: X:262.90, Y:-35.35, Z:-18.45 [[ 9.95648597e-01 7.31367986e-02 5.77484224e-02 2.62898835e+02] [-7.28195675e-02 9.97316314e-01 -7.58154574e-03 -3.53541399e+01] [-5.81479338e-02 3.34334024e-03 9.98302379e-01 -1.84489457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.360714057 meters 0.03480480600582443 Centerline is valid? [True, True] Translation: X:262.93, Y:-35.36, Z:-18.45 [[ 9.95643299e-01 7.33964668e-02 5.75098228e-02 2.62928230e+02] [-7.30822646e-02 9.97297333e-01 -7.55059723e-03 -3.53592440e+01] [-5.79085801e-02 3.31475344e-03 9.98316387e-01 -1.84510988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.390714057 meters 0.03706732949668274 Centerline is valid? [True, True] Translation: X:262.96, Y:-35.37, Z:-18.45 [[ 9.95586181e-01 7.40271456e-02 5.76900133e-02 2.62956524e+02] [-7.37121800e-02 9.97250814e-01 -7.57155941e-03 -3.53674130e+01] [-5.80919137e-02 3.28568327e-03 9.98305832e-01 -1.84538970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.420714057 meters 0.03328737970894582 Centerline is valid? [True, True] Translation: X:262.99, Y:-35.37, Z:-18.45 [[ 9.95490105e-01 7.50969908e-02 5.79645784e-02 2.62987127e+02] [-7.47807069e-02 9.97170968e-01 -7.60956550e-03 -3.53670703e+01] [-5.83720503e-02 3.24061501e-03 9.98289638e-01 -1.84535945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.450714057 meters 0.03570114907818012 Centerline is valid? [True, True] Translation: X:263.01, Y:-35.37, Z:-18.46 [[ 9.95487549e-01 7.50422206e-02 5.80793030e-02 2.63014598e+02] [-7.47246294e-02 9.97175063e-01 -7.62393594e-03 -3.53749002e+01] [-5.84873496e-02 3.24957891e-03 9.98282861e-01 -1.84555003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.480714057 meters 0.03527327364782178 Centerline is valid? [True, True] Translation: X:263.04, Y:-35.38, Z:-18.46 [[ 9.95578120e-01 7.34473907e-02 5.85635331e-02 2.63043681e+02] [-7.31219232e-02 9.97293406e-01 -7.68415977e-03 -3.53798782e+01] [-5.89694069e-02 3.36790317e-03 9.98254109e-01 -1.84558305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.51071405700003 meters 0.03611847866850624 Centerline is valid? [True, True] Translation: X:263.07, Y:-35.39, Z:-18.46 [[ 9.95691171e-01 7.17408255e-02 5.87566746e-02 2.63073382e+02] [-7.14103889e-02 9.97417243e-01 -7.70708404e-03 -3.53861535e+01] [-5.91578330e-02 3.47803854e-03 9.98242583e-01 -1.84575374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.540714057 meters 0.03611847866850624 Centerline is valid? [True, True] Translation: X:263.10, Y:-35.39, Z:-18.46 [[ 9.95691171e-01 7.17408255e-02 5.87566746e-02 2.63103109e+02] [-7.14103889e-02 9.97417243e-01 -7.70708404e-03 -3.53900528e+01] [-5.91578330e-02 3.47803854e-03 9.98242583e-01 -1.84596023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.57071405700003 meters 0.03647707513225491 Centerline is valid? [True, True] Translation: X:263.13, Y:-35.40, Z:-18.46 [[ 9.95823340e-01 6.99346461e-02 5.86943003e-02 2.63133428e+02] [-6.96017979e-02 9.97545146e-01 -7.69873576e-03 -3.53960081e+01] [-5.90886228e-02 3.58135192e-03 9.98246317e-01 -1.84614921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.600714057 meters 0.03931604732331621 Centerline is valid? [True, True] Translation: X:263.16, Y:-35.41, Z:-18.46 [[ 9.96160645e-01 6.49802612e-02 5.86645978e-02 2.63161829e+02] [-6.46391189e-02 9.97879027e-01 -7.69618282e-03 -3.54067850e+01] [-5.90402718e-02 3.87460653e-03 9.98248082e-01 -1.84633748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.63071405700003 meters 0.037136393970039115 Centerline is valid? [True, True] Translation: X:263.19, Y:-35.41, Z:-18.46 [[ 9.96272571e-01 6.28974223e-02 5.90328613e-02 2.63192981e+02] [-6.25484197e-02 9.98011893e-01 -7.74315548e-03 -3.54092284e+01] [-5.94025221e-02 4.02188123e-03 9.98226009e-01 -1.84644925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.660714057 meters 0.03648435917656664 Centerline is valid? [True, True] Translation: X:263.22, Y:-35.41, Z:-18.47 [[ 9.96414182e-01 6.07461728e-02 5.88954986e-02 2.63224193e+02] [-6.03949314e-02 9.98144650e-01 -7.72726594e-03 -3.54128519e+01] [-5.92556286e-02 4.14256778e-03 9.98234246e-01 -1.84663677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.69071405700004 meters 0.044371143670842335 Centerline is valid? [True, True] Translation: X:263.25, Y:-35.43, Z:-18.47 [[ 9.96677479e-01 5.71482779e-02 5.80351434e-02 2.63252083e+02] [-5.68010310e-02 9.98356463e-01 -7.61683765e-03 -3.54302546e+01] [-5.83750496e-02 4.29507456e-03 9.98285483e-01 -1.84699395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.720714057 meters 0.041089074328247474 Centerline is valid? [True, True] Translation: X:263.28, Y:-35.43, Z:-18.47 [[ 9.96750905e-01 5.59536692e-02 5.79380803e-02 2.63284719e+02] [-5.56056077e-02 9.98423859e-01 -7.60360951e-03 -3.54305768e+01] [-5.82722116e-02 4.35722249e-03 9.98291222e-01 -1.84714959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.75071405700004 meters 0.04206081708564201 Centerline is valid? [True, True] Translation: X:263.32, Y:-35.44, Z:-18.47 [[ 9.96893586e-01 5.37290402e-02 5.75879214e-02 2.63315205e+02] [-5.33812188e-02 9.98545570e-01 -7.56235800e-03 -3.54363850e+01] [-5.79104821e-02 4.46475275e-03 9.98311796e-01 -1.84737664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.780714057 meters 0.03983882110122066 Centerline is valid? [True, True] Translation: X:263.35, Y:-35.44, Z:-18.48 [[ 9.96920506e-01 5.34648861e-02 5.73673400e-02 2.63347263e+02] [-5.31193839e-02 9.98559764e-01 -7.53182989e-03 -3.54370150e+01] [-5.76874059e-02 4.46131791e-03 9.98324727e-01 -1.84755410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.810714057 meters 0.0403295238574877 Centerline is valid? [True, True] Translation: X:263.38, Y:-35.44, Z:-18.48 [[ 9.96890838e-01 5.38330242e-02 5.75383606e-02 2.63379256e+02] [-5.34851971e-02 9.98539954e-01 -7.56925500e-03 -3.54423172e+01] [-5.78618279e-02 4.46827040e-03 9.98314601e-01 -1.84779952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.840714057 meters 0.04181666330071468 Centerline is valid? [True, True] Translation: X:263.41, Y:-35.45, Z:-18.48 [[ 9.96863610e-01 5.44435107e-02 5.74355976e-02 2.63409766e+02] [-5.40970680e-02 9.98506981e-01 -7.57069014e-03 -3.54483975e+01] [-5.77620202e-02 4.43984808e-03 9.98320508e-01 -1.84809842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.870714057 meters 0.041267888894073526 Centerline is valid? [True, True] Translation: X:263.44, Y:-35.45, Z:-18.48 [[ 9.96798487e-01 5.52981933e-02 5.77484679e-02 2.63442175e+02] [-5.49485943e-02 9.98460066e-01 -7.62551985e-03 -3.54517663e+01] [-5.80812166e-02 4.42790952e-03 9.98302041e-01 -1.84832219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.900714057 meters 0.043174075136261834 Centerline is valid? [True, True] Translation: X:263.47, Y:-35.46, Z:-18.49 [[ 9.96809224e-01 5.57226653e-02 5.71520316e-02 2.63472600e+02] [-5.53801162e-02 9.98436713e-01 -7.56130732e-03 -3.54568348e+01] [-5.74840227e-02 4.37209474e-03 9.98336853e-01 -1.84856964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.930714057 meters 0.043556325094077156 Centerline is valid? [True, True] Translation: X:263.50, Y:-35.46, Z:-18.49 [[ 9.96800503e-01 5.61958815e-02 5.68399549e-02 2.63504297e+02] [-5.58570855e-02 9.98410356e-01 -7.53306722e-03 -3.54611894e+01] [-5.71729269e-02 4.33405098e-03 9.98354883e-01 -1.84882944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.960714057 meters 0.044260758812387925 Centerline is valid? [True, True] Translation: X:263.54, Y:-35.47, Z:-18.49 [[ 9.96793106e-01 5.65583370e-02 5.66097028e-02 2.63536829e+02] [-5.62220917e-02 9.98389996e-01 -7.51610411e-03 -3.54662680e+01] [-5.69436593e-02 4.30928487e-03 9.98368093e-01 -1.84914428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.990714057 meters 0.044845138378949316 Centerline is valid? [True, True] Translation: X:263.57, Y:-35.47, Z:-18.49 [[ 9.96814478e-01 5.66642900e-02 5.61253562e-02 2.63568807e+02] [-5.63330420e-02 9.98384104e-01 -7.46782992e-03 -3.54712500e+01] [-5.64578228e-02 4.28232893e-03 9.98395801e-01 -1.84949496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.020714057 meters 0.041391360392429216 Centerline is valid? [True, True] Translation: X:263.60, Y:-35.47, Z:-18.50 [[ 9.96819417e-01 5.68388498e-02 5.58604903e-02 2.63602151e+02] [-5.65102661e-02 9.98374255e-01 -7.44558124e-03 -3.54703780e+01] [-5.61928736e-02 4.26520879e-03 9.98410822e-01 -1.84966349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.050714057 meters 0.04408954994861169 Centerline is valid? [True, True] Translation: X:263.63, Y:-35.48, Z:-18.50 [[ 9.96835287e-01 5.64099470e-02 5.60118679e-02 2.63632718e+02] [-5.60779476e-02 9.98398354e-01 -7.48272105e-03 -3.54777893e+01] [-5.63442566e-02 4.31800978e-03 9.98402063e-01 -1.84989520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.080714057 meters 0.04493587842555147 Centerline is valid? [True, True] Translation: X:263.66, Y:-35.48, Z:-18.50 [[ 9.96860700e-01 5.61342641e-02 5.58362703e-02 2.63664073e+02] [-5.58031820e-02 9.98413827e-01 -7.47231733e-03 -3.54825630e+01] [-5.61671573e-02 4.33301793e-03 9.98411977e-01 -1.85014645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.110714057 meters 0.04858715910717947 Centerline is valid? [True, True] Translation: X:263.69, Y:-35.49, Z:-18.50 [[ 9.96883842e-01 5.62886584e-02 5.52647410e-02 2.63693961e+02] [-5.59638709e-02 9.98405310e-01 -7.40828157e-03 -3.54913131e+01] [-5.55936131e-02 4.29236737e-03 9.98444253e-01 -1.85045635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.140714057 meters 0.04046059025116734 Centerline is valid? [True, True] Translation: X:263.73, Y:-35.48, Z:-18.51 [[ 9.96978881e-01 5.55141757e-02 5.43257480e-02 2.63727468e+02] [-5.51984302e-02 9.98448744e-01 -7.29653680e-03 -3.54828019e+01] [-5.46465360e-02 4.27579709e-03 9.98496607e-01 -1.85054921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.170714057 meters 0.04322049650191725 Centerline is valid? [True, True] Translation: X:263.76, Y:-35.49, Z:-18.51 [[ 9.97023156e-01 5.50557533e-02 5.39786098e-02 2.63757691e+02] [-5.47432002e-02 9.98474124e-01 -7.25299794e-03 -3.54906125e+01] [-5.42955644e-02 4.27644506e-03 9.98515750e-01 -1.85089606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.200714057 meters 0.042798434295404295 Centerline is valid? [True, True] Translation: X:263.79, Y:-35.49, Z:-18.51 [[ 9.97126592e-01 5.38153527e-02 5.33147952e-02 2.63790168e+02] [-5.35082563e-02 9.98541652e-01 -7.17185532e-03 -3.54925226e+01] [-5.36229996e-02 4.29846593e-03 9.98552000e-01 -1.85110723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.230714057 meters 0.043041993771393755 Centerline is valid? [True, True] Translation: X:263.82, Y:-35.50, Z:-18.51 [[ 9.97138972e-01 5.35191531e-02 5.33813777e-02 2.63822599e+02] [-5.32108022e-02 9.98557474e-01 -7.18201245e-03 -3.54956463e+01] [-5.36887489e-02 4.32099858e-03 9.98548370e-01 -1.85132099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.26071405700003 meters 0.043318617411205886 Centerline is valid? [True, True] Translation: X:263.85, Y:-35.50, Z:-18.52 [[ 9.97164983e-01 5.29976597e-02 5.34157707e-02 2.63854855e+02] [-5.26874360e-02 9.98585094e-01 -7.20024888e-03 -3.54995959e+01] [-5.37217887e-02 4.36549605e-03 9.98546399e-01 -1.85153600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.290714057 meters 0.04459470214442902 Centerline is valid? [True, True] Translation: X:263.89, Y:-35.50, Z:-18.52 [[ 9.97173954e-01 5.23126402e-02 5.39211840e-02 2.63885487e+02] [-5.19947515e-02 9.98620805e-01 -7.28246109e-03 -3.55032227e+01] [-5.42277810e-02 4.45826195e-03 9.98518639e-01 -1.85174119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.32071405700003 meters 0.04640128153214253 Centerline is valid? [True, True] Translation: X:263.92, Y:-35.51, Z:-18.52 [[ 9.97113347e-01 5.22391443e-02 5.51003235e-02 2.63917022e+02] [-5.19062973e-02 9.98624128e-01 -7.45564036e-03 -3.55071829e+01] [-5.54139888e-02 4.57406474e-03 9.98452987e-01 -1.85184220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.350714057 meters 0.04703092650879464 Centerline is valid? [True, True] Translation: X:263.95, Y:-35.51, Z:-18.52 [[ 9.97076606e-01 5.22787457e-02 5.57240860e-02 2.63949675e+02] [-5.19378758e-02 9.98621786e-01 -7.54886167e-03 -3.55107409e+01] [-5.60419313e-02 4.63260272e-03 9.98417669e-01 -1.85199163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.38071405700003 meters 0.047785702676896656 Centerline is valid? [True, True] Translation: X:263.98, Y:-35.51, Z:-18.52 [[ 9.97056465e-01 5.21522768e-02 5.62009483e-02 2.63981526e+02] [-5.18044094e-02 9.98628103e-01 -7.62990610e-03 -3.55144172e+01] [-5.65217633e-02 4.69599027e-03 9.98390323e-01 -1.85214075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.410714057 meters 0.04180449167236721 Centerline is valid? [True, True] Translation: X:264.01, Y:-35.51, Z:-18.52 [[ 9.97099641e-01 5.12826847e-02 5.62351426e-02 2.64014869e+02] [-5.09322371e-02 9.98672824e-01 -7.64838934e-03 -3.55069346e+01] [-5.65527386e-02 4.76202465e-03 9.98388257e-01 -1.85210859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.44071405700004 meters 0.044392696196858955 Centerline is valid? [True, True] Translation: X:264.05, Y:-35.51, Z:-18.52 [[ 9.97089073e-01 5.10809947e-02 5.66048874e-02 2.64045239e+02] [-5.07247420e-02 9.98682883e-01 -7.71362867e-03 -3.55134370e+01] [-5.69243519e-02 4.81990655e-03 9.98366860e-01 -1.85238089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.470714057 meters 0.048205130300271744 Centerline is valid? [True, True] Translation: X:264.08, Y:-35.52, Z:-18.53 [[ 9.97168469e-01 5.04935217e-02 5.57265478e-02 2.64075991e+02] [-5.01469781e-02 9.98712929e-01 -7.60046197e-03 -3.55202208e+01] [-5.60385978e-02 4.78442306e-03 9.98417140e-01 -1.85271629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.50071405700004 meters 0.04653775118620508 Centerline is valid? [True, True] Translation: X:264.11, Y:-35.52, Z:-18.53 [[ 9.97197777e-01 5.03485347e-02 5.53318876e-02 2.64107938e+02] [-5.00059502e-02 9.98720311e-01 -7.55950889e-03 -3.55207232e+01] [-5.56416901e-02 4.77140185e-03 9.98439400e-01 -1.85292792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.530714057 meters 0.043332967452828296 Centerline is valid? [True, True] Translation: X:264.14, Y:-35.52, Z:-18.53 [[ 9.97227268e-01 5.04274339e-02 5.47252206e-02 2.64140500e+02] [-5.00917731e-02 9.98716542e-01 -7.48887677e-03 -3.55178962e+01] [-5.50326279e-02 4.72682879e-03 9.98473368e-01 -1.85313115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.560714057 meters 0.045562523763460344 Centerline is valid? [True, True] Translation: X:264.17, Y:-35.52, Z:-18.53 [[ 9.97233873e-01 5.08116830e-02 5.42473513e-02 2.64171704e+02] [-5.04816869e-02 9.98697296e-01 -7.43708675e-03 -3.55235480e+01] [-5.45545740e-02 4.67801702e-03 9.98499832e-01 -1.85338045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.590714057 meters 0.04513723256408139 Centerline is valid? [True, True] Translation: X:264.21, Y:-35.53, Z:-18.54 [[ 9.97257594e-01 5.11425845e-02 5.34951128e-02 2.64205125e+02] [-5.08213981e-02 9.98680725e-01 -7.34811373e-03 -3.55259158e+01] [-5.38003396e-02 4.60926579e-03 9.98541075e-01 -1.85361708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.620714057 meters 0.042812853091335104 Centerline is valid? [True, True] Translation: X:264.24, Y:-35.52, Z:-18.54 [[ 9.97304329e-01 5.18975860e-02 5.18721136e-02 2.64238430e+02] [-5.15958459e-02 9.98642522e-01 -7.14016994e-03 -3.55234932e+01] [-5.21722559e-02 4.44453681e-03 9.98628210e-01 -1.85382325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.650714057 meters 0.04676384635744364 Centerline is valid? [True, True] Translation: X:264.27, Y:-35.53, Z:-18.54 [[ 9.97282164e-01 5.25659938e-02 5.16246180e-02 2.64268998e+02] [-5.22673124e-02 9.98607750e-01 -7.11967345e-03 -3.55317406e+01] [-5.19269964e-02 4.40204331e-03 9.98641181e-01 -1.85418838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.680714057 meters 0.043338763261474886 Centerline is valid? [True, True] Translation: X:264.30, Y:-35.53, Z:-18.54 [[ 9.97233026e-01 5.37386511e-02 5.13658329e-02 2.64302409e+02] [-5.34438926e-02 9.98545642e-01 -7.09578956e-03 -3.55282487e+01] [-5.16724467e-02 4.33096564e-03 9.98654696e-01 -1.85429405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.710714057 meters 0.043360753472585466 Centerline is valid? [True, True] Translation: X:264.33, Y:-35.53, Z:-18.54 [[ 9.97145673e-01 5.48751715e-02 5.18577102e-02 2.64334696e+02] [-5.45755535e-02 9.98483849e-01 -7.17724364e-03 -3.55304966e+01] [-5.21729385e-02 4.32659421e-03 9.98628692e-01 -1.85449403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.740714057 meters 0.04474752429519144 Centerline is valid? [True, True] Translation: X:264.37, Y:-35.54, Z:-18.55 [[ 9.97065812e-01 5.64389044e-02 5.17147640e-02 2.64365211e+02] [-5.61421516e-02 9.98397010e-01 -7.17422654e-03 -3.55351603e+01] [-5.20367712e-02 4.24979789e-03 9.98636127e-01 -1.85465567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.770714057 meters 0.043767028880540265 Centerline is valid? [True, True] Translation: X:264.40, Y:-35.53, Z:-18.55 [[ 9.96936618e-01 5.86646808e-02 5.17284818e-02 2.64396107e+02] [-5.83706155e-02 9.98269172e-01 -7.17860571e-03 -3.55337712e+01] [-5.20600793e-02 4.13719157e-03 9.98635385e-01 -1.85465468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.800714057 meters 0.04477794887966397 Centerline is valid? [True, True] Translation: X:264.43, Y:-35.54, Z:-18.55 [[ 9.96835696e-01 5.98874849e-02 5.22693435e-02 2.64425442e+02] [-5.95888850e-02 9.98196646e-01 -7.25394645e-03 -3.55375324e+01] [-5.26095040e-02 4.11632086e-03 9.98606677e-01 -1.85481080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.830714057 meters 0.04298374683624607 Centerline is valid? [True, True] Translation: X:264.46, Y:-35.54, Z:-18.55 [[ 9.96666769e-01 6.22849486e-02 5.26871575e-02 2.64455710e+02] [-6.19849278e-02 9.98050309e-01 -7.31097573e-03 -3.55362014e+01] [-5.30397975e-02 4.02079691e-03 9.98584304e-01 -1.85487113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.860714057 meters 0.043196073013535764 Centerline is valid? [True, True] Translation: X:264.49, Y:-35.54, Z:-18.55 [[ 9.96599942e-01 6.32724820e-02 5.27745144e-02 2.64485676e+02] [-6.29728903e-02 9.97988377e-01 -7.32214952e-03 -3.55393186e+01] [-5.31316426e-02 3.97389008e-03 9.98579610e-01 -1.85509038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.890714057 meters 0.04334480544678921 Centerline is valid? [True, True] Translation: X:264.52, Y:-35.54, Z:-18.55 [[ 9.96567172e-01 6.39935695e-02 5.25232719e-02 2.64515606e+02] [-6.36978709e-02 9.97942629e-01 -7.28636837e-03 -3.55428894e+01] [-5.28814928e-02 3.91573493e-03 9.98593118e-01 -1.85530750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.920714057 meters 0.03906052662840245 Centerline is valid? [True, True] Translation: X:264.55, Y:-35.54, Z:-18.55 [[ 9.96464113e-01 6.55935723e-02 5.25048109e-02 2.64545601e+02] [-6.53003221e-02 9.97839077e-01 -7.28318244e-03 -3.55401653e+01] [-5.28690820e-02 3.82884887e-03 9.98594112e-01 -1.85541699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.950714057 meters 0.041544500143973956 Centerline is valid? [True, True] Translation: X:264.57, Y:-35.55, Z:-18.56 [[ 9.96469065e-01 6.60668204e-02 5.18129035e-02 2.64573631e+02] [-6.57819750e-02 9.97808147e-01 -7.18563292e-03 -3.55472598e+01] [-5.21740691e-02 3.75190580e-03 9.98630958e-01 -1.85573718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.980714057 meters 0.04334557528538138 Centerline is valid? [True, True] Translation: X:264.60, Y:-35.55, Z:-18.56 [[ 9.96367361e-01 6.80222345e-02 5.12353217e-02 2.64601752e+02] [-6.77464260e-02 9.97677289e-01 -7.10273460e-03 -3.55523308e+01] [-5.15994608e-02 3.60592299e-03 9.98661350e-01 -1.85606481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.01071405700003 meters 0.03947225646169274 Centerline is valid? [True, True] Translation: X:264.63, Y:-35.55, Z:-18.56 [[ 9.96322941e-01 6.89100947e-02 5.09116511e-02 2.64631339e+02] [-6.86390361e-02 9.97616611e-01 -7.05553371e-03 -3.55498808e+01] [-5.12765063e-02 3.53506344e-03 9.98678238e-01 -1.85612568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.040714057 meters 0.04346493093090509 Centerline is valid? [True, True] Translation: X:264.66, Y:-35.56, Z:-18.56 [[ 9.96250627e-01 7.01403856e-02 5.06459647e-02 2.64658256e+02] [-6.98739009e-02 9.97531163e-01 -7.01542189e-03 -3.55587026e+01] [-5.10129925e-02 3.45028734e-03 9.98692030e-01 -1.85648133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.07071405700003 meters 0.03595914636457463 Centerline is valid? [True, True] Translation: X:264.69, Y:-35.55, Z:-18.56 [[ 9.96078866e-01 7.30281569e-02 4.99377768e-02 2.64689409e+02] [-7.27729565e-02 9.97324581e-01 -6.91204112e-03 -3.55503323e+01] [-5.03089459e-02 3.25081843e-03 9.98728413e-01 -1.85649124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.100714057 meters 0.03576195706252544 Centerline is valid? [True, True] Translation: X:264.72, Y:-35.55, Z:-18.57 [[ 9.95995939e-01 7.43394460e-02 4.96561824e-02 2.64718571e+02] [-7.40888151e-02 9.97227972e-01 -6.87157257e-03 -3.55529880e+01] [-5.00293630e-02 3.16509066e-03 9.98742732e-01 -1.85670945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.13071405700003 meters 0.035153788315443316 Centerline is valid? [True, True] Translation: X:264.75, Y:-35.55, Z:-18.57 [[ 9.95696308e-01 7.73847572e-02 5.09947231e-02 2.64748795e+02] [-7.71245730e-02 9.96996515e-01 -7.05329108e-03 -3.55548880e+01] [-5.13873784e-02 3.08998964e-03 9.98674016e-01 -1.85690851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.160714057 meters 0.035265851549658965 Centerline is valid? [True, True] Translation: X:264.78, Y:-35.56, Z:-18.57 [[ 9.95560046e-01 7.85795002e-02 5.18213882e-02 2.64776576e+02] [-7.83124035e-02 9.96903099e-01 -7.16783777e-03 -3.55586688e+01] [-5.22241476e-02 3.07775544e-03 9.98630645e-01 -1.85708792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.19071405700004 meters 0.034585538681829515 Centerline is valid? [True, True] Translation: X:264.81, Y:-35.56, Z:-18.57 [[ 9.95290363e-01 8.08890459e-02 5.34233695e-02 2.64806262e+02] [-8.06087852e-02 9.96718469e-01 -7.38363787e-03 -3.55598873e+01] [-5.38453144e-02 3.04247070e-03 9.98544654e-01 -1.85713960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.220714057 meters 0.03558282739072534 Centerline is valid? [True, True] Translation: X:264.83, Y:-35.56, Z:-18.57 [[ 9.95189403e-01 8.17968268e-02 5.39196737e-02 2.64834064e+02] [-8.15127349e-02 9.96644450e-01 -7.45077708e-03 -3.55644021e+01] [-5.43481935e-02 3.01979432e-03 9.98517478e-01 -1.85733815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.25071405700004 meters 0.03411028758618313 Centerline is valid? [True, True] Translation: X:264.86, Y:-35.57, Z:-18.57 [[ 9.95116178e-01 8.26730768e-02 5.39347182e-02 2.64863342e+02] [-8.23903166e-02 9.96572299e-01 -7.44902711e-03 -3.55654656e+01] [-5.43656801e-02 2.96894888e-03 9.98516679e-01 -1.85741750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.280714057 meters 0.03479319467749054 Centerline is valid? [True, True] Translation: X:264.89, Y:-35.57, Z:-18.58 [[ 9.94930011e-01 8.40221160e-02 5.52680524e-02 2.64890506e+02] [-8.37274514e-02 9.96459483e-01 -7.62972602e-03 -3.55695388e+01] [-5.57134407e-02 2.96359021e-03 9.98442402e-01 -1.85763669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.310714057 meters 0.035041936714387975 Centerline is valid? [True, True] Translation: X:264.92, Y:-35.57, Z:-18.58 [[ 9.94890084e-01 8.42987122e-02 5.55648009e-02 2.64919087e+02] [-8.40017038e-02 9.96436142e-01 -7.66350859e-03 -3.55739352e+01] [-5.60127997e-02 2.95681076e-03 9.98425673e-01 -1.85781080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.340714057 meters 0.03428078619201473 Centerline is valid? [True, True] Translation: X:264.95, Y:-35.58, Z:-18.58 [[ 9.94829716e-01 8.46120739e-02 5.61661128e-02 2.64947457e+02] [-8.43093145e-02 9.96409551e-01 -7.74251790e-03 -3.55764175e+01] [-5.66195617e-02 2.96716043e-03 9.98391417e-01 -1.85800041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.370714057 meters 0.035418467402888225 Centerline is valid? [True, True] Translation: X:264.97, Y:-35.58, Z:-18.58 [[ 9.94859031e-01 8.43829717e-02 5.59912667e-02 2.64974574e+02] [-8.40819449e-02 9.96428979e-01 -7.71470347e-03 -3.55817571e+01] [-5.64423103e-02 2.96718782e-03 9.98401453e-01 -1.85823971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.400714057 meters 0.03389808070100187 Centerline is valid? [True, True] Translation: X:265.00, Y:-35.58, Z:-18.58 [[ 9.94835079e-01 8.47812053e-02 5.58149958e-02 2.65003166e+02] [-8.44829831e-02 9.96395283e-01 -7.68535413e-03 -3.55836293e+01] [-5.62653721e-02 2.93024254e-03 9.98411549e-01 -1.85838500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.430714057 meters 0.03389808070100187 Centerline is valid? [True, True] Translation: X:265.03, Y:-35.59, Z:-18.59 [[ 9.94843801e-01 8.46784858e-02 5.58154663e-02 2.65030351e+02] [-8.43802937e-02 9.96404011e-01 -7.68193564e-03 -3.55872767e+01] [-5.62652492e-02 2.93260062e-03 9.98411549e-01 -1.85857409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.460714057 meters 0.035773787830257864 Centerline is valid? [True, True] Translation: X:265.06, Y:-35.59, Z:-18.59 [[ 9.94781921e-01 8.51156808e-02 5.62516766e-02 2.65057189e+02] [-8.48138518e-02 9.96366784e-01 -7.73578308e-03 -3.55940562e+01] [-5.67057386e-02 2.92449578e-03 9.98386652e-01 -1.85881521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.490714057 meters 0.03569170920379884 Centerline is valid? [True, True] Translation: X:265.09, Y:-35.60, Z:-18.59 [[ 9.94682763e-01 8.61776286e-02 5.63880954e-02 2.65085856e+02] [-8.58763256e-02 9.96275666e-01 -7.74939304e-03 -3.55979173e+01] [-5.68459116e-02 2.86578524e-03 9.98378851e-01 -1.85906792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.520714057 meters 0.03585063806196408 Centerline is valid? [True, True] Translation: X:265.11, Y:-35.60, Z:-18.59 [[ 9.94645934e-01 8.67637344e-02 5.61384036e-02 2.65114593e+02] [-8.64662411e-02 9.96224937e-01 -7.71131094e-03 -3.56021152e+01] [-5.65955397e-02 2.81594733e-03 9.98393217e-01 -1.85926667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.550714057 meters 0.033550955667726645 Centerline is valid? [True, True] Translation: X:265.14, Y:-35.60, Z:-18.59 [[ 9.94588889e-01 8.73376768e-02 5.62589776e-02 2.65143446e+02] [-8.70400312e-02 9.96174870e-01 -7.72411624e-03 -3.56022700e+01] [-5.67183861e-02 2.78553702e-03 9.98386331e-01 -1.85940013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.580714057 meters 0.032116106027184524 Centerline is valid? [True, True] Translation: X:265.17, Y:-35.60, Z:-18.60 [[ 9.94625685e-01 8.76483486e-02 5.51136477e-02 2.65171987e+02] [-8.73633941e-02 9.96147798e-01 -7.56316817e-03 -3.56032917e+01] [-5.55642380e-02 2.70760600e-03 9.98451443e-01 -1.85960771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.610714057 meters 0.03489865674176217 Centerline is valid? [True, True] Translation: X:265.20, Y:-35.61, Z:-18.60 [[ 9.94579394e-01 8.80649139e-02 5.52847250e-02 2.65199086e+02] [-8.77790100e-02 9.96111107e-01 -7.58336726e-03 -3.56119540e+01] [-5.57375573e-02 2.68942238e-03 9.98441832e-01 -1.85993613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.640714057 meters 0.03395380322599702 Centerline is valid? [True, True] Translation: X:265.23, Y:-35.61, Z:-18.60 [[ 9.94589649e-01 8.78588290e-02 5.54279392e-02 2.65227650e+02] [-8.75715467e-02 9.96129276e-01 -7.59540805e-03 -3.56142374e+01] [-5.58807166e-02 2.70040385e-03 9.98433800e-01 -1.86007953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.670714057 meters 0.0362920994302551 Centerline is valid? [True, True] Translation: X:265.25, Y:-35.62, Z:-18.60 [[ 9.94583902e-01 8.74052367e-02 5.62422202e-02 2.65254996e+02] [-8.71089314e-02 9.96169009e-01 -7.70323627e-03 -3.56216912e+01] [-5.67000600e-02 2.76231508e-03 9.98387436e-01 -1.86033183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.700714057 meters 0.031068777279582103 Centerline is valid? [True, True] Translation: X:265.28, Y:-35.62, Z:-18.60 [[ 9.94644590e-01 8.64086283e-02 5.67070351e-02 2.65284274e+02] [-8.61060608e-02 9.96255739e-01 -7.76207501e-03 -3.56170437e+01] [-5.71654194e-02 2.83768650e-03 9.98360688e-01 -1.86036582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.730714057 meters 0.032043425442788875 Centerline is valid? [True, True] Translation: X:265.31, Y:-35.62, Z:-18.61 [[ 9.94700721e-01 8.54103235e-02 5.72324389e-02 2.65311670e+02] [-8.51007779e-02 9.96341593e-01 -7.82864662e-03 -3.56224727e+01] [-5.76917066e-02 2.91663536e-03 9.98330186e-01 -1.86058848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.76071405700003 meters 0.03264094514235315 Centerline is valid? [True, True] Translation: X:265.34, Y:-35.63, Z:-18.61 [[ 9.94750554e-01 8.46643343e-02 5.74742115e-02 2.65339151e+02] [-8.43512293e-02 9.96405112e-01 -7.85645130e-03 -3.56278150e+01] [-5.79327594e-02 2.96718889e-03 9.98316078e-01 -1.86079821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.790714057 meters 0.0341734792943679 Centerline is valid? [True, True] Translation: X:265.37, Y:-35.63, Z:-18.61 [[ 9.94871907e-01 8.19343010e-02 5.93014247e-02 2.65367022e+02] [-8.15964618e-02 9.96632531e-01 -8.10034833e-03 -3.56346167e+01] [-5.97654253e-02 3.22002256e-03 9.98207256e-01 -1.86097585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.82071405700003 meters 0.03261201141645805 Centerline is valid? [True, True] Translation: X:265.40, Y:-35.64, Z:-18.61 [[ 9.94936386e-01 8.03497781e-02 6.03779892e-02 2.65396162e+02] [-7.99968279e-02 9.96761024e-01 -8.24426822e-03 -3.56365167e+01] [-6.08448514e-02 3.37247482e-03 9.98141538e-01 -1.86113350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.850714057 meters 0.03750906246626646 Centerline is valid? [True, True] Translation: X:265.42, Y:-35.65, Z:-18.61 [[ 9.95085332e-01 7.71122885e-02 6.21198614e-02 2.65424043e+02] [-7.67326803e-02 9.97015664e-01 -8.47707731e-03 -3.56495981e+01] [-6.25881617e-02 3.66879182e-03 9.98032696e-01 -1.86136150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.88071405700003 meters 0.038828267964424366 Centerline is valid? [True, True] Translation: X:265.45, Y:-35.66, Z:-18.62 [[ 9.95174491e-01 7.52651061e-02 6.29515353e-02 2.65451458e+02] [-7.48716366e-02 9.97156185e-01 -8.58951722e-03 -3.56559454e+01] [-6.34190037e-02 3.83478396e-03 9.97979621e-01 -1.86153400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.910714057 meters 0.03968572438856592 Centerline is valid? [True, True] Translation: X:265.48, Y:-35.66, Z:-18.62 [[ 9.95325032e-01 7.27781231e-02 6.34935009e-02 2.65481098e+02] [-7.23729769e-02 9.97340034e-01 -8.66073194e-03 -3.56630687e+01] [-6.39549222e-02 4.02502962e-03 9.97944671e-01 -1.86183082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.94071405700004 meters 0.04191670627994432 Centerline is valid? [True, True] Translation: X:265.51, Y:-35.67, Z:-18.62 [[ 9.95405246e-01 7.15438716e-02 6.36385924e-02 2.65509362e+02] [-7.11343490e-02 9.97428970e-01 -8.68067533e-03 -3.56701113e+01] [-6.40960248e-02 4.11389991e-03 9.97935256e-01 -1.86211105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.970714057 meters 0.041475116257587756 Centerline is valid? [True, True] Translation: X:265.54, Y:-35.67, Z:-18.62 [[ 9.95498434e-01 7.06993034e-02 6.31227066e-02 2.65538399e+02] [-7.02948521e-02 9.97489114e-01 -8.60815916e-03 -3.56736569e+01] [-6.35728036e-02 4.13220764e-03 9.97968649e-01 -1.86234181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.00071405700004 meters 0.03696355779931282 Centerline is valid? [True, True] Translation: X:265.57, Y:-35.67, Z:-18.63 [[ 9.95560179e-01 6.95504498e-02 6.34244864e-02 2.65568184e+02] [-6.91399379e-02 9.97569495e-01 -8.64710443e-03 -3.56713203e+01] [-6.38717429e-02 4.22354778e-03 9.97949178e-01 -1.86260305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.030714057 meters 0.03771330040843992 Centerline is valid? [True, True] Translation: X:265.60, Y:-35.68, Z:-18.63 [[ 9.95535445e-01 6.96044774e-02 6.37525995e-02 2.65597285e+02] [-6.91899660e-02 9.97565658e-01 -8.68941485e-03 -3.56765110e+01] [-6.42022261e-02 4.23958029e-03 9.97927903e-01 -1.86289127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.060714057 meters 0.03605024071286893 Centerline is valid? [True, True] Translation: X:265.63, Y:-35.68, Z:-18.63 [[ 9.95545175e-01 6.98446505e-02 6.33366367e-02 2.65626857e+02] [-6.94360897e-02 9.97549058e-01 -8.63167499e-03 -3.56771072e+01] [-6.37842786e-02 4.19537400e-03 9.97954891e-01 -1.86319252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.090714057 meters 0.0370356100673219 Centerline is valid? [True, True] Translation: X:265.66, Y:-35.68, Z:-18.63 [[ 9.95506317e-01 7.03060090e-02 6.34368841e-02 2.65656261e+02] [-6.98972510e-02 9.97516756e-01 -8.64271858e-03 -3.56818063e+01] [-6.38869899e-02 4.16981713e-03 9.97948428e-01 -1.86342893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.120714057 meters 0.03717605545119986 Centerline is valid? [True, True] Translation: X:265.69, Y:-35.69, Z:-18.64 [[ 9.95464670e-01 7.05050905e-02 6.38680165e-02 2.65685416e+02] [-7.00910357e-02 9.97502631e-01 -8.70331557e-03 -3.56855388e+01] [-6.43221425e-02 4.18726774e-03 9.97920402e-01 -1.86362978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.150714057 meters 0.03444643125606225 Centerline is valid? [True, True] Translation: X:265.72, Y:-35.68, Z:-18.64 [[ 9.95321466e-01 7.18339338e-02 6.46147398e-02 2.65715304e+02] [-7.14130627e-02 9.97407984e-01 -8.80271087e-03 -3.56831942e+01] [-6.50795908e-02 4.14719063e-03 9.97871458e-01 -1.86379559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.180714057 meters 0.037582604177773635 Centerline is valid? [True, True] Translation: X:265.74, Y:-35.69, Z:-18.64 [[ 9.95231848e-01 7.27406967e-02 6.49796879e-02 2.65742734e+02] [-7.23171279e-02 9.97342423e-01 -8.85005621e-03 -3.56909997e+01] [-6.54507587e-02 4.10871339e-03 9.97847341e-01 -1.86405898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.210714057 meters 0.03570404616546804 Centerline is valid? [True, True] Translation: X:265.77, Y:-35.69, Z:-18.64 [[ 9.95141107e-01 7.42547774e-02 6.46560567e-02 2.65772523e+02] [-7.38388357e-02 9.97231339e-01 -8.80242981e-03 -3.56893394e+01] [-6.51306685e-02 3.98553179e-03 9.97868785e-01 -1.86423942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.240714057 meters 0.03728996127340506 Centerline is valid? [True, True] Translation: X:265.80, Y:-35.69, Z:-18.64 [[ 9.95041685e-01 7.51034846e-02 6.52036176e-02 2.65800885e+02] [-7.46824891e-02 9.97167882e-01 -8.87363072e-03 -3.56946612e+01] [-6.56853938e-02 3.96006400e-03 9.97832524e-01 -1.86444028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.270714057 meters 0.03898895978835839 Centerline is valid? [True, True] Translation: X:265.83, Y:-35.70, Z:-18.65 [[ 9.94985924e-01 7.55593934e-02 6.55270177e-02 2.65828000e+02] [-7.51354144e-02 9.97133495e-01 -8.91422085e-03 -3.56997006e+01] [-6.60127373e-02 3.94612464e-03 9.97810977e-01 -1.86462747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.300714057 meters 0.032729223222586236 Centerline is valid? [True, True] Translation: X:265.86, Y:-35.69, Z:-18.65 [[ 9.94866149e-01 7.62877940e-02 6.64944998e-02 2.65857966e+02] [-7.58531921e-02 9.97078017e-01 -9.03998555e-03 -3.56923460e+01] [-6.69898445e-02 3.94975555e-03 9.97745839e-01 -1.86474214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.330714057 meters 0.03349629991221815 Centerline is valid? [True, True] Translation: X:265.88, Y:-35.70, Z:-18.65 [[ 9.94794291e-01 7.68297544e-02 6.69440575e-02 2.65884955e+02] [-7.63908040e-02 9.97036462e-01 -9.09611350e-03 -3.56970181e+01] [-6.74445184e-02 3.93485141e-03 9.97715267e-01 -1.86493728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.360714057 meters 0.03352780778192218 Centerline is valid? [True, True] Translation: X:265.91, Y:-35.70, Z:-18.65 [[ 9.94755016e-01 7.71721737e-02 6.71335505e-02 2.65913952e+02] [-7.67319271e-02 9.97010088e-01 -9.11565651e-03 -3.57003090e+01] [-6.76363022e-02 3.91655834e-03 9.97702356e-01 -1.86513443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.390714057 meters 0.03381287619596778 Centerline is valid? [True, True] Translation: X:265.94, Y:-35.70, Z:-18.65 [[ 9.94729524e-01 7.74140447e-02 6.72327343e-02 2.65942171e+02] [-7.69733768e-02 9.96991398e-01 -9.12421934e-03 -3.57031141e+01] [-6.77368005e-02 3.90099977e-03 9.97695599e-01 -1.86540553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.420714057 meters 0.03393202058084002 Centerline is valid? [True, True] Translation: X:265.97, Y:-35.71, Z:-18.66 [[ 9.94781858e-01 7.69598446e-02 6.69793763e-02 2.65971080e+02] [-7.65218008e-02 9.97026518e-01 -9.08498496e-03 -3.57066821e+01] [-6.74793933e-02 3.91219573e-03 9.97712998e-01 -1.86562247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.450714057 meters 0.034360950798549963 Centerline is valid? [True, True] Translation: X:266.00, Y:-35.71, Z:-18.66 [[ 9.94792795e-01 7.68727753e-02 6.69169051e-02 2.65999055e+02] [-7.64356821e-02 9.97033245e-01 -9.07165036e-03 -3.57111176e+01] [-6.74157420e-02 3.90957312e-03 9.97717311e-01 -1.86582017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.480714057 meters 0.03242967241618552 Centerline is valid? [True, True] Translation: X:266.03, Y:-35.71, Z:-18.66 [[ 9.94758559e-01 7.69237839e-02 6.73657294e-02 2.66028428e+02] [-7.64812455e-02 9.97029240e-01 -9.12761251e-03 -3.57118205e+01] [-6.78677325e-02 3.92755577e-03 9.97686597e-01 -1.86599345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.51071405700003 meters 0.03389024363825594 Centerline is valid? [True, True] Translation: X:266.06, Y:-35.72, Z:-18.66 [[ 9.94744979e-01 7.71647233e-02 6.72906517e-02 2.66055446e+02] [-7.67240591e-02 9.97010723e-01 -9.11247006e-03 -3.57176577e+01] [-6.77926626e-02 3.90177190e-03 9.97691802e-01 -1.86621350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.540714057 meters 0.03395179053925394 Centerline is valid? [True, True] Translation: X:266.08, Y:-35.72, Z:-18.66 [[ 9.94711299e-01 7.80070432e-02 6.68156596e-02 2.66084311e+02] [-7.75748932e-02 9.96945524e-01 -9.04203824e-03 -3.57209011e+01] [-6.73169154e-02 3.81099995e-03 9.97724365e-01 -1.86644282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.57071405700003 meters 0.03434307674888182 Centerline is valid? [True, True] Translation: X:266.11, Y:-35.73, Z:-18.67 [[ 9.94573317e-01 7.92474643e-02 6.74073895e-02 2.66112227e+02] [-7.88107824e-02 9.96847901e-01 -9.11720669e-03 -3.57254122e+01] [-6.79174302e-02 3.75530139e-03 9.97683878e-01 -1.86663707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.600714057 meters 0.03202860659661864 Centerline is valid? [True, True] Translation: X:266.14, Y:-35.73, Z:-18.67 [[ 9.94443205e-01 8.04252137e-02 6.79300823e-02 2.66140813e+02] [-7.99847943e-02 9.96753784e-01 -9.18298250e-03 -3.57259756e+01] [-6.84481099e-02 3.69858089e-03 9.97647822e-01 -1.86680134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.63071405700003 meters 0.03203471013931282 Centerline is valid? [True, True] Translation: X:266.17, Y:-35.73, Z:-18.67 [[ 9.94385034e-01 8.13034314e-02 6.77359247e-02 2.66169768e+02] [-8.08678965e-02 9.96682812e-01 -9.15181449e-03 -3.57296292e+01] [-6.82553059e-02 3.62276562e-03 9.97661310e-01 -1.86703849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.660714057 meters 0.03169478749680914 Centerline is valid? [True, True] Translation: X:266.20, Y:-35.73, Z:-18.67 [[ 9.94300509e-01 8.20488096e-02 6.80770906e-02 2.66198140e+02] [-8.16111007e-02 9.96621873e-01 -9.19074806e-03 -3.57331288e+01] [-6.86012075e-02 3.58251919e-03 9.97637730e-01 -1.86721475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.69071405700004 meters 0.031032417115594877 Centerline is valid? [True, True] Translation: X:266.23, Y:-35.74, Z:-18.67 [[ 9.94147913e-01 8.40397602e-02 6.78766946e-02 2.66226991e+02] [-8.36095875e-02 9.96456499e-01 -9.15878837e-03 -3.57364503e+01] [-6.84058758e-02 3.43004790e-03 9.97651678e-01 -1.86742815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.720714057 meters 0.032327783586780214 Centerline is valid? [True, True] Translation: X:266.25, Y:-35.74, Z:-18.68 [[ 9.94063003e-01 8.48381248e-02 6.81266432e-02 2.66254599e+02] [-8.44071092e-02 9.96389012e-01 -9.18569991e-03 -3.57426309e+01] [-6.86599362e-02 3.38079142e-03 9.97634394e-01 -1.86763290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.75071405700004 meters 0.029718085279427573 Centerline is valid? [True, True] Translation: X:266.28, Y:-35.74, Z:-18.68 [[ 9.93952121e-01 8.63634338e-02 6.78272739e-02 2.66283875e+02] [-8.59400807e-02 9.96258378e-01 -9.14040823e-03 -3.57431180e+01] [-6.83628869e-02 3.25604675e-03 9.97655208e-01 -1.86790014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.780714057 meters 0.030279004873249336 Centerline is valid? [True, True] Translation: X:266.31, Y:-35.75, Z:-18.68 [[ 9.93896072e-01 8.70067476e-02 6.78264213e-02 2.66310726e+02] [-8.65851537e-02 9.96202557e-01 -9.13656148e-03 -3.57490582e+01] [-6.83637968e-02 3.20803145e-03 9.97655301e-01 -1.86815652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.810714057 meters 0.03126162750407174 Centerline is valid? [True, True] Translation: X:266.34, Y:-35.76, Z:-18.68 [[ 9.93889236e-01 8.75790104e-02 6.71870714e-02 2.66338182e+02] [-8.71670568e-02 9.96152651e-01 -9.04435609e-03 -3.57550844e+01] [-6.77206750e-02 3.13258890e-03 9.97699402e-01 -1.86843109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.840714057 meters 0.03091782272436191 Centerline is valid? [True, True] Translation: X:266.37, Y:-35.76, Z:-18.69 [[ 9.93766726e-01 8.93925161e-02 6.66083498e-02 2.66366000e+02] [-8.89921002e-02 9.95992026e-01 -8.96051503e-03 -3.57603905e+01] [-6.71423883e-02 2.97704474e-03 9.97738962e-01 -1.86872677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.870714057 meters 0.02823449147980016 Centerline is valid? [True, True] Translation: X:266.40, Y:-35.76, Z:-18.69 [[ 9.93729669e-01 9.08980310e-02 6.51067868e-02 2.66395330e+02] [-9.05190105e-02 9.95856253e-01 -8.75402260e-03 -3.57609318e+01] [-6.56327241e-02 2.80573006e-03 9.97839904e-01 -1.86896767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.900714057 meters 0.02973859025800994 Centerline is valid? [True, True] Translation: X:266.42, Y:-35.77, Z:-18.69 [[ 9.93693000e-01 9.19146735e-02 6.42332764e-02 2.66422264e+02] [-9.15481052e-02 9.95763231e-01 -8.63323420e-03 -3.57680293e+01] [-6.47546557e-02 2.69834965e-03 9.97897567e-01 -1.86922407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.930714057 meters 0.028643764337249973 Centerline is valid? [True, True] Translation: X:266.45, Y:-35.77, Z:-18.69 [[ 9.93697549e-01 9.23792428e-02 6.34921759e-02 2.66450469e+02] [-9.20224136e-02 9.95720418e-01 -8.52784423e-03 -3.57707427e+01] [-6.40082517e-02 2.63139464e-03 9.97945900e-01 -1.86949699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.960714057 meters 0.02839173340519901 Centerline is valid? [True, True] Translation: X:266.48, Y:-35.78, Z:-18.70 [[ 9.93639682e-01 9.34034256e-02 6.28966063e-02 2.66478259e+02] [-9.30555990e-02 9.95625113e-01 -8.44338681e-03 -3.57765233e+01] [-6.34100819e-02 2.53680281e-03 9.97984332e-01 -1.86972862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.990714057 meters 0.028427963963453436 Centerline is valid? [True, True] Translation: X:266.51, Y:-35.78, Z:-18.70 [[ 9.93544048e-01 9.40355173e-02 6.34629507e-02 2.66506499e+02] [-9.36829681e-02 9.95565668e-01 -8.51484521e-03 -3.57812652e+01] [-6.39822327e-02 2.51447620e-03 9.97947870e-01 -1.86989434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.020714057 meters 0.026816703370575033 Centerline is valid? [True, True] Translation: X:266.54, Y:-35.78, Z:-18.70 [[ 9.93371876e-01 9.56371800e-02 6.37639850e-02 2.66535396e+02] [-9.52848573e-02 9.95413322e-01 -8.55068323e-03 -3.57848666e+01] [-6.42892834e-02 2.41826604e-03 9.97928374e-01 -1.86997214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.050714057 meters 0.02679789131806389 Centerline is valid? [True, True] Translation: X:266.56, Y:-35.79, Z:-18.70 [[ 9.93244648e-01 9.65879498e-02 6.43104736e-02 2.66563898e+02] [-9.62318469e-02 9.95321626e-01 -8.61925481e-03 -3.57898229e+01] [-6.48421213e-02 2.37231306e-03 9.97892715e-01 -1.87017603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.080714057 meters 0.027809595975995673 Centerline is valid? [True, True] Translation: X:266.59, Y:-35.80, Z:-18.70 [[ 9.93165189e-01 9.77141410e-02 6.38345824e-02 2.66591425e+02] [-9.73659116e-02 9.95211918e-01 -8.55090797e-03 -3.57965544e+01] [-6.43644818e-02 2.27715182e-03 9.97923859e-01 -1.87038694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.110714057 meters 0.02774433004745215 Centerline is valid? [True, True] Translation: X:266.62, Y:-35.80, Z:-18.71 [[ 9.93010915e-01 9.93878565e-02 6.36504184e-02 2.66619066e+02] [-9.90453599e-02 9.95046430e-01 -8.52167646e-03 -3.58030501e+01] [-6.41820728e-02 2.15783914e-03 9.97935872e-01 -1.87061700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.140714057 meters 0.025964213860377082 Centerline is valid? [True, True] Translation: X:266.65, Y:-35.80, Z:-18.71 [[ 9.93022392e-01 9.94921123e-02 6.33075786e-02 2.66647584e+02] [-9.91537866e-02 9.95036060e-01 -8.47148406e-03 -3.58043815e+01] [-6.38361694e-02 2.13518722e-03 9.97958108e-01 -1.87077780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.170714057 meters 0.02759917040762931 Centerline is valid? [True, True] Translation: X:266.67, Y:-35.81, Z:-18.71 [[ 9.93070796e-01 9.92705023e-02 6.28948444e-02 2.66673908e+02] [-9.89364176e-02 9.95058203e-01 -8.41182790e-03 -3.58134756e+01] [-6.34190772e-02 2.13095004e-03 9.97984709e-01 -1.87102264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.200714057 meters 0.026503519681332587 Centerline is valid? [True, True] Translation: X:266.70, Y:-35.82, Z:-18.71 [[ 9.93213792e-01 9.82494392e-02 6.22367287e-02 2.66702329e+02] [-9.79206698e-02 9.95159459e-01 -8.31822320e-03 -3.58183458e+01] [-6.27527301e-02 2.16751184e-03 9.98026752e-01 -1.87123850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.230714057 meters 0.026604566409656076 Centerline is valid? [True, True] Translation: X:266.73, Y:-35.82, Z:-18.71 [[ 9.93309891e-01 9.77772750e-02 6.14415530e-02 2.66730725e+02] [-9.74562286e-02 9.95205968e-01 -8.20766518e-03 -3.58244776e+01] [-6.19495234e-02 2.16489297e-03 9.98076936e-01 -1.87142033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.26071405700003 meters 0.02906694703965115 Centerline is valid? [True, True] Translation: X:266.76, Y:-35.84, Z:-18.72 [[ 9.93601867e-01 9.59900116e-02 5.95083801e-02 2.66756641e+02] [-9.56859101e-02 9.95379865e-01 -7.94553324e-03 -3.58362374e+01] [-5.99961351e-02 2.20058316e-03 9.98196184e-01 -1.87187766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.290714057 meters 0.03046788906817633 Centerline is valid? [True, True] Translation: X:266.78, Y:-35.84, Z:-18.72 [[ 9.93771341e-01 9.47263013e-02 5.86979459e-02 2.66783098e+02] [-9.44285386e-02 9.95500832e-01 -7.83223860e-03 -3.58444155e+01] [-5.91757730e-02 2.24069301e-03 9.98245064e-01 -1.87220836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.32071405700003 meters 0.02818775878309414 Centerline is valid? [True, True] Translation: X:266.81, Y:-35.85, Z:-18.72 [[ 9.93920141e-01 9.37709235e-02 5.77041359e-02 2.66811939e+02] [-9.34818463e-02 9.95591249e-01 -7.69478609e-03 -3.58465409e+01] [-5.81712799e-02 2.25371371e-03 9.98304073e-01 -1.87238335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.350714057 meters 0.02818775878309414 Centerline is valid? [True, True] Translation: X:266.84, Y:-35.85, Z:-18.73 [[ 9.93929716e-01 9.36690893e-02 5.77046120e-02 2.66839125e+02] [-9.33800479e-02 9.95600830e-01 -7.69121420e-03 -3.58500696e+01] [-5.81711886e-02 2.25606691e-03 9.98304073e-01 -1.87257233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.38071405700003 meters 0.028497146315019112 Centerline is valid? [True, True] Translation: X:266.87, Y:-35.86, Z:-18.73 [[ 9.94233084e-01 9.12165669e-02 5.63924915e-02 2.66867347e+02] [-9.09369597e-02 9.95828333e-01 -7.51000414e-03 -3.58573136e+01] [-5.68422776e-02 2.33853285e-03 9.98380432e-01 -1.87285543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.410714057 meters 0.029392592468028323 Centerline is valid? [True, True] Translation: X:266.89, Y:-35.86, Z:-18.73 [[ 9.94323304e-01 9.01619886e-02 5.64976288e-02 2.66893854e+02] [-8.98797743e-02 9.95924220e-01 -7.52162438e-03 -3.58643164e+01] [-5.69455215e-02 2.40093228e-03 9.98374400e-01 -1.87308243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.44071405700004 meters 0.031016504350349073 Centerline is valid? [True, True] Translation: X:266.92, Y:-35.87, Z:-18.73 [[ 9.94580800e-01 8.72466725e-02 5.65424606e-02 2.66921179e+02] [-8.69596819e-02 9.96183440e-01 -7.52107996e-03 -3.58740741e+01] [-5.69828521e-02 2.56340733e-03 9.98371866e-01 -1.87335923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.470714057 meters 0.03207025557845506 Centerline is valid? [True, True] Translation: X:266.95, Y:-35.88, Z:-18.74 [[ 9.94658853e-01 8.57184536e-02 5.74988129e-02 2.66948251e+02] [-8.54192566e-02 9.96315759e-01 -7.64583469e-03 -3.58811726e+01] [-5.79423626e-02 2.69349130e-03 9.98316296e-01 -1.87353507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.50071405700004 meters 0.03234932451649233 Centerline is valid? [True, True] Translation: X:266.98, Y:-35.89, Z:-18.74 [[ 9.94736427e-01 8.42107438e-02 5.83780067e-02 2.66975948e+02] [-8.39001003e-02 9.96443983e-01 -7.75639687e-03 -3.58875815e+01] [-5.88235855e-02 2.81764989e-03 9.98264417e-01 -1.87367081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.530714057 meters 0.0332302203799352 Centerline is valid? [True, True] Translation: X:267.00, Y:-35.89, Z:-18.74 [[ 9.94830630e-01 8.25410632e-02 5.91522647e-02 2.67004810e+02] [-8.22195030e-02 9.96583299e-01 -7.85371771e-03 -3.58942728e+01] [-5.95984133e-02 2.94964913e-03 9.98218077e-01 -1.87383051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.560714057 meters 0.03571296319292357 Centerline is valid? [True, True] Translation: X:267.03, Y:-35.90, Z:-18.74 [[ 9.95016937e-01 7.89324186e-02 6.09177215e-02 2.67034226e+02] [-7.85847542e-02 9.96874645e-01 -8.08574808e-03 -3.59039882e+01] [-6.13655596e-02 3.25825211e-03 9.98110040e-01 -1.87389553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.590714057 meters 0.03327924411541906 Centerline is valid? [True, True] Translation: X:267.06, Y:-35.91, Z:-18.74 [[ 9.95256716e-01 7.49262884e-02 6.20493432e-02 2.67064550e+02] [-7.45578107e-02 9.97182682e-01 -8.23595080e-03 -3.59073068e+01] [-6.24916197e-02 3.57062216e-03 9.98039102e-01 -1.87396311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.620714057 meters 0.03448018714237203 Centerline is valid? [True, True] Translation: X:267.09, Y:-35.92, Z:-18.74 [[ 9.95393263e-01 7.25362633e-02 6.26956267e-02 2.67094255e+02] [-7.21553369e-02 9.97358690e-01 -8.32173348e-03 -3.59150188e+01] [-6.31336555e-02 3.75957339e-03 9.97998000e-01 -1.87419486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.650714057 meters 0.03584114904934058 Centerline is valid? [True, True] Translation: X:267.12, Y:-35.92, Z:-18.74 [[ 9.95570417e-01 7.00317326e-02 6.27303915e-02 2.67124158e+02] [-6.96454399e-02 9.97537060e-01 -8.32625246e-03 -3.59222790e+01] [-6.31589922e-02 3.92048492e-03 9.97995777e-01 -1.87444160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.680714057 meters 0.03847618743096149 Centerline is valid? [True, True] Translation: X:267.15, Y:-35.93, Z:-18.75 [[ 9.95965394e-01 6.49503100e-02 6.19224580e-02 2.67153756e+02] [-6.45640725e-02 9.97879707e-01 -8.22019069e-03 -3.59321516e+01] [-6.23250682e-02 4.18905939e-03 9.98047112e-01 -1.87480087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.710714057 meters 0.040534621231775904 Centerline is valid? [True, True] Translation: X:267.18, Y:-35.94, Z:-18.75 [[ 9.96178283e-01 6.27506144e-02 6.07551587e-02 2.67183881e+02] [-6.23747636e-02 9.98020212e-01 -8.06510142e-03 -3.59395752e+01] [-6.11409664e-02 4.24469022e-03 9.98120115e-01 -1.87511720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.740714057 meters 0.03633212774835784 Centerline is valid? [True, True] Translation: X:267.22, Y:-35.94, Z:-18.75 [[ 9.96430826e-01 5.95332545e-02 5.98448101e-02 2.67215108e+02] [-5.91626633e-02 9.98216722e-01 -7.94703237e-03 -3.59384104e+01] [-6.02112028e-02 4.37808968e-03 9.98176058e-01 -1.87539140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.770714057 meters 0.04348109560915531 Centerline is valid? [True, True] Translation: X:267.24, Y:-35.95, Z:-18.76 [[ 9.96490596e-01 5.88567146e-02 5.95178956e-02 2.67244342e+02] [-5.84890493e-02 9.98256773e-01 -7.90226915e-03 -3.59531515e+01] [-5.98792440e-02 4.39339176e-03 9.98195960e-01 -1.87572023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.800714057 meters 0.038845542659973455 Centerline is valid? [True, True] Translation: X:267.28, Y:-35.95, Z:-18.76 [[ 9.96463523e-01 5.90676507e-02 5.97616996e-02 2.67277653e+02] [-5.86964992e-02 9.98244229e-01 -7.94858875e-03 -3.59508623e+01] [-6.01262762e-02 4.41267619e-03 9.98181025e-01 -1.87589932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.830714057 meters 0.042197317180900605 Centerline is valid? [True, True] Translation: X:267.31, Y:-35.96, Z:-18.76 [[ 9.96335133e-01 6.06654356e-02 6.02993211e-02 2.67307372e+02] [-6.02892740e-02 9.98148568e-01 -8.03982357e-03 -3.59591147e+01] [-6.06754205e-02 4.37495639e-03 9.98147962e-01 -1.87613593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.860714057 meters 0.04074631834714058 Centerline is valid? [True, True] Translation: X:267.34, Y:-35.96, Z:-18.76 [[ 9.96219398e-01 6.20594716e-02 6.07909000e-02 2.67339490e+02] [-6.16796019e-02 9.98063073e-01 -8.10731786e-03 -3.59599889e+01] [-6.11762883e-02 4.32710881e-03 9.98117597e-01 -1.87630987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.890714057 meters 0.034776147486326334 Centerline is valid? [True, True] Translation: X:267.37, Y:-35.95, Z:-18.76 [[ 9.95870916e-01 6.70124937e-02 6.12408781e-02 2.67371684e+02] [-6.66359741e-02 9.97743885e-01 -8.17227583e-03 -3.59529011e+01] [-6.16503562e-02 4.05768625e-03 9.98089559e-01 -1.87638128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.920714057 meters 0.03629124463433726 Centerline is valid? [True, True] Translation: X:267.40, Y:-35.96, Z:-18.77 [[ 9.95681157e-01 6.95203287e-02 6.15301289e-02 2.67401004e+02] [-6.91449237e-02 9.97572825e-01 -8.21212253e-03 -3.59576767e+01] [-6.19516939e-02 3.92215960e-03 9.98071442e-01 -1.87659257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.950714057 meters 0.03542492003634948 Centerline is valid? [True, True] Translation: X:267.43, Y:-35.96, Z:-18.77 [[ 9.95471048e-01 7.22027888e-02 6.18397161e-02 2.67431492e+02] [-7.18287404e-02 9.97382832e-01 -8.25344160e-03 -3.59592332e+01] [-6.22737926e-02 3.77419324e-03 9.98051968e-01 -1.87679872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.980714057 meters 0.03265599323224109 Centerline is valid? [True, True] Translation: X:267.46, Y:-35.96, Z:-18.77 [[ 9.95042055e-01 7.75879406e-02 6.22207377e-02 2.67463014e+02] [-7.72197401e-02 9.96979514e-01 -8.30427868e-03 -3.59564931e+01] [-6.26771127e-02 3.45843732e-03 9.98027865e-01 -1.87697836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.01071405700003 meters 0.03160897364879303 Centerline is valid? [True, True] Translation: X:267.49, Y:-35.96, Z:-18.77 [[ 9.94836269e-01 8.00822289e-02 6.23508966e-02 2.67492501e+02] [-7.97173379e-02 9.96782770e-01 -8.32204256e-03 -3.59575788e+01] [-6.28167471e-02 3.30862227e-03 9.98019594e-01 -1.87718709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.040714057 meters 0.03069972967709417 Centerline is valid? [True, True] Translation: X:267.52, Y:-35.96, Z:-18.77 [[ 9.94422471e-01 8.49852291e-02 6.24616730e-02 2.67522273e+02] [-8.46288190e-02 9.96377689e-01 -8.33450019e-03 -3.59572371e+01] [-6.29437268e-02 3.00195665e-03 9.98012563e-01 -1.87738456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.07071405700003 meters 0.029961999189772475 Centerline is valid? [True, True] Translation: X:267.55, Y:-35.96, Z:-18.78 [[ 9.94222013e-01 8.69046764e-02 6.30092539e-02 2.67551484e+02] [-8.65459002e-02 9.96212397e-01 -8.40633644e-03 -3.59591349e+01] [-6.35011498e-02 2.90457214e-03 9.97977539e-01 -1.87760786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.100714057 meters 0.02916237320515404 Centerline is valid? [True, True] Translation: X:267.58, Y:-35.96, Z:-18.78 [[ 9.94021712e-01 8.87691790e-02 6.35678318e-02 2.67580702e+02] [-8.84080228e-02 9.96048269e-01 -8.47744719e-03 -3.59609937e+01] [-6.40691649e-02 2.80686024e-03 9.97941513e-01 -1.87782315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.13071405700003 meters 0.028922884271968673 Centerline is valid? [True, True] Translation: X:267.61, Y:-35.96, Z:-18.78 [[ 9.93667014e-01 9.21333853e-02 6.43218814e-02 2.67609492e+02] [-9.17708521e-02 9.95743235e-01 -8.57447703e-03 -3.59626504e+01] [-6.48380738e-02 2.61730113e-03 9.97892366e-01 -1.87803867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.160714057 meters 0.028917902105353176 Centerline is valid? [True, True] Translation: X:267.64, Y:-35.97, Z:-18.78 [[ 9.93533844e-01 9.32106285e-02 6.48249984e-02 2.67637109e+02] [-9.28448182e-02 9.95643109e-01 -8.63942615e-03 -3.59655929e+01] [-6.53478493e-02 2.56489708e-03 9.97859249e-01 -1.87825933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.19071405700004 meters 0.028172559136538523 Centerline is valid? [True, True] Translation: X:267.67, Y:-35.97, Z:-18.78 [[ 9.93205549e-01 9.56811702e-02 6.62408514e-02 2.67665694e+02] [-9.53050640e-02 9.95409019e-01 -8.82206798e-03 -3.59668526e+01] [-6.67808467e-02 2.44903830e-03 9.97764662e-01 -1.87847045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.220714057 meters 0.027790811487358427 Centerline is valid? [True, True] Translation: X:267.69, Y:-35.97, Z:-18.79 [[ 9.93097856e-01 9.65954071e-02 6.65280107e-02 2.67694700e+02] [-9.62183820e-02 9.95320852e-01 -8.85572971e-03 -3.59690298e+01] [-6.70721391e-02 2.39338864e-03 9.97745258e-01 -1.87870490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.25071405700004 meters 0.02832894603378267 Centerline is valid? [True, True] Translation: X:267.72, Y:-35.97, Z:-18.79 [[ 9.92904691e-01 9.77957622e-02 6.76480882e-02 2.67722242e+02] [-9.74090159e-02 9.95203739e-01 -9.00009755e-03 -3.59717126e+01] [-6.82038017e-02 2.34670537e-03 9.97668650e-01 -1.87893078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.280714057 meters 0.027986328929492262 Centerline is valid? [True, True] Translation: X:267.75, Y:-35.97, Z:-18.79 [[ 9.92823861e-01 9.78327754e-02 6.87715668e-02 2.67750615e+02] [-9.74335570e-02 9.95200028e-01 -9.14361254e-03 -3.59747883e+01] [-6.93360102e-02 2.37733833e-03 9.97590530e-01 -1.87911368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.310714057 meters 0.025849129876453405 Centerline is valid? [True, True] Translation: X:267.78, Y:-35.97, Z:-18.79 [[ 9.92782975e-01 9.75162072e-02 6.98036874e-02 2.67779546e+02] [-9.71044525e-02 9.95230968e-01 -9.27604511e-03 -3.59734408e+01] [-7.03753561e-02 2.43085081e-03 9.97517619e-01 -1.87932733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.340714057 meters 0.02645782920612965 Centerline is valid? [True, True] Translation: X:267.81, Y:-35.98, Z:-18.79 [[ 9.92854574e-01 9.57194638e-02 7.12571346e-02 2.67807798e+02] [-9.52861165e-02 9.95404938e-01 -9.46389900e-03 -3.59779792e+01] [-7.18355830e-02 2.60645978e-03 9.97413082e-01 -1.87948978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.370714057 meters 0.02713161558808007 Centerline is valid? [True, True] Translation: X:267.84, Y:-35.98, Z:-18.80 [[ 9.92977411e-01 9.41954622e-02 7.15756726e-02 2.67835517e+02] [-9.37546601e-02 9.95549997e-01 -9.50088919e-03 -3.59829181e+01] [-7.21521013e-02 2.72361549e-03 9.97389922e-01 -1.87971638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.400714057 meters 0.028241643625372667 Centerline is valid? [True, True] Translation: X:267.86, Y:-35.99, Z:-18.80 [[ 9.93259239e-01 9.03925939e-02 7.25621335e-02 2.67864279e+02] [-8.99299513e-02 9.95901588e-01 -9.62448102e-03 -3.59899249e+01] [-7.31347258e-02 3.03409556e-03 9.97317455e-01 -1.88005851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.430714057 meters 0.028914603960212136 Centerline is valid? [True, True] Translation: X:267.89, Y:-36.00, Z:-18.80 [[ 9.93480795e-01 8.81208345e-02 7.23230898e-02 2.67892962e+02] [-8.76554352e-02 9.96104691e-01 -9.59009424e-03 -3.59955947e+01] [-7.28864561e-02 3.18806253e-03 9.97335150e-01 -1.88033692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.460714057 meters 0.028281583845088394 Centerline is valid? [True, True] Translation: X:267.92, Y:-36.00, Z:-18.81 [[ 9.93673379e-01 8.59139380e-02 7.23326359e-02 2.67922297e+02] [-8.54428811e-02 9.96296942e-01 -9.58733696e-03 -3.59989223e+01] [-7.28884698e-02 3.34637272e-03 9.97334484e-01 -1.88062195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.490714057 meters 0.03190179176498143 Centerline is valid? [True, True] Translation: X:267.95, Y:-36.01, Z:-18.81 [[ 9.93932526e-01 8.31007627e-02 7.20582859e-02 2.67950046e+02] [-8.26261034e-02 9.96534875e-01 -9.54833187e-03 -3.60083678e+01] [-7.26020686e-02 3.53650223e-03 9.97354718e-01 -1.88086158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.520714057 meters 0.030956584865798484 Centerline is valid? [True, True] Translation: X:267.98, Y:-36.01, Z:-18.81 [[ 9.94348770e-01 7.85039257e-02 7.14678701e-02 2.67980497e+02] [-7.80253729e-02 9.96906417e-01 -9.46766325e-03 -3.60113678e+01] [-7.19900271e-02 3.83785210e-03 9.97397968e-01 -1.88111992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.550714057 meters 0.035545639623156225 Centerline is valid? [True, True] Translation: X:268.01, Y:-36.02, Z:-18.81 [[ 9.94518185e-01 7.58503994e-02 7.19742812e-02 2.68008899e+02] [-7.53580593e-02 9.97110946e-01 -9.53539505e-03 -3.60230051e+01] [-7.24896072e-02 4.05928163e-03 9.97360907e-01 -1.88126411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.580714057 meters 0.03570957013057362 Centerline is valid? [True, True] Translation: X:268.04, Y:-36.03, Z:-18.82 [[ 9.94908602e-01 7.06687611e-02 7.18526272e-02 2.68039174e+02] [-7.01646329e-02 9.97490004e-01 -9.51928972e-03 -3.60278942e+01] [-7.23449938e-02 4.42931001e-03 9.97369833e-01 -1.88160986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.610714057 meters 0.03684729549043364 Centerline is valid? [True, True] Translation: X:268.07, Y:-36.03, Z:-18.82 [[ 9.95087960e-01 6.84150161e-02 7.15495401e-02 2.68070005e+02] [-6.79093202e-02 9.97646462e-01 -9.47947189e-03 -3.60342885e+01] [-7.20296838e-02 4.57402772e-03 9.97392001e-01 -1.88185291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.640714057 meters 0.036542127978299394 Centerline is valid? [True, True] Translation: X:268.10, Y:-36.04, Z:-18.82 [[ 9.95284434e-01 6.60476324e-02 7.10394592e-02 2.68100431e+02] [-6.55429618e-02 9.97805337e-01 -9.41435051e-03 -3.60376043e+01] [-7.15053471e-02 4.71381996e-03 9.97429078e-01 -1.88214819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.670714057 meters 0.038016028518291854 Centerline is valid? [True, True] Translation: X:268.13, Y:-36.04, Z:-18.83 [[ 9.95572768e-01 6.27741614e-02 6.99590506e-02 2.68130596e+02] [-6.22766316e-02 9.98015853e-01 -9.27242106e-03 -3.60439719e+01] [-7.04023100e-02 4.87455587e-03 9.97506769e-01 -1.88252366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.700714057 meters 0.04194290315127404 Centerline is valid? [True, True] Translation: X:268.16, Y:-36.05, Z:-18.83 [[ 9.95689129e-01 6.14265373e-02 6.94977655e-02 2.68160470e+02] [-6.09322010e-02 9.98099391e-01 -9.21266026e-03 -3.60537549e+01] [-6.99315792e-02 4.93829385e-03 9.97539567e-01 -1.88282502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.730714057 meters 0.03995316711379933 Centerline is valid? [True, True] Translation: X:268.19, Y:-36.06, Z:-18.83 [[ 9.95797675e-01 6.03935073e-02 6.88448662e-02 2.68192960e+02] [-5.99054073e-02 9.98162264e-01 -9.13437354e-03 -3.60550651e+01] [-6.92700044e-02 4.97180818e-03 9.97585559e-01 -1.88311040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.76071405700003 meters 0.042144273802569965 Centerline is valid? [True, True] Translation: X:268.22, Y:-36.06, Z:-18.83 [[ 9.95959560e-01 5.85165919e-02 6.81202095e-02 2.68222532e+02] [-5.80340393e-02 9.98273647e-01 -9.04306350e-03 -3.60600504e+01] [-6.85317792e-02 5.05323463e-03 9.97636136e-01 -1.88329615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.790714057 meters 0.04112987929637358 Centerline is valid? [True, True] Translation: X:268.25, Y:-36.06, Z:-18.83 [[ 9.95951683e-01 5.80306935e-02 6.86489933e-02 2.68254623e+02] [-5.75394489e-02 9.98301637e-01 -9.11339532e-03 -3.60616867e+01] [-6.90612590e-02 5.12647617e-03 9.97599249e-01 -1.88347400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.82071405700003 meters 0.042790164135904245 Centerline is valid? [True, True] Translation: X:268.29, Y:-36.07, Z:-18.84 [[ 9.95965640e-01 5.76410874e-02 6.87746318e-02 2.68285548e+02] [-5.71459193e-02 9.98323930e-01 -9.14733850e-03 -3.60664807e+01] [-6.91866232e-02 5.18024529e-03 9.97590285e-01 -1.88362115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.850714057 meters 0.039734560216160016 Centerline is valid? [True, True] Translation: X:268.32, Y:-36.07, Z:-18.84 [[ 9.95935037e-01 5.79478088e-02 6.89597896e-02 2.68318883e+02] [-5.74495815e-02 9.98306129e-01 -9.18798518e-03 -3.60661230e+01] [-6.93754042e-02 5.18892531e-03 9.97577129e-01 -1.88384546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.88071405700003 meters 0.04097264367640812 Centerline is valid? [True, True] Translation: X:268.35, Y:-36.07, Z:-18.84 [[ 9.95909057e-01 5.81931868e-02 6.91281706e-02 2.68351591e+02] [-5.76916906e-02 9.98291772e-01 -9.23071526e-03 -3.60717744e+01] [-6.95472487e-02 5.20483190e-03 9.97565081e-01 -1.88407900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.910714057 meters 0.0444567071390783 Centerline is valid? [True, True] Translation: X:268.38, Y:-36.08, Z:-18.84 [[ 9.95902577e-01 5.87286424e-02 6.87677517e-02 2.68382374e+02] [-5.82322604e-02 9.98260646e-01 -9.20248712e-03 -3.60798438e+01] [-6.91885898e-02 5.16027902e-03 9.97590252e-01 -1.88430637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.94071405700004 meters 0.03921790429602921 Centerline is valid? [True, True] Translation: X:268.42, Y:-36.08, Z:-18.84 [[ 9.95886571e-01 5.91039126e-02 6.86779770e-02 2.68415533e+02] [-5.86085951e-02 9.98238584e-01 -9.20663816e-03 -3.60760034e+01] [-6.91011548e-02 5.14364756e-03 9.97596398e-01 -1.88449949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.970714057 meters 0.041509367763955994 Centerline is valid? [True, True] Translation: X:268.45, Y:-36.08, Z:-18.85 [[ 9.95862175e-01 6.04874489e-02 6.78217999e-02 2.68445412e+02] [-6.00064434e-02 9.98156427e-01 -9.10899827e-03 -3.60811872e+01] [-6.82477455e-02 5.00156184e-03 9.97655867e-01 -1.88474078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.00071405700004 meters 0.0404343358881364 Centerline is valid? [True, True] Translation: X:268.48, Y:-36.08, Z:-18.85 [[ 9.95833780e-01 6.18453462e-02 6.70092208e-02 2.68477655e+02] [-6.13784033e-02 9.98073929e-01 -9.00682578e-03 -3.60831604e+01] [-6.74371865e-02 4.85638239e-03 9.97711703e-01 -1.88496938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.030714057 meters 0.04071941887101661 Centerline is valid? [True, True] Translation: X:268.51, Y:-36.09, Z:-18.85 [[ 9.95763754e-01 6.31913313e-02 6.67937246e-02 2.68508401e+02] [-6.27292608e-02 9.97990047e-01 -8.99478895e-03 -3.60871920e+01] [-6.72278650e-02 4.76676384e-03 9.97726261e-01 -1.88520456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.060714057 meters 0.037249655145235136 Centerline is valid? [True, True] Translation: X:268.54, Y:-36.08, Z:-18.85 [[ 9.95630181e-01 6.62249855e-02 6.58391581e-02 2.68540160e+02] [-6.57824876e-02 9.97794574e-01 -8.86860118e-03 -3.60849411e+01] [-6.62812777e-02 4.49878339e-03 9.97790836e-01 -1.88547274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.090714057 meters 0.039492532124753586 Centerline is valid? [True, True] Translation: X:268.57, Y:-36.09, Z:-18.86 [[ 9.95532060e-01 6.82630207e-02 6.52386262e-02 2.68570408e+02] [-6.78328499e-02 9.97657988e-01 -8.78882844e-03 -3.60909505e+01] [-6.56857885e-02 4.32423854e-03 9.97830987e-01 -1.88574585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.120714057 meters 0.03495098326086336 Centerline is valid? [True, True] Translation: X:268.60, Y:-36.08, Z:-18.86 [[ 9.95338481e-01 7.30924577e-02 6.29189988e-02 2.68601587e+02] [-7.27018305e-02 9.97317680e-01 -8.47869129e-03 -3.60846011e+01] [-6.33699583e-02 3.86484132e-03 9.97982621e-01 -1.88596765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.150714057 meters 0.03328901942489048 Centerline is valid? [True, True] Translation: X:268.63, Y:-36.08, Z:-18.86 [[ 9.95154556e-01 7.62148622e-02 6.21184762e-02 2.68631655e+02] [-7.58401671e-02 9.97084848e-01 -8.37104491e-03 -3.60848065e+01] [-6.25753894e-02 3.61940786e-03 9.98033677e-01 -1.88614557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.180714057 meters 0.0342564729497885 Centerline is valid? [True, True] Translation: X:268.66, Y:-36.09, Z:-18.86 [[ 9.94909237e-01 7.96376016e-02 6.17532472e-02 2.68659753e+02] [-7.92739656e-02 9.96818143e-01 -8.32030031e-03 -3.60884654e+01] [-6.22193660e-02 3.38251884e-03 9.98056766e-01 -1.88640216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.210714057 meters 0.030569155704889907 Centerline is valid? [True, True] Translation: X:268.69, Y:-36.08, Z:-18.87 [[ 9.94394704e-01 8.65909971e-02 6.06726631e-02 2.68691077e+02] [-8.62530861e-02 9.96239747e-01 -8.17140738e-03 -3.60830488e+01] [-6.11520889e-02 2.89239979e-03 9.98124269e-01 -1.88654756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.240714057 meters 0.030569155704889907 Centerline is valid? [True, True] Translation: X:268.72, Y:-36.09, Z:-18.87 [[ 9.94403895e-01 8.64851995e-02 6.06729235e-02 2.68718264e+02] [-8.61472099e-02 9.96248924e-01 -8.16947382e-03 -3.60866187e+01] [-6.11518733e-02 2.89695351e-03 9.98124269e-01 -1.88673652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.270714057 meters 0.027898044364249096 Centerline is valid? [True, True] Translation: X:268.75, Y:-36.08, Z:-18.87 [[ 9.93700614e-01 9.42808459e-02 6.05822772e-02 2.68749964e+02] [-9.39587612e-02 9.95542733e-01 -8.14978107e-03 -3.60833333e+01] [-6.10806140e-02 2.40620674e-03 9.98129936e-01 -1.88686668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.300714057 meters 0.028211362861549447 Centerline is valid? [True, True] Translation: X:268.78, Y:-36.09, Z:-18.87 [[ 9.93340104e-01 9.76957509e-02 6.10817365e-02 2.68778198e+02] [-9.73746767e-02 9.95213862e-01 -8.21839911e-03 -3.60866164e+01] [-6.15922935e-02 2.21585109e-03 9.98098933e-01 -1.88705264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.330714057 meters 0.02674172162233685 Centerline is valid? [True, True] Translation: X:268.81, Y:-36.09, Z:-18.87 [[ 9.93089465e-01 1.00382067e-01 6.08009423e-02 2.68807683e+02] [-1.00069135e-01 9.94946879e-01 -8.17782853e-03 -3.60855670e+01] [-6.13146150e-02 2.03701764e-03 9.98116410e-01 -1.88714872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.360714057 meters 0.02620317697237846 Centerline is valid? [True, True] Translation: X:268.84, Y:-36.09, Z:-18.87 [[ 9.92802469e-01 1.02946041e-01 6.11994258e-02 2.68837021e+02] [-1.02634262e-01 9.94685157e-01 -8.22474795e-03 -3.60867029e+01] [-6.17208657e-02 1.88439214e-03 9.98091671e-01 -1.88729215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.390714057 meters 0.025959776146752246 Centerline is valid? [True, True] Translation: X:268.87, Y:-36.09, Z:-18.87 [[ 9.92414791e-01 1.06330719e-01 6.16981454e-02 2.68865125e+02] [-1.06021345e-01 9.94329414e-01 -8.27594908e-03 -3.60886540e+01] [-6.22282683e-02 1.67185394e-03 9.98060543e-01 -1.88742131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.420714057 meters 0.025996306059667174 Centerline is valid? [True, True] Translation: X:268.89, Y:-36.09, Z:-18.88 [[ 9.92365675e-01 1.06527641e-01 6.21468325e-02 2.68893490e+02] [-1.06214415e-01 9.94308344e-01 -8.33160420e-03 -3.60936420e+01] [-6.26806602e-02 1.66710859e-03 9.98032242e-01 -1.88757070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.450714057 meters 0.02551228221814864 Centerline is valid? [True, True] Translation: X:268.92, Y:-36.10, Z:-18.88 [[ 9.92494803e-01 1.05412163e-01 6.19866258e-02 2.68921996e+02] [-1.05098655e-01 9.94427115e-01 -8.30573442e-03 -3.60978406e+01] [-6.25167070e-02 1.72868727e-03 9.98042420e-01 -1.88774522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.480714057 meters 0.026224036494530742 Centerline is valid? [True, True] Translation: X:268.95, Y:-36.10, Z:-18.88 [[ 9.92708157e-01 1.03631074e-01 6.15720397e-02 2.68949295e+02] [-1.03318600e-01 9.94614133e-01 -8.24586355e-03 -3.61041889e+01] [-6.20949486e-02 1.82419909e-03 9.98068580e-01 -1.88801102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.51071405700003 meters 0.02635738427286988 Centerline is valid? [True, True] Translation: X:268.98, Y:-36.11, Z:-18.88 [[ 9.93362866e-01 9.83031488e-02 5.97219154e-02 2.68978410e+02] [-9.79999271e-02 9.95154328e-01 -7.99230086e-03 -3.61113712e+01] [-6.02181909e-02 2.08651154e-03 9.98183057e-01 -1.88826296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.540714057 meters 0.02829815263998405 Centerline is valid? [True, True] Translation: X:269.01, Y:-36.12, Z:-18.89 [[ 9.94053875e-01 9.18235785e-02 5.85262720e-02 2.69006256e+02] [-9.15212379e-02 9.95772330e-01 -7.83131289e-03 -3.61227624e+01] [-5.89979415e-02 2.42835005e-03 9.98255151e-01 -1.88857720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.57071405700003 meters 0.029552107090705923 Centerline is valid? [True, True] Translation: X:269.04, Y:-36.13, Z:-18.89 [[ 9.94413646e-01 8.82942885e-02 5.78413300e-02 2.69035231e+02] [-8.79931171e-02 9.96091025e-01 -7.73827206e-03 -3.61310361e+01] [-5.82984749e-02 2.60540440e-03 9.98295798e-01 -1.88878222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.600714057 meters 0.03048840270009797 Centerline is valid? [True, True] Translation: X:269.06, Y:-36.14, Z:-18.89 [[ 9.94766423e-01 8.46824084e-02 5.71721317e-02 2.69064713e+02] [-8.43823521e-02 9.96404109e-01 -7.64654259e-03 -3.61390617e+01] [-5.76140746e-02 2.78220488e-03 9.98335053e-01 -1.88897148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.63071405700003 meters 0.03181016315708207 Centerline is valid? [True, True] Translation: X:269.09, Y:-36.15, Z:-18.89 [[ 9.95065751e-01 8.11415870e-02 5.70981117e-02 2.69093817e+02] [-8.08365559e-02 9.96698123e-01 -7.63561588e-03 -3.61471221e+01] [-5.75291468e-02 2.98232514e-03 9.98339373e-01 -1.88917008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.660714057 meters 0.03531329661649259 Centerline is valid? [True, True] Translation: X:269.12, Y:-36.16, Z:-18.89 [[ 9.95632827e-01 7.41617692e-02 5.67036708e-02 2.69121709e+02] [-7.38497245e-02 9.97240560e-01 -7.58177157e-03 -3.61600649e+01] [-5.71094781e-02 3.36111019e-03 9.98362264e-01 -1.88933190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.69071405700004 meters 0.035931393249270756 Centerline is valid? [True, True] Translation: X:269.15, Y:-36.17, Z:-18.89 [[ 9.95798435e-01 7.13861639e-02 5.73540995e-02 2.69150855e+02] [-7.10623457e-02 9.97442399e-01 -7.66839681e-03 -3.61668759e+01] [-5.77548280e-02 3.56046070e-03 9.98324448e-01 -1.88948315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.720714057 meters 0.03826176793257057 Centerline is valid? [True, True] Translation: X:269.18, Y:-36.18, Z:-18.90 [[ 9.96166555e-01 6.64629544e-02 5.68759264e-02 2.69180408e+02] [-6.61366687e-02 9.97781614e-01 -7.60210078e-03 -3.61769579e+01] [-5.72550117e-02 3.81137424e-03 9.98352311e-01 -1.88956326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.75071405700004 meters 0.038901055926317256 Centerline is valid? [True, True] Translation: X:269.21, Y:-36.18, Z:-18.90 [[ 9.96262106e-01 6.50174445e-02 5.68730808e-02 2.69210225e+02] [-6.46888483e-02 9.97876529e-01 -7.60172557e-03 -3.61834134e+01] [-5.72465572e-02 3.89425704e-03 9.98352476e-01 -1.88974962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.780714057 meters 0.036705479442518105 Centerline is valid? [True, True] Translation: X:269.24, Y:-36.19, Z:-18.90 [[ 9.96364692e-01 6.39445341e-02 5.62893969e-02 2.69241054e+02] [-6.36209665e-02 9.97945775e-01 -7.52349458e-03 -3.61850940e+01] [-5.66548522e-02 3.91495853e-03 9.98386148e-01 -1.88990276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.810714057 meters 0.04075686654904082 Centerline is valid? [True, True] Translation: X:269.27, Y:-36.20, Z:-18.90 [[ 9.96421773e-01 6.35177310e-02 5.57597273e-02 2.69269678e+02] [-6.31995111e-02 9.97973078e-01 -7.45370587e-03 -3.61971042e+01] [-5.61201491e-02 3.90304732e-03 9.98416394e-01 -1.89020160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.840714057 meters 0.04113648050463945 Centerline is valid? [True, True] Translation: X:269.30, Y:-36.20, Z:-18.90 [[ 9.96451370e-01 6.36716656e-02 5.50507642e-02 2.69299081e+02] [-6.33616753e-02 9.97963491e-01 -7.35992525e-03 -3.62027745e+01] [-5.54072716e-02 3.84569894e-03 9.98456431e-01 -1.89041694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.870714057 meters 0.04398509905927314 Centerline is valid? [True, True] Translation: X:269.33, Y:-36.21, Z:-18.91 [[ 9.96477112e-01 6.40219388e-02 5.41715467e-02 2.69328565e+02] [-6.37222479e-02 9.97941386e-01 -7.24330100e-03 -3.62116067e+01] [-5.45237585e-02 3.76585094e-03 9.98505372e-01 -1.89069714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.900714057 meters 0.03533519260539741 Centerline is valid? [True, True] Translation: X:269.36, Y:-36.20, Z:-18.91 [[ 9.96475169e-01 6.48206971e-02 5.32495448e-02 2.69360504e+02] [-6.45322055e-02 9.97890216e-01 -7.12116850e-03 -3.62039408e+01] [-5.35987989e-02 3.65975702e-03 9.98555845e-01 -1.89063255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.930714057 meters 0.039020119781051105 Centerline is valid? [True, True] Translation: X:269.39, Y:-36.21, Z:-18.91 [[ 9.96428602e-01 6.59692165e-02 5.27077240e-02 2.69389320e+02] [-6.56881710e-02 9.97815304e-01 -7.04870971e-03 -3.62139102e+01] [-5.30575714e-02 3.56126198e-03 9.98585105e-01 -1.89095701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.960714057 meters 0.03426096654710611 Centerline is valid? [True, True] Translation: X:269.42, Y:-36.21, Z:-18.91 [[ 9.96340733e-01 6.86547306e-02 5.09084613e-02 2.69419752e+02] [-6.83960212e-02 9.97635016e-01 -6.80871960e-03 -3.62107810e+01] [-5.12555144e-02 3.30186848e-03 9.98680114e-01 -1.89106522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.990714057 meters 0.03584758777296431 Centerline is valid? [True, True] Translation: X:269.45, Y:-36.22, Z:-18.91 [[ 9.96202664e-01 7.06472118e-02 5.08844237e-02 2.69447540e+02] [-7.03914131e-02 9.97496243e-01 -6.80395250e-03 -3.62168365e+01] [-5.12377018e-02 3.19628911e-03 9.98681371e-01 -1.89133480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.020714057 meters 0.032694453392983894 Centerline is valid? [True, True] Translation: X:269.48, Y:-36.22, Z:-18.91 [[ 9.96027962e-01 7.28948626e-02 5.11335350e-02 2.69477902e+02] [-7.26396517e-02 9.97334835e-01 -6.83429336e-03 -3.62160615e+01] [-5.14954405e-02 3.09282512e-03 9.98668440e-01 -1.89140725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.050714057 meters 0.0331734963464761 Centerline is valid? [True, True] Translation: X:269.51, Y:-36.22, Z:-18.92 [[ 9.95557511e-01 7.83383172e-02 5.22336176e-02 2.69507342e+02] [-7.80796009e-02 9.96922703e-01 -6.97852854e-03 -3.62193318e+01] [-5.26195654e-02 2.86914648e-03 9.98610509e-01 -1.89164377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.080714057 meters 0.032367351526479286 Centerline is valid? [True, True] Translation: X:269.54, Y:-36.22, Z:-18.92 [[ 9.95362156e-01 8.07036840e-02 5.23554547e-02 2.69537430e+02] [-8.04470797e-02 9.96734346e-01 -6.99363520e-03 -3.62209083e+01] [-5.27488921e-02 2.74935637e-03 9.98604023e-01 -1.89183619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.110714057 meters 0.029833062715930805 Centerline is valid? [True, True] Translation: X:269.57, Y:-36.22, Z:-18.92 [[ 9.94998575e-01 8.51176206e-02 5.22764420e-02 2.69567876e+02] [-8.48678959e-02 9.96367746e-01 -6.98242513e-03 -3.62196590e+01] [-5.26808881e-02 2.51091142e-03 9.98608241e-01 -1.89202699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.140714057 meters 0.02936985852535593 Centerline is valid? [True, True] Translation: X:269.60, Y:-36.22, Z:-18.92 [[ 9.94818810e-01 8.70432869e-02 5.25261933e-02 2.69596255e+02] [-8.67939083e-02 9.96201593e-01 -7.01456611e-03 -3.62229307e+01] [-5.29372483e-02 2.41926871e-03 9.98594910e-01 -1.89227880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.170714057 meters 0.02933674299941883 Centerline is valid? [True, True] Translation: X:269.62, Y:-36.23, Z:-18.93 [[ 9.94672033e-01 8.91411872e-02 5.17822027e-02 2.69623749e+02] [-8.89018214e-02 9.96016409e-01 -6.91221783e-03 -3.62261708e+01] [-5.21920869e-02 2.27185763e-03 9.98634480e-01 -1.89250412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.200714057 meters 0.030188900516223225 Centerline is valid? [True, True] Translation: X:269.65, Y:-36.23, Z:-18.93 [[ 9.94590219e-01 9.00213264e-02 5.18310456e-02 2.69650967e+02] [-8.97830101e-02 9.95937360e-01 -6.91281499e-03 -3.62314207e+01] [-5.22427755e-02 2.22187088e-03 9.98631942e-01 -1.89275298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.230714057 meters 0.031002376416102283 Centerline is valid? [True, True] Translation: X:269.68, Y:-36.24, Z:-18.93 [[ 9.94613669e-01 8.97317030e-02 5.18832417e-02 2.69678246e+02] [-8.94927502e-02 9.95963467e-01 -6.91524444e-03 -3.62359519e+01] [-5.22943299e-02 2.23482265e-03 9.98629215e-01 -1.89294403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.26071405700003 meters 0.030219852486338284 Centerline is valid? [True, True] Translation: X:269.71, Y:-36.24, Z:-18.93 [[ 9.94698037e-01 8.84741657e-02 5.24226876e-02 2.69707221e+02] [-8.82287210e-02 9.96075770e-01 -6.98241892e-03 -3.62395286e+01] [-5.28347326e-02 2.32021171e-03 9.98600575e-01 -1.89297923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.290714057 meters 0.03088378522822465 Centerline is valid? [True, True] Translation: X:269.74, Y:-36.25, Z:-18.93 [[ 9.94791853e-01 8.72984870e-02 5.26131472e-02 2.69735528e+02] [-8.70498073e-02 9.96179338e-01 -7.00413992e-03 -3.62454528e+01] [-5.30235810e-02 2.38769700e-03 9.98590406e-01 -1.89317810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.32071405700003 meters 0.031979358599835056 Centerline is valid? [True, True] Translation: X:269.76, Y:-36.25, Z:-18.93 [[ 9.94954345e-01 8.55618333e-02 5.23929831e-02 2.69764755e+02] [-8.53130480e-02 9.96329811e-01 -6.97073112e-03 -3.62518298e+01] [-5.27971195e-02 2.46575413e-03 9.98602215e-01 -1.89340035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.350714057 meters 0.034603847345985865 Centerline is valid? [True, True] Translation: X:269.79, Y:-36.26, Z:-18.94 [[ 9.95367863e-01 8.05561915e-02 5.24739632e-02 2.69792727e+02] [-8.02998230e-02 9.96746322e-01 -6.97916394e-03 -3.62624376e+01] [-5.28654446e-02 2.73318555e-03 9.98597904e-01 -1.89364073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.38071405700003 meters 0.03698784541046165 Centerline is valid? [True, True] Translation: X:269.82, Y:-36.27, Z:-18.94 [[ 9.95615059e-01 7.73407385e-02 5.26219068e-02 2.69821091e+02] [-7.70784133e-02 9.97000465e-01 -6.99942742e-03 -3.62705324e+01] [-5.30054064e-02 2.91272226e-03 9.98589977e-01 -1.89386693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.410714057 meters 0.03504826992150689 Centerline is valid? [True, True] Translation: X:269.85, Y:-36.27, Z:-18.94 [[ 9.96064940e-01 7.08521975e-02 5.32409677e-02 2.69851246e+02] [-7.05745323e-02 9.97481385e-01 -7.07971336e-03 -3.62718236e+01] [-5.36084874e-02 3.29439787e-03 9.98556597e-01 -1.89385980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.44071405700004 meters 0.0345057471028885 Centerline is valid? [True, True] Translation: X:269.88, Y:-36.28, Z:-18.94 [[ 9.96237870e-01 6.81506128e-02 5.35313029e-02 2.69881273e+02] [-6.78660724e-02 9.97669052e-01 -7.11744090e-03 -3.62757427e+01] [-5.38915822e-02 3.45770489e-03 9.98540806e-01 -1.89395812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.470714057 meters 0.04444921178927351 Centerline is valid? [True, True] Translation: X:269.91, Y:-36.29, Z:-18.94 [[ 9.96406126e-01 6.55670502e-02 5.36264257e-02 2.69908589e+02] [-6.52778407e-02 9.97841662e-01 -7.12883602e-03 -3.62948839e+01] [-5.39780985e-02 3.60259861e-03 9.98535621e-01 -1.89440410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.50071405700004 meters 0.04833127269233971 Centerline is valid? [True, True] Translation: X:269.94, Y:-36.30, Z:-18.95 [[ 9.96631394e-01 6.13570141e-02 5.44167454e-02 2.69936405e+02] [-6.10529416e-02 9.98108312e-01 -7.23430905e-03 -3.63047186e+01] [-5.47576815e-02 3.88763714e-03 9.98492104e-01 -1.89470444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.530714057 meters 0.05133600622352965 Centerline is valid? [True, True] Translation: X:269.96, Y:-36.31, Z:-18.95 [[ 9.96837828e-01 5.78272367e-02 5.45009660e-02 2.69964572e+02] [-5.75170793e-02 9.98318244e-01 -7.24363234e-03 -3.63132152e+01] [-5.48281879e-02 4.08599034e-03 9.98487443e-01 -1.89497594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.560714057 meters 0.05378476408276842 Centerline is valid? [True, True] Translation: X:269.99, Y:-36.32, Z:-18.95 [[ 9.96970742e-01 5.55499942e-02 5.44383789e-02 2.69993795e+02] [-5.52372256e-02 9.98447050e-01 -7.23441878e-03 -3.63200121e+01] [-5.47557107e-02 4.20547885e-03 9.98490924e-01 -1.89526154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.590714057 meters 0.05492756861655875 Centerline is valid? [True, True] Translation: X:270.02, Y:-36.33, Z:-18.96 [[ 9.97077478e-01 5.39080059e-02 5.41334528e-02 2.70024563e+02] [-5.35963565e-02 9.98536772e-01 -7.19344966e-03 -3.63256540e+01] [-5.44420278e-02 4.27107080e-03 9.98507798e-01 -1.89551152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.620714057 meters 0.044365422667752036 Centerline is valid? [True, True] Translation: X:270.06, Y:-36.32, Z:-18.95 [[ 9.97198461e-01 5.19611349e-02 5.38077204e-02 2.70057828e+02] [-5.16503252e-02 9.98639622e-01 -7.15182487e-03 -3.63152047e+01] [-5.41061385e-02 4.35260249e-03 9.98525704e-01 -1.89549072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.650714057 meters 0.045493487737662215 Centerline is valid? [True, True] Translation: X:270.09, Y:-36.32, Z:-18.96 [[ 9.97345656e-01 4.94608111e-02 5.34347287e-02 2.70088165e+02] [-4.91506238e-02 9.98766111e-01 -7.10438296e-03 -3.63206465e+01] [-5.37201847e-02 4.45917524e-03 9.98546072e-01 -1.89571475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.680714057 meters 0.04830823034892559 Centerline is valid? [True, True] Translation: X:270.12, Y:-36.33, Z:-18.96 [[ 9.97366364e-01 4.88975852e-02 5.35664208e-02 2.70118579e+02] [-4.85851734e-02 9.98793667e-01 -7.11977180e-03 -3.63282858e+01] [-5.38499415e-02 4.49848707e-03 9.98538906e-01 -1.89602671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.710714057 meters 0.04348373967691684 Centerline is valid? [True, True] Translation: X:270.15, Y:-36.33, Z:-18.96 [[ 9.97274414e-01 4.91938843e-02 5.49882194e-02 2.70152048e+02] [-4.88642710e-02 9.98778578e-01 -7.32357846e-03 -3.63252548e+01] [-5.52813309e-02 4.61665817e-03 9.98460145e-01 -1.89602458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.740714057 meters 0.043274640298986755 Centerline is valid? [True, True] Translation: X:270.18, Y:-36.33, Z:-18.96 [[ 9.97174826e-01 5.01915977e-02 5.58853263e-02 2.70183741e+02] [-4.98523651e-02 9.98728822e-01 -7.44867652e-03 -3.63282367e+01] [-5.61881470e-02 4.64161702e-03 9.98409409e-01 -1.89618339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.770714057 meters 0.043469507270087616 Centerline is valid? [True, True] Translation: X:270.22, Y:-36.33, Z:-18.96 [[ 9.97091526e-01 5.13013524e-02 5.63618712e-02 2.70215371e+02] [-5.09578849e-02 9.98672526e-01 -7.51529397e-03 -3.63314199e+01] [-5.66725970e-02 4.62135419e-03 9.98382121e-01 -1.89635547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.800714057 meters 0.043617682248170794 Centerline is valid? [True, True] Translation: X:270.24, Y:-36.33, Z:-18.97 [[ 9.96904335e-01 5.41157505e-02 5.70371228e-02 2.70244653e+02] [-5.37683379e-02 9.98524444e-01 -7.60926478e-03 -3.63334798e+01] [-5.73647424e-02 4.51891775e-03 9.98343060e-01 -1.89655964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.830714057 meters 0.04429079367764509 Centerline is valid? [True, True] Translation: X:270.27, Y:-36.34, Z:-18.97 [[ 9.96845235e-01 5.54964391e-02 5.67425957e-02 2.70274373e+02] [-5.51549714e-02 9.98449128e-01 -7.56752243e-03 -3.63372853e+01] [-5.70745657e-02 4.41401244e-03 9.98360161e-01 -1.89679984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.860714057 meters 0.042910510337364774 Centerline is valid? [True, True] Translation: X:270.30, Y:-36.34, Z:-18.97 [[ 9.96726923e-01 5.77965644e-02 5.65243180e-02 2.70304828e+02] [-5.74609881e-02 9.98319237e-01 -7.54557089e-03 -3.63378206e+01] [-5.68654221e-02 4.27293048e-03 9.98372709e-01 -1.89710142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.890714057 meters 0.044014941180482034 Centerline is valid? [True, True] Translation: X:270.34, Y:-36.34, Z:-18.97 [[ 9.96692709e-01 5.85272211e-02 5.63755920e-02 2.70335391e+02] [-5.81947230e-02 9.98276904e-01 -7.52306137e-03 -3.63426539e+01] [-5.67187553e-02 4.21741847e-03 9.98381288e-01 -1.89738424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.920714057 meters 0.04383853398430865 Centerline is valid? [True, True] Translation: X:270.37, Y:-36.35, Z:-18.98 [[ 9.96651514e-01 5.91250716e-02 5.64799513e-02 2.70367893e+02] [-5.87915742e-02 9.98241731e-01 -7.54962286e-03 -3.63450749e+01] [-5.68270163e-02 4.20379781e-03 9.98375189e-01 -1.89756960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.950714057 meters 0.0448426421203975 Centerline is valid? [True, True] Translation: X:270.40, Y:-36.35, Z:-18.98 [[ 9.96622353e-01 5.94335509e-02 5.66704303e-02 2.70398941e+02] [-5.90974356e-02 9.98223364e-01 -7.59009017e-03 -3.63503173e+01] [-5.70208535e-02 4.21537642e-03 9.98364088e-01 -1.89780057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.980714057 meters 0.04548478373716459 Centerline is valid? [True, True] Translation: X:270.43, Y:-36.35, Z:-18.98 [[ 9.96625019e-01 5.94189808e-02 5.66388158e-02 2.70430838e+02] [-5.90828379e-02 9.98224209e-01 -7.59250788e-03 -3.63544123e+01] [-5.69893762e-02 4.22050134e-03 9.98365864e-01 -1.89803480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.01071405700003 meters 0.04605353740198772 Centerline is valid? [True, True] Translation: X:270.46, Y:-36.36, Z:-18.98 [[ 9.96669802e-01 5.91702601e-02 5.61087074e-02 2.70462342e+02] [-5.88392365e-02 9.98239034e-01 -7.53489380e-03 -3.63580156e+01] [-5.64557435e-02 4.20840760e-03 9.98396233e-01 -1.89834941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.040714057 meters 0.0462431033690175 Centerline is valid? [True, True] Translation: X:270.49, Y:-36.36, Z:-18.99 [[ 9.96665199e-01 5.94059157e-02 5.59412004e-02 2.70493907e+02] [-5.90765548e-02 9.98225096e-01 -7.52450194e-03 -3.63619795e+01] [-5.62889100e-02 4.19459583e-03 9.98405711e-01 -1.89864585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.07071405700003 meters 0.045320719304492545 Centerline is valid? [True, True] Translation: X:270.53, Y:-36.36, Z:-18.99 [[ 9.96687880e-01 5.95724890e-02 5.53569276e-02 2.70526055e+02] [-5.92495138e-02 9.98215338e-01 -7.45886742e-03 -3.63628618e+01] [-5.57024775e-02 4.15429171e-03 9.98438769e-01 -1.89891869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.100714057 meters 0.0444237027959018 Centerline is valid? [True, True] Translation: X:270.56, Y:-36.37, Z:-18.99 [[ 9.96670505e-01 5.99005120e-02 5.53157618e-02 2.70558274e+02] [-5.95777796e-02 9.98195741e-01 -7.46659358e-03 -3.63652024e+01] [-5.56632106e-02 4.14614333e-03 9.98440993e-01 -1.89904942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.13071405700003 meters 0.04499819405115384 Centerline is valid? [True, True] Translation: X:270.59, Y:-36.37, Z:-18.99 [[ 9.96612409e-01 6.02404148e-02 5.59892725e-02 2.70589026e+02] [-5.99093809e-02 9.98175087e-01 -7.57375145e-03 -3.63691266e+01] [-5.63433429e-02 4.19381203e-03 9.98402644e-01 -1.89924747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.160714057 meters 0.04499819405115384 Centerline is valid? [True, True] Translation: X:270.62, Y:-36.37, Z:-18.99 [[ 9.96598210e-01 6.04747969e-02 5.59893483e-02 2.70620509e+02] [-6.01441617e-02 9.98160972e-01 -7.57319350e-03 -3.63734503e+01] [-5.63443697e-02 4.17999866e-03 9.98402644e-01 -1.89946625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.19071405700004 meters 0.04839241837653131 Centerline is valid? [True, True] Translation: X:270.65, Y:-36.38, Z:-19.00 [[ 9.96538931e-01 6.06828700e-02 5.68132829e-02 2.70651291e+02] [-6.03419473e-02 9.98148075e-01 -7.69873177e-03 -3.63813589e+01] [-5.71752500e-02 4.24386181e-03 9.98355137e-01 -1.89964530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.220714057 meters 0.04502685172971679 Centerline is valid? [True, True] Translation: X:270.68, Y:-36.38, Z:-19.00 [[ 9.96393778e-01 6.15168975e-02 5.84389468e-02 2.70683582e+02] [-6.11566875e-02 9.98096643e-01 -7.93419384e-03 -3.63783334e+01] [-5.88158036e-02 4.33164897e-03 9.98259454e-01 -1.89959335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.250714057 meters 0.04232673260702403 Centerline is valid? [True, True] Translation: X:270.72, Y:-36.38, Z:-19.00 [[ 9.96326760e-01 6.18503387e-02 5.92243484e-02 2.70715652e+02] [-6.14808286e-02 9.98075859e-01 -8.04289283e-03 -3.63776856e+01] [-5.96078480e-02 4.37218734e-03 9.98212296e-01 -1.89963949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.280714057 meters 0.04670325968443301 Centerline is valid? [True, True] Translation: X:270.75, Y:-36.39, Z:-19.00 [[ 9.96230069e-01 6.18231164e-02 6.08568134e-02 2.70745661e+02] [-6.14328216e-02 9.98076997e-01 -8.26540548e-03 -3.63861331e+01] [-6.12507787e-02 4.49563971e-03 9.98112284e-01 -1.89975118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.310714057 meters 0.04065282972306702 Centerline is valid? [True, True] Translation: X:270.78, Y:-36.38, Z:-19.00 [[ 9.96183153e-01 6.18419648e-02 6.16011190e-02 2.70778658e+02] [-6.14412164e-02 9.98075520e-01 -8.38047321e-03 -3.63809849e+01] [-6.20008339e-02 4.56363854e-03 9.98065664e-01 -1.89985808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.340714057 meters 0.0417814992961841 Centerline is valid? [True, True] Translation: X:270.81, Y:-36.39, Z:-19.00 [[ 9.96199313e-01 6.16532550e-02 6.15288882e-02 2.70809136e+02] [-6.12520871e-02 9.98087092e-01 -8.38680684e-03 -3.63862665e+01] [-6.19282630e-02 4.58615840e-03 9.98070066e-01 -1.90011783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.370714057 meters 0.04329903944778024 Centerline is valid? [True, True] Translation: X:270.84, Y:-36.39, Z:-19.00 [[ 9.96254620e-01 6.07455192e-02 6.15362903e-02 2.70840032e+02] [-6.03420502e-02 9.98142450e-01 -8.39561651e-03 -3.63919813e+01] [-6.19319797e-02 4.65094581e-03 9.98069536e-01 -1.90047588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.400714057 meters 0.03861983961068647 Centerline is valid? [True, True] Translation: X:270.87, Y:-36.39, Z:-19.01 [[ 9.96332053e-01 6.02181418e-02 6.07965169e-02 2.70872622e+02] [-5.98225243e-02 9.98174453e-01 -8.30824433e-03 -3.63888717e+01] [-6.11858371e-02 4.64076902e-03 9.98115603e-01 -1.90068989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.430714057 meters 0.040903323185771466 Centerline is valid? [True, True] Translation: X:270.90, Y:-36.40, Z:-19.01 [[ 9.96532353e-01 5.84093986e-02 5.92588517e-02 2.70902305e+02] [-5.80293767e-02 9.98281892e-01 -8.11513600e-03 -3.63954249e+01] [-5.96310388e-02 4.64824135e-03 9.98209664e-01 -1.90111230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.460714057 meters 0.04975204165484505 Centerline is valid? [True, True] Translation: X:270.93, Y:-36.41, Z:-19.02 [[ 9.96602707e-01 5.81962183e-02 5.82773003e-02 2.70931217e+02] [-5.78284029e-02 9.98294647e-01 -7.97961293e-03 -3.64116140e+01] [-5.86423002e-02 4.58242065e-03 9.98268542e-01 -1.90153501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.490714057 meters 0.04211932921828247 Centerline is valid? [True, True] Translation: X:270.96, Y:-36.40, Z:-19.02 [[ 9.96686106e-01 5.73146422e-02 5.77220823e-02 2.70964350e+02] [-5.69515501e-02 9.98345551e-01 -7.91723581e-03 -3.64048771e+01] [-5.80803575e-02 4.60363687e-03 9.98301297e-01 -1.90167358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.520714057 meters 0.04366587037080058 Centerline is valid? [True, True] Translation: X:271.00, Y:-36.41, Z:-19.02 [[ 9.96720936e-01 5.60997486e-02 5.83111865e-02 2.70995642e+02] [-5.57263148e-02 9.98413935e-01 -8.01194749e-03 -3.64116331e+01] [-5.86681694e-02 4.73620827e-03 9.98266304e-01 -1.90188581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.550714057 meters 0.04126223007610547 Centerline is valid? [True, True] Translation: X:271.03, Y:-36.41, Z:-19.02 [[ 9.96705961e-01 5.61004056e-02 5.85659690e-02 2.71027974e+02] [-5.57228930e-02 9.98413735e-01 -8.06058384e-03 -3.64128619e+01] [-5.89252699e-02 4.77056673e-03 9.98250998e-01 -1.90204605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.580714057 meters 0.04532487332778955 Centerline is valid? [True, True] Translation: X:271.06, Y:-36.42, Z:-19.02 [[ 9.96643593e-01 5.62542276e-02 5.94727733e-02 2.71058930e+02] [-5.58642562e-02 9.98404692e-01 -8.20092594e-03 -3.64218359e+01] [-5.98392327e-02 4.85099804e-03 9.98196240e-01 -1.90220933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.610714057 meters 0.041583339331532604 Centerline is valid? [True, True] Translation: X:271.09, Y:-36.42, Z:-19.02 [[ 9.96566658e-01 5.68078933e-02 6.02308892e-02 2.71091453e+02] [-5.64078829e-02 9.98373122e-01 -8.32228297e-03 -3.64205027e+01] [-6.06056723e-02 4.89621278e-03 9.98149778e-01 -1.90232479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.640714057 meters 0.0444175669641128 Centerline is valid? [True, True] Translation: X:271.12, Y:-36.43, Z:-19.03 [[ 9.96481097e-01 5.76173016e-02 6.08742216e-02 2.71121968e+02] [-5.72092065e-02 9.98326645e-01 -8.42712320e-03 -3.64286819e+01] [-6.12579055e-02 4.91490305e-03 9.98109870e-01 -1.90254616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.670714057 meters 0.04185333993994842 Centerline is valid? [True, True] Translation: X:271.15, Y:-36.43, Z:-19.03 [[ 9.96389696e-01 5.87515300e-02 6.12848360e-02 2.71154646e+02] [-5.83390941e-02 9.98260645e-01 -8.49913229e-03 -3.64298203e+01] [-6.16775769e-02 4.89314603e-03 9.98084132e-01 -1.90279150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.700714057 meters 0.04546526927596075 Centerline is valid? [True, True] Translation: X:271.18, Y:-36.44, Z:-19.03 [[ 9.96369303e-01 5.92919050e-02 6.10956717e-02 2.71184577e+02] [-5.88825265e-02 9.98228892e-01 -8.48097205e-03 -3.64390391e+01] [-6.14903177e-02 4.85271271e-03 9.98095883e-01 -1.90305817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.730714057 meters 0.04585448769544542 Centerline is valid? [True, True] Translation: X:271.22, Y:-36.44, Z:-19.03 [[ 9.96334375e-01 6.00167063e-02 6.09574326e-02 2.71215905e+02] [-5.96096585e-02 9.98185778e-01 -8.47592866e-03 -3.64442946e+01] [-6.13555396e-02 4.81120734e-03 9.98104378e-01 -1.90334401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.76071405700003 meters 0.04383636604064132 Centerline is valid? [True, True] Translation: X:271.25, Y:-36.45, Z:-19.04 [[ 9.96361722e-01 5.98060949e-02 6.07169636e-02 2.71248037e+02] [-5.94009654e-02 9.98198377e-01 -8.45725282e-03 -3.64459990e+01] [-6.11133698e-02 4.81983673e-03 9.98119194e-01 -1.90357467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.790714057 meters 0.045839063728884744 Centerline is valid? [True, True] Translation: X:271.28, Y:-36.45, Z:-19.04 [[ 9.96434494e-01 5.87979833e-02 6.05069934e-02 2.71277829e+02] [-5.83928340e-02 9.98257971e-01 -8.44400833e-03 -3.64538709e+01] [-6.08980791e-02 4.88072635e-03 9.98132057e-01 -1.90382812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.82071405700003 meters 0.04578316755574874 Centerline is valid? [True, True] Translation: X:271.31, Y:-36.46, Z:-19.04 [[ 9.96487050e-01 5.78638048e-02 6.05420451e-02 2.71309369e+02] [-5.74559914e-02 9.98312221e-01 -8.45680348e-03 -3.64591712e+01] [-6.09292063e-02 4.94859193e-03 9.98129823e-01 -1.90403915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.850714057 meters 0.04086951903920892 Centerline is valid? [True, True] Translation: X:271.34, Y:-36.46, Z:-19.04 [[ 9.96664471e-01 5.50343117e-02 6.02590856e-02 2.71340213e+02] [-5.46248900e-02 9.98471428e-01 -8.42197790e-03 -3.64575366e+01] [-6.06304730e-02 5.10224022e-03 9.98147240e-01 -1.90416415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.88071405700003 meters 0.04509491828066858 Centerline is valid? [True, True] Translation: X:271.37, Y:-36.47, Z:-19.04 [[ 9.96735447e-01 5.38364829e-02 6.01671158e-02 2.71369633e+02] [-5.34261630e-02 9.98536397e-01 -8.40886545e-03 -3.64689087e+01] [-6.05317587e-02 5.16691613e-03 9.98152899e-01 -1.90442427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.910714057 meters 0.05063055075452855 Centerline is valid? [True, True] Translation: X:271.40, Y:-36.48, Z:-19.05 [[ 9.96794515e-01 5.28757947e-02 6.00403672e-02 2.71399184e+02] [-5.24650552e-02 9.98587447e-01 -8.39810978e-03 -3.64822064e+01] [-6.03996137e-02 5.22116858e-03 9.98160621e-01 -1.90472910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.94071405700004 meters 0.04613109328270656 Centerline is valid? [True, True] Translation: X:271.43, Y:-36.48, Z:-19.05 [[ 9.96940735e-01 5.09679850e-02 5.92573639e-02 2.71430170e+02] [-5.05636408e-02 9.98686318e-01 -8.30404837e-03 -3.64826659e+01] [-5.96027591e-02 5.28237602e-03 9.98208199e-01 -1.90503801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.970714057 meters 0.05432454227514869 Centerline is valid? [True, True] Translation: X:271.46, Y:-36.50, Z:-19.05 [[ 9.96968907e-01 5.07811510e-02 5.89429681e-02 2.71458928e+02] [-5.03807698e-02 9.98695925e-01 -8.25997732e-03 -3.64993661e+01] [-5.92855533e-02 5.26534845e-03 9.98227178e-01 -1.90544910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.000714057 meters 0.08609899157633291 Centerline is valid? [True, True] Translation: X:271.48, Y:-36.55, Z:-19.06 [[ 9.96932301e-01 5.30761252e-02 5.75231411e-02 2.71481679e+02] [-5.26980825e-02 9.98577881e-01 -8.07021207e-03 -3.65455593e+01] [-5.78696719e-02 5.01409585e-03 9.98311555e-01 -1.90619867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.030714057 meters 0.046385918277969534 Centerline is valid? [True, True] Translation: X:271.52, Y:-36.50, Z:-19.06 [[ 9.96867362e-01 5.23346107e-02 5.93005199e-02 2.71521446e+02] [-5.19317098e-02 9.98616012e-01 -8.31617859e-03 -3.64983289e+01] [-5.96536726e-02 5.21054962e-03 9.98205535e-01 -1.90568648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.060714057 meters 0.04506093879538069 Centerline is valid? [True, True] Translation: X:271.55, Y:-36.50, Z:-19.06 [[ 9.96763153e-01 5.37128829e-02 5.98175858e-02 2.71552872e+02] [-5.33043493e-02 9.98542934e-01 -8.40569442e-03 -3.65010128e+01] [-6.01819217e-02 5.18994898e-03 9.98173933e-01 -1.90580010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.090714057 meters 0.04538240671061603 Centerline is valid? [True, True] Translation: X:271.58, Y:-36.51, Z:-19.06 [[ 9.96477637e-01 5.71491144e-02 6.13701645e-02 2.71581571e+02] [-5.67253601e-02 9.98352551e-01 -8.62652669e-03 -3.65059135e+01] [-6.17620587e-02 5.11489625e-03 9.98077796e-01 -1.90586018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.120714057 meters 0.043524707681495 Centerline is valid? [True, True] Translation: X:271.61, Y:-36.51, Z:-19.06 [[ 9.96321904e-01 5.90277479e-02 6.21159326e-02 2.71613234e+02] [-5.85973339e-02 9.98243529e-01 -8.72980725e-03 -3.65084263e+01] [-6.25221286e-02 5.05787014e-03 9.98030762e-01 -1.90602427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.150714057 meters 0.044871590774590235 Centerline is valid? [True, True] Translation: X:271.64, Y:-36.51, Z:-19.06 [[ 9.96150043e-01 6.08280766e-02 6.31271513e-02 2.71643500e+02] [-6.03868706e-02 9.98135588e-01 -8.87548855e-03 -3.65149722e+01] [-6.35493352e-02 5.02926718e-03 9.97966026e-01 -1.90624700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.180714057 meters 0.04440867991133464 Centerline is valid? [True, True] Translation: X:271.67, Y:-36.52, Z:-19.06 [[ 9.95905771e-01 6.40072166e-02 6.38339420e-02 2.71672959e+02] [-6.35623785e-02 9.97937488e-01 -8.97737926e-03 -3.65194024e+01] [-6.42769009e-02 4.88318662e-03 9.97920154e-01 -1.90649747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.210714057 meters 0.0444266876005407 Centerline is valid? [True, True] Translation: X:271.70, Y:-36.52, Z:-19.07 [[ 9.95839304e-01 6.54910838e-02 6.33640142e-02 2.71703240e+02] [-6.50558319e-02 9.97841844e-01 -8.91025396e-03 -3.65243949e+01] [-6.38108070e-02 4.75098245e-03 9.97950705e-01 -1.90677574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.240714057 meters 0.039384262469001875 Centerline is valid? [True, True] Translation: X:271.74, Y:-36.52, Z:-19.07 [[ 9.95790790e-01 6.72277453e-02 6.22987351e-02 2.71735559e+02] [-6.68102791e-02 9.97727220e-01 -8.76246920e-03 -3.65234046e+01] [-6.27462248e-02 4.56339025e-03 9.98019081e-01 -1.90710651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.270714057 meters 0.04565154241717456 Centerline is valid? [True, True] Translation: X:271.77, Y:-36.54, Z:-19.08 [[ 9.95820004e-01 6.75127809e-02 6.15186457e-02 2.71765291e+02] [-6.71060923e-02 9.97708302e-01 -8.65547177e-03 -3.65371232e+01] [-6.19620185e-02 4.49101601e-03 9.98068404e-01 -1.90751635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.300714057 meters 0.040173632410689636 Centerline is valid? [True, True] Translation: X:271.80, Y:-36.54, Z:-19.08 [[ 9.95837077e-01 6.74872679e-02 6.12697783e-02 2.71796710e+02] [-6.70832450e-02 9.97710061e-01 -8.62976152e-03 -3.65353002e+01] [-6.17118732e-02 4.48366093e-03 9.98083935e-01 -1.90774286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.330714057 meters 0.046984078629254106 Centerline is valid? [True, True] Translation: X:271.83, Y:-36.55, Z:-19.08 [[ 9.95884178e-01 6.71209970e-02 6.09054611e-02 2.71826047e+02] [-6.67210437e-02 9.97734784e-01 -8.57922633e-03 -3.65512978e+01] [-6.13433433e-02 4.48023983e-03 9.98106668e-01 -1.90818141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.360714057 meters 0.04732306480239739 Centerline is valid? [True, True] Translation: X:271.86, Y:-36.56, Z:-19.08 [[ 9.95888858e-01 6.70413489e-02 6.09166578e-02 2.71858034e+02] [-6.66402407e-02 9.97740050e-01 -8.59478514e-03 -3.65570871e+01] [-6.13551952e-02 4.49995002e-03 9.98105851e-01 -1.90843192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.390714057 meters 0.03738636906217036 Centerline is valid? [True, True] Translation: X:271.89, Y:-36.55, Z:-19.09 [[ 9.95932557e-01 6.67826063e-02 6.04849224e-02 2.71891338e+02] [-6.63857474e-02 9.97757405e-01 -8.54945123e-03 -3.65479218e+01] [-6.09202338e-02 4.49934005e-03 9.98132497e-01 -1.90853871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.420714057 meters 0.03846470659342688 Centerline is valid? [True, True] Translation: X:271.92, Y:-36.56, Z:-19.09 [[ 9.95973312e-01 6.64170553e-02 6.02157467e-02 2.71921493e+02] [-6.60230233e-02 9.97781793e-01 -8.51204717e-03 -3.65560213e+01] [-6.06475208e-02 4.50214617e-03 9.98149092e-01 -1.90883059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.450714057 meters 0.03889558236364226 Centerline is valid? [True, True] Translation: X:271.95, Y:-36.56, Z:-19.09 [[ 9.95962661e-01 6.65742354e-02 6.02183378e-02 2.71952766e+02] [-6.61795880e-02 9.97771295e-01 -8.52667928e-03 -3.65618990e+01] [-6.06517861e-02 4.50702941e-03 9.98148810e-01 -1.90905585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.480714057 meters 0.04031534486072685 Centerline is valid? [True, True] Translation: X:271.98, Y:-36.57, Z:-19.09 [[ 9.95952522e-01 6.62793633e-02 6.07093043e-02 2.71983648e+02] [-6.58767301e-02 9.97790604e-01 -8.61203078e-03 -3.65695074e+01] [-6.11459733e-02 4.57784333e-03 9.98118336e-01 -1.90919819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.51071405700003 meters 0.04111212965988928 Centerline is valid? [True, True] Translation: X:272.01, Y:-36.58, Z:-19.09 [[ 9.95910092e-01 6.64879762e-02 6.11754679e-02 2.72013727e+02] [-6.60786184e-02 9.97776555e-01 -8.69271399e-03 -3.65761958e+01] [-6.16174085e-02 4.61477119e-03 9.98089174e-01 -1.90937532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.540714057 meters 0.041131016957673495 Centerline is valid? [True, True] Translation: X:272.05, Y:-36.58, Z:-19.10 [[ 9.95842384e-01 6.65383557e-02 6.22140988e-02 2.72045829e+02] [-6.61141319e-02 9.97772775e-01 -8.85498808e-03 -3.65825070e+01] [-6.26647303e-02 4.70494130e-03 9.98023544e-01 -1.90953786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.57071405700003 meters 0.042186528344491415 Centerline is valid? [True, True] Translation: X:272.08, Y:-36.59, Z:-19.10 [[ 9.95665776e-01 6.71378616e-02 6.43596926e-02 2.72076258e+02] [-6.66839725e-02 9.97731942e-01 -9.17716944e-03 -3.65910801e+01] [-6.48298566e-02 4.84563356e-03 9.97884567e-01 -1.90960361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.600714057 meters 0.04261152180315197 Centerline is valid? [True, True] Translation: X:272.11, Y:-36.60, Z:-19.10 [[ 9.95585974e-01 6.76951202e-02 6.50072177e-02 2.72108006e+02] [-6.72322213e-02 9.97694153e-01 -9.28464743e-03 -3.65968791e+01] [-6.54858464e-02 4.87308511e-03 9.97841599e-01 -1.90971586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.63071405700003 meters 0.043781332749610456 Centerline is valid? [True, True] Translation: X:272.14, Y:-36.61, Z:-19.10 [[ 9.95345932e-01 6.82227137e-02 6.80597977e-02 2.72138484e+02] [-6.77152505e-02 9.97657162e-01 -9.73819806e-03 -3.66056137e+01] [-6.85647109e-02 5.08418958e-03 9.97633716e-01 -1.90968310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.660714057 meters 0.043580011066973186 Centerline is valid? [True, True] Translation: X:272.17, Y:-36.61, Z:-19.10 [[ 9.95249997e-01 6.87701079e-02 6.89065778e-02 2.72170075e+02] [-6.82505280e-02 9.97619398e-01 -9.86924513e-03 -3.66110595e+01] [-6.94212478e-02 5.11945587e-03 9.97574299e-01 -1.90983698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.69071405700004 meters 0.043973089038093716 Centerline is valid? [True, True] Translation: X:272.20, Y:-36.62, Z:-19.10 [[ 9.95250393e-01 6.88927462e-02 6.87782235e-02 2.72202290e+02] [-6.83742278e-02 9.97610943e-01 -9.86766417e-03 -3.66176930e+01] [-6.92937189e-02 5.11813873e-03 9.97583172e-01 -1.91007659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.720714057 meters 0.043312043983263 Centerline is valid? [True, True] Translation: X:272.23, Y:-36.62, Z:-19.10 [[ 9.95268612e-01 6.92571190e-02 6.81457431e-02 2.72234694e+02] [-6.87476668e-02 9.97585987e-01 -9.79571894e-03 -3.66245992e+01] [-6.86596616e-02 5.06451075e-03 9.97627286e-01 -1.91040294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.750714057 meters 0.040314586836221224 Centerline is valid? [True, True] Translation: X:272.27, Y:-36.63, Z:-19.11 [[ 9.95209854e-01 6.97272150e-02 6.85234413e-02 2.72266988e+02] [-6.92118615e-02 9.97553164e-01 -9.86928482e-03 -3.66258451e+01] [-6.90439334e-02 5.07937458e-03 9.97600689e-01 -1.91050319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.780714057 meters 0.046722252490138255 Centerline is valid? [True, True] Translation: X:272.30, Y:-36.64, Z:-19.10 [[ 9.95007528e-01 7.07824600e-02 7.03552632e-02 2.72297300e+02] [-7.02404542e-02 9.97478436e-01 -1.01512920e-02 -3.66392885e+01] [-7.08963913e-02 5.15882628e-03 9.97470345e-01 -1.91047951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.810714057 meters 0.04250061042094088 Centerline is valid? [True, True] Translation: X:272.33, Y:-36.64, Z:-19.10 [[ 9.94507371e-01 7.38808453e-02 7.41397976e-02 2.72328565e+02] [-7.32860223e-02 9.97253398e-01 -1.07153602e-02 -3.66393392e+01] [-7.47278249e-02 5.22309381e-03 9.97190289e-01 -1.91029823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.840714057 meters 0.04055005605145954 Centerline is valid? [True, True] Translation: X:272.36, Y:-36.64, Z:-19.10 [[ 9.94246281e-01 7.62069468e-02 7.52783779e-02 2.72360456e+02] [-7.56001604e-02 9.97078836e-01 -1.08816838e-02 -3.66415601e+01] [-7.58877372e-02 5.12801618e-03 9.97103182e-01 -1.91041723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.870714057 meters 0.037050069241038396 Centerline is valid? [True, True] Translation: X:272.39, Y:-36.64, Z:-19.11 [[ 9.93952335e-01 8.12497564e-02 7.38730840e-02 2.72391268e+02] [-8.06789171e-02 9.96682883e-01 -1.06837742e-02 -3.66418609e+01] [-7.44960924e-02 4.65916188e-03 9.97210421e-01 -1.91089547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.900714057 meters 0.03774843885060377 Centerline is valid? [True, True] Translation: X:272.42, Y:-36.65, Z:-19.11 [[ 9.93872658e-01 8.41991686e-02 7.16075348e-02 2.72420049e+02] [-8.36704963e-02 9.96439662e-01 -1.03560673e-02 -3.66483443e+01] [-7.22245600e-02 4.30117416e-03 9.97379122e-01 -1.91124494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.930714057 meters 0.03448375200311041 Centerline is valid? [True, True] Translation: X:272.45, Y:-36.65, Z:-19.12 [[ 9.93651083e-01 8.78252000e-02 7.03154227e-02 2.72451388e+02] [-8.73245035e-02 9.96128013e-01 -1.01692397e-02 -3.66474367e+01] [-7.09362778e-02 3.96441670e-03 9.97472971e-01 -1.91159332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.960714057 meters 0.03442548218296544 Centerline is valid? [True, True] Translation: X:272.48, Y:-36.65, Z:-19.12 [[ 9.93023975e-01 9.46994648e-02 7.02523744e-02 2.72480089e+02] [-9.42167114e-02 9.95499855e-01 -1.01612249e-02 -3.66496587e+01] [-7.08984911e-02 3.47139226e-03 9.97477495e-01 -1.91192155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.990714057 meters 0.031266722293420715 Centerline is valid? [True, True] Translation: X:272.51, Y:-36.65, Z:-19.12 [[ 9.92651488e-01 9.78727040e-02 7.11614839e-02 2.72509758e+02] [-9.73857032e-02 9.95193524e-01 -1.02895256e-02 -3.66503364e+01] [-7.18265116e-02 3.28380172e-03 9.97411735e-01 -1.91194124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.020714057 meters 0.02856875998883385 Centerline is valid? [True, True] Translation: X:272.54, Y:-36.65, Z:-19.12 [[ 9.92033079e-01 1.03373318e-01 7.20022698e-02 2.72540661e+02] [-1.02889331e-01 9.94638349e-01 -1.04086454e-02 -3.66497966e+01] [-7.26921950e-02 2.91745521e-03 9.97350156e-01 -1.91200541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.050714057 meters 0.02856875998883385 Centerline is valid? [True, True] Translation: X:272.57, Y:-36.65, Z:-19.12 [[ 9.92043861e-01 1.03269674e-01 7.20024510e-02 2.72567808e+02] [-1.02785506e-01 9.94649097e-01 -1.04073917e-02 -3.66536285e+01] [-7.26919408e-02 2.92378069e-03 9.97350156e-01 -1.91219425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.080714057 meters 0.028643555320217628 Centerline is valid? [True, True] Translation: X:272.60, Y:-36.66, Z:-19.12 [[ 9.91849796e-01 1.05415852e-01 7.15645177e-02 2.72596677e+02] [-1.04943686e-01 9.94424446e-01 -1.03365127e-02 -3.66573796e+01] [-7.22551382e-02 2.74202371e-03 9.97382412e-01 -1.91242856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.110714057 meters 0.029289025913759002 Centerline is valid? [True, True] Translation: X:272.62, Y:-36.66, Z:-19.13 [[ 9.91764854e-01 1.06358017e-01 7.13473713e-02 2.72624386e+02] [-1.05891659e-01 9.94324347e-01 -1.02980689e-02 -3.66617925e+01] [-7.20377106e-02 2.65817129e-03 9.97398367e-01 -1.91278561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.140714057 meters 0.03358156896304987 Centerline is valid? [True, True] Translation: X:272.65, Y:-36.67, Z:-19.13 [[ 9.91752184e-01 1.07156464e-01 7.03213915e-02 2.72651649e+02] [-1.06705795e-01 9.94238880e-01 -1.01451073e-02 -3.66747819e+01] [-7.10033754e-02 2.55773231e-03 9.97472796e-01 -1.91319753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.170714057 meters 0.03155292316577122 Centerline is valid? [True, True] Translation: X:272.68, Y:-36.68, Z:-19.14 [[ 9.91809933e-01 1.06896625e-01 6.99011331e-02 2.72680092e+02] [-1.06450979e-01 9.94266853e-01 -1.00804164e-02 -3.66758329e+01] [-7.05779421e-02 2.55681308e-03 9.97502991e-01 -1.91359159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.200714057 meters 0.031170795195287634 Centerline is valid? [True, True] Translation: X:272.71, Y:-36.68, Z:-19.14 [[ 9.91926161e-01 1.06407934e-01 6.89916090e-02 2.72707268e+02] [-1.05973024e-01 9.94319283e-01 -9.94391147e-03 -3.66819044e+01] [-6.96577983e-02 2.55237652e-03 9.97567680e-01 -1.91390358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.230714057 meters 0.039020924585398145 Centerline is valid? [True, True] Translation: X:272.73, Y:-36.70, Z:-19.14 [[ 9.92373850e-01 1.02437727e-01 6.85613170e-02 2.72732688e+02] [-1.01999206e-01 9.94735458e-01 -9.87575069e-03 -3.67043784e+01] [-6.92120225e-02 2.80723684e-03 9.97598023e-01 -1.91444929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.26071405700003 meters 0.036015010970192766 Centerline is valid? [True, True] Translation: X:272.76, Y:-36.71, Z:-19.15 [[ 9.92661302e-01 1.00672204e-01 6.69973628e-02 2.72760824e+02] [-1.00249650e-01 9.94915536e-01 -9.64801810e-03 -3.67069752e+01] [-6.76280043e-02 2.86075205e-03 9.97706505e-01 -1.91475426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.290714057 meters 0.04025480313988275 Centerline is valid? [True, True] Translation: X:272.79, Y:-36.72, Z:-19.15 [[ 9.93433260e-01 9.46910286e-02 6.42181257e-02 2.72788029e+02] [-9.42908032e-02 9.95501803e-01 -9.24146677e-03 -3.67248832e+01] [-6.48043439e-02 3.12560181e-03 9.97893094e-01 -1.91515612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.32071405700003 meters 0.04143384574816981 Centerline is valid? [True, True] Translation: X:272.82, Y:-36.73, Z:-19.16 [[ 9.93771235e-01 9.18408211e-02 6.31189031e-02 2.72816480e+02] [-9.14485479e-02 9.95768386e-01 -9.08206412e-03 -3.67343246e+01] [-6.36859125e-02 3.25336205e-03 9.97964689e-01 -1.91555459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.350714057 meters 0.0393785795794189 Centerline is valid? [True, True] Translation: X:272.85, Y:-36.74, Z:-19.16 [[ 9.94121117e-01 8.94986253e-02 6.09360345e-02 2.72846505e+02] [-8.91288045e-02 9.95981535e-01 -8.76577424e-03 -3.67410098e+01] [-6.14756899e-02 3.28308538e-03 9.98103181e-01 -1.91575768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.38071405700003 meters 0.04391285840216534 Centerline is valid? [True, True] Translation: X:272.87, Y:-36.76, Z:-19.16 [[ 9.94305152e-01 8.82094781e-02 5.98026110e-02 2.72872645e+02] [-8.78509745e-02 9.96096480e-01 -8.60287032e-03 -3.67616313e+01] [-6.03280250e-02 3.30016062e-03 9.98173150e-01 -1.91594736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.410714057 meters 0.05072621556510155 Centerline is valid? [True, True] Translation: X:272.90, Y:-36.78, Z:-19.16 [[ 9.94400140e-01 8.76793758e-02 5.89973603e-02 2.72899145e+02] [-8.73296145e-02 9.96143327e-01 -8.48587518e-03 -3.67812445e+01] [-5.95138630e-02 3.28613873e-03 9.98222070e-01 -1.91624938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.44071405700004 meters 0.046264044756624614 Centerline is valid? [True, True] Translation: X:272.93, Y:-36.78, Z:-19.16 [[ 9.94672969e-01 8.50073037e-02 5.83047448e-02 2.72928923e+02] [-8.46611342e-02 9.96374508e-01 -8.38642958e-03 -3.67817506e+01] [-5.88062692e-02 3.40560898e-03 9.98263605e-01 -1.91648365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.470714057 meters 0.04072702735769621 Centerline is valid? [True, True] Translation: X:272.96, Y:-36.79, Z:-19.16 [[ 9.94323134e-01 8.81599662e-02 5.95762193e-02 2.72958769e+02] [-8.78042226e-02 9.96100902e-01 -8.56805039e-03 -3.67895654e+01] [-6.00992848e-02 3.28836710e-03 9.98186988e-01 -1.91612774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.500714057 meters 0.040383983982606 Centerline is valid? [True, True] Translation: X:272.99, Y:-36.80, Z:-19.16 [[ 9.94197187e-01 8.90469039e-02 6.03539731e-02 2.72988934e+02] [-8.86834257e-02 9.96022043e-01 -8.67990432e-03 -3.67958099e+01] [-6.08868062e-02 3.27713937e-03 9.98139297e-01 -1.91639911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.530714057 meters 0.04155194592001625 Centerline is valid? [True, True] Translation: X:273.02, Y:-36.81, Z:-19.17 [[ 9.94161957e-01 8.95433160e-02 6.01996535e-02 2.73017753e+02] [-8.91826110e-02 9.95977664e-01 -8.65758705e-03 -3.68056571e+01] [-6.07327394e-02 3.23828140e-03 9.98148811e-01 -1.91680879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.560714057 meters 0.03911928945639259 Centerline is valid? [True, True] Translation: X:273.05, Y:-36.80, Z:-19.17 [[ 9.94210200e-01 8.91814628e-02 5.99395126e-02 2.73049642e+02] [-8.88231690e-02 9.96010102e-01 -8.62097793e-03 -3.68049622e+01] [-6.04691915e-02 3.24704673e-03 9.98164783e-01 -1.91738034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.590714057 meters 0.044514599735125414 Centerline is valid? [True, True] Translation: X:273.08, Y:-36.82, Z:-19.18 [[ 9.94410140e-01 8.74305950e-02 5.91976695e-02 2.73078107e+02] [-8.70780165e-02 9.96165107e-01 -8.51461519e-03 -3.68198650e+01] [-5.97150907e-02 3.31220404e-03 9.98209967e-01 -1.91827853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.620714057 meters 0.04468041377569538 Centerline is valid? [True, True] Translation: X:273.11, Y:-36.83, Z:-19.18 [[ 9.94320338e-01 8.90800980e-02 5.82391703e-02 2.73107664e+02] [-8.87409472e-02 9.96019411e-01 -8.38916528e-03 -3.68330029e+01] [-5.87546517e-02 3.17331852e-03 9.98267410e-01 -1.91814611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.650714057 meters 0.03793983233271853 Centerline is valid? [True, True] Translation: X:273.14, Y:-36.83, Z:-19.18 [[ 9.94361177e-01 8.87093845e-02 5.81076199e-02 2.73139235e+02] [-8.83703245e-02 9.96052405e-01 -8.38402768e-03 -3.68317410e+01] [-5.86219765e-02 3.20176240e-03 9.98275119e-01 -1.91830212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.680714057 meters 0.041590513390964104 Centerline is valid? [True, True] Translation: X:273.17, Y:-36.84, Z:-19.19 [[ 9.95127386e-01 8.19446209e-02 5.48321582e-02 2.73168204e+02] [-8.16323977e-02 9.96631088e-01 -7.91364422e-03 -3.68377292e+01] [-5.52959141e-02 3.39900353e-03 9.98464225e-01 -1.91909989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.710714057 meters 0.05166449364270559 Centerline is valid? [True, True] Translation: X:273.20, Y:-36.86, Z:-19.20 [[ 9.95282280e-01 8.00185582e-02 5.48654122e-02 2.73195174e+02] [-7.97030613e-02 9.96787202e-01 -7.91810575e-03 -3.68599266e+01] [-5.53227361e-02 3.50780903e-03 9.98462363e-01 -1.91952249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.740714057 meters 0.04598396201538103 Centerline is valid? [True, True] Translation: X:273.23, Y:-36.86, Z:-19.20 [[ 9.95512364e-01 7.76576845e-02 5.40778861e-02 2.73227132e+02] [-7.73477488e-02 9.96973632e-01 -7.80399543e-03 -3.68585149e+01] [-5.45202668e-02 3.58617118e-03 9.98506224e-01 -1.91970745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.770714057 meters 0.0465161024975612 Centerline is valid? [True, True] Translation: X:273.26, Y:-36.87, Z:-19.20 [[ 9.95485877e-01 7.75150307e-02 5.47657595e-02 2.73257108e+02] [-7.71969033e-02 9.96984537e-01 -7.90384477e-03 -3.68657748e+01] [-5.52132822e-02 3.64041880e-03 9.98467947e-01 -1.92020520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.800714057 meters 0.04665778079106724 Centerline is valid? [True, True] Translation: X:273.29, Y:-36.87, Z:-19.20 [[ 9.95395289e-01 7.78901553e-02 5.58689819e-02 2.73286830e+02] [-7.75592471e-02 9.96955081e-01 -8.07025504e-03 -3.68749901e+01] [-5.63274588e-02 3.69993767e-03 9.98405493e-01 -1.92034956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.830714057 meters 0.04888319401508326 Centerline is valid? [True, True] Translation: X:273.32, Y:-36.88, Z:-19.21 [[ 9.95151566e-01 7.77895958e-02 6.01842195e-02 2.73317838e+02] [-7.74048631e-02 9.96961772e-01 -8.70132730e-03 -3.68830534e+01] [-6.06782389e-02 4.00058821e-03 9.98149361e-01 -1.92081295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.860714057 meters 0.04007940145895451 Centerline is valid? [True, True] Translation: X:273.35, Y:-36.88, Z:-19.21 [[ 9.94949989e-01 7.93047210e-02 6.15246388e-02 2.73351169e+02] [-7.89045649e-02 9.96842352e-01 -8.91039186e-03 -3.68757214e+01] [-6.20370018e-02 4.01081943e-03 9.98065791e-01 -1.92094974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.890714057 meters 0.04284837651691856 Centerline is valid? [True, True] Translation: X:273.38, Y:-36.88, Z:-19.22 [[ 9.94715270e-01 8.06075279e-02 6.35921197e-02 2.73381284e+02] [-8.01824535e-02 9.96737630e-01 -9.21254717e-03 -3.68847824e+01] [-6.41272593e-02 4.06488917e-03 9.97933450e-01 -1.92154985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.920714057 meters 0.04343176459595025 Centerline is valid? [True, True] Translation: X:273.41, Y:-36.89, Z:-19.22 [[ 9.94464346e-01 8.28505207e-02 6.46255060e-02 2.73411472e+02] [-8.24151887e-02 9.96553959e-01 -9.37783996e-03 -3.68918457e+01] [-6.51797627e-02 3.99980421e-03 9.97865522e-01 -1.92192382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.950714057 meters 0.04605372245825942 Centerline is valid? [True, True] Translation: X:273.44, Y:-36.90, Z:-19.22 [[ 9.94381777e-01 8.19649693e-02 6.69822707e-02 2.73441635e+02] [-8.14951006e-02 9.96626325e-01 -9.72202164e-03 -3.69035446e+01] [-6.75531595e-02 4.20867426e-03 9.97706799e-01 -1.92201734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.980714057 meters 0.039552756309289935 Centerline is valid? [True, True] Translation: X:273.47, Y:-36.91, Z:-19.22 [[ 9.94049152e-01 8.32329086e-02 7.02749396e-02 2.73473848e+02] [-8.27176287e-02 9.96520661e-01 -1.02159388e-02 -3.69075921e+01] [-7.08807315e-02 4.34216894e-03 9.97475347e-01 -1.92171672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.01071405700003 meters 0.04520147902214337 Centerline is valid? [True, True] Translation: X:273.50, Y:-36.92, Z:-19.22 [[ 9.94143067e-01 8.06885228e-02 7.18952308e-02 2.73502830e+02] [-8.01412892e-02 9.96728539e-01 -1.04686550e-02 -3.69162459e+01] [-7.25047287e-02 4.64556433e-03 9.97357249e-01 -1.92219333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.040714057 meters 0.04635292459827256 Centerline is valid? [True, True] Translation: X:273.53, Y:-36.92, Z:-19.22 [[ 9.94254584e-01 7.83795781e-02 7.29003743e-02 2.73533268e+02] [-7.78107176e-02 9.96911636e-01 -1.06151834e-02 -3.69247820e+01] [-7.35072450e-02 4.88176436e-03 9.97282735e-01 -1.92227225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.07071405700003 meters 0.04742165155644327 Centerline is valid? [True, True] Translation: X:273.56, Y:-36.94, Z:-19.22 [[ 9.94542054e-01 7.25505488e-02 7.49834749e-02 2.73562227e+02] [-7.19319732e-02 9.97349749e-01 -1.09210633e-02 -3.69381461e+01] [-7.55770790e-02 5.46774742e-03 9.97124972e-01 -1.92232342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.100714057 meters 0.04867606969289328 Centerline is valid? [True, True] Translation: X:273.59, Y:-36.95, Z:-19.23 [[ 9.94613694e-01 7.00594930e-02 7.63889239e-02 2.73591385e+02] [-6.94100388e-02 9.97526155e-01 -1.11272880e-02 -3.69495687e+01] [-7.69795217e-02 5.76519485e-03 9.97016006e-01 -1.92253023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.13071405700003 meters 0.05107422165758783 Centerline is valid? [True, True] Translation: X:273.62, Y:-36.96, Z:-19.23 [[ 9.94696272e-01 6.71445672e-02 7.79161924e-02 2.73618851e+02] [-6.64598209e-02 9.97724532e-01 -1.13512443e-02 -3.69642678e+01] [-7.85010710e-02 6.11274423e-03 9.96895288e-01 -1.92271274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.160714057 meters 0.05113464193532369 Centerline is valid? [True, True] Translation: X:273.65, Y:-36.97, Z:-19.23 [[ 9.94785386e-01 6.62840314e-02 7.75142738e-02 2.73650091e+02] [-6.56034420e-02 9.97781826e-01 -1.12967131e-02 -3.69695210e+01] [-7.80911254e-02 6.15260189e-03 9.96927240e-01 -1.92286314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.19071405700004 meters 0.05251158027498666 Centerline is valid? [True, True] Translation: X:273.68, Y:-36.98, Z:-19.23 [[ 9.94771204e-01 6.53746234e-02 7.84627908e-02 2.73679363e+02] [-6.46731469e-02 9.97840798e-01 -1.14510601e-02 -3.69798998e+01] [-7.90419825e-02 6.31674929e-03 9.96851275e-01 -1.92308345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.220714057 meters 0.052284151049543016 Centerline is valid? [True, True] Translation: X:273.71, Y:-36.99, Z:-19.23 [[ 9.94678018e-01 6.58126641e-02 7.92737896e-02 2.73711720e+02] [-6.50975072e-02 9.97811773e-01 -1.15749677e-02 -3.69879742e+01] [-7.98621000e-02 6.35283986e-03 9.96785677e-01 -1.92337414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.250714057 meters 0.052415548855512646 Centerline is valid? [True, True] Translation: X:273.74, Y:-36.99, Z:-19.24 [[ 9.94520062e-01 6.75608962e-02 7.97832749e-02 2.73743034e+02] [-6.68404930e-02 9.97695437e-01 -1.16689445e-02 -3.69938193e+01] [-8.03877736e-02 6.27224604e-03 9.96743931e-01 -1.92354092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.280714057 meters 0.04864573496728495 Centerline is valid? [True, True] Translation: X:273.78, Y:-36.99, Z:-19.24 [[ 9.94361297e-01 6.85758906e-02 8.08885522e-02 2.73775975e+02] [-6.78382754e-02 9.97626129e-01 -1.18353562e-02 -3.69934118e+01] [-8.15081533e-02 6.28128027e-03 9.96652882e-01 -1.92396738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.310714057 meters 0.04883258822569336 Centerline is valid? [True, True] Translation: X:273.81, Y:-37.00, Z:-19.24 [[ 9.94160724e-01 7.03902995e-02 8.17903431e-02 2.73805693e+02] [-6.96415552e-02 9.97500202e-01 -1.19749958e-02 -3.69995569e+01] [-8.24288073e-02 6.20906380e-03 9.96577613e-01 -1.92406838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.340714057 meters 0.0497845487904719 Centerline is valid? [True, True] Translation: X:273.84, Y:-37.01, Z:-19.24 [[ 9.93999890e-01 7.12044805e-02 8.30309568e-02 2.73837602e+02] [-7.04346649e-02 9.97442180e-01 -1.21677883e-02 -3.70064981e+01] [-8.36849796e-02 6.24652264e-03 9.96472682e-01 -1.92415763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.370714057 meters 0.04892912024079678 Centerline is valid? [True, True] Translation: X:273.87, Y:-37.01, Z:-19.24 [[ 9.93865357e-01 7.18663366e-02 8.40647424e-02 2.73868319e+02] [-7.10777601e-02 9.97394443e-01 -1.23400287e-02 -3.70133662e+01] [-8.47325396e-02 6.28919348e-03 9.96383883e-01 -1.92437748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.400714057 meters 0.05254238372484787 Centerline is valid? [True, True] Translation: X:273.90, Y:-37.02, Z:-19.24 [[ 9.93794249e-01 7.22185625e-02 8.46018289e-02 2.73898467e+02] [-7.14195802e-02 9.97368823e-01 -1.24367835e-02 -3.70213409e+01] [-8.52773932e-02 6.31737680e-03 9.96337221e-01 -1.92446735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.430714057 meters 0.05570069254068901 Centerline is valid? [True, True] Translation: X:273.93, Y:-37.03, Z:-19.25 [[ 9.93796560e-01 7.09158848e-02 8.56699191e-02 2.73927802e+02] [-7.00908358e-02 9.97460982e-01 -1.26041507e-02 -3.70321451e+01] [-8.63462361e-02 6.52128536e-03 9.96243846e-01 -1.92459650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.460714057 meters 0.053184481768136595 Centerline is valid? [True, True] Translation: X:273.96, Y:-37.03, Z:-19.25 [[ 9.93957780e-01 6.99933300e-02 8.45509602e-02 2.73960231e+02] [-6.91857968e-02 9.97526138e-01 -1.24471095e-02 -3.70312663e+01] [-8.52130074e-02 6.52217577e-03 9.96341410e-01 -1.92503690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.490714057 meters 0.05228400560659858 Centerline is valid? [True, True] Translation: X:273.99, Y:-37.04, Z:-19.25 [[ 9.93971734e-01 6.90494472e-02 8.51608193e-02 2.73991712e+02] [-6.82251571e-02 9.97590944e-01 -1.25553684e-02 -3.70355434e+01] [-8.58226033e-02 6.66957099e-03 9.96288110e-01 -1.92530996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.520714057 meters 0.05652093054093842 Centerline is valid? [True, True] Translation: X:274.02, Y:-37.05, Z:-19.25 [[ 9.94078547e-01 6.86564868e-02 8.42266524e-02 2.74021719e+02] [-6.78482218e-02 9.97618284e-01 -1.24248650e-02 -3.70457248e+01] [-8.48790960e-02 6.63666319e-03 9.96369155e-01 -1.92541649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.550714057 meters 0.060533342113280035 Centerline is valid? [True, True] Translation: X:274.05, Y:-37.06, Z:-19.26 [[ 9.94089902e-01 6.74265598e-02 8.50818738e-02 2.74050137e+02] [-6.65964543e-02 9.97700929e-01 -1.25605915e-02 -3.70579698e+01] [-8.57331820e-02 6.82020602e-03 9.96294789e-01 -1.92551382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.580714057 meters 0.05242542089628414 Centerline is valid? [True, True] Translation: X:274.08, Y:-37.06, Z:-19.26 [[ 9.93980278e-01 6.71191039e-02 8.65923373e-02 2.74082798e+02] [-6.62575973e-02 9.97720597e-01 -1.27882843e-02 -3.70573695e+01] [-8.72532967e-02 6.97390220e-03 9.96161747e-01 -1.92589583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.610714057 meters 0.05555643564565572 Centerline is valid? [True, True] Translation: X:274.11, Y:-37.06, Z:-19.26 [[ 9.93815589e-01 7.00468940e-02 8.61626836e-02 2.74111791e+02] [-6.92034038e-02 9.97521200e-01 -1.27414805e-02 -3.70617988e+01] [-8.68416047e-02 6.69993100e-03 9.96199602e-01 -1.92598655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.640714057 meters 0.057989146105758865 Centerline is valid? [True, True] Translation: X:274.14, Y:-37.07, Z:-19.26 [[ 9.93683339e-01 7.20175203e-02 8.60633372e-02 2.74141753e+02] [-7.11832815e-02 9.97382053e-01 -1.27271542e-02 -3.70663240e+01] [-8.67546061e-02 6.52049034e-03 9.96208373e-01 -1.92614336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.670714057 meters 0.05517332737636575 Centerline is valid? [True, True] Translation: X:274.17, Y:-37.07, Z:-19.26 [[ 9.93492811e-01 7.34540666e-02 8.70432864e-02 2.74174491e+02] [-7.26052526e-02 9.97277559e-01 -1.28820467e-02 -3.70686891e+01] [-8.77525549e-02 6.47842101e-03 9.96121237e-01 -1.92631731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.700714057 meters 0.05424258636521205 Centerline is valid? [True, True] Translation: X:274.21, Y:-37.07, Z:-19.26 [[ 9.93186184e-01 7.73847745e-02 8.71366774e-02 2.74205248e+02] [-7.65483213e-02 9.96982352e-01 -1.29052355e-02 -3.70705641e+01] [-8.78723983e-02 6.14713526e-03 9.96112772e-01 -1.92642383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.730714057 meters 0.05082584465724406 Centerline is valid? [True, True] Translation: X:274.24, Y:-37.07, Z:-19.27 [[ 9.93020008e-01 7.85979075e-02 8.79410787e-02 2.74237097e+02] [-7.77501483e-02 9.96887729e-01 -1.30295943e-02 -3.70732160e+01] [-8.86914811e-02 6.10121587e-03 9.96040459e-01 -1.92672816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.76071405700003 meters 0.05107225597783986 Centerline is valid? [True, True] Translation: X:274.27, Y:-37.08, Z:-19.27 [[ 9.92846551e-01 8.02281792e-02 8.84260453e-02 2.74268418e+02] [-7.93758281e-02 9.96758426e-01 -1.31193970e-02 -3.70763257e+01] [-8.91919510e-02 6.00665749e-03 9.95996343e-01 -1.92698170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.790714057 meters 0.05271902455830608 Centerline is valid? [True, True] Translation: X:274.30, Y:-37.09, Z:-19.27 [[ 9.92826546e-01 7.93905213e-02 8.94013151e-02 2.74298668e+02] [-7.85151419e-02 9.96824576e-01 -1.32716792e-02 -3.70864781e+01] [-9.01710735e-02 6.15711850e-03 9.95907258e-01 -1.92704772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.82071405700003 meters 0.05236141580956789 Centerline is valid? [True, True] Translation: X:274.33, Y:-37.09, Z:-19.27 [[ 9.93097883e-01 7.71148893e-02 8.83735756e-02 2.74329450e+02] [-7.62491541e-02 9.97002267e-01 -1.31356680e-02 -3.70910677e+01] [-8.91216108e-02 6.30659371e-03 9.96000786e-01 -1.92734843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.850714057 meters 0.05237412261071918 Centerline is valid? [True, True] Translation: X:274.36, Y:-37.10, Z:-19.28 [[ 9.93157779e-01 7.63832535e-02 8.83358627e-02 2.74360634e+02] [-7.55149321e-02 9.97058154e-01 -1.31351348e-02 -3.70959486e+01] [-8.90792966e-02 6.37458463e-03 9.96004138e-01 -1.92752607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.88071405700003 meters 0.04960131958727571 Centerline is valid? [True, True] Translation: X:274.39, Y:-37.10, Z:-19.28 [[ 9.93434298e-01 7.35698794e-02 8.76114593e-02 2.74391156e+02] [-7.27040786e-02 9.97268346e-01 -1.30369554e-02 -3.71000609e+01] [-8.83312624e-02 6.58164823e-03 9.96069410e-01 -1.92789976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.910714057 meters 0.0552807524050308 Centerline is valid? [True, True] Translation: X:274.42, Y:-37.11, Z:-19.28 [[ 9.93815973e-01 7.00440529e-02 8.61605660e-02 2.74419352e+02] [-6.91933450e-02 9.97520836e-01 -1.28243203e-02 -3.71148646e+01] [-8.68452272e-02 6.78327659e-03 9.96198722e-01 -1.92803701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.94071405700004 meters 0.05519613412150782 Centerline is valid? [True, True] Translation: X:274.45, Y:-37.12, Z:-19.28 [[ 9.93912230e-01 6.94326157e-02 8.55429204e-02 2.74451475e+02] [-6.85912652e-02 9.97563508e-01 -1.27391760e-02 -3.71167350e+01] [-8.62190101e-02 6.79412573e-03 9.96253041e-01 -1.92832887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.970714057 meters 0.05519613412150782 Centerline is valid? [True, True] Translation: X:274.48, Y:-37.12, Z:-19.29 [[ 9.93892655e-01 6.97162698e-02 8.55396535e-02 2.74483700e+02] [-6.88740882e-02 9.97543741e-01 -1.27610790e-02 -3.71216158e+01] [-8.62192007e-02 6.79167704e-03 9.96253041e-01 -1.92855307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.000714057 meters 0.05622970134831383 Centerline is valid? [True, True] Translation: X:274.51, Y:-37.13, Z:-19.29 [[ 9.94126384e-01 6.67316755e-02 8.52033829e-02 2.74512590e+02] [-6.58835670e-02 9.97746106e-01 -1.27304475e-02 -3.71300553e+01] [-8.58608676e-02 7.04217096e-03 9.96282249e-01 -1.92864713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.030714057 meters 0.05331849411047354 Centerline is valid? [True, True] Translation: X:274.54, Y:-37.13, Z:-19.29 [[ 9.94194889e-01 6.51235757e-02 8.56471992e-02 2.74543258e+02] [-6.42606892e-02 9.97851098e-01 -1.27964819e-02 -3.71344525e+01] [-8.62965045e-02 7.21844886e-03 9.96243347e-01 -1.92887928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.060714057 meters 0.06396663193583436 Centerline is valid? [True, True] Translation: X:274.57, Y:-37.15, Z:-19.29 [[ 9.94159879e-01 6.54944314e-02 8.57707086e-02 2.74572557e+02] [-6.46299500e-02 9.97826944e-01 -1.28202872e-02 -3.71531288e+01] [-8.64239815e-02 7.20205853e-03 9.96232416e-01 -1.92871130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.090714057 meters 0.05228026632477794 Centerline is valid? [True, True] Translation: X:274.61, Y:-37.14, Z:-19.29 [[ 9.94214959e-01 6.66066412e-02 8.42625047e-02 2.74606505e+02] [-6.57749784e-02 9.97754788e-01 -1.26109208e-02 -3.71355615e+01] [-8.49132886e-02 6.99560169e-03 9.96363786e-01 -1.92927560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.120714057 meters 0.05263450897248861 Centerline is valid? [True, True] Translation: X:274.64, Y:-37.14, Z:-19.29 [[ 9.94130339e-01 6.78259576e-02 8.42882434e-02 2.74638441e+02] [-6.69975610e-02 9.97673306e-01 -1.26214434e-02 -3.71393597e+01] [-8.49481920e-02 6.90025308e-03 9.96361476e-01 -1.92939188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.150714057 meters 0.05223793060004174 Centerline is valid? [True, True] Translation: X:274.67, Y:-37.14, Z:-19.30 [[ 9.94003816e-01 6.87979833e-02 8.49897142e-02 2.74670194e+02] [-6.79573476e-02 9.97606777e-01 -1.27482665e-02 -3.71431225e+01] [-8.56633698e-02 6.89614996e-03 9.96300271e-01 -1.92952701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.180714057 meters 0.05261043102943655 Centerline is valid? [True, True] Translation: X:274.70, Y:-37.15, Z:-19.30 [[ 9.94210111e-01 6.78900832e-02 8.32898019e-02 2.74702237e+02] [-6.70779332e-02 9.97669259e-01 -1.25140115e-02 -3.71482382e+01] [-8.39452523e-02 6.85464895e-03 9.96446792e-01 -1.92983764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.210714057 meters 0.06649176576071962 Centerline is valid? [True, True] Translation: X:274.73, Y:-37.17, Z:-19.30 [[ 9.94226991e-01 6.69267968e-02 8.38659336e-02 2.74729755e+02] [-6.60984287e-02 9.97733318e-01 -1.26183916e-02 -3.71731854e+01] [-8.45203447e-02 7.00213907e-03 9.96397150e-01 -1.92970734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.240714057 meters 0.06999007548603207 Centerline is valid? [True, True] Translation: X:274.76, Y:-37.18, Z:-19.30 [[ 9.94571493e-01 6.44043379e-02 8.17289816e-02 2.74758548e+02] [-6.36091280e-02 9.97899097e-01 -1.22992513e-02 -3.71794940e+01] [-8.23494020e-02 7.03377551e-03 9.96578698e-01 -1.92995735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.270714057 meters 0.07248484858105261 Centerline is valid? [True, True] Translation: X:274.79, Y:-37.19, Z:-19.30 [[ 9.94650982e-01 6.37804108e-02 8.12495067e-02 2.74788709e+02] [-6.29924340e-02 9.97939097e-01 -1.22275098e-02 -3.71851169e+01] [-8.18619350e-02 7.04400043e-03 9.96618787e-01 -1.93010394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.300714057 meters 0.05459541087591972 Centerline is valid? [True, True] Translation: X:274.82, Y:-37.16, Z:-19.31 [[ 9.94909301e-01 6.10947856e-02 8.01430626e-02 2.74823405e+02] [-6.03193472e-02 9.98106231e-01 -1.20635107e-02 -3.71629399e+01] [-8.07283078e-02 7.16792174e-03 9.96710370e-01 -1.93071751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.330714057 meters 0.05419035957598079 Centerline is valid? [True, True] Translation: X:274.86, Y:-37.16, Z:-19.31 [[ 9.95052597e-01 6.03418362e-02 7.89252367e-02 2.74855452e+02] [-5.95871068e-02 9.98152353e-01 -1.18851769e-02 -3.71632634e+01] [-7.94965841e-02 7.12344961e-03 9.96809686e-01 -1.93100506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.360714057 meters 0.0565094772477324 Centerline is valid? [True, True] Translation: X:274.89, Y:-37.17, Z:-19.31 [[ 9.95066495e-01 5.99889318e-02 7.90189788e-02 2.74885891e+02] [-5.92297973e-02 9.98173226e-01 -1.19181339e-02 -3.71723809e+01] [-7.95895851e-02 7.17905760e-03 9.96801866e-01 -1.93117706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.390714057 meters 0.054270284869863336 Centerline is valid? [True, True] Translation: X:274.92, Y:-37.17, Z:-19.31 [[ 9.95037119e-01 6.11998310e-02 7.84583446e-02 2.74918465e+02] [-6.04538763e-02 9.98100648e-01 -1.18501102e-02 -3.71689988e+01] [-7.90345493e-02 7.04818847e-03 9.96846961e-01 -1.93131792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.420714057 meters 0.05701194028192556 Centerline is valid? [True, True] Translation: X:274.95, Y:-37.18, Z:-19.31 [[ 9.94904785e-01 6.24819445e-02 7.91231623e-02 2.74947843e+02] [-6.17269582e-02 9.98021479e-01 -1.19544842e-02 -3.71768581e+01] [-7.97135549e-02 7.00954137e-03 9.96793166e-01 -1.93141690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.450714057 meters 0.05256087425209472 Centerline is valid? [True, True] Translation: X:274.98, Y:-37.17, Z:-19.32 [[ 9.94802744e-01 6.39962177e-02 7.91958606e-02 2.74979802e+02] [-6.32444607e-02 9.97926313e-01 -1.19671214e-02 -3.71740826e+01] [-7.97974836e-02 6.89622571e-03 9.96787241e-01 -1.93162479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.480714057 meters 0.05221390169907649 Centerline is valid? [True, True] Translation: X:275.01, Y:-37.17, Z:-19.32 [[ 9.94729715e-01 6.66417555e-02 7.79209305e-02 2.75010990e+02] [-6.59219125e-02 9.97755282e-01 -1.17770454e-02 -3.71744897e+01] [-7.85308630e-02 6.57828024e-03 9.96889979e-01 -1.93191950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.51071405700003 meters 0.05264523211231892 Centerline is valid? [True, True] Translation: X:275.04, Y:-37.18, Z:-19.32 [[ 9.94712681e-01 6.81524929e-02 7.68239593e-02 2.75042824e+02] [-6.74571795e-02 9.97654586e-01 -1.16127212e-02 -3.71777864e+01] [-7.74352112e-02 6.36899347e-03 9.96977043e-01 -1.93213135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.540714057 meters 0.052030747307323585 Centerline is valid? [True, True] Translation: X:275.07, Y:-37.18, Z:-19.32 [[ 9.94567423e-01 7.00788599e-02 7.69713906e-02 2.75072057e+02] [-6.93863161e-02 9.97521972e-01 -1.16385191e-02 -3.71814342e+01] [-7.75962674e-02 6.23453075e-03 9.96965370e-01 -1.93231569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.57071405700003 meters 0.05018584154129019 Centerline is valid? [True, True] Translation: X:275.10, Y:-37.18, Z:-19.32 [[ 9.94456200e-01 7.16635604e-02 7.69493320e-02 2.75104339e+02] [-7.09761768e-02 9.97410157e-01 -1.16344607e-02 -3.71806567e+01] [-7.75838122e-02 6.10839217e-03 9.96967121e-01 -1.93249810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.600714057 meters 0.04664963189598206 Centerline is valid? [True, True] Translation: X:275.14, Y:-37.18, Z:-19.33 [[ 9.94444889e-01 7.21853192e-02 7.66070651e-02 2.75136581e+02] [-7.15051362e-02 9.97372910e-01 -1.15885472e-02 -3.71804828e+01] [-7.72423344e-02 6.04637291e-03 9.96994014e-01 -1.93279508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.63071405700003 meters 0.04699438056644393 Centerline is valid? [True, True] Translation: X:275.17, Y:-37.18, Z:-19.33 [[ 9.94208942e-01 7.51764773e-02 7.67924276e-02 2.75166434e+02] [-7.45004990e-02 9.97153112e-01 -1.16339064e-02 -3.71826798e+01] [-7.74484043e-02 5.84545959e-03 9.96979225e-01 -1.93282208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.660714057 meters 0.04720956119100767 Centerline is valid? [True, True] Translation: X:275.20, Y:-37.19, Z:-19.33 [[ 9.94176083e-01 7.60267450e-02 7.63796422e-02 2.75198310e+02] [-7.53603588e-02 9.97089199e-01 -1.15735019e-02 -3.71861047e+01] [-7.70372119e-02 5.75010151e-03 9.97011637e-01 -1.93299120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.69071405700004 meters 0.04912363038859673 Centerline is valid? [True, True] Translation: X:275.23, Y:-37.20, Z:-19.33 [[ 9.94179737e-01 7.61330999e-02 7.62259968e-02 2.75229648e+02] [-7.54682182e-02 9.97081087e-01 -1.15695538e-02 -3.71956198e+01] [-7.68843257e-02 5.74957580e-03 9.97023441e-01 -1.93316624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.720714057 meters 0.05237112484577634 Centerline is valid? [True, True] Translation: X:275.26, Y:-37.20, Z:-19.34 [[ 9.94328932e-01 7.61023387e-02 7.42859892e-02 2.75260832e+02] [-7.54694023e-02 9.97084150e-01 -1.12945312e-02 -3.72047784e+01] [-7.49289226e-02 5.62415991e-03 9.97173017e-01 -1.93350333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.750714057 meters 0.0474123375303133 Centerline is valid? [True, True] Translation: X:275.29, Y:-37.20, Z:-19.34 [[ 9.94505896e-01 7.42249691e-02 7.38151474e-02 2.75292291e+02] [-7.35936013e-02 9.97224966e-01 -1.12405364e-02 -3.72032401e+01] [-7.44446363e-02 5.74645717e-03 9.97208591e-01 -1.93387918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.780714057 meters 0.05234110119126851 Centerline is valid? [True, True] Translation: X:275.32, Y:-37.21, Z:-19.34 [[ 9.94712839e-01 7.28358738e-02 7.23968538e-02 2.75322636e+02] [-7.22248124e-02 9.97327428e-01 -1.10262593e-02 -3.72124238e+01] [-7.30064752e-02 5.73911247e-03 9.97314954e-01 -1.93391539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.810714057 meters 0.04954527652441356 Centerline is valid? [True, True] Translation: X:275.35, Y:-37.21, Z:-19.34 [[ 9.94836555e-01 7.12834824e-02 7.22419100e-02 2.75354194e+02] [-7.06703956e-02 9.97438951e-01 -1.10106308e-02 -3.72132554e+01] [-7.28417711e-02 5.84841366e-03 9.97326362e-01 -1.93414376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.840714057 meters 0.050088163579569064 Centerline is valid? [True, True] Translation: X:275.39, Y:-37.22, Z:-19.34 [[ 9.94860505e-01 7.10173068e-02 7.21742130e-02 2.75386179e+02] [-7.04044242e-02 9.97457836e-01 -1.10037652e-02 -3.72189359e+01] [-7.27721921e-02 5.86582755e-03 9.97331339e-01 -1.93435988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.870714057 meters 0.05165674911708427 Centerline is valid? [True, True] Translation: X:275.42, Y:-37.23, Z:-19.35 [[ 9.95004157e-01 6.94737878e-02 7.16946363e-02 2.75415404e+02] [-6.88638559e-02 9.97566000e-01 -1.09473435e-02 -3.72265137e+01] [-7.22806850e-02 5.95548316e-03 9.97366550e-01 -1.93450282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.900714057 meters 0.053022632460612694 Centerline is valid? [True, True] Translation: X:275.45, Y:-37.23, Z:-19.35 [[ 9.94888213e-01 7.03763561e-02 7.24196982e-02 2.75446156e+02] [-6.97562945e-02 9.97502760e-01 -1.10590676e-02 -3.72328473e+01] [-7.30171457e-02 5.95080624e-03 9.97312932e-01 -1.93460252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.930714057 meters 0.05337184996579092 Centerline is valid? [True, True] Translation: X:275.48, Y:-37.24, Z:-19.35 [[ 9.95014383e-01 6.94999283e-02 7.15271829e-02 2.75478020e+02] [-6.88917348e-02 9.97564177e-01 -1.09381037e-02 -3.72381847e+01] [-7.21131528e-02 5.95593880e-03 9.97378674e-01 -1.93476736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.960714057 meters 0.05496307311461088 Centerline is valid? [True, True] Translation: X:275.51, Y:-37.24, Z:-19.35 [[ 9.95047997e-01 6.86945981e-02 7.18368704e-02 2.75508306e+02] [-6.80786818e-02 9.97619420e-01 -1.09903063e-02 -3.72433138e+01] [-7.24208316e-02 6.04532280e-03 9.97355843e-01 -1.93482865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.990714057 meters 0.05581496249751191 Centerline is valid? [True, True] Translation: X:275.54, Y:-37.25, Z:-19.35 [[ 9.95020654e-01 6.89578986e-02 7.19632303e-02 2.75540548e+02] [-6.83402411e-02 9.97601285e-01 -1.10130804e-02 -3.72484531e+01] [-7.25500498e-02 6.04025792e-03 9.97346482e-01 -1.93487462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.020714057 meters 0.05446614708573877 Centerline is valid? [True, True] Translation: X:275.57, Y:-37.25, Z:-19.35 [[ 9.95184690e-01 6.66766098e-02 7.18447048e-02 2.75571883e+02] [-6.60537443e-02 9.97755283e-01 -1.10135405e-02 -3.72510551e+01] [-7.24177793e-02 6.21489518e-03 9.97355022e-01 -1.93514155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.050714057 meters 0.058673684863154794 Centerline is valid? [True, True] Translation: X:275.60, Y:-37.26, Z:-19.35 [[ 9.95284385e-01 6.59194225e-02 7.11591359e-02 2.75601357e+02] [-6.53062765e-02 9.97805607e-01 -1.09114893e-02 -3.72628515e+01] [-7.17222639e-02 6.21289667e-03 9.97405292e-01 -1.93543261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.080714057 meters 0.055837139604864555 Centerline is valid? [True, True] Translation: X:275.63, Y:-37.26, Z:-19.36 [[ 9.95305796e-01 6.61260079e-02 7.06662896e-02 2.75634301e+02] [-6.55207330e-02 9.97792200e-01 -1.08517033e-02 -3.72646080e+01] [-7.12278524e-02 6.17065606e-03 9.97440984e-01 -1.93571919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.110714057 meters 0.07565532852851324 Centerline is valid? [True, True] Translation: X:275.66, Y:-37.30, Z:-19.36 [[ 9.94931499e-01 6.77797558e-02 7.42779719e-02 2.75660840e+02] [-6.71139482e-02 9.97679888e-01 -1.14262415e-02 -3.72964987e+01] [-7.48801065e-02 6.38323958e-03 9.97172113e-01 -1.93565393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.140714057 meters 0.06065175412134781 Centerline is valid? [True, True] Translation: X:275.69, Y:-37.28, Z:-19.36 [[ 9.95604638e-01 6.25272630e-02 6.97262222e-02 2.75694476e+02] [-6.19278002e-02 9.98022972e-01 -1.07282419e-02 -3.72790859e+01] [-7.02591791e-02 6.36309583e-03 9.97508476e-01 -1.93614387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.170714057 meters 0.06223398529263533 Centerline is valid? [True, True] Translation: X:275.72, Y:-37.28, Z:-19.36 [[ 9.95715213e-01 6.11088353e-02 6.94040657e-02 2.75724469e+02] [-6.05114780e-02 9.98110375e-01 -1.06789608e-02 -3.72848095e+01] [-6.99254970e-02 6.43346109e-03 9.97531471e-01 -1.93633538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.200714057 meters 0.06449733303431017 Centerline is valid? [True, True] Translation: X:275.75, Y:-37.29, Z:-19.37 [[ 9.95910972e-01 5.87179572e-02 6.86552005e-02 2.75754352e+02] [-5.81277444e-02 9.98253249e-01 -1.05648665e-02 -3.72916884e+01] [-6.91556243e-02 6.53089447e-03 9.97584506e-01 -1.93655922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.230714057 meters 0.062134602368169534 Centerline is valid? [True, True] Translation: X:275.79, Y:-37.29, Z:-19.37 [[ 9.95961423e-01 5.79757662e-02 6.85540300e-02 2.75786858e+02] [-5.73854954e-02 9.98296348e-01 -1.05501611e-02 -3.72935896e+01] [-6.90488915e-02 6.57354645e-03 9.97591619e-01 -1.93671871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.26071405700003 meters 0.06710412282694529 Centerline is valid? [True, True] Translation: X:275.82, Y:-37.31, Z:-19.37 [[ 9.96011240e-01 5.72501282e-02 6.84399937e-02 2.75816795e+02] [-5.66598014e-02 9.98337934e-01 -1.05373426e-02 -3.73050104e+01] [-6.89295062e-02 6.61751518e-03 9.97599585e-01 -1.93694753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.290714057 meters 0.06902572125680678 Centerline is valid? [True, True] Translation: X:275.85, Y:-37.31, Z:-19.37 [[ 9.96240352e-01 5.53005650e-02 6.66858930e-02 2.75847411e+02] [-5.47348756e-02 9.98447985e-01 -1.02817249e-02 -3.73106777e+01] [-6.71509808e-02 6.59302520e-03 9.97721042e-01 -1.93733591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.32071405700003 meters 0.07061310509416034 Centerline is valid? [True, True] Translation: X:275.88, Y:-37.32, Z:-19.38 [[ 9.96365192e-01 5.38680346e-02 6.59896913e-02 2.75877440e+02] [-5.33108663e-02 9.98526109e-01 -1.01765510e-02 -3.73160339e+01] [-6.64406204e-02 6.62159360e-03 9.97768409e-01 -1.93759406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.350714057 meters 0.059807368409243014 Centerline is valid? [True, True] Translation: X:275.91, Y:-37.30, Z:-19.38 [[ 9.96510563e-01 5.17824725e-02 6.54619981e-02 2.75911027e+02] [-5.12296805e-02 9.98635863e-01 -1.00961840e-02 -3.73040204e+01] [-6.58955044e-02 6.70735679e-03 9.97803986e-01 -1.93774687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.38071405700003 meters 0.07417677977796337 Centerline is valid? [True, True] Translation: X:275.94, Y:-37.33, Z:-19.38 [[ 9.96534337e-01 5.10522407e-02 6.56733167e-02 2.75938178e+02] [-5.04941464e-02 9.98672971e-01 -1.01310874e-02 -3.73278994e+01] [-6.61033810e-02 6.77985836e-03 9.97789746e-01 -1.93805226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.410714057 meters 0.07389370197342715 Centerline is valid? [True, True] Translation: X:275.97, Y:-37.33, Z:-19.38 [[ 9.96586927e-01 5.08566064e-02 6.50238552e-02 2.75970154e+02] [-5.03089926e-02 9.98683309e-01 -1.00326192e-02 -3.73325681e+01] [-6.54484639e-02 6.72709251e-03 9.97833275e-01 -1.93833652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.44071405700004 meters 0.0702692803738864 Centerline is valid? [True, True] Translation: X:276.00, Y:-37.33, Z:-19.39 [[ 9.96653661e-01 5.04920971e-02 6.42808614e-02 2.76002993e+02] [-4.99552708e-02 9.98702068e-01 -9.93232402e-03 -3.73317743e+01] [-6.46989331e-02 6.68791925e-03 9.97882418e-01 -1.93863482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.470714057 meters 0.07858189686860655 Centerline is valid? [True, True] Translation: X:276.03, Y:-37.35, Z:-19.39 [[ 9.96656423e-01 5.13185964e-02 6.35796781e-02 2.76032057e+02] [-5.07941599e-02 9.98660680e-01 -9.83865747e-03 -3.73458737e+01] [-6.39994307e-02 6.57628483e-03 9.97928267e-01 -1.93888419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.500714057 meters 0.07854848762995299 Centerline is valid? [True, True] Translation: X:276.06, Y:-37.35, Z:-19.39 [[ 9.96677694e-01 5.24214769e-02 6.23342785e-02 2.76063522e+02] [-5.19186669e-02 9.98604594e-01 -9.66002123e-03 -3.73456654e+01] [-6.27536895e-02 6.39161504e-03 9.98008578e-01 -1.93911685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.530714057 meters 0.0797557629905809 Centerline is valid? [True, True] Translation: X:276.09, Y:-37.35, Z:-19.39 [[ 9.96660789e-01 5.32394650e-02 6.19098703e-02 2.76093315e+02] [-5.27449237e-02 9.98561908e-01 -9.59628003e-03 -3.73508859e+01] [-6.23317390e-02 6.29880464e-03 9.98035610e-01 -1.93932715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.560714057 meters 0.05857983285690102 Centerline is valid? [True, True] Translation: X:276.13, Y:-37.33, Z:-19.39 [[ 9.96632672e-01 5.35363504e-02 6.21061760e-02 2.76130126e+02] [-5.30392700e-02 9.98546030e-01 -9.62610850e-03 -3.73267941e+01] [-6.25312222e-02 6.29962799e-03 9.98023126e-01 -1.93942333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.590714057 meters 0.0808182212187986 Centerline is valid? [True, True] Translation: X:276.16, Y:-37.36, Z:-19.40 [[ 9.96526809e-01 5.46298631e-02 6.28482032e-02 2.76155694e+02] [-5.41217269e-02 9.98486640e-01 -9.76060618e-03 -3.73609548e+01] [-6.32863118e-02 6.32525244e-03 9.97975367e-01 -1.93979795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.620714057 meters 0.0592244270209872 Centerline is valid? [True, True] Translation: X:276.19, Y:-37.34, Z:-19.40 [[ 9.96571948e-01 5.46973931e-02 6.20688922e-02 2.76192632e+02] [-5.42018725e-02 9.98483459e-01 -9.64052321e-03 -3.73356325e+01] [-6.25020736e-02 6.24322481e-03 9.98025307e-01 -1.93993001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.650714057 meters 0.059799619386380155 Centerline is valid? [True, True] Translation: X:276.23, Y:-37.34, Z:-19.40 [[ 9.96674501e-01 5.50840755e-02 6.00473386e-02 2.76225142e+02] [-5.46201080e-02 9.98463504e-01 -9.34213059e-03 -3.73380062e+01] [-6.04696787e-02 6.03127123e-03 9.98151813e-01 -1.94032575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.680714057 meters 0.05899485374934623 Centerline is valid? [True, True] Translation: X:276.26, Y:-37.34, Z:-19.41 [[ 9.96678712e-01 5.53304476e-02 5.97501979e-02 2.76258719e+02] [-5.48712865e-02 9.98450129e-01 -9.29954027e-03 -3.73396021e+01] [-6.01721406e-02 5.99008359e-03 9.98170042e-01 -1.94060886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.710714057 meters 0.059732192210286826 Centerline is valid? [True, True] Translation: X:276.29, Y:-37.34, Z:-19.41 [[ 9.96623045e-01 5.68948249e-02 5.92071327e-02 2.76288693e+02] [-5.64455884e-02 9.98362975e-01 -9.23389576e-03 -3.73432105e+01] [-5.96355700e-02 5.86073187e-03 9.98203011e-01 -1.94080871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.740714057 meters 0.061340143769030894 Centerline is valid? [True, True] Translation: X:276.32, Y:-37.35, Z:-19.41 [[ 9.96575074e-01 5.75892822e-02 5.93430408e-02 2.76319500e+02] [-5.71392385e-02 9.98323326e-01 -9.25437867e-03 -3.73486859e+01] [-5.97764949e-02 5.83186695e-03 9.98194751e-01 -1.94104683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.770714057 meters 0.059917839462273005 Centerline is valid? [True, True] Translation: X:276.35, Y:-37.35, Z:-19.41 [[ 9.96514518e-01 5.82088107e-02 5.97540829e-02 2.76351848e+02] [-5.77527955e-02 9.98287299e-01 -9.33186783e-03 -3.73497611e+01] [-6.01949390e-02 5.84837644e-03 9.98169508e-01 -1.94115352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.800714057 meters 0.05919463531570184 Centerline is valid? [True, True] Translation: X:276.38, Y:-37.35, Z:-19.41 [[ 9.96462998e-01 5.95333988e-02 5.93065668e-02 2.76384190e+02] [-5.90855682e-02 9.98209806e-01 -9.27789414e-03 -3.73484169e+01] [-5.97527411e-02 5.74091601e-03 9.98196700e-01 -1.94134027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.830714057 meters 0.059173488215782166 Centerline is valid? [True, True] Translation: X:276.42, Y:-37.35, Z:-19.42 [[ 9.96417640e-01 6.02480734e-02 5.93469123e-02 2.76416644e+02] [-5.98007985e-02 9.98167141e-01 -9.28568353e-03 -3.73510302e+01] [-5.97975823e-02 5.70342612e-03 9.98194230e-01 -1.94154992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.860714057 meters 0.059173488215782166 Centerline is valid? [True, True] Translation: X:276.45, Y:-37.36, Z:-19.42 [[ 9.96401369e-01 6.05186935e-02 5.93447564e-02 2.76448887e+02] [-6.00710820e-02 9.98150783e-01 -9.29944016e-03 -3.73561814e+01] [-5.97978051e-02 5.70107117e-03 9.98194230e-01 -1.94177443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.890714057 meters 0.06182369923349665 Centerline is valid? [True, True] Translation: X:276.48, Y:-37.36, Z:-19.42 [[ 9.96318643e-01 6.19730082e-02 5.92326662e-02 2.76479247e+02] [-6.15285246e-02 9.98061994e-01 -9.30040726e-03 -3.73598977e+01] [-5.96942471e-02 5.62167057e-03 9.98200878e-01 -1.94200443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.920714057 meters 0.06217550656851458 Centerline is valid? [True, True] Translation: X:276.51, Y:-37.36, Z:-19.42 [[ 9.96299251e-01 6.24459699e-02 5.90618602e-02 2.76511622e+02] [-6.20048568e-02 9.98032762e-01 -9.27385972e-03 -3.73623859e+01] [-5.95247867e-02 5.57741731e-03 9.98211246e-01 -1.94230537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.950714057 meters 0.05693091741643261 Centerline is valid? [True, True] Translation: X:276.54, Y:-37.36, Z:-19.42 [[ 9.96220777e-01 6.35620172e-02 5.91948804e-02 2.76543696e+02] [-6.31199244e-02 9.97962520e-01 -9.31044551e-03 -3.73581993e+01] [-5.96660627e-02 5.53888288e-03 9.98203026e-01 -1.94246180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.980714057 meters 0.0575754941720057 Centerline is valid? [True, True] Translation: X:276.57, Y:-37.36, Z:-19.43 [[ 9.96135845e-01 6.54063004e-02 5.86122436e-02 2.76573640e+02] [-6.49759036e-02 9.97844227e-01 -9.22115713e-03 -3.73596602e+01] [-5.90890107e-02 5.37714165e-03 9.98238236e-01 -1.94281094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.01071405700003 meters 0.05731070753307704 Centerline is valid? [True, True] Translation: X:276.61, Y:-37.36, Z:-19.43 [[ 9.96092069e-01 6.64224328e-02 5.82121129e-02 2.76605332e+02] [-6.59996495e-02 9.97777622e-01 -9.15770876e-03 -3.73624448e+01] [-5.86910208e-02 5.27994202e-03 9.98262233e-01 -1.94301620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.040714057 meters 0.05840217338204582 Centerline is valid? [True, True] Translation: X:276.64, Y:-37.36, Z:-19.43 [[ 9.95986947e-01 6.75111112e-02 5.87558596e-02 2.76636847e+02] [-6.70821766e-02 9.97704625e-01 -9.24462046e-03 -3.73643196e+01] [-5.92451074e-02 5.26605037e-03 9.98229576e-01 -1.94331447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.07071405700003 meters 0.057074180899782744 Centerline is valid? [True, True] Translation: X:276.67, Y:-37.37, Z:-19.43 [[ 9.95961569e-01 6.82993870e-02 5.82730436e-02 2.76669492e+02] [-6.78780164e-02 9.97651372e-01 -9.18231470e-03 -3.73658650e+01] [-5.87633284e-02 5.18977395e-03 9.98258452e-01 -1.94344532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.100714057 meters 0.05763356074280459 Centerline is valid? [True, True] Translation: X:276.70, Y:-37.37, Z:-19.44 [[ 9.95931732e-01 6.88094963e-02 5.81828063e-02 2.76701320e+02] [-6.83894779e-02 9.97616445e-01 -9.18198925e-03 -3.73694665e+01] [-5.86759324e-02 5.16554271e-03 9.98263719e-01 -1.94366926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.13071405700003 meters 0.060267285732396 Centerline is valid? [True, True] Translation: X:276.73, Y:-37.38, Z:-19.44 [[ 9.95932987e-01 6.87254625e-02 5.82605939e-02 2.76732286e+02] [-6.83033498e-02 9.97622103e-01 -9.20830297e-03 -3.73751583e+01] [-5.87549011e-02 5.19145895e-03 9.98258940e-01 -1.94390484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.160714057 meters 0.05979032412382032 Centerline is valid? [True, True] Translation: X:276.76, Y:-37.38, Z:-19.44 [[ 9.95813846e-01 6.94210910e-02 5.94600350e-02 2.76764243e+02] [-6.89818288e-02 9.97573526e-01 -9.41106564e-03 -3.73785126e+01] [-5.99690832e-02 5.27000751e-03 9.98186323e-01 -1.94408787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.19071405700004 meters 0.060808412989350656 Centerline is valid? [True, True] Translation: X:276.80, Y:-37.38, Z:-19.44 [[ 9.95818538e-01 6.89455055e-02 5.99329308e-02 2.76795545e+02] [-6.84975084e-02 9.97606055e-01 -9.50003725e-03 -3.73842934e+01] [-6.04444396e-02 5.35505678e-03 9.98157199e-01 -1.94432302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.220714057 meters 0.0567326545395592 Centerline is valid? [True, True] Translation: X:276.83, Y:-37.38, Z:-19.44 [[ 9.95783112e-01 6.89819025e-02 6.04771912e-02 2.76828277e+02] [-6.85249220e-02 9.97603211e-01 -9.60043478e-03 -3.73832831e+01] [-6.09944964e-02 5.41575601e-03 9.98123410e-01 -1.94448152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.250714057 meters 0.05576856830215929 Centerline is valid? [True, True] Translation: X:276.86, Y:-37.38, Z:-19.45 [[ 9.95856515e-01 6.77433026e-02 6.06683371e-02 2.76859619e+02] [-6.72801604e-02 9.97687485e-01 -9.64686345e-03 -3.73847601e+01] [-6.11815510e-02 5.52511637e-03 9.98111362e-01 -1.94466368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.280714057 meters 0.05667081111086153 Centerline is valid? [True, True] Translation: X:276.89, Y:-37.39, Z:-19.45 [[ 9.95857103e-01 6.77896530e-02 6.06068814e-02 2.76891438e+02] [-6.73274982e-02 9.97684380e-01 -9.63769490e-03 -3.73907259e+01] [-6.11198749e-02 5.51725722e-03 9.98115184e-01 -1.94486992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.310714057 meters 0.06086220298195318 Centerline is valid? [True, True] Translation: X:276.92, Y:-37.40, Z:-19.45 [[ 9.95840643e-01 6.74619117e-02 6.12397199e-02 2.76920971e+02] [-6.69884928e-02 9.97706075e-01 -9.75339874e-03 -3.74009772e+01] [-6.17572235e-02 5.61047434e-03 9.98075432e-01 -1.94510590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.340714057 meters 0.06740989586544721 Centerline is valid? [True, True] Translation: X:276.95, Y:-37.41, Z:-19.45 [[ 9.95780159e-01 6.78795509e-02 6.17595433e-02 2.76949946e+02] [-6.73979745e-02 9.97677547e-01 -9.85010590e-03 -3.74148731e+01] [-6.22847304e-02 5.64607190e-03 9.98042451e-01 -1.94534325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.370714057 meters 0.0526453482958727 Centerline is valid? [True, True] Translation: X:276.99, Y:-37.40, Z:-19.45 [[ 9.95748557e-01 6.84368539e-02 6.16539412e-02 2.76985064e+02] [-6.79571695e-02 9.97639651e-01 -9.84633717e-03 -3.73990415e+01] [-6.21822687e-02 5.61464870e-03 9.98049017e-01 -1.94538511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.400714057 meters 0.06835894474231549 Centerline is valid? [True, True] Translation: X:277.01, Y:-37.43, Z:-19.46 [[ 9.95693554e-01 6.91767030e-02 6.17165370e-02 2.77012255e+02] [-6.86964799e-02 9.97588763e-01 -9.87189693e-03 -3.74252970e+01] [-6.22506290e-02 5.58967529e-03 9.98044896e-01 -1.94580563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.430714057 meters 0.06871467407374347 Centerline is valid? [True, True] Translation: X:277.04, Y:-37.43, Z:-19.46 [[ 9.95636077e-01 6.97720514e-02 6.19730776e-02 2.77044216e+02] [-6.92880627e-02 9.97547299e-01 -9.92731770e-03 -3.74306837e+01] [-6.25137255e-02 5.59000117e-03 9.98028450e-01 -1.94606711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.460714057 meters 0.05082347595017604 Centerline is valid? [True, True] Translation: X:277.08, Y:-37.41, Z:-19.46 [[ 9.95429311e-01 7.12153558e-02 6.36306578e-02 2.77079329e+02] [-7.07070333e-02 9.97444892e-01 -1.02079650e-02 -3.74110808e+01] [-6.41950385e-02 5.66217252e-03 9.97921308e-01 -1.94603836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.490714057 meters 0.05149001296128606 Centerline is valid? [True, True] Translation: X:277.11, Y:-37.42, Z:-19.46 [[ 9.95245325e-01 7.25093729e-02 6.50317876e-02 2.77108889e+02] [-7.19809524e-02 9.97351417e-01 -1.04351962e-02 -3.74178801e+01] [-6.56161950e-02 5.70453024e-03 9.97828629e-01 -1.94615675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.520714057 meters 0.050711612859563625 Centerline is valid? [True, True] Translation: X:277.14, Y:-37.42, Z:-19.46 [[ 9.94932220e-01 7.52139957e-02 6.67288032e-02 2.77139070e+02] [-7.46635274e-02 9.97151282e-01 -1.07087658e-02 -3.74212199e+01] [-6.73441608e-02 5.67228831e-03 9.97713681e-01 -1.94621561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.550714057 meters 0.047028823220768345 Centerline is valid? [True, True] Translation: X:277.17, Y:-37.42, Z:-19.46 [[ 9.94694030e-01 7.73005942e-02 6.78852399e-02 2.77170430e+02] [-7.67356804e-02 9.96991953e-01 -1.08940799e-02 -3.74208613e+01] [-6.85231568e-02 5.62705613e-03 9.97633657e-01 -1.94630273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.580714057 meters 0.046238506480980754 Centerline is valid? [True, True] Translation: X:277.20, Y:-37.43, Z:-19.46 [[ 9.94446572e-01 7.98958138e-02 6.85031018e-02 2.77200776e+02] [-7.93265701e-02 9.96788050e-01 -1.09944909e-02 -3.74251325e+01] [-6.91614870e-02 5.49931767e-03 9.97590320e-01 -1.94647145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.610714057 meters 0.045673242601420146 Centerline is valid? [True, True] Translation: X:277.23, Y:-37.43, Z:-19.47 [[ 9.93905152e-01 8.54963180e-02 6.95911536e-02 2.77230321e+02] [-8.49223182e-02 9.96324954e-01 -1.11707525e-02 -3.74292738e+01] [-7.02904611e-02 5.19282635e-03 9.97513050e-01 -1.94661345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.640714057 meters 0.043890653909678314 Centerline is valid? [True, True] Translation: X:277.26, Y:-37.43, Z:-19.47 [[ 9.93619674e-01 8.84132176e-02 7.00217594e-02 2.77261631e+02] [-8.78392761e-02 9.96071247e-01 -1.12398057e-02 -3.74307571e+01] [-7.07404085e-02 5.01743145e-03 9.97482140e-01 -1.94683490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.670714057 meters 0.042391942202613525 Centerline is valid? [True, True] Translation: X:277.29, Y:-37.43, Z:-19.47 [[ 9.92989800e-01 9.54635318e-02 6.96991436e-02 2.77291228e+02] [-9.49120455e-02 9.95422777e-01 -1.11892458e-02 -3.74332089e+01] [-7.04482800e-02 4.49551865e-03 9.97505303e-01 -1.94711731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.700714057 meters 0.041033104143315374 Centerline is valid? [True, True] Translation: X:277.32, Y:-37.44, Z:-19.47 [[ 9.92632706e-01 9.94274686e-02 6.92422506e-02 2.77321005e+02] [-9.88927346e-02 9.95036002e-01 -1.11167389e-02 -3.74369960e+01] [-7.00038414e-02 4.18728315e-03 9.97537934e-01 -1.94746504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.730714057 meters 0.03878828577228703 Centerline is valid? [True, True] Translation: X:277.35, Y:-37.44, Z:-19.48 [[ 9.92266368e-01 1.03309781e-01 6.88080204e-02 2.77351131e+02] [-1.02790996e-01 9.94641625e-01 -1.10475624e-02 -3.74385638e+01] [-6.95806425e-02 3.88927972e-03 9.97568748e-01 -1.94774846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.76071405700003 meters 0.03726031985211554 Centerline is valid? [True, True] Translation: X:277.38, Y:-37.44, Z:-19.48 [[ 9.91477606e-01 1.11406307e-01 6.75336273e-02 2.77380816e+02] [-1.10925350e-01 9.93769600e-01 -1.08420193e-02 -3.74403864e+01] [-6.83207351e-02 3.25842809e-03 9.97658088e-01 -1.94793394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.790714057 meters 0.03361061280993531 Centerline is valid? [True, True] Translation: X:277.41, Y:-37.44, Z:-19.48 [[ 9.90578931e-01 1.18953829e-01 6.78481214e-02 2.77411435e+02] [-1.18486042e-01 9.92895978e-01 -1.08919979e-02 -3.74388092e+01] [-6.86617717e-02 2.75032829e-03 9.97636205e-01 -1.94811760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.82071405700003 meters 0.03351395036391304 Centerline is valid? [True, True] Translation: X:277.44, Y:-37.44, Z:-19.48 [[ 9.90076692e-01 1.22692796e-01 6.85173160e-02 2.77440150e+02] [-1.22224767e-01 9.92441513e-01 -1.09976643e-02 -3.74443680e+01] [-6.93487629e-02 2.51401809e-03 9.97589309e-01 -1.94824695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.850714057 meters 0.03242658119512421 Centerline is valid? [True, True] Translation: X:277.47, Y:-37.45, Z:-19.48 [[ 9.89597488e-01 1.25893306e-01 6.96253399e-02 2.77469735e+02] [-1.25418063e-01 9.92041064e-01 -1.11730735e-02 -3.74484802e+01] [-7.04778114e-02 2.32457022e-03 9.97510639e-01 -1.94845342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.88071405700003 meters 0.03558509158200453 Centerline is valid? [True, True] Translation: X:277.50, Y:-37.46, Z:-19.49 [[ 9.88599394e-01 1.34074549e-01 6.85219170e-02 2.77497088e+02] [-1.33633945e-01 9.90969769e-01 -1.09948425e-02 -3.74649956e+01] [-6.93772768e-02 1.71264060e-03 9.97589024e-01 -1.94866807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.910714057 meters 0.030649739954251215 Centerline is valid? [True, True] Translation: X:277.53, Y:-37.46, Z:-19.49 [[ 9.88847062e-01 1.31251961e-01 7.03875738e-02 2.77526765e+02] [-1.30779987e-01 9.91347102e-01 -1.12924078e-02 -3.74580661e+01] [-7.12606680e-02 1.96117823e-03 9.97455799e-01 -1.94895464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.94071405700004 meters 0.03037707974977242 Centerline is valid? [True, True] Translation: X:277.55, Y:-37.47, Z:-19.49 [[ 9.88726766e-01 1.31681856e-01 7.12689988e-02 2.77553788e+02] [-1.31199735e-01 9.91290121e-01 -1.14247831e-02 -3.74669991e+01] [-7.21526911e-02 1.94551508e-03 9.97391700e-01 -1.94922670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.970714057 meters 0.03076291483311694 Centerline is valid? [True, True] Translation: X:277.58, Y:-37.48, Z:-19.49 [[ 9.88953620e-01 1.30168838e-01 7.09000132e-02 2.77582020e+02] [-1.29688266e-01 9.91489746e-01 -1.13594908e-02 -3.74750750e+01] [-7.17752878e-02 2.03910972e-03 9.97418744e-01 -1.94941414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.000714057 meters 0.03147437113146167 Centerline is valid? [True, True] Translation: X:277.61, Y:-37.48, Z:-19.50 [[ 9.89186209e-01 1.28180026e-01 7.12777940e-02 2.77610011e+02] [-1.27689520e-01 9.91748498e-01 -1.14150116e-02 -3.74839208e+01] [-7.21528217e-02 2.19014479e-03 9.97391184e-01 -1.94967262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.030714057 meters 0.03292782215770712 Centerline is valid? [True, True] Translation: X:277.64, Y:-37.50, Z:-19.50 [[ 9.89793660e-01 1.23614160e-01 7.09087424e-02 2.77636804e+02] [-1.23117381e-01 9.92327196e-01 -1.13510505e-02 -3.74986386e+01] [-7.17678241e-02 2.50509914e-03 9.97418219e-01 -1.94988895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.060714057 meters 0.03671065486401422 Centerline is valid? [True, True] Translation: X:277.66, Y:-37.51, Z:-19.50 [[ 9.90077936e-01 1.20991696e-01 7.14611134e-02 2.77663601e+02] [-1.20480589e-01 9.92649813e-01 -1.14357464e-02 -3.75139106e+01] [-7.23194912e-02 2.71260313e-03 9.97377829e-01 -1.95011239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.090714057 meters 0.03480882354151866 Centerline is valid? [True, True] Translation: X:277.69, Y:-37.52, Z:-19.50 [[ 9.90793097e-01 1.14741933e-01 7.18562995e-02 2.77693591e+02] [-1.14209003e-01 9.93390234e-01 -1.14955080e-02 -3.75211613e+01] [-7.27003630e-02 3.18303366e-03 9.97348748e-01 -1.95036115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.120714057 meters 0.03771394104166218 Centerline is valid? [True, True] Translation: X:277.72, Y:-37.53, Z:-19.50 [[ 9.91050552e-01 1.12378867e-01 7.20402257e-02 2.77721293e+02] [-1.11837007e-01 9.93659735e-01 -1.15244983e-02 -3.75334041e+01] [-7.28785817e-02 3.36459716e-03 9.97335145e-01 -1.95046679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.150714057 meters 0.03846652365313944 Centerline is valid? [True, True] Translation: X:277.75, Y:-37.54, Z:-19.51 [[ 9.91652139e-01 1.07056208e-01 7.18679623e-02 2.77750304e+02] [-1.06503003e-01 9.94245910e-01 -1.14969931e-02 -3.75439637e+01] [-7.26852520e-02 3.74686398e-03 9.97347891e-01 -1.95079913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.180714057 meters 0.039673690423366895 Centerline is valid? [True, True] Translation: X:277.78, Y:-37.55, Z:-19.51 [[ 9.91981006e-01 1.04561749e-01 7.09966495e-02 2.77780266e+02] [-1.04015516e-01 9.94510819e-01 -1.13579247e-02 -3.75536979e+01] [-7.17945406e-02 3.88209242e-03 9.97411887e-01 -1.95105621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.210714057 meters 0.03983091953428928 Centerline is valid? [True, True] Translation: X:277.81, Y:-37.56, Z:-19.51 [[ 9.92513491e-01 9.96781051e-02 7.05779390e-02 2.77809691e+02] [-9.91258426e-02 9.95010819e-01 -1.12932854e-02 -3.75627197e+01] [-7.13515062e-02 4.21264048e-03 9.97442337e-01 -1.95141588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.240714057 meters 0.039609677244350855 Centerline is valid? [True, True] Translation: X:277.84, Y:-37.57, Z:-19.52 [[ 9.92747224e-01 9.75555924e-02 7.02556470e-02 2.77839905e+02] [-9.70030622e-02 9.95220590e-01 -1.12419935e-02 -3.75691700e+01] [-7.10165858e-02 4.34544492e-03 9.97465669e-01 -1.95161284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.270714057 meters 0.07392249766242613 Centerline is valid? [True, True] Translation: X:277.86, Y:-37.63, Z:-19.52 [[ 9.92576038e-01 1.00706511e-01 6.81982926e-02 2.77860418e+02] [-1.00193242e-01 9.94908136e-01 -1.09140070e-02 -3.76277790e+01] [-6.89501477e-02 3.99997384e-03 9.97612088e-01 -1.95166678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.300714057 meters 0.04214936725101224 Centerline is valid? [True, True] Translation: X:277.90, Y:-37.59, Z:-19.52 [[ 9.93248416e-01 9.25303871e-02 6.99693655e-02 2.77897364e+02] [-9.19695067e-02 9.95698807e-01 -1.12024630e-02 -3.75881738e+01] [-7.07049821e-02 4.69178060e-03 9.97486237e-01 -1.95211606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.330714057 meters 0.04373483346403362 Centerline is valid? [True, True] Translation: X:277.93, Y:-37.60, Z:-19.52 [[ 9.93359285e-01 9.18213901e-02 6.93264984e-02 2.77927078e+02] [-9.12690443e-02 9.95764406e-01 -1.10999324e-02 -3.75970428e+01] [-7.00520707e-02 4.69885762e-03 9.97532269e-01 -1.95230114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.360714057 meters 0.04408095462723569 Centerline is valid? [True, True] Translation: X:277.96, Y:-37.60, Z:-19.53 [[ 9.93469886e-01 9.15347992e-02 6.81099593e-02 2.77958183e+02] [-9.10004552e-02 9.95791048e-01 -1.09135547e-02 -3.76040288e+01] [-6.88222578e-02 4.64425065e-03 9.97618127e-01 -1.95268360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.390714057 meters 0.04441701488019552 Centerline is valid? [True, True] Translation: X:277.99, Y:-37.61, Z:-19.53 [[ 9.93438313e-01 9.19610413e-02 6.79962155e-02 2.77990007e+02] [-9.14283234e-02 9.95751871e-01 -1.09120718e-02 -3.76110209e+01] [-6.87108443e-02 4.62369023e-03 9.97625903e-01 -1.95298195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.420714057 meters 0.045237347433462256 Centerline is valid? [True, True] Translation: X:278.02, Y:-37.62, Z:-19.53 [[ 9.93368609e-01 9.28341369e-02 6.78279395e-02 2.78020417e+02] [-9.23056728e-02 9.95671155e-01 -1.08910068e-02 -3.76182221e+01] [-6.85453801e-02 4.55788064e-03 9.97637588e-01 -1.95321403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.450714057 meters 0.05029129236755786 Centerline is valid? [True, True] Translation: X:278.05, Y:-37.63, Z:-19.53 [[ 9.93310700e-01 9.43940643e-02 6.65102564e-02 2.78048876e+02] [-9.38884349e-02 9.95525284e-01 -1.06944518e-02 -3.76304790e+01] [-6.72221347e-02 4.37836948e-03 9.97728427e-01 -1.95342330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.480714057 meters 0.045475405481847565 Centerline is valid? [True, True] Translation: X:278.08, Y:-37.63, Z:-19.54 [[ 9.93349470e-01 9.49229823e-02 6.51648584e-02 2.78081624e+02] [-9.44387343e-02 9.95475526e-01 -1.04786400e-02 -3.76283623e+01] [-6.58646855e-02 4.25486475e-03 9.97819492e-01 -1.95366303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.51071405700003 meters 0.04574716242238978 Centerline is valid? [True, True] Translation: X:278.11, Y:-37.63, Z:-19.54 [[ 9.93249578e-01 9.62427795e-02 6.47503106e-02 2.78111555e+02] [-9.57664227e-02 9.95349210e-01 -1.04279901e-02 -3.76340599e+01] [-6.54527893e-02 4.15669111e-03 9.97847009e-01 -1.95397247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.540714057 meters 0.045258016236892205 Centerline is valid? [True, True] Translation: X:278.14, Y:-37.64, Z:-19.54 [[ 9.93134677e-01 9.73446030e-02 6.48655610e-02 2.78143237e+02] [-9.68688545e-02 9.95242325e-01 -1.04469984e-02 -3.76393981e+01] [-6.55739106e-02 4.09182381e-03 9.97839325e-01 -1.95414913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.57071405700003 meters 0.04504524046107495 Centerline is valid? [True, True] Translation: X:278.17, Y:-37.64, Z:-19.54 [[ 9.92959850e-01 9.88400636e-02 6.52792389e-02 2.78174574e+02] [-9.83603784e-02 9.95095153e-01 -1.05295616e-02 -3.76440048e+01] [-6.59997968e-02 4.03454121e-03 9.97811480e-01 -1.95430699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.600714057 meters 0.044883282595743305 Centerline is valid? [True, True] Translation: X:278.20, Y:-37.65, Z:-19.54 [[ 9.92753256e-01 1.00862456e-01 6.53279190e-02 2.78204464e+02] [-1.00386102e-01 9.94892705e-01 -1.05420828e-02 -3.76475915e+01] [-6.60575705e-02 3.90767189e-03 9.97808162e-01 -1.95439831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.63071405700003 meters 0.03687510924744292 Centerline is valid? [True, True] Translation: X:278.24, Y:-37.64, Z:-19.54 [[ 9.92300353e-01 1.05481749e-01 6.49123290e-02 2.78236697e+02] [-1.05020839e-01 9.94414781e-01 -1.04817608e-02 -3.76372243e+01] [-6.56554139e-02 3.58390771e-03 9.97835919e-01 -1.95444941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.660714057 meters 0.03750748304292407 Centerline is valid? [True, True] Translation: X:278.27, Y:-37.64, Z:-19.55 [[ 9.91808321e-01 1.10544196e-01 6.40018365e-02 2.78265641e+02] [-1.10106616e-01 9.93866047e-01 -1.03350848e-02 -3.76422574e+01] [-6.47517359e-02 3.20339749e-03 9.97896263e-01 -1.95468139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.69071405700004 meters 0.03482026458742577 Centerline is valid? [True, True] Translation: X:278.30, Y:-37.64, Z:-19.55 [[ 9.91472582e-01 1.13479541e-01 6.40664757e-02 2.78296663e+02] [-1.13047244e-01 9.93535762e-01 -1.03445595e-02 -3.76420767e+01] [-6.48262306e-02 3.01380856e-03 9.97892017e-01 -1.95486130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.720714057 meters 0.03928581552599074 Centerline is valid? [True, True] Translation: X:278.32, Y:-37.66, Z:-19.55 [[ 9.91194568e-01 1.15840884e-01 6.41421678e-02 2.78324511e+02] [-1.15412503e-01 9.93263658e-01 -1.03565936e-02 -3.76553964e+01] [-6.49098012e-02 2.86259115e-03 9.97887029e-01 -1.95518966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.750714057 meters 0.03928581552599074 Centerline is valid? [True, True] Translation: X:278.35, Y:-37.66, Z:-19.55 [[ 9.91198196e-01 1.15810151e-01 6.41416059e-02 2.78353261e+02] [-1.15381481e-01 9.93267226e-01 -1.03600727e-02 -3.76600025e+01] [-6.49095565e-02 2.86813193e-03 9.97887029e-01 -1.95539012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.780714057 meters 0.033677589254728885 Centerline is valid? [True, True] Translation: X:278.38, Y:-37.65, Z:-19.56 [[ 9.90842804e-01 1.18575632e-01 6.45783110e-02 2.78384643e+02] [-1.18147090e-01 9.92941344e-01 -1.04284723e-02 -3.76537379e+01] [-6.53590376e-02 2.70323721e-03 9.97858151e-01 -1.95550675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.810714057 meters 0.03285137297169801 Centerline is valid? [True, True] Translation: X:278.41, Y:-37.66, Z:-19.56 [[ 9.90374304e-01 1.22385005e-01 6.46579392e-02 2.78414455e+02] [-1.21963570e-01 9.92479667e-01 -1.04402281e-02 -3.76555143e+01] [-6.54494173e-02 2.45382050e-03 9.97852871e-01 -1.95562616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.840714057 meters 0.032354253532116926 Centerline is valid? [True, True] Translation: X:278.44, Y:-37.66, Z:-19.56 [[ 9.90114689e-01 1.24256726e-01 6.50628077e-02 2.78442764e+02] [-1.23834167e-01 9.92247337e-01 -1.05033617e-02 -3.76589749e+01] [-6.58635111e-02 2.34253414e-03 9.97825892e-01 -1.95578833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.870714057 meters 0.032193990875301615 Centerline is valid? [True, True] Translation: X:278.47, Y:-37.66, Z:-19.56 [[ 9.89833363e-01 1.26564815e-01 6.48942315e-02 2.78470123e+02] [-1.26149693e-01 9.91955947e-01 -1.04715888e-02 -3.76632875e+01] [-6.56975536e-02 2.17874055e-03 9.97837203e-01 -1.95600319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.900714057 meters 0.03219342506186502 Centerline is valid? [True, True] Translation: X:278.50, Y:-37.67, Z:-19.56 [[ 9.89647028e-01 1.27679668e-01 6.55489319e-02 2.78497221e+02] [-1.27258944e-01 9.91813192e-01 -1.05713899e-02 -3.76689835e+01] [-6.63620469e-02 2.12025680e-03 9.97793357e-01 -1.95626837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.930714057 meters 0.0324999711990394 Centerline is valid? [True, True] Translation: X:278.52, Y:-37.68, Z:-19.57 [[ 9.89644530e-01 1.27769675e-01 6.54111241e-02 2.78524352e+02] [-1.27351296e-01 9.91801635e-01 -1.05434585e-02 -3.76755833e+01] [-6.62219941e-02 2.10408457e-03 9.97802696e-01 -1.95651417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.960714057 meters 0.03157180459978358 Centerline is valid? [True, True] Translation: X:278.55, Y:-37.68, Z:-19.57 [[ 9.89720905e-01 1.27500230e-01 6.47782472e-02 2.78552798e+02] [-1.27089710e-01 9.91836326e-01 -1.04358517e-02 -3.76820183e+01] [-6.55799923e-02 2.09593187e-03 9.97845114e-01 -1.95672147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.990714057 meters 0.035057536138630885 Centerline is valid? [True, True] Translation: X:278.58, Y:-37.70, Z:-19.57 [[ 9.89796984e-01 1.26776765e-01 6.50352446e-02 2.78580012e+02] [-1.26361731e-01 9.91928949e-01 -1.04725281e-02 -3.76951358e+01] [-6.58380150e-02 2.14771067e-03 9.97828013e-01 -1.95697122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.020714057 meters 0.032410662008223345 Centerline is valid? [True, True] Translation: X:278.61, Y:-37.70, Z:-19.57 [[ 9.90079329e-01 1.24004963e-01 6.60733733e-02 2.78609825e+02] [-1.23570634e-01 9.92278777e-01 -1.06360903e-02 -3.76958357e+01] [-6.68821340e-02 2.36584451e-03 9.97758078e-01 -1.95681804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.050714057 meters 0.03292000910899161 Centerline is valid? [True, True] Translation: X:278.64, Y:-37.70, Z:-19.57 [[ 9.90235463e-01 1.22478183e-01 6.65794417e-02 2.78638732e+02] [-1.22033885e-01 9.92468093e-01 -1.07151440e-02 -3.77031584e+01] [-6.73903430e-02 2.48556764e-03 9.97723591e-01 -1.95703777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.080714057 meters 0.03392110577025476 Centerline is valid? [True, True] Translation: X:278.67, Y:-37.72, Z:-19.57 [[ 9.90798208e-01 1.18259538e-01 6.58300338e-02 2.78667236e+02] [-1.17816068e-01 9.92978942e-01 -1.05921638e-02 -3.77157810e+01] [-6.66204618e-02 2.73886121e-03 9.97774630e-01 -1.95730488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.110714057 meters 0.035644783142734844 Centerline is valid? [True, True] Translation: X:278.70, Y:-37.73, Z:-19.58 [[ 9.91119790e-01 1.15888753e-01 6.52024451e-02 2.78695550e+02] [-1.15448673e-01 9.93258055e-01 -1.04899796e-02 -3.77267457e+01] [-6.59785245e-02 2.86929060e-03 9.97816918e-01 -1.95767573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.140714057 meters 0.03757905116628147 Centerline is valid? [True, True] Translation: X:278.72, Y:-37.74, Z:-19.58 [[ 9.91666160e-01 1.11939827e-01 6.37785389e-02 2.78723778e+02] [-1.11510642e-01 9.93710265e-01 -1.02608970e-02 -3.77402725e+01] [-6.45259918e-02 3.06339848e-03 9.97911325e-01 -1.95795009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.170714057 meters 0.03689756260063516 Centerline is valid? [True, True] Translation: X:278.75, Y:-37.75, Z:-19.58 [[ 9.91968138e-01 1.09255820e-01 6.37368004e-02 2.78754424e+02] [-1.08821679e-01 9.94008398e-01 -1.02541090e-02 -3.77453296e+01] [-6.44752360e-02 3.23580374e-03 9.97914061e-01 -1.95806765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.200714057 meters 0.040037593691099396 Centerline is valid? [True, True] Translation: X:278.78, Y:-37.76, Z:-19.58 [[ 9.92129795e-01 1.07695351e-01 6.38762911e-02 2.78784119e+02] [-1.07256062e-01 9.94178316e-01 -1.02768518e-02 -3.77566150e+01] [-6.46111926e-02 3.34485143e-03 9.97904908e-01 -1.95819367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.230714057 meters 0.03772643805767057 Centerline is valid? [True, True] Translation: X:278.81, Y:-37.76, Z:-19.58 [[ 9.92331517e-01 1.04729208e-01 6.56502397e-02 2.78814884e+02] [-1.04257610e-01 9.94494068e-01 -1.05782401e-02 -3.77617865e+01] [-6.63966247e-02 3.65258401e-03 9.97786624e-01 -1.95819654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.26071405700003 meters 0.03882279830766697 Centerline is valid? [True, True] Translation: X:278.85, Y:-37.77, Z:-19.58 [[ 9.92465159e-01 1.03220574e-01 6.60183395e-02 2.78846293e+02] [-1.02740266e-01 9.94651324e-01 -1.06386497e-02 -3.77706306e+01] [-6.67633563e-02 3.77574739e-03 9.97761694e-01 -1.95840437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.290714057 meters 0.0394708332664458 Centerline is valid? [True, True] Translation: X:278.88, Y:-37.78, Z:-19.59 [[ 9.92755756e-01 1.00512687e-01 6.58271154e-02 2.78876441e+02] [-1.00028915e-01 9.94927931e-01 -1.06126183e-02 -3.77795450e+01] [-6.65599385e-02 3.95112299e-03 9.97774605e-01 -1.95874306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.32071405700003 meters 0.03765567199955061 Centerline is valid? [True, True] Translation: X:278.91, Y:-37.78, Z:-19.59 [[ 9.92961802e-01 9.88886336e-02 6.51758926e-02 2.78908610e+02] [-9.84107739e-02 9.95090379e-01 -1.05098443e-02 -3.77825722e+01] [-6.58952079e-02 4.02186392e-03 9.97818444e-01 -1.95896235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.350714057 meters 0.0445741912773722 Centerline is valid? [True, True] Translation: X:278.94, Y:-37.80, Z:-19.59 [[ 9.93085528e-01 9.79830765e-02 6.46564017e-02 2.78937423e+02] [-9.75106042e-02 9.95179824e-01 -1.04306915e-02 -3.78000626e+01] [-6.53667778e-02 4.05388394e-03 9.97853071e-01 -1.95924604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.38071405700003 meters 0.04096695988035493 Centerline is valid? [True, True] Translation: X:278.97, Y:-37.80, Z:-19.59 [[ 9.93364924e-01 9.50487182e-02 6.47446439e-02 2.78969032e+02] [-9.45681576e-02 9.95463499e-01 -1.04539765e-02 -3.78014465e+01] [-6.54445668e-02 4.26183189e-03 9.97847105e-01 -1.95936700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.410714057 meters 0.04181454325257153 Centerline is valid? [True, True] Translation: X:279.00, Y:-37.81, Z:-19.60 [[ 9.93759361e-01 9.11770236e-02 6.42579327e-02 2.78998800e+02] [-9.06954648e-02 9.95824600e-01 -1.03777979e-02 -3.78093008e+01] [-6.49358468e-02 4.48513072e-03 9.97879361e-01 -1.95961478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.44071405700004 meters 0.04745872026251501 Centerline is valid? [True, True] Translation: X:279.03, Y:-37.82, Z:-19.60 [[ 9.93904551e-01 8.97544488e-02 6.40147005e-02 2.79028062e+02] [-8.92736307e-02 9.95953484e-01 -1.03380663e-02 -3.78238006e+01] [-6.46835514e-02 4.56022639e-03 9.97895407e-01 -1.95985513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.470714057 meters 0.04365155678955022 Centerline is valid? [True, True] Translation: X:279.06, Y:-37.82, Z:-19.60 [[ 9.94104620e-01 8.77434623e-02 6.36952807e-02 2.79059361e+02] [-8.72623234e-02 9.96132096e-01 -1.03021769e-02 -3.78225812e+01] [-6.43528621e-02 4.68324350e-03 9.97916217e-01 -1.95998812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.500714057 meters 0.043460812735323075 Centerline is valid? [True, True] Translation: X:279.09, Y:-37.83, Z:-19.60 [[ 9.94199602e-01 8.66374242e-02 6.37268230e-02 2.79090963e+02] [-8.61533617e-02 9.96228537e-01 -1.03102033e-02 -3.78270169e+01] [-6.43797291e-02 4.76011995e-03 9.97914120e-01 -1.96016482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.530714057 meters 0.04363752670018496 Centerline is valid? [True, True] Translation: X:279.12, Y:-37.83, Z:-19.60 [[ 9.94366789e-01 8.52643437e-02 6.29657026e-02 2.79122432e+02] [-8.47887681e-02 9.96346825e-01 -1.01916281e-02 -3.78322602e+01] [-6.36046603e-02 4.79543211e-03 9.97963652e-01 -1.96040806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.560714057 meters 0.04462522940650675 Centerline is valid? [True, True] Translation: X:279.15, Y:-37.84, Z:-19.61 [[ 9.94374549e-01 8.50183863e-02 6.31753994e-02 2.79152967e+02] [-8.45388894e-02 9.96367670e-01 -1.02294799e-02 -3.78385261e+01] [-6.38156194e-02 4.83115632e-03 9.97950012e-01 -1.96063597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.590714057 meters 0.044236990852920856 Centerline is valid? [True, True] Translation: X:279.18, Y:-37.84, Z:-19.61 [[ 9.94436076e-01 8.45474727e-02 6.28380037e-02 2.79184928e+02] [-8.40712230e-02 9.96407649e-01 -1.01895555e-02 -3.78416664e+01] [-6.34737687e-02 4.84999382e-03 9.97971722e-01 -1.96080834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.620714057 meters 0.04463974910537657 Centerline is valid? [True, True] Translation: X:279.22, Y:-37.85, Z:-19.61 [[ 9.94506759e-01 8.41105831e-02 6.23034229e-02 2.79216742e+02] [-8.36405656e-02 9.96444613e-01 -1.01187003e-02 -3.78467613e+01] [-6.29330000e-02 4.85202231e-03 9.98005960e-01 -1.96104356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.650714057 meters 0.04641728684582696 Centerline is valid? [True, True] Translation: X:279.25, Y:-37.85, Z:-19.61 [[ 9.94547057e-01 8.35090229e-02 6.24691543e-02 2.79246641e+02] [-8.30342594e-02 9.96494876e-01 -1.01623776e-02 -3.78539553e+01] [-6.30988424e-02 4.91988274e-03 9.97995156e-01 -1.96119690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.680714057 meters 0.043983603578455786 Centerline is valid? [True, True] Translation: X:279.28, Y:-37.85, Z:-19.61 [[ 9.94535551e-01 8.35862872e-02 6.25489430e-02 2.79278851e+02] [-8.31099971e-02 9.96488355e-01 -1.01826683e-02 -3.78546975e+01] [-6.31804248e-02 4.92858317e-03 9.97989951e-01 -1.96134678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.710714057 meters 0.046256410314118285 Centerline is valid? [True, True] Translation: X:279.31, Y:-37.86, Z:-19.62 [[ 9.94541895e-01 8.35112380e-02 6.25483166e-02 2.79309365e+02] [-8.30337785e-02 9.96494543e-01 -1.01988608e-02 -3.78630784e+01] [-6.31807757e-02 4.94957124e-03 9.97989825e-01 -1.96151514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.740714057 meters 0.0701943339050395 Centerline is valid? [True, True] Translation: X:279.33, Y:-37.90, Z:-19.62 [[ 9.94545031e-01 8.40921779e-02 6.17145626e-02 2.79334779e+02] [-8.36275512e-02 9.96446118e-01 -1.00779905e-02 -3.79017059e+01] [-6.23427165e-02 4.86197762e-03 9.98042958e-01 -1.96197531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.770714057 meters 0.046820373255405556 Centerline is valid? [True, True] Translation: X:279.37, Y:-37.87, Z:-19.62 [[ 9.94805276e-01 8.06024336e-02 6.21748452e-02 2.79370432e+02] [-8.01234540e-02 9.96733137e-01 -1.01629800e-02 -3.78735790e+01] [-6.27908894e-02 5.12852278e-03 9.98013528e-01 -1.96197404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.800714057 meters 0.04801610388527679 Centerline is valid? [True, True] Translation: X:279.40, Y:-37.88, Z:-19.62 [[ 9.95042774e-01 7.83751984e-02 6.12144330e-02 2.79401001e+02] [-7.79067370e-02 9.96910436e-01 -1.00060963e-02 -3.78781169e+01] [-6.18095369e-02 5.18747711e-03 9.98074482e-01 -1.96216343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.830714057 meters 0.0461218653877347 Centerline is valid? [True, True] Translation: X:279.43, Y:-37.88, Z:-19.62 [[ 9.95155841e-01 7.74775767e-02 6.05150977e-02 2.79433434e+02] [-7.70180873e-02 9.96980618e-01 -9.89245622e-03 -3.78796952e+01] [-6.10988231e-02 5.18377852e-03 9.98118261e-01 -1.96234726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.860714057 meters 0.05250063628294027 Centerline is valid? [True, True] Translation: X:279.46, Y:-37.89, Z:-19.63 [[ 9.95247561e-01 7.65484667e-02 6.01882430e-02 2.79462951e+02] [-7.60920555e-02 9.97052220e-01 -9.84222108e-03 -3.78933542e+01] [-6.07642282e-02 5.21559940e-03 9.98138520e-01 -1.96268838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.890714057 meters 0.04969149458201573 Centerline is valid? [True, True] Translation: X:279.50, Y:-37.89, Z:-19.63 [[ 9.95279081e-01 7.64133713e-02 5.98376815e-02 2.79495234e+02] [-7.59611738e-02 9.97062626e-01 -9.79899947e-03 -3.78929244e+01] [-6.04106904e-02 5.20739866e-03 9.98160023e-01 -1.96286252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.920714057 meters 0.05053707839292065 Centerline is valid? [True, True] Translation: X:279.53, Y:-37.90, Z:-19.63 [[ 9.95246854e-01 7.65557691e-02 6.01906419e-02 2.79528018e+02] [-7.60975519e-02 9.97051507e-01 -9.87189692e-03 -3.78982696e+01] [-6.07689208e-02 5.24461387e-03 9.98138083e-01 -1.96303231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.950714057 meters 0.05037266529708078 Centerline is valid? [True, True] Translation: X:279.56, Y:-37.90, Z:-19.63 [[ 9.95210309e-01 7.71557241e-02 6.00286253e-02 2.79560354e+02] [-7.66999927e-02 9.97005434e-01 -9.86284187e-03 -3.79005387e+01] [-6.06098403e-02 5.21140678e-03 9.98147929e-01 -1.96328183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.980714057 meters 0.053164060212591284 Centerline is valid? [True, True] Translation: X:279.59, Y:-37.91, Z:-19.64 [[ 9.95171544e-01 7.74909109e-02 6.02391652e-02 2.79591696e+02] [-7.70316613e-02 9.96979370e-01 -9.91252443e-03 -3.79080123e+01] [-6.08253355e-02 5.22433927e-03 9.98134753e-01 -1.96354774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.01071405700003 meters 0.05355691377923041 Centerline is valid? [True, True] Translation: X:279.62, Y:-37.91, Z:-19.64 [[ 9.95157087e-01 7.76391521e-02 6.02870939e-02 2.79624763e+02] [-7.71784595e-02 9.96967779e-01 -9.93648955e-03 -3.79116836e+01] [-6.08757507e-02 5.23550296e-03 9.98131621e-01 -1.96370709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.040714057 meters 0.05511293823237866 Centerline is valid? [True, True] Translation: X:279.66, Y:-37.92, Z:-19.64 [[ 9.95028510e-01 7.88427179e-02 6.08448103e-02 2.79655112e+02] [-7.83745101e-02 9.96873355e-01 -1.00474101e-02 -3.79154934e+01] [-6.14467353e-02 5.22877726e-03 9.98096668e-01 -1.96381559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.07071405700003 meters 0.05436335806734136 Centerline is valid? [True, True] Translation: X:279.69, Y:-37.92, Z:-19.64 [[ 9.94908227e-01 7.99041838e-02 6.14242797e-02 2.79686186e+02] [-7.94289461e-02 9.96788915e-01 -1.01440791e-02 -3.79180518e+01] [-6.20375954e-02 5.21356196e-03 9.98060196e-01 -1.96392394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.100714057 meters 0.05454279925041744 Centerline is valid? [True, True] Translation: X:279.72, Y:-37.92, Z:-19.64 [[ 9.94680231e-01 8.18802232e-02 6.25049385e-02 2.79715722e+02] [-8.13918295e-02 9.96628704e-01 -1.03245754e-02 -3.79205309e+01] [-6.31395944e-02 5.18225976e-03 9.97991250e-01 -1.96413319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.13071405700003 meters 0.050605696353457484 Centerline is valid? [True, True] Translation: X:279.75, Y:-37.92, Z:-19.64 [[ 9.94607410e-01 8.29873736e-02 6.22028672e-02 2.79749000e+02] [-8.25056463e-02 9.96537598e-01 -1.02778347e-02 -3.79183183e+01] [-6.28404263e-02 5.09032281e-03 9.98010606e-01 -1.96426497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.160714057 meters 0.05102341258776932 Centerline is valid? [True, True] Translation: X:279.78, Y:-37.92, Z:-19.64 [[ 9.94540228e-01 8.39651382e-02 6.19644272e-02 2.79781461e+02] [-8.34880383e-02 9.96456026e-01 -1.02535483e-02 -3.79213733e+01] [-6.26057675e-02 5.02427781e-03 9.98025688e-01 -1.96447587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.19071405700004 meters 0.0481560148166742 Centerline is valid? [True, True] Translation: X:279.81, Y:-37.92, Z:-19.65 [[ 9.94460157e-01 8.55835382e-02 6.10283037e-02 2.79813597e+02] [-8.51228047e-02 9.96319127e-01 -1.01146225e-02 -3.79180670e+01] [-6.16693115e-02 4.86368875e-03 9.98084786e-01 -1.96471927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.220714057 meters 0.04406857157691373 Centerline is valid? [True, True] Translation: X:279.85, Y:-37.92, Z:-19.65 [[ 9.94339878e-01 8.71804902e-02 6.07270107e-02 2.79845856e+02] [-8.67271266e-02 9.96181241e-01 -1.00668301e-02 -3.79160443e+01] [-6.13727400e-02 4.74317147e-03 9.98103646e-01 -1.96490566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.250714057 meters 0.051023337317404556 Centerline is valid? [True, True] Translation: X:279.87, Y:-37.93, Z:-19.65 [[ 9.94224880e-01 8.84568654e-02 6.07640550e-02 2.79874786e+02] [-8.80051762e-02 9.96069063e-01 -1.00752205e-02 -3.79287502e+01] [-6.14164178e-02 4.66948357e-03 9.98101307e-01 -1.96524246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.280714057 meters 0.050927205087057996 Centerline is valid? [True, True] Translation: X:279.91, Y:-37.93, Z:-19.65 [[ 9.94199752e-01 8.90338631e-02 6.03309540e-02 2.79907216e+02] [-8.85896124e-02 9.96017971e-01 -1.00041003e-02 -3.79321284e+01] [-6.09814180e-02 4.60137818e-03 9.98128295e-01 -1.96547483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.310714057 meters 0.051791048462867216 Centerline is valid? [True, True] Translation: X:279.94, Y:-37.94, Z:-19.66 [[ 9.94142779e-01 9.00153940e-02 5.98110656e-02 2.79937597e+02] [-8.95796804e-02 9.95930135e-01 -9.93212685e-03 -3.79372995e+01] [-6.04616870e-02 4.51609605e-03 9.98160302e-01 -1.96572014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.340714057 meters 0.05101385042936801 Centerline is valid? [True, True] Translation: X:279.97, Y:-37.94, Z:-19.66 [[ 9.94090352e-01 9.04953907e-02 5.99579590e-02 2.79969341e+02] [-9.00576057e-02 9.95886658e-01 -9.96957346e-03 -3.79401887e+01] [-6.06135318e-02 4.51098655e-03 9.98151116e-01 -1.96587121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.370714057 meters 0.04400359134591453 Centerline is valid? [True, True] Translation: X:280.00, Y:-37.93, Z:-19.66 [[ 9.94008838e-01 9.11293350e-02 6.03479420e-02 2.80003168e+02] [-9.06861217e-02 9.95828827e-01 -1.00486003e-02 -3.79318836e+01] [-6.10119426e-02 4.51567667e-03 9.98126821e-01 -1.96586153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.400714057 meters 0.04608106205027658 Centerline is valid? [True, True] Translation: X:280.03, Y:-37.94, Z:-19.66 [[ 9.93974771e-01 9.14998027e-02 6.03484975e-02 2.80034165e+02] [-9.10563335e-02 9.95794890e-01 -1.00638415e-02 -3.79386900e+01] [-6.10155649e-02 4.50809159e-03 9.98126634e-01 -1.96612561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.430714057 meters 0.04709975881718426 Centerline is valid? [True, True] Translation: X:280.06, Y:-37.94, Z:-19.66 [[ 9.93898040e-01 9.20924281e-02 6.07097213e-02 2.80064609e+02] [-9.16436936e-02 9.95740226e-01 -1.01408406e-02 -3.79432930e+01] [-6.13850062e-02 4.51529850e-03 9.98103949e-01 -1.96631000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.460714057 meters 0.04438493560205333 Centerline is valid? [True, True] Translation: X:280.10, Y:-37.94, Z:-19.66 [[ 9.93894448e-01 9.19312804e-02 6.10120201e-02 2.80097339e+02] [-9.14769031e-02 9.95754905e-01 -1.02051583e-02 -3.79434797e+01] [-6.16911915e-02 4.56165957e-03 9.98084860e-01 -1.96648990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.490714057 meters 0.046216469536105816 Centerline is valid? [True, True] Translation: X:280.13, Y:-37.95, Z:-19.67 [[ 9.93873461e-01 9.22214962e-02 6.09158355e-02 2.80128151e+02] [-9.17681562e-02 9.95728115e-01 -1.02042675e-02 -3.79503661e+01] [-6.15966629e-02 4.55161671e-03 9.98090744e-01 -1.96679878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.520714057 meters 0.04985680954718285 Centerline is valid? [True, True] Translation: X:280.16, Y:-37.96, Z:-19.67 [[ 9.93928507e-01 9.19069566e-02 6.04916102e-02 2.80158214e+02] [-9.14583338e-02 9.95757178e-01 -1.01496160e-02 -3.79593277e+01] [-6.11677755e-02 4.55553076e-03 9.98117103e-01 -1.96706946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.550714057 meters 0.05020133961615071 Centerline is valid? [True, True] Translation: X:280.19, Y:-37.96, Z:-19.67 [[ 9.93922109e-01 9.22441923e-02 6.00820283e-02 2.80189970e+02] [-9.18014223e-02 9.95726168e-01 -1.00944125e-02 -3.79638889e+01] [-6.07563987e-02 4.51744415e-03 9.98142401e-01 -1.96726809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.580714057 meters 0.0478831457442493 Centerline is valid? [True, True] Translation: X:280.22, Y:-37.96, Z:-19.67 [[ 9.94027352e-01 9.18388826e-02 5.89511994e-02 2.80223020e+02] [-9.14111228e-02 9.95763847e-01 -9.91808061e-03 -3.79625499e+01] [-5.96123385e-02 4.47004807e-03 9.98211595e-01 -1.96742025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.610714057 meters 0.04711015967333029 Centerline is valid? [True, True] Translation: X:280.25, Y:-37.97, Z:-19.68 [[ 9.94024490e-01 9.19245691e-02 5.88658325e-02 2.80254153e+02] [-9.14972331e-02 9.95755920e-01 -9.91990385e-03 -3.79655106e+01] [-5.95278840e-02 4.47456657e-03 9.98216614e-01 -1.96763319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.640714057 meters 0.049010110029446226 Centerline is valid? [True, True] Translation: X:280.28, Y:-37.97, Z:-19.68 [[ 9.93905267e-01 9.30174236e-02 5.91614751e-02 2.80284744e+02] [-9.25876748e-02 9.95654618e-01 -9.97016746e-03 -3.79720981e+01] [-5.98317952e-02 4.43177853e-03 9.98198635e-01 -1.96784289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.670714057 meters 0.049010110029446226 Centerline is valid? [True, True] Translation: X:280.32, Y:-37.98, Z:-19.68 [[ 9.93902232e-01 9.30514194e-02 5.91589994e-02 2.80315166e+02] [-9.26208622e-02 9.95651384e-01 -9.98483572e-03 -3.79772603e+01] [-5.98308428e-02 4.44459298e-03 9.98198635e-01 -1.96805505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.700714057 meters 0.048097515417445565 Centerline is valid? [True, True] Translation: X:280.35, Y:-37.98, Z:-19.68 [[ 9.93809924e-01 9.36007069e-02 5.98393105e-02 2.80346935e+02] [-9.31610474e-02 9.95599808e-01 -1.01015924e-02 -3.79800488e+01] [-6.05215223e-02 4.46436994e-03 9.98156909e-01 -1.96819392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.730714057 meters 0.04925219186244941 Centerline is valid? [True, True] Translation: X:280.38, Y:-37.99, Z:-19.68 [[ 9.93697341e-01 9.48273453e-02 5.97776561e-02 2.80376536e+02] [-9.43905931e-02 9.95484061e-01 -1.00945630e-02 -3.79854283e+01] [-6.04649445e-02 4.38849199e-03 9.98160674e-01 -1.96837924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.76071405700003 meters 0.04933527425713266 Centerline is valid? [True, True] Translation: X:280.41, Y:-37.99, Z:-19.68 [[ 9.93612966e-01 9.58845923e-02 5.94930142e-02 2.80407349e+02] [-9.54538175e-02 9.95383150e-01 -1.00475129e-02 -3.79860410e+01] [-6.01817456e-02 4.30450379e-03 9.98178155e-01 -1.96849169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.790714057 meters 0.049784349278235634 Centerline is valid? [True, True] Translation: X:280.44, Y:-37.99, Z:-19.69 [[ 9.93562861e-01 9.63669895e-02 5.95503568e-02 2.80437835e+02] [-9.59361751e-02 9.95336667e-01 -1.00583375e-02 -3.79896890e+01] [-6.02419453e-02 4.28055711e-03 9.98174626e-01 -1.96865115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.82071405700003 meters 0.0500105954609501 Centerline is valid? [True, True] Translation: X:280.47, Y:-37.99, Z:-19.69 [[ 9.93469318e-01 9.69321684e-02 6.01902681e-02 2.80468324e+02] [-9.64930626e-02 9.95281735e-01 -1.01664215e-02 -3.79939753e+01] [-6.08917278e-02 4.29208456e-03 9.98135149e-01 -1.96882974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.850714057 meters 0.04241597634560272 Centerline is valid? [True, True] Translation: X:280.50, Y:-37.99, Z:-19.69 [[ 9.93514314e-01 9.64789865e-02 6.01756839e-02 2.80499888e+02] [-9.60392508e-02 9.95325651e-01 -1.01642320e-02 -3.79855818e+01] [-6.08750365e-02 4.31908241e-03 9.98136051e-01 -1.96890945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.88071405700003 meters 0.0429058592398748 Centerline is valid? [True, True] Translation: X:280.53, Y:-37.99, Z:-19.69 [[ 9.93529813e-01 9.61465523e-02 6.04512321e-02 2.80529638e+02] [-9.57023134e-02 9.95357653e-01 -1.02083131e-02 -3.79915837e+01] [-6.11520906e-02 4.35694062e-03 9.98118950e-01 -1.96915594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.910714057 meters 0.0446221357250813 Centerline is valid? [True, True] Translation: X:280.56, Y:-38.00, Z:-19.69 [[ 9.93780932e-01 9.37422383e-02 6.00986894e-02 2.80558989e+02] [-9.32987952e-02 9.95586427e-01 -1.01489164e-02 -3.79965367e+01] [-6.07848216e-02 4.47866427e-03 9.98140845e-01 -1.96932738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.94071405700004 meters 0.046152466742699155 Centerline is valid? [True, True] Translation: X:280.59, Y:-38.00, Z:-19.70 [[ 9.93969892e-01 9.19214451e-02 5.97854684e-02 2.80588091e+02] [-9.14794194e-02 9.95755799e-01 -1.00948180e-02 -3.80018823e+01] [-6.04596571e-02 4.56480521e-03 9.98160204e-01 -1.96954374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.970714057 meters 0.04685544685725378 Centerline is valid? [True, True] Translation: X:280.62, Y:-38.01, Z:-19.70 [[ 9.94110198e-01 9.07380283e-02 5.92581216e-02 2.80619305e+02] [-9.03017069e-02 9.95864194e-01 -1.00054750e-02 -3.80070047e+01] [-5.99209185e-02 4.59543521e-03 9.98192549e-01 -1.96970871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.000714057 meters 0.04918705309543136 Centerline is valid? [True, True] Translation: X:280.65, Y:-38.01, Z:-19.70 [[ 9.94435240e-01 8.74360969e-02 5.87663308e-02 2.80648733e+02] [-8.70011323e-02 9.96158773e-01 -9.92478317e-03 -3.80132989e+01] [-5.94083803e-02 4.75681681e-03 9.98222429e-01 -1.96998836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.030714057 meters 0.05073765469133039 Centerline is valid? [True, True] Translation: X:280.68, Y:-38.02, Z:-19.70 [[ 9.94507451e-01 8.63709687e-02 5.91184063e-02 2.80678515e+02] [-8.59289503e-02 9.96251247e-01 -9.98342035e-03 -3.80206828e+01] [-5.97590637e-02 4.84860332e-03 9.98201055e-01 -1.97025665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.060714057 meters 0.05369006998136076 Centerline is valid? [True, True] Translation: X:280.71, Y:-38.03, Z:-19.71 [[ 9.94716502e-01 8.39955231e-02 5.90240042e-02 2.80707079e+02] [-8.35503057e-02 9.96453633e-01 -9.97520090e-03 -3.80290259e+01] [-5.96525556e-02 4.99102335e-03 9.98206723e-01 -1.97053255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.090714057 meters 0.05404652679151721 Centerline is valid? [True, True] Translation: X:280.74, Y:-38.03, Z:-19.71 [[ 9.94880932e-01 8.24878422e-02 5.83753998e-02 2.80738326e+02] [-8.20495680e-02 9.96579381e-01 -9.86943195e-03 -3.80335058e+01] [-5.89898280e-02 5.02923332e-03 9.98245915e-01 -1.97069958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.120714057 meters 0.05647631789375275 Centerline is valid? [True, True] Translation: X:280.77, Y:-38.04, Z:-19.71 [[ 9.94967648e-01 8.14965601e-02 5.82897032e-02 2.80768578e+02] [-8.10578152e-02 9.96660668e-01 -9.85615358e-03 -3.80409912e+01] [-5.88982971e-02 5.08171796e-03 9.98251054e-01 -1.97088082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.150714057 meters 0.05483245061839557 Centerline is valid? [True, True] Translation: X:280.80, Y:-38.04, Z:-19.71 [[ 9.95132685e-01 7.93981355e-02 5.83684422e-02 2.80800227e+02] [-7.89541596e-02 9.96829313e-01 -9.87732360e-03 -3.80410536e+01] [-5.89676152e-02 5.22081626e-03 9.98246244e-01 -1.97092951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.180714057 meters 0.059628892679910506 Centerline is valid? [True, True] Translation: X:280.83, Y:-38.05, Z:-19.71 [[ 9.95134781e-01 7.91654160e-02 5.86481407e-02 2.80829894e+02] [-7.87168190e-02 9.96847622e-01 -9.92379700e-03 -3.80520564e+01] [-5.92488811e-02 5.25892048e-03 9.98229389e-01 -1.97117275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.210714057 meters 0.061272553853588776 Centerline is valid? [True, True] Translation: X:280.86, Y:-38.06, Z:-19.71 [[ 9.95202886e-01 7.76347735e-02 5.95319881e-02 2.80858964e+02] [-7.71688896e-02 9.96966990e-01 -1.00887751e-02 -3.80576296e+01] [-6.01346668e-02 5.44636070e-03 9.98175415e-01 -1.97131179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.240714057 meters 0.05574490571051225 Centerline is valid? [True, True] Translation: X:280.89, Y:-38.05, Z:-19.71 [[ 9.95261553e-01 7.67675089e-02 5.96757083e-02 2.80892217e+02] [-7.62978589e-02 9.97033787e-01 -1.01125669e-02 -3.80541716e+01] [-6.02750140e-02 5.51152023e-03 9.98166592e-01 -1.97137507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.270714057 meters 0.05011710061083077 Centerline is valid? [True, True] Translation: X:280.93, Y:-38.05, Z:-19.71 [[ 9.95259391e-01 7.67292886e-02 5.97608649e-02 2.80925674e+02] [-7.62580635e-02 9.97036658e-01 -1.01296995e-02 -3.80507110e+01] [-6.03610176e-02 5.52443073e-03 9.98161324e-01 -1.97147451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.300714057 meters 0.05009805059922547 Centerline is valid? [True, True] Translation: X:280.96, Y:-38.05, Z:-19.72 [[ 9.95361780e-01 7.57198646e-02 5.93416361e-02 2.80957704e+02] [-7.52525463e-02 9.97113620e-01 -1.00738692e-02 -3.80529085e+01] [-5.99331456e-02 5.56153512e-03 9.98186900e-01 -1.97163387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.330714057 meters 0.05016241014650045 Centerline is valid? [True, True] Translation: X:280.99, Y:-38.06, Z:-19.72 [[ 9.95303440e-01 7.61844944e-02 5.97242414e-02 2.80989516e+02] [-7.57110896e-02 9.97078104e-01 -1.01530527e-02 -3.80572020e+01] [-6.03232386e-02 5.58358086e-03 9.98163278e-01 -1.97182264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.360714057 meters 0.06415986392193028 Centerline is valid? [True, True] Translation: X:281.02, Y:-38.08, Z:-19.72 [[ 9.95348971e-01 7.57141253e-02 5.95633945e-02 2.81016795e+02] [-7.52414095e-02 9.97113762e-01 -1.01427541e-02 -3.80791944e+01] [-6.01594301e-02 5.61394606e-03 9.98172994e-01 -1.97219238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.390714057 meters 0.05248393438876776 Centerline is valid? [True, True] Translation: X:281.05, Y:-38.07, Z:-19.72 [[ 9.95359296e-01 7.59252328e-02 5.91204814e-02 2.81052479e+02] [-7.54599017e-02 9.97098015e-01 -1.00673125e-02 -3.80679369e+01] [-5.97132777e-02 5.55936734e-03 9.98200089e-01 -1.97231166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.420714057 meters 0.052570899484000656 Centerline is valid? [True, True] Translation: X:281.08, Y:-38.07, Z:-19.73 [[ 9.95384483e-01 7.58611685e-02 5.87776659e-02 2.81084733e+02] [-7.54000960e-02 9.97102955e-01 -1.00260836e-02 -3.80719154e+01] [-5.93679747e-02 5.54796635e-03 9.98220749e-01 -1.97255675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.450714057 meters 0.053309959458550604 Centerline is valid? [True, True] Translation: X:281.12, Y:-38.07, Z:-19.73 [[ 9.95524620e-01 7.47705928e-02 5.77935030e-02 2.81115632e+02] [-7.43220832e-02 9.97185400e-01 -9.87446418e-03 -3.80733097e+01] [-5.83691570e-02 5.53493866e-03 9.98279723e-01 -1.97265467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.480714057 meters 0.048844521212457845 Centerline is valid? [True, True] Translation: X:281.15, Y:-38.07, Z:-19.73 [[ 9.95580874e-01 7.44703832e-02 5.72091451e-02 2.81148941e+02] [-7.40303677e-02 9.97208074e-01 -9.77552223e-03 -3.80702541e+01] [-5.77774083e-02 5.49710891e-03 9.98314356e-01 -1.97279655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.51071405700003 meters 0.05071274870208824 Centerline is valid? [True, True] Translation: X:281.18, Y:-38.08, Z:-19.73 [[ 9.95647724e-01 7.41498475e-02 5.64571474e-02 2.81178901e+02] [-7.37199132e-02 9.97232169e-01 -9.66307259e-03 -3.80769479e+01] [-5.70173990e-02 5.45900023e-03 9.98358260e-01 -1.97304014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.540714057 meters 0.05682850868727305 Centerline is valid? [True, True] Translation: X:281.21, Y:-38.09, Z:-19.73 [[ 9.95658110e-01 7.36836368e-02 5.68827704e-02 2.81208225e+02] [-7.32460701e-02 9.97266315e-01 -9.74223130e-03 -3.80880985e+01] [-5.74451138e-02 5.53349221e-03 9.98333331e-01 -1.97334620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.57071405700003 meters 0.054582858626718855 Centerline is valid? [True, True] Translation: X:281.24, Y:-38.09, Z:-19.73 [[ 9.95618218e-01 7.38321515e-02 5.73862092e-02 2.81240438e+02] [-7.33862456e-02 9.97255029e-01 -9.84210701e-03 -3.80896754e+01] [-5.79553496e-02 5.58762260e-03 9.98303539e-01 -1.97344703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.600714057 meters 0.05692593377650948 Centerline is valid? [True, True] Translation: X:281.27, Y:-38.10, Z:-19.74 [[ 9.95495995e-01 7.43496984e-02 5.88204531e-02 2.81271405e+02] [-7.38811722e-02 9.97215871e-01 -1.01034276e-02 -3.80954206e+01] [-5.94078761e-02 5.71219771e-03 9.98217449e-01 -1.97351219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.63071405700003 meters 0.051902143103274664 Centerline is valid? [True, True] Translation: X:281.30, Y:-38.09, Z:-19.74 [[ 9.95419923e-01 7.49676758e-02 5.93213596e-02 2.81304966e+02] [-7.44913914e-02 9.97169459e-01 -1.02030964e-02 -3.80923446e+01] [-5.99183505e-02 5.73743477e-03 9.98186793e-01 -1.97356095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.660714057 meters 0.051712593637600605 Centerline is valid? [True, True] Translation: X:281.34, Y:-38.10, Z:-19.74 [[ 9.95380826e-01 7.55214224e-02 5.92750101e-02 2.81337475e+02] [-7.50459474e-02 9.97127804e-01 -1.02102535e-02 -3.80956345e+01] [-5.98758535e-02 5.71474129e-03 9.98189473e-01 -1.97375904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.69071405700004 meters 0.05038894833111397 Centerline is valid? [True, True] Translation: X:281.37, Y:-38.10, Z:-19.74 [[ 9.95274827e-01 7.66045333e-02 5.96637613e-02 2.81369281e+02] [-7.61236887e-02 9.97045241e-01 -1.02942589e-02 -3.80981281e+01] [-6.02760561e-02 5.70379119e-03 9.98165449e-01 -1.97394267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.720714057 meters 0.05123696820355131 Centerline is valid? [True, True] Translation: X:281.40, Y:-38.10, Z:-19.74 [[ 9.95364197e-01 7.59685997e-02 5.89820903e-02 2.81399742e+02] [-7.54973888e-02 9.97094033e-01 -1.01800352e-02 -3.81042759e+01] [-5.95840533e-02 5.67984871e-03 9.98207133e-01 -1.97438276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.750714057 meters 0.05661673342648366 Centerline is valid? [True, True] Translation: X:281.43, Y:-38.12, Z:-19.75 [[ 9.95427162e-01 7.55606783e-02 5.84409839e-02 2.81428971e+02] [-7.50973748e-02 9.97125187e-01 -1.00869078e-02 -3.81164888e+01] [-5.90351506e-02 5.65201757e-03 9.98239904e-01 -1.97474949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.780714057 meters 0.05118745024886105 Centerline is valid? [True, True] Translation: X:281.46, Y:-38.11, Z:-19.75 [[ 9.95545842e-01 7.49337131e-02 5.72137720e-02 2.81460974e+02] [-7.44877820e-02 9.97172879e-01 -9.89035929e-03 -3.81136676e+01] [-5.77931431e-02 5.58457908e-03 9.98312959e-01 -1.97491244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.810714057 meters 0.054006322665099755 Centerline is valid? [True, True] Translation: X:281.49, Y:-38.12, Z:-19.75 [[ 9.95661037e-01 7.38578720e-02 5.66048955e-02 2.81489965e+02] [-7.34195908e-02 9.97253121e-01 -9.78656449e-03 -3.81218104e+01] [-5.71722235e-02 5.58819269e-03 9.98348691e-01 -1.97518473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.840714057 meters 0.058180737136927216 Centerline is valid? [True, True] Translation: X:281.52, Y:-38.13, Z:-19.76 [[ 9.95853285e-01 7.20155358e-02 5.55877362e-02 2.81518497e+02] [-7.15897056e-02 9.97387804e-01 -9.61675515e-03 -3.81306382e+01] [-5.61350859e-02 5.59736754e-03 9.98407493e-01 -1.97550290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.870714057 meters 0.052201108835853514 Centerline is valid? [True, True] Translation: X:281.55, Y:-38.13, Z:-19.76 [[ 9.95852603e-01 7.22397140e-02 5.53083842e-02 2.81551351e+02] [-7.18185263e-02 9.97371823e-01 -9.56796993e-03 -3.81259536e+01] [-5.58542114e-02 5.55612112e-03 9.98423476e-01 -1.97559134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.900714057 meters 0.051968991991343146 Centerline is valid? [True, True] Translation: X:281.58, Y:-38.13, Z:-19.76 [[ 9.95787104e-01 7.31438721e-02 5.52993523e-02 2.81582167e+02] [-7.27240873e-02 9.97306198e-01 -9.56844454e-03 -3.81300738e+01] [-5.58502598e-02 5.50653875e-03 9.98423971e-01 -1.97583390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.930714057 meters 0.053745966509377165 Centerline is valid? [True, True] Translation: X:281.61, Y:-38.14, Z:-19.76 [[ 9.95691564e-01 7.46951798e-02 5.49448716e-02 2.81611184e+02] [-7.42829649e-02 9.97191861e-01 -9.50960143e-03 -3.81369243e+01] [-5.55009002e-02 5.38716196e-03 9.98444104e-01 -1.97600635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.960714057 meters 0.05564919339343715 Centerline is valid? [True, True] Translation: X:281.64, Y:-38.14, Z:-19.76 [[ 9.95554223e-01 7.65591111e-02 5.48679394e-02 2.81639932e+02] [-7.61508402e-02 9.97051085e-01 -9.49651615e-03 -3.81426585e+01] [-5.54331834e-02 5.27605707e-03 9.98448459e-01 -1.97624348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.990714057 meters 0.04960920651592405 Centerline is valid? [True, True] Translation: X:281.67, Y:-38.14, Z:-19.76 [[ 9.95265633e-01 8.04182630e-02 5.45822606e-02 2.81672123e+02] [-8.00200282e-02 9.96748495e-01 -9.44626883e-03 -3.81353874e+01] [-5.51644387e-02 5.03387270e-03 9.98464594e-01 -1.97624616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.020714057 meters 0.049517174343213365 Centerline is valid? [True, True] Translation: X:281.70, Y:-38.14, Z:-19.76 [[ 9.95084522e-01 8.24117395e-02 5.49099179e-02 2.81700839e+02] [-8.20118009e-02 9.96586067e-01 -9.50133804e-03 -3.81386711e+01] [-5.55054809e-02 4.95137317e-03 9.98446105e-01 -1.97638739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.050714057 meters 0.049147023590296095 Centerline is valid? [True, True] Translation: X:281.73, Y:-38.14, Z:-19.76 [[ 9.94625911e-01 8.65654044e-02 5.67954905e-02 2.81729236e+02] [-8.61443155e-02 9.96234217e-01 -9.82559578e-03 -3.81418717e+01] [-5.74321677e-02 4.88018350e-03 9.98337483e-01 -1.97648379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.080714057 meters 0.05175135796392982 Centerline is valid? [True, True] Translation: X:281.76, Y:-38.15, Z:-19.77 [[ 9.94398983e-01 8.87335618e-02 5.74196543e-02 2.81756692e+02] [-8.83068959e-02 9.96043809e-01 -9.93087505e-03 -3.81498242e+01] [-5.80736931e-02 4.80470062e-03 9.98300737e-01 -1.97666858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.110714057 meters 0.04750022293006333 Centerline is valid? [True, True] Translation: X:281.79, Y:-38.15, Z:-19.77 [[ 9.94256707e-01 9.02344977e-02 5.75442090e-02 2.81787716e+02] [-8.98086517e-02 9.95909342e-01 -9.94930611e-03 -3.81476427e+01] [-5.82065860e-02 4.72419651e-03 9.98293381e-01 -1.97674482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.140714057 meters 0.049126499368244946 Centerline is valid? [True, True] Translation: X:281.82, Y:-38.15, Z:-19.77 [[ 9.93910236e-01 9.37161449e-02 5.79631439e-02 2.81816850e+02] [-9.32901217e-02 9.95588559e-01 -1.00186900e-02 -3.81525244e+01] [-5.86463559e-02 4.55028978e-03 9.98268451e-01 -1.97687295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.170714057 meters 0.04320516290119072 Centerline is valid? [True, True] Translation: X:281.85, Y:-38.15, Z:-19.77 [[ 9.93803782e-01 9.48636558e-02 5.79217537e-02 2.81847200e+02] [-9.44402171e-02 9.95480200e-01 -1.00108520e-02 -3.81472404e+01] [-5.86096250e-02 4.47867957e-03 9.98270932e-01 -1.97699974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.200714057 meters 0.042712305399079935 Centerline is valid? [True, True] Translation: X:281.88, Y:-38.15, Z:-19.77 [[ 9.93583439e-01 9.77996154e-02 5.68083200e-02 2.81875965e+02] [-9.73973428e-02 9.95197188e-01 -9.81397592e-03 -3.81512248e+01] [-5.74952834e-02 4.21802453e-03 9.98336867e-01 -1.97741035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.230714057 meters 0.04178122050686885 Centerline is valid? [True, True] Translation: X:281.90, Y:-38.16, Z:-19.78 [[ 9.93475246e-01 9.94567676e-02 5.58147547e-02 2.81904393e+02] [-9.90711474e-02 9.95033649e-01 -9.64078304e-03 -3.81554955e+01] [-5.64964001e-02 4.04824751e-03 9.98394596e-01 -1.97766061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.26071405700003 meters 0.04441756999894782 Centerline is valid? [True, True] Translation: X:281.93, Y:-38.16, Z:-19.78 [[ 9.93240358e-01 1.01789375e-01 5.57899222e-02 2.81931765e+02] [-1.01407992e-01 9.94798290e-01 -9.63230625e-03 -3.81642609e+01] [-5.64801857e-02 3.90965131e-03 9.98396065e-01 -1.97799620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.290714057 meters 0.03980239265683253 Centerline is valid? [True, True] Translation: X:281.96, Y:-38.16, Z:-19.78 [[ 9.92619409e-01 1.07837318e-01 5.54781238e-02 2.81962779e+02] [-1.07469765e-01 9.94162243e-01 -9.57523108e-03 -3.81585496e+01] [-5.61868232e-02 3.54233931e-03 9.98413989e-01 -1.97798716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.32071405700003 meters 0.0395247936343815 Centerline is valid? [True, True] Translation: X:281.99, Y:-38.16, Z:-19.78 [[ 9.92227798e-01 1.11192759e-01 5.58584620e-02 2.81992353e+02] [-1.10825524e-01 9.93793131e-01 -9.63925818e-03 -3.81606191e+01] [-5.65835716e-02 3.37379659e-03 9.98392166e-01 -1.97806911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.350714057 meters 0.036931585479168784 Centerline is valid? [True, True] Translation: X:282.02, Y:-38.16, Z:-19.78 [[ 9.91360846e-01 1.17712705e-01 5.78566517e-02 2.82022662e+02] [-1.17329868e-01 9.93042831e-01 -9.98192552e-03 -3.81588463e+01] [-5.86291326e-02 3.10737684e-03 9.98274997e-01 -1.97809793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.38071405700003 meters 0.03699719961291997 Centerline is valid? [True, True] Translation: X:282.05, Y:-38.16, Z:-19.78 [[ 9.91086738e-01 1.19764280e-01 5.83403449e-02 2.82050814e+02] [-1.19378643e-01 9.92797794e-01 -1.00637639e-02 -3.81627577e+01] [-5.91254452e-02 3.00947170e-03 9.98246024e-01 -1.97833193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.410714057 meters 0.03665834754363145 Centerline is valid? [True, True] Translation: X:282.08, Y:-38.17, Z:-19.79 [[ 9.90891464e-01 1.21061657e-01 5.89761202e-02 2.82079035e+02] [-1.20669982e-01 9.92640571e-01 -1.01711870e-02 -3.81674529e+01] [-5.97734304e-02 2.96189502e-03 9.98207576e-01 -1.97852902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.44071405700004 meters 0.033740992624189246 Centerline is valid? [True, True] Translation: X:282.11, Y:-38.17, Z:-19.79 [[ 9.90801670e-01 1.21254239e-01 6.00787925e-02 2.82108270e+02] [-1.20848367e-01 9.92616946e-01 -1.03572083e-02 -3.81672143e+01] [-6.08910829e-02 3.00151530e-03 9.98139903e-01 -1.97859411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.470714057 meters 0.03454198451953907 Centerline is valid? [True, True] Translation: X:282.14, Y:-38.17, Z:-19.79 [[ 9.91114317e-01 1.18997998e-01 5.94296809e-02 2.82137570e+02] [-1.18597091e-01 9.92889650e-01 -1.02407811e-02 -3.81721448e+01] [-6.02257475e-02 3.10159753e-03 9.98179963e-01 -1.97870209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.500714057 meters 0.03498629504255079 Centerline is valid? [True, True] Translation: X:282.17, Y:-38.18, Z:-19.79 [[ 9.91265561e-01 1.17308667e-01 6.02599665e-02 2.82165671e+02] [-1.16893472e-01 9.93090193e-01 -1.03819127e-02 -3.81780215e+01] [-6.10614701e-02 3.24723578e-03 9.98128725e-01 -1.97884598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.530714057 meters 0.03547015269931845 Centerline is valid? [True, True] Translation: X:282.19, Y:-38.18, Z:-19.79 [[ 9.91487359e-01 1.15357828e-01 6.03770511e-02 2.82194448e+02] [-1.14937694e-01 9.93318287e-01 -1.03974789e-02 -3.81844848e+01] [-6.11730595e-02 3.36936986e-03 9.98121488e-01 -1.97903087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.560714057 meters 0.03547015269931845 Centerline is valid? [True, True] Translation: X:282.22, Y:-38.19, Z:-19.79 [[ 9.91499445e-01 1.15253758e-01 6.03773273e-02 2.82221501e+02] [-1.14833530e-01 9.93330351e-01 -1.03958748e-02 -3.81890501e+01] [-6.11727954e-02 3.37416245e-03 9.98121488e-01 -1.97921991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.590714057 meters 0.03813358319942619 Centerline is valid? [True, True] Translation: X:282.25, Y:-38.20, Z:-19.80 [[ 9.91996129e-01 1.10735191e-01 6.06745294e-02 2.82248929e+02] [-1.10302832e-01 9.93843194e-01 -1.04398471e-02 -3.82014612e+01] [-6.14570266e-02 3.66371543e-03 9.98103006e-01 -1.97951377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.620714057 meters 0.03839617077877388 Centerline is valid? [True, True] Translation: X:282.28, Y:-38.21, Z:-19.80 [[ 9.92328641e-01 1.07959238e-01 6.02384579e-02 2.82278016e+02] [-1.07528075e-01 9.94148034e-01 -1.03633972e-02 -3.82081036e+01] [-6.10047689e-02 3.80657041e-03 9.98130216e-01 -1.97974674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.650714057 meters 0.04095197797557318 Centerline is valid? [True, True] Translation: X:282.31, Y:-38.22, Z:-19.80 [[ 9.92871184e-01 1.03316378e-01 5.94351649e-02 2.82305615e+02] [-1.02888470e-01 9.94640357e-01 -1.02236208e-02 -3.82184272e+01] [-6.01728811e-02 4.03554526e-03 9.98179813e-01 -1.98005324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.680714057 meters 0.042495541404219406 Centerline is valid? [True, True] Translation: X:282.33, Y:-38.23, Z:-19.80 [[ 9.93115038e-01 1.01854702e-01 5.78631283e-02 2.82332451e+02] [-1.01446476e-01 9.94791170e-01 -9.95689506e-03 -3.82267736e+01] [-5.85758857e-02 4.01833173e-03 9.98274871e-01 -1.98032514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.710714057 meters 0.04087298585282665 Centerline is valid? [True, True] Translation: X:282.36, Y:-38.23, Z:-19.81 [[ 9.93351355e-01 1.00163499e-01 5.67482081e-02 2.82361480e+02] [-9.97683654e-02 9.94962812e-01 -9.76094028e-03 -3.82294529e+01] [-5.74400466e-02 4.03436729e-03 9.98340806e-01 -1.98057548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.740714057 meters 0.04141112301367682 Centerline is valid? [True, True] Translation: X:282.39, Y:-38.24, Z:-19.81 [[ 9.93541483e-01 9.83299382e-02 5.66263606e-02 2.82389862e+02] [-9.79337033e-02 9.95145305e-01 -9.73715105e-03 -3.82367776e+01] [-5.73089104e-02 4.12863429e-03 9.98347957e-01 -1.98082035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.770714057 meters 0.04160631073704319 Centerline is valid? [True, True] Translation: X:282.42, Y:-38.24, Z:-19.81 [[ 9.93610128e-01 9.77088606e-02 5.64968383e-02 2.82417885e+02] [-9.73136909e-02 9.95206386e-01 -9.71051216e-03 -3.82417829e+01] [-5.71748174e-02 4.15054736e-03 9.98355555e-01 -1.98101764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.800714057 meters 0.04366333237828011 Centerline is valid? [True, True] Translation: X:282.45, Y:-38.25, Z:-19.81 [[ 9.93716629e-01 9.62474131e-02 5.71287812e-02 2.82445766e+02] [-9.58411874e-02 9.95348248e-01 -9.81488454e-03 -3.82502751e+01] [-5.78076895e-02 4.27792374e-03 9.98318572e-01 -1.98119303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.830714057 meters 0.04213339904014005 Centerline is valid? [True, True] Translation: X:282.47, Y:-38.25, Z:-19.81 [[ 9.93702888e-01 9.59008148e-02 5.79448351e-02 2.82474132e+02] [-9.54825415e-02 9.95381365e-01 -9.95095920e-03 -3.82526851e+01] [-5.86315141e-02 4.35557677e-03 9.98270191e-01 -1.98125705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.860714057 meters 0.04677339622057822 Centerline is valid? [True, True] Translation: X:282.50, Y:-38.26, Z:-19.81 [[ 9.93690373e-01 9.54339690e-02 5.89219777e-02 2.82500145e+02] [-9.50008860e-02 9.95425802e-01 -1.01145501e-02 -3.82638002e+01] [-5.96177286e-02 4.45309097e-03 9.98211349e-01 -1.98141380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.890714057 meters 0.04720173683735753 Centerline is valid? [True, True] Translation: X:282.53, Y:-38.27, Z:-19.82 [[ 9.93804956e-01 9.37293117e-02 5.97203948e-02 2.82528802e+02] [-9.32816866e-02 9.95587038e-01 -1.02458356e-02 -3.82691492e+01] [-6.04171861e-02 4.61154301e-03 9.98162561e-01 -1.98153735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.920714057 meters 0.049384192533046004 Centerline is valid? [True, True] Translation: X:282.56, Y:-38.28, Z:-19.82 [[ 9.93857842e-01 9.28193075e-02 6.02591579e-02 2.82555433e+02] [-9.23620713e-02 9.95671847e-01 -1.03354008e-02 -3.82774230e+01] [-6.09576718e-02 4.70625848e-03 9.98129257e-01 -1.98171674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.950714057 meters 0.043634676806812704 Centerline is valid? [True, True] Translation: X:282.59, Y:-38.27, Z:-19.82 [[ 9.94011007e-01 9.05271944e-02 6.12122886e-02 2.82586638e+02] [-9.00514459e-02 9.95881844e-01 -1.04923506e-02 -3.82743625e+01] [-6.19100499e-02 4.91725688e-03 9.98069620e-01 -1.98177075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.980714057 meters 0.04442622631045194 Centerline is valid? [True, True] Translation: X:282.62, Y:-38.28, Z:-19.82 [[ 9.94102771e-01 8.94497485e-02 6.13059734e-02 2.82615402e+02] [-8.89705694e-02 9.95978831e-01 -1.05073984e-02 -3.82808600e+01] [-6.19993358e-02 4.99100646e-03 9.98063712e-01 -1.98197817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.01071405700003 meters 0.04521075305775269 Centerline is valid? [True, True] Translation: X:282.64, Y:-38.29, Z:-19.82 [[ 9.94236475e-01 8.79548069e-02 6.13007605e-02 2.82644270e+02] [-8.74730286e-02 9.96111505e-01 -1.05042645e-02 -3.82870910e+01] [-6.19862933e-02 5.08155977e-03 9.98064065e-01 -1.98223091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.040714057 meters 0.04688022968379734 Centerline is valid? [True, True] Translation: X:282.67, Y:-38.29, Z:-19.83 [[ 9.94597969e-01 8.50889574e-02 5.94537565e-02 2.82673237e+02] [-8.46308764e-02 9.96360312e-01 -1.01854356e-02 -3.82947644e+01] [-6.01040314e-02 5.09879009e-03 9.98179096e-01 -1.98259681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.07071405700003 meters 0.04772204533001449 Centerline is valid? [True, True] Translation: X:282.70, Y:-38.30, Z:-19.83 [[ 9.94704612e-01 8.39374920e-02 5.93062600e-02 2.82701406e+02] [-8.34796574e-02 9.96457685e-01 -1.01601218e-02 -3.83015423e+01] [-5.99489937e-02 5.15545371e-03 9.98188128e-01 -1.98288975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.100714057 meters 0.0466820731702376 Centerline is valid? [True, True] Translation: X:282.73, Y:-38.31, Z:-19.83 [[ 9.94795259e-01 8.31635717e-02 5.88745485e-02 2.82730757e+02] [-8.27112426e-02 9.96522547e-01 -1.00828329e-02 -3.83053820e+01] [-5.95083395e-02 5.16076732e-03 9.98214468e-01 -1.98312079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.13071405700003 meters 0.04879669840172972 Centerline is valid? [True, True] Translation: X:282.76, Y:-38.31, Z:-19.83 [[ 9.94899579e-01 8.23332022e-02 5.82758198e-02 2.82758635e+02] [-8.18887418e-02 9.96591524e-01 -9.97835224e-03 -3.83132530e+01] [-5.88987378e-02 5.15532488e-03 9.98250651e-01 -1.98344018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.160714057 meters 0.048925296708370855 Centerline is valid? [True, True] Translation: X:282.79, Y:-38.32, Z:-19.84 [[ 9.94830254e-01 8.32088239e-02 5.82156039e-02 2.82787867e+02] [-8.27669663e-02 9.96519109e-01 -9.96469752e-03 -3.83183695e+01] [-5.88421125e-02 5.09485364e-03 9.98254300e-01 -1.98371539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.19071405700004 meters 0.04668402651185593 Centerline is valid? [True, True] Translation: X:282.82, Y:-38.32, Z:-19.84 [[ 9.94513404e-01 8.67485949e-02 5.84616991e-02 2.82818825e+02] [-8.63091963e-02 9.96218166e-01 -1.00043885e-02 -3.83189578e+01] [-5.91084733e-02 4.90371616e-03 9.98239521e-01 -1.98381838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.220714057 meters 0.04694885761772529 Centerline is valid? [True, True] Translation: X:282.85, Y:-38.32, Z:-19.84 [[ 9.94257820e-01 8.96015989e-02 5.85059001e-02 2.82847901e+02] [-8.91664299e-02 9.95966419e-01 -1.00120378e-02 -3.83226892e+01] [-5.91670064e-02 4.73778466e-03 9.98236855e-01 -1.98397915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.250714057 meters 0.045191926407586416 Centerline is valid? [True, True] Translation: X:282.88, Y:-38.32, Z:-19.84 [[ 9.94012812e-01 9.22706768e-02 5.85205207e-02 2.82878404e+02] [-9.18399569e-02 9.95723434e-01 -1.00132616e-02 -3.83239056e+01] [-5.91941842e-02 4.57878818e-03 9.98235986e-01 -1.98407352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.280714057 meters 0.040576282642198945 Centerline is valid? [True, True] Translation: X:282.91, Y:-38.32, Z:-19.84 [[ 9.93420453e-01 9.79253342e-02 5.93837761e-02 2.82910230e+02] [-9.74919643e-02 9.95184465e-01 -1.01586655e-02 -3.83187968e+01] [-6.00926021e-02 4.30238507e-03 9.98183535e-01 -1.98417258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.310714057 meters 0.04311716733336061 Centerline is valid? [True, True] Translation: X:282.94, Y:-38.33, Z:-19.84 [[ 9.93201679e-01 1.00122130e-01 5.93800004e-02 2.82938137e+02] [-9.96927522e-02 9.94966422e-01 -1.01574352e-02 -3.83264063e+01] [-6.00980906e-02 4.16862600e-03 9.98183772e-01 -1.98442956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.340714057 meters 0.04314437011945772 Centerline is valid? [True, True] Translation: X:282.97, Y:-38.33, Z:-19.85 [[ 9.92649694e-01 1.04961108e-01 6.02474118e-02 2.82967125e+02] [-1.04528068e-01 9.94468561e-01 -1.03036395e-02 -3.83293195e+01] [-6.09956383e-02 3.93035911e-03 9.98130294e-01 -1.98457970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.370714057 meters 0.0433575096611246 Centerline is valid? [True, True] Translation: X:283.00, Y:-38.33, Z:-19.85 [[ 9.92454987e-01 1.06545054e-01 6.06733042e-02 2.82995314e+02] [-1.06108958e-01 9.94300392e-01 -1.03739860e-02 -3.83319090e+01] [-6.14327870e-02 3.85773304e-03 9.98103767e-01 -1.98473374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.400714057 meters 0.03712444857161863 Centerline is valid? [True, True] Translation: X:283.03, Y:-38.33, Z:-19.85 [[ 9.92245132e-01 1.08476618e-01 6.06829532e-02 2.83026481e+02] [-1.08044241e-01 9.94091986e-01 -1.03713405e-02 -3.83253730e+01] [-6.14494855e-02 3.73446849e-03 9.98103208e-01 -1.98479362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.430714057 meters 0.036519619408496816 Centerline is valid? [True, True] Translation: X:283.06, Y:-38.33, Z:-19.85 [[ 9.91999824e-01 1.11237635e-01 5.96870065e-02 2.83056388e+02] [-1.10824466e-01 9.93787664e-01 -1.01988400e-02 -3.83268965e+01] [-6.04507056e-02 3.50246686e-03 9.98165039e-01 -1.98503755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.460714057 meters 0.03554133587769966 Centerline is valid? [True, True] Translation: X:283.08, Y:-38.33, Z:-19.85 [[ 9.91971571e-01 1.11818125e-01 5.90686852e-02 2.83084956e+02] [-1.11414544e-01 9.93722768e-01 -1.00926057e-02 -3.83290475e+01] [-5.98264336e-02 3.43046729e-03 9.98202900e-01 -1.98534740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.490714057 meters 0.03622512354563684 Centerline is valid? [True, True] Translation: X:283.11, Y:-38.33, Z:-19.86 [[ 9.91755284e-01 1.14214602e-01 5.81075006e-02 2.83112570e+02] [-1.13828417e-01 9.93450857e-01 -9.92402571e-03 -3.83348764e+01] [-5.88604149e-02 3.22792015e-03 9.98261004e-01 -1.98570754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.520714057 meters 0.03586813125724268 Centerline is valid? [True, True] Translation: X:283.14, Y:-38.34, Z:-19.86 [[ 9.91660949e-01 1.14888904e-01 5.83875157e-02 2.83141577e+02] [-1.14500327e-01 9.93373192e-01 -9.96881409e-03 -3.83379088e+01] [-5.91458990e-02 3.20029402e-03 9.98244219e-01 -1.98586985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.550714057 meters 0.03468605982902224 Centerline is valid? [True, True] Translation: X:283.17, Y:-38.34, Z:-19.86 [[ 9.91502391e-01 1.16160858e-01 5.85633271e-02 2.83171160e+02] [-1.15772306e-01 9.93225478e-01 -9.99612208e-03 -3.83391678e+01] [-5.93277467e-02 3.13116753e-03 9.98233647e-01 -1.98592426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.580714057 meters 0.03649947703255144 Centerline is valid? [True, True] Translation: X:283.20, Y:-38.34, Z:-19.86 [[ 9.91193103e-01 1.18177632e-01 5.97518190e-02 2.83199487e+02] [-1.17777743e-01 9.92987768e-01 -1.01830713e-02 -3.83442852e+01] [-6.05362366e-02 3.05595563e-03 9.98161322e-01 -1.98607838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.610714057 meters 0.03611181567805875 Centerline is valid? [True, True] Translation: X:283.23, Y:-38.35, Z:-19.86 [[ 9.90975834e-01 1.19451240e-01 6.08136275e-02 2.83228133e+02] [-1.19039514e-01 9.92835447e-01 -1.03618710e-02 -3.83490197e+01] [-6.16156634e-02 3.02913907e-03 9.98095353e-01 -1.98621754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.640714057 meters 0.033284490417587104 Centerline is valid? [True, True] Translation: X:283.26, Y:-38.35, Z:-19.86 [[ 9.90734491e-01 1.20671576e-01 6.23180519e-02 2.83257648e+02] [-1.20242569e-01 9.92687918e-01 -1.06029558e-02 -3.83488504e+01] [-6.31418526e-02 3.01143135e-03 9.98000019e-01 -1.98630124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.670714057 meters 0.03506232195630642 Centerline is valid? [True, True] Translation: X:283.28, Y:-38.36, Z:-19.87 [[ 9.90761700e-01 1.20625012e-01 6.19746813e-02 2.83283920e+02] [-1.20200898e-01 9.92693631e-01 -1.05403617e-02 -3.83572455e+01] [-6.27933027e-02 2.99357434e-03 9.98022064e-01 -1.98657280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.700714057 meters 0.03373130782996919 Centerline is valid? [True, True] Translation: X:283.31, Y:-38.36, Z:-19.87 [[ 9.90863562e-01 1.20325832e-01 6.09187641e-02 2.83312393e+02] [-1.19915993e-01 9.92730061e-01 -1.03528574e-02 -3.83590238e+01] [-6.17216046e-02 2.95313506e-03 9.98089035e-01 -1.98679472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.730714057 meters 0.03401802415960729 Centerline is valid? [True, True] Translation: X:283.34, Y:-38.36, Z:-19.87 [[ 9.91088468e-01 1.19222082e-01 5.94116411e-02 2.83340351e+02] [-1.18830571e-01 9.92863251e-01 -1.00925528e-02 -3.83639856e+01] [-6.01908903e-02 2.94269349e-03 9.98182547e-01 -1.98705464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.76071405700003 meters 0.03361374726271224 Centerline is valid? [True, True] Translation: X:283.37, Y:-38.37, Z:-19.87 [[ 9.91187949e-01 1.18612869e-01 5.89698024e-02 2.83368236e+02] [-1.18226333e-01 9.92936183e-01 -1.00134761e-02 -3.83682755e+01] [-5.97409776e-02 2.95345328e-03 9.98209543e-01 -1.98729941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.790714057 meters 0.034007885403431706 Centerline is valid? [True, True] Translation: X:283.40, Y:-38.37, Z:-19.88 [[ 9.91342575e-01 1.17447755e-01 5.87019953e-02 2.83396297e+02] [-1.17063017e-01 9.93074518e-01 -9.96251471e-03 -3.83748060e+01] [-5.94655307e-02 3.00443228e-03 9.98225838e-01 -1.98758754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.82071405700003 meters 0.03585343117452741 Centerline is valid? [True, True] Translation: X:283.42, Y:-38.38, Z:-19.88 [[ 9.91658377e-01 1.15215684e-01 5.77841674e-02 2.83423338e+02] [-1.14839365e-01 9.93335708e-01 -9.80259620e-03 -3.83826657e+01] [-5.85284897e-02 3.08492956e-03 9.98280972e-01 -1.98779908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.850714057 meters 0.03628302874744846 Centerline is valid? [True, True] Translation: X:283.45, Y:-38.39, Z:-19.88 [[ 9.91741617e-01 1.14563901e-01 5.76513414e-02 2.83451111e+02] [-1.14188461e-01 9.93411007e-01 -9.77584960e-03 -3.83884379e+01] [-5.83914366e-02 3.11199894e-03 9.98288914e-01 -1.98798461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.88071405700003 meters 0.035559911096163396 Centerline is valid? [True, True] Translation: X:283.48, Y:-38.39, Z:-19.88 [[ 9.91844075e-01 1.13844442e-01 5.73129513e-02 2.83479132e+02] [-1.13472437e-01 9.93493651e-01 -9.71448869e-03 -3.83927084e+01] [-5.80459938e-02 3.13181776e-03 9.98308997e-01 -1.98818228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.910714057 meters 0.03591195066790717 Centerline is valid? [True, True] Translation: X:283.51, Y:-38.40, Z:-19.88 [[ 9.91898786e-01 1.13314674e-01 5.74158829e-02 2.83506991e+02] [-1.12940685e-01 9.93554111e-01 -9.72782486e-03 -3.83981665e+01] [-5.81480918e-02 3.16442848e-03 9.98302953e-01 -1.98838766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.94071405700004 meters 0.03501944639790346 Centerline is valid? [True, True] Translation: X:283.54, Y:-38.40, Z:-19.89 [[ 9.91879835e-01 1.13312697e-01 5.77462223e-02 2.83535872e+02] [-1.12934625e-01 9.93554291e-01 -9.77966940e-03 -3.84014899e+01] [-5.84821677e-02 3.17870888e-03 9.98283393e-01 -1.98857751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.970714057 meters 0.039207306845643025 Centerline is valid? [True, True] Translation: X:283.56, Y:-38.41, Z:-19.89 [[ 9.91832210e-01 1.13556722e-01 5.80838957e-02 2.83562048e+02] [-1.13174866e-01 9.93526429e-01 -9.83279132e-03 -3.84138984e+01] [-5.88244650e-02 3.17884204e-03 9.98263281e-01 -1.98895169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.000714057 meters 0.034993950088728534 Centerline is valid? [True, True] Translation: X:283.59, Y:-38.41, Z:-19.89 [[ 9.91760182e-01 1.13793503e-01 5.88453932e-02 2.83591437e+02] [-1.13402300e-01 9.93499267e-01 -9.95618403e-03 -3.84109269e+01] [-5.95958041e-02 3.20094395e-03 9.98217458e-01 -1.98898891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.030714057 meters 0.03569109356997521 Centerline is valid? [True, True] Translation: X:283.62, Y:-38.42, Z:-19.89 [[ 9.91620975e-01 1.14426229e-01 5.99539891e-02 2.83619091e+02] [-1.14021542e-01 9.93426535e-01 -1.01394468e-02 -3.84158961e+01] [-6.07201023e-02 3.21844183e-03 9.98149643e-01 -1.98909789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.060714057 meters 0.03478506341104708 Centerline is valid? [True, True] Translation: X:283.65, Y:-38.42, Z:-19.89 [[ 9.91594577e-01 1.14380138e-01 6.04762726e-02 2.83647954e+02] [-1.13968619e-01 9.93431760e-01 -1.02221487e-02 -3.84203547e+01] [-6.12482607e-02 3.24382994e-03 9.98117292e-01 -1.98931794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.090714057 meters 0.039207008923320054 Centerline is valid? [True, True] Translation: X:283.67, Y:-38.43, Z:-19.89 [[ 9.91661446e-01 1.13496434e-01 6.10420787e-02 2.83673905e+02] [-1.13075752e-01 9.93532839e-01 -1.03137066e-02 -3.84343358e+01] [-6.18178787e-02 3.32532621e-03 9.98081907e-01 -1.98947737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.120714057 meters 0.036114451287937006 Centerline is valid? [True, True] Translation: X:283.70, Y:-38.43, Z:-19.90 [[ 9.91743791e-01 1.12744466e-01 6.10977831e-02 2.83703242e+02] [-1.12322123e-01 9.93618312e-01 -1.03145667e-02 -3.84340842e+01] [-6.18707865e-02 3.36677478e-03 9.98078489e-01 -1.98959832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.150714057 meters 0.037404022363830745 Centerline is valid? [True, True] Translation: X:283.73, Y:-38.44, Z:-19.90 [[ 9.92148488e-01 1.09684191e-01 6.00895662e-02 2.83730857e+02] [-1.09270374e-01 9.93960346e-01 -1.01398578e-02 -3.84441621e+01] [-6.08388281e-02 3.49423521e-03 9.98141487e-01 -1.98977688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.180714057 meters 0.03836505724644472 Centerline is valid? [True, True] Translation: X:283.76, Y:-38.45, Z:-19.90 [[ 9.92331262e-01 1.08066064e-01 6.00032777e-02 2.83758919e+02] [-1.07650612e-01 9.94137246e-01 -1.01232987e-02 -3.84516110e+01] [-6.07454783e-02 3.58627622e-03 9.98146846e-01 -1.98999779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.210714057 meters 0.03929973256618337 Centerline is valid? [True, True] Translation: X:283.79, Y:-38.46, Z:-19.90 [[ 9.92637149e-01 1.05600194e-01 5.93303354e-02 2.83787765e+02] [-1.05189832e-01 9.94401815e-01 -1.00065125e-02 -3.84585203e+01] [-6.00548828e-02 3.69188805e-03 9.98188249e-01 -1.99020218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.240714057 meters 0.04078294231536613 Centerline is valid? [True, True] Translation: X:283.82, Y:-38.47, Z:-19.90 [[ 9.93006167e-01 1.02238569e-01 5.90425958e-02 2.83817090e+02] [-1.01826399e-01 9.94752365e-01 -9.95578544e-03 -3.84672592e+01] [-5.97506270e-02 3.87406141e-03 9.98205818e-01 -1.99040707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.270714057 meters 0.04263409733214903 Centerline is valid? [True, True] Translation: X:283.84, Y:-38.48, Z:-19.91 [[ 9.93090630e-01 1.01029970e-01 5.96987979e-02 2.83843452e+02] [-1.00606418e-01 9.94875379e-01 -1.00661856e-02 -3.84752082e+01] [-6.04098507e-02 3.99055235e-03 9.98165680e-01 -1.99057371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.300714057 meters 0.0449615931770373 Centerline is valid? [True, True] Translation: X:283.87, Y:-38.48, Z:-19.91 [[ 9.93225480e-01 9.87534268e-02 6.12446529e-02 2.83870713e+02] [-9.83038020e-02 9.95102950e-01 -1.03190294e-02 -3.84840332e+01] [-6.19637743e-02 4.22854074e-03 9.98069442e-01 -1.99063311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.330714057 meters 0.039987792089414415 Centerline is valid? [True, True] Translation: X:283.90, Y:-38.48, Z:-19.91 [[ 9.93269710e-01 9.78409272e-02 6.19873897e-02 2.83900175e+02] [-9.73788277e-02 9.95192633e-01 -1.04397027e-02 -3.84822484e+01] [-6.27108237e-02 4.33318111e-03 9.98022332e-01 -1.99068878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.360714057 meters 0.04086509763234702 Centerline is valid? [True, True] Translation: X:283.93, Y:-38.49, Z:-19.91 [[ 9.93356638e-01 9.66251940e-02 6.24992917e-02 2.83928057e+02] [-9.61533175e-02 9.95310927e-01 -1.05213231e-02 -3.84889319e+01] [-6.32228528e-02 4.44191195e-03 9.97989549e-01 -1.99081471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.390714057 meters 0.047800093913415116 Centerline is valid? [True, True] Translation: X:283.95, Y:-38.50, Z:-19.91 [[ 9.93566045e-01 9.49432070e-02 6.17438391e-02 2.83954139e+02] [-9.44797424e-02 9.95472568e-01 -1.03896067e-02 -3.85046442e+01] [-6.24507207e-02 4.48921847e-03 9.98037952e-01 -1.99114965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.420714057 meters 0.04580356863182862 Centerline is valid? [True, True] Translation: X:283.98, Y:-38.51, Z:-19.91 [[ 9.93671054e-01 9.38233685e-02 6.17657808e-02 2.83983465e+02] [-9.33576412e-02 9.95578426e-01 -1.03898280e-02 -3.85069742e+01] [-6.24674875e-02 4.55776376e-03 9.98036592e-01 -1.99134403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.450714057 meters 0.046070884631620165 Centerline is valid? [True, True] Translation: X:284.01, Y:-38.51, Z:-19.92 [[ 9.93918235e-01 9.12946367e-02 6.15778418e-02 2.84012273e+02] [-9.08270609e-02 9.95812833e-01 -1.03559779e-02 -3.85141133e+01] [-6.22654503e-02 4.70006086e-03 9.98048558e-01 -1.99160891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.480714057 meters 0.046070884631620165 Centerline is valid? [True, True] Translation: X:284.04, Y:-38.52, Z:-19.92 [[ 9.93924443e-01 9.12269475e-02 6.15779650e-02 2.84040213e+02] [-9.07592878e-02 9.95819020e-01 -1.03552448e-02 -3.85187459e+01] [-6.22651862e-02 4.70355865e-03 9.98048558e-01 -1.99180400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.51071405700003 meters 0.04346392990616687 Centerline is valid? [True, True] Translation: X:284.07, Y:-38.52, Z:-19.92 [[ 9.94035092e-01 9.01381074e-02 6.13950860e-02 2.84069302e+02] [-8.96714361e-02 9.95917933e-01 -1.03200987e-02 -3.85206587e+01] [-6.20747013e-02 4.75315470e-03 9.98060188e-01 -1.99200437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.540714057 meters 0.04417868343744067 Centerline is valid? [True, True] Translation: X:284.10, Y:-38.53, Z:-19.92 [[ 9.94106589e-01 8.91401292e-02 6.16938201e-02 2.84097349e+02] [-8.86671941e-02 9.96007356e-01 -1.03670439e-02 -3.85278180e+01] [-6.23716182e-02 4.83572870e-03 9.98041280e-01 -1.99221092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.57071405700003 meters 0.04726799250069853 Centerline is valid? [True, True] Translation: X:284.12, Y:-38.54, Z:-19.92 [[ 9.94389622e-01 8.64992515e-02 6.08864406e-02 2.84124626e+02] [-8.60339968e-02 9.96239712e-01 -1.02268392e-02 -3.85378749e+01] [-6.15421040e-02 4.93115893e-03 9.98092307e-01 -1.99243241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.600714057 meters 0.04853413142082555 Centerline is valid? [True, True] Translation: X:284.15, Y:-38.55, Z:-19.93 [[ 9.94480659e-01 8.48829561e-02 6.16692961e-02 2.84153718e+02] [-8.44026968e-02 9.96377908e-01 -1.03560891e-02 -3.85450272e+01] [-6.23249797e-02 5.09387543e-03 9.98042910e-01 -1.99259042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.63071405700003 meters 0.04618994916285654 Centerline is valid? [True, True] Translation: X:284.18, Y:-38.55, Z:-19.93 [[ 9.94568546e-01 8.20234143e-02 6.40746921e-02 2.84183889e+02] [-8.14991622e-02 9.96615352e-01 -1.07576117e-02 -3.85482713e+01] [-6.47401979e-02 5.47714850e-03 9.97887122e-01 -1.99266983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.660714057 meters 0.04690811186092308 Centerline is valid? [True, True] Translation: X:284.21, Y:-38.56, Z:-19.93 [[ 9.94652303e-01 8.06676870e-02 6.44943387e-02 2.84213512e+02] [-8.01337885e-02 9.96725316e-01 -1.08268187e-02 -3.85560067e+01] [-6.51565145e-02 5.60074445e-03 9.97859339e-01 -1.99285637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.69071405700004 meters 0.04813329749200913 Centerline is valid? [True, True] Translation: X:284.24, Y:-38.56, Z:-19.93 [[ 9.94778721e-01 7.91158658e-02 6.44668626e-02 2.84242887e+02] [-7.85791962e-02 9.96849132e-01 -1.08221463e-02 -3.85639211e+01] [-6.51199394e-02 5.69988659e-03 9.97861165e-01 -1.99313123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.720714057 meters 0.04900241657045041 Centerline is valid? [True, True] Translation: X:284.27, Y:-38.57, Z:-19.93 [[ 9.95072389e-01 7.61761867e-02 6.34675472e-02 2.84272363e+02] [-7.56500521e-02 9.97077494e-01 -1.06555761e-02 -3.85707487e+01] [-6.40937641e-02 5.80174631e-03 9.97927016e-01 -1.99342149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.750714057 meters 0.05097144438857249 Centerline is valid? [True, True] Translation: X:284.30, Y:-38.58, Z:-19.94 [[ 9.95198910e-01 7.50998091e-02 6.27626320e-02 2.84302348e+02] [-7.45832087e-02 9.97159123e-01 -1.05370295e-02 -3.85782094e+01] [-6.33756600e-02 5.80540179e-03 9.97972857e-01 -1.99371134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.780714057 meters 0.05001775579260794 Centerline is valid? [True, True] Translation: X:284.33, Y:-38.58, Z:-19.94 [[ 9.95420293e-01 7.25500515e-02 6.22489441e-02 2.84332368e+02] [-7.20364164e-02 9.97347161e-01 -1.04592483e-02 -3.85817667e+01] [-6.28426267e-02 5.92715714e-03 9.98005848e-01 -1.99400834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.810714057 meters 0.05182044653080882 Centerline is valid? [True, True] Translation: X:284.36, Y:-38.59, Z:-19.94 [[ 9.95466398e-01 7.14785651e-02 6.27492175e-02 2.84362229e+02] [-7.09545368e-02 9.97423831e-01 -1.05430315e-02 -3.85907479e+01] [-6.33411656e-02 6.04289196e-03 9.97973637e-01 -1.99428423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.840714057 meters 0.05685667318006416 Centerline is valid? [True, True] Translation: X:284.39, Y:-38.60, Z:-19.95 [[ 9.95559984e-01 6.99872547e-02 6.29452273e-02 2.84390730e+02] [-6.94564593e-02 9.97528833e-01 -1.05843288e-02 -3.86032213e+01] [-6.35304473e-02 6.16538165e-03 9.97960856e-01 -1.99458623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.870714057 meters 0.057952328639763406 Centerline is valid? [True, True] Translation: X:284.42, Y:-38.61, Z:-19.95 [[ 9.95700864e-01 6.78280166e-02 6.30805019e-02 2.84420894e+02] [-6.72904434e-02 9.97677011e-01 -1.06102562e-02 -3.86105050e+01] [-6.36536392e-02 6.31992638e-03 9.97952039e-01 -1.99478601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.900714057 meters 0.051794817745547894 Centerline is valid? [True, True] Translation: X:284.45, Y:-38.61, Z:-19.95 [[ 9.95748620e-01 6.74629659e-02 6.27170957e-02 2.84454482e+02] [-6.69308726e-02 9.97701848e-01 -1.05489853e-02 -3.86069883e+01] [-6.32846281e-02 6.30642765e-03 9.97975593e-01 -1.99500633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.930714057 meters 0.05314300428890871 Centerline is valid? [True, True] Translation: X:284.49, Y:-38.61, Z:-19.95 [[ 9.95688066e-01 6.83957822e-02 6.26681188e-02 2.84485337e+02] [-6.78653221e-02 9.97638637e-01 -1.05569418e-02 -3.86135958e+01] [-6.32421869e-02 6.25842884e-03 9.97978586e-01 -1.99534791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.960714057 meters 0.0582414511412684 Centerline is valid? [True, True] Translation: X:284.51, Y:-38.63, Z:-19.96 [[ 9.95624928e-01 6.91622343e-02 6.28298328e-02 2.84514456e+02] [-6.86295037e-02 9.97585897e-01 -1.06004551e-02 -3.86258482e+01] [-6.34113063e-02 6.24209713e-03 9.97967957e-01 -1.99560880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.990714057 meters 0.05305964449772852 Centerline is valid? [True, True] Translation: X:284.55, Y:-38.62, Z:-19.96 [[ 9.95534649e-01 7.00182002e-02 6.33104673e-02 2.84547640e+02] [-6.94780231e-02 9.97526134e-01 -1.06965770e-02 -3.86239575e+01] [-6.39028007e-02 6.25012691e-03 9.97936555e-01 -1.99577595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.020714057 meters 0.05138172189219225 Centerline is valid? [True, True] Translation: X:284.58, Y:-38.62, Z:-19.96 [[ 9.95358448e-01 7.21089586e-02 6.37327111e-02 2.84578868e+02] [-7.15646681e-02 9.97377651e-01 -1.07851482e-02 -3.86248672e+01] [-6.43432875e-02 6.17407803e-03 9.97908724e-01 -1.99590565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.050714057 meters 0.0550413208911895 Centerline is valid? [True, True] Translation: X:284.61, Y:-38.63, Z:-19.96 [[ 9.95246932e-01 7.31635165e-02 6.42700952e-02 2.84608127e+02] [-7.26120910e-02 9.97300942e-01 -1.08772697e-02 -3.86336365e+01] [-6.48924458e-02 6.15878326e-03 9.97873258e-01 -1.99610844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.080714057 meters 0.05335288422275197 Centerline is valid? [True, True] Translation: X:284.64, Y:-38.63, Z:-19.96 [[ 9.94988124e-01 7.60648660e-02 6.49058437e-02 2.84639277e+02] [-7.55084870e-02 9.97084637e-01 -1.09860907e-02 -3.86347972e+01] [-6.55522751e-02 6.03008772e-03 9.97830916e-01 -1.99623280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.110714057 meters 0.05043507958235566 Centerline is valid? [True, True] Translation: X:284.67, Y:-38.63, Z:-19.96 [[ 9.94935906e-01 7.72352541e-02 6.43215248e-02 2.84671165e+02] [-7.66912752e-02 9.96995443e-01 -1.08873819e-02 -3.86347471e+01] [-6.49691568e-02 5.89934737e-03 9.97869834e-01 -1.99645078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.140714057 meters 0.049551977544442634 Centerline is valid? [True, True] Translation: X:284.70, Y:-38.64, Z:-19.97 [[ 9.94849751e-01 7.85238131e-02 6.40935478e-02 2.84701774e+02] [-7.79861837e-02 9.96895384e-01 -1.08511914e-02 -3.86378778e+01] [-6.47466389e-02 5.79689384e-03 9.97884898e-01 -1.99675422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.170714057 meters 0.04830942495348927 Centerline is valid? [True, True] Translation: X:284.73, Y:-38.64, Z:-19.97 [[ 9.94643391e-01 8.17340033e-02 6.32777865e-02 2.84731053e+02] [-8.12163562e-02 9.96638905e-01 -1.07142764e-02 -3.86383202e+01] [-6.39408246e-02 5.51769300e-03 9.97938438e-01 -1.99710153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.200714057 meters 0.04798533198015021 Centerline is valid? [True, True] Translation: X:284.76, Y:-38.64, Z:-19.97 [[ 9.94509466e-01 8.41776453e-02 6.21695022e-02 2.84760857e+02] [-8.36827973e-02 9.96436852e-01 -1.05256412e-02 -3.86409485e+01] [-6.28340068e-02 5.26533198e-03 9.98010102e-01 -1.99739623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.230714057 meters 0.04619390589511005 Centerline is valid? [True, True] Translation: X:284.79, Y:-38.64, Z:-19.98 [[ 9.94159252e-01 8.92313469e-02 6.07054169e-02 2.84791635e+02] [-8.87689725e-02 9.95999225e-01 -1.02767937e-02 -3.86377790e+01] [-6.13795604e-02 4.82801204e-03 9.98102820e-01 -1.99769259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.26071405700003 meters 0.04557275812708448 Centerline is valid? [True, True] Translation: X:284.82, Y:-38.64, Z:-19.98 [[ 9.93881735e-01 9.25975497e-02 6.02062359e-02 2.84821761e+02] [-9.21490141e-02 9.95693084e-01 -1.01902704e-02 -3.86388316e+01] [-6.08905267e-02 4.57997838e-03 9.98133943e-01 -1.99789063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.290714057 meters 0.04511051745840821 Centerline is valid? [True, True] Translation: X:284.85, Y:-38.64, Z:-19.98 [[ 9.93541626e-01 9.59376241e-02 6.05888528e-02 2.84851581e+02] [-9.54895333e-02 9.95377609e-01 -1.02549671e-02 -3.86414513e+01] [-6.12926246e-02 4.40313540e-03 9.98110127e-01 -1.99802488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.32071405700003 meters 0.044142726777423626 Centerline is valid? [True, True] Translation: X:284.88, Y:-38.64, Z:-19.98 [[ 9.92952986e-01 1.00901344e-01 6.21553335e-02 2.84881185e+02] [-1.00439486e-01 9.94887563e-01 -1.05188797e-02 -3.86394149e+01] [-6.28989374e-02 4.20190330e-03 9.98011056e-01 -1.99809396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.350714057 meters 0.0441895553197285 Centerline is valid? [True, True] Translation: X:284.91, Y:-38.64, Z:-19.98 [[ 9.92718453e-01 1.02530412e-01 6.32264722e-02 2.84910157e+02] [-1.02055946e-01 9.94721143e-01 -1.06972259e-02 -3.86413418e+01] [-6.39894997e-02 4.16669618e-03 9.97941873e-01 -1.99819630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.38071405700003 meters 0.042670660715324445 Centerline is valid? [True, True] Translation: X:284.94, Y:-38.64, Z:-19.98 [[ 9.92421783e-01 1.04446735e-01 6.47293132e-02 2.84940511e+02] [-1.03953610e-01 9.94521876e-01 -1.09492284e-02 -3.86389077e+01] [-6.55183292e-02 4.13740703e-03 9.97842788e-01 -1.99821200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.410714057 meters 0.043647903360976854 Centerline is valid? [True, True] Translation: X:284.97, Y:-38.64, Z:-19.98 [[ 9.92348412e-01 1.04604135e-01 6.55942376e-02 2.84968230e+02] [-1.04098208e-01 9.94505154e-01 -1.10933578e-02 -3.86433115e+01] [-6.63942184e-02 4.18023337e-03 9.97784713e-01 -1.99837425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.44071405700004 meters 0.04387262776454558 Centerline is valid? [True, True] Translation: X:285.00, Y:-38.65, Z:-19.99 [[ 9.92345809e-01 1.04457209e-01 6.58671874e-02 2.84996598e+02] [-1.03947111e-01 9.94520505e-01 -1.11338583e-02 -3.86466763e+01] [-6.66692802e-02 4.20193378e-03 9.97766281e-01 -1.99862656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.470714057 meters 0.04596043867673821 Centerline is valid? [True, True] Translation: X:285.02, Y:-38.65, Z:-19.99 [[ 9.92502895e-01 1.03383700e-01 6.51905980e-02 2.85023657e+02] [-1.02882023e-01 9.94632572e-01 -1.10152358e-02 -3.86532233e+01] [-6.59794880e-02 4.22571279e-03 9.97812032e-01 -1.99898485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.500714057 meters 0.045612590018061436 Centerline is valid? [True, True] Translation: X:285.05, Y:-38.66, Z:-19.99 [[ 9.92925526e-01 1.00293001e-01 6.35626757e-02 2.85053881e+02] [-9.98102859e-02 9.94948600e-01 -1.07327113e-02 -3.86557994e+01] [-6.43180110e-02 4.31257417e-03 9.97920135e-01 -1.99935197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.530714057 meters 0.04730268564057131 Centerline is valid? [True, True] Translation: X:285.08, Y:-38.66, Z:-20.00 [[ 9.93114479e-01 9.88724067e-02 6.28321515e-02 2.85081793e+02] [-9.83979704e-02 9.95090599e-01 -1.06084758e-02 -3.86619581e+01] [-6.35725688e-02 4.35287471e-03 9.97967725e-01 -1.99960631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.560714057 meters 0.04854281065834594 Centerline is valid? [True, True] Translation: X:285.11, Y:-38.67, Z:-20.00 [[ 9.93340386e-01 9.70143893e-02 6.21537242e-02 2.85110244e+02] [-9.65467307e-02 9.95273163e-01 -1.04909463e-02 -3.86678597e+01] [-6.28777065e-02 4.42034175e-03 9.98011450e-01 -1.99981788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.590714057 meters 0.04671388659809548 Centerline is valid? [True, True] Translation: X:285.14, Y:-38.67, Z:-20.00 [[ 9.93780791e-01 9.29916990e-02 6.12558846e-02 2.85140195e+02] [-9.25301647e-02 9.95656246e-01 -1.03347740e-02 -3.86697591e+01] [-6.19508523e-02 4.60248275e-03 9.98068589e-01 -2.00018508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.620714057 meters 0.049337481586453714 Centerline is valid? [True, True] Translation: X:285.17, Y:-38.68, Z:-20.00 [[ 9.93897518e-01 9.17139925e-02 6.12883969e-02 2.85167282e+02] [-9.12496087e-02 9.95774375e-01 -1.03393792e-02 -3.86788269e+01] [-6.19776809e-02 4.68374112e-03 9.98066546e-01 -2.00048164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.650714057 meters 0.047350909793352734 Centerline is valid? [True, True] Translation: X:285.20, Y:-38.68, Z:-20.01 [[ 9.94087762e-01 8.93353573e-02 6.17147854e-02 2.85197666e+02] [-8.88601411e-02 9.95989735e-01 -1.04078793e-02 -3.86806893e+01] [-6.23970843e-02 4.86236096e-03 9.98039559e-01 -2.00053975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.680714057 meters 0.047713031693016224 Centerline is valid? [True, True] Translation: X:285.23, Y:-38.69, Z:-20.01 [[ 9.94124931e-01 8.86241982e-02 6.21399555e-02 2.85225466e+02] [-8.81410664e-02 9.96052883e-01 -1.04788702e-02 -3.86856629e+01] [-6.28233633e-02 4.94022412e-03 9.98012434e-01 -2.00062901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.710714057 meters 0.05005093182707577 Centerline is valid? [True, True] Translation: X:285.25, Y:-38.69, Z:-20.01 [[ 9.94257321e-01 8.72555499e-02 6.19584404e-02 2.85253226e+02] [-8.67729581e-02 9.96173381e-01 -1.04426011e-02 -3.86929109e+01] [-6.26325239e-02 5.00631541e-03 9.98024100e-01 -2.00077904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.740714057 meters 0.04795780077677713 Centerline is valid? [True, True] Translation: X:285.28, Y:-38.69, Z:-20.01 [[ 9.94226378e-01 8.64772330e-02 6.35263532e-02 2.85281900e+02] [-8.59685048e-02 9.96240358e-01 -1.07035022e-02 -3.86943891e+01] [-6.42131261e-02 5.18043867e-03 9.97922761e-01 -2.00077566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.770714057 meters 0.0471436385106631 Centerline is valid? [True, True] Translation: X:285.31, Y:-38.70, Z:-20.01 [[ 9.94160313e-01 8.65338896e-02 6.44760292e-02 2.85310198e+02] [-8.60102322e-02 9.96235075e-01 -1.08588680e-02 -3.86982523e+01] [-6.51729419e-02 5.24985739e-03 9.97860174e-01 -2.00090100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.800714057 meters 0.04732796078989889 Centerline is valid? [True, True] Translation: X:285.34, Y:-38.70, Z:-20.01 [[ 9.94115929e-01 8.65113263e-02 6.51867392e-02 2.85338444e+02] [-8.59763029e-02 9.96236744e-01 -1.09738547e-02 -3.87049422e+01] [-6.58907876e-02 5.30476890e-03 9.97812740e-01 -2.00100132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.830714057 meters 0.04939688356625696 Centerline is valid? [True, True] Translation: X:285.37, Y:-38.71, Z:-20.01 [[ 9.94060093e-01 8.67905616e-02 6.56652804e-02 2.85365640e+02] [-8.62485573e-02 9.96212372e-01 -1.10497100e-02 -3.87134306e+01] [-6.63755753e-02 5.32054006e-03 9.97780524e-01 -2.00121121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.860714057 meters 0.05083484913727725 Centerline is valid? [True, True] Translation: X:285.39, Y:-38.72, Z:-20.01 [[ 9.94087733e-01 8.67467173e-02 6.53037923e-02 2.85392809e+02] [-8.62108813e-02 9.96216356e-01 -1.09843406e-02 -3.87212550e+01] [-6.60095615e-02 5.28950080e-03 9.97804970e-01 -2.00137461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.890714057 meters 0.04612875438206372 Centerline is valid? [True, True] Translation: X:285.42, Y:-38.72, Z:-20.02 [[ 9.94113480e-01 8.67981596e-02 6.48418759e-02 2.85421993e+02] [-8.62703672e-02 9.96212122e-01 -1.09010391e-02 -3.87195631e+01] [-6.55424529e-02 5.24293743e-03 9.97836008e-01 -2.00159864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.920714057 meters 0.05182735902849174 Centerline is valid? [True, True] Translation: X:285.45, Y:-38.73, Z:-20.02 [[ 9.94258727e-01 8.64833670e-02 6.30096103e-02 2.85447251e+02] [-8.59846757e-02 9.96240189e-01 -1.05887286e-02 -3.87341371e+01] [-6.36884550e-02 5.11007494e-03 9.97956746e-01 -2.00197395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.950714057 meters 0.04547614550924979 Centerline is valid? [True, True] Translation: X:285.48, Y:-38.73, Z:-20.02 [[ 9.94315943e-01 8.60995291e-02 6.26312815e-02 2.85476892e+02] [-8.56064565e-02 9.96273500e-01 -1.05189412e-02 -3.87307883e+01] [-6.33035619e-02 5.09750882e-03 9.97981300e-01 -2.00217221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.980714057 meters 0.04810886593422651 Centerline is valid? [True, True] Translation: X:285.50, Y:-38.74, Z:-20.02 [[ 9.94348500e-01 8.58480962e-02 6.24593067e-02 2.85502958e+02] [-8.53575180e-02 9.96295210e-01 -1.04856594e-02 -3.87397040e+01] [-6.31280819e-02 5.09502828e-03 9.97992428e-01 -2.00246017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.01071405700003 meters 0.04880019004656842 Centerline is valid? [True, True] Translation: X:285.53, Y:-38.75, Z:-20.03 [[ 9.94385406e-01 8.55360600e-02 6.22996541e-02 2.85529883e+02] [-8.50477720e-02 9.96322045e-01 -1.04526894e-02 -3.87466678e+01] [-6.29646007e-02 5.09555503e-03 9.98002753e-01 -2.00266358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.040714057 meters 0.043979086947299136 Centerline is valid? [True, True] Translation: X:285.56, Y:-38.75, Z:-20.03 [[ 9.94447215e-01 8.52587527e-02 6.16902143e-02 2.85559274e+02] [-8.47797971e-02 9.96346008e-01 -1.03449933e-02 -3.87462029e+01] [-6.23468000e-02 5.05746594e-03 9.98041732e-01 -2.00282355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.07071405700003 meters 0.044268243248575104 Centerline is valid? [True, True] Translation: X:285.59, Y:-38.75, Z:-20.03 [[ 9.94391203e-01 8.60175169e-02 6.15395990e-02 2.85587214e+02] [-8.55426238e-02 9.96281113e-01 -1.03152265e-02 -3.87520181e+01] [-6.21980304e-02 4.99311168e-03 9.98051338e-01 -2.00296603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.100714057 meters 0.049419823301180006 Centerline is valid? [True, True] Translation: X:285.61, Y:-38.76, Z:-20.03 [[ 9.94430723e-01 8.59612388e-02 6.09770656e-02 2.85613106e+02] [-8.54951610e-02 9.96286203e-01 -1.02166506e-02 -3.87637523e+01] [-6.16288451e-02 4.94650719e-03 9.98086879e-01 -2.00327004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.13071405700003 meters 0.04933210401337708 Centerline is valid? [True, True] Translation: X:285.64, Y:-38.77, Z:-20.03 [[ 9.94340307e-01 8.64506871e-02 6.17546098e-02 2.85641826e+02] [-8.59739342e-02 9.96243718e-01 -1.03410226e-02 -3.87692215e+01] [-6.24166306e-02 4.97320884e-03 9.98037791e-01 -2.00343762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.160714057 meters 0.04710776981534077 Centerline is valid? [True, True] Translation: X:285.67, Y:-38.77, Z:-20.04 [[ 9.94251376e-01 8.70747286e-02 6.23072456e-02 2.85670244e+02] [-8.65908071e-02 9.96189359e-01 -1.04303915e-02 -3.87713799e+01] [-6.29780386e-02 4.97519642e-03 9.98002512e-01 -2.00357917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.19071405700004 meters 0.047247928311443824 Centerline is valid? [True, True] Translation: X:285.70, Y:-38.78, Z:-20.04 [[ 9.94101300e-01 8.84615463e-02 6.27467876e-02 2.85699653e+02] [-8.79738053e-02 9.96067455e-01 -1.04992313e-02 -3.87785719e+01] [-6.34288113e-02 4.91722586e-03 9.97974252e-01 -2.00374773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.220714057 meters 0.04437506567438084 Centerline is valid? [True, True] Translation: X:285.73, Y:-38.78, Z:-20.04 [[ 9.94070338e-01 8.89350137e-02 6.25677770e-02 2.85728227e+02] [-8.84510389e-02 9.96025514e-01 -1.04684661e-02 -3.87809247e+01] [-6.32501154e-02 4.87220675e-03 9.97985814e-01 -2.00398600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.250714057 meters 0.04465407237494987 Centerline is valid? [True, True] Translation: X:285.76, Y:-38.79, Z:-20.04 [[ 9.93964890e-01 8.99432042e-02 6.28014210e-02 2.85756272e+02] [-8.94578905e-02 9.95935225e-01 -1.05029961e-02 -3.87870392e+01] [-6.34908205e-02 4.82152667e-03 9.97970775e-01 -2.00412057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.280714057 meters 0.04517050301852671 Centerline is valid? [True, True] Translation: X:285.78, Y:-38.79, Z:-20.04 [[ 9.93924567e-01 9.06923013e-02 6.23607447e-02 2.85783372e+02] [-9.02155254e-02 9.95867702e-01 -1.04249350e-02 -3.87926833e+01] [-6.30485128e-02 4.73569162e-03 9.97999228e-01 -2.00433564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.310714057 meters 0.04549782123213213 Centerline is valid? [True, True] Translation: X:285.81, Y:-38.80, Z:-20.05 [[ 9.93805652e-01 9.26099905e-02 6.14305688e-02 2.85810673e+02] [-9.21513341e-02 9.95692113e-01 -1.02639525e-02 -3.88000582e+01] [-6.21164774e-02 4.53946511e-03 9.98058584e-01 -2.00478541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.340714057 meters 0.043702849066469464 Centerline is valid? [True, True] Translation: X:285.84, Y:-38.80, Z:-20.05 [[ 9.93787990e-01 9.34017253e-02 6.05107318e-02 2.85839447e+02] [-9.29583646e-02 9.95618695e-01 -1.01072579e-02 -3.88040876e+01] [-6.11896511e-02 4.41949285e-03 9.98116373e-01 -2.00501604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.370714057 meters 0.043702849066469464 Centerline is valid? [True, True] Translation: X:285.87, Y:-38.81, Z:-20.05 [[ 9.93797630e-01 9.32986797e-02 6.05113871e-02 2.85866554e+02] [-9.28553669e-02 9.95628346e-01 -1.01033328e-02 -3.88085178e+01] [-6.11894799e-02 4.42186112e-03 9.98116373e-01 -2.00520537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.400714057 meters 0.04365040060566003 Centerline is valid? [True, True] Translation: X:285.89, Y:-38.81, Z:-20.05 [[ 9.93674755e-01 9.47440366e-02 6.02830725e-02 2.85894618e+02] [-9.43071179e-02 9.95492337e-01 -1.00585472e-02 -3.88143300e+01] [-6.09643241e-02 4.30980164e-03 9.98130641e-01 -2.00548012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.430714057 meters 0.042508468100639685 Centerline is valid? [True, True] Translation: X:285.92, Y:-38.82, Z:-20.06 [[ 9.93366214e-01 9.78455169e-02 6.04137374e-02 2.85923915e+02] [-9.74126859e-02 9.95193071e-01 -1.00756796e-02 -3.88202928e+01] [-6.11091929e-02 4.12377531e-03 9.98122568e-01 -2.00570034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.460714057 meters 0.04254888812554337 Centerline is valid? [True, True] Translation: X:285.95, Y:-38.83, Z:-20.06 [[ 9.93228610e-01 9.92891159e-02 6.03208039e-02 2.85951089e+02] [-9.88602954e-02 9.95050474e-01 -1.00596807e-02 -3.88259948e+01] [-6.10210613e-02 4.02823017e-03 9.98128350e-01 -2.00591493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.490714057 meters 0.04150466247048984 Centerline is valid? [True, True] Translation: X:285.98, Y:-38.83, Z:-20.06 [[ 9.92834369e-01 1.02800326e-01 6.09262605e-02 2.85981240e+02] [-1.02369782e-01 9.94694581e-01 -1.01547086e-02 -3.88313377e+01] [-6.16469285e-02 3.84493566e-03 9.98090613e-01 -2.00609247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.520714057 meters 0.04121461513001767 Centerline is valid? [True, True] Translation: X:286.01, Y:-38.84, Z:-20.06 [[ 9.92576151e-01 1.04709712e-01 6.18745553e-02 2.86009132e+02] [-1.04269332e-01 9.94495627e-01 -1.03127747e-02 -3.88368114e+01] [-6.26138224e-02 3.78459570e-03 9.98030654e-01 -2.00624737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.550714057 meters 0.040968121749555164 Centerline is valid? [True, True] Translation: X:286.04, Y:-38.84, Z:-20.07 [[ 9.92424003e-01 1.06311746e-01 6.15825572e-02 2.86037338e+02] [-1.05878779e-01 9.94326101e-01 -1.02610603e-02 -3.88418841e+01] [-6.23240152e-02 3.66303660e-03 9.98049247e-01 -2.00650806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.580714057 meters 0.03989235089213392 Centerline is valid? [True, True] Translation: X:286.07, Y:-38.85, Z:-20.07 [[ 9.92051607e-01 1.09723804e-01 6.15978531e-02 2.86066142e+02] [-1.09297444e-01 9.93956145e-01 -1.02591963e-02 -3.88478442e+01] [-6.23512426e-02 3.44516436e-03 9.98048322e-01 -2.00672721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.610714057 meters 0.04051198657957805 Centerline is valid? [True, True] Translation: X:286.09, Y:-38.85, Z:-20.07 [[ 9.91967595e-01 1.10608943e-01 6.13673515e-02 2.86092859e+02] [-1.10187568e-01 9.93858275e-01 -1.02190563e-02 -3.88539781e+01] [-6.21207691e-02 3.37505353e-03 9.98062933e-01 -2.00689683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.640714057 meters 0.037424254270413085 Centerline is valid? [True, True] Translation: X:286.12, Y:-38.86, Z:-20.07 [[ 9.91869615e-01 1.11513950e-01 6.13131709e-02 2.86121875e+02] [-1.11095366e-01 9.93757355e-01 -1.02048182e-02 -3.88569444e+01] [-6.20683941e-02 3.31023991e-03 9.98066409e-01 -2.00709298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.670714057 meters 0.037580238003431 Centerline is valid? [True, True] Translation: X:286.15, Y:-38.86, Z:-20.07 [[ 9.91843010e-01 1.11445666e-01 6.18652248e-02 2.86150209e+02] [-1.11019638e-01 9.93764915e-01 -1.02923920e-02 -3.88639314e+01] [-6.26265323e-02 3.34018223e-03 9.98031443e-01 -2.00732470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.700714057 meters 0.03726540510109632 Centerline is valid? [True, True] Translation: X:286.18, Y:-38.87, Z:-20.08 [[ 9.91816810e-01 1.11463416e-01 6.22520830e-02 2.86178532e+02] [-1.11032341e-01 9.93762872e-01 -1.03524540e-02 -3.88705577e+01] [-6.30177287e-02 3.35574337e-03 9.98006766e-01 -2.00752130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.730714057 meters 0.03760292857273309 Centerline is valid? [True, True] Translation: X:286.21, Y:-38.88, Z:-20.08 [[ 9.91844885e-01 1.11329216e-01 6.20445755e-02 2.86206278e+02] [-1.10901021e-01 9.93777939e-01 -1.03136929e-02 -3.88792206e+01] [-6.28067456e-02 3.34877676e-03 9.98020089e-01 -2.00780629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.76071405700003 meters 0.04252487504835328 Centerline is valid? [True, True] Translation: X:286.23, Y:-38.89, Z:-20.08 [[ 9.91878360e-01 1.11125987e-01 6.18735246e-02 2.86231549e+02] [-1.10700019e-01 9.93800686e-01 -1.02811262e-02 -3.88931384e+01] [-6.26324516e-02 3.34822623e-03 9.98031044e-01 -2.00812421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.790714057 meters 0.03822846694334414 Centerline is valid? [True, True] Translation: X:286.26, Y:-38.89, Z:-20.08 [[ 9.91798270e-01 1.11998517e-01 6.15834778e-02 2.86261177e+02] [-1.11578525e-01 9.93702985e-01 -1.02279483e-02 -3.88933568e+01] [-6.23412008e-02 3.27266774e-03 9.98049530e-01 -2.00821480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.82071405700003 meters 0.03442091854789286 Centerline is valid? [True, True] Translation: X:286.29, Y:-38.89, Z:-20.08 [[ 9.91743180e-01 1.12403418e-01 6.17327884e-02 2.86289998e+02] [-1.11982660e-01 9.93657349e-01 -1.02448531e-02 -3.88931029e+01] [-6.24927953e-02 3.24726133e-03 9.98040132e-01 -2.00835886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.850714057 meters 0.03747451865250294 Centerline is valid? [True, True] Translation: X:286.32, Y:-38.90, Z:-20.09 [[ 9.91653312e-01 1.13013482e-01 6.20617573e-02 2.86316308e+02] [-1.12589674e-01 9.93588231e-01 -1.02952661e-02 -3.89040567e+01] [-6.28273355e-02 3.22182173e-03 9.98019211e-01 -2.00861903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.88071405700003 meters 0.0344939442542703 Centerline is valid? [True, True] Translation: X:286.35, Y:-38.91, Z:-20.09 [[ 9.91422067e-01 1.14508861e-01 6.30079782e-02 2.86345250e+02] [-1.14075531e-01 9.93417179e-01 -1.04442493e-02 -3.89071953e+01] [-6.37891671e-02 3.16699065e-03 9.97958372e-01 -2.00877814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.910714057 meters 0.034407013210190934 Centerline is valid? [True, True] Translation: X:286.37, Y:-38.91, Z:-20.09 [[ 9.91313771e-01 1.15145191e-01 6.35499194e-02 2.86373066e+02] [-1.14705960e-01 9.93343683e-01 -1.05295361e-02 -3.89137433e+01] [-6.43393365e-02 3.14851965e-03 9.97923112e-01 -2.00899030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.94071405700004 meters 0.03487663771896717 Centerline is valid? [True, True] Translation: X:286.40, Y:-38.92, Z:-20.09 [[ 9.91166701e-01 1.15683711e-01 6.48525252e-02 2.86399571e+02] [-1.15227706e-01 9.93281033e-01 -1.07408452e-02 -3.89210796e+01] [-6.56593240e-02 3.17316035e-03 9.97837053e-01 -2.00923095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.970714057 meters 0.033795970249325576 Centerline is valid? [True, True] Translation: X:286.43, Y:-38.92, Z:-20.09 [[ 9.91197898e-01 1.15425827e-01 6.48352231e-02 2.86427628e+02] [-1.14970034e-01 9.93311007e-01 -1.07300951e-02 -3.89249832e+01] [-6.56400708e-02 3.18153991e-03 9.97838293e-01 -2.00943960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.000714057 meters 0.03595355689441408 Centerline is valid? [True, True] Translation: X:286.45, Y:-38.93, Z:-20.10 [[ 9.91331805e-01 1.14530859e-01 6.43734023e-02 2.86453952e+02] [-1.14079959e-01 9.93414495e-01 -1.06491793e-02 -3.89341906e+01] [-6.51691306e-02 3.21315505e-03 9.97869060e-01 -2.00969070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.030714057 meters 0.034774674258641974 Centerline is valid? [True, True] Translation: X:286.48, Y:-38.94, Z:-20.10 [[ 9.91653720e-01 1.12188065e-01 6.35353229e-02 2.86482464e+02] [-1.11744414e-01 9.93681454e-01 -1.05049545e-02 -3.89401812e+01] [-6.43124025e-02 3.31755975e-03 9.97924300e-01 -2.01008325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.060714057 meters 0.037748714444826165 Centerline is valid? [True, True] Translation: X:286.51, Y:-38.95, Z:-20.10 [[ 9.91834955e-01 1.10876191e-01 6.30070769e-02 2.86508064e+02] [-1.10437552e-01 9.93828514e-01 -1.04130517e-02 -3.89516311e+01] [-6.37727892e-02 3.36968133e-03 9.97958755e-01 -2.01041585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.090714057 meters 0.05742640272952365 Centerline is valid? [True, True] Translation: X:286.53, Y:-38.99, Z:-20.11 [[ 9.91786994e-01 1.11457354e-01 6.27360829e-02 2.86529723e+02] [-1.11024048e-01 9.93763700e-01 -1.03619158e-02 -3.89876103e+01] [-6.34997536e-02 3.31159949e-03 9.97976360e-01 -2.01096804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.120714057 meters 0.03703716775189487 Centerline is valid? [True, True] Translation: X:286.57, Y:-38.96, Z:-20.11 [[ 9.92403922e-01 1.06149510e-01 6.21830961e-02 2.86565336e+02] [-1.05713796e-01 9.94343615e-01 -1.02648761e-02 -3.89623224e+01] [-6.29209762e-02 3.61329215e-03 9.98011971e-01 -2.01093213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.150714057 meters 0.037020776665612064 Centerline is valid? [True, True] Translation: X:286.59, Y:-38.97, Z:-20.11 [[ 9.92623093e-01 1.04118170e-01 6.21192595e-02 2.86594714e+02] [-1.03679380e-01 9.94557907e-01 -1.02545135e-02 -3.89668843e+01] [-6.28488819e-02 3.73838063e-03 9.98016053e-01 -2.01114257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.180714057 meters 0.03835178397749375 Centerline is valid? [True, True] Translation: X:286.62, Y:-38.98, Z:-20.11 [[ 9.92919615e-01 1.00789917e-01 6.28651820e-02 2.86624190e+02] [-1.00334026e-01 9.94899713e-01 -1.03751716e-02 -3.89751958e+01] [-6.35902642e-02 3.99419456e-03 9.97968098e-01 -2.01135430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.210714057 meters 0.03999634281659752 Centerline is valid? [True, True] Translation: X:286.65, Y:-38.98, Z:-20.12 [[ 9.93078583e-01 9.91249027e-02 6.30014341e-02 2.86651409e+02] [-9.86636865e-02 9.95066512e-01 -1.03978129e-02 -3.89831513e+01] [-6.37212994e-02 4.10989154e-03 9.97959270e-01 -2.01154716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.240714057 meters 0.042270725834965696 Centerline is valid? [True, True] Translation: X:286.68, Y:-38.99, Z:-20.12 [[ 9.93346787e-01 9.60179366e-02 6.35823668e-02 2.86679601e+02] [-9.55419625e-02 9.95370112e-01 -1.04916323e-02 -3.89917719e+01] [-6.42953725e-02 4.34704516e-03 9.97921444e-01 -2.01177949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.270714057 meters 0.04241140456826225 Centerline is valid? [True, True] Translation: X:286.71, Y:-39.00, Z:-20.12 [[ 9.93378838e-01 9.53352572e-02 6.41067239e-02 2.86708246e+02] [-9.48501222e-02 9.95435385e-01 -1.05758668e-02 -3.89977041e+01] [-6.48223544e-02 4.42531169e-03 9.97887007e-01 -2.01195741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.300714057 meters 0.04399622461775131 Centerline is valid? [True, True] Translation: X:286.74, Y:-39.00, Z:-20.12 [[ 9.93445042e-01 9.43330674e-02 6.45617630e-02 2.86735905e+02] [-9.38390520e-02 9.95530430e-01 -1.06486909e-02 -3.90041203e+01] [-6.52777233e-02 4.52047456e-03 9.97856896e-01 -2.01213853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.330714057 meters 0.04103816653757259 Centerline is valid? [True, True] Translation: X:286.77, Y:-39.00, Z:-20.12 [[ 9.93459756e-01 9.38066821e-02 6.51000761e-02 2.86766418e+02] [-9.33034722e-02 9.95579851e-01 -1.07342099e-02 -3.90032954e+01] [-6.58192646e-02 4.58994245e-03 9.97821004e-01 -2.01225135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.360714057 meters 0.04220708364715771 Centerline is valid? [True, True] Translation: X:286.79, Y:-39.01, Z:-20.12 [[ 9.93517048e-01 9.30315103e-02 6.53376954e-02 2.86794586e+02] [-9.25231014e-02 9.95652279e-01 -1.07710665e-02 -3.90090466e+01] [-6.60556739e-02 4.65599200e-03 9.97805076e-01 -2.01242998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.390714057 meters 0.047144251934002075 Centerline is valid? [True, True] Translation: X:286.82, Y:-39.02, Z:-20.13 [[ 9.93532299e-01 9.22577235e-02 6.61973086e-02 2.86822646e+02] [-9.17343633e-02 9.95723756e-01 -1.09091167e-02 -3.90215082e+01] [-6.69206830e-02 4.76599183e-03 9.97746916e-01 -2.01268410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.420714057 meters 0.04397447733808166 Centerline is valid? [True, True] Translation: X:286.85, Y:-39.02, Z:-20.13 [[ 9.93641728e-01 9.10213408e-02 6.62663710e-02 2.86853006e+02] [-9.04942347e-02 9.95837117e-01 -1.09192905e-02 -3.90215757e+01] [-6.69844003e-02 4.85313813e-03 9.97742220e-01 -2.01294787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.450714057 meters 0.04961602602945484 Centerline is valid? [True, True] Translation: X:286.88, Y:-39.04, Z:-20.13 [[ 9.93711657e-01 9.00978138e-02 6.64795245e-02 2.86881783e+02] [-8.95652420e-02 9.95920712e-01 -1.09545579e-02 -3.90351600e+01] [-6.71953171e-02 4.93141721e-03 9.97727653e-01 -2.01319199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.480714057 meters 0.04703702497491734 Centerline is valid? [True, True] Translation: X:286.91, Y:-39.04, Z:-20.14 [[ 9.94015837e-01 8.70908418e-02 6.59371005e-02 2.86912802e+02] [-8.65600656e-02 9.96187334e-01 -1.08697144e-02 -3.90365458e+01] [-6.66323569e-02 5.09714850e-03 9.97764575e-01 -2.01351974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.51071405700003 meters 0.049106409440672155 Centerline is valid? [True, True] Translation: X:286.94, Y:-39.04, Z:-20.14 [[ 9.94152954e-01 8.48953121e-02 6.67284876e-02 2.86942249e+02] [-8.43467238e-02 9.96375736e-01 -1.10010658e-02 -3.90444402e+01] [-6.74205848e-02 5.30841271e-03 9.97710522e-01 -2.01374668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.540714057 meters 0.05189281761391865 Centerline is valid? [True, True] Translation: X:286.97, Y:-39.05, Z:-20.14 [[ 9.94233226e-01 8.40328537e-02 6.66241054e-02 2.86972197e+02] [-8.34839999e-02 9.96448572e-01 -1.09847695e-02 -3.90528697e+01] [-6.73105762e-02 5.35937602e-03 9.97717677e-01 -2.01395694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.57071405700003 meters 0.0511955057903445 Centerline is valid? [True, True] Translation: X:287.00, Y:-39.06, Z:-20.14 [[ 9.94296682e-01 8.33550357e-02 6.65285355e-02 2.87003549e+02] [-8.28052521e-02 9.96505216e-01 -1.09838647e-02 -3.90567215e+01] [-6.72115931e-02 5.41230804e-03 9.97724064e-01 -2.01420755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.600714057 meters 0.052636227887600286 Centerline is valid? [True, True] Translation: X:287.03, Y:-39.06, Z:-20.14 [[ 9.94311920e-01 8.31174024e-02 6.65980695e-02 2.87033717e+02] [-8.25649347e-02 9.96524865e-01 -1.10102206e-02 -3.90626697e+01] [-6.72817731e-02 5.44892832e-03 9.97719135e-01 -2.01446039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.63071405700003 meters 0.052886412403702676 Centerline is valid? [True, True] Translation: X:287.07, Y:-39.07, Z:-20.15 [[ 9.94318725e-01 8.31875231e-02 6.64086464e-02 2.87065184e+02] [-8.26373700e-02 9.96519045e-01 -1.09935474e-02 -3.90673369e+01] [-6.70920068e-02 5.44325416e-03 9.97731945e-01 -2.01470645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.660714057 meters 0.05422246301519291 Centerline is valid? [True, True] Translation: X:287.10, Y:-39.07, Z:-20.15 [[ 9.94209125e-01 8.39924030e-02 6.70335156e-02 2.87095796e+02] [-8.34325520e-02 9.96451458e-01 -1.11130674e-02 -3.90728893e+01] [-6.77290576e-02 5.45593571e-03 9.97688833e-01 -2.01485140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.69071405700004 meters 0.0542904568318512 Centerline is valid? [True, True] Translation: X:287.13, Y:-39.08, Z:-20.15 [[ 9.94154008e-01 8.43542181e-02 6.73956518e-02 2.87127697e+02] [-8.37881038e-02 9.96420787e-01 -1.11879200e-02 -3.90780408e+01] [-6.80981766e-02 5.47556166e-03 9.97663599e-01 -2.01500792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.720714057 meters 0.05462464626271805 Centerline is valid? [True, True] Translation: X:287.16, Y:-39.08, Z:-20.15 [[ 9.94067102e-01 8.47443930e-02 6.81834641e-02 2.87159565e+02] [-8.41647386e-02 9.96387384e-01 -1.13348041e-02 -3.90833118e+01] [-6.88977045e-02 5.52891242e-03 9.97608409e-01 -2.01520619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.750714057 meters 0.04587185252747313 Centerline is valid? [True, True] Translation: X:287.19, Y:-39.08, Z:-20.15 [[ 9.94015003e-01 8.47897303e-02 6.88830520e-02 2.87193099e+02] [-8.41970713e-02 9.96383136e-01 -1.14673379e-02 -3.90756341e+01] [-6.96062238e-02 5.59895468e-03 9.97558833e-01 -2.01537921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.780714057 meters 0.056983820331932916 Centerline is valid? [True, True] Translation: X:287.22, Y:-39.10, Z:-20.16 [[ 9.94002554e-01 8.47582717e-02 6.91010687e-02 2.87221208e+02] [-8.41605502e-02 9.96385601e-01 -1.15210905e-02 -3.90960717e+01] [-6.98278175e-02 5.63640939e-03 9.97543135e-01 -2.01556999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.810714057 meters 0.044744463815666734 Centerline is valid? [True, True] Translation: X:287.26, Y:-39.08, Z:-20.16 [[ 9.94043077e-01 8.41825285e-02 6.92218345e-02 2.87255218e+02] [-8.35801947e-02 9.96434031e-01 -1.15573691e-02 -3.90845938e+01] [-6.99479202e-02 5.70294838e-03 9.97534343e-01 -2.01594181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.840714057 meters 0.04535002632736201 Centerline is valid? [True, True] Translation: X:287.29, Y:-39.09, Z:-20.16 [[ 9.94142503e-01 8.36789753e-02 6.83996497e-02 2.87286964e+02] [-8.30885939e-02 9.96476542e-01 -1.14362164e-02 -3.90901565e+01] [-6.91156173e-02 5.68599805e-03 9.97592452e-01 -2.01621847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.870714057 meters 0.04834553329794874 Centerline is valid? [True, True] Translation: X:287.32, Y:-39.10, Z:-20.16 [[ 9.94125822e-01 8.40137485e-02 6.82315208e-02 2.87317979e+02] [-8.34258462e-02 9.96448486e-01 -1.14255780e-02 -3.91003105e+01] [-6.89491012e-02 5.66618976e-03 9.97604088e-01 -2.01648198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.900714057 meters 0.04500543907566681 Centerline is valid? [True, True] Translation: X:287.35, Y:-39.10, Z:-20.17 [[ 9.94198689e-01 8.33450504e-02 6.79894771e-02 2.87350467e+02] [-8.27584937e-02 9.96504386e-01 -1.14035635e-02 -3.91009504e+01] [-6.87022427e-02 5.71070117e-03 9.97620865e-01 -2.01680237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.930714057 meters 0.048802281913254655 Centerline is valid? [True, True] Translation: X:287.38, Y:-39.11, Z:-20.17 [[ 9.94180714e-01 8.37206918e-02 6.77905106e-02 2.87380610e+02] [-8.31372530e-02 9.96473042e-01 -1.13874190e-02 -3.91115114e+01] [-6.85047790e-02 5.68523552e-03 9.97634589e-01 -2.01699288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.960714057 meters 0.04460309766490478 Centerline is valid? [True, True] Translation: X:287.41, Y:-39.11, Z:-20.17 [[ 9.94078037e-01 8.50421322e-02 6.76512528e-02 2.87412650e+02] [-8.44630255e-02 9.96361626e-01 -1.13801085e-02 -3.91102897e+01] [-6.83729009e-02 5.59868640e-03 9.97644125e-01 -2.01715471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.990714057 meters 0.04421375739235935 Centerline is valid? [True, True] Translation: X:287.44, Y:-39.11, Z:-20.17 [[ 9.93965245e-01 8.61643677e-02 6.78880938e-02 2.87444282e+02] [-8.55836119e-02 9.96265513e-01 -1.14225073e-02 -3.91146022e+01] [-6.86187797e-02 5.54346700e-03 9.97627552e-01 -2.01733246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.020714057 meters 0.04790148221957092 Centerline is valid? [True, True] Translation: X:287.47, Y:-39.12, Z:-20.18 [[ 9.93867516e-01 8.74414206e-02 6.76857372e-02 2.87473827e+02] [-8.68658746e-02 9.96154720e-01 -1.14058431e-02 -3.91238810e+01] [-6.84228098e-02 5.45631621e-03 9.97641493e-01 -2.01751317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.050714057 meters 0.04356301172369212 Centerline is valid? [True, True] Translation: X:287.51, Y:-39.12, Z:-20.18 [[ 9.93599279e-01 9.01792736e-02 6.80306647e-02 2.87505380e+02] [-8.96040308e-02 9.95911461e-01 -1.14664711e-02 -3.91220179e+01] [-6.87865567e-02 5.29725560e-03 9.97617336e-01 -2.01761776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.080714057 meters 0.042096285277488134 Centerline is valid? [True, True] Translation: X:287.54, Y:-39.12, Z:-20.18 [[ 9.93441432e-01 9.15902245e-02 6.84496309e-02 2.87536177e+02] [-9.10110988e-02 9.95783032e-01 -1.15383406e-02 -3.91242408e+01] [-6.92177802e-02 5.23298950e-03 9.97587848e-01 -2.01786932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.110714057 meters 0.042758743206655604 Centerline is valid? [True, True] Translation: X:287.57, Y:-39.13, Z:-20.18 [[ 9.93029934e-01 9.56648468e-02 6.88461124e-02 2.87565609e+02] [-9.50886151e-02 9.95401148e-01 -1.16064243e-02 -3.91298084e+01] [-6.96398261e-02 4.97904531e-03 9.97559775e-01 -2.01810411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.140714057 meters 0.042147527450056066 Centerline is valid? [True, True] Translation: X:287.60, Y:-39.13, Z:-20.18 [[ 9.92829799e-01 9.78933817e-02 6.85993917e-02 2.87595188e+02] [-9.73265649e-02 9.95185306e-01 -1.15648440e-02 -3.91331816e+01] [-6.94012284e-02 4.80537856e-03 9.97577254e-01 -2.01833075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.170714057 meters 0.0608253080400547 Centerline is valid? [True, True] Translation: X:287.62, Y:-39.16, Z:-20.18 [[ 9.92416521e-01 1.02414602e-01 6.79757189e-02 2.87619728e+02] [-1.01868686e-01 9.94731860e-01 -1.14584997e-02 -3.91644824e+01] [-6.87911310e-02 4.44700724e-03 9.97621173e-01 -2.01847591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.200714057 meters 0.03814804645441684 Centerline is valid? [True, True] Translation: X:287.65, Y:-39.13, Z:-20.19 [[ 9.92338415e-01 1.02899286e-01 6.83827923e-02 2.87654485e+02] [-1.02348031e-01 9.94681876e-01 -1.15258801e-02 -3.91341155e+01] [-6.92051290e-02 4.43872940e-03 9.97592576e-01 -2.01863493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.230714057 meters 0.03884378896068586 Centerline is valid? [True, True] Translation: X:287.68, Y:-39.14, Z:-20.19 [[ 9.92124030e-01 1.04929824e-01 6.84079066e-02 2.87682248e+02] [-1.04383222e-01 9.94470354e-01 -1.15263967e-02 -3.91397357e+01] [-6.92390979e-02 4.29497742e-03 9.97590848e-01 -2.01881361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.26071405700003 meters 0.03642388317662866 Centerline is valid? [True, True] Translation: X:287.71, Y:-39.14, Z:-20.19 [[ 9.91895802e-01 1.07217363e-01 6.81700470e-02 2.87711796e+02] [-1.06680056e-01 9.94227072e-01 -1.14845855e-02 -3.91411391e+01] [-6.90078532e-02 4.11912771e-03 9.97607613e-01 -2.01907305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.290714057 meters 0.03642388317662866 Centerline is valid? [True, True] Translation: X:287.74, Y:-39.15, Z:-20.19 [[ 9.91903354e-01 1.07147212e-01 6.81704559e-02 2.87739703e+02] [-1.06609907e-01 9.94234624e-01 -1.14821580e-02 -3.91457791e+01] [-6.90077088e-02 4.12154511e-03 9.97607613e-01 -2.01926797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.32071405700003 meters 0.03642776863741911 Centerline is valid? [True, True] Translation: X:287.77, Y:-39.15, Z:-20.20 [[ 9.91834465e-01 1.07817704e-01 6.81156159e-02 2.87768016e+02] [-1.07283180e-01 9.94162363e-01 -1.14679714e-02 -3.91507854e+01] [-6.89544320e-02 4.06666935e-03 9.97611522e-01 -2.01951812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.350714057 meters 0.03759554552591047 Centerline is valid? [True, True] Translation: X:287.80, Y:-39.16, Z:-20.20 [[ 9.91721867e-01 1.08716451e-01 6.83262143e-02 2.87795195e+02] [-1.08181079e-01 9.94064706e-01 -1.14984557e-02 -3.91572434e+01] [-6.91707495e-02 4.01166636e-03 9.97596769e-01 -2.01967597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.38071405700003 meters 0.03511573519617275 Centerline is valid? [True, True] Translation: X:287.83, Y:-39.16, Z:-20.20 [[ 9.91496276e-01 1.10930889e-01 6.80402245e-02 2.87825371e+02] [-1.10405605e-01 9.93820724e-01 -1.14442589e-02 -3.91578778e+01] [-6.88893070e-02 3.83491798e-03 9.97616939e-01 -2.01982304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.410714057 meters 0.036598713483827296 Centerline is valid? [True, True] Translation: X:287.85, Y:-39.16, Z:-20.20 [[ 9.91382626e-01 1.12101375e-01 6.77773586e-02 2.87852513e+02] [-1.11582957e-01 9.93689746e-01 -1.13988172e-02 -3.91646453e+01] [-6.86274893e-02 3.73779126e-03 9.97635353e-01 -2.02002417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.44071405700004 meters 0.034154554135934774 Centerline is valid? [True, True] Translation: X:287.88, Y:-39.17, Z:-20.20 [[ 9.91195902e-01 1.14564966e-01 6.63743392e-02 2.87882735e+02] [-1.14073725e-01 9.93409638e-01 -1.11569036e-02 -3.91652420e+01] [-6.72150986e-02 3.48710895e-03 9.97732414e-01 -2.02025999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.470714057 meters 0.03404283942510762 Centerline is valid? [True, True] Translation: X:287.91, Y:-39.17, Z:-20.20 [[ 9.91158911e-01 1.15367426e-01 6.55314429e-02 2.87911533e+02] [-1.14890419e-01 9.93317109e-01 -1.10141768e-02 -3.91692857e+01] [-6.63641807e-02 3.38786455e-03 9.97789716e-01 -2.02048133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.500714057 meters 0.03329558345508341 Centerline is valid? [True, True] Translation: X:287.94, Y:-39.17, Z:-20.21 [[ 9.91018406e-01 1.16761198e-01 6.51869719e-02 2.87940145e+02] [-1.16292513e-01 9.93154627e-01 -1.09516335e-02 -3.91732785e+01] [-6.60194686e-02 3.27251360e-03 9.97812969e-01 -2.02071697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.530714057 meters 0.03327272379875149 Centerline is valid? [True, True] Translation: X:287.97, Y:-39.18, Z:-20.21 [[ 9.91006234e-01 1.16901380e-01 6.51207520e-02 2.87968227e+02] [-1.16434259e-01 9.93138193e-01 -1.09358198e-02 -3.91779411e+01] [-6.59523184e-02 3.25517908e-03 9.97817466e-01 -2.02091868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.560714057 meters 0.033956958881121636 Centerline is valid? [True, True] Translation: X:288.00, Y:-39.18, Z:-20.21 [[ 9.91124690e-01 1.16310543e-01 6.43716302e-02 2.87995912e+02] [-1.15853177e-01 9.93207573e-01 -1.08055042e-02 -3.91835601e+01] [-6.51911846e-02 3.25194415e-03 9.97867493e-01 -2.02108055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.590714057 meters 0.03429855813611388 Centerline is valid? [True, True] Translation: X:288.02, Y:-39.19, Z:-20.21 [[ 9.91238900e-01 1.15430420e-01 6.41970559e-02 2.88024158e+02] [-1.14974072e-01 9.93310103e-01 -1.07704281e-02 -3.91889592e+01] [-6.50108193e-02 3.29507040e-03 9.97879119e-01 -2.02125768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.620714057 meters 0.034789173559554055 Centerline is valid? [True, True] Translation: X:288.05, Y:-39.19, Z:-20.22 [[ 9.91287298e-01 1.14834662e-01 6.45173934e-02 2.88052434e+02] [-1.14372786e-01 9.93378983e-01 -1.08195475e-02 -3.91949547e+01] [-6.53326817e-02 3.34624590e-03 9.97857927e-01 -2.02151505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.650714057 meters 0.03412820259333093 Centerline is valid? [True, True] Translation: X:288.08, Y:-39.20, Z:-20.22 [[ 9.91565280e-01 1.12763887e-01 6.38952339e-02 2.88081407e+02] [-1.12306901e-01 9.93615842e-01 -1.07106766e-02 -3.91991407e+01] [-6.46950941e-02 3.44445933e-03 9.97899133e-01 -2.02172082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.680714057 meters 0.03476544439964798 Centerline is valid? [True, True] Translation: X:288.11, Y:-39.21, Z:-20.22 [[ 9.91949543e-01 1.09874525e-01 6.29578634e-02 2.88111142e+02] [-1.09425302e-01 9.93939034e-01 -1.05499154e-02 -3.92054687e+01] [-6.37354448e-02 3.57580049e-03 9.97960423e-01 -2.02191345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.710714057 meters 0.03617161532509998 Centerline is valid? [True, True] Translation: X:288.14, Y:-39.21, Z:-20.22 [[ 9.92137488e-01 1.08091436e-01 6.30828603e-02 2.88139224e+02] [-1.07636819e-01 9.94134079e-01 -1.05711146e-02 -3.92127662e+01] [-6.38554682e-02 3.69796062e-03 9.97952306e-01 -2.02208557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.740714057 meters 0.03664454635842631 Centerline is valid? [True, True] Translation: X:288.17, Y:-39.22, Z:-20.22 [[ 9.92332829e-01 1.06291691e-01 6.30684753e-02 2.88168136e+02] [-1.05833887e-01 9.94327695e-01 -1.05652061e-02 -3.92185352e+01] [-6.38337253e-02 3.80941890e-03 9.97953277e-01 -2.02227190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.770714057 meters 0.03790879830612812 Centerline is valid? [True, True] Translation: X:288.20, Y:-39.23, Z:-20.22 [[ 9.92527990e-01 1.04073307e-01 6.36940832e-02 2.88195780e+02] [-1.03601954e-01 9.94561628e-01 -1.06678347e-02 -3.92263230e+01] [-6.44579279e-02 3.98929300e-03 9.97912452e-01 -2.02231536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.800714057 meters 0.039388087705003794 Centerline is valid? [True, True] Translation: X:288.22, Y:-39.23, Z:-20.23 [[ 9.92540747e-01 1.03723146e-01 6.40653979e-02 2.88222306e+02] [-1.03245854e-01 9.94598040e-01 -1.07252936e-02 -3.92334841e+01] [-6.48317804e-02 4.03080419e-03 9.97888066e-01 -2.02251034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.830714057 meters 0.03918148034329233 Centerline is valid? [True, True] Translation: X:288.25, Y:-39.24, Z:-20.23 [[ 9.92674014e-01 1.02876868e-01 6.33612844e-02 2.88250820e+02] [-1.02408706e-01 9.94685915e-01 -1.06012753e-02 -3.92367698e+01] [-6.41152031e-02 4.03486336e-03 9.97934347e-01 -2.02268293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.860714057 meters 0.03960225557039245 Centerline is valid? [True, True] Translation: X:288.28, Y:-39.24, Z:-20.23 [[ 9.92691498e-01 1.02813485e-01 6.31900008e-02 2.88278997e+02] [-1.02348014e-01 9.94692515e-01 -1.05681313e-02 -3.92416549e+01] [-6.39411672e-02 4.02352296e-03 9.97945559e-01 -2.02289746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.890714057 meters 0.03764274355155144 Centerline is valid? [True, True] Translation: X:288.31, Y:-39.24, Z:-20.23 [[ 9.92676204e-01 1.03545668e-01 6.22273924e-02 2.88308374e+02] [-1.03095996e-01 9.94617010e-01 -1.04028256e-02 -3.92423368e+01] [-6.29695905e-02 3.91124245e-03 9.98007782e-01 -2.02312437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.920714057 meters 0.037053904223491356 Centerline is valid? [True, True] Translation: X:288.34, Y:-39.25, Z:-20.23 [[ 9.92734414e-01 1.03510930e-01 6.13503842e-02 2.88335837e+02] [-1.03074054e-01 9.94620850e-01 -1.02520787e-02 -3.92458781e+01] [-6.20815735e-02 3.85395850e-03 9.98063638e-01 -2.02335783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.950714057 meters 0.04218977015927973 Centerline is valid? [True, True] Translation: X:288.36, Y:-39.26, Z:-20.24 [[ 9.92945121e-01 1.02338753e-01 5.98896225e-02 2.88361973e+02] [-1.01920735e-01 9.94742245e-01 -1.00014748e-02 -3.92574711e+01] [-6.05982760e-02 3.82692130e-03 9.98154900e-01 -2.02371195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.980714057 meters 0.037684629481345974 Centerline is valid? [True, True] Translation: X:288.39, Y:-39.25, Z:-20.24 [[ 9.93106213e-01 1.01053594e-01 5.93988279e-02 2.88391898e+02] [-1.00640450e-01 9.94873465e-01 -9.91405982e-03 -3.92539797e+01] [-6.00961691e-02 3.86778963e-03 9.98185098e-01 -2.02383112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.01071405700003 meters 0.03829252700595453 Centerline is valid? [True, True] Translation: X:288.42, Y:-39.26, Z:-20.24 [[ 9.93233560e-01 9.99240587e-02 5.91800430e-02 2.88419564e+02] [-9.95122071e-02 9.94987355e-01 -9.87344904e-03 -3.92592468e+01] [-5.98699895e-02 3.91750425e-03 9.98198496e-01 -2.02400233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.040714057 meters 0.039680040004580704 Centerline is valid? [True, True] Translation: X:288.45, Y:-39.26, Z:-20.24 [[ 9.93398125e-01 9.84476147e-02 5.88917059e-02 2.88448602e+02] [-9.80375363e-02 9.95134271e-01 -9.81956000e-03 -3.92647194e+01] [-5.95718671e-02 3.98113473e-03 9.98216080e-01 -2.02423579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.07071405700003 meters 0.07359282916024223 Centerline is valid? [True, True] Translation: X:288.47, Y:-39.32, Z:-20.25 [[ 9.93080818e-01 9.98936872e-02 6.17392971e-02 2.88469031e+02] [-9.94458561e-02 9.94989747e-01 -1.02920261e-02 -3.93157765e+01] [-6.24580760e-02 4.08109647e-03 9.98039244e-01 -2.02484768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.100714057 meters 0.043629725009476754 Centerline is valid? [True, True] Translation: X:288.51, Y:-39.28, Z:-20.25 [[ 9.94096499e-01 9.20819130e-02 5.73852899e-02 2.88505968e+02] [-9.16822684e-02 9.95742381e-01 -9.56414376e-03 -3.92772795e+01] [-5.80216498e-02 4.24646828e-03 9.98306294e-01 -2.02477995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.13071405700003 meters 0.04486682990131311 Centerline is valid? [True, True] Translation: X:288.54, Y:-39.28, Z:-20.25 [[ 9.94528501e-01 8.77437141e-02 5.66930457e-02 2.88535382e+02] [-8.73467303e-02 9.96133170e-01 -9.44756772e-03 -3.92839581e+01] [-5.73027880e-02 4.44392319e-03 9.98346955e-01 -2.02506926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.160714057 meters 0.04695739829321934 Centerline is valid? [True, True] Translation: X:288.56, Y:-39.29, Z:-20.25 [[ 9.94791503e-01 8.52011226e-02 5.59520719e-02 2.88563386e+02] [-8.48104410e-02 9.96353472e-01 -9.32455628e-03 -3.92905874e+01] [-5.65425038e-02 4.53066947e-03 9.98389913e-01 -2.02530424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.19071405700004 meters 0.04755879335938668 Centerline is valid? [True, True] Translation: X:288.59, Y:-39.30, Z:-20.25 [[ 9.94924215e-01 8.35581763e-02 5.60699277e-02 2.88592382e+02] [-8.31633577e-02 9.96492135e-01 -9.34238931e-03 -3.92951667e+01] [-5.66538750e-02 4.63200590e-03 9.98383134e-01 -2.02547063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.220714057 meters 0.04481545970057609 Centerline is valid? [True, True] Translation: X:288.62, Y:-39.29, Z:-20.25 [[ 9.95096964e-01 8.09577533e-02 5.68143851e-02 2.88623130e+02] [-8.05483558e-02 9.96705781e-01 -9.46303316e-03 -3.92928642e+01] [-5.73933320e-02 4.84033026e-03 9.98339910e-01 -2.02537568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.250714057 meters 0.045256619519617375 Centerline is valid? [True, True] Translation: X:288.65, Y:-39.30, Z:-20.25 [[ 9.95089131e-01 7.98798190e-02 5.84537107e-02 2.88652532e+02] [-7.94446312e-02 9.96791742e-01 -9.73513732e-03 -3.92973677e+01] [-5.90438171e-02 5.04349585e-03 9.98242651e-01 -2.02543971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.280714057 meters 0.047058583718903854 Centerline is valid? [True, True] Translation: X:288.68, Y:-39.30, Z:-20.26 [[ 9.95074770e-01 7.94048801e-02 5.93385781e-02 2.88680909e+02] [-7.89557025e-02 9.96829163e-01 -9.88012597e-03 -3.93041152e+01] [-5.99349553e-02 5.14634496e-03 9.98189018e-01 -2.02564144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.310714057 meters 0.04794384249905233 Centerline is valid? [True, True] Translation: X:288.71, Y:-39.31, Z:-20.26 [[ 9.95119272e-01 7.85654147e-02 5.97085427e-02 2.88710949e+02] [-7.81091870e-02 9.96895251e-01 -9.94047903e-03 -3.93096550e+01] [-6.03041405e-02 5.22817653e-03 9.98166357e-01 -2.02581223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.340714057 meters 0.04878377631523146 Centerline is valid? [True, True] Translation: X:288.74, Y:-39.31, Z:-20.26 [[ 9.95223934e-01 7.76000989e-02 5.92245330e-02 2.88741436e+02] [-7.71495542e-02 9.96970776e-01 -9.85989948e-03 -3.93129893e+01] [-5.98102579e-02 5.24366163e-03 9.98195991e-01 -2.02594367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.370714057 meters 0.048265135935220776 Centerline is valid? [True, True] Translation: X:288.77, Y:-39.31, Z:-20.26 [[ 9.95332840e-01 7.66673194e-02 5.86059781e-02 2.88771405e+02] [-7.62245378e-02 9.97042937e-01 -9.75708692e-03 -3.93149495e+01] [-5.91807263e-02 5.24433544e-03 9.98233509e-01 -2.02618769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.400714057 meters 0.04957645268492885 Centerline is valid? [True, True] Translation: X:288.80, Y:-39.32, Z:-20.26 [[ 9.95483468e-01 7.50423724e-02 5.81490084e-02 2.88800897e+02] [-7.46037930e-02 9.97166271e-01 -9.67995989e-03 -3.93200817e+01] [-5.87106371e-02 5.29810345e-03 9.98260984e-01 -2.02645102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.430714057 meters 0.048553248756660644 Centerline is valid? [True, True] Translation: X:288.83, Y:-39.32, Z:-20.27 [[ 9.95593781e-01 7.39602491e-02 5.76446458e-02 2.88831674e+02] [-7.35275401e-02 9.97247033e-01 -9.59459999e-03 -3.93229089e+01] [-5.81955710e-02 5.31385507e-03 9.98291059e-01 -2.02671618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.460714057 meters 0.05687713909750944 Centerline is valid? [True, True] Translation: X:288.86, Y:-39.34, Z:-20.27 [[ 9.95673171e-01 7.32667261e-02 5.71570034e-02 2.88859831e+02] [-7.28401367e-02 9.97298247e-01 -9.51427633e-03 -3.93389728e+01] [-5.76996592e-02 5.30978574e-03 9.98319866e-01 -2.02720870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.490714057 meters 0.04892795876944599 Centerline is valid? [True, True] Translation: X:288.89, Y:-39.33, Z:-20.27 [[ 9.95935118e-01 7.11555532e-02 5.52279561e-02 2.88892720e+02] [-7.07539830e-02 9.97451414e-01 -9.19517592e-03 -3.93311285e+01] [-5.57414907e-02 5.25020076e-03 9.98431431e-01 -2.02743049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.520714057 meters 0.04832022060554029 Centerline is valid? [True, True] Translation: X:288.92, Y:-39.33, Z:-20.28 [[ 9.95982508e-01 7.08876361e-02 5.47155096e-02 2.88923497e+02] [-7.04929767e-02 9.97470657e-01 -9.11195563e-03 -3.93342538e+01] [-5.52230404e-02 5.21828928e-03 9.98460407e-01 -2.02764414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.550714057 meters 0.051635187018662876 Centerline is valid? [True, True] Translation: X:288.95, Y:-39.34, Z:-20.28 [[ 9.96020782e-01 7.08370768e-02 5.40805860e-02 2.88952469e+02] [-7.04514476e-02 9.97474550e-01 -9.00647226e-03 -3.93397145e+01] [-5.45820003e-02 5.16057798e-03 9.98495956e-01 -2.02797964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.580714057 meters 0.049857274127923255 Centerline is valid? [True, True] Translation: X:288.98, Y:-39.34, Z:-20.28 [[ 9.95985491e-01 7.10682543e-02 5.44261432e-02 2.88983024e+02] [-7.06780859e-02 9.97458006e-01 -9.06276216e-03 -3.93409280e+01] [-5.49318670e-02 5.17964399e-03 9.98476670e-01 -2.02815350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.610714057 meters 0.05049600712267545 Centerline is valid? [True, True] Translation: X:289.01, Y:-39.35, Z:-20.28 [[ 9.95885989e-01 7.18879723e-02 5.51653560e-02 2.89011966e+02] [-7.14883515e-02 9.97399133e-01 -9.18608507e-03 -3.93452830e+01] [-5.56822473e-02 5.20461305e-03 9.98434975e-01 -2.02831845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.640714057 meters 0.05105696159115953 Centerline is valid? [True, True] Translation: X:289.04, Y:-39.35, Z:-20.28 [[ 9.95806609e-01 7.25275412e-02 5.57579820e-02 2.89041401e+02] [-7.21203285e-02 9.97352731e-01 -9.28372062e-03 -3.93496469e+01] [-5.62837011e-02 5.22350638e-03 9.98401152e-01 -2.02849477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.670714057 meters 0.04992644959569516 Centerline is valid? [True, True] Translation: X:289.07, Y:-39.35, Z:-20.29 [[ 9.95735649e-01 7.30509919e-02 5.63388821e-02 2.89070764e+02] [-7.26361154e-02 9.97314403e-01 -9.37961189e-03 -3.93516184e+01] [-5.68727685e-02 5.24737640e-03 9.98367644e-01 -2.02855941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.700714057 meters 0.04960670806521299 Centerline is valid? [True, True] Translation: X:289.10, Y:-39.35, Z:-20.29 [[ 9.95627505e-01 7.40088432e-02 5.69961551e-02 2.89100908e+02] [-7.35859032e-02 9.97243760e-01 -9.48674228e-03 -3.93534684e+01] [-5.75411629e-02 5.25114799e-03 9.98329324e-01 -2.02857920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.730714057 meters 0.04964062862992512 Centerline is valid? [True, True] Translation: X:289.13, Y:-39.36, Z:-20.29 [[ 9.95610225e-01 7.39995407e-02 5.73092291e-02 2.89130742e+02] [-7.35719692e-02 9.97244299e-01 -9.53799700e-03 -3.93573274e+01] [-5.78571094e-02 5.27977451e-03 9.98310913e-01 -2.02873975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.76071405700003 meters 0.04851926848290775 Centerline is valid? [True, True] Translation: X:289.16, Y:-39.36, Z:-20.29 [[ 9.95542112e-01 7.43625598e-02 5.80182141e-02 2.89159962e+02] [-7.39250643e-02 9.97217072e-01 -9.65385466e-03 -3.93609732e+01] [-5.85746389e-02 5.32181865e-03 9.98268847e-01 -2.02887280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.790714057 meters 0.05135583287901363 Centerline is valid? [True, True] Translation: X:289.19, Y:-39.37, Z:-20.29 [[ 9.95571728e-01 7.43242626e-02 5.75572560e-02 2.89188805e+02] [-7.38937706e-02 9.97220152e-01 -9.57487697e-03 -3.93691900e+01] [-5.81089012e-02 5.27935415e-03 9.98296291e-01 -2.02916295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.82071405700003 meters 0.05186005089447395 Centerline is valid? [True, True] Translation: X:289.22, Y:-39.37, Z:-20.29 [[ 9.95572569e-01 7.40877333e-02 5.78469267e-02 2.89217813e+02] [-7.36525470e-02 9.97237542e-01 -9.62218077e-03 -3.93746663e+01] [-5.84000125e-02 5.31900575e-03 9.98279093e-01 -2.02942496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.850714057 meters 0.049984705779981715 Centerline is valid? [True, True] Translation: X:289.25, Y:-39.38, Z:-20.30 [[ 9.95677740e-01 7.33536717e-02 5.69655735e-02 2.89247673e+02] [-7.29305885e-02 9.97292024e-01 -9.47358296e-03 -3.93763103e+01] [-5.75062342e-02 5.27810287e-03 9.98331195e-01 -2.02968903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.88071405700003 meters 0.052221250996214545 Centerline is valid? [True, True] Translation: X:289.28, Y:-39.38, Z:-20.30 [[ 9.95804908e-01 7.21711242e-02 5.62486770e-02 2.89275999e+02] [-7.17568838e-02 9.97378305e-01 -9.35233462e-03 -3.93832178e+01] [-5.67761787e-02 5.27687094e-03 9.98372987e-01 -2.02992639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.910714057 meters 0.05181456512536529 Centerline is valid? [True, True] Translation: X:289.31, Y:-39.39, Z:-20.30 [[ 9.95833800e-01 7.16373479e-02 5.64192666e-02 2.89306216e+02] [-7.12198786e-02 9.97416552e-01 -9.37825314e-03 -3.93875740e+01] [-5.69453435e-02 5.32100814e-03 9.98363118e-01 -2.03012822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.94071405700004 meters 0.052784590686947214 Centerline is valid? [True, True] Translation: X:289.34, Y:-39.39, Z:-20.30 [[ 9.95851798e-01 7.12425795e-02 5.66011688e-02 2.89335952e+02] [-7.08217787e-02 9.97444613e-01 -9.40848971e-03 -3.93945184e+01] [-5.71268160e-02 5.36086594e-03 9.98352537e-01 -2.03037842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.970714057 meters 0.0522223028401226 Centerline is valid? [True, True] Translation: X:289.37, Y:-39.40, Z:-20.31 [[ 9.95914075e-01 7.05523430e-02 5.63695205e-02 2.89366308e+02] [-7.01338895e-02 9.97493579e-01 -9.36998413e-03 -3.93990573e+01] [-5.68893091e-02 5.37828535e-03 9.98366005e-01 -2.03060667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.000714057 meters 0.05214212159603061 Centerline is valid? [True, True] Translation: X:289.40, Y:-39.40, Z:-20.31 [[ 9.95970760e-01 7.03146649e-02 5.56605215e-02 2.89396339e+02] [-6.99063182e-02 9.97510654e-01 -9.25213126e-03 -3.94036023e+01] [-5.61725237e-02 5.32383008e-03 9.98406883e-01 -2.03082435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.030714057 meters 0.0526049302421035 Centerline is valid? [True, True] Translation: X:289.43, Y:-39.41, Z:-20.31 [[ 9.95976989e-01 7.02714028e-02 5.56036558e-02 2.89426170e+02] [-6.98638245e-02 9.97513719e-01 -9.24267881e-03 -3.94078088e+01] [-5.61149055e-02 5.32081136e-03 9.98410139e-01 -2.03103804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.060714057 meters 0.05027026783217454 Centerline is valid? [True, True] Translation: X:289.46, Y:-39.41, Z:-20.31 [[ 9.95920177e-01 7.08974228e-02 5.58261300e-02 2.89456587e+02] [-7.04875458e-02 9.97469495e-01 -9.27965943e-03 -3.94091151e+01] [-5.63427657e-02 5.30675316e-03 9.98397381e-01 -2.03113713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.090714057 meters 0.052003099721345244 Centerline is valid? [True, True] Translation: X:289.49, Y:-39.42, Z:-20.31 [[ 9.95844423e-01 7.19433604e-02 5.58393875e-02 2.89485891e+02] [-7.15349166e-02 9.97394908e-01 -9.28186315e-03 -3.94156778e+01] [-5.63616892e-02 5.24882573e-03 9.98396619e-01 -2.03137498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.120714057 meters 0.04986445939668186 Centerline is valid? [True, True] Translation: X:289.52, Y:-39.42, Z:-20.32 [[ 9.95614112e-01 7.48182898e-02 5.61672875e-02 2.89516042e+02] [-7.44095574e-02 9.97184060e-01 -9.33640598e-03 -3.94166408e+01] [-5.67076577e-02 5.11607454e-03 9.98377718e-01 -2.03152289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.150714057 meters 0.04837214261682575 Centerline is valid? [True, True] Translation: X:289.55, Y:-39.42, Z:-20.32 [[ 9.95442998e-01 7.68265788e-02 5.64881756e-02 2.89546229e+02] [-7.64163616e-02 9.97031781e-01 -9.38972745e-03 -3.94187279e+01] [-5.70418870e-02 5.03031759e-03 9.98359113e-01 -2.03169285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.180714057 meters 0.04837214261682575 Centerline is valid? [True, True] Translation: X:289.57, Y:-39.42, Z:-20.32 [[ 9.95448400e-01 7.67565083e-02 5.64882419e-02 2.89574206e+02] [-7.63462017e-02 9.97037160e-01 -9.38932916e-03 -3.94233146e+01] [-5.70415684e-02 5.03392998e-03 9.98359113e-01 -2.03188814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.210714057 meters 0.04972072615915437 Centerline is valid? [True, True] Translation: X:289.60, Y:-39.43, Z:-20.32 [[ 9.95122054e-01 7.99821926e-02 5.77489913e-02 2.89603447e+02] [-7.95590048e-02 9.96783988e-01 -9.59408232e-03 -3.94281648e+01] [-5.83306256e-02 4.95283063e-03 9.98285033e-01 -2.03201011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.240714057 meters 0.04802565313939942 Centerline is valid? [True, True] Translation: X:289.63, Y:-39.43, Z:-20.32 [[ 9.94980020e-01 8.17472232e-02 5.77247880e-02 2.89633137e+02] [-8.13274010e-02 9.96641312e-01 -9.58896155e-03 -3.94299550e+01] [-5.83147795e-02 4.84621818e-03 9.98286482e-01 -2.03214246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.270714057 meters 0.04599116493194342 Centerline is valid? [True, True] Translation: X:289.66, Y:-39.43, Z:-20.32 [[ 9.94878757e-01 8.28710854e-02 5.78674593e-02 2.89661837e+02] [-8.24511690e-02 9.96548762e-01 -9.61094558e-03 -3.94314460e+01] [-5.84642144e-02 4.79048593e-03 9.98278011e-01 -2.03226932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.300714057 meters 0.045240627579573776 Centerline is valid? [True, True] Translation: X:289.69, Y:-39.43, Z:-20.33 [[ 9.94717611e-01 8.47057839e-02 5.79810656e-02 2.89691356e+02] [-8.42875756e-02 9.96394982e-01 -9.62524704e-03 -3.94346439e+01] [-5.85873568e-02 4.68731930e-03 9.98271281e-01 -2.03250696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.330714057 meters 0.05028807486965814 Centerline is valid? [True, True] Translation: X:289.72, Y:-39.45, Z:-20.33 [[ 9.94698186e-01 8.49931388e-02 5.78937412e-02 2.89717501e+02] [-8.45767654e-02 9.96370631e-01 -9.60919520e-03 -3.94459229e+01] [-5.85003391e-02 4.66178367e-03 9.98276504e-01 -2.03284937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.360714057 meters 0.05106911261936004 Centerline is valid? [True, True] Translation: X:289.75, Y:-39.45, Z:-20.33 [[ 9.94650475e-01 8.55883868e-02 5.78365064e-02 2.89745141e+02] [-8.51741508e-02 9.96319885e-01 -9.59432373e-03 -3.94511628e+01] [-5.84448241e-02 4.61682333e-03 9.98279964e-01 -2.03303985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.390714057 meters 0.04371296896132649 Centerline is valid? [True, True] Translation: X:289.78, Y:-39.44, Z:-20.33 [[ 9.94622218e-01 8.58879888e-02 5.78782869e-02 2.89775786e+02] [-8.54738849e-02 9.96294186e-01 -9.59736280e-03 -3.94447913e+01] [-5.84880990e-02 4.59866824e-03 9.98277514e-01 -2.03305527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.420714057 meters 0.051092624860611176 Centerline is valid? [True, True] Translation: X:289.80, Y:-39.46, Z:-20.33 [[ 9.94419096e-01 8.80555577e-02 5.81109266e-02 2.89802398e+02] [-8.76420678e-02 9.96105470e-01 -9.63118253e-03 -3.94581513e+01] [-5.87326910e-02 4.48447006e-03 9.98263673e-01 -2.03327779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.450714057 meters 0.047268153317595055 Centerline is valid? [True, True] Translation: X:289.83, Y:-39.46, Z:-20.33 [[ 9.94338156e-01 8.88315129e-02 5.83146143e-02 2.89831497e+02] [-8.84164819e-02 9.96036710e-01 -9.66423862e-03 -3.94561590e+01] [-5.89419855e-02 4.45354816e-03 9.98251475e-01 -2.03346783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.480714057 meters 0.04793548816399069 Centerline is valid? [True, True] Translation: X:289.86, Y:-39.46, Z:-20.34 [[ 9.94265489e-01 8.99006836e-02 5.79137683e-02 2.89858992e+02] [-8.94933820e-02 9.95941210e-01 -9.59382128e-03 -3.94620076e+01] [-5.85411995e-02 4.35590641e-03 9.98275490e-01 -2.03367629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.51071405700003 meters 0.04446862660505442 Centerline is valid? [True, True] Translation: X:289.89, Y:-39.46, Z:-20.34 [[ 9.94057842e-01 9.23521683e-02 5.76201627e-02 2.89888941e+02] [-9.19533328e-02 9.95717608e-01 -9.54090516e-03 -3.94611101e+01] [-5.82545339e-02 4.18584560e-03 9.98292987e-01 -2.03390481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.540714057 meters 0.04521283238770354 Centerline is valid? [True, True] Translation: X:289.92, Y:-39.47, Z:-20.34 [[ 9.93961226e-01 9.32440988e-02 5.78499700e-02 2.89916548e+02] [-9.28436622e-02 9.95634635e-01 -9.57742891e-03 -3.94655904e+01] [-5.84904725e-02 4.14858991e-03 9.98279347e-01 -2.03410722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.57071405700003 meters 0.044269217292479304 Centerline is valid? [True, True] Translation: X:289.95, Y:-39.47, Z:-20.34 [[ 9.93935704e-01 9.35442006e-02 5.78039728e-02 2.89945665e+02] [-9.31452200e-02 9.95606594e-01 -9.56444849e-03 -3.94687427e+01] [-5.84447152e-02 4.12228308e-03 9.98282135e-01 -2.03427913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.600714057 meters 0.04216633889811369 Centerline is valid? [True, True] Translation: X:289.97, Y:-39.47, Z:-20.34 [[ 9.93904115e-01 9.39045182e-02 5.77628942e-02 2.89974221e+02] [-9.35068754e-02 9.95572785e-01 -9.55482736e-03 -3.94697364e+01] [-5.84044068e-02 4.09535448e-03 9.98284605e-01 -2.03441702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.63071405700003 meters 0.04145300817210272 Centerline is valid? [True, True] Translation: X:290.00, Y:-39.47, Z:-20.35 [[ 9.93826856e-01 9.50254977e-02 5.72567460e-02 2.90003040e+02] [-9.46368865e-02 9.95466843e-01 -9.46705634e-03 -3.94727701e+01] [-5.78968039e-02 3.99001466e-03 9.98314600e-01 -2.03467123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.660714057 meters 0.04562832079790837 Centerline is valid? [True, True] Translation: X:290.03, Y:-39.48, Z:-20.35 [[ 9.93521068e-01 9.79344737e-02 5.76604364e-02 2.90030522e+02] [-9.75454939e-02 9.95185445e-01 -9.52922929e-03 -3.94843504e+01] [-5.83160671e-02 3.84297432e-03 9.98290773e-01 -2.03495942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.69071405700004 meters 0.03853550386727984 Centerline is valid? [True, True] Translation: X:290.06, Y:-39.48, Z:-20.35 [[ 9.93366426e-01 9.93174740e-02 5.79584662e-02 2.90060586e+02] [-9.89269007e-02 9.95048619e-01 -9.57674752e-03 -3.94779202e+01] [-5.86226301e-02 3.77956803e-03 9.98273060e-01 -2.03492097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.720714057 meters 0.04222435468953423 Centerline is valid? [True, True] Translation: X:290.09, Y:-39.49, Z:-20.35 [[ 9.93160038e-01 1.01122179e-01 5.83733189e-02 2.90088555e+02] [-1.00729363e-01 9.94867154e-01 -9.64063810e-03 -3.94879696e+01] [-5.90485799e-02 3.69478927e-03 9.98248273e-01 -2.03511775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.750714057 meters 0.036397460171753854 Centerline is valid? [True, True] Translation: X:290.12, Y:-39.48, Z:-20.35 [[ 9.92713713e-01 1.05203307e-01 5.87515838e-02 2.90120052e+02] [-1.04812633e-01 9.94444674e-01 -9.70067897e-03 -3.94825462e+01] [-5.94457430e-02 3.47208886e-03 9.98225500e-01 -2.03516215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.780714057 meters 0.03909016838178851 Centerline is valid? [True, True] Translation: X:290.15, Y:-39.49, Z:-20.35 [[ 9.92470781e-01 1.07323590e-01 5.90203088e-02 2.90147646e+02] [-1.06933058e-01 9.94218464e-01 -9.74509632e-03 -3.94920982e+01] [-5.97249595e-02 3.36050122e-03 9.98209215e-01 -2.03547038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.810714057 meters 0.03522799340297389 Centerline is valid? [True, True] Translation: X:290.18, Y:-39.49, Z:-20.36 [[ 9.92031518e-01 1.11389319e-01 5.88717792e-02 2.90178179e+02] [-1.11008018e-01 9.93771993e-01 -9.71828146e-03 -3.94908370e+01] [-5.95876382e-02 3.10560198e-03 9.98218247e-01 -2.03562514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.840714057 meters 0.03523048166633219 Centerline is valid? [True, True] Translation: X:290.21, Y:-39.49, Z:-20.36 [[ 9.91896012e-01 1.12644169e-01 5.87672672e-02 2.90206754e+02] [-1.12266449e-01 9.93630789e-01 -9.70048972e-03 -3.94949585e+01] [-5.94856697e-02 3.02428466e-03 9.98224578e-01 -2.03587405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.870714057 meters 0.03743375079580955 Centerline is valid? [True, True] Translation: X:290.23, Y:-39.50, Z:-20.36 [[ 9.91749623e-01 1.14233257e-01 5.81674180e-02 2.90233846e+02] [-1.13866183e-01 9.93449738e-01 -9.59737569e-03 -3.95041811e+01] [-5.88827457e-02 2.89489183e-03 9.98260708e-01 -2.03620184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.900714057 meters 0.03542264426179333 Centerline is valid? [True, True] Translation: X:290.26, Y:-39.51, Z:-20.36 [[ 9.91811343e-01 1.13695942e-01 5.81678045e-02 2.90262447e+02] [-1.13328185e-01 9.93511294e-01 -9.59333621e-03 -3.95058353e+01] [-5.88810941e-02 2.92272796e-03 9.98260725e-01 -2.03634927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.930714057 meters 0.036253312768427415 Centerline is valid? [True, True] Translation: X:290.29, Y:-39.51, Z:-20.37 [[ 9.91886289e-01 1.12876585e-01 5.84847571e-02 2.90289283e+02] [-1.12503620e-01 9.93604536e-01 -9.64163559e-03 -3.95138506e+01] [-5.91990349e-02 2.98365922e-03 9.98241740e-01 -2.03652260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.960714057 meters 0.03837056391781072 Centerline is valid? [True, True] Translation: X:290.32, Y:-39.52, Z:-20.37 [[ 9.91943728e-01 1.12389727e-01 5.84481718e-02 2.90315845e+02] [-1.12016689e-01 9.93659657e-01 -9.63050978e-03 -3.95222200e+01] [-5.91599608e-02 3.00575310e-03 9.98243990e-01 -2.03677914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.990714057 meters 0.03556727111430521 Centerline is valid? [True, True] Translation: X:290.35, Y:-39.52, Z:-20.37 [[ 9.92064751e-01 1.11554038e-01 5.79933257e-02 2.90345049e+02] [-1.11185665e-01 9.93753760e-01 -9.55049712e-03 -3.95224086e+01] [-5.86964820e-02 3.02668504e-03 9.98271287e-01 -2.03692683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.020714057 meters 0.034730538046497034 Centerline is valid? [True, True] Translation: X:290.37, Y:-39.53, Z:-20.37 [[ 9.92078676e-01 1.11823562e-01 5.72310403e-02 2.90373198e+02] [-1.11465500e-01 9.93723648e-01 -9.42097245e-03 -3.95260126e+01] [-5.79253248e-02 2.96705935e-03 9.98316510e-01 -2.03713762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.050714057 meters 0.034399416442919016 Centerline is valid? [True, True] Translation: X:290.40, Y:-39.53, Z:-20.37 [[ 9.92005981e-01 1.12764357e-01 5.66421451e-02 2.90401158e+02] [-1.12415395e-01 9.93617591e-01 -9.31999988e-03 -3.95305269e+01] [-5.73315955e-02 2.87804654e-03 9.98351043e-01 -2.03746256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.080714057 meters 0.03531150002469021 Centerline is valid? [True, True] Translation: X:290.43, Y:-39.54, Z:-20.38 [[ 9.91940619e-01 1.13323712e-01 5.66704957e-02 2.90428108e+02] [-1.12975533e-01 9.93554051e-01 -9.32078136e-03 -3.95363039e+01] [-5.73614661e-02 2.84328218e-03 9.98349427e-01 -2.03767671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.110714057 meters 0.035346753113315234 Centerline is valid? [True, True] Translation: X:290.46, Y:-39.54, Z:-20.38 [[ 9.91920218e-01 1.13387380e-01 5.68997590e-02 2.90456857e+02] [-1.13036785e-01 9.93546780e-01 -9.35319287e-03 -3.95410265e+01] [-5.75931064e-02 2.84585531e-03 9.98336083e-01 -2.03788344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.140714057 meters 0.036263018361749916 Centerline is valid? [True, True] Translation: X:290.48, Y:-39.55, Z:-20.38 [[ 9.92028394e-01 1.12522433e-01 5.67306504e-02 2.90483894e+02] [-1.12172730e-01 9.93645000e-01 -9.32160393e-03 -3.95483431e+01] [-5.74190167e-02 2.88366387e-03 9.98346003e-01 -2.03808175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.170714057 meters 0.036329375304846666 Centerline is valid? [True, True] Translation: X:290.51, Y:-39.55, Z:-20.38 [[ 9.92066166e-01 1.11909614e-01 5.72796726e-02 2.90511904e+02] [-1.11552387e-01 9.93714034e-01 -9.40656650e-03 -3.95542117e+01] [-5.79722998e-02 2.94225216e-03 9.98313856e-01 -2.03824924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.200714057 meters 0.03678494161494887 Centerline is valid? [True, True] Translation: X:290.54, Y:-39.56, Z:-20.38 [[ 9.92354480e-01 1.09284416e-01 5.73541830e-02 2.90540698e+02] [-1.08922141e-01 9.94005702e-01 -9.41444614e-03 -3.95610541e+01] [-5.80392372e-02 3.09532737e-03 9.98309504e-01 -2.03830470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.230714057 meters 0.03749188422322387 Centerline is valid? [True, True] Translation: X:290.57, Y:-39.57, Z:-20.38 [[ 9.92530081e-01 1.07771591e-01 5.71779961e-02 2.90569307e+02] [-1.07409156e-01 9.94170621e-01 -9.38353017e-03 -3.95682168e+01] [-5.78559619e-02 3.17199567e-03 9.98319902e-01 -2.03849336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.26071405700003 meters 0.037511178359296925 Centerline is valid? [True, True] Translation: X:290.60, Y:-39.58, Z:-20.39 [[ 9.92895548e-01 1.04188780e-01 5.74728462e-02 2.90598849e+02] [-1.03816740e-01 9.94551741e-01 -9.42971890e-03 -3.95754502e+01] [-5.81421901e-02 3.39608237e-03 9.98302535e-01 -2.03870186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.290714057 meters 0.04320316609929576 Centerline is valid? [True, True] Translation: X:290.63, Y:-39.59, Z:-20.39 [[ 9.93084260e-01 1.02099514e-01 5.79598330e-02 2.90625427e+02] [-1.01717632e-01 9.94767864e-01 -9.50892065e-03 -3.95909529e+01] [-5.86274355e-02 3.54762244e-03 9.98273629e-01 -2.03901677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.32071405700003 meters 0.037147621780665344 Centerline is valid? [True, True] Translation: X:290.66, Y:-39.59, Z:-20.39 [[ 9.93519639e-01 9.78762747e-02 5.77837426e-02 2.90656314e+02] [-9.74898105e-02 9.95191405e-01 -9.47647228e-03 -3.95889242e+01] [-5.84334058e-02 3.78173522e-03 9.98284146e-01 -2.03899219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.350714057 meters 0.04340442639968758 Centerline is valid? [True, True] Translation: X:290.68, Y:-39.60, Z:-20.39 [[ 9.93761401e-01 9.56240961e-02 5.73960808e-02 2.90682545e+02] [-9.52390560e-02 9.95409923e-01 -9.41312421e-03 -3.96040170e+01] [-5.80327498e-02 3.88805095e-03 9.98307109e-01 -2.03932974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.38071405700003 meters 0.040363621043361136 Centerline is valid? [True, True] Translation: X:290.71, Y:-39.60, Z:-20.39 [[ 9.93931457e-01 9.40912394e-02 5.69833101e-02 2.90711834e+02] [-9.37093995e-02 9.95555759e-01 -9.34230340e-03 -3.96047918e+01] [-5.76090915e-02 3.94573746e-03 9.98331420e-01 -2.03937270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.410714057 meters 0.040980846681247754 Centerline is valid? [True, True] Translation: X:290.74, Y:-39.61, Z:-20.40 [[ 9.94351839e-01 8.98228120e-02 5.65356765e-02 2.90740905e+02] [-8.94402925e-02 9.95949088e-01 -9.26544878e-03 -3.96124748e+01] [-5.71389041e-02 4.15654859e-03 9.98357586e-01 -2.03961074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.44071405700004 meters 0.04233623587347357 Centerline is valid? [True, True] Translation: X:290.77, Y:-39.62, Z:-20.40 [[ 9.94486612e-01 8.82614599e-02 5.66241419e-02 2.90767976e+02] [-8.78752571e-02 9.96088265e-01 -9.27939535e-03 -3.96205602e+01] [-5.72216562e-02 4.25237342e-03 9.98352442e-01 -2.03983314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.470714057 meters 0.044182669828292984 Centerline is valid? [True, True] Translation: X:290.80, Y:-39.63, Z:-20.40 [[ 9.94682701e-01 8.55518548e-02 5.73341520e-02 2.90796858e+02] [-8.51516629e-02 9.96323739e-01 -9.39157095e-03 -3.96303074e+01] [-5.79268430e-02 4.45953477e-03 9.98310870e-01 -2.04010227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.500714057 meters 0.04494235433753248 Centerline is valid? [True, True] Translation: X:290.82, Y:-39.64, Z:-20.40 [[ 9.94778339e-01 8.48418329e-02 5.67267024e-02 2.90824356e+02] [-8.44489533e-02 9.96384482e-01 -9.29185214e-03 -3.96367630e+01] [-5.73099438e-02 4.45282260e-03 9.98346504e-01 -2.04030964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.530714057 meters 0.04508427218332615 Centerline is valid? [True, True] Translation: X:290.85, Y:-39.64, Z:-20.41 [[ 9.94909130e-01 8.41979351e-02 5.53762657e-02 2.90852634e+02] [-8.38228533e-02 9.96439433e-01 -9.06562892e-03 -3.96416988e+01] [-5.59424020e-02 4.37768039e-03 9.98424401e-01 -2.04057976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.560714057 meters 0.04539601476846062 Centerline is valid? [True, True] Translation: X:290.88, Y:-39.65, Z:-20.41 [[ 9.94877354e-01 8.45906590e-02 5.53486340e-02 2.90881185e+02] [-8.42167772e-02 9.96406294e-01 -9.05714503e-03 -3.96470915e+01] [-5.59158772e-02 4.34946490e-03 9.98426010e-01 -2.04082281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.590714057 meters 0.046026889669093234 Centerline is valid? [True, True] Translation: X:290.91, Y:-39.65, Z:-20.41 [[ 9.94831459e-01 8.52258530e-02 5.51989394e-02 2.90908017e+02] [-8.48551717e-02 9.96352387e-01 -9.02893686e-03 -3.96529816e+01] [-5.57670938e-02 4.29835495e-03 9.98434552e-01 -2.04106476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.620714057 meters 0.04585506369888955 Centerline is valid? [True, True] Translation: X:290.94, Y:-39.66, Z:-20.41 [[ 9.94704809e-01 8.70564099e-02 5.46216551e-02 2.90937619e+02] [-8.66965032e-02 9.96194756e-01 -8.92888214e-03 -3.96576277e+01] [-5.51911228e-02 4.14609551e-03 9.98467200e-01 -2.04133268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.650714057 meters 0.045626837031904045 Centerline is valid? [True, True] Translation: X:290.97, Y:-39.66, Z:-20.42 [[ 9.94594070e-01 8.82971172e-02 5.46466294e-02 2.90966032e+02] [-8.79387564e-02 9.96085831e-01 -8.93269486e-03 -3.96615187e+01] [-5.52214645e-02 4.07884871e-03 9.98465800e-01 -2.04154492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.680714057 meters 0.04325545027263679 Centerline is valid? [True, True] Translation: X:291.00, Y:-39.66, Z:-20.42 [[ 9.94280198e-01 9.20882838e-02 5.40983961e-02 2.90996241e+02] [-9.17429136e-02 9.95743501e-01 -8.83848386e-03 -3.96622315e+01] [-5.46820471e-02 3.82478501e-03 9.98496492e-01 -2.04168545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.710714057 meters 0.04530709811628505 Centerline is valid? [True, True] Translation: X:291.02, Y:-39.67, Z:-20.42 [[ 9.94134112e-01 9.36022946e-02 5.41846571e-02 2.91023852e+02] [-9.32580252e-02 9.95602613e-01 -8.85315254e-03 -3.96686696e+01] [-5.47750616e-02 3.74806682e-03 9.98491685e-01 -2.04194504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.740714057 meters 0.040779684607708144 Centerline is valid? [True, True] Translation: X:291.05, Y:-39.67, Z:-20.42 [[ 9.93638270e-01 9.84686757e-02 5.46526142e-02 2.91054340e+02] [-9.81259884e-02 9.95133976e-01 -8.92523363e-03 -3.96655018e+01] [-5.52655292e-02 3.50561192e-03 9.98465539e-01 -2.04201422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.770714057 meters 0.03836166009498983 Centerline is valid? [True, True] Translation: X:291.09, Y:-39.67, Z:-20.42 [[ 9.93402758e-01 1.00600704e-01 5.50496052e-02 2.91085010e+02] [-1.00256354e-01 9.94921036e-01 -8.98858785e-03 -3.96653915e+01] [-5.56742685e-02 3.41021525e-03 9.98443161e-01 -2.04213847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.800714057 meters 0.03422918873340488 Centerline is valid? [True, True] Translation: X:291.12, Y:-39.66, Z:-20.42 [[ 9.92950149e-01 1.04672980e-01 5.56198698e-02 2.91116343e+02] [-1.04327873e-01 9.94501503e-01 -9.08054192e-03 -3.96622466e+01] [-5.62645315e-02 3.21382274e-03 9.98410724e-01 -2.04207738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.830714057 meters 0.03512036576463689 Centerline is valid? [True, True] Translation: X:291.14, Y:-39.67, Z:-20.42 [[ 9.92773992e-01 1.06179020e-01 5.59090120e-02 2.91143506e+02] [-1.05832645e-01 9.94342054e-01 -9.12853049e-03 -3.96672037e+01] [-5.65619403e-02 3.14556904e-03 9.98394137e-01 -2.04228395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.860714057 meters 0.03529030886299821 Centerline is valid? [True, True] Translation: X:291.17, Y:-39.67, Z:-20.42 [[ 9.92601491e-01 1.07579577e-01 5.62931116e-02 2.91170908e+02] [-1.07230941e-01 9.94191699e-01 -9.18640827e-03 -3.96713652e+01] [-5.69544142e-02 3.08207925e-03 9.98372023e-01 -2.04247701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.890714057 meters 0.03464030357778652 Centerline is valid? [True, True] Translation: X:291.20, Y:-39.67, Z:-20.43 [[ 9.92683564e-01 1.06904669e-01 5.61313919e-02 2.91199754e+02] [-1.06557388e-01 9.94264429e-01 -9.15249322e-03 -3.96740970e+01] [-5.67878906e-02 3.10431508e-03 9.98381439e-01 -2.04268365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.920714057 meters 0.03559272363698103 Centerline is valid? [True, True] Translation: X:291.23, Y:-39.68, Z:-20.43 [[ 9.92880746e-01 1.04709354e-01 5.67782979e-02 2.91228450e+02] [-1.04350686e-01 9.94497514e-01 -9.25361696e-03 -3.96799646e+01] [-5.74348163e-02 3.26288376e-03 9.98343926e-01 -2.04295661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.950714057 meters 0.034689738752901836 Centerline is valid? [True, True] Translation: X:291.26, Y:-39.68, Z:-20.43 [[ 9.93082766e-01 1.02769119e-01 5.67902061e-02 2.91257389e+02] [-1.02407303e-01 9.94699518e-01 -9.25275004e-03 -3.96833562e+01] [-5.74400876e-02 3.37301475e-03 9.98343257e-01 -2.04305568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.980714057 meters 0.03803053604809139 Centerline is valid? [True, True] Translation: X:291.28, Y:-39.69, Z:-20.43 [[ 9.93250301e-01 1.00471336e-01 5.79599074e-02 2.91284342e+02] [-1.00090823e-01 9.94933535e-01 -9.43860860e-03 -3.96931418e+01] [-5.86145652e-02 3.57364597e-03 9.98274292e-01 -2.04332708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.01071405700003 meters 0.04036642074543129 Centerline is valid? [True, True] Translation: X:291.31, Y:-39.70, Z:-20.43 [[ 9.93558358e-01 9.67259484e-02 5.90413458e-02 2.91312080e+02] [-9.63247876e-02 9.95303564e-01 -9.60993318e-03 -3.97017634e+01] [-5.96935918e-02 3.86088433e-03 9.98209281e-01 -2.04341396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.040714057 meters 0.0403075512654519 Centerline is valid? [True, True] Translation: X:291.34, Y:-39.71, Z:-20.44 [[ 9.93714693e-01 9.50480800e-02 5.91351936e-02 2.91341444e+02] [-9.46428117e-02 9.95464783e-01 -9.62309770e-03 -3.97063131e+01] [-5.97816597e-02 3.96589258e-03 9.98203599e-01 -2.04355306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.07071405700003 meters 0.04249333583100821 Centerline is valid? [True, True] Translation: X:291.37, Y:-39.72, Z:-20.44 [[ 9.93990689e-01 9.20628955e-02 5.92193596e-02 2.91370138e+02] [-9.16513344e-02 9.95744550e-01 -9.63457497e-03 -3.97151039e+01] [-5.98543414e-02 4.14914449e-03 9.98198499e-01 -2.04380781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.100714057 meters 0.04249333583100821 Centerline is valid? [True, True] Translation: X:291.40, Y:-39.72, Z:-20.44 [[ 9.94000241e-01 9.19596465e-02 5.92194616e-02 2.91397259e+02] [-9.15479403e-02 9.95754067e-01 -9.63394813e-03 -3.97194176e+01] [-5.98539542e-02 4.15472702e-03 9.98198499e-01 -2.04399699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.13071405700003 meters 0.041779401599853064 Centerline is valid? [True, True] Translation: X:291.43, Y:-39.72, Z:-20.44 [[ 9.94109921e-01 9.06516094e-02 5.93948667e-02 2.91426179e+02] [-9.02355363e-02 9.95873643e-01 -9.65582713e-03 -3.97235247e+01] [-6.00250985e-02 4.23942590e-03 9.98187865e-01 -2.04422795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.160714057 meters 0.04167968887675372 Centerline is valid? [True, True] Translation: X:291.46, Y:-39.73, Z:-20.44 [[ 9.94326964e-01 8.90725850e-02 5.81374595e-02 2.91455627e+02] [-8.86715454e-02 9.96016120e-01 -9.44695674e-03 -3.97282086e+01] [-5.87473118e-02 4.23822543e-03 9.98263888e-01 -2.04449613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.19071405700004 meters 0.04210296705899373 Centerline is valid? [True, True] Translation: X:291.48, Y:-39.73, Z:-20.45 [[ 9.94362837e-01 8.87575118e-02 5.80056193e-02 2.91483311e+02] [-8.83578505e-02 9.96044215e-01 -9.42396980e-03 -3.97335598e+01] [-5.86126097e-02 4.24559351e-03 9.98271775e-01 -2.04472293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.220714057 meters 0.043247443482774414 Centerline is valid? [True, True] Translation: X:291.51, Y:-39.74, Z:-20.45 [[ 9.94401919e-01 8.87857486e-02 5.72880014e-02 2.91510815e+02] [-8.83962696e-02 9.96041950e-01 -9.30229826e-03 -3.97392754e+01] [-5.78871641e-02 4.18617762e-03 9.98314355e-01 -2.04494995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.250714057 meters 0.04347087054063804 Centerline is valid? [True, True] Translation: X:291.54, Y:-39.74, Z:-20.45 [[ 9.94403820e-01 8.91392259e-02 5.67031027e-02 2.91539725e+02] [-8.87585125e-02 9.96010662e-01 -9.20259144e-03 -3.97437013e+01] [-5.72972068e-02 4.11820902e-03 9.98348672e-01 -2.04516880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.280714057 meters 0.044526425616187165 Centerline is valid? [True, True] Translation: X:291.57, Y:-39.75, Z:-20.45 [[ 9.94330239e-01 9.03390363e-02 5.60913021e-02 2.91567304e+02] [-8.99687704e-02 9.95903042e-01 -9.09681290e-03 -3.97483751e+01] [-5.66832957e-02 3.99877067e-03 9.98384202e-01 -2.04532484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.310714057 meters 0.04236293836841256 Centerline is valid? [True, True] Translation: X:291.60, Y:-39.75, Z:-20.45 [[ 9.94197751e-01 9.12911497e-02 5.68925199e-02 2.91595993e+02] [-9.09120690e-02 9.95816228e-01 -9.22149205e-03 -3.97490894e+01] [-5.74963352e-02 3.99576996e-03 9.98337721e-01 -2.04542676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.340714057 meters 0.04169734958251833 Centerline is valid? [True, True] Translation: X:291.62, Y:-39.75, Z:-20.46 [[ 9.94104312e-01 9.21696697e-02 5.71083977e-02 2.91624595e+02] [-9.17893797e-02 9.95735458e-01 -9.25240733e-03 -3.97517683e+01] [-5.77176479e-02 3.95591362e-03 9.98325109e-01 -2.04556794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.370714057 meters 0.04171877569182977 Centerline is valid? [True, True] Translation: X:291.65, Y:-39.76, Z:-20.46 [[ 9.94003864e-01 9.28988173e-02 5.76725899e-02 2.91653198e+02] [-9.25124277e-02 9.95667726e-01 -9.33968080e-03 -3.97565005e+01] [-5.82903818e-02 3.94824750e-03 9.98291863e-01 -2.04577821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.400714057 meters 0.03991223810518284 Centerline is valid? [True, True] Translation: X:291.68, Y:-39.76, Z:-20.46 [[ 9.93951142e-01 9.31937302e-02 5.81038437e-02 2.91682153e+02] [-9.28022764e-02 9.95640134e-01 -9.40539281e-03 -3.97571902e+01] [-5.87270424e-02 3.95633196e-03 9.98266238e-01 -2.04586350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.430714057 meters 0.04038090658499105 Centerline is valid? [True, True] Translation: X:291.71, Y:-39.76, Z:-20.46 [[ 9.93971098e-01 9.30462772e-02 5.79986783e-02 2.91710369e+02] [-9.26562371e-02 9.95653935e-01 -9.38418581e-03 -3.97613809e+01] [-5.86197758e-02 3.95367018e-03 9.98272553e-01 -2.04603639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.460714057 meters 0.04206978846056507 Centerline is valid? [True, True] Translation: X:291.74, Y:-39.77, Z:-20.46 [[ 9.93997711e-01 9.29299722e-02 5.77284164e-02 2.91737496e+02] [-9.25435905e-02 9.95664859e-01 -9.33665784e-03 -3.97680102e+01] [-5.83458109e-02 3.93822160e-03 9.98288664e-01 -2.04629601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.490714057 meters 0.042380858583857386 Centerline is valid? [True, True] Translation: X:291.77, Y:-39.77, Z:-20.47 [[ 9.94108589e-01 9.18852190e-02 5.74910396e-02 2.91765300e+02] [-9.15006297e-02 9.95761663e-01 -9.29217298e-03 -3.97732295e+01] [-5.81011866e-02 3.97696264e-03 9.98302778e-01 -2.04658367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.520714057 meters 0.04293240277947875 Centerline is valid? [True, True] Translation: X:291.79, Y:-39.78, Z:-20.47 [[ 9.94286522e-01 9.03031903e-02 5.69178870e-02 2.91794493e+02] [-8.99239823e-02 9.95906194e-01 -9.19399722e-03 -3.97794870e+01] [-5.75151235e-02 4.02318446e-03 9.98336529e-01 -2.04681530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.550714057 meters 0.04532925445581255 Centerline is valid? [True, True] Translation: X:291.82, Y:-39.79, Z:-20.47 [[ 9.94390769e-01 8.94249661e-02 5.64816278e-02 2.91821357e+02] [-8.90502142e-02 9.95985362e-01 -9.12237086e-03 -3.97872519e+01] [-5.70706423e-02 4.04150032e-03 9.98361962e-01 -2.04705080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.580714057 meters 0.0450701472671899 Centerline is valid? [True, True] Translation: X:291.85, Y:-39.79, Z:-20.47 [[ 9.94411707e-01 8.93522693e-02 5.62274830e-02 2.91848664e+02] [-8.89811157e-02 9.95991968e-01 -9.07526755e-03 -3.97913318e+01] [-5.68130172e-02 4.02136812e-03 9.98376737e-01 -2.04719139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.610714057 meters 0.04583855845058792 Centerline is valid? [True, True] Translation: X:291.88, Y:-39.80, Z:-20.47 [[ 9.94512760e-01 8.82704246e-02 5.61489373e-02 2.91877141e+02] [-8.78989484e-02 9.96088228e-01 -9.05636052e-03 -3.97963427e+01] [-5.67287042e-02 4.07123355e-03 9.98381330e-01 -2.04730852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.640714057 meters 0.04628893708510583 Centerline is valid? [True, True] Translation: X:291.90, Y:-39.80, Z:-20.48 [[ 9.94597322e-01 8.74809928e-02 5.58859874e-02 2.91904941e+02] [-8.71119595e-02 9.96157779e-01 -9.01030819e-03 -3.98019856e+01] [-5.64594918e-02 4.09329053e-03 9.98396500e-01 -2.04750609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.670714057 meters 0.044934980974127396 Centerline is valid? [True, True] Translation: X:291.93, Y:-39.80, Z:-20.48 [[ 9.94620613e-01 8.72432799e-02 5.58430577e-02 2.91933540e+02] [-8.68747246e-02 9.96178604e-01 -8.99837750e-03 -3.98048864e+01] [-5.64147072e-02 4.09862149e-03 9.98399009e-01 -2.04775049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.700714057 meters 0.044897725492475365 Centerline is valid? [True, True] Translation: X:291.96, Y:-39.81, Z:-20.48 [[ 9.94750280e-01 8.61952493e-02 5.51566893e-02 2.91962638e+02] [-8.58343459e-02 9.96269817e-01 -8.88352239e-03 -3.98097085e+01] [-5.57166621e-02 4.10254804e-03 9.98438192e-01 -2.04801458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.730714057 meters 0.04302025643767883 Centerline is valid? [True, True] Translation: X:291.99, Y:-39.81, Z:-20.48 [[ 9.94843099e-01 8.53372244e-02 5.48157439e-02 2.91991701e+02] [-8.49795598e-02 9.96343593e-01 -8.82717574e-03 -3.98117256e+01] [-5.53686019e-02 4.12343709e-03 9.98457468e-01 -2.04812073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.76071405700003 meters 0.044695714394396825 Centerline is valid? [True, True] Translation: X:292.02, Y:-39.82, Z:-20.48 [[ 9.94943765e-01 8.41872314e-02 5.47669190e-02 2.92019767e+02] [-8.38286953e-02 9.96441188e-01 -8.81530687e-03 -3.98181019e+01] [-5.53141501e-02 4.17969524e-03 9.98460252e-01 -2.04830140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.790714057 meters 0.046192467743467275 Centerline is valid? [True, True] Translation: X:292.05, Y:-39.82, Z:-20.48 [[ 9.95117551e-01 8.21448571e-02 5.47108937e-02 2.92048432e+02] [-8.17842052e-02 9.96611189e-01 -8.80237282e-03 -3.98247751e+01] [-5.52485584e-02 4.28490873e-03 9.98463438e-01 -2.04847050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.82071405700003 meters 0.04545947509012692 Centerline is valid? [True, True] Translation: X:292.08, Y:-39.83, Z:-20.49 [[ 9.95188677e-01 8.12024641e-02 5.48238677e-02 2.92076855e+02] [-8.08390469e-02 9.96688163e-01 -8.81788557e-03 -3.98289421e+01] [-5.53583340e-02 4.34355067e-03 9.98457104e-01 -2.04863392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.850714057 meters 0.0468470372635427 Centerline is valid? [True, True] Translation: X:292.11, Y:-39.84, Z:-20.49 [[ 9.95427347e-01 7.88009653e-02 5.39889377e-02 2.92106193e+02] [-7.84453002e-02 9.96880641e-01 -8.67881147e-03 -3.98359144e+01] [-5.45044256e-02 4.40394785e-03 9.98503817e-01 -2.04890116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.88071405700003 meters 0.04603168032627008 Centerline is valid? [True, True] Translation: X:292.14, Y:-39.84, Z:-20.49 [[ 9.95543910e-01 7.75687848e-02 5.36228118e-02 2.92135213e+02] [-7.72161167e-02 9.96977108e-01 -8.62073299e-03 -3.98398328e+01] [-5.41294156e-02 4.44177293e-03 9.98524049e-01 -2.04912238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.910714057 meters 0.04828183968141427 Centerline is valid? [True, True] Translation: X:292.16, Y:-39.85, Z:-20.49 [[ 9.95794441e-01 7.47616088e-02 5.29540674e-02 2.92163982e+02] [-7.44139447e-02 9.97191130e-01 -8.50965290e-03 -3.98470636e+01] [-5.34415217e-02 4.53334401e-03 9.98560690e-01 -2.04931509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.94071405700004 meters 0.0484629382944994 Centerline is valid? [True, True] Translation: X:292.19, Y:-39.85, Z:-20.49 [[ 9.95835468e-01 7.40598269e-02 5.31682498e-02 2.92192856e+02] [-7.37083440e-02 9.97243239e-01 -8.54416711e-03 -3.98518729e+01] [-5.36544572e-02 4.58964100e-03 9.98549015e-01 -2.04946802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.970714057 meters 0.05079485855827921 Centerline is valid? [True, True] Translation: X:292.22, Y:-39.86, Z:-20.50 [[ 9.95939424e-01 7.27536240e-02 5.30242766e-02 2.92220954e+02] [-7.24022959e-02 9.97339124e-01 -8.51939480e-03 -3.98587727e+01] [-5.35030024e-02 4.64572179e-03 9.98556882e-01 -2.04970645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.000714057 meters 0.05112678902451895 Centerline is valid? [True, True] Translation: X:292.25, Y:-39.86, Z:-20.50 [[ 9.96017192e-01 7.19941367e-02 5.25984611e-02 2.92250223e+02] [-7.16475482e-02 9.97394236e-01 -8.44791398e-03 -3.98645992e+01] [-5.30696022e-02 4.64571678e-03 9.98580009e-01 -2.04986726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.030714057 meters 0.04802558260143714 Centerline is valid? [True, True] Translation: X:292.28, Y:-39.86, Z:-20.50 [[ 9.96087255e-01 7.10308773e-02 5.25813192e-02 2.92280154e+02] [-7.06832818e-02 9.97463074e-01 -8.44332215e-03 -3.98645345e+01] [-5.30476608e-02 4.69366538e-03 9.98580951e-01 -2.05000881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.060714057 meters 0.04920148765790033 Centerline is valid? [True, True] Translation: X:292.31, Y:-39.87, Z:-20.50 [[ 9.96057948e-01 7.06115467e-02 5.36896114e-02 2.92308093e+02] [-7.02486167e-02 9.97492273e-01 -8.61953145e-03 -3.98704550e+01] [-5.41636110e-02 4.81393187e-03 9.98520470e-01 -2.05014216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.090714057 meters 0.04851386672140988 Centerline is valid? [True, True] Translation: X:292.34, Y:-39.87, Z:-20.50 [[ 9.95992031e-01 7.08182534e-02 5.46319451e-02 2.92337790e+02] [-7.04429432e-02 9.97477279e-01 -8.76755642e-03 -3.98742521e+01] [-5.51150269e-02 4.88398132e-03 9.98468067e-01 -2.05020145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.120714057 meters 0.049929512044697415 Centerline is valid? [True, True] Translation: X:292.37, Y:-39.88, Z:-20.50 [[ 9.95996083e-01 7.08774254e-02 5.44811339e-02 2.92365334e+02] [-7.05043700e-02 9.97473166e-01 -8.74162472e-03 -3.98807934e+01] [-5.49630530e-02 4.86546596e-03 9.98476535e-01 -2.05046635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.150714057 meters 0.04944012682491897 Centerline is valid? [True, True] Translation: X:292.39, Y:-39.88, Z:-20.51 [[ 9.96029155e-01 7.07062817e-02 5.40975441e-02 2.92394583e+02] [-7.03383887e-02 9.97485449e-01 -8.67694380e-03 -3.98847808e+01] [-5.45750275e-02 4.83735492e-03 9.98497955e-01 -2.05072147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.180714057 meters 0.0503732444087683 Centerline is valid? [True, True] Translation: X:292.42, Y:-39.89, Z:-20.51 [[ 9.96141635e-01 7.04969490e-02 5.22687604e-02 2.92423339e+02] [-7.01533475e-02 9.97501004e-01 -8.38181622e-03 -3.98896798e+01] [-5.27290335e-02 4.68264760e-03 9.98597878e-01 -2.05096332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.210714057 meters 0.05336119308637624 Centerline is valid? [True, True] Translation: X:292.45, Y:-39.90, Z:-20.51 [[ 9.96206261e-01 7.07939211e-02 5.06093429e-02 2.92451332e+02] [-7.04722675e-02 9.97480736e-01 -8.11428069e-03 -3.98965546e+01] [-5.10562863e-02 4.51694208e-03 9.98685563e-01 -2.05132906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.240714057 meters 0.04850719270843797 Centerline is valid? [True, True] Translation: X:292.48, Y:-39.89, Z:-20.51 [[ 9.96217287e-01 7.13891813e-02 4.95449454e-02 2.92480764e+02] [-7.10817704e-02 9.97438878e-01 -7.94140360e-03 -3.98944665e+01] [-4.99849851e-02 4.38962112e-03 9.98740323e-01 -2.05145322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.270714057 meters 0.04869343234192636 Centerline is valid? [True, True] Translation: X:292.51, Y:-39.90, Z:-20.52 [[ 9.96278608e-01 7.15345580e-02 4.80805795e-02 2.92509130e+02] [-7.12453982e-02 9.97429071e-01 -7.70335152e-03 -3.98977828e+01] [-4.85080236e-02 4.24916430e-03 9.98813755e-01 -2.05177717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.300714057 meters 0.05076955138865603 Centerline is valid? [True, True] Translation: X:292.54, Y:-39.91, Z:-20.52 [[ 9.96256087e-01 7.19004650e-02 4.80013796e-02 2.92536260e+02] [-7.16128473e-02 9.97402881e-01 -7.68719408e-03 -3.99050372e+01] [-4.84294272e-02 4.22089842e-03 9.98817688e-01 -2.05203645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.330714057 meters 0.0538136993940598 Centerline is valid? [True, True] Translation: X:292.56, Y:-39.91, Z:-20.52 [[ 9.96206920e-01 7.21728380e-02 4.86091924e-02 2.92562972e+02] [-7.18783618e-02 9.97383052e-01 -7.78132626e-03 -3.99136869e+01] [-4.90435851e-02 4.25786195e-03 9.98787564e-01 -2.05231325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.360714057 meters 0.05437235081816145 Centerline is valid? [True, True] Translation: X:292.59, Y:-39.92, Z:-20.52 [[ 9.96077931e-01 7.33403841e-02 4.94968966e-02 2.92592234e+02] [-7.30367510e-02 9.97297819e-01 -7.91785611e-03 -3.99173906e+01] [-4.99438457e-02 4.27170922e-03 9.98742892e-01 -2.05244724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.390714057 meters 0.0462655187299035 Centerline is valid? [True, True] Translation: X:292.62, Y:-39.91, Z:-20.52 [[ 9.95832984e-01 7.55487216e-02 5.10789373e-02 2.92624231e+02] [-7.52283356e-02 9.97132874e-01 -8.16884500e-03 -3.99105612e+01] [-5.15496333e-02 4.29222186e-03 9.98661210e-01 -2.05220238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.420714057 meters 0.04878035253697143 Centerline is valid? [True, True] Translation: X:292.65, Y:-39.92, Z:-20.52 [[ 9.95775574e-01 7.59334494e-02 5.16247780e-02 2.92651331e+02] [-7.56066734e-02 9.97103537e-01 -8.25635469e-03 -3.99178843e+01] [-5.21021822e-02 4.31829860e-03 9.98632422e-01 -2.05241086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.450714057 meters 0.04604275660816634 Centerline is valid? [True, True] Translation: X:292.68, Y:-39.92, Z:-20.52 [[ 9.95718526e-01 7.63492139e-02 5.21096333e-02 2.92680264e+02] [-7.60170921e-02 9.97071728e-01 -8.32889709e-03 -3.99180969e+01] [-5.25929469e-02 4.33201434e-03 9.98606637e-01 -2.05247772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.480714057 meters 0.04782704577962328 Centerline is valid? [True, True] Translation: X:292.71, Y:-39.92, Z:-20.53 [[ 9.95687782e-01 7.66549435e-02 5.22480614e-02 2.92707649e+02] [-7.63216561e-02 9.97048306e-01 -8.34750692e-03 -3.99244983e+01] [-5.27337188e-02 4.32385208e-03 9.98599249e-01 -2.05269774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.51071405700003 meters 0.045940008032642816 Centerline is valid? [True, True] Translation: X:292.74, Y:-39.93, Z:-20.53 [[ 9.95706317e-01 7.64759683e-02 5.21570289e-02 2.92736782e+02] [-7.61438593e-02 9.97062063e-01 -8.32802380e-03 -3.99269968e+01] [-5.26406885e-02 4.32082843e-03 9.98604170e-01 -2.05286826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.540714057 meters 0.049983058496511086 Centerline is valid? [True, True] Translation: X:292.76, Y:-39.94, Z:-20.53 [[ 9.95748735e-01 7.58625814e-02 5.22429407e-02 2.92763285e+02] [-7.55287130e-02 9.97108762e-01 -8.33843234e-03 -3.99379495e+01] [-5.27244690e-02 4.35714138e-03 9.98599592e-01 -2.05326186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.57071405700003 meters 0.04602699048533282 Centerline is valid? [True, True] Translation: X:292.79, Y:-39.94, Z:-20.53 [[ 9.95820087e-01 7.53289001e-02 5.16518190e-02 2.92792247e+02] [-7.50021354e-02 9.97149341e-01 -8.23843444e-03 -3.99366038e+01] [-5.21251695e-02 4.33000178e-03 9.98631172e-01 -2.05345506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.600714057 meters 0.0472145989994291 Centerline is valid? [True, True] Translation: X:292.82, Y:-39.94, Z:-20.54 [[ 9.95872369e-01 7.50718685e-02 5.10141118e-02 2.92819815e+02] [-7.47529683e-02 9.97168913e-01 -8.13339525e-03 -3.99419170e+01] [-5.14802756e-02 4.28636731e-03 9.98664813e-01 -2.05371786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.63071405700003 meters 0.05119066396741287 Centerline is valid? [True, True] Translation: X:292.85, Y:-39.95, Z:-20.54 [[ 9.95913775e-01 7.47353691e-02 5.06988945e-02 2.92846543e+02] [-7.44202010e-02 9.97194249e-01 -8.07861852e-03 -3.99515396e+01] [-5.11604045e-02 4.27258555e-03 9.98681310e-01 -2.05406687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.660714057 meters 0.048478767626589696 Centerline is valid? [True, True] Translation: X:292.87, Y:-39.95, Z:-20.54 [[ 9.95960014e-01 7.43943764e-02 5.02904313e-02 2.92874959e+02] [-7.40840657e-02 9.97219838e-01 -8.00909486e-03 -3.99524271e+01] [-5.07464474e-02 4.25101861e-03 9.98702522e-01 -2.05423462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.69071405700004 meters 0.04800580941695937 Centerline is valid? [True, True] Translation: X:292.90, Y:-39.96, Z:-20.54 [[ 9.95953262e-01 7.45088736e-02 5.02546277e-02 2.92903099e+02] [-7.41993932e-02 9.97211348e-01 -7.99859808e-03 -3.99564961e+01] [-5.07104516e-02 4.23736696e-03 9.98704408e-01 -2.05437813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.720714057 meters 0.04492581780775659 Centerline is valid? [True, True] Translation: X:292.93, Y:-39.96, Z:-20.54 [[ 9.95818256e-01 7.54552571e-02 5.15024761e-02 2.92932944e+02] [-7.51316665e-02 9.97139963e-01 -8.19314397e-03 -3.99565185e+01] [-5.19733929e-02 4.28941549e-03 9.98639258e-01 -2.05444466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.750714057 meters 0.05069845016351315 Centerline is valid? [True, True] Translation: X:292.96, Y:-39.97, Z:-20.55 [[ 9.95850268e-01 7.51534266e-02 5.13245230e-02 2.92958970e+02] [-7.48317868e-02 9.97162763e-01 -8.16263942e-03 -3.99678667e+01] [-5.17923535e-02 4.28806088e-03 9.98648669e-01 -2.05476939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.780714057 meters 0.045724019164326904 Centerline is valid? [True, True] Translation: X:292.99, Y:-39.96, Z:-20.55 [[ 9.95769247e-01 7.54467463e-02 5.24537346e-02 2.92988664e+02] [-7.51114561e-02 9.97140292e-01 -8.33710870e-03 -3.99643721e+01] [-5.29327399e-02 4.36196008e-03 9.98588553e-01 -2.05473662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.810714057 meters 0.045906596913171616 Centerline is valid? [True, True] Translation: X:293.02, Y:-39.97, Z:-20.55 [[ 9.95768054e-01 7.54811408e-02 5.24268925e-02 2.93017405e+02] [-7.51464414e-02 9.97137723e-01 -8.32906737e-03 -3.99682238e+01] [-5.29055197e-02 4.35412480e-03 9.98590030e-01 -2.05494239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.840714057 meters 0.04786867014357944 Centerline is valid? [True, True] Translation: X:293.04, Y:-39.97, Z:-20.55 [[ 9.95698402e-01 7.57513917e-02 5.33518317e-02 2.93044826e+02] [-7.54053464e-02 9.97116971e-01 -8.47234818e-03 -3.99748114e+01] [-5.38398090e-02 4.41289019e-03 9.98539835e-01 -2.05511327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.870714057 meters 0.04303597626633689 Centerline is valid? [True, True] Translation: X:293.07, Y:-39.97, Z:-20.55 [[ 9.95627587e-01 7.62072893e-02 5.40199724e-02 2.93074525e+02] [-7.58534586e-02 9.97082119e-01 -8.57330166e-03 -3.99719098e+01] [-5.45156966e-02 4.43821391e-03 9.98503050e-01 -2.05503575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.900714057 meters 0.04637463522124182 Centerline is valid? [True, True] Translation: X:293.10, Y:-39.98, Z:-20.55 [[ 9.95534061e-01 7.67136637e-02 5.50176913e-02 2.93101209e+02] [-7.63476102e-02 9.97043063e-01 -8.72773290e-03 -3.99804848e+01] [-5.55245438e-02 4.48828613e-03 9.98447235e-01 -2.05510069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.930714057 meters 0.04364061556897426 Centerline is valid? [True, True] Translation: X:293.13, Y:-39.98, Z:-20.55 [[ 9.95529423e-01 7.66433782e-02 5.51992781e-02 2.93130578e+02] [-7.62750888e-02 9.97048407e-01 -8.75125489e-03 -3.99810011e+01] [-5.57070781e-02 4.50180190e-03 9.98437006e-01 -2.05523919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.960714057 meters 0.04623915539276456 Centerline is valid? [True, True] Translation: X:293.16, Y:-39.99, Z:-20.56 [[ 9.95591832e-01 7.66050160e-02 5.41163179e-02 2.93157475e+02] [-7.62511950e-02 9.97051758e-01 -8.57595122e-03 -3.99893752e+01] [-5.46137308e-02 4.41171308e-03 9.98497810e-01 -2.05553473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.990714057 meters 0.04623915539276456 Centerline is valid? [True, True] Translation: X:293.19, Y:-39.99, Z:-20.56 [[ 9.95597095e-01 7.65360288e-02 5.41171100e-02 2.93185469e+02] [-7.61823768e-02 9.97057062e-01 -8.57094959e-03 -3.99937456e+01] [-5.46138331e-02 4.41044245e-03 9.98497810e-01 -2.05573007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.020714057 meters 0.04610139389410292 Centerline is valid? [True, True] Translation: X:293.21, Y:-40.00, Z:-20.56 [[ 9.95605262e-01 7.64716435e-02 5.40578336e-02 2.93213733e+02] [-7.61188814e-02 9.97062025e-01 -8.55774025e-03 -3.99980039e+01] [-5.45534375e-02 4.40530940e-03 9.98501135e-01 -2.05595358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.050714057 meters 0.0438782078858639 Centerline is valid? [True, True] Translation: X:293.24, Y:-40.00, Z:-20.56 [[ 9.95686204e-01 7.59932014e-02 5.32354830e-02 2.93242924e+02] [-7.56506226e-02 9.97098802e-01 -8.42387075e-03 -3.99984473e+01] [-5.37211933e-02 4.36023445e-03 9.98546454e-01 -2.05617617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.080714057 meters 0.0445966744997341 Centerline is valid? [True, True] Translation: X:293.27, Y:-40.00, Z:-20.56 [[ 9.95677963e-01 7.60745993e-02 5.32733425e-02 2.93270576e+02] [-7.57318430e-02 9.97092617e-01 -8.42624297e-03 -4.00036077e+01] [-5.37594796e-02 4.35533602e-03 9.98544415e-01 -2.05635515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.110714057 meters 0.04713580425422058 Centerline is valid? [True, True] Translation: X:293.30, Y:-40.01, Z:-20.57 [[ 9.95648948e-01 7.63217746e-02 5.34617605e-02 2.93298071e+02] [-7.59772149e-02 9.97073741e-01 -8.45095996e-03 -4.00102901e+01] [-5.39503098e-02 4.35231372e-03 9.98534136e-01 -2.05651506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.140714057 meters 0.047945891594501515 Centerline is valid? [True, True] Translation: X:293.33, Y:-40.02, Z:-20.57 [[ 9.95711833e-01 7.56868314e-02 5.31925722e-02 2.93326093e+02] [-7.53450408e-02 9.97122102e-01 -8.40462759e-03 -4.00156971e+01] [-5.36756091e-02 4.36079061e-03 9.98548903e-01 -2.05678514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.170714057 meters 0.050437832919389566 Centerline is valid? [True, True] Translation: X:293.35, Y:-40.02, Z:-20.57 [[ 9.95712974e-01 7.55281356e-02 5.33963928e-02 2.93352469e+02] [-7.51836805e-02 9.97134040e-01 -8.43331977e-03 -4.00240616e+01] [-5.38803138e-02 4.38262858e-03 9.98537783e-01 -2.05707335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.200714057 meters 0.04578033697884926 Centerline is valid? [True, True] Translation: X:293.38, Y:-40.02, Z:-20.57 [[ 9.95767647e-01 7.42671038e-02 5.41404771e-02 2.93382431e+02] [-7.39114066e-02 9.97228197e-01 -8.54559446e-03 -4.00221010e+01] [-5.46250669e-02 4.50782766e-03 9.98496761e-01 -2.05710078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.230714057 meters 0.04977709221602878 Centerline is valid? [True, True] Translation: X:293.41, Y:-40.03, Z:-20.57 [[ 9.95792213e-01 7.37595027e-02 5.43820180e-02 2.93408975e+02] [-7.33999975e-02 9.97265662e-01 -8.58139093e-03 -4.00320689e+01] [-5.48662783e-02 4.55364228e-03 9.98483328e-01 -2.05727929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.26071405700003 meters 0.04765488053522408 Centerline is valid? [True, True] Translation: X:293.44, Y:-40.03, Z:-20.57 [[ 9.95847950e-01 7.29308010e-02 5.44789834e-02 2.93438024e+02] [-7.25691017e-02 9.97326387e-01 -8.59085608e-03 -4.00327789e+01] [-5.49598657e-02 4.60169552e-03 9.98477960e-01 -2.05736105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.290714057 meters 0.048941847587808965 Centerline is valid? [True, True] Translation: X:293.47, Y:-40.04, Z:-20.58 [[ 9.95904691e-01 7.20024122e-02 5.46763202e-02 2.93466255e+02] [-7.16369293e-02 9.97393546e-01 -8.61775787e-03 -4.00394663e+01] [-5.51543082e-02 4.66562180e-03 9.98466942e-01 -2.05751042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.32071405700003 meters 0.05026353210998181 Centerline is valid? [True, True] Translation: X:293.49, Y:-40.05, Z:-20.58 [[ 9.95963821e-01 7.13216963e-02 5.44911305e-02 2.93494761e+02] [-7.09578133e-02 9.97442363e-01 -8.58610300e-03 -4.00456849e+01] [-5.49641374e-02 4.68487649e-03 9.98477339e-01 -2.05772863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.350714057 meters 0.05185640284576401 Centerline is valid? [True, True] Translation: X:293.52, Y:-40.05, Z:-20.58 [[ 9.95954474e-01 7.11018748e-02 5.49473370e-02 2.93522911e+02] [-7.07316956e-02 9.97457827e-01 -8.65506717e-03 -4.00529984e+01] [-5.54230429e-02 4.73353455e-03 9.98451741e-01 -2.05788617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.38071405700003 meters 0.051765962084252694 Centerline is valid? [True, True] Translation: X:293.55, Y:-40.06, Z:-20.58 [[ 9.95878142e-01 7.14421644e-02 5.58815054e-02 2.93551259e+02] [-7.10599621e-02 9.97433232e-01 -8.79943925e-03 -4.00570179e+01] [-5.63667215e-02 4.79223156e-03 9.98398631e-01 -2.05799360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.410714057 meters 0.04858643555278658 Centerline is valid? [True, True] Translation: X:293.58, Y:-40.06, Z:-20.58 [[ 9.95894873e-01 7.13076561e-02 5.57550043e-02 2.93580519e+02] [-7.09271902e-02 9.97442891e-01 -8.77570668e-03 -4.00562380e+01] [-5.62382078e-02 4.78513549e-03 9.98405913e-01 -2.05815381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.44071405700004 meters 0.04969119231484161 Centerline is valid? [True, True] Translation: X:293.61, Y:-40.06, Z:-20.58 [[ 9.95902218e-01 7.18112443e-02 5.49719724e-02 2.93608944e+02] [-7.14423906e-02 9.97407234e-01 -8.64839425e-03 -4.00615840e+01] [-5.54504949e-02 4.68562589e-03 9.98450443e-01 -2.05836808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.470714057 meters 0.04516361317643527 Centerline is valid? [True, True] Translation: X:293.64, Y:-40.06, Z:-20.58 [[ 9.95852831e-01 7.27417219e-02 5.46423033e-02 2.93638689e+02] [-7.23788179e-02 9.97340188e-01 -8.59392674e-03 -4.00593318e+01] [-5.51221021e-02 4.60334095e-03 9.98469010e-01 -2.05848462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.500714057 meters 0.05260445290013352 Centerline is valid? [True, True] Translation: X:293.66, Y:-40.07, Z:-20.59 [[ 9.95832179e-01 7.31636900e-02 5.44549874e-02 2.93664582e+02] [-7.28041024e-02 9.97309519e-01 -8.56076962e-03 -4.00739318e+01] [-5.49348148e-02 4.56054339e-03 9.98479528e-01 -2.05885003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.530714057 meters 0.04628692748124108 Centerline is valid? [True, True] Translation: X:293.69, Y:-40.07, Z:-20.59 [[ 9.95816095e-01 7.37073424e-02 5.40141869e-02 2.93694251e+02] [-7.33546360e-02 9.97269813e-01 -8.48629692e-03 -4.00686972e+01] [-5.44922205e-02 4.48860004e-03 9.98504106e-01 -2.05897530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.560714057 meters 0.046693337685278585 Centerline is valid? [True, True] Translation: X:293.72, Y:-40.07, Z:-20.59 [[ 9.95816117e-01 7.41274288e-02 5.34357981e-02 2.93722492e+02] [-7.37830494e-02 9.97239009e-01 -8.39163779e-03 -4.00736987e+01] [-5.39103129e-02 4.41387203e-03 9.98536026e-01 -2.05908847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.590714057 meters 0.04826527889642437 Centerline is valid? [True, True] Translation: X:293.75, Y:-40.08, Z:-20.59 [[ 9.95868924e-01 7.33757145e-02 5.34891732e-02 2.93749397e+02] [-7.30297633e-02 9.97294417e-01 -8.39644025e-03 -4.00798503e+01] [-5.39605486e-02 4.45545225e-03 9.98533128e-01 -2.05931253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.620714057 meters 0.04918905992669961 Centerline is valid? [True, True] Translation: X:293.78, Y:-40.09, Z:-20.59 [[ 9.95972578e-01 7.19749592e-02 5.34624138e-02 2.93777841e+02] [-7.16276352e-02 9.97396180e-01 -8.38699483e-03 -4.00859084e+01] [-5.39268609e-02 4.52383059e-03 9.98534641e-01 -2.05949903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.650714057 meters 0.05086223848677978 Centerline is valid? [True, True] Translation: X:293.80, Y:-40.09, Z:-20.60 [[ 9.95983524e-01 7.16023364e-02 5.37580345e-02 2.93804978e+02] [-7.12507465e-02 9.97422804e-01 -8.43099255e-03 -4.00930634e+01] [-5.42231683e-02 4.56682958e-03 9.98518398e-01 -2.05970010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.680714057 meters 0.049960703150799 Centerline is valid? [True, True] Translation: X:293.83, Y:-40.10, Z:-20.60 [[ 9.96053929e-01 7.06034964e-02 5.37746840e-02 2.93834700e+02] [-7.02505395e-02 9.97493773e-01 -8.42816880e-03 -4.00960131e+01] [-5.42349706e-02 4.61721008e-03 9.98517526e-01 -2.05986994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.710714057 meters 0.05329645964137141 Centerline is valid? [True, True] Translation: X:293.86, Y:-40.11, Z:-20.60 [[ 9.96155359e-01 6.92988935e-02 5.35925711e-02 2.93861846e+02] [-6.89465424e-02 9.97585008e-01 -8.39798429e-03 -4.01057556e+01] [-5.40451165e-02 4.67067458e-03 9.98527571e-01 -2.06019231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.740714057 meters 0.05418371678438221 Centerline is valid? [True, True] Translation: X:293.89, Y:-40.11, Z:-20.60 [[ 9.96188441e-01 6.90480399e-02 5.33006412e-02 2.93890685e+02] [-6.86993303e-02 9.97602473e-01 -8.34917865e-03 -4.01124884e+01] [-5.37493459e-02 4.65563691e-03 9.98543606e-01 -2.06045650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.770714057 meters 0.055579910544305604 Centerline is valid? [True, True] Translation: X:293.92, Y:-40.12, Z:-20.61 [[ 9.96261861e-01 6.81490273e-02 5.30849828e-02 2.93918979e+02] [-6.78019551e-02 9.97664159e-01 -8.31384079e-03 -4.01181714e+01] [-5.35275649e-02 4.68349687e-03 9.98555389e-01 -2.06067922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.800714057 meters 0.05303922099536748 Centerline is valid? [True, True] Translation: X:293.95, Y:-40.12, Z:-20.61 [[ 9.96291700e-01 6.77868501e-02 5.29886024e-02 2.93948263e+02] [-6.74406740e-02 9.97688795e-01 -8.29606627e-03 -4.01192381e+01] [-5.34284990e-02 4.69171491e-03 9.98560656e-01 -2.06079732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.830714057 meters 0.05007024734830471 Centerline is valid? [True, True] Translation: X:293.98, Y:-40.12, Z:-20.61 [[ 9.96345951e-01 6.71637405e-02 5.27615184e-02 2.93978126e+02] [-6.68198216e-02 9.97730888e-01 -8.25752732e-03 -4.01201419e+01] [-5.31964030e-02 4.70183866e-03 9.98573000e-01 -2.06093670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.860714057 meters 0.052654030243762244 Centerline is valid? [True, True] Translation: X:294.01, Y:-40.13, Z:-20.61 [[ 9.96378714e-01 6.63672207e-02 5.31493190e-02 2.94006075e+02] [-6.60171870e-02 9.97783827e-01 -8.31656056e-03 -4.01284214e+01] [-5.35834780e-02 4.77767538e-03 9.98551944e-01 -2.06116255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.890714057 meters 0.04999661664619206 Centerline is valid? [True, True] Translation: X:294.04, Y:-40.13, Z:-20.61 [[ 9.96401348e-01 6.57117524e-02 5.35380236e-02 2.94035177e+02] [-6.53557897e-02 9.97826883e-01 -8.37453605e-03 -4.01305152e+01] [-5.39719846e-02 4.84537920e-03 9.98530694e-01 -2.06132163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.920714057 meters 0.05404056120130025 Centerline is valid? [True, True] Translation: X:294.06, Y:-40.14, Z:-20.62 [[ 9.96419659e-01 6.56044396e-02 5.33284289e-02 2.94063611e+02] [-6.52512929e-02 9.97834025e-01 -8.33834945e-03 -4.01409492e+01] [-5.37599536e-02 4.82874638e-03 9.98542213e-01 -2.06166797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.950714057 meters 0.050103743384045316 Centerline is valid? [True, True] Translation: X:294.09, Y:-40.14, Z:-20.62 [[ 9.96388464e-01 6.62604085e-02 5.30997798e-02 2.94094067e+02] [-6.59112474e-02 9.97790953e-01 -8.30190828e-03 -4.01397082e+01] [-5.35325677e-02 4.77205291e-03 9.98554701e-01 -2.06178911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.980714057 meters 0.050192353988249214 Centerline is valid? [True, True] Translation: X:294.12, Y:-40.14, Z:-20.62 [[ 9.96334054e-01 6.74992657e-02 5.25576007e-02 2.94124121e+02] [-6.71590290e-02 9.97708464e-01 -8.21500719e-03 -4.01431275e+01] [-5.29916700e-02 4.65517399e-03 9.98584104e-01 -2.06200004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.01071405700003 meters 0.0499851942857133 Centerline is valid? [True, True] Translation: X:294.15, Y:-40.15, Z:-20.62 [[ 9.96289937e-01 6.83704385e-02 5.22670504e-02 2.94153497e+02] [-6.80351805e-02 9.97649479e-01 -8.16894472e-03 -4.01471628e+01] [-5.27027099e-02 4.58263921e-03 9.98599732e-01 -2.06224354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.040714057 meters 0.05299661593857903 Centerline is valid? [True, True] Translation: X:294.18, Y:-40.15, Z:-20.63 [[ 9.96191706e-01 6.95112408e-02 5.26333798e-02 2.94181091e+02] [-6.91729263e-02 9.97570781e-01 -8.22457802e-03 -4.01542159e+01] [-5.30772224e-02 4.55245151e-03 9.98580034e-01 -2.06258477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.07071405700003 meters 0.049869638630970804 Centerline is valid? [True, True] Translation: X:294.21, Y:-40.15, Z:-20.63 [[ 9.96129633e-01 6.98976854e-02 5.32922877e-02 2.94210274e+02] [-6.95515250e-02 9.97543623e-01 -8.32494390e-03 -4.01536632e+01] [-5.37432761e-02 4.58616342e-03 9.98544254e-01 -2.06266194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.100714057 meters 0.0509274406624624 Centerline is valid? [True, True] Translation: X:294.24, Y:-40.16, Z:-20.63 [[ 9.96084289e-01 7.01802828e-02 5.37663259e-02 2.94237145e+02] [-6.98285339e-02 9.97523681e-01 -8.39537540e-03 -4.01595790e+01] [-5.42223731e-02 4.60807782e-03 9.98518252e-01 -2.06286425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.13071405700003 meters 0.05445291134314071 Centerline is valid? [True, True] Translation: X:294.27, Y:-40.17, Z:-20.63 [[ 9.96083082e-01 7.01758064e-02 5.37945098e-02 2.94265117e+02] [-6.98239664e-02 9.97524007e-01 -8.39453596e-03 -4.01684032e+01] [-5.42504083e-02 4.60550921e-03 9.98516741e-01 -2.06315220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.160714057 meters 0.051944897757193687 Centerline is valid? [True, True] Translation: X:294.29, Y:-40.17, Z:-20.63 [[ 9.96008352e-01 7.05203051e-02 5.47197371e-02 2.94294650e+02] [-7.01569064e-02 9.97499444e-01 -8.53623454e-03 -4.01671559e+01] [-5.51848852e-02 4.66319342e-03 9.98465264e-01 -2.06314610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.19071405700004 meters 0.047182845116093726 Centerline is valid? [True, True] Translation: X:294.32, Y:-40.16, Z:-20.63 [[ 9.95964619e-01 7.09002520e-02 5.50239163e-02 2.94324144e+02] [-7.05335822e-02 9.97472505e-01 -8.57990038e-03 -4.01641956e+01] [-5.54931608e-02 4.66424330e-03 9.98448173e-01 -2.06314106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.220714057 meters 0.05181397839535526 Centerline is valid? [True, True] Translation: X:294.35, Y:-40.17, Z:-20.63 [[ 9.95784880e-01 7.28014178e-02 5.57891327e-02 2.94351554e+02] [-7.24276819e-02 9.97335768e-01 -8.69465787e-03 -4.01742449e+01] [-5.62734809e-02 4.61733128e-03 9.98404715e-01 -2.06347319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.250714057 meters 0.052043433833300186 Centerline is valid? [True, True] Translation: X:294.38, Y:-40.18, Z:-20.64 [[ 9.95687279e-01 7.38705090e-02 5.61247684e-02 2.94380458e+02] [-7.34940483e-02 9.97257313e-01 -8.74509272e-03 -4.01789729e+01] [-5.66168402e-02 4.58254113e-03 9.98385464e-01 -2.06366240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.280714057 meters 0.04603147191404624 Centerline is valid? [True, True] Translation: X:294.41, Y:-40.17, Z:-20.64 [[ 9.95639089e-01 7.43826733e-02 5.63029591e-02 2.94410604e+02] [-7.40047787e-02 9.97219322e-01 -8.77020690e-03 -4.01736004e+01] [-5.67987502e-02 4.56527277e-03 9.98375210e-01 -2.06373682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.310714057 meters 0.04671781354452247 Centerline is valid? [True, True] Translation: X:294.44, Y:-40.18, Z:-20.64 [[ 9.95376586e-01 7.73490703e-02 5.69435934e-02 2.94439774e+02] [-7.69676045e-02 9.96994180e-01 -8.86528947e-03 -4.01782760e+01] [-5.74581531e-02 4.44148960e-03 9.98338036e-01 -2.06391505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.340714057 meters 0.04202849435061345 Centerline is valid? [True, True] Translation: X:294.47, Y:-40.18, Z:-20.64 [[ 9.95044720e-01 8.12948758e-02 5.72463852e-02 2.94470755e+02] [-8.09159083e-02 9.96681098e-01 -8.91093429e-03 -4.01754401e+01] [-5.77808033e-02 4.23463486e-03 9.98320313e-01 -2.06405903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.370714057 meters 0.04222886860163919 Centerline is valid? [True, True] Translation: X:294.50, Y:-40.18, Z:-20.64 [[ 9.94906619e-01 8.32562728e-02 5.68261610e-02 2.94500574e+02] [-8.28860169e-02 9.96519774e-01 -8.84584302e-03 -4.01792252e+01] [-5.73648650e-02 4.09069363e-03 9.98344900e-01 -2.06430298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.400714057 meters 0.040109715785030454 Centerline is valid? [True, True] Translation: X:294.53, Y:-40.18, Z:-20.65 [[ 9.94750423e-01 8.51871450e-02 5.66987361e-02 2.94530491e+02] [-8.48218296e-02 9.96357069e-01 -8.82318130e-03 -4.01801432e+01] [-5.72438082e-02 3.96757280e-03 9.98352345e-01 -2.06453989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.430714057 meters 0.04225303679740451 Centerline is valid? [True, True] Translation: X:294.56, Y:-40.19, Z:-20.65 [[ 9.94407016e-01 8.98286641e-02 5.55472644e-02 2.94559099e+02] [-8.94853880e-02 9.95950645e-01 -8.64162012e-03 -4.01857293e+01] [-5.60985990e-02 3.62261916e-03 9.98418662e-01 -2.06480355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.460714057 meters 0.037280142952035966 Centerline is valid? [True, True] Translation: X:294.59, Y:-40.18, Z:-20.65 [[ 9.94038163e-01 9.41363961e-02 5.50133555e-02 2.94590531e+02] [-9.38062676e-02 9.95553684e-01 -8.55839461e-03 -4.01800499e+01] [-5.55744052e-02 3.34677331e-03 9.98448939e-01 -2.06486936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.490714057 meters 0.036960218971640695 Centerline is valid? [True, True] Translation: X:294.62, Y:-40.18, Z:-20.65 [[ 9.93897383e-01 9.54928325e-02 5.52187608e-02 2.94619218e+02] [-9.51622773e-02 9.95424701e-01 -8.59102825e-03 -4.01829004e+01] [-5.57865001e-02 3.28385747e-03 9.98437320e-01 -2.06511809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.520714057 meters 0.03863938236095785 Centerline is valid? [True, True] Translation: X:294.65, Y:-40.19, Z:-20.65 [[ 9.93744727e-01 9.73116011e-02 5.47893216e-02 2.94646124e+02] [-9.69891294e-02 9.95248968e-01 -8.52054054e-03 -4.01900677e+01] [-5.53581632e-02 3.15327363e-03 9.98461582e-01 -2.06548218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.550714057 meters 0.03747469897291002 Centerline is valid? [True, True] Translation: X:294.68, Y:-40.19, Z:-20.66 [[ 9.93427383e-01 1.00551116e-01 5.46946825e-02 2.94675470e+02] [-1.00234957e-01 9.94927484e-01 -8.50023903e-03 -4.01930309e+01] [-5.52719514e-02 2.96205105e-03 9.98466944e-01 -2.06583296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.580714057 meters 0.035527814040854755 Centerline is valid? [True, True] Translation: X:294.71, Y:-40.19, Z:-20.66 [[ 9.93264743e-01 1.02182609e-01 5.46247686e-02 2.94705072e+02] [-1.01869760e-01 9.94761527e-01 -8.48859202e-03 -4.01939843e+01] [-5.52060047e-02 2.86680710e-03 9.98470870e-01 -2.06594923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.610714057 meters 0.03465676470895914 Centerline is valid? [True, True] Translation: X:294.74, Y:-40.19, Z:-20.66 [[ 9.93009577e-01 1.04738452e-01 5.44227535e-02 2.94735192e+02] [-1.04432151e-01 9.94496118e-01 -8.44974090e-03 -4.01937165e+01] [-5.50082299e-02 2.70718843e-03 9.98482231e-01 -2.06604393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.640714057 meters 0.03595395478279992 Centerline is valid? [True, True] Translation: X:294.76, Y:-40.20, Z:-20.66 [[ 9.92877566e-01 1.05935103e-01 5.45150796e-02 2.94762014e+02] [-1.05629626e-01 9.94369530e-01 -8.46284135e-03 -4.02001235e+01] [-5.51046461e-02 2.64415784e-03 9.98477084e-01 -2.06621472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.670714057 meters 0.03508894518328217 Centerline is valid? [True, True] Translation: X:294.79, Y:-40.20, Z:-20.66 [[ 9.92675210e-01 1.07487586e-01 5.51574742e-02 2.94791010e+02] [-1.07177503e-01 9.94203070e-01 -8.55799816e-03 -4.02032964e+01] [-5.57576087e-02 2.58367227e-03 9.98440992e-01 -2.06623516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.700714057 meters 0.035330685361171024 Centerline is valid? [True, True] Translation: X:294.82, Y:-40.21, Z:-20.66 [[ 9.92558302e-01 1.07618099e-01 5.69768462e-02 2.94818189e+02] [-1.07287799e-01 9.94188763e-01 -8.83357425e-03 -4.02104051e+01] [-5.75963927e-02 2.65491703e-03 9.98336420e-01 -2.06629800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.730714057 meters 0.03576857146341042 Centerline is valid? [True, True] Translation: X:294.85, Y:-40.22, Z:-20.66 [[ 9.92600353e-01 1.06887904e-01 5.76152341e-02 2.94846643e+02] [-1.06549392e-01 9.94267358e-01 -8.92455025e-03 -4.02164360e+01] [-5.82388731e-02 2.71964359e-03 9.98298972e-01 -2.06642482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.76071405700003 meters 0.03784341317636291 Centerline is valid? [True, True] Translation: X:294.87, Y:-40.22, Z:-20.67 [[ 9.92721050e-01 1.05751257e-01 5.76332315e-02 2.94872962e+02] [-1.05410804e-01 9.94388717e-01 -8.92424092e-03 -4.02245535e+01] [-5.82535849e-02 2.78411656e-03 9.98297936e-01 -2.06667062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.790714057 meters 0.037702331349430386 Centerline is valid? [True, True] Translation: X:294.90, Y:-40.23, Z:-20.67 [[ 9.93151424e-01 1.02245192e-01 5.65346696e-02 2.94902022e+02] [-1.01912498e-01 9.94754933e-01 -8.74447252e-03 -4.02312347e+01] [-5.71322217e-02 2.92299592e-03 9.98362342e-01 -2.06689209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.82071405700003 meters 0.0379357178885387 Centerline is valid? [True, True] Translation: X:294.93, Y:-40.24, Z:-20.67 [[ 9.93415386e-01 9.99999431e-02 5.59095814e-02 2.94931046e+02] [-9.96710722e-02 9.94982867e-01 -8.64705755e-03 -4.02377837e+01] [-5.64937809e-02 3.01755209e-03 9.98398391e-01 -2.06716878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.850714057 meters 0.03990905370316673 Centerline is valid? [True, True] Translation: X:294.96, Y:-40.25, Z:-20.68 [[ 9.93865433e-01 9.61022162e-02 5.47344966e-02 2.94958464e+02] [-9.57812546e-02 9.95366426e-01 -8.46342587e-03 -4.02493690e+01] [-5.52942342e-02 3.16896766e-03 9.98465075e-01 -2.06755937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.88071405700003 meters 0.042070416759095584 Centerline is valid? [True, True] Translation: X:294.99, Y:-40.26, Z:-20.68 [[ 9.94204038e-01 9.24854705e-02 5.48157611e-02 2.94985869e+02] [-9.21581674e-02 9.95708319e-01 -8.47438940e-03 -4.02602911e+01] [-5.53642672e-02 3.37355208e-03 9.98460524e-01 -2.06775131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.910714057 meters 0.042070416759095584 Centerline is valid? [True, True] Translation: X:295.01, Y:-40.26, Z:-20.68 [[ 9.94213180e-01 9.23870625e-02 5.48159082e-02 2.95013009e+02] [-9.20596629e-02 9.95717440e-01 -8.47343781e-03 -4.02643849e+01] [-5.53639918e-02 3.37806952e-03 9.98460524e-01 -2.06794042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.94071405700004 meters 0.043331096127959184 Centerline is valid? [True, True] Translation: X:295.04, Y:-40.27, Z:-20.68 [[ 9.94382010e-01 9.04367660e-02 5.50055391e-02 2.95041267e+02] [-9.01044725e-02 9.95896076e-01 -8.49648773e-03 -4.02714003e+01] [-5.55481954e-02 3.49250946e-03 9.98449899e-01 -2.06805098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.970714057 meters 0.046530494230687426 Centerline is valid? [True, True] Translation: X:295.07, Y:-40.28, Z:-20.68 [[ 9.94680769e-01 8.66214268e-02 5.57395411e-02 2.95069002e+02] [-8.62744131e-02 9.96234235e-01 -8.60666104e-03 -4.02830403e+01] [-5.62751603e-02 3.75198403e-03 9.98408248e-01 -2.06816869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.000714057 meters 0.04461888084362135 Centerline is valid? [True, True] Translation: X:295.10, Y:-40.29, Z:-20.68 [[ 9.94858218e-01 8.45608319e-02 5.57368169e-02 2.95097791e+02] [-8.42106733e-02 9.96410812e-01 -8.60556503e-03 -4.02861140e+01] [-5.62644608e-02 3.86768220e-03 9.98408409e-01 -2.06834001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.030714057 meters 0.045169883767440515 Centerline is valid? [True, True] Translation: X:295.13, Y:-40.29, Z:-20.69 [[ 9.95019981e-01 8.29905281e-02 5.52069795e-02 2.95126782e+02] [-8.26448458e-02 9.96542648e-01 -8.51935340e-03 -4.02932403e+01] [-5.57231352e-02 3.91435455e-03 9.98438586e-01 -2.06860325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.060714057 meters 0.044426439555179234 Centerline is valid? [True, True] Translation: X:295.16, Y:-40.30, Z:-20.69 [[ 9.95323949e-01 7.98840866e-02 5.43025797e-02 2.95156322e+02] [-7.95451697e-02 9.96796058e-01 -8.37769026e-03 -4.02987596e+01] [-5.47978415e-02 4.01900783e-03 9.98489381e-01 -2.06878615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.090714057 meters 0.04622007877985361 Centerline is valid? [True, True] Translation: X:295.18, Y:-40.31, Z:-20.69 [[ 9.95465307e-01 7.83267405e-02 5.39791035e-02 2.95184126e+02] [-7.79895923e-02 9.96919393e-01 -8.32754041e-03 -4.03060995e+01] [-5.44650842e-02 4.07996929e-03 9.98507340e-01 -2.06908307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.120714057 meters 0.04582191804070344 Centerline is valid? [True, True] Translation: X:295.21, Y:-40.31, Z:-20.69 [[ 9.95544059e-01 7.73376635e-02 5.39528641e-02 2.95212176e+02] [-7.69995413e-02 9.96996406e-01 -8.32090437e-03 -4.03123686e+01] [-5.44343309e-02 4.12948113e-03 9.98508814e-01 -2.06932097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.150714057 meters 0.04566469172214736 Centerline is valid? [True, True] Translation: X:295.24, Y:-40.32, Z:-20.69 [[ 9.95509199e-01 7.71017219e-02 5.49250364e-02 2.95240864e+02] [-7.67511517e-02 9.97014329e-01 -8.46688698e-03 -4.03172885e+01] [-5.54138599e-02 4.21330408e-03 9.98454582e-01 -2.06946137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.180714057 meters 0.04364632414077899 Centerline is valid? [True, True] Translation: X:295.27, Y:-40.32, Z:-20.70 [[ 9.95439695e-01 7.75219955e-02 5.55891595e-02 2.95269850e+02] [-7.71637566e-02 9.96981640e-01 -8.56533598e-03 -4.03191086e+01] [-5.60853733e-02 4.23680705e-03 9.98416987e-01 -2.06952585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.210714057 meters 0.0479079869593074 Centerline is valid? [True, True] Translation: X:295.30, Y:-40.33, Z:-20.70 [[ 9.95353063e-01 7.79052717e-02 5.65954853e-02 2.95296550e+02] [-7.75347679e-02 9.96951545e-01 -8.71646079e-03 -4.03299195e+01] [-5.71020148e-02 4.28783813e-03 9.98359141e-01 -2.06979098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.240714057 meters 0.04403665282684798 Centerline is valid? [True, True] Translation: X:295.33, Y:-40.33, Z:-20.70 [[ 9.95264005e-01 7.83542876e-02 5.75340385e-02 2.95325671e+02] [-7.79724343e-02 9.96916184e-01 -8.85563068e-03 -4.03293775e+01] [-5.80504907e-02 4.32762142e-03 9.98304268e-01 -2.06981782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.270714057 meters 0.04326545507498533 Centerline is valid? [True, True] Translation: X:295.35, Y:-40.33, Z:-20.70 [[ 9.95242238e-01 7.87607154e-02 5.73553636e-02 2.95353871e+02] [-7.83821378e-02 9.96884334e-01 -8.82409449e-03 -4.03335549e+01] [-5.78716555e-02 4.28647553e-03 9.98314829e-01 -2.07003176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.300714057 meters 0.04515750392019214 Centerline is valid? [True, True] Translation: X:295.38, Y:-40.34, Z:-20.70 [[ 9.95255658e-01 7.89330432e-02 5.68836444e-02 2.95380824e+02] [-7.85611740e-02 9.96870914e-01 -8.74771582e-03 -4.03410771e+01] [-5.73961344e-02 4.23736778e-03 9.98342491e-01 -2.07030165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.330714057 meters 0.04508574159938566 Centerline is valid? [True, True] Translation: X:295.41, Y:-40.35, Z:-20.71 [[ 9.95344501e-01 7.85987344e-02 5.57813957e-02 2.95409169e+02] [-7.82409174e-02 9.96897617e-01 -8.57318429e-03 -4.03454443e+01] [-5.62821819e-02 4.16888426e-03 9.98406198e-01 -2.07061624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.360714057 meters 0.046128484299218564 Centerline is valid? [True, True] Translation: X:295.44, Y:-40.35, Z:-20.71 [[ 9.95435617e-01 7.77752002e-02 5.53077739e-02 2.95436953e+02] [-7.74223794e-02 9.96962176e-01 -8.49679424e-03 -4.03503374e+01] [-5.58005985e-02 4.17595216e-03 9.98433200e-01 -2.07086490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.390714057 meters 0.04473221104215612 Centerline is valid? [True, True] Translation: X:295.47, Y:-40.35, Z:-20.71 [[ 9.95433618e-01 7.75790475e-02 5.56183688e-02 2.95465494e+02] [-7.72222295e-02 9.96977335e-01 -8.53942085e-03 -4.03528860e+01] [-5.61127332e-02 4.20545216e-03 9.98415582e-01 -2.07095332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.420714057 meters 0.0474452956929212 Centerline is valid? [True, True] Translation: X:295.49, Y:-40.36, Z:-20.71 [[ 9.95417686e-01 7.78323349e-02 5.55496065e-02 2.95492098e+02] [-7.74769994e-02 9.96957690e-01 -8.52516316e-03 -4.03597931e+01] [-5.60441407e-02 4.18228135e-03 9.98419532e-01 -2.07126257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.450714057 meters 0.046265545801876 Centerline is valid? [True, True] Translation: X:295.52, Y:-40.36, Z:-20.71 [[ 9.95336554e-01 7.87791152e-02 5.56686253e-02 2.95520685e+02] [-7.84240105e-02 9.96883529e-01 -8.53834829e-03 -4.03623708e+01] [-5.61677791e-02 4.13277331e-03 9.98412791e-01 -2.07139839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.480714057 meters 0.04706611784574945 Centerline is valid? [True, True] Translation: X:295.55, Y:-40.36, Z:-20.72 [[ 9.95229341e-01 8.06017595e-02 5.49719529e-02 2.95548892e+02] [-8.02584791e-02 9.96738457e-01 -8.42757463e-03 -4.03644330e+01] [-5.54719368e-02 3.97540421e-03 9.98452333e-01 -2.07173288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.51071405700003 meters 0.045289150967530487 Centerline is valid? [True, True] Translation: X:295.58, Y:-40.36, Z:-20.72 [[ 9.95062504e-01 8.28942208e-02 5.45816913e-02 2.95579364e+02] [-8.25594077e-02 9.96551042e-01 -8.36454544e-03 -4.03632622e+01] [-5.50868138e-02 3.81701342e-03 9.98474273e-01 -2.07187617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.540714057 meters 0.041592862936606564 Centerline is valid? [True, True] Translation: X:295.61, Y:-40.36, Z:-20.72 [[ 9.94937321e-01 8.40144097e-02 5.51480450e-02 2.95609488e+02] [-8.36743422e-02 9.96457319e-01 -8.45084562e-03 -4.03605048e+01] [-5.56626658e-02 3.79358531e-03 9.98442425e-01 -2.07193143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.57071405700003 meters 0.042715011762176035 Centerline is valid? [True, True] Translation: X:295.64, Y:-40.36, Z:-20.72 [[ 9.94630536e-01 8.70752804e-02 5.59284568e-02 2.95638296e+02] [-8.67305009e-02 9.96194972e-01 -8.56723008e-03 -4.03637937e+01] [-5.64616414e-02 3.67052557e-03 9.98398022e-01 -2.07204681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.600714057 meters 0.03965556893315518 Centerline is valid? [True, True] Translation: X:295.67, Y:-40.36, Z:-20.72 [[ 9.94459221e-01 8.86626935e-02 5.64781817e-02 2.95667684e+02] [-8.83137297e-02 9.96055151e-01 -8.64988632e-03 -4.03619112e+01] [-5.70223061e-02 3.61416034e-03 9.98366363e-01 -2.07210142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.63071405700003 meters 0.03774084701834603 Centerline is valid? [True, True] Translation: X:295.70, Y:-40.36, Z:-20.72 [[ 9.93921368e-01 9.35274501e-02 5.80769316e-02 2.95699033e+02] [-9.31669666e-02 9.95610810e-01 -8.88995622e-03 -4.03613000e+01] [-5.86534759e-02 3.42506590e-03 9.98272527e-01 -2.07216375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.660714057 meters 0.037575390724887185 Centerline is valid? [True, True] Translation: X:295.73, Y:-40.36, Z:-20.72 [[ 9.93663115e-01 9.61525275e-02 5.82091442e-02 2.95727697e+02] [-9.57948775e-02 9.95361215e-01 -8.91028592e-03 -4.03633131e+01] [-5.87958710e-02 3.27768463e-03 9.98264645e-01 -2.07235443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.69071405700004 meters 0.033808330933676946 Centerline is valid? [True, True] Translation: X:295.76, Y:-40.36, Z:-20.73 [[ 9.93018866e-01 1.02753960e-01 5.79236966e-02 2.95758897e+02] [-1.02411187e-01 9.94702664e-01 -8.86332719e-03 -4.03581054e+01] [-5.85275973e-02 2.86941658e-03 9.98281667e-01 -2.07250258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.720714057 meters 0.03220352311047691 Centerline is valid? [True, True] Translation: X:295.79, Y:-40.36, Z:-20.73 [[ 9.92736032e-01 1.05872489e-01 5.71505553e-02 2.95789304e+02] [-1.05544057e-01 9.94376188e-01 -8.74345971e-03 -4.03581902e+01] [-5.77548432e-02 2.64804604e-03 9.98327284e-01 -2.07268045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.750714057 meters 0.03086832417826705 Centerline is valid? [True, True] Translation: X:295.82, Y:-40.36, Z:-20.73 [[ 9.92025827e-01 1.12203318e-01 5.74036025e-02 2.95820486e+02] [-1.11882591e-01 9.93682634e-01 -8.78112976e-03 -4.03580347e+01] [-5.80262348e-02 2.28864371e-03 9.98312435e-01 -2.07294889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.780714057 meters 0.030574242231935677 Centerline is valid? [True, True] Translation: X:295.85, Y:-40.36, Z:-20.73 [[ 9.91654761e-01 1.15301919e-01 5.76741090e-02 2.95849553e+02] [-1.14983428e-01 9.93328238e-01 -8.82177722e-03 -4.03610425e+01] [-5.83064889e-02 2.11659060e-03 9.98296486e-01 -2.07320178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.810714057 meters 0.029705859918134302 Centerline is valid? [True, True] Translation: X:295.88, Y:-40.36, Z:-20.73 [[ 9.91163819e-01 1.19314354e-01 5.79514281e-02 2.95879373e+02] [-1.18999749e-01 9.92854734e-01 -8.86215555e-03 -4.03623057e+01] [-5.85947321e-02 1.88764252e-03 9.98280068e-01 -2.07339815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.840714057 meters 0.035107745806725335 Centerline is valid? [True, True] Translation: X:295.91, Y:-40.38, Z:-20.74 [[ 9.90452822e-01 1.24507550e-01 5.91699047e-02 2.95905714e+02] [-1.24188922e-01 9.92217351e-01 -9.04653558e-03 -4.03780038e+01] [-5.98357680e-02 1.61192001e-03 9.98206934e-01 -2.07390836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.870714057 meters 0.029263305918217672 Centerline is valid? [True, True] Translation: X:295.94, Y:-40.37, Z:-20.74 [[ 9.90858029e-01 1.21993981e-01 5.76006523e-02 2.95936281e+02] [-1.21687862e-01 9.92529357e-01 -8.80566912e-03 -4.03692211e+01] [-5.82445770e-02 1.71586775e-03 9.98300869e-01 -2.07373811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.900714057 meters 0.029561252484779674 Centerline is valid? [True, True] Translation: X:295.96, Y:-40.37, Z:-20.74 [[ 9.90903173e-01 1.21884911e-01 5.70523410e-02 2.95963761e+02] [-1.21585175e-01 9.92542797e-01 -8.70873953e-03 -4.03741642e+01] [-5.76883540e-02 1.69279875e-03 9.98333205e-01 -2.07401688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.930714057 meters 0.030032923512972324 Centerline is valid? [True, True] Translation: X:295.99, Y:-40.38, Z:-20.74 [[ 9.90942729e-01 1.21197410e-01 5.78246968e-02 2.95991010e+02] [-1.20889260e-01 9.92626898e-01 -8.81070096e-03 -4.03811434e+01] [-5.84661835e-02 1.74051528e-03 9.98287872e-01 -2.07426488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.960714057 meters 0.028825646587915116 Centerline is valid? [True, True] Translation: X:296.02, Y:-40.38, Z:-20.74 [[ 9.91041651e-01 1.20151926e-01 5.83091835e-02 2.96019544e+02] [-1.19837731e-01 9.92753882e-01 -8.86838685e-03 -4.03840991e+01] [-5.89522220e-02 1.80130050e-03 9.98259180e-01 -2.07427444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.990714057 meters 0.03147581952608695 Centerline is valid? [True, True] Translation: X:296.05, Y:-40.40, Z:-20.75 [[ 9.91274288e-01 1.17835794e-01 5.90763244e-02 2.96045347e+02] [-1.17510106e-01 9.93031181e-01 -8.96927217e-03 -4.03958501e+01] [-5.97215335e-02 1.94894375e-03 9.98213174e-01 -2.07452845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.020714057 meters 0.02975552491706903 Centerline is valid? [True, True] Translation: X:296.07, Y:-40.40, Z:-20.75 [[ 9.91476138e-01 1.16022521e-01 5.92776752e-02 2.96073948e+02] [-1.15691873e-01 9.93244453e-01 -8.99147410e-03 -4.03967893e+01] [-5.99204356e-02 2.05688673e-03 9.98201037e-01 -2.07459660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.050714057 meters 0.03213593852836888 Centerline is valid? [True, True] Translation: X:296.10, Y:-40.41, Z:-20.75 [[ 9.91948073e-01 1.11851463e-01 5.93992514e-02 2.96100668e+02] [-1.11512990e-01 9.93722282e-01 -8.99330089e-03 -4.04092509e+01] [-6.00322735e-02 2.29709934e-03 9.98193794e-01 -2.07491761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.080714057 meters 0.03281496682882631 Centerline is valid? [True, True] Translation: X:296.13, Y:-40.42, Z:-20.75 [[ 9.92271129e-01 1.08966622e-01 5.93656674e-02 2.96129499e+02] [-1.08623657e-01 9.94042351e-01 -8.98362940e-03 -4.04167901e+01] [-5.99909034e-02 2.46568022e-03 9.98195879e-01 -2.07512041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.110714057 meters 0.03675008860333465 Centerline is valid? [True, True] Translation: X:296.16, Y:-40.43, Z:-20.75 [[ 9.92835559e-01 1.03412120e-01 5.98622328e-02 2.96156237e+02] [-1.03053456e-01 9.94634590e-01 -9.05639777e-03 -4.04326438e+01] [-6.04775886e-02 2.82250378e-03 9.98165565e-01 -2.07543612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.140714057 meters 0.035432177774486186 Centerline is valid? [True, True] Translation: X:296.19, Y:-40.44, Z:-20.76 [[ 9.93176342e-01 1.00083997e-01 5.98660771e-02 2.96186159e+02] [-9.97192550e-02 9.94974392e-01 -9.05702871e-03 -4.04373388e+01] [-6.04716772e-02 3.02542604e-03 9.98165329e-01 -2.07557140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.170714057 meters 0.038657271303599014 Centerline is valid? [True, True] Translation: X:296.21, Y:-40.45, Z:-20.76 [[ 9.93732962e-01 9.40917052e-02 6.03452600e-02 2.96213407e+02] [-9.37101711e-02 9.95557674e-01 -9.12802793e-03 -4.04510421e+01] [-6.09360584e-02 3.41585760e-03 9.98135827e-01 -2.07577388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.200714057 meters 0.04042034242628372 Centerline is valid? [True, True] Translation: X:296.24, Y:-40.46, Z:-20.76 [[ 9.93988215e-01 9.10015772e-02 6.08780919e-02 2.96241967e+02] [-9.06073218e-02 9.95844096e-01 -9.21141394e-03 -4.04604640e+01] [-6.14633416e-02 3.64003603e-03 9.98102704e-01 -2.07595359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.230714057 meters 0.03886847823434198 Centerline is valid? [True, True] Translation: X:296.27, Y:-40.47, Z:-20.76 [[ 9.94391073e-01 8.63727911e-02 6.10420830e-02 2.96271579e+02] [-8.59678048e-02 9.96255115e-01 -9.23489580e-03 -4.04654963e+01] [-6.16111311e-02 3.93544406e-03 9.98092471e-01 -2.07618287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.26071405700003 meters 0.044674389376688696 Centerline is valid? [True, True] Translation: X:296.30, Y:-40.48, Z:-20.76 [[ 9.94546589e-01 8.45438541e-02 6.10689631e-02 2.96297639e+02] [-8.41350685e-02 9.96411526e-01 -9.23914821e-03 -4.04812144e+01] [-6.16309319e-02 4.05072194e-03 9.98090787e-01 -2.07646030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.290714057 meters 0.044516627276648214 Centerline is valid? [True, True] Translation: X:296.33, Y:-40.49, Z:-20.77 [[ 9.94740495e-01 8.22743084e-02 6.10105384e-02 2.96326053e+02] [-8.18622258e-02 9.96600937e-01 -9.22761553e-03 -4.04878144e+01] [-6.15623554e-02 4.18462437e-03 9.98094467e-01 -2.07665717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.32071405700003 meters 0.04230263352603163 Centerline is valid? [True, True] Translation: X:296.35, Y:-40.49, Z:-20.77 [[ 9.94772730e-01 8.17095995e-02 6.12434277e-02 2.96354729e+02] [-8.12934839e-02 9.96647192e-01 -9.25980140e-03 -4.04896725e+01] [-6.17947050e-02 4.23270631e-03 9.98079906e-01 -2.07679292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.350714057 meters 0.04362590042398486 Centerline is valid? [True, True] Translation: X:296.38, Y:-40.50, Z:-20.77 [[ 9.94820853e-01 8.14687793e-02 6.07808264e-02 2.96381827e+02] [-8.10587432e-02 9.96666997e-01 -9.18571742e-03 -4.04973124e+01] [-6.13265929e-02 4.21132584e-03 9.98108869e-01 -2.07711505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.38071405700003 meters 0.04351104996233711 Centerline is valid? [True, True] Translation: X:296.41, Y:-40.50, Z:-20.77 [[ 9.94853304e-01 8.11135630e-02 6.07247400e-02 2.96410395e+02] [-8.07039611e-02 9.96695916e-01 -9.17179056e-03 -4.05029688e+01] [-6.12680570e-02 4.22385908e-03 9.98112411e-01 -2.07738417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.410714057 meters 0.04380410203827495 Centerline is valid? [True, True] Translation: X:296.44, Y:-40.51, Z:-20.78 [[ 9.94856465e-01 8.10719774e-02 6.07284851e-02 2.96438688e+02] [-8.06625090e-02 9.96699305e-01 -9.16810224e-03 -4.05084736e+01] [-6.12713151e-02 4.22243381e-03 9.98112217e-01 -2.07761406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.44071405700004 meters 0.045241667287945764 Centerline is valid? [True, True] Translation: X:296.47, Y:-40.52, Z:-20.78 [[ 9.94986990e-01 8.01890448e-02 5.97545502e-02 2.96466238e+02] [-7.97912967e-02 9.96770809e-01 -9.01683462e-03 -4.05158968e+01] [-6.02846427e-02 4.20374009e-03 9.98172375e-01 -2.07795111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.470714057 meters 0.041236140751698555 Centerline is valid? [True, True] Translation: X:296.50, Y:-40.51, Z:-20.78 [[ 9.95088317e-01 7.90923221e-02 5.95285263e-02 2.96495699e+02] [-7.86958048e-02 9.96858231e-01 -8.97983381e-03 -4.05142356e+01] [-6.00517373e-02 4.25108243e-03 9.98186214e-01 -2.07814512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.500714057 meters 0.047468511243600686 Centerline is valid? [True, True] Translation: X:296.52, Y:-40.53, Z:-20.78 [[ 9.95133306e-01 7.86921004e-02 5.93064676e-02 2.96522619e+02] [-7.82981002e-02 9.96889889e-01 -8.94188920e-03 -4.05278410e+01] [-5.98256740e-02 4.25478801e-03 9.98199772e-01 -2.07841031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.530714057 meters 0.04136142326622771 Centerline is valid? [True, True] Translation: X:296.55, Y:-40.52, Z:-20.79 [[ 9.95201291e-01 7.77512939e-02 5.94064588e-02 2.96552907e+02] [-7.73544884e-02 9.96963446e-01 -8.95376009e-03 -4.05227495e+01] [-5.99222343e-02 4.31543736e-03 9.98193720e-01 -2.07851449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.560714057 meters 0.0421586289741361 Centerline is valid? [True, True] Translation: X:296.58, Y:-40.53, Z:-20.79 [[ 9.95247149e-01 7.72784947e-02 5.92549267e-02 2.96580857e+02] [-7.68830655e-02 9.97000144e-01 -8.92784314e-03 -4.05279925e+01] [-5.97671008e-02 4.32971003e-03 9.98202959e-01 -2.07872015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.590714057 meters 0.050991126145242364 Centerline is valid? [True, True] Translation: X:296.61, Y:-40.55, Z:-20.79 [[ 9.95229088e-01 7.67908558e-02 6.01849455e-02 2.96607492e+02] [-7.63822902e-02 9.97037412e-01 -9.06338258e-03 -4.05452201e+01] [-6.07026272e-02 4.42307800e-03 9.98146095e-01 -2.07890647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.620714057 meters 0.04316017014514289 Centerline is valid? [True, True] Translation: X:296.64, Y:-40.54, Z:-20.79 [[ 9.95175150e-01 7.68919469e-02 6.09430077e-02 2.96638907e+02] [-7.64734098e-02 9.97029415e-01 -9.17407628e-03 -4.05373695e+01] [-6.14673839e-02 4.46929313e-03 9.98099086e-01 -2.07889497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.650714057 meters 0.04265952920711094 Centerline is valid? [True, True] Translation: X:296.67, Y:-40.54, Z:-20.79 [[ 9.95207378e-01 7.56853177e-02 6.19193571e-02 2.96668644e+02] [-7.52510621e-02 9.97121075e-01 -9.31878406e-03 -4.05408259e+01] [-6.24463910e-02 4.61462527e-03 9.98037651e-01 -2.07902410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.680714057 meters 0.04455156328734012 Centerline is valid? [True, True] Translation: X:296.70, Y:-40.55, Z:-20.79 [[ 9.95273356e-01 7.50255499e-02 6.16612835e-02 2.96696199e+02] [-7.45937863e-02 9.97170842e-01 -9.27782875e-03 -4.05482384e+01] [-6.21829082e-02 4.63442715e-03 9.98054011e-01 -2.07928281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.710714057 meters 0.04401339473489572 Centerline is valid? [True, True] Translation: X:296.73, Y:-40.55, Z:-20.80 [[ 9.95324050e-01 7.43311396e-02 6.16840053e-02 2.96725813e+02] [-7.38979477e-02 9.97222651e-01 -9.27779439e-03 -4.05525622e+01] [-6.22023163e-02 4.67609050e-03 9.98052607e-01 -2.07952232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.740714057 meters 0.04558334449608737 Centerline is valid? [True, True] Translation: X:296.75, Y:-40.56, Z:-20.80 [[ 9.95419591e-01 7.30385326e-02 6.16863962e-02 2.96754513e+02] [-7.26029871e-02 9.97317786e-01 -9.27581991e-03 -4.05606003e+01] [-6.21984324e-02 4.75471623e-03 9.98052477e-01 -2.07980595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.770714057 meters 0.04554586890251198 Centerline is valid? [True, True] Translation: X:296.78, Y:-40.57, Z:-20.80 [[ 9.95482522e-01 7.24302331e-02 6.13873793e-02 2.96784032e+02] [-7.19978256e-02 9.97362083e-01 -9.22976701e-03 -4.05651936e+01] [-6.18939586e-02 4.76831391e-03 9.98071341e-01 -2.08004041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.800714057 meters 0.04554586890251198 Centerline is valid? [True, True] Translation: X:296.81, Y:-40.57, Z:-20.80 [[ 9.95482517e-01 7.24301520e-02 6.13875571e-02 2.96813717e+02] [-7.19978168e-02 9.97362095e-01 -9.22858383e-03 -4.05696567e+01] [-6.18940503e-02 4.76712376e-03 9.98071341e-01 -2.08024719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.830714057 meters 0.04154480846216774 Centerline is valid? [True, True] Translation: X:296.84, Y:-40.57, Z:-20.80 [[ 9.95590545e-01 7.18325738e-02 6.03286636e-02 2.96844422e+02] [-7.14139584e-02 9.97405531e-01 -9.06939705e-03 -4.05680480e+01] [-6.08236209e-02 4.72109728e-03 9.98137364e-01 -2.08047647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.860714057 meters 0.044041071743264125 Centerline is valid? [True, True] Translation: X:296.87, Y:-40.58, Z:-20.81 [[ 9.95589839e-01 7.26826592e-02 5.93136097e-02 2.96872627e+02] [-7.22795476e-02 9.97344556e-01 -8.91652490e-03 -4.05754017e+01] [-5.98041824e-02 4.59004071e-03 9.98199575e-01 -2.08078933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.890714057 meters 0.046589869886463575 Centerline is valid? [True, True] Translation: X:296.90, Y:-40.58, Z:-20.81 [[ 9.95629479e-01 7.27703409e-02 5.85356055e-02 2.96901046e+02] [-7.23777641e-02 9.97338451e-01 -8.80188105e-03 -4.05831008e+01] [-5.90203261e-02 4.52673599e-03 9.98246518e-01 -2.08105687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.920714057 meters 0.0481000334687794 Centerline is valid? [True, True] Translation: X:296.93, Y:-40.59, Z:-20.81 [[ 9.95632070e-01 7.30493622e-02 5.81426887e-02 2.96930059e+02] [-7.26625790e-02 9.97318270e-01 -8.74176202e-03 -4.05893561e+01] [-5.86253458e-02 4.47878090e-03 9.98270008e-01 -2.08133672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.950714057 meters 0.04954575885239537 Centerline is valid? [True, True] Translation: X:296.96, Y:-40.59, Z:-20.81 [[ 9.95619207e-01 7.32172584e-02 5.81517614e-02 2.96957824e+02] [-7.28306786e-02 9.97306002e-01 -8.74244712e-03 -4.05948599e+01] [-5.86351987e-02 4.46891602e-03 9.98269474e-01 -2.08148893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.980714057 meters 0.04388011361231004 Centerline is valid? [True, True] Translation: X:296.99, Y:-40.59, Z:-20.82 [[ 9.95605525e-01 7.29587932e-02 5.87082038e-02 2.96988809e+02] [-7.25645115e-02 9.97324695e-01 -8.82291844e-03 -4.05889040e+01] [-5.91948510e-02 4.52401422e-03 9.98236196e-01 -2.08156651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.01071405700003 meters 0.04465105918641698 Centerline is valid? [True, True] Translation: X:297.02, Y:-40.59, Z:-20.82 [[ 9.95608871e-01 7.27767761e-02 5.88771391e-02 2.97018537e+02] [-7.23800296e-02 9.97337895e-01 -8.84617070e-03 -4.05933128e+01] [-5.93641978e-02 4.54579695e-03 9.98226040e-01 -2.08177253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.040714057 meters 0.046295940862965276 Centerline is valid? [True, True] Translation: X:297.05, Y:-40.60, Z:-20.82 [[ 9.95716313e-01 7.16261097e-02 5.84698637e-02 2.97047666e+02] [-7.12330032e-02 9.97421036e-01 -8.78273386e-03 -4.05988997e+01] [-5.89481451e-02 4.58012739e-03 9.98250539e-01 -2.08198057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.07071405700003 meters 0.047111386768982265 Centerline is valid? [True, True] Translation: X:297.08, Y:-40.60, Z:-20.82 [[ 9.95793929e-01 7.03992335e-02 5.86378647e-02 2.97077480e+02] [-7.00018207e-02 9.97507988e-01 -8.80676167e-03 -4.06041109e+01] [-5.91117277e-02 4.66496251e-03 9.98240473e-01 -2.08222488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.100714057 meters 0.04827468645689363 Centerline is valid? [True, True] Translation: X:297.11, Y:-40.61, Z:-20.82 [[ 9.95925459e-01 6.86930300e-02 5.84272879e-02 2.97107395e+02] [-6.82955555e-02 9.97626540e-01 -8.77513536e-03 -4.06092433e+01] [-5.88914037e-02 4.74905662e-03 9.98253099e-01 -2.08245569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.13071405700003 meters 0.05081221469345626 Centerline is valid? [True, True] Translation: X:297.14, Y:-40.62, Z:-20.83 [[ 9.96114361e-01 6.53639932e-02 5.90231178e-02 2.97136347e+02] [-6.49525660e-02 9.97848979e-01 -8.86449331e-03 -4.06159091e+01] [-5.94755765e-02 4.99634614e-03 9.98217257e-01 -2.08255226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.160714057 meters 0.04840129857265629 Centerline is valid? [True, True] Translation: X:297.17, Y:-40.62, Z:-20.83 [[ 9.96256616e-01 6.25711390e-02 5.96456840e-02 2.97167753e+02] [-6.21459607e-02 9.98026863e-01 -8.95878945e-03 -4.06166875e+01] [-6.00885566e-02 5.21851493e-03 9.98179409e-01 -2.08269410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.19071405700004 meters 0.05099857639280868 Centerline is valid? [True, True] Translation: X:297.20, Y:-40.62, Z:-20.83 [[ 9.96370899e-01 6.13155707e-02 5.90375586e-02 2.97196937e+02] [-6.08967787e-02 9.98104669e-01 -8.86857982e-03 -4.06248764e+01] [-5.94694449e-02 5.24119770e-03 9.98216367e-01 -2.08296464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.220714057 meters 0.055663620020000804 Centerline is valid? [True, True] Translation: X:297.23, Y:-40.64, Z:-20.83 [[ 9.96471406e-01 6.00294352e-02 5.86617779e-02 2.97225289e+02] [-5.96135401e-02 9.98182602e-01 -8.81578735e-03 -4.06352323e+01] [-5.90843728e-02 5.28764377e-03 9.98238988e-01 -2.08331007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.250714057 meters 0.05001425541367671 Centerline is valid? [True, True] Translation: X:297.26, Y:-40.63, Z:-20.83 [[ 9.96578429e-01 5.92809563e-02 5.75951717e-02 2.97258582e+02] [-5.88788743e-02 9.98227616e-01 -8.65474671e-03 -4.06299578e+01] [-5.80061526e-02 5.23399500e-03 9.98302505e-01 -2.08341169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.280714057 meters 0.05246580563157923 Centerline is valid? [True, True] Translation: X:297.29, Y:-40.64, Z:-20.84 [[ 9.96665001e-01 5.85452727e-02 5.68447539e-02 2.97288910e+02] [-5.81522990e-02 9.98271158e-01 -8.54425379e-03 -4.06361987e+01] [-5.72467040e-02 5.21010559e-03 9.98346468e-01 -2.08381993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.310714057 meters 0.050493849123416756 Centerline is valid? [True, True] Translation: X:297.32, Y:-40.64, Z:-20.84 [[ 9.96702624e-01 5.84641546e-02 5.62656310e-02 2.97320847e+02] [-5.80782969e-02 9.98276098e-01 -8.47013083e-03 -4.06369606e+01] [-5.66638336e-02 5.17438960e-03 9.98379905e-01 -2.08404688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.340714057 meters 0.05457648291743409 Centerline is valid? [True, True] Translation: X:297.35, Y:-40.65, Z:-20.84 [[ 9.96677600e-01 5.90884206e-02 5.60564067e-02 2.97351524e+02] [-5.87056776e-02 9.98239558e-01 -8.45157640e-03 -4.06457485e+01] [-5.64571130e-02 5.13266754e-03 9.98391832e-01 -2.08432086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.370714057 meters 0.05017248489409097 Centerline is valid? [True, True] Translation: X:297.38, Y:-40.64, Z:-20.84 [[ 9.96668595e-01 5.94334171e-02 5.58514248e-02 2.97384389e+02] [-5.90532240e-02 9.98219202e-01 -8.43459980e-03 -4.06437415e+01] [-5.62532617e-02 5.10829403e-03 9.98403463e-01 -2.08447265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.400714057 meters 0.05329746903451947 Centerline is valid? [True, True] Translation: X:297.41, Y:-40.65, Z:-20.85 [[ 9.96566803e-01 6.02795231e-02 5.67537299e-02 2.97414358e+02] [-5.98873132e-02 9.98168201e-01 -8.58789133e-03 -4.06506826e+01] [-5.71674425e-02 5.15957901e-03 9.98351272e-01 -2.08473346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.430714057 meters 0.10482843077381304 Centerline is valid? [True, False] Translation: X:297.51, Y:-40.66, Z:-20.85 [[ 9.97256880e-01 5.36970369e-02 5.09445069e-02 2.97505718e+02] [-5.34840217e-02 9.98553358e-01 -5.53637369e-03 -4.06596554e+01] [-5.11680953e-02 2.79646964e-03 9.98686140e-01 -2.08491355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.460714057 meters 0.05473799051810449 Centerline is valid? [False, True] Translation: X:297.41, Y:-40.65, Z:-20.84 [[ 9.97560648e-01 5.08042573e-02 4.78715039e-02 2.97410425e+02] [-5.10905428e-02 9.98682610e-01 4.77500459e-03 -4.06468208e+01] [-4.75658480e-02 -7.20913780e-03 9.98842089e-01 -2.08438312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.490714057 meters 0.05224815103353941 Centerline is valid? [True, True] Translation: X:297.44, Y:-40.64, Z:-20.84 [[ 9.97593996e-01 5.16997125e-02 4.61883041e-02 2.97442223e+02] [-5.14515802e-02 9.98654038e-01 -6.54579599e-03 -4.06409658e+01] [-4.64645522e-02 4.15358554e-03 9.98911304e-01 -2.08414015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.520714057 meters 0.04981350976838997 Centerline is valid? [True, True] Translation: X:297.47, Y:-40.64, Z:-20.84 [[ 9.97586058e-01 5.24016236e-02 4.55645252e-02 2.97473159e+02] [-5.21608802e-02 9.98617817e-01 -6.45739419e-03 -4.06392257e+01] [-4.58399247e-02 4.06512067e-03 9.98940527e-01 -2.08426573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.550714057 meters 0.05020976270751309 Centerline is valid? [True, True] Translation: X:297.50, Y:-40.64, Z:-20.84 [[ 9.97538406e-01 5.27108097e-02 4.62460641e-02 2.97503628e+02] [-5.24631330e-02 9.98601354e-01 -6.55398171e-03 -4.06436864e+01] [-4.65268479e-02 4.11163506e-03 9.98908578e-01 -2.08447540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.580714057 meters 0.04842712230754035 Centerline is valid? [True, True] Translation: X:297.53, Y:-40.64, Z:-20.85 [[ 9.97530816e-01 5.29115886e-02 4.61804653e-02 2.97533879e+02] [-5.26648094e-02 9.98590797e-01 -6.54508524e-03 -4.06437461e+01] [-4.64616985e-02 4.09683881e-03 9.98911671e-01 -2.08455077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.610714057 meters 0.04988449803667549 Centerline is valid? [True, True] Translation: X:297.56, Y:-40.65, Z:-20.85 [[ 9.97516092e-01 5.31216911e-02 4.62572476e-02 2.97562916e+02] [-5.28744011e-02 9.98579662e-01 -6.55409547e-03 -4.06486634e+01] [-4.65397113e-02 4.09199143e-03 9.98908059e-01 -2.08471810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.640714057 meters 0.05060319156493398 Centerline is valid? [True, True] Translation: X:297.59, Y:-40.65, Z:-20.85 [[ 9.97468955e-01 5.38691085e-02 4.64090776e-02 2.97592790e+02] [-5.36210322e-02 9.98539712e-01 -6.57477408e-03 -4.06520008e+01] [-4.66954842e-02 4.06963039e-03 9.98900881e-01 -2.08493673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.670714057 meters 0.04997893928251881 Centerline is valid? [True, True] Translation: X:297.62, Y:-40.65, Z:-20.85 [[ 9.97453458e-01 5.43354346e-02 4.61980419e-02 2.97623001e+02] [-5.40901545e-02 9.98514613e-01 -6.54386610e-03 -4.06548257e+01] [-4.64849838e-02 4.02834264e-03 9.98910866e-01 -2.08513686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.700714057 meters 0.05082860874895284 Centerline is valid? [True, True] Translation: X:297.65, Y:-40.66, Z:-20.85 [[ 9.97418541e-01 5.47982056e-02 4.64048629e-02 2.97652094e+02] [-5.45512012e-02 9.98489336e-01 -6.57354454e-03 -4.06593133e+01] [-4.66949792e-02 4.02513419e-03 9.98901085e-01 -2.08537241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.730714057 meters 0.05105316190704452 Centerline is valid? [True, True] Translation: X:297.68, Y:-40.66, Z:-20.86 [[ 9.97360616e-01 5.65476413e-02 4.55430222e-02 2.97681449e+02] [-5.63116702e-02 9.98392413e-01 -6.44871366e-03 -4.06616564e+01] [-4.58344674e-02 3.86708938e-03 9.98941563e-01 -2.08562032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.76071405700003 meters 0.05036198903652358 Centerline is valid? [True, True] Translation: X:297.71, Y:-40.66, Z:-20.86 [[ 9.97253065e-01 5.83952368e-02 4.55666570e-02 2.97711320e+02] [-5.81607464e-02 9.98286355e-01 -6.45615699e-03 -4.06628758e+01] [-4.58655807e-02 3.78823157e-03 9.98940438e-01 -2.08581339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.790714057 meters 0.050627182571634836 Centerline is valid? [True, True] Translation: X:297.74, Y:-40.67, Z:-20.86 [[ 9.97253833e-01 5.89404774e-02 4.48420759e-02 2.97739478e+02] [-5.87139761e-02 9.98254633e-01 -6.35267010e-03 -4.06660571e+01] [-4.51382394e-02 3.70236804e-03 9.98973889e-01 -2.08598682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.82071405700003 meters 0.04468729361737673 Centerline is valid? [True, True] Translation: X:297.77, Y:-40.66, Z:-20.86 [[ 9.97172401e-01 6.04353218e-02 4.46628972e-02 2.97770628e+02] [-6.02122732e-02 9.98165563e-01 -6.32381677e-03 -4.06587716e+01] [-4.49631478e-02 3.61668099e-03 9.98982099e-01 -2.08608497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.850714057 meters 0.0518047525090217 Centerline is valid? [True, True] Translation: X:297.80, Y:-40.67, Z:-20.86 [[ 9.97155521e-01 6.06370440e-02 4.47662407e-02 2.97796300e+02] [-6.04132062e-02 9.98153335e-01 -6.33749171e-03 -4.06722642e+01] [-4.50678592e-02 3.61499271e-03 9.98977387e-01 -2.08640121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.88071405700003 meters 0.04441431537634759 Centerline is valid? [True, True] Translation: X:297.83, Y:-40.66, Z:-20.86 [[ 9.97119527e-01 6.13229472e-02 4.46334518e-02 2.97826310e+02] [-6.11013085e-02 9.98111596e-01 -6.31447462e-03 -4.06646039e+01] [-4.49363880e-02 3.56912363e-03 9.98983475e-01 -2.08642780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.910714057 meters 0.045032116567059605 Centerline is valid? [True, True] Translation: X:297.85, Y:-40.67, Z:-20.87 [[ 9.97046960e-01 6.22470630e-02 4.49740143e-02 2.97853431e+02] [-6.20230994e-02 9.98054453e-01 -6.35957607e-03 -4.06680090e+01] [-4.52823802e-02 3.55136823e-03 9.98967914e-01 -2.08669189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.94071405700004 meters 0.04570866006020577 Centerline is valid? [True, True] Translation: X:297.88, Y:-40.67, Z:-20.87 [[ 9.96963641e-01 6.33233779e-02 4.53172074e-02 2.97881870e+02] [-6.30972823e-02 9.97986836e-01 -6.40377645e-03 -4.06712078e+01] [-4.56314851e-02 3.52493966e-03 9.98952122e-01 -2.08689137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.970714057 meters 0.044812725878501596 Centerline is valid? [True, True] Translation: X:297.91, Y:-40.67, Z:-20.87 [[ 9.96893663e-01 6.41495909e-02 4.56930508e-02 2.97910754e+02] [-6.39207386e-02 9.97934111e-01 -6.45362349e-03 -4.06732466e+01] [-4.60126513e-02 3.51284280e-03 9.98934680e-01 -2.08700961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.000714057 meters 0.04414461592853913 Centerline is valid? [True, True] Translation: X:297.94, Y:-40.67, Z:-20.87 [[ 9.96694755e-01 6.60744736e-02 4.72623381e-02 2.97940363e+02] [-6.58319502e-02 9.97808422e-01 -6.67141563e-03 -4.06747309e+01] [-4.75995693e-02 3.53799308e-03 9.98860232e-01 -2.08703112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.030714057 meters 0.07219580010248272 Centerline is valid? [True, True] Translation: X:297.96, Y:-40.72, Z:-20.87 [[ 9.96243573e-01 7.06845239e-02 5.00244151e-02 2.97963003e+02] [-7.04186612e-02 9.97492544e-01 -7.05949329e-03 -4.07185763e+01] [-5.03979781e-02 3.51032247e-03 9.98723045e-01 -2.08742309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.060714057 meters 0.04466312921870339 Centerline is valid? [True, True] Translation: X:298.00, Y:-40.68, Z:-20.87 [[ 9.96528433e-01 6.75293219e-02 4.86916067e-02 2.97998898e+02] [-6.72738231e-02 9.97710905e-01 -6.86901401e-03 -4.06821416e+01] [-4.90440068e-02 3.56949724e-03 9.98790240e-01 -2.08726101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.090714057 meters 0.04436887538039723 Centerline is valid? [True, True] Translation: X:298.03, Y:-40.69, Z:-20.87 [[ 9.96371019e-01 6.90427373e-02 4.97784350e-02 2.98028425e+02] [-6.87775932e-02 9.97607305e-01 -7.02188499e-03 -4.06854040e+01] [-5.01441406e-02 3.57276175e-03 9.98735601e-01 -2.08738578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.120714057 meters 0.04507865067906608 Centerline is valid? [True, True] Translation: X:298.06, Y:-40.69, Z:-20.88 [[ 9.96256502e-01 7.03443129e-02 5.02459910e-02 2.98055554e+02] [-7.00758758e-02 9.97516493e-01 -7.08644511e-03 -4.06905080e+01] [-5.06196959e-02 3.53888519e-03 9.98711732e-01 -2.08755076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.150714057 meters 0.04106528666688195 Centerline is valid? [True, True] Translation: X:298.09, Y:-40.69, Z:-20.88 [[ 9.96225128e-01 7.08236902e-02 5.01946191e-02 2.98085180e+02] [-7.05566303e-02 9.97482686e-01 -7.07479639e-03 -4.06879794e+01] [-5.05693267e-02 3.50652675e-03 9.98714397e-01 -2.08766360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.180714057 meters 0.04209447032637309 Centerline is valid? [True, True] Translation: X:298.11, Y:-40.69, Z:-20.88 [[ 9.96242138e-01 7.09081984e-02 4.97356071e-02 2.98112211e+02] [-7.06462770e-02 9.97476821e-01 -7.00677759e-03 -4.06928153e+01] [-5.01069533e-02 3.46681161e-03 9.98737841e-01 -2.08787409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.210714057 meters 0.04616865430597888 Centerline is valid? [True, True] Translation: X:298.14, Y:-40.70, Z:-20.88 [[ 9.96169901e-01 7.19596283e-02 4.96723385e-02 2.98138314e+02] [-7.16999153e-02 9.97401734e-01 -6.99303825e-03 -4.07036232e+01] [-5.00464930e-02 3.40475176e-03 9.98741086e-01 -2.08812528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.240714057 meters 0.042743478561902436 Centerline is valid? [True, True] Translation: X:298.17, Y:-40.70, Z:-20.88 [[ 9.96191580e-01 7.21513235e-02 4.89542959e-02 2.98167186e+02] [-7.18995182e-02 9.97388099e-01 -6.88758163e-03 -4.07028473e+01] [-4.93233803e-02 3.34156054e-03 9.98777272e-01 -2.08824872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.270714057 meters 0.03943107147097435 Centerline is valid? [True, True] Translation: X:298.20, Y:-40.70, Z:-20.88 [[ 9.96325951e-01 7.10517668e-02 4.78147029e-02 2.98195912e+02] [-7.08104450e-02 9.97467125e-01 -6.72424080e-03 -4.07019370e+01] [-4.81713634e-02 3.31375523e-03 9.98833589e-01 -2.08847376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.300714057 meters 0.04313058240831149 Centerline is valid? [True, True] Translation: X:298.22, Y:-40.71, Z:-20.89 [[ 9.96404859e-01 7.00652244e-02 4.76258474e-02 2.98222655e+02] [-6.98248934e-02 9.97536808e-01 -6.69336516e-03 -4.07122162e+01] [-4.79775079e-02 3.34383186e-03 9.98842819e-01 -2.08875785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.330714057 meters 0.04197701658016129 Centerline is valid? [True, True] Translation: X:298.25, Y:-40.71, Z:-20.89 [[ 9.96463058e-01 6.94036865e-02 4.73761795e-02 2.98251412e+02] [-6.91653408e-02 9.97583020e-01 -6.65381281e-03 -4.07146728e+01] [-4.77234714e-02 3.35348906e-03 9.98854957e-01 -2.08885206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.360714057 meters 0.04397951111980041 Centerline is valid? [True, True] Translation: X:298.28, Y:-40.72, Z:-20.89 [[ 9.96539886e-01 6.83199999e-02 4.73353376e-02 2.98278389e+02] [-6.80810040e-02 9.97657668e-01 -6.64484296e-03 -4.07220270e+01] [-4.76784382e-02 3.39921373e-03 9.98856953e-01 -2.08904679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.390714057 meters 0.043827129948031465 Centerline is valid? [True, True] Translation: X:298.31, Y:-40.73, Z:-20.89 [[ 9.96656376e-01 6.60330682e-02 4.81217321e-02 2.98307329e+02] [-6.57836329e-02 9.97811076e-01 -6.75057952e-03 -4.07272180e+01] [-4.84621587e-02 3.56238577e-03 9.98818667e-01 -2.08916139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.420714057 meters 0.04606393958874854 Centerline is valid? [True, True] Translation: X:298.33, Y:-40.73, Z:-20.89 [[ 9.96682416e-01 6.49369238e-02 4.90648344e-02 2.98334023e+02] [-6.46764025e-02 9.97882569e-01 -6.88051358e-03 -4.07347493e+01] [-4.94077424e-02 3.68434992e-03 9.98771896e-01 -2.08925151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.450714057 meters 0.04911441704924589 Centerline is valid? [True, True] Translation: X:298.36, Y:-40.74, Z:-20.89 [[ 9.96825671e-01 6.20784198e-02 4.98482918e-02 2.98362489e+02] [-6.18061947e-02 9.98063724e-01 -6.98554168e-03 -4.07434857e+01] [-5.01854231e-02 3.88243405e-03 9.98732372e-01 -2.08931811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.480714057 meters 0.04828756018470299 Centerline is valid? [True, True] Translation: X:298.39, Y:-40.75, Z:-20.89 [[ 9.96919686e-01 6.06706710e-02 4.97011951e-02 2.98392115e+02] [-6.03983994e-02 9.98150062e-01 -6.96322595e-03 -4.07469382e+01] [-5.00317146e-02 3.93990440e-03 9.98739858e-01 -2.08948874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.51071405700003 meters 0.04832132099648664 Centerline is valid? [True, True] Translation: X:298.42, Y:-40.75, Z:-20.90 [[ 9.97069423e-01 5.83201499e-02 4.95108681e-02 2.98421469e+02] [-5.80471757e-02 9.98289755e-01 -6.93472404e-03 -4.07521183e+01] [-4.98306265e-02 4.04043524e-03 9.98749510e-01 -2.08970035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.540714057 meters 0.04645461582073958 Centerline is valid? [True, True] Translation: X:298.45, Y:-40.75, Z:-20.90 [[ 9.97234700e-01 5.55262155e-02 4.93942551e-02 2.98451757e+02] [-5.52511676e-02 9.98448525e-01 -6.91753377e-03 -4.07546890e+01] [-4.97017256e-02 4.16931445e-03 9.98755403e-01 -2.08995311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.57071405700003 meters 0.048105980161505836 Centerline is valid? [True, True] Translation: X:298.48, Y:-40.76, Z:-20.90 [[ 9.97311664e-01 5.41756497e-02 4.93400830e-02 2.98479837e+02] [-5.38996298e-02 9.98522459e-01 -6.90865174e-03 -4.07615604e+01] [-4.96414616e-02 4.23066676e-03 9.98758142e-01 -2.09017150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.600714057 meters 0.05011057257845636 Centerline is valid? [True, True] Translation: X:298.51, Y:-40.77, Z:-20.90 [[ 9.97344745e-01 5.33228483e-02 4.95997378e-02 2.98508588e+02] [-5.30427648e-02 9.98568077e-01 -6.94703891e-03 -4.07689200e+01] [-4.98991507e-02 4.29768551e-03 9.98745015e-01 -2.09034521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.63071405700003 meters 0.05249184351800379 Centerline is valid? [True, True] Translation: X:298.54, Y:-40.78, Z:-20.91 [[ 9.97422821e-01 5.17097087e-02 4.97375242e-02 2.98538050e+02] [-5.14261335e-02 9.98652512e-01 -6.96518955e-03 -4.07761872e+01] [-5.00306714e-02 4.38943045e-03 9.98738036e-01 -2.09051682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.660714057 meters 0.05136725951645394 Centerline is valid? [True, True] Translation: X:298.57, Y:-40.78, Z:-20.91 [[ 9.97461383e-01 5.14254463e-02 4.92566123e-02 2.98569053e+02] [-5.11469553e-02 9.98667311e-01 -6.89855573e-03 -4.07785202e+01] [-4.95457298e-02 4.36171719e-03 9.98762332e-01 -2.09065076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.69071405700004 meters 0.05229641266285041 Centerline is valid? [True, True] Translation: X:298.60, Y:-40.78, Z:-20.91 [[ 9.97431397e-01 5.14133957e-02 4.98725531e-02 2.98598579e+02] [-5.11277772e-02 9.98667680e-01 -6.98673687e-03 -4.07843583e+01] [-5.01653187e-02 4.41891794e-03 9.98731152e-01 -2.09079162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.720714057 meters 0.05229641266285041 Centerline is valid? [True, True] Translation: X:298.63, Y:-40.79, Z:-20.91 [[ 9.97429645e-01 5.14474660e-02 4.98724512e-02 2.98629191e+02] [-5.11618536e-02 9.98665930e-01 -6.98746375e-03 -4.07886802e+01] [-5.01654052e-02 4.41793644e-03 9.98731152e-01 -2.09097074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.750714057 meters 0.0510907409843612 Centerline is valid? [True, True] Translation: X:298.66, Y:-40.79, Z:-20.91 [[ 9.97376576e-01 5.19864362e-02 5.03723800e-02 2.98660771e+02] [-5.16956542e-02 9.98637935e-01 -7.05927950e-03 -4.07913822e+01] [-5.06707564e-02 4.43672688e-03 9.98705557e-01 -2.09116656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.780714057 meters 0.054888420837677636 Centerline is valid? [True, True] Translation: X:298.69, Y:-40.80, Z:-20.91 [[ 9.97360959e-01 5.19762837e-02 5.06910680e-02 2.98689664e+02] [-5.16816957e-02 9.98638327e-01 -7.10585731e-03 -4.08006959e+01] [-5.09913794e-02 4.46730431e-03 9.98689102e-01 -2.09141126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.810714057 meters 0.049841743329405025 Centerline is valid? [True, True] Translation: X:298.72, Y:-40.80, Z:-20.92 [[ 9.97338220e-01 5.23144276e-02 5.07905167e-02 2.98721321e+02] [-5.20190764e-02 9.98620705e-01 -7.12057235e-03 -4.07974379e+01] [-5.10929703e-02 4.45954318e-03 9.98683944e-01 -2.09153094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.840714057 meters 0.050766007744792216 Centerline is valid? [True, True] Translation: X:298.75, Y:-40.80, Z:-20.92 [[ 9.97346868e-01 5.27700677e-02 5.01452310e-02 2.98751833e+02] [-5.24826642e-02 9.98597077e-01 -7.03186748e-03 -4.08018638e+01] [-5.04459532e-02 4.38145569e-03 9.98717182e-01 -2.09169404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.870714057 meters 0.05055057134955724 Centerline is valid? [True, True] Translation: X:298.78, Y:-40.81, Z:-20.92 [[ 9.97307239e-01 5.36684863e-02 4.99796516e-02 2.98782092e+02] [-5.33839977e-02 9.98549448e-01 -7.01065365e-03 -4.08055739e+01] [-5.02834047e-02 4.32366203e-03 9.98725631e-01 -2.09187780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.900714057 meters 0.04634642404563788 Centerline is valid? [True, True] Translation: X:298.81, Y:-40.80, Z:-20.92 [[ 9.97286314e-01 5.45052553e-02 4.94892351e-02 2.98813203e+02] [-5.42273503e-02 9.98504484e-01 -6.94186286e-03 -4.08034088e+01] [-4.97935912e-02 4.23935473e-03 9.98750532e-01 -2.09207219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.930714057 meters 0.049489521459611385 Centerline is valid? [True, True] Translation: X:298.84, Y:-40.81, Z:-20.92 [[ 9.97258075e-01 5.47129693e-02 4.98279340e-02 2.98841770e+02] [-5.44314937e-02 9.98493044e-01 -6.98950667e-03 -4.08122138e+01] [-5.01352622e-02 4.25813309e-03 9.98733360e-01 -2.09231204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.960714057 meters 0.045775483034331266 Centerline is valid? [True, True] Translation: X:298.87, Y:-40.81, Z:-20.92 [[ 9.97149553e-01 5.60479241e-02 5.05113709e-02 2.98872603e+02] [-5.57604116e-02 9.98419044e-01 -7.08445083e-03 -4.08110007e+01] [-5.08285834e-02 4.24772215e-03 9.98698359e-01 -2.09230898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.990714057 meters 0.0459828427183676 Centerline is valid? [True, True] Translation: X:298.90, Y:-40.81, Z:-20.92 [[ 9.97087425e-01 5.66311364e-02 5.10840597e-02 2.98901890e+02] [-5.63378619e-02 9.98386059e-01 -7.16394725e-03 -4.08145621e+01] [-5.14073156e-02 4.26511501e-03 9.98668662e-01 -2.09247307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.020714057 meters 0.04559668203292809 Centerline is valid? [True, True] Translation: X:298.93, Y:-40.82, Z:-20.93 [[ 9.96966542e-01 5.87665903e-02 5.10313729e-02 2.98931247e+02] [-5.84767922e-02 9.98263129e-01 -7.15471486e-03 -4.08173915e+01] [-5.13631962e-02 4.14886034e-03 9.98671422e-01 -2.09259493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.050714057 meters 0.05231627131219168 Centerline is valid? [True, True] Translation: X:298.96, Y:-40.83, Z:-20.93 [[ 9.96944254e-01 5.95498538e-02 5.05565923e-02 2.98957815e+02] [-5.92665238e-02 9.98217042e-01 -7.08628793e-03 -4.08308238e+01] [-5.08884395e-02 4.06832055e-03 9.98696058e-01 -2.09291571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.080714057 meters 0.04657810208109282 Centerline is valid? [True, True] Translation: X:298.99, Y:-40.83, Z:-20.93 [[ 9.96917934e-01 6.11462620e-02 4.91504671e-02 2.98988699e+02] [-6.08804816e-02 9.98121297e-01 -6.88787694e-03 -4.08269251e+01] [-4.94792959e-02 3.87434394e-03 9.98767635e-01 -2.09325224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.110714057 meters 0.04758880249926131 Centerline is valid? [True, True] Translation: X:299.02, Y:-40.83, Z:-20.93 [[ 9.96930402e-01 6.16791288e-02 4.82230138e-02 2.99016388e+02] [-6.14239307e-02 9.98088892e-01 -6.75754971e-03 -4.08325269e+01] [-4.85476542e-02 3.77475969e-03 9.98813735e-01 -2.09348882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.140714057 meters 0.04661635320908101 Centerline is valid? [True, True] Translation: X:299.05, Y:-40.83, Z:-20.94 [[ 9.96903812e-01 6.22579097e-02 4.80285587e-02 2.99045431e+02] [-6.20055969e-02 9.98053132e-01 -6.72695257e-03 -4.08349389e+01] [-4.83538594e-02 3.72808521e-03 9.98823311e-01 -2.09370316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.170714057 meters 0.04622055631605742 Centerline is valid? [True, True] Translation: X:299.07, Y:-40.84, Z:-20.94 [[ 9.96860984e-01 6.25418939e-02 4.85457625e-02 2.99073814e+02] [-6.22846152e-02 9.98035291e-01 -6.79594776e-03 -4.08378669e+01] [-4.88754157e-02 3.75096103e-03 9.98797839e-01 -2.09378361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.200714057 meters 0.04741063497218345 Centerline is valid? [True, True] Translation: X:299.10, Y:-40.84, Z:-20.94 [[ 9.96717253e-01 6.44074496e-02 4.90550420e-02 2.99102324e+02] [-6.41471701e-02 9.97916847e-01 -6.86347158e-03 -4.08427510e+01] [-4.93949115e-02 3.69419842e-03 9.98772494e-01 -2.09382940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.230714057 meters 0.046555077353468775 Centerline is valid? [True, True] Translation: X:299.13, Y:-40.85, Z:-20.94 [[ 9.96586082e-01 6.65492121e-02 4.88608488e-02 2.99131960e+02] [-6.62936328e-02 9.97776750e-01 -6.83460826e-03 -4.08451811e+01] [-4.92070567e-02 3.57211230e-03 9.98782211e-01 -2.09407790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.26071405700003 meters 0.047387747947320744 Centerline is valid? [True, True] Translation: X:299.16, Y:-40.85, Z:-20.94 [[ 9.96535360e-01 6.75432577e-02 4.85302543e-02 2.99159458e+02] [-6.72923592e-02 9.97710215e-01 -6.78716316e-03 -4.08505716e+01] [-4.88775576e-02 3.49793278e-03 9.98798653e-01 -2.09430587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.290714057 meters 0.0471528936144756 Centerline is valid? [True, True] Translation: X:299.19, Y:-40.85, Z:-20.95 [[ 9.96514510e-01 6.80426052e-02 4.82600749e-02 2.99187822e+02] [-6.77952828e-02 9.97676452e-01 -6.74515828e-03 -4.08539673e+01] [-4.86068985e-02 3.44984267e-03 9.98812028e-01 -2.09455097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.32071405700003 meters 0.04687227280141718 Centerline is valid? [True, True] Translation: X:299.22, Y:-40.86, Z:-20.95 [[ 9.96464529e-01 6.89569133e-02 4.79936013e-02 2.99216573e+02] [-6.87135275e-02 9.97613902e-01 -6.70469735e-03 -4.08579615e+01] [-4.83414191e-02 3.38318345e-03 9.98825140e-01 -2.09479890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.350714057 meters 0.047175706205124235 Centerline is valid? [True, True] Translation: X:299.25, Y:-40.86, Z:-20.95 [[ 9.96444107e-01 6.90876647e-02 4.82290025e-02 2.99245298e+02] [-6.88421940e-02 9.97604832e-01 -6.73432144e-03 -4.08621795e+01] [-4.85787445e-02 3.39018457e-03 9.98813602e-01 -2.09499004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.38071405700003 meters 0.04473276216233379 Centerline is valid? [True, True] Translation: X:299.27, Y:-40.86, Z:-20.95 [[ 9.96397528e-01 6.93363980e-02 4.88306265e-02 2.99274544e+02] [-6.90852180e-02 9.97587484e-01 -6.81503280e-03 -4.08630334e+01] [-4.91853517e-02 3.41700736e-03 9.98783823e-01 -2.09495187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.410714057 meters 0.04241242238874754 Centerline is valid? [True, True] Translation: X:299.30, Y:-40.86, Z:-20.95 [[ 9.96384044e-01 6.91105378e-02 4.94223663e-02 2.99303181e+02] [-6.88531212e-02 9.97602986e-01 -6.89419744e-03 -4.08633777e+01] [-4.97803619e-02 3.46638415e-03 9.98754174e-01 -2.09508745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.44071405700004 meters 0.040536293169159944 Centerline is valid? [True, True] Translation: X:299.33, Y:-40.87, Z:-20.95 [[ 9.96459712e-01 6.78416445e-02 4.96543345e-02 2.99332554e+02] [-6.75804258e-02 9.97689812e-01 -6.92277645e-03 -4.08665763e+01] [-5.00092762e-02 3.54260677e-03 9.98742470e-01 -2.09525015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.470714057 meters 0.0454638271819466 Centerline is valid? [True, True] Translation: X:299.36, Y:-40.88, Z:-20.96 [[ 9.96628284e-01 6.55657217e-02 4.93274775e-02 2.99360240e+02] [-6.53052508e-02 9.97841647e-01 -6.87543166e-03 -4.08793281e+01] [-4.96718040e-02 3.63090637e-03 9.98758994e-01 -2.09555056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.500714057 meters 0.04531820779342856 Centerline is valid? [True, True] Translation: X:299.39, Y:-40.88, Z:-20.96 [[ 9.96726077e-01 6.44608451e-02 4.88049853e-02 2.99389333e+02] [-6.42046377e-02 9.97913580e-01 -6.80086299e-03 -4.08840593e+01] [-4.91415470e-02 3.64509109e-03 9.98785173e-01 -2.09575548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.530714057 meters 0.04487550994480889 Centerline is valid? [True, True] Translation: X:299.42, Y:-40.89, Z:-20.96 [[ 9.96819695e-01 6.33815578e-02 4.83039769e-02 2.99418446e+02] [-6.31294107e-02 9.97982662e-01 -6.72937971e-03 -4.08886367e+01] [-4.86330500e-02 3.65857663e-03 9.98810013e-01 -2.09598410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.560714057 meters 0.04581018145944259 Centerline is valid? [True, True] Translation: X:299.45, Y:-40.90, Z:-20.96 [[ 9.97038512e-01 6.06665424e-02 4.72628397e-02 2.99448075e+02] [-6.04222210e-02 9.98151205e-01 -6.58236057e-03 -4.08963515e+01] [-4.75747894e-02 3.70714125e-03 9.98860799e-01 -2.09636383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.590714057 meters 0.04698706730576728 Centerline is valid? [True, True] Translation: X:299.48, Y:-40.90, Z:-20.97 [[ 9.97132849e-01 5.95093840e-02 4.67409264e-02 2.99477130e+02] [-5.92691536e-02 9.98220811e-01 -6.51004454e-03 -4.09039034e+01] [-4.70451742e-02 3.72108411e-03 9.98885832e-01 -2.09657431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.620714057 meters 0.04966396098177666 Centerline is valid? [True, True] Translation: X:299.51, Y:-40.91, Z:-20.97 [[ 9.97267142e-01 5.74784591e-02 4.64163084e-02 2.99505598e+02] [-5.72394570e-02 9.98339558e-01 -6.46302535e-03 -4.09138953e+01] [-4.67107216e-02 3.78851853e-03 9.98901274e-01 -2.09687923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.650714057 meters 0.049478950948437246 Centerline is valid? [True, True] Translation: X:299.54, Y:-40.92, Z:-20.97 [[ 9.97329232e-01 5.70509887e-02 4.56024908e-02 2.99535049e+02] [-5.68198859e-02 9.98364257e-01 -6.34910014e-03 -4.09188256e+01] [-4.58901193e-02 3.74101485e-03 9.98939489e-01 -2.09710522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.680714057 meters 0.048473499715868576 Centerline is valid? [True, True] Translation: X:299.56, Y:-40.92, Z:-20.97 [[ 9.97360309e-01 5.65229732e-02 4.55803434e-02 2.99564459e+02] [-5.62916199e-02 9.98394212e-01 -6.34444200e-03 -4.09214238e+01] [-4.58657577e-02 3.76190327e-03 9.98940529e-01 -2.09725585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.710714057 meters 0.05085535123238577 Centerline is valid? [True, True] Translation: X:299.59, Y:-40.93, Z:-20.97 [[ 9.97320514e-01 5.65063953e-02 4.64630980e-02 2.99592427e+02] [-5.62660454e-02 9.98394876e-01 -6.46565167e-03 -4.09297389e+01] [-4.67538696e-02 3.83403226e-03 9.98899082e-01 -2.09744320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.740714057 meters 0.05292152461529525 Centerline is valid? [True, True] Translation: X:299.62, Y:-40.94, Z:-20.98 [[ 9.97244575e-01 5.68708238e-02 4.76336782e-02 2.99620834e+02] [-5.66187020e-02 9.98373883e-01 -6.62665024e-03 -4.09390069e+01] [-4.79330834e-02 3.91143397e-03 9.98842891e-01 -2.09763707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.770714057 meters 0.05382292547187949 Centerline is valid? [True, True] Translation: X:299.65, Y:-40.95, Z:-20.98 [[ 9.97252542e-01 5.63516918e-02 4.80817440e-02 2.99649341e+02] [-5.60942707e-02 9.98403080e-01 -6.68753834e-03 -4.09451778e+01] [-4.83818153e-02 3.97205425e-03 9.98821016e-01 -2.09770032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.800714057 meters 0.051296732081793445 Centerline is valid? [True, True] Translation: X:299.68, Y:-40.95, Z:-20.98 [[ 9.97241812e-01 5.62526163e-02 4.84191222e-02 2.99680067e+02] [-5.59913087e-02 9.98408524e-01 -6.73736849e-03 -4.09467953e+01] [-4.87210590e-02 4.00773554e-03 9.98804383e-01 -2.09777272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.830714057 meters 0.05157307099365353 Centerline is valid? [True, True] Translation: X:299.71, Y:-40.95, Z:-20.98 [[ 9.97286124e-01 5.53846325e-02 4.85069975e-02 2.99709555e+02] [-5.51213481e-02 9.98456848e-01 -6.74974741e-03 -4.09517172e+01] [-4.88059762e-02 4.05765833e-03 9.98800036e-01 -2.09790940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.860714057 meters 0.05018304745145763 Centerline is valid? [True, True] Translation: X:299.74, Y:-40.96, Z:-20.98 [[ 9.97319888e-01 5.40508726e-02 4.93106958e-02 2.99739434e+02] [-5.37772069e-02 9.98529390e-01 -6.86072066e-03 -4.09561998e+01] [-4.96090069e-02 4.19054167e-03 9.98759924e-01 -2.09798468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.890714057 meters 0.05024921278059357 Centerline is valid? [True, True] Translation: X:299.77, Y:-40.96, Z:-20.98 [[ 9.97405319e-01 5.25009109e-02 4.92573141e-02 2.99769956e+02] [-5.22260201e-02 9.98611782e-01 -6.85213815e-03 -4.09619227e+01] [-4.95486777e-02 4.26184557e-03 9.98762617e-01 -2.09821116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.920714057 meters 0.05457571369796871 Centerline is valid? [True, True] Translation: X:299.80, Y:-40.98, Z:-20.99 [[ 9.97556639e-01 4.95610269e-02 4.92387710e-02 2.99797988e+02] [-4.92827480e-02 9.98761374e-01 -6.85043196e-03 -4.09765311e+01] [-4.95172970e-02 4.40707194e-03 9.98763543e-01 -2.09854727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.950714057 meters 0.05406102301489244 Centerline is valid? [True, True] Translation: X:299.83, Y:-40.98, Z:-20.99 [[ 9.97634310e-01 4.80083423e-02 4.92034878e-02 2.99828429e+02] [-4.77285587e-02 9.98836881e-01 -6.84616344e-03 -4.09821471e+01] [-4.94749312e-02 4.48155598e-03 9.98765311e-01 -2.09878844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.980714057 meters 0.05476407259950786 Centerline is valid? [True, True] Translation: X:299.86, Y:-40.99, Z:-20.99 [[ 9.97817553e-01 4.53252019e-02 4.80182968e-02 2.99858416e+02] [-4.50555455e-02 9.98962124e-01 -6.68382094e-03 -4.09906946e+01] [-4.82714053e-02 4.50574329e-03 9.98824093e-01 -2.09905193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.01071405700003 meters 0.05726327825306293 Centerline is valid? [True, True] Translation: X:299.89, Y:-41.00, Z:-20.99 [[ 9.97971375e-01 4.29636184e-02 4.69815056e-02 2.99887019e+02] [-4.27028844e-02 9.99066411e-01 -6.53984486e-03 -4.10010053e+01] [-4.72186196e-02 4.52033217e-03 9.98874351e-01 -2.09935575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.040714057 meters 0.05575886414848969 Centerline is valid? [True, True] Translation: X:299.92, Y:-41.00, Z:-21.00 [[ 9.98038866e-01 4.19298298e-02 4.64791465e-02 2.99919206e+02] [-4.16736092e-02 9.99110339e-01 -6.46837992e-03 -4.10049154e+01] [-4.67090139e-02 4.51874077e-03 9.98898318e-01 -2.09961019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.07071405700003 meters 0.05736527065352815 Centerline is valid? [True, True] Translation: X:299.95, Y:-41.01, Z:-21.00 [[ 9.98080070e-01 4.15440990e-02 4.59375835e-02 2.99949363e+02] [-4.12933517e-02 9.99126604e-01 -6.39439710e-03 -4.10135188e+01] [-4.61631113e-02 4.48520352e-03 9.98923846e-01 -2.09986496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.100714057 meters 0.055030468935555674 Centerline is valid? [True, True] Translation: X:299.98, Y:-41.02, Z:-21.00 [[ 9.98189491e-01 3.98886196e-02 4.50181868e-02 2.99979814e+02] [-3.96455842e-02 9.99194076e-01 -6.27894710e-03 -4.10174560e+01] [-4.52323641e-02 4.48280669e-03 9.98966435e-01 -2.10014348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.13071405700003 meters 0.05981826729243954 Centerline is valid? [True, True] Translation: X:300.01, Y:-41.03, Z:-21.00 [[ 9.98179761e-01 3.99475457e-02 4.51813892e-02 3.00009191e+02] [-3.97028832e-02 9.99191669e-01 -6.29994686e-03 -4.10300877e+01] [-4.53965351e-02 4.49464803e-03 9.98958934e-01 -2.10037934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.160714057 meters 0.06093285235046407 Centerline is valid? [True, True] Translation: X:300.04, Y:-41.04, Z:-21.01 [[ 9.98143456e-01 4.01071759e-02 4.58372776e-02 3.00041208e+02] [-3.98550458e-02 9.99184965e-01 -6.40164625e-03 -4.10378327e+01] [-4.60566705e-02 4.56291451e-03 9.98928407e-01 -2.10054767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.19071405700004 meters 0.054198254815689705 Centerline is valid? [True, True] Translation: X:300.07, Y:-41.03, Z:-21.01 [[ 9.98043396e-01 4.20852334e-02 4.62408234e-02 3.00072914e+02] [-4.18300135e-02 9.99103769e-01 -6.47364372e-03 -4.10327164e+01] [-4.64718258e-02 4.52672309e-03 9.98909344e-01 -2.10053621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.220714057 meters 0.05655362370933008 Centerline is valid? [True, True] Translation: X:300.10, Y:-41.04, Z:-21.01 [[ 9.97951357e-01 4.39924452e-02 4.64516249e-02 3.00102257e+02] [-4.37368880e-02 9.99021912e-01 -6.50418359e-03 -4.10400742e+01] [-4.66923260e-02 4.45920932e-03 9.98899365e-01 -2.10073330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.250714057 meters 0.05130163797988936 Centerline is valid? [True, True] Translation: X:300.13, Y:-41.04, Z:-21.01 [[ 9.97856474e-01 4.62256960e-02 4.63210829e-02 3.00134071e+02] [-4.59739668e-02 9.98921583e-01 -6.48570786e-03 -4.10367497e+01] [-4.65709358e-02 4.34224165e-03 9.98905548e-01 -2.10081020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.280714057 meters 0.04880146052909105 Centerline is valid? [True, True] Translation: X:300.16, Y:-41.04, Z:-21.01 [[ 9.97601566e-01 5.07310233e-02 4.70901162e-02 3.00164761e+02] [-5.04757807e-02 9.98703514e-01 -6.59444824e-03 -4.10368380e+01] [-4.73636077e-02 4.20172151e-03 9.98868877e-01 -2.10095085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.310714057 meters 0.04690653411526213 Centerline is valid? [True, True] Translation: X:300.20, Y:-41.04, Z:-21.01 [[ 9.97436719e-01 5.32850864e-02 4.77565725e-02 3.00195243e+02] [-5.30254677e-02 9.98570766e-01 -6.68768474e-03 -4.10382640e+01] [-4.80446711e-02 4.13822773e-03 9.98836616e-01 -2.10104673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.340714057 meters 0.046604366587716606 Centerline is valid? [True, True] Translation: X:300.23, Y:-41.04, Z:-21.01 [[ 9.97127125e-01 5.80960612e-02 4.86039571e-02 3.00225232e+02] [-5.78328070e-02 9.98303080e-01 -6.80636379e-03 -4.10403546e+01] [-4.89169030e-02 3.97590668e-03 9.98794938e-01 -2.10119693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.370714057 meters 0.04924042577228668 Centerline is valid? [True, True] Translation: X:300.25, Y:-41.05, Z:-21.01 [[ 9.96994496e-01 6.04021074e-02 4.85135013e-02 3.00253822e+02] [-6.01425404e-02 9.98166679e-01 -6.79376176e-03 -4.10481707e+01] [-4.88349180e-02 3.85561788e-03 9.98799422e-01 -2.10137567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.400714057 meters 0.0440908035116521 Centerline is valid? [True, True] Translation: X:300.29, Y:-41.04, Z:-21.02 [[ 9.96779569e-01 6.41919281e-02 4.80612852e-02 3.00285331e+02] [-6.39416053e-02 9.97930952e-01 -6.72945200e-03 -4.10431793e+01] [-4.83938206e-02 3.63466454e-03 9.98821719e-01 -2.10152792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.430714057 meters 0.04404656811673618 Centerline is valid? [True, True] Translation: X:300.31, Y:-41.05, Z:-21.02 [[ 9.96606767e-01 6.72302958e-02 4.74872510e-02 3.00314367e+02] [-6.69893428e-02 9.97731535e-01 -6.64923367e-03 -4.10458578e+01] [-4.78265578e-02 3.44553154e-03 9.98849713e-01 -2.10182817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.460714057 meters 0.043649169976396285 Centerline is valid? [True, True] Translation: X:300.34, Y:-41.05, Z:-21.02 [[ 9.96529683e-01 6.81199830e-02 4.78357463e-02 3.00342894e+02] [-6.78765623e-02 9.97671252e-01 -6.69665603e-03 -4.10482537e+01] [-4.81805250e-02 3.42649049e-03 9.98832767e-01 -2.10198749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.490714057 meters 0.044100379706225636 Centerline is valid? [True, True] Translation: X:300.37, Y:-41.05, Z:-21.02 [[ 9.96442365e-01 6.92190601e-02 4.80763480e-02 3.00371060e+02] [-6.89746185e-02 9.97595735e-01 -6.72694971e-03 -4.10510322e+01] [-4.84263928e-02 3.38696992e-03 9.98821011e-01 -2.10208083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.520714057 meters 0.040492105317281105 Centerline is valid? [True, True] Translation: X:300.40, Y:-41.05, Z:-21.02 [[ 9.96389736e-01 7.00287796e-02 4.79944260e-02 3.00401171e+02] [-6.97862733e-02 9.97539385e-01 -6.71201687e-03 -4.10464038e+01] [-4.83463646e-02 3.33843258e-03 9.98825052e-01 -2.10220020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.550714057 meters 0.045280598453691735 Centerline is valid? [True, True] Translation: X:300.43, Y:-41.06, Z:-21.03 [[ 9.96388508e-01 6.99439414e-02 4.81434009e-02 3.00427961e+02] [-6.96999386e-02 9.97545296e-01 -6.73055711e-03 -4.10568180e+01] [-4.84959848e-02 3.35065767e-03 9.98817757e-01 -2.10258943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.580714057 meters 0.04243289021455114 Centerline is valid? [True, True] Translation: X:300.46, Y:-41.06, Z:-21.03 [[ 9.96451478e-01 6.89435819e-02 4.82828525e-02 3.00456987e+02] [-6.86972151e-02 9.97614751e-01 -6.74551491e-03 -4.10554633e+01] [-4.86327458e-02 3.40468080e-03 9.98810925e-01 -2.10268657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.610714057 meters 0.04243289021455114 Centerline is valid? [True, True] Translation: X:300.49, Y:-41.06, Z:-21.03 [[ 9.96456245e-01 6.88743255e-02 4.82833201e-02 3.00485052e+02] [-6.86280393e-02 9.97619534e-01 -6.74216623e-03 -4.10593196e+01] [-4.86327455e-02 3.40468406e-03 9.98810925e-01 -2.10285088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.640714057 meters 0.04241050148008784 Centerline is valid? [True, True] Translation: X:300.51, Y:-41.06, Z:-21.03 [[ 9.96498306e-01 6.74582616e-02 4.94015001e-02 3.00514292e+02] [-6.71988863e-02 9.97715779e-01 -6.89443772e-03 -4.10630781e+01] [-4.97537430e-02 3.55056972e-03 9.98755204e-01 -2.10300310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.670714057 meters 0.04135359232780239 Centerline is valid? [True, True] Translation: X:300.54, Y:-41.06, Z:-21.03 [[ 9.96500192e-01 6.73337945e-02 4.95330884e-02 3.00543602e+02] [-6.70729554e-02 9.97724136e-01 -6.91132029e-03 -4.10643866e+01] [-4.98857232e-02 3.56480137e-03 9.98748570e-01 -2.10312057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.700714057 meters 0.04178797288656998 Centerline is valid? [True, True] Translation: X:300.57, Y:-41.07, Z:-21.03 [[ 9.96491973e-01 6.73408500e-02 4.96886125e-02 3.00572082e+02] [-6.70785574e-02 9.97723634e-01 -6.92942526e-03 -4.10655245e+01] [-5.00421364e-02 3.57207621e-03 9.98740720e-01 -2.10316964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.730714057 meters 0.04581666641454617 Centerline is valid? [True, True] Translation: X:300.60, Y:-41.07, Z:-21.03 [[ 9.96458510e-01 6.73232669e-02 5.03787236e-02 3.00599051e+02] [-6.70537882e-02 9.97724651e-01 -7.02211332e-03 -4.10748142e+01] [-5.07368460e-02 3.61916031e-03 9.98705499e-01 -2.10329879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.76071405700003 meters 0.04156560250263196 Centerline is valid? [True, True] Translation: X:300.63, Y:-41.07, Z:-21.03 [[ 9.96421664e-01 6.71259047e-02 5.13612641e-02 3.00629084e+02] [-6.68457865e-02 9.97737669e-01 -7.15429886e-03 -4.10706806e+01] [-5.17253067e-02 3.69541428e-03 9.98654513e-01 -2.10334445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.790714057 meters 0.04384586390104425 Centerline is valid? [True, True] Translation: X:300.66, Y:-41.08, Z:-21.04 [[ 9.96468843e-01 6.65109943e-02 5.12457968e-02 3.00656590e+02] [-6.62315179e-02 9.97778775e-01 -7.13452620e-03 -4.10766362e+01] [-5.16064928e-02 3.71524617e-03 9.98660586e-01 -2.10354275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.82071405700003 meters 0.04304483504006981 Centerline is valid? [True, True] Translation: X:300.69, Y:-41.08, Z:-21.04 [[ 9.96465561e-01 6.61853982e-02 5.17288964e-02 3.00685756e+02] [-6.59003807e-02 9.97800245e-01 -7.19803886e-03 -4.10771375e+01] [-5.20915105e-02 3.76364387e-03 9.98635223e-01 -2.10369897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.850714057 meters 0.04560030360978298 Centerline is valid? [True, True] Translation: X:300.71, Y:-41.08, Z:-21.04 [[ 9.96486040e-01 6.60873413e-02 5.14590654e-02 3.00713966e+02] [-6.58053571e-02 9.97806813e-01 -7.15675136e-03 -4.10838722e+01] [-5.18191767e-02 3.74532065e-03 9.98649461e-01 -2.10389313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.88071405700003 meters 0.044854210689190675 Centerline is valid? [True, True] Translation: X:300.74, Y:-41.08, Z:-21.04 [[ 9.96534550e-01 6.63959963e-02 5.01045044e-02 3.00742524e+02] [-6.61291895e-02 9.97786754e-01 -6.96591212e-03 -4.10837593e+01] [-5.04561195e-02 3.62840184e-03 9.98719688e-01 -2.10419063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.910714057 meters 0.04637321248294125 Centerline is valid? [True, True] Translation: X:300.77, Y:-41.09, Z:-21.04 [[ 9.96557232e-01 6.65774832e-02 4.94077201e-02 3.00770103e+02] [-6.63184367e-02 9.97774887e-01 -6.86579185e-03 -4.10886750e+01] [-4.97548895e-02 3.56551175e-03 9.98755094e-01 -2.10442231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.94071405700004 meters 0.04537633791139031 Centerline is valid? [True, True] Translation: X:300.80, Y:-41.09, Z:-21.05 [[ 9.96535997e-01 6.71167414e-02 4.91054945e-02 3.00799108e+02] [-6.68617247e-02 9.97738946e-01 -6.81942847e-03 -4.10881187e+01] [-4.94521622e-02 3.51252789e-03 9.98770317e-01 -2.10458693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.970714057 meters 0.045823760735603895 Centerline is valid? [True, True] Translation: X:300.83, Y:-41.09, Z:-21.05 [[ 9.96446272e-01 6.79527224e-02 4.97720224e-02 3.00827896e+02] [-6.76919400e-02 9.97682351e-01 -6.90851194e-03 -4.10915473e+01] [-5.01261206e-02 3.51479621e-03 9.98736711e-01 -2.10473914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.000714057 meters 0.045352536992687216 Centerline is valid? [True, True] Translation: X:300.86, Y:-41.09, Z:-21.05 [[ 9.96228717e-01 7.03680013e-02 5.07610878e-02 3.00856862e+02] [-7.01000500e-02 9.97515109e-01 -7.04204120e-03 -4.10924574e+01] [-5.11304864e-02 3.45712888e-03 9.98685998e-01 -2.10484476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.030714057 meters 0.045562891660681934 Centerline is valid? [True, True] Translation: X:300.88, Y:-41.10, Z:-21.05 [[ 9.96127892e-01 7.18118539e-02 5.07176584e-02 3.00884114e+02] [-7.15462940e-02 9.97412473e-01 -7.03462800e-03 -4.10956005e+01] [-5.10915948e-02 3.37872866e-03 9.98688256e-01 -2.10499763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.060714057 meters 0.045145102149578245 Centerline is valid? [True, True] Translation: X:300.91, Y:-41.10, Z:-21.05 [[ 9.95924756e-01 7.39380988e-02 5.16433779e-02 3.00913148e+02] [-7.36658337e-02 9.97257290e-01 -7.15833559e-03 -4.10958763e+01] [-5.20310088e-02 3.32481114e-03 9.98639935e-01 -2.10516945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.090714057 meters 0.041587340763967494 Centerline is valid? [True, True] Translation: X:300.94, Y:-41.09, Z:-21.05 [[ 9.95765761e-01 7.55418147e-02 5.23830395e-02 3.00942814e+02] [-7.52639785e-02 9.97137221e-01 -7.25926332e-03 -4.10932247e+01] [-5.27814564e-02 3.28596990e-03 9.98600681e-01 -2.10518949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.120714057 meters 0.039121501611104254 Centerline is valid? [True, True] Translation: X:300.97, Y:-41.09, Z:-21.05 [[ 9.95578462e-01 7.72515544e-02 5.34389660e-02 3.00972437e+02] [-7.69650417e-02 9.97006316e-01 -7.40189711e-03 -4.10903677e+01] [-5.38507947e-02 3.25623709e-03 9.98543684e-01 -2.10526251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.150714057 meters 0.041647084211314356 Centerline is valid? [True, True] Translation: X:301.00, Y:-41.10, Z:-21.05 [[ 9.95478247e-01 7.81928853e-02 5.39345204e-02 3.00999477e+02] [-7.79026047e-02 9.96933012e-01 -7.46683755e-03 -4.10976247e+01] [-5.43529574e-02 3.23143474e-03 9.98516557e-01 -2.10542939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.180714057 meters 0.0413491492848809 Centerline is valid? [True, True] Translation: X:301.03, Y:-41.10, Z:-21.06 [[ 9.95386737e-01 7.96176633e-02 5.35375691e-02 3.01027597e+02] [-7.93339495e-02 9.96820575e-01 -7.40720423e-03 -4.11002069e+01] [-5.39570947e-02 3.12568604e-03 9.98538363e-01 -2.10567566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.210714057 meters 0.03815675114197696 Centerline is valid? [True, True] Translation: X:301.06, Y:-41.10, Z:-21.06 [[ 9.95427865e-01 7.94566440e-02 5.30095065e-02 3.01056476e+02] [-7.91784660e-02 9.96833503e-01 -7.33063747e-03 -4.10981431e+01] [-5.34241199e-02 3.09990940e-03 9.98567100e-01 -2.10591984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.240714057 meters 0.038807970908593475 Centerline is valid? [True, True] Translation: X:301.09, Y:-41.10, Z:-21.06 [[ 9.95631379e-01 7.80473146e-02 5.12520577e-02 3.01085480e+02] [-7.77856253e-02 9.96944941e-01 -7.08393009e-03 -4.11026590e+01] [-5.16483613e-02 3.06630973e-03 9.98660625e-01 -2.10630551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.270714057 meters 0.0403016193144023 Centerline is valid? [True, True] Translation: X:301.11, Y:-41.11, Z:-21.07 [[ 9.95820274e-01 7.61608758e-02 5.04133118e-02 3.01112842e+02] [-7.59053595e-02 9.97090690e-01 -6.96649892e-03 -4.11101798e+01] [-5.07972185e-02 3.11074032e-03 9.98704143e-01 -2.10656895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.300714057 meters 0.038357629630107914 Centerline is valid? [True, True] Translation: X:301.14, Y:-41.11, Z:-21.07 [[ 9.95878740e-01 7.50736040e-02 5.08870163e-02 3.01142010e+02] [-7.48120289e-02 9.97172885e-01 -7.02837809e-03 -4.11119283e+01] [-5.12707985e-02 3.19245139e-03 9.98679685e-01 -2.10671290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.330714057 meters 0.04092277670233536 Centerline is valid? [True, True] Translation: X:301.17, Y:-41.12, Z:-21.07 [[ 9.96092923e-01 7.22785448e-02 5.07415100e-02 3.01169887e+02] [-7.20150614e-02 9.97378951e-01 -7.00424892e-03 -4.11197649e+01] [-5.11147709e-02 3.32272982e-03 9.98687258e-01 -2.10688860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.360714057 meters 0.04326602536322093 Centerline is valid? [True, True] Translation: X:301.20, Y:-41.13, Z:-21.07 [[ 9.96119289e-01 7.13076581e-02 5.15904953e-02 3.01196730e+02] [-7.10339805e-02 9.97448474e-01 -7.12139985e-03 -4.11276338e+01] [-5.19666712e-02 3.42908552e-03 9.98642932e-01 -2.10700582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.390714057 meters 0.044248809563041835 Centerline is valid? [True, True] Translation: X:301.23, Y:-41.13, Z:-21.07 [[ 9.96329852e-01 6.77976261e-02 5.22523502e-02 3.01226138e+02] [-6.75123348e-02 9.97692404e-01 -7.20775319e-03 -4.11327132e+01] [-5.26204415e-02 3.65362151e-03 9.98607901e-01 -2.10709712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.420714057 meters 0.045392958625992436 Centerline is valid? [True, True] Translation: X:301.25, Y:-41.14, Z:-21.07 [[ 9.96416531e-01 6.66017561e-02 5.21373410e-02 3.01254917e+02] [-6.63161200e-02 9.97772748e-01 -7.19137048e-03 -4.11391238e+01] [-5.25001759e-02 3.70805427e-03 9.98614030e-01 -2.10726458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.450714057 meters 0.04814317527900123 Centerline is valid? [True, True] Translation: X:301.28, Y:-41.15, Z:-21.07 [[ 9.96563117e-01 6.33091704e-02 5.34219361e-02 3.01283564e+02] [-6.30046712e-02 9.97986044e-01 -7.36658156e-03 -4.11487512e+01] [-5.37807189e-02 3.97543196e-03 9.98544856e-01 -2.10743444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.480714057 meters 0.04990371897640567 Centerline is valid? [True, True] Translation: X:301.31, Y:-41.16, Z:-21.08 [[ 9.96704074e-01 6.14989126e-02 5.29043664e-02 3.01312628e+02] [-6.11977894e-02 9.98099003e-01 -7.29462036e-03 -4.11560583e+01] [-5.32524065e-02 4.03294756e-03 9.98572940e-01 -2.10770263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.51071405700003 meters 0.05059764661307661 Centerline is valid? [True, True] Translation: X:301.34, Y:-41.16, Z:-21.08 [[ 9.96948434e-01 5.90120895e-02 5.11017837e-02 3.01341542e+02] [-5.87279286e-02 9.98249161e-01 -7.04578910e-03 -4.11626456e+01] [-5.14280994e-02 4.02318651e-03 9.98668596e-01 -2.10804092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.540714057 meters 0.047551403289329 Centerline is valid? [True, True] Translation: X:301.37, Y:-41.16, Z:-21.08 [[ 9.97021968e-01 5.81264017e-02 5.06805376e-02 3.01371790e+02] [-5.78458126e-02 9.98301079e-01 -6.98697508e-03 -4.11627227e+01] [-5.10005631e-02 4.03451076e-03 9.98690475e-01 -2.10823766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.57071405700003 meters 0.051232412545029984 Centerline is valid? [True, True] Translation: X:301.40, Y:-41.17, Z:-21.08 [[ 9.97111356e-01 5.70620618e-02 5.01284896e-02 3.01400382e+02] [-5.67863176e-02 9.98362449e-01 -6.90899724e-03 -4.11733077e+01] [-5.04406433e-02 4.04242727e-03 9.98718880e-01 -2.10844615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.600714057 meters 0.053233021756583725 Centerline is valid? [True, True] Translation: X:301.43, Y:-41.18, Z:-21.09 [[ 9.97137575e-01 5.66846560e-02 5.00350594e-02 3.01429145e+02] [-5.64095126e-02 9.98383905e-01 -6.89523792e-03 -4.11812424e+01] [-5.03450522e-02 4.05304750e-03 9.98723660e-01 -2.10868764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.63071405700003 meters 0.0463733885149308 Centerline is valid? [True, True] Translation: X:301.46, Y:-41.18, Z:-21.09 [[ 9.97106827e-01 5.69967659e-02 5.02925844e-02 3.01460179e+02] [-5.67192239e-02 9.98366119e-01 -6.92974079e-03 -4.11764246e+01] [-5.06053851e-02 4.05713550e-03 9.98710486e-01 -2.10873722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.660714057 meters 0.04647221057737509 Centerline is valid? [True, True] Translation: X:301.49, Y:-41.18, Z:-21.09 [[ 9.97093100e-01 5.77766719e-02 4.96709692e-02 3.01490272e+02] [-5.75069166e-02 9.98321648e-01 -6.84408936e-03 -4.11807320e+01] [-4.99830326e-02 3.96776999e-03 9.98742186e-01 -2.10894181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.69071405700004 meters 0.045394977318582316 Centerline is valid? [True, True] Translation: X:301.52, Y:-41.18, Z:-21.09 [[ 9.97104008e-01 5.79934188e-02 4.91971707e-02 3.01520258e+02] [-5.77290382e-02 9.98309272e-01 -6.77909630e-03 -4.11831773e+01] [-4.95071346e-02 3.91935875e-03 9.98766080e-01 -2.10916097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.720714057 meters 0.04822265219103614 Centerline is valid? [True, True] Translation: X:301.55, Y:-41.19, Z:-21.10 [[ 9.97068975e-01 5.86866766e-02 4.90849534e-02 3.01548292e+02] [-5.84244304e-02 9.98268934e-01 -6.76172924e-03 -4.11921125e+01] [-4.93968076e-02 3.87415000e-03 9.98771719e-01 -2.10950100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.750714057 meters 0.04737449540273215 Centerline is valid? [True, True] Translation: X:301.58, Y:-41.19, Z:-21.10 [[ 9.97065990e-01 5.87963988e-02 4.90142288e-02 3.01578064e+02] [-5.85350762e-02 9.98262523e-01 -6.75125809e-03 -4.11949144e+01] [-4.93260174e-02 3.86239821e-03 9.98775263e-01 -2.10965179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.780714057 meters 0.04594184076438442 Centerline is valid? [True, True] Translation: X:301.61, Y:-41.20, Z:-21.10 [[ 9.97062550e-01 5.87159442e-02 4.91803659e-02 3.01607821e+02] [-5.84528333e-02 9.98267199e-01 -6.77242008e-03 -4.11968308e+01] [-4.94927952e-02 3.87779470e-03 9.98766953e-01 -2.10976868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.810714057 meters 0.047963086468513695 Centerline is valid? [True, True] Translation: X:301.64, Y:-41.20, Z:-21.10 [[ 9.97008240e-01 5.86421823e-02 5.03553725e-02 3.01636336e+02] [-5.83663406e-02 9.98271163e-01 -6.93226755e-03 -4.12031516e+01] [-5.06748395e-02 3.97246905e-03 9.98707305e-01 -2.10986466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.840714057 meters 0.04555345481972987 Centerline is valid? [True, True] Translation: X:301.67, Y:-41.20, Z:-21.10 [[ 9.97049897e-01 5.81764810e-02 5.00699468e-02 3.01666631e+02] [-5.79032153e-02 9.98298410e-01 -6.89223112e-03 -4.12026985e+01] [-5.03857140e-02 3.97268742e-03 9.98721932e-01 -2.10991606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.870714057 meters 0.0518398726494775 Centerline is valid? [True, True] Translation: X:301.69, Y:-41.21, Z:-21.10 [[ 9.97088033e-01 5.81128686e-02 4.93796437e-02 3.01694146e+02] [-5.78471100e-02 9.98302327e-01 -6.79532626e-03 -4.12149032e+01] [-4.96907091e-02 3.91906880e-03 9.98756965e-01 -2.11021158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.900714057 meters 0.05033249098522576 Centerline is valid? [True, True] Translation: X:301.72, Y:-41.22, Z:-21.10 [[ 9.97141399e-01 5.78207855e-02 4.86393510e-02 3.01723973e+02] [-5.75626333e-02 9.98319463e-01 -6.69274596e-03 -4.12166507e+01] [-4.89445906e-02 3.87380495e-03 9.98793983e-01 -2.11042780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.930714057 meters 0.051299977696575204 Centerline is valid? [True, True] Translation: X:301.75, Y:-41.22, Z:-21.11 [[ 9.97180497e-01 5.79178416e-02 4.77135196e-02 3.01753483e+02] [-5.76696282e-02 9.98314146e-01 -6.56358993e-03 -4.12209142e+01] [-4.80132305e-02 3.79346293e-03 9.98839496e-01 -2.11071057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.960714057 meters 0.05280414249255242 Centerline is valid? [True, True] Translation: X:301.78, Y:-41.23, Z:-21.11 [[ 9.97180187e-01 5.80585735e-02 4.75486763e-02 3.01781269e+02] [-5.78122648e-02 9.98306049e-01 -6.54024745e-03 -4.12258978e+01] [-4.78478486e-02 3.77290851e-03 9.98847510e-01 -2.11087258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.990714057 meters 0.05161275553672772 Centerline is valid? [True, True] Translation: X:301.81, Y:-41.23, Z:-21.11 [[ 9.97117862e-01 5.82979974e-02 4.85521627e-02 3.01810992e+02] [-5.80415303e-02 9.98291842e-01 -6.67670826e-03 -4.12274341e+01] [-4.88584667e-02 3.83942325e-03 9.98798333e-01 -2.11102853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.020714057 meters 0.04893693477900696 Centerline is valid? [True, True] Translation: X:301.84, Y:-41.23, Z:-21.11 [[ 9.97146671e-01 5.82083918e-02 4.80655707e-02 3.01840672e+02] [-5.79570184e-02 9.98297208e-01 -6.60820176e-03 -4.12271437e+01] [-4.83683779e-02 3.80360922e-03 9.98822323e-01 -2.11117627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.050714057 meters 0.04780464633601442 Centerline is valid? [True, True] Translation: X:301.87, Y:-41.23, Z:-21.11 [[ 9.97125626e-01 5.90179672e-02 4.75117431e-02 3.01870612e+02] [-5.87733490e-02 9.98249992e-01 -6.53044593e-03 -4.12289418e+01] [-4.78140108e-02 3.71925073e-03 9.98849332e-01 -2.11141074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.080714057 meters 0.04767475076341323 Centerline is valid? [True, True] Translation: X:301.90, Y:-41.23, Z:-21.12 [[ 9.97094880e-01 5.97928119e-02 4.71870785e-02 3.01899646e+02] [-5.95524596e-02 9.98204116e-01 -6.48436875e-03 -4.12318026e+01] [-4.74900546e-02 3.65542429e-03 9.98865022e-01 -2.11160899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.110714057 meters 0.04737283650030554 Centerline is valid? [True, True] Translation: X:301.93, Y:-41.23, Z:-21.12 [[ 9.96917216e-01 6.22480255e-02 4.77624150e-02 3.01928740e+02] [-6.20046990e-02 9.98054294e-01 -6.56075017e-03 -4.12341087e+01] [-4.80778771e-02 3.57903062e-03 9.98837178e-01 -2.11173269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.140714057 meters 0.046806154456233706 Centerline is valid? [True, True] Translation: X:301.96, Y:-41.24, Z:-21.12 [[ 9.96849266e-01 6.36303107e-02 4.73574175e-02 3.01957621e+02] [-6.33927085e-02 9.97967467e-01 -6.50383847e-03 -4.12360591e+01] [-4.76750032e-02 3.48123164e-03 9.98856834e-01 -2.11186394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.170714057 meters 0.046746370374999076 Centerline is valid? [True, True] Translation: X:301.99, Y:-41.24, Z:-21.12 [[ 9.96559582e-01 6.77361600e-02 4.77578463e-02 3.01987022e+02] [-6.74993838e-02 9.97697782e-01 -6.55513112e-03 -4.12381356e+01] [-4.80919167e-02 3.30895353e-03 9.98837433e-01 -2.11196714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.200714057 meters 0.043357499243855485 Centerline is valid? [True, True] Translation: X:302.02, Y:-41.24, Z:-21.12 [[ 9.96410600e-01 6.98002429e-02 4.78940804e-02 3.02017268e+02] [-6.95645233e-02 9.97555799e-01 -6.57301838e-03 -4.12358745e+01] [-4.82358159e-02 3.21769632e-03 9.98830793e-01 -2.11211599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.230714057 meters 0.04257500571230959 Centerline is valid? [True, True] Translation: X:302.05, Y:-41.24, Z:-21.12 [[ 9.96178042e-01 7.38355521e-02 4.66649753e-02 3.02046337e+02] [-7.36162634e-02 9.97266088e-01 -6.40281239e-03 -4.12360463e+01] [-4.70101525e-02 2.94304000e-03 9.98890076e-01 -2.11232500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.26071405700003 meters 0.041207358817719114 Centerline is valid? [True, True] Translation: X:302.08, Y:-41.24, Z:-21.12 [[ 9.95989480e-01 7.63159473e-02 4.66993883e-02 3.02076260e+02] [-7.60991425e-02 9.97079681e-01 -6.40554514e-03 -4.12373213e+01] [-4.70518565e-02 2.82607217e-03 9.98888450e-01 -2.11249176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.290714057 meters 0.03962867190549736 Centerline is valid? [True, True] Translation: X:302.11, Y:-41.24, Z:-21.13 [[ 9.95656185e-01 8.11472598e-02 4.56495732e-02 3.02106965e+02] [-8.09452000e-02 9.96698891e-01 -6.26062472e-03 -4.12360436e+01] [-4.60069115e-02 2.53831589e-03 9.98937896e-01 -2.11267123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.32071405700003 meters 0.034454948354868946 Centerline is valid? [True, True] Translation: X:302.14, Y:-41.23, Z:-21.13 [[ 9.95472710e-01 8.35556359e-02 4.53049533e-02 3.02138453e+02] [-8.33591002e-02 9.96500203e-01 -6.21341997e-03 -4.12299685e+01] [-4.56655614e-02 2.40870988e-03 9.98953880e-01 -2.11265338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.350714057 meters 0.037119759740361705 Centerline is valid? [True, True] Translation: X:302.17, Y:-41.24, Z:-21.13 [[ 9.95025089e-01 8.82107656e-02 4.63026155e-02 3.02166861e+02] [-8.80105317e-02 9.96099308e-01 -6.34943283e-03 -4.12360283e+01] [-4.66820915e-02 2.24272717e-03 9.98907279e-01 -2.11279906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.38071405700003 meters 0.03348166427566452 Centerline is valid? [True, True] Translation: X:302.20, Y:-41.23, Z:-21.13 [[ 9.94762722e-01 9.05613206e-02 4.73895946e-02 3.02197385e+02] [-9.03542741e-02 9.95888492e-01 -6.49748805e-03 -4.12321631e+01] [-4.77831730e-02 2.18160649e-03 9.98855349e-01 -2.11263222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.410714057 meters 0.03268389521630441 Centerline is valid? [True, True] Translation: X:302.23, Y:-41.24, Z:-21.12 [[ 9.94324935e-01 9.37651853e-02 5.02594623e-02 3.02227370e+02] [-9.35364630e-02 9.95592021e-01 -6.88891027e-03 -4.12354993e+01] [-5.06838597e-02 2.14872292e-03 9.98712436e-01 -2.11249500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.44071405700004 meters 0.032937521441953645 Centerline is valid? [True, True] Translation: X:302.26, Y:-41.24, Z:-21.13 [[ 9.94229185e-01 9.39939409e-02 5.17055722e-02 3.02255992e+02] [-9.37521965e-02 9.95570343e-01 -7.08647196e-03 -4.12408679e+01] [-5.21426196e-02 2.19806628e-03 9.98637229e-01 -2.11254470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.470714057 meters 0.03320985988981798 Centerline is valid? [True, True] Translation: X:302.28, Y:-41.25, Z:-21.13 [[ 9.94287201e-01 9.30521370e-02 5.22901645e-02 3.02284025e+02] [-9.28037899e-02 9.95658652e-01 -7.16281460e-03 -4.12464058e+01] [-5.27296698e-02 2.26916944e-03 9.98606245e-01 -2.11267514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.500714057 meters 0.03320985988981798 Centerline is valid? [True, True] Translation: X:302.31, Y:-41.25, Z:-21.13 [[ 9.94296924e-01 9.29479190e-02 5.22906408e-02 3.02311215e+02] [-9.26996107e-02 9.95668382e-01 -7.15933537e-03 -4.12500379e+01] [-5.27295830e-02 2.27118309e-03 9.98606245e-01 -2.11283427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.530714057 meters 0.0334019494872257 Centerline is valid? [True, True] Translation: X:302.34, Y:-41.26, Z:-21.13 [[ 9.94606655e-01 9.01874057e-02 5.12233697e-02 3.02339604e+02] [-8.99457807e-02 9.95922010e-01 -7.00754837e-03 -4.12569962e+01] [-5.16464739e-02 2.36242826e-03 9.98662636e-01 -2.11309849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.560714057 meters 0.03540695881783896 Centerline is valid? [True, True] Translation: X:302.37, Y:-41.27, Z:-21.13 [[ 9.94764673e-01 8.87833239e-02 5.06040183e-02 3.02366215e+02] [-8.85458270e-02 9.96048064e-01 -6.92034333e-03 -4.12666947e+01] [-5.10184455e-02 2.40333842e-03 9.98694819e-01 -2.11338314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.590714057 meters 0.03567698554588336 Centerline is valid? [True, True] Translation: X:302.39, Y:-41.28, Z:-21.14 [[ 9.95120812e-01 8.59715607e-02 4.84093062e-02 3.02394112e+02] [-8.57511356e-02 9.96294622e-01 -6.61575109e-03 -4.12750967e+01] [-4.87986979e-02 2.43231862e-03 9.98805672e-01 -2.11375543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.620714057 meters 0.03848824802257821 Centerline is valid? [True, True] Translation: X:302.42, Y:-41.29, Z:-21.14 [[ 9.95222997e-01 8.54081802e-02 4.72930108e-02 3.02420739e+02] [-8.51972796e-02 9.96343153e-01 -6.46107200e-03 -4.12862659e+01] [-4.76718959e-02 2.40097157e-03 9.98860163e-01 -2.11414108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.650714057 meters 0.038025653702321624 Centerline is valid? [True, True] Translation: X:302.45, Y:-41.29, Z:-21.14 [[ 9.95361288e-01 8.48399948e-02 4.53660847e-02 3.02448910e+02] [-8.46455424e-02 9.96391876e-01 -6.19373418e-03 -4.12924676e+01] [-4.57278746e-02 2.32496638e-03 9.98951228e-01 -2.11443172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.680714057 meters 0.03542400814764385 Centerline is valid? [True, True] Translation: X:302.48, Y:-41.29, Z:-21.14 [[ 9.95296081e-01 8.57057483e-02 4.51689794e-02 3.02478187e+02] [-8.55140112e-02 9.96317902e-01 -6.16376880e-03 -4.12935203e+01] [-4.55309332e-02 2.27219431e-03 9.98960345e-01 -2.11444377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.710714057 meters 0.03946120620562077 Centerline is valid? [True, True] Translation: X:302.50, Y:-41.31, Z:-21.15 [[ 9.95228536e-01 8.64489292e-02 4.52409581e-02 3.02503935e+02] [-8.62574853e-02 9.96253768e-01 -6.17052920e-03 -4.13061792e+01] [-4.56049106e-02 2.23871547e-03 9.98957046e-01 -2.11476711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.740714057 meters 0.03805879476362513 Centerline is valid? [True, True] Translation: X:302.53, Y:-41.31, Z:-21.15 [[ 9.95139010e-01 8.70096276e-02 4.61267303e-02 3.02533134e+02] [-8.68114248e-02 9.96204926e-01 -6.28668378e-03 -4.13091618e+01] [-4.64986780e-02 2.25179709e-03 9.98915813e-01 -2.11487256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.770714057 meters 0.037422689569033045 Centerline is valid? [True, True] Translation: X:302.56, Y:-41.31, Z:-21.15 [[ 9.95158499e-01 8.66023781e-02 4.64713974e-02 3.02561871e+02] [-8.64008595e-02 9.96240334e-01 -6.33147640e-03 -4.13145975e+01] [-4.68450014e-02 2.28565388e-03 9.98899555e-01 -2.11499846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.800714057 meters 0.03502329105102836 Centerline is valid? [True, True] Translation: X:302.59, Y:-41.31, Z:-21.15 [[ 9.95162281e-01 8.62986033e-02 4.69530116e-02 3.02590624e+02] [-8.60926989e-02 9.96266614e-01 -6.39385329e-03 -4.13148734e+01] [-4.73294985e-02 2.32061013e-03 9.98876636e-01 -2.11502253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.830714057 meters 0.03625739197445821 Centerline is valid? [True, True] Translation: X:302.62, Y:-41.32, Z:-21.15 [[ 9.95215014e-01 8.51587313e-02 4.79068455e-02 3.02617511e+02] [-8.49432159e-02 9.96364459e-01 -6.52035034e-03 -4.13242628e+01] [-4.82879430e-02 2.41978903e-03 9.98830526e-01 -2.11508933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.860714057 meters 0.04255173833778511 Centerline is valid? [True, True] Translation: X:302.64, Y:-41.34, Z:-21.15 [[ 9.95486103e-01 8.17935967e-02 4.81375812e-02 3.02644347e+02] [-8.15723225e-02 9.96645924e-01 -6.54667970e-03 -4.13422958e+01] [-4.85116005e-02 2.59043437e-03 9.98819260e-01 -2.11545516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.890714057 meters 0.04035085190093223 Centerline is valid? [True, True] Translation: X:302.67, Y:-41.34, Z:-21.16 [[ 9.95638084e-01 7.99458410e-02 4.80985232e-02 3.02673409e+02] [-7.97227820e-02 9.96795611e-01 -6.54127062e-03 -4.13449855e+01] [-4.84673442e-02 2.67819007e-03 9.98821177e-01 -2.11558998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.920714057 meters 0.04064572138883101 Centerline is valid? [True, True] Translation: X:302.70, Y:-41.35, Z:-21.16 [[ 9.95880548e-01 7.72689367e-02 4.74494084e-02 3.02702986e+02] [-7.70489664e-02 9.97006445e-01 -6.45025981e-03 -4.13514164e+01] [-4.78057707e-02 2.76776040e-03 9.98852816e-01 -2.11581027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.950714057 meters 0.04055528827751285 Centerline is valid? [True, True] Translation: X:302.73, Y:-41.36, Z:-21.16 [[ 9.96383422e-01 7.15042127e-02 4.59045171e-02 3.02732335e+02] [-7.12922862e-02 9.97435952e-01 -6.23948261e-03 -4.13594703e+01] [-4.62329650e-02 2.94427906e-03 9.98926346e-01 -2.11603129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.980714057 meters 0.04228659270320695 Centerline is valid? [True, True] Translation: X:302.76, Y:-41.37, Z:-21.16 [[ 9.96572569e-01 6.89082070e-02 4.57686909e-02 3.02760608e+02] [-6.86948474e-02 9.97618327e-01 -6.22018291e-03 -4.13682337e+01] [-4.60883065e-02 3.05479043e-03 9.98932699e-01 -2.11630799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.01071405700003 meters 0.04824122455469483 Centerline is valid? [True, True] Translation: X:302.79, Y:-41.38, Z:-21.17 [[ 9.96964554e-01 6.37959649e-02 4.46290537e-02 3.02787483e+02] [-6.35880147e-02 9.97957804e-01 -6.06520433e-03 -4.13842373e+01] [-4.49248480e-02 3.20892081e-03 9.98985216e-01 -2.11669107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.040714057 meters 0.04781210485620234 Centerline is valid? [True, True] Translation: X:302.82, Y:-41.39, Z:-21.17 [[ 9.97078122e-01 6.20022856e-02 4.46198915e-02 3.02816948e+02] [-6.17927031e-02 9.98070593e-01 -6.06244557e-03 -4.13887140e+01] [-4.49096870e-02 3.28754814e-03 9.98985642e-01 -2.11681965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.07071405700003 meters 0.04333025432696197 Centerline is valid? [True, True] Translation: X:302.85, Y:-41.39, Z:-21.17 [[ 9.97226505e-01 5.93017772e-02 4.49733009e-02 3.02847634e+02] [-5.90862081e-02 9.98234193e-01 -6.10871027e-03 -4.13876084e+01] [-4.52561441e-02 3.43446597e-03 9.98969512e-01 -2.11679153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.100714057 meters 0.04541745470236279 Centerline is valid? [True, True] Translation: X:302.88, Y:-41.39, Z:-21.17 [[ 9.97248484e-01 5.86435525e-02 4.53474956e-02 3.02875169e+02] [-5.84237103e-02 9.98272875e-01 -6.15935187e-03 -4.13941756e+01] [-4.56303811e-02 3.49303536e-03 9.98952285e-01 -2.11696053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.13071405700003 meters 0.04487691483302494 Centerline is valid? [True, True] Translation: X:302.90, Y:-41.40, Z:-21.17 [[ 9.97250403e-01 5.78193734e-02 4.63525046e-02 3.02904809e+02] [-5.75889627e-02 9.98320550e-01 -6.29205546e-03 -4.13965942e+01] [-4.66384607e-02 3.60536218e-03 9.98905329e-01 -2.11705408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.160714057 meters 0.047199611253442166 Centerline is valid? [True, True] Translation: X:302.93, Y:-41.40, Z:-21.17 [[ 9.97223168e-01 5.83305551e-02 4.62979463e-02 3.02933257e+02] [-5.81013210e-02 9.98290921e-01 -6.28278841e-03 -4.14033084e+01] [-4.65852980e-02 3.57537032e-03 9.98907917e-01 -2.11720882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.19071405700004 meters 0.044763612001990145 Centerline is valid? [True, True] Translation: X:302.96, Y:-41.40, Z:-21.17 [[ 9.97248973e-01 5.79039678e-02 4.62775987e-02 3.02963823e+02] [-5.76745084e-02 9.98315692e-01 -6.27939693e-03 -4.14016747e+01] [-4.65632550e-02 3.59308438e-03 9.98908881e-01 -2.11732559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.220714057 meters 0.043779215363827936 Centerline is valid? [True, True] Translation: X:302.99, Y:-41.40, Z:-21.17 [[ 9.97222877e-01 5.80746422e-02 4.66247719e-02 3.02993778e+02] [-5.78419881e-02 9.98305715e-01 -6.32482297e-03 -4.14033997e+01] [-4.69130881e-02 3.61038865e-03 9.98892450e-01 -2.11746401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.250714057 meters 0.04692021349217667 Centerline is valid? [True, True] Translation: X:303.02, Y:-41.41, Z:-21.18 [[ 9.97229749e-01 5.76240502e-02 4.70350535e-02 3.03022205e+02] [-5.73868720e-02 9.98331639e-01 -6.37857166e-03 -4.14100184e+01] [-4.73241412e-02 3.66170682e-03 9.98872874e-01 -2.11764344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.280714057 meters 0.0445182354938322 Centerline is valid? [True, True] Translation: X:303.05, Y:-41.41, Z:-21.18 [[ 9.97261374e-01 5.69566246e-02 4.71772612e-02 3.03052170e+02] [-5.67172984e-02 9.98369783e-01 -6.39719271e-03 -4.14091307e+01] [-4.74647146e-02 3.70390639e-03 9.98866048e-01 -2.11781958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.310714057 meters 0.045079533385496494 Centerline is valid? [True, True] Translation: X:303.08, Y:-41.41, Z:-21.18 [[ 9.97329853e-01 5.64938776e-02 4.62774871e-02 3.03080834e+02] [-5.62631832e-02 9.98396262e-01 -6.27354710e-03 -4.14123036e+01] [-4.65576871e-02 3.65307707e-03 9.98908923e-01 -2.11810318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.340714057 meters 0.046236864072793316 Centerline is valid? [True, True] Translation: X:303.11, Y:-41.42, Z:-21.18 [[ 9.97340446e-01 5.68367433e-02 4.56247650e-02 3.03110123e+02] [-5.66129791e-02 9.98377055e-01 -6.18275144e-03 -4.14167023e+01] [-4.59021260e-02 3.58335421e-03 9.98939515e-01 -2.11830858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.370714057 meters 0.04645194603162461 Centerline is valid? [True, True] Translation: X:303.14, Y:-41.42, Z:-21.18 [[ 9.97293817e-01 5.76490876e-02 4.56248301e-02 3.03139759e+02] [-5.74260855e-02 9.98330605e-01 -6.18453569e-03 -4.14175600e+01] [-4.59051971e-02 3.54774381e-03 9.98939501e-01 -2.11846028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.400714057 meters 0.0474090799875699 Centerline is valid? [True, True] Translation: X:303.17, Y:-41.42, Z:-21.19 [[ 9.97192417e-01 5.93339066e-02 4.56811983e-02 3.03167787e+02] [-5.91121738e-02 9.98232150e-01 -6.19076648e-03 -4.14217311e+01] [-4.59677632e-02 3.47307045e-03 9.98936886e-01 -2.11864778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.430714057 meters 0.04390620207195275 Centerline is valid? [True, True] Translation: X:303.20, Y:-41.42, Z:-21.19 [[ 9.96994958e-01 6.22978274e-02 4.60438413e-02 3.03198898e+02] [-6.20758325e-02 9.98051948e-01 -6.23701222e-03 -4.14181294e+01] [-4.63426978e-02 3.36005995e-03 9.98919949e-01 -2.11868609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.460714057 meters 0.04133942900100312 Centerline is valid? [True, True] Translation: X:303.23, Y:-41.42, Z:-21.19 [[ 9.96808035e-01 6.46270138e-02 4.68731306e-02 3.03229286e+02] [-6.43995169e-02 9.97903999e-01 -6.34904412e-03 -4.14168301e+01] [-4.71852043e-02 3.31017123e-03 9.98880673e-01 -2.11876870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.490714057 meters 0.04083134898850084 Centerline is valid? [True, True] Translation: X:303.26, Y:-41.42, Z:-21.19 [[ 9.96424734e-01 6.88652951e-02 4.89420141e-02 3.03259410e+02] [-6.86224530e-02 9.97620691e-01 -6.62689953e-03 -4.14172102e+01] [-4.92819294e-02 3.24468554e-03 9.98779637e-01 -2.11873614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.520714057 meters 0.044125338791983215 Centerline is valid? [True, True] Translation: X:303.29, Y:-41.42, Z:-21.19 [[ 9.96216134e-01 7.09804862e-02 5.01516098e-02 3.03287476e+02] [-7.07281429e-02 9.97472514e-01 -6.79074792e-03 -4.14244648e+01] [-5.05068629e-02 3.21792242e-03 9.98718530e-01 -2.11891805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.550714057 meters 0.03823317121487644 Centerline is valid? [True, True] Translation: X:303.32, Y:-41.42, Z:-21.19 [[ 9.96049605e-01 7.29953904e-02 5.05653780e-02 3.03318473e+02] [-7.27415370e-02 9.97327336e-01 -6.84498084e-03 -4.14172785e+01] [-5.09298858e-02 3.13973714e-03 9.98697296e-01 -2.11891345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.580714057 meters 0.038614077906572924 Centerline is valid? [True, True] Translation: X:303.35, Y:-41.42, Z:-21.19 [[ 9.95819833e-01 7.61801599e-02 5.03928956e-02 3.03347688e+02] [-7.59321886e-02 9.97089661e-01 -6.81982127e-03 -4.14184768e+01] [-5.07657703e-02 2.96487043e-03 9.98706186e-01 -2.11911060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.610714057 meters 0.03773215921287126 Centerline is valid? [True, True] Translation: X:303.38, Y:-41.42, Z:-21.19 [[ 9.95695424e-01 7.82795155e-02 4.96280098e-02 3.03377651e+02] [-7.80417133e-02 9.96927484e-01 -6.71442465e-03 -4.14199015e+01] [-5.00011288e-02 2.81246699e-03 9.98745201e-01 -2.11929898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.640714057 meters 0.03875737657503322 Centerline is valid? [True, True] Translation: X:303.40, Y:-41.42, Z:-21.20 [[ 9.95685034e-01 7.85005421e-02 4.94871485e-02 3.03404811e+02] [-7.82643772e-02 9.96910158e-01 -6.69504795e-03 -4.14237622e+01] [-4.98598059e-02 2.79307819e-03 9.98752321e-01 -2.11954265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.670714057 meters 0.03902029527819275 Centerline is valid? [True, True] Translation: X:303.43, Y:-41.43, Z:-21.20 [[ 9.95682359e-01 7.82028664e-02 5.00095106e-02 3.03432814e+02] [-7.79615384e-02 9.96933440e-01 -6.76119739e-03 -4.14274978e+01] [-5.03848984e-02 2.83318659e-03 9.98725856e-01 -2.11975399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.700714057 meters 0.0416970086899101 Centerline is valid? [True, True] Translation: X:303.46, Y:-41.44, Z:-21.20 [[ 9.95765611e-01 7.75740033e-02 4.93266905e-02 3.03459317e+02] [-7.73386179e-02 9.96982601e-01 -6.66566960e-03 -4.14350532e+01] [-4.96949349e-02 2.82258649e-03 9.98760455e-01 -2.12003145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.730714057 meters 0.037890067448340725 Centerline is valid? [True, True] Translation: X:303.49, Y:-41.43, Z:-21.20 [[ 9.95910771e-01 7.60010917e-02 4.88422997e-02 3.03488908e+02] [-7.57686436e-02 9.97103609e-01 -6.59581193e-03 -4.14328424e+01] [-4.92021223e-02 2.86812535e-03 9.98784724e-01 -2.12019870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.76071405700003 meters 0.039491043183349284 Centerline is valid? [True, True] Translation: X:303.52, Y:-41.44, Z:-21.20 [[ 9.95941887e-01 7.53549301e-02 4.92076417e-02 3.03515478e+02] [-7.51183124e-02 9.97152501e-01 -6.64293555e-03 -4.14396388e+01] [-4.95681009e-02 2.91958277e-03 9.98766479e-01 -2.12040539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.790714057 meters 0.038447196692298534 Centerline is valid? [True, True] Translation: X:303.54, Y:-41.44, Z:-21.20 [[ 9.96022772e-01 7.42609464e-02 4.92336217e-02 3.03543913e+02] [-7.40230200e-02 9.97234421e-01 -6.64095667e-03 -4.14418481e+01] [-4.95906259e-02 2.97012271e-03 9.98765212e-01 -2.12047461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.82071405700003 meters 0.039119539533662935 Centerline is valid? [True, True] Translation: X:303.57, Y:-41.45, Z:-21.21 [[ 9.96096331e-01 7.25147212e-02 5.03360189e-02 3.03573196e+02] [-7.22639880e-02 9.97362457e-01 -6.78574160e-03 -4.14481056e+01] [-5.06953216e-02 3.12177084e-03 9.98709286e-01 -2.12056913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.850714057 meters 0.040488435720412094 Centerline is valid? [True, True] Translation: X:303.60, Y:-41.45, Z:-21.21 [[ 9.96194612e-01 7.12269061e-02 5.02297096e-02 3.03600619e+02] [-7.09756834e-02 9.97455073e-01 -6.76980612e-03 -4.14542692e+01] [-5.05840710e-02 3.17895641e-03 9.98714747e-01 -2.12076129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.88071405700003 meters 0.03965235581264574 Centerline is valid? [True, True] Translation: X:303.63, Y:-41.46, Z:-21.21 [[ 9.96360089e-01 6.91344582e-02 4.98698292e-02 3.03629512e+02] [-6.88843683e-02 9.97602029e-01 -6.71829925e-03 -4.14585421e+01] [-5.02147087e-02 3.25859355e-03 9.98733130e-01 -2.12097748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.910714057 meters 0.043159646745447526 Centerline is valid? [True, True] Translation: X:303.66, Y:-41.47, Z:-21.21 [[ 9.96456714e-01 6.78563335e-02 4.96944126e-02 3.03657018e+02] [-6.76065482e-02 9.97689616e-01 -6.69210909e-03 -4.14687088e+01] [-5.00337014e-02 3.30872933e-03 9.98742049e-01 -2.12124467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.94071405700004 meters 0.041823719698777274 Centerline is valid? [True, True] Translation: X:303.69, Y:-41.47, Z:-21.21 [[ 9.96650620e-01 6.56327158e-02 4.87841037e-02 3.03686835e+02] [-6.53895317e-02 9.97838212e-01 -6.56596111e-03 -4.14709671e+01] [-4.91095847e-02 3.35399951e-03 9.98787765e-01 -2.12142773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.970714057 meters 0.04344414496306171 Centerline is valid? [True, True] Translation: X:303.71, Y:-41.48, Z:-21.22 [[ 9.96740378e-01 6.47007574e-02 4.81916015e-02 3.03713828e+02] [-6.44624250e-02 9.97899063e-01 -6.48501567e-03 -4.14776911e+01] [-4.85099394e-02 3.35732948e-03 9.98817057e-01 -2.12164096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.000714057 meters 0.04470546852466387 Centerline is valid? [True, True] Translation: X:303.74, Y:-41.48, Z:-21.22 [[ 9.96842176e-01 6.36367329e-02 4.74978115e-02 3.03742721e+02] [-6.34042408e-02 9.97967489e-01 -6.38701358e-03 -4.14835667e+01] [-4.78077204e-02 3.35528184e-03 9.98850922e-01 -2.12190080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.030714057 meters 0.04347716437700234 Centerline is valid? [True, True] Translation: X:303.77, Y:-41.49, Z:-21.22 [[ 9.96967478e-01 6.20476294e-02 4.69674385e-02 3.03772077e+02] [-6.18186279e-02 9.98067427e-01 -6.31408263e-03 -4.14870374e+01] [-4.72684444e-02 3.39147243e-03 9.98876465e-01 -2.12202704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.060714057 meters 0.04366284419405395 Centerline is valid? [True, True] Translation: X:303.80, Y:-41.49, Z:-21.22 [[ 9.97004376e-01 6.12210880e-02 4.72678817e-02 3.03801496e+02] [-6.09883016e-02 9.98118264e-01 -6.35278018e-03 -4.14920285e+01] [-4.75678601e-02 3.45096181e-03 9.98862047e-01 -2.12217264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.090714057 meters 0.044886845212523285 Centerline is valid? [True, True] Translation: X:303.83, Y:-41.50, Z:-21.22 [[ 9.97026067e-01 6.05714023e-02 4.76458487e-02 3.03829884e+02] [-6.03342108e-02 9.98157701e-01 -6.40204374e-03 -4.14979288e+01] [-4.79458516e-02 3.50832980e-03 9.98843775e-01 -2.12234649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.120714057 meters 0.04309767332006384 Centerline is valid? [True, True] Translation: X:303.86, Y:-41.50, Z:-21.22 [[ 9.97020195e-01 6.05689176e-02 4.77717091e-02 3.03858826e+02] [-6.03305799e-02 9.98157827e-01 -6.41661424e-03 -4.14992327e+01] [-4.80723527e-02 3.51539907e-03 9.98837670e-01 -2.12242195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.150714057 meters 0.04648718896250637 Centerline is valid? [True, True] Translation: X:303.89, Y:-41.51, Z:-21.23 [[ 9.97068162e-01 5.95056504e-02 4.81056863e-02 3.03886095e+02] [-5.92629307e-02 9.98221522e-01 -6.45743915e-03 -4.15078838e+01] [-4.84043855e-02 3.58762303e-03 9.98821378e-01 -2.12257268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.180714057 meters 0.04613792172321057 Centerline is valid? [True, True] Translation: X:303.92, Y:-41.51, Z:-21.23 [[ 9.97074725e-01 5.90079282e-02 4.85804132e-02 3.03915683e+02] [-5.87598256e-02 9.98250852e-01 -6.52068557e-03 -4.15113362e+01] [-4.88802110e-02 3.64703416e-03 9.98797990e-01 -2.12274439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.210714057 meters 0.04625118426367215 Centerline is valid? [True, True] Translation: X:303.95, Y:-41.52, Z:-21.23 [[ 9.97153861e-01 5.73856798e-02 4.88984826e-02 3.03945190e+02] [-5.71324679e-02 9.98345044e-01 -6.56151443e-03 -4.15166007e+01] [-4.91940948e-02 3.74914846e-03 9.98782201e-01 -2.12285673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.240714057 meters 0.047430935753043135 Centerline is valid? [True, True] Translation: X:303.97, Y:-41.52, Z:-21.23 [[ 9.97185267e-01 5.64207132e-02 4.93786126e-02 3.03974489e+02] [-5.61613603e-02 9.98399724e-01 -6.62520324e-03 -4.15229570e+01] [-4.96733918e-02 3.83338501e-03 9.98758159e-01 -2.12305492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.270714057 meters 0.04453903002723224 Centerline is valid? [True, True] Translation: X:304.00, Y:-41.52, Z:-21.23 [[ 9.97287411e-01 5.47515572e-02 4.91943751e-02 3.04004700e+02] [-5.44922187e-02 9.98492392e-01 -6.59851006e-03 -4.15234612e+01] [-4.94814880e-02 3.89990037e-03 9.98767427e-01 -2.12317479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.300714057 meters 0.04861085417763774 Centerline is valid? [True, True] Translation: X:304.03, Y:-41.53, Z:-21.23 [[ 9.97382358e-01 5.37796341e-02 4.83340723e-02 3.04034050e+02] [-5.35281750e-02 9.98545295e-01 -6.48286468e-03 -4.15330827e+01] [-4.86124066e-02 3.87866019e-03 9.98810187e-01 -2.12348966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.330714057 meters 0.051752093144479115 Centerline is valid? [True, True] Translation: X:304.06, Y:-41.54, Z:-21.24 [[ 9.97497486e-01 5.22750054e-02 4.76034579e-02 3.04063097e+02] [-5.20293567e-02 9.98625139e-01 -6.38571204e-03 -4.15425652e+01] [-4.78718229e-02 3.89295442e-03 9.98845901e-01 -2.12377253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.360714057 meters 0.05235328815567317 Centerline is valid? [True, True] Translation: X:304.09, Y:-41.55, Z:-21.24 [[ 9.97537612e-01 5.15790262e-02 4.75217400e-02 3.04093310e+02] [-5.13333977e-02 9.98661221e-01 -6.37557244e-03 -4.15484863e+01] [-4.77869647e-02 3.92042093e-03 9.98849857e-01 -2.12402158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.390714057 meters 0.05476946068437599 Centerline is valid? [True, True] Translation: X:304.12, Y:-41.56, Z:-21.24 [[ 9.97681118e-01 4.92348444e-02 4.69927347e-02 3.04121888e+02] [-4.89920618e-02 9.98779268e-01 -6.30495016e-03 -4.15584747e+01] [-4.72457924e-02 3.98805876e-03 9.98875333e-01 -2.12425962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.420714057 meters 0.05476946068437599 Centerline is valid? [True, True] Translation: X:304.15, Y:-41.56, Z:-21.24 [[ 9.97669752e-01 4.94647479e-02 4.69926057e-02 3.04153419e+02] [-4.92221733e-02 9.98767948e-01 -6.30591345e-03 -4.15627785e+01] [-4.72466287e-02 3.97814092e-03 9.98875333e-01 -2.12444392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.450714057 meters 0.04762424901799546 Centerline is valid? [True, True] Translation: X:304.19, Y:-41.56, Z:-21.25 [[ 9.97739062e-01 4.86765271e-02 4.63396207e-02 3.04186211e+02] [-4.84393105e-02 9.98806704e-01 -6.22899881e-03 -4.15573486e+01] [-4.65875299e-02 3.97025616e-03 9.98906321e-01 -2.12456063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.480714057 meters 0.053342893222199726 Centerline is valid? [True, True] Translation: X:304.22, Y:-41.57, Z:-21.25 [[ 9.97788357e-01 4.79876072e-02 4.59954766e-02 3.04215952e+02] [-4.77526295e-02 9.98839984e-01 -6.19458914e-03 -4.15708419e+01] [-4.62393847e-02 3.98448397e-03 9.98922441e-01 -2.12477907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.51071405700003 meters 0.0536036520372948 Centerline is valid? [True, True] Translation: X:304.25, Y:-41.58, Z:-21.25 [[ 9.97794879e-01 4.76493092e-02 4.62052215e-02 3.04247815e+02] [-4.74115993e-02 9.98856024e-01 -6.22761965e-03 -4.15754067e+01] [-4.64491056e-02 4.02322355e-03 9.98912556e-01 -2.12490998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.540714057 meters 0.049677733155304424 Centerline is valid? [True, True] Translation: X:304.28, Y:-41.57, Z:-21.25 [[ 9.97755692e-01 4.81404344e-02 4.65411364e-02 3.04280124e+02] [-4.78992559e-02 9.98832404e-01 -6.28413170e-03 -4.15747931e+01] [-4.67893160e-02 4.04074237e-03 9.98896607e-01 -2.12502017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.57071405700003 meters 0.050018587738850755 Centerline is valid? [True, True] Translation: X:304.31, Y:-41.58, Z:-21.25 [[ 9.97700563e-01 4.88414870e-02 4.69903767e-02 3.04311144e+02] [-4.85957399e-02 9.98798289e-01 -6.35867518e-03 -4.15818514e+01] [-4.72444750e-02 4.06052168e-03 9.98875103e-01 -2.12534485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.600714057 meters 0.04896922689809645 Centerline is valid? [True, True] Translation: X:304.34, Y:-41.59, Z:-21.26 [[ 9.97678926e-01 4.93607972e-02 4.69070602e-02 3.04343445e+02] [-4.91164699e-02 9.98772886e-01 -6.34784794e-03 -4.15856426e+01] [-4.71628347e-02 4.02920491e-03 9.98879088e-01 -2.12560645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.63071405700003 meters 0.050391861385121424 Centerline is valid? [True, True] Translation: X:304.37, Y:-41.59, Z:-21.26 [[ 9.97647078e-01 5.04745819e-02 4.63963848e-02 3.04373321e+02] [-5.02361032e-02 9.98717547e-01 -6.29249370e-03 -4.15927969e+01] [-4.66544946e-02 3.94691437e-03 9.98903289e-01 -2.12586001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.660714057 meters 0.05095945822146009 Centerline is valid? [True, True] Translation: X:304.40, Y:-41.60, Z:-21.26 [[ 9.97630842e-01 5.09921004e-02 4.61790898e-02 3.04403659e+02] [-5.07564260e-02 9.98691427e-01 -6.26251938e-03 -4.15979465e+01] [-4.64380001e-02 3.90379692e-03 9.98913546e-01 -2.12603861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.69071405700004 meters 0.05136704576666888 Centerline is valid? [True, True] Translation: X:304.43, Y:-41.60, Z:-21.26 [[ 9.97589726e-01 5.09916179e-02 4.70594614e-02 3.04434562e+02] [-5.07462508e-02 9.98691106e-01 -6.39482048e-03 -4.16038509e+01] [-4.73239478e-02 3.99131598e-03 9.98871620e-01 -2.12610694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.720714057 meters 0.05317144659027988 Centerline is valid? [True, True] Translation: X:304.46, Y:-41.61, Z:-21.26 [[ 9.97599487e-01 5.07675724e-02 4.70947696e-02 3.04464896e+02] [-5.05216033e-02 9.98702466e-01 -6.39931556e-03 -4.16111719e+01] [-4.73585403e-02 4.00465065e-03 9.98869927e-01 -2.12627622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.750714057 meters 0.04842933412413659 Centerline is valid? [True, True] Translation: X:304.50, Y:-41.61, Z:-21.26 [[ 9.97693508e-01 4.92465201e-02 4.67166407e-02 3.04496371e+02] [-4.90022538e-02 9.98778417e-01 -6.36027968e-03 -4.16109260e+01] [-4.69727941e-02 4.05638906e-03 9.98887933e-01 -2.12645309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.780714057 meters 0.04854993874212663 Centerline is valid? [True, True] Translation: X:304.53, Y:-41.62, Z:-21.27 [[ 9.97768569e-01 4.81650470e-02 4.62386385e-02 3.04528306e+02] [-4.79245491e-02 9.98831113e-01 -6.29643812e-03 -4.16169062e+01] [-4.64878590e-02 4.06642215e-03 9.98910578e-01 -2.12670032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.810714057 meters 0.058400644697203685 Centerline is valid? [True, True] Translation: X:304.56, Y:-41.64, Z:-21.27 [[ 9.97934152e-01 4.50322835e-02 4.58205456e-02 3.04555308e+02] [-4.47926476e-02 9.98976793e-01 -6.24377937e-03 -4.16359571e+01] [-4.60548334e-02 4.17845711e-03 9.98930174e-01 -2.12707612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.840714057 meters 0.05108715966270162 Centerline is valid? [True, True] Translation: X:304.59, Y:-41.63, Z:-21.27 [[ 9.98002332e-01 4.35788181e-02 4.57409317e-02 3.04587232e+02] [-4.33385681e-02 9.99041009e-01 -6.23149482e-03 -4.16304745e+01] [-4.59686277e-02 4.23669987e-03 9.98933900e-01 -2.12710602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.870714057 meters 0.050925699965513965 Centerline is valid? [True, True] Translation: X:304.62, Y:-41.64, Z:-21.27 [[ 9.98052363e-01 4.24046755e-02 4.57528586e-02 3.04618664e+02] [-4.21630715e-02 9.99091298e-01 -6.23325269e-03 -4.16359430e+01] [-4.59756019e-02 4.29203152e-03 9.98933342e-01 -2.12724800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.900714057 meters 0.05270090051997701 Centerline is valid? [True, True] Translation: X:304.65, Y:-41.65, Z:-21.27 [[ 9.98098063e-01 4.05381707e-02 4.64425904e-02 3.04648410e+02] [-4.02865906e-02 9.99168047e-01 -6.34066241e-03 -4.16451436e+01] [-4.66609912e-02 4.45758924e-03 9.98900837e-01 -2.12744056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.930714057 meters 0.05377381015836405 Centerline is valid? [True, True] Translation: X:304.68, Y:-41.65, Z:-21.28 [[ 9.98130273e-01 3.92857789e-02 4.68250445e-02 3.04678964e+02] [-3.90286383e-02 9.99217638e-01 -6.39353904e-03 -4.16519685e+01] [-4.70395855e-02 4.55406714e-03 9.98882645e-01 -2.12762350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.960714057 meters 0.05491805281220459 Centerline is valid? [True, True] Translation: X:304.71, Y:-41.66, Z:-21.28 [[ 9.98173623e-01 3.78051235e-02 4.71188987e-02 3.04708932e+02] [-3.75430202e-02 9.99274289e-01 -6.43553582e-03 -4.16593929e+01] [-4.73280002e-02 4.65479634e-03 9.98868557e-01 -2.12777775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.990714057 meters 0.0550514583867599 Centerline is valid? [True, True] Translation: X:304.74, Y:-41.66, Z:-21.28 [[ 9.98219978e-01 3.70073013e-02 4.67689591e-02 3.04740269e+02] [-3.67482817e-02 9.99304147e-01 -6.38630303e-03 -4.16642563e+01] [-4.69727546e-02 4.65625639e-03 9.98885319e-01 -2.12793999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.020714057 meters 0.057245950295568136 Centerline is valid? [True, True] Translation: X:304.77, Y:-41.67, Z:-21.28 [[ 9.98240498e-01 3.60986273e-02 4.70403717e-02 3.04770438e+02] [-3.58350697e-02 9.99337003e-01 -6.43439034e-03 -4.16734491e+01] [-4.72414568e-02 4.73737402e-03 9.98872265e-01 -2.12817791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.050714057 meters 0.05469932689995505 Centerline is valid? [True, True] Translation: X:304.80, Y:-41.68, Z:-21.28 [[ 9.98259496e-01 3.57262898e-02 4.69213273e-02 3.04802068e+02] [-3.54631529e-02 9.99350306e-01 -6.42883619e-03 -4.16756852e+01] [-4.71205213e-02 4.75366858e-03 9.98877900e-01 -2.12831839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.080714057 meters 0.055243965446923775 Centerline is valid? [True, True] Translation: X:304.83, Y:-41.68, Z:-21.29 [[ 9.98333038e-01 3.42429063e-02 4.64603997e-02 3.04832099e+02] [-3.39827210e-02 9.99402064e-01 -6.37872659e-03 -4.16838304e+01] [-4.66510455e-02 4.78924270e-03 9.98899766e-01 -2.12858651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.110714057 meters 0.05646412849402564 Centerline is valid? [True, True] Translation: X:304.86, Y:-41.69, Z:-21.29 [[ 9.98327153e-01 3.40685332e-02 4.67143543e-02 3.04863667e+02] [-3.38053805e-02 9.99407866e-01 -6.41196534e-03 -4.16914357e+01] [-4.69051395e-02 4.82204258e-03 9.98887709e-01 -2.12880176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.140714057 meters 0.06571137889508029 Centerline is valid? [True, True] Translation: X:304.89, Y:-41.71, Z:-21.29 [[ 9.98368723e-01 3.42817157e-02 4.56580331e-02 3.04892794e+02] [-3.40300391e-02 9.99401090e-01 -6.27835462e-03 -4.17098600e+01] [-4.58459209e-02 4.71436824e-03 9.98937399e-01 -2.12924570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.170714057 meters 0.06042270197580842 Centerline is valid? [True, True] Translation: X:304.93, Y:-41.71, Z:-21.29 [[ 9.98339368e-01 3.50197330e-02 4.57397581e-02 3.04925267e+02] [-3.47674358e-02 9.99375572e-01 -6.30011767e-03 -4.17077431e+01] [-4.59318254e-02 4.69940138e-03 9.98933523e-01 -2.12935991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.200714057 meters 0.060942680169502765 Centerline is valid? [True, True] Translation: X:304.96, Y:-41.71, Z:-21.30 [[ 9.98300215e-01 3.64283401e-02 4.54934780e-02 3.04956194e+02] [-3.61795871e-02 9.99325574e-01 -6.27963180e-03 -4.17137201e+01] [-4.56915526e-02 4.62302253e-03 9.98944898e-01 -2.12960465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.230714057 meters 0.05354078993162186 Centerline is valid? [True, True] Translation: X:304.99, Y:-41.71, Z:-21.30 [[ 9.98271277e-01 3.77059207e-02 4.50857030e-02 3.04989077e+02] [-3.74628546e-02 9.99278636e-01 -6.22435099e-03 -4.17086885e+01] [-4.52878747e-02 4.52455167e-03 9.98963731e-01 -2.12970172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.26071405700003 meters 0.05301913314398196 Centerline is valid? [True, True] Translation: X:305.02, Y:-41.71, Z:-21.30 [[ 9.98172325e-01 3.97831696e-02 4.54896600e-02 3.05019837e+02] [-3.95376618e-02 9.99198318e-01 -6.28442560e-03 -4.17139136e+01] [-4.57032061e-02 4.47438492e-03 9.98945042e-01 -2.12992189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.290714057 meters 0.05497552341610201 Centerline is valid? [True, True] Translation: X:305.05, Y:-41.72, Z:-21.30 [[ 9.98119450e-01 4.07515631e-02 4.57916436e-02 3.05050389e+02] [-4.05038513e-02 9.99159364e-01 -6.32482463e-03 -4.17209187e+01] [-4.60108960e-02 4.45819255e-03 9.98930990e-01 -2.13011027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.32071405700003 meters 0.051509245907682924 Centerline is valid? [True, True] Translation: X:305.08, Y:-41.72, Z:-21.30 [[ 9.98030541e-01 4.24805265e-02 4.61567413e-02 3.05080988e+02] [-4.22300483e-02 9.99087487e-01 -6.38876473e-03 -4.17209343e+01] [-4.63860208e-02 4.42698090e-03 9.98913780e-01 -2.13022674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.350714057 meters 0.05543834395209266 Centerline is valid? [True, True] Translation: X:305.11, Y:-41.73, Z:-21.30 [[ 9.97972659e-01 4.36322041e-02 4.63336008e-02 3.05110361e+02] [-4.33810392e-02 9.99038016e-01 -6.41304601e-03 -4.17306548e+01] [-4.65688440e-02 4.39004482e-03 9.98905436e-01 -2.13046890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.38071405700003 meters 0.05163721326789202 Centerline is valid? [True, True] Translation: X:305.14, Y:-41.73, Z:-21.31 [[ 9.97922494e-01 4.45720779e-02 4.65190840e-02 3.05143278e+02] [-4.43199850e-02 9.98996648e-01 -6.43706672e-03 -4.17305584e+01] [-4.67593224e-02 4.36196857e-03 9.98896661e-01 -2.13056960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.410714057 meters 0.059369896794598684 Centerline is valid? [True, True] Translation: X:305.17, Y:-41.75, Z:-21.31 [[ 9.97877579e-01 4.55153384e-02 4.65692045e-02 3.05171474e+02] [-4.52630564e-02 9.98954227e-01 -6.45814155e-03 -4.17463223e+01] [-4.68144482e-02 4.33657013e-03 9.98894189e-01 -2.13092419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.44071405700004 meters 0.05162978995142353 Centerline is valid? [True, True] Translation: X:305.20, Y:-41.74, Z:-21.31 [[ 9.97761136e-01 4.82564355e-02 4.63036890e-02 3.05203425e+02] [-4.80099065e-02 9.98826213e-01 -6.42224975e-03 -4.17398074e+01] [-4.65592533e-02 4.18483542e-03 9.98906764e-01 -2.13098010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.470714057 meters 0.04998492911122682 Centerline is valid? [True, True] Translation: X:305.23, Y:-41.74, Z:-21.31 [[ 9.97683584e-01 5.00050308e-02 4.61189997e-02 3.05234552e+02] [-4.97623181e-02 9.98740604e-01 -6.39664429e-03 -4.17414404e+01] [-4.63807821e-02 4.08683867e-03 9.98915472e-01 -2.13112741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.500714057 meters 0.05263992149202608 Centerline is valid? [True, True] Translation: X:305.26, Y:-41.75, Z:-21.31 [[ 9.97598469e-01 5.15344777e-02 4.62762583e-02 3.05264572e+02] [-5.12916599e-02 9.98663080e-01 -6.42011389e-03 -4.17491355e+01] [-4.65452479e-02 4.03110968e-03 9.98908049e-01 -2.13132712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.530714057 meters 0.051162932400485917 Centerline is valid? [True, True] Translation: X:305.29, Y:-41.75, Z:-21.31 [[ 9.97372026e-01 5.53224946e-02 4.67810229e-02 3.05294847e+02] [-5.50783823e-02 9.98460927e-01 -6.49219603e-03 -4.17513526e+01] [-4.70681880e-02 3.89851165e-03 9.98884071e-01 -2.13146728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.560714057 meters 0.04746126808911258 Centerline is valid? [True, True] Translation: X:305.33, Y:-41.75, Z:-21.32 [[ 9.97229103e-01 5.74925178e-02 4.72093893e-02 3.05326153e+02] [-5.72463342e-02 9.98338588e-01 -6.55142129e-03 -4.17505145e+01] [-4.75076127e-02 3.83070350e-03 9.98863530e-01 -2.13154080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.590714057 meters 0.04337014424483688 Centerline is valid? [True, True] Translation: X:305.36, Y:-41.75, Z:-21.32 [[ 9.97070711e-01 6.05696719e-02 4.67045177e-02 3.05358258e+02] [-6.03320501e-02 9.98157316e-01 -6.48204998e-03 -4.17463912e+01] [-4.70110716e-02 3.64528288e-03 9.98887717e-01 -2.13169637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.620714057 meters 0.05017474148317361 Centerline is valid? [True, True] Translation: X:305.39, Y:-41.76, Z:-21.32 [[ 9.96915551e-01 6.25569100e-02 4.73921586e-02 3.05386482e+02] [-6.23143847e-02 9.98034885e-01 -6.57913410e-03 -4.17603034e+01] [-4.77105979e-02 3.60562790e-03 9.98854693e-01 -2.13197091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.650714057 meters 0.04762567616809361 Centerline is valid? [True, True] Translation: X:305.42, Y:-41.76, Z:-21.32 [[ 9.96776087e-01 6.46003423e-02 4.75839143e-02 3.05417101e+02] [-6.43581542e-02 9.97905000e-01 -6.60591837e-03 -4.17582354e+01] [-4.79109706e-02 3.52220857e-03 9.98845400e-01 -2.13208994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.680714057 meters 0.047714562509050366 Centerline is valid? [True, True] Translation: X:305.45, Y:-41.76, Z:-21.32 [[ 9.96705396e-01 6.57974236e-02 4.74241677e-02 3.05446859e+02] [-6.55582456e-02 9.97827030e-01 -6.58294268e-03 -4.17616217e+01] [-4.77542571e-02 3.45220926e-03 9.98853149e-01 -2.13225924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.710714057 meters 0.04194272014629398 Centerline is valid? [True, True] Translation: X:305.48, Y:-41.76, Z:-21.32 [[ 9.96563211e-01 6.76522962e-02 4.78009779e-02 3.05477961e+02] [-6.74114585e-02 9.97703202e-01 -6.63444630e-03 -4.17552320e+01] [-4.81400242e-02 3.38931147e-03 9.98834847e-01 -2.13231643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.740714057 meters 0.04211613690638937 Centerline is valid? [True, True] Translation: X:305.51, Y:-41.76, Z:-21.32 [[ 9.96551407e-01 6.80748452e-02 4.74458547e-02 3.05506644e+02] [-6.78380672e-02 9.97674615e-01 -6.58484695e-03 -4.17582541e+01] [-4.77837872e-02 3.34350341e-03 9.98852107e-01 -2.13245109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.770714057 meters 0.04127876035645984 Centerline is valid? [True, True] Translation: X:305.54, Y:-41.76, Z:-21.33 [[ 9.96530423e-01 6.83326571e-02 4.75159374e-02 3.05535231e+02] [-6.80956313e-02 9.97657026e-01 -6.59120144e-03 -4.17587903e+01] [-4.78550031e-02 3.33270500e-03 9.98848733e-01 -2.13256164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.800714057 meters 0.043151240804336743 Centerline is valid? [True, True] Translation: X:305.56, Y:-41.76, Z:-21.33 [[ 9.96530455e-01 6.80902625e-02 4.78619627e-02 3.05562876e+02] [-6.78496493e-02 9.97673489e-01 -6.63591159e-03 -4.17642553e+01] [-4.82024523e-02 3.36547061e-03 9.98831916e-01 -2.13273821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.830714057 meters 0.04077923187388807 Centerline is valid? [True, True] Translation: X:305.59, Y:-41.76, Z:-21.33 [[ 9.96567199e-01 6.74454620e-02 4.80096644e-02 3.05592303e+02] [-6.72028296e-02 9.97717160e-01 -6.65197501e-03 -4.17622135e+01] [-4.83487115e-02 3.40275481e-03 9.98824721e-01 -2.13286269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.860714057 meters 0.04103967205217862 Centerline is valid? [True, True] Translation: X:305.62, Y:-41.77, Z:-21.33 [[ 9.96587071e-01 6.71511146e-02 4.80097663e-02 3.05621186e+02] [-6.69083096e-02 9.97736977e-01 -6.64851800e-03 -4.17664580e+01] [-4.83475745e-02 3.41357477e-03 9.98824739e-01 -2.13302222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.890714057 meters 0.04263633024150289 Centerline is valid? [True, True] Translation: X:305.65, Y:-41.77, Z:-21.33 [[ 9.96682356e-01 6.59318258e-02 4.77208143e-02 3.05649737e+02] [-6.56907200e-02 9.97818172e-01 -6.60492409e-03 -4.17708180e+01] [-4.80521704e-02 3.44819665e-03 9.98838875e-01 -2.13315827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.920714057 meters 0.04527089458492573 Centerline is valid? [True, True] Translation: X:305.68, Y:-41.78, Z:-21.33 [[ 9.96716091e-01 6.53185584e-02 4.78593670e-02 3.05677499e+02] [-6.50754703e-02 9.97858376e-01 -6.62153009e-03 -4.17777261e+01] [-4.81893790e-02 3.48531478e-03 9.98832136e-01 -2.13330809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.950714057 meters 0.04421113503829079 Centerline is valid? [True, True] Translation: X:305.71, Y:-41.78, Z:-21.33 [[ 9.96732906e-01 6.43137592e-02 4.88595376e-02 3.05707287e+02] [-6.40593321e-02 9.97923215e-01 -6.75710631e-03 -4.17792893e+01] [-4.91926417e-02 3.60512086e-03 9.98782803e-01 -2.13336212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.980714057 meters 0.045025748103637867 Centerline is valid? [True, True] Translation: X:305.74, Y:-41.78, Z:-21.34 [[ 9.96739827e-01 6.38855641e-02 4.92783176e-02 3.05736314e+02] [-6.36263199e-02 9.97950535e-01 -6.81325729e-03 -4.17840425e+01] [-4.96125922e-02 3.65564689e-03 9.98761847e-01 -2.13352925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.01071405700003 meters 0.04781869155049117 Centerline is valid? [True, True] Translation: X:305.76, Y:-41.79, Z:-21.34 [[ 9.96690086e-01 6.41354273e-02 4.99551765e-02 3.05764452e+02] [-6.38693999e-02 9.97934376e-01 -6.90518762e-03 -4.17917036e+01] [-5.02948550e-02 3.69172490e-03 9.98727590e-01 -2.13363782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.040714057 meters 0.047255004717310874 Centerline is valid? [True, True] Translation: X:305.79, Y:-41.79, Z:-21.34 [[ 9.96655435e-01 6.47035031e-02 4.99139335e-02 3.05794107e+02] [-6.44387613e-02 9.97897831e-01 -6.89674726e-03 -4.17937505e+01] [-5.02552496e-02 3.65728859e-03 9.98729710e-01 -2.13380414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.07071405700003 meters 0.04684621530672313 Centerline is valid? [True, True] Translation: X:305.82, Y:-41.80, Z:-21.34 [[ 9.96562783e-01 6.64272181e-02 4.94979195e-02 3.05824039e+02] [-6.61690794e-02 9.97784998e-01 -6.83745464e-03 -4.17951256e+01] [-4.98424746e-02 3.53872106e-03 9.98750822e-01 -2.13398749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.100714057 meters 0.04344410929677975 Centerline is valid? [True, True] Translation: X:305.85, Y:-41.79, Z:-21.34 [[ 9.96517469e-01 6.71428283e-02 4.94446707e-02 3.05853695e+02] [-6.68861421e-02 9.97737240e-01 -6.82967704e-03 -4.17931367e+01] [-4.97913531e-02 3.49872920e-03 9.98753513e-01 -2.13411102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.13071405700003 meters 0.04771748642651158 Centerline is valid? [True, True] Translation: X:305.88, Y:-41.80, Z:-21.34 [[ 9.96466689e-01 6.78739830e-02 4.94697862e-02 3.05880875e+02] [-6.76181062e-02 9.97687901e-01 -6.82964822e-03 -4.18029908e+01] [-4.98189626e-02 3.46046369e-03 9.98752270e-01 -2.13437972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.160714057 meters 0.04438191826956602 Centerline is valid? [True, True] Translation: X:305.91, Y:-41.80, Z:-21.35 [[ 9.96403603e-01 6.89551456e-02 4.92447659e-02 3.05910103e+02] [-6.87030772e-02 9.97614010e-01 -6.79515285e-03 -4.18006302e+01] [-4.95958291e-02 3.38744783e-03 9.98763625e-01 -2.13450581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.19071405700004 meters 0.0459528111104116 Centerline is valid? [True, True] Translation: X:305.94, Y:-41.81, Z:-21.35 [[ 9.96389848e-01 6.93608012e-02 4.89525334e-02 3.05937247e+02] [-6.91123650e-02 9.97586035e-01 -6.75159807e-03 -4.18065086e+01] [-4.93026600e-02 3.34399841e-03 9.98778286e-01 -2.13481512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.220714057 meters 0.04232099348125577 Centerline is valid? [True, True] Translation: X:305.97, Y:-41.80, Z:-21.35 [[ 9.96402043e-01 6.93603834e-02 4.87042695e-02 3.05966443e+02] [-6.91146733e-02 9.97586135e-01 -6.71306896e-03 -4.18048856e+01] [-4.90523250e-02 3.32273595e-03 9.98790683e-01 -2.13493548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.250714057 meters 0.0431564238133174 Centerline is valid? [True, True] Translation: X:305.99, Y:-41.81, Z:-21.35 [[ 9.96473500e-01 6.84451421e-02 4.85368651e-02 3.05994853e+02] [-6.82002079e-02 9.97649248e-01 -6.68656028e-03 -4.18089018e+01] [-4.88804295e-02 3.35275583e-03 9.98799010e-01 -2.13520814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.280714057 meters 0.04704602942309516 Centerline is valid? [True, True] Translation: X:306.02, Y:-41.82, Z:-21.35 [[ 9.96465853e-01 6.82157163e-02 4.90144902e-02 3.06021000e+02] [-6.79658358e-02 9.97664823e-01 -6.74874063e-03 -4.18185436e+01] [-4.93604029e-02 3.39357879e-03 9.98775267e-01 -2.13541741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.310714057 meters 0.04704602942309516 Centerline is valid? [True, True] Translation: X:306.05, Y:-41.82, Z:-21.36 [[ 9.96470339e-01 6.81498821e-02 4.90148741e-02 3.06049071e+02] [-6.79000589e-02 9.97669321e-01 -6.74595163e-03 -4.18223397e+01] [-4.93603719e-02 3.39402787e-03 9.98775267e-01 -2.13558168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.340714057 meters 0.04781269580744247 Centerline is valid? [True, True] Translation: X:306.08, Y:-41.83, Z:-21.36 [[ 9.96566019e-01 6.74344921e-02 4.80495497e-02 3.06077253e+02] [-6.71937476e-02 9.97718051e-01 -6.60993518e-03 -4.18268915e+01] [-4.83856407e-02 3.35860747e-03 9.98823082e-01 -2.13579727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.370714057 meters 0.04682265418369935 Centerline is valid? [True, True] Translation: X:306.11, Y:-41.83, Z:-21.36 [[ 9.96621481e-01 6.69588743e-02 4.75618758e-02 3.06106046e+02] [-6.67226085e-02 9.97750132e-01 -6.53970627e-03 -4.18289927e+01] [-4.78927592e-02 3.34415933e-03 9.98846885e-01 -2.13596389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.400714057 meters 0.04502305678274907 Centerline is valid? [True, True] Translation: X:306.14, Y:-41.83, Z:-21.36 [[ 9.96698891e-01 6.60362832e-02 4.72284778e-02 3.06135015e+02] [-6.58024415e-02 9.97811560e-01 -6.49070734e-03 -4.18291964e+01] [-4.75537433e-02 3.36153166e-03 9.98863024e-01 -2.13607981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.430714057 meters 0.04525244961980441 Centerline is valid? [True, True] Translation: X:306.16, Y:-41.83, Z:-21.36 [[ 9.96731867e-01 6.56328336e-02 4.70947590e-02 3.06163741e+02] [-6.54000224e-02 9.97838157e-01 -6.46906995e-03 -4.18335092e+01] [-4.74175310e-02 3.36792988e-03 9.98869478e-01 -2.13621219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.460714057 meters 0.04599803156882668 Centerline is valid? [True, True] Translation: X:306.19, Y:-41.84, Z:-21.36 [[ 9.96788464e-01 6.48501969e-02 4.69809633e-02 3.06192488e+02] [-6.46178120e-02 9.97889241e-01 -6.44993503e-03 -4.18378955e+01] [-4.73000774e-02 3.39341378e-03 9.98874961e-01 -2.13641512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.490714057 meters 0.04871965117480076 Centerline is valid? [True, True] Translation: X:306.22, Y:-41.85, Z:-21.37 [[ 9.96881296e-01 6.35589673e-02 4.67754126e-02 3.06220461e+02] [-6.33272947e-02 9.97972164e-01 -6.41970765e-03 -4.18461094e+01] [-4.70885897e-02 3.43752614e-03 9.98884802e-01 -2.13669296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.520714057 meters 0.04370059570099824 Centerline is valid? [True, True] Translation: X:306.25, Y:-41.84, Z:-21.37 [[ 9.96865708e-01 6.34735382e-02 4.72215068e-02 3.06250462e+02] [-6.32374335e-02 9.97977482e-01 -6.47867693e-03 -4.18428536e+01] [-4.75372249e-02 3.47220397e-03 9.98863432e-01 -2.13670931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.550714057 meters 0.048381790879881224 Centerline is valid? [True, True] Translation: X:306.28, Y:-41.85, Z:-21.37 [[ 9.96777240e-01 6.44033115e-02 4.78262125e-02 3.06278050e+02] [-6.41623544e-02 9.97917925e-01 -6.55800381e-03 -4.18527446e+01] [-4.81489919e-02 3.46822655e-03 9.98834143e-01 -2.13690673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.580714057 meters 0.044871116545295735 Centerline is valid? [True, True] Translation: X:306.31, Y:-41.85, Z:-21.37 [[ 9.96681176e-01 6.55051938e-02 4.83291130e-02 3.06307968e+02] [-6.52605520e-02 9.97846270e-01 -6.62436192e-03 -4.18495563e+01] [-4.86589552e-02 3.44839223e-03 9.98809499e-01 -2.13685306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.610714057 meters 0.04536600517092435 Centerline is valid? [True, True] Translation: X:306.34, Y:-41.85, Z:-21.37 [[ 9.96653513e-01 6.59136580e-02 4.83442391e-02 3.06336288e+02] [-6.56694563e-02 9.97819445e-01 -6.62406385e-03 -4.18525968e+01] [-4.86754381e-02 3.42715661e-03 9.98808769e-01 -2.13703455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.640714057 meters 0.04545881627186813 Centerline is valid? [True, True] Translation: X:306.36, Y:-41.86, Z:-21.37 [[ 9.96589024e-01 6.65272492e-02 4.88307597e-02 3.06364561e+02] [-6.62790039e-02 9.97778720e-01 -6.68729708e-03 -4.18566021e+01] [-4.91671804e-02 3.42803276e-03 9.98784680e-01 -2.13720340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.670714057 meters 0.04588594044768729 Centerline is valid? [True, True] Translation: X:306.39, Y:-41.86, Z:-21.37 [[ 9.96591035e-01 6.65703871e-02 4.87308196e-02 3.06393425e+02] [-6.63233737e-02 9.97775886e-01 -6.67026180e-03 -4.18609136e+01] [-4.90664786e-02 3.41553075e-03 9.98789675e-01 -2.13745940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.700714057 meters 0.04700224352646482 Centerline is valid? [True, True] Translation: X:306.42, Y:-41.87, Z:-21.38 [[ 9.96595302e-01 6.61590035e-02 4.92015344e-02 3.06420888e+02] [-6.59068500e-02 9.97803074e-01 -6.73149683e-03 -4.18662481e+01] [-4.95387914e-02 3.46585997e-03 9.98766187e-01 -2.13769487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.730714057 meters 0.04847185995073535 Centerline is valid? [True, True] Translation: X:306.45, Y:-41.87, Z:-21.38 [[ 9.96666258e-01 6.52315786e-02 4.90021462e-02 3.06448896e+02] [-6.49805986e-02 9.97864040e-01 -6.69922771e-03 -4.18714880e+01] [-4.93344807e-02 3.49270542e-03 9.98776206e-01 -2.13784159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.76071405700003 meters 0.04513390533744197 Centerline is valid? [True, True] Translation: X:306.48, Y:-41.87, Z:-21.38 [[ 9.96911202e-01 6.24778899e-02 4.75874795e-02 3.06479316e+02] [-6.22381962e-02 9.98040135e-01 -6.50353058e-03 -4.18694054e+01] [-4.79005414e-02 3.52168360e-03 9.98845902e-01 -2.13804812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.790714057 meters 0.043439160918657245 Centerline is valid? [True, True] Translation: X:306.51, Y:-41.87, Z:-21.38 [[ 9.97018690e-01 6.12185297e-02 4.69683178e-02 3.06508790e+02] [-6.09836793e-02 9.98118127e-01 -6.41828875e-03 -4.18707749e+01] [-4.72728476e-02 3.53485302e-03 9.98875759e-01 -2.13821354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.82071405700003 meters 0.04617628485214977 Centerline is valid? [True, True] Translation: X:306.54, Y:-41.88, Z:-21.38 [[ 9.97135830e-01 5.99041016e-02 4.61696325e-02 3.06536730e+02] [-5.96758540e-02 9.98197880e-01 -6.30750229e-03 -4.18788286e+01] [-4.64642746e-02 3.53422428e-03 9.98913700e-01 -2.13846639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.850714057 meters 0.047613116342599265 Centerline is valid? [True, True] Translation: X:306.57, Y:-41.88, Z:-21.39 [[ 9.97272360e-01 5.80516509e-02 4.55833997e-02 3.06566257e+02] [-5.78273290e-02 9.98307188e-01 -6.22559046e-03 -4.18843358e+01] [-4.58676413e-02 3.57264304e-03 9.98941137e-01 -2.13874444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.88071405700003 meters 0.07136927913411381 Centerline is valid? [True, True] Translation: X:306.59, Y:-41.92, Z:-21.39 [[ 9.97014105e-01 6.11828824e-02 4.71118773e-02 3.06591020e+02] [-6.09467648e-02 9.98120285e-01 -6.43344858e-03 -4.19224439e+01] [-4.74169373e-02 3.54292247e-03 9.98868901e-01 -2.13932799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.910714057 meters 0.05003620994440274 Centerline is valid? [True, True] Translation: X:306.63, Y:-41.89, Z:-21.39 [[ 9.97362722e-01 5.64089908e-02 4.56686611e-02 3.06625564e+02] [-5.61821884e-02 9.98401061e-01 -6.23569649e-03 -4.18946904e+01] [-4.59473890e-02 3.65348590e-03 9.98937180e-01 -2.13922729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.94071405700004 meters 0.04921690767313571 Centerline is valid? [True, True] Translation: X:306.65, Y:-41.90, Z:-21.39 [[ 9.97406022e-01 5.56186976e-02 4.56923071e-02 3.06654895e+02] [-5.53908419e-02 9.98445257e-01 -6.23880832e-03 -4.18967398e+01] [-4.59682617e-02 3.69168963e-03 9.98936079e-01 -2.13941943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.970714057 meters 0.05176366800588665 Centerline is valid? [True, True] Translation: X:306.68, Y:-41.90, Z:-21.40 [[ 9.97457976e-01 5.45571115e-02 4.58378402e-02 3.06683209e+02] [-5.43267619e-02 9.98503606e-01 -6.25707207e-03 -4.19032899e+01] [-4.61106166e-02 3.75094501e-03 9.98929298e-01 -2.13965373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.000714057 meters 0.05112010782383027 Centerline is valid? [True, True] Translation: X:306.71, Y:-41.91, Z:-21.40 [[ 9.97502879e-01 5.36761489e-02 4.59007242e-02 3.06713044e+02] [-5.34443230e-02 9.98551185e-01 -6.26386742e-03 -4.19063106e+01] [-4.61704428e-02 3.79509266e-03 9.98926367e-01 -2.13978849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.030714057 meters 0.05660991833138943 Centerline is valid? [True, True] Translation: X:306.74, Y:-41.92, Z:-21.40 [[ 9.97597614e-01 5.16479866e-02 4.61680292e-02 3.06741813e+02] [-5.14113809e-02 9.98657699e-01 -6.29848379e-03 -4.19179693e+01] [-4.64313618e-02 3.90979026e-03 9.98913831e-01 -2.14002894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.060714057 meters 0.05352252649291878 Centerline is valid? [True, True] Translation: X:306.77, Y:-41.92, Z:-21.40 [[ 9.97622024e-01 5.09281539e-02 4.64394314e-02 3.06773629e+02] [-5.06877909e-02 9.98694426e-01 -6.33958980e-03 -4.19180514e+01] [-4.67016649e-02 3.97060221e-03 9.98900990e-01 -2.14015607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.090714057 meters 0.05222531016696695 Centerline is valid? [True, True] Translation: X:306.80, Y:-41.92, Z:-21.40 [[ 9.97681601e-01 4.94797150e-02 4.67245265e-02 3.06804538e+02] [-4.92347464e-02 9.98766858e-01 -6.37992271e-03 -4.19194616e+01] [-4.69825853e-02 4.06466129e-03 9.98887439e-01 -2.14023635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.120714057 meters 0.051957067345105475 Centerline is valid? [True, True] Translation: X:306.84, Y:-41.92, Z:-21.40 [[ 9.97677301e-01 4.91964755e-02 4.71137992e-02 3.06835854e+02] [-4.89469581e-02 9.98780644e-01 -6.43587226e-03 -4.19233625e+01] [-4.73729729e-02 4.11484651e-03 9.98868795e-01 -2.14038507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.150714057 meters 0.057299582132160916 Centerline is valid? [True, True] Translation: X:306.87, Y:-41.94, Z:-21.41 [[ 9.97675286e-01 4.92930359e-02 4.70555066e-02 3.06866730e+02] [-4.90442328e-02 9.98775922e-01 -6.42811963e-03 -4.19350789e+01] [-4.73147685e-02 4.10537487e-03 9.98871593e-01 -2.14072805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.180714057 meters 0.053126960991315995 Centerline is valid? [True, True] Translation: X:306.90, Y:-41.93, Z:-21.41 [[ 9.97627990e-01 5.01362431e-02 4.71672678e-02 3.06899945e+02] [-4.98868295e-02 9.98734043e-01 -6.45098484e-03 -4.19328281e+01] [-4.74309842e-02 4.08265759e-03 9.98866174e-01 -2.14087634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.210714057 meters 0.057407845848180254 Centerline is valid? [True, True] Translation: X:306.93, Y:-41.94, Z:-21.41 [[ 9.97582144e-01 5.12339173e-02 4.69569122e-02 3.06929543e+02] [-5.09872975e-02 9.98678566e-01 -6.43563300e-03 -4.19422483e+01] [-4.72245844e-02 4.02586652e-03 9.98876184e-01 -2.14109131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.240714057 meters 0.05402399683543232 Centerline is valid? [True, True] Translation: X:306.96, Y:-41.94, Z:-21.41 [[ 9.97499973e-01 5.30717800e-02 4.66603723e-02 3.06960850e+02] [-5.28301711e-02 9.98583022e-01 -6.39695297e-03 -4.19393097e+01] [-4.69337532e-02 3.91588496e-03 9.98890329e-01 -2.14117405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.270714057 meters 0.0461284582030874 Centerline is valid? [True, True] Translation: X:306.99, Y:-41.93, Z:-21.41 [[ 9.97396837e-01 5.44252713e-02 4.73015818e-02 3.06993124e+02] [-5.41784803e-02 9.98510210e-01 -6.48486026e-03 -4.19302000e+01] [-4.75840526e-02 3.90525130e-03 9.98859603e-01 -2.14114609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.300714057 meters 0.05458269315613336 Centerline is valid? [True, True] Translation: X:307.02, Y:-41.95, Z:-21.41 [[ 9.97335084e-01 5.52260207e-02 4.76740616e-02 3.07020819e+02] [-5.49762236e-02 9.98466271e-01 -6.53609838e-03 -4.19453309e+01] [-4.79619052e-02 3.89774035e-03 9.98841561e-01 -2.14147019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.330714057 meters 0.04642192074566828 Centerline is valid? [True, True] Translation: X:307.05, Y:-41.94, Z:-21.41 [[ 9.97264235e-01 5.61617579e-02 4.80614397e-02 3.07052344e+02] [-5.59089936e-02 9.98414131e-01 -6.58850420e-03 -4.19353585e+01] [-4.83552425e-02 3.88341288e-03 9.98822652e-01 -2.14146880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.360714057 meters 0.047269678572845676 Centerline is valid? [True, True] Translation: X:307.08, Y:-41.94, Z:-21.42 [[ 9.97244054e-01 5.64810945e-02 4.81059611e-02 3.07081127e+02] [-5.62283137e-02 9.98396169e-01 -6.59288218e-03 -4.19391654e+01] [-4.84011805e-02 3.86979548e-03 9.98820480e-01 -2.14170118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.390714057 meters 0.04556588251257263 Centerline is valid? [True, True] Translation: X:307.11, Y:-41.94, Z:-21.42 [[ 9.97230668e-01 5.69351162e-02 4.78475457e-02 3.07110725e+02] [-5.66856464e-02 9.98370552e-01 -6.55578970e-03 -4.19379884e+01] [-4.81428353e-02 3.82536548e-03 9.98833136e-01 -2.14187533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.420714057 meters 0.04525328373322793 Centerline is valid? [True, True] Translation: X:307.14, Y:-41.94, Z:-21.42 [[ 9.97253661e-01 5.68515252e-02 4.74661913e-02 3.07140123e+02] [-5.66060069e-02 9.98375423e-01 -6.50184743e-03 -4.19397729e+01] [-4.77587188e-02 3.79711961e-03 9.98851684e-01 -2.14203171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.450714057 meters 0.04595912591345935 Centerline is valid? [True, True] Translation: X:307.17, Y:-41.94, Z:-21.42 [[ 9.97245396e-01 5.68448719e-02 4.76474590e-02 3.07168743e+02] [-5.65975401e-02 9.98375752e-01 -6.52511979e-03 -4.19439956e+01] [-4.79409873e-02 3.81041670e-03 9.98842902e-01 -2.14220636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.480714057 meters 0.04885312097423163 Centerline is valid? [True, True] Translation: X:307.20, Y:-41.95, Z:-21.42 [[ 9.97236307e-01 5.60899325e-02 4.87203082e-02 3.07196987e+02] [-5.58305662e-02 9.98417983e-01 -6.66928468e-03 -4.19501057e+01] [-4.90173115e-02 3.93077043e-03 9.98790194e-01 -2.14242131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.51071405700003 meters 0.04795072529325643 Centerline is valid? [True, True] Translation: X:307.23, Y:-41.95, Z:-21.43 [[ 9.97256032e-01 5.58335530e-02 4.86109199e-02 3.07227004e+02] [-5.55751611e-02 9.98432347e-01 -6.65201965e-03 -4.19522933e+01] [-4.89061207e-02 3.93220702e-03 9.98795639e-01 -2.14263359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.540714057 meters 0.048032749644548386 Centerline is valid? [True, True] Translation: X:307.26, Y:-41.96, Z:-21.43 [[ 9.97264320e-01 5.61419827e-02 4.80827722e-02 3.07255895e+02] [-5.58896178e-02 9.98415284e-01 -6.57807186e-03 -4.19564527e+01] [-4.83758807e-02 3.87274860e-03 9.98821694e-01 -2.14291401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.57071405700003 meters 0.04714418179289542 Centerline is valid? [True, True] Translation: X:307.29, Y:-41.96, Z:-21.43 [[ 9.97035579e-01 6.02395383e-02 4.78670323e-02 3.07285215e+02] [-5.99942119e-02 9.98177256e-01 -6.54674450e-03 -4.19578639e+01] [-4.81741558e-02 3.65559231e-03 9.98832262e-01 -2.14302235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.600714057 meters 0.046280394129205905 Centerline is valid? [True, True] Translation: X:307.32, Y:-41.96, Z:-21.43 [[ 9.96902920e-01 6.26844145e-02 4.74892909e-02 3.07315424e+02] [-6.24457448e-02 9.98027231e-01 -6.49424846e-03 -4.19599982e+01] [-4.78026937e-02 3.50863111e-03 9.98850635e-01 -2.14317017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.63071405700003 meters 0.041685124456676714 Centerline is valid? [True, True] Translation: X:307.35, Y:-41.96, Z:-21.43 [[ 9.96788622e-01 6.50089967e-02 4.67576017e-02 3.07346156e+02] [-6.47802606e-02 9.97879079e-01 -6.39235167e-03 -4.19570878e+01] [-4.70739928e-02 3.34285379e-03 9.98885812e-01 -2.14335092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.660714057 meters 0.043434452381949 Centerline is valid? [True, True] Translation: X:307.37, Y:-41.96, Z:-21.44 [[ 9.96794367e-01 6.53038342e-02 4.62211879e-02 3.07373210e+02] [-6.50806352e-02 9.97860001e-01 -6.31903636e-03 -4.19630713e+01] [-4.65349319e-02 3.29067558e-03 9.98911243e-01 -2.14363385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.69071405700004 meters 0.041046794391933775 Centerline is valid? [True, True] Translation: X:307.40, Y:-41.97, Z:-21.44 [[ 9.96563163e-01 6.97149984e-02 4.47401475e-02 3.07403317e+02] [-6.95105391e-02 9.97562497e-01 -6.11140543e-03 -4.19659656e+01] [-4.50571499e-02 2.98048975e-03 9.98979965e-01 -2.14408213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.720714057 meters 0.03977905427421152 Centerline is valid? [True, True] Translation: X:307.43, Y:-41.97, Z:-21.44 [[ 9.96418318e-01 7.12621576e-02 4.55218697e-02 3.07432596e+02] [-7.10520714e-02 9.97453223e-01 -6.21862013e-03 -4.19688675e+01] [-4.58490880e-02 2.96192386e-03 9.98943986e-01 -2.14424383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.750714057 meters 0.04238104279188253 Centerline is valid? [True, True] Translation: X:307.46, Y:-41.98, Z:-21.44 [[ 9.96235169e-01 7.31848048e-02 4.64701307e-02 3.07460592e+02] [-7.29680676e-02 9.97314090e-01 -6.34562144e-03 -4.19755891e+01] [-4.68097192e-02 2.93089560e-03 9.98899524e-01 -2.14434233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.780714057 meters 0.03966775848512996 Centerline is valid? [True, True] Translation: X:307.49, Y:-41.97, Z:-21.44 [[ 9.96202889e-01 7.37654502e-02 4.62435204e-02 3.07489943e+02] [-7.35515520e-02 9.97271439e-01 -6.31241189e-03 -4.19737702e+01] [-4.65829801e-02 2.88716026e-03 9.98910251e-01 -2.14433591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.810714057 meters 0.04044354506699856 Centerline is valid? [True, True] Translation: X:307.52, Y:-41.98, Z:-21.44 [[ 9.96048082e-01 7.54434840e-02 4.68668176e-02 3.07517743e+02] [-7.52257856e-02 9.97146026e-01 -6.39409323e-03 -4.19791187e+01] [-4.72154535e-02 2.84323113e-03 9.98880682e-01 -2.14445725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.840714057 meters 0.04120206800347016 Centerline is valid? [True, True] Translation: X:307.54, Y:-41.99, Z:-21.45 [[ 9.96011213e-01 7.57298479e-02 4.71874393e-02 3.07544796e+02] [-7.55096275e-02 9.97124311e-01 -6.43469379e-03 -4.19853463e+01] [-4.75390412e-02 2.84592120e-03 9.98865326e-01 -2.14464133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.870714057 meters 0.04253168714780534 Centerline is valid? [True, True] Translation: X:307.57, Y:-41.99, Z:-21.45 [[ 9.96084894e-01 7.41263329e-02 4.81681426e-02 3.07572791e+02] [-7.38952097e-02 9.97244410e-01 -6.56385990e-03 -4.19924952e+01] [-4.85219658e-02 2.97876670e-03 9.98817674e-01 -2.14473547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.900714057 meters 0.03980528031667701 Centerline is valid? [True, True] Translation: X:307.60, Y:-41.99, Z:-21.45 [[ 9.96209980e-01 7.23364256e-02 4.83023514e-02 3.07602821e+02] [-7.21020442e-02 9.97375559e-01 -6.57953311e-03 -4.19916422e+01] [-4.86515247e-02 3.07189827e-03 9.98811090e-01 -2.14472258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.930714057 meters 0.04491401285784074 Centerline is valid? [True, True] Translation: X:307.63, Y:-42.01, Z:-21.45 [[ 9.96426198e-01 6.85468228e-02 4.93575125e-02 3.07630578e+02] [-6.82975416e-02 9.97642355e-01 -6.72144883e-03 -4.20051002e+01] [-4.97018789e-02 3.32643094e-03 9.98758558e-01 -2.14483688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.960714057 meters 0.047901177375479324 Centerline is valid? [True, True] Translation: X:307.66, Y:-42.01, Z:-21.45 [[ 9.96552611e-01 6.61940206e-02 5.00124436e-02 3.07657521e+02] [-6.59352024e-02 9.97800674e-01 -6.80910993e-03 -4.20149792e+01] [-5.03531723e-02 3.48805569e-03 9.98725383e-01 -2.14503155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.990714057 meters 0.04817336598801285 Centerline is valid? [True, True] Translation: X:307.69, Y:-42.02, Z:-21.45 [[ 9.96893229e-01 6.09219080e-02 4.99240508e-02 3.07687399e+02] [-6.06576236e-02 9.98135514e-01 -6.79323261e-03 -4.20231781e+01] [-5.02448248e-02 3.74385331e-03 9.98729914e-01 -2.14523341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.020714057 meters 0.050966099659906866 Centerline is valid? [True, True] Translation: X:307.72, Y:-42.03, Z:-21.45 [[ 9.97017755e-01 5.82852310e-02 5.05809065e-02 3.07715805e+02] [-5.80105576e-02 9.98292243e-01 -6.88279541e-03 -4.20333986e+01] [-5.08956919e-02 3.92804263e-03 9.98696250e-01 -2.14543631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.050714057 meters 0.05346583599881009 Centerline is valid? [True, True] Translation: X:307.75, Y:-42.04, Z:-21.46 [[ 9.97330762e-01 5.24256023e-02 5.08223124e-02 3.07745325e+02] [-5.21407853e-02 9.98615804e-01 -6.91479590e-03 -4.20446707e+01] [-5.11144767e-02 4.24642339e-03 9.98683773e-01 -2.14564662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.080714057 meters 0.05403432225426418 Centerline is valid? [True, True] Translation: X:307.78, Y:-42.05, Z:-21.46 [[ 9.97510930e-01 4.92493428e-02 5.04623371e-02 3.07775035e+02] [-4.89645152e-02 9.98776920e-01 -6.86586921e-03 -4.20510145e+01] [-5.07387571e-02 4.37791571e-03 9.98702364e-01 -2.14589666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.110714057 meters 0.050352377670784786 Centerline is valid? [True, True] Translation: X:307.81, Y:-42.05, Z:-21.46 [[ 9.97765477e-01 4.43182793e-02 4.99994238e-02 3.07805263e+02] [-4.40325084e-02 9.99006935e-01 -6.80310872e-03 -4.20543034e+01] [-5.02512732e-02 4.58630697e-03 9.98726076e-01 -2.14610247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.140714057 meters 0.05976433843041128 Centerline is valid? [True, True] Translation: X:307.83, Y:-42.07, Z:-21.46 [[ 9.97899729e-01 4.23162365e-02 4.90455604e-02 3.07832631e+02] [-4.20388992e-02 9.99093691e-01 -6.67295543e-03 -4.20740139e+01] [-4.92834843e-02 4.59711905e-03 9.98774251e-01 -2.14647594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.170714057 meters 0.05905198665749814 Centerline is valid? [True, True] Translation: X:307.86, Y:-42.08, Z:-21.47 [[ 9.98080463e-01 3.92975054e-02 4.78653902e-02 3.07862833e+02] [-3.90299311e-02 9.99216820e-01 -6.51235954e-03 -4.20810367e+01] [-4.80838224e-02 4.63167594e-03 9.98832565e-01 -2.14677026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.200714057 meters 0.06799924914548972 Centerline is valid? [True, True] Translation: X:307.89, Y:-42.10, Z:-21.47 [[ 9.98131640e-01 3.86481208e-02 4.73239064e-02 3.07891944e+02] [-3.83859481e-02 9.99242257e-01 -6.43662206e-03 -4.20992682e+01] [-4.75368104e-02 4.60802312e-03 9.98858858e-01 -2.14708999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.230714057 meters 0.06799924914548972 Centerline is valid? [True, True] Translation: X:307.92, Y:-42.10, Z:-21.47 [[ 9.98121800e-01 3.89030632e-02 4.73225490e-02 3.07924329e+02] [-3.86407064e-02 9.99232374e-01 -6.44658412e-03 -4.21038022e+01] [-4.75370149e-02 4.60589942e-03 9.98858858e-01 -2.14727909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.26071405700003 meters 0.05478380742603939 Centerline is valid? [True, True] Translation: X:307.96, Y:-42.09, Z:-21.47 [[ 9.98148876e-01 3.84862704e-02 4.70916985e-02 3.07958284e+02] [-3.82254294e-02 9.99248470e-01 -6.42740670e-03 -4.20919659e+01] [-4.73036746e-02 4.61540838e-03 9.98869892e-01 -2.14730597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.290714057 meters 0.05439865752168645 Centerline is valid? [True, True] Translation: X:307.99, Y:-42.10, Z:-21.47 [[ 9.98154958e-01 3.86750576e-02 4.68072525e-02 3.07990994e+02] [-3.84170369e-02 9.99241299e-01 -6.39983801e-03 -4.20971483e+01] [-4.70192538e-02 4.58983409e-03 9.98883438e-01 -2.14747490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.32071405700003 meters 0.05383394208773714 Centerline is valid? [True, True] Translation: X:308.02, Y:-42.10, Z:-21.48 [[ 9.98103032e-01 3.94688466e-02 4.72498461e-02 3.08023260e+02] [-3.92060540e-02 9.99210161e-01 -6.47602531e-03 -4.21019145e+01] [-4.74681276e-02 4.61126048e-03 9.98862109e-01 -2.14767682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.350714057 meters 0.05575284031005771 Centerline is valid? [True, True] Translation: X:308.05, Y:-42.11, Z:-21.48 [[ 9.97958477e-01 4.15953107e-02 4.84634697e-02 3.08051554e+02] [-4.13210480e-02 9.99123805e-01 -6.64779167e-03 -4.21109851e+01] [-4.86975233e-02 4.63165870e-03 9.98802833e-01 -2.14794990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.38071405700003 meters 0.052241803328143384 Centerline is valid? [True, True] Translation: X:308.08, Y:-42.11, Z:-21.48 [[ 9.97852789e-01 4.34390401e-02 4.90189911e-02 3.08082485e+02] [-4.31607081e-02 9.99045523e-01 -6.72281476e-03 -4.21113044e+01] [-4.92642362e-02 4.59268510e-03 9.98775221e-01 -2.14805154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.410714057 meters 0.04960690072027854 Centerline is valid? [True, True] Translation: X:308.11, Y:-42.11, Z:-21.48 [[ 9.97652804e-01 4.79175442e-02 4.89161658e-02 3.08113133e+02] [-4.76456630e-02 9.98841764e-01 -6.70974602e-03 -4.21117940e+01] [-4.91810239e-02 4.36335378e-03 9.98780350e-01 -2.14816513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.44071405700004 meters 0.053403229229714286 Centerline is valid? [True, True] Translation: X:308.14, Y:-42.12, Z:-21.48 [[ 9.97572433e-01 5.02305280e-02 4.82300299e-02 3.08142209e+02] [-4.99689136e-02 9.98728863e-01 -6.61553574e-03 -4.21211848e+01] [-4.85010248e-02 4.18947389e-03 9.98814347e-01 -2.14842184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.470714057 meters 0.05289127685832517 Centerline is valid? [True, True] Translation: X:308.17, Y:-42.13, Z:-21.49 [[ 9.97397716e-01 5.43013970e-02 4.74252433e-02 3.08171351e+02] [-5.40530060e-02 9.98516877e-01 -6.50532478e-03 -4.21252870e+01] [-4.77081541e-02 3.92491911e-03 9.98853606e-01 -2.14865749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.500714057 meters 0.05298037094110832 Centerline is valid? [True, True] Translation: X:308.20, Y:-42.13, Z:-21.49 [[ 9.97309678e-01 5.57562421e-02 4.75883098e-02 3.08201755e+02] [-5.55078397e-02 9.98436921e-01 -6.52649678e-03 -4.21300104e+01] [-4.78778184e-02 3.86741413e-03 9.98845713e-01 -2.14884864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.530714057 meters 0.045019282836711985 Centerline is valid? [True, True] Translation: X:308.23, Y:-42.12, Z:-21.49 [[ 9.97153004e-01 5.81942751e-02 4.79511590e-02 3.08233240e+02] [-5.79448203e-02 9.98298121e-01 -6.57719130e-03 -4.21243320e+01] [-4.82523068e-02 3.77994477e-03 9.98828027e-01 -2.14893225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.560714057 meters 0.04466518558241027 Centerline is valid? [True, True] Translation: X:308.26, Y:-42.13, Z:-21.49 [[ 9.97112193e-01 5.93582985e-02 4.73694738e-02 3.08263936e+02] [-5.91161781e-02 9.98229965e-01 -6.49722779e-03 -4.21284765e+01] [-4.76712926e-02 3.67816280e-03 9.98856305e-01 -2.14912054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.590714057 meters 0.043846647738314946 Centerline is valid? [True, True] Translation: X:308.29, Y:-42.13, Z:-21.49 [[ 9.96953883e-01 6.21143491e-02 4.71673878e-02 3.08293637e+02] [-6.18772966e-02 9.98062788e-01 -6.47077127e-03 -4.21314808e+01] [-4.74779424e-02 3.53247009e-03 9.98866040e-01 -2.14920927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.620714057 meters 0.04209742448916058 Centerline is valid? [True, True] Translation: X:308.32, Y:-42.13, Z:-21.49 [[ 9.96856455e-01 6.33373358e-02 4.75982242e-02 3.08323441e+02] [-6.30973647e-02 9.97986020e-01 -6.52882381e-03 -4.21329874e+01] [-4.79158807e-02 3.50497764e-03 9.98845225e-01 -2.14933800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.650714057 meters 0.04314959699400862 Centerline is valid? [True, True] Translation: X:308.35, Y:-42.14, Z:-21.50 [[ 9.96718876e-01 6.55551425e-02 4.74763646e-02 3.08351259e+02] [-6.53189738e-02 9.97843196e-01 -6.51058310e-03 -4.21386867e+01] [-4.78007696e-02 3.38811366e-03 9.98851144e-01 -2.14958137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.680714057 meters 0.043140844072230726 Centerline is valid? [True, True] Translation: X:308.38, Y:-42.14, Z:-21.50 [[ 9.96663182e-01 6.64193583e-02 4.74443846e-02 3.08379597e+02] [-6.61845950e-02 9.97786199e-01 -6.50382577e-03 -4.21425560e+01] [-4.77713321e-02 3.34203632e-03 9.98852707e-01 -2.14973766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.710714057 meters 0.04005117449258816 Centerline is valid? [True, True] Translation: X:308.41, Y:-42.14, Z:-21.50 [[ 9.96526314e-01 6.77726671e-02 4.83959901e-02 3.08409506e+02] [-6.75301532e-02 9.97695201e-01 -6.63051120e-03 -4.21429369e+01] [-4.87338145e-02 3.33929026e-03 9.98806220e-01 -2.14974634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.740714057 meters 0.040723810044956815 Centerline is valid? [True, True] Translation: X:308.44, Y:-42.15, Z:-21.50 [[ 9.96463851e-01 6.81050797e-02 4.92086586e-02 3.08436456e+02] [-6.78548148e-02 9.97672436e-01 -6.74049438e-03 -4.21478930e+01] [-4.95531842e-02 3.37761456e-03 9.98765775e-01 -2.14989902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.770714057 meters 0.04270554060003132 Centerline is valid? [True, True] Translation: X:308.46, Y:-42.15, Z:-21.50 [[ 9.96417088e-01 6.90205483e-02 4.88789419e-02 3.08463349e+02] [-6.87749441e-02 9.97609763e-01 -6.69088314e-03 -4.21548381e+01] [-4.92239181e-02 3.30526379e-03 9.98782299e-01 -2.15012295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.800714057 meters 0.04423975352579452 Centerline is valid? [True, True] Translation: X:308.49, Y:-42.16, Z:-21.50 [[ 9.96429652e-01 6.92824459e-02 4.82482269e-02 3.08490428e+02] [-6.90436571e-02 9.97591805e-01 -6.60030573e-03 -4.21612858e+01] [-4.85893211e-02 3.24550631e-03 9.98813568e-01 -2.15038103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.830714057 meters 0.041678759681005206 Centerline is valid? [True, True] Translation: X:308.52, Y:-42.16, Z:-21.51 [[ 9.96403950e-01 7.04558545e-02 4.70652946e-02 3.08519776e+02] [-7.02301481e-02 9.97510064e-01 -6.43418958e-03 -4.21615564e+01] [-4.74014313e-02 3.10564930e-03 9.98871092e-01 -2.15056349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.860714057 meters 0.04002815372800628 Centerline is valid? [True, True] Translation: X:308.55, Y:-42.16, Z:-21.51 [[ 9.96395111e-01 7.06062959e-02 4.70269532e-02 3.08549202e+02] [-7.03812400e-02 9.97499464e-01 -6.42650425e-03 -4.21626236e+01] [-4.73631123e-02 3.09352213e-03 9.98872948e-01 -2.15066797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.890714057 meters 0.06125503331778511 Centerline is valid? [True, True] Translation: X:308.57, Y:-42.20, Z:-21.51 [[ 9.95783698e-01 7.73598227e-02 4.92979186e-02 3.08573639e+02] [-7.71208730e-02 9.96999011e-01 -6.73372513e-03 -4.21995016e+01] [-4.96708959e-02 2.90343519e-03 9.98761419e-01 -2.15115878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.920714057 meters 0.04426945106715668 Centerline is valid? [True, True] Translation: X:308.61, Y:-42.18, Z:-21.51 [[ 9.96126010e-01 7.35616386e-02 4.81835741e-02 3.08607711e+02] [-7.33289801e-02 9.97286093e-01 -6.58097218e-03 -4.21783790e+01] [-4.85369154e-02 3.02222522e-03 9.98816817e-01 -2.15105803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.950714057 meters 0.037298361796272154 Centerline is valid? [True, True] Translation: X:308.64, Y:-42.17, Z:-21.51 [[ 9.95980095e-01 7.51265772e-02 4.87816383e-02 3.08638166e+02] [-7.48899610e-02 9.97169544e-01 -6.66284207e-03 -4.21726707e+01] [-4.91441206e-02 2.98280308e-03 9.98787244e-01 -2.15102591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.980714057 meters 0.03924908439788852 Centerline is valid? [True, True] Translation: X:308.67, Y:-42.18, Z:-21.51 [[ 9.95833213e-01 7.67984647e-02 4.91752793e-02 3.08665341e+02] [-7.65601633e-02 9.97042357e-01 -6.71412308e-03 -4.21805387e+01] [-4.95454707e-02 2.92127935e-03 9.98767597e-01 -2.15111717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.01071405700003 meters 0.03619046129634411 Centerline is valid? [True, True] Translation: X:308.69, Y:-42.18, Z:-21.51 [[ 9.95720021e-01 7.78473183e-02 4.98140092e-02 3.08694473e+02] [-7.76042849e-02 9.96961068e-01 -6.79739296e-03 -4.21804573e+01] [-5.01917866e-02 2.90251970e-03 9.98735380e-01 -2.15114365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.040714057 meters 0.036672856967657604 Centerline is valid? [True, True] Translation: X:308.72, Y:-42.19, Z:-21.51 [[ 9.95666163e-01 7.84561895e-02 4.99351421e-02 3.08721959e+02] [-7.82129085e-02 9.96913416e-01 -6.81046258e-03 -4.21850948e+01] [-5.03153361e-02 2.87537444e-03 9.98729242e-01 -2.15130877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.07071405700003 meters 0.03785468482548805 Centerline is valid? [True, True] Translation: X:308.75, Y:-42.19, Z:-21.51 [[ 9.95473704e-01 7.98109532e-02 5.15976305e-02 3.08749165e+02] [-7.95532475e-02 9.96805812e-01 -7.03241627e-03 -4.21928064e+01] [-5.19940818e-02 2.89582641e-03 9.98643194e-01 -2.15142650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.100714057 meters 0.03550349089790421 Centerline is valid? [True, True] Translation: X:308.78, Y:-42.19, Z:-21.51 [[ 9.95396270e-01 8.06578270e-02 5.17743179e-02 3.08778134e+02] [-8.03997222e-02 9.96737755e-01 -7.05210428e-03 -4.21934590e+01] [-5.21742248e-02 2.85699753e-03 9.98633911e-01 -2.15149684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.13071405700003 meters 0.03415863972775607 Centerline is valid? [True, True] Translation: X:308.81, Y:-42.20, Z:-21.52 [[ 9.95221307e-01 8.27082028e-02 5.19028238e-02 3.08807098e+02] [-8.24517866e-02 9.96570006e-01 -7.06588191e-03 -4.21958526e+01] [-5.23092038e-02 2.75263568e-03 9.98627143e-01 -2.15159915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.160714057 meters 0.033503960840188855 Centerline is valid? [True, True] Translation: X:308.84, Y:-42.20, Z:-21.52 [[ 9.94994047e-01 8.55730867e-02 5.16148467e-02 3.08835369e+02] [-8.53235516e-02 9.96328546e-01 -7.02284454e-03 -4.22002435e+01] [-5.20263117e-02 2.58372647e-03 9.98642372e-01 -2.15170944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.19071405700004 meters 0.03389710502612934 Centerline is valid? [True, True] Translation: X:308.86, Y:-42.21, Z:-21.52 [[ 9.94841189e-01 8.73533465e-02 5.15790806e-02 3.08862600e+02] [-8.71066730e-02 9.96174287e-01 -7.01547005e-03 -4.22056139e+01] [-5.19945787e-02 2.48639646e-03 9.98644272e-01 -2.15187485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.220714057 meters 0.03251372047908538 Centerline is valid? [True, True] Translation: X:308.89, Y:-42.21, Z:-21.52 [[ 9.94639857e-01 9.00301091e-02 5.08540549e-02 3.08892388e+02] [-8.97941142e-02 9.95936371e-01 -6.91105572e-03 -4.22086293e+01] [-5.12696060e-02 2.30761666e-03 9.98682183e-01 -2.15213705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.250714057 meters 0.041092378911273424 Centerline is valid? [True, True] Translation: X:308.92, Y:-42.23, Z:-21.53 [[ 9.94198146e-01 9.46552504e-02 5.10923726e-02 3.08918245e+02] [-9.44231616e-02 9.95507943e-01 -6.94274785e-03 -4.22289591e+01] [-5.15200303e-02 2.07816368e-03 9.98669799e-01 -2.15252997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.280714057 meters 0.034089287252618485 Centerline is valid? [True, True] Translation: X:308.95, Y:-42.22, Z:-21.53 [[ 9.94422015e-01 9.28630304e-02 5.00131325e-02 3.08949439e+02] [-9.26385280e-02 9.95676631e-01 -6.79336650e-03 -4.22204435e+01] [-5.04277599e-02 2.12233022e-03 9.98725456e-01 -2.15253373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.310714057 meters 0.030637812575317468 Centerline is valid? [True, True] Translation: X:308.98, Y:-42.22, Z:-21.53 [[ 9.94140930e-01 9.57017570e-02 5.02492373e-02 3.08979498e+02] [-9.54788299e-02 9.95408072e-01 -6.82375770e-03 -4.22178972e+01] [-5.06715420e-02 1.98603843e-03 9.98713398e-01 -2.15253085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.340714057 meters 0.03222164292135621 Centerline is valid? [True, True] Translation: X:309.01, Y:-42.23, Z:-21.53 [[ 9.93956431e-01 9.71524678e-02 5.11078373e-02 3.09006225e+02] [-9.69238430e-02 9.95267613e-01 -6.93881245e-03 -4.22259538e+01] [-5.15400980e-02 1.94330926e-03 9.98669035e-01 -2.15272217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.370714057 meters 0.03169957375287191 Centerline is valid? [True, True] Translation: X:309.03, Y:-42.23, Z:-21.53 [[ 9.93737635e-01 9.87687195e-02 5.22518241e-02 3.09034412e+02] [-9.85322213e-02 9.95108609e-01 -7.08925480e-03 -4.22309943e+01] [-5.26964366e-02 1.89637101e-03 9.98608777e-01 -2.15280442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.400714057 meters 0.031171786595740734 Centerline is valid? [True, True] Translation: X:309.06, Y:-42.24, Z:-21.53 [[ 9.93671600e-01 9.92583845e-02 5.25787528e-02 3.09062870e+02] [-9.90197897e-02 9.95059920e-01 -7.13001645e-03 -4.22355043e+01] [-5.30267234e-02 1.87855781e-03 9.98591327e-01 -2.15288173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.430714057 meters 0.031181856938430903 Centerline is valid? [True, True] Translation: X:309.09, Y:-42.24, Z:-21.53 [[ 9.93711760e-01 9.86903782e-02 5.28880558e-02 3.09091057e+02] [-9.84483569e-02 9.95116343e-01 -7.16831451e-03 -4.22430885e+01] [-5.33372123e-02 1.91649624e-03 9.98574719e-01 -2.15303714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.460714057 meters 0.032520120407316125 Centerline is valid? [True, True] Translation: X:309.12, Y:-42.25, Z:-21.53 [[ 9.93841148e-01 9.76238913e-02 5.24342330e-02 3.09117965e+02] [-9.73847116e-02 9.95221463e-01 -7.10334443e-03 -4.22498237e+01] [-5.28771302e-02 1.95330333e-03 9.98599116e-01 -2.15324950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.490714057 meters 0.03305888368112282 Centerline is valid? [True, True] Translation: X:309.15, Y:-42.26, Z:-21.53 [[ 9.93934130e-01 9.64988251e-02 5.27534150e-02 3.09145487e+02] [-9.62553803e-02 9.95331047e-01 -7.14207685e-03 -4.22567100e+01] [-5.31963138e-02 2.02095391e-03 9.98582029e-01 -2.15340717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.520714057 meters 0.0309480578323231 Centerline is valid? [True, True] Translation: X:309.18, Y:-42.26, Z:-21.54 [[ 9.94219649e-01 9.34443367e-02 5.28719734e-02 3.09175021e+02] [-9.31957314e-02 9.95622109e-01 -7.15350956e-03 -4.22613493e+01] [-5.33089606e-02 2.18471754e-03 9.98575677e-01 -2.15356241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.550714057 meters 0.03524546920318134 Centerline is valid? [True, True] Translation: X:309.20, Y:-42.28, Z:-21.54 [[ 9.94607558e-01 8.99923270e-02 5.15478986e-02 3.09201050e+02] [-8.97514857e-02 9.95939783e-01 -6.97278922e-03 -4.22777132e+01] [-5.19661005e-02 2.30868838e-03 9.98646181e-01 -2.15397779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.580714057 meters 0.036286332517786964 Centerline is valid? [True, True] Translation: X:309.23, Y:-42.29, Z:-21.54 [[ 9.94803592e-01 8.82359128e-02 5.07960374e-02 3.09229863e+02] [-8.79999745e-02 9.96096806e-01 -6.86707492e-03 -4.22854122e+01] [-5.12036933e-02 2.36134080e-03 9.98685439e-01 -2.15420011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.610714057 meters 0.03375468897827677 Centerline is valid? [True, True] Translation: X:309.26, Y:-42.29, Z:-21.54 [[ 9.94977384e-01 8.63924517e-02 5.05603532e-02 3.09259450e+02] [-8.61564105e-02 9.96258187e-01 -6.83356365e-03 -4.22868569e+01] [-5.09615342e-02 2.44314274e-03 9.98697628e-01 -2.15436454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.640714057 meters 0.03536449831035757 Centerline is valid? [True, True] Translation: X:309.29, Y:-42.30, Z:-21.55 [[ 9.95358840e-01 8.22466650e-02 4.99626518e-02 3.09288344e+02] [-8.20110632e-02 9.96608554e-01 -6.75090789e-03 -4.22974403e+01] [-5.03484459e-02 2.62208565e-03 9.98728271e-01 -2.15465633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.670714057 meters 0.03619560428772786 Centerline is valid? [True, True] Translation: X:309.32, Y:-42.31, Z:-21.55 [[ 9.95617575e-01 7.90589039e-02 4.99533202e-02 3.09317214e+02] [-7.88194353e-02 9.96866065e-01 -6.74876757e-03 -4.23065240e+01] [-5.03303199e-02 2.78189911e-03 9.98728752e-01 -2.15485672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.700714057 meters 0.03710771350659448 Centerline is valid? [True, True] Translation: X:309.35, Y:-42.31, Z:-21.55 [[ 9.95731950e-01 7.74661192e-02 5.01685657e-02 3.09345952e+02] [-7.72226050e-02 9.96990843e-01 -6.77708166e-03 -4.23132886e+01] [-5.05425948e-02 2.87400940e-03 9.98717771e-01 -2.15507765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.730714057 meters 0.036433166078046815 Centerline is valid? [True, True] Translation: X:309.38, Y:-42.32, Z:-21.55 [[ 9.96004482e-01 7.38227010e-02 5.02521663e-02 3.09375887e+02] [-7.35738569e-02 9.97266681e-01 -6.78634966e-03 -4.23194700e+01] [-5.06157978e-02 3.06198899e-03 9.98713505e-01 -2.15520074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.76071405700003 meters 0.038579246034050954 Centerline is valid? [True, True] Translation: X:309.40, Y:-42.33, Z:-21.55 [[ 9.96184926e-01 7.15423780e-02 4.99728050e-02 3.09404531e+02] [-7.12934323e-02 9.97432555e-01 -6.74875605e-03 -4.23279497e+01] [-5.03273246e-02 3.16027625e-03 9.98727777e-01 -2.15539302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.790714057 meters 0.038925143574367056 Centerline is valid? [True, True] Translation: X:309.43, Y:-42.33, Z:-21.56 [[ 9.96336574e-01 6.92766838e-02 5.01415145e-02 3.09433889e+02] [-6.90232427e-02 9.97592076e-01 -6.77062950e-03 -4.23334996e+01] [-5.04898244e-02 3.28489587e-03 9.98719173e-01 -2.15555623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.82071405700003 meters 0.04221509094531259 Centerline is valid? [True, True] Translation: X:309.46, Y:-42.34, Z:-21.56 [[ 9.96685515e-01 6.38610637e-02 5.03959142e-02 3.09462529e+02] [-6.35982212e-02 9.97952392e-01 -6.80363429e-03 -4.23447907e+01] [-5.07272105e-02 3.57599325e-03 9.98706144e-01 -2.15577678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.850714057 meters 0.043320517480122264 Centerline is valid? [True, True] Translation: X:309.49, Y:-42.35, Z:-21.56 [[ 9.96868163e-01 6.09251213e-02 5.04182127e-02 3.09493280e+02] [-6.06581935e-02 9.98135372e-01 -6.80898381e-03 -4.23511124e+01] [-5.07390397e-02 3.72938148e-03 9.98704982e-01 -2.15592597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.88071405700003 meters 0.042419322807579936 Centerline is valid? [True, True] Translation: X:309.52, Y:-42.36, Z:-21.56 [[ 9.97151295e-01 5.59861580e-02 5.05454653e-02 3.09523656e+02] [-5.57114840e-02 9.98423562e-01 -6.82792972e-03 -4.23550310e+01] [-5.08480531e-02 3.99251608e-03 9.98698421e-01 -2.15601622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.910714057 meters 0.04374932631911815 Centerline is valid? [True, True] Translation: X:309.55, Y:-42.36, Z:-21.56 [[ 9.97312242e-01 5.31723120e-02 5.04082966e-02 3.09554166e+02] [-5.28954458e-02 9.98576824e-01 -6.81163326e-03 -4.23610851e+01] [-5.06987470e-02 4.12695592e-03 9.98705465e-01 -2.15623839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.94071405700004 meters 0.07497338842040352 Centerline is valid? [True, True] Translation: X:309.58, Y:-42.41, Z:-21.57 [[ 9.97282057e-01 5.34712971e-02 5.06884538e-02 3.09579686e+02] [-5.31917648e-02 9.98560830e-01 -6.84870289e-03 -4.24095832e+01] [-5.09817135e-02 4.13388019e-03 9.98691031e-01 -2.15669626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.970714057 meters 0.04603683621243703 Centerline is valid? [True, True] Translation: X:309.62, Y:-42.37, Z:-21.57 [[ 9.97569746e-01 4.88917277e-02 4.96407272e-02 3.09616171e+02] [-4.86172623e-02 9.98794861e-01 -6.72222939e-03 -4.23727140e+01] [-4.99095646e-02 4.29249641e-03 9.98744517e-01 -2.15657482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.000714057 meters 0.04750800292632977 Centerline is valid? [True, True] Translation: X:309.65, Y:-42.38, Z:-21.57 [[ 9.97609839e-01 4.83834052e-02 4.93320984e-02 3.09647152e+02] [-4.81117392e-02 9.98819621e-01 -6.68023508e-03 -4.23781959e+01] [-4.95970803e-02 4.29081518e-03 9.98760091e-01 -2.15673869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.030714057 meters 0.045722951668326184 Centerline is valid? [True, True] Translation: X:309.68, Y:-42.38, Z:-21.57 [[ 9.97543608e-01 4.92696394e-02 4.97920930e-02 3.09679729e+02] [-4.89933870e-02 9.98776266e-01 -6.75421242e-03 -4.23774941e+01] [-5.00639383e-02 4.29813814e-03 9.98736766e-01 -2.15684800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.060714057 meters 0.04641452751269473 Centerline is valid? [True, True] Translation: X:309.71, Y:-42.38, Z:-21.57 [[ 9.97468071e-01 5.07659159e-02 4.98023049e-02 3.09710356e+02] [-5.04906754e-02 9.98701586e-01 -6.77005064e-03 -4.23814000e+01] [-5.00813287e-02 4.23835734e-03 9.98736150e-01 -2.15695937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.090714057 meters 0.04542744624240898 Centerline is valid? [True, True] Translation: X:309.74, Y:-42.38, Z:-21.57 [[ 9.97290353e-01 5.42771806e-02 4.96582342e-02 3.09741159e+02] [-5.40077470e-02 9.98517685e-01 -6.75254924e-03 -4.23814471e+01] [-4.99511344e-02 4.05232286e-03 9.98743442e-01 -2.15717139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.120714057 meters 0.04542744624240898 Centerline is valid? [True, True] Translation: X:309.77, Y:-42.39, Z:-21.57 [[ 9.97274923e-01 5.45596864e-02 4.96585223e-02 3.09773504e+02] [-5.42907052e-02 9.98502354e-01 -6.75043270e-03 -4.23859280e+01] [-4.99524529e-02 4.03604105e-03 9.98743442e-01 -2.15736062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.150714057 meters 0.044402125853759515 Centerline is valid? [True, True] Translation: X:309.80, Y:-42.39, Z:-21.58 [[ 9.97110541e-01 5.73182809e-02 4.98516187e-02 3.09804842e+02] [-5.70497956e-02 9.98348223e-01 -6.79318548e-03 -4.23870595e+01] [-5.01586486e-02 3.92953219e-03 9.98733532e-01 -2.15755539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.180714057 meters 0.04344004426776623 Centerline is valid? [True, True] Translation: X:309.84, Y:-42.39, Z:-21.58 [[ 9.97003143e-01 5.94876098e-02 4.94566212e-02 3.09835960e+02] [-5.92259738e-02 9.98221846e-01 -6.74024221e-03 -4.23872435e+01] [-4.97696406e-02 3.79092612e-03 9.98753529e-01 -2.15766639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.210714057 meters 0.040797908901169896 Centerline is valid? [True, True] Translation: X:309.87, Y:-42.38, Z:-21.58 [[ 9.96566492e-01 6.59381777e-02 5.00737795e-02 3.09867480e+02] [-6.56780077e-02 9.97817526e-01 -6.82527974e-03 -4.23830508e+01] [-5.04145413e-02 3.51309901e-03 9.98722200e-01 -2.15762626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.240714057 meters 0.040208009466447536 Centerline is valid? [True, True] Translation: X:309.90, Y:-42.38, Z:-21.58 [[ 9.96158122e-01 7.18687545e-02 5.00387650e-02 3.09897062e+02] [-7.16163351e-02 9.97408926e-01 -6.82157977e-03 -4.23818834e+01] [-5.03993693e-02 3.21177913e-03 9.98723980e-01 -2.15772652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.270714057 meters 0.038734654727109546 Centerline is valid? [True, True] Translation: X:309.93, Y:-42.38, Z:-21.58 [[ 9.95949052e-01 7.48818179e-02 4.97815047e-02 3.09927189e+02] [-7.46357864e-02 9.97187774e-01 -6.78550291e-03 -4.23819532e+01] [-5.01496186e-02 3.04253345e-03 9.98737082e-01 -2.15789677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.300714057 meters 0.03821473525228018 Centerline is valid? [True, True] Translation: X:309.96, Y:-42.38, Z:-21.58 [[ 9.95698748e-01 7.80080806e-02 4.99874305e-02 3.09956120e+02] [-7.77639679e-02 9.96948520e-01 -6.81281229e-03 -4.23847342e+01] [-5.03663492e-02 2.89628772e-03 9.98726610e-01 -2.15807683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.330714057 meters 0.03587513998888054 Centerline is valid? [True, True] Translation: X:309.99, Y:-42.38, Z:-21.58 [[ 9.95312026e-01 8.29449060e-02 4.97404685e-02 3.09986808e+02] [-8.27094402e-02 9.96550660e-01 -6.77718522e-03 -4.23818611e+01] [-5.01310297e-02 2.63140765e-03 9.98739183e-01 -2.15834436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.360714057 meters 0.03636623722080841 Centerline is valid? [True, True] Translation: X:310.02, Y:-42.38, Z:-21.59 [[ 9.95147568e-01 8.52912459e-02 4.90583399e-02 3.10015434e+02] [-8.50650296e-02 9.96352979e-01 -6.68448133e-03 -4.23844823e+01] [-4.94495509e-02 2.47889620e-03 9.98773546e-01 -2.15858267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.390714057 meters 0.03244730729474251 Centerline is valid? [True, True] Translation: X:310.05, Y:-42.38, Z:-21.59 [[ 9.94834968e-01 8.93594950e-02 4.81483923e-02 3.10046188e+02] [-8.91464759e-02 9.95996938e-01 -6.55789159e-03 -4.23771309e+01] [-4.85416611e-02 2.23176038e-03 9.98818665e-01 -2.15865577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.420714057 meters 0.032124798159326284 Centerline is valid? [True, True] Translation: X:310.08, Y:-42.38, Z:-21.59 [[ 9.94623920e-01 9.14945785e-02 4.84974267e-02 3.10075209e+02] [-9.12810673e-02 9.95803272e-01 -6.60380719e-03 -4.23799289e+01] [-4.88981088e-02 2.14140772e-03 9.98801476e-01 -2.15881921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.450714057 meters 0.034107489014783963 Centerline is valid? [True, True] Translation: X:310.10, Y:-42.39, Z:-21.59 [[ 9.94310088e-01 9.49341693e-02 4.83213481e-02 3.10103661e+02] [-9.47263933e-02 9.95481619e-01 -6.57705319e-03 -4.23877126e+01] [-4.87274009e-02 1.96232331e-03 9.98810187e-01 -2.15913161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.480714057 meters 0.031300765282868105 Centerline is valid? [True, True] Translation: X:310.13, Y:-42.39, Z:-21.59 [[ 9.94256712e-01 9.54828319e-02 4.83385821e-02 3.10132870e+02] [-9.52756237e-02 9.95429197e-01 -6.57798170e-03 -4.23860939e+01] [-4.87457203e-02 1.93471390e-03 9.98809347e-01 -2.15914355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.51071405700003 meters 0.031527150192327325 Centerline is valid? [True, True] Translation: X:310.16, Y:-42.39, Z:-21.59 [[ 9.94207180e-01 9.54103021e-02 4.94869342e-02 3.10161150e+02] [-9.51932149e-02 9.95436061e-01 -6.73061551e-03 -4.23896637e+01] [-4.99032489e-02 1.98080590e-03 9.98752092e-01 -2.15927683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.540714057 meters 0.032848031766982214 Centerline is valid? [True, True] Translation: X:310.19, Y:-42.40, Z:-21.59 [[ 9.94296180e-01 9.41979158e-02 5.00185952e-02 3.10188257e+02] [-9.39747815e-02 9.95551359e-01 -6.79940890e-03 -4.23963805e+01] [-5.04365706e-02 2.06013973e-03 9.98725141e-01 -2.15946261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.57071405700003 meters 0.033514001220450076 Centerline is valid? [True, True] Translation: X:310.22, Y:-42.40, Z:-21.60 [[ 9.94757729e-01 8.89852082e-02 5.03854434e-02 3.10217528e+02] [-8.87523689e-02 9.96030207e-01 -6.84424710e-03 -4.24028436e+01] [-5.07944603e-02 2.33654024e-03 9.98706395e-01 -2.15969067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.600714057 meters 0.035002479956110236 Centerline is valid? [True, True] Translation: X:310.24, Y:-42.41, Z:-21.60 [[ 9.95056463e-01 8.57545395e-02 5.00878599e-02 3.10244871e+02] [-8.55203869e-02 9.96313193e-01 -6.80335079e-03 -4.24108441e+01] [-5.04866139e-02 2.48618502e-03 9.98721643e-01 -2.15987557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.63071405700003 meters 0.03820683205197345 Centerline is valid? [True, True] Translation: X:310.27, Y:-42.42, Z:-21.60 [[ 9.95670023e-01 7.87613971e-02 4.93745707e-02 3.10272442e+02] [-7.85254956e-02 9.96889574e-01 -6.70251241e-03 -4.24214011e+01] [-4.97488940e-02 2.79632806e-03 9.98757843e-01 -2.16021312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.660714057 meters 0.03946052449474944 Centerline is valid? [True, True] Translation: X:310.30, Y:-42.43, Z:-21.60 [[ 9.95898560e-01 7.58253541e-02 4.93616648e-02 3.10302208e+02] [-7.55860796e-02 9.97116779e-01 -6.69882247e-03 -4.24289847e+01] [-4.97272847e-02 2.94029293e-03 9.98758505e-01 -2.16043010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.69071405700004 meters 0.04185436432177883 Centerline is valid? [True, True] Translation: X:310.33, Y:-42.44, Z:-21.61 [[ 9.96305335e-01 7.09155411e-02 4.84423894e-02 3.10331867e+02] [-7.06793243e-02 9.97477426e-01 -6.57406610e-03 -4.24377680e+01] [-4.87863934e-02 3.12590177e-03 9.98804343e-01 -2.16072774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.720714057 meters 0.03957911699794062 Centerline is valid? [True, True] Translation: X:310.36, Y:-42.44, Z:-21.61 [[ 9.96451723e-01 6.91758577e-02 4.79443842e-02 3.10361152e+02] [-6.89424480e-02 9.97599417e-01 -6.50700269e-03 -4.24378117e+01] [-4.82794172e-02 3.17851083e-03 9.98828812e-01 -2.16085102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.750714057 meters 0.0461429174484938 Centerline is valid? [True, True] Translation: X:310.39, Y:-42.45, Z:-21.61 [[ 9.96605053e-01 6.62240909e-02 4.89156231e-02 3.10388863e+02] [-6.59777412e-02 9.97799031e-01 -6.63557927e-03 -4.24511415e+01] [-4.92473965e-02 3.38570951e-03 9.98780872e-01 -2.16104742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.780714057 meters 0.04155504429769498 Centerline is valid? [True, True] Translation: X:310.42, Y:-42.45, Z:-21.61 [[ 9.96607623e-01 6.51650037e-02 5.02669767e-02 3.10419653e+02] [-6.49034543e-02 9.97868244e-01 -6.81979564e-03 -4.24472899e+01] [-5.06042318e-02 3.53415990e-03 9.98712532e-01 -2.16094754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.810714057 meters 0.04186702438658508 Centerline is valid? [True, True] Translation: X:310.45, Y:-42.45, Z:-21.61 [[ 9.96597112e-01 6.52164241e-02 5.04084732e-02 3.10450131e+02] [-6.49535683e-02 9.97864866e-01 -6.83693966e-03 -4.24512726e+01] [-5.07467251e-02 3.53946412e-03 9.98705283e-01 -2.16113274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.840714057 meters 0.042462285876386854 Centerline is valid? [True, True] Translation: X:310.48, Y:-42.46, Z:-21.61 [[ 9.96514734e-01 6.61152376e-02 5.08641370e-02 3.10478832e+02] [-6.58487614e-02 9.97805766e-01 -6.89885555e-03 -4.24566117e+01] [-5.12086487e-02 3.52547078e-03 9.98681754e-01 -2.16136064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.870714057 meters 0.04103876392793952 Centerline is valid? [True, True] Translation: X:310.51, Y:-42.46, Z:-21.62 [[ 9.96398816e-01 6.80768538e-02 5.05464230e-02 3.10509152e+02] [-6.78162552e-02 9.97674279e-01 -6.85487938e-03 -4.24571117e+01] [-5.08955247e-02 3.40232458e-03 9.98698188e-01 -2.16159215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.900714057 meters 0.040893507984699214 Centerline is valid? [True, True] Translation: X:310.54, Y:-42.46, Z:-21.62 [[ 9.96279254e-01 6.99326943e-02 5.03692917e-02 3.10539328e+02] [-6.96763255e-02 9.97546270e-01 -6.82997046e-03 -4.24595329e+01] [-5.07233373e-02 3.29501071e-03 9.98707307e-01 -2.16176528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.930714057 meters 0.036471312964781503 Centerline is valid? [True, True] Translation: X:310.57, Y:-42.45, Z:-21.62 [[ 9.95906960e-01 7.44482238e-02 5.12522037e-02 3.10570662e+02] [-7.41887803e-02 9.97220006e-01 -6.94868815e-03 -4.24541273e+01] [-5.16270403e-02 3.11790842e-03 9.98661568e-01 -2.16176527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.960714057 meters 0.03618941469681865 Centerline is valid? [True, True] Translation: X:310.60, Y:-42.46, Z:-21.62 [[ 9.95681194e-01 7.69214626e-02 5.19812353e-02 3.10599308e+02] [-7.66579288e-02 9.97032544e-01 -7.04760864e-03 -4.24567595e+01] [-5.23690957e-02 3.03239754e-03 9.98623193e-01 -2.16188103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.990714057 meters 0.03517952000612574 Centerline is valid? [True, True] Translation: X:310.63, Y:-42.46, Z:-21.62 [[ 9.95313580e-01 8.13968648e-02 5.22056291e-02 3.10630283e+02] [-8.11373414e-02 9.96677820e-01 -7.07494699e-03 -4.24578551e+01] [-5.26080711e-02 2.80596487e-03 9.98611294e-01 -2.16202324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.020714057 meters 0.03549476953819427 Centerline is valid? [True, True] Translation: X:310.66, Y:-42.46, Z:-21.62 [[ 9.95297946e-01 8.17680104e-02 5.19229386e-02 3.10659144e+02] [-8.15118016e-02 9.96647537e-01 -7.03653302e-03 -4.24607203e+01] [-5.23242322e-02 2.77111459e-03 9.98626304e-01 -2.16226924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.050714057 meters 0.036061732696932705 Centerline is valid? [True, True] Translation: X:310.69, Y:-42.46, Z:-21.62 [[ 9.95272734e-01 8.21073735e-02 5.18706479e-02 3.10686275e+02] [-8.18523285e-02 9.96619704e-01 -7.02585096e-03 -4.24649212e+01] [-5.22721839e-02 2.74690458e-03 9.98629097e-01 -2.16247442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.080714057 meters 0.03655019800093162 Centerline is valid? [True, True] Translation: X:310.71, Y:-42.47, Z:-21.63 [[ 9.95340051e-01 8.12661680e-02 5.19036817e-02 3.10714621e+02] [-8.10099034e-02 9.96688535e-01 -7.02563797e-03 -4.24693933e+01] [-5.23027511e-02 2.78818662e-03 9.98627382e-01 -2.16262102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.110714057 meters 0.037165516082587904 Centerline is valid? [True, True] Translation: X:310.74, Y:-42.47, Z:-21.63 [[ 9.95435420e-01 7.97810509e-02 5.23765963e-02 3.10743330e+02] [-7.95182375e-02 9.96808226e-01 -7.08594397e-03 -4.24739891e+01] [-5.27747461e-02 2.88870499e-03 9.98602264e-01 -2.16278423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.140714057 meters 0.039835370698872136 Centerline is valid? [True, True] Translation: X:310.77, Y:-42.48, Z:-21.63 [[ 9.95729203e-01 7.55223417e-02 5.31011270e-02 3.10771663e+02] [-7.52463820e-02 9.97139123e-01 -7.17991625e-03 -4.24822538e+01] [-5.34914553e-02 3.15358461e-03 9.98563328e-01 -2.16295252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.170714057 meters 0.042675390950758285 Centerline is valid? [True, True] Translation: X:310.80, Y:-42.49, Z:-21.63 [[ 9.96130239e-01 7.04400110e-02 5.25618944e-02 3.10799946e+02] [-7.01625961e-02 9.97510252e-01 -7.10685078e-03 -4.24915968e+01] [-5.29316351e-02 3.39147000e-03 9.98592379e-01 -2.16324326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.200714057 meters 0.044404638285705116 Centerline is valid? [True, True] Translation: X:310.83, Y:-42.50, Z:-21.63 [[ 9.96268775e-01 6.83883663e-02 5.26456065e-02 3.10828240e+02] [-6.81072731e-02 9.97652618e-01 -7.11708217e-03 -4.24989065e+01] [-5.30087528e-02 3.50497803e-03 9.98587897e-01 -2.16344980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.230714057 meters 0.045476171980306915 Centerline is valid? [True, True] Translation: X:310.86, Y:-42.50, Z:-21.64 [[ 9.96398670e-01 6.65040825e-02 5.26013088e-02 3.10857801e+02] [-6.62207695e-02 9.97779645e-01 -7.11262044e-03 -4.25047949e+01] [-5.29575335e-02 3.60370640e-03 9.98590263e-01 -2.16367292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.26071405700003 meters 0.048105875327582724 Centerline is valid? [True, True] Translation: X:310.89, Y:-42.51, Z:-21.64 [[ 9.96647775e-01 6.30060368e-02 5.21866963e-02 3.10886265e+02] [-6.27224633e-02 9.98006068e-01 -7.05550664e-03 -4.25125658e+01] [-5.25271791e-02 3.75857685e-03 9.98612422e-01 -2.16389056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.290714057 meters 0.04915480958417247 Centerline is valid? [True, True] Translation: X:310.92, Y:-42.52, Z:-21.64 [[ 9.96734701e-01 6.16932319e-02 5.20949185e-02 3.10916467e+02] [-6.14088260e-02 9.98087841e-01 -7.04400479e-03 -4.25182225e+01] [-5.24298722e-02 3.82191623e-03 9.98617295e-01 -2.16409200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.32071405700003 meters 0.04398436002277132 Centerline is valid? [True, True] Translation: X:310.95, Y:-42.52, Z:-21.64 [[ 9.96836357e-01 5.96658755e-02 5.25096249e-02 3.10948583e+02] [-5.93740804e-02 9.98210547e-01 -7.10087254e-03 -4.25151319e+01] [-5.28393412e-02 3.96069722e-03 9.98595172e-01 -2.16422790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.350714057 meters 0.047188524000243405 Centerline is valid? [True, True] Translation: X:310.98, Y:-42.52, Z:-21.64 [[ 9.96866763e-01 5.90980195e-02 5.25745272e-02 3.10978228e+02] [-5.88046401e-02 9.98244182e-01 -7.11110330e-03 -4.25244935e+01] [-5.29024680e-02 3.99719638e-03 9.98591684e-01 -2.16440401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.38071405700003 meters 0.04343240187078658 Centerline is valid? [True, True] Translation: X:311.01, Y:-42.52, Z:-21.65 [[ 9.97036366e-01 5.72155183e-02 5.14283029e-02 3.11009965e+02] [-5.69319693e-02 9.98353780e-01 -6.96280491e-03 -4.25223844e+01] [-5.17420211e-02 4.01425515e-03 9.98652417e-01 -2.16462854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.410714057 meters 0.047270303125398136 Centerline is valid? [True, True] Translation: X:311.04, Y:-42.53, Z:-21.65 [[ 9.97054638e-01 5.72706578e-02 5.10109830e-02 3.11039680e+02] [-5.69917388e-02 9.98350758e-01 -6.90688650e-03 -4.25321884e+01] [-5.13224155e-02 3.97933860e-03 9.98674208e-01 -2.16491734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.44071405700004 meters 0.044191905893609766 Centerline is valid? [True, True] Translation: X:311.07, Y:-42.53, Z:-21.65 [[ 9.97120143e-01 5.69876899e-02 5.00382223e-02 3.11071932e+02] [-5.67183949e-02 9.98367151e-01 -6.78648184e-03 -4.25311607e+01] [-5.03432633e-02 3.92885009e-03 9.98724246e-01 -2.16528468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.470714057 meters 0.04804039593576986 Centerline is valid? [True, True] Translation: X:311.10, Y:-42.54, Z:-21.66 [[ 9.97126205e-01 5.74288157e-02 4.94091299e-02 3.11101581e+02] [-5.71661747e-02 9.98342104e-01 -6.71361452e-03 -4.25406545e+01] [-4.97127696e-02 3.86979002e-03 9.98756059e-01 -2.16559269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.500714057 meters 0.043914219598266656 Centerline is valid? [True, True] Translation: X:311.13, Y:-42.54, Z:-21.66 [[ 9.97086429e-01 5.87625343e-02 4.86376065e-02 3.11133808e+02] [-5.85089875e-02 9.98264921e-01 -6.62160915e-03 -4.25365480e+01] [-4.89423190e-02 3.75657951e-03 9.98794542e-01 -2.16569547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.530714057 meters 0.043683363220531866 Centerline is valid? [True, True] Translation: X:311.16, Y:-42.54, Z:-21.66 [[ 9.97004350e-01 5.98172453e-02 4.90328765e-02 3.11164144e+02] [-5.95607193e-02 9.98202350e-01 -6.67753162e-03 -4.25388760e+01] [-4.93441641e-02 3.73709468e-03 9.98774843e-01 -2.16586096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.560714057 meters 0.042561115687724034 Centerline is valid? [True, True] Translation: X:311.19, Y:-42.54, Z:-21.66 [[ 9.96808835e-01 6.24866262e-02 4.96746310e-02 3.11194978e+02] [-6.22266275e-02 9.98039119e-01 -6.76492881e-03 -4.25384480e+01] [-4.99999425e-02 3.65225604e-03 9.98742543e-01 -2.16584566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.590714057 meters 0.04206486805789136 Centerline is valid? [True, True] Translation: X:311.22, Y:-42.54, Z:-21.66 [[ 9.96713064e-01 6.35685955e-02 5.02205297e-02 3.11225000e+02] [-6.33042034e-02 9.97970841e-01 -6.83939928e-03 -4.25404384e+01] [-5.05533953e-02 3.63774798e-03 9.98714735e-01 -2.16597514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.620714057 meters 0.04195104497423369 Centerline is valid? [True, True] Translation: X:311.26, Y:-42.54, Z:-21.66 [[ 9.96531982e-01 6.52636077e-02 5.16204501e-02 3.11255421e+02] [-6.49865633e-02 9.97861382e-01 -7.02909578e-03 -4.25411856e+01] [-5.19687979e-02 3.65008310e-03 9.98642038e-01 -2.16600876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.650714057 meters 0.040964175398435373 Centerline is valid? [True, True] Translation: X:311.29, Y:-42.54, Z:-21.66 [[ 9.96465997e-01 6.58830284e-02 5.21051202e-02 3.11285659e+02] [-6.56016425e-02 9.97820674e-01 -7.09415448e-03 -4.25429486e+01] [-5.24589505e-02 3.65090225e-03 9.98616408e-01 -2.16615425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.680714057 meters 0.06016921361044037 Centerline is valid? [True, True] Translation: X:311.31, Y:-42.57, Z:-21.66 [[ 9.96193446e-01 6.94242534e-02 5.27151869e-02 3.11311635e+02] [-6.91412157e-02 9.97581072e-01 -7.17620848e-03 -4.25746543e+01] [-5.30858755e-02 3.50409975e-03 9.98583803e-01 -2.16646792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.710714057 meters 0.04149291296138609 Centerline is valid? [True, True] Translation: X:311.35, Y:-42.55, Z:-21.67 [[ 9.96477865e-01 6.52182408e-02 5.27109637e-02 3.11346080e+02] [-6.49294174e-02 9.97864063e-01 -7.17519599e-03 -4.25496460e+01] [-5.30663301e-02 3.72743182e-03 9.98584033e-01 -2.16650985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.740714057 meters 0.043266550094716985 Centerline is valid? [True, True] Translation: X:311.38, Y:-42.55, Z:-21.67 [[ 9.96448478e-01 6.49027989e-02 5.36475356e-02 3.11375562e+02] [-6.46031547e-02 9.97884314e-01 -7.30266297e-03 -4.25548176e+01] [-5.40079975e-02 3.81092736e-03 9.98533231e-01 -2.16656875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.770714057 meters 0.047454840840940156 Centerline is valid? [True, True] Translation: X:311.40, Y:-42.56, Z:-21.67 [[ 9.96478796e-01 6.46450239e-02 5.33950466e-02 3.11404285e+02] [-6.43478799e-02 9.97901065e-01 -7.26734681e-03 -4.25643262e+01] [-5.37527717e-02 3.80589895e-03 9.98547022e-01 -2.16673561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.800714057 meters 0.04194496923777272 Centerline is valid? [True, True] Translation: X:311.44, Y:-42.56, Z:-21.67 [[ 9.96426694e-01 6.56843964e-02 5.30980598e-02 3.11435376e+02] [-6.53920696e-02 9.97833484e-01 -7.22599808e-03 -4.25593689e+01] [-5.34576574e-02 3.72798535e-03 9.98563158e-01 -2.16686731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.830714057 meters 0.04046628234254711 Centerline is valid? [True, True] Translation: X:311.47, Y:-42.56, Z:-21.67 [[ 9.96388421e-01 6.62096712e-02 5.31638438e-02 3.11465127e+02] [-6.59174091e-02 9.97798859e-01 -7.23407392e-03 -4.25604289e+01] [-5.35257884e-02 3.70352464e-03 9.98559600e-01 -2.16705274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.860714057 meters 0.04067805947811856 Centerline is valid? [True, True] Translation: X:311.49, Y:-42.56, Z:-21.67 [[ 9.96345160e-01 6.74655986e-02 5.23900323e-02 3.11494503e+02] [-6.71836179e-02 9.97715174e-01 -7.12690883e-03 -4.25640660e+01] [-5.27511514e-02 3.58110921e-03 9.98601268e-01 -2.16729523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.890714057 meters 0.04109669796407441 Centerline is valid? [True, True] Translation: X:311.52, Y:-42.57, Z:-21.68 [[ 9.96345767e-01 6.77898230e-02 5.19581723e-02 3.11522691e+02] [-6.75130075e-02 9.97693370e-01 -7.06640787e-03 -4.25678923e+01] [-5.23173546e-02 3.53273309e-03 9.98624261e-01 -2.16752004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.920714057 meters 0.04014144209067147 Centerline is valid? [True, True] Translation: X:311.55, Y:-42.57, Z:-21.68 [[ 9.96329948e-01 6.87504466e-02 5.09903086e-02 3.11551857e+02] [-6.84852328e-02 9.97628044e-01 -6.93239876e-03 -4.25703939e+01] [-5.13459674e-02 3.41487334e-03 9.98675087e-01 -2.16775875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.950714057 meters 0.041215143071654275 Centerline is valid? [True, True] Translation: X:311.58, Y:-42.58, Z:-21.68 [[ 9.96314784e-01 6.93036216e-02 5.05357185e-02 3.11580061e+02] [-6.90441062e-02 9.97589986e-01 -6.86514727e-03 -4.25757771e+01] [-5.08897063e-02 3.35065421e-03 9.98698659e-01 -2.16798018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.980714057 meters 0.04160978295663913 Centerline is valid? [True, True] Translation: X:311.61, Y:-42.58, Z:-21.68 [[ 9.96306822e-01 7.04215571e-02 4.91275990e-02 3.11607135e+02] [-7.01777139e-02 9.97512185e-01 -6.67295348e-03 -4.25807968e+01] [-4.94752984e-02 3.20064649e-03 9.98770219e-01 -2.16826691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.01071405700003 meters 0.04109393382463507 Centerline is valid? [True, True] Translation: X:311.64, Y:-42.58, Z:-21.68 [[ 9.96284759e-01 7.08554476e-02 4.89508324e-02 3.11636174e+02] [-7.06141038e-02 9.97481579e-01 -6.64438842e-03 -4.25841230e+01] [-4.92983447e-02 3.16308377e-03 9.98779089e-01 -2.16848603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.040714057 meters 0.04109393382463507 Centerline is valid? [True, True] Translation: X:311.66, Y:-42.59, Z:-21.69 [[ 9.96289612e-01 7.07869555e-02 4.89511541e-02 3.11664243e+02] [-7.05456455e-02 9.97486439e-01 -6.64201709e-03 -4.25878674e+01] [-4.92982805e-02 3.16408187e-03 9.98779089e-01 -2.16865023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.07071405700003 meters 0.04078109758487359 Centerline is valid? [True, True] Translation: X:311.69, Y:-42.59, Z:-21.69 [[ 9.96289662e-01 7.12513175e-02 4.82717236e-02 3.11693109e+02] [-7.10173703e-02 9.97453596e-01 -6.54650343e-03 -4.25914318e+01] [-4.86152513e-02 3.09408282e-03 9.98812787e-01 -2.16885173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.100714057 meters 0.038916469634286674 Centerline is valid? [True, True] Translation: X:311.72, Y:-42.59, Z:-21.69 [[ 9.96236220e-01 7.18489756e-02 4.84883305e-02 3.11721607e+02] [-7.16137925e-02 9.97410782e-01 -6.57248696e-03 -4.25933104e+01] [-4.88350100e-02 3.07531633e-03 9.98802125e-01 -2.16900893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.13071405700003 meters 0.04231202319914909 Centerline is valid? [True, True] Translation: X:311.75, Y:-42.60, Z:-21.69 [[ 9.96301727e-01 7.14357517e-02 4.77472797e-02 3.11748613e+02] [-7.12073846e-02 9.97440555e-01 -6.46896754e-03 -4.26036018e+01] [-4.80871888e-02 3.04508462e-03 9.98838500e-01 -2.16926498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.160714057 meters 0.0423469231053291 Centerline is valid? [True, True] Translation: X:311.78, Y:-42.61, Z:-21.69 [[ 9.96286383e-01 7.13554219e-02 4.81855504e-02 3.11777078e+02] [-7.11229934e-02 9.97446223e-01 -6.52324641e-03 -4.26079711e+01] [-4.85279642e-02 3.07192099e-03 9.98817100e-01 -2.16944876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.19071405700004 meters 0.039270474171686554 Centerline is valid? [True, True] Translation: X:311.81, Y:-42.61, Z:-21.70 [[ 9.96291562e-01 7.10393516e-02 4.85441356e-02 3.11806412e+02] [-7.08032359e-02 9.97468675e-01 -6.56848310e-03 -4.26070646e+01] [-4.88878754e-02 3.10704241e-03 9.98799440e-01 -2.16950145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.220714057 meters 0.040264770915504455 Centerline is valid? [True, True] Translation: X:311.83, Y:-42.61, Z:-21.70 [[ 9.96331247e-01 6.99451714e-02 4.93124681e-02 3.11834536e+02] [-6.97003585e-02 9.97545681e-01 -6.66887237e-03 -4.26132001e+01] [-4.96578950e-02 3.20730922e-03 9.98761136e-01 -2.16957678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.250714057 meters 0.044677382896692215 Centerline is valid? [True, True] Translation: X:311.86, Y:-42.62, Z:-21.70 [[ 9.96365975e-01 6.91478000e-02 4.97335378e-02 3.11860804e+02] [-6.88979672e-02 9.97601062e-01 -6.72239353e-03 -4.26242080e+01] [-5.00790688e-02 3.27142453e-03 9.98739898e-01 -2.16978991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.280714057 meters 0.04563399967256115 Centerline is valid? [True, True] Translation: X:311.89, Y:-42.63, Z:-21.70 [[ 9.96567273e-01 6.61188838e-02 4.98193179e-02 3.11890723e+02] [-6.58646681e-02 9.97805875e-01 -6.72907829e-03 -4.26298206e+01] [-5.01549273e-02 3.42464636e-03 9.98735578e-01 -2.16989902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.310714057 meters 0.04604784055630719 Centerline is valid? [True, True] Translation: X:311.92, Y:-42.64, Z:-21.70 [[ 9.96743393e-01 6.27284179e-02 5.06730183e-02 3.11919964e+02] [-6.24610935e-02 9.98023937e-01 -6.84349134e-03 -4.26352458e+01] [-5.10021666e-02 3.65611264e-03 9.98691850e-01 -2.17003697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.340714057 meters 0.047044769341455725 Centerline is valid? [True, True] Translation: X:311.95, Y:-42.64, Z:-21.70 [[ 9.96802380e-01 6.12532984e-02 5.13132383e-02 3.11950112e+02] [-6.09772662e-02 9.98115103e-01 -6.92917112e-03 -4.26416453e+01] [-5.16409528e-02 3.77807327e-03 9.98658569e-01 -2.17015771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.370714057 meters 0.048249472422347055 Centerline is valid? [True, True] Translation: X:311.98, Y:-42.65, Z:-21.70 [[ 9.96913478e-01 5.97558291e-02 5.09191336e-02 3.11980902e+02] [-5.94820951e-02 9.98205693e-01 -6.87573550e-03 -4.26478566e+01] [-5.12386343e-02 3.82573665e-03 9.98679111e-01 -2.17037129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.400714057 meters 0.051506205630983994 Centerline is valid? [True, True] Translation: X:312.01, Y:-42.66, Z:-21.71 [[ 9.97164393e-01 5.65804155e-02 4.96168355e-02 3.12009378e+02] [-5.63165131e-02 9.98390472e-01 -6.70188107e-03 -4.26565482e+01] [-4.99161711e-02 3.88863000e-03 9.98745841e-01 -2.17071921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.430714057 meters 0.04929418165385567 Centerline is valid? [True, True] Translation: X:312.04, Y:-42.66, Z:-21.71 [[ 9.97431592e-01 5.30535584e-02 4.81200542e-02 3.12039851e+02] [-5.28013160e-02 9.98583890e-01 -6.49891312e-03 -4.26570954e+01] [-4.83967014e-02 3.94141907e-03 9.98820417e-01 -2.17102438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.460714057 meters 0.05010668733991565 Centerline is valid? [True, True] Translation: X:312.07, Y:-42.66, Z:-21.71 [[ 9.97541975e-01 5.16209342e-02 4.73844561e-02 3.12070688e+02] [-5.13747592e-02 9.98658942e-01 -6.39933168e-03 -4.26623758e+01] [-4.76512503e-02 3.94923694e-03 9.98856227e-01 -2.17131707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.490714057 meters 0.05190559742013753 Centerline is valid? [True, True] Translation: X:312.10, Y:-42.67, Z:-21.72 [[ 9.97681993e-01 4.93567253e-02 4.68460745e-02 3.12099855e+02] [-4.91135484e-02 9.98773152e-01 -6.32858118e-03 -4.26691701e+01] [-4.71009596e-02 4.01313454e-03 9.98882072e-01 -2.17159247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.520714057 meters 0.052975965240449036 Centerline is valid? [True, True] Translation: X:312.13, Y:-42.67, Z:-21.72 [[ 9.97684671e-01 4.93181837e-02 4.68296320e-02 3.12131895e+02] [-4.90752537e-02 9.98775064e-01 -6.32385382e-03 -4.26749475e+01] [-4.70841497e-02 4.01103595e-03 9.98882873e-01 -2.17177373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.550714057 meters 0.05297898988727887 Centerline is valid? [True, True] Translation: X:312.16, Y:-42.68, Z:-21.72 [[ 9.97655909e-01 4.98184503e-02 4.69127803e-02 3.12164093e+02] [-4.95746746e-02 9.98750257e-01 -6.34630849e-03 -4.26781487e+01] [-4.71703147e-02 4.00574635e-03 9.98878829e-01 -2.17198129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.580714057 meters 0.052727495311139426 Centerline is valid? [True, True] Translation: X:312.19, Y:-42.68, Z:-21.72 [[ 9.97597119e-01 5.17774441e-02 4.60335237e-02 3.12194897e+02] [-5.15441776e-02 9.98651216e-01 -6.24076519e-03 -4.26782803e+01] [-4.62945653e-02 3.85300925e-03 9.98920401e-01 -2.17213961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.610714057 meters 0.05294185464015436 Centerline is valid? [True, True] Translation: X:312.23, Y:-42.68, Z:-21.72 [[ 9.97555647e-01 5.35925741e-02 4.48393447e-02 3.12225433e+02] [-5.33730935e-02 9.98556139e-01 -6.07865805e-03 -4.26783492e+01] [-4.51003738e-02 3.67058512e-03 9.98975717e-01 -2.17232199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.640714057 meters 0.052857226498621984 Centerline is valid? [True, True] Translation: X:312.26, Y:-42.68, Z:-21.73 [[ 9.97504372e-01 5.43719122e-02 4.50413511e-02 3.12255447e+02] [-5.41511921e-02 9.98514072e-01 -6.10702216e-03 -4.26806965e+01] [-4.53064733e-02 3.65273844e-03 9.98966456e-01 -2.17252851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.670714057 meters 0.05370112488641987 Centerline is valid? [True, True] Translation: X:312.29, Y:-42.68, Z:-21.73 [[ 9.97506191e-01 5.46616587e-02 4.46486480e-02 3.12285519e+02] [-5.44451119e-02 9.98498420e-01 -6.05267275e-03 -4.26844153e+01] [-4.49124536e-02 3.60667791e-03 9.98984416e-01 -2.17282155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.700714057 meters 0.047597450366362634 Centerline is valid? [True, True] Translation: X:312.32, Y:-42.68, Z:-21.73 [[ 9.97596762e-01 5.36925982e-02 4.37927578e-02 3.12316822e+02] [-5.34831273e-02 9.98551075e-01 -5.94178120e-03 -4.26780041e+01] [-4.40483350e-02 3.58532804e-03 9.99022968e-01 -2.17287132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.730714057 meters 0.05670122738239141 Centerline is valid? [True, True] Translation: X:312.35, Y:-42.69, Z:-21.73 [[ 9.97727868e-01 5.18845935e-02 4.29777948e-02 3.12345662e+02] [-5.16812411e-02 9.98646615e-01 -5.82996724e-03 -4.26918632e+01] [-4.32221148e-02 3.59557500e-03 9.99059018e-01 -2.17318596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.76071405700003 meters 0.05440835900479713 Centerline is valid? [True, True] Translation: X:312.38, Y:-42.69, Z:-21.73 [[ 9.97740501e-01 5.09704427e-02 4.37710611e-02 3.12376405e+02] [-5.07585898e-02 9.98693296e-01 -5.93859436e-03 -4.26918186e+01] [-4.40165581e-02 3.70341878e-03 9.99023937e-01 -2.17325631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.790714057 meters 0.06044194959221942 Centerline is valid? [True, True] Translation: X:312.40, Y:-42.70, Z:-21.73 [[ 9.97860881e-01 4.78483618e-02 4.45443115e-02 3.12404765e+02] [-4.76258566e-02 9.98846961e-01 -6.04367881e-03 -4.27038027e+01] [-4.47821303e-02 3.90928967e-03 9.98989128e-01 -2.17339274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.82071405700003 meters 0.04946069863713458 Centerline is valid? [True, True] Translation: X:312.44, Y:-42.69, Z:-21.73 [[ 9.98029773e-01 4.41043933e-02 4.46248285e-02 3.12437117e+02] [-4.38774056e-02 9.99018581e-01 -6.05383204e-03 -4.26931613e+01] [-4.48480334e-02 4.08388291e-03 9.98985473e-01 -2.17328388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.850714057 meters 0.053007082627378965 Centerline is valid? [True, True] Translation: X:312.47, Y:-42.70, Z:-21.73 [[ 9.98139427e-01 4.11209901e-02 4.50194317e-02 3.12465303e+02] [-4.08869712e-02 9.99145114e-01 -6.10710252e-03 -4.27029134e+01] [-4.52320753e-02 4.25503160e-03 9.98967444e-01 -2.17339623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.88071405700003 meters 0.06925847786744074 Centerline is valid? [True, True] Translation: X:312.49, Y:-42.73, Z:-21.74 [[ 9.98162460e-01 3.93889467e-02 4.60457862e-02 3.12491821e+02] [-3.91422553e-02 9.99214119e-01 -6.24729861e-03 -4.27280148e+01] [-4.62556742e-02 4.43348303e-03 9.98919795e-01 -2.17369826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.910714057 meters 0.06925847786744074 Centerline is valid? [True, True] Translation: X:312.52, Y:-42.73, Z:-21.74 [[ 9.98152588e-01 3.96378736e-02 4.60461690e-02 3.12524200e+02] [-3.93915734e-02 9.99204339e-01 -6.24447950e-03 -4.27325387e+01] [-4.62570497e-02 4.41911233e-03 9.98919795e-01 -2.17388772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.94071405700004 meters 0.05733371547697961 Centerline is valid? [True, True] Translation: X:312.56, Y:-42.72, Z:-21.74 [[ 9.98153903e-01 3.98057296e-02 4.58725482e-02 3.12559456e+02] [-3.95609366e-02 9.99197724e-01 -6.23229417e-03 -4.27205154e+01] [-4.60838268e-02 4.40602777e-03 9.98927859e-01 -2.17388149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.970714057 meters 0.05435234603695305 Centerline is valid? [True, True] Translation: X:312.59, Y:-42.72, Z:-21.74 [[ 9.98170882e-01 4.02663806e-02 4.50944533e-02 3.12591636e+02] [-4.00297226e-02 9.99179629e-01 -6.13919817e-03 -4.27218043e+01] [-4.53046624e-02 4.32285040e-03 9.98963863e-01 -2.17413341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.000714057 meters 0.05077009631093431 Centerline is valid? [True, True] Translation: X:312.62, Y:-42.72, Z:-21.74 [[ 9.98124803e-01 4.19186094e-02 4.46061412e-02 3.12623292e+02] [-4.16880797e-02 9.99112137e-01 -6.08627094e-03 -4.27209086e+01] [-4.48216651e-02 4.21531361e-03 9.98986111e-01 -2.17437289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.030714057 meters 0.055910208796067576 Centerline is valid? [True, True] Translation: X:312.65, Y:-42.73, Z:-21.75 [[ 9.98066586e-01 4.32983342e-02 4.45908524e-02 3.12652024e+02] [-4.30692437e-02 9.99053552e-01 -6.08603619e-03 -4.27321709e+01] [-4.48121647e-02 4.15377508e-03 9.98986795e-01 -2.17464397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.060714057 meters 0.054309907515131 Centerline is valid? [True, True] Translation: X:312.68, Y:-42.73, Z:-21.75 [[ 9.97928850e-01 4.67366378e-02 4.42006339e-02 3.12682669e+02] [-4.65148394e-02 9.98899376e-01 -6.03380889e-03 -4.27330410e+01] [-4.44339855e-02 3.96532658e-03 9.99004453e-01 -2.17471380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.090714057 meters 0.05358015796049752 Centerline is valid? [True, True] Translation: X:312.71, Y:-42.74, Z:-21.75 [[ 9.97831785e-01 4.88224280e-02 4.41372711e-02 3.12713322e+02] [-4.86032988e-02 9.98799990e-01 -6.02493494e-03 -4.27361939e+01] [-4.43784579e-02 3.86665461e-03 9.99007308e-01 -2.17488564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.120714057 meters 0.0459451869037415 Centerline is valid? [True, True] Translation: X:312.75, Y:-42.73, Z:-21.75 [[ 9.97713045e-01 5.10213576e-02 4.43339778e-02 3.12745154e+02] [-5.08023786e-02 9.98690384e-01 -6.05277064e-03 -4.27291178e+01] [-4.45847378e-02 3.78665670e-03 9.98998430e-01 -2.17493233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.150714057 meters 0.04817645804478063 Centerline is valid? [True, True] Translation: X:312.77, Y:-42.74, Z:-21.75 [[ 9.97486667e-01 5.54076022e-02 4.41627194e-02 3.12773735e+02] [-5.51945680e-02 9.98457412e-01 -6.02964181e-03 -4.27356107e+01] [-4.44286825e-02 3.57694510e-03 9.99006155e-01 -2.17522321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.180714057 meters 0.04515361123036775 Centerline is valid? [True, True] Translation: X:312.80, Y:-42.74, Z:-21.75 [[ 9.97314987e-01 5.79985832e-02 4.47099757e-02 3.12804138e+02] [-5.77828581e-02 9.98310517e-01 -6.10345363e-03 -4.27355414e+01] [-4.49884306e-02 3.50359559e-03 9.98981364e-01 -2.17532895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.210714057 meters 0.044236431694362754 Centerline is valid? [True, True] Translation: X:312.83, Y:-42.74, Z:-21.75 [[ 9.96967531e-01 6.30008210e-02 4.56797496e-02 3.12833626e+02] [-6.27808724e-02 9.98007858e-01 -6.23521668e-03 -4.27361553e+01] [-4.59815728e-02 3.34849405e-03 9.98936676e-01 -2.17532908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.240714057 meters 0.04302681134096167 Centerline is valid? [True, True] Translation: X:312.86, Y:-42.74, Z:-21.75 [[ 9.96809979e-01 6.53003174e-02 4.58882809e-02 3.12863901e+02] [-6.50808451e-02 9.97860345e-01 -6.26219535e-03 -4.27370159e+01] [-4.61990191e-02 3.25577071e-03 9.98926950e-01 -2.17542966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.270714057 meters 0.04273810258686966 Centerline is valid? [True, True] Translation: X:312.89, Y:-42.74, Z:-21.76 [[ 9.96416716e-01 6.99040873e-02 4.76145579e-02 3.12892474e+02] [-6.96730329e-02 9.97548723e-01 -6.49713979e-03 -4.27395957e+01] [-4.79520181e-02 3.15640803e-03 9.98844653e-01 -2.17552069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.300714057 meters 0.04296034273837755 Centerline is valid? [True, True] Translation: X:312.92, Y:-42.74, Z:-21.76 [[ 9.96233672e-01 7.19634912e-02 4.83707257e-02 3.12920923e+02] [-7.17275466e-02 9.97402437e-01 -6.59829667e-03 -4.27435708e+01] [-4.87199161e-02 3.10393184e-03 9.98807657e-01 -2.17565236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.330714057 meters 0.041387603905111175 Centerline is valid? [True, True] Translation: X:312.95, Y:-42.75, Z:-21.76 [[ 9.95942924e-01 7.53096931e-02 4.92558929e-02 3.12950560e+02] [-7.50692365e-02 9.97155706e-01 -6.71625865e-03 -4.27459615e+01] [-4.96215940e-02 2.99140800e-03 9.98763610e-01 -2.17584460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.360714057 meters 0.042211532338292015 Centerline is valid? [True, True] Translation: X:312.98, Y:-42.75, Z:-21.76 [[ 9.95859749e-01 7.63131252e-02 4.93929947e-02 3.12977680e+02] [-7.60726046e-02 9.97079542e-01 -6.73397113e-03 -4.27513178e+01] [-4.97626349e-02 2.94863705e-03 9.98756720e-01 -2.17609033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.390714057 meters 0.04160585752182506 Centerline is valid? [True, True] Translation: X:313.01, Y:-42.75, Z:-21.76 [[ 9.95812699e-01 7.78118498e-02 4.79831733e-02 3.13006411e+02] [-7.75868055e-02 9.96964165e-01 -6.53770304e-03 -4.27540020e+01] [-4.83462150e-02 2.78746658e-03 9.98826749e-01 -2.17645287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.420714057 meters 0.042118440920536 Centerline is valid? [True, True] Translation: X:313.03, Y:-42.76, Z:-21.77 [[ 9.95842162e-01 7.81612937e-02 4.67888867e-02 3.13034319e+02] [-7.79478498e-02 9.96937075e-01 -6.37194417e-03 -4.27582414e+01] [-4.71436152e-02 2.69835755e-03 9.98884477e-01 -2.17675082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.450714057 meters 0.04308665688521656 Centerline is valid? [True, True] Translation: X:313.06, Y:-42.77, Z:-21.77 [[ 9.95797568e-01 7.85210163e-02 4.71344259e-02 3.13061844e+02] [-7.83049567e-02 9.96908808e-01 -6.41584796e-03 -4.27650066e+01] [-4.74925032e-02 2.69802661e-03 9.98867951e-01 -2.17706503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.480714057 meters 0.04297853194237668 Centerline is valid? [True, True] Translation: X:313.09, Y:-42.77, Z:-21.77 [[ 9.95769887e-01 7.82494948e-02 4.81596273e-02 3.13089195e+02] [-7.80237527e-02 9.96929967e-01 -6.55243631e-03 -4.27694607e+01] [-4.85245005e-02 2.76712392e-03 9.98818160e-01 -2.17718175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.51071405700003 meters 0.03864102846951333 Centerline is valid? [True, True] Translation: X:313.12, Y:-42.77, Z:-21.77 [[ 9.95861897e-01 7.69635931e-02 4.83289505e-02 3.13118181e+02] [-7.67349885e-02 9.97029874e-01 -6.57060153e-03 -4.27672707e+01] [-4.86911045e-02 2.83489024e-03 9.98809862e-01 -2.17718368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.540714057 meters 0.039049131551724334 Centerline is valid? [True, True] Translation: X:313.15, Y:-42.77, Z:-21.77 [[ 9.95862233e-01 7.67508605e-02 4.86592095e-02 3.13146282e+02] [-7.65190833e-02 9.97046199e-01 -6.61105363e-03 -4.27721570e+01] [-4.90228839e-02 2.86034052e-03 9.98793560e-01 -2.17731517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.57071405700003 meters 0.0390475911308505 Centerline is valid? [True, True] Translation: X:313.18, Y:-42.78, Z:-21.77 [[ 9.95874067e-01 7.59854222e-02 4.96090603e-02 3.13175093e+02] [-7.57437297e-02 9.97104561e-01 -6.73657022e-03 -4.27769525e+01] [-4.99773015e-02 2.95120032e-03 9.98745994e-01 -2.17738398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.600714057 meters 0.04124133425480301 Centerline is valid? [True, True] Translation: X:313.20, Y:-42.79, Z:-21.78 [[ 9.95920394e-01 7.48398805e-02 5.04138941e-02 3.13201671e+02] [-7.45889887e-02 9.97190887e-01 -6.84239514e-03 -4.27853723e+01] [-5.07843598e-02 3.05415949e-03 9.98704972e-01 -2.17752531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.63071405700003 meters 0.04148010738750444 Centerline is valid? [True, True] Translation: X:313.23, Y:-42.79, Z:-21.78 [[ 9.95947090e-01 7.40731033e-02 5.10153745e-02 3.13229574e+02] [-7.38154121e-02 9.97247915e-01 -6.91954075e-03 -4.27906240e+01] [-5.13875277e-02 3.12577559e-03 9.98673896e-01 -2.17764528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.660714057 meters 0.039778262134000604 Centerline is valid? [True, True] Translation: X:313.26, Y:-42.79, Z:-21.78 [[ 9.96093977e-01 7.21525921e-02 5.08998319e-02 3.13258455e+02] [-7.18938009e-02 9.97388430e-01 -6.89940432e-03 -4.27934021e+01] [-5.12647133e-02 3.21307270e-03 9.98679931e-01 -2.17771355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.69071405700004 meters 0.03795674279405475 Centerline is valid? [True, True] Translation: X:313.29, Y:-42.80, Z:-21.78 [[ 9.96181228e-01 7.08146990e-02 5.10709177e-02 3.13287115e+02] [-7.05525863e-02 9.97484063e-01 -6.91923239e-03 -4.27955522e+01] [-5.14324099e-02 3.28962409e-03 9.98671060e-01 -2.17785491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.720714057 meters 0.04508941512238508 Centerline is valid? [True, True] Translation: X:313.31, Y:-42.81, Z:-21.78 [[ 9.96301430e-01 6.94175442e-02 5.06425291e-02 3.13313421e+02] [-6.91582050e-02 9.97582135e-01 -6.85754636e-03 -4.28109625e+01] [-5.09961164e-02 3.32983684e-03 9.98693300e-01 -2.17811175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.750714057 meters 0.04283663295062022 Centerline is valid? [True, True] Translation: X:313.34, Y:-42.81, Z:-21.78 [[ 9.96522746e-01 6.64480635e-02 5.02699839e-02 3.13342758e+02] [-6.61889718e-02 9.97783913e-01 -6.80312146e-03 -4.28147624e+01] [-5.06106355e-02 3.45214673e-03 9.98712494e-01 -2.17839124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.780714057 meters 0.04200551050061056 Centerline is valid? [True, True] Translation: X:313.37, Y:-42.82, Z:-21.79 [[ 9.96729288e-01 6.38579854e-02 4.95265987e-02 3.13371944e+02] [-6.36033695e-02 9.97952754e-01 -6.70167463e-03 -4.28197497e+01] [-4.98531610e-02 3.52969683e-03 9.98750321e-01 -2.17869303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.810714057 meters 0.04629818954614733 Centerline is valid? [True, True] Translation: X:313.40, Y:-42.83, Z:-21.79 [[ 9.96805541e-01 6.32351962e-02 4.87854911e-02 3.13400392e+02] [-6.29874514e-02 9.97992492e-01 -6.60053718e-03 -4.28308378e+01] [-4.91049401e-02 3.50657829e-03 9.98787469e-01 -2.17899685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.840714057 meters 0.04293545199275454 Centerline is valid? [True, True] Translation: X:313.43, Y:-42.83, Z:-21.79 [[ 9.96868101e-01 6.36755494e-02 4.68978988e-02 3.13430474e+02] [-6.34471360e-02 9.97965033e-01 -6.34454302e-03 -4.28290590e+01] [-4.72064554e-02 3.34913518e-03 9.98879539e-01 -2.17912924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.870714057 meters 0.04314928717950238 Centerline is valid? [True, True] Translation: X:313.46, Y:-42.83, Z:-21.79 [[ 9.96837592e-01 6.45854694e-02 4.62982918e-02 3.13459426e+02] [-6.43638839e-02 9.97906845e-01 -6.26249631e-03 -4.28327945e+01] [-4.66058486e-02 3.26275386e-03 9.98908028e-01 -2.17932454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.900714057 meters 0.04334327794498649 Centerline is valid? [True, True] Translation: X:313.49, Y:-42.84, Z:-21.80 [[ 9.96807726e-01 6.54537205e-02 4.57183561e-02 3.13488034e+02] [-6.52387797e-02 9.97850548e-01 -6.17938465e-03 -4.28363158e+01] [-4.60245504e-02 3.17704860e-03 9.98935257e-01 -2.17954997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.930714057 meters 0.04334327794498649 Centerline is valid? [True, True] Translation: X:313.52, Y:-42.84, Z:-21.80 [[ 9.96812178e-01 6.53855855e-02 4.57187780e-02 3.13516115e+02] [-6.51707159e-02 9.97855015e-01 -6.17626133e-03 -4.28400452e+01] [-4.60245504e-02 3.17704701e-03 9.98935257e-01 -2.17971427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.960714057 meters 0.04215585528170857 Centerline is valid? [True, True] Translation: X:313.55, Y:-42.84, Z:-21.80 [[ 9.96636564e-01 6.78909225e-02 4.58953266e-02 3.13546138e+02] [-6.76771960e-02 9.97688027e-01 -6.19654417e-03 -4.28425042e+01] [-4.62099069e-02 3.06963548e-03 9.98927035e-01 -2.17989762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.990714057 meters 0.04294048390169308 Centerline is valid? [True, True] Translation: X:313.57, Y:-42.85, Z:-21.80 [[ 9.96493168e-01 6.95413054e-02 4.65335644e-02 3.13574324e+02] [-6.93234555e-02 9.97574462e-01 -6.28106855e-03 -4.28473639e+01] [-4.68574892e-02 3.03317442e-03 9.98896979e-01 -2.18006387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.020714057 meters 0.03813602980393617 Centerline is valid? [True, True] Translation: X:313.61, Y:-42.84, Z:-21.80 [[ 9.96279415e-01 7.24173683e-02 4.67231394e-02 3.13605504e+02] [-7.22010169e-02 9.97370179e-01 -6.30387247e-03 -4.28429108e+01] [-4.70567757e-02 2.90696020e-03 9.98887986e-01 -2.18005100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.050714057 meters 0.04154735917201105 Centerline is valid? [True, True] Translation: X:313.63, Y:-42.85, Z:-21.80 [[ 9.96147170e-01 7.44634593e-02 4.63250371e-02 3.13633744e+02] [-7.42530142e-02 9.97219852e-01 -6.24953374e-03 -4.28512973e+01] [-4.66616085e-02 2.78568171e-03 9.98906870e-01 -2.18027828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.080714057 meters 0.03863579202698889 Centerline is valid? [True, True] Translation: X:313.66, Y:-42.85, Z:-21.80 [[ 9.96129618e-01 7.47202024e-02 4.62890506e-02 3.13662729e+02] [-7.45104191e-02 9.97200690e-01 -6.24342322e-03 -4.28499391e+01] [-4.66259831e-02 2.77024222e-03 9.98908576e-01 -2.18040324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.110714057 meters 0.03952676886992632 Centerline is valid? [True, True] Translation: X:313.69, Y:-42.86, Z:-21.81 [[ 9.96227591e-01 7.37022825e-02 4.58100472e-02 3.13689607e+02] [-7.34958789e-02 9.97276397e-01 -6.17603367e-03 -4.28550862e+01] [-4.61404666e-02 2.78588547e-03 9.98931077e-01 -2.18054478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.140714057 meters 0.04431057372930675 Centerline is valid? [True, True] Translation: X:313.72, Y:-42.87, Z:-21.81 [[ 9.96313259e-01 7.23430518e-02 4.61126093e-02 3.13715970e+02] [-7.21326963e-02 9.97375701e-01 -6.21175559e-03 -4.28658138e+01] [-4.64409734e-02 2.86262761e-03 9.98916934e-01 -2.18080297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.170714057 meters 0.04200007294985677 Centerline is valid? [True, True] Translation: X:313.75, Y:-42.87, Z:-21.81 [[ 9.96461372e-01 6.98926687e-02 4.66877870e-02 3.13746018e+02] [-6.96745692e-02 9.97549978e-01 -6.28458254e-03 -4.28671158e+01] [-4.70126472e-02 3.00939229e-03 9.98889761e-01 -2.18080232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.200714057 meters 0.04358323737332126 Centerline is valid? [True, True] Translation: X:313.77, Y:-42.87, Z:-21.81 [[ 9.96581541e-01 6.79372141e-02 4.70081615e-02 3.13774067e+02] [-6.77140123e-02 9.97684715e-01 -6.32625023e-03 -4.28745065e+01] [-4.73291120e-02 3.12151298e-03 9.98874472e-01 -2.18093093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.230714057 meters 0.04608549748880972 Centerline is valid? [True, True] Translation: X:313.80, Y:-42.88, Z:-21.81 [[ 9.96899547e-01 6.32027895e-02 4.68689796e-02 3.13803791e+02] [-6.29758373e-02 9.97995138e-01 -6.30465814e-03 -4.28833452e+01] [-4.71734858e-02 3.33349760e-03 9.98881149e-01 -2.18118572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.26071405700003 meters 0.047658323887158065 Centerline is valid? [True, True] Translation: X:313.83, Y:-42.89, Z:-21.81 [[ 9.97062687e-01 6.07986758e-02 4.65780889e-02 3.13833278e+02] [-6.05719338e-02 9.98144171e-01 -6.26536560e-03 -4.28908849e+01] [-4.68725738e-02 3.42563735e-03 9.98895003e-01 -2.18145209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.290714057 meters 0.050832820686099615 Centerline is valid? [True, True] Translation: X:313.86, Y:-42.90, Z:-21.82 [[ 9.97390677e-01 5.62749016e-02 4.52213825e-02 3.13861270e+02] [-5.60565915e-02 9.98409067e-01 -6.08230476e-03 -4.29003684e+01] [-4.54917194e-02 3.53147749e-03 9.98958474e-01 -2.18174285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.32071405700003 meters 0.052296753368240266 Centerline is valid? [True, True] Translation: X:313.89, Y:-42.91, Z:-21.82 [[ 9.97543347e-01 5.42718460e-02 4.42926431e-02 3.13891991e+02] [-5.40605539e-02 9.98519901e-01 -5.95521853e-03 -4.29071664e+01] [-4.45502863e-02 3.54610381e-03 9.99000849e-01 -2.18201637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.350714057 meters 0.05578212574141087 Centerline is valid? [True, True] Translation: X:313.92, Y:-42.92, Z:-21.82 [[ 9.97780960e-01 5.11472564e-02 4.26276109e-02 3.13919935e+02] [-5.09486337e-02 9.98684816e-01 -5.73364742e-03 -4.29164493e+01] [-4.28648081e-02 3.54910570e-03 9.99074578e-01 -2.18233419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.38071405700003 meters 0.05696930108748626 Centerline is valid? [True, True] Translation: X:313.95, Y:-42.92, Z:-21.83 [[ 9.97860401e-01 4.97393347e-02 4.24336977e-02 3.13950728e+02] [-4.95413486e-02 9.98755778e-01 -5.70532144e-03 -4.29220541e+01] [-4.26646797e-02 3.59089172e-03 9.99082995e-01 -2.18255791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.410714057 meters 0.04838852600146654 Centerline is valid? [True, True] Translation: X:313.98, Y:-42.91, Z:-21.82 [[ 9.97914155e-01 4.83035601e-02 4.28264522e-02 3.13982994e+02] [-4.81005295e-02 9.98825896e-01 -5.75923322e-03 -4.29142349e+01] [-4.30543610e-02 3.68724532e-03 9.99065927e-01 -2.18241711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.44071405700004 meters 0.05635627506365862 Centerline is valid? [True, True] Translation: X:314.01, Y:-42.93, Z:-21.83 [[ 9.97944650e-01 4.73500749e-02 4.31792356e-02 3.14011839e+02] [-4.71426783e-02 9.98871272e-01 -5.80941050e-03 -4.29291104e+01] [-4.34055740e-02 3.76188531e-03 9.99050451e-01 -2.18272598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.470714057 meters 0.04931474436878282 Centerline is valid? [True, True] Translation: X:314.05, Y:-42.92, Z:-21.83 [[ 9.97929578e-01 4.71606070e-02 4.37313963e-02 3.14045739e+02] [-4.69477454e-02 9.98880026e-01 -5.88237808e-03 -4.29228242e+01] [-4.39598348e-02 3.81710861e-03 9.99026007e-01 -2.18266464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.500714057 meters 0.05065328207343649 Centerline is valid? [True, True] Translation: X:314.08, Y:-42.93, Z:-21.83 [[ 9.97886576e-01 4.76864356e-02 4.41405233e-02 3.14076057e+02] [-4.74695732e-02 9.98854970e-01 -5.94880346e-03 -4.29298052e+01] [-4.43736583e-02 3.84089931e-03 9.99007621e-01 -2.18288519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.530714057 meters 0.04819553492758461 Centerline is valid? [True, True] Translation: X:314.11, Y:-42.93, Z:-21.83 [[ 9.97929626e-01 4.76863447e-02 4.31563810e-02 3.14108242e+02] [-4.74786478e-02 9.98855266e-01 -5.82549316e-03 -4.29295193e+01] [-4.33847749e-02 3.76442559e-03 9.99051345e-01 -2.18307093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.560714057 meters 0.048830957665770135 Centerline is valid? [True, True] Translation: X:314.14, Y:-42.93, Z:-21.83 [[ 9.97932927e-01 4.77998789e-02 4.29539853e-02 3.14139905e+02] [-4.75937674e-02 9.98849884e-01 -5.80891085e-03 -4.29345472e+01] [-4.31822484e-02 3.75256142e-03 9.99060164e-01 -2.18329990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.590714057 meters 0.052409949123565676 Centerline is valid? [True, True] Translation: X:314.17, Y:-42.94, Z:-21.83 [[ 9.97916123e-01 4.79740314e-02 4.31497764e-02 3.14170683e+02] [-4.77657252e-02 9.98841457e-01 -5.84624435e-03 -4.29424271e+01] [-4.33802535e-02 3.77298113e-03 9.99051509e-01 -2.18346494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.620714057 meters 0.05735185511460557 Centerline is valid? [True, True] Translation: X:314.20, Y:-42.95, Z:-21.84 [[ 9.97848503e-01 4.86758996e-02 4.39206360e-02 3.14200774e+02] [-4.84602442e-02 9.98807317e-01 -5.96217678e-03 -4.29533504e+01] [-4.41584669e-02 3.82094443e-03 9.99017232e-01 -2.18366276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.650714057 meters 0.05181637289635571 Centerline is valid? [True, True] Translation: X:314.23, Y:-42.95, Z:-21.84 [[ 9.97825477e-01 4.93037802e-02 4.37430473e-02 3.14233989e+02] [-4.90900476e-02 9.98776649e-01 -5.94755651e-03 -4.29493534e+01] [-4.39827712e-02 3.78727514e-03 9.99025111e-01 -2.18372651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.680714057 meters 0.052156830591994545 Centerline is valid? [True, True] Translation: X:314.27, Y:-42.95, Z:-21.84 [[ 9.97812610e-01 4.99167234e-02 4.33395393e-02 3.14265397e+02] [-4.97069232e-02 9.98746386e-01 -5.90574539e-03 -4.29541521e+01] [-4.35800037e-02 3.73855207e-03 9.99042945e-01 -2.18392979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.710714057 meters 0.052083235273468184 Centerline is valid? [True, True] Translation: X:314.29, Y:-42.96, Z:-21.84 [[ 9.97647283e-01 5.29331037e-02 4.35658787e-02 3.14294239e+02] [-5.27238182e-02 9.98591467e-01 -5.93977957e-03 -4.29573149e+01] [-4.38189257e-02 3.62884548e-03 9.99032899e-01 -2.18410972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.740714057 meters 0.05143824979712042 Centerline is valid? [True, True] Translation: X:314.32, Y:-42.96, Z:-21.84 [[ 9.97569226e-01 5.46170998e-02 4.32736841e-02 3.14324812e+02] [-5.44122233e-02 9.98501132e-01 -5.89911714e-03 -4.29588170e+01] [-4.35310152e-02 3.53016036e-03 9.99045839e-01 -2.18430497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.770714057 meters 0.04981917893458858 Centerline is valid? [True, True] Translation: X:314.35, Y:-42.96, Z:-21.84 [[ 9.97315442e-01 5.95678000e-02 4.25862128e-02 3.14354814e+02] [-5.93738561e-02 9.98218934e-01 -5.80568666e-03 -4.29570598e+01] [-4.28561959e-02 3.26159328e-03 9.99075927e-01 -2.18445614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.800714057 meters 0.04901329047220771 Centerline is valid? [True, True] Translation: X:314.38, Y:-42.96, Z:-21.85 [[ 9.97200735e-01 6.16842923e-02 4.22580492e-02 3.14384817e+02] [-6.14952530e-02 9.98090755e-01 -5.76009546e-03 -4.29585279e+01] [-4.25326756e-02 3.14530200e-03 9.99090125e-01 -2.18463944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.830714057 meters 0.0474788605885453 Centerline is valid? [True, True] Translation: X:314.41, Y:-42.96, Z:-21.85 [[ 9.96851673e-01 6.68685388e-02 4.26068078e-02 3.14414169e+02] [-6.66810948e-02 9.97757440e-01 -5.80708193e-03 -4.29591421e+01] [-4.28995705e-02 2.94773075e-03 9.99075041e-01 -2.18485438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.860714057 meters 0.04710889173176972 Centerline is valid? [True, True] Translation: X:314.44, Y:-42.96, Z:-21.85 [[ 9.96741220e-01 6.86014322e-02 4.24356518e-02 3.14443812e+02] [-6.84171026e-02 9.97640046e-01 -5.78263014e-03 -4.29613299e+01] [-4.27322024e-02 2.86046147e-03 9.99082467e-01 -2.18501073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.890714057 meters 0.03882655176763785 Centerline is valid? [True, True] Translation: X:314.48, Y:-42.95, Z:-21.85 [[ 9.96489797e-01 7.22663264e-02 4.22570927e-02 3.14476162e+02] [-7.20869018e-02 9.97381743e-01 -5.75648693e-03 -4.29500341e+01] [-4.25624530e-02 2.69009760e-03 9.99090187e-01 -2.18494456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.920714057 meters 0.040873090388729605 Centerline is valid? [True, True] Translation: X:314.50, Y:-42.96, Z:-21.85 [[ 9.96334520e-01 7.42914903e-02 4.24063604e-02 3.14504335e+02] [-7.41126106e-02 9.97233145e-01 -5.77706555e-03 -4.29563514e+01] [-4.27182149e-02 2.61304375e-03 9.99083743e-01 -2.18522130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.950714057 meters 0.044229266282658594 Centerline is valid? [True, True] Translation: X:314.53, Y:-42.96, Z:-21.86 [[ 9.96037022e-01 7.82891086e-02 4.22026927e-02 3.14533169e+02] [-7.81155896e-02 9.96927740e-01 -5.74761792e-03 -4.29630783e+01] [-4.25230109e-02 2.42815202e-03 9.99092537e-01 -2.18560885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.980714057 meters 0.03583636378485858 Centerline is valid? [True, True] Translation: X:314.57, Y:-42.95, Z:-21.85 [[ 9.95685685e-01 8.27968753e-02 4.18890578e-02 3.14565992e+02] [-8.26299497e-02 9.96563976e-01 -5.70376043e-03 -4.29514003e+01] [-4.22173795e-02 2.21786188e-03 9.99105987e-01 -2.18547458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.01071405700003 meters 0.034521107171659356 Centerline is valid? [True, True] Translation: X:314.59, Y:-42.95, Z:-21.86 [[ 9.95544938e-01 8.46533853e-02 4.15220402e-02 3.14594949e+02] [-8.44909448e-02 9.96408202e-01 -5.65470688e-03 -4.29523964e+01] [-4.18515915e-02 2.12127840e-03 9.99121586e-01 -2.18564057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.040714057 meters 0.0363347233228713 Centerline is valid? [True, True] Translation: X:314.62, Y:-42.96, Z:-21.86 [[ 9.95427857e-01 8.60358525e-02 4.14875065e-02 3.14622459e+02] [-8.58750046e-02 9.96289915e-01 -5.64700881e-03 -4.29592671e+01] [-4.18194296e-02 2.05845006e-03 9.99123065e-01 -2.18595519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.07071405700003 meters 0.034397434551817735 Centerline is valid? [True, True] Translation: X:314.65, Y:-42.96, Z:-21.86 [[ 9.95218729e-01 8.80748378e-02 4.22197157e-02 3.14651709e+02] [-8.79102203e-02 9.96111843e-01 -5.74355564e-03 -4.29592875e+01] [-4.25614216e-02 2.00454964e-03 9.99091841e-01 -2.18594719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.100714057 meters 0.03340239998696153 Centerline is valid? [True, True] Translation: X:314.68, Y:-42.96, Z:-21.86 [[ 9.95151952e-01 8.83760363e-02 4.31540073e-02 3.14680809e+02] [-8.82044628e-02 9.96085109e-01 -5.86759898e-03 -4.29610520e+01] [-4.35036192e-02 2.03277655e-03 9.99051201e-01 -2.18601924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.13071405700003 meters 0.03334438834089839 Centerline is valid? [True, True] Translation: X:314.71, Y:-42.97, Z:-21.86 [[ 9.95174230e-01 8.75156892e-02 4.43763103e-02 3.14709001e+02] [-8.73335456e-02 9.96160873e-01 -6.03049959e-03 -4.29658985e+01] [-4.47337073e-02 2.12585726e-03 9.98996685e-01 -2.18606692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.160714057 meters 0.03359879981101093 Centerline is valid? [True, True] Translation: X:314.74, Y:-42.97, Z:-21.86 [[ 9.95196357e-01 8.65812204e-02 4.56935793e-02 3.14737105e+02] [-8.63872698e-02 9.96242302e-01 -6.20608242e-03 -4.29713171e+01] [-4.60592068e-02 2.22892705e-03 9.98936225e-01 -2.18618954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.19071405700004 meters 0.03472661764028515 Centerline is valid? [True, True] Translation: X:314.77, Y:-42.98, Z:-21.86 [[ 9.95419206e-01 8.35244868e-02 4.65216506e-02 3.14765055e+02] [-8.33202673e-02 9.96502811e-01 -6.31515677e-03 -4.29794200e+01] [-4.68864258e-02 2.41003197e-03 9.98897319e-01 -2.18635466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.220714057 meters 0.035323445734436076 Centerline is valid? [True, True] Translation: X:314.79, Y:-42.99, Z:-21.87 [[ 9.95554222e-01 8.18102756e-02 4.66783610e-02 3.14793517e+02] [-8.16029810e-02 9.96644797e-01 -6.33255484e-03 -4.29852416e+01] [-4.70398137e-02 2.49530830e-03 9.98889899e-01 -2.18658659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.250714057 meters 0.03651509578676727 Centerline is valid? [True, True] Translation: X:314.82, Y:-43.00, Z:-21.87 [[ 9.95830949e-01 7.82727659e-02 4.68411664e-02 3.14822878e+02] [-7.80602672e-02 9.96928409e-01 -6.35154874e-03 -4.29951836e+01] [-4.71944428e-02 2.66863485e-03 9.98882157e-01 -2.18678437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.280714057 meters 0.039060736352960146 Centerline is valid? [True, True] Translation: X:314.85, Y:-43.00, Z:-21.87 [[ 9.95992417e-01 7.60657690e-02 4.70436389e-02 3.14850177e+02] [-7.58489406e-02 9.97098910e-01 -6.37972822e-03 -4.30044248e+01] [-4.73924400e-02 2.78595076e-03 9.98872462e-01 -2.18699398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.310714057 meters 0.040082364805307504 Centerline is valid? [True, True] Translation: X:314.88, Y:-43.01, Z:-21.87 [[ 9.96326197e-01 7.18497988e-02 4.66016703e-02 3.14879195e+02] [-7.16326221e-02 9.97411088e-01 -6.31582398e-03 -4.30133299e+01] [-4.69348133e-02 2.95442106e-03 9.98893585e-01 -2.18714094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.340714057 meters 0.0418146241717317 Centerline is valid? [True, True] Translation: X:314.91, Y:-43.02, Z:-21.87 [[ 9.96484468e-01 6.96215924e-02 4.65997779e-02 3.14907018e+02] [-6.94019906e-02 9.97568781e-01 -6.31593949e-03 -4.30213711e+01] [-4.69262094e-02 3.05961825e-03 9.98893673e-01 -2.18733623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.370714057 meters 0.04329006077360924 Centerline is valid? [True, True] Translation: X:314.94, Y:-43.03, Z:-21.87 [[ 9.96665135e-01 6.64561734e-02 4.73517289e-02 3.14935813e+02] [-6.62260020e-02 9.97784027e-01 -6.41499466e-03 -4.30304465e+01] [-4.76731148e-02 3.25768582e-03 9.98857678e-01 -2.18746947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.400714057 meters 0.04394591062860253 Centerline is valid? [True, True] Translation: X:314.97, Y:-43.04, Z:-21.88 [[ 9.96712097e-01 6.50637807e-02 4.82876725e-02 3.14965256e+02] [-6.48228197e-02 9.97875351e-01 -6.54109755e-03 -4.30360524e+01] [-4.86106666e-02 3.38944798e-03 9.98812052e-01 -2.18764026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.430714057 meters 0.04556418960816332 Centerline is valid? [True, True] Translation: X:314.99, Y:-43.05, Z:-21.88 [[ 9.96760971e-01 6.32598462e-02 4.96563975e-02 3.14993481e+02] [-6.30029033e-02 9.97990691e-01 -6.72426049e-03 -4.30454143e+01] [-4.99819981e-02 3.57398321e-03 9.98743724e-01 -2.18777385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.460714057 meters 0.046917847156604735 Centerline is valid? [True, True] Translation: X:315.02, Y:-43.05, Z:-21.88 [[ 9.96845335e-01 6.18273991e-02 4.97669726e-02 3.15023421e+02] [-6.15674505e-02 9.98080162e-01 -6.74090991e-03 -4.30518871e+01] [-5.00882010e-02 3.65561898e-03 9.98738108e-01 -2.18797965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.490714057 meters 0.046338140877741185 Centerline is valid? [True, True] Translation: X:315.05, Y:-43.06, Z:-21.88 [[ 9.96882872e-01 6.10957513e-02 4.99184286e-02 3.15053938e+02] [-6.08333046e-02 9.98125038e-01 -6.76142455e-03 -4.30561109e+01] [-5.02379278e-02 3.70364535e-03 9.98730411e-01 -2.18816561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.520714057 meters 0.04213230652767118 Centerline is valid? [True, True] Translation: X:315.08, Y:-43.05, Z:-21.88 [[ 9.96964532e-01 5.92910066e-02 5.04608514e-02 3.15084639e+02] [-5.90205153e-02 9.98233370e-01 -6.83501944e-03 -4.30548159e+01] [-5.07769609e-02 3.83604651e-03 9.98702651e-01 -2.18822614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.550714057 meters 0.050392779360590494 Centerline is valid? [True, True] Translation: X:315.11, Y:-43.07, Z:-21.89 [[ 9.97050388e-01 5.78389638e-02 5.04497544e-02 3.15112745e+02] [-5.75668180e-02 9.98318278e-01 -6.83207612e-03 -4.30717230e+01] [-5.07600722e-02 3.90769231e-03 9.98703232e-01 -2.18854299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.580714057 meters 0.050974095766075644 Centerline is valid? [True, True] Translation: X:315.14, Y:-43.08, Z:-21.89 [[ 9.97068918e-01 5.72039419e-02 5.08063200e-02 3.15143489e+02] [-5.69269494e-02 9.98354616e-01 -6.88354685e-03 -4.30773424e+01] [-5.11164901e-02 3.97112181e-03 9.98684802e-01 -2.18873647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.610714057 meters 0.05238046760820237 Centerline is valid? [True, True] Translation: X:315.17, Y:-43.09, Z:-21.89 [[ 9.97083537e-01 5.69784580e-02 5.07727763e-02 3.15174075e+02] [-5.67015155e-02 9.98367473e-01 -6.87950220e-03 -4.30851646e+01] [-5.10818717e-02 3.98054503e-03 9.98686536e-01 -2.18904264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.640714057 meters 0.04548898057668194 Centerline is valid? [True, True] Translation: X:315.21, Y:-43.08, Z:-21.89 [[ 9.97122274e-01 5.71010182e-02 4.98662652e-02 3.15206344e+02] [-5.68334431e-02 9.98360730e-01 -6.76854773e-03 -4.30802537e+01] [-5.01710119e-02 3.91499816e-03 9.98732968e-01 -2.18920319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.670714057 meters 0.042896334661817095 Centerline is valid? [True, True] Translation: X:315.24, Y:-43.08, Z:-21.90 [[ 9.97255014e-01 5.67333629e-02 4.75790057e-02 3.15238129e+02] [-5.64893493e-02 9.98382311e-01 -6.45871128e-03 -4.30805321e+01] [-4.78684620e-02 3.75327514e-03 9.98846596e-01 -2.18957965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.700714057 meters 0.04343652503698313 Centerline is valid? [True, True] Translation: X:315.27, Y:-43.09, Z:-21.90 [[ 9.97254635e-01 5.72041718e-02 4.70199396e-02 3.15268489e+02] [-5.69660247e-02 9.98355665e-01 -6.39041284e-03 -4.30854784e+01] [-4.73081814e-02 3.69432979e-03 9.98873509e-01 -2.18981983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.730714057 meters 0.0420314956302243 Centerline is valid? [True, True] Translation: X:315.30, Y:-43.09, Z:-21.90 [[ 9.97140840e-01 5.92212691e-02 4.69359765e-02 3.15298706e+02] [-5.89861922e-02 9.98238417e-01 -6.37900154e-03 -4.30878082e+01] [-4.72310675e-02 3.59218843e-03 9.98877531e-01 -2.18992071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.76071405700003 meters 0.04387541115442605 Centerline is valid? [True, True] Translation: X:315.33, Y:-43.09, Z:-21.90 [[ 9.96958696e-01 6.15625060e-02 4.77851032e-02 3.15327563e+02] [-6.13215432e-02 9.98096939e-01 -6.49371808e-03 -4.30940350e+01] [-4.80939348e-02 3.54371244e-03 9.98836531e-01 -2.19010748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.790714057 meters 0.04033342033790615 Centerline is valid? [True, True] Translation: X:315.36, Y:-43.09, Z:-21.90 [[ 9.96529041e-01 6.76191826e-02 4.85542706e-02 3.15359370e+02] [-6.73773387e-02 9.97705720e-01 -6.60231300e-03 -4.30917909e+01] [-4.88893166e-02 3.30793910e-03 9.98798725e-01 -2.19006708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.82071405700003 meters 0.03789244335929358 Centerline is valid? [True, True] Translation: X:315.39, Y:-43.09, Z:-21.90 [[ 9.96225103e-01 7.15671534e-02 4.91292771e-02 3.15390026e+02] [-7.13242747e-02 9.97430803e-01 -6.68135970e-03 -4.30921300e+01] [-4.94812202e-02 3.15202820e-03 9.98770080e-01 -2.19011159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.850714057 meters 0.03789244335929358 Centerline is valid? [True, True] Translation: X:315.42, Y:-43.10, Z:-21.90 [[ 9.96230150e-01 7.14969139e-02 4.91292227e-02 3.15418092e+02] [-7.12539305e-02 9.97435828e-01 -6.68175971e-03 -4.30958847e+01] [-4.94809721e-02 3.15592026e-03 9.98770080e-01 -2.19027569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.88071405700003 meters 0.03607925380798112 Centerline is valid? [True, True] Translation: X:315.45, Y:-43.10, Z:-21.91 [[ 9.95730181e-01 7.82332046e-02 4.89997212e-02 3.15447465e+02] [-7.79998091e-02 9.96931126e-01 -6.66029751e-03 -4.30959518e+01] [-4.93704036e-02 2.80989034e-03 9.98776586e-01 -2.19054156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.910714057 meters 0.035263231052842146 Centerline is valid? [True, True] Translation: X:315.48, Y:-43.10, Z:-21.91 [[ 9.95500061e-01 8.13895967e-02 4.85320640e-02 3.15477561e+02] [-8.11644559e-02 9.96678903e-01 -6.59508546e-03 -4.30988924e+01] [-4.89076557e-02 2.62632941e-03 9.98799852e-01 -2.19076837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.94071405700004 meters 0.03373563698688694 Centerline is valid? [True, True] Translation: X:315.51, Y:-43.10, Z:-21.91 [[ 9.94966149e-01 8.76037644e-02 4.86615160e-02 3.15506992e+02] [-8.73848652e-02 9.96152684e-01 -6.61184085e-03 -4.31008289e+01] [-4.90535219e-02 2.32627782e-03 9.98793442e-01 -2.19097312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.970714057 meters 0.03240825678517707 Centerline is valid? [True, True] Translation: X:315.54, Y:-43.10, Z:-21.91 [[ 9.94492910e-01 9.21626249e-02 4.98989199e-02 3.15536906e+02] [-9.19382170e-02 9.95741639e-01 -6.77886811e-03 -4.31040269e+01] [-5.03111906e-02 2.15391855e-03 9.98731268e-01 -2.19102550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.000714057 meters 0.03240387984990579 Centerline is valid? [True, True] Translation: X:315.56, Y:-43.11, Z:-21.91 [[ 9.94233256e-01 9.44879716e-02 5.07174129e-02 3.15564289e+02] [-9.42591725e-02 9.95523853e-01 -6.88965499e-03 -4.31095033e+01] [-5.11413838e-02 2.06934274e-03 9.98689279e-01 -2.19112743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.030714057 meters 0.03121320526283426 Centerline is valid? [True, True] Translation: X:315.59, Y:-43.11, Z:-21.91 [[ 9.93850688e-01 9.75863844e-02 5.23231126e-02 3.15593803e+02] [-9.73473964e-02 9.95225117e-01 -7.10286407e-03 -4.31140187e+01] [-5.27664187e-02 1.96566756e-03 9.98604948e-01 -2.19117708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.060714057 meters 0.031243243623149983 Centerline is valid? [True, True] Translation: X:315.62, Y:-43.12, Z:-21.91 [[ 9.93756185e-01 9.83573054e-02 5.26733744e-02 3.15621471e+02] [-9.81162587e-02 9.95149281e-01 -7.14901510e-03 -4.31193503e+01] [-5.31210285e-02 1.93626355e-03 9.98586204e-01 -2.19130755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.090714057 meters 0.029281760384052613 Centerline is valid? [True, True] Translation: X:315.65, Y:-43.12, Z:-21.91 [[ 9.93635317e-01 9.90599422e-02 5.36281992e-02 3.15650087e+02] [-9.88114584e-02 9.95079603e-01 -7.27179259e-03 -4.31231759e+01] [-5.40846705e-02 1.92642937e-03 9.98534495e-01 -2.19139488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.120714057 meters 0.031839208345470146 Centerline is valid? [True, True] Translation: X:315.68, Y:-43.13, Z:-21.92 [[ 9.93723251e-01 9.82166847e-02 5.35498124e-02 3.15676613e+02] [-9.79679072e-02 9.95163112e-01 -7.25743612e-03 -4.31345319e+01] [-5.40035992e-02 1.96571997e-03 9.98538806e-01 -2.19165250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.150714057 meters 0.029933901570186057 Centerline is valid? [True, True] Translation: X:315.71, Y:-43.14, Z:-21.92 [[ 9.94009717e-01 9.56250509e-02 5.29200635e-02 3.15705315e+02] [-9.53786882e-02 9.95415258e-01 -7.16726212e-03 -4.31413027e+01] [-5.33628085e-02 2.07688195e-03 9.98573030e-01 -2.19190976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.180714057 meters 0.03173363094194713 Centerline is valid? [True, True] Translation: X:315.73, Y:-43.15, Z:-21.92 [[ 9.94191188e-01 9.42261424e-02 5.20126523e-02 3.15731980e+02] [-9.39863343e-02 9.95548576e-01 -7.04283580e-03 -4.31512706e+01] [-5.24447412e-02 2.11344677e-03 9.98621591e-01 -2.19217411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.210714057 meters 0.03183923772441324 Centerline is valid? [True, True] Translation: X:315.76, Y:-43.16, Z:-21.92 [[ 9.94554381e-01 9.04208741e-02 5.18232521e-02 3.15760116e+02] [-9.01778981e-02 9.95900984e-01 -7.01256517e-03 -4.31601407e+01] [-5.22449100e-02 2.30106547e-03 9.98631651e-01 -2.19234912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.240714057 meters 0.03268018956235472 Centerline is valid? [True, True] Translation: X:315.79, Y:-43.17, Z:-21.93 [[ 9.94730673e-01 8.83876804e-02 5.19471552e-02 3.15788258e+02] [-8.81409828e-02 9.96083235e-01 -7.02536079e-03 -4.31698444e+01] [-5.23646458e-02 2.40966855e-03 9.98625124e-01 -2.19256984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.270714057 meters 0.032852968978286 Centerline is valid? [True, True] Translation: X:315.82, Y:-43.18, Z:-21.93 [[ 9.94762436e-01 8.82282301e-02 5.16088672e-02 3.15816702e+02] [-8.79847114e-02 9.96097398e-01 -6.97602115e-03 -4.31763277e+01] [-5.20229403e-02 2.39869251e-03 9.98643009e-01 -2.19277891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.300714057 meters 0.03329306552156755 Centerline is valid? [True, True] Translation: X:315.84, Y:-43.18, Z:-21.93 [[ 9.94701028e-01 8.90305917e-02 5.14141906e-02 3.15843940e+02] [-8.87901592e-02 9.96026133e-01 -6.94620161e-03 -4.31849507e+01] [-5.18283019e-02 2.34431971e-03 9.98653259e-01 -2.19295839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.330714057 meters 0.03310175502324203 Centerline is valid? [True, True] Translation: X:315.87, Y:-43.19, Z:-21.93 [[ 9.94638493e-01 8.96452877e-02 5.15557078e-02 3.15871875e+02] [-8.94045923e-02 9.95971068e-01 -6.96070268e-03 -4.31902838e+01] [-5.19719875e-02 2.31406579e-03 9.98645862e-01 -2.19313313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.360714057 meters 0.033050904993224425 Centerline is valid? [True, True] Translation: X:315.90, Y:-43.20, Z:-21.93 [[ 9.94567861e-01 9.02802295e-02 5.18097492e-02 3.15899835e+02] [-9.00382016e-02 9.95913773e-01 -6.99139476e-03 -4.31951370e+01] [-5.22292275e-02 2.28855988e-03 9.98632500e-01 -2.19325270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.390714057 meters 0.03350428365262076 Centerline is valid? [True, True] Translation: X:315.93, Y:-43.20, Z:-21.93 [[ 9.94430202e-01 9.13028080e-02 5.26533050e-02 3.15926498e+02] [-9.10544491e-02 9.95820594e-01 -7.10159117e-03 -4.32034561e+01] [-5.30816406e-02 2.26771907e-03 9.98587601e-01 -2.19332255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.420714057 meters 0.03212078970908884 Centerline is valid? [True, True] Translation: X:315.95, Y:-43.21, Z:-21.93 [[ 9.94367361e-01 9.10150857e-02 5.43121197e-02 3.15954842e+02] [-9.07506531e-02 9.95846740e-01 -7.32044803e-03 -4.32090660e+01] [-5.47528185e-02 2.35035425e-03 9.98497173e-01 -2.19336714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.450714057 meters 0.0319725924357453 Centerline is valid? [True, True] Translation: X:315.98, Y:-43.21, Z:-21.94 [[ 9.94430423e-01 8.99716434e-02 5.48929622e-02 3.15982940e+02] [-8.97001500e-02 9.95941364e-01 -7.39481247e-03 -4.32143501e+01] [-5.53354951e-02 2.42971955e-03 9.98464861e-01 -2.19352449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.480714057 meters 0.03344763128694345 Centerline is valid? [True, True] Translation: X:316.01, Y:-43.23, Z:-21.94 [[ 9.94597855e-01 8.80126793e-02 5.50352221e-02 3.16010367e+02] [-8.77370066e-02 9.96116113e-01 -7.40997271e-03 -4.32252555e+01] [-5.54736431e-02 2.54131731e-03 9.98456918e-01 -2.19373167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.51071405700003 meters 0.0337398112682323 Centerline is valid? [True, True] Translation: X:316.04, Y:-43.23, Z:-21.94 [[ 9.94732958e-01 8.64453700e-02 5.50775811e-02 3.16039621e+02] [-8.61670424e-02 9.96253127e-01 -7.41269254e-03 -4.32318826e+01] [-5.55120053e-02 2.62777732e-03 9.98454562e-01 -2.19389372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.540714057 meters 0.03532772976485374 Centerline is valid? [True, True] Translation: X:316.07, Y:-43.24, Z:-21.94 [[ 9.94992868e-01 8.33923629e-02 5.50899931e-02 3.16068336e+02] [-8.31093550e-02 9.96512866e-01 -7.41236456e-03 -4.32413828e+01] [-5.55160215e-02 2.79675608e-03 9.98453880e-01 -2.19411396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.57071405700003 meters 0.03605552373543148 Centerline is valid? [True, True] Translation: X:316.10, Y:-43.25, Z:-21.94 [[ 9.95147178e-01 8.16209759e-02 5.49555341e-02 3.16097042e+02] [-8.13367087e-02 9.96659259e-01 -7.39334506e-03 -4.32484217e+01] [-5.53753939e-02 2.88756421e-03 9.98461430e-01 -2.19435708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.600714057 meters 0.03556196301517574 Centerline is valid? [True, True] Translation: X:316.13, Y:-43.26, Z:-21.95 [[ 9.95318186e-01 7.96444754e-02 5.47582580e-02 3.16126274e+02] [-7.93593765e-02 9.96818865e-01 -7.36482397e-03 -4.32555277e+01] [-5.51706321e-02 2.98476202e-03 9.98472480e-01 -2.19461940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.63071405700003 meters 0.03597612315832585 Centerline is valid? [True, True] Translation: X:316.16, Y:-43.26, Z:-21.95 [[ 9.95391714e-01 7.88130484e-02 5.46245247e-02 3.16155802e+02] [-7.85281519e-02 9.96884832e-01 -7.34579809e-03 -4.32623738e+01] [-5.50333049e-02 3.02238358e-03 9.98479945e-01 -2.19483938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.660714057 meters 0.03633694290155359 Centerline is valid? [True, True] Translation: X:316.19, Y:-43.27, Z:-21.95 [[ 9.95574994e-01 7.70327632e-02 5.38180645e-02 3.16186158e+02] [-7.67536421e-02 9.97023822e-01 -7.23721956e-03 -4.32699064e+01] [-5.42153954e-02 3.07446236e-03 9.98524531e-01 -2.19518540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.69071405700004 meters 0.03874181140033584 Centerline is valid? [True, True] Translation: X:316.22, Y:-43.28, Z:-21.95 [[ 9.95641236e-01 7.59717571e-02 5.41001131e-02 3.16215540e+02] [-7.56880379e-02 9.97104993e-01 -7.27700334e-03 -4.32796151e+01] [-5.44963396e-02 3.15055318e-03 9.98509000e-01 -2.19539056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.720714057 meters 0.037612432065078 Centerline is valid? [True, True] Translation: X:316.25, Y:-43.28, Z:-21.96 [[ 9.95749742e-01 7.44233563e-02 5.42550940e-02 3.16246521e+02] [-7.41354999e-02 9.97221445e-01 -7.30183952e-03 -4.32834431e+01] [-5.46477707e-02 3.24857630e-03 9.98500410e-01 -2.19554344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.750714057 meters 0.03963163154506768 Centerline is valid? [True, True] Translation: X:316.28, Y:-43.29, Z:-21.96 [[ 9.96008069e-01 7.05362466e-02 5.47043452e-02 3.16275013e+02] [-7.02376488e-02 9.97503103e-01 -7.36431414e-03 -4.32935111e+01] [-5.50872051e-02 3.49261172e-03 9.98475439e-01 -2.19584242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.780714057 meters 0.04064017486478222 Centerline is valid? [True, True] Translation: X:316.30, Y:-43.30, Z:-21.96 [[ 9.96125895e-01 6.84706244e-02 5.51812823e-02 3.16304976e+02] [-6.81635473e-02 9.97646493e-01 -7.43012188e-03 -4.33011772e+01] [-5.55601578e-02 3.63998487e-03 9.98448706e-01 -2.19601369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.810714057 meters 0.041306856278383604 Centerline is valid? [True, True] Translation: X:316.34, Y:-43.31, Z:-21.96 [[ 9.96331548e-01 6.48050736e-02 5.58905061e-02 3.16335041e+02] [-6.44842460e-02 9.97890340e-01 -7.52665085e-03 -4.33096515e+01] [-5.62603613e-02 3.89498255e-03 9.98408534e-01 -2.19618702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.840714057 meters 0.043246542559267194 Centerline is valid? [True, True] Translation: X:316.36, Y:-43.32, Z:-21.96 [[ 9.96460035e-01 6.20969970e-02 5.66688683e-02 3.16364365e+02] [-6.17627898e-02 9.98061679e-01 -7.63172696e-03 -4.33180186e+01] [-5.70329331e-02 4.10468351e-03 9.98363860e-01 -2.19623097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.870714057 meters 0.04341240954903876 Centerline is valid? [True, True] Translation: X:316.40, Y:-43.32, Z:-21.96 [[ 9.96526035e-01 6.07673153e-02 5.69490635e-02 3.16396106e+02] [-6.04276339e-02 9.98143116e-01 -7.66943370e-03 -4.33228527e+01] [-5.73093667e-02 4.20149319e-03 9.98347627e-01 -2.19642309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.900714057 meters 0.04453084428092822 Centerline is valid? [True, True] Translation: X:316.43, Y:-43.33, Z:-21.97 [[ 9.96652862e-01 5.85320461e-02 5.70707703e-02 3.16425986e+02] [-5.81870305e-02 9.98276081e-01 -7.68994760e-03 -4.33300567e+01] [-5.74224933e-02 4.34342963e-03 9.98340519e-01 -2.19666203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.930714057 meters 0.0459102777916047 Centerline is valid? [True, True] Translation: X:316.46, Y:-43.34, Z:-21.97 [[ 9.96685667e-01 5.78269782e-02 5.72164390e-02 3.16456176e+02] [-5.74789839e-02 9.98316940e-01 -7.71058908e-03 -4.33365431e+01] [-5.75660203e-02 4.39629085e-03 9.98332022e-01 -2.19685042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.960714057 meters 0.0487985869573272 Centerline is valid? [True, True] Translation: X:316.49, Y:-43.34, Z:-21.97 [[ 9.96757256e-01 5.65990620e-02 5.71971931e-02 3.16485959e+02] [-5.62488840e-02 9.98386969e-01 -7.71511150e-03 -4.33441791e+01] [-5.75416004e-02 4.47281509e-03 9.98333090e-01 -2.19698776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.990714057 meters 0.04849699164783997 Centerline is valid? [True, True] Translation: X:316.52, Y:-43.35, Z:-21.97 [[ 9.96697201e-01 5.68191289e-02 5.80196168e-02 3.16518714e+02] [-5.64587338e-02 9.98374203e-01 -7.83339642e-03 -4.33481580e+01] [-5.83703754e-02 4.53181019e-03 9.98284710e-01 -2.19714839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.020714057 meters 0.04881702064156519 Centerline is valid? [True, True] Translation: X:316.55, Y:-43.35, Z:-21.97 [[ 9.96583756e-01 5.76532520e-02 5.91347599e-02 3.16551035e+02] [-5.72793106e-02 9.98326134e-01 -8.00066919e-03 -4.33505787e+01] [-5.94970408e-02 4.58613867e-03 9.98217947e-01 -2.19721872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.050714057 meters 0.04636698738891362 Centerline is valid? [True, True] Translation: X:316.58, Y:-43.35, Z:-21.97 [[ 9.96554910e-01 5.77786778e-02 5.94973608e-02 3.16584006e+02] [-5.73994804e-02 9.98318720e-01 -8.06425176e-03 -4.33496983e+01] [-5.98632709e-02 4.62135209e-03 9.98195889e-01 -2.19740197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.080714057 meters 0.04649901149688999 Centerline is valid? [True, True] Translation: X:316.62, Y:-43.35, Z:-21.98 [[ 9.96569912e-01 5.80942997e-02 5.89360946e-02 3.16617250e+02] [-5.77218555e-02 9.98300620e-01 -8.00377028e-03 -4.33522651e+01] [-5.93009131e-02 4.57441591e-03 9.98229671e-01 -2.19772576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.110714057 meters 0.0441324383532145 Centerline is valid? [True, True] Translation: X:316.65, Y:-43.35, Z:-21.98 [[ 9.96631939e-01 5.82278696e-02 5.77433388e-02 3.16650318e+02] [-5.78696596e-02 9.98293222e-01 -7.85781670e-03 -4.33515189e+01] [-5.81023276e-02 4.48976374e-03 9.98300537e-01 -2.19798213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.140714057 meters 0.04477616255652953 Centerline is valid? [True, True] Translation: X:316.68, Y:-43.35, Z:-21.98 [[ 9.96793579e-01 5.68929310e-02 5.62650453e-02 3.16682200e+02] [-5.65498226e-02 9.98370295e-01 -7.67283116e-03 -4.33537167e+01] [-5.66098797e-02 4.46645050e-03 9.98386384e-01 -2.19836485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.170714057 meters 0.045487997505857795 Centerline is valid? [True, True] Translation: X:316.71, Y:-43.36, Z:-21.99 [[ 9.96820461e-01 5.66521910e-02 5.60312265e-02 3.16713875e+02] [-5.63113385e-02 9.98383990e-01 -7.64477509e-03 -4.33581579e+01] [-5.63737727e-02 4.46527487e-03 9.98399749e-01 -2.19851632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.200714057 meters 0.04601249207275551 Centerline is valid? [True, True] Translation: X:316.74, Y:-43.36, Z:-21.99 [[ 9.96937958e-01 5.47531645e-02 5.58282899e-02 3.16744997e+02] [-5.44110151e-02 9.98489460e-01 -7.63145997e-03 -4.33601936e+01] [-5.61618056e-02 4.57041820e-03 9.98411219e-01 -2.19870157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.230714057 meters 0.047468503372285885 Centerline is valid? [True, True] Translation: X:316.78, Y:-43.36, Z:-21.99 [[ 9.97075112e-01 5.25404937e-02 5.55042140e-02 3.16776246e+02] [-5.21988540e-02 9.98607881e-01 -7.58812387e-03 -4.33633213e+01] [-5.58256293e-02 4.66867309e-03 9.98429618e-01 -2.19888962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.26071405700003 meters 0.0543452529498367 Centerline is valid? [True, True] Translation: X:316.81, Y:-43.38, Z:-21.99 [[ 9.97104592e-01 5.18069789e-02 5.56638926e-02 3.16805770e+02] [-5.14621397e-02 9.98645939e-01 -7.61163560e-03 -4.33764149e+01] [-5.59828561e-02 4.72501380e-03 9.98420550e-01 -2.19908126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.290714057 meters 0.05166750538903601 Centerline is valid? [True, True] Translation: X:316.84, Y:-43.37, Z:-21.99 [[ 9.97261549e-01 4.90139520e-02 5.53808264e-02 3.16837396e+02] [-4.86676074e-02 9.98786221e-01 -7.58613523e-03 -4.33729305e+01] [-5.56854327e-02 4.87010866e-03 9.98436485e-01 -2.19924685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.32071405700003 meters 0.048623400349536855 Centerline is valid? [True, True] Translation: X:316.87, Y:-43.37, Z:-21.99 [[ 9.97338933e-01 4.78216702e-02 5.50285348e-02 3.16870308e+02] [-4.74779029e-02 9.98843843e-01 -7.53826630e-03 -4.33709917e+01] [-5.53254057e-02 4.90556704e-03 9.98456326e-01 -2.19942318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.350714057 meters 0.048705139698672115 Centerline is valid? [True, True] Translation: X:316.90, Y:-43.37, Z:-21.99 [[ 9.97426207e-01 4.57211700e-02 5.52316570e-02 3.16901946e+02] [-4.53714369e-02 9.98941502e-01 -7.57018873e-03 -4.33726717e+01] [-5.55193123e-02 5.04476499e-03 9.98444869e-01 -2.19945301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.38071405700003 meters 0.05206953495777449 Centerline is valid? [True, True] Translation: X:316.93, Y:-43.38, Z:-22.00 [[ 9.97447956e-01 4.48157058e-02 5.55799213e-02 3.16932223e+02] [-4.44600435e-02 9.98982103e-01 -7.61981081e-03 -4.33801200e+01] [-5.58648339e-02 5.12927900e-03 9.98425165e-01 -2.19963984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.410714057 meters 0.05462068350107059 Centerline is valid? [True, True] Translation: X:316.96, Y:-43.38, Z:-22.00 [[ 9.97510045e-01 4.28695692e-02 5.59992054e-02 3.16962217e+02] [-4.25050755e-02 9.99066699e-01 -7.68438109e-03 -4.33844786e+01] [-5.62763674e-02 5.28499687e-03 9.98401242e-01 -2.19973946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.44071405700004 meters 0.05304324946523232 Centerline is valid? [True, True] Translation: X:316.99, Y:-43.39, Z:-22.00 [[ 9.97517598e-01 4.23384749e-02 5.62680586e-02 3.16994757e+02] [-4.19695881e-02 9.99089047e-01 -7.72203273e-03 -4.33861044e+01] [-5.65437401e-02 5.34131630e-03 9.98385835e-01 -2.19979306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.470714057 meters 0.05156002773048978 Centerline is valid? [True, True] Translation: X:317.03, Y:-43.39, Z:-22.00 [[ 9.97614076e-01 4.02634085e-02 5.60804222e-02 3.17026454e+02] [-3.98929302e-02 9.99174210e-01 -7.71054628e-03 -4.33864441e+01] [-5.63445644e-02 5.45493713e-03 9.98396481e-01 -2.19998628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.500714057 meters 0.05284224127849537 Centerline is valid? [True, True] Translation: X:317.06, Y:-43.39, Z:-22.00 [[ 9.97814446e-01 3.73763865e-02 5.44916325e-02 3.17056708e+02] [-3.70222593e-02 9.99286341e-01 -7.49413046e-03 -4.33917009e+01] [-5.47328475e-02 5.46034829e-03 9.98486104e-01 -2.20032054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.530714057 meters 0.05682982084592141 Centerline is valid? [True, True] Translation: X:317.09, Y:-43.40, Z:-22.01 [[ 9.97948500e-01 3.58384018e-02 5.30509303e-02 3.17085172e+02] [-3.55006177e-02 9.99343020e-01 -7.29616767e-03 -4.34014065e+01] [-5.32775599e-02 5.39785878e-03 9.98565153e-01 -2.20059775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.560714057 meters 0.05681338320837643 Centerline is valid? [True, True] Translation: X:317.12, Y:-43.40, Z:-22.01 [[ 9.98141628e-01 3.29167558e-02 5.12813543e-02 3.17115486e+02] [-3.25973456e-02 9.99443681e-01 -7.05277794e-03 -4.34049554e+01] [-5.14849801e-02 5.36803522e-03 9.98659342e-01 -2.20101583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.590714057 meters 0.05568293477204884 Centerline is valid? [True, True] Translation: X:317.15, Y:-43.41, Z:-22.01 [[ 9.98212608e-01 3.20610598e-02 5.04348780e-02 3.17146983e+02] [-3.17511144e-02 9.99471747e-01 -6.93489942e-03 -4.34072341e+01] [-5.06305758e-02 5.32114046e-03 9.98703274e-01 -2.20125118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.620714057 meters 0.057656814700251274 Centerline is valid? [True, True] Translation: X:317.18, Y:-43.41, Z:-22.02 [[ 9.98242035e-01 3.18751248e-02 4.99681596e-02 3.17177912e+02] [-3.15700781e-02 9.99477845e-01 -6.88242389e-03 -4.34138041e+01] [-5.01614466e-02 5.29282612e-03 9.98727097e-01 -2.20150301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.650714057 meters 0.05880702449984144 Centerline is valid? [True, True] Translation: X:317.21, Y:-43.42, Z:-22.02 [[ 9.98220508e-01 3.29260415e-02 4.97161344e-02 3.17209068e+02] [-3.26247828e-02 9.99444133e-01 -6.85917515e-03 -4.34187007e+01] [-4.99143443e-02 5.22499122e-03 9.98739835e-01 -2.20167626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.680714057 meters 0.05580133213009365 Centerline is valid? [True, True] Translation: X:317.24, Y:-43.42, Z:-22.02 [[ 9.98158326e-01 3.51803825e-02 4.94196095e-02 3.17240713e+02] [-3.48847421e-02 9.99367987e-01 -6.83235427e-03 -4.34168546e+01] [-4.96287405e-02 5.09578097e-03 9.98754735e-01 -2.20166258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.710714057 meters 0.058065684968316746 Centerline is valid? [True, True] Translation: X:317.27, Y:-43.42, Z:-22.02 [[ 9.98118125e-01 3.62883387e-02 4.94304047e-02 3.17270714e+02] [-3.59938684e-02 9.99328639e-01 -6.83473347e-03 -4.34225207e+01] [-4.96452401e-02 5.04267987e-03 9.98754185e-01 -2.20185898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.740714057 meters 0.058065684968316746 Centerline is valid? [True, True] Translation: X:317.30, Y:-43.43, Z:-22.02 [[ 9.98108028e-01 3.65647743e-02 4.94305669e-02 3.17303100e+02] [-3.62706967e-02 9.99318637e-01 -6.83356256e-03 -4.34270952e+01] [-4.96467544e-02 5.02775255e-03 9.98754185e-01 -2.20204849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.770714057 meters 0.05375278358377499 Centerline is valid? [True, True] Translation: X:317.33, Y:-43.42, Z:-22.02 [[ 9.97912391e-01 4.01244397e-02 5.06052362e-02 3.17334622e+02] [-3.98198850e-02 9.99182266e-01 -7.01255320e-03 -4.34226758e+01] [-5.08452293e-02 4.98281904e-03 9.98694114e-01 -2.20205866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.800714057 meters 0.05314598424040774 Centerline is valid? [True, True] Translation: X:317.37, Y:-43.42, Z:-22.02 [[ 9.97821076e-01 4.20871321e-02 5.08111571e-02 3.17365786e+02] [-4.17826199e-02 9.99101916e-01 -7.04088637e-03 -4.34239906e+01] [-5.10618551e-02 4.90252155e-03 9.98683459e-01 -2.20222194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.830714057 meters 0.051235192007020466 Centerline is valid? [True, True] Translation: X:317.40, Y:-43.42, Z:-22.02 [[ 9.97598582e-01 4.67288922e-02 5.11222034e-02 3.17396688e+02] [-4.64266036e-02 9.98896576e-01 -7.08530615e-03 -4.34221157e+01] [-5.13968824e-02 4.69486109e-03 9.98667271e-01 -2.20228377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.860714057 meters 0.048298190450138154 Centerline is valid? [True, True] Translation: X:317.43, Y:-43.42, Z:-22.03 [[ 9.97378238e-01 5.03406567e-02 5.19852745e-02 3.17427374e+02] [-5.00329297e-02 9.98721581e-01 -7.20482863e-03 -4.34193720e+01] [-5.22815113e-02 4.58496370e-03 9.98621861e-01 -2.20250342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.890714057 meters 0.04978832367248328 Centerline is valid? [True, True] Translation: X:317.46, Y:-43.42, Z:-22.03 [[ 9.97336721e-01 5.15349463e-02 5.16102189e-02 3.17457593e+02] [-5.12332464e-02 9.98661101e-01 -7.15261950e-03 -4.34244000e+01] [-5.19097279e-02 4.48941102e-03 9.98641690e-01 -2.20270752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.920714057 meters 0.04704170358716495 Centerline is valid? [True, True] Translation: X:317.49, Y:-43.42, Z:-22.03 [[ 9.97281698e-01 5.35827555e-02 5.05776907e-02 3.17488747e+02] [-5.32955352e-02 9.98554168e-01 -7.01142937e-03 -4.34224268e+01] [-5.08802555e-02 4.29680509e-03 9.98695518e-01 -2.20304552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.950714057 meters 0.05243405387246722 Centerline is valid? [True, True] Translation: X:317.52, Y:-43.43, Z:-22.03 [[ 9.97278071e-01 5.41394759e-02 5.00536323e-02 3.17518665e+02] [-5.38588801e-02 9.98524449e-01 -6.93876085e-03 -4.34342694e+01] [-5.03554365e-02 4.22404145e-03 9.98722428e-01 -2.20339199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.980714057 meters 0.04662260649974489 Centerline is valid? [True, True] Translation: X:317.55, Y:-43.43, Z:-22.04 [[ 9.97254515e-01 5.50535214e-02 4.95231502e-02 3.17551762e+02] [-5.47796578e-02 9.98474823e-01 -6.87141375e-03 -4.34289036e+01] [-4.98259141e-02 4.13968717e-03 9.98749339e-01 -2.20364991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.01071405700003 meters 0.04732864636806655 Centerline is valid? [True, True] Translation: X:317.58, Y:-43.43, Z:-22.04 [[ 9.97257320e-01 5.50386510e-02 4.94831683e-02 3.17584053e+02] [-5.47645877e-02 9.98475602e-01 -6.87838442e-03 -4.34333812e+01] [-4.97863132e-02 4.14959391e-03 9.98751272e-01 -2.20386381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.040714057 meters 0.04836692304248219 Centerline is valid? [True, True] Translation: X:317.61, Y:-43.44, Z:-22.04 [[ 9.97219544e-01 5.58367625e-02 4.93501395e-02 3.17614620e+02] [-5.55645194e-02 9.98431447e-01 -6.87241969e-03 -4.34385790e+01] [-4.96564649e-02 4.11119444e-03 9.98757895e-01 -2.20404793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.07071405700003 meters 0.04633931501005078 Centerline is valid? [True, True] Translation: X:317.65, Y:-43.44, Z:-22.04 [[ 9.97241870e-01 5.57542203e-02 4.89910090e-02 3.17647378e+02] [-5.54852837e-02 9.98436121e-01 -6.83348590e-03 -4.34383728e+01] [-4.92953886e-02 4.09635824e-03 9.98775843e-01 -2.20424634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.100714057 meters 0.04708566897109682 Centerline is valid? [True, True] Translation: X:317.68, Y:-43.44, Z:-22.04 [[ 9.97109507e-01 5.75258804e-02 4.96326922e-02 3.17677955e+02] [-5.72512993e-02 9.98335695e-01 -6.93746333e-03 -4.34426287e+01] [-4.99491719e-02 4.07587453e-03 9.98743444e-01 -2.20443112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.13071405700003 meters 0.04917307546979679 Centerline is valid? [True, True] Translation: X:317.71, Y:-43.45, Z:-22.05 [[ 9.97066990e-01 5.80100897e-02 4.99224179e-02 3.17708773e+02] [-5.77328400e-02 9.98307674e-01 -6.97900386e-03 -4.34482462e+01] [-5.02427855e-02 4.07637141e-03 9.98728715e-01 -2.20467220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.160714057 meters 0.044692052771313696 Centerline is valid? [True, True] Translation: X:317.74, Y:-43.44, Z:-22.05 [[ 9.96884057e-01 6.04963203e-02 5.06198833e-02 3.17740724e+02] [-6.02140315e-02 9.98160347e-01 -7.08457094e-03 -4.34441658e+01] [-5.09553507e-02 4.01446857e-03 9.98692864e-01 -2.20478225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.19071405700004 meters 0.04608321511828799 Centerline is valid? [True, True] Translation: X:317.77, Y:-43.45, Z:-22.05 [[ 9.96789150e-01 6.18894665e-02 5.08043681e-02 3.17770719e+02] [-6.16068777e-02 9.98075160e-01 -7.11104136e-03 -4.34490147e+01] [-5.11466764e-02 3.95831038e-03 9.98683308e-01 -2.20498412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.220714057 meters 0.047505104224423014 Centerline is valid? [True, True] Translation: X:317.80, Y:-43.45, Z:-22.05 [[ 9.96505709e-01 6.53006876e-02 5.20787121e-02 3.17800170e+02] [-6.50080199e-02 9.97858070e-01 -7.29578740e-03 -4.34526354e+01] [-5.24435831e-02 3.88475984e-03 9.98616332e-01 -2.20515664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.250714057 meters 0.04265796735657051 Centerline is valid? [True, True] Translation: X:317.83, Y:-43.45, Z:-22.05 [[ 9.96391293e-01 6.72297835e-02 5.18126197e-02 3.17832303e+02] [-6.69427442e-02 9.97730423e-01 -7.25755487e-03 -4.34480013e+01] [-5.21829508e-02 3.76288554e-03 9.98630452e-01 -2.20521331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.280714057 meters 0.04518616843852432 Centerline is valid? [True, True] Translation: X:317.86, Y:-43.45, Z:-22.05 [[ 9.96239264e-01 6.95211439e-02 5.17120902e-02 3.17861804e+02] [-6.92382343e-02 9.97573849e-01 -7.24448574e-03 -4.34523104e+01] [-5.20902738e-02 3.63678732e-03 9.98635758e-01 -2.20543352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.310714057 meters 0.03898040224371515 Centerline is valid? [True, True] Translation: X:317.89, Y:-43.44, Z:-22.06 [[ 9.96190885e-01 7.02884689e-02 5.16067069e-02 3.17892883e+02] [-7.00077256e-02 9.97520249e-01 -7.22992961e-03 -4.34444867e+01] [-5.19869158e-02 3.58952180e-03 9.98641315e-01 -2.20556589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.340714057 meters 0.041444345981255924 Centerline is valid? [True, True] Translation: X:317.92, Y:-43.45, Z:-22.06 [[ 9.96010630e-01 7.25428304e-02 5.19650180e-02 3.17920812e+02] [-7.22613171e-02 9.97359177e-01 -7.27831341e-03 -4.34499218e+01] [-5.23557771e-02 3.49421688e-03 9.98622383e-01 -2.20572240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.370714057 meters 0.0380341009400533 Centerline is valid? [True, True] Translation: X:317.95, Y:-43.45, Z:-22.06 [[ 9.95935565e-01 7.35923011e-02 5.19280581e-02 3.17950818e+02] [-7.33127549e-02 9.97282499e-01 -7.27032583e-03 -4.34471161e+01] [-5.23219836e-02 3.43378707e-03 9.98624363e-01 -2.20584018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.400714057 meters 0.03718259150432938 Centerline is valid? [True, True] Translation: X:317.98, Y:-43.45, Z:-22.06 [[ 9.95738381e-01 7.63633397e-02 5.17079954e-02 3.17981004e+02] [-7.60900280e-02 9.97074691e-01 -7.23663741e-03 -4.34473127e+01] [-5.21093474e-02 3.27133480e-03 9.98636027e-01 -2.20593845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.430714057 meters 0.03790023964652828 Centerline is valid? [True, True] Translation: X:318.01, Y:-43.45, Z:-22.06 [[ 9.95640073e-01 7.76012072e-02 5.17580683e-02 3.18009183e+02] [-7.73291297e-02 9.96979319e-01 -7.24173772e-03 -4.34502384e+01] [-5.21636913e-02 3.20775789e-03 9.98633396e-01 -2.20616673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.460714057 meters 0.03675462459364266 Centerline is valid? [True, True] Translation: X:318.04, Y:-43.45, Z:-22.06 [[ 9.95330208e-01 8.17313153e-02 5.13592148e-02 3.18039422e+02] [-8.14691031e-02 9.96649992e-01 -7.18187465e-03 -4.34502155e+01] [-5.17741451e-02 2.96414763e-03 9.98654421e-01 -2.20635547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.490714057 meters 0.03614207483957203 Centerline is valid? [True, True] Translation: X:318.07, Y:-43.45, Z:-22.07 [[ 9.95207775e-01 8.34357643e-02 5.09897751e-02 3.18068189e+02] [-8.31795321e-02 9.96509068e-01 -7.13042304e-03 -4.34515542e+01] [-5.14067055e-02 2.85494682e-03 9.98673720e-01 -2.20650039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.520714057 meters 0.03485112565374828 Centerline is valid? [True, True] Translation: X:318.10, Y:-43.45, Z:-22.07 [[ 9.94909459e-01 8.69921418e-02 5.08678249e-02 3.18099103e+02] [-8.67419658e-02 9.96205444e-01 -7.10946369e-03 -4.34492773e+01] [-5.12932716e-02 2.66089755e-03 9.98680089e-01 -2.20661808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.550714057 meters 0.03484129854538815 Centerline is valid? [True, True] Translation: X:318.13, Y:-43.45, Z:-22.07 [[ 9.94663373e-01 8.93691963e-02 5.15550266e-02 3.18128488e+02] [-8.91154329e-02 9.95995247e-01 -7.20468465e-03 -4.34495973e+01] [-5.19924383e-02 2.57188742e-03 9.98644167e-01 -2.20677634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.580714057 meters 0.03258369420266331 Centerline is valid? [True, True] Translation: X:318.16, Y:-43.45, Z:-22.07 [[ 9.94563298e-01 9.03763051e-02 5.17297803e-02 3.18158011e+02] [-9.01222588e-02 9.95904484e-01 -7.22749266e-03 -4.34486598e+01] [-5.21711143e-02 2.52619429e-03 9.98634965e-01 -2.20681532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.610714057 meters 0.0337432957545754 Centerline is valid? [True, True] Translation: X:318.19, Y:-43.45, Z:-22.07 [[ 9.94529292e-01 9.08711040e-02 5.15163155e-02 3.18185305e+02] [-9.06200008e-02 9.95859559e-01 -7.19407766e-03 -4.34524908e+01] [-5.19567490e-02 2.48631242e-03 9.98646241e-01 -2.20702112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.640714057 meters 0.03231298460239511 Centerline is valid? [True, True] Translation: X:318.21, Y:-43.45, Z:-22.07 [[ 9.94398875e-01 9.23119701e-02 5.14721074e-02 3.18214853e+02] [-9.20634713e-02 9.95727232e-01 -7.18311573e-03 -4.34517865e+01] [-5.19152666e-02 2.40418132e-03 9.98648599e-01 -2.20712032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.670714057 meters 0.03484033780644877 Centerline is valid? [True, True] Translation: X:318.24, Y:-43.46, Z:-22.07 [[ 9.94227408e-01 9.38961361e-02 5.19170220e-02 3.18242434e+02] [-9.36456156e-02 9.95579251e-01 -7.24246454e-03 -4.34583823e+01] [-5.23675494e-02 2.33885526e-03 9.98625140e-01 -2.20723740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.700714057 meters 0.03152024702055728 Centerline is valid? [True, True] Translation: X:318.27, Y:-43.46, Z:-22.07 [[ 9.94124893e-01 9.51514878e-02 5.15935299e-02 3.18272009e+02] [-9.49059593e-02 9.95460250e-01 -7.19367837e-03 -4.34554728e+01] [-5.20437974e-02 2.25488128e-03 9.98642258e-01 -2.20731905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.730714057 meters 0.030789148906012923 Centerline is valid? [True, True] Translation: X:318.30, Y:-43.46, Z:-22.08 [[ 9.93753941e-01 9.90277254e-02 5.14452474e-02 3.18301794e+02] [-9.87889900e-02 9.95082579e-01 -7.16910207e-03 -4.34567470e+01] [-5.19022094e-02 2.04209941e-03 9.98650084e-01 -2.20759037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.76071405700003 meters 0.03327734074163811 Centerline is valid? [True, True] Translation: X:318.33, Y:-43.46, Z:-22.08 [[ 9.93556080e-01 1.01292359e-01 5.08544385e-02 3.18328474e+02] [-1.01062115e-01 9.94854887e-01 -7.08531849e-03 -4.34647293e+01] [-5.13104753e-02 1.90020416e-03 9.98680942e-01 -2.20793978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.790714057 meters 0.03069619367107525 Centerline is valid? [True, True] Translation: X:318.36, Y:-43.46, Z:-22.08 [[ 9.93100887e-01 1.05834729e-01 5.04939540e-02 3.18359578e+02] [-1.05613849e-01 9.94382367e-01 -7.03016917e-03 -4.34615511e+01] [-5.09543336e-02 1.64880641e-03 9.98699623e-01 -2.20809618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.82071405700003 meters 0.02991886283978183 Centerline is valid? [True, True] Translation: X:318.39, Y:-43.46, Z:-22.08 [[ 9.92848379e-01 1.08337792e-01 5.01499599e-02 3.18388290e+02] [-1.08123126e-01 9.94112994e-01 -6.98178493e-03 -4.34645378e+01] [-5.06111179e-02 1.50948343e-03 9.98717295e-01 -2.20823788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.850714057 meters 0.02919307932515887 Centerline is valid? [True, True] Translation: X:318.42, Y:-43.46, Z:-22.08 [[ 9.92489812e-01 1.11725717e-01 4.98130178e-02 3.18417171e+02] [-1.11518357e-01 9.93738200e-01 -6.93150968e-03 -4.34648574e+01] [-5.02755266e-02 1.32438682e-03 9.98734508e-01 -2.20839009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.88071405700003 meters 0.02889552823255609 Centerline is valid? [True, True] Translation: X:318.44, Y:-43.47, Z:-22.09 [[ 9.92337694e-01 1.13127443e-01 4.96798070e-02 3.18444097e+02] [-1.12923115e-01 9.93579704e-01 -6.90959355e-03 -4.34695730e+01] [-5.01425125e-02 1.24665155e-03 9.98741295e-01 -2.20854856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.910714057 meters 0.028878934330463218 Centerline is valid? [True, True] Translation: X:318.47, Y:-43.48, Z:-22.09 [[ 9.92258357e-01 1.13787980e-01 4.97558961e-02 3.18472031e+02] [-1.13584014e-01 9.93504316e-01 -6.91700150e-03 -4.34763893e+01] [-5.02197691e-02 1.21197812e-03 9.98737456e-01 -2.20874783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.94071405700004 meters 0.029089576070952018 Centerline is valid? [True, True] Translation: X:318.50, Y:-43.49, Z:-22.09 [[ 9.92187921e-01 1.14307961e-01 4.99681905e-02 3.18499086e+02] [-1.14103591e-01 9.93444666e-01 -6.93300296e-03 -4.34851043e+01] [-5.04331297e-02 1.17729184e-03 9.98726746e-01 -2.20892756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.970714057 meters 0.028748726179201847 Centerline is valid? [True, True] Translation: X:318.53, Y:-43.49, Z:-22.09 [[ 9.92212007e-01 1.13919516e-01 5.03753583e-02 3.18526746e+02] [-1.13711529e-01 9.93489254e-01 -6.98496472e-03 -4.34922785e+01] [-5.08431010e-02 1.20230683e-03 9.98705929e-01 -2.20899865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.000714057 meters 0.028919678972188837 Centerline is valid? [True, True] Translation: X:318.55, Y:-43.50, Z:-22.09 [[ 9.92229029e-01 1.13824633e-01 5.02544241e-02 3.18553068e+02] [-1.13617687e-01 9.93500131e-01 -6.96496811e-03 -4.34991720e+01] [-5.07205618e-02 1.20105210e-03 9.98712162e-01 -2.20916843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.030714057 meters 0.028632926825150375 Centerline is valid? [True, True] Translation: X:318.58, Y:-43.51, Z:-22.09 [[ 9.92188305e-01 1.14065201e-01 5.05123493e-02 3.18581419e+02] [-1.13856777e-01 9.93472555e-01 -6.99400572e-03 -4.35060741e+01] [-5.09804054e-02 1.18819739e-03 9.98698947e-01 -2.20938830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.060714057 meters 0.029436966506002683 Centerline is valid? [True, True] Translation: X:318.61, Y:-43.52, Z:-22.10 [[ 9.92244669e-01 1.13681645e-01 5.02692722e-02 3.18607278e+02] [-1.13474907e-01 9.93516506e-01 -6.95691155e-03 -4.35190355e+01] [-5.07342248e-02 1.19865740e-03 9.98711471e-01 -2.20975428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.090714057 meters 0.028573262184334425 Centerline is valid? [True, True] Translation: X:318.64, Y:-43.52, Z:-22.10 [[ 9.92285424e-01 1.13153542e-01 5.06548418e-02 3.18635537e+02] [-1.12943167e-01 9.93576752e-01 -7.00565483e-03 -4.35227490e+01] [-5.11221878e-02 1.23049092e-03 9.98691648e-01 -2.20985126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.120714057 meters 0.029168101475136852 Centerline is valid? [True, True] Translation: X:318.66, Y:-43.53, Z:-22.10 [[ 9.92625318e-01 1.10613249e-01 4.95952260e-02 3.18661857e+02] [-1.10408590e-01 9.93862637e-01 -6.85577171e-03 -4.35335896e+01] [-5.00491813e-02 1.32947360e-03 9.98745870e-01 -2.21000361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.150714057 meters 0.029831952670895022 Centerline is valid? [True, True] Translation: X:318.69, Y:-43.55, Z:-22.10 [[ 9.93041905e-01 1.06686627e-01 4.98571782e-02 3.18688720e+02] [-1.06475093e-01 9.94291517e-01 -6.88724592e-03 -4.35469112e+01] [-5.03073463e-02 1.53077610e-03 9.98732611e-01 -2.21021659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.180714057 meters 0.03021431720893686 Centerline is valid? [True, True] Translation: X:318.72, Y:-43.56, Z:-22.10 [[ 9.93338355e-01 1.03614797e-01 5.04270403e-02 3.18717344e+02] [-1.03394586e-01 9.94616044e-01 -6.96314283e-03 -4.35553246e+01] [-5.08770279e-02 1.70287387e-03 9.98703474e-01 -2.21040934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.210714057 meters 0.03306683561009365 Centerline is valid? [True, True] Translation: X:318.74, Y:-43.57, Z:-22.11 [[ 9.94022210e-01 9.71478291e-02 4.98211336e-02 3.18744842e+02] [-9.69248716e-02 9.95267938e-01 -6.87749371e-03 -4.35724924e+01] [-5.02535105e-02 2.00747452e-03 9.98734477e-01 -2.21062181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.240714057 meters 0.03242935748331397 Centerline is valid? [True, True] Translation: X:318.77, Y:-43.58, Z:-22.11 [[ 9.94372586e-01 9.34335547e-02 4.99332644e-02 3.18773304e+02] [-9.32049120e-02 9.95623086e-01 -6.89309304e-03 -4.35778689e+01] [-5.03587570e-02 2.20027723e-03 9.98728769e-01 -2.21072791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.270714057 meters 0.03435625648826157 Centerline is valid? [True, True] Translation: X:318.80, Y:-43.59, Z:-22.11 [[ 9.95003692e-01 8.63133120e-02 5.01763373e-02 3.18802622e+02] [-8.60735611e-02 9.96264727e-01 -6.92352463e-03 -4.35902685e+01] [-5.05865073e-02 2.57007654e-03 9.98716376e-01 -2.21089202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.300714057 meters 0.03615085649399064 Centerline is valid? [True, True] Translation: X:318.83, Y:-43.60, Z:-22.11 [[ 9.95203493e-01 8.35329344e-02 5.09141970e-02 3.18830172e+02] [-8.32824267e-02 9.96501218e-01 -7.02572025e-03 -4.36002182e+01] [-5.13229384e-02 2.75176346e-03 9.98678318e-01 -2.21108308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.330714057 meters 0.03886770664916602 Centerline is valid? [True, True] Translation: X:318.86, Y:-43.61, Z:-22.11 [[ 9.95610824e-01 7.83626590e-02 5.11701148e-02 3.18858065e+02] [-7.81029800e-02 9.96920313e-01 -7.05791454e-03 -4.36132058e+01] [-5.15656039e-02 3.03039765e-03 9.98665011e-01 -2.21130578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.360714057 meters 0.03864351095649215 Centerline is valid? [True, True] Translation: X:318.89, Y:-43.62, Z:-22.11 [[ 9.95773467e-01 7.61237212e-02 5.13846515e-02 3.18887087e+02] [-7.58588757e-02 9.97093373e-01 -7.08776541e-03 -4.36191458e+01] [-5.17748425e-02 3.15982684e-03 9.98653784e-01 -2.21146194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.390714057 meters 0.04141079483400425 Centerline is valid? [True, True] Translation: X:318.92, Y:-43.63, Z:-22.12 [[ 9.96247268e-01 7.01479975e-02 5.07014807e-02 3.18915348e+02] [-6.98825485e-02 9.97530725e-01 -6.99160582e-03 -4.36312182e+01] [-5.10667320e-02 3.42221950e-03 9.98689380e-01 -2.21166272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.420714057 meters 0.04442279355237963 Centerline is valid? [True, True] Translation: X:318.94, Y:-43.64, Z:-22.12 [[ 9.96490403e-01 6.69674190e-02 5.02219202e-02 3.18944185e+02] [-6.67029978e-02 9.97748846e-01 -6.92462226e-03 -4.36412612e+01] [-5.05725870e-02 3.55036699e-03 9.98714077e-01 -2.21190777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.450714057 meters 0.047640507595358754 Centerline is valid? [True, True] Translation: X:318.97, Y:-43.65, Z:-22.12 [[ 9.96741593e-01 6.35853633e-02 4.96296156e-02 3.18972208e+02] [-6.33229767e-02 9.97969626e-01 -6.84302187e-03 -4.36507548e+01] [-4.99639650e-02 3.67802953e-03 9.98744249e-01 -2.21217067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.480714057 meters 0.04471992381107253 Centerline is valid? [True, True] Translation: X:319.00, Y:-43.65, Z:-22.12 [[ 9.97071079e-01 5.75876823e-02 5.03281496e-02 3.19002887e+02] [-5.73102961e-02 9.98332303e-01 -6.93855809e-03 -4.36524092e+01] [-5.06437930e-02 4.03391445e-03 9.98708633e-01 -2.21233317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.51071405700003 meters 0.047067448135374695 Centerline is valid? [True, True] Translation: X:319.03, Y:-43.66, Z:-22.12 [[ 9.97224563e-01 5.51972376e-02 4.99643480e-02 3.19032044e+02] [-5.49209149e-02 9.98466952e-01 -6.88755609e-03 -4.36609938e+01] [-5.02679243e-02 4.12435241e-03 9.98727253e-01 -2.21249574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.540714057 meters 0.053832555532516695 Centerline is valid? [True, True] Translation: X:319.06, Y:-43.68, Z:-22.13 [[ 9.97504783e-01 5.14629519e-02 4.83298251e-02 3.19059959e+02] [-5.11998892e-02 9.98666177e-01 -6.66617555e-03 -4.36752765e+01] [-4.86084228e-02 4.17506030e-03 9.98809186e-01 -2.21287077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.57071405700003 meters 0.048315745929188574 Centerline is valid? [True, True] Translation: X:319.09, Y:-43.67, Z:-22.13 [[ 9.97713658e-01 4.90905835e-02 4.64496545e-02 3.19092072e+02] [-4.88451070e-02 9.98785823e-01 -6.40582828e-03 -4.36707380e+01] [-4.67077222e-02 4.12234403e-03 9.98900093e-01 -2.21314273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.600714057 meters 0.04898292735425596 Centerline is valid? [True, True] Translation: X:319.13, Y:-43.68, Z:-22.13 [[ 9.97720803e-01 4.93489147e-02 4.60204796e-02 3.19125130e+02] [-4.91083352e-02 9.98773308e-01 -6.34437350e-03 -4.36756976e+01] [-4.62771146e-02 4.06992428e-03 9.98920349e-01 -2.21336296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.63071405700003 meters 0.05843900567445882 Centerline is valid? [True, True] Translation: X:319.15, Y:-43.69, Z:-22.13 [[ 9.97625897e-01 5.01953411e-02 4.71486673e-02 3.19154120e+02] [-4.99430527e-02 9.98730821e-01 -6.51453018e-03 -4.36914089e+01] [-4.74158263e-02 4.14431564e-03 9.98866640e-01 -2.21347968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.660714057 meters 0.05843900567445882 Centerline is valid? [True, True] Translation: X:319.19, Y:-43.70, Z:-22.14 [[ 9.97612846e-01 5.04554075e-02 4.71472227e-02 3.19186455e+02] [-5.02029177e-02 9.98717724e-01 -6.52496719e-03 -4.36959940e+01] [-4.74159868e-02 4.14246295e-03 9.98866640e-01 -2.21366859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.69071405700004 meters 0.05337765129124671 Centerline is valid? [True, True] Translation: X:319.22, Y:-43.69, Z:-22.14 [[ 9.97531934e-01 5.13453255e-02 4.78925630e-02 3.19219923e+02] [-5.10850921e-02 9.98672212e-01 -6.64276480e-03 -4.36922342e+01] [-4.81700468e-02 4.17977403e-03 9.98830404e-01 -2.21366621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.720714057 meters 0.046407918206079805 Centerline is valid? [True, True] Translation: X:319.25, Y:-43.68, Z:-22.14 [[ 9.97389505e-01 5.35140026e-02 4.84812036e-02 3.19252038e+02] [-5.32496238e-02 9.98558557e-01 -6.72939955e-03 -4.36836024e+01] [-4.87714379e-02 4.13022663e-03 9.98801426e-01 -2.21364057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.750714057 meters 0.04764417928863638 Centerline is valid? [True, True] Translation: X:319.28, Y:-43.69, Z:-22.14 [[ 9.97307056e-01 5.51470380e-02 4.83470847e-02 3.19281828e+02] [-5.48860333e-02 9.98470075e-01 -6.71061956e-03 -4.36883175e+01] [-4.86431881e-02 4.03896853e-03 9.98808053e-01 -2.21375717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.780714057 meters 0.04776259119748499 Centerline is valid? [True, True] Translation: X:319.31, Y:-43.69, Z:-22.14 [[ 9.97216022e-01 5.68717649e-02 4.82266392e-02 3.19313975e+02] [-5.66140484e-02 9.98373696e-01 -6.69418518e-03 -4.36895080e+01] [-4.85289182e-02 3.94524342e-03 9.98813986e-01 -2.21394253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.810714057 meters 0.04712189712087301 Centerline is valid? [True, True] Translation: X:319.34, Y:-43.69, Z:-22.14 [[ 9.97155859e-01 5.82322490e-02 4.78455639e-02 3.19344938e+02] [-5.79799344e-02 9.98295628e-01 -6.64572163e-03 -4.36918882e+01] [-4.81510126e-02 3.85273761e-03 9.98832637e-01 -2.21413118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.840714057 meters 0.045556849780082974 Centerline is valid? [True, True] Translation: X:319.38, Y:-43.69, Z:-22.14 [[ 9.96963678e-01 6.09447345e-02 4.84681686e-02 3.19376319e+02] [-6.06888932e-02 9.98134014e-01 -6.73411542e-03 -4.36928284e+01] [-4.87881366e-02 3.77218897e-03 9.98802027e-01 -2.21430913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.870714057 meters 0.04559751914065813 Centerline is valid? [True, True] Translation: X:319.41, Y:-43.70, Z:-22.15 [[ 9.96913204e-01 6.19596460e-02 4.82189475e-02 3.19407957e+02] [-6.17075853e-02 9.98071783e-01 -6.70001740e-03 -4.36961860e+01] [-4.85411016e-02 3.70386099e-03 9.98814319e-01 -2.21452912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.900714057 meters 0.0443518500143317 Centerline is valid? [True, True] Translation: X:319.44, Y:-43.70, Z:-22.15 [[ 9.96784432e-01 6.42137330e-02 4.79311307e-02 3.19439297e+02] [-6.39671266e-02 9.97929763e-01 -6.66288156e-03 -4.36951137e+01] [-4.82597504e-02 3.57543991e-03 9.98828420e-01 -2.21470970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.930714057 meters 0.043220702304597756 Centerline is valid? [True, True] Translation: X:319.47, Y:-43.70, Z:-22.15 [[ 9.96689805e-01 6.53658660e-02 4.83397918e-02 3.19469668e+02] [-6.51163294e-02 9.97855047e-01 -6.72070858e-03 -4.36958658e+01] [-4.86754102e-02 3.55075192e-03 9.98808338e-01 -2.21485620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.960714057 meters 0.04253516861866643 Centerline is valid? [True, True] Translation: X:319.50, Y:-43.70, Z:-22.15 [[ 9.96549321e-01 6.78598619e-02 4.77963391e-02 3.19501210e+02] [-6.76187695e-02 9.97689103e-01 -6.64498420e-03 -4.36959844e+01] [-4.81368144e-02 3.39012486e-03 9.98834998e-01 -2.21498894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.990714057 meters 0.04761154934269238 Centerline is valid? [True, True] Translation: X:319.53, Y:-43.71, Z:-22.15 [[ 9.96429006e-01 6.93728612e-02 4.81315021e-02 3.19529338e+02] [-6.91300625e-02 9.97585204e-01 -6.69292155e-03 -4.37057397e+01] [-4.84795814e-02 3.34168742e-03 9.98818584e-01 -2.21525912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.020714057 meters 0.041084030445015796 Centerline is valid? [True, True] Translation: X:319.56, Y:-43.70, Z:-22.15 [[ 9.96138212e-01 7.31297256e-02 4.85870970e-02 3.19560819e+02] [-7.28868390e-02 9.97317345e-01 -6.75443241e-03 -4.36966509e+01] [-4.89507044e-02 3.18698831e-03 9.98796111e-01 -2.21528519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.050714057 meters 0.039463392050703684 Centerline is valid? [True, True] Translation: X:319.59, Y:-43.69, Z:-22.15 [[ 9.95851198e-01 7.70216866e-02 4.84566997e-02 3.19591859e+02] [-7.67847444e-02 9.97024945e-01 -6.73515168e-03 -4.36947245e+01] [-4.88312911e-02 2.98647357e-03 9.98802576e-01 -2.21531718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.080714057 meters 0.037477070333635516 Centerline is valid? [True, True] Translation: X:319.62, Y:-43.69, Z:-22.15 [[ 9.95691637e-01 7.88575230e-02 4.87817040e-02 3.19622457e+02] [-7.86195835e-02 9.96881632e-01 -6.78029656e-03 -4.36934774e+01] [-4.91642621e-02 2.91588733e-03 9.98786450e-01 -2.21539721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.110714057 meters 0.037486969402067485 Centerline is valid? [True, True] Translation: X:319.65, Y:-43.69, Z:-22.15 [[ 9.95548706e-01 8.05525361e-02 4.89291540e-02 3.19651322e+02] [-8.03153115e-02 9.96746323e-01 -6.79839458e-03 -4.36927227e+01] [-4.93175823e-02 2.83837268e-03 9.98779115e-01 -2.21547032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.140714057 meters 0.03946435386553757 Centerline is valid? [True, True] Translation: X:319.68, Y:-43.70, Z:-22.16 [[ 9.95458670e-01 8.11793141e-02 4.97187683e-02 3.19678253e+02] [-8.09353149e-02 9.96695440e-01 -6.90466371e-03 -4.36996060e+01] [-5.01149855e-02 2.84930318e-03 9.98739390e-01 -2.21562573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.170714057 meters 0.039876816208585394 Centerline is valid? [True, True] Translation: X:319.71, Y:-43.70, Z:-22.16 [[ 9.95567397e-01 7.95118784e-02 5.02336462e-02 3.19707314e+02] [-7.92609182e-02 9.96829527e-01 -6.97146525e-03 -4.37022189e+01] [-5.06286960e-02 2.95899860e-03 9.98713162e-01 -2.21562029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.200714057 meters 0.03744710191812299 Centerline is valid? [True, True] Translation: X:319.74, Y:-43.70, Z:-22.16 [[ 9.95666712e-01 7.82383061e-02 5.02649609e-02 3.19736493e+02] [-7.79855396e-02 9.96930102e-01 -6.97337999e-03 -4.37015615e+01] [-5.06562380e-02 3.02322222e-03 9.98711573e-01 -2.21569548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.230714057 meters 0.037772285827112353 Centerline is valid? [True, True] Translation: X:319.77, Y:-43.70, Z:-22.16 [[ 9.96061685e-01 7.36539218e-02 4.93580761e-02 3.19766658e+02] [-7.34047940e-02 9.97278748e-01 -6.84362535e-03 -4.37036899e+01] [-4.97278202e-02 3.19355359e-03 9.98757701e-01 -2.21589695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.26071405700003 meters 0.043998706611658805 Centerline is valid? [True, True] Translation: X:319.79, Y:-43.72, Z:-22.16 [[ 9.96242252e-01 7.11728626e-02 4.93538157e-02 3.19793614e+02] [-7.09207420e-02 9.97458480e-01 -6.84315132e-03 -4.37173437e+01] [-4.97154287e-02 3.31722725e-03 9.98757915e-01 -2.21620488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.290714057 meters 0.04306199064555018 Centerline is valid? [True, True] Translation: X:319.82, Y:-43.72, Z:-22.16 [[ 9.96752361e-01 6.47557336e-02 4.78688414e-02 3.19823225e+02] [-6.45113448e-02 9.97894920e-01 -6.63442773e-03 -4.37199552e+01] [-4.81976908e-02 3.52479817e-03 9.98831597e-01 -2.21637118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.32071405700003 meters 0.04525218375544803 Centerline is valid? [True, True] Translation: X:319.85, Y:-43.73, Z:-22.17 [[ 9.97288771e-01 5.77141355e-02 4.56528761e-02 3.19853023e+02] [-5.74845751e-02 9.98326349e-01 -6.32645681e-03 -4.37252570e+01] [-4.59415951e-02 3.68496816e-03 9.98937331e-01 -2.21669072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.350714057 meters 0.0472112839450584 Centerline is valid? [True, True] Translation: X:319.88, Y:-43.73, Z:-22.17 [[ 9.97468992e-01 5.49457987e-02 4.51283725e-02 3.19882910e+02] [-5.47186805e-02 9.98482227e-01 -6.25363654e-03 -4.37313456e+01] [-4.54034889e-02 3.76844354e-03 9.98961622e-01 -2.21683994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.38071405700003 meters 0.04794767165075539 Centerline is valid? [True, True] Translation: X:319.91, Y:-43.73, Z:-22.17 [[ 9.97677560e-01 5.10145511e-02 4.51331578e-02 3.19913254e+02] [-5.07833799e-02 9.98690106e-01 -6.25457949e-03 -4.37339010e+01] [-4.53931127e-02 3.94803930e-03 9.98961400e-01 -2.21689887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.410714057 meters 0.05160338123606028 Centerline is valid? [True, True] Translation: X:319.94, Y:-43.74, Z:-22.17 [[ 9.97770739e-01 4.92276308e-02 4.50576674e-02 3.19942378e+02] [-4.89954176e-02 9.98779484e-01 -6.24430188e-03 -4.37410265e+01] [-4.53100660e-02 4.02276246e-03 9.98964872e-01 -2.21719215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.44071405700004 meters 0.05371076378799828 Centerline is valid? [True, True] Translation: X:319.97, Y:-43.75, Z:-22.17 [[ 9.97769939e-01 4.88046717e-02 4.55329928e-02 3.19972675e+02] [-4.85671110e-02 9.98799991e-01 -6.30976209e-03 -4.37458259e+01] [-4.57862987e-02 4.08428502e-03 9.98942908e-01 -2.21736581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.470714057 meters 0.05397318776289175 Centerline is valid? [True, True] Translation: X:320.00, Y:-43.75, Z:-22.17 [[ 9.97604699e-01 5.11040900e-02 4.66179816e-02 3.20003211e+02] [-5.08574544e-02 9.98685015e-01 -6.46217185e-03 -4.37458024e+01] [-4.68869230e-02 4.07582113e-03 9.98891888e-01 -2.21734761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.500714057 meters 0.05143383746995029 Centerline is valid? [True, True] Translation: X:320.03, Y:-43.74, Z:-22.17 [[ 9.97545915e-01 5.22381115e-02 4.66189509e-02 3.20034933e+02] [-5.19927115e-02 9.98626558e-01 -6.46193293e-03 -4.37437571e+01] [-4.68924816e-02 4.02222913e-03 9.98891844e-01 -2.21733677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.530714057 meters 0.0514686576261733 Centerline is valid? [True, True] Translation: X:320.07, Y:-43.75, Z:-22.17 [[ 9.97426078e-01 5.36704994e-02 4.75467845e-02 3.20065980e+02] [-5.34167569e-02 9.98550546e-01 -6.59224525e-03 -4.37453310e+01] [-4.78316767e-02 4.03548229e-03 9.98847258e-01 -2.21748446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.560714057 meters 0.05108805486950115 Centerline is valid? [True, True] Translation: X:320.10, Y:-43.74, Z:-22.18 [[ 9.97246347e-01 5.66822805e-02 4.78209446e-02 3.20096088e+02] [-5.64289341e-02 9.98384589e-01 -6.63238493e-03 -4.37435064e+01] [-4.81196328e-02 3.91563671e-03 9.98833904e-01 -2.21755513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.590714057 meters 0.048813926469768065 Centerline is valid? [True, True] Translation: X:320.13, Y:-43.74, Z:-22.18 [[ 9.97227298e-01 5.76692408e-02 4.70316292e-02 3.20127472e+02] [-5.74253313e-02 9.98328501e-01 -6.52196709e-03 -4.37419135e+01] [-4.73291328e-02 3.80307673e-03 9.98872109e-01 -2.21778947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.620714057 meters 0.047711925726072794 Centerline is valid? [True, True] Translation: X:320.16, Y:-43.74, Z:-22.18 [[ 9.97180430e-01 6.00223650e-02 4.50389457e-02 3.20157714e+02] [-5.98010345e-02 9.98190770e-01 -6.24680413e-03 -4.37404048e+01] [-4.53324078e-02 3.53581528e-03 9.98965701e-01 -2.21822668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.650714057 meters 0.04842064874246067 Centerline is valid? [True, True] Translation: X:320.19, Y:-43.74, Z:-22.19 [[ 9.97192841e-01 6.05366754e-02 4.40652827e-02 3.20185803e+02] [-6.03253308e-02 9.98160060e-01 -6.11146769e-03 -4.37433714e+01] [-4.43541731e-02 3.43605907e-03 9.99009960e-01 -2.21850136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.680714057 meters 0.04326786883485857 Centerline is valid? [True, True] Translation: X:320.22, Y:-43.73, Z:-22.19 [[ 9.97175779e-01 6.17873850e-02 4.26940832e-02 3.20216665e+02] [-6.15901979e-02 9.98083966e-01 -5.91989857e-03 -4.37345846e+01] [-4.29780549e-02 3.27364243e-03 9.99070653e-01 -2.21854098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.710714057 meters 0.04190836208460087 Centerline is valid? [True, True] Translation: X:320.25, Y:-43.73, Z:-22.19 [[ 9.97083085e-01 6.41315967e-02 4.13818854e-02 3.20247410e+02] [-6.39485796e-02 9.97936729e-01 -5.73267166e-03 -4.37321887e+01] [-4.16641487e-02 3.06963715e-03 9.99126957e-01 -2.21865523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.740714057 meters 0.04147225003856149 Centerline is valid? [True, True] Translation: X:320.28, Y:-43.73, Z:-22.19 [[ 9.96953523e-01 6.59013199e-02 4.17215590e-02 3.20277243e+02] [-6.57168567e-02 9.97821576e-01 -5.77895737e-03 -4.37345120e+01] [-4.20115127e-02 3.01954220e-03 9.99112564e-01 -2.21882701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.770714057 meters 0.039880037195310254 Centerline is valid? [True, True] Translation: X:320.31, Y:-43.73, Z:-22.19 [[ 9.96695896e-01 6.95646712e-02 4.19290688e-02 3.20308159e+02] [-6.93816295e-02 9.97573291e-01 -5.80677186e-03 -4.37325063e+01] [-4.22312654e-02 2.87847856e-03 9.99103716e-01 -2.21882788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.800714057 meters 0.0402385391046656 Centerline is valid? [True, True] Translation: X:320.34, Y:-43.74, Z:-22.19 [[ 9.96491655e-01 7.17377020e-02 4.31054874e-02 3.20336659e+02] [-7.15462587e-02 9.97419418e-01 -5.96970898e-03 -4.37351711e+01] [-4.34225034e-02 2.86472883e-03 9.99052691e-01 -2.21901177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.830714057 meters 0.03859042700063758 Centerline is valid? [True, True] Translation: X:320.37, Y:-43.73, Z:-22.19 [[ 9.96167705e-01 7.54942214e-02 4.41647544e-02 3.20367641e+02] [-7.52969997e-02 9.97142404e-01 -6.11460340e-03 -4.37333625e+01] [-4.45001666e-02 2.76569694e-03 9.99005549e-01 -2.21907935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.860714057 meters 0.037938462537517446 Centerline is valid? [True, True] Translation: X:320.40, Y:-43.73, Z:-22.19 [[ 9.96041004e-01 7.70000048e-02 4.44220374e-02 3.20396541e+02] [-7.68019356e-02 9.97027396e-01 -6.15093966e-03 -4.37346715e+01] [-4.47636107e-02 2.71488966e-03 9.98993918e-01 -2.21917878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.890714057 meters 0.03719372787785615 Centerline is valid? [True, True] Translation: X:320.43, Y:-43.73, Z:-22.19 [[ 9.95797546e-01 7.95160574e-02 4.54361456e-02 3.20426666e+02] [-7.93116248e-02 9.96830043e-01 -6.28736354e-03 -4.37346714e+01] [-4.57920614e-02 2.65732665e-03 9.98947459e-01 -2.21924856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.920714057 meters 0.036968175312345045 Centerline is valid? [True, True] Translation: X:320.46, Y:-43.74, Z:-22.19 [[ 9.95715867e-01 8.04410612e-02 4.55976781e-02 3.20455173e+02] [-8.02361463e-02 9.96755913e-01 -6.30952091e-03 -4.37375104e+01] [-4.59572998e-02 2.62390811e-03 9.98939959e-01 -2.21937036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.950714057 meters 0.03856943156649733 Centerline is valid? [True, True] Translation: X:320.48, Y:-43.74, Z:-22.20 [[ 9.95830810e-01 7.96051801e-02 4.45422593e-02 3.20482403e+02] [-7.94089446e-02 9.96823087e-01 -6.16061489e-03 -4.37406304e+01] [-4.48911693e-02 2.59787631e-03 9.98988505e-01 -2.21958195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.980714057 meters 0.039687402809715056 Centerline is valid? [True, True] Translation: X:320.51, Y:-43.75, Z:-22.20 [[ 9.95887703e-01 7.90050893e-02 4.43382234e-02 3.20509583e+02] [-7.88102313e-02 9.96870799e-01 -6.12848642e-03 -4.37464535e+01] [-4.46836618e-02 2.60897862e-03 9.98997780e-01 -2.21985402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.01071405700003 meters 0.04144018595861576 Centerline is valid? [True, True] Translation: X:320.54, Y:-43.75, Z:-22.20 [[ 9.96112302e-01 7.64335234e-02 4.37972395e-02 3.20539448e+02] [-7.62411366e-02 9.97071061e-01 -6.04878751e-03 -4.37535634e+01] [-4.41312902e-02 2.68612033e-03 9.99022129e-01 -2.22020194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.040714057 meters 0.0422341912187123 Centerline is valid? [True, True] Translation: X:320.57, Y:-43.76, Z:-22.20 [[ 9.96260506e-01 7.48317441e-02 4.31881268e-02 3.20568665e+02] [-7.46431555e-02 9.97192467e-01 -5.96514778e-03 -4.37587142e+01] [-4.35132571e-02 2.71914309e-03 9.99049149e-01 -2.22045203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.07071405700003 meters 0.04394870669326915 Centerline is valid? [True, True] Translation: X:320.60, Y:-43.77, Z:-22.21 [[ 9.96552722e-01 7.15426772e-02 4.20037746e-02 3.20598239e+02] [-7.13614607e-02 9.97433659e-01 -5.79986929e-03 -4.37650574e+01] [-4.23109167e-02 2.78242483e-03 9.99100618e-01 -2.22083030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.100714057 meters 0.045330709909298224 Centerline is valid? [True, True] Translation: X:320.63, Y:-43.77, Z:-22.21 [[ 9.96668219e-01 7.03139799e-02 4.13328655e-02 3.20627251e+02] [-7.01374693e-02 9.97521010e-01 -5.70697586e-03 -4.37705674e+01] [-4.16316819e-02 2.78897888e-03 9.99129133e-01 -2.22102324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.13071405700003 meters 0.04709161316295597 Centerline is valid? [True, True] Translation: X:320.66, Y:-43.78, Z:-22.21 [[ 9.96784472e-01 6.86961430e-02 4.12499205e-02 3.20655637e+02] [-6.85190089e-02 9.97633560e-01 -5.69439839e-03 -4.37771977e+01] [-4.15434883e-02 2.84968422e-03 9.99132633e-01 -2.22118768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.160714057 meters 0.04394015308752473 Centerline is valid? [True, True] Translation: X:320.68, Y:-43.78, Z:-22.21 [[ 9.96846628e-01 6.77778840e-02 4.12669136e-02 3.20684501e+02] [-6.75998835e-02 9.97696256e-01 -5.69524484e-03 -4.37759318e+01] [-4.15578569e-02 2.88764706e-03 9.99131926e-01 -2.22118826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.19071405700004 meters 0.04661273952911873 Centerline is valid? [True, True] Translation: X:320.71, Y:-43.78, Z:-22.21 [[ 9.96853419e-01 6.71893041e-02 4.20578096e-02 3.20711552e+02] [-6.70040384e-02 9.97735841e-01 -5.80087564e-03 -4.37829612e+01] [-4.23523409e-02 2.96457962e-03 9.99098339e-01 -2.22136729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.220714057 meters 0.04530717738010666 Centerline is valid? [True, True] Translation: X:320.74, Y:-43.78, Z:-22.21 [[ 9.96862368e-01 6.70154302e-02 4.21230399e-02 3.20740020e+02] [-6.68296455e-02 9.97747514e-01 -5.80490255e-03 -4.37847029e+01] [-4.24171764e-02 2.97162108e-03 9.99095567e-01 -2.22141626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.250714057 meters 0.045589528035275585 Centerline is valid? [True, True] Translation: X:320.77, Y:-43.79, Z:-22.21 [[ 9.96829405e-01 6.67729385e-02 4.32725284e-02 3.20768664e+02] [-6.65767745e-02 9.97763503e-01 -5.96023675e-03 -4.37879311e+01] [-4.35737321e-02 3.06039388e-03 9.99045526e-01 -2.22149737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.280714057 meters 0.04607022860862279 Centerline is valid? [True, True] Translation: X:320.80, Y:-43.79, Z:-22.22 [[ 9.96761605e-01 6.68792429e-02 4.46482804e-02 3.20797345e+02] [-6.66706459e-02 9.97756105e-01 -6.14655089e-03 -4.37925639e+01] [-4.49591711e-02 3.14991624e-03 9.98983859e-01 -2.22156595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.310714057 meters 0.044213458253608284 Centerline is valid? [True, True] Translation: X:320.83, Y:-43.79, Z:-22.22 [[ 9.96683430e-01 6.68448545e-02 4.64101896e-02 3.20826639e+02] [-6.66195704e-02 9.97758014e-01 -6.38582637e-03 -4.37925445e+01] [-4.67329983e-02 3.27282044e-03 9.98902055e-01 -2.22150189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.340714057 meters 0.04763358841210683 Centerline is valid? [True, True] Translation: X:320.85, Y:-43.80, Z:-22.22 [[ 9.96732299e-01 6.65527593e-02 4.57761241e-02 3.20853099e+02] [-6.63334174e-02 9.97777651e-01 -6.29577594e-03 -4.38004753e+01] [-4.60933948e-02 3.23871648e-03 9.98931884e-01 -2.22180281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.370714057 meters 0.04372687193125774 Centerline is valid? [True, True] Translation: X:320.88, Y:-43.80, Z:-22.22 [[ 9.96768437e-01 6.63717939e-02 4.52489486e-02 3.20882384e+02] [-6.61575020e-02 9.97789814e-01 -6.21870758e-03 -4.37982252e+01] [-4.55616868e-02 3.20505403e-03 9.98956386e-01 -2.22196658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.400714057 meters 0.0470356928214953 Centerline is valid? [True, True] Translation: X:320.91, Y:-43.81, Z:-22.23 [[ 9.97007256e-01 6.42927694e-02 4.29298477e-02 3.20910712e+02] [-6.40981439e-02 9.97926181e-01 -5.89620828e-03 -4.38067664e+01] [-4.32199025e-02 3.12683888e-03 9.99060690e-01 -2.22253173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.430714057 meters 0.047330673595543084 Centerline is valid? [True, True] Translation: X:320.94, Y:-43.81, Z:-22.23 [[ 9.97099362e-01 6.35593261e-02 4.18697192e-02 3.20938576e+02] [-6.33735028e-02 9.97973304e-01 -5.75192167e-03 -4.38109869e+01] [-4.21504503e-02 3.08180666e-03 9.99106522e-01 -2.22279969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.460714057 meters 0.04758801932677907 Centerline is valid? [True, True] Translation: X:320.97, Y:-43.81, Z:-22.23 [[ 9.97297296e-01 6.18786963e-02 3.96122442e-02 3.20968035e+02] [-6.17112384e-02 9.98079234e-01 -5.43747451e-03 -4.38139000e+01] [-3.98726222e-02 2.97825798e-03 9.99200332e-01 -2.22317255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.490714057 meters 0.05143035966776179 Centerline is valid? [True, True] Translation: X:320.99, Y:-43.82, Z:-22.24 [[ 9.97323687e-01 6.15584041e-02 3.94464863e-02 3.20994190e+02] [-6.13920633e-02 9.98099036e-01 -5.41556279e-03 -4.38230963e+01] [-3.97048734e-02 2.97936787e-03 9.99207009e-01 -2.22350992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.520714057 meters 0.05605115136754721 Centerline is valid? [True, True] Translation: X:321.02, Y:-43.83, Z:-22.24 [[ 9.97340499e-01 6.11010973e-02 3.97314227e-02 3.21020503e+02] [-6.09321597e-02 9.98127029e-01 -5.45025114e-03 -4.38322296e+01] [-3.99900232e-02 3.01483480e-03 9.99195531e-01 -2.22371525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.550714057 meters 0.05605115136754721 Centerline is valid? [True, True] Translation: X:321.05, Y:-43.84, Z:-22.24 [[ 9.97344281e-01 6.10390199e-02 3.97319037e-02 3.21048593e+02] [-6.08701724e-02 9.98130831e-01 -5.44674138e-03 -4.38360077e+01] [-3.99901018e-02 3.01378854e-03 9.99195531e-01 -2.22387967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.580714057 meters 0.05122917868082494 Centerline is valid? [True, True] Translation: X:321.08, Y:-43.83, Z:-22.24 [[ 9.97360732e-01 6.07598030e-02 3.97469163e-02 3.21078614e+02] [-6.05907060e-02 9.98147837e-01 -5.44633582e-03 -4.38311035e+01] [-4.00042168e-02 3.02366776e-03 9.99194936e-01 -2.22382365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.610714057 meters 0.049619007667021216 Centerline is valid? [True, True] Translation: X:321.11, Y:-43.83, Z:-22.24 [[ 9.97274775e-01 6.14793601e-02 4.07837269e-02 3.21108066e+02] [-6.13020438e-02 9.98103634e-01 -5.58533446e-03 -4.38317261e+01] [-4.10497688e-02 3.06998735e-03 9.99152387e-01 -2.22379278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.640714057 meters 0.05262139776332469 Centerline is valid? [True, True] Translation: X:321.13, Y:-43.84, Z:-22.24 [[ 9.97245677e-01 6.11122173e-02 4.20280443e-02 3.21134717e+02] [-6.09236554e-02 9.98125843e-01 -5.75404843e-03 -4.38393019e+01] [-4.23009199e-02 3.17769783e-03 9.99099862e-01 -2.22399776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.670714057 meters 0.05021912977401241 Centerline is valid? [True, True] Translation: X:321.16, Y:-43.84, Z:-22.24 [[ 9.97218068e-01 6.09502848e-02 4.29090545e-02 3.21163867e+02] [-6.07537489e-02 9.98135520e-01 -5.87074336e-03 -4.38395895e+01] [-4.31868749e-02 3.24752543e-03 9.99061734e-01 -2.22396724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.700714057 meters 0.05398333840761618 Centerline is valid? [True, True] Translation: X:321.19, Y:-43.85, Z:-22.24 [[ 9.97241796e-01 6.05805456e-02 4.28812104e-02 3.21190956e+02] [-6.03840388e-02 9.98157992e-01 -5.86430568e-03 -4.38487339e+01] [-4.31574858e-02 3.25879005e-03 9.99062967e-01 -2.22423717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.730714057 meters 0.05226431172761822 Centerline is valid? [True, True] Translation: X:321.22, Y:-43.85, Z:-22.24 [[ 9.97391051e-01 5.86365260e-02 4.21052143e-02 3.21221133e+02] [-5.84455480e-02 9.98274018e-01 -5.75353556e-03 -4.38510749e+01] [-4.23699088e-02 3.27766256e-03 9.99096616e-01 -2.22448202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.76071405700003 meters 0.05285898809928212 Centerline is valid? [True, True] Translation: X:321.25, Y:-43.86, Z:-22.25 [[ 9.97632349e-01 5.55019690e-02 4.06106894e-02 3.21250893e+02] [-5.53217366e-02 9.98453159e-01 -5.54933317e-03 -4.38571371e+01] [-4.08558700e-02 3.28954042e-03 9.99159635e-01 -2.22470240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.790714057 meters 0.0481292304440905 Centerline is valid? [True, True] Translation: X:321.28, Y:-43.86, Z:-22.25 [[ 9.97735195e-01 5.38360699e-02 4.03256408e-02 3.21281204e+02] [-5.36569878e-02 9.98544219e-01 -5.51091422e-03 -4.38550496e+01] [-4.05636215e-02 3.33468066e-03 9.99171393e-01 -2.22470420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.82071405700003 meters 0.053627254500645045 Centerline is valid? [True, True] Translation: X:321.31, Y:-43.87, Z:-22.25 [[ 9.97946391e-01 5.01233774e-02 3.98829177e-02 3.21309399e+02] [-4.99453336e-02 9.98737090e-01 -5.44871694e-03 -4.38675674e+01] [-4.01056572e-02 3.44556178e-03 9.99189504e-01 -2.22496929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.850714057 meters 0.052756447140352214 Centerline is valid? [True, True] Translation: X:321.34, Y:-43.87, Z:-22.25 [[ 9.98001180e-01 4.86542806e-02 4.03287306e-02 3.21338612e+02] [-4.84710698e-02 9.98809395e-01 -5.50892120e-03 -4.38715554e+01] [-4.05487476e-02 3.54313314e-03 9.99171279e-01 -2.22506288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.88071405700003 meters 0.05425773489573753 Centerline is valid? [True, True] Translation: X:321.37, Y:-43.88, Z:-22.25 [[ 9.98105600e-01 4.64754107e-02 4.03143577e-02 3.21367446e+02] [-4.62905967e-02 9.98912840e-01 -5.50624337e-03 -4.38791223e+01] [-4.05264344e-02 3.62963667e-03 9.99171874e-01 -2.22520419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.910714057 meters 0.058232873368041185 Centerline is valid? [True, True] Translation: X:321.40, Y:-43.89, Z:-22.25 [[ 9.98105504e-01 4.61408452e-02 4.06991954e-02 3.21395678e+02] [-4.59522564e-02 9.98928177e-01 -5.55761168e-03 -4.38890142e+01] [-4.09120060e-02 3.67686294e-03 9.99155988e-01 -2.22546714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.94071405700004 meters 0.05362096785675386 Centerline is valid? [True, True] Translation: X:321.43, Y:-43.89, Z:-22.25 [[ 9.98092902e-01 4.53772703e-02 4.18504673e-02 3.21426376e+02] [-4.51771623e-02 9.98962641e-01 -5.71541348e-03 -4.38880678e+01] [-4.20664032e-02 3.81382827e-03 9.99107538e-01 -2.22540564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.970714057 meters 0.05868252426643349 Centerline is valid? [True, True] Translation: X:321.45, Y:-43.90, Z:-22.26 [[ 9.98076652e-01 4.52947313e-02 4.23247507e-02 3.21454822e+02] [-4.50899959e-02 9.98966208e-01 -5.77992332e-03 -4.38996666e+01] [-4.25427958e-02 3.86038368e-03 9.99087187e-01 -2.22565050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.000714057 meters 0.056321537015828545 Centerline is valid? [True, True] Translation: X:321.49, Y:-43.90, Z:-22.26 [[ 9.98030075e-01 4.55790421e-02 4.31105537e-02 3.21485190e+02] [-4.53668461e-02 9.98953041e-01 -5.88825342e-03 -4.39024093e+01] [-4.33337997e-02 3.92086415e-03 9.99052956e-01 -2.22573121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.030714057 meters 0.053857748326546745 Centerline is valid? [True, True] Translation: X:321.52, Y:-43.90, Z:-22.26 [[ 9.98055168e-01 4.54312446e-02 4.26835366e-02 3.21515707e+02] [-4.52231010e-02 9.98959901e-01 -5.82992931e-03 -4.39033271e+01] [-4.29040025e-02 3.88830919e-03 9.99071633e-01 -2.22582686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.060714057 meters 0.054422995097532796 Centerline is valid? [True, True] Translation: X:321.55, Y:-43.91, Z:-22.26 [[ 9.98085276e-01 4.53033535e-02 4.21116157e-02 3.21545330e+02] [-4.51006533e-02 9.98965891e-01 -5.75154699e-03 -4.39098628e+01] [-4.23286320e-02 3.84127298e-03 9.99096357e-01 -2.22606517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.090714057 meters 0.0516789371535015 Centerline is valid? [True, True] Translation: X:321.58, Y:-43.91, Z:-22.26 [[ 9.98099678e-01 4.51908837e-02 4.18905341e-02 3.21576026e+02] [-4.49901676e-02 9.98971040e-01 -5.72235146e-03 -4.39110958e+01] [-4.21060286e-02 3.82681500e-03 9.99105819e-01 -2.22619866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.120714057 meters 0.04950388208164108 Centerline is valid? [True, True] Translation: X:321.61, Y:-43.91, Z:-22.26 [[ 9.98103344e-01 4.52230022e-02 4.17683379e-02 3.21606663e+02] [-4.50234841e-02 9.98969635e-01 -5.70565915e-03 -4.39142972e+01] [-4.19833283e-02 3.81428138e-03 9.99111031e-01 -2.22644944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.150714057 meters 0.050768955878297446 Centerline is valid? [True, True] Translation: X:321.64, Y:-43.92, Z:-22.27 [[ 9.98115506e-01 4.55661042e-02 4.10994701e-02 3.21636379e+02] [-4.53732304e-02 9.98954330e-01 -5.61399521e-03 -4.39212033e+01] [-4.13123015e-02 3.73859994e-03 9.99139288e-01 -2.22667684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.180714057 meters 0.05087006942406994 Centerline is valid? [True, True] Translation: X:321.67, Y:-43.93, Z:-22.27 [[ 9.98127086e-01 4.63607042e-02 3.99124708e-02 3.21666437e+02] [-4.61794074e-02 9.98918279e-01 -5.45286909e-03 -4.39265848e+01] [-4.01220955e-02 3.59952208e-03 9.99188301e-01 -2.22697591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.210714057 meters 0.0510244802188561 Centerline is valid? [True, True] Translation: X:321.70, Y:-43.93, Z:-22.27 [[ 9.98122079e-01 4.66264600e-02 3.97276902e-02 3.21695903e+02] [-4.64470228e-02 9.98906006e-01 -5.42825236e-03 -4.39313852e+01] [-3.99373285e-02 3.57282560e-03 9.99195799e-01 -2.22711952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.240714057 meters 0.049710894120353954 Centerline is valid? [True, True] Translation: X:321.73, Y:-43.93, Z:-22.27 [[ 9.98090510e-01 4.79418390e-02 3.89475840e-02 3.21725977e+02] [-4.77704561e-02 9.98844174e-01 -5.31965435e-03 -4.39347886e+01] [-3.91576014e-02 3.44895267e-03 9.99227095e-01 -2.22728298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.270714057 meters 0.05312768226723714 Centerline is valid? [True, True] Translation: X:321.75, Y:-43.94, Z:-22.28 [[ 9.98040694e-01 4.88542667e-02 3.90900611e-02 3.21754138e+02] [-4.86822955e-02 9.98800041e-01 -5.33976055e-03 -4.39438792e+01] [-3.93040247e-02 3.42630442e-03 9.99221424e-01 -2.22756406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.300714057 meters 0.05127288360151232 Centerline is valid? [True, True] Translation: X:321.78, Y:-43.95, Z:-22.28 [[ 9.97862439e-01 5.17760013e-02 3.98722796e-02 3.21784988e+02] [-5.15994674e-02 9.98653018e-01 -5.44462482e-03 -4.39463942e+01] [-4.01004733e-02 3.37559821e-03 9.99189951e-01 -2.22761900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.330714057 meters 0.0522070158184667 Centerline is valid? [True, True] Translation: X:321.81, Y:-43.95, Z:-22.28 [[ 9.97623850e-01 5.49867751e-02 4.15103497e-02 3.21813997e+02] [-5.47981842e-02 9.98481361e-01 -5.66833585e-03 -4.39506759e+01] [-4.17589940e-02 3.38017525e-03 9.99121995e-01 -2.22769756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.360714057 meters 0.04585115694350754 Centerline is valid? [True, True] Translation: X:321.84, Y:-43.94, Z:-22.28 [[ 9.97500914e-01 5.66206593e-02 4.22614070e-02 3.21844564e+02] [-5.64266601e-02 9.98390072e-01 -5.77025381e-03 -4.39449053e+01] [-4.25200848e-02 3.37116340e-03 9.99089925e-01 -2.22759976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.390714057 meters 0.04694867372080348 Centerline is valid? [True, True] Translation: X:321.87, Y:-43.95, Z:-22.28 [[ 9.97260675e-01 5.99432580e-02 4.33353508e-02 3.21873311e+02] [-5.97424600e-02 9.98196298e-01 -5.91508618e-03 -4.39500566e+01] [-4.36117563e-02 3.30992238e-03 9.99043072e-01 -2.22763336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.420714057 meters 0.042341101255625076 Centerline is valid? [True, True] Translation: X:321.90, Y:-43.95, Z:-22.28 [[ 9.97178382e-01 6.10192826e-02 4.37255168e-02 3.21903235e+02] [-6.08158984e-02 9.98131159e-01 -5.96786830e-03 -4.39471270e+01] [-4.40079558e-02 3.29182267e-03 9.99025757e-01 -2.22765229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.450714057 meters 0.046089467568117284 Centerline is valid? [True, True] Translation: X:321.93, Y:-43.96, Z:-22.28 [[ 9.97100466e-01 6.15428192e-02 4.47564774e-02 3.21929447e+02] [-6.13303400e-02 9.98098843e-01 -6.10651341e-03 -4.39573774e+01] [-4.50472003e-02 3.34387739e-03 9.98979263e-01 -2.22783954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.480714057 meters 0.04716454377214385 Centerline is valid? [True, True] Translation: X:321.96, Y:-43.96, Z:-22.28 [[ 9.97152525e-01 6.06403713e-02 4.48284306e-02 3.21957826e+02] [-6.04264964e-02 9.98153937e-01 -6.11201121e-03 -4.39631074e+01] [-4.51163091e-02 3.38578241e-03 9.98976003e-01 -2.22802710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.51071405700003 meters 0.04885960882894894 Centerline is valid? [True, True] Translation: X:321.99, Y:-43.97, Z:-22.28 [[ 9.97279915e-01 5.83708068e-02 4.50068956e-02 3.21986948e+02] [-5.81530964e-02 9.98288840e-01 -6.13261420e-03 -4.39720003e+01] [-4.52878472e-02 3.49864263e-03 9.98967853e-01 -2.22825911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.540714057 meters 0.047601863586505554 Centerline is valid? [True, True] Translation: X:322.02, Y:-43.98, Z:-22.28 [[ 9.97364092e-01 5.69272034e-02 4.49906902e-02 3.22016165e+02] [-5.67082208e-02 9.98371977e-01 -6.12974528e-03 -4.39759250e+01] [-4.52663936e-02 3.56224583e-03 9.98968600e-01 -2.22840782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.57071405700003 meters 0.05456503964489943 Centerline is valid? [True, True] Translation: X:322.04, Y:-43.99, Z:-22.29 [[ 9.97584706e-01 5.32046519e-02 4.46544359e-02 3.22043523e+02] [-5.29853208e-02 9.98576770e-01 -6.08189866e-03 -4.39927718e+01] [-4.49144677e-02 3.70117949e-03 9.98983980e-01 -2.22885226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.600714057 meters 0.049864520020259505 Centerline is valid? [True, True] Translation: X:322.07, Y:-43.99, Z:-22.29 [[ 9.97775173e-01 5.06536390e-02 4.33464322e-02 3.22074455e+02] [-5.04445860e-02 9.98709411e-01 -5.90384257e-03 -4.39920423e+01] [-4.35895409e-02 3.70411471e-03 9.99042657e-01 -2.22904456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.63071405700003 meters 0.04786666399168324 Centerline is valid? [True, True] Translation: X:322.10, Y:-43.99, Z:-22.29 [[ 9.97863556e-01 4.93468685e-02 4.28159948e-02 3.22104948e+02] [-4.91417047e-02 9.98774791e-01 -5.83174576e-03 -4.39941807e+01] [-4.30513147e-02 3.71523559e-03 9.99065954e-01 -2.22918387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.660714057 meters 0.047684328304937046 Centerline is valid? [True, True] Translation: X:322.13, Y:-44.00, Z:-22.29 [[ 9.97881495e-01 4.89295878e-02 4.28767732e-02 3.22133864e+02] [-4.87234360e-02 9.98795232e-01 -5.84054713e-03 -4.39996387e+01] [-4.31108922e-02 3.73907019e-03 9.99063296e-01 -2.22938847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.69071405700004 meters 0.04743713869266766 Centerline is valid? [True, True] Translation: X:322.16, Y:-44.00, Z:-22.30 [[ 9.97826816e-01 4.97398972e-02 4.32156021e-02 3.22164499e+02] [-4.95313236e-02 9.98755236e-01 -5.88444546e-03 -4.40045964e+01] [-4.34545005e-02 3.73113151e-03 9.99048440e-01 -2.22956336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.720714057 meters 0.05298694561009637 Centerline is valid? [True, True] Translation: X:322.19, Y:-44.02, Z:-22.30 [[ 9.97694496e-01 5.25174496e-02 4.29838269e-02 3.22193044e+02] [-5.23136380e-02 9.98613548e-01 -5.85354998e-03 -4.40170031e+01] [-4.32316454e-02 3.59141424e-03 9.99058620e-01 -2.22987280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.750714057 meters 0.052750868358957904 Centerline is valid? [True, True] Translation: X:322.22, Y:-44.02, Z:-22.30 [[ 9.97572787e-01 5.47637806e-02 4.30053916e-02 3.22222252e+02] [-5.45618264e-02 9.98493218e-01 -5.85671441e-03 -4.40202665e+01] [-4.32613276e-02 3.49604621e-03 9.99057674e-01 -2.23003451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.780714057 meters 0.04769809637212635 Centerline is valid? [True, True] Translation: X:322.25, Y:-44.02, Z:-22.30 [[ 9.97440845e-01 5.73142713e-02 4.27414867e-02 3.22252636e+02] [-5.71171348e-02 9.98350518e-01 -5.82032221e-03 -4.40168662e+01] [-4.30045729e-02 3.36415584e-03 9.99069211e-01 -2.23004926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.810714057 meters 0.042531010408201786 Centerline is valid? [True, True] Translation: X:322.28, Y:-44.01, Z:-22.30 [[ 9.97053267e-01 6.35381761e-02 4.29846885e-02 3.22283343e+02] [-6.33446101e-02 9.97974558e-01 -5.85168324e-03 -4.40135127e+01] [-4.32694308e-02 3.11159155e-03 9.99058594e-01 -2.23012004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.840714057 meters 0.04031332146199093 Centerline is valid? [True, True] Translation: X:322.31, Y:-44.01, Z:-22.30 [[ 9.96502401e-01 7.09553631e-02 4.41395599e-02 3.22313585e+02] [-7.07585232e-02 9.97475381e-01 -6.00797994e-03 -4.40143479e+01] [-4.44544227e-02 2.86371636e-03 9.99007309e-01 -2.23026458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.870714057 meters 0.039093687731050285 Centerline is valid? [True, True] Translation: X:322.34, Y:-44.02, Z:-22.30 [[ 9.96125954e-01 7.54711653e-02 4.51352017e-02 3.22343947e+02] [-7.52699680e-02 9.97144269e-01 -6.14312580e-03 -4.40161769e+01] [-4.54699366e-02 2.72200186e-03 9.98961999e-01 -2.23037544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.900714057 meters 0.037079308259842715 Centerline is valid? [True, True] Translation: X:322.37, Y:-44.01, Z:-22.30 [[ 9.95246695e-01 8.57060418e-02 4.62438198e-02 3.22373839e+02] [-8.55058267e-02 9.96317790e-01 -6.29408760e-03 -4.40146124e+01] [-4.66129816e-02 2.31005384e-03 9.98910353e-01 -2.23047914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.930714057 meters 0.03332501856350702 Centerline is valid? [True, True] Translation: X:322.41, Y:-44.01, Z:-22.31 [[ 9.94805252e-01 9.06705737e-02 4.62748010e-02 3.22405223e+02] [-9.04754950e-02 9.95878773e-01 -6.29720845e-03 -4.40093159e+01] [-4.66550636e-02 2.07776052e-03 9.98908899e-01 -2.23051073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.960714057 meters 0.031798121670534106 Centerline is valid? [True, True] Translation: X:322.43, Y:-44.01, Z:-22.31 [[ 9.93841243e-01 1.00752215e-01 4.61364786e-02 3.22434269e+02] [-1.00569144e-01 9.94910264e-01 -6.27810118e-03 -4.40090499e+01] [-4.65341886e-02 1.59952971e-03 9.98915417e-01 -2.23064216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.990714057 meters 0.030711113376129993 Centerline is valid? [True, True] Translation: X:322.46, Y:-44.01, Z:-22.31 [[ 9.93518668e-01 1.03663797e-01 4.66312534e-02 3.22463224e+02] [-1.03480071e-01 9.94611299e-01 -6.34341644e-03 -4.40099052e+01] [-4.70375541e-02 1.47689726e-03 9.98892030e-01 -2.23076500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.020714057 meters 0.03034594615599103 Centerline is valid? [True, True] Translation: X:322.49, Y:-44.01, Z:-22.31 [[ 9.93167152e-01 1.06783763e-01 4.70769177e-02 3.22491011e+02] [-1.06600161e-01 9.94281367e-01 -6.40073784e-03 -4.40138447e+01] [-4.74911969e-02 1.33859557e-03 9.98870760e-01 -2.23102504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.050714057 meters 0.02974208100404399 Centerline is valid? [True, True] Translation: X:322.52, Y:-44.02, Z:-22.31 [[ 9.93223841e-01 1.06233852e-01 4.71250427e-02 3.22518976e+02] [-1.06049307e-01 9.94340236e-01 -6.40622691e-03 -4.40162568e+01] [-4.75388843e-02 1.36523919e-03 9.98868455e-01 -2.23116246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.080714057 meters 0.029579482755832644 Centerline is valid? [True, True] Translation: X:322.55, Y:-44.02, Z:-22.31 [[ 9.93565120e-01 1.03424383e-01 4.61708663e-02 3.22547435e+02] [-1.03244926e-01 9.94636257e-01 -6.26119337e-03 -4.40232362e+01] [-4.65707777e-02 1.45399569e-03 9.98913935e-01 -2.23143549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.110714057 meters 0.03202223817662355 Centerline is valid? [True, True] Translation: X:322.57, Y:-44.04, Z:-22.32 [[ 9.93858800e-01 1.00717010e-01 4.58341603e-02 3.22574413e+02] [-1.00537400e-01 9.94913880e-01 -6.21307587e-03 -4.40351539e+01] [-4.62268047e-02 1.56687281e-03 9.98929741e-01 -2.23183842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.140714057 meters 0.033931343999321545 Centerline is valid? [True, True] Translation: X:322.60, Y:-44.05, Z:-22.32 [[ 9.94461696e-01 9.50479897e-02 4.48532584e-02 3.22602562e+02] [-9.48703557e-02 9.95471085e-01 -6.07738758e-03 -4.40478984e+01] [-4.52277653e-02 1.78848458e-03 9.98975100e-01 -2.23215175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.170714057 meters 0.03197369041219226 Centerline is valid? [True, True] Translation: X:322.63, Y:-44.05, Z:-22.32 [[ 9.94766243e-01 9.16684150e-02 4.51333917e-02 3.22631743e+02] [-9.14851124e-02 9.95787671e-01 -6.11467137e-03 -4.40509549e+01] [-4.55037972e-02 1.95363525e-03 9.98962255e-01 -2.23214788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.200714057 meters 0.03412004557030683 Centerline is valid? [True, True] Translation: X:322.66, Y:-44.06, Z:-22.32 [[ 9.95313931e-01 8.53152300e-02 4.55136179e-02 3.22659665e+02] [-8.51223378e-02 9.96351446e-01 -6.16308117e-03 -4.40623655e+01] [-4.58733637e-02 2.25997499e-03 9.98944707e-01 -2.23218971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.230714057 meters 0.035821351128646865 Centerline is valid? [True, True] Translation: X:322.69, Y:-44.07, Z:-22.32 [[ 9.95687797e-01 8.04261854e-02 4.62324541e-02 3.22688930e+02] [-8.02218845e-02 9.96757370e-01 -6.26057182e-03 -4.40726496e+01] [-4.65860533e-02 2.52472037e-03 9.98911090e-01 -2.23222451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.26071405700003 meters 0.03566708549871918 Centerline is valid? [True, True] Translation: X:322.72, Y:-44.08, Z:-22.32 [[ 9.95862283e-01 7.77046732e-02 4.71200203e-02 3.22717465e+02] [-7.74894066e-02 9.96972756e-01 -6.38082827e-03 -4.40778783e+01] [-4.74731967e-02 2.70312380e-03 9.98868855e-01 -2.23232826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.290714057 meters 0.037913431330266936 Centerline is valid? [True, True] Translation: X:322.74, Y:-44.09, Z:-22.32 [[ 9.95998134e-01 7.51241907e-02 4.84156334e-02 3.22744383e+02] [-7.48939982e-02 9.97169964e-01 -6.55375359e-03 -4.40896375e+01] [-4.87709609e-02 2.90148598e-03 9.98805774e-01 -2.23245356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.32071405700003 meters 0.03951636554599385 Centerline is valid? [True, True] Translation: X:322.77, Y:-44.10, Z:-22.33 [[ 9.96118168e-01 7.34069271e-02 4.85800288e-02 3.22772526e+02] [-7.31733081e-02 9.97297583e-01 -6.57244091e-03 -4.40968141e+01] [-4.89312080e-02 2.99216638e-03 9.98797669e-01 -2.23265618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.350714057 meters 0.03973229865857554 Centerline is valid? [True, True] Translation: X:322.80, Y:-44.10, Z:-22.33 [[ 9.96169896e-01 7.26630369e-02 4.86376441e-02 3.22800186e+02] [-7.24281322e-02 9.97351947e-01 -6.57713550e-03 -4.41031402e+01] [-4.89867637e-02 3.02921067e-03 9.98794834e-01 -2.23282790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.38071405700003 meters 0.03999599566780404 Centerline is valid? [True, True] Translation: X:322.83, Y:-44.11, Z:-22.33 [[ 9.96277678e-01 7.16023699e-02 4.79988415e-02 3.22828041e+02] [-7.13726064e-02 9.97428636e-01 -6.48597941e-03 -4.41089127e+01] [-4.83398304e-02 3.03603409e-03 9.98826333e-01 -2.23299348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.410714057 meters 0.04100134004290832 Centerline is valid? [True, True] Translation: X:322.85, Y:-44.11, Z:-22.33 [[ 9.96302559e-01 7.11632134e-02 4.81353136e-02 3.22854782e+02] [-7.09318340e-02 9.97459985e-01 -6.50021836e-03 -4.41147983e+01] [-4.84756256e-02 3.06185811e-03 9.98819673e-01 -2.23320542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.44071405700004 meters 0.04104232191430078 Centerline is valid? [True, True] Translation: X:322.88, Y:-44.12, Z:-22.33 [[ 9.96319197e-01 7.10159078e-02 4.80083157e-02 3.22882930e+02] [-7.07857860e-02 9.97470500e-01 -6.47878490e-03 -4.41203981e+01] [-4.83469754e-02 3.05663141e-03 9.98825924e-01 -2.23343075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.470714057 meters 0.04104232191430078 Centerline is valid? [True, True] Translation: X:322.91, Y:-44.12, Z:-22.34 [[ 9.96323989e-01 7.09483536e-02 4.80087544e-02 3.22911001e+02] [-7.07183099e-02 9.97475307e-01 -6.47553194e-03 -4.41241199e+01] [-4.83469754e-02 3.05662984e-03 9.98825924e-01 -2.23359497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.500714057 meters 0.04127214592571818 Centerline is valid? [True, True] Translation: X:322.94, Y:-44.13, Z:-22.34 [[ 9.96307565e-01 7.14722438e-02 4.75705281e-02 3.22938028e+02] [-7.12471268e-02 9.97438076e-01 -6.41334096e-03 -4.41294525e+01] [-4.79070319e-02 3.00039666e-03 9.98847293e-01 -2.23381399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.530714057 meters 0.04121770397609207 Centerline is valid? [True, True] Translation: X:322.97, Y:-44.13, Z:-22.34 [[ 9.96293310e-01 7.19348891e-02 4.71700336e-02 3.22966859e+02] [-7.17142646e-02 9.97404971e-01 -6.35517645e-03 -4.41336390e+01] [-4.75047849e-02 2.94885551e-03 9.98866658e-01 -2.23399786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.560714057 meters 0.04149735155487271 Centerline is valid? [True, True] Translation: X:323.00, Y:-44.14, Z:-22.34 [[ 9.96279859e-01 7.23443172e-02 4.68267163e-02 3.22995714e+02] [-7.21274955e-02 9.97375487e-01 -6.30574906e-03 -4.41375934e+01] [-4.71600041e-02 2.90479702e-03 9.98883124e-01 -2.23423139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.590714057 meters 0.04274760928107659 Centerline is valid? [True, True] Translation: X:323.02, Y:-44.14, Z:-22.34 [[ 9.96282200e-01 7.28812144e-02 4.59358898e-02 3.23022719e+02] [-7.26732715e-02 9.97336637e-01 -6.18292988e-03 -4.41423779e+01] [-4.62641653e-02 2.82163159e-03 9.98925255e-01 -2.23447807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.620714057 meters 0.04264941278432302 Centerline is valid? [True, True] Translation: X:323.05, Y:-44.15, Z:-22.35 [[ 9.96275419e-01 7.28292911e-02 4.61647548e-02 3.23051528e+02] [-7.26194049e-02 9.97340395e-01 -6.20962772e-03 -4.41462942e+01] [-4.64942176e-02 2.83404244e-03 9.98914539e-01 -2.23462201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.650714057 meters 0.04039951425758918 Centerline is valid? [True, True] Translation: X:323.08, Y:-44.15, Z:-22.35 [[ 9.96267768e-01 7.21488097e-02 4.73823239e-02 3.23080085e+02] [-7.19270841e-02 9.97389551e-01 -6.37016831e-03 -4.41471814e+01] [-4.77182348e-02 2.93832097e-03 9.98856514e-01 -2.23460972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.680714057 meters 0.04094876428857168 Centerline is valid? [True, True] Translation: X:323.11, Y:-44.15, Z:-22.35 [[ 9.96319186e-01 7.04105731e-02 4.88920372e-02 3.23109272e+02] [-7.01725816e-02 9.97513234e-01 -6.56935373e-03 -4.41536196e+01] [-4.92330061e-02 3.11429269e-03 9.98782465e-01 -2.23468590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.710714057 meters 0.04296712404754779 Centerline is valid? [True, True] Translation: X:323.14, Y:-44.16, Z:-22.35 [[ 9.96412901e-01 6.90114588e-02 4.89770269e-02 3.23137505e+02] [-6.87710328e-02 9.97610775e-01 -6.57921974e-03 -4.41605677e+01] [-4.93140513e-02 3.18741871e-03 9.98778236e-01 -2.23491698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.740714057 meters 0.04243323361463023 Centerline is valid? [True, True] Translation: X:323.17, Y:-44.16, Z:-22.35 [[ 9.96570643e-01 6.78029822e-02 4.74310885e-02 3.23166707e+02] [-6.75762671e-02 9.97693783e-01 -6.36902551e-03 -4.41641864e+01] [-4.77535410e-02 3.14196794e-03 9.98854207e-01 -2.23518697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.770714057 meters 0.04261066082177022 Centerline is valid? [True, True] Translation: X:323.20, Y:-44.17, Z:-22.35 [[ 9.96645018e-01 6.72943450e-02 4.65851786e-02 3.23195665e+02] [-6.70751551e-02 9.97728324e-01 -6.25424018e-03 -4.41675875e+01] [-4.69002271e-02 3.10854924e-03 9.98894742e-01 -2.23541315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.800714057 meters 0.04419678963434014 Centerline is valid? [True, True] Translation: X:323.22, Y:-44.17, Z:-22.36 [[ 9.96698010e-01 6.65305216e-02 4.65485449e-02 3.23223728e+02] [-6.63110070e-02 9.97779454e-01 -6.24592707e-03 -4.41735532e+01] [-4.68607265e-02 3.13862219e-03 9.98896502e-01 -2.23569237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.830714057 meters 0.04424754009219928 Centerline is valid? [True, True] Translation: X:323.25, Y:-44.18, Z:-22.36 [[ 9.96705566e-01 6.64526491e-02 4.64979604e-02 3.23252157e+02] [-6.62336305e-02 9.97784649e-01 -6.23694096e-03 -4.41773036e+01] [-4.68094123e-02 3.13666505e-03 9.98898914e-01 -2.23585646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.860714057 meters 0.045041728259508904 Centerline is valid? [True, True] Translation: X:323.28, Y:-44.18, Z:-22.36 [[ 9.96715407e-01 6.61304331e-02 4.67457211e-02 3.23279290e+02] [-6.59088624e-02 9.97805966e-01 -6.26714190e-03 -4.41821912e+01] [-4.70576082e-02 3.16559960e-03 9.98887161e-01 -2.23602469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.890714057 meters 0.042726924212142484 Centerline is valid? [True, True] Translation: X:323.31, Y:-44.18, Z:-22.36 [[ 9.96748686e-01 6.51345272e-02 4.74294146e-02 3.23308961e+02] [-6.49055090e-02 9.97871182e-01 -6.35442807e-03 -4.41812541e+01] [-4.77423387e-02 3.25533754e-03 9.98854380e-01 -2.23606952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.920714057 meters 0.0388442002853669 Centerline is valid? [True, True] Translation: X:323.34, Y:-44.18, Z:-22.36 [[ 9.96782178e-01 6.43518563e-02 4.77925501e-02 3.23338925e+02] [-6.41185311e-02 9.97921763e-01 -6.40076116e-03 -4.41778155e+01] [-4.81051267e-02 3.31577654e-03 9.98836775e-01 -2.23603910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.950714057 meters 0.04241651967194926 Centerline is valid? [True, True] Translation: X:323.37, Y:-44.19, Z:-22.36 [[ 9.96801167e-01 6.39868877e-02 4.78864408e-02 3.23366343e+02] [-6.37524033e-02 9.97945163e-01 -6.40964559e-03 -4.41862208e+01] [-4.81981752e-02 3.33626652e-03 9.98832221e-01 -2.23628987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.980714057 meters 0.04513183856165566 Centerline is valid? [True, True] Translation: X:323.39, Y:-44.19, Z:-22.37 [[ 9.96809505e-01 6.41200430e-02 4.75334739e-02 3.23393903e+02] [-6.38892802e-02 9.97936728e-01 -6.35981418e-03 -4.41929247e+01] [-4.78431910e-02 3.30264379e-03 9.98849399e-01 -2.23659009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.01071405700003 meters 0.04529063441938463 Centerline is valid? [True, True] Translation: X:323.42, Y:-44.20, Z:-22.37 [[ 9.96861002e-01 6.39339576e-02 4.66968005e-02 3.23423688e+02] [-6.37111725e-02 9.97948838e-01 -6.24529773e-03 -4.41964355e+01] [-4.70003043e-02 3.25058584e-03 9.98889586e-01 -2.23681193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.040714057 meters 0.041507432849932954 Centerline is valid? [True, True] Translation: X:323.45, Y:-44.19, Z:-22.37 [[ 9.96863224e-01 6.39515877e-02 4.66251736e-02 3.23453765e+02] [-6.37295611e-02 9.97947731e-01 -6.23453234e-03 -4.41921902e+01] [-4.69281944e-02 3.24357416e-03 9.98892999e-01 -2.23693428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.07071405700003 meters 0.045463865908879145 Centerline is valid? [True, True] Translation: X:323.48, Y:-44.20, Z:-22.37 [[ 9.96854936e-01 6.37402827e-02 4.70894108e-02 3.23481278e+02] [-6.35137443e-02 9.97961123e-01 -6.29301856e-03 -4.41999069e+01] [-4.73945200e-02 3.28240182e-03 9.98870855e-01 -2.23709626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.100714057 meters 0.04697951307670659 Centerline is valid? [True, True] Translation: X:323.51, Y:-44.21, Z:-22.37 [[ 9.96851282e-01 6.38192755e-02 4.70597604e-02 3.23509145e+02] [-6.35932293e-02 9.97956102e-01 -6.28654225e-03 -4.42052708e+01] [-4.73647776e-02 3.27406556e-03 9.98872293e-01 -2.23725448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.13071405700003 meters 0.0431880850916753 Centerline is valid? [True, True] Translation: X:323.54, Y:-44.20, Z:-22.37 [[ 9.96874553e-01 6.32788375e-02 4.72960379e-02 3.23538987e+02] [-6.30500136e-02 9.97990383e-01 -6.31590247e-03 -4.42023593e+01] [-4.76006539e-02 3.31414662e-03 9.98860948e-01 -2.23738307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.160714057 meters 0.04095562062334404 Centerline is valid? [True, True] Translation: X:323.57, Y:-44.20, Z:-22.38 [[ 9.96964552e-01 6.23009070e-02 4.66934567e-02 3.23568313e+02] [-6.20769762e-02 9.98051908e-01 -6.23201496e-03 -4.42021378e+01] [-4.69907537e-02 3.31450940e-03 9.98889825e-01 -2.23752679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.19071405700004 meters 0.04166402074741241 Centerline is valid? [True, True] Translation: X:323.60, Y:-44.21, Z:-22.38 [[ 9.97047726e-01 6.09843015e-02 4.66556311e-02 3.23597097e+02] [-6.07594072e-02 9.98133031e-01 -6.22469203e-03 -4.42066132e+01] [-4.69481350e-02 3.37154654e-03 9.98891638e-01 -2.23778702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.220714057 meters 0.04281326402328507 Centerline is valid? [True, True] Translation: X:323.63, Y:-44.21, Z:-22.38 [[ 9.97233462e-01 5.83801408e-02 4.60128334e-02 3.23626818e+02] [-5.81587764e-02 9.98288487e-01 -6.13621209e-03 -4.42113643e+01] [-4.62923147e-02 3.44318594e-03 9.98922002e-01 -2.23807574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.250714057 meters 0.04449190892030033 Centerline is valid? [True, True] Translation: X:323.65, Y:-44.22, Z:-22.38 [[ 9.97324562e-01 5.72123492e-02 4.55023727e-02 3.23654654e+02] [-5.69946831e-02 9.98356043e-01 -6.06775505e-03 -4.42172107e+01] [-4.57747193e-02 3.45812784e-03 9.98945803e-01 -2.23832300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.280714057 meters 0.04613276549968798 Centerline is valid? [True, True] Translation: X:323.68, Y:-44.22, Z:-22.38 [[ 9.97415455e-01 5.54876298e-02 4.56457343e-02 3.23683123e+02] [-5.52669156e-02 9.98453079e-01 -6.08422661e-03 -4.42228852e+01] [-4.59127233e-02 3.54580271e-03 9.98939162e-01 -2.23848673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.310714057 meters 0.049685996827035256 Centerline is valid? [True, True] Translation: X:323.71, Y:-44.23, Z:-22.39 [[ 9.97432405e-01 5.44758705e-02 4.64863197e-02 3.23711570e+02] [-5.42459399e-02 9.98508391e-01 -6.19441397e-03 -4.42301087e+01] [-4.67544264e-02 3.65681511e-03 9.98899720e-01 -2.23859443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.340714057 meters 0.0436853818646924 Centerline is valid? [True, True] Translation: X:323.74, Y:-44.22, Z:-22.39 [[ 9.97459603e-01 5.40838883e-02 4.63602504e-02 3.23743219e+02] [-5.38548300e-02 9.98529672e-01 -6.17662481e-03 -4.42246713e+01] [-4.66261416e-02 3.66421033e-03 9.98905689e-01 -2.23862101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.370714057 meters 0.048170347564121474 Centerline is valid? [True, True] Translation: X:323.77, Y:-44.23, Z:-22.39 [[ 9.97497346e-01 5.37243072e-02 4.59645870e-02 3.23771736e+02] [-5.34987570e-02 9.98549137e-01 -6.12411422e-03 -4.42338317e+01] [-4.62269124e-02 3.64973941e-03 9.98924297e-01 -2.23892477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.400714057 meters 0.045777588646406006 Centerline is valid? [True, True] Translation: X:323.80, Y:-44.23, Z:-22.39 [[ 9.97467309e-01 5.40756315e-02 4.62038224e-02 3.23802599e+02] [-5.38481476e-02 9.98530167e-01 -6.15495510e-03 -4.42346735e+01] [-4.64687436e-02 3.65137625e-03 9.98913071e-01 -2.23905451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.430714057 meters 0.044839538789814455 Centerline is valid? [True, True] Translation: X:323.83, Y:-44.24, Z:-22.39 [[ 9.97557840e-01 5.33990090e-02 4.50211303e-02 3.23833062e+02] [-5.31823478e-02 9.98566807e-01 -5.99740499e-03 -4.42361212e+01] [-4.52768618e-02 3.58842896e-03 9.98968032e-01 -2.23932117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.460714057 meters 0.04735165495854005 Centerline is valid? [True, True] Translation: X:323.86, Y:-44.24, Z:-22.40 [[ 9.97556078e-01 5.37653115e-02 4.46224455e-02 3.23862039e+02] [-5.35528278e-02 9.98547324e-01 -5.94452014e-03 -4.42426787e+01] [-4.48772325e-02 3.54033406e-03 9.98986236e-01 -2.23959606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.490714057 meters 0.045155920292642336 Centerline is valid? [True, True] Translation: X:323.89, Y:-44.24, Z:-22.40 [[ 9.97460689e-01 5.66594776e-02 4.31494740e-02 3.23892746e+02] [-5.64635192e-02 9.98388119e-01 -5.74765850e-03 -4.42400978e+01] [-4.34055815e-02 3.29669225e-03 9.99052094e-01 -2.23970643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.520714057 meters 0.04459528455527452 Centerline is valid? [True, True] Translation: X:323.92, Y:-44.24, Z:-22.40 [[ 9.97391052e-01 5.83262083e-02 4.25340179e-02 3.23922566e+02] [-5.81373475e-02 9.98292522e-01 -5.66481482e-03 -4.42411007e+01] [-4.27917991e-02 3.17722064e-03 9.99078959e-01 -2.23983256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.550714057 meters 0.0449391590125182 Centerline is valid? [True, True] Translation: X:323.95, Y:-44.24, Z:-22.40 [[ 9.97228678e-01 6.08785152e-02 4.27641255e-02 3.23951345e+02] [-6.06900015e-02 9.98140422e-01 -5.69395166e-03 -4.42429514e+01] [-4.30312416e-02 3.08281704e-03 9.99068971e-01 -2.23997466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.580714057 meters 0.04073199254617211 Centerline is valid? [True, True] Translation: X:323.98, Y:-44.24, Z:-22.40 [[ 9.96743430e-01 6.74364968e-02 4.42137173e-02 3.23983201e+02] [-6.72414826e-02 9.97719375e-01 -5.88490126e-03 -4.42371976e+01] [-4.45097395e-02 2.89274077e-03 9.99004762e-01 -2.23994639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.610714057 meters 0.04039154515997753 Centerline is valid? [True, True] Translation: X:324.01, Y:-44.24, Z:-22.40 [[ 9.96500571e-01 7.03626676e-02 4.51188082e-02 3.24013238e+02] [-7.01625551e-02 9.97517493e-01 -6.00560069e-03 -4.42389207e+01] [-4.54293705e-02 2.81893365e-03 9.98963576e-01 -2.24004182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.640714057 meters 0.03504332737787544 Centerline is valid? [True, True] Translation: X:324.05, Y:-44.23, Z:-22.40 [[ 9.96063840e-01 7.56626911e-02 4.61734193e-02 3.24045737e+02] [-7.54588189e-02 9.97129984e-01 -6.14503197e-03 -4.42296566e+01] [-4.65058505e-02 2.63665246e-03 9.98914538e-01 -2.23991708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.670714057 meters 0.03483631279132355 Centerline is valid? [True, True] Translation: X:324.08, Y:-44.23, Z:-22.40 [[ 9.95729799e-01 8.01361035e-02 4.58298277e-02 3.24075528e+02] [-7.99399808e-02 9.96781019e-01 -6.09921419e-03 -4.42295726e+01] [-4.61710696e-02 2.40953377e-03 9.98930641e-01 -2.24010016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.700714057 meters 0.03389058291657969 Centerline is valid? [True, True] Translation: X:324.10, Y:-44.23, Z:-22.40 [[ 9.95619756e-01 8.17776757e-02 4.53179045e-02 3.24104795e+02] [-8.15876392e-02 9.96647927e-01 -6.03040924e-03 -4.42304706e+01] [-4.56591484e-02 2.30661374e-03 9.98954414e-01 -2.24025152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.730714057 meters 0.0452613436089728 Centerline is valid? [True, True] Translation: X:324.13, Y:-44.25, Z:-22.41 [[ 9.95194682e-01 8.65415502e-02 4.58050738e-02 3.24131540e+02] [-8.63525644e-02 9.96246013e-01 -6.09236997e-03 -4.42522016e+01] [-4.61603652e-02 2.10770861e-03 9.98931819e-01 -2.24099351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.76071405700003 meters 0.033208685695917686 Centerline is valid? [True, True] Translation: X:324.16, Y:-44.23, Z:-22.41 [[ 9.95599661e-01 8.31172033e-02 4.32763854e-02 3.24164761e+02] [-8.29453503e-02 9.96537481e-01 -5.75477270e-03 -4.42347349e+01] [-4.36048607e-02 2.13987480e-03 9.99046564e-01 -2.24076681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.790714057 meters 0.03335229665037392 Centerline is valid? [True, True] Translation: X:324.19, Y:-44.24, Z:-22.41 [[ 9.95704879e-01 8.17381171e-02 4.34818846e-02 3.24193832e+02] [-8.15632715e-02 9.96651388e-01 -5.78310721e-03 -4.42371080e+01] [-4.38089810e-02 2.21174330e-03 9.99037477e-01 -2.24085541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.82071405700003 meters 0.03638693998909678 Centerline is valid? [True, True] Translation: X:324.22, Y:-44.25, Z:-22.41 [[ 9.95791316e-01 8.05681361e-02 4.36855902e-02 3.24220765e+02] [-8.03906550e-02 9.96746517e-01 -5.80724370e-03 -4.42461474e+01] [-4.40113387e-02 2.27088963e-03 9.99028451e-01 -2.24108888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.850714057 meters 0.038127670102063776 Centerline is valid? [True, True] Translation: X:324.25, Y:-44.25, Z:-22.41 [[ 9.95929248e-01 7.85848180e-02 4.41515545e-02 3.24248292e+02] [-7.84017774e-02 9.96904592e-01 -5.86486140e-03 -4.42521251e+01] [-4.44757765e-02 2.37942665e-03 9.99007629e-01 -2.24125328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.88071405700003 meters 0.038399890824256475 Centerline is valid? [True, True] Translation: X:324.28, Y:-44.26, Z:-22.41 [[ 9.96021090e-01 7.74797284e-02 4.40327122e-02 3.24276819e+02] [-7.72967302e-02 9.96990992e-01 -5.84605758e-03 -4.42560449e+01] [-4.43531684e-02 2.41921196e-03 9.99012985e-01 -2.24140609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.910714057 meters 0.03948807026954642 Centerline is valid? [True, True] Translation: X:324.31, Y:-44.26, Z:-22.42 [[ 9.96106990e-01 7.63628549e-02 4.40406404e-02 3.24305083e+02] [-7.61788363e-02 9.97077044e-01 -5.84410758e-03 -4.42623345e+01] [-4.43581843e-02 2.46639168e-03 9.99012647e-01 -2.24159144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.94071405700004 meters 0.041172378801884804 Centerline is valid? [True, True] Translation: X:324.33, Y:-44.27, Z:-22.42 [[ 9.96252783e-01 7.44891695e-02 4.39517523e-02 3.24332590e+02] [-7.43042063e-02 9.97218583e-01 -5.82938818e-03 -4.42686700e+01] [-4.42637304e-02 2.54174413e-03 9.99016647e-01 -2.24189075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.970714057 meters 0.03931199755255405 Centerline is valid? [True, True] Translation: X:324.36, Y:-44.27, Z:-22.42 [[ 9.96321237e-01 7.36271366e-02 4.38524450e-02 3.24361046e+02] [-7.34423026e-02 9.97282524e-01 -5.81337728e-03 -4.42692699e+01] [-4.41612993e-02 2.57136672e-03 9.99021105e-01 -2.24198056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.000714057 meters 0.03893870095512249 Centerline is valid? [True, True] Translation: X:324.39, Y:-44.27, Z:-22.42 [[ 9.96475495e-01 7.16531826e-02 4.36166086e-02 3.24389818e+02] [-7.14686450e-02 9.97426113e-01 -5.77766236e-03 -4.42734260e+01] [-4.39183323e-02 2.64007904e-03 9.99031636e-01 -2.24209309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.030714057 meters 0.038332457573308755 Centerline is valid? [True, True] Translation: X:324.42, Y:-44.28, Z:-22.42 [[ 9.96533716e-01 7.06832013e-02 4.38684211e-02 3.24418559e+02] [-7.04956366e-02 9.97495168e-01 -5.80994196e-03 -4.42761499e+01] [-4.41692034e-02 2.69727078e-03 9.99020423e-01 -2.24222737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.060714057 meters 0.03941198222843127 Centerline is valid? [True, True] Translation: X:324.44, Y:-44.28, Z:-22.42 [[ 9.96532581e-01 7.05922353e-02 4.40403311e-02 3.24444503e+02] [-7.04032195e-02 9.97501577e-01 -5.83019967e-03 -4.42823922e+01] [-4.43418665e-02 2.70940283e-03 9.99012742e-01 -2.24240319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.090714057 meters 0.03853841925119047 Centerline is valid? [True, True] Translation: X:324.47, Y:-44.28, Z:-22.43 [[ 9.96536002e-01 7.07997778e-02 4.36278446e-02 3.24472850e+02] [-7.06147533e-02 9.97486977e-01 -5.76953427e-03 -4.42841749e+01] [-4.39266886e-02 2.66877913e-03 9.99031193e-01 -2.24262160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.120714057 meters 0.038369088759495774 Centerline is valid? [True, True] Translation: X:324.50, Y:-44.29, Z:-22.43 [[ 9.96502366e-01 7.12596726e-02 4.36473847e-02 3.24501119e+02] [-7.10750573e-02 9.97454287e-01 -5.76903283e-03 -4.42872483e+01] [-4.39473704e-02 2.64661450e-03 9.99030342e-01 -2.24276517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.150714057 meters 0.03914052850952411 Centerline is valid? [True, True] Translation: X:324.53, Y:-44.29, Z:-22.43 [[ 9.96472030e-01 7.13780505e-02 4.41437119e-02 3.24528159e+02] [-7.11894560e-02 9.97445764e-01 -5.83168746e-03 -4.42920989e+01] [-4.44472129e-02 2.66854661e-03 9.99008170e-01 -2.24295040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.180714057 meters 0.03921849596395593 Centerline is valid? [True, True] Translation: X:324.56, Y:-44.30, Z:-22.43 [[ 9.96422339e-01 7.19757889e-02 4.42945513e-02 3.24556525e+02] [-7.17866750e-02 9.97402868e-01 -5.84748196e-03 -4.42962370e+01] [-4.46003897e-02 2.64680309e-03 9.99001401e-01 -2.24310099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.210714057 meters 0.04010741642274823 Centerline is valid? [True, True] Translation: X:324.58, Y:-44.30, Z:-22.43 [[ 9.96402982e-01 7.19996809e-02 4.46894120e-02 3.24583705e+02] [-7.18073330e-02 9.97401091e-01 -5.89668779e-03 -4.43003810e+01] [-4.49978279e-02 2.66644981e-03 9.98983526e-01 -2.24326580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.240714057 meters 0.03955850829911413 Centerline is valid? [True, True] Translation: X:324.61, Y:-44.30, Z:-22.43 [[ 9.96392499e-01 7.17340946e-02 4.53454260e-02 3.24612791e+02] [-7.15359700e-02 9.97420100e-01 -5.97907941e-03 -4.43035825e+01] [-4.56573432e-02 2.71368084e-03 9.98953474e-01 -2.24332929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.270714057 meters 0.042255995526242325 Centerline is valid? [True, True] Translation: X:324.64, Y:-44.31, Z:-22.43 [[ 9.96418420e-01 7.01886453e-02 4.71581037e-02 3.24639258e+02] [-6.99727718e-02 9.97529541e-01 -6.21501574e-03 -4.43115110e+01] [-4.74778251e-02 2.89297293e-03 9.98868103e-01 -2.24337012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.300714057 meters 0.043168987352269074 Centerline is valid? [True, True] Translation: X:324.67, Y:-44.32, Z:-22.43 [[ 9.96404322e-01 6.96168121e-02 4.82900228e-02 3.24666294e+02] [-6.93900235e-02 9.97569340e-01 -6.35903638e-03 -4.43165589e+01] [-4.86153420e-02 2.98532552e-03 9.98813114e-01 -2.24349282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.330714057 meters 0.04309573896465285 Centerline is valid? [True, True] Translation: X:324.70, Y:-44.32, Z:-22.44 [[ 9.96479393e-01 6.82222677e-02 4.87292664e-02 3.24695626e+02] [-6.79899369e-02 9.97665406e-01 -6.41145075e-03 -4.43207332e+01] [-4.90529070e-02 3.07577880e-03 9.98791446e-01 -2.24361114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.360714057 meters 0.04309573896465285 Centerline is valid? [True, True] Translation: X:324.72, Y:-44.32, Z:-22.44 [[ 9.96483920e-01 6.81559908e-02 4.87294419e-02 3.24723706e+02] [-6.79236461e-02 9.97669930e-01 -6.41011641e-03 -4.43243598e+01] [-4.90527867e-02 3.07769656e-03 9.98791446e-01 -2.24377529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.390714057 meters 0.04319215821325986 Centerline is valid? [True, True] Translation: X:324.75, Y:-44.33, Z:-22.44 [[ 9.96557435e-01 6.73284547e-02 4.83751689e-02 3.24751894e+02] [-6.70986671e-02 9.97726073e-01 -6.36026742e-03 -4.43279699e+01] [-4.86933942e-02 3.09246243e-03 9.98808986e-01 -2.24395506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.420714057 meters 0.03985858519819969 Centerline is valid? [True, True] Translation: X:324.78, Y:-44.33, Z:-22.44 [[ 9.96644420e-01 6.68975905e-02 4.71657954e-02 3.24781580e+02] [-6.66788246e-02 9.97755239e-01 -6.19819697e-03 -4.43258563e+01] [-4.74745639e-02 3.03243862e-03 9.98867844e-01 -2.24417056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.450714057 meters 0.04128650599146691 Centerline is valid? [True, True] Translation: X:324.81, Y:-44.33, Z:-22.44 [[ 9.96671900e-01 6.70335851e-02 4.63855744e-02 3.24808511e+02] [-6.68222919e-02 9.97746291e-01 -6.09263163e-03 -4.43318371e+01] [-4.66894457e-02 2.97276435e-03 9.98905030e-01 -2.24438986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.480714057 meters 0.038450844632406264 Centerline is valid? [True, True] Translation: X:324.84, Y:-44.33, Z:-22.45 [[ 9.96633281e-01 6.80255578e-02 4.57670857e-02 3.24837318e+02] [-6.78210992e-02 9.97679413e-01 -6.00724247e-03 -4.43307388e+01] [-4.60695252e-02 2.88304372e-03 9.98934075e-01 -2.24465941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.51071405700003 meters 0.040848606201964795 Centerline is valid? [True, True] Translation: X:324.86, Y:-44.34, Z:-22.45 [[ 9.96577091e-01 6.91684039e-02 4.52750818e-02 3.24864105e+02] [-6.89696325e-02 9.97601078e-01 -5.93965796e-03 -4.43385008e+01] [-4.55773070e-02 2.79672130e-03 9.98956900e-01 -2.24491181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.540714057 meters 0.03786758011633223 Centerline is valid? [True, True] Translation: X:324.90, Y:-44.33, Z:-22.45 [[ 9.96431295e-01 7.17897584e-02 4.43948651e-02 3.24895032e+02] [-7.16014361e-02 9.97416345e-01 -5.81974222e-03 -4.43348436e+01] [-4.46979619e-02 2.62023718e-03 9.98997110e-01 -2.24502719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.57071405700003 meters 0.03741502288412829 Centerline is valid? [True, True] Translation: X:324.92, Y:-44.34, Z:-22.45 [[ 9.96270989e-01 7.41451331e-02 4.41204726e-02 3.24923756e+02] [-7.39615199e-02 9.97244335e-01 -5.78183537e-03 -4.43365792e+01] [-4.44275864e-02 2.49705763e-03 9.99009487e-01 -2.24515890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.600714057 meters 0.03581775713541306 Centerline is valid? [True, True] Translation: X:324.95, Y:-44.34, Z:-22.45 [[ 9.95873319e-01 7.86322554e-02 4.53133576e-02 3.24954445e+02] [-7.84433374e-02 9.96900906e-01 -5.93511223e-03 -4.43353616e+01] [-4.56396185e-02 2.35608891e-03 9.98955191e-01 -2.24519606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.63071405700003 meters 0.03809851324912548 Centerline is valid? [True, True] Translation: X:324.98, Y:-44.34, Z:-22.45 [[ 9.95651622e-01 8.06771663e-02 4.65729818e-02 3.24982967e+02] [-8.04798224e-02 9.96737572e-01 -6.10004183e-03 -4.43424650e+01] [-4.69131749e-02 2.32533124e-03 9.98896264e-01 -2.24541174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.660714057 meters 0.03710342011359785 Centerline is valid? [True, True] Translation: X:325.01, Y:-44.34, Z:-22.45 [[ 9.95314291e-01 8.36921923e-02 4.84260248e-02 3.25013395e+02] [-8.34824698e-02 9.96489072e-01 -6.34080381e-03 -4.43434669e+01] [-4.87866803e-02 2.26836849e-03 9.98806645e-01 -2.24541514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.69071405700004 meters 0.03399202439883831 Centerline is valid? [True, True] Translation: X:325.04, Y:-44.34, Z:-22.45 [[ 9.95293330e-01 8.35945917e-02 4.90217517e-02 3.25043190e+02] [-8.33795730e-02 9.96497190e-01 -6.41843544e-03 -4.43405958e+01] [-4.93865843e-02 2.30081325e-03 9.98777088e-01 -2.24546611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.720714057 meters 0.03432511777264509 Centerline is valid? [True, True] Translation: X:325.07, Y:-44.34, Z:-22.46 [[ 9.95443218e-01 8.21134352e-02 4.84786992e-02 3.25071507e+02] [-8.19015732e-02 9.96620232e-01 -6.34392724e-03 -4.43441991e+01] [-4.88357741e-02 2.34453762e-03 9.98804070e-01 -2.24571976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.750714057 meters 0.03409990071037431 Centerline is valid? [True, True] Translation: X:325.10, Y:-44.35, Z:-22.46 [[ 9.95564060e-01 8.08621550e-02 4.80989952e-02 3.25099898e+02] [-8.06523112e-02 9.96722444e-01 -6.29082521e-03 -4.43492377e+01] [-4.84500377e-02 2.38362436e-03 9.98822763e-01 -2.24596038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.780714057 meters 0.03594848605485864 Centerline is valid? [True, True] Translation: X:325.13, Y:-44.36, Z:-22.46 [[ 9.95985115e-01 7.62693216e-02 4.68683300e-02 3.25128962e+02] [-7.60652025e-02 9.97084027e-01 -6.12594617e-03 -4.43574430e+01] [-4.71988850e-02 2.53630219e-03 9.98882292e-01 -2.24634377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.810714057 meters 0.03934934006935898 Centerline is valid? [True, True] Translation: X:325.16, Y:-44.37, Z:-22.47 [[ 9.96144936e-01 7.45037379e-02 4.63083033e-02 3.25155705e+02] [-7.43025609e-02 9.97217374e-01 -6.05295597e-03 -4.43688213e+01] [-4.66304125e-02 2.58879592e-03 9.98908856e-01 -2.24662133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.840714057 meters 0.041625176388431245 Centerline is valid? [True, True] Translation: X:325.19, Y:-44.38, Z:-22.47 [[ 9.96510295e-01 7.02265047e-02 4.51161889e-02 3.25185611e+02] [-7.00313612e-02 9.97527381e-01 -5.89342729e-03 -4.43767746e+01] [-4.54185085e-02 2.71331285e-03 9.98964362e-01 -2.24686763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.870714057 meters 0.0377101385208324 Centerline is valid? [True, True] Translation: X:325.22, Y:-44.37, Z:-22.47 [[ 9.96681039e-01 6.80182137e-02 4.47261596e-02 3.25215810e+02] [-6.78242023e-02 9.97680179e-01 -5.84282560e-03 -4.43741664e+01] [-4.50198215e-02 2.78991739e-03 9.98982198e-01 -2.24689403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.900714057 meters 0.03976040259688807 Centerline is valid? [True, True] Translation: X:325.25, Y:-44.38, Z:-22.47 [[ 9.96918510e-01 6.46413501e-02 4.44407592e-02 3.25245517e+02] [-6.44465608e-02 9.97904284e-01 -5.80347435e-03 -4.43819371e+01] [-4.47227685e-02 2.92153691e-03 9.98995164e-01 -2.24714264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.930714057 meters 0.04064335588374149 Centerline is valid? [True, True] Translation: X:325.27, Y:-44.39, Z:-22.47 [[ 9.97016612e-01 6.32883880e-02 4.41865910e-02 3.25274593e+02] [-6.30944788e-02 9.97990874e-01 -5.77075926e-03 -4.43879655e+01] [-4.44630367e-02 2.96561292e-03 9.99006628e-01 -2.24728796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.960714057 meters 0.041000277926159893 Centerline is valid? [True, True] Translation: X:325.30, Y:-44.39, Z:-22.47 [[ 9.97138006e-01 6.12461149e-02 4.43250452e-02 3.25304089e+02] [-6.10490517e-02 9.98117990e-01 -5.78723305e-03 -4.43928399e+01] [-4.45960706e-02 3.06466805e-03 9.99000400e-01 -2.24748007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.990714057 meters 0.044976162023243546 Centerline is valid? [True, True] Translation: X:325.33, Y:-44.40, Z:-22.48 [[ 9.97193247e-01 6.00196594e-02 4.47578862e-02 3.25331104e+02] [-5.98175406e-02 9.98192228e-01 -5.84277074e-03 -4.44024517e+01] [-4.50276553e-02 3.14906485e-03 9.98980777e-01 -2.24771900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.020714057 meters 0.04461142487010131 Centerline is valid? [True, True] Translation: X:325.36, Y:-44.41, Z:-22.48 [[ 9.97212839e-01 5.95189583e-02 4.49894213e-02 3.25359560e+02] [-5.93144286e-02 9.98222098e-01 -5.86870624e-03 -4.44050529e+01] [-4.52587338e-02 3.18382739e-03 9.98970225e-01 -2.24783163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.050714057 meters 0.04205205151967398 Centerline is valid? [True, True] Translation: X:325.39, Y:-44.40, Z:-22.48 [[ 9.97208002e-01 5.93829749e-02 4.52754110e-02 3.25388554e+02] [-5.91758379e-02 9.98230122e-01 -5.90287689e-03 -4.44048569e+01] [-4.55458094e-02 3.20718569e-03 9.98957103e-01 -2.24788966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.080714057 meters 0.06535579465245163 Centerline is valid? [True, True] Translation: X:325.41, Y:-44.44, Z:-22.48 [[ 9.96831598e-01 6.35765341e-02 4.77994740e-02 3.25412666e+02] [-6.33506273e-02 9.97971899e-01 -6.22784060e-03 -4.44429535e+01] [-4.80984764e-02 3.17998164e-03 9.98837536e-01 -2.24846302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.110714057 meters 0.04083807909450934 Centerline is valid? [True, True] Translation: X:325.45, Y:-44.41, Z:-22.48 [[ 9.97164344e-01 5.96575292e-02 4.58720973e-02 3.25447959e+02] [-5.94454145e-02 9.98213672e-01 -5.97560312e-03 -4.44096922e+01] [-4.61466444e-02 3.23177253e-03 9.98929448e-01 -2.24821820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.140714057 meters 0.04335658185020922 Centerline is valid? [True, True] Translation: X:325.48, Y:-44.42, Z:-22.48 [[ 9.97139340e-01 5.99802508e-02 4.59946260e-02 3.25475446e+02] [-5.97673088e-02 9.98194351e-01 -5.99227978e-03 -4.44167809e+01] [-4.62709942e-02 3.22616289e-03 9.98923714e-01 -2.24842669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.170714057 meters 0.04080043005390876 Centerline is valid? [True, True] Translation: X:325.50, Y:-44.42, Z:-22.49 [[ 9.97152002e-01 5.98608844e-02 4.58754714e-02 3.25504647e+02] [-5.96490705e-02 9.98201536e-01 -5.97348963e-03 -4.44157447e+01] [-4.61505444e-02 3.22004792e-03 9.98929306e-01 -2.24852616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.200714057 meters 0.041231425461822735 Centerline is valid? [True, True] Translation: X:325.53, Y:-44.42, Z:-22.49 [[ 9.97184908e-01 5.97548378e-02 4.52947943e-02 3.25533140e+02] [-5.95483946e-02 9.98208015e-01 -5.89466422e-03 -4.44195281e+01] [-4.55658614e-02 3.18083791e-03 9.98956273e-01 -2.24882287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.230714057 meters 0.043797236466315705 Centerline is valid? [True, True] Translation: X:325.56, Y:-44.43, Z:-22.49 [[ 9.97260799e-01 5.87778729e-02 4.49005692e-02 3.25560381e+02] [-5.85741701e-02 9.98265976e-01 -5.84017216e-03 -4.44266942e+01] [-4.51659835e-02 3.19416118e-03 9.98974390e-01 -2.24911281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.26071405700003 meters 0.04604450385165361 Centerline is valid? [True, True] Translation: X:325.59, Y:-44.43, Z:-22.49 [[ 9.97281137e-01 5.85650783e-02 4.47265658e-02 3.25587787e+02] [-5.83628734e-02 9.98278501e-01 -5.81457288e-03 -4.44333289e+01] [-4.49901000e-02 3.18839295e-03 9.98982345e-01 -2.24935945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.290714057 meters 0.043529517532489445 Centerline is valid? [True, True] Translation: X:325.62, Y:-44.43, Z:-22.49 [[ 9.97327347e-01 5.79277752e-02 4.45256758e-02 3.25617016e+02] [-5.77269341e-02 9.98315652e-01 -5.78440746e-03 -4.44320990e+01] [-4.47857569e-02 3.19861700e-03 9.98991494e-01 -2.24946482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.32071405700003 meters 0.042621449040121495 Centerline is valid? [True, True] Translation: X:325.65, Y:-44.43, Z:-22.50 [[ 9.97344888e-01 5.78348530e-02 4.42527386e-02 3.25646232e+02] [-5.76365149e-02 9.98321099e-01 -5.74587194e-03 -4.44339951e+01] [-4.45107543e-02 3.18004238e-03 9.99003844e-01 -2.24958217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.350714057 meters 0.04482266154993413 Centerline is valid? [True, True] Translation: X:325.67, Y:-44.44, Z:-22.50 [[ 9.97337564e-01 5.79428584e-02 4.42765013e-02 3.25673257e+02] [-5.77445436e-02 9.98314856e-01 -5.74602480e-03 -4.44389798e+01] [-4.45348301e-02 3.17400002e-03 9.99002790e-01 -2.24978414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.38071405700003 meters 0.041930155351854466 Centerline is valid? [True, True] Translation: X:325.70, Y:-44.44, Z:-22.50 [[ 9.97294419e-01 5.80769083e-02 4.50656676e-02 3.25702715e+02] [-5.78717842e-02 9.98306918e-01 -5.84418202e-03 -4.44363259e+01] [-4.53287797e-02 3.22033952e-03 9.98966932e-01 -2.24982524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.410714057 meters 0.04762915429024322 Centerline is valid? [True, True] Translation: X:325.73, Y:-44.45, Z:-22.50 [[ 9.97278976e-01 5.82417183e-02 4.51945454e-02 3.25729001e+02] [-5.80357247e-02 9.98297321e-01 -5.85785900e-03 -4.44474424e+01] [-4.54587654e-02 3.21902143e-03 9.98961030e-01 -2.25008206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.44071405700004 meters 0.040106604292710596 Centerline is valid? [True, True] Translation: X:325.76, Y:-44.44, Z:-22.50 [[ 9.97231095e-01 5.84763168e-02 4.59419576e-02 3.25759333e+02] [-5.82638948e-02 9.98283482e-01 -5.95041270e-03 -4.44395826e+01] [-4.62110556e-02 3.25717919e-03 9.98926388e-01 -2.25001283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.470714057 meters 0.044306017878377714 Centerline is valid? [True, True] Translation: X:325.79, Y:-44.45, Z:-22.50 [[ 9.97240486e-01 5.79372189e-02 4.64186501e-02 3.25785956e+02] [-5.77199263e-02 9.98314731e-01 -6.00904518e-03 -4.44491641e+01] [-4.66885696e-02 3.31318208e-03 9.98904000e-01 -2.25023518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.500714057 meters 0.04481413161995765 Centerline is valid? [True, True] Translation: X:325.81, Y:-44.45, Z:-22.50 [[ 9.97279837e-01 5.70496506e-02 4.66718669e-02 3.25814839e+02] [-5.68292514e-02 9.98365661e-01 -6.03673327e-03 -4.44525614e+01] [-4.69399828e-02 3.36798512e-03 9.98892034e-01 -2.25045253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.530714057 meters 0.040779049248267994 Centerline is valid? [True, True] Translation: X:325.84, Y:-44.45, Z:-22.51 [[ 9.97418614e-01 5.56063938e-02 4.54316702e-02 3.25844632e+02] [-5.53962205e-02 9.98447177e-01 -5.87311431e-03 -4.44492403e+01] [-4.56877055e-02 3.34121072e-03 9.98950184e-01 -2.25056464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.560714057 meters 0.044022375900413496 Centerline is valid? [True, True] Translation: X:325.87, Y:-44.46, Z:-22.51 [[ 9.97589703e-01 5.34686809e-02 4.42253799e-02 3.25873301e+02] [-5.32675671e-02 9.98563925e-01 -5.71435310e-03 -4.44568285e+01] [-4.44674078e-02 3.34480142e-03 9.99005236e-01 -2.25087551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.590714057 meters 0.0448438380145443 Centerline is valid? [True, True] Translation: X:325.90, Y:-44.46, Z:-22.51 [[ 9.97642337e-01 5.26949302e-02 4.39660290e-02 3.25901353e+02] [-5.24954413e-02 9.98605008e-01 -5.68044213e-03 -4.44615245e+01] [-4.42040273e-02 3.35903347e-03 9.99016877e-01 -2.25110418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.620714057 meters 0.046526956392565016 Centerline is valid? [True, True] Translation: X:325.93, Y:-44.47, Z:-22.51 [[ 9.97715612e-01 5.16676375e-02 4.35202542e-02 3.25929248e+02] [-5.14712909e-02 9.98658656e-01 -5.62089759e-03 -4.44680487e+01] [-4.37522971e-02 3.36801362e-03 9.99036733e-01 -2.25138741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.650714057 meters 0.04450359539298199 Centerline is valid? [True, True] Translation: X:325.96, Y:-44.47, Z:-22.52 [[ 9.97881358e-01 4.93824187e-02 4.23576586e-02 3.25959201e+02] [-4.91944987e-02 9.98774249e-01 -5.46807860e-03 -4.44682899e+01] [-4.25757657e-02 3.37272992e-03 9.99087548e-01 -2.25159023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.680714057 meters 0.04798682210948207 Centerline is valid? [True, True] Translation: X:325.99, Y:-44.48, Z:-22.52 [[ 9.97904190e-01 4.90602778e-02 4.21938014e-02 3.25987186e+02] [-4.88735406e-02 9.98790124e-01 -5.44653658e-03 -4.44766533e+01] [-4.24099608e-02 3.37296121e-03 9.99094599e-01 -2.25187738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.710714057 meters 0.07111013215890617 Centerline is valid? [True, True] Translation: X:326.01, Y:-44.51, Z:-22.52 [[ 9.97465082e-01 5.45927117e-02 4.56404006e-02 3.26012204e+02] [-5.43800580e-02 9.98502944e-01 -5.88895751e-03 -4.45127340e+01] [-4.58935686e-02 3.39210186e-03 9.98940576e-01 -2.25236145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.740714057 meters 0.046805648216739215 Centerline is valid? [True, True] Translation: X:326.05, Y:-44.48, Z:-22.52 [[ 9.97715631e-01 5.16932222e-02 4.34894392e-02 3.26046797e+02] [-5.14974426e-02 9.98657364e-01 -5.61087025e-03 -4.44800145e+01] [-4.37210927e-02 3.35845805e-03 9.99038131e-01 -2.25205260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.770714057 meters 0.044546193919413404 Centerline is valid? [True, True] Translation: X:326.08, Y:-44.48, Z:-22.52 [[ 9.97512414e-01 5.50701396e-02 4.40029974e-02 3.26078107e+02] [-5.48729915e-02 9.98477206e-01 -5.67663287e-03 -4.44777778e+01] [-4.42486029e-02 3.24793565e-03 9.99015271e-01 -2.25214868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.800714057 meters 0.04335995295621193 Centerline is valid? [True, True] Translation: X:326.11, Y:-44.48, Z:-22.52 [[ 9.97342958e-01 5.74844488e-02 4.47500024e-02 3.26107860e+02] [-5.72829497e-02 9.98341291e-01 -5.77323558e-03 -4.44788341e+01] [-4.50076464e-02 3.19448372e-03 9.98981535e-01 -2.25229224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.830714057 meters 0.04249312690023813 Centerline is valid? [True, True] Translation: X:326.14, Y:-44.48, Z:-22.52 [[ 9.96981371e-01 6.31834905e-02 4.51219657e-02 3.26137241e+02] [-6.29845057e-02 9.97997538e-01 -5.81954052e-03 -4.44790846e+01] [-4.53993096e-02 2.95998878e-03 9.98964534e-01 -2.25242236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.860714057 meters 0.042257492119505274 Centerline is valid? [True, True] Translation: X:326.17, Y:-44.48, Z:-22.53 [[ 9.96837025e-01 6.52099488e-02 4.54269620e-02 3.26167078e+02] [-6.50104250e-02 9.97867394e-01 -5.85738127e-03 -4.44808013e+01] [-4.57120438e-02 2.88562841e-03 9.98950490e-01 -2.25258086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.890714057 meters 0.04098589609832412 Centerline is valid? [True, True] Translation: X:326.20, Y:-44.48, Z:-22.53 [[ 9.96595174e-01 6.88672720e-02 4.53360565e-02 3.26197719e+02] [-6.86723556e-02 9.97622146e-01 -5.84474266e-03 -4.44813323e+01] [-4.56307654e-02 2.71150854e-03 9.98954694e-01 -2.25280395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.920714057 meters 0.04048152901550858 Centerline is valid? [True, True] Translation: X:326.23, Y:-44.48, Z:-22.53 [[ 9.96546010e-01 6.97685204e-02 4.50378056e-02 3.26226624e+02] [-6.95770554e-02 9.97559680e-01 -5.80680961e-03 -4.44836162e+01] [-4.53330315e-02 2.65315505e-03 9.98968406e-01 -2.25299720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.950714057 meters 0.041211004333440125 Centerline is valid? [True, True] Translation: X:326.25, Y:-44.49, Z:-22.53 [[ 9.96510267e-01 7.04124705e-02 4.48260259e-02 3.26254406e+02] [-7.02235663e-02 9.97514550e-01 -5.77697936e-03 -4.44876692e+01] [-4.51213845e-02 2.60897584e-03 9.98978105e-01 -2.25324646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.980714057 meters 0.041675698920027496 Centerline is valid? [True, True] Translation: X:326.28, Y:-44.49, Z:-22.54 [[ 9.96449840e-01 7.17526355e-02 4.40372057e-02 3.26281806e+02] [-7.15718340e-02 9.97419328e-01 -5.67072636e-03 -4.44904291e+01] [-4.43304497e-02 2.49877079e-03 9.99013797e-01 -2.25351571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.01071405700003 meters 0.04059135506427185 Centerline is valid? [True, True] Translation: X:326.31, Y:-44.49, Z:-22.54 [[ 9.96415060e-01 7.26636899e-02 4.33245447e-02 3.26310539e+02] [-7.24897955e-02 9.97353581e-01 -5.57345667e-03 -4.44917291e+01] [-4.36148778e-02 2.41288878e-03 9.99045505e-01 -2.25366503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.040714057 meters 0.040051808757269665 Centerline is valid? [True, True] Translation: X:326.34, Y:-44.49, Z:-22.54 [[ 9.96254812e-01 7.48897214e-02 4.32189578e-02 3.26339115e+02] [-7.47188978e-02 9.97189154e-01 -5.55673795e-03 -4.44938590e+01] [-4.35136185e-02 2.30665404e-03 9.99050171e-01 -2.25382253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.07071405700003 meters 0.03968411461207391 Centerline is valid? [True, True] Translation: X:326.37, Y:-44.50, Z:-22.54 [[ 9.96012790e-01 7.74450255e-02 4.42808134e-02 3.26367619e+02] [-7.72683152e-02 9.96994092e-01 -5.69101289e-03 -4.44966377e+01] [-4.45884499e-02 2.24681778e-03 9.99002914e-01 -2.25394423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.100714057 meters 0.03953476219213048 Centerline is valid? [True, True] Translation: X:326.40, Y:-44.50, Z:-22.54 [[ 9.95850585e-01 7.89985408e-02 4.51756828e-02 3.26395279e+02] [-7.88162892e-02 9.96872261e-01 -5.80414568e-03 -4.44997995e+01] [-4.54929041e-02 2.21948218e-03 9.98962196e-01 -2.25400435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.13071405700003 meters 0.03917634541905473 Centerline is valid? [True, True] Translation: X:326.42, Y:-44.50, Z:-22.54 [[ 9.95739400e-01 8.00274077e-02 4.58111542e-02 3.26423816e+02] [-7.98412556e-02 9.96790238e-01 -5.88186130e-03 -4.45025115e+01] [-4.61348214e-02 2.19918097e-03 9.98932801e-01 -2.25414733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.160714057 meters 0.03813595143134871 Centerline is valid? [True, True] Translation: X:326.45, Y:-44.50, Z:-22.54 [[ 9.95333090e-01 8.38587459e-02 4.77467320e-02 3.26453251e+02] [-8.36610806e-02 9.96475431e-01 -6.12687004e-03 -4.45043240e+01] [-4.80922370e-02 2.10373330e-03 9.98840684e-01 -2.25408722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.19071405700004 meters 0.0374817126516402 Centerline is valid? [True, True] Translation: X:326.48, Y:-44.51, Z:-22.54 [[ 9.95146754e-01 8.57095482e-02 4.83405672e-02 3.26482167e+02] [-8.55091696e-02 9.96318081e-01 -6.20183047e-03 -4.45071111e+01] [-4.86941373e-02 2.03816970e-03 9.98811657e-01 -2.25419581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.220714057 meters 0.035840200207990676 Centerline is valid? [True, True] Translation: X:326.51, Y:-44.51, Z:-22.54 [[ 9.94737194e-01 8.99739132e-02 4.90164227e-02 3.26510739e+02] [-8.97732120e-02 9.95942401e-01 -6.28528387e-03 -4.45086152e+01] [-4.93830452e-02 1.85184394e-03 9.98778196e-01 -2.25428233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.250714057 meters 0.035321493581396246 Centerline is valid? [True, True] Translation: X:326.54, Y:-44.51, Z:-22.55 [[ 9.94590946e-01 9.17362475e-02 4.87166473e-02 3.26539619e+02] [-9.15402100e-02 9.95781800e-01 -6.24471707e-03 -4.45113007e+01] [-4.90840176e-02 1.75140694e-03 9.98793118e-01 -2.25451522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.280714057 meters 0.03350250700104683 Centerline is valid? [True, True] Translation: X:326.57, Y:-44.51, Z:-22.55 [[ 9.94226608e-01 9.62329378e-02 4.74623394e-02 3.26568501e+02] [-9.60521368e-02 9.95357730e-01 -6.08078610e-03 -4.45125698e+01] [-4.78271783e-02 1.48682022e-03 9.98854519e-01 -2.25481626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.310714057 meters 0.03350250700104683 Centerline is valid? [True, True] Translation: X:326.60, Y:-44.52, Z:-22.55 [[ 9.94249637e-01 9.59947609e-02 4.74622568e-02 3.26595645e+02] [-9.58136582e-02 9.95380711e-01 -6.08143267e-03 -4.45159188e+01] [-4.78268006e-02 1.49892977e-03 9.98854519e-01 -2.25497482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.340714057 meters 0.02876199915366626 Centerline is valid? [True, True] Translation: X:326.63, Y:-44.51, Z:-22.55 [[ 9.94102645e-01 9.77440516e-02 4.69684211e-02 3.26625483e+02] [-9.75691834e-02 9.95210617e-01 -6.00690032e-03 -4.45096813e+01] [-4.73306101e-02 1.38880500e-03 9.98878313e-01 -2.25493045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.370714057 meters 0.02849127480363932 Centerline is valid? [True, True] Translation: X:326.65, Y:-44.51, Z:-22.55 [[ 9.93755222e-01 1.02118087e-01 4.49717057e-02 3.26653465e+02] [-1.01962834e-01 9.94771656e-01 -5.73872615e-03 -4.45137628e+01] [-4.53226059e-02 1.11744653e-03 9.98971778e-01 -2.25529536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.400714057 meters 0.03035512813309142 Centerline is valid? [True, True] Translation: X:326.68, Y:-44.52, Z:-22.56 [[ 9.93498103e-01 1.04779161e-01 4.45291633e-02 3.26679874e+02] [-1.04629727e-01 9.94495027e-01 -5.67985054e-03 -4.45238108e+01] [-4.48791615e-02 9.83846534e-04 9.98991938e-01 -2.25591205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.430714057 meters 0.028575098393493502 Centerline is valid? [True, True] Translation: X:326.71, Y:-44.52, Z:-22.56 [[ 9.92873629e-01 1.10435430e-01 4.47880815e-02 3.26709141e+02] [-1.10290309e-01 9.93883036e-01 -5.70601109e-03 -4.45249232e+01] [-4.51442602e-02 7.25656587e-04 9.98980215e-01 -2.25599350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.460714057 meters 0.027864125529046536 Centerline is valid? [True, True] Translation: X:326.74, Y:-44.53, Z:-22.56 [[ 9.92509139e-01 1.13614274e-01 4.49155355e-02 3.26736574e+02] [-1.13471612e-01 9.93524765e-01 -5.72146241e-03 -4.45265228e+01] [-4.52747366e-02 5.81965525e-04 9.98974404e-01 -2.25611437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.490714057 meters 0.02631096036337647 Centerline is valid? [True, True] Translation: X:326.77, Y:-44.52, Z:-22.56 [[ 9.91537703e-01 1.21417615e-01 4.59428695e-02 3.26766305e+02] [-1.21276872e-01 9.92601487e-01 -5.84886474e-03 -4.45234607e+01] [-4.63131158e-02 2.27562403e-04 9.98926946e-01 -2.25564859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.520714057 meters 0.026384708826405687 Centerline is valid? [True, True] Translation: X:326.79, Y:-44.53, Z:-22.56 [[ 9.91034620e-01 1.25139227e-01 4.68033753e-02 3.26794049e+02] [-1.24997380e-01 9.92139189e-01 -5.95685358e-03 -4.45268246e+01] [-4.71808989e-02 5.31488490e-05 9.98886360e-01 -2.25621796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.550714057 meters 0.026283306777066286 Centerline is valid? [True, True] Translation: X:326.82, Y:-44.53, Z:-22.56 [[ 9.90053020e-01 1.32308072e-01 4.78496840e-02 3.26823101e+02] [-1.32168761e-01 9.91208596e-01 -6.07772883e-03 -4.45298427e+01] [-4.82331506e-02 -3.06959654e-04 9.98836057e-01 -2.25591193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.580714057 meters 0.026517156095797172 Centerline is valid? [True, True] Translation: X:326.85, Y:-44.53, Z:-22.56 [[ 9.89698142e-01 1.34869349e-01 4.80400571e-02 3.26850479e+02] [-1.34732576e-01 9.90863290e-01 -6.08881173e-03 -4.45337894e+01] [-4.84223231e-02 -4.46474981e-04 9.98826852e-01 -2.25610109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.610714057 meters 0.026553371147637384 Centerline is valid? [True, True] Translation: X:326.88, Y:-44.54, Z:-22.56 [[ 9.89552770e-01 1.35899218e-01 4.81323063e-02 3.26877829e+02] [-1.35763266e-01 9.90722540e-01 -6.09782703e-03 -4.45426300e+01] [-4.85144507e-02 -5.00477475e-04 9.98822355e-01 -2.25626834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.640714057 meters 0.026446516418445157 Centerline is valid? [True, True] Translation: X:326.90, Y:-44.55, Z:-22.56 [[ 9.89760757e-01 1.34471863e-01 4.78640035e-02 3.26904921e+02] [-1.34336290e-01 9.90917315e-01 -6.05276071e-03 -4.45508556e+01] [-4.82431958e-02 -4.39087663e-04 9.98835523e-01 -2.25643851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.670714057 meters 0.026139025215066905 Centerline is valid? [True, True] Translation: X:326.93, Y:-44.57, Z:-22.57 [[ 9.90721991e-01 1.27669042e-01 4.65891908e-02 3.26931525e+02] [-1.27533680e-01 9.91816819e-01 -5.87865616e-03 -4.45660426e+01] [-4.69584654e-02 -1.17577013e-04 9.98896836e-01 -2.25673774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.700714057 meters 0.026143793270721024 Centerline is valid? [True, True] Translation: X:326.96, Y:-44.58, Z:-22.57 [[ 9.91299334e-01 1.23233256e-01 4.62514424e-02 3.26957725e+02] [-1.23095611e-01 9.92377730e-01 -5.82342461e-03 -4.45761418e+01] [-4.66165410e-02 7.94073900e-05 9.98912855e-01 -2.25699795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.730714057 meters 0.026075483475228606 Centerline is valid? [True, True] Translation: X:326.98, Y:-44.59, Z:-22.57 [[ 9.91881110e-01 1.18251759e-01 4.67801697e-02 3.26984374e+02] [-1.18105696e-01 9.92983597e-01 -5.88384790e-03 -4.45877771e+01] [-4.71477165e-02 3.11073066e-04 9.98887880e-01 -2.25729747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.76071405700003 meters 0.02710339018301012 Centerline is valid? [True, True] Translation: X:327.01, Y:-44.61, Z:-22.58 [[ 9.93191310e-01 1.06734292e-01 4.66777480e-02 3.27010434e+02] [-1.06576349e-01 9.94287215e-01 -5.86656927e-03 -4.46086279e+01] [-4.70372521e-02 8.51881646e-04 9.98892773e-01 -2.25754594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.790714057 meters 0.02737483360411135 Centerline is valid? [True, True] Translation: X:327.04, Y:-44.62, Z:-22.58 [[ 9.93790101e-01 1.00992871e-01 4.67084124e-02 3.27038605e+02] [-1.00828491e-01 9.94886517e-01 -5.86810403e-03 -4.46188488e+01] [-4.70622064e-02 1.12212497e-03 9.98891330e-01 -2.25760019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.82071405700003 meters 0.02892554611821049 Centerline is valid? [True, True] Translation: X:327.07, Y:-44.64, Z:-22.58 [[ 9.94807557e-01 9.02042685e-02 4.71286932e-02 3.27067275e+02] [-9.00249568e-02 9.95921928e-01 -5.91787337e-03 -4.46372557e+01] [-4.74703164e-02 1.64438659e-03 9.98871296e-01 -2.25770103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.850714057 meters 0.03321349786549335 Centerline is valid? [True, True] Translation: X:327.09, Y:-44.65, Z:-22.58 [[ 9.95271145e-01 8.49597791e-02 4.70869912e-02 3.27094152e+02] [-8.47749175e-02 9.96382583e-01 -5.91277953e-03 -4.46540933e+01] [-4.74190063e-02 1.89302306e-03 9.98873292e-01 -2.25806445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.88071405700003 meters 0.03129104529381776 Centerline is valid? [True, True] Translation: X:327.12, Y:-44.66, Z:-22.58 [[ 9.95667052e-01 8.02212350e-02 4.70284385e-02 3.27124132e+02] [-8.00315899e-02 9.96774838e-01 -5.90475287e-03 -4.46580920e+01] [-4.73504508e-02 2.11540717e-03 9.98876098e-01 -2.25806981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.910714057 meters 0.03283029339883925 Centerline is valid? [True, True] Translation: X:327.15, Y:-44.67, Z:-22.58 [[ 9.96221407e-01 7.23347394e-02 4.80686452e-02 3.27152788e+02] [-7.21274890e-02 9.97377166e-01 -6.03447096e-03 -4.46717414e+01] [-4.83790709e-02 2.54459848e-03 9.98825806e-01 -2.25816275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.94071405700004 meters 0.038492382293286165 Centerline is valid? [True, True] Translation: X:327.18, Y:-44.69, Z:-22.58 [[ 9.96458434e-01 6.72504507e-02 5.04773807e-02 3.27180154e+02] [-6.70154296e-02 9.97731821e-01 -6.33599810e-03 -4.46902789e+01] [-5.07889877e-02 2.93079539e-03 9.98705106e-01 -2.25829882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.970714057 meters 0.03561299481822324 Centerline is valid? [True, True] Translation: X:327.21, Y:-44.69, Z:-22.58 [[ 9.96528814e-01 6.59016895e-02 5.08654188e-02 3.27209584e+02] [-6.56613452e-02 9.97821546e-01 -6.38357631e-03 -4.46915865e+01] [-5.11752993e-02 3.02152590e-03 9.98685115e-01 -2.25833679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.000714057 meters 0.03636410180061563 Centerline is valid? [True, True] Translation: X:327.24, Y:-44.70, Z:-22.59 [[ 9.96571532e-01 6.50440891e-02 5.11316716e-02 3.27238468e+02] [-6.48001902e-02 9.97877638e-01 -6.41514681e-03 -4.46985703e+01] [-5.14404191e-02 3.07981064e-03 9.98671316e-01 -2.25853711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.030714057 meters 0.03718884290057234 Centerline is valid? [True, True] Translation: X:327.27, Y:-44.71, Z:-22.59 [[ 9.96688287e-01 6.35773828e-02 5.06988601e-02 3.27267572e+02] [-6.33358077e-02 9.97972013e-01 -6.35893859e-03 -4.47063502e+01] [-5.10003282e-02 3.12682636e-03 9.98693742e-01 -2.25878557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.060714057 meters 0.03737493223302395 Centerline is valid? [True, True] Translation: X:327.30, Y:-44.71, Z:-22.59 [[ 9.96814821e-01 6.25580230e-02 4.94641963e-02 3.27297850e+02] [-6.23268828e-02 9.98036513e-01 -6.20308483e-03 -4.47110455e+01] [-4.97551267e-02 3.10037773e-03 9.98756635e-01 -2.25902210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.090714057 meters 0.040911921519976094 Centerline is valid? [True, True] Translation: X:327.33, Y:-44.72, Z:-22.59 [[ 9.96804985e-01 6.25363575e-02 4.96892863e-02 3.27325867e+02] [-6.23030865e-02 9.98037824e-01 -6.23118078e-03 -4.47217833e+01] [-4.99814625e-02 3.11547616e-03 9.98745286e-01 -2.25932181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.120714057 meters 0.03894948421869196 Centerline is valid? [True, True] Translation: X:327.36, Y:-44.72, Z:-22.59 [[ 9.96801647e-01 6.25657680e-02 4.97192150e-02 3.27356573e+02] [-6.23322030e-02 9.98035976e-01 -6.23591384e-03 -4.47234185e+01] [-5.00117200e-02 3.11686098e-03 9.98743767e-01 -2.25943784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.150714057 meters 0.03876666367874303 Centerline is valid? [True, True] Translation: X:327.39, Y:-44.73, Z:-22.60 [[ 9.96832328e-01 6.22417190e-02 4.95103938e-02 3.27387087e+02] [-6.20097160e-02 9.98056228e-01 -6.20972293e-03 -4.47266209e+01] [-4.98006607e-02 3.11992711e-03 9.98754304e-01 -2.25962581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.180714057 meters 0.03927303162079205 Centerline is valid? [True, True] Translation: X:327.42, Y:-44.73, Z:-22.60 [[ 9.96845288e-01 6.19391583e-02 4.96287560e-02 3.27417521e+02] [-6.17056702e-02 9.98074980e-01 -6.22456823e-03 -4.47311434e+01] [-4.99187642e-02 3.14255586e-03 9.98748337e-01 -2.25982692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.210714057 meters 0.04084646891034363 Centerline is valid? [True, True] Translation: X:327.45, Y:-44.74, Z:-22.60 [[ 9.96888709e-01 6.20679086e-02 4.85847430e-02 3.27446761e+02] [-6.18442952e-02 9.98067207e-01 -6.09377826e-03 -4.47372656e+01] [-4.88690668e-02 3.07012955e-03 9.98800475e-01 -2.26008498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.240714057 meters 0.03636321741334582 Centerline is valid? [True, True] Translation: X:327.48, Y:-44.73, Z:-22.60 [[ 9.96940907e-01 6.16696110e-02 4.80175691e-02 3.27478320e+02] [-6.14507807e-02 9.98091950e-01 -6.02165643e-03 -4.47329408e+01] [-4.82973024e-02 3.05251852e-03 9.98828340e-01 -2.26017825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.270714057 meters 0.035883348469506485 Centerline is valid? [True, True] Translation: X:327.51, Y:-44.74, Z:-22.60 [[ 9.96909990e-01 6.23777416e-02 4.77440045e-02 3.27508446e+02] [-6.21621999e-02 9.98048100e-01 -5.98752634e-03 -4.47350682e+01] [-4.80243014e-02 3.00115247e-03 9.98841659e-01 -2.26024792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.300714057 meters 0.03729282348817101 Centerline is valid? [True, True] Translation: X:327.54, Y:-44.74, Z:-22.60 [[ 9.96852341e-01 6.32240143e-02 4.78344500e-02 3.27537373e+02] [-6.30086666e-02 9.97994956e-01 -5.99799192e-03 -4.47393625e+01] [-4.81177569e-02 2.96512738e-03 9.98837269e-01 -2.26043520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.330714057 meters 0.035890699295681894 Centerline is valid? [True, True] Translation: X:327.57, Y:-44.74, Z:-22.61 [[ 9.96855895e-01 6.34293251e-02 4.74873125e-02 3.27566907e+02] [-6.32173586e-02 9.97982023e-01 -5.95379221e-03 -4.47402353e+01] [-4.77691292e-02 2.93305040e-03 9.98854097e-01 -2.26057314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.360714057 meters 0.03626596348171707 Centerline is valid? [True, True] Translation: X:327.60, Y:-44.74, Z:-22.61 [[ 9.96802730e-01 6.38769394e-02 4.80005637e-02 3.27595479e+02] [-6.36609555e-02 9.97953448e-01 -6.01654703e-03 -4.47438745e+01] [-4.82866466e-02 2.94154875e-03 9.98829188e-01 -2.26070465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.390714057 meters 0.03663120371732202 Centerline is valid? [True, True] Translation: X:327.63, Y:-44.75, Z:-22.61 [[ 9.96708834e-01 6.44275599e-02 4.91994872e-02 3.27625124e+02] [-6.42014512e-02 9.97917922e-01 -6.16394781e-03 -4.47459187e+01] [-4.94941781e-02 2.98498276e-03 9.98769952e-01 -2.26080233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.420714057 meters 0.03848668374668695 Centerline is valid? [True, True] Translation: X:327.65, Y:-44.75, Z:-22.61 [[ 9.96619470e-01 6.54813566e-02 4.96167707e-02 3.27653923e+02] [-6.52527821e-02 9.97849415e-01 -6.21443632e-03 -4.47508451e+01] [-4.99169953e-02 2.95579590e-03 9.98748996e-01 -2.26096699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.450714057 meters 0.036774806610513244 Centerline is valid? [True, True] Translation: X:327.68, Y:-44.75, Z:-22.61 [[ 9.96646445e-01 6.53595959e-02 4.92339957e-02 3.27683521e+02] [-6.51344758e-02 9.97857453e-01 -6.16476720e-03 -4.47502039e+01] [-4.95314362e-02 2.93726282e-03 9.98768246e-01 -2.26107904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.480714057 meters 0.03743625609387352 Centerline is valid? [True, True] Translation: X:327.71, Y:-44.75, Z:-22.61 [[ 9.96618057e-01 6.52007941e-02 5.00130523e-02 3.27711412e+02] [-6.49683773e-02 9.97867685e-01 -6.26051447e-03 -4.47537758e+01] [-5.03145992e-02 2.99007491e-03 9.98728942e-01 -2.26127684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.51071405700003 meters 0.037969685449555875 Centerline is valid? [True, True] Translation: X:327.74, Y:-44.76, Z:-22.61 [[ 9.96596287e-01 6.49192643e-02 5.08067879e-02 3.27739633e+02] [-6.46791306e-02 9.97885858e-01 -6.35809436e-03 -4.47578157e+01] [-5.11121379e-02 3.05031436e-03 9.98688262e-01 -2.26146634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.540714057 meters 0.03742883390315619 Centerline is valid? [True, True] Translation: X:327.77, Y:-44.76, Z:-22.62 [[ 9.96673934e-01 6.35503029e-02 5.10140052e-02 3.27768867e+02] [-6.33065580e-02 9.97973726e-01 -6.38131586e-03 -4.47596185e+01] [-5.13161714e-02 3.13057011e-03 9.98677551e-01 -2.26167494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.57071405700003 meters 0.04046080783981569 Centerline is valid? [True, True] Translation: X:327.80, Y:-44.77, Z:-22.62 [[ 9.96844388e-01 6.07951083e-02 5.10413715e-02 3.27797983e+02] [-6.05476761e-02 9.98144907e-01 -6.38142435e-03 -4.47665652e+01] [-5.13346445e-02 3.27085061e-03 9.98676152e-01 -2.26191870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.600714057 meters 0.04174925239039377 Centerline is valid? [True, True] Translation: X:327.83, Y:-44.77, Z:-22.62 [[ 9.96948571e-01 5.91349679e-02 5.09568650e-02 3.27828741e+02] [-5.88859752e-02 9.98244358e-01 -6.37518086e-03 -4.47718187e+01] [-5.12443991e-02 3.35508276e-03 9.98680507e-01 -2.26209483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.63071405700003 meters 0.04641007307342984 Centerline is valid? [True, True] Translation: X:327.86, Y:-44.78, Z:-22.62 [[ 9.97169744e-01 5.58619335e-02 5.03184481e-02 3.27857850e+02] [-5.56149044e-02 9.98432435e-01 -6.29722003e-03 -4.47810844e+01] [-5.05913455e-02 3.48094161e-03 9.98713372e-01 -2.26232488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.660714057 meters 0.04794646686121703 Centerline is valid? [True, True] Translation: X:327.89, Y:-44.79, Z:-22.63 [[ 9.97361184e-01 5.24787378e-02 5.01662362e-02 3.27888088e+02] [-5.22289310e-02 9.98615401e-01 -6.27847224e-03 -4.47866643e+01] [-5.04262624e-02 3.64177561e-03 9.98721147e-01 -2.26263279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.69071405700004 meters 0.04613743500544768 Centerline is valid? [True, True] Translation: X:327.92, Y:-44.79, Z:-22.63 [[ 9.97438755e-01 5.12549079e-02 4.98885172e-02 3.27919802e+02] [-5.10064157e-02 9.98678817e-01 -6.24221918e-03 -4.47872739e+01] [-5.01425498e-02 3.68159688e-03 9.98735286e-01 -2.26281221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.720714057 meters 0.04584697914218158 Centerline is valid? [True, True] Translation: X:327.95, Y:-44.79, Z:-22.63 [[ 9.97493058e-01 5.01326824e-02 4.99430992e-02 3.27952172e+02] [-4.98816305e-02 9.98735510e-01 -6.26132678e-03 -4.47901088e+01] [-5.01938438e-02 3.75438677e-03 9.98732438e-01 -2.26301215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.750714057 meters 0.050654883385796524 Centerline is valid? [True, True] Translation: X:327.98, Y:-44.80, Z:-22.63 [[ 9.97595041e-01 4.82142136e-02 4.97948190e-02 3.27981402e+02] [-4.79620784e-02 9.98829624e-01 -6.24670047e-03 -4.47982218e+01] [-5.00377201e-02 3.84341440e-03 9.98739933e-01 -2.26332404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.780714057 meters 0.044596595218932944 Centerline is valid? [True, True] Translation: X:328.01, Y:-44.79, Z:-22.63 [[ 9.97640972e-01 4.73949155e-02 4.96609822e-02 3.28014070e+02] [-4.71431766e-02 9.98868721e-01 -6.22891636e-03 -4.47919836e+01] [-4.99000207e-02 3.87304572e-03 9.98746708e-01 -2.26347074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.810714057 meters 0.049888018238617556 Centerline is valid? [True, True] Translation: X:328.04, Y:-44.80, Z:-22.64 [[ 9.97673336e-01 4.66958152e-02 4.96730960e-02 3.28044402e+02] [-4.64428125e-02 9.98901485e-01 -6.23604296e-03 -4.48013801e+01] [-4.99097265e-02 3.91457550e-03 9.98746061e-01 -2.26375203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.840714057 meters 0.04902242015649069 Centerline is valid? [True, True] Translation: X:328.08, Y:-44.80, Z:-22.64 [[ 9.97654593e-01 4.68063226e-02 4.99447764e-02 3.28077397e+02] [-4.65501180e-02 9.98896207e-01 -6.28131896e-03 -4.48026160e+01] [-5.01836531e-02 3.94165148e-03 9.98732229e-01 -2.26391113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.870714057 meters 0.0498640690225714 Centerline is valid? [True, True] Translation: X:328.11, Y:-44.80, Z:-22.64 [[ 9.97655058e-01 4.57342900e-02 5.09191516e-02 3.28109624e+02] [-4.54657945e-02 9.98945270e-01 -6.41944827e-03 -4.48046354e+01] [-5.11590345e-02 4.08931536e-03 9.98682147e-01 -2.26395315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.900714057 meters 0.052085286684033276 Centerline is valid? [True, True] Translation: X:328.14, Y:-44.81, Z:-22.64 [[ 9.97661916e-01 4.51796793e-02 5.12786248e-02 3.28140664e+02] [-4.49065133e-02 9.98970259e-01 -6.46736933e-03 -4.48104890e+01] [-5.15180147e-02 4.14950383e-03 9.98663445e-01 -2.26412641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.930714057 meters 0.052216426611789275 Centerline is valid? [True, True] Translation: X:328.17, Y:-44.81, Z:-22.64 [[ 9.97717956e-01 4.43656878e-02 5.08975949e-02 3.28172273e+02] [-4.40949511e-02 9.99006649e-01 -6.43041346e-03 -4.48138897e+01] [-5.11323254e-02 4.17141202e-03 9.98683175e-01 -2.26432248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.960714057 meters 0.05088298221770031 Centerline is valid? [True, True] Translation: X:328.20, Y:-44.81, Z:-22.65 [[ 9.97871732e-01 4.24318166e-02 4.95131099e-02 3.28203313e+02] [-4.21726592e-02 9.99090679e-01 -6.26759237e-03 -4.48145405e+01] [-4.97340319e-02 4.16615374e-03 9.98753808e-01 -2.26470606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.990714057 meters 0.046786114177196865 Centerline is valid? [True, True] Translation: X:328.24, Y:-44.81, Z:-22.65 [[ 9.97929680e-01 4.16717631e-02 4.89879271e-02 3.28235625e+02] [-4.14172195e-02 9.99122701e-01 -6.20013840e-03 -4.48125071e+01] [-4.92033208e-02 4.15835840e-03 9.98780127e-01 -2.26496034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.020714057 meters 0.0471154753406236 Centerline is valid? [True, True] Translation: X:328.27, Y:-44.81, Z:-22.65 [[ 9.98071161e-01 4.02850010e-02 4.72342724e-02 3.28266350e+02] [-4.00462315e-02 9.99179868e-01 -5.99084549e-03 -4.48147826e+01] [-4.74368752e-02 4.08773551e-03 9.98865874e-01 -2.26534437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.050714057 meters 0.07408572570366638 Centerline is valid? [True, True] Translation: X:328.29, Y:-44.85, Z:-22.66 [[ 9.97971907e-01 4.26611496e-02 4.72450940e-02 3.28290904e+02] [-4.24248632e-02 9.99081684e-01 -5.99324696e-03 -4.48549372e+01] [-4.74573869e-02 3.97672545e-03 9.98865347e-01 -2.26594051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.080714057 meters 0.048838916069198254 Centerline is valid? [True, True] Translation: X:328.33, Y:-44.82, Z:-22.66 [[ 9.98163175e-01 3.99427373e-02 4.55505704e-02 3.28326036e+02] [-3.97203080e-02 9.99194130e-01 -5.77818991e-03 -4.48207225e+01] [-4.57446593e-02 3.95829370e-03 9.98945323e-01 -2.26581701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.110714057 meters 0.049519838268364404 Centerline is valid? [True, True] Translation: X:328.36, Y:-44.82, Z:-22.66 [[ 9.98132675e-01 4.06836279e-02 4.55632098e-02 3.28358005e+02] [-4.04619521e-02 9.99164377e-01 -5.77736527e-03 -4.48242852e+01] [-4.57601803e-02 3.92300064e-03 9.98944751e-01 -2.26600058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.140714057 meters 0.045121405606871834 Centerline is valid? [True, True] Translation: X:328.39, Y:-44.82, Z:-22.66 [[ 9.98028891e-01 4.24522965e-02 4.62183498e-02 3.28390474e+02] [-4.22254288e-02 9.99090839e-01 -5.87434972e-03 -4.48183774e+01] [-4.64257095e-02 3.91118110e-03 9.98914088e-01 -2.26593820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.170714057 meters 0.045121405606871834 Centerline is valid? [True, True] Translation: X:328.42, Y:-44.82, Z:-22.66 [[ 9.98016721e-01 4.27372900e-02 4.62184936e-02 3.28422884e+02] [-4.25107773e-02 9.99078745e-01 -5.87322171e-03 -4.48225763e+01] [-4.64269202e-02 3.89678938e-03 9.98914088e-01 -2.26612751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.200714057 meters 0.04955879389497574 Centerline is valid? [True, True] Translation: X:328.45, Y:-44.83, Z:-22.66 [[ 9.97915944e-01 4.38450978e-02 4.73431704e-02 3.28452949e+02] [-4.36078566e-02 9.99030510e-01 -6.03286592e-03 -4.48310943e+01] [-4.75617833e-02 3.95575890e-03 9.98860465e-01 -2.26630666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.230714057 meters 0.049427302461054326 Centerline is valid? [True, True] Translation: X:328.48, Y:-44.83, Z:-22.66 [[ 9.97785414e-01 4.51514557e-02 4.88427520e-02 3.28483928e+02] [-4.49003937e-02 9.98972069e-01 -6.22580181e-03 -4.48315567e+01] [-4.90736490e-02 4.01895545e-03 9.98787077e-01 -2.26636014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.26071405700003 meters 0.048332806359598746 Centerline is valid? [True, True] Translation: X:328.52, Y:-44.83, Z:-22.67 [[ 9.97756604e-01 4.58927213e-02 4.87402963e-02 3.28516409e+02] [-4.56435954e-02 9.98938469e-01 -6.21264121e-03 -4.48326481e+01] [-4.89736720e-02 3.97402143e-03 9.98792164e-01 -2.26651727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.290714057 meters 0.047708218364997904 Centerline is valid? [True, True] Translation: X:328.55, Y:-44.83, Z:-22.67 [[ 9.97740529e-01 4.60457690e-02 4.89246809e-02 3.28549895e+02] [-4.57943623e-02 9.98931350e-01 -6.24778642e-03 -4.48345390e+01] [-4.91600816e-02 3.99319517e-03 9.98782930e-01 -2.26675956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.32071405700003 meters 0.04895019430303576 Centerline is valid? [True, True] Translation: X:328.58, Y:-44.84, Z:-22.67 [[ 9.97774178e-01 4.54769817e-02 4.87702185e-02 3.28580173e+02] [-4.52257104e-02 9.98957281e-01 -6.24389268e-03 -4.48395047e+01] [-4.90033183e-02 4.02432710e-03 9.98790508e-01 -2.26696415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.350714057 meters 0.04988873051363425 Centerline is valid? [True, True] Translation: X:328.61, Y:-44.84, Z:-22.67 [[ 9.97907861e-01 4.35507620e-02 4.77831841e-02 3.28610944e+02] [-4.33072893e-02 9.99043058e-01 -6.11935065e-03 -4.48429882e+01] [-4.80039607e-02 4.03718794e-03 9.98838986e-01 -2.26720085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.38071405700003 meters 0.04636457283390895 Centerline is valid? [True, True] Translation: X:328.64, Y:-44.84, Z:-22.67 [[ 9.97968426e-01 4.26218429e-02 4.73539819e-02 3.28643301e+02] [-4.23816787e-02 9.99083086e-01 -6.06464823e-03 -4.48414698e+01] [-4.75690489e-02 4.04538620e-03 9.98859760e-01 -2.26740229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.410714057 meters 0.04599879812905467 Centerline is valid? [True, True] Translation: X:328.67, Y:-44.84, Z:-22.68 [[ 9.98135579e-01 4.02464262e-02 4.58867253e-02 3.28674023e+02] [-4.00182619e-02 9.99181644e-01 -5.88055269e-03 -4.48438405e+01] [-4.60858448e-02 4.03328187e-03 9.98929341e-01 -2.26770365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.44071405700004 meters 0.052267556945095967 Centerline is valid? [True, True] Translation: X:328.70, Y:-44.86, Z:-22.68 [[ 9.98197303e-01 3.91560473e-02 4.54856985e-02 3.28703706e+02] [-3.89308154e-02 9.99224916e-01 -5.82739646e-03 -4.48561647e+01] [-4.56786211e-02 4.04609609e-03 9.98947993e-01 -2.26807706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.470714057 meters 0.050602754040583404 Centerline is valid? [True, True] Translation: X:328.74, Y:-44.86, Z:-22.68 [[ 9.98253122e-01 3.81231997e-02 4.51367431e-02 3.28735667e+02] [-3.78998889e-02 9.99264748e-01 -5.79322208e-03 -4.48573320e+01] [-4.53244123e-02 4.07242448e-03 9.98964020e-01 -2.26823239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.500714057 meters 0.056403045329209985 Centerline is valid? [True, True] Translation: X:328.76, Y:-44.87, Z:-22.69 [[ 9.98298822e-01 3.65395171e-02 4.54348617e-02 3.28764119e+02] [-3.63110111e-02 9.99323446e-01 -5.84477475e-03 -4.48681510e+01] [-4.56176878e-02 4.18504598e-03 9.98950205e-01 -2.26852897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.530714057 meters 0.049715065825969004 Centerline is valid? [True, True] Translation: X:328.80, Y:-44.86, Z:-22.69 [[ 9.98270911e-01 3.66579798e-02 4.59497663e-02 3.28798333e+02] [-3.64245373e-02 9.99318944e-01 -5.90770517e-03 -4.48623574e+01] [-4.61350365e-02 4.22379125e-03 9.98926283e-01 -2.26862704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.560714057 meters 0.05567233124179306 Centerline is valid? [True, True] Translation: X:328.83, Y:-44.87, Z:-22.69 [[ 9.98233344e-01 3.72842844e-02 4.62609204e-02 3.28828041e+02] [-3.70476762e-02 9.99295715e-01 -5.96183523e-03 -4.48743019e+01] [-4.64506223e-02 4.23744312e-03 9.98911600e-01 -2.26888393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.590714057 meters 0.05556565004732994 Centerline is valid? [True, True] Translation: X:328.86, Y:-44.88, Z:-22.69 [[ 9.98194526e-01 3.79309963e-02 4.65717438e-02 3.28860532e+02] [-3.76913046e-02 9.99271331e-01 -6.01444473e-03 -4.48774950e+01] [-4.67659423e-02 4.24823602e-03 9.98896841e-01 -2.26902452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.620714057 meters 0.05661743138618915 Centerline is valid? [True, True] Translation: X:328.89, Y:-44.88, Z:-22.69 [[ 9.98102522e-01 3.88723302e-02 4.77524687e-02 3.28891161e+02] [-3.86211591e-02 9.99234866e-01 -6.17164533e-03 -4.48808904e+01] [-4.79558378e-02 4.31567908e-03 9.98840134e-01 -2.26920627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.650714057 meters 0.05661003048215675 Centerline is valid? [True, True] Translation: X:328.92, Y:-44.88, Z:-22.69 [[ 9.98032919e-01 3.99140591e-02 4.83441908e-02 3.28923506e+02] [-3.96578368e-02 9.99193784e-01 -6.24797145e-03 -4.48842805e+01] [-4.85545969e-02 4.31845515e-03 9.98811194e-01 -2.26938263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.680714057 meters 0.04877255037883526 Centerline is valid? [True, True] Translation: X:328.96, Y:-44.87, Z:-22.69 [[ 9.97940104e-01 4.21367020e-02 4.83740302e-02 3.28955822e+02] [-4.18820999e-02 9.99102916e-01 -6.26523568e-03 -4.48749983e+01] [-4.85946310e-02 4.22632398e-03 9.98809642e-01 -2.26946043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.710714057 meters 0.04626057357656439 Centerline is valid? [True, True] Translation: X:328.99, Y:-44.87, Z:-22.70 [[ 9.97890560e-01 4.32325185e-02 4.84291125e-02 3.28988101e+02] [-4.29785893e-02 9.99056300e-01 -6.27290826e-03 -4.48744225e+01] [-4.86546036e-02 4.17826099e-03 9.98806924e-01 -2.26961495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.740714057 meters 0.04861464204763758 Centerline is valid? [True, True] Translation: X:329.02, Y:-44.88, Z:-22.70 [[ 9.97806981e-01 4.52544514e-02 4.83038575e-02 3.29017119e+02] [-4.50040257e-02 9.98967192e-01 -6.25998023e-03 -4.48792441e+01] [-4.85372608e-02 4.07238393e-03 9.98813071e-01 -2.26991704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.770714057 meters 0.04861374579397314 Centerline is valid? [True, True] Translation: X:329.05, Y:-44.88, Z:-22.70 [[ 9.97781013e-01 4.63359268e-02 4.78124756e-02 3.29049284e+02] [-4.60919709e-02 9.98918004e-01 -6.19290508e-03 -4.48823782e+01] [-4.80476967e-02 3.97539187e-03 9.98837131e-01 -2.27012105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.800714057 meters 0.04480327675404011 Centerline is valid? [True, True] Translation: X:329.08, Y:-44.88, Z:-22.70 [[ 9.97724661e-01 4.80101280e-02 4.73342296e-02 3.29081702e+02] [-4.77722570e-02 9.98839355e-01 -6.14452515e-03 -4.48795471e+01] [-4.75742908e-02 3.86928129e-03 9.98860208e-01 -2.27034208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.830714057 meters 0.048253169188452835 Centerline is valid? [True, True] Translation: X:329.11, Y:-44.89, Z:-22.71 [[ 9.97713952e-01 4.86425535e-02 4.69123964e-02 3.29112176e+02] [-4.84095256e-02 9.98808997e-01 -6.09137393e-03 -4.48874252e+01] [-4.71528236e-02 3.80644190e-03 9.98880434e-01 -2.27060676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.860714057 meters 0.04740991624629509 Centerline is valid? [True, True] Translation: X:329.14, Y:-44.89, Z:-22.71 [[ 9.97649900e-01 4.97934044e-02 4.70669112e-02 3.29143140e+02] [-4.95597263e-02 9.98752414e-01 -6.11951927e-03 -4.48881614e+01] [-4.73129029e-02 3.77251455e-03 9.98872994e-01 -2.27084417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.890714057 meters 0.045265077204733314 Centerline is valid? [True, True] Translation: X:329.17, Y:-44.89, Z:-22.71 [[ 9.97589545e-01 5.07563394e-02 4.73169404e-02 3.29174394e+02] [-5.05212052e-02 9.98704035e-01 -6.15286717e-03 -4.48875172e+01] [-4.75679163e-02 3.74752710e-03 9.98860976e-01 -2.27099455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.920714057 meters 0.0489498423284651 Centerline is valid? [True, True] Translation: X:329.20, Y:-44.90, Z:-22.71 [[ 9.97528162e-01 5.13813337e-02 4.79325069e-02 3.29202983e+02] [-5.11407162e-02 9.98672003e-01 -6.23365717e-03 -4.48957873e+01] [-4.81891463e-02 3.76694584e-03 9.98831125e-01 -2.27118500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.950714057 meters 0.04358616030186865 Centerline is valid? [True, True] Translation: X:329.23, Y:-44.89, Z:-22.71 [[ 9.97503376e-01 5.16771490e-02 4.81298962e-02 3.29233657e+02] [-5.14347812e-02 9.98656726e-01 -6.26148253e-03 -4.48909798e+01] [-4.83888201e-02 3.77029929e-03 9.98821459e-01 -2.27121149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.980714057 meters 0.04567808782005344 Centerline is valid? [True, True] Translation: X:329.26, Y:-44.90, Z:-22.71 [[ 9.97497408e-01 5.12674392e-02 4.86885161e-02 3.29262811e+02] [-5.10190177e-02 9.98677607e-01 -6.33220395e-03 -4.48970255e+01] [-4.89487666e-02 3.83231676e-03 9.98793939e-01 -2.27140202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.01071405700003 meters 0.04813986913814405 Centerline is valid? [True, True] Translation: X:329.29, Y:-44.90, Z:-22.72 [[ 9.97518058e-01 5.08968383e-02 4.86542489e-02 3.29292520e+02] [-5.06483866e-02 9.98696508e-01 -6.32656849e-03 -4.49038579e+01] [-4.89128308e-02 3.84660711e-03 9.98795644e-01 -2.27163388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.040714057 meters 0.04898072890244641 Centerline is valid? [True, True] Translation: X:329.32, Y:-44.91, Z:-22.72 [[ 9.97602771e-01 4.94269158e-02 4.84323403e-02 3.29322505e+02] [-4.91789584e-02 9.98770122e-01 -6.29871549e-03 -4.49082203e+01] [-4.86841005e-02 3.90176397e-03 9.98806605e-01 -2.27179579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.07071405700003 meters 0.049554094689069045 Centerline is valid? [True, True] Translation: X:329.35, Y:-44.91, Z:-22.72 [[ 9.97622095e-01 4.86742999e-02 4.87951746e-02 3.29352905e+02] [-4.84217436e-02 9.98806824e-01 -6.34533343e-03 -4.49129324e+01] [-4.90458081e-02 3.96749740e-03 9.98788650e-01 -2.27204427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.100714057 meters 0.049276706047719054 Centerline is valid? [True, True] Translation: X:329.38, Y:-44.92, Z:-22.73 [[ 9.97634826e-01 5.08106489e-02 4.62928938e-02 3.29382957e+02] [-5.05854886e-02 9.98701572e-01 -6.02316858e-03 -4.49213728e+01] [-4.65388269e-02 3.66717409e-03 9.98909750e-01 -2.27272261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.13071405700003 meters 0.047486858148538404 Centerline is valid? [True, True] Translation: X:329.41, Y:-44.93, Z:-22.73 [[ 9.97594059e-01 5.19276867e-02 4.59304817e-02 3.29413301e+02] [-5.17071354e-02 9.98644400e-01 -5.97778269e-03 -4.49281006e+01] [-4.61786308e-02 3.58846686e-03 9.98926753e-01 -2.27304211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.160714057 meters 0.04882433909353208 Centerline is valid? [True, True] Translation: X:329.44, Y:-44.93, Z:-22.73 [[ 9.97420827e-01 5.36666480e-02 4.76611413e-02 3.29443292e+02] [-5.34310688e-02 9.98552267e-01 -6.20405203e-03 -4.49334566e+01] [-4.79250914e-02 3.64146499e-03 9.98844295e-01 -2.27277478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.19071405700004 meters 0.048256947076811225 Centerline is valid? [True, True] Translation: X:329.47, Y:-44.94, Z:-22.73 [[ 9.97281344e-01 5.56895510e-02 4.82555157e-02 3.29473216e+02] [-5.54503990e-02 9.98441683e-01 -6.28157496e-03 -4.49369776e+01] [-4.85301364e-02 3.58870992e-03 9.98815272e-01 -2.27284841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.220714057 meters 0.04380583362100354 Centerline is valid? [True, True] Translation: X:329.50, Y:-44.94, Z:-22.73 [[ 9.97138322e-01 5.90933701e-02 4.71501802e-02 3.29503779e+02] [-5.88688840e-02 9.98246860e-01 -6.13679266e-03 -4.49375366e+01] [-4.74301631e-02 3.34355265e-03 9.98868961e-01 -2.27299440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.250714057 meters 0.044330418023570795 Centerline is valid? [True, True] Translation: X:329.53, Y:-44.95, Z:-22.73 [[ 9.97044170e-01 6.14530684e-02 4.61133840e-02 3.29531419e+02] [-6.12408498e-02 9.98104971e-01 -6.00217982e-03 -4.49452988e+01] [-4.63948502e-02 3.16041557e-03 9.98918180e-01 -2.27339163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.280714057 meters 0.04439384222923168 Centerline is valid? [True, True] Translation: X:329.56, Y:-44.96, Z:-22.74 [[ 9.96913809e-01 6.37973532e-02 4.57466438e-02 3.29558677e+02] [-6.35910629e-02 9.97958290e-01 -5.95210407e-03 -4.49562944e+01] [-4.60329709e-02 3.02465704e-03 9.98935342e-01 -2.27394928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.310714057 meters 0.038267879679539527 Centerline is valid? [True, True] Translation: X:329.59, Y:-44.95, Z:-22.74 [[ 9.96825366e-01 6.45543946e-02 4.66038698e-02 3.29588226e+02] [-6.43412191e-02 9.97909548e-01 -6.06146003e-03 -4.49527599e+01] [-4.68977406e-02 3.04366731e-03 9.98895059e-01 -2.27385354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.340714057 meters 0.037492967098088165 Centerline is valid? [True, True] Translation: X:329.62, Y:-44.96, Z:-22.74 [[ 9.96695422e-01 6.53001351e-02 4.83128233e-02 3.29617123e+02] [-6.50720724e-02 9.97860805e-01 -6.28008592e-03 -4.49559788e+01] [-4.86195632e-02 3.11551734e-03 9.98812511e-01 -2.27375698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.370714057 meters 0.03742323584442321 Centerline is valid? [True, True] Translation: X:329.65, Y:-44.96, Z:-22.74 [[ 9.96535016e-01 6.74599733e-02 4.86530042e-02 3.29645776e+02] [-6.72314407e-02 9.97717388e-01 -6.32034047e-03 -4.49600707e+01] [-4.89683183e-02 3.02742903e-03 9.98795744e-01 -2.27364904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.400714057 meters 0.03722023896488708 Centerline is valid? [True, True] Translation: X:329.67, Y:-44.96, Z:-22.74 [[ 9.96532441e-01 6.78512968e-02 4.81590753e-02 3.29673666e+02] [-6.76278744e-02 9.97691004e-01 -6.25547084e-03 -4.49647558e+01] [-4.84723180e-02 2.97688373e-03 9.98820090e-01 -2.27388264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.430714057 meters 0.03700868498373446 Centerline is valid? [True, True] Translation: X:329.70, Y:-44.97, Z:-22.74 [[ 9.96497314e-01 6.84184211e-02 4.80835067e-02 3.29701498e+02] [-6.81965242e-02 9.97652379e-01 -6.24221182e-03 -4.49738369e+01] [-4.83977071e-02 2.94121928e-03 9.98823814e-01 -2.27413875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.460714057 meters 0.039409906547922084 Centerline is valid? [True, True] Translation: X:329.73, Y:-44.98, Z:-22.74 [[ 9.96574308e-01 6.73066941e-02 4.80568228e-02 3.29728291e+02] [-6.70839150e-02 9.97727852e-01 -6.23547583e-03 -4.49844016e+01] [-4.83673199e-02 2.99027519e-03 9.98825140e-01 -2.27432365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.490714057 meters 0.0392813526062884 Centerline is valid? [True, True] Translation: X:329.76, Y:-44.99, Z:-22.74 [[ 9.96644819e-01 6.62667666e-02 4.80397833e-02 3.29756304e+02] [-6.60431497e-02 9.97797325e-01 -6.22899277e-03 -4.49888754e+01] [-4.83467425e-02 3.03539477e-03 9.98826000e-01 -2.27446609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.520714057 meters 0.039812635216720973 Centerline is valid? [True, True] Translation: X:329.78, Y:-44.99, Z:-22.75 [[ 9.96707732e-01 6.51062296e-02 4.83205499e-02 3.29784800e+02] [-6.48788464e-02 9.97873507e-01 -6.26097522e-03 -4.49936983e+01] [-4.86254250e-02 3.10538088e-03 9.98812257e-01 -2.27459849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.550714057 meters 0.037830171092066905 Centerline is valid? [True, True] Translation: X:329.81, Y:-45.00, Z:-22.75 [[ 9.96806869e-01 6.37454944e-02 4.80892666e-02 3.29813657e+02] [-6.35188793e-02 9.97961207e-01 -6.22748702e-03 -4.49974273e+01] [-4.83881968e-02 3.15302552e-03 9.98823628e-01 -2.27472464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.580714057 meters 0.04309985087772231 Centerline is valid? [True, True] Translation: X:329.84, Y:-45.01, Z:-22.75 [[ 9.96879400e-01 6.28106714e-02 4.78150726e-02 3.29840296e+02] [-6.25856823e-02 9.98020401e-01 -6.18955427e-03 -4.50140671e+01] [-4.81091881e-02 3.17770020e-03 9.98837028e-01 -2.27509226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.610714057 meters 0.03975173828187312 Centerline is valid? [True, True] Translation: X:329.87, Y:-45.01, Z:-22.75 [[ 9.96884728e-01 6.24705271e-02 4.81484309e-02 3.29870067e+02] [-6.22421274e-02 9.98041635e-01 -6.22991906e-03 -4.50140533e+01] [-4.84433250e-02 3.21365040e-03 9.98820763e-01 -2.27519060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.640714057 meters 0.03710143197822418 Centerline is valid? [True, True] Translation: X:329.90, Y:-45.01, Z:-22.75 [[ 9.96808173e-01 6.37667842e-02 4.80339835e-02 3.29899848e+02] [-6.35410492e-02 9.97959883e-01 -6.21342060e-03 -4.50144662e+01] [-4.83321984e-02 3.14145873e-03 9.98826376e-01 -2.27507777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.670714057 meters 0.04037296577880093 Centerline is valid? [True, True] Translation: X:329.93, Y:-45.02, Z:-22.75 [[ 9.96720064e-01 6.51797606e-02 4.79657361e-02 3.29927321e+02] [-6.49563717e-02 9.97868825e-01 -6.20301453e-03 -4.50225006e+01] [-4.82678238e-02 3.06698886e-03 9.98829721e-01 -2.27525505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.700714057 meters 0.037002436428389886 Centerline is valid? [True, True] Translation: X:329.96, Y:-45.02, Z:-22.75 [[ 9.96620137e-01 6.67763664e-02 4.78457961e-02 3.29957381e+02] [-6.65560591e-02 9.97763519e-01 -6.18473696e-03 -4.50207481e+01] [-4.81517842e-02 2.97940576e-03 9.98835586e-01 -2.27531806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.730714057 meters 0.039487349748290504 Centerline is valid? [True, True] Translation: X:329.99, Y:-45.03, Z:-22.76 [[ 9.96364640e-01 7.05467637e-02 4.77562389e-02 3.29985295e+02] [-7.03316777e-02 9.97504571e-01 -6.17139204e-03 -4.50292923e+01] [-4.80724383e-02 2.79018040e-03 9.98839955e-01 -2.27558747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.76071405700003 meters 0.03662112898359803 Centerline is valid? [True, True] Translation: X:330.01, Y:-45.03, Z:-22.76 [[ 9.96227288e-01 7.23921752e-02 4.78598290e-02 3.30014823e+02] [-7.21783350e-02 9.97372574e-01 -6.18354054e-03 -4.50296021e+01] [-4.81817208e-02 2.70576906e-03 9.98834922e-01 -2.27568475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.790714057 meters 0.03663580064353301 Centerline is valid? [True, True] Translation: X:330.04, Y:-45.03, Z:-22.76 [[ 9.95963969e-01 7.56035148e-02 4.83723236e-02 3.30042845e+02] [-7.53889632e-02 9.97134633e-01 -6.24721021e-03 -4.50348803e+01] [-4.87060302e-02 2.57525695e-03 9.98809837e-01 -2.27586128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.82071405700003 meters 0.03240567613136202 Centerline is valid? [True, True] Translation: X:330.07, Y:-45.03, Z:-22.76 [[ 9.95622878e-01 7.97178594e-02 4.87867676e-02 3.30073531e+02] [-7.95046670e-02 9.96814598e-01 -6.29803121e-03 -4.50320889e+01] [-4.91334277e-02 2.39168824e-03 9.98789360e-01 -2.27579198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.850714057 meters 0.031362723958640044 Centerline is valid? [True, True] Translation: X:330.10, Y:-45.03, Z:-22.76 [[ 9.95486936e-01 8.14124523e-02 4.87624188e-02 3.30101967e+02] [-8.12015693e-02 9.96677830e-01 -6.29347026e-03 -4.50340990e+01] [-4.91127887e-02 2.30548249e-03 9.98790578e-01 -2.27586957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.88071405700003 meters 0.032108890042755515 Centerline is valid? [True, True] Translation: X:330.13, Y:-45.04, Z:-22.76 [[ 9.95410564e-01 8.23967670e-02 4.86680702e-02 3.30129451e+02] [-8.21880369e-02 9.96597067e-01 -6.27795774e-03 -4.50385377e+01] [-4.90197394e-02 2.24921231e-03 9.98795277e-01 -2.27604589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.910714057 meters 0.03158756494596153 Centerline is valid? [True, True] Translation: X:330.16, Y:-45.04, Z:-22.76 [[ 9.95353513e-01 8.31725137e-02 4.85151322e-02 3.30157564e+02] [-8.29662319e-02 9.96532736e-01 -6.25376604e-03 -4.50433268e+01] [-4.88670589e-02 2.19959029e-03 9.98802870e-01 -2.27627373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.940714057 meters 0.03192473246360375 Centerline is valid? [True, True] Translation: X:330.19, Y:-45.05, Z:-22.76 [[ 9.95384788e-01 8.30970426e-02 4.80000658e-02 3.30185615e+02] [-8.28951966e-02 9.96539083e-01 -6.18401138e-03 -4.50481516e+01] [-4.83478146e-02 2.17649597e-03 9.98828189e-01 -2.27646809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.970714057 meters 0.030777718419245904 Centerline is valid? [True, True] Translation: X:330.21, Y:-45.05, Z:-22.77 [[ 9.95543664e-01 8.12957774e-02 4.77892230e-02 3.30214753e+02] [-8.10938098e-02 9.96687480e-01 -6.15316579e-03 -4.50526601e+01] [-4.81311466e-02 2.25033506e-03 9.98838490e-01 -2.27654843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.000714057 meters 0.03570936688043087 Centerline is valid? [True, True] Translation: X:330.24, Y:-45.07, Z:-22.77 [[ 9.95799363e-01 7.82496522e-02 4.75459863e-02 3.30241679e+02] [-7.80463481e-02 9.96930945e-01 -6.12030771e-03 -4.50665055e+01] [-4.78789771e-02 2.38380792e-03 9.98850300e-01 -2.27683884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.030714057 meters 0.032993828609815604 Centerline is valid? [True, True] Translation: X:330.27, Y:-45.07, Z:-22.77 [[ 9.95974147e-01 7.63159037e-02 4.70253200e-02 3.30271077e+02] [-7.61150017e-02 9.97080686e-01 -6.05077739e-03 -4.50662251e+01] [-4.73498089e-02 2.44708554e-03 9.98875371e-01 -2.27692757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.060714057 meters 0.033891007875381345 Centerline is valid? [True, True] Translation: X:330.30, Y:-45.07, Z:-22.77 [[ 9.96121795e-01 7.46417882e-02 4.65829693e-02 3.30298876e+02] [-7.44429352e-02 9.97207276e-01 -5.99154709e-03 -4.50727016e+01] [-4.69000957e-02 2.50053768e-03 9.98896455e-01 -2.27713473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.090714057 meters 0.03603288017942816 Centerline is valid? [True, True] Translation: X:330.33, Y:-45.08, Z:-22.77 [[ 9.96441735e-01 7.08711818e-02 4.56195699e-02 3.30327045e+02] [-7.06767072e-02 9.97482039e-01 -5.86393370e-03 -4.50811294e+01] [-4.59202855e-02 2.61882729e-03 9.98941675e-01 -2.27744075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.120714057 meters 0.03603288017942816 Centerline is valid? [True, True] Translation: X:330.36, Y:-45.08, Z:-22.78 [[ 9.96446614e-01 7.08025275e-02 4.56195913e-02 3.30355129e+02] [-7.06079889e-02 9.97486906e-01 -5.86376681e-03 -4.50846756e+01] [-4.59201145e-02 2.62182299e-03 9.98941675e-01 -2.27760482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.150714057 meters 0.03542270040252657 Centerline is valid? [True, True] Translation: X:330.38, Y:-45.09, Z:-22.78 [[ 9.96591758e-01 6.91819149e-02 4.49302842e-02 3.30384646e+02] [-6.89917341e-02 9.97600536e-01 -5.77164737e-03 -4.50874773e+01] [-4.52217692e-02 2.65215798e-03 9.98973452e-01 -2.27773031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.180714057 meters 0.03852026990789415 Centerline is valid? [True, True] Translation: X:330.41, Y:-45.10, Z:-22.78 [[ 9.96752578e-01 6.70847330e-02 4.45414017e-02 3.30412511e+02] [-6.68958077e-02 9.97743569e-01 -5.72034190e-03 -4.50951862e+01] [-4.48246447e-02 2.72213250e-03 9.98991162e-01 -2.27787832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.210714057 meters 0.039040714707303845 Centerline is valid? [True, True] Translation: X:330.44, Y:-45.10, Z:-22.78 [[ 9.96838296e-01 6.57996042e-02 4.45401449e-02 3.30441424e+02] [-6.56095193e-02 9.97828992e-01 -5.71779340e-03 -4.50991451e+01] [-4.48196764e-02 2.77745793e-03 9.98991232e-01 -2.27800937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.240714057 meters 0.03973825316259158 Centerline is valid? [True, True] Translation: X:330.47, Y:-45.10, Z:-22.78 [[ 9.96957596e-01 6.42587152e-02 4.41176866e-02 3.30470637e+02] [-6.40708306e-02 9.97929297e-01 -5.66106643e-03 -4.51036348e+01] [-4.43901048e-02 2.81718635e-03 9.99010301e-01 -2.27818940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.270714057 meters 0.03984439994487807 Centerline is valid? [True, True] Translation: X:330.50, Y:-45.11, Z:-22.78 [[ 9.97007542e-01 6.35296248e-02 4.40448377e-02 3.30499126e+02] [-6.33416997e-02 9.97975901e-01 -5.65065560e-03 -4.51078466e+01] [-4.43146707e-02 2.84387137e-03 9.99013575e-01 -2.27837880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.300714057 meters 0.03628935307376141 Centerline is valid? [True, True] Translation: X:330.53, Y:-45.10, Z:-22.78 [[ 9.97111989e-01 6.21229188e-02 4.36855232e-02 3.30529631e+02] [-6.19368577e-02 9.98064353e-01 -5.60111207e-03 -4.51042295e+01] [-4.39489209e-02 2.87919196e-03 9.99029630e-01 -2.27845812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.330714057 meters 0.037200763883315495 Centerline is valid? [True, True] Translation: X:330.56, Y:-45.11, Z:-22.79 [[ 9.97177450e-01 6.14551789e-02 4.31322886e-02 3.30557449e+02] [-6.12732665e-02 9.98105719e-01 -5.52824463e-03 -4.51080839e+01] [-4.33903231e-02 2.86978467e-03 9.99054075e-01 -2.27861382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.360714057 meters 0.038343070408347446 Centerline is valid? [True, True] Translation: X:330.58, Y:-45.11, Z:-22.79 [[ 9.97150553e-01 6.13746110e-02 4.38626516e-02 3.30584955e+02] [-6.11863740e-02 9.98110522e-01 -5.62251445e-03 -4.51117163e+01] [-4.41248538e-02 2.92269678e-03 9.99021749e-01 -2.27869911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.390714057 meters 0.03749668481897764 Centerline is valid? [True, True] Translation: X:330.61, Y:-45.11, Z:-22.79 [[ 9.97141538e-01 6.04226445e-02 4.53636011e-02 3.30614520e+02] [-6.02205162e-02 9.98168186e-01 -5.81045901e-03 -4.51117713e+01] [-4.56315867e-02 3.06203056e-03 9.98953644e-01 -2.27862194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.420714057 meters 0.038208936153829 Centerline is valid? [True, True] Translation: X:330.64, Y:-45.12, Z:-22.79 [[ 9.97140190e-01 5.98737212e-02 4.61148377e-02 3.30643620e+02] [-5.96644309e-02 9.98201038e-01 -5.90284143e-03 -4.51160688e+01] [-4.63853039e-02 3.13454488e-03 9.98918705e-01 -2.27871667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.450714057 meters 0.03858307617737168 Centerline is valid? [True, True] Translation: X:330.67, Y:-45.12, Z:-22.79 [[ 9.97171886e-01 5.89487057e-02 4.66184439e-02 3.30672559e+02] [-5.87338838e-02 9.98255850e-01 -5.96572039e-03 -4.51195748e+01] [-4.68888058e-02 3.21076638e-03 9.98894955e-01 -2.27881973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.480714057 meters 0.0379639465310331 Centerline is valid? [True, True] Translation: X:330.70, Y:-45.12, Z:-22.79 [[ 9.97305376e-01 5.65818695e-02 4.66956059e-02 3.30703254e+02] [-5.63638818e-02 9.98392427e-01 -5.97288895e-03 -4.51213316e+01] [-4.69584965e-02 3.32484864e-03 9.98891308e-01 -2.27888311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.51071405700003 meters 0.040088526962341955 Centerline is valid? [True, True] Translation: X:330.73, Y:-45.13, Z:-22.79 [[ 9.97381324e-01 5.52926016e-02 4.66178335e-02 3.30732046e+02] [-5.50739306e-02 9.98464473e-01 -5.96313631e-03 -4.51277653e+01] [-4.68759679e-02 3.38009346e-03 9.98894999e-01 -2.27914084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.540714057 meters 0.04084688350182866 Centerline is valid? [True, True] Translation: X:330.76, Y:-45.13, Z:-22.80 [[ 9.97529241e-01 5.38472189e-02 4.51208410e-02 3.30761940e+02] [-5.36409542e-02 9.98543613e-01 -5.77064025e-03 -4.51328794e+01] [-4.53658606e-02 3.33605742e-03 9.98964869e-01 -2.27953382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.57071405700003 meters 0.041765194949875 Centerline is valid? [True, True] Translation: X:330.79, Y:-45.14, Z:-22.80 [[ 9.97583323e-01 5.36431043e-02 4.41580327e-02 3.30792104e+02] [-5.34453571e-02 9.98554805e-01 -5.64750379e-03 -4.51371560e+01] [-4.43971654e-02 3.27381377e-03 9.99008595e-01 -2.27981996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.600714057 meters 0.04374696790095656 Centerline is valid? [True, True] Translation: X:330.82, Y:-45.14, Z:-22.80 [[ 9.97594482e-01 5.41520810e-02 4.32758672e-02 3.30821143e+02] [-5.39626274e-02 9.98527616e-01 -5.53493091e-03 -4.51414433e+01] [-4.35118765e-02 3.18633704e-03 9.99047829e-01 -2.28005001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.63071405700003 meters 0.04219586489561256 Centerline is valid? [True, True] Translation: X:330.85, Y:-45.14, Z:-22.80 [[ 9.97582583e-01 5.47552369e-02 4.27884769e-02 3.30850831e+02] [-5.45706028e-02 9.98494920e-01 -5.47210310e-03 -4.51413622e+01] [-4.30237032e-02 3.12388176e-03 9.99069168e-01 -2.28013478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.660714057 meters 0.042178555447121444 Centerline is valid? [True, True] Translation: X:330.88, Y:-45.14, Z:-22.80 [[ 9.97547174e-01 5.54741903e-02 4.26878228e-02 3.30880320e+02] [-5.52911435e-02 9.98455358e-01 -5.45773000e-03 -4.51436250e+01] [-4.29246485e-02 3.08408460e-03 9.99073552e-01 -2.28027616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.690714057 meters 0.04055992610452619 Centerline is valid? [True, True] Translation: X:330.91, Y:-45.14, Z:-22.80 [[ 9.97392197e-01 5.78689668e-02 4.31275767e-02 3.30910472e+02] [-5.76844189e-02 9.98319649e-01 -5.51242021e-03 -4.51424356e+01] [-4.33741052e-02 3.01025570e-03 9.99054366e-01 -2.28035269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.720714057 meters 0.042153923088601344 Centerline is valid? [True, True] Translation: X:330.94, Y:-45.15, Z:-22.80 [[ 9.97153483e-01 6.05689370e-02 4.49036184e-02 3.30939261e+02] [-6.03716615e-02 9.98159477e-01 -5.73775283e-03 -4.51465835e+01] [-4.51685018e-02 3.01051417e-03 9.98974846e-01 -2.28043647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.750714057 meters 0.04125324008240847 Centerline is valid? [True, True] Translation: X:330.97, Y:-45.15, Z:-22.81 [[ 9.97068773e-01 6.14453505e-02 4.55887066e-02 3.30968961e+02] [-6.12429906e-02 9.98105897e-01 -5.82366092e-03 -4.51480216e+01] [-4.58601938e-02 3.01460172e-03 9.98943319e-01 -2.28052639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.780714057 meters 0.040599641653112604 Centerline is valid? [True, True] Translation: X:331.00, Y:-45.15, Z:-22.81 [[ 9.96987580e-01 6.23840103e-02 4.60868784e-02 3.30997945e+02] [-6.21782536e-02 9.98047704e-01 -5.88609110e-03 -4.51487144e+01] [-4.63641012e-02 3.00275810e-03 9.98920094e-01 -2.28059151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.810714057 meters 0.03893675179302065 Centerline is valid? [True, True] Translation: X:331.03, Y:-45.15, Z:-22.81 [[ 9.96871558e-01 6.34948368e-02 4.70691257e-02 3.31026822e+02] [-6.32815980e-02 9.97977625e-01 -6.00821158e-03 -4.51478935e+01] [-4.73554247e-02 3.01080575e-03 9.98873565e-01 -2.28061311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.840714057 meters 0.04263957262246645 Centerline is valid? [True, True] Translation: X:331.05, Y:-45.16, Z:-22.81 [[ 9.96898551e-01 6.26299106e-02 4.76526249e-02 3.31053118e+02] [-6.24105103e-02 9.98032047e-01 -6.07963414e-03 -4.51567295e+01] [-4.79396137e-02 3.08675383e-03 9.98845466e-01 -2.28081914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.870714057 meters 0.03786906206782152 Centerline is valid? [True, True] Translation: X:331.08, Y:-45.15, Z:-22.81 [[ 9.97002212e-01 6.08885899e-02 4.77406452e-02 3.31083195e+02] [-6.06666623e-02 9.98139532e-01 -6.08521778e-03 -4.51537762e+01] [-4.80223456e-02 3.17070999e-03 9.98841229e-01 -2.28090711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.900714057 meters 0.04030159131911303 Centerline is valid? [True, True] Translation: X:331.11, Y:-45.16, Z:-22.81 [[ 9.97072497e-01 5.94019185e-02 4.81440342e-02 3.31111103e+02] [-5.91745739e-02 9.98228797e-01 -6.13503776e-03 -4.51621953e+01] [-4.84231943e-02 3.26817471e-03 9.98821562e-01 -2.28119004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.930714057 meters 0.04719070654844973 Centerline is valid? [True, True] Translation: X:331.14, Y:-45.18, Z:-22.82 [[ 9.97330398e-01 5.56998275e-02 4.72187163e-02 3.31138529e+02] [-5.54771479e-02 9.98441843e-01 -6.01440305e-03 -4.51758456e+01] [-4.74801433e-02 3.37878728e-03 9.98866467e-01 -2.28155000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.960714057 meters 0.039364358232795375 Centerline is valid? [True, True] Translation: X:331.17, Y:-45.17, Z:-22.82 [[ 9.97463816e-01 5.40748875e-02 4.62800386e-02 3.31170498e+02] [-5.38592909e-02 9.98531141e-01 -5.89379891e-03 -4.51678050e+01] [-4.65307663e-02 3.38624109e-03 9.98911118e-01 -2.28160476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.990714057 meters 0.041245268035642615 Centerline is valid? [True, True] Translation: X:331.20, Y:-45.17, Z:-22.82 [[ 9.97687383e-01 5.13737916e-02 4.45041497e-02 3.31200179e+02] [-5.11717558e-02 9.98673784e-01 -5.66786968e-03 -4.51734037e+01] [-4.47363075e-02 3.37740659e-03 9.98993121e-01 -2.28187376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.020714057 meters 0.04214821911184018 Centerline is valid? [True, True] Translation: X:331.23, Y:-45.18, Z:-22.82 [[ 9.97739323e-01 5.07347779e-02 4.40706982e-02 3.31230066e+02] [-5.05360876e-02 9.98706470e-01 -5.61164530e-03 -4.51787526e+01] [-4.42983970e-02 3.37179852e-03 9.99012654e-01 -2.28212409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.050714057 meters 0.04473646260107811 Centerline is valid? [True, True] Translation: X:331.26, Y:-45.19, Z:-22.82 [[ 9.97770889e-01 5.03106591e-02 4.38416491e-02 3.31258747e+02] [-5.01136130e-02 9.98727920e-01 -5.58272039e-03 -4.51869452e+01] [-4.40667493e-02 3.37321245e-03 9.99022894e-01 -2.28242599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.080714057 meters 0.04512839948124175 Centerline is valid? [True, True] Translation: X:331.29, Y:-45.19, Z:-22.83 [[ 9.97788364e-01 5.00064850e-02 4.37919190e-02 3.31288855e+02] [-4.98096399e-02 9.98743168e-01 -5.57536971e-03 -4.51917096e+01] [-4.40156845e-02 3.38177930e-03 9.99025116e-01 -2.28267818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.110714057 meters 0.04545372033191875 Centerline is valid? [True, True] Translation: X:331.32, Y:-45.20, Z:-22.83 [[ 9.97764777e-01 5.02828079e-02 4.40123661e-02 3.31319246e+02] [-5.00842413e-02 9.98729278e-01 -5.60343595e-03 -4.51955720e+01] [-4.42381952e-02 3.38658505e-03 9.99015272e-01 -2.28285257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.140714057 meters 0.04421799190112176 Centerline is valid? [True, True] Translation: X:331.35, Y:-45.20, Z:-22.83 [[ 9.97664381e-01 5.19571471e-02 4.43422699e-02 3.31350107e+02] [-5.17572333e-02 9.98643739e-01 -5.64543766e-03 -4.51961102e+01] [-4.45754511e-02 3.33721886e-03 9.99000447e-01 -2.28287595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.170714057 meters 0.042019111178946605 Centerline is valid? [True, True] Translation: X:331.38, Y:-45.20, Z:-22.83 [[ 9.97581772e-01 5.31404329e-02 4.47962301e-02 3.31380419e+02] [-5.29375768e-02 9.98581536e-01 -5.70345638e-03 -4.51953377e+01] [-4.50357724e-02 3.31826025e-03 9.98979864e-01 -2.28297258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.200714057 meters 0.04230815215258469 Centerline is valid? [True, True] Translation: X:331.41, Y:-45.20, Z:-22.83 [[ 9.97453580e-01 5.48867003e-02 4.55390547e-02 3.31409468e+02] [-5.46789016e-02 9.98487161e-01 -5.79720878e-03 -4.51990241e+01] [-4.57883511e-02 3.29242116e-03 9.98945738e-01 -2.28311574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.230714057 meters 0.04329291180475529 Centerline is valid? [True, True] Translation: X:331.44, Y:-45.20, Z:-22.83 [[ 9.97236821e-01 5.77747208e-02 4.66990911e-02 3.31438410e+02] [-5.75593721e-02 9.98324389e-01 -5.94417522e-03 -4.52039307e+01] [-4.69642647e-02 3.23978004e-03 9.98891316e-01 -2.28331334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.26071405700003 meters 0.0398473302135623 Centerline is valid? [True, True] Translation: X:331.47, Y:-45.20, Z:-22.83 [[ 9.97178931e-01 5.84537967e-02 4.70885601e-02 3.31468700e+02] [-5.82356571e-02 9.98284879e-01 -5.99234908e-03 -4.52018765e+01] [-4.73580730e-02 3.23321102e-03 9.98872744e-01 -2.28344268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.290714057 meters 0.040317487378466584 Centerline is valid? [True, True] Translation: X:331.50, Y:-45.21, Z:-22.84 [[ 9.97048338e-01 6.03892287e-02 4.74104648e-02 3.31497163e+02] [-6.01703425e-02 9.98169899e-01 -6.03179795e-03 -4.52053541e+01] [-4.76879545e-02 3.16129022e-03 9.98857280e-01 -2.28358913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.32071405700003 meters 0.04051619381208278 Centerline is valid? [True, True] Translation: X:331.53, Y:-45.21, Z:-22.84 [[ 9.97043320e-01 6.06128770e-02 4.72302470e-02 3.31525376e+02] [-6.03960125e-02 9.98156422e-01 -6.00656673e-03 -4.52079701e+01] [-4.75072497e-02 3.13628865e-03 9.98865969e-01 -2.28382936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.350714057 meters 0.03757778534399791 Centerline is valid? [True, True] Translation: X:331.55, Y:-45.21, Z:-22.84 [[ 9.96987139e-01 6.18270485e-02 4.68407936e-02 3.31554540e+02] [-6.16152331e-02 9.98082218e-01 -5.95384357e-03 -4.52081400e+01] [-4.71190718e-02 3.04979906e-03 9.98884624e-01 -2.28385405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.38071405700003 meters 0.03910211889079112 Centerline is valid? [True, True] Translation: X:331.58, Y:-45.21, Z:-22.84 [[ 9.97050387e-01 6.13924057e-02 4.60597330e-02 3.31581461e+02] [-6.11872807e-02 9.98109150e-01 -5.85153306e-03 -4.52130674e+01] [-4.63318806e-02 3.01600349e-03 9.98921549e-01 -2.28410131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.410714057 meters 0.03694772463688278 Centerline is valid? [True, True] Translation: X:331.61, Y:-45.21, Z:-22.84 [[ 9.97018203e-01 6.17071575e-02 4.63349700e-02 3.31609976e+02] [-6.15001119e-02 9.98089744e-01 -5.88216611e-03 -4.52141655e+01] [-4.66094301e-02 3.01502084e-03 9.98908640e-01 -2.28424259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.440714057 meters 0.0388265572110751 Centerline is valid? [True, True] Translation: X:331.64, Y:-45.22, Z:-22.85 [[ 9.97023573e-01 6.21008746e-02 4.56889047e-02 3.31636895e+02] [-6.19001185e-02 9.98065513e-01 -5.79711737e-03 -4.52193189e+01] [-4.59605262e-02 2.95171405e-03 9.98938896e-01 -2.28451808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.470714057 meters 0.037812871892892494 Centerline is valid? [True, True] Translation: X:331.67, Y:-45.22, Z:-22.85 [[ 9.97002143e-01 6.24661771e-02 4.56585528e-02 3.31666009e+02] [-6.22662659e-02 9.98042785e-01 -5.78898645e-03 -4.52203256e+01] [-4.59308050e-02 2.92864431e-03 9.98940331e-01 -2.28463716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.500714057 meters 0.03950376922890603 Centerline is valid? [True, True] Translation: X:331.69, Y:-45.22, Z:-22.85 [[ 9.96951391e-01 6.30105283e-02 4.60173552e-02 3.31693590e+02] [-6.28081806e-02 9.98008581e-01 -5.83138414e-03 -4.52230296e+01] [-4.62931540e-02 2.92334017e-03 9.98923620e-01 -2.28484139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.530714057 meters 0.039823309405937965 Centerline is valid? [True, True] Translation: X:331.72, Y:-45.22, Z:-22.85 [[ 9.96930431e-01 6.34057006e-02 4.59285637e-02 3.31722074e+02] [-6.32047488e-02 9.97983635e-01 -5.81586005e-03 -4.52249925e+01] [-4.62047137e-02 2.89510453e-03 9.98927797e-01 -2.28495615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.560714057 meters 0.0384045045618198 Centerline is valid? [True, True] Translation: X:331.75, Y:-45.23, Z:-22.85 [[ 9.96863731e-01 6.38604186e-02 4.67391488e-02 3.31751620e+02] [-6.36529657e-02 9.97954564e-01 -5.91502655e-03 -4.52253955e+01] [-4.70212829e-02 2.92139000e-03 9.98889616e-01 -2.28503035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.590714057 meters 0.03887828432310196 Centerline is valid? [True, True] Translation: X:331.78, Y:-45.23, Z:-22.85 [[ 9.96711853e-01 6.48843211e-02 4.85335666e-02 3.31779547e+02] [-6.46619410e-02 9.97888339e-01 -6.13975895e-03 -4.52276376e+01] [-4.88294543e-02 2.98129590e-03 9.98802681e-01 -2.28507034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.620714057 meters 0.03908440905259471 Centerline is valid? [True, True] Translation: X:331.81, Y:-45.23, Z:-22.85 [[ 9.96668414e-01 6.50078727e-02 4.92549492e-02 3.31807812e+02] [-6.47791993e-02 9.97880196e-01 -6.22652055e-03 -4.52303167e+01] [-4.95553112e-02 3.01508019e-03 9.98766830e-01 -2.28520198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.650714057 meters 0.0405862138555021 Centerline is valid? [True, True] Translation: X:331.84, Y:-45.23, Z:-22.85 [[ 9.96614483e-01 6.47887591e-02 5.06160859e-02 3.31835362e+02] [-6.45471549e-02 9.97894166e-01 -6.39510728e-03 -4.52334480e+01] [-5.09238279e-02 3.10633220e-03 9.98697709e-01 -2.28525760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.680714057 meters 0.04085058717183409 Centerline is valid? [True, True] Translation: X:331.86, Y:-45.24, Z:-22.85 [[ 9.96660915e-01 6.42428021e-02 5.03972474e-02 3.31863537e+02] [-6.40028077e-02 9.97929432e-01 -6.36316615e-03 -4.52360897e+01] [-5.07016841e-02 3.11635366e-03 9.98708980e-01 -2.28545915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.710714057 meters 0.04173857872021468 Centerline is valid? [True, True] Translation: X:331.89, Y:-45.24, Z:-22.86 [[ 9.96722977e-01 6.34640433e-02 5.01559820e-02 3.31891537e+02] [-6.32255814e-02 9.97979197e-01 -6.32836241e-03 -4.52405200e+01] [-5.04562501e-02 3.13648310e-03 9.98721347e-01 -2.28567777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.740714057 meters 0.04347363743895543 Centerline is valid? [True, True] Translation: X:331.92, Y:-45.25, Z:-22.86 [[ 9.96951891e-01 6.14113725e-02 4.81203757e-02 3.31919688e+02] [-6.11896762e-02 9.98107710e-01 -6.06813475e-03 -4.52457075e+01] [-4.84019705e-02 3.10516820e-03 9.98823111e-01 -2.28608482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.770714057 meters 0.04399503347760437 Centerline is valid? [True, True] Translation: X:331.95, Y:-45.25, Z:-22.86 [[ 9.97063782e-01 6.03523197e-02 4.71318514e-02 3.31948264e+02] [-6.01385340e-02 9.98172354e-01 -5.94211385e-03 -4.52502157e+01] [-4.74043314e-02 3.09022606e-03 9.98871003e-01 -2.28637964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.800714057 meters 0.045454514631754935 Centerline is valid? [True, True] Translation: X:331.98, Y:-45.26, Z:-22.87 [[ 9.97227741e-01 5.86005242e-02 4.58564252e-02 3.31977097e+02] [-5.83964209e-02 9.98276745e-01 -5.77911927e-03 -4.52551563e+01] [-4.61160623e-02 3.08524695e-03 9.98931324e-01 -2.28668903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.830714057 meters 0.03881934007978631 Centerline is valid? [True, True] Translation: X:332.01, Y:-45.25, Z:-22.87 [[ 9.97260925e-01 5.81364474e-02 4.57252720e-02 3.32006809e+02] [-5.79331233e-02 9.98303847e-01 -5.76046767e-03 -4.52479612e+01] [-4.59826081e-02 3.09568150e-03 9.98937444e-01 -2.28672066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.860714057 meters 0.04648605865959515 Centerline is valid? [True, True] Translation: X:332.03, Y:-45.26, Z:-22.87 [[ 9.97301862e-01 5.77826205e-02 4.52787466e-02 3.32034193e+02] [-5.75830445e-02 9.98324443e-01 -5.70079580e-03 -4.52613233e+01] [-4.55322864e-02 3.07812618e-03 9.98958125e-01 -2.28703833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.890714057 meters 0.04749731970044915 Centerline is valid? [True, True] Translation: X:332.06, Y:-45.26, Z:-22.87 [[ 9.97333463e-01 5.77113561e-02 4.46694854e-02 3.32062123e+02] [-5.75171328e-02 9.98328688e-01 -5.62221007e-03 -4.52629274e+01] [-4.49192941e-02 3.03795752e-03 9.98986000e-01 -2.28716587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.920714057 meters 0.03747166858742269 Centerline is valid? [True, True] Translation: X:332.09, Y:-45.25, Z:-22.87 [[ 9.97299037e-01 5.80031593e-02 4.50584496e-02 3.32093079e+02] [-5.78060249e-02 9.98311750e-01 -5.66691632e-03 -4.52496198e+01] [-4.53110787e-02 3.04696033e-03 9.98968279e-01 -2.28701587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.950714057 meters 0.03752301622610065 Centerline is valid? [True, True] Translation: X:332.12, Y:-45.25, Z:-22.87 [[ 9.97316224e-01 5.74215148e-02 4.54215769e-02 3.32122144e+02] [-5.72207396e-02 9.98345227e-01 -5.70925309e-03 -4.52525400e+01] [-4.56742484e-02 3.09487451e-03 9.98951593e-01 -2.28713288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.980714057 meters 0.03752301622610065 Centerline is valid? [True, True] Translation: X:332.15, Y:-45.26, Z:-22.87 [[ 9.97320315e-01 5.73500914e-02 4.54219849e-02 3.32150251e+02] [-5.71493898e-02 9.98349332e-01 -5.70600525e-03 -4.52560115e+01] [-4.56742482e-02 3.09487624e-03 9.98951593e-01 -2.28729717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.01071405700003 meters 0.03998677325463462 Centerline is valid? [True, True] Translation: X:332.18, Y:-45.26, Z:-22.87 [[ 9.97363417e-01 5.62702912e-02 4.58243335e-02 3.32178094e+02] [-5.60650463e-02 9.98410544e-01 -5.75296707e-03 -4.52629081e+01] [-4.60752188e-02 3.16865551e-03 9.98932948e-01 -2.28744755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.040714057 meters 0.04038027743084221 Centerline is valid? [True, True] Translation: X:332.21, Y:-45.27, Z:-22.88 [[ 9.97462222e-01 5.34649698e-02 4.70171572e-02 3.32207833e+02] [-5.32459324e-02 9.98564001e-01 -5.89971986e-03 -4.52667421e+01] [-4.72650690e-02 3.38127531e-03 9.98876659e-01 -2.28757078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.07071405700003 meters 0.061524613243367374 Centerline is valid? [True, True] Translation: X:332.23, Y:-45.30, Z:-22.88 [[ 9.97344792e-01 5.45914529e-02 4.81989455e-02 3.32233659e+02] [-5.43626139e-02 9.98502950e-01 -6.04695574e-03 -4.53008043e+01] [-4.84569014e-02 3.41067915e-03 9.98819451e-01 -2.28806085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.100714057 meters 0.04741055598563689 Centerline is valid? [True, True] Translation: X:332.27, Y:-45.28, Z:-22.88 [[ 9.97683106e-01 4.86487283e-02 4.75575529e-02 3.32266517e+02] [-4.84192251e-02 9.98809280e-01 -5.96663155e-03 -4.52836428e+01] [-4.77911942e-02 3.65010764e-03 9.98850679e-01 -2.28790602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.13071405700003 meters 0.04198524317541059 Centerline is valid? [True, True] Translation: X:332.30, Y:-45.28, Z:-22.88 [[ 9.97755205e-01 4.72761308e-02 4.74290829e-02 3.32297868e+02] [-4.70463663e-02 9.98874988e-01 -5.94967715e-03 -4.52791875e+01] [-4.76570023e-02 3.70495534e-03 9.98856888e-01 -2.28797293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.160714057 meters 0.04447848266042926 Centerline is valid? [True, True] Translation: X:332.33, Y:-45.29, Z:-22.88 [[ 9.97798054e-01 4.62862830e-02 4.75039406e-02 3.32327267e+02] [-4.60546861e-02 9.98921147e-01 -5.95888990e-03 -4.52864444e+01] [-4.77285056e-02 3.75798968e-03 9.98853276e-01 -2.28813402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.190714057 meters 0.0466021195458679 Centerline is valid? [True, True] Translation: X:332.36, Y:-45.29, Z:-22.88 [[ 9.97843947e-01 4.59714602e-02 4.68410244e-02 3.32357809e+02] [-4.57460100e-02 9.98935831e-01 -5.87433025e-03 -4.52932226e+01] [-4.70612292e-02 3.71887492e-03 9.98885084e-01 -2.28834258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.220714057 meters 0.04235511376891479 Centerline is valid? [True, True] Translation: X:332.39, Y:-45.29, Z:-22.88 [[ 9.97833007e-01 4.60820016e-02 4.69652974e-02 3.32389430e+02] [-4.58548689e-02 9.98930673e-01 -5.90272377e-03 -4.52910311e+01] [-4.71870855e-02 3.73634506e-03 9.98879081e-01 -2.28847895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.250714057 meters 0.04775766527251112 Centerline is valid? [True, True] Translation: X:332.42, Y:-45.30, Z:-22.89 [[ 9.97797035e-01 4.74743264e-02 4.63385844e-02 3.32418567e+02] [-4.72546254e-02 9.98865887e-01 -5.82581659e-03 -4.53022586e+01] [-4.65626079e-02 3.62327007e-03 9.98908802e-01 -2.28880735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.280714057 meters 0.044748865334026174 Centerline is valid? [True, True] Translation: X:332.45, Y:-45.30, Z:-22.89 [[ 9.97784518e-01 4.83767287e-02 4.56699969e-02 3.32449533e+02] [-4.81642239e-02 9.98822922e-01 -5.74268926e-03 -4.53005316e+01] [-4.58940523e-02 3.53030648e-03 9.98940075e-01 -2.28898448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.310714057 meters 0.04191958264126746 Centerline is valid? [True, True] Translation: X:332.48, Y:-45.30, Z:-22.89 [[ 9.97712896e-01 5.02359602e-02 4.52252704e-02 3.32479927e+02] [-5.00294448e-02 9.98731549e-01 -5.68744040e-03 -4.52989862e+01] [-4.54536184e-02 3.41183746e-03 9.98960624e-01 -2.28907212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.340714057 meters 0.040283062800645156 Centerline is valid? [True, True] Translation: X:332.51, Y:-45.30, Z:-22.89 [[ 9.97491443e-01 5.48634909e-02 4.47305152e-02 3.32510816e+02] [-5.46661428e-02 9.98488849e-01 -5.62422078e-03 -4.52975951e+01] [-4.49714850e-02 3.16486737e-03 9.98983258e-01 -2.28928461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.370714057 meters 0.038056912997320905 Centerline is valid? [True, True] Translation: X:332.54, Y:-45.30, Z:-22.89 [[ 9.97354692e-01 5.73562193e-02 4.46529032e-02 3.32541347e+02] [-5.71620384e-02 9.98349127e-01 -5.61450958e-03 -4.52971573e+01] [-4.49012140e-02 3.04720650e-03 9.98986784e-01 -2.28939622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.400714057 meters 0.037279512133065934 Centerline is valid? [True, True] Translation: X:332.57, Y:-45.30, Z:-22.90 [[ 9.97058353e-01 6.18096953e-02 4.53233015e-02 3.32571222e+02] [-6.16142490e-02 9.98083773e-01 -5.69800000e-03 -4.52979475e+01] [-4.55886434e-02 2.88867731e-03 9.98956121e-01 -2.28952086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.430714057 meters 0.03721940268201718 Centerline is valid? [True, True] Translation: X:332.60, Y:-45.30, Z:-22.90 [[ 9.96893710e-01 6.38941608e-02 4.60485202e-02 3.32601430e+02] [-6.36946660e-02 9.97952648e-01 -5.78813243e-03 -4.53006382e+01] [-4.63240705e-02 2.83710770e-03 9.98922435e-01 -2.28966473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.460714057 meters 0.036325584590914804 Centerline is valid? [True, True] Translation: X:332.63, Y:-45.30, Z:-22.90 [[ 9.96738040e-01 6.59256091e-02 4.65520554e-02 3.32631264e+02] [-6.57239602e-02 9.97820690e-01 -5.85077412e-03 -4.53025914e+01] [-4.68363199e-02 2.77210369e-03 9.98898731e-01 -2.28977961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.490714057 meters 0.035156909275747335 Centerline is valid? [True, True] Translation: X:332.66, Y:-45.30, Z:-22.90 [[ 9.96531638e-01 6.89416151e-02 4.66020198e-02 3.32661429e+02] [-6.87429047e-02 9.97617226e-01 -5.85518228e-03 -4.53030056e+01] [-4.68946434e-02 2.63131618e-03 9.98896375e-01 -2.28994204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.520714057 meters 0.037236615383552676 Centerline is valid? [True, True] Translation: X:332.69, Y:-45.31, Z:-22.90 [[ 9.96439103e-01 7.03541567e-02 4.64694067e-02 3.32688591e+02] [-7.01581095e-02 9.97518798e-01 -5.83846618e-03 -4.53099608e+01] [-4.67648671e-02 2.55747028e-03 9.98902651e-01 -2.29019561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.550714057 meters 0.03510079589574979 Centerline is valid? [True, True] Translation: X:332.72, Y:-45.31, Z:-22.90 [[ 9.96367282e-01 7.16427064e-02 4.60387041e-02 3.32717940e+02] [-7.14518568e-02 9.97427303e-01 -5.77989866e-03 -4.53098397e+01] [-4.63343480e-02 2.46935102e-03 9.98922935e-01 -2.29043050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.580714057 meters 0.034489090472684635 Centerline is valid? [True, True] Translation: X:332.75, Y:-45.31, Z:-22.91 [[ 9.96336119e-01 7.21296783e-02 4.59526554e-02 3.32746998e+02] [-7.19401706e-02 9.97392279e-01 -5.76666980e-03 -4.53129849e+01] [-4.62487717e-02 2.43969955e-03 9.98926974e-01 -2.29061186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.610714057 meters 0.03427446741840207 Centerline is valid? [True, True] Translation: X:332.78, Y:-45.32, Z:-22.91 [[ 9.96328971e-01 7.22388775e-02 4.59361009e-02 3.32775353e+02] [-7.20497255e-02 9.97384395e-01 -5.76235743e-03 -4.53161046e+01] [-4.62322165e-02 2.43152019e-03 9.98927760e-01 -2.29080303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.640714057 meters 0.03442114407865006 Centerline is valid? [True, True] Translation: X:332.80, Y:-45.32, Z:-22.91 [[ 9.96408233e-01 7.12965715e-02 4.56884273e-02 3.32803757e+02] [-7.11086184e-02 9.97452131e-01 -5.72802482e-03 -4.53216500e+01] [-4.59804078e-02 2.45861014e-03 9.98939316e-01 -2.29102157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.670714057 meters 0.03398633334006573 Centerline is valid? [True, True] Translation: X:332.83, Y:-45.33, Z:-22.91 [[ 9.96599757e-01 6.90897608e-02 4.48946513e-02 3.32833000e+02] [-6.89062190e-02 9.97607284e-01 -5.62489112e-03 -4.53264320e+01] [-4.51758535e-02 2.51224445e-03 9.98975891e-01 -2.29124552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.700714057 meters 0.03495210280843039 Centerline is valid? [True, True] Translation: X:332.86, Y:-45.33, Z:-22.91 [[ 9.96715665e-01 6.73662443e-02 4.49407596e-02 3.32862243e+02] [-6.71806534e-02 9.97724949e-01 -5.62903307e-03 -4.53323727e+01] [-4.52177239e-02 2.59139585e-03 9.98973795e-01 -2.29145320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.730714057 meters 0.037248757192888664 Centerline is valid? [True, True] Translation: X:332.89, Y:-45.34, Z:-22.92 [[ 9.96800870e-01 6.57457403e-02 4.54480343e-02 3.32888886e+02] [-6.55542857e-02 9.97832771e-01 -5.69189079e-03 -4.53408952e+01] [-4.57237556e-02 2.69436827e-03 9.98950489e-01 -2.29169496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.76071405700003 meters 0.035781890546893576 Centerline is valid? [True, True] Translation: X:332.92, Y:-45.35, Z:-22.92 [[ 9.97146945e-01 6.08711650e-02 4.46393436e-02 3.32918848e+02] [-6.06819023e-02 9.98141536e-01 -5.58396629e-03 -4.53455540e+01] [-4.48962855e-02 2.85923464e-03 9.98987562e-01 -2.29187295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.790714057 meters 0.03848320848039021 Centerline is valid? [True, True] Translation: X:332.95, Y:-45.36, Z:-22.92 [[ 9.97311735e-01 5.82256572e-02 4.44868078e-02 3.32947450e+02] [-5.80350579e-02 9.98299034e-01 -5.56508952e-03 -4.53551391e+01] [-4.47351683e-02 2.96833462e-03 9.98994471e-01 -2.29214110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.82071405700003 meters 0.04011512358433903 Centerline is valid? [True, True] Translation: X:332.98, Y:-45.36, Z:-22.92 [[ 9.97625165e-01 5.34631087e-02 4.34249384e-02 3.32976439e+02] [-5.32770594e-02 9.98564998e-01 -5.43129986e-03 -4.53644140e+01] [-4.36529977e-02 3.10484840e-03 9.99041929e-01 -2.29234521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.850714057 meters 0.04125145367381651 Centerline is valid? [True, True] Translation: X:333.01, Y:-45.37, Z:-22.93 [[ 9.97758563e-01 5.11790021e-02 4.31110046e-02 3.33006058e+02] [-5.09935162e-02 9.98684428e-01 -5.39201162e-03 -4.53709596e+01] [-4.33302467e-02 3.18154406e-03 9.99055738e-01 -2.29251959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.88071405700003 meters 0.042777128507667184 Centerline is valid? [True, True] Translation: X:333.04, Y:-45.38, Z:-22.93 [[ 9.97871025e-01 4.90075159e-02 4.30311669e-02 3.33035999e+02] [-4.88207543e-02 9.98793061e-01 -5.38099984e-03 -4.53777025e+01] [-4.32429403e-02 3.26872980e-03 9.99059239e-01 -2.29271146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.910714057 meters 0.04500360825991311 Centerline is valid? [True, True] Translation: X:333.06, Y:-45.39, Z:-22.93 [[ 9.98011519e-01 4.56565471e-02 4.34567312e-02 3.33064286e+02] [-4.54629020e-02 9.98951246e-01 -5.43447814e-03 -4.53871955e+01] [-4.36592753e-02 3.44800267e-03 9.99040529e-01 -2.29284822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.940714057 meters 0.043615592529638376 Centerline is valid? [True, True] Translation: X:333.09, Y:-45.39, Z:-22.93 [[ 9.98046743e-01 4.43057253e-02 4.40420472e-02 3.33094360e+02] [-4.41055663e-02 9.99011700e-01 -5.50658194e-03 -4.53906088e+01] [-4.42424935e-02 3.55332674e-03 9.99014502e-01 -2.29294177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.970714057 meters 0.044876146523479 Centerline is valid? [True, True] Translation: X:333.12, Y:-45.40, Z:-22.93 [[ 9.98047116e-01 4.30328217e-02 4.52783763e-02 3.33124283e+02] [-4.28200258e-02 9.99066772e-01 -5.65963290e-03 -4.53989366e+01] [-4.54796712e-02 3.70975904e-03 9.98958376e-01 -2.29309545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.000714057 meters 0.04541462064960442 Centerline is valid? [True, True] Translation: X:333.16, Y:-45.40, Z:-22.93 [[ 9.98050257e-01 4.27621160e-02 4.54652222e-02 3.33156363e+02] [-4.25470846e-02 9.99078276e-01 -5.68725769e-03 -4.54045955e+01] [-4.56665150e-02 3.74175635e-03 9.98949733e-01 -2.29326950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.030714057 meters 0.043591229601487945 Centerline is valid? [True, True] Translation: X:333.19, Y:-45.41, Z:-22.93 [[ 9.98022623e-01 4.28493458e-02 4.59867157e-02 3.33188247e+02] [-4.26289025e-02 9.99074347e-01 -5.76412354e-03 -4.54062629e+01] [-4.61911369e-02 3.79236247e-03 9.98925421e-01 -2.29337726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.060714057 meters 0.045533836291774 Centerline is valid? [True, True] Translation: X:333.22, Y:-45.41, Z:-22.94 [[ 9.97938509e-01 4.42521188e-02 4.64809850e-02 3.33218230e+02] [-4.40277417e-02 9.99013236e-01 -5.84052834e-03 -4.54145466e+01] [-4.66935750e-02 3.78203534e-03 9.98902100e-01 -2.29352611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.090714057 meters 0.04751164642885736 Centerline is valid? [True, True] Translation: X:333.25, Y:-45.42, Z:-22.94 [[ 9.97910788e-01 4.47907876e-02 4.65601268e-02 3.33249026e+02] [-4.45662445e-02 9.98989302e-01 -5.85010201e-03 -4.54218421e+01] [-4.67750993e-02 3.76286991e-03 9.98898359e-01 -2.29369361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.120714057 meters 0.04415413497652781 Centerline is valid? [True, True] Translation: X:333.28, Y:-45.42, Z:-22.94 [[ 9.97860856e-01 4.53149688e-02 4.71196945e-02 3.33281798e+02] [-4.50850664e-02 9.98965545e-01 -5.93105626e-03 -4.54231541e+01] [-4.73397169e-02 3.79397432e-03 9.98871642e-01 -2.29379217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.150714057 meters 0.04321095407065219 Centerline is valid? [True, True] Translation: X:333.31, Y:-45.43, Z:-22.94 [[ 9.97904106e-01 4.50298558e-02 4.64726502e-02 3.33313427e+02] [-4.48053881e-02 9.98978541e-01 -5.86105736e-03 -4.54269816e+01] [-4.66891029e-02 3.76654808e-03 9.98902368e-01 -2.29403412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.180714057 meters 0.04467348724965683 Centerline is valid? [True, True] Translation: X:333.34, Y:-45.44, Z:-22.94 [[ 9.97978666e-01 4.46178408e-02 4.52529543e-02 3.33343049e+02] [-4.44039707e-02 9.98997277e-01 -5.72086392e-03 -4.54353366e+01] [-4.54628307e-02 3.69988929e-03 9.98959179e-01 -2.29442268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.210714057 meters 0.04414950706445203 Centerline is valid? [True, True] Translation: X:333.37, Y:-45.44, Z:-22.95 [[ 9.97976013e-01 4.51081596e-02 4.48233449e-02 3.33374543e+02] [-4.48988754e-02 9.98975472e-01 -5.66544914e-03 -4.54402676e+01] [-4.50329801e-02 3.64146456e-03 9.98978864e-01 -2.29469237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.240714057 meters 0.0438086707121926 Centerline is valid? [True, True] Translation: X:333.41, Y:-45.45, Z:-22.95 [[ 9.98051109e-01 4.52487960e-02 4.29712799e-02 3.33406565e+02] [-4.50561538e-02 9.98969636e-01 -5.44151992e-03 -4.54458982e+01] [-4.31732260e-02 3.49479440e-03 9.99061489e-01 -2.29500508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.270714057 meters 0.047520952061851925 Centerline is valid? [True, True] Translation: X:333.44, Y:-45.46, Z:-22.95 [[ 9.98057958e-01 4.57318369e-02 4.22955242e-02 3.33436765e+02] [-4.55451869e-02 9.98947864e-01 -5.36663355e-03 -4.54555736e+01] [-4.24964496e-02 3.42985377e-03 9.99090731e-01 -2.29533628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.300714057 meters 0.04557127820057407 Centerline is valid? [True, True] Translation: X:333.47, Y:-45.46, Z:-22.96 [[ 9.98072643e-01 4.59461346e-02 4.17127324e-02 3.33467682e+02] [-4.57642550e-02 9.98938180e-01 -5.30526542e-03 -4.54575566e+01] [-4.19121974e-02 3.38608816e-03 9.99115560e-01 -2.29550269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.330714057 meters 0.04498027156565585 Centerline is valid? [True, True] Translation: X:333.50, Y:-45.46, Z:-22.96 [[ 9.98078839e-01 4.65154729e-02 4.09260455e-02 3.33498103e+02] [-4.63407879e-02 9.98912117e-01 -5.20718915e-03 -4.54616195e+01] [-4.11237376e-02 3.30064011e-03 9.99148610e-01 -2.29572566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.360714057 meters 0.045404884206785914 Centerline is valid? [True, True] Translation: X:333.53, Y:-45.47, Z:-22.96 [[ 9.98033053e-01 4.73716331e-02 4.10603682e-02 3.33527701e+02] [-4.71965183e-02 9.98871962e-01 -5.22427957e-03 -4.54662570e+01] [-4.12615331e-02 3.27609728e-03 9.99143009e-01 -2.29588290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.390714057 meters 0.04482157117504118 Centerline is valid? [True, True] Translation: X:333.56, Y:-45.47, Z:-22.96 [[ 9.97893166e-01 4.95961167e-02 4.18264765e-02 3.33558810e+02] [-4.94163536e-02 9.98764089e-01 -5.32148001e-03 -4.54687373e+01] [-4.20387074e-02 3.24335659e-03 9.99110718e-01 -2.29591465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.420714057 meters 0.04484665274792773 Centerline is valid? [True, True] Translation: X:333.59, Y:-45.47, Z:-22.96 [[ 9.97759009e-01 5.13258351e-02 4.29257337e-02 3.33587498e+02] [-5.11380152e-02 9.98676655e-01 -5.46287588e-03 -4.54723664e+01] [-4.31493148e-02 3.25549681e-03 9.99063331e-01 -2.29597417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.450714057 meters 0.044300423863472334 Centerline is valid? [True, True] Translation: X:333.62, Y:-45.48, Z:-22.96 [[ 9.97588509e-01 5.34764517e-02 4.42429152e-02 3.33617622e+02] [-5.32791013e-02 9.98563796e-01 -5.62868443e-03 -4.54755341e+01] [-4.44803754e-02 3.25788815e-03 9.99004946e-01 -2.29605241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.480714057 meters 0.03657573865809087 Centerline is valid? [True, True] Translation: X:333.65, Y:-45.47, Z:-22.96 [[ 9.97235927e-01 5.87321340e-02 4.55087058e-02 3.33649265e+02] [-5.85288004e-02 9.98268936e-01 -5.78883616e-03 -4.54670016e+01] [-4.57699180e-02 3.10926544e-03 9.98947169e-01 -2.29593770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.51071405700003 meters 0.042046252669116484 Centerline is valid? [True, True] Translation: X:333.68, Y:-45.48, Z:-22.96 [[ 9.97059564e-01 6.16151097e-02 4.55610039e-02 3.33677045e+02] [-6.14143116e-02 9.98095535e-01 -5.79528844e-03 -4.54781292e+01] [-4.58313119e-02 2.98015007e-03 9.98944748e-01 -2.29624519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.540714057 meters 0.03952923316888911 Centerline is valid? [True, True] Translation: X:333.71, Y:-45.48, Z:-22.96 [[ 9.96653649e-01 6.82183789e-02 4.50306272e-02 3.33706361e+02] [-6.80290179e-02 9.97666911e-01 -5.72611206e-03 -4.54770315e+01] [-4.53161928e-02 2.64356113e-03 9.98969196e-01 -2.29640047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.57071405700003 meters 0.0393459671307556 Centerline is valid? [True, True] Translation: X:333.74, Y:-45.48, Z:-22.97 [[ 9.96465222e-01 7.09210843e-02 4.50251137e-02 3.33735416e+02] [-7.07345724e-02 9.97478749e-01 -5.72420410e-03 -4.54794060e+01] [-4.53175609e-02 2.51913815e-03 9.98969455e-01 -2.29662953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.600714057 meters 0.033036122080863366 Centerline is valid? [True, True] Translation: X:333.77, Y:-45.47, Z:-22.97 [[ 9.96214993e-01 7.41298475e-02 4.53922253e-02 3.33766440e+02] [-7.39436759e-02 9.97245732e-01 -5.76916935e-03 -4.54731166e+01] [-4.56948706e-02 2.39086501e-03 9.98952583e-01 -2.29660058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.63071405700003 meters 0.03191998440332805 Centerline is valid? [True, True] Translation: X:333.80, Y:-45.47, Z:-22.97 [[ 9.95768853e-01 7.94762330e-02 4.61293771e-02 3.33795562e+02] [-7.92897150e-02 9.96834378e-01 -5.86205074e-03 -4.54749662e+01] [-4.64492426e-02 2.17966239e-03 9.98918273e-01 -2.29675774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.660714057 meters 0.03129545231267189 Centerline is valid? [True, True] Translation: X:333.82, Y:-45.48, Z:-22.97 [[ 9.95562839e-01 8.17926451e-02 4.65252302e-02 3.33824776e+02] [-8.16054624e-02 9.96647179e-01 -5.91170040e-03 -4.54773391e+01] [-4.68527730e-02 2.08875631e-03 9.98899622e-01 -2.29686532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.690714057 meters 0.030754899931971034 Centerline is valid? [True, True] Translation: X:333.85, Y:-45.48, Z:-22.97 [[ 9.95184597e-01 8.59532001e-02 4.71133146e-02 3.33853530e+02] [-8.57660280e-02 9.96297337e-01 -5.98374954e-03 -4.54788655e+01] [-4.74531923e-02 1.91421351e-03 9.98871629e-01 -2.29699685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.720714057 meters 0.0306222204444035 Centerline is valid? [True, True] Translation: X:333.88, Y:-45.48, Z:-22.97 [[ 9.95028795e-01 8.75507398e-02 4.74611870e-02 3.33882471e+02] [-8.73626763e-02 9.96158343e-01 -6.02642660e-03 -4.54822591e+01] [-4.78064755e-02 1.85013169e-03 9.98854903e-01 -2.29712845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.750714057 meters 0.03019456425160785 Centerline is valid? [True, True] Translation: X:333.91, Y:-45.49, Z:-22.97 [[ 9.94922628e-01 8.85507883e-02 4.78301420e-02 3.33910836e+02] [-8.83610527e-02 9.96070012e-01 -6.07094150e-03 -4.54855398e+01] [-4.81797568e-02 1.81379537e-03 9.98837034e-01 -2.29730129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.780714057 meters 0.030355261114096897 Centerline is valid? [True, True] Translation: X:333.94, Y:-45.49, Z:-22.98 [[ 9.94833844e-01 8.94265104e-02 4.80470752e-02 3.33937716e+02] [-8.92362219e-02 9.95991839e-01 -6.09528999e-03 -4.54906772e+01] [-4.83995754e-02 1.77626131e-03 9.98826474e-01 -2.29754692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.810714057 meters 0.030877143973889867 Centerline is valid? [True, True] Translation: X:333.96, Y:-45.50, Z:-22.98 [[ 9.94866319e-01 8.92029942e-02 4.77894728e-02 3.33964584e+02] [-8.90146817e-02 9.96011888e-01 -6.05852934e-03 -4.54959560e+01] [-4.81393220e-02 1.77346208e-03 9.98839056e-01 -2.29779411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.840714057 meters 0.031523270653517385 Centerline is valid? [True, True] Translation: X:333.99, Y:-45.50, Z:-22.98 [[ 9.95061344e-01 8.76012104e-02 4.66792233e-02 3.33992716e+02] [-8.74199842e-02 9.96153991e-01 -5.91373186e-03 -4.55031668e+01] [-4.70177447e-02 1.80382901e-03 9.98892426e-01 -2.29810160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.870714057 meters 0.03158488086793414 Centerline is valid? [True, True] Translation: X:334.02, Y:-45.51, Z:-22.98 [[ 9.95236536e-01 8.57898789e-02 4.63069518e-02 3.34020664e+02] [-8.56097213e-02 9.96311495e-01 -5.86348360e-03 -4.55087550e+01] [-4.66391759e-02 1.87122787e-03 9.98910049e-01 -2.29832115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.900714057 meters 0.032244340656379614 Centerline is valid? [True, True] Translation: X:334.05, Y:-45.51, Z:-22.99 [[ 9.95429454e-01 8.38431870e-02 4.57222212e-02 3.34049421e+02] [-8.36656627e-02 9.96477084e-01 -5.78601662e-03 -4.55149077e+01] [-4.60462637e-02 1.93419143e-03 9.98937436e-01 -2.29855585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.930714057 meters 0.032244340656379614 Centerline is valid? [True, True] Translation: X:334.08, Y:-45.52, Z:-22.99 [[ 9.95437823e-01 8.37437191e-02 4.57223150e-02 3.34076654e+02] [-8.35661241e-02 9.96485441e-01 -5.78527539e-03 -4.55182542e+01] [-4.60461017e-02 1.93804528e-03 9.98937436e-01 -2.29871492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.960714057 meters 0.03333600008978525 Centerline is valid? [True, True] Translation: X:334.11, Y:-45.52, Z:-22.99 [[ 9.95673485e-01 8.14050200e-02 4.48055056e-02 3.34105049e+02] [-8.12323479e-02 9.96679097e-01 -5.66419160e-03 -4.55249189e+01] [-4.51178045e-02 2.00002897e-03 9.98979671e-01 -2.29898317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.990714057 meters 0.03569219275606553 Centerline is valid? [True, True] Translation: X:334.13, Y:-45.54, Z:-22.99 [[ 9.96058817e-01 7.71831543e-02 4.36989080e-02 3.34132588e+02] [-7.70149729e-02 9.97014646e-01 -5.52170607e-03 -4.55350514e+01] [-4.39946340e-02 2.13447380e-03 9.99029487e-01 -2.29933515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.020714057 meters 0.03693299281319307 Centerline is valid? [True, True] Translation: X:334.16, Y:-45.54, Z:-23.00 [[ 9.96170423e-01 7.54788027e-02 4.41297895e-02 3.34159581e+02] [-7.53056150e-02 9.97144909e-01 -5.57622221e-03 -4.55420422e+01] [-4.44246815e-02 2.23164670e-03 9.99010244e-01 -2.29950186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.050714057 meters 0.03912631819034319 Centerline is valid? [True, True] Translation: X:334.19, Y:-45.55, Z:-23.00 [[ 9.96368277e-01 7.21148454e-02 4.52736717e-02 3.34188099e+02] [-7.19293038e-02 9.97393353e-01 -5.71614696e-03 -4.55510835e+01] [-4.55678783e-02 2.43888381e-03 9.98958268e-01 -2.29950625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.080714057 meters 0.03516592514853287 Centerline is valid? [True, True] Translation: X:334.22, Y:-45.55, Z:-22.99 [[ 9.96444898e-01 7.04969707e-02 4.61274581e-02 3.34216920e+02] [-7.03026370e-02 9.97508708e-01 -5.82382385e-03 -4.55491830e+01] [-4.64231030e-02 2.56023762e-03 9.98918586e-01 -2.29943318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.110714057 meters 0.043920523430045925 Centerline is valid? [True, True] Translation: X:334.24, Y:-45.57, Z:-23.00 [[ 9.96581486e-01 6.77185341e-02 4.73237931e-02 3.34242956e+02] [-6.75110714e-02 9.97700661e-01 -5.97041019e-03 -4.55679464e+01] [-4.76192871e-02 2.75512029e-03 9.98861759e-01 -2.29965453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.140714057 meters 0.04498058197410417 Centerline is valid? [True, True] Translation: X:334.27, Y:-45.57, Z:-23.00 [[ 9.96702807e-01 6.59318867e-02 4.72916552e-02 3.34271406e+02] [-6.57228697e-02 9.97820098e-01 -5.96284801e-03 -4.55741598e+01] [-4.75817058e-02 2.83504406e-03 9.98863326e-01 -2.29982851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.170714057 meters 0.03700709189269007 Centerline is valid? [True, True] Translation: X:334.30, Y:-45.57, Z:-23.00 [[ 9.96779149e-01 6.43965355e-02 4.77955408e-02 3.34302212e+02] [-6.41813993e-02 9.97920067e-01 -6.02387621e-03 -4.55673890e+01] [-4.80840460e-02 2.93688952e-03 9.98838976e-01 -2.29974625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.200714057 meters 0.03634133430123325 Centerline is valid? [True, True] Translation: X:334.33, Y:-45.57, Z:-23.00 [[ 9.96899994e-01 6.20096291e-02 4.84273455e-02 3.34331708e+02] [-6.17860424e-02 9.98070766e-01 -6.10177440e-03 -4.55718547e+01] [-4.87122866e-02 3.09072484e-03 9.98808070e-01 -2.29982028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.230714057 meters 0.04297490940950753 Centerline is valid? [True, True] Translation: X:334.36, Y:-45.59, Z:-23.00 [[ 9.96971901e-01 6.08142585e-02 4.84629190e-02 3.34359038e+02] [-6.05890166e-02 9.98144130e-01 -6.10462736e-03 -4.55855052e+01] [-4.87442265e-02 3.14982134e-03 9.98806327e-01 -2.30009157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.26071405700003 meters 0.043107425281291537 Centerline is valid? [True, True] Translation: X:334.39, Y:-45.59, Z:-23.00 [[ 9.97057722e-01 5.96841155e-02 4.81009814e-02 3.34387927e+02] [-5.94610409e-02 9.98212253e-01 -6.05653660e-03 -4.55902723e+01] [-4.83764681e-02 3.17858217e-03 9.98824116e-01 -2.30030025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.290714057 meters 0.036635139562662795 Centerline is valid? [True, True] Translation: X:334.42, Y:-45.58, Z:-23.00 [[ 9.97162344e-01 5.86672546e-02 4.71742836e-02 3.34418118e+02] [-5.84516316e-02 9.98272578e-01 -5.93852043e-03 -4.55844448e+01] [-4.74411904e-02 3.16425510e-03 9.98869021e-01 -2.30042853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.32071405700003 meters 0.03832135292168365 Centerline is valid? [True, True] Translation: X:334.45, Y:-45.59, Z:-23.01 [[ 9.97268102e-01 5.80082308e-02 4.57315810e-02 3.34446560e+02] [-5.78050845e-02 9.98311310e-01 -5.75326665e-03 -4.55905625e+01] [-4.59880914e-02 3.09403141e-03 9.98937196e-01 -2.30067566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.350714057 meters 0.04984938302828672 Centerline is valid? [True, True] Translation: X:334.47, Y:-45.61, Z:-23.01 [[ 9.97464416e-01 5.64587952e-02 4.33260013e-02 3.34473163e+02] [-5.62748891e-02 9.98400418e-01 -5.45366076e-03 -4.56109653e+01] [-4.35646050e-02 3.00166663e-03 9.99046103e-01 -2.30136117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.38071405700003 meters 0.03933139769965279 Centerline is valid? [True, True] Translation: X:334.50, Y:-45.60, Z:-23.01 [[ 9.97537480e-01 5.60473407e-02 4.21624546e-02 3.34504811e+02] [-5.58728409e-02 9.98423790e-01 -5.30674720e-03 -4.55994386e+01] [-4.23934268e-02 2.93794311e-03 9.99096675e-01 -2.30124600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.410714057 meters 0.04077372663032311 Centerline is valid? [True, True] Translation: X:334.53, Y:-45.60, Z:-23.02 [[ 9.97635815e-01 5.50628535e-02 4.11201056e-02 3.34532756e+02] [-5.48960965e-02 9.98478665e-01 -5.17441616e-03 -4.56044360e+01] [-4.13424663e-02 2.90484959e-03 9.99140812e-01 -2.30154995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.440714057 meters 0.04014998888411748 Centerline is valid? [True, True] Translation: X:334.56, Y:-45.61, Z:-23.02 [[ 9.97618391e-01 5.51388436e-02 4.14397673e-02 3.34561239e+02] [-5.49696281e-02 9.98474420e-01 -5.21269724e-03 -4.56068573e+01] [-4.16639697e-02 2.92235404e-03 9.99127406e-01 -2.30165238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.470714057 meters 0.041150897854235806 Centerline is valid? [True, True] Translation: X:334.59, Y:-45.61, Z:-23.02 [[ 9.97583167e-01 5.49072864e-02 4.25795083e-02 3.34589660e+02] [-5.47285639e-02 9.98486922e-01 -5.35265235e-03 -4.56106644e+01] [-4.28089818e-02 3.00940055e-03 9.99078743e-01 -2.30171698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.500714057 meters 0.03810423442012027 Centerline is valid? [True, True] Translation: X:334.62, Y:-45.61, Z:-23.02 [[ 9.97550510e-01 5.50247442e-02 4.31886266e-02 3.34619407e+02] [-5.48410773e-02 9.98480348e-01 -5.42691701e-03 -4.56092235e+01] [-4.34216096e-02 3.04511302e-03 9.99052196e-01 -2.30175861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.530714057 meters 0.038474281659135884 Centerline is valid? [True, True] Translation: X:334.65, Y:-45.61, Z:-23.02 [[ 9.97465368e-01 5.54973144e-02 4.45296261e-02 3.34648034e+02] [-5.53026369e-02 9.98453974e-01 -5.59288439e-03 -4.56135483e+01] [-4.47711722e-02 3.11610275e-03 9.98992408e-01 -2.30190072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.560714057 meters 0.0399765402216244 Centerline is valid? [True, True] Translation: X:334.68, Y:-45.62, Z:-23.02 [[ 9.97402372e-01 5.58954377e-02 4.54335668e-02 3.34676216e+02] [-5.56932959e-02 9.98431631e-01 -5.70387957e-03 -4.56178377e+01] [-4.56811310e-02 3.15871793e-03 9.98951078e-01 -2.30204511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.590714057 meters 0.03968335747428307 Centerline is valid? [True, True] Translation: X:334.71, Y:-45.62, Z:-23.02 [[ 9.97420052e-01 5.56438813e-02 4.53541470e-02 3.34705853e+02] [-5.54423088e-02 9.98445672e-01 -5.69125464e-03 -4.56202738e+01] [-4.56003353e-02 3.16203287e-03 9.98954759e-01 -2.30217248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.620714057 meters 0.04287816278818173 Centerline is valid? [True, True] Translation: X:334.73, Y:-45.63, Z:-23.02 [[ 9.97491149e-01 5.45097987e-02 4.51673555e-02 3.34734633e+02] [-5.43088109e-02 9.98508112e-01 -5.66599439e-03 -4.56276407e+01] [-4.54088231e-02 3.19879388e-03 9.98963366e-01 -2.30241170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.650714057 meters 0.04425957070430941 Centerline is valid? [True, True] Translation: X:334.76, Y:-45.63, Z:-23.03 [[ 9.97518488e-01 5.38905852e-02 4.53064090e-02 3.34763826e+02] [-5.36877587e-02 9.98541603e-01 -5.68262818e-03 -4.56336113e+01] [-4.55465744e-02 3.23612712e-03 9.98956975e-01 -2.30263668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.680714057 meters 0.04087393608260653 Centerline is valid? [True, True] Translation: X:334.80, Y:-45.63, Z:-23.03 [[ 9.97575387e-01 5.31681295e-02 4.49054313e-02 3.34795004e+02] [-5.29681966e-02 9.98580321e-01 -5.63135822e-03 -4.56327809e+01] [-4.51410888e-02 3.23914464e-03 9.98975370e-01 -2.30279712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.710714057 meters 0.04243436906682421 Centerline is valid? [True, True] Translation: X:334.82, Y:-45.64, Z:-23.03 [[ 9.97770685e-01 5.09709306e-02 4.30769615e-02 3.34824354e+02] [-5.07849140e-02 9.98695002e-01 -5.40231453e-03 -4.56375993e+01] [-4.32961071e-02 3.20261129e-03 9.99057151e-01 -2.30312200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.740714057 meters 0.04172682333553976 Centerline is valid? [True, True] Translation: X:334.86, Y:-45.64, Z:-23.03 [[ 9.97848860e-01 5.04525518e-02 4.18592041e-02 3.34855120e+02] [-5.02765001e-02 9.98721546e-01 -5.24860045e-03 -4.56400918e+01] [-4.20704943e-02 3.13277570e-03 9.99109733e-01 -2.30330589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.770714057 meters 0.04169538199258165 Centerline is valid? [True, True] Translation: X:334.88, Y:-45.64, Z:-23.03 [[ 9.97891806e-01 5.02935512e-02 4.10183043e-02 3.34884544e+02] [-5.01243493e-02 9.98729739e-01 -5.14374926e-03 -4.56413450e+01] [-4.12248978e-02 3.07688943e-03 9.99145155e-01 -2.30347464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.800714057 meters 0.04211794231117173 Centerline is valid? [True, True] Translation: X:334.91, Y:-45.64, Z:-23.04 [[ 9.97858260e-01 5.08563076e-02 4.11403458e-02 3.34914422e+02] [-5.06866452e-02 9.98701290e-01 -5.15728188e-03 -4.56445648e+01] [-4.13491967e-02 3.06097021e-03 9.99140067e-01 -2.30360130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.830714057 meters 0.043461293554919525 Centerline is valid? [True, True] Translation: X:334.94, Y:-45.65, Z:-23.04 [[ 9.97706307e-01 5.33746384e-02 4.16325972e-02 3.34943433e+02] [-5.32030880e-02 9.98570077e-01 -5.21851412e-03 -4.56471942e+01] [-4.18516021e-02 2.99156171e-03 9.99119359e-01 -2.30373737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.860714057 meters 0.03863840767344183 Centerline is valid? [True, True] Translation: X:334.97, Y:-45.64, Z:-23.04 [[ 9.97569203e-01 5.52543827e-02 4.24574914e-02 3.34973796e+02] [-5.50777208e-02 9.98467896e-01 -5.32036182e-03 -4.56424741e+01] [-4.26864154e-02 2.96896724e-03 9.99084108e-01 -2.30371254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.890714057 meters 0.04046178122593645 Centerline is valid? [True, True] Translation: X:335.00, Y:-45.65, Z:-23.04 [[ 9.97453345e-01 5.70868796e-02 4.27540953e-02 3.35002256e+02] [-5.69094807e-02 9.98364976e-01 -5.35596098e-03 -4.56473082e+01] [-4.29899464e-02 2.90920784e-03 9.99071269e-01 -2.30386884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.920714057 meters 0.03800660022143386 Centerline is valid? [True, True] Translation: X:335.03, Y:-45.64, Z:-23.04 [[ 9.97221319e-01 6.08245849e-02 4.30117584e-02 3.35033174e+02] [-6.06485832e-02 9.98144647e-01 -5.38628800e-03 -4.56430934e+01] [-4.32595751e-02 2.76271902e-03 9.99060047e-01 -2.30395539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.950714057 meters 0.03775438706756459 Centerline is valid? [True, True] Translation: X:335.06, Y:-45.65, Z:-23.04 [[ 9.97081154e-01 6.28353937e-02 4.33691820e-02 3.35061401e+02] [-6.26583345e-02 9.98020257e-01 -5.43130700e-03 -4.56453389e+01] [-4.36246005e-02 2.69801314e-03 9.99044351e-01 -2.30417627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.980714057 meters 0.03466952039464955 Centerline is valid? [True, True] Translation: X:335.09, Y:-45.64, Z:-23.04 [[ 9.96876913e-01 6.60938411e-02 4.32206560e-02 3.35092225e+02] [-6.59211645e-02 9.97810169e-01 -5.40990807e-03 -4.56422824e+01] [-4.34835717e-02 2.54385648e-03 9.99050904e-01 -2.30431968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.01071405700003 meters 0.039335895930580886 Centerline is valid? [True, True] Translation: X:335.12, Y:-45.65, Z:-23.05 [[ 9.96707800e-01 6.83423668e-02 4.36220490e-02 3.35120193e+02] [-6.81686350e-02 9.97658875e-01 -5.45959148e-03 -4.56531380e+01] [-4.38930457e-02 2.46796187e-03 9.99033187e-01 -2.30472203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.040714057 meters 0.03539186894752886 Centerline is valid? [True, True] Translation: X:335.15, Y:-45.65, Z:-23.05 [[ 9.96695712e-01 6.90224746e-02 4.28200490e-02 3.35150268e+02] [-6.88557564e-02 9.97612238e-01 -5.35796162e-03 -4.56492808e+01] [-4.30876247e-02 2.39185051e-03 9.99068434e-01 -2.30474677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.07071405700003 meters 0.034238329578155535 Centerline is valid? [True, True] Translation: X:335.18, Y:-45.65, Z:-23.05 [[ 9.96604237e-01 7.07493425e-02 4.21251205e-02 3.35179139e+02] [-7.05896156e-02 9.97491525e-01 -5.26905626e-03 -4.56488980e+01] [-4.23922330e-02 2.27756773e-03 9.99098449e-01 -2.30487361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.100714057 meters 0.03437826202338938 Centerline is valid? [True, True] Translation: X:335.21, Y:-45.65, Z:-23.05 [[ 9.96550842e-01 7.14841060e-02 4.21478518e-02 3.35206335e+02] [-7.13249810e-02 9.97439213e-01 -5.26908227e-03 -4.56526790e+01] [-4.24165758e-02 2.24471364e-03 9.99097490e-01 -2.30505234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.13071405700003 meters 0.03319798866567068 Centerline is valid? [True, True] Translation: X:335.24, Y:-45.65, Z:-23.05 [[ 9.96435769e-01 7.32228578e-02 4.18828337e-02 3.35235350e+02] [-7.30674285e-02 9.97313280e-01 -5.23195581e-03 -4.56529367e+01] [-4.21534050e-02 2.15303696e-03 9.99108830e-01 -2.30517657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.160714057 meters 0.03317661350074131 Centerline is valid? [True, True] Translation: X:335.26, Y:-45.66, Z:-23.05 [[ 9.96349373e-01 7.42524066e-02 4.21248947e-02 3.35262640e+02] [-7.40962091e-02 9.97237229e-01 -5.25942376e-03 -4.56558810e+01] [-4.23990381e-02 2.11892856e-03 9.99098510e-01 -2.30538665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.190714057 meters 0.031994639982422704 Centerline is valid? [True, True] Translation: X:335.29, Y:-45.66, Z:-23.06 [[ 9.96259878e-01 7.54757207e-02 4.20674676e-02 3.35291557e+02] [-7.53212052e-02 9.97145512e-01 -5.24827109e-03 -4.56561354e+01] [-4.23435036e-02 2.06006955e-03 9.99100988e-01 -2.30550479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.220714057 meters 0.030556326113650827 Centerline is valid? [True, True] Translation: X:335.32, Y:-45.65, Z:-23.06 [[ 9.95996035e-01 7.88843402e-02 4.20613707e-02 3.35321431e+02] [-7.87330514e-02 9.96881943e-01 -5.24394047e-03 -4.56548461e+01] [-4.23438857e-02 1.91132386e-03 9.99101267e-01 -2.30566560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.250714057 meters 0.030977767746080093 Centerline is valid? [True, True] Translation: X:335.35, Y:-45.66, Z:-23.06 [[ 9.95842133e-01 8.07654630e-02 4.21353331e-02 3.35349120e+02] [-8.06153511e-02 9.96731447e-01 -5.25244755e-03 -4.56574910e+01] [-4.24218279e-02 1.83385390e-03 9.99098106e-01 -2.30587082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.280714057 meters 0.030048126826140165 Centerline is valid? [True, True] Translation: X:335.38, Y:-45.66, Z:-23.06 [[ 9.95602667e-01 8.35014792e-02 4.24597773e-02 3.35379057e+02] [-8.33517279e-02 9.96506159e-01 -5.28819698e-03 -4.56569954e+01] [-4.27530019e-02 1.72584720e-03 9.99084182e-01 -2.30596318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.310714057 meters 0.02999102565952521 Centerline is valid? [True, True] Translation: X:335.41, Y:-45.66, Z:-23.06 [[ 9.95486507e-01 8.45821283e-02 4.30404329e-02 3.35407620e+02] [-8.44293042e-02 9.96415059e-01 -5.35945385e-03 -4.56592115e+01] [-4.33394495e-02 1.70139019e-03 9.99058956e-01 -2.30606832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.340714057 meters 0.029102940937785354 Centerline is valid? [True, True] Translation: X:335.44, Y:-45.66, Z:-23.06 [[ 9.95416017e-01 8.52174977e-02 4.34157999e-02 3.35436518e+02] [-8.50627334e-02 9.96360948e-01 -5.40309051e-03 -4.56600461e+01] [-4.37182454e-02 1.68525622e-03 9.99042479e-01 -2.30615428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.370714057 meters 0.02948642318629312 Centerline is valid? [True, True] Translation: X:335.46, Y:-45.66, Z:-23.06 [[ 9.95398011e-01 8.51336405e-02 4.39893565e-02 3.35464389e+02] [-8.49748084e-02 9.96368077e-01 -5.47147059e-03 -4.56632127e+01] [-4.42953967e-02 1.70830380e-03 9.99017017e-01 -2.30629901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.400714057 meters 0.029860987906518546 Centerline is valid? [True, True] Translation: X:335.49, Y:-45.67, Z:-23.06 [[ 9.95447834e-01 8.45569907e-02 4.39741382e-02 3.35492683e+02] [-8.43978923e-02 9.96417144e-01 -5.46539605e-03 -4.56673396e+01] [-4.42787226e-02 1.72919208e-03 9.99017720e-01 -2.30647005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.430714057 meters 0.030917817006043527 Centerline is valid? [True, True] Translation: X:335.52, Y:-45.67, Z:-23.07 [[ 9.95688109e-01 8.19617607e-02 4.34449070e-02 3.35520127e+02] [-8.18041395e-02 9.96633814e-01 -5.39656532e-03 -4.56731010e+01] [-4.37409754e-02 1.81932269e-03 9.99041249e-01 -2.30668053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.460714057 meters 0.031219991043842633 Centerline is valid? [True, True] Translation: X:335.55, Y:-45.68, Z:-23.07 [[ 9.95841607e-01 7.99007186e-02 4.37649237e-02 3.35549089e+02] [-7.97389379e-02 9.96800977e-01 -5.43271360e-03 -4.56778440e+01] [-4.40589964e-02 1.92035371e-03 9.99027085e-01 -2.30686046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.490714057 meters 0.03093410837072884 Centerline is valid? [True, True] Translation: X:335.58, Y:-45.68, Z:-23.07 [[ 9.96040992e-01 7.76276346e-02 4.33162016e-02 3.35578809e+02] [-7.74670780e-02 9.96980419e-01 -5.37550706e-03 -4.56813692e+01] [-4.36026927e-02 1.99864581e-03 9.99046951e-01 -2.30696972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.520714057 meters 0.03234529274943544 Centerline is valid? [True, True] Translation: X:335.61, Y:-45.69, Z:-23.07 [[ 9.96384919e-01 7.32698033e-02 4.29956935e-02 3.35607396e+02] [-7.31076469e-02 9.97309792e-01 -5.33391555e-03 -4.56905627e+01] [-4.32708410e-02 2.17131903e-03 9.99061019e-01 -2.30716645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.550714057 meters 0.034698983953175194 Centerline is valid? [True, True] Translation: X:335.64, Y:-45.70, Z:-23.07 [[ 9.96796853e-01 6.79447916e-02 4.21845759e-02 3.35637231e+02] [-6.77839879e-02 9.97686300e-01 -5.23228953e-03 -4.57001844e+01] [-4.24424803e-02 2.35609096e-03 9.99096134e-01 -2.30741197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.580714057 meters 0.035388543641154596 Centerline is valid? [True, True] Translation: X:335.67, Y:-45.71, Z:-23.08 [[ 9.97009036e-01 6.54098082e-02 4.11647812e-02 3.35665614e+02] [-6.52544885e-02 9.97855586e-01 -5.10698185e-03 -4.57060777e+01] [-4.14105536e-02 2.40552031e-03 9.99139319e-01 -2.30760448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.610714057 meters 0.03660076345883833 Centerline is valid? [True, True] Translation: X:335.69, Y:-45.71, Z:-23.08 [[ 9.97214062e-01 6.29256100e-02 4.00559975e-02 3.35694787e+02] [-6.27767138e-02 9.98015245e-01 -4.96545853e-03 -4.57119728e+01] [-4.02889506e-02 2.43704118e-03 9.99185099e-01 -2.30785532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.640714057 meters 0.038780556794969175 Centerline is valid? [True, True] Translation: X:335.72, Y:-45.72, Z:-23.08 [[ 9.97512857e-01 5.86352416e-02 3.91153346e-02 3.35723404e+02] [-5.84900013e-02 9.98276222e-01 -4.84820383e-03 -4.57207604e+01] [-3.93321840e-02 2.54828968e-03 9.99222941e-01 -2.30820376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.670714057 meters 0.03910119110305934 Centerline is valid? [True, True] Translation: X:335.75, Y:-45.73, Z:-23.08 [[ 9.97679846e-01 5.62190389e-02 3.83971834e-02 3.35753145e+02] [-5.60773344e-02 9.98415089e-01 -4.75843088e-03 -4.57256938e+01] [-3.86038417e-02 2.59417889e-03 9.99251226e-01 -2.30839095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.700714057 meters 0.041772600741260775 Centerline is valid? [True, True] Translation: X:335.78, Y:-45.73, Z:-23.09 [[ 9.97887004e-01 5.27182313e-02 3.79778183e-02 3.35781562e+02] [-5.25771039e-02 9.98605779e-01 -4.70594837e-03 -4.57341945e+01] [-3.81729582e-02 2.69924102e-03 9.99267501e-01 -2.30858332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.730714057 meters 0.04269434309493278 Centerline is valid? [True, True] Translation: X:335.81, Y:-45.74, Z:-23.09 [[ 9.97972261e-01 5.12056015e-02 3.78067825e-02 3.35810844e+02] [-5.10646935e-02 9.98684363e-01 -4.68397163e-03 -4.57386050e+01] [-3.79968881e-02 2.74388199e-03 9.99274090e-01 -2.30879187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.76071405700003 meters 0.04342402996210648 Centerline is valid? [True, True] Translation: X:335.84, Y:-45.74, Z:-23.09 [[ 9.97990189e-01 5.05781148e-02 3.81763836e-02 3.35839188e+02] [-5.04340068e-02 9.98716199e-01 -4.72906261e-03 -4.57429199e+01] [-3.83665598e-02 2.79417010e-03 9.99259826e-01 -2.30890639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.790714057 meters 0.04342402996210648 Centerline is valid? [True, True] Translation: X:335.87, Y:-45.75, Z:-23.09 [[ 9.97993661e-01 5.05093282e-02 3.81767089e-02 3.35867318e+02] [-5.03652702e-02 9.98719681e-01 -4.72643479e-03 -4.57463386e+01] [-3.83665595e-02 2.79417170e-03 9.99259826e-01 -2.30907075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.82071405700003 meters 0.04503980316717749 Centerline is valid? [True, True] Translation: X:335.90, Y:-45.75, Z:-23.09 [[ 9.97995083e-01 4.99429872e-02 3.88781658e-02 3.35895291e+02] [-4.97932781e-02 9.98747962e-01 -4.81015458e-03 -4.57508381e+01] [-3.90697224e-02 2.86463929e-03 9.99232381e-01 -2.30911411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.850714057 meters 0.044682922998185125 Centerline is valid? [True, True] Translation: X:335.92, Y:-45.75, Z:-23.09 [[ 9.97934766e-01 5.00559277e-02 4.02567660e-02 3.35924811e+02] [-4.98955982e-02 9.98742032e-01 -4.97821709e-03 -4.57537031e+01] [-4.04553136e-02 2.95930049e-03 9.99176966e-01 -2.30915289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.88071405700003 meters 0.045963953711752256 Centerline is valid? [True, True] Translation: X:335.95, Y:-45.76, Z:-23.09 [[ 9.97907013e-01 5.01407017e-02 4.08350851e-02 3.35953103e+02] [-4.99758472e-02 9.98737667e-01 -5.04857546e-03 -4.57574816e+01] [-4.10366767e-02 2.99724088e-03 9.99153145e-01 -2.30924164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.910714057 meters 0.04152375391755283 Centerline is valid? [True, True] Translation: X:335.98, Y:-45.75, Z:-23.09 [[ 9.97935320e-01 4.95690585e-02 4.08412197e-02 3.35983839e+02] [-4.94037751e-02 9.98766136e-01 -5.04698315e-03 -4.57537490e+01] [-4.10410014e-02 3.01885231e-03 9.99152903e-01 -2.30926279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.940714057 meters 0.04118142086066825 Centerline is valid? [True, True] Translation: X:336.01, Y:-45.76, Z:-23.09 [[ 9.97931576e-01 4.95009514e-02 4.10149526e-02 3.36012442e+02] [-4.93342375e-02 9.98769469e-01 -5.06755654e-03 -4.57574257e+01] [-4.12153313e-02 3.03363327e-03 9.99145682e-01 -2.30941426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.970714057 meters 0.042229754458206516 Centerline is valid? [True, True] Translation: X:336.04, Y:-45.76, Z:-23.10 [[ 9.98066097e-01 4.70550512e-02 4.06188249e-02 3.36042778e+02] [-4.68896972e-02 9.98887486e-01 -5.01454119e-03 -4.57617533e+01] [-4.08095954e-02 3.10023915e-03 9.99162132e-01 -2.30957167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.000714057 meters 0.04283958149455913 Centerline is valid? [True, True] Translation: X:336.07, Y:-45.77, Z:-23.10 [[ 9.98082639e-01 4.61727802e-02 4.12203958e-02 3.36072296e+02] [-4.60017287e-02 9.98928397e-01 -5.08909691e-03 -4.57663970e+01] [-4.14112017e-02 3.18312980e-03 9.99137118e-01 -2.30977134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.030714057 meters 0.04473018302299157 Centerline is valid? [True, True] Translation: X:336.10, Y:-45.77, Z:-23.10 [[ 9.98207973e-01 4.37262462e-02 4.08516545e-02 3.36101095e+02] [-4.35562884e-02 9.99038253e-01 -5.04161453e-03 -4.57733034e+01] [-4.10328165e-02 3.25323338e-03 9.99152503e-01 -2.30999626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.060714057 meters 0.045495879466973435 Centerline is valid? [True, True] Translation: X:336.13, Y:-45.78, Z:-23.10 [[ 9.98259174e-01 4.27293576e-02 4.06549436e-02 3.36131478e+02] [-4.25600923e-02 9.99081296e-01 -5.02028371e-03 -4.57786171e+01] [-4.08321073e-02 3.28126612e-03 9.99160634e-01 -2.31021244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.090714057 meters 0.0467628827216667 Centerline is valid? [True, True] Translation: X:336.16, Y:-45.78, Z:-23.10 [[ 9.98330277e-01 4.14057774e-02 4.02767856e-02 3.36161712e+02] [-4.12385505e-02 9.99136947e-01 -4.97429125e-03 -4.57842294e+01] [-4.04479890e-02 3.30502931e-03 9.99176179e-01 -2.31043334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.120714057 meters 0.048005484248133286 Centerline is valid? [True, True] Translation: X:336.19, Y:-45.79, Z:-23.11 [[ 9.98478266e-01 3.90391674e-02 3.89499243e-02 3.36192341e+02] [-3.88809710e-02 9.99232267e-01 -4.81108177e-03 -4.57890830e+01] [-3.91078418e-02 3.28934971e-03 9.99229582e-01 -2.31068479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.150714057 meters 0.050669358688204734 Centerline is valid? [True, True] Translation: X:336.22, Y:-45.80, Z:-23.11 [[ 9.98502028e-01 3.88951853e-02 3.84819943e-02 3.36222854e+02] [-3.87407930e-02 9.99238004e-01 -4.74993368e-03 -4.57966114e+01] [-3.86374207e-02 3.25199543e-03 9.99248004e-01 -2.31098963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.180714057 meters 0.046614632985777726 Centerline is valid? [True, True] Translation: X:336.25, Y:-45.79, Z:-23.11 [[ 9.98548424e-01 3.88110802e-02 3.73462981e-02 3.36254862e+02] [-3.86651645e-02 9.99241535e-01 -4.62172501e-03 -4.57933457e+01] [-3.74973464e-02 3.17101546e-03 9.99291696e-01 -2.31115107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.210714057 meters 0.050433695569109926 Centerline is valid? [True, True] Translation: X:336.28, Y:-45.80, Z:-23.11 [[ 9.98539309e-01 3.93172780e-02 3.70594048e-02 3.36284299e+02] [-3.91738805e-02 9.99221876e-01 -4.58789742e-03 -4.58017638e+01] [-3.72109516e-02 3.12943523e-03 9.99302533e-01 -2.31148743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.240714057 meters 0.05145616071751228 Centerline is valid? [True, True] Translation: X:336.31, Y:-45.81, Z:-23.12 [[ 9.98498053e-01 4.06149033e-02 3.67704812e-02 3.36313832e+02] [-4.04745705e-02 9.99170195e-01 -4.55313757e-03 -4.58056062e+01] [-3.69248941e-02 3.05802956e-03 9.99313365e-01 -2.31168887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.270714057 meters 0.04324277894401966 Centerline is valid? [True, True] Translation: X:336.35, Y:-45.79, Z:-23.11 [[ 9.98273353e-01 4.44675567e-02 3.83790187e-02 3.36345965e+02] [-4.43174984e-02 9.99006194e-01 -4.75225537e-03 -4.57946729e+01] [-3.85521986e-02 3.04318780e-03 9.99251954e-01 -2.31141805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.300714057 meters 0.040949435056329794 Centerline is valid? [True, True] Translation: X:336.38, Y:-45.79, Z:-23.11 [[ 9.98158828e-01 4.62836912e-02 3.92016994e-02 3.36375877e+02] [-4.61284840e-02 9.98923717e-01 -4.85497623e-03 -4.57933272e+01] [-3.93842135e-02 3.03772242e-03 9.99219523e-01 -2.31140425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.330714057 meters 0.04987132222412997 Centerline is valid? [True, True] Translation: X:336.40, Y:-45.81, Z:-23.12 [[ 9.97914680e-01 5.04446769e-02 4.02694274e-02 3.36404175e+02] [-5.02843476e-02 9.98722501e-01 -4.98505309e-03 -4.58067849e+01] [-4.04694526e-02 2.94973577e-03 9.99176422e-01 -2.31171964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.360714057 meters 0.044809578303642274 Centerline is valid? [True, True] Translation: X:336.44, Y:-45.80, Z:-23.12 [[ 9.97773262e-01 5.26383871e-02 4.09599528e-02 3.36435315e+02] [-5.24743342e-02 9.98609399e-01 -5.07081829e-03 -4.58019541e+01] [-4.11699135e-02 2.91018066e-03 9.99147922e-01 -2.31171230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.390714057 meters 0.04449909816647848 Centerline is valid? [True, True] Translation: X:336.47, Y:-45.80, Z:-23.12 [[ 9.97638562e-01 5.45532973e-02 4.17281360e-02 3.36465411e+02] [-5.43847101e-02 9.98506695e-01 -5.16554661e-03 -4.58040266e+01] [-4.19476208e-02 2.88397591e-03 9.99115649e-01 -2.31187607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.420714057 meters 0.036713960147783394 Centerline is valid? [True, True] Translation: X:336.50, Y:-45.79, Z:-23.12 [[ 9.97519812e-01 5.65721388e-02 4.18786165e-02 3.36497119e+02] [-5.64041874e-02 9.98394568e-01 -5.18216001e-03 -4.57939034e+01] [-4.21045491e-02 2.80717795e-03 9.99109267e-01 -2.31181422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.450714057 meters 0.03816717406688795 Centerline is valid? [True, True] Translation: X:336.52, Y:-45.80, Z:-23.12 [[ 9.97447447e-01 5.76313366e-02 4.21570781e-02 3.36524358e+02] [-5.74620750e-02 9.98334060e-01 -5.21682767e-03 -4.57990097e+01] [-4.23874996e-02 2.78107827e-03 9.99097375e-01 -2.31206777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.480714057 meters 0.03599129670155359 Centerline is valid? [True, True] Translation: X:336.55, Y:-45.80, Z:-23.12 [[ 9.97442604e-01 5.80725483e-02 4.16633032e-02 3.36553791e+02] [-5.79077648e-02 9.98308643e-01 -5.15214033e-03 -4.57971541e+01] [-4.18920336e-02 2.72633551e-03 9.99118424e-01 -2.31224577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.51071405700003 meters 0.03843460913176273 Centerline is valid? [True, True] Translation: X:336.58, Y:-45.80, Z:-23.13 [[ 9.97437619e-01 5.80946533e-02 4.17517243e-02 3.36580404e+02] [-5.79293073e-02 9.98307351e-01 -5.16024508e-03 -4.58040132e+01] [-4.19808360e-02 2.72837410e-03 9.99114691e-01 -2.31251713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.540714057 meters 0.03886215114263631 Centerline is valid? [True, True] Translation: X:336.61, Y:-45.81, Z:-23.13 [[ 9.97439756e-01 5.79650536e-02 4.18806047e-02 3.36608857e+02] [-5.77987466e-02 9.98314858e-01 -5.17200085e-03 -4.58077388e+01] [-4.21098253e-02 2.73811281e-03 9.99109236e-01 -2.31270211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.57071405700003 meters 0.037351405004548144 Centerline is valid? [True, True] Translation: X:336.64, Y:-45.81, Z:-23.13 [[ 9.97500893e-01 5.71326200e-02 4.15672075e-02 3.36637741e+02] [-5.69681960e-02 9.98362812e-01 -5.13040876e-03 -4.58077118e+01] [-4.17922678e-02 2.74957849e-03 9.99122538e-01 -2.31272517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.600714057 meters 0.04149263794872611 Centerline is valid? [True, True] Translation: X:336.66, Y:-45.82, Z:-23.13 [[ 9.97542674e-01 5.62442653e-02 4.17755377e-02 3.36663915e+02] [-5.60775327e-02 9.98413118e-01 -5.15326146e-03 -4.58170545e+01] [-4.19990862e-02 2.79792914e-03 9.99113731e-01 -2.31305275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.63071405700003 meters 0.040354022924648805 Centerline is valid? [True, True] Translation: X:336.69, Y:-45.82, Z:-23.13 [[ 9.97611810e-01 5.48333884e-02 4.19997116e-02 3.36693519e+02] [-5.46638053e-02 9.98491398e-01 -5.17643930e-03 -4.58190369e+01] [-4.22201925e-02 2.86821293e-03 9.99104213e-01 -2.31327782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.660714057 meters 0.043549458587447736 Centerline is valid? [True, True] Translation: X:336.72, Y:-45.83, Z:-23.14 [[ 9.97660675e-01 5.41442741e-02 4.17321827e-02 3.36720340e+02] [-5.39762732e-02 9.98528975e-01 -5.14282496e-03 -4.58270640e+01] [-4.19492481e-02 2.87824652e-03 9.99115597e-01 -2.31362694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.690714057 meters 0.04612175336003646 Centerline is valid? [True, True] Translation: X:336.75, Y:-45.83, Z:-23.14 [[ 9.97679545e-01 5.37652911e-02 4.17710269e-02 3.36747499e+02] [-5.35968041e-02 9.98549410e-01 -5.14386743e-03 -4.58337412e+01] [-4.19869958e-02 2.89313777e-03 9.99113968e-01 -2.31390337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.720714057 meters 0.03911709538099175 Centerline is valid? [True, True] Translation: X:336.78, Y:-45.83, Z:-23.14 [[ 9.97736178e-01 5.29267519e-02 4.14882884e-02 3.36777197e+02] [-5.27599626e-02 9.98594171e-01 -5.10559956e-03 -4.58250608e+01] [-4.17001858e-02 2.90512085e-03 9.99125945e-01 -2.31380136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.750714057 meters 0.03886821785773514 Centerline is valid? [True, True] Translation: X:336.81, Y:-45.83, Z:-23.14 [[ 9.97756759e-01 5.27620053e-02 4.12021975e-02 3.36806258e+02] [-5.25975364e-02 9.98602940e-01 -5.06638349e-03 -4.58269737e+01] [-4.14119481e-02 2.88788429e-03 9.99137984e-01 -2.31388332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.780714057 meters 0.04040373449323217 Centerline is valid? [True, True] Translation: X:336.84, Y:-45.83, Z:-23.14 [[ 9.97716550e-01 5.32971089e-02 4.14861935e-02 3.36835292e+02] [-5.31309138e-02 9.98574536e-01 -5.09913748e-03 -4.58301085e+01] [-4.16988257e-02 2.88329448e-03 9.99126065e-01 -2.31396882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.810714057 meters 0.039497492845257505 Centerline is valid? [True, True] Translation: X:336.86, Y:-45.83, Z:-23.14 [[ 9.97631378e-01 5.43845909e-02 4.21182800e-02 3.36864214e+02] [-5.42145168e-02 9.98515924e-01 -5.17060430e-03 -4.58313826e+01] [-4.23369745e-02 2.87493490e-03 9.99099252e-01 -2.31404852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.840714057 meters 0.039936049223863145 Centerline is valid? [True, True] Translation: X:336.89, Y:-45.83, Z:-23.14 [[ 9.97534550e-01 5.55128818e-02 4.29318222e-02 3.36891610e+02] [-5.53373354e-02 9.98453821e-01 -5.26753891e-03 -4.58340178e+01] [-4.31578582e-02 2.87881941e-03 9.99064118e-01 -2.31419516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.870714057 meters 0.037264529243240314 Centerline is valid? [True, True] Translation: X:336.92, Y:-45.83, Z:-23.14 [[ 9.97280165e-01 5.92829745e-02 4.37927065e-02 3.36922147e+02] [-5.91041544e-02 9.98237388e-01 -5.36803636e-03 -4.58325087e+01] [-4.40337502e-02 2.76510530e-03 9.99026217e-01 -2.31420111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.900714057 meters 0.038992670000274954 Centerline is valid? [True, True] Translation: X:336.95, Y:-45.84, Z:-23.14 [[ 9.97109704e-01 6.16344549e-02 4.44233184e-02 3.36950590e+02] [-6.14527548e-02 9.98095138e-01 -5.44559826e-03 -4.58384556e+01] [-4.46743346e-02 2.69992358e-03 9.98997955e-01 -2.31444559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.930714057 meters 0.03749953384153535 Centerline is valid? [True, True] Translation: X:336.98, Y:-45.84, Z:-23.15 [[ 9.96836481e-01 6.61456874e-02 4.40656048e-02 3.36981381e+02] [-6.59713812e-02 9.97806905e-01 -5.39977002e-03 -4.58382460e+01] [-4.43261362e-02 2.47561894e-03 9.99014046e-01 -2.31467965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.960714057 meters 0.03427325930171798 Centerline is valid? [True, True] Translation: X:337.01, Y:-45.84, Z:-23.15 [[ 9.96697577e-01 6.81059876e-02 4.42211994e-02 3.37011265e+02] [-6.79323105e-02 9.97675209e-01 -5.42016319e-03 -4.58360267e+01] [-4.44875399e-02 2.39821527e-03 9.99007061e-01 -2.31475406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.990714057 meters 0.0335850998863328 Centerline is valid? [True, True] Translation: X:337.04, Y:-45.84, Z:-23.15 [[ 9.96504122e-01 7.07450264e-02 4.44373367e-02 3.37041297e+02] [-7.05725454e-02 9.97491814e-01 -5.44029647e-03 -4.58375668e+01] [-4.47107535e-02 2.28522189e-03 9.98997361e-01 -2.31490368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.020714057 meters 0.03681251075977086 Centerline is valid? [True, True] Translation: X:337.07, Y:-45.85, Z:-23.15 [[ 9.96431887e-01 7.14351115e-02 4.49501883e-02 3.37067873e+02] [-7.12593202e-02 9.97442642e-01 -5.50314645e-03 -4.58462846e+01] [-4.52283525e-02 2.28039074e-03 9.98974072e-01 -2.31518059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.050714057 meters 0.037734263062178156 Centerline is valid? [True, True] Translation: X:337.09, Y:-45.85, Z:-23.15 [[ 9.96364111e-01 7.16451469e-02 4.61034829e-02 3.37094707e+02] [-7.14606323e-02 9.97427475e-01 -5.64010746e-03 -4.58520081e+01] [-4.63889668e-02 2.32501662e-03 9.98920747e-01 -2.31533975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.080714057 meters 0.03251762278479441 Centerline is valid? [True, True] Translation: X:337.12, Y:-45.85, Z:-23.15 [[ 9.96355396e-01 7.12822549e-02 4.68483253e-02 3.37124024e+02] [-7.10915167e-02 9.97453355e-01 -5.72716406e-03 -4.58472403e+01] [-4.71372644e-02 2.37577232e-03 9.98885596e-01 -2.31527141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.110714057 meters 0.038393519603767745 Centerline is valid? [True, True] Translation: X:337.15, Y:-45.86, Z:-23.16 [[ 9.96397314e-01 7.06428042e-02 4.69253405e-02 3.37150415e+02] [-7.04508818e-02 9.97498773e-01 -5.73338551e-03 -4.58602963e+01] [-4.72129920e-02 2.40679830e-03 9.98881945e-01 -2.31560660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.140714057 meters 0.0337647889399782 Centerline is valid? [True, True] Translation: X:337.18, Y:-45.86, Z:-23.16 [[ 9.96539856e-01 6.91719373e-02 4.60820858e-02 3.37180558e+02] [-6.89855023e-02 9.97601800e-01 -5.62575667e-03 -4.58568712e+01] [-4.63607163e-02 2.42729490e-03 9.98921815e-01 -2.31564327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.170714057 meters 0.03414089181455468 Centerline is valid? [True, True] Translation: X:337.21, Y:-45.86, Z:-23.16 [[ 9.96605569e-01 6.83380116e-02 4.59048524e-02 3.37209032e+02] [-6.81521841e-02 9.97659204e-01 -5.60289343e-03 -4.58624762e+01] [-4.61802891e-02 2.45535884e-03 9.98930104e-01 -2.31589303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.200714057 meters 0.03615675724276112 Centerline is valid? [True, True] Translation: X:337.24, Y:-45.87, Z:-23.16 [[ 9.96766896e-01 6.68180992e-02 4.46217107e-02 3.37236133e+02] [-6.66411479e-02 9.97762161e-01 -5.44311051e-03 -4.58701421e+01] [-4.48855528e-02 2.45187034e-03 9.98989127e-01 -2.31627062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.230714057 meters 0.034562256749138626 Centerline is valid? [True, True] Translation: X:337.27, Y:-45.87, Z:-23.16 [[ 9.96800908e-01 6.65112110e-02 4.43193918e-02 3.37265325e+02] [-6.63364655e-02 9.97782679e-01 -5.40362093e-03 -4.58717378e+01] [-4.45805228e-02 2.44634244e-03 9.99002799e-01 -2.31638445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.26071405700003 meters 0.03700218761596225 Centerline is valid? [True, True] Translation: X:337.29, Y:-45.88, Z:-23.17 [[ 9.96836122e-01 6.60600489e-02 4.42019873e-02 3.37292222e+02] [-6.58859169e-02 9.97812624e-01 -5.38638261e-03 -4.58796154e+01] [-4.44611256e-02 2.45705229e-03 9.99008094e-01 -2.31663861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.290714057 meters 0.03432094811484544 Centerline is valid? [True, True] Translation: X:337.32, Y:-45.88, Z:-23.17 [[ 9.96772757e-01 6.59288009e-02 4.57980707e-02 3.37320701e+02] [-6.57419222e-02 9.97821078e-01 -5.57643885e-03 -4.58805563e+01] [-4.60659282e-02 2.54758913e-03 9.98935153e-01 -2.31668439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.32071405700003 meters 0.03323991801937199 Centerline is valid? [True, True] Translation: X:337.35, Y:-45.88, Z:-23.17 [[ 9.96660116e-01 6.63366846e-02 4.76241369e-02 3.37349502e+02] [-6.61352263e-02 9.97793840e-01 -5.79523317e-03 -4.58822356e+01] [-4.79035070e-02 2.62624469e-03 9.98848515e-01 -2.31662756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.350714057 meters 0.033724846395401145 Centerline is valid? [True, True] Translation: X:337.38, Y:-45.89, Z:-23.17 [[ 9.96586175e-01 6.66140113e-02 4.87705739e-02 3.37377136e+02] [-6.64032302e-02 9.97775241e-01 -5.93123985e-03 -4.58869594e+01] [-4.90571748e-02 2.67246799e-03 9.98792397e-01 -2.31670876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.38071405700003 meters 0.033633097941894875 Centerline is valid? [True, True] Translation: X:337.41, Y:-45.89, Z:-23.17 [[ 9.96576362e-01 6.63894894e-02 4.92746382e-02 3.37405929e+02] [-6.61742808e-02 9.97790113e-01 -5.98790954e-03 -4.58895893e+01] [-4.95632811e-02 2.70669536e-03 9.98767318e-01 -2.31679579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.410714057 meters 0.03791448521242654 Centerline is valid? [True, True] Translation: X:337.43, Y:-45.90, Z:-23.17 [[ 9.96605689e-01 6.58954184e-02 4.93446560e-02 3.37432058e+02] [-6.56791645e-02 9.97822796e-01 -5.99298096e-03 -4.59003703e+01] [-4.96321326e-02 2.73172314e-03 9.98763830e-01 -2.31704863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.440714057 meters 0.03757200318608787 Centerline is valid? [True, True] Translation: X:337.46, Y:-45.90, Z:-23.17 [[ 9.96683433e-01 6.51266849e-02 4.87918928e-02 3.37460389e+02] [-6.49145586e-02 9.97873258e-01 -5.92131305e-03 -4.59038409e+01] [-4.90737605e-02 2.73437044e-03 9.98791414e-01 -2.31723640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.470714057 meters 0.03473155254011165 Centerline is valid? [True, True] Translation: X:337.49, Y:-45.90, Z:-23.17 [[ 9.96860944e-01 6.32227232e-02 4.76565282e-02 3.37490198e+02] [-6.30183637e-02 9.97995630e-01 -5.78002366e-03 -4.59036857e+01] [-4.79264357e-02 2.75864341e-03 9.98847059e-01 -2.31746740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.500714057 meters 0.03540372274598078 Centerline is valid? [True, True] Translation: X:337.52, Y:-45.91, Z:-23.18 [[ 9.96914809e-01 6.26989028e-02 4.72198094e-02 3.37518541e+02] [-6.24977525e-02 9.98028680e-01 -5.72573823e-03 -4.59087337e+01] [-4.74857215e-02 2.75694128e-03 9.98868112e-01 -2.31770346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.530714057 meters 0.03720800272662658 Centerline is valid? [True, True] Translation: X:337.55, Y:-45.92, Z:-23.18 [[ 9.97020337e-01 6.13250368e-02 4.67940926e-02 3.37545695e+02] [-6.11261405e-02 9.98113939e-01 -5.67098855e-03 -4.59152925e+01] [-4.70536097e-02 2.79374864e-03 9.98888459e-01 -2.31801017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.560714057 meters 0.038152561667362354 Centerline is valid? [True, True] Translation: X:337.57, Y:-45.92, Z:-23.18 [[ 9.97187372e-01 5.97264150e-02 4.52780445e-02 3.37574531e+02] [-5.95387715e-02 9.98210937e-01 -5.48278108e-03 -4.59208125e+01] [-4.55245060e-02 2.77156091e-03 9.98959377e-01 -2.31831985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.590714057 meters 0.03934078447870604 Centerline is valid? [True, True] Translation: X:337.60, Y:-45.93, Z:-23.19 [[ 9.97256789e-01 5.89196003e-02 4.48037765e-02 3.37602868e+02] [-5.87351095e-02 9.98258866e-01 -5.42424603e-03 -4.59254680e+01] [-4.50453616e-02 2.77781146e-03 9.98981080e-01 -2.31855392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.620714057 meters 0.03711732624172168 Centerline is valid? [True, True] Translation: X:337.63, Y:-45.92, Z:-23.19 [[ 9.97261571e-01 5.88952132e-02 4.47293187e-02 3.37631538e+02] [-5.87114495e-02 9.98260324e-01 -5.41215862e-03 -4.59240441e+01] [-4.49702545e-02 2.77121467e-03 9.98984483e-01 -2.31865369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.650714057 meters 0.0394465906762753 Centerline is valid? [True, True] Translation: X:337.66, Y:-45.93, Z:-23.19 [[ 9.97226745e-01 5.94321921e-02 4.47954685e-02 3.37658695e+02] [-5.92485587e-02 9.98228562e-01 -5.41716167e-03 -4.59303132e+01] [-4.50380699e-02 2.74807155e-03 9.98981492e-01 -2.31883016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.680714057 meters 0.037304369818857014 Centerline is valid? [True, True] Translation: X:337.69, Y:-45.93, Z:-23.19 [[ 9.97177479e-01 5.99069886e-02 4.52573589e-02 3.37687645e+02] [-5.97202268e-02 9.98200174e-01 -5.46875235e-03 -4.59292118e+01] [-4.55035200e-02 2.75053694e-03 9.98960392e-01 -2.31885360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.710714057 meters 0.038697545660748664 Centerline is valid? [True, True] Translation: X:337.72, Y:-45.93, Z:-23.19 [[ 9.97088003e-01 6.08931299e-02 4.59079660e-02 3.37715844e+02] [-6.07021485e-02 9.98140527e-01 -5.54406487e-03 -4.59323547e+01] [-4.61601969e-02 2.74120840e-03 9.98930289e-01 -2.31891079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.740714057 meters 0.038697545660748664 Centerline is valid? [True, True] Translation: X:337.74, Y:-45.94, Z:-23.19 [[ 9.97092135e-01 6.08251495e-02 4.59083490e-02 3.37743953e+02] [-6.06342419e-02 9.98144672e-01 -5.54089206e-03 -4.59356834e+01] [-4.61601995e-02 2.74116196e-03 9.98930289e-01 -2.31907498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.770714057 meters 0.039072197494792245 Centerline is valid? [True, True] Translation: X:337.77, Y:-45.94, Z:-23.19 [[ 9.96994083e-01 6.15263987e-02 4.70882275e-02 3.37771885e+02] [-6.13264727e-02 9.98101598e-01 -5.68011381e-03 -4.59386526e+01] [-4.73483121e-02 2.77528496e-03 9.98874584e-01 -2.31918301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.800714057 meters 0.03929568847024417 Centerline is valid? [True, True] Translation: X:337.80, Y:-45.94, Z:-23.19 [[ 9.96947045e-01 6.21595216e-02 4.72523282e-02 3.37800232e+02] [-6.19591089e-02 9.98062437e-01 -5.69565616e-03 -4.59417426e+01] [-4.75148131e-02 2.75055543e-03 9.98866746e-01 -2.31933560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.830714057 meters 0.039298530513214656 Centerline is valid? [True, True] Translation: X:337.83, Y:-45.94, Z:-23.20 [[ 9.96927106e-01 6.21799935e-02 4.76444440e-02 3.37828422e+02] [-6.19764172e-02 9.98061110e-01 -5.73966501e-03 -4.59443119e+01] [-4.79089591e-02 2.76919568e-03 9.98847868e-01 -2.31953015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.860714057 meters 0.04042178268173128 Centerline is valid? [True, True] Translation: X:337.86, Y:-45.95, Z:-23.20 [[ 9.96877442e-01 6.27937313e-02 4.78781133e-02 3.37856347e+02] [-6.25890137e-02 9.98022738e-01 -5.76454900e-03 -4.59482383e+01] [-4.81454232e-02 2.74990497e-03 9.98836551e-01 -2.31970709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.890714057 meters 0.035425866697082704 Centerline is valid? [True, True] Translation: X:337.89, Y:-45.94, Z:-23.20 [[ 9.96885727e-01 6.25668982e-02 4.80023926e-02 3.37886400e+02] [-6.23610071e-02 9.98036943e-01 -5.77633373e-03 -4.59432338e+01] [-4.82695685e-02 2.76486710e-03 9.98830518e-01 -2.31973036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.920714057 meters 0.039966985463611826 Centerline is valid? [True, True] Translation: X:337.91, Y:-45.95, Z:-23.20 [[ 9.96897366e-01 6.20789680e-02 4.83925988e-02 3.37912724e+02] [-6.18693040e-02 9.98067291e-01 -5.81992363e-03 -4.59536240e+01] [-4.86603648e-02 2.80785013e-03 9.98811436e-01 -2.31996405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.950714057 meters 0.03616432014550515 Centerline is valid? [True, True] Translation: X:337.94, Y:-45.95, Z:-23.20 [[ 9.96950891e-01 6.13285271e-02 4.82465731e-02 3.37942306e+02] [-6.11194689e-02 9.98113618e-01 -5.79790652e-03 -4.59512322e+01] [-4.85111387e-02 2.83142316e-03 9.98818628e-01 -2.32002922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.980714057 meters 0.035610195313606326 Centerline is valid? [True, True] Translation: X:337.97, Y:-45.95, Z:-23.20 [[ 9.97008712e-01 6.05832388e-02 4.79927057e-02 3.37971079e+02] [-6.03756804e-02 9.98159082e-01 -5.76401489e-03 -4.59534761e+01] [-4.82535578e-02 2.84918080e-03 9.98831055e-01 -2.32019220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.01071405700003 meters 0.039190778572003676 Centerline is valid? [True, True] Translation: X:338.00, Y:-45.96, Z:-23.20 [[ 9.97195647e-01 5.87412320e-02 4.63714261e-02 3.37998709e+02] [-5.85456478e-02 9.98269216e-01 -5.56589632e-03 -4.59624092e+01] [-4.66181148e-02 2.83544240e-03 9.98908760e-01 -2.32049840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.040714057 meters 0.03562940301833079 Centerline is valid? [True, True] Translation: X:338.03, Y:-45.96, Z:-23.21 [[ 9.97309389e-01 5.72500279e-02 4.57866407e-02 3.38028759e+02] [-5.70579056e-02 9.98355759e-01 -5.49308892e-03 -4.59605571e+01] [-4.60258360e-02 2.86581933e-03 9.98936139e-01 -2.32063770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.07071405700003 meters 0.042736480323451724 Centerline is valid? [True, True] Translation: X:338.06, Y:-45.98, Z:-23.21 [[ 9.97469689e-01 5.43068144e-02 4.58801556e-02 3.38056014e+02] [-5.41108838e-02 9.98519771e-01 -5.50262792e-03 -4.59755648e+01] [-4.61110727e-02 3.00608880e-03 9.98931796e-01 -2.32103280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.100714057 meters 0.038691608751222954 Centerline is valid? [True, True] Translation: X:338.09, Y:-45.97, Z:-23.21 [[ 9.97543688e-01 5.29458166e-02 4.58620893e-02 3.38085635e+02] [-5.27486763e-02 9.98592679e-01 -5.49900180e-03 -4.59733788e+01] [-4.60886958e-02 3.06633003e-03 9.98932645e-01 -2.32108506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.13071405700003 meters 0.038956309620231784 Centerline is valid? [True, True] Translation: X:338.11, Y:-45.98, Z:-23.21 [[ 9.97593986e-01 5.14956613e-02 4.64159088e-02 3.38114929e+02] [-5.12922920e-02 9.98668192e-01 -5.56268218e-03 -4.59778009e+01] [-4.66405457e-02 3.16851994e-03 9.98906712e-01 -2.32123745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.160714057 meters 0.04542843012123368 Centerline is valid? [True, True] Translation: X:338.14, Y:-45.99, Z:-23.22 [[ 9.97603149e-01 5.08422651e-02 4.69363541e-02 3.38142095e+02] [-5.06336575e-02 9.98701461e-01 -5.62353577e-03 -4.59900328e+01] [-4.71613187e-02 3.23349771e-03 9.98882052e-01 -2.32150264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.190714057 meters 0.04149933828083656 Centerline is valid? [True, True] Translation: X:338.17, Y:-45.99, Z:-23.21 [[ 9.97602471e-01 5.06656971e-02 4.71412534e-02 3.38171806e+02] [-5.04551779e-02 9.98710369e-01 -5.64573365e-03 -4.59876052e+01] [-4.73665036e-02 3.25367751e-03 9.98872278e-01 -2.32149520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.220714057 meters 0.043238409241685705 Centerline is valid? [True, True] Translation: X:338.20, Y:-45.99, Z:-23.22 [[ 9.97605571e-01 5.04353375e-02 4.73223057e-02 3.38199591e+02] [-5.02231055e-02 9.98721963e-01 -5.66391278e-03 -4.59928895e+01] [-4.75474874e-02 3.27367780e-03 9.98863614e-01 -2.32167616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.250714057 meters 0.043012436445266804 Centerline is valid? [True, True] Translation: X:338.23, Y:-46.00, Z:-23.22 [[ 9.97614234e-01 5.07025126e-02 4.68518550e-02 3.38229278e+02] [-5.04948988e-02 9.98708591e-01 -5.60501185e-03 -4.59970567e+01] [-4.70755382e-02 3.22585993e-03 9.98886123e-01 -2.32189203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.280714057 meters 0.04416879564969216 Centerline is valid? [True, True] Translation: X:338.26, Y:-46.00, Z:-23.22 [[ 9.97591105e-01 5.13170442e-02 4.66749207e-02 3.38256957e+02] [-5.11117326e-02 9.98677339e-01 -5.58242762e-03 -4.60029948e+01] [-4.68996593e-02 3.18334407e-03 9.98894533e-01 -2.32222176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.310714057 meters 0.03947922410867362 Centerline is valid? [True, True] Translation: X:338.29, Y:-46.00, Z:-23.22 [[ 9.97589084e-01 5.16972352e-02 4.62970368e-02 3.38286180e+02] [-5.14957434e-02 9.98657875e-01 -5.53511731e-03 -4.59996953e+01] [-4.65210506e-02 3.13767228e-03 9.98912382e-01 -2.32229423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.340714057 meters 0.04298278601125442 Centerline is valid? [True, True] Translation: X:338.31, Y:-46.01, Z:-23.23 [[ 9.97511019e-01 5.29836720e-02 4.65241609e-02 3.38313787e+02] [-5.27817551e-02 9.98590600e-01 -5.55871631e-03 -4.60082306e+01] [-4.67531110e-02 3.08925390e-03 9.98901698e-01 -2.32250888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.370714057 meters 0.039579462892344174 Centerline is valid? [True, True] Translation: X:338.34, Y:-46.01, Z:-23.23 [[ 9.97454129e-01 5.38912452e-02 4.67011056e-02 3.38342800e+02] [-5.36888878e-02 9.98542135e-01 -5.57751521e-03 -4.60063517e+01] [-4.69336009e-02 3.05598516e-03 9.98893337e-01 -2.32256378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.400714057 meters 0.03913521892924903 Centerline is valid? [True, True] Translation: X:338.37, Y:-46.01, Z:-23.23 [[ 9.97279229e-01 5.63166637e-02 4.75665048e-02 3.38372431e+02] [-5.61096639e-02 9.98408473e-01 -5.67693041e-03 -4.60097699e+01] [-4.78105072e-02 2.99254418e-03 9.98851941e-01 -2.32271090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.430714057 meters 0.041360287823296434 Centerline is valid? [True, True] Translation: X:338.40, Y:-46.02, Z:-23.23 [[ 9.97199098e-01 5.74590760e-02 4.78791581e-02 3.38399663e+02] [-5.72506630e-02 9.98343484e-01 -5.71406551e-03 -4.60167184e+01] [-4.81281704e-02 2.95694743e-03 9.98836791e-01 -2.32295219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.460714057 meters 0.03903468295145825 Centerline is valid? [True, True] Translation: X:338.43, Y:-46.02, Z:-23.23 [[ 9.97115450e-01 5.85620548e-02 4.82831858e-02 3.38428897e+02] [-5.83516052e-02 9.98279488e-01 -5.75792567e-03 -4.60163900e+01] [-4.85373099e-02 2.92391525e-03 9.98817090e-01 -2.32306906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.490714057 meters 0.03564947427795595 Centerline is valid? [True, True] Translation: X:338.46, Y:-46.01, Z:-23.23 [[ 9.96987407e-01 6.02696828e-02 4.88229066e-02 3.38457927e+02] [-6.00567017e-02 9.98178007e-01 -5.81892085e-03 -4.60136996e+01] [-4.90846561e-02 2.86924808e-03 9.98790501e-01 -2.32312484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.520714057 meters 0.035455089311480004 Centerline is valid? [True, True] Translation: X:338.49, Y:-46.02, Z:-23.23 [[ 9.96947390e-01 6.06200336e-02 4.92048095e-02 3.38486384e+02] [-6.04043053e-02 9.98156786e-01 -5.86088024e-03 -4.60164871e+01] [-4.94694013e-02 2.87080692e-03 9.98771514e-01 -2.32320843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.550714057 meters 0.036245758035147714 Centerline is valid? [True, True] Translation: X:338.51, Y:-46.02, Z:-23.23 [[ 9.96853719e-01 6.17876679e-02 4.96482288e-02 3.38514183e+02] [-6.15696519e-02 9.98085291e-01 -5.91010005e-03 -4.60215816e+01] [-4.99183382e-02 2.83468105e-03 9.98749280e-01 -2.32335527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.580714057 meters 0.036151673886047744 Centerline is valid? [True, True] Translation: X:338.54, Y:-46.03, Z:-23.24 [[ 9.96847980e-01 6.22103949e-02 4.92338549e-02 3.38542790e+02] [-6.19966909e-02 9.98059168e-01 -5.85732889e-03 -4.60250747e+01] [-4.95026870e-02 2.78653039e-03 9.98770103e-01 -2.32364307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.610714057 meters 0.03634253828717676 Centerline is valid? [True, True] Translation: X:338.57, Y:-46.03, Z:-23.24 [[ 9.96864574e-01 6.29894020e-02 4.78890024e-02 3.38570309e+02] [-6.27882692e-02 9.98010626e-01 -5.69423557e-03 -4.60298680e+01] [-4.81524097e-02 2.66951414e-03 9.98836433e-01 -2.32398461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.640714057 meters 0.03724695117066188 Centerline is valid? [True, True] Translation: X:338.60, Y:-46.03, Z:-23.24 [[ 9.96845916e-01 6.32994567e-02 4.78685610e-02 3.38597376e+02] [-6.30990532e-02 9.97991062e-01 -5.68762729e-03 -4.60346973e+01] [-4.81324197e-02 2.64922716e-03 9.98837450e-01 -2.32423064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.670714057 meters 0.0364389534305598 Centerline is valid? [True, True] Translation: X:338.63, Y:-46.04, Z:-23.24 [[ 9.96744536e-01 6.43617454e-02 4.85581653e-02 3.38626296e+02] [-6.41569914e-02 9.97923165e-01 -5.76516849e-03 -4.60369426e+01] [-4.88283743e-02 2.63105440e-03 9.98803718e-01 -2.32436054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.700714057 meters 0.03642511554532469 Centerline is valid? [True, True] Translation: X:338.65, Y:-46.04, Z:-23.25 [[ 9.96709074e-01 6.46783523e-02 4.88644364e-02 3.38654496e+02] [-6.44715507e-02 9.97902701e-01 -5.79814218e-03 -4.60400265e+01] [-4.91369674e-02 2.62869493e-03 9.98788590e-01 -2.32450839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.730714057 meters 0.036238888471646566 Centerline is valid? [True, True] Translation: X:338.68, Y:-46.04, Z:-23.25 [[ 9.96625382e-01 6.56438820e-02 4.92821253e-02 3.38683395e+02] [-6.54348714e-02 9.97839727e-01 -5.84430220e-03 -4.60436005e+01] [-4.95593052e-02 2.59981039e-03 9.98767799e-01 -2.32466732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.76071405700003 meters 0.03451741845715803 Centerline is valid? [True, True] Translation: X:338.71, Y:-46.05, Z:-23.25 [[ 9.96426039e-01 6.73318690e-02 5.10055726e-02 3.38712525e+02] [-6.71103631e-02 9.97727246e-01 -6.04496569e-03 -4.60458316e+01] [-5.12966684e-02 2.60035872e-03 9.98680074e-01 -2.32474932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.790714057 meters 0.03483840133216097 Centerline is valid? [True, True] Translation: X:338.74, Y:-46.05, Z:-23.25 [[ 9.96354140e-01 6.79173060e-02 5.16300958e-02 3.38739767e+02] [-6.76912514e-02 9.97687568e-01 -6.11645714e-03 -4.60506281e+01] [-5.19261181e-02 2.59925160e-03 9.98647547e-01 -2.32487563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.82071405700003 meters 0.035128878607609985 Centerline is valid? [True, True] Translation: X:338.77, Y:-46.06, Z:-23.25 [[ 9.96172750e-01 6.91202795e-02 5.34999068e-02 3.38767363e+02] [-6.88795235e-02 9.97604883e-01 -6.33317085e-03 -4.60558640e+01] [-5.38095188e-02 2.62388413e-03 9.98547771e-01 -2.32494872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.850714057 meters 0.03500840619063246 Centerline is valid? [True, True] Translation: X:338.80, Y:-46.06, Z:-23.25 [[ 9.96114011e-01 6.91953661e-02 5.44874102e-02 3.38795966e+02] [-6.89460029e-02 9.97599572e-01 -6.44530754e-03 -4.60594900e+01] [-5.48026026e-02 2.66357200e-03 9.98493656e-01 -2.32508167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.88071405700003 meters 0.035633292726175866 Centerline is valid? [True, True] Translation: X:338.82, Y:-46.07, Z:-23.25 [[ 9.96096211e-01 6.87725531e-02 5.53414359e-02 3.38822868e+02] [-6.85148630e-02 9.97628643e-01 -6.54253681e-03 -4.60658732e+01] [-5.56601486e-02 2.72528523e-03 9.98446053e-01 -2.32528038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.910714057 meters 0.03627051081911408 Centerline is valid? [True, True] Translation: X:338.85, Y:-46.07, Z:-23.25 [[ 9.96109861e-01 6.82774881e-02 5.57075286e-02 3.38851135e+02] [-6.80158685e-02 9.97662534e-01 -6.58105715e-03 -4.60708505e+01] [-5.60266522e-02 2.76645998e-03 9.98425441e-01 -2.32548993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.940714057 meters 0.03627589015325643 Centerline is valid? [True, True] Translation: X:338.88, Y:-46.08, Z:-23.26 [[ 9.96173642e-01 6.73843727e-02 5.56544865e-02 3.38879611e+02] [-6.71220702e-02 9.97723132e-01 -6.57108324e-03 -4.60753061e+01] [-5.59705569e-02 2.81029557e-03 9.98428465e-01 -2.32571373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.970714057 meters 0.038164720413034696 Centerline is valid? [True, True] Translation: X:338.91, Y:-46.08, Z:-23.26 [[ 9.96332622e-01 6.53210111e-02 5.52672726e-02 3.38907090e+02] [-6.50593923e-02 9.97860082e-01 -6.52166417e-03 -4.60840908e+01] [-5.55750068e-02 2.90209160e-03 9.98450297e-01 -2.32597577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.000714057 meters 0.03258680280741205 Centerline is valid? [True, True] Translation: X:338.94, Y:-46.08, Z:-23.26 [[ 9.96576739e-01 6.20545625e-02 5.46263227e-02 3.38938057e+02] [-6.17942485e-02 9.98068112e-01 -6.44321977e-03 -4.60808670e+01] [-5.49206219e-02 3.04557039e-03 9.98486079e-01 -2.32626730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.030714057 meters 0.04071017754168327 Centerline is valid? [True, True] Translation: X:338.97, Y:-46.10, Z:-23.27 [[ 9.96721495e-01 6.00384095e-02 5.42369871e-02 3.38965128e+02] [-5.97788175e-02 9.98191147e-01 -6.39741504e-03 -4.60986814e+01] [-5.45229710e-02 3.13421813e-03 9.98507598e-01 -2.32664432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.060714057 meters 0.03748083311992321 Centerline is valid? [True, True] Translation: X:339.00, Y:-46.10, Z:-23.27 [[ 9.96853640e-01 5.82477825e-02 5.37588696e-02 3.38995110e+02] [-5.79902652e-02 9.98297023e-01 -6.33906391e-03 -4.60989613e+01] [-5.40365558e-02 3.20162784e-03 9.98533825e-01 -2.32690352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.090714057 meters 0.03916629730740458 Centerline is valid? [True, True] Translation: X:339.02, Y:-46.11, Z:-23.27 [[ 9.96971320e-01 5.63701384e-02 5.35779392e-02 3.39023532e+02] [-5.61117533e-02 9.98404518e-01 -6.31588378e-03 -4.61065632e+01] [-5.38484837e-02 3.29040288e-03 9.98543697e-01 -2.32712067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.120714057 meters 0.036877218429146284 Centerline is valid? [True, True] Translation: X:339.05, Y:-46.11, Z:-23.27 [[ 9.97115984e-01 5.34983406e-02 5.38297498e-02 3.39053726e+02] [-5.32334580e-02 9.98561945e-01 -6.34361371e-03 -4.61078412e+01] [-5.40917125e-02 3.45977490e-03 9.98529978e-01 -2.32729488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.150714057 meters 0.03694798072418521 Centerline is valid? [True, True] Translation: X:339.08, Y:-46.11, Z:-23.27 [[ 9.97111060e-01 5.20972713e-02 5.52757442e-02 3.39083481e+02] [-5.18158300e-02 9.98635415e-01 -6.51358006e-03 -4.61134396e+01] [-5.55396556e-02 3.63060415e-03 9.98449881e-01 -2.32741529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.180714057 meters 0.03734649210885052 Centerline is valid? [True, True] Translation: X:339.12, Y:-46.12, Z:-23.28 [[ 9.97084136e-01 5.14250472e-02 5.63798810e-02 3.39115003e+02] [-5.11311806e-02 9.98669849e-01 -6.64341871e-03 -4.61186540e+01] [-5.66465253e-02 3.74127753e-03 9.98387287e-01 -2.32754512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.210714057 meters 0.038681617258043414 Centerline is valid? [True, True] Translation: X:339.15, Y:-46.13, Z:-23.28 [[ 9.97081624e-01 5.06515418e-02 5.71196715e-02 3.39145833e+02] [-5.03478002e-02 9.98708967e-01 -6.74518408e-03 -4.61254626e+01] [-5.73875821e-02 3.84964928e-03 9.98344553e-01 -2.32769078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.240714057 meters 0.039639960323556316 Centerline is valid? [True, True] Translation: X:339.18, Y:-46.13, Z:-23.28 [[ 9.97024052e-01 4.98803322e-02 5.87791747e-02 3.39177568e+02] [-4.95568454e-02 9.98747129e-01 -6.94925869e-03 -4.61330008e+01] [-5.90521633e-02 4.01566759e-03 9.98246821e-01 -2.32782068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.270714057 meters 0.03873154546358333 Centerline is valid? [True, True] Translation: X:339.21, Y:-46.14, Z:-23.28 [[ 9.97005302e-01 5.01457154e-02 5.88713380e-02 3.39210633e+02] [-4.98208049e-02 9.98733818e-01 -6.97478759e-03 -4.61365831e+01] [-5.91465519e-02 4.02088277e-03 9.98241212e-01 -2.32799702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.300714057 meters 0.04093106578371221 Centerline is valid? [True, True] Translation: X:339.24, Y:-46.14, Z:-23.28 [[ 9.97045611e-01 5.05816855e-02 5.78060701e-02 3.39241476e+02] [-5.02682317e-02 9.98712161e-01 -6.86475583e-03 -4.61446232e+01] [-5.80788561e-02 3.93866575e-03 9.98304229e-01 -2.32828744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.330714057 meters 0.04076440804293683 Centerline is valid? [True, True] Translation: X:339.27, Y:-46.15, Z:-23.29 [[ 9.97035487e-01 5.15865966e-02 5.70881794e-02 3.39272906e+02] [-5.12817866e-02 9.98661124e-01 -6.79242983e-03 -4.61491913e+01] [-5.73621438e-02 3.84470975e-03 9.98346034e-01 -2.32857869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.360714057 meters 0.04115259764108053 Centerline is valid? [True, True] Translation: X:339.30, Y:-46.16, Z:-23.29 [[ 9.97064157e-01 5.31188715e-02 5.51493613e-02 3.39302753e+02] [-5.28360385e-02 9.98581555e-01 -6.57496417e-03 -4.61555669e+01] [-5.54203896e-02 3.64178733e-03 9.98456468e-01 -2.32897266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.390714057 meters 0.04131657032308598 Centerline is valid? [True, True] Translation: X:339.33, Y:-46.16, Z:-23.29 [[ 9.96998387e-01 5.44449622e-02 5.50450906e-02 3.39334011e+02] [-5.41648887e-02 9.98510401e-01 -6.56833172e-03 -4.61600294e+01] [-5.53207081e-02 3.56710493e-03 9.98462265e-01 -2.32920895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.420714057 meters 0.040729991223906144 Centerline is valid? [True, True] Translation: X:339.37, Y:-46.16, Z:-23.29 [[ 9.96949016e-01 5.55781642e-02 5.48062757e-02 3.39365170e+02] [-5.53021197e-02 9.98448237e-01 -6.54170108e-03 -4.61626684e+01] [-5.50848051e-02 3.49083924e-03 9.98475577e-01 -2.32937195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.450714057 meters 0.040105800797187355 Centerline is valid? [True, True] Translation: X:339.39, Y:-46.16, Z:-23.29 [[ 9.96677572e-01 5.93445689e-02 5.57856646e-02 3.39394651e+02] [-5.90643156e-02 9.98231958e-01 -6.66061050e-03 -4.61649605e+01] [-5.60823042e-02 3.34353900e-03 9.98420551e-01 -2.32939618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.480714057 meters 0.0361998433537906 Centerline is valid? [True, True] Translation: X:339.43, Y:-46.16, Z:-23.29 [[ 9.96511155e-01 6.13776097e-02 5.65535820e-02 3.39425382e+02] [-6.10928649e-02 9.98109250e-01 -6.75180251e-03 -4.61622212e+01] [-5.68610628e-02 3.27322617e-03 9.98376735e-01 -2.32948612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.51071405700003 meters 0.03610942322102986 Centerline is valid? [True, True] Translation: X:339.45, Y:-46.17, Z:-23.30 [[ 9.96366997e-01 6.30541473e-02 5.72449261e-02 3.39454590e+02] [-6.27652020e-02 9.98004927e-01 -6.83333612e-03 -4.61651193e+01] [-5.75615884e-02 3.21552124e-03 9.98336779e-01 -2.32961385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.540714057 meters 0.03256640663145748 Centerline is valid? [True, True] Translation: X:339.48, Y:-46.16, Z:-23.30 [[ 9.96185188e-01 6.55684645e-02 5.75834041e-02 3.39484859e+02] [-6.52803874e-02 9.97843299e-01 -6.87173729e-03 -4.61626864e+01] [-5.79097832e-02 3.08645597e-03 9.98317049e-01 -2.32981343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.57071405700003 meters 0.03262556437857112 Centerline is valid? [True, True] Translation: X:339.51, Y:-46.17, Z:-23.30 [[ 9.96140990e-01 6.61093876e-02 5.77293484e-02 3.39514365e+02] [-6.58208724e-02 9.97807687e-01 -6.88707214e-03 -4.61660041e+01] [-5.80580878e-02 3.06069878e-03 9.98308515e-01 -2.32999825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.600714057 meters 0.03262556437857112 Centerline is valid? [True, True] Translation: X:339.54, Y:-46.17, Z:-23.30 [[ 9.96145657e-01 6.60388025e-02 5.77295934e-02 3.39542467e+02] [-6.57502879e-02 9.97812355e-01 -6.88501773e-03 -4.61692958e+01] [-5.80579799e-02 3.06274313e-03 9.98308515e-01 -2.33016229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.63071405700003 meters 0.036609395465516247 Centerline is valid? [True, True] Translation: X:339.57, Y:-46.18, Z:-23.30 [[ 9.96122458e-01 6.63385677e-02 5.77861912e-02 3.39569599e+02] [-6.60502302e-02 9.97792527e-01 -6.88762346e-03 -4.61793653e+01] [-5.81155448e-02 3.04412518e-03 9.98305222e-01 -2.33035650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.660714057 meters 0.034270011853577295 Centerline is valid? [True, True] Translation: X:339.60, Y:-46.18, Z:-23.31 [[ 9.96146784e-01 6.58080278e-02 5.79731598e-02 3.39599864e+02] [-6.55170424e-02 9.97827539e-01 -6.90787497e-03 -4.61792634e+01] [-5.83018090e-02 3.08302747e-03 9.98294242e-01 -2.33051483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.690714057 meters 0.03388825531943557 Centerline is valid? [True, True] Translation: X:339.63, Y:-46.18, Z:-23.31 [[ 9.96253607e-01 6.40327469e-02 5.81253605e-02 3.39628753e+02] [-6.37373383e-02 9.97942689e-01 -6.92397177e-03 -4.61826638e+01] [-5.84491395e-02 3.19327608e-03 9.98285280e-01 -2.33069795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.720714057 meters 0.03406348426430545 Centerline is valid? [True, True] Translation: X:339.66, Y:-46.19, Z:-23.31 [[ 9.96360806e-01 6.24528244e-02 5.80068031e-02 3.39658211e+02] [-6.21561331e-02 9.98042540e-01 -6.90678555e-03 -4.61862748e+01] [-5.83246054e-02 3.27617184e-03 9.98292295e-01 -2.33087042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.750714057 meters 0.033669454477443995 Centerline is valid? [True, True] Translation: X:339.69, Y:-46.19, Z:-23.31 [[ 9.96500714e-01 6.06605768e-02 5.75032259e-02 3.39688244e+02] [-6.03661673e-02 9.98152831e-01 -6.84479276e-03 -4.61886941e+01] [-5.78122169e-02 3.34959152e-03 9.98321856e-01 -2.33108783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.780714057 meters 0.03409422447468125 Centerline is valid? [True, True] Translation: X:339.72, Y:-46.19, Z:-23.31 [[ 9.96689336e-01 5.71480838e-02 5.78313344e-02 3.39718723e+02] [-5.68444735e-02 9.98359321e-01 -6.88279975e-03 -4.61939920e+01] [-5.81297905e-02 3.57262136e-03 9.98302641e-01 -2.33129310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.810714057 meters 0.03622773241780957 Centerline is valid? [True, True] Translation: X:339.75, Y:-46.20, Z:-23.31 [[ 9.96773060e-01 5.56976101e-02 5.78034812e-02 3.39749146e+02] [-5.53918343e-02 9.98440990e-01 -6.88001475e-03 -4.62022335e+01] [-5.80965653e-02 3.65597251e-03 9.98304274e-01 -2.33147140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.840714057 meters 0.040759929543319494 Centerline is valid? [True, True] Translation: X:339.78, Y:-46.21, Z:-23.32 [[ 9.97041709e-01 5.10103460e-02 5.74958682e-02 3.39777059e+02] [-5.06992794e-02 9.98690425e-01 -6.85697852e-03 -4.62137772e+01] [-5.77703498e-02 3.92169450e-03 9.98322196e-01 -2.33175101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.870714057 meters 0.048421481147036274 Centerline is valid? [True, True] Translation: X:339.81, Y:-46.23, Z:-23.32 [[ 9.97167588e-01 4.92959098e-02 5.68041730e-02 3.39805577e+02] [-4.89894983e-02 9.98776316e-01 -6.77498210e-03 -4.62292354e+01] [-5.70686415e-02 3.97298462e-03 9.98362352e-01 -2.33194218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.900714057 meters 0.045324242396005174 Centerline is valid? [True, True] Translation: X:339.84, Y:-46.23, Z:-23.32 [[ 9.97443013e-01 4.54640454e-02 5.51403331e-02 3.39836168e+02] [-4.51693723e-02 9.98957677e-01 -6.57925697e-03 -4.62289222e+01] [-5.53819788e-02 4.07177966e-03 9.98456938e-01 -2.33217733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.930714057 meters 0.04090657469364796 Centerline is valid? [True, True] Translation: X:339.87, Y:-46.23, Z:-23.32 [[ 9.97608923e-01 4.37095782e-02 5.35341935e-02 3.39867820e+02] [-4.34293312e-02 9.99036081e-01 -6.38764414e-03 -4.62261910e+01] [-5.37617921e-02 4.04741657e-03 9.98545586e-01 -2.33241312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.960714057 meters 0.04482279383243396 Centerline is valid? [True, True] Translation: X:339.90, Y:-46.24, Z:-23.33 [[ 9.97626949e-01 4.39623038e-02 5.29885542e-02 3.39898512e+02] [-4.36880564e-02 9.99025209e-01 -6.32339074e-03 -4.62357831e+01] [-5.32148923e-02 3.99341806e-03 9.98575099e-01 -2.33269503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.990714057 meters 0.04090763383039849 Centerline is valid? [True, True] Translation: X:339.93, Y:-46.23, Z:-23.33 [[ 9.97589619e-01 4.50975615e-02 5.27367198e-02 3.39931460e+02] [-4.48267341e-02 9.98974863e-01 -6.30766817e-03 -4.62340989e+01] [-5.29671179e-02 3.92844937e-03 9.98588530e-01 -2.33285032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.020714057 meters 0.04067029383619594 Centerline is valid? [True, True] Translation: X:339.96, Y:-46.24, Z:-23.33 [[ 9.97527006e-01 4.65595836e-02 5.26505222e-02 3.39962852e+02] [-4.62909092e-02 9.98908061e-01 -6.31164220e-03 -4.62366427e+01] [-5.28868985e-02 3.85879300e-03 9.98593053e-01 -2.33306106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.050714057 meters 0.039324652577932814 Centerline is valid? [True, True] Translation: X:339.99, Y:-46.24, Z:-23.33 [[ 9.97260498e-01 5.17524365e-02 5.28505792e-02 3.39994332e+02] [-5.14888564e-02 9.98653459e-01 -6.33762625e-03 -4.62353633e+01] [-5.31074013e-02 3.59904844e-03 9.98582320e-01 -2.33312946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.080714057 meters 0.036238553588851634 Centerline is valid? [True, True] Translation: X:340.03, Y:-46.23, Z:-23.33 [[ 9.97059205e-01 5.49778090e-02 5.33889762e-02 3.40025724e+02] [-5.47133765e-02 9.98481571e-01 -6.40307317e-03 -4.62326976e+01] [-5.36599358e-02 3.46315189e-03 9.98553262e-01 -2.33321601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.110714057 meters 0.039271418580729064 Centerline is valid? [True, True] Translation: X:340.06, Y:-46.24, Z:-23.33 [[ 9.96759124e-01 6.01518675e-02 5.34135026e-02 3.40055089e+02] [-5.98945241e-02 9.98184149e-01 -6.40713034e-03 -4.62373777e+01] [-5.37019125e-02 3.18718930e-03 9.98551925e-01 -2.33338399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.140714057 meters 0.03416734717223594 Centerline is valid? [True, True] Translation: X:340.09, Y:-46.23, Z:-23.33 [[ 9.96592476e-01 6.26088451e-02 5.36988768e-02 3.40085356e+02] [-6.23523427e-02 9.98033419e-01 -6.44043616e-03 -4.62318135e+01] [-5.39965019e-02 3.07023945e-03 9.98536405e-01 -2.33347407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.170714057 meters 0.03773265891668473 Centerline is valid? [True, True] Translation: X:340.11, Y:-46.24, Z:-23.34 [[ 9.96311956e-01 6.67206280e-02 5.39522481e-02 3.40113529e+02] [-6.64678078e-02 9.97767600e-01 -6.46885507e-03 -4.62390556e+01] [-5.42634112e-02 2.85890998e-03 9.98522563e-01 -2.33368187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.200714057 meters 0.03712752556192047 Centerline is valid? [True, True] Translation: X:340.14, Y:-46.24, Z:-23.34 [[ 9.96192956e-01 6.82591658e-02 5.42243475e-02 3.40142498e+02] [-6.80061460e-02 9.97663729e-01 -6.49985318e-03 -4.62411188e+01] [-5.45413393e-02 2.78751907e-03 9.98507622e-01 -2.33382132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.230714057 meters 0.032337861620673425 Centerline is valid? [True, True] Translation: X:340.17, Y:-46.23, Z:-23.34 [[ 9.96067590e-01 7.04895399e-02 5.36710485e-02 3.40172668e+02] [-7.02450835e-02 9.97509040e-01 -6.42995231e-03 -4.62340762e+01] [-5.39906004e-02 2.63453981e-03 9.98537968e-01 -2.33398659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.26071405700003 meters 0.03318677800812774 Centerline is valid? [True, True] Translation: X:340.20, Y:-46.24, Z:-23.34 [[ 9.95984403e-01 7.15102689e-02 5.38641802e-02 3.40199690e+02] [-7.12656860e-02 9.97436512e-01 -6.45032276e-03 -4.62384149e+01] [-5.41873644e-02 2.58575310e-03 9.98527437e-01 -2.33417195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.290714057 meters 0.03128230167921437 Centerline is valid? [True, True] Translation: X:340.23, Y:-46.24, Z:-23.34 [[ 9.95901906e-01 7.30001356e-02 5.33888889e-02 3.40229204e+02] [-7.27622499e-02 9.97328853e-01 -6.38855973e-03 -4.62374622e+01] [-5.37126451e-02 2.47768313e-03 9.98553360e-01 -2.33436719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.32071405700003 meters 0.03192221175476997 Centerline is valid? [True, True] Translation: X:340.26, Y:-46.24, Z:-23.35 [[ 9.95919422e-01 7.32661818e-02 5.26931764e-02 3.40257055e+02] [-7.30349798e-02 9.97309465e-01 -6.30255625e-03 -4.62423582e+01] [-5.30131678e-02 2.42839311e-03 9.98590861e-01 -2.33458868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.350714057 meters 0.03133739600678011 Centerline is valid? [True, True] Translation: X:340.29, Y:-46.24, Z:-23.35 [[ 9.95958165e-01 7.31976267e-02 5.20522935e-02 3.40285057e+02] [-7.29721117e-02 9.97314571e-01 -6.22238137e-03 -4.62437955e+01] [-5.23679743e-02 2.39886575e-03 9.98624975e-01 -2.33480226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.38071405700003 meters 0.03362626497899049 Centerline is valid? [True, True] Translation: X:340.31, Y:-46.25, Z:-23.35 [[ 9.96059306e-01 7.28279314e-02 5.06157149e-02 3.40311981e+02] [-7.26145081e-02 9.97341761e-01 -6.04517378e-03 -4.62507477e+01] [-5.09214238e-02 2.34591636e-03 9.98699908e-01 -2.33510486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.410714057 meters 0.032919173355398484 Centerline is valid? [True, True] Translation: X:340.34, Y:-46.25, Z:-23.35 [[ 9.96107612e-01 7.24204999e-02 5.02483521e-02 3.40340236e+02] [-7.22098854e-02 9.97371432e-01 -5.99663771e-03 -4.62533623e+01] [-5.05505504e-02 2.34486872e-03 9.98718751e-01 -2.33534754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.440714057 meters 0.03253261831173402 Centerline is valid? [True, True] Translation: X:340.37, Y:-46.26, Z:-23.36 [[ 9.96265276e-01 7.14297281e-02 4.85107541e-02 3.40369030e+02] [-7.12324289e-02 9.97442962e-01 -5.78602020e-03 -4.62556661e+01] [-4.88000042e-02 2.30887217e-03 9.98805901e-01 -2.33561460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.470714057 meters 0.03232250644186744 Centerline is valid? [True, True] Translation: X:340.40, Y:-46.26, Z:-23.36 [[ 9.96461733e-01 6.99385158e-02 4.66113482e-02 3.40398599e+02] [-6.97549171e-02 9.97548687e-01 -5.55592085e-03 -4.62595415e+01] [-4.68856621e-02 2.28489178e-03 9.98897649e-01 -2.33583732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.500714057 meters 0.032980992825210415 Centerline is valid? [True, True] Translation: X:340.43, Y:-46.26, Z:-23.36 [[ 9.96508813e-01 6.94579739e-02 4.63225074e-02 3.40426295e+02] [-6.92761779e-02 9.97582245e-01 -5.52042048e-03 -4.62649922e+01] [-4.65939482e-02 2.29210139e-03 9.98911282e-01 -2.33602056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.530714057 meters 0.03266473743288181 Centerline is valid? [True, True] Translation: X:340.45, Y:-46.27, Z:-23.36 [[ 9.96573688e-01 6.86878211e-02 4.60745846e-02 3.40454847e+02] [-6.85073466e-02 9.97635525e-01 -5.48657100e-03 -4.62685411e+01] [-4.63425030e-02 2.31132476e-03 9.98922935e-01 -2.33616571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.560714057 meters 0.03319770030092913 Centerline is valid? [True, True] Translation: X:340.48, Y:-46.27, Z:-23.36 [[ 9.96565789e-01 6.86393485e-02 4.63170342e-02 3.40483342e+02] [-6.84570719e-02 9.97638836e-01 -5.51209461e-03 -4.62723932e+01] [-4.65860186e-02 2.32243638e-03 9.98911582e-01 -2.33628947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.590714057 meters 0.03428276883424083 Centerline is valid? [True, True] Translation: X:340.51, Y:-46.28, Z:-23.36 [[ 9.96469632e-01 6.92961881e-02 4.73952702e-02 3.40511246e+02] [-6.91062170e-02 9.97593381e-01 -5.63710092e-03 -4.62767736e+01] [-4.76718375e-02 2.34189204e-03 9.98860306e-01 -2.33628002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.620714057 meters 0.03389101154851321 Centerline is valid? [True, True] Translation: X:340.54, Y:-46.28, Z:-23.36 [[ 9.96426812e-01 6.94251876e-02 4.81014641e-02 3.40539565e+02] [-6.92298781e-02 9.97584355e-01 -5.71654550e-03 -4.62788908e+01] [-4.83821402e-02 2.36606071e-03 9.98826096e-01 -2.33632363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.650714057 meters 0.032531995235742954 Centerline is valid? [True, True] Translation: X:340.57, Y:-46.28, Z:-23.36 [[ 9.96388432e-01 6.94382088e-02 4.88715351e-02 3.40568339e+02] [-6.92367760e-02 9.97583368e-01 -5.80459444e-03 -4.62806052e+01] [-4.91564912e-02 2.39992323e-03 9.98788206e-01 -2.33638821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.680714057 meters 0.03586483518366082 Centerline is valid? [True, True] Translation: X:340.60, Y:-46.29, Z:-23.37 [[ 9.96386531e-01 6.88541095e-02 4.97291971e-02 3.40595398e+02] [-6.86449880e-02 9.97623687e-01 -5.90295441e-03 -4.62913479e+01] [-5.00174676e-02 2.46796413e-03 9.98745294e-01 -2.33663234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.710714057 meters 0.03378698352115486 Centerline is valid? [True, True] Translation: X:340.62, Y:-46.29, Z:-23.37 [[ 9.96498892e-01 6.74598801e-02 4.93874854e-02 3.40623794e+02] [-6.72521351e-02 9.97718815e-01 -5.85803343e-03 -4.62917559e+01] [-4.96700056e-02 2.51610998e-03 9.98762514e-01 -2.33673109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.740714057 meters 0.03460920124330252 Centerline is valid? [True, True] Translation: X:340.65, Y:-46.30, Z:-23.37 [[ 9.96571281e-01 6.66070085e-02 4.90834879e-02 3.40650693e+02] [-6.64009907e-02 9.97776058e-01 -5.81780240e-03 -4.62968467e+01] [-4.93618355e-02 2.53866256e-03 9.98777735e-01 -2.33689969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.770714057 meters 0.035003345782808545 Centerline is valid? [True, True] Translation: X:340.68, Y:-46.30, Z:-23.37 [[ 9.96654120e-01 6.56279891e-02 4.87189018e-02 3.40679286e+02] [-6.54241222e-02 9.97840869e-01 -5.76919326e-03 -4.63013291e+01] [-4.89923319e-02 2.56249885e-03 9.98795868e-01 -2.33711339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.800714057 meters 0.036022746657527936 Centerline is valid? [True, True] Translation: X:340.71, Y:-46.31, Z:-23.37 [[ 9.96775287e-01 6.41886774e-02 4.81543458e-02 3.40706570e+02] [-6.39879919e-02 9.97934395e-01 -5.69917193e-03 -4.63069833e+01] [-4.84207002e-02 2.59949385e-03 9.98823647e-01 -2.33735973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.830714057 meters 0.03900982538858542 Centerline is valid? [True, True] Translation: X:340.73, Y:-46.32, Z:-23.38 [[ 9.96989513e-01 6.15644207e-02 4.71352555e-02 3.40734349e+02] [-6.13694306e-02 9.98099555e-01 -5.57421761e-03 -4.63166545e+01] [-4.73888510e-02 2.66477271e-03 9.98872963e-01 -2.33775798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.860714057 meters 0.039488784828459134 Centerline is valid? [True, True] Translation: X:340.76, Y:-46.32, Z:-23.38 [[ 9.97186944e-01 5.93562710e-02 4.57715260e-02 3.40762878e+02] [-5.91701973e-02 9.98233245e-01 -5.41067673e-03 -4.63218988e+01] [-4.60118165e-02 2.68714597e-03 9.98937281e-01 -2.33804390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.890714057 meters 0.040419809264384536 Centerline is valid? [True, True] Translation: X:340.79, Y:-46.33, Z:-23.38 [[ 9.97244777e-01 5.85732355e-02 4.55195636e-02 3.40791392e+02] [-5.83884901e-02 9.98279446e-01 -5.37879379e-03 -4.63259358e+01] [-4.57562981e-02 2.70615542e-03 9.98948967e-01 -2.33822905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.920714057 meters 0.03916046194209989 Centerline is valid? [True, True] Translation: X:340.82, Y:-46.33, Z:-23.38 [[ 9.97251928e-01 5.83709241e-02 4.56226667e-02 3.40820589e+02] [-5.81852700e-02 9.98291263e-01 -5.38790975e-03 -4.63266847e+01] [-4.58592069e-02 2.71853621e-03 9.98944214e-01 -2.33827267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.950714057 meters 0.03597188283874578 Centerline is valid? [True, True] Translation: X:340.85, Y:-46.32, Z:-23.38 [[ 9.97236024e-01 5.85294437e-02 4.57669814e-02 3.40850363e+02] [-5.83429223e-02 9.98281986e-01 -5.40182968e-03 -4.63232769e+01] [-4.60045192e-02 2.71671971e-03 9.98937537e-01 -2.33824318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.980714057 meters 0.03606473986732687 Centerline is valid? [True, True] Translation: X:340.88, Y:-46.33, Z:-23.38 [[ 9.97210551e-01 5.88991005e-02 4.58477091e-02 3.40878874e+02] [-5.87124615e-02 9.98260287e-01 -5.40805269e-03 -4.63258758e+01] [-4.60864767e-02 2.70113534e-03 9.98933802e-01 -2.33837166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.01071405700003 meters 0.035526088025556846 Centerline is valid? [True, True] Translation: X:340.91, Y:-46.33, Z:-23.39 [[ 9.97066241e-01 6.06205954e-02 4.67338701e-02 3.40908916e+02] [-6.04287365e-02 9.98157314e-01 -5.50858588e-03 -4.63278074e+01] [-4.69816880e-02 2.66835629e-03 9.98892187e-01 -2.33852149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.040714057 meters 0.03496946600084852 Centerline is valid? [True, True] Translation: X:340.94, Y:-46.33, Z:-23.39 [[ 9.97028343e-01 6.16101301e-02 4.62458066e-02 3.40937853e+02] [-6.14233313e-02 9.98096920e-01 -5.45084827e-03 -4.63291884e+01] [-4.64936246e-02 2.59407872e-03 9.98915218e-01 -2.33860363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.07071405700003 meters 0.03440438016182732 Centerline is valid? [True, True] Translation: X:340.97, Y:-46.33, Z:-23.39 [[ 9.96809025e-01 6.51018698e-02 4.61899698e-02 3.40966983e+02] [-6.49194301e-02 9.97875678e-01 -5.44054505e-03 -4.63298729e+01] [-4.64460371e-02 2.42455789e-03 9.98917858e-01 -2.33878223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.100714057 meters 0.03360674627693294 Centerline is valid? [True, True] Translation: X:341.00, Y:-46.33, Z:-23.39 [[ 9.96719880e-01 6.66119419e-02 4.59600891e-02 3.40995615e+02] [-6.64329714e-02 9.97776211e-01 -5.41225428e-03 -4.63306812e+01] [-4.62184044e-02 2.34123614e-03 9.98928615e-01 -2.33895050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.13071405700003 meters 0.03205489099099644 Centerline is valid? [True, True] Translation: X:341.03, Y:-46.33, Z:-23.39 [[ 9.96454774e-01 7.05334229e-02 4.58575933e-02 3.41025663e+02] [-7.03595695e-02 9.97507098e-01 -5.39629477e-03 -4.63306821e+01] [-4.61238940e-02 2.15064317e-03 9.98933412e-01 -2.33912192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.160714057 meters 0.0339533035957403 Centerline is valid? [True, True] Translation: X:341.05, Y:-46.34, Z:-23.39 [[ 9.96345223e-01 7.25032013e-02 4.51606308e-02 3.41053165e+02] [-7.23366207e-02 9.97366118e-01 -5.31414064e-03 -4.63370703e+01] [-4.54269752e-02 2.02795123e-03 9.98965604e-01 -2.33945583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.190714057 meters 0.030545114826475327 Centerline is valid? [True, True] Translation: X:341.08, Y:-46.33, Z:-23.40 [[ 9.96202604e-01 7.46197290e-02 4.48582992e-02 3.41083037e+02] [-7.44576648e-02 9.97210223e-01 -5.27521138e-03 -4.63336214e+01] [-4.51267894e-02 1.91513511e-03 9.98979432e-01 -2.33952696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.220714057 meters 0.02979040945038814 Centerline is valid? [True, True] Translation: X:341.11, Y:-46.33, Z:-23.40 [[ 9.95910033e-01 7.90496334e-02 4.37534109e-02 3.41112839e+02] [-7.88998469e-02 9.96869284e-01 -5.14250897e-03 -4.63346389e+01] [-4.40229448e-02 1.66933886e-03 9.99029126e-01 -2.33983201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.250714057 meters 0.0301669520351609 Centerline is valid? [True, True] Translation: X:341.14, Y:-46.34, Z:-23.40 [[ 9.95762696e-01 8.09217974e-02 4.36842670e-02 3.41140229e+02] [-8.07742736e-02 9.96719195e-01 -5.13457655e-03 -4.63381130e+01] [-4.39564465e-02 1.58425485e-03 9.99032192e-01 -2.34007775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.280714057 meters 0.028278096037860648 Centerline is valid? [True, True] Translation: X:341.17, Y:-46.34, Z:-23.40 [[ 9.95406676e-01 8.53286834e-02 4.34115704e-02 3.41170370e+02] [-8.51873786e-02 9.96351906e-01 -5.09797189e-03 -4.63364938e+01] [-4.36882042e-02 1.37643737e-03 9.99044266e-01 -2.34018569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.310714057 meters 0.02781279155924713 Centerline is valid? [True, True] Translation: X:341.20, Y:-46.34, Z:-23.40 [[ 9.95174708e-01 8.77008511e-02 4.39984199e-02 3.41199191e+02] [-8.75580614e-02 9.96146024e-01 -5.16577364e-03 -4.63384981e+01] [-4.42818937e-02 1.28843092e-03 9.99018245e-01 -2.34034850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.340714057 meters 0.027326489308860936 Centerline is valid? [True, True] Translation: X:341.23, Y:-46.34, Z:-23.40 [[ 9.94836161e-01 9.12159981e-02 4.45045448e-02 3.41228042e+02] [-9.10735569e-02 9.95830476e-01 -5.22200988e-03 -4.63392249e+01] [-4.47953129e-02 1.14185707e-03 9.98995534e-01 -2.34048548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.370714057 meters 0.026777553959929867 Centerline is valid? [True, True] Translation: X:341.26, Y:-46.34, Z:-23.41 [[ 9.94738520e-01 9.19112051e-02 4.52505030e-02 3.41257060e+02] [-9.17647139e-02 9.95766568e-01 -5.30844063e-03 -4.63413663e+01] [-4.55468432e-02 1.12811091e-03 9.98961567e-01 -2.34059799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.400714057 meters 0.02691765477384852 Centerline is valid? [True, True] Translation: X:341.28, Y:-46.34, Z:-23.41 [[ 9.94663007e-01 9.25274466e-02 4.56527589e-02 3.41284981e+02] [-9.23795990e-02 9.95709531e-01 -5.34229867e-03 -4.63442396e+01] [-4.59511964e-02 1.09640330e-03 9.98943084e-01 -2.34072354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.430714057 meters 0.02729802719184574 Centerline is valid? [True, True] Translation: X:341.31, Y:-46.35, Z:-23.41 [[ 9.94728090e-01 9.11370228e-02 4.70113800e-02 3.41313410e+02] [-9.09788975e-02 9.95837650e-01 -5.49683161e-03 -4.63467481e+01] [-4.73166671e-02 1.19080928e-03 9.98879229e-01 -2.34082216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.460714057 meters 0.02775349750433112 Centerline is valid? [True, True] Translation: X:341.34, Y:-46.35, Z:-23.41 [[ 9.94945991e-01 8.81893743e-02 4.80115480e-02 3.41340466e+02] [-8.80211764e-02 9.96102804e-01 -5.61045025e-03 -4.63523133e+01] [-4.83192196e-02 1.35606205e-03 9.98831024e-01 -2.34090289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.490714057 meters 0.027931501691335157 Centerline is valid? [True, True] Translation: X:341.37, Y:-46.36, Z:-23.41 [[ 9.95160398e-01 8.56979435e-02 4.80795602e-02 3.41368864e+02] [-8.55265768e-02 9.96320073e-01 -5.61400733e-03 -4.63569319e+01] [-4.83837398e-02 1.47475756e-03 9.98827732e-01 -2.34104938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.520714057 meters 0.029317974015172162 Centerline is valid? [True, True] Translation: X:341.40, Y:-46.36, Z:-23.41 [[ 9.95422639e-01 8.25615058e-02 4.81390435e-02 3.41396476e+02] [-8.23862181e-02 9.96584645e-01 -5.61752420e-03 -4.63634059e+01] [-4.84384228e-02 1.62581702e-03 9.98824847e-01 -2.34132082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.550714057 meters 0.029317974015172162 Centerline is valid? [True, True] Translation: X:341.42, Y:-46.37, Z:-23.41 [[ 9.95431106e-01 8.24591481e-02 4.81393993e-02 3.41423726e+02] [-8.22838883e-02 9.96593116e-01 -5.61447366e-03 -4.63664911e+01] [-4.84383587e-02 1.62772478e-03 9.98824847e-01 -2.34147990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.580714057 meters 0.0314174442442529 Centerline is valid? [True, True] Translation: X:341.45, Y:-46.38, Z:-23.42 [[ 9.96043683e-01 7.51512631e-02 4.74264713e-02 3.41452385e+02] [-7.49731706e-02 9.97170243e-01 -5.52540306e-03 -4.63768679e+01] [-4.77075070e-02 1.94782989e-03 9.98859449e-01 -2.34180968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.610714057 meters 0.03308313574201315 Centerline is valid? [True, True] Translation: X:341.48, Y:-46.38, Z:-23.42 [[ 9.96342584e-01 7.10186933e-02 4.75163234e-02 3.41481767e+02] [-7.08352208e-02 9.97472667e-01 -5.53617138e-03 -4.63840733e+01] [-4.77894055e-02 2.15009404e-03 9.98855120e-01 -2.34207198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.640714057 meters 0.03684820432118169 Centerline is valid? [True, True] Translation: X:341.51, Y:-46.40, Z:-23.42 [[ 9.96913788e-01 6.30104345e-02 4.68250329e-02 3.41509823e+02] [-6.28234836e-02 9.98009746e-01 -5.45500186e-03 -4.63954457e+01] [-4.70755612e-02 2.49645488e-03 9.98888212e-01 -2.34237093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.670714057 meters 0.03909430660525966 Centerline is valid? [True, True] Translation: X:341.54, Y:-46.40, Z:-23.43 [[ 9.97139978e-01 5.92841681e-02 4.68748541e-02 3.41537815e+02] [-5.90927871e-02 9.98237566e-01 -5.45928684e-03 -4.64033193e+01] [-4.71158895e-02 2.67370739e-03 9.98885851e-01 -2.34259691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.700714057 meters 0.04247598476113555 Centerline is valid? [True, True] Translation: X:341.57, Y:-46.41, Z:-23.43 [[ 9.97433760e-01 5.35759580e-02 4.74922321e-02 3.41565871e+02] [-5.33731581e-02 9.98559330e-01 -5.52896748e-03 -4.64131993e+01] [-4.77200312e-02 2.97996841e-03 9.98856305e-01 -2.34274646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.730714057 meters 0.04230890902429506 Centerline is valid? [True, True] Translation: X:341.60, Y:-46.42, Z:-23.43 [[ 9.97520513e-01 5.13313001e-02 4.81448236e-02 3.41596168e+02] [-5.11202064e-02 9.98676771e-01 -5.60646917e-03 -4.64167945e+01] [-4.83689043e-02 3.13139468e-03 9.98824631e-01 -2.34284925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.76071405700003 meters 0.043677613352983924 Centerline is valid? [True, True] Translation: X:341.63, Y:-46.42, Z:-23.43 [[ 9.97594674e-01 4.95644275e-02 4.84585852e-02 3.41625897e+02] [-4.93484889e-02 9.98765679e-01 -5.64315806e-03 -4.64226478e+01] [-4.86784717e-02 3.23822647e-03 9.98809251e-01 -2.34298960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.790714057 meters 0.04580708787387979 Centerline is valid? [True, True] Translation: X:341.66, Y:-46.43, Z:-23.43 [[ 9.97650172e-01 4.70152279e-02 4.98367684e-02 3.41655443e+02] [-4.67837038e-02 9.98888189e-01 -5.80265874e-03 -4.64297212e+01] [-5.00541727e-02 3.45747488e-03 9.98740520e-01 -2.34306973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.82071405700003 meters 0.0466486456710224 Centerline is valid? [True, True] Translation: X:341.69, Y:-46.43, Z:-23.43 [[ 9.97701943e-01 4.58686986e-02 4.98687800e-02 3.41686819e+02] [-4.56355347e-02 9.98941291e-01 -5.80474087e-03 -4.64347929e+01] [-5.00822394e-02 3.51561280e-03 9.98738910e-01 -2.34326109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.850714057 meters 0.042370228191379 Centerline is valid? [True, True] Translation: X:341.72, Y:-46.43, Z:-23.43 [[ 9.97835614e-01 4.38613471e-02 4.89925501e-02 3.41718623e+02] [-4.36333200e-02 9.99031269e-01 -5.71467727e-03 -4.64320834e+01] [-4.91957429e-02 3.56460089e-03 9.98782795e-01 -2.34341261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.88071405700003 meters 0.05062260404235371 Centerline is valid? [True, True] Translation: X:341.75, Y:-46.45, Z:-23.44 [[ 9.97897118e-01 4.28539307e-02 4.86300538e-02 3.41747840e+02] [-4.26280800e-02 9.99074907e-01 -5.67239218e-03 -4.64478056e+01] [-4.88281508e-02 3.58745798e-03 9.98800752e-01 -2.34384482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.910714057 meters 0.045453788893078634 Centerline is valid? [True, True] Translation: X:341.78, Y:-46.44, Z:-23.44 [[ 9.97991736e-01 4.18196572e-02 4.75774270e-02 3.41780444e+02] [-4.16017395e-02 9.99118793e-01 -5.56173876e-03 -4.64440072e+01] [-4.77680914e-02 3.57126559e-03 9.98852069e-01 -2.34401662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.940714057 meters 0.04585424518925836 Centerline is valid? [True, True] Translation: X:341.81, Y:-46.45, Z:-23.44 [[ 9.98120121e-01 4.04114497e-02 4.60775238e-02 3.41811565e+02] [-4.02054155e-02 9.99176898e-01 -5.38988862e-03 -4.64476797e+01] [-4.62574106e-02 3.52719029e-03 9.98923326e-01 -2.34441609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.970714057 meters 0.045668729016347394 Centerline is valid? [True, True] Translation: X:341.84, Y:-46.45, Z:-23.45 [[ 9.98156262e-01 4.00001828e-02 4.56515190e-02 3.41843302e+02] [-3.97975579e-02 9.99193499e-01 -5.33916312e-03 -4.64516430e+01] [-4.58282685e-02 3.51250013e-03 9.98943158e-01 -2.34464165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.000714057 meters 0.047276132848755405 Centerline is valid? [True, True] Translation: X:341.87, Y:-46.46, Z:-23.45 [[ 9.98150947e-01 4.00726397e-02 4.57041527e-02 3.41874625e+02] [-3.98690724e-02 9.99190551e-01 -5.35729300e-03 -4.64571778e+01] [-4.58818383e-02 3.52520491e-03 9.98940654e-01 -2.34491854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.030714057 meters 0.046681612120134865 Centerline is valid? [True, True] Translation: X:341.91, Y:-46.46, Z:-23.45 [[ 9.98040645e-01 4.18189667e-02 4.65407799e-02 3.41906448e+02] [-4.16093216e-02 9.99119013e-01 -5.46468105e-03 -4.64580931e+01] [-4.67283054e-02 3.51744352e-03 9.98901443e-01 -2.34500260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.060714057 meters 0.05310707090831803 Centerline is valid? [True, True] Translation: X:341.94, Y:-46.47, Z:-23.45 [[ 9.97978276e-01 4.34220669e-02 4.64099635e-02 3.41935591e+02] [-4.32151708e-02 9.99050909e-01 -5.45257515e-03 -4.64690456e+01] [-4.66026783e-02 3.43593705e-03 9.98907596e-01 -2.34524084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.090714057 meters 0.04292515308194891 Centerline is valid? [True, True] Translation: X:341.97, Y:-46.46, Z:-23.45 [[ 9.97764971e-01 4.72210815e-02 4.72782464e-02 3.41968473e+02] [-4.70103196e-02 9.98878927e-01 -5.56054984e-03 -4.64551332e+01] [-4.74878192e-02 3.32555637e-03 9.98866281e-01 -2.34511188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.120714057 meters 0.040846530927910914 Centerline is valid? [True, True] Translation: X:342.00, Y:-46.45, Z:-23.45 [[ 9.97637999e-01 4.93303672e-02 4.78010170e-02 3.41999882e+02] [-4.91173259e-02 9.98777193e-01 -5.62195066e-03 -4.64542737e+01] [-4.80198985e-02 3.26081348e-03 9.98841057e-01 -2.34518760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.150714057 meters 0.04390976228149465 Centerline is valid? [True, True] Translation: X:342.03, Y:-46.46, Z:-23.45 [[ 9.97428747e-01 5.29504892e-02 4.82922361e-02 3.42029415e+02] [-5.27372093e-02 9.98592267e-01 -5.68083870e-03 -4.64603245e+01] [-4.85250567e-02 3.11943407e-03 9.98817094e-01 -2.34545911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.180714057 meters 0.04073966923115889 Centerline is valid? [True, True] Translation: X:342.06, Y:-46.46, Z:-23.46 [[ 9.97350386e-01 5.43975265e-02 4.83023508e-02 3.42059670e+02] [-5.41858583e-02 9.98514702e-01 -5.68177898e-03 -4.64576545e+01] [-4.85396821e-02 3.04942012e-03 9.98816600e-01 -2.34555913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.210714057 meters 0.04861597875393033 Centerline is valid? [True, True] Translation: X:342.09, Y:-46.47, Z:-23.46 [[ 9.97242193e-01 5.59604467e-02 4.87487193e-02 3.42087603e+02] [-5.57467939e-02 9.98428482e-01 -5.73243489e-03 -4.64723206e+01] [-4.89928995e-02 2.99904113e-03 9.98794624e-01 -2.34594071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.240714057 meters 0.03929229466526017 Centerline is valid? [True, True] Translation: X:342.12, Y:-46.46, Z:-23.46 [[ 9.97075155e-01 5.88288782e-02 4.87883012e-02 3.42119013e+02] [-5.86183307e-02 9.98263986e-01 -5.73640222e-03 -4.64604295e+01] [-4.90410701e-02 2.85973536e-03 9.98792669e-01 -2.34589628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.270714057 meters 0.03733126953561641 Centerline is valid? [True, True] Translation: X:342.15, Y:-46.46, Z:-23.46 [[ 9.96956182e-01 6.11062441e-02 4.84189844e-02 3.42149330e+02] [-6.09016297e-02 9.98127547e-01 -5.69134704e-03 -4.64580290e+01] [-4.86760990e-02 2.72522855e-03 9.98810898e-01 -2.34602121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.300714057 meters 0.03768344493802859 Centerline is valid? [True, True] Translation: X:342.18, Y:-46.46, Z:-23.46 [[ 9.96917012e-01 6.21445400e-02 4.79012312e-02 3.42177223e+02] [-6.19455318e-02 9.98063656e-01 -5.62934140e-03 -4.64604786e+01] [-4.81583108e-02 2.64471897e-03 9.98836214e-01 -2.34623172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.330714057 meters 0.0362088672289163 Centerline is valid? [True, True] Translation: X:342.21, Y:-46.46, Z:-23.46 [[ 9.96787303e-01 6.44852236e-02 4.75050418e-02 3.42207570e+02] [-6.42923715e-02 9.97915516e-01 -5.57805008e-03 -4.64606909e+01] [-4.77657201e-02 2.50591770e-03 9.98855423e-01 -2.34648830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.360714057 meters 0.037658222773927476 Centerline is valid? [True, True] Translation: X:342.23, Y:-46.47, Z:-23.47 [[ 9.96740326e-01 6.53129091e-02 4.73597561e-02 3.42234882e+02] [-6.51221732e-02 9.97861804e-01 -5.56086401e-03 -4.64656895e+01] [-4.76216879e-02 2.45856716e-03 9.98862418e-01 -2.34673893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.390714057 meters 0.036367969116330556 Centerline is valid? [True, True] Translation: X:342.26, Y:-46.47, Z:-23.47 [[ 9.96663072e-01 6.67614742e-02 4.69641049e-02 3.42263990e+02] [-6.65757140e-02 9.97766161e-01 -5.51025530e-03 -4.64658580e+01] [-4.72270674e-02 2.36519916e-03 9.98881379e-01 -2.34692619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.420714057 meters 0.03423104616583868 Centerline is valid? [True, True] Translation: X:342.29, Y:-46.46, Z:-23.47 [[ 9.96441034e-01 7.02379525e-02 4.66036006e-02 3.42294558e+02] [-7.00589855e-02 9.97527883e-01 -5.46455702e-03 -4.64633865e+01] [-4.68722103e-02 2.18010787e-03 9.98898515e-01 -2.34710046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.450714057 meters 0.030279109346116002 Centerline is valid? [True, True] Translation: X:342.33, Y:-46.46, Z:-23.47 [[ 9.96078721e-01 7.48496400e-02 4.71668568e-02 3.42325634e+02] [-7.46715688e-02 9.97192856e-01 -5.52857566e-03 -4.64572674e+01] [-4.74482645e-02 1.98487338e-03 9.98871725e-01 -2.34711263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.480714057 meters 0.030266394641162257 Centerline is valid? [True, True] Translation: X:342.35, Y:-46.46, Z:-23.47 [[ 9.95871765e-01 7.71206702e-02 4.78730619e-02 3.42353355e+02] [-7.69399014e-02 9.97019949e-01 -5.61006955e-03 -4.64595431e+01] [-4.81630501e-02 1.90356120e-03 9.98837673e-01 -2.34726401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.51071405700003 meters 0.030134219661348664 Centerline is valid? [True, True] Translation: X:342.38, Y:-46.46, Z:-23.47 [[ 9.95631475e-01 7.96767316e-02 4.86783736e-02 3.42380839e+02] [-7.94930919e-02 9.96819120e-01 -5.69996625e-03 -4.64622370e+01] [-4.89776882e-02 1.80547137e-03 9.98798241e-01 -2.34740545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.540714057 meters 0.028671582685842807 Centerline is valid? [True, True] Translation: X:342.41, Y:-46.46, Z:-23.47 [[ 9.95267910e-01 8.35398496e-02 4.96274222e-02 3.42410992e+02] [-8.33540102e-02 9.96503084e-01 -5.80619075e-03 -4.64603582e+01] [-4.99389276e-02 1.64207068e-03 9.98750923e-01 -2.34748625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.57071405700003 meters 0.02799850162424432 Centerline is valid? [True, True] Translation: X:342.44, Y:-46.46, Z:-23.48 [[ 9.95149157e-01 8.48628955e-02 4.97638903e-02 3.42440196e+02] [-8.46777569e-02 9.96391388e-01 -5.82068291e-03 -4.64614254e+01] [-5.00782717e-02 1.57855308e-03 9.98744049e-01 -2.34765110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.600714057 meters 0.02802273518569126 Centerline is valid? [True, True] Translation: X:342.47, Y:-46.46, Z:-23.48 [[ 9.95093282e-01 8.58744411e-02 4.91420484e-02 3.42468849e+02] [-8.56953067e-02 9.96304830e-01 -5.74450093e-03 -4.64634857e+01] [-4.94537660e-02 1.50507138e-03 9.98775280e-01 -2.34783428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.63071405700003 meters 0.027573007459736034 Centerline is valid? [True, True] Translation: X:342.50, Y:-46.47, Z:-23.48 [[ 9.95091109e-01 8.56750899e-02 4.95324514e-02 3.42496969e+02] [-8.54930123e-02 9.96321965e-01 -5.78686123e-03 -4.64671287e+01] [-4.98460592e-02 1.52377568e-03 9.98755750e-01 -2.34801186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.660714057 meters 0.028752454986454814 Centerline is valid? [True, True] Translation: X:342.52, Y:-46.47, Z:-23.48 [[ 9.95253375e-01 8.42738161e-02 4.86687025e-02 3.42523733e+02] [-8.40966227e-02 9.96441412e-01 -5.68070911e-03 -4.64733897e+01] [-4.89742457e-02 1.56087141e-03 9.98798822e-01 -2.34827855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.690714057 meters 0.028451270681970675 Centerline is valid? [True, True] Translation: X:342.55, Y:-46.48, Z:-23.48 [[ 9.95373212e-01 8.29611309e-02 4.84728797e-02 3.42552285e+02] [-8.27840226e-02 9.96551476e-01 -5.65344949e-03 -4.64766250e+01] [-4.87747363e-02 1.61451221e-03 9.98808499e-01 -2.34846972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.720714057 meters 0.02937055335203765 Centerline is valid? [True, True] Translation: X:342.58, Y:-46.48, Z:-23.49 [[ 9.95679876e-01 7.98446768e-02 4.73963221e-02 3.42579645e+02] [-7.96719860e-02 9.96805825e-01 -5.52460293e-03 -4.64841876e+01] [-4.76860401e-02 1.72457685e-03 9.98860885e-01 -2.34881806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.750714057 meters 0.02966212033853517 Centerline is valid? [True, True] Translation: X:342.61, Y:-46.49, Z:-23.49 [[ 9.95822789e-01 7.82325110e-02 4.70812745e-02 3.42607349e+02] [-7.80604393e-02 9.96933539e-01 -5.48518817e-03 -4.64900103e+01] [-4.73660216e-02 1.78709042e-03 9.98876001e-01 -2.34907310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.780714057 meters 0.029734427284555706 Centerline is valid? [True, True] Translation: X:342.64, Y:-46.49, Z:-23.49 [[ 9.95904949e-01 7.69874391e-02 4.73947945e-02 3.42635934e+02] [-7.68119876e-02 9.97030343e-01 -5.51483024e-03 -4.64947077e+01] [-4.76786209e-02 1.85175836e-03 9.98861011e-01 -2.34926793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.810714057 meters 0.029869415523375808 Centerline is valid? [True, True] Translation: X:342.67, Y:-46.50, Z:-23.49 [[ 9.96061171e-01 7.47302161e-02 4.77235684e-02 3.42665270e+02] [-7.45499149e-02 9.97201843e-01 -5.54932788e-03 -4.64994210e+01] [-4.80047328e-02 1.96968206e-03 9.98845166e-01 -2.34933519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.840714057 meters 0.02983674919070669 Centerline is valid? [True, True] Translation: X:342.69, Y:-46.50, Z:-23.49 [[ 9.96109961e-01 7.39924007e-02 4.78546795e-02 3.42694190e+02] [-7.38103232e-02 9.97256781e-01 -5.56320100e-03 -4.65031971e+01] [-4.81350382e-02 2.00939057e-03 9.98838816e-01 -2.34945654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.870714057 meters 0.03174606567782667 Centerline is valid? [True, True] Translation: X:342.72, Y:-46.51, Z:-23.50 [[ 9.96151779e-01 7.32503295e-02 4.81250636e-02 3.42721322e+02] [-7.30654845e-02 9.97311472e-01 -5.59129620e-03 -4.65113429e+01] [-4.84052423e-02 2.05349857e-03 9.98825668e-01 -2.34967091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.900714057 meters 0.03042832415440288 Centerline is valid? [True, True] Translation: X:342.75, Y:-46.51, Z:-23.50 [[ 9.96207229e-01 7.24592050e-02 4.81749029e-02 3.42749883e+02] [-7.22732713e-02 9.97369188e-01 -5.59260377e-03 -4.65127374e+01] [-4.84533994e-02 2.08963447e-03 9.98823258e-01 -2.34977986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.930714057 meters 0.031485135111100744 Centerline is valid? [True, True] Translation: X:342.78, Y:-46.52, Z:-23.50 [[ 9.96314413e-01 7.11124240e-02 4.79647066e-02 3.42776595e+02] [-7.09267018e-02 9.97466006e-01 -5.56513740e-03 -4.65188394e+01] [-4.82389147e-02 2.14264816e-03 9.98833528e-01 -2.35001050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.960714057 meters 0.031074366073568404 Centerline is valid? [True, True] Translation: X:342.81, Y:-46.52, Z:-23.50 [[ 9.96390690e-01 7.01361216e-02 4.78175509e-02 3.42805553e+02] [-6.99506757e-02 9.97535053e-01 -5.54268886e-03 -4.65214454e+01] [-4.80884259e-02 2.17781358e-03 9.98840708e-01 -2.35021298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.990714057 meters 0.031139160735219794 Centerline is valid? [True, True] Translation: X:342.83, Y:-46.53, Z:-23.50 [[ 9.96450908e-01 6.95217613e-02 4.74585316e-02 3.42834361e+02] [-6.93385574e-02 9.97578037e-01 -5.49771984e-03 -4.65264870e+01] [-4.77257999e-02 2.18750182e-03 9.98858079e-01 -2.35039474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.020714057 meters 0.03164462093602635 Centerline is valid? [True, True] Translation: X:342.86, Y:-46.53, Z:-23.51 [[ 9.96506495e-01 6.90353127e-02 4.69992601e-02 3.42861784e+02] [-6.88552490e-02 9.97611821e-01 -5.44138719e-03 -4.65308896e+01] [-4.72626654e-02 2.18623191e-03 9.98880103e-01 -2.35062576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.050714057 meters 0.03236330550852663 Centerline is valid? [True, True] Translation: X:342.89, Y:-46.54, Z:-23.51 [[ 9.96626018e-01 6.79447292e-02 4.60444876e-02 3.42890487e+02] [-6.77709457e-02 9.97686687e-01 -5.32667644e-03 -4.65352690e+01] [-4.62998919e-02 2.18822585e-03 9.98925188e-01 -2.35088518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.080714057 meters 0.03343005330773727 Centerline is valid? [True, True] Translation: X:342.92, Y:-46.54, Z:-23.51 [[ 9.96818264e-01 6.60179937e-02 4.46651270e-02 3.42918420e+02] [-6.58526916e-02 9.97815994e-01 -5.16385720e-03 -4.65410578e+01] [-4.49084856e-02 2.20610834e-03 9.98988669e-01 -2.35122470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.110714057 meters 0.034294318658927896 Centerline is valid? [True, True] Translation: X:342.95, Y:-46.55, Z:-23.51 [[ 9.96919093e-01 6.46410926e-02 4.44280423e-02 3.42945845e+02] [-6.44762619e-02 9.97906031e-01 -5.13458599e-03 -4.65462946e+01] [-4.46669166e-02 2.25421271e-03 9.98999392e-01 -2.35145526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.140714057 meters 0.036399956144695475 Centerline is valid? [True, True] Translation: X:342.97, Y:-46.55, Z:-23.52 [[ 9.97117241e-01 6.19669303e-02 4.37870657e-02 3.42973840e+02] [-6.18044395e-02 9.98075471e-01 -5.05630896e-03 -4.65533533e+01] [-4.40161202e-02 2.33549779e-03 9.99028091e-01 -2.35170804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.170714057 meters 0.03672169682463796 Centerline is valid? [True, True] Translation: X:343.00, Y:-46.56, Z:-23.52 [[ 9.97190256e-01 6.05444070e-02 4.41131390e-02 3.43001787e+02] [-6.03781795e-02 9.98162585e-01 -5.09212216e-03 -4.65578658e+01] [-4.43403843e-02 2.41434357e-03 9.99013564e-01 -2.35185491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.200714057 meters 0.037855962047426146 Centerline is valid? [True, True] Translation: X:343.03, Y:-46.56, Z:-23.52 [[ 9.97233237e-01 5.96017120e-02 4.44241787e-02 3.43028816e+02] [-5.94323696e-02 9.98219182e-01 -5.12418987e-03 -4.65634050e+01] [-4.46504778e-02 2.46977824e-03 9.98999617e-01 -2.35201567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.230714057 meters 0.03869168643716355 Centerline is valid? [True, True] Translation: X:343.06, Y:-46.57, Z:-23.52 [[ 9.97281015e-01 5.79914661e-02 4.54705018e-02 3.43057589e+02] [-5.78125683e-02 9.98313699e-01 -5.24072041e-03 -4.65677462e+01] [-4.56977419e-02 2.59770448e-03 9.98951935e-01 -2.35209183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.26071405700003 meters 0.039705347751576754 Centerline is valid? [True, True] Translation: X:343.08, Y:-46.57, Z:-23.52 [[ 9.97288289e-01 5.74955671e-02 4.59383059e-02 3.43084868e+02] [-5.73125741e-02 9.98342259e-01 -5.29177980e-03 -4.65720579e+01] [-4.61664059e-02 2.64458746e-03 9.98930262e-01 -2.35217009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.290714057 meters 0.04017260182504796 Centerline is valid? [True, True] Translation: X:343.11, Y:-46.58, Z:-23.52 [[ 9.97219588e-01 5.74396464e-02 4.74740063e-02 3.43113993e+02] [-5.72443780e-02 9.98345246e-01 -5.46368165e-03 -4.65755403e+01] [-4.77092804e-02 2.73087040e-03 9.98857531e-01 -2.35219066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.32071405700003 meters 0.035340813212783186 Centerline is valid? [True, True] Translation: X:343.14, Y:-46.57, Z:-23.52 [[ 9.97223247e-01 5.71143781e-02 4.77885254e-02 3.43143589e+02] [-5.69162442e-02 9.98363820e-01 -5.49769656e-03 -4.65708809e+01] [-4.80243323e-02 2.76248744e-03 9.98842346e-01 -2.35219280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.350714057 meters 0.03921119509387005 Centerline is valid? [True, True] Translation: X:343.17, Y:-46.58, Z:-23.52 [[ 9.97227094e-01 5.70412663e-02 4.77955822e-02 3.43170082e+02] [-5.68431454e-02 9.98367998e-01 -5.49528129e-03 -4.65799837e+01] [-4.80310375e-02 2.76319216e-03 9.98842022e-01 -2.35246523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.38071405700003 meters 0.0348901919625617 Centerline is valid? [True, True] Translation: X:343.20, Y:-46.58, Z:-23.53 [[ 9.97251974e-01 5.69416440e-02 4.73935699e-02 3.43199231e+02] [-5.67469375e-02 9.98373747e-01 -5.44477146e-03 -4.65757527e+01] [-4.76265302e-02 2.74036914e-03 9.98861454e-01 -2.35256621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.410714057 meters 0.0348901919625617 Centerline is valid? [True, True] Translation: X:343.23, Y:-46.58, Z:-23.53 [[ 9.97255970e-01 5.68712813e-02 4.73939538e-02 3.43227355e+02] [-5.66766539e-02 9.98377758e-01 -5.44142751e-03 -4.65789217e+01] [-4.76265303e-02 2.74036535e-03 9.98861454e-01 -2.35273039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.440714057 meters 0.03967367324804422 Centerline is valid? [True, True] Translation: X:343.25, Y:-46.59, Z:-23.53 [[ 9.97290863e-01 5.67062895e-02 4.68543673e-02 3.43253616e+02] [-5.65160341e-02 9.98387215e-01 -5.37644781e-03 -4.65889416e+01] [-4.70836797e-02 2.71385925e-03 9.98887262e-01 -2.35307838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.470714057 meters 0.03581660091475371 Centerline is valid? [True, True] Translation: X:343.28, Y:-46.58, Z:-23.53 [[ 9.97410601e-01 5.61507675e-02 4.49353312e-02 3.43282573e+02] [-5.59754201e-02 9.98418855e-01 -5.15201789e-03 -4.65843011e+01] [-4.51535717e-02 2.62340322e-03 9.98976613e-01 -2.35314651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.500714057 meters 0.03586035250714746 Centerline is valid? [True, True] Translation: X:343.31, Y:-46.59, Z:-23.53 [[ 9.97419082e-01 5.58468099e-02 4.51254722e-02 3.43311675e+02] [-5.56698574e-02 9.98435848e-01 -5.16956041e-03 -4.65868149e+01] [-4.53435926e-02 2.64408959e-03 9.98967951e-01 -2.35333693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.530714057 meters 0.039213378050362686 Centerline is valid? [True, True] Translation: X:343.34, Y:-46.59, Z:-23.54 [[ 9.97391485e-01 5.57858996e-02 4.58056585e-02 3.43338254e+02] [-5.56036480e-02 9.98439147e-01 -5.24435010e-03 -4.65945223e+01] [-4.60267234e-02 2.68370842e-03 9.98936604e-01 -2.35352483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.560714057 meters 0.03897846544961652 Centerline is valid? [True, True] Translation: X:343.37, Y:-46.60, Z:-23.54 [[ 9.97344852e-01 5.60963745e-02 4.64375256e-02 3.43366831e+02] [-5.59095956e-02 9.98421703e-01 -5.31230762e-03 -4.65975471e+01] [-4.66622346e-02 2.70189938e-03 9.98907071e-01 -2.35366567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.590714057 meters 0.040011460256840964 Centerline is valid? [True, True] Translation: X:343.39, Y:-46.60, Z:-23.54 [[ 9.97271358e-01 5.63576527e-02 4.76828453e-02 3.43394345e+02] [-5.61611615e-02 9.98406833e-01 -5.45159983e-03 -4.66014943e+01] [-4.79141180e-02 2.75880039e-03 9.98847649e-01 -2.35370851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.620714057 meters 0.03619333025201086 Centerline is valid? [True, True] Translation: X:343.42, Y:-46.60, Z:-23.54 [[ 9.97255847e-01 5.63801972e-02 4.79796659e-02 3.43423461e+02] [-5.61814772e-02 9.98405527e-01 -5.48136158e-03 -4.65982493e+01] [-4.82122039e-02 2.77075138e-03 9.98833273e-01 -2.35376268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.650714057 meters 0.03520496447984594 Centerline is valid? [True, True] Translation: X:343.45, Y:-46.60, Z:-23.54 [[ 9.97243020e-01 5.64270476e-02 4.81907297e-02 3.43452534e+02] [-5.62267931e-02 9.98402862e-01 -5.50207003e-03 -4.65996093e+01] [-4.84242281e-02 2.77729074e-03 9.98822998e-01 -2.35392521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.680714057 meters 0.0372156856596232 Centerline is valid? [True, True] Translation: X:343.48, Y:-46.61, Z:-23.54 [[ 9.97159168e-01 5.68832533e-02 4.93749824e-02 3.43480506e+02] [-5.66737699e-02 9.98376856e-01 -5.63350795e-03 -4.66071543e+01] [-4.96152920e-02 2.81923771e-03 9.98764424e-01 -2.35414892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.710714057 meters 0.03458883393705683 Centerline is valid? [True, True] Translation: X:343.51, Y:-46.61, Z:-23.54 [[ 9.97124121e-01 5.71075191e-02 4.98218663e-02 3.43509515e+02] [-5.68946289e-02 9.98364020e-01 -5.68195364e-03 -4.66064674e+01] [-5.00648410e-02 2.83101644e-03 9.98741957e-01 -2.35425929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.740714057 meters 0.03603243802876758 Centerline is valid? [True, True] Translation: X:343.54, Y:-46.61, Z:-23.54 [[ 9.97035955e-01 5.77777723e-02 5.08038641e-02 3.43537282e+02] [-5.75574688e-02 9.98325405e-01 -5.78995487e-03 -4.66123623e+01] [-5.10533189e-02 2.84865137e-03 9.98691866e-01 -2.35442264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.770714057 meters 0.03429687383734136 Centerline is valid? [True, True] Translation: X:343.57, Y:-46.61, Z:-23.55 [[ 9.97046741e-01 5.77358625e-02 5.06395737e-02 3.43565935e+02] [-5.75169898e-02 9.98327853e-01 -5.77004140e-03 -4.66130920e+01] [-5.08880352e-02 2.84036513e-03 9.98700326e-01 -2.35451410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.800714057 meters 0.03809306942771621 Centerline is valid? [True, True] Translation: X:343.59, Y:-46.62, Z:-23.55 [[ 9.97069738e-01 5.74464979e-02 5.05157198e-02 3.43592630e+02] [-5.72285025e-02 9.98344534e-01 -5.75245121e-03 -4.66220110e+01] [-5.07625509e-02 2.84465602e-03 9.98706699e-01 -2.35476229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.830714057 meters 0.03373556701181561 Centerline is valid? [True, True] Translation: X:343.62, Y:-46.62, Z:-23.55 [[ 9.97186718e-01 5.62408765e-02 4.95541420e-02 3.43622080e+02] [-5.60298538e-02 9.98413173e-01 -5.63839720e-03 -4.66200629e+01] [-4.97926165e-02 2.84602347e-03 9.98755523e-01 -2.35501618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.860714057 meters 0.038238205034116055 Centerline is valid? [True, True] Translation: X:343.65, Y:-46.63, Z:-23.55 [[ 9.97310575e-01 5.51518659e-02 4.82689298e-02 3.43649400e+02] [-5.49505114e-02 9.98473988e-01 -5.48960504e-03 -4.66312483e+01] [-4.84980328e-02 2.82243878e-03 9.98819290e-01 -2.35541023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.890714057 meters 0.03905565472174681 Centerline is valid? [True, True] Translation: X:343.68, Y:-46.64, Z:-23.56 [[ 9.97464910e-01 5.35496953e-02 4.68634500e-02 3.43678615e+02] [-5.33582714e-02 9.98561223e-01 -5.32709143e-03 -4.66377033e+01] [-4.70812881e-02 2.81303410e-03 9.98887100e-01 -2.35577216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.920714057 meters 0.03944290065129511 Centerline is valid? [True, True] Translation: X:343.71, Y:-46.64, Z:-23.56 [[ 9.97497219e-01 5.33053943e-02 4.64524875e-02 3.43707831e+02] [-5.31171264e-02 9.98574336e-01 -5.27879010e-03 -4.66421630e+01] [-4.66676498e-02 2.79815580e-03 9.98906553e-01 -2.35596628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.950714057 meters 0.03622327423535984 Centerline is valid? [True, True] Translation: X:343.74, Y:-46.64, Z:-23.56 [[ 9.97487847e-01 5.34336522e-02 4.65063427e-02 3.43736965e+02] [-5.32451410e-02 9.98567493e-01 -5.28372971e-03 -4.66406550e+01] [-4.67220510e-02 2.79421940e-03 9.98904021e-01 -2.35606889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.980714057 meters 0.03648641804301737 Centerline is valid? [True, True] Translation: X:343.77, Y:-46.65, Z:-23.56 [[ 9.97468375e-01 5.35115987e-02 4.68332042e-02 3.43765729e+02] [-5.33206697e-02 9.98563283e-01 -5.31750849e-03 -4.66453032e+01] [-4.70504665e-02 2.80686875e-03 9.98888570e-01 -2.35608891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.01071405700003 meters 0.03592652910121057 Centerline is valid? [True, True] Translation: X:343.79, Y:-46.65, Z:-23.56 [[ 9.97414896e-01 5.36581288e-02 4.77946681e-02 3.43794550e+02] [-5.34596057e-02 9.98555286e-01 -5.42322154e-03 -4.66486505e+01] [-4.80166184e-02 2.85411783e-03 9.98842459e-01 -2.35615045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.040714057 meters 0.03679851676707474 Centerline is valid? [True, True] Translation: X:343.82, Y:-46.66, Z:-23.56 [[ 9.97326669e-01 5.37884145e-02 4.94603132e-02 3.43822329e+02] [-5.35761475e-02 9.98548017e-01 -5.60841593e-03 -4.66556545e+01] [-4.96901655e-02 2.94352974e-03 9.98760343e-01 -2.35619499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.07071405700003 meters 0.036701101860301975 Centerline is valid? [True, True] Translation: X:343.85, Y:-46.66, Z:-23.56 [[ 9.97272449e-01 5.38735377e-02 5.04510183e-02 3.43852012e+02] [-5.36529384e-02 9.98543274e-01 -5.71765374e-03 -4.66601548e+01] [-5.06855553e-02 2.99521317e-03 9.98710170e-01 -2.35631441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.100714057 meters 0.035599411192129934 Centerline is valid? [True, True] Translation: X:343.88, Y:-46.66, Z:-23.56 [[ 9.97255808e-01 5.39531789e-02 5.06942617e-02 3.43880920e+02] [-5.37305351e-02 9.98538942e-01 -5.74546358e-03 -4.66640120e+01] [-5.09301805e-02 3.00586712e-03 9.98697693e-01 -2.35647408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.13071405700003 meters 0.03584986897385836 Centerline is valid? [True, True] Translation: X:343.91, Y:-46.67, Z:-23.57 [[ 9.97260089e-01 5.42649148e-02 5.02755828e-02 3.43910278e+02] [-5.40464285e-02 9.98522177e-01 -5.69610135e-03 -4.66693338e+01] [-5.05103829e-02 2.96327885e-03 9.98719140e-01 -2.35663721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.160714057 meters 0.039700318958105246 Centerline is valid? [True, True] Translation: X:343.94, Y:-46.68, Z:-23.57 [[ 9.97268934e-01 5.43799430e-02 4.99749442e-02 3.43938011e+02] [-5.41642529e-02 9.98515991e-01 -5.66115538e-03 -4.66814714e+01] [-5.02086343e-02 2.93883887e-03 9.98734427e-01 -2.35698077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.190714057 meters 0.035213860519968304 Centerline is valid? [True, True] Translation: X:343.97, Y:-46.68, Z:-23.57 [[ 9.97302630e-01 5.41859504e-02 4.95110887e-02 3.43968298e+02] [-5.39740475e-02 9.98526591e-01 -5.60789208e-03 -4.66789166e+01] [-4.97420076e-02 2.92045167e-03 9.98757830e-01 -2.35704861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.220714057 meters 0.03482174865787236 Centerline is valid? [True, True] Translation: X:344.00, Y:-46.68, Z:-23.57 [[ 9.97342845e-01 5.42260149e-02 4.86496543e-02 3.43998084e+02] [-5.40215596e-02 9.98524575e-01 -5.50861954e-03 -4.66828468e+01] [-4.88765859e-02 2.86585208e-03 9.98800714e-01 -2.35724666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.250714057 meters 0.037257902497753216 Centerline is valid? [True, True] Translation: X:344.03, Y:-46.69, Z:-23.58 [[ 9.97479973e-01 5.36171929e-02 4.64639549e-02 3.44026071e+02] [-5.34301287e-02 9.98557739e-01 -5.25955040e-03 -4.66926126e+01] [-4.66789441e-02 2.76372110e-03 9.98906121e-01 -2.35761629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.280714057 meters 0.03716426141936922 Centerline is valid? [True, True] Translation: X:344.06, Y:-46.70, Z:-23.58 [[ 9.97521292e-01 5.34534890e-02 4.57602049e-02 3.44055191e+02] [-5.32719562e-02 9.98566615e-01 -5.17827651e-03 -4.66969748e+01] [-4.59714099e-02 2.72770544e-03 9.98939032e-01 -2.35785120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.310714057 meters 0.03882216077177396 Centerline is valid? [True, True] Translation: X:344.08, Y:-46.70, Z:-23.58 [[ 9.97593397e-01 5.35633658e-02 4.40270453e-02 3.44084235e+02] [-5.33955162e-02 9.98561022e-01 -4.98045819e-03 -4.67043891e+01] [-4.42304615e-02 2.61762539e-03 9.99017925e-01 -2.35823734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.340714057 meters 0.038780333718133955 Centerline is valid? [True, True] Translation: X:344.11, Y:-46.71, Z:-23.58 [[ 9.97589263e-01 5.40173791e-02 4.35635725e-02 3.44113265e+02] [-5.38535011e-02 9.98536689e-01 -4.92752198e-03 -4.67084293e+01] [-4.37659973e-02 2.56959212e-03 9.99038505e-01 -2.35843169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.370714057 meters 0.038569631278250346 Centerline is valid? [True, True] Translation: X:344.14, Y:-46.71, Z:-23.59 [[ 9.97496866e-01 5.60618009e-02 4.30938144e-02 3.44142037e+02] [-5.59034039e-02 9.98424291e-01 -4.87293922e-03 -4.67121742e+01] [-4.32990968e-02 2.45165069e-03 9.99059146e-01 -2.35860375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.400714057 meters 0.03867496554552834 Centerline is valid? [True, True] Translation: X:344.17, Y:-46.71, Z:-23.59 [[ 9.97432110e-01 5.71669430e-02 4.31407654e-02 3.44170349e+02] [-5.70092729e-02 9.98361736e-01 -4.87726678e-03 -4.67149747e+01] [-4.33489079e-02 2.40531883e-03 9.99057099e-01 -2.35872041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.430714057 meters 0.03550044838574512 Centerline is valid? [True, True] Translation: X:344.20, Y:-46.71, Z:-23.59 [[ 9.97233180e-01 5.98299796e-02 4.41175566e-02 3.44201128e+02] [-5.96678433e-02 9.98205845e-01 -4.98400726e-03 -4.67130239e+01] [-4.43365959e-02 2.33781795e-03 9.99013914e-01 -2.35862238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.460714057 meters 0.034961024578634266 Centerline is valid? [True, True] Translation: X:344.23, Y:-46.72, Z:-23.59 [[ 9.97111331e-01 6.14700406e-02 4.46142011e-02 3.44229303e+02] [-6.13058718e-02 9.98106301e-01 -5.03999781e-03 -4.67154274e+01] [-4.48395241e-02 2.29032644e-03 9.98991577e-01 -2.35868388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.490714057 meters 0.037386651987892525 Centerline is valid? [True, True] Translation: X:344.26, Y:-46.72, Z:-23.59 [[ 9.96929290e-01 6.34478322e-02 4.58951394e-02 3.44257138e+02] [-6.32763437e-02 9.97982595e-01 -5.18119868e-03 -4.67231424e+01] [-4.61312861e-02 2.26121210e-03 9.98932826e-01 -2.35888993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.520714057 meters 0.03191828330155187 Centerline is valid? [True, True] Translation: X:344.29, Y:-46.72, Z:-23.59 [[ 9.96910885e-01 6.38041370e-02 4.58008729e-02 3.44286590e+02] [-6.36338244e-02 9.97959931e-01 -5.16845994e-03 -4.67174220e+01] [-4.60372051e-02 2.23800927e-03 9.98937219e-01 -2.35884193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.550714057 meters 0.03215826869354216 Centerline is valid? [True, True] Translation: X:344.31, Y:-46.72, Z:-23.59 [[ 9.96924492e-01 6.43063579e-02 4.47911840e-02 3.44313562e+02] [-6.41441141e-02 9.97927860e-01 -5.05161353e-03 -4.67219799e+01] [-4.50232213e-02 2.16298643e-03 9.98983599e-01 -2.35911800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.580714057 meters 0.03470046587008162 Centerline is valid? [True, True] Translation: X:344.34, Y:-46.73, Z:-23.59 [[ 9.96947961e-01 6.43844385e-02 4.41520947e-02 3.44340398e+02] [-6.42270392e-02 9.97922907e-01 -4.97576190e-03 -4.67303783e+01] [-4.43807484e-02 2.12481737e-03 9.99012430e-01 -2.35949582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.610714057 meters 0.03193231777355957 Centerline is valid? [True, True] Translation: X:344.37, Y:-46.73, Z:-23.60 [[ 9.97010031e-01 6.41069180e-02 4.31427937e-02 3.44369767e+02] [-6.39565664e-02 9.97940860e-01 -4.85769902e-03 -4.67291375e+01] [-4.33653688e-02 2.08390970e-03 9.99057107e-01 -2.35954026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.640714057 meters 0.03273223630031099 Centerline is valid? [True, True] Translation: X:344.40, Y:-46.74, Z:-23.60 [[ 9.97139719e-01 6.29979887e-02 4.17568524e-02 3.44397706e+02] [-6.28562988e-02 9.98011527e-01 -4.69879202e-03 -4.67353588e+01] [-4.19698345e-02 2.06067096e-03 9.99116753e-01 -2.35979022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.670714057 meters 0.03282593849220083 Centerline is valid? [True, True] Translation: X:344.43, Y:-46.74, Z:-23.60 [[ 9.97183595e-01 6.23356021e-02 4.17031347e-02 3.44426484e+02] [-6.21938229e-02 9.98053072e-01 -4.68980006e-03 -4.67400687e+01] [-4.19142832e-02 2.08291431e-03 9.99119039e-01 -2.35997635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.700714057 meters 0.033917536401117596 Centerline is valid? [True, True] Translation: X:344.45, Y:-46.75, Z:-23.60 [[ 9.97267826e-01 6.04786884e-02 4.24171069e-02 3.44453998e+02] [-6.03304548e-02 9.98167075e-01 -4.76727239e-03 -4.67464051e+01] [-4.26276779e-02 2.19520403e-03 9.99088616e-01 -2.36010230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.730714057 meters 0.03360745897340527 Centerline is valid? [True, True] Translation: X:344.48, Y:-46.75, Z:-23.60 [[ 9.97300939e-01 5.98466909e-02 4.25348183e-02 3.44482143e+02] [-5.96972308e-02 9.98205102e-01 -4.77650764e-03 -4.67499319e+01] [-4.27443309e-02 2.22440469e-03 9.99083567e-01 -2.36022424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.76071405700003 meters 0.03348016000048665 Centerline is valid? [True, True] Translation: X:344.51, Y:-46.75, Z:-23.60 [[ 9.97319227e-01 5.92014939e-02 4.30063026e-02 3.44510292e+02] [-5.90482347e-02 9.98243463e-01 -4.82637255e-03 -4.67537695e+01] [-4.32164889e-02 2.27398789e-03 9.99063143e-01 -2.36038308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.790714057 meters 0.03588242527647264 Centerline is valid? [True, True] Translation: X:344.54, Y:-46.76, Z:-23.61 [[ 9.97444329e-01 5.71137324e-02 4.29282243e-02 3.44537903e+02] [-5.69592568e-02 9.98364897e-01 -4.81403140e-03 -4.67615171e+01] [-4.31329795e-02 2.35656856e-03 9.99066561e-01 -2.36057558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.82071405700003 meters 0.03418414856756738 Centerline is valid? [True, True] Translation: X:344.57, Y:-46.76, Z:-23.61 [[ 9.97466401e-01 5.64989571e-02 4.32278407e-02 3.44567237e+02] [-5.63417846e-02 9.98399776e-01 -4.84662207e-03 -4.67622804e+01] [-4.34324955e-02 2.39880898e-03 9.99053484e-01 -2.36064080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.850714057 meters 0.03645006666111611 Centerline is valid? [True, True] Translation: X:344.59, Y:-46.77, Z:-23.61 [[ 9.97575961e-01 5.45323046e-02 4.32253437e-02 3.44594654e+02] [-5.43734682e-02 9.98508925e-01 -4.84271675e-03 -4.67697392e+01] [-4.34249760e-02 2.48066596e-03 9.99053611e-01 -2.36083592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.88071405700003 meters 0.035119089143791526 Centerline is valid? [True, True] Translation: X:344.62, Y:-46.77, Z:-23.61 [[ 9.97645508e-01 5.33546363e-02 4.30897078e-02 3.44624621e+02] [-5.31957652e-02 9.98572441e-01 -4.82605292e-03 -4.67709111e+01] [-4.32856870e-02 2.52250004e-03 9.99059551e-01 -2.36096830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.910714057 meters 0.038158467706540744 Centerline is valid? [True, True] Translation: X:344.65, Y:-46.78, Z:-23.61 [[ 9.97800068e-01 5.06286491e-02 4.27991041e-02 3.44652894e+02] [-5.04694830e-02 9.98714107e-01 -4.79198104e-03 -4.67801886e+01] [-4.29866806e-02 2.62139035e-03 9.99072206e-01 -2.36125768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.940714057 meters 0.039098719779095466 Centerline is valid? [True, True] Translation: X:344.68, Y:-46.79, Z:-23.61 [[ 9.97910047e-01 4.89511710e-02 4.21820034e-02 3.44682480e+02] [-4.87951472e-02 9.98797649e-01 -4.72113510e-03 -4.67856535e+01] [-4.23623909e-02 2.65299108e-03 9.99098789e-01 -2.36148320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.970714057 meters 0.03913808580942362 Centerline is valid? [True, True] Translation: X:344.71, Y:-46.79, Z:-23.62 [[ 9.97991685e-01 4.73480349e-02 4.20804129e-02 3.44712483e+02] [-4.71913855e-02 9.98874767e-01 -4.70876973e-03 -4.67899989e+01] [-4.22560137e-02 2.71348004e-03 9.99103131e-01 -2.36169778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.000714057 meters 0.041943616786629445 Centerline is valid? [True, True] Translation: X:344.74, Y:-46.80, Z:-23.62 [[ 9.98200021e-01 4.34605514e-02 4.13267244e-02 3.44740618e+02] [-4.33061414e-02 9.99051145e-01 -4.62466880e-03 -4.67990231e+01] [-4.14885019e-02 2.82664353e-03 9.99134983e-01 -2.36199291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.030714057 meters 0.042402974270648736 Centerline is valid? [True, True] Translation: X:344.77, Y:-46.80, Z:-23.62 [[ 9.98289793e-01 4.14971965e-02 4.11760982e-02 3.44771414e+02] [-4.13423075e-02 9.99134423e-01 -4.60640783e-03 -4.68040619e+01] [-4.13316101e-02 2.89621501e-03 9.99141286e-01 -2.36216516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.060714057 meters 0.04090925331323959 Centerline is valid? [True, True] Translation: X:344.80, Y:-46.81, Z:-23.62 [[ 9.98407509e-01 3.81947948e-02 4.15163166e-02 3.44801626e+02] [-3.80344147e-02 9.99265628e-01 -4.64637456e-03 -4.68064461e+01] [-4.16632955e-02 3.05992645e-03 9.99127022e-01 -2.36219246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.090714057 meters 0.04229190677861935 Centerline is valid? [True, True] Translation: X:344.83, Y:-46.81, Z:-23.62 [[ 9.98451056e-01 3.70666471e-02 4.14915969e-02 3.44832948e+02] [-3.69056270e-02 9.99307982e-01 -4.64031401e-03 -4.68117673e+01] [-4.16348848e-02 3.10185302e-03 9.99128077e-01 -2.36239376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.120714057 meters 0.04341268576074453 Centerline is valid? [True, True] Translation: X:344.86, Y:-46.82, Z:-23.62 [[ 9.98483253e-01 3.57323944e-02 4.18854230e-02 3.44864325e+02] [-3.55667212e-02 9.99356279e-01 -4.69416933e-03 -4.68162256e+01] [-4.20261944e-02 3.19732230e-03 9.99111393e-01 -2.36249021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.150714057 meters 0.04286122905879384 Centerline is valid? [True, True] Translation: X:344.90, Y:-46.82, Z:-23.63 [[ 9.98472288e-01 3.53835787e-02 4.24392728e-02 3.44896302e+02] [-3.52127681e-02 9.99368474e-01 -4.76586841e-03 -4.68185358e+01] [-4.25811048e-02 3.26418327e-03 9.99087681e-01 -2.36262900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.180714057 meters 0.04510754230527303 Centerline is valid? [True, True] Translation: X:344.93, Y:-46.82, Z:-23.63 [[ 9.98440382e-01 3.44905916e-02 4.38999094e-02 3.44927355e+02] [-3.43064368e-02 9.99399144e-01 -4.94160081e-03 -4.68247180e+01] [-4.40439706e-02 3.42784434e-03 9.99023713e-01 -2.36276309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.210714057 meters 0.043558576868116046 Centerline is valid? [True, True] Translation: X:344.96, Y:-46.83, Z:-23.63 [[ 9.98423589e-01 3.46261638e-02 4.41742584e-02 3.44960805e+02] [-3.44394071e-02 9.99394370e-01 -4.98201408e-03 -4.68258139e+01] [-4.43200132e-02 3.45282512e-03 9.99011419e-01 -2.36286354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.240714057 meters 0.047206374432660646 Centerline is valid? [True, True] Translation: X:344.99, Y:-46.83, Z:-23.63 [[ 9.98398164e-01 3.46550880e-02 4.47228244e-02 3.44992583e+02] [-3.44630957e-02 9.99393176e-01 -5.05708071e-03 -4.68333351e+01] [-4.48709391e-02 3.50769312e-03 9.98986634e-01 -2.36307272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.270714057 meters 0.04436903506577596 Centerline is valid? [True, True] Translation: X:345.02, Y:-46.83, Z:-23.63 [[ 9.98390536e-01 3.45620868e-02 4.49644346e-02 3.45024620e+02] [-3.43673567e-02 9.99396271e-01 -5.09685003e-03 -4.68323206e+01] [-4.51134460e-02 3.54333807e-03 9.98975586e-01 -2.36319578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.300714057 meters 0.04318524129921882 Centerline is valid? [True, True] Translation: X:345.06, Y:-46.83, Z:-23.63 [[ 9.98410767e-01 3.43016257e-02 4.47139646e-02 3.45056373e+02] [-3.41082893e-02 9.99405233e-01 -5.07986426e-03 -4.68337238e+01] [-4.48616178e-02 3.54667433e-03 9.98986915e-01 -2.36338230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.330714057 meters 0.04714044621853613 Centerline is valid? [True, True] Translation: X:345.09, Y:-46.84, Z:-23.64 [[ 9.98450234e-01 3.38542106e-02 4.41703841e-02 3.45086476e+02] [-3.36649109e-02 9.99420555e-01 -5.02272720e-03 -4.68418417e+01] [-4.43148303e-02 3.52795111e-03 9.99011386e-01 -2.36369481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.360714057 meters 0.04714044621853613 Centerline is valid? [True, True] Translation: X:345.12, Y:-46.85, Z:-23.64 [[ 9.98440899e-01 3.41298157e-02 4.41693071e-02 3.45118922e+02] [-3.39403685e-02 9.99411191e-01 -5.03217773e-03 -4.68456304e+01] [-4.43150472e-02 3.52520949e-03 9.99011386e-01 -2.36388365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.390714057 meters 0.04764650588049471 Centerline is valid? [True, True] Translation: X:345.15, Y:-46.85, Z:-23.64 [[ 9.98525159e-01 3.28097515e-02 4.32553727e-02 3.45150027e+02] [-3.26261778e-02 9.99455400e-01 -4.94329229e-03 -4.68486075e+01] [-4.33940040e-02 3.52474424e-03 9.99051819e-01 -2.36416638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.420714057 meters 0.04481999774596821 Centerline is valid? [True, True] Translation: X:345.18, Y:-46.85, Z:-23.64 [[ 9.98563046e-01 3.23730997e-02 4.27062787e-02 3.45182649e+02] [-3.21938381e-02 9.99469736e-01 -4.87882279e-03 -4.68472677e+01] [-4.28415758e-02 3.49693311e-03 9.99075758e-01 -2.36429405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.450714057 meters 0.04603727483425495 Centerline is valid? [True, True] Translation: X:345.21, Y:-46.85, Z:-23.65 [[ 9.98565309e-01 3.28805191e-02 4.22633953e-02 3.45213150e+02] [-3.27049559e-02 9.99453336e-01 -4.83894246e-03 -4.68518869e+01] [-4.23993984e-02 3.44977760e-03 9.99094785e-01 -2.36453091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.480714057 meters 0.04272145103667434 Centerline is valid? [True, True] Translation: X:345.25, Y:-46.85, Z:-23.65 [[ 9.98565681e-01 3.33056828e-02 4.19203070e-02 3.45246184e+02] [-3.31329460e-02 9.99439384e-01 -4.80884496e-03 -4.68495146e+01] [-4.20569676e-02 3.41300427e-03 9.99109385e-01 -2.36462019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.51071405700003 meters 0.04363197102042372 Centerline is valid? [True, True] Translation: X:345.28, Y:-46.85, Z:-23.65 [[ 9.98507581e-01 3.47221737e-02 4.21542553e-02 3.45276280e+02] [-3.45482018e-02 9.99391270e-01 -4.84876201e-03 -4.68513168e+01] [-4.22969544e-02 3.38517191e-03 9.99099349e-01 -2.36479181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.540714057 meters 0.04388824230898003 Centerline is valid? [True, True] Translation: X:345.31, Y:-46.85, Z:-23.65 [[ 9.98402204e-01 3.66213295e-02 4.30338996e-02 3.45305678e+02] [-3.64414808e-02 9.99323497e-01 -4.95656279e-03 -4.68527849e+01] [-4.31863029e-02 3.38042419e-03 9.99061317e-01 -2.36492194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.57071405700003 meters 0.04388824230898003 Centerline is valid? [True, True] Translation: X:345.34, Y:-46.86, Z:-23.65 [[ 9.98391878e-01 3.69011089e-02 4.30344835e-02 3.45338123e+02] [-3.67217355e-02 9.99313263e-01 -4.95149722e-03 -4.68566067e+01] [-4.31876458e-02 3.36323369e-03 9.99061317e-01 -2.36511129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.600714057 meters 0.043838337073242195 Centerline is valid? [True, True] Translation: X:345.37, Y:-46.86, Z:-23.65 [[ 9.98256169e-01 3.93201213e-02 4.40289482e-02 3.45367648e+02] [-3.91339412e-02 9.99221046e-01 -5.08289504e-03 -4.68578658e+01] [-4.41945117e-02 3.35100507e-03 9.99017325e-01 -2.36521058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.63071405700003 meters 0.0433422374996182 Centerline is valid? [True, True] Translation: X:345.40, Y:-46.86, Z:-23.65 [[ 9.98195166e-01 4.03891665e-02 4.44423795e-02 3.45399552e+02] [-4.02005998e-02 9.99178466e-01 -5.12891272e-03 -4.68594843e+01] [-4.46130211e-02 3.33304557e-03 9.98998783e-01 -2.36531886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.660714057 meters 0.04295108352321397 Centerline is valid? [True, True] Translation: X:345.43, Y:-46.86, Z:-23.65 [[ 9.98096758e-01 4.21057052e-02 4.50551914e-02 3.45431576e+02] [-4.19135261e-02 9.99107699e-01 -5.20205810e-03 -4.68592679e+01] [-4.52340250e-02 3.30373538e-03 9.98970955e-01 -2.36537240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.690714057 meters 0.0418291893504143 Centerline is valid? [True, True] Translation: X:345.46, Y:-46.86, Z:-23.66 [[ 9.98057067e-01 4.30289618e-02 4.50621649e-02 3.45464218e+02] [-4.28376601e-02 9.99068499e-01 -5.20283023e-03 -4.68603547e+01] [-4.52440619e-02 3.26236378e-03 9.98970636e-01 -2.36551430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.720714057 meters 0.04238919903908167 Centerline is valid? [True, True] Translation: X:345.49, Y:-46.86, Z:-23.66 [[ 9.97979074e-01 4.45701288e-02 4.52909754e-02 3.45494724e+02] [-4.43778271e-02 9.99001060e-01 -5.24305792e-03 -4.68635267e+01] [-4.54794162e-02 3.22254701e-03 9.98960078e-01 -2.36582031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.750714057 meters 0.042886093716746475 Centerline is valid? [True, True] Translation: X:345.53, Y:-46.87, Z:-23.66 [[ 9.97981272e-01 4.48590461e-02 4.49560641e-02 3.45526038e+02] [-4.46698009e-02 9.98988242e-01 -5.20585955e-03 -4.68670604e+01] [-4.51441093e-02 3.18717191e-03 9.98975401e-01 -2.36605018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.780714057 meters 0.043288758780602274 Centerline is valid? [True, True] Translation: X:345.56, Y:-46.87, Z:-23.66 [[ 9.97987678e-01 4.51340643e-02 4.45366229e-02 3.45557465e+02] [-4.49485411e-02 9.98975983e-01 -5.15881128e-03 -4.68703070e+01] [-4.47238548e-02 3.14657386e-03 9.98994432e-01 -2.36626309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.810714057 meters 0.04344216848681629 Centerline is valid? [True, True] Translation: X:345.59, Y:-46.87, Z:-23.66 [[ 9.97930612e-01 4.67026109e-02 4.41968279e-02 3.45588177e+02] [-4.65213734e-02 9.98904168e-01 -5.12095811e-03 -4.68726496e+01] [-4.43875578e-02 3.05426373e-03 9.99009718e-01 -2.36641116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.840714057 meters 0.04374567391558157 Centerline is valid? [True, True] Translation: X:345.62, Y:-46.88, Z:-23.67 [[ 9.97900559e-01 4.72469925e-02 4.42966877e-02 3.45618827e+02] [-4.70653799e-02 9.98878615e-01 -5.13450371e-03 -4.68757263e+01] [-4.44896039e-02 3.03888369e-03 9.99005225e-01 -2.36663995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.870714057 meters 0.04396335743599616 Centerline is valid? [True, True] Translation: X:345.65, Y:-46.88, Z:-23.67 [[ 9.97893883e-01 4.77146169e-02 4.39444431e-02 3.45649465e+02] [-4.75363347e-02 9.98856522e-01 -5.09367445e-03 -4.68793213e+01] [-4.41372363e-02 2.99398882e-03 9.99020991e-01 -2.36683106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.900714057 meters 0.04369776130556842 Centerline is valid? [True, True] Translation: X:345.68, Y:-46.88, Z:-23.67 [[ 9.97803822e-01 4.96723345e-02 4.38199886e-02 3.45678965e+02] [-4.94969398e-02 9.98761360e-01 -5.07924872e-03 -4.68825786e+01] [-4.40180095e-02 2.89913845e-03 9.99026531e-01 -2.36704002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.930714057 meters 0.04364472555070928 Centerline is valid? [True, True] Translation: X:345.71, Y:-46.89, Z:-23.67 [[ 9.97758176e-01 5.07091729e-02 4.36715313e-02 3.45708483e+02] [-5.05359339e-02 9.98709412e-01 -5.06249829e-03 -4.68854588e+01] [-4.38718845e-02 2.84416744e-03 9.99033117e-01 -2.36726408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.960714057 meters 0.04252473965994568 Centerline is valid? [True, True] Translation: X:345.74, Y:-46.89, Z:-23.67 [[ 9.97614927e-01 5.31480730e-02 4.40424696e-02 3.45738538e+02] [-5.29743170e-02 9.98582832e-01 -5.10379813e-03 -4.68863798e+01] [-4.42513110e-02 2.75850546e-03 9.99016623e-01 -2.36734193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.990714057 meters 0.03498994386870192 Centerline is valid? [True, True] Translation: X:345.77, Y:-46.88, Z:-23.67 [[ 9.97499839e-01 5.48588510e-02 4.45486005e-02 3.45769306e+02] [-5.46827958e-02 9.98490434e-01 -5.16195593e-03 -4.68780638e+01] [-4.47645304e-02 2.71300819e-03 9.98993882e-01 -2.36721631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.020714057 meters 0.0357633869819645 Centerline is valid? [True, True] Translation: X:345.80, Y:-46.88, Z:-23.67 [[ 9.97389370e-01 5.64196177e-02 4.50696333e-02 3.45797638e+02] [-5.62410875e-02 9.98403569e-01 -5.22047435e-03 -4.68818467e+01] [-4.52922199e-02 2.67208043e-03 9.98970207e-01 -2.36735323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.050714057 meters 0.03394195158768035 Centerline is valid? [True, True] Translation: X:345.83, Y:-46.88, Z:-23.67 [[ 9.97110604e-01 6.02511120e-02 4.62628082e-02 3.45828556e+02] [-6.00671552e-02 9.98179961e-01 -5.35754611e-03 -4.68820279e+01] [-4.65014062e-02 2.56319075e-03 9.98914936e-01 -2.36740531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.080714057 meters 0.033593126431001416 Centerline is valid? [True, True] Translation: X:345.86, Y:-46.89, Z:-23.68 [[ 9.96967178e-01 6.22951261e-02 4.66450686e-02 3.45858085e+02] [-6.21103412e-02 9.98054671e-01 -5.40185635e-03 -4.68850677e+01] [-4.68908379e-02 2.48833236e-03 9.98896920e-01 -2.36757594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.110714057 meters 0.033986784728400186 Centerline is valid? [True, True] Translation: X:345.89, Y:-46.89, Z:-23.68 [[ 9.96739535e-01 6.53215821e-02 4.73644427e-02 3.45886584e+02] [-6.51345353e-02 9.97861425e-01 -5.48345047e-03 -4.68898541e+01] [-4.76213380e-02 2.38051090e-03 9.98862624e-01 -2.36777552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.140714057 meters 0.03213784845834829 Centerline is valid? [True, True] Translation: X:345.92, Y:-46.89, Z:-23.68 [[ 9.96674664e-01 6.62024509e-02 4.75063203e-02 3.45915535e+02] [-6.60153417e-02 9.97803458e-01 -5.49855061e-03 -4.68897269e+01] [-4.77659882e-02 2.34412011e-03 9.98855803e-01 -2.36789844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.170714057 meters 0.031844180073362455 Centerline is valid? [True, True] Translation: X:345.94, Y:-46.89, Z:-23.68 [[ 9.96683660e-01 6.68419402e-02 4.64094498e-02 3.45943587e+02] [-6.66642007e-02 9.97761024e-01 -5.36880358e-03 -4.68926817e+01] [-4.66644014e-02 2.25714993e-03 9.98908073e-01 -2.36818066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.200714057 meters 0.03147073491922605 Centerline is valid? [True, True] Translation: X:345.97, Y:-46.90, Z:-23.68 [[ 9.96735961e-01 6.66787007e-02 4.55123696e-02 3.45972419e+02] [-6.65078388e-02 9.97772039e-01 -5.25985534e-03 -4.68961568e+01] [-4.57616902e-02 2.21575762e-03 9.98949928e-01 -2.36842198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.230714057 meters 0.03164707652106948 Centerline is valid? [True, True] Translation: X:346.00, Y:-46.90, Z:-23.69 [[ 9.96841307e-01 6.54988147e-02 4.49145104e-02 3.46000046e+02] [-6.53313577e-02 9.97850140e-01 -5.18775162e-03 -4.69014675e+01] [-4.51577421e-02 2.23703915e-03 9.98977364e-01 -2.36872978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.26071405700003 meters 0.03345863396324046 Centerline is valid? [True, True] Translation: X:346.03, Y:-46.91, Z:-23.69 [[ 9.96938536e-01 6.45365354e-02 4.41428371e-02 3.46027475e+02] [-6.43740225e-02 9.97912837e-01 -5.09467256e-03 -4.69082273e+01] [-4.43794963e-02 2.23742341e-03 9.99012239e-01 -2.36898333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.290714057 meters 0.03286708774177434 Centerline is valid? [True, True] Translation: X:346.06, Y:-46.91, Z:-23.69 [[ 9.96978666e-01 6.36579514e-02 4.45107306e-02 3.46055637e+02] [-6.34920214e-02 9.97969145e-01 -5.13315693e-03 -4.69111478e+01] [-4.47471020e-02 2.29157169e-03 9.98995718e-01 -2.36910604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.32071405700003 meters 0.034408643240668654 Centerline is valid? [True, True] Translation: X:346.08, Y:-46.92, Z:-23.69 [[ 9.97019671e-01 6.22946020e-02 4.55099696e-02 3.46082850e+02] [-6.21198995e-02 9.98054916e-01 -5.24438885e-03 -4.69173245e+01] [-4.57481460e-02 2.40168411e-03 9.98950118e-01 -2.36921015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.350714057 meters 0.03436733675355354 Centerline is valid? [True, True] Translation: X:346.11, Y:-46.92, Z:-23.69 [[ 9.97000080e-01 6.20765080e-02 4.62314602e-02 3.46111450e+02] [-6.18962244e-02 9.98068399e-01 -5.32235607e-03 -4.69200752e+01] [-4.64725527e-02 2.44483660e-03 9.98916575e-01 -2.36928914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.38071405700003 meters 0.03648319108362565 Centerline is valid? [True, True] Translation: X:346.14, Y:-46.93, Z:-23.69 [[ 9.97036009e-01 6.11114962e-02 4.67395030e-02 3.46138952e+02] [-6.09263146e-02 9.98127780e-01 -5.37772922e-03 -4.69255476e+01] [-4.69806374e-02 2.51412401e-03 9.98892636e-01 -2.36931179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.410714057 meters 0.03647255050245775 Centerline is valid? [True, True] Translation: X:346.17, Y:-46.93, Z:-23.69 [[ 9.97025669e-01 6.07305843e-02 4.74511494e-02 3.46167965e+02] [-6.05394934e-02 9.98150895e-01 -5.45525715e-03 -4.69280340e+01] [-4.76947082e-02 2.56636286e-03 9.98858663e-01 -2.36941820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.440714057 meters 0.03321524385645784 Centerline is valid? [True, True] Translation: X:346.20, Y:-46.93, Z:-23.69 [[ 9.97045531e-01 6.00984796e-02 4.78370441e-02 3.46197170e+02] [-5.99036960e-02 9.98189029e-01 -5.49638203e-03 -4.69258102e+01] [-4.80807368e-02 2.61452739e-03 9.98840031e-01 -2.36943210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.470714057 meters 0.03424490002614048 Centerline is valid? [True, True] Translation: X:346.23, Y:-46.93, Z:-23.70 [[ 9.97127993e-01 5.83687939e-02 4.82581585e-02 3.46226518e+02] [-5.81687305e-02 9.98291389e-01 -5.54092447e-03 -4.69307447e+01] [-4.84991211e-02 2.71789508e-03 9.98819527e-01 -2.36961076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.500714057 meters 0.03424143016509236 Centerline is valid? [True, True] Translation: X:346.26, Y:-46.93, Z:-23.70 [[ 9.97190985e-01 5.74201898e-02 4.80942974e-02 3.46255493e+02] [-5.72204513e-02 9.98346303e-01 -5.52073820e-03 -4.69334816e+01] [-4.83317659e-02 2.75325296e-03 9.98827543e-01 -2.36977793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.530714057 meters 0.03420360139772881 Centerline is valid? [True, True] Translation: X:346.28, Y:-46.94, Z:-23.70 [[ 9.97293774e-01 5.54896293e-02 4.82289249e-02 3.46284968e+02] [-5.52867066e-02 9.98455193e-01 -5.53236999e-03 -4.69362506e+01] [-4.84614097e-02 2.85097973e-03 9.98820987e-01 -2.36990552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.560714057 meters 0.03586561275537333 Centerline is valid? [True, True] Translation: X:346.31, Y:-46.94, Z:-23.70 [[ 9.97439288e-01 5.31175553e-02 4.78893681e-02 3.46313647e+02] [-5.29148431e-02 9.98583928e-01 -5.49169061e-03 -4.69416958e+01] [-4.81132585e-02 2.94356958e-03 9.98837549e-01 -2.37004404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.590714057 meters 0.03650976881530457 Centerline is valid? [True, True] Translation: X:346.34, Y:-46.95, Z:-23.70 [[ 9.97499176e-01 5.20811119e-02 4.77802489e-02 3.46343235e+02] [-5.18782310e-02 9.98638397e-01 -5.47727323e-03 -4.69464451e+01] [-4.80004537e-02 2.98482074e-03 9.98842854e-01 -2.37024611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.620714057 meters 0.037319236378624686 Centerline is valid? [True, True] Translation: X:346.37, Y:-46.95, Z:-23.70 [[ 9.97568354e-01 5.09733453e-02 4.75299575e-02 3.46373367e+02] [-5.07713834e-02 9.98695444e-01 -5.44756095e-03 -4.69515004e+01] [-4.77456324e-02 3.02115271e-03 9.98854958e-01 -2.37046384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.650714057 meters 0.038836110374614104 Centerline is valid? [True, True] Translation: X:346.40, Y:-46.96, Z:-23.71 [[ 9.97734078e-01 4.92304714e-02 4.58592457e-02 3.46402509e+02] [-4.90406289e-02 9.98782954e-01 -5.25627937e-03 -4.69564828e+01] [-4.60622020e-02 2.99540280e-03 9.98934082e-01 -2.37074756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.680714057 meters 0.03970395414747193 Centerline is valid? [True, True] Translation: X:346.43, Y:-46.96, Z:-23.71 [[ 9.97802648e-01 4.87710653e-02 4.48470671e-02 3.46432581e+02] [-4.85891004e-02 9.98805630e-01 -5.13927831e-03 -4.69601592e+01] [-4.50441512e-02 2.94890686e-03 9.98980645e-01 -2.37102007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.710714057 meters 0.04185182993767063 Centerline is valid? [True, True] Translation: X:346.46, Y:-46.96, Z:-23.71 [[ 9.97913267e-01 4.81138119e-02 4.30601150e-02 3.46461343e+02] [-4.79454616e-02 9.98837766e-01 -4.93450139e-03 -4.69645263e+01] [-4.32474867e-02 2.85966731e-03 9.99060297e-01 -2.37136662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.740714057 meters 0.0409896705582463 Centerline is valid? [True, True] Translation: X:346.49, Y:-46.97, Z:-23.72 [[ 9.97955986e-01 4.76148965e-02 4.26224401e-02 3.46491408e+02] [-4.74494788e-02 9.98861695e-01 -4.88486468e-03 -4.69659637e+01] [-4.28065151e-02 2.85246738e-03 9.99079309e-01 -2.37153512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.770714057 meters 0.04163630565807756 Centerline is valid? [True, True] Translation: X:346.52, Y:-46.97, Z:-23.72 [[ 9.97998735e-01 4.71750071e-02 4.21075314e-02 3.46521974e+02] [-4.70132594e-02 9.98882618e-01 -4.82386788e-03 -4.69695957e+01] [-4.22880471e-02 2.83460175e-03 9.99101439e-01 -2.37177815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.800714057 meters 0.038771730484396354 Centerline is valid? [True, True] Translation: X:346.55, Y:-46.97, Z:-23.72 [[ 9.98045135e-01 4.60775861e-02 4.22227974e-02 3.46552607e+02] [-4.59139622e-02 9.98933686e-01 -4.83734613e-03 -4.69660936e+01] [-4.24006679e-02 2.88927385e-03 9.99096510e-01 -2.37179337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.830714057 meters 0.045192409155108186 Centerline is valid? [True, True] Translation: X:346.58, Y:-46.98, Z:-23.72 [[ 9.98070255e-01 4.52896124e-02 4.24807836e-02 3.46580551e+02] [-4.51233040e-02 9.98969573e-01 -4.86613374e-03 -4.69775260e+01] [-4.26573955e-02 2.93987003e-03 9.99085434e-01 -2.37207783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.860714057 meters 0.04489574580700485 Centerline is valid? [True, True] Translation: X:346.61, Y:-46.98, Z:-23.72 [[ 9.98070995e-01 4.37245474e-02 4.40732587e-02 3.46610854e+02] [-4.35440449e-02 9.99038756e-01 -5.04771587e-03 -4.69786792e+01] [-4.42516027e-02 3.11885084e-03 9.99015550e-01 -2.37206980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.890714057 meters 0.04422900168094156 Centerline is valid? [True, True] Translation: X:346.64, Y:-46.98, Z:-23.72 [[ 9.98098693e-01 4.25980870e-02 4.45466312e-02 3.46642349e+02] [-4.24126313e-02 9.99087160e-01 -5.10049597e-03 -4.69806514e+01] [-4.47232386e-02 3.20145852e-03 9.98994286e-01 -2.37214515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.920714057 meters 0.04456290145157712 Centerline is valid? [True, True] Translation: X:346.67, Y:-46.98, Z:-23.72 [[ 9.98132905e-01 4.12873398e-02 4.50117601e-02 3.46673512e+02] [-4.10965915e-02 9.99141878e-01 -5.15531960e-03 -4.69841483e+01] [-4.51859839e-02 3.29586422e-03 9.98973155e-01 -2.37234207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.950714057 meters 0.042626365072836625 Centerline is valid? [True, True] Translation: X:346.71, Y:-46.98, Z:-23.72 [[ 9.98224862e-01 3.88475865e-02 4.51441072e-02 3.46705066e+02] [-3.86531635e-02 9.99239302e-01 -5.17202376e-03 -4.69846540e+01] [-4.53106868e-02 3.41788014e-03 9.98967096e-01 -2.37245924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.980714057 meters 0.04498075308603525 Centerline is valid? [True, True] Translation: X:346.74, Y:-46.99, Z:-23.73 [[ 9.98268712e-01 3.80222578e-02 4.48763453e-02 3.46735597e+02] [-3.78293473e-02 9.99270992e-01 -5.14047113e-03 -4.69915991e+01] [-4.50390824e-02 3.43392864e-03 9.98979324e-01 -2.37273976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.01071405700003 meters 0.0487490388748252 Centerline is valid? [True, True] Translation: X:346.77, Y:-47.00, Z:-23.73 [[ 9.98360627e-01 3.70260792e-02 4.36477644e-02 3.46765357e+02] [-3.68421040e-02 9.99308530e-01 -5.01218686e-03 -4.70003761e+01] [-4.38031649e-02 3.39589454e-03 9.99034409e-01 -2.37311489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.040714057 meters 0.04338058322142485 Centerline is valid? [True, True] Translation: X:346.80, Y:-47.00, Z:-23.73 [[ 9.98394844e-01 3.70023347e-02 4.28784708e-02 3.46798163e+02] [-3.68248437e-02 9.99309613e-01 -4.92215937e-03 -4.69957148e+01] [-4.30309995e-02 3.33526554e-03 9.99068170e-01 -2.37316338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.07071405700003 meters 0.044474779310367564 Centerline is valid? [True, True] Translation: X:346.83, Y:-47.00, Z:-23.73 [[ 9.98436694e-01 3.67810162e-02 4.20871117e-02 3.46829904e+02] [-3.66093865e-02 9.99317923e-01 -4.84171534e-03 -4.70000632e+01] [-4.22364883e-02 3.29336292e-03 9.99102213e-01 -2.37339415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.100714057 meters 0.04408383689014677 Centerline is valid? [True, True] Translation: X:346.86, Y:-47.00, Z:-23.74 [[ 9.98451670e-01 3.72701817e-02 4.12940299e-02 3.46863203e+02] [-3.71049873e-02 9.99300036e-01 -4.75994682e-03 -4.70026162e+01] [-4.14425296e-02 3.22036239e-03 9.99135699e-01 -2.37363218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.13071405700003 meters 0.042436883562237314 Centerline is valid? [True, True] Translation: X:346.90, Y:-47.00, Z:-23.74 [[ 9.98450451e-01 3.78619987e-02 4.07819338e-02 3.46895667e+02] [-3.77008765e-02 9.99277955e-01 -4.71295801e-03 -4.70040335e+01] [-4.09309295e-02 3.16814040e-03 9.99156956e-01 -2.37379528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.160714057 meters 0.042389086547869964 Centerline is valid? [True, True] Translation: X:346.93, Y:-47.01, Z:-23.74 [[ 9.98404019e-01 3.92074168e-02 4.06471884e-02 3.46927196e+02] [-3.90479108e-02 9.99226234e-01 -4.71098705e-03 -4.70064807e+01] [-4.08004427e-02 3.11628062e-03 9.99162456e-01 -2.37403825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.190714057 meters 0.042294373193877 Centerline is valid? [True, True] Translation: X:346.96, Y:-47.01, Z:-23.74 [[ 9.98352943e-01 4.05315604e-02 4.06028722e-02 3.46957989e+02] [-4.03733759e-02 9.99173568e-01 -4.70866100e-03 -4.70093159e+01] [-4.07601661e-02 3.06163054e-03 9.99164268e-01 -2.37421054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.220714057 meters 0.042294373193877 Centerline is valid? [True, True] Translation: X:346.99, Y:-47.01, Z:-23.74 [[ 9.98352946e-01 4.05316190e-02 4.06027548e-02 3.46987828e+02] [-4.03733936e-02 9.99173563e-01 -4.70967343e-03 -4.70127766e+01] [-4.07600898e-02 3.06264534e-03 9.99164268e-01 -2.37438458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.250714057 meters 0.04235193911283589 Centerline is valid? [True, True] Translation: X:347.02, Y:-47.01, Z:-23.75 [[ 9.98282963e-01 4.21779976e-02 4.06465494e-02 3.47018774e+02] [-4.20207991e-02 9.99105613e-01 -4.71445419e-03 -4.70142692e+01] [-4.08090419e-02 2.99835881e-03 9.99162465e-01 -2.37451883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.280714057 meters 0.04421386276146613 Centerline is valid? [True, True] Translation: X:347.05, Y:-47.02, Z:-23.75 [[ 9.98041897e-01 4.66621663e-02 4.16534949e-02 3.47048287e+02] [-4.65009032e-02 9.98906558e-01 -4.83258955e-03 -4.70175390e+01] [-4.18334483e-02 2.88620171e-03 9.99120429e-01 -2.37465445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.310714057 meters 0.040557375181541205 Centerline is valid? [True, True] Translation: X:347.08, Y:-47.01, Z:-23.75 [[ 9.97927392e-01 4.88783857e-02 4.18547944e-02 3.47078452e+02] [-4.87175205e-02 9.98800795e-01 -4.85541368e-03 -4.70140092e+01] [-4.20419267e-02 2.80628851e-03 9.99111906e-01 -2.37466608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.340714057 meters 0.037632424875227326 Centerline is valid? [True, True] Translation: X:347.11, Y:-47.01, Z:-23.75 [[ 9.97664837e-01 5.32713666e-02 4.27438249e-02 3.47110049e+02] [-5.31076888e-02 9.98576490e-01 -4.95651851e-03 -4.70099170e+01] [-4.29470192e-02 2.67491848e-03 9.99073770e-01 -2.37460166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.370714057 meters 0.03990909151387946 Centerline is valid? [True, True] Translation: X:347.14, Y:-47.01, Z:-23.75 [[ 9.97449770e-01 5.67759371e-02 4.32486859e-02 3.47138265e+02] [-5.66116534e-02 9.98383679e-01 -5.01491062e-03 -4.70144361e+01] [-4.34635084e-02 2.55374183e-03 9.99051751e-01 -2.37480832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.400714057 meters 0.039357924720881406 Centerline is valid? [True, True] Translation: X:347.17, Y:-47.02, Z:-23.75 [[ 9.97355708e-01 5.82878618e-02 4.34064101e-02 3.47166984e+02] [-5.81237598e-02 9.98296692e-01 -5.03418863e-03 -4.70169256e+01] [-4.36259077e-02 2.49793302e-03 9.99044814e-01 -2.37503010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.430714057 meters 0.035493809664951775 Centerline is valid? [True, True] Translation: X:347.20, Y:-47.01, Z:-23.75 [[ 9.97325770e-01 5.90668564e-02 4.30396898e-02 3.47196212e+02] [-5.89063629e-02 9.98251047e-01 -4.98882502e-03 -4.70129775e+01] [-4.32590896e-02 2.44017217e-03 9.99060907e-01 -2.37510767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.460714057 meters 0.03820906056945237 Centerline is valid? [True, True] Translation: X:347.22, Y:-47.02, Z:-23.75 [[ 9.97268692e-01 6.01840803e-02 4.28139250e-02 3.47223682e+02] [-6.00264377e-02 9.98184468e-01 -4.95930098e-03 -4.70203374e+01] [-4.30346659e-02 2.37578820e-03 9.99070755e-01 -2.37541616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.490714057 meters 0.03391967730458604 Centerline is valid? [True, True] Translation: X:347.25, Y:-47.02, Z:-23.75 [[ 9.97177989e-01 6.21293006e-02 4.21427099e-02 3.47253638e+02] [-6.19783919e-02 9.98065565e-01 -4.87930875e-03 -4.70155973e+01] [-4.23643356e-02 2.25360189e-03 9.99099687e-01 -2.37546592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.520714057 meters 0.033691665367638166 Centerline is valid? [True, True] Translation: X:347.28, Y:-47.02, Z:-23.76 [[ 9.97134723e-01 6.32662225e-02 4.14696107e-02 3.47282135e+02] [-6.31211618e-02 9.97994331e-01 -4.79939811e-03 -4.70173969e+01] [-4.16900762e-02 2.16803650e-03 9.99128239e-01 -2.37564865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.550714057 meters 0.03359554816510422 Centerline is valid? [True, True] Translation: X:347.31, Y:-47.02, Z:-23.76 [[ 9.97098753e-01 6.38476732e-02 4.14433635e-02 3.47310835e+02] [-6.37034206e-02 9.97957363e-01 -4.79339248e-03 -4.70205650e+01] [-4.16647567e-02 2.13940164e-03 9.99129356e-01 -2.37580693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.580714057 meters 0.033960908769622655 Centerline is valid? [True, True] Translation: X:347.34, Y:-47.02, Z:-23.76 [[ 9.97098297e-01 6.37501370e-02 4.16041514e-02 3.47338304e+02] [-6.36047793e-02 9.97963577e-01 -4.80955786e-03 -4.70239407e+01] [-4.18260377e-02 2.14937909e-03 9.99122596e-01 -2.37597914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.610714057 meters 0.033616957816652096 Centerline is valid? [True, True] Translation: X:347.37, Y:-47.03, Z:-23.76 [[ 9.97071136e-01 6.39177565e-02 4.19960780e-02 3.47366569e+02] [-6.37700075e-02 9.97952837e-01 -4.84980259e-03 -4.70266996e+01] [-4.22200937e-02 2.15750797e-03 9.99106005e-01 -2.37611075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.640714057 meters 0.033451272223814936 Centerline is valid? [True, True] Translation: X:347.39, Y:-47.03, Z:-23.76 [[ 9.96990463e-01 6.41946198e-02 4.34634109e-02 3.47394725e+02] [-6.40367614e-02 9.97934934e-01 -5.01601882e-03 -4.70308660e+01] [-4.36956575e-02 2.21766685e-03 9.99042427e-01 -2.37628488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.670714057 meters 0.03425075372756006 Centerline is valid? [True, True] Translation: X:347.42, Y:-47.04, Z:-23.76 [[ 9.97008030e-01 6.37314422e-02 4.37411940e-02 3.47421916e+02] [-6.35712208e-02 9.97964549e-01 -5.04564261e-03 -4.70360452e+01] [-4.39737270e-02 2.24986510e-03 9.99030154e-01 -2.37647656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.700714057 meters 0.0337638049091597 Centerline is valid? [True, True] Translation: X:347.45, Y:-47.04, Z:-23.77 [[ 9.97075930e-01 6.29491059e-02 4.33243505e-02 3.47450584e+02] [-6.27914465e-02 9.98014187e-01 -4.99166895e-03 -4.70388986e+01] [-4.35525376e-02 2.25667432e-03 9.99048589e-01 -2.37663399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.730714057 meters 0.035000893256640686 Centerline is valid? [True, True] Translation: X:347.48, Y:-47.04, Z:-23.77 [[ 9.97163084e-01 6.20828410e-02 4.25617805e-02 3.47477724e+02] [-6.19300158e-02 9.98068461e-01 -4.90111113e-03 -4.70443990e+01] [-4.27838456e-02 2.25135535e-03 9.99081815e-01 -2.37686845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.76071405700003 meters 0.03599248253641365 Centerline is valid? [True, True] Translation: X:347.51, Y:-47.05, Z:-23.77 [[ 9.97322357e-01 5.98848710e-02 4.19752189e-02 3.47506696e+02] [-5.97344795e-02 9.98202621e-01 -4.82911755e-03 -4.70503725e+01] [-4.21889645e-02 2.30881904e-03 9.99106982e-01 -2.37712364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.790714057 meters 0.039767565653395856 Centerline is valid? [True, True] Translation: X:347.53, Y:-47.06, Z:-23.78 [[ 9.97423489e-01 5.85698752e-02 4.14240763e-02 3.47532879e+02] [-5.84222924e-02 9.98280585e-01 -4.76540706e-03 -4.70604296e+01] [-4.16319604e-02 2.33303943e-03 9.99130290e-01 -2.37750523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.82071405700003 meters 0.03589769594472204 Centerline is valid? [True, True] Translation: X:347.56, Y:-47.06, Z:-23.78 [[ 9.97600357e-01 5.59433611e-02 4.07905357e-02 3.47562949e+02] [-5.57982929e-02 9.98431060e-01 -4.68717362e-03 -4.70592295e+01] [-4.09887541e-02 2.39988382e-03 9.99156726e-01 -2.37757154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.850714057 meters 0.036682591139264815 Centerline is valid? [True, True] Translation: X:347.59, Y:-47.06, Z:-23.78 [[ 9.97698558e-01 5.45114869e-02 4.03247580e-02 3.47591811e+02] [-5.43686078e-02 9.98510189e-01 -4.63222717e-03 -4.70649278e+01] [-4.05171913e-02 2.42916541e-03 9.99175889e-01 -2.37776678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.88071405700003 meters 0.037105279190117205 Centerline is valid? [True, True] Translation: X:347.62, Y:-47.07, Z:-23.78 [[ 9.97771304e-01 5.31534388e-02 4.03377915e-02 3.47620180e+02] [-5.30093952e-02 9.98583267e-01 -4.63290434e-03 -4.70692602e+01] [-4.05268984e-02 2.48429707e-03 9.99175359e-01 -2.37799302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.910714057 meters 0.03762518963682267 Centerline is valid? [True, True] Translation: X:347.65, Y:-47.07, Z:-23.78 [[ 9.97821637e-01 5.13039994e-02 4.14714328e-02 3.47649076e+02] [-5.11502839e-02 9.98679624e-01 -4.75987438e-03 -4.70745617e+01] [-4.16608755e-02 2.62823009e-03 9.99128352e-01 -2.37808284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.940714057 meters 0.03963527147490079 Centerline is valid? [True, True] Translation: X:347.68, Y:-47.08, Z:-23.78 [[ 9.97839792e-01 5.07400329e-02 4.17276603e-02 3.47676619e+02] [-5.05840690e-02 9.98708340e-01 -4.78572410e-03 -4.70814683e+01] [-4.19165902e-02 2.66463109e-03 9.99117560e-01 -2.37823787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.970714057 meters 0.04152188337393808 Centerline is valid? [True, True] Translation: X:347.70, Y:-47.09, Z:-23.78 [[ 9.97827029e-01 4.96522697e-02 4.33113416e-02 3.47703257e+02] [-4.94831468e-02 9.98762599e-01 -4.96887434e-03 -4.70887692e+01] [-4.35044640e-02 2.81489564e-03 9.99049267e-01 -2.37834417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.000714057 meters 0.041773087952762133 Centerline is valid? [True, True] Translation: X:347.73, Y:-47.09, Z:-23.78 [[ 9.97825226e-01 4.90750485e-02 4.40052100e-02 3.47732709e+02] [-4.89001021e-02 9.98790939e-01 -5.04391019e-03 -4.70928431e+01] [-4.41995351e-02 2.88108156e-03 9.99018569e-01 -2.37847746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.030714057 meters 0.042573700356188356 Centerline is valid? [True, True] Translation: X:347.76, Y:-47.10, Z:-23.79 [[ 9.97891486e-01 4.78847970e-02 4.38135639e-02 3.47761113e+02] [-4.77102869e-02 9.98848598e-01 -5.02066489e-03 -4.70988045e+01] [-4.40035304e-02 2.91972105e-03 9.99027109e-01 -2.37859815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.060714057 meters 0.04431173161718892 Centerline is valid? [True, True] Translation: X:347.79, Y:-47.11, Z:-23.79 [[ 9.97942921e-01 4.67045720e-02 4.39159359e-02 3.47790113e+02] [-4.65282283e-02 9.98904313e-01 -5.02966254e-03 -4.71051844e+01] [-4.41027260e-02 2.97598544e-03 9.99022569e-01 -2.37884266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.090714057 meters 0.03877787536660905 Centerline is valid? [True, True] Translation: X:347.82, Y:-47.10, Z:-23.79 [[ 9.97980284e-01 4.59105066e-02 4.39041937e-02 3.47821374e+02] [-4.57335355e-02 9.98941024e-01 -5.02734884e-03 -4.71012509e+01] [-4.40885084e-02 3.00930103e-03 9.99023097e-01 -2.37887342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.120714057 meters 0.0401685190871912 Centerline is valid? [True, True] Translation: X:347.85, Y:-47.11, Z:-23.79 [[ 9.98061353e-01 4.42154651e-02 4.38010023e-02 3.47850648e+02] [-4.40377019e-02 9.99017280e-01 -5.01553268e-03 -4.71082289e+01] [-4.39797223e-02 3.07691385e-03 9.99027686e-01 -2.37903530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.150714057 meters 0.03937741286740343 Centerline is valid? [True, True] Translation: X:347.88, Y:-47.11, Z:-23.79 [[ 9.98100198e-01 4.34477377e-02 4.36839674e-02 3.47881290e+02] [-4.32701927e-02 9.99050884e-01 -5.00213133e-03 -4.71114548e+01] [-4.38598375e-02 3.10241459e-03 9.99032877e-01 -2.37920294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.180714057 meters 0.0400827342437717 Centerline is valid? [True, True] Translation: X:347.91, Y:-47.12, Z:-23.79 [[ 9.98207982e-01 4.20397957e-02 4.25849851e-02 3.47911111e+02] [-4.18698160e-02 9.99111176e-01 -4.87602054e-03 -4.71174202e+01] [-4.27521214e-02 3.08425714e-03 9.99080949e-01 -2.37948048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.210714057 meters 0.04115858963061515 Centerline is valid? [True, True] Translation: X:347.94, Y:-47.12, Z:-23.80 [[ 9.98255512e-01 4.16002771e-02 4.18968924e-02 3.47941126e+02] [-4.14353224e-02 9.99129667e-01 -4.79825631e-03 -4.71227785e+01] [-4.20600369e-02 3.05387456e-03 9.99110418e-01 -2.37968505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.240714057 meters 0.04422990553326054 Centerline is valid? [True, True] Translation: X:347.97, Y:-47.13, Z:-23.80 [[ 9.98229371e-01 4.18639192e-02 4.22555927e-02 3.47970784e+02] [-4.16963834e-02 9.99118610e-01 -4.83879551e-03 -4.71314338e+01] [-4.24209200e-02 3.06832240e-03 9.99095116e-01 -2.37994845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.270714057 meters 0.04322888342658438 Centerline is valid? [True, True] Translation: X:348.00, Y:-47.13, Z:-23.80 [[ 9.98172454e-01 4.20621827e-02 4.33880699e-02 3.48001268e+02] [-4.18856336e-02 9.99110048e-01 -4.97057689e-03 -4.71341661e+01] [-4.35585299e-02 3.14415614e-03 9.99045929e-01 -2.37999623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.300714057 meters 0.043884348988944215 Centerline is valid? [True, True] Translation: X:348.03, Y:-47.14, Z:-23.80 [[ 9.98135102e-01 4.26591214e-02 4.36636924e-02 3.48031656e+02] [-4.24809090e-02 9.99084759e-01 -5.00167485e-03 -4.71395985e+01] [-4.38370967e-02 3.13747388e-03 9.99033766e-01 -2.38015838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.330714057 meters 0.04296567900735858 Centerline is valid? [True, True] Translation: X:348.06, Y:-47.14, Z:-23.80 [[ 9.98102503e-01 4.30965487e-02 4.39781801e-02 3.48062510e+02] [-4.29161019e-02 9.99065970e-01 -5.03946544e-03 -4.71417812e+01] [-4.41542867e-02 3.14253101e-03 9.99019781e-01 -2.38027997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.360714057 meters 0.03973567368538707 Centerline is valid? [True, True] Translation: X:348.09, Y:-47.14, Z:-23.80 [[ 9.97936745e-01 4.53583781e-02 4.54408452e-02 3.48093196e+02] [-4.51680018e-02 9.98965829e-01 -5.20811196e-03 -4.71413988e+01] [-4.56300831e-02 3.14489412e-03 9.98953455e-01 -2.38024230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.390714057 meters 0.039437865602671485 Centerline is valid? [True, True] Translation: X:348.12, Y:-47.14, Z:-23.80 [[ 9.97868909e-01 4.68171298e-02 4.54510374e-02 3.48123745e+02] [-4.66281732e-02 9.98898732e-01 -5.20928012e-03 -4.71445298e+01] [-4.56448671e-02 3.07887983e-03 9.98952985e-01 -2.38037735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.420714057 meters 0.0396559415907334 Centerline is valid? [True, True] Translation: X:348.15, Y:-47.15, Z:-23.81 [[ 9.97785351e-01 4.85739409e-02 4.54418943e-02 3.48153437e+02] [-4.83868731e-02 9.98815090e-01 -5.20823221e-03 -4.71481012e+01] [-4.56410341e-02 2.99790663e-03 9.98953407e-01 -2.38057464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.450714057 meters 0.03948343258772078 Centerline is valid? [True, True] Translation: X:348.18, Y:-47.15, Z:-23.81 [[ 9.97618675e-01 5.19359578e-02 4.53832026e-02 3.48182067e+02] [-5.17528219e-02 9.98646377e-01 -5.20180170e-03 -4.71516515e+01] [-4.55919315e-02 2.84070571e-03 9.98956108e-01 -2.38080363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.480714057 meters 0.03895870693444122 Centerline is valid? [True, True] Translation: X:348.21, Y:-47.15, Z:-23.81 [[ 9.97551066e-01 5.32004612e-02 4.54046444e-02 3.48211774e+02] [-5.30185014e-02 9.98579974e-01 -5.20326791e-03 -4.71548572e+01] [-4.56169849e-02 2.78323924e-03 9.98955126e-01 -2.38101131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.51071405700003 meters 0.038715228249318404 Centerline is valid? [True, True] Translation: X:348.24, Y:-47.16, Z:-23.81 [[ 9.97472950e-01 5.52352874e-02 4.46853160e-02 3.48240705e+02] [-5.50611538e-02 9.98469860e-01 -5.11931448e-03 -4.71587220e+01] [-4.48997080e-02 2.64595266e-03 9.98987996e-01 -2.38121003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.540714057 meters 0.038363878267498194 Centerline is valid? [True, True] Translation: X:348.27, Y:-47.16, Z:-23.81 [[ 9.97440578e-01 5.59718451e-02 4.44909706e-02 3.48269654e+02] [-5.58000121e-02 9.98428962e-01 -5.09575044e-03 -4.71624572e+01] [-4.47062921e-02 2.60011157e-03 9.98996790e-01 -2.38141877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.57071405700003 meters 0.038431508537175064 Centerline is valid? [True, True] Translation: X:348.30, Y:-47.17, Z:-23.82 [[ 9.97410402e-01 5.66702177e-02 4.42829045e-02 3.48297797e+02] [-5.65007655e-02 9.98389683e-01 -5.06988868e-03 -4.71668580e+01] [-4.44989067e-02 2.55474170e-03 9.99006166e-01 -2.38163512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.600714057 meters 0.03923071342313353 Centerline is valid? [True, True] Translation: X:348.32, Y:-47.17, Z:-23.82 [[ 9.97367439e-01 5.72234645e-02 4.45383760e-02 3.48324910e+02] [-5.70527263e-02 9.98358159e-01 -5.09630553e-03 -4.71736995e+01] [-4.47568794e-02 2.54185341e-03 9.98994675e-01 -2.38195657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.63071405700003 meters 0.03975744744368322 Centerline is valid? [True, True] Translation: X:348.35, Y:-47.18, Z:-23.82 [[ 9.97377891e-01 5.70956989e-02 4.44682327e-02 3.48353532e+02] [-5.69255493e-02 9.98365480e-01 -5.08431721e-03 -4.71784624e+01] [-4.46858411e-02 2.53960700e-03 9.98997861e-01 -2.38215764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.660714057 meters 0.04042615494316987 Centerline is valid? [True, True] Translation: X:348.38, Y:-47.18, Z:-23.82 [[ 9.97359762e-01 5.65689693e-02 4.55352279e-02 3.48381461e+02] [-5.63901458e-02 9.98395252e-01 -5.20317848e-03 -4.71847286e+01] [-4.57564937e-02 2.62170271e-03 9.98949183e-01 -2.38228405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.690714057 meters 0.040948444816485324 Centerline is valid? [True, True] Translation: X:348.41, Y:-47.19, Z:-23.82 [[ 9.97397173e-01 5.60449615e-02 4.53634322e-02 3.48410260e+02] [-5.58670830e-02 9.98424775e-01 -5.18054752e-03 -4.71895436e+01] [-4.55823182e-02 2.63274082e-03 9.98957117e-01 -2.38246750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.720714057 meters 0.04136804123438458 Centerline is valid? [True, True] Translation: X:348.44, Y:-47.19, Z:-23.83 [[ 9.97440555e-01 5.54239338e-02 4.51721976e-02 3.48438622e+02] [-5.52470541e-02 9.98459404e-01 -5.15572962e-03 -4.71943012e+01] [-4.53883563e-02 2.64690297e-03 9.98965911e-01 -2.38266007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.750714057 meters 0.04332261241373747 Centerline is valid? [True, True] Translation: X:348.47, Y:-47.20, Z:-23.83 [[ 9.97552733e-01 5.35555490e-02 4.49482762e-02 3.48466394e+02] [-5.33786735e-02 9.98561180e-01 -5.12701711e-03 -4.72027135e+01] [-4.51581840e-02 2.71519057e-03 9.98976159e-01 -2.38292593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.780714057 meters 0.044095133441524666 Centerline is valid? [True, True] Translation: X:348.50, Y:-47.21, Z:-23.83 [[ 9.97588195e-01 5.28565795e-02 4.49886080e-02 3.48495123e+02] [-5.26787874e-02 9.98598336e-01 -5.12920795e-03 -4.72086793e+01] [-4.51966615e-02 2.74689198e-03 9.98974332e-01 -2.38314270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.810714057 meters 0.041329729322757275 Centerline is valid? [True, True] Translation: X:348.53, Y:-47.21, Z:-23.83 [[ 9.97748570e-01 5.03173513e-02 4.43390830e-02 3.48525211e+02] [-5.01422351e-02 9.98729302e-01 -5.05355085e-03 -4.72101548e+01] [-4.45370227e-02 2.81891242e-03 9.99003757e-01 -2.38322710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.840714057 meters 0.047064833135389596 Centerline is valid? [True, True] Translation: X:348.55, Y:-47.22, Z:-23.84 [[ 9.97808134e-01 4.93455709e-02 4.40901552e-02 3.48552926e+02] [-4.91715055e-02 9.98777712e-01 -5.02443810e-03 -4.72228851e+01] [-4.42841981e-02 2.84544590e-03 9.99014921e-01 -2.38360336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.870714057 meters 0.04918951599196171 Centerline is valid? [True, True] Translation: X:348.58, Y:-47.23, Z:-23.84 [[ 9.97843765e-01 4.83505912e-02 4.43851536e-02 3.48581465e+02] [-4.81732411e-02 9.98826192e-01 -5.05729283e-03 -4.72302902e+01] [-4.45775771e-02 2.90821141e-03 9.99001693e-01 -2.38381608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.900714057 meters 0.03726419316898553 Centerline is valid? [True, True] Translation: X:348.61, Y:-47.22, Z:-23.84 [[ 9.97905008e-01 4.71185689e-02 4.43332278e-02 3.48613191e+02] [-4.69404537e-02 9.98884920e-01 -5.05070581e-03 -4.72181529e+01] [-4.45217747e-02 2.95910280e-03 9.99004032e-01 -2.38364764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.930714057 meters 0.038146039402966576 Centerline is valid? [True, True] Translation: X:348.64, Y:-47.22, Z:-23.84 [[ 9.97914267e-01 4.69424259e-02 4.43116816e-02 3.48643434e+02] [-4.67643577e-02 9.98893198e-01 -5.04720698e-03 -4.72237522e+01] [-4.44995654e-02 2.96447252e-03 9.99005005e-01 -2.38380732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.960714057 meters 0.03881834398207339 Centerline is valid? [True, True] Translation: X:348.67, Y:-47.23, Z:-23.84 [[ 9.97905230e-01 4.65765454e-02 4.48974024e-02 3.48673835e+02] [-4.63933761e-02 9.98910159e-01 -5.11369656e-03 -4.72294538e+01] [-4.50866496e-02 3.02004247e-03 9.98978515e-01 -2.38389931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.990714057 meters 0.04154337454426057 Centerline is valid? [True, True] Translation: X:348.70, Y:-47.24, Z:-23.84 [[ 9.97839585e-01 4.64949510e-02 4.64153271e-02 3.48702867e+02] [-4.62990467e-02 9.98913630e-01 -5.28745279e-03 -4.72385317e+01] [-4.66107427e-02 3.12704431e-03 9.98908234e-01 -2.38403542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.020714057 meters 0.038406002991724496 Centerline is valid? [True, True] Translation: X:348.73, Y:-47.24, Z:-23.84 [[ 9.97800252e-01 4.65587898e-02 4.71904201e-02 3.48734287e+02] [-4.63563208e-02 9.98910499e-01 -5.37641634e-03 -4.72381015e+01] [-4.73893256e-02 3.17701532e-03 9.98871442e-01 -2.38408064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.050714057 meters 0.038870428151345816 Centerline is valid? [True, True] Translation: X:348.77, Y:-47.24, Z:-23.84 [[ 9.97805199e-01 4.63367115e-02 4.73042802e-02 3.48765167e+02] [-4.61329342e-02 9.98920762e-01 -5.39108815e-03 -4.72424370e+01] [-4.75030329e-02 3.19697053e-03 9.98865978e-01 -2.38426903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.080714057 meters 0.04182719950152924 Centerline is valid? [True, True] Translation: X:348.80, Y:-47.25, Z:-23.85 [[ 9.97792665e-01 4.64974621e-02 4.74107976e-02 3.48795099e+02] [-4.62929145e-02 9.98913292e-01 -5.40388283e-03 -4.72520646e+01] [-4.76105427e-02 3.19717065e-03 9.98860858e-01 -2.38455503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.110714057 meters 0.03971117097491353 Centerline is valid? [True, True] Translation: X:348.83, Y:-47.25, Z:-23.85 [[ 9.97809784e-01 4.62059750e-02 4.73354186e-02 3.48826887e+02] [-4.60014816e-02 9.98926771e-01 -5.40096413e-03 -4.72530177e+01] [-4.75341736e-02 3.21163547e-03 9.98864449e-01 -2.38472373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.140714057 meters 0.041754108040845374 Centerline is valid? [True, True] Translation: X:348.86, Y:-47.26, Z:-23.85 [[ 9.97930001e-01 4.48922408e-02 4.60478019e-02 3.48857446e+02] [-4.46968644e-02 9.98986725e-01 -5.26432656e-03 -4.72607608e+01] [-4.62374702e-02 3.19523705e-03 9.98925366e-01 -2.38509428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.170714057 meters 0.041754108040845374 Centerline is valid? [True, True] Translation: X:348.89, Y:-47.26, Z:-23.85 [[ 9.97919161e-01 4.51337399e-02 4.60466405e-02 3.48889029e+02] [-4.49381538e-02 9.98975847e-01 -5.27446367e-03 -4.72644325e+01] [-4.62375379e-02 3.19423736e-03 9.98925366e-01 -2.38527806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.200714057 meters 0.0429219873919793 Centerline is valid? [True, True] Translation: X:348.92, Y:-47.27, Z:-23.86 [[ 9.97987102e-01 4.44224416e-02 4.52591603e-02 3.48920810e+02] [-4.42322682e-02 9.99007766e-01 -5.19521242e-03 -4.72710293e+01] [-4.54450366e-02 3.18283967e-03 9.98961770e-01 -2.38560244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.230714057 meters 0.042666137038353105 Centerline is valid? [True, True] Translation: X:348.95, Y:-47.28, Z:-23.86 [[ 9.98063891e-01 4.35447114e-02 4.44108881e-02 3.48952752e+02] [-4.33601876e-02 9.99046435e-01 -5.11025819e-03 -4.72756097e+01] [-4.45910642e-02 3.17469973e-03 9.99000279e-01 -2.38586688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.26071405700003 meters 0.042105038434195774 Centerline is valid? [True, True] Translation: X:348.98, Y:-47.28, Z:-23.86 [[ 9.98232781e-01 4.13039289e-02 4.27235366e-02 3.48983683e+02] [-4.11309861e-02 9.99141652e-01 -4.91946809e-03 -4.72808719e+01] [-4.28900583e-02 3.15351312e-03 9.99074821e-01 -2.38627668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.290714057 meters 0.04059738273502816 Centerline is valid? [True, True] Translation: X:349.02, Y:-47.28, Z:-23.86 [[ 9.98326590e-01 4.02626889e-02 4.15082699e-02 3.49015417e+02] [-4.00986318e-02 9.99184304e-01 -4.77775725e-03 -4.72832711e+01] [-4.16667771e-02 3.10533727e-03 9.99126737e-01 -2.38644998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.32071405700003 meters 0.04459399786297909 Centerline is valid? [True, True] Translation: X:349.05, Y:-47.29, Z:-23.87 [[ 9.98338005e-01 4.02202425e-02 4.12741986e-02 3.49045741e+02] [-4.00575328e-02 9.99186028e-01 -4.76197947e-03 -4.72929848e+01] [-4.14321305e-02 3.10072252e-03 9.99136509e-01 -2.38674796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.350714057 meters 0.04060874234425684 Centerline is valid? [True, True] Translation: X:349.08, Y:-47.29, Z:-23.87 [[ 9.98324904e-01 4.01076963e-02 4.16984288e-02 3.49078412e+02] [-3.99413568e-02 9.99190425e-01 -4.81492862e-03 -4.72917192e+01] [-4.18577865e-02 3.14137133e-03 9.99118640e-01 -2.38681070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.38071405700003 meters 0.04163336378827123 Centerline is valid? [True, True] Translation: X:349.11, Y:-47.30, Z:-23.87 [[ 9.98313035e-01 4.02646325e-02 4.18311420e-02 3.49110392e+02] [-4.00969323e-02 9.99184069e-01 -4.84063294e-03 -4.72976746e+01] [-4.19919170e-02 3.15516650e-03 9.99112969e-01 -2.38704150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.410714057 meters 0.04448525435157418 Centerline is valid? [True, True] Translation: X:349.14, Y:-47.31, Z:-23.87 [[ 9.98282720e-01 4.06811129e-02 4.21504300e-02 3.49140524e+02] [-4.05106950e-02 9.99167140e-01 -4.88973568e-03 -4.73058089e+01] [-4.23142445e-02 3.17379542e-03 9.99099310e-01 -2.38728782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.440714057 meters 0.04047567380424257 Centerline is valid? [True, True] Translation: X:349.17, Y:-47.30, Z:-23.87 [[ 9.98184149e-01 4.11402625e-02 4.39986709e-02 3.49173384e+02] [-4.09545395e-02 9.99147920e-01 -5.11460030e-03 -4.73040465e+01] [-4.41715965e-02 3.30336765e-03 9.99018497e-01 -2.38719458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.470714057 meters 0.039416656790053406 Centerline is valid? [True, True] Translation: X:349.21, Y:-47.31, Z:-23.87 [[ 9.98128311e-01 4.17136737e-02 4.47196230e-02 3.49205715e+02] [-4.15218632e-02 9.99124012e-01 -5.20992620e-03 -4.73059071e+01] [-4.48977744e-02 3.34333277e-03 9.98985992e-01 -2.38723532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.500714057 meters 0.04147128066544085 Centerline is valid? [True, True] Translation: X:349.24, Y:-47.31, Z:-23.87 [[ 9.98036710e-01 4.25074488e-02 4.59982771e-02 3.49236932e+02] [-4.23047749e-02 9.99090315e-01 -5.37111548e-03 -4.73128135e+01] [-4.61847456e-02 3.41462367e-03 9.98927079e-01 -2.38738591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.530714057 meters 0.04069590731521625 Centerline is valid? [True, True] Translation: X:349.27, Y:-47.32, Z:-23.88 [[ 9.98052034e-01 4.26352945e-02 4.55452347e-02 3.49269024e+02] [-4.24362056e-02 9.99084963e-01 -5.32965305e-03 -4.73159049e+01] [-4.57307904e-02 3.38650413e-03 9.98948060e-01 -2.38756845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.560714057 meters 0.04193759727633539 Centerline is valid? [True, True] Translation: X:349.30, Y:-47.32, Z:-23.88 [[ 9.98095468e-01 4.24319392e-02 4.47768593e-02 3.49299157e+02] [-4.22387876e-02 9.99093743e-01 -5.25142944e-03 -4.73217036e+01] [-4.49591083e-02 3.35010767e-03 9.98983211e-01 -2.38790239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.590714057 meters 0.0414272781720776 Centerline is valid? [True, True] Translation: X:349.33, Y:-47.32, Z:-23.88 [[ 9.98089766e-01 4.28647367e-02 4.44908248e-02 3.49331743e+02] [-4.26741382e-02 9.99075379e-01 -5.22540168e-03 -4.73246935e+01] [-4.46736731e-02 3.31681234e-03 9.98996127e-01 -2.38809595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.620714057 meters 0.04231377216016426 Centerline is valid? [True, True] Translation: X:349.36, Y:-47.33, Z:-23.88 [[ 9.98077109e-01 4.33509122e-02 4.43033132e-02 3.49362119e+02] [-4.31617988e-02 9.99054475e-01 -5.21675457e-03 -4.73302208e+01] [-4.44875744e-02 3.29451263e-03 9.99004505e-01 -2.38828557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.650714057 meters 0.04191385944006089 Centerline is valid? [True, True] Translation: X:349.39, Y:-47.33, Z:-23.88 [[ 9.98100155e-01 4.33774952e-02 4.37547070e-02 3.49394537e+02] [-4.31926405e-02 9.99053428e-01 -5.16182473e-03 -4.73332588e+01] [-4.39371971e-02 3.26213673e-03 9.99028969e-01 -2.38844697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.680714057 meters 0.04205383712337581 Centerline is valid? [True, True] Translation: X:349.43, Y:-47.34, Z:-23.89 [[ 9.98052282e-01 4.47509725e-02 4.34625538e-02 3.49426163e+02] [-4.45694050e-02 9.98993077e-01 -5.13811072e-03 -4.73371580e+01] [-4.36487258e-02 3.19100296e-03 9.99041844e-01 -2.38865386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.710714057 meters 0.043037818580322566 Centerline is valid? [True, True] Translation: X:349.46, Y:-47.34, Z:-23.89 [[ 9.97941362e-01 4.63031948e-02 4.43740090e-02 3.49455944e+02] [-4.61148143e-02 9.98922297e-01 -5.26013192e-03 -4.73423361e+01] [-4.45697479e-02 3.20300403e-03 9.99001140e-01 -2.38878469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.740714057 meters 0.042941694469709246 Centerline is valid? [True, True] Translation: X:349.49, Y:-47.35, Z:-23.89 [[ 9.97890217e-01 4.68344133e-02 4.49627808e-02 3.49487131e+02] [-4.66415050e-02 9.98897470e-01 -5.33052823e-03 -4.73457854e+01] [-4.51628601e-02 3.22215021e-03 9.98974441e-01 -2.38889026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.770714057 meters 0.04326357244246864 Centerline is valid? [True, True] Translation: X:349.52, Y:-47.35, Z:-23.89 [[ 9.97789810e-01 4.80338121e-02 4.59156676e-02 3.49517922e+02] [-4.78339208e-02 9.98840473e-01 -5.44295409e-03 -4.73503274e+01] [-4.61238730e-02 3.23459771e-03 9.98930491e-01 -2.38904811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.800714057 meters 0.05935498533425906 Centerline is valid? [True, True] Translation: X:349.54, Y:-47.38, Z:-23.89 [[ 9.97489186e-01 5.22404580e-02 4.78148266e-02 3.49544051e+02] [-5.20278287e-02 9.98629473e-01 -5.68159543e-03 -4.73766997e+01] [-4.80461043e-02 3.17962840e-03 9.98840058e-01 -2.38945663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.830714057 meters 0.04340405763021115 Centerline is valid? [True, True] Translation: X:349.58, Y:-47.36, Z:-23.89 [[ 9.97640598e-01 5.04368279e-02 4.65764249e-02 3.49578034e+02] [-5.02331870e-02 9.98722189e-01 -5.53310896e-03 -4.73568754e+01] [-4.67959815e-02 3.18037187e-03 9.98899405e-01 -2.38930855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.860714057 meters 0.04348963879166707 Centerline is valid? [True, True] Translation: X:349.61, Y:-47.36, Z:-23.89 [[ 9.97552797e-01 5.18835697e-02 4.68669629e-02 3.49607820e+02] [-5.16788744e-02 9.98648223e-01 -5.56957440e-03 -4.73592415e+01] [-4.70925786e-02 3.13391263e-03 9.98885613e-01 -2.38942884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.890714057 meters 0.041665695058033955 Centerline is valid? [True, True] Translation: X:349.64, Y:-47.36, Z:-23.90 [[ 9.97538634e-01 5.23284928e-02 4.66733496e-02 3.49638678e+02] [-5.21259714e-02 9.98625114e-01 -5.54656579e-03 -4.73600439e+01] [-4.68994225e-02 3.10001998e-03 9.98894806e-01 -2.38958377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.920714057 meters 0.03907188659234001 Centerline is valid? [True, True] Translation: X:349.67, Y:-47.36, Z:-23.90 [[ 9.97548463e-01 5.23473966e-02 4.64415154e-02 3.49668901e+02] [-5.21469044e-02 9.98624174e-01 -5.51901509e-03 -4.73597611e+01] [-4.66665261e-02 3.08370376e-03 9.98905764e-01 -2.38975906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.950714057 meters 0.03976135526476118 Centerline is valid? [True, True] Translation: X:349.70, Y:-47.36, Z:-23.90 [[ 9.97598302e-01 5.24328336e-02 4.52595302e-02 3.49698744e+02] [-5.22425134e-02 9.98619943e-01 -5.37855037e-03 -4.73644409e+01] [-4.54790821e-02 3.00116111e-03 9.98960783e-01 -2.39012075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.980714057 meters 0.03905106640848706 Centerline is valid? [True, True] Translation: X:349.73, Y:-47.37, Z:-23.90 [[ 9.97648057e-01 5.23902078e-02 4.41997700e-02 3.49728348e+02] [-5.22086410e-02 9.98622383e-01 -5.25307873e-03 -4.73666232e+01] [-4.44140895e-02 2.93311386e-03 9.99008902e-01 -2.39035541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.01071405700003 meters 0.0414818645432056 Centerline is valid? [True, True] Translation: X:349.76, Y:-47.37, Z:-23.91 [[ 9.97677816e-01 5.19816555e-02 4.40100265e-02 3.49757364e+02] [-5.18013449e-02 9.98643723e-01 -5.22838456e-03 -4.73736282e+01] [-4.42221168e-02 2.93646473e-03 9.99017408e-01 -2.39064097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.040714057 meters 0.03913067471389406 Centerline is valid? [True, True] Translation: X:349.79, Y:-47.37, Z:-23.91 [[ 9.97656592e-01 5.21252080e-02 4.43202758e-02 3.49787188e+02] [-5.19424409e-02 9.98636195e-01 -5.26622994e-03 -4.73730749e+01] [-4.45343349e-02 2.95178571e-03 9.99003493e-01 -2.39070716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.07071405700003 meters 0.0400501139219406 Centerline is valid? [True, True] Translation: X:349.82, Y:-47.38, Z:-23.91 [[ 9.97584120e-01 5.26503311e-02 4.53195947e-02 3.49816759e+02] [-5.24598718e-02 9.98608527e-01 -5.38253868e-03 -4.73770155e+01] [-4.55399262e-02 2.99207499e-03 9.98958038e-01 -2.39076425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.100714057 meters 0.03927393355762636 Centerline is valid? [True, True] Translation: X:349.85, Y:-47.38, Z:-23.91 [[ 9.97512794e-01 5.36119698e-02 4.57600478e-02 3.49847428e+02] [-5.34187147e-02 9.98557402e-01 -5.43657385e-03 -4.73793094e+01] [-4.59854999e-02 2.97860904e-03 9.98937667e-01 -2.39089480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.13071405700003 meters 0.03778712313926102 Centerline is valid? [True, True] Translation: X:349.88, Y:-47.38, Z:-23.91 [[ 9.97483362e-01 5.37996344e-02 4.61794537e-02 3.49876893e+02] [-5.36029989e-02 9.98547252e-01 -5.48680108e-03 -4.73795163e+01] [-4.64075545e-02 2.99763558e-03 9.98918091e-01 -2.39099745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.160714057 meters 0.036266233339991995 Centerline is valid? [True, True] Translation: X:349.91, Y:-47.38, Z:-23.91 [[ 9.97362475e-01 5.51881013e-02 4.71419917e-02 3.49907092e+02] [-5.49847999e-02 9.98471491e-01 -5.59945938e-03 -4.73787924e+01] [-4.73789583e-02 2.99259769e-03 9.98872504e-01 -2.39103455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.190714057 meters 0.03538839202524111 Centerline is valid? [True, True] Translation: X:349.94, Y:-47.38, Z:-23.91 [[ 9.97342612e-01 5.53639151e-02 4.73555807e-02 3.49937105e+02] [-5.51590447e-02 9.98461747e-01 -5.62311022e-03 -4.73797183e+01] [-4.75940533e-02 2.99607884e-03 9.98862268e-01 -2.39117659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.220714057 meters 0.03703910820444354 Centerline is valid? [True, True] Translation: X:349.97, Y:-47.38, Z:-23.91 [[ 9.97333757e-01 5.60189626e-02 4.67680867e-02 3.49965416e+02] [-5.58199359e-02 9.98425416e-01 -5.55185646e-03 -4.73837491e+01] [-4.70054557e-02 2.92646226e-03 9.98890346e-01 -2.39143584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.250714057 meters 0.03693301589260458 Centerline is valid? [True, True] Translation: X:349.99, Y:-47.39, Z:-23.92 [[ 9.97398746e-01 5.56774429e-02 4.57795152e-02 3.49994423e+02] [-5.54865016e-02 9.98444661e-01 -5.43208988e-03 -4.73858435e+01] [-4.60107574e-02 2.87781450e-03 9.98936799e-01 -2.39165953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.280714057 meters 0.03869972200170632 Centerline is valid? [True, True] Translation: X:350.02, Y:-47.39, Z:-23.92 [[ 9.97486038e-01 5.52110844e-02 4.44223048e-02 3.50022299e+02] [-5.50309490e-02 9.98470748e-01 -5.26873672e-03 -4.73894620e+01] [-4.46452646e-02 2.81088972e-03 9.98998949e-01 -2.39197026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.310714057 meters 0.03657079786332804 Centerline is valid? [True, True] Translation: X:350.05, Y:-47.39, Z:-23.92 [[ 9.97515929e-01 5.48164946e-02 4.42393825e-02 3.50051623e+02] [-5.46375587e-02 9.98492479e-01 -5.24470427e-03 -4.73893002e+01] [-4.44601870e-02 2.81454419e-03 9.99007192e-01 -2.39206216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.340714057 meters 0.03741350409351731 Centerline is valid? [True, True] Translation: X:350.08, Y:-47.39, Z:-23.92 [[ 9.97613232e-01 5.31903466e-02 4.40298248e-02 3.50081073e+02] [-5.30116421e-02 9.98580265e-01 -5.21725522e-03 -4.73923808e+01] [-4.42448217e-02 2.87070953e-03 9.99016594e-01 -2.39218265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.370714057 meters 0.037778804988794774 Centerline is valid? [True, True] Translation: X:350.11, Y:-47.40, Z:-23.92 [[ 9.97650473e-01 5.24459731e-02 4.40789485e-02 3.50110101e+02] [-5.22662168e-02 9.98619537e-01 -5.22148232e-03 -4.73959335e+01] [-4.42919448e-02 2.90537443e-03 9.99014406e-01 -2.39235669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.400714057 meters 0.037826477176194674 Centerline is valid? [True, True] Translation: X:350.14, Y:-47.40, Z:-23.93 [[ 9.97657530e-01 5.21060071e-02 4.43217499e-02 3.50139377e+02] [-5.19240013e-02 9.98637246e-01 -5.24863309e-03 -4.73983769e+01] [-4.45348356e-02 2.93497572e-03 9.99003521e-01 -2.39253175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.430714057 meters 0.03800924727814782 Centerline is valid? [True, True] Translation: X:350.17, Y:-47.40, Z:-23.93 [[ 9.97674202e-01 5.20571266e-02 4.40027551e-02 3.50168517e+02] [-5.18777553e-02 9.98639856e-01 -5.20929360e-03 -4.74006325e+01] [-4.42140859e-02 2.91441368e-03 9.99017828e-01 -2.39269464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.460714057 meters 0.03880513361224409 Centerline is valid? [True, True] Translation: X:350.20, Y:-47.40, Z:-23.93 [[ 9.97637954e-01 5.25150165e-02 4.42796298e-02 3.50197373e+02] [-5.23339017e-02 9.98615893e-01 -5.24041127e-03 -4.74029683e+01] [-4.44935423e-02 2.91070739e-03 9.99005432e-01 -2.39279804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.490714057 meters 0.0418277008849707 Centerline is valid? [True, True] Translation: X:350.23, Y:-47.41, Z:-23.93 [[ 9.97603459e-01 5.29803119e-02 4.45019689e-02 3.50225101e+02] [-5.27978938e-02 9.98591337e-01 -5.26536286e-03 -4.74094708e+01] [-4.47182412e-02 2.90313398e-03 9.98995421e-01 -2.39300248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.520714057 meters 0.0366670178551525 Centerline is valid? [True, True] Translation: X:350.26, Y:-47.40, Z:-23.93 [[ 9.97563669e-01 5.38781596e-02 4.43155715e-02 3.50255459e+02] [-5.36981763e-02 9.98543449e-01 -5.24270478e-03 -4.74022103e+01] [-4.45334909e-02 2.85026644e-03 9.99003826e-01 -2.39298405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.550714057 meters 0.03732061705942765 Centerline is valid? [True, True] Translation: X:350.28, Y:-47.41, Z:-23.93 [[ 9.97536638e-01 5.43535952e-02 4.43434528e-02 3.50283558e+02] [-5.41740971e-02 9.98517754e-01 -5.24052655e-03 -4.74057035e+01] [-4.45625663e-02 2.82535073e-03 9.99002600e-01 -2.39316150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.580714057 meters 0.04188623830192539 Centerline is valid? [True, True] Translation: X:350.31, Y:-47.41, Z:-23.94 [[ 9.97500439e-01 5.51437861e-02 4.41818708e-02 3.50311875e+02] [-5.49664824e-02 9.98474561e-01 -5.21882014e-03 -4.74133251e+01] [-4.44022596e-02 2.77725335e-03 9.99009873e-01 -2.39350662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.610714057 meters 0.03742101017493063 Centerline is valid? [True, True] Translation: X:350.34, Y:-47.41, Z:-23.94 [[ 9.97464301e-01 5.57649952e-02 4.42180241e-02 3.50341686e+02] [-5.55880572e-02 9.98440133e-01 -5.22200048e-03 -4.74082074e+01] [-4.44402547e-02 2.75076501e-03 9.99008257e-01 -2.39351496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.640714057 meters 0.03725025376437118 Centerline is valid? [True, True] Translation: X:350.37, Y:-47.41, Z:-23.94 [[ 9.97432853e-01 5.60549877e-02 4.45594286e-02 3.50370421e+02] [-5.58757371e-02 9.98423880e-01 -5.25909988e-03 -4.74102753e+01] [-4.47839964e-02 2.75580808e-03 9.98992892e-01 -2.39369642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.670714057 meters 0.035483930272339204 Centerline is valid? [True, True] Translation: X:350.40, Y:-47.41, Z:-23.94 [[ 9.97372229e-01 5.76647506e-02 4.38567307e-02 3.50400194e+02] [-5.74928092e-02 9.98332519e-01 -5.17285472e-03 -4.74078542e+01] [-4.40818918e-02 2.63781500e-03 9.99024439e-01 -2.39386001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.700714057 meters 0.036335078979527397 Centerline is valid? [True, True] Translation: X:350.43, Y:-47.41, Z:-23.94 [[ 9.97327798e-01 5.85928591e-02 4.36364519e-02 3.50427606e+02] [-5.84236094e-02 9.98278624e-01 -5.14498850e-03 -4.74111217e+01] [-4.38627967e-02 2.58184103e-03 9.99034228e-01 -2.39403364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.730714057 meters 0.03471178968776161 Centerline is valid? [True, True] Translation: X:350.46, Y:-47.41, Z:-23.94 [[ 9.97191617e-01 6.07394758e-02 4.38131808e-02 3.50457823e+02] [-6.05711206e-02 9.98150541e-01 -5.16116180e-03 -4.74094598e+01] [-4.40456363e-02 2.49285383e-03 9.99026410e-01 -2.39417765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.76071405700003 meters 0.03628319483467479 Centerline is valid? [True, True] Translation: X:350.49, Y:-47.41, Z:-23.94 [[ 9.97135522e-01 6.15032932e-02 4.40238019e-02 3.50485266e+02] [-6.13340947e-02 9.98103824e-01 -5.18509371e-03 -4.74141974e+01] [-4.42592254e-02 2.47008109e-03 9.99017027e-01 -2.39438040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.790714057 meters 0.033080545746733296 Centerline is valid? [True, True] Translation: X:350.51, Y:-47.41, Z:-23.94 [[ 9.97088286e-01 6.19626850e-02 4.44474497e-02 3.50514560e+02] [-6.17908557e-02 9.98075413e-01 -5.23076134e-03 -4.74106760e+01] [-4.46860187e-02 2.46908491e-03 9.98998030e-01 -2.39434584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.82071405700003 meters 0.03430311320171489 Centerline is valid? [True, True] Translation: X:350.54, Y:-47.41, Z:-23.95 [[ 9.97002816e-01 6.26678535e-02 4.53665622e-02 3.50542107e+02] [-6.24897119e-02 9.98031345e-01 -5.33572288e-03 -4.74144134e+01] [-4.56116294e-02 2.48478734e-03 9.98956158e-01 -2.39451269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.850714057 meters 0.03730718906452133 Centerline is valid? [True, True] Translation: X:350.57, Y:-47.42, Z:-23.95 [[ 9.96982950e-01 6.26928552e-02 4.57668474e-02 3.50568945e+02] [-6.25117749e-02 9.98029734e-01 -5.37856151e-03 -4.74221144e+01] [-4.60138719e-02 2.50136725e-03 9.98937669e-01 -2.39475928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.88071405700003 meters 0.03500541788251684 Centerline is valid? [True, True] Translation: X:350.60, Y:-47.42, Z:-23.95 [[ 9.97002488e-01 6.19545023e-02 4.63430444e-02 3.50597600e+02] [-6.17682296e-02 9.98075683e-01 -5.44210185e-03 -4.74208637e+01] [-4.65910284e-02 2.56326128e-03 9.98910760e-01 -2.39475247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.910714057 meters 0.034596459504472765 Centerline is valid? [True, True] Translation: X:350.63, Y:-47.42, Z:-23.95 [[ 9.97055798e-01 6.09344393e-02 4.65481402e-02 3.50625901e+02] [-6.07456082e-02 9.98138337e-01 -5.46185206e-03 -4.74235474e+01] [-4.67942981e-02 2.61817618e-03 9.98901116e-01 -2.39488213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.940714057 meters 0.03552467125767524 Centerline is valid? [True, True] Translation: X:350.65, Y:-47.43, Z:-23.95 [[ 9.97175337e-01 5.92955558e-02 4.61018881e-02 3.50654620e+02] [-5.91087466e-02 9.98236911e-01 -5.40602888e-03 -4.74283853e+01] [-4.63411599e-02 2.66573385e-03 9.98922114e-01 -2.39509503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.970714057 meters 0.037006317727653566 Centerline is valid? [True, True] Translation: X:350.68, Y:-47.43, Z:-23.95 [[ 9.97440017e-01 5.55008642e-02 4.50895356e-02 3.50683844e+02] [-5.53184400e-02 9.98454778e-01 -5.28453816e-03 -4.74347865e+01] [-4.53131587e-02 2.77672706e-03 9.98968972e-01 -2.39541393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.000714057 meters 0.039085121572922384 Centerline is valid? [True, True] Translation: X:350.71, Y:-47.44, Z:-23.96 [[ 9.97581410e-01 5.34976662e-02 4.43771293e-02 3.50711667e+02] [-5.33190046e-02 9.98563987e-01 -5.20076518e-03 -4.74423233e+01] [-4.45916319e-02 2.82204230e-03 9.99001313e-01 -2.39570058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.030714057 meters 0.04163671025577533 Centerline is valid? [True, True] Translation: X:350.74, Y:-47.45, Z:-23.96 [[ 9.97866580e-01 4.90514782e-02 4.30841143e-02 3.50739947e+02] [-4.88790768e-02 9.98791955e-01 -5.04651392e-03 -4.74500833e+01] [-4.32796057e-02 2.92983585e-03 9.99058703e-01 -2.39602407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.060714057 meters 0.04163671025577533 Centerline is valid? [True, True] Translation: X:350.77, Y:-47.45, Z:-23.96 [[ 9.97868255e-01 4.90173505e-02 4.30841732e-02 3.50768925e+02] [-4.88449391e-02 9.98793627e-01 -5.04601037e-03 -4.74534449e+01] [-4.32795397e-02 2.93080974e-03 9.99058703e-01 -2.39619316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.090714057 meters 0.043651343393840046 Centerline is valid? [True, True] Translation: X:350.80, Y:-47.46, Z:-23.96 [[ 9.97965564e-01 4.73456072e-02 4.26980769e-02 3.50797068e+02] [-4.71748550e-02 9.98874141e-01 -4.99839525e-03 -4.74607584e+01] [-4.28866569e-02 2.97395075e-03 9.99075518e-01 -2.39646578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.120714057 meters 0.04209841318730828 Centerline is valid? [True, True] Translation: X:350.83, Y:-47.46, Z:-23.97 [[ 9.98164740e-01 4.37010385e-02 4.19210059e-02 3.50826977e+02] [-4.35331836e-02 9.99039921e-01 -4.90906999e-03 -4.74632527e+01] [-4.20952899e-02 3.07510573e-03 9.99108868e-01 -2.39663859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.150714057 meters 0.04284095827009091 Centerline is valid? [True, True] Translation: X:350.86, Y:-47.47, Z:-23.97 [[ 9.98246227e-01 4.20473615e-02 4.16712141e-02 3.50856826e+02] [-4.18800756e-02 9.99110729e-01 -4.87968752e-03 -4.74685092e+01] [-4.18393351e-02 3.12593606e-03 9.99119462e-01 -2.39679016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.180714057 meters 0.048722503488038464 Centerline is valid? [True, True] Translation: X:350.89, Y:-47.48, Z:-23.97 [[ 9.98299549e-01 4.06960958e-02 4.17353387e-02 3.50886090e+02] [-4.05271322e-02 9.99166487e-01 -4.88692130e-03 -4.74804153e+01] [-4.18994304e-02 3.18719774e-03 9.99116750e-01 -2.39710893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.210714057 meters 0.049420438865838384 Centerline is valid? [True, True] Translation: X:350.92, Y:-47.48, Z:-23.97 [[ 9.98343061e-01 3.92288682e-02 4.20978455e-02 3.50917038e+02] [-3.90556373e-02 9.99224876e-01 -4.92986013e-03 -4.74848201e+01] [-4.22586073e-02 3.27753347e-03 9.99101330e-01 -2.39716437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.240714057 meters 0.04560211142475283 Centerline is valid? [True, True] Translation: X:350.95, Y:-47.48, Z:-23.97 [[ 9.98315840e-01 3.89856902e-02 4.29604511e-02 3.50949992e+02] [-3.88051270e-02 9.99234141e-01 -5.02927058e-03 -4.74832913e+01] [-4.31236191e-02 3.35371472e-03 9.99064115e-01 -2.39714444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.270714057 meters 0.04714468779099038 Centerline is valid? [True, True] Translation: X:350.98, Y:-47.49, Z:-23.97 [[ 9.98231247e-01 3.88695415e-02 4.49837316e-02 3.50981430e+02] [-3.86709099e-02 9.99238063e-01 -5.27779059e-03 -4.74893072e+01] [-4.51546021e-02 3.52889365e-03 9.98973778e-01 -2.39716482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.300714057 meters 0.04456206229789088 Centerline is valid? [True, True] Translation: X:351.01, Y:-47.49, Z:-23.97 [[ 9.98186753e-01 3.89854282e-02 4.58622048e-02 3.51014323e+02] [-3.87785188e-02 9.99233277e-01 -5.39296925e-03 -4.74895179e+01] [-4.60372884e-02 3.60472210e-03 9.98933218e-01 -2.39721469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.330714057 meters 0.04885093787996552 Centerline is valid? [True, True] Translation: X:351.04, Y:-47.50, Z:-23.97 [[ 9.98130670e-01 3.93795370e-02 4.67377642e-02 3.51044581e+02] [-3.91643986e-02 9.99217587e-01 -5.51028810e-03 -4.75001520e+01] [-4.69181886e-02 3.66953113e-03 9.98891995e-01 -2.39741221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.360714057 meters 0.04858699963145366 Centerline is valid? [True, True] Translation: X:351.08, Y:-47.50, Z:-23.98 [[ 9.98130093e-01 3.95891293e-02 4.65727294e-02 3.51077767e+02] [-3.93752591e-02 9.99209351e-01 -5.50101282e-03 -4.75039859e+01] [-4.67536871e-02 3.65691315e-03 9.98899755e-01 -2.39757476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.390714057 meters 0.04504382647498039 Centerline is valid? [True, True] Translation: X:351.11, Y:-47.50, Z:-23.98 [[ 9.98135243e-01 3.95827381e-02 4.64676525e-02 3.51110249e+02] [-3.93692147e-02 9.99209586e-01 -5.50169038e-03 -4.75037785e+01] [-4.66486958e-02 3.66203608e-03 9.98904644e-01 -2.39775781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.420714057 meters 0.04601875945111797 Centerline is valid? [True, True] Translation: X:351.14, Y:-47.51, Z:-23.98 [[ 9.98174887e-01 3.96311067e-02 4.55661178e-02 3.51142122e+02] [-3.94253410e-02 9.99207895e-01 -5.40597894e-03 -4.75089561e+01] [-4.57442696e-02 3.59965268e-03 9.98946697e-01 -2.39801990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.450714057 meters 0.045822651191256385 Centerline is valid? [True, True] Translation: X:351.17, Y:-47.51, Z:-23.98 [[ 9.98178151e-01 4.01614893e-02 4.50270344e-02 3.51174187e+02] [-3.99606093e-02 9.99186917e-01 -5.35295262e-03 -4.75127111e+01] [-4.52054063e-02 3.54389262e-03 9.98971427e-01 -2.39827863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.480714057 meters 0.04733963982174562 Centerline is valid? [True, True] Translation: X:351.21, Y:-47.52, Z:-23.99 [[ 9.98206715e-01 4.12682939e-02 4.33622111e-02 3.51205110e+02] [-4.10825902e-02 9.99142402e-01 -5.16543923e-03 -4.75182407e+01] [-4.35381926e-02 3.37474418e-03 9.99046063e-01 -2.39859865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.51071405700003 meters 0.04680147910734314 Centerline is valid? [True, True] Translation: X:351.23, Y:-47.52, Z:-23.99 [[ 9.98139127e-01 4.37345991e-02 4.24919874e-02 3.51234570e+02] [-4.35579481e-02 9.99038014e-01 -5.07471584e-03 -4.75200009e+01] [-4.26730513e-02 3.21440865e-03 9.99083920e-01 -2.39882154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.540714057 meters 0.04642854866266234 Centerline is valid? [True, True] Translation: X:351.26, Y:-47.52, Z:-23.99 [[ 9.98105676e-01 4.52584312e-02 4.16741355e-02 3.51264726e+02] [-4.50898809e-02 9.98970541e-01 -4.97606978e-03 -4.75222871e+01] [-4.18564428e-02 3.08756168e-03 9.99118864e-01 -2.39899511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.57071405700003 meters 0.04663667228360064 Centerline is valid? [True, True] Translation: X:351.29, Y:-47.52, Z:-23.99 [[ 9.98045040e-01 4.68000466e-02 4.14228728e-02 3.51294614e+02] [-4.66348442e-02 9.98899759e-01 -4.94606793e-03 -4.75245223e+01] [-4.16087738e-02 3.00464935e-03 9.99129462e-01 -2.39916406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.600714057 meters 0.04583191465865413 Centerline is valid? [True, True] Translation: X:351.32, Y:-47.53, Z:-23.99 [[ 9.97961222e-01 4.85262531e-02 4.14560156e-02 3.51324975e+02] [-4.83622451e-02 9.98817594e-01 -4.95055243e-03 -4.75257294e+01] [-4.16472295e-02 2.93555337e-03 9.99128065e-01 -2.39929528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.63071405700003 meters 0.04518380037575287 Centerline is valid? [True, True] Translation: X:351.35, Y:-47.53, Z:-23.99 [[ 9.97739098e-01 5.17549067e-02 4.28733362e-02 3.51354507e+02] [-5.15825198e-02 9.98655620e-01 -5.11813886e-03 -4.75270360e+01] [-4.30805870e-02 2.89505253e-03 9.99067406e-01 -2.39937160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.660714057 meters 0.0441667843696347 Centerline is valid? [True, True] Translation: X:351.38, Y:-47.53, Z:-23.99 [[ 9.97623596e-01 5.33117578e-02 4.36465002e-02 3.51383878e+02] [-5.31346063e-02 9.98573769e-01 -5.20971888e-03 -4.75292186e+01] [-4.38619895e-02 2.87819888e-03 9.99033454e-01 -2.39945572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.690714057 meters 0.04415572082815743 Centerline is valid? [True, True] Translation: X:351.41, Y:-47.53, Z:-23.99 [[ 9.97401293e-01 5.58634940e-02 4.54964949e-02 3.51412998e+02] [-5.56737081e-02 9.98434257e-01 -5.42893849e-03 -4.75321960e+01] [-4.57285386e-02 2.88187169e-03 9.98949746e-01 -2.39947016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.720714057 meters 0.044099728667124166 Centerline is valid? [True, True] Translation: X:351.44, Y:-47.54, Z:-24.00 [[ 9.97292948e-01 5.68104457e-02 4.66835067e-02 3.51441929e+02] [-5.66117093e-02 9.98380737e-01 -5.56933772e-03 -4.75353421e+01] [-4.69243104e-02 2.91142812e-03 9.98894205e-01 -2.39954321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.750714057 meters 0.04386514068461553 Centerline is valid? [True, True] Translation: X:351.47, Y:-47.54, Z:-24.00 [[ 9.97209887e-01 5.80078853e-02 4.69843308e-02 3.51470986e+02] [-5.78080542e-02 9.98311999e-01 -5.60196806e-03 -4.75388481e+01] [-4.72299795e-02 2.87026519e-03 9.98879918e-01 -2.39970417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.780714057 meters 0.0359409214364767 Centerline is valid? [True, True] Translation: X:351.50, Y:-47.54, Z:-24.00 [[ 9.97146381e-01 6.01204449e-02 4.56577134e-02 3.51500959e+02] [-5.99340596e-02 9.98187507e-01 -5.44149999e-03 -4.75361319e+01] [-4.59021045e-02 2.68951991e-03 9.98942322e-01 -2.40012236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.810714057 meters 0.0355466358052788 Centerline is valid? [True, True] Translation: X:351.53, Y:-47.54, Z:-24.00 [[ 9.96955993e-01 6.22734636e-02 4.69122933e-02 3.51530319e+02] [-6.20791404e-02 9.98055580e-01 -5.58929538e-03 -4.75406482e+01] [-4.71691409e-02 2.66000669e-03 9.98883375e-01 -2.40002097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.840714057 meters 0.03603999095457719 Centerline is valid? [True, True] Translation: X:351.56, Y:-47.54, Z:-24.00 [[ 9.96824951e-01 6.36322733e-02 4.78638692e-02 3.51558342e+02] [-6.34316074e-02 9.97969903e-01 -5.70126609e-03 -4.75448687e+01] [-4.81294855e-02 2.64708213e-03 9.98837597e-01 -2.40004738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.870714057 meters 0.03554840981062495 Centerline is valid? [True, True] Translation: X:351.59, Y:-47.55, Z:-24.00 [[ 9.96727586e-01 6.52460676e-02 4.77186599e-02 3.51586824e+02] [-6.50486223e-02 9.97865927e-01 -5.68061853e-03 -4.75483354e+01] [-4.79874628e-02 2.55799610e-03 9.98844663e-01 -2.40014783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.900714057 meters 0.03427354697646884 Centerline is valid? [True, True] Translation: X:351.62, Y:-47.55, Z:-24.01 [[ 9.96484817e-01 6.99591017e-02 4.60839809e-02 3.51616534e+02] [-6.97801614e-02 9.97547329e-01 -5.48224508e-03 -4.75538567e+01] [-4.63544850e-02 2.24722637e-03 9.98922525e-01 -2.40053211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.930714057 meters 0.03304912158620795 Centerline is valid? [True, True] Translation: X:351.64, Y:-47.56, Z:-24.01 [[ 9.96370711e-01 7.24726670e-02 4.46443498e-02 3.51644683e+02] [-7.23072348e-02 9.97368263e-01 -5.31146817e-03 -4.75579360e+01] [-4.49117939e-02 2.06408183e-03 9.98988824e-01 -2.40090812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.960714057 meters 0.0317531104995066 Centerline is valid? [True, True] Translation: X:351.67, Y:-47.56, Z:-24.01 [[ 9.95964326e-01 7.86686851e-02 4.32006756e-02 3.51672970e+02] [-7.85197538e-02 9.96899327e-01 -5.13615887e-03 -4.75639454e+01] [-4.34707793e-02 1.72332460e-03 9.99053213e-01 -2.40142166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.990714057 meters 0.028325063107589355 Centerline is valid? [True, True] Translation: X:351.70, Y:-47.56, Z:-24.01 [[ 9.95721556e-01 8.15953313e-02 4.33680092e-02 3.51702902e+02] [-8.14480322e-02 9.96664255e-01 -5.15561465e-03 -4.75604097e+01] [-4.36440187e-02 1.60131763e-03 9.99045863e-01 -2.40131783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.020714057 meters 0.02789713568337893 Centerline is valid? [True, True] Translation: X:351.73, Y:-47.56, Z:-24.01 [[ 9.95479779e-01 8.43426538e-02 4.36614866e-02 3.51731944e+02] [-8.41960843e-02 9.96435698e-01 -5.18836350e-03 -4.75619347e+01] [-4.39434642e-02 1.48878475e-03 9.99032910e-01 -2.40132749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.050714057 meters 0.02694517448060471 Centerline is valid? [True, True] Translation: X:351.76, Y:-47.56, Z:-24.01 [[ 9.94826801e-01 9.09325018e-02 4.52870506e-02 3.51760632e+02] [-9.07818001e-02 9.95856288e-01 -5.37760723e-03 -4.75644089e+01] [-4.55883933e-02 1.23854783e-03 9.98959541e-01 -2.40130580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.080714057 meters 0.025707776966377275 Centerline is valid? [True, True] Translation: X:351.79, Y:-47.57, Z:-24.01 [[ 9.94203248e-01 9.65558454e-02 4.72955720e-02 3.51789834e+02] [-9.63979068e-02 9.95327043e-01 -5.61431114e-03 -4.75694151e+01] [-4.76166564e-02 1.02257222e-03 9.98865160e-01 -2.40146569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.110714057 meters 0.025463570277550567 Centerline is valid? [True, True] Translation: X:351.82, Y:-47.57, Z:-24.02 [[ 9.93929020e-01 9.87039817e-02 4.86068699e-02 3.51818744e+02] [-9.85397705e-02 9.95116391e-01 -5.76899049e-03 -4.75745067e+01] [-4.89389153e-02 9.44257255e-04 9.98801327e-01 -2.40159033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.140714057 meters 0.025478522916484076 Centerline is valid? [True, True] Translation: X:351.85, Y:-47.58, Z:-24.02 [[ 9.93774250e-01 9.98880521e-02 4.93469057e-02 3.51847075e+02] [-9.97206000e-02 9.94998282e-01 -5.84992694e-03 -4.75794074e+01] [-4.96844242e-02 8.92603715e-04 9.98764567e-01 -2.40169356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.170714057 meters 0.025120594385127083 Centerline is valid? [True, True] Translation: X:351.88, Y:-47.58, Z:-24.02 [[ 9.93703978e-01 1.00233752e-01 5.00559563e-02 3.51875635e+02] [-1.00062068e-01 9.94963523e-01 -5.93040200e-03 -4.75839381e+01] [-5.03982771e-02 8.84361548e-04 9.98728808e-01 -2.40175177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.200714057 meters 0.025117353619799335 Centerline is valid? [True, True] Translation: X:351.90, Y:-47.59, Z:-24.02 [[ 9.93862240e-01 9.83605046e-02 5.06266687e-02 3.51903745e+02] [-9.81826392e-02 9.95150359e-01 -5.99434660e-03 -4.75927671e+01] [-5.09707545e-02 9.86894786e-04 9.98699659e-01 -2.40183795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.230714057 meters 0.02611121671189857 Centerline is valid? [True, True] Translation: X:351.93, Y:-47.61, Z:-24.02 [[ 9.94383544e-01 9.30266806e-02 5.04718115e-02 3.51930384e+02] [-9.28432154e-02 9.95662828e-01 -5.97248780e-03 -4.76071547e+01] [-5.08085073e-02 1.25297832e-03 9.98707628e-01 -2.40219100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.26071405700003 meters 0.02548333921582233 Centerline is valid? [True, True] Translation: X:351.96, Y:-47.62, Z:-24.02 [[ 9.94688074e-01 8.99068678e-02 5.01237532e-02 3.51957861e+02] [-8.97221697e-02 9.95949195e-01 -5.92733954e-03 -4.76151879e+01] [-5.04536202e-02 1.39864206e-03 9.98725426e-01 -2.40242643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.290714057 meters 0.026229592690513327 Centerline is valid? [True, True] Translation: X:351.99, Y:-47.63, Z:-24.03 [[ 9.95006136e-01 8.66111755e-02 4.96114276e-02 3.51985368e+02] [-8.64263766e-02 9.96240993e-01 -5.86212743e-03 -4.76258441e+01] [-4.99326637e-02 1.54511684e-03 9.98751391e-01 -2.40273153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.32071405700003 meters 0.030197324980578585 Centerline is valid? [True, True] Translation: X:352.01, Y:-47.65, Z:-24.03 [[ 9.95656007e-01 7.93782353e-02 4.86642689e-02 3.52012331e+02] [-7.91920025e-02 9.96842821e-01 -5.74612333e-03 -4.76450763e+01] [-4.89667442e-02 1.86734130e-03 9.98798664e-01 -2.40312633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.350714057 meters 0.030864904075920286 Centerline is valid? [True, True] Translation: X:352.04, Y:-47.65, Z:-24.03 [[ 9.95887630e-01 7.64859271e-02 4.85564748e-02 3.52041416e+02] [-7.62970712e-02 9.97068644e-01 -5.73373839e-03 -4.76535817e+01] [-4.88526888e-02 2.00544232e-03 9.98803981e-01 -2.40330175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.38071405700003 meters 0.0326034741661407 Centerline is valid? [True, True] Translation: X:352.07, Y:-47.67, Z:-24.04 [[ 9.96238313e-01 7.19978992e-02 4.82237015e-02 3.52069779e+02] [-7.18064652e-02 9.97402339e-01 -5.69266345e-03 -4.76665848e+01] [-4.85082924e-02 2.20847589e-03 9.98820338e-01 -2.40352257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.410714057 meters 0.033816956153150585 Centerline is valid? [True, True] Translation: X:352.10, Y:-47.68, Z:-24.04 [[ 9.96387852e-01 6.98944789e-02 4.82287326e-02 3.52098719e+02] [-6.97005796e-02 9.97551715e-01 -5.69259323e-03 -4.76753420e+01] [-4.85085357e-02 2.31046012e-03 9.98820096e-01 -2.40376057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.440714057 meters 0.03461441030040255 Centerline is valid? [True, True] Translation: X:352.13, Y:-47.68, Z:-24.04 [[ 9.96480093e-01 6.83202127e-02 4.85774895e-02 3.52127793e+02] [-6.81217117e-02 9.97660551e-01 -5.73210846e-03 -4.76835744e+01] [-4.88554638e-02 2.40275023e-03 9.98802969e-01 -2.40396844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.470714057 meters 0.03154327061204831 Centerline is valid? [True, True] Translation: X:352.16, Y:-47.69, Z:-24.04 [[ 9.96678789e-01 6.53329852e-02 4.86106285e-02 3.52156906e+02] [-6.51307418e-02 9.97860261e-01 -5.73456542e-03 -4.76870252e+01] [-4.88812708e-02 2.54947342e-03 9.98801342e-01 -2.40407834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.500714057 meters 0.03254403321690244 Centerline is valid? [True, True] Translation: X:352.18, Y:-47.69, Z:-24.04 [[ 9.96739664e-01 6.42498812e-02 4.88056875e-02 3.52184506e+02] [-6.40448465e-02 9.97930428e-01 -5.75491620e-03 -4.76938641e+01] [-4.90744333e-02 2.61040048e-03 9.98791713e-01 -2.40425842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.530714057 meters 0.03495313221929058 Centerline is valid? [True, True] Translation: X:352.21, Y:-47.71, Z:-24.04 [[ 9.96781621e-01 6.28766049e-02 4.97285796e-02 3.52213137e+02] [-6.26621834e-02 9.98017586e-01 -5.86070770e-03 -4.77052191e+01] [-4.99984984e-02 2.72574436e-03 9.98745573e-01 -2.40438734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.560714057 meters 0.031563419163740156 Centerline is valid? [True, True] Translation: X:352.24, Y:-47.71, Z:-24.04 [[ 9.96779285e-01 6.21354792e-02 5.06975222e-02 3.52243927e+02] [-6.19117097e-02 9.98063752e-01 -5.97385780e-03 -4.77052180e+01] [-5.09705478e-02 2.81584742e-03 9.98696187e-01 -2.40447177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.590714057 meters 0.032477793199550346 Centerline is valid? [True, True] Translation: X:352.27, Y:-47.71, Z:-24.05 [[ 9.96816473e-01 6.16311285e-02 5.05818444e-02 3.52273302e+02] [-6.14077396e-02 9.98094969e-01 -5.96010140e-03 -4.77138510e+01] [-5.08528122e-02 2.83501053e-03 9.98702135e-01 -2.40461482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.620714057 meters 0.03338982893553143 Centerline is valid? [True, True] Translation: X:352.30, Y:-47.72, Z:-24.05 [[ 9.96835904e-01 6.10990737e-02 5.08437183e-02 3.52303187e+02] [-6.08726458e-02 9.98127558e-01 -5.99150380e-03 -4.77207210e+01] [-5.11145917e-02 2.87755445e-03 9.98688649e-01 -2.40483724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.650714057 meters 0.03421851962351162 Centerline is valid? [True, True] Translation: X:352.33, Y:-47.73, Z:-24.05 [[ 9.96879939e-01 6.10656176e-02 5.00137648e-02 3.52333043e+02] [-6.08463414e-02 9.98129727e-01 -5.89659984e-03 -4.77289637e+01] [-5.02803049e-02 2.83504749e-03 9.98731122e-01 -2.40512197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.680714057 meters 0.03432768075024424 Centerline is valid? [True, True] Translation: X:352.36, Y:-47.73, Z:-24.05 [[ 9.96929671e-01 6.05953947e-02 4.95926331e-02 3.52364113e+02] [-6.03786733e-02 9.98158355e-01 -5.85789849e-03 -4.77340336e+01] [-4.98562628e-02 2.84557543e-03 9.98752350e-01 -2.40536295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.710714057 meters 0.034788406193461796 Centerline is valid? [True, True] Translation: X:352.40, Y:-47.74, Z:-24.06 [[ 9.96977660e-01 6.01725801e-02 4.91406733e-02 3.52395184e+02] [-5.99591974e-02 9.98183942e-01 -5.80624563e-03 -4.77395040e+01] [-4.94008078e-02 2.84226185e-03 9.98774991e-01 -2.40558939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.740714057 meters 0.03475114434505387 Centerline is valid? [True, True] Translation: X:352.43, Y:-47.75, Z:-24.06 [[ 9.97080466e-01 5.94505402e-02 4.79184380e-02 3.52426304e+02] [-5.92467400e-02 9.98227303e-01 -5.66348206e-03 -4.77456875e+01] [-4.81701902e-02 2.80793610e-03 9.98835196e-01 -2.40587644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.770714057 meters 0.03288268382956645 Centerline is valid? [True, True] Translation: X:352.46, Y:-47.75, Z:-24.06 [[ 9.97152371e-01 5.87459348e-02 4.72870495e-02 3.52457769e+02] [-5.85466074e-02 9.98269022e-01 -5.59050500e-03 -4.77469094e+01] [-4.75336161e-02 2.80608899e-03 9.98865697e-01 -2.40602923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.800714057 meters 0.035102422642737205 Centerline is valid? [True, True] Translation: X:352.49, Y:-47.75, Z:-24.06 [[ 9.97237474e-01 5.79010635e-02 4.65283596e-02 3.52487976e+02] [-5.77071417e-02 9.98318396e-01 -5.50143337e-03 -4.77549866e+01] [-4.67686562e-02 2.80121687e-03 9.98901820e-01 -2.40626455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.830714057 meters 0.034796795769317414 Centerline is valid? [True, True] Translation: X:352.52, Y:-47.76, Z:-24.06 [[ 9.97286872e-01 5.70303113e-02 4.65450266e-02 3.52519418e+02] [-5.68349648e-02 9.98368378e-01 -5.51068830e-03 -4.77580785e+01] [-4.67833590e-02 2.85035215e-03 9.98900992e-01 -2.40641331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.860714057 meters 0.034368453964709764 Centerline is valid? [True, True] Translation: X:352.55, Y:-47.76, Z:-24.07 [[ 9.97288346e-01 5.66016871e-02 4.70340769e-02 3.52550248e+02] [-5.64016541e-02 9.98392621e-01 -5.57031123e-03 -4.77616397e+01] [-4.72737643e-02 2.90240674e-03 9.98877754e-01 -2.40653546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.890714057 meters 0.035033489766291705 Centerline is valid? [True, True] Translation: X:352.58, Y:-47.77, Z:-24.07 [[ 9.97281166e-01 5.62479710e-02 4.76071594e-02 3.52582104e+02] [-5.60426459e-02 9.98412458e-01 -5.63780201e-03 -4.77659331e+01] [-4.78486960e-02 2.95444259e-03 9.98850226e-01 -2.40660439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.920714057 meters 0.034506014118424064 Centerline is valid? [True, True] Translation: X:352.61, Y:-47.77, Z:-24.07 [[ 9.97237951e-01 5.67236919e-02 4.79467507e-02 3.52614679e+02] [-5.65153792e-02 9.98385513e-01 -5.69029731e-03 -4.77687260e+01] [-4.81921160e-02 2.96485164e-03 9.98833685e-01 -2.40672512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.950714057 meters 0.03604043679832136 Centerline is valid? [True, True] Translation: X:352.65, Y:-47.77, Z:-24.07 [[ 9.97189262e-01 5.70517648e-02 4.85661692e-02 3.52645518e+02] [-5.68377933e-02 9.98366714e-01 -5.77656883e-03 -4.77731335e+01] [-4.88164102e-02 2.99993852e-03 9.98803263e-01 -2.40683222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.980714057 meters 0.03604043679832136 Centerline is valid? [True, True] Translation: X:352.68, Y:-47.78, Z:-24.07 [[ 9.97175237e-01 5.72974934e-02 4.85648431e-02 3.52677054e+02] [-5.70832723e-02 9.98352644e-01 -5.78769396e-03 -4.77769363e+01] [-4.88164599e-02 2.99910494e-03 9.98803263e-01 -2.40701589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.01071405700003 meters 0.03683332138921279 Centerline is valid? [True, True] Translation: X:352.71, Y:-47.78, Z:-24.07 [[ 9.97119642e-01 5.74401050e-02 4.95283220e-02 3.52707588e+02] [-5.72168276e-02 9.98344251e-01 -5.91532237e-03 -4.77814383e+01] [-4.97860923e-02 3.06443066e-03 9.98755202e-01 -2.40715346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.040714057 meters 0.03753995871438913 Centerline is valid? [True, True] Translation: X:352.74, Y:-47.78, Z:-24.07 [[ 9.97151682e-01 5.64514863e-02 5.00175227e-02 3.52739105e+02] [-5.62219471e-02 9.98400354e-01 -5.98539779e-03 -4.77849014e+01] [-5.02753970e-02 3.15626695e-03 9.98730405e-01 -2.40726082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.07071405700003 meters 0.04287974708927833 Centerline is valid? [True, True] Translation: X:352.77, Y:-47.80, Z:-24.08 [[ 9.97180771e-01 5.57744709e-02 5.01967913e-02 3.52768694e+02] [-5.55418054e-02 9.98438219e-01 -6.01917048e-03 -4.77959096e+01] [-5.04541110e-02 3.21418065e-03 9.98721208e-01 -2.40753087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.100714057 meters 0.040961943696629054 Centerline is valid? [True, True] Translation: X:352.80, Y:-47.80, Z:-24.08 [[ 9.97286076e-01 5.45163031e-02 4.94818746e-02 3.52801214e+02] [-5.42883646e-02 9.98507632e-01 -5.93984423e-03 -4.77960491e+01] [-4.97318478e-02 3.23743389e-03 9.98757359e-01 -2.40772875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.13071405700003 meters 0.040806255795204006 Centerline is valid? [True, True] Translation: X:352.83, Y:-47.80, Z:-24.08 [[ 9.97451085e-01 5.18772403e-02 4.89906536e-02 3.52832382e+02] [-5.16504575e-02 9.98647887e-01 -5.88462185e-03 -4.77977259e+01] [-4.92296906e-02 3.33923278e-03 9.98781902e-01 -2.40793895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.160714057 meters 0.03903779210121696 Centerline is valid? [True, True] Translation: X:352.86, Y:-47.80, Z:-24.08 [[ 9.97529731e-01 5.07281112e-02 4.85910853e-02 3.52864226e+02] [-5.05037123e-02 9.98706824e-01 -5.83556119e-03 -4.77978083e+01] [-4.88242755e-02 3.36711559e-03 9.98801708e-01 -2.40812237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.190714057 meters 0.040723442525609846 Centerline is valid? [True, True] Translation: X:352.89, Y:-47.80, Z:-24.08 [[ 9.97628450e-01 4.86068537e-02 4.87324306e-02 3.52893539e+02] [-4.83779733e-02 9.98811876e-01 -5.86591377e-03 -4.78024002e+01] [-4.89596540e-02 3.49442624e-03 9.98794644e-01 -2.40833348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.220714057 meters 0.041534158773343634 Centerline is valid? [True, True] Translation: X:352.93, Y:-47.81, Z:-24.09 [[ 9.97653353e-01 4.82212283e-02 4.86055680e-02 3.52925117e+02] [-4.79931903e-02 9.98830541e-01 -5.84847276e-03 -4.78066412e+01] [-4.88307463e-02 3.50201218e-03 9.98800928e-01 -2.40850715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.250714057 meters 0.03996829533106441 Centerline is valid? [True, True] Translation: X:352.96, Y:-47.81, Z:-24.09 [[ 9.97711640e-01 4.69531353e-02 4.86506679e-02 3.52957220e+02] [-4.67225836e-02 9.98890680e-01 -5.86597634e-03 -4.78059979e+01] [-4.88721248e-02 3.57946797e-03 9.98798630e-01 -2.40861977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.280714057 meters 0.04043984859154651 Centerline is valid? [True, True] Translation: X:352.99, Y:-47.81, Z:-24.09 [[ 9.97732412e-01 4.67038196e-02 4.84642816e-02 3.52989493e+02] [-4.64741985e-02 9.98902334e-01 -5.85462665e-03 -4.78092641e+01] [-4.86845174e-02 3.58901213e-03 9.98807758e-01 -2.40878414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.310714057 meters 0.04574347188654779 Centerline is valid? [True, True] Translation: X:353.02, Y:-47.82, Z:-24.09 [[ 9.97718496e-01 4.65791867e-02 4.88690227e-02 3.53019333e+02] [-4.63449038e-02 9.98907974e-01 -5.91690498e-03 -4.78196087e+01] [-4.90912611e-02 3.63857539e-03 9.98787670e-01 -2.40903104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.340714057 meters 0.04595921733465363 Centerline is valid? [True, True] Translation: X:353.05, Y:-47.82, Z:-24.09 [[ 9.97730860e-01 4.59902547e-02 4.91734442e-02 3.53051146e+02] [-4.57519892e-02 9.98935046e-01 -5.96065031e-03 -4.78211338e+01] [-4.93952086e-02 3.69734187e-03 9.98772468e-01 -2.40913216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.370714057 meters 0.04618194497997551 Centerline is valid? [True, True] Translation: X:353.08, Y:-47.82, Z:-24.09 [[ 9.97689888e-01 4.63873987e-02 4.96295866e-02 3.53083382e+02] [-4.61449018e-02 9.98916608e-01 -6.02143080e-03 -4.78243925e+01] [-4.98551368e-02 3.71736822e-03 9.98749541e-01 -2.40927532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.400714057 meters 0.040084701712070764 Centerline is valid? [True, True] Translation: X:353.12, Y:-47.82, Z:-24.09 [[ 9.97606538e-01 4.70116849e-02 5.07059794e-02 3.53116797e+02] [-4.67587165e-02 9.98887193e-01 -6.16433492e-03 -4.78178183e+01] [-5.09393491e-02 3.77863431e-03 9.98694600e-01 -2.40929271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.430714057 meters 0.038578533683160894 Centerline is valid? [True, True] Translation: X:353.15, Y:-47.82, Z:-24.09 [[ 9.97563332e-01 4.75225185e-02 5.10784583e-02 3.53149092e+02] [-4.72658128e-02 9.98862965e-01 -6.22262430e-03 -4.78184997e+01] [-5.13160950e-02 3.79319699e-03 9.98675258e-01 -2.40945039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.460714057 meters 0.04173123298371815 Centerline is valid? [True, True] Translation: X:353.18, Y:-47.82, Z:-24.10 [[ 9.97479478e-01 4.88502971e-02 5.14620247e-02 3.53178706e+02] [-4.85907071e-02 9.98799005e-01 -6.28414850e-03 -4.78249570e+01] [-5.17072016e-02 3.76773300e-03 9.98655180e-01 -2.40958268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.490714057 meters 0.03844055081004047 Centerline is valid? [True, True] Translation: X:353.21, Y:-47.82, Z:-24.10 [[ 9.97431697e-01 4.97384465e-02 5.15373396e-02 3.53211365e+02] [-4.94792971e-02 9.98755325e-01 -6.29289431e-03 -4.78230412e+01] [-5.17861912e-02 3.72670091e-03 9.98651241e-01 -2.40970640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.520714057 meters 0.036857085046334066 Centerline is valid? [True, True] Translation: X:353.24, Y:-47.82, Z:-24.10 [[ 9.97352959e-01 5.14434842e-02 5.13871892e-02 3.53243493e+02] [-5.11873556e-02 9.98669267e-01 -6.28884616e-03 -4.78228474e+01] [-5.16423267e-02 3.64182500e-03 9.98659004e-01 -2.40988278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.550714057 meters 0.03706510994390532 Centerline is valid? [True, True] Translation: X:353.28, Y:-47.83, Z:-24.10 [[ 9.97288502e-01 5.28163886e-02 5.12452155e-02 3.53275138e+02] [-5.25633951e-02 9.98597886e-01 -6.27306343e-03 -4.78262005e+01] [-5.15046845e-02 3.56243152e-03 9.98666399e-01 -2.41011325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.580714057 meters 0.03806453497242998 Centerline is valid? [True, True] Translation: X:353.31, Y:-47.83, Z:-24.10 [[ 9.97219719e-01 5.40434100e-02 5.13043989e-02 3.53306103e+02] [-5.37907607e-02 9.98532396e-01 -6.29357925e-03 -4.78309052e+01] [-5.15692308e-02 3.51637869e-03 9.98663231e-01 -2.41031006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.610714057 meters 0.037476765577802836 Centerline is valid? [True, True] Translation: X:353.34, Y:-47.83, Z:-24.10 [[ 9.97147416e-01 5.56563931e-02 5.09842812e-02 3.53337259e+02] [-5.54083087e-02 9.98444108e-01 -6.26753901e-03 -4.78322303e+01] [-5.12537838e-02 3.42470754e-03 9.98679789e-01 -2.41049752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.640714057 meters 0.03789756267106113 Centerline is valid? [True, True] Translation: X:353.37, Y:-47.84, Z:-24.11 [[ 9.97131032e-01 5.64597160e-02 5.04182976e-02 3.53369444e+02] [-5.62181211e-02 9.98399271e-01 -6.19826738e-03 -4.78357065e+01] [-5.06875440e-02 3.34606279e-03 9.98708955e-01 -2.41067742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.670714057 meters 0.03810916710227231 Centerline is valid? [True, True] Translation: X:353.40, Y:-47.84, Z:-24.11 [[ 9.97053584e-01 5.77656292e-02 5.04706058e-02 3.53400187e+02] [-5.75245491e-02 9.98324732e-01 -6.21744918e-03 -4.78384823e+01] [-5.07452088e-02 3.29583115e-03 9.98706194e-01 -2.41087128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.700714057 meters 0.03850084407434835 Centerline is valid? [True, True] Translation: X:353.43, Y:-47.84, Z:-24.11 [[ 9.97058348e-01 5.75441922e-02 5.06292142e-02 3.53431353e+02] [-5.73006458e-02 9.98337405e-01 -6.24999306e-03 -4.78419832e+01] [-5.09046891e-02 3.33052109e-03 9.98697962e-01 -2.41103499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.730714057 meters 0.03885291931647604 Centerline is valid? [True, True] Translation: X:353.46, Y:-47.85, Z:-24.11 [[ 9.97097504e-01 5.68748474e-02 5.06144120e-02 3.53462187e+02] [-5.66304948e-02 9.98375643e-01 -6.24994458e-03 -4.78451736e+01] [-5.08876608e-02 3.36548494e-03 9.98698713e-01 -2.41121393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.76071405700003 meters 0.03885637691805746 Centerline is valid? [True, True] Translation: X:353.49, Y:-47.85, Z:-24.11 [[ 9.97158424e-01 5.54376487e-02 5.10072897e-02 3.53493227e+02] [-5.51875200e-02 9.98456130e-01 -6.30026954e-03 -4.78480955e+01] [-5.12778132e-02 3.46740103e-03 9.98678408e-01 -2.41135339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.790714057 meters 0.04328076362988886 Centerline is valid? [True, True] Translation: X:353.52, Y:-47.86, Z:-24.12 [[ 9.97343045e-01 5.22581650e-02 5.07536741e-02 3.53522035e+02] [-5.20063379e-02 9.98627067e-01 -6.27065166e-03 -4.78561086e+01] [-5.10116855e-02 3.61447809e-03 9.98691516e-01 -2.41153812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.82071405700003 meters 0.03952542641040115 Centerline is valid? [True, True] Translation: X:353.55, Y:-47.85, Z:-24.12 [[ 9.97430189e-01 5.05734628e-02 5.07478319e-02 3.53553899e+02] [-5.03193980e-02 9.98713480e-01 -6.27243151e-03 -4.78536884e+01] [-5.09997624e-02 3.70271219e-03 9.98691801e-01 -2.41161625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.850714057 meters 0.04667738770251745 Centerline is valid? [True, True] Translation: X:353.58, Y:-47.87, Z:-24.12 [[ 9.97533927e-01 4.84160345e-02 5.08129124e-02 3.53582204e+02] [-4.81584289e-02 9.98819951e-01 -6.28254726e-03 -4.78662725e+01] [-5.10571267e-02 3.81998401e-03 9.98688429e-01 -2.41186203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.88071405700003 meters 0.04048561084962273 Centerline is valid? [True, True] Translation: X:353.61, Y:-47.86, Z:-24.12 [[ 9.97699963e-01 4.42422667e-02 5.13556702e-02 3.53613725e+02] [-4.39736292e-02 9.99012513e-01 -6.34963607e-03 -4.78600061e+01] [-5.15858794e-02 4.07673647e-03 9.98660241e-01 -2.41188926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.910714057 meters 0.04421965554416513 Centerline is valid? [True, True] Translation: X:353.64, Y:-47.87, Z:-24.12 [[ 9.97770388e-01 4.21731401e-02 5.17269764e-02 3.53642813e+02] [-4.18978293e-02 9.99101430e-01 -6.39571797e-03 -4.78682210e+01] [-5.19502236e-02 4.21420997e-03 9.98640784e-01 -2.41209540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.940714057 meters 0.0442290598778028 Centerline is valid? [True, True] Translation: X:353.67, Y:-47.87, Z:-24.12 [[ 9.97909356e-01 3.84284305e-02 5.19631957e-02 3.53673519e+02] [-3.81455584e-02 9.99251538e-01 -6.42490747e-03 -4.78708926e+01] [-5.21712023e-02 4.42931016e-03 9.98628333e-01 -2.41228325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.970714057 meters 0.044589253399600154 Centerline is valid? [True, True] Translation: X:353.71, Y:-47.88, Z:-24.12 [[ 9.97936578e-01 3.78267903e-02 5.18817958e-02 3.53705304e+02] [-3.75440616e-02 9.99274391e-01 -6.41362711e-03 -4.78751692e+01] [-5.20867568e-02 4.45253975e-03 9.98632637e-01 -2.41245797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.000714057 meters 0.0460858370078633 Centerline is valid? [True, True] Translation: X:353.74, Y:-47.88, Z:-24.13 [[ 9.98015429e-01 3.68379351e-02 5.10702433e-02 3.53736791e+02] [-3.65620506e-02 9.99311361e-01 -6.32611879e-03 -4.78794850e+01] [-5.12681155e-02 4.44633133e-03 9.98675027e-01 -2.41266601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.030714057 meters 0.045748357545518016 Centerline is valid? [True, True] Translation: X:353.77, Y:-47.88, Z:-24.13 [[ 9.98068496e-01 3.65666856e-02 5.02210605e-02 3.53769174e+02] [-3.62989937e-02 9.99321540e-01 -6.23233711e-03 -4.78802857e+01] [-5.04148834e-02 4.39732537e-03 9.98718681e-01 -2.41286017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.060714057 meters 0.04551220371372283 Centerline is valid? [True, True] Translation: X:353.80, Y:-47.88, Z:-24.13 [[ 9.98105975e-01 3.66985660e-02 4.93728463e-02 3.53801278e+02] [-3.64394025e-02 9.99317006e-01 -6.13932121e-03 -4.78824675e+01] [-4.95644293e-02 4.32857616e-03 9.98761549e-01 -2.41309611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.090714057 meters 0.0488375670795819 Centerline is valid? [True, True] Translation: X:353.83, Y:-47.89, Z:-24.13 [[ 9.98117365e-01 3.76630504e-02 4.84068269e-02 3.53832067e+02] [-3.74144725e-02 9.99281632e-01 -6.03137551e-03 -4.78885493e+01] [-4.85992130e-02 4.20890473e-03 9.98809492e-01 -2.41337541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.120714057 meters 0.04918205760774138 Centerline is valid? [True, True] Translation: X:353.87, Y:-47.89, Z:-24.14 [[ 9.98103440e-01 3.79694224e-02 4.84545869e-02 3.53865510e+02] [-3.77201786e-02 9.99270037e-01 -6.04826508e-03 -4.78914385e+01] [-4.86488660e-02 4.20907851e-03 9.98807074e-01 -2.41356222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.150714057 meters 0.04524143849584195 Centerline is valid? [True, True] Translation: X:353.90, Y:-47.89, Z:-24.14 [[ 9.98054904e-01 3.89889914e-02 4.86442824e-02 3.53898071e+02] [-3.87382230e-02 9.99230849e-01 -6.08765250e-03 -4.78887746e+01] [-4.88442191e-02 4.19141838e-03 9.98797614e-01 -2.41363655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.180714057 meters 0.04563468679826787 Centerline is valid? [True, True] Translation: X:353.93, Y:-47.89, Z:-24.14 [[ 9.98009622e-01 4.05032519e-02 4.83350982e-02 3.53928869e+02] [-4.02572917e-02 9.99171020e-01 -6.05173163e-03 -4.78892363e+01] [-4.85401442e-02 4.09384624e-03 9.98812843e-01 -2.41376672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.210714057 meters 0.04529749227315013 Centerline is valid? [True, True] Translation: X:353.96, Y:-47.89, Z:-24.14 [[ 9.97942571e-01 4.22944353e-02 4.81851149e-02 3.53960608e+02] [-4.20520085e-02 9.99097201e-01 -6.03427881e-03 -4.78895734e+01] [-4.83968298e-02 3.99558285e-03 9.98820195e-01 -2.41392249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.240714057 meters 0.046250228631018436 Centerline is valid? [True, True] Translation: X:353.99, Y:-47.89, Z:-24.14 [[ 9.97934076e-01 4.27429366e-02 4.79647881e-02 3.53992323e+02] [-4.25031324e-02 9.99078264e-01 -6.00888122e-03 -4.78932242e+01] [-4.81774145e-02 3.95781359e-03 9.98830953e-01 -2.41413032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.270714057 meters 0.04786268351485122 Centerline is valid? [True, True] Translation: X:354.02, Y:-47.90, Z:-24.14 [[ 9.97914038e-01 4.35562485e-02 4.76489835e-02 3.54023640e+02] [-4.33199545e-02 9.99043347e-01 -5.98102044e-03 -4.78977163e+01] [-4.78639108e-02 3.90439246e-03 9.98846235e-01 -2.41433264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.300714057 meters 0.04861011727505027 Centerline is valid? [True, True] Translation: X:354.06, Y:-47.90, Z:-24.15 [[ 9.97878384e-01 4.45250844e-02 4.74999744e-02 3.54055109e+02] [-4.42907905e-02 9.99000818e-01 -5.97417940e-03 -4.78997643e+01] [-4.77185142e-02 3.85769307e-03 9.98853373e-01 -2.41454127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.330714057 meters 0.04834261907541018 Centerline is valid? [True, True] Translation: X:354.09, Y:-47.90, Z:-24.15 [[ 9.97876504e-01 4.49412990e-02 4.71461909e-02 3.54086971e+02] [-4.47104589e-02 9.98982328e-01 -5.93997374e-03 -4.79021768e+01] [-4.73651616e-02 3.81943240e-03 9.98870339e-01 -2.41471815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.360714057 meters 0.04942844425912513 Centerline is valid? [True, True] Translation: X:354.12, Y:-47.91, Z:-24.15 [[ 9.97935987e-01 4.44072276e-02 4.63871191e-02 3.54119189e+02] [-4.41826816e-02 9.99006309e-01 -5.85534486e-03 -4.79055911e+01] [-4.66010442e-02 3.79375204e-03 9.98906377e-01 -2.41504209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.390714057 meters 0.05000823634656234 Centerline is valid? [True, True] Translation: X:354.15, Y:-47.91, Z:-24.15 [[ 9.97962203e-01 4.42041890e-02 4.60155595e-02 3.54151559e+02] [-4.39825224e-02 9.99015353e-01 -5.81908568e-03 -4.79094138e+01] [-4.62274784e-02 3.78334718e-03 9.98923774e-01 -2.41530681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.420714057 meters 0.049203229872053424 Centerline is valid? [True, True] Translation: X:354.18, Y:-47.91, Z:-24.15 [[ 9.97957730e-01 4.44128728e-02 4.59114902e-02 3.54183652e+02] [-4.41919246e-02 9.99006125e-01 -5.81682580e-03 -4.79118632e+01] [-4.61242018e-02 3.77602916e-03 9.98928576e-01 -2.41546959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.450714057 meters 0.04405457639823948 Centerline is valid? [True, True] Translation: X:354.22, Y:-47.91, Z:-24.16 [[ 9.97979604e-01 4.39835577e-02 4.58492901e-02 3.54217113e+02] [-4.37622579e-02 9.99025022e-01 -5.81980421e-03 -4.79061155e+01] [-4.60605637e-02 3.80157744e-03 9.98931415e-01 -2.41551342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.480714057 meters 0.051446631534390885 Centerline is valid? [True, True] Translation: X:354.25, Y:-47.92, Z:-24.16 [[ 9.97968616e-01 4.41986667e-02 4.58815875e-02 3.54247612e+02] [-4.39767527e-02 9.99015512e-01 -5.83533839e-03 -4.79195665e+01] [-4.60943318e-02 3.80576135e-03 9.98929842e-01 -2.41584399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.51071405700003 meters 0.05254499594223135 Centerline is valid? [True, True] Translation: X:354.28, Y:-47.92, Z:-24.16 [[ 9.97951242e-01 4.45120255e-02 4.59564827e-02 3.54278952e+02] [-4.42891155e-02 9.99001582e-01 -5.85784715e-03 -4.79233299e+01] [-4.61713435e-02 3.81047387e-03 9.98926267e-01 -2.41610427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.540714057 meters 0.054032196100425985 Centerline is valid? [True, True] Translation: X:354.31, Y:-47.93, Z:-24.16 [[ 9.98007594e-01 4.41189018e-02 4.51039289e-02 3.54310858e+02] [-4.39033670e-02 9.99019185e-01 -5.75860421e-03 -4.79280950e+01] [-4.53137536e-02 3.76691640e-03 9.98965702e-01 -2.41636585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.57071405700003 meters 0.04816871537483467 Centerline is valid? [True, True] Translation: X:354.34, Y:-47.92, Z:-24.16 [[ 9.98057990e-01 4.32402805e-02 4.48389062e-02 3.54344072e+02] [-4.30258355e-02 9.99057487e-01 -5.73714099e-03 -4.79228995e+01] [-4.50447205e-02 3.79676800e-03 9.98977756e-01 -2.41645043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.600714057 meters 0.0489454166743327 Centerline is valid? [True, True] Translation: X:354.38, Y:-47.93, Z:-24.17 [[ 9.98077169e-01 4.27029053e-02 4.49268956e-02 3.54375924e+02] [-4.24870327e-02 9.99080476e-01 -5.74937651e-03 -4.79270985e+01] [-4.51310993e-02 3.82951095e-03 9.98973733e-01 -2.41664592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.63071405700003 meters 0.050810348034091436 Centerline is valid? [True, True] Translation: X:354.41, Y:-47.93, Z:-24.17 [[ 9.98139564e-01 4.09745946e-02 4.51496837e-02 3.54405211e+02] [-4.07542213e-02 9.99152419e-01 -5.79106291e-03 -4.79320413e+01] [-4.53487021e-02 3.94024881e-03 9.98963448e-01 -2.41686360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.660714057 meters 0.04992732908490642 Centerline is valid? [True, True] Translation: X:354.44, Y:-47.93, Z:-24.17 [[ 9.98154732e-01 4.00950277e-02 4.56017489e-02 3.54436873e+02] [-3.98692128e-02 9.99187776e-01 -5.85105040e-03 -4.79346858e+01] [-4.57993081e-02 4.02214782e-03 9.98942564e-01 -2.41701021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.690714057 meters 0.05333417632547566 Centerline is valid? [True, True] Translation: X:354.47, Y:-47.94, Z:-24.17 [[ 9.98184627e-01 3.91778035e-02 4.57443928e-02 3.54466903e+02] [-3.89490780e-02 9.99223890e-01 -5.88107846e-03 -4.79426386e+01] [-4.59392979e-02 4.08870019e-03 9.98935866e-01 -2.41724117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.720714057 meters 0.05725843965778063 Centerline is valid? [True, True] Translation: X:354.50, Y:-47.95, Z:-24.17 [[ 9.98253648e-01 3.69467168e-02 4.60933260e-02 3.54496371e+02] [-3.67118002e-02 9.99308282e-01 -5.93299987e-03 -4.79500877e+01] [-4.62806473e-02 4.23046979e-03 9.98919519e-01 -2.41742273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.750714057 meters 0.05755155922652536 Centerline is valid? [True, True] Translation: X:354.53, Y:-47.95, Z:-24.18 [[ 9.98289746e-01 3.59869223e-02 4.60708574e-02 3.54528564e+02] [-3.57512579e-02 9.99343130e-01 -5.92933167e-03 -4.79540962e+01] [-4.62539732e-02 4.27209990e-03 9.98920577e-01 -2.41760793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.780714057 meters 0.07304199806765162 Centerline is valid? [True, True] Translation: X:354.56, Y:-47.98, Z:-24.18 [[ 9.98174984e-01 3.68970420e-02 4.78049040e-02 3.54555644e+02] [-3.66441687e-02 9.99309418e-01 -6.15562449e-03 -4.79799607e+01] [-4.79990152e-02 4.39261941e-03 9.98837724e-01 -2.41796762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.810714057 meters 0.06102261585897434 Centerline is valid? [True, True] Translation: X:354.59, Y:-47.97, Z:-24.18 [[ 9.98434372e-01 3.19894929e-02 4.58854874e-02 3.54587646e+02] [-3.17511480e-02 9.99478309e-01 -5.91400018e-03 -4.79673244e+01] [-4.60507352e-02 4.44782415e-03 9.98929200e-01 -2.41810521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.840714057 meters 0.054773659064262355 Centerline is valid? [True, True] Translation: X:354.62, Y:-47.96, Z:-24.18 [[ 9.98479372e-01 3.10241245e-02 4.55680418e-02 3.54620124e+02] [-3.07881920e-02 9.99508692e-01 -5.87050494e-03 -4.79634936e+01] [-4.57277811e-02 4.45862047e-03 9.98943988e-01 -2.41822210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.870714057 meters 0.054773659064262355 Centerline is valid? [True, True] Translation: X:354.65, Y:-47.97, Z:-24.18 [[ 9.98470613e-01 3.13065899e-02 4.55667846e-02 3.54652565e+02] [-3.10705084e-02 9.99499898e-01 -5.88024545e-03 -4.79677722e+01] [-4.57280870e-02 4.45546912e-03 9.98943988e-01 -2.41841126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.900714057 meters 0.05659974004200207 Centerline is valid? [True, True] Translation: X:354.68, Y:-47.98, Z:-24.19 [[ 9.98551432e-01 2.91908321e-02 4.51988252e-02 3.54682044e+02] [-2.89556634e-02 9.99563583e-01 -5.84912390e-03 -4.79752524e+01] [-4.53498405e-02 4.53188907e-03 9.98960887e-01 -2.41867765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.930714057 meters 0.057747431737684374 Centerline is valid? [True, True] Translation: X:354.71, Y:-47.98, Z:-24.19 [[ 9.98565532e-01 2.88647742e-02 4.50965869e-02 3.54713724e+02] [-2.86304773e-02 9.99573046e-01 -5.83286868e-03 -4.79813409e+01] [-4.52456971e-02 4.53336482e-03 9.98965603e-01 -2.41893478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.960714057 meters 0.057164009802363025 Centerline is valid? [True, True] Translation: X:354.75, Y:-47.99, Z:-24.19 [[ 9.98573732e-01 2.91186753e-02 4.47504758e-02 3.54746278e+02] [-2.88877466e-02 9.99565843e-01 -5.79855820e-03 -4.79862404e+01] [-4.48998934e-02 4.49754750e-03 9.98981367e-01 -2.41916404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.990714057 meters 0.05697740624049829 Centerline is valid? [True, True] Translation: X:354.78, Y:-47.99, Z:-24.19 [[ 9.98562647e-01 2.97427636e-02 4.45870892e-02 3.54777975e+02] [-2.95135532e-02 9.99547608e-01 -5.79038482e-03 -4.79907788e+01] [-4.47391404e-02 4.46613856e-03 9.98988720e-01 -2.41932926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.020714057 meters 0.05879152772653258 Centerline is valid? [True, True] Translation: X:354.81, Y:-48.00, Z:-24.20 [[ 9.98542117e-01 3.04206914e-02 4.45894763e-02 3.54808903e+02] [-3.01916198e-02 9.99527290e-01 -5.80197926e-03 -4.79979350e+01] [-4.47448986e-02 4.44729214e-03 9.98988546e-01 -2.41954222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.050714057 meters 0.05134591120605417 Centerline is valid? [True, True] Translation: X:354.84, Y:-47.99, Z:-24.20 [[ 9.98438406e-01 3.21769574e-02 4.56660962e-02 3.54840760e+02] [-3.19378880e-02 9.99472113e-01 -5.95535213e-03 -4.79922250e+01] [-4.58336148e-02 4.48757362e-03 9.98939008e-01 -2.41955389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.080714057 meters 0.05928810869287723 Centerline is valid? [True, True] Translation: X:354.87, Y:-48.01, Z:-24.20 [[ 9.98395473e-01 3.34477889e-02 4.56916339e-02 3.54869414e+02] [-3.32097310e-02 9.99430637e-01 -5.95951322e-03 -4.80073108e+01] [-4.58649513e-02 4.43254414e-03 9.98937815e-01 -2.41983096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.110714057 meters 0.05372575970690115 Centerline is valid? [True, True] Translation: X:354.90, Y:-48.00, Z:-24.20 [[ 9.98280657e-01 3.67446032e-02 4.56679856e-02 3.54900918e+02] [-3.65101693e-02 9.99315525e-01 -5.95727454e-03 -4.80045250e+01] [-4.58556246e-02 4.27968606e-03 9.98938910e-01 -2.42002866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.140714057 meters 0.05525245462611241 Centerline is valid? [True, True] Translation: X:354.93, Y:-48.01, Z:-24.20 [[ 9.98242082e-01 3.82235543e-02 4.52957561e-02 3.54930707e+02] [-3.79944029e-02 9.99260478e-01 -5.90949924e-03 -4.80104046e+01] [-4.54881410e-02 4.17812562e-03 9.98956141e-01 -2.42031490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.170714057 meters 0.04897111386839052 Centerline is valid? [True, True] Translation: X:354.96, Y:-48.01, Z:-24.20 [[ 9.98189742e-01 3.99155554e-02 4.49887424e-02 3.54963562e+02] [-3.96912070e-02 9.99194755e-01 -5.86942227e-03 -4.80064415e+01] [-4.51867967e-02 4.07313962e-03 9.98970251e-01 -2.42045000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.200714057 meters 0.054286852622783904 Centerline is valid? [True, True] Translation: X:354.99, Y:-48.02, Z:-24.21 [[ 9.98180395e-01 4.20642467e-02 4.32029785e-02 3.54991991e+02] [-4.18591665e-02 9.99107596e-01 -5.64102430e-03 -4.80170319e+01] [-4.34017095e-02 3.82231919e-03 9.99050390e-01 -2.42091303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.230714057 meters 0.04878328382623403 Centerline is valid? [True, True] Translation: X:355.02, Y:-48.01, Z:-24.21 [[ 9.98137922e-01 4.33740976e-02 4.28879437e-02 3.55023817e+02] [-4.31732214e-02 9.99051911e-01 -5.59937363e-03 -4.80137965e+01] [-4.30901498e-02 3.73733647e-03 9.99064198e-01 -2.42103788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.26071405700003 meters 0.05013180410206424 Centerline is valid? [True, True] Translation: X:355.05, Y:-48.02, Z:-24.21 [[ 9.98096737e-01 4.48078941e-02 4.23692727e-02 3.55053949e+02] [-4.46130691e-02 9.98989018e-01 -5.53314779e-03 -4.80194039e+01] [-4.25743668e-02 3.63239347e-03 9.99086697e-01 -2.42130488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.290714057 meters 0.04856627901781352 Centerline is valid? [True, True] Translation: X:355.09, Y:-48.02, Z:-24.21 [[ 9.98095480e-01 4.50619661e-02 4.21287511e-02 3.55085469e+02] [-4.48695101e-02 9.98977698e-01 -5.50322365e-03 -4.80212770e+01] [-4.23336689e-02 3.60244623e-03 9.99097034e-01 -2.42145662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.32071405700003 meters 0.04689308337724192 Centerline is valid? [True, True] Translation: X:355.12, Y:-48.02, Z:-24.22 [[ 9.98067261e-01 4.57656644e-02 4.20386205e-02 3.55116603e+02] [-4.55745890e-02 9.98945837e-01 -5.49291818e-03 -4.80231545e+01] [-4.22456920e-02 3.56640895e-03 9.99100887e-01 -2.42160763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.350714057 meters 0.044957127330621426 Centerline is valid? [True, True] Translation: X:355.15, Y:-48.02, Z:-24.22 [[ 9.97987955e-01 4.69286031e-02 4.26350505e-02 3.55147609e+02] [-4.67330387e-02 9.98891870e-01 -5.57265245e-03 -4.80241682e+01] [-4.28493221e-02 3.56897456e-03 9.99075171e-01 -2.42165258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.38071405700003 meters 0.04964995665643738 Centerline is valid? [True, True] Translation: X:355.18, Y:-48.04, Z:-24.22 [[ 9.97916396e-01 4.77927558e-02 4.33442011e-02 3.55176659e+02] [-4.75914551e-02 9.98850821e-01 -5.66488698e-03 -4.80350405e+01] [-4.35651315e-02 3.59026999e-03 9.99044138e-01 -2.42192980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.410714057 meters 0.045989574281921235 Centerline is valid? [True, True] Translation: X:355.21, Y:-48.03, Z:-24.22 [[ 9.97837524e-01 4.88780216e-02 4.39455847e-02 3.55207674e+02] [-4.86718600e-02 9.98798273e-01 -5.74973178e-03 -4.80334586e+01] [-4.41738096e-02 3.59838478e-03 9.99017380e-01 -2.42197416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.440714057 meters 0.046790657265632016 Centerline is valid? [True, True] Translation: X:355.24, Y:-48.04, Z:-24.22 [[ 9.97797677e-01 4.94241760e-02 4.42385160e-02 3.55238170e+02] [-4.92157976e-02 9.98771398e-01 -5.78782759e-03 -4.80384308e+01] [-4.44702231e-02 3.59784708e-03 9.99004232e-01 -2.42213058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.470714057 meters 0.0424212223056675 Centerline is valid? [True, True] Translation: X:355.27, Y:-48.04, Z:-24.22 [[ 9.97718535e-01 5.01097887e-02 4.52408531e-02 3.55268254e+02] [-4.98924846e-02 9.98737047e-01 -5.92044009e-03 -4.80361874e+01] [-4.54803880e-02 3.64975425e-03 9.98958565e-01 -2.42211089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.500714057 meters 0.05331518017625653 Centerline is valid? [True, True] Translation: X:355.30, Y:-48.06, Z:-24.22 [[ 9.97707221e-01 4.99110593e-02 4.57076319e-02 3.55295918e+02] [-4.96891439e-02 9.98746834e-01 -5.97919304e-03 -4.80559400e+01] [-4.59487805e-02 3.69431097e-03 9.98936966e-01 -2.42244819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.530714057 meters 0.048098250769460886 Centerline is valid? [True, True] Translation: X:355.33, Y:-48.05, Z:-24.22 [[ 9.97712617e-01 4.92767296e-02 4.62745881e-02 3.55326777e+02] [-4.90485431e-02 9.98778046e-01 -6.05441120e-03 -4.80525357e+01] [-4.65163842e-02 3.77086131e-03 9.98910410e-01 -2.42247227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.560714057 meters 0.048053549479342754 Centerline is valid? [True, True] Translation: X:355.36, Y:-48.06, Z:-24.23 [[ 9.97768111e-01 4.71193759e-02 4.73134307e-02 3.55357725e+02] [-4.68784276e-02 9.98881423e-01 -6.18997852e-03 -4.80585877e+01] [-4.75521749e-02 3.95818394e-03 9.98860913e-01 -2.42254543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.590714057 meters 0.052274914276815285 Centerline is valid? [True, True] Translation: X:355.39, Y:-48.07, Z:-24.23 [[ 9.97804484e-01 4.56516657e-02 4.79805853e-02 3.55386547e+02] [-4.54021245e-02 9.98949062e-01 -6.27848086e-03 -4.80691895e+01] [-4.82167838e-02 4.08627585e-03 9.98828536e-01 -2.42273544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.620714057 meters 0.056036228140176274 Centerline is valid? [True, True] Translation: X:355.41, Y:-48.08, Z:-24.23 [[ 9.97922115e-01 4.23922903e-02 4.85216123e-02 3.55414338e+02] [-4.21330202e-02 9.99091804e-01 -6.35422271e-03 -4.80809568e+01] [-4.87469152e-02 4.29665729e-03 9.98801921e-01 -2.42291239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.650714057 meters 0.057887619454601594 Centerline is valid? [True, True] Translation: X:355.45, Y:-48.09, Z:-24.23 [[ 9.98005851e-01 4.04462747e-02 4.84604973e-02 3.55445019e+02] [-4.01853682e-02 9.99172086e-01 -6.34653159e-03 -4.80888451e+01] [-4.86770698e-02 4.38647273e-03 9.98804937e-01 -2.42314683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.680714057 meters 0.05925313419531753 Centerline is valid? [True, True] Translation: X:355.48, Y:-48.10, Z:-24.23 [[ 9.98132086e-01 3.81526082e-02 4.77149550e-02 3.55475197e+02] [-3.78969910e-02 9.99262101e-01 -6.25071808e-03 -4.80957168e+01] [-4.79182274e-02 4.43078906e-03 9.98841435e-01 -2.42338755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.710714057 meters 0.057317298503993204 Centerline is valid? [True, True] Translation: X:355.51, Y:-48.10, Z:-24.24 [[ 9.98311029e-01 3.40410818e-02 4.70775387e-02 3.55505331e+02] [-3.37877159e-02 9.99410002e-01 -6.16744579e-03 -4.80997176e+01] [-4.72597096e-02 4.56638665e-03 9.98872198e-01 -2.42367120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.740714057 meters 0.05961550934202468 Centerline is valid? [True, True] Translation: X:355.53, Y:-48.11, Z:-24.24 [[ 9.98390746e-01 3.21110494e-02 4.67418236e-02 3.55534272e+02] [-3.18591943e-02 9.99473609e-01 -6.12345967e-03 -4.81084325e+01] [-4.69138498e-02 4.62444863e-03 9.98888235e-01 -2.42389596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.770714057 meters 0.06223667122785887 Centerline is valid? [True, True] Translation: X:355.56, Y:-48.12, Z:-24.24 [[ 9.98505536e-01 2.87369921e-02 4.64852679e-02 3.55564299e+02] [-2.84841250e-02 9.99575674e-01 -6.09315137e-03 -4.81190947e+01] [-4.66406418e-02 4.75995319e-03 9.98900392e-01 -2.42411202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.800714057 meters 0.056331654259130906 Centerline is valid? [True, True] Translation: X:355.60, Y:-48.12, Z:-24.24 [[ 9.98554631e-01 2.70687303e-02 4.64320312e-02 3.55596046e+02] [-2.68145988e-02 9.99621889e-01 -6.08746713e-03 -4.81162873e+01] [-4.65792547e-02 4.83361220e-03 9.98902903e-01 -2.42423082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.830714057 meters 0.05788792117375018 Centerline is valid? [True, True] Translation: X:355.63, Y:-48.12, Z:-24.24 [[ 9.98569020e-01 2.61001650e-02 4.66764705e-02 3.55627617e+02] [-2.58422895e-02 9.99647300e-01 -6.11978071e-03 -4.81242023e+01] [-4.68197350e-02 4.90479656e-03 9.98891313e-01 -2.42444359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.860714057 meters 0.059062642384752784 Centerline is valid? [True, True] Translation: X:355.66, Y:-48.13, Z:-24.25 [[ 9.98617690e-01 2.53667042e-02 4.60352063e-02 3.55659133e+02] [-2.51149532e-02 9.99666330e-01 -6.03893413e-03 -4.81321641e+01] [-4.61730336e-02 4.87441440e-03 9.98921564e-01 -2.42467932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.890714057 meters 0.05908839803705582 Centerline is valid? [True, True] Translation: X:355.69, Y:-48.14, Z:-24.25 [[ 9.98588545e-01 2.61397586e-02 4.62345246e-02 3.55690753e+02] [-2.58865774e-02 9.99646479e-01 -6.06642045e-03 -4.81372978e+01] [-4.63767545e-02 4.86100437e-03 9.98912192e-01 -2.42490267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.920714057 meters 0.055661073926675915 Centerline is valid? [True, True] Translation: X:355.72, Y:-48.14, Z:-24.25 [[ 9.98548822e-01 2.69614655e-02 4.66189802e-02 3.55723361e+02] [-2.67043939e-02 9.99624588e-01 -6.12846387e-03 -4.81382099e+01] [-4.67667112e-02 4.87463877e-03 9.98893945e-01 -2.42506171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.950714057 meters 0.056587874362207254 Centerline is valid? [True, True] Translation: X:355.75, Y:-48.14, Z:-24.25 [[ 9.98463539e-01 2.87601855e-02 4.73646791e-02 3.55752611e+02] [-2.84961128e-02 9.99574418e-01 -6.24127845e-03 -4.81449698e+01] [-4.75240218e-02 4.88197974e-03 9.98858165e-01 -2.42514810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.980714057 meters 0.0544376076507172 Centerline is valid? [True, True] Translation: X:355.79, Y:-48.15, Z:-24.25 [[ 9.98426351e-01 2.96292398e-02 4.76122848e-02 3.55785005e+02] [-2.93634901e-02 9.99549125e-01 -6.27145734e-03 -4.81466711e+01] [-4.77766361e-02 4.86352542e-03 9.98846204e-01 -2.42526021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.01071405700003 meters 0.05318595219875572 Centerline is valid? [True, True] Translation: X:355.82, Y:-48.15, Z:-24.25 [[ 9.98349125e-01 3.11128936e-02 4.82805601e-02 3.55816120e+02] [-3.08406462e-02 9.99503992e-01 -6.37376924e-03 -4.81506165e+01] [-4.84549189e-02 4.87424328e-03 9.98813477e-01 -2.42539105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.040714057 meters 0.05348415896032195 Centerline is valid? [True, True] Translation: X:355.85, Y:-48.16, Z:-24.26 [[ 9.98344194e-01 3.15790489e-02 4.80794466e-02 3.55847823e+02] [-3.13096147e-02 9.99489582e-01 -6.34696078e-03 -4.81561139e+01] [-4.82553370e-02 4.83110250e-03 9.98823349e-01 -2.42562439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.07071405700003 meters 0.054396380334439 Centerline is valid? [True, True] Translation: X:355.88, Y:-48.16, Z:-24.26 [[ 9.98356603e-01 3.18299824e-02 4.76544306e-02 3.55880709e+02] [-3.15650281e-02 9.99481830e-01 -6.30234946e-03 -4.81625600e+01] [-4.78303412e-02 4.78777876e-03 9.98844000e-01 -2.42587061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.100714057 meters 0.05598097520565765 Centerline is valid? [True, True] Translation: X:355.91, Y:-48.17, Z:-24.26 [[ 9.98343724e-01 3.24374255e-02 4.75144438e-02 3.55910892e+02] [-3.21740346e-02 9.99462439e-01 -6.29793544e-03 -4.81712123e+01] [-4.76931907e-02 4.75877296e-03 9.98850696e-01 -2.42618224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.13071405700003 meters 0.05650556652583356 Centerline is valid? [True, True] Translation: X:355.94, Y:-48.18, Z:-24.26 [[ 9.98341626e-01 3.28119275e-02 4.73009057e-02 3.55943252e+02] [-3.25508246e-02 9.99450352e-01 -6.27999226e-03 -4.81768179e+01] [-4.74809655e-02 4.72989420e-03 9.98860944e-01 -2.42639691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.160714057 meters 0.05579904696495933 Centerline is valid? [True, True] Translation: X:355.97, Y:-48.18, Z:-24.27 [[ 9.98298126e-01 3.44198080e-02 4.70757638e-02 3.55974981e+02] [-3.41622238e-02 9.99396660e-01 -6.26558371e-03 -4.81810002e+01] [-4.72630213e-02 4.64670770e-03 9.98871671e-01 -2.42654672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.190714057 meters 0.057388640148834165 Centerline is valid? [True, True] Translation: X:356.01, Y:-48.19, Z:-24.27 [[ 9.98254901e-01 3.55002367e-02 4.71898883e-02 3.56006191e+02] [-3.52425692e-02 9.99359048e-01 -6.28133078e-03 -4.81875421e+01] [-4.73826306e-02 4.60727633e-03 9.98866187e-01 -2.42672935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.220714057 meters 0.052700299597439625 Centerline is valid? [True, True] Translation: X:356.04, Y:-48.19, Z:-24.27 [[ 9.98177180e-01 3.77704463e-02 4.70713423e-02 3.56038010e+02] [-3.75159240e-02 9.99276301e-01 -6.27924839e-03 -4.81856003e+01] [-4.72744469e-02 4.50187755e-03 9.98871793e-01 -2.42682134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.250714057 meters 0.051632586500605204 Centerline is valid? [True, True] Translation: X:356.07, Y:-48.19, Z:-24.27 [[ 9.98130033e-01 3.88284593e-02 4.72100476e-02 3.56070050e+02] [-3.85736775e-02 9.99235923e-01 -6.29623055e-03 -4.81885901e+01] [-4.74184484e-02 4.46339165e-03 9.98865140e-01 -2.42695665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.280714057 meters 0.05061312012984834 Centerline is valid? [True, True] Translation: X:356.10, Y:-48.19, Z:-24.27 [[ 9.98074185e-01 3.97899179e-02 4.75887003e-02 3.56100950e+02] [-3.95314343e-02 9.99198081e-01 -6.36086995e-03 -4.81912335e+01] [-4.78036365e-02 4.46737051e-03 9.98846762e-01 -2.42712006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.310714057 meters 0.05028220883918973 Centerline is valid? [True, True] Translation: X:356.13, Y:-48.20, Z:-24.27 [[ 9.97967596e-01 4.18017090e-02 4.80967145e-02 3.56131750e+02] [-4.15398925e-02 9.99116151e-01 -6.43070811e-03 -4.81953032e+01] [-4.83230188e-02 4.41970596e-03 9.98821982e-01 -2.42724913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.340714057 meters 0.048349565431312296 Centerline is valid? [True, True] Translation: X:356.16, Y:-48.20, Z:-24.27 [[ 9.97908864e-01 4.29363510e-02 4.83153174e-02 3.56163143e+02] [-4.26734306e-02 9.99068185e-01 -6.46063565e-03 -4.81970252e+01] [-4.85476926e-02 4.38534523e-03 9.98811239e-01 -2.42742033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.370714057 meters 0.05283461481654323 Centerline is valid? [True, True] Translation: X:356.19, Y:-48.21, Z:-24.28 [[ 9.97821076e-01 4.53052739e-02 4.79638732e-02 3.56192347e+02] [-4.50487820e-02 9.98964187e-01 -6.41570411e-03 -4.82063860e+01] [-4.82048568e-02 4.24101071e-03 9.98828467e-01 -2.42767619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.400714057 meters 0.045827856113875964 Centerline is valid? [True, True] Translation: X:356.23, Y:-48.20, Z:-24.28 [[ 9.97767224e-01 4.67679801e-02 4.76793817e-02 3.56225274e+02] [-4.65162182e-02 9.98897180e-01 -6.37687806e-03 -4.81997180e+01] [-4.79250337e-02 4.14477539e-03 9.98842336e-01 -2.42773856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.430714057 meters 0.04301827274933734 Centerline is valid? [True, True] Translation: X:356.26, Y:-48.20, Z:-24.28 [[ 9.97677348e-01 4.86103679e-02 4.77173027e-02 3.56256787e+02] [-4.83600922e-02 9.98809551e-01 -6.38617866e-03 -4.81991682e+01] [-4.79709321e-02 4.06373263e-03 9.98840466e-01 -2.42786050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.460714057 meters 0.053864020335975746 Centerline is valid? [True, True] Translation: X:356.28, Y:-48.22, Z:-24.28 [[ 9.97603376e-01 5.05785852e-02 4.72155837e-02 3.56284528e+02] [-5.03356458e-02 9.98712355e-01 -6.32095790e-03 -4.82173066e+01] [-4.74744919e-02 3.92918204e-03 9.98864723e-01 -2.42824434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.490714057 meters 0.04221108272627149 Centerline is valid? [True, True] Translation: X:356.32, Y:-48.20, Z:-24.28 [[ 9.97403597e-01 5.51875720e-02 4.62644127e-02 3.56316924e+02] [-5.49592052e-02 9.98469385e-01 -6.19465529e-03 -4.82026797e+01] [-4.65354676e-02 3.63591612e-03 9.98910021e-01 -2.42829481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.520714057 meters 0.03962194514837745 Centerline is valid? [True, True] Translation: X:356.35, Y:-48.20, Z:-24.28 [[ 9.97277429e-01 5.76408321e-02 4.59920105e-02 3.56347155e+02] [-5.74177275e-02 9.98331247e-01 -6.15846308e-03 -4.82018301e+01] [-4.62702401e-02 3.50093950e-03 9.98922824e-01 -2.42846064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.550714057 meters 0.03833357399124915 Centerline is valid? [True, True] Translation: X:356.38, Y:-48.20, Z:-24.29 [[ 9.96957871e-01 6.32302362e-02 4.55734546e-02 3.56377089e+02] [-6.30170434e-02 9.97993802e-01 -6.10106160e-03 -4.82004360e+01] [-4.58677968e-02 3.21059703e-03 9.98942359e-01 -2.42871838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.580714057 meters 0.038648507515651645 Centerline is valid? [True, True] Translation: X:356.41, Y:-48.20, Z:-24.29 [[ 9.96707220e-01 6.69136993e-02 4.57960030e-02 3.56406615e+02] [-6.67023536e-02 9.97754091e-01 -6.12935132e-03 -4.82034487e+01] [-4.61032869e-02 3.05446753e-03 9.98932008e-01 -2.42892459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.610714057 meters 0.03680641616619777 Centerline is valid? [True, True] Translation: X:356.44, Y:-48.20, Z:-24.29 [[ 9.96433697e-01 7.07503797e-02 4.59812088e-02 3.56436801e+02] [-7.05414315e-02 9.97489872e-01 -6.15311758e-03 -4.82028298e+01] [-4.63011255e-02 2.88759341e-03 9.98923354e-01 -2.42906187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.640714057 meters 0.0378648734982135 Centerline is valid? [True, True] Translation: X:356.47, Y:-48.21, Z:-24.29 [[ 9.95864906e-01 7.76112397e-02 4.72184849e-02 3.56465353e+02] [-7.73986012e-02 9.96980211e-01 -6.31785357e-03 -4.82050969e+01] [-4.75662315e-02 2.63708397e-03 9.98864605e-01 -2.42920439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.670714057 meters 0.03243690544733998 Centerline is valid? [True, True] Translation: X:356.50, Y:-48.20, Z:-24.29 [[ 9.95554778e-01 8.09948017e-02 4.80679318e-02 3.56496830e+02] [-8.07784954e-02 9.96711345e-01 -6.42883099e-03 -4.81990403e+01] [-4.84305549e-02 2.51739820e-03 9.98823380e-01 -2.42916224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.700714057 meters 0.03229340478224757 Centerline is valid? [True, True] Translation: X:356.53, Y:-48.20, Z:-24.29 [[ 9.95021683e-01 8.65217225e-02 4.94554489e-02 3.56526788e+02] [-8.62995838e-02 9.96247280e-01 -6.61349820e-03 -4.81994396e+01] [-4.98420677e-02 2.31258946e-03 9.98754434e-01 -2.42914527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.730714057 meters 0.03035773434898742 Centerline is valid? [True, True] Translation: X:356.56, Y:-48.20, Z:-24.29 [[ 9.94792876e-01 8.86940517e-02 5.02045772e-02 3.56556531e+02] [-8.84679053e-02 9.96056405e-01 -6.71325904e-03 -4.81992138e+01] [-5.06020168e-02 2.23680849e-03 9.98716392e-01 -2.42920877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.76071405700003 meters 0.03030459573015037 Centerline is valid? [True, True] Translation: X:356.59, Y:-48.20, Z:-24.29 [[ 9.94640443e-01 9.00221633e-02 5.08566504e-02 3.56585393e+02] [-8.97921624e-02 9.95937352e-01 -6.79397342e-03 -4.82020282e+01] [-5.12616459e-02 2.19103212e-03 9.98682854e-01 -2.42932551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.790714057 meters 0.03030459573015037 Centerline is valid? [True, True] Translation: X:356.61, Y:-48.21, Z:-24.29 [[ 9.94650134e-01 8.99147698e-02 5.08571061e-02 3.56612596e+02] [-8.96848031e-02 9.95947049e-01 -6.79056036e-03 -4.82055723e+01] [-5.12615564e-02 2.19312223e-03 9.98682854e-01 -2.42948465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.82071405700003 meters 0.030993525883652336 Centerline is valid? [True, True] Translation: X:356.64, Y:-48.21, Z:-24.30 [[ 9.94487407e-01 9.10743644e-02 5.19640085e-02 3.56639994e+02] [-9.08361589e-02 9.95841721e-01 -6.93240773e-03 -4.82106707e+01] [-5.23792923e-02 2.17398125e-03 9.98624896e-01 -2.42971519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.850714057 meters 0.03105711159968775 Centerline is valid? [True, True] Translation: X:356.67, Y:-48.21, Z:-24.30 [[ 9.94558763e-01 9.07027880e-02 5.12432519e-02 3.56668943e+02] [-9.04709024e-02 9.95875668e-01 -6.83155003e-03 -4.82142614e+01] [-5.16515483e-02 2.15835471e-03 9.98662836e-01 -2.42991158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.88071405700003 meters 0.031246822709873303 Centerline is valid? [True, True] Translation: X:356.70, Y:-48.22, Z:-24.30 [[ 9.94772646e-01 8.85360191e-02 5.08798269e-02 3.56697436e+02] [-8.83047770e-02 9.96070432e-01 -6.77939092e-03 -4.82206352e+01] [-5.12801115e-02 2.25102088e-03 9.98681773e-01 -2.43022446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.910714057 meters 0.033298298689467605 Centerline is valid? [True, True] Translation: X:356.72, Y:-48.23, Z:-24.31 [[ 9.94904521e-01 8.72272792e-02 5.05608163e-02 3.56723940e+02] [-8.69973699e-02 9.96185778e-01 -6.73443260e-03 -4.82295301e+01] [-5.09553924e-02 2.30145940e-03 9.98698278e-01 -2.43052134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.940714057 meters 0.034205178472064834 Centerline is valid? [True, True] Translation: X:356.75, Y:-48.24, Z:-24.31 [[ 9.95083849e-01 8.54564122e-02 5.00533215e-02 3.56753321e+02] [-8.52291067e-02 9.96339107e-01 -6.66205404e-03 -4.82355810e+01] [-5.04393968e-02 2.36330250e-03 9.98724327e-01 -2.43074487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.970714057 meters 0.03637673306050473 Centerline is valid? [True, True] Translation: X:356.78, Y:-48.24, Z:-24.31 [[ 9.95399920e-01 8.21920072e-02 4.92287839e-02 3.56781464e+02] [-8.19682364e-02 9.96613414e-01 -6.55065820e-03 -4.82441136e+01] [-4.96004782e-02 2.48532805e-03 9.98766047e-01 -2.43095972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.000714057 meters 0.037404782891116144 Centerline is valid? [True, True] Translation: X:356.81, Y:-48.25, Z:-24.31 [[ 9.95545537e-01 8.04186698e-02 4.92130248e-02 3.56810298e+02] [-8.01929655e-02 9.96757858e-01 -6.54688755e-03 -4.82506672e+01] [-4.95799612e-02 2.57118628e-03 9.98766848e-01 -2.43112871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.030714057 meters 0.03810928666206434 Centerline is valid? [True, True] Translation: X:356.84, Y:-48.26, Z:-24.31 [[ 9.95902546e-01 7.60662637e-02 4.89085170e-02 3.56840369e+02] [-7.58382047e-02 9.97098921e-01 -6.50455869e-03 -4.82574656e+01] [-4.92614070e-02 2.76877244e-03 9.98782082e-01 -2.43134244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.060714057 meters 0.03463134346939631 Centerline is valid? [True, True] Translation: X:356.87, Y:-48.26, Z:-24.31 [[ 9.96068043e-01 7.35982423e-02 4.93128002e-02 3.56870226e+02] [-7.33633948e-02 9.97283713e-01 -6.55803947e-03 -4.82569737e+01] [-4.96615127e-02 2.91449911e-03 9.98761853e-01 -2.43141778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.090714057 meters 0.038825909598162775 Centerline is valid? [True, True] Translation: X:356.90, Y:-48.27, Z:-24.32 [[ 9.96351403e-01 6.92296188e-02 4.99113465e-02 3.56898437e+02] [-6.89836678e-02 9.97595720e-01 -6.63571227e-03 -4.82691472e+01] [-5.02507335e-02 3.16843348e-03 9.98731608e-01 -2.43163708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.120714057 meters 0.04002238606079906 Centerline is valid? [True, True] Translation: X:356.93, Y:-48.28, Z:-24.32 [[ 9.96522054e-01 6.69691324e-02 4.95876034e-02 3.56927670e+02] [-6.67236326e-02 9.97749722e-01 -6.59160230e-03 -4.82750009e+01] [-4.99174514e-02 3.26001204e-03 9.98748026e-01 -2.43181691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.150714057 meters 0.040629402867633724 Centerline is valid? [True, True] Translation: X:356.96, Y:-48.28, Z:-24.32 [[ 9.96657580e-01 6.50041652e-02 4.94785459e-02 3.56956709e+02] [-6.47574228e-02 9.97879372e-01 -6.57535926e-03 -4.82800232e+01] [-4.98010460e-02 3.34927854e-03 9.98753542e-01 -2.43202795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.180714057 meters 0.04189537531313216 Centerline is valid? [True, True] Translation: X:356.99, Y:-48.29, Z:-24.32 [[ 9.96899546e-01 6.17129752e-02 4.88139777e-02 3.56985766e+02] [-6.14689891e-02 9.98087925e-01 -6.48519130e-03 -4.82865448e+01] [-4.91208622e-02 3.46453839e-03 9.98786833e-01 -2.43227725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.210714057 meters 0.04273800482109236 Centerline is valid? [True, True] Translation: X:357.02, Y:-48.29, Z:-24.32 [[ 9.96999069e-01 6.02398846e-02 4.86211234e-02 3.57015225e+02] [-5.99961229e-02 9.98177715e-01 -6.45875046e-03 -4.82920744e+01] [-4.89215962e-02 3.52228930e-03 9.98796411e-01 -2.43248815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.240714057 meters 0.040409848168553135 Centerline is valid? [True, True] Translation: X:357.05, Y:-48.29, Z:-24.33 [[ 9.97124140e-01 5.83061591e-02 4.84132320e-02 3.57046038e+02] [-5.80622624e-02 9.98292255e-01 -6.43013521e-03 -4.82930980e+01] [-4.87054710e-02 3.60066126e-03 9.98806694e-01 -2.43267107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.270714057 meters 0.046521433764527866 Centerline is valid? [True, True] Translation: X:357.07, Y:-48.31, Z:-24.33 [[ 9.97185251e-01 5.76567267e-02 4.79299178e-02 3.57074181e+02] [-5.74169264e-02 9.98329990e-01 -6.36611162e-03 -4.83057056e+01] [-4.82169235e-02 3.59620404e-03 9.98830414e-01 -2.43298265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.300714057 meters 0.041285188977238596 Centerline is valid? [True, True] Translation: X:357.11, Y:-48.30, Z:-24.33 [[ 9.97233044e-01 5.73771643e-02 4.72664479e-02 3.57105901e+02] [-5.71436996e-02 9.98346231e-01 -6.27697320e-03 -4.83018293e+01] [-4.75484350e-02 3.55862539e-03 9.98862594e-01 -2.43307063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.330714057 meters 0.04487912098181094 Centerline is valid? [True, True] Translation: X:357.13, Y:-48.31, Z:-24.33 [[ 9.97220618e-01 5.79575573e-02 4.68183744e-02 3.57134392e+02] [-5.77291518e-02 9.98312923e-01 -6.21717455e-03 -4.83094220e+01] [-4.70997204e-02 3.49710961e-03 9.98884071e-01 -2.43337225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.360714057 meters 0.04164929978499279 Centerline is valid? [True, True] Translation: X:357.17, Y:-48.31, Z:-24.34 [[ 9.97171649e-01 5.89297385e-02 4.66474958e-02 3.57165008e+02] [-5.87039719e-02 9.98256205e-01 -6.19627220e-03 -4.83083779e+01] [-4.69312968e-02 3.44035368e-03 9.98892195e-01 -2.43351537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.390714057 meters 0.045450869894584744 Centerline is valid? [True, True] Translation: X:357.19, Y:-48.32, Z:-24.34 [[ 9.97028746e-01 6.10682617e-02 4.69504737e-02 3.57193086e+02] [-6.08419383e-02 9.98127934e-01 -6.23585744e-03 -4.83157273e+01] [-4.72433923e-02 3.36077130e-03 9.98877754e-01 -2.43374842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.420714057 meters 0.044958506374392034 Centerline is valid? [True, True] Translation: X:357.22, Y:-48.32, Z:-24.34 [[ 9.96957010e-01 6.25177852e-02 4.65644315e-02 3.57222447e+02] [-6.22968210e-02 9.98038515e-01 -6.18293882e-03 -4.83179535e+01] [-4.68596397e-02 3.26330814e-03 9.98896153e-01 -2.43394814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.450714057 meters 0.04087750425862501 Centerline is valid? [True, True] Translation: X:357.25, Y:-48.31, Z:-24.34 [[ 9.96854205e-01 6.40539669e-02 4.66774333e-02 3.57253340e+02] [-6.38336856e-02 9.97941315e-01 -6.19618661e-03 -4.83145428e+01] [-4.69782295e-02 3.19710207e-03 9.98890797e-01 -2.43400299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.480714057 meters 0.040317634739273016 Centerline is valid? [True, True] Translation: X:357.28, Y:-48.31, Z:-24.34 [[ 9.96537124e-01 6.82043071e-02 4.75597913e-02 3.57282856e+02] [-6.79803521e-02 9.97666690e-01 -6.31249185e-03 -4.83145571e+01] [-4.78793587e-02 3.05750112e-03 9.98848446e-01 -2.43401705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.51071405700003 meters 0.039724933638924806 Centerline is valid? [True, True] Translation: X:357.31, Y:-48.32, Z:-24.34 [[ 9.96354102e-01 7.03873448e-02 4.82091813e-02 3.57312608e+02] [-7.01598122e-02 9.97515247e-01 -6.39780780e-03 -4.83157043e+01] [-4.85397181e-02 2.99213494e-03 9.98816771e-01 -2.43411330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.540714057 meters 0.035286849161596204 Centerline is valid? [True, True] Translation: X:357.34, Y:-48.31, Z:-24.34 [[ 9.95963795e-01 7.44956631e-02 5.00651123e-02 3.57344004e+02] [-7.42555237e-02 9.97217128e-01 -6.64211134e-03 -4.83109994e+01] [-5.04205960e-02 2.89769128e-03 9.98723869e-01 -2.43410229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.57071405700003 meters 0.03511388334503022 Centerline is valid? [True, True] Translation: X:357.37, Y:-48.31, Z:-24.34 [[ 9.95814741e-01 7.62191439e-02 5.04345561e-02 3.57373283e+02] [-7.59776286e-02 9.97087070e-01 -6.69145058e-03 -4.83132869e+01] [-5.07976604e-02 2.83154715e-03 9.98704951e-01 -2.43428735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.600714057 meters 0.035134342229501035 Centerline is valid? [True, True] Translation: X:357.40, Y:-48.32, Z:-24.35 [[ 9.95583803e-01 7.94128498e-02 5.00648636e-02 3.57402128e+02] [-7.91791876e-02 9.96838309e-01 -6.63647439e-03 -4.83162728e+01] [-5.04335953e-02 2.64307119e-03 9.98723919e-01 -2.43452090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.63071405700003 meters 0.03550775384233367 Centerline is valid? [True, True] Translation: X:357.43, Y:-48.32, Z:-24.35 [[ 9.95524245e-01 8.07237964e-02 4.91441285e-02 3.57429877e+02] [-8.05003131e-02 9.96733304e-01 -6.51314634e-03 -4.83196041e+01] [-4.95093555e-02 2.52787737e-03 9.98770461e-01 -2.43471750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.660714057 meters 0.035447322184657036 Centerline is valid? [True, True] Translation: X:357.46, Y:-48.32, Z:-24.35 [[ 9.95459168e-01 8.16882329e-02 4.88679646e-02 3.57458800e+02] [-8.14686286e-02 9.96654892e-01 -6.47220889e-03 -4.83223448e+01] [-4.92331993e-02 2.46161362e-03 9.98784277e-01 -2.43497049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.690714057 meters 0.03527483574112859 Centerline is valid? [True, True] Translation: X:357.49, Y:-48.32, Z:-24.35 [[ 9.95329521e-01 8.35351296e-02 4.83841677e-02 3.57486974e+02] [-8.33221904e-02 9.96502077e-01 -6.40487135e-03 -4.83249570e+01] [-4.87499554e-02 2.34348269e-03 9.98808265e-01 -2.43521615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.720714057 meters 0.03434760436324525 Centerline is valid? [True, True] Translation: X:357.52, Y:-48.33, Z:-24.35 [[ 9.95258735e-01 8.44648922e-02 4.82258490e-02 3.57515846e+02] [-8.42545914e-02 9.96423831e-01 -6.38067250e-03 -4.83272553e+01] [-4.85923280e-02 2.28717084e-03 9.98816076e-01 -2.43537994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.750714057 meters 0.031030157861110907 Centerline is valid? [True, True] Translation: X:357.55, Y:-48.33, Z:-24.35 [[ 9.95181286e-01 8.51322948e-02 4.86487498e-02 3.57545220e+02] [-8.49192430e-02 9.96367068e-01 -6.43332991e-03 -4.83250654e+01] [-4.90196964e-02 2.27111452e-03 9.98795230e-01 -2.43545046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.780714057 meters 0.033823374109899364 Centerline is valid? [True, True] Translation: X:357.57, Y:-48.33, Z:-24.36 [[ 9.94944321e-01 8.73520791e-02 4.95521130e-02 3.57571987e+02] [-8.71339556e-02 9.96175075e-01 -6.54925988e-03 -4.83349573e+01] [-4.99346714e-02 2.19847731e-03 9.98750066e-01 -2.43567129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.810714057 meters 0.03126431337427606 Centerline is valid? [True, True] Translation: X:357.60, Y:-48.33, Z:-24.36 [[ 9.94864656e-01 8.81458624e-02 4.97455809e-02 3.57601540e+02] [-8.79272524e-02 9.96105231e-01 -6.57020796e-03 -4.83340561e+01] [-5.01309699e-02 2.16247544e-03 9.98740311e-01 -2.43574070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.840714057 meters 0.02991192380751174 Centerline is valid? [True, True] Translation: X:357.63, Y:-48.33, Z:-24.36 [[ 9.94603008e-01 9.05852034e-02 5.05883153e-02 3.57631053e+02] [-9.03624312e-02 9.95886556e-01 -6.67822865e-03 -4.83344246e+01] [-5.09851718e-02 2.07090314e-03 9.98697263e-01 -2.43582026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.870714057 meters 0.02889427972675474 Centerline is valid? [True, True] Translation: X:357.66, Y:-48.34, Z:-24.36 [[ 9.94478391e-01 9.17877300e-02 5.08698543e-02 3.57659868e+02] [-9.15643549e-02 9.95776559e-01 -6.70923001e-03 -4.83363845e+01] [-5.12708335e-02 2.01431887e-03 9.98682755e-01 -2.43598221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.900714057 meters 0.028318114300633357 Centerline is valid? [True, True] Translation: X:357.69, Y:-48.34, Z:-24.36 [[ 9.94334826e-01 9.29635901e-02 5.15366394e-02 3.57688437e+02] [-9.27360866e-02 9.95667549e-01 -6.79340587e-03 -4.83396526e+01] [-5.19448988e-02 1.97561379e-03 9.98647998e-01 -2.43611485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.930714057 meters 0.02834738735300698 Centerline is valid? [True, True] Translation: X:357.72, Y:-48.34, Z:-24.36 [[ 9.94169174e-01 9.48188869e-02 5.13520396e-02 3.57716642e+02] [-9.45956723e-02 9.95492787e-01 -6.76539004e-03 -4.83434082e+01] [-5.17620717e-02 1.86826153e-03 9.98657698e-01 -2.43631995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.960714057 meters 0.028527555121721778 Centerline is valid? [True, True] Translation: X:357.74, Y:-48.35, Z:-24.37 [[ 9.94150818e-01 9.49311930e-02 5.14996991e-02 3.57743530e+02] [-9.47070300e-02 9.95482091e-01 -6.78122818e-03 -4.83484805e+01] [-5.19107782e-02 1.86417999e-03 9.98649987e-01 -2.43650678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.990714057 meters 0.028724814063842377 Centerline is valid? [True, True] Translation: X:357.77, Y:-48.35, Z:-24.37 [[ 9.94207796e-01 9.40936227e-02 5.19350484e-02 3.57772063e+02] [-9.38647594e-02 9.95561503e-01 -6.83378279e-03 -4.83535505e+01] [-5.23475503e-02 1.91932930e-03 9.98627083e-01 -2.43664174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.020714057 meters 0.028443860840996888 Centerline is valid? [True, True] Translation: X:357.80, Y:-48.36, Z:-24.37 [[ 9.94292180e-01 9.29894526e-02 5.23070108e-02 3.57800603e+02] [-9.27559694e-02 9.95665109e-01 -6.87897286e-03 -4.83577571e+01] [-5.27199376e-02 1.98792142e-03 9.98607358e-01 -2.43683366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.050714057 meters 0.029039229130441924 Centerline is valid? [True, True] Translation: X:357.83, Y:-48.36, Z:-24.37 [[ 9.94376080e-01 9.18586094e-02 5.27086995e-02 3.57828901e+02] [-9.16201411e-02 9.95769930e-01 -6.92796920e-03 -4.83628762e+01] [-5.31221316e-02 2.05982838e-03 9.98585898e-01 -2.43703285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.080714057 meters 0.030076131518429906 Centerline is valid? [True, True] Translation: X:357.86, Y:-48.37, Z:-24.37 [[ 9.94629881e-01 8.94554723e-02 5.20491990e-02 3.57856226e+02] [-8.92198512e-02 9.95988487e-01 -6.83757932e-03 -4.83709722e+01] [-5.24520618e-02 2.15703891e-03 9.98621114e-01 -2.43726573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.110714057 meters 0.030016618329439925 Centerline is valid? [True, True] Translation: X:357.88, Y:-48.38, Z:-24.37 [[ 9.94734224e-01 8.81901563e-02 5.22141760e-02 3.57884435e+02] [-8.79514904e-02 9.96101168e-01 -6.85561187e-03 -4.83755185e+01] [-5.26151992e-02 2.22719715e-03 9.98612377e-01 -2.43744501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.140714057 meters 0.03067742138791048 Centerline is valid? [True, True] Translation: X:357.91, Y:-48.38, Z:-24.38 [[ 9.94910112e-01 8.58483140e-02 5.27630236e-02 3.57913552e+02] [-8.56015268e-02 9.96305396e-01 -6.92367206e-03 -4.83824772e+01] [-5.31624707e-02 2.37183596e-03 9.98583059e-01 -2.43750807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.170714057 meters 0.03400502285241089 Centerline is valid? [True, True] Translation: X:357.94, Y:-48.39, Z:-24.38 [[ 9.94967235e-01 8.47990465e-02 5.33790529e-02 3.57940178e+02] [-8.45450434e-02 9.96395050e-01 -7.00278820e-03 -4.83921821e+01] [-5.37804538e-02 2.45461047e-03 9.98549767e-01 -2.43768312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.200714057 meters 0.032578858193700974 Centerline is valid? [True, True] Translation: X:357.97, Y:-48.39, Z:-24.38 [[ 9.95020076e-01 8.41958644e-02 5.33488992e-02 3.57968749e+02] [-8.39415425e-02 9.96446136e-01 -6.99402883e-03 -4.83942021e+01] [-5.37481727e-02 2.48101021e-03 9.98551440e-01 -2.43779246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.230714057 meters 0.031267820740483065 Centerline is valid? [True, True] Translation: X:358.00, Y:-48.40, Z:-24.38 [[ 9.95066214e-01 8.34668177e-02 5.36331975e-02 3.57997062e+02] [-8.32089222e-02 9.96507345e-01 -7.02754462e-03 -4.83972442e+01] [-5.40324421e-02 2.53011166e-03 9.98535975e-01 -2.43797493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.26071405700003 meters 0.031072901054744476 Centerline is valid? [True, True] Translation: X:358.02, Y:-48.40, Z:-24.38 [[ 9.95093899e-01 8.33083072e-02 5.33653187e-02 3.58024942e+02] [-8.30529629e-02 9.96520629e-01 -6.98862203e-03 -4.84021114e+01] [-5.37618512e-02 2.52218732e-03 9.98550601e-01 -2.43821373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.290714057 meters 0.03123730229137554 Centerline is valid? [True, True] Translation: X:358.05, Y:-48.41, Z:-24.39 [[ 9.95116033e-01 8.30337802e-02 5.33804493e-02 3.58052591e+02] [-8.27781041e-02 9.96543512e-01 -6.98675904e-03 -4.84089017e+01] [-5.37760774e-02 2.53390354e-03 9.98549805e-01 -2.43853614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.32071405700003 meters 0.030973934529809104 Centerline is valid? [True, True] Translation: X:358.08, Y:-48.41, Z:-24.39 [[ 9.95176638e-01 8.27279468e-02 5.27213953e-02 3.58081374e+02] [-8.24783222e-02 9.96568995e-01 -6.89676916e-03 -4.84128892e+01] [-5.31110635e-02 2.51513132e-03 9.98585444e-01 -2.43874788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.350714057 meters 0.031077235062979186 Centerline is valid? [True, True] Translation: X:358.11, Y:-48.42, Z:-24.39 [[ 9.95185692e-01 8.29437164e-02 5.22089906e-02 3.58108951e+02] [-8.26994142e-02 9.96551158e-01 -6.82608479e-03 -4.84178066e+01] [-5.25951109e-02 2.47556897e-03 9.98612851e-01 -2.43896702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.38071405700003 meters 0.030550864593787575 Centerline is valid? [True, True] Translation: X:358.14, Y:-48.42, Z:-24.39 [[ 9.95124277e-01 8.45007341e-02 5.08654926e-02 3.58137437e+02] [-8.42711183e-02 9.96420700e-01 -6.64585943e-03 -4.84216663e+01] [-5.12450097e-02 2.32696412e-03 9.98683400e-01 -2.43921546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.410714057 meters 0.029987740156250525 Centerline is valid? [True, True] Translation: X:358.17, Y:-48.42, Z:-24.39 [[ 9.95104759e-01 8.52228248e-02 5.00358703e-02 3.58166028e+02] [-8.50017329e-02 9.96359379e-01 -6.53394979e-03 -4.84242542e+01] [-5.04105504e-02 2.24882885e-03 9.98726048e-01 -2.43940294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.440714057 meters 0.028435248518188676 Centerline is valid? [True, True] Translation: X:358.20, Y:-48.42, Z:-24.40 [[ 9.94889871e-01 8.77347486e-02 4.99675689e-02 3.58195410e+02] [-8.75176081e-02 9.96141627e-01 -6.52129678e-03 -4.84249248e+01] [-5.03469197e-02 2.11492999e-03 9.98729550e-01 -2.43952170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.470714057 meters 0.029306159253115797 Centerline is valid? [True, True] Translation: X:358.22, Y:-48.43, Z:-24.40 [[ 9.94776500e-01 8.88744648e-02 5.02099956e-02 3.58223097e+02] [-8.86567940e-02 9.96040695e-01 -6.55025732e-03 -4.84307845e+01] [-5.05933495e-02 2.06458482e-03 9.98717202e-01 -2.43969828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.500714057 meters 0.029213038718772476 Centerline is valid? [True, True] Translation: X:358.25, Y:-48.43, Z:-24.40 [[ 9.94612897e-01 9.03673980e-02 5.07830461e-02 3.58250379e+02] [-9.01468555e-02 9.95906473e-01 -6.62133273e-03 -4.84347618e+01] [-5.11735170e-02 2.00773100e-03 9.98687759e-01 -2.43986979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.530714057 meters 0.02880765346641123 Centerline is valid? [True, True] Translation: X:358.28, Y:-48.44, Z:-24.40 [[ 9.94630170e-01 9.01543677e-02 5.08233632e-02 3.58278873e+02] [-8.99334345e-02 9.95925764e-01 -6.62195980e-03 -4.84378957e+01] [-5.12132954e-02 2.01568139e-03 9.98685704e-01 -2.44003399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.560714057 meters 0.02906858707204711 Centerline is valid? [True, True] Translation: X:358.31, Y:-48.44, Z:-24.40 [[ 9.94781304e-01 8.86699341e-02 5.04757305e-02 3.58307117e+02] [-8.84502909e-02 9.96058904e-01 -6.57309361e-03 -4.84422294e+01] [-5.08596366e-02 2.07419759e-03 9.98703657e-01 -2.44021036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.590714057 meters 0.02967869129454387 Centerline is valid? [True, True] Translation: X:358.34, Y:-48.45, Z:-24.40 [[ 9.94992367e-01 8.64749963e-02 5.01225014e-02 3.58336274e+02] [-8.62558339e-02 9.96251664e-01 -6.52327093e-03 -4.84475785e+01] [-5.04987252e-02 2.16724663e-03 9.98721774e-01 -2.44038540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.620714057 meters 0.030494716435091766 Centerline is valid? [True, True] Translation: X:358.37, Y:-48.45, Z:-24.41 [[ 9.95197420e-01 8.39196885e-02 5.03942623e-02 3.58365416e+02] [-8.36949647e-02 9.96469849e-01 -6.55682613e-03 -4.84534342e+01] [-5.07666097e-02 2.30759044e-03 9.98707878e-01 -2.44058996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.650714057 meters 0.03524182339961916 Centerline is valid? [True, True] Translation: X:358.39, Y:-48.47, Z:-24.41 [[ 9.95742016e-01 7.75196151e-02 4.98853434e-02 3.58393005e+02] [-7.72915015e-02 9.96987423e-01 -6.48859520e-03 -4.84664265e+01] [-5.02380534e-02 2.60525377e-03 9.98733874e-01 -2.44089271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.680714057 meters 0.03524182339961916 Centerline is valid? [True, True] Translation: X:358.42, Y:-48.47, Z:-24.41 [[ 9.95747210e-01 7.74528964e-02 4.98852888e-02 3.58421074e+02] [-7.72246784e-02 9.96992599e-01 -6.48901526e-03 -4.84700118e+01] [-5.02378567e-02 2.60904346e-03 9.98733874e-01 -2.44105670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.710714057 meters 0.03476732902600126 Centerline is valid? [True, True] Translation: X:358.45, Y:-48.47, Z:-24.41 [[ 9.95988246e-01 7.45355955e-02 4.95162396e-02 3.58450434e+02] [-7.43073322e-02 9.97214611e-01 -6.43739066e-03 -4.84739130e+01] [-4.98581323e-02 2.73214577e-03 9.98752573e-01 -2.44120402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.740714057 meters 0.041028995079715386 Centerline is valid? [True, True] Translation: X:358.48, Y:-48.49, Z:-24.41 [[ 9.96460817e-01 6.83196587e-02 4.89720701e-02 3.58478293e+02] [-6.80890024e-02 9.97658948e-01 -6.36476831e-03 -4.84876439e+01] [-4.92922628e-02 3.00778283e-03 9.98779869e-01 -2.44141724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.770714057 meters 0.04187696836213627 Centerline is valid? [True, True] Translation: X:358.51, Y:-48.49, Z:-24.42 [[ 9.96621829e-01 6.58112502e-02 4.91305253e-02 3.58507673e+02] [-6.55760775e-02 9.97827144e-01 -6.38506299e-03 -4.84928309e+01] [-4.94439807e-02 3.14170603e-03 9.98771957e-01 -2.44157286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.800714057 meters 0.043188364429347564 Centerline is valid? [True, True] Translation: X:358.54, Y:-48.50, Z:-24.42 [[ 9.96774680e-01 6.37854812e-02 4.86995954e-02 3.58536097e+02] [-6.35520389e-02 9.97958460e-01 -6.32854048e-03 -4.84988807e+01] [-4.90038423e-02 3.21317033e-03 9.98793422e-01 -2.44170563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.830714057 meters 0.04294046515419562 Centerline is valid? [True, True] Translation: X:358.57, Y:-48.50, Z:-24.42 [[ 9.96982808e-01 6.03426022e-02 4.88267455e-02 3.58566276e+02] [-6.01039661e-02 9.98171973e-01 -6.34229144e-03 -4.85035198e+01] [-4.91201993e-02 3.38847447e-03 9.98787127e-01 -2.44186352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.860714057 meters 0.03925451565683414 Centerline is valid? [True, True] Translation: X:358.60, Y:-48.50, Z:-24.42 [[ 9.97100028e-01 5.89308597e-02 4.81527648e-02 3.58596930e+02] [-5.86971723e-02 9.98256244e-01 -6.25398198e-03 -4.85023706e+01] [-4.84373507e-02 3.40941447e-03 9.98820404e-01 -2.44197447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.890714057 meters 0.03987580654604368 Centerline is valid? [True, True] Translation: X:358.63, Y:-48.51, Z:-24.42 [[ 9.97231389e-01 5.69583656e-02 4.78048185e-02 3.58626673e+02] [-5.67257891e-02 9.98370490e-01 -6.20887077e-03 -4.85073628e+01] [-4.80805672e-02 3.47991477e-03 9.98837399e-01 -2.44221288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.920714057 meters 0.04651630647952392 Centerline is valid? [True, True] Translation: X:358.66, Y:-48.52, Z:-24.42 [[ 9.97258032e-01 5.66227446e-02 4.76474867e-02 3.58655654e+02] [-5.63913754e-02 9.98389569e-01 -6.18722225e-03 -4.85205585e+01] [-4.79210913e-02 3.48334977e-03 9.98845051e-01 -2.44249489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.950714057 meters 0.041562042103647855 Centerline is valid? [True, True] Translation: X:358.69, Y:-48.52, Z:-24.43 [[ 9.97255220e-01 5.67807348e-02 4.75181372e-02 3.58687175e+02] [-5.65505911e-02 9.98380640e-01 -6.17478090e-03 -4.85170874e+01] [-4.77917969e-02 3.47065373e-03 9.98851290e-01 -2.44258633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.980714057 meters 0.03822465650868154 Centerline is valid? [True, True] Translation: X:358.72, Y:-48.51, Z:-24.43 [[ 9.97115107e-01 5.88387680e-02 4.79527216e-02 3.58718423e+02] [-5.86067546e-02 9.98261699e-01 -6.23130522e-03 -4.85148806e+01] [-4.82360076e-02 3.40297518e-03 9.98830169e-01 -2.44262707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.01071405700003 meters 0.038829383126269115 Centerline is valid? [True, True] Translation: X:358.75, Y:-48.52, Z:-24.43 [[ 9.97026776e-01 6.01901066e-02 4.81119426e-02 3.58747224e+02] [-5.99581123e-02 9.98181315e-01 -6.25201054e-03 -4.85180863e+01] [-4.84007513e-02 3.34872066e-03 9.98822383e-01 -2.44278734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.040714057 meters 0.040734706301121255 Centerline is valid? [True, True] Translation: X:358.78, Y:-48.52, Z:-24.43 [[ 9.96940863e-01 6.17024259e-02 4.79763129e-02 3.58776525e+02] [-6.14736023e-02 9.98089255e-01 -6.23187043e-03 -4.85233125e+01] [-4.82691639e-02 3.26352951e-03 9.98829033e-01 -2.44297314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.07071405700003 meters 0.03587412816769937 Centerline is valid? [True, True] Translation: X:358.81, Y:-48.52, Z:-24.43 [[ 9.96666664e-01 6.49486244e-02 4.93683815e-02 3.58807847e+02] [-6.47101257e-02 9.97883479e-01 -6.41572927e-03 -4.85171859e+01] [-4.96805851e-02 3.19970931e-03 9.98760032e-01 -2.44297357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.100714057 meters 0.035695232373751586 Centerline is valid? [True, True] Translation: X:358.84, Y:-48.52, Z:-24.43 [[ 9.96579584e-01 6.60561131e-02 4.96560469e-02 3.58836317e+02] [-6.58162150e-02 9.97810898e-01 -6.45265698e-03 -4.85191617e+01] [-4.99735822e-02 3.16241314e-03 9.98745533e-01 -2.44305337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.13071405700003 meters 0.03764148719533227 Centerline is valid? [True, True] Translation: X:358.86, Y:-48.52, Z:-24.43 [[ 9.96448355e-01 6.73090397e-02 5.05981093e-02 3.58863938e+02] [-6.70617353e-02 9.97727187e-01 -6.57145186e-03 -4.85239907e+01] [-5.09254274e-02 3.15491538e-03 9.98697475e-01 -2.44323971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.160714057 meters 0.03742092422431704 Centerline is valid? [True, True] Translation: X:358.89, Y:-48.53, Z:-24.43 [[ 9.96419514e-01 6.74472022e-02 5.09806582e-02 3.58892247e+02] [-6.71965636e-02 9.97717818e-01 -6.61639575e-03 -4.85268834e+01] [-5.13105685e-02 3.16698079e-03 9.98677724e-01 -2.44336582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.190714057 meters 0.03460684575448449 Centerline is valid? [True, True] Translation: X:358.92, Y:-48.52, Z:-24.44 [[ 9.96562489e-01 6.61300240e-02 4.99001534e-02 3.58922226e+02] [-6.58884494e-02 9.97806003e-01 -6.47248063e-03 -4.85247842e+01] [-5.02186979e-02 3.16238767e-03 9.98733239e-01 -2.44350596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.220714057 meters 0.06298858473702516 Centerline is valid? [True, True] Translation: X:358.95, Y:-48.57, Z:-24.44 [[ 9.96285076e-01 6.87918802e-02 5.18046821e-02 3.58945280e+02] [-6.85351775e-02 9.97626084e-01 -6.71753114e-03 -4.85690309e+01] [-5.21438137e-02 3.14213293e-03 9.98634643e-01 -2.44401355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.250714057 meters 0.03705830133256351 Centerline is valid? [True, True] Translation: X:358.98, Y:-48.53, Z:-24.44 [[ 9.96831891e-01 6.30662569e-02 4.84647159e-02 3.58980069e+02] [-6.28349687e-02 9.98004156e-01 -6.28262898e-03 -4.85348784e+01] [-4.87642098e-02 3.21744601e-03 9.98805136e-01 -2.44397543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.280714057 meters 0.03726523050526149 Centerline is valid? [True, True] Translation: X:359.01, Y:-48.54, Z:-24.44 [[ 9.96931056e-01 6.20767164e-02 4.76964510e-02 3.59009272e+02] [-6.18516116e-02 9.98066208e-01 -6.18244164e-03 -4.85385455e+01] [-4.79880016e-02 3.21336571e-03 9.98842743e-01 -2.44416785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.310714057 meters 0.03939412375664645 Centerline is valid? [True, True] Translation: X:359.04, Y:-48.54, Z:-24.44 [[ 9.96991574e-01 6.13475352e-02 4.73738407e-02 3.59037557e+02] [-6.11247215e-02 9.98111256e-01 -6.13910679e-03 -4.85449131e+01] [-4.76609827e-02 3.22492492e-03 9.98858364e-01 -2.44445161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.340714057 meters 0.03739408714253621 Centerline is valid? [True, True] Translation: X:359.07, Y:-48.55, Z:-24.45 [[ 9.97061111e-01 6.05422252e-02 4.69444286e-02 3.59067306e+02] [-6.03226749e-02 9.98160407e-01 -6.08078488e-03 -4.85451090e+01] [-4.72262142e-02 3.23110063e-03 9.98878994e-01 -2.44455680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.370714057 meters 0.0390499947204205 Centerline is valid? [True, True] Translation: X:359.10, Y:-48.55, Z:-24.45 [[ 9.97174646e-01 5.90162327e-02 4.64737558e-02 3.59095561e+02] [-5.87994872e-02 9.98251672e-01 -6.01834681e-03 -4.85507089e+01] [-4.67476845e-02 3.26870984e-03 9.98901381e-01 -2.44477252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.400714057 meters 0.03958744558536062 Centerline is valid? [True, True] Translation: X:359.13, Y:-48.55, Z:-24.45 [[ 9.97312653e-01 5.69390013e-02 4.61022996e-02 3.59125485e+02] [-5.67236358e-02 9.98372085e-01 -5.96737396e-03 -4.85536809e+01] [-4.63670252e-02 3.33624751e-03 9.98918900e-01 -2.44489285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.430714057 meters 0.039103717677955785 Centerline is valid? [True, True] Translation: X:359.16, Y:-48.56, Z:-24.45 [[ 9.97360165e-01 5.58593110e-02 4.63943812e-02 3.59155185e+02] [-5.56400738e-02 9.98432836e-01 -6.00454304e-03 -4.85568064e+01] [-4.66570832e-02 3.40730525e-03 9.98905154e-01 -2.44499838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.460714057 meters 0.04090209331202051 Centerline is valid? [True, True] Translation: X:359.18, Y:-48.56, Z:-24.45 [[ 9.97429941e-01 5.45507784e-02 4.64513121e-02 3.59183731e+02] [-5.43297115e-02 9.98504968e-01 -6.00935085e-03 -4.85625305e+01] [-4.67096807e-02 3.47022008e-03 9.98902479e-01 -2.44516833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.490714057 meters 0.0433902480888647 Centerline is valid? [True, True] Translation: X:359.21, Y:-48.57, Z:-24.45 [[ 9.97540692e-01 5.22625842e-02 4.67032149e-02 3.59213040e+02] [-5.20364987e-02 9.98626891e-01 -6.04448896e-03 -4.85701849e+01] [-4.69549869e-02 3.59935192e-03 9.98890521e-01 -2.44535636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.520714057 meters 0.042958713122400904 Centerline is valid? [True, True] Translation: X:359.24, Y:-48.57, Z:-24.45 [[ 9.97565105e-01 5.16185761e-02 4.68975854e-02 3.59243681e+02] [-5.13898960e-02 9.98660221e-01 -6.06964505e-03 -4.85732572e+01] [-4.71480594e-02 3.64480406e-03 9.98881262e-01 -2.44549023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.550714057 meters 0.044637217266834894 Centerline is valid? [True, True] Translation: X:359.27, Y:-48.58, Z:-24.46 [[ 9.97609497e-01 5.07696455e-02 4.68800123e-02 3.59273513e+02] [-5.05402144e-02 9.98703598e-01 -6.06718623e-03 -4.85784589e+01] [-4.71272658e-02 3.68335672e-03 9.98882102e-01 -2.44562925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.580714057 meters 0.04474051556612201 Centerline is valid? [True, True] Translation: X:359.30, Y:-48.58, Z:-24.46 [[ 9.97611499e-01 5.07530615e-02 4.68553404e-02 3.59304927e+02] [-5.05238237e-02 9.98704442e-01 -6.06463371e-03 -4.85821531e+01] [-4.71024353e-02 3.68283738e-03 9.98883275e-01 -2.44576471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.610714057 meters 0.04522746997203041 Centerline is valid? [True, True] Translation: X:359.34, Y:-48.59, Z:-24.46 [[ 9.97574172e-01 5.11603039e-02 4.72058715e-02 3.59335906e+02] [-5.09279936e-02 9.98683627e-01 -6.11167103e-03 -4.85862004e+01] [-4.74564059e-02 3.69274484e-03 9.98866484e-01 -2.44589691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.640714057 meters 0.04539151236207489 Centerline is valid? [True, True] Translation: X:359.37, Y:-48.59, Z:-24.46 [[ 9.97494002e-01 5.23538082e-02 4.75898615e-02 3.59366342e+02] [-5.21189523e-02 9.98621864e-01 -6.16339784e-03 -4.85892881e+01] [-4.78469536e-02 3.66761865e-03 9.98847945e-01 -2.44602106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.670714057 meters 0.042452980331212406 Centerline is valid? [True, True] Translation: X:359.40, Y:-48.59, Z:-24.46 [[ 9.97459968e-01 5.30180175e-02 4.75678640e-02 3.59397673e+02] [-5.27841376e-02 9.98586944e-01 -6.16037423e-03 -4.85882685e+01] [-4.78272588e-02 3.63389801e-03 9.98849012e-01 -2.44612677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.700714057 meters 0.04055425658878635 Centerline is valid? [True, True] Translation: X:359.43, Y:-48.59, Z:-24.46 [[ 9.97358890e-01 5.46959962e-02 4.77869478e-02 3.59428626e+02] [-5.44618276e-02 9.98496669e-01 -6.18960161e-03 -4.85892092e+01] [-4.80536546e-02 3.57068968e-03 9.98838374e-01 -2.44628134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.730714057 meters 0.03887292602892096 Centerline is valid? [True, True] Translation: X:359.46, Y:-48.59, Z:-24.46 [[ 9.97365165e-01 5.50496548e-02 4.72468336e-02 3.59457987e+02] [-5.48210829e-02 9.98477432e-01 -6.12103531e-03 -4.85902819e+01] [-4.75118579e-02 3.51478482e-03 9.98864490e-01 -2.44646137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.76071405700003 meters 0.04011324268133364 Centerline is valid? [True, True] Translation: X:359.49, Y:-48.60, Z:-24.47 [[ 9.97321517e-01 5.61330872e-02 4.68920945e-02 3.59486937e+02] [-5.59092178e-02 9.98417386e-01 -6.07318274e-03 -4.85953912e+01] [-4.71587889e-02 3.43521549e-03 9.98881498e-01 -2.44675286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.790714057 meters 0.0399031539294181 Centerline is valid? [True, True] Translation: X:359.52, Y:-48.60, Z:-24.47 [[ 9.97309994e-01 5.66782533e-02 4.64795723e-02 3.59516622e+02] [-5.64589277e-02 9.98386779e-01 -6.01911471e-03 -4.85988952e+01] [-4.67457434e-02 3.37873644e-03 9.98901106e-01 -2.44694774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.82071405700003 meters 0.03997064712153743 Centerline is valid? [True, True] Translation: X:359.55, Y:-48.60, Z:-24.47 [[ 9.97283590e-01 5.76428985e-02 4.58556087e-02 3.59546484e+02] [-5.74305257e-02 9.98331855e-01 -5.93647945e-03 -4.86014359e+01] [-4.61213108e-02 3.28684182e-03 9.98930439e-01 -2.44721811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.850714057 meters 0.04031788806340576 Centerline is valid? [True, True] Translation: X:359.58, Y:-48.60, Z:-24.47 [[ 9.97269100e-01 5.81531441e-02 4.55253146e-02 3.59575825e+02] [-5.79443786e-02 9.98302419e-01 -5.89312122e-03 -4.86047638e+01] [-4.57907352e-02 3.23909164e-03 9.98945803e-01 -2.44740060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.88071405700003 meters 0.040215650092653 Centerline is valid? [True, True] Translation: X:359.60, Y:-48.61, Z:-24.48 [[ 9.97283675e-01 5.85485167e-02 4.46916421e-02 3.59604268e+02] [-5.83477781e-02 9.98279561e-01 -5.78410134e-03 -4.86064559e+01] [-4.49534034e-02 3.16073183e-03 9.98984085e-01 -2.44757534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.910714057 meters 0.04119119350341164 Centerline is valid? [True, True] Translation: X:359.63, Y:-48.61, Z:-24.48 [[ 9.97307680e-01 5.82368858e-02 4.45629408e-02 3.59632912e+02] [-5.80371519e-02 9.98297784e-01 -5.76390883e-03 -4.86109943e+01] [-4.48227572e-02 3.16208438e-03 9.98989951e-01 -2.44776320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.940714057 meters 0.041882404624962816 Centerline is valid? [True, True] Translation: X:359.66, Y:-48.61, Z:-24.48 [[ 9.97365424e-01 5.78249343e-02 4.38005501e-02 3.59661117e+02] [-5.76316470e-02 9.98321848e-01 -5.66393036e-03 -4.86149452e+01] [-4.40545625e-02 3.12471046e-03 9.99024240e-01 -2.44795725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.970714057 meters 0.04351382226566589 Centerline is valid? [True, True] Translation: X:359.69, Y:-48.62, Z:-24.48 [[ 9.97491451e-01 5.63087506e-02 4.28967254e-02 3.59690334e+02] [-5.61221174e-02 9.98408522e-01 -5.54364204e-03 -4.86193593e+01] [-4.31406118e-02 3.12228048e-03 9.99064132e-01 -2.44824988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.000714057 meters 0.04494791009759361 Centerline is valid? [True, True] Translation: X:359.72, Y:-48.63, Z:-24.48 [[ 9.97549206e-01 5.52972924e-02 4.28694668e-02 3.59717901e+02] [-5.51100455e-02 9.98464927e-01 -5.53831996e-03 -4.86251214e+01] [-4.31099131e-02 3.16220841e-03 9.99065331e-01 -2.44845114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.030714057 meters 0.04495349736562902 Centerline is valid? [True, True] Translation: X:359.75, Y:-48.63, Z:-24.49 [[ 9.97605728e-01 5.42800539e-02 4.28542534e-02 3.59747523e+02] [-5.40920182e-02 9.98520608e-01 -5.53609521e-03 -4.86290272e+01] [-4.30913547e-02 3.20476723e-03 9.99065996e-01 -2.44860265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.060714057 meters 0.04329195154048156 Centerline is valid? [True, True] Translation: X:359.78, Y:-48.63, Z:-24.49 [[ 9.97710680e-01 5.18603843e-02 4.34039111e-02 3.59777426e+02] [-5.16652913e-02 9.98648726e-01 -5.60534153e-03 -4.86303562e+01] [-4.36359557e-02 3.35003340e-03 9.99041881e-01 -2.44861658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.090714057 meters 0.04341130369995368 Centerline is valid? [True, True] Translation: X:359.81, Y:-48.63, Z:-24.49 [[ 9.97744855e-01 5.06990308e-02 4.39865138e-02 3.59806556e+02] [-5.04975641e-02 9.98708032e-01 -5.68002711e-03 -4.86343784e+01] [-4.42176565e-02 3.44600602e-03 9.99015978e-01 -2.44873614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.120714057 meters 0.04516626866559277 Centerline is valid? [True, True] Translation: X:359.84, Y:-48.64, Z:-24.49 [[ 9.97801267e-01 4.83378053e-02 4.53440986e-02 3.59836158e+02] [-4.81213636e-02 9.98824345e-01 -5.85344390e-03 -4.86411327e+01] [-4.55737322e-02 3.65855388e-03 9.98954278e-01 -2.44884442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.150714057 meters 0.042638611973267425 Centerline is valid? [True, True] Translation: X:359.87, Y:-48.64, Z:-24.49 [[ 9.97821627e-01 4.76737490e-02 4.55983987e-02 3.59867231e+02] [-4.74542385e-02 9.98856077e-01 -5.88503932e-03 -4.86417302e+01] [-4.58267995e-02 3.70838222e-03 9.98942517e-01 -2.44893635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.180714057 meters 0.047942066886763966 Centerline is valid? [True, True] Translation: X:359.90, Y:-48.65, Z:-24.49 [[ 9.97813438e-01 4.75049359e-02 4.59524083e-02 3.59896464e+02] [-4.72818188e-02 9.98863982e-01 -5.93081623e-03 -4.86521702e+01] [-4.61819486e-02 3.74513469e-03 9.98926024e-01 -2.44912769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.210714057 meters 0.04435499441502452 Centerline is valid? [True, True] Translation: X:359.93, Y:-48.65, Z:-24.49 [[ 9.97804890e-01 4.76294563e-02 4.60090943e-02 3.59928273e+02] [-4.74057144e-02 9.98858040e-01 -5.94255727e-03 -4.86508954e+01] [-4.62395945e-02 3.74841872e-03 9.98923345e-01 -2.44925213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.240714057 meters 0.047056614296190964 Centerline is valid? [True, True] Translation: X:359.96, Y:-48.66, Z:-24.50 [[ 9.97785701e-01 4.81886305e-02 4.58426788e-02 3.59958498e+02] [-4.79671199e-02 9.98831369e-01 -5.92045168e-03 -4.86581925e+01] [-4.60744041e-02 3.70840075e-03 9.98931127e-01 -2.44951718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.270714057 meters 0.045588204265487174 Centerline is valid? [True, True] Translation: X:359.99, Y:-48.66, Z:-24.50 [[ 9.97790458e-01 4.89206600e-02 4.49552045e-02 3.59989845e+02] [-4.87078214e-02 9.98796123e-01 -5.81837122e-03 -4.86592994e+01] [-4.51857225e-02 3.61584522e-03 9.98972060e-01 -2.44969740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.300714057 meters 0.04249005210515634 Centerline is valid? [True, True] Translation: X:360.02, Y:-48.66, Z:-24.50 [[ 9.97804394e-01 4.89638811e-02 4.45974131e-02 3.60020459e+02] [-4.87543726e-02 9.98794109e-01 -5.77407423e-03 -4.86580739e+01] [-4.48263545e-02 3.58707774e-03 9.98988354e-01 -2.44986072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.330714057 meters 0.04373894897135016 Centerline is valid? [True, True] Translation: X:360.05, Y:-48.66, Z:-24.50 [[ 9.97807069e-01 4.93491583e-02 4.41102349e-02 3.60049872e+02] [-4.91445799e-02 9.98775347e-01 -5.71099876e-03 -4.86635864e+01] [-4.43380482e-02 3.53069597e-03 9.99010346e-01 -2.45019446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.360714057 meters 0.04408800266858726 Centerline is valid? [True, True] Translation: X:360.08, Y:-48.67, Z:-24.50 [[ 9.97850888e-01 4.92331264e-02 4.32400781e-02 3.60080385e+02] [-4.90364382e-02 9.98781301e-01 -5.59833863e-03 -4.86674115e+01] [-4.34630052e-02 3.46596776e-03 9.99049025e-01 -2.45047301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.390714057 meters 0.04399955067214689 Centerline is valid? [True, True] Translation: X:360.11, Y:-48.67, Z:-24.51 [[ 9.97865062e-01 4.94483967e-02 4.26634967e-02 3.60109657e+02] [-4.92570959e-02 9.98770855e-01 -5.52421490e-03 -4.86715636e+01] [-4.28842206e-02 3.41094110e-03 9.99074226e-01 -2.45070647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.420714057 meters 0.044618687025271886 Centerline is valid? [True, True] Translation: X:360.14, Y:-48.68, Z:-24.51 [[ 9.97908121e-01 4.88949837e-02 4.22925759e-02 3.60139776e+02] [-4.87065907e-02 9.98798129e-01 -5.47414913e-03 -4.86756217e+01] [-4.25094041e-02 3.40277069e-03 9.99090272e-01 -2.45096002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.450714057 meters 0.050445970242942687 Centerline is valid? [True, True] Translation: X:360.17, Y:-48.69, Z:-24.51 [[ 9.97937550e-01 4.86187966e-02 4.19149066e-02 3.60167713e+02] [-4.84335023e-02 9.98811674e-01 -5.42553919e-03 -4.86874245e+01] [-4.21288812e-02 3.38426356e-03 9.99106453e-01 -2.45125045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.480714057 meters 0.04797138081562381 Centerline is valid? [True, True] Translation: X:360.20, Y:-48.69, Z:-24.51 [[ 9.97948576e-01 4.82191673e-02 4.21135531e-02 3.60198399e+02] [-4.80318011e-02 9.98830937e-01 -5.45023113e-03 -4.86873653e+01] [-4.23271253e-02 3.41626059e-03 9.99097965e-01 -2.45126473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.51071405700003 meters 0.04778139720037112 Centerline is valid? [True, True] Translation: X:360.23, Y:-48.69, Z:-24.51 [[ 9.97943652e-01 4.80915709e-02 4.23753350e-02 3.60227808e+02] [-4.79017298e-02 9.98836995e-01 -5.48463139e-03 -4.86908042e+01] [-4.25898169e-02 3.44350123e-03 9.99086708e-01 -2.45139639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.540714057 meters 0.04980366475242662 Centerline is valid? [True, True] Translation: X:360.26, Y:-48.70, Z:-24.52 [[ 9.97886145e-01 4.82498729e-02 4.35337935e-02 3.60257066e+02] [-4.80497558e-02 9.98829064e-01 -5.63217214e-03 -4.86972448e+01] [-4.37545698e-02 3.52847840e-03 9.99036079e-01 -2.45153750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.57071405700003 meters 0.0490980826520842 Centerline is valid? [True, True] Translation: X:360.29, Y:-48.70, Z:-24.52 [[ 9.97871168e-01 4.81845181e-02 4.39475228e-02 3.60287637e+02] [-4.79804482e-02 9.98832084e-01 -5.68716286e-03 -4.87003717e+01] [-4.41702290e-02 3.56643400e-03 9.99017653e-01 -2.45161755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.600714057 meters 0.0490980826520842 Centerline is valid? [True, True] Translation: X:360.32, Y:-48.70, Z:-24.52 [[ 9.97871168e-01 4.81845181e-02 4.39475228e-02 3.60317438e+02] [-4.79804482e-02 9.98832084e-01 -5.68716286e-03 -4.87042283e+01] [-4.41702290e-02 3.56643400e-03 9.99017653e-01 -2.45179169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.63071405700003 meters 0.0504731749197837 Centerline is valid? [True, True] Translation: X:360.35, Y:-48.71, Z:-24.52 [[ 9.97800316e-01 4.86487685e-02 4.50313881e-02 3.60347410e+02] [-4.84349785e-02 9.98809339e-01 -5.82721364e-03 -4.87108684e+01] [-4.52612578e-02 3.63330130e-03 9.98968577e-01 -2.45195285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.660714057 meters 0.04623857498593935 Centerline is valid? [True, True] Translation: X:360.38, Y:-48.71, Z:-24.52 [[ 9.97799307e-01 4.87292442e-02 4.49667028e-02 3.60378269e+02] [-4.85161054e-02 9.98805445e-01 -5.81981867e-03 -4.87093554e+01] [-4.51965830e-02 3.62540173e-03 9.98971534e-01 -2.45207280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.690714057 meters 0.043998846909628075 Centerline is valid? [True, True] Translation: X:360.41, Y:-48.71, Z:-24.52 [[ 9.97789447e-01 4.87145575e-02 4.52007988e-02 3.60408695e+02] [-4.84991768e-02 9.98806090e-01 -5.85011655e-03 -4.87104928e+01] [-4.54318189e-02 3.64498302e-03 9.98960792e-01 -2.45221092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.720714057 meters 0.04577696095411637 Centerline is valid? [True, True] Translation: X:360.44, Y:-48.72, Z:-24.53 [[ 9.97857966e-01 4.85393193e-02 4.38567573e-02 3.60437799e+02] [-4.83364528e-02 9.98814989e-01 -5.67495568e-03 -4.87171491e+01] [-4.40802451e-02 3.54291965e-03 9.99021711e-01 -2.45251968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.750714057 meters 0.04509172180666445 Centerline is valid? [True, True] Translation: X:360.47, Y:-48.72, Z:-24.53 [[ 9.97881888e-01 4.82201405e-02 4.36641290e-02 3.60467798e+02] [-4.80185260e-02 9.98830436e-01 -5.65513718e-03 -4.87202168e+01] [-4.38857526e-02 3.54647185e-03 9.99030261e-01 -2.45274982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.780714057 meters 0.045125968358517544 Centerline is valid? [True, True] Translation: X:360.50, Y:-48.72, Z:-24.53 [[ 9.97954217e-01 4.72644377e-02 4.30517520e-02 3.60498150e+02] [-4.70675715e-02 9.98876147e-01 -5.57556915e-03 -4.87247886e+01] [-4.32668943e-02 3.53782133e-03 9.99057285e-01 -2.45297029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.810714057 meters 0.04666044963648638 Centerline is valid? [True, True] Translation: X:360.53, Y:-48.73, Z:-24.53 [[ 9.97988200e-01 4.65190591e-02 4.30758698e-02 3.60527323e+02] [-4.63212381e-02 9.98911012e-01 -5.57972036e-03 -4.87315441e+01] [-4.32885240e-02 3.57316746e-03 9.99056223e-01 -2.45316641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.840714057 meters 0.04707798452203858 Centerline is valid? [True, True] Translation: X:360.56, Y:-48.74, Z:-24.53 [[ 9.98011803e-01 4.47106544e-02 4.44229434e-02 3.60557533e+02] [-4.44984885e-02 9.98992881e-01 -5.75397999e-03 -4.87378320e+01] [-4.46354684e-02 3.76578611e-03 9.98996243e-01 -2.45331312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.870714057 meters 0.047724248208516847 Centerline is valid? [True, True] Translation: X:360.59, Y:-48.74, Z:-24.53 [[ 9.98013643e-01 4.42876952e-02 4.48036761e-02 3.60589075e+02] [-4.40715447e-02 9.99011534e-01 -5.80120933e-03 -4.87434223e+01] [-4.50163114e-02 3.81511884e-03 9.98978967e-01 -2.45347128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.900714057 meters 0.048808719804747984 Centerline is valid? [True, True] Translation: X:360.62, Y:-48.75, Z:-24.54 [[ 9.98027438e-01 4.39573708e-02 4.48216727e-02 3.60620615e+02] [-4.37402142e-02 9.99026017e-01 -5.81466999e-03 -4.87491236e+01] [-4.50336147e-02 3.84269063e-03 9.98978081e-01 -2.45362151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.930714057 meters 0.04914926908005746 Centerline is valid? [True, True] Translation: X:360.65, Y:-48.75, Z:-24.54 [[ 9.98033015e-01 4.37804036e-02 4.48706619e-02 3.60652480e+02] [-4.35620939e-02 9.99033698e-01 -5.83210995e-03 -4.87541375e+01] [-4.50826355e-02 3.86597829e-03 9.98975781e-01 -2.45378708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.960714057 meters 0.049389127117014466 Centerline is valid? [True, True] Translation: X:360.68, Y:-48.76, Z:-24.54 [[ 9.98043993e-01 4.38154412e-02 4.45914218e-02 3.60684071e+02] [-4.35993889e-02 9.99032219e-01 -5.80670667e-03 -4.87587151e+01] [-4.48026905e-02 3.85118997e-03 9.98988432e-01 -2.45400114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.990714057 meters 0.050630980711714624 Centerline is valid? [True, True] Translation: X:360.72, Y:-48.77, Z:-24.54 [[ 9.98003529e-01 4.44390680e-02 4.48790189e-02 3.60715213e+02] [-4.42203408e-02 9.99004643e-01 -5.85527712e-03 -4.87654062e+01] [-4.50945513e-02 3.85902172e-03 9.98975270e-01 -2.45422154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.020714057 meters 0.04975298065366731 Centerline is valid? [True, True] Translation: X:360.75, Y:-48.77, Z:-24.54 [[ 9.97987104e-01 4.50034100e-02 4.46814563e-02 3.60746961e+02] [-4.47866807e-02 9.98979501e-01 -5.84032532e-03 -4.87688944e+01] [-4.48986935e-02 3.82743523e-03 9.98984213e-01 -2.45432954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.050714057 meters 0.0476531487772409 Centerline is valid? [True, True] Translation: X:360.78, Y:-48.77, Z:-24.54 [[ 9.97982841e-01 4.52235147e-02 4.45542641e-02 3.60778870e+02] [-4.50077520e-02 9.98969600e-01 -5.83450584e-03 -4.87705388e+01] [-4.47722123e-02 3.81744944e-03 9.98989928e-01 -2.45444537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.080714057 meters 0.045247239085385645 Centerline is valid? [True, True] Translation: X:360.81, Y:-48.77, Z:-24.55 [[ 9.97897925e-01 4.63045114e-02 4.53389897e-02 3.60811068e+02] [-4.60816572e-02 9.98919963e-01 -5.94875880e-03 -4.87727720e+01] [-4.55654763e-02 3.84695828e-03 9.98953947e-01 -2.45455283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.110714057 meters 0.04560730857830346 Centerline is valid? [True, True] Translation: X:360.84, Y:-48.78, Z:-24.55 [[ 9.97872737e-01 4.67018191e-02 4.54856105e-02 3.60842801e+02] [-4.64774000e-02 9.98901445e-01 -5.97956576e-03 -4.87781467e+01] [-4.57148986e-02 3.85279273e-03 9.98947098e-01 -2.45474091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.140714057 meters 0.046775403692225534 Centerline is valid? [True, True] Translation: X:360.87, Y:-48.79, Z:-24.55 [[ 9.97831427e-01 4.77622141e-02 4.52903270e-02 3.60873397e+02] [-4.75402268e-02 9.98851504e-01 -5.96655042e-03 -4.87851938e+01] [-4.55232869e-02 3.80049910e-03 9.98956048e-01 -2.45499483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.170714057 meters 0.047399657041762244 Centerline is valid? [True, True] Translation: X:360.90, Y:-48.79, Z:-24.55 [[ 9.97809246e-01 4.87813092e-02 4.46888379e-02 3.60904291e+02] [-4.85659636e-02 9.98802596e-01 -5.89253801e-03 -4.87906907e+01] [-4.49227730e-02 3.70927243e-03 9.98983576e-01 -2.45522721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.200714057 meters 0.04771898722690681 Centerline is valid? [True, True] Translation: X:360.93, Y:-48.80, Z:-24.55 [[ 9.97795526e-01 4.96511463e-02 4.40323865e-02 3.60934877e+02] [-4.94423739e-02 9.98760030e-01 -5.81846423e-03 -4.87958425e+01] [-4.42666810e-02 3.62857187e-03 9.99013160e-01 -2.45544027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.230714057 meters 0.04847207552934796 Centerline is valid? [True, True] Translation: X:360.96, Y:-48.80, Z:-24.56 [[ 9.97734336e-01 5.12266461e-02 4.36122218e-02 3.60964523e+02] [-5.10232599e-02 9.98680828e-01 -5.76468963e-03 -4.88011716e+01] [-4.38499954e-02 3.52639106e-03 9.99031903e-01 -2.45571512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.26071405700003 meters 0.04503351843070955 Centerline is valid? [True, True] Translation: X:361.00, Y:-48.80, Z:-24.56 [[ 9.97701835e-01 5.21970773e-02 4.32031623e-02 3.60995689e+02] [-5.19983516e-02 9.98630837e-01 -5.71162290e-03 -4.88005157e+01] [-4.34421401e-02 3.45200343e-03 9.99049981e-01 -2.45584152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.290714057 meters 0.0468421784604441 Centerline is valid? [True, True] Translation: X:361.02, Y:-48.81, Z:-24.56 [[ 9.97650627e-01 5.35826046e-02 4.26864286e-02 3.61024647e+02] [-5.33898566e-02 9.98557797e-01 -5.64356607e-03 -4.88072714e+01] [-4.29272630e-02 3.35128493e-03 9.99072579e-01 -2.45611898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.32071405700003 meters 0.047722282893201205 Centerline is valid? [True, True] Translation: X:361.05, Y:-48.81, Z:-24.56 [[ 9.97658579e-01 5.37707530e-02 4.22618737e-02 3.61053162e+02] [-5.35820221e-02 9.98547823e-01 -5.58669770e-03 -4.88121725e+01] [-4.25009029e-02 3.30914024e-03 9.99090948e-01 -2.45636544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.350714057 meters 0.047857262401759644 Centerline is valid? [True, True] Translation: X:361.08, Y:-48.82, Z:-24.57 [[ 9.97664844e-01 5.38561713e-02 4.20044338e-02 3.61082279e+02] [-5.36698289e-02 9.98543300e-01 -5.55221337e-03 -4.88161842e+01] [-4.22422669e-02 3.28487731e-03 9.99101997e-01 -2.45654886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.38071405700003 meters 0.049623169368720986 Centerline is valid? [True, True] Translation: X:361.11, Y:-48.82, Z:-24.57 [[ 9.97713412e-01 5.32742829e-02 4.15908350e-02 3.61110252e+02] [-5.30911448e-02 9.98574545e-01 -5.49629519e-03 -4.88222577e+01] [-4.18243603e-02 3.27562239e-03 9.99119609e-01 -2.45677498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.410714057 meters 0.05153245183010249 Centerline is valid? [True, True] Translation: X:361.14, Y:-48.83, Z:-24.57 [[ 9.97783791e-01 5.20102896e-02 4.15022315e-02 3.61138640e+02] [-5.18269282e-02 9.98641032e-01 -5.48260558e-03 -4.88292524e+01] [-4.17309832e-02 3.31952181e-03 9.99123369e-01 -2.45699209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.440714057 meters 0.04438080454044041 Centerline is valid? [True, True] Translation: X:361.17, Y:-48.82, Z:-24.57 [[ 9.97827814e-01 5.11559008e-02 4.15057505e-02 3.61169019e+02] [-5.09718190e-02 9.98685046e-01 -5.48199743e-03 -4.88231598e+01] [-4.17316088e-02 3.35446592e-03 9.99123226e-01 -2.45696242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.470714057 meters 0.04538020817314118 Centerline is valid? [True, True] Translation: X:361.20, Y:-48.83, Z:-24.57 [[ 9.97832008e-01 5.05550224e-02 4.21363680e-02 3.61198548e+02] [-5.03648889e-02 9.98715394e-01 -5.56243724e-03 -4.88290284e+01] [-4.23634485e-02 3.42818443e-03 9.99096385e-01 -2.45710052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.500714057 meters 0.04659008676296595 Centerline is valid? [True, True] Translation: X:361.23, Y:-48.83, Z:-24.57 [[ 9.97839871e-01 4.97931346e-02 4.28513204e-02 3.61228304e+02] [-4.95958358e-02 9.98753356e-01 -5.65578617e-03 -4.88346844e+01] [-4.30795193e-02 3.51832190e-03 9.99065452e-01 -2.45724052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.530714057 meters 0.04850174432652841 Centerline is valid? [True, True] Translation: X:361.26, Y:-48.84, Z:-24.57 [[ 9.97868362e-01 4.80232572e-02 4.41870957e-02 3.61258339e+02] [-4.78117327e-02 9.98839339e-01 -5.83209018e-03 -4.88417494e+01] [-4.44158854e-02 3.70699667e-03 9.99006250e-01 -2.45727077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.560714057 meters 0.04778531473402719 Centerline is valid? [True, True] Translation: X:361.29, Y:-48.85, Z:-24.57 [[ 9.97890904e-01 4.68529827e-02 4.49281848e-02 3.61289141e+02] [-4.66331298e-02 9.98894484e-01 -5.92968316e-03 -4.88453855e+01] [-4.51563393e-02 3.82203501e-03 9.98972621e-01 -2.45737370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.590714057 meters 0.0489872281539477 Centerline is valid? [True, True] Translation: X:361.32, Y:-48.85, Z:-24.58 [[ 9.97974158e-01 4.44835470e-02 4.54839985e-02 3.61319358e+02] [-4.42557365e-02 9.99002194e-01 -6.00386167e-03 -4.88538183e+01] [-4.57056874e-02 3.97877095e-03 9.98947025e-01 -2.45762021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.620714057 meters 0.05334159027055953 Centerline is valid? [True, True] Translation: X:361.35, Y:-48.86, Z:-24.58 [[ 9.98068431e-01 4.28731903e-02 4.49588289e-02 3.61348585e+02] [-4.26489591e-02 9.99072489e-01 -5.93532456e-03 -4.88648733e+01] [-4.51715954e-02 4.00641282e-03 9.98971209e-01 -2.45792205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.650714057 meters 0.05563816326570807 Centerline is valid? [True, True] Translation: X:361.38, Y:-48.87, Z:-24.58 [[ 9.98219440e-01 3.97103095e-02 4.45088760e-02 3.61378073e+02] [-3.94873885e-02 9.99202786e-01 -5.87687382e-03 -4.88739338e+01] [-4.47067654e-02 4.10887042e-03 9.98991703e-01 -2.45816833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.680714057 meters 0.052991968080816534 Centerline is valid? [True, True] Translation: X:361.41, Y:-48.88, Z:-24.58 [[ 9.98307200e-01 3.79154468e-02 4.41038986e-02 3.61408741e+02] [-3.76948343e-02 9.99272329e-01 -5.82334868e-03 -4.88751212e+01] [-4.42926004e-02 4.15100176e-03 9.99009977e-01 -2.45832179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.710714057 meters 0.049923140410483575 Centerline is valid? [True, True] Translation: X:361.44, Y:-48.88, Z:-24.58 [[ 9.98367611e-01 3.65566757e-02 4.38830608e-02 3.61440104e+02] [-3.63369461e-02 9.99322795e-01 -5.79470357e-03 -4.88762426e+01] [-4.40651781e-02 4.19066794e-03 9.99019869e-01 -2.45847844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.740714057 meters 0.04887160280082538 Centerline is valid? [True, True] Translation: X:361.47, Y:-48.88, Z:-24.59 [[ 9.98476764e-01 3.40020219e-02 4.34512845e-02 3.61470074e+02] [-3.37841167e-02 9.99412672e-01 -5.73967234e-03 -4.88811836e+01] [-4.36209248e-02 4.26296620e-03 9.99039059e-01 -2.45869047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.770714057 meters 0.050319573876809756 Centerline is valid? [True, True] Translation: X:361.50, Y:-48.89, Z:-24.59 [[ 9.98523529e-01 3.29688153e-02 4.31719776e-02 3.61501799e+02] [-3.27527831e-02 9.99447218e-01 -5.70199024e-03 -4.88886780e+01] [-4.33361008e-02 4.27956900e-03 9.99051384e-01 -2.45893489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.800714057 meters 0.04839886459648014 Centerline is valid? [True, True] Translation: X:361.53, Y:-48.89, Z:-24.59 [[ 9.98562993e-01 3.21724210e-02 4.28588785e-02 3.61533259e+02] [-3.19587588e-02 9.99473155e-01 -5.66130775e-03 -4.88928250e+01] [-4.30184365e-02 4.28345585e-03 9.99065096e-01 -2.45912052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.830714057 meters 0.05303466305000608 Centerline is valid? [True, True] Translation: X:361.56, Y:-48.90, Z:-24.59 [[ 9.98565545e-01 3.20105175e-02 4.29206183e-02 3.61563401e+02] [-3.17955796e-02 9.99478246e-01 -5.68131608e-03 -4.89039599e+01] [-4.30800862e-02 4.30848055e-03 9.99062332e-01 -2.45940118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.860714057 meters 0.05199956266472561 Centerline is valid? [True, True] Translation: X:361.59, Y:-48.91, Z:-24.60 [[ 9.98524454e-01 3.31829713e-02 4.29860988e-02 3.61594402e+02] [-3.29681278e-02 9.99440164e-01 -5.69748124e-03 -4.89084623e+01] [-4.31510929e-02 4.27190315e-03 9.99059425e-01 -2.45956751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.890714057 meters 0.05239509528968641 Centerline is valid? [True, True] Translation: X:361.62, Y:-48.91, Z:-24.60 [[ 9.98472148e-01 3.42476504e-02 4.33643628e-02 3.61624241e+02] [-3.40299191e-02 9.99404277e-01 -5.74946446e-03 -4.89134694e+01] [-4.35354353e-02 4.26499437e-03 9.99042780e-01 -2.45969404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.920714057 meters 0.04933731690536281 Centerline is valid? [True, True] Translation: X:361.66, Y:-48.91, Z:-24.60 [[ 9.98416319e-01 3.53677234e-02 4.37490320e-02 3.61656131e+02] [-3.51471598e-02 9.99365313e-01 -5.80076909e-03 -4.89139443e+01] [-4.39264250e-02 4.25392830e-03 9.99025712e-01 -2.45976362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.950714057 meters 0.050013400820495886 Centerline is valid? [True, True] Translation: X:361.69, Y:-48.92, Z:-24.60 [[ 9.98281562e-01 3.78446356e-02 4.47404278e-02 3.61685080e+02] [-3.76162657e-02 9.99274630e-01 -5.93556645e-03 -4.89200281e+01] [-4.49326038e-02 4.24239873e-03 9.98981012e-01 -2.45985078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.980714057 meters 0.04832630951967607 Centerline is valid? [True, True] Translation: X:361.72, Y:-48.92, Z:-24.60 [[ 9.98204332e-01 3.89528646e-02 4.55058913e-02 3.61716443e+02] [-3.87177916e-02 9.99231954e-01 -6.03613644e-03 -4.89224702e+01] [-4.57060655e-02 4.26340993e-03 9.98945834e-01 -2.45999056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.01071405700003 meters 0.048909319352595126 Centerline is valid? [True, True] Translation: X:361.75, Y:-48.93, Z:-24.60 [[ 9.98151708e-01 4.00309559e-02 4.57240635e-02 3.61746070e+02] [-3.97947015e-02 9.99189464e-01 -6.06595389e-03 -4.89294603e+01] [-4.59298285e-02 4.23516677e-03 9.98935691e-01 -2.46018248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.040714057 meters 0.05128909660632737 Centerline is valid? [True, True] Translation: X:361.78, Y:-48.94, Z:-24.60 [[ 9.98151755e-01 4.02667139e-02 4.55155526e-02 3.61777147e+02] [-4.00327200e-02 9.99180106e-01 -6.04122521e-03 -4.89381907e+01] [-4.57214949e-02 4.20794818e-03 9.98945363e-01 -2.46045270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.07071405700003 meters 0.05387189930744658 Centerline is valid? [True, True] Translation: X:361.81, Y:-48.95, Z:-24.61 [[ 9.98189465e-01 3.94615712e-02 4.53935644e-02 3.61807417e+02] [-3.92274312e-02 9.99212067e-01 -6.03763080e-03 -4.89481402e+01] [-4.55960518e-02 4.24602654e-03 9.98950935e-01 -2.46076442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.100714057 meters 0.05190606313486443 Centerline is valid? [True, True] Translation: X:361.84, Y:-48.95, Z:-24.61 [[ 9.98190810e-01 3.92113659e-02 4.55804236e-02 3.61839603e+02] [-3.89745679e-02 9.99221750e-01 -6.07265399e-03 -4.89512288e+01] [-4.57830677e-02 4.28519010e-03 9.98942214e-01 -2.46091361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.13071405700003 meters 0.05213706873930108 Centerline is valid? [True, True] Translation: X:361.87, Y:-48.96, Z:-24.61 [[ 9.98233201e-01 3.83268160e-02 4.54040917e-02 3.61871020e+02] [-3.80903303e-02 9.99255909e-01 -6.06255953e-03 -4.89567168e+01] [-4.56026655e-02 4.32239136e-03 9.98950306e-01 -2.46110737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.160714057 meters 0.05490825686658196 Centerline is valid? [True, True] Translation: X:361.90, Y:-48.97, Z:-24.61 [[ 9.98280532e-01 3.75889775e-02 4.49782983e-02 3.61901087e+02] [-3.73561142e-02 9.99283962e-01 -6.00691666e-03 -4.89665531e+01] [-4.51718860e-02 4.31637351e-03 9.98969904e-01 -2.46133884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.190714057 meters 0.05363095019041206 Centerline is valid? [True, True] Translation: X:361.93, Y:-48.97, Z:-24.62 [[ 9.98294948e-01 3.74725963e-02 4.47549038e-02 3.61933069e+02] [-3.72414774e-02 9.99288360e-01 -5.98706715e-03 -4.89703104e+01] [-4.49474054e-02 4.31012015e-03 9.98980057e-01 -2.46157073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.220714057 meters 0.049011596070457894 Centerline is valid? [True, True] Translation: X:361.97, Y:-48.97, Z:-24.62 [[ 9.98279647e-01 3.82220289e-02 4.44614736e-02 3.61965611e+02] [-3.79941883e-02 9.99260195e-01 -5.95857921e-03 -4.89696756e+01] [-4.46563297e-02 4.25905076e-03 9.98993330e-01 -2.46168302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.250714057 meters 0.05353619516205243 Centerline is valid? [True, True] Translation: X:362.00, Y:-48.98, Z:-24.62 [[ 9.98219482e-01 3.90667621e-02 4.50738622e-02 3.61995415e+02] [-3.88328571e-02 9.99227382e-01 -6.05370599e-03 -4.89808191e+01] [-4.52755361e-02 4.29258041e-03 9.98965315e-01 -2.46191948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.280714057 meters 0.051879908566543675 Centerline is valid? [True, True] Translation: X:362.03, Y:-48.98, Z:-24.62 [[ 9.98160723e-01 4.02266398e-02 4.53540403e-02 3.62026848e+02] [-3.99906387e-02 9.99181439e-01 -6.09928100e-03 -4.89826595e+01] [-4.55622688e-02 4.27432570e-03 9.98952356e-01 -2.46201815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.310714057 meters 0.04758396530260552 Centerline is valid? [True, True] Translation: X:362.06, Y:-48.98, Z:-24.62 [[ 9.97948884e-01 4.40462038e-02 4.64538142e-02 3.62058489e+02] [-4.38026179e-02 9.99020660e-01 -6.24908884e-03 -4.89810350e+01] [-4.66835688e-02 4.20147256e-03 9.98900892e-01 -2.46204470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.340714057 meters 0.0508579336486407 Centerline is valid? [True, True] Translation: X:362.09, Y:-48.99, Z:-24.62 [[ 9.97809248e-01 4.68505740e-02 4.67089847e-02 3.62087275e+02] [-4.66072970e-02 9.98893520e-01 -6.28450489e-03 -4.89895087e+01] [-4.69517348e-02 4.09375757e-03 9.98888770e-01 -2.46226253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.370714057 meters 0.04637082336118201 Centerline is valid? [True, True] Translation: X:362.12, Y:-48.99, Z:-24.62 [[ 9.97508424e-01 5.29317970e-02 4.66387008e-02 3.62118664e+02] [-5.26958798e-02 9.98590896e-01 -6.27432863e-03 -4.89863817e+01] [-4.69050935e-02 3.80102829e-03 9.98892118e-01 -2.46237738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.400714057 meters 0.04203510633938649 Centerline is valid? [True, True] Translation: X:362.15, Y:-48.98, Z:-24.62 [[ 9.97306060e-01 5.64943203e-02 4.67869148e-02 3.62149407e+02] [-5.62607739e-02 9.98396265e-01 -6.29465978e-03 -4.89837675e+01] [-4.70674935e-02 3.64543430e-03 9.98885059e-01 -2.46247353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.430714057 meters 0.03912525107160829 Centerline is valid? [True, True] Translation: X:362.18, Y:-48.98, Z:-24.63 [[ 9.97108720e-01 6.00068362e-02 4.66195337e-02 3.62180651e+02] [-5.97787742e-02 9.98191945e-01 -6.27212383e-03 -4.89821501e+01] [-4.69116134e-02 3.46713078e-03 9.98893027e-01 -2.46255936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.460714057 meters 0.03725476216904792 Centerline is valid? [True, True] Translation: X:362.21, Y:-48.98, Z:-24.63 [[ 9.96602100e-01 6.74644117e-02 4.72525955e-02 3.62210306e+02] [-6.72384017e-02 9.97716679e-01 -6.35809452e-03 -4.89812546e+01] [-4.75736478e-02 3.15930135e-03 9.98862737e-01 -2.46266110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.490714057 meters 0.03725476216904792 Centerline is valid? [True, True] Translation: X:362.24, Y:-48.98, Z:-24.63 [[ 9.96606874e-01 6.73938082e-02 4.72526602e-02 3.62238384e+02] [-6.71677420e-02 9.97721442e-01 -6.35761382e-03 -4.89849705e+01] [-4.75734561e-02 3.16218714e-03 9.98862737e-01 -2.46282527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.520714057 meters 0.03476047878018511 Centerline is valid? [True, True] Translation: X:362.27, Y:-48.98, Z:-24.63 [[ 9.96150070e-01 7.40319639e-02 4.69500482e-02 3.62268919e+02] [-7.38163105e-02 9.97251874e-01 -6.31291873e-03 -4.89831223e+01] [-4.72883813e-02 2.82293509e-03 9.98877290e-01 -2.46299703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.550714057 meters 0.034017834433675835 Centerline is valid? [True, True] Translation: X:362.30, Y:-48.99, Z:-24.63 [[ 9.95942206e-01 7.65320155e-02 4.73494723e-02 3.62298547e+02] [-7.63155057e-02 9.97063395e-01 -6.36624013e-03 -4.89854693e+01] [-4.76976468e-02 2.72690832e-03 9.98858097e-01 -2.46318051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.580714057 meters 0.03373318196235582 Centerline is valid? [True, True] Translation: X:362.33, Y:-48.99, Z:-24.63 [[ 9.95822180e-01 7.80228177e-02 4.74407536e-02 3.62327777e+02] [-7.78072301e-02 9.96948027e-01 -6.37697812e-03 -4.89886387e+01] [-4.77935155e-02 2.65910262e-03 9.98853698e-01 -2.46335561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.610714057 meters 0.03357617251355978 Centerline is valid? [True, True] Translation: X:362.36, Y:-48.99, Z:-24.64 [[ 9.95672039e-01 7.96016877e-02 4.79662691e-02 3.62355358e+02] [-7.93832284e-02 9.96823335e-01 -6.44534038e-03 -4.89922338e+01] [-4.83269563e-02 2.60972790e-03 9.98828161e-01 -2.46354839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.640714057 meters 0.032926734543480475 Centerline is valid? [True, True] Translation: X:362.38, Y:-48.99, Z:-24.64 [[ 9.95518825e-01 8.13893399e-02 4.81460700e-02 3.62384336e+02] [-8.11715375e-02 9.96679178e-01 -6.46505001e-03 -4.89940119e+01] [-4.85123716e-02 2.52798846e-03 9.98819383e-01 -2.46367757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.670714057 meters 0.033741550674639235 Centerline is valid? [True, True] Translation: X:362.41, Y:-49.00, Z:-24.64 [[ 9.95439645e-01 8.18627431e-02 4.89735118e-02 3.62411520e+02] [-8.16381220e-02 9.96640364e-01 -6.57275630e-03 -4.89990855e+01] [-4.93470425e-02 2.54467667e-03 9.98778451e-01 -2.46383542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.700714057 meters 0.03431817597282915 Centerline is valid? [True, True] Translation: X:362.44, Y:-49.00, Z:-24.64 [[ 9.95436886e-01 8.15851167e-02 4.94901518e-02 3.62438407e+02] [-8.13556054e-02 9.96663036e-01 -6.63767596e-03 -4.90039555e+01] [-4.98665405e-02 2.58108622e-03 9.98752555e-01 -2.46398783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.730714057 meters 0.03574628769996383 Centerline is valid? [True, True] Translation: X:362.47, Y:-49.01, Z:-24.64 [[ 9.95533768e-01 8.04350577e-02 4.94238558e-02 3.62465790e+02] [-8.02049618e-02 9.96756379e-01 -6.62451544e-03 -4.90098328e+01] [-4.97963868e-02 2.63089036e-03 9.98755925e-01 -2.46416315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.76071405700003 meters 0.037392541410920625 Centerline is valid? [True, True] Translation: X:362.49, Y:-49.02, Z:-24.64 [[ 9.95694067e-01 7.82795817e-02 4.96551254e-02 3.62493828e+02] [-7.80448811e-02 9.96927661e-01 -6.65097792e-03 -4.90170534e+01] [-5.00232038e-02 2.74701089e-03 9.98744278e-01 -2.46434825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.790714057 meters 0.03822063256703866 Centerline is valid? [True, True] Translation: X:362.52, Y:-49.02, Z:-24.65 [[ 9.95789987e-01 7.71786679e-02 4.94545794e-02 3.62521923e+02] [-7.69446261e-02 9.97013378e-01 -6.62175737e-03 -4.90226216e+01] [-4.98179357e-02 2.78861556e-03 9.98754423e-01 -2.46453975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.82071405700003 meters 0.04034577144955208 Centerline is valid? [True, True] Translation: X:362.55, Y:-49.03, Z:-24.65 [[ 9.95942098e-01 7.45453982e-02 5.04214409e-02 3.62549114e+02] [-7.42989198e-02 9.97213186e-01 -6.74776256e-03 -4.90303189e+01] [-5.07839404e-02 2.97412220e-03 9.98705235e-01 -2.46466335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.850714057 meters 0.034714477831940836 Centerline is valid? [True, True] Translation: X:362.58, Y:-49.03, Z:-24.65 [[ 9.96040225e-01 7.33154258e-02 5.02863628e-02 3.62578441e+02] [-7.30688739e-02 9.97304214e-01 -6.72638766e-03 -4.90260789e+01] [-5.06439495e-02 3.02538478e-03 9.98712189e-01 -2.46474074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.88071405700003 meters 0.03510750289950765 Centerline is valid? [True, True] Translation: X:362.61, Y:-49.03, Z:-24.65 [[ 9.96137118e-01 7.22882880e-02 4.98522350e-02 3.62606989e+02] [-7.20448771e-02 9.97379124e-01 -6.66476016e-03 -4.90313041e+01] [-5.02033626e-02 3.04741684e-03 9.98734367e-01 -2.46491643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.910714057 meters 0.034080165236160365 Centerline is valid? [True, True] Translation: X:362.64, Y:-49.03, Z:-24.65 [[ 9.96256897e-01 7.10064685e-02 4.92978449e-02 3.62636300e+02] [-7.07670721e-02 9.97471120e-01 -6.58685952e-03 -4.90347228e+01] [-4.96408862e-02 3.07354008e-03 9.98762402e-01 -2.46509684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.940714057 meters 0.03354185498122167 Centerline is valid? [True, True] Translation: X:362.66, Y:-49.04, Z:-24.65 [[ 9.96276170e-01 7.08949925e-02 4.90682490e-02 3.62664741e+02] [-7.06577618e-02 9.97479081e-01 -6.55470119e-03 -4.90380123e+01] [-4.94092474e-02 3.06323995e-03 9.98773920e-01 -2.46525116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.970714057 meters 0.033932765531297024 Centerline is valid? [True, True] Translation: X:362.69, Y:-49.04, Z:-24.65 [[ 9.96241606e-01 7.13179221e-02 4.91570492e-02 3.62691757e+02] [-7.10805159e-02 9.97448989e-01 -6.56308638e-03 -4.90430998e+01] [-4.94997147e-02 3.04431130e-03 9.98769498e-01 -2.46534509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.000714057 meters 0.03354202947908026 Centerline is valid? [True, True] Translation: X:362.72, Y:-49.05, Z:-24.65 [[ 9.96191100e-01 7.15796459e-02 4.97960535e-02 3.62720634e+02] [-7.13365935e-02 9.97430175e-01 -6.64348254e-03 -4.90463623e+01] [-5.01436245e-02 3.06589735e-03 9.98737311e-01 -2.46547201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.030714057 meters 0.03364736138341788 Centerline is valid? [True, True] Translation: X:362.75, Y:-49.05, Z:-24.66 [[ 9.95995280e-01 7.31821223e-02 5.13593169e-02 3.62748638e+02] [-7.29258828e-02 9.97313852e-01 -6.84801170e-03 -4.90513867e+01] [-5.17225103e-02 3.07516380e-03 9.98656761e-01 -2.46552960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.060714057 meters 0.03362915459080077 Centerline is valid? [True, True] Translation: X:362.78, Y:-49.06, Z:-24.66 [[ 9.95934288e-01 7.36304761e-02 5.18984223e-02 3.62777074e+02] [-7.33695746e-02 9.97280833e-01 -6.91711592e-03 -4.90552651e+01] [-5.22666123e-02 3.08122776e-03 9.98628413e-01 -2.46563948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.090714057 meters 0.03381677441567667 Centerline is valid? [True, True] Translation: X:362.81, Y:-49.06, Z:-24.66 [[ 9.95921053e-01 7.37298968e-02 5.20111438e-02 3.62806081e+02] [-7.34681818e-02 9.97273494e-01 -6.92856899e-03 -4.90592014e+01] [-5.23801778e-02 3.07914355e-03 9.98622469e-01 -2.46576408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.120714057 meters 0.035817251772169025 Centerline is valid? [True, True] Translation: X:362.83, Y:-49.07, Z:-24.66 [[ 9.95925926e-01 7.35454147e-02 5.21787422e-02 3.62833015e+02] [-7.32820747e-02 9.97287073e-01 -6.94484449e-03 -4.90667262e+01] [-5.25479466e-02 3.09278420e-03 9.98613613e-01 -2.46588864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.150714057 meters 0.03332686128370654 Centerline is valid? [True, True] Translation: X:362.86, Y:-49.07, Z:-24.66 [[ 9.95997441e-01 7.28718283e-02 5.17570707e-02 3.62861524e+02] [-7.26120666e-02 9.97336501e-01 -6.88411815e-03 -4.90667762e+01] [-5.21208740e-02 3.09837620e-03 9.98635977e-01 -2.46604647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.180714057 meters 0.03563035299613617 Centerline is valid? [True, True] Translation: X:362.89, Y:-49.08, Z:-24.66 [[ 9.96182797e-01 7.04787656e-02 5.15031861e-02 3.62889020e+02] [-7.02186142e-02 9.97508138e-01 -6.84553269e-03 -4.90750058e+01] [-5.18573120e-02 3.20291955e-03 9.98649368e-01 -2.46625961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.210714057 meters 0.03744533857714973 Centerline is valid? [True, True] Translation: X:362.92, Y:-49.08, Z:-24.66 [[ 9.96286999e-01 6.91516750e-02 5.12860778e-02 3.62917000e+02] [-6.88921630e-02 9.97600850e-01 -6.81283170e-03 -4.90818796e+01] [-5.16341536e-02 3.25432681e-03 9.98660765e-01 -2.46647254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.240714057 meters 0.038526298059318155 Centerline is valid? [True, True] Translation: X:362.95, Y:-49.09, Z:-24.67 [[ 9.96365403e-01 6.78646725e-02 5.14817360e-02 3.62946427e+02] [-6.76016138e-02 9.97688975e-01 -6.83594490e-03 -4.90879803e+01] [-5.18266796e-02 3.33085056e-03 9.98650540e-01 -2.46664166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.270714057 meters 0.03776249419670619 Centerline is valid? [True, True] Translation: X:362.98, Y:-49.09, Z:-24.67 [[ 9.96597643e-01 6.48411949e-02 5.08798265e-02 3.62976027e+02] [-6.45804330e-02 9.97889648e-01 -6.75414539e-03 -4.90916355e+01] [-5.12103990e-02 3.44532415e-03 9.98681944e-01 -2.46684830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.300714057 meters 0.03842798831331284 Centerline is valid? [True, True] Translation: X:363.00, Y:-49.10, Z:-24.67 [[ 9.96695434e-01 6.34514872e-02 5.07160767e-02 3.63004976e+02] [-6.31906537e-02 9.97978771e-01 -6.73161587e-03 -4.90970205e+01] [-5.10406989e-02 3.50458876e-03 9.98690425e-01 -2.46704533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.330714057 meters 0.03852588818648621 Centerline is valid? [True, True] Translation: X:363.03, Y:-49.10, Z:-24.67 [[ 9.96931645e-01 6.06917426e-02 4.94348766e-02 3.63034471e+02] [-6.04406535e-02 9.98150238e-01 -6.55968346e-03 -4.91022427e+01] [-4.97415524e-02 3.55167978e-03 9.98755808e-01 -2.46731422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.360714057 meters 0.039589437236573106 Centerline is valid? [True, True] Translation: X:363.06, Y:-49.11, Z:-24.68 [[ 9.97065771e-01 5.89987865e-02 4.87749027e-02 3.63064677e+02] [-5.87524004e-02 9.98251612e-01 -6.47107949e-03 -4.91076375e+01] [-4.90714110e-02 3.58644925e-03 9.98788834e-01 -2.46754656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.390714057 meters 0.04285690870282007 Centerline is valid? [True, True] Translation: X:363.09, Y:-49.12, Z:-24.68 [[ 9.97206619e-01 5.75818538e-02 4.75740294e-02 3.63093664e+02] [-5.73459018e-02 9.98334423e-01 -6.31087853e-03 -4.91164476e+01] [-4.78581832e-02 3.56507423e-03 9.98847778e-01 -2.46779111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.420714057 meters 0.04226384229846122 Centerline is valid? [True, True] Translation: X:363.12, Y:-49.12, Z:-24.68 [[ 9.97360605e-01 5.47550263e-02 4.76834468e-02 3.63124543e+02] [-5.45145364e-02 9.98492910e-01 -6.33038483e-03 -4.91200227e+01] [-4.79582040e-02 3.71423544e-03 9.98842438e-01 -2.46789255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.450714057 meters 0.04332605513023251 Centerline is valid? [True, True] Translation: X:363.15, Y:-49.13, Z:-24.68 [[ 9.97451155e-01 5.26624017e-02 4.81441993e-02 3.63154832e+02] [-5.24147733e-02 9.98604941e-01 -6.39242929e-03 -4.91259833e+01] [-4.84136760e-02 3.85266869e-03 9.98819940e-01 -2.46801819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.480714057 meters 0.043124881160793264 Centerline is valid? [True, True] Translation: X:363.19, Y:-49.13, Z:-24.68 [[ 9.97454547e-01 5.25088087e-02 4.82415916e-02 3.63186766e+02] [-5.22600597e-02 9.98612975e-01 -6.40408945e-03 -4.91298458e+01] [-4.85109504e-02 3.86667969e-03 9.98815166e-01 -2.46818503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.51071405700003 meters 0.044738588127484005 Centerline is valid? [True, True] Translation: X:363.22, Y:-49.14, Z:-24.68 [[ 9.97475273e-01 5.20733794e-02 4.82850089e-02 3.63217104e+02] [-5.18230286e-02 9.98635628e-01 -6.42315896e-03 -4.91359853e+01] [-4.85536058e-02 3.90466684e-03 9.98812946e-01 -2.46835524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.540714057 meters 0.04595376950372738 Centerline is valid? [True, True] Translation: X:363.25, Y:-49.14, Z:-24.68 [[ 9.97467706e-01 5.17136892e-02 4.88248819e-02 3.63247476e+02] [-5.14569896e-02 9.98654053e-01 -6.50078338e-03 -4.91415100e+01] [-4.90953457e-02 3.97194004e-03 9.98786199e-01 -2.46847254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.57071405700003 meters 0.04533546328929779 Centerline is valid? [True, True] Translation: X:363.28, Y:-49.14, Z:-24.69 [[ 9.97455806e-01 5.16366065e-02 4.91485056e-02 3.63279516e+02] [-5.13758397e-02 9.98657876e-01 -6.55511662e-03 -4.91447809e+01] [-4.94210262e-02 4.01339338e-03 9.98769971e-01 -2.46859744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.600714057 meters 0.04459584767702052 Centerline is valid? [True, True] Translation: X:363.31, Y:-49.15, Z:-24.69 [[ 9.97377441e-01 5.28909090e-02 4.94043703e-02 3.63311261e+02] [-5.26283280e-02 9.98592348e-01 -6.60163886e-03 -4.91478606e+01] [-4.96839928e-02 3.98425627e-03 9.98757041e-01 -2.46874646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.63071405700003 meters 0.045455188122204386 Centerline is valid? [True, True] Translation: X:363.34, Y:-49.15, Z:-24.69 [[ 9.97328322e-01 5.40601319e-02 4.91296372e-02 3.63342493e+02] [-5.38012710e-02 9.98530002e-01 -6.57713596e-03 -4.91525483e+01] [-4.94129776e-02 3.91632704e-03 9.98770754e-01 -2.46897775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.660714057 meters 0.04553907418211132 Centerline is valid? [True, True] Translation: X:363.37, Y:-49.16, Z:-24.69 [[ 9.97290168e-01 5.53825783e-02 4.84261299e-02 3.63372869e+02] [-5.51319661e-02 9.98457941e-01 -6.49664533e-03 -4.91559987e+01] [-4.87112549e-02 3.80921276e-03 9.98805639e-01 -2.46921161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.690714057 meters 0.04460239529043858 Centerline is valid? [True, True] Translation: X:363.40, Y:-49.16, Z:-24.69 [[ 9.97140798e-01 5.85633357e-02 4.77552589e-02 3.63403902e+02] [-5.83231605e-02 9.98277186e-01 -6.40849105e-03 -4.91582218e+01] [-4.80482881e-02 3.60493025e-03 9.98838509e-01 -2.46944711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.720714057 meters 0.04559412278336123 Centerline is valid? [True, True] Translation: X:363.43, Y:-49.16, Z:-24.70 [[ 9.96935065e-01 6.19556354e-02 4.77700346e-02 3.63432689e+02] [-6.17191340e-02 9.98072964e-01 -6.41146357e-03 -4.91621135e+01] [-4.80752063e-02 3.44348769e-03 9.98837783e-01 -2.46970203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.750714057 meters 0.04484117273136529 Centerline is valid? [True, True] Translation: X:363.46, Y:-49.16, Z:-24.70 [[ 9.96797331e-01 6.42697328e-02 4.75865791e-02 3.63462143e+02] [-6.40376864e-02 9.97927045e-01 -6.38645686e-03 -4.91643921e+01] [-4.78983902e-02 3.31866872e-03 9.98846700e-01 -2.46990270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.780714057 meters 0.04396723204141667 Centerline is valid? [True, True] Translation: X:363.49, Y:-49.17, Z:-24.70 [[ 9.96663535e-01 6.65551932e-02 4.72462022e-02 3.63491824e+02] [-6.63290869e-02 9.97777664e-01 -6.33919801e-03 -4.91663796e+01] [-4.75631118e-02 3.18425005e-03 9.98863159e-01 -2.47009896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.810714057 meters 0.036661430707474754 Centerline is valid? [True, True] Translation: X:363.52, Y:-49.16, Z:-24.70 [[ 9.96396006e-01 7.06815214e-02 4.68947990e-02 3.63523851e+02] [-7.04634027e-02 9.97494532e-01 -6.29021045e-03 -4.91576408e+01] [-4.72219072e-02 2.96317346e-03 9.98880028e-01 -2.47014257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.840714057 meters 0.03972398734247506 Centerline is valid? [True, True] Translation: X:363.55, Y:-49.17, Z:-24.70 [[ 9.96237201e-01 7.26525772e-02 4.72550829e-02 3.63551696e+02] [-7.24332908e-02 9.97353117e-01 -6.33869120e-03 -4.91650565e+01] [-4.75905265e-02 2.89199881e-03 9.98862742e-01 -2.47040720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.870714057 meters 0.033897947074732 Centerline is valid? [True, True] Translation: X:363.58, Y:-49.16, Z:-24.71 [[ 9.95969873e-01 7.63239941e-02 4.71026510e-02 3.63582748e+02] [-7.61103450e-02 9.97079401e-01 -6.31538934e-03 -4.91579584e+01] [-4.74470988e-02 2.70493850e-03 9.98870090e-01 -2.47052279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.900714057 meters 0.0380230628856697 Centerline is valid? [True, True] Translation: X:363.61, Y:-49.17, Z:-24.71 [[ 9.95891473e-01 7.74883558e-02 4.68586059e-02 3.63609292e+02] [-7.72782051e-02 9.96989773e-01 -6.28257666e-03 -4.91672989e+01] [-4.72043774e-02 2.63561557e-03 9.98881775e-01 -2.47083930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.930714057 meters 0.03556680672109381 Centerline is valid? [True, True] Translation: X:363.64, Y:-49.17, Z:-24.71 [[ 9.95735292e-01 7.90561859e-02 4.75536340e-02 3.63638375e+02] [-7.88417483e-02 9.96866785e-01 -6.37121708e-03 -4.91655216e+01] [-4.79083224e-02 2.59483405e-03 9.98848367e-01 -2.47087994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.960714057 meters 0.03271416258495016 Centerline is valid? [True, True] Translation: X:363.67, Y:-49.16, Z:-24.71 [[ 9.95661094e-01 7.93207557e-02 4.86539190e-02 3.63668015e+02] [-7.90967535e-02 9.96845653e-01 -6.51520762e-03 -4.91645309e+01] [-4.90172389e-02 2.63857170e-03 9.98794447e-01 -2.47090928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.990714057 meters 0.035673805780132385 Centerline is valid? [True, True] Translation: X:363.70, Y:-49.17, Z:-24.71 [[ 9.95651836e-01 7.93721877e-02 4.87593799e-02 3.63695078e+02] [-7.91474398e-02 9.96841559e-01 -6.52595646e-03 -4.91727976e+01] [-4.91233558e-02 2.63840045e-03 9.98789234e-01 -2.47112243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.020714057 meters 0.03704073568323443 Centerline is valid? [True, True] Translation: X:363.72, Y:-49.18, Z:-24.71 [[ 9.95751192e-01 7.78791753e-02 4.91365117e-02 3.63721967e+02] [-7.76493412e-02 9.96959071e-01 -6.57201941e-03 -4.91782936e+01] [-4.94989145e-02 2.72867840e-03 9.98770450e-01 -2.47128626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.050714057 meters 0.0373080237871323 Centerline is valid? [True, True] Translation: X:363.75, Y:-49.18, Z:-24.72 [[ 9.95880474e-01 7.66134670e-02 4.85021560e-02 3.63750700e+02] [-7.63882607e-02 9.97057074e-01 -6.48264004e-03 -4.91819066e+01] [-4.88560753e-02 2.75093930e-03 9.98802041e-01 -2.47153308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.080714057 meters 0.03959752557533576 Centerline is valid? [True, True] Translation: X:363.78, Y:-49.19, Z:-24.72 [[ 9.96085140e-01 7.46257274e-02 4.73855971e-02 3.63777866e+02] [-7.44086893e-02 9.97207739e-01 -6.33026052e-03 -4.91884509e+01] [-4.77256844e-02 2.77957826e-03 9.98856613e-01 -2.47192977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.110714057 meters 0.03466212450542144 Centerline is valid? [True, True] Translation: X:363.81, Y:-49.18, Z:-24.72 [[ 9.96187006e-01 7.36629089e-02 4.67463838e-02 3.63807023e+02] [-7.34507719e-02 9.97279310e-01 -6.24198824e-03 -4.91837326e+01] [-4.70790044e-02 2.78462960e-03 9.98887288e-01 -2.47202741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.140714057 meters 0.03872307421540739 Centerline is valid? [True, True] Translation: X:363.83, Y:-49.19, Z:-24.72 [[ 9.96262024e-01 7.31107200e-02 4.60087095e-02 3.63833175e+02] [-7.29048241e-02 9.97320005e-01 -6.13961919e-03 -4.91931821e+01] [-4.63342783e-02 2.76241257e-03 9.98922171e-01 -2.47237453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.170714057 meters 0.0355759425366053 Centerline is valid? [True, True] Translation: X:363.86, Y:-49.19, Z:-24.73 [[ 9.96289764e-01 7.32595579e-02 4.51635222e-02 3.63862342e+02] [-7.30615506e-02 9.97309255e-01 -6.02167524e-03 -4.91905180e+01] [-4.54831440e-02 2.69961643e-03 9.98961459e-01 -2.47253349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.200714057 meters 0.033509289425950405 Centerline is valid? [True, True] Translation: X:363.89, Y:-49.19, Z:-24.73 [[ 9.96203814e-01 7.42927011e-02 4.53713059e-02 3.63891901e+02] [-7.40940576e-02 9.97232926e-01 -6.04666082e-03 -4.91901257e+01] [-4.56949829e-02 2.66196241e-03 9.98951892e-01 -2.47261316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.230714057 meters 0.03585156444314798 Centerline is valid? [True, True] Translation: X:363.92, Y:-49.19, Z:-24.73 [[ 9.95944673e-01 7.69212143e-02 4.66619242e-02 3.63920663e+02] [-7.67142739e-02 9.97033765e-01 -6.21224692e-03 -4.91947735e+01] [-4.70013675e-02 2.60741859e-03 9.98891422e-01 -2.47273677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.26071405700003 meters 0.032282217452406725 Centerline is valid? [True, True] Translation: X:363.95, Y:-49.19, Z:-24.73 [[ 9.95732437e-01 7.88270939e-02 4.79916986e-02 3.63951036e+02] [-7.86104717e-02 9.96884945e-01 -6.38749290e-03 -4.91913633e+01] [-4.83457094e-02 2.58758380e-03 9.98827311e-01 -2.47276252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.290714057 meters 0.0324254329959793 Centerline is valid? [True, True] Translation: X:363.98, Y:-49.19, Z:-24.73 [[ 9.95527761e-01 8.05536363e-02 4.93516903e-02 3.63978577e+02] [-8.03267356e-02 9.96746953e-01 -6.56707715e-03 -4.91938644e+01] [-4.97201488e-02 2.57344743e-03 9.98759873e-01 -2.47284324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.32071405700003 meters 0.031412955274011875 Centerline is valid? [True, True] Translation: X:364.01, Y:-49.19, Z:-24.73 [[ 9.95182800e-01 8.36284975e-02 5.11611989e-02 3.64008632e+02] [-8.33889553e-02 9.96493857e-01 -6.80261498e-03 -4.91941855e+01] [-5.15507129e-02 2.50356650e-03 9.98667240e-01 -2.47291348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.350714057 meters 0.030617056918179338 Centerline is valid? [True, True] Translation: X:364.04, Y:-49.19, Z:-24.73 [[ 9.95097970e-01 8.43389920e-02 5.16426536e-02 3.64037287e+02] [-8.40959017e-02 9.96434010e-01 -6.86600859e-03 -4.91947059e+01] [-5.20375687e-02 2.48941569e-03 9.98642025e-01 -2.47302939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.38071405700003 meters 0.031388523665512175 Centerline is valid? [True, True] Translation: X:364.07, Y:-49.20, Z:-24.73 [[ 9.95139593e-01 8.39125259e-02 5.15352069e-02 3.64065007e+02] [-8.36700673e-02 9.96469981e-01 -6.84806294e-03 -4.91993865e+01] [-5.19279249e-02 2.50282434e-03 9.98647699e-01 -2.47323586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.410714057 meters 0.031388523665512175 Centerline is valid? [True, True] Translation: X:364.09, Y:-49.20, Z:-24.73 [[ 9.95148460e-01 8.38069403e-02 5.15358032e-02 3.64092222e+02] [-8.35645727e-02 9.96478865e-01 -6.84357169e-03 -4.92029112e+01] [-5.19278775e-02 2.50380245e-03 9.98647699e-01 -2.47339508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.440714057 meters 0.03136510913606786 Centerline is valid? [True, True] Translation: X:364.12, Y:-49.21, Z:-24.74 [[ 9.95260408e-01 8.25320622e-02 5.14312996e-02 3.64121137e+02] [-8.22892784e-02 9.96585124e-01 -6.82394884e-03 -4.92063136e+01] [-5.18188627e-02 2.55936157e-03 9.98653221e-01 -2.47360323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.470714057 meters 0.03511523793512107 Centerline is valid? [True, True] Translation: X:364.15, Y:-49.22, Z:-24.74 [[ 9.95620764e-01 7.83706625e-02 5.09640336e-02 3.64149319e+02] [-7.81270450e-02 9.96920506e-01 -6.75794826e-03 -4.92169348e+01] [-5.13367150e-02 2.74668427e-03 9.98677624e-01 -2.47393429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.500714057 meters 0.0360245248367389 Centerline is valid? [True, True] Translation: X:364.18, Y:-49.22, Z:-24.74 [[ 9.95842250e-01 7.59923616e-02 5.02331974e-02 3.64177952e+02] [-7.57527052e-02 9.97104391e-01 -6.66039700e-03 -4.92226673e+01] [-5.05938810e-02 2.82740414e-03 9.98715307e-01 -2.47420514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.530714057 meters 0.03898248044191115 Centerline is valid? [True, True] Translation: X:364.21, Y:-49.23, Z:-24.75 [[ 9.96257910e-01 7.11873927e-02 4.90156353e-02 3.64206404e+02] [-7.09535687e-02 9.97458466e-01 -6.49616011e-03 -4.92318595e+01] [-4.93535051e-02 2.99401665e-03 9.98776886e-01 -2.47452865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.560714057 meters 0.035657502095752226 Centerline is valid? [True, True] Translation: X:364.24, Y:-49.23, Z:-24.75 [[ 9.96447783e-01 6.88664027e-02 4.84689049e-02 3.64236512e+02] [-6.86350718e-02 9.97621157e-01 -6.42298737e-03 -4.92304673e+01] [-4.87959330e-02 3.07350475e-03 9.98804040e-01 -2.47462717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.590714057 meters 0.04311249574339317 Centerline is valid? [True, True] Translation: X:364.26, Y:-49.25, Z:-24.75 [[ 9.96641135e-01 6.61617075e-02 4.82605096e-02 3.64263931e+02] [-6.59292922e-02 9.97803813e-01 -6.39362078e-03 -4.92455439e+01] [-4.85775334e-02 3.19036423e-03 9.98814319e-01 -2.47491519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.620714057 meters 0.04336138192376454 Centerline is valid? [True, True] Translation: X:364.29, Y:-49.25, Z:-24.75 [[ 9.96687002e-01 6.53799948e-02 4.83784772e-02 3.64293302e+02] [-6.51456111e-02 9.97855197e-01 -6.40747219e-03 -4.92494398e+01] [-4.86936354e-02 3.23459878e-03 9.98808524e-01 -2.47509397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.650714057 meters 0.03970511330344434 Centerline is valid? [True, True] Translation: X:364.32, Y:-49.25, Z:-24.75 [[ 9.96681707e-01 6.52899614e-02 4.86085948e-02 3.64322841e+02] [-6.50532989e-02 9.97861032e-01 -6.43662323e-03 -4.92475335e+01] [-4.89248694e-02 3.25311518e-03 9.98797164e-01 -2.47513299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.680714057 meters 0.0597500091284316 Centerline is valid? [True, True] Translation: X:364.35, Y:-49.28, Z:-24.76 [[ 9.96392058e-01 6.88456576e-02 4.96300485e-02 3.64348175e+02] [-6.86035195e-02 9.97622383e-01 -6.56793507e-03 -4.92787760e+01] [-4.99642211e-02 3.13944234e-03 9.98746074e-01 -2.47557984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.710714057 meters 0.03721144176363071 Centerline is valid? [True, True] Translation: X:364.38, Y:-49.25, Z:-24.75 [[ 9.96498782e-01 6.78140539e-02 4.89022668e-02 3.64381653e+02] [-6.75777665e-02 9.97693025e-01 -6.47099987e-03 -4.92487672e+01] [-4.92282752e-02 3.14363753e-03 9.98782606e-01 -2.47538380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.740714057 meters 0.035162318713488044 Centerline is valid? [True, True] Translation: X:364.41, Y:-49.25, Z:-24.75 [[ 9.96107625e-01 7.30517954e-02 4.93257913e-02 3.64412488e+02] [-7.28179901e-02 9.97323915e-01 -6.52290480e-03 -4.92472894e+01] [-4.96703012e-02 2.90571023e-03 9.98761442e-01 -2.47549505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.770714057 meters 0.03330069048193317 Centerline is valid? [True, True] Translation: X:364.44, Y:-49.25, Z:-24.76 [[ 9.95854317e-01 7.65550482e-02 4.91274261e-02 3.64442548e+02] [-7.63273607e-02 9.97061646e-01 -6.49679295e-03 -4.92462287e+01] [-4.94804346e-02 2.72009254e-03 9.98771389e-01 -2.47557167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.800714057 meters 0.03530988905315839 Centerline is valid? [True, True] Translation: X:364.47, Y:-49.25, Z:-24.76 [[ 9.95536250e-01 8.07071065e-02 4.89278868e-02 3.64470568e+02] [-8.04863427e-02 9.96734721e-01 -6.46877603e-03 -4.92512053e+01] [-4.92901998e-02 2.50187437e-03 9.98781366e-01 -2.47580792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.830714057 meters 0.030074276473592138 Centerline is valid? [True, True] Translation: X:364.50, Y:-49.24, Z:-24.76 [[ 9.94623017e-01 9.09663652e-02 4.94992368e-02 3.64502576e+02] [-9.07532222e-02 9.95851929e-01 -6.54124297e-03 -4.92420409e+01] [-4.98889435e-02 2.01385558e-03 9.98752741e-01 -2.47580175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.860714057 meters 0.028321255387441204 Centerline is valid? [True, True] Translation: X:364.53, Y:-49.24, Z:-24.76 [[ 9.93624906e-01 1.00596798e-01 5.08903704e-02 3.64532451e+02] [-1.00384110e-01 9.94926032e-01 -6.72467264e-03 -4.92396483e+01] [-5.13086348e-02 1.57321767e-03 9.98681605e-01 -2.47589008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.890714057 meters 0.026876390793374165 Centerline is valid? [True, True] Translation: X:364.56, Y:-49.24, Z:-24.76 [[ 9.93141337e-01 1.04973322e-01 5.14867585e-02 3.64562989e+02] [-1.04761561e-01 9.94474106e-01 -6.80202467e-03 -4.92382592e+01] [-5.19162792e-02 1.36153871e-03 9.98650513e-01 -2.47599502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.920714057 meters 0.02648114159048135 Centerline is valid? [True, True] Translation: X:364.59, Y:-49.24, Z:-24.76 [[ 9.92756318e-01 1.08324464e-01 5.19682965e-02 3.64591483e+02] [-1.08113337e-01 9.94114872e-01 -6.86498725e-03 -4.92402181e+01] [-5.24061025e-02 1.19679350e-03 9.98625139e-01 -2.47620374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.950714057 meters 0.025603762694444563 Centerline is valid? [True, True] Translation: X:364.62, Y:-49.24, Z:-24.76 [[ 9.92260777e-01 1.12690638e-01 5.21475767e-02 3.64620386e+02] [-1.12484222e-01 9.93629652e-01 -6.88579045e-03 -4.92425182e+01] [-5.25913426e-02 9.66720176e-04 9.98615650e-01 -2.47644838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.980714057 meters 0.025903665593765706 Centerline is valid? [True, True] Translation: X:364.65, Y:-49.25, Z:-24.77 [[ 9.92298281e-01 1.12486033e-01 5.18749763e-02 3.64647412e+02] [-1.12282170e-01 9.93652843e-01 -6.83687412e-03 -4.92476339e+01] [-5.23147705e-02 9.59583551e-04 9.98630184e-01 -2.47668122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.01071405700003 meters 0.025905780399564364 Centerline is valid? [True, True] Translation: X:364.67, Y:-49.26, Z:-24.77 [[ 9.92546448e-01 1.10687376e-01 5.09887575e-02 3.64674514e+02] [-1.10488283e-01 9.93854738e-01 -6.71560551e-03 -4.92552765e+01] [-5.14187510e-02 1.03189014e-03 9.98676648e-01 -2.47699587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.040714057 meters 0.026280036378114824 Centerline is valid? [True, True] Translation: X:364.70, Y:-49.26, Z:-24.77 [[ 9.92887727e-01 1.07902139e-01 5.03099290e-02 3.64702095e+02] [-1.07704965e-01 9.94160848e-01 -6.62184672e-03 -4.92612067e+01] [-5.07306731e-02 1.15612122e-03 9.98711701e-01 -2.47722026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.07071405700003 meters 0.02709961673635446 Centerline is valid? [True, True] Translation: X:364.73, Y:-49.27, Z:-24.77 [[ 9.93252374e-01 1.04762206e-01 4.97453702e-02 3.64728895e+02] [-1.04565719e-01 9.94496454e-01 -6.54320916e-03 -4.92690270e+01] [-5.01570753e-02 1.29739765e-03 9.98740499e-01 -2.47745324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.100714057 meters 0.030820108117793916 Centerline is valid? [True, True] Translation: X:364.76, Y:-49.29, Z:-24.78 [[ 9.94115657e-01 9.69178052e-02 4.83838701e-02 3.64755822e+02] [-9.67228870e-02 9.95291034e-01 -6.35927323e-03 -4.92856684e+01] [-4.87723589e-02 1.64202549e-03 9.98808571e-01 -2.47778977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.13071405700003 meters 0.030169436228507703 Centerline is valid? [True, True] Translation: X:364.79, Y:-49.29, Z:-24.78 [[ 9.94922879e-01 8.82675421e-02 4.83457011e-02 3.64785167e+02] [-8.80627241e-02 9.96094663e-01 -6.35441541e-03 -4.92927285e+01] [-4.87177835e-02 2.06469914e-03 9.98810450e-01 -2.47778000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.160714057 meters 0.03210511029253413 Centerline is valid? [True, True] Translation: X:364.81, Y:-49.30, Z:-24.78 [[ 9.95323010e-01 8.35335010e-02 4.85207258e-02 3.64813409e+02] [-8.33216169e-02 9.96502306e-01 -6.37673577e-03 -4.93020075e+01] [-4.88836862e-02 2.30408651e-03 9.98801820e-01 -2.47791848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.190714057 meters 0.03250476488058892 Centerline is valid? [True, True] Translation: X:364.84, Y:-49.31, Z:-24.78 [[ 9.95622119e-01 7.97025984e-02 4.88271661e-02 3.64843027e+02] [-7.94835258e-02 9.96815537e-01 -6.41511892e-03 -4.93088813e+01] [-4.91829794e-02 2.50607898e-03 9.98786641e-01 -2.47804704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.220714057 meters 0.037161237582760596 Centerline is valid? [True, True] Translation: X:364.87, Y:-49.32, Z:-24.78 [[ 9.96113762e-01 7.29360159e-02 4.93731803e-02 3.64870856e+02] [-7.27037738e-02 9.97332489e-01 -6.48588246e-03 -4.93244894e+01] [-4.97145313e-02 2.87106024e-03 9.98759342e-01 -2.47831211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.250714057 meters 0.03673005954761487 Centerline is valid? [True, True] Translation: X:364.90, Y:-49.33, Z:-24.78 [[ 9.96300489e-01 7.01918951e-02 4.95825930e-02 3.64900804e+02] [-6.99543150e-02 9.97528935e-01 -6.51293267e-03 -4.93298186e+01] [-4.99172263e-02 3.02032168e-03 9.98748791e-01 -2.47847797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.280714057 meters 0.04128042792189459 Centerline is valid? [True, True] Translation: X:364.93, Y:-49.34, Z:-24.79 [[ 9.96600243e-01 6.57347525e-02 4.96678710e-02 3.64928361e+02] [-6.54908620e-02 9.97831843e-01 -6.52373863e-03 -4.93421639e+01] [-4.99890196e-02 3.24876782e-03 9.98744484e-01 -2.47873993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.310714057 meters 0.03678411314486272 Centerline is valid? [True, True] Translation: X:364.96, Y:-49.34, Z:-24.79 [[ 9.96730286e-01 6.40536561e-02 4.92530893e-02 3.64958747e+02] [-6.38116240e-02 9.97940972e-01 -6.47247951e-03 -4.93399872e+01] [-4.95662618e-02 3.30839673e-03 9.98765358e-01 -2.47888323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.340714057 meters 0.038477333550496734 Centerline is valid? [True, True] Translation: X:364.99, Y:-49.35, Z:-24.79 [[ 9.96826263e-01 6.27459476e-02 4.89933491e-02 3.64986843e+02] [-6.25049727e-02 9.98023896e-01 -6.43672644e-03 -4.93467441e+01] [-4.93004117e-02 3.35397002e-03 9.98778364e-01 -2.47909117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.370714057 meters 0.03956251710479286 Centerline is valid? [True, True] Translation: X:365.02, Y:-49.35, Z:-24.79 [[ 9.96937347e-01 6.14936282e-02 4.83162572e-02 3.65015324e+02] [-6.12579445e-02 9.98101801e-01 -6.34503559e-03 -4.93524229e+01] [-4.86147226e-02 3.36584835e-03 9.98811934e-01 -2.47930303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.400714057 meters 0.038138502944673414 Centerline is valid? [True, True] Translation: X:365.04, Y:-49.35, Z:-24.79 [[ 9.96925197e-01 6.16932626e-02 4.83124549e-02 3.65044992e+02] [-6.14579336e-02 9.98089521e-01 -6.34280247e-03 -4.93536423e+01] [-4.86114631e-02 3.35411596e-03 9.98812132e-01 -2.47945669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.430714057 meters 0.0397644840740032 Centerline is valid? [True, True] Translation: X:365.07, Y:-49.36, Z:-24.80 [[ 9.96711141e-01 6.50727326e-02 4.82953472e-02 3.65073555e+02] [-6.48416041e-02 9.97875436e-01 -6.33875139e-03 -4.93581456e+01] [-4.86052206e-02 3.18635635e-03 9.98812985e-01 -2.47963688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.460714057 meters 0.036038072994238585 Centerline is valid? [True, True] Translation: X:365.10, Y:-49.35, Z:-24.80 [[ 9.96582281e-01 6.72708792e-02 4.79414902e-02 3.65103769e+02] [-6.70457240e-02 9.97730071e-01 -6.29097178e-03 -4.93544827e+01] [-4.82558656e-02 3.05519909e-03 9.98830335e-01 -2.47970786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.490714057 meters 0.03424238811888906 Centerline is valid? [True, True] Translation: X:365.13, Y:-49.35, Z:-24.80 [[ 9.96241190e-01 7.22063209e-02 4.78512133e-02 3.65134436e+02] [-7.19877787e-02 9.97385762e-01 -6.27708298e-03 -4.93519826e+01] [-4.81793639e-02 2.80878607e-03 9.98834751e-01 -2.47974264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.520714057 meters 0.03466980468708276 Centerline is valid? [True, True] Translation: X:365.16, Y:-49.35, Z:-24.80 [[ 9.96034177e-01 7.47447168e-02 4.82612141e-02 3.65163058e+02] [-7.45253721e-02 9.97199021e-01 -6.33097892e-03 -4.93547856e+01] [-4.85992427e-02 2.70918644e-03 9.98814684e-01 -2.47990615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.550714057 meters 0.03389510958538248 Centerline is valid? [True, True] Translation: X:365.19, Y:-49.36, Z:-24.80 [[ 9.95819182e-01 7.71855286e-02 4.88523381e-02 3.65192710e+02] [-7.69637728e-02 9.97013304e-01 -6.40701313e-03 -4.93565000e+01] [-4.92009597e-02 2.62036632e-03 9.98785462e-01 -2.48004085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.580714057 meters 0.031157392343396772 Centerline is valid? [True, True] Translation: X:365.22, Y:-49.35, Z:-24.80 [[ 9.95509363e-01 8.07041746e-02 4.94767054e-02 3.65222833e+02] [-8.04811270e-02 9.96735023e-01 -6.48712887e-03 -4.93537489e+01] [-4.98387034e-02 2.47605652e-03 9.98754210e-01 -2.48014140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.610714057 meters 0.030655400834686097 Centerline is valid? [True, True] Translation: X:365.25, Y:-49.35, Z:-24.80 [[ 9.95241006e-01 8.37915548e-02 4.97424971e-02 3.65251772e+02] [-8.35700377e-02 9.96480575e-01 -6.52014704e-03 -4.93543843e+01] [-5.01137654e-02 2.33213534e-03 9.98740793e-01 -2.48032080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.640714057 meters 0.031267550306572876 Centerline is valid? [True, True] Translation: X:365.28, Y:-49.36, Z:-24.81 [[ 9.95122136e-01 8.51181556e-02 4.98681675e-02 3.65279467e+02] [-8.48972485e-02 9.96368279e-01 -6.53521117e-03 -4.93577223e+01] [-5.02433254e-02 2.26966308e-03 9.98734428e-01 -2.48052973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.670714057 meters 0.030269594522096856 Centerline is valid? [True, True] Translation: X:365.31, Y:-49.36, Z:-24.81 [[ 9.95036609e-01 8.65323259e-02 4.91355586e-02 3.65308265e+02] [-8.63198091e-02 9.96246699e-01 -6.43472704e-03 -4.93580467e+01] [-4.95079499e-02 2.16141694e-03 9.98771391e-01 -2.48061376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.700714057 meters 0.030061219323323413 Centerline is valid? [True, True] Translation: X:365.34, Y:-49.36, Z:-24.81 [[ 9.94945954e-01 8.78123780e-02 4.86984176e-02 3.65337760e+02] [-8.76053358e-02 9.96134870e-01 -6.37386987e-03 -4.93591053e+01] [-4.90698965e-02 2.07541482e-03 9.98793191e-01 -2.48070821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.730714057 meters 0.03331546634953469 Centerline is valid? [True, True] Translation: X:365.36, Y:-49.37, Z:-24.81 [[ 9.95031251e-01 8.64253412e-02 4.94314708e-02 3.65364423e+02] [-8.62104262e-02 9.96255959e-01 -6.46739784e-03 -4.93681793e+01] [-4.98053444e-02 2.17375480e-03 9.98756578e-01 -2.48082442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.76071405700003 meters 0.030987845911576842 Centerline is valid? [True, True] Translation: X:365.39, Y:-49.37, Z:-24.81 [[ 9.95197479e-01 8.43867120e-02 4.96070607e-02 3.65394308e+02] [-8.41679811e-02 9.96430474e-01 -6.48554502e-03 -4.93680803e+01] [-4.99772808e-02 2.27907190e-03 9.98747755e-01 -2.48087484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.790714057 meters 0.03242015511083107 Centerline is valid? [True, True] Translation: X:365.42, Y:-49.38, Z:-24.81 [[ 9.95351641e-01 8.23148722e-02 4.99937301e-02 3.65422316e+02] [-8.20901930e-02 9.96603483e-01 -6.53441938e-03 -4.93756873e+01] [-5.03618055e-02 2.40005009e-03 9.98728155e-01 -2.48106663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.82071405700003 meters 0.03489336106228348 Centerline is valid? [True, True] Translation: X:365.45, Y:-49.39, Z:-24.81 [[ 9.95868798e-01 7.61379419e-02 4.94808155e-02 3.65451835e+02] [-7.59104014e-02 9.97093688e-01 -6.46434719e-03 -4.93856776e+01] [-4.98291910e-02 2.68153310e-03 9.98754154e-01 -2.48138331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.850714057 meters 0.036525720212137715 Centerline is valid? [True, True] Translation: X:365.48, Y:-49.39, Z:-24.82 [[ 9.96085899e-01 7.35708513e-02 4.89919645e-02 3.65479865e+02] [-7.33446641e-02 9.97286110e-01 -6.40110127e-03 -4.93929465e+01] [-4.93299401e-02 2.78274753e-03 9.98778661e-01 -2.48165181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.88071405700003 meters 0.039122754474807765 Centerline is valid? [True, True] Translation: X:365.51, Y:-49.40, Z:-24.82 [[ 9.96477815e-01 6.90732222e-02 4.75484497e-02 3.65508218e+02] [-6.88552681e-02 9.97607341e-01 -6.20853963e-03 -4.94012444e+01] [-4.78635263e-02 2.91271076e-03 9.98849638e-01 -2.48200040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.910714057 meters 0.0355592658944326 Centerline is valid? [True, True] Translation: X:365.54, Y:-49.40, Z:-24.82 [[ 9.96578693e-01 6.79190778e-02 4.70946637e-02 3.65537790e+02] [-6.77039430e-02 9.97686500e-01 -6.15016416e-03 -4.93995244e+01] [-4.74034237e-02 2.94062813e-03 9.98871497e-01 -2.48208434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.940714057 meters 0.03690094003941306 Centerline is valid? [True, True] Translation: X:365.57, Y:-49.40, Z:-24.82 [[ 9.96674268e-01 6.63757027e-02 4.72722933e-02 3.65566290e+02] [-6.61573853e-02 9.97790126e-01 -6.16972909e-03 -4.94038743e+01] [-4.75773475e-02 3.02179891e-03 9.98862986e-01 -2.48216781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.970714057 meters 0.03543332930413474 Centerline is valid? [True, True] Translation: X:365.60, Y:-49.40, Z:-24.82 [[ 9.96682933e-01 6.59544983e-02 4.76773985e-02 3.65595203e+02] [-6.57320554e-02 9.97817922e-01 -6.22019390e-03 -4.94040919e+01] [-4.79836125e-02 3.06562770e-03 9.98843419e-01 -2.48215439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.000714057 meters 0.03680047930328254 Centerline is valid? [True, True] Translation: X:365.62, Y:-49.41, Z:-24.82 [[ 9.96679852e-01 6.52437903e-02 4.87085340e-02 3.65622336e+02] [-6.50109398e-02 9.97864339e-01 -6.35120566e-03 -4.94088882e+01] [-4.90188858e-02 3.16353115e-03 9.98792842e-01 -2.48223480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.030714057 meters 0.038587130985639866 Centerline is valid? [True, True] Translation: X:365.65, Y:-49.42, Z:-24.82 [[ 9.96743579e-01 6.34118216e-02 4.98114371e-02 3.65650651e+02] [-6.31662670e-02 9.97981914e-01 -6.49007750e-03 -4.94150719e+01] [-5.01224610e-02 3.32254053e-03 9.98737553e-01 -2.48237058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.060714057 meters 0.03966013805398714 Centerline is valid? [True, True] Translation: X:365.68, Y:-49.42, Z:-24.83 [[ 9.96816778e-01 6.22864700e-02 4.97665137e-02 3.65678557e+02] [-6.20400995e-02 9.98052612e-01 -6.48150471e-03 -4.94207644e+01] [-5.00733091e-02 3.37335318e-03 9.98739848e-01 -2.48255213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.090714057 meters 0.04069022309721052 Centerline is valid? [True, True] Translation: X:365.71, Y:-49.43, Z:-24.83 [[ 9.96967707e-01 6.00525611e-02 4.94881845e-02 3.65707924e+02] [-5.98063385e-02 9.98189208e-01 -6.44255238e-03 -4.94269311e+01] [-4.97854634e-02 3.46330956e-03 9.98753930e-01 -2.48287331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.120714057 meters 0.041962206670371906 Centerline is valid? [True, True] Translation: X:365.74, Y:-49.43, Z:-24.83 [[ 9.97061519e-01 5.88772764e-02 4.90080961e-02 3.65737087e+02] [-5.86344278e-02 9.98259138e-01 -6.37950871e-03 -4.94331833e+01] [-4.92983879e-02 3.48720098e-03 9.98778008e-01 -2.48314422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.150714057 meters 0.042133209712808525 Centerline is valid? [True, True] Translation: X:365.77, Y:-49.44, Z:-24.83 [[ 9.97255004e-01 5.69514094e-02 4.73180096e-02 3.65766641e+02] [-5.67228717e-02 9.98370960e-01 -6.15971867e-03 -4.94366347e+01] [-4.75917313e-02 3.45879688e-03 9.98860883e-01 -2.48343585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.180714057 meters 0.04037022690655074 Centerline is valid? [True, True] Translation: X:365.80, Y:-49.44, Z:-24.84 [[ 9.97293185e-01 5.65075362e-02 4.70446844e-02 3.65796392e+02] [-5.62811727e-02 9.98396180e-01 -6.12350304e-03 -4.94377217e+01] [-4.73152573e-02 3.45919784e-03 9.98874016e-01 -2.48359130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.210714057 meters 0.04608502932481786 Centerline is valid? [True, True] Translation: X:365.82, Y:-49.45, Z:-24.84 [[ 9.97334398e-01 5.62767876e-02 4.64437586e-02 3.65824134e+02] [-5.60560132e-02 9.98409335e-01 -6.04343696e-03 -4.94491924e+01] [-4.67099874e-02 3.42387562e-03 9.98902625e-01 -2.48391004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.240714057 meters 0.04171792296843529 Centerline is valid? [True, True] Translation: X:365.85, Y:-49.45, Z:-24.84 [[ 9.97316068e-01 5.64791620e-02 4.65914602e-02 3.65854256e+02] [-5.62572296e-02 9.98397905e-01 -6.06201092e-03 -4.94451276e+01] [-4.68591935e-02 3.42463442e-03 9.98895634e-01 -2.48396383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.270714057 meters 0.04726521723986944 Centerline is valid? [True, True] Translation: X:365.88, Y:-49.45, Z:-24.84 [[ 9.97241675e-01 5.70361782e-02 4.74964915e-02 3.65882942e+02] [-5.68062738e-02 9.98366109e-01 -6.17737423e-03 -4.94547430e+01] [-4.77712212e-02 3.46223631e-03 9.98852303e-01 -2.48414382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.300714057 meters 0.04726521723986944 Centerline is valid? [True, True] Translation: X:365.91, Y:-49.46, Z:-24.84 [[ 9.97241680e-01 5.70362828e-02 4.74962560e-02 3.65912721e+02] [-5.68062928e-02 9.98366097e-01 -6.17918468e-03 -4.94586165e+01] [-4.77710894e-02 3.46405428e-03 9.98852303e-01 -2.48431778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.330714057 meters 0.042727228996491784 Centerline is valid? [True, True] Translation: X:365.94, Y:-49.45, Z:-24.84 [[ 9.97235973e-01 5.66323537e-02 4.80956374e-02 3.65943527e+02] [-5.63960336e-02 9.98388868e-01 -6.25749190e-03 -4.94545156e+01] [-4.83725255e-02 3.52779284e-03 9.98823134e-01 -2.48430190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.360714057 meters 0.048038532659405886 Centerline is valid? [True, True] Translation: X:365.97, Y:-49.46, Z:-24.85 [[ 9.97256037e-01 5.60355191e-02 4.83778643e-02 3.65972035e+02] [-5.57958198e-02 9.98422374e-01 -6.29209066e-03 -4.94645177e+01] [-4.86541227e-02 3.57554279e-03 9.98809287e-01 -2.48452776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.390714057 meters 0.04447834582541018 Centerline is valid? [True, True] Translation: X:366.00, Y:-49.46, Z:-24.85 [[ 9.97360929e-01 5.37273892e-02 4.88317988e-02 3.66002968e+02] [-5.34803852e-02 9.98548699e-01 -6.35176024e-03 -4.94617008e+01] [-4.91021926e-02 3.72345408e-03 9.98786819e-01 -2.48462631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.420714057 meters 0.04719852730062693 Centerline is valid? [True, True] Translation: X:366.03, Y:-49.47, Z:-24.85 [[ 9.97519558e-01 5.05466278e-02 4.89874380e-02 3.66031483e+02] [-5.02942928e-02 9.98714122e-01 -6.37082239e-03 -4.94689270e+01] [-4.92464697e-02 3.89123139e-03 9.98779076e-01 -2.48490583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.450714057 meters 0.04228121170408417 Centerline is valid? [True, True] Translation: X:366.06, Y:-49.47, Z:-24.85 [[ 9.97629292e-01 4.86999972e-02 4.86220660e-02 3.66063742e+02] [-4.84491947e-02 9.98805627e-01 -6.32419423e-03 -4.94656928e+01] [-4.88719814e-02 3.95350147e-03 9.98797226e-01 -2.48503402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.480714057 meters 0.043342715446932266 Centerline is valid? [True, True] Translation: X:366.09, Y:-49.47, Z:-24.85 [[ 9.97789831e-01 4.58129660e-02 4.81313441e-02 3.66094367e+02] [-4.55637812e-02 9.98941803e-01 -6.26222531e-03 -4.94711547e+01] [-4.83673028e-02 4.05533870e-03 9.98821385e-01 -2.48523108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.51071405700003 meters 0.04680271785682047 Centerline is valid? [True, True] Translation: X:366.12, Y:-49.48, Z:-24.85 [[ 9.97858810e-01 4.46969507e-02 4.77491219e-02 3.66124758e+02] [-4.44504888e-02 9.98992278e-01 -6.21156457e-03 -4.94792574e+01] [-4.79786420e-02 4.07579262e-03 9.98840046e-01 -2.48546342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.540714057 meters 0.045744533718443496 Centerline is valid? [True, True] Translation: X:366.16, Y:-49.48, Z:-24.86 [[ 9.97937269e-01 4.37524745e-02 4.69779519e-02 3.66157119e+02] [-4.35122875e-02 9.99034124e-01 -6.12375993e-03 -4.94813405e+01] [-4.72005067e-02 4.06701011e-03 9.98877155e-01 -2.48566630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.57071405700003 meters 0.04676292423766925 Centerline is valid? [True, True] Translation: X:366.19, Y:-49.49, Z:-24.86 [[ 9.98034063e-01 4.27702413e-02 4.58117495e-02 3.66188432e+02] [-4.25407535e-02 9.99076877e-01 -5.97309879e-03 -4.94864909e+01] [-4.60249305e-02 4.01248971e-03 9.98932233e-01 -2.48597184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.600714057 meters 0.05484886034219802 Centerline is valid? [True, True] Translation: X:366.22, Y:-49.50, Z:-24.86 [[ 9.98034549e-01 4.29659576e-02 4.56175992e-02 3.66218264e+02] [-4.27381487e-02 9.99068543e-01 -5.95795659e-03 -4.95015804e+01] [-4.58310977e-02 3.99663478e-03 9.98941208e-01 -2.48633679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.63071405700003 meters 0.047582760863786475 Centerline is valid? [True, True] Translation: X:366.25, Y:-49.49, Z:-24.86 [[ 9.98009098e-01 4.41812313e-02 4.50095444e-02 3.66251386e+02] [-4.39601395e-02 9.99015919e-01 -5.89062164e-03 -4.94948252e+01] [-4.52255063e-02 3.90026814e-03 9.98969189e-01 -2.48645087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.660714057 meters 0.04771432453507205 Centerline is valid? [True, True] Translation: X:366.28, Y:-49.50, Z:-24.87 [[ 9.97998132e-01 4.46017579e-02 4.48376045e-02 3.66283356e+02] [-4.43822743e-02 9.98997322e-01 -5.87921193e-03 -4.94977559e+01] [-4.50548700e-02 3.87744767e-03 9.98976989e-01 -2.48663975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.690714057 meters 0.049055426795176715 Centerline is valid? [True, True] Translation: X:366.31, Y:-49.50, Z:-24.87 [[ 9.97914567e-01 4.59477115e-02 4.53356960e-02 3.66313596e+02] [-4.57240524e-02 9.98936337e-01 -5.95867469e-03 -4.95017451e+01] [-4.55612616e-02 3.87331653e-03 9.98954037e-01 -2.48680678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.720714057 meters 0.04980997928792529 Centerline is valid? [True, True] Translation: X:366.35, Y:-49.51, Z:-24.87 [[ 9.97881286e-01 4.68006844e-02 4.51955275e-02 3.66345362e+02] [-4.65793633e-02 9.98896941e-01 -5.93832020e-03 -4.95056137e+01] [-4.54235917e-02 3.82055969e-03 9.98960510e-01 -2.48701603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.750714057 meters 0.04955064142154867 Centerline is valid? [True, True] Translation: X:366.37, Y:-49.51, Z:-24.87 [[ 9.97774117e-01 4.88214246e-02 4.54233409e-02 3.66374916e+02] [-4.85992942e-02 9.98800440e-01 -5.98244231e-03 -4.95070525e+01] [-4.56609243e-02 3.76158379e-03 9.98949914e-01 -2.48720227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.780714057 meters 0.04963868684086055 Centerline is valid? [True, True] Translation: X:366.41, Y:-49.51, Z:-24.87 [[ 9.97734020e-01 4.95824453e-02 4.54797299e-02 3.66405537e+02] [-4.93605927e-02 9.98763068e-01 -5.98887772e-03 -4.95099635e+01] [-4.57204177e-02 3.73040062e-03 9.98947310e-01 -2.48740153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.810714057 meters 0.05061865340706424 Centerline is valid? [True, True] Translation: X:366.44, Y:-49.51, Z:-24.88 [[ 9.97595251e-01 5.20210895e-02 4.57986989e-02 3.66435454e+02] [-5.17986627e-02 9.98639338e-01 -6.03088031e-03 -4.95125986e+01] [-4.60501153e-02 3.64406620e-03 9.98932484e-01 -2.48755556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.840714057 meters 0.04928874652667571 Centerline is valid? [True, True] Translation: X:366.47, Y:-49.51, Z:-24.88 [[ 9.97539745e-01 5.29310796e-02 4.59647385e-02 3.66465795e+02] [-5.27079861e-02 9.98591623e-01 -6.05293864e-03 -4.95132302e+01] [-4.62203914e-02 3.61533808e-03 9.98924724e-01 -2.48763534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.870714057 meters 0.050120754941908166 Centerline is valid? [True, True] Translation: X:366.49, Y:-49.52, Z:-24.88 [[ 9.97458195e-01 5.42160136e-02 4.62360619e-02 3.66494845e+02] [-5.39916755e-02 9.98522826e-01 -6.08805952e-03 -4.95152303e+01] [-4.64978335e-02 3.57622241e-03 9.98911989e-01 -2.48768677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.900714057 meters 0.049954464628897445 Centerline is valid? [True, True] Translation: X:366.52, Y:-49.52, Z:-24.88 [[ 9.97413188e-01 5.46483502e-02 4.66957184e-02 3.66524025e+02] [-5.44200706e-02 9.98499209e-01 -6.14699466e-03 -4.95182008e+01] [-4.69615610e-02 3.58990925e-03 9.98890246e-01 -2.48779047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.930714057 meters 0.041394713615713355 Centerline is valid? [True, True] Translation: X:366.56, Y:-49.51, Z:-24.88 [[ 9.97416696e-01 5.46181140e-02 4.66561422e-02 3.66555379e+02] [-5.43902601e-02 9.98500875e-01 -6.14026552e-03 -4.95089572e+01] [-4.69215686e-02 3.58676364e-03 9.98892137e-01 -2.48775376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.960714057 meters 0.04121688032910299 Centerline is valid? [True, True] Translation: X:366.59, Y:-49.51, Z:-24.88 [[ 9.97437949e-01 5.41293880e-02 4.67712219e-02 3.66585332e+02] [-5.38999539e-02 9.98527379e-01 -6.15370926e-03 -4.95115427e+01] [-4.70354422e-02 3.61697643e-03 9.98886673e-01 -2.48795126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.990714057 meters 0.04166083349459803 Centerline is valid? [True, True] Translation: X:366.61, Y:-49.52, Z:-24.88 [[ 9.97456945e-01 5.32217233e-02 4.74034849e-02 3.66614919e+02] [-5.29851033e-02 9.98575837e-01 -6.23514406e-03 -4.95164415e+01] [-4.76678197e-02 3.70760920e-03 9.98856362e-01 -2.48816658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.020714057 meters 0.042117934749660205 Centerline is valid? [True, True] Translation: X:366.64, Y:-49.52, Z:-24.88 [[ 9.97476109e-01 5.26748176e-02 4.76106639e-02 3.66644127e+02] [-5.24355871e-02 9.98604683e-01 -6.26065766e-03 -4.95213075e+01] [-4.78740109e-02 3.74836333e-03 9.98846349e-01 -2.48834801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.050714057 meters 0.04416475778660132 Centerline is valid? [True, True] Translation: X:366.67, Y:-49.53, Z:-24.89 [[ 9.97541177e-01 5.16166249e-02 4.74059437e-02 3.66672322e+02] [-5.13783440e-02 9.98659816e-01 -6.23203121e-03 -4.95284918e+01] [-4.76640874e-02 3.78106886e-03 9.98856265e-01 -2.48857114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.080714057 meters 0.04320285179257095 Centerline is valid? [True, True] Translation: X:366.70, Y:-49.53, Z:-24.89 [[ 9.97610628e-01 5.07635726e-02 4.68625165e-02 3.66702442e+02] [-5.05298898e-02 9.98703561e-01 -6.15855998e-03 -4.95309071e+01] [-4.71143926e-02 3.77588710e-03 9.98882364e-01 -2.48872770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.110714057 meters 0.04612155551312871 Centerline is valid? [True, True] Translation: X:366.73, Y:-49.54, Z:-24.89 [[ 9.97690838e-01 4.98813669e-02 4.60960031e-02 3.66730997e+02] [-4.96543386e-02 9.98748091e-01 -6.05782020e-03 -4.95395850e+01] [-4.63404675e-02 3.75496517e-03 9.98918646e-01 -2.48898086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.140714057 meters 0.04341517741700418 Centerline is valid? [True, True] Translation: X:366.76, Y:-49.54, Z:-24.89 [[ 9.97707882e-01 5.01091390e-02 4.54758787e-02 3.66761426e+02] [-4.98884170e-02 9.98736917e-01 -5.97635731e-03 -4.95400359e+01] [-4.57179090e-02 3.69393920e-03 9.98947560e-01 -2.48914828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.170714057 meters 0.04296146036088107 Centerline is valid? [True, True] Translation: X:366.79, Y:-49.54, Z:-24.89 [[ 9.97702360e-01 5.11684625e-02 4.44048441e-02 3.66791820e+02] [-5.09590656e-02 9.98683693e-01 -5.83560390e-03 -4.95446855e+01] [-4.46449926e-02 3.55936642e-03 9.98996574e-01 -2.48940788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.200714057 meters 0.042718554300425184 Centerline is valid? [True, True] Translation: X:366.82, Y:-49.55, Z:-24.90 [[ 9.97691411e-01 5.18374427e-02 4.38717308e-02 3.66820838e+02] [-5.16336688e-02 9.98649447e-01 -5.76602842e-03 -4.95486114e+01] [-4.41113759e-02 3.48745861e-03 9.99020532e-01 -2.48960385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.230714057 meters 0.04267426508020319 Centerline is valid? [True, True] Translation: X:366.85, Y:-49.55, Z:-24.90 [[ 9.97528829e-01 5.51108265e-02 4.35778788e-02 3.66851199e+02] [-5.49129657e-02 9.98474730e-01 -5.72541020e-03 -4.95527041e+01] [-4.38269428e-02 3.31827117e-03 9.99033627e-01 -2.48981808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.26071405700003 meters 0.04148784887856133 Centerline is valid? [True, True] Translation: X:366.88, Y:-49.55, Z:-24.90 [[ 9.97389594e-01 5.76734693e-02 4.34484546e-02 3.66880787e+02] [-5.74791873e-02 9.98330383e-01 -5.70868219e-03 -4.95548746e+01] [-4.37051519e-02 3.19639835e-03 9.99039360e-01 -2.48997557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.290714057 meters 0.04055756568675038 Centerline is valid? [True, True] Translation: X:366.91, Y:-49.56, Z:-24.90 [[ 9.97214626e-01 6.09298865e-02 4.30178834e-02 3.66910699e+02] [-6.07425346e-02 9.98137475e-01 -5.65018771e-03 -4.95572776e+01] [-4.32820268e-02 3.02143455e-03 9.99058325e-01 -2.49014146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.32071405700003 meters 0.035581114824337394 Centerline is valid? [True, True] Translation: X:366.94, Y:-49.55, Z:-24.90 [[ 9.96643990e-01 6.95297880e-02 4.32014498e-02 3.66942281e+02] [-6.93488841e-02 9.97576332e-01 -5.67393867e-03 -4.95522015e+01] [-4.34912516e-02 2.65892455e-03 9.99050270e-01 -2.49017677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.350714057 meters 0.03329133499827041 Centerline is valid? [True, True] Translation: X:366.97, Y:-49.55, Z:-24.90 [[ 9.95740907e-01 8.06277075e-02 4.47126162e-02 3.66971788e+02] [-8.04450539e-02 9.96741746e-01 -5.87241239e-03 -4.95510203e+01] [-4.50404103e-02 2.25049241e-03 9.98982631e-01 -2.49021072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.38071405700003 meters 0.030666760380085655 Centerline is valid? [True, True] Translation: X:367.00, Y:-49.55, Z:-24.90 [[ 9.95228309e-01 8.63164099e-02 4.54982374e-02 3.67003037e+02] [-8.61332609e-02 9.96265712e-01 -5.97429665e-03 -4.95492293e+01] [-4.58440137e-02 2.02687761e-03 9.98946554e-01 -2.49022487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.410714057 meters 0.02756745103498054 Centerline is valid? [True, True] Translation: X:367.03, Y:-49.55, Z:-24.90 [[ 9.94154538e-01 9.73700797e-02 4.66456984e-02 3.67034115e+02] [-9.71896969e-02 9.95247028e-01 -6.12498568e-03 -4.95459699e+01] [-4.70203831e-02 1.55570102e-03 9.98892719e-01 -2.49022147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.440714057 meters 0.026316320893974662 Centerline is valid? [True, True] Translation: X:367.06, Y:-49.55, Z:-24.90 [[ 9.93617643e-01 1.02336952e-01 4.74460563e-02 3.67064221e+02] [-1.02156018e-01 9.94748886e-01 -6.22912901e-03 -4.95472713e+01] [-4.78343818e-02 1.34247231e-03 9.98854379e-01 -2.49035455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.470714057 meters 0.02558770293881142 Centerline is valid? [True, True] Translation: X:367.09, Y:-49.55, Z:-24.91 [[ 9.93197538e-01 1.06393590e-01 4.73186600e-02 3.67092663e+02] [-1.06218237e-01 9.94323436e-01 -6.21210030e-03 -4.95494363e+01] [-4.77109803e-02 1.14373808e-03 9.98860528e-01 -2.49050735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.500714057 meters 0.02462387561945234 Centerline is valid? [True, True] Translation: X:367.12, Y:-49.55, Z:-24.91 [[ 9.92631060e-01 1.11667955e-01 4.70515330e-02 3.67121722e+02] [-1.11500631e-01 9.93745183e-01 -6.17412664e-03 -4.95531610e+01] [-4.74466864e-02 8.82354233e-04 9.98873382e-01 -2.49070498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.530714057 meters 0.024550168228977 Centerline is valid? [True, True] Translation: X:367.15, Y:-49.56, Z:-24.91 [[ 9.92587168e-01 1.12248819e-01 4.65930967e-02 3.67148382e+02] [-1.12085646e-01 9.93679775e-01 -6.10835445e-03 -4.95605618e+01] [-4.69842734e-02 8.40656904e-04 9.98895275e-01 -2.49095517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.560714057 meters 0.025111032198812694 Centerline is valid? [True, True] Translation: X:367.18, Y:-49.57, Z:-24.91 [[ 9.92804177e-01 1.10711808e-01 4.56372783e-02 3.67175981e+02] [-1.10553739e-01 9.93852151e-01 -5.98094476e-03 -4.95673946e+01] [-4.60188684e-02 8.92535185e-04 9.98940172e-01 -2.49114437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.590714057 meters 0.02546688602308495 Centerline is valid? [True, True] Translation: X:367.20, Y:-49.58, Z:-24.91 [[ 9.93377469e-01 1.05665722e-01 4.51216020e-02 3.67204521e+02] [-1.05506617e-01 9.94401098e-01 -5.89993197e-03 -4.95786757e+01] [-4.54923911e-02 1.10023192e-03 9.98964079e-01 -2.49137148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.620714057 meters 0.025540594925385407 Centerline is valid? [True, True] Translation: X:367.23, Y:-49.59, Z:-24.92 [[ 9.93757119e-01 1.02150091e-01 4.48569629e-02 3.67233524e+02] [-1.01989340e-01 9.94768210e-01 -5.86374955e-03 -4.95872061e+01] [-4.52212632e-02 1.25221082e-03 9.98976211e-01 -2.49154330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.650714057 meters 0.026274051705002372 Centerline is valid? [True, True] Translation: X:367.26, Y:-49.60, Z:-24.92 [[ 9.94191319e-01 9.81028155e-02 4.42657719e-02 3.67261700e+02] [-9.79423283e-02 9.95175277e-01 -5.78514662e-03 -4.95956113e+01] [-4.46197410e-02 1.41604978e-03 9.99003040e-01 -2.49176429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.680714057 meters 0.028599521882444343 Centerline is valid? [True, True] Translation: X:367.29, Y:-49.61, Z:-24.92 [[ 9.94977500e-01 8.98303373e-02 4.41620311e-02 3.67288968e+02] [-8.96625788e-02 9.95955491e-01 -5.76896748e-03 -4.96101627e+01] [-4.45016457e-02 1.78031125e-03 9.99007725e-01 -2.49195387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.710714057 meters 0.029856123550621057 Centerline is valid? [True, True] Translation: X:367.32, Y:-49.62, Z:-24.92 [[ 9.95318897e-01 8.57639648e-02 4.45514990e-02 3.67318128e+02] [-8.55892524e-02 9.96313521e-01 -5.81792904e-03 -4.96189892e+01] [-4.48862295e-02 1.97756522e-03 9.98990148e-01 -2.49206107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.740714057 meters 0.031746807728202556 Centerline is valid? [True, True] Translation: X:367.35, Y:-49.63, Z:-24.92 [[ 9.95881078e-01 7.77330092e-02 4.66739441e-02 3.67346905e+02] [-7.75324811e-02 9.96971201e-01 -6.09420717e-03 -4.96322938e+01] [-4.70062992e-02 2.45035892e-03 9.98891588e-01 -2.49204954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.770714057 meters 0.036084882327180316 Centerline is valid? [True, True] Translation: X:367.37, Y:-49.65, Z:-24.92 [[ 9.96347371e-01 7.03454621e-02 4.84090014e-02 3.67374433e+02] [-7.01210841e-02 9.97518467e-01 -6.31989441e-03 -4.96488178e+01] [-4.87334488e-02 2.90231853e-03 9.98807603e-01 -2.49215022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.800714057 meters 0.03652223881862871 Centerline is valid? [True, True] Translation: X:367.40, Y:-49.66, Z:-24.92 [[ 9.96573073e-01 6.68069789e-02 4.87743648e-02 3.67403854e+02] [-6.65750167e-02 9.97761109e-01 -6.36679630e-03 -4.96560091e+01] [-4.90905108e-02 3.09782360e-03 9.98789530e-01 -2.49228392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.830714057 meters 0.03821965404856957 Centerline is valid? [True, True] Translation: X:367.43, Y:-49.66, Z:-24.92 [[ 9.96752615e-01 6.36491252e-02 4.93255785e-02 3.67433163e+02] [-6.34080788e-02 9.97966918e-01 -6.43789674e-03 -4.96647010e+01] [-4.96350620e-02 3.28935025e-03 9.98762004e-01 -2.49248333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.860714057 meters 0.03959771995566677 Centerline is valid? [True, True] Translation: X:367.46, Y:-49.67, Z:-24.93 [[ 9.97065660e-01 5.84413638e-02 4.94436723e-02 3.67462643e+02] [-5.81928546e-02 9.98284510e-01 -6.45201515e-03 -4.96748565e+01] [-4.97359168e-02 3.55581431e-03 9.98756074e-01 -2.49273439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.890714057 meters 0.04147780124906761 Centerline is valid? [True, True] Translation: X:367.49, Y:-49.68, Z:-24.93 [[ 9.97318861e-01 5.43393180e-02 4.90135548e-02 3.67492076e+02] [-5.40901912e-02 9.98515570e-01 -6.39592813e-03 -4.96841507e+01] [-4.92883480e-02 3.72762720e-03 9.98777635e-01 -2.49301882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.920714057 meters 0.04066750495122559 Centerline is valid? [True, True] Translation: X:367.52, Y:-49.69, Z:-24.93 [[ 9.97445867e-01 5.27268540e-02 4.81832079e-02 3.67523072e+02] [-5.24842480e-02 9.98601959e-01 -6.28732305e-03 -4.96883922e+01] [-4.84473566e-02 3.74240495e-03 9.98818726e-01 -2.49322582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.950714057 meters 0.06244497408192438 Centerline is valid? [True, True] Translation: X:367.55, Y:-49.72, Z:-24.94 [[ 9.97508327e-01 5.20110456e-02 4.76653792e-02 3.67549751e+02] [-5.17728297e-02 9.98639520e-01 -6.21954168e-03 -4.97244531e+01] [-4.79240163e-02 3.73627305e-03 9.98843996e-01 -2.49386914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.980714057 meters 0.04222974921695618 Centerline is valid? [True, True] Translation: X:367.58, Y:-49.70, Z:-24.94 [[ 9.97731569e-01 4.80882234e-02 4.71088059e-02 3.67584147e+02] [-4.78505708e-02 9.98835509e-01 -6.16020930e-03 -4.97009289e+01] [-4.73501816e-02 3.89205204e-03 9.98870769e-01 -2.49372019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.01071405700003 meters 0.04877105590055477 Centerline is valid? [True, True] Translation: X:367.61, Y:-49.72, Z:-24.94 [[ 9.97777990e-01 4.70544949e-02 4.71694432e-02 3.67613064e+02] [-4.68150916e-02 9.98884530e-01 -6.16795578e-03 -4.97152457e+01] [-4.74070571e-02 3.94600872e-03 9.98867859e-01 -2.49398948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.040714057 meters 0.05111229560388433 Centerline is valid? [True, True] Translation: X:367.64, Y:-49.72, Z:-24.94 [[ 9.97831550e-01 4.52716334e-02 4.77773642e-02 3.67642374e+02] [-4.50238827e-02 9.98966362e-01 -6.24957615e-03 -4.97223263e+01] [-4.80109082e-02 4.08490182e-03 9.98838459e-01 -2.49417896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.07071405700003 meters 0.04536503635859376 Centerline is valid? [True, True] Translation: X:367.67, Y:-49.72, Z:-24.94 [[ 9.97825650e-01 4.52937101e-02 4.78795624e-02 3.67674943e+02] [-4.50450299e-02 9.98965339e-01 -6.26071549e-03 -4.97184008e+01] [-4.81135943e-02 4.09036618e-03 9.98833495e-01 -2.49423078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.100714057 meters 0.04615998933648409 Centerline is valid? [True, True] Translation: X:367.71, Y:-49.72, Z:-24.94 [[ 9.97765614e-01 4.58907243e-02 4.85573892e-02 3.67706440e+02] [-4.56350868e-02 9.98937925e-01 -6.36081407e-03 -4.97225720e+01] [-4.87977200e-02 4.13068089e-03 9.98800140e-01 -2.49434532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.13071405700003 meters 0.046714938958199725 Centerline is valid? [True, True] Translation: X:367.74, Y:-49.73, Z:-24.95 [[ 9.97707027e-01 4.76186927e-02 4.80952117e-02 3.67736508e+02] [-4.73692141e-02 9.98857491e-01 -6.31435396e-03 -4.97251790e+01] [-4.83409437e-02 4.02164294e-03 9.98822797e-01 -2.49451841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.160714057 meters 0.04582829429040544 Centerline is valid? [True, True] Translation: X:367.77, Y:-49.73, Z:-24.95 [[ 9.97678739e-01 4.85339860e-02 4.77659425e-02 3.67769167e+02] [-4.82889481e-02 9.98813721e-01 -6.27129446e-03 -4.97272461e+01] [-4.80136497e-02 3.95017003e-03 9.98838869e-01 -2.49471585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.190714057 meters 0.04582829429040544 Centerline is valid? [True, True] Translation: X:367.80, Y:-49.73, Z:-24.95 [[ 9.97665197e-01 4.88118778e-02 4.77656356e-02 3.67801542e+02] [-4.85670448e-02 9.98800222e-01 -6.27363320e-03 -4.97315862e+01] [-4.80145552e-02 3.93914973e-03 9.98838869e-01 -2.49490498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.220714057 meters 0.04619371421657415 Centerline is valid? [True, True] Translation: X:367.83, Y:-49.74, Z:-24.95 [[ 9.97623960e-01 4.93621525e-02 4.80605169e-02 3.67833327e+02] [-4.91142372e-02 9.98773131e-01 -6.32643660e-03 -4.97354025e+01] [-4.83138394e-02 3.95094910e-03 9.98824390e-01 -2.49510638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.250714057 meters 0.04243085830577856 Centerline is valid? [True, True] Translation: X:367.87, Y:-49.73, Z:-24.95 [[ 9.97549586e-01 5.05043549e-02 4.84162615e-02 3.67866034e+02] [-5.02535023e-02 9.98716083e-01 -6.38527395e-03 -4.97336150e+01] [-4.86765831e-02 3.93654068e-03 9.98806835e-01 -2.49518226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.280714057 meters 0.045387905630969734 Centerline is valid? [True, True] Translation: X:367.90, Y:-49.74, Z:-24.95 [[ 9.97514709e-01 5.08746498e-02 4.87460356e-02 3.67896730e+02] [-5.06201799e-02 9.98697204e-01 -6.44147818e-03 -4.97413291e+01] [-4.90102374e-02 3.95793614e-03 9.98790434e-01 -2.49541043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.310714057 meters 0.04157655851660119 Centerline is valid? [True, True] Translation: X:367.93, Y:-49.74, Z:-24.96 [[ 9.97528059e-01 5.11078430e-02 4.82261341e-02 3.67929247e+02] [-5.08585156e-02 9.98685466e-01 -6.38375117e-03 -4.97389003e+01] [-4.84889989e-02 3.91526132e-03 9.98816043e-01 -2.49557181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.340714057 meters 0.042806345055133165 Centerline is valid? [True, True] Translation: X:367.96, Y:-49.74, Z:-24.96 [[ 9.97518664e-01 5.18520287e-02 4.76222847e-02 3.67960633e+02] [-5.16091742e-02 9.98647386e-01 -6.31591794e-03 -4.97432095e+01] [-4.78853634e-02 3.84249923e-03 9.98845447e-01 -2.49577998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.370714057 meters 0.050066022116802805 Centerline is valid? [True, True] Translation: X:367.99, Y:-49.76, Z:-24.96 [[ 9.97476384e-01 5.24878312e-02 4.78109929e-02 3.67989869e+02] [-5.22431714e-02 9.98614182e-01 -6.35341327e-03 -4.97565098e+01] [-4.80782125e-02 3.83958180e-03 9.98836194e-01 -2.49601298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.400714057 meters 0.04295666260663813 Centerline is valid? [True, True] Translation: X:368.02, Y:-49.75, Z:-24.96 [[ 9.97420730e-01 5.29721310e-02 4.84338825e-02 3.68023051e+02] [-5.27209774e-02 9.98588457e-01 -6.44926245e-03 -4.97486117e+01] [-4.87071471e-02 3.87914643e-03 9.98805570e-01 -2.49603045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.430714057 meters 0.04186066318215823 Centerline is valid? [True, True] Translation: X:368.05, Y:-49.75, Z:-24.96 [[ 9.97390601e-01 5.31532425e-02 4.88540853e-02 3.68054316e+02] [-5.28977844e-02 9.98578725e-01 -6.50803535e-03 -4.97507594e+01] [-4.91305734e-02 3.90678041e-03 9.98784723e-01 -2.49618568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.460714057 meters 0.043062749828165145 Centerline is valid? [True, True] Translation: X:368.09, Y:-49.76, Z:-24.96 [[ 9.97402097e-01 5.24216243e-02 4.94067762e-02 3.68085633e+02] [-5.21593651e-02 9.98617073e-01 -6.58348654e-03 -4.97553383e+01] [-4.96835673e-02 3.98935720e-03 9.98757042e-01 -2.49641030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.490714057 meters 0.042567451889557066 Centerline is valid? [True, True] Translation: X:368.12, Y:-49.76, Z:-24.97 [[ 9.97381068e-01 5.29200485e-02 4.92998432e-02 3.68117228e+02] [-5.26595277e-02 9.98590917e-01 -6.56926645e-03 -4.97586111e+01] [-4.95780216e-02 3.95595552e-03 9.98762419e-01 -2.49662702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.520714057 meters 0.04396667793096477 Centerline is valid? [True, True] Translation: X:368.15, Y:-49.76, Z:-24.97 [[ 9.97379682e-01 5.32421010e-02 4.89800917e-02 3.68147533e+02] [-5.29847209e-02 9.98573912e-01 -6.53916812e-03 -4.97639973e+01] [-4.92584009e-02 3.92683692e-03 9.98778349e-01 -2.49683968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.550714057 meters 0.0448944160639233 Centerline is valid? [True, True] Translation: X:368.18, Y:-49.77, Z:-24.97 [[ 9.97431466e-01 5.28917837e-02 4.83004181e-02 3.68178940e+02] [-5.26404697e-02 9.98592626e-01 -6.46131744e-03 -4.97669483e+01] [-4.85741920e-02 3.90216462e-03 9.98811955e-01 -2.49704129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.580714057 meters 0.050285965728353685 Centerline is valid? [True, True] Translation: X:368.21, Y:-49.78, Z:-24.97 [[ 9.97384979e-01 5.31901226e-02 4.89286578e-02 3.68208785e+02] [-5.29325713e-02 9.98576637e-01 -6.54549361e-03 -4.97761952e+01] [-4.92071702e-02 3.93845734e-03 9.98780828e-01 -2.49727166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.610714057 meters 0.04595726863501923 Centerline is valid? [True, True] Translation: X:368.24, Y:-49.77, Z:-24.97 [[ 9.97390459e-01 5.28847517e-02 4.91474765e-02 3.68240501e+02] [-5.26238816e-02 9.98592674e-01 -6.58768693e-03 -4.97734643e+01] [-4.94266982e-02 3.98416511e-03 9.98769807e-01 -2.49736782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.640714057 meters 0.04733246526037255 Centerline is valid? [True, True] Translation: X:368.27, Y:-49.78, Z:-24.98 [[ 9.97431939e-01 5.26327450e-02 4.85728469e-02 3.68271239e+02] [-5.23776488e-02 9.98606125e-01 -6.51066995e-03 -4.97785363e+01] [-4.88478169e-02 3.94981863e-03 9.98798423e-01 -2.49758246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.670714057 meters 0.04940498448145725 Centerline is valid? [True, True] Translation: X:368.30, Y:-49.78, Z:-24.98 [[ 9.97547454e-01 5.10487346e-02 4.78863710e-02 3.68300643e+02] [-5.07983755e-02 9.98688220e-01 -6.43146974e-03 -4.97831714e+01] [-4.81518730e-02 3.98314641e-03 9.98832084e-01 -2.49789950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.700714057 meters 0.05039978797492753 Centerline is valid? [True, True] Translation: X:368.33, Y:-49.79, Z:-24.98 [[ 9.97649085e-01 4.94713526e-02 4.74224561e-02 3.68331051e+02] [-4.92240653e-02 9.98767454e-01 -6.36899210e-03 -4.97871691e+01] [-4.76790884e-02 4.01969306e-03 9.98854617e-01 -2.49816854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.730714057 meters 0.05136819160755847 Centerline is valid? [True, True] Translation: X:368.36, Y:-49.79, Z:-24.98 [[ 9.97664425e-01 4.92309663e-02 4.73498473e-02 3.68362357e+02] [-4.89842267e-02 9.98779316e-01 -6.35800349e-03 -4.97922979e+01] [-4.76050587e-02 4.02375824e-03 9.98858132e-01 -2.49841290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.76071405700003 meters 0.05298939532671478 Centerline is valid? [True, True] Translation: X:368.39, Y:-49.80, Z:-24.99 [[ 9.97736772e-01 4.86923642e-02 4.63722644e-02 3.68392985e+02] [-4.84546701e-02 9.98805911e-01 -6.23681010e-03 -4.97963984e+01] [-4.66205768e-02 3.97574200e-03 9.98904758e-01 -2.49864858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.790714057 meters 0.05400129474856736 Centerline is valid? [True, True] Translation: X:368.42, Y:-49.80, Z:-24.99 [[ 9.97706666e-01 4.94236326e-02 4.62462241e-02 3.68423588e+02] [-4.91875335e-02 9.98770130e-01 -6.23008564e-03 -4.98012411e+01] [-4.64972607e-02 3.94106028e-03 9.98910643e-01 -2.49885914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.82071405700003 meters 0.0536332163776395 Centerline is valid? [True, True] Translation: X:368.46, Y:-49.80, Z:-24.99 [[ 9.97667279e-01 5.00680802e-02 4.64024470e-02 3.68455403e+02] [-4.98305115e-02 9.98738050e-01 -6.26316178e-03 -4.98030555e+01] [-4.66574739e-02 3.93629391e-03 9.98903191e-01 -2.49902020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.850714057 meters 0.053353317494813514 Centerline is valid? [True, True] Translation: X:368.49, Y:-49.80, Z:-24.99 [[ 9.97562839e-01 5.18015081e-02 4.67438238e-02 3.68485959e+02] [-5.15621786e-02 9.98649838e-01 -6.31215766e-03 -4.98036675e+01] [-4.70076913e-02 3.88656053e-03 9.98886966e-01 -2.49914435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.88071405700003 meters 0.04228468662982111 Centerline is valid? [True, True] Translation: X:368.52, Y:-49.79, Z:-24.99 [[ 9.97487978e-01 5.30839144e-02 4.69023542e-02 3.68518983e+02] [-5.28443644e-02 9.98582675e-01 -6.33356517e-03 -4.97893597e+01] [-4.71720888e-02 3.83913003e-03 9.98879400e-01 -2.49909844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.910714057 meters 0.045578248406188134 Centerline is valid? [True, True] Translation: X:368.55, Y:-49.80, Z:-24.99 [[ 9.97477252e-01 5.29138689e-02 4.73207620e-02 3.68547216e+02] [-5.26698142e-02 9.98591535e-01 -6.39043054e-03 -4.97961789e+01] [-4.75922548e-02 3.88193335e-03 9.98859303e-01 -2.49934356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.940714057 meters 0.044721823024790136 Centerline is valid? [True, True] Translation: X:368.58, Y:-49.80, Z:-25.00 [[ 9.97512885e-01 5.20636703e-02 4.75122954e-02 3.68577690e+02] [-5.18167770e-02 9.98636010e-01 -6.41419861e-03 -4.97971026e+01] [-4.77814358e-02 3.93631175e-03 9.98850059e-01 -2.49950938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.970714057 meters 0.04404603004633212 Centerline is valid? [True, True] Translation: X:368.61, Y:-49.80, Z:-25.00 [[ 9.97537901e-01 5.15182362e-02 4.75815852e-02 3.68607853e+02] [-5.12700056e-02 9.98664170e-01 -6.42355280e-03 -4.97996016e+01] [-4.78489544e-02 3.96822924e-03 9.98846700e-01 -2.49971738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.000714057 meters 0.045368145108069094 Centerline is valid? [True, True] Translation: X:368.64, Y:-49.80, Z:-25.00 [[ 9.97615104e-01 5.06051647e-02 4.69384854e-02 3.68637744e+02] [-5.03626023e-02 9.98710896e-01 -6.33673380e-03 -4.98046841e+01] [-4.71986483e-02 3.95767708e-03 9.98877682e-01 -2.49995278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.030714057 meters 0.08253597631025263 Centerline is valid? [True, True] Translation: X:368.66, Y:-49.86, Z:-25.01 [[ 9.97586084e-01 5.12648169e-02 4.68393365e-02 3.68662021e+02] [-5.10241156e-02 9.98677418e-01 -6.32091313e-03 -4.98577460e+01] [-4.71014281e-02 3.91571926e-03 9.98882437e-01 -2.50084656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.060714057 meters 0.046201130742963364 Centerline is valid? [True, True] Translation: X:368.70, Y:-49.81, Z:-25.00 [[ 9.97865333e-01 4.75164474e-02 4.47991520e-02 3.68699788e+02] [-4.72919527e-02 9.98862737e-01 -6.05834174e-03 -4.98109381e+01] [-4.50360744e-02 3.92676982e-03 9.98977644e-01 -2.50049192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.090714057 meters 0.04638403167098713 Centerline is valid? [True, True] Translation: X:368.73, Y:-49.81, Z:-25.01 [[ 9.97907557e-01 4.70801531e-02 4.43166580e-02 3.68731228e+02] [-4.68600704e-02 9.98883488e-01 -5.99253591e-03 -4.98139336e+01] [-4.45493074e-02 3.90331516e-03 9.98999561e-01 -2.50067483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.120714057 meters 0.05025503595180275 Centerline is valid? [True, True] Translation: X:368.76, Y:-49.82, Z:-25.01 [[ 9.97926838e-01 4.67737414e-02 4.42068125e-02 3.68760492e+02] [-4.65543696e-02 9.98897861e-01 -5.97951680e-03 -4.98213743e+01] [-4.44377749e-02 3.90910001e-03 9.99004506e-01 -2.50088339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.150714057 meters 0.05013550729595878 Centerline is valid? [True, True] Translation: X:368.79, Y:-49.82, Z:-25.01 [[ 9.97904470e-01 4.71656093e-02 4.42952984e-02 3.68791656e+02] [-4.69457148e-02 9.98879470e-01 -5.99205928e-03 -4.98244904e+01] [-4.45282833e-02 3.90002829e-03 9.99000511e-01 -2.50102835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.180714057 meters 0.047124518376501376 Centerline is valid? [True, True] Translation: X:368.82, Y:-49.82, Z:-25.01 [[ 9.97864105e-01 4.78563907e-02 4.44633925e-02 3.68822774e+02] [-4.76354123e-02 9.98846668e-01 -6.01682153e-03 -4.98234383e+01] [-4.47000548e-02 3.88593820e-03 9.98992895e-01 -2.50114342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.210714057 meters 0.04547307062403061 Centerline is valid? [True, True] Translation: X:368.85, Y:-49.82, Z:-25.01 [[ 9.97733358e-01 4.97348432e-02 4.53276013e-02 3.68853519e+02] [-4.95071061e-02 9.98754937e-01 -6.13376696e-03 -4.98226723e+01] [-4.55762275e-02 3.87582554e-03 9.98953345e-01 -2.50120348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.240714057 meters 0.05182072406254618 Centerline is valid? [True, True] Translation: X:368.88, Y:-49.83, Z:-25.01 [[ 9.97592845e-01 5.19073374e-02 4.59798143e-02 3.68881576e+02] [-5.16752734e-02 9.98644556e-01 -6.22222891e-03 -4.98332563e+01] [-4.62404706e-02 3.83123157e-03 9.98922990e-01 -2.50140436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.270714057 meters 0.045253157518484015 Centerline is valid? [True, True] Translation: X:368.91, Y:-49.83, Z:-25.01 [[ 9.97495551e-01 5.32497439e-02 4.65520234e-02 3.68912340e+02] [-5.30133441e-02 9.98573937e-01 -6.29900778e-03 -4.98271085e+01] [-4.68210578e-02 3.81535380e-03 9.98896006e-01 -2.50141527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.300714057 meters 0.044828123979424886 Centerline is valid? [True, True] Translation: X:368.94, Y:-49.83, Z:-25.02 [[ 9.97353707e-01 5.51864100e-02 4.73291037e-02 3.68942270e+02] [-5.49442942e-02 9.98468895e-01 -6.40236671e-03 -4.98298647e+01] [-4.76099615e-02 3.78495997e-03 9.98858832e-01 -2.50155924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.330714057 meters 0.04348559656466098 Centerline is valid? [True, True] Translation: X:368.97, Y:-49.83, Z:-25.02 [[ 9.97309923e-01 5.60912628e-02 4.71877910e-02 3.68971955e+02] [-5.58516647e-02 9.98418682e-01 -6.38184826e-03 -4.98312359e+01] [-4.74711380e-02 3.72916391e-03 9.98865649e-01 -2.50171054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.360714057 meters 0.04556754278455899 Centerline is valid? [True, True] Translation: X:369.00, Y:-49.84, Z:-25.02 [[ 9.97232353e-01 5.75744117e-02 4.70406287e-02 3.69000091e+02] [-5.73380176e-02 9.98334561e-01 -6.36043468e-03 -4.98376545e+01] [-4.73284838e-02 3.64561485e-03 9.98872727e-01 -2.50194474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.390714057 meters 0.044056514872694255 Centerline is valid? [True, True] Translation: X:369.03, Y:-49.84, Z:-25.02 [[ 9.97228409e-01 5.80274077e-02 4.65652188e-02 3.69029485e+02] [-5.77963522e-02 9.98308552e-01 -6.29424671e-03 -4.98384388e+01] [-4.68516950e-02 3.58550185e-03 9.98895421e-01 -2.50212222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.420714057 meters 0.042573949761732295 Centerline is valid? [True, True] Translation: X:369.06, Y:-49.84, Z:-25.02 [[ 9.97229556e-01 5.86724672e-02 4.57247745e-02 3.69058211e+02] [-5.84505927e-02 9.98271201e-01 -6.17555222e-03 -4.98395793e+01] [-4.60080604e-02 3.48580303e-03 9.98934987e-01 -2.50229283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.450714057 meters 0.04321929993906561 Centerline is valid? [True, True] Translation: X:369.09, Y:-49.84, Z:-25.03 [[ 9.97254387e-01 5.95799149e-02 4.39763645e-02 3.69085438e+02] [-5.93756979e-02 9.98218054e-01 -5.93663132e-03 -4.98427091e+01] [-4.42517050e-02 3.30920430e-03 9.99014933e-01 -2.50262275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.480714057 meters 0.04324275150704923 Centerline is valid? [True, True] Translation: X:369.11, Y:-49.85, Z:-25.03 [[ 9.97278572e-01 5.99608445e-02 4.28969233e-02 3.69113923e+02] [-5.97670566e-02 9.98195577e-01 -5.78700682e-03 -4.98466702e+01] [-4.31665129e-02 3.20743505e-03 9.99062743e-01 -2.50292695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.51071405700003 meters 0.04430329792985318 Centerline is valid? [True, True] Translation: X:369.14, Y:-49.85, Z:-25.03 [[ 9.97280875e-01 5.99616261e-02 4.28422697e-02 3.69140848e+02] [-5.97684528e-02 9.98195552e-01 -5.77685283e-03 -4.98517823e+01] [-4.31113525e-02 3.20052867e-03 9.99065147e-01 -2.50315794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.540714057 meters 0.04241498704067785 Centerline is valid? [True, True] Translation: X:369.17, Y:-49.85, Z:-25.03 [[ 9.97392975e-01 5.87419269e-02 4.19122868e-02 3.69170609e+02] [-5.85561711e-02 9.98268143e-01 -5.64704654e-03 -4.98518134e+01] [-4.21714191e-02 3.17810152e-03 9.99105335e-01 -2.50329084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.57071405700003 meters 0.04679623686915597 Centerline is valid? [True, True] Translation: X:369.20, Y:-49.86, Z:-25.04 [[ 9.97431878e-01 5.86390564e-02 4.11231065e-02 3.69197011e+02] [-5.84601719e-02 9.98274369e-01 -5.54014422e-03 -4.98612520e+01] [-4.13770120e-02 3.12185258e-03 9.99138728e-01 -2.50359694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.600714057 meters 0.043407106044438065 Centerline is valid? [True, True] Translation: X:369.23, Y:-49.86, Z:-25.04 [[ 9.97428551e-01 5.86437642e-02 4.11970097e-02 3.69226443e+02] [-5.84644069e-02 9.98274088e-01 -5.54606992e-03 -4.98588817e+01] [-4.14511497e-02 3.12324974e-03 9.99135650e-01 -2.50363567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.63071405700003 meters 0.04778034455691791 Centerline is valid? [True, True] Translation: X:369.25, Y:-49.87, Z:-25.04 [[ 9.97411233e-01 5.86739270e-02 4.15716469e-02 3.69252712e+02] [-5.84914262e-02 9.98272238e-01 -5.59388268e-03 -4.98681833e+01] [-4.18280361e-02 3.14781650e-03 9.99119866e-01 -2.50387361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.660714057 meters 0.046184959799829985 Centerline is valid? [True, True] Translation: X:369.28, Y:-49.87, Z:-25.04 [[ 9.97293081e-01 5.92600741e-02 4.35287857e-02 3.69282335e+02] [-5.90607401e-02 9.98237236e-01 -5.85233670e-03 -4.98680349e+01] [-4.37988646e-02 3.26565260e-03 9.99035032e-01 -2.50377968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.690714057 meters 0.04604714840865553 Centerline is valid? [True, True] Translation: X:369.31, Y:-49.87, Z:-25.04 [[ 9.97213488e-01 5.95012208e-02 4.49984823e-02 3.69310879e+02] [-5.92885310e-02 9.98222568e-01 -6.04772853e-03 -4.98704836e+01] [-4.52783478e-02 3.36298255e-03 9.98968749e-01 -2.50380323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.720714057 meters 0.04304859204987019 Centerline is valid? [True, True] Translation: X:369.34, Y:-49.87, Z:-25.04 [[ 9.97174085e-01 5.93474673e-02 4.60621567e-02 3.69339991e+02] [-5.91245810e-02 9.98231436e-01 -6.18745450e-03 -4.98677945e+01] [-4.63479026e-02 3.44656356e-03 9.98919413e-01 -2.50370545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.750714057 meters 0.043990542654296916 Centerline is valid? [True, True] Translation: X:369.37, Y:-49.87, Z:-25.04 [[ 9.97199916e-01 5.85431937e-02 4.65298052e-02 3.69367823e+02] [-5.83150324e-02 9.98278684e-01 -6.24711437e-03 -4.98720723e+01] [-4.68154387e-02 3.51623483e-03 9.98897367e-01 -2.50389655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.780714057 meters 0.046087509263966105 Centerline is valid? [True, True] Translation: X:369.40, Y:-49.88, Z:-25.04 [[ 9.97348427e-01 5.65155268e-02 4.58487829e-02 3.69395765e+02] [-5.62920837e-02 9.98395395e-01 -6.15110210e-03 -4.98789253e+01] [-4.61228465e-02 3.55386848e-03 9.98929453e-01 -2.50419281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.810714057 meters 0.04762634755072683 Centerline is valid? [True, True] Translation: X:369.42, Y:-49.89, Z:-25.04 [[ 9.97459091e-01 5.49089695e-02 4.53912686e-02 3.69424355e+02] [-5.46883774e-02 9.98484909e-01 -6.08835592e-03 -4.98850776e+01] [-4.56568021e-02 3.59051113e-03 9.98950732e-01 -2.50446394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.840714057 meters 0.049444160398679736 Centerline is valid? [True, True] Translation: X:369.45, Y:-49.89, Z:-25.05 [[ 9.97686719e-01 5.15741759e-02 4.42867402e-02 3.69454117e+02] [-5.13610645e-02 9.98662500e-01 -5.93729541e-03 -4.98918380e+01] [-4.45337178e-02 3.64894666e-03 9.99001218e-01 -2.50474098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.870714057 meters 0.04929951817313526 Centerline is valid? [True, True] Translation: X:369.48, Y:-49.90, Z:-25.05 [[ 9.97791739e-01 4.99775753e-02 4.37479920e-02 3.69483681e+02] [-4.97680907e-02 9.98743579e-01 -5.86524356e-03 -4.98953629e+01] [-4.39861567e-02 3.67503754e-03 9.99025381e-01 -2.50492839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.900714057 meters 0.053404760263149435 Centerline is valid? [True, True] Translation: X:369.51, Y:-49.90, Z:-25.05 [[ 9.97871394e-01 4.92203794e-02 4.27789070e-02 3.69511677e+02] [-4.90194602e-02 9.98781366e-01 -5.73368324e-03 -4.99048925e+01] [-4.30089893e-02 3.62447956e-03 9.99068111e-01 -2.50520813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.930714057 meters 0.053285850044908364 Centerline is valid? [True, True] Translation: X:369.54, Y:-49.91, Z:-25.06 [[ 9.97778043e-01 5.12267422e-02 4.26004549e-02 3.69541391e+02] [-5.10291906e-02 9.98680824e-01 -5.71259490e-03 -4.99088373e+01] [-4.28368951e-02 3.52603502e-03 9.99075857e-01 -2.50550356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.960714057 meters 0.045890249934403694 Centerline is valid? [True, True] Translation: X:369.57, Y:-49.90, Z:-25.05 [[ 9.97690179e-01 5.29645947e-02 4.25330184e-02 3.69572812e+02] [-5.27692665e-02 9.98590448e-01 -5.70284816e-03 -4.99024465e+01] [-4.27751149e-02 3.44523942e-03 9.99078786e-01 -2.50549891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.990714057 meters 0.049812891663332644 Centerline is valid? [True, True] Translation: X:369.60, Y:-49.91, Z:-25.06 [[ 9.97515457e-01 5.52499547e-02 4.37076165e-02 3.69601045e+02] [-5.50458838e-02 9.98466631e-01 -5.85976267e-03 -4.99103134e+01] [-4.39643483e-02 3.43927946e-03 9.99027181e-01 -2.50572629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.020714057 meters 0.04052857755086221 Centerline is valid? [True, True] Translation: X:369.63, Y:-49.90, Z:-25.06 [[ 9.97353693e-01 5.74066156e-02 4.46104477e-02 3.69632765e+02] [-5.71962458e-02 9.98345051e-01 -5.97895148e-03 -4.99009061e+01] [-4.48798510e-02 3.41157921e-03 9.98986567e-01 -2.50566158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.050714057 meters 0.04053451239853687 Centerline is valid? [True, True] Translation: X:369.66, Y:-49.90, Z:-25.06 [[ 9.97305041e-01 5.83385233e-02 4.44890043e-02 3.69661812e+02] [-5.81302352e-02 9.98291203e-01 -5.96232917e-03 -4.99049174e+01] [-4.47608151e-02 3.36010465e-03 9.98992082e-01 -2.50585562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.080714057 meters 0.04135735583009774 Centerline is valid? [True, True] Translation: X:369.69, Y:-49.91, Z:-25.06 [[ 9.97232443e-01 5.98759669e-02 4.40717852e-02 3.69689403e+02] [-5.96731583e-02 9.98200508e-01 -5.90425503e-03 -4.99096703e+01] [-4.43460013e-02 3.25801206e-03 9.99010920e-01 -2.50610942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.110714057 meters 0.04135735583009774 Centerline is valid? [True, True] Translation: X:369.72, Y:-49.91, Z:-25.06 [[ 9.97236656e-01 5.98054548e-02 4.40722053e-02 3.69717493e+02] [-5.96027157e-02 9.98204735e-01 -5.90111682e-03 -4.99133702e+01] [-4.43460030e-02 3.25798688e-03 9.99010920e-01 -2.50627377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.140714057 meters 0.04115141289625374 Centerline is valid? [True, True] Translation: X:369.75, Y:-49.92, Z:-25.06 [[ 9.97215605e-01 6.00755150e-02 4.41811103e-02 3.69745801e+02] [-5.98721772e-02 9.98188542e-01 -5.91251231e-03 -4.99167777e+01] [-4.44562753e-02 3.25083027e-03 9.99006042e-01 -2.50644842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.170714057 meters 0.04190628765325442 Centerline is valid? [True, True] Translation: X:369.77, Y:-49.92, Z:-25.07 [[ 9.97236890e-01 5.96035978e-02 4.43395628e-02 3.69774295e+02] [-5.93984772e-02 9.98216735e-01 -5.93050678e-03 -4.99215061e+01] [-4.46139731e-02 3.28041763e-03 9.98998915e-01 -2.50661077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.200714057 meters 0.045818830387671705 Centerline is valid? [True, True] Translation: X:369.80, Y:-49.93, Z:-25.07 [[ 9.97324138e-01 5.80819515e-02 4.43965091e-02 3.69801671e+02] [-5.78749573e-02 9.98306200e-01 -5.93471064e-03 -4.99316179e+01] [-4.46660098e-02 3.34938411e-03 9.98996361e-01 -2.50682110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.230714057 meters 0.04774465101541289 Centerline is valid? [True, True] Translation: X:369.83, Y:-49.94, Z:-25.07 [[ 9.97469868e-01 5.61802097e-02 4.35619950e-02 3.69830281e+02] [-5.59792482e-02 9.98414967e-01 -5.82041398e-03 -4.99397513e+01] [-4.38199399e-02 3.36711983e-03 9.99033771e-01 -2.50711824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.26071405700003 meters 0.044323308235829875 Centerline is valid? [True, True] Translation: X:369.86, Y:-49.94, Z:-25.07 [[ 9.97558697e-01 5.50043321e-02 4.30252116e-02 3.69860253e+02] [-5.48072334e-02 9.98480408e-01 -5.74815635e-03 -4.99394594e+01] [-4.32760043e-02 3.37603054e-03 9.99057451e-01 -2.50730738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.290714057 meters 0.04570129273584167 Centerline is valid? [True, True] Translation: X:369.89, Y:-49.95, Z:-25.08 [[ 9.97661287e-01 5.34206219e-02 4.26402882e-02 3.69887531e+02] [-5.32256423e-02 9.98566267e-01 -5.69574666e-03 -4.99463512e+01] [-4.28834237e-02 3.41286922e-03 9.99074254e-01 -2.50756353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.32071405700003 meters 0.04371285490790949 Centerline is valid? [True, True] Translation: X:369.92, Y:-49.95, Z:-25.08 [[ 9.97695135e-01 5.28034174e-02 4.26170882e-02 3.69916421e+02] [-5.26082196e-02 9.98599020e-01 -5.68964487e-03 -4.99477685e+01] [-4.28578153e-02 3.43452187e-03 9.99075278e-01 -2.50761252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.350714057 meters 0.046566161144715054 Centerline is valid? [True, True] Translation: X:369.94, Y:-49.96, Z:-25.08 [[ 9.97681688e-01 5.22151895e-02 4.36442922e-02 3.69944564e+02] [-5.20100554e-02 9.98629583e-01 -5.82328309e-03 -4.99564940e+01] [-4.38885452e-02 3.53984084e-03 9.99030162e-01 -2.50775092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.38071405700003 meters 0.0450980108970233 Centerline is valid? [True, True] Translation: X:369.97, Y:-49.96, Z:-25.08 [[ 9.97662504e-01 5.18203865e-02 4.45440843e-02 3.69973236e+02] [-5.16064083e-02 9.98649829e-01 -5.94111724e-03 -4.99583013e+01] [-4.47918131e-02 3.62846970e-03 9.98989754e-01 -2.50779721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.410714057 meters 0.04695439823669108 Centerline is valid? [True, True] Translation: X:370.00, Y:-49.97, Z:-25.08 [[ 9.97604835e-01 5.15494585e-02 4.61220912e-02 3.70001581e+02] [-5.13199178e-02 9.98663341e-01 -6.14795106e-03 -4.99658702e+01] [-4.63773652e-02 3.76624377e-03 9.98916891e-01 -2.50793253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.440714057 meters 0.04825696882745428 Centerline is valid? [True, True] Translation: X:370.03, Y:-49.97, Z:-25.08 [[ 9.97615046e-01 5.12228173e-02 4.62649195e-02 3.70030058e+02] [-5.09916358e-02 9.98680057e-01 -6.16412941e-03 -4.99724888e+01] [-4.65195966e-02 3.79030432e-03 9.98910187e-01 -2.50809941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.470714057 meters 0.04237431747036861 Centerline is valid? [True, True] Translation: X:370.06, Y:-49.97, Z:-25.08 [[ 9.97625759e-01 5.06124880e-02 4.67035465e-02 3.70061462e+02] [-5.03762816e-02 9.98710930e-01 -6.22155910e-03 -4.99703381e+01] [-4.69582310e-02 3.85403661e-03 9.98889419e-01 -2.50819911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.500714057 meters 0.04881879833665463 Centerline is valid? [True, True] Translation: X:370.09, Y:-49.98, Z:-25.09 [[ 9.97689650e-01 5.00195721e-02 4.59717859e-02 3.70089408e+02] [-4.97900820e-02 9.98740928e-01 -6.12428545e-03 -4.99841726e+01] [-4.62202382e-02 3.82119721e-03 9.98923965e-01 -2.50851849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.530714057 meters 0.04590613895028414 Centerline is valid? [True, True] Translation: X:370.12, Y:-49.99, Z:-25.09 [[ 9.97738962e-01 4.98274365e-02 4.51019968e-02 3.70118859e+02] [-4.96063878e-02 9.98750776e-01 -6.00782574e-03 -4.99856183e+01] [-4.53450089e-02 3.75689467e-03 9.98964322e-01 -2.50867762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.560714057 meters 0.042622308948839366 Centerline is valid? [True, True] Translation: X:370.15, Y:-49.99, Z:-25.09 [[ 9.97749381e-01 5.00877128e-02 4.45801935e-02 3.70149248e+02] [-4.98720918e-02 9.98737970e-01 -5.93653347e-03 -4.99856300e+01] [-4.48212793e-02 3.69986509e-03 9.98988170e-01 -2.50879425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.590714057 meters 0.045973563364205654 Centerline is valid? [True, True] Translation: X:370.18, Y:-50.00, Z:-25.09 [[ 9.97693685e-01 5.17367555e-02 4.39388158e-02 3.70178238e+02] [-5.15289330e-02 9.98654367e-01 -5.85008445e-03 -4.99956026e+01] [-4.41823547e-02 3.57247202e-03 9.99017095e-01 -2.50912304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.620714057 meters 0.04204263099261017 Centerline is valid? [True, True] Translation: X:370.21, Y:-49.99, Z:-25.09 [[ 9.97615050e-01 5.32125077e-02 4.39618137e-02 3.70208817e+02] [-5.30058794e-02 9.98577045e-01 -5.85338947e-03 -4.99942990e+01] [-4.42107315e-02 3.50919483e-03 9.99016064e-01 -2.50922140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.650714057 meters 0.044327086259448964 Centerline is valid? [True, True] Translation: X:370.24, Y:-50.00, Z:-25.09 [[ 9.97247697e-01 5.90153578e-02 4.48800382e-02 3.70237898e+02] [-5.88058791e-02 9.98251557e-01 -5.97471182e-03 -5.00012260e+01] [-4.51541678e-02 3.31905751e-03 9.98974517e-01 -2.50939899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.680714057 meters 0.03948944282597893 Centerline is valid? [True, True] Translation: X:370.27, Y:-50.00, Z:-25.09 [[ 9.97019089e-01 6.24600623e-02 4.52954496e-02 3.70269505e+02] [-6.22502429e-02 9.98042360e-01 -6.02947016e-03 -4.99972706e+01] [-4.55833785e-02 3.19184410e-03 9.98955438e-01 -2.50941248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.710714057 meters 0.03613557484774029 Centerline is valid? [True, True] Translation: X:370.30, Y:-49.99, Z:-25.09 [[ 9.96415038e-01 7.03795003e-02 4.69446248e-02 3.70301140e+02] [-7.01628580e-02 9.97515978e-01 -6.24883603e-03 -4.99944024e+01] [-4.72678033e-02 2.93266515e-03 9.98877948e-01 -2.50936430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.740714057 meters 0.034267143058655455 Centerline is valid? [True, True] Translation: X:370.33, Y:-49.99, Z:-25.09 [[ 9.96107067e-01 7.40282294e-02 4.78595120e-02 3.70331631e+02] [-7.38072525e-02 9.97252178e-01 -6.37046144e-03 -4.99940257e+01] [-4.81995966e-02 2.81328257e-03 9.98833762e-01 -2.50939955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.770714057 meters 0.032943734201853675 Centerline is valid? [True, True] Translation: X:370.36, Y:-50.00, Z:-25.09 [[ 9.95810704e-01 7.74966084e-02 4.85316174e-02 3.70361604e+02] [-7.72735195e-02 9.96989009e-01 -6.45906660e-03 -4.99953998e+01] [-4.88860449e-02 2.68179877e-03 9.98800762e-01 -2.50945268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.800714057 meters 0.03225102670186607 Centerline is valid? [True, True] Translation: X:370.39, Y:-50.00, Z:-25.10 [[ 9.95339106e-01 8.26478828e-02 4.96929824e-02 3.70391533e+02] [-8.24204194e-02 9.96575710e-01 -6.61272427e-03 -4.99969417e+01] [-5.00693469e-02 2.48618661e-03 9.98742649e-01 -2.50954078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.830714057 meters 0.03143710994187641 Centerline is valid? [True, True] Translation: X:370.42, Y:-50.00, Z:-25.10 [[ 9.95148393e-01 8.49710010e-02 4.95944047e-02 3.70420503e+02] [-8.47473323e-02 9.96380620e-01 -6.59927394e-03 -4.99990523e+01] [-4.99756506e-02 2.36426335e-03 9.98747638e-01 -2.50982254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.860714057 meters 0.03097097101466391 Centerline is valid? [True, True] Translation: X:370.45, Y:-50.00, Z:-25.10 [[ 9.95098760e-01 8.54088986e-02 4.98375245e-02 3.70449104e+02] [-8.51838842e-02 9.96343218e-01 -6.62551708e-03 -5.00027430e+01] [-5.02211576e-02 2.34768991e-03 9.98735362e-01 -2.51001838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.890714057 meters 0.03141407524582822 Centerline is valid? [True, True] Translation: X:370.48, Y:-50.01, Z:-25.10 [[ 9.95214263e-01 8.43817501e-02 4.92777013e-02 3.70476177e+02] [-8.41606806e-02 9.96430684e-01 -6.54769171e-03 -5.00088262e+01] [-4.96543193e-02 2.36911129e-03 9.98763654e-01 -2.51030391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.920714057 meters 0.03250662012583027 Centerline is valid? [True, True] Translation: X:370.50, Y:-50.01, Z:-25.11 [[ 9.95356637e-01 8.31100520e-02 4.85580487e-02 3.70502948e+02] [-8.28940946e-02 9.96537503e-01 -6.44787849e-03 -5.00145987e+01] [-4.89258001e-02 2.39276317e-03 9.98799550e-01 -2.51056464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.950714057 meters 0.03183877833026261 Centerline is valid? [True, True] Translation: X:370.53, Y:-50.02, Z:-25.11 [[ 9.95658038e-01 8.02606101e-02 4.71519472e-02 3.70531717e+02] [-8.00540602e-02 9.96770893e-01 -6.25576604e-03 -5.00189579e+01] [-4.75017801e-02 2.45389892e-03 9.98868139e-01 -2.51078225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.980714057 meters 0.033241147380855235 Centerline is valid? [True, True] Translation: X:370.56, Y:-50.03, Z:-25.11 [[ 9.95813885e-01 7.87301793e-02 4.64356018e-02 3.70558232e+02] [-7.85283033e-02 9.96892861e-01 -6.15861226e-03 -5.00255945e+01] [-4.67761886e-02 2.48632258e-03 9.98902301e-01 -2.51098737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.01071405700003 meters 0.036276326977453616 Centerline is valid? [True, True] Translation: X:370.59, Y:-50.04, Z:-25.11 [[ 9.96026184e-01 7.61058697e-02 4.62572877e-02 3.70585070e+02] [-7.59029240e-02 9.97096365e-01 -6.13062933e-03 -5.00363974e+01] [-4.65895503e-02 2.59520395e-03 9.98910746e-01 -2.51121444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.040714057 meters 0.037379539051724926 Centerline is valid? [True, True] Translation: X:370.61, Y:-50.04, Z:-25.11 [[ 9.96083918e-01 7.51839901e-02 4.65209264e-02 3.70613416e+02] [-7.49778823e-02 9.97166157e-01 -6.16212352e-03 -5.00422952e+01] [-4.68523864e-02 2.64995160e-03 9.98898309e-01 -2.51135416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.07071405700003 meters 0.03811570104664625 Centerline is valid? [True, True] Translation: X:370.64, Y:-50.05, Z:-25.11 [[ 9.96078826e-01 7.39248120e-02 4.86013865e-02 3.70641539e+02] [-7.36985183e-02 9.97259810e-01 -6.43418796e-03 -5.00487759e+01] [-4.89438556e-02 2.82710821e-03 9.98797530e-01 -2.51142233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.100714057 meters 0.03857125491695288 Centerline is valid? [True, True] Translation: X:370.67, Y:-50.05, Z:-25.12 [[ 9.96105101e-01 7.30339303e-02 4.94031583e-02 3.70670316e+02] [-7.27991810e-02 9.97325197e-01 -6.53689566e-03 -5.00534179e+01] [-4.97484297e-02 2.91492565e-03 9.98757527e-01 -2.51153286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.13071405700003 meters 0.03940674322720394 Centerline is valid? [True, True] Translation: X:370.70, Y:-50.06, Z:-25.12 [[ 9.96132676e-01 7.23233996e-02 4.98900496e-02 3.70697533e+02] [-7.20832753e-02 9.97376793e-01 -6.59799629e-03 -5.00596465e+01] [-5.02363672e-02 2.97624152e-03 9.98732922e-01 -2.51165376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.160714057 meters 0.039750911358097246 Centerline is valid? [True, True] Translation: X:370.73, Y:-50.06, Z:-25.12 [[ 9.96176484e-01 7.17409670e-02 4.98562520e-02 3.70726036e+02] [-7.15006608e-02 9.97418788e-01 -6.58917238e-03 -5.00642305e+01] [-5.02002760e-02 2.99922362e-03 9.98734668e-01 -2.51182356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.190714057 meters 0.035628673610393104 Centerline is valid? [True, True] Translation: X:370.76, Y:-50.06, Z:-25.12 [[ 9.96197344e-01 7.14420286e-02 4.98687099e-02 3.70755423e+02] [-7.12013973e-02 9.97440207e-01 -6.58747539e-03 -5.00631660e+01] [-5.02116789e-02 3.01170366e-03 9.98734057e-01 -2.51195552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.220714057 meters 0.04217258952754886 Centerline is valid? [True, True] Translation: X:370.78, Y:-50.08, Z:-25.12 [[ 9.96283665e-01 7.07621060e-02 4.91078748e-02 3.70780909e+02] [-7.05281030e-02 9.97488720e-01 -6.48380001e-03 -5.00776673e+01] [-4.94433585e-02 2.99621879e-03 9.98772435e-01 -2.51229277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.250714057 meters 0.0347756111555322 Centerline is valid? [True, True] Translation: X:370.81, Y:-50.07, Z:-25.12 [[ 9.96420012e-01 7.01307382e-02 4.72105933e-02 3.70810395e+02] [-6.99140237e-02 9.97533578e-01 -6.22813531e-03 -5.00717124e+01] [-4.75309357e-02 2.90515612e-03 9.98865542e-01 -2.51244824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.280714057 meters 0.03500272471777485 Centerline is valid? [True, True] Translation: X:370.84, Y:-50.08, Z:-25.13 [[ 9.96472796e-01 6.97901766e-02 4.65971910e-02 3.70838131e+02] [-6.95788387e-02 9.97557535e-01 -6.14407355e-03 -5.00774414e+01] [-4.69121750e-02 2.88022371e-03 9.98894865e-01 -2.51266878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.310714057 meters 0.04410865633192611 Centerline is valid? [True, True] Translation: X:370.86, Y:-50.10, Z:-25.13 [[ 9.96533551e-01 6.97616595e-02 4.53231999e-02 3.70863555e+02] [-6.95618942e-02 9.97559763e-01 -5.97184397e-03 -5.00972343e+01] [-4.56292063e-02 2.79837524e-03 9.98954526e-01 -2.51324920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.340714057 meters 0.03550110121859292 Centerline is valid? [True, True] Translation: X:370.89, Y:-50.09, Z:-25.13 [[ 9.96535200e-01 6.99065185e-02 4.50629939e-02 3.70893468e+02] [-6.97093843e-02 9.97549697e-01 -5.93327593e-03 -5.00884996e+01] [-4.53673506e-02 2.77140476e-03 9.98966527e-01 -2.51317719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.370714057 meters 0.03533913099461248 Centerline is valid? [True, True] Translation: X:370.92, Y:-50.09, Z:-25.13 [[ 9.96342638e-01 7.23125158e-02 4.55219432e-02 3.70921543e+02] [-7.21140060e-02 9.97378408e-01 -5.99014134e-03 -5.00930996e+01] [-4.58357655e-02 2.68546354e-03 9.98945379e-01 -2.51330126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.400714057 meters 0.03345768135742617 Centerline is valid? [True, True] Translation: X:370.95, Y:-50.10, Z:-25.13 [[ 9.96166286e-01 7.42220529e-02 4.63013753e-02 3.70951689e+02] [-7.40188729e-02 9.97238247e-01 -6.08975797e-03 -5.00951293e+01] [-4.66254967e-02 2.63923597e-03 9.98908954e-01 -2.51339084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.430714057 meters 0.032747077259534414 Centerline is valid? [True, True] Translation: X:370.98, Y:-50.10, Z:-25.13 [[ 9.95760091e-01 7.91094406e-02 4.69418508e-02 3.70980847e+02] [-7.89060447e-02 9.96862944e-01 -6.17316061e-03 -5.00974156e+01] [-4.72829468e-02 2.44299120e-03 9.98878549e-01 -2.51345646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.460714057 meters 0.030522399189527784 Centerline is valid? [True, True] Translation: X:371.01, Y:-50.10, Z:-25.14 [[ 9.95528510e-01 8.18179299e-02 4.72103054e-02 3.71011147e+02] [-8.16152682e-02 9.96644576e-01 -6.20774953e-03 -5.00966738e+01] [-4.75598000e-02 2.32690991e-03 9.98865682e-01 -2.51355425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.490714057 meters 0.031071686036382808 Centerline is valid? [True, True] Translation: X:371.04, Y:-50.10, Z:-25.14 [[ 9.95049496e-01 8.68910590e-02 4.82332393e-02 3.71039921e+02] [-8.66855880e-02 9.96215549e-01 -6.33947576e-03 -5.01017620e+01] [-4.86015467e-02 2.12696545e-03 9.98815982e-01 -2.51374777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.520714057 meters 0.030751125303965482 Centerline is valid? [True, True] Translation: X:371.07, Y:-50.11, Z:-25.14 [[ 9.94914776e-01 8.84153504e-02 4.82422403e-02 3.71067915e+02] [-8.82116245e-02 9.96081580e-01 -6.33994687e-03 -5.01051320e+01] [-4.86137556e-02 2.05218043e-03 9.98815544e-01 -2.51391084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.550714057 meters 0.028999168392748065 Centerline is valid? [True, True] Translation: X:371.10, Y:-50.11, Z:-25.14 [[ 9.94780594e-01 8.96952520e-02 4.86449564e-02 3.71097142e+02] [-8.94898014e-02 9.95967244e-01 -6.38946141e-03 -5.01058480e+01] [-4.90218875e-02 2.00288473e-03 9.98795696e-01 -2.51404982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.580714057 meters 0.030258943781944988 Centerline is valid? [True, True] Translation: X:371.12, Y:-50.11, Z:-25.14 [[ 9.94984300e-01 8.77120995e-02 4.80919007e-02 3.71124839e+02] [-8.75091622e-02 9.96143710e-01 -6.31319863e-03 -5.01145024e+01] [-4.84601883e-02 2.07305158e-03 9.98822964e-01 -2.51435807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.610714057 meters 0.03067890808034035 Centerline is valid? [True, True] Translation: X:371.15, Y:-50.12, Z:-25.15 [[ 9.95141826e-01 8.60301806e-02 4.78701851e-02 3.71152932e+02] [-8.58272867e-02 9.96290227e-01 -6.28168490e-03 -5.01201621e+01] [-4.82330121e-02 2.14259927e-03 9.98833813e-01 -2.51457195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.640714057 meters 0.031455637490773285 Centerline is valid? [True, True] Translation: X:371.18, Y:-50.13, Z:-25.15 [[ 9.95352004e-01 8.38131981e-02 4.74313747e-02 3.71181882e+02] [-8.36116777e-02 9.96478998e-01 -6.22036990e-03 -5.01265573e+01] [-4.77857179e-02 2.22564083e-03 9.98855130e-01 -2.51477203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.670714057 meters 0.03249980265025721 Centerline is valid? [True, True] Translation: X:371.21, Y:-50.14, Z:-25.15 [[ 9.95757454e-01 7.88820077e-02 4.73785003e-02 3.71211396e+02] [-7.86754583e-02 9.96880930e-01 -6.21157726e-03 -5.01352409e+01] [-4.77207052e-02 2.45769913e-03 9.98857695e-01 -2.51493907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.700714057 meters 0.03457412528199781 Centerline is valid? [True, True] Translation: X:371.24, Y:-50.15, Z:-25.15 [[ 9.96156604e-01 7.38496468e-02 4.70982925e-02 3.71239619e+02] [-7.36399694e-02 9.97265780e-01 -6.17397619e-03 -5.01454349e+01] [-4.74254614e-02 2.68193034e-03 9.98871179e-01 -2.51518940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.730714057 meters 0.03593393249275062 Centerline is valid? [True, True] Translation: X:371.27, Y:-50.15, Z:-25.15 [[ 9.96375234e-01 7.13088044e-02 4.63836930e-02 3.71268416e+02] [-7.11027399e-02 9.97450470e-01 -6.07953499e-03 -5.01522296e+01] [-4.66989607e-02 2.75949044e-03 9.98905197e-01 -2.51547337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.76071405700003 meters 0.038841270346070565 Centerline is valid? [True, True] Translation: X:371.30, Y:-50.16, Z:-25.16 [[ 9.96564431e-01 6.89306867e-02 4.59118188e-02 3.71296242e+02] [-6.87263485e-02 9.97617408e-01 -6.01628564e-03 -5.01610582e+01] [-4.62171363e-02 2.84026462e-03 9.98927379e-01 -2.51574726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.790714057 meters 0.039391250083341996 Centerline is valid? [True, True] Translation: X:371.33, Y:-50.17, Z:-25.16 [[ 9.96856328e-01 6.48057412e-02 4.55815423e-02 3.71326362e+02] [-6.46001760e-02 9.97893369e-01 -5.97007364e-03 -5.01677578e+01] [-4.58724138e-02 3.00673003e-03 9.98942782e-01 -2.51592874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.82071405700003 meters 0.06182091581989163 Centerline is valid? [True, True] Translation: X:371.35, Y:-50.20, Z:-25.16 [[ 9.96863034e-01 6.37347982e-02 4.69251192e-02 3.71350130e+02] [-6.35157379e-02 9.97961911e-01 -6.14617107e-03 -5.02034999e+01] [-4.72212066e-02 3.14640717e-03 9.98879501e-01 -2.51645956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.850714057 meters 0.044214235992535086 Centerline is valid? [True, True] Translation: X:371.38, Y:-50.18, Z:-25.16 [[ 9.97227726e-01 5.85988673e-02 4.58588688e-02 3.71384027e+02] [-5.83843681e-02 9.98276123e-01 -6.00406050e-03 -5.01829277e+01] [-4.61316448e-02 3.30997452e-03 9.98929885e-01 -2.51626933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.88071405700003 meters 0.043483193571470555 Centerline is valid? [True, True] Translation: X:371.41, Y:-50.19, Z:-25.16 [[ 9.97315759e-01 5.67123613e-02 4.63139766e-02 3.71413619e+02] [-5.64915354e-02 9.98384662e-01 -6.06411263e-03 -5.01856312e+01] [-4.65830741e-02 3.43148744e-03 9.98908525e-01 -2.51639670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.910714057 meters 0.047572906763719475 Centerline is valid? [True, True] Translation: X:371.44, Y:-50.20, Z:-25.17 [[ 9.97450410e-01 5.39605524e-02 4.67005147e-02 3.71442027e+02] [-5.37331445e-02 9.98536625e-01 -6.11215404e-03 -5.01958952e+01] [-4.69619896e-02 3.58720504e-03 9.98890236e-01 -2.51664918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.940714057 meters 0.04930853295419504 Centerline is valid? [True, True] Translation: X:371.47, Y:-50.20, Z:-25.17 [[ 9.97575418e-01 5.18744766e-02 4.63931434e-02 3.71471345e+02] [-5.16476807e-02 9.98646892e-01 -6.07478069e-03 -5.02018401e+01] [-4.66454945e-02 3.66395364e-03 9.98904787e-01 -2.51685291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.970714057 meters 0.049944352347789725 Centerline is valid? [True, True] Translation: X:371.50, Y:-50.21, Z:-25.17 [[ 9.97646239e-01 5.09533287e-02 4.58883367e-02 3.71502007e+02] [-5.07304871e-02 9.98694305e-01 -6.00848712e-03 -5.02057355e+01] [-4.61345730e-02 3.66640690e-03 9.98928505e-01 -2.51701602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.000714057 meters 0.049944352347789725 Centerline is valid? [True, True] Translation: X:371.53, Y:-50.21, Z:-25.17 [[ 9.97644555e-01 5.09863664e-02 4.58882620e-02 3.71532635e+02] [-5.07635334e-02 9.98692623e-01 -6.00905832e-03 -5.02097803e+01] [-4.61346487e-02 3.66545399e-03 9.98928505e-01 -2.51719502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.030714057 meters 0.05189702065504444 Centerline is valid? [True, True] Translation: X:371.56, Y:-50.22, Z:-25.17 [[ 9.97676401e-01 4.98402828e-02 4.64515314e-02 3.71562210e+02] [-4.96106240e-02 9.98750101e-01 -6.08459277e-03 -5.02155572e+01] [-4.66967295e-02 3.76596516e-03 9.98902014e-01 -2.51736138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.060714057 meters 0.04522113435513545 Centerline is valid? [True, True] Translation: X:371.59, Y:-50.21, Z:-25.17 [[ 9.97688720e-01 4.96333542e-02 4.64084840e-02 3.71594161e+02] [-4.94038724e-02 9.98760380e-01 -6.07952441e-03 -5.02101646e+01] [-4.66527023e-02 3.77271411e-03 9.98904045e-01 -2.51742108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.090714057 meters 0.046319160040745454 Centerline is valid? [True, True] Translation: X:371.62, Y:-50.21, Z:-25.18 [[ 9.97763659e-01 4.85491350e-02 4.59419488e-02 3.71624815e+02] [-4.83230325e-02 9.98813618e-01 -6.02002093e-03 -5.02148730e+01] [-4.61797109e-02 3.78650382e-03 9.98925972e-01 -2.51767694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.120714057 meters 0.04699647241031954 Centerline is valid? [True, True] Translation: X:371.66, Y:-50.22, Z:-25.18 [[ 9.97780648e-01 4.80827049e-02 4.60633466e-02 3.71655668e+02] [-4.78548357e-02 9.98836054e-01 -6.03756063e-03 -5.02193900e+01] [-4.63000335e-02 3.81980728e-03 9.98920275e-01 -2.51789623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.150714057 meters 0.04484635730308461 Centerline is valid? [True, True] Translation: X:371.69, Y:-50.22, Z:-25.18 [[ 9.97739382e-01 4.82548644e-02 4.67717269e-02 3.71687598e+02] [-4.80200350e-02 9.98827550e-01 -6.13207921e-03 -5.02195364e+01] [-4.70127920e-02 3.87223695e-03 9.98886782e-01 -2.51797152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.180714057 meters 0.043390429929922834 Centerline is valid? [True, True] Translation: X:371.72, Y:-50.22, Z:-25.18 [[ 9.97733647e-01 4.83111375e-02 4.68359138e-02 3.71719746e+02] [-4.80757532e-02 9.98824821e-01 -6.13987644e-03 -5.02207285e+01] [-4.70774977e-02 3.87428949e-03 9.98883727e-01 -2.51813678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.210714057 meters 0.0433866810404822 Centerline is valid? [True, True] Translation: X:371.75, Y:-50.22, Z:-25.18 [[ 9.97645413e-01 4.94466947e-02 4.75252924e-02 3.71750644e+02] [-4.92049106e-02 9.98769183e-01 -6.24470513e-03 -5.02239197e+01] [-4.77755775e-02 3.89152366e-03 9.98850514e-01 -2.51830298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.240714057 meters 0.04466387342649327 Centerline is valid? [True, True] Translation: X:371.78, Y:-50.23, Z:-25.19 [[ 9.97626619e-01 5.01120341e-02 4.72219570e-02 3.71781127e+02] [-4.98739883e-02 9.98736233e-01 -6.20655910e-03 -5.02282063e+01] [-4.74733027e-02 3.83668124e-03 9.98865139e-01 -2.51852861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.270714057 meters 0.044323374440044555 Centerline is valid? [True, True] Translation: X:371.81, Y:-50.23, Z:-25.19 [[ 9.97539068e-01 5.23782270e-02 4.66082459e-02 3.71812224e+02] [-5.21487078e-02 9.98620531e-01 -6.12765933e-03 -5.02292027e+01] [-4.68649072e-02 3.68201978e-03 9.98894450e-01 -2.51875486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.300714057 meters 0.04386239498386352 Centerline is valid? [True, True] Translation: X:371.84, Y:-50.23, Z:-25.19 [[ 9.97461874e-01 5.40227551e-02 4.63826634e-02 3.71843007e+02] [-5.37971644e-02 9.98533257e-01 -6.09919898e-03 -5.02317524e+01] [-4.66441275e-02 3.58846267e-03 9.98905125e-01 -2.51897047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.330714057 meters 0.040904210694689386 Centerline is valid? [True, True] Translation: X:371.87, Y:-50.23, Z:-25.19 [[ 9.97313176e-01 5.70306869e-02 4.59774951e-02 3.71873955e+02] [-5.68121365e-02 9.98366572e-01 -6.04728668e-03 -5.02289278e+01] [-4.62472750e-02 3.41895896e-03 9.98924171e-01 -2.51909352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.360714057 meters 0.041327495779875247 Centerline is valid? [True, True] Translation: X:371.90, Y:-50.23, Z:-25.19 [[ 9.97192822e-01 5.87100489e-02 4.64715681e-02 3.71902660e+02] [-5.84886067e-02 9.98269367e-01 -6.11179185e-03 -5.02325484e+01] [-4.67499665e-02 3.37657769e-03 9.98900916e-01 -2.51924801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.390714057 meters 0.03964698586991913 Centerline is valid? [True, True] Translation: X:371.93, Y:-50.23, Z:-25.19 [[ 9.96928557e-01 6.23913483e-02 4.73367958e-02 3.71933706e+02] [-6.21657979e-02 9.98046432e-01 -6.22356071e-03 -5.02315776e+01] [-4.76326165e-02 3.26171571e-03 9.98859597e-01 -2.51936033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.420714057 meters 0.04123654882867028 Centerline is valid? [True, True] Translation: X:371.96, Y:-50.24, Z:-25.20 [[ 9.96858363e-01 6.34351012e-02 4.74277598e-02 3.71961367e+02] [-6.32098309e-02 9.97980776e-01 -6.23607170e-03 -5.02353794e+01] [-4.77275783e-02 3.21857954e-03 9.98855204e-01 -2.51957191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.450714057 meters 0.039164502244298176 Centerline is valid? [True, True] Translation: X:371.99, Y:-50.23, Z:-25.20 [[ 9.96711334e-01 6.57391562e-02 4.73801589e-02 3.71991898e+02] [-6.55171610e-02 9.97832026e-01 -6.22493632e-03 -5.02341138e+01] [-4.76866620e-02 3.10025108e-03 9.98857533e-01 -2.51971306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.480714057 meters 0.03914417804329466 Centerline is valid? [True, True] Translation: X:372.02, Y:-50.24, Z:-25.20 [[ 9.96681006e-01 6.63262267e-02 4.71996138e-02 3.72019461e+02] [-6.61065819e-02 9.97793298e-01 -6.20110878e-03 -5.02366125e+01] [-4.75067545e-02 3.06032221e-03 9.98866229e-01 -2.51990099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.51071405700003 meters 0.039637576403561144 Centerline is valid? [True, True] Translation: X:372.05, Y:-50.24, Z:-25.20 [[ 9.96642451e-01 6.67738272e-02 4.73822947e-02 3.72047863e+02] [-6.65531934e-02 9.97763487e-01 -6.22065407e-03 -5.02404023e+01] [-4.76917005e-02 3.04632490e-03 9.98857458e-01 -2.52010090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.540714057 meters 0.03758188668289051 Centerline is valid? [True, True] Translation: X:372.08, Y:-50.24, Z:-25.20 [[ 9.96649363e-01 6.65242508e-02 4.75875044e-02 3.72077256e+02] [-6.63015760e-02 9.97780091e-01 -6.24427683e-03 -5.02405673e+01] [-4.78972604e-02 3.06822799e-03 9.98847555e-01 -2.52030114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.57071405700003 meters 0.038191912210998546 Centerline is valid? [True, True] Translation: X:372.11, Y:-50.24, Z:-25.21 [[ 9.96843978e-01 6.42037438e-02 4.66900738e-02 3.72106107e+02] [-6.39870250e-02 9.97931946e-01 -6.12306763e-03 -5.02436143e+01] [-4.69866400e-02 3.11618417e-03 9.98890657e-01 -2.52054745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.600714057 meters 0.04269704912112791 Centerline is valid? [True, True] Translation: X:372.13, Y:-50.25, Z:-25.21 [[ 9.96942541e-01 6.27021034e-02 4.66263459e-02 3.72133306e+02] [-6.24844503e-02 9.98027220e-01 -6.11240857e-03 -5.02533092e+01] [-4.69176232e-02 3.18029855e-03 9.98893699e-01 -2.52076408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.63071405700003 meters 0.0451768883345997 Centerline is valid? [True, True] Translation: X:372.16, Y:-50.26, Z:-25.21 [[ 9.97105073e-01 5.95039379e-02 4.73366061e-02 3.72162208e+02] [-5.92761933e-02 9.98222356e-01 -6.20171058e-03 -5.02597466e+01] [-4.76214847e-02 3.37782327e-03 9.98859742e-01 -2.52078912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.660714057 meters 0.04211253065390308 Centerline is valid? [True, True] Translation: X:372.19, Y:-50.26, Z:-25.21 [[ 9.97209893e-01 5.75156917e-02 4.75854461e-02 3.72192283e+02] [-5.72833706e-02 9.98338504e-01 -6.23269906e-03 -5.02588427e+01] [-4.78648611e-02 3.48945442e-03 9.98847726e-01 -2.52084575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.690714057 meters 0.04631142720837756 Centerline is valid? [True, True] Translation: X:372.22, Y:-50.27, Z:-25.21 [[ 9.97374109e-01 5.39095864e-02 4.83595271e-02 3.72220339e+02] [-5.36655263e-02 9.98538891e-01 -6.33199251e-03 -5.02692262e+01] [-4.86302236e-02 3.72012592e-03 9.98809923e-01 -2.52105830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.720714057 meters 0.04264469634910239 Centerline is valid? [True, True] Translation: X:372.25, Y:-50.27, Z:-25.21 [[ 9.97473203e-01 5.20234273e-02 4.83815340e-02 3.72251276e+02] [-5.17769328e-02 9.98638582e-01 -6.33503430e-03 -5.02679390e+01] [-4.86452367e-02 3.81397952e-03 9.98808838e-01 -2.52116342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.750714057 meters 0.04334916548160027 Centerline is valid? [True, True] Translation: X:372.28, Y:-50.27, Z:-25.21 [[ 9.97631046e-01 4.88100199e-02 4.84755436e-02 3.72281830e+02] [-4.85587997e-02 9.98800157e-01 -6.34731281e-03 -5.02730632e+01] [-4.87271931e-02 3.97836211e-03 9.98804202e-01 -2.52132689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.780714057 meters 0.044745718939777385 Centerline is valid? [True, True] Translation: X:372.31, Y:-50.28, Z:-25.22 [[ 9.97660955e-01 4.77454748e-02 4.89181920e-02 3.72312941e+02] [-4.74884583e-02 9.98851261e-01 -6.40348768e-03 -5.02789879e+01] [-4.91677353e-02 4.06546010e-03 9.98782261e-01 -2.52152156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.810714057 meters 0.04234289201027744 Centerline is valid? [True, True] Translation: X:372.34, Y:-50.28, Z:-25.22 [[ 9.97726098e-01 4.59518673e-02 4.93057760e-02 3.72344214e+02] [-4.56879239e-02 9.98934825e-01 -6.46752842e-03 -5.02803166e+01] [-4.95504517e-02 4.20014335e-03 9.98762790e-01 -2.52167314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.840714057 meters 0.046034274400724357 Centerline is valid? [True, True] Translation: X:372.37, Y:-50.29, Z:-25.22 [[ 9.97768224e-01 4.48179783e-02 4.94966688e-02 3.72373980e+02] [-4.45505443e-02 9.98986026e-01 -6.49369996e-03 -5.02894182e+01] [-4.97375150e-02 4.27410394e-03 9.98753179e-01 -2.52189942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.870714057 meters 0.04615200986110347 Centerline is valid? [True, True] Translation: X:372.41, Y:-50.29, Z:-25.22 [[ 9.97785050e-01 4.37904023e-02 5.00739009e-02 3.72405565e+02] [-4.35150521e-02 9.99031126e-01 -6.57640951e-03 -5.02944301e+01] [-5.03133693e-02 4.38287468e-03 9.98723863e-01 -2.52201873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.900714057 meters 0.04641282837887118 Centerline is valid? [True, True] Translation: X:372.44, Y:-50.30, Z:-25.22 [[ 9.97790485e-01 4.33306195e-02 5.03647207e-02 3.72437857e+02] [-4.30513538e-02 9.99050948e-01 -6.61703828e-03 -5.02992154e+01] [-5.06036423e-02 4.43414842e-03 9.98708971e-01 -2.52218626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.930714057 meters 0.047675920820985776 Centerline is valid? [True, True] Translation: X:372.47, Y:-50.31, Z:-25.22 [[ 9.97799835e-01 4.30450809e-02 5.04242974e-02 3.72469801e+02] [-4.27641347e-02 9.99063145e-01 -6.63781985e-03 -5.03060478e+01] [-5.06627827e-02 4.46686410e-03 9.98705827e-01 -2.52241748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.960714057 meters 0.047777870818474046 Centerline is valid? [True, True] Translation: X:372.50, Y:-50.31, Z:-25.23 [[ 9.97807328e-01 4.28606881e-02 5.04330955e-02 3.72501897e+02] [-4.25787607e-02 9.99070970e-01 -6.65177715e-03 -5.03108707e+01] [-5.06713413e-02 4.48981328e-03 9.98705290e-01 -2.52262391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.990714057 meters 0.04750047760642009 Centerline is valid? [True, True] Translation: X:372.53, Y:-50.32, Z:-25.23 [[ 9.97800379e-01 4.34295130e-02 5.00827346e-02 3.72533373e+02] [-4.31515658e-02 9.99046616e-01 -6.61823538e-03 -5.03160511e+01] [-5.03224133e-02 4.44252936e-03 9.98723144e-01 -2.52287271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.020714057 meters 0.05150323319927304 Centerline is valid? [True, True] Translation: X:372.56, Y:-50.33, Z:-25.23 [[ 9.97809096e-01 4.39032698e-02 4.94925252e-02 3.72563212e+02] [-4.36317592e-02 9.99026186e-01 -6.55351490e-03 -5.03260294e+01] [-4.97320494e-02 4.37971084e-03 9.98752993e-01 -2.52311209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.050714057 meters 0.04576474198894977 Centerline is valid? [True, True] Translation: X:372.60, Y:-50.32, Z:-25.23 [[ 9.97783218e-01 4.53995886e-02 4.86572338e-02 3.72595637e+02] [-4.51385660e-02 9.98959909e-01 -6.45053596e-03 -5.03228696e+01] [-4.88994776e-02 4.23991876e-03 9.98794706e-01 -2.52327256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.080714057 meters 0.045131042740760005 Centerline is valid? [True, True] Translation: X:372.63, Y:-50.33, Z:-25.23 [[ 9.97760222e-01 4.62501999e-02 4.83265829e-02 3.72628052e+02] [-4.59935931e-02 9.98921175e-01 -6.40902617e-03 -5.03265991e+01] [-4.85708657e-02 4.17195818e-03 9.98811026e-01 -2.52342870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.110714057 meters 0.04901130923190544 Centerline is valid? [True, True] Translation: X:372.66, Y:-50.34, Z:-25.24 [[ 9.97652707e-01 4.82746042e-02 4.85658144e-02 3.72656586e+02] [-4.80175708e-02 9.98825691e-01 -6.44600290e-03 -5.03365446e+01] [-4.88199614e-02 4.09885981e-03 9.98799184e-01 -2.52366980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.140714057 meters 0.043307782661194796 Centerline is valid? [True, True] Translation: X:372.69, Y:-50.33, Z:-25.24 [[ 9.97543211e-01 5.11748425e-02 4.78401312e-02 3.72687966e+02] [-5.09287637e-02 9.98682105e-01 -6.34941902e-03 -5.03321139e+01] [-4.81020135e-02 3.89738110e-03 9.98834825e-01 -2.52376306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.170714057 meters 0.04729278861728801 Centerline is valid? [True, True] Translation: X:372.72, Y:-50.34, Z:-25.24 [[ 9.97447083e-01 5.31291408e-02 4.77138518e-02 3.72716825e+02] [-5.28865038e-02 9.98580440e-01 -6.33425930e-03 -5.03416703e+01] [-4.79826529e-02 3.79466965e-03 9.98840961e-01 -2.52403073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.200714057 meters 0.04342361714793916 Centerline is valid? [True, True] Translation: X:372.75, Y:-50.34, Z:-25.24 [[ 9.97296082e-01 5.65363491e-02 4.69485375e-02 3.72747732e+02] [-5.63051887e-02 9.98394150e-01 -6.23269883e-03 -5.03391347e+01] [-4.72255193e-02 3.57239986e-03 9.98877865e-01 -2.52419961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.230714057 meters 0.04088014893491263 Centerline is valid? [True, True] Translation: X:372.78, Y:-50.34, Z:-25.24 [[ 9.97206580e-01 5.83133518e-02 4.66753615e-02 3.72777435e+02] [-5.80868024e-02 9.98292305e-01 -6.19660619e-03 -5.03386777e+01] [-4.69569991e-02 3.46807397e-03 9.98890891e-01 -2.52434071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.26071405700003 meters 0.04165890322895613 Centerline is valid? [True, True] Translation: X:372.81, Y:-50.34, Z:-25.25 [[ 9.97131141e-01 5.99847349e-02 4.61662115e-02 3.72805578e+02] [-5.97649537e-02 9.98193670e-01 -6.12755867e-03 -5.03429205e+01] [-4.64503801e-02 3.35085807e-03 9.98914978e-01 -2.52455320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.290714057 meters 0.040615661039772544 Centerline is valid? [True, True] Translation: X:372.83, Y:-50.34, Z:-25.25 [[ 9.96894002e-01 6.35836380e-02 4.64700904e-02 3.72834949e+02] [-6.33649734e-02 9.97971379e-01 -6.16501678e-03 -5.03448240e+01] [-4.67678143e-02 3.20129221e-03 9.98900657e-01 -2.52470052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.32071405700003 meters 0.03962576640667229 Centerline is valid? [True, True] Translation: X:372.87, Y:-50.35, Z:-25.25 [[ 9.96649001e-01 6.71917025e-02 4.66480886e-02 3.72865101e+02] [-6.69753456e-02 9.97735445e-01 -6.18743355e-03 -5.03459117e+01] [-4.69581957e-02 3.04242761e-03 9.98892222e-01 -2.52480705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.350714057 meters 0.039549331345136655 Centerline is valid? [True, True] Translation: X:372.89, Y:-50.35, Z:-25.25 [[ 9.96488333e-01 6.90665842e-02 4.73371838e-02 3.72893930e+02] [-6.88458812e-02 9.97607548e-01 -6.27896163e-03 -5.03492049e+01] [-4.76575983e-02 2.99794187e-03 9.98859232e-01 -2.52493050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.38071405700003 meters 0.03897004329842131 Centerline is valid? [True, True] Translation: X:372.92, Y:-50.35, Z:-25.25 [[ 9.96179577e-01 7.31864508e-02 4.76444516e-02 3.72923480e+02] [-7.29676475e-02 9.97314297e-01 -6.31791218e-03 -5.03509778e+01] [-4.79788783e-02 2.81727153e-03 9.98844377e-01 -2.52506041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.410714057 meters 0.03841097895483088 Centerline is valid? [True, True] Translation: X:372.95, Y:-50.35, Z:-25.25 [[ 9.96035177e-01 7.51403618e-02 4.76219692e-02 3.72952764e+02] [-7.49240307e-02 9.97169255e-01 -6.31406812e-03 -5.03537056e+01] [-4.79616049e-02 2.72100408e-03 9.98845474e-01 -2.52521271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.440714057 meters 0.0345607238757495 Centerline is valid? [True, True] Translation: X:372.98, Y:-50.35, Z:-25.25 [[ 9.95891059e-01 7.68459050e-02 4.79135214e-02 3.72982087e+02] [-7.66289433e-02 9.97039450e-01 -6.35143012e-03 -5.03510264e+01] [-4.82597525e-02 2.65376995e-03 9.98831294e-01 -2.52526595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.470714057 meters 0.03697307642643369 Centerline is valid? [True, True] Translation: X:373.01, Y:-50.36, Z:-25.26 [[ 9.95616259e-01 8.03163792e-02 4.79327032e-02 3.73009780e+02] [-8.01034393e-02 9.96766330e-01 -6.35006762e-03 -5.03580404e+01] [-4.82877191e-02 2.48265619e-03 9.98830382e-01 -2.52551093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.500714057 meters 0.0321288817480062 Centerline is valid? [True, True] Translation: X:373.04, Y:-50.35, Z:-25.26 [[ 9.95509029e-01 8.17121298e-02 4.78006426e-02 3.73039710e+02] [-8.15019843e-02 9.96653064e-01 -6.33220128e-03 -5.03531956e+01] [-4.81580746e-02 2.40791632e-03 9.98836824e-01 -2.52552579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.530714057 meters 0.03354147924158441 Centerline is valid? [True, True] Translation: X:373.07, Y:-50.36, Z:-25.26 [[ 9.95290028e-01 8.41504152e-02 4.81296960e-02 3.73067472e+02] [-8.39403839e-02 9.96450404e-01 -6.37211891e-03 -5.03592496e+01] [-4.84950715e-02 2.30208124e-03 9.98820769e-01 -2.52568773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.560714057 meters 0.030052099945004622 Centerline is valid? [True, True] Translation: X:373.10, Y:-50.36, Z:-25.26 [[ 9.95145229e-01 8.58849774e-02 4.80597945e-02 3.73096415e+02] [-8.56776894e-02 9.96302604e-01 -6.36046778e-03 -5.03573190e+01] [-4.84283670e-02 2.21193702e-03 9.98824209e-01 -2.52577846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.590714057 meters 0.030591550719490098 Centerline is valid? [True, True] Translation: X:373.12, Y:-50.36, Z:-25.26 [[ 9.95078452e-01 8.68528813e-02 4.77016871e-02 3.73123551e+02] [-8.66499405e-02 9.96218839e-01 -6.30979546e-03 -5.03622945e+01] [-4.80693432e-02 2.14539315e-03 9.98841697e-01 -2.52594274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.620714057 meters 0.03249663583688777 Centerline is valid? [True, True] Translation: X:373.15, Y:-50.37, Z:-25.26 [[ 9.94952165e-01 8.85437969e-02 4.72248473e-02 3.73150859e+02] [-8.83470057e-02 9.96070198e-01 -6.24232353e-03 -5.03698008e+01] [-4.75919820e-02 2.03863946e-03 9.98864779e-01 -2.52625591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.650714057 meters 0.032277292398552274 Centerline is valid? [True, True] Translation: X:373.18, Y:-50.37, Z:-25.26 [[ 9.94870345e-01 8.92969958e-02 4.75293984e-02 3.73179772e+02] [-8.90986854e-02 9.96003011e-01 -6.27899645e-03 -5.03739759e+01] [-4.79001194e-02 2.01198045e-03 9.98850104e-01 -2.52644131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.680714057 meters 0.029254660013286807 Centerline is valid? [True, True] Translation: X:373.21, Y:-50.37, Z:-25.27 [[ 9.94828828e-01 9.00977934e-02 4.68827368e-02 3.73209447e+02] [-8.99058333e-02 9.95931025e-01 -6.19146906e-03 -5.03722298e+01] [-4.72498098e-02 1.94442039e-03 9.98881212e-01 -2.52654418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.710714057 meters 0.029228036700191563 Centerline is valid? [True, True] Translation: X:373.24, Y:-50.38, Z:-25.27 [[ 9.94729401e-01 9.18536529e-02 4.55667080e-02 3.73237287e+02] [-9.16743103e-02 9.95770881e-01 -6.01450030e-03 -5.03770109e+01] [-4.59264548e-02 1.80550374e-03 9.98943192e-01 -2.52678545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.740714057 meters 0.028350432640437826 Centerline is valid? [True, True] Translation: X:373.27, Y:-50.38, Z:-25.27 [[ 9.94635796e-01 9.27917144e-02 4.57091959e-02 3.73265886e+02] [-9.26123865e-02 9.95683978e-01 -6.03004587e-03 -5.03806311e+01] [-4.60714524e-02 1.76446175e-03 9.98936589e-01 -2.52691041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.770714057 meters 0.02853560929565666 Centerline is valid? [True, True] Translation: X:373.29, Y:-50.39, Z:-25.27 [[ 9.94605512e-01 9.28997568e-02 4.61466152e-02 3.73293215e+02] [-9.27172425e-02 9.95673888e-01 -6.08455399e-03 -5.03858063e+01] [-4.65122334e-02 1.77314402e-03 9.98916147e-01 -2.52709997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.800714057 meters 0.028895789883582906 Centerline is valid? [True, True] Translation: X:373.32, Y:-50.39, Z:-25.27 [[ 9.94710857e-01 9.20898106e-02 4.54948013e-02 3.73321782e+02] [-9.19117683e-02 9.95749112e-01 -5.99438432e-03 -5.03922548e+01] [-4.58534297e-02 1.78117153e-03 9.98946590e-01 -2.52725198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.830714057 meters 0.029174043135686837 Centerline is valid? [True, True] Translation: X:373.35, Y:-50.40, Z:-25.27 [[ 9.94807593e-01 9.11380282e-02 4.52958374e-02 3.73349941e+02] [-9.09607033e-02 9.95836618e-01 -5.96495229e-03 -5.03974353e+01] [-4.56508875e-02 1.81383860e-03 9.98955808e-01 -2.52746892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.860714057 meters 0.028682467657834724 Centerline is valid? [True, True] Translation: X:373.38, Y:-50.40, Z:-25.28 [[ 9.95040473e-01 8.87847116e-02 4.48523295e-02 3.73379149e+02] [-8.86086213e-02 9.96049029e-01 -5.90295501e-03 -5.04028314e+01] [-4.51992114e-02 1.89937607e-03 9.98976188e-01 -2.52761799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.890714057 meters 0.04149693209192743 Centerline is valid? [True, True] Translation: X:373.40, Y:-50.43, Z:-25.28 [[ 9.94851060e-01 8.97718377e-02 4.70360100e-02 3.73403392e+02] [-8.95793297e-02 9.95960461e-01 -6.18908105e-03 -5.04296917e+01] [-4.74016114e-02 1.94375960e-03 9.98874021e-01 -2.52824866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.920714057 meters 0.04149693209192743 Centerline is valid? [True, True] Translation: X:373.43, Y:-50.43, Z:-25.28 [[ 9.94858510e-01 8.96889446e-02 4.70365706e-02 3.73430616e+02] [-8.94965455e-02 9.95967929e-01 -6.18481764e-03 -5.04331520e+01] [-4.74016256e-02 1.94340789e-03 9.98874021e-01 -2.52840788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.950714057 meters 0.03121727080890996 Centerline is valid? [True, True] Translation: X:373.46, Y:-50.42, Z:-25.28 [[ 9.95497305e-01 8.37584730e-02 4.43805602e-02 3.73462892e+02] [-8.35815269e-02 9.96483882e-01 -5.83101180e-03 -5.04217376e+01] [-4.47129096e-02 2.09536154e-03 9.98997680e-01 -2.52812021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.980714057 meters 0.03201553029178887 Centerline is valid? [True, True] Translation: X:373.49, Y:-50.43, Z:-25.28 [[ 9.95860693e-01 7.95535280e-02 4.39626687e-02 3.73492616e+02] [-7.93758166e-02 9.96828028e-01 -5.77605127e-03 -5.04295663e+01] [-4.42827256e-02 2.26256969e-03 9.99016477e-01 -2.52824414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.01071405700003 meters 0.03268255872553352 Centerline is valid? [True, True] Translation: X:373.52, Y:-50.44, Z:-25.28 [[ 9.96052580e-01 7.71244508e-02 4.39440223e-02 3.73520979e+02] [-7.69444883e-02 9.97018656e-01 -5.77462401e-03 -5.04359441e+01] [-4.42583747e-02 2.37057884e-03 9.99017305e-01 -2.52836553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.040714057 meters 0.03836544222286338 Centerline is valid? [True, True] Translation: X:373.55, Y:-50.45, Z:-25.29 [[ 9.96237123e-01 7.43740434e-02 4.44982844e-02 3.73547609e+02] [-7.41869319e-02 9.97227230e-01 -5.84394799e-03 -5.04495660e+01] [-4.48095390e-02 2.52076674e-03 9.98992368e-01 -2.52866357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.07071405700003 meters 0.035307770880902076 Centerline is valid? [True, True] Translation: X:373.58, Y:-50.45, Z:-25.29 [[ 9.96571335e-01 6.95760538e-02 4.47743978e-02 3.73578599e+02] [-6.93819692e-02 9.97572861e-01 -5.87615574e-03 -5.04506853e+01] [-4.50745638e-02 2.74947249e-03 9.98979842e-01 -2.52857250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.100714057 meters 0.03641127378380034 Centerline is valid? [True, True] Translation: X:373.61, Y:-50.46, Z:-25.29 [[ 9.96721685e-01 6.72278623e-02 4.50144167e-02 3.73607926e+02] [-6.70292985e-02 9.97733517e-01 -5.90779989e-03 -5.04565394e+01] [-4.53095611e-02 2.87114749e-03 9.98968868e-01 -2.52872086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.13071405700003 meters 0.03967347796842698 Centerline is valid? [True, True] Translation: X:373.64, Y:-50.47, Z:-25.29 [[ 9.96914742e-01 6.41776269e-02 4.51910364e-02 3.73635508e+02] [-6.39744677e-02 9.97933922e-01 -5.92907286e-03 -5.04669298e+01] [-4.54781820e-02 3.01970764e-03 9.98960768e-01 -2.52894793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.160714057 meters 0.04054290483915293 Centerline is valid? [True, True] Translation: X:373.66, Y:-50.47, Z:-25.29 [[ 9.97006056e-01 6.30674626e-02 4.47372367e-02 3.73664501e+02] [-6.28672689e-02 9.98004639e-01 -5.86921430e-03 -5.04720143e+01] [-4.50181263e-02 3.03913431e-03 9.98981547e-01 -2.52915288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.190714057 meters 0.03679390077129368 Centerline is valid? [True, True] Translation: X:373.69, Y:-50.47, Z:-25.29 [[ 9.97131088e-01 6.13571847e-02 4.43270653e-02 3.73694071e+02] [-6.11590230e-02 9.98111101e-01 -5.81414417e-03 -5.04702219e+01] [-4.46000755e-02 3.08646389e-03 9.99000154e-01 -2.52923093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.220714057 meters 0.03776934681522121 Centerline is valid? [True, True] Translation: X:373.72, Y:-50.48, Z:-25.29 [[ 9.97249552e-01 5.98209940e-02 4.37581850e-02 3.73723034e+02] [-5.96265351e-02 9.98204270e-01 -5.73689671e-03 -5.04757775e+01] [-4.40227940e-02 3.11196872e-03 9.99025680e-01 -2.52945031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.250714057 meters 0.039471370026539034 Centerline is valid? [True, True] Translation: X:373.75, Y:-50.48, Z:-25.30 [[ 9.97341986e-01 5.88451978e-02 4.29674924e-02 3.73751131e+02] [-5.86568634e-02 9.98262317e-01 -5.63195243e-03 -5.04819453e+01] [-4.32242419e-02 3.09664429e-03 9.99060597e-01 -2.52965301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.280714057 meters 0.046882997328762784 Centerline is valid? [True, True] Translation: X:373.78, Y:-50.50, Z:-25.30 [[ 9.97447737e-01 5.72780415e-02 4.26290809e-02 3.73777881e+02] [-5.70913402e-02 9.98353336e-01 -5.58528968e-03 -5.04958048e+01] [-4.28787996e-02 3.13728319e-03 9.99075356e-01 -2.53011131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.310714057 meters 0.03962244582147393 Centerline is valid? [True, True] Translation: X:373.81, Y:-50.49, Z:-25.30 [[ 9.97457998e-01 5.72560051e-02 4.24180653e-02 3.73808227e+02] [-5.70712140e-02 9.98354652e-01 -5.55565482e-03 -5.04888798e+01] [-4.26663674e-02 3.12068186e-03 9.99084502e-01 -2.53006890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.340714057 meters 0.040052323391581136 Centerline is valid? [True, True] Translation: X:373.84, Y:-50.49, Z:-25.30 [[ 9.97415803e-01 5.77532448e-02 4.27349850e-02 3.73837430e+02] [-5.75662797e-02 9.98326015e-01 -5.59376884e-03 -5.04916007e+01] [-4.29865056e-02 3.11921933e-03 9.99070784e-01 -2.53019996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.370714057 meters 0.04076322635560131 Centerline is valid? [True, True] Translation: X:373.87, Y:-50.50, Z:-25.30 [[ 9.97401764e-01 5.79282369e-02 4.28257008e-02 3.73865137e+02] [-5.77407147e-02 9.98315885e-01 -5.60384123e-03 -5.04951501e+01] [-4.30781981e-02 3.11649456e-03 9.99066843e-01 -2.53035593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.400714057 meters 0.042086121989391795 Centerline is valid? [True, True] Translation: X:373.89, Y:-50.50, Z:-25.31 [[ 9.97267833e-01 5.94504196e-02 4.38465256e-02 3.73894022e+02] [-5.92555163e-02 9.98226387e-01 -5.73266143e-03 -5.04991318e+01] [-4.41095679e-02 3.11885033e-03 9.99021831e-01 -2.53052777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.430714057 meters 0.04136407720151211 Centerline is valid? [True, True] Translation: X:373.92, Y:-50.50, Z:-25.31 [[ 9.97176817e-01 6.03608436e-02 4.46650226e-02 3.73922632e+02] [-6.01595504e-02 9.98171699e-01 -5.83850140e-03 -5.05011413e+01] [-4.49357784e-02 3.13499056e-03 9.98984959e-01 -2.53062907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.460714057 meters 0.04203802314349428 Centerline is valid? [True, True] Translation: X:373.95, Y:-50.50, Z:-25.31 [[ 9.97048607e-01 6.18876940e-02 4.54311457e-02 3.73951664e+02] [-6.16811750e-02 9.98078258e-01 -5.93496366e-03 -5.05040699e+01] [-4.57111400e-02 3.11520080e-03 9.98949842e-01 -2.53072317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.490714057 meters 0.041459764619211484 Centerline is valid? [True, True] Translation: X:373.98, Y:-50.51, Z:-25.31 [[ 9.96971871e-01 6.30618746e-02 4.55004286e-02 3.73981021e+02] [-6.28560047e-02 9.98004914e-01 -5.94262808e-03 -5.05061599e+01] [-4.57844046e-02 3.06465788e-03 9.98946643e-01 -2.53085779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.520714057 meters 0.041465615914799706 Centerline is valid? [True, True] Translation: X:374.01, Y:-50.51, Z:-25.31 [[ 9.96819203e-01 6.54973099e-02 4.54046082e-02 3.74009730e+02] [-6.52949381e-02 9.97848403e-01 -5.92754556e-03 -5.05084550e+01] [-4.56951540e-02 2.94400017e-03 9.98951093e-01 -2.53107357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.550714057 meters 0.036969617661935475 Centerline is valid? [True, True] Translation: X:374.04, Y:-50.50, Z:-25.31 [[ 9.96693211e-01 6.73547078e-02 4.54531267e-02 3.74040269e+02] [-6.71538956e-02 9.97724993e-01 -5.93234135e-03 -5.05045518e+01] [-4.57492916e-02 2.86036982e-03 9.98948858e-01 -2.53116081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.580714057 meters 0.03748763501901413 Centerline is valid? [True, True] Translation: X:374.07, Y:-50.51, Z:-25.31 [[ 9.96451836e-01 7.12934728e-02 4.47323096e-02 3.74069066e+02] [-7.11030128e-02 9.97451902e-01 -5.83655104e-03 -5.05079757e+01] [-4.50344352e-02 2.63524002e-03 9.98981959e-01 -2.53145754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.610714057 meters 0.032728263730770944 Centerline is valid? [True, True] Translation: X:374.10, Y:-50.50, Z:-25.32 [[ 9.96147520e-01 7.59651706e-02 4.38110754e-02 3.74100531e+02] [-7.57870398e-02 9.97107649e-01 -5.71501279e-03 -5.05022158e+01] [-4.41185003e-02 2.37268411e-03 9.99023487e-01 -2.53162455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.640714057 meters 0.03215486042428546 Centerline is valid? [True, True] Translation: X:374.13, Y:-50.50, Z:-25.32 [[ 9.95965279e-01 7.84983148e-02 4.34876719e-02 3.74130352e+02] [-7.83252007e-02 9.96911721e-01 -5.67309507e-03 -5.05037631e+01] [-4.37986982e-02 2.24402509e-03 9.99037856e-01 -2.53180502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.670714057 meters 0.030663651489862043 Centerline is valid? [True, True] Translation: X:374.16, Y:-50.50, Z:-25.32 [[ 9.95562983e-01 8.34200998e-02 4.35365778e-02 3.74160914e+02] [-8.32513706e-02 9.96512406e-01 -5.67755689e-03 -5.05030343e+01] [-4.38583622e-02 2.02788570e-03 9.99035701e-01 -2.53194133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.700714057 meters 0.0304085205861597 Centerline is valid? [True, True] Translation: X:374.19, Y:-50.51, Z:-25.32 [[ 9.95405040e-01 8.52491578e-02 4.36048907e-02 3.74189936e+02] [-8.50816356e-02 9.96357755e-01 -5.68675942e-03 -5.05051804e+01] [-4.39308625e-02 1.95065357e-03 9.99032669e-01 -2.53211950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.730714057 meters 0.03212808346884294 Centerline is valid? [True, True] Translation: X:374.22, Y:-50.51, Z:-25.32 [[ 9.95136524e-01 8.83117647e-02 4.36386472e-02 3.74218339e+02] [-8.81470804e-02 9.96091233e-01 -5.68751382e-03 -5.05102473e+01] [-4.39703483e-02 1.81323339e-03 9.99031191e-01 -2.53243238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.76071405700003 meters 0.029656844348582755 Centerline is valid? [True, True] Translation: X:374.25, Y:-50.51, Z:-25.32 [[ 9.95036055e-01 8.94302134e-02 4.36518857e-02 3.74247650e+02] [-8.92665506e-02 9.95991530e-01 -5.68815539e-03 -5.05085513e+01] [-4.39856014e-02 1.76326643e-03 9.99030609e-01 -2.53247616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.790714057 meters 0.0292248011119704 Centerline is valid? [True, True] Translation: X:374.28, Y:-50.51, Z:-25.33 [[ 9.94971772e-01 8.99043099e-02 4.41405387e-02 3.74276842e+02] [-8.97375671e-02 9.95948855e-01 -5.74864568e-03 -5.05095454e+01] [-4.44785470e-02 1.75867563e-03 9.99008792e-01 -2.53254000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.82071405700003 meters 0.029524102366158926 Centerline is valid? [True, True] Translation: X:374.31, Y:-50.51, Z:-25.33 [[ 9.94998750e-01 8.93294910e-02 4.46959674e-02 3.74305793e+02] [-8.91580912e-02 9.96000497e-01 -5.81770786e-03 -5.05131283e+01] [-4.50368986e-02 1.80360491e-03 9.98983696e-01 -2.53268813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.850714057 meters 0.029706245047107633 Centerline is valid? [True, True] Translation: X:374.33, Y:-50.52, Z:-25.33 [[ 9.95127481e-01 8.73936184e-02 4.56470380e-02 3.74334554e+02] [-8.72129632e-02 9.96171992e-01 -5.93814086e-03 -5.05169802e+01] [-4.59912564e-02 1.92819371e-03 9.98939981e-01 -2.53274845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.88071405700003 meters 0.03363440057008211 Centerline is valid? [True, True] Translation: X:374.36, Y:-50.53, Z:-25.33 [[ 9.95449375e-01 8.35474360e-02 4.58297596e-02 3.74362178e+02] [-8.33614511e-02 9.96501567e-01 -5.95783969e-03 -5.05283923e+01] [-4.61671895e-02 2.11029253e-03 9.98931498e-01 -2.53304433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.910714057 meters 0.034016424271886045 Centerline is valid? [True, True] Translation: X:374.39, Y:-50.53, Z:-25.33 [[ 9.95611744e-01 8.14336249e-02 4.61066250e-02 3.74391750e+02] [-8.12431289e-02 9.96676291e-01 -5.99371683e-03 -5.05333963e+01] [-4.64414701e-02 2.22156839e-03 9.98918542e-01 -2.53317930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.940714057 meters 0.03516259899966338 Centerline is valid? [True, True] Translation: X:374.42, Y:-50.54, Z:-25.33 [[ 9.95775846e-01 7.91749378e-02 4.64950917e-02 3.74420898e+02] [-7.89788359e-02 9.96857979e-01 -6.04260222e-03 -5.05401580e+01] [-4.68274258e-02 2.34494912e-03 9.98900242e-01 -2.53339418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.970714057 meters 0.03368317034346866 Centerline is valid? [True, True] Translation: X:374.45, Y:-50.54, Z:-25.34 [[ 9.96169058e-01 7.41812173e-02 4.63071722e-02 3.74450751e+02] [-7.39814079e-02 9.97241473e-01 -6.01628145e-03 -5.05429574e+01] [-4.66257277e-02 2.56736363e-03 9.98909130e-01 -2.53353687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.000714057 meters 0.034350549215492444 Centerline is valid? [True, True] Translation: X:374.48, Y:-50.55, Z:-25.34 [[ 9.96340973e-01 7.22281084e-02 4.56920765e-02 3.74479535e+02] [-7.20315214e-02 9.97384689e-01 -5.93655037e-03 -5.05489691e+01] [-4.60013633e-02 2.62355858e-03 9.98937932e-01 -2.53377307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.030714057 meters 0.03552807065138559 Centerline is valid? [True, True] Translation: X:374.51, Y:-50.56, Z:-25.34 [[ 9.96579034e-01 6.91639586e-02 4.52390943e-02 3.74509335e+02] [-6.89682012e-02 9.97601556e-01 -5.87565657e-03 -5.05566919e+01] [-4.55369745e-02 2.73549719e-03 9.98958909e-01 -2.53410506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.060714057 meters 0.037340416501054054 Centerline is valid? [True, True] Translation: X:374.54, Y:-50.56, Z:-25.34 [[ 9.96702308e-01 6.73621394e-02 4.52421461e-02 3.74536602e+02] [-6.71644677e-02 9.97724609e-01 -5.87691462e-03 -5.05636692e+01] [-4.55350841e-02 2.81886970e-03 9.98958763e-01 -2.53433209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.090714057 meters 0.03807273285696481 Centerline is valid? [True, True] Translation: X:374.56, Y:-50.57, Z:-25.35 [[ 9.96737284e-01 6.68522374e-02 4.52279169e-02 3.74564488e+02] [-6.66543045e-02 9.97758850e-01 -5.87205899e-03 -5.05682280e+01] [-4.55191146e-02 2.83826478e-03 9.98959436e-01 -2.53451690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.120714057 meters 0.03699230871117745 Centerline is valid? [True, True] Translation: X:374.59, Y:-50.57, Z:-25.35 [[ 9.96816835e-01 6.62474240e-02 4.43562476e-02 3.74592881e+02] [-6.60566266e-02 9.97799279e-01 -5.75509563e-03 -5.05696319e+01] [-4.46398922e-02 2.80675212e-03 9.98999200e-01 -2.53461514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.150714057 meters 0.03591697228200161 Centerline is valid? [True, True] Translation: X:374.62, Y:-50.57, Z:-25.35 [[ 9.96798468e-01 6.63395407e-02 4.46304819e-02 3.74621225e+02] [-6.61466566e-02 9.97793133e-01 -5.78645443e-03 -5.05712183e+01] [-4.49158591e-02 2.81577175e-03 9.98986805e-01 -2.53476079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.180714057 meters 0.03788785610433455 Centerline is valid? [True, True] Translation: X:374.65, Y:-50.58, Z:-25.35 [[ 9.96801859e-01 6.62883076e-02 4.46308624e-02 3.74648232e+02] [-6.60955041e-02 9.97796540e-01 -5.78349999e-03 -5.05771658e+01] [-4.49158985e-02 2.81510419e-03 9.98986805e-01 -2.53500002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.210714057 meters 0.03942681383668141 Centerline is valid? [True, True] Translation: X:374.68, Y:-50.58, Z:-25.35 [[ 9.96794072e-01 6.62678000e-02 4.48347770e-02 3.74675474e+02] [-6.60733901e-02 9.97797875e-01 -5.80590500e-03 -5.05828232e+01] [-4.51207898e-02 2.82490597e-03 9.98977544e-01 -2.53522000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.240714057 meters 0.03938264771433085 Centerline is valid? [True, True] Translation: X:374.70, Y:-50.59, Z:-25.35 [[ 9.96804994e-01 6.62389954e-02 4.46340612e-02 3.74703659e+02] [-6.60464948e-02 9.97799832e-01 -5.77546883e-03 -5.05854821e+01] [-4.49184200e-02 2.80909288e-03 9.98986709e-01 -2.53538404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.270714057 meters 0.041518445579823475 Centerline is valid? [True, True] Translation: X:374.73, Y:-50.59, Z:-25.36 [[ 9.96888713e-01 6.54717347e-02 4.38901566e-02 3.74730741e+02] [-6.52849756e-02 9.97850514e-01 -5.67664462e-03 -5.05901400e+01] [-4.41674750e-02 2.79361515e-03 9.99020235e-01 -2.53555043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.300714057 meters 0.036439825693617714 Centerline is valid? [True, True] Translation: X:374.76, Y:-50.59, Z:-25.36 [[ 9.96912018e-01 6.51305155e-02 4.38684830e-02 3.74760126e+02] [-6.49438209e-02 9.97872818e-01 -5.66911590e-03 -5.05855089e+01] [-4.41443992e-02 2.80262287e-03 9.99021230e-01 -2.53554413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.330714057 meters 0.03740121788700337 Centerline is valid? [True, True] Translation: X:374.79, Y:-50.59, Z:-25.36 [[ 9.96929192e-01 6.46309020e-02 4.42157497e-02 3.74787296e+02] [-6.44408826e-02 9.97905185e-01 -5.71097658e-03 -5.05902804e+01] [-4.44922314e-02 2.84413733e-03 9.99005682e-01 -2.53573507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.360714057 meters 0.03944834287738746 Centerline is valid? [True, True] Translation: X:374.81, Y:-50.60, Z:-25.36 [[ 9.96987724e-01 6.33895736e-02 4.46904855e-02 3.74814915e+02] [-6.31943931e-02 9.97984568e-01 -5.76816349e-03 -5.05957008e+01] [-4.49660563e-02 2.92660008e-03 9.98984229e-01 -2.53586433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.390714057 meters 0.039583689925124906 Centerline is valid? [True, True] Translation: X:374.84, Y:-50.60, Z:-25.36 [[ 9.96975915e-01 6.30421605e-02 4.54390903e-02 3.74843427e+02] [-6.28402203e-02 9.98006394e-01 -5.86044072e-03 -5.05994204e+01] [-4.57179575e-02 2.98731581e-03 9.98949921e-01 -2.53596769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.420714057 meters 0.03939273908216535 Centerline is valid? [True, True] Translation: X:374.87, Y:-50.60, Z:-25.36 [[ 9.97029441e-01 6.19859891e-02 4.57168649e-02 3.74872171e+02] [-6.17806143e-02 9.98072356e-01 -5.89303072e-03 -5.06015051e+01] [-4.59940244e-02 3.05110913e-03 9.98937055e-01 -2.53607547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.450714057 meters 0.04036247058722739 Centerline is valid? [True, True] Translation: X:374.90, Y:-50.61, Z:-25.36 [[ 9.97044292e-01 6.12833495e-02 4.63360722e-02 3.74899459e+02] [-6.10717615e-02 9.98115526e-01 -5.96967830e-03 -5.06055225e+01] [-4.66145949e-02 3.12220812e-03 9.98908070e-01 -2.53627430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.480714057 meters 0.04092677104437882 Centerline is valid? [True, True] Translation: X:374.93, Y:-50.61, Z:-25.36 [[ 9.97047196e-01 6.13360633e-02 4.62036308e-02 3.74927586e+02] [-6.11259416e-02 9.98112337e-01 -5.94829254e-03 -5.06086979e+01] [-4.64812588e-02 3.10648795e-03 9.98914332e-01 -2.53642436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.51071405700003 meters 0.04143183533478497 Centerline is valid? [True, True] Translation: X:374.96, Y:-50.61, Z:-25.37 [[ 9.97028903e-01 6.15040559e-02 4.63747522e-02 3.74955586e+02] [-6.12927073e-02 9.98101998e-01 -5.96704832e-03 -5.06124644e+01] [-4.66537305e-02 3.10688553e-03 9.98906290e-01 -2.53655324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.540714057 meters 0.04494975068335929 Centerline is valid? [True, True] Translation: X:374.98, Y:-50.62, Z:-25.37 [[ 9.96968329e-01 6.23158301e-02 4.65927991e-02 3.74982684e+02] [-6.21035137e-02 9.98051727e-01 -5.99203318e-03 -5.06191611e+01] [-4.68754221e-02 3.08029077e-03 9.98895994e-01 -2.53671721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.57071405700003 meters 0.04195467980071552 Centerline is valid? [True, True] Translation: X:375.01, Y:-50.62, Z:-25.37 [[ 9.96928465e-01 6.29242220e-02 4.66280802e-02 3.75011963e+02] [-6.27124434e-02 9.98013648e-01 -5.99236477e-03 -5.06169551e+01] [-4.69125253e-02 3.04979817e-03 9.98894346e-01 -2.53680079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.600714057 meters 0.04236456919631228 Centerline is valid? [True, True] Translation: X:375.04, Y:-50.62, Z:-25.37 [[ 9.96821675e-01 6.45503947e-02 4.66882636e-02 3.75040179e+02] [-6.43399946e-02 9.97910017e-01 -5.99688766e-03 -5.06189122e+01] [-4.69777874e-02 2.97390498e-03 9.98891507e-01 -2.53698413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.63071405700003 meters 0.0424120180933571 Centerline is valid? [True, True] Translation: X:375.07, Y:-50.62, Z:-25.37 [[ 9.96767813e-01 6.51336364e-02 4.70269712e-02 3.75069195e+02] [-6.49209511e-02 9.97872145e-01 -6.03753533e-03 -5.06219303e+01] [-4.73201513e-02 2.96498519e-03 9.98875374e-01 -2.53715842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.660714057 meters 0.042219724681480574 Centerline is valid? [True, True] Translation: X:375.10, Y:-50.62, Z:-25.37 [[ 9.96693661e-01 6.64779256e-02 4.67165065e-02 3.75098049e+02] [-6.62697457e-02 9.97783748e-01 -5.99270605e-03 -5.06240170e+01] [-4.70113537e-02 2.87700112e-03 9.98890212e-01 -2.53735361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.690714057 meters 0.04234228230980237 Centerline is valid? [True, True] Translation: X:375.13, Y:-50.63, Z:-25.38 [[ 9.96669147e-01 6.71568069e-02 4.62663392e-02 3.75126349e+02] [-6.69534940e-02 9.97738464e-01 -5.93190696e-03 -5.06268514e+01] [-4.65600741e-02 2.81445559e-03 9.98911527e-01 -2.53757373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.720714057 meters 0.03768175950844268 Centerline is valid? [True, True] Translation: X:375.16, Y:-50.62, Z:-25.38 [[ 9.96691789e-01 6.74885599e-02 4.52854554e-02 3.75156076e+02] [-6.72942560e-02 9.97716295e-01 -5.80326608e-03 -5.06208459e+01] [-4.55736908e-02 2.73661663e-03 9.98957231e-01 -2.53766353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.750714057 meters 0.04274246949016853 Centerline is valid? [True, True] Translation: X:375.18, Y:-50.63, Z:-25.38 [[ 9.96647098e-01 6.80962507e-02 4.53592703e-02 3.75183129e+02] [-6.79020858e-02 9.97675076e-01 -5.80951371e-03 -5.06313746e+01] [-4.56494195e-02 2.71004591e-03 9.98953846e-01 -2.53801121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.780714057 meters 0.038838572611364405 Centerline is valid? [True, True] Translation: X:375.21, Y:-50.63, Z:-25.38 [[ 9.96567234e-01 6.88619285e-02 4.59541304e-02 3.75212664e+02] [-6.86635955e-02 9.97622528e-01 -5.88242641e-03 -5.06278920e+01] [-4.62499510e-02 2.70685760e-03 9.98926231e-01 -2.53799484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.810714057 meters 0.038838572611364405 Centerline is valid? [True, True] Translation: X:375.24, Y:-50.63, Z:-25.38 [[ 9.96574226e-01 6.87604376e-02 4.59544800e-02 3.75239911e+02] [-6.85621226e-02 9.97629523e-01 -5.87969433e-03 -5.06312815e+01] [-4.62498363e-02 2.70881513e-03 9.98926231e-01 -2.53815411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.840714057 meters 0.04365967271072826 Centerline is valid? [True, True] Translation: X:375.27, Y:-50.64, Z:-25.38 [[ 9.96545721e-01 6.88947072e-02 4.63696606e-02 3.75266354e+02] [-6.86931701e-02 9.97620223e-01 -5.92776481e-03 -5.06418843e+01] [-4.66677028e-02 2.72200968e-03 9.98906761e-01 -2.53845756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.870714057 meters 0.039248022854823074 Centerline is valid? [True, True] Translation: X:375.30, Y:-50.64, Z:-25.39 [[ 9.96529528e-01 6.89894320e-02 4.65763623e-02 3.75296368e+02] [-6.87863926e-02 9.97613668e-01 -5.94999218e-03 -5.06376368e+01] [-4.68757022e-02 2.72552296e-03 9.98897012e-01 -2.53854833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.900714057 meters 0.044719299660145054 Centerline is valid? [True, True] Translation: X:375.32, Y:-50.65, Z:-25.39 [[ 9.96536606e-01 6.89444966e-02 4.64913823e-02 3.75321741e+02] [-6.87422722e-02 9.97616789e-01 -5.93651245e-03 -5.06487157e+01] [-4.67898734e-02 2.72002871e-03 9.98901051e-01 -2.53887442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.930714057 meters 0.03928673605445645 Centerline is valid? [True, True] Translation: X:375.35, Y:-50.64, Z:-25.39 [[ 9.96613685e-01 6.83161425e-02 4.57609830e-02 3.75351435e+02] [-6.81198400e-02 9.97660069e-01 -5.83734427e-03 -5.06431008e+01] [-4.60526902e-02 2.70034635e-03 9.98935362e-01 -2.53895217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.960714057 meters 0.04078108685619096 Centerline is valid? [True, True] Translation: X:375.38, Y:-50.65, Z:-25.39 [[ 9.96693701e-01 6.74757646e-02 4.52624250e-02 3.75378668e+02] [-6.72829751e-02 9.97717242e-01 -5.77114982e-03 -5.06486571e+01] [-4.55485146e-02 2.70667806e-03 9.98958461e-01 -2.53920420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.990714057 meters 0.043079341681757394 Centerline is valid? [True, True] Translation: X:375.41, Y:-50.66, Z:-25.39 [[ 9.96801260e-01 6.57896291e-02 4.53758948e-02 3.75405892e+02] [-6.55943716e-02 9.97829628e-01 -5.78035578e-03 -5.06558336e+01] [-4.56576997e-02 2.78546262e-03 9.98953260e-01 -2.53940057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.020714057 meters 0.042580253044064556 Centerline is valid? [True, True] Translation: X:375.43, Y:-50.66, Z:-25.39 [[ 9.96827362e-01 6.50507722e-02 4.58650978e-02 3.75434560e+02] [-6.48506441e-02 9.97877895e-01 -5.83954275e-03 -5.06586816e+01] [-4.61476340e-02 2.84663487e-03 9.98930574e-01 -2.53947112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.050714057 meters 0.04406993005506418 Centerline is valid? [True, True] Translation: X:375.46, Y:-50.66, Z:-25.40 [[ 9.96921079e-01 6.30448259e-02 4.66230964e-02 3.75463470e+02] [-6.28359872e-02 9.98006232e-01 -5.93287549e-03 -5.06639639e+01] [-4.69041779e-02 2.98500034e-03 9.98894933e-01 -2.53955863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.080714057 meters 0.03824911047888826 Centerline is valid? [True, True] Translation: X:375.49, Y:-50.66, Z:-25.40 [[ 9.96930304e-01 6.26894767e-02 4.69041331e-02 3.75493018e+02] [-6.24778641e-02 9.98028521e-01 -5.96556463e-03 -5.06583828e+01] [-4.71856407e-02 3.01678211e-03 9.98881582e-01 -2.53950263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.110714057 meters 0.03998939446386523 Centerline is valid? [True, True] Translation: X:375.52, Y:-50.66, Z:-25.40 [[ 9.96906336e-01 6.26968597e-02 4.74010587e-02 3.75520270e+02] [-6.24808996e-02 9.98027971e-01 -6.02549718e-03 -5.06641446e+01] [-4.76853622e-02 3.04519553e-03 9.98857764e-01 -2.53967970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.140714057 meters 0.04068582851570108 Centerline is valid? [True, True] Translation: X:375.55, Y:-50.67, Z:-25.40 [[ 9.96870143e-01 6.32361141e-02 4.74458812e-02 3.75547846e+02] [-6.30205562e-02 9.97994031e-01 -6.02693985e-03 -5.06683255e+01] [-4.77318265e-02 3.01801056e-03 9.98855627e-01 -2.53986940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.170714057 meters 0.04080981588525264 Centerline is valid? [True, True] Translation: X:375.58, Y:-50.67, Z:-25.40 [[ 9.96813680e-01 6.43596869e-02 4.71202548e-02 3.75575846e+02] [-6.41485308e-02 9.97922437e-01 -5.98134496e-03 -5.06708789e+01] [-4.74073170e-02 2.93959136e-03 9.98871316e-01 -2.54010043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.200714057 meters 0.03657071846001351 Centerline is valid? [True, True] Translation: X:375.61, Y:-50.67, Z:-25.40 [[ 9.96770878e-01 6.50093698e-02 4.71338394e-02 3.75605561e+02] [-6.47989659e-02 9.97880421e-01 -5.97988871e-03 -5.06672421e+01] [-4.74226843e-02 2.90635487e-03 9.98870683e-01 -2.54014368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.230714057 meters 0.041254910810470224 Centerline is valid? [True, True] Translation: X:375.63, Y:-50.68, Z:-25.41 [[ 9.96751732e-01 6.53756720e-02 4.70319768e-02 3.75631964e+02] [-6.51667352e-02 9.97856568e-01 -5.96376290e-03 -5.06775372e+01] [-4.73210520e-02 2.87947062e-03 9.98875581e-01 -2.54051876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.26071405700003 meters 0.03728808741848121 Centerline is valid? [True, True] Translation: X:375.66, Y:-50.67, Z:-25.41 [[ 9.96744751e-01 6.54198803e-02 4.71183688e-02 3.75661910e+02] [-6.52104327e-02 9.97853674e-01 -5.97031238e-03 -5.06742224e+01] [-4.74078145e-02 2.87826831e-03 9.98871471e-01 -2.54058351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.290714057 meters 0.03701754746714149 Centerline is valid? [True, True] Translation: X:375.69, Y:-50.68, Z:-25.41 [[ 9.96780354e-01 6.51634198e-02 4.67188816e-02 3.75690311e+02] [-6.49573870e-02 9.97870500e-01 -5.91638811e-03 -5.06772255e+01] [-4.70049258e-02 2.86260297e-03 9.98890556e-01 -2.54075442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.32071405700003 meters 0.037684059579910306 Centerline is valid? [True, True] Translation: X:375.72, Y:-50.68, Z:-25.41 [[ 9.96842683e-01 6.46638913e-02 4.60786945e-02 3.75718193e+02] [-6.44630914e-02 9.97903050e-01 -5.83205212e-03 -5.06823120e+01] [-4.63591930e-02 2.84326339e-03 9.98920788e-01 -2.54099468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.350714057 meters 0.03630052738357271 Centerline is valid? [True, True] Translation: X:375.75, Y:-50.68, Z:-25.41 [[ 9.96858126e-01 6.48084563e-02 4.55383445e-02 3.75747197e+02] [-6.46126383e-02 9.97893794e-01 -5.76048212e-03 -5.06835890e+01] [-4.58157593e-02 2.80003083e-03 9.98945983e-01 -2.54118997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.38071405700003 meters 0.03689351415942401 Centerline is valid? [True, True] Translation: X:375.77, Y:-50.69, Z:-25.41 [[ 9.96896977e-01 6.52417001e-02 4.40447318e-02 3.75774624e+02] [-6.50590738e-02 9.97865876e-01 -5.56870647e-03 -5.06874179e+01] [-4.43140468e-02 2.68591718e-03 9.99014039e-01 -2.54147057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.410714057 meters 0.03649331190900104 Centerline is valid? [True, True] Translation: X:375.80, Y:-50.69, Z:-25.42 [[ 9.96870643e-01 6.59942239e-02 4.35164842e-02 3.75803169e+02] [-6.58168492e-02 9.97816575e-01 -5.49781765e-03 -5.06893292e+01] [-4.37842934e-02 2.61649514e-03 9.99037582e-01 -2.54156544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.440714057 meters 0.03653280227691331 Centerline is valid? [True, True] Translation: X:375.83, Y:-50.69, Z:-25.42 [[ 9.96871360e-01 6.58213103e-02 4.37612364e-02 3.75830972e+02] [-6.56418856e-02 9.97827944e-01 -5.52605437e-03 -5.06924131e+01] [-4.40299167e-02 2.63619526e-03 9.99026735e-01 -2.54171303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.470714057 meters 0.036913872349623573 Centerline is valid? [True, True] Translation: X:375.86, Y:-50.70, Z:-25.42 [[ 9.96813839e-01 6.56742527e-02 4.52665784e-02 3.75858778e+02] [-6.54823532e-02 9.97837386e-01 -5.71080718e-03 -5.06974635e+01] [-4.55437373e-02 2.72844955e-03 9.98958620e-01 -2.54179252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.500714057 meters 0.03664814361603019 Centerline is valid? [True, True] Translation: X:375.89, Y:-50.70, Z:-25.42 [[ 9.96822438e-01 6.51473501e-02 4.58350253e-02 3.75887270e+02] [-6.49502428e-02 9.97871775e-01 -5.77816817e-03 -5.07001667e+01] [-4.61139104e-02 2.78281166e-03 9.98932312e-01 -2.54190170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.530714057 meters 0.03798148708740287 Centerline is valid? [True, True] Translation: X:375.92, Y:-50.71, Z:-25.42 [[ 9.96866700e-01 6.36740766e-02 4.69296840e-02 3.75915347e+02] [-6.34659720e-02 9.97966488e-01 -5.91268684e-03 -5.07063548e+01] [-4.72107368e-02 2.91572261e-03 9.98880696e-01 -2.54204877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.560714057 meters 0.03812351557991403 Centerline is valid? [True, True] Translation: X:375.94, Y:-50.71, Z:-25.42 [[ 9.96974909e-01 6.22442934e-02 4.65476041e-02 3.75944554e+02] [-6.20381876e-02 9.98056568e-01 -5.86086984e-03 -5.07105518e+01] [-4.68219477e-02 2.95541118e-03 9.98898879e-01 -2.54227334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.590714057 meters 0.0374692941570728 Centerline is valid? [True, True] Translation: X:375.97, Y:-50.71, Z:-25.42 [[ 9.97158898e-01 5.92627582e-02 4.64979264e-02 3.75973973e+02] [-5.90539526e-02 9.98237635e-01 -5.85276144e-03 -5.07144994e+01] [-4.67628309e-02 3.09024681e-03 9.98901240e-01 -2.54247303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.620714057 meters 0.03877713825219336 Centerline is valid? [True, True] Translation: X:376.00, Y:-50.72, Z:-25.43 [[ 9.97306737e-01 5.74344489e-02 4.56131157e-02 3.76002805e+02] [-5.72316462e-02 9.98344421e-01 -5.74078934e-03 -5.07209164e+01] [-4.58673187e-02 3.11481418e-03 9.98942685e-01 -2.54272805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.650714057 meters 0.03892725658213734 Centerline is valid? [True, True] Translation: X:376.03, Y:-50.73, Z:-25.43 [[ 9.97458155e-01 5.51400162e-02 4.51310159e-02 3.76032982e+02] [-5.49392388e-02 9.98473555e-01 -5.67805045e-03 -5.07267008e+01] [-4.53752137e-02 3.18415406e-03 9.98964940e-01 -2.54295650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.680714057 meters 0.04239936235751936 Centerline is valid? [True, True] Translation: X:376.06, Y:-50.74, Z:-25.43 [[ 9.97793799e-01 4.93685205e-02 4.43878762e-02 3.76060499e+02] [-4.91686309e-02 9.98774879e-01 -5.58447866e-03 -5.07381590e+01] [-4.46091931e-02 3.38966708e-03 9.98998764e-01 -2.54334631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.710714057 meters 0.04206600586252845 Centerline is valid? [True, True] Translation: X:376.09, Y:-50.74, Z:-25.44 [[ 9.97946986e-01 4.66538678e-02 4.38774312e-02 3.76090427e+02] [-4.64559236e-02 9.98905085e-01 -5.52076250e-03 -5.07428070e+01] [-4.40869540e-02 3.47106171e-03 9.99021668e-01 -2.54353054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.740714057 meters 0.04338730520724002 Centerline is valid? [True, True] Translation: X:376.12, Y:-50.75, Z:-25.44 [[ 9.98151221e-01 4.21374043e-02 4.38015957e-02 3.76120481e+02] [-4.19358600e-02 9.99105109e-01 -5.51043900e-03 -5.07511167e+01] [-4.39945937e-02 3.66339382e-03 9.99025052e-01 -2.54366288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.770714057 meters 0.047076211977564196 Centerline is valid? [True, True] Translation: X:376.15, Y:-50.76, Z:-25.44 [[ 9.98241680e-01 3.88103250e-02 4.48029896e-02 3.76149312e+02] [-3.85961196e-02 9.99238995e-01 -5.63656312e-03 -5.07624269e+01] [-4.49876511e-02 3.89743069e-03 9.98979940e-01 -2.54382766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.800714057 meters 0.048422736982022825 Centerline is valid? [True, True] Translation: X:376.18, Y:-50.77, Z:-25.44 [[ 9.98236344e-01 3.81584955e-02 4.54767098e-02 3.76181029e+02] [-3.79372526e-02 9.99263761e-01 -5.71847477e-03 -5.07692461e+01] [-4.56614365e-02 3.98312792e-03 9.98949032e-01 -2.54397389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.830714057 meters 0.04826439108006184 Centerline is valid? [True, True] Translation: X:376.21, Y:-50.77, Z:-25.44 [[ 9.98218150e-01 3.77733257e-02 4.61920045e-02 3.76213106e+02] [-3.75440958e-02 9.99278021e-01 -5.82040836e-03 -5.07743040e+01] [-4.63785110e-02 4.07580022e-03 9.98915623e-01 -2.54405686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.860714057 meters 0.04910834771298082 Centerline is valid? [True, True] Translation: X:376.25, Y:-50.78, Z:-25.44 [[ 9.98221517e-01 3.68864135e-02 4.68315572e-02 3.76245000e+02] [-3.66491530e-02 9.99310688e-01 -5.91511658e-03 -5.07813483e+01] [-4.70174631e-02 4.18825974e-03 9.98885287e-01 -2.54420675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.890714057 meters 0.05005062083373681 Centerline is valid? [True, True] Translation: X:376.28, Y:-50.79, Z:-25.44 [[ 9.98211718e-01 3.69291780e-02 4.70063922e-02 3.76277096e+02] [-3.66901147e-02 9.99309045e-01 -5.93874818e-03 -5.07875875e+01] [-4.71932260e-02 4.20345811e-03 9.98876935e-01 -2.54439969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.920714057 meters 0.04943498629282115 Centerline is valid? [True, True] Translation: X:376.31, Y:-50.79, Z:-25.45 [[ 9.98215523e-01 3.73276560e-02 4.66091764e-02 3.76309717e+02] [-3.70925205e-02 9.99294419e-01 -5.89987987e-03 -5.07936168e+01] [-4.67965186e-02 4.16049984e-03 9.98895778e-01 -2.54467607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.950714057 meters 0.04990293400507226 Centerline is valid? [True, True] Translation: X:376.34, Y:-50.80, Z:-25.45 [[ 9.98191687e-01 3.85242876e-02 4.61436455e-02 3.76339928e+02] [-3.82943483e-02 9.99249337e-01 -5.85711703e-03 -5.08001254e+01] [-4.63346484e-02 4.07948470e-03 9.98917643e-01 -2.54494322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.980714057 meters 0.05036654200611544 Centerline is valid? [True, True] Translation: X:376.37, Y:-50.81, Z:-25.45 [[ 9.98167855e-01 3.93561439e-02 4.59567961e-02 3.76371990e+02] [-3.91289743e-02 9.99217145e-01 -5.83263947e-03 -5.08057554e+01] [-4.61503688e-02 4.02371093e-03 9.98926400e-01 -2.54514454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.01071405700003 meters 0.04921966912727132 Centerline is valid? [True, True] Translation: X:376.40, Y:-50.81, Z:-25.45 [[ 9.98051925e-01 4.19657121e-02 4.61652876e-02 3.76402227e+02] [-4.17385821e-02 9.99111302e-01 -5.87335414e-03 -5.08090087e+01] [-4.63707401e-02 3.93503876e-03 9.98916548e-01 -2.54532066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.040714057 meters 0.049423883941113356 Centerline is valid? [True, True] Translation: X:376.43, Y:-50.81, Z:-25.45 [[ 9.97988845e-01 4.35486384e-02 4.60627872e-02 3.76432825e+02] [-4.33242086e-02 9.99043880e-01 -5.85991046e-03 -5.08134826e+01] [-4.62739368e-02 3.85249148e-03 9.98921359e-01 -2.54549505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.07071405700003 meters 0.04916669003369043 Centerline is valid? [True, True] Translation: X:376.46, Y:-50.82, Z:-25.46 [[ 9.97902697e-01 4.53565942e-02 4.61842750e-02 3.76464374e+02] [-4.51328334e-02 9.98963708e-01 -5.87679269e-03 -5.08172630e+01] [-4.64029659e-02 3.78004008e-03 9.98915650e-01 -2.54565091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.100714057 meters 0.048949498509863576 Centerline is valid? [True, True] Translation: X:376.49, Y:-50.82, Z:-25.46 [[ 9.97748973e-01 4.89306863e-02 4.58560334e-02 3.76493232e+02] [-4.87137002e-02 9.98795720e-01 -5.83817931e-03 -5.08211007e+01] [-4.60864760e-02 3.59122034e-03 9.98930999e-01 -2.54585783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.13071405700003 meters 0.04602628582822849 Centerline is valid? [True, True] Translation: X:376.52, Y:-50.82, Z:-25.46 [[ 9.97626959e-01 5.19573127e-02 4.51761832e-02 3.76523808e+02] [-5.17498500e-02 9.98643522e-01 -5.75055896e-03 -5.08216354e+01] [-4.54136863e-02 3.39905194e-03 9.98962484e-01 -2.54605492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.160714057 meters 0.046241552499620905 Centerline is valid? [True, True] Translation: X:376.55, Y:-50.83, Z:-25.46 [[ 9.97558872e-01 5.33312372e-02 4.50785641e-02 3.76552671e+02] [-5.31260139e-02 9.98571323e-01 -5.73926025e-03 -5.08259789e+01] [-4.53202433e-02 3.33040556e-03 9.98966958e-01 -2.54626651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.190714057 meters 0.04528711900282847 Centerline is valid? [True, True] Translation: X:376.58, Y:-50.83, Z:-25.46 [[ 9.97474941e-01 5.49446425e-02 4.49981003e-02 3.76582134e+02] [-5.47418536e-02 9.98484114e-01 -5.72747658e-03 -5.08280821e+01] [-4.52445824e-02 3.24973494e-03 9.98970654e-01 -2.54644969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.220714057 meters 0.04295239329196898 Centerline is valid? [True, True] Translation: X:376.61, Y:-50.83, Z:-25.47 [[ 9.97237087e-01 5.83608803e-02 4.59586756e-02 3.76612231e+02] [-5.81530314e-02 9.98290553e-01 -5.84777168e-03 -5.08290531e+01] [-4.62213928e-02 3.15897849e-03 9.98926225e-01 -2.54650788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.250714057 meters 0.04138206139622223 Centerline is valid? [True, True] Translation: X:376.64, Y:-50.83, Z:-25.47 [[ 9.97120001e-01 5.97770194e-02 4.66734587e-02 3.76641680e+02] [-5.95641837e-02 9.98206811e-01 -5.93890196e-03 -5.08305985e+01] [-4.69447743e-02 3.14173146e-03 9.98892546e-01 -2.54657954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.280714057 meters 0.03747545953881824 Centerline is valid? [True, True] Translation: X:376.67, Y:-50.83, Z:-25.47 [[ 9.96871278e-01 6.32079082e-02 4.74596247e-02 3.76672043e+02] [-6.29917886e-02 9.97995785e-01 -6.03715691e-03 -5.08290436e+01] [-4.77461014e-02 3.02870168e-03 9.98854913e-01 -2.54653539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.310714057 meters 0.03640832232239686 Centerline is valid? [True, True] Translation: X:376.70, Y:-50.83, Z:-25.47 [[ 9.96797970e-01 6.45691287e-02 4.71660243e-02 3.76700657e+02] [-6.43572291e-02 9.97908893e-01 -5.99907224e-03 -5.08307715e+01] [-4.74547500e-02 2.94438840e-03 9.98869049e-01 -2.54663442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.340714057 meters 0.03636590664836635 Centerline is valid? [True, True] Translation: X:376.73, Y:-50.84, Z:-25.47 [[ 9.96662704e-01 6.69620932e-02 4.66854719e-02 3.76730239e+02] [-6.67572914e-02 9.97751598e-01 -5.93402824e-03 -5.08351287e+01] [-4.69778591e-02 2.79762898e-03 9.98892013e-01 -2.54685080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.370714057 meters 0.035504725532842625 Centerline is valid? [True, True] Translation: X:376.76, Y:-50.84, Z:-25.47 [[ 9.96620673e-01 6.79497544e-02 4.61526202e-02 3.76759244e+02] [-6.77506788e-02 9.97685039e-01 -5.86588939e-03 -5.08384883e+01] [-4.64443645e-02 2.71919528e-03 9.98917177e-01 -2.54708212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.400714057 meters 0.03781683973995288 Centerline is valid? [True, True] Translation: X:376.79, Y:-50.85, Z:-25.47 [[ 9.96544206e-01 7.00535455e-02 4.46334649e-02 3.76786368e+02] [-6.98695662e-02 9.97540018e-01 -5.67071501e-03 -5.08467372e+01] [-4.49209211e-02 2.53259736e-03 9.98987336e-01 -2.54748608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.430714057 meters 0.035599085627403965 Centerline is valid? [True, True] Translation: X:376.82, Y:-50.85, Z:-25.48 [[ 9.96518078e-01 7.07711812e-02 4.40812831e-02 3.76815560e+02] [-7.05925670e-02 9.97489528e-01 -5.59745185e-03 -5.08471907e+01] [-4.43667565e-02 2.46615104e-03 9.99012267e-01 -2.54763308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.460714057 meters 0.034344625982539664 Centerline is valid? [True, True] Translation: X:376.84, Y:-50.85, Z:-25.48 [[ 9.96422857e-01 7.24416822e-02 4.35165809e-02 3.76844465e+02] [-7.22693381e-02 9.97369862e-01 -5.52272845e-03 -5.08494390e+01] [-4.38022021e-02 2.35805836e-03 9.99037440e-01 -2.54781612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.490714057 meters 0.03372931859734244 Centerline is valid? [True, True] Translation: X:376.87, Y:-50.85, Z:-25.48 [[ 9.96364192e-01 7.33253894e-02 4.33795439e-02 3.76873093e+02] [-7.31551006e-02 9.97305398e-01 -5.50222460e-03 -5.08524180e+01] [-4.36661060e-02 2.30878467e-03 9.99043513e-01 -2.54792303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.520714057 meters 0.03331001685769034 Centerline is valid? [True, True] Translation: X:376.90, Y:-50.86, Z:-25.48 [[ 9.96342691e-01 7.37685386e-02 4.31212871e-02 3.76901371e+02] [-7.36008212e-02 9.97272800e-01 -5.46636855e-03 -5.08554090e+01] [-4.34069327e-02 2.27261421e-03 9.99054890e-01 -2.54807469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.550714057 meters 0.03351979382064032 Centerline is valid? [True, True] Translation: X:376.93, Y:-50.86, Z:-25.48 [[ 9.96236539e-01 7.51682750e-02 4.31565598e-02 3.76928686e+02] [-7.50017170e-02 9.97168413e-01 -5.46796446e-03 -5.08598510e+01] [-4.34453757e-02 2.21056991e-03 9.99053358e-01 -2.54817290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.580714057 meters 0.03316181977265938 Centerline is valid? [True, True] Translation: X:376.96, Y:-50.86, Z:-25.48 [[ 9.96195805e-01 7.56109926e-02 4.33231507e-02 3.76956899e+02] [-7.54437439e-02 9.97134974e-01 -5.48491754e-03 -5.08629378e+01] [-4.36137489e-02 2.19559116e-03 9.99046055e-01 -2.54827403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.610714057 meters 0.033425893020554646 Centerline is valid? [True, True] Translation: X:376.98, Y:-50.87, Z:-25.48 [[ 9.96133688e-01 7.62141218e-02 4.36930464e-02 3.76984599e+02] [-7.60447099e-02 9.97089080e-01 -5.52882511e-03 -5.08678550e+01] [-4.39872340e-02 2.18482390e-03 9.99029704e-01 -2.54839373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.640714057 meters 0.03373926999058496 Centerline is valid? [True, True] Translation: X:377.01, Y:-50.87, Z:-25.49 [[ 9.96084141e-01 7.66752261e-02 4.40147075e-02 3.77013129e+02] [-7.65039433e-02 9.97053747e-01 -5.56533929e-03 -5.08724144e+01] [-4.43117527e-02 2.17624751e-03 9.99015382e-01 -2.54850254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.670714057 meters 0.03254345645116833 Centerline is valid? [True, True] Translation: X:377.04, Y:-50.88, Z:-25.49 [[ 9.96069611e-01 7.65560426e-02 4.45477470e-02 3.77041321e+02] [-7.63806057e-02 9.97062842e-01 -5.62958223e-03 -5.08754658e+01] [-4.48478818e-02 2.20487189e-03 9.98991394e-01 -2.54857404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.700714057 meters 0.034205855680033294 Centerline is valid? [True, True] Translation: X:377.07, Y:-50.88, Z:-25.49 [[ 9.96118669e-01 7.61023339e-02 4.42270537e-02 3.77068271e+02] [-7.59290996e-02 9.97097571e-01 -5.58614479e-03 -5.08832474e+01] [-4.45238065e-02 2.20634275e-03 9.99005887e-01 -2.54882529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.730714057 meters 0.034205855680033294 Centerline is valid? [True, True] Translation: X:377.10, Y:-50.89, Z:-25.49 [[ 9.96126422e-01 7.60005185e-02 4.42275170e-02 3.77095513e+02] [-7.58273467e-02 9.97105335e-01 -5.58247372e-03 -5.08865908e+01] [-4.45237641e-02 2.20719431e-03 9.99005887e-01 -2.54898453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.76071405700003 meters 0.03582067166816978 Centerline is valid? [True, True] Translation: X:377.12, Y:-50.89, Z:-25.49 [[ 9.96299685e-01 7.38408599e-02 4.39825572e-02 3.77123148e+02] [-7.36677362e-02 9.97267418e-01 -5.54632171e-03 -5.08947245e+01] [-4.42719164e-02 2.28570315e-03 9.99016903e-01 -2.54919084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.790714057 meters 0.03465436883535794 Centerline is valid? [True, True] Translation: X:377.15, Y:-50.90, Z:-25.49 [[ 9.96418091e-01 7.24567101e-02 4.36006167e-02 3.77151507e+02] [-7.22853473e-02 9.97368849e-01 -5.49620164e-03 -5.08974841e+01] [-4.38841336e-02 2.32482902e-03 9.99033922e-01 -2.54926673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.82071405700003 meters 0.03227607646119823 Centerline is valid? [True, True] Translation: X:377.18, Y:-50.90, Z:-25.49 [[ 9.96544030e-01 7.09454556e-02 4.32057629e-02 3.77181303e+02] [-7.07759212e-02 9.97477390e-01 -5.44293508e-03 -5.08986163e+01] [-4.34829231e-02 2.36619679e-03 9.99051368e-01 -2.54931089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.850714057 meters 0.03748324846671576 Centerline is valid? [True, True] Translation: X:377.21, Y:-50.91, Z:-25.50 [[ 9.96673252e-01 6.88073236e-02 4.36804459e-02 3.77207852e+02] [-6.86320557e-02 9.97626872e-01 -5.50133821e-03 -5.09145457e+01] [-4.39553190e-02 2.48515784e-03 9.99030407e-01 -2.54965023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.88071405700003 meters 0.03490755817329321 Centerline is valid? [True, True] Translation: X:377.24, Y:-50.92, Z:-25.50 [[ 9.96753935e-01 6.76538992e-02 4.36410772e-02 3.77236492e+02] [-6.74779410e-02 9.97705638e-01 -5.49421582e-03 -5.09154564e+01] [-4.39126539e-02 2.53157120e-03 9.99032167e-01 -2.54962531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.910714057 meters 0.0394081711461168 Centerline is valid? [True, True] Translation: X:377.26, Y:-50.93, Z:-25.50 [[ 9.96818438e-01 6.70349340e-02 4.31198248e-02 3.77262800e+02] [-6.68626942e-02 9.97747432e-01 -5.42596923e-03 -5.09265521e+01] [-4.33864240e-02 2.52559851e-03 9.99055173e-01 -2.54994396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.940714057 meters 0.03548197631669894 Centerline is valid? [True, True] Translation: X:377.29, Y:-50.92, Z:-25.50 [[ 9.96864217e-01 6.66270558e-02 4.26915391e-02 3.77291519e+02] [-6.64580435e-02 9.97774783e-01 -5.36758915e-03 -5.09249999e+01] [-4.29541678e-02 2.51356140e-03 9.99073882e-01 -2.54995444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.970714057 meters 0.035630708483303276 Centerline is valid? [True, True] Translation: X:377.32, Y:-50.93, Z:-25.50 [[ 9.96921136e-01 6.62435122e-02 4.19528996e-02 3.77320191e+02] [-6.60801310e-02 9.97800399e-01 -5.27075870e-03 -5.09295856e+01] [-4.22097735e-02 2.48227765e-03 9.99105687e-01 -2.55016477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.000714057 meters 0.03664638165362397 Centerline is valid? [True, True] Translation: X:377.35, Y:-50.94, Z:-25.50 [[ 9.96959397e-01 6.58609425e-02 4.16449012e-02 3.77347535e+02] [-6.56997332e-02 9.97825736e-01 -5.22938112e-03 -5.09363322e+01] [-4.18987662e-02 2.47742174e-03 9.99118790e-01 -2.55042956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.030714057 meters 0.03695872818649157 Centerline is valid? [True, True] Translation: X:377.38, Y:-50.94, Z:-25.51 [[ 9.97014454e-01 6.53497141e-02 4.11289844e-02 3.77375428e+02] [-6.51921932e-02 9.97859380e-01 -5.16098989e-03 -5.09410598e+01] [-4.13782121e-02 2.46429282e-03 9.99140516e-01 -2.55068516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.060714057 meters 0.03664069408168101 Centerline is valid? [True, True] Translation: X:377.40, Y:-50.95, Z:-25.51 [[ 9.97078549e-01 6.46705042e-02 4.06459510e-02 3.77403807e+02] [-6.45162584e-02 9.97903641e-01 -5.09655387e-03 -5.09454968e+01] [-4.08903392e-02 2.45933986e-03 9.99160614e-01 -2.55080256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.090714057 meters 0.03491426644741993 Centerline is valid? [True, True] Translation: X:377.43, Y:-50.95, Z:-25.51 [[ 9.97124347e-01 6.37830007e-02 4.09238952e-02 3.77432172e+02] [-6.36259996e-02 9.97960634e-01 -5.12880102e-03 -5.09465635e+01] [-4.11675668e-02 2.51022862e-03 9.99149103e-01 -2.55087108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.120714057 meters 0.03508056837868954 Centerline is valid? [True, True] Translation: X:377.46, Y:-50.95, Z:-25.51 [[ 9.97153956e-01 6.33892290e-02 4.08141244e-02 3.77460419e+02] [-6.32329067e-02 9.97985710e-01 -5.11101617e-03 -5.09505878e+01] [-4.10558963e-02 2.51567428e-03 9.99153684e-01 -2.55094175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.150714057 meters 0.03703326211006029 Centerline is valid? [True, True] Translation: X:377.49, Y:-50.96, Z:-25.51 [[ 9.97283187e-01 6.14338216e-02 4.06463987e-02 3.77488453e+02] [-6.12772993e-02 9.98107819e-01 -5.08673129e-03 -5.09570510e+01] [-4.08819856e-02 2.58221006e-03 9.99160645e-01 -2.55112169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.180714057 meters 0.037423623513526086 Centerline is valid? [True, True] Translation: X:377.52, Y:-50.96, Z:-25.51 [[ 9.97407849e-01 5.93207734e-02 4.07262745e-02 3.77517357e+02] [-5.91619853e-02 9.98235397e-01 -5.09419018e-03 -5.09636885e+01] [-4.09566001e-02 2.67153802e-03 9.99157355e-01 -2.55134310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.210714057 meters 0.03789731778531009 Centerline is valid? [True, True] Translation: X:377.55, Y:-50.97, Z:-25.52 [[ 9.97504785e-01 5.75243176e-02 4.09286884e-02 3.77546211e+02] [-5.73624899e-02 9.98340296e-01 -5.11832162e-03 -5.09688196e+01] [-4.11551869e-02 2.75777883e-03 9.99148960e-01 -2.55153976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.240714057 meters 0.042816135826183495 Centerline is valid? [True, True] Translation: X:377.57, Y:-50.98, Z:-25.52 [[ 9.97587754e-01 5.59745493e-02 4.10551111e-02 3.77573473e+02] [-5.58105064e-02 9.98428190e-01 -5.13188842e-03 -5.09810158e+01] [-4.12778354e-02 2.82820251e-03 9.99143704e-01 -2.55187052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.270714057 meters 0.03947133586694713 Centerline is valid? [True, True] Translation: X:377.60, Y:-50.98, Z:-25.52 [[ 9.97751719e-01 5.33478849e-02 4.05648851e-02 3.77603920e+02] [-5.31856914e-02 9.98571780e-01 -5.06786234e-03 -5.09808211e+01] [-4.07773092e-02 2.89899690e-03 9.99164054e-01 -2.55186043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.300714057 meters 0.04284877966656342 Centerline is valid? [True, True] Translation: X:377.63, Y:-50.99, Z:-25.52 [[ 9.97793935e-01 5.23627685e-02 4.08093660e-02 3.77631803e+02] [-5.21977995e-02 9.98623752e-01 -5.09825537e-03 -5.09895068e+01] [-4.10201609e-02 2.95684918e-03 9.99153944e-01 -2.55207174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.330714057 meters 0.041558376472102566 Centerline is valid? [True, True] Translation: X:377.66, Y:-50.99, Z:-25.52 [[ 9.97851107e-01 5.10724702e-02 4.10459587e-02 3.77660988e+02] [-5.09045875e-02 9.98690368e-01 -5.12559638e-03 -5.09916092e+01] [-4.12539804e-02 3.02515443e-03 9.99144113e-01 -2.55215567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.360714057 meters 0.04445940932092354 Centerline is valid? [True, True] Translation: X:377.69, Y:-51.00, Z:-25.52 [[ 9.97888741e-01 5.04884361e-02 4.08531202e-02 3.77689921e+02] [-5.03217709e-02 9.98720044e-01 -5.09837261e-03 -5.09994133e+01] [-4.10582389e-02 3.03180727e-03 9.99152155e-01 -2.55242387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.390714057 meters 0.04366396542346163 Centerline is valid? [True, True] Translation: X:377.72, Y:-51.00, Z:-25.53 [[ 9.97934010e-01 4.98523111e-02 4.05272613e-02 3.77720080e+02] [-4.96877605e-02 9.98751993e-01 -5.05805187e-03 -5.10021687e+01] [-4.07288385e-02 3.03389313e-03 9.99165631e-01 -2.55253830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.420714057 meters 0.04376190987325149 Centerline is valid? [True, True] Translation: X:377.75, Y:-51.01, Z:-25.53 [[ 9.97952596e-01 4.96943596e-02 4.02627184e-02 3.77749162e+02] [-4.95317998e-02 9.98759903e-01 -5.02563253e-03 -5.10059665e+01] [-4.04625343e-02 3.02105812e-03 9.99176489e-01 -2.55270740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.450714057 meters 0.04106558904482183 Centerline is valid? [True, True] Translation: X:377.78, Y:-51.01, Z:-25.53 [[ 9.97979534e-01 4.95299253e-02 3.97949299e-02 3.77779283e+02] [-4.93710474e-02 9.98768161e-01 -4.96589743e-03 -5.10050731e+01] [-3.99918695e-02 2.99114663e-03 9.99195528e-01 -2.55277225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.480714057 meters 0.04612323438879689 Centerline is valid? [True, True] Translation: X:377.81, Y:-51.02, Z:-25.53 [[ 9.97999826e-01 4.90858085e-02 3.98363085e-02 3.77807664e+02] [-4.89263183e-02 9.98790029e-01 -4.96931092e-03 -5.10152342e+01] [-4.00320303e-02 3.01032752e-03 9.99193862e-01 -2.55317117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.51071405700003 meters 0.04143276665498119 Centerline is valid? [True, True] Translation: X:377.84, Y:-51.01, Z:-25.53 [[ 9.97977078e-01 4.94968905e-02 3.98974891e-02 3.77838153e+02] [-4.93372520e-02 9.98769778e-01 -4.97654680e-03 -5.10117466e+01] [-4.00947299e-02 2.99804716e-03 9.99191385e-01 -2.55325498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.540714057 meters 0.04131841003717572 Centerline is valid? [True, True] Translation: X:377.87, Y:-51.02, Z:-25.53 [[ 9.97977936e-01 4.98524110e-02 3.94306437e-02 3.77867184e+02] [-4.96968202e-02 9.98752247e-01 -4.91692320e-03 -5.10150980e+01] [-3.96265645e-02 2.94740326e-03 9.99210212e-01 -2.55345158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.57071405700003 meters 0.04216371751170025 Centerline is valid? [True, True] Translation: X:377.90, Y:-51.02, Z:-25.54 [[ 9.97977697e-01 5.00047591e-02 3.92433383e-02 3.77895875e+02] [-4.98508157e-02 9.98744693e-01 -4.89218040e-03 -5.10190762e+01] [-3.94387082e-02 2.92597451e-03 9.99217707e-01 -2.55367595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.600714057 meters 0.04121495812291632 Centerline is valid? [True, True] Translation: X:377.93, Y:-51.02, Z:-25.54 [[ 9.97973823e-01 5.04401243e-02 3.87819873e-02 3.77925454e+02] [-5.02901492e-02 9.98722953e-01 -4.83362053e-03 -5.10190866e+01] [-3.89762693e-02 2.87347483e-03 9.99236005e-01 -2.55373667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.63071405700003 meters 0.04279274442883344 Centerline is valid? [True, True] Translation: X:377.95, Y:-51.02, Z:-25.54 [[ 9.97946689e-01 5.04451410e-02 3.94676190e-02 3.77953846e+02] [-5.02899159e-02 9.98722560e-01 -4.91656886e-03 -5.10231649e+01] [-3.96652185e-02 2.92165038e-03 9.99208754e-01 -2.55386972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.660714057 meters 0.04273378485779166 Centerline is valid? [True, True] Translation: X:377.98, Y:-51.03, Z:-25.54 [[ 9.97931847e-01 5.02675285e-02 4.00650130e-02 3.77983614e+02] [-5.01074818e-02 9.98731368e-01 -4.98953172e-03 -5.10265195e+01] [-4.02649967e-02 2.97165569e-03 9.99184617e-01 -2.55398053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.690714057 meters 0.04147183453960594 Centerline is valid? [True, True] Translation: X:378.01, Y:-51.03, Z:-25.54 [[ 9.97910951e-01 5.00464688e-02 4.08544431e-02 3.78013411e+02] [-4.98799247e-02 9.98742270e-01 -5.08636853e-03 -5.10277131e+01] [-4.10576140e-02 3.03792631e-03 9.99152162e-01 -2.55403716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.720714057 meters 0.04176382136104533 Centerline is valid? [True, True] Translation: X:378.04, Y:-51.03, Z:-25.54 [[ 9.97918119e-01 4.90194175e-02 4.19109133e-02 3.78042997e+02] [-4.88433068e-02 9.98792832e-01 -5.21635006e-03 -5.10302335e+01] [-4.21160223e-02 3.15842265e-03 9.99107734e-01 -2.55411072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.750714057 meters 0.042853705257897674 Centerline is valid? [True, True] Translation: X:378.07, Y:-51.04, Z:-25.54 [[ 9.97957323e-01 4.83875988e-02 4.17111641e-02 3.78072593e+02] [-4.82126897e-02 9.98823610e-01 -5.18972150e-03 -5.10351003e+01] [-4.19132137e-02 3.16811316e-03 9.99116232e-01 -2.55429639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.780714057 meters 0.042701063640946335 Centerline is valid? [True, True] Translation: X:378.10, Y:-51.04, Z:-25.55 [[ 9.98103204e-01 4.59794618e-02 4.09375470e-02 3.78102387e+02] [-4.58090015e-02 9.98937235e-01 -5.09276329e-03 -5.10370175e+01] [-4.11282026e-02 3.20779521e-03 9.99148728e-01 -2.55458790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.810714057 meters 0.04307443184394567 Centerline is valid? [True, True] Translation: X:378.13, Y:-51.04, Z:-25.55 [[ 9.98164865e-01 4.49142631e-02 4.06154134e-02 3.78132340e+02] [-4.47456429e-02 9.98985640e-01 -5.05166153e-03 -5.10410127e+01] [-4.08011064e-02 3.22502827e-03 9.99162083e-01 -2.55479557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.840714057 meters 0.04406022547851648 Centerline is valid? [True, True] Translation: X:378.16, Y:-51.05, Z:-25.55 [[ 9.98278735e-01 4.28558940e-02 4.00367246e-02 3.78163081e+02] [-4.26904163e-02 9.99075940e-01 -4.97937308e-03 -5.10455154e+01] [-4.02131238e-02 3.26161782e-03 9.99185802e-01 -2.55507590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.870714057 meters 0.04570563050776599 Centerline is valid? [True, True] Translation: X:378.19, Y:-51.05, Z:-25.55 [[ 9.98322029e-01 4.17482970e-02 4.01273678e-02 3.78193091e+02] [-4.15811509e-02 9.99122662e-01 -4.99137335e-03 -5.10512204e+01] [-4.03005439e-02 3.31445583e-03 9.99182106e-01 -2.55532423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.900714057 meters 0.049204451665262675 Centerline is valid? [True, True] Translation: X:378.22, Y:-51.06, Z:-25.56 [[ 9.98380869e-01 3.98999854e-02 4.05417259e-02 3.78222118e+02] [-3.97278686e-02 9.99197813e-01 -5.04256262e-03 -5.10586515e+01] [-4.07104020e-02 3.42376169e-03 9.99165122e-01 -2.55554099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.930714057 meters 0.048223576591068885 Centerline is valid? [True, True] Translation: X:378.25, Y:-51.06, Z:-25.56 [[ 9.98401168e-01 3.91613910e-02 4.07614297e-02 3.78253873e+02] [-3.89867537e-02 9.99226861e-01 -5.07080786e-03 -5.10599702e+01] [-4.09284953e-02 3.47354466e-03 9.99156040e-01 -2.55564766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.960714057 meters 0.04876421689606456 Centerline is valid? [True, True] Translation: X:378.29, Y:-51.06, Z:-25.56 [[ 9.98425924e-01 3.85847107e-02 4.07049772e-02 3.78285664e+02] [-3.84097103e-02 9.99249198e-01 -5.07286243e-03 -5.10628346e+01] [-4.08701508e-02 3.50141098e-03 9.99158331e-01 -2.55583456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.990714057 meters 0.050501390550246515 Centerline is valid? [True, True] Translation: X:378.32, Y:-51.07, Z:-25.56 [[ 9.98409503e-01 3.85528857e-02 4.11356304e-02 3.78316843e+02] [-3.83736975e-02 9.99250254e-01 -5.13706771e-03 -5.10686565e+01] [-4.13028379e-02 3.55037098e-03 9.99140366e-01 -2.55605694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.020714057 meters 0.05025701316853112 Centerline is valid? [True, True] Translation: X:378.35, Y:-51.07, Z:-25.56 [[ 9.98356472e-01 3.87802631e-02 4.21953294e-02 3.78349621e+02] [-3.85915081e-02 9.99241126e-01 -5.27906600e-03 -5.10702989e+01] [-4.23680320e-02 3.64200832e-03 9.99095434e-01 -2.55615606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.050714057 meters 0.04658816530275332 Centerline is valid? [True, True] Translation: X:378.38, Y:-51.07, Z:-25.56 [[ 9.98329448e-01 3.89314806e-02 4.26925443e-02 3.78383502e+02] [-3.87379588e-02 9.99235075e-01 -5.35119118e-03 -5.10683983e+01] [-4.28682175e-02 3.68842971e-03 9.99073927e-01 -2.55619996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.080714057 meters 0.05294211046020332 Centerline is valid? [True, True] Translation: X:378.41, Y:-51.08, Z:-25.56 [[ 9.98288237e-01 3.87805381e-02 4.37797466e-02 3.78413575e+02] [-3.85762736e-02 9.99240515e-01 -5.50128090e-03 -5.10795839e+01] [-4.39598391e-02 3.80300453e-03 9.99026061e-01 -2.55646284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.110714057 meters 0.04651636751911566 Centerline is valid? [True, True] Translation: X:378.45, Y:-51.07, Z:-25.57 [[ 9.98247996e-01 3.89733734e-02 4.45198288e-02 3.78448107e+02] [-3.87618885e-02 9.99232761e-01 -5.60410906e-03 -5.10742537e+01] [-4.47040825e-02 3.86861799e-03 9.98992782e-01 -2.55652670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.140714057 meters 0.0448345630678249 Centerline is valid? [True, True] Translation: X:378.48, Y:-51.07, Z:-25.57 [[ 9.98252022e-01 3.90404542e-02 4.43705308e-02 3.78480265e+02] [-3.88298635e-02 9.99230153e-01 -5.59851830e-03 -5.10748831e+01] [-4.45549410e-02 3.86583056e-03 9.98999456e-01 -2.55668563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.170714057 meters 0.05083997411605536 Centerline is valid? [True, True] Translation: X:378.51, Y:-51.09, Z:-25.57 [[ 9.98278670e-01 3.87615049e-02 4.40141146e-02 3.78510143e+02] [-3.85535096e-02 9.99241041e-01 -5.56503589e-03 -5.10860319e+01] [-4.41964189e-02 3.85855804e-03 9.99015409e-01 -2.55704017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.200714057 meters 0.04763302940701097 Centerline is valid? [True, True] Translation: X:378.54, Y:-51.08, Z:-25.57 [[ 9.98310798e-01 3.82053076e-02 4.37710602e-02 3.78542695e+02] [-3.79986277e-02 9.99262410e-01 -5.54447272e-03 -5.10846040e+01] [-4.39506034e-02 3.87186676e-03 9.99026202e-01 -2.55717173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.230714057 meters 0.04768565557517801 Centerline is valid? [True, True] Translation: X:378.57, Y:-51.09, Z:-25.57 [[ 9.98333835e-01 3.80161650e-02 4.34088175e-02 3.78574250e+02] [-3.78122428e-02 9.99269673e-01 -5.50946657e-03 -5.10880902e+01] [-4.35865636e-02 3.85890215e-03 9.99042201e-01 -2.55734597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.26071405700003 meters 0.047745831003472884 Centerline is valid? [True, True] Translation: X:378.61, Y:-51.09, Z:-25.58 [[ 9.98325517e-01 3.78355971e-02 4.37564900e-02 3.78606467e+02] [-3.76277764e-02 9.99276336e-01 -5.56368988e-03 -5.10919374e+01] [-4.39353305e-02 3.90791415e-03 9.99026734e-01 -2.55751625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.290714057 meters 0.04886041084397733 Centerline is valid? [True, True] Translation: X:378.64, Y:-51.10, Z:-25.58 [[ 9.98339335e-01 3.77138419e-02 4.35458201e-02 3.78637931e+02] [-3.75074257e-02 9.99280949e-01 -5.54784182e-03 -5.10969400e+01] [-4.37237388e-02 3.90533710e-03 9.99036027e-01 -2.55775906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.32071405700003 meters 0.0497524466650097 Centerline is valid? [True, True] Translation: X:378.67, Y:-51.10, Z:-25.58 [[ 9.98326918e-01 3.79407471e-02 4.36333005e-02 3.78668616e+02] [-3.77331677e-02 9.99272319e-01 -5.57146211e-03 -5.11019964e+01] [-4.38129348e-02 3.91571795e-03 9.99032079e-01 -2.55797763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.350714057 meters 0.04836603408688253 Centerline is valid? [True, True] Translation: X:378.70, Y:-51.10, Z:-25.58 [[ 9.98334198e-01 3.82432453e-02 4.32004946e-02 3.78701620e+02] [-3.80398783e-02 9.99260975e-01 -5.52010233e-03 -5.11030212e+01] [-4.33796750e-02 3.86756538e-03 9.99051173e-01 -2.55817109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.38071405700003 meters 0.04811701800470655 Centerline is valid? [True, True] Translation: X:378.73, Y:-51.11, Z:-25.58 [[ 9.98252511e-01 3.95097694e-02 4.39420270e-02 3.78732886e+02] [-3.92998505e-02 9.99211595e-01 -5.63117678e-03 -5.11066503e+01] [-4.41298693e-02 3.89442127e-03 9.99018212e-01 -2.55837548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.410714057 meters 0.04796202810256044 Centerline is valid? [True, True] Translation: X:378.77, Y:-51.11, Z:-25.59 [[ 9.98214626e-01 4.03851940e-02 4.40067884e-02 3.78765191e+02] [-4.01755554e-02 9.99176729e-01 -5.63819840e-03 -5.11099774e+01] [-4.41982586e-02 3.86013494e-03 9.99015322e-01 -2.55857560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.440714057 meters 0.05206670388974294 Centerline is valid? [True, True] Translation: X:378.80, Y:-51.12, Z:-25.59 [[ 9.98197337e-01 4.07054333e-02 4.41037898e-02 3.78795416e+02] [-4.04946239e-02 9.99163707e-01 -5.66313957e-03 -5.11185831e+01] [-4.42974267e-02 3.86696445e-03 9.99010903e-01 -2.55882956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.470714057 meters 0.048597422351107644 Centerline is valid? [True, True] Translation: X:378.83, Y:-51.12, Z:-25.59 [[ 9.98145081e-01 4.15381829e-02 4.45081559e-02 3.78828585e+02] [-4.13239922e-02 9.99129414e-01 -5.72211547e-03 -5.11165807e+01] [-4.47070940e-02 3.87224672e-03 9.98992633e-01 -2.55886125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.500714057 meters 0.04930733798211572 Centerline is valid? [True, True] Translation: X:378.86, Y:-51.12, Z:-25.59 [[ 9.98098936e-01 4.23686263e-02 4.47594977e-02 3.78859917e+02] [-4.21527446e-02 9.99094595e-01 -5.75645459e-03 -5.11208398e+01] [-4.49628652e-02 3.85877553e-03 9.98981206e-01 -2.55903968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.530714057 meters 0.04798208145513353 Centerline is valid? [True, True] Translation: X:378.89, Y:-51.12, Z:-25.59 [[ 9.98070440e-01 4.26789609e-02 4.50988162e-02 3.78892522e+02] [-4.24595962e-02 9.99081284e-01 -5.81130927e-03 -5.11228184e+01] [-4.53054038e-02 3.88521848e-03 9.98965628e-01 -2.55922891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.560714057 meters 0.04862239741847382 Centerline is valid? [True, True] Translation: X:378.92, Y:-51.13, Z:-25.59 [[ 9.98106841e-01 4.23023360e-02 4.46457820e-02 3.78924340e+02] [-4.20864933e-02 9.99097345e-01 -5.76391744e-03 -5.11269076e+01] [-4.48493095e-02 3.87402102e-03 9.98986252e-01 -2.55940034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.590714057 meters 0.04544824954052598 Centerline is valid? [True, True] Translation: X:378.96, Y:-51.13, Z:-25.60 [[ 9.98089915e-01 4.24545614e-02 4.48790735e-02 3.78957057e+02] [-4.22361052e-02 9.99090792e-01 -5.80517166e-03 -5.11263735e+01] [-4.50847251e-02 3.89856602e-03 9.98975560e-01 -2.55952947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.620714057 meters 0.04544824954052598 Centerline is valid? [True, True] Translation: X:378.99, Y:-51.13, Z:-25.60 [[ 9.98079221e-01 4.27067747e-02 4.48776065e-02 3.78988632e+02] [-4.24880664e-02 9.99080043e-01 -5.81648743e-03 -5.11305075e+01] [-4.50847244e-02 3.89855252e-03 9.98975560e-01 -2.55971346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.650714057 meters 0.04983326365539871 Centerline is valid? [True, True] Translation: X:379.02, Y:-51.14, Z:-25.60 [[ 9.98091235e-01 4.26538390e-02 4.46602283e-02 3.79018593e+02] [-4.24366705e-02 9.99082324e-01 -5.79996286e-03 -5.11404711e+01] [-4.48666354e-02 3.89366070e-03 9.98985398e-01 -2.56002538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.680714057 meters 0.04724840056746683 Centerline is valid? [True, True] Translation: X:379.05, Y:-51.14, Z:-25.60 [[ 9.98145414e-01 4.22630461e-02 4.38128639e-02 3.79051342e+02] [-4.20532387e-02 9.99099113e-01 -5.69979948e-03 -5.11394750e+01] [-4.40142843e-02 3.84675590e-03 9.99023496e-01 -2.56016800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.710714057 meters 0.05464779995524492 Centerline is valid? [True, True] Translation: X:379.08, Y:-51.15, Z:-25.61 [[ 9.98130261e-01 4.26142869e-02 4.38178587e-02 3.79081389e+02] [-4.24042886e-02 9.99084209e-01 -5.71131231e-03 -5.11541131e+01] [-4.40211142e-02 3.84256853e-03 9.99023211e-01 -2.56050795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.740714057 meters 0.047470479606093526 Centerline is valid? [True, True] Translation: X:379.11, Y:-51.15, Z:-25.60 [[ 9.98140100e-01 4.20145288e-02 4.41714964e-02 3.79113710e+02] [-4.17998690e-02 9.99109328e-01 -5.77255127e-03 -5.11474131e+01] [-4.43746851e-02 3.91545214e-03 9.99007286e-01 -2.56044811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.770714057 meters 0.048269925488247815 Centerline is valid? [True, True] Translation: X:379.15, Y:-51.15, Z:-25.61 [[ 9.98137110e-01 4.18887192e-02 4.43581539e-02 3.79145197e+02] [-4.16721693e-02 9.99114528e-01 -5.79576198e-03 -5.11523292e+01] [-4.45616530e-02 3.93646462e-03 9.98998881e-01 -2.56059614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.800714057 meters 0.046837602458480766 Centerline is valid? [True, True] Translation: X:379.18, Y:-51.15, Z:-25.61 [[ 9.98154555e-01 4.09078683e-02 4.48779452e-02 3.79177198e+02] [-4.06846087e-02 9.99154752e-01 -5.87735218e-03 -5.11538960e+01] [-4.50804421e-02 4.04066421e-03 9.98975188e-01 -2.56064098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.830714057 meters 0.04923610436667304 Centerline is valid? [True, True] Translation: X:379.21, Y:-51.16, Z:-25.61 [[ 9.98196215e-01 4.00930192e-02 4.46863164e-02 3.79207035e+02] [-3.98706872e-02 9.99187688e-01 -5.85597873e-03 -5.11610732e+01] [-4.48848010e-02 4.06374165e-03 9.98983904e-01 -2.56084186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.860714057 meters 0.0510128415908243 Centerline is valid? [True, True] Translation: X:379.24, Y:-51.17, Z:-25.61 [[ 9.98300526e-01 3.77812878e-02 4.43692903e-02 3.79237646e+02] [-3.75597671e-02 9.99277458e-01 -5.81604891e-03 -5.11683988e+01] [-4.45569694e-02 4.13966448e-03 9.98998268e-01 -2.56111743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.890714057 meters 0.050428589402981394 Centerline is valid? [True, True] Translation: X:379.27, Y:-51.17, Z:-25.61 [[ 9.98313619e-01 3.69830240e-02 4.47456604e-02 3.79268990e+02] [-3.67569729e-02 9.99307026e-01 -5.86446018e-03 -5.11727242e+01] [-4.49315383e-02 4.20985544e-03 9.98981198e-01 -2.56132306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.920714057 meters 0.08457293475892602 Centerline is valid? [True, True] Translation: X:379.29, Y:-51.22, Z:-25.62 [[ 9.98217104e-01 3.89565511e-02 4.52216748e-02 3.79291759e+02] [-3.87270826e-02 9.99232172e-01 -5.93969197e-03 -5.12237185e+01] [-4.54183423e-02 4.17779858e-03 9.98959319e-01 -2.56209240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.950714057 meters 0.054491558940748745 Centerline is valid? [True, True] Translation: X:379.33, Y:-51.19, Z:-25.62 [[ 9.98483356e-01 3.33411655e-02 4.38104279e-02 3.79327646e+02] [-3.31202792e-02 9.99434785e-01 -5.75828655e-03 -5.11891882e+01] [-4.39776536e-02 4.29853968e-03 9.99023267e-01 -2.56179365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.980714057 meters 0.05335998429098388 Centerline is valid? [True, True] Translation: X:379.36, Y:-51.19, Z:-25.62 [[ 9.98577681e-01 2.99076231e-02 4.41378462e-02 3.79357378e+02] [-2.96800932e-02 9.99542613e-01 -5.80148674e-03 -5.11935443e+01] [-4.42911668e-02 4.48321979e-03 9.99008605e-01 -2.56194434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.01071405700003 meters 0.05410730626161739 Centerline is valid? [True, True] Translation: X:379.39, Y:-51.20, Z:-25.62 [[ 9.98590541e-01 2.90460532e-02 4.44213774e-02 3.79389068e+02] [-2.88147758e-02 9.99567719e-01 -5.83805934e-03 -5.12011826e+01] [-4.45717475e-02 4.54983881e-03 9.98995825e-01 -2.56210869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.040714057 meters 0.05642836532262455 Centerline is valid? [True, True] Translation: X:379.42, Y:-51.21, Z:-25.62 [[ 9.98635900e-01 2.66364181e-02 4.49092488e-02 3.79417685e+02] [-2.63974207e-02 9.99634077e-01 -5.90656270e-03 -5.12114463e+01] [-4.50501452e-02 4.71301722e-03 9.98973609e-01 -2.56230996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.07071405700003 meters 0.05684833489018975 Centerline is valid? [True, True] Translation: X:379.45, Y:-51.22, Z:-25.62 [[ 9.98623156e-01 2.66127498e-02 4.52056912e-02 3.79448948e+02] [-2.63707338e-02 9.99634573e-01 -5.94171531e-03 -5.12177759e+01] [-4.53472972e-02 4.74142725e-03 9.98960030e-01 -2.56248273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.100714057 meters 0.05775140579326702 Centerline is valid? [True, True] Translation: X:379.48, Y:-51.23, Z:-25.63 [[ 9.98586376e-01 2.73950682e-02 4.55495355e-02 3.79480525e+02] [-2.71496302e-02 9.99613383e-01 -5.99843653e-03 -5.12257377e+01] [-4.56962529e-02 4.75330395e-03 9.98944072e-01 -2.56267813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.13071405700003 meters 0.05598337999141127 Centerline is valid? [True, True] Translation: X:379.51, Y:-51.23, Z:-25.63 [[ 9.98504055e-01 2.97660767e-02 4.58653881e-02 3.79511038e+02] [-2.95190381e-02 9.99545883e-01 -6.05424265e-03 -5.12291307e+01] [-4.60247709e-02 4.69128369e-03 9.98929283e-01 -2.56273941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.160714057 meters 0.05514085516750364 Centerline is valid? [True, True] Translation: X:379.54, Y:-51.23, Z:-25.63 [[ 9.98439595e-01 3.13476983e-02 4.62136082e-02 3.79541160e+02] [-3.10985446e-02 9.99497705e-01 -6.10067655e-03 -5.12326418e+01] [-4.63816375e-02 4.65398106e-03 9.98912951e-01 -2.56288937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.190714057 meters 0.05002703400106519 Centerline is valid? [True, True] Translation: X:379.57, Y:-51.23, Z:-25.63 [[ 9.98309192e-01 3.43569214e-02 4.68866524e-02 3.79571876e+02] [-3.41037345e-02 9.99399132e-01 -6.18951938e-03 -5.12311447e+01] [-4.70711325e-02 4.58004415e-03 9.98881040e-01 -2.56298858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.220714057 meters 0.05727091802090461 Centerline is valid? [True, True] Translation: X:379.60, Y:-51.25, Z:-25.63 [[ 9.98227833e-01 3.64544515e-02 4.70347268e-02 3.79599775e+02] [-3.62019648e-02 9.99325205e-01 -6.20909969e-03 -5.12457094e+01] [-4.72293373e-02 4.49534661e-03 9.98873957e-01 -2.56328617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.250714057 meters 0.056925784646750834 Centerline is valid? [True, True] Translation: X:379.63, Y:-51.25, Z:-25.63 [[ 9.98177711e-01 3.78850045e-02 4.69678927e-02 3.79631001e+02] [-3.76348209e-02 9.99272326e-01 -6.19991872e-03 -5.12496127e+01] [-4.71685993e-02 4.42099245e-03 9.98877159e-01 -2.56344621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.280714057 meters 0.04815422557269475 Centerline is valid? [True, True] Translation: X:379.66, Y:-51.24, Z:-25.63 [[ 9.98052090e-01 4.15842708e-02 4.65056378e-02 3.79662412e+02] [-4.13428796e-02 9.99126146e-01 -6.14086472e-03 -5.12425251e+01] [-4.67203621e-02 4.20622588e-03 9.98899152e-01 -2.56345188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.310714057 meters 0.04797608685638344 Centerline is valid? [True, True] Translation: X:379.69, Y:-51.25, Z:-25.64 [[ 9.97983405e-01 4.34645541e-02 4.62596673e-02 3.79691908e+02] [-4.32277164e-02 9.99046572e-01 -6.10835025e-03 -5.12468932e+01] [-4.64810588e-02 4.09633240e-03 9.98910772e-01 -2.56369178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.340714057 meters 0.04719623762394054 Centerline is valid? [True, True] Translation: X:379.72, Y:-51.25, Z:-25.64 [[ 9.97861061e-01 4.69623439e-02 4.54735161e-02 3.79722309e+02] [-4.67370977e-02 9.98889178e-01 -6.00453217e-03 -5.12511157e+01] [-4.57049900e-02 3.86638868e-03 9.98947499e-01 -2.56395132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.370714057 meters 0.04452209227219011 Centerline is valid? [True, True] Translation: X:379.75, Y:-51.25, Z:-25.64 [[ 9.97741772e-01 4.99016593e-02 4.49575421e-02 3.79753829e+02] [-4.96844689e-02 9.98747323e-01 -5.93623552e-03 -5.12509887e+01] [-4.51974528e-02 3.68913855e-03 9.98971261e-01 -2.56409371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.400714057 meters 0.043568587197965136 Centerline is valid? [True, True] Translation: X:379.78, Y:-51.25, Z:-25.64 [[ 9.97664808e-01 5.14118832e-02 4.49638676e-02 3.79784442e+02] [-5.11961190e-02 9.98670966e-01 -5.93785236e-03 -5.12539197e+01] [-4.52093852e-02 3.62201082e-03 9.98970967e-01 -2.56428002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.430714057 meters 0.04834382952351744 Centerline is valid? [True, True] Translation: X:379.81, Y:-51.26, Z:-25.65 [[ 9.97604411e-01 5.26498435e-02 4.48713028e-02 3.79813014e+02] [-5.24361718e-02 9.98606692e-01 -5.92649944e-03 -5.12646736e+01] [-4.51208125e-02 3.55942264e-03 9.98975196e-01 -2.56460379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.460714057 meters 0.0432271496031824 Centerline is valid? [True, True] Translation: X:379.84, Y:-51.26, Z:-25.65 [[ 9.97473373e-01 5.48674901e-02 4.51268136e-02 3.79843752e+02] [-5.46535871e-02 9.98487581e-01 -5.96119334e-03 -5.12613753e+01] [-4.53856387e-02 3.47978939e-03 9.98963480e-01 -2.56461130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.490714057 meters 0.04356041743506896 Centerline is valid? [True, True] Translation: X:379.87, Y:-51.27, Z:-25.65 [[ 9.97406528e-01 5.59945342e-02 4.52198032e-02 3.79872163e+02] [-5.57809165e-02 9.98425166e-01 -5.97308744e-03 -5.12657230e+01] [-4.54830497e-02 3.43519434e-03 9.98959204e-01 -2.56474606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.520714057 meters 0.04238186494856109 Centerline is valid? [True, True] Translation: X:379.90, Y:-51.27, Z:-25.65 [[ 9.97233913e-01 5.88204793e-02 4.54386898e-02 3.79901962e+02] [-5.86078319e-02 9.98263058e-01 -5.99915966e-03 -5.12676260e+01] [-4.57126389e-02 3.31950237e-03 9.98949116e-01 -2.56481430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.550714057 meters 0.04218157346184366 Centerline is valid? [True, True] Translation: X:379.93, Y:-51.27, Z:-25.65 [[ 9.97076845e-01 6.14423940e-02 4.54158197e-02 3.79931183e+02] [-6.12326920e-02 9.98105511e-01 -5.99554694e-03 -5.12692807e+01] [-4.56981607e-02 3.19708813e-03 9.98950177e-01 -2.56484808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.580714057 meters 0.04109401455751083 Centerline is valid? [True, True] Translation: X:379.96, Y:-51.27, Z:-25.65 [[ 9.97038423e-01 6.18972615e-02 4.56411211e-02 3.79960384e+02] [-6.16860006e-02 9.98077426e-01 -6.02409953e-03 -5.12712781e+01] [-4.59262479e-02 3.19084047e-03 9.98939737e-01 -2.56490610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.610714057 meters 0.038538245097685976 Centerline is valid? [True, True] Translation: X:379.99, Y:-51.27, Z:-25.65 [[ 9.96870981e-01 6.36788395e-02 4.68321766e-02 3.79990313e+02] [-6.34585308e-02 9.97965357e-01 -6.17754765e-03 -5.12714782e+01] [-4.71302689e-02 3.18631687e-03 9.98883669e-01 -2.56496845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.640714057 meters 0.03801188181796217 Centerline is valid? [True, True] Translation: X:380.02, Y:-51.27, Z:-25.65 [[ 9.96836720e-01 6.43543702e-02 4.66376394e-02 3.80018937e+02] [-6.41366850e-02 9.97922169e-01 -6.15061126e-03 -5.12742648e+01] [-4.69365529e-02 3.13997157e-03 9.98892937e-01 -2.56513100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.670714057 meters 0.03946703374635254 Centerline is valid? [True, True] Translation: X:380.05, Y:-51.28, Z:-25.65 [[ 9.96779251e-01 6.52248003e-02 4.66567175e-02 3.80046112e+02] [-6.50080350e-02 9.97865789e-01 -6.14994741e-03 -5.12807960e+01] [-4.69582713e-02 3.09707845e-03 9.98892051e-01 -2.56541795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.700714057 meters 0.03728840881613915 Centerline is valid? [True, True] Translation: X:380.08, Y:-51.28, Z:-25.66 [[ 9.96691425e-01 6.66474839e-02 4.65222103e-02 3.80075563e+02] [-6.64337219e-02 9.97772024e-01 -6.12769508e-03 -5.12819215e+01] [-4.68269554e-02 3.01677755e-03 9.98898461e-01 -2.56562702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.730714057 meters 0.037656276336375215 Centerline is valid? [True, True] Translation: X:380.10, Y:-51.29, Z:-25.66 [[ 9.96535177e-01 6.86364259e-02 4.69753291e-02 3.80104120e+02] [-6.84207964e-02 9.97637380e-01 -6.18481446e-03 -5.12851934e+01] [-4.72888478e-02 2.94929575e-03 9.98876903e-01 -2.56576238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.76071405700003 meters 0.03879692696894913 Centerline is valid? [True, True] Translation: X:380.13, Y:-51.29, Z:-25.66 [[ 9.96414419e-01 7.05407524e-02 4.67151864e-02 3.80132532e+02] [-7.03297161e-02 9.97504854e-01 -6.14788948e-03 -5.12917762e+01] [-4.70323020e-02 2.84037993e-03 9.98889331e-01 -2.56592062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.790714057 meters 0.035148972763054884 Centerline is valid? [True, True] Translation: X:380.16, Y:-51.29, Z:-25.66 [[ 9.96391117e-01 7.12451598e-02 4.61396713e-02 3.80161586e+02] [-7.10401030e-02 9.97454985e-01 -6.07096156e-03 -5.12895993e+01] [-4.64547718e-02 2.77128517e-03 9.98916550e-01 -2.56598278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.82071405700003 meters 0.03448519529220518 Centerline is valid? [True, True] Translation: X:380.19, Y:-51.29, Z:-25.66 [[ 9.96232999e-01 7.36304307e-02 4.58079868e-02 3.80191024e+02] [-7.34309958e-02 9.97282109e-01 -6.02362420e-03 -5.12933704e+01] [-4.61270077e-02 2.63720712e-03 9.98932102e-01 -2.56619867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.850714057 meters 0.033298080914837394 Centerline is valid? [True, True] Translation: X:380.22, Y:-51.30, Z:-25.66 [[ 9.96162733e-01 7.45435101e-02 4.58592959e-02 3.80220086e+02] [-7.43446483e-02 9.97214382e-01 -6.02914428e-03 -5.12959584e+01] [-4.61809830e-02 2.59661562e-03 9.98929714e-01 -2.56633251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.88071405700003 meters 0.03571368324639669 Centerline is valid? [True, True] Translation: X:380.25, Y:-51.30, Z:-25.67 [[ 9.96144774e-01 7.48509892e-02 4.57484204e-02 3.80246891e+02] [-7.46535559e-02 9.97191411e-01 -6.01144013e-03 -5.13040681e+01] [-4.60698941e-02 2.57298242e-03 9.98934905e-01 -2.56653844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.910714057 meters 0.03546351120536942 Centerline is valid? [True, True] Translation: X:380.27, Y:-51.31, Z:-25.67 [[ 9.96074672e-01 7.51354653e-02 4.67964740e-02 3.80274993e+02] [-7.49294029e-02 9.97169910e-01 -6.14458203e-03 -5.13097407e+01] [-4.71257118e-02 2.61403067e-03 9.98885546e-01 -2.56662415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.940714057 meters 0.033654014927120036 Centerline is valid? [True, True] Translation: X:380.30, Y:-51.31, Z:-25.67 [[ 9.96090617e-01 7.45705079e-02 4.73573835e-02 3.80303673e+02] [-7.43589954e-02 9.97212172e-01 -6.21488157e-03 -5.13111173e+01] [-4.76888062e-02 2.66913775e-03 9.98858675e-01 -2.56671399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.970714057 meters 0.037146842957009145 Centerline is valid? [True, True] Translation: X:380.33, Y:-51.32, Z:-25.67 [[ 9.96128752e-01 7.39812764e-02 4.74792580e-02 3.80329915e+02] [-7.37681628e-02 9.97255973e-01 -6.22760052e-03 -5.13207731e+01] [-4.78096995e-02 2.70103430e-03 9.98852811e-01 -2.56696978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.000714057 meters 0.03873449615904596 Centerline is valid? [True, True] Translation: X:380.36, Y:-51.33, Z:-25.67 [[ 9.96259158e-01 7.26616719e-02 4.67757573e-02 3.80358061e+02] [-7.24535892e-02 9.97352941e-01 -6.13096282e-03 -5.13278639e+01] [-4.70974251e-02 2.71895635e-03 9.98886600e-01 -2.56718431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.030714057 meters 0.03852977756882405 Centerline is valid? [True, True] Translation: X:380.39, Y:-51.33, Z:-25.67 [[ 9.96358169e-01 7.11568021e-02 4.69798647e-02 3.80387572e+02] [-7.09453973e-02 9.97461215e-01 -6.15421459e-03 -5.13313644e+01] [-4.72985072e-02 2.79879682e-03 9.98876878e-01 -2.56740903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.060714057 meters 0.041633357699486735 Centerline is valid? [True, True] Translation: X:380.41, Y:-51.34, Z:-25.68 [[ 9.96521742e-01 6.91062163e-02 4.65698307e-02 3.80414592e+02] [-6.88963156e-02 9.97605181e-01 -6.09929272e-03 -5.13404169e+01] [-4.68798034e-02 2.86958805e-03 9.98896416e-01 -2.56775159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.090714057 meters 0.04270394751051088 Centerline is valid? [True, True] Translation: X:380.44, Y:-51.35, Z:-25.68 [[ 9.96652583e-01 6.73759766e-02 4.63044913e-02 3.80443733e+02] [-6.71667671e-02 9.97723353e-01 -6.06104012e-03 -5.13459188e+01] [-4.66074408e-02 2.93062831e-03 9.98908984e-01 -2.56795407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.120714057 meters 0.03811566327434579 Centerline is valid? [True, True] Translation: X:380.47, Y:-51.34, Z:-25.68 [[ 9.96817779e-01 6.42252925e-02 4.72168168e-02 3.80474880e+02] [-6.40043241e-02 9.97930495e-01 -6.17851281e-03 -5.13436593e+01] [-4.75159181e-02 3.13677097e-03 9.98865556e-01 -2.56798688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.150714057 meters 0.037393783389816394 Centerline is valid? [True, True] Translation: X:380.50, Y:-51.35, Z:-25.68 [[ 9.96899000e-01 6.25687016e-02 4.77235921e-02 3.80504377e+02] [-6.23410543e-02 9.98035365e-01 -6.24517655e-03 -5.13468036e+01] [-4.80205853e-02 3.25067121e-03 9.98841057e-01 -2.56808951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.180714057 meters 0.040135732584556084 Centerline is valid? [True, True] Translation: X:380.53, Y:-51.35, Z:-25.68 [[ 9.97060544e-01 6.00485385e-02 4.75861754e-02 3.80532455e+02] [-5.98194448e-02 9.98189802e-01 -6.22513921e-03 -5.13545834e+01] [-4.78738456e-02 3.36026210e-03 9.98847738e-01 -2.56832096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.210714057 meters 0.03911331761657931 Centerline is valid? [True, True] Translation: X:380.56, Y:-51.36, Z:-25.69 [[ 9.97118566e-01 5.91995988e-02 4.74338879e-02 3.80561737e+02] [-5.89710045e-02 9.98240408e-01 -6.20544210e-03 -5.13573064e+01] [-4.77177833e-02 3.39033751e-03 9.98855104e-01 -2.56850739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.240714057 meters 0.04009328856543855 Centerline is valid? [True, True] Translation: X:380.59, Y:-51.36, Z:-25.69 [[ 9.97204147e-01 5.78208329e-02 4.73354060e-02 3.80591050e+02] [-5.75917249e-02 9.98321024e-01 -6.19084517e-03 -5.13630302e+01] [-4.76138908e-02 3.44740880e-03 9.98859866e-01 -2.56874911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.270714057 meters 0.03944196621058571 Centerline is valid? [True, True] Translation: X:380.62, Y:-51.37, Z:-25.69 [[ 9.97182730e-01 5.78394252e-02 4.77619546e-02 3.80620801e+02] [-5.76062702e-02 9.98319848e-01 -6.24489601e-03 -5.13667185e+01] [-4.80429085e-02 3.47591439e-03 9.98839225e-01 -2.56892446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.300714057 meters 0.0396735778132487 Centerline is valid? [True, True] Translation: X:380.65, Y:-51.37, Z:-25.69 [[ 9.97166766e-01 5.75809087e-02 4.84033000e-02 3.80649714e+02] [-5.73412274e-02 9.98334590e-01 -6.32697545e-03 -5.13707534e+01] [-4.86870017e-02 3.53354501e-03 9.98807834e-01 -2.56910426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.330714057 meters 0.04026858623758674 Centerline is valid? [True, True] Translation: X:380.68, Y:-51.37, Z:-25.69 [[ 9.97170442e-01 5.75091914e-02 4.84128374e-02 3.80679286e+02] [-5.72694168e-02 9.98338715e-01 -6.32647338e-03 -5.13747064e+01] [-4.86962403e-02 3.53599729e-03 9.98807375e-01 -2.56929443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.360714057 meters 0.040067575508936464 Centerline is valid? [True, True] Translation: X:380.71, Y:-51.38, Z:-25.69 [[ 9.97122703e-01 5.81558687e-02 4.86231482e-02 3.80709046e+02] [-5.79148550e-02 9.98301317e-01 -6.35219006e-03 -5.13775182e+01] [-4.89099700e-02 3.51791034e-03 9.98796996e-01 -2.56947976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.390714057 meters 0.037741139615037896 Centerline is valid? [True, True] Translation: X:380.74, Y:-51.38, Z:-25.70 [[ 9.97107606e-01 5.86303754e-02 4.83621797e-02 3.80738508e+02] [-5.83925838e-02 9.98273715e-01 -6.31636382e-03 -5.13771985e+01] [-4.86490236e-02 3.47410177e-03 9.98809893e-01 -2.56963551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.420714057 meters 0.04055486180132011 Centerline is valid? [True, True] Translation: X:380.77, Y:-51.38, Z:-25.70 [[ 9.97115042e-01 5.93010590e-02 4.73811885e-02 3.80766923e+02] [-5.90736603e-02 9.98234456e-01 -6.18652992e-03 -5.13837143e+01] [-4.76644027e-02 3.36970181e-03 9.98857723e-01 -2.56994918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.450714057 meters 0.039601449397813446 Centerline is valid? [True, True] Translation: X:380.80, Y:-51.38, Z:-25.70 [[ 9.97068274e-01 6.03235994e-02 4.70735541e-02 3.80796816e+02] [-6.01003609e-02 9.98173427e-01 -6.14465604e-03 -5.13849481e+01] [-4.73582386e-02 3.29750401e-03 9.98872526e-01 -2.57018591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.480714057 meters 0.04194829725835134 Centerline is valid? [True, True] Translation: X:380.83, Y:-51.39, Z:-25.70 [[ 9.97030941e-01 6.08016375e-02 4.72489529e-02 3.80825259e+02] [-6.05773478e-02 9.98144462e-01 -6.16580215e-03 -5.13909332e+01] [-4.75361715e-02 3.28527927e-03 9.98864115e-01 -2.57039912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.51071405700003 meters 0.04007344557531633 Centerline is valid? [True, True] Translation: X:380.86, Y:-51.39, Z:-25.70 [[ 9.96880481e-01 6.23759682e-02 4.83585094e-02 3.80855731e+02] [-6.21429334e-02 9.98047320e-01 -6.30893069e-03 -5.13905527e+01] [-4.86576064e-02 3.28411023e-03 9.98810118e-01 -2.57045373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.540714057 meters 0.04007344557531633 Centerline is valid? [True, True] Translation: X:380.88, Y:-51.39, Z:-25.71 [[ 9.96884805e-01 6.23067908e-02 4.83585580e-02 3.80883825e+02] [-6.20736931e-02 9.98051631e-01 -6.30855855e-03 -5.13941539e+01] [-4.86574037e-02 3.28711187e-03 9.98810118e-01 -2.57061790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.57071405700003 meters 0.03964585763342658 Centerline is valid? [True, True] Translation: X:380.91, Y:-51.40, Z:-25.71 [[ 9.96796424e-01 6.33089619e-02 4.88760138e-02 3.80912361e+02] [-6.30722146e-02 9.97988620e-01 -6.37256408e-03 -5.13964743e+01] [-4.91811460e-02 3.26943065e-03 9.98784524e-01 -2.57074536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.600714057 meters 0.039109823645045685 Centerline is valid? [True, True] Translation: X:380.94, Y:-51.40, Z:-25.71 [[ 9.96613038e-01 6.57847498e-02 4.93438917e-02 3.80942058e+02] [-6.55466517e-02 9.97828790e-01 -6.42976490e-03 -5.13965806e+01] [-4.96597363e-02 3.17366065e-03 9.98761152e-01 -2.57093294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.63071405700003 meters 0.036295157863208485 Centerline is valid? [True, True] Translation: X:380.97, Y:-51.40, Z:-25.71 [[ 9.96515940e-01 6.72667991e-02 4.93067813e-02 3.80971877e+02] [-6.70309434e-02 9.97730221e-01 -6.42335161e-03 -5.13954342e+01] [-4.96269441e-02 3.09589220e-03 9.98763026e-01 -2.57101568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.660714057 meters 0.03627932975034992 Centerline is valid? [True, True] Translation: X:381.00, Y:-51.40, Z:-25.71 [[ 9.96386098e-01 6.88837292e-02 4.96968304e-02 3.81000269e+02] [-6.86462543e-02 9.97620073e-01 -6.47158974e-03 -5.13978506e+01] [-5.00243428e-02 3.03670079e-03 9.98743382e-01 -2.57114769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.690714057 meters 0.03801111969047767 Centerline is valid? [True, True] Translation: X:381.03, Y:-51.40, Z:-25.71 [[ 9.96088459e-01 7.23511876e-02 5.07256038e-02 3.81028522e+02] [-7.21084402e-02 9.97374950e-01 -6.60173402e-03 -5.14015100e+01] [-5.10700899e-02 2.91816690e-03 9.98690808e-01 -2.57129928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.720714057 meters 0.03688374303302551 Centerline is valid? [True, True] Translation: X:381.06, Y:-51.40, Z:-25.71 [[ 9.95729510e-01 7.66713524e-02 5.14222472e-02 3.81058695e+02] [-7.64277757e-02 9.97052680e-01 -6.68943627e-03 -5.14006560e+01] [-5.17835775e-02 2.73078112e-03 9.98654597e-01 -2.57143851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.750714057 meters 0.036267528783984065 Centerline is valid? [True, True] Translation: X:381.09, Y:-51.40, Z:-25.72 [[ 9.95543364e-01 7.91191165e-02 5.13183760e-02 3.81088313e+02] [-7.88798146e-02 9.96861786e-01 -6.67495337e-03 -5.14020777e+01] [-5.16854444e-02 2.59722154e-03 9.98660037e-01 -2.57164199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.780714057 meters 0.0356023639465441 Centerline is valid? [True, True] Translation: X:381.12, Y:-51.40, Z:-25.72 [[ 9.95348145e-01 8.15095011e-02 5.13641110e-02 3.81117892e+02] [-8.12730339e-02 9.96669495e-01 -6.67917380e-03 -5.14030304e+01] [-5.17374587e-02 2.47358611e-03 9.98657657e-01 -2.57183653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.810714057 meters 0.03084705026226206 Centerline is valid? [True, True] Translation: X:381.15, Y:-51.40, Z:-25.72 [[ 9.95020432e-01 8.57596738e-02 5.07899411e-02 3.81148962e+02] [-8.55340800e-02 9.96313367e-01 -6.60272709e-03 -5.13959083e+01] [-5.11689450e-02 2.22557748e-03 9.98687532e-01 -2.57202713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.840714057 meters 0.033664816488539175 Centerline is valid? [True, True] Translation: X:381.18, Y:-51.40, Z:-25.72 [[ 9.94869628e-01 8.75240987e-02 5.07341716e-02 3.81176253e+02] [-8.73013171e-02 9.96160121e-01 -6.59492113e-03 -5.14038439e+01] [-5.11165730e-02 2.13192672e-03 9.98690418e-01 -2.57234662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.870714057 meters 0.02954555811565864 Centerline is valid? [True, True] Translation: X:381.21, Y:-51.40, Z:-25.72 [[ 9.94493074e-01 9.11005235e-02 5.18094684e-02 3.81206823e+02] [-9.08732377e-02 9.95839722e-01 -6.73071061e-03 -5.13981504e+01] [-5.22070979e-02 1.98555094e-03 9.98634306e-01 -2.57233467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.900714057 meters 0.028527172656506557 Centerline is valid? [True, True] Translation: X:381.24, Y:-51.40, Z:-25.72 [[ 9.94287995e-01 9.28954528e-02 5.25530071e-02 3.81235916e+02] [-9.26641834e-02 9.95674023e-01 -6.82556674e-03 -5.13994544e+01] [-5.29597282e-02 1.91679757e-03 9.98594809e-01 -2.57245664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.930714057 meters 0.0294661823589921 Centerline is valid? [True, True] Translation: X:381.26, Y:-51.40, Z:-25.73 [[ 9.93964984e-01 9.56202253e-02 5.37622806e-02 3.81263407e+02] [-9.53823630e-02 9.95416245e-01 -6.97880984e-03 -5.14037959e+01] [-5.41831628e-02 1.80871926e-03 9.98529375e-01 -2.57261091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.960714057 meters 0.029003453296199702 Centerline is valid? [True, True] Translation: X:381.29, Y:-51.41, Z:-25.73 [[ 9.93821704e-01 9.66060836e-02 5.46414195e-02 3.81292537e+02] [-9.63622596e-02 9.95321108e-01 -7.08563477e-03 -5.14067319e+01] [-5.50702737e-02 1.77648697e-03 9.98480901e-01 -2.57278162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.990714057 meters 0.02941734543516621 Centerline is valid? [True, True] Translation: X:381.32, Y:-51.41, Z:-25.73 [[ 9.93699877e-01 9.76438959e-02 5.50111317e-02 3.81320003e+02] [-9.73985009e-02 9.95219917e-01 -7.13076981e-03 -5.14111830e+01] [-5.54444501e-02 1.72784333e-03 9.98460278e-01 -2.57302388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.020714057 meters 0.028155875747231583 Centerline is valid? [True, True] Translation: X:381.35, Y:-51.41, Z:-25.73 [[ 9.93727204e-01 9.73731406e-02 5.49974053e-02 3.81348597e+02] [-9.71277195e-02 9.95246428e-01 -7.12421101e-03 -5.14128289e+01] [-5.54296780e-02 1.73774973e-03 9.98461081e-01 -2.57323842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.050714057 meters 0.028216581691676106 Centerline is valid? [True, True] Translation: X:381.38, Y:-51.42, Z:-25.74 [[ 9.93890975e-01 9.58242704e-02 5.47580035e-02 3.81376796e+02] [-9.55788529e-02 9.95396617e-01 -7.08928963e-03 -5.14193188e+01] [-5.51852575e-02 1.81227382e-03 9.98474488e-01 -2.57351904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.080714057 meters 0.03077738713124101 Centerline is valid? [True, True] Translation: X:381.40, Y:-51.43, Z:-25.74 [[ 9.94028115e-01 9.45886183e-02 5.44159829e-02 3.81403401e+02] [-9.43446152e-02 9.95514698e-01 -7.04130977e-03 -5.14291646e+01] [-5.48379385e-02 1.86540491e-03 9.98493526e-01 -2.57380896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.110714057 meters 0.029311786080633697 Centerline is valid? [True, True] Translation: X:381.43, Y:-51.43, Z:-25.74 [[ 9.94305513e-01 9.16501935e-02 5.43763569e-02 3.81432307e+02] [-9.14025669e-02 9.95789218e-01 -7.02876096e-03 -5.14330395e+01] [-5.47915772e-02 2.01859717e-03 9.98495773e-01 -2.57399257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.140714057 meters 0.03050381618650929 Centerline is valid? [True, True] Translation: X:381.46, Y:-51.44, Z:-25.74 [[ 9.94646808e-01 8.82048576e-02 5.38296445e-02 3.81461245e+02] [-8.79573128e-02 9.96099963e-01 -6.95518323e-03 -5.14418606e+01] [-5.42331879e-02 2.18323991e-03 9.98525911e-01 -2.57421225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.170714057 meters 0.030720139304262706 Centerline is valid? [True, True] Translation: X:381.49, Y:-51.45, Z:-25.74 [[ 9.94736268e-01 8.69040643e-02 5.42903393e-02 3.81489029e+02] [-8.66504273e-02 9.96214095e-01 -7.01287077e-03 -5.14481811e+01] [-5.46942483e-02 2.27167580e-03 9.98500565e-01 -2.57440870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.200714057 meters 0.031670682781737194 Centerline is valid? [True, True] Translation: X:381.52, Y:-51.45, Z:-25.75 [[ 9.94920608e-01 8.48760088e-02 5.41206620e-02 3.81516692e+02] [-8.46211746e-02 9.96388698e-01 -6.98707849e-03 -5.14548508e+01] [-5.45182512e-02 2.37183439e-03 9.98509957e-01 -2.57458704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.230714057 meters 0.033242465522538664 Centerline is valid? [True, True] Translation: X:381.54, Y:-51.46, Z:-25.75 [[ 9.95136170e-01 8.19143972e-02 5.47177745e-02 3.81544279e+02] [-8.16495979e-02 9.96636083e-01 -7.06124976e-03 -5.14641970e+01] [-5.51121264e-02 2.55922076e-03 9.98476892e-01 -2.57480554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.26071405700003 meters 0.033900490564399643 Centerline is valid? [True, True] Translation: X:381.57, Y:-51.47, Z:-25.75 [[ 9.95294597e-01 8.00529191e-02 5.45911645e-02 3.81572394e+02] [-7.97867097e-02 9.96787084e-01 -7.04206683e-03 -5.14718617e+01] [-5.49795056e-02 2.65328168e-03 9.98483958e-01 -2.57500150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.290714057 meters 0.03511093253937984 Centerline is valid? [True, True] Translation: X:381.60, Y:-51.48, Z:-25.75 [[ 9.95381142e-01 7.91902099e-02 5.42705443e-02 3.81599178e+02] [-7.89259931e-02 9.96855915e-01 -6.99797745e-03 -5.14773835e+01] [-5.46540845e-02 2.68229818e-03 9.98501746e-01 -2.57521477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.32071405700003 meters 0.03508947526964937 Centerline is valid? [True, True] Translation: X:381.63, Y:-51.48, Z:-25.75 [[ 9.95361354e-01 7.93076013e-02 5.44617247e-02 3.81628019e+02] [-7.90419005e-02 9.96846585e-01 -7.01884625e-03 -5.14815727e+01] [-5.48466321e-02 2.68153009e-03 9.98491190e-01 -2.57538870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.350714057 meters 0.03592089869204463 Centerline is valid? [True, True] Translation: X:381.65, Y:-51.49, Z:-25.75 [[ 9.95376272e-01 7.84939885e-02 5.53603696e-02 3.81654883e+02] [-7.82183950e-02 9.96910745e-01 -7.13084206e-03 -5.14871258e+01] [-5.57490756e-02 2.76767173e-03 9.98440975e-01 -2.57545412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.38071405700003 meters 0.0365660276924126 Centerline is valid? [True, True] Translation: X:381.68, Y:-51.49, Z:-25.76 [[ 9.95410017e-01 7.79496737e-02 5.55224935e-02 3.81683552e+02] [-7.76718277e-02 9.96953356e-01 -7.14797738e-03 -5.14919123e+01] [-5.59105188e-02 2.80263473e-03 9.98431850e-01 -2.57560823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.410714057 meters 0.037721978638798566 Centerline is valid? [True, True] Translation: X:381.71, Y:-51.50, Z:-25.76 [[ 9.95450354e-01 7.71604483e-02 5.59004264e-02 3.81711010e+02] [-7.68777726e-02 9.97014579e-01 -7.19289607e-03 -5.14980077e+01] [-5.62885471e-02 2.86267068e-03 9.98410439e-01 -2.57572057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.440714057 meters 0.03356330990816446 Centerline is valid? [True, True] Translation: X:381.74, Y:-51.49, Z:-25.76 [[ 9.95527613e-01 7.65964416e-02 5.52969843e-02 3.81740169e+02] [-7.63192305e-02 9.97058079e-01 -7.11068758e-03 -5.14944703e+01] [-5.56789583e-02 2.85866254e-03 9.98444631e-01 -2.57587349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.470714057 meters 0.03946654704230153 Centerline is valid? [True, True] Translation: X:381.77, Y:-51.51, Z:-25.76 [[ 9.95656220e-01 7.53291311e-02 5.47194055e-02 3.81766338e+02] [-7.50559883e-02 9.97154522e-01 -7.03264412e-03 -5.15073937e+01] [-5.50934657e-02 2.89507680e-03 9.98477005e-01 -2.57613341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.500714057 meters 0.03435720455937275 Centerline is valid? [True, True] Translation: X:381.80, Y:-51.50, Z:-25.76 [[ 9.95831588e-01 7.37163083e-02 5.37155009e-02 3.81796565e+02] [-7.34510763e-02 9.97274966e-01 -6.89795167e-03 -5.15029377e+01] [-5.40776159e-02 2.92373681e-03 9.98532455e-01 -2.57639886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.530714057 meters 0.034534762253704054 Centerline is valid? [True, True] Translation: X:381.83, Y:-51.51, Z:-25.77 [[ 9.95931770e-01 7.25209143e-02 5.34848254e-02 3.81825209e+02] [-7.22563358e-02 9.97362458e-01 -6.86656240e-03 -5.15068290e+01] [-5.38417263e-02 2.97401014e-03 9.98545053e-01 -2.57665359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.560714057 meters 0.035132443264374064 Centerline is valid? [True, True] Translation: X:381.85, Y:-51.51, Z:-25.77 [[ 9.95989166e-01 7.17493315e-02 5.34566664e-02 3.81853158e+02] [-7.14841278e-02 9.97418153e-01 -6.85917871e-03 -5.15114558e+01] [-5.38107909e-02 3.01036450e-03 9.98546612e-01 -2.57683384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.590714057 meters 0.033885453212921114 Centerline is valid? [True, True] Translation: X:381.88, Y:-51.51, Z:-25.77 [[ 9.96086300e-01 6.99864363e-02 5.39813090e-02 3.81882475e+02] [-6.97136918e-02 9.97543029e-01 -6.92143993e-03 -5.15136405e+01] [-5.43330854e-02 3.13111515e-03 9.98517958e-01 -2.57699366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.620714057 meters 0.035614479281956275 Centerline is valid? [True, True] Translation: X:381.91, Y:-51.52, Z:-25.77 [[ 9.96261151e-01 6.75603140e-02 5.38453602e-02 3.81910251e+02] [-6.72855201e-02 9.97709888e-01 -6.90205346e-03 -5.15189182e+01] [-5.41883532e-02 3.25323465e-03 9.98525432e-01 -2.57714882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.650714057 meters 0.03563947445316665 Centerline is valid? [True, True] Translation: X:381.94, Y:-51.52, Z:-25.77 [[ 9.96333907e-01 6.64350477e-02 5.38992554e-02 3.81939422e+02] [-6.61581870e-02 9.97785243e-01 -6.90668745e-03 -5.15228530e+01] [-5.42387278e-02 3.31548988e-03 9.98522492e-01 -2.57729648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.680714057 meters 0.03782205032854558 Centerline is valid? [True, True] Translation: X:381.97, Y:-51.53, Z:-25.77 [[ 9.96541767e-01 6.31825567e-02 5.39673235e-02 3.81967482e+02] [-6.29003624e-02 9.97995867e-01 -6.91329696e-03 -5.15295548e+01] [-5.42959656e-02 3.49482496e-03 9.98518770e-01 -2.57749556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.710714057 meters 0.03919765963275246 Centerline is valid? [True, True] Translation: X:382.00, Y:-51.54, Z:-25.78 [[ 9.96670443e-01 6.10790397e-02 5.40127722e-02 3.81997382e+02] [-6.07932705e-02 9.98126394e-01 -6.91958311e-03 -5.15352477e+01] [-5.43342150e-02 3.61293089e-03 9.98516269e-01 -2.57767835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.740714057 meters 0.0433341681554216 Centerline is valid? [True, True] Translation: X:382.03, Y:-51.55, Z:-25.78 [[ 9.96881504e-01 5.80191886e-02 5.34886911e-02 3.82026467e+02] [-5.77345769e-02 9.98308452e-01 -6.85218561e-03 -5.15458817e+01] [-5.37957707e-02 3.74267015e-03 9.98544945e-01 -2.57791613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.770714057 meters 0.039410566295922225 Centerline is valid? [True, True] Translation: X:382.06, Y:-51.54, Z:-25.78 [[ 9.96982645e-01 5.68400488e-02 5.28659987e-02 3.82057378e+02] [-5.65601852e-02 9.98376196e-01 -6.77616366e-03 -5.15437319e+01] [-5.31653121e-02 3.76560689e-03 9.98578625e-01 -2.57810950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.800714057 meters 0.04285860816864694 Centerline is valid? [True, True] Translation: X:382.09, Y:-51.55, Z:-25.78 [[ 9.97129965e-01 5.57636295e-02 5.12079181e-02 3.82087453e+02] [-5.54996941e-02 9.98437135e-01 -6.56286076e-03 -5.15507831e+01] [-5.14938560e-02 3.70200133e-03 9.98666450e-01 -2.57837408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.830714057 meters 0.04308333898376 Centerline is valid? [True, True] Translation: X:382.12, Y:-51.55, Z:-25.79 [[ 9.97116100e-01 5.63540339e-02 5.08301590e-02 3.82117611e+02] [-5.60943786e-02 9.98404171e-01 -6.52160903e-03 -5.15546269e+01] [-5.11165617e-02 3.65151518e-03 9.98686019e-01 -2.57857777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.860714057 meters 0.041678770019374464 Centerline is valid? [True, True] Translation: X:382.15, Y:-51.56, Z:-25.79 [[ 9.97081974e-01 5.72655869e-02 5.04796001e-02 3.82148629e+02] [-5.70106724e-02 9.98352562e-01 -6.47650978e-03 -5.15556082e+01] [-5.07673192e-02 3.57973521e-03 9.98704093e-01 -2.57880033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.890714057 meters 0.040495379027769736 Centerline is valid? [True, True] Translation: X:382.18, Y:-51.56, Z:-25.79 [[ 9.96892432e-01 6.08081466e-02 5.00784258e-02 3.82179363e+02] [-6.05616640e-02 9.98143772e-01 -6.42608806e-03 -5.15560128e+01] [-5.03762273e-02 3.37328576e-03 9.98724615e-01 -2.57898535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.920714057 meters 0.040225698156932714 Centerline is valid? [True, True] Translation: X:382.21, Y:-51.56, Z:-25.79 [[ 9.96683541e-01 6.39515513e-02 5.03201612e-02 3.82207925e+02] [-6.37066714e-02 9.97947778e-01 -6.45700826e-03 -5.15586853e+01] [-5.06298287e-02 3.22986389e-03 9.98712265e-01 -2.57909077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.950714057 meters 0.037973356874037585 Centerline is valid? [True, True] Translation: X:382.24, Y:-51.55, Z:-25.79 [[ 9.96286029e-01 6.98993100e-02 5.02815561e-02 3.82239034e+02] [-6.96624421e-02 9.97549768e-01 -6.45013328e-03 -5.15548872e+01] [-5.06092145e-02 2.92344169e-03 9.98714254e-01 -2.57911038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.980714057 meters 0.03807964893790231 Centerline is valid? [True, True] Translation: X:382.27, Y:-51.56, Z:-25.79 [[ 9.96035897e-01 7.30578321e-02 5.07448984e-02 3.82267947e+02] [-7.28206748e-02 9.97323809e-01 -6.50920959e-03 -5.15568930e+01] [-5.10846441e-02 2.78812867e-03 9.98690435e-01 -2.57918256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.01071405700003 meters 0.032409935040081675 Centerline is valid? [True, True] Translation: X:382.30, Y:-51.55, Z:-25.79 [[ 9.95642259e-01 7.78745988e-02 5.13034059e-02 3.82299481e+02] [-7.76386571e-02 9.96959857e-01 -6.57891977e-03 -5.15487951e+01] [-5.16597669e-02 2.56712301e-03 9.98661443e-01 -2.57922965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.040714057 meters 0.032010313612414444 Centerline is valid? [True, True] Translation: X:382.33, Y:-51.55, Z:-25.79 [[ 9.95398842e-01 8.08195654e-02 5.14717725e-02 3.82329103e+02] [-8.05860096e-02 9.96725806e-01 -6.60023383e-03 -5.15501338e+01] [-5.18366719e-02 2.42196036e-03 9.98652639e-01 -2.57940692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.07071405700003 meters 0.03142761732633978 Centerline is valid? [True, True] Translation: X:382.36, Y:-51.55, Z:-25.80 [[ 9.95338717e-01 8.13416330e-02 5.18109844e-02 3.82358205e+02] [-8.11057779e-02 9.96683368e-01 -6.64206281e-03 -5.15522240e+01] [-5.21794227e-02 2.40893208e-03 9.98634821e-01 -2.57958200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.100714057 meters 0.03206958821276029 Centerline is valid? [True, True] Translation: X:382.39, Y:-51.56, Z:-25.80 [[ 9.95338949e-01 8.15010656e-02 5.15553307e-02 3.82385301e+02] [-8.12679357e-02 9.96670401e-01 -6.60567886e-03 -5.15564621e+01] [-5.19220420e-02 2.38509415e-03 9.98648293e-01 -2.57974905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.13071405700003 meters 0.033479766737791315 Centerline is valid? [True, True] Translation: X:382.41, Y:-51.56, Z:-25.80 [[ 9.95477152e-01 8.09420371e-02 4.97355575e-02 3.82412175e+02] [-8.07246005e-02 9.96716099e-01 -6.36840333e-03 -5.15609399e+01] [-5.00877024e-02 2.32471701e-03 9.98742118e-01 -2.58004617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.160714057 meters 0.03237222660341007 Centerline is valid? [True, True] Translation: X:382.44, Y:-51.56, Z:-25.80 [[ 9.95603547e-01 8.00152852e-02 4.86942735e-02 3.82441067e+02] [-7.98060418e-02 9.96790946e-01 -6.22934917e-03 -5.15614799e+01] [-4.90364541e-02 2.31586490e-03 9.98794305e-01 -2.58022261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.190714057 meters 0.03338183832536479 Centerline is valid? [True, True] Translation: X:382.47, Y:-51.57, Z:-25.81 [[ 9.95851591e-01 7.78009064e-02 4.71871571e-02 3.82469161e+02] [-7.76021102e-02 9.96966155e-01 -6.03311665e-03 -5.15668702e+01] [-4.75133806e-02 2.34626584e-03 9.98867846e-01 -2.58058321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.220714057 meters 0.0338358849616974 Centerline is valid? [True, True] Translation: X:382.50, Y:-51.57, Z:-25.81 [[ 9.95998742e-01 7.62865400e-02 4.65496385e-02 3.82498522e+02] [-7.60915579e-02 9.97083088e-01 -5.94898071e-03 -5.15714911e+01] [-4.68676845e-02 2.38314279e-03 9.98898263e-01 -2.58080420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.250714057 meters 0.03674561866166833 Centerline is valid? [True, True] Translation: X:382.53, Y:-51.58, Z:-25.81 [[ 9.96302229e-01 7.21487935e-02 4.66521201e-02 3.82526973e+02] [-7.19485157e-02 9.97390539e-01 -5.96023366e-03 -5.15805511e+01] [-4.69604069e-02 2.58164328e-03 9.98893415e-01 -2.58107447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.280714057 meters 0.03633875154702269 Centerline is valid? [True, True] Translation: X:382.56, Y:-51.58, Z:-25.81 [[ 9.96452312e-01 6.98820215e-02 4.68966302e-02 3.82556369e+02] [-6.96771658e-02 9.97551604e-01 -5.99082957e-03 -5.15836181e+01] [-4.72004600e-02 2.70195169e-03 9.98881783e-01 -2.58118085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.310714057 meters 0.03801456054011573 Centerline is valid? [True, True] Translation: X:382.59, Y:-51.59, Z:-25.81 [[ 9.96653806e-01 6.63393971e-02 4.77522390e-02 3.82585776e+02] [-6.61230293e-02 9.97792842e-01 -6.09828634e-03 -5.15898940e+01] [-4.80513989e-02 2.92035759e-03 9.98840595e-01 -2.58125533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.340714057 meters 0.03868719607270432 Centerline is valid? [True, True] Translation: X:382.61, Y:-51.59, Z:-25.81 [[ 9.96789308e-01 6.42123744e-02 4.78314387e-02 3.82614529e+02] [-6.39928879e-02 9.97931665e-01 -6.10759867e-03 -5.15937532e+01] [-4.81246906e-02 3.02711715e-03 9.98836749e-01 -2.58132063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.370714057 meters 0.039782953926440066 Centerline is valid? [True, True] Translation: X:382.64, Y:-51.60, Z:-25.81 [[ 9.96804999e-01 6.37816113e-02 4.80801511e-02 3.82642093e+02] [-6.35594431e-02 9.97959184e-01 -6.13712953e-03 -5.15983533e+01] [-4.83734643e-02 3.06157376e-03 9.98824627e-01 -2.58146888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.400714057 meters 0.03957984298446173 Centerline is valid? [True, True] Translation: X:382.67, Y:-51.60, Z:-25.82 [[ 9.96791779e-01 6.34497041e-02 4.87881539e-02 3.82671229e+02] [-6.32207622e-02 9.97980165e-01 -6.22302972e-03 -5.16009400e+01] [-4.90844592e-02 3.11864059e-03 9.98789763e-01 -2.58157619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.430714057 meters 0.03957984298446173 Centerline is valid? [True, True] Translation: X:382.70, Y:-51.60, Z:-25.82 [[ 9.96796111e-01 6.33812930e-02 4.87885804e-02 3.82699324e+02] [-6.31524326e-02 9.97984512e-01 -6.21968370e-03 -5.16044585e+01] [-4.90844592e-02 3.11863899e-03 9.98789763e-01 -2.58174042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.460714057 meters 0.040517605476933595 Centerline is valid? [True, True] Translation: X:382.73, Y:-51.61, Z:-25.82 [[ 9.96782711e-01 6.30204572e-02 4.95242358e-02 3.82726526e+02] [-6.27843612e-02 9.98007168e-01 -6.31008851e-03 -5.16075698e+01] [-4.98232070e-02 3.18043962e-03 9.98752989e-01 -2.58183477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.490714057 meters 0.041592255511270965 Centerline is valid? [True, True] Translation: X:382.75, Y:-51.61, Z:-25.82 [[ 9.96761127e-01 6.33725580e-02 4.95093432e-02 3.82753902e+02] [-6.31372500e-02 9.97984944e-01 -6.30390647e-03 -5.16115719e+01] [-4.98090738e-02 3.15760513e-03 9.98753766e-01 -2.58202000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.520714057 meters 0.0413768020562648 Centerline is valid? [True, True] Translation: X:382.78, Y:-51.61, Z:-25.82 [[ 9.96785270e-01 6.44850324e-02 4.75479404e-02 3.82782451e+02] [-6.42694708e-02 9.97914240e-01 -6.05011262e-03 -5.16120743e+01] [-4.78389085e-02 2.97478218e-03 9.98850634e-01 -2.58229366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.550714057 meters 0.04155694255514681 Centerline is valid? [True, True] Translation: X:382.81, Y:-51.62, Z:-25.83 [[ 9.96809617e-01 6.44813086e-02 4.70398580e-02 3.82810936e+02] [-6.42704782e-02 9.97914584e-01 -5.98231951e-03 -5.16150018e+01] [-4.73275081e-02 2.93995946e-03 9.98875099e-01 -2.58257752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.580714057 meters 0.041698379915346244 Centerline is valid? [True, True] Translation: X:382.84, Y:-51.62, Z:-25.83 [[ 9.96790278e-01 6.53661381e-02 4.62213173e-02 3.82838270e+02] [-6.51636682e-02 9.97857293e-01 -5.87535452e-03 -5.16176617e+01] [-4.65063278e-02 2.84454568e-03 9.98913945e-01 -2.58286713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.610714057 meters 0.042220099544334234 Centerline is valid? [True, True] Translation: X:382.87, Y:-51.62, Z:-25.83 [[ 9.96815327e-01 6.55074311e-02 4.54750595e-02 3.82866330e+02] [-6.53117782e-02 9.97848186e-01 -5.77656737e-03 -5.16205925e+01] [-4.57556137e-02 2.78811389e-03 9.98948773e-01 -2.58313203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.640714057 meters 0.0422509017252412 Centerline is valid? [True, True] Translation: X:382.89, Y:-51.62, Z:-25.83 [[ 9.96746090e-01 6.67743321e-02 4.51488730e-02 3.82894354e+02] [-6.65828989e-02 9.97764430e-01 -5.73235279e-03 -5.16218929e+01] [-4.54307136e-02 2.70755738e-03 9.98963823e-01 -2.58327748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.670714057 meters 0.0420038484627515 Centerline is valid? [True, True] Translation: X:382.92, Y:-51.62, Z:-25.83 [[ 9.96686141e-01 6.76120418e-02 4.52255178e-02 3.82922973e+02] [-6.74209969e-02 9.97708115e-01 -5.73812183e-03 -5.16240288e+01] [-4.55098322e-02 2.66995701e-03 9.98960323e-01 -2.58341396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.700714057 meters 0.035071939256405026 Centerline is valid? [True, True] Translation: X:382.95, Y:-51.61, Z:-25.83 [[ 9.96564733e-01 6.88525167e-02 4.60224384e-02 3.82953868e+02] [-6.86561069e-02 9.97623311e-01 -5.83673687e-03 -5.16139679e+01] [-4.63149314e-02 2.65696467e-03 9.98923354e-01 -2.58321091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.730714057 meters 0.04269490970746905 Centerline is valid? [True, True] Translation: X:382.98, Y:-51.63, Z:-25.84 [[ 9.96549661e-01 6.87466725e-02 4.65044967e-02 3.82979791e+02] [-6.85462819e-02 9.97630538e-01 -5.89203103e-03 -5.16280177e+01] [-4.67993636e-02 2.68399119e-03 9.98900704e-01 -2.58358004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.76071405700003 meters 0.03519111428516981 Centerline is valid? [True, True] Translation: X:383.01, Y:-51.62, Z:-25.83 [[ 9.96534800e-01 6.80272614e-02 4.78610983e-02 3.83010484e+02] [-6.78143922e-02 9.97679554e-01 -6.05932801e-03 -5.16194185e+01] [-4.81622387e-02 2.79265993e-03 9.98835622e-01 -2.58340214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.790714057 meters 0.034971465127947715 Centerline is valid? [True, True] Translation: X:383.04, Y:-51.62, Z:-25.84 [[ 9.96613583e-01 6.66399115e-02 4.81714484e-02 3.83038508e+02] [-6.64228124e-02 9.97772948e-01 -6.09539339e-03 -5.16221304e+01] [-4.84703646e-02 2.87506876e-03 9.98820483e-01 -2.58355773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.82071405700003 meters 0.03682255149180122 Centerline is valid? [True, True] Translation: X:383.07, Y:-51.63, Z:-25.84 [[ 9.96781708e-01 6.36454821e-02 4.87388820e-02 3.83067182e+02] [-6.34199582e-02 9.97967909e-01 -6.16129121e-03 -5.16284393e+01] [-4.90319785e-02 3.05044452e-03 9.98792551e-01 -2.58369161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.850714057 meters 0.03729840984028866 Centerline is valid? [True, True] Translation: X:383.10, Y:-51.63, Z:-25.84 [[ 9.96904421e-01 6.19515538e-02 4.84105482e-02 3.83096077e+02] [-6.17270754e-02 9.98074304e-01 -6.11973294e-03 -5.16323352e+01] [-4.86964512e-02 3.11254726e-03 9.98808774e-01 -2.58387613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.88071405700003 meters 0.03876340529233493 Centerline is valid? [True, True] Translation: X:383.13, Y:-51.64, Z:-25.84 [[ 9.97175487e-01 5.87356409e-02 4.68099651e-02 3.83125919e+02] [-5.85223799e-02 9.98268575e-01 -5.91459481e-03 -5.16376335e+01] [-4.70763147e-02 3.15845840e-03 9.98886302e-01 -2.58417784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.910714057 meters 0.04214674231670844 Centerline is valid? [True, True] Translation: X:383.15, Y:-51.65, Z:-25.85 [[ 9.97296005e-01 5.75267452e-02 4.57313020e-02 3.83153639e+02] [-5.73219622e-02 9.98339025e-01 -5.77789807e-03 -5.16459728e+01] [-4.59877271e-02 3.14086670e-03 9.98937067e-01 -2.58452574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.940714057 meters 0.038306106577207656 Centerline is valid? [True, True] Translation: X:383.18, Y:-51.64, Z:-25.85 [[ 9.97500195e-01 5.56463515e-02 4.35527718e-02 3.83183673e+02] [-5.54589481e-02 9.98445818e-01 -5.50034675e-03 -5.16427687e+01] [-4.37911571e-02 3.07120605e-03 9.99035986e-01 -2.58477487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.970714057 meters 0.04009896699947395 Centerline is valid? [True, True] Translation: X:383.21, Y:-51.65, Z:-25.85 [[ 9.97610777e-01 5.46743402e-02 4.22309695e-02 3.83211642e+02] [-5.44973215e-02 9.98499678e-01 -5.33248016e-03 -5.16464588e+01] [-4.24591593e-02 3.01826495e-03 9.99093644e-01 -2.58501669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.000714057 meters 0.040673022732266965 Centerline is valid? [True, True] Translation: X:383.24, Y:-51.65, Z:-25.85 [[ 9.97597983e-01 5.47222040e-02 4.24705070e-02 3.83240467e+02] [-5.45433460e-02 9.98497019e-01 -5.35961702e-03 -5.16493513e+01] [-4.26999647e-02 3.03025957e-03 9.99083345e-01 -2.58513761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.030714057 meters 0.0418397845845111 Centerline is valid? [True, True] Translation: X:383.27, Y:-51.65, Z:-25.85 [[ 9.97455644e-01 5.65492291e-02 4.34099501e-02 3.83269570e+02] [-5.63642468e-02 9.98395263e-01 -5.47446774e-03 -5.16514324e+01] [-4.36498655e-02 3.01376960e-03 9.99042345e-01 -2.58524003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.060714057 meters 0.041225286316301374 Centerline is valid? [True, True] Translation: X:383.30, Y:-51.65, Z:-25.85 [[ 9.97362927e-01 5.80464145e-02 4.35638071e-02 3.83298480e+02] [-5.78615858e-02 9.98309504e-01 -5.49278745e-03 -5.16523476e+01] [-4.38089993e-02 2.95763161e-03 9.99035547e-01 -2.58541119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.090714057 meters 0.03804072080454604 Centerline is valid? [True, True] Translation: X:383.33, Y:-51.65, Z:-25.85 [[ 9.97256637e-01 5.97812726e-02 4.36508787e-02 3.83329112e+02] [-5.95975221e-02 9.98207336e-01 -5.50001261e-03 -5.16489857e+01] [-4.39014251e-02 2.88343987e-03 9.99031707e-01 -2.58548580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.120714057 meters 0.03663093378828247 Centerline is valid? [True, True] Translation: X:383.36, Y:-51.65, Z:-25.86 [[ 9.96968468e-01 6.38302809e-02 4.44923390e-02 3.83360552e+02] [-6.36434294e-02 9.97956962e-01 -5.60502939e-03 -5.16462763e+01] [-4.47592100e-02 2.75639253e-03 9.98994002e-01 -2.58551701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.150714057 meters 0.03535218853618364 Centerline is valid? [True, True] Translation: X:383.39, Y:-51.64, Z:-25.86 [[ 9.96705470e-01 6.70503886e-02 4.56338856e-02 3.83391373e+02] [-6.68571780e-02 9.97745994e-01 -5.74883435e-03 -5.16436689e+01] [-4.59164881e-02 2.67894183e-03 9.98941690e-01 -2.58553469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.180714057 meters 0.03394653447055272 Centerline is valid? [True, True] Translation: X:383.42, Y:-51.64, Z:-25.86 [[ 9.96657670e-01 6.77364301e-02 4.56646996e-02 3.83420258e+02] [-6.75436835e-02 9.97699734e-01 -5.75254285e-03 -5.16428620e+01] [-4.59493153e-02 2.64895393e-03 9.98940260e-01 -2.58558215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.210714057 meters 0.03616456690875228 Centerline is valid? [True, True] Translation: X:383.45, Y:-51.65, Z:-25.86 [[ 9.96615388e-01 6.80557777e-02 4.61105160e-02 3.83447844e+02] [-6.78597355e-02 9.97677980e-01 -5.80549205e-03 -5.16486849e+01] [-4.63985437e-02 2.65679529e-03 9.98919475e-01 -2.58577888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.240714057 meters 0.0366646192751487 Centerline is valid? [True, True] Translation: X:383.48, Y:-51.65, Z:-25.86 [[ 9.96617449e-01 6.76734615e-02 4.66257754e-02 3.83476870e+02] [-6.74728040e-02 9.97703870e-01 -5.86586742e-03 -5.16511719e+01] [-4.69156801e-02 2.70005402e-03 9.98895204e-01 -2.58594393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.270714057 meters 0.03823100100166487 Centerline is valid? [True, True] Translation: X:383.50, Y:-51.66, Z:-25.86 [[ 9.96689917e-01 6.67431085e-02 4.64173104e-02 3.83503744e+02] [-6.65433890e-02 9.97766463e-01 -5.83640841e-03 -5.16566786e+01] [-4.67031756e-02 2.72832427e-03 9.98905085e-01 -2.58615350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.300714057 meters 0.03914631910320534 Centerline is valid? [True, True] Translation: X:383.53, Y:-51.66, Z:-25.86 [[ 9.96912570e-01 6.40381218e-02 4.54361808e-02 3.83533090e+02] [-6.38441337e-02 9.97943550e-01 -5.70935463e-03 -5.16608702e+01] [-4.57083600e-02 2.79089380e-03 9.98950928e-01 -2.58641564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.330714057 meters 0.0398458719747476 Centerline is valid? [True, True] Translation: X:383.56, Y:-51.67, Z:-25.87 [[ 9.97030445e-01 6.28137860e-02 4.45501923e-02 3.83562496e+02] [-6.26261028e-02 9.98021362e-01 -5.59748845e-03 -5.16657791e+01] [-4.48136431e-02 2.79086147e-03 9.98991466e-01 -2.58670469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.360714057 meters 0.04056822859489413 Centerline is valid? [True, True] Translation: X:383.59, Y:-51.67, Z:-25.87 [[ 9.97192918e-01 6.20676274e-02 4.18795220e-02 3.83591742e+02] [-6.19011890e-02 9.98068419e-01 -5.26060127e-03 -5.16704319e+01] [-4.21251414e-02 2.65344212e-03 9.99108819e-01 -2.58713766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.390714057 meters 0.03514920219790871 Centerline is valid? [True, True] Translation: X:383.62, Y:-51.66, Z:-25.87 [[ 9.97212029e-01 6.23689238e-02 4.09668899e-02 3.83621534e+02] [-6.22099482e-02 9.98049823e-01 -5.14524456e-03 -5.16649147e+01] [-4.12079006e-02 2.58235166e-03 9.99147257e-01 -2.58717097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.420714057 meters 0.03494315051070438 Centerline is valid? [True, True] Translation: X:383.65, Y:-51.67, Z:-25.88 [[ 9.96966634e-01 6.70338935e-02 3.95472972e-02 3.83651055e+02] [-6.68895519e-02 9.97748041e-01 -4.96328834e-03 -5.16677808e+01] [-3.97909468e-02 2.30293188e-03 9.99205373e-01 -2.58754183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.450714057 meters 0.03668576296965502 Centerline is valid? [True, True] Translation: X:383.68, Y:-51.67, Z:-25.88 [[ 9.96780782e-01 6.95406999e-02 3.99019311e-02 3.83679610e+02] [-6.93957846e-02 9.97576641e-01 -5.00711071e-03 -5.16729298e+01] [-4.01534324e-02 2.22196591e-03 9.99191055e-01 -2.58776118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.480714057 meters 0.03304641544844429 Centerline is valid? [True, True] Translation: X:383.71, Y:-51.67, Z:-25.88 [[ 9.96425137e-01 7.37275553e-02 4.12455372e-02 3.83711510e+02] [-7.35763680e-02 9.97276166e-01 -5.17367753e-03 -5.16675522e+01] [-4.15146338e-02 2.12048552e-03 9.99135646e-01 -2.58757946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.51071405700003 meters 0.03167459189085048 Centerline is valid? [True, True] Translation: X:383.74, Y:-51.67, Z:-25.88 [[ 9.96236783e-01 7.56622138e-02 4.22788537e-02 3.83740717e+02] [-7.55050523e-02 9.97131312e-01 -5.30412020e-03 -5.16677938e+01] [-4.25588904e-02 2.09189258e-03 9.99091770e-01 -2.58762977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.540714057 meters 0.0314249481029713 Centerline is valid? [True, True] Translation: X:383.77, Y:-51.67, Z:-25.88 [[ 9.95970557e-01 7.86191044e-02 4.31472518e-02 3.83769964e+02] [-7.84583419e-02 9.96902717e-01 -5.40938725e-03 -5.16701315e+01] [-4.34388937e-02 2.00232860e-03 9.99054079e-01 -2.58776861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.57071405700003 meters 0.0307736000911354 Centerline is valid? [True, True] Translation: X:383.80, Y:-51.67, Z:-25.88 [[ 9.95842431e-01 7.99065725e-02 4.37354820e-02 3.83798587e+02] [-7.97426808e-02 9.96800407e-01 -5.48202433e-03 -5.16731120e+01] [-4.40335961e-02 1.97164785e-03 9.99028105e-01 -2.58792723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.600714057 meters 0.031147649261461078 Centerline is valid? [True, True] Translation: X:383.83, Y:-51.68, Z:-25.88 [[ 9.95769526e-01 8.03321414e-02 4.46071607e-02 3.83825945e+02] [-8.01622091e-02 9.96766167e-01 -5.58824353e-03 -5.16766651e+01] [-4.49118242e-02 1.98879406e-03 9.98988975e-01 -2.58795178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.63071405700003 meters 0.03190082699982876 Centerline is valid? [True, True] Translation: X:383.85, Y:-51.68, Z:-25.88 [[ 9.95801889e-01 7.95907667e-02 4.52096079e-02 3.83853342e+02] [-7.94156331e-02 9.96825524e-01 -5.65964292e-03 -5.16810813e+01] [-4.55165465e-02 2.04553347e-03 9.98961491e-01 -2.58800087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.660714057 meters 0.03301417093865094 Centerline is valid? [True, True] Translation: X:383.88, Y:-51.69, Z:-25.88 [[ 9.96043441e-01 7.61097716e-02 4.58777314e-02 3.83881985e+02] [-7.59259445e-02 9.97096945e-01 -5.73876992e-03 -5.16879595e+01] [-4.61813223e-02 2.23275405e-03 9.98930578e-01 -2.58810638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.690714057 meters 0.03445301168217354 Centerline is valid? [True, True] Translation: X:383.91, Y:-51.70, Z:-25.88 [[ 9.96165206e-01 7.43024560e-02 4.61955404e-02 3.83909575e+02] [-7.41142469e-02 9.97233030e-01 -5.77608494e-03 -5.16953412e+01] [-4.64968960e-02 2.33018716e-03 9.98915717e-01 -2.58836775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.720714057 meters 0.0365671726118106 Centerline is valid? [True, True] Translation: X:383.94, Y:-51.71, Z:-25.89 [[ 9.96443445e-01 7.04353351e-02 4.62528268e-02 3.83938344e+02] [-7.02426354e-02 9.97513187e-01 -5.78044513e-03 -5.17061235e+01] [-4.65449522e-02 2.51096621e-03 9.98913040e-01 -2.58861243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.750714057 meters 0.03687001483566011 Centerline is valid? [True, True] Translation: X:383.97, Y:-51.71, Z:-25.89 [[ 9.96555575e-01 6.87683865e-02 4.63453872e-02 3.83967608e+02] [-6.85731465e-02 9.97629281e-01 -5.79139884e-03 -5.17128322e+01] [-4.66337805e-02 2.59340177e-03 9.98908687e-01 -2.58880639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.780714057 meters 0.03808892282253935 Centerline is valid? [True, True] Translation: X:384.00, Y:-51.72, Z:-25.89 [[ 9.96907803e-01 6.41998423e-02 4.53123997e-02 3.83997536e+02] [-6.40086011e-02 9.97933294e-01 -5.66039857e-03 -5.17211896e+01] [-4.55821490e-02 2.74251218e-03 9.98956829e-01 -2.58902912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.810714057 meters 0.039273106691778775 Centerline is valid? [True, True] Translation: X:384.03, Y:-51.73, Z:-25.89 [[ 9.97087511e-01 6.17940342e-02 4.46989194e-02 3.84025983e+02] [-6.16055080e-02 9.98084955e-01 -5.58432265e-03 -5.17279291e+01] [-4.49583968e-02 2.81435873e-03 9.98984896e-01 -2.58925537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.840714057 meters 0.04156508006785934 Centerline is valid? [True, True] Translation: X:384.05, Y:-51.74, Z:-25.90 [[ 9.97420529e-01 5.74125438e-02 4.30823401e-02 3.84054480e+02] [-5.72334633e-02 9.98346327e-01 -5.37972364e-03 -5.17392339e+01] [-4.33199596e-02 2.90009527e-03 9.99057041e-01 -2.58957895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.870714057 meters 0.043712568284592766 Centerline is valid? [True, True] Translation: X:384.08, Y:-51.75, Z:-25.90 [[ 9.97609525e-01 5.44432858e-02 4.25577782e-02 3.84082723e+02] [-5.42658869e-02 9.98512384e-01 -5.31347013e-03 -5.17495637e+01] [-4.27837513e-02 2.99133283e-03 9.99079878e-01 -2.58983940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.900714057 meters 0.04512231549664996 Centerline is valid? [True, True] Translation: X:384.11, Y:-51.76, Z:-25.90 [[ 9.97639981e-01 5.36374135e-02 4.28660355e-02 3.84109367e+02] [-5.34566692e-02 9.98555825e-01 -5.35251946e-03 -5.17559637e+01] [-4.30912247e-02 3.04841193e-03 9.99066491e-01 -2.58997661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.930714057 meters 0.045134538213643306 Centerline is valid? [True, True] Translation: X:384.14, Y:-51.76, Z:-25.90 [[ 9.97571654e-01 5.36555349e-02 4.44058511e-02 3.84137530e+02] [-5.34618100e-02 9.98554529e-01 -5.53961185e-03 -5.17609837e+01] [-4.46388946e-02 3.15214258e-03 9.98998215e-01 -2.58997024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.960714057 meters 0.045363935643822836 Centerline is valid? [True, True] Translation: X:384.17, Y:-51.77, Z:-25.90 [[ 9.97519888e-01 5.42039174e-02 4.48999719e-02 3.84165309e+02] [-5.40065360e-02 9.98524888e-01 -5.59837331e-03 -5.17654126e+01] [-4.51371932e-02 3.15959677e-03 9.98975801e-01 -2.59003647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.990714057 meters 0.03995768731210429 Centerline is valid? [True, True] Translation: X:384.19, Y:-51.76, Z:-25.90 [[ 9.97456996e-01 5.48112295e-02 4.55551244e-02 3.84194726e+02] [-5.46088566e-02 9.98491690e-01 -5.67600532e-03 -5.17609778e+01] [-4.57975220e-02 3.17385797e-03 9.98945701e-01 -2.59003634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.020714057 meters 0.038866682223170586 Centerline is valid? [True, True] Translation: X:384.22, Y:-51.76, Z:-25.90 [[ 9.97413319e-01 5.58157290e-02 4.52910183e-02 3.84223226e+02] [-5.56168740e-02 9.98436255e-01 -5.63989589e-03 -5.17646715e+01] [-4.55349896e-02 3.10636242e-03 9.98957915e-01 -2.59021110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.050714057 meters 0.04013600531219023 Centerline is valid? [True, True] Translation: X:384.25, Y:-51.77, Z:-25.90 [[ 9.97404930e-01 5.59633954e-02 4.52935215e-02 3.84250090e+02] [-5.57648060e-02 9.98428019e-01 -5.63721972e-03 -5.17712845e+01] [-4.55377989e-02 3.09680630e-03 9.98957816e-01 -2.59044380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.080714057 meters 0.04569295140977169 Centerline is valid? [True, True] Translation: X:384.28, Y:-51.78, Z:-25.91 [[ 9.97437137e-01 5.58535882e-02 4.47161611e-02 3.84276793e+02] [-5.56601095e-02 9.98434287e-01 -5.56123802e-03 -5.17841576e+01] [-4.49567636e-02 3.05807890e-03 9.98984253e-01 -2.59082955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.110714057 meters 0.03796578524326329 Centerline is valid? [True, True] Translation: X:384.31, Y:-51.78, Z:-25.91 [[ 9.97421694e-01 5.61143370e-02 4.47341571e-02 3.84306843e+02] [-5.59211680e-02 9.98419712e-01 -5.55892944e-03 -5.17769256e+01] [-4.49753999e-02 3.04301051e-03 9.98983460e-01 -2.59075094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.140714057 meters 0.0416357496302551 Centerline is valid? [True, True] Translation: X:384.33, Y:-51.79, Z:-25.91 [[ 9.97417462e-01 5.65201477e-02 4.43156690e-02 3.84333478e+02] [-5.63311096e-02 9.98396971e-01 -5.50396609e-03 -5.17864990e+01] [-4.45557147e-02 2.99340108e-03 9.99002416e-01 -2.59092830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.170714057 meters 0.03823021542732699 Centerline is valid? [True, True] Translation: X:384.36, Y:-51.79, Z:-25.91 [[ 9.97371018e-01 5.70515464e-02 4.46785481e-02 3.84362988e+02] [-5.68601205e-02 9.98366758e-01 -5.54474493e-03 -5.17857887e+01] [-4.49219135e-02 2.98974026e-03 9.98986028e-01 -2.59095425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.200714057 meters 0.03802916208319928 Centerline is valid? [True, True] Translation: X:384.39, Y:-51.79, Z:-25.91 [[ 9.97256064e-01 5.84922046e-02 4.53762496e-02 3.84392089e+02] [-5.82963935e-02 9.98283456e-01 -5.62779445e-03 -5.17896576e+01] [-4.56275413e-02 2.96708045e-03 9.98954115e-01 -2.59108354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.230714057 meters 0.03792438760649586 Centerline is valid? [True, True] Translation: X:384.42, Y:-51.79, Z:-25.91 [[ 9.96992040e-01 6.20444075e-02 4.64474296e-02 3.84420760e+02] [-6.18431963e-02 9.98069269e-01 -5.75794992e-03 -5.17931330e+01] [-4.67150006e-02 2.86817274e-03 9.98904141e-01 -2.59116915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.26071405700003 meters 0.037522480231231684 Centerline is valid? [True, True] Translation: X:384.45, Y:-51.80, Z:-25.91 [[ 9.96631367e-01 6.70905817e-02 4.71674981e-02 3.84450212e+02] [-6.68888082e-02 9.97743315e-01 -5.84502084e-03 -5.17964052e+01] [-4.74532018e-02 2.67035337e-03 9.98869893e-01 -2.59127793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.290714057 meters 0.036197545382620454 Centerline is valid? [True, True] Translation: X:384.48, Y:-51.80, Z:-25.91 [[ 9.96446277e-01 6.98835137e-02 4.70224539e-02 3.84479844e+02] [-6.96861167e-02 9.97551954e-01 -5.82623987e-03 -5.17977133e+01] [-4.73144989e-02 2.52872282e-03 9.98876841e-01 -2.59143902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.32071405700003 meters 0.0347284593932208 Centerline is valid? [True, True] Translation: X:384.51, Y:-51.80, Z:-25.92 [[ 9.96091150e-01 7.51011985e-02 4.64998002e-02 3.84508757e+02] [-7.49139160e-02 9.97173370e-01 -5.75973311e-03 -5.17999361e+01] [-4.68009254e-02 2.25373704e-03 9.98901694e-01 -2.59167868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.350714057 meters 0.0347284593932208 Centerline is valid? [True, True] Translation: X:384.54, Y:-51.80, Z:-25.92 [[ 9.96098677e-01 7.50012850e-02 4.64998065e-02 3.84536003e+02] [-7.48138964e-02 9.97180880e-01 -5.75968244e-03 -5.18032125e+01] [-4.68007016e-02 2.25838035e-03 9.98901694e-01 -2.59183775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.38071405700003 meters 0.03141917572453041 Centerline is valid? [True, True] Translation: X:384.57, Y:-51.80, Z:-25.92 [[ 9.95970797e-01 7.71306700e-02 4.57496498e-02 3.84565680e+02] [-7.69517602e-02 9.97018742e-01 -5.66163096e-03 -5.18012484e+01] [-4.60499437e-02 2.11830302e-03 9.98936893e-01 -2.59191402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.410714057 meters 0.03326650967527091 Centerline is valid? [True, True] Translation: X:384.59, Y:-51.81, Z:-25.92 [[ 9.95687275e-01 8.10824471e-02 4.50831091e-02 3.84593287e+02] [-8.09128646e-02 9.96705577e-01 -5.57675854e-03 -5.18097484e+01] [-4.53867635e-02 1.90490402e-03 9.98967674e-01 -2.59229579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.440714057 meters 0.031093605092285967 Centerline is valid? [True, True] Translation: X:384.62, Y:-51.81, Z:-25.92 [[ 9.95523377e-01 8.29256979e-02 4.53490385e-02 3.84622622e+02] [-8.27560330e-02 9.96554050e-01 -5.60926378e-03 -5.18105419e+01] [-4.56579201e-02 1.83124669e-03 9.98955455e-01 -2.59233365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.470714057 meters 0.028200130412498036 Centerline is valid? [True, True] Translation: X:384.65, Y:-51.81, Z:-25.92 [[ 9.95169306e-01 8.66833377e-02 4.60874344e-02 3.84653068e+02] [-8.65127167e-02 9.96234510e-01 -5.68771772e-03 -5.18098097e+01] [-4.64069230e-02 1.67309295e-03 9.98921217e-01 -2.59227613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.500714057 meters 0.02768712696760836 Centerline is valid? [True, True] Translation: X:384.68, Y:-51.81, Z:-25.92 [[ 9.94909341e-01 8.91101017e-02 4.70615856e-02 3.84681739e+02] [-8.89349101e-02 9.96020508e-01 -5.80762436e-03 -5.18132518e+01] [-4.73918224e-02 1.59264184e-03 9.98875107e-01 -2.59243740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.530714057 meters 0.02732413578905539 Centerline is valid? [True, True] Translation: X:384.71, Y:-51.82, Z:-25.93 [[ 9.94412569e-01 9.45494544e-02 4.69472308e-02 3.84710579e+02] [-9.43813416e-02 9.95519282e-01 -5.78974531e-03 -5.18183392e+01] [-4.72842908e-02 1.32645288e-03 9.98880592e-01 -2.59271736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.560714057 meters 0.026785536618834684 Centerline is valid? [True, True] Translation: X:384.74, Y:-51.82, Z:-25.93 [[ 9.94186283e-01 9.71486116e-02 4.64304094e-02 3.84738982e+02] [-9.69869819e-02 9.95269175e-01 -5.72666766e-03 -5.18219149e+01] [-4.67670931e-02 1.19022915e-03 9.98905112e-01 -2.59296226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.590714057 meters 0.02636765519892387 Centerline is valid? [True, True] Translation: X:384.77, Y:-51.83, Z:-25.93 [[ 9.93963959e-01 9.97069042e-02 4.57622169e-02 3.84767436e+02] [-9.95531139e-02 9.95016304e-01 -5.63320623e-03 -5.18259088e+01] [-4.60958215e-02 1.04343277e-03 9.98936478e-01 -2.59316555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.620714057 meters 0.02608025933450548 Centerline is valid? [True, True] Translation: X:384.80, Y:-51.83, Z:-25.93 [[ 9.93522910e-01 1.04410277e-01 4.48410656e-02 3.84796250e+02] [-1.04267898e-01 9.94533990e-01 -5.50888699e-03 -5.18309280e+01] [-4.51711483e-02 7.97721792e-04 9.98978944e-01 -2.59343758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.650714057 meters 0.02522862394263293 Centerline is valid? [True, True] Translation: X:384.82, Y:-51.84, Z:-25.94 [[ 9.93159333e-01 1.07677881e-01 4.51664969e-02 3.84824427e+02] [-1.07537255e-01 9.94185626e-01 -5.53891065e-03 -5.18368976e+01] [-4.55003002e-02 6.43939709e-04 9.98964117e-01 -2.59359418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.680714057 meters 0.02521261600069874 Centerline is valid? [True, True] Translation: X:384.85, Y:-51.84, Z:-25.94 [[ 9.93002683e-01 1.08851279e-01 4.57937916e-02 3.84852415e+02] [-1.08708504e-01 9.94057873e-01 -5.60413838e-03 -5.18429112e+01] [-4.61316967e-02 5.86749888e-04 9.98935194e-01 -2.59375828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.710714057 meters 0.024829260099456314 Centerline is valid? [True, True] Translation: X:384.88, Y:-51.85, Z:-25.94 [[ 9.92691869e-01 1.11218627e-01 4.68323716e-02 3.84880043e+02] [-1.11072503e-01 9.93795850e-01 -5.71912110e-03 -5.18515257e+01] [-4.71778894e-02 4.75536287e-04 9.98886390e-01 -2.59387778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.740714057 meters 0.024694461176355962 Centerline is valid? [True, True] Translation: X:384.91, Y:-51.86, Z:-25.94 [[ 9.92554897e-01 1.12194952e-01 4.74032684e-02 3.84908290e+02] [-1.12046926e-01 9.93686125e-01 -5.77684852e-03 -5.18578251e+01] [-4.77521033e-02 4.22448763e-04 9.98859128e-01 -2.59399596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.770714057 meters 0.024464075041474694 Centerline is valid? [True, True] Translation: X:384.94, Y:-51.86, Z:-25.94 [[ 9.92381938e-01 1.13325129e-01 4.83270509e-02 3.84936066e+02] [-1.13173227e-01 9.93557891e-01 -5.87681969e-03 -5.18649248e+01] [-4.86817141e-02 3.62721402e-04 9.98814277e-01 -2.59412695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.800714057 meters 0.02422111728073352 Centerline is valid? [True, True] Translation: X:384.96, Y:-51.88, Z:-25.94 [[ 9.92334508e-01 1.13218296e-01 4.95362680e-02 3.84963740e+02] [-1.13059204e-01 9.93570070e-01 -6.01095677e-03 -5.18775240e+01] [-4.98983036e-02 3.64348771e-04 9.98754237e-01 -2.59433823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.830714057 meters 0.02402648805667758 Centerline is valid? [True, True] Translation: X:384.99, Y:-51.89, Z:-25.95 [[ 9.92394008e-01 1.12609820e-01 4.97308840e-02 3.84989659e+02] [-1.12449393e-01 9.93639211e-01 -6.02098105e-03 -5.18862695e+01] [-5.00925779e-02 3.82977813e-04 9.98744505e-01 -2.59451203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.860714057 meters 0.02365648252618833 Centerline is valid? [True, True] Translation: X:385.02, Y:-51.90, Z:-25.95 [[ 9.92664944e-01 1.09672037e-01 5.08758584e-02 3.85015732e+02] [-1.09500624e-01 9.93967684e-01 -6.15282046e-03 -5.19020815e+01] [-5.12437515e-02 5.36750936e-04 9.98686032e-01 -2.59475369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.890714057 meters 0.02388156124975204 Centerline is valid? [True, True] Translation: X:385.04, Y:-51.91, Z:-25.95 [[ 9.92899318e-01 1.07370141e-01 5.12112903e-02 3.85043946e+02] [-1.07193639e-01 9.94218901e-01 -6.18872441e-03 -5.19118363e+01] [-5.15797170e-02 6.55255677e-04 9.98668665e-01 -2.59492569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.920714057 meters 0.024024054209483385 Centerline is valid? [True, True] Translation: X:385.07, Y:-51.93, Z:-25.95 [[ 9.93464988e-01 1.02042456e-01 5.11336944e-02 3.85070850e+02] [-1.01859622e-01 9.94779613e-01 -6.17570054e-03 -5.19289786e+01] [-5.14969404e-02 9.26883493e-04 9.98672722e-01 -2.59516993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.950714057 meters 0.02447037518503878 Centerline is valid? [True, True] Translation: X:385.10, Y:-51.94, Z:-25.95 [[ 9.93758145e-01 9.92430359e-02 5.09467299e-02 3.85098261e+02] [-9.90580440e-02 9.95062655e-01 -6.14957502e-03 -5.19392796e+01] [-5.13054908e-02 1.06450685e-03 9.98682439e-01 -2.59540411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.980714057 meters 0.025580288171966337 Centerline is valid? [True, True] Translation: X:385.13, Y:-51.96, Z:-25.96 [[ 9.94340280e-01 9.35676577e-02 5.03239668e-02 3.85125760e+02] [-9.33800934e-02 9.95612026e-01 -6.07060636e-03 -5.19565511e+01] [-5.06711589e-02 1.33699170e-03 9.98714497e-01 -2.59571744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.01071405700003 meters 0.025708453280258 Centerline is valid? [True, True] Translation: X:385.15, Y:-51.97, Z:-25.96 [[ 9.94577922e-01 9.09883185e-02 5.03575454e-02 3.85153582e+02] [-9.07972789e-02 9.95850878e-01 -6.07312870e-03 -5.19655530e+01] [-5.07011896e-02 1.46787163e-03 9.98712789e-01 -2.59589811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.040714057 meters 0.027642632907550695 Centerline is valid? [True, True] Translation: X:385.18, Y:-51.98, Z:-25.96 [[ 9.94971679e-01 8.63515908e-02 5.07421095e-02 3.85180290e+02] [-8.61517930e-02 9.96263252e-01 -6.11568291e-03 -5.19827511e+01] [-5.10805980e-02 1.71340757e-03 9.98693064e-01 -2.59612242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.07071405700003 meters 0.02899901597394044 Centerline is valid? [True, True] Translation: X:385.21, Y:-51.99, Z:-25.96 [[ 9.95179855e-01 8.38499587e-02 5.08551013e-02 3.85207871e+02] [-8.36461452e-02 9.96476687e-01 -6.12663005e-03 -5.19929794e+01] [-5.11896405e-02 1.84326562e-03 9.98687250e-01 -2.59628575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.100714057 meters 0.029448370189585262 Centerline is valid? [True, True] Translation: X:385.24, Y:-52.01, Z:-25.96 [[ 9.95399702e-01 8.02015890e-02 5.24131507e-02 3.85236295e+02] [-7.99802306e-02 9.96776474e-01 -6.31061829e-03 -5.20063800e+01] [-5.27503171e-02 2.08957169e-03 9.98605547e-01 -2.59637938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.13071405700003 meters 0.029924871875129776 Centerline is valid? [True, True] Translation: X:385.27, Y:-52.02, Z:-25.97 [[ 9.95492149e-01 7.86003085e-02 5.30789287e-02 3.85265159e+02] [-7.83711149e-02 9.96903782e-01 -6.38888465e-03 -5.20151176e+01] [-5.34167531e-02 2.20022968e-03 9.98569882e-01 -2.59653085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.160714057 meters 0.03126852478428249 Centerline is valid? [True, True] Translation: X:385.29, Y:-52.03, Z:-25.97 [[ 9.95609024e-01 7.63631652e-02 5.41418426e-02 3.85294462e+02] [-7.61215023e-02 9.97077266e-01 -6.51476530e-03 -5.20279382e+01] [-5.44810885e-02 2.36480072e-03 9.98512002e-01 -2.59670886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.190714057 meters 0.03210286242186181 Centerline is valid? [True, True] Translation: X:385.32, Y:-52.04, Z:-25.97 [[ 9.95649499e-01 7.52947159e-02 5.48887963e-02 3.85323868e+02] [-7.50447142e-02 9.97158297e-01 -6.60460020e-03 -5.20407933e+01] [-5.52301101e-02 2.45675285e-03 9.98470630e-01 -2.59684460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.220714057 meters 0.031088481437418367 Centerline is valid? [True, True] Translation: X:385.35, Y:-52.05, Z:-25.97 [[ 9.95617788e-01 7.54638907e-02 5.52306148e-02 3.85354366e+02] [-7.52109699e-02 9.97145492e-01 -6.64665728e-03 -5.20460698e+01] [-5.55745412e-02 2.46358211e-03 9.98451502e-01 -2.59702782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.250714057 meters 0.030477423711555828 Centerline is valid? [True, True] Translation: X:385.39, Y:-52.05, Z:-25.97 [[ 9.95628125e-01 7.55701785e-02 5.48979432e-02 3.85385265e+02] [-7.53203535e-02 9.97137489e-01 -6.60854804e-03 -5.20518164e+01] [-5.52402063e-02 2.44472381e-03 9.98470101e-01 -2.59721185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.280714057 meters 0.02961194215297389 Centerline is valid? [True, True] Translation: X:385.42, Y:-52.06, Z:-25.97 [[ 9.95649051e-01 7.55877818e-02 5.44926930e-02 3.85415840e+02] [-7.53415556e-02 9.97136196e-01 -6.56170162e-03 -5.20585836e+01] [-5.48326211e-02 2.42758774e-03 9.98492609e-01 -2.59744778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.310714057 meters 0.02982515946476265 Centerline is valid? [True, True] Translation: X:385.45, Y:-52.07, Z:-25.98 [[ 9.95623149e-01 7.60711879e-02 5.42929064e-02 3.85446772e+02] [-7.58273735e-02 9.97099515e-01 -6.53964252e-03 -5.20654232e+01] [-5.46329091e-02 2.39413099e-03 9.98503637e-01 -2.59771701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.340714057 meters 0.029822281128682925 Centerline is valid? [True, True] Translation: X:385.48, Y:-52.07, Z:-25.98 [[ 9.95596167e-01 7.68976971e-02 5.36191779e-02 3.85478223e+02] [-7.66610386e-02 9.97036288e-01 -6.45959558e-03 -5.20741285e+01] [-5.39569941e-02 2.32064673e-03 9.98540564e-01 -2.59801177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.370714057 meters 0.029603542572139596 Centerline is valid? [True, True] Translation: X:385.51, Y:-52.08, Z:-25.98 [[ 9.95560103e-01 7.75376645e-02 5.33665796e-02 3.85509061e+02] [-7.73033752e-02 9.96986795e-01 -6.44357116e-03 -5.20795985e+01] [-5.37053946e-02 2.28954564e-03 9.98554199e-01 -2.59821990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.400714057 meters 0.03026750503213619 Centerline is valid? [True, True] Translation: X:385.54, Y:-52.09, Z:-25.99 [[ 9.95508396e-01 7.83457603e-02 5.31505049e-02 3.85539682e+02] [-7.81144577e-02 9.96923735e-01 -6.41855687e-03 -5.20876177e+01] [-5.34898665e-02 2.23790439e-03 9.98565885e-01 -2.59850032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.430714057 meters 0.028745854451963926 Centerline is valid? [True, True] Translation: X:385.57, Y:-52.09, Z:-25.99 [[ 9.95471452e-01 7.89304894e-02 5.29770284e-02 3.85570719e+02] [-7.87008131e-02 9.96877667e-01 -6.41088038e-03 -5.20901496e+01] [-5.33176304e-02 2.21251320e-03 9.98575152e-01 -2.59863003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.460714057 meters 0.028544633269854208 Centerline is valid? [True, True] Translation: X:385.60, Y:-52.10, Z:-25.99 [[ 9.95340948e-01 8.02064819e-02 5.35099728e-02 3.85601476e+02] [-7.99738872e-02 9.96775913e-01 -6.47738125e-03 -5.20957778e+01] [-5.38569799e-02 2.16780226e-03 9.98546307e-01 -2.59878549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.490714057 meters 0.02952956177875572 Centerline is valid? [True, True] Translation: X:385.63, Y:-52.10, Z:-25.99 [[ 9.95264996e-01 8.13307722e-02 5.32249319e-02 3.85631106e+02] [-8.11021644e-02 9.96684958e-01 -6.44457336e-03 -5.21022054e+01] [-5.35726312e-02 2.09740110e-03 9.98561753e-01 -2.59900739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.520714057 meters 0.027927121877126437 Centerline is valid? [True, True] Translation: X:385.66, Y:-52.10, Z:-25.99 [[ 9.95091248e-01 8.29990444e-02 5.38940374e-02 3.85662015e+02] [-8.27667773e-02 9.96547542e-01 -6.53129775e-03 -5.21048910e+01] [-5.42500620e-02 2.03860144e-03 9.98525300e-01 -2.59915159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.550714057 meters 0.028237524965817884 Centerline is valid? [True, True] Translation: X:385.69, Y:-52.11, Z:-25.99 [[ 9.94989455e-01 8.40668344e-02 5.41179495e-02 3.85691530e+02] [-8.38340898e-02 9.96458130e-01 -6.56058122e-03 -5.21101188e+01] [-5.44777981e-02 1.99078009e-03 9.98512998e-01 -2.59927119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.580714057 meters 0.027566156560780812 Centerline is valid? [True, True] Translation: X:385.72, Y:-52.11, Z:-25.99 [[ 9.94756815e-01 8.63855684e-02 5.47394971e-02 3.85721959e+02] [-8.61509439e-02 9.96259996e-01 -6.63592985e-03 -5.21145286e+01] [-5.51080197e-02 1.88527710e-03 9.98478619e-01 -2.59942866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.610714057 meters 0.028919010144086054 Centerline is valid? [True, True] Translation: X:385.75, Y:-52.12, Z:-26.00 [[ 9.94733652e-01 8.69202309e-02 5.43123791e-02 3.85751055e+02] [-8.66900566e-02 9.96213573e-01 -6.58408314e-03 -5.21210879e+01] [-5.46790193e-02 1.84106585e-03 9.98502286e-01 -2.59966664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.640714057 meters 0.029005132646952297 Centerline is valid? [True, True] Translation: X:385.78, Y:-52.13, Z:-26.00 [[ 9.94662526e-01 8.75928016e-02 5.45340217e-02 3.85780973e+02] [-8.73616851e-02 9.96154715e-01 -6.61216371e-03 -5.21277228e+01] [-5.49035007e-02 1.81268744e-03 9.98490020e-01 -2.59992585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.670714057 meters 0.029093684478049945 Centerline is valid? [True, True] Translation: X:385.81, Y:-52.13, Z:-26.00 [[ 9.94670044e-01 8.77447330e-02 5.41513270e-02 3.85810516e+02] [-8.75170259e-02 9.96141380e-01 -6.56669972e-03 -5.21335528e+01] [-5.45185709e-02 1.79253641e-03 9.98511148e-01 -2.60012612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.700714057 meters 0.02799177634807087 Centerline is valid? [True, True] Translation: X:385.84, Y:-52.14, Z:-26.00 [[ 9.94702471e-01 8.73378471e-02 5.42134261e-02 3.85841943e+02] [-8.71089657e-02 9.96177091e-01 -6.57510607e-03 -5.21373798e+01] [-5.45804287e-02 1.81779877e-03 9.98507723e-01 -2.60031901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.730714057 meters 0.029201638451110835 Centerline is valid? [True, True] Translation: X:385.87, Y:-52.14, Z:-26.00 [[ 9.94675939e-01 8.76410325e-02 5.42109338e-02 3.85871986e+02] [-8.74125255e-02 9.96150490e-01 -6.57656220e-03 -5.21447605e+01] [-5.45786250e-02 1.80283355e-03 9.98507848e-01 -2.60049419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.76071405700003 meters 0.02807045524558006 Centerline is valid? [True, True] Translation: X:385.90, Y:-52.15, Z:-26.01 [[ 9.94601014e-01 8.82270921e-02 5.46333559e-02 3.85902964e+02] [-8.79955999e-02 9.96098779e-01 -6.63305082e-03 -5.21481328e+01] [-5.50054338e-02 1.78974415e-03 9.98484451e-01 -2.60066332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.790714057 meters 0.02720955805405826 Centerline is valid? [True, True] Translation: X:385.93, Y:-52.15, Z:-26.01 [[ 9.94516000e-01 8.92008156e-02 5.45998111e-02 3.85933593e+02] [-8.89709603e-02 9.96012147e-01 -6.63101789e-03 -5.21507777e+01] [-5.49735673e-02 1.73685576e-03 9.98486299e-01 -2.60083300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.82071405700003 meters 0.026857004467279993 Centerline is valid? [True, True] Translation: X:385.96, Y:-52.15, Z:-26.01 [[ 9.94210716e-01 9.23098061e-02 5.49904621e-02 3.85963862e+02] [-9.20813926e-02 9.95729087e-01 -6.67846153e-03 -5.21547825e+01] [-5.53720901e-02 1.57619969e-03 9.98464545e-01 -2.60105278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.850714057 meters 0.02672612226103917 Centerline is valid? [True, True] Translation: X:385.99, Y:-52.16, Z:-26.01 [[ 9.94023156e-01 9.42724367e-02 5.50515531e-02 3.85992788e+02] [-9.40465172e-02 9.95545354e-01 -6.68592360e-03 -5.21588472e+01] [-5.54366162e-02 1.46855604e-03 9.98461128e-01 -2.60122122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.88071405700003 meters 0.02634483864268479 Centerline is valid? [True, True] Translation: X:386.02, Y:-52.16, Z:-26.01 [[ 9.93639951e-01 9.80565998e-02 5.53583951e-02 3.86022072e+02] [-9.78340685e-02 9.95180037e-01 -6.72222579e-03 -5.21612899e+01] [-5.57507283e-02 1.26353508e-03 9.98443919e-01 -2.60142341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.910714057 meters 0.025764124534974838 Centerline is valid? [True, True] Translation: X:386.05, Y:-52.17, Z:-26.02 [[ 9.93348112e-01 1.00708366e-01 5.58332672e-02 3.86050804e+02] [-1.00486291e-01 9.94915356e-01 -6.77788976e-03 -5.21662676e+01] [-5.62319651e-02 1.12232603e-03 9.98417100e-01 -2.60160067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.940714057 meters 0.02537105383205982 Centerline is valid? [True, True] Translation: X:386.08, Y:-52.17, Z:-26.02 [[ 9.93205031e-01 1.01800750e-01 5.63948002e-02 3.86079814e+02] [-1.01576054e-01 9.94804234e-01 -6.84405346e-03 -5.21692194e+01] [-5.67985158e-02 1.06918707e-03 9.98385089e-01 -2.60177831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.970714057 meters 0.025199096106703966 Centerline is valid? [True, True] Translation: X:386.11, Y:-52.17, Z:-26.02 [[ 9.93141646e-01 1.02224823e-01 5.67429018e-02 3.86107730e+02] [-1.01998152e-01 9.94760767e-01 -6.88423116e-03 -5.21743381e+01] [-5.71493519e-02 1.04934555e-03 9.98365089e-01 -2.60191458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.000714057 meters 0.025133426517089053 Centerline is valid? [True, True] Translation: X:386.14, Y:-52.18, Z:-26.02 [[ 9.92979684e-01 1.03031265e-01 5.81025365e-02 3.86137305e+02] [-1.02795156e-01 9.94677591e-01 -7.04597477e-03 -5.21804321e+01] [-5.85192467e-02 1.02385053e-03 9.98285755e-01 -2.60203084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.030714057 meters 0.026668226462137682 Centerline is valid? [True, True] Translation: X:386.17, Y:-52.19, Z:-26.02 [[ 9.92799780e-01 1.05556759e-01 5.66247992e-02 3.86166155e+02] [-1.05336737e-01 9.94412916e-01 -6.86475291e-03 -5.21900762e+01] [-5.70330527e-02 8.50653621e-04 9.98371928e-01 -2.60220770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.060714057 meters 0.02594838033421699 Centerline is valid? [True, True] Translation: X:386.20, Y:-52.20, Z:-26.02 [[ 9.93116345e-01 1.00987566e-01 5.93416926e-02 3.86196386e+02] [-1.00737814e-01 9.94887005e-01 -7.19304311e-03 -5.21951288e+01] [-5.97646868e-02 1.16557630e-03 9.98211813e-01 -2.60243238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.090714057 meters 0.026300045816239126 Centerline is valid? [True, True] Translation: X:386.23, Y:-52.20, Z:-26.03 [[ 9.93227993e-01 1.00205672e-01 5.87960723e-02 3.86225931e+02] [-9.99591221e-02 9.94966019e-01 -7.12701534e-03 -5.22028904e+01] [-5.92142614e-02 1.20154737e-03 9.98244573e-01 -2.60262601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.120714057 meters 0.02841131777004115 Centerline is valid? [True, True] Translation: X:386.26, Y:-52.22, Z:-26.03 [[ 9.93640630e-01 9.63705493e-02 5.82324222e-02 3.86255437e+02] [-9.61218517e-02 9.95344512e-01 -7.06342088e-03 -5.22171362e+01] [-5.86420276e-02 1.42109372e-03 9.98278064e-01 -2.60290983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.150714057 meters 0.028908631268088188 Centerline is valid? [True, True] Translation: X:386.29, Y:-52.23, Z:-26.03 [[ 9.94237449e-01 9.00360152e-02 5.81842764e-02 3.86285711e+02] [-8.97761339e-02 9.95936872e-01 -7.07051832e-03 -5.22272502e+01] [-5.85844676e-02 1.80621471e-03 9.98280821e-01 -2.60314565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.180714057 meters 0.029346050989301826 Centerline is valid? [True, True] Translation: X:386.32, Y:-52.23, Z:-26.03 [[ 9.94542100e-01 8.64399490e-02 5.84307073e-02 3.86316169e+02] [-8.61715429e-02 9.96254997e-01 -7.10249884e-03 -5.22343994e+01] [-5.88258237e-02 2.02866991e-03 9.98266200e-01 -2.60330907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.210714057 meters 0.032610976198756206 Centerline is valid? [True, True] Translation: X:386.34, Y:-52.25, Z:-26.03 [[ 9.95100039e-01 7.96937986e-02 5.85218872e-02 3.86344405e+02] [-7.94127859e-02 9.96816421e-01 -7.11564104e-03 -5.22487225e+01] [-5.89026506e-02 2.43338858e-03 9.98260766e-01 -2.60348195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.240714057 meters 0.032610976198756206 Centerline is valid? [True, True] Translation: X:386.38, Y:-52.25, Z:-26.04 [[ 9.95078455e-01 7.99629707e-02 5.85217138e-02 3.86376696e+02] [-7.96823387e-02 9.96794900e-01 -7.11706621e-03 -5.22527391e+01] [-5.89032476e-02 2.41889223e-03 9.98260766e-01 -2.60367049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.270714057 meters 0.031752467826525965 Centerline is valid? [True, True] Translation: X:386.41, Y:-52.26, Z:-26.04 [[ 9.95323305e-01 7.68099498e-02 5.85811445e-02 3.86407472e+02] [-7.65223645e-02 9.97042299e-01 -7.14011713e-03 -5.22571658e+01] [-5.89563110e-02 2.62395729e-03 9.98257115e-01 -2.60384340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.300714057 meters 0.035194446574271156 Centerline is valid? [True, True] Translation: X:386.44, Y:-52.27, Z:-26.04 [[ 9.95554964e-01 7.42325463e-02 5.79641447e-02 3.86436241e+02] [-7.39465763e-02 9.97237171e-01 -7.06597914e-03 -5.22687020e+01] [-5.83285253e-02 2.74832057e-03 9.98293659e-01 -2.60401890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.330714057 meters 0.034646065799842106 Centerline is valid? [True, True] Translation: X:386.47, Y:-52.27, Z:-26.04 [[ 9.95864072e-01 6.99863899e-02 5.79366448e-02 3.86466706e+02] [-6.96932287e-02 9.97543433e-01 -7.06773901e-03 -5.22741370e+01] [-5.82889651e-02 3.00071551e-03 9.98295243e-01 -2.60422830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.360714057 meters 0.03640807554291627 Centerline is valid? [True, True] Translation: X:386.50, Y:-52.28, Z:-26.04 [[ 9.96043338e-01 6.67137724e-02 5.87106599e-02 3.86496004e+02] [-6.64069829e-02 9.97766907e-01 -7.16328809e-03 -5.22827996e+01] [-5.90574435e-02 3.23614759e-03 9.98249340e-01 -2.60433602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.390714057 meters 0.040238225560427755 Centerline is valid? [True, True] Translation: X:386.53, Y:-52.29, Z:-26.04 [[ 9.96088240e-01 6.61382461e-02 5.85999251e-02 3.86525879e+02] [-6.58313619e-02 9.97805116e-01 -7.15418839e-03 -5.22935431e+01] [-5.89444705e-02 3.26849005e-03 9.98255912e-01 -2.60443353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.420714057 meters 0.034882340253380946 Centerline is valid? [True, True] Translation: X:386.56, Y:-52.29, Z:-26.05 [[ 9.96111209e-01 6.50848430e-02 5.93836833e-02 3.86558708e+02] [-6.47669981e-02 9.97873978e-01 -7.26358444e-03 -5.22906094e+01] [-5.97301815e-02 3.38923498e-03 9.98208805e-01 -2.60460444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.450714057 meters 0.03535297791784862 Centerline is valid? [True, True] Translation: X:386.59, Y:-52.30, Z:-26.05 [[ 9.96148679e-01 6.48638819e-02 5.89956412e-02 3.86589737e+02] [-6.45489033e-02 9.97888345e-01 -7.23116135e-03 -5.22965820e+01] [-5.93401040e-02 3.39520789e-03 9.98232049e-01 -2.60471714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.480714057 meters 0.03382632216324342 Centerline is valid? [True, True] Translation: X:386.62, Y:-52.30, Z:-26.05 [[ 9.96130508e-01 6.41025141e-02 6.01238639e-02 3.86621372e+02] [-6.37730940e-02 9.97937107e-01 -7.38397100e-03 -5.22987289e+01] [-6.04731660e-02 3.52111395e-03 9.98163613e-01 -2.60492195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.51071405700003 meters 0.03488475515297732 Centerline is valid? [True, True] Translation: X:386.65, Y:-52.31, Z:-26.05 [[ 9.96262254e-01 6.23123175e-02 5.98222143e-02 3.86652675e+02] [-6.19821378e-02 9.98050114e-01 -7.36099949e-03 -5.23053673e+01] [-6.01642488e-02 3.62557720e-03 9.98181906e-01 -2.60521276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.540714057 meters 0.03549617500595169 Centerline is valid? [True, True] Translation: X:386.68, Y:-52.31, Z:-26.05 [[ 9.96382568e-01 6.13356547e-02 5.88193532e-02 3.86684468e+02] [-6.10145029e-02 9.98110606e-01 -7.24218067e-03 -5.23107001e+01] [-5.91524241e-02 3.62714897e-03 9.98242373e-01 -2.60542420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.57071405700003 meters 0.039788463299046256 Centerline is valid? [True, True] Translation: X:386.71, Y:-52.32, Z:-26.06 [[ 9.96644429e-01 5.85749548e-02 5.71739219e-02 3.86713244e+02] [-5.82661900e-02 9.98276160e-01 -7.05404184e-03 -5.23208103e+01] [-5.74885534e-02 3.69906490e-03 9.98339313e-01 -2.60574796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.600714057 meters 0.03964386150866587 Centerline is valid? [True, True] Translation: X:386.74, Y:-52.32, Z:-26.06 [[ 9.96781298e-01 5.67744188e-02 5.66013226e-02 3.86744449e+02] [-5.64686638e-02 9.98379916e-01 -6.98802682e-03 -5.23248779e+01] [-5.69063648e-02 3.76933339e-03 9.98372404e-01 -2.60599044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.63071405700003 meters 0.03913504590113553 Centerline is valid? [True, True] Translation: X:386.78, Y:-52.33, Z:-26.06 [[ 9.97033916e-01 5.33636878e-02 5.54588736e-02 3.86775463e+02] [-5.30648085e-02 9.98567583e-01 -6.84894782e-03 -5.23277601e+01] [-5.57449185e-02 3.88571876e-03 9.98437482e-01 -2.60628336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.660714057 meters 0.04375110422798489 Centerline is valid? [True, True] Translation: X:386.80, Y:-52.34, Z:-26.06 [[ 9.97147753e-01 5.15436757e-02 5.51326387e-02 3.86804179e+02] [-5.12454598e-02 9.98662869e-01 -6.81012141e-03 -5.23371747e+01] [-5.54099378e-02 3.96539985e-03 9.98455815e-01 -2.60645822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.690714057 meters 0.04162072315846799 Centerline is valid? [True, True] Translation: X:386.84, Y:-52.34, Z:-26.07 [[ 9.97216694e-01 4.97258599e-02 5.55536086e-02 3.86835877e+02] [-4.94199759e-02 9.98754478e-01 -6.86724605e-03 -5.23354673e+01] [-5.58258951e-02 4.10267441e-03 9.98432090e-01 -2.60653197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.720714057 meters 0.04374064739823403 Centerline is valid? [True, True] Translation: X:386.87, Y:-52.34, Z:-26.07 [[ 9.97266475e-01 4.77075156e-02 5.64231337e-02 3.86865542e+02] [-4.73886418e-02 9.98852162e-01 -6.97677152e-03 -5.23392673e+01] [-5.66912135e-02 4.28388467e-03 9.98382569e-01 -2.60653439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.750714057 meters 0.0440081832613922 Centerline is valid? [True, True] Translation: X:386.90, Y:-52.34, Z:-26.07 [[ 9.97277595e-01 4.72674870e-02 5.65966693e-02 3.86897569e+02] [-4.69456748e-02 9.98872896e-01 -7.00291925e-03 -5.23416978e+01] [-5.68638893e-02 4.32688564e-03 9.98372564e-01 -2.60665980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.780714057 meters 0.04289789067406296 Centerline is valid? [True, True] Translation: X:386.93, Y:-52.34, Z:-26.07 [[ 9.97291184e-01 4.61603730e-02 5.72670391e-02 3.86930331e+02] [-4.58282295e-02 9.98924100e-01 -7.10041626e-03 -5.23399878e+01] [-5.75331833e-02 4.45673553e-03 9.98333647e-01 -2.60671490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.810714057 meters 0.045453267728635297 Centerline is valid? [True, True] Translation: X:386.96, Y:-52.35, Z:-26.07 [[ 9.97270989e-01 4.57282206e-02 5.79612238e-02 3.86961167e+02] [-4.53869863e-02 9.98943599e-01 -7.19081721e-03 -5.23457743e+01] [-5.82288167e-02 4.54050813e-03 9.98292937e-01 -2.60689124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.840714057 meters 0.04301961148851833 Centerline is valid? [True, True] Translation: X:386.99, Y:-52.34, Z:-26.07 [[ 9.97387348e-01 4.41373976e-02 5.71871336e-02 3.86993179e+02] [-4.38021944e-02 9.99014977e-01 -7.10241295e-03 -5.23426885e+01] [-5.74442849e-02 4.57893487e-03 9.98338213e-01 -2.60703969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.870714057 meters 0.04255603225357359 Centerline is valid? [True, True] Translation: X:387.03, Y:-52.34, Z:-26.07 [[ 9.97437992e-01 4.36115819e-02 5.67052218e-02 3.87025719e+02] [-4.32810604e-02 9.99038100e-01 -7.04446537e-03 -5.23435759e+01] [-5.69578974e-02 4.57215527e-03 9.98366112e-01 -2.60721832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.900714057 meters 0.044598895468989534 Centerline is valid? [True, True] Translation: X:387.06, Y:-52.35, Z:-26.07 [[ 9.97516324e-01 4.28547089e-02 5.58986264e-02 3.87056704e+02] [-4.25315527e-02 9.99070891e-01 -6.95856152e-03 -5.23478928e+01] [-5.61448976e-02 4.56382334e-03 9.98412200e-01 -2.60740618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.930714057 meters 0.044459950401200196 Centerline is valid? [True, True] Translation: X:387.09, Y:-52.35, Z:-26.08 [[ 9.97688862e-01 4.05850259e-02 5.44957836e-02 3.87088066e+02] [-4.02738191e-02 9.99165561e-01 -6.79721128e-03 -5.23464939e+01] [-5.47261751e-02 4.58674865e-03 9.98490865e-01 -2.60759334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.960714057 meters 0.04563380755782043 Centerline is valid? [True, True] Translation: X:387.12, Y:-52.35, Z:-26.08 [[ 9.97766371e-01 3.87735630e-02 5.43955796e-02 3.87119214e+02] [-3.84607760e-02 9.99237070e-01 -6.78570901e-03 -5.23479835e+01] [-5.46171857e-02 4.67845605e-03 9.98496407e-01 -2.60770086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.990714057 meters 0.043920134451618575 Centerline is valid? [True, True] Translation: X:387.15, Y:-52.35, Z:-26.08 [[ 9.97785329e-01 3.86057255e-02 5.41667316e-02 3.87151839e+02] [-3.82953121e-02 9.99243618e-01 -6.75736203e-03 -5.23473715e+01] [-5.43866337e-02 4.66806481e-03 9.98509040e-01 -2.60781841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.020714057 meters 0.04609596304941298 Centerline is valid? [True, True] Translation: X:387.18, Y:-52.35, Z:-26.08 [[ 9.97759541e-01 3.95545624e-02 5.39567833e-02 3.87183158e+02] [-3.92471668e-02 9.99206766e-01 -6.74523570e-03 -5.23490550e+01] [-5.41807878e-02 4.61247240e-03 9.98520489e-01 -2.60792505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.050714057 meters 0.04119226412232294 Centerline is valid? [True, True] Translation: X:387.22, Y:-52.34, Z:-26.08 [[ 9.97741701e-01 4.07569826e-02 5.33888272e-02 3.87216658e+02] [-4.04570651e-02 9.99158902e-01 -6.68681271e-03 -5.23426491e+01] [-5.36164563e-02 4.51175663e-03 9.98551411e-01 -2.60810708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.080714057 meters 0.045729464842073096 Centerline is valid? [True, True] Translation: X:387.25, Y:-52.35, Z:-26.08 [[ 9.97702008e-01 4.24361412e-02 5.28192787e-02 3.87246413e+02] [-4.21441583e-02 9.99089542e-01 -6.63003081e-03 -5.23494500e+01] [-5.30525418e-02 4.38877102e-03 9.98582078e-01 -2.60838876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.110714057 meters 0.04000452763902812 Centerline is valid? [True, True] Translation: X:387.28, Y:-52.34, Z:-26.09 [[ 9.97608242e-01 4.70981093e-02 5.05921380e-02 3.87278671e+02] [-4.68358929e-02 9.98882371e-01 -6.35668647e-03 -5.23384273e+01] [-5.08349827e-02 3.97195486e-03 9.98699168e-01 -2.60865633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.140714057 meters 0.038583244154744935 Centerline is valid? [True, True] Translation: X:387.31, Y:-52.33, Z:-26.09 [[ 9.97330858e-01 5.25029463e-02 5.07405263e-02 3.87308836e+02] [-5.22461321e-02 9.98613887e-01 -6.37540972e-03 -5.23333198e+01] [-5.10049220e-02 3.70739661e-03 9.98691521e-01 -2.60883255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.170714057 meters 0.04068876953425818 Centerline is valid? [True, True] Translation: X:387.34, Y:-52.34, Z:-26.09 [[ 9.97205276e-01 5.48743274e-02 5.06995658e-02 3.87337976e+02] [-5.46210273e-02 9.98486843e-01 -6.36923309e-03 -5.23365164e+01] [-5.09723568e-02 3.58217047e-03 9.98693640e-01 -2.60899416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.200714057 meters 0.036930885706652754 Centerline is valid? [True, True] Translation: X:387.37, Y:-52.33, Z:-26.09 [[ 9.96857030e-01 6.02018793e-02 5.14955893e-02 3.87370519e+02] [-5.99476795e-02 9.98180564e-01 -6.46812830e-03 -5.23271015e+01] [-5.17912898e-02 3.36075808e-03 9.98652276e-01 -2.60903540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.230714057 meters 0.03601590528397453 Centerline is valid? [True, True] Translation: X:387.40, Y:-52.33, Z:-26.09 [[ 9.96710400e-01 6.23722737e-02 5.17501424e-02 3.87402227e+02] [-6.21184545e-02 9.98047616e-01 -6.50026196e-03 -5.23267276e+01] [-5.20545424e-02 3.26423984e-03 9.98638908e-01 -2.60914259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.26071405700003 meters 0.03451508532118812 Centerline is valid? [True, True] Translation: X:387.43, Y:-52.32, Z:-26.09 [[ 9.96402306e-01 6.63777284e-02 5.26919543e-02 3.87433730e+02] [-6.61200398e-02 9.97789711e-01 -6.62063893e-03 -5.23226606e+01] [-5.30149528e-02 3.11282578e-03 9.98588867e-01 -2.60926755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.290714057 meters 0.03360847507501337 Centerline is valid? [True, True] Translation: X:387.47, Y:-52.32, Z:-26.09 [[ 9.96294330e-01 6.81388462e-02 5.24852894e-02 3.87465588e+02] [-6.78855943e-02 9.97671315e-01 -6.59498348e-03 -5.23227099e+01] [-5.28124422e-02 3.00754959e-03 9.98599920e-01 -2.60946961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.32071405700003 meters 0.03189270980374156 Centerline is valid? [True, True] Translation: X:387.50, Y:-52.32, Z:-26.10 [[ 9.96048570e-01 7.20940321e-02 5.18622865e-02 3.87497186e+02] [-7.18519469e-02 9.97394000e-01 -6.51968993e-03 -5.23199337e+01] [-5.21971641e-02 2.76752158e-03 9.98632964e-01 -2.60976582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.350714057 meters 0.032442200729172026 Centerline is valid? [True, True] Translation: X:387.53, Y:-52.32, Z:-26.10 [[ 9.95894131e-01 7.54565523e-02 5.00118884e-02 3.87528091e+02] [-7.52356381e-02 9.97145958e-01 -6.28781862e-03 -5.23215975e+01] [-5.03436094e-02 2.49932532e-03 9.98728829e-01 -2.61008857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.38071405700003 meters 0.03120076485432451 Centerline is valid? [True, True] Translation: X:387.56, Y:-52.32, Z:-26.10 [[ 9.95782167e-01 7.68355080e-02 5.01416122e-02 3.87559252e+02] [-7.66150914e-02 9.97040802e-01 -6.30603779e-03 -5.23221195e+01] [-5.04777609e-02 2.43783577e-03 9.98722210e-01 -2.61027124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.410714057 meters 0.03052053405170843 Centerline is valid? [True, True] Translation: X:387.59, Y:-52.32, Z:-26.10 [[ 9.95665096e-01 7.81282040e-02 5.04678149e-02 3.87589402e+02] [-7.79065101e-02 9.96940458e-01 -6.34809701e-03 -5.23234116e+01] [-5.08093719e-02 2.38880728e-03 9.98705513e-01 -2.61044087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.440714057 meters 0.03108269985053841 Centerline is valid? [True, True] Translation: X:387.62, Y:-52.33, Z:-26.11 [[ 9.95553464e-01 7.95219314e-02 5.04931986e-02 3.87619113e+02] [-7.93017953e-02 9.96830419e-01 -6.35141286e-03 -5.23256173e+01] [-5.08382330e-02 2.31896977e-03 9.98704209e-01 -2.61059902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.470714057 meters 0.030977675698698522 Centerline is valid? [True, True] Translation: X:387.65, Y:-52.33, Z:-26.11 [[ 9.95493352e-01 8.02366775e-02 5.05476167e-02 3.87648639e+02] [-8.00170250e-02 9.96773223e-01 -6.35747522e-03 -5.23279655e+01] [-5.08946135e-02 2.28415441e-03 9.98701417e-01 -2.61071927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.500714057 meters 0.02841496866412922 Centerline is valid? [True, True] Translation: X:387.68, Y:-52.32, Z:-26.11 [[ 9.95422060e-01 8.09268131e-02 5.08505083e-02 3.87678962e+02] [-8.07055071e-02 9.96717483e-01 -6.39378791e-03 -5.23245705e+01] [-5.12010195e-02 2.26060148e-03 9.98685809e-01 -2.61071825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.530714057 meters 0.029952390883526723 Centerline is valid? [True, True] Translation: X:387.71, Y:-52.33, Z:-26.11 [[ 9.95326291e-01 8.18132056e-02 5.13047134e-02 3.87707525e+02] [-8.15891925e-02 9.96645179e-01 -6.44908739e-03 -5.23298269e+01] [-5.16602158e-02 2.23303610e-03 9.98662223e-01 -2.61086684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.560714057 meters 0.028120182166972922 Centerline is valid? [True, True] Translation: X:387.74, Y:-52.33, Z:-26.11 [[ 9.95313702e-01 8.17612168e-02 5.16307801e-02 3.87737657e+02] [-8.15344294e-02 9.96649414e-01 -6.48709986e-03 -5.23293681e+01] [-5.19881799e-02 2.24701318e-03 9.98645172e-01 -2.61097561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.590714057 meters 0.028248437310409037 Centerline is valid? [True, True] Translation: X:387.77, Y:-52.33, Z:-26.11 [[ 9.95271079e-01 8.21460782e-02 5.18411147e-02 3.87766892e+02] [-8.19180586e-02 9.96617796e-01 -6.51160331e-03 -5.23324520e+01] [-5.22006802e-02 2.23408698e-03 9.98634116e-01 -2.61109403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.620714057 meters 0.028853444072534287 Centerline is valid? [True, True] Translation: X:387.80, Y:-52.34, Z:-26.11 [[ 9.95222339e-01 8.21992773e-02 5.26856196e-02 3.87795360e+02] [-8.19639347e-02 9.96613338e-01 -6.61579635e-03 -5.23368001e+01] [-5.30510049e-02 2.26586763e-03 9.98589233e-01 -2.61126547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.650714057 meters 0.029022500893414356 Centerline is valid? [True, True] Translation: X:387.82, Y:-52.34, Z:-26.11 [[ 9.95183872e-01 8.23390273e-02 5.31915939e-02 3.87824684e+02] [-8.20994983e-02 9.96601776e-01 -6.67632113e-03 -5.23409718e+01] [-5.35605587e-02 2.27716394e-03 9.98562007e-01 -2.61139669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.680714057 meters 0.030245722465249786 Centerline is valid? [True, True] Translation: X:387.85, Y:-52.35, Z:-26.12 [[ 9.95125397e-01 8.27180486e-02 5.36951407e-02 3.87852970e+02] [-8.24746107e-02 9.96570390e-01 -6.73763527e-03 -5.23470680e+01] [-5.40683114e-02 2.27630615e-03 9.98534644e-01 -2.61151277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.710714057 meters 0.02850862197701249 Centerline is valid? [True, True] Translation: X:387.88, Y:-52.35, Z:-26.12 [[ 9.95179188e-01 8.20479388e-02 5.37263305e-02 3.87883050e+02] [-8.18034032e-02 9.96625704e-01 -6.73860258e-03 -5.23476036e+01] [-5.40979304e-02 2.31112036e-03 9.98532960e-01 -2.61166082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.740714057 meters 0.029108749105351283 Centerline is valid? [True, True] Translation: X:387.91, Y:-52.35, Z:-26.12 [[ 9.95262903e-01 8.06290321e-02 5.43204622e-02 3.87911900e+02] [-8.03770504e-02 9.96741259e-01 -6.81117887e-03 -5.23525031e+01] [-5.46926246e-02 2.41279513e-03 9.98500323e-01 -2.61179020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.770714057 meters 0.03025056715106119 Centerline is valid? [True, True] Translation: X:387.94, Y:-52.36, Z:-26.12 [[ 9.95522574e-01 7.74122591e-02 5.42415536e-02 3.87941832e+02] [-7.71564174e-02 9.96995823e-01 -6.79817785e-03 -5.23597923e+01] [-5.46048647e-02 2.58265557e-03 9.98504701e-01 -2.61200729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.800714057 meters 0.03116352051801339 Centerline is valid? [True, True] Translation: X:387.97, Y:-52.37, Z:-26.12 [[ 9.95739380e-01 7.50904092e-02 5.35211811e-02 3.87972150e+02] [-7.48379851e-02 9.97173145e-01 -6.70782251e-03 -5.23657696e+01] [-5.38735776e-02 2.67382568e-03 9.98544184e-01 -2.61227215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.830714057 meters 0.03367912198729505 Centerline is valid? [True, True] Translation: X:388.00, Y:-52.38, Z:-26.13 [[ 9.96170935e-01 7.02085490e-02 5.20982486e-02 3.88000715e+02] [-6.99626799e-02 9.97528234e-01 -6.53038631e-03 -5.23753499e+01] [-5.24279629e-02 2.86044795e-03 9.98620612e-01 -2.61259535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.860714057 meters 0.035281126584056896 Centerline is valid? [True, True] Translation: X:388.03, Y:-52.38, Z:-26.13 [[ 9.96308908e-01 6.80946727e-02 5.22654240e-02 3.88030024e+02] [-6.78442864e-02 9.97674408e-01 -6.55204287e-03 -5.23823677e+01] [-5.25900351e-02 2.98194829e-03 9.98611734e-01 -2.61269587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.890714057 meters 0.03593641498839815 Centerline is valid? [True, True] Translation: X:388.06, Y:-52.39, Z:-26.13 [[ 9.96529443e-01 6.39464397e-02 5.32909250e-02 3.88059995e+02] [-6.36799350e-02 9.97947978e-01 -6.68575432e-03 -5.23872967e+01] [-5.36091010e-02 3.26898839e-03 9.98556647e-01 -2.61273991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.920714057 meters 0.03638796842550364 Centerline is valid? [True, True] Translation: X:388.09, Y:-52.39, Z:-26.13 [[ 9.96584848e-01 6.29540048e-02 5.34362571e-02 3.88092134e+02] [-6.26846599e-02 9.98010871e-01 -6.70329253e-03 -5.23925205e+01] [-5.37519646e-02 3.33076617e-03 9.98548763e-01 -2.61286686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.950714057 meters 0.03650658619303288 Centerline is valid? [True, True] Translation: X:388.12, Y:-52.40, Z:-26.13 [[ 9.96748402e-01 6.07845215e-02 5.28948419e-02 3.88123065e+02] [-6.05168495e-02 9.98145031e-01 -6.64894844e-03 -5.23966805e+01] [-5.32008767e-02 3.42629955e-03 9.98577952e-01 -2.61315278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.980714057 meters 0.03611575311173721 Centerline is valid? [True, True] Translation: X:388.15, Y:-52.40, Z:-26.13 [[ 9.96793972e-01 6.06070348e-02 5.22356668e-02 3.88154707e+02] [-6.03457192e-02 9.98155935e-01 -6.56682240e-03 -5.24005556e+01] [-5.25373365e-02 3.39357010e-03 9.98613194e-01 -2.61339653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.01071405700003 meters 0.03473910186803807 Centerline is valid? [True, True] Translation: X:388.19, Y:-52.40, Z:-26.14 [[ 9.96817198e-01 6.05875975e-02 5.18132830e-02 3.88187400e+02] [-6.03297889e-02 9.98157161e-01 -6.52676630e-03 -5.24022627e+01] [-5.21132405e-02 3.38010847e-03 9.98635462e-01 -2.61359416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.040714057 meters 0.036426677140603075 Centerline is valid? [True, True] Translation: X:388.22, Y:-52.41, Z:-26.14 [[ 9.96844283e-01 6.04561758e-02 5.14443935e-02 3.88218211e+02] [-6.02011635e-02 9.98165143e-01 -6.49364572e-03 -5.24081103e+01] [-5.17425814e-02 3.37614128e-03 9.98654749e-01 -2.61377294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.07071405700003 meters 0.03679240937180736 Centerline is valid? [True, True] Translation: X:388.25, Y:-52.41, Z:-26.14 [[ 9.96810281e-01 6.03188985e-02 5.22579643e-02 3.88249990e+02] [-6.00548956e-02 9.98173197e-01 -6.60895165e-03 -5.24120231e+01] [-5.25611440e-02 3.44952436e-03 9.98611750e-01 -2.61385758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.100714057 meters 0.03595280541165471 Centerline is valid? [True, True] Translation: X:388.28, Y:-52.41, Z:-26.14 [[ 9.96777669e-01 6.05427323e-02 5.26199150e-02 3.88283471e+02] [-6.02746628e-02 9.98159558e-01 -6.66798800e-03 -5.24145393e+01] [-5.29267693e-02 3.47485390e-03 9.98592351e-01 -2.61398271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.13071405700003 meters 0.03497747214926603 Centerline is valid? [True, True] Translation: X:388.32, Y:-52.42, Z:-26.14 [[ 9.96735241e-01 6.07386595e-02 5.31946796e-02 3.88316840e+02] [-6.04641249e-02 9.98147503e-01 -6.75663889e-03 -5.24162908e+01] [-5.35065258e-02 3.51821035e-03 9.98561302e-01 -2.61415465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.160714057 meters 0.03497747214926603 Centerline is valid? [True, True] Translation: X:388.35, Y:-52.42, Z:-26.14 [[ 9.96717490e-01 6.10309895e-02 5.31926941e-02 3.88349182e+02] [-6.07560405e-02 9.98129671e-01 -6.77223252e-03 -5.24204695e+01] [-5.35065223e-02 3.51822513e-03 9.98561302e-01 -2.61434319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.190714057 meters 0.036354968332673085 Centerline is valid? [True, True] Translation: X:388.38, Y:-52.42, Z:-26.15 [[ 9.96771863e-01 6.08528163e-02 5.23716283e-02 3.88379901e+02] [-6.05852050e-02 9.98140651e-01 -6.68381013e-03 -5.24244621e+01] [-5.26809798e-02 3.48928805e-03 9.98605297e-01 -2.61462704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.220714057 meters 0.03590237608274052 Centerline is valid? [True, True] Translation: X:388.41, Y:-52.43, Z:-26.15 [[ 9.96808322e-01 6.05115560e-02 5.20722632e-02 3.88411696e+02] [-6.02461866e-02 9.98161382e-01 -6.65225955e-03 -5.24267200e+01] [-5.23790608e-02 3.49387240e-03 9.98621163e-01 -2.61484568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.250714057 meters 0.03931674235011375 Centerline is valid? [True, True] Translation: X:388.44, Y:-52.43, Z:-26.15 [[ 9.96945166e-01 5.86058975e-02 5.16302786e-02 3.88441340e+02] [-5.83417280e-02 9.98274786e-01 -6.61019329e-03 -5.24342080e+01] [-5.19286016e-02 3.57780058e-03 9.98644391e-01 -2.61512088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.280714057 meters 0.03818141693026682 Centerline is valid? [True, True] Translation: X:388.47, Y:-52.44, Z:-26.15 [[ 9.97025420e-01 5.71256710e-02 5.17394384e-02 3.88473414e+02] [-5.68582639e-02 9.98360267e-01 -6.62677698e-03 -5.24353607e+01] [-5.20331586e-02 3.66525047e-03 9.98638632e-01 -2.61529454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.310714057 meters 0.040829690635306136 Centerline is valid? [True, True] Translation: X:388.50, Y:-52.44, Z:-26.15 [[ 9.97257427e-01 5.30609295e-02 5.15961432e-02 3.88502849e+02] [-5.27893802e-02 9.98583775e-01 -6.61254340e-03 -5.24407302e+01] [-5.18739392e-02 3.87067959e-03 9.98646140e-01 -2.61547482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.340714057 meters 0.04202669837780269 Centerline is valid? [True, True] Translation: X:388.53, Y:-52.45, Z:-26.16 [[ 9.97378313e-01 5.05606301e-02 5.17699143e-02 3.88533054e+02] [-5.02838691e-02 9.98712924e-01 -6.63540197e-03 -5.24452989e+01] [-5.20387726e-02 4.01481443e-03 9.98636995e-01 -2.61563067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.370714057 meters 0.04558524220958842 Centerline is valid? [True, True] Translation: X:388.56, Y:-52.45, Z:-26.16 [[ 9.97612240e-01 4.53317386e-02 5.21042505e-02 3.88562088e+02] [-4.50442696e-02 9.98962665e-01 -6.67891326e-03 -5.24516226e+01] [-5.23529677e-02 4.31596770e-03 9.98619316e-01 -2.61572329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.400714057 meters 0.04808057259635127 Centerline is valid? [True, True] Translation: X:388.59, Y:-52.46, Z:-26.16 [[ 9.97724676e-01 4.20500389e-02 5.26997583e-02 3.88590737e+02] [-4.17511853e-02 9.99105174e-01 -6.75949186e-03 -5.24573767e+01] [-5.29368381e-02 4.54383446e-03 9.98587525e-01 -2.61587128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.430714057 meters 0.04892503084729385 Centerline is valid? [True, True] Translation: X:388.62, Y:-52.46, Z:-26.16 [[ 9.97921267e-01 3.64877186e-02 5.31205389e-02 3.88621634e+02] [-3.61762997e-02 9.99322202e-01 -6.81258992e-03 -5.24596821e+01] [-5.33331098e-02 4.87672383e-03 9.98564869e-01 -2.61593215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.460714057 meters 0.05044297374728499 Centerline is valid? [True, True] Translation: X:388.65, Y:-52.46, Z:-26.16 [[ 9.97990955e-01 3.43151737e-02 5.32590155e-02 3.88652031e+02] [-3.39990422e-02 9.99398522e-01 -6.83071801e-03 -5.24641365e+01] [-5.34613787e-02 5.00623928e-03 9.98557369e-01 -2.61609284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.490714057 meters 0.05417606556596767 Centerline is valid? [True, True] Translation: X:388.68, Y:-52.47, Z:-26.16 [[ 9.98089264e-01 3.18122021e-02 5.29698510e-02 3.88680956e+02] [-3.14959596e-02 9.99480785e-01 -6.79453529e-03 -5.24688543e+01] [-5.31584973e-02 5.11321644e-03 9.98572996e-01 -2.61631860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.520714057 meters 0.05425014389784942 Centerline is valid? [True, True] Translation: X:388.71, Y:-52.47, Z:-26.17 [[ 9.98127722e-01 3.16193486e-02 5.23571183e-02 3.88712929e+02] [-3.13101140e-02 9.99487153e-01 -6.71618324e-03 -5.24706932e+01] [-5.25426284e-02 5.06430133e-03 9.98605841e-01 -2.61652022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.550714057 meters 0.04894402300010229 Centerline is valid? [True, True] Translation: X:388.75, Y:-52.46, Z:-26.17 [[ 9.98095714e-01 3.30406163e-02 5.20889971e-02 3.88745694e+02] [-3.27357346e-02 9.99441614e-01 -6.69566419e-03 -5.24627261e+01] [-5.22811402e-02 4.97774214e-03 9.98620000e-01 -2.61671478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.580714057 meters 0.05480165888398301 Centerline is valid? [True, True] Translation: X:388.78, Y:-52.47, Z:-26.17 [[ 9.98040552e-01 3.57795505e-02 5.13310772e-02 3.88775092e+02] [-3.54869647e-02 9.99348343e-01 -6.60037982e-03 -5.24689262e+01] [-5.15337855e-02 4.76586259e-03 9.98659880e-01 -2.61698569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.610714057 meters 0.047659497458091477 Centerline is valid? [True, True] Translation: X:388.81, Y:-52.46, Z:-26.17 [[ 9.97994600e-01 3.77534718e-02 5.08080110e-02 3.88807373e+02] [-3.74693987e-02 9.99276424e-01 -6.53236914e-03 -5.24606843e+01] [-5.10178672e-02 4.61552350e-03 9.98687075e-01 -2.61709981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.640714057 meters 0.053832527580885955 Centerline is valid? [True, True] Translation: X:388.84, Y:-52.47, Z:-26.17 [[ 9.97944755e-01 3.92064608e-02 5.06864814e-02 3.88837116e+02] [-3.89255554e-02 9.99220857e-01 -6.51770363e-03 -5.24705262e+01] [-5.09025254e-02 4.53130871e-03 9.98693346e-01 -2.61733545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.670714057 meters 0.053134321413390265 Centerline is valid? [True, True] Translation: X:388.87, Y:-52.47, Z:-26.17 [[ 9.97729355e-01 4.35817550e-02 5.13494397e-02 3.88867303e+02] [-4.32990813e-02 9.99040321e-01 -6.60505736e-03 -5.24688418e+01] [-5.15880207e-02 4.36667605e-03 9.98658905e-01 -2.61749890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.700714057 meters 0.042300654226464375 Centerline is valid? [True, True] Translation: X:388.90, Y:-52.46, Z:-26.18 [[ 9.97592660e-01 4.63915422e-02 5.15432855e-02 3.88900041e+02] [-4.61104590e-02 9.98914346e-01 -6.62979990e-03 -5.24553730e+01] [-5.17948940e-02 4.23715516e-03 9.98648755e-01 -2.61757171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.730714057 meters 0.04568014977802755 Centerline is valid? [True, True] Translation: X:388.93, Y:-52.46, Z:-26.18 [[ 9.97261392e-01 5.26793554e-02 5.19095477e-02 3.88930017e+02] [-5.24026584e-02 9.98603708e-01 -6.67799261e-03 -5.24587606e+01] [-5.21888591e-02 3.93950591e-03 9.98629462e-01 -2.61778369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.76071405700003 meters 0.041158785693080464 Centerline is valid? [True, True] Translation: X:388.96, Y:-52.45, Z:-26.18 [[ 9.97007791e-01 5.64943699e-02 5.27622172e-02 3.88961082e+02] [-5.62138187e-02 9.98395682e-01 -6.78742810e-03 -5.24532288e+01] [-5.30610213e-02 3.80115298e-03 9.98584037e-01 -2.61786790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.790714057 meters 0.03700076789342188 Centerline is valid? [True, True] Translation: X:388.99, Y:-52.45, Z:-26.18 [[ 9.96410517e-01 6.55866042e-02 5.35208207e-02 3.88992473e+02] [-6.53109534e-02 9.97841207e-01 -6.88508584e-03 -5.24455210e+01] [-5.38568498e-02 3.36487612e-03 9.98542997e-01 -2.61794102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.82071405700003 meters 0.03556003308678547 Centerline is valid? [True, True] Translation: X:389.02, Y:-52.44, Z:-26.18 [[ 9.96104253e-01 6.96188135e-02 5.41252153e-02 3.89023439e+02] [-6.93428219e-02 9.97568591e-01 -6.96277970e-03 -5.24442858e+01] [-5.44783552e-02 3.18245930e-03 9.98509880e-01 -2.61808750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.850714057 meters 0.033448276239024625 Centerline is valid? [True, True] Translation: X:389.05, Y:-52.44, Z:-26.18 [[ 9.95540980e-01 7.68471455e-02 5.47053392e-02 3.89052512e+02] [-7.65760709e-02 9.97038907e-01 -7.03729006e-03 -5.24418705e+01] [-5.50841473e-02 2.81679071e-03 9.98477743e-01 -2.61829693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.88071405700003 meters 0.03288342222416794 Centerline is valid? [True, True] Translation: X:389.08, Y:-52.44, Z:-26.18 [[ 9.95343620e-01 7.93818310e-02 5.46772713e-02 3.89082902e+02] [-7.91149940e-02 9.96840701e-01 -7.03099457e-03 -5.24428194e+01] [-5.50626627e-02 2.67246360e-03 9.98479324e-01 -2.61849563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.910714057 meters 0.031742113518824694 Centerline is valid? [True, True] Translation: X:389.11, Y:-52.44, Z:-26.19 [[ 9.95112059e-01 8.28975506e-02 5.36655014e-02 3.89112483e+02] [-8.26456506e-02 9.96555109e-01 -6.90004085e-03 -5.24430632e+01] [-5.40526261e-02 2.43109358e-03 9.98535129e-01 -2.61875800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.940714057 meters 0.029878380262701443 Centerline is valid? [True, True] Translation: X:389.14, Y:-52.44, Z:-26.19 [[ 9.95096766e-01 8.35608788e-02 5.29150837e-02 3.89141533e+02] [-8.33170039e-02 9.96499880e-01 -6.80192635e-03 -5.24427275e+01] [-5.32982495e-02 2.35984868e-03 9.98575850e-01 -2.61898707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.970714057 meters 0.032437085890531875 Centerline is valid? [True, True] Translation: X:389.17, Y:-52.45, Z:-26.19 [[ 9.95155685e-01 8.32723018e-02 5.22578891e-02 3.89168296e+02] [-8.30342463e-02 9.96524078e-01 -6.71384747e-03 -5.24508315e+01] [-5.26353223e-02 2.34212904e-03 9.98611054e-01 -2.61927089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.000714057 meters 0.0313298174336984 Centerline is valid? [True, True] Translation: X:389.20, Y:-52.45, Z:-26.19 [[ 9.95316893e-01 8.14545261e-02 5.20523152e-02 3.89198140e+02] [-8.12161187e-02 9.96674112e-01 -6.68255823e-03 -5.24532543e+01] [-5.24235197e-02 2.42377608e-03 9.98622001e-01 -2.61943297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.030714057 meters 0.03413337030056648 Centerline is valid? [True, True] Translation: X:389.22, Y:-52.46, Z:-26.20 [[ 9.95421878e-01 8.02129253e-02 5.19727968e-02 3.89224789e+02] [-7.99736393e-02 9.96774657e-01 -6.67081389e-03 -5.24624886e+01] [-5.23402522e-02 2.48382039e-03 9.98626221e-01 -2.61962009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.060714057 meters 0.033245290139994804 Centerline is valid? [True, True] Translation: X:389.25, Y:-52.47, Z:-26.20 [[ 9.95695099e-01 7.67109153e-02 5.20260051e-02 3.89254384e+02] [-7.64666279e-02 9.97049813e-01 -6.67276099e-03 -5.24661142e+01] [-5.23843922e-02 2.66578225e-03 9.98623437e-01 -2.61977890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.090714057 meters 0.037261035911083054 Centerline is valid? [True, True] Translation: X:389.28, Y:-52.48, Z:-26.20 [[ 9.95815229e-01 7.48003536e-02 5.25065393e-02 3.89282146e+02] [-7.45489287e-02 9.97194624e-01 -6.73348521e-03 -5.24768550e+01] [-5.28629058e-02 2.79100086e-03 9.98597879e-01 -2.61999711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.120714057 meters 0.037839894149365325 Centerline is valid? [True, True] Translation: X:389.31, Y:-52.48, Z:-26.20 [[ 9.96177056e-01 6.96718546e-02 5.26982507e-02 3.89312213e+02] [-6.94115947e-02 9.97565236e-01 -6.75510058e-03 -5.24835913e+01] [-5.30405832e-02 3.07140659e-03 9.98587634e-01 -2.62018049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.150714057 meters 0.04026562951861145 Centerline is valid? [True, True] Translation: X:389.34, Y:-52.49, Z:-26.20 [[ 9.96389412e-01 6.66959808e-02 5.25336558e-02 3.89340481e+02] [-6.64332318e-02 9.97768150e-01 -6.73390368e-03 -5.24914270e+01] [-5.28655329e-02 3.21960980e-03 9.98596450e-01 -2.62038082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.180714057 meters 0.036835386802692216 Centerline is valid? [True, True] Translation: X:389.37, Y:-52.49, Z:-26.21 [[ 9.96767171e-01 6.08741521e-02 5.24360985e-02 3.89371519e+02] [-6.06044624e-02 9.98139243e-01 -6.71944602e-03 -5.24921304e+01] [-5.27475682e-02 3.51986165e-03 9.98601675e-01 -2.62052226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.210714057 meters 0.039518777796103466 Centerline is valid? [True, True] Translation: X:389.40, Y:-52.50, Z:-26.21 [[ 9.97134906e-01 5.46113965e-02 5.23409381e-02 3.89400814e+02] [-5.43340915e-02 9.98500284e-01 -6.70747744e-03 -5.25011614e+01] [-5.26287462e-02 3.84436257e-03 9.98606747e-01 -2.62071435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.240714057 meters 0.03995368268453132 Centerline is valid? [True, True] Translation: X:389.43, Y:-52.51, Z:-26.21 [[ 9.97252345e-01 5.21998880e-02 5.25635991e-02 3.89431802e+02] [-5.19169306e-02 9.98628695e-01 -6.73517805e-03 -5.25068943e+01] [-5.28430939e-02 3.98773138e-03 9.98594866e-01 -2.62088605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.270714057 meters 0.04259884457553838 Centerline is valid? [True, True] Translation: X:389.46, Y:-52.52, Z:-26.21 [[ 9.97376120e-01 4.96305150e-02 5.27037611e-02 3.89460733e+02] [-4.93423697e-02 9.98759079e-01 -6.75523346e-03 -5.25150035e+01] [-5.29736256e-02 4.13698008e-03 9.98587342e-01 -2.62105715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.300714057 meters 0.044214270898547306 Centerline is valid? [True, True] Translation: X:389.49, Y:-52.52, Z:-26.21 [[ 9.97558925e-01 4.55164489e-02 5.29570017e-02 3.89490388e+02] [-4.52197685e-02 9.98954003e-01 -6.78767885e-03 -5.25214796e+01] [-5.32105599e-02 4.37640626e-03 9.98573725e-01 -2.62120114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.330714057 meters 0.04549543309267354 Centerline is valid? [True, True] Translation: X:389.52, Y:-52.53, Z:-26.21 [[ 9.97633273e-01 4.42302854e-02 5.26453736e-02 3.89522031e+02] [-4.39353223e-02 9.99011590e-01 -6.74757171e-03 -5.25276237e+01] [-5.28917855e-02 4.41861059e-03 9.98590474e-01 -2.62141225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.360714057 meters 0.046852039625758304 Centerline is valid? [True, True] Translation: X:389.55, Y:-52.53, Z:-26.22 [[ 9.97733542e-01 4.23442285e-02 5.22947931e-02 3.89552725e+02] [-4.20504136e-02 9.99092982e-01 -6.70646819e-03 -5.25328748e+01] [-5.25313409e-02 4.49225058e-03 9.98609172e-01 -2.62165091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.390714057 meters 0.046385369728596255 Centerline is valid? [True, True] Translation: X:389.59, Y:-52.54, Z:-26.22 [[ 9.97728311e-01 4.25754733e-02 5.22067751e-02 3.89586005e+02] [-4.22829051e-02 9.99083238e-01 -6.69626106e-03 -5.25362508e+01] [-5.24440104e-02 4.47359511e-03 9.98613846e-01 -2.62186121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.420714057 meters 0.04941625851676041 Centerline is valid? [True, True] Translation: X:389.62, Y:-52.54, Z:-26.22 [[ 9.97728172e-01 4.31770758e-02 5.17130020e-02 3.89616086e+02] [-4.28900439e-02 9.99057681e-01 -6.64792438e-03 -5.25433365e+01] [-5.19513098e-02 4.41484851e-03 9.98639860e-01 -2.62207812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.450714057 meters 0.049999769908176415 Centerline is valid? [True, True] Translation: X:389.65, Y:-52.55, Z:-26.22 [[ 9.97722573e-01 4.38334598e-02 5.12669064e-02 3.89648247e+02] [-4.35516222e-02 9.99029362e-01 -6.60224820e-03 -5.25470153e+01] [-5.15065442e-02 4.35445512e-03 9.98663164e-01 -2.62223662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.480714057 meters 0.04520512682001245 Centerline is valid? [True, True] Translation: X:389.68, Y:-52.54, Z:-26.22 [[ 9.97731113e-01 4.38589020e-02 5.10785989e-02 3.89681531e+02] [-4.35785380e-02 9.99028268e-01 -6.59023077e-03 -5.25423179e+01] [-5.13180044e-02 4.34934762e-03 9.98672892e-01 -2.62234200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.51071405700003 meters 0.04993897636139204 Centerline is valid? [True, True] Translation: X:389.71, Y:-52.55, Z:-26.23 [[ 9.97733360e-01 4.38575150e-02 5.10358708e-02 3.89711468e+02] [-4.35769491e-02 9.99028287e-01 -6.59775666e-03 -5.25519008e+01] [-5.12756398e-02 4.35881438e-03 9.98675027e-01 -2.62254297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.540714057 meters 0.05268772437052626 Centerline is valid? [True, True] Translation: X:389.74, Y:-52.56, Z:-26.23 [[ 9.97738310e-01 4.37130031e-02 5.10630845e-02 3.89741816e+02] [-4.34313328e-02 9.99034526e-01 -6.61328519e-03 -5.25590452e+01] [-5.13028709e-02 4.38059017e-03 9.98673533e-01 -2.62275951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.57071405700003 meters 0.04730202544013858 Centerline is valid? [True, True] Translation: X:389.77, Y:-52.55, Z:-26.23 [[ 9.97812406e-01 4.29155361e-02 5.02857853e-02 3.89774787e+02] [-4.26407679e-02 9.99069163e-01 -6.52473691e-03 -5.25534898e+01] [-5.05189900e-02 4.36623893e-03 9.98713556e-01 -2.62289459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.600714057 meters 0.046901800609417545 Centerline is valid? [True, True] Translation: X:389.81, Y:-52.56, Z:-26.23 [[ 9.97829737e-01 4.28002489e-02 5.00395333e-02 3.89806475e+02] [-4.25279107e-02 9.99074167e-01 -6.49504655e-03 -5.25564245e+01] [-5.02711947e-02 4.35287379e-03 9.98726118e-01 -2.62308425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.63071405700003 meters 0.047796228931303114 Centerline is valid? [True, True] Translation: X:389.84, Y:-52.56, Z:-26.23 [[ 9.97968836e-01 4.09880246e-02 4.87666333e-02 3.89837450e+02] [-4.07265605e-02 9.99150192e-01 -6.34356796e-03 -5.25600724e+01] [-4.89852014e-02 4.34458589e-03 9.98790055e-01 -2.62335441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.660714057 meters 0.0500191126797003 Centerline is valid? [True, True] Translation: X:389.87, Y:-52.57, Z:-26.24 [[ 9.98020417e-01 4.05977059e-02 4.80320048e-02 3.89867937e+02] [-4.03436266e-02 9.99166330e-01 -6.24787137e-03 -5.25669712e+01] [-4.82456113e-02 4.29771793e-03 9.98826256e-01 -2.62364541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.690714057 meters 0.04947027409489913 Centerline is valid? [True, True] Translation: X:389.90, Y:-52.57, Z:-26.24 [[ 9.98118414e-01 3.99818182e-02 4.64874911e-02 3.89899945e+02] [-3.97426055e-02 9.99191580e-01 -6.05904496e-03 -5.25694298e+01] [-4.66921613e-02 4.20011032e-03 9.98900496e-01 -2.62397042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.720714057 meters 0.046713153480046433 Centerline is valid? [True, True] Translation: X:389.93, Y:-52.57, Z:-26.24 [[ 9.98114157e-01 4.13645650e-02 4.53552880e-02 3.89932330e+02] [-4.11381367e-02 9.99135961e-01 -5.91480688e-03 -5.25670185e+01] [-4.55607627e-02 4.03782045e-03 9.98953409e-01 -2.62417983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.750714057 meters 0.04598177488001141 Centerline is valid? [True, True] Translation: X:389.96, Y:-52.57, Z:-26.24 [[ 9.98062665e-01 4.29477427e-02 4.50156507e-02 3.89963973e+02] [-4.27261829e-02 9.99069558e-01 -5.87294486e-03 -5.25689998e+01] [-4.52259960e-02 3.93822007e-03 9.98969018e-01 -2.62434128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.780714057 meters 0.04431402840381174 Centerline is valid? [True, True] Translation: X:389.99, Y:-52.57, Z:-26.24 [[ 9.97875835e-01 4.72408062e-02 4.48567166e-02 3.89994772e+02] [-4.70249762e-02 9.98876553e-01 -5.85522737e-03 -5.25673959e+01] [-4.50829281e-02 3.73340387e-03 9.98976272e-01 -2.62437923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.810714057 meters 0.04417396343980356 Centerline is valid? [True, True] Translation: X:390.02, Y:-52.57, Z:-26.25 [[ 9.97736357e-01 4.98553068e-02 4.51288260e-02 3.90024669e+02] [-4.96394830e-02 9.98749826e-01 -5.89118048e-03 -5.25696509e+01] [-4.53661137e-02 3.63767336e-03 9.98963805e-01 -2.62450112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.840714057 meters 0.04224996994627559 Centerline is valid? [True, True] Translation: X:390.06, Y:-52.57, Z:-26.24 [[ 9.97343028e-01 5.57057316e-02 4.69441834e-02 3.90056185e+02] [-5.54786251e-02 9.98441070e-01 -6.12792280e-03 -5.25677961e+01] [-4.72123611e-02 3.50724232e-03 9.98878717e-01 -2.62448435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.870714057 meters 0.03668741064098884 Centerline is valid? [True, True] Translation: X:390.09, Y:-52.56, Z:-26.24 [[ 9.96932576e-01 6.15870419e-02 4.82957001e-02 3.90087771e+02] [-6.13534496e-02 9.98096184e-01 -6.30571474e-03 -5.25602507e+01] [-4.85921043e-02 3.32326463e-03 9.98813177e-01 -2.62435747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.900714057 meters 0.03790739092805013 Centerline is valid? [True, True] Translation: X:390.12, Y:-52.56, Z:-26.24 [[ 9.96704398e-01 6.45598944e-02 4.91158146e-02 3.90116747e+02] [-6.43218774e-02 9.97908598e-01 -6.41291582e-03 -5.25640676e+01] [-4.94271109e-02 3.23256000e-03 9.98772502e-01 -2.62449529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.930714057 meters 0.03551558107975004 Centerline is valid? [True, True] Translation: X:390.15, Y:-52.56, Z:-26.25 [[ 9.96504843e-01 6.71902375e-02 4.96343627e-02 3.90147171e+02] [-6.69504995e-02 9.97735263e-01 -6.47882495e-03 -5.25634712e+01] [-4.99572677e-02 3.13313507e-03 9.98746442e-01 -2.62457584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.960714057 meters 0.03418100255542237 Centerline is valid? [True, True] Translation: X:390.18, Y:-52.56, Z:-26.25 [[ 9.96195090e-01 7.15127476e-02 4.98123420e-02 3.90178129e+02] [-7.12767788e-02 9.97435398e-01 -6.49976965e-03 -5.25625770e+01] [-5.01494096e-02 2.92457532e-03 9.98737445e-01 -2.62476937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.990714057 meters 0.03668157661421607 Centerline is valid? [True, True] Translation: X:390.21, Y:-52.57, Z:-26.25 [[ 9.96131142e-01 7.34408326e-02 4.82616970e-02 3.90205032e+02] [-7.32215680e-02 9.97295812e-01 -6.29796906e-03 -5.25679217e+01] [-4.85937164e-02 2.73980599e-03 9.98814870e-01 -2.62515396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.020714057 meters 0.03495346188560921 Centerline is valid? [True, True] Translation: X:390.23, Y:-52.57, Z:-26.25 [[ 9.96180755e-01 7.39333560e-02 4.64517237e-02 3.90234023e+02] [-7.37309479e-02 9.97259769e-01 -6.05812233e-03 -5.25680818e+01] [-4.67723326e-02 2.61005525e-03 9.98902166e-01 -2.62547123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.050714057 meters 0.03495346188560921 Centerline is valid? [True, True] Translation: X:390.26, Y:-52.57, Z:-26.26 [[ 9.96188408e-01 7.38299350e-02 4.64520933e-02 3.90261261e+02] [-7.36275467e-02 9.97267425e-01 -6.05528701e-03 -5.25715382e+01] [-4.67722210e-02 2.61205306e-03 9.98902166e-01 -2.62563048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.080714057 meters 0.03484880350643493 Centerline is valid? [True, True] Translation: X:390.29, Y:-52.57, Z:-26.26 [[ 9.96227397e-01 7.36270999e-02 4.59349891e-02 3.90290139e+02] [-7.34292215e-02 9.97282486e-01 -5.98269520e-03 -5.25748193e+01] [-4.62506486e-02 2.58715438e-03 9.98926516e-01 -2.62590414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.110714057 meters 0.035601778026117775 Centerline is valid? [True, True] Translation: X:390.32, Y:-52.58, Z:-26.26 [[ 9.96312701e-01 7.29841076e-02 4.51034504e-02 3.90318928e+02] [-7.27928192e-02 9.97329802e-01 -5.87128499e-03 -5.25787911e+01] [-4.54115258e-02 2.56642850e-03 9.98965068e-01 -2.62613282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.140714057 meters 0.03488436699842752 Centerline is valid? [True, True] Translation: X:390.35, Y:-52.58, Z:-26.26 [[ 9.96310386e-01 7.28822407e-02 4.53188034e-02 3.90347014e+02] [-7.26891407e-02 9.97337214e-01 -5.89656222e-03 -5.25813076e+01] [-4.56278838e-02 2.58062130e-03 9.98955172e-01 -2.62624214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.170714057 meters 0.035897240193795914 Centerline is valid? [True, True] Translation: X:390.37, Y:-52.59, Z:-26.26 [[ 9.96255947e-01 7.32456967e-02 4.59255462e-02 3.90373981e+02] [-7.30480103e-02 9.97310555e-01 -5.97035199e-03 -5.25858374e+01] [-4.62393346e-02 2.59322890e-03 9.98927024e-01 -2.62639512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.200714057 meters 0.035811829184451166 Centerline is valid? [True, True] Translation: X:390.40, Y:-52.59, Z:-26.27 [[ 9.96190031e-01 7.38047699e-02 4.64572771e-02 3.90402234e+02] [-7.36032836e-02 9.97269339e-01 -6.03515098e-03 -5.25890265e+01] [-4.67758409e-02 2.59274910e-03 9.98902046e-01 -2.62653328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.230714057 meters 0.03638958367484453 Centerline is valid? [True, True] Translation: X:390.43, Y:-52.59, Z:-26.27 [[ 9.95980879e-01 7.58217352e-02 4.76775863e-02 3.90430993e+02] [-7.56119961e-02 9.97118103e-01 -6.18995986e-03 -5.25924343e+01] [-4.80095178e-02 2.56008420e-03 9.98843597e-01 -2.62665902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.26071405700003 meters 0.035896932334059446 Centerline is valid? [True, True] Translation: X:390.46, Y:-52.59, Z:-26.27 [[ 9.95960223e-01 7.60755104e-02 4.77048254e-02 3.90460113e+02] [-7.58658838e-02 9.97098804e-01 -6.19219881e-03 -5.25946221e+01] [-4.80374991e-02 2.54801496e-03 9.98842283e-01 -2.62680080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.290714057 meters 0.03613684412474349 Centerline is valid? [True, True] Translation: X:390.49, Y:-52.60, Z:-26.27 [[ 9.95844321e-01 7.73005336e-02 4.81530537e-02 3.90487279e+02] [-7.70885269e-02 9.97004680e-01 -6.24720542e-03 -5.25982215e+01] [-4.84917322e-02 2.50919606e-03 9.98820432e-01 -2.62704400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.32071405700003 meters 0.035950657879573814 Centerline is valid? [True, True] Translation: X:390.52, Y:-52.60, Z:-26.27 [[ 9.95844343e-01 7.74026015e-02 4.79883410e-02 3.90515822e+02] [-7.71923649e-02 9.96996805e-01 -6.22164525e-03 -5.26016901e+01] [-4.83257942e-02 2.49145670e-03 9.98828519e-01 -2.62728485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.350714057 meters 0.037606637157631795 Centerline is valid? [True, True] Translation: X:390.54, Y:-52.61, Z:-26.28 [[ 9.95995938e-01 7.59876736e-02 4.70952701e-02 3.90543124e+02] [-7.57837666e-02 9.97105600e-01 -6.10276077e-03 -5.26082740e+01] [-4.74226921e-02 2.50926798e-03 9.98871759e-01 -2.62757485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.38071405700003 meters 0.03796009485363877 Centerline is valid? [True, True] Translation: X:390.57, Y:-52.61, Z:-26.28 [[ 9.96128820e-01 7.44711419e-02 4.67057040e-02 3.90572090e+02] [-7.42690899e-02 9.97219891e-01 -6.04900685e-03 -5.26125706e+01] [-4.70263335e-02 2.55679993e-03 9.98890378e-01 -2.62774920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.410714057 meters 0.040611419416199 Centerline is valid? [True, True] Translation: X:390.60, Y:-52.62, Z:-26.28 [[ 9.96359905e-01 7.11422085e-02 4.69651634e-02 3.90599764e+02] [-7.09343381e-02 9.97462457e-01 -6.08007517e-03 -5.26219603e+01] [-4.72785372e-02 2.72650033e-03 9.98878024e-01 -2.62796426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.440714057 meters 0.03556578790234157 Centerline is valid? [True, True] Translation: X:390.63, Y:-52.62, Z:-26.28 [[ 9.96638373e-01 6.73134461e-02 4.66996144e-02 3.90630152e+02] [-6.71038109e-02 9.97727692e-01 -6.04408136e-03 -5.26201876e+01] [-4.70003465e-02 2.89004131e-03 9.98890692e-01 -2.62803795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.470714057 meters 0.03583066696886645 Centerline is valid? [True, True] Translation: X:390.66, Y:-52.63, Z:-26.28 [[ 9.96762724e-01 6.56182230e-02 4.64577321e-02 3.90658898e+02] [-6.54089622e-02 9.97840430e-01 -6.01192737e-03 -5.26255861e+01] [-4.67518954e-02 2.95371305e-03 9.98902165e-01 -2.62825126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.500714057 meters 0.03674434390910742 Centerline is valid? [True, True] Translation: X:390.69, Y:-52.63, Z:-26.28 [[ 9.96952571e-01 6.32327321e-02 4.56858146e-02 3.90687478e+02] [-6.30279912e-02 9.97994263e-01 -5.90962545e-03 -5.26312359e+01] [-4.59678626e-02 3.01213117e-03 9.98938378e-01 -2.62844322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.530714057 meters 0.03742898383093257 Centerline is valid? [True, True] Translation: X:390.72, Y:-52.64, Z:-26.29 [[ 9.96978733e-01 6.23172261e-02 4.63677513e-02 3.90715673e+02] [-6.21054449e-02 9.98051586e-01 -5.99551349e-03 -5.26365295e+01] [-4.66510314e-02 3.09770962e-03 9.98906445e-01 -2.62856512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.560714057 meters 0.03882144454104754 Centerline is valid? [True, True] Translation: X:390.74, Y:-52.64, Z:-26.29 [[ 9.97008947e-01 6.09678113e-02 4.74982683e-02 3.90743984e+02] [-6.07442195e-02 9.98134492e-01 -6.13801507e-03 -5.26425917e+01] [-4.77838813e-02 3.23441071e-03 9.98852461e-01 -2.62860776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.590714057 meters 0.039317622613730445 Centerline is valid? [True, True] Translation: X:390.77, Y:-52.65, Z:-26.29 [[ 9.97029127e-01 5.98425256e-02 4.84952810e-02 3.90773257e+02] [-5.96082519e-02 9.98202193e-01 -6.26405252e-03 -5.26475392e+01] [-4.87829526e-02 3.35472389e-03 9.98803769e-01 -2.62869006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.620714057 meters 0.03815563879959908 Centerline is valid? [True, True] Translation: X:390.80, Y:-52.65, Z:-26.29 [[ 9.97065417e-01 5.91083632e-02 4.86493038e-02 3.90802536e+02] [-5.88718129e-02 9.98245783e-01 -6.28222075e-03 -5.26502189e+01] [-4.89352941e-02 3.39971235e-03 9.98796165e-01 -2.62884953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.650714057 meters 0.03957963493052357 Centerline is valid? [True, True] Translation: X:390.83, Y:-52.66, Z:-26.29 [[ 9.97192753e-01 5.69255079e-02 4.86425830e-02 3.90831635e+02] [-5.66865338e-02 9.98372278e-01 -6.27944273e-03 -5.26569319e+01] [-4.89208669e-02 3.50443535e-03 9.98796510e-01 -2.62904543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.680714057 meters 0.0403020436290372 Centerline is valid? [True, True] Translation: X:390.86, Y:-52.66, Z:-26.29 [[ 9.97290027e-01 5.56509504e-02 4.81204158e-02 3.90861483e+02] [-5.54156589e-02 9.98444054e-01 -6.21101292e-03 -5.26621649e+01] [-4.83911918e-02 3.52755669e-03 9.98822231e-01 -2.62926151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.710714057 meters 0.04076169423996258 Centerline is valid? [True, True] Translation: X:390.89, Y:-52.67, Z:-26.30 [[ 9.97494848e-01 5.22058390e-02 4.77344579e-02 3.90891775e+02] [-5.19703931e-02 9.98629620e-01 -6.16112226e-03 -5.26675188e+01] [-4.79906901e-02 3.66490917e-03 9.98841059e-01 -2.62951514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.740714057 meters 0.043773952286468035 Centerline is valid? [True, True] Translation: X:390.92, Y:-52.68, Z:-26.30 [[ 9.97566801e-01 5.07206679e-02 4.78319073e-02 3.90920567e+02] [-5.04825825e-02 9.98705862e-01 -6.17328594e-03 -5.26762492e+01] [-4.80831194e-02 3.74358690e-03 9.98836323e-01 -2.62980462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.770714057 meters 0.046114582155812 Centerline is valid? [True, True] Translation: X:390.95, Y:-52.68, Z:-26.30 [[ 9.97690893e-01 4.82547194e-02 4.77950201e-02 3.90949488e+02] [-4.80139435e-02 9.98827586e-01 -6.17367161e-03 -5.26848576e+01] [-4.80368934e-02 3.86458855e-03 9.98838086e-01 -2.63005953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.800714057 meters 0.046211536286188445 Centerline is valid? [True, True] Translation: X:390.98, Y:-52.69, Z:-26.30 [[ 9.97726083e-01 4.71635379e-02 4.81483613e-02 3.90981182e+02] [-4.69179552e-02 9.98879389e-01 -6.21865987e-03 -5.26894741e+01] [-4.83876997e-02 3.94549650e-03 9.98820837e-01 -2.63019755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.830714057 meters 0.046937343177666416 Centerline is valid? [True, True] Translation: X:391.01, Y:-52.69, Z:-26.30 [[ 9.97788247e-01 4.48486447e-02 4.90633681e-02 3.91012127e+02] [-4.45906616e-02 9.98985219e-01 -6.34068081e-03 -5.26948159e+01] [-4.92979505e-02 4.13888874e-03 9.98775541e-01 -2.63035601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.860714057 meters 0.04748688848764413 Centerline is valid? [True, True] Translation: X:391.04, Y:-52.70, Z:-26.31 [[ 9.97908024e-01 4.28877038e-02 4.83758204e-02 3.91042792e+02] [-4.26345320e-02 9.99071163e-01 -6.25367086e-03 -5.27000640e+01] [-4.85990928e-02 4.17810787e-03 9.98809627e-01 -2.63054393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.890714057 meters 0.048317716513832334 Centerline is valid? [True, True] Translation: X:391.07, Y:-52.71, Z:-26.31 [[ 9.97946085e-01 4.17480327e-02 4.85871694e-02 3.91074513e+02] [-4.14912823e-02 9.99119121e-01 -6.28139119e-03 -5.27059586e+01] [-4.88066057e-02 4.25254579e-03 9.98799195e-01 -2.63076855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.920714057 meters 0.0465605802443771 Centerline is valid? [True, True] Translation: X:391.11, Y:-52.71, Z:-26.31 [[ 9.98058055e-01 3.93156445e-02 4.83156254e-02 3.91105210e+02] [-3.90587438e-02 9.99217369e-01 -6.25017356e-03 -5.27093258e+01] [-4.85235417e-02 4.35088843e-03 9.98812563e-01 -2.63095161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.950714057 meters 0.051832236627404764 Centerline is valid? [True, True] Translation: X:391.13, Y:-52.72, Z:-26.31 [[ 9.98081784e-01 3.85757366e-02 4.84217372e-02 3.91134780e+02] [-3.83168932e-02 9.99246012e-01 -6.26284592e-03 -5.27212552e+01] [-4.86268217e-02 4.39546190e-03 9.98807345e-01 -2.63123464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.980714057 meters 0.04839394737251386 Centerline is valid? [True, True] Translation: X:391.17, Y:-52.72, Z:-26.31 [[ 9.98098986e-01 3.82012530e-02 4.83640300e-02 3.91167148e+02] [-3.79420508e-02 9.99260292e-01 -6.26649189e-03 -5.27212827e+01] [-4.85676426e-02 4.41954871e-03 9.98810118e-01 -2.63136225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.01071405700003 meters 0.04848946687490788 Centerline is valid? [True, True] Translation: X:391.20, Y:-52.73, Z:-26.32 [[ 9.98163906e-01 3.68357545e-02 4.80826797e-02 3.91197824e+02] [-3.65773211e-02 9.99311319e-01 -6.24392769e-03 -5.27262595e+01] [-4.82795658e-02 4.47372764e-03 9.98823843e-01 -2.63152595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.040714057 meters 0.04788287828814014 Centerline is valid? [True, True] Translation: X:391.23, Y:-52.73, Z:-26.32 [[ 9.98194653e-01 3.67269426e-02 4.75243703e-02 3.91229845e+02] [-3.64743385e-02 9.99315531e-01 -6.17187483e-03 -5.27303191e+01] [-4.77185154e-02 4.42731249e-03 9.98851011e-01 -2.63178614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.07071405700003 meters 0.04649502277331078 Centerline is valid? [True, True] Translation: X:391.26, Y:-52.73, Z:-26.32 [[ 9.98196422e-01 3.72224714e-02 4.70998035e-02 3.91262085e+02] [-3.69743512e-02 9.99297422e-01 -6.12857392e-03 -5.27341865e+01] [-4.72948329e-02 4.37603588e-03 9.98871388e-01 -2.63207305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.100714057 meters 0.04936980818869142 Centerline is valid? [True, True] Translation: X:391.29, Y:-52.74, Z:-26.32 [[ 9.98168514e-01 3.80615391e-02 4.70205988e-02 3.91292524e+02] [-3.78145951e-02 9.99265967e-01 -6.13055697e-03 -5.27433889e+01] [-4.72194226e-02 4.34126404e-03 9.98875107e-01 -2.63233575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.130714057 meters 0.04746223417202655 Centerline is valid? [True, True] Translation: X:391.32, Y:-52.75, Z:-26.32 [[ 9.98099134e-01 3.94894308e-02 4.73149405e-02 3.91324439e+02] [-3.92403467e-02 9.99210677e-01 -6.18208176e-03 -5.27454933e+01] [-4.75217206e-02 4.31367578e-03 9.98860890e-01 -2.63247562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.160714057 meters 0.04735576991317986 Centerline is valid? [True, True] Translation: X:391.36, Y:-52.75, Z:-26.33 [[ 9.97983740e-01 4.20939777e-02 4.75031659e-02 3.91355385e+02] [-4.18456889e-02 9.99104789e-01 -6.20964006e-03 -5.27493752e+01] [-4.77220289e-02 4.20931711e-03 9.98851786e-01 -2.63264901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.190714057 meters 0.04659690312214956 Centerline is valid? [True, True] Translation: X:391.39, Y:-52.75, Z:-26.33 [[ 9.97904495e-01 4.36814979e-02 4.77341042e-02 3.91387086e+02] [-4.34325630e-02 9.99036871e-01 -6.24034203e-03 -5.27524750e+01] [-4.79607177e-02 4.15405088e-03 9.98840585e-01 -2.63282413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.220714057 meters 0.04572193822511932 Centerline is valid? [True, True] Translation: X:391.42, Y:-52.75, Z:-26.33 [[ 9.97757609e-01 4.66321858e-02 4.80124257e-02 3.91417632e+02] [-4.63835766e-02 9.98903963e-01 -6.27980611e-03 -5.27548693e+01] [-4.82526434e-02 4.03873630e-03 9.98826998e-01 -2.63297807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.250714057 meters 0.045661832338666865 Centerline is valid? [True, True] Translation: X:391.45, Y:-52.76, Z:-26.33 [[ 9.97702615e-01 4.78254706e-02 4.79814216e-02 3.91447743e+02] [-4.75785408e-02 9.98847783e-01 -6.27598552e-03 -5.27582055e+01] [-4.82262885e-02 3.97868114e-03 9.98828511e-01 -2.63312804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.280714057 meters 0.044970548467059425 Centerline is valid? [True, True] Translation: X:391.48, Y:-52.76, Z:-26.33 [[ 9.97540798e-01 5.04553478e-02 4.86478607e-02 3.91478604e+02] [-5.02045679e-02 9.98718680e-01 -6.36397235e-03 -5.27605604e+01] [-4.89066236e-02 3.90597724e-03 9.98795718e-01 -2.63323435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.310714057 meters 0.0411275239352909 Centerline is valid? [True, True] Translation: X:391.51, Y:-52.76, Z:-26.33 [[ 9.97448531e-01 5.17393467e-02 4.91880962e-02 3.91511328e+02] [-5.14845418e-02 9.98653066e-01 -6.43400915e-03 -5.27586381e+01] [-4.94547345e-02 3.88516638e-03 9.98768809e-01 -2.63339272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.340714057 meters 0.04231105000677241 Centerline is valid? [True, True] Translation: X:391.54, Y:-52.76, Z:-26.34 [[ 9.97419646e-01 5.19591170e-02 4.95409002e-02 3.91542659e+02] [-5.17002769e-02 9.98641540e-01 -6.49283163e-03 -5.27646019e+01] [-4.98109627e-02 3.91479957e-03 9.98750991e-01 -2.63361430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.370714057 meters 0.04357013586352782 Centerline is valid? [True, True] Translation: X:391.57, Y:-52.77, Z:-26.34 [[ 9.97425643e-01 5.15522691e-02 4.98442600e-02 3.91573493e+02] [-5.12890397e-02 9.98662394e-01 -6.54657298e-03 -5.27711097e+01] [-5.01150787e-02 3.97325553e-03 9.98735547e-01 -2.63379413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.400714057 meters 0.043658549982279284 Centerline is valid? [True, True] Translation: X:391.61, Y:-52.78, Z:-26.34 [[ 9.97433249e-01 5.10848443e-02 5.01722225e-02 3.91605605e+02] [-5.08169580e-02 9.98686166e-01 -6.60133851e-03 -5.27756831e+01] [-5.04435329e-02 4.03479480e-03 9.98718764e-01 -2.63396873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.430714057 meters 0.04567436757506421 Centerline is valid? [True, True] Translation: X:391.64, Y:-52.78, Z:-26.34 [[ 9.97509850e-01 4.98444672e-02 4.98961805e-02 3.91636269e+02] [-4.95773487e-02 9.98748628e-01 -6.57764897e-03 -5.27835817e+01] [-5.01616012e-02 4.08754930e-03 9.98732750e-01 -2.63423578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.460714057 meters 0.04382724972742752 Centerline is valid? [True, True] Translation: X:391.67, Y:-52.79, Z:-26.34 [[ 9.97688595e-01 4.73135764e-02 4.87739002e-02 3.91666930e+02] [-4.70547178e-02 9.98871537e-01 -6.44257308e-03 -5.27863011e+01] [-4.90236818e-02 4.13263957e-03 9.98789067e-01 -2.63443352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.490714057 meters 0.04220794898165891 Centerline is valid? [True, True] Translation: X:391.70, Y:-52.79, Z:-26.35 [[ 9.97772592e-01 4.57740741e-02 4.85241128e-02 3.91697567e+02] [-4.55160144e-02 9.98943041e-01 -6.41044535e-03 -5.27887025e+01] [-4.87662570e-02 4.18754246e-03 9.98801440e-01 -2.63464302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.520714057 meters 0.04659462667818482 Centerline is valid? [True, True] Translation: X:391.73, Y:-52.80, Z:-26.35 [[ 9.97850762e-01 4.43346746e-02 4.82524018e-02 3.91725969e+02] [-4.40777790e-02 9.99007758e-01 -6.37561133e-03 -5.27996880e+01] [-4.84871844e-02 4.23504992e-03 9.98814826e-01 -2.63488555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.550714057 meters 0.04342679891147314 Centerline is valid? [True, True] Translation: X:391.76, Y:-52.80, Z:-26.35 [[ 9.98001982e-01 4.17113967e-02 4.74573934e-02 3.91757214e+02] [-4.14599768e-02 9.99120490e-01 -6.27029838e-03 -5.28013300e+01] [-4.76771971e-02 4.29018778e-03 9.98853582e-01 -2.63505823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.580714057 meters 0.046954633441554185 Centerline is valid? [True, True] Translation: X:391.79, Y:-52.81, Z:-26.35 [[ 9.98114027e-01 3.93108556e-02 4.71491844e-02 3.91785735e+02] [-3.90599970e-02 9.99217443e-01 -6.23047303e-03 -5.28117250e+01] [-4.73572127e-02 4.37707552e-03 9.98868428e-01 -2.63535599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.610714057 meters 0.04747683692665523 Centerline is valid? [True, True] Translation: X:391.82, Y:-52.82, Z:-26.36 [[ 9.98124445e-01 3.91248339e-02 4.70833276e-02 3.91816918e+02] [-3.88744147e-02 9.99224727e-01 -6.22296422e-03 -5.28174113e+01] [-4.72902976e-02 4.38095591e-03 9.98871581e-01 -2.63559619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.640714057 meters 0.04734403013796215 Centerline is valid? [True, True] Translation: X:391.85, Y:-52.82, Z:-26.36 [[ 9.98144159e-01 3.97476327e-02 4.61342014e-02 3.91848662e+02] [-3.95073903e-02 9.99200610e-01 -6.10800627e-03 -5.28215031e+01] [-4.63401009e-02 4.27402887e-03 9.98916577e-01 -2.63580993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.670714057 meters 0.04642055916045079 Centerline is valid? [True, True] Translation: X:391.88, Y:-52.82, Z:-26.36 [[ 9.98108404e-01 4.10657564e-02 4.57516931e-02 3.91880192e+02] [-4.08302278e-02 9.99147654e-01 -6.07104635e-03 -5.28246082e+01] [-4.59620089e-02 4.19151033e-03 9.98934395e-01 -2.63600271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.700714057 meters 0.046555243895253395 Centerline is valid? [True, True] Translation: X:391.91, Y:-52.83, Z:-26.36 [[ 9.98023667e-01 4.41033989e-02 4.47621423e-02 3.91909589e+02] [-4.38807841e-02 9.99019090e-01 -5.94422712e-03 -5.28274983e+01] [-4.49803953e-02 3.96828145e-03 9.98979988e-01 -2.63615457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.730714057 meters 0.046218596301697154 Centerline is valid? [True, True] Translation: X:391.94, Y:-52.83, Z:-26.36 [[ 9.97943700e-01 4.59833132e-02 4.46531842e-02 3.91941346e+02] [-4.57637130e-02 9.98934701e-01 -5.92831602e-03 -5.28303960e+01] [-4.48782189e-02 3.87263012e-03 9.98984959e-01 -2.63627200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.76071405700003 meters 0.0444996930274901 Centerline is valid? [True, True] Translation: X:391.97, Y:-52.83, Z:-26.36 [[ 9.97624309e-01 5.17418103e-02 4.54810227e-02 3.91971294e+02] [-5.15197844e-02 9.98653701e-01 -6.04122562e-03 -5.28311224e+01] [-4.57323757e-02 3.68370105e-03 9.98946936e-01 -2.63631476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.790714057 meters 0.0443147943620395 Centerline is valid? [True, True] Translation: X:392.00, Y:-52.83, Z:-26.36 [[ 9.97444629e-01 5.44003361e-02 4.63121437e-02 3.92000907e+02] [-5.41729266e-02 9.98512615e-01 -6.15232117e-03 -5.28337322e+01] [-4.65779480e-02 3.62773535e-03 9.98908071e-01 -2.63646324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.82071405700003 meters 0.04219062594981439 Centerline is valid? [True, True] Translation: X:392.03, Y:-52.83, Z:-26.37 [[ 9.97084087e-01 6.03081384e-02 4.67573800e-02 3.92032584e+02] [-6.00827920e-02 9.98174072e-01 -6.21130374e-03 -5.28324759e+01] [-4.70465965e-02 3.38387818e-03 9.98886964e-01 -2.63650355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.850714057 meters 0.04140080657859881 Centerline is valid? [True, True] Translation: X:392.06, Y:-52.83, Z:-26.37 [[ 9.96680917e-01 6.59227982e-02 4.77633126e-02 3.92062843e+02] [-6.56940111e-02 9.97819637e-01 -6.34577828e-03 -5.28325000e+01] [-4.80775027e-02 3.18695253e-03 9.98838524e-01 -2.63656965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.880714057 meters 0.03990028609787125 Centerline is valid? [True, True] Translation: X:392.09, Y:-52.83, Z:-26.37 [[ 9.96488148e-01 6.82463544e-02 4.85160467e-02 3.92092906e+02] [-6.80130049e-02 9.97663609e-01 -6.44633842e-03 -5.28335573e+01] [-4.88426333e-02 3.12397771e-03 9.98801601e-01 -2.63669978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.910714057 meters 0.039598794333101026 Centerline is valid? [True, True] Translation: X:392.12, Y:-52.84, Z:-26.37 [[ 9.96262835e-01 7.12914623e-02 4.87636232e-02 3.92121962e+02] [-7.10593876e-02 9.97451047e-01 -6.47853395e-03 -5.28352514e+01] [-4.91011912e-02 2.98920940e-03 9.98789336e-01 -2.63681595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.940714057 meters 0.039598794333101026 Centerline is valid? [True, True] Translation: X:392.15, Y:-52.84, Z:-26.37 [[ 9.96267596e-01 7.12247765e-02 4.87638022e-02 3.92150037e+02] [-7.09926880e-02 9.97455806e-01 -6.47718617e-03 -5.28389140e+01] [-4.91010737e-02 2.99113731e-03 9.98789336e-01 -2.63698009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.970714057 meters 0.040906756602593054 Centerline is valid? [True, True] Translation: X:392.18, Y:-52.84, Z:-26.37 [[ 9.96277587e-01 7.12461691e-02 4.85278603e-02 3.92176987e+02] [-7.10164997e-02 9.97454334e-01 -6.44275561e-03 -5.28435983e+01] [-4.88633463e-02 2.97249423e-03 9.98801050e-01 -2.63717390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.000714057 meters 0.04179984169670902 Centerline is valid? [True, True] Translation: X:392.21, Y:-52.85, Z:-26.37 [[ 9.96395111e-01 6.97967486e-02 4.82202862e-02 3.92205753e+02] [-6.95685214e-02 9.97556663e-01 -6.39724547e-03 -5.28489802e+01] [-4.85489747e-02 3.01957010e-03 9.98816239e-01 -2.63742151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.030714057 meters 0.03879034911663021 Centerline is valid? [True, True] Translation: X:392.24, Y:-52.85, Z:-26.38 [[ 9.96680023e-01 6.63760119e-02 4.71503624e-02 3.92235522e+02] [-6.61541311e-02 9.97789826e-01 -6.25251747e-03 -5.28495510e+01] [-4.74611691e-02 3.11256800e-03 9.98868234e-01 -2.63760487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.060714057 meters 0.04086229023024648 Centerline is valid? [True, True] Translation: X:392.26, Y:-52.86, Z:-26.38 [[ 9.96833199e-01 6.44451889e-02 4.65874605e-02 3.92263121e+02] [-6.42264917e-02 9.97916226e-01 -6.17763768e-03 -5.28566814e+01] [-4.68885018e-02 3.16592518e-03 9.98895112e-01 -2.63786214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.090714057 meters 0.04402438300383139 Centerline is valid? [True, True] Translation: X:392.29, Y:-52.87, Z:-26.38 [[ 9.97198531e-01 5.91366183e-02 4.58033877e-02 3.92291074e+02] [-5.89198205e-02 9.98244263e-01 -6.07010683e-03 -5.28660990e+01] [-4.60819346e-02 3.35437423e-03 9.98932031e-01 -2.63816944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.120714057 meters 0.04093086237731208 Centerline is valid? [True, True] Translation: X:392.32, Y:-52.87, Z:-26.38 [[ 9.97415690e-01 5.59745151e-02 4.50421523e-02 3.92321705e+02] [-5.57617432e-02 9.98426270e-01 -5.96749291e-03 -5.28657767e+01] [-4.53052956e-02 3.44044212e-03 9.98967264e-01 -2.63826908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.150714057 meters 0.04304933108950343 Centerline is valid? [True, True] Translation: X:392.35, Y:-52.87, Z:-26.38 [[ 9.97734017e-01 5.05595587e-02 4.43910202e-02 3.92351309e+02] [-5.03475955e-02 9.98714442e-01 -5.88075419e-03 -5.28733964e+01] [-4.46312813e-02 3.63244737e-03 9.98996924e-01 -2.63847794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.180714057 meters 0.043738947420559386 Centerline is valid? [True, True] Translation: X:392.38, Y:-52.88, Z:-26.39 [[ 9.97855622e-01 4.82280349e-02 4.42517051e-02 3.92381983e+02] [-4.80151611e-02 9.98829408e-01 -5.86149492e-03 -5.28790736e+01] [-4.44825928e-02 3.72417291e-03 9.99003218e-01 -2.63864971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.210714057 meters 0.053397997018082476 Centerline is valid? [True, True] Translation: X:392.41, Y:-52.90, Z:-26.39 [[ 9.98035862e-01 4.43798002e-02 4.42137080e-02 3.92409688e+02] [-4.41634901e-02 9.99007144e-01 -5.85769894e-03 -5.28967049e+01] [-4.44297736e-02 3.89356195e-03 9.99004923e-01 -2.63896685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.240714057 meters 0.05442561424328671 Centerline is valid? [True, True] Translation: X:392.44, Y:-52.90, Z:-26.39 [[ 9.98037503e-01 4.38923396e-02 4.46609999e-02 3.92441664e+02] [-4.36713168e-02 9.99028454e-01 -5.91308483e-03 -5.29018476e+01] [-4.48771488e-02 3.95107575e-03 9.98984700e-01 -2.63912575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.270714057 meters 0.046860876118726885 Centerline is valid? [True, True] Translation: X:392.48, Y:-52.89, Z:-26.39 [[ 9.98045063e-01 4.35807535e-02 4.47969813e-02 3.92475329e+02] [-4.33575990e-02 9.99041949e-01 -5.94154555e-03 -5.28943051e+01] [-4.50130006e-02 3.98764065e-03 9.98978442e-01 -2.63900241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.300714057 meters 0.04729586272018795 Centerline is valid? [True, True] Translation: X:392.51, Y:-52.90, Z:-26.39 [[ 9.97987563e-01 4.46285155e-02 4.50457575e-02 3.92506508e+02] [-4.44032929e-02 9.98995738e-01 -5.98863794e-03 -5.28970499e+01] [-4.52677838e-02 3.97640622e-03 9.98966974e-01 -2.63910553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.330714057 meters 0.046537189007727665 Centerline is valid? [True, True] Translation: X:392.54, Y:-52.90, Z:-26.39 [[ 9.97901679e-01 4.60070757e-02 4.55586191e-02 3.92538362e+02] [-4.57780486e-02 9.98933265e-01 -6.05827795e-03 -5.28995314e+01] [-4.57887438e-02 3.95998106e-03 9.98943296e-01 -2.63925660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.360714057 meters 0.04630675060585567 Centerline is valid? [True, True] Translation: X:392.57, Y:-52.90, Z:-26.39 [[ 9.97742576e-01 4.94410634e-02 4.54459428e-02 3.92567648e+02] [-4.92165524e-02 9.98769828e-01 -6.04658126e-03 -5.29009719e+01] [-4.56889859e-02 3.79623893e-03 9.98948500e-01 -2.63936343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.390714057 meters 0.042077177182324066 Centerline is valid? [True, True] Translation: X:392.60, Y:-52.90, Z:-26.39 [[ 9.97465835e-01 5.49361138e-02 4.52098505e-02 3.92599236e+02] [-5.47195895e-02 9.98483650e-01 -6.01396238e-03 -5.28964668e+01] [-4.54716803e-02 3.52485754e-03 9.98959409e-01 -2.63949779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.420714057 meters 0.04351270631356361 Centerline is valid? [True, True] Translation: X:392.63, Y:-52.90, Z:-26.40 [[ 9.97295458e-01 5.80412242e-02 4.50886478e-02 3.92628544e+02] [-5.78289514e-02 9.98308480e-01 -5.99919850e-03 -5.29013267e+01] [-4.53605803e-02 3.37554419e-03 9.98964976e-01 -2.63970862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.450714057 meters 0.03758658566003905 Centerline is valid? [True, True] Translation: X:392.66, Y:-52.89, Z:-26.40 [[ 9.96898722e-01 6.47313892e-02 4.47525001e-02 3.92660413e+02] [-6.45290090e-02 9.97898071e-01 -5.95367529e-03 -5.28937486e+01] [-4.50438232e-02 3.04737681e-03 9.98980364e-01 -2.63978476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.480714057 meters 0.03522663758100766 Centerline is valid? [True, True] Translation: X:392.69, Y:-52.89, Z:-26.40 [[ 9.96642002e-01 6.85690584e-02 4.47549417e-02 3.92690707e+02] [-6.83704824e-02 9.97642231e-01 -5.95451631e-03 -5.28924891e+01] [-4.50577155e-02 2.87460410e-03 9.98980250e-01 -2.63990743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.51071405700003 meters 0.03457139569213482 Centerline is valid? [True, True] Translation: X:392.72, Y:-52.89, Z:-26.40 [[ 9.96068904e-01 7.65024862e-02 4.46554337e-02 3.92720518e+02] [-7.63127813e-02 9.97066234e-01 -5.94009057e-03 -5.28919650e+01] [-4.49788568e-02 2.50895915e-03 9.98984788e-01 -2.64006824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.540714057 meters 0.031953159014845994 Centerline is valid? [True, True] Translation: X:392.75, Y:-52.89, Z:-26.40 [[ 9.95767763e-01 8.00752113e-02 4.51056818e-02 3.92751063e+02] [-7.98853208e-02 9.96786004e-01 -5.99974680e-03 -5.28894275e+01] [-4.54411434e-02 2.37107259e-03 9.98964204e-01 -2.64015938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.57071405700003 meters 0.030991359129083827 Centerline is valid? [True, True] Translation: X:392.78, Y:-52.89, Z:-26.40 [[ 9.95304186e-01 8.57480735e-02 4.49093079e-02 3.92780890e+02] [-8.55656237e-02 9.96314634e-01 -5.97285999e-03 -5.28878445e+01] [-4.52559619e-02 2.10211961e-03 9.98973212e-01 -2.64034135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.600714057 meters 0.029095264478478607 Centerline is valid? [True, True] Translation: X:392.81, Y:-52.89, Z:-26.41 [[ 9.94952493e-01 8.98606684e-02 4.46609075e-02 3.92811639e+02] [-8.96844082e-02 9.95952527e-01 -5.93884758e-03 -5.28866498e+01] [-4.50138126e-02 1.90348415e-03 9.98984551e-01 -2.64055127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.630714057 meters 0.029248898120851675 Centerline is valid? [True, True] Translation: X:392.84, Y:-52.89, Z:-26.41 [[ 9.94922477e-01 9.02539461e-02 4.45363861e-02 3.92840262e+02] [-9.00790663e-02 9.95917009e-01 -5.92217659e-03 -5.28903823e+01] [-4.48890442e-02 1.88031053e-03 9.98990209e-01 -2.64077481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.660714057 meters 0.029954906918843834 Centerline is valid? [True, True] Translation: X:392.87, Y:-52.90, Z:-26.41 [[ 9.95082086e-01 8.88904605e-02 4.37050063e-02 3.92868199e+02] [-8.87208759e-02 9.96039591e-01 -5.80857080e-03 -5.28954985e+01] [-4.40482431e-02 1.90245832e-03 9.99027594e-01 -2.64107968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.690714057 meters 0.03042713315557822 Centerline is valid? [True, True] Translation: X:392.90, Y:-52.90, Z:-26.41 [[ 9.95297824e-01 8.68925929e-02 4.28009149e-02 3.92896987e+02] [-8.67282527e-02 9.96215784e-01 -5.68519083e-03 -5.29003665e+01] [-4.31329480e-02 1.94640950e-03 9.99067445e-01 -2.64131114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.720714057 meters 0.030941439571690564 Centerline is valid? [True, True] Translation: X:392.93, Y:-52.91, Z:-26.41 [[ 9.95801581e-01 8.11984083e-02 4.22614495e-02 3.92927433e+02] [-8.10331971e-02 9.96695612e-01 -5.61058375e-03 -5.29057285e+01] [-4.25773717e-02 2.16244780e-03 9.99090832e-01 -2.64144783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.750714057 meters 0.03323427494887269 Centerline is valid? [True, True] Translation: X:392.96, Y:-52.92, Z:-26.42 [[ 9.96033663e-01 7.81749566e-02 4.24925627e-02 3.92955167e+02] [-7.80051672e-02 9.96936991e-01 -5.64177694e-03 -5.29150390e+01] [-4.28034533e-02 2.30476029e-03 9.99080854e-01 -2.64165823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.780714057 meters 0.03517630501095108 Centerline is valid? [True, True] Translation: X:392.98, Y:-52.92, Z:-26.42 [[ 9.96525258e-01 7.11978847e-02 4.32235130e-02 3.92984272e+02] [-7.10157868e-02 9.97458700e-01 -5.73586556e-03 -5.29236827e+01] [-4.35220506e-02 2.64638312e-03 9.99048962e-01 -2.64175326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.810714057 meters 0.03789681983166811 Centerline is valid? [True, True] Translation: X:393.01, Y:-52.93, Z:-26.42 [[ 9.96750859e-01 6.78381125e-02 4.34248273e-02 3.93012162e+02] [-6.76511704e-02 9.97692398e-01 -5.76184076e-03 -5.29322670e+01] [-4.37154924e-02 2.80537934e-03 9.99040082e-01 -2.64189139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.840714057 meters 0.03860349823221587 Centerline is valid? [True, True] Translation: X:393.04, Y:-52.94, Z:-26.42 [[ 9.97114792e-01 6.18597222e-02 4.39939441e-02 3.93042523e+02] [-6.16620933e-02 9.98080018e-01 -5.83642462e-03 -5.29378418e+01] [-4.42705161e-02 3.10682663e-03 9.99014749e-01 -2.64197553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.870714057 meters 0.040699654305362494 Centerline is valid? [True, True] Translation: X:393.07, Y:-52.95, Z:-26.42 [[ 9.97367571e-01 5.74029982e-02 4.43037666e-02 3.93072430e+02] [-5.71981972e-02 9.98345541e-01 -5.87760886e-03 -5.29453514e+01] [-4.45678603e-02 3.32804089e-03 9.99000816e-01 -2.64209862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.900714057 meters 0.04235490957623305 Centerline is valid? [True, True] Translation: X:393.10, Y:-52.95, Z:-26.42 [[ 9.97487963e-01 5.55698458e-02 4.39289955e-02 3.93101559e+02] [-5.53667202e-02 9.98449077e-01 -5.82813783e-03 -5.29511473e+01] [-4.41847338e-02 3.38129292e-03 9.99017656e-01 -2.64232812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.930714057 meters 0.04354626629121541 Centerline is valid? [True, True] Translation: X:393.13, Y:-52.96, Z:-26.43 [[ 9.97559297e-01 5.45405819e-02 4.35978599e-02 3.93130972e+02] [-5.43395564e-02 9.98505764e-01 -5.78367419e-03 -5.29564375e+01] [-4.38481594e-02 3.40046960e-03 9.99032420e-01 -2.64258869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.960714057 meters 0.04096491117345157 Centerline is valid? [True, True] Translation: X:393.16, Y:-52.96, Z:-26.43 [[ 9.97568551e-01 5.46305585e-02 4.32722585e-02 3.93160614e+02] [-5.44326767e-02 9.98500950e-01 -5.73897016e-03 -5.29558620e+01] [-4.35209144e-02 3.36959129e-03 9.99046834e-01 -2.64275576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.990714057 meters 0.044636767830827914 Centerline is valid? [True, True] Translation: X:393.19, Y:-52.96, Z:-26.43 [[ 9.97535993e-01 5.62803265e-02 4.18863529e-02 3.93188481e+02] [-5.60964216e-02 9.98409908e-01 -5.55398153e-03 -5.29621084e+01] [-4.21323296e-02 3.19062197e-03 9.99106945e-01 -2.64304426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.020714057 meters 0.041070786699534394 Centerline is valid? [True, True] Translation: X:393.22, Y:-52.96, Z:-26.43 [[ 9.97486152e-01 5.74495293e-02 4.14840761e-02 3.93218010e+02] [-5.72702280e-02 9.98343571e-01 -5.49870985e-03 -5.29592710e+01] [-4.17312590e-02 3.10908443e-03 9.99124034e-01 -2.64311839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.050714057 meters 0.041004016009263775 Centerline is valid? [True, True] Translation: X:393.25, Y:-52.96, Z:-26.43 [[ 9.97336236e-01 5.96536736e-02 4.19746587e-02 3.93247611e+02] [-5.94721966e-02 9.98214477e-01 -5.56011319e-03 -5.29609055e+01] [-4.22313931e-02 3.04897720e-03 9.99103204e-01 -2.64329966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.080714057 meters 0.040369547850676375 Centerline is valid? [True, True] Translation: X:393.28, Y:-52.96, Z:-26.43 [[ 9.97228343e-01 6.11835528e-02 4.23344509e-02 3.93277089e+02] [-6.10003849e-02 9.98121998e-01 -5.60624326e-03 -5.29629247e+01] [-4.25979566e-02 3.00828687e-03 9.99087766e-01 -2.64343253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.110714057 meters 0.040177698031577266 Centerline is valid? [True, True] Translation: X:393.31, Y:-52.96, Z:-26.44 [[ 9.97017772e-01 6.39895545e-02 4.31381382e-02 3.93305639e+02] [-6.38020305e-02 9.97946232e-01 -5.71133904e-03 -5.29641019e+01] [-4.34150085e-02 2.94200572e-03 9.99052792e-01 -2.64355860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.140714057 meters 0.03992291883408456 Centerline is valid? [True, True] Translation: X:393.33, Y:-52.97, Z:-26.44 [[ 9.96906457e-01 6.54517866e-02 4.35152812e-02 3.93334064e+02] [-6.52624446e-02 9.97851515e-01 -5.75917266e-03 -5.29662375e+01] [-4.37987374e-02 2.90144278e-03 9.99036162e-01 -2.64367860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.170714057 meters 0.03996803697805963 Centerline is valid? [True, True] Translation: X:393.36, Y:-52.97, Z:-26.44 [[ 9.96711434e-01 6.77655595e-02 4.44313744e-02 3.93363048e+02] [-6.75706051e-02 9.97697187e-01 -5.87677919e-03 -5.29666592e+01] [-4.47273004e-02 2.85519816e-03 9.98995153e-01 -2.64376808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.200714057 meters 0.03957424109004198 Centerline is valid? [True, True] Translation: X:393.39, Y:-52.97, Z:-26.44 [[ 9.96630430e-01 6.87784231e-02 4.46913344e-02 3.93391877e+02] [-6.85822430e-02 9.97627960e-01 -5.91004132e-03 -5.29692424e+01] [-4.49918081e-02 2.82509507e-03 9.98983361e-01 -2.64389755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.230714057 meters 0.040399725449165085 Centerline is valid? [True, True] Translation: X:393.42, Y:-52.97, Z:-26.44 [[ 9.96569334e-01 6.94895770e-02 4.49528785e-02 3.93419239e+02] [-6.92919450e-02 9.97578730e-01 -5.94170079e-03 -5.29733001e+01] [-4.52569217e-02 2.80644441e-03 9.98971438e-01 -2.64412349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.26071405700003 meters 0.04093161317894615 Centerline is valid? [True, True] Translation: X:393.45, Y:-52.98, Z:-26.44 [[ 9.96605431e-01 6.88521492e-02 4.51330908e-02 3.93447489e+02] [-6.86524644e-02 9.97622825e-01 -5.96140601e-03 -5.29779360e+01] [-4.54362571e-02 2.84267170e-03 9.98963195e-01 -2.64427100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.290714057 meters 0.041524719507616555 Centerline is valid? [True, True] Translation: X:393.48, Y:-52.98, Z:-26.44 [[ 9.96670455e-01 6.81378166e-02 4.47799241e-02 3.93475447e+02] [-6.79406556e-02 9.97671848e-01 -5.91196324e-03 -5.29821511e+01] [-4.50784979e-02 2.84990170e-03 9.98979383e-01 -2.64445347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.32071405700003 meters 0.03748097105411278 Centerline is valid? [True, True] Translation: X:393.50, Y:-52.98, Z:-26.45 [[ 9.96751047e-01 6.72319324e-02 4.43533310e-02 3.93504315e+02] [-6.70377829e-02 9.97733276e-01 -5.85200442e-03 -5.29801749e+01] [-4.46462358e-02 2.85964256e-03 9.98998767e-01 -2.64454709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.350714057 meters 0.042403344360989165 Centerline is valid? [True, True] Translation: X:393.53, Y:-52.99, Z:-26.45 [[ 9.96766832e-01 6.70639234e-02 4.42528333e-02 3.93530515e+02] [-6.68706650e-02 9.97744591e-01 -5.83479007e-03 -5.29922874e+01] [-4.45443290e-02 2.85670882e-03 9.99003324e-01 -2.64488793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.380714057 meters 0.0405379673581057 Centerline is valid? [True, True] Translation: X:393.56, Y:-52.99, Z:-26.45 [[ 9.96817065e-01 6.67625249e-02 4.35718174e-02 3.93559357e+02] [-6.65750655e-02 9.97764903e-01 -5.74093099e-03 -5.29940406e+01] [-4.38577092e-02 2.82186138e-03 9.99033802e-01 -2.64508315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.410714057 meters 0.042957960628033365 Centerline is valid? [True, True] Translation: X:393.59, Y:-53.00, Z:-26.45 [[ 9.96798283e-01 6.70149677e-02 4.36139540e-02 3.93585789e+02] [-6.68275057e-02 9.97748011e-01 -5.74375515e-03 -5.30019043e+01] [-4.39006534e-02 2.81075351e-03 9.99031948e-01 -2.64533459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.440714057 meters 0.03701975508022284 Centerline is valid? [True, True] Translation: X:393.62, Y:-53.00, Z:-26.45 [[ 9.96728009e-01 6.80351591e-02 4.36404922e-02 3.93615787e+02] [-6.78486237e-02 9.97679097e-01 -5.74311875e-03 -5.29962006e+01] [-4.39299408e-02 2.76337998e-03 9.99030792e-01 -2.64525141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.470714057 meters 0.03552822586412653 Centerline is valid? [True, True] Translation: X:393.64, Y:-53.00, Z:-26.45 [[ 9.96662679e-01 6.89500458e-02 4.36966264e-02 3.93644444e+02] [-6.87640424e-02 9.97616396e-01 -5.74738648e-03 -5.29971746e+01] [-4.39887535e-02 2.72344893e-03 9.99028314e-01 -2.64534369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.500714057 meters 0.03648940999872135 Centerline is valid? [True, True] Translation: X:393.67, Y:-53.00, Z:-26.46 [[ 9.96459608e-01 7.21265136e-02 4.31973929e-02 3.93672678e+02] [-7.19478739e-02 9.97392232e-01 -5.67798215e-03 -5.30014361e+01] [-4.34942771e-02 2.54991930e-03 9.99050422e-01 -2.64552904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.530714057 meters 0.03423006966682142 Centerline is valid? [True, True] Translation: X:393.70, Y:-53.00, Z:-26.46 [[ 9.96311800e-01 7.40028986e-02 4.34323451e-02 3.93701546e+02] [-7.38241052e-02 9.97254940e-01 -5.70839790e-03 -5.30014704e+01] [-4.37355587e-02 2.48099018e-03 9.99040062e-01 -2.64563706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.560714057 meters 0.03522731703442488 Centerline is valid? [True, True] Translation: X:393.73, Y:-53.01, Z:-26.46 [[ 9.96044723e-01 7.71258896e-02 4.41192416e-02 3.93729670e+02] [-7.69445964e-02 9.97018528e-01 -5.79524331e-03 -5.30067960e+01] [-4.44346646e-02 2.37758427e-03 9.99009463e-01 -2.64580287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.590714057 meters 0.03192261751582814 Centerline is valid? [True, True] Translation: X:393.76, Y:-53.00, Z:-26.46 [[ 9.95884231e-01 7.88983207e-02 4.46055245e-02 3.93759415e+02] [-7.87148855e-02 9.96879966e-01 -5.85671936e-03 -5.30044781e+01] [-4.49284391e-02 2.32149571e-03 9.98987510e-01 -2.64580246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.620714057 meters 0.03419339081611199 Centerline is valid? [True, True] Translation: X:393.79, Y:-53.01, Z:-26.46 [[ 9.95567640e-01 8.22485690e-02 4.56097160e-02 3.93787148e+02] [-8.20603964e-02 9.96609381e-01 -5.98600931e-03 -5.30127492e+01] [-4.59474116e-02 2.21672579e-03 9.98941400e-01 -2.64596305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.650714057 meters 0.03063628917534868 Centerline is valid? [True, True] Translation: X:393.82, Y:-53.01, Z:-26.46 [[ 9.95439937e-01 8.35691299e-02 4.59949262e-02 3.93816281e+02] [-8.33792747e-02 9.96499616e-01 -6.03427134e-03 -5.30109051e+01] [-4.63382051e-02 2.17173109e-03 9.98923448e-01 -2.64594470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.680714057 meters 0.03090645408916192 Centerline is valid? [True, True] Translation: X:393.84, Y:-53.02, Z:-26.46 [[ 9.95188225e-01 8.58669118e-02 4.71939581e-02 3.93844899e+02] [-8.56697815e-02 9.96304372e-01 -6.18769435e-03 -5.30171378e+01] [-4.75508650e-02 2.11482448e-03 9.98866579e-01 -2.64608367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.710714057 meters 0.02953117608803074 Centerline is valid? [True, True] Translation: X:393.87, Y:-53.02, Z:-26.46 [[ 9.94982868e-01 8.77356905e-02 4.80784861e-02 3.93873925e+02] [-8.75333480e-02 9.96141655e-01 -6.30207735e-03 -5.30220094e+01] [-4.84458999e-02 2.06198814e-03 9.98823680e-01 -2.64621531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.740714057 meters 0.028604469616666565 Centerline is valid? [True, True] Translation: X:393.90, Y:-53.03, Z:-26.46 [[ 9.94918141e-01 8.81944722e-02 4.85760033e-02 3.93902529e+02] [-8.79885825e-02 9.96101149e-01 -6.36483302e-03 -5.30252490e+01] [-4.89479558e-02 2.05835416e-03 9.98799209e-01 -2.64634847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.770714057 meters 0.030607013729687327 Centerline is valid? [True, True] Translation: X:393.93, Y:-53.04, Z:-26.47 [[ 9.94897741e-01 8.84199094e-02 4.85839976e-02 3.93929045e+02] [-8.82143670e-02 9.96081191e-01 -6.36288283e-03 -5.30361836e+01] [-4.89562117e-02 2.04461116e-03 9.98798833e-01 -2.64660177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.800714057 meters 0.029394013917454408 Centerline is valid? [True, True] Translation: X:393.96, Y:-53.04, Z:-26.47 [[ 9.94950797e-01 8.78590135e-02 4.85150107e-02 3.93957245e+02] [-8.76537354e-02 9.96130785e-01 -6.34678371e-03 -5.30422131e+01] [-4.88849179e-02 2.06221559e-03 9.98802289e-01 -2.64679122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.830714057 meters 0.03153172250974996 Centerline is valid? [True, True] Translation: X:393.98, Y:-53.05, Z:-26.47 [[ 9.95044684e-01 8.69886375e-02 4.81565578e-02 3.93984041e+02] [-8.67855244e-02 9.96207119e-01 -6.29665501e-03 -5.30520143e+01] [-4.85216431e-02 2.08616097e-03 9.98819953e-01 -2.64708772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.860714057 meters 0.03153172250974996 Centerline is valid? [True, True] Translation: X:394.01, Y:-53.06, Z:-26.47 [[ 9.95053410e-01 8.68884713e-02 4.81570878e-02 3.94011261e+02] [-8.66854372e-02 9.96215859e-01 -6.29259830e-03 -5.30554740e+01] [-4.85216089e-02 2.08695318e-03 9.98819953e-01 -2.64724690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.890714057 meters 0.028447126730057726 Centerline is valid? [True, True] Translation: X:394.04, Y:-53.06, Z:-26.47 [[ 9.95268426e-01 8.45568860e-02 4.78632709e-02 3.94040990e+02] [-8.43538989e-02 9.96416265e-01 -6.24872323e-03 -5.30587679e+01] [-4.82201142e-02 2.18170342e-03 9.98834351e-01 -2.64741301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.920714057 meters 0.03142859479601213 Centerline is valid? [True, True] Translation: X:394.07, Y:-53.07, Z:-26.48 [[ 9.95398644e-01 8.30517994e-02 4.77905628e-02 3.94067368e+02] [-8.28477586e-02 9.96542692e-01 -6.23799253e-03 -5.30701892e+01] [-4.81434126e-02 2.24994830e-03 9.98837900e-01 -2.64767311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.950714057 meters 0.031241461720064593 Centerline is valid? [True, True] Translation: X:394.10, Y:-53.08, Z:-26.48 [[ 9.95776489e-01 7.83398965e-02 4.78752927e-02 3.94096483e+02] [-7.81299412e-02 9.96923630e-01 -6.24404477e-03 -5.30780904e+01] [-4.82171685e-02 2.47717917e-03 9.98833804e-01 -2.64774212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.980714057 meters 0.03373964257705594 Centerline is valid? [True, True] Translation: X:394.12, Y:-53.09, Z:-26.48 [[ 9.95935483e-01 7.59609631e-02 4.83988166e-02 3.94124212e+02] [-7.57436341e-02 9.97107351e-01 -6.31135032e-03 -5.30886593e+01] [-4.87382320e-02 2.61979548e-03 9.98808150e-01 -2.64796134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.01071405700003 meters 0.036089078673320625 Centerline is valid? [True, True] Translation: X:394.15, Y:-53.10, Z:-26.48 [[ 9.96274729e-01 7.12675193e-02 4.85551823e-02 3.94152283e+02] [-7.10433698e-02 9.97453150e-01 -6.32883266e-03 -5.31006045e+01] [-4.88825597e-02 2.85573227e-03 9.98800451e-01 -2.64816614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.040714057 meters 0.03661186047454897 Centerline is valid? [True, True] Translation: X:394.18, Y:-53.11, Z:-26.48 [[ 9.96408520e-01 6.95542872e-02 4.82934948e-02 3.94180688e+02] [-6.93305800e-02 9.97573885e-01 -6.29401336e-03 -5.31076067e+01] [-4.86141048e-02 2.92319253e-03 9.98813358e-01 -2.64832862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.07071405700003 meters 0.04096735393158023 Centerline is valid? [True, True] Translation: X:394.21, Y:-53.12, Z:-26.49 [[ 9.96680687e-01 6.62120803e-02 4.73663198e-02 3.94207886e+02] [-6.59932667e-02 9.97800990e-01 -6.17030898e-03 -5.31208656e+01] [-4.76707098e-02 3.02396961e-03 9.98858528e-01 -2.64862392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.100714057 meters 0.039910319670860006 Centerline is valid? [True, True] Translation: X:394.24, Y:-53.13, Z:-26.49 [[ 9.96761752e-01 6.47168467e-02 4.77256650e-02 3.94236698e+02] [-6.44929895e-02 9.97898793e-01 -6.21715724e-03 -5.31254682e+01] [-4.80277383e-02 3.11905373e-03 9.98841132e-01 -2.64880323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.130714057 meters 0.03669523964078085 Centerline is valid? [True, True] Translation: X:394.27, Y:-53.13, Z:-26.49 [[ 9.96752804e-01 6.36591186e-02 4.93088738e-02 3.94265897e+02] [-6.34189973e-02 9.97966335e-01 -6.42062751e-03 -5.31287305e+01] [-4.96173276e-02 3.27265913e-03 9.98762940e-01 -2.64877725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.160714057 meters 0.03738270932534334 Centerline is valid? [True, True] Translation: X:394.30, Y:-53.13, Z:-26.49 [[ 9.96764204e-01 6.31774247e-02 4.96964314e-02 3.94295257e+02] [-6.29330049e-02 9.97996786e-01 -6.46928247e-03 -5.31349786e+01] [-5.00055915e-02 3.32080342e-03 9.98743417e-01 -2.64887869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.190714057 meters 0.03821323900375726 Centerline is valid? [True, True] Translation: X:394.32, Y:-53.14, Z:-26.49 [[ 9.96732339e-01 6.28407737e-02 5.07511648e-02 3.94324181e+02] [-6.25855250e-02 9.98017751e-01 -6.60459340e-03 -5.31437386e+01] [-5.10656011e-02 3.40672353e-03 9.98689491e-01 -2.64895313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.220714057 meters 0.038732398809849744 Centerline is valid? [True, True] Translation: X:394.35, Y:-53.15, Z:-26.49 [[ 9.96724390e-01 6.32277841e-02 5.04255566e-02 3.94352545e+02] [-6.29763419e-02 9.97993452e-01 -6.56132619e-03 -5.31509437e+01] [-5.07392334e-02 3.36421675e-03 9.98706269e-01 -2.64917676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.250714057 meters 0.036407005429879825 Centerline is valid? [True, True] Translation: X:394.38, Y:-53.15, Z:-26.49 [[ 9.96712807e-01 6.36431773e-02 5.01310861e-02 3.94382897e+02] [-6.33952400e-02 9.97967187e-01 -6.52200107e-03 -5.31532358e+01] [-5.04442598e-02 3.32248976e-03 9.98721351e-01 -2.64935201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.280714057 meters 0.03546986192797249 Centerline is valid? [True, True] Translation: X:394.41, Y:-53.16, Z:-26.50 [[ 9.96679153e-01 6.47505663e-02 4.93764032e-02 3.94412926e+02] [-6.45113976e-02 9.97896294e-01 -6.42381763e-03 -5.31588991e+01] [-4.96884756e-02 3.21714434e-03 9.98759583e-01 -2.64962919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.310714057 meters 0.035191628094606575 Centerline is valid? [True, True] Translation: X:394.44, Y:-53.16, Z:-26.50 [[ 9.96647812e-01 6.55604138e-02 4.89384416e-02 3.94442628e+02] [-6.53264449e-02 9.97843635e-01 -6.36683929e-03 -5.31635790e+01] [-4.92503250e-02 3.14852203e-03 9.98781504e-01 -2.64985890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.340714057 meters 0.03616041408743902 Centerline is valid? [True, True] Translation: X:394.47, Y:-53.17, Z:-26.50 [[ 9.96580565e-01 6.67230833e-02 4.87360958e-02 3.94471843e+02] [-6.64924232e-02 9.97766783e-01 -6.34067024e-03 -5.31695946e+01] [-4.90503266e-02 3.07840762e-03 9.98791564e-01 -2.65006702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.370714057 meters 0.03542627676204217 Centerline is valid? [True, True] Translation: X:394.50, Y:-53.17, Z:-26.50 [[ 9.96498949e-01 6.85700742e-02 4.78329318e-02 3.94501424e+02] [-6.83500427e-02 9.97641996e-01 -6.22249085e-03 -5.31733246e+01] [-4.81468182e-02 2.93132266e-03 9.98835968e-01 -2.65029412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.400714057 meters 0.03483896382366519 Centerline is valid? [True, True] Translation: X:394.53, Y:-53.18, Z:-26.50 [[ 9.96314769e-01 7.12844614e-02 4.77012210e-02 3.94529949e+02] [-7.10688206e-02 9.97452123e-01 -6.20365160e-03 -5.31779919e+01] [-4.80219082e-02 2.79072019e-03 9.98842384e-01 -2.65048733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.430714057 meters 0.0345296977332059 Centerline is valid? [True, True] Translation: X:394.56, Y:-53.18, Z:-26.51 [[ 9.96211055e-01 7.25580610e-02 4.79464358e-02 3.94558986e+02] [-7.23417391e-02 9.97360421e-01 -6.23399744e-03 -5.31816880e+01] [-4.82722042e-02 2.74184861e-03 9.98830454e-01 -2.65059314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.460714057 meters 0.03331930680922114 Centerline is valid? [True, True] Translation: X:394.59, Y:-53.18, Z:-26.51 [[ 9.95979325e-01 7.50917848e-02 4.88508676e-02 3.94588312e+02] [-7.48703910e-02 9.97173063e-01 -6.34878357e-03 -5.31849061e+01] [-4.91895108e-02 2.66577362e-03 9.98785906e-01 -2.65060283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.490714057 meters 0.03251542740398186 Centerline is valid? [True, True] Translation: X:394.62, Y:-53.19, Z:-26.51 [[ 9.95722427e-01 7.79627629e-02 4.95848439e-02 3.94617840e+02] [-7.77382960e-02 9.96952984e-01 -6.44237892e-03 -5.31876463e+01] [-4.99360238e-02 2.56017989e-03 9.98749137e-01 -2.65069389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.520714057 meters 0.032262753794637784 Centerline is valid? [True, True] Translation: X:394.65, Y:-53.19, Z:-26.51 [[ 9.95580703e-01 7.95419163e-02 4.99214085e-02 3.94646429e+02] [-7.93164439e-02 9.96828396e-01 -6.48459042e-03 -5.31913151e+01] [-5.02788743e-02 2.49634449e-03 9.98732098e-01 -2.65086420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.550714057 meters 0.03194714606295375 Centerline is valid? [True, True] Translation: X:394.67, Y:-53.20, Z:-26.51 [[ 9.95445685e-01 8.13039813e-02 4.97750027e-02 3.94673660e+02] [-8.10821949e-02 9.96686469e-01 -6.46222076e-03 -5.31953312e+01] [-5.01354759e-02 2.39692330e-03 9.98739550e-01 -2.65107934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.580714057 meters 0.03082083540457365 Centerline is valid? [True, True] Translation: X:394.70, Y:-53.20, Z:-26.51 [[ 9.95415642e-01 8.16792597e-02 4.97614098e-02 3.94701900e+02] [-8.14582854e-02 9.96655842e-01 -6.45600347e-03 -5.31977456e+01] [-5.01223214e-02 2.37292772e-03 9.98740268e-01 -2.65121848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.610714057 meters 0.029910583592421002 Centerline is valid? [True, True] Translation: X:394.73, Y:-53.20, Z:-26.51 [[ 9.95469918e-01 8.09493494e-02 4.98682690e-02 3.94730549e+02] [-8.07266882e-02 9.96715299e-01 -6.46634333e-03 -5.32005853e+01] [-5.02279130e-02 2.41135006e-03 9.98734871e-01 -2.65132516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.640714057 meters 0.030024131884278576 Centerline is valid? [True, True] Translation: X:394.76, Y:-53.21, Z:-26.52 [[ 9.95525762e-01 7.99893061e-02 5.03007767e-02 3.94758890e+02] [-7.97617274e-02 9.96792643e-01 -6.51873442e-03 -5.32050152e+01] [-5.06608732e-02 2.47749121e-03 9.98712841e-01 -2.65150478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.670714057 meters 0.0353549746635886 Centerline is valid? [True, True] Translation: X:394.79, Y:-53.22, Z:-26.52 [[ 9.95758744e-01 7.71046709e-02 5.01935616e-02 3.94785472e+02] [-7.68746036e-02 9.97019575e-01 -6.50098193e-03 -5.32181127e+01] [-5.05452196e-02 2.61479944e-03 9.98718350e-01 -2.65177332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.700714057 meters 0.03824506845218836 Centerline is valid? [True, True] Translation: X:394.81, Y:-53.23, Z:-26.52 [[ 9.96102570e-01 7.28470501e-02 4.97290299e-02 3.94813354e+02] [-7.26160569e-02 9.97339188e-01 -6.43842797e-03 -5.32276009e+01] [-5.00657308e-02 2.80220859e-03 9.98741994e-01 -2.65199210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.730714057 meters 0.034480007665599915 Centerline is valid? [True, True] Translation: X:394.84, Y:-53.23, Z:-26.52 [[ 9.96245363e-01 7.08483008e-02 4.97563616e-02 3.94843578e+02] [-7.06145643e-02 9.97482874e-01 -6.44207894e-03 -5.32265115e+01] [-5.00875289e-02 2.90436748e-03 9.98740609e-01 -2.65209911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.76071405700003 meters 0.03675375071096474 Centerline is valid? [True, True] Translation: X:394.87, Y:-53.24, Z:-26.52 [[ 9.96572248e-01 6.66436368e-02 4.90140746e-02 3.94872691e+02] [-6.64118605e-02 9.97772127e-01 -6.34401770e-03 -5.32351716e+01] [-4.93276659e-02 3.06715610e-03 9.98777940e-01 -2.65234465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.790714057 meters 0.037646511582296635 Centerline is valid? [True, True] Translation: X:394.90, Y:-53.24, Z:-26.53 [[ 9.96649871e-01 6.50728832e-02 4.95434671e-02 3.94902282e+02] [-6.48341555e-02 9.97875451e-01 -6.41214691e-03 -5.32413527e+01] [-4.98554665e-02 3.17855654e-03 9.98751385e-01 -2.65252082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.82071405700003 meters 0.038251968369021325 Centerline is valid? [True, True] Translation: X:394.93, Y:-53.25, Z:-26.53 [[ 9.96787168e-01 6.20918799e-02 5.05958510e-02 3.94933009e+02] [-6.18390769e-02 9.98064652e-01 -6.54820877e-03 -5.32467793e+01] [-5.09045210e-02 3.39836976e-03 9.98697742e-01 -2.65258533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.850714057 meters 0.04111847757343226 Centerline is valid? [True, True] Translation: X:394.96, Y:-53.25, Z:-26.53 [[ 9.96848608e-01 6.05200497e-02 5.12852402e-02 3.94962837e+02] [-6.02581912e-02 9.98160751e-01 -6.63824812e-03 -5.32546259e+01] [-5.15926610e-02 3.52697259e-03 9.98661984e-01 -2.65275716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.880714057 meters 0.0385201490282622 Centerline is valid? [True, True] Translation: X:394.99, Y:-53.25, Z:-26.53 [[ 9.96943229e-01 5.83136208e-02 5.19972997e-02 3.94994205e+02] [-5.80413541e-02 9.98291480e-01 -6.73219258e-03 -5.32549504e+01] [-5.23010398e-02 3.69362012e-03 9.98624533e-01 -2.65281678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.910714057 meters 0.038489436144004394 Centerline is valid? [True, True] Translation: X:395.03, Y:-53.26, Z:-26.53 [[ 9.96990579e-01 5.73035845e-02 5.22119165e-02 3.95025572e+02] [-5.70275593e-02 9.98349702e-01 -6.76238521e-03 -5.32596459e+01] [-5.25132602e-02 3.76451618e-03 9.98613131e-01 -2.65297807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.940714057 meters 0.040467822918942804 Centerline is valid? [True, True] Translation: X:395.06, Y:-53.27, Z:-26.53 [[ 9.97191955e-01 5.43120478e-02 5.15597354e-02 3.95055225e+02] [-5.40385254e-02 9.98516472e-01 -6.68528643e-03 -5.32666227e+01] [-5.18463367e-02 3.88030178e-03 9.98647536e-01 -2.65322571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.970714057 meters 0.04235212311693695 Centerline is valid? [True, True] Translation: X:395.08, Y:-53.27, Z:-26.53 [[ 9.97448452e-01 5.07909927e-02 5.01683327e-02 3.95084841e+02] [-5.05275758e-02 9.98701476e-01 -6.50583892e-03 -5.32737426e+01] [-5.04336259e-02 3.95435472e-03 9.98719587e-01 -2.65346896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.000714057 meters 0.04040239969371496 Centerline is valid? [True, True] Translation: X:395.12, Y:-53.28, Z:-26.54 [[ 9.97516020e-01 4.96005979e-02 5.00156968e-02 3.95116763e+02] [-4.93373771e-02 9.98761120e-01 -6.48445747e-03 -5.32754566e+01] [-5.02753663e-02 4.00070692e-03 9.98727381e-01 -2.65366713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.030714057 meters 0.04550477945814171 Centerline is valid? [True, True] Translation: X:395.15, Y:-53.29, Z:-26.54 [[ 9.97669496e-01 4.70452482e-02 4.94198435e-02 3.95145033e+02] [-4.67844802e-02 9.98884371e-01 -6.42078746e-03 -5.32862027e+01] [-4.96667768e-02 4.09374210e-03 9.98757454e-01 -2.65395780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.060714057 meters 0.046276995006208854 Centerline is valid? [True, True] Translation: X:395.18, Y:-53.29, Z:-26.54 [[ 9.97676440e-01 4.69185484e-02 4.94001039e-02 3.95176709e+02] [-4.66579329e-02 9.98890319e-01 -6.41624910e-03 -5.32917274e+01] [-4.96463266e-02 4.09643384e-03 9.98758460e-01 -2.65418397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.090714057 meters 0.045177137155478664 Centerline is valid? [True, True] Translation: X:395.21, Y:-53.29, Z:-26.54 [[ 9.97584100e-01 4.85790905e-02 4.96591992e-02 3.95207940e+02] [-4.83170731e-02 9.98811132e-01 -6.46391026e-03 -5.32939329e+01] [-4.99141718e-02 4.04890694e-03 9.98745304e-01 -2.65434289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.120714057 meters 0.040596091328528636 Centerline is valid? [True, True] Translation: X:395.24, Y:-53.29, Z:-26.54 [[ 9.97357798e-01 5.31166288e-02 4.95585066e-02 3.95239838e+02] [-5.28611408e-02 9.98581024e-01 -6.45270878e-03 -5.32885547e+01] [-4.98309305e-02 3.81594023e-03 9.98750378e-01 -2.65444546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.150714057 meters 0.04012622933495792 Centerline is valid? [True, True] Translation: X:395.27, Y:-53.29, Z:-26.55 [[ 9.97216594e-01 5.55866159e-02 4.96909758e-02 3.95270813e+02] [-5.53327617e-02 9.98447001e-01 -6.47082873e-03 -5.32906033e+01] [-4.99734973e-02 3.70327886e-03 9.98743678e-01 -2.65462955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.180714057 meters 0.03840146045183975 Centerline is valid? [True, True] Translation: X:395.30, Y:-53.29, Z:-26.55 [[ 9.97055536e-01 5.85853788e-02 4.94773856e-02 3.95301456e+02] [-5.83373227e-02 9.98276130e-01 -6.44404655e-03 -5.32904174e+01] [-4.97696200e-02 3.53869407e-03 9.98754456e-01 -2.65478135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.210714057 meters 0.037818021629598825 Centerline is valid? [True, True] Translation: X:395.33, Y:-53.29, Z:-26.55 [[ 9.96682971e-01 6.43929485e-02 4.97654781e-02 3.95331614e+02] [-6.41491901e-02 9.97919271e-01 -6.48157829e-03 -5.32902663e+01] [-5.00792976e-02 3.26766359e-03 9.98739899e-01 -2.65495818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.240714057 meters 0.03683113536398477 Centerline is valid? [True, True] Translation: X:395.36, Y:-53.29, Z:-26.55 [[ 9.96359553e-01 6.83888171e-02 5.08980380e-02 3.95361619e+02] [-6.81390117e-02 9.97653813e-01 -6.62911366e-03 -5.32900222e+01] [-5.12319789e-02 3.13683872e-03 9.98681854e-01 -2.65499080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.270714057 meters 0.034348253542486405 Centerline is valid? [True, True] Translation: X:395.39, Y:-53.29, Z:-26.55 [[ 9.96237546e-01 6.96841876e-02 5.15253996e-02 3.95391754e+02] [-6.94299418e-02 9.97564262e-01 -6.71009591e-03 -5.32890180e+01] [-5.18674848e-02 3.10744399e-03 9.98649142e-01 -2.65507354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.300714057 meters 0.03432962039484263 Centerline is valid? [True, True] Translation: X:395.42, Y:-53.29, Z:-26.55 [[ 9.96166006e-01 7.02516617e-02 5.21343725e-02 3.95421781e+02] [-6.99922380e-02 9.97524444e-01 -6.78749007e-03 -5.32907617e+01] [-5.24821434e-02 3.11246546e-03 9.98617012e-01 -2.65517406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.330714057 meters 0.034389891504879554 Centerline is valid? [True, True] Translation: X:395.45, Y:-53.29, Z:-26.55 [[ 9.96173223e-01 7.03948624e-02 5.18022425e-02 3.95451457e+02] [-7.01390273e-02 9.97514440e-01 -6.74238884e-03 -5.32943429e+01] [-5.21481144e-02 3.08322833e-03 9.98634602e-01 -2.65535554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.360714057 meters 0.034289840374846295 Centerline is valid? [True, True] Translation: X:395.48, Y:-53.30, Z:-26.56 [[ 9.96256109e-01 7.00762442e-02 5.06269219e-02 3.95481364e+02] [-6.98315791e-02 9.97537044e-01 -6.58764417e-03 -5.32960662e+01] [-5.09638674e-02 3.02762285e-03 9.98695909e-01 -2.65565994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.390714057 meters 0.033741937019161096 Centerline is valid? [True, True] Translation: X:395.51, Y:-53.30, Z:-26.56 [[ 9.96278058e-01 7.09218402e-02 4.89910612e-02 3.95510937e+02] [-7.06938485e-02 9.97477701e-01 -6.37308143e-03 -5.32970570e+01] [-4.93194818e-02 2.88599453e-03 9.98778884e-01 -2.65597905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.420714057 meters 0.03286821456116058 Centerline is valid? [True, True] Translation: X:395.54, Y:-53.30, Z:-26.56 [[ 9.96251610e-01 7.17665237e-02 4.82938401e-02 3.95539844e+02] [-7.15460372e-02 9.97417522e-01 -6.28099671e-03 -5.32982382e+01] [-4.86198876e-02 2.80222021e-03 9.98813423e-01 -2.65616404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.450714057 meters 0.032890995902477724 Centerline is valid? [True, True] Translation: X:395.57, Y:-53.30, Z:-26.56 [[ 9.96046167e-01 7.41453775e-02 4.89335987e-02 3.95568223e+02] [-7.39220508e-02 9.97243739e-01 -6.36041852e-03 -5.33006642e+01] [-4.92703205e-02 2.71799852e-03 9.98781782e-01 -2.65632614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.480714057 meters 0.0326546167412303 Centerline is valid? [True, True] Translation: X:395.60, Y:-53.30, Z:-26.56 [[ 9.95952758e-01 7.51411701e-02 4.93143899e-02 3.95596987e+02] [-7.49156943e-02 9.97169286e-01 -6.40735053e-03 -5.33023529e+01] [-4.96562507e-02 2.68699667e-03 9.98762753e-01 -2.65642832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.51071405700003 meters 0.03220709354986791 Centerline is valid? [True, True] Translation: X:395.63, Y:-53.30, Z:-26.56 [[ 9.95794524e-01 7.67209013e-02 5.00716416e-02 3.95625894e+02] [-7.64906152e-02 9.97049100e-01 -6.50208165e-03 -5.33029602e+01] [-5.04227308e-02 2.64472663e-03 9.98724463e-01 -2.65645368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.540714057 meters 0.03295493537627793 Centerline is valid? [True, True] Translation: X:395.65, Y:-53.31, Z:-26.57 [[ 9.95654376e-01 7.72841702e-02 5.19569085e-02 3.95653799e+02] [-7.70371597e-02 9.97005419e-01 -6.74311432e-03 -5.33063020e+01] [-5.23224553e-02 2.71119862e-03 9.98626562e-01 -2.65652258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.57071405700003 meters 0.03033578474452785 Centerline is valid? [True, True] Translation: X:395.68, Y:-53.31, Z:-26.57 [[ 9.95564162e-01 7.78390753e-02 5.28495674e-02 3.95683170e+02] [-7.75845336e-02 9.96962217e-01 -6.85409295e-03 -5.33053215e+01] [-5.32225381e-02 2.72338026e-03 9.98578963e-01 -2.65656712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.600714057 meters 0.03133128797596301 Centerline is valid? [True, True] Translation: X:395.71, Y:-53.31, Z:-26.57 [[ 9.95480884e-01 7.81008605e-02 5.40191189e-02 3.95710172e+02] [-7.78355163e-02 9.96941627e-01 -7.00178666e-03 -5.33100221e+01] [-5.44007539e-02 2.76553876e-03 9.98515353e-01 -2.65666112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.630714057 meters 0.0309754046437545 Centerline is valid? [True, True] Translation: X:395.74, Y:-53.31, Z:-26.57 [[ 9.95400176e-01 7.84620985e-02 5.49744399e-02 3.95739336e+02] [-7.81881222e-02 9.96913196e-01 -7.12023264e-03 -5.33116993e+01] [-5.53634129e-02 2.78913260e-03 9.98462374e-01 -2.65681773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.660714057 meters 0.03283882937933135 Centerline is valid? [True, True] Translation: X:395.77, Y:-53.32, Z:-26.57 [[ 9.95450134e-01 7.82903724e-02 5.43106607e-02 3.95766115e+02] [-7.80229340e-02 9.96926775e-01 -7.03044883e-03 -5.33174767e+01] [-5.46941683e-02 2.76098414e-03 9.98499336e-01 -2.65703211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.690714057 meters 0.03290144096578108 Centerline is valid? [True, True] Translation: X:395.79, Y:-53.32, Z:-26.57 [[ 9.95513032e-01 7.76729365e-02 5.40436633e-02 3.95794758e+02] [-7.74075094e-02 9.96975030e-01 -6.99052944e-03 -5.33213328e+01] [-5.44231578e-02 2.77577779e-03 9.98514104e-01 -2.65725989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.720714057 meters 0.03391458802944458 Centerline is valid? [True, True] Translation: X:395.82, Y:-53.33, Z:-26.58 [[ 9.95776212e-01 7.48852704e-02 5.31218544e-02 3.95823881e+02] [-7.46250814e-02 9.97188014e-01 -6.86747805e-03 -5.33277476e+01] [-5.34867494e-02 2.87424857e-03 9.98564423e-01 -2.65758652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.750714057 meters 0.03391458802944458 Centerline is valid? [True, True] Translation: X:395.85, Y:-53.33, Z:-26.58 [[ 9.95781362e-01 7.48166063e-02 5.31220722e-02 3.95851956e+02] [-7.45564096e-02 9.97193162e-01 -6.86579282e-03 -5.33313135e+01] [-5.34866425e-02 2.87623756e-03 9.98564423e-01 -2.65775059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.780714057 meters 0.032957975761674654 Centerline is valid? [True, True] Translation: X:395.88, Y:-53.33, Z:-26.58 [[ 9.95927909e-01 7.28522042e-02 5.31051483e-02 3.95880870e+02] [-7.25895938e-02 9.97338305e-01 -6.85981450e-03 -5.33340508e+01] [-5.34635512e-02 2.97699956e-03 9.98565364e-01 -2.65797076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.810714057 meters 0.03501001044744519 Centerline is valid? [True, True] Translation: X:395.91, Y:-53.34, Z:-26.58 [[ 9.96197850e-01 6.91800825e-02 5.29524248e-02 3.95909275e+02] [-6.89139801e-02 9.97599178e-01 -6.83697838e-03 -5.33429524e+01] [-5.32982781e-02 3.16182082e-03 9.98573631e-01 -2.65826870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.840714057 meters 0.038891171685540155 Centerline is valid? [True, True] Translation: X:395.94, Y:-53.35, Z:-26.59 [[ 9.96349031e-01 6.71112243e-02 5.27701721e-02 3.95937950e+02] [-6.68440503e-02 9.97740170e-01 -6.81368934e-03 -5.33527178e+01] [-5.31081955e-02 3.26144074e-03 9.98583438e-01 -2.65853298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.870714057 meters 0.03416586190740467 Centerline is valid? [True, True] Translation: X:395.97, Y:-53.35, Z:-26.59 [[ 9.96554127e-01 6.38422203e-02 5.29532224e-02 3.95968525e+02] [-6.35686431e-02 9.97954053e-01 -6.83638959e-03 -5.33499096e+01] [-5.32813332e-02 3.44666775e-03 9.98573593e-01 -2.65859807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.900714057 meters 0.03646251962386447 Centerline is valid? [True, True] Translation: X:396.00, Y:-53.36, Z:-26.59 [[ 9.96635648e-01 6.20466488e-02 5.35499690e-02 3.95997698e+02] [-6.17643424e-02 9.98066824e-01 -6.91235444e-03 -5.33570590e+01] [-5.38753359e-02 3.58162023e-03 9.98541246e-01 -2.65875029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.930714057 meters 0.03687711329909586 Centerline is valid? [True, True] Translation: X:396.03, Y:-53.36, Z:-26.59 [[ 9.96624156e-01 6.18259823e-02 5.40170377e-02 3.96028832e+02] [-6.15384078e-02 9.98080362e-01 -6.97252282e-03 -5.33619787e+01] [-5.43444276e-02 3.62486217e-03 9.98515670e-01 -2.65893547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.960714057 meters 0.03845346656423211 Centerline is valid? [True, True] Translation: X:396.06, Y:-53.37, Z:-26.59 [[ 9.96563397e-01 6.20793804e-02 5.48411039e-02 3.96058370e+02] [-6.17832208e-02 9.98064474e-01 -7.08096213e-03 -5.33692920e+01] [-5.51745393e-02 3.66836764e-03 9.98469986e-01 -2.65906705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.990714057 meters 0.03859171825826238 Centerline is valid? [True, True] Translation: X:396.09, Y:-53.37, Z:-26.59 [[ 9.96457742e-01 6.31029862e-02 5.55876105e-02 3.96089420e+02] [-6.28002275e-02 9.98000302e-01 -7.17833507e-03 -5.33740114e+01] [-5.59294264e-02 3.66199297e-03 9.98428009e-01 -2.65918728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.020714057 meters 0.03645819841078783 Centerline is valid? [True, True] Translation: X:396.12, Y:-53.37, Z:-26.59 [[ 9.96385980e-01 6.40314388e-02 5.58117782e-02 3.96121243e+02] [-6.37275681e-02 9.97941293e-01 -7.20925621e-03 -5.33744208e+01] [-5.61584971e-02 3.62645292e-03 9.98415280e-01 -2.65933000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.050714057 meters 0.036342279749316524 Centerline is valid? [True, True] Translation: X:396.15, Y:-53.38, Z:-26.60 [[ 9.96340781e-01 6.47877615e-02 5.57457937e-02 3.96152411e+02] [-6.44856750e-02 9.97892639e-01 -7.20273972e-03 -5.33782901e+01] [-5.60949665e-02 3.58157819e-03 9.98419014e-01 -2.65951324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.080714057 meters 0.0351411426228754 Centerline is valid? [True, True] Translation: X:396.18, Y:-53.38, Z:-26.60 [[ 9.96302303e-01 6.60529881e-02 5.49429167e-02 3.96183519e+02] [-6.57613583e-02 9.97810112e-01 -7.10094611e-03 -5.33812076e+01] [-5.52916366e-02 3.46156813e-03 9.98464247e-01 -2.65983375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.110714057 meters 0.037224692861954324 Centerline is valid? [True, True] Translation: X:396.21, Y:-53.39, Z:-26.60 [[ 9.96318856e-01 6.64917854e-02 5.41071201e-02 3.96212599e+02] [-6.62095061e-02 9.97781225e-01 -6.99493285e-03 -5.33889712e+01] [-5.44521742e-02 3.38677779e-03 9.98510636e-01 -2.66011716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.140714057 meters 0.034054463809913185 Centerline is valid? [True, True] Translation: X:396.24, Y:-53.39, Z:-26.60 [[ 9.96283529e-01 6.75527221e-02 5.34393005e-02 3.96243613e+02] [-6.72788404e-02 9.97710286e-01 -6.90961813e-03 -5.33889363e+01] [-5.37837033e-02 3.28860457e-03 9.98547194e-01 -2.66038740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.170714057 meters 0.03499999953671821 Centerline is valid? [True, True] Translation: X:396.27, Y:-53.39, Z:-26.61 [[ 9.96185878e-01 6.91532832e-02 5.32120227e-02 3.96273118e+02] [-6.88840019e-02 9.97600951e-01 -6.88023147e-03 -5.33946005e+01] [-5.35601550e-02 3.18853235e-03 9.98559534e-01 -2.66060287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.200714057 meters 0.03444499350014042 Centerline is valid? [True, True] Translation: X:396.30, Y:-53.40, Z:-26.61 [[ 9.96161568e-01 6.96506020e-02 5.30181568e-02 3.96302603e+02] [-6.93839746e-02 9.97566473e-01 -6.85532264e-03 -5.33970297e+01] [-5.33666131e-02 3.15039850e-03 9.98570017e-01 -2.66073903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.230714057 meters 0.0346708575240791 Centerline is valid? [True, True] Translation: X:396.33, Y:-53.40, Z:-26.61 [[ 9.95955514e-01 7.21173837e-02 5.35882144e-02 3.96331477e+02] [-7.18486465e-02 9.97391492e-01 -6.92706824e-03 -5.34010974e+01] [-5.39479911e-02 3.04881113e-03 9.98539092e-01 -2.66083248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.26071405700003 meters 0.0341487231647026 Centerline is valid? [True, True] Translation: X:396.36, Y:-53.40, Z:-26.61 [[ 9.95847110e-01 7.34229908e-02 5.38293437e-02 3.96360799e+02] [-7.31538285e-02 9.97296409e-01 -6.95635974e-03 -5.34035311e+01] [-5.41945679e-02 2.98964816e-03 9.98525919e-01 -2.66098639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.290714057 meters 0.03387187242872468 Centerline is valid? [True, True] Translation: X:396.39, Y:-53.41, Z:-26.61 [[ 9.95609685e-01 7.58076146e-02 5.49050104e-02 3.96389448e+02] [-7.55313548e-02 9.97118204e-01 -7.09232439e-03 -5.34076099e+01] [-5.52844376e-02 2.91413703e-03 9.98466393e-01 -2.66107648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.32071405700003 meters 0.0318778183027649 Centerline is valid? [True, True] Translation: X:396.42, Y:-53.41, Z:-26.61 [[ 9.95490878e-01 7.67494729e-02 5.57443253e-02 3.96417902e+02] [-7.64662722e-02 9.97046181e-01 -7.19880178e-03 -5.34090993e+01] [-5.61321709e-02 2.90378075e-03 9.98419124e-01 -2.66118514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.350714057 meters 0.03413015761443751 Centerline is valid? [True, True] Translation: X:396.45, Y:-53.42, Z:-26.61 [[ 9.95411911e-01 7.74961501e-02 5.61201687e-02 3.96445900e+02] [-7.72105279e-02 9.96988500e-01 -7.24323105e-03 -5.34177691e+01] [-5.65124854e-02 2.87693061e-03 9.98397748e-01 -2.66134953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.380714057 meters 0.034125482755480135 Centerline is valid? [True, True] Translation: X:396.47, Y:-53.42, Z:-26.62 [[ 9.95449538e-01 7.72726197e-02 5.57598385e-02 3.96473973e+02] [-7.69904747e-02 9.97005876e-01 -7.19376871e-03 -5.34223715e+01] [-5.61487680e-02 2.86805730e-03 9.98418294e-01 -2.66154874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.410714057 meters 0.036328416874066426 Centerline is valid? [True, True] Translation: X:396.50, Y:-53.43, Z:-26.62 [[ 9.95693842e-01 7.43875450e-02 5.53196794e-02 3.96501842e+02] [-7.41056202e-02 9.97224887e-01 -7.13311212e-03 -5.34331139e+01] [-5.56967757e-02 3.00289666e-03 9.98443214e-01 -2.66192325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.440714057 meters 0.0370496858527515 Centerline is valid? [True, True] Translation: X:396.53, Y:-53.44, Z:-26.62 [[ 9.95783667e-01 7.31344332e-02 5.53736626e-02 3.96530981e+02] [-7.28501334e-02 9.97317354e-01 -7.13816667e-03 -5.34393179e+01] [-5.57471605e-02 3.07409107e-03 9.98440186e-01 -2.66213532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.470714057 meters 0.03397569133134659 Centerline is valid? [True, True] Translation: X:396.56, Y:-53.44, Z:-26.62 [[ 9.95862589e-01 7.20961995e-02 5.53158327e-02 3.96561220e+02] [-7.18110052e-02 9.97392781e-01 -7.12879624e-03 -5.34397150e+01] [-5.56855714e-02 3.12701593e-03 9.98443458e-01 -2.66233987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.500714057 meters 0.03479479780155528 Centerline is valid? [True, True] Translation: X:396.59, Y:-53.45, Z:-26.63 [[ 9.95912826e-01 7.14043522e-02 5.53087882e-02 3.96589866e+02] [-7.11182234e-02 9.97442432e-01 -7.12689303e-03 -5.34462887e+01] [-5.56762234e-02 3.16430142e-03 9.98443862e-01 -2.66254034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.530714057 meters 0.034120735257589206 Centerline is valid? [True, True] Translation: X:396.62, Y:-53.45, Z:-26.63 [[ 9.96074077e-01 6.94200205e-02 5.49299041e-02 3.96619722e+02] [-6.91348545e-02 9.97582221e-01 -7.07705242e-03 -5.34512684e+01] [-5.52883849e-02 3.25169752e-03 9.98465133e-01 -2.66274587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.560714057 meters 0.036379406325508276 Centerline is valid? [True, True] Translation: X:396.65, Y:-53.46, Z:-26.63 [[ 9.96289005e-01 6.71379251e-02 5.38583133e-02 3.96648521e+02] [-6.68604862e-02 9.97738207e-01 -6.93868479e-03 -5.34599323e+01] [-5.42023458e-02 3.31194236e-03 9.98524480e-01 -2.66298097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.590714057 meters 0.03549436340719783 Centerline is valid? [True, True] Translation: X:396.68, Y:-53.46, Z:-26.63 [[ 9.96365916e-01 6.60592271e-02 5.37693235e-02 3.96679920e+02] [-6.57808788e-02 9.97810013e-01 -6.93207098e-03 -5.34637710e+01] [-5.41094966e-02 3.36988590e-03 9.98529322e-01 -2.66317869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.620714057 meters 0.03754053870291167 Centerline is valid? [True, True] Translation: X:396.71, Y:-53.47, Z:-26.63 [[ 9.96546094e-01 6.36617369e-02 5.33204057e-02 3.96708520e+02] [-6.33844955e-02 9.97965492e-01 -6.87626373e-03 -5.34729056e+01] [-5.36496798e-02 3.47282675e-03 9.98553780e-01 -2.66343840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.650714057 meters 0.038508562965627845 Centerline is valid? [True, True] Translation: X:396.74, Y:-53.48, Z:-26.64 [[ 9.96640544e-01 6.24637922e-02 5.29707590e-02 3.96740379e+02] [-6.21885123e-02 9.98041045e-01 -6.83085846e-03 -5.34793955e+01] [-5.32936730e-02 3.51373779e-03 9.98572700e-01 -2.66364235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.680714057 meters 0.04150467059898667 Centerline is valid? [True, True] Translation: X:396.77, Y:-53.49, Z:-26.64 [[ 9.96876813e-01 5.90542308e-02 5.24329839e-02 3.96768815e+02] [-5.87796089e-02 9.98248057e-01 -6.76562666e-03 -5.34890211e+01] [-5.27406632e-02 3.66250605e-03 9.98601526e-01 -2.66385346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.710714057 meters 0.04270007507700632 Centerline is valid? [True, True] Translation: X:396.80, Y:-53.50, Z:-26.64 [[ 9.96967514e-01 5.77510053e-02 5.21593485e-02 3.96800096e+02] [-5.74775731e-02 9.98324124e-01 -6.72839397e-03 -5.34950465e+01] [-5.24605074e-02 3.70999745e-03 9.98616108e-01 -2.66403788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.740714057 meters 0.04155245611076158 Centerline is valid? [True, True] Translation: X:396.83, Y:-53.50, Z:-26.64 [[ 9.97077994e-01 5.58616759e-02 5.21051576e-02 3.96831470e+02] [-5.55855772e-02 9.98431217e-01 -6.73417561e-03 -5.34974739e+01] [-5.23995982e-02 3.81820305e-03 9.98618898e-01 -2.66418102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.770714057 meters 0.04430915378392114 Centerline is valid? [True, True] Translation: X:396.86, Y:-53.51, Z:-26.64 [[ 9.97256134e-01 5.22434861e-02 5.24482754e-02 3.96859970e+02] [-5.19586493e-02 9.98626217e-01 -6.78064676e-03 -5.35058124e+01] [-5.27304674e-02 4.03690003e-03 9.98600621e-01 -2.66430690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.800714057 meters 0.044616593906198154 Centerline is valid? [True, True] Translation: X:396.89, Y:-53.51, Z:-26.64 [[ 9.97426268e-01 4.88356641e-02 5.24968355e-02 3.96889781e+02] [-4.85456552e-02 9.98797912e-01 -6.78607825e-03 -5.35106074e+01] [-5.27651323e-02 4.22011942e-03 9.98598033e-01 -2.66442181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.830714057 meters 0.04758771306909673 Centerline is valid? [True, True] Translation: X:396.92, Y:-53.52, Z:-26.65 [[ 9.97484534e-01 4.77144186e-02 5.24207764e-02 3.96920450e+02] [-4.74237629e-02 9.98851882e-01 -6.77530360e-03 -5.35188071e+01] [-5.26838708e-02 4.27227009e-03 9.98602102e-01 -2.66461236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.860714057 meters 0.045291372600010066 Centerline is valid? [True, True] Translation: X:396.95, Y:-53.52, Z:-26.65 [[ 9.97618258e-01 4.59204000e-02 5.14696841e-02 3.96951945e+02] [-4.56371803e-02 9.98935846e-01 -6.66507386e-03 -5.35184395e+01] [-5.17209753e-02 4.30026812e-03 9.98652316e-01 -2.66482214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.890714057 meters 0.04170804232368337 Centerline is valid? [True, True] Translation: X:396.98, Y:-53.52, Z:-26.65 [[ 9.97639740e-01 4.58362194e-02 5.11271933e-02 3.96984570e+02] [-4.55566295e-02 9.98939815e-01 -6.62114336e-03 -5.35171720e+01] [-5.13764772e-02 4.27633313e-03 9.98670201e-01 -2.66497571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.920714057 meters 0.04388074397672856 Centerline is valid? [True, True] Translation: X:397.02, Y:-53.52, Z:-26.65 [[ 9.97666292e-01 4.60053810e-02 5.04527043e-02 3.97016460e+02] [-4.57326926e-02 9.98932261e-01 -6.54659558e-03 -5.35226480e+01] [-5.07000126e-02 4.22397972e-03 9.98704995e-01 -2.66516904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.950714057 meters 0.044442525938557124 Centerline is valid? [True, True] Translation: X:397.05, Y:-53.53, Z:-26.65 [[ 9.97620013e-01 4.68054184e-02 5.06316449e-02 3.97048476e+02] [-4.65310864e-02 9.98895144e-01 -6.58406680e-03 -5.35271829e+01] [-5.08838742e-02 4.21245136e-03 9.98695693e-01 -2.66534038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.980714057 meters 0.043344331129012786 Centerline is valid? [True, True] Translation: X:397.08, Y:-53.53, Z:-26.65 [[ 9.97534114e-01 4.84307367e-02 5.07952205e-02 3.97080031e+02] [-4.81559861e-02 9.98817892e-01 -6.61966559e-03 -5.35276114e+01] [-5.10557703e-02 4.15724832e-03 9.98687151e-01 -2.66544534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.01071405700003 meters 0.04343837875075052 Centerline is valid? [True, True] Translation: X:397.11, Y:-53.53, Z:-26.66 [[ 9.97417352e-01 5.11859082e-02 5.03848157e-02 3.97109672e+02] [-5.09189942e-02 9.98681191e-01 -6.56776156e-03 -5.35286291e+01] [-5.06545446e-02 3.98525520e-03 9.98708283e-01 -2.66558662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.040714057 meters 0.04192768538876042 Centerline is valid? [True, True] Translation: X:397.14, Y:-53.53, Z:-26.66 [[ 9.97362563e-01 5.27362821e-02 4.98678452e-02 3.97141659e+02] [-5.24765629e-02 9.98600975e-01 -6.50405971e-03 -5.35290839e+01] [-5.01410787e-02 3.87001254e-03 9.98734647e-01 -2.66575152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.07071405700003 meters 0.04216166537587279 Centerline is valid? [True, True] Translation: X:397.17, Y:-53.53, Z:-26.66 [[ 9.97292038e-01 5.45084619e-02 4.93702216e-02 3.97172168e+02] [-5.42559236e-02 9.98506282e-01 -6.44196109e-03 -5.35318316e+01] [-4.96476179e-02 3.74588953e-03 9.98759772e-01 -2.66596252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.100714057 meters 0.040831872990888 Centerline is valid? [True, True] Translation: X:397.20, Y:-53.53, Z:-26.66 [[ 9.97136977e-01 5.82376285e-02 4.82309884e-02 3.97202924e+02] [-5.80008604e-02 9.98296684e-01 -6.29530523e-03 -5.35307706e+01] [-4.85154595e-02 3.47984280e-03 9.98816370e-01 -2.66615887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.130714057 meters 0.0412466045311165 Centerline is valid? [True, True] Translation: X:397.23, Y:-53.53, Z:-26.66 [[ 9.97034486e-01 6.04071133e-02 4.76782399e-02 3.97233011e+02] [-6.01782114e-02 9.98168250e-01 -6.22318433e-03 -5.35337857e+01] [-4.79668299e-02 3.33553819e-03 9.98843360e-01 -2.66634850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.160714057 meters 0.03968983280404174 Centerline is valid? [True, True] Translation: X:397.26, Y:-53.53, Z:-26.67 [[ 9.96782630e-01 6.45560420e-02 4.75068966e-02 3.97264065e+02] [-6.43334254e-02 9.97909189e-01 -6.20176166e-03 -5.35325679e+01] [-4.78079299e-02 3.12552691e-03 9.98851657e-01 -2.66652074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.190714057 meters 0.03428926325127329 Centerline is valid? [True, True] Translation: X:397.30, Y:-53.53, Z:-26.67 [[ 9.96506823e-01 6.90394395e-02 4.69862433e-02 3.97296123e+02] [-6.88266161e-02 9.97609777e-01 -6.13429100e-03 -5.35255794e+01] [-4.72974437e-02 2.87895871e-03 9.98876701e-01 -2.66658066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.220714057 meters 0.03432819920969086 Centerline is valid? [True, True] Translation: X:397.33, Y:-53.53, Z:-26.67 [[ 9.96387616e-01 7.10289848e-02 4.65467625e-02 3.97325206e+02] [-7.08222792e-02 9.97470437e-01 -6.07712719e-03 -5.35278738e+01] [-4.68606717e-02 2.75862646e-03 9.98897626e-01 -2.66672744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.250714057 meters 0.03259631754427346 Centerline is valid? [True, True] Translation: X:397.36, Y:-53.53, Z:-26.67 [[ 9.96198011e-01 7.35368154e-02 4.67103778e-02 3.97355649e+02] [-7.33314874e-02 9.97288987e-01 -6.09659509e-03 -5.35278601e+01] [-4.70320695e-02 2.64807442e-03 9.98889870e-01 -2.66686820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.280714057 meters 0.032126643790411816 Centerline is valid? [True, True] Translation: X:397.38, Y:-53.53, Z:-26.67 [[ 9.95915172e-01 7.74484083e-02 4.64188933e-02 3.97384632e+02] [-7.72498999e-02 9.96993357e-01 -6.05790552e-03 -5.35284492e+01] [-4.67485034e-02 2.44730516e-03 9.98903693e-01 -2.66703089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.310714057 meters 0.0316829449614806 Centerline is valid? [True, True] Translation: X:397.41, Y:-53.53, Z:-26.67 [[ 9.95745610e-01 7.94787522e-02 4.66241091e-02 3.97413634e+02] [-7.92807446e-02 9.96833763e-01 -6.08376605e-03 -5.35308711e+01] [-4.69600162e-02 2.36148926e-03 9.98893978e-01 -2.66715417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.340714057 meters 0.029834937886783316 Centerline is valid? [True, True] Translation: X:397.44, Y:-53.53, Z:-26.67 [[ 9.95483963e-01 8.23826476e-02 4.71675536e-02 3.97443989e+02] [-8.21835339e-02 9.96598245e-01 -6.14854747e-03 -5.35299655e+01] [-4.75136348e-02 2.24438416e-03 9.98868068e-01 -2.66724221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.370714057 meters 0.030968374211997378 Centerline is valid? [True, True] Translation: X:397.47, Y:-53.53, Z:-26.67 [[ 9.95388411e-01 8.33307878e-02 4.75172724e-02 3.97471104e+02] [-8.31297931e-02 9.96519479e-01 -6.19397116e-03 -5.35348006e+01] [-4.78680360e-02 2.21530609e-03 9.98851212e-01 -2.66739017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.400714057 meters 0.031296412688826054 Centerline is valid? [True, True] Translation: X:397.50, Y:-53.54, Z:-26.67 [[ 9.95261785e-01 8.43963909e-02 4.82827879e-02 3.97498313e+02] [-8.41903304e-02 9.96429844e-01 -6.28928040e-03 -5.35391292e+01] [-4.86412034e-02 2.19453657e-03 9.98813905e-01 -2.66749363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.430714057 meters 0.029762108887549737 Centerline is valid? [True, True] Translation: X:397.53, Y:-53.54, Z:-26.68 [[ 9.95261660e-01 8.39972148e-02 4.89764766e-02 3.97527217e+02] [-8.37849264e-02 9.96463468e-01 -6.37512123e-03 -5.35414758e+01] [-4.93387622e-02 2.24142324e-03 9.98779587e-01 -2.66757371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.460714057 meters 0.03262126942728526 Centerline is valid? [True, True] Translation: X:397.55, Y:-53.55, Z:-26.68 [[ 9.95358274e-01 8.26613063e-02 4.92850273e-02 3.97553339e+02] [-8.24448629e-02 9.96575000e-01 -6.41198561e-03 -5.35508258e+01] [-4.96462492e-02 2.31892562e-03 9.98764173e-01 -2.66782367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.490714057 meters 0.03344908969179846 Centerline is valid? [True, True] Translation: X:397.58, Y:-53.56, Z:-26.68 [[ 9.95462653e-01 8.14721567e-02 4.91568261e-02 3.97581403e+02] [-8.12556710e-02 9.96672809e-01 -6.38969995e-03 -5.35569185e+01] [-4.95138546e-02 2.36643677e-03 9.98770633e-01 -2.66803969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.520714057 meters 0.031953288016043045 Centerline is valid? [True, True] Translation: X:397.61, Y:-53.56, Z:-26.68 [[ 9.95863483e-01 7.69488976e-02 4.83196742e-02 3.97611901e+02] [-7.67346069e-02 9.97031794e-01 -6.27703973e-03 -5.35594647e+01] [-4.86592628e-02 2.54328344e-03 9.98812198e-01 -2.66819983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.550714057 meters 0.032636180210159536 Centerline is valid? [True, True] Translation: X:397.64, Y:-53.57, Z:-26.68 [[ 9.96049069e-01 7.46800519e-02 4.80535356e-02 3.97640446e+02] [-7.44654608e-02 9.97204051e-01 -6.24298292e-03 -5.35652851e+01] [-4.83854067e-02 2.63998864e-03 9.98825251e-01 -2.66840487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.580714057 meters 0.03470561193762158 Centerline is valid? [True, True] Translation: X:397.67, Y:-53.57, Z:-26.69 [[ 9.96320243e-01 7.10708996e-02 4.79051255e-02 3.97668342e+02] [-7.08536195e-02 9.97467326e-01 -6.22072882e-03 -5.35746865e+01] [-4.82259103e-02 2.80358652e-03 9.98832519e-01 -2.66864460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.610714057 meters 0.03714433109620143 Centerline is valid? [True, True] Translation: X:397.70, Y:-53.58, Z:-26.69 [[ 9.96565986e-01 6.76250083e-02 4.77817377e-02 3.97696160e+02] [-6.74049240e-02 9.97706411e-01 -6.20424902e-03 -5.35848175e+01] [-4.80917084e-02 2.96221914e-03 9.98838532e-01 -2.66892696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.640714057 meters 0.038557424793785815 Centerline is valid? [True, True] Translation: X:397.73, Y:-53.59, Z:-26.69 [[ 9.96652912e-01 6.60088947e-02 4.82265381e-02 3.97725126e+02] [-6.57828905e-02 9.97814322e-01 -6.26026972e-03 -5.35913844e+01] [-4.85343639e-02 3.06683498e-03 9.98816805e-01 -2.66914367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.670714057 meters 0.038557424793785815 Centerline is valid? [True, True] Translation: X:397.75, Y:-53.60, Z:-26.69 [[ 9.96655174e-01 6.59745758e-02 4.82267529e-02 3.97754052e+02] [-6.57486113e-02 9.97816591e-01 -6.25861457e-03 -5.35951066e+01] [-4.85343636e-02 3.06683856e-03 9.98816805e-01 -2.66931274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.700714057 meters 0.04107393060122446 Centerline is valid? [True, True] Translation: X:397.78, Y:-53.60, Z:-26.69 [[ 9.96817497e-01 6.30112035e-02 4.88309923e-02 3.97782575e+02] [-6.27760891e-02 9.98007529e-01 -6.33514628e-03 -5.36044952e+01] [-4.91328832e-02 3.24956593e-03 9.98786964e-01 -2.66949217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.730714057 meters 0.039950012972060134 Centerline is valid? [True, True] Translation: X:397.81, Y:-53.61, Z:-26.70 [[ 9.96890555e-01 6.16022587e-02 4.91363677e-02 3.97812912e+02] [-6.13625382e-02 9.98095193e-01 -6.37376243e-03 -5.36070319e+01] [-4.94354105e-02 3.33881133e-03 9.98771742e-01 -2.66963605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.76071405700003 meters 0.039822273925024354 Centerline is valid? [True, True] Translation: X:397.84, Y:-53.61, Z:-26.70 [[ 9.97019091e-01 5.92244791e-02 4.94509114e-02 3.97843757e+02] [-5.89787740e-02 9.98238628e-01 -6.41442298e-03 -5.36112670e+01] [-4.97437008e-02 3.47874804e-03 9.98755957e-01 -2.66977025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.790714057 meters 0.03746107210031853 Centerline is valid? [True, True] Translation: X:397.87, Y:-53.61, Z:-26.70 [[ 9.97083730e-01 5.83731693e-02 4.91590135e-02 3.97874889e+02] [-5.81293083e-02 9.98288694e-01 -6.37700921e-03 -5.36114283e+01] [-4.94471336e-02 3.50083268e-03 9.98770607e-01 -2.66989457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.82071405700003 meters 0.03946710517587239 Centerline is valid? [True, True] Translation: X:397.90, Y:-53.62, Z:-26.70 [[ 9.97208167e-01 5.64742816e-02 4.88520965e-02 3.97904874e+02] [-5.62310084e-02 9.98397649e-01 -6.34095857e-03 -5.36173147e+01] [-4.91319194e-02 3.57625302e-03 9.98785895e-01 -2.67010578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.850714057 meters 0.040111205284855796 Centerline is valid? [True, True] Translation: X:397.94, Y:-53.62, Z:-26.70 [[ 9.97255595e-01 5.57731454e-02 4.86891520e-02 3.97936310e+02] [-5.55307123e-02 9.98436985e-01 -6.31880948e-03 -5.36218361e+01] [-4.89654700e-02 3.59772481e-03 9.98793992e-01 -2.67031268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.880714057 meters 0.04244621391704433 Centerline is valid? [True, True] Translation: X:397.97, Y:-53.63, Z:-26.71 [[ 9.97411348e-01 5.31149441e-02 4.84706677e-02 3.97966193e+02] [-5.28709164e-02 9.98581458e-01 -6.30373718e-03 -5.36279395e+01] [-4.87367327e-02 3.72473038e-03 9.98804714e-01 -2.67056171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.910714057 meters 0.04413248740995354 Centerline is valid? [True, True] Translation: X:398.00, Y:-53.63, Z:-26.71 [[ 9.97510181e-01 5.15124779e-02 4.81653723e-02 3.97995598e+02] [-5.12696122e-02 9.98665197e-01 -6.26505630e-03 -5.36333683e+01] [-4.84238096e-02 3.78003749e-03 9.98819726e-01 -2.67076618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.940714057 meters 0.04301339097617423 Centerline is valid? [True, True] Translation: X:398.03, Y:-53.63, Z:-26.71 [[ 9.97585137e-01 5.02359338e-02 4.79608658e-02 3.98027457e+02] [-4.99937689e-02 9.98730060e-01 -6.23625728e-03 -5.36346346e+01] [-4.82132426e-02 3.82345313e-03 9.98829747e-01 -2.67093705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.970714057 meters 0.04628152785587856 Centerline is valid? [True, True] Translation: X:398.06, Y:-53.64, Z:-26.71 [[ 9.97746695e-01 4.77555602e-02 4.71268416e-02 3.98056546e+02] [-4.75184114e-02 9.98851489e-01 -6.14033298e-03 -5.36402072e+01] [-4.73659510e-02 3.88710428e-03 9.98870040e-01 -2.67110760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.000714057 meters 0.04542630248496487 Centerline is valid? [True, True] Translation: X:398.09, Y:-53.64, Z:-26.71 [[ 9.97822260e-01 4.65418333e-02 4.67396628e-02 3.98088814e+02] [-4.63071131e-02 9.98908669e-01 -6.09273773e-03 -5.36400427e+01] [-4.69722216e-02 3.91509048e-03 9.98888524e-01 -2.67125053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.030714057 meters 0.04644449720575831 Centerline is valid? [True, True] Translation: X:398.12, Y:-53.64, Z:-26.71 [[ 9.97829921e-01 4.59926424e-02 4.71182030e-02 3.98120555e+02] [-4.57534172e-02 9.98933872e-01 -6.14369051e-03 -5.36439509e+01] [-4.73505335e-02 3.97453941e-03 9.98870427e-01 -2.67138039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.060714057 meters 0.04605715049957249 Centerline is valid? [True, True] Translation: X:398.15, Y:-53.65, Z:-26.71 [[ 9.97838877e-01 4.56394807e-02 4.72717017e-02 3.98152891e+02] [-4.53977390e-02 9.98949903e-01 -6.17548936e-03 -5.36455042e+01] [-4.75039079e-02 4.01611499e-03 9.98862978e-01 -2.67149189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.090714057 meters 0.04943211456386424 Centerline is valid? [True, True] Translation: X:398.18, Y:-53.65, Z:-26.72 [[ 9.97778548e-01 4.55290323e-02 4.86320532e-02 3.98184194e+02] [-4.52724061e-02 9.98954395e-01 -6.36599292e-03 -5.36505099e+01] [-4.88710407e-02 4.15016112e-03 9.98796475e-01 -2.67153910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.120714057 meters 0.048884715562702616 Centerline is valid? [True, True] Translation: X:398.22, Y:-53.65, Z:-26.72 [[ 9.97755004e-01 4.57296686e-02 4.89259485e-02 3.98217802e+02] [-4.54696262e-02 9.98945121e-01 -6.41545570e-03 -5.36520178e+01] [-4.91677142e-02 4.17640844e-03 9.98781805e-01 -2.67161053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.150714057 meters 0.04854497568119091 Centerline is valid? [True, True] Translation: X:398.25, Y:-53.65, Z:-26.72 [[ 9.97675130e-01 4.67840681e-02 4.95538679e-02 3.98249272e+02] [-4.65177934e-02 9.98896224e-01 -6.51378727e-03 -5.36517609e+01] [-4.98039129e-02 4.19350697e-03 9.98750211e-01 -2.67172476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.180714057 meters 0.050572605720371484 Centerline is valid? [True, True] Translation: X:398.28, Y:-53.66, Z:-26.72 [[ 9.97668859e-01 4.70514412e-02 4.94268140e-02 3.98280811e+02] [-4.67868598e-02 9.98883766e-01 -6.49703601e-03 -5.36568308e+01] [-4.96773370e-02 4.16936508e-03 9.98756616e-01 -2.67191603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.210714057 meters 0.050357220064583284 Centerline is valid? [True, True] Translation: X:398.31, Y:-53.66, Z:-26.72 [[ 9.97669992e-01 4.73095761e-02 4.91568108e-02 3.98313456e+02] [-4.70474933e-02 9.98871663e-01 -6.47565991e-03 -5.36591425e+01] [-4.94077060e-02 4.14786685e-03 9.98770081e-01 -2.67210061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.240714057 meters 0.051924123548416724 Centerline is valid? [True, True] Translation: X:398.34, Y:-53.66, Z:-26.72 [[ 9.97675567e-01 4.79665019e-02 4.84012152e-02 3.98344835e+02] [-4.77130499e-02 9.98840715e-01 -6.37899082e-03 -5.36619305e+01] [-4.86510823e-02 4.05479368e-03 9.98807605e-01 -2.67237722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.270714057 meters 0.06809029378800768 Centerline is valid? [True, True] Translation: X:398.37, Y:-53.69, Z:-26.73 [[ 9.97530023e-01 5.07499539e-02 4.85622832e-02 3.98371473e+02] [-5.04974591e-02 9.98703600e-01 -6.41300381e-03 -5.36860411e+01] [-4.88247867e-02 3.94489193e-03 9.98799569e-01 -2.67281546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.300714057 meters 0.050071982566068714 Centerline is valid? [True, True] Translation: X:398.41, Y:-53.66, Z:-26.73 [[ 9.97743678e-01 4.90469981e-02 4.58469678e-02 3.98405839e+02] [-4.88202184e-02 9.98789236e-01 -6.05382425e-03 -5.36621002e+01] [-4.60883799e-02 3.80190589e-03 9.98930131e-01 -2.67294717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.330714057 meters 0.052986446206429456 Centerline is valid? [True, True] Translation: X:398.44, Y:-53.67, Z:-26.73 [[ 9.97759348e-01 4.94109585e-02 4.51092036e-02 3.98436645e+02] [-4.91918732e-02 9.98771596e-01 -5.95467296e-03 -5.36682811e+01] [-4.53480174e-02 3.72232439e-03 9.98964314e-01 -2.67324693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.360714057 meters 0.053172302049129816 Centerline is valid? [True, True] Translation: X:398.47, Y:-53.67, Z:-26.73 [[ 9.97710607e-01 5.07321528e-02 4.47190527e-02 3.98467681e+02] [-5.05176169e-02 9.98705652e-01 -5.91527552e-03 -5.36686879e+01] [-4.49612653e-02 3.64263316e-03 9.98982090e-01 -2.67341714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.390714057 meters 0.050188227503388506 Centerline is valid? [True, True] Translation: X:398.50, Y:-53.67, Z:-26.73 [[ 9.97691455e-01 5.11326395e-02 4.46902033e-02 3.98498424e+02] [-5.09186938e-02 9.98685295e-01 -5.91336398e-03 -5.36663687e+01] [-4.49338148e-02 3.62414594e-03 9.98983392e-01 -2.67347884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.420714057 meters 0.045035250853496224 Centerline is valid? [True, True] Translation: X:398.53, Y:-53.66, Z:-26.73 [[ 9.97662858e-01 5.15706199e-02 4.48251432e-02 3.98530313e+02] [-5.13558181e-02 9.98662806e-01 -5.93121910e-03 -5.36591509e+01] [-4.50710799e-02 3.61532510e-03 9.98977241e-01 -2.67349629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.450714057 meters 0.04215164037783087 Centerline is valid? [True, True] Translation: X:398.56, Y:-53.66, Z:-26.74 [[ 9.97676018e-01 5.13503877e-02 4.47850510e-02 3.98560893e+02] [-5.11357397e-02 9.98674130e-01 -5.92614319e-03 -5.36567583e+01] [-4.50299815e-02 3.62225423e-03 9.98979069e-01 -2.67360232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.480714057 meters 0.04401872679175498 Centerline is valid? [True, True] Translation: X:398.59, Y:-53.66, Z:-26.74 [[ 9.97659770e-01 5.12264674e-02 4.52861073e-02 3.98589921e+02] [-5.10068965e-02 9.98680328e-01 -5.99160638e-03 -5.36601192e+01] [-4.55332733e-02 3.66768086e-03 9.98956090e-01 -2.67378034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.51071405700003 meters 0.04291553622911237 Centerline is valid? [True, True] Translation: X:398.62, Y:-53.66, Z:-26.74 [[ 9.97614503e-01 5.06217224e-02 4.69334116e-02 3.98620175e+02] [-5.03852397e-02 9.98710558e-01 -6.20885421e-03 -5.36588843e+01] [-4.71871966e-02 3.82929181e-03 9.98878724e-01 -2.67382713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.540714057 meters 0.04462535343021576 Centerline is valid? [True, True] Translation: X:398.65, Y:-53.66, Z:-26.74 [[ 9.97604188e-01 5.04337768e-02 4.73531163e-02 3.98648941e+02] [-5.01929226e-02 9.98719907e-01 -6.26246071e-03 -5.36631005e+01] [-4.76083394e-02 3.87066573e-03 9.98858581e-01 -2.67391943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.57071405700003 meters 0.04242353800707821 Centerline is valid? [True, True] Translation: X:398.68, Y:-53.66, Z:-26.74 [[ 9.97645477e-01 4.88710266e-02 4.81157504e-02 3.98680073e+02] [-4.86205903e-02 9.98797056e-01 -6.36227168e-03 -5.36603445e+01] [-4.83688006e-02 4.00787538e-03 9.98821504e-01 -2.67392189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.600714057 meters 0.04377895077174411 Centerline is valid? [True, True] Translation: X:398.71, Y:-53.67, Z:-26.74 [[ 9.97686623e-01 4.77990210e-02 4.83389695e-02 3.98710484e+02] [-4.75450206e-02 9.98848647e-01 -6.39145624e-03 -5.36650359e+01] [-4.85888197e-02 4.07839309e-03 9.98810539e-01 -2.67414425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.630714057 meters 0.04526254520470182 Centerline is valid? [True, True] Translation: X:398.74, Y:-53.67, Z:-26.74 [[ 9.97854311e-01 4.51215468e-02 4.74428099e-02 3.98741082e+02] [-4.48737877e-02 9.98972957e-01 -6.27497685e-03 -5.36687586e+01] [-4.76772207e-02 4.13257412e-03 9.98854246e-01 -2.67446755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.660714057 meters 0.04732715782077166 Centerline is valid? [True, True] Translation: X:398.77, Y:-53.67, Z:-26.75 [[ 9.97970265e-01 4.35188482e-02 4.64915024e-02 3.98770313e+02] [-4.32791949e-02 9.99044091e-01 -6.14947856e-03 -5.36748274e+01] [-4.67146790e-02 4.12488195e-03 9.98899757e-01 -2.67473761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.690714057 meters 0.04782625080553795 Centerline is valid? [True, True] Translation: X:398.80, Y:-53.68, Z:-26.75 [[ 9.98085527e-01 4.16612379e-02 4.57123754e-02 3.98800609e+02] [-4.14276352e-02 9.99123213e-01 -6.04621309e-03 -5.36784411e+01] [-4.59241881e-02 4.14088217e-03 9.98936345e-01 -2.67501720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.720714057 meters 0.050573774675749986 Centerline is valid? [True, True] Translation: X:398.83, Y:-53.68, Z:-26.75 [[ 9.98282536e-01 3.85997336e-02 4.40685756e-02 3.98829368e+02] [-3.83796345e-02 9.99246223e-01 -5.82998471e-03 -5.36846526e+01] [-4.42603936e-02 4.12863610e-03 9.99011497e-01 -2.67538609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.750714057 meters 0.049797858811847416 Centerline is valid? [True, True] Translation: X:398.86, Y:-53.69, Z:-26.76 [[ 9.98336050e-01 3.76162656e-02 4.37052270e-02 3.98861228e+02] [-3.73990281e-02 9.99283708e-01 -5.77787599e-03 -5.36869290e+01] [-4.38912634e-02 4.13372888e-03 9.99027762e-01 -2.67557017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.780714057 meters 0.05176815835446775 Centerline is valid? [True, True] Translation: X:398.89, Y:-53.69, Z:-26.76 [[ 9.98378625e-01 3.61856071e-02 4.39400019e-02 3.98891498e+02] [-3.59640678e-02 9.99336124e-01 -5.82220635e-03 -5.36915363e+01] [-4.41215112e-02 4.23250516e-03 9.99017206e-01 -2.67565768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.810714057 meters 0.05395559269646146 Centerline is valid? [True, True] Translation: X:398.92, Y:-53.70, Z:-26.76 [[ 9.98338093e-01 3.65034968e-02 4.45931208e-02 3.98922370e+02] [-3.62756654e-02 9.99324358e-01 -5.90797238e-03 -5.36971127e+01] [-4.47786535e-02 4.28050875e-03 9.98987762e-01 -2.67585919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.840714057 meters 0.052974342518092306 Centerline is valid? [True, True] Translation: X:398.95, Y:-53.70, Z:-26.76 [[ 9.98226485e-01 3.81156712e-02 4.57283242e-02 3.98952923e+02] [-3.78773707e-02 9.99263979e-01 -6.06675773e-03 -5.36976738e+01] [-4.59259057e-02 4.32392956e-03 9.98935491e-01 -2.67590337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.870714057 meters 0.05102636834233992 Centerline is valid? [True, True] Translation: X:398.98, Y:-53.70, Z:-26.76 [[ 9.98158384e-01 3.91811591e-02 4.63106497e-02 3.98984209e+02] [-3.89378992e-02 9.99222746e-01 -6.14361698e-03 -5.36977109e+01] [-4.65153686e-02 4.32906339e-03 9.98908194e-01 -2.67600453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.900714057 meters 0.04788323596035528 Centerline is valid? [True, True] Translation: X:399.02, Y:-53.70, Z:-26.76 [[ 9.97996180e-01 4.15120325e-02 4.77532878e-02 3.99016080e+02] [-4.12559145e-02 9.99128517e-01 -6.33695464e-03 -5.36953725e+01] [-4.79747315e-02 4.35415096e-03 9.98839059e-01 -2.67609916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.930714057 meters 0.052394691932793426 Centerline is valid? [True, True] Translation: X:399.05, Y:-53.70, Z:-26.76 [[ 9.97961449e-01 4.26952905e-02 4.74347919e-02 3.99045322e+02] [-4.24439072e-02 9.99079022e-01 -6.29466358e-03 -5.37047754e+01] [-4.76598580e-02 4.26851369e-03 9.98854503e-01 -2.67635844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.960714057 meters 0.04431393743917641 Centerline is valid? [True, True] Translation: X:399.08, Y:-53.70, Z:-26.77 [[ 9.97909214e-01 4.43943562e-02 4.69717216e-02 3.99078465e+02] [-4.41494839e-02 9.99005458e-01 -6.23837854e-03 -5.36960240e+01] [-4.72019550e-02 4.15155815e-03 9.98876739e-01 -2.67650417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.990714057 meters 0.047916408047781876 Centerline is valid? [True, True] Translation: X:399.11, Y:-53.70, Z:-26.77 [[ 9.97896101e-01 4.52015666e-02 4.64778403e-02 3.99108913e+02] [-4.49625286e-02 9.98969582e-01 -6.17623517e-03 -5.37044421e+01] [-4.67091242e-02 4.07347976e-03 9.98900227e-01 -2.67678226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.020714057 meters 0.050134179723603116 Centerline is valid? [True, True] Translation: X:399.14, Y:-53.71, Z:-26.77 [[ 9.97906137e-01 4.58832619e-02 4.55858422e-02 3.99139497e+02] [-4.56537629e-02 9.98938922e-01 -6.06341876e-03 -5.37114550e+01] [-4.58156815e-02 3.96955756e-03 9.98942023e-01 -2.67707669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.050714057 meters 0.04749151975932272 Centerline is valid? [True, True] Translation: X:399.17, Y:-53.71, Z:-26.77 [[ 9.97981502e-01 4.59527320e-02 4.38322744e-02 3.99170195e+02] [-4.57400669e-02 9.98936287e-01 -5.84297204e-03 -5.37117510e+01] [-4.40541500e-02 3.82628684e-03 9.99021817e-01 -2.67738834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.080714057 meters 0.0487707178810755 Centerline is valid? [True, True] Translation: X:399.20, Y:-53.72, Z:-26.78 [[ 9.98056213e-01 4.57931436e-02 4.22703659e-02 3.99199291e+02] [-4.55952233e-02 9.98944104e-01 -5.63503168e-03 -5.37175680e+01] [-4.24837786e-02 3.69675160e-03 9.99090318e-01 -2.67779335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.110714057 meters 0.05001583911269398 Centerline is valid? [True, True] Translation: X:399.23, Y:-53.72, Z:-26.78 [[ 9.98068059e-01 4.60532646e-02 4.17042808e-02 3.99228398e+02] [-4.58608698e-02 9.98932370e-01 -5.55884110e-03 -5.37234096e+01] [-4.19157588e-02 3.63550716e-03 9.99114534e-01 -2.67807064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.140714057 meters 0.04887944257424424 Centerline is valid? [True, True] Translation: X:399.26, Y:-53.73, Z:-26.78 [[ 9.98027615e-01 4.66121993e-02 4.20497676e-02 3.99257701e+02] [-4.64171247e-02 9.98906424e-01 -5.60414703e-03 -5.37255447e+01] [-4.22650046e-02 3.64126419e-03 9.99099800e-01 -2.67816843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.170714057 meters 0.04956257540088726 Centerline is valid? [True, True] Translation: X:399.29, Y:-53.73, Z:-26.78 [[ 9.97975270e-01 4.73376331e-02 4.24795147e-02 3.99286840e+02] [-4.71392322e-02 9.98872289e-01 -5.66065486e-03 -5.37294512e+01] [-4.26995721e-02 3.64674185e-03 9.99081302e-01 -2.67831193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.200714057 meters 0.04958821528957305 Centerline is valid? [True, True] Translation: X:399.32, Y:-53.73, Z:-26.78 [[ 9.97857198e-01 4.93200852e-02 4.29946730e-02 3.99316033e+02] [-4.91187513e-02 9.98776525e-01 -5.72730835e-03 -5.37325258e+01] [-4.32245414e-02 3.60319121e-03 9.99058885e-01 -2.67836502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.230714057 meters 0.04861523486126682 Centerline is valid? [True, True] Translation: X:399.35, Y:-53.73, Z:-26.78 [[ 9.97687096e-01 5.11338472e-02 4.47860267e-02 3.99345140e+02] [-5.09169852e-02 9.98685043e-01 -5.97037322e-03 -5.37344265e+01] [-4.50324231e-02 3.67619487e-03 9.98978762e-01 -2.67839406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.26071405700003 meters 0.04897319849416599 Centerline is valid? [True, True] Translation: X:399.37, Y:-53.74, Z:-26.79 [[ 9.97628655e-01 5.16397533e-02 4.55016768e-02 3.99374747e+02] [-5.14164959e-02 9.98658886e-01 -6.06414557e-03 -5.37385308e+01] [-4.57538049e-02 3.71022860e-03 9.98945856e-01 -2.67852140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.290714057 meters 0.049928851424820196 Centerline is valid? [True, True] Translation: X:399.40, Y:-53.74, Z:-26.79 [[ 9.97587359e-01 5.17296163e-02 4.62980401e-02 3.99404481e+02] [-5.14986299e-02 9.98654012e-01 -6.16887307e-03 -5.37433194e+01] [-4.65548369e-02 3.76970416e-03 9.98908623e-01 -2.67865906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.32071405700003 meters 0.04544878671351224 Centerline is valid? [True, True] Translation: X:399.43, Y:-53.74, Z:-26.79 [[ 9.97557647e-01 5.15765150e-02 4.71020670e-02 3.99434278e+02] [-5.13373916e-02 9.98661664e-01 -6.27320215e-03 -5.37405947e+01] [-4.73625785e-02 3.83978352e-03 9.98870383e-01 -2.67870948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.350714057 meters 0.04591179157176987 Centerline is valid? [True, True] Translation: X:399.46, Y:-53.75, Z:-26.79 [[ 9.97588377e-01 5.11951845e-02 4.68666509e-02 3.99463644e+02] [-5.09581087e-02 9.98681296e-01 -6.24017843e-03 -5.37454700e+01] [-4.71243148e-02 3.83689358e-03 9.98881663e-01 -2.67889172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.380714057 meters 0.047223789174997935 Centerline is valid? [True, True] Translation: X:399.49, Y:-53.75, Z:-26.79 [[ 9.97695248e-01 5.01922369e-02 4.56610549e-02 3.99492151e+02] [-4.99662850e-02 9.98732416e-01 -6.07714666e-03 -5.37505615e+01] [-4.59082013e-02 3.78162706e-03 9.98938505e-01 -2.67924655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.410714057 meters 0.04705719810295677 Centerline is valid? [True, True] Translation: X:399.52, Y:-53.75, Z:-26.79 [[ 9.97783779e-01 4.93058316e-02 4.46818187e-02 3.99521288e+02] [-4.90884645e-02 9.98776714e-01 -5.94968850e-03 -5.37542329e+01] [-4.49205144e-02 3.74314080e-03 9.98983552e-01 -2.67947634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.440714057 meters 0.0580127156606788 Centerline is valid? [True, True] Translation: X:399.55, Y:-53.77, Z:-26.80 [[ 9.97899810e-01 4.79721611e-02 4.35274685e-02 3.99548230e+02] [-4.77647172e-02 9.98841810e-01 -5.79399494e-03 -5.37739261e+01] [-4.37550059e-02 3.70274923e-03 9.99035429e-01 -2.68011417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.470714057 meters 0.051007756138515395 Centerline is valid? [True, True] Translation: X:399.58, Y:-53.77, Z:-26.80 [[ 9.97940149e-01 4.77162890e-02 4.28790769e-02 3.99579708e+02] [-4.75147500e-02 9.98854229e-01 -5.70768674e-03 -5.37686733e+01] [-4.31022969e-02 3.65854113e-03 9.99063965e-01 -2.68020222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.500714057 meters 0.05128552101029131 Centerline is valid? [True, True] Translation: X:399.61, Y:-53.77, Z:-26.80 [[ 9.97992053e-01 4.72745653e-02 4.21542105e-02 3.99608417e+02] [-4.70793745e-02 9.98875388e-01 -5.61173253e-03 -5.37722365e+01] [-4.23720956e-02 3.61587061e-03 9.99095356e-01 -2.68035228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.530714057 meters 0.04985182384714895 Centerline is valid? [True, True] Translation: X:399.64, Y:-53.77, Z:-26.80 [[ 9.97966441e-01 4.75362627e-02 4.24651279e-02 3.99638166e+02] [-4.73384791e-02 9.98862917e-01 -5.65161570e-03 -5.37732539e+01] [-4.26854983e-02 3.62988823e-03 9.99081965e-01 -2.68048295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.560714057 meters 0.04985182384714895 Centerline is valid? [True, True] Translation: X:399.67, Y:-53.78, Z:-26.81 [[ 9.97968073e-01 4.75018031e-02 4.24653230e-02 3.99667126e+02] [-4.73040504e-02 9.98864557e-01 -5.65014989e-03 -5.37770746e+01] [-4.26854983e-02 3.62988742e-03 9.99081965e-01 -2.68065230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.590714057 meters 0.05022574490233736 Centerline is valid? [True, True] Translation: X:399.70, Y:-53.78, Z:-26.81 [[ 9.97892084e-01 4.85460629e-02 4.30658669e-02 3.99696498e+02] [-4.83437154e-02 9.98814333e-01 -5.72826132e-03 -5.37806866e+01] [-4.32928897e-02 3.63422261e-03 9.99055813e-01 -2.68081166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.620714057 meters 0.05120053786231863 Centerline is valid? [True, True] Translation: X:399.73, Y:-53.79, Z:-26.81 [[ 9.97829716e-01 4.89962981e-02 4.39911481e-02 3.99725464e+02] [-4.87856239e-02 9.98792138e-01 -5.85054325e-03 -5.37858487e+01] [-4.42246678e-02 3.69171031e-03 9.99014790e-01 -2.68099223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.650714057 meters 0.04741886943306226 Centerline is valid? [True, True] Translation: X:399.76, Y:-53.78, Z:-26.81 [[ 9.97753015e-01 4.93444461e-02 4.53215964e-02 3.99755315e+02] [-4.91212075e-02 9.98774641e-01 -6.02689608e-03 -5.37834657e+01] [-4.55634550e-02 3.78710220e-03 9.98954268e-01 -2.68099392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.680714057 meters 0.046026313192881106 Centerline is valid? [True, True] Translation: X:399.79, Y:-53.78, Z:-26.81 [[ 9.97739535e-01 4.93360414e-02 4.56264792e-02 3.99785125e+02] [-4.91098524e-02 9.98774964e-01 -6.06581415e-03 -5.37847057e+01] [-4.58698484e-02 3.81139293e-03 9.98940154e-01 -2.68110383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.710714057 meters 0.044648055637589744 Centerline is valid? [True, True] Translation: X:399.81, Y:-53.79, Z:-26.81 [[ 9.97754657e-01 4.87821316e-02 4.58906031e-02 3.99814613e+02] [-4.85528094e-02 9.98801994e-01 -6.09925731e-03 -5.37861745e+01] [-4.61331607e-02 3.85744469e-03 9.98927851e-01 -2.68124260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.740714057 meters 0.044639755810635305 Centerline is valid? [True, True] Translation: X:399.84, Y:-53.79, Z:-26.81 [[ 9.97779013e-01 4.83754430e-02 4.57914700e-02 3.99843698e+02] [-4.81467635e-02 9.98821740e-01 -6.08440915e-03 -5.37899946e+01] [-4.60318518e-02 3.86618467e-03 9.98932491e-01 -2.68143924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.770714057 meters 0.04580374062574153 Centerline is valid? [True, True] Translation: X:399.87, Y:-53.80, Z:-26.82 [[ 9.97828203e-01 4.77360131e-02 4.53888766e-02 3.99873526e+02] [-4.75107724e-02 9.98852531e-01 -6.02898449e-03 -5.37953598e+01] [-4.56245939e-02 3.85943017e-03 9.98951201e-01 -2.68166651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.800714057 meters 0.05069893078174547 Centerline is valid? [True, True] Translation: X:399.90, Y:-53.81, Z:-26.82 [[ 9.97982327e-01 4.53453255e-02 4.44418301e-02 3.99901903e+02] [-4.51271135e-02 9.98963821e-01 -5.90159870e-03 -5.38061871e+01] [-4.46633903e-02 3.88415969e-03 9.98994542e-01 -2.68205516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.830714057 meters 0.04929107728732547 Centerline is valid? [True, True] Translation: X:399.93, Y:-53.81, Z:-26.82 [[ 9.98128108e-01 4.29444451e-02 4.35437085e-02 3.99932712e+02] [-4.27325374e-02 9.99069793e-01 -5.78616659e-03 -5.38096143e+01] [-4.37516876e-02 3.91460236e-03 9.99034767e-01 -2.68230450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.860714057 meters 0.048099903447938706 Centerline is valid? [True, True] Translation: X:399.96, Y:-53.81, Z:-26.82 [[ 9.98206613e-01 4.14367540e-02 4.32036194e-02 3.99964153e+02] [-4.12267264e-02 9.99133321e-01 -5.74143457e-03 -5.38123907e+01] [-4.34040821e-02 3.94999417e-03 9.99049790e-01 -2.68249168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.890714057 meters 0.050478544993307936 Centerline is valid? [True, True] Translation: X:399.99, Y:-53.82, Z:-26.83 [[ 9.98261226e-01 4.03085150e-02 4.30087101e-02 3.99994082e+02] [-4.00993303e-02 9.99179350e-01 -5.71580041e-03 -5.38196430e+01] [-4.32038104e-02 3.98124145e-03 9.99058347e-01 -2.68274402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.920714057 meters 0.051619917588546206 Centerline is valid? [True, True] Translation: X:400.02, Y:-53.83, Z:-26.83 [[ 9.98353666e-01 3.79457806e-02 4.30125034e-02 4.00024260e+02] [-3.77340816e-02 9.99271426e-01 -5.72334986e-03 -5.38261543e+01] [-4.31983426e-02 4.09089000e-03 9.99058140e-01 -2.68297426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.950714057 meters 0.05514802265161117 Centerline is valid? [True, True] Translation: X:400.05, Y:-53.84, Z:-26.83 [[ 9.98372878e-01 3.70464851e-02 4.33492149e-02 4.00054125e+02] [-3.68306485e-02 9.99304879e-01 -5.76741079e-03 -5.38357456e+01] [-4.35327442e-02 4.16144682e-03 9.99043334e-01 -2.68316375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.980714057 meters 0.05023256279050388 Centerline is valid? [True, True] Translation: X:400.09, Y:-53.83, Z:-26.83 [[ 9.98375447e-01 3.61110297e-02 4.40733511e-02 4.00086472e+02] [-3.58867653e-02 9.99338627e-01 -5.86933975e-03 -5.38343088e+01] [-4.42561501e-02 4.27815469e-03 9.99011056e-01 -2.68318369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.01071405700003 meters 0.05405709334934122 Centerline is valid? [True, True] Translation: X:400.12, Y:-53.84, Z:-26.83 [[ 9.98347818e-01 3.63438481e-02 4.45057131e-02 4.00117684e+02] [-3.61152079e-02 9.99330034e-01 -5.93092181e-03 -5.38441252e+01] [-4.46914483e-02 4.31378977e-03 9.98991524e-01 -2.68339975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.040714057 meters 0.05222446926328166 Centerline is valid? [True, True] Translation: X:400.15, Y:-53.85, Z:-26.84 [[ 9.98286934e-01 3.66192048e-02 4.56314777e-02 4.00149727e+02] [-3.63785210e-02 9.99319501e-01 -6.09411078e-03 -5.38464520e+01] [-4.58235870e-02 4.42366550e-03 9.98939753e-01 -2.68350043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.07071405700003 meters 0.05231166085771583 Centerline is valid? [True, True] Translation: X:400.18, Y:-53.85, Z:-26.84 [[ 9.98274454e-01 3.69988945e-02 4.55982023e-02 4.00182041e+02] [-3.67584211e-02 9.99305555e-01 -6.10129619e-03 -5.38511144e+01] [-4.57922781e-02 4.41465020e-03 9.98941229e-01 -2.68368564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.100714057 meters 0.0544559651491407 Centerline is valid? [True, True] Translation: X:400.21, Y:-53.86, Z:-26.84 [[ 9.98234185e-01 3.78341922e-02 4.57939557e-02 4.00212934e+02] [-3.75919773e-02 9.99274313e-01 -6.13923017e-03 -5.38586693e+01] [-4.59929965e-02 4.40690408e-03 9.98932041e-01 -2.68389591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.130714057 meters 0.049556512911785255 Centerline is valid? [True, True] Translation: X:400.24, Y:-53.86, Z:-26.84 [[ 9.98170144e-01 3.95041342e-02 4.57797689e-02 4.00244902e+02] [-3.92631635e-02 9.99209970e-01 -6.15134609e-03 -5.38564456e+01] [-4.59866052e-02 4.34263145e-03 9.98932617e-01 -2.68402621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.160714057 meters 0.04960935697726678 Centerline is valid? [True, True] Translation: X:400.28, Y:-53.86, Z:-26.84 [[ 9.98085767e-01 4.19854540e-02 4.54095022e-02 4.00275402e+02] [-4.17508270e-02 9.99109411e-01 -6.10348091e-03 -5.38616503e+01] [-4.56253184e-02 4.19591316e-03 9.98949811e-01 -2.68431811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.190714057 meters 0.04730531468169733 Centerline is valid? [True, True] Translation: X:400.31, Y:-53.86, Z:-26.85 [[ 9.98023034e-01 4.36596303e-02 4.52090794e-02 4.00306699e+02] [-4.34287471e-02 9.99038043e-01 -6.07713563e-03 -5.38624011e+01] [-4.54309157e-02 4.10174766e-03 9.98959062e-01 -2.68450316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.220714057 meters 0.04812530228529316 Centerline is valid? [True, True] Translation: X:400.34, Y:-53.87, Z:-26.85 [[ 9.97888166e-01 4.73508042e-02 4.44647103e-02 4.00335884e+02] [-4.71309969e-02 9.98870820e-01 -5.97940585e-03 -5.38659461e+01] [-4.46976313e-02 3.87111221e-03 9.98993061e-01 -2.68478685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.250714057 meters 0.04942625840435571 Centerline is valid? [True, True] Translation: X:400.37, Y:-53.87, Z:-26.85 [[ 9.97772657e-01 4.92885693e-02 4.49484333e-02 4.00365539e+02] [-4.90659471e-02 9.98777257e-01 -6.04340677e-03 -5.38718252e+01] [-4.51913438e-02 3.82450858e-03 9.98971028e-01 -2.68498741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.280714057 meters 0.04459948085279308 Centerline is valid? [True, True] Translation: X:400.40, Y:-53.87, Z:-26.85 [[ 9.97490256e-01 5.42050384e-02 4.55521948e-02 4.00396717e+02] [-5.39814759e-02 9.98523154e-01 -6.12461663e-03 -5.38682125e+01] [-4.58169063e-02 3.65027070e-03 9.98943185e-01 -2.68507726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.310714057 meters 0.04339745710345559 Centerline is valid? [True, True] Translation: X:400.43, Y:-53.87, Z:-26.85 [[ 9.97296502e-01 5.71663712e-02 4.61702692e-02 4.00427036e+02] [-5.69398516e-02 9.98358312e-01 -6.20761041e-03 -5.38702173e+01] [-4.64493386e-02 3.56189986e-03 9.98914297e-01 -2.68520769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.340714057 meters 0.04285117019395047 Centerline is valid? [True, True] Translation: X:400.46, Y:-53.87, Z:-26.85 [[ 9.96957838e-01 6.21397096e-02 4.70502402e-02 4.00456520e+02] [-6.19099671e-02 9.98061691e-01 -6.32593311e-03 -5.38722226e+01] [-4.73521339e-02 3.39380978e-03 9.98872493e-01 -2.68529423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.370714057 meters 0.042113299127720535 Centerline is valid? [True, True] Translation: X:400.49, Y:-53.87, Z:-26.85 [[ 9.96781150e-01 6.45653635e-02 4.75252946e-02 4.00486221e+02] [-6.43337580e-02 9.97907989e-01 -6.38848850e-03 -5.38742780e+01] [-4.78383463e-02 3.31044411e-03 9.98849605e-01 -2.68543308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.400714057 meters 0.04190609836005948 Centerline is valid? [True, True] Translation: X:400.51, Y:-53.88, Z:-26.86 [[ 9.96605899e-01 6.66427835e-02 4.83262037e-02 4.00514656e+02] [-6.64058040e-02 9.97771562e-01 -6.49457583e-03 -5.38771356e+01] [-4.86513284e-02 3.26339216e-03 9.98810492e-01 -2.68556780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.430714057 meters 0.04074729537773253 Centerline is valid? [True, True] Translation: X:400.54, Y:-53.88, Z:-26.86 [[ 9.96305413e-01 7.04199893e-02 4.91584010e-02 4.00543686e+02] [-7.01794855e-02 9.97512523e-01 -6.60354767e-03 -5.38788722e+01] [-4.95011423e-02 3.12923901e-03 9.98769165e-01 -2.68566391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.460714057 meters 0.040503918249886965 Centerline is valid? [True, True] Translation: X:400.57, Y:-53.88, Z:-26.86 [[ 9.96208093e-01 7.18972035e-02 4.89921165e-02 4.00572960e+02] [-7.16601179e-02 9.97407399e-01 -6.58092204e-03 -5.38815095e+01] [-4.93382493e-02 3.04518696e-03 9.98777485e-01 -2.68586943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.490714057 meters 0.039756852374087985 Centerline is valid? [True, True] Translation: X:400.60, Y:-53.88, Z:-26.86 [[ 9.96034589e-01 7.43298383e-02 4.88894021e-02 4.00602913e+02] [-7.40969590e-02 9.97229458e-01 -6.56114149e-03 -5.38846425e+01] [-4.92416405e-02 2.91256784e-03 9.98782648e-01 -2.68611449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.520714057 meters 0.04060609447968884 Centerline is valid? [True, True] Translation: X:400.63, Y:-53.89, Z:-26.86 [[ 9.96009658e-01 7.48406433e-02 4.86172718e-02 4.00630502e+02] [-7.46109692e-02 9.97191374e-01 -6.52438822e-03 -5.38893440e+01] [-4.89690135e-02 2.87097191e-03 9.98796172e-01 -2.68637598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.550714057 meters 0.04070794103922481 Centerline is valid? [True, True] Translation: X:400.66, Y:-53.89, Z:-26.87 [[ 9.96026405e-01 7.48033614e-02 4.83307152e-02 4.00657807e+02] [-7.45765354e-02 9.97194226e-01 -6.48204051e-03 -5.38935106e+01] [-4.86799885e-02 2.85194621e-03 9.98810355e-01 -2.68656590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.580714057 meters 0.03631779595923111 Centerline is valid? [True, True] Translation: X:400.69, Y:-53.89, Z:-26.87 [[ 9.96064868e-01 7.44734450e-02 4.80466854e-02 4.00687231e+02] [-7.42491420e-02 9.97218936e-01 -6.43889832e-03 -5.38906149e+01] [-4.83925914e-02 2.84613524e-03 9.98824337e-01 -2.68664838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.610714057 meters 0.04260986703673481 Centerline is valid? [True, True] Translation: X:400.71, Y:-53.90, Z:-26.87 [[ 9.96150477e-01 7.35418299e-02 4.77056192e-02 4.00712961e+02] [-7.33197931e-02 9.97288011e-01 -6.38998794e-03 -5.39047573e+01] [-4.80461735e-02 2.86762341e-03 9.98840999e-01 -2.68703176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.640714057 meters 0.04427783045525969 Centerline is valid? [True, True] Translation: X:400.74, Y:-53.91, Z:-26.87 [[ 9.96195586e-01 7.28399269e-02 4.78403636e-02 4.00739730e+02] [-7.26160352e-02 9.97339413e-01 -6.40371840e-03 -5.39118279e+01] [-4.81795265e-02 2.90537847e-03 9.98834467e-01 -2.68725111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.670714057 meters 0.03675561096570838 Centerline is valid? [True, True] Translation: X:400.77, Y:-53.90, Z:-26.87 [[ 9.96220006e-01 7.22310281e-02 4.82532687e-02 4.00770089e+02] [-7.20027373e-02 9.97383547e-01 -6.45493302e-03 -5.39045868e+01] [-4.85932627e-02 2.95616599e-03 9.98814275e-01 -2.68724821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.700714057 meters 0.03932562434153508 Centerline is valid? [True, True] Translation: X:400.80, Y:-53.91, Z:-26.87 [[ 9.96257871e-01 7.06645690e-02 4.97671899e-02 4.00796517e+02] [-7.04199396e-02 9.97495241e-01 -6.65402640e-03 -5.39133027e+01] [-5.01127390e-02 3.12452367e-03 9.98738680e-01 -2.68742123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.730714057 meters 0.03680048201284226 Centerline is valid? [True, True] Translation: X:400.83, Y:-53.91, Z:-26.87 [[ 9.96267632e-01 7.00698549e-02 5.04085464e-02 4.00825863e+02] [-6.98184048e-02 9.97536988e-01 -6.73408185e-03 -5.39139551e+01] [-5.07562457e-02 3.18950348e-03 9.98705978e-01 -2.68747685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.76071405700003 meters 0.03723727419189367 Centerline is valid? [True, True] Translation: X:400.85, Y:-53.92, Z:-26.88 [[ 9.96287873e-01 6.91085902e-02 5.13271604e-02 4.00853699e+02] [-6.88468085e-02 9.97603706e-01 -6.85300554e-03 -5.39203680e+01] [-5.16777669e-02 3.29385513e-03 9.98658379e-01 -2.68759342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.790714057 meters 0.03658623542196587 Centerline is valid? [True, True] Translation: X:400.88, Y:-53.92, Z:-26.88 [[ 9.96331179e-01 6.82038710e-02 5.16953931e-02 4.00882082e+02] [-6.79372986e-02 9.97665743e-01 -6.89842627e-03 -5.39242476e+01] [-5.20452222e-02 3.36107182e-03 9.98639073e-01 -2.68772984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.82071405700003 meters 0.039572311827677786 Centerline is valid? [True, True] Translation: X:400.91, Y:-53.93, Z:-26.88 [[ 9.96351899e-01 6.74895557e-02 5.22307643e-02 4.00908976e+02] [-6.72166476e-02 9.97714085e-01 -6.96612140e-03 -5.39336434e+01] [-5.25815097e-02 3.42993141e-03 9.98610745e-01 -2.68793874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.850714057 meters 0.039307058604865636 Centerline is valid? [True, True] Translation: X:400.94, Y:-53.94, Z:-26.88 [[ 9.96499117e-01 6.55201480e-02 5.19289926e-02 4.00938312e+02] [-6.52479857e-02 9.97845079e-01 -6.92093294e-03 -5.39391373e+01] [-5.22705503e-02 3.50844140e-03 9.98626797e-01 -2.68812471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.880714057 meters 0.04297132356284009 Centerline is valid? [True, True] Translation: X:400.97, Y:-53.95, Z:-26.88 [[ 9.96705122e-01 6.30531028e-02 5.10216267e-02 4.00965620e+02] [-6.27872643e-02 9.98003781e-01 -6.79803927e-03 -5.39517749e+01] [-5.13484138e-02 3.57213220e-03 9.98674412e-01 -2.68849937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.910714057 meters 0.04193505819022718 Centerline is valid? [True, True] Translation: X:400.99, Y:-53.96, Z:-26.89 [[ 9.96818585e-01 6.15279511e-02 5.06657643e-02 4.00994666e+02] [-6.12638554e-02 9.98098778e-01 -6.75057725e-03 -5.39555169e+01] [-5.09847866e-02 3.62512080e-03 9.98692851e-01 -2.68873943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.940714057 meters 0.0448463616334686 Centerline is valid? [True, True] Translation: X:401.02, Y:-53.97, Z:-26.89 [[ 9.97051815e-01 5.85578694e-02 4.95848138e-02 4.01022225e+02] [-5.83014234e-02 9.98277183e-01 -6.60373373e-03 -5.39667239e+01] [-4.98860888e-02 3.69339948e-03 9.98748085e-01 -2.68911047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.970714057 meters 0.04353840464126418 Centerline is valid? [True, True] Translation: X:401.05, Y:-53.97, Z:-26.89 [[ 9.97132930e-01 5.75308681e-02 4.91540360e-02 4.01051209e+02] [-5.72776506e-02 9.98336829e-01 -6.54580728e-03 -5.39701819e+01] [-4.94488704e-02 3.71161229e-03 9.98769760e-01 -2.68932894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.000714057 meters 0.04370075553670685 Centerline is valid? [True, True] Translation: X:401.08, Y:-53.98, Z:-26.90 [[ 9.97246890e-01 5.59704227e-02 4.86410461e-02 4.01081472e+02] [-5.57207717e-02 9.98425399e-01 -6.47447620e-03 -5.39757878e+01] [-4.89268350e-02 3.74633464e-03 9.98795339e-01 -2.68952043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.030714057 meters 0.04921018991692071 Centerline is valid? [True, True] Translation: X:401.11, Y:-53.99, Z:-26.90 [[ 9.97288988e-01 5.53912362e-02 4.84405404e-02 4.01109946e+02] [-5.51429549e-02 9.98457650e-01 -6.44794301e-03 -5.39875184e+01] [-4.87229877e-02 3.75930802e-03 9.98805255e-01 -2.68976948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.060714057 meters 0.04150573501961191 Centerline is valid? [True, True] Translation: X:401.14, Y:-53.98, Z:-26.90 [[ 9.97296636e-01 5.47024923e-02 4.90617761e-02 4.01140370e+02] [-5.44470026e-02 9.98495310e-01 -6.52992113e-03 -5.39826891e+01] [-4.93451563e-02 3.84100173e-03 9.98774400e-01 -2.68975725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.090714057 meters 0.04262119975506922 Centerline is valid? [True, True] Translation: X:401.17, Y:-53.99, Z:-26.90 [[ 9.97296139e-01 5.43887781e-02 4.94193477e-02 4.01170611e+02] [-5.41292682e-02 9.98512286e-01 -6.57542113e-03 -5.39888015e+01] [-4.97034550e-02 3.88260898e-03 9.98756473e-01 -2.68997339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.120714057 meters 0.04779596680310314 Centerline is valid? [True, True] Translation: X:401.20, Y:-54.00, Z:-26.90 [[ 9.97238973e-01 5.43178578e-02 5.06359686e-02 4.01198798e+02] [-5.40453017e-02 9.98515755e-01 -6.73741673e-03 -5.40023040e+01] [-5.09267744e-02 3.98217834e-03 9.98694451e-01 -2.69018131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.150714057 meters 0.0431858543982663 Centerline is valid? [True, True] Translation: X:401.23, Y:-54.00, Z:-26.90 [[ 9.97281076e-01 5.36753397e-02 5.04917088e-02 4.01230249e+02] [-5.34035702e-02 9.98550418e-01 -6.71720082e-03 -5.40002790e+01] [-5.07790649e-02 4.00249975e-03 9.98701891e-01 -2.69028272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.180714057 meters 0.042893590451191385 Centerline is valid? [True, True] Translation: X:401.26, Y:-54.01, Z:-26.90 [[ 9.97314152e-01 5.30051285e-02 5.05464060e-02 4.01260005e+02] [-5.27319144e-02 9.98586064e-01 -6.72447751e-03 -5.40055093e+01] [-5.08313684e-02 4.04100783e-03 9.98699075e-01 -2.69046873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.210714057 meters 0.05338231615575184 Centerline is valid? [True, True] Translation: X:401.29, Y:-54.03, Z:-26.91 [[ 9.97341627e-01 5.26722642e-02 5.03518811e-02 4.01288484e+02] [-5.24008124e-02 9.98603678e-01 -6.69697513e-03 -5.40250839e+01] [-5.06343185e-02 4.04069259e-03 9.98709086e-01 -2.69077600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.240714057 meters 0.04570691350156391 Centerline is valid? [True, True] Translation: X:401.32, Y:-54.02, Z:-26.91 [[ 9.97442496e-01 5.12244328e-02 4.98450046e-02 4.01320603e+02] [-5.09559817e-02 9.98678810e-01 -6.64247231e-03 -5.40206958e+01] [-5.01194068e-02 4.08558301e-03 9.98734876e-01 -2.69094231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.270714057 meters 0.043618598071173555 Centerline is valid? [True, True] Translation: X:401.35, Y:-54.02, Z:-26.91 [[ 9.97527031e-01 5.07837129e-02 4.85884454e-02 4.01352794e+02] [-5.05281326e-02 9.98701650e-01 -6.47478658e-03 -5.40242733e+01] [-4.88541743e-02 4.00369122e-03 9.98797898e-01 -2.69122118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.300714057 meters 0.04487055230256087 Centerline is valid? [True, True] Translation: X:401.38, Y:-54.03, Z:-26.91 [[ 9.97539784e-01 5.04853889e-02 4.86374810e-02 4.01383191e+02] [-5.02282465e-02 9.98716642e-01 -6.49548295e-03 -5.40306615e+01] [-4.89029887e-02 4.03652727e-03 9.98795377e-01 -2.69144458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.330714057 meters 0.04416036625626396 Centerline is valid? [True, True] Translation: X:401.41, Y:-54.03, Z:-26.92 [[ 9.97530605e-01 5.06876483e-02 4.86153622e-02 4.01413977e+02] [-5.04308935e-02 9.98706438e-01 -6.49426389e-03 -5.40343912e+01] [-4.88816541e-02 4.02651084e-03 9.98796461e-01 -2.69159228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.360714057 meters 0.04826595230822004 Centerline is valid? [True, True] Translation: X:401.44, Y:-54.04, Z:-26.92 [[ 9.97514426e-01 5.09046186e-02 4.87205291e-02 4.01444539e+02] [-5.06470041e-02 9.98695410e-01 -6.50838032e-03 -5.40444076e+01] [-4.89882754e-02 4.02465442e-03 9.98791245e-01 -2.69181956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.390714057 meters 0.04445892883747287 Centerline is valid? [True, True] Translation: X:401.48, Y:-54.04, Z:-26.92 [[ 9.97484648e-01 5.14932690e-02 4.87116022e-02 4.01475930e+02] [-5.12358074e-02 9.98665299e-01 -6.52020485e-03 -5.40431084e+01] [-4.89823334e-02 4.00802597e-03 9.98791603e-01 -2.69193858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.420714057 meters 0.04346285198866078 Centerline is valid? [True, True] Translation: X:401.51, Y:-54.05, Z:-26.92 [[ 9.97432686e-01 5.24076754e-02 4.88003360e-02 4.01507310e+02] [-5.21502744e-02 9.98617874e-01 -6.53383192e-03 -5.40465947e+01] [-4.90753107e-02 3.97210661e-03 9.98787183e-01 -2.69208322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.450714057 meters 0.043510809255959064 Centerline is valid? [True, True] Translation: X:401.54, Y:-54.05, Z:-26.92 [[ 9.97418728e-01 5.26416273e-02 4.88338092e-02 4.01538127e+02] [-5.23840647e-02 9.98605596e-01 -6.54006763e-03 -5.40509916e+01] [-4.91099949e-02 3.96507251e-03 9.98785506e-01 -2.69227284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.480714057 meters 0.043510809255959064 Centerline is valid? [True, True] Translation: X:401.57, Y:-54.06, Z:-26.92 [[ 9.97416887e-01 5.26767086e-02 4.88335791e-02 4.01568746e+02] [-5.24191043e-02 9.98603747e-01 -6.54178503e-03 -5.40551243e+01] [-4.91099948e-02 3.96507438e-03 9.98785506e-01 -2.69245182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.51071405700003 meters 0.045166293783936856 Centerline is valid? [True, True] Translation: X:401.60, Y:-54.06, Z:-26.93 [[ 9.97434543e-01 5.27666833e-02 4.83736528e-02 4.01598646e+02] [-5.25139579e-02 9.98599157e-01 -6.48141698e-03 -5.40611990e+01] [-4.86478917e-02 3.92449721e-03 9.98808280e-01 -2.69263594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.540714057 meters 0.04567438756476127 Centerline is valid? [True, True] Translation: X:401.63, Y:-54.07, Z:-26.93 [[ 9.97425582e-01 5.27601902e-02 4.85651150e-02 4.01628933e+02] [-5.25052034e-02 9.98599417e-01 -6.51212491e-03 -5.40660734e+01] [-4.88406764e-02 3.94543874e-03 9.98798789e-01 -2.69283552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.57071405700003 meters 0.046528231217157365 Centerline is valid? [True, True] Translation: X:401.66, Y:-54.07, Z:-26.93 [[ 9.97428697e-01 5.29240944e-02 4.83221945e-02 4.01658837e+02] [-5.26718822e-02 9.98590856e-01 -6.47880110e-03 -5.40714898e+01] [-4.85969863e-02 3.91692120e-03 9.98810788e-01 -2.69303139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.600714057 meters 0.0470631981532294 Centerline is valid? [True, True] Translation: X:401.69, Y:-54.08, Z:-26.93 [[ 9.97438227e-01 5.30116322e-02 4.80286458e-02 4.01688953e+02] [-5.27623495e-02 9.98586304e-01 -6.44418774e-03 -5.40761203e+01] [-4.83023648e-02 3.89357499e-03 9.98825171e-01 -2.69323033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.630714057 meters 0.04714298521986942 Centerline is valid? [True, True] Translation: X:401.72, Y:-54.08, Z:-26.93 [[ 9.97476171e-01 5.27803209e-02 4.74923692e-02 4.01719323e+02] [-5.25363192e-02 9.98598683e-01 -6.37223345e-03 -5.40796289e+01] [-4.77621459e-02 3.86107676e-03 9.98851275e-01 -2.69341863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.660714057 meters 0.044952198136130536 Centerline is valid? [True, True] Translation: X:401.75, Y:-54.08, Z:-26.94 [[ 9.97487396e-01 5.27943258e-02 4.72403782e-02 4.01750037e+02] [-5.25529246e-02 9.98598024e-01 -6.33842285e-03 -5.40802679e+01] [-4.75087811e-02 3.83987687e-03 9.98863440e-01 -2.69355284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.690714057 meters 0.04914385254945539 Centerline is valid? [True, True] Translation: X:401.78, Y:-54.09, Z:-26.94 [[ 9.97524131e-01 5.27169880e-02 4.65459622e-02 4.01778818e+02] [-5.24825548e-02 9.98602312e-01 -6.24525039e-03 -5.40893938e+01] [-4.68101363e-02 3.78693696e-03 9.98896626e-01 -2.69383338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.720714057 meters 0.043671522470998404 Centerline is valid? [True, True] Translation: X:401.81, Y:-54.09, Z:-26.94 [[ 9.97537031e-01 5.23103079e-02 4.67279675e-02 4.01810429e+02] [-5.20735931e-02 9.98623569e-01 -6.26967074e-03 -5.40862923e+01] [-4.69916181e-02 3.82093557e-03 9.98887976e-01 -2.69388511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.750714057 meters 0.0441481777552217 Centerline is valid? [True, True] Translation: X:401.84, Y:-54.09, Z:-26.94 [[ 9.97517408e-01 5.22918715e-02 4.71654625e-02 4.01840691e+02] [-5.20506785e-02 9.98624393e-01 -6.32837112e-03 -5.40914256e+01] [-4.74315037e-02 3.85766603e-03 9.98867044e-01 -2.69403549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.780714057 meters 0.043006832584400634 Centerline is valid? [True, True] Translation: X:401.87, Y:-54.09, Z:-26.94 [[ 9.97483740e-01 5.23774635e-02 4.77785592e-02 4.01871042e+02] [-5.21300503e-02 9.98619728e-01 -6.41063265e-03 -5.40940093e+01] [-4.80483844e-02 3.90380314e-03 9.98837381e-01 -2.69412605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.810714057 meters 0.04467654693510275 Centerline is valid? [True, True] Translation: X:401.90, Y:-54.10, Z:-26.94 [[ 9.97424531e-01 5.31767542e-02 4.81304301e-02 4.01900805e+02] [-5.29266486e-02 9.98577527e-01 -6.45691414e-03 -5.40996292e+01] [-4.84053237e-02 3.89290219e-03 9.98820189e-01 -2.69425962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.840714057 meters 0.04994194023155796 Centerline is valid? [True, True] Translation: X:401.93, Y:-54.11, Z:-26.95 [[ 9.97450144e-01 5.33588334e-02 4.73924598e-02 4.01930310e+02] [-5.31162864e-02 9.98568058e-01 -6.36344200e-03 -5.41101508e+01] [-4.76641424e-02 3.82990468e-03 9.98856076e-01 -2.69452190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.870714057 meters 0.043303089917036096 Centerline is valid? [True, True] Translation: X:401.96, Y:-54.10, Z:-26.95 [[ 9.97315014e-01 5.52160121e-02 4.81035885e-02 4.01962564e+02] [-5.49682272e-02 9.98467208e-01 -6.45979098e-03 -5.41046157e+01] [-4.83865395e-02 3.79827755e-03 9.98821463e-01 -2.69458959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.900714057 meters 0.04357982105467734 Centerline is valid? [True, True] Translation: X:401.99, Y:-54.11, Z:-26.95 [[ 9.97318230e-01 5.55602502e-02 4.76382900e-02 4.01993026e+02] [-5.53175819e-02 9.98448309e-01 -6.39831866e-03 -5.41087616e+01] [-4.79198623e-02 3.74592483e-03 9.98844159e-01 -2.69481336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.930714057 meters 0.04438699666802641 Centerline is valid? [True, True] Translation: X:402.02, Y:-54.11, Z:-26.95 [[ 9.97210538e-01 5.70499836e-02 4.81294388e-02 4.02022003e+02] [-5.68039884e-02 9.98364420e-01 -6.46460980e-03 -5.41127181e+01] [-4.84195251e-02 3.71263293e-03 9.98820187e-01 -2.69496481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.960714057 meters 0.04483735064953679 Centerline is valid? [True, True] Translation: X:402.05, Y:-54.12, Z:-26.95 [[ 9.97190489e-01 5.75984478e-02 4.78910020e-02 4.02051313e+02] [-5.73555959e-02 9.98333100e-01 -6.43090069e-03 -5.41163931e+01] [-4.81815824e-02 3.66601604e-03 9.98831865e-01 -2.69514711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.990714057 meters 0.04064558985225622 Centerline is valid? [True, True] Translation: X:402.08, Y:-54.11, Z:-26.95 [[ 9.97079921e-01 5.93471654e-02 4.80577200e-02 4.02081829e+02] [-5.91047172e-02 9.98230940e-01 -6.45161618e-03 -5.41130729e+01] [-4.83555881e-02 3.59233901e-03 9.98823724e-01 -2.69522628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.020714057 meters 0.039687062418491834 Centerline is valid? [True, True] Translation: X:402.11, Y:-54.12, Z:-26.95 [[ 9.96986970e-01 6.03551098e-02 4.87261889e-02 4.02111636e+02] [-6.01071472e-02 9.98170509e-01 -6.53956636e-03 -5.41150079e+01] [-4.90317410e-02 3.59107025e-03 9.98790765e-01 -2.69538045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.050714057 meters 0.045302994435204025 Centerline is valid? [True, True] Translation: X:402.14, Y:-54.13, Z:-26.96 [[ 9.96877225e-01 6.21153858e-02 4.87593713e-02 4.02138943e+02] [-6.18692757e-02 9.98062821e-01 -6.54203180e-03 -5.41265626e+01] [-4.90712765e-02 3.50489552e-03 9.98789130e-01 -2.69567774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.080714057 meters 0.04328112726023374 Centerline is valid? [True, True] Translation: X:402.17, Y:-54.13, Z:-26.96 [[ 9.96824112e-01 6.30893448e-02 4.85944869e-02 4.02168886e+02] [-6.28460644e-02 9.98001937e-01 -6.51958681e-03 -5.41275234e+01] [-4.89087085e-02 3.44490908e-03 9.98797312e-01 -2.69581931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.110714057 meters 0.03807573409160332 Centerline is valid? [True, True] Translation: X:402.20, Y:-54.12, Z:-26.96 [[ 9.96628753e-01 6.61031832e-02 4.85952387e-02 4.02199566e+02] [-6.58635394e-02 9.97807351e-01 -6.51802456e-03 -5.41228909e+01] [-4.89195485e-02 3.29539628e-03 9.98797286e-01 -2.69595127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.140714057 meters 0.03626452196065178 Centerline is valid? [True, True] Translation: X:402.23, Y:-54.12, Z:-26.96 [[ 9.96459800e-01 6.92875855e-02 4.76140570e-02 4.02229893e+02] [-6.90612247e-02 9.97591992e-01 -6.38480001e-03 -5.41227101e+01] [-4.79417893e-02 3.07391144e-03 9.98845401e-01 -2.69613341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.170714057 meters 0.036097826241465875 Centerline is valid? [True, True] Translation: X:402.26, Y:-54.13, Z:-26.96 [[ 9.96329767e-01 7.11408203e-02 4.76023072e-02 4.02259741e+02] [-7.09167764e-02 9.97461825e-01 -6.38114320e-03 -5.41259750e+01] [-4.79354440e-02 2.98192073e-03 9.98845985e-01 -2.69631410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.200714057 meters 0.03434441481061459 Centerline is valid? [True, True] Translation: X:402.29, Y:-54.13, Z:-26.96 [[ 9.96175871e-01 7.33989373e-02 4.73944169e-02 4.02289914e+02] [-7.31794323e-02 9.97298560e-01 -6.35243109e-03 -5.41265531e+01] [-4.77326454e-02 2.85984205e-03 9.98856054e-01 -2.69649754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.230714057 meters 0.0351316803027336 Centerline is valid? [True, True] Translation: X:402.32, Y:-54.13, Z:-26.97 [[ 9.96094064e-01 7.44846658e-02 4.74199407e-02 4.02317016e+02] [-7.42661563e-02 9.97218202e-01 -6.35570349e-03 -5.41317003e+01] [-4.77614305e-02 2.80918178e-03 9.98854821e-01 -2.69669365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.26071405700003 meters 0.03404764980132248 Centerline is valid? [True, True] Translation: X:402.35, Y:-54.13, Z:-26.97 [[ 9.96008852e-01 7.60843150e-02 4.66641622e-02 4.02345806e+02] [-7.58746732e-02 9.97097774e-01 -6.25008453e-03 -5.41343872e+01] [-4.70042657e-02 2.68451145e-03 9.98891081e-01 -2.69685275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.290714057 meters 0.03415561973766675 Centerline is valid? [True, True] Translation: X:402.37, Y:-54.14, Z:-26.97 [[ 9.95992965e-01 7.64927165e-02 4.63344095e-02 4.02374745e+02] [-7.62866251e-02 9.97066637e-01 -6.20259736e-03 -5.41380975e+01] [-4.66729474e-02 2.64304761e-03 9.98906728e-01 -2.69705798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.32071405700003 meters 0.035604773964343285 Centerline is valid? [True, True] Translation: X:402.40, Y:-54.14, Z:-26.97 [[ 9.95897861e-01 7.76759661e-02 4.64100777e-02 4.02402281e+02] [-7.74706368e-02 9.96975298e-01 -6.20938375e-03 -5.41448603e+01] [-4.67520210e-02 2.58849371e-03 9.98903173e-01 -2.69727668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.350714057 meters 0.03275306655826847 Centerline is valid? [True, True] Translation: X:402.43, Y:-54.14, Z:-26.97 [[ 9.95903036e-01 7.77806387e-02 4.61228253e-02 4.02431083e+02] [-7.75781078e-02 9.96967199e-01 -6.16771374e-03 -5.41446486e+01] [-4.64626727e-02 2.56432332e-03 9.98916735e-01 -2.69736546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.380714057 meters 0.03475859100997503 Centerline is valid? [True, True] Translation: X:402.46, Y:-54.15, Z:-26.98 [[ 9.95904428e-01 7.75195677e-02 4.65304960e-02 4.02458431e+02] [-7.73133051e-02 9.96987451e-01 -6.21900177e-03 -5.41520308e+01] [-4.68724149e-02 2.59610496e-03 9.98897511e-01 -2.69757640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.410714057 meters 0.034494194648800235 Centerline is valid? [True, True] Translation: X:402.49, Y:-54.16, Z:-26.98 [[ 9.95936729e-01 7.69518539e-02 4.67807980e-02 4.02486433e+02] [-7.67429503e-02 9.97031335e-01 -6.24800551e-03 -5.41569830e+01] [-4.71227170e-02 2.63252172e-03 9.98885639e-01 -2.69767774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.440714057 meters 0.03819723250100534 Centerline is valid? [True, True] Translation: X:402.51, Y:-54.17, Z:-26.98 [[ 9.95930426e-01 7.67338722e-02 4.72704992e-02 4.02511915e+02] [-7.65204587e-02 9.97048041e-01 -6.31057236e-03 -5.41656123e+01] [-4.76151933e-02 2.66773073e-03 9.98862191e-01 -2.69789405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.470714057 meters 0.03323066334520657 Centerline is valid? [True, True] Translation: X:402.54, Y:-54.16, Z:-26.98 [[ 9.95935240e-01 7.65479673e-02 4.74700621e-02 4.02541468e+02] [-7.63328374e-02 9.97062294e-01 -6.33091962e-03 -5.41622837e+01] [-4.78152280e-02 2.68166142e-03 9.98852598e-01 -2.69788595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.500714057 meters 0.03335194000759614 Centerline is valid? [True, True] Translation: X:402.57, Y:-54.17, Z:-26.98 [[ 9.95909487e-01 7.66882275e-02 4.77829490e-02 4.02569809e+02] [-7.64705773e-02 9.97051495e-01 -6.36918553e-03 -5.41661636e+01] [-4.81305023e-02 2.68914260e-03 9.98837436e-01 -2.69799434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.530714057 meters 0.03357518398074708 Centerline is valid? [True, True] Translation: X:402.60, Y:-54.17, Z:-26.98 [[ 9.95886310e-01 7.63477429e-02 4.88003977e-02 4.02598368e+02] [-7.61204860e-02 9.97077432e-01 -6.50120763e-03 -5.41707578e+01] [-4.91541277e-02 2.75975369e-03 9.98787393e-01 -2.69808069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.560714057 meters 0.03300867892923423 Centerline is valid? [True, True] Translation: X:402.63, Y:-54.17, Z:-26.98 [[ 9.95891706e-01 7.58335732e-02 4.94871605e-02 4.02627256e+02] [-7.55994159e-02 9.97116499e-01 -6.58909675e-03 -5.41739794e+01] [-4.98441390e-02 2.82082638e-03 9.98753025e-01 -2.69816112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.590714057 meters 0.033227686485017324 Centerline is valid? [True, True] Translation: X:402.66, Y:-54.18, Z:-26.98 [[ 9.95903861e-01 7.51142005e-02 5.03324557e-02 4.02655579e+02] [-7.48712410e-02 9.97170715e-01 -6.69792525e-03 -5.41787138e+01] [-5.06931601e-02 2.90203619e-03 9.98710059e-01 -2.69827936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.620714057 meters 0.032796401210555895 Centerline is valid? [True, True] Translation: X:402.68, Y:-54.18, Z:-26.98 [[ 9.95978496e-01 7.44376853e-02 4.98584695e-02 4.02683748e+02] [-7.41986199e-02 9.97221435e-01 -6.63128209e-03 -5.41818174e+01] [-5.02135518e-02 2.90518474e-03 9.98734279e-01 -2.69845359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.650714057 meters 0.033777277173811654 Centerline is valid? [True, True] Translation: X:402.71, Y:-54.19, Z:-26.99 [[ 9.96106792e-01 7.37200126e-02 4.83385924e-02 4.02710664e+02] [-7.34946310e-02 9.97274911e-01 -6.42587965e-03 -5.41870473e+01] [-4.86805813e-02 2.84823535e-03 9.98810337e-01 -2.69875898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.680714057 meters 0.03478974220949016 Centerline is valid? [True, True] Translation: X:402.74, Y:-54.19, Z:-26.99 [[ 9.96205039e-01 7.28493879e-02 4.76286368e-02 4.02737924e+02] [-7.26297981e-02 9.97338899e-01 -6.32723268e-03 -5.41920532e+01] [-4.79628272e-02 2.84396281e-03 9.98845073e-01 -2.69897928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.710714057 meters 0.034726396047257066 Centerline is valid? [True, True] Translation: X:402.77, Y:-54.20, Z:-26.99 [[ 9.96254844e-01 7.26041163e-02 4.69566606e-02 4.02766388e+02] [-7.23906182e-02 9.97356877e-01 -6.23363247e-03 -5.41955712e+01] [-4.72851357e-02 2.81106486e-03 9.98877477e-01 -2.69919701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.740714057 meters 0.03556159303674148 Centerline is valid? [True, True] Translation: X:402.79, Y:-54.20, Z:-26.99 [[ 9.96235079e-01 7.29089550e-02 4.69036524e-02 4.02793864e+02] [-7.26964262e-02 9.97334697e-01 -6.22340970e-03 -5.41997672e+01] [-4.72323822e-02 2.79025115e-03 9.98880031e-01 -2.69944225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.770714057 meters 0.03585841251147588 Centerline is valid? [True, True] Translation: X:402.82, Y:-54.20, Z:-27.00 [[ 9.96220013e-01 7.33259881e-02 4.65723753e-02 4.02822520e+02] [-7.31171102e-02 9.97304244e-01 -6.17513502e-03 -5.42036177e+01] [-4.68996255e-02 2.74655558e-03 9.98895831e-01 -2.69964648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.800714057 meters 0.0360721706538851 Centerline is valid? [True, True] Translation: X:402.85, Y:-54.21, Z:-27.00 [[ 9.96212968e-01 7.37903539e-02 4.59859246e-02 4.02849728e+02] [-7.35873404e-02 9.97270155e-01 -6.09436311e-03 -5.42065105e+01] [-4.63100954e-02 2.68730168e-03 9.98923497e-01 -2.69989448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.830714057 meters 0.036387075636001916 Centerline is valid? [True, True] Translation: X:402.88, Y:-54.21, Z:-27.00 [[ 9.96216583e-01 7.38589684e-02 4.57970810e-02 4.02878187e+02] [-7.36578869e-02 9.97265125e-01 -6.06512502e-03 -5.42099819e+01] [-4.61197956e-02 2.66886192e-03 9.98932351e-01 -2.70003603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.860714057 meters 0.036914555747355506 Centerline is valid? [True, True] Translation: X:402.91, Y:-54.21, Z:-27.00 [[ 9.96235228e-01 7.35352242e-02 4.59123250e-02 4.02907188e+02] [-7.33329345e-02 9.97289000e-01 -6.07718046e-03 -5.42136120e+01] [-4.62347435e-02 2.68741575e-03 9.98926987e-01 -2.70020168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.890714057 meters 0.037822248139924165 Centerline is valid? [True, True] Translation: X:402.94, Y:-54.22, Z:-27.00 [[ 9.96318084e-01 7.18951693e-02 4.67050410e-02 4.02936815e+02] [-7.16842057e-02 9.97408242e-01 -6.17843426e-03 -5.42178461e+01] [-4.70281924e-02 2.80767202e-03 9.98889617e-01 -2.70031441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.920714057 meters 0.035832670241421345 Centerline is valid? [True, True] Translation: X:402.97, Y:-54.22, Z:-27.00 [[ 9.96451632e-01 6.93054794e-02 4.77587328e-02 4.02966487e+02] [-6.90819995e-02 9.97590990e-01 -6.31613843e-03 -5.42193682e+01] [-4.80814245e-02 2.99445770e-03 9.98838931e-01 -2.70033146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.950714057 meters 0.04065701335923853 Centerline is valid? [True, True] Translation: X:402.99, Y:-54.23, Z:-27.01 [[ 9.96555664e-01 6.74318756e-02 4.82674819e-02 4.02993886e+02] [-6.72014943e-02 9.97719014e-01 -6.38182519e-03 -5.42300912e+01] [-4.85877229e-02 3.11619713e-03 9.98814058e-01 -2.70058353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.980714057 meters 0.03940716736377044 Centerline is valid? [True, True] Translation: X:403.02, Y:-54.23, Z:-27.01 [[ 9.96823290e-01 6.34491126e-02 4.81408213e-02 4.03024341e+02] [-6.32154641e-02 9.97979624e-01 -6.36205523e-03 -5.42322824e+01] [-4.84472254e-02 3.29860046e-03 9.98820297e-01 -2.70070052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.01071405700003 meters 0.04171100045667663 Centerline is valid? [True, True] Translation: X:403.05, Y:-54.24, Z:-27.01 [[ 9.96954096e-01 6.11840980e-02 4.83635842e-02 4.03051515e+02] [-6.09456084e-02 9.98120622e-01 -6.39191874e-03 -5.42394067e+01] [-4.86637746e-02 3.42490150e-03 9.98809345e-01 -2.70087291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.040714057 meters 0.042130859689750506 Centerline is valid? [True, True] Translation: X:403.08, Y:-54.24, Z:-27.01 [[ 9.97234651e-01 5.63213063e-02 4.84867079e-02 4.03081364e+02] [-5.60760813e-02 9.98405959e-01 -6.40415741e-03 -5.42449492e+01] [-4.87701087e-02 3.66750310e-03 9.98803297e-01 -2.70104673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.07071405700003 meters 0.04274043697545658 Centerline is valid? [True, True] Translation: X:403.11, Y:-54.25, Z:-27.01 [[ 9.97373215e-01 5.42210225e-02 4.80286531e-02 4.03111589e+02] [-5.39779911e-02 9.98521975e-01 -6.34371192e-03 -5.42502087e+01] [-4.83016281e-02 3.73455814e-03 9.98825814e-01 -2.70126733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.100714057 meters 0.04485320435996498 Centerline is valid? [True, True] Translation: X:403.14, Y:-54.26, Z:-27.02 [[ 9.97551489e-01 5.19326049e-02 4.68404957e-02 4.03141031e+02] [-5.16989587e-02 9.98643551e-01 -6.18669345e-03 -5.42572986e+01] [-4.70982500e-02 3.74994041e-03 9.98883223e-01 -2.70154128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.130714057 meters 0.046184609564727336 Centerline is valid? [True, True] Translation: X:403.17, Y:-54.26, Z:-27.02 [[ 9.97811479e-01 4.82783297e-02 4.51824614e-02 4.03170637e+02] [-4.80572077e-02 9.98826755e-01 -5.96810868e-03 -5.42641108e+01] [-4.54175816e-02 3.78370442e-03 9.98960924e-01 -2.70193031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.160714057 meters 0.04819236175174063 Centerline is valid? [True, True] Translation: X:403.20, Y:-54.27, Z:-27.02 [[ 9.98017995e-01 4.54767548e-02 4.34965030e-02 4.03200052e+02] [-4.52691950e-02 9.98958302e-01 -5.74553055e-03 -5.42710447e+01] [-4.37124809e-02 3.76509120e-03 9.99037058e-01 -2.70226294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.190714057 meters 0.049040814758226296 Centerline is valid? [True, True] Translation: X:403.23, Y:-54.28, Z:-27.02 [[ 9.98050317e-01 4.48507858e-02 4.34047483e-02 4.03231137e+02] [-4.46435274e-02 9.98986530e-01 -5.73310986e-03 -5.42760675e+01] [-4.36178934e-02 3.78419104e-03 9.99041120e-01 -2.70248113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.220714057 meters 0.04968827223964297 Centerline is valid? [True, True] Translation: X:403.26, Y:-54.28, Z:-27.03 [[ 9.97978406e-01 4.58496826e-02 4.40103135e-02 4.03261510e+02] [-4.56374895e-02 9.98941144e-01 -5.81466854e-03 -5.42802387e+01] [-4.42303136e-02 3.79439342e-03 9.99014155e-01 -2.70266153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.250714057 meters 0.049681525101707716 Centerline is valid? [True, True] Translation: X:403.29, Y:-54.28, Z:-27.03 [[ 9.97889937e-01 4.68791363e-02 4.49223816e-02 4.03293131e+02] [-4.66590204e-02 9.98893234e-01 -5.93657582e-03 -5.42835392e+01] [-4.51509646e-02 3.82801495e-03 9.98972841e-01 -2.70276074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.280714057 meters 0.04935102276681135 Centerline is valid? [True, True] Translation: X:403.32, Y:-54.28, Z:-27.03 [[ 9.97615519e-01 5.07500123e-02 4.67729970e-02 4.03322491e+02] [-5.05154353e-02 9.98704132e-01 -6.18444143e-03 -5.42843504e+01] [-4.70262458e-02 3.80693645e-03 9.98886400e-01 -2.70274269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.310714057 meters 0.048367550108884536 Centerline is valid? [True, True] Translation: X:403.35, Y:-54.29, Z:-27.03 [[ 9.97446639e-01 5.33758766e-02 4.74470084e-02 4.03353744e+02] [-5.31374920e-02 9.98567506e-01 -6.27232833e-03 -5.42858835e+01] [-4.77138319e-02 3.73509778e-03 9.98854063e-01 -2.70285764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.340714057 meters 0.046462381782834315 Centerline is valid? [True, True] Translation: X:403.38, Y:-54.28, Z:-27.03 [[ 9.97093813e-01 5.88139829e-02 4.84235836e-02 4.03383408e+02] [-5.85719870e-02 9.98262655e-01 -6.40260025e-03 -5.42849599e+01] [-4.87160176e-02 3.54772759e-03 9.98806369e-01 -2.70298529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.370714057 meters 0.046462381782834315 Centerline is valid? [True, True] Translation: X:403.41, Y:-54.29, Z:-27.03 [[ 9.97095756e-01 5.87809398e-02 4.84236902e-02 4.03412343e+02] [-5.85389441e-02 9.98264599e-01 -6.40179426e-03 -5.42887516e+01] [-4.87159591e-02 3.54853020e-03 9.98806369e-01 -2.70315444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.400714057 meters 0.04009286490802649 Centerline is valid? [True, True] Translation: X:403.44, Y:-54.28, Z:-27.03 [[ 9.96932614e-01 6.14256956e-02 4.84999749e-02 4.03443601e+02] [-6.11861342e-02 9.98105790e-01 -6.41009983e-03 -5.42823429e+01] [-4.88018506e-02 3.42291161e-03 9.98802615e-01 -2.70324661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.430714057 meters 0.0442589448979797 Centerline is valid? [True, True] Translation: X:403.47, Y:-54.29, Z:-27.04 [[ 9.96616492e-01 6.63721063e-02 4.84800174e-02 4.03472075e+02] [-6.61385987e-02 9.97789878e-01 -6.40671573e-03 -5.42894288e+01] [-4.87980979e-02 3.17863814e-03 9.98803605e-01 -2.70355677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.460714057 meters 0.043640141269135825 Centerline is valid? [True, True] Translation: X:403.50, Y:-54.29, Z:-27.04 [[ 9.96349998e-01 7.03576603e-02 4.83371572e-02 4.03501101e+02] [-7.01302730e-02 9.97517399e-01 -6.38624460e-03 -5.42901418e+01] [-4.86664765e-02 2.97303677e-03 9.98810660e-01 -2.70372745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.490714057 meters 0.04266724883682696 Centerline is valid? [True, True] Translation: X:403.53, Y:-54.29, Z:-27.04 [[ 9.96255010e-01 7.16991634e-02 4.83237515e-02 4.03529557e+02] [-7.14735007e-02 9.97422069e-01 -6.38391479e-03 -5.42920651e+01] [-4.86568976e-02 2.90613941e-03 9.98811324e-01 -2.70391060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.520714057 meters 0.033461639704727715 Centerline is valid? [True, True] Translation: X:403.56, Y:-54.28, Z:-27.04 [[ 9.96100351e-01 7.43905373e-02 4.74356329e-02 4.03560723e+02] [-7.41762996e-02 9.97225475e-01 -6.26324359e-03 -5.42807013e+01] [-4.77699476e-02 2.72021942e-03 9.98854660e-01 -2.70395300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.550714057 meters 0.035327124045820946 Centerline is valid? [True, True] Translation: X:403.59, Y:-54.29, Z:-27.04 [[ 9.96050172e-01 7.53933652e-02 4.69030501e-02 4.03587881e+02] [-7.51850766e-02 9.97150373e-01 -6.19178704e-03 -5.42871762e+01] [-4.72362135e-02 2.64092114e-03 9.98880256e-01 -2.70421999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.580714057 meters 0.033702872576621926 Centerline is valid? [True, True] Translation: X:403.62, Y:-54.29, Z:-27.04 [[ 9.95889342e-01 7.75077734e-02 4.68717867e-02 4.03617686e+02] [-7.73023232e-02 9.96988527e-01 -6.18284757e-03 -5.42878530e+01] [-4.72098523e-02 2.53413399e-03 9.98881779e-01 -2.70439545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.610714057 meters 0.03247100429305142 Centerline is valid? [True, True] Translation: X:403.65, Y:-54.29, Z:-27.05 [[ 9.95831609e-01 7.83559028e-02 4.66878999e-02 4.03647075e+02] [-7.81530208e-02 9.96922356e-01 -6.15797328e-03 -5.42885570e+01] [-4.70267248e-02 2.48350403e-03 9.98890544e-01 -2.70454431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.640714057 meters 0.03281144868175688 Centerline is valid? [True, True] Translation: X:403.67, Y:-54.29, Z:-27.05 [[ 9.95650776e-01 8.04500180e-02 4.69821964e-02 4.03674877e+02] [-8.02472122e-02 9.96755772e-01 -6.19001952e-03 -5.42915301e+01] [-4.73277626e-02 2.39290745e-03 9.98876547e-01 -2.70468534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.670714057 meters 0.03454976277267298 Centerline is valid? [True, True] Translation: X:403.70, Y:-54.30, Z:-27.05 [[ 9.95559247e-01 8.12495668e-02 4.75425355e-02 4.03701837e+02] [-8.10430069e-02 9.96690950e-01 -6.25950859e-03 -5.42970689e+01] [-4.78937973e-02 2.37872162e-03 9.98849601e-01 -2.70485667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.700714057 meters 0.0315755761293217 Centerline is valid? [True, True] Translation: X:403.73, Y:-54.29, Z:-27.05 [[ 9.95468149e-01 8.16211802e-02 4.87970032e-02 4.03731118e+02] [-8.14042366e-02 9.96660490e-01 -6.42008187e-03 -5.42944687e+01] [-4.91580598e-02 2.41870422e-03 9.98788083e-01 -2.70485160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.730714057 meters 0.03282159905807635 Centerline is valid? [True, True] Translation: X:403.76, Y:-54.30, Z:-27.05 [[ 9.95480279e-01 8.12867349e-02 4.91068233e-02 4.03758003e+02] [-8.10667735e-02 9.96687752e-01 -6.45773333e-03 -5.42995827e+01] [-4.94690974e-02 2.44761446e-03 9.98772656e-01 -2.70502531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.76071405700003 meters 0.031376168732405965 Centerline is valid? [True, True] Translation: X:403.79, Y:-54.30, Z:-27.05 [[ 9.95529407e-01 8.05008337e-02 4.94046098e-02 4.03787239e+02] [-8.02775772e-02 9.96751419e-01 -6.48991038e-03 -5.43008910e+01] [-4.97665581e-02 2.49481426e-03 9.98757761e-01 -2.70516704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.790714057 meters 0.03178372875527371 Centerline is valid? [True, True] Translation: X:403.82, Y:-54.31, Z:-27.05 [[ 9.95745378e-01 7.78900585e-02 4.92369865e-02 4.03816465e+02] [-7.76653285e-02 9.96958532e-01 -6.46397251e-03 -5.43056694e+01] [-4.95907129e-02 2.61246403e-03 9.98766207e-01 -2.70539429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.82071405700003 meters 0.034527574554057486 Centerline is valid? [True, True] Translation: X:403.84, Y:-54.31, Z:-27.06 [[ 9.96100159e-01 7.37881492e-02 4.83712983e-02 4.03844854e+02] [-7.35665241e-02 9.97270105e-01 -6.34857795e-03 -5.43137970e+01] [-4.87076996e-02 2.76531122e-03 9.98809248e-01 -2.70557488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.850714057 meters 0.03466530462770947 Centerline is valid? [True, True] Translation: X:403.87, Y:-54.32, Z:-27.06 [[ 9.96247261e-01 7.17745083e-02 4.83716283e-02 4.03874361e+02] [-7.15506019e-02 9.97416778e-01 -6.34685301e-03 -5.43173428e+01] [-4.87022159e-02 2.86201580e-03 9.98809243e-01 -2.70573863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.880714057 meters 0.038888174777511934 Centerline is valid? [True, True] Translation: X:403.90, Y:-54.33, Z:-27.06 [[ 9.96520203e-01 6.80170224e-02 4.81785162e-02 4.03901871e+02] [-6.77906130e-02 9.97679554e-01 -6.31977106e-03 -5.43280614e+01] [-4.84965726e-02 3.03172840e-03 9.98818748e-01 -2.70598597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.910714057 meters 0.04187860904258753 Centerline is valid? [True, True] Translation: X:403.93, Y:-54.34, Z:-27.06 [[ 9.96592106e-01 6.69099787e-02 4.82413646e-02 4.03928558e+02] [-6.66817487e-02 9.97754237e-01 -6.32673442e-03 -5.43367819e+01] [-4.85563476e-02 3.08835503e-03 9.98815670e-01 -2.70622049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.940714057 meters 0.03761575619054455 Centerline is valid? [True, True] Translation: X:403.96, Y:-54.33, Z:-27.06 [[ 9.96737994e-01 6.51065985e-02 4.76917431e-02 4.03958858e+02] [-6.48817097e-02 9.97873389e-01 -6.25007496e-03 -5.43340806e+01] [-4.79972424e-02 3.13536535e-03 9.98842547e-01 -2.70635055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.970714057 meters 0.03937665181201089 Centerline is valid? [True, True] Translation: X:403.99, Y:-54.34, Z:-27.07 [[ 9.96765284e-01 6.44988436e-02 4.79465122e-02 4.03986479e+02] [-6.42709032e-02 9.97912714e-01 -6.28223038e-03 -5.43394213e+01] [-4.82516307e-02 3.18034351e-03 9.98830149e-01 -2.70651291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.000714057 meters 0.03701398440264646 Centerline is valid? [True, True] Translation: X:404.02, Y:-54.34, Z:-27.07 [[ 9.96750350e-01 6.44753196e-02 4.82874048e-02 4.04015646e+02] [-6.42443144e-02 9.97914172e-01 -6.32240007e-03 -5.43391410e+01] [-4.85943244e-02 3.19966326e-03 9.98813473e-01 -2.70655148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.030714057 meters 0.03702697620317312 Centerline is valid? [True, True] Translation: X:404.04, Y:-54.34, Z:-27.07 [[ 9.96725135e-01 6.44530866e-02 4.88344589e-02 4.04044523e+02] [-6.42169628e-02 9.97915499e-01 -6.39042806e-03 -5.43422822e+01] [-4.91445462e-02 3.23349964e-03 9.98786443e-01 -2.70662160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.060714057 meters 0.03837318716392546 Centerline is valid? [True, True] Translation: X:404.07, Y:-54.35, Z:-27.07 [[ 9.96629535e-01 6.51769830e-02 4.98149652e-02 4.04072387e+02] [-6.49323582e-02 9.97868400e-01 -6.51502466e-03 -5.43470729e+01] [-5.01334092e-02 3.25846283e-03 9.98737215e-01 -2.70670567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.090714057 meters 0.03834349326096204 Centerline is valid? [True, True] Translation: X:404.10, Y:-54.35, Z:-27.07 [[ 9.96611140e-01 6.54625175e-02 4.98085778e-02 4.04101148e+02] [-6.52184908e-02 9.97849769e-01 -6.51059354e-03 -5.43498882e+01] [-5.01276777e-02 3.24008978e-03 9.98737562e-01 -2.70687848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.120714057 meters 0.03836247961577574 Centerline is valid? [True, True] Translation: X:404.13, Y:-54.35, Z:-27.07 [[ 9.96704213e-01 6.45035635e-02 4.91935244e-02 4.04129367e+02] [-6.42645420e-02 9.97912203e-01 -6.42672798e-03 -5.43531891e+01] [-4.95053651e-02 3.24414754e-03 9.98768589e-01 -2.70709785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.150714057 meters 0.03913424957716543 Centerline is valid? [True, True] Translation: X:404.16, Y:-54.36, Z:-27.07 [[ 9.96743426e-01 6.41399614e-02 4.88733814e-02 4.04157289e+02] [-6.39037829e-02 9.97935662e-01 -6.38137378e-03 -5.43578290e+01] [-4.91817913e-02 3.23739841e-03 9.98784597e-01 -2.70733241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.180714057 meters 0.03886831781467096 Centerline is valid? [True, True] Translation: X:404.19, Y:-54.36, Z:-27.08 [[ 9.96918317e-01 6.24467076e-02 4.74792405e-02 4.04186150e+02] [-6.22220745e-02 9.98043097e-01 -6.19596458e-03 -5.43617015e+01] [-4.77732458e-02 3.22261374e-03 9.98853008e-01 -2.70766672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.210714057 meters 0.04113890012988602 Centerline is valid? [True, True] Translation: X:404.21, Y:-54.37, Z:-27.08 [[ 9.97083415e-01 6.13803350e-02 4.53554571e-02 4.04213559e+02] [-6.11744179e-02 9.98109562e-01 -5.91553454e-03 -5.43677369e+01] [-4.56328129e-02 3.12368769e-03 9.98953397e-01 -2.70805672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.240714057 meters 0.041908131089250775 Centerline is valid? [True, True] Translation: X:404.24, Y:-54.37, Z:-27.08 [[ 9.97152212e-01 6.10487052e-02 4.42777719e-02 4.04242071e+02] [-6.08522027e-02 9.98130089e-01 -5.77357556e-03 -5.43716213e+01] [-4.45474457e-02 3.06273369e-03 9.99002575e-01 -2.70835609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.270714057 meters 0.04153584840609507 Centerline is valid? [True, True] Translation: X:404.27, Y:-54.37, Z:-27.09 [[ 9.97193924e-01 6.07211783e-02 4.37860289e-02 4.04270371e+02] [-6.05288391e-02 9.98150137e-01 -5.70643081e-03 -5.43737839e+01] [-4.40515320e-02 3.04010063e-03 9.99024634e-01 -2.70856322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.300714057 meters 0.042343728384757445 Centerline is valid? [True, True] Translation: X:404.30, Y:-54.38, Z:-27.09 [[ 9.97232019e-01 6.01798793e-02 4.36655782e-02 4.04297347e+02] [-5.99881959e-02 9.98182880e-01 -5.68813268e-03 -5.43779539e+01] [-4.39285437e-02 3.05296878e-03 9.99030011e-01 -2.70874435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.330714057 meters 0.043443540295166484 Centerline is valid? [True, True] Translation: X:404.33, Y:-54.38, Z:-27.09 [[ 9.97219767e-01 6.00530613e-02 4.41176291e-02 4.04325247e+02] [-5.98574797e-02 9.98190418e-01 -5.74211314e-03 -5.43819781e+01] [-4.43826261e-02 3.08537864e-03 9.99009841e-01 -2.70882943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.360714057 meters 0.04341063211320539 Centerline is valid? [True, True] Translation: X:404.35, Y:-54.39, Z:-27.09 [[ 9.97188987e-01 6.01474557e-02 4.46811697e-02 4.04353910e+02] [-5.99471215e-02 9.98184638e-01 -5.81132624e-03 -5.43850931e+01] [-4.49495937e-02 3.11648302e-03 9.98984395e-01 -2.70886285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.390714057 meters 0.04414622243121331 Centerline is valid? [True, True] Translation: X:404.38, Y:-54.39, Z:-27.09 [[ 9.97056556e-01 6.05417192e-02 4.70417322e-02 4.04381742e+02] [-6.03202289e-02 9.98160346e-01 -6.11507492e-03 -5.43894109e+01] [-4.73254089e-02 3.25950749e-03 9.98874207e-01 -2.70889368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.420714057 meters 0.044999501292411946 Centerline is valid? [True, True] Translation: X:404.41, Y:-54.39, Z:-27.09 [[ 9.97038948e-01 6.04191165e-02 4.75695986e-02 4.04408868e+02] [-6.01926810e-02 9.98167648e-01 -6.17957996e-03 -5.43939677e+01] [-4.78557991e-02 3.29794023e-03 9.98848810e-01 -2.70900645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.450714057 meters 0.04551837902782491 Centerline is valid? [True, True] Translation: X:404.44, Y:-54.40, Z:-27.09 [[ 9.96953478e-01 6.08326119e-02 4.88175795e-02 4.04436245e+02] [-6.05948288e-02 9.98142326e-01 -6.33745971e-03 -5.43983554e+01] [-4.91124166e-02 3.36005963e-03 9.98787605e-01 -2.70914623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.480714057 meters 0.04110600929093719 Centerline is valid? [True, True] Translation: X:404.47, Y:-54.40, Z:-27.09 [[ 9.96966877e-01 6.09350768e-02 4.84144860e-02 4.04465137e+02] [-6.07015297e-02 9.98136200e-01 -6.28100236e-03 -5.43956754e+01] [-4.87069844e-02 3.32311795e-03 9.98807582e-01 -2.70924443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.51071405700003 meters 0.04359026310727427 Centerline is valid? [True, True] Translation: X:404.49, Y:-54.40, Z:-27.10 [[ 9.97020121e-01 6.11924950e-02 4.69718776e-02 4.04491602e+02] [-6.09730971e-02 9.98120826e-01 -6.09085572e-03 -5.44034992e+01] [-4.72563240e-02 3.20868485e-03 9.98877642e-01 -2.70966321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.540714057 meters 0.03897993654032624 Centerline is valid? [True, True] Translation: X:404.52, Y:-54.40, Z:-27.10 [[ 9.97076280e-01 6.08192959e-02 4.62591023e-02 4.04520757e+02] [-6.06063036e-02 9.98143749e-01 -5.99432888e-03 -5.44003459e+01] [-4.65378046e-02 3.17320994e-03 9.98911489e-01 -2.70983642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.57071405700003 meters 0.04078223885505835 Centerline is valid? [True, True] Translation: X:404.55, Y:-54.41, Z:-27.10 [[ 9.97206187e-01 6.02262798e-02 4.41884050e-02 4.04547509e+02] [-6.00314888e-02 9.98180076e-01 -5.72323402e-03 -5.44073033e+01] [-4.44526746e-02 3.05454864e-03 9.99006822e-01 -2.71026188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.600714057 meters 0.041038501280402456 Centerline is valid? [True, True] Translation: X:404.58, Y:-54.41, Z:-27.11 [[ 9.97256815e-01 5.98464503e-02 4.35573978e-02 4.04575518e+02] [-5.96570055e-02 9.98203016e-01 -5.63743224e-03 -5.44113258e+01] [-4.38165062e-02 3.02346380e-03 9.99035021e-01 -2.71052845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.630714057 meters 0.04223371105575728 Centerline is valid? [True, True] Translation: X:404.60, Y:-54.42, Z:-27.11 [[ 9.97329428e-01 5.96599564e-02 4.21271963e-02 4.04603201e+02] [-5.94827011e-02 9.98214460e-01 -5.44975491e-03 -5.44165362e+01] [-4.23771086e-02 2.92936152e-03 9.99097392e-01 -2.71081384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.660714057 meters 0.0420734837945936 Centerline is valid? [True, True] Translation: X:404.63, Y:-54.42, Z:-27.11 [[ 9.97244727e-01 6.06959088e-02 4.26492871e-02 4.04632353e+02] [-6.05153326e-02 9.98152040e-01 -5.51354786e-03 -5.44195808e+01] [-4.29051227e-02 2.91742074e-03 9.99074892e-01 -2.71096857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.690714057 meters 0.04200525824993364 Centerline is valid? [True, True] Translation: X:404.66, Y:-54.42, Z:-27.11 [[ 9.97184042e-01 6.18395179e-02 4.24247511e-02 4.04661543e+02] [-6.16620303e-02 9.98082038e-01 -5.48075031e-03 -5.44221859e+01] [-4.26823090e-02 2.84932046e-03 9.99084632e-01 -2.71108825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.720714057 meters 0.03733109177358873 Centerline is valid? [True, True] Translation: X:404.69, Y:-54.42, Z:-27.11 [[ 9.96879952e-01 6.52192544e-02 4.44613237e-02 4.04692635e+02] [-6.50278874e-02 9.97866947e-01 -5.73849283e-03 -5.44174899e+01] [-4.47407456e-02 2.82936251e-03 9.98994625e-01 -2.71093669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.750714057 meters 0.03691985099373904 Centerline is valid? [True, True] Translation: X:404.72, Y:-54.42, Z:-27.11 [[ 9.96758017e-01 6.63376936e-02 4.55276478e-02 4.04721554e+02] [-6.61381622e-02 9.97793169e-01 -5.87673752e-03 -5.44193487e+01] [-4.58170252e-02 2.84657027e-03 9.98945793e-01 -2.71102723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.780714057 meters 0.035780748400719105 Centerline is valid? [True, True] Translation: X:404.75, Y:-54.42, Z:-27.11 [[ 9.96423545e-01 6.96276481e-02 4.78759797e-02 4.04751320e+02] [-6.94109565e-02 9.97569034e-01 -6.17583740e-03 -5.44208104e+01] [-4.81896039e-02 2.83063225e-03 9.98834195e-01 -2.71105966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.810714057 meters 0.03753067365728607 Centerline is valid? [True, True] Translation: X:404.78, Y:-54.43, Z:-27.11 [[ 9.96325730e-01 7.06681938e-02 4.83843665e-02 4.04778787e+02] [-7.04481498e-02 9.97495923e-01 -6.24025972e-03 -5.44264146e+01] [-4.87041963e-02 2.80874222e-03 9.98809297e-01 -2.71123053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.840714057 meters 0.034603187613114 Centerline is valid? [True, True] Translation: X:404.81, Y:-54.42, Z:-27.11 [[ 9.96060286e-01 7.33690730e-02 4.98085000e-02 4.04809639e+02] [-7.31394942e-02 9.97301065e-01 -6.41876751e-03 -5.44240474e+01] [-5.01450091e-02 2.75051090e-03 9.98738160e-01 -2.71125609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.870714057 meters 0.03565238713310427 Centerline is valid? [True, True] Translation: X:404.84, Y:-54.43, Z:-27.11 [[ 9.96008125e-01 7.37939451e-02 5.02221914e-02 4.04837251e+02] [-7.35610915e-02 9.97269714e-01 -6.47167676e-03 -5.44296741e+01] [-5.05626410e-02 2.75144343e-03 9.98717102e-01 -2.71145677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.900714057 meters 0.03412604197857515 Centerline is valid? [True, True] Translation: X:404.87, Y:-54.43, Z:-27.12 [[ 9.96094479e-01 7.38186579e-02 4.84416556e-02 4.04865679e+02] [-7.36022753e-02 9.97268165e-01 -6.23796507e-03 -5.44301431e+01] [-4.87697992e-02 2.64818650e-03 9.98806535e-01 -2.71175385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.930714057 meters 0.03638085453927371 Centerline is valid? [True, True] Translation: X:404.89, Y:-54.44, Z:-27.12 [[ 9.96120145e-01 7.39449366e-02 4.77158618e-02 4.04892088e+02] [-7.37352780e-02 9.97258938e-01 -6.14162987e-03 -5.44376718e+01] [-4.80392121e-02 2.59945890e-03 9.98842068e-01 -2.71209151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.960714057 meters 0.035003439681603375 Centerline is valid? [True, True] Translation: X:404.92, Y:-54.44, Z:-27.12 [[ 9.96196546e-01 7.36888990e-02 4.65014896e-02 4.04920597e+02] [-7.34897950e-02 9.97278045e-01 -5.97918941e-03 -5.44390682e+01] [-4.68155145e-02 2.53906290e-03 9.98900326e-01 -2.71244178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.990714057 meters 0.036508407278280496 Centerline is valid? [True, True] Translation: X:404.95, Y:-54.45, Z:-27.13 [[ 9.96192552e-01 7.40624585e-02 4.59907757e-02 4.04947345e+02] [-7.38682442e-02 9.97250494e-01 -5.91050413e-03 -5.44454845e+01] [-4.63020703e-02 2.49074235e-03 9.98924379e-01 -2.71270497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.020714057 meters 0.035282363288139724 Centerline is valid? [True, True] Translation: X:404.98, Y:-54.45, Z:-27.13 [[ 9.96187027e-01 7.48135867e-02 4.48813286e-02 4.04976722e+02] [-7.46295903e-02 9.97194667e-01 -5.76364324e-03 -5.44465308e+01] [-4.51866204e-02 2.39219146e-03 9.98975699e-01 -2.71292967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.050714057 meters 0.03550810281282301 Centerline is valid? [True, True] Translation: X:405.01, Y:-54.45, Z:-27.13 [[ 9.96156304e-01 7.54462231e-02 4.45026479e-02 4.05005586e+02] [-7.52660438e-02 9.97147123e-01 -5.71292608e-03 -5.44497374e+01] [-4.48067060e-02 2.34142908e-03 9.98992931e-01 -2.71313309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.080714057 meters 0.035108350732927326 Centerline is valid? [True, True] Translation: X:405.03, Y:-54.45, Z:-27.13 [[ 9.95907442e-01 7.81584481e-02 4.53830809e-02 4.05034432e+02] [-7.79740366e-02 9.96938388e-01 -5.82230236e-03 -5.44512507e+01] [-4.56991977e-02 2.25977223e-03 9.98952690e-01 -2.71326753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.110714057 meters 0.03437411883387358 Centerline is valid? [True, True] Translation: X:405.06, Y:-54.45, Z:-27.13 [[ 9.95781335e-01 7.96365476e-02 4.55801901e-02 4.05063708e+02] [-7.94521365e-02 9.96821539e-01 -5.84621037e-03 -5.44530447e+01] [-4.59008873e-02 2.20010367e-03 9.98943576e-01 -2.71337859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.140714057 meters 0.03392491498783023 Centerline is valid? [True, True] Translation: X:405.09, Y:-54.45, Z:-27.13 [[ 9.95454569e-01 8.28371664e-02 4.69915449e-02 4.05092443e+02] [-8.26448349e-02 9.96560855e-01 -6.02446304e-03 -5.44549136e+01] [-4.73289836e-02 2.11347079e-03 9.98877120e-01 -2.71348713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.170714057 meters 0.0315001838182474 Centerline is valid? [True, True] Translation: X:405.12, Y:-54.45, Z:-27.13 [[ 9.95386403e-01 8.36207780e-02 4.70475689e-02 4.05122215e+02] [-8.34288183e-02 9.96495480e-01 -6.03253057e-03 -5.44532055e+01] [-4.73871346e-02 2.07957583e-03 9.98874434e-01 -2.71348779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.200714057 meters 0.030956246607164964 Centerline is valid? [True, True] Translation: X:405.15, Y:-54.46, Z:-27.14 [[ 9.95148003e-01 8.56942497e-02 4.83419907e-02 4.05150656e+02] [-8.54946428e-02 9.96319429e-01 -6.18557266e-03 -5.44557218e+01] [-4.86941326e-02 2.02257905e-03 9.98811689e-01 -2.71355350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.230714057 meters 0.03116684840719792 Centerline is valid? [True, True] Translation: X:405.18, Y:-54.46, Z:-27.14 [[ 9.95106212e-01 8.60062793e-02 4.86471705e-02 4.05179277e+02] [-8.58046827e-02 9.96292554e-01 -6.22118210e-03 -5.44596051e+01] [-4.90018745e-02 2.01658192e-03 9.98796651e-01 -2.71370356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.26071405700003 meters 0.03174764709289973 Centerline is valid? [True, True] Translation: X:405.21, Y:-54.46, Z:-27.14 [[ 9.95195907e-01 8.52756997e-02 4.80953358e-02 4.05207916e+02] [-8.50779645e-02 9.96355334e-01 -6.14729232e-03 -5.44643689e+01] [-4.84442590e-02 2.02590688e-03 9.98823833e-01 -2.71391601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.290714057 meters 0.03174764709289973 Centerline is valid? [True, True] Translation: X:405.24, Y:-54.47, Z:-27.14 [[ 9.95204574e-01 8.51742873e-02 4.80957133e-02 4.05235138e+02] [-8.49765766e-02 9.96364004e-01 -6.14433729e-03 -5.44677518e+01] [-4.84441771e-02 2.02786350e-03 9.98823833e-01 -2.71407514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.32071405700003 meters 0.03259544090300422 Centerline is valid? [True, True] Translation: X:405.26, Y:-54.47, Z:-27.14 [[ 9.95277868e-01 8.44721364e-02 4.78165537e-02 4.05262198e+02] [-8.42761530e-02 9.96423743e-01 -6.10358566e-03 -5.44736635e+01] [-4.81611324e-02 2.04496852e-03 9.98837486e-01 -2.71428524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.350714057 meters 0.032522439516403094 Centerline is valid? [True, True] Translation: X:405.29, Y:-54.48, Z:-27.15 [[ 9.95503245e-01 8.18591528e-02 4.76693614e-02 4.05290761e+02] [-8.16615976e-02 9.96641567e-01 -6.08040287e-03 -5.44789042e+01] [-4.80070036e-02 2.16030459e-03 9.98844663e-01 -2.71453507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.380714057 meters 0.03399391554748646 Centerline is valid? [True, True] Translation: X:405.32, Y:-54.49, Z:-27.15 [[ 9.95674006e-01 8.00457490e-02 4.71799924e-02 4.05318300e+02] [-7.98503092e-02 9.96788713e-01 -6.01572610e-03 -5.44858595e+01] [-4.75100172e-02 2.22236512e-03 9.98868289e-01 -2.71475295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.410714057 meters 0.0333803059515724 Centerline is valid? [True, True] Translation: X:405.35, Y:-54.49, Z:-27.15 [[ 9.95984004e-01 7.63525983e-02 4.67562290e-02 4.05348551e+02] [-7.61567741e-02 9.97078055e-01 -5.95795343e-03 -5.44891967e+01] [-4.70745151e-02 2.37322275e-03 9.98888561e-01 -2.71476677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.440714057 meters 0.03845315065461793 Centerline is valid? [True, True] Translation: X:405.38, Y:-54.50, Z:-27.15 [[ 9.96257571e-01 7.25165051e-02 4.70341170e-02 4.05376460e+02] [-7.23141222e-02 9.97363904e-01 -5.99252031e-03 -5.45022951e+01] [-4.73446872e-02 2.56886284e-03 9.98875308e-01 -2.71504077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.470714057 meters 0.03678705829410111 Centerline is valid? [True, True] Translation: X:405.41, Y:-54.50, Z:-27.15 [[ 9.96353121e-01 7.10115071e-02 4.73056407e-02 4.05405550e+02] [-7.08051038e-02 9.97471962e-01 -6.02678940e-03 -5.45043904e+01] [-4.76140217e-02 2.65532963e-03 9.98862280e-01 -2.71508158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.500714057 meters 0.04189896117338794 Centerline is valid? [True, True] Translation: X:405.43, Y:-54.52, Z:-27.15 [[ 9.96692404e-01 6.69544699e-02 4.60581174e-02 4.05433180e+02] [-6.67546816e-02 9.97752187e-01 -5.86399830e-03 -5.45161043e+01] [-4.63472083e-02 2.77000760e-03 9.98921550e-01 -2.71544980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.530714057 meters 0.03773139909314912 Centerline is valid? [True, True] Translation: X:405.46, Y:-54.51, Z:-27.15 [[ 9.96833618e-01 6.52810229e-02 4.53996301e-02 4.05463014e+02] [-6.50851510e-02 9.97862969e-01 -5.78085659e-03 -5.45139847e+01] [-4.56799899e-02 2.80771041e-03 9.98952179e-01 -2.71547765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.560714057 meters 0.04486462317444146 Centerline is valid? [True, True] Translation: X:405.49, Y:-54.53, Z:-27.16 [[ 9.96976158e-01 6.34124011e-02 4.49155525e-02 4.05489684e+02] [-6.32189051e-02 9.97983310e-01 -5.71688035e-03 -5.45281407e+01] [-4.51874929e-02 2.86008135e-03 9.98974429e-01 -2.71588713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.590714057 meters 0.040411744263108416 Centerline is valid? [True, True] Translation: X:405.52, Y:-54.53, Z:-27.16 [[ 9.97221854e-01 5.99647047e-02 4.41905940e-02 4.05520417e+02] [-5.97741623e-02 9.98196095e-01 -5.62185448e-03 -5.45260001e+01] [-4.44479912e-02 2.96478041e-03 9.99007300e-01 -2.71594688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.620714057 meters 0.04951458330283579 Centerline is valid? [True, True] Translation: X:405.55, Y:-54.54, Z:-27.16 [[ 9.97345033e-01 5.81339487e-02 4.38557773e-02 4.05547232e+02] [-5.79445313e-02 9.98304215e-01 -5.57909383e-03 -5.45422055e+01] [-4.41057421e-02 3.02307906e-03 9.99022294e-01 -2.71634869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.650714057 meters 0.042702802088696236 Centerline is valid? [True, True] Translation: X:405.58, Y:-54.54, Z:-27.16 [[ 9.97476840e-01 5.57274607e-02 4.39818512e-02 4.05579051e+02] [-5.55347674e-02 9.98441095e-01 -5.59191144e-03 -5.45361283e+01] [-4.42249107e-02 3.13528028e-03 9.99016680e-01 -2.71624276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.680714057 meters 0.045073891779150485 Centerline is valid? [True, True] Translation: X:405.61, Y:-54.54, Z:-27.16 [[ 9.97540430e-01 5.42213368e-02 4.44200106e-02 4.05606676e+02] [-5.40232102e-02 9.98523698e-01 -5.64955692e-03 -5.45425293e+01] [-4.46607598e-02 3.23594987e-03 9.98996970e-01 -2.71639577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.710714057 meters 0.046873074582138255 Centerline is valid? [True, True] Translation: X:405.63, Y:-54.55, Z:-27.17 [[ 9.97583844e-01 5.35446768e-02 4.42655722e-02 4.05634237e+02] [-5.33474048e-02 9.98560160e-01 -5.62676151e-03 -5.45480303e+01] [-4.45031201e-02 3.25171298e-03 9.99003953e-01 -2.71653821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.740714057 meters 0.04767096716014565 Centerline is valid? [True, True] Translation: X:405.66, Y:-54.55, Z:-27.17 [[ 9.97557460e-01 5.33923787e-02 4.50374040e-02 4.05662896e+02] [-5.31881571e-02 9.98568117e-01 -5.72155738e-03 -5.45525592e+01] [-4.52784033e-02 3.31212572e-03 9.98968916e-01 -2.71663676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.770714057 meters 0.04435256538830258 Centerline is valid? [True, True] Translation: X:405.69, Y:-54.55, Z:-27.17 [[ 9.97571032e-01 5.34474640e-02 4.46699441e-02 4.05691634e+02] [-5.32467087e-02 9.98565274e-01 -5.67288386e-03 -5.45510871e+01] [-4.49090562e-02 3.28057711e-03 9.98985693e-01 -2.71675314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.800714057 meters 0.0457345321658537 Centerline is valid? [True, True] Translation: X:405.72, Y:-54.55, Z:-27.17 [[ 9.97594218e-01 5.35453346e-02 4.40303722e-02 4.05718850e+02] [-5.33505093e-02 9.98560207e-01 -5.58888930e-03 -5.45549190e+01] [-4.42662365e-02 3.22640087e-03 9.99014560e-01 -2.71693018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.830714057 meters 0.04908080563901247 Centerline is valid? [True, True] Translation: X:405.75, Y:-54.56, Z:-27.17 [[ 9.97534719e-01 5.44516301e-02 4.42662932e-02 4.05746453e+02] [-5.42558057e-02 9.98511286e-01 -5.61414473e-03 -5.45626642e+01] [-4.45060927e-02 3.19860088e-03 9.99003992e-01 -2.71715444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.860714057 meters 0.04666874624781131 Centerline is valid? [True, True] Translation: X:405.78, Y:-54.56, Z:-27.17 [[ 9.97552273e-01 5.47740880e-02 4.34656326e-02 4.05775906e+02] [-5.45856096e-02 9.98493879e-01 -5.51223166e-03 -5.45612326e+01] [-4.37020955e-02 3.12614117e-03 9.99039716e-01 -2.71726745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.890714057 meters 0.04683010935401605 Centerline is valid? [True, True] Translation: X:405.80, Y:-54.56, Z:-27.17 [[ 9.97553627e-01 5.49929575e-02 4.31570988e-02 4.05804917e+02] [-5.48074762e-02 9.98481956e-01 -5.47022590e-03 -5.45643976e+01] [-4.33924084e-02 3.09151202e-03 9.99053323e-01 -2.71744289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.920714057 meters 0.04782676973788897 Centerline is valid? [True, True] Translation: X:405.83, Y:-54.57, Z:-27.18 [[ 9.97562309e-01 5.51582125e-02 4.27435523e-02 4.05832337e+02] [-5.49765353e-02 9.98472962e-01 -5.41518690e-03 -5.45680791e+01] [-4.29769733e-02 3.05209394e-03 9.99071401e-01 -2.71764436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.950714057 meters 0.04385946498947894 Centerline is valid? [True, True] Translation: X:405.86, Y:-54.57, Z:-27.18 [[ 9.97557669e-01 5.54488469e-02 4.24749627e-02 4.05861738e+02] [-5.52698702e-02 9.98456972e-01 -5.37739909e-03 -5.45653876e+01] [-4.27075933e-02 3.01668002e-03 9.99083060e-01 -2.71770355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.980714057 meters 0.04768451491672722 Centerline is valid? [True, True] Translation: X:405.89, Y:-54.57, Z:-27.18 [[ 9.97578760e-01 5.58300196e-02 4.14683900e-02 4.05888316e+02] [-5.56598653e-02 9.98435999e-01 -5.24741769e-03 -5.45732289e+01] [-4.16964969e-02 2.92658743e-03 9.99126037e-01 -2.71805784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.01071405700003 meters 0.04767596201404576 Centerline is valid? [True, True] Translation: X:405.92, Y:-54.57, Z:-27.18 [[ 9.97586669e-01 5.64374992e-02 4.04431226e-02 4.05916875e+02] [-5.62763074e-02 9.98402136e-01 -5.11398764e-03 -5.45746358e+01] [-4.06671206e-02 2.82565629e-03 9.99168755e-01 -2.71820719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.040714057 meters 0.044411578636821526 Centerline is valid? [True, True] Translation: X:405.95, Y:-54.57, Z:-27.18 [[ 9.97561332e-01 5.70191427e-02 4.02517871e-02 4.05946672e+02] [-5.68600613e-02 9.98369199e-01 -5.08691430e-03 -5.45726829e+01] [-4.04761960e-02 2.78578992e-03 9.99176619e-01 -2.71825669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.07071405700003 meters 0.04906874697958829 Centerline is valid? [True, True] Translation: X:405.97, Y:-54.58, Z:-27.18 [[ 9.97497965e-01 5.84870327e-02 3.97124393e-02 4.05973876e+02] [-5.83334056e-02 9.98284549e-01 -5.01726154e-03 -5.45804601e+01] [-3.99377593e-02 2.68814634e-03 9.99198553e-01 -2.71846814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.100714057 meters 0.04082349880401249 Centerline is valid? [True, True] Translation: X:406.00, Y:-54.57, Z:-27.18 [[ 9.97439654e-01 5.89669529e-02 4.04602852e-02 4.06004441e+02] [-5.88080106e-02 9.98256241e-01 -5.10839191e-03 -5.45714997e+01] [-4.06909585e-02 2.71592378e-03 9.99168089e-01 -2.71828567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.130714057 meters 0.042715716977716506 Centerline is valid? [True, True] Translation: X:406.03, Y:-54.58, Z:-27.18 [[ 9.97325800e-01 6.02881627e-02 4.13108375e-02 4.06032223e+02] [-6.01237149e-02 9.98177322e-01 -5.21279097e-03 -5.45764042e+01] [-4.15498107e-02 2.71508991e-03 9.99132745e-01 -2.71837631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.160714057 meters 0.03922784082018335 Centerline is valid? [True, True] Translation: X:406.06, Y:-54.57, Z:-27.18 [[ 9.97271072e-01 6.06972414e-02 4.20268258e-02 4.06061560e+02] [-6.05275379e-02 9.98152457e-01 -5.29990074e-03 -5.45735893e+01] [-4.22708688e-02 2.74165740e-03 9.99102426e-01 -2.71832094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.190714057 meters 0.0382320652757229 Centerline is valid? [True, True] Translation: X:406.09, Y:-54.58, Z:-27.18 [[ 9.97212711e-01 6.14165066e-02 4.23653311e-02 4.06090425e+02] [-6.12447876e-02 9.98108488e-01 -5.34058994e-03 -5.45754120e+01] [-4.26131969e-02 2.73104847e-03 9.99087912e-01 -2.71847782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.220714057 meters 0.0410242196803523 Centerline is valid? [True, True] Translation: X:406.12, Y:-54.58, Z:-27.19 [[ 9.97177204e-01 6.21632783e-02 4.21111682e-02 4.06117809e+02] [-6.19943943e-02 9.98062395e-01 -5.30580399e-03 -5.45821386e+01] [-4.23593996e-02 2.68017042e-03 9.99098843e-01 -2.71873924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.250714057 meters 0.03825711554124724 Centerline is valid? [True, True] Translation: X:406.15, Y:-54.58, Z:-27.19 [[ 9.97238247e-01 6.20533226e-02 4.08076519e-02 4.06146478e+02] [-6.18947896e-02 9.98069454e-01 -5.13811462e-03 -5.45808745e+01] [-4.10477080e-02 2.59814339e-03 9.99153810e-01 -2.71888106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.280714057 meters 0.038519504048558445 Centerline is valid? [True, True] Translation: X:406.18, Y:-54.58, Z:-27.19 [[ 9.97300699e-01 6.15639501e-02 4.00149506e-02 4.06175082e+02] [-6.14112820e-02 9.98099849e-01 -5.03448864e-03 -5.45845419e+01] [-4.02488592e-02 2.56352962e-03 9.99186398e-01 -2.71914852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.310714057 meters 0.04762838478696786 Centerline is valid? [True, True] Translation: X:406.20, Y:-54.60, Z:-27.20 [[ 9.97375343e-01 6.12383374e-02 3.86301773e-02 4.06200133e+02] [-6.10959064e-02 9.98120078e-01 -4.85795071e-03 -5.46027071e+01] [-3.88550484e-02 2.48505456e-03 9.99241767e-01 -2.71985619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.340714057 meters 0.03812612542133207 Centerline is valid? [True, True] Translation: X:406.23, Y:-54.59, Z:-27.20 [[ 9.97393426e-01 6.11525795e-02 3.82977201e-02 4.06230640e+02] [-6.10126703e-02 9.98125390e-01 -4.81245299e-03 -5.45927584e+01] [-3.85202207e-02 2.46326281e-03 9.99254785e-01 -2.71964107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.370714057 meters 0.03960646122246751 Centerline is valid? [True, True] Translation: X:406.26, Y:-54.60, Z:-27.20 [[ 9.97456896e-01 6.09484707e-02 3.69462322e-02 4.06257939e+02] [-6.08182070e-02 9.98138072e-01 -4.64050337e-03 -5.45978694e+01] [-3.71602725e-02 2.38169849e-03 9.99306480e-01 -2.71988315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.400714057 meters 0.03910688020521021 Centerline is valid? [True, True] Translation: X:406.29, Y:-54.60, Z:-27.20 [[ 9.97368530e-01 6.25369634e-02 3.66761937e-02 4.06286538e+02] [-6.24098012e-02 9.98039994e-01 -4.60295718e-03 -5.45994473e+01] [-3.68921631e-02 2.30189068e-03 9.99316601e-01 -2.72004790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.430714057 meters 0.04008244984627036 Centerline is valid? [True, True] Translation: X:406.31, Y:-54.60, Z:-27.20 [[ 9.97274588e-01 6.37952943e-02 3.70615199e-02 4.06313929e+02] [-6.36663948e-02 9.97960408e-01 -4.64903549e-03 -5.46042438e+01] [-3.72825161e-02 2.27679160e-03 9.99302172e-01 -2.72020509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.460714057 meters 0.03903512053198647 Centerline is valid? [True, True] Translation: X:406.34, Y:-54.61, Z:-27.20 [[ 9.97184853e-01 6.49846699e-02 3.74080308e-02 4.06343373e+02] [-6.48543307e-02 9.97883727e-01 -4.68852300e-03 -5.46059922e+01] [-3.76335473e-02 2.24925132e-03 9.99289076e-01 -2.72027135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.490714057 meters 0.03880088876278761 Centerline is valid? [True, True] Translation: X:406.37, Y:-54.61, Z:-27.20 [[ 9.96891627e-01 6.85034214e-02 3.89148463e-02 4.06372973e+02] [-6.83651385e-02 9.97648458e-01 -4.87470970e-03 -5.46083538e+01] [-3.91572707e-02 2.19913843e-03 9.99230640e-01 -2.72032206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.520714057 meters 0.03775244049503331 Centerline is valid? [True, True] Translation: X:406.40, Y:-54.61, Z:-27.20 [[ 9.96726599e-01 7.05777468e-02 3.94318129e-02 4.06402576e+02] [-7.04374056e-02 9.97503975e-01 -4.93883592e-03 -5.46096355e+01] [-3.96819621e-02 2.14519453e-03 9.99210058e-01 -2.72034304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.550714057 meters 0.036388323473011415 Centerline is valid? [True, True] Translation: X:406.43, Y:-54.61, Z:-27.20 [[ 9.96374926e-01 7.49551703e-02 4.02334354e-02 4.06432272e+02] [-7.48126838e-02 9.97184880e-01 -5.03760816e-03 -5.46099187e+01] [-4.04977682e-02 2.00937518e-03 9.99177608e-01 -2.72044997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.580714057 meters 0.03582710771672937 Centerline is valid? [True, True] Translation: X:406.46, Y:-54.61, Z:-27.21 [[ 9.96257718e-01 7.65293644e-02 4.01723223e-02 4.06461106e+02] [-7.63885883e-02 9.97065436e-01 -5.02991646e-03 -5.46122907e+01] [-4.04393704e-02 1.94238611e-03 9.99180106e-01 -2.72064201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.610714057 meters 0.03496212408097505 Centerline is valid? [True, True] Translation: X:406.49, Y:-54.62, Z:-27.21 [[ 9.96090903e-01 7.90103083e-02 3.95004407e-02 4.06490018e+02] [-7.88761467e-02 9.96872154e-01 -4.94587154e-03 -5.46154897e+01] [-3.97676642e-02 1.81089510e-03 9.99207313e-01 -2.72088437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.640714057 meters 0.034564614682907266 Centerline is valid? [True, True] Translation: X:406.52, Y:-54.62, Z:-27.21 [[ 9.95998891e-01 8.00213895e-02 3.97842389e-02 4.06518545e+02] [-7.98865473e-02 9.96791572e-01 -4.97016218e-03 -5.46197343e+01] [-4.00543133e-02 1.77205054e-03 9.99195933e-01 -2.72111833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.670714057 meters 0.03204212586872233 Centerline is valid? [True, True] Translation: X:406.55, Y:-54.62, Z:-27.21 [[ 9.95973460e-01 8.08076148e-02 3.88200620e-02 4.06547613e+02] [-8.06799228e-02 9.96728275e-01 -4.84730453e-03 -5.46206132e+01] [-3.90847526e-02 1.69578705e-03 9.99234460e-01 -2.72116586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.700714057 meters 0.035607853640534225 Centerline is valid? [True, True] Translation: X:406.57, Y:-54.63, Z:-27.22 [[ 9.96068394e-01 8.01472793e-02 3.77381525e-02 4.06573991e+02] [-8.00262187e-02 9.96781631e-01 -4.71005138e-03 -5.46315203e+01] [-3.79941950e-02 1.67149167e-03 9.99276562e-01 -2.72169296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.730714057 meters 0.03584242395945244 Centerline is valid? [True, True] Translation: X:406.60, Y:-54.64, Z:-27.22 [[ 9.96073784e-01 7.99191420e-02 3.80781659e-02 4.06600167e+02] [-7.97957812e-02 9.96799911e-01 -4.75096149e-03 -5.46375890e+01] [-3.83360051e-02 1.69383120e-03 9.99263470e-01 -2.72184388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.76071405700003 meters 0.03660507266235998 Centerline is valid? [True, True] Translation: X:406.63, Y:-54.64, Z:-27.22 [[ 9.96152910e-01 7.89503184e-02 3.80293017e-02 4.06627999e+02] [-7.88269105e-02 9.96877068e-01 -4.73597071e-03 -5.46437248e+01] [-3.82844452e-02 1.72001864e-03 9.99265402e-01 -2.72199948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.790714057 meters 0.03854977458938946 Centerline is valid? [True, True] Translation: X:406.66, Y:-54.65, Z:-27.22 [[ 9.96325236e-01 7.66822956e-02 3.81555952e-02 4.06655598e+02] [-7.65565125e-02 9.97053934e-01 -4.74895207e-03 -5.46535406e+01] [-3.84073468e-02 1.81044149e-03 9.99260526e-01 -2.72210686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.82071405700003 meters 0.031842778723119435 Centerline is valid? [True, True] Translation: X:406.69, Y:-54.65, Z:-27.22 [[ 9.96493935e-01 7.42491094e-02 3.85604353e-02 4.06686237e+02] [-7.41189050e-02 9.97237872e-01 -4.79726208e-03 -5.46500171e+01] [-3.88101189e-02 1.92238532e-03 9.99244754e-01 -2.72171387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.850714057 meters 0.031221935245882865 Centerline is valid? [True, True] Translation: X:406.71, Y:-54.65, Z:-27.22 [[ 9.96566171e-01 7.31539591e-02 3.87861546e-02 4.06714846e+02] [-7.30214255e-02 9.97318702e-01 -4.82463922e-03 -5.46537417e+01] [-3.90350988e-02 1.97585193e-03 9.99235887e-01 -2.72180102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.880714057 meters 0.035783033283467776 Centerline is valid? [True, True] Translation: X:406.74, Y:-54.67, Z:-27.22 [[ 9.96675165e-01 7.15067636e-02 3.90563354e-02 4.06741102e+02] [-7.13712152e-02 9.97438004e-01 -4.85570059e-03 -5.46680465e+01] [-3.93034887e-02 2.05205807e-03 9.99225212e-01 -2.72213506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.910714057 meters 0.043782025492586356 Centerline is valid? [True, True] Translation: X:406.77, Y:-54.69, Z:-27.23 [[ 9.96714039e-01 7.08353169e-02 3.92871862e-02 4.06766740e+02] [-7.06977857e-02 9.97485840e-01 -4.88072836e-03 -5.46850779e+01] [-3.95341399e-02 2.08717340e-03 9.99216040e-01 -2.72266374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.940714057 meters 0.03450304270380064 Centerline is valid? [True, True] Translation: X:406.80, Y:-54.68, Z:-27.22 [[ 9.96799314e-01 6.95769817e-02 3.93722131e-02 4.06796779e+02] [-6.94380171e-02 9.97574294e-01 -4.88772679e-03 -5.46766072e+01] [-3.96167810e-02 2.13815430e-03 9.99212660e-01 -2.72227560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.970714057 meters 0.038316823611988536 Centerline is valid? [True, True] Translation: X:406.82, Y:-54.69, Z:-27.23 [[ 9.96801762e-01 6.94377366e-02 3.95556344e-02 4.06822492e+02] [-6.92974386e-02 9.97583967e-01 -4.90862537e-03 -5.46883345e+01] [-3.98009105e-02 2.15182228e-03 9.99205313e-01 -2.72260628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.000714057 meters 0.03382224822602596 Centerline is valid? [True, True] Translation: X:406.85, Y:-54.69, Z:-27.23 [[ 9.96834319e-01 6.92205682e-02 3.91133502e-02 4.06851962e+02] [-6.90834467e-02 9.97599104e-01 -4.84812175e-03 -5.46856977e+01] [-3.93550328e-02 2.13068910e-03 9.99223019e-01 -2.72254139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.030714057 meters 0.03664184366423623 Centerline is valid? [True, True] Translation: X:406.88, Y:-54.70, Z:-27.23 [[ 9.96807162e-01 6.96447365e-02 3.90524377e-02 4.06878139e+02] [-6.95084364e-02 9.97569628e-01 -4.83879567e-03 -5.46966202e+01] [-3.92945224e-02 2.10887229e-03 9.99225447e-01 -2.72287732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.060714057 meters 0.03253130082283282 Centerline is valid? [True, True] Translation: X:406.91, Y:-54.70, Z:-27.23 [[ 9.96703862e-01 7.10744090e-02 3.91131551e-02 4.06907061e+02] [-7.09390160e-02 9.97468910e-01 -4.84036697e-03 -5.46972053e+01] [-3.93581825e-02 2.04976372e-03 9.99223064e-01 -2.72278066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.090714057 meters 0.03306575778414048 Centerline is valid? [True, True] Translation: X:406.93, Y:-54.70, Z:-27.23 [[ 9.96601322e-01 7.22469631e-02 3.95750130e-02 4.06934546e+02] [-7.21093770e-02 9.97384719e-01 -4.89492096e-03 -5.47034786e+01] [-3.98251564e-02 2.02455517e-03 9.99204613e-01 -2.72298041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.120714057 meters 0.03223617850463042 Centerline is valid? [True, True] Translation: X:406.96, Y:-54.71, Z:-27.23 [[ 9.96447083e-01 7.45579361e-02 3.91704503e-02 4.06962924e+02] [-7.44250802e-02 9.97214857e-01 -4.84108549e-03 -5.47096432e+01] [-3.94222964e-02 1.90862161e-03 9.99220816e-01 -2.72314969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.150714057 meters 0.03186762331243539 Centerline is valid? [True, True] Translation: X:406.99, Y:-54.71, Z:-27.23 [[ 9.96344933e-01 7.58860801e-02 3.92183200e-02 4.06991131e+02] [-7.57540352e-02 9.97114768e-01 -4.84421646e-03 -5.47142748e+01] [-3.94727746e-02 1.85556453e-03 9.99218923e-01 -2.72332277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.180714057 meters 0.03186762331243539 Centerline is valid? [True, True] Translation: X:407.02, Y:-54.72, Z:-27.23 [[ 9.96352871e-01 7.57816566e-02 3.92185803e-02 4.07018378e+02] [-7.56496138e-02 9.97122706e-01 -4.84210780e-03 -5.47175465e+01] [-3.94726799e-02 1.85757755e-03 9.99218923e-01 -2.72348195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.210714057 meters 0.03131151977475742 Centerline is valid? [True, True] Translation: X:407.05, Y:-54.72, Z:-27.24 [[ 9.96179054e-01 7.82832500e-02 3.87172489e-02 4.07046697e+02] [-7.81566315e-02 9.96929654e-01 -4.77549684e-03 -5.47234817e+01] [-3.89722150e-02 1.73124017e-03 9.99238795e-01 -2.72366172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.240714057 meters 0.03177193134833887 Centerline is valid? [True, True] Translation: X:407.07, Y:-54.73, Z:-27.24 [[ 9.96096897e-01 7.91815983e-02 3.90031533e-02 4.07073676e+02] [-7.90538859e-02 9.96858748e-01 -4.80829200e-03 -5.47292287e+01] [-3.92613629e-02 1.70617391e-03 9.99227519e-01 -2.72381265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.270714057 meters 0.029244055114842366 Centerline is valid? [True, True] Translation: X:407.10, Y:-54.73, Z:-27.24 [[ 9.95923379e-01 8.10922583e-02 3.95053033e-02 4.07102165e+02] [-8.09628848e-02 9.96705237e-01 -4.86640223e-03 -5.47332211e+01] [-3.97697702e-02 1.64810043e-03 9.99207511e-01 -2.72378625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.300714057 meters 0.029761933558688138 Centerline is valid? [True, True] Translation: X:407.13, Y:-54.74, Z:-27.24 [[ 9.95909780e-01 8.14255020e-02 3.91611694e-02 4.07129423e+02] [-8.12986964e-02 9.96678116e-01 -4.82235672e-03 -5.47395609e+01] [-3.94237434e-02 1.61888020e-03 9.99221271e-01 -2.72400969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.330714057 meters 0.028679854347798024 Centerline is valid? [True, True] Translation: X:407.16, Y:-54.75, Z:-27.24 [[ 9.95860885e-01 8.20411468e-02 3.91196498e-02 4.07157733e+02] [-8.19153342e-02 9.96627680e-01 -4.81089484e-03 -5.47459861e+01] [-3.93824171e-02 1.58648281e-03 9.99222952e-01 -2.72418014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.360714057 meters 0.029411458451989864 Centerline is valid? [True, True] Translation: X:407.18, Y:-54.75, Z:-27.24 [[ 9.95845598e-01 8.23132672e-02 3.89367551e-02 4.07184809e+02] [-8.21889333e-02 9.96605275e-01 -4.78593784e-03 -5.47527856e+01] [-3.91985217e-02 1.56588476e-03 9.99230216e-01 -2.72439133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.390714057 meters 0.029583536226053444 Centerline is valid? [True, True] Translation: X:407.21, Y:-54.76, Z:-27.25 [[ 9.95763596e-01 8.32072013e-02 3.91333829e-02 4.07211614e+02] [-8.30824373e-02 9.96531086e-01 -4.80654034e-03 -5.47601193e+01] [-3.93975713e-02 1.53488107e-03 9.99222435e-01 -2.72458479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.420714057 meters 0.028826284630029696 Centerline is valid? [True, True] Translation: X:407.24, Y:-54.76, Z:-27.25 [[ 9.95721714e-01 8.35169836e-02 3.95370944e-02 4.07240593e+02] [-8.33900256e-02 9.96505172e-01 -4.85232568e-03 -5.47639457e+01] [-3.98041707e-02 1.53456673e-03 9.99206322e-01 -2.72465242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.450714057 meters 0.03029905036711624 Centerline is valid? [True, True] Translation: X:407.27, Y:-54.77, Z:-27.25 [[ 9.95673433e-01 8.39620726e-02 3.98093723e-02 4.07267349e+02] [-8.38338163e-02 9.96467785e-01 -4.88319265e-03 -5.47741416e+01] [-4.00787600e-02 1.52469358e-03 9.99195360e-01 -2.72489872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.480714057 meters 0.030742283663687385 Centerline is valid? [True, True] Translation: X:407.29, Y:-54.78, Z:-27.25 [[ 9.95611528e-01 8.39059712e-02 4.14424133e-02 4.07293922e+02] [-8.37670582e-02 9.96472414e-01 -5.08022641e-03 -5.47831202e+01] [-4.17224830e-02 1.58642292e-03 9.99127979e-01 -2.72498710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.51071405700003 meters 0.02833147911217782 Centerline is valid? [True, True] Translation: X:407.32, Y:-54.78, Z:-27.25 [[ 9.95618969e-01 8.33448375e-02 4.23852288e-02 4.07323279e+02] [-8.31992843e-02 9.96519416e-01 -5.18961871e-03 -5.47844623e+01] [-4.26702314e-02 1.64046212e-03 9.99087864e-01 -2.72490593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.540714057 meters 0.027914778987256396 Centerline is valid? [True, True] Translation: X:407.35, Y:-54.79, Z:-27.25 [[ 9.95645715e-01 8.26103485e-02 4.31872626e-02 4.07351967e+02] [-8.24586782e-02 9.96580473e-01 -5.28467173e-03 -5.47900346e+01] [-4.34761512e-02 1.70049617e-03 9.99053018e-01 -2.72503002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.57071405700003 meters 0.029201714823780187 Centerline is valid? [True, True] Translation: X:407.38, Y:-54.80, Z:-27.25 [[ 9.95813654e-01 8.02475054e-02 4.37664860e-02 4.07379782e+02] [-8.00896116e-02 9.96773299e-01 -5.35208594e-03 -5.48010516e+01] [-4.40547561e-02 1.82443940e-03 9.99027452e-01 -2.72520989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.600714057 meters 0.030103030469147616 Centerline is valid? [True, True] Translation: X:407.41, Y:-54.81, Z:-27.25 [[ 9.95924369e-01 7.87341415e-02 4.39952870e-02 4.07408040e+02] [-7.85732132e-02 9.96893840e-01 -5.37791343e-03 -5.48082995e+01] [-4.42820560e-02 1.89914398e-03 9.99017264e-01 -2.72542844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.630714057 meters 0.030849245869459634 Centerline is valid? [True, True] Translation: X:407.44, Y:-54.82, Z:-27.26 [[ 9.96207932e-01 7.51850694e-02 4.37831106e-02 4.07437408e+02] [-7.50224484e-02 9.97167504e-01 -5.34794946e-03 -5.48184294e+01] [-4.40611811e-02 2.04295352e-03 9.99026746e-01 -2.72567490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.660714057 meters 0.03229521200634426 Centerline is valid? [True, True] Translation: X:407.47, Y:-54.83, Z:-27.26 [[ 9.96386207e-01 7.30483296e-02 4.33413044e-02 4.07465215e+02] [-7.28869278e-02 9.97326156e-01 -5.29472586e-03 -5.48267564e+01] [-4.36121874e-02 2.11657729e-03 9.99046294e-01 -2.72586762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.690714057 meters 0.03390522109590725 Centerline is valid? [True, True] Translation: X:407.49, Y:-54.84, Z:-27.26 [[ 9.96630848e-01 6.94761951e-02 4.35891200e-02 4.07494139e+02] [-6.93096568e-02 9.97580997e-01 -5.32219946e-03 -5.48366413e+01] [-4.38534440e-02 2.28312121e-03 9.99035366e-01 -2.72604070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.720714057 meters 0.03252198738982846 Centerline is valid? [True, True] Translation: X:407.52, Y:-54.84, Z:-27.26 [[ 9.96764284e-01 6.76828426e-02 4.33589040e-02 4.07523426e+02] [-6.75163900e-02 9.97704122e-01 -5.29360484e-03 -5.48390491e+01] [-4.36176434e-02 2.34903957e-03 9.99045536e-01 -2.72612306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.750714057 meters 0.034231028905125756 Centerline is valid? [True, True] Translation: X:407.55, Y:-54.85, Z:-27.26 [[ 9.96938364e-01 6.53232678e-02 4.29740418e-02 4.07550578e+02] [-6.51576336e-02 9.97861198e-01 -5.24524857e-03 -5.48484424e+01] [-4.32247656e-02 2.42910266e-03 9.99062420e-01 -2.72634490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.780714057 meters 0.037656794391366995 Centerline is valid? [True, True] Translation: X:407.58, Y:-54.86, Z:-27.27 [[ 9.96998948e-01 6.44654462e-02 4.28637758e-02 4.07576700e+02] [-6.42999233e-02 9.97916911e-01 -5.23059318e-03 -5.48587861e+01] [-4.31116793e-02 2.45875840e-03 9.99067234e-01 -2.72664159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.810714057 meters 0.03601252887490035 Centerline is valid? [True, True] Translation: X:407.61, Y:-54.86, Z:-27.27 [[ 9.97091967e-01 6.28908248e-02 4.30389839e-02 4.07605640e+02] [-6.27227149e-02 9.98017201e-01 -5.24663208e-03 -5.48622318e+01] [-4.32836113e-02 2.53185278e-03 9.99059617e-01 -2.72675542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.840714057 meters 0.03659983106329452 Centerline is valid? [True, True] Translation: X:407.63, Y:-54.87, Z:-27.27 [[ 9.97117041e-01 6.23615258e-02 4.32278372e-02 4.07633744e+02] [-6.21915299e-02 9.98050332e-01 -5.26760578e-03 -5.48672054e+01] [-4.34720532e-02 2.56401416e-03 9.99051353e-01 -2.72690913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.870714057 meters 0.0364909867109003 Centerline is valid? [True, True] Translation: X:407.66, Y:-54.87, Z:-27.27 [[ 9.97107949e-01 6.19835469e-02 4.39747326e-02 4.07662693e+02] [-6.18074148e-02 9.98073728e-01 -5.35501120e-03 -5.48721523e+01] [-4.42219479e-02 2.62155970e-03 9.99018292e-01 -2.72698168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.900714057 meters 0.03541071677212379 Centerline is valid? [True, True] Translation: X:407.69, Y:-54.88, Z:-27.27 [[ 9.97069424e-01 6.21840946e-02 4.45612095e-02 4.07692588e+02] [-6.20034994e-02 9.98061189e-01 -5.42485043e-03 -5.48752409e+01] [-4.48121531e-02 2.64600157e-03 9.98991927e-01 -2.72703314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.930714057 meters 0.038467776513923586 Centerline is valid? [True, True] Translation: X:407.72, Y:-54.88, Z:-27.27 [[ 9.97075135e-01 6.21021062e-02 4.45477776e-02 4.07720734e+02] [-6.19215994e-02 9.98066290e-01 -5.42185701e-03 -5.48838607e+01] [-4.47983438e-02 2.64752917e-03 9.98992542e-01 -2.72724377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.960714057 meters 0.0378683233159452 Centerline is valid? [True, True] Translation: X:407.75, Y:-54.89, Z:-27.27 [[ 9.97057324e-01 6.19883540e-02 4.51013941e-02 4.07750294e+02] [-6.18033331e-02 9.98073267e-01 -5.48659400e-03 -5.48872722e+01] [-4.53546007e-02 2.68303225e-03 9.98967348e-01 -2.72742931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.990714057 meters 0.0374984438609357 Centerline is valid? [True, True] Translation: X:407.78, Y:-54.89, Z:-27.28 [[ 9.97088305e-01 6.12326760e-02 4.54474557e-02 4.07779207e+02] [-6.10440926e-02 9.98119767e-01 -5.52711967e-03 -5.48917162e+01] [-4.57004442e-02 2.73672769e-03 9.98951440e-01 -2.72758894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.020714057 meters 0.03663317822035168 Centerline is valid? [True, True] Translation: X:407.81, Y:-54.90, Z:-27.28 [[ 9.97197812e-01 6.04058799e-02 4.41322324e-02 4.07809042e+02] [-6.02273316e-02 9.98170266e-01 -5.36546437e-03 -5.48951276e+01] [-4.43755877e-02 2.69246273e-03 9.99011290e-01 -2.72782454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.050714057 meters 0.0400000025866048 Centerline is valid? [True, True] Translation: X:407.84, Y:-54.90, Z:-27.28 [[ 9.97274611e-01 5.97878610e-02 4.32291795e-02 4.07837822e+02] [-5.96160049e-02 9.98207552e-01 -5.25492866e-03 -5.49045250e+01] [-4.34658744e-02 2.66345595e-03 9.99051362e-01 -2.72815010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.080714057 meters 0.04044438365175991 Centerline is valid? [True, True] Translation: X:407.87, Y:-54.91, Z:-27.28 [[ 9.97302880e-01 5.92826875e-02 4.32727281e-02 4.07866748e+02] [-5.91100344e-02 9.98237617e-01 -5.25969253e-03 -5.49090423e+01] [-4.35082736e-02 2.68765406e-03 9.99049452e-01 -2.72833715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.110714057 meters 0.037607824838102086 Centerline is valid? [True, True] Translation: X:407.90, Y:-54.91, Z:-27.28 [[ 9.97309572e-01 5.90547307e-02 4.34298913e-02 4.07896566e+02] [-5.88806683e-02 9.98251079e-01 -5.27734434e-03 -5.49079565e+01] [-4.36655880e-02 2.70596500e-03 9.99042539e-01 -2.72836536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.140714057 meters 0.038367568546265524 Centerline is valid? [True, True] Translation: X:407.93, Y:-54.91, Z:-27.28 [[ 9.97207714e-01 5.98441356e-02 4.46705207e-02 4.07925349e+02] [-5.96608497e-02 9.98203957e-01 -5.42624911e-03 -5.49131902e+01] [-4.49150197e-02 2.74601625e-03 9.98987037e-01 -2.72840894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.170714057 meters 0.0378243008109737 Centerline is valid? [True, True] Translation: X:407.95, Y:-54.92, Z:-27.29 [[ 9.97133925e-01 6.07089379e-02 4.51482129e-02 4.07954647e+02] [-6.05226170e-02 9.98151763e-01 -5.48368919e-03 -5.49162627e+01] [-4.53976773e-02 2.73548453e-03 9.98965249e-01 -2.72850436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.200714057 meters 0.03840416515557994 Centerline is valid? [True, True] Translation: X:407.98, Y:-54.92, Z:-27.29 [[ 9.97066255e-01 6.16608313e-02 4.53522306e-02 4.07983451e+02] [-6.14738739e-02 9.98093501e-01 -5.50688988e-03 -5.49203741e+01] [-4.56053260e-02 2.70275676e-03 9.98955880e-01 -2.72866568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.230714057 meters 0.038255878039368 Centerline is valid? [True, True] Translation: X:408.01, Y:-54.92, Z:-27.29 [[ 9.96922789e-01 6.36666241e-02 4.57330746e-02 4.08012015e+02] [-6.34786768e-02 9.97967753e-01 -5.55174264e-03 -5.49227807e+01] [-4.59935944e-02 2.63158370e-03 9.98938268e-01 -2.72881102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.26071405700003 meters 0.03785490084634375 Centerline is valid? [True, True] Translation: X:408.04, Y:-54.93, Z:-27.29 [[ 9.96741345e-01 6.63730097e-02 4.58400973e-02 4.08040415e+02] [-6.61871400e-02 9.97791723e-01 -5.56239532e-03 -5.49251715e+01] [-4.61080625e-02 2.51024447e-03 9.98933304e-01 -2.72897867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.290714057 meters 0.037379169019614196 Centerline is valid? [True, True] Translation: X:408.07, Y:-54.93, Z:-27.29 [[ 9.96623663e-01 6.78465566e-02 4.62397935e-02 4.08069914e+02] [-6.76591269e-02 9.97692733e-01 -5.60836281e-03 -5.49282881e+01] [-4.65136140e-02 2.46088304e-03 9.98914625e-01 -2.72911703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.32071405700003 meters 0.034610637442903096 Centerline is valid? [True, True] Translation: X:408.10, Y:-54.93, Z:-27.29 [[ 9.96487734e-01 6.96476512e-02 4.64908659e-02 4.08099661e+02] [-6.94602045e-02 9.97568795e-01 -5.63727264e-03 -5.49271346e+01] [-4.67704599e-02 2.38820799e-03 9.98902808e-01 -2.72914200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.350714057 meters 0.0367208739192452 Centerline is valid? [True, True] Translation: X:408.13, Y:-54.93, Z:-27.29 [[ 9.96432762e-01 7.04014635e-02 4.65336981e-02 4.08126633e+02] [-7.02145391e-02 9.97515961e-01 -5.64142578e-03 -5.49343353e+01] [-4.68152712e-02 2.35395931e-03 9.98900791e-01 -2.72939943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.380714057 meters 0.03225235997550544 Centerline is valid? [True, True] Translation: X:408.16, Y:-54.93, Z:-27.29 [[ 9.96440481e-01 7.08406633e-02 4.56943003e-02 4.08156577e+02] [-7.06610706e-02 9.97485022e-01 -5.53568935e-03 -5.49306232e+01] [-4.59715320e-02 2.28717677e-03 9.98940132e-01 -2.72942112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.410714057 meters 0.033464605102121375 Centerline is valid? [True, True] Translation: X:408.18, Y:-54.94, Z:-27.30 [[ 9.96541634e-01 6.95640337e-02 4.54490583e-02 4.08183773e+02] [-6.93851778e-02 9.97574766e-01 -5.50300072e-03 -5.49368719e+01] [-4.57216447e-02 2.33047834e-03 9.98951500e-01 -2.72970562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.440714057 meters 0.036124526772526366 Centerline is valid? [True, True] Translation: X:408.21, Y:-54.95, Z:-27.30 [[ 9.96688812e-01 6.77498477e-02 4.49596485e-02 4.08211173e+02] [-6.75731817e-02 9.97699493e-01 -5.43942225e-03 -5.49460099e+01] [-4.52247385e-02 2.38334481e-03 9.98973995e-01 -2.72992035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.470714057 meters 0.04080949177905962 Centerline is valid? [True, True] Translation: X:408.24, Y:-54.96, Z:-27.30 [[ 9.96801554e-01 6.60178472e-02 4.50367172e-02 4.08238686e+02] [-6.58389192e-02 9.97815401e-01 -5.44639175e-03 -5.49571899e+01] [-4.52978890e-02 2.46380297e-03 9.98970486e-01 -2.73022882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.500714057 meters 0.04232057300251118 Centerline is valid? [True, True] Translation: X:408.27, Y:-54.96, Z:-27.30 [[ 9.96895180e-01 6.45826397e-02 4.50453394e-02 4.08266886e+02] [-6.44022871e-02 9.97909162e-01 -5.44514219e-03 -5.49640280e+01] [-4.53028186e-02 2.52721312e-03 9.98970104e-01 -2.73037713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.530714057 meters 0.04460000498889811 Centerline is valid? [True, True] Translation: X:408.30, Y:-54.97, Z:-27.31 [[ 9.97037807e-01 6.19661323e-02 4.55610559e-02 4.08295409e+02] [-6.17790190e-02 9.98074671e-01 -5.50490804e-03 -5.49728129e+01] [-4.58144537e-02 2.67388410e-03 9.98946388e-01 -2.73052856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.560714057 meters 0.03377434165459757 Centerline is valid? [True, True] Translation: X:408.33, Y:-54.96, Z:-27.30 [[ 9.97109063e-01 6.04156257e-02 4.60811143e-02 4.08326787e+02] [-6.02225865e-02 9.98169447e-01 -5.56724722e-03 -5.49608055e+01] [-4.63331091e-02 2.77602877e-03 9.98922187e-01 -2.73032785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.590714057 meters 0.03530090655123093 Centerline is valid? [True, True] Translation: X:408.36, Y:-54.97, Z:-27.30 [[ 9.97205656e-01 5.85680047e-02 4.63752950e-02 4.08355797e+02] [-5.83705899e-02 9.98279272e-01 -5.60088377e-03 -5.49679645e+01] [-4.66235283e-02 2.87827965e-03 9.98908385e-01 -2.73045834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.620714057 meters 0.041427271527419304 Centerline is valid? [True, True] Translation: X:408.38, Y:-54.98, Z:-27.31 [[ 9.97249448e-01 5.78453677e-02 4.63406119e-02 4.08384303e+02] [-5.76475292e-02 9.98321318e-01 -5.59546051e-03 -5.49814708e+01] [-4.65864922e-02 2.90864812e-03 9.98910025e-01 -2.73077421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.650714057 meters 0.0369231048736775 Centerline is valid? [True, True] Translation: X:408.42, Y:-54.98, Z:-27.31 [[ 9.97329435e-01 5.70387914e-02 4.56133209e-02 4.08415722e+02] [-5.68462332e-02 9.98367748e-01 -5.50865548e-03 -5.49776477e+01] [-4.58530755e-02 2.90099877e-03 9.98943982e-01 -2.73075404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.680714057 meters 0.03662527543425859 Centerline is valid? [True, True] Translation: X:408.45, Y:-54.98, Z:-27.31 [[ 9.97356936e-01 5.66993988e-02 4.54347968e-02 4.08445861e+02] [-5.65079957e-02 9.98387068e-01 -5.48709538e-03 -5.49805970e+01] [-4.56726286e-02 2.90516333e-03 9.98952237e-01 -2.73092847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.710714057 meters 0.04456578925214971 Centerline is valid? [True, True] Translation: X:408.47, Y:-55.00, Z:-27.31 [[ 9.97438838e-01 5.57691228e-02 4.47835915e-02 4.08474828e+02] [-5.55822485e-02 9.98439465e-01 -5.40822600e-03 -5.49955793e+01] [-4.50153171e-02 2.90520194e-03 9.98982072e-01 -2.73123396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.740714057 meters 0.036924623511042844 Centerline is valid? [True, True] Translation: X:408.51, Y:-54.99, Z:-27.31 [[ 9.97445547e-01 5.53622942e-02 4.51375426e-02 4.08506316e+02] [-5.51719905e-02 9.98461981e-01 -5.45199675e-03 -5.49878019e+01] [-4.53699553e-02 2.94774181e-03 9.98965904e-01 -2.73114650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.770714057 meters 0.035422602017148426 Centerline is valid? [True, True] Translation: X:408.54, Y:-54.99, Z:-27.31 [[ 9.97485417e-01 5.42769806e-02 4.55725049e-02 4.08537428e+02] [-5.40818610e-02 9.98521333e-01 -5.50453423e-03 -5.49880856e+01] [-4.58038878e-02 3.02604675e-03 9.98945868e-01 -2.73114751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.800714057 meters 0.038591137945492675 Centerline is valid? [True, True] Translation: X:408.57, Y:-55.00, Z:-27.31 [[ 9.97460159e-01 5.46630138e-02 4.56638362e-02 4.08567133e+02] [-5.44675230e-02 9.98500310e-01 -5.51535045e-03 -5.49969478e+01] [-4.58968403e-02 3.01414628e-03 9.98941637e-01 -2.73139329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.830714057 meters 0.0391923955588631 Centerline is valid? [True, True] Translation: X:408.60, Y:-55.00, Z:-27.32 [[ 9.97471913e-01 5.48485409e-02 4.51820716e-02 4.08597715e+02] [-5.46573185e-02 9.98490255e-01 -5.45777282e-03 -5.50003172e+01] [-4.54132091e-02 2.97444422e-03 9.98963860e-01 -2.73165720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.860714057 meters 0.039196979452827914 Centerline is valid? [True, True] Translation: X:408.63, Y:-55.00, Z:-27.32 [[ 9.97489398e-01 5.48614464e-02 4.47786047e-02 4.08628024e+02] [-5.46735500e-02 9.98489621e-01 -5.41103100e-03 -5.50031358e+01] [-4.50078290e-02 2.94924077e-03 9.98982281e-01 -2.73189019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.890714057 meters 0.03645487327233614 Centerline is valid? [True, True] Translation: X:408.66, Y:-55.00, Z:-27.32 [[ 9.97477997e-01 5.54963967e-02 4.42469792e-02 4.08658805e+02] [-5.53135607e-02 9.98454717e-01 -5.34678956e-03 -5.50018145e+01] [-4.44753326e-02 2.88584697e-03 9.99006315e-01 -2.73203377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.920714057 meters 0.037090389718249094 Centerline is valid? [True, True] Translation: X:408.69, Y:-55.00, Z:-27.32 [[ 9.97480739e-01 5.60901522e-02 4.34289097e-02 4.08688070e+02] [-5.59145691e-02 9.98421763e-01 -5.24818508e-03 -5.50044952e+01] [-4.36547401e-02 2.80665476e-03 9.99042735e-01 -2.73226615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.950714057 meters 0.035581545741994604 Centerline is valid? [True, True] Translation: X:408.72, Y:-55.00, Z:-27.32 [[ 9.97482903e-01 5.62063043e-02 4.32285688e-02 4.08718504e+02] [-5.60324694e-02 9.98415283e-01 -5.22346723e-03 -5.50039592e+01] [-4.34536556e-02 2.78811580e-03 9.99051553e-01 -2.73233054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.980714057 meters 0.03691466098209725 Centerline is valid? [True, True] Translation: X:408.75, Y:-55.01, Z:-27.33 [[ 9.97471162e-01 5.65170817e-02 4.30941001e-02 4.08747266e+02] [-5.63446952e-02 9.98397806e-01 -5.20539550e-03 -5.50083915e+01] [-4.33192488e-02 2.76410796e-03 9.99057457e-01 -2.73250567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.01071405700003 meters 0.03638737832443215 Centerline is valid? [True, True] Translation: X:408.78, Y:-55.01, Z:-27.33 [[ 9.97454207e-01 5.67669482e-02 4.31580716e-02 4.08776677e+02] [-5.65943046e-02 9.98383650e-01 -5.21259931e-03 -5.50095468e+01] [-4.33842165e-02 2.75682806e-03 9.99054658e-01 -2.73259790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.040714057 meters 0.03671147097730762 Centerline is valid? [True, True] Translation: X:408.81, Y:-55.01, Z:-27.33 [[ 9.97424669e-01 5.72155048e-02 4.32482929e-02 4.08805777e+02] [-5.70426367e-02 9.98358088e-01 -5.22168431e-03 -5.50110753e+01] [-4.34760443e-02 2.74124008e-03 9.99050709e-01 -2.73266747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.07071405700003 meters 0.03699979037532459 Centerline is valid? [True, True] Translation: X:408.84, Y:-55.01, Z:-27.33 [[ 9.97437826e-01 5.72824074e-02 4.28545093e-02 4.08835804e+02] [-5.71127583e-02 9.98354329e-01 -5.17364393e-03 -5.50134131e+01] [-4.30803436e-02 2.71284893e-03 9.99067928e-01 -2.73282926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.100714057 meters 0.03699979037532459 Centerline is valid? [True, True] Translation: X:408.86, Y:-55.02, Z:-27.33 [[ 9.97439816e-01 5.72476132e-02 4.28546898e-02 4.08864763e+02] [-5.70779961e-02 9.98356325e-01 -5.17214792e-03 -5.50168772e+01] [-4.30803437e-02 2.71284645e-03 9.99067928e-01 -2.73299834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.130714057 meters 0.03794129339121734 Centerline is valid? [True, True] Translation: X:408.89, Y:-55.02, Z:-27.33 [[ 9.97436144e-01 5.77423604e-02 4.22724365e-02 4.08893201e+02] [-5.75778182e-02 9.98327991e-01 -5.10067043e-03 -5.50189614e+01] [-4.24962814e-02 2.65363838e-03 9.99093101e-01 -2.73322576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.160714057 meters 0.03290536407738622 Centerline is valid? [True, True] Translation: X:408.92, Y:-55.01, Z:-27.33 [[ 9.97447129e-01 5.79337620e-02 4.17480930e-02 4.08923102e+02] [-5.77735224e-02 9.98317015e-01 -5.03558912e-03 -5.50125835e+01] [-4.19695622e-02 2.61079952e-03 9.99115479e-01 -2.73319709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.190714057 meters 0.03768072108339087 Centerline is valid? [True, True] Translation: X:408.95, Y:-55.02, Z:-27.34 [[ 9.97326488e-01 6.00739263e-02 4.16052794e-02 4.08951267e+02] [-5.99167908e-02 9.98190779e-01 -5.01466914e-03 -5.50200600e+01] [-4.18312572e-02 2.50840754e-03 9.99121541e-01 -2.73352412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.220714057 meters 0.03817464658147518 Centerline is valid? [True, True] Translation: X:408.98, Y:-55.02, Z:-27.34 [[ 9.97241863e-01 6.17948894e-02 4.11103263e-02 4.08979677e+02] [-6.16429818e-02 9.98085970e-01 -4.95374660e-03 -5.50229394e+01] [-4.13377562e-02 2.40592039e-03 9.99142333e-01 -2.73369748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.250714057 meters 0.03214492297663911 Centerline is valid? [True, True] Translation: X:409.01, Y:-55.01, Z:-27.34 [[ 9.97071568e-01 6.48467061e-02 4.05363131e-02 4.09011228e+02] [-6.47016321e-02 9.97892712e-01 -4.88198429e-03 -5.50138709e+01] [-4.07674720e-02 2.24492211e-03 9.99166139e-01 -2.73365171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.280714057 meters 0.03649757864257336 Centerline is valid? [True, True] Translation: X:409.04, Y:-55.02, Z:-27.34 [[ 9.96973326e-01 6.66439707e-02 4.00345946e-02 4.09037736e+02] [-6.65038902e-02 9.97774514e-01 -4.82210024e-03 -5.50231178e+01] [-4.02668621e-02 2.14504903e-03 9.99186659e-01 -2.73405494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.310714057 meters 0.03127421277630663 Centerline is valid? [True, True] Translation: X:409.07, Y:-55.02, Z:-27.34 [[ 9.96892680e-01 6.77846373e-02 4.01276409e-02 4.09067661e+02] [-6.76449851e-02 9.97697767e-01 -4.82935749e-03 -5.50163838e+01] [-4.03626140e-02 2.09991746e-03 9.99182891e-01 -2.73386555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.340714057 meters 0.03097883398202905 Centerline is valid? [True, True] Translation: X:409.10, Y:-55.02, Z:-27.34 [[ 9.96692206e-01 7.02492920e-02 4.08617694e-02 4.09097595e+02] [-7.01066943e-02 9.97527395e-01 -4.91406746e-03 -5.50172025e+01] [-4.11059441e-02 2.03312916e-03 9.99152725e-01 -2.73384675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.370714057 meters 0.030140524680323348 Centerline is valid? [True, True] Translation: X:409.13, Y:-55.02, Z:-27.34 [[ 9.96624943e-01 7.09744043e-02 4.12475048e-02 4.09126089e+02] [-7.08297566e-02 9.97476089e-01 -4.95955088e-03 -5.50183286e+01] [-4.14954009e-02 2.02126139e-03 9.99136650e-01 -2.73387904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.400714057 meters 0.029712577792440853 Centerline is valid? [True, True] Translation: X:409.16, Y:-55.02, Z:-27.34 [[ 9.96513819e-01 7.24523333e-02 4.13626436e-02 4.09155111e+02] [-7.23082714e-02 9.97369946e-01 -4.97038036e-03 -5.50201782e+01] [-4.16139732e-02 1.96219145e-03 9.99131837e-01 -2.73396686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.430714057 meters 0.02972610245322 Centerline is valid? [True, True] Translation: X:409.18, Y:-55.02, Z:-27.34 [[ 9.96497660e-01 7.26607871e-02 4.13862836e-02 4.09183470e+02] [-7.25168650e-02 9.97354802e-01 -4.97021404e-03 -5.50237691e+01] [-4.16379483e-02 1.95160312e-03 9.99130859e-01 -2.73414699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.460714057 meters 0.03003908526999908 Centerline is valid? [True, True] Translation: X:409.21, Y:-55.03, Z:-27.34 [[ 9.96504814e-01 7.26788693e-02 4.11817549e-02 4.09209943e+02] [-7.25364690e-02 9.97353509e-01 -4.94356720e-03 -5.50276251e+01] [-4.14320606e-02 1.93910943e-03 9.99139442e-01 -2.73439416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.490714057 meters 0.032272623569808014 Centerline is valid? [True, True] Translation: X:409.24, Y:-55.04, Z:-27.35 [[ 9.96539056e-01 7.26625978e-02 4.03739539e-02 4.09237017e+02] [-7.25259302e-02 9.97354776e-01 -4.84141269e-03 -5.50351512e+01] [-4.06189454e-02 1.89649827e-03 9.99172910e-01 -2.73473908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.520714057 meters 0.03271015368809035 Centerline is valid? [True, True] Translation: X:409.27, Y:-55.04, Z:-27.35 [[ 9.96587008e-01 7.22346669e-02 3.99560741e-02 4.09265635e+02] [-7.21006767e-02 9.97385875e-01 -4.78622647e-03 -5.50396185e+01] [-4.01973554e-02 1.88903114e-03 9.99189974e-01 -2.73494729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.550714057 meters 0.030363210247084636 Centerline is valid? [True, True] Translation: X:409.29, Y:-55.04, Z:-27.35 [[ 9.96642310e-01 7.15439725e-02 3.98191661e-02 4.09294961e+02] [-7.14104552e-02 9.97435622e-01 -4.76719372e-03 -5.50402269e+01] [-4.00581187e-02 1.90768218e-03 9.99195530e-01 -2.73497508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.580714057 meters 0.030949748828033353 Centerline is valid? [True, True] Translation: X:409.32, Y:-55.04, Z:-27.35 [[ 9.96712862e-01 7.06054516e-02 3.97283421e-02 4.09323359e+02] [-7.04719129e-02 9.97502438e-01 -4.75348637e-03 -5.50448795e+01] [-3.99647401e-02 1.93812874e-03 9.99199211e-01 -2.73519976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.610714057 meters 0.030332557901284658 Centerline is valid? [True, True] Translation: X:409.35, Y:-55.05, Z:-27.35 [[ 9.96774021e-01 6.98838451e-02 3.94689689e-02 4.09352189e+02] [-6.97515913e-02 9.97553227e-01 -4.71968551e-03 -5.50484697e+01] [-3.97022270e-02 1.95143651e-03 9.99209650e-01 -2.73530215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.640714057 meters 0.031142295324481324 Centerline is valid? [True, True] Translation: X:409.38, Y:-55.05, Z:-27.35 [[ 9.96870968e-01 6.82884691e-02 3.98115224e-02 4.09380467e+02] [-6.81527561e-02 9.97663553e-01 -4.75773637e-03 -5.50537987e+01] [-4.00434034e-02 2.02958429e-03 9.99195880e-01 -2.73545553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.670714057 meters 0.0312901300042208 Centerline is valid? [True, True] Translation: X:409.41, Y:-55.06, Z:-27.36 [[ 9.96841065e-01 6.82896448e-02 4.05513953e-02 4.09408655e+02] [-6.81489612e-02 9.97663402e-01 -4.84314340e-03 -5.50587102e+01] [-4.07873795e-02 2.06430876e-03 9.99165716e-01 -2.73560790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.700714057 meters 0.03068936211353496 Centerline is valid? [True, True] Translation: X:409.44, Y:-55.06, Z:-27.36 [[ 9.96714973e-01 6.92528660e-02 4.19917120e-02 4.09437158e+02] [-6.91029898e-02 9.97596941e-01 -5.01200618e-03 -5.50631539e+01] [-4.22378993e-02 2.09378875e-03 9.99105388e-01 -2.73572089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.730714057 meters 0.03273480081421987 Centerline is valid? [True, True] Translation: X:409.46, Y:-55.07, Z:-27.36 [[ 9.96601824e-01 7.03025616e-02 4.29226503e-02 4.09463973e+02] [-7.01470591e-02 9.97523520e-01 -5.12017873e-03 -5.50709299e+01] [-4.31763149e-02 2.09188178e-03 9.99065278e-01 -2.73600950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.76071405700003 meters 0.03004863906009205 Centerline is valid? [True, True] Translation: X:409.49, Y:-55.07, Z:-27.36 [[ 9.96427020e-01 7.24444841e-02 4.34164885e-02 4.09493137e+02] [-7.22875908e-02 9.97370405e-01 -5.17489612e-03 -5.50710251e+01] [-4.36772134e-02 2.01793296e-03 9.99043657e-01 -2.73610160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.790714057 meters 0.029126518079527118 Centerline is valid? [True, True] Translation: X:409.52, Y:-55.07, Z:-27.36 [[ 9.96395810e-01 7.30311997e-02 4.31489785e-02 4.09522207e+02] [-7.28769271e-02 9.97327698e-01 -5.13971666e-03 -5.50739326e+01] [-4.34090311e-02 1.97662718e-03 9.99055428e-01 -2.73627839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.82071405700003 meters 0.02943228759884106 Centerline is valid? [True, True] Translation: X:409.55, Y:-55.08, Z:-27.37 [[ 9.96373077e-01 7.34383611e-02 4.29825364e-02 4.09550544e+02] [-7.32857447e-02 9.97297853e-01 -5.11782009e-03 -5.50786503e+01] [-4.32422355e-02 1.94925096e-03 9.99062715e-01 -2.73651893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.850714057 meters 0.02979891965641265 Centerline is valid? [True, True] Translation: X:409.58, Y:-55.09, Z:-27.37 [[ 9.96398727e-01 7.30309517e-02 4.30819903e-02 4.09578629e+02] [-7.28773831e-02 9.97327732e-01 -5.12654412e-03 -5.50851886e+01] [-4.33412600e-02 1.96837932e-03 9.99058387e-01 -2.73674138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.880714057 meters 0.030541009006798153 Centerline is valid? [True, True] Translation: X:409.61, Y:-55.09, Z:-27.37 [[ 9.96456722e-01 7.21150801e-02 4.32829871e-02 4.09605648e+02] [-7.19593375e-02 9.97394283e-01 -5.14759122e-03 -5.50907044e+01] [-4.35414228e-02 2.01473680e-03 9.99049591e-01 -2.73689562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.910714057 meters 0.03143254426565689 Centerline is valid? [True, True] Translation: X:409.63, Y:-55.10, Z:-27.37 [[ 9.96596522e-01 7.00016992e-02 4.35331413e-02 4.09634700e+02] [-6.98423422e-02 9.97544631e-01 -5.17269737e-03 -5.50987231e+01] [-4.37883489e-02 2.11463566e-03 9.99038592e-01 -2.73718202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.940714057 meters 0.03240701269670657 Centerline is valid? [True, True] Translation: X:409.66, Y:-55.11, Z:-27.37 [[ 9.96732630e-01 6.82249683e-02 4.32367776e-02 4.09663967e+02] [-6.80661743e-02 9.97667589e-01 -5.13596776e-03 -5.51050256e+01] [-4.34863329e-02 2.17622461e-03 9.99051652e-01 -2.73744623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.970714057 meters 0.03386848130229431 Centerline is valid? [True, True] Translation: X:409.69, Y:-55.11, Z:-27.38 [[ 9.96885273e-01 6.64695677e-02 4.24446542e-02 4.09693111e+02] [-6.63150185e-02 9.97786005e-01 -5.04042412e-03 -5.51114171e+01] [-4.26857167e-02 2.21000655e-03 9.99086105e-01 -2.73765490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.000714057 meters 0.035490922653735706 Centerline is valid? [True, True] Translation: X:409.72, Y:-55.12, Z:-27.38 [[ 9.97056584e-01 6.33280620e-02 4.32171799e-02 4.09722858e+02] [-6.31649783e-02 9.97989913e-01 -5.13012662e-03 -5.51198715e+01] [-4.34551906e-02 2.38521429e-03 9.99052530e-01 -2.73787846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.030714057 meters 0.035201008089621136 Centerline is valid? [True, True] Translation: X:409.75, Y:-55.12, Z:-27.38 [[ 9.97099574e-01 6.21272275e-02 4.39618849e-02 4.09752525e+02] [-6.19572865e-02 9.98065157e-01 -5.21899961e-03 -5.51242944e+01] [-4.42010675e-02 2.48010319e-03 9.99019577e-01 -2.73796760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.060714057 meters 0.034042791362464915 Centerline is valid? [True, True] Translation: X:409.78, Y:-55.13, Z:-27.38 [[ 9.97100321e-01 6.12498939e-02 4.51597180e-02 4.09781887e+02] [-6.10697355e-02 9.98119112e-01 -5.35957460e-03 -5.51282023e+01] [-4.54030511e-02 2.58614152e-03 9.98965402e-01 -2.73800787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.090714057 meters 0.034125472972416096 Centerline is valid? [True, True] Translation: X:409.81, Y:-55.13, Z:-27.38 [[ 9.97099102e-01 6.11082813e-02 4.53779608e-02 4.09810741e+02] [-6.09262845e-02 9.98127746e-01 -5.38427571e-03 -5.51315251e+01] [-4.56220255e-02 2.60394592e-03 9.98955380e-01 -2.73811213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.120714057 meters 0.03294415647613803 Centerline is valid? [True, True] Translation: X:409.84, Y:-55.13, Z:-27.38 [[ 9.96988730e-01 6.19379224e-02 4.66601157e-02 4.09840762e+02] [-6.17465717e-02 9.98076526e-01 -5.53256866e-03 -5.51332842e+01] [-4.69130420e-02 2.63480643e-03 9.98895502e-01 -2.73814613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.150714057 meters 0.03423711425585206 Centerline is valid? [True, True] Translation: X:409.87, Y:-55.14, Z:-27.38 [[ 9.96934546e-01 6.22698706e-02 4.73706072e-02 4.09868809e+02] [-6.20730911e-02 9.98055810e-01 -5.61523881e-03 -5.51390852e+01] [-4.76281700e-02 2.65758554e-03 9.98861599e-01 -2.73829292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.180714057 meters 0.03351180136693626 Centerline is valid? [True, True] Translation: X:409.90, Y:-55.14, Z:-27.38 [[ 9.96873981e-01 6.25292569e-02 4.82945010e-02 4.09898547e+02] [-6.23251603e-02 9.98039495e-01 -5.72192132e-03 -5.51420942e+01] [-4.85576068e-02 2.69407197e-03 9.98816750e-01 -2.73838331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.210714057 meters 0.03338155549361807 Centerline is valid? [True, True] Translation: X:409.93, Y:-55.15, Z:-27.38 [[ 9.96866052e-01 6.24091067e-02 4.86125304e-02 4.09928240e+02] [-6.22022541e-02 9.98046956e-01 -5.75784744e-03 -5.51458226e+01] [-4.88769301e-02 2.71599368e-03 9.98801116e-01 -2.73849900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.240714057 meters 0.03448361854727894 Centerline is valid? [True, True] Translation: X:409.96, Y:-55.15, Z:-27.39 [[ 9.96873558e-01 6.19046775e-02 4.91011276e-02 4.09957059e+02] [-6.16931277e-02 9.98078232e-01 -5.81378552e-03 -5.51512235e+01] [-4.93666672e-02 2.76640693e-03 9.98776892e-01 -2.73871612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.270714057 meters 0.03541030942496009 Centerline is valid? [True, True] Translation: X:409.99, Y:-55.16, Z:-27.39 [[ 9.96957087e-01 6.03196117e-02 4.93772358e-02 4.09986921e+02] [-6.01037879e-02 9.98175017e-01 -5.84544985e-03 -5.51568979e+01] [-4.96397185e-02 2.85990375e-03 9.98763095e-01 -2.73891697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.300714057 meters 0.03405181311251165 Centerline is valid? [True, True] Translation: X:410.02, Y:-55.16, Z:-27.39 [[ 9.97032316e-01 5.89697951e-02 4.94886343e-02 4.10016818e+02] [-5.87513398e-02 9.98255457e-01 -5.85862512e-03 -5.51584103e+01] [-4.97477812e-02 2.93371500e-03 9.98757504e-01 -2.73907160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.330714057 meters 0.03554419434459733 Centerline is valid? [True, True] Translation: X:410.05, Y:-55.16, Z:-27.39 [[ 9.97154233e-01 5.64873707e-02 4.99260626e-02 4.10046275e+02] [-5.62619293e-02 9.98398548e-01 -5.91050011e-03 -5.51649516e+01] [-5.01799771e-02 3.08474361e-03 9.98735428e-01 -2.73936937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.360714057 meters 0.036452331702891264 Centerline is valid? [True, True] Translation: X:410.08, Y:-55.17, Z:-27.40 [[ 9.97234743e-01 5.56117030e-02 4.92971138e-02 4.10076927e+02] [-5.53908608e-02 9.98447693e-01 -5.83575180e-03 -5.51691335e+01] [-4.95451257e-02 3.08900487e-03 9.98767109e-01 -2.73956202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.390714057 meters 0.03555097260388383 Centerline is valid? [True, True] Translation: X:410.11, Y:-55.17, Z:-27.40 [[ 9.97225218e-01 5.50773193e-02 5.00834685e-02 4.10108371e+02] [-5.48486057e-02 9.98477069e-01 -5.93065128e-03 -5.51711358e+01] [-5.03338392e-02 3.16718661e-03 9.98727427e-01 -2.73974145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.420714057 meters 0.03591780911353938 Centerline is valid? [True, True] Translation: X:410.14, Y:-55.17, Z:-27.40 [[ 9.97252859e-01 5.49387603e-02 4.96836788e-02 4.10139111e+02] [-5.47134273e-02 9.98484755e-01 -5.88508856e-03 -5.51741529e+01] [-4.99317153e-02 3.15055704e-03 9.98747665e-01 -2.74000158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.450714057 meters 0.03784040353967619 Centerline is valid? [True, True] Translation: X:410.17, Y:-55.18, Z:-27.40 [[ 9.97190699e-01 5.57012977e-02 5.00806919e-02 4.10169560e+02] [-5.54732837e-02 9.98442547e-01 -5.93248746e-03 -5.51803762e+01] [-5.03331409e-02 3.13768089e-03 9.98727555e-01 -2.74023398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.480714057 meters 0.03510430459026714 Centerline is valid? [True, True] Translation: X:410.20, Y:-55.18, Z:-27.40 [[ 9.97106005e-01 5.72215551e-02 5.00530538e-02 4.10201994e+02] [-5.69950485e-02 9.98356778e-01 -5.94213862e-03 -5.51782694e+01] [-5.03108239e-02 3.07216587e-03 9.98728884e-01 -2.74038248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.51071405700003 meters 0.03390219465305558 Centerline is valid? [True, True] Translation: X:410.23, Y:-55.18, Z:-27.41 [[ 9.97073635e-01 5.78371678e-02 4.99902825e-02 4.10232467e+02] [-5.76118434e-02 9.98321400e-01 -5.93779862e-03 -5.51790005e+01] [-5.02497943e-02 3.04039013e-03 9.98732053e-01 -2.74052452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.540714057 meters 0.03557388843991739 Centerline is valid? [True, True] Translation: X:410.26, Y:-55.18, Z:-27.41 [[ 9.96875507e-01 6.02650106e-02 5.10622333e-02 4.10262328e+02] [-6.00330796e-02 9.98177962e-01 -6.06512393e-03 -5.51830140e+01] [-5.13347107e-02 2.98075038e-03 9.98677056e-01 -2.74071362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.57071405700003 meters 0.03304194842158995 Centerline is valid? [True, True] Translation: X:410.29, Y:-55.18, Z:-27.41 [[ 9.96753693e-01 6.18447394e-02 5.15490503e-02 4.10293644e+02] [-6.16104696e-02 9.98081490e-01 -6.12284081e-03 -5.51811968e+01] [-5.18288185e-02 2.92700299e-03 9.98651694e-01 -2.74083456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.600714057 meters 0.03161206225821801 Centerline is valid? [True, True] Translation: X:410.32, Y:-55.18, Z:-27.41 [[ 9.96523282e-01 6.52672345e-02 5.17835463e-02 4.10324338e+02] [-6.50353689e-02 9.97863997e-01 -6.15184152e-03 -5.51787253e+01] [-5.20744501e-02 2.76269127e-03 9.98639384e-01 -2.74100510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.630714057 meters 0.03100822395958055 Centerline is valid? [True, True] Translation: X:410.35, Y:-55.18, Z:-27.41 [[ 9.96397848e-01 6.71258548e-02 5.18213189e-02 4.10354070e+02] [-6.68961992e-02 9.97740953e-01 -6.15548613e-03 -5.51797776e+01] [-5.21174443e-02 2.66666385e-03 9.98637402e-01 -2.74119237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.660714057 meters 0.030805345878837532 Centerline is valid? [True, True] Translation: X:410.38, Y:-55.18, Z:-27.41 [[ 9.96283742e-01 6.91020133e-02 5.14161229e-02 4.10383844e+02] [-6.88786579e-02 9.97606362e-01 -6.10549899e-03 -5.51815452e+01] [-5.17149536e-02 2.54133584e-03 9.98658653e-01 -2.74139792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.690714057 meters 0.029994917227780502 Centerline is valid? [True, True] Translation: X:410.41, Y:-55.18, Z:-27.42 [[ 9.96092681e-01 7.22261064e-02 5.08208742e-02 4.10413487e+02] [-7.20120442e-02 9.97385516e-01 -6.03299997e-03 -5.51809495e+01] [-5.11237440e-02 2.34971208e-03 9.98689562e-01 -2.74158853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.720714057 meters 0.029475933123082554 Centerline is valid? [True, True] Translation: X:410.44, Y:-55.18, Z:-27.42 [[ 9.95979465e-01 7.37752117e-02 5.08145952e-02 4.10442416e+02] [-7.35632942e-02 9.97272316e-01 -6.03066549e-03 -5.51818474e+01] [-5.11209026e-02 2.26832997e-03 9.98689896e-01 -2.74170748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.750714057 meters 0.02850579045380375 Centerline is valid? [True, True] Translation: X:410.47, Y:-55.18, Z:-27.42 [[ 9.95730238e-01 7.66512118e-02 5.14381707e-02 4.10472494e+02] [-7.64380954e-02 9.97055666e-01 -6.10056895e-03 -5.51819933e+01] [-5.17543355e-02 2.14268517e-03 9.98657548e-01 -2.74185232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.780714057 meters 0.02895120599575362 Centerline is valid? [True, True] Translation: X:410.50, Y:-55.18, Z:-27.42 [[ 9.95700198e-01 7.71313312e-02 5.13017886e-02 4.10499615e+02] [-7.69200054e-02 9.97018705e-01 -6.08390910e-03 -5.51849182e+01] [-5.16181028e-02 2.11161564e-03 9.98664665e-01 -2.74205861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.810714057 meters 0.02879571586518533 Centerline is valid? [True, True] Translation: X:410.53, Y:-55.19, Z:-27.42 [[ 9.95730669e-01 7.70987367e-02 5.07564718e-02 4.10528351e+02] [-7.68920777e-02 9.97021280e-01 -6.01462611e-03 -5.51871136e+01] [-5.10690026e-02 2.08617711e-03 9.98692948e-01 -2.74226944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.840714057 meters 0.028723755566725937 Centerline is valid? [True, True] Translation: X:410.56, Y:-55.19, Z:-27.43 [[ 9.95818653e-01 7.67302132e-02 4.95750408e-02 4.10556798e+02] [-7.65327881e-02 9.97049779e-01 -5.87118377e-03 -5.51893180e+01] [-4.98792807e-02 2.05251822e-03 9.98753145e-01 -2.74253644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.870714057 meters 0.02905881109392047 Centerline is valid? [True, True] Translation: X:410.59, Y:-55.19, Z:-27.43 [[ 9.95897564e-01 7.61273643e-02 4.89148847e-02 4.10585149e+02] [-7.59346118e-02 9.97095991e-01 -5.78954269e-03 -5.51930016e+01] [-4.92135780e-02 2.05145868e-03 9.98786171e-01 -2.74275147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.900714057 meters 0.029808176816414608 Centerline is valid? [True, True] Translation: X:410.61, Y:-55.20, Z:-27.43 [[ 9.96063913e-01 7.44822446e-02 4.80528482e-02 4.10613121e+02] [-7.42944770e-02 9.97220146e-01 -5.68431072e-03 -5.51966274e+01] [-4.83426485e-02 2.09187555e-03 9.98828620e-01 -2.74295284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.930714057 meters 0.031065465994973545 Centerline is valid? [True, True] Translation: X:410.64, Y:-55.20, Z:-27.43 [[ 9.96104511e-01 7.39938380e-02 4.79657759e-02 4.10640185e+02] [-7.38063923e-02 9.97256472e-01 -5.66974035e-03 -5.52022439e+01] [-4.82537063e-02 2.10747306e-03 9.98832888e-01 -2.74312337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.960714057 meters 0.03067953370908417 Centerline is valid? [True, True] Translation: X:410.67, Y:-55.20, Z:-27.43 [[ 9.96238835e-01 7.25483610e-02 4.73805767e-02 4.10668951e+02] [-7.23640399e-02 9.97362586e-01 -5.59626162e-03 -5.52030159e+01] [-4.76616141e-02 2.14656321e-03 9.98861233e-01 -2.74321730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.990714057 meters 0.03067953370908417 Centerline is valid? [True, True] Translation: X:410.70, Y:-55.21, Z:-27.43 [[ 9.96243905e-01 7.24784452e-02 4.73809692e-02 4.10697052e+02] [-7.22942031e-02 9.97367669e-01 -5.59293647e-03 -5.52062727e+01] [-4.76616141e-02 2.14655947e-03 9.98861233e-01 -2.74338137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.020714057 meters 0.0304288132620247 Centerline is valid? [True, True] Translation: X:410.73, Y:-55.21, Z:-27.43 [[ 9.96315326e-01 7.08102097e-02 4.83909621e-02 4.10725713e+02] [-7.06162307e-02 9.97487223e-01 -5.70863702e-03 -5.52092490e+01] [-4.86735962e-02 2.27041520e-03 9.98812158e-01 -2.74339678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.050714057 meters 0.03110683694761483 Centerline is valid? [True, True] Translation: X:410.75, Y:-55.21, Z:-27.44 [[ 9.96414277e-01 6.94119208e-02 4.83794866e-02 4.10754340e+02] [-6.92165591e-02 9.97585352e-01 -5.70381785e-03 -5.52130279e+01] [-4.86585801e-02 2.33470394e-03 9.98812741e-01 -2.74354375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.080714057 meters 0.03112481238201208 Centerline is valid? [True, True] Translation: X:410.78, Y:-55.22, Z:-27.44 [[ 9.96427960e-01 6.82346398e-02 4.97529374e-02 4.10782353e+02] [-6.80267320e-02 9.97666276e-01 -5.86219049e-03 -5.52168519e+01] [-5.00368323e-02 2.45672077e-03 9.98744352e-01 -2.74358840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.110714057 meters 0.03147337098006299 Centerline is valid? [True, True] Translation: X:410.81, Y:-55.22, Z:-27.44 [[ 9.96438625e-01 6.77590900e-02 5.01873683e-02 4.10811121e+02] [-6.75471679e-02 9.97698586e-01 -5.90868192e-03 -5.52203067e+01] [-5.04722333e-02 2.49762430e-03 9.98722342e-01 -2.74374775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.140714057 meters 0.031811280028276996 Centerline is valid? [True, True] Translation: X:410.84, Y:-55.22, Z:-27.44 [[ 9.96469057e-01 6.70578989e-02 5.05238247e-02 4.10839209e+02] [-6.68424000e-02 9.97745836e-01 -5.94484031e-03 -5.52236550e+01] [-5.08085842e-02 2.54671571e-03 9.98705163e-01 -2.74390798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.170714057 meters 0.03180282979643255 Centerline is valid? [True, True] Translation: X:410.87, Y:-55.23, Z:-27.44 [[ 9.96555623e-01 6.61333192e-02 5.00327291e-02 4.10868141e+02] [-6.59210915e-02 9.97807503e-01 -5.88190299e-03 -5.52265427e+01] [-5.03120222e-02 2.56343139e-03 9.98730259e-01 -2.74410176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.200714057 meters 0.03212013494814388 Centerline is valid? [True, True] Translation: X:410.90, Y:-55.23, Z:-27.44 [[ 9.96576373e-01 6.58149777e-02 5.00392080e-02 4.10896218e+02] [-6.56024761e-02 9.97828518e-01 -5.87906873e-03 -5.52314360e+01] [-5.03174796e-02 2.57624504e-03 9.98729951e-01 -2.74430000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.230714057 meters 0.03353592696393335 Centerline is valid? [True, True] Translation: X:410.92, Y:-55.24, Z:-27.45 [[ 9.96771509e-01 6.36705306e-02 4.89144332e-02 4.10923667e+02] [-6.34650923e-02 9.97967533e-01 -5.74322346e-03 -5.52370907e+01] [-4.91806903e-02 2.62032250e-03 9.98786460e-01 -2.74463723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.26071405700003 meters 0.0342184738894956 Centerline is valid? [True, True] Translation: X:410.95, Y:-55.24, Z:-27.45 [[ 9.96858422e-01 6.26014655e-02 4.85215696e-02 4.10952835e+02] [-6.23981396e-02 9.98035087e-01 -5.69536603e-03 -5.52422112e+01] [-4.87827672e-02 2.64981792e-03 9.98805897e-01 -2.74486046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.290714057 meters 0.03625489124983594 Centerline is valid? [True, True] Translation: X:410.98, Y:-55.25, Z:-27.45 [[ 9.97086222e-01 5.95950579e-02 4.76182114e-02 4.10981725e+02] [-5.93959111e-02 9.98218867e-01 -5.58749446e-03 -5.52490382e+01] [-4.78663841e-02 2.74288669e-03 9.98849982e-01 -2.74511659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.32071405700003 meters 0.03700775275456916 Centerline is valid? [True, True] Translation: X:411.01, Y:-55.25, Z:-27.45 [[ 9.97193730e-01 5.80890678e-02 4.72263214e-02 4.11010356e+02] [-5.78915210e-02 9.98307501e-01 -5.54119738e-03 -5.52536253e+01] [-4.74682739e-02 2.79164370e-03 9.98868845e-01 -2.74532460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.350714057 meters 0.0380514051043547 Centerline is valid? [True, True] Translation: X:411.04, Y:-55.26, Z:-27.46 [[ 9.97298734e-01 5.64243356e-02 4.70269058e-02 4.11039729e+02] [-5.62267441e-02 9.98402793e-01 -5.51500367e-03 -5.52586569e+01] [-4.72629746e-02 2.85593637e-03 9.98878398e-01 -2.74555346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.380714057 meters 0.04059147600581535 Centerline is valid? [True, True] Translation: X:411.07, Y:-55.27, Z:-27.46 [[ 9.97498256e-01 5.37455958e-02 4.59199390e-02 4.11069221e+02] [-5.35543834e-02 9.98550414e-01 -5.38508631e-03 -5.52651696e+01] [-4.61427987e-02 2.91240018e-03 9.98930608e-01 -2.74584880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.410714057 meters 0.04171206741544178 Centerline is valid? [True, True] Translation: X:411.10, Y:-55.27, Z:-27.46 [[ 9.97636832e-01 5.18046897e-02 4.51334108e-02 4.11099695e+02] [-5.16180095e-02 9.98652877e-01 -5.29264168e-03 -5.52703312e+01] [-4.53467942e-02 2.95043746e-03 9.98966948e-01 -2.74612058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.440714057 meters 0.04217942547000316 Centerline is valid? [True, True] Translation: X:411.13, Y:-55.27, Z:-27.46 [[ 9.97648796e-01 5.12435279e-02 4.55080341e-02 4.11129384e+02] [-5.10530981e-02 9.98681676e-01 -5.33774926e-03 -5.52740657e+01] [-4.57215648e-02 3.00187300e-03 9.98949712e-01 -2.74626145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.470714057 meters 0.03704176914428681 Centerline is valid? [True, True] Translation: X:411.16, Y:-55.27, Z:-27.46 [[ 9.97708116e-01 5.00548407e-02 4.55305135e-02 4.11161047e+02] [-4.98630450e-02 9.98741793e-01 -5.33920308e-03 -5.52689298e+01] [-4.57404797e-02 3.05667620e-03 9.98948680e-01 -2.74623654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.500714057 meters 0.03748356353022146 Centerline is valid? [True, True] Translation: X:411.19, Y:-55.27, Z:-27.46 [[ 9.97690968e-01 4.84315665e-02 4.76142392e-02 4.11191693e+02] [-4.82199050e-02 9.98821131e-01 -5.58463953e-03 -5.52722446e+01] [-4.78285811e-02 3.27579033e-03 9.98850187e-01 -2.74620729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.530714057 meters 0.04072194332190071 Centerline is valid? [True, True] Translation: X:411.22, Y:-55.28, Z:-27.46 [[ 9.97659092e-01 4.77112536e-02 4.89895061e-02 4.11222502e+02] [-4.74863676e-02 9.98855366e-01 -5.74480858e-03 -5.52802326e+01] [-4.92075231e-02 3.40502682e-03 9.98782772e-01 -2.74634178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.560714057 meters 0.03935364642962197 Centerline is valid? [True, True] Translation: X:411.25, Y:-55.28, Z:-27.46 [[ 9.97725510e-01 4.59211434e-02 4.93462864e-02 4.11254125e+02] [-4.56904183e-02 9.98938844e-01 -5.79411412e-03 -5.52802837e+01] [-4.95599947e-02 3.52628299e-03 9.98764923e-01 -2.74639123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.590714057 meters 0.04040662528472052 Centerline is valid? [True, True] Translation: X:411.29, Y:-55.28, Z:-27.47 [[ 9.97764577e-01 4.50631338e-02 4.93473693e-02 4.11285700e+02] [-4.48313464e-02 9.98977765e-01 -5.79441877e-03 -5.52844919e+01] [-4.95580393e-02 3.56915679e-03 9.98764868e-01 -2.74661705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.620714057 meters 0.041131632288577365 Centerline is valid? [True, True] Translation: X:411.32, Y:-55.29, Z:-27.47 [[ 9.97772447e-01 4.45152584e-02 4.96843636e-02 4.11317840e+02] [-4.42790415e-02 9.99002101e-01 -5.84548352e-03 -5.52886742e+01] [-4.98949969e-02 3.63248639e-03 9.98747863e-01 -2.74678634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.650714057 meters 0.03688930944905203 Centerline is valid? [True, True] Translation: X:411.35, Y:-55.28, Z:-27.47 [[ 9.97815417e-01 4.37607939e-02 4.94912785e-02 4.11350722e+02] [-4.35248816e-02 9.99035304e-01 -5.83497104e-03 -5.52846802e+01] [-4.96988774e-02 3.66812203e-03 9.98757511e-01 -2.74689390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.680714057 meters 0.038994554335820816 Centerline is valid? [True, True] Translation: X:411.38, Y:-55.29, Z:-27.47 [[ 9.97852207e-01 4.28709855e-02 4.95282931e-02 4.11381588e+02] [-4.26329421e-02 9.99073657e-01 -5.85315791e-03 -5.52903851e+01] [-4.97333436e-02 3.72904969e-03 9.98755570e-01 -2.74708676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.710714057 meters 0.03969677611487903 Centerline is valid? [True, True] Translation: X:411.41, Y:-55.29, Z:-27.47 [[ 9.97843074e-01 4.23336222e-02 5.01703466e-02 4.11413300e+02] [-4.20883787e-02 9.99096263e-01 -5.93511126e-03 -5.52924705e+01] [-5.03762606e-02 3.81072112e-03 9.98723040e-01 -2.74717094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.740714057 meters 0.041096324359797425 Centerline is valid? [True, True] Translation: X:411.44, Y:-55.30, Z:-27.47 [[ 9.97880916e-01 4.20018825e-02 4.96942624e-02 4.11443695e+02] [-4.17602423e-02 9.99110292e-01 -5.89130891e-03 -5.52966058e+01] [-4.98974950e-02 3.80358029e-03 9.98747102e-01 -2.74734348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.770714057 meters 0.04095030390607744 Centerline is valid? [True, True] Translation: X:411.48, Y:-55.30, Z:-27.48 [[ 9.97921243e-01 4.22804784e-02 4.86369528e-02 4.11476745e+02] [-4.20491267e-02 9.99098880e-01 -5.77054693e-03 -5.52985690e+01] [-4.88371066e-02 3.71340998e-03 9.98799854e-01 -2.74766018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.800714057 meters 0.04017999183919957 Centerline is valid? [True, True] Translation: X:411.51, Y:-55.30, Z:-27.48 [[ 9.97909712e-01 4.28872697e-02 4.83413775e-02 4.11509312e+02] [-4.26586672e-02 9.99073151e-01 -5.75121016e-03 -5.53009326e+01] [-4.85432260e-02 3.67700974e-03 9.98814314e-01 -2.74792142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.830714057 meters 0.03996900120806318 Centerline is valid? [True, True] Translation: X:411.54, Y:-55.30, Z:-27.48 [[ 9.97942586e-01 4.30499067e-02 4.75110476e-02 4.11541875e+02] [-4.28291561e-02 9.99066406e-01 -5.65503719e-03 -5.53033748e+01] [-4.77101404e-02 3.60854436e-03 9.98854705e-01 -2.74817174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.860714057 meters 0.04120231057861121 Centerline is valid? [True, True] Translation: X:411.57, Y:-55.31, Z:-27.48 [[ 9.97960573e-01 4.35614349e-02 4.66593560e-02 4.11573020e+02] [-4.33485348e-02 9.99044508e-01 -5.56552171e-03 -5.53061209e+01] [-4.68572155e-02 3.53155652e-03 9.98895355e-01 -2.74842316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.890714057 meters 0.04213859791035618 Centerline is valid? [True, True] Translation: X:411.60, Y:-55.31, Z:-27.49 [[ 9.97932711e-01 4.43033203e-02 4.65566430e-02 4.11603655e+02] [-4.40916494e-02 9.99011995e-01 -5.56417330e-03 -5.53100426e+01] [-4.67571562e-02 3.49991136e-03 9.98900155e-01 -2.74864467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.920714057 meters 0.040405660670173024 Centerline is valid? [True, True] Translation: X:411.64, Y:-55.31, Z:-27.49 [[ 9.97867961e-01 4.56716378e-02 4.66222388e-02 4.11635992e+02] [-4.54602547e-02 9.98950537e-01 -5.58478914e-03 -5.53088811e+01] [-4.68283769e-02 3.45342330e-03 9.98896980e-01 -2.74875545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.950714057 meters 0.040728843186197024 Centerline is valid? [True, True] Translation: X:411.67, Y:-55.31, Z:-27.49 [[ 9.97826758e-01 4.65574772e-02 4.66279074e-02 4.11667061e+02] [-4.63468762e-02 9.98909775e-01 -5.58819364e-03 -5.53118226e+01] [-4.68372447e-02 3.41499129e-03 9.98896697e-01 -2.74895040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.980714057 meters 0.039820781175542636 Centerline is valid? [True, True] Translation: X:411.70, Y:-55.31, Z:-27.49 [[ 9.97712048e-01 4.88656494e-02 4.67206246e-02 4.11697939e+02] [-4.86566289e-02 9.98799858e-01 -5.60135657e-03 -5.53112865e+01] [-4.69382672e-02 3.31527284e-03 9.98892291e-01 -2.74907710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.01071405700003 meters 0.0399569113631986 Centerline is valid? [True, True] Translation: X:411.73, Y:-55.31, Z:-27.49 [[ 9.97616471e-01 5.09243905e-02 4.65626916e-02 4.11728249e+02] [-5.07190121e-02 9.98697361e-01 -5.58242191e-03 -5.53117371e+01] [-4.67863187e-02 3.20750232e-03 9.98899771e-01 -2.74917276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.040714057 meters 0.0399569113631986 Centerline is valid? [True, True] Translation: X:411.76, Y:-55.32, Z:-27.49 [[ 9.97618235e-01 5.08898555e-02 4.65626464e-02 4.11757219e+02] [-5.06844221e-02 9.98699115e-01 -5.58279923e-03 -5.53151785e+01] [-4.67861816e-02 3.20950149e-03 9.98899771e-01 -2.74934182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.07071405700003 meters 0.03813374630074442 Centerline is valid? [True, True] Translation: X:411.79, Y:-55.31, Z:-27.49 [[ 9.97531258e-01 5.27112706e-02 4.63994849e-02 4.11787550e+02] [-5.25093108e-02 9.98604947e-01 -5.56162885e-03 -5.53134251e+01] [-4.66279157e-02 3.11149365e-03 9.98907481e-01 -2.74939733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.100714057 meters 0.04088127799899001 Centerline is valid? [True, True] Translation: X:411.82, Y:-55.32, Z:-27.50 [[ 9.97492619e-01 5.34020946e-02 4.64401999e-02 4.11816058e+02] [-5.32006056e-02 9.98568340e-01 -5.56477967e-03 -5.53200728e+01] [-4.66708842e-02 3.08017988e-03 9.98905572e-01 -2.74962271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.130714057 meters 0.041148016687706714 Centerline is valid? [True, True] Translation: X:411.85, Y:-55.32, Z:-27.50 [[ 9.97554186e-01 5.30036434e-02 4.55659892e-02 4.11845188e+02] [-5.28093347e-02 9.98589695e-01 -5.45844064e-03 -5.53223317e+01] [-4.57910445e-02 3.03878074e-03 9.98946418e-01 -2.74980785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.160714057 meters 0.04210379300277653 Centerline is valid? [True, True] Translation: X:411.87, Y:-55.33, Z:-27.50 [[ 9.97567143e-01 5.29758184e-02 4.53139831e-02 4.11873824e+02] [-5.27836878e-02 9.98591223e-01 -5.42690310e-03 -5.53256783e+01] [-4.55376404e-02 3.02186108e-03 9.98958053e-01 -2.74998617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.190714057 meters 0.04339452763278955 Centerline is valid? [True, True] Translation: X:411.90, Y:-55.33, Z:-27.50 [[ 9.97596877e-01 5.25407697e-02 4.51656781e-02 4.11901758e+02] [-5.23495581e-02 9.98614185e-01 -5.40680975e-03 -5.53300335e+01] [-4.53871648e-02 3.02941323e-03 9.98964878e-01 -2.75014753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.220714057 meters 0.03698266708436118 Centerline is valid? [True, True] Translation: X:411.93, Y:-55.32, Z:-27.50 [[ 9.97626771e-01 5.21231594e-02 4.49889088e-02 4.11932412e+02] [-5.19331310e-02 9.98636055e-01 -5.38320498e-03 -5.53234359e+01] [-4.52081361e-02 3.03401451e-03 9.98972982e-01 -2.75014808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.250714057 meters 0.03771307867765727 Centerline is valid? [True, True] Translation: X:411.96, Y:-55.33, Z:-27.50 [[ 9.97656873e-01 5.16820310e-02 4.48300308e-02 4.11962020e+02] [-5.14929738e-02 9.98658959e-01 -5.36256759e-03 -5.53279234e+01] [-4.50470603e-02 3.04157080e-03 9.98980236e-01 -2.75032072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.280714057 meters 0.038085486782553524 Centerline is valid? [True, True] Translation: X:411.99, Y:-55.33, Z:-27.50 [[ 9.97709986e-01 5.01700356e-02 4.53624494e-02 4.11991197e+02] [-4.99749680e-02 9.98735738e-01 -5.42481656e-03 -5.53306804e+01] [-4.55772626e-02 3.14540669e-03 9.98955865e-01 -2.75043258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.310714057 meters 0.03796430808091062 Centerline is valid? [True, True] Translation: X:412.02, Y:-55.33, Z:-27.51 [[ 9.97729329e-01 4.92550731e-02 4.59360751e-02 4.12020278e+02] [-4.90541890e-02 9.98781025e-01 -5.49087731e-03 -5.53336439e+01] [-4.61505337e-02 3.22505243e-03 9.98929290e-01 -2.75053971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.340714057 meters 0.03754392831833636 Centerline is valid? [True, True] Translation: X:412.05, Y:-55.34, Z:-27.51 [[ 9.97800011e-01 4.82818908e-02 4.54312399e-02 4.12050567e+02] [-4.80845401e-02 9.98828524e-01 -5.42743551e-03 -5.53364000e+01] [-4.56400652e-02 3.23095493e-03 9.98952724e-01 -2.75067250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.370714057 meters 0.03982803443415019 Centerline is valid? [True, True] Translation: X:412.08, Y:-55.34, Z:-27.51 [[ 9.97834135e-01 4.78978220e-02 4.50869974e-02 4.12079533e+02] [-4.77030532e-02 9.98847037e-01 -5.38653504e-03 -5.53430959e+01] [-4.52930170e-02 3.22408109e-03 9.98968542e-01 -2.75096748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.400714057 meters 0.0373389604547173 Centerline is valid? [True, True] Translation: X:412.11, Y:-55.34, Z:-27.51 [[ 9.97893554e-01 4.72444884e-02 4.44568731e-02 4.12109617e+02] [-4.70545104e-02 9.98878206e-01 -5.31070284e-03 -5.53425670e+01] [-4.46579031e-02 3.20761973e-03 9.98997189e-01 -2.75113608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.430714057 meters 0.039363742786665004 Centerline is valid? [True, True] Translation: X:412.14, Y:-55.35, Z:-27.51 [[ 9.97939533e-01 4.66324074e-02 4.40693346e-02 4.12138529e+02] [-4.64452185e-02 9.98906976e-01 -5.26255810e-03 -5.53481058e+01] [-4.42665715e-02 3.20490490e-03 9.99014614e-01 -2.75145762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.460714057 meters 0.03965906301578529 Centerline is valid? [True, True] Translation: X:412.17, Y:-55.35, Z:-27.52 [[ 9.97956748e-01 4.62311811e-02 4.41022312e-02 4.12167551e+02] [-4.60433480e-02 9.98925563e-01 -5.26591938e-03 -5.53515471e+01] [-4.42982958e-02 3.22454540e-03 9.99013145e-01 -2.75168781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.490714057 meters 0.04015126648455818 Centerline is valid? [True, True] Translation: X:412.20, Y:-55.35, Z:-27.52 [[ 9.97956596e-01 4.64821161e-02 4.38411386e-02 4.12196591e+02] [-4.62968231e-02 9.98914021e-01 -5.23292767e-03 -5.53549331e+01] [-4.40367656e-02 3.19252925e-03 9.99024810e-01 -2.75182223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.520714057 meters 0.03908264432328806 Centerline is valid? [True, True] Translation: X:412.23, Y:-55.36, Z:-27.52 [[ 9.97957197e-01 4.64574535e-02 4.38536055e-02 4.12226463e+02] [-4.62720552e-02 9.98915163e-01 -5.23387397e-03 -5.53562466e+01] [-4.40491840e-02 3.19398574e-03 9.99024258e-01 -2.75195807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.550714057 meters 0.03926465178658319 Centerline is valid? [True, True] Translation: X:412.26, Y:-55.36, Z:-27.52 [[ 9.97947210e-01 4.63712275e-02 4.41709829e-02 4.12256256e+02] [-4.61831214e-02 9.98919088e-01 -5.27013794e-03 -5.53584794e+01] [-4.43676207e-02 3.21936559e-03 9.99010085e-01 -2.75203864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.580714057 meters 0.03921004717419455 Centerline is valid? [True, True] Translation: X:412.29, Y:-55.36, Z:-27.52 [[ 9.97917778e-01 4.62816502e-02 4.49234573e-02 4.12285482e+02] [-4.60870592e-02 9.98923056e-01 -5.35826283e-03 -5.53612524e+01] [-4.51230665e-02 3.27671570e-03 9.98976062e-01 -2.75215520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.610714057 meters 0.04084267633319106 Centerline is valid? [True, True] Translation: X:412.31, Y:-55.37, Z:-27.52 [[ 9.97940209e-01 4.53724896e-02 4.53505949e-02 4.12313909e+02] [-4.51733198e-02 9.98964529e-01 -5.40754777e-03 -5.53666417e+01] [-4.55489896e-02 3.34777242e-03 9.98956497e-01 -2.75228397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.640714057 meters 0.046110715667019186 Centerline is valid? [True, True] Translation: X:412.34, Y:-55.38, Z:-27.53 [[ 9.97938550e-01 4.52018192e-02 4.55570698e-02 4.12343343e+02] [-4.50007577e-02 9.98972196e-01 -5.42988594e-03 -5.53782138e+01] [-4.57556868e-02 3.36858984e-03 9.98946980e-01 -2.75260871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.670714057 meters 0.04222906973776076 Centerline is valid? [True, True] Translation: X:412.37, Y:-55.38, Z:-27.53 [[ 9.98016624e-01 4.40459353e-02 4.49752488e-02 4.12374549e+02] [-4.38487790e-02 9.99023794e-01 -5.36132457e-03 -5.53756246e+01] [-4.51674882e-02 3.37858130e-03 9.98973715e-01 -2.75273236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.700714057 meters 0.04024931984401958 Centerline is valid? [True, True] Translation: X:412.41, Y:-55.38, Z:-27.53 [[ 9.98053463e-01 4.35870092e-02 4.46033264e-02 4.12405212e+02] [-4.33926023e-02 9.99043943e-01 -5.31800072e-03 -5.53759344e+01] [-4.47924789e-02 3.37219463e-03 9.98990622e-01 -2.75289411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.730714057 meters 0.041372244396228296 Centerline is valid? [True, True] Translation: X:412.44, Y:-55.38, Z:-27.53 [[ 9.98068149e-01 4.34586248e-02 4.43995318e-02 4.12435152e+02] [-4.32659121e-02 9.99049573e-01 -5.29266100e-03 -5.53807943e+01] [-4.45873451e-02 3.36145012e-03 9.98999834e-01 -2.75313588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.76071405700003 meters 0.042088560209681256 Centerline is valid? [True, True] Translation: X:412.47, Y:-55.38, Z:-27.53 [[ 9.98180336e-01 4.26080511e-02 4.26681564e-02 4.12465795e+02] [-4.24291634e-02 9.99086513e-01 -5.08980559e-03 -5.53841525e+01] [-4.28460463e-02 3.27016967e-03 9.99076335e-01 -2.75339523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.790714057 meters 0.04326079045132883 Centerline is valid? [True, True] Translation: X:412.50, Y:-55.39, Z:-27.54 [[ 9.98239314e-01 4.26355861e-02 4.12368579e-02 4.12495582e+02] [-4.24684467e-02 9.99085689e-01 -4.92110229e-03 -5.53879059e+01] [-4.14089686e-02 3.16117247e-03 9.99137280e-01 -2.75372362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.82071405700003 meters 0.04476611850039723 Centerline is valid? [True, True] Translation: X:412.52, Y:-55.39, Z:-27.54 [[ 9.98278734e-01 4.23063426e-02 4.06170183e-02 4.12524791e+02] [-4.21437320e-02 9.99099778e-01 -4.85180900e-03 -5.53926524e+01] [-4.07857163e-02 3.13170501e-03 9.99163009e-01 -2.75397132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.850714057 meters 0.04375737375528118 Centerline is valid? [True, True] Translation: X:412.55, Y:-55.39, Z:-27.54 [[ 9.98268238e-01 4.21839519e-02 4.10004734e-02 4.12554694e+02] [-4.20181699e-02 9.99104845e-01 -4.89716897e-03 -5.53940884e+01] [-4.11703535e-02 3.16592338e-03 9.99147126e-01 -2.75407145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.880714057 meters 0.04576161685770725 Centerline is valid? [True, True] Translation: X:412.58, Y:-55.40, Z:-27.54 [[ 9.98231610e-01 4.26025159e-02 4.14569573e-02 4.12584158e+02] [-4.24334515e-02 9.99087033e-01 -4.94992003e-03 -5.53986785e+01] [-4.16299876e-02 3.18200485e-03 9.99128029e-01 -2.75416012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.910714057 meters 0.04576161685770725 Centerline is valid? [True, True] Translation: X:412.61, Y:-55.40, Z:-27.54 [[ 9.98233062e-01 4.25684196e-02 4.14570100e-02 4.12613148e+02] [-4.23993442e-02 9.99088484e-01 -4.94947896e-03 -5.54021063e+01] [-4.16299127e-02 3.18298350e-03 9.99128029e-01 -2.75432932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.940714057 meters 0.038982070562032706 Centerline is valid? [True, True] Translation: X:412.64, Y:-55.39, Z:-27.54 [[ 9.98191883e-01 4.28924334e-02 4.21094352e-02 4.12643736e+02] [-4.27183384e-02 9.99074514e-01 -5.02591424e-03 -5.53948951e+01] [-4.22860372e-02 3.21798170e-03 9.99100363e-01 -2.75425292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.970714057 meters 0.04076993434472023 Centerline is valid? [True, True] Translation: X:412.67, Y:-55.40, Z:-27.54 [[ 9.98127136e-01 4.42997234e-02 4.21871499e-02 4.12672893e+02] [-4.41263122e-02 9.99013280e-01 -5.03334251e-03 -5.53987860e+01] [-4.23684987e-02 3.16235240e-03 9.99097047e-01 -2.75440055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.000714057 meters 0.040390590023948146 Centerline is valid? [True, True] Translation: X:412.70, Y:-55.40, Z:-27.55 [[ 9.98077527e-01 4.50853340e-02 4.25272050e-02 4.12702428e+02] [-4.49098445e-02 9.98978161e-01 -5.07339930e-03 -5.54004272e+01] [-4.27124849e-02 3.15375566e-03 9.99082428e-01 -2.75454671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.030714057 meters 0.04046622243851575 Centerline is valid? [True, True] Translation: X:412.73, Y:-55.40, Z:-27.55 [[ 9.98029389e-01 4.60877118e-02 4.25824175e-02 4.12731628e+02] [-4.59127393e-02 9.98932545e-01 -5.07843583e-03 -5.54020724e+01] [-4.27710161e-02 3.11335277e-03 9.99080050e-01 -2.75471385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.060714057 meters 0.04007181093381954 Centerline is valid? [True, True] Translation: X:412.76, Y:-55.40, Z:-27.55 [[ 9.97998897e-01 4.66352087e-02 4.27008148e-02 4.12761080e+02] [-4.64598256e-02 9.98907186e-01 -5.09101268e-03 -5.54042468e+01] [-4.28915712e-02 3.09695263e-03 9.99074933e-01 -2.75485342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.090714057 meters 0.041312637160522636 Centerline is valid? [True, True] Translation: X:412.79, Y:-55.41, Z:-27.55 [[ 9.97992770e-01 4.64740136e-02 4.30185624e-02 4.12789013e+02] [-4.62959161e-02 9.98914609e-01 -5.12758962e-03 -5.54087819e+01] [-4.32101701e-02 3.12571362e-03 9.99061115e-01 -2.75505613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.120714057 meters 0.03965641639579596 Centerline is valid? [True, True] Translation: X:412.82, Y:-55.41, Z:-27.55 [[ 9.97989200e-01 4.63380486e-02 4.32474415e-02 4.12818971e+02] [-4.61580338e-02 9.98920863e-01 -5.15231086e-03 -5.54085935e+01] [-4.34395196e-02 3.14573372e-03 9.99051106e-01 -2.75511921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.150714057 meters 0.04316288781270935 Centerline is valid? [True, True] Translation: X:412.85, Y:-55.42, Z:-27.55 [[ 9.98048590e-01 4.55877574e-02 4.26704591e-02 4.12847262e+02] [-4.54119257e-02 9.98955422e-01 -5.08147939e-03 -5.54164689e+01] [-4.28575397e-02 3.13381563e-03 9.99076279e-01 -2.75543823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.180714057 meters 0.042935615417884425 Centerline is valid? [True, True] Translation: X:412.88, Y:-55.42, Z:-27.56 [[ 9.98206492e-01 4.36910573e-02 4.09254358e-02 4.12877657e+02] [-4.35277308e-02 9.99040331e-01 -4.87385880e-03 -5.54179111e+01] [-4.10991050e-02 3.08372614e-03 9.99150316e-01 -2.75569710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.210714057 meters 0.044220618992430266 Centerline is valid? [True, True] Translation: X:412.91, Y:-55.42, Z:-27.56 [[ 9.98291665e-01 4.23796491e-02 4.02208595e-02 4.12906613e+02] [-4.22208319e-02 9.99096820e-01 -4.79025196e-03 -5.54227622e+01] [-4.03875420e-02 3.08391045e-03 9.99179331e-01 -2.75596880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.240714057 meters 0.047184574306691644 Centerline is valid? [True, True] Translation: X:412.94, Y:-55.43, Z:-27.56 [[ 9.98354927e-01 4.12736550e-02 3.97985677e-02 4.12935634e+02] [-4.11173120e-02 9.99143086e-01 -4.73926604e-03 -5.54300981e+01] [-3.99600706e-02 3.09505947e-03 9.99196484e-01 -2.75625474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.270714057 meters 0.04669698000448435 Centerline is valid? [True, True] Translation: X:412.97, Y:-55.43, Z:-27.56 [[ 9.98463131e-01 3.91466606e-02 3.92289963e-02 4.12965513e+02] [-3.89931651e-02 9.99228562e-01 -4.67061597e-03 -5.54317239e+01] [-3.93815726e-02 3.13377512e-03 9.99219331e-01 -2.75641523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.300714057 meters 0.04917573281929399 Centerline is valid? [True, True] Translation: X:412.99, Y:-55.44, Z:-27.57 [[ 9.98527273e-01 3.75482697e-02 3.91588004e-02 4.12994499e+02] [-3.73941097e-02 9.99289721e-01 -4.66208230e-03 -5.54362096e+01] [-3.93060398e-02 3.19090784e-03 9.99222124e-01 -2.75653646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.330714057 meters 0.04887159233939597 Centerline is valid? [True, True] Translation: X:413.02, Y:-55.44, Z:-27.57 [[ 9.98522441e-01 3.71075290e-02 3.96984326e-02 4.13024914e+02] [-3.69487817e-02 9.99305989e-01 -4.72533140e-03 -5.54379624e+01] [-3.98462268e-02 3.25154073e-03 9.99200533e-01 -2.75662448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.360714057 meters 0.0494533558888969 Centerline is valid? [True, True] Translation: X:413.05, Y:-55.44, Z:-27.57 [[ 9.98497315e-01 3.73697309e-02 4.00826087e-02 4.13054787e+02] [-3.72081670e-02 9.99296154e-01 -4.76948855e-03 -5.54417180e+01] [-4.02326312e-02 3.27092111e-03 9.99184986e-01 -2.75676843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.390714057 meters 0.052231478711793164 Centerline is valid? [True, True] Translation: X:413.08, Y:-55.45, Z:-27.57 [[ 9.98468047e-01 3.71784563e-02 4.09795241e-02 4.13084629e+02] [-3.70092079e-02 9.99303003e-01 -4.88125371e-03 -5.54466926e+01] [-4.11324390e-02 3.35715614e-03 9.99148063e-01 -2.75686713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.420714057 meters 0.053951650757391084 Centerline is valid? [True, True] Translation: X:413.11, Y:-55.45, Z:-27.57 [[ 9.98449036e-01 3.74352680e-02 4.12082937e-02 4.13114722e+02] [-3.72643578e-02 9.99293390e-01 -4.90808334e-03 -5.54510033e+01] [-4.13629109e-02 3.36487048e-03 9.99138523e-01 -2.75703940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.450714057 meters 0.04965984297813938 Centerline is valid? [True, True] Translation: X:413.15, Y:-55.45, Z:-27.57 [[ 9.98444360e-01 3.75945136e-02 4.11765901e-02 4.13146877e+02] [-3.74238201e-02 9.99287427e-01 -4.90867798e-03 -5.54481275e+01] [-4.13317881e-02 3.36005655e-03 9.99139827e-01 -2.75712833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.480714057 meters 0.04873786318527274 Centerline is valid? [True, True] Translation: X:413.18, Y:-55.45, Z:-27.57 [[ 9.98447848e-01 3.76469068e-02 4.10439308e-02 4.13177556e+02] [-3.74772748e-02 9.99285492e-01 -4.89483762e-03 -5.54499652e+01] [-4.11988801e-02 3.34902541e-03 9.99145353e-01 -2.75729678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.51071405700003 meters 0.05131733009831387 Centerline is valid? [True, True] Translation: X:413.21, Y:-55.46, Z:-27.58 [[ 9.98497022e-01 3.70254545e-02 4.04080826e-02 4.13207713e+02] [-3.68606202e-02 9.99308807e-01 -4.81694031e-03 -5.54556673e+01] [-4.05585022e-02 3.32023357e-03 9.99171649e-01 -2.75759616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.540714057 meters 0.0448216676546446 Centerline is valid? [True, True] Translation: X:413.24, Y:-55.45, Z:-27.58 [[ 9.98529680e-01 3.66563233e-02 3.99348517e-02 4.13239631e+02] [-3.64947731e-02 9.99322474e-01 -4.76710466e-03 -5.54494047e+01] [-4.00825393e-02 3.30268214e-03 9.99190914e-01 -2.75760807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.57071405700003 meters 0.04674867543315726 Centerline is valid? [True, True] Translation: X:413.27, Y:-55.45, Z:-27.58 [[ 9.98573561e-01 3.66389720e-02 3.88385112e-02 4.13269212e+02] [-3.64861370e-02 9.99323402e-01 -4.63690049e-03 -5.54543765e+01] [-3.89821244e-02 3.21321899e-03 9.99234742e-01 -2.75795736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.600714057 meters 0.043780748619747796 Centerline is valid? [True, True] Translation: X:413.30, Y:-55.45, Z:-27.58 [[ 9.98544991e-01 3.82642569e-02 3.79966851e-02 4.13299942e+02] [-3.81191100e-02 9.99262901e-01 -4.53739658e-03 -5.54536021e+01] [-3.81422979e-02 3.08239480e-03 9.99267564e-01 -2.75814309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.630714057 meters 0.04491198929930173 Centerline is valid? [True, True] Translation: X:413.33, Y:-55.46, Z:-27.58 [[ 9.98384176e-01 4.29298732e-02 3.72298669e-02 4.13329138e+02] [-4.27937352e-02 9.99074035e-01 -4.44625911e-03 -5.54570549e+01] [-3.73862707e-02 2.84586967e-03 9.99296837e-01 -2.75841850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.660714057 meters 0.03862415310222669 Centerline is valid? [True, True] Translation: X:413.36, Y:-55.45, Z:-27.58 [[ 9.98254918e-01 4.62328518e-02 3.67374772e-02 4.13359943e+02] [-4.61025395e-02 9.98927080e-01 -4.38682284e-03 -5.54503849e+01] [-3.69008761e-02 2.68547648e-03 9.99315322e-01 -2.75837936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.690714057 meters 0.0377792330339268 Centerline is valid? [True, True] Translation: X:413.39, Y:-55.45, Z:-27.58 [[ 9.97928308e-01 5.27019952e-02 3.68997545e-02 4.13389140e+02] [-5.25749615e-02 9.98607264e-01 -4.40525352e-03 -5.54497961e+01] [-3.70805285e-02 2.45612402e-03 9.99309262e-01 -2.75848381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.720714057 meters 0.03653585872898188 Centerline is valid? [True, True] Translation: X:413.42, Y:-55.45, Z:-27.59 [[ 9.97786639e-01 5.53504570e-02 3.68530825e-02 4.13419202e+02] [-5.52255988e-02 9.98464215e-01 -4.39816737e-03 -5.54505040e+01] [-3.70399247e-02 2.35319909e-03 9.99311016e-01 -2.75860626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.750714057 meters 0.035680024162441995 Centerline is valid? [True, True] Translation: X:413.45, Y:-55.45, Z:-27.59 [[ 9.97553659e-01 5.97342188e-02 3.63114429e-02 4.13449706e+02] [-5.96159317e-02 9.98211986e-01 -4.33258463e-03 -5.54516121e+01] [-3.65053211e-02 2.15724516e-03 9.99331130e-01 -2.75886856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.780714057 meters 0.036110867057270006 Centerline is valid? [True, True] Translation: X:413.48, Y:-55.46, Z:-27.59 [[ 9.97445658e-01 6.14213433e-02 3.64633797e-02 4.13477290e+02] [-6.13031011e-02 9.98109704e-01 -4.35304603e-03 -5.54559733e+01] [-3.66618231e-02 2.10660860e-03 9.99325509e-01 -2.75913613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.810714057 meters 0.03511100489973816 Centerline is valid? [True, True] Translation: X:413.51, Y:-55.46, Z:-27.59 [[ 9.97393917e-01 6.21443478e-02 3.66531523e-02 4.13506556e+02] [-6.20255171e-02 9.98064991e-01 -4.37136826e-03 -5.54572828e+01] [-3.68538839e-02 2.08654539e-03 9.99318487e-01 -2.75921661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.840714057 meters 0.03547087089434149 Centerline is valid? [True, True] Translation: X:413.53, Y:-55.46, Z:-27.59 [[ 9.97314145e-01 6.28146844e-02 3.76671041e-02 4.13534175e+02] [-6.26898578e-02 9.98022970e-01 -4.48709531e-03 -5.54597832e+01] [-3.78744906e-02 2.11369822e-03 9.99280269e-01 -2.75921566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.870714057 meters 0.03768968051169303 Centerline is valid? [True, True] Translation: X:413.56, Y:-55.47, Z:-27.59 [[ 9.97295168e-01 6.26414581e-02 3.84499214e-02 4.13561149e+02] [-6.25114779e-02 9.98033761e-01 -4.57465641e-03 -5.54659239e+01] [-3.86608828e-02 2.15872132e-03 9.99250057e-01 -2.75937714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.900714057 meters 0.0347206590643432 Centerline is valid? [True, True] Translation: X:413.59, Y:-55.46, Z:-27.59 [[ 9.97257104e-01 6.26478311e-02 3.94146827e-02 4.13590368e+02] [-6.25114002e-02 9.98033251e-01 -4.68557905e-03 -5.54646849e+01] [-3.96307052e-02 2.20886000e-03 9.99211954e-01 -2.75922007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.930714057 meters 0.03430633612209262 Centerline is valid? [True, True] Translation: X:413.62, Y:-55.47, Z:-27.59 [[ 9.97255302e-01 6.25199819e-02 3.96624981e-02 4.13617814e+02] [-6.23818161e-02 9.98041231e-01 -4.71283564e-03 -5.54676079e+01] [-3.98794548e-02 2.22568167e-03 9.99202019e-01 -2.75933215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.960714057 meters 0.03597325876018369 Centerline is valid? [True, True] Translation: X:413.64, Y:-55.48, Z:-27.60 [[ 9.97343741e-01 6.10956669e-02 3.96583100e-02 4.13644768e+02] [-6.09565923e-02 9.98129316e-01 -4.70772345e-03 -5.54750003e+01] [-3.98717433e-02 2.27778309e-03 9.99202210e-01 -2.75965736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.990714057 meters 0.03662383800293602 Centerline is valid? [True, True] Translation: X:413.67, Y:-55.48, Z:-27.60 [[ 9.97442832e-01 5.99140624e-02 3.89628350e-02 4.13673225e+02] [-5.97790744e-02 9.98200934e-01 -4.62142427e-03 -5.54802530e+01] [-3.91696266e-02 2.28044430e-03 9.99229973e-01 -2.75985026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.020714057 meters 0.03680079904193979 Centerline is valid? [True, True] Translation: X:413.70, Y:-55.48, Z:-27.60 [[ 9.97518558e-01 5.87195886e-02 3.88424450e-02 4.13701344e+02] [-5.85846388e-02 9.98271826e-01 -4.60441017e-03 -5.54847366e+01] [-3.90456876e-02 2.31741399e-03 9.99234739e-01 -2.76000164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.050714057 meters 0.04083400278732485 Centerline is valid? [True, True] Translation: X:413.73, Y:-55.50, Z:-27.60 [[ 9.97685023e-01 5.63350803e-02 3.80913781e-02 4.13728051e+02] [-5.62036671e-02 9.98409125e-01 -4.51286621e-03 -5.54962390e+01] [-3.82850122e-02 2.36154389e-03 9.99264070e-01 -2.76037548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.080714057 meters 0.03634173696535726 Centerline is valid? [True, True] Translation: X:413.76, Y:-55.50, Z:-27.60 [[ 9.97824009e-01 5.40744005e-02 3.77253980e-02 4.13757390e+02] [-5.39440174e-02 9.98533973e-01 -4.46622854e-03 -5.54957463e+01] [-3.79116002e-02 2.42145054e-03 9.99278163e-01 -2.76029398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.110714057 meters 0.039941177189782906 Centerline is valid? [True, True] Translation: X:413.78, Y:-55.51, Z:-27.61 [[ 9.97903528e-01 5.26335224e-02 3.76597972e-02 4.13784765e+02] [-5.25026492e-02 9.98610841e-01 -4.45640150e-03 -5.55063966e+01] [-3.78420379e-02 2.46981965e-03 9.99280681e-01 -2.76057580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.140714057 meters 0.03848718196521476 Centerline is valid? [True, True] Translation: X:413.81, Y:-55.51, Z:-27.61 [[ 9.97932712e-01 5.17442597e-02 3.81160599e-02 4.13813596e+02] [-5.16096165e-02 9.98657158e-01 -4.50861910e-03 -5.55092540e+01] [-3.82981712e-02 2.53214325e-03 9.99263148e-01 -2.76062926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.170714057 meters 0.04341286299393152 Centerline is valid? [True, True] Translation: X:413.84, Y:-55.52, Z:-27.61 [[ 9.98026689e-01 4.98323800e-02 3.82028962e-02 4.13840680e+02] [-4.96958469e-02 9.98754189e-01 -4.51580033e-03 -5.55229787e+01] [-3.83803357e-02 2.60836397e-03 9.99259799e-01 -2.76087489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.200714057 meters 0.03873838535427737 Centerline is valid? [True, True] Translation: X:413.87, Y:-55.52, Z:-27.61 [[ 9.98090868e-01 4.91280011e-02 3.74307165e-02 4.13870208e+02] [-4.89965005e-02 9.98789157e-01 -4.42297337e-03 -5.55199006e+01] [-3.76026856e-02 2.58055521e-03 9.99289437e-01 -2.76077495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.230714057 meters 0.039374518904125896 Centerline is valid? [True, True] Translation: X:413.90, Y:-55.53, Z:-27.61 [[ 9.98116548e-01 4.91861817e-02 3.66616470e-02 4.13897245e+02] [-4.90601528e-02 9.98786440e-01 -4.32989395e-03 -5.55275839e+01] [-3.68301269e-02 2.52311280e-03 9.99318356e-01 -2.76100935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.26071405700003 meters 0.04622870016447632 Centerline is valid? [True, True] Translation: X:413.92, Y:-55.54, Z:-27.62 [[ 9.98123759e-01 4.97165597e-02 3.57382906e-02 4.13922838e+02] [-4.95972517e-02 9.98760393e-01 -4.21775450e-03 -5.55423794e+01] [-3.59036814e-02 2.43731998e-03 9.99352283e-01 -2.76162602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.290714057 meters 0.038101825175317496 Centerline is valid? [True, True] Translation: X:413.95, Y:-55.54, Z:-27.62 [[ 9.97924851e-01 5.40975663e-02 3.49205622e-02 4.13953954e+02] [-5.39865001e-02 9.98533181e-01 -4.11634046e-03 -5.55367658e+01] [-3.50920240e-02 2.22255950e-03 9.99381614e-01 -2.76157729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.32071405700003 meters 0.037296919150780615 Centerline is valid? [True, True] Translation: X:413.98, Y:-55.54, Z:-27.62 [[ 9.97771280e-01 5.64320866e-02 3.56074862e-02 4.13983986e+02] [-5.63180791e-02 9.98404054e-01 -4.19749354e-03 -5.55391586e+01] [-3.57875318e-02 2.18279328e-03 9.99357037e-01 -2.76159647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.350714057 meters 0.03687752391055241 Centerline is valid? [True, True] Translation: X:414.01, Y:-55.54, Z:-27.62 [[ 9.97492815e-01 6.07545866e-02 3.62900075e-02 4.14012897e+02] [-6.06390347e-02 9.98150596e-01 -4.27735985e-03 -5.55422388e+01] [-3.64827618e-02 2.06604470e-03 9.99332147e-01 -2.76168873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.380714057 meters 0.03646591214892139 Centerline is valid? [True, True] Translation: X:414.04, Y:-55.55, Z:-27.62 [[ 9.97346920e-01 6.29837743e-02 3.64988322e-02 4.14042792e+02] [-6.28684067e-02 9.98012557e-01 -4.30111952e-03 -5.55457960e+01] [-3.66971936e-02 1.99508488e-03 9.99324440e-01 -2.76184659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.410714057 meters 0.033602610778174974 Centerline is valid? [True, True] Translation: X:414.07, Y:-55.55, Z:-27.62 [[ 9.97221092e-01 6.48826047e-02 3.66106606e-02 4.14072206e+02] [-6.47677995e-02 9.97891035e-01 -4.31442083e-03 -5.55462932e+01] [-3.68133809e-02 1.93123953e-03 9.99320292e-01 -2.76186948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.440714057 meters 0.033366664138924855 Centerline is valid? [True, True] Translation: X:414.10, Y:-55.55, Z:-27.62 [[ 9.97082906e-01 6.69863134e-02 3.65856951e-02 4.14099172e+02] [-6.68731222e-02 9.97752177e-01 -4.31023773e-03 -5.55516994e+01] [-3.67921838e-02 1.85106470e-03 9.99321224e-01 -2.76221926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.470714057 meters 0.03377290211560727 Centerline is valid? [True, True] Translation: X:414.13, Y:-55.56, Z:-27.62 [[ 9.97028878e-01 6.74564509e-02 3.71892865e-02 4.14126659e+02] [-6.73399456e-02 9.97720485e-01 -4.37794010e-03 -5.55569461e+01] [-3.73998333e-02 1.86060818e-03 9.99298649e-01 -2.76238453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.500714057 meters 0.03507976507514042 Centerline is valid? [True, True] Translation: X:414.15, Y:-55.56, Z:-27.63 [[ 9.97101224e-01 6.63337536e-02 3.72690563e-02 4.14154097e+02] [-6.62160906e-02 9.97795675e-01 -4.38399816e-03 -5.55634110e+01] [-3.74777103e-02 1.90347872e-03 9.99295651e-01 -2.76253208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.530714057 meters 0.03566260362934335 Centerline is valid? [True, True] Translation: X:414.18, Y:-55.57, Z:-27.63 [[ 9.97199938e-01 6.47774931e-02 3.73652148e-02 4.14181837e+02] [-6.46582563e-02 9.97897800e-01 -4.39201740e-03 -5.55688979e+01] [-3.75711695e-02 1.96374985e-03 9.99292025e-01 -2.76268472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.560714057 meters 0.03728104300547285 Centerline is valid? [True, True] Translation: X:414.21, Y:-55.58, Z:-27.63 [[ 9.97418358e-01 6.08796263e-02 3.80826878e-02 4.14210593e+02] [-6.07531082e-02 9.98142807e-01 -4.47173527e-03 -5.55799800e+01] [-3.82841985e-02 2.14654920e-03 9.99264586e-01 -2.76302926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.590714057 meters 0.03935888849017595 Centerline is valid? [True, True] Translation: X:414.24, Y:-55.59, Z:-27.63 [[ 9.97632560e-01 5.77961195e-02 3.72677373e-02 4.14239174e+02] [-5.76728514e-02 9.98325949e-01 -4.37513645e-03 -5.55890268e+01] [-3.74582151e-02 2.21544190e-03 9.99295739e-01 -2.76336442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.620714057 meters 0.041280846329674624 Centerline is valid? [True, True] Translation: X:414.27, Y:-55.60, Z:-27.64 [[ 9.97817148e-01 5.47917432e-02 3.68619469e-02 4.14267386e+02] [-5.46691296e-02 9.98495150e-01 -4.32681641e-03 -5.55972862e+01] [-3.70435490e-02 2.30216106e-03 9.99311000e-01 -2.76368692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.650714057 meters 0.044010704812254914 Centerline is valid? [True, True] Translation: X:414.30, Y:-55.61, Z:-27.64 [[ 9.98114082e-01 4.95880600e-02 3.61842972e-02 4.14296402e+02] [-4.94665272e-02 9.98766753e-01 -4.24682368e-03 -5.56071687e+01] [-3.63502648e-02 2.44890300e-03 9.99336110e-01 -2.76398227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.680714057 meters 0.04613690977660097 Centerline is valid? [True, True] Translation: X:414.33, Y:-55.61, Z:-27.64 [[ 9.98229915e-01 4.72303695e-02 3.61431620e-02 4.14325083e+02] [-4.71075949e-02 9.98880816e-01 -4.24145589e-03 -5.56147091e+01] [-3.63030367e-02 2.53133072e-03 9.99337622e-01 -2.76422641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.710714057 meters 0.04130544830080133 Centerline is valid? [True, True] Translation: X:414.36, Y:-55.61, Z:-27.64 [[ 9.98376382e-01 4.32131948e-02 3.71109214e-02 4.14356049e+02] [-4.30810248e-02 9.99062093e-01 -4.35416888e-03 -5.56133921e+01] [-3.72642724e-02 2.74832285e-03 9.99301667e-01 -2.76407280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.740714057 meters 0.04000856502541341 Centerline is valid? [True, True] Translation: X:414.39, Y:-55.62, Z:-27.64 [[ 9.98400024e-01 4.20127811e-02 3.78459719e-02 4.14385329e+02] [-4.18744497e-02 9.99113012e-01 -4.44075231e-03 -5.56163475e+01] [-3.79989713e-02 2.84886796e-03 9.99273717e-01 -2.76415860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.770714057 meters 0.04263421201562357 Centerline is valid? [True, True] Translation: X:414.41, Y:-55.62, Z:-27.64 [[ 9.98419004e-01 4.07229655e-02 3.87444392e-02 4.14413825e+02] [-4.05771022e-02 9.99166078e-01 -4.54402514e-03 -5.56249225e+01] [-3.88971755e-02 2.96470399e-03 9.99238820e-01 -2.76436269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.800714057 meters 0.04263421201562357 Centerline is valid? [True, True] Translation: X:414.44, Y:-55.63, Z:-27.65 [[ 9.98419005e-01 4.07229673e-02 3.87444357e-02 4.14443663e+02] [-4.05771028e-02 9.99166077e-01 -4.54405531e-03 -5.56284219e+01] [-3.88971732e-02 2.96473423e-03 9.99238820e-01 -2.76453679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.830714057 meters 0.04467816314495306 Centerline is valid? [True, True] Translation: X:414.47, Y:-55.63, Z:-27.65 [[ 9.98435200e-01 3.89767017e-02 4.00994769e-02 4.14473148e+02] [-3.88190490e-02 9.99235189e-01 -4.70297832e-03 -5.56345349e+01] [-4.02521150e-02 3.13899554e-03 9.99184625e-01 -2.76460129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.860714057 meters 0.042703539766218275 Centerline is valid? [True, True] Translation: X:414.50, Y:-55.63, Z:-27.65 [[ 9.98455820e-01 3.83264461e-02 4.02126701e-02 4.14504818e+02] [-3.81674025e-02 9.99260232e-01 -4.71563507e-03 -5.56344271e+01] [-4.03636556e-02 3.17354011e-03 9.99180016e-01 -2.76465891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.890714057 meters 0.04219361964813278 Centerline is valid? [True, True] Translation: X:414.54, Y:-55.64, Z:-27.65 [[ 9.98417346e-01 3.80365132e-02 4.14249496e-02 4.14535683e+02] [-3.78674160e-02 9.99270957e-01 -4.85933898e-03 -5.56362752e+01] [-4.15795814e-02 3.28299252e-03 9.99129802e-01 -2.76483508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.920714057 meters 0.04486915499275189 Centerline is valid? [True, True] Translation: X:414.57, Y:-55.64, Z:-27.65 [[ 9.98423330e-01 3.79730821e-02 4.13388456e-02 4.14566321e+02] [-3.78047049e-02 9.99273389e-01 -4.84752510e-03 -5.56431453e+01] [-4.14928838e-02 3.27707929e-03 9.99133425e-01 -2.76510682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.950714057 meters 0.04465406440838697 Centerline is valid? [True, True] Translation: X:414.60, Y:-55.65, Z:-27.65 [[ 9.98452748e-01 3.70861618e-02 4.14333934e-02 4.14597929e+02] [-3.69157726e-02 9.99306513e-01 -4.87018759e-03 -5.56450998e+01] [-4.15852764e-02 3.33310646e-03 9.99129399e-01 -2.76531034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.980714057 meters 0.0430342011367042 Centerline is valid? [True, True] Translation: X:414.63, Y:-55.65, Z:-27.65 [[ 9.98490903e-01 3.61859773e-02 4.13097058e-02 4.14629857e+02] [-3.60156340e-02 9.99339406e-01 -4.86060499e-03 -5.56458150e+01] [-4.14583026e-02 3.36547462e-03 9.99134567e-01 -2.76543873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.01071405700003 meters 0.04752137928277837 Centerline is valid? [True, True] Translation: X:414.66, Y:-55.65, Z:-27.66 [[ 9.98575878e-01 3.36692592e-02 4.13835425e-02 4.14658789e+02] [-3.34958860e-02 9.99426961e-01 -4.87588972e-03 -5.56546303e+01] [-4.15239957e-02 3.48276743e-03 9.99131437e-01 -2.76574710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.040714057 meters 0.048318239227668744 Centerline is valid? [True, True] Translation: X:414.69, Y:-55.66, Z:-27.66 [[ 9.98616271e-01 3.24652230e-02 4.13709101e-02 4.14690699e+02] [-3.22908208e-02 9.99466616e-01 -4.87703883e-03 -5.56591568e+01] [-4.15071777e-02 3.53438968e-03 9.99131954e-01 -2.76596088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.07071405700003 meters 0.048525439856860225 Centerline is valid? [True, True] Translation: X:414.72, Y:-55.66, Z:-27.66 [[ 9.98719121e-01 2.93785604e-02 4.11948803e-02 4.14721073e+02] [-2.92028711e-02 9.99561689e-01 -4.86025878e-03 -5.56620848e+01] [-4.13196116e-02 3.65102460e-03 9.99139309e-01 -2.76619844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.100714057 meters 0.04915618533436869 Centerline is valid? [True, True] Translation: X:414.75, Y:-55.67, Z:-27.66 [[ 9.98763420e-01 2.79791755e-02 4.10949711e-02 4.14752308e+02] [-2.78031803e-02 9.99601660e-01 -4.84806024e-03 -5.56662043e+01] [-4.12142460e-02 3.69949433e-03 9.99143483e-01 -2.76642851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.130714057 meters 0.052392291535611854 Centerline is valid? [True, True] Translation: X:414.78, Y:-55.67, Z:-27.67 [[ 9.98817285e-01 2.54827714e-02 4.14084470e-02 4.14781279e+02] [-2.53018655e-02 9.99667911e-01 -4.88712409e-03 -5.56731405e+01] [-4.15192332e-02 3.83363306e-03 9.99130350e-01 -2.76669411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.160714057 meters 0.05335173041492605 Centerline is valid? [True, True] Translation: X:414.81, Y:-55.68, Z:-27.67 [[ 9.98838985e-01 2.47576149e-02 4.13248348e-02 4.14812823e+02] [-2.45768729e-02 9.99686051e-01 -4.87608872e-03 -5.56780903e+01] [-4.14325813e-02 3.85479230e-03 9.99133866e-01 -2.76687942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.190714057 meters 0.04995646668764615 Centerline is valid? [True, True] Translation: X:414.84, Y:-55.68, Z:-27.67 [[ 9.98863247e-01 2.36593240e-02 4.13817737e-02 4.14844862e+02] [-2.34771381e-02 9.99712448e-01 -4.88307466e-03 -5.56763367e+01] [-4.14854045e-02 3.90599819e-03 9.99131475e-01 -2.76699310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.220714057 meters 0.0507391012965976 Centerline is valid? [True, True] Translation: X:414.88, Y:-55.68, Z:-27.67 [[ 9.98860414e-01 2.26878765e-02 4.19896758e-02 4.14876459e+02] [-2.24990195e-02 9.99734537e-01 -4.96488210e-03 -5.56801500e+01] [-4.20911717e-02 4.01449766e-03 9.99105709e-01 -2.76719797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.250714057 meters 0.04946821957198824 Centerline is valid? [True, True] Translation: X:414.91, Y:-55.68, Z:-27.67 [[ 9.98844685e-01 2.26840186e-02 4.23642557e-02 4.14909097e+02] [-2.24913545e-02 9.99734439e-01 -5.01896270e-03 -5.56822315e+01] [-4.24668556e-02 4.06033472e-03 9.99089626e-01 -2.76733144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.280714057 meters 0.052124686954814 Centerline is valid? [True, True] Translation: X:414.94, Y:-55.69, Z:-27.68 [[ 9.98782663e-01 2.25320506e-02 4.38804995e-02 4.14939497e+02] [-2.23246615e-02 9.99737195e-01 -5.21060982e-03 -5.56886977e+01] [-4.39863732e-02 4.22464945e-03 9.99023199e-01 -2.76753287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.310714057 meters 0.04967592074266711 Centerline is valid? [True, True] Translation: X:414.97, Y:-55.69, Z:-27.68 [[ 9.98743195e-01 2.29945238e-02 4.45340609e-02 4.14971665e+02] [-2.27808970e-02 9.99726440e-01 -5.29858686e-03 -5.56885801e+01] [-4.46437167e-02 4.27740171e-03 9.98993815e-01 -2.76765598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.340714057 meters 0.05054344122035381 Centerline is valid? [True, True] Translation: X:415.00, Y:-55.69, Z:-27.68 [[ 9.98708134e-01 2.40647318e-02 4.47543575e-02 4.15001804e+02] [-2.38494003e-02 9.99701305e-01 -5.33922820e-03 -5.56913958e+01] [-4.48694767e-02 4.26496604e-03 9.98983754e-01 -2.76784258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.370714057 meters 0.04913278590745892 Centerline is valid? [True, True] Translation: X:415.03, Y:-55.69, Z:-27.68 [[ 9.98684790e-01 2.52368161e-02 4.46295127e-02 4.15034461e+02] [-2.50239438e-02 9.99672685e-01 -5.32211908e-03 -5.56916755e+01] [-4.47492181e-02 4.19831295e-03 9.98989430e-01 -2.76802289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.400714057 meters 0.049935923610722674 Centerline is valid? [True, True] Translation: X:415.06, Y:-55.69, Z:-27.68 [[ 9.98600420e-01 2.74586436e-02 4.52020352e-02 4.15064711e+02] [-2.72418562e-02 9.99614259e-01 -5.40512506e-03 -5.56932443e+01] [-4.53330163e-02 4.16617281e-03 9.98963243e-01 -2.76823769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.430714057 meters 0.053878462465395745 Centerline is valid? [True, True] Translation: X:415.09, Y:-55.70, Z:-27.69 [[ 9.98539908e-01 2.90373027e-02 4.55509281e-02 4.15093941e+02] [-2.88187902e-02 9.99569813e-01 -5.44663135e-03 -5.57011928e+01] [-4.56894881e-02 4.12595613e-03 9.98947169e-01 -2.76851084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.460714057 meters 0.04823275090967207 Centerline is valid? [True, True] Translation: X:415.13, Y:-55.70, Z:-27.69 [[ 9.98466112e-01 3.06281046e-02 4.61231254e-02 4.15126043e+02] [-3.04057156e-02 9.99522421e-01 -5.51568579e-03 -5.56958291e+01] [-4.62700329e-02 4.10481872e-03 9.98920535e-01 -2.76858430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.490714057 meters 0.04810668642435827 Centerline is valid? [True, True] Translation: X:415.16, Y:-55.70, Z:-27.69 [[ 9.98333995e-01 3.33548662e-02 4.70817025e-02 4.15155635e+02] [-3.31260296e-02 9.99435311e-01 -5.63253876e-03 -5.56965123e+01] [-4.72429886e-02 4.06352505e-03 9.98875161e-01 -2.76879352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.520714057 meters 0.0481030554045798 Centerline is valid? [True, True] Translation: X:415.19, Y:-55.70, Z:-27.69 [[ 9.98261864e-01 3.49180289e-02 4.74761226e-02 4.15187564e+02] [-3.46871458e-02 9.99382087e-01 -5.67859705e-03 -5.56985067e+01] [-4.76450719e-02 4.02191569e-03 9.98856232e-01 -2.76897043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.550714057 meters 0.0469636162339019 Centerline is valid? [True, True] Translation: X:415.22, Y:-55.70, Z:-27.69 [[ 9.98064421e-01 3.82762385e-02 4.90136813e-02 4.15218814e+02] [-3.80340072e-02 9.99259230e-01 -5.86561235e-03 -5.56962724e+01] [-4.92018870e-02 3.99007228e-03 9.98780884e-01 -2.76911381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.580714057 meters 0.044695267210955424 Centerline is valid? [True, True] Translation: X:415.25, Y:-55.69, Z:-27.69 [[ 9.97974461e-01 3.96643385e-02 4.97364586e-02 4.15250626e+02] [-3.94166134e-02 9.99205136e-01 -5.95211671e-03 -5.56946764e+01] [-4.99330116e-02 3.97961771e-03 9.98744641e-01 -2.76920590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.610714057 meters 0.04834607785119922 Centerline is valid? [True, True] Translation: X:415.28, Y:-55.70, Z:-27.69 [[ 9.97805813e-01 4.23225894e-02 5.09152067e-02 4.15280047e+02] [-4.20662972e-02 9.99096229e-01 -6.09530251e-03 -5.56999143e+01] [-5.11271600e-02 3.94011406e-03 9.98684379e-01 -2.76944801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.640714057 meters 0.04957912943481453 Centerline is valid? [True, True] Translation: X:415.31, Y:-55.70, Z:-27.70 [[ 9.97719605e-01 4.35252533e-02 5.15862535e-02 4.15310941e+02] [-4.32638165e-02 9.99044603e-01 -6.17434881e-03 -5.57037598e+01] [-5.18057083e-02 3.92845065e-03 9.98649456e-01 -2.76965010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.670714057 meters 0.04168389525222653 Centerline is valid? [True, True] Translation: X:415.34, Y:-55.69, Z:-27.70 [[ 9.97693442e-01 4.39690193e-02 5.17157650e-02 4.15343820e+02] [-4.37062110e-02 9.99025174e-01 -6.20230812e-03 -5.56938847e+01] [-5.19380606e-02 3.92770200e-03 9.98642584e-01 -2.76976465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.700714057 meters 0.04265449520606803 Centerline is valid? [True, True] Translation: X:415.38, Y:-55.70, Z:-27.70 [[ 9.97619445e-01 4.46911107e-02 5.25180720e-02 4.15375044e+02] [-4.44210177e-02 9.98993038e-01 -6.29949767e-03 -5.56967531e+01] [-5.27467198e-02 3.95159517e-03 9.98600104e-01 -2.76999928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.730714057 meters 0.04228102319280446 Centerline is valid? [True, True] Translation: X:415.41, Y:-55.70, Z:-27.70 [[ 9.97590764e-01 4.42309010e-02 5.34443078e-02 4.15406733e+02] [-4.39498413e-02 9.99013089e-01 -6.42338444e-03 -5.56994451e+01] [-5.36756751e-02 4.05904015e-03 9.98550172e-01 -2.77025183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.76071405700003 meters 0.04823717365196243 Centerline is valid? [True, True] Translation: X:415.44, Y:-55.71, Z:-27.71 [[ 9.97623931e-01 4.37517125e-02 5.32191625e-02 4.15436327e+02] [-4.34716498e-02 9.99034102e-01 -6.40924492e-03 -5.57125425e+01] [-5.34481736e-02 4.08049132e-03 9.98562288e-01 -2.77050329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.790714057 meters 0.04409351532148675 Centerline is valid? [True, True] Translation: X:415.47, Y:-55.71, Z:-27.71 [[ 9.97613704e-01 4.36986029e-02 5.34539937e-02 4.15469326e+02] [-4.34156225e-02 9.99036313e-01 -6.44425498e-03 -5.57105531e+01] [-5.36840857e-02 4.10813867e-03 9.98549519e-01 -2.77072994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.82071405700003 meters 0.04987792405667753 Centerline is valid? [True, True] Translation: X:415.50, Y:-55.72, Z:-27.71 [[ 9.97608316e-01 4.40098522e-02 5.32989724e-02 4.15500359e+02] [-4.37282454e-02 9.99022714e-01 -6.43878609e-03 -5.57229404e+01] [-5.35302541e-02 4.09271601e-03 9.98557841e-01 -2.77103859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.850714057 meters 0.04169233795178524 Centerline is valid? [True, True] Translation: X:415.53, Y:-55.71, Z:-27.71 [[ 9.97537404e-01 4.52809543e-02 5.35608287e-02 4.15532635e+02] [-4.49975684e-02 9.98966043e-01 -6.48567559e-03 -5.57147336e+01] [-5.37991267e-02 4.05959694e-03 9.98543526e-01 -2.77114864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.880714057 meters 0.041545680934807365 Centerline is valid? [True, True] Translation: X:415.56, Y:-55.72, Z:-27.71 [[ 9.97499475e-01 4.61993888e-02 5.34828342e-02 4.15564280e+02] [-4.59180431e-02 9.98924206e-01 -6.47803883e-03 -5.57181266e+01] [-5.37245791e-02 4.00601324e-03 9.98547756e-01 -2.77134623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.910714057 meters 0.041687340846337496 Centerline is valid? [True, True] Translation: X:415.60, Y:-55.72, Z:-27.72 [[ 9.97442580e-01 4.71768899e-02 5.36902227e-02 4.15595737e+02] [-4.68945466e-02 9.98878651e-01 -6.50715383e-03 -5.57224108e+01] [-5.39370045e-02 3.97273365e-03 9.98536437e-01 -2.77152240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.940714057 meters 0.04188603724963246 Centerline is valid? [True, True] Translation: X:415.63, Y:-55.73, Z:-27.72 [[ 9.97274402e-01 4.91495593e-02 5.50280586e-02 4.15626281e+02] [-4.88557634e-02 9.98783557e-01 -6.67240339e-03 -5.57270475e+01] [-5.52890658e-02 3.96577929e-03 9.98462514e-01 -2.77161978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.970714057 meters 0.03936895339166581 Centerline is valid? [True, True] Translation: X:415.66, Y:-55.73, Z:-27.72 [[ 9.97193702e-01 5.02885305e-02 5.54597591e-02 4.15656655e+02] [-4.99917353e-02 9.98726978e-01 -6.72683232e-03 -5.57274156e+01] [-5.57274401e-02 3.93542523e-03 9.98438263e-01 -2.77175816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.000714057 meters 0.042292759401270065 Centerline is valid? [True, True] Translation: X:415.69, Y:-55.74, Z:-27.72 [[ 9.97027935e-01 5.26762182e-02 5.62184343e-02 4.15685522e+02] [-5.23750098e-02 9.98604207e-01 -6.81885366e-03 -5.57366291e+01] [-5.64991564e-02 3.85414654e-03 9.98395208e-01 -2.77192573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.030714057 meters 0.038515938397094565 Centerline is valid? [True, True] Translation: X:415.72, Y:-55.73, Z:-27.72 [[ 9.96951235e-01 5.44619830e-02 5.58760051e-02 4.15716026e+02] [-5.41672256e-02 9.98508878e-01 -6.77734801e-03 -5.57347245e+01] [-5.61617950e-02 3.73003729e-03 9.98414713e-01 -2.77208981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.060714057 meters 0.0389975835063916 Centerline is valid? [True, True] Translation: X:415.74, Y:-55.74, Z:-27.72 [[ 9.96866165e-01 5.63097245e-02 5.55613452e-02 4.15744739e+02] [-5.60211914e-02 9.98406842e-01 -6.73820973e-03 -5.57394832e+01] [-5.58522540e-02 3.60448054e-03 9.98432538e-01 -2.77228215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.090714057 meters 0.03677701191795745 Centerline is valid? [True, True] Translation: X:415.77, Y:-55.74, Z:-27.72 [[ 9.96680543e-01 5.95432696e-02 5.55202133e-02 4.15774602e+02] [-5.92602692e-02 9.98219871e-01 -6.73119962e-03 -5.57403381e+01] [-5.58221778e-02 3.41871291e-03 9.98434874e-01 -2.77245361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.120714057 meters 0.0370689604644678 Centerline is valid? [True, True] Translation: X:415.80, Y:-55.74, Z:-27.73 [[ 9.96598982e-01 6.10652772e-02 5.53308275e-02 4.15801820e+02] [-6.07865902e-02 9.98128249e-01 -6.70736912e-03 -5.57446719e+01] [-5.56368493e-02 3.32118490e-03 9.98445547e-01 -2.77265255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.150714057 meters 0.03532966104334488 Centerline is valid? [True, True] Translation: X:415.83, Y:-55.75, Z:-27.73 [[ 9.96486391e-01 6.38174929e-02 5.42420428e-02 4.15831364e+02] [-6.35539852e-02 9.97956770e-01 -6.57087681e-03 -5.57473064e+01] [-5.45505507e-02 3.10049134e-03 9.98506196e-01 -2.77288936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.180714057 meters 0.03398329719685298 Centerline is valid? [True, True] Translation: X:415.86, Y:-55.75, Z:-27.73 [[ 9.96414296e-01 6.52502088e-02 5.38605719e-02 4.15860031e+02] [-6.49925818e-02 9.97864428e-01 -6.52285357e-03 -5.57496410e+01] [-5.41711663e-02 2.99892692e-03 9.98527161e-01 -2.77307751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.210714057 meters 0.03420820796490851 Centerline is valid? [True, True] Translation: X:415.89, Y:-55.76, Z:-27.73 [[ 9.96253810e-01 6.82634076e-02 5.30891007e-02 4.15888697e+02] [-6.80175924e-02 9.97663431e-01 -6.42542129e-03 -5.57554111e+01] [-5.34036755e-02 2.79035763e-03 9.98569107e-01 -2.77327025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.240714057 meters 0.033548731363470155 Centerline is valid? [True, True] Translation: X:415.92, Y:-55.76, Z:-27.73 [[ 9.96191337e-01 6.91795419e-02 5.30755139e-02 4.15916911e+02] [-6.89352429e-02 9.97600466e-01 -6.42200797e-03 -5.57586389e+01] [-5.33924290e-02 2.73877526e-03 9.98569851e-01 -2.77340598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.270714057 meters 0.03342938701847644 Centerline is valid? [True, True] Translation: X:415.95, Y:-55.76, Z:-27.74 [[ 9.96146041e-01 7.00232879e-02 5.28185981e-02 4.15945083e+02] [-6.97827357e-02 9.97541766e-01 -6.38711309e-03 -5.57627949e+01] [-5.31360043e-02 2.67667115e-03 9.98583697e-01 -2.77355559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.300714057 meters 0.03340250149720434 Centerline is valid? [True, True] Translation: X:415.97, Y:-55.77, Z:-27.74 [[ 9.96046955e-01 7.17270816e-02 5.23993227e-02 4.15972348e+02] [-7.14928813e-02 9.97421007e-01 -6.33273812e-03 -5.57688116e+01] [-5.27184140e-02 2.56152596e-03 9.98606132e-01 -2.77375495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.330714057 meters 0.03441744242562438 Centerline is valid? [True, True] Translation: X:416.00, Y:-55.78, Z:-27.74 [[ 9.96008036e-01 7.22720783e-02 5.23902502e-02 4.15999839e+02] [-7.20389584e-02 9.97381751e-01 -6.32695206e-03 -5.57755284e+01] [-5.27103415e-02 2.52755604e-03 9.98606645e-01 -2.77395924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.360714057 meters 0.031836027510502504 Centerline is valid? [True, True] Translation: X:416.03, Y:-55.78, Z:-27.74 [[ 9.96016234e-01 7.27116540e-02 5.16205059e-02 4.16029264e+02] [-7.24861734e-02 9.97349964e-01 -6.22930914e-03 -5.57762271e+01] [-5.19366531e-02 2.46272009e-03 9.98647345e-01 -2.77408622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.390714057 meters 0.03279500776612675 Centerline is valid? [True, True] Translation: X:416.06, Y:-55.78, Z:-27.74 [[ 9.96029867e-01 7.23669238e-02 5.18414068e-02 4.16055940e+02] [-7.21391709e-02 9.97374972e-01 -6.25349085e-03 -5.57830697e+01] [-5.21578675e-02 2.48886756e-03 9.98635751e-01 -2.77426959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.420714057 meters 0.031323790188898554 Centerline is valid? [True, True] Translation: X:416.08, Y:-55.79, Z:-27.74 [[ 9.96023871e-01 7.22843933e-02 5.20712541e-02 4.16084236e+02] [-7.20548516e-02 9.97380934e-01 -6.27454769e-03 -5.57855316e+01] [-5.23884279e-02 2.49761279e-03 9.98623660e-01 -2.77434368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.450714057 meters 0.036206822052582244 Centerline is valid? [True, True] Translation: X:416.11, Y:-55.80, Z:-27.75 [[ 9.96157722e-01 7.05110559e-02 5.19421280e-02 4.16110798e+02] [-7.02805639e-02 9.97507666e-01 -6.25296471e-03 -5.58007199e+01] [-5.22535740e-02 2.57841703e-03 9.98630520e-01 -2.77457257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.480714057 meters 0.03255652527554855 Centerline is valid? [True, True] Translation: X:416.14, Y:-55.80, Z:-27.75 [[ 9.96411244e-01 6.70989739e-02 5.15980750e-02 4.16141308e+02] [-6.68671486e-02 9.97742574e-01 -6.20806578e-03 -5.58012707e+01] [-5.18981510e-02 2.73557040e-03 9.98648636e-01 -2.77471521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.51071405700003 meters 0.03876470927085717 Centerline is valid? [True, True] Translation: X:416.17, Y:-55.82, Z:-27.75 [[ 9.96581116e-01 6.46124336e-02 5.14909077e-02 4.16167732e+02] [-6.43782412e-02 9.97906337e-01 -6.19560781e-03 -5.58171447e+01] [-5.17834164e-02 2.85953167e-03 9.98654245e-01 -2.77503675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.540714057 meters 0.04031971828194964 Centerline is valid? [True, True] Translation: X:416.20, Y:-55.83, Z:-27.75 [[ 9.96777101e-01 6.17130701e-02 5.12533681e-02 4.16197582e+02] [-6.14774335e-02 9.98089447e-01 -6.16283450e-03 -5.58256390e+01] [-5.15357733e-02 2.99204678e-03 9.98666667e-01 -2.77525402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.57071405700003 meters 0.038713123671297846 Centerline is valid? [True, True] Translation: X:416.23, Y:-55.83, Z:-27.75 [[ 9.97175029e-01 5.55052823e-02 5.06075660e-02 4.16227490e+02] [-5.52675911e-02 9.98453035e-01 -6.08517365e-03 -5.58315090e+01] [-5.08670372e-02 3.27102494e-03 9.98700078e-01 -2.77542715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.600714057 meters 0.039314669682451904 Centerline is valid? [True, True] Translation: X:416.26, Y:-55.84, Z:-27.76 [[ 9.97490613e-01 4.98827236e-02 5.02413279e-02 4.16256849e+02] [-4.96413577e-02 9.98748836e-01 -6.04131846e-03 -5.58399461e+01] [-5.04798252e-02 3.53211072e-03 9.98718835e-01 -2.77552092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.630714057 meters 0.041970491780155696 Centerline is valid? [True, True] Translation: X:416.29, Y:-55.85, Z:-27.76 [[ 9.97605755e-01 4.76079090e-02 5.01621774e-02 4.16286372e+02] [-4.73645086e-02 9.98859468e-01 -6.03052656e-03 -5.58495081e+01] [-5.03920666e-02 3.64018112e-03 9.98722879e-01 -2.77570713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.660714057 meters 0.0425897475013627 Centerline is valid? [True, True] Translation: X:416.32, Y:-55.86, Z:-27.76 [[ 9.97731775e-01 4.55590008e-02 4.95548427e-02 4.16316655e+02] [-4.53188222e-02 9.98954794e-01 -5.96013143e-03 -5.58553893e+01] [-4.97745853e-02 3.70084541e-03 9.98753620e-01 -2.77585644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.690714057 meters 0.044817179936070296 Centerline is valid? [True, True] Translation: X:416.35, Y:-55.87, Z:-27.76 [[ 9.97839104e-01 4.31955137e-02 4.95103068e-02 4.16345274e+02] [-4.29528253e-02 9.99059349e-01 -5.95579243e-03 -5.58662820e+01] [-4.97209984e-02 3.81631502e-03 9.98755855e-01 -2.77606962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.720714057 meters 0.044817179936070296 Centerline is valid? [True, True] Translation: X:416.38, Y:-55.87, Z:-27.76 [[ 9.97827152e-01 4.34704244e-02 4.95105704e-02 4.16377686e+02] [-4.32281802e-02 9.99047486e-01 -5.95360408e-03 -5.58702708e+01] [-4.97222165e-02 3.80041595e-03 9.98755855e-01 -2.77625887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.750714057 meters 0.04502492668145417 Centerline is valid? [True, True] Translation: X:416.41, Y:-55.88, Z:-27.76 [[ 9.97832866e-01 4.34332312e-02 4.94279929e-02 4.16409339e+02] [-4.31910490e-02 9.99049067e-01 -5.95777586e-03 -5.58763393e+01] [-4.96397556e-02 3.81001770e-03 9.98759920e-01 -2.77648174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.780714057 meters 0.041668393567597384 Centerline is valid? [True, True] Translation: X:416.44, Y:-55.88, Z:-27.77 [[ 9.97806695e-01 4.45012476e-02 4.90044789e-02 4.16441412e+02] [-4.42639001e-02 9.99002341e-01 -5.91853300e-03 -5.58778754e+01] [-4.92189712e-02 3.73642249e-03 9.98781023e-01 -2.77664259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.810714057 meters 0.04181768242253002 Centerline is valid? [True, True] Translation: X:416.47, Y:-55.88, Z:-27.77 [[ 9.97754755e-01 4.57432359e-02 4.89183613e-02 4.16472962e+02] [-4.55075166e-02 9.98946442e-01 -5.92214583e-03 -5.58829085e+01] [-4.91377211e-02 3.68269602e-03 9.98785223e-01 -2.77682567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.840714057 meters 0.041861408118524325 Centerline is valid? [True, True] Translation: X:416.50, Y:-55.89, Z:-27.77 [[ 9.97648957e-01 4.81248422e-02 4.87909559e-02 4.16502705e+02] [-4.78930294e-02 9.98834987e-01 -5.90980921e-03 -5.58873081e+01] [-4.90185224e-02 3.55916831e-03 9.98791528e-01 -2.77692304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.870714057 meters 0.0413275477708119 Centerline is valid? [True, True] Translation: X:416.53, Y:-55.89, Z:-27.77 [[ 9.97569272e-01 4.92831771e-02 4.92617000e-02 4.16533517e+02] [-4.90482832e-02 9.98778587e-01 -5.96653762e-03 -5.58907403e+01] [-4.94955810e-02 3.53583278e-03 9.98768084e-01 -2.77703674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.900714057 meters 0.0388066314793099 Centerline is valid? [True, True] Translation: X:416.56, Y:-55.89, Z:-27.77 [[ 9.97409736e-01 5.14581750e-02 5.02580884e-02 4.16564844e+02] [-5.12163249e-02 9.98669020e-01 -6.08905107e-03 -5.58925345e+01] [-5.05045274e-02 3.49924423e-03 9.98717702e-01 -2.77705953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.930714057 meters 0.0414300246627033 Centerline is valid? [True, True] Translation: X:416.59, Y:-55.90, Z:-27.77 [[ 9.97276552e-01 5.25843175e-02 5.17142896e-02 4.16594003e+02] [-5.23296306e-02 9.98610198e-01 -6.26755397e-03 -5.59017382e+01] [-5.19719920e-02 3.54429494e-03 9.98642253e-01 -2.77720606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.960714057 meters 0.03757629758576387 Centerline is valid? [True, True] Translation: X:416.62, Y:-55.90, Z:-27.77 [[ 9.97223588e-01 5.34326029e-02 5.18659006e-02 4.16624859e+02] [-5.31775599e-02 9.98565288e-01 -6.28592859e-03 -5.59006299e+01] [-5.21273615e-02 3.51037422e-03 9.98634275e-01 -2.77728052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.990714057 meters 0.03659263788714249 Centerline is valid? [True, True] Translation: X:416.66, Y:-55.90, Z:-27.77 [[ 9.97177281e-01 5.42895608e-02 5.18663074e-02 4.16655413e+02] [-5.40356670e-02 9.98519220e-01 -6.28597789e-03 -5.59043090e+01] [-5.21307678e-02 3.46560382e-03 9.98634254e-01 -2.77742131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.020714057 meters 0.036407368794348596 Centerline is valid? [True, True] Translation: X:416.69, Y:-55.91, Z:-27.78 [[ 9.97180787e-01 5.48084824e-02 5.12494778e-02 4.16685390e+02] [-5.45612803e-02 9.98491105e-01 -6.21122074e-03 -5.59083222e+01] [-5.15125753e-02 3.39747286e-03 9.98666567e-01 -2.77763635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.050714057 meters 0.0359572603698135 Centerline is valid? [True, True] Translation: X:416.71, Y:-55.91, Z:-27.78 [[ 9.97250759e-01 5.50841573e-02 4.95646919e-02 4.16714971e+02] [-5.48532969e-02 9.98476355e-01 -6.00703179e-03 -5.59131872e+01] [-4.98200652e-02 3.27173025e-03 9.98752851e-01 -2.77786088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.080714057 meters 0.03604904327130816 Centerline is valid? [True, True] Translation: X:416.74, Y:-55.92, Z:-27.78 [[ 9.97244614e-01 5.53700403e-02 4.93694065e-02 4.16743817e+02] [-5.51413314e-02 9.98460630e-01 -5.98365607e-03 -5.59183309e+01] [-4.96247240e-02 3.24487399e-03 9.98762663e-01 -2.77810218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.110714057 meters 0.035195428039741655 Centerline is valid? [True, True] Translation: X:416.77, Y:-55.92, Z:-27.78 [[ 9.97266405e-01 5.53167675e-02 4.89874681e-02 4.16773616e+02] [-5.50916098e-02 9.98463661e-01 -5.93561000e-03 -5.59213067e+01] [-4.92405455e-02 3.22058597e-03 9.98781756e-01 -2.77827380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.140714057 meters 0.03615228122523381 Centerline is valid? [True, True] Translation: X:416.80, Y:-55.93, Z:-27.78 [[ 9.97223757e-01 5.57038931e-02 4.94151369e-02 4.16801427e+02] [-5.54753398e-02 9.98442115e-01 -5.98573926e-03 -5.59285277e+01] [-4.96715828e-02 3.22779988e-03 9.98760389e-01 -2.77839340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.170714057 meters 0.035834933682655494 Centerline is valid? [True, True] Translation: X:416.83, Y:-55.93, Z:-27.79 [[ 9.97186814e-01 5.58321526e-02 5.00122773e-02 4.16831278e+02] [-5.55983343e-02 9.98434854e-01 -6.05533974e-03 -5.59326718e+01] [-5.02720834e-02 3.25770563e-03 9.98730246e-01 -2.77852397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.200714057 meters 0.034761810377961576 Centerline is valid? [True, True] Translation: X:416.86, Y:-55.94, Z:-27.79 [[ 9.97197176e-01 5.58211137e-02 4.98176279e-02 4.16860493e+02] [-5.55892583e-02 9.98435521e-01 -6.02861778e-03 -5.59352513e+01] [-5.00762135e-02 3.24239564e-03 9.98740136e-01 -2.77868258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.230714057 meters 0.03516713987262731 Centerline is valid? [True, True] Translation: X:416.89, Y:-55.94, Z:-27.79 [[ 9.97188016e-01 5.62189013e-02 4.95529644e-02 4.16890138e+02] [-5.59900920e-02 9.98413328e-01 -5.99462832e-03 -5.59407989e+01] [-4.98113516e-02 3.20329648e-03 9.98753507e-01 -2.77892042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.26071405700003 meters 0.036417515920248444 Centerline is valid? [True, True] Translation: X:416.92, Y:-55.95, Z:-27.79 [[ 9.97199245e-01 5.63113728e-02 4.92208778e-02 4.16918522e+02] [-5.60857649e-02 9.98408202e-01 -5.95385669e-03 -5.59472273e+01] [-4.94777980e-02 3.17659081e-03 9.98770172e-01 -2.77913884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.290714057 meters 0.03704098699613247 Centerline is valid? [True, True] Translation: X:416.95, Y:-55.95, Z:-27.79 [[ 9.97234365e-01 5.61508530e-02 4.86898597e-02 4.16948459e+02] [-5.59300527e-02 9.98417337e-01 -5.88653353e-03 -5.59524864e+01] [-4.89433339e-02 3.14702711e-03 9.98796599e-01 -2.77934321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.32071405700003 meters 0.03752630054697746 Centerline is valid? [True, True] Translation: X:416.98, Y:-55.96, Z:-27.80 [[ 9.97276485e-01 5.58888742e-02 4.81253228e-02 4.16978387e+02] [-5.56728659e-02 9.98432111e-01 -5.81828184e-03 -5.59570849e+01] [-4.83750449e-02 3.12316101e-03 9.98824359e-01 -2.77954401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.350714057 meters 0.03896611144802198 Centerline is valid? [True, True] Translation: X:417.01, Y:-55.96, Z:-27.80 [[ 9.97313923e-01 5.55680402e-02 4.77192931e-02 4.17007329e+02] [-5.53553045e-02 9.98450053e-01 -5.76908728e-03 -5.59627572e+01] [-4.79659076e-02 3.11207506e-03 9.98844125e-01 -2.77977181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.380714057 meters 0.03991243924889125 Centerline is valid? [True, True] Translation: X:417.04, Y:-55.97, Z:-27.80 [[ 9.97366512e-01 5.51105197e-02 4.71473353e-02 4.17036639e+02] [-5.49023113e-02 9.98475457e-01 -5.70073802e-03 -5.59681636e+01] [-4.73896278e-02 3.09722751e-03 9.98871679e-01 -2.78001916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.410714057 meters 0.04046969599440518 Centerline is valid? [True, True] Translation: X:417.07, Y:-55.97, Z:-27.80 [[ 9.97350004e-01 5.52268189e-02 4.73599905e-02 4.17066048e+02] [-5.50169131e-02 9.98469008e-01 -5.72526863e-03 -5.59723373e+01] [-4.76036711e-02 3.10449621e-03 9.98861478e-01 -2.78025441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.440714057 meters 0.037685338375585714 Centerline is valid? [True, True] Translation: X:417.10, Y:-55.97, Z:-27.80 [[ 9.97346572e-01 5.60668443e-02 4.64362417e-02 4.17096242e+02] [-5.58658946e-02 9.98422492e-01 -5.61500867e-03 -5.59706833e+01] [-4.66778040e-02 3.00590746e-03 9.98905475e-01 -2.78037555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.470714057 meters 0.03685712501282443 Centerline is valid? [True, True] Translation: X:417.13, Y:-55.97, Z:-27.81 [[ 9.97301078e-01 5.64242299e-02 4.69772926e-02 4.17126432e+02] [-5.62190485e-02 9.98402310e-01 -5.67857054e-03 -5.59720039e+01] [-4.72226465e-02 3.02222583e-03 9.98879817e-01 -2.78055011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.500714057 meters 0.03700431730682843 Centerline is valid? [True, True] Translation: X:417.16, Y:-55.97, Z:-27.81 [[ 9.97287689e-01 5.66912826e-02 4.69400016e-02 4.17155879e+02] [-5.64867520e-02 9.98387229e-01 -5.67341560e-03 -5.59747309e+01] [-4.71859314e-02 3.00653930e-03 9.98881599e-01 -2.78073602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.530714057 meters 0.036384644088818065 Centerline is valid? [True, True] Translation: X:417.19, Y:-55.98, Z:-27.81 [[ 9.97237790e-01 5.71523556e-02 4.74383660e-02 4.17185726e+02] [-5.69440556e-02 9.98360916e-01 -5.73194315e-03 -5.59760646e+01] [-4.76882046e-02 3.01477737e-03 9.98857721e-01 -2.78091111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.560714057 meters 0.03758162920409459 Centerline is valid? [True, True] Translation: X:417.21, Y:-55.98, Z:-27.81 [[ 9.97231308e-01 5.69058439e-02 4.78690263e-02 4.17214188e+02] [-5.66935333e-02 9.98374883e-01 -5.78242180e-03 -5.59804695e+01] [-4.81202871e-02 3.05254782e-03 9.98836884e-01 -2.78113276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.590714057 meters 0.0391670209725018 Centerline is valid? [True, True] Translation: X:417.24, Y:-55.98, Z:-27.81 [[ 9.97292744e-01 5.55613190e-02 4.81676494e-02 4.17242872e+02] [-5.53449557e-02 9.98450360e-01 -5.81502780e-03 -5.59843695e+01] [-4.84160975e-02 3.13344861e-03 9.98822338e-01 -2.78130496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.620714057 meters 0.04101863179407038 Centerline is valid? [True, True] Translation: X:417.27, Y:-55.99, Z:-27.82 [[ 9.97333187e-01 5.42803923e-02 4.87868135e-02 4.17271383e+02] [-5.40567578e-02 9.98520477e-01 -5.89267183e-03 -5.59899811e+01] [-4.90344888e-02 3.23970022e-03 9.98791832e-01 -2.78150447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.650714057 meters 0.044245691411170754 Centerline is valid? [True, True] Translation: X:417.30, Y:-56.00, Z:-27.82 [[ 9.97546801e-01 5.01598450e-02 4.88300129e-02 4.17300645e+02] [-4.99310046e-02 9.98735267e-01 -5.89580697e-03 -5.59962103e+01] [-4.90639887e-02 3.44321179e-03 9.98789702e-01 -2.78173066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.680714057 meters 0.043471379524265455 Centerline is valid? [True, True] Translation: X:417.33, Y:-56.00, Z:-27.82 [[ 9.97641590e-01 4.82405153e-02 4.88273549e-02 4.17331721e+02] [-4.80093881e-02 9.98829483e-01 -5.89601205e-03 -5.59982032e+01] [-4.90546283e-02 3.53793540e-03 9.98789831e-01 -2.78187534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.710714057 meters 0.04609212393644209 Centerline is valid? [True, True] Translation: X:417.36, Y:-56.00, Z:-27.82 [[ 9.97759425e-01 4.59700602e-02 4.86094902e-02 4.17360755e+02] [-4.57382665e-02 9.98936207e-01 -5.87068639e-03 -5.60046642e+01] [-4.88276556e-02 3.63421886e-03 9.98800607e-01 -2.78212126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.740714057 meters 0.04826206034263931 Centerline is valid? [True, True] Translation: X:417.39, Y:-56.01, Z:-27.82 [[ 9.97930123e-01 4.26496079e-02 4.81298305e-02 4.17390831e+02] [-4.24185346e-02 9.99083020e-01 -5.81272658e-03 -5.60101138e+01] [-4.83336069e-02 3.75909807e-03 9.98824175e-01 -2.78234050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.770714057 meters 0.04976434356554386 Centerline is valid? [True, True] Translation: X:417.42, Y:-56.01, Z:-27.83 [[ 9.98015702e-01 4.10974938e-02 4.77038123e-02 4.17420321e+02] [-4.08687273e-02 9.99147913e-01 -5.76145999e-03 -5.60145399e+01] [-4.78999461e-02 3.80043345e-03 9.98844909e-01 -2.78256804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.800714057 meters 0.04405564743364549 Centerline is valid? [True, True] Translation: X:417.45, Y:-56.01, Z:-27.83 [[ 9.98126874e-01 3.92831889e-02 4.68996257e-02 4.17452613e+02] [-3.90601068e-02 9.99220810e-01 -5.66395841e-03 -5.60073813e+01] [-4.70855804e-02 3.82144471e-03 9.98883549e-01 -2.78268358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.830714057 meters 0.05297497425387466 Centerline is valid? [True, True] Translation: X:417.48, Y:-56.02, Z:-27.83 [[ 9.98178688e-01 3.88514267e-02 4.61505442e-02 4.17482334e+02] [-3.86349895e-02 9.99237850e-01 -5.57291217e-03 -5.60218370e+01] [-4.63318861e-02 3.77973637e-03 9.98918951e-01 -2.78306960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.860714057 meters 0.04542147161526021 Centerline is valid? [True, True] Translation: X:417.52, Y:-56.01, Z:-27.83 [[ 9.98112955e-01 3.94244913e-02 4.70769509e-02 4.17515917e+02] [-3.91993851e-02 9.99215176e-01 -5.69569371e-03 -5.60130440e+01] [-4.72645536e-02 3.83955815e-03 9.98875027e-01 -2.78315937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.890714057 meters 0.0447021615088669 Centerline is valid? [True, True] Translation: X:417.55, Y:-56.01, Z:-27.83 [[ 9.98093348e-01 3.98793137e-02 4.71095409e-02 4.17548016e+02] [-3.96538454e-02 9.99197154e-01 -5.71131640e-03 -5.60143873e+01] [-4.72994826e-02 3.83235246e-03 9.98873401e-01 -2.78334132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.920714057 meters 0.04594021069751906 Centerline is valid? [True, True] Translation: X:417.58, Y:-56.02, Z:-27.84 [[ 9.97984498e-01 4.25046032e-02 4.71200672e-02 4.17577710e+02] [-4.22812616e-02 9.99089334e-01 -5.72690358e-03 -5.60153896e+01] [-4.73205763e-02 3.72306510e-03 9.98872816e-01 -2.78350962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.950714057 meters 0.04385677882128537 Centerline is valid? [True, True] Translation: X:417.61, Y:-56.01, Z:-27.84 [[ 9.97795551e-01 4.58557331e-02 4.79717618e-02 4.17609037e+02] [-4.56280860e-02 9.98941482e-01 -5.83036336e-03 -5.60110454e+01] [-4.81883384e-02 3.62865095e-03 9.98831676e-01 -2.78358230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.980714057 meters 0.04347864090666431 Centerline is valid? [True, True] Translation: X:417.64, Y:-56.01, Z:-27.84 [[ 9.97685858e-01 4.75536949e-02 4.85960455e-02 4.17641181e+02] [-4.73220961e-02 9.98862223e-01 -5.90589895e-03 -5.60121261e+01] [-4.88216013e-02 3.59256513e-03 9.98801054e-01 -2.78372308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.01071405700003 meters 0.045479624158861975 Centerline is valid? [True, True] Translation: X:417.67, Y:-56.02, Z:-27.84 [[ 9.97585840e-01 4.87910937e-02 4.94158018e-02 4.17671048e+02] [-4.85529025e-02 9.98802532e-01 -6.00981633e-03 -5.60170579e+01] [-4.96498535e-02 3.59602706e-03 9.98760212e-01 -2.78388360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.040714057 meters 0.04414839067205382 Centerline is valid? [True, True] Translation: X:417.70, Y:-56.02, Z:-27.84 [[ 9.97462464e-01 5.00709689e-02 5.06115692e-02 4.17702483e+02] [-4.98226896e-02 9.98739106e-01 -6.15614149e-03 -5.60155298e+01] [-5.08559974e-02 3.61891555e-03 9.98699440e-01 -2.78392827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.07071405700003 meters 0.042133402054898655 Centerline is valid? [True, True] Translation: X:417.73, Y:-56.01, Z:-27.84 [[ 9.97434485e-01 5.03372232e-02 5.08980570e-02 4.17733368e+02] [-5.00864161e-02 9.98725693e-01 -6.19197511e-03 -5.60147774e+01] [-5.11448841e-02 3.62678824e-03 9.98684659e-01 -2.78405322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.100714057 meters 0.03956497254692027 Centerline is valid? [True, True] Translation: X:417.76, Y:-56.01, Z:-27.84 [[ 9.97433397e-01 4.98083564e-02 5.14368131e-02 4.17763871e+02] [-4.95515007e-02 9.98751967e-01 -6.25762519e-03 -5.60119958e+01] [-5.16843002e-02 3.69279308e-03 9.98656646e-01 -2.78422188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.130714057 meters 0.04588358560256811 Centerline is valid? [True, True] Translation: X:417.79, Y:-56.02, Z:-27.85 [[ 9.97460487e-01 4.91874890e-02 5.15089098e-02 4.17792927e+02] [-4.89291480e-02 9.98782602e-01 -6.26525363e-03 -5.60238481e+01] [-5.17543750e-02 3.72905587e-03 9.98652882e-01 -2.78452226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.160714057 meters 0.0442400194556552 Centerline is valid? [True, True] Translation: X:417.82, Y:-56.02, Z:-27.85 [[ 9.97630940e-01 4.73955891e-02 4.98614679e-02 4.17823807e+02] [-4.71512590e-02 9.98869344e-01 -6.06572910e-03 -5.60225881e+01] [-5.00925805e-02 3.70032804e-03 9.98737724e-01 -2.78485144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.190714057 meters 0.04152129377689652 Centerline is valid? [True, True] Translation: X:417.86, Y:-56.02, Z:-27.85 [[ 9.97696334e-01 4.68067690e-02 4.91034738e-02 4.17855264e+02] [-4.65690760e-02 9.98897207e-01 -5.97420875e-03 -5.60210684e+01] [-4.93289562e-02 3.67374277e-03 9.98775830e-01 -2.78504257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.220714057 meters 0.04171381219987393 Centerline is valid? [True, True] Translation: X:417.89, Y:-56.02, Z:-27.85 [[ 9.97758139e-01 4.60458404e-02 4.85641478e-02 4.17886223e+02] [-4.58123647e-02 9.98932578e-01 -5.91033291e-03 -5.60239598e+01] [-4.87844556e-02 3.67224431e-03 9.98802579e-01 -2.78526522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.250714057 meters 0.042952647768546674 Centerline is valid? [True, True] Translation: X:417.92, Y:-56.03, Z:-27.85 [[ 9.97814994e-01 4.46244202e-02 4.87226793e-02 4.17916858e+02] [-4.43876382e-02 9.98996774e-01 -5.93154697e-03 -5.60266463e+01] [-4.89384913e-02 3.75590184e-03 9.98794732e-01 -2.78542356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.280714057 meters 0.04338712683755808 Centerline is valid? [True, True] Translation: X:417.95, Y:-56.03, Z:-27.86 [[ 9.97817896e-01 4.43587247e-02 4.89055272e-02 4.17948486e+02] [-4.41198897e-02 9.99008508e-01 -5.95286152e-03 -5.60296921e+01] [-4.91210991e-02 3.78216529e-03 9.98785669e-01 -2.78556200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.310714057 meters 0.04357078957028606 Centerline is valid? [True, True] Translation: X:417.98, Y:-56.03, Z:-27.86 [[ 9.97781665e-01 4.41488200e-02 4.98260087e-02 4.17980017e+02] [-4.38999748e-02 9.99017441e-01 -6.07817774e-03 -5.60312198e+01] [-5.00453961e-02 3.87733378e-03 9.98739418e-01 -2.78565960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.340714057 meters 0.04337109403114966 Centerline is valid? [True, True] Translation: X:418.01, Y:-56.03, Z:-27.86 [[ 9.97740611e-01 4.45672848e-02 5.02735596e-02 4.18010968e+02] [-4.43143804e-02 9.98998800e-01 -6.13457647e-03 -5.60331856e+01] [-5.04966271e-02 3.89287443e-03 9.98716645e-01 -2.78579727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.370714057 meters 0.041017829965650475 Centerline is valid? [True, True] Translation: X:418.04, Y:-56.03, Z:-27.86 [[ 9.97716633e-01 4.49228699e-02 5.04326812e-02 4.18042819e+02] [-4.46687205e-02 9.98982889e-01 -6.15578982e-03 -5.60322109e+01] [-5.06579213e-02 3.88897055e-03 9.98708491e-01 -2.78595284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.400714057 meters 0.04412089746673902 Centerline is valid? [True, True] Translation: X:418.07, Y:-56.04, Z:-27.86 [[ 9.97602604e-01 4.67147872e-02 5.10565713e-02 4.18073095e+02] [-4.64565381e-02 9.98900861e-01 -6.23382609e-03 -5.60379673e+01] [-5.12916648e-02 3.84696959e-03 9.98676307e-01 -2.78613388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.430714057 meters 0.04123446472726985 Centerline is valid? [True, True] Translation: X:418.10, Y:-56.04, Z:-27.86 [[ 9.97542587e-01 4.78211254e-02 5.12047592e-02 4.18104593e+02] [-4.75627198e-02 9.98848675e-01 -6.25389614e-03 -5.60361030e+01] [-5.14448742e-02 3.80309012e-03 9.98668594e-01 -2.78626916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.460714057 meters 0.041931164793835705 Centerline is valid? [True, True] Translation: X:418.13, Y:-56.04, Z:-27.86 [[ 9.97412612e-01 4.98417202e-02 5.18062238e-02 4.18133918e+02] [-4.95798504e-02 9.98750113e-01 -6.32849888e-03 -5.60380311e+01] [-5.20568952e-02 3.74357977e-03 9.98637104e-01 -2.78645545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.490714057 meters 0.04177768075358049 Centerline is valid? [True, True] Translation: X:418.16, Y:-56.04, Z:-27.87 [[ 9.97350398e-01 5.09271452e-02 5.19481491e-02 4.18164566e+02] [-5.06653542e-02 9.98695532e-01 -6.34481045e-03 -5.60405178e+01] [-5.22035074e-02 3.69602785e-03 9.98629628e-01 -2.78663071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.520714057 meters 0.038413315174269616 Centerline is valid? [True, True] Translation: X:418.19, Y:-56.04, Z:-27.87 [[ 9.97314191e-01 5.18582971e-02 5.17215837e-02 4.18194405e+02] [-5.16000216e-02 9.98647850e-01 -6.31734739e-03 -5.60373479e+01] [-5.19792552e-02 3.63154537e-03 9.98641562e-01 -2.78675468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.550714057 meters 0.04023617380754718 Centerline is valid? [True, True] Translation: X:418.22, Y:-56.04, Z:-27.87 [[ 9.97231242e-01 5.37163745e-02 5.14237420e-02 4.18222889e+02] [-5.34636221e-02 9.98550056e-01 -6.27909252e-03 -5.60416802e+01] [-5.16864705e-02 3.51240772e-03 9.98657184e-01 -2.78703648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.580714057 meters 0.04142417625945343 Centerline is valid? [True, True] Translation: X:418.25, Y:-56.04, Z:-27.87 [[ 9.97260606e-01 5.43905722e-02 5.01293257e-02 4.18251574e+02] [-5.41513276e-02 9.98513989e-01 -6.11940092e-03 -5.60446724e+01] [-5.03876707e-02 3.38806793e-03 9.98723988e-01 -2.78737449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.610714057 meters 0.04142417625945343 Centerline is valid? [True, True] Translation: X:418.28, Y:-56.05, Z:-27.88 [[ 9.97264309e-01 5.43223647e-02 5.01296276e-02 4.18279693e+02] [-5.40831582e-02 9.98517699e-01 -6.11692658e-03 -5.60480393e+01] [-5.03876064e-02 3.38902397e-03 9.98723988e-01 -2.78753872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.640714057 meters 0.039177466644444735 Centerline is valid? [True, True] Translation: X:418.31, Y:-56.05, Z:-27.88 [[ 9.97233763e-01 5.49205082e-02 5.00855304e-02 4.18309288e+02] [-5.46826541e-02 9.98485103e-01 -6.10795859e-03 -5.60475578e+01] [-5.03451082e-02 3.35225279e-03 9.98726255e-01 -2.78771498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.670714057 meters 0.03944985047432138 Centerline is valid? [True, True] Translation: X:418.34, Y:-56.05, Z:-27.88 [[ 9.97239519e-01 5.48474256e-02 5.00509925e-02 4.18337495e+02] [-5.46099365e-02 9.98489124e-01 -6.10119911e-03 -5.60498424e+01] [-5.03100067e-02 3.35107534e-03 9.98728028e-01 -2.78792572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.700714057 meters 0.039904194536908445 Centerline is valid? [True, True] Translation: X:418.37, Y:-56.05, Z:-27.88 [[ 9.97271435e-01 5.40531826e-02 5.02786102e-02 4.18365596e+02] [-5.38126945e-02 9.98532259e-01 -6.12553756e-03 -5.60523729e+01] [-5.05359190e-02 3.40319615e-03 9.98716446e-01 -2.78812972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.730714057 meters 0.041967406654420274 Centerline is valid? [True, True] Translation: X:418.39, Y:-56.06, Z:-27.88 [[ 9.97320752e-01 5.34715854e-02 4.99210096e-02 4.18393940e+02] [-5.32340621e-02 9.98563574e-01 -6.07645061e-03 -5.60580760e+01] [-5.01742193e-02 3.40267216e-03 9.98734684e-01 -2.78837950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.76071405700003 meters 0.04225976278109168 Centerline is valid? [True, True] Translation: X:418.42, Y:-56.06, Z:-27.89 [[ 9.97367412e-01 5.18453309e-02 5.06981886e-02 4.18423305e+02] [-5.15983749e-02 9.98648864e-01 -6.16872512e-03 -5.60616905e+01] [-5.09495081e-02 3.53654127e-03 9.98694969e-01 -2.78854636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.790714057 meters 0.043132844822325156 Centerline is valid? [True, True] Translation: X:418.45, Y:-56.07, Z:-27.89 [[ 9.97392984e-01 5.08916213e-02 5.11593441e-02 4.18451204e+02] [-5.06389892e-02 9.98697635e-01 -6.22309020e-03 -5.60664759e+01] [-5.14094191e-02 3.61620903e-03 9.98671114e-01 -2.78870078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.82071405700003 meters 0.04354493564023416 Centerline is valid? [True, True] Translation: X:418.48, Y:-56.07, Z:-27.89 [[ 9.97413193e-01 5.00828618e-02 5.15618938e-02 4.18480364e+02] [-4.98252892e-02 9.98738271e-01 -6.26955387e-03 -5.60706904e+01] [-5.18108339e-02 3.68424947e-03 9.98650121e-01 -2.78885947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.850714057 meters 0.04506088943065298 Centerline is valid? [True, True] Translation: X:418.51, Y:-56.08, Z:-27.89 [[ 9.97508433e-01 4.89516328e-02 5.08002409e-02 4.18509256e+02] [-4.87002578e-02 9.98794350e-01 -6.17509751e-03 -5.60756642e+01] [-5.10412747e-02 3.68572701e-03 9.98689743e-01 -2.78905958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.880714057 meters 0.04613652010631231 Centerline is valid? [True, True] Translation: X:418.54, Y:-56.08, Z:-27.89 [[ 9.97562640e-01 4.84092665e-02 5.02525910e-02 4.18538318e+02] [-4.81626474e-02 9.98820833e-01 -6.10766847e-03 -5.60807973e+01] [-5.04890025e-02 3.67248406e-03 9.98717865e-01 -2.78932358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.910714057 meters 0.046649775218768674 Centerline is valid? [True, True] Translation: X:418.57, Y:-56.09, Z:-27.90 [[ 9.97594190e-01 4.83029991e-02 4.97257750e-02 4.18568776e+02] [-4.80614467e-02 9.98826103e-01 -6.04266689e-03 -5.60853345e+01] [-4.99592809e-02 3.63823670e-03 9.98744629e-01 -2.78963432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.940714057 meters 0.047026517753872864 Centerline is valid? [True, True] Translation: X:418.60, Y:-56.09, Z:-27.90 [[ 9.97646090e-01 4.83643034e-02 4.86124786e-02 4.18597606e+02] [-4.81335223e-02 9.98823440e-01 -5.90752860e-03 -5.60900132e+01] [-4.88409966e-02 3.55373299e-03 9.98800244e-01 -2.78991374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.970714057 meters 0.047541656820618054 Centerline is valid? [True, True] Translation: X:418.63, Y:-56.09, Z:-27.90 [[ 9.97654561e-01 4.86110588e-02 4.81906827e-02 4.18626279e+02] [-4.83845947e-02 9.98811616e-01 -5.85546177e-03 -5.60942419e+01] [-4.84180538e-02 3.51004150e-03 9.98820991e-01 -2.79009891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.000714057 meters 0.04786138995645615 Centerline is valid? [True, True] Translation: X:418.66, Y:-56.10, Z:-27.90 [[ 9.97588866e-01 4.97971942e-02 4.83393577e-02 4.18655391e+02] [-4.95707458e-02 9.98753348e-01 -5.87286174e-03 -5.60984513e+01] [-4.85715474e-02 3.46248347e-03 9.98813704e-01 -2.79026308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.030714057 meters 0.04730057574944441 Centerline is valid? [True, True] Translation: X:418.69, Y:-56.10, Z:-27.90 [[ 9.97520047e-01 5.07454905e-02 4.87714198e-02 4.18685013e+02] [-5.05161789e-02 9.98705675e-01 -5.92371759e-03 -5.61007891e+01] [-4.90088957e-02 3.44528128e-03 9.98792400e-01 -2.79039293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.060714057 meters 0.037256562396868115 Centerline is valid? [True, True] Translation: X:418.72, Y:-56.09, Z:-27.90 [[ 9.97347284e-01 5.39952755e-02 4.88150148e-02 4.18716253e+02] [-5.37695031e-02 9.98535781e-01 -5.92741200e-03 -5.60886574e+01] [-4.90635912e-02 3.28692917e-03 9.98790248e-01 -2.79044541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.090714057 meters 0.042221839125996766 Centerline is valid? [True, True] Translation: X:418.74, Y:-56.10, Z:-27.91 [[ 9.97225575e-01 5.59229284e-02 4.91302219e-02 4.18744042e+02] [-5.56966440e-02 9.98429925e-01 -5.96389347e-03 -5.60998238e+01] [-4.93866021e-02 3.21095862e-03 9.98774576e-01 -2.79074229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.120714057 meters 0.03786033533005422 Centerline is valid? [True, True] Translation: X:418.77, Y:-56.10, Z:-27.91 [[ 9.97148367e-01 5.74046558e-02 4.89881629e-02 4.18773864e+02] [-5.71815384e-02 9.98346096e-01 -5.94503533e-03 -5.60962327e+01] [-4.92484139e-02 3.12686375e-03 9.98781666e-01 -2.79089112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.150714057 meters 0.034454567292038656 Centerline is valid? [True, True] Translation: X:418.80, Y:-56.09, Z:-27.91 [[ 9.96888868e-01 6.08909256e-02 5.00487856e-02 4.18804602e+02] [-6.06625562e-02 9.98139870e-01 -6.07074931e-03 -5.60937171e+01] [-5.03253419e-02 3.01577514e-03 9.98728324e-01 -2.79110165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.180714057 meters 0.03324427370877265 Centerline is valid? [True, True] Translation: X:418.83, Y:-56.09, Z:-27.91 [[ 9.96743423e-01 6.24901036e-02 5.09660271e-02 4.18833780e+02] [-6.22553951e-02 9.98041110e-01 -6.18130862e-03 -5.60947719e+01] [-5.12524609e-02 2.98826856e-03 9.98681258e-01 -2.79125602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.210714057 meters 0.03309337881646787 Centerline is valid? [True, True] Translation: X:418.86, Y:-56.10, Z:-27.91 [[ 9.96454975e-01 6.57169609e-02 5.25239418e-02 4.18863308e+02] [-6.54722941e-02 9.97834073e-01 -6.36718238e-03 -5.60973677e+01] [-5.28286107e-02 2.90574759e-03 9.98599366e-01 -2.79134123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.240714057 meters 0.032379951736717004 Centerline is valid? [True, True] Translation: X:418.89, Y:-56.10, Z:-27.91 [[ 9.96267968e-01 6.75814190e-02 5.36925234e-02 4.18892594e+02] [-6.73285328e-02 9.97709641e-01 -6.50691504e-03 -5.60983327e+01] [-5.40092948e-02 2.86759220e-03 9.98536315e-01 -2.79140194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.270714057 meters 0.03263499514602176 Centerline is valid? [True, True] Translation: X:418.92, Y:-56.10, Z:-27.92 [[ 9.96243046e-01 6.75619587e-02 5.41772549e-02 4.18921193e+02] [-6.73046128e-02 9.97710890e-01 -6.56270774e-03 -5.61022016e+01] [-5.44966266e-02 2.89167279e-03 9.98509768e-01 -2.79158742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.300714057 meters 0.033582020637131636 Centerline is valid? [True, True] Translation: X:418.95, Y:-56.11, Z:-27.92 [[ 9.96206072e-01 6.79766974e-02 5.43381081e-02 4.18948291e+02] [-6.77186467e-02 9.97682771e-01 -6.57830766e-03 -5.61077066e+01] [-5.46593658e-02 2.87364690e-03 9.98500924e-01 -2.79182421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.330714057 meters 0.033965427397541666 Centerline is valid? [True, True] Translation: X:418.98, Y:-56.11, Z:-27.92 [[ 9.96282462e-01 6.80502919e-02 5.28243724e-02 4.18976083e+02] [-6.78067782e-02 9.97678005e-01 -6.39052765e-03 -5.61119718e+01] [-5.31365917e-02 2.78492012e-03 9.98583370e-01 -2.79222771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.360714057 meters 0.034558419685794754 Centerline is valid? [True, True] Translation: X:419.00, Y:-56.12, Z:-27.93 [[ 9.96303854e-01 6.83153140e-02 5.20734920e-02 4.19003167e+02] [-6.80793320e-02 9.97660056e-01 -6.29416433e-03 -5.61172268e+01] [-5.23816308e-02 2.72577163e-03 9.98623420e-01 -2.79254939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.390714057 meters 0.035128267156601466 Centerline is valid? [True, True] Translation: X:419.03, Y:-56.12, Z:-27.93 [[ 9.96412064e-01 6.79158454e-02 5.05018532e-02 4.19029878e+02] [-6.76936132e-02 9.97687509e-01 -6.09993192e-03 -5.61223952e+01] [-5.07993501e-02 2.65939285e-03 9.98705339e-01 -2.79289522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.420714057 meters 0.0357957123714854 Centerline is valid? [True, True] Translation: X:419.06, Y:-56.13, Z:-27.93 [[ 9.96446869e-01 6.78562663e-02 4.98915342e-02 4.19057416e+02] [-6.76395239e-02 9.97691652e-01 -6.02183576e-03 -5.61273409e+01] [-5.01849865e-02 2.62579977e-03 9.98736488e-01 -2.79315187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.450714057 meters 0.036381673116611335 Centerline is valid? [True, True] Translation: X:419.09, Y:-56.13, Z:-27.93 [[ 9.96466686e-01 6.75924558e-02 4.98538199e-02 4.19085508e+02] [-6.73759322e-02 9.97709541e-01 -6.01290368e-03 -5.61321745e+01] [-5.01460587e-02 2.63271062e-03 9.98738425e-01 -2.79333259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.480714057 meters 0.03756059485197795 Centerline is valid? [True, True] Translation: X:419.11, Y:-56.14, Z:-27.94 [[ 9.96497271e-01 6.70184898e-02 5.00171102e-02 4.19112683e+02] [-6.67999885e-02 9.97748169e-01 -6.02932239e-03 -5.61386797e+01] [-5.03085562e-02 2.66706092e-03 9.98730162e-01 -2.79354670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.51071405700003 meters 0.03822130677319357 Centerline is valid? [True, True] Translation: X:419.14, Y:-56.14, Z:-27.94 [[ 9.96528802e-01 6.65800487e-02 4.99744325e-02 4.19140629e+02] [-6.63615893e-02 9.97777481e-01 -6.01984101e-03 -5.61435765e+01] [-5.02641646e-02 2.68256219e-03 9.98732355e-01 -2.79377099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.540714057 meters 0.038345692357334586 Centerline is valid? [True, True] Translation: X:419.17, Y:-56.15, Z:-27.94 [[ 9.96534867e-01 6.63599992e-02 5.01458814e-02 4.19169477e+02] [-6.61399276e-02 9.97792094e-01 -6.03715816e-03 -5.61483269e+01] [-5.04357899e-02 2.69959364e-03 9.98723657e-01 -2.79394748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.57071405700003 meters 0.03928714005462088 Centerline is valid? [True, True] Translation: X:419.20, Y:-56.15, Z:-27.94 [[ 9.96591819e-01 6.55941553e-02 5.00215234e-02 4.19198027e+02] [-6.53743803e-02 9.97842655e-01 -6.01887864e-03 -5.61536769e+01] [-5.03084129e-02 2.72823912e-03 9.98730004e-01 -2.79416115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.600714057 meters 0.04008640565232567 Centerline is valid? [True, True] Translation: X:419.23, Y:-56.16, Z:-27.94 [[ 9.96636131e-01 6.48583502e-02 5.00980675e-02 4.19225638e+02] [-6.46371357e-02 9.97890646e-01 -6.02490497e-03 -5.61589555e+01] [-5.03831583e-02 2.76644240e-03 9.98726131e-01 -2.79432362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.630714057 meters 0.03376281099825605 Centerline is valid? [True, True] Translation: X:419.26, Y:-56.15, Z:-27.94 [[ 9.96707764e-01 6.40151249e-02 4.97563712e-02 4.19255069e+02] [-6.37960804e-02 9.97945040e-01 -5.97969142e-03 -5.61531579e+01] [-5.00369145e-02 2.78574341e-03 9.98743484e-01 -2.79433302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.660714057 meters 0.034435239551374106 Centerline is valid? [True, True] Translation: X:419.28, Y:-56.16, Z:-27.94 [[ 9.96723875e-01 6.32411110e-02 5.04190348e-02 4.19281829e+02] [-6.30153761e-02 9.97994183e-01 -6.05586889e-03 -5.61590594e+01] [-5.07008833e-02 2.85885466e-03 9.98709791e-01 -2.79441233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.690714057 meters 0.034524658794251754 Centerline is valid? [True, True] Translation: X:419.31, Y:-56.16, Z:-27.95 [[ 9.96763304e-01 6.25115829e-02 5.05491554e-02 4.19310425e+02] [-6.22840371e-02 9.98040032e-01 -6.06576991e-03 -5.61624186e+01] [-5.08292615e-02 2.89773139e-03 9.98703154e-01 -2.79456532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.720714057 meters 0.03342668828430004 Centerline is valid? [True, True] Translation: X:419.34, Y:-56.16, Z:-27.95 [[ 9.96788434e-01 6.18310619e-02 5.08894700e-02 4.19339294e+02] [-6.15997450e-02 9.98082274e-01 -6.10290434e-03 -5.61649751e+01] [-5.11692270e-02 2.94852608e-03 9.98685644e-01 -2.79471259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.750714057 meters 0.03477499035239178 Centerline is valid? [True, True] Translation: X:419.37, Y:-56.17, Z:-27.95 [[ 9.96886284e-01 6.05849464e-02 5.04697974e-02 4.19366117e+02] [-6.03560233e-02 9.98158585e-01 -6.04901484e-03 -5.61722448e+01] [-5.07433408e-02 2.98402365e-03 9.98707269e-01 -2.79495427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.780714057 meters 0.034951267943554416 Centerline is valid? [True, True] Translation: X:419.39, Y:-56.18, Z:-27.95 [[ 9.96935151e-01 6.01020909e-02 5.00803626e-02 4.19394465e+02] [-5.98763195e-02 9.98187785e-01 -5.99766774e-03 -5.61769523e+01] [-5.03500786e-02 2.98065800e-03 9.98727183e-01 -2.79519995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.810714057 meters 0.03565904621143429 Centerline is valid? [True, True] Translation: X:419.42, Y:-56.18, Z:-27.96 [[ 9.97065412e-01 5.90561969e-02 4.87127263e-02 4.19422132e+02] [-5.88415102e-02 9.98250309e-01 -5.83075955e-03 -5.61836368e+01] [-4.89718365e-02 2.94731829e-03 9.98795811e-01 -2.79554706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.840714057 meters 0.035658586098893996 Centerline is valid? [True, True] Translation: X:419.45, Y:-56.19, Z:-27.96 [[ 9.97123869e-01 5.86600885e-02 4.79894216e-02 4.19450227e+02] [-5.84515389e-02 9.98273752e-01 -5.73880637e-03 -5.61882607e+01] [-4.82432189e-02 2.91724526e-03 9.98831358e-01 -2.79573908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.870714057 meters 0.035772758286969485 Centerline is valid? [True, True] Translation: X:419.48, Y:-56.19, Z:-27.96 [[ 9.97205754e-01 5.80194919e-02 4.70576596e-02 4.19478751e+02] [-5.78184156e-02 9.98311274e-01 -5.62408386e-03 -5.61927096e+01] [-4.73044986e-02 2.88756947e-03 9.98876342e-01 -2.79589141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.900714057 meters 0.036027370683574846 Centerline is valid? [True, True] Translation: X:419.51, Y:-56.20, Z:-27.96 [[ 9.97215855e-01 5.76682878e-02 4.72748048e-02 4.19506825e+02] [-5.74651199e-02 9.98331546e-01 -5.64660721e-03 -5.61966523e+01] [-4.75215591e-02 2.91423391e-03 9.98865961e-01 -2.79603274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.930714057 meters 0.037989600790685196 Centerline is valid? [True, True] Translation: X:419.53, Y:-56.20, Z:-27.96 [[ 9.97227899e-01 5.75608314e-02 4.71515434e-02 4.19533781e+02] [-5.73587554e-02 9.98337764e-01 -5.62867246e-03 -5.62038244e+01] [-4.73971575e-02 2.90851536e-03 9.98871889e-01 -2.79625199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.960714057 meters 0.03747983050414056 Centerline is valid? [True, True] Translation: X:419.56, Y:-56.21, Z:-27.96 [[ 9.97201277e-01 5.77037338e-02 4.75383170e-02 4.19562680e+02] [-5.74987105e-02 9.98329478e-01 -5.67018352e-03 -5.62074737e+01] [-4.77860940e-02 2.92092233e-03 9.98853321e-01 -2.79637785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.990714057 meters 0.03905499643252588 Centerline is valid? [True, True] Translation: X:419.59, Y:-56.21, Z:-27.97 [[ 9.97184442e-01 5.78015271e-02 4.77720877e-02 4.19590175e+02] [-5.75946995e-02 9.98323799e-01 -5.69583292e-03 -5.62138266e+01] [-4.80212399e-02 2.92837694e-03 9.98842022e-01 -2.79657033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.020714057 meters 0.03725996793190385 Centerline is valid? [True, True] Translation: X:419.62, Y:-56.21, Z:-27.97 [[ 9.97135327e-01 5.83655495e-02 4.81103220e-02 4.19619491e+02] [-5.81566605e-02 9.98291016e-01 -5.73147424e-03 -5.62149961e+01] [-4.83626229e-02 2.91711977e-03 9.98825584e-01 -2.79669891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.050714057 meters 0.03776200025257523 Centerline is valid? [True, True] Translation: X:419.65, Y:-56.22, Z:-27.97 [[ 9.97114232e-01 5.87613587e-02 4.80656989e-02 4.19648144e+02] [-5.85534309e-02 9.98267867e-01 -5.72376997e-03 -5.62195640e+01] [-4.83187792e-02 2.89284092e-03 9.98827776e-01 -2.79684391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.080714057 meters 0.0381108020374927 Centerline is valid? [True, True] Translation: X:419.68, Y:-56.22, Z:-27.97 [[ 9.97127825e-01 5.89154273e-02 4.75927939e-02 4.19676205e+02] [-5.87119066e-02 9.98258899e-01 -5.66417404e-03 -5.62237296e+01] [-4.78436373e-02 2.85364187e-03 9.98850761e-01 -2.79699860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.110714057 meters 0.03933369695235693 Centerline is valid? [True, True] Translation: X:419.70, Y:-56.23, Z:-27.97 [[ 9.97226777e-01 5.81898223e-02 4.63971953e-02 4.19703566e+02] [-5.79957629e-02 9.98301574e-01 -5.51894293e-03 -5.62300824e+01] [-4.66395394e-02 2.81279693e-03 9.98907824e-01 -2.79729142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.140714057 meters 0.0399489542934097 Centerline is valid? [True, True] Translation: X:419.73, Y:-56.24, Z:-27.98 [[ 9.97301833e-01 5.74797972e-02 4.56631831e-02 4.19732165e+02] [-5.72912810e-02 9.98342752e-01 -5.42755328e-03 -5.62353026e+01] [-4.58994825e-02 2.79680659e-03 9.98942148e-01 -2.79755899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.170714057 meters 0.04165093905086842 Centerline is valid? [True, True] Translation: X:419.76, Y:-56.24, Z:-27.98 [[ 9.97527294e-01 5.49792673e-02 4.37787345e-02 4.19761695e+02] [-5.48037595e-02 9.98483604e-01 -5.20003876e-03 -5.62428540e+01] [-4.39982429e-02 2.78794136e-03 9.99027718e-01 -2.79784041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.200714057 meters 0.043011983204726205 Centerline is valid? [True, True] Translation: X:419.79, Y:-56.25, Z:-27.98 [[ 9.97627202e-01 5.33137620e-02 4.35615463e-02 4.19789291e+02] [-5.31384136e-02 9.98573751e-01 -5.17420668e-03 -5.62490997e+01] [-4.37752731e-02 2.84713787e-03 9.99037346e-01 -2.79804659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.230714057 meters 0.04594832935592712 Centerline is valid? [True, True] Translation: X:419.82, Y:-56.26, Z:-27.98 [[ 9.97854881e-01 4.96731619e-02 4.26405061e-02 4.19817436e+02] [-4.95019979e-02 9.98761200e-01 -5.06130525e-03 -5.62584818e+01] [-4.28390941e-02 2.93965791e-03 9.99077660e-01 -2.79829114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.26071405700003 meters 0.047702025750395644 Centerline is valid? [True, True] Translation: X:419.85, Y:-56.27, Z:-27.98 [[ 9.97947654e-01 4.80810693e-02 4.22929095e-02 4.19845814e+02] [-4.79112903e-02 9.98838983e-01 -5.01943687e-03 -5.62654520e+01] [-4.24851466e-02 2.98282738e-03 9.99092646e-01 -2.79847739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.290714057 meters 0.04823263007124878 Centerline is valid? [True, True] Translation: X:419.88, Y:-56.27, Z:-27.99 [[ 9.98012820e-01 4.68157180e-02 4.21746404e-02 4.19875069e+02] [-4.66458234e-02 9.98898957e-01 -5.00400531e-03 -5.62711419e+01] [-4.23624704e-02 3.02679063e-03 9.99097723e-01 -2.79860285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.32071405700003 meters 0.04077797510287175 Centerline is valid? [True, True] Translation: X:419.91, Y:-56.27, Z:-27.98 [[ 9.98068065e-01 4.54553554e-02 4.23550343e-02 4.19905816e+02] [-4.52828431e-02 9.98961572e-01 -5.02404847e-03 -5.62652599e+01] [-4.25394215e-02 3.09638596e-03 9.99089991e-01 -2.79847990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.350714057 meters 0.04099298443279009 Centerline is valid? [True, True] Translation: X:419.93, Y:-56.27, Z:-27.99 [[ 9.98088990e-01 4.51783985e-02 4.21578019e-02 4.19934628e+02] [-4.50073085e-02 9.98974149e-01 -4.99915035e-03 -5.62699969e+01] [-4.23404079e-02 3.09218773e-03 9.99098458e-01 -2.79862562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.380714057 meters 0.042246859564005916 Centerline is valid? [True, True] Translation: X:419.96, Y:-56.28, Z:-27.99 [[ 9.98081214e-01 4.54595877e-02 4.20394661e-02 4.19963890e+02] [-4.52898074e-02 9.98961464e-01 -4.98270854e-03 -5.62763865e+01] [-4.22223184e-02 3.06918847e-03 9.99103526e-01 -2.79876656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.410714057 meters 0.04306848149384751 Centerline is valid? [True, True] Translation: X:419.99, Y:-56.28, Z:-27.99 [[ 9.98056325e-01 4.56201500e-02 4.24543834e-02 4.19992708e+02] [-4.54470743e-02 9.98954067e-01 -5.03350745e-03 -5.62818034e+01] [-4.26396083e-02 3.09429643e-03 9.99085727e-01 -2.79890706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.440714057 meters 0.044170273534417305 Centerline is valid? [True, True] Translation: X:420.02, Y:-56.29, Z:-27.99 [[ 9.98029435e-01 4.55203236e-02 4.31873576e-02 4.20022011e+02] [-4.53411451e-02 9.98958441e-01 -5.11988038e-03 -5.62875839e+01] [-4.33754341e-02 3.15162708e-03 9.99053872e-01 -2.79895676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.470714057 meters 0.04429765478277256 Centerline is valid? [True, True] Translation: X:420.05, Y:-56.29, Z:-27.99 [[ 9.98017518e-01 4.55363490e-02 4.34450661e-02 4.20052455e+02] [-4.53551266e-02 9.98957660e-01 -5.14842609e-03 -5.62920282e+01] [-4.36342221e-02 3.16776295e-03 9.99042552e-01 -2.79909565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.500714057 meters 0.04186495348196932 Centerline is valid? [True, True] Translation: X:420.08, Y:-56.29, Z:-27.99 [[ 9.98051614e-01 4.51252210e-02 4.30893278e-02 4.20083317e+02] [-4.49465758e-02 9.98976342e-01 -5.10626957e-03 -5.62927027e+01] [-4.32756406e-02 3.15960285e-03 9.99058174e-01 -2.79912394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.530714057 meters 0.04192008256929187 Centerline is valid? [True, True] Translation: X:420.11, Y:-56.30, Z:-27.99 [[ 9.98070553e-01 4.48795722e-02 4.29068200e-02 4.20113898e+02] [-4.47022126e-02 9.98987417e-01 -5.08464162e-03 -5.62972267e+01] [-4.30915698e-02 3.15680128e-03 9.99066140e-01 -2.79932319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.560714057 meters 0.04192008256929187 Centerline is valid? [True, True] Translation: X:420.14, Y:-56.30, Z:-27.99 [[ 9.98070553e-01 4.48795722e-02 4.29068200e-02 4.20143723e+02] [-4.47022126e-02 9.98987417e-01 -5.08464162e-03 -5.63007610e+01] [-4.30915698e-02 3.15680128e-03 9.99066140e-01 -2.79949723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.590714057 meters 0.04253129456580379 Centerline is valid? [True, True] Translation: X:420.17, Y:-56.31, Z:-28.00 [[ 9.98135121e-01 4.43927836e-02 4.18994257e-02 4.20173261e+02] [-4.42232231e-02 9.99009334e-01 -4.96553590e-03 -5.63053159e+01] [-4.20783514e-02 3.10334812e-03 9.99109494e-01 -2.79970894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.620714057 meters 0.044611910246721884 Centerline is valid? [True, True] Translation: X:420.20, Y:-56.31, Z:-28.00 [[ 9.98210078e-01 4.36150356e-02 4.09190426e-02 4.20202586e+02] [-4.34527738e-02 9.99043725e-01 -4.84690790e-03 -5.63122911e+01] [-4.10913108e-02 3.06018642e-03 9.99150709e-01 -2.79996685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.650714057 meters 0.04524592148488738 Centerline is valid? [True, True] Translation: X:420.23, Y:-56.32, Z:-28.00 [[ 9.98241342e-01 4.32370848e-02 4.05558625e-02 4.20232320e+02] [-4.30771790e-02 9.99060174e-01 -4.80888543e-03 -5.63172037e+01] [-4.07256692e-02 3.05339610e-03 9.99165700e-01 -2.80019152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.680714057 meters 0.048105418112522065 Centerline is valid? [True, True] Translation: X:420.26, Y:-56.32, Z:-28.00 [[ 9.98325663e-01 4.23361184e-02 3.94147530e-02 4.20261493e+02] [-4.21844538e-02 9.99098916e-01 -4.67203555e-03 -5.63243346e+01] [-3.95770329e-02 3.00152316e-03 9.99212014e-01 -2.80049480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.710714057 meters 0.04170037028385854 Centerline is valid? [True, True] Translation: X:420.29, Y:-56.32, Z:-28.00 [[ 9.98351355e-01 4.22957991e-02 3.88025548e-02 4.20291948e+02] [-4.21485673e-02 9.99100742e-01 -4.60498245e-03 -5.63180042e+01] [-3.89624327e-02 2.96191838e-03 9.99236286e-01 -2.80042318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.740714057 meters 0.04139418865169207 Centerline is valid? [True, True] Translation: X:420.32, Y:-56.32, Z:-28.00 [[ 9.98346145e-01 4.28412724e-02 3.83353703e-02 4.20321368e+02] [-4.26980187e-02 9.99077671e-01 -4.54818212e-03 -5.63193857e+01] [-3.84948624e-02 2.90381573e-03 9.99254579e-01 -2.80049518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.770714057 meters 0.04837466674889835 Centerline is valid? [True, True] Translation: X:420.35, Y:-56.33, Z:-28.01 [[ 9.98352289e-01 4.27816069e-02 3.82418752e-02 4.20349173e+02] [-4.26391013e-02 9.99080249e-01 -4.53466551e-03 -5.63315411e+01] [-3.84007025e-02 2.89659450e-03 9.99258223e-01 -2.80090778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.800714057 meters 0.04221466252276438 Centerline is valid? [True, True] Translation: X:420.38, Y:-56.33, Z:-28.01 [[ 9.98350058e-01 4.30616844e-02 3.79848978e-02 4.20380182e+02] [-4.29212232e-02 9.99068298e-01 -4.50595141e-03 -5.63251450e+01] [-3.81435410e-02 2.86815857e-03 9.99268154e-01 -2.80081540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.830714057 meters 0.04150391834201601 Centerline is valid? [True, True] Translation: X:420.41, Y:-56.33, Z:-28.01 [[ 9.98322317e-01 4.29847349e-02 3.87925887e-02 4.20409628e+02] [-4.28382307e-02 9.99071430e-01 -4.60033425e-03 -5.63258766e+01] [-3.89543112e-02 2.93081049e-03 9.99236695e-01 -2.80084404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.860714057 meters 0.04172427190810157 Centerline is valid? [True, True] Translation: X:420.44, Y:-56.33, Z:-28.01 [[ 9.98342572e-01 4.26682752e-02 3.86202894e-02 4.20439401e+02] [-4.25228887e-02 9.99085002e-01 -4.57851941e-03 -5.63290265e+01] [-3.87803094e-02 2.92868458e-03 9.99243469e-01 -2.80100434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.890714057 meters 0.04202611090067557 Centerline is valid? [True, True] Translation: X:420.47, Y:-56.33, Z:-28.01 [[ 9.98379110e-01 4.19388146e-02 3.84745186e-02 4.20469105e+02] [-4.17940391e-02 9.99115842e-01 -4.55986128e-03 -5.63307067e+01] [-3.86317363e-02 2.94446470e-03 9.99249178e-01 -2.80115097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.920714057 meters 0.042610485628533507 Centerline is valid? [True, True] Translation: X:420.50, Y:-56.33, Z:-28.01 [[ 9.98409341e-01 4.15563610e-02 3.81032322e-02 4.20498883e+02] [-4.14141431e-02 9.99131867e-01 -4.51450451e-03 -5.63339224e+01] [-3.82577599e-02 2.92931077e-03 9.99263610e-01 -2.80131857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.950714057 meters 0.04284166232036171 Centerline is valid? [True, True] Translation: X:420.53, Y:-56.34, Z:-28.01 [[ 9.98462432e-01 4.02317158e-02 3.81337225e-02 4.20529321e+02] [-4.00883890e-02 9.99185932e-01 -4.51605831e-03 -5.63358555e+01] [-3.82843678e-02 2.98039506e-03 9.99262440e-01 -2.80148926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.980714057 meters 0.041294217084070856 Centerline is valid? [True, True] Translation: X:420.56, Y:-56.34, Z:-28.02 [[ 9.98480364e-01 3.96679701e-02 3.82546156e-02 4.20559365e+02] [-3.95232944e-02 9.99208376e-01 -4.53107878e-03 -5.63358101e+01] [-3.84040710e-02 3.01224476e-03 9.99257751e-01 -2.80157501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.01071405700003 meters 0.04714010896900163 Centerline is valid? [True, True] Translation: X:420.59, Y:-56.35, Z:-28.02 [[ 9.98485994e-01 3.87668913e-02 3.90236936e-02 4.20588066e+02] [-3.86157364e-02 9.99243454e-01 -4.62002392e-03 -5.63454826e+01] [-3.91732743e-02 3.10610051e-03 9.99227605e-01 -2.80185563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.040714057 meters 0.044385106348511554 Centerline is valid? [True, True] Translation: X:420.62, Y:-56.34, Z:-28.02 [[ 9.98479210e-01 3.85561418e-02 3.94042000e-02 4.20619398e+02] [-3.84018598e-02 9.99251487e-01 -4.66507217e-03 -5.63436549e+01] [-3.95545726e-02 3.14478301e-03 9.99212463e-01 -2.80187231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.07071405700003 meters 0.04319476904028822 Centerline is valid? [True, True] Translation: X:420.65, Y:-56.34, Z:-28.02 [[ 9.98534262e-01 3.78299111e-02 3.87069084e-02 4.20650290e+02] [-3.76805159e-02 9.99279331e-01 -4.58218132e-03 -5.63439628e+01] [-3.88523571e-02 3.11696876e-03 9.99240101e-01 -2.80202715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.100714057 meters 0.04696281511651036 Centerline is valid? [True, True] Translation: X:420.68, Y:-56.35, Z:-28.02 [[ 9.98610512e-01 3.66063067e-02 3.79080879e-02 4.20679338e+02] [-3.64621707e-02 9.99324961e-01 -4.48688293e-03 -5.63507760e+01] [-3.80467467e-02 3.09843729e-03 9.99271157e-01 -2.80235182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.130714057 meters 0.04449720873443615 Centerline is valid? [True, True] Translation: X:420.71, Y:-56.35, Z:-28.02 [[ 9.98643434e-01 3.58873122e-02 3.77278646e-02 4.20710425e+02] [-3.57438544e-02 9.99350986e-01 -4.47031201e-03 -5.63495925e+01] [-3.78638062e-02 3.11570844e-03 9.99278052e-01 -2.80249500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.160714057 meters 0.04574433412634786 Centerline is valid? [True, True] Translation: X:420.74, Y:-56.35, Z:-28.03 [[ 9.98673082e-01 3.60184253e-02 3.68068934e-02 4.20740892e+02] [-3.58819685e-02 9.99346517e-01 -4.36145906e-03 -5.63538404e+01] [-3.69399336e-02 3.03496797e-03 9.99312879e-01 -2.80274763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.190714057 meters 0.04657413726433183 Centerline is valid? [True, True] Translation: X:420.77, Y:-56.36, Z:-28.03 [[ 9.98674179e-01 3.67925190e-02 3.60027046e-02 4.20770991e+02] [-3.66624035e-02 9.99318595e-01 -4.26780908e-03 -5.63575747e+01] [-3.61351956e-02 2.94220505e-03 9.99342579e-01 -2.80302060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.220714057 meters 0.04628195941034467 Centerline is valid? [True, True] Translation: X:420.80, Y:-56.36, Z:-28.03 [[ 9.98598263e-01 3.86889379e-02 3.61202831e-02 4.20800664e+02] [-3.85591511e-02 9.99247140e-01 -4.28316772e-03 -5.63583506e+01] [-3.62588008e-02 2.88439639e-03 9.99338271e-01 -2.80317831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.250714057 meters 0.04623251585875877 Centerline is valid? [True, True] Translation: X:420.83, Y:-56.36, Z:-28.03 [[ 9.98511307e-01 4.02583412e-02 3.68026490e-02 4.20830904e+02] [-4.01246853e-02 9.99185153e-01 -4.36340564e-03 -5.63601625e+01] [-3.69483240e-02 2.88021516e-03 9.99313027e-01 -2.80329592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.280714057 meters 0.04489474106240215 Centerline is valid? [True, True] Translation: X:420.86, Y:-56.36, Z:-28.03 [[ 9.98411566e-01 4.21165076e-02 3.74238536e-02 4.20860563e+02] [-4.19796078e-02 9.99108617e-01 -4.43673309e-03 -5.63604592e+01] [-3.75773543e-02 2.85864693e-03 9.99289633e-01 -2.80337166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.310714057 meters 0.04503179231427018 Centerline is valid? [True, True] Translation: X:420.89, Y:-56.36, Z:-28.03 [[ 9.98180519e-01 4.59476885e-02 3.90443448e-02 4.20890455e+02] [-4.58016637e-02 9.98939838e-01 -4.62674210e-03 -5.63618828e+01] [-3.92155396e-02 2.83002788e-03 9.99226767e-01 -2.80349705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.340714057 meters 0.04283717828737975 Centerline is valid? [True, True] Translation: X:420.92, Y:-56.36, Z:-28.04 [[ 9.98086656e-01 4.75593244e-02 3.95112394e-02 4.20920616e+02] [-4.74110264e-02 9.98864490e-01 -4.68240173e-03 -5.63613225e+01] [-3.96890658e-02 2.80017427e-03 9.99208155e-01 -2.80357453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.370714057 meters 0.04132561392441181 Centerline is valid? [True, True] Translation: X:420.95, Y:-56.36, Z:-28.04 [[ 9.97938387e-01 4.99108074e-02 4.03470810e-02 4.20951077e+02] [-4.97580904e-02 9.98749855e-01 -4.78109310e-03 -5.63606384e+01] [-4.05352695e-02 2.76364264e-03 9.99174286e-01 -2.80366615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.400714057 meters 0.040492858295528976 Centerline is valid? [True, True] Translation: X:420.98, Y:-56.36, Z:-28.04 [[ 9.97882963e-01 5.18281555e-02 3.92865570e-02 4.20980273e+02] [-5.16848925e-02 9.98652597e-01 -4.65422356e-03 -5.63613939e+01] [-3.94748420e-02 2.61384892e-03 9.99217146e-01 -2.80394036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.430714057 meters 0.041893203375941775 Centerline is valid? [True, True] Translation: X:421.01, Y:-56.37, Z:-28.04 [[ 9.97850614e-01 5.33288656e-02 3.80812757e-02 4.21007850e+02] [-5.31954101e-02 9.98573938e-01 -4.50989999e-03 -5.63672803e+01] [-3.82674773e-02 2.47445740e-03 9.99264468e-01 -2.80435585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.460714057 meters 0.04291016493546039 Centerline is valid? [True, True] Translation: X:421.04, Y:-56.37, Z:-28.05 [[ 9.97810332e-01 5.44040063e-02 3.76130986e-02 4.21035293e+02] [-5.42746596e-02 9.98516119e-01 -4.45219987e-03 -5.63718057e+01] [-3.77995027e-02 2.40101291e-03 9.99282459e-01 -2.80468240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.490714057 meters 0.04276087593074385 Centerline is valid? [True, True] Translation: X:421.06, Y:-56.37, Z:-28.05 [[ 9.97811738e-01 5.47979164e-02 3.69989636e-02 4.21063637e+02] [-5.46731567e-02 9.98494715e-01 -4.37613233e-03 -5.63739727e+01] [-3.71830726e-02 2.34370607e-03 9.99305722e-01 -2.80486224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.520714057 meters 0.03987898240017611 Centerline is valid? [True, True] Translation: X:421.09, Y:-56.37, Z:-28.05 [[ 9.97842908e-01 5.46739339e-02 3.63358095e-02 4.21093085e+02] [-5.45536106e-02 9.98501604e-01 -4.29541169e-03 -5.63706583e+01] [-3.65162111e-02 2.30389649e-03 9.99330405e-01 -2.80484993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.550714057 meters 0.035338511973924 Centerline is valid? [True, True] Translation: X:421.12, Y:-56.37, Z:-28.05 [[ 9.97874489e-01 5.44239089e-02 3.58404992e-02 4.21122930e+02] [-5.43067689e-02 9.98515320e-01 -4.23452639e-03 -5.63659141e+01] [-3.60177470e-02 2.27914416e-03 9.99348552e-01 -2.80479429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.580714057 meters 0.036254940092855015 Centerline is valid? [True, True] Translation: X:421.15, Y:-56.37, Z:-28.05 [[ 9.97858942e-01 5.46745346e-02 3.58918872e-02 4.21149880e+02] [-5.45573014e-02 9.98501646e-01 -4.23833131e-03 -5.63706543e+01] [-3.60698372e-02 2.27109229e-03 9.99346691e-01 -2.80505612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.610714057 meters 0.0368601408228001 Centerline is valid? [True, True] Translation: X:421.18, Y:-56.37, Z:-28.05 [[ 9.97823085e-01 5.51634057e-02 3.61398614e-02 4.21177174e+02] [-5.50449689e-02 9.98474768e-01 -4.26476611e-03 -5.63747999e+01] [-3.63199987e-02 2.26616453e-03 9.99337642e-01 -2.80529533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.640714057 meters 0.03549746185031482 Centerline is valid? [True, True] Translation: X:421.21, Y:-56.38, Z:-28.05 [[ 9.97722197e-01 5.57915440e-02 3.79173049e-02 4.21205820e+02] [-5.56618190e-02 9.98439677e-01 -4.46916817e-03 -5.63755305e+01] [-3.81074835e-02 2.34844211e-03 9.99270886e-01 -2.80530031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.670714057 meters 0.03597885452546151 Centerline is valid? [True, True] Translation: X:421.23, Y:-56.38, Z:-28.05 [[ 9.97707119e-01 5.54564608e-02 3.87954380e-02 4.21233928e+02] [-5.53204881e-02 9.98458189e-01 -4.57044890e-03 -5.63786357e+01] [-3.89890837e-02 2.41378684e-03 9.99236721e-01 -2.80534598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.700714057 meters 0.0366151579227722 Centerline is valid? [True, True] Translation: X:421.26, Y:-56.38, Z:-28.05 [[ 9.97744687e-01 5.38084818e-02 4.01271397e-02 4.21261996e+02] [-5.36618756e-02 9.98547996e-01 -4.72250196e-03 -5.63822777e+01] [-4.03229856e-02 2.55855366e-03 9.99183422e-01 -2.80535602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.730714057 meters 0.03788418036073993 Centerline is valid? [True, True] Translation: X:421.29, Y:-56.39, Z:-28.06 [[ 9.97783932e-01 5.29737262e-02 4.02617539e-02 4.21289607e+02] [-5.28255985e-02 9.98592528e-01 -4.73486128e-03 -5.63881056e+01] [-4.04559099e-02 2.59751726e-03 9.99177948e-01 -2.80554711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.76071405700003 meters 0.03841567883043964 Centerline is valid? [True, True] Translation: X:421.32, Y:-56.39, Z:-28.06 [[ 9.97924947e-01 4.95563117e-02 4.11092639e-02 4.21318723e+02] [-4.93992169e-02 9.98767439e-01 -4.82907207e-03 -5.63947296e+01] [-4.12979052e-02 2.78828605e-03 9.99142987e-01 -2.80573840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.790714057 meters 0.03889322901252159 Centerline is valid? [True, True] Translation: X:421.35, Y:-56.40, Z:-28.06 [[ 9.97989119e-01 4.78646028e-02 4.15535644e-02 4.21347635e+02] [-4.77026656e-02 9.98849657e-01 -4.88046779e-03 -5.64004861e+01] [-4.17393652e-02 2.88843796e-03 9.99124358e-01 -2.80591343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.82071405700003 meters 0.04124684401232295 Centerline is valid? [True, True] Translation: X:421.37, Y:-56.41, Z:-28.06 [[ 9.98094601e-01 4.60853241e-02 4.10281629e-02 4.21374783e+02] [-4.59259997e-02 9.98933226e-01 -4.81788838e-03 -5.64078664e+01] [-4.12064291e-02 2.92444899e-03 9.99146375e-01 -2.80619994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.850714057 meters 0.04410187334404381 Centerline is valid? [True, True] Translation: X:421.40, Y:-56.42, Z:-28.07 [[ 9.98250738e-01 4.32830127e-02 4.02746204e-02 4.21402984e+02] [-4.31273616e-02 9.99058405e-01 -4.72598121e-03 -5.64176603e+01] [-4.04412527e-02 2.98077611e-03 9.99177472e-01 -2.80651109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.880714057 meters 0.04122546283388865 Centerline is valid? [True, True] Translation: X:421.43, Y:-56.42, Z:-28.07 [[ 9.98279550e-01 4.25592280e-02 4.03317820e-02 4.21432435e+02] [-4.24026043e-02 9.99089402e-01 -4.73127853e-03 -5.64184730e+01] [-4.04964156e-02 3.01296601e-03 9.99175141e-01 -2.80655354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.910714057 meters 0.04172004907578006 Centerline is valid? [True, True] Translation: X:421.46, Y:-56.43, Z:-28.07 [[ 9.98362916e-01 4.05344000e-02 4.03540561e-02 4.21461990e+02] [-4.03760392e-02 9.99173351e-01 -4.73191479e-03 -5.64253478e+01] [-4.05125027e-02 3.09483130e-03 9.99174239e-01 -2.80675479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.940714057 meters 0.04267535625102654 Centerline is valid? [True, True] Translation: X:421.49, Y:-56.43, Z:-28.07 [[ 9.98421703e-01 3.94612028e-02 3.99614336e-02 4.21492099e+02] [-3.93050685e-02 9.99216271e-01 -4.68558030e-03 -5.64308448e+01] [-4.01150133e-02 3.10749818e-03 9.99190237e-01 -2.80698421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.970714057 meters 0.046245125559526055 Centerline is valid? [True, True] Translation: X:421.52, Y:-56.44, Z:-28.07 [[ 9.98475099e-01 3.81177552e-02 3.99313503e-02 4.21520439e+02] [-3.79607759e-02 9.99268260e-01 -4.68237102e-03 -5.64417223e+01] [-4.00806124e-02 3.15940583e-03 9.99191454e-01 -2.80736050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.000714057 meters 0.042727765613917675 Centerline is valid? [True, True] Translation: X:421.55, Y:-56.44, Z:-28.07 [[ 9.98488975e-01 3.78499451e-02 3.98390430e-02 4.21551430e+02] [-3.76935212e-02 9.99278432e-01 -4.67050642e-03 -5.64410283e+01] [-3.99870749e-02 3.16177535e-03 9.99195195e-01 -2.80745146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.030714057 meters 0.04397104572184397 Centerline is valid? [True, True] Translation: X:421.58, Y:-56.45, Z:-28.08 [[ 9.98478321e-01 3.73371416e-02 4.05829993e-02 4.21580916e+02] [-3.71743958e-02 9.99297467e-01 -4.75772369e-03 -5.64486521e+01] [-4.07321282e-02 3.24183548e-03 9.99164843e-01 -2.80765919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.060714057 meters 0.04096566717446721 Centerline is valid? [True, True] Translation: X:421.61, Y:-56.45, Z:-28.08 [[ 9.98448439e-01 3.72598815e-02 4.13813483e-02 4.21612115e+02] [-3.70906236e-02 9.99300133e-01 -4.85071996e-03 -5.64491029e+01] [-4.15331241e-02 3.30833376e-03 9.99131650e-01 -2.80774094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.090714057 meters 0.04392265478157284 Centerline is valid? [True, True] Translation: X:421.64, Y:-56.46, Z:-28.08 [[ 9.98421671e-01 3.71781426e-02 4.20945783e-02 4.21642065e+02] [-3.70029237e-02 9.99302975e-01 -4.93430902e-03 -5.64581407e+01] [-4.22486858e-02 3.36889858e-03 9.99101446e-01 -2.80798985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.120714057 meters 0.0449471988281141 Centerline is valid? [True, True] Translation: X:421.67, Y:-56.47, Z:-28.08 [[ 9.98360960e-01 3.73537073e-02 4.33600536e-02 4.21672980e+02] [-3.71677260e-02 9.99296090e-01 -5.08779444e-03 -5.64654051e+01] [-4.35195800e-02 3.46786075e-03 9.99046556e-01 -2.80815164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.150714057 meters 0.04348325112319322 Centerline is valid? [True, True] Translation: X:421.71, Y:-56.47, Z:-28.08 [[ 9.98316079e-01 3.75111224e-02 4.42484244e-02 4.21705214e+02] [-3.73171289e-02 9.99289931e-01 -5.20238176e-03 -5.64681404e+01] [-4.44121521e-02 3.54239720e-03 9.99007013e-01 -2.80830568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.180714057 meters 0.044986263943321086 Centerline is valid? [True, True] Translation: X:421.74, Y:-56.48, Z:-28.08 [[ 9.98312182e-01 3.66054747e-02 4.50868784e-02 4.21735653e+02] [-3.64025950e-02 9.99323083e-01 -5.31289416e-03 -5.64767747e+01] [-4.52508393e-02 3.66264759e-03 9.98968942e-01 -2.80848943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.210714057 meters 0.04712555922721879 Centerline is valid? [True, True] Translation: X:421.77, Y:-56.49, Z:-28.09 [[ 9.98306410e-01 3.62238681e-02 4.55207960e-02 4.21766475e+02] [-3.60161770e-02 9.99336754e-01 -5.37473839e-03 -5.64853741e+01] [-4.56852984e-02 3.72615073e-03 9.98948932e-01 -2.80872419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.240714057 meters 0.04747655581914839 Centerline is valid? [True, True] Translation: X:421.80, Y:-56.49, Z:-28.09 [[ 9.98424858e-01 3.35624573e-02 4.49595959e-02 4.21796277e+02] [-3.33566003e-02 9.99429347e-01 -5.32135186e-03 -5.64928129e+01] [-4.51125373e-02 3.81327070e-03 9.98974633e-01 -2.80901439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.270714057 meters 0.04880858282553781 Centerline is valid? [True, True] Translation: X:421.83, Y:-56.50, Z:-28.09 [[ 9.98500032e-01 3.26653640e-02 4.39392842e-02 4.21826810e+02] [-3.24679855e-02 9.99459257e-01 -5.19844318e-03 -5.65002375e+01] [-4.40853334e-02 3.76402564e-03 9.99020678e-01 -2.80933506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.300714057 meters 0.050130881789997556 Centerline is valid? [True, True] Translation: X:421.86, Y:-56.51, Z:-28.10 [[ 9.98587326e-01 3.11226423e-02 4.30666284e-02 4.21857498e+02] [-3.09310760e-02 9.99508470e-01 -5.10752991e-03 -5.65088771e+01] [-4.32044196e-02 3.76821748e-03 9.99059147e-01 -2.80963836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.330714057 meters 0.04706470760084443 Centerline is valid? [True, True] Translation: X:421.89, Y:-56.51, Z:-28.10 [[ 9.98602495e-01 3.11423219e-02 4.26990936e-02 4.21889626e+02] [-3.09541055e-02 9.99507988e-01 -5.06222734e-03 -5.65097455e+01] [-4.28357346e-02 3.73344060e-03 9.99075153e-01 -2.80978351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.360714057 meters 0.05174891026349952 Centerline is valid? [True, True] Translation: X:421.92, Y:-56.52, Z:-28.10 [[ 9.98605042e-01 3.10983083e-02 4.26716053e-02 4.21919722e+02] [-3.09098232e-02 9.99509319e-01 -5.06996667e-03 -5.65209415e+01] [-4.28083345e-02 3.74392251e-03 9.99076288e-01 -2.81007548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.390714057 meters 0.05253525428471465 Centerline is valid? [True, True] Translation: X:421.95, Y:-56.53, Z:-28.10 [[ 9.98544517e-01 3.18786976e-02 4.35039880e-02 4.21950190e+02] [-3.16830600e-02 9.99484546e-01 -5.17928992e-03 -5.65279881e+01] [-4.36466727e-02 3.79341209e-03 9.99039828e-01 -2.81018424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.420714057 meters 0.05253525428471465 Centerline is valid? [True, True] Translation: X:421.98, Y:-56.53, Z:-28.10 [[ 9.98535928e-01 3.21480255e-02 4.35029343e-02 4.21982634e+02] [-3.19522595e-02 9.99475931e-01 -5.18812313e-03 -5.65319561e+01] [-4.36469237e-02 3.79051029e-03 9.99039828e-01 -2.81037320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.450714057 meters 0.05183780366034416 Centerline is valid? [True, True] Translation: X:422.01, Y:-56.54, Z:-28.11 [[ 9.98516305e-01 3.26805596e-02 4.35565141e-02 4.22014976e+02] [-3.24841774e-02 9.99458675e-01 -5.20904954e-03 -5.65359257e+01] [-4.37031705e-02 3.78642337e-03 9.99037385e-01 -2.81054540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.480714057 meters 0.05412600004284937 Centerline is valid? [True, True] Translation: X:422.04, Y:-56.54, Z:-28.11 [[ 9.98446221e-01 3.38316700e-02 4.42782233e-02 4.22044746e+02] [-3.36296400e-02 9.99420311e-01 -5.29992276e-03 -5.65447729e+01] [-4.44318610e-02 3.80262714e-03 9.99005180e-01 -2.81067729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.51071405700003 meters 0.04698429226062296 Centerline is valid? [True, True] Translation: X:422.08, Y:-56.54, Z:-28.11 [[ 9.98430223e-01 3.44132982e-02 4.41906660e-02 4.22078146e+02] [-3.42126921e-02 9.99400584e-01 -5.28809718e-03 -5.65398162e+01] [-4.43461583e-02 3.76791439e-03 9.99009120e-01 -2.81068285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.540714057 meters 0.04580528238790335 Centerline is valid? [True, True] Translation: X:422.11, Y:-56.54, Z:-28.11 [[ 9.98343748e-01 3.58637667e-02 4.49839016e-02 4.22109819e+02] [-3.56567349e-02 9.99349525e-01 -5.39659474e-03 -5.65444413e+01] [-4.51481829e-02 3.78367756e-03 9.98973135e-01 -2.81081271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.57071405700003 meters 0.046043989770674545 Centerline is valid? [True, True] Translation: X:422.14, Y:-56.55, Z:-28.11 [[ 9.98298440e-01 3.70915105e-02 4.49938301e-02 4.22141774e+02] [-3.68855512e-02 9.99304910e-01 -5.39941528e-03 -5.65497558e+01] [-4.51628278e-02 3.73060562e-03 9.98972673e-01 -2.81099966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.600714057 meters 0.04626417234727357 Centerline is valid? [True, True] Translation: X:422.17, Y:-56.56, Z:-28.11 [[ 9.98257506e-01 3.81085173e-02 4.50521037e-02 4.22173832e+02] [-3.79024549e-02 9.99266747e-01 -5.41959331e-03 -5.65554248e+01] [-4.52256018e-02 3.70256437e-03 9.98969937e-01 -2.81120410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.630714057 meters 0.04626987633863259 Centerline is valid? [True, True] Translation: X:422.20, Y:-56.56, Z:-28.11 [[ 9.98167222e-01 4.02859809e-02 4.51579116e-02 4.22202765e+02] [-4.00809208e-02 9.99181641e-01 -5.43760933e-03 -5.65618128e+01] [-4.53400156e-02 3.61767272e-03 9.98965062e-01 -2.81139851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.660714057 meters 0.04381720171664289 Centerline is valid? [True, True] Translation: X:422.23, Y:-56.56, Z:-28.12 [[ 9.98082511e-01 4.20651057e-02 4.54073599e-02 4.22234657e+02] [-4.18596756e-02 9.99108548e-01 -5.46599707e-03 -5.65642909e+01] [-4.55968091e-02 3.55477872e-03 9.98953600e-01 -2.81161454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.690714057 meters 0.045977118414206306 Centerline is valid? [True, True] Translation: X:422.27, Y:-56.57, Z:-28.12 [[ 9.98033085e-01 4.32231821e-02 4.54061484e-02 4.22265069e+02] [-4.30189390e-02 9.99059303e-01 -5.46617183e-03 -5.65725906e+01] [-4.55997003e-02 3.50209601e-03 9.98953654e-01 -2.81188906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.720714057 meters 0.046474651123741426 Centerline is valid? [True, True] Translation: X:422.30, Y:-56.58, Z:-28.12 [[ 9.97939829e-01 4.50990913e-02 4.56307992e-02 4.22295195e+02] [-4.48941832e-02 9.98976575e-01 -5.50598132e-03 -5.65792235e+01] [-4.58324142e-02 3.44608060e-03 9.98943199e-01 -2.81211141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.750714057 meters 0.03926802108857133 Centerline is valid? [True, True] Translation: X:422.33, Y:-56.57, Z:-28.12 [[ 9.97932398e-01 4.56431109e-02 4.52508036e-02 4.22327825e+02] [-4.54420906e-02 9.98952044e-01 -5.46166047e-03 -5.65734354e+01] [-4.54526699e-02 3.39407682e-03 9.98960727e-01 -2.81215602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.780714057 meters 0.04356071052732145 Centerline is valid? [True, True] Translation: X:422.36, Y:-56.59, Z:-28.12 [[ 9.97842812e-01 4.68174041e-02 4.60201493e-02 4.22357633e+02] [-4.66107505e-02 9.98897688e-01 -5.55396679e-03 -5.65850897e+01] [-4.62294431e-02 3.39695214e-03 9.98925072e-01 -2.81242303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.810714057 meters 0.04465740986477943 Centerline is valid? [True, True] Translation: X:422.39, Y:-56.59, Z:-28.13 [[ 9.97799926e-01 4.70938259e-02 4.66634740e-02 4.22388304e+02] [-4.68810744e-02 9.98884534e-01 -5.64385430e-03 -5.65914509e+01] [-4.68772131e-02 3.44380361e-03 9.98894723e-01 -2.81253411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.840714057 meters 0.03958163644585931 Centerline is valid? [True, True] Translation: X:422.42, Y:-56.59, Z:-28.13 [[ 9.97784763e-01 4.68962741e-02 4.71837428e-02 4.22420315e+02] [-4.66781662e-02 9.98893635e-01 -5.71439706e-03 -5.65884148e+01] [-4.73995243e-02 3.49928772e-03 9.98869881e-01 -2.81255463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.870714057 meters 0.04097708609606281 Centerline is valid? [True, True] Translation: X:422.45, Y:-56.60, Z:-28.13 [[ 9.97749081e-01 4.64774646e-02 4.83385545e-02 4.22450709e+02] [-4.62480499e-02 9.98912832e-01 -5.85426033e-03 -5.65971859e+01] [-4.85580936e-02 3.60551898e-03 9.98813852e-01 -2.81270383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.900714057 meters 0.041782193206213306 Centerline is valid? [True, True] Translation: X:422.48, Y:-56.60, Z:-28.13 [[ 9.97702730e-01 4.64549494e-02 4.93072010e-02 4.22482814e+02] [-4.62156316e-02 9.98913568e-01 -5.98325281e-03 -5.66038505e+01] [-4.95315838e-02 3.69074422e-03 9.98765739e-01 -2.81285083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.930714057 meters 0.043571718145812594 Centerline is valid? [True, True] Translation: X:422.51, Y:-56.61, Z:-28.13 [[ 9.97677249e-01 4.54434772e-02 5.07444234e-02 4.22513447e+02] [-4.51880164e-02 9.98959441e-01 -6.17081872e-03 -5.66133351e+01] [-5.09720443e-02 3.86344561e-03 9.98692608e-01 -2.81291933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.960714057 meters 0.04446659408591257 Centerline is valid? [True, True] Translation: X:422.55, Y:-56.62, Z:-28.13 [[ 9.97649378e-01 4.56143222e-02 5.11375875e-02 4.22545402e+02] [-4.53545084e-02 9.98951527e-01 -6.23024448e-03 -5.66201763e+01] [-5.13681595e-02 3.89627938e-03 9.98672184e-01 -2.81306537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.990714057 meters 0.04520231232316793 Centerline is valid? [True, True] Translation: X:422.58, Y:-56.63, Z:-28.13 [[ 9.97578291e-01 4.58593623e-02 5.22921891e-02 4.22576003e+02] [-4.55872545e-02 9.98939954e-01 -6.38515727e-03 -5.66284241e+01] [-5.25295762e-02 3.98583694e-03 9.98611414e-01 -2.81318616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.020714057 meters 0.04535560735223586 Centerline is valid? [True, True] Translation: X:422.61, Y:-56.63, Z:-28.13 [[ 9.97561199e-01 4.62188380e-02 5.23017431e-02 4.22607479e+02] [-4.59465069e-02 9.98923412e-01 -6.39800568e-03 -5.66343505e+01] [-5.25411441e-02 3.97931981e-03 9.98610832e-01 -2.81343145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.050714057 meters 0.046617449257674866 Centerline is valid? [True, True] Translation: X:422.64, Y:-56.64, Z:-28.14 [[ 9.97584531e-01 4.62134874e-02 5.18595971e-02 4.22637587e+02] [-4.59450619e-02 9.98923741e-01 -6.35690874e-03 -5.66416661e+01] [-5.20975577e-02 3.95886142e-03 9.98634153e-01 -2.81365993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.080714057 meters 0.04780982626651104 Centerline is valid? [True, True] Translation: X:422.67, Y:-56.65, Z:-28.14 [[ 9.97570290e-01 4.65437200e-02 5.18381894e-02 4.22669059e+02] [-4.62756383e-02 9.98908459e-01 -6.36043916e-03 -5.66505747e+01] [-5.20776444e-02 3.94613983e-03 9.98635242e-01 -2.81396466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.110714057 meters 0.048821975922453395 Centerline is valid? [True, True] Translation: X:422.70, Y:-56.66, Z:-28.14 [[ 9.97592449e-01 4.66025639e-02 5.13566584e-02 4.22699547e+02] [-4.63388156e-02 9.98905819e-01 -6.31504779e-03 -5.66590307e+01] [-5.15947623e-02 3.92003727e-03 9.98660410e-01 -2.81422739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.140714057 meters 0.04942387470952818 Centerline is valid? [True, True] Translation: X:422.73, Y:-56.67, Z:-28.14 [[ 9.97576025e-01 4.70670968e-02 5.12519493e-02 4.22731627e+02] [-4.68047288e-02 9.98884140e-01 -6.30807541e-03 -5.66654783e+01] [-5.14916621e-02 3.89395120e-03 9.98665833e-01 -2.81441582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.170714057 meters 0.04975914413835825 Centerline is valid? [True, True] Translation: X:422.76, Y:-56.67, Z:-28.15 [[ 9.97559314e-01 4.75098729e-02 5.11686096e-02 4.22763053e+02] [-4.72483266e-02 9.98863246e-01 -6.30968054e-03 -5.66711816e+01] [-5.14102156e-02 3.87664942e-03 9.98670096e-01 -2.81461536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.200714057 meters 0.05001993253834495 Centerline is valid? [True, True] Translation: X:422.79, Y:-56.68, Z:-28.15 [[ 9.97462215e-01 4.90755511e-02 5.15821767e-02 4.22792450e+02] [-4.88111459e-02 9.98787688e-01 -6.37395626e-03 -5.66781661e+01] [-5.18324484e-02 3.83999538e-03 9.98648412e-01 -2.81479647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.230714057 meters 0.03867436505033192 Centerline is valid? [True, True] Translation: X:422.83, Y:-56.67, Z:-28.15 [[ 9.97394242e-01 5.04802125e-02 5.15409860e-02 4.22826129e+02] [-5.02180612e-02 9.98717966e-01 -6.36949611e-03 -5.66667571e+01] [-5.17964422e-02 3.76461036e-03 9.98650568e-01 -2.81485761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.26071405700003 meters 0.04343600121717536 Centerline is valid? [True, True] Translation: X:422.85, Y:-56.68, Z:-28.15 [[ 9.97196779e-01 5.38941639e-02 5.19037811e-02 4.22854959e+02] [-5.36327343e-02 9.98540107e-01 -6.41753483e-03 -5.66772886e+01] [-5.21738748e-02 3.61580337e-03 9.98631470e-01 -2.81498290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.290714057 meters 0.036755606463243634 Centerline is valid? [True, True] Translation: X:422.89, Y:-56.67, Z:-28.15 [[ 9.97081577e-01 5.57622607e-02 5.21430696e-02 4.22887632e+02] [-5.55009841e-02 9.98437821e-01 -6.44651976e-03 -5.66708465e+01] [-5.24210853e-02 3.53371441e-03 9.98618818e-01 -2.81501666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.32071405700003 meters 0.034782613438643306 Centerline is valid? [True, True] Translation: X:422.92, Y:-56.67, Z:-28.15 [[ 9.96761605e-01 6.01879007e-02 5.33265390e-02 4.22918013e+02] [-5.99207423e-02 9.98181345e-01 -6.59604774e-03 -5.66714504e+01] [-5.36265586e-02 3.37932133e-03 9.98555343e-01 -2.81506548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.350714057 meters 0.034277919537644565 Centerline is valid? [True, True] Translation: X:422.95, Y:-56.67, Z:-28.15 [[ 9.96619968e-01 6.20877843e-02 5.37935536e-02 4.22948465e+02] [-6.18186708e-02 9.98065217e-01 -6.65388673e-03 -5.66740260e+01] [-5.41025998e-02 3.30595040e-03 9.98529909e-01 -2.81520793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.380714057 meters 0.03379129058565918 Centerline is valid? [True, True] Translation: X:422.98, Y:-56.68, Z:-28.15 [[ 9.96392427e-01 6.52974868e-02 5.42067302e-02 4.22978530e+02] [-6.50289417e-02 9.97860851e-01 -6.70508382e-03 -5.66768548e+01] [-5.45285991e-02 3.15588844e-03 9.98507222e-01 -2.81540801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.410714057 meters 0.03262725680264359 Centerline is valid? [True, True] Translation: X:423.01, Y:-56.68, Z:-28.16 [[ 9.96361365e-01 6.61457364e-02 5.37472906e-02 4.23008428e+02] [-6.58830380e-02 9.97805214e-01 -6.64679010e-03 -5.66789674e+01] [-5.40689836e-02 3.08157007e-03 9.98532448e-01 -2.81560650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.440714057 meters 0.03260664483365252 Centerline is valid? [True, True] Translation: X:423.04, Y:-56.68, Z:-28.16 [[ 9.96309966e-01 6.71344734e-02 5.34734929e-02 4.23037695e+02] [-6.68759710e-02 9.97739395e-01 -6.61098499e-03 -5.66823557e+01] [-5.37964355e-02 3.01049846e-03 9.98547385e-01 -2.81584291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.470714057 meters 0.03252145199910921 Centerline is valid? [True, True] Translation: X:423.07, Y:-56.69, Z:-28.16 [[ 9.96221044e-01 6.91360515e-02 5.25722158e-02 4.23066810e+02] [-6.88890752e-02 9.97603165e-01 -6.49767957e-03 -5.66860032e+01] [-5.28954328e-02 2.85147380e-03 9.98595986e-01 -2.81610292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.500714057 meters 0.03288600560733847 Centerline is valid? [True, True] Translation: X:423.09, Y:-56.69, Z:-28.16 [[ 9.96121875e-01 7.08307398e-02 5.21940328e-02 4.23094796e+02] [-7.05897143e-02 9.97484586e-01 -6.44925389e-03 -5.66905090e+01] [-5.25195486e-02 2.73988101e-03 9.98616138e-01 -2.81630586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.530714057 meters 0.030472320217325315 Centerline is valid? [True, True] Translation: X:423.12, Y:-56.69, Z:-28.16 [[ 9.96011197e-01 7.22170449e-02 5.24060419e-02 4.23123460e+02] [-7.19761666e-02 9.97385356e-01 -6.47168208e-03 -5.66902458e+01] [-5.27363846e-02 2.67388181e-03 9.98604889e-01 -2.81639533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.560714057 meters 0.03131001625504146 Centerline is valid? [True, True] Translation: X:423.15, Y:-56.70, Z:-28.17 [[ 9.95905125e-01 7.36069514e-02 5.24880890e-02 4.23150692e+02] [-7.33674409e-02 9.97283938e-01 -6.47804243e-03 -5.66952315e+01] [-5.28223570e-02 2.60059889e-03 9.98600539e-01 -2.81654957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.590714057 meters 0.030837271967216903 Centerline is valid? [True, True] Translation: X:423.18, Y:-56.70, Z:-28.17 [[ 9.95772761e-01 7.51534739e-02 5.28068462e-02 4.23179198e+02] [-7.49134724e-02 9.97168772e-01 -6.51245039e-03 -5.66976763e+01] [-5.31467712e-02 2.52897649e-03 9.98583509e-01 -2.81667370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.620714057 meters 0.03201999479027251 Centerline is valid? [True, True] Translation: X:423.21, Y:-56.70, Z:-28.17 [[ 9.95495926e-01 7.86508041e-02 5.29330940e-02 4.23207457e+02] [-7.84147873e-02 9.96899472e-01 -6.52415632e-03 -5.67024657e+01] [-5.32821036e-02 2.34403373e-03 9.98576749e-01 -2.81676926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.650714057 meters 0.028235297872239527 Centerline is valid? [True, True] Translation: X:423.24, Y:-56.70, Z:-28.17 [[ 9.95264624e-01 8.20726825e-02 5.20807399e-02 4.23237665e+02] [-8.18490325e-02 9.96624085e-01 -6.41629951e-03 -5.66983178e+01] [-5.24315227e-02 2.12315775e-03 9.98622265e-01 -2.81687243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.680714057 meters 0.02801097273566416 Centerline is valid? [True, True] Translation: X:423.27, Y:-56.70, Z:-28.17 [[ 9.95164350e-01 8.36616683e-02 5.14649491e-02 4.23265965e+02] [-8.34454847e-02 9.96492183e-01 -6.33881606e-03 -5.67012840e+01] [-5.18147354e-02 2.01364615e-03 9.98654684e-01 -2.81705091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.710714057 meters 0.026987575948090863 Centerline is valid? [True, True] Translation: X:423.30, Y:-56.70, Z:-28.17 [[ 9.95000745e-01 8.55757396e-02 5.14811611e-02 4.23295054e+02] [-8.53621728e-02 9.96329836e-01 -6.33701730e-03 -5.67033503e+01] [-5.18345117e-02 1.91079316e-03 9.98653860e-01 -2.81720732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.740714057 meters 0.026477257840114485 Centerline is valid? [True, True] Translation: X:423.33, Y:-56.71, Z:-28.17 [[ 9.94689330e-01 8.92592846e-02 5.12437077e-02 4.23325279e+02] [-8.90527177e-02 9.96006959e-01 -6.30478562e-03 -5.67058645e+01] [-5.16018502e-02 1.70791154e-03 9.98666277e-01 -2.81734611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.770714057 meters 0.026297832404168827 Centerline is valid? [True, True] Translation: X:423.35, Y:-56.71, Z:-28.17 [[ 9.94381415e-01 9.25905719e-02 5.13087490e-02 4.23353166e+02] [-9.23879367e-02 9.95703081e-01 -6.31218830e-03 -5.67094029e+01] [-5.16727286e-02 1.53641327e-03 9.98662890e-01 -2.81748635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.800714057 meters 0.025581138144548002 Centerline is valid? [True, True] Translation: X:423.38, Y:-56.71, Z:-28.18 [[ 9.94260015e-01 9.40631974e-02 5.09817359e-02 4.23381480e+02] [-9.38652582e-02 9.95565177e-01 -6.26833722e-03 -5.67121531e+01] [-5.13452608e-02 1.44694326e-03 9.98679914e-01 -2.81762453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.830714057 meters 0.02517019087249291 Centerline is valid? [True, True] Translation: X:423.41, Y:-56.71, Z:-28.18 [[ 9.94231023e-01 9.48832731e-02 5.00183723e-02 4.23410286e+02] [-9.46939627e-02 9.95487456e-01 -6.14639550e-03 -5.67146478e+01] [-5.03758523e-02 1.37449920e-03 9.98729385e-01 -2.81780178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.860714057 meters 0.025005941314991967 Centerline is valid? [True, True] Translation: X:423.44, Y:-56.72, Z:-28.18 [[ 9.94161370e-01 9.58571318e-02 4.95437207e-02 4.23437889e+02] [-9.56727810e-02 9.95394242e-01 -6.08460572e-03 -5.67200682e+01] [-4.98987871e-02 1.30909443e-03 9.98753422e-01 -2.81804085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.890714057 meters 0.025534333652842002 Centerline is valid? [True, True] Translation: X:423.47, Y:-56.73, Z:-28.18 [[ 9.94131072e-01 9.63619257e-02 4.91710390e-02 4.23465844e+02] [-9.61811852e-02 9.95345552e-01 -6.03423110e-03 -5.67270910e+01] [-4.95236450e-02 1.26948783e-03 9.98772145e-01 -2.81826697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.920714057 meters 0.025841493806104957 Centerline is valid? [True, True] Translation: X:423.49, Y:-56.74, Z:-28.18 [[ 9.94251085e-01 9.54604172e-02 4.84983421e-02 4.23492970e+02] [-9.52836803e-02 9.95432387e-01 -5.94841793e-03 -5.67357981e+01] [-4.88446589e-02 1.29312045e-03 9.98805550e-01 -2.81846426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.950714057 meters 0.025314359342670407 Centerline is valid? [True, True] Translation: X:423.52, Y:-56.74, Z:-28.19 [[ 9.94377938e-01 9.42849425e-02 4.81961193e-02 4.23521806e+02] [-9.41092370e-02 9.95544353e-01 -5.90697160e-03 -5.67392389e+01] [-4.85383129e-02 1.33806222e-03 9.98820425e-01 -2.81853847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.980714057 meters 0.02722161197810172 Centerline is valid? [True, True] Translation: X:423.55, Y:-56.75, Z:-28.19 [[ 9.94483326e-01 9.31857235e-02 4.81594748e-02 4.23548232e+02] [-9.30091633e-02 9.95647777e-01 -5.89907625e-03 -5.67502454e+01] [-4.84995837e-02 1.38726052e-03 9.98822239e-01 -2.81882436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.01071405700003 meters 0.026980649061918147 Centerline is valid? [True, True] Translation: X:423.58, Y:-56.76, Z:-28.19 [[ 9.94765913e-01 9.02263966e-02 4.79580589e-02 4.23577239e+02] [-9.00481150e-02 9.95920120e-01 -5.86946991e-03 -5.67571563e+01] [-4.82919770e-02 1.52021578e-03 9.98832105e-01 -2.81887072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.040714057 meters 0.02635635262062799 Centerline is valid? [True, True] Translation: X:423.61, Y:-56.76, Z:-28.19 [[ 9.94940888e-01 8.82354278e-02 4.80326871e-02 4.23605399e+02] [-8.80543387e-02 9.96098334e-01 -5.87726160e-03 -5.67614987e+01] [-4.83638623e-02 1.61804137e-03 9.98828473e-01 -2.81896183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.07071405700003 meters 0.02747899098642681 Centerline is valid? [True, True] Translation: X:423.63, Y:-56.77, Z:-28.19 [[ 9.95283901e-01 8.41124051e-02 4.83224586e-02 4.23632655e+02] [-8.39244448e-02 9.96454600e-01 -5.90913899e-03 -5.67719223e+01] [-4.86481681e-02 1.82583539e-03 9.98814308e-01 -2.81920808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.100714057 meters 0.02851186119834918 Centerline is valid? [True, True] Translation: X:423.66, Y:-56.78, Z:-28.19 [[ 9.95482743e-01 8.18310260e-02 4.81434507e-02 4.23660280e+02] [-8.16419667e-02 9.96644356e-01 -5.88369291e-03 -5.67788328e+01] [-4.84633670e-02 1.92658875e-03 9.98823103e-01 -2.81939416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.130714057 meters 0.031244452442539632 Centerline is valid? [True, True] Translation: X:423.69, Y:-56.79, Z:-28.20 [[ 9.95876696e-01 7.72454594e-02 4.75683209e-02 4.23688324e+02] [-7.70558459e-02 9.97009851e-01 -5.80980802e-03 -5.67909301e+01] [-4.78748658e-02 2.12043521e-03 9.98851090e-01 -2.81971353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.160714057 meters 0.030517086006853683 Centerline is valid? [True, True] Translation: X:423.72, Y:-56.79, Z:-28.20 [[ 9.96078601e-01 7.47994403e-02 4.72489539e-02 4.23717485e+02] [-7.46096526e-02 9.97196122e-01 -5.77014624e-03 -5.67947568e+01] [-4.75480773e-02 2.22229116e-03 9.98866478e-01 -2.81985121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.190714057 meters 0.03388987882416348 Centerline is valid? [True, True] Translation: X:423.75, Y:-56.81, Z:-28.20 [[ 9.96408782e-01 7.06053213e-02 4.67378519e-02 4.23745202e+02] [-7.04151086e-02 9.97501457e-01 -5.70582902e-03 -5.68073466e+01] [-4.70239372e-02 2.39428722e-03 9.98890893e-01 -2.82015325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.220714057 meters 0.03274152277649367 Centerline is valid? [True, True] Translation: X:423.77, Y:-56.81, Z:-28.20 [[ 9.96600893e-01 6.82225765e-02 4.61772591e-02 4.23774681e+02] [-6.80343706e-02 9.97667053e-01 -5.63702584e-03 -5.68095560e+01] [-4.64541024e-02 2.47622424e-03 9.98917356e-01 -2.82023011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.250714057 meters 0.03287177743717974 Centerline is valid? [True, True] Translation: X:423.80, Y:-56.81, Z:-28.20 [[ 9.96739813e-01 6.63395727e-02 4.59217452e-02 4.23803637e+02] [-6.61515198e-02 9.97793850e-01 -5.60440631e-03 -5.68142307e+01] [-4.61922289e-02 2.54834166e-03 9.98929319e-01 -2.82040348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.280714057 meters 0.035133247655300744 Centerline is valid? [True, True] Translation: X:423.83, Y:-56.82, Z:-28.21 [[ 9.97057446e-01 6.22965083e-02 4.46720818e-02 4.23832472e+02] [-6.21146348e-02 9.98054146e-01 -5.44924727e-03 -5.68210958e+01] [-4.49246255e-02 2.65842252e-03 9.98986842e-01 -2.82054538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.310714057 meters 0.03700458252705222 Centerline is valid? [True, True] Translation: X:423.86, Y:-56.83, Z:-28.21 [[ 9.97136191e-01 6.06654314e-02 4.51566406e-02 4.23860743e+02] [-6.04779845e-02 9.98154340e-01 -5.50697672e-03 -5.68278850e+01] [-4.54073799e-02 2.76022317e-03 9.98964740e-01 -2.82071659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.340714057 meters 0.03732443555451168 Centerline is valid? [True, True] Translation: X:423.89, Y:-56.83, Z:-28.21 [[ 9.97378583e-01 5.71290635e-02 4.44098299e-02 4.23890620e+02] [-5.69443659e-02 9.98362674e-01 -5.41397419e-03 -5.68313335e+01] [-4.46464118e-02 2.87089230e-03 9.98998727e-01 -2.82081263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.370714057 meters 0.03732443555451168 Centerline is valid? [True, True] Translation: X:423.92, Y:-56.83, Z:-28.21 [[ 9.97378582e-01 5.71290418e-02 4.44098758e-02 4.23920414e+02] [-5.69443608e-02 9.98362676e-01 -5.41359787e-03 -5.68349656e+01] [-4.46464361e-02 2.87051457e-03 9.98998727e-01 -2.82098658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.400714057 meters 0.03880585389596248 Centerline is valid? [True, True] Translation: X:423.95, Y:-56.84, Z:-28.21 [[ 9.97482753e-01 5.54768507e-02 4.41642084e-02 4.23949797e+02] [-5.52926494e-02 9.98455683e-01 -5.38247526e-03 -5.68402627e+01] [-4.43946076e-02 2.92697015e-03 9.99009786e-01 -2.82115488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.430714057 meters 0.038118200234422486 Centerline is valid? [True, True] Translation: X:423.98, Y:-56.84, Z:-28.21 [[ 9.97617205e-01 5.29127509e-02 4.42736096e-02 4.23980951e+02] [-5.27249073e-02 9.98594471e-01 -5.40063805e-03 -5.68403508e+01] [-4.44971443e-02 3.05344748e-03 9.99004845e-01 -2.82116420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.460714057 meters 0.03949751549751574 Centerline is valid? [True, True] Translation: X:424.01, Y:-56.84, Z:-28.21 [[ 9.97629989e-01 5.21773542e-02 4.48545214e-02 4.24010961e+02] [-5.19837606e-02 9.98632936e-01 -5.47248844e-03 -5.68446647e+01] [-4.50787423e-02 3.12781188e-03 9.98978540e-01 -2.82131724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.490714057 meters 0.03972354170625283 Centerline is valid? [True, True] Translation: X:424.04, Y:-56.85, Z:-28.21 [[ 9.97614788e-01 5.12271449e-02 4.62656860e-02 4.24042716e+02] [-5.10201198e-02 9.98681670e-01 -5.64532107e-03 -5.68460382e+01] [-4.64938862e-02 3.27137494e-03 9.98913218e-01 -2.82136950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.520714057 meters 0.04058524307304546 Centerline is valid? [True, True] Translation: X:424.07, Y:-56.85, Z:-28.22 [[ 9.97576206e-01 5.11470559e-02 4.71772404e-02 4.24073724e+02] [-5.09317083e-02 9.98685549e-01 -5.75627837e-03 -5.68500727e+01] [-4.74096449e-02 3.33950889e-03 9.98869948e-01 -2.82150873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.550714057 meters 0.0445409780868053 Centerline is valid? [True, True] Translation: X:424.10, Y:-56.86, Z:-28.22 [[ 9.97527431e-01 5.04334845e-02 4.89437308e-02 4.24104644e+02] [-5.02002550e-02 9.98721248e-01 -5.98363003e-03 -5.68569395e+01] [-4.91829192e-02 3.51184732e-03 9.98783614e-01 -2.82159281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.580714057 meters 0.042370406479931746 Centerline is valid? [True, True] Translation: X:424.14, Y:-56.86, Z:-28.22 [[ 9.97556039e-01 4.96755521e-02 4.91354187e-02 4.24137027e+02] [-4.94390246e-02 9.98759012e-01 -6.01822227e-03 -5.68557048e+01] [-4.93734008e-02 3.57430679e-03 9.98773994e-01 -2.82170306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.610714057 meters 0.047789630198678885 Centerline is valid? [True, True] Translation: X:424.17, Y:-56.86, Z:-28.22 [[ 9.97695681e-01 4.64671931e-02 4.94381277e-02 4.24165753e+02] [-4.62231155e-02 9.98912701e-01 -6.06954125e-03 -5.68633237e+01] [-4.96664083e-02 3.77037080e-03 9.98758746e-01 -2.82187571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.640714057 meters 0.04737566789273913 Centerline is valid? [True, True] Translation: X:424.20, Y:-56.86, Z:-28.22 [[ 9.97799700e-01 4.42121532e-02 4.94069332e-02 4.24196527e+02] [-4.39656905e-02 9.99014634e-01 -6.06463965e-03 -5.68646750e+01] [-4.96263800e-02 3.87908569e-03 9.98760319e-01 -2.82207292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.670714057 meters 0.04691559790039487 Centerline is valid? [True, True] Translation: X:424.23, Y:-56.87, Z:-28.22 [[ 9.97905930e-01 4.20920685e-02 4.91122462e-02 4.24227187e+02] [-4.18458985e-02 9.99105878e-01 -6.03032352e-03 -5.68661472e+01] [-4.93221627e-02 3.96254953e-03 9.98775061e-01 -2.82229001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.700714057 meters 0.05077704259019065 Centerline is valid? [True, True] Translation: X:424.26, Y:-56.87, Z:-28.23 [[ 9.97994478e-01 4.01751966e-02 4.89180480e-02 4.24256452e+02] [-3.99285708e-02 9.99184469e-01 -6.00880971e-03 -5.68734941e+01] [-4.91195589e-02 4.04353117e-03 9.98784721e-01 -2.82263299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.730714057 meters 0.05126394292775087 Centerline is valid? [True, True] Translation: X:424.29, Y:-56.87, Z:-28.23 [[ 9.98239053e-01 3.63872603e-02 4.68482746e-02 4.24287347e+02] [-3.61569562e-02 9.99329557e-01 -5.75429976e-03 -5.68748291e+01] [-4.70262487e-02 4.05027573e-03 9.98885442e-01 -2.82307833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.76071405700003 meters 0.05382036583172469 Centerline is valid? [True, True] Translation: X:424.32, Y:-56.88, Z:-28.23 [[ 9.98378903e-01 3.38805238e-02 4.57348508e-02 4.24318172e+02] [-3.36583775e-02 9.99417601e-01 -5.61886233e-03 -5.68775408e+01] [-4.58985849e-02 4.07039273e-03 9.98937812e-01 -2.82336772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.790714057 meters 0.05677349048919791 Centerline is valid? [True, True] Translation: X:424.35, Y:-56.88, Z:-28.24 [[ 9.98413025e-01 3.36368520e-02 4.51662977e-02 4.24348842e+02] [-3.34199979e-02 9.99425997e-01 -5.54801146e-03 -5.68825674e+01] [-4.53269897e-02 4.02974933e-03 9.98964076e-01 -2.82360794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.82071405700003 meters 0.045236836360918124 Centerline is valid? [True, True] Translation: X:424.38, Y:-56.87, Z:-28.24 [[ 9.98427262e-01 3.34043973e-02 4.50238725e-02 4.24382976e+02] [-3.31884806e-02 9.99433785e-01 -5.53482792e-03 -5.68656649e+01] [-4.51832669e-02 4.03184916e-03 9.98970578e-01 -2.82353629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.850714057 meters 0.04591972610125432 Centerline is valid? [True, True] Translation: X:424.42, Y:-56.87, Z:-28.24 [[ 9.98387940e-01 3.39458702e-02 4.54884505e-02 4.24415474e+02] [-3.37255342e-02 9.99415428e-01 -5.60273714e-03 -5.68687532e+01] [-4.56520491e-02 4.05958290e-03 9.98949153e-01 -2.82372994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.880714057 meters 0.048684688085823595 Centerline is valid? [True, True] Translation: X:424.45, Y:-56.87, Z:-28.24 [[ 9.98358785e-01 3.43953205e-02 4.57897098e-02 4.24445747e+02] [-3.41719224e-02 9.99399982e-01 -5.65288018e-03 -5.68746533e+01] [-4.59566678e-02 4.07888018e-03 9.98935107e-01 -2.82398536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.910714057 meters 0.05005735160487047 Centerline is valid? [True, True] Translation: X:424.48, Y:-56.88, Z:-28.24 [[ 9.98318912e-01 3.55432145e-02 4.57824253e-02 4.24476712e+02] [-3.53208238e-02 9.99360010e-01 -5.65764801e-03 -5.68770431e+01] [-4.59542160e-02 4.03106403e-03 9.98935414e-01 -2.82421581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.940714057 meters 0.04784065551605327 Centerline is valid? [True, True] Translation: X:424.51, Y:-56.87, Z:-28.24 [[ 9.98245713e-01 3.67746666e-02 4.64017328e-02 4.24509099e+02] [-3.65469380e-02 9.99315413e-01 -5.74691825e-03 -5.68736308e+01] [-4.65813078e-02 4.04099525e-03 9.98906328e-01 -2.82426142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.970714057 meters 0.04687260526710417 Centerline is valid? [True, True] Translation: X:424.54, Y:-56.87, Z:-28.24 [[ 9.98163416e-01 3.74846730e-02 4.75888044e-02 4.24541826e+02] [-3.72458236e-02 9.99288739e-01 -5.89619962e-03 -5.68742823e+01] [-4.77759735e-02 4.11288654e-03 9.98849609e-01 -2.82436858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.000714057 meters 0.04571312928922746 Centerline is valid? [True, True] Translation: X:424.57, Y:-56.87, Z:-28.24 [[ 9.98123248e-01 3.82150379e-02 4.78496800e-02 4.24574511e+02] [-3.79742606e-02 9.99261115e-01 -5.93126373e-03 -5.68748687e+01] [-4.80409881e-02 4.10307600e-03 9.98836938e-01 -2.82447194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.030714057 meters 0.04467291084863149 Centerline is valid? [True, True] Translation: X:424.61, Y:-56.88, Z:-28.25 [[ 9.98020249e-01 3.91234984e-02 4.92436257e-02 4.24606839e+02] [-3.88689342e-02 9.99225595e-01 -6.11688620e-03 -5.68756691e+01] [-4.94448052e-02 4.19072904e-03 9.98768066e-01 -2.82459777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.060714057 meters 0.06777134162773038 Centerline is valid? [True, True] Translation: X:424.63, Y:-56.91, Z:-28.25 [[ 9.97870818e-01 4.16217714e-02 5.02141228e-02 4.24632538e+02] [-4.13594525e-02 9.99124769e-01 -6.25226501e-03 -5.69106635e+01] [-5.04304042e-02 4.16212417e-03 9.98718905e-01 -2.82503812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.090714057 meters 0.043040283997150416 Centerline is valid? [True, True] Translation: X:424.67, Y:-56.88, Z:-28.25 [[ 9.97954257e-01 4.05549098e-02 4.94226747e-02 4.24668752e+02] [-4.02995565e-02 9.99168700e-01 -6.15269102e-03 -5.68784051e+01] [-4.96311115e-02 4.14839232e-03 9.98759002e-01 -2.82510784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.120714057 meters 0.04619737024211214 Centerline is valid? [True, True] Translation: X:424.70, Y:-56.89, Z:-28.25 [[ 9.97914858e-01 4.18724862e-02 4.91185396e-02 4.24699472e+02] [-4.16215865e-02 9.99114701e-01 -6.12023335e-03 -5.68853790e+01] [-4.93313244e-02 4.06308025e-03 9.98774205e-01 -2.82539414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.150714057 meters 0.04295630285628937 Centerline is valid? [True, True] Translation: X:424.73, Y:-56.88, Z:-28.26 [[ 9.97835810e-01 4.41938210e-02 4.86888355e-02 4.24730449e+02] [-4.39493845e-02 9.99015257e-01 -6.08007472e-03 -5.68811263e+01] [-4.89095912e-02 3.92707193e-03 9.98795490e-01 -2.82562529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.180714057 meters 0.043363815169094426 Centerline is valid? [True, True] Translation: X:424.76, Y:-56.88, Z:-28.26 [[ 9.97779918e-01 4.53713154e-02 4.87512017e-02 4.24760297e+02] [-4.51276549e-02 9.98962679e-01 -6.08770745e-03 -5.68843376e+01] [-4.89768383e-02 3.87416484e-03 9.98792401e-01 -2.82583232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.210714057 meters 0.04297465324309468 Centerline is valid? [True, True] Translation: X:424.79, Y:-56.89, Z:-28.26 [[ 9.97714872e-01 4.66267587e-02 4.88976500e-02 4.24792365e+02] [-4.63831819e-02 9.98905066e-01 -6.10489808e-03 -5.68864550e+01] [-4.91287619e-02 3.82291901e-03 9.98785137e-01 -2.82604886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.240714057 meters 0.040514207284718995 Centerline is valid? [True, True] Translation: X:424.82, Y:-56.88, Z:-28.26 [[ 9.97590308e-01 4.84449684e-02 4.96655052e-02 4.24824144e+02] [-4.81951959e-02 9.98818600e-01 -6.21508172e-03 -5.68842863e+01] [-4.99079198e-02 3.80646654e-03 9.98746570e-01 -2.82619053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.270714057 meters 0.041400728386321084 Centerline is valid? [True, True] Translation: X:424.86, Y:-56.89, Z:-28.26 [[ 9.97533689e-01 4.91832738e-02 5.00753986e-02 4.24855262e+02] [-4.89302277e-02 9.98782535e-01 -6.26743472e-03 -5.68881927e+01] [-5.03226865e-02 3.80177662e-03 9.98725775e-01 -2.82638529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.300714057 meters 0.04041242307056407 Centerline is valid? [True, True] Translation: X:424.89, Y:-56.89, Z:-28.27 [[ 9.97359927e-01 5.05174079e-02 5.21648134e-02 4.24886695e+02] [-5.02441440e-02 9.98715569e-01 -6.53747101e-03 -5.68895226e+01] [-5.24280674e-02 3.89923521e-03 9.98617091e-01 -2.82653461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.330714057 meters 0.04185666906829999 Centerline is valid? [True, True] Translation: X:424.92, Y:-56.89, Z:-28.27 [[ 9.97298255e-01 5.11503993e-02 5.27240722e-02 4.24917270e+02] [-5.08720398e-02 9.98683311e-01 -6.60900477e-03 -5.68947778e+01] [-5.29927043e-02 3.90896782e-03 9.98587249e-01 -2.82672889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.360714057 meters 0.03972940496002595 Centerline is valid? [True, True] Translation: X:424.95, Y:-56.89, Z:-28.27 [[ 9.97240190e-01 5.15339773e-02 5.34439256e-02 4.24948648e+02] [-5.12480573e-02 9.98663430e-01 -6.70751871e-03 -5.68934199e+01] [-5.37181591e-02 3.95010987e-03 9.98548324e-01 -2.82691984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.390714057 meters 0.03945490663638133 Centerline is valid? [True, True] Translation: X:424.98, Y:-56.90, Z:-28.27 [[ 9.97234478e-01 5.15894960e-02 5.34969108e-02 4.24979629e+02] [-5.13029818e-02 9.98660552e-01 -6.71612979e-03 -5.68966506e+01] [-5.37717362e-02 3.95300514e-03 9.98545429e-01 -2.82718839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.420714057 meters 0.04426047897970449 Centerline is valid? [True, True] Translation: X:425.01, Y:-56.91, Z:-28.28 [[ 9.97323152e-01 5.09131863e-02 5.24821606e-02 4.25009410e+02] [-5.06364465e-02 9.98695409e-01 -6.59014306e-03 -5.69063181e+01] [-5.27492181e-02 3.91499213e-03 9.98600117e-01 -2.82759013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.450714057 meters 0.042214920602395414 Centerline is valid? [True, True] Translation: X:425.04, Y:-56.91, Z:-28.28 [[ 9.97396039e-01 4.99356605e-02 5.20343297e-02 4.25041113e+02] [-4.96619204e-02 9.98744665e-01 -6.54129293e-03 -5.69064978e+01] [-5.22956530e-02 3.94013491e-03 9.98623873e-01 -2.82786142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.480714057 meters 0.04171299461357166 Centerline is valid? [True, True] Translation: X:425.07, Y:-56.91, Z:-28.28 [[ 9.97533350e-01 4.79365949e-02 5.12766894e-02 4.25072075e+02] [-4.76680649e-02 9.98842421e-01 -6.44776465e-03 -5.69078462e+01] [-5.15264165e-02 3.98759971e-03 9.98663671e-01 -2.82818761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.51071405700003 meters 0.04692859228430462 Centerline is valid? [True, True] Translation: X:425.10, Y:-56.92, Z:-28.28 [[ 9.97575608e-01 4.71673769e-02 5.11678168e-02 4.25101568e+02] [-4.68988759e-02 9.98878907e-01 -6.43614140e-03 -5.69187318e+01] [-5.14140288e-02 4.02082458e-03 9.98669330e-01 -2.82847197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.540714057 meters 0.04398948623838409 Centerline is valid? [True, True] Translation: X:425.13, Y:-56.92, Z:-28.29 [[ 9.97625045e-01 4.53053735e-02 5.18815346e-02 4.25133477e+02] [-4.50264468e-02 9.98964433e-01 -6.53307008e-03 -5.69165694e+01] [-5.21237910e-02 4.18151317e-03 9.98631877e-01 -2.82863756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.57071405700003 meters 0.04440454123468042 Centerline is valid? [True, True] Translation: X:425.17, Y:-56.92, Z:-28.29 [[ 9.97631528e-01 4.51599210e-02 5.18836717e-02 4.25165558e+02] [-4.48807406e-02 9.98970983e-01 -6.53401834e-03 -5.69202427e+01] [-5.21253583e-02 4.18996509e-03 9.98631760e-01 -2.82881937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.600714057 meters 0.04540735332279302 Centerline is valid? [True, True] Translation: X:425.20, Y:-56.92, Z:-28.29 [[ 9.97661339e-01 4.48272797e-02 5.15981314e-02 4.25197199e+02] [-4.45500576e-02 9.98985936e-01 -6.51093044e-03 -5.69242654e+01] [-5.18376749e-02 4.19700386e-03 9.98646705e-01 -2.82903532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.630714057 meters 0.04652011005022018 Centerline is valid? [True, True] Translation: X:425.23, Y:-56.93, Z:-28.29 [[ 9.97680480e-01 4.43318880e-02 5.16560194e-02 4.25228290e+02] [-4.40527077e-02 9.99007859e-01 -6.53124121e-03 -5.69277950e+01] [-5.18943116e-02 4.24050434e-03 9.98643579e-01 -2.82934681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.660714057 meters 0.04649492794725797 Centerline is valid? [True, True] Translation: X:425.26, Y:-56.93, Z:-28.30 [[ 9.97688794e-01 4.43995771e-02 5.14368365e-02 4.25260082e+02] [-4.41222489e-02 9.99004895e-01 -6.51520440e-03 -5.69298809e+01] [-5.16749237e-02 4.23063751e-03 9.98654997e-01 -2.82953053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.690714057 meters 0.047511660646883135 Centerline is valid? [True, True] Translation: X:425.29, Y:-56.93, Z:-28.30 [[ 9.97650112e-01 4.45329754e-02 5.20679223e-02 4.25291767e+02] [-4.42482922e-02 9.98998709e-01 -6.60812400e-03 -5.69319851e+01] [-5.23100666e-02 4.28867901e-03 9.98621682e-01 -2.82966538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.720714057 meters 0.049610005144390595 Centerline is valid? [True, True] Translation: X:425.32, Y:-56.94, Z:-28.30 [[ 9.97601989e-01 4.49325207e-02 5.26435101e-02 4.25322435e+02] [-4.46412973e-02 9.98980643e-01 -6.69544020e-03 -5.69369032e+01] [-5.28906906e-02 4.32930988e-03 9.98590923e-01 -2.82982688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.750714057 meters 0.04485582701010153 Centerline is valid? [True, True] Translation: X:425.36, Y:-56.93, Z:-28.30 [[ 9.97601696e-01 4.52340852e-02 5.23901988e-02 4.25356699e+02] [-4.49454694e-02 9.98967143e-01 -6.67468937e-03 -5.69305616e+01] [-5.26380107e-02 4.30397936e-03 9.98604384e-01 -2.82997501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.780714057 meters 0.05104273652933104 Centerline is valid? [True, True] Translation: X:425.39, Y:-56.94, Z:-28.30 [[ 9.97635397e-01 4.48946236e-02 5.20392837e-02 4.25386258e+02] [-4.46085820e-02 9.98982436e-01 -6.64575003e-03 -5.69413308e+01] [-5.22846888e-02 4.30863682e-03 9.98622925e-01 -2.83019750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.810714057 meters 0.0464717283285597 Centerline is valid? [True, True] Translation: X:425.42, Y:-56.94, Z:-28.30 [[ 9.97625627e-01 4.48862144e-02 5.22334727e-02 4.25419148e+02] [-4.45977080e-02 9.98982717e-01 -6.67648468e-03 -5.69378306e+01] [-5.24800186e-02 4.33113905e-03 9.98612582e-01 -2.83034346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.840714057 meters 0.053214549063594574 Centerline is valid? [True, True] Translation: X:425.45, Y:-56.95, Z:-28.31 [[ 9.97670575e-01 4.42890643e-02 5.18835574e-02 4.25448905e+02] [-4.40029372e-02 9.99009304e-01 -6.64471844e-03 -5.69491088e+01] [-5.21264449e-02 4.34621115e-03 9.98631035e-01 -2.83064301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.870714057 meters 0.0476349444345798 Centerline is valid? [True, True] Translation: X:425.48, Y:-56.94, Z:-28.31 [[ 9.97769329e-01 4.34133189e-02 5.07114317e-02 4.25481553e+02] [-4.31382877e-02 9.99047927e-01 -6.50594799e-03 -5.69435990e+01] [-5.09455955e-02 4.30383103e-03 9.98692156e-01 -2.83085539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.900714057 meters 0.049954029812684396 Centerline is valid? [True, True] Translation: X:425.51, Y:-56.95, Z:-28.31 [[ 9.97795771e-01 4.31600476e-02 5.04064480e-02 4.25511941e+02] [-4.28874075e-02 9.99058907e-01 -6.47845934e-03 -5.69498763e+01] [-5.06386215e-02 4.30237746e-03 9.98707775e-01 -2.83108846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.930714057 meters 0.05096233944294081 Centerline is valid? [True, True] Translation: X:425.54, Y:-56.95, Z:-28.31 [[ 9.97793404e-01 4.35392881e-02 5.01263718e-02 4.25544547e+02] [-4.32695877e-02 9.99042589e-01 -6.45356728e-03 -5.69544228e+01] [-5.03593640e-02 4.27037942e-03 9.98722033e-01 -2.83127598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.960714057 meters 0.05260609811357667 Centerline is valid? [True, True] Translation: X:425.58, Y:-56.96, Z:-28.31 [[ 9.97772897e-01 4.49520408e-02 4.92804307e-02 4.25575353e+02] [-4.46923228e-02 9.98980553e-01 -6.36005344e-03 -5.69577309e+01] [-4.95160893e-02 4.14343202e-03 9.98764731e-01 -2.83142862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.990714057 meters 0.0517280723616852 Centerline is valid? [True, True] Translation: X:425.61, Y:-56.96, Z:-28.32 [[ 9.97734629e-01 4.58969186e-02 4.91841694e-02 4.25607155e+02] [-4.56392773e-02 9.98937808e-01 -6.34919518e-03 -5.69591339e+01] [-4.94233348e-02 4.09008195e-03 9.98769546e-01 -2.83156206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.020714057 meters 0.05153675135069743 Centerline is valid? [True, True] Translation: X:425.64, Y:-56.96, Z:-28.32 [[ 9.97588294e-01 4.86322370e-02 4.95227295e-02 4.25637144e+02] [-4.83742284e-02 9.98808804e-01 -6.39590118e-03 -5.69600502e+01] [-4.97747852e-02 3.98485232e-03 9.98752518e-01 -2.83172718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.050714057 meters 0.05032705792352708 Centerline is valid? [True, True] Translation: X:425.67, Y:-56.96, Z:-28.32 [[ 9.97490827e-01 5.01036111e-02 5.00167816e-02 4.25668251e+02] [-4.98422680e-02 9.98736213e-01 -6.45954484e-03 -5.69609655e+01] [-5.02772176e-02 3.95038689e-03 9.98727488e-01 -2.83189257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.080714057 meters 0.042756055495181605 Centerline is valid? [True, True] Translation: X:425.70, Y:-56.95, Z:-28.32 [[ 9.97287105e-01 5.31958015e-02 5.08786584e-02 4.25699990e+02] [-5.29293065e-02 9.98576636e-01 -6.57190540e-03 -5.69510033e+01] [-5.11558374e-02 3.86110440e-03 9.98683219e-01 -2.83195501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.110714057 meters 0.048923741008908374 Centerline is valid? [True, True] Translation: X:425.73, Y:-56.96, Z:-28.32 [[ 9.97176318e-01 5.47930231e-02 5.13528473e-02 4.25727944e+02] [-5.45236544e-02 9.98490449e-01 -6.63280309e-03 -5.69627928e+01] [-5.16387589e-02 3.81412926e-03 9.98658546e-01 -2.83212699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.140714057 meters 0.04062802592617053 Centerline is valid? [True, True] Translation: X:425.76, Y:-56.95, Z:-28.32 [[ 9.97096207e-01 5.62524592e-02 5.13304433e-02 4.25759161e+02] [-5.59853423e-02 9.98409590e-01 -6.62807954e-03 -5.69522799e+01] [-5.16216526e-02 3.73508053e-03 9.98659729e-01 -2.83220626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.170714057 meters 0.04206799649556821 Centerline is valid? [True, True] Translation: X:425.79, Y:-56.96, Z:-28.32 [[ 9.97079650e-01 5.68682407e-02 5.09723007e-02 4.25786965e+02] [-5.66057247e-02 9.98374926e-01 -6.58022997e-03 -5.69575970e+01] [-5.12636731e-02 3.67568937e-03 9.98678389e-01 -2.83244639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.200714057 meters 0.04220529212714214 Centerline is valid? [True, True] Translation: X:425.82, Y:-56.96, Z:-28.33 [[ 9.97088539e-01 5.71864531e-02 5.04396193e-02 4.25815465e+02] [-5.69299892e-02 9.98356962e-01 -6.50785748e-03 -5.69612794e+01] [-5.07289064e-02 3.61738313e-03 9.98705909e-01 -2.83268166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.230714057 meters 0.04220529212714214 Centerline is valid? [True, True] Translation: X:425.84, Y:-56.96, Z:-28.33 [[ 9.97092533e-01 5.71163760e-02 5.04400720e-02 4.25843567e+02] [-5.68599996e-02 9.98360974e-01 -6.50434694e-03 -5.69648398e+01] [-5.07289041e-02 3.61741329e-03 9.98705909e-01 -2.83284597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.26071405700003 meters 0.04181435797012667 Centerline is valid? [True, True] Translation: X:425.87, Y:-56.97, Z:-28.33 [[ 9.97129942e-01 5.75555423e-02 4.91857435e-02 4.25872099e+02] [-5.73124718e-02 9.98336163e-01 -6.33918609e-03 -5.69677279e+01] [-4.94687618e-02 3.50203573e-03 9.98769532e-01 -2.83310862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.290714057 meters 0.04189639580970853 Centerline is valid? [True, True] Translation: X:425.90, Y:-56.97, Z:-28.33 [[ 9.97080228e-01 5.87013944e-02 4.88381518e-02 4.25899647e+02] [-5.84632819e-02 9.98269737e-01 -6.29104694e-03 -5.69701692e+01] [-4.91229421e-02 3.41743988e-03 9.98786893e-01 -2.83331682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.32071405700003 meters 0.04308410530519489 Centerline is valid? [True, True] Translation: X:425.93, Y:-56.97, Z:-28.34 [[ 9.97038848e-01 5.97232109e-02 4.84424816e-02 4.25927256e+02] [-5.94903320e-02 9.98209402e-01 -6.23623132e-03 -5.69742331e+01] [-4.87281884e-02 3.33590558e-03 9.98806505e-01 -2.83352983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.350714057 meters 0.03946708993774449 Centerline is valid? [True, True] Translation: X:425.96, Y:-56.97, Z:-28.34 [[ 9.96966642e-01 6.11838393e-02 4.81046087e-02 4.25957077e+02] [-6.09561061e-02 9.98121264e-01 -6.18832044e-03 -5.69715009e+01] [-4.83928580e-02 3.23727942e-03 9.98823133e-01 -2.83367480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.380714057 meters 0.03924866835852469 Centerline is valid? [True, True] Translation: X:425.99, Y:-56.97, Z:-28.34 [[ 9.96872420e-01 6.28816809e-02 4.78672462e-02 4.25986259e+02] [-6.26582620e-02 9.98016060e-01 -6.15523422e-03 -5.69739334e+01] [-4.81593319e-02 3.13670477e-03 9.98834741e-01 -2.83391005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.410714057 meters 0.03847821772964464 Centerline is valid? [True, True] Translation: X:426.02, Y:-56.97, Z:-28.34 [[ 9.96689158e-01 6.66114490e-02 4.66222785e-02 4.26015074e+02] [-6.64036858e-02 9.97774843e-01 -5.99272124e-03 -5.69743223e+01] [-4.69177205e-02 2.87698916e-03 9.98894614e-01 -2.83422419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.440714057 meters 0.03359460355538647 Centerline is valid? [True, True] Translation: X:426.05, Y:-56.97, Z:-28.35 [[ 9.96425280e-01 7.16791475e-02 4.47075158e-02 4.26046637e+02] [-7.14933015e-02 9.97424540e-01 -5.74417427e-03 -5.69702328e+01] [-4.50041109e-02 2.52735255e-03 9.98983605e-01 -2.83453642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.470714057 meters 0.03395972668847585 Centerline is valid? [True, True] Translation: X:426.07, Y:-56.97, Z:-28.35 [[ 9.96272206e-01 7.31402025e-02 4.57405947e-02 4.26074727e+02] [-7.29471654e-02 9.97318487e-01 -5.87755196e-03 -5.69733545e+01] [-4.60478261e-02 2.51899493e-03 9.98936060e-01 -2.83462827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.500714057 meters 0.03872696531606172 Centerline is valid? [True, True] Translation: X:426.10, Y:-56.98, Z:-28.35 [[ 9.96179397e-01 7.36765685e-02 4.68868010e-02 4.26101268e+02] [-7.34744746e-02 9.97278919e-01 -6.02154233e-03 -5.69836472e+01] [-4.72028648e-02 2.55355334e-03 9.98882060e-01 -2.83477854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.530714057 meters 0.03318710026791834 Centerline is valid? [True, True] Translation: X:426.13, Y:-56.98, Z:-28.35 [[ 9.96032463e-01 7.43971332e-02 4.88303175e-02 4.26131247e+02] [-7.41790145e-02 9.97225253e-01 -6.26646484e-03 -5.69775908e+01] [-4.91610328e-02 2.61941758e-03 9.98787431e-01 -2.83456103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.560714057 meters 0.032451003803151836 Centerline is valid? [True, True] Translation: X:426.16, Y:-56.98, Z:-28.35 [[ 9.95931697e-01 7.67461917e-02 4.72236878e-02 4.26159338e+02] [-7.65449890e-02 9.97047731e-01 -6.05703382e-03 -5.69820375e+01] [-4.75491250e-02 2.41765531e-03 9.98865975e-01 -2.83504517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.590714057 meters 0.03283339166548023 Centerline is valid? [True, True] Translation: X:426.19, Y:-56.99, Z:-28.35 [[ 9.95857160e-01 7.79809427e-02 4.67706102e-02 4.26186465e+02] [-7.77850696e-02 9.96952119e-01 -5.99623675e-03 -5.69892287e+01] [-4.70956512e-02 2.33334013e-03 9.98887659e-01 -2.83542788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.620714057 meters 0.03209109397443867 Centerline is valid? [True, True] Translation: X:426.22, Y:-56.99, Z:-28.36 [[ 9.95798595e-01 7.87028242e-02 4.68083740e-02 4.26215276e+02] [-7.85077435e-02 9.96895482e-01 -5.99442320e-03 -5.69924339e+01] [-4.71348346e-02 2.29441839e-03 9.98885901e-01 -2.83553185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.650714057 meters 0.03299282717128468 Centerline is valid? [True, True] Translation: X:426.24, Y:-57.00, Z:-28.36 [[ 9.95731181e-01 7.96060785e-02 4.67149698e-02 4.26242578e+02] [-7.94129141e-02 9.96823874e-01 -5.97934517e-03 -5.69965221e+01] [-4.70425894e-02 2.24404854e-03 9.98890364e-01 -2.83551620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.680714057 meters 0.032502545553512154 Centerline is valid? [True, True] Translation: X:426.27, Y:-57.00, Z:-28.36 [[ 9.95726286e-01 7.97597418e-02 4.65569118e-02 4.26271391e+02] [-7.95682507e-02 9.96811634e-01 -5.95485577e-03 -5.69994855e+01] [-4.68834290e-02 2.22495440e-03 9.98897890e-01 -2.83562763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.710714057 meters 0.031602894454065826 Centerline is valid? [True, True] Translation: X:426.30, Y:-57.00, Z:-28.36 [[ 9.95859206e-01 7.87339527e-02 4.54467431e-02 4.26299284e+02] [-7.85505573e-02 9.96893201e-01 -5.81002068e-03 -5.70039197e+01] [-4.57629951e-02 2.21609558e-03 9.98949867e-01 -2.83578203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.740714057 meters 0.034632912672736715 Centerline is valid? [True, True] Translation: X:426.33, Y:-57.01, Z:-28.36 [[ 9.95914356e-01 7.80979956e-02 4.53353916e-02 4.26326058e+02] [-7.79150260e-02 9.96943180e-01 -5.79174505e-03 -5.70149520e+01] [-4.56491331e-02 2.23577383e-03 9.98955033e-01 -2.83622970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.770714057 meters 0.0333026934138076 Centerline is valid? [True, True] Translation: X:426.35, Y:-57.02, Z:-28.36 [[ 9.96117286e-01 7.57400697e-02 4.48753153e-02 4.26354780e+02] [-7.55586095e-02 9.97124907e-01 -5.72860283e-03 -5.70206528e+01] [-4.51801794e-02 2.31564388e-03 9.98976170e-01 -2.83638661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.800714057 meters 0.033711556392671475 Centerline is valid? [True, True] Translation: X:426.38, Y:-57.03, Z:-28.36 [[ 9.96194989e-01 7.44343810e-02 4.53328377e-02 4.26383192e+02] [-7.42479533e-02 9.97223033e-01 -5.78477250e-03 -5.70259368e+01] [-4.56375359e-02 2.39689096e-03 9.98955189e-01 -2.83646075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.830714057 meters 0.033980603101467326 Centerline is valid? [True, True] Translation: X:426.41, Y:-57.03, Z:-28.37 [[ 9.96326695e-01 7.26390294e-02 4.53507338e-02 4.26412461e+02] [-7.24507666e-02 9.97355222e-01 -5.78342490e-03 -5.70304709e+01] [-4.56508935e-02 2.47648518e-03 9.98954385e-01 -2.83654458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.860714057 meters 0.0345196545778434 Centerline is valid? [True, True] Translation: X:426.44, Y:-57.04, Z:-28.37 [[ 9.96547626e-01 6.97567488e-02 4.50202835e-02 4.26441200e+02] [-6.95683528e-02 9.97560674e-01 -5.73991485e-03 -5.70366464e+01] [-4.53108621e-02 2.58811155e-03 9.98969583e-01 -2.83665498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.890714057 meters 0.04056129815049696 Centerline is valid? [True, True] Translation: X:426.47, Y:-57.05, Z:-28.37 [[ 9.96735399e-01 6.69728610e-02 4.50907955e-02 4.26467292e+02] [-6.67811350e-02 9.97751099e-01 -5.74672497e-03 -5.70534432e+01] [-4.53742654e-02 2.71674970e-03 9.98966363e-01 -2.83704071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.920714057 meters 0.0349794276099121 Centerline is valid? [True, True] Translation: X:426.50, Y:-57.05, Z:-28.37 [[ 9.96832816e-01 6.53041345e-02 4.53839999e-02 4.26497422e+02] [-6.51083499e-02 9.97861458e-01 -5.78043031e-03 -5.70505604e+01] [-4.56644303e-02 2.80724528e-03 9.98952891e-01 -2.83706318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.950714057 meters 0.03675993918609136 Centerline is valid? [True, True] Translation: X:426.53, Y:-57.06, Z:-28.37 [[ 9.97050900e-01 6.19898363e-02 4.52411647e-02 4.26525555e+02] [-6.17919617e-02 9.98072427e-01 -5.76058029e-03 -5.70602487e+01] [-4.55110564e-02 2.94805145e-03 9.98959485e-01 -2.83726521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.980714057 meters 0.041906480888366404 Centerline is valid? [True, True] Translation: X:426.55, Y:-57.07, Z:-28.38 [[ 9.97165763e-01 6.04372017e-02 4.48083191e-02 4.26552628e+02] [-6.02415937e-02 9.98167527e-01 -5.70424075e-03 -5.70730391e+01] [-4.50709574e-02 2.98874903e-03 9.98979317e-01 -2.83755734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.01071405700003 meters 0.03755669851035808 Centerline is valid? [True, True] Translation: X:426.58, Y:-57.07, Z:-28.38 [[ 9.97291863e-01 5.89315996e-02 4.40000739e-02 4.26582789e+02] [-5.87416815e-02 9.98257521e-01 -5.59797836e-03 -5.70712411e+01] [-4.42533025e-02 2.99817995e-03 9.99015844e-01 -2.83762999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.040714057 meters 0.03987779127821328 Centerline is valid? [True, True] Translation: X:426.61, Y:-57.08, Z:-28.38 [[ 9.97487806e-01 5.68926089e-02 4.22055401e-02 4.26610754e+02] [-5.67161239e-02 9.98375913e-01 -5.36821348e-03 -5.70807398e+01] [-4.24424063e-02 2.96099285e-03 9.99094527e-01 -2.83799936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.07071405700003 meters 0.04077788746780793 Centerline is valid? [True, True] Translation: X:426.64, Y:-57.09, Z:-28.38 [[ 9.97539866e-01 5.64912897e-02 4.15084225e-02 4.26637443e+02] [-5.63202717e-02 9.98398798e-01 -5.27891461e-03 -5.70877473e+01] [-4.17401718e-02 2.92816214e-03 9.99124208e-01 -2.83832599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.100714057 meters 0.040957313826146126 Centerline is valid? [True, True] Translation: X:426.67, Y:-57.09, Z:-28.39 [[ 9.97549046e-01 5.64428263e-02 4.13534627e-02 4.26665386e+02] [-5.62732056e-02 9.98401577e-01 -5.25528483e-03 -5.70923500e+01] [-4.15839855e-02 2.91531246e-03 9.99130759e-01 -2.83852773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.130714057 meters 0.04160394830731933 Centerline is valid? [True, True] Translation: X:426.69, Y:-57.10, Z:-28.39 [[ 9.97494812e-01 5.68365291e-02 4.21154211e-02 4.26693071e+02] [-5.66610625e-02 9.98379141e-01 -5.34932763e-03 -5.70975921e+01] [-4.23511951e-02 2.94962205e-03 9.99098432e-01 -2.83870007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.160714057 meters 0.0421925935877324 Centerline is valid? [True, True] Translation: X:426.72, Y:-57.10, Z:-28.39 [[ 9.97447147e-01 5.72604254e-02 4.26665393e-02 4.26720207e+02] [-5.70808828e-02 9.98354869e-01 -5.41550509e-03 -5.71024151e+01] [-4.29064414e-02 2.96623637e-03 9.99074691e-01 -2.83886167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.190714057 meters 0.04260562078050684 Centerline is valid? [True, True] Translation: X:426.75, Y:-57.11, Z:-28.39 [[ 9.97351539e-01 5.80496834e-02 4.38194131e-02 4.26747571e+02] [-5.78612310e-02 9.98309164e-01 -5.55788276e-03 -5.71062031e+01] [-4.40679550e-02 3.00771774e-03 9.99024008e-01 -2.83883565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.220714057 meters 0.0427545379625448 Centerline is valid? [True, True] Translation: X:426.78, Y:-57.11, Z:-28.39 [[ 9.97208807e-01 5.91922820e-02 4.55067917e-02 4.26776676e+02] [-5.89904136e-02 9.98241889e-01 -5.76738893e-03 -5.71097133e+01] [-4.57681706e-02 3.06682657e-03 9.98947381e-01 -2.83887954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.250714057 meters 0.042491621301501525 Centerline is valid? [True, True] Translation: X:426.80, Y:-57.11, Z:-28.39 [[ 9.97157821e-01 5.95366488e-02 4.61699800e-02 4.26804757e+02] [-5.93293184e-02 9.98221327e-01 -5.84922751e-03 -5.71136561e+01] [-4.64361021e-02 3.09336952e-03 9.98916473e-01 -2.83902009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.280714057 meters 0.04344814919662675 Centerline is valid? [True, True] Translation: X:426.83, Y:-57.12, Z:-28.39 [[ 9.97107968e-01 5.95292988e-02 4.72436619e-02 4.26832376e+02] [-5.93123453e-02 9.98221549e-01 -5.98210877e-03 -5.71192806e+01] [-4.75157521e-02 3.16267592e-03 9.98865482e-01 -2.83915945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.310714057 meters 0.04544286711208021 Centerline is valid? [True, True] Translation: X:426.86, Y:-57.13, Z:-28.39 [[ 9.97182378e-01 5.87226570e-02 4.66792769e-02 4.26860102e+02] [-5.85101818e-02 9.98269339e-01 -5.90638523e-03 -5.71269046e+01] [-4.69453295e-02 3.15853029e-03 9.98892467e-01 -2.83938984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.340714057 meters 0.04568931197098478 Centerline is valid? [True, True] Translation: X:426.89, Y:-57.13, Z:-28.40 [[ 9.97262521e-01 5.79297741e-02 4.59522115e-02 4.26889093e+02] [-5.77231483e-02 9.98315711e-01 -5.81193651e-03 -5.71316231e+01] [-4.62114989e-02 3.14352014e-03 9.98926732e-01 -2.83960938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.370714057 meters 0.04741252044379006 Centerline is valid? [True, True] Translation: X:426.92, Y:-57.14, Z:-28.40 [[ 9.97416415e-01 5.62231598e-02 4.47152167e-02 4.26916985e+02] [-5.60258673e-02 9.98413307e-01 -5.65425305e-03 -5.71395933e+01] [-4.49621674e-02 3.13443601e-03 9.98983773e-01 -2.83994221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.400714057 meters 0.04826393072398569 Centerline is valid? [True, True] Translation: X:426.95, Y:-57.15, Z:-28.40 [[ 9.97486638e-01 5.57837213e-02 4.36873391e-02 4.26945551e+02] [-5.55950655e-02 9.98438126e-01 -5.52240641e-03 -5.71455442e+01] [-4.39271654e-02 3.07972612e-03 9.99029989e-01 -2.84017525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.430714057 meters 0.04041211998244536 Centerline is valid? [True, True] Translation: X:426.98, Y:-57.14, Z:-28.40 [[ 9.97509939e-01 5.61821463e-02 4.26320141e-02 4.26975156e+02] [-5.60029760e-02 9.98416072e-01 -5.38638983e-03 -5.71402899e+01] [-4.28671070e-02 2.98545772e-03 9.99076323e-01 -2.84030520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.460714057 meters 0.04906503036838223 Centerline is valid? [True, True] Translation: X:427.00, Y:-57.16, Z:-28.41 [[ 9.97486065e-01 5.70523634e-02 4.20306701e-02 4.27001757e+02] [-5.68791192e-02 9.98366966e-01 -5.30722257e-03 -5.71569043e+01] [-4.22648222e-02 2.90321306e-03 9.99102225e-01 -2.84080063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.490714057 meters 0.04874607828082932 Centerline is valid? [True, True] Translation: X:427.03, Y:-57.16, Z:-28.41 [[ 9.97438580e-01 5.81108801e-02 4.17061694e-02 4.27030529e+02] [-5.79413064e-02 9.98306112e-01 -5.26426424e-03 -5.71603787e+01] [-4.19414348e-02 2.83427031e-03 9.99116051e-01 -2.84099769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.520714057 meters 0.03974805813159561 Centerline is valid? [True, True] Translation: X:427.06, Y:-57.15, Z:-28.41 [[ 9.97214395e-01 6.17778133e-02 4.17965636e-02 4.27062339e+02] [-6.16108606e-02 9.98086323e-01 -5.27204594e-03 -5.71510202e+01] [-4.20422739e-02 2.68223785e-03 9.99112232e-01 -2.84083453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.550714057 meters 0.038698355996250405 Centerline is valid? [True, True] Translation: X:427.09, Y:-57.15, Z:-28.41 [[ 9.96922962e-01 6.57757035e-02 4.26399375e-02 4.27091860e+02] [-6.56055772e-02 9.97831138e-01 -5.37849738e-03 -5.71532921e+01] [-4.29012318e-02 2.56452983e-03 9.99076027e-01 -2.84089790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.580714057 meters 0.03478046262292957 Centerline is valid? [True, True] Translation: X:427.12, Y:-57.15, Z:-28.41 [[ 9.96762651e-01 6.77038951e-02 4.33635769e-02 4.27122250e+02] [-6.75298005e-02 9.97702269e-01 -5.46880283e-03 -5.71516608e+01] [-4.36341983e-02 2.52276472e-03 9.99044390e-01 -2.84091499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.610714057 meters 0.03480468597866012 Centerline is valid? [True, True] Translation: X:427.15, Y:-57.16, Z:-28.41 [[ 9.96613955e-01 6.96005447e-02 4.37765838e-02 4.27150606e+02] [-6.94249518e-02 9.97571902e-01 -5.52057640e-03 -5.71561957e+01] [-4.40545251e-02 2.46269626e-03 9.99026093e-01 -2.84105090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.640714057 meters 0.03167990564256722 Centerline is valid? [True, True] Translation: X:427.18, Y:-57.15, Z:-28.41 [[ 9.96310154e-01 7.35965035e-02 4.41546379e-02 4.27180587e+02] [-7.34218874e-02 9.97285441e-01 -5.56565420e-03 -5.71549755e+01] [-4.44443902e-02 2.30320094e-03 9.99009205e-01 -2.84103647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.670714057 meters 0.03314797442552271 Centerline is valid? [True, True] Translation: X:427.21, Y:-57.16, Z:-28.41 [[ 9.96144138e-01 7.55868190e-02 4.45363760e-02 4.27207815e+02] [-7.54111927e-02 9.97136725e-01 -5.61283877e-03 -5.71610255e+01] [-4.48331128e-02 2.23265520e-03 9.98991996e-01 -2.84123278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.700714057 meters 0.03078365062615358 Centerline is valid? [True, True] Translation: X:427.24, Y:-57.16, Z:-28.41 [[ 9.95819510e-01 7.90967680e-02 4.56859268e-02 4.27238205e+02] [-7.89158542e-02 9.96864681e-01 -5.75290953e-03 -5.71609546e+01] [-4.59977234e-02 2.12351561e-03 9.98939288e-01 -2.84121710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.730714057 meters 0.0324985250445774 Centerline is valid? [True, True] Translation: X:427.27, Y:-57.17, Z:-28.41 [[ 9.95613105e-01 8.11290060e-02 4.66114790e-02 4.27265783e+02] [-8.09429822e-02 9.96701461e-01 -5.86776092e-03 -5.71686779e+01] [-4.69337749e-02 2.06914755e-03 9.98895860e-01 -2.84141850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.76071405700003 meters 0.029580461995041944 Centerline is valid? [True, True] Translation: X:427.30, Y:-57.17, Z:-28.42 [[ 9.95294223e-01 8.46331689e-02 4.71872545e-02 4.27295520e+02] [-8.44466243e-02 9.96410320e-01 -5.93646702e-03 -5.71690698e+01] [-4.75202894e-02 1.92372697e-03 9.98868420e-01 -2.84150456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.790714057 meters 0.028541442185419496 Centerline is valid? [True, True] Translation: X:427.32, Y:-57.17, Z:-28.42 [[ 9.95147765e-01 8.62078055e-02 4.74251097e-02 4.27324119e+02] [-8.60212210e-02 9.96275448e-01 -5.96507327e-03 -5.71712294e+01] [-4.77627083e-02 1.85656349e-03 9.98856985e-01 -2.84171015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.82071405700003 meters 0.0277049032108778 Centerline is valid? [True, True] Translation: X:427.35, Y:-57.17, Z:-28.42 [[ 9.95063680e-01 8.79560057e-02 4.59566455e-02 4.27353030e+02] [-8.77827270e-02 9.96122882e-01 -5.77906640e-03 -5.71749027e+01] [-4.62867697e-02 1.71633942e-03 9.98926719e-01 -2.84192914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.850714057 meters 0.02769967294049997 Centerline is valid? [True, True] Translation: X:427.38, Y:-57.18, Z:-28.42 [[ 9.95025394e-01 8.84839852e-02 4.57717222e-02 4.27381417e+02] [-8.83132362e-02 9.96076196e-01 -5.74325586e-03 -5.71792050e+01] [-4.61003091e-02 1.67243651e-03 9.98935416e-01 -2.84212525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.880714057 meters 0.026622403017123097 Centerline is valid? [True, True] Translation: X:427.41, Y:-57.19, Z:-28.42 [[ 9.95045955e-01 8.84191784e-02 4.54488263e-02 4.27408558e+02] [-8.82508927e-02 9.96081970e-01 -5.69993987e-03 -5.71852180e+01] [-4.57747404e-02 1.66080262e-03 9.98950407e-01 -2.84228532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.910714057 meters 0.027281092521203677 Centerline is valid? [True, True] Translation: X:427.44, Y:-57.19, Z:-28.42 [[ 9.95085217e-01 8.78554970e-02 4.56817597e-02 4.27435402e+02] [-8.76851290e-02 9.96131796e-01 -5.72391467e-03 -5.71914537e+01] [-4.60079307e-02 1.69017188e-03 9.98939645e-01 -2.84247805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.940714057 meters 0.028417206746616578 Centerline is valid? [True, True] Translation: X:427.46, Y:-57.20, Z:-28.43 [[ 9.95103838e-01 8.73098996e-02 4.63177410e-02 4.27462708e+02] [-8.71343598e-02 9.96179688e-01 -5.79934714e-03 -5.71993981e+01] [-4.66471332e-02 1.73508588e-03 9.98909923e-01 -2.84269470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.970714057 meters 0.02864767036044391 Centerline is valid? [True, True] Translation: X:427.49, Y:-57.21, Z:-28.43 [[ 9.95081119e-01 8.66863215e-02 4.79483948e-02 4.27491068e+02] [-8.64976959e-02 9.96233990e-01 -5.99886563e-03 -5.72073229e+01] [-4.82878402e-02 1.82193225e-03 9.98831800e-01 -2.84273958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.000714057 meters 0.028339822579180156 Centerline is valid? [True, True] Translation: X:427.52, Y:-57.21, Z:-28.43 [[ 9.95073497e-01 8.62065530e-02 4.89608624e-02 4.27519402e+02] [-8.60094619e-02 9.96275510e-01 -6.12206435e-03 -5.72116476e+01] [-4.93062702e-02 1.88080655e-03 9.98781935e-01 -2.84278135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.030714057 meters 0.02744235625286607 Centerline is valid? [True, True] Translation: X:427.55, Y:-57.22, Z:-28.43 [[ 9.95051979e-01 8.55653289e-02 5.04988415e-02 4.27547787e+02] [-8.53550116e-02 9.96330616e-01 -6.31071274e-03 -5.72169588e+01] [-5.08535201e-02 1.96915800e-03 9.98704181e-01 -2.84279666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.060714057 meters 0.03037566044385912 Centerline is valid? [True, True] Translation: X:427.57, Y:-57.23, Z:-28.43 [[ 9.95082686e-01 8.49299289e-02 5.09642526e-02 4.27573987e+02] [-8.47150666e-02 9.96384886e-01 -6.36527538e-03 -5.72277948e+01] [-5.13206134e-02 2.01653527e-03 9.98680193e-01 -2.84299913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.090714057 meters 0.02974778744366693 Centerline is valid? [True, True] Translation: X:427.60, Y:-57.23, Z:-28.43 [[ 9.95107537e-01 8.41125693e-02 5.18272641e-02 4.27602808e+02] [-8.38895073e-02 9.96454069e-01 -6.46823515e-03 -5.72320637e+01] [-5.21875481e-02 2.08882590e-03 9.98635117e-01 -2.84307509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.120714057 meters 0.028099337670970528 Centerline is valid? [True, True] Translation: X:427.63, Y:-57.24, Z:-28.43 [[ 9.95163796e-01 8.22499701e-02 5.37025253e-02 4.27630690e+02] [-8.20079531e-02 9.96609164e-01 -6.69853167e-03 -5.72374594e+01] [-5.40713828e-02 2.26210203e-03 9.98534510e-01 -2.84312322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.150714057 meters 0.028455809718198676 Centerline is valid? [True, True] Translation: X:427.66, Y:-57.25, Z:-28.43 [[ 9.95409200e-01 7.89564676e-02 5.40962270e-02 4.27658837e+02] [-7.87063061e-02 9.96875044e-01 -6.74263246e-03 -5.72454966e+01] [-5.44595532e-02 2.45396417e-03 9.98512962e-01 -2.84329442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.180714057 meters 0.028455809718198676 Centerline is valid? [True, True] Translation: X:427.69, Y:-57.25, Z:-28.43 [[ 9.95414858e-01 7.88848553e-02 5.40965829e-02 4.27686912e+02] [-7.86347432e-02 9.96880711e-01 -6.73977614e-03 -5.72489367e+01] [-5.44595063e-02 2.45500240e-03 9.98512962e-01 -2.84345845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.210714057 meters 0.03001814711728767 Centerline is valid? [True, True] Translation: X:427.71, Y:-57.26, Z:-28.44 [[ 9.95579489e-01 7.70410864e-02 5.37229279e-02 4.27713584e+02] [-7.67919518e-02 9.97024698e-01 -6.68939232e-03 -5.72573442e+01] [-5.40784440e-02 2.53433330e-03 9.98533474e-01 -2.84371181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.240714057 meters 0.029833091903700787 Centerline is valid? [True, True] Translation: X:427.74, Y:-57.26, Z:-28.44 [[ 9.95806770e-01 7.46390444e-02 5.28950855e-02 4.27742351e+02] [-7.43944161e-02 9.97207178e-01 -6.58147349e-03 -5.72631870e+01] [-5.32385939e-02 2.61877685e-03 9.98578387e-01 -2.84398850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.270714057 meters 0.03239097222127131 Centerline is valid? [True, True] Translation: X:427.77, Y:-57.28, Z:-28.44 [[ 9.96224236e-01 6.96839459e-02 5.17824215e-02 4.27770443e+02] [-6.94429985e-02 9.97565134e-01 -6.43995988e-03 -5.72764236e+01] [-5.21051000e-02 2.81971750e-03 9.98637626e-01 -2.84444875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.300714057 meters 0.03323690932463494 Centerline is valid? [True, True] Translation: X:427.80, Y:-57.28, Z:-28.45 [[ 9.96347986e-01 6.76737898e-02 5.20667692e-02 4.27798669e+02] [-6.74274333e-02 9.97703166e-01 -6.47566452e-03 -5.72844754e+01] [-5.23854132e-02 2.94128670e-03 9.98622610e-01 -2.84471235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.330714057 meters 0.03362098517744897 Centerline is valid? [True, True] Translation: X:427.83, Y:-57.29, Z:-28.45 [[ 9.96583036e-01 6.45301179e-02 5.15569309e-02 4.27827527e+02] [-6.42845313e-02 9.97911028e-01 -6.40928367e-03 -5.72928041e+01] [-5.18628218e-02 3.07307024e-03 9.98649490e-01 -2.84491790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.360714057 meters 0.034526665385731216 Centerline is valid? [True, True] Translation: X:427.86, Y:-57.30, Z:-28.45 [[ 9.96670653e-01 6.35849472e-02 5.10349313e-02 4.27857588e+02] [-6.33431173e-02 9.97971647e-01 -6.34366360e-03 -5.72990966e+01] [-5.13347759e-02 3.08983171e-03 9.98676721e-01 -2.84516734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.390714057 meters 0.034836474468531095 Centerline is valid? [True, True] Translation: X:427.89, Y:-57.31, Z:-28.45 [[ 9.96807183e-01 6.20415242e-02 5.02622052e-02 4.27887135e+02] [-6.18050159e-02 9.98068689e-01 -6.24761342e-03 -5.73059443e+01] [-5.05527447e-02 3.12120954e-03 9.98716515e-01 -2.84537218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.420714057 meters 0.03640439956045585 Centerline is valid? [True, True] Translation: X:427.92, Y:-57.31, Z:-28.46 [[ 9.96837867e-01 6.14488996e-02 5.03815468e-02 4.27915453e+02] [-6.12105156e-02 9.98105233e-01 -6.26238189e-03 -5.73134658e+01] [-5.06709020e-02 3.15869894e-03 9.98710410e-01 -2.84559516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.450714057 meters 0.03709787827551023 Centerline is valid? [True, True] Translation: X:427.95, Y:-57.32, Z:-28.46 [[ 9.96835562e-01 6.07013715e-02 5.13245196e-02 4.27945245e+02] [-6.04529559e-02 9.98150657e-01 -6.38013976e-03 -5.73213507e+01] [-5.16168862e-02 3.25723128e-03 9.98661648e-01 -2.84577869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.480714057 meters 0.037231595750514865 Centerline is valid? [True, True] Translation: X:427.98, Y:-57.33, Z:-28.46 [[ 9.96851507e-01 6.00286859e-02 5.18037606e-02 4.27975631e+02] [-5.97747053e-02 9.98191122e-01 -6.43961500e-03 -5.73269545e+01] [-5.20966156e-02 3.32278540e-03 9.98636521e-01 -2.84593044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.51071405700003 meters 0.03844972476109401 Centerline is valid? [True, True] Translation: X:428.01, Y:-57.33, Z:-28.46 [[ 9.96892980e-01 5.90990756e-02 5.20738536e-02 4.28006041e+02] [-5.88411849e-02 9.98246370e-01 -6.47299182e-03 -5.73347444e+01] [-5.23650831e-02 3.38879286e-03 9.98622258e-01 -2.84608353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.540714057 meters 0.03886637440496365 Centerline is valid? [True, True] Translation: X:428.04, Y:-57.34, Z:-28.46 [[ 9.96922619e-01 5.88972099e-02 5.17340377e-02 4.28038187e+02] [-5.86418012e-02 9.98258301e-01 -6.44238525e-03 -5.73398699e+01] [-5.20233711e-02 3.38878242e-03 9.98640118e-01 -2.84624439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.57071405700003 meters 0.03991599868320401 Centerline is valid? [True, True] Translation: X:428.07, Y:-57.35, Z:-28.47 [[ 9.96958516e-01 5.93155120e-02 5.05508413e-02 4.28069037e+02] [-5.90715815e-02 9.98233824e-01 -6.30719763e-03 -5.73454415e+01] [-5.08356742e-02 3.30189625e-03 9.98701573e-01 -2.84655548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.600714057 meters 0.03998979114425678 Centerline is valid? [True, True] Translation: X:428.10, Y:-57.35, Z:-28.47 [[ 9.97001457e-01 5.93228421e-02 4.96879837e-02 4.28099809e+02] [-5.90865639e-02 9.98233535e-01 -6.21196695e-03 -5.73493186e+01] [-4.99687232e-02 3.25744787e-03 9.98745471e-01 -2.84680287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.630714057 meters 0.04064103926426407 Centerline is valid? [True, True] Translation: X:428.13, Y:-57.35, Z:-28.47 [[ 9.96997179e-01 5.96337325e-02 4.94008305e-02 4.28130795e+02] [-5.94004760e-02 9.98215117e-01 -6.17775398e-03 -5.73541340e+01] [-4.96810583e-02 3.22477045e-03 9.98759928e-01 -2.84705787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.660714057 meters 0.037364588993036144 Centerline is valid? [True, True] Translation: X:428.16, Y:-57.35, Z:-28.47 [[ 9.97023596e-01 5.95686135e-02 4.89441546e-02 4.28162835e+02] [-5.93394952e-02 9.98219085e-01 -6.12228409e-03 -5.73529165e+01] [-4.92216852e-02 3.19974028e-03 9.98782753e-01 -2.84723256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.690714057 meters 0.042076734371954416 Centerline is valid? [True, True] Translation: X:428.19, Y:-57.36, Z:-28.47 [[ 9.97019804e-01 5.96645052e-02 4.89045709e-02 4.28192141e+02] [-5.94358069e-02 9.98213377e-01 -6.11866427e-03 -5.73628480e+01] [-4.91822639e-02 3.19374682e-03 9.98784714e-01 -2.84749424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.720714057 meters 0.04328668934336333 Centerline is valid? [True, True] Translation: X:428.22, Y:-57.37, Z:-28.48 [[ 9.97038110e-01 5.87733278e-02 4.96054668e-02 4.28222682e+02] [-5.85366901e-02 9.98265936e-01 -6.21101295e-03 -5.73675878e+01] [-4.98844897e-02 3.28887677e-03 9.98749579e-01 -2.84766486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.750714057 meters 0.04480995335312938 Centerline is valid? [True, True] Translation: X:428.25, Y:-57.37, Z:-28.48 [[ 9.97072118e-01 5.76322827e-02 5.02564652e-02 4.28253025e+02] [-5.73879373e-02 9.98332123e-01 -6.29266238e-03 -5.73718988e+01] [-5.05353041e-02 3.39012333e-03 9.98716521e-01 -2.84782956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.780714057 meters 0.044766547417052834 Centerline is valid? [True, True] Translation: X:428.28, Y:-57.38, Z:-28.48 [[ 9.97089565e-01 5.73513740e-02 5.02316623e-02 4.28284422e+02] [-5.71066564e-02 9.98348239e-01 -6.29467586e-03 -5.73758127e+01] [-5.05096999e-02 3.40779334e-03 9.98717757e-01 -2.84802304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.810714057 meters 0.03984784870343197 Centerline is valid? [True, True] Translation: X:428.32, Y:-57.37, Z:-28.48 [[ 9.97179939e-01 5.54676982e-02 5.05519976e-02 4.28316655e+02] [-5.52168187e-02 9.98454215e-01 -6.34699166e-03 -5.73718462e+01] [-5.08259081e-02 3.53777227e-03 9.98701262e-01 -2.84818286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.840714057 meters 0.040444275212951304 Centerline is valid? [True, True] Translation: X:428.35, Y:-57.38, Z:-28.48 [[ 9.97200150e-01 5.45748446e-02 5.11218832e-02 4.28348708e+02] [-5.43170755e-02 9.98503105e-01 -6.41908983e-03 -5.73761279e+01] [-5.13956800e-02 3.62432615e-03 9.98671792e-01 -2.84834775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.870714057 meters 0.03866685299946388 Centerline is valid? [True, True] Translation: X:428.38, Y:-57.38, Z:-28.48 [[ 9.97232620e-01 5.27398661e-02 5.23985482e-02 4.28380390e+02] [-5.24657954e-02 9.98600956e-01 -6.59327587e-03 -5.73753970e+01] [-5.26729689e-02 3.82589826e-03 9.98604487e-01 -2.84837631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.900714057 meters 0.04104120049718244 Centerline is valid? [True, True] Translation: X:428.41, Y:-57.38, Z:-28.49 [[ 9.97167093e-01 5.28882681e-02 5.34847594e-02 4.28411556e+02] [-5.26028571e-02 9.98592826e-01 -6.73102063e-03 -5.73825419e+01] [-5.37654890e-02 3.89850112e-03 9.98545980e-01 -2.84855741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.930714057 meters 0.037980182334810965 Centerline is valid? [True, True] Translation: X:428.44, Y:-57.38, Z:-28.49 [[ 9.97183067e-01 5.26093871e-02 5.34619867e-02 4.28444574e+02] [-5.23230395e-02 9.98607448e-01 -6.74267598e-03 -5.73814358e+01] [-5.37422661e-02 3.92638867e-03 9.98547121e-01 -2.84871376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.960714057 meters 0.04059349869864507 Centerline is valid? [True, True] Translation: X:428.48, Y:-57.39, Z:-28.49 [[ 9.97124083e-01 5.38240334e-02 5.33529426e-02 4.28475515e+02] [-5.35398431e-02 9.98542949e-01 -6.74268556e-03 -5.73872865e+01] [-5.36381232e-02 3.86678598e-03 9.98552953e-01 -2.84901643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.990714057 meters 0.038701033971773324 Centerline is valid? [True, True] Translation: X:428.51, Y:-57.39, Z:-28.49 [[ 9.97097434e-01 5.45412224e-02 5.31221427e-02 4.28508311e+02] [-5.42598333e-02 9.98504197e-01 -6.72598906e-03 -5.73875648e+01] [-5.34095261e-02 3.82406783e-03 9.98565370e-01 -2.84925500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.020714057 meters 0.03682217025137538 Centerline is valid? [True, True] Translation: X:428.54, Y:-57.39, Z:-28.49 [[ 9.97073155e-01 5.58680930e-02 5.21908064e-02 4.28540492e+02] [-5.55976234e-02 9.98431303e-01 -6.62099640e-03 -5.73876704e+01] [-5.24788373e-02 3.69993296e-03 9.98615182e-01 -2.84947771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.050714057 meters 0.03600316031907076 Centerline is valid? [True, True] Translation: X:428.57, Y:-57.39, Z:-28.50 [[ 9.96976027e-01 5.78387655e-02 5.18987334e-02 4.28571793e+02] [-5.75732190e-02 9.98319481e-01 -6.59837408e-03 -5.73872983e+01] [-5.21931584e-02 3.59044363e-03 9.98630554e-01 -2.84972025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.080714057 meters 0.036716215151056567 Centerline is valid? [True, True] Translation: X:428.60, Y:-57.39, Z:-28.50 [[ 9.96812094e-01 6.03182134e-02 5.22241566e-02 4.28601350e+02] [-6.00526134e-02 9.98173118e-01 -6.64151990e-03 -5.73892425e+01] [-5.25293539e-02 3.48415027e-03 9.98613302e-01 -2.84991316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.110714057 meters 0.03602036004940606 Centerline is valid? [True, True] Translation: X:428.63, Y:-57.39, Z:-28.50 [[ 9.96666633e-01 6.21822681e-02 5.28108764e-02 4.28631562e+02] [-6.19130502e-02 9.98058923e-01 -6.72013573e-03 -5.73919905e+01] [-5.31262397e-02 3.42805261e-03 9.98581920e-01 -2.85004499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.140714057 meters 0.03528672288208919 Centerline is valid? [True, True] Translation: X:428.66, Y:-57.39, Z:-28.50 [[ 9.96541230e-01 6.37805214e-02 5.32693365e-02 4.28662268e+02] [-6.35088755e-02 9.97958253e-01 -6.77847436e-03 -5.73934790e+01] [-5.35929086e-02 3.37195352e-03 9.98557174e-01 -2.85024540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.170714057 meters 0.03432297451367269 Centerline is valid? [True, True] Translation: X:428.69, Y:-57.39, Z:-28.50 [[ 9.96308229e-01 6.67075568e-02 5.40371573e-02 4.28692106e+02] [-6.64322954e-02 9.97767241e-01 -6.87623876e-03 -5.73947107e+01] [-5.43752025e-02 3.26104086e-03 9.98515249e-01 -2.85040061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.200714057 meters 0.03524187861531249 Centerline is valid? [True, True] Translation: X:428.72, Y:-57.40, Z:-28.51 [[ 9.96173279e-01 6.85102420e-02 5.42691867e-02 4.28721099e+02] [-6.82353368e-02 9.97645361e-01 -6.90457831e-03 -5.73990809e+01] [-5.46144366e-02 3.17508019e-03 9.98502470e-01 -2.85058244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.230714057 meters 0.03373300827118884 Centerline is valid? [True, True] Translation: X:428.75, Y:-57.40, Z:-28.51 [[ 9.95872983e-01 7.25517845e-02 5.45274325e-02 4.28751482e+02] [-7.22801263e-02 9.97360223e-01 -6.94034141e-03 -5.73996612e+01] [-5.48870264e-02 2.97044880e-03 9.98488153e-01 -2.85077912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.26071405700003 meters 0.030132967587576845 Centerline is valid? [True, True] Translation: X:428.78, Y:-57.40, Z:-28.51 [[ 9.95722449e-01 7.50054821e-02 5.39535249e-02 4.28781539e+02] [-7.47431187e-02 9.97179176e-01 -6.86708953e-03 -5.73973506e+01] [-5.43164008e-02 2.80506049e-03 9.98519835e-01 -2.85095519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.290714057 meters 0.029375996197995698 Centerline is valid? [True, True] Translation: X:428.81, Y:-57.40, Z:-28.51 [[ 9.95537657e-01 7.75199188e-02 5.38092619e-02 4.28811587e+02] [-7.72627284e-02 9.96987258e-01 -6.84669835e-03 -5.73997751e+01] [-5.41779040e-02 2.65869564e-03 9.98527759e-01 -2.85111360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.32071405700003 meters 0.03113784150557661 Centerline is valid? [True, True] Translation: X:428.84, Y:-57.41, Z:-28.51 [[ 9.95206161e-01 8.16746555e-02 5.37954262e-02 4.28840092e+02] [-8.14236968e-02 9.96656080e-01 -6.84402550e-03 -5.74058660e+01] [-5.41745220e-02 2.43099387e-03 9.98528523e-01 -2.85132011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.350714057 meters 0.02758321779347985 Centerline is valid? [True, True] Translation: X:428.87, Y:-57.40, Z:-28.51 [[ 9.94983612e-01 8.40253437e-02 5.42895294e-02 4.28869603e+02] [-8.37733333e-02 9.96460911e-01 -6.90513950e-03 -5.74039271e+01] [-5.46776006e-02 2.32248580e-03 9.98501360e-01 -2.85145886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.380714057 meters 0.030439117285464504 Centerline is valid? [True, True] Translation: X:428.90, Y:-57.41, Z:-28.52 [[ 9.94901988e-01 8.46979540e-02 5.47383813e-02 4.28896188e+02] [-8.44431087e-02 9.96404022e-01 -6.95609254e-03 -5.74134719e+01] [-5.51307101e-02 2.29835122e-03 9.98476501e-01 -2.85168961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.410714057 meters 0.027508087524621194 Centerline is valid? [True, True] Translation: X:428.93, Y:-57.41, Z:-28.52 [[ 9.94910107e-01 8.47604668e-02 5.44935086e-02 4.28925116e+02] [-8.45082628e-02 9.96398749e-01 -6.92005835e-03 -5.74122681e+01] [-5.48838111e-02 2.27968425e-03 9.98490145e-01 -2.85185635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.440714057 meters 0.027723965358970072 Centerline is valid? [True, True] Translation: X:428.95, Y:-57.42, Z:-28.52 [[ 9.94988674e-01 8.38358811e-02 5.44892934e-02 4.28952707e+02] [-8.35825436e-02 9.96476860e-01 -6.91569525e-03 -5.74187788e+01] [-5.48771034e-02 2.32668472e-03 9.98490406e-01 -2.85209959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.470714057 meters 0.027674799497378146 Centerline is valid? [True, True] Translation: X:428.98, Y:-57.42, Z:-28.52 [[ 9.95063943e-01 8.27815678e-02 5.47262492e-02 4.28980508e+02] [-8.25247434e-02 9.96564851e-01 -6.94007566e-03 -5.74237048e+01] [-5.51127667e-02 2.38954937e-03 9.98477277e-01 -2.85227428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.500714057 meters 0.028721198429085572 Centerline is valid? [True, True] Translation: X:429.01, Y:-57.43, Z:-28.53 [[ 9.95283080e-01 8.03202064e-02 5.44082341e-02 4.29009290e+02] [-8.00629709e-02 9.96765963e-01 -6.89468435e-03 -5.74320533e+01] [-5.47860583e-02 2.50607781e-03 9.98494971e-01 -2.85254096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.530714057 meters 0.03220683161518897 Centerline is valid? [True, True] Translation: X:429.04, Y:-57.44, Z:-28.53 [[ 9.95522299e-01 7.70536271e-02 5.47548218e-02 4.29036485e+02] [-7.67882804e-02 9.97023291e-01 -6.93665707e-03 -5.74446481e+01] [-5.51263272e-02 2.70106818e-03 9.98475734e-01 -2.85277711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.560714057 meters 0.03166434767460915 Centerline is valid? [True, True] Translation: X:429.07, Y:-57.45, Z:-28.53 [[ 9.95681996e-01 7.50523232e-02 5.46306784e-02 4.29065576e+02] [-7.47853414e-02 9.97175659e-01 -6.91794236e-03 -5.74490949e+01] [-5.49955904e-02 2.80249673e-03 9.98482664e-01 -2.85292598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.590714057 meters 0.034320880074031127 Centerline is valid? [True, True] Translation: X:429.09, Y:-57.46, Z:-28.53 [[ 9.95840041e-01 7.30095683e-02 5.45180370e-02 4.29092834e+02] [-7.27407370e-02 9.97327002e-01 -6.90185196e-03 -5.74582857e+01] [-5.48762117e-02 2.90745834e-03 9.98488932e-01 -2.85311160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.620714057 meters 0.03478683565861107 Centerline is valid? [True, True] Translation: X:429.12, Y:-57.47, Z:-28.53 [[ 9.96049243e-01 6.94027174e-02 5.54000681e-02 4.29122196e+02] [-6.91197741e-02 9.97583743e-01 -7.00944834e-03 -5.74653617e+01] [-5.57526820e-02 3.15251553e-03 9.98439633e-01 -2.85325615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.650714057 meters 0.034948471399371024 Centerline is valid? [True, True] Translation: X:429.15, Y:-57.47, Z:-28.53 [[ 9.96081067e-01 6.80392633e-02 5.65081144e-02 4.29152220e+02] [-6.77427468e-02 9.97677211e-01 -7.14861826e-03 -5.74713363e+01] [-5.68632447e-02 3.29258842e-03 9.98376547e-01 -2.85338500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.680714057 meters 0.03275334664575835 Centerline is valid? [True, True] Translation: X:429.18, Y:-57.47, Z:-28.54 [[ 9.96138212e-01 6.62268134e-02 5.76426265e-02 4.29182431e+02] [-6.59152329e-02 9.97798580e-01 -7.29214091e-03 -5.74731808e+01] [-5.79986661e-02 3.46445305e-03 9.98310649e-01 -2.85352960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.710714057 meters 0.03429657506280527 Centerline is valid? [True, True] Translation: X:429.21, Y:-57.48, Z:-28.54 [[ 9.96172487e-01 6.57110877e-02 5.76405156e-02 4.29213194e+02] [-6.53986686e-02 9.97832572e-01 -7.29190777e-03 -5.74809258e+01] [-5.79947431e-02 3.49438492e-03 9.98310773e-01 -2.85375068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.740714057 meters 0.03523044916801741 Centerline is valid? [True, True] Translation: X:429.24, Y:-57.49, Z:-28.54 [[ 9.96240045e-01 6.47947890e-02 5.75100650e-02 4.29243232e+02] [-6.44818059e-02 9.97892304e-01 -7.28331655e-03 -5.74878471e+01] [-5.78607722e-02 3.54757877e-03 9.98318359e-01 -2.85402154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.770714057 meters 0.03346650236389371 Centerline is valid? [True, True] Translation: X:429.27, Y:-57.49, Z:-28.54 [[ 9.96271592e-01 6.42893266e-02 5.75308333e-02 4.29274937e+02] [-6.39751566e-02 9.97924879e-01 -7.28804613e-03 -5.74894595e+01] [-5.78799934e-02 3.58032926e-03 9.98317128e-01 -2.85424876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.800714057 meters 0.035578441884027506 Centerline is valid? [True, True] Translation: X:429.31, Y:-57.50, Z:-28.54 [[ 9.96250894e-01 6.45131432e-02 5.76386179e-02 4.29305815e+02] [-6.41976967e-02 9.97910428e-01 -7.30978107e-03 -5.74983478e+01] [-5.79897548e-02 3.58210942e-03 9.98310752e-01 -2.85444978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.830714057 meters 0.036296277402619016 Centerline is valid? [True, True] Translation: X:429.34, Y:-57.50, Z:-28.55 [[ 9.96222704e-01 6.46413989e-02 5.79811546e-02 4.29337487e+02] [-6.43214617e-02 9.97902021e-01 -7.36932695e-03 -5.75045287e+01] [-5.83358750e-02 3.61205820e-03 9.98290478e-01 -2.85468529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.860714057 meters 0.0353050403222784 Centerline is valid? [True, True] Translation: X:429.37, Y:-57.51, Z:-28.55 [[ 9.96215326e-01 6.48566652e-02 5.78674039e-02 4.29370123e+02] [-6.45374391e-02 9.97888068e-01 -7.37040736e-03 -5.75079763e+01] [-5.82232119e-02 3.60789872e-03 9.98297070e-01 -2.85492249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.890714057 meters 0.03575159242363445 Centerline is valid? [True, True] Translation: X:429.40, Y:-57.51, Z:-28.55 [[ 9.96318975e-01 6.42341779e-02 5.67668113e-02 4.29401860e+02] [-6.39250675e-02 9.97928392e-01 -7.24635034e-03 -5.75136036e+01] [-5.71146761e-02 3.59085410e-03 9.98361167e-01 -2.85527177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.920714057 meters 0.03720525020343849 Centerline is valid? [True, True] Translation: X:429.43, Y:-57.52, Z:-28.56 [[ 9.96397643e-01 6.42795045e-02 5.53162045e-02 4.29432099e+02] [-6.39853195e-02 9.97925762e-01 -7.07481467e-03 -5.75207257e+01] [-5.56562310e-02 3.50990365e-03 9.98443821e-01 -2.85561047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.950714057 meters 0.038031420687924505 Centerline is valid? [True, True] Translation: X:429.46, Y:-57.53, Z:-28.56 [[ 9.96430939e-01 6.45509228e-02 5.43926666e-02 4.29463927e+02] [-6.42662170e-02 9.97908456e-01 -6.96904126e-03 -5.75264735e+01] [-5.47287600e-02 3.44855741e-03 9.98495303e-01 -2.85585547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.980714057 meters 0.03875233929710466 Centerline is valid? [True, True] Translation: X:429.49, Y:-57.53, Z:-28.56 [[ 9.96466547e-01 6.46405768e-02 5.36285003e-02 4.29494251e+02] [-6.43631921e-02 9.97902787e-01 -6.88521974e-03 -5.75321123e+01] [-5.39610945e-02 3.40918967e-03 9.98537219e-01 -2.85607966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.01071405700003 meters 0.039089854991922565 Centerline is valid? [True, True] Translation: X:429.53, Y:-57.54, Z:-28.56 [[ 9.96496133e-01 6.48476995e-02 5.28226604e-02 4.29525686e+02] [-6.45782227e-02 9.97889519e-01 -6.79425238e-03 -5.75368489e+01] [-5.31517708e-02 3.35925269e-03 9.98580795e-01 -2.85631276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.040714057 meters 0.039089854991922565 Centerline is valid? [True, True] Translation: X:429.56, Y:-57.54, Z:-28.56 [[ 9.96493937e-01 6.48818221e-02 5.28221812e-02 4.29556285e+02] [-6.46121964e-02 9.97887294e-01 -6.79797582e-03 -5.75408179e+01] [-5.31516485e-02 3.36118454e-03 9.98580795e-01 -2.85649145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.07071405700003 meters 0.03961229932434195 Centerline is valid? [True, True] Translation: X:429.59, Y:-57.55, Z:-28.57 [[ 9.96497394e-01 6.51976097e-02 5.23661600e-02 4.29587387e+02] [-6.49329637e-02 9.97866859e-01 -6.74108646e-03 -5.75463539e+01] [-5.26939583e-02 3.31718513e-03 9.98605199e-01 -2.85671726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.100714057 meters 0.039594790677637506 Centerline is valid? [True, True] Translation: X:429.62, Y:-57.55, Z:-28.57 [[ 9.96450403e-01 6.65757700e-02 5.15195157e-02 4.29617340e+02] [-6.63213597e-02 9.97776262e-01 -6.63393945e-03 -5.75509686e+01] [-5.18466094e-02 3.19354731e-03 9.98649954e-01 -2.85692965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.130714057 meters 0.038226813716614794 Centerline is valid? [True, True] Translation: X:429.65, Y:-57.55, Z:-28.57 [[ 9.96373237e-01 6.75219819e-02 5.17798620e-02 4.29647764e+02] [-6.72662114e-02 9.97712779e-01 -6.66844948e-03 -5.75531661e+01] [-5.21116970e-02 3.16122945e-03 9.98636259e-01 -2.85711838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.160714057 meters 0.0382839568972005 Centerline is valid? [True, True] Translation: X:429.68, Y:-57.56, Z:-28.57 [[ 9.96275479e-01 6.88633291e-02 5.18942331e-02 4.29678443e+02] [-6.86082427e-02 9.97621294e-01 -6.68308475e-03 -5.75577762e+01] [-5.22310114e-02 3.09782132e-03 9.98630224e-01 -2.85722597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.190714057 meters 0.03977534963472607 Centerline is valid? [True, True] Translation: X:429.71, Y:-57.56, Z:-28.57 [[ 9.96212419e-01 6.95910046e-02 5.21335612e-02 4.29707769e+02] [-6.93344976e-02 9.97570868e-01 -6.71489386e-03 -5.75640919e+01] [-5.24742181e-02 3.07480638e-03 9.98617545e-01 -2.85740538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.220714057 meters 0.03655602983887084 Centerline is valid? [True, True] Translation: X:429.74, Y:-57.56, Z:-28.58 [[ 9.96240856e-01 6.99940157e-02 5.10391446e-02 4.29738062e+02] [-6.97487032e-02 9.97542932e-01 -6.57393109e-03 -5.75639261e+01] [-5.13738738e-02 2.98930459e-03 9.98675017e-01 -2.85753014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.250714057 meters 0.04072651188538222 Centerline is valid? [True, True] Translation: X:429.77, Y:-57.57, Z:-28.58 [[ 9.96288893e-01 6.95925228e-02 5.06490064e-02 4.29765997e+02] [-6.93504276e-02 9.97571029e-01 -6.52379706e-03 -5.75741076e+01] [-5.09799890e-02 2.98705630e-03 9.98695208e-01 -2.85778244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.280714057 meters 0.048275172474004785 Centerline is valid? [True, True] Translation: X:429.79, Y:-57.59, Z:-28.58 [[ 9.96029598e-01 7.25283926e-02 5.16204694e-02 4.29793659e+02] [-7.22808852e-02 9.97362160e-01 -6.64800782e-03 -5.75896692e+01] [-5.19664722e-02 2.89043933e-03 9.98644647e-01 -2.85799167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.310714057 meters 0.038401637121349017 Centerline is valid? [True, True] Translation: X:429.83, Y:-57.58, Z:-28.58 [[ 9.96248309e-01 6.96770719e-02 5.13265226e-02 4.29825735e+02] [-6.94286568e-02 9.97565025e-01 -6.60921508e-03 -5.75791386e+01] [-5.16620546e-02 3.02088782e-03 9.98660055e-01 -2.85800149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.340714057 meters 0.0384942203942829 Centerline is valid? [True, True] Translation: X:429.86, Y:-57.58, Z:-28.58 [[ 9.96198727e-01 6.99575864e-02 5.19040651e-02 4.29855598e+02] [-6.97039223e-02 9.97545334e-01 -6.68358408e-03 -5.75830920e+01] [-5.22442254e-02 3.04026104e-03 9.98629710e-01 -2.85806143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.370714057 meters 0.0387175067313565 Centerline is valid? [True, True] Translation: X:429.88, Y:-57.59, Z:-28.58 [[ 9.96134301e-01 7.02552425e-02 5.27319130e-02 4.29884875e+02] [-6.99938338e-02 9.97524315e-01 -6.79008019e-03 -5.75870302e+01] [-5.30784041e-02 3.07292304e-03 9.98585620e-01 -2.85814370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.400714057 meters 0.03346813967140386 Centerline is valid? [True, True] Translation: X:429.92, Y:-57.58, Z:-28.58 [[ 9.96158598e-01 7.01146111e-02 5.24593991e-02 4.29916163e+02] [-6.98556384e-02 9.97534231e-01 -6.75627019e-03 -5.75823334e+01] [-5.28037597e-02 3.06573182e-03 9.98600202e-01 -2.85827633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.430714057 meters 0.040330791162249614 Centerline is valid? [True, True] Translation: X:429.94, Y:-57.60, Z:-28.59 [[ 9.96290968e-01 6.93941549e-02 5.08798407e-02 4.29944000e+02] [-6.91496175e-02 9.97584778e-01 -6.55295499e-03 -5.75953863e+01] [-5.12116913e-02 3.01032836e-03 9.98683283e-01 -2.85868321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.460714057 meters 0.03427307600324512 Centerline is valid? [True, True] Translation: X:429.98, Y:-57.59, Z:-28.59 [[ 9.96424941e-01 6.82599835e-02 4.97786222e-02 4.29975814e+02] [-6.80245687e-02 9.97663054e-01 -6.41011634e-03 -5.75896703e+01] [-5.00998466e-02 3.00103050e-03 9.98739705e-01 -2.85882492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.490714057 meters 0.0348551393279335 Centerline is valid? [True, True] Translation: X:430.01, Y:-57.59, Z:-28.59 [[ 9.96603510e-01 6.64358032e-02 4.86593031e-02 4.30005553e+02] [-6.62086998e-02 9.97786122e-01 -6.26601452e-03 -5.75934711e+01] [-4.89678650e-02 3.02306288e-03 9.98795780e-01 -2.85906591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.520714057 meters 0.03400309062906832 Centerline is valid? [True, True] Translation: X:430.04, Y:-57.60, Z:-28.59 [[ 9.96633143e-01 6.56711666e-02 4.90884527e-02 4.30036211e+02] [-6.54391239e-02 9.97836542e-01 -6.32104064e-03 -5.75960982e+01] [-4.93973620e-02 3.08745326e-03 9.98774433e-01 -2.85922564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.550714057 meters 0.0362009952612431 Centerline is valid? [True, True] Translation: X:430.07, Y:-57.60, Z:-28.59 [[ 9.96735795e-01 6.40954270e-02 4.90869684e-02 4.30065508e+02] [-6.38615335e-02 9.97938756e-01 -6.32009526e-03 -5.76018905e+01] [-4.93908774e-02 3.16469609e-03 9.98774512e-01 -2.85932565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.580714057 meters 0.03698068335914527 Centerline is valid? [True, True] Translation: X:430.10, Y:-57.61, Z:-28.60 [[ 9.96799819e-01 6.34101465e-02 4.86751968e-02 4.30095819e+02] [-6.31790976e-02 9.97982495e-01 -6.27225514e-03 -5.76060012e+01] [-4.89747189e-02 3.17692778e-03 9.98794966e-01 -2.85950388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.610714057 meters 0.03776745038033733 Centerline is valid? [True, True] Translation: X:430.13, Y:-57.61, Z:-28.60 [[ 9.96927335e-01 6.21026769e-02 4.77403954e-02 4.30126062e+02] [-6.18789338e-02 9.98064704e-01 -6.15179722e-03 -5.76090104e+01] [-4.80300467e-02 3.17877005e-03 9.98840833e-01 -2.85972771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.640714057 meters 0.03837588335315219 Centerline is valid? [True, True] Translation: X:430.16, Y:-57.61, Z:-28.60 [[ 9.96947324e-01 6.17416280e-02 4.77912595e-02 4.30156131e+02] [-6.15169947e-02 9.98087037e-01 -6.15835153e-03 -5.76129745e+01] [-4.80800632e-02 3.19957743e-03 9.98838360e-01 -2.85994949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.670714057 meters 0.0394163010267414 Centerline is valid? [True, True] Translation: X:430.19, Y:-57.62, Z:-28.60 [[ 9.96981472e-01 6.10719749e-02 4.79391069e-02 4.30185934e+02] [-6.08451860e-02 9.98128101e-01 -6.17723709e-03 -5.76172844e+01] [-4.82266258e-02 3.24172706e-03 9.98831159e-01 -2.86013276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.700714057 meters 0.03967552726720943 Centerline is valid? [True, True] Translation: X:430.22, Y:-57.62, Z:-28.60 [[ 9.97042656e-01 6.01488989e-02 4.78335959e-02 4.30216637e+02] [-5.99220028e-02 9.98184026e-01 -6.16464826e-03 -5.76195002e+01] [-4.81175281e-02 3.28013241e-03 9.98836295e-01 -2.86020992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.730714057 meters 0.03665551787427131 Centerline is valid? [True, True] Translation: X:430.25, Y:-57.62, Z:-28.60 [[ 9.97015820e-01 5.99810864e-02 4.85975683e-02 4.30248131e+02] [-5.97466790e-02 9.98193923e-01 -6.26310671e-03 -5.76165511e+01] [-4.88854653e-02 3.34087315e-03 9.98798803e-01 -2.86014443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.76071405700003 meters 0.038850131391120764 Centerline is valid? [True, True] Translation: X:430.28, Y:-57.62, Z:-28.60 [[ 9.96976152e-01 6.02990895e-02 4.90160340e-02 4.30277979e+02] [-6.00610135e-02 9.98174720e-01 -6.31688607e-03 -5.76226073e+01] [-4.93074685e-02 3.35383209e-03 9.98778016e-01 -2.86030166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.790714057 meters 0.038292263814440945 Centerline is valid? [True, True] Translation: X:430.31, Y:-57.62, Z:-28.60 [[ 9.96981502e-01 6.05319872e-02 4.86185539e-02 4.30308100e+02] [-6.02979856e-02 9.98160749e-01 -6.26669072e-03 -5.76244306e+01] [-4.89084674e-02 3.31617386e-03 9.98797760e-01 -2.86044509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.82071405700003 meters 0.036745788450219474 Centerline is valid? [True, True] Translation: X:430.34, Y:-57.62, Z:-28.61 [[ 9.97032823e-01 6.02451806e-02 4.79173116e-02 4.30339125e+02] [-6.00175576e-02 9.98178214e-01 -6.17630407e-03 -5.76235410e+01] [-4.82021090e-02 3.28209787e-03 9.98832210e-01 -2.86058578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.850714057 meters 0.03829468958429274 Centerline is valid? [True, True] Translation: X:430.37, Y:-57.63, Z:-28.61 [[ 9.97087927e-01 6.00921813e-02 4.69531186e-02 4.30368157e+02] [-5.98734575e-02 9.98187628e-01 -6.05221274e-03 -5.76286752e+01] [-4.72317127e-02 3.22334270e-03 9.98878759e-01 -2.86080500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.880714057 meters 0.06984715445302096 Centerline is valid? [True, True] Translation: X:430.39, Y:-57.68, Z:-28.62 [[ 9.96710077e-01 6.39845421e-02 4.97493851e-02 4.30391802e+02] [-6.37438339e-02 9.97945697e-01 -6.41167634e-03 -5.76750067e+01] [-5.00574329e-02 3.21936588e-03 9.98741152e-01 -2.86154571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.910714057 meters 0.03536170039075482 Centerline is valid? [True, True] Translation: X:430.43, Y:-57.63, Z:-28.61 [[ 9.97181963e-01 6.05530597e-02 4.42883618e-02 4.30429239e+02] [-6.03590073e-02 9.98160418e-01 -5.70700629e-03 -5.76284251e+01] [-4.45524664e-02 3.01772218e-03 9.99002488e-01 -2.86122862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.940714057 meters 0.03957871194348996 Centerline is valid? [True, True] Translation: X:430.46, Y:-57.64, Z:-28.62 [[ 9.97146190e-01 6.13272895e-02 4.40277155e-02 4.30458064e+02] [-6.11362834e-02 9.98113306e-01 -5.67305273e-03 -5.76369878e+01] [-4.42925616e-02 2.96517202e-03 9.99014202e-01 -2.86150550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.970714057 meters 0.03587938827508824 Centerline is valid? [True, True] Translation: X:430.49, Y:-57.63, Z:-28.62 [[ 9.97142525e-01 6.19041348e-02 4.32973747e-02 4.30488708e+02] [-6.17198611e-02 9.98077907e-01 -5.58119728e-03 -5.76335503e+01] [-4.35596523e-02 2.89294119e-03 9.99046639e-01 -2.86152662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.000714057 meters 0.03510570454942886 Centerline is valid? [True, True] Translation: X:430.52, Y:-57.63, Z:-28.62 [[ 9.97058392e-01 6.27707513e-02 4.39817575e-02 4.30518373e+02] [-6.25815127e-02 9.98023763e-01 -5.66777964e-03 -5.76349371e+01] [-4.42506099e-02 2.89866233e-03 9.99016257e-01 -2.86160978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.030714057 meters 0.03937914173244419 Centerline is valid? [True, True] Translation: X:430.55, Y:-57.64, Z:-28.62 [[ 9.96923751e-01 6.40065812e-02 4.52348598e-02 4.30546468e+02] [-6.38077405e-02 9.97945195e-01 -5.82754450e-03 -5.76432048e+01] [-4.55149121e-02 2.92328332e-03 9.98959382e-01 -2.86177322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.060714057 meters 0.035928832686412206 Centerline is valid? [True, True] Translation: X:430.58, Y:-57.64, Z:-28.62 [[ 9.96805119e-01 6.52482275e-02 4.60676000e-02 4.30576425e+02] [-6.50433816e-02 9.97864798e-01 -5.93331475e-03 -5.76401686e+01] [-4.63563746e-02 2.91796603e-03 9.98920704e-01 -2.86175134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.090714057 meters 0.03575787436749506 Centerline is valid? [True, True] Translation: X:430.61, Y:-57.64, Z:-28.62 [[ 9.96758258e-01 6.57039113e-02 4.64324335e-02 4.30605099e+02] [-6.54964061e-02 9.97834898e-01 -5.97797565e-03 -5.76428868e+01] [-4.67246789e-02 2.91743908e-03 9.98903545e-01 -2.86185685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.120714057 meters 0.03623620173152643 Centerline is valid? [True, True] Translation: X:430.63, Y:-57.65, Z:-28.62 [[ 9.96740303e-01 6.59993271e-02 4.63988990e-02 4.30632717e+02] [-6.57925869e-02 9.97815458e-01 -5.97052583e-03 -5.76467067e+01] [-4.66915893e-02 2.89836013e-03 9.98905148e-01 -2.86197915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.150714057 meters 0.03648622513516795 Centerline is valid? [True, True] Translation: X:430.66, Y:-57.65, Z:-28.62 [[ 9.96712266e-01 6.56804884e-02 4.74418850e-02 4.30661240e+02] [-6.54641956e-02 9.97836272e-01 -6.10024260e-03 -5.76494052e+01] [-4.77399006e-02 2.97444179e-03 9.98855372e-01 -2.86205166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.180714057 meters 0.03522405292694552 Centerline is valid? [True, True] Translation: X:430.69, Y:-57.65, Z:-28.62 [[ 9.96791104e-01 6.44247794e-02 4.75072818e-02 4.30690445e+02] [-6.42066379e-02 9.97917950e-01 -6.10513265e-03 -5.76505780e+01] [-4.78016911e-02 3.03525908e-03 9.98852234e-01 -2.86214852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.210714057 meters 0.0371569438169538 Centerline is valid? [True, True] Translation: X:430.72, Y:-57.66, Z:-28.62 [[ 9.96973246e-01 6.19568603e-02 4.69648193e-02 4.30718411e+02] [-6.17410792e-02 9.98073968e-01 -6.03271436e-03 -5.76582984e+01] [-4.72481316e-02 3.11479619e-03 9.98878327e-01 -2.86238755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.240714057 meters 0.035724330698015054 Centerline is valid? [True, True] Translation: X:430.75, Y:-57.66, Z:-28.63 [[ 9.97103545e-01 6.02072634e-02 4.64715579e-02 4.30749073e+02] [-5.99941998e-02 9.98180889e-01 -5.96731376e-03 -5.76603793e+01] [-4.67462966e-02 3.16200578e-03 9.98901790e-01 -2.86255208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.270714057 meters 0.03935673673342711 Centerline is valid? [True, True] Translation: X:430.78, Y:-57.67, Z:-28.63 [[ 9.97171976e-01 5.91493427e-02 4.63616725e-02 4.30777087e+02] [-5.89361743e-02 9.98244005e-01 -5.95266171e-03 -5.76699785e+01] [-4.66323577e-02 3.20344783e-03 9.98906983e-01 -2.86279936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.300714057 meters 0.037532096678026504 Centerline is valid? [True, True] Translation: X:430.81, Y:-57.67, Z:-28.63 [[ 9.97328982e-01 5.72388333e-02 4.53720002e-02 4.30807748e+02] [-5.70325839e-02 9.98355305e-01 -5.82835381e-03 -5.76716069e+01] [-4.56309853e-02 3.22510376e-03 9.98953158e-01 -2.86293969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.330714057 meters 0.037759665820324466 Centerline is valid? [True, True] Translation: X:430.84, Y:-57.68, Z:-28.63 [[ 9.97358886e-01 5.74677919e-02 4.44151563e-02 4.30837428e+02] [-5.72703621e-02 9.98342400e-01 -5.70590807e-03 -5.76758557e+01] [-4.46694397e-02 3.14716603e-03 9.98996865e-01 -2.86316368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.360714057 meters 0.03640545911858369 Centerline is valid? [True, True] Translation: X:430.87, Y:-57.68, Z:-28.63 [[ 9.97292821e-01 5.93208427e-02 4.34518887e-02 4.30867405e+02] [-5.91337055e-02 9.98234472e-01 -5.58065850e-03 -5.76772488e+01] [-4.37062226e-02 2.99607947e-03 9.99039934e-01 -2.86335574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.390714057 meters 0.03547583934427532 Centerline is valid? [True, True] Translation: X:430.90, Y:-57.68, Z:-28.64 [[ 9.97191423e-01 6.10718643e-02 4.33531306e-02 4.30896867e+02] [-6.08872954e-02 9.98129127e-01 -5.56632971e-03 -5.76793693e+01] [-4.36119685e-02 2.91104137e-03 9.99044304e-01 -2.86351604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.420714057 meters 0.033858373926431186 Centerline is valid? [True, True] Translation: X:430.93, Y:-57.68, Z:-28.64 [[ 9.96884482e-01 6.57401685e-02 4.35839336e-02 4.30927753e+02] [-6.55581574e-02 9.97833070e-01 -5.59390565e-03 -5.76795926e+01] [-4.38572345e-02 2.71919536e-03 9.99034108e-01 -2.86355674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.450714057 meters 0.03344358865371201 Centerline is valid? [True, True] Translation: X:430.96, Y:-57.68, Z:-28.64 [[ 9.96687846e-01 6.84098262e-02 4.39708239e-02 4.30957013e+02] [-6.82271396e-02 9.97653850e-01 -5.64387072e-03 -5.76820365e+01] [-4.42537580e-02 2.62517381e-03 9.99016873e-01 -2.86370558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.480714057 meters 0.03167117325372545 Centerline is valid? [True, True] Translation: X:430.99, Y:-57.68, Z:-28.64 [[ 9.96255610e-01 7.35708622e-02 4.54102092e-02 4.30987743e+02] [-7.33814444e-02 9.97286927e-01 -5.82651827e-03 -5.76817744e+01] [-4.57156700e-02 2.47243477e-03 9.98951433e-01 -2.86362773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.51071405700003 meters 0.030513931468398394 Centerline is valid? [True, True] Translation: X:431.02, Y:-57.68, Z:-28.64 [[ 9.96137817e-01 7.51596820e-02 4.53924113e-02 4.31017115e+02] [-7.49720353e-02 9.97168625e-01 -5.82470008e-03 -5.76827925e+01] [-4.57016710e-02 2.39904256e-03 9.98952252e-01 -2.86372736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.540714057 meters 0.0288097676336242 Centerline is valid? [True, True] Translation: X:431.05, Y:-57.68, Z:-28.64 [[ 9.95952088e-01 7.75563601e-02 4.54362059e-02 4.31047314e+02] [-7.73709696e-02 9.96985343e-01 -5.82741363e-03 -5.76845045e+01] [-4.57511843e-02 2.28838147e-03 9.98950245e-01 -2.86394481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.57071405700003 meters 0.030629574621033117 Centerline is valid? [True, True] Translation: X:431.07, Y:-57.69, Z:-28.64 [[ 9.95973351e-01 7.74490190e-02 4.51523450e-02 4.31074359e+02] [-7.72658265e-02 9.96993709e-01 -5.79107489e-03 -5.76911127e+01] [-4.54651170e-02 2.27902300e-03 9.98963327e-01 -2.86422906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.600714057 meters 0.031741388076105555 Centerline is valid? [True, True] Translation: X:431.10, Y:-57.70, Z:-28.64 [[ 9.95997604e-01 7.75488496e-02 4.44404005e-02 4.31100448e+02] [-7.73716515e-02 9.96986048e-01 -5.69620511e-03 -5.76963321e+01] [-4.47481934e-02 2.23497946e-03 9.98995798e-01 -2.86442351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.630714057 meters 0.030552360060410816 Centerline is valid? [True, True] Translation: X:431.13, Y:-57.70, Z:-28.64 [[ 9.96115073e-01 7.63083358e-02 4.39522468e-02 4.31129306e+02] [-7.61340773e-02 9.97081708e-01 -5.62755901e-03 -5.76978417e+01] [-4.42534110e-02 2.25943260e-03 9.99017783e-01 -2.86444262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.660714057 meters 0.029900770059865262 Centerline is valid? [True, True] Translation: X:431.16, Y:-57.70, Z:-28.65 [[ 9.96160544e-01 7.55259584e-02 4.42719001e-02 4.31158157e+02] [-7.53485266e-02 9.97141166e-01 -5.66528477e-03 -5.77008056e+01] [-4.45732101e-02 2.30771071e-03 9.99003455e-01 -2.86455162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.690714057 meters 0.0316867976774893 Centerline is valid? [True, True] Translation: X:431.19, Y:-57.71, Z:-28.65 [[ 9.96431895e-01 7.24520649e-02 4.32917738e-02 4.31186996e+02] [-7.22796820e-02 9.97369039e-01 -5.53606075e-03 -5.77079162e+01] [-4.35789738e-02 2.38719186e-03 9.99047133e-01 -2.86479566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.720714057 meters 0.03214141119362127 Centerline is valid? [True, True] Translation: X:431.22, Y:-57.71, Z:-28.65 [[ 9.96566471e-01 7.09281830e-02 4.27137075e-02 4.31215545e+02] [-7.07589983e-02 9.97478488e-01 -5.46174879e-03 -5.77136925e+01] [-4.29933963e-02 2.42061657e-03 9.99072424e-01 -2.86504210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.750714057 meters 0.03329853621471003 Centerline is valid? [True, True] Translation: X:431.24, Y:-57.72, Z:-28.65 [[ 9.96762783e-01 6.85958181e-02 4.19352881e-02 4.31244182e+02] [-6.84307850e-02 9.97641468e-01 -5.35999490e-03 -5.77197656e+01] [-4.22040556e-02 2.47297876e-03 9.99105951e-01 -2.86529322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.780714057 meters 0.03559317617436638 Centerline is valid? [True, True] Translation: X:431.27, Y:-57.73, Z:-28.66 [[ 9.97126756e-01 6.38590020e-02 4.07462906e-02 4.31273622e+02] [-6.36993812e-02 9.97955558e-01 -5.20510250e-03 -5.77279047e+01] [-4.09953798e-02 2.59463347e-03 9.99155967e-01 -2.86555921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.810714057 meters 0.03668512244371893 Centerline is valid? [True, True] Translation: X:431.30, Y:-57.73, Z:-28.66 [[ 9.97287229e-01 6.15820912e-02 4.03215627e-02 4.31302426e+02] [-6.14239052e-02 9.98098475e-01 -5.15146509e-03 -5.77333569e+01] [-4.05621283e-02 2.66078250e-03 9.99173475e-01 -2.86576038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.840714057 meters 0.03901856663546515 Centerline is valid? [True, True] Translation: X:431.33, Y:-57.74, Z:-28.66 [[ 9.97441497e-01 5.86191568e-02 4.09176637e-02 4.31330608e+02] [-5.84538790e-02 9.98276436e-01 -5.22508600e-03 -5.77398819e+01] [-4.11534296e-02 2.81992144e-03 9.99148859e-01 -2.86582124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.870714057 meters 0.03854459892787422 Centerline is valid? [True, True] Translation: X:431.36, Y:-57.74, Z:-28.66 [[ 9.97417072e-01 5.81079240e-02 4.22214777e-02 4.31358794e+02] [-5.79315250e-02 9.98306005e-01 -5.39056102e-03 -5.77431467e+01] [-4.24631891e-02 2.93068299e-03 9.99093734e-01 -2.86584720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.900714057 meters 0.03879801692577649 Centerline is valid? [True, True] Translation: X:431.39, Y:-57.75, Z:-28.66 [[ 9.97420041e-01 5.75653603e-02 4.28892882e-02 4.31388451e+02] [-5.73829904e-02 9.98337241e-01 -5.47218959e-03 -5.77467732e+01] [-4.31329822e-02 2.99695596e-03 9.99064845e-01 -2.86591499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.930714057 meters 0.038910957160755016 Centerline is valid? [True, True] Translation: X:431.42, Y:-57.75, Z:-28.66 [[ 9.97356148e-01 5.76789733e-02 4.42023689e-02 4.31417857e+02] [-5.74854401e-02 9.98330424e-01 -5.63808656e-03 -5.77494001e+01] [-4.44537687e-02 3.08218767e-03 9.99006688e-01 -2.86595190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.960714057 meters 0.03673106148301584 Centerline is valid? [True, True] Translation: X:431.45, Y:-57.75, Z:-28.66 [[ 9.97346442e-01 5.75694188e-02 4.45627185e-02 4.31447868e+02] [-5.73726771e-02 9.98336659e-01 -5.68246033e-03 -5.77494631e+01] [-4.48157315e-02 3.11069913e-03 9.98990427e-01 -2.86601291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.990714057 meters 0.03673106148301584 Centerline is valid? [True, True] Translation: X:431.48, Y:-57.75, Z:-28.66 [[ 9.97348498e-01 5.75336451e-02 4.45629220e-02 4.31476813e+02] [-5.73369388e-02 9.98338722e-01 -5.68086436e-03 -5.77531233e+01] [-4.48157314e-02 3.11070000e-03 9.98990427e-01 -2.86618205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.020714057 meters 0.0425716034609416 Centerline is valid? [True, True] Translation: X:431.50, Y:-57.76, Z:-28.66 [[ 9.97376050e-01 5.65913210e-02 4.51490599e-02 4.31504508e+02] [-5.63885174e-02 9.98392322e-01 -5.75391020e-03 -5.77640521e+01] [-4.54020962e-02 3.19292368e-03 9.98963690e-01 -2.86637436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.050714057 meters 0.03874613538303153 Centerline is valid? [True, True] Translation: X:431.53, Y:-57.76, Z:-28.66 [[ 9.97419255e-01 5.58354281e-02 4.51357422e-02 4.31534521e+02] [-5.56320488e-02 9.98434778e-01 -5.75057879e-03 -5.77623479e+01] [-4.53861807e-02 3.22474420e-03 9.98964311e-01 -2.86645247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.080714057 meters 0.0451307622974791 Centerline is valid? [True, True] Translation: X:431.56, Y:-57.78, Z:-28.67 [[ 9.97507378e-01 5.44234010e-02 4.49123972e-02 4.31562703e+02] [-5.42206906e-02 9.98512591e-01 -5.72029488e-03 -5.77753263e+01] [-4.51569120e-02 3.27085516e-03 9.98974552e-01 -2.86682669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.110714057 meters 0.04170343227207615 Centerline is valid? [True, True] Translation: X:431.59, Y:-57.77, Z:-28.67 [[ 9.97758728e-01 5.06602484e-02 4.37156663e-02 4.31593322e+02] [-5.04646607e-02 9.98710333e-01 -5.56683366e-03 -5.77747323e+01] [-4.39413048e-02 3.34826060e-03 9.99028504e-01 -2.86701322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.140714057 meters 0.04349106726692734 Centerline is valid? [True, True] Translation: X:431.62, Y:-57.78, Z:-28.67 [[ 9.97923986e-01 4.84760106e-02 4.24004145e-02 4.31623261e+02] [-4.82900686e-02 9.98818761e-01 -5.39926605e-03 -5.77807721e+01] [-4.26120643e-02 3.34053817e-03 9.99086109e-01 -2.86731740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.170714057 meters 0.05270331480541572 Centerline is valid? [True, True] Translation: X:431.65, Y:-57.80, Z:-28.68 [[ 9.98182744e-01 4.48763185e-02 4.02159794e-02 4.31651007e+02] [-4.47061043e-02 9.98987050e-01 -5.12232131e-03 -5.77966651e+01] [-4.04051136e-02 3.31511297e-03 9.99177880e-01 -2.86785461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.200714057 meters 0.04728375220455435 Centerline is valid? [True, True] Translation: X:431.68, Y:-57.79, Z:-28.68 [[ 9.98275070e-01 4.36210425e-02 3.92948969e-02 4.31683072e+02] [-4.34576339e-02 9.99042741e-01 -5.00353201e-03 -5.77928878e+01] [-3.94755408e-02 3.28723802e-03 9.99215130e-01 -2.86795891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.230714057 meters 0.04468584124025904 Centerline is valid? [True, True] Translation: X:431.71, Y:-57.79, Z:-28.68 [[ 9.98359839e-01 4.26853371e-02 3.81522559e-02 4.31714726e+02] [-4.25305737e-02 9.99083349e-01 -4.85928875e-03 -5.77926914e+01] [-3.83247039e-02 3.22868140e-03 9.99260123e-01 -2.86815019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.26071405700003 meters 0.04236342713413338 Centerline is valid? [True, True] Translation: X:431.75, Y:-57.79, Z:-28.68 [[ 9.98376157e-01 4.27671875e-02 3.76300066e-02 4.31746777e+02] [-4.26166425e-02 9.99079996e-01 -4.79409193e-03 -5.77924818e+01] [-3.78004167e-02 3.18264254e-03 9.99280241e-01 -2.86822721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.290714057 meters 0.0433769761618473 Centerline is valid? [True, True] Translation: X:431.78, Y:-57.80, Z:-28.68 [[ 9.98333939e-01 4.33619504e-02 3.80668802e-02 4.31776781e+02] [-4.32082478e-02 9.99054308e-01 -4.85154368e-03 -5.77952129e+01] [-3.82412530e-02 3.19865752e-03 9.99263416e-01 -2.86833672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.32071405700003 meters 0.04415971926885503 Centerline is valid? [True, True] Translation: X:431.81, Y:-57.80, Z:-28.68 [[ 9.98301403e-01 4.37945826e-02 3.84232236e-02 4.31807148e+02] [-4.36382774e-02 9.99035392e-01 -4.89767428e-03 -5.77991039e+01] [-3.86006519e-02 3.21263181e-03 9.99249553e-01 -2.86846362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.350714057 meters 0.0439041006629846 Centerline is valid? [True, True] Translation: X:431.84, Y:-57.80, Z:-28.69 [[ 9.98257762e-01 4.41452359e-02 3.91489418e-02 4.31838764e+02] [-4.39832185e-02 9.99019805e-01 -4.99057547e-03 -5.78018050e+01] [-3.93308784e-02 3.25998423e-03 9.99220924e-01 -2.86855803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.380714057 meters 0.0426739529681639 Centerline is valid? [True, True] Translation: X:431.87, Y:-57.80, Z:-28.69 [[ 9.98196662e-01 4.44114086e-02 4.03862676e-02 4.31870556e+02] [-4.42391352e-02 9.99007697e-01 -5.14981845e-03 -5.78021710e+01] [-4.05749028e-02 3.35387803e-03 9.99170871e-01 -2.86854452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.410714057 meters 0.04334255872769332 Centerline is valid? [True, True] Translation: X:431.90, Y:-57.81, Z:-28.69 [[ 9.98175101e-01 4.43540384e-02 4.09778788e-02 4.31900848e+02] [-4.41765538e-02 9.99010065e-01 -5.22708070e-03 -5.78072814e+01] [-4.11691555e-02 3.40728033e-03 9.99146381e-01 -2.86870554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.440714057 meters 0.0451146328736576 Centerline is valid? [True, True] Translation: X:431.93, Y:-57.81, Z:-28.69 [[ 9.98250642e-01 4.24546776e-02 4.11491932e-02 4.31931776e+02] [-4.22740841e-02 9.99092261e-01 -5.24939131e-03 -5.78134268e+01] [-4.13347017e-02 3.50066379e-03 9.99139223e-01 -2.86897871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.470714057 meters 0.04548880702602956 Centerline is valid? [True, True] Translation: X:431.96, Y:-57.82, Z:-28.69 [[ 9.98312098e-01 4.14230628e-02 4.07072994e-02 4.31963706e+02] [-4.12454450e-02 9.99135545e-01 -5.19385200e-03 -5.78180638e+01] [-4.08872550e-02 3.50609461e-03 9.99157615e-01 -2.86921252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.500714057 meters 0.0462668663215251 Centerline is valid? [True, True] Translation: X:432.00, Y:-57.82, Z:-28.69 [[ 9.98345391e-01 4.08856405e-02 4.04332042e-02 4.31995718e+02] [-4.07099749e-02 9.99157688e-01 -5.15878496e-03 -5.78236342e+01] [-4.06100670e-02 3.50421447e-03 9.99168926e-01 -2.86945933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.530714057 meters 0.04789956371332551 Centerline is valid? [True, True] Translation: X:432.03, Y:-57.83, Z:-28.70 [[ 9.98472307e-01 3.94189283e-02 3.87195052e-02 4.32026270e+02] [-3.92562564e-02 9.99216901e-01 -4.95291818e-03 -5.78292301e+01] [-3.88844228e-02 3.42536882e-03 9.99237844e-01 -2.86972577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.560714057 meters 0.048999724023321596 Centerline is valid? [True, True] Translation: X:432.06, Y:-57.83, Z:-28.70 [[ 9.98516036e-01 3.86048085e-02 3.84108658e-02 4.32057903e+02] [-3.84440767e-02 9.99248667e-01 -4.91466095e-03 -5.78349339e+01] [-3.85717360e-02 3.43069750e-03 9.99249944e-01 -2.86995920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.590714057 meters 0.05070850216405966 Centerline is valid? [True, True] Translation: X:432.09, Y:-57.84, Z:-28.70 [[ 9.98605884e-01 3.71689460e-02 3.74800963e-02 4.32088582e+02] [-3.70147886e-02 9.99303196e-01 -4.79883522e-03 -5.78410843e+01] [-3.76323476e-02 3.40482725e-03 9.99285852e-01 -2.87026793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.620714057 meters 0.051455391054314695 Centerline is valid? [True, True] Translation: X:432.12, Y:-57.85, Z:-28.70 [[ 9.98606094e-01 3.71667024e-02 3.74767299e-02 4.32120125e+02] [-3.70126784e-02 9.99303289e-01 -4.79555594e-03 -5.78460976e+01] [-3.76288545e-02 3.40175723e-03 9.99285994e-01 -2.87048231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.650714057 meters 0.04826301332123284 Centerline is valid? [True, True] Translation: X:432.15, Y:-57.85, Z:-28.71 [[ 9.98627521e-01 3.71120603e-02 3.69563186e-02 4.32153097e+02] [-3.69619266e-02 9.99305444e-01 -4.73766848e-03 -5.78454592e+01] [-3.71064750e-02 3.36518939e-03 9.99305651e-01 -2.87061615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.680714057 meters 0.05318062542874757 Centerline is valid? [True, True] Translation: X:432.18, Y:-57.86, Z:-28.71 [[ 9.98619390e-01 3.75340540e-02 3.67492728e-02 4.32182768e+02] [-3.73855301e-02 9.99289767e-01 -4.72065928e-03 -5.78559347e+01] [-3.69003578e-02 3.34025084e-03 9.99313367e-01 -2.87093793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.710714057 meters 0.04866635549391694 Centerline is valid? [True, True] Translation: X:432.22, Y:-57.85, Z:-28.71 [[ 9.98579126e-01 3.84691902e-02 3.68761479e-02 4.32215748e+02] [-3.83199670e-02 9.99254254e-01 -4.74514764e-03 -5.78533630e+01] [-3.70311897e-02 3.32531262e-03 9.99308578e-01 -2.87101296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.740714057 meters 0.046639439997300684 Centerline is valid? [True, True] Translation: X:432.25, Y:-57.85, Z:-28.71 [[ 9.98509256e-01 3.96545428e-02 3.75071118e-02 4.32247270e+02] [-3.95004745e-02 9.99207829e-01 -4.84015438e-03 -5.78529702e+01] [-3.76693339e-02 3.35139023e-03 9.99284639e-01 -2.87099161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.770714057 meters 0.04783318469248697 Centerline is valid? [True, True] Translation: X:432.28, Y:-57.86, Z:-28.71 [[ 9.98455523e-01 4.06334576e-02 3.78878673e-02 4.32277904e+02] [-4.04770346e-02 9.99168518e-01 -4.88686585e-03 -5.78577529e+01] [-3.80549345e-02 3.34572969e-03 9.99270048e-01 -2.87112471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.800714057 meters 0.04506838503768474 Centerline is valid? [True, True] Translation: X:432.31, Y:-57.86, Z:-28.71 [[ 9.98403536e-01 4.14115753e-02 3.84117227e-02 4.32309739e+02] [-4.12508705e-02 9.99136473e-01 -4.96724197e-03 -5.78571293e+01] [-3.85842544e-02 3.37479496e-03 9.99249652e-01 -2.87116372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.830714057 meters 0.04781840357585955 Centerline is valid? [True, True] Translation: X:432.34, Y:-57.86, Z:-28.71 [[ 9.98366842e-01 4.23284715e-02 3.83659900e-02 4.32339927e+02] [-4.21689119e-02 9.99098189e-01 -4.95896968e-03 -5.78641887e+01] [-3.85412967e-02 3.33301885e-03 9.99251450e-01 -2.87140991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.860714057 meters 0.048546922419652166 Centerline is valid? [True, True] Translation: X:432.37, Y:-57.87, Z:-28.71 [[ 9.98286950e-01 4.33100138e-02 3.93371074e-02 4.32369635e+02] [-4.31424914e-02 9.99055922e-01 -5.09797537e-03 -5.78684190e+01] [-3.95207635e-02 3.39214147e-03 9.99212992e-01 -2.87149302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.890714057 meters 0.04359605356122725 Centerline is valid? [True, True] Translation: X:432.40, Y:-57.87, Z:-28.71 [[ 9.98261263e-01 4.29404318e-02 4.03803097e-02 4.32401805e+02] [-4.27635830e-02 9.99071512e-01 -5.23358430e-03 -5.78655556e+01] [-4.05675495e-02 3.49767775e-03 9.99170676e-01 -2.87144729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.920714057 meters 0.0436428203452297 Centerline is valid? [True, True] Translation: X:432.43, Y:-57.87, Z:-28.72 [[ 9.98268342e-01 4.26590251e-02 4.05034023e-02 4.32433135e+02] [-4.24808053e-02 9.99083484e-01 -5.25102518e-03 -5.78696212e+01] [-4.06902839e-02 3.52131505e-03 9.99165602e-01 -2.87163067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.950714057 meters 0.04411077914734618 Centerline is valid? [True, True] Translation: X:432.46, Y:-57.87, Z:-28.72 [[ 9.98296374e-01 4.21358450e-02 4.03598774e-02 4.32463975e+02] [-4.19584032e-02 9.99105649e-01 -5.23388818e-03 -5.78740848e+01] [-4.05443158e-02 3.53153559e-03 9.99171500e-01 -2.87181161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.980714057 meters 0.04425746226742163 Centerline is valid? [True, True] Translation: X:432.50, Y:-57.88, Z:-28.72 [[ 9.98327477e-01 4.16885218e-02 4.00539132e-02 4.32495343e+02] [-4.15134871e-02 9.99124453e-01 -5.19216843e-03 -5.78783210e+01] [-4.02352979e-02 3.52070680e-03 9.99184030e-01 -2.87198179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.01071405700003 meters 0.04406175374146428 Centerline is valid? [True, True] Translation: X:432.53, Y:-57.88, Z:-28.72 [[ 9.98407160e-01 4.03501828e-02 3.94335720e-02 4.32526009e+02] [-4.01789891e-02 9.99179357e-01 -5.12455188e-03 -5.78831778e+01] [-3.96079878e-02 3.53198823e-03 9.99209053e-01 -2.87228014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.040714057 meters 0.05467961703421375 Centerline is valid? [True, True] Translation: X:432.55, Y:-57.90, Z:-28.73 [[ 9.98443230e-01 3.96137071e-02 3.92666741e-02 4.32554702e+02] [-3.94434052e-02 9.99208778e-01 -5.10262038e-03 -5.79027963e+01] [-3.94377391e-02 3.54586544e-03 9.99215738e-01 -2.87282897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.07071405700003 meters 0.047304827269851774 Centerline is valid? [True, True] Translation: X:432.59, Y:-57.90, Z:-28.73 [[ 9.98539049e-01 3.79271179e-02 3.84876852e-02 4.32586792e+02] [-3.77619996e-02 9.99274211e-01 -5.00834665e-03 -5.78978168e+01] [-3.86497034e-02 3.54765774e-03 9.99246523e-01 -2.87291684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.100714057 meters 0.049537176992186224 Centerline is valid? [True, True] Translation: X:432.62, Y:-57.91, Z:-28.73 [[ 9.98596605e-01 3.72748478e-02 3.76218891e-02 4.32617552e+02] [-3.71167566e-02 9.99298961e-01 -4.89208725e-03 -5.79052372e+01] [-3.77778665e-02 3.48881922e-03 9.99280071e-01 -2.87319335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.130714057 meters 0.049281660733889746 Centerline is valid? [True, True] Translation: X:432.65, Y:-57.91, Z:-28.73 [[ 9.98636761e-01 3.63895358e-02 3.74221927e-02 4.32648881e+02] [-3.62321769e-02 9.99331509e-01 -4.87480639e-03 -5.79105421e+01] [-3.75745682e-02 3.51227336e-03 9.99287654e-01 -2.87336826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.160714057 meters 0.04646525216210841 Centerline is valid? [True, True] Translation: X:432.68, Y:-57.91, Z:-28.73 [[ 9.98662153e-01 3.62078584e-02 3.69174177e-02 4.32680962e+02] [-3.60542863e-02 9.99338222e-01 -4.81739057e-03 -5.79109471e+01] [-3.70674139e-02 3.47991449e-03 9.99306708e-01 -2.87347023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.190714057 meters 0.04617132570487629 Centerline is valid? [True, True] Translation: X:432.71, Y:-57.91, Z:-28.74 [[ 9.98625327e-01 3.75977057e-02 3.65221732e-02 4.32711800e+02] [-3.74478561e-02 9.99287157e-01 -4.77865462e-03 -5.79149024e+01] [-3.66758051e-02 3.40440845e-03 9.99321417e-01 -2.87365690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.220714057 meters 0.04778979355604341 Centerline is valid? [True, True] Translation: X:432.74, Y:-57.92, Z:-28.74 [[ 9.98571734e-01 3.86438707e-02 3.68936753e-02 4.32742612e+02] [-3.84917634e-02 9.99247271e-01 -4.82455079e-03 -5.79214934e+01] [-3.70523437e-02 3.39755743e-03 9.99307550e-01 -2.87393003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.250714057 meters 0.04766177593800456 Centerline is valid? [True, True] Translation: X:432.77, Y:-57.93, Z:-28.74 [[ 9.98525250e-01 3.98244804e-02 3.68962756e-02 4.32774745e+02] [-3.96728365e-02 9.99201033e-01 -4.83335820e-03 -5.79257565e+01] [-3.70592826e-02 3.36245030e-03 9.99307412e-01 -2.87411053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.280714057 meters 0.046268828614454485 Centerline is valid? [True, True] Translation: X:432.81, Y:-57.93, Z:-28.74 [[ 9.98436961e-01 4.16331606e-02 3.72869250e-02 4.32805809e+02] [-4.14790033e-02 9.99127366e-01 -4.89877022e-03 -5.79280184e+01] [-3.74583384e-02 3.34448877e-03 9.99292593e-01 -2.87419361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.310714057 meters 0.04512613345534884 Centerline is valid? [True, True] Translation: X:432.84, Y:-57.93, Z:-28.74 [[ 9.98311987e-01 4.42357123e-02 3.76348140e-02 4.32836641e+02] [-4.40804670e-02 9.99015744e-01 -4.94527254e-03 -5.79312904e+01] [-3.78165294e-02 3.27796467e-03 9.99279323e-01 -2.87436288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.340714057 meters 0.045087273826566396 Centerline is valid? [True, True] Translation: X:432.87, Y:-57.94, Z:-28.75 [[ 9.98284617e-01 4.52382313e-02 3.71661863e-02 4.32866781e+02] [-4.50874818e-02 9.98971100e-01 -4.88471303e-03 -5.79353143e+01] [-3.73489218e-02 3.20060413e-03 9.99297160e-01 -2.87452572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.370714057 meters 0.04540974774738458 Centerline is valid? [True, True] Translation: X:432.90, Y:-57.94, Z:-28.75 [[ 9.98215277e-01 4.64226161e-02 3.75659674e-02 4.32895753e+02] [-4.62694228e-02 9.98916794e-01 -4.93761109e-03 -5.79399891e+01] [-3.77544926e-02 3.19064319e-03 9.99281951e-01 -2.87470921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.400714057 meters 0.04405510647777662 Centerline is valid? [True, True] Translation: X:432.93, Y:-57.94, Z:-28.75 [[ 9.98129758e-01 4.81689645e-02 3.76395670e-02 4.32926018e+02] [-4.80164280e-02 9.98834297e-01 -4.94660795e-03 -5.79416265e+01] [-3.78339635e-02 3.13003903e-03 9.99279137e-01 -2.87480149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.430714057 meters 0.04368923407347841 Centerline is valid? [True, True] Translation: X:432.96, Y:-57.95, Z:-28.75 [[ 9.98090121e-01 4.90034860e-02 3.76133991e-02 4.32955470e+02] [-4.88517621e-02 9.98793809e-01 -4.94284760e-03 -5.79452644e+01] [-3.78102469e-02 3.09592653e-03 9.99280141e-01 -2.87493263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.460714057 meters 0.04401843233931766 Centerline is valid? [True, True] Translation: X:432.98, Y:-57.95, Z:-28.75 [[ 9.98042572e-01 4.99776627e-02 3.75933118e-02 4.32984971e+02] [-4.98268384e-02 9.98745660e-01 -4.93885112e-03 -5.79492621e+01] [-3.77929893e-02 3.05602780e-03 9.99280917e-01 -2.87508595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.490714057 meters 0.044032495992811685 Centerline is valid? [True, True] Translation: X:433.01, Y:-57.95, Z:-28.75 [[ 9.98016364e-01 5.04957776e-02 3.75967230e-02 4.33014768e+02] [-5.03453554e-02 9.98719663e-01 -4.93759810e-03 -5.79534643e+01] [-3.77979143e-02 3.03498332e-03 9.99280795e-01 -2.87525480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.520714057 meters 0.04675116610024758 Centerline is valid? [True, True] Translation: X:433.04, Y:-57.96, Z:-28.76 [[ 9.98045681e-01 5.04549544e-02 3.68661959e-02 4.33042227e+02] [-5.03103033e-02 9.98721900e-01 -4.84148234e-03 -5.79612055e+01] [-3.70633540e-02 2.97727104e-03 9.99308483e-01 -2.87564444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.550714057 meters 0.04597784192069433 Centerline is valid? [True, True] Translation: X:433.07, Y:-57.96, Z:-28.76 [[ 9.98046878e-01 5.07556767e-02 3.64182611e-02 4.33071650e+02] [-5.06147773e-02 9.98706807e-01 -4.78110011e-03 -5.79638796e+01] [-3.66138333e-02 2.92845986e-03 9.99325198e-01 -2.87582410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.580714057 meters 0.047902393295316495 Centerline is valid? [True, True] Translation: X:433.10, Y:-57.97, Z:-28.76 [[ 9.98028421e-01 5.10560938e-02 3.65040652e-02 4.33100075e+02] [-5.09147627e-02 9.98691508e-01 -4.79144240e-03 -5.79696816e+01] [-3.67009323e-02 2.92339987e-03 9.99322018e-01 -2.87603301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.610714057 meters 0.04493967411974518 Centerline is valid? [True, True] Translation: X:433.13, Y:-57.97, Z:-28.76 [[ 9.97984981e-01 5.14891229e-02 3.70789515e-02 4.33130363e+02] [-5.13436855e-02 9.98669195e-01 -4.86459075e-03 -5.79692634e+01] [-3.72800801e-02 2.95101848e-03 9.99300499e-01 -2.87608552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.640714057 meters 0.04259593531585048 Centerline is valid? [True, True] Translation: X:433.16, Y:-57.97, Z:-28.76 [[ 9.97967183e-01 5.20668291e-02 3.67497870e-02 4.33160470e+02] [-5.19243996e-02 9.98639386e-01 -4.82014748e-03 -5.79697520e+01] [-3.69507545e-02 2.90213838e-03 9.99312874e-01 -2.87616274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.670714057 meters 0.0445043963749492 Centerline is valid? [True, True] Translation: X:433.19, Y:-57.98, Z:-28.76 [[ 9.97881921e-01 5.36196864e-02 3.68320768e-02 4.33188899e+02] [-5.34777183e-02 9.98557364e-01 -4.82960698e-03 -5.79758790e+01] [-3.70379035e-02 2.84968206e-03 9.99309798e-01 -2.87641821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.700714057 meters 0.044154947054968634 Centerline is valid? [True, True] Translation: X:433.22, Y:-57.98, Z:-28.77 [[ 9.97853385e-01 5.41669724e-02 3.68043607e-02 4.33217946e+02] [-5.40255861e-02 9.98527889e-01 -4.82602091e-03 -5.79786856e+01] [-3.70115916e-02 2.82728414e-03 9.99310837e-01 -2.87656992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.730714057 meters 0.04085505848441637 Centerline is valid? [True, True] Translation: X:433.25, Y:-57.98, Z:-28.77 [[ 9.97820783e-01 5.42640422e-02 3.75379672e-02 4.33246993e+02] [-5.41171988e-02 9.98522481e-01 -4.91769809e-03 -5.79768311e+01] [-3.77493583e-02 2.87553172e-03 9.99283102e-01 -2.87652380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.76071405700003 meters 0.04186671698624944 Centerline is valid? [True, True] Translation: X:433.28, Y:-57.98, Z:-28.77 [[ 9.97842142e-01 5.39467562e-02 3.74273466e-02 4.33275492e+02] [-5.38006571e-02 9.98539671e-01 -4.90051266e-03 -5.79819547e+01] [-3.76370572e-02 2.87632221e-03 9.99287335e-01 -2.87668398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.790714057 meters 0.04214890810367289 Centerline is valid? [True, True] Translation: X:433.30, Y:-57.99, Z:-28.77 [[ 9.97882288e-01 5.30897249e-02 3.75821735e-02 4.33304411e+02] [-5.29419386e-02 9.98585485e-01 -4.91738108e-03 -5.79862353e+01] [-3.77900753e-02 2.91729436e-03 9.99281442e-01 -2.87686914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.82071405700003 meters 0.04311584736510599 Centerline is valid? [True, True] Translation: X:433.33, Y:-57.99, Z:-28.77 [[ 9.97971113e-01 5.10717127e-02 3.80175869e-02 4.33333226e+02] [-5.09190649e-02 9.98690400e-01 -4.97331209e-03 -5.79921077e+01] [-3.82217946e-02 3.02740183e-03 9.99264694e-01 -2.87711106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.850714057 meters 0.04311584736510599 Centerline is valid? [True, True] Translation: X:433.36, Y:-58.00, Z:-28.77 [[ 9.97972905e-01 5.10364599e-02 3.80178939e-02 4.33362184e+02] [-5.08838756e-02 9.98692205e-01 -4.97096430e-03 -5.79958630e+01] [-3.82218747e-02 3.02638990e-03 9.99264694e-01 -2.87728038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.880714057 meters 0.0433856912179618 Centerline is valid? [True, True] Translation: X:433.39, Y:-58.00, Z:-28.77 [[ 9.98048936e-01 4.99213433e-02 3.74990733e-02 4.33391299e+02] [-4.97721655e-02 9.98748569e-01 -4.90181136e-03 -5.80000777e+01] [-3.76968508e-02 3.02583753e-03 9.99284640e-01 -2.87744495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.910714057 meters 0.044406458521158126 Centerline is valid? [True, True] Translation: X:433.42, Y:-58.00, Z:-28.78 [[ 9.98183548e-01 4.78070246e-02 3.66618651e-02 4.33420547e+02] [-4.76630817e-02 9.98851981e-01 -4.79073171e-03 -5.80046225e+01] [-3.68488072e-02 3.03461211e-03 9.99316245e-01 -2.87773340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.940714057 meters 0.044581856141324885 Centerline is valid? [True, True] Translation: X:433.45, Y:-58.01, Z:-28.78 [[ 9.98223402e-01 4.70980918e-02 3.64939672e-02 4.33449687e+02] [-4.69550049e-02 9.98885623e-01 -4.76851690e-03 -5.80081024e+01] [-3.66778872e-02 3.04647076e-03 9.99322496e-01 -2.87790568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.970714057 meters 0.04431573037664491 Centerline is valid? [True, True] Translation: X:433.48, Y:-58.01, Z:-28.78 [[ 9.98234687e-01 4.68721733e-02 3.64761420e-02 4.33478688e+02] [-4.67291102e-02 9.98896232e-01 -4.76526728e-03 -5.80108025e+01] [-3.66592393e-02 3.05235743e-03 9.99323163e-01 -2.87807791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.000714057 meters 0.041835214824482235 Centerline is valid? [True, True] Translation: X:433.51, Y:-58.01, Z:-28.78 [[ 9.98211463e-01 4.72007714e-02 3.66873648e-02 4.33508766e+02] [-4.70563531e-02 9.98880749e-01 -4.79049995e-03 -5.80102241e+01] [-3.68724177e-02 3.05555837e-03 9.99315310e-01 -2.87818785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.030714057 meters 0.04242704323450182 Centerline is valid? [True, True] Translation: X:433.54, Y:-58.01, Z:-28.78 [[ 9.98197240e-01 4.75179569e-02 3.66648844e-02 4.33537217e+02] [-4.73739643e-02 9.98865755e-01 -4.78658266e-03 -5.80140902e+01] [-3.68507460e-02 3.04099267e-03 9.99316154e-01 -2.87838464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.060714057 meters 0.04285074815283863 Centerline is valid? [True, True] Translation: X:433.57, Y:-58.02, Z:-28.79 [[ 9.98116185e-01 4.85375301e-02 3.75258546e-02 4.33566966e+02] [-4.83875009e-02 9.98816637e-01 -4.89648648e-03 -5.80165586e+01] [-3.77191112e-02 3.07148008e-03 9.99283661e-01 -2.87850763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.090714057 meters 0.04338289436536314 Centerline is valid? [True, True] Translation: X:433.60, Y:-58.02, Z:-28.79 [[ 9.98054192e-01 4.93968719e-02 3.80496807e-02 4.33595579e+02] [-4.92433061e-02 9.98774481e-01 -4.96316864e-03 -5.80201903e+01] [-3.82482151e-02 3.07981919e-03 9.99263523e-01 -2.87864182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.120714057 meters 0.044125658556731104 Centerline is valid? [True, True] Translation: X:433.63, Y:-58.02, Z:-28.79 [[ 9.98004575e-01 4.99859551e-02 3.85781428e-02 4.33625304e+02] [-4.98285529e-02 9.98745112e-01 -5.03146413e-03 -5.80237865e+01] [-3.87812341e-02 3.09913119e-03 9.99242919e-01 -2.87877982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.150714057 meters 0.04180379522372647 Centerline is valid? [True, True] Translation: X:433.66, Y:-58.02, Z:-28.79 [[ 9.97850256e-01 5.13554214e-02 4.07122544e-02 4.33655740e+02] [-5.11813062e-02 9.98675271e-01 -5.30822710e-03 -5.80231492e+01] [-4.09309280e-02 3.21310941e-03 9.99156812e-01 -2.87878735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.180714057 meters 0.04161955286853587 Centerline is valid? [True, True] Translation: X:433.68, Y:-58.03, Z:-28.79 [[ 9.97778010e-01 5.19921561e-02 4.16636254e-02 4.33684848e+02] [-5.18104164e-02 9.98642172e-01 -5.43076830e-03 -5.80267062e+01] [-4.18894107e-02 3.26009140e-03 9.99116935e-01 -2.87892890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.210714057 meters 0.04298942028260738 Centerline is valid? [True, True] Translation: X:433.71, Y:-58.03, Z:-28.79 [[ 9.97724572e-01 5.25460146e-02 4.22444702e-02 4.33713610e+02] [-5.23597277e-02 9.98613116e-01 -5.50492153e-03 -5.80316476e+01] [-4.24751437e-02 3.28048652e-03 9.99092138e-01 -2.87905330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.240714057 meters 0.04304492632946686 Centerline is valid? [True, True] Translation: X:433.74, Y:-58.04, Z:-28.79 [[ 9.97710516e-01 5.26026971e-02 4.25050964e-02 4.33742534e+02] [-5.24142198e-02 9.98610078e-01 -5.53734025e-03 -5.80350530e+01] [-4.27372966e-02 3.29679114e-03 9.99080905e-01 -2.87927296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.270714057 meters 0.04488655015958217 Centerline is valid? [True, True] Translation: X:433.77, Y:-58.04, Z:-28.80 [[ 9.97732941e-01 5.28931910e-02 4.16087663e-02 4.33771487e+02] [-5.27129077e-02 9.98595006e-01 -5.41885557e-03 -5.80407495e+01] [-4.18369267e-02 3.21325165e-03 9.99119285e-01 -2.87962382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.300714057 meters 0.04166959222389343 Centerline is valid? [True, True] Translation: X:433.80, Y:-58.04, Z:-28.80 [[ 9.97744719e-01 5.28143984e-02 4.14260251e-02 4.33801922e+02] [-5.26356469e-02 9.98599212e-01 -5.39462453e-03 -5.80400134e+01] [-4.16529099e-02 3.20197250e-03 9.99127010e-01 -2.87975941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.330714057 meters 0.04078842489516423 Centerline is valid? [True, True] Translation: X:433.83, Y:-58.04, Z:-28.80 [[ 9.97818238e-01 5.20347372e-02 4.06343573e-02 4.33831624e+02] [-5.18621729e-02 9.98640240e-01 -5.29011593e-03 -5.80424058e+01] [-4.08543742e-02 3.17118808e-03 9.99160079e-01 -2.87990446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.360714057 meters 0.04124169257671542 Centerline is valid? [True, True] Translation: X:433.86, Y:-58.05, Z:-28.80 [[ 9.97843927e-01 5.15906727e-02 4.05697001e-02 4.33861056e+02] [-5.14183532e-02 9.98663243e-01 -5.28022212e-03 -5.80467460e+01] [-4.07878784e-02 3.18281040e-03 9.99162759e-01 -2.88007493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.390714057 meters 0.04200414972978783 Centerline is valid? [True, True] Translation: X:433.89, Y:-58.05, Z:-28.80 [[ 9.97878796e-01 5.12099345e-02 4.01926792e-02 4.33889881e+02] [-5.10405568e-02 9.98682888e-01 -5.22970918e-03 -5.80513890e+01] [-4.04075540e-02 3.16715918e-03 9.99178262e-01 -2.88025078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.420714057 meters 0.04204811051213995 Centerline is valid? [True, True] Translation: X:433.92, Y:-58.05, Z:-28.80 [[ 9.97948837e-01 5.00750033e-02 3.98824769e-02 4.33918969e+02] [-4.99073884e-02 9.98740376e-01 -5.18792693e-03 -5.80549966e+01] [-4.00920255e-02 3.18685538e-03 9.99190909e-01 -2.88043217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.450714057 meters 0.0434648638704515 Centerline is valid? [True, True] Translation: X:433.95, Y:-58.06, Z:-28.81 [[ 9.97982090e-01 4.95612973e-02 3.96916341e-02 4.33947516e+02] [-4.93949377e-02 9.98765987e-01 -5.16166540e-03 -5.80602335e+01] [-3.98984730e-02 3.19068383e-03 9.99198645e-01 -2.88063091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.480714057 meters 0.04469161807275326 Centerline is valid? [True, True] Translation: X:433.98, Y:-58.06, Z:-28.81 [[ 9.98013599e-01 4.92424898e-02 3.92941917e-02 4.33976647e+02] [-4.90792706e-02 9.98781824e-01 -5.10824354e-03 -5.80649267e+01] [-3.94978670e-02 3.16956626e-03 9.99214628e-01 -2.88082854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.51071405700003 meters 0.04215187994431851 Centerline is valid? [True, True] Translation: X:434.01, Y:-58.06, Z:-28.81 [[ 9.97974970e-01 4.95766923e-02 3.98511114e-02 4.34006895e+02] [-4.94090916e-02 9.98765191e-01 -5.18022973e-03 -5.80647993e+01] [-4.00587215e-02 3.20073240e-03 9.99192201e-01 -2.88083686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.540714057 meters 0.04564839160708606 Centerline is valid? [True, True] Translation: X:434.04, Y:-58.07, Z:-28.81 [[ 9.97892117e-01 5.06407708e-02 4.05812060e-02 4.34035806e+02] [-5.04679616e-02 9.98711765e-01 -5.27220792e-03 -5.80729669e+01] [-4.07959165e-02 3.21304398e-03 9.99162334e-01 -2.88098482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.57071405700003 meters 0.0459453625485417 Centerline is valid? [True, True] Translation: X:434.07, Y:-58.08, Z:-28.81 [[ 9.97665983e-01 5.31212773e-02 4.29035583e-02 4.34065088e+02] [-5.29302447e-02 9.98582638e-01 -5.57717282e-03 -5.80750714e+01] [-4.31390149e-02 3.29325977e-03 9.99063652e-01 -2.88088453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.600714057 meters 0.04426936196110562 Centerline is valid? [True, True] Translation: X:434.09, Y:-58.08, Z:-28.81 [[ 9.97559092e-01 5.46143316e-02 4.35101437e-02 4.34094709e+02] [-5.44193049e-02 9.98502158e-01 -5.65513149e-03 -5.80756062e+01] [-4.37538236e-02 3.27353606e-03 9.99036980e-01 -2.88088125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.630714057 meters 0.041587346814393696 Centerline is valid? [True, True] Translation: X:434.13, Y:-58.07, Z:-28.81 [[ 9.97357096e-01 5.64702314e-02 4.57158248e-02 4.34125329e+02] [-5.62569369e-02 9.98398655e-01 -5.93991179e-03 -5.80746038e+01] [-4.59780462e-02 3.35238090e-03 9.98936825e-01 -2.88082517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.660714057 meters 0.04165606591304426 Centerline is valid? [True, True] Translation: X:434.15, Y:-58.08, Z:-28.81 [[ 9.97304555e-01 5.71838312e-02 4.59742724e-02 4.34154729e+02] [-5.69688986e-02 9.98358087e-01 -5.97286845e-03 -5.80780534e+01] [-4.62403381e-02 3.33766526e-03 9.98924768e-01 -2.88098001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.690714057 meters 0.041818992559849555 Centerline is valid? [True, True] Translation: X:434.18, Y:-58.08, Z:-28.81 [[ 9.97322862e-01 5.73980693e-02 4.53052995e-02 4.34183201e+02] [-5.71896242e-02 9.98345990e-01 -5.88479847e-03 -5.80824174e+01] [-4.55681402e-02 3.27805099e-03 9.98955854e-01 -2.88121613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.720714057 meters 0.0426736132067814 Centerline is valid? [True, True] Translation: X:434.21, Y:-58.09, Z:-28.82 [[ 9.97450159e-01 5.70596206e-02 4.28646743e-02 4.34212484e+02] [-5.68728792e-02 9.98365921e-01 -5.56444854e-03 -5.80879322e+01] [-4.31121353e-02 3.11242264e-03 9.99065392e-01 -2.88162689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.750714057 meters 0.04373289530716134 Centerline is valid? [True, True] Translation: X:434.24, Y:-58.09, Z:-28.82 [[ 9.97554051e-01 5.62978198e-02 4.14303123e-02 4.34241691e+02] [-5.61227810e-02 9.98409396e-01 -5.37685540e-03 -5.80930654e+01] [-4.16671183e-02 3.03851955e-03 9.99126928e-01 -2.88189176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.780714057 meters 0.044590925092588024 Centerline is valid? [True, True] Translation: X:434.27, Y:-58.10, Z:-28.82 [[ 9.97718656e-01 5.47061715e-02 3.95565231e-02 4.34270907e+02] [-5.45454259e-02 9.98498100e-01 -5.13238295e-03 -5.80972271e+01] [-3.97778861e-02 2.96304682e-03 9.99204153e-01 -2.88216489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.810714057 meters 0.040302809830890136 Centerline is valid? [True, True] Translation: X:434.30, Y:-58.10, Z:-28.82 [[ 9.97746679e-01 5.45031255e-02 3.91276633e-02 4.34299926e+02] [-5.43457193e-02 9.98509277e-01 -5.07608894e-03 -5.80952530e+01] [-3.93459975e-02 2.93822987e-03 9.99221326e-01 -2.88217928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.840714057 meters 0.04720584262858257 Centerline is valid? [True, True] Translation: X:434.33, Y:-58.11, Z:-28.83 [[ 9.97795401e-01 5.40533125e-02 3.85042610e-02 4.34326245e+02] [-5.39006588e-02 9.98533822e-01 -4.99246948e-03 -5.81093374e+01] [-3.87176664e-02 2.90605805e-03 9.99245964e-01 -2.88260634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.870714057 meters 0.048256618759201814 Centerline is valid? [True, True] Translation: X:434.35, Y:-58.11, Z:-28.83 [[ 9.97833834e-01 5.36780534e-02 3.80303259e-02 4.34353823e+02] [-5.35289602e-02 9.98554135e-01 -4.92855601e-03 -5.81140118e+01] [-3.82398945e-02 2.88215614e-03 9.99264431e-01 -2.88281893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.900714057 meters 0.040026582603924964 Centerline is valid? [True, True] Translation: X:434.38, Y:-58.11, Z:-28.83 [[ 9.97801127e-01 5.40368590e-02 3.83787604e-02 4.34384613e+02] [-5.38854312e-02 9.98534757e-01 -4.96988182e-03 -5.81056383e+01] [-3.85910830e-02 2.89089763e-03 9.99250905e-01 -2.88265365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.930714057 meters 0.04222446806545105 Centerline is valid? [True, True] Translation: X:434.41, Y:-58.11, Z:-28.83 [[ 9.97761719e-01 5.50151448e-02 3.80116575e-02 4.34411595e+02] [-5.48673619e-02 9.98481526e-01 -4.92092159e-03 -5.81114761e+01] [-3.82246630e-02 2.82430782e-03 9.99265179e-01 -2.88288222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.960714057 meters 0.03988532834947179 Centerline is valid? [True, True] Translation: X:434.44, Y:-58.11, Z:-28.83 [[ 9.97712444e-01 5.60548249e-02 3.77853820e-02 4.34440403e+02] [-5.59096746e-02 9.98423866e-01 -4.88805064e-03 -5.81111885e+01] [-3.79998260e-02 2.76430054e-03 9.99273922e-01 -2.88298886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.990714057 meters 0.037929341136969184 Centerline is valid? [True, True] Translation: X:434.47, Y:-58.11, Z:-28.83 [[ 9.97471177e-01 5.98670422e-02 3.83038927e-02 4.34471454e+02] [-5.97208319e-02 9.98202840e-01 -4.95101292e-03 -5.81106361e+01] [-3.85314570e-02 2.65095234e-03 9.99253871e-01 -2.88308154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.020714057 meters 0.04015723781278396 Centerline is valid? [True, True] Translation: X:434.50, Y:-58.12, Z:-28.83 [[ 9.97338845e-01 6.18932870e-02 3.85285610e-02 4.34500105e+02] [-6.17468460e-02 9.98079417e-01 -4.98040349e-03 -5.81172264e+01] [-3.87628172e-02 2.58813274e-03 9.99245088e-01 -2.88334414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.050714057 meters 0.03747131613409638 Centerline is valid? [True, True] Translation: X:434.53, Y:-58.12, Z:-28.83 [[ 9.97156001e-01 6.44614845e-02 3.90464773e-02 4.34530910e+02] [-6.43131067e-02 9.97917014e-01 -5.04557447e-03 -5.81163162e+01] [-3.92903893e-02 2.52002460e-03 9.99224657e-01 -2.88339338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.080714057 meters 0.03609651107115777 Centerline is valid? [True, True] Translation: X:434.56, Y:-58.12, Z:-28.83 [[ 9.96859504e-01 6.86594308e-02 3.94589783e-02 4.34561356e+02] [-6.85112117e-02 9.97637322e-01 -5.09790471e-03 -5.81161346e+01] [-3.97157687e-02 2.37851235e-03 9.99208187e-01 -2.88345333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.110714057 meters 0.0348682426760744 Centerline is valid? [True, True] Translation: X:434.59, Y:-58.12, Z:-28.84 [[ 9.96755322e-01 7.03306201e-02 3.91462941e-02 4.34590770e+02] [-7.01859471e-02 9.97521095e-01 -5.05950659e-03 -5.81164970e+01] [-3.94050924e-02 2.29557040e-03 9.99220681e-01 -2.88355587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.140714057 meters 0.034887009310721036 Centerline is valid? [True, True] Translation: X:434.62, Y:-58.12, Z:-28.84 [[ 9.96592541e-01 7.29511069e-02 3.84895102e-02 4.34619839e+02] [-7.28134355e-02 9.97333203e-01 -4.96847948e-03 -5.81192557e+01] [-3.87493226e-02 2.14899613e-03 9.99246652e-01 -2.88377694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.170714057 meters 0.034841954182619886 Centerline is valid? [True, True] Translation: X:434.65, Y:-58.12, Z:-28.84 [[ 9.96579608e-01 7.35168957e-02 3.77405694e-02 4.34648225e+02] [-7.33849613e-02 9.97291792e-01 -4.87117072e-03 -5.81226634e+01] [-3.79964734e-02 2.08491918e-03 9.99275698e-01 -2.88398412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.200714057 meters 0.03529822616023809 Centerline is valid? [True, True] Translation: X:434.68, Y:-58.13, Z:-28.84 [[ 9.96543386e-01 7.44665407e-02 3.68240981e-02 4.34675223e+02] [-7.43416382e-02 9.97221512e-01 -4.75146617e-03 -5.81266029e+01] [-3.70756081e-02 1.99747840e-03 9.99310467e-01 -2.88424841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.230714057 meters 0.035233610330303824 Centerline is valid? [True, True] Translation: X:434.70, Y:-58.13, Z:-28.84 [[ 9.96521834e-01 7.51074781e-02 3.60984993e-02 4.34703958e+02] [-7.49880729e-02 9.97173578e-01 -4.65229344e-03 -5.81294629e+01] [-3.63458917e-02 1.92915509e-03 9.99337408e-01 -2.88441524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.26071405700003 meters 0.03592977001029039 Centerline is valid? [True, True] Translation: X:434.73, Y:-58.13, Z:-28.85 [[ 9.96433110e-01 7.61694413e-02 3.63217954e-02 4.34731633e+02] [-7.60493381e-02 9.97093078e-01 -4.67885027e-03 -5.81335672e+01] [-3.65725962e-02 1.89991283e-03 9.99329193e-01 -2.88459984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.290714057 meters 0.03474867498098951 Centerline is valid? [True, True] Translation: X:434.76, Y:-58.13, Z:-28.85 [[ 9.96480171e-01 7.55646416e-02 3.62939812e-02 4.34760931e+02] [-7.54444505e-02 9.97139062e-01 -4.67176281e-03 -5.81348715e+01] [-3.65431664e-02 1.91713954e-03 9.99330236e-01 -2.88461945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.32071405700003 meters 0.032879336917722886 Centerline is valid? [True, True] Translation: X:434.79, Y:-58.14, Z:-28.85 [[ 9.96496885e-01 7.50850040e-02 3.68266214e-02 4.34789753e+02] [-7.49610276e-02 9.97175209e-01 -4.73771458e-03 -5.81359231e+01] [-3.70783252e-02 1.96055644e-03 9.99310439e-01 -2.88458413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.350714057 meters 0.03607317870377324 Centerline is valid? [True, True] Translation: X:434.82, Y:-58.15, Z:-28.85 [[ 9.96505930e-01 7.45946559e-02 3.75708576e-02 4.34816018e+02] [-7.44653617e-02 9.97211899e-01 -4.83097793e-03 -5.81461940e+01] [-3.78264714e-02 2.01637065e-03 9.99282289e-01 -2.88489664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.380714057 meters 0.03326024534948031 Centerline is valid? [True, True] Translation: X:434.84, Y:-58.15, Z:-28.85 [[ 9.96615699e-01 7.34309784e-02 3.69464486e-02 4.34844856e+02] [-7.33052862e-02 9.97298250e-01 -4.74706419e-03 -5.81470850e+01] [-3.71952101e-02 2.02262871e-03 9.99305972e-01 -2.88493645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.410714057 meters 0.03442149772100022 Centerline is valid? [True, True] Translation: X:434.87, Y:-58.15, Z:-28.85 [[ 9.96594514e-01 7.41442042e-02 3.60834030e-02 4.34871627e+02] [-7.40248330e-02 9.97245628e-01 -4.63484663e-03 -5.81541786e+01] [-3.63276629e-02 1.94799484e-03 9.99338034e-01 -2.88529972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.440714057 meters 0.034160632018575 Centerline is valid? [True, True] Translation: X:434.90, Y:-58.16, Z:-28.85 [[ 9.96585829e-01 7.44938438e-02 3.55999002e-02 4.34900615e+02] [-7.43780831e-02 9.97219657e-01 -4.56691549e-03 -5.81570148e+01] [-3.58411274e-02 1.90347092e-03 9.99355688e-01 -2.88546780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.470714057 meters 0.035348765752904125 Centerline is valid? [True, True] Translation: X:434.93, Y:-58.16, Z:-28.86 [[ 9.96546004e-01 7.52658796e-02 3.50871675e-02 4.34927618e+02] [-7.51539811e-02 9.97161791e-01 -4.49907466e-03 -5.81628197e+01] [-3.53262096e-02 1.84659455e-03 9.99374129e-01 -2.88575034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.500714057 meters 0.032511760652585826 Centerline is valid? [True, True] Translation: X:434.96, Y:-58.16, Z:-28.86 [[ 9.96407182e-01 7.65201866e-02 3.62958452e-02 4.34957386e+02] [-7.64014214e-02 9.97066297e-01 -4.64995725e-03 -5.81628278e+01] [-3.65451795e-02 1.86019664e-03 9.99330270e-01 -2.88570761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.530714057 meters 0.03164637069698139 Centerline is valid? [True, True] Translation: X:434.99, Y:-58.17, Z:-28.86 [[ 9.96352169e-01 7.70617447e-02 3.66584740e-02 4.34985673e+02] [-7.69410189e-02 9.97024593e-01 -4.69478169e-03 -5.81662141e+01] [-3.69111882e-02 1.85711557e-03 9.99316824e-01 -2.88577992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.560714057 meters 0.031521349307837336 Centerline is valid? [True, True] Translation: X:435.01, Y:-58.17, Z:-28.86 [[ 9.96335387e-01 7.75001951e-02 3.61872396e-02 4.35014201e+02] [-7.73829372e-02 9.96990686e-01 -4.63185127e-03 -5.81704373e+01] [-3.64373102e-02 1.81460244e-03 9.99334293e-01 -2.88594816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.590714057 meters 0.03222976381372933 Centerline is valid? [True, True] Translation: X:435.04, Y:-58.18, Z:-28.86 [[ 9.96359577e-01 7.71511857e-02 3.62668982e-02 4.35042522e+02] [-7.70332781e-02 9.97017728e-01 -4.63936993e-03 -5.81754460e+01] [-3.65166733e-02 1.82872261e-03 9.99331371e-01 -2.88619921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.620714057 meters 0.03282822412901693 Centerline is valid? [True, True] Translation: X:435.07, Y:-58.18, Z:-28.86 [[ 9.96407753e-01 7.64665340e-02 3.63931067e-02 4.35069885e+02] [-7.63474323e-02 9.97070417e-01 -4.65323068e-03 -5.81814159e+01] [-3.66423065e-02 1.85799488e-03 9.99326718e-01 -2.88641335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.650714057 meters 0.03779204706850993 Centerline is valid? [True, True] Translation: X:435.10, Y:-58.20, Z:-28.87 [[ 9.96682089e-01 7.25538863e-02 3.68882948e-02 4.35097357e+02] [-7.24290313e-02 9.97362440e-01 -4.71159760e-03 -5.81961315e+01] [-3.71328444e-02 2.02418148e-03 9.99308288e-01 -2.88686711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.680714057 meters 0.034785512163399424 Centerline is valid? [True, True] Translation: X:435.13, Y:-58.20, Z:-28.87 [[ 9.97090307e-01 6.65246573e-02 3.72208354e-02 4.35127557e+02] [-6.63933824e-02 9.97782203e-01 -4.75328312e-03 -5.81980912e+01] [-3.74544977e-02 2.26823536e-03 9.99295760e-01 -2.88676104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.710714057 meters 0.03573785173499693 Centerline is valid? [True, True] Translation: X:435.16, Y:-58.21, Z:-28.87 [[ 9.97272642e-01 6.33859638e-02 3.78086918e-02 4.35157308e+02] [-6.32482676e-02 9.97986145e-01 -4.82816749e-03 -5.82052367e+01] [-3.80385886e-02 2.42366509e-03 9.99273332e-01 -2.88693232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.740714057 meters 0.039314395280514045 Centerline is valid? [True, True] Translation: X:435.18, Y:-58.22, Z:-28.87 [[ 9.97484328e-01 5.99837396e-02 3.77752078e-02 4.35184903e+02] [-5.98438317e-02 9.98196092e-01 -4.82460022e-03 -5.82154479e+01] [-3.79964624e-02 2.55184993e-03 9.99274615e-01 -2.88716021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.770714057 meters 0.04264716735626929 Centerline is valid? [True, True] Translation: X:435.21, Y:-58.23, Z:-28.87 [[ 9.97784967e-01 5.44317450e-02 3.82406069e-02 4.35213196e+02] [-5.42843779e-02 9.98513580e-01 -4.88225353e-03 -5.82258802e+01] [-3.84495149e-02 2.79557162e-03 9.99256634e-01 -2.88731045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.800714057 meters 0.04264716735626929 Centerline is valid? [True, True] Translation: X:435.24, Y:-58.23, Z:-28.87 [[ 9.97788705e-01 5.43632309e-02 3.82405568e-02 4.35241315e+02] [-5.42157988e-02 9.98517304e-01 -4.88264618e-03 -5.82294051e+01] [-3.84492941e-02 2.79860687e-03 9.99256634e-01 -2.88747471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.830714057 meters 0.04025417443239166 Centerline is valid? [True, True] Translation: X:435.27, Y:-58.23, Z:-28.88 [[ 9.97869550e-01 5.27019630e-02 3.84560108e-02 4.35271384e+02] [-5.25517669e-02 9.98606146e-01 -4.90680601e-03 -5.82304357e+01] [-3.86610071e-02 2.87542099e-03 9.99248247e-01 -2.88750627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.860714057 meters 0.045259337949623196 Centerline is valid? [True, True] Translation: X:435.30, Y:-58.24, Z:-28.88 [[ 9.97892987e-01 5.15980560e-02 3.93348153e-02 4.35298796e+02] [-5.14401052e-02 9.98663476e-01 -5.01778680e-03 -5.82429575e+01] [-3.95411514e-02 2.98382722e-03 9.99213488e-01 -2.88782598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.890714057 meters 0.038725060334809554 Centerline is valid? [True, True] Translation: X:435.33, Y:-58.24, Z:-28.88 [[ 9.97895841e-01 5.16581151e-02 3.91832880e-02 4.35328779e+02] [-5.15014939e-02 9.98660417e-01 -4.99672576e-03 -5.82374207e+01] [-3.93889201e-02 2.96821399e-03 9.99219547e-01 -2.88775274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.920714057 meters 0.04077184925781548 Centerline is valid? [True, True] Translation: X:435.36, Y:-58.24, Z:-28.88 [[ 9.97834555e-01 5.25138128e-02 3.96042980e-02 4.35356412e+02] [-5.23546074e-02 9.98615803e-01 -5.04710077e-03 -5.82441484e+01] [-3.98145203e-02 2.96270408e-03 9.99202695e-01 -2.88799463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.950714057 meters 0.03659602960287614 Centerline is valid? [True, True] Translation: X:435.39, Y:-58.24, Z:-28.88 [[ 9.97690504e-01 5.45260273e-02 4.05039686e-02 4.35387380e+02] [-5.43612678e-02 9.98508006e-01 -5.15885475e-03 -5.82410185e+01] [-4.07248288e-02 2.94509330e-03 9.99166060e-01 -2.88794598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.980714057 meters 0.03659999116960218 Centerline is valid? [True, True] Translation: X:435.42, Y:-58.24, Z:-28.88 [[ 9.97618318e-01 5.56005766e-02 4.08199303e-02 4.35416214e+02] [-5.54341230e-02 9.98448810e-01 -5.19924690e-03 -5.82447254e+01] [-4.10456919e-02 2.92404691e-03 9.99152992e-01 -2.88807584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.01071405700003 meters 0.038520133970493975 Centerline is valid? [True, True] Translation: X:435.44, Y:-58.25, Z:-28.88 [[ 9.97452717e-01 5.82087726e-02 4.12288311e-02 4.35444531e+02] [-5.80413351e-02 9.98300389e-01 -5.24761224e-03 -5.82513039e+01] [-4.14642152e-02 2.84126868e-03 9.99135950e-01 -2.88832218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.040714057 meters 0.038587768583878516 Centerline is valid? [True, True] Translation: X:435.47, Y:-58.26, Z:-28.89 [[ 9.97345458e-01 5.99681667e-02 4.13020063e-02 4.35472782e+02] [-5.98016872e-02 9.98196442e-01 -5.25566659e-03 -5.82557414e+01] [-4.15426884e-02 2.77178555e-03 9.99132885e-01 -2.88852628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.07071405700003 meters 0.03504739355719748 Centerline is valid? [True, True] Translation: X:435.50, Y:-58.25, Z:-28.89 [[ 9.97255025e-01 6.16706436e-02 4.09774048e-02 4.35502745e+02] [-6.15082903e-02 9.98092963e-01 -5.21223520e-03 -5.82533835e+01] [-4.12207013e-02 2.67747763e-03 9.99146478e-01 -2.88859808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.100714057 meters 0.03427841011002949 Centerline is valid? [True, True] Translation: X:435.53, Y:-58.26, Z:-28.89 [[ 9.96909326e-01 6.63512696e-02 4.20631066e-02 4.35532489e+02] [-6.61844635e-02 9.97793076e-01 -5.34740589e-03 -5.82555694e+01] [-4.23250837e-02 2.54695465e-03 9.99100646e-01 -2.88872223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.130714057 meters 0.034209277824043836 Centerline is valid? [True, True] Translation: X:435.56, Y:-58.26, Z:-28.89 [[ 9.96745432e-01 6.86593324e-02 4.22426364e-02 4.35561984e+02] [-6.84931924e-02 9.97637134e-01 -5.36952661e-03 -5.82580744e+01] [-4.25114909e-02 2.45871810e-03 9.99092953e-01 -2.88880865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.160714057 meters 0.032913222891624 Centerline is valid? [True, True] Translation: X:435.59, Y:-58.26, Z:-28.89 [[ 9.96275457e-01 7.44006647e-02 4.35861809e-02 4.35591835e+02] [-7.42293335e-02 9.97225818e-01 -5.53846462e-03 -5.82580085e+01] [-4.38773303e-02 2.28246321e-03 9.99034319e-01 -2.88878310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.190714057 meters 0.03230253249342676 Centerline is valid? [True, True] Translation: X:435.62, Y:-58.26, Z:-28.89 [[ 9.96057682e-01 7.71518372e-02 4.37799941e-02 4.35621289e+02] [-7.69816592e-02 9.97016993e-01 -5.56235142e-03 -5.82601182e+01] [-4.40785437e-02 2.17016628e-03 9.99025712e-01 -2.88889039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.220714057 meters 0.031763337876538116 Centerline is valid? [True, True] Translation: X:435.65, Y:-58.26, Z:-28.89 [[ 9.95694048e-01 8.15649684e-02 4.40513259e-02 4.35649663e+02] [-8.13970382e-02 9.96666049e-01 -5.59548178e-03 -5.82623748e+01] [-4.43608563e-02 1.98574044e-03 9.99013599e-01 -2.88909631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.250714057 meters 0.030098365422813595 Centerline is valid? [True, True] Translation: X:435.68, Y:-58.26, Z:-28.89 [[ 9.95522276e-01 8.33484563e-02 4.45918538e-02 4.35679076e+02] [-8.31782296e-02 9.96518598e-01 -5.66261519e-03 -5.82634885e+01] [-4.49085819e-02 1.92818811e-03 9.98989240e-01 -2.88921613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.280714057 meters 0.02942180720908283 Centerline is valid? [True, True] Translation: X:435.71, Y:-58.27, Z:-28.89 [[ 9.95339819e-01 8.51060872e-02 4.53387211e-02 4.35707572e+02] [-8.49322034e-02 9.96370133e-01 -5.75136565e-03 -5.82666478e+01] [-4.56636238e-02 1.87384576e-03 9.98955115e-01 -2.88939631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.310714057 meters 0.027779387205472635 Centerline is valid? [True, True] Translation: X:435.74, Y:-58.27, Z:-28.90 [[ 9.95122911e-01 8.78942229e-02 4.47771901e-02 4.35736425e+02] [-8.77275784e-02 9.96128327e-01 -5.67704177e-03 -5.82670725e+01] [-4.51028066e-02 1.72115988e-03 9.98980868e-01 -2.88952225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.340714057 meters 0.02770856241358457 Centerline is valid? [True, True] Translation: X:435.76, Y:-58.27, Z:-28.90 [[ 9.94984880e-01 8.94049290e-02 4.48536112e-02 4.35763454e+02] [-8.92393845e-02 9.95993990e-01 -5.68368010e-03 -5.82711170e+01] [-4.51820762e-02 1.65246711e-03 9.98977402e-01 -2.88976673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.370714057 meters 0.02729942642390694 Centerline is valid? [True, True] Translation: X:435.79, Y:-58.27, Z:-28.90 [[ 9.94735854e-01 9.18986875e-02 4.53344458e-02 4.35791679e+02] [-9.17323562e-02 9.95767154e-01 -5.74024538e-03 -5.82746173e+01] [-4.56700731e-02 1.55139236e-03 9.98955373e-01 -2.88988800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.400714057 meters 0.026557538420867 Centerline is valid? [True, True] Translation: X:435.82, Y:-58.28, Z:-28.90 [[ 9.94556544e-01 9.34062486e-02 4.61795756e-02 4.35820010e+02] [-9.32354326e-02 9.95626940e-01 -5.84387752e-03 -5.82776373e+01] [-4.65234842e-02 1.50649392e-03 9.98916060e-01 -2.88999071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.430714057 meters 0.028242873475277045 Centerline is valid? [True, True] Translation: X:435.85, Y:-58.29, Z:-28.90 [[ 9.94145924e-01 9.66626594e-02 4.82722792e-02 4.35848124e+02] [-9.64800248e-02 9.95316200e-01 -6.10469390e-03 -5.82868981e+01] [-4.86362775e-02 1.41164586e-03 9.98815558e-01 -2.89017502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.460714057 meters 0.025721999932735252 Centerline is valid? [True, True] Translation: X:435.88, Y:-58.29, Z:-28.90 [[ 9.93988979e-01 9.78816894e-02 4.90416560e-02 4.35877708e+02] [-9.76947364e-02 9.95197112e-01 -6.20050921e-03 -5.82852421e+01] [-4.94130308e-02 1.37212617e-03 9.98777488e-01 -2.89007141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.490714057 meters 0.0253719488036931 Centerline is valid? [True, True] Translation: X:435.91, Y:-58.29, Z:-28.90 [[ 9.93691139e-01 1.01236831e-01 4.82599634e-02 4.35905419e+02] [-1.01059912e-01 9.94861651e-01 -6.09825927e-03 -5.82898823e+01] [-4.86293553e-02 1.18263856e-03 9.98816193e-01 -2.89033609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.520714057 meters 0.02441741382044405 Centerline is valid? [True, True] Translation: X:435.93, Y:-58.29, Z:-28.91 [[ 9.93546753e-01 1.02961967e-01 4.75781750e-02 4.35933858e+02] [-1.02792062e-01 9.94684706e-01 -6.01062195e-03 -5.82920835e+01] [-4.79441485e-02 1.08117520e-03 9.98849433e-01 -2.89050858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.550714057 meters 0.02430802352557747 Centerline is valid? [True, True] Translation: X:435.96, Y:-58.30, Z:-28.91 [[ 9.93399077e-01 1.04807046e-01 4.66235661e-02 4.35961465e+02] [-1.04646567e-01 9.94492114e-01 -5.87636985e-03 -5.82973234e+01] [-4.69826538e-02 9.58584244e-04 9.98895245e-01 -2.89082684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.580714057 meters 0.023754476873797916 Centerline is valid? [True, True] Translation: X:435.99, Y:-58.30, Z:-28.91 [[ 9.93221470e-01 1.06989544e-01 4.54351089e-02 4.35989894e+02] [-1.06839534e-01 9.94259798e-01 -5.72428791e-03 -5.83043395e+01] [-4.57867411e-02 8.31219789e-04 9.98950891e-01 -2.89116651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.610714057 meters 0.023553258711965473 Centerline is valid? [True, True] Translation: X:436.02, Y:-58.31, Z:-28.91 [[ 9.93132127e-01 1.07781731e-01 4.55156723e-02 4.36018121e+02] [-1.07632511e-01 9.94174271e-01 -5.72373162e-03 -5.83099956e+01] [-4.58674241e-02 7.85455656e-04 9.98947227e-01 -2.89133677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.640714057 meters 0.02345991268489336 Centerline is valid? [True, True] Translation: X:436.05, Y:-58.32, Z:-28.91 [[ 9.93021552e-01 1.08133691e-01 4.70669945e-02 4.36045526e+02] [-1.07975200e-01 9.94136055e-01 -5.90434026e-03 -5.83190578e+01] [-4.74294543e-02 7.81068962e-04 9.98874285e-01 -2.89142702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.670714057 meters 0.02355203772760402 Centerline is valid? [True, True] Translation: X:436.07, Y:-58.33, Z:-28.92 [[ 9.93043157e-01 1.07723465e-01 4.75493834e-02 4.36072613e+02] [-1.07561388e-01 9.94180570e-01 -5.96170876e-03 -5.83257935e+01] [-4.79148890e-02 8.05756397e-04 9.98851097e-01 -2.89158634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.700714057 meters 0.023582992957957568 Centerline is valid? [True, True] Translation: X:436.10, Y:-58.33, Z:-28.92 [[ 9.93130922e-01 1.06695750e-01 4.80311236e-02 4.36100916e+02] [-1.06529439e-01 9.94291346e-01 -6.01653104e-03 -5.83331955e+01] [-4.83988688e-02 8.58474345e-04 9.98827719e-01 -2.89175761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.730714057 meters 0.023849492035708842 Centerline is valid? [True, True] Translation: X:436.13, Y:-58.35, Z:-28.92 [[ 9.93307120e-01 1.04671998e-01 4.88337736e-02 4.36128859e+02] [-1.04497811e-01 9.94506326e-01 -6.11348643e-03 -5.83450432e+01] [-4.92054076e-02 9.69547156e-04 9.98788210e-01 -2.89194750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.76071405700003 meters 0.024387749264284567 Centerline is valid? [True, True] Translation: X:436.15, Y:-58.36, Z:-28.92 [[ 9.93479589e-01 1.02152381e-01 5.06280330e-02 4.36154765e+02] [-1.01962070e-01 9.94768120e-01 -6.33437179e-03 -5.83589827e+01] [-5.10102243e-02 1.13093006e-03 9.98697491e-01 -2.89207427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.790714057 meters 0.024610737164080052 Centerline is valid? [True, True] Translation: X:436.18, Y:-58.37, Z:-28.92 [[ 9.93628407e-01 1.00185742e-01 5.16275639e-02 4.36182985e+02] [-9.99854385e-02 9.94967965e-01 -6.45453479e-03 -5.83679057e+01] [-5.20144246e-02 1.25140451e-03 9.98645550e-01 -2.89225778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.82071405700003 meters 0.024870578496048814 Centerline is valid? [True, True] Translation: X:436.21, Y:-58.38, Z:-28.92 [[ 9.93851764e-01 9.76217162e-02 5.22366958e-02 4.36210822e+02] [-9.74133165e-02 9.95222611e-01 -6.52688497e-03 -5.83768329e+01] [-5.26243065e-02 1.39820636e-03 9.98613402e-01 -2.89242237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.850714057 meters 0.026330391325041842 Centerline is valid? [True, True] Translation: X:436.24, Y:-58.39, Z:-28.93 [[ 9.94049546e-01 9.52436514e-02 5.28596850e-02 4.36237079e+02] [-9.50270910e-02 9.95452801e-01 -6.60092760e-03 -5.83890526e+01] [-5.32480179e-02 1.53854699e-03 9.98580133e-01 -2.89263627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.880714057 meters 0.02672130397724915 Centerline is valid? [True, True] Translation: X:436.27, Y:-58.40, Z:-28.93 [[ 9.94606241e-01 8.91849784e-02 5.29571944e-02 4.36265277e+02] [-8.89593115e-02 9.96013341e-01 -6.60801497e-03 -5.84019996e+01] [-5.33354078e-02 1.86133737e-03 9.98574919e-01 -2.89295891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.910714057 meters 0.028142103163348135 Centerline is valid? [True, True] Translation: X:436.29, Y:-58.42, Z:-28.93 [[ 9.95092623e-01 8.36195395e-02 5.29003263e-02 4.36294187e+02] [-8.33865613e-02 9.96495420e-01 -6.59988585e-03 -5.84166478e+01] [-5.32668123e-02 2.15632142e-03 9.98577987e-01 -2.89331018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.940714057 meters 0.032293126675031404 Centerline is valid? [True, True] Translation: X:436.32, Y:-58.43, Z:-28.94 [[ 9.95267672e-01 8.15791218e-02 5.27930769e-02 4.36321231e+02] [-8.13442112e-02 9.96664304e-01 -6.58675401e-03 -5.84313165e+01] [-5.31543168e-02 2.26117213e-03 9.98583750e-01 -2.89364532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.970714057 meters 0.03013731404165842 Centerline is valid? [True, True] Translation: X:436.35, Y:-58.43, Z:-28.94 [[ 9.95455811e-01 7.95081177e-02 5.24040837e-02 4.36350766e+02] [-7.92739499e-02 9.96831445e-01 -6.53532752e-03 -5.84343584e+01] [-5.27576501e-02 2.35135105e-03 9.98604577e-01 -2.89382870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.000714057 meters 0.030905587109682768 Centerline is valid? [True, True] Translation: X:436.38, Y:-58.44, Z:-28.94 [[ 9.95772121e-01 7.58731527e-02 5.17798002e-02 4.36380027e+02] [-7.56397348e-02 9.97114315e-01 -6.45555740e-03 -5.84444481e+01] [-5.21201835e-02 2.51165372e-03 9.98637661e-01 -2.89405479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.030714057 meters 0.032285615749877344 Centerline is valid? [True, True] Translation: X:436.41, Y:-58.45, Z:-28.94 [[ 9.95933654e-01 7.41575926e-02 5.11547486e-02 4.36409010e+02] [-7.39275779e-02 9.97243226e-01 -6.37661301e-03 -5.84526799e+01] [-5.14866008e-02 2.56893683e-03 9.98670381e-01 -2.89424670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.060714057 meters 0.03340446127297798 Centerline is valid? [True, True] Translation: X:436.44, Y:-58.46, Z:-28.95 [[ 9.96200776e-01 7.11617194e-02 5.01998292e-02 4.36438547e+02] [-7.09364288e-02 9.97461210e-01 -6.25757907e-03 -5.84621847e+01] [-5.05176824e-02 2.67280852e-03 9.98719590e-01 -2.89457187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.090714057 meters 0.03423130387381614 Centerline is valid? [True, True] Translation: X:436.47, Y:-58.47, Z:-28.95 [[ 9.96288415e-01 6.98793139e-02 5.02620716e-02 4.36468270e+02] [-6.96518373e-02 9.97551686e-01 -6.26533779e-03 -5.84687257e+01] [-5.05768318e-02 2.74123783e-03 9.98716411e-01 -2.89472532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.120714057 meters 0.0327782996489241 Centerline is valid? [True, True] Translation: X:436.50, Y:-58.47, Z:-28.95 [[ 9.96308636e-01 6.91596582e-02 5.08531658e-02 4.36499591e+02] [-6.89258722e-02 9.97601646e-01 -6.33878249e-03 -5.84716566e+01] [-5.11695900e-02 2.81028493e-03 9.98686024e-01 -2.89481939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.150714057 meters 0.03255966955781386 Centerline is valid? [True, True] Translation: X:436.53, Y:-58.48, Z:-28.95 [[ 9.96327592e-01 6.79910430e-02 5.20437021e-02 4.36530768e+02] [-6.77444806e-02 9.97681601e-01 -6.48911169e-03 -5.84772753e+01] [-5.23642455e-02 2.93960747e-03 9.98623725e-01 -2.89483721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.180714057 meters 0.03378125789662856 Centerline is valid? [True, True] Translation: X:436.56, Y:-58.48, Z:-28.95 [[ 9.96304953e-01 6.79364632e-02 5.25459652e-02 4.36560871e+02] [-6.76849773e-02 9.97685223e-01 -6.55287927e-03 -5.84838437e+01] [-5.28695125e-02 2.97209361e-03 9.98597006e-01 -2.89498262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.210714057 meters 0.03462557861187924 Centerline is valid? [True, True] Translation: X:436.59, Y:-58.49, Z:-28.95 [[ 9.96254654e-01 6.82633788e-02 5.30733060e-02 4.36591819e+02] [-6.80066858e-02 9.97662838e-01 -6.62967971e-03 -5.84902483e+01] [-5.34018294e-02 2.99550962e-03 9.98568611e-01 -2.89513343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.240714057 meters 0.03320678414040935 Centerline is valid? [True, True] Translation: X:436.62, Y:-58.49, Z:-28.95 [[ 9.96225658e-01 6.85096783e-02 5.32997401e-02 4.36623788e+02] [-6.82507562e-02 9.97645935e-01 -6.66508849e-03 -5.84925814e+01] [-5.36308921e-02 3.00218459e-03 9.98556315e-01 -2.89528174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.270714057 meters 0.03392597733575428 Centerline is valid? [True, True] Translation: X:436.66, Y:-58.50, Z:-28.95 [[ 9.96186456e-01 6.88068925e-02 5.36484457e-02 4.36655247e+02] [-6.85442595e-02 9.97625428e-01 -6.72233078e-03 -5.84979121e+01] [-5.39835963e-02 3.01940190e-03 9.98537257e-01 -2.89542210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.300714057 meters 0.034624778023324816 Centerline is valid? [True, True] Translation: X:436.69, Y:-58.50, Z:-28.96 [[ 9.96153858e-01 6.92502827e-02 5.36832350e-02 4.36686201e+02] [-6.89872177e-02 9.97594774e-01 -6.74022356e-03 -5.85037445e+01] [-5.40208771e-02 3.01084268e-03 9.98535267e-01 -2.89557340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.330714057 meters 0.03524822109993264 Centerline is valid? [True, True] Translation: X:436.72, Y:-58.51, Z:-28.96 [[ 9.96238824e-01 6.78061000e-02 5.39494122e-02 4.36717809e+02] [-6.75375964e-02 9.97693647e-01 -6.78672152e-03 -5.85097737e+01] [-5.42851669e-02 3.11758184e-03 9.98520606e-01 -2.89578071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.360714057 meters 0.03619683024992956 Centerline is valid? [True, True] Translation: X:436.75, Y:-58.52, Z:-28.96 [[ 9.96307402e-01 6.64477899e-02 5.43714199e-02 4.36749499e+02] [-6.61728372e-02 9.97784706e-01 -6.84368633e-03 -5.85159829e+01] [-5.47057190e-02 3.22050423e-03 9.98497327e-01 -2.89597680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.390714057 meters 0.038669999887915765 Centerline is valid? [True, True] Translation: X:436.78, Y:-58.52, Z:-28.96 [[ 9.96583137e-01 6.23364055e-02 5.41869288e-02 4.36778583e+02] [-6.20570445e-02 9.98049272e-01 -6.82452501e-03 -5.85243947e+01] [-5.45066412e-02 3.43852590e-03 9.98507488e-01 -2.89613093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.420714057 meters 0.03611384285806321 Centerline is valid? [True, True] Translation: X:436.81, Y:-58.52, Z:-28.96 [[ 9.96713673e-01 6.00783629e-02 5.43363917e-02 4.36810333e+02] [-5.97941687e-02 9.98187276e-01 -6.84241011e-03 -5.85245016e+01] [-5.46489757e-02 3.57092434e-03 9.98499243e-01 -2.89631473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.450714057 meters 0.03870217079483138 Centerline is valid? [True, True] Translation: X:436.84, Y:-58.53, Z:-28.97 [[ 9.96901586e-01 5.73756760e-02 5.38076152e-02 4.36839683e+02] [-5.70929785e-02 9.98345860e-01 -6.77762370e-03 -5.85314815e+01] [-5.41074806e-02 3.68458680e-03 9.98528319e-01 -2.89652728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.480714057 meters 0.038197311334708973 Centerline is valid? [True, True] Translation: X:436.87, Y:-58.53, Z:-28.97 [[ 9.97220582e-01 5.21636374e-02 5.31983691e-02 4.36870065e+02] [-5.18797264e-02 9.98630832e-01 -6.70482301e-03 -5.85340958e+01] [-5.34752795e-02 3.92627067e-03 9.98561455e-01 -2.89676715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.51071405700003 meters 0.037940657217109736 Centerline is valid? [True, True] Translation: X:436.90, Y:-58.54, Z:-28.97 [[ 9.97362412e-01 4.95872237e-02 5.30030868e-02 4.36900910e+02] [-4.93016594e-02 9.98761579e-01 -6.68247817e-03 -5.85376503e+01] [-5.32688122e-02 4.05171241e-03 9.98571989e-01 -2.89694538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.540714057 meters 0.04104115513311325 Centerline is valid? [True, True] Translation: X:436.93, Y:-58.55, Z:-28.97 [[ 9.97578242e-01 4.54212413e-02 5.26741035e-02 4.36929736e+02] [-4.51333860e-02 9.98958888e-01 -6.64214024e-03 -5.85452072e+01] [-5.29209581e-02 4.24869394e-03 9.98589666e-01 -2.89708685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.57071405700003 meters 0.039943022680569 Centerline is valid? [True, True] Translation: X:436.96, Y:-58.55, Z:-28.97 [[ 9.97638839e-01 4.41278019e-02 5.26258924e-02 4.36961525e+02] [-4.38387954e-02 9.99016591e-01 -6.63402090e-03 -5.85465164e+01] [-5.28668845e-02 4.31130117e-03 9.98592262e-01 -2.89720873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.600714057 meters 0.04246327267918951 Centerline is valid? [True, True] Translation: X:436.99, Y:-58.55, Z:-28.97 [[ 9.97691744e-01 4.23023743e-02 5.31196085e-02 4.36991536e+02] [-4.20045967e-02 9.99094884e-01 -6.71026107e-03 -5.85523923e+01] [-5.33553890e-02 4.46350434e-03 9.98565611e-01 -2.89729090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.630714057 meters 0.042834364487109436 Centerline is valid? [True, True] Translation: X:437.02, Y:-58.56, Z:-28.97 [[ 9.97706189e-01 4.20297040e-02 5.30647118e-02 4.37023438e+02] [-4.17321622e-02 9.99106347e-01 -6.70327793e-03 -5.85555721e+01] [-5.32990271e-02 4.47339672e-03 9.98568577e-01 -2.89747798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.660714057 meters 0.042834364487109436 Centerline is valid? [True, True] Translation: X:437.06, Y:-58.56, Z:-28.98 [[ 9.97694044e-01 4.23191409e-02 5.30630324e-02 4.37055818e+02] [-4.20213047e-02 9.99094139e-01 -6.71654476e-03 -5.85597421e+01] [-5.32992030e-02 4.47127885e-03 9.98568577e-01 -2.89766682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.690714057 meters 0.041833574443237716 Centerline is valid? [True, True] Translation: X:437.09, Y:-58.56, Z:-28.98 [[ 9.97695679e-01 4.27469113e-02 5.26880724e-02 4.37088030e+02] [-4.24530418e-02 9.99076101e-01 -6.68464581e-03 -5.85619152e+01] [-5.29251419e-02 4.43247330e-03 9.98588645e-01 -2.89784213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.720714057 meters 0.04038635912784513 Centerline is valid? [True, True] Translation: X:437.12, Y:-58.56, Z:-28.98 [[ 9.97686490e-01 4.40111202e-02 5.18139851e-02 4.37119784e+02] [-4.37278721e-02 9.99021756e-01 -6.58817051e-03 -5.85616073e+01] [-5.20532512e-02 4.30721340e-03 9.98635022e-01 -2.89804623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.750714057 meters 0.04285951172415132 Centerline is valid? [True, True] Translation: X:437.15, Y:-58.57, Z:-28.98 [[ 9.97581830e-01 4.66356193e-02 5.15326331e-02 4.37149082e+02] [-4.63588068e-02 9.98903348e-01 -6.55454593e-03 -5.85673335e+01] [-5.17817950e-02 4.14970454e-03 9.98649801e-01 -2.89825845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.780714057 meters 0.040802495039065224 Centerline is valid? [True, True] Translation: X:437.18, Y:-58.57, Z:-28.98 [[ 9.97505407e-01 4.84067369e-02 5.13785090e-02 4.37181151e+02] [-4.81339374e-02 9.98819516e-01 -6.53445761e-03 -5.85671983e+01] [-5.16341692e-02 4.04510686e-03 9.98657874e-01 -2.89845159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.810714057 meters 0.038974222419009316 Centerline is valid? [True, True] Translation: X:437.21, Y:-58.57, Z:-28.99 [[ 9.97362739e-01 5.11454579e-02 5.14947406e-02 4.37211801e+02] [-5.08748063e-02 9.98683534e-01 -6.55388102e-03 -5.85669998e+01] [-5.17621508e-02 3.91681177e-03 9.98651760e-01 -2.89859639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.840714057 meters 0.03869802004347739 Centerline is valid? [True, True] Translation: X:437.24, Y:-58.57, Z:-28.99 [[ 9.97040613e-01 5.70365881e-02 5.15445713e-02 4.37241828e+02] [-5.67732340e-02 9.98365546e-01 -6.56023363e-03 -5.85662832e+01] [-5.18344974e-02 3.61446736e-03 9.98649148e-01 -2.89873679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.870714057 meters 0.03739496484612755 Centerline is valid? [True, True] Translation: X:437.27, Y:-58.57, Z:-28.99 [[ 9.96753755e-01 6.13774500e-02 5.21033652e-02 4.37272799e+02] [-6.11142516e-02 9.98108749e-01 -6.63124446e-03 -5.85666777e+01] [-5.24118335e-02 3.42545965e-03 9.98619680e-01 -2.89886538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.900714057 meters 0.03467917422858991 Centerline is valid? [True, True] Translation: X:437.30, Y:-58.56, Z:-28.99 [[ 9.96148987e-01 7.02301342e-02 5.24873616e-02 4.37302904e+02] [-6.99752575e-02 9.97526359e-01 -6.68023978e-03 -5.85624879e+01] [-5.28266809e-02 2.98169745e-03 9.98599245e-01 -2.89896775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.930714057 meters 0.03339468766399228 Centerline is valid? [True, True] Translation: X:437.33, Y:-58.56, Z:-28.99 [[ 9.95771165e-01 7.49610651e-02 5.31095539e-02 4.37333484e+02] [-7.47068573e-02 9.97182636e-01 -6.75844756e-03 -5.85621967e+01] [-5.34665453e-02 2.76221934e-03 9.98565821e-01 -2.89909504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.960714057 meters 0.029756750791838933 Centerline is valid? [True, True] Translation: X:437.36, Y:-58.56, Z:-28.99 [[ 9.95052594e-01 8.34475622e-02 5.39151206e-02 4.37364923e+02] [-8.31979493e-02 9.96509417e-01 -6.86164292e-03 -5.85555002e+01] [-5.42995128e-02 2.34206812e-03 9.98521946e-01 -2.89911038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.990714057 meters 0.027385527352443435 Centerline is valid? [True, True] Translation: X:437.40, Y:-58.55, Z:-28.99 [[ 9.94695384e-01 8.71674242e-02 5.46162408e-02 4.37395791e+02] [-8.69168968e-02 9.96191321e-01 -6.95022834e-03 -5.85534014e+01] [-5.50140585e-02 2.16628588e-03 9.98483230e-01 -2.89924604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.020714057 meters 0.028198088089827083 Centerline is valid? [True, True] Translation: X:437.42, Y:-58.56, Z:-28.99 [[ 9.94190215e-01 9.23993246e-02 5.52103295e-02 4.37424898e+02] [-9.21514114e-02 9.95720226e-01 -7.02485927e-03 -5.85567608e+01] [-5.56231340e-02 1.89633656e-03 9.98450034e-01 -2.89940942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.050714057 meters 0.02592833490737327 Centerline is valid? [True, True] Translation: X:437.45, Y:-58.55, Z:-29.00 [[ 9.94113154e-01 9.34341830e-02 5.48551826e-02 4.37454384e+02] [-9.31911278e-02 9.95623786e-01 -6.97780992e-03 -5.85548439e+01] [-5.52670906e-02 1.82471629e-03 9.98469939e-01 -2.89958851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.080714057 meters 0.025492123388759315 Centerline is valid? [True, True] Translation: X:437.48, Y:-58.56, Z:-29.00 [[ 9.94078365e-01 9.42854975e-02 5.40226662e-02 4.37482621e+02] [-9.40512348e-02 9.95543668e-01 -6.86808583e-03 -5.85571998e+01] [-5.44294841e-02 1.74651707e-03 9.98516089e-01 -2.89975635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.110714057 meters 0.026014350507803728 Centerline is valid? [True, True] Translation: X:437.51, Y:-58.56, Z:-29.00 [[ 9.94218762e-01 9.30573764e-02 5.35665679e-02 4.37509726e+02] [-9.28254826e-02 9.95659130e-01 -6.80629840e-03 -5.85625910e+01] [-5.39674187e-02 1.79460705e-03 9.98541084e-01 -2.90001814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.140714057 meters 0.026563530392573455 Centerline is valid? [True, True] Translation: X:437.54, Y:-58.57, Z:-29.00 [[ 9.94370465e-01 9.16970769e-02 5.30944903e-02 4.37537157e+02] [-9.14675728e-02 9.95785235e-01 -6.74161019e-03 -5.85684039e+01] [-5.34888954e-02 1.84723390e-03 9.98566736e-01 -2.90015883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.170714057 meters 0.028727620392669843 Centerline is valid? [True, True] Translation: X:437.57, Y:-58.58, Z:-29.00 [[ 9.94787118e-01 8.72231790e-02 5.28271489e-02 4.37565892e+02] [-8.69899947e-02 9.96186642e-01 -6.70185072e-03 -5.85775171e+01] [-5.32102568e-02 2.07148136e-03 9.98581182e-01 -2.90034269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.200714057 meters 0.028669199282476278 Centerline is valid? [True, True] Translation: X:437.59, Y:-58.58, Z:-29.00 [[ 9.95019552e-01 8.46169276e-02 5.26883921e-02 4.37594781e+02] [-8.43813623e-02 9.96411118e-01 -6.68348634e-03 -5.85821340e+01] [-5.30648358e-02 2.20428128e-03 9.98588636e-01 -2.90044952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.230714057 meters 0.03224966222845131 Centerline is valid? [True, True] Translation: X:437.62, Y:-58.59, Z:-29.01 [[ 9.95569591e-01 7.87902748e-02 5.13155111e-02 4.37622369e+02] [-7.85592702e-02 9.96888213e-01 -6.50633113e-03 -5.85939016e+01] [-5.16684638e-02 2.44619632e-03 9.98661297e-01 -2.90070624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.26071405700003 meters 0.03274094785942971 Centerline is valid? [True, True] Translation: X:437.65, Y:-58.60, Z:-29.01 [[ 9.95879728e-01 7.57873017e-02 4.97981136e-02 4.37651512e+02] [-7.55660114e-02 9.97120809e-01 -6.31422984e-03 -5.86000207e+01] [-5.01332738e-02 2.52516867e-03 9.98739345e-01 -2.90091278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.290714057 meters 0.03583312045889374 Centerline is valid? [True, True] Translation: X:437.68, Y:-58.61, Z:-29.01 [[ 9.96165829e-01 7.22703603e-02 4.93014844e-02 4.37679861e+02] [-7.20492075e-02 9.97381493e-01 -6.25054919e-03 -5.86087493e+01] [-4.96241175e-02 2.67445064e-03 9.98764384e-01 -2.90117470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.32071405700003 meters 0.03545653599216978 Centerline is valid? [True, True] Translation: X:437.71, Y:-58.61, Z:-29.01 [[ 9.96644652e-01 6.55728293e-02 4.89861290e-02 4.37709566e+02] [-6.53465284e-02 9.97843316e-01 -6.20872401e-03 -5.86138096e+01] [-4.92876050e-02 2.98681811e-03 9.98780161e-01 -2.90127250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.350714057 meters 0.03632443897713628 Centerline is valid? [True, True] Translation: X:437.74, Y:-58.62, Z:-29.01 [[ 9.96802869e-01 6.28574583e-02 4.93252402e-02 4.37740276e+02] [-6.26247579e-02 9.98017570e-01 -6.25053906e-03 -5.86198217e+01] [-4.96203494e-02 3.14157404e-03 9.98763211e-01 -2.90138470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.380714057 meters 0.03660041834688563 Centerline is valid? [True, True] Translation: X:437.77, Y:-58.62, Z:-29.01 [[ 9.97039271e-01 5.84960666e-02 4.99089301e-02 4.37770657e+02] [-5.82522796e-02 9.98281847e-01 -6.32654496e-03 -5.86249956e+01] [-5.01932570e-02 3.40050483e-03 9.98733735e-01 -2.90142903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.410714057 meters 0.036672331842304284 Centerline is valid? [True, True] Translation: X:437.80, Y:-58.63, Z:-29.02 [[ 9.97150198e-01 5.68199769e-02 4.96283488e-02 4.37801925e+02] [-5.65768615e-02 9.98378426e-01 -6.29097205e-03 -5.86285541e+01] [-4.99053257e-02 3.46522781e-03 9.98747942e-01 -2.90162240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.440714057 meters 0.0388596894241727 Centerline is valid? [True, True] Translation: X:437.83, Y:-58.64, Z:-29.02 [[ 9.97253291e-01 5.54139263e-02 4.91443854e-02 4.37831961e+02] [-5.51737484e-02 9.98457324e-01 -6.23140206e-03 -5.86350955e+01] [-4.94138779e-02 3.50280626e-03 9.98772246e-01 -2.90183717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.470714057 meters 0.03905738935132174 Centerline is valid? [True, True] Translation: X:437.86, Y:-58.64, Z:-29.02 [[ 9.97460997e-01 5.22657373e-02 4.83720215e-02 4.37862561e+02] [-5.20292787e-02 9.98626712e-01 -6.13547216e-03 -5.86376628e+01] [-4.86262678e-02 3.60313279e-03 9.98810544e-01 -2.90209590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.500714057 meters 0.043049101590268146 Centerline is valid? [True, True] Translation: X:437.89, Y:-58.64, Z:-29.02 [[ 9.97683439e-01 4.89974112e-02 4.71911939e-02 4.37891820e+02] [-4.87687250e-02 9.98792161e-01 -5.98588195e-03 -5.86449010e+01] [-4.74274873e-02 3.67056093e-03 9.98867939e-01 -2.90241185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.530714057 meters 0.04449303628823071 Centerline is valid? [True, True] Translation: X:437.92, Y:-58.65, Z:-29.03 [[ 9.97747983e-01 4.76196484e-02 4.72369785e-02 4.37923734e+02] [-4.73889623e-02 9.98858539e-01 -5.99214622e-03 -5.86499979e+01] [-4.74684032e-02 3.74014041e-03 9.98865738e-01 -2.90265459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.560714057 meters 0.042906612811021136 Centerline is valid? [True, True] Translation: X:437.96, Y:-58.65, Z:-29.03 [[ 9.97776516e-01 4.67551901e-02 4.74971290e-02 4.37955474e+02] [-4.65208493e-02 9.98899132e-01 -6.02789876e-03 -5.86506558e+01] [-4.77266765e-02 3.80488904e-03 9.98853186e-01 -2.90280639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.590714057 meters 0.04296036858673461 Centerline is valid? [True, True] Translation: X:437.99, Y:-58.65, Z:-29.03 [[ 9.97844389e-01 4.46286480e-02 4.81129839e-02 4.37986655e+02] [-4.43853720e-02 9.98995778e-01 -6.11345518e-03 -5.86504624e+01] [-4.83375030e-02 3.96476426e-03 9.98823191e-01 -2.90295557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.620714057 meters 0.04322586510151179 Centerline is valid? [True, True] Translation: X:438.02, Y:-58.65, Z:-29.03 [[ 9.97907566e-01 4.32989194e-02 4.80176437e-02 4.38019208e+02] [-4.30550619e-02 9.99054068e-01 -6.10170610e-03 -5.86512774e+01] [-4.82364195e-02 4.02153605e-03 9.98827851e-01 -2.90313298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.650714057 meters 0.04186268398535465 Centerline is valid? [True, True] Translation: X:438.05, Y:-58.65, Z:-29.03 [[ 9.97964066e-01 4.23176811e-02 4.77172650e-02 4.38051713e+02] [-4.20755926e-02 9.99096010e-01 -6.06692030e-03 -5.86507013e+01] [-4.79308671e-02 4.04683625e-03 9.98842458e-01 -2.90335219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.680714057 meters 0.04637427386345608 Centerline is valid? [True, True] Translation: X:438.08, Y:-58.66, Z:-29.04 [[ 9.97982668e-01 4.20845658e-02 4.75340179e-02 4.38081701e+02] [-4.18439824e-02 9.99105867e-01 -6.04551011e-03 -5.86587941e+01] [-4.77459388e-02 4.04430170e-03 9.98851325e-01 -2.90360671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.710714057 meters 0.04654792759855913 Centerline is valid? [True, True] Translation: X:438.11, Y:-58.66, Z:-29.04 [[ 9.98057907e-01 4.09403128e-02 4.69500229e-02 4.38113822e+02] [-4.07038287e-02 9.99153346e-01 -5.98237093e-03 -5.86590087e+01] [-4.71551927e-02 4.05970692e-03 9.98879325e-01 -2.90385312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.740714057 meters 0.04593239329280461 Centerline is valid? [True, True] Translation: X:438.15, Y:-58.66, Z:-29.04 [[ 9.98126235e-01 4.02025243e-02 4.61278316e-02 4.38146161e+02] [-3.99729092e-02 9.99183405e-01 -5.88984397e-03 -5.86595683e+01] [-4.63269505e-02 4.03494416e-03 9.98918181e-01 -2.90409307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.770714057 meters 0.04973631348020517 Centerline is valid? [True, True] Translation: X:438.18, Y:-58.66, Z:-29.04 [[ 9.98220141e-01 3.95636995e-02 4.46235699e-02 4.38177183e+02] [-3.93480878e-02 9.99209305e-01 -5.70019279e-03 -5.86628571e+01] [-4.48138070e-02 3.93419511e-03 9.98987610e-01 -2.90443314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.800714057 meters 0.04656544844722718 Centerline is valid? [True, True] Translation: X:438.21, Y:-58.66, Z:-29.05 [[ 9.98249601e-01 3.93649559e-02 4.41376832e-02 4.38209969e+02] [-3.91536603e-02 9.99217274e-01 -5.64185020e-03 -5.86594044e+01] [-4.43252267e-02 3.90382285e-03 9.99009527e-01 -2.90452674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.830714057 meters 0.04603917257354589 Centerline is valid? [True, True] Translation: X:438.24, Y:-58.66, Z:-29.05 [[ 9.98195085e-01 4.03721920e-02 4.44596193e-02 4.38242295e+02] [-4.01581814e-02 9.99177096e-01 -5.69663440e-03 -5.86578220e+01] [-4.46530189e-02 3.90093500e-03 9.98994940e-01 -2.90465365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.860714057 meters 0.044984693043651415 Centerline is valid? [True, True] Translation: X:438.27, Y:-58.66, Z:-29.05 [[ 9.98125370e-01 4.11723331e-02 4.52833824e-02 4.38274859e+02] [-4.09510773e-02 9.99144299e-01 -5.80329217e-03 -5.86585344e+01] [-4.54835684e-02 3.93800985e-03 9.98957325e-01 -2.90477602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.890714057 meters 0.04641267756323167 Centerline is valid? [True, True] Translation: X:438.31, Y:-58.66, Z:-29.05 [[ 9.98056390e-01 4.23418312e-02 4.57232165e-02 4.38305550e+02] [-4.21168133e-02 9.99095426e-01 -5.87393515e-03 -5.86617491e+01] [-4.59305696e-02 3.93680233e-03 9.98936877e-01 -2.90491725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.920714057 meters 0.045415683777483354 Centerline is valid? [True, True] Translation: X:438.34, Y:-58.66, Z:-29.05 [[ 9.97921415e-01 4.53244698e-02 4.58098478e-02 4.38337038e+02] [-4.51016235e-02 9.98965057e-01 -5.88706604e-03 -5.86575392e+01] [-4.60292654e-02 3.80873076e-03 9.98932831e-01 -2.90496737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.950714057 meters 0.04122956085628261 Centerline is valid? [True, True] Translation: X:438.37, Y:-58.65, Z:-29.05 [[ 9.97823106e-01 4.72331901e-02 4.60225413e-02 4.38369619e+02] [-4.70102937e-02 9.98876897e-01 -5.91416772e-03 -5.86525036e+01] [-4.62501983e-02 3.73776002e-03 9.98922894e-01 -2.90501437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.980714057 meters 0.04028949828731487 Centerline is valid? [True, True] Translation: X:438.40, Y:-58.65, Z:-29.05 [[ 9.97626100e-01 5.04801581e-02 4.68392880e-02 4.38400727e+02] [-5.02526761e-02 9.98718379e-01 -6.02230389e-03 -5.86495290e+01] [-4.70832646e-02 3.65420797e-03 9.98884284e-01 -2.90519652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.01071405700003 meters 0.0444980082330208 Centerline is valid? [True, True] Translation: X:438.43, Y:-58.66, Z:-29.05 [[ 9.97510794e-01 5.21400352e-02 4.74724458e-02 4.38430801e+02] [-5.19082251e-02 9.98633207e-01 -6.10366199e-03 -5.86579563e+01] [-4.77258059e-02 3.62425831e-03 9.98853899e-01 -2.90542545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.040714057 meters 0.04035393150438075 Centerline is valid? [True, True] Translation: X:438.46, Y:-58.65, Z:-29.05 [[ 9.97412646e-01 5.33424952e-02 4.81932678e-02 4.38462881e+02] [-5.31048923e-02 9.98569704e-01 -6.19813647e-03 -5.86539238e+01] [-4.84549612e-02 3.62280140e-03 9.98818798e-01 -2.90546343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.07071405700003 meters 0.041458553442623766 Centerline is valid? [True, True] Translation: X:438.49, Y:-58.66, Z:-29.06 [[ 9.97356786e-01 5.37256532e-02 4.89182608e-02 4.38493402e+02] [-5.34812332e-02 9.98549027e-01 -6.29269810e-03 -5.86552326e+01] [-4.91853610e-02 3.65985624e-03 9.98782962e-01 -2.90561076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.100714057 meters 0.04268795629563245 Centerline is valid? [True, True] Translation: X:438.52, Y:-58.66, Z:-29.06 [[ 9.97351492e-01 5.34655137e-02 4.93096273e-02 4.38523301e+02] [-5.32165820e-02 9.98562814e-01 -6.34838167e-03 -5.86589446e+01] [-4.95781797e-02 3.70747811e-03 9.98763365e-01 -2.90579532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.130714057 meters 0.043507382628875685 Centerline is valid? [True, True] Translation: X:438.55, Y:-58.66, Z:-29.06 [[ 9.97399230e-01 5.14683870e-02 5.04557318e-02 4.38554301e+02] [-5.12051502e-02 9.98667023e-01 -6.49685261e-03 -5.86612250e+01] [-5.07228580e-02 3.89636246e-03 9.98705167e-01 -2.90603927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.160714057 meters 0.04472045971890244 Centerline is valid? [True, True] Translation: X:438.59, Y:-58.67, Z:-29.06 [[ 9.97475583e-01 4.98176396e-02 5.06030128e-02 4.38585349e+02] [-4.95507124e-02 9.98750350e-01 -6.51659487e-03 -5.86658738e+01] [-5.08644181e-02 3.99272893e-03 9.98697586e-01 -2.90627813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.190714057 meters 0.04766362355568036 Centerline is valid? [True, True] Translation: X:438.61, Y:-58.67, Z:-29.07 [[ 9.97731927e-01 4.53138074e-02 4.97761099e-02 4.38614918e+02] [-4.50498810e-02 9.98964161e-01 -6.41201167e-03 -5.86711872e+01] [-5.00151025e-02 4.15506093e-03 9.98739818e-01 -2.90666879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.220714057 meters 0.049702155075372935 Centerline is valid? [True, True] Translation: X:438.64, Y:-58.68, Z:-29.07 [[ 9.97831152e-01 4.35704747e-02 4.93417340e-02 4.38644328e+02] [-4.33090258e-02 9.99041505e-01 -6.35603014e-03 -5.86769235e+01] [-4.95713754e-02 4.20530244e-03 9.98761730e-01 -2.90692855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.250714057 meters 0.050347325985450136 Centerline is valid? [True, True] Translation: X:438.68, Y:-58.68, Z:-29.07 [[ 9.97873498e-01 4.19996530e-02 4.98448660e-02 4.38675441e+02] [-4.17306809e-02 9.99108237e-01 -6.42510919e-03 -5.86808894e+01] [-5.00702685e-02 4.33138599e-03 9.98736305e-01 -2.90713518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.280714057 meters 0.058365159342709014 Centerline is valid? [True, True] Translation: X:438.70, Y:-58.69, Z:-29.07 [[ 9.97958785e-01 3.94045244e-02 5.02548236e-02 4.38703872e+02] [-3.91277353e-02 9.99213205e-01 -6.48005382e-03 -5.86930747e+01] [-5.04706268e-02 4.50046920e-03 9.98715406e-01 -2.90738090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.310714057 meters 0.05063706794924976 Centerline is valid? [True, True] Translation: X:438.74, Y:-58.69, Z:-29.08 [[ 9.97969660e-01 3.92143382e-02 5.01875911e-02 4.38737281e+02] [-3.89381727e-02 9.99220682e-01 -6.46898660e-03 -5.86854676e+01] [-5.04021561e-02 4.50163926e-03 9.98718858e-01 -2.90750125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.340714057 meters 0.045833104755092245 Centerline is valid? [True, True] Translation: X:438.77, Y:-58.68, Z:-29.08 [[ 9.97934720e-01 3.99063309e-02 5.03366616e-02 4.38770389e+02] [-3.96287681e-02 9.99193326e-01 -6.50054897e-03 -5.86812066e+01] [-5.05554694e-02 4.49234363e-03 9.98711151e-01 -2.90770533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.370714057 meters 0.04858852499014077 Centerline is valid? [True, True] Translation: X:438.80, Y:-58.69, Z:-29.08 [[ 9.97888418e-01 4.08836435e-02 5.04701282e-02 4.38801149e+02] [-4.06051490e-02 9.99153923e-01 -6.53148493e-03 -5.86882911e+01] [-5.06944575e-02 4.46834609e-03 9.98704213e-01 -2.90794078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.400714057 meters 0.044332677758615754 Centerline is valid? [True, True] Translation: X:438.83, Y:-58.68, Z:-29.08 [[ 9.97727014e-01 4.34480136e-02 5.15080188e-02 4.38833348e+02] [-4.31608858e-02 9.99045841e-01 -6.67421543e-03 -5.86836314e+01] [-5.17488534e-02 4.43591332e-03 9.98650279e-01 -2.90799931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.430714057 meters 0.044098549522283086 Centerline is valid? [True, True] Translation: X:438.86, Y:-58.69, Z:-29.08 [[ 9.97595771e-01 4.52906617e-02 5.24541179e-02 4.38864821e+02] [-4.49953558e-02 9.98964068e-01 -6.79769421e-03 -5.86857126e+01] [-5.27076511e-02 4.42115929e-03 9.98600199e-01 -2.90810852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.460714057 meters 0.04210500994528171 Centerline is valid? [True, True] Translation: X:438.90, Y:-58.69, Z:-29.08 [[ 9.97441652e-01 4.72894352e-02 5.36084011e-02 4.38895824e+02] [-4.69837256e-02 9.98871481e-01 -6.94934514e-03 -5.86858921e+01] [-5.38765336e-02 4.41284389e-03 9.98537854e-01 -2.90821830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.490714057 meters 0.04172588984502267 Centerline is valid? [True, True] Translation: X:438.93, Y:-58.69, Z:-29.08 [[ 9.97182990e-01 5.17523071e-02 5.42934990e-02 4.38925967e+02] [-5.14452292e-02 9.98651009e-01 -7.03926272e-03 -5.86870394e+01] [-5.45845556e-02 4.22629154e-03 9.98500208e-01 -2.90839612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.520714057 meters 0.040967711531214035 Centerline is valid? [True, True] Translation: X:438.96, Y:-58.69, Z:-29.09 [[ 9.97036204e-01 5.37831325e-02 5.50107499e-02 4.38957261e+02] [-5.34709546e-02 9.98543935e-01 -7.13211858e-03 -5.86891689e+01] [-5.53142384e-02 4.16950312e-03 9.98460290e-01 -2.90859885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.550714057 meters 0.04016986514603567 Centerline is valid? [True, True] Translation: X:438.99, Y:-58.69, Z:-29.09 [[ 9.96795783e-01 5.72439316e-02 5.58685862e-02 4.38988562e+02] [-5.69272102e-02 9.98352040e-01 -7.24544686e-03 -5.86894962e+01] [-5.61912749e-02 4.04178812e-03 9.98411841e-01 -2.90875756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.580714057 meters 0.040855940840018194 Centerline is valid? [True, True] Translation: X:439.02, Y:-58.69, Z:-29.09 [[ 9.96696762e-01 5.86995800e-02 5.61241763e-02 4.39018473e+02] [-5.83822245e-02 9.98267766e-01 -7.27893944e-03 -5.86931359e+01] [-5.64542268e-02 3.97824111e-03 9.98397263e-01 -2.90889859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.610714057 meters 0.040855940840018194 Centerline is valid? [True, True] Translation: X:439.05, Y:-58.70, Z:-29.09 [[ 9.96696766e-01 5.86996381e-02 5.61240457e-02 4.39048248e+02] [-5.83822263e-02 9.98267759e-01 -7.27994620e-03 -5.86969976e+01] [-5.64541555e-02 3.97925210e-03 9.98397263e-01 -2.90907254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.640714057 meters 0.03816775108104322 Centerline is valid? [True, True] Translation: X:439.08, Y:-58.70, Z:-29.09 [[ 9.96584206e-01 5.99679481e-02 5.67782066e-02 4.39079439e+02] [-5.96451306e-02 9.98192476e-01 -7.36478769e-03 -5.86961143e+01] [-5.71172298e-02 3.95308754e-03 9.98359652e-01 -2.90919645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.670714057 meters 0.039848728237172 Centerline is valid? [True, True] Translation: X:439.11, Y:-58.70, Z:-29.09 [[ 9.96564772e-01 6.09127826e-02 5.61096026e-02 4.39108816e+02] [-6.05989627e-02 9.98135652e-01 -7.27912088e-03 -5.86998275e+01] [-5.64483863e-02 3.85393173e-03 9.98398080e-01 -2.90942298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.700714057 meters 0.04064830962287965 Centerline is valid? [True, True] Translation: X:439.14, Y:-58.71, Z:-29.10 [[ 9.96584161e-01 6.09193878e-02 5.57569620e-02 4.39137601e+02] [-6.06095724e-02 9.98135348e-01 -7.23236115e-03 -5.87052536e+01] [-5.60935857e-02 3.82825093e-03 9.98418176e-01 -2.90967740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.730714057 meters 0.0383383077533566 Centerline is valid? [True, True] Translation: X:439.17, Y:-58.71, Z:-29.10 [[ 9.96765835e-01 5.91574257e-02 5.43899731e-02 4.39167563e+02] [-5.88600771e-02 9.98241319e-01 -7.05410828e-03 -5.87066199e+01] [-5.47116214e-02 3.82989612e-03 9.98494852e-01 -2.91009066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.76071405700003 meters 0.03759957097003201 Centerline is valid? [True, True] Translation: X:439.20, Y:-58.71, Z:-29.10 [[ 9.96889407e-01 5.76175746e-02 5.37747719e-02 4.39198025e+02] [-5.73247514e-02 9.98331231e-01 -6.97328530e-03 -5.87101084e+01] [-5.40868180e-02 3.86896882e-03 9.98528741e-01 -2.91040117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.790714057 meters 0.04192120031489991 Centerline is valid? [True, True] Translation: X:439.23, Y:-58.72, Z:-29.11 [[ 9.97181696e-01 5.42882776e-02 5.17827086e-02 4.39226292e+02] [-5.40123169e-02 9.98517692e-01 -6.71482662e-03 -5.87217243e+01] [-5.20704870e-02 3.89899813e-03 9.98635801e-01 -2.91079273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.82071405700003 meters 0.040407359840294386 Centerline is valid? [True, True] Translation: X:439.26, Y:-58.72, Z:-29.11 [[ 9.97279876e-01 5.28606353e-02 5.13673273e-02 4.39256940e+02] [-5.25871414e-02 9.98594115e-01 -6.66224121e-03 -5.87241243e+01] [-5.16472811e-02 3.94285818e-03 9.98657605e-01 -2.91096260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.850714057 meters 0.042057699542556136 Centerline is valid? [True, True] Translation: X:439.29, Y:-58.73, Z:-29.11 [[ 9.97341277e-01 5.19182434e-02 5.11358257e-02 4.39286429e+02] [-5.16459334e-02 9.98643429e-01 -6.63314805e-03 -5.87306490e+01] [-5.14108378e-02 3.97455490e-03 9.98669679e-01 -2.91114676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.880714057 meters 0.04206291341127827 Centerline is valid? [True, True] Translation: X:439.32, Y:-58.74, Z:-29.11 [[ 9.97275611e-01 5.18934096e-02 5.24254700e-02 4.39317943e+02] [-5.16070929e-02 9.98644306e-01 -6.80132852e-03 -5.87356151e+01] [-5.27073412e-02 4.07727295e-03 9.98601678e-01 -2.91113103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.910714057 meters 0.043216652695404575 Centerline is valid? [True, True] Translation: X:439.35, Y:-58.74, Z:-29.11 [[ 9.97142329e-01 5.25479665e-02 5.42760194e-02 4.39348853e+02] [-5.22419386e-02 9.98609623e-01 -7.04282682e-03 -5.87412263e+01] [-5.45706415e-02 4.18721627e-03 9.98501133e-01 -2.91116759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.940714057 meters 0.043158336757984105 Centerline is valid? [True, True] Translation: X:439.38, Y:-58.75, Z:-29.11 [[ 9.97072673e-01 5.35287224e-02 5.45963353e-02 4.39381010e+02] [-5.32198271e-02 9.98557600e-01 -7.09713028e-03 -5.87456325e+01] [-5.48974859e-02 4.17074713e-03 9.98483285e-01 -2.91128489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.970714057 meters 0.03950198191142907 Centerline is valid? [True, True] Translation: X:439.41, Y:-58.74, Z:-29.11 [[ 9.97065469e-01 5.39037932e-02 5.43583586e-02 4.39412934e+02] [-5.35973653e-02 9.98537526e-01 -7.08038591e-03 -5.87442563e+01] [-5.46605205e-02 4.14614350e-03 9.98496388e-01 -2.91143071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.000714057 meters 0.044646457256452936 Centerline is valid? [True, True] Translation: X:439.44, Y:-58.76, Z:-29.12 [[ 9.97139293e-01 5.39588742e-02 5.29308081e-02 4.39442352e+02] [-5.36683720e-02 9.98535006e-01 -6.89545913e-03 -5.87566372e+01] [-5.32253360e-02 4.03502294e-03 9.98574375e-01 -2.91179537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.030714057 meters 0.041163566818734905 Centerline is valid? [True, True] Translation: X:439.47, Y:-58.76, Z:-29.12 [[ 9.97221403e-01 5.34174442e-02 5.19234983e-02 4.39474313e+02] [-5.31365399e-02 9.98564263e-01 -6.77642975e-03 -5.87568307e+01] [-5.22109294e-02 3.99856574e-03 9.98628074e-01 -2.91213195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.060714057 meters 0.043774173541524034 Centerline is valid? [True, True] Translation: X:439.50, Y:-58.77, Z:-29.13 [[ 9.97497509e-01 5.03842966e-02 4.95998248e-02 4.39504074e+02] [-5.01236254e-02 9.98721959e-01 -6.48615057e-03 -5.87664720e+01] [-4.98632343e-02 3.98379600e-03 9.98748110e-01 -2.91259297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.090714057 meters 0.04391207224812278 Centerline is valid? [True, True] Translation: X:439.54, Y:-58.77, Z:-29.13 [[ 9.97617555e-01 4.87627569e-02 4.87996670e-02 4.39535025e+02] [-4.85085156e-02 9.98802384e-01 -6.38141831e-03 -5.87712583e+01] [-4.90523993e-02 3.99901552e-03 9.98788201e-01 -2.91283576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.120714057 meters 0.051114867196505695 Centerline is valid? [True, True] Translation: X:439.56, Y:-58.79, Z:-29.13 [[ 9.97737126e-01 4.69422387e-02 4.81357937e-02 4.39563280e+02] [-4.66927081e-02 9.98889460e-01 -6.29592030e-03 -5.87865724e+01] [-4.83778816e-02 4.03408285e-03 9.98820958e-01 -2.91315802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.150714057 meters 0.04832786969787063 Centerline is valid? [True, True] Translation: X:439.59, Y:-58.79, Z:-29.13 [[ 9.97917526e-01 4.33675767e-02 4.77479263e-02 4.39593513e+02] [-4.31177662e-02 9.99050447e-01 -6.24995385e-03 -5.87875957e+01] [-4.79736325e-02 4.17815456e-03 9.98839864e-01 -2.91328082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.180714057 meters 0.04761505207179518 Centerline is valid? [True, True] Translation: X:439.62, Y:-58.79, Z:-29.13 [[ 9.97977860e-01 4.18889967e-02 4.78069329e-02 4.39624373e+02] [-4.16369433e-02 9.99113218e-01 -6.25647164e-03 -5.87920905e+01] [-4.80266158e-02 4.25328563e-03 9.98837001e-01 -2.91338574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.210714057 meters 0.04757569472217712 Centerline is valid? [True, True] Translation: X:439.66, Y:-58.80, Z:-29.14 [[ 9.98000521e-01 4.16895629e-02 4.75072692e-02 4.39656141e+02] [-4.14404596e-02 9.99121634e-01 -6.21681551e-03 -5.87958639e+01] [-4.77247167e-02 4.23566205e-03 9.98851546e-01 -2.91353953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.240714057 meters 0.048582509346419896 Centerline is valid? [True, True] Translation: X:439.69, Y:-58.80, Z:-29.14 [[ 9.97980376e-01 4.19262111e-02 4.77217058e-02 4.39689138e+02] [-4.16745538e-02 9.99111648e-01 -6.25667031e-03 -5.88020989e+01] [-4.79416306e-02 4.25525339e-03 9.98841075e-01 -2.91369091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.270714057 meters 0.04824335124612027 Centerline is valid? [True, True] Translation: X:439.72, Y:-58.81, Z:-29.14 [[ 9.97883952e-01 4.21822501e-02 4.94800615e-02 4.39721254e+02] [-4.19112471e-02 9.99100179e-01 -6.50226975e-03 -5.88071214e+01] [-4.97098187e-02 4.41473955e-03 9.98753946e-01 -2.91378407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.300714057 meters 0.05056133882189771 Centerline is valid? [True, True] Translation: X:439.75, Y:-58.81, Z:-29.14 [[ 9.97859345e-01 4.20634917e-02 5.00738571e-02 4.39751945e+02] [-4.17851405e-02 9.99104865e-01 -6.59318663e-03 -5.88147636e+01] [-5.03063667e-02 4.48672973e-03 9.98723755e-01 -2.91393236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.330714057 meters 0.05082832991239675 Centerline is valid? [True, True] Translation: X:439.78, Y:-58.82, Z:-29.14 [[ 9.97848782e-01 4.10434834e-02 5.11198624e-02 4.39783081e+02] [-4.07514181e-02 9.99146563e-01 -6.74302444e-03 -5.88210648e+01] [-5.13529920e-02 4.64531184e-03 9.98669761e-01 -2.91415747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.360714057 meters 0.04685157885383982 Centerline is valid? [True, True] Translation: X:439.82, Y:-58.82, Z:-29.14 [[ 9.97855876e-01 4.05409836e-02 5.13817117e-02 4.39815127e+02] [-4.02446423e-02 9.99166789e-01 -6.78941166e-03 -5.88212854e+01] [-5.16141493e-02 4.70701570e-03 9.98656009e-01 -2.91436762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.390714057 meters 0.04849350372317093 Centerline is valid? [True, True] Translation: X:439.84, Y:-58.83, Z:-29.15 [[ 9.97968195e-01 3.90664492e-02 5.03318359e-02 4.39844176e+02] [-3.87796036e-02 9.99225570e-01 -6.66345518e-03 -5.88306944e+01] [-5.05531749e-02 4.69806770e-03 9.98710321e-01 -2.91469666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.420714057 meters 0.048755513805937185 Centerline is valid? [True, True] Translation: X:439.88, Y:-58.84, Z:-29.15 [[ 9.98046106e-01 3.80352109e-02 4.95710820e-02 4.39875840e+02] [-3.77555061e-02 9.99265428e-01 -6.56704257e-03 -5.88361069e+01] [-4.97844473e-02 4.68262998e-03 9.98749008e-01 -2.91492290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.450714057 meters 0.057323725113443906 Centerline is valid? [True, True] Translation: X:439.90, Y:-58.85, Z:-29.15 [[ 9.98074730e-01 3.74236691e-02 4.94601045e-02 4.39904502e+02] [-3.71442791e-02 9.99288406e-01 -6.55623998e-03 -5.88533100e+01] [-4.96702675e-02 4.70645752e-03 9.98754581e-01 -2.91522811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.480714057 meters 0.051496581677272515 Centerline is valid? [True, True] Translation: X:439.94, Y:-58.85, Z:-29.15 [[ 9.98148902e-01 3.61088878e-02 4.89378863e-02 4.39935925e+02] [-3.58337135e-02 9.99336699e-01 -6.48893908e-03 -5.88521568e+01] [-4.91397342e-02 4.72330122e-03 9.98780745e-01 -2.91539242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.51071405700003 meters 0.059326974490305086 Centerline is valid? [True, True] Translation: X:439.97, Y:-58.87, Z:-29.16 [[ 9.98183801e-01 3.56617019e-02 4.85524711e-02 4.39965519e+02] [-3.53903318e-02 9.99352831e-01 -6.43771218e-03 -5.88682976e+01] [-4.87506292e-02 4.70773196e-03 9.98799887e-01 -2.91572869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.540714057 meters 0.04892112233771941 Centerline is valid? [True, True] Translation: X:440.00, Y:-58.86, Z:-29.16 [[ 9.98178709e-01 3.62803590e-02 4.81975099e-02 4.39998742e+02] [-3.60134161e-02 9.99330841e-01 -6.39569398e-03 -5.88609481e+01] [-4.83972961e-02 4.64828858e-03 9.98817348e-01 -2.91587930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.57071405700003 meters 0.04768095026350627 Centerline is valid? [True, True] Translation: X:440.03, Y:-58.86, Z:-29.16 [[ 9.98158165e-01 3.73092172e-02 4.78361701e-02 4.40030284e+02] [-3.70467578e-02 9.99293283e-01 -6.36184545e-03 -5.88640042e+01] [-4.80397189e-02 4.57795298e-03 9.98834935e-01 -2.91606759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.600714057 meters 0.05052135081189811 Centerline is valid? [True, True] Translation: X:440.06, Y:-58.87, Z:-29.16 [[ 9.98109518e-01 3.91275976e-02 4.73964365e-02 4.40059246e+02] [-3.88718263e-02 9.99224304e-01 -6.30652131e-03 -5.88722785e+01] [-4.76064303e-02 4.45221289e-03 9.98856249e-01 -2.91633515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.630714057 meters 0.04484691770264712 Centerline is valid? [True, True] Translation: X:440.09, Y:-58.87, Z:-29.17 [[ 9.97918092e-01 4.50992931e-02 4.61035219e-02 4.40090471e+02] [-4.48636181e-02 9.98974286e-01 -6.13441042e-03 -5.88684119e+01] [-4.63328905e-02 4.05326835e-03 9.98917832e-01 -2.91652477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.660714057 meters 0.04314672325135952 Centerline is valid? [True, True] Translation: X:440.12, Y:-58.87, Z:-29.17 [[ 9.97509235e-01 5.32582810e-02 4.62480503e-02 4.40120747e+02] [-5.30298104e-02 9.98573967e-01 -6.15393203e-03 -5.88690578e+01] [-4.65098469e-02 3.68607869e-03 9.98911031e-01 -2.91661473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.690714057 meters 0.042481917014503934 Centerline is valid? [True, True] Translation: X:440.15, Y:-58.87, Z:-29.17 [[ 9.97211312e-01 5.77245352e-02 4.73019868e-02 4.40150822e+02] [-5.74904864e-02 9.98326209e-01 -6.29472590e-03 -5.88707602e+01] [-4.75861733e-02 3.55775764e-03 9.98860800e-01 -2.91668085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.720714057 meters 0.04090798691920391 Centerline is valid? [True, True] Translation: X:440.18, Y:-58.87, Z:-29.17 [[ 9.96893221e-01 6.21611528e-02 4.83724754e-02 4.40181863e+02] [-6.19215711e-02 9.98060260e-01 -6.43716984e-03 -5.88712388e+01] [-4.86787872e-02 3.42187130e-03 9.98808624e-01 -2.91668383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.750714057 meters 0.03581503204582647 Centerline is valid? [True, True] Translation: X:440.21, Y:-58.86, Z:-29.16 [[ 9.96244189e-01 6.97985895e-02 5.12413249e-02 4.40213299e+02] [-6.95397725e-02 9.97555876e-01 -6.81869392e-03 -5.88649193e+01] [-5.15920200e-02 3.22977411e-03 9.98663022e-01 -2.91645561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.780714057 meters 0.03756126953345709 Centerline is valid? [True, True] Translation: X:440.24, Y:-58.87, Z:-29.17 [[ 9.95923769e-01 7.32221177e-02 5.26722749e-02 4.40242150e+02] [-7.29533925e-02 9.97310721e-01 -7.00910381e-03 -5.88714178e+01] [-5.30438459e-02 3.13791193e-03 9.98587254e-01 -2.91654951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.810714057 meters 0.033953942950159396 Centerline is valid? [True, True] Translation: X:440.27, Y:-58.87, Z:-29.17 [[ 9.95559530e-01 7.77861775e-02 5.30144533e-02 4.40273596e+02] [-7.75204982e-02 9.96965814e-01 -7.05258615e-03 -5.88693095e+01] [-5.34021913e-02 2.91156252e-03 9.98568840e-01 -2.91662358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.840714057 meters 0.036105874772660446 Centerline is valid? [True, True] Translation: X:440.30, Y:-58.88, Z:-29.17 [[ 9.95466581e-01 7.92212103e-02 5.26335124e-02 4.40300494e+02] [-7.89613374e-02 9.96853089e-01 -7.00192012e-03 -5.88779907e+01] [-5.30225799e-02 2.81416495e-03 9.98589348e-01 -2.91685378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.870714057 meters 0.03303349145020281 Centerline is valid? [True, True] Translation: X:440.33, Y:-58.88, Z:-29.17 [[ 9.95501235e-01 7.95439492e-02 5.14786489e-02 4.40329242e+02] [-7.92960181e-02 9.96827618e-01 -6.84403167e-03 -5.88772871e+01] [-5.18597403e-02 2.73119011e-03 9.98650644e-01 -2.91706806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.900714057 meters 0.03724645954239692 Centerline is valid? [True, True] Translation: X:440.36, Y:-58.89, Z:-29.17 [[ 9.95549944e-01 8.02470434e-02 4.94036626e-02 4.40355018e+02] [-8.00197397e-02 9.96771660e-01 -6.56492565e-03 -5.88904784e+01] [-4.97709867e-02 2.58244313e-03 9.98757318e-01 -2.91749716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.930714057 meters 0.03344735026124145 Centerline is valid? [True, True] Translation: X:440.38, Y:-58.89, Z:-29.18 [[ 9.95618479e-01 8.00768806e-02 4.82859955e-02 4.40384499e+02] [-7.98597667e-02 9.96785485e-01 -6.41206219e-03 -5.88888820e+01] [-4.86442373e-02 2.52785928e-03 9.98812970e-01 -2.91764180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.960714057 meters 0.03349678275167752 Centerline is valid? [True, True] Translation: X:440.41, Y:-58.89, Z:-29.18 [[ 9.95769220e-01 7.94540885e-02 4.61596058e-02 4.40412863e+02] [-7.92551690e-02 9.96835535e-01 -6.12659060e-03 -5.88946438e+01] [-4.65003180e-02 2.44228298e-03 9.98915290e-01 -2.91789566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.990714057 meters 0.033609038220260956 Centerline is valid? [True, True] Translation: X:440.44, Y:-58.90, Z:-29.18 [[ 9.95759969e-01 7.96781321e-02 4.59725967e-02 4.40441017e+02] [-7.94812108e-02 9.96817709e-01 -6.09852688e-03 -5.88998380e+01] [-4.63122177e-02 2.41871128e-03 9.98924085e-01 -2.91808094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.020714057 meters 0.03413955537160932 Centerline is valid? [True, True] Translation: X:440.47, Y:-58.91, Z:-29.18 [[ 9.95791129e-01 7.94518671e-02 4.56883735e-02 4.40469148e+02] [-7.92572856e-02 9.96835788e-01 -6.05761579e-03 -5.89051863e+01] [-4.60250947e-02 2.41098360e-03 9.98937374e-01 -2.91830537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.050714057 meters 0.033901319152719135 Centerline is valid? [True, True] Translation: X:440.50, Y:-58.91, Z:-29.18 [[ 9.95663040e-01 8.09738086e-02 4.58077772e-02 4.40496161e+02] [-8.07799530e-02 9.96713474e-01 -6.07042055e-03 -5.89105133e+01] [-4.61487739e-02 2.34374329e-03 9.98931828e-01 -2.91844662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.080714057 meters 0.031727277777533584 Centerline is valid? [True, True] Translation: X:440.53, Y:-58.91, Z:-29.19 [[ 9.95613406e-01 8.16763641e-02 4.56389870e-02 4.40525644e+02] [-8.14848711e-02 9.96656254e-01 -6.04371552e-03 -5.89110051e+01] [-4.59800105e-02 2.29831723e-03 9.98939716e-01 -2.91853638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.110714057 meters 0.032202691380394576 Centerline is valid? [True, True] Translation: X:440.55, Y:-58.92, Z:-29.19 [[ 9.95414300e-01 8.41649686e-02 4.54602027e-02 4.40553946e+02] [-8.39776832e-02 9.96449467e-01 -6.01738147e-03 -5.89170330e+01] [-4.58052474e-02 2.17214507e-03 9.98948027e-01 -2.91875350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.140714057 meters 0.030612412718140195 Centerline is valid? [True, True] Translation: X:440.58, Y:-58.92, Z:-29.19 [[ 9.95281375e-01 8.56279674e-02 4.56381042e-02 4.40582643e+02] [-8.54408017e-02 9.96324943e-01 -6.03971575e-03 -5.89181150e+01] [-4.59875501e-02 2.11186038e-03 9.98939781e-01 -2.91886185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.170714057 meters 0.03010296209690301 Centerline is valid? [True, True] Translation: X:440.61, Y:-58.92, Z:-29.19 [[ 9.95138724e-01 8.73333185e-02 4.55171457e-02 4.40611346e+02] [-8.71490738e-02 9.96177089e-01 -6.02043399e-03 -5.89223386e+01] [-4.58689222e-02 2.02438992e-03 9.98945416e-01 -2.91896522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.200714057 meters 0.02843337434704477 Centerline is valid? [True, True] Translation: X:440.64, Y:-58.93, Z:-29.19 [[ 9.94756608e-01 9.07469259e-02 4.71623470e-02 4.40640853e+02] [-9.05531203e-02 9.95872114e-01 -6.23417239e-03 -5.89250682e+01] [-4.75333982e-02 1.93078650e-03 9.98867783e-01 -2.91902641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.230714057 meters 0.028378571659010067 Centerline is valid? [True, True] Translation: X:440.67, Y:-58.93, Z:-29.19 [[ 9.94656669e-01 9.13754829e-02 4.80482300e-02 4.40669705e+02] [-9.11750956e-02 9.95814628e-01 -6.35040506e-03 -5.89300669e+01] [-4.84274016e-02 1.93567078e-03 9.98824829e-01 -2.91910487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.26071405700003 meters 0.02807603732907589 Centerline is valid? [True, True] Translation: X:440.70, Y:-58.94, Z:-29.19 [[ 9.94514071e-01 9.20359663e-02 4.97105922e-02 4.40698252e+02] [-9.18226580e-02 9.95753750e-01 -6.56264825e-03 -5.89366517e+01] [-5.01035083e-02 1.96208732e-03 9.98742103e-01 -2.91912202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.290714057 meters 0.028519386185707107 Centerline is valid? [True, True] Translation: X:440.73, Y:-58.94, Z:-29.19 [[ 9.94565425e-01 9.15138035e-02 4.96471391e-02 4.40726331e+02] [-9.13005707e-02 9.95801835e-01 -6.55068120e-03 -5.89425389e+01] [-5.00381899e-02 1.98226891e-03 9.98745338e-01 -2.91924818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.32071405700003 meters 0.028834899850931503 Centerline is valid? [True, True] Translation: X:440.75, Y:-58.95, Z:-29.19 [[ 9.94659482e-01 9.05061943e-02 4.96099141e-02 4.40754267e+02] [-9.02922098e-02 9.95893828e-01 -6.54219375e-03 -5.89485129e+01] [-4.99983163e-02 2.02786627e-03 9.98747243e-01 -2.91939406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.350714057 meters 0.029222642384097327 Centerline is valid? [True, True] Translation: X:440.78, Y:-58.96, Z:-29.20 [[ 9.94885710e-01 8.85824762e-02 4.85342033e-02 4.40782134e+02] [-8.83755701e-02 9.96066685e-01 -6.39675786e-03 -5.89587331e+01] [-4.89099437e-02 2.07480510e-03 9.98801038e-01 -2.91969763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.380714057 meters 0.029919230975355593 Centerline is valid? [True, True] Translation: X:440.81, Y:-58.97, Z:-29.20 [[ 9.95012770e-01 8.76493894e-02 4.76148233e-02 4.40810262e+02] [-8.74493010e-02 9.96149219e-01 -6.27324719e-03 -5.89653282e+01] [-4.79813154e-02 2.07807805e-03 9.98846072e-01 -2.91998033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.410714057 meters 0.02851802090612626 Centerline is valid? [True, True] Translation: X:440.84, Y:-58.97, Z:-29.20 [[ 9.95108681e-01 8.72329621e-02 4.63586409e-02 4.40838893e+02] [-8.70429985e-02 9.96185852e-01 -6.10456214e-03 -5.89713881e+01] [-4.67143412e-02 2.03950766e-03 9.98906207e-01 -2.92020129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.440714057 meters 0.028983607971549218 Centerline is valid? [True, True] Translation: X:440.87, Y:-58.98, Z:-29.20 [[ 9.95130565e-01 8.70602073e-02 4.62134145e-02 4.40866303e+02] [-8.68713868e-02 9.96200967e-01 -6.08244292e-03 -5.89779576e+01] [-4.65673870e-02 2.03820145e-03 9.98913071e-01 -2.92037748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.470714057 meters 0.028983607971549218 Centerline is valid? [True, True] Translation: X:440.89, Y:-58.98, Z:-29.21 [[ 9.95139955e-01 8.69524582e-02 4.62140778e-02 4.40893523e+02] [-8.67637556e-02 9.96210377e-01 -6.07739887e-03 -5.89814507e+01] [-4.65673886e-02 2.03815548e-03 9.98913071e-01 -2.92053670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.500714057 meters 0.030208066587216732 Centerline is valid? [True, True] Translation: X:440.92, Y:-58.99, Z:-29.21 [[ 9.95142081e-01 8.66936808e-02 4.66523722e-02 4.40919543e+02] [-8.65013309e-02 9.96232876e-01 -6.13002995e-03 -5.89909065e+01] [-4.70080617e-02 2.06475848e-03 9.98892376e-01 -2.92061337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.530714057 meters 0.029352181002892462 Centerline is valid? [True, True] Translation: X:440.95, Y:-59.00, Z:-29.21 [[ 9.95094675e-01 8.67856997e-02 4.74850443e-02 4.40948271e+02] [-8.65868429e-02 9.96224810e-01 -6.23271784e-03 -5.89955351e+01] [-4.78466900e-02 2.09056426e-03 9.98852504e-01 -2.92069777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.560714057 meters 0.02974418244471424 Centerline is valid? [True, True] Translation: X:440.97, Y:-59.00, Z:-29.21 [[ 9.95038921e-01 8.70271562e-02 4.82060073e-02 4.40974684e+02] [-8.68226568e-02 9.96203711e-01 -6.32396668e-03 -5.90041514e+01] [-4.85733602e-02 2.10721936e-03 9.98817395e-01 -2.92092503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.590714057 meters 0.030174333699230636 Centerline is valid? [True, True] Translation: X:441.00, Y:-59.01, Z:-29.21 [[ 9.95011284e-01 8.75117686e-02 4.78981694e-02 4.41002094e+02] [-8.73106354e-02 9.96161343e-01 -6.27943548e-03 -5.90110257e+01] [-4.82638293e-02 2.06608955e-03 9.98832485e-01 -2.92119267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.620714057 meters 0.02982042606513296 Centerline is valid? [True, True] Translation: X:441.03, Y:-59.02, Z:-29.21 [[ 9.94976368e-01 8.83668418e-02 4.70460152e-02 4.41030599e+02] [-8.81739962e-02 9.96086024e-01 -6.16276563e-03 -5.90164537e+01] [-4.74064623e-02 1.98357100e-03 9.98873712e-01 -2.92143163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.650714057 meters 0.02849214539512529 Centerline is valid? [True, True] Translation: X:441.06, Y:-59.02, Z:-29.22 [[ 9.94803875e-01 9.04639069e-02 4.67068799e-02 4.41059383e+02] [-9.02763014e-02 9.95897985e-01 -6.11490578e-03 -5.90215391e+01] [-4.70684659e-02 1.86660759e-03 9.98889922e-01 -2.92166233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.680714057 meters 0.028404035951075407 Centerline is valid? [True, True] Translation: X:441.09, Y:-59.03, Z:-29.22 [[ 9.94730232e-01 9.11210720e-02 4.69969813e-02 4.41087592e+02] [-9.09319706e-02 9.95838113e-01 -6.15052567e-03 -5.90271448e+01] [-4.73618277e-02 1.84458570e-03 9.98876096e-01 -2.92176820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.710714057 meters 0.028579862266955785 Centerline is valid? [True, True] Translation: X:441.12, Y:-59.03, Z:-29.22 [[ 9.94581181e-01 9.17189529e-02 4.89480071e-02 4.41116322e+02] [-9.15147217e-02 9.95783144e-01 -6.40204410e-03 -5.90340735e+01] [-4.93287892e-02 1.88788934e-03 9.98780810e-01 -2.92178664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.740714057 meters 0.029338921441615682 Centerline is valid? [True, True] Translation: X:441.14, Y:-59.04, Z:-29.22 [[ 9.94611280e-01 9.09500358e-02 4.97643754e-02 4.41143432e+02] [-9.07380914e-02 9.95853536e-01 -6.50637255e-03 -5.90405179e+01] [-5.01497841e-02 1.95578708e-03 9.98739793e-01 -2.92187129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.770714057 meters 0.029957824551745144 Centerline is valid? [True, True] Translation: X:441.17, Y:-59.05, Z:-29.22 [[ 9.94788439e-01 8.84347106e-02 5.07470557e-02 4.41171943e+02] [-8.82112920e-02 9.96079722e-01 -6.62991112e-03 -5.90505965e+01] [-5.11344274e-02 2.11889558e-03 9.98689532e-01 -2.92201014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.800714057 meters 0.029618165649118507 Centerline is valid? [True, True] Translation: X:441.20, Y:-59.06, Z:-29.22 [[ 9.94959808e-01 8.63860771e-02 5.09158800e-02 4.41200953e+02] [-8.61585833e-02 9.96259240e-01 -6.65018475e-03 -5.90562849e+01] [-5.12998993e-02 2.22982645e-03 9.98680804e-01 -2.92219786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.830714057 meters 0.030408035426237504 Centerline is valid? [True, True] Translation: X:441.23, Y:-59.06, Z:-29.22 [[ 9.95182125e-01 8.38943995e-02 5.07372364e-02 4.41229359e+02] [-8.36653560e-02 9.96471884e-01 -6.62518377e-03 -5.90643860e+01] [-5.11140453e-02 2.34831552e-03 9.98690062e-01 -2.92241722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.860714057 meters 0.03173537961363257 Centerline is valid? [True, True] Translation: X:441.26, Y:-59.07, Z:-29.23 [[ 9.95746907e-01 7.74505003e-02 4.98950573e-02 4.41258256e+02] [-7.72210999e-02 9.96992726e-01 -6.51194972e-03 -5.90745267e+01] [-5.02493630e-02 2.63130259e-03 9.98733237e-01 -2.92266856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.890714057 meters 0.03441871094535707 Centerline is valid? [True, True] Translation: X:441.29, Y:-59.09, Z:-29.23 [[ 9.96375208e-01 6.98847834e-02 4.85032064e-02 4.41287146e+02] [-6.96590757e-02 9.97550770e-01 -6.33037435e-03 -5.90871204e+01] [-4.88268078e-02 2.92873954e-03 9.98802966e-01 -2.92295292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.920714057 meters 0.03667236338846639 Centerline is valid? [True, True] Translation: X:441.32, Y:-59.10, Z:-29.23 [[ 9.96675305e-01 6.58914975e-02 4.79233372e-02 4.41315782e+02] [-6.56665977e-02 9.97822021e-01 -6.25396656e-03 -5.90959761e+01] [-4.82310444e-02 3.08621153e-03 9.98831438e-01 -2.92321826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.950714057 meters 0.036643753687616645 Centerline is valid? [True, True] Translation: X:441.35, Y:-59.10, Z:-29.23 [[ 9.96947197e-01 6.21056496e-02 4.73199172e-02 4.41345943e+02] [-6.18821823e-02 9.98064363e-01 -6.17430232e-03 -5.91014153e+01] [-4.76117821e-02 3.22719364e-03 9.98860703e-01 -2.92337888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.980714057 meters 0.0396131142297008 Centerline is valid? [True, True] Translation: X:441.37, Y:-59.11, Z:-29.24 [[ 9.97346270e-01 5.54462565e-02 4.71818784e-02 4.41374820e+02] [-5.52166545e-02 9.98455414e-01 -6.15682541e-03 -5.91118576e+01] [-4.74503749e-02 3.53526138e-03 9.98867340e-01 -2.92356157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.01071405700003 meters 0.04135406844718651 Centerline is valid? [True, True] Translation: X:441.40, Y:-59.12, Z:-29.24 [[ 9.97463800e-01 5.33292119e-02 4.71376961e-02 4.41404660e+02] [-5.30977231e-02 9.98570380e-01 -6.15038083e-03 -5.91191640e+01] [-4.73983020e-02 3.63187790e-03 9.98869466e-01 -2.92371132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.040714057 meters 0.043622111135507007 Centerline is valid? [True, True] Translation: X:441.43, Y:-59.13, Z:-29.24 [[ 9.97685138e-01 4.90564304e-02 4.70938564e-02 4.41434732e+02] [-4.88205242e-02 9.98788651e-01 -6.14718172e-03 -5.91266388e+01] [-4.73383681e-02 3.83380509e-03 9.98871554e-01 -2.92381159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.07071405700003 meters 0.04501492312869745 Centerline is valid? [True, True] Translation: X:441.47, Y:-59.13, Z:-29.24 [[ 9.97718228e-01 4.77114104e-02 4.77698427e-02 4.41466220e+02] [-4.74671708e-02 9.98853339e-01 -6.23489620e-03 -5.91327988e+01] [-4.80125426e-02 3.95317031e-03 9.98838910e-01 -2.92392687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.100714057 meters 0.04443171326145558 Centerline is valid? [True, True] Translation: X:441.50, Y:-59.14, Z:-29.24 [[ 9.97754673e-01 4.67864784e-02 4.79232569e-02 4.41498147e+02] [-4.65394401e-02 9.98896848e-01 -6.25837966e-03 -5.91358543e+01] [-4.81631978e-02 4.01400600e-03 9.98831414e-01 -2.92402940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.130714057 meters 0.047216209942051154 Centerline is valid? [True, True] Translation: X:441.53, Y:-59.14, Z:-29.24 [[ 9.97766818e-01 4.65712831e-02 4.78799773e-02 4.41528416e+02] [-4.63243512e-02 9.98906869e-01 -6.25468363e-03 -5.91425070e+01] [-4.81189268e-02 4.02270690e-03 9.98833513e-01 -2.92427375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.160714057 meters 0.041648267751213 Centerline is valid? [True, True] Translation: X:441.56, Y:-59.14, Z:-29.24 [[ 9.97758264e-01 4.70401675e-02 4.75990569e-02 4.41562050e+02] [-4.67960630e-02 9.98885034e-01 -6.23039149e-03 -5.91375420e+01] [-4.78390642e-02 3.98897613e-03 9.98847091e-01 -2.92440124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.190714057 meters 0.04163386369927513 Centerline is valid? [True, True] Translation: X:441.59, Y:-59.14, Z:-29.25 [[ 9.97644539e-01 4.86955318e-02 4.83127260e-02 4.41593604e+02] [-4.84457308e-02 9.98805766e-01 -6.32875125e-03 -5.91395321e+01] [-4.85632112e-02 3.97329881e-03 9.98812208e-01 -2.92453027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.220714057 meters 0.04264645329925875 Centerline is valid? [True, True] Translation: X:441.62, Y:-59.14, Z:-29.25 [[ 9.97538044e-01 5.00373563e-02 4.91336334e-02 4.41623490e+02] [-4.97804473e-02 9.98739426e-01 -6.43938792e-03 -5.91434155e+01] [-4.93939068e-02 3.97764018e-03 9.98771456e-01 -2.92470684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.250714057 meters 0.04389541108575124 Centerline is valid? [True, True] Translation: X:441.65, Y:-59.15, Z:-29.25 [[ 9.97448261e-01 5.13413766e-02 4.96087585e-02 4.41654021e+02] [-5.10810310e-02 9.98673343e-01 -6.50245318e-03 -5.91476410e+01] [-4.98767896e-02 3.95179409e-03 9.98747560e-01 -2.92483589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.280714057 meters 0.04159186690310336 Centerline is valid? [True, True] Translation: X:441.69, Y:-59.15, Z:-29.25 [[ 9.97253771e-01 5.40583306e-02 5.06222534e-02 4.41685663e+02] [-5.37906004e-02 9.98530179e-01 -6.63730639e-03 -5.91454405e+01] [-5.09066494e-02 3.89607742e-03 9.98695816e-01 -2.92490122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.310714057 meters 0.04392617694905857 Centerline is valid? [True, True] Translation: X:441.72, Y:-59.15, Z:-29.25 [[ 9.97175153e-01 5.53024044e-02 5.08267431e-02 4.41716125e+02] [-5.50341345e-02 9.98462238e-01 -6.66363673e-03 -5.91513306e+01] [-5.11170988e-02 3.84760716e-03 9.98685255e-01 -2.92510506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.340714057 meters 0.043618647914508285 Centerline is valid? [True, True] Translation: X:441.75, Y:-59.15, Z:-29.25 [[ 9.97135195e-01 5.58499962e-02 5.10115812e-02 4.41748685e+02] [-5.55798731e-02 9.98431766e-01 -6.69970924e-03 -5.91518554e+01] [-5.13057619e-02 3.84529867e-03 9.98675589e-01 -2.92538993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.370714057 meters 0.04182216711739958 Centerline is valid? [True, True] Translation: X:441.78, Y:-59.15, Z:-29.26 [[ 9.97182701e-01 5.56616493e-02 5.02836064e-02 4.41780670e+02] [-5.53983349e-02 9.98442412e-01 -6.61627565e-03 -5.91524837e+01] [-5.05735580e-02 3.81200756e-03 9.98713064e-01 -2.92556247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.400714057 meters 0.04093465094270147 Centerline is valid? [True, True] Translation: X:441.81, Y:-59.15, Z:-29.26 [[ 9.97315046e-01 5.44012189e-02 4.90225095e-02 4.41812734e+02] [-5.41488058e-02 9.98511959e-01 -6.46333535e-03 -5.91521675e+01] [-4.93011753e-02 3.79147125e-03 9.98776761e-01 -2.92590638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.430714057 meters 0.039770550867445895 Centerline is valid? [True, True] Translation: X:441.84, Y:-59.15, Z:-29.26 [[ 9.97389163e-01 5.35083436e-02 4.84944821e-02 4.41844964e+02] [-5.32599761e-02 9.98560169e-01 -6.40026707e-03 -5.91532266e+01] [-4.87671259e-02 3.80074206e-03 9.98802944e-01 -2.92608710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.460714057 meters 0.04131335146073385 Centerline is valid? [True, True] Translation: X:441.88, Y:-59.16, Z:-29.26 [[ 9.97458703e-01 5.23276254e-02 4.83524177e-02 4.41875445e+02] [-5.20791444e-02 9.98622546e-01 -6.38542544e-03 -5.91577555e+01] [-4.86199486e-02 3.85104563e-03 9.98809927e-01 -2.92630328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.490714057 meters 0.04272369130588617 Centerline is valid? [True, True] Translation: X:441.91, Y:-59.16, Z:-29.26 [[ 9.97577987e-01 5.06000847e-02 4.77262024e-02 4.41906935e+02] [-5.03559577e-02 9.98711435e-01 -6.30446719e-03 -5.91592927e+01] [-4.79837107e-02 3.88589906e-03 9.98840560e-01 -2.92647800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.520714057 meters 0.04358854519350201 Centerline is valid? [True, True] Translation: X:441.94, Y:-59.16, Z:-29.27 [[ 9.97567489e-01 5.17427460e-02 4.67096765e-02 4.41938687e+02] [-5.15101918e-02 9.98653412e-01 -6.16953708e-03 -5.91601880e+01] [-4.69660066e-02 3.74850521e-03 9.98889455e-01 -2.92669507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.550714057 meters 0.043536067797540885 Centerline is valid? [True, True] Translation: X:441.97, Y:-59.16, Z:-29.27 [[ 9.97569863e-01 5.20450145e-02 4.63215393e-02 4.41971529e+02] [-5.18161127e-02 9.98637832e-01 -6.12950366e-03 -5.91611634e+01] [-4.65774516e-02 3.71440603e-03 9.98907776e-01 -2.92690683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.580714057 meters 0.043607311919904766 Centerline is valid? [True, True] Translation: X:442.00, Y:-59.16, Z:-29.27 [[ 9.97540530e-01 5.27987605e-02 4.60997000e-02 4.42004213e+02] [-5.25721285e-02 9.98598403e-01 -6.11563521e-03 -5.91625953e+01] [-4.63579848e-02 3.67703463e-03 9.98918123e-01 -2.92708943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.610714057 meters 0.044203048401640965 Centerline is valid? [True, True] Translation: X:442.04, Y:-59.16, Z:-29.27 [[ 9.97508728e-01 5.39369328e-02 4.54658595e-02 4.42036750e+02] [-5.37175729e-02 9.98537940e-01 -6.03366873e-03 -5.91616684e+01] [-4.57248232e-02 3.57632160e-03 9.98947672e-01 -2.92741001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.640714057 meters 0.04542467069054222 Centerline is valid? [True, True] Translation: X:442.07, Y:-59.17, Z:-29.28 [[ 9.97509076e-01 5.39905759e-02 4.53945038e-02 4.42067263e+02] [-5.37713811e-02 9.98535024e-01 -6.03686234e-03 -5.91653122e+01] [-4.56539357e-02 3.58089981e-03 9.98950897e-01 -2.92762288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.670714057 meters 0.04730645880475016 Centerline is valid? [True, True] Translation: X:442.10, Y:-59.17, Z:-29.28 [[ 9.97541434e-01 5.28852705e-02 4.59808078e-02 4.42097834e+02] [-5.26589005e-02 9.98593796e-01 -6.12141957e-03 -5.91687856e+01] [-4.62398823e-02 3.68507087e-03 9.98923567e-01 -2.92780784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.700714057 meters 0.047507759668896206 Centerline is valid? [True, True] Translation: X:442.13, Y:-59.17, Z:-29.28 [[ 9.97596132e-01 5.15728003e-02 4.62839439e-02 4.42129735e+02] [-5.13417354e-02 9.98662095e-01 -6.16810320e-03 -5.91717098e+01] [-4.65401267e-02 3.77697790e-03 9.98909281e-01 -2.92794229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.730714057 meters 0.05044326091143804 Centerline is valid? [True, True] Translation: X:442.16, Y:-59.18, Z:-29.28 [[ 9.97678727e-01 4.87627390e-02 4.75326567e-02 4.42159376e+02] [-4.85156603e-02 9.98802309e-01 -6.33867555e-03 -5.91761156e+01] [-4.77848184e-02 4.01788353e-03 9.98849572e-01 -2.92802084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.76071405700003 meters 0.05110793993258618 Centerline is valid? [True, True] Translation: X:442.19, Y:-59.18, Z:-29.28 [[ 9.97673883e-01 4.80770241e-02 4.83262095e-02 4.42191078e+02] [-4.78209324e-02 9.98835150e-01 -6.44218341e-03 -5.91802907e+01] [-4.85796378e-02 4.11619374e-03 9.98810831e-01 -2.92814614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.790714057 meters 0.05338614742438034 Centerline is valid? [True, True] Translation: X:442.22, Y:-59.18, Z:-29.28 [[ 9.97755026e-01 4.61884337e-02 4.84926474e-02 4.42220504e+02] [-4.59276928e-02 9.98923762e-01 -6.47804692e-03 -5.91834039e+01] [-4.87396686e-02 4.23634845e-03 9.98802532e-01 -2.92830458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.82071405700003 meters 0.0540177113854424 Centerline is valid? [True, True] Translation: X:442.25, Y:-59.19, Z:-29.28 [[ 9.97767676e-01 4.59216349e-02 4.84857607e-02 4.42252728e+02] [-4.56607584e-02 9.98936019e-01 -6.47502102e-03 -5.91868827e+01] [-4.87315163e-02 4.24667007e-03 9.98802886e-01 -2.92847072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.850714057 meters 0.05486518254592259 Centerline is valid? [True, True] Translation: X:442.28, Y:-59.19, Z:-29.29 [[ 9.97777567e-01 4.58385651e-02 4.83606628e-02 4.42284528e+02] [-4.55783794e-02 9.98939815e-01 -6.46978802e-03 -5.91888879e+01] [-4.86059574e-02 4.25120871e-03 9.98808985e-01 -2.92872050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.880714057 meters 0.047590070435169426 Centerline is valid? [True, True] Translation: X:442.32, Y:-59.18, Z:-29.29 [[ 9.97777216e-01 4.60579089e-02 4.81590629e-02 4.42318522e+02] [-4.57996160e-02 9.98929800e-01 -6.45370283e-03 -5.91815374e+01] [-4.84047672e-02 4.23369105e-03 9.98818830e-01 -2.92885595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.910714057 meters 0.04701672916178719 Centerline is valid? [True, True] Translation: X:442.35, Y:-59.18, Z:-29.29 [[ 9.97737075e-01 4.71045900e-02 4.79779725e-02 4.42350659e+02] [-4.68487553e-02 9.98881211e-01 -6.44357953e-03 -5.91841078e+01] [-4.82278175e-02 4.18128990e-03 9.98827610e-01 -2.92908199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.940714057 meters 0.04710627515159972 Centerline is valid? [True, True] Translation: X:442.38, Y:-59.19, Z:-29.29 [[ 9.97656976e-01 4.94829341e-02 4.72440152e-02 4.42380588e+02] [-4.92368421e-02 9.98766886e-01 -6.35926225e-03 -5.91853501e+01] [-4.75004329e-02 4.01821623e-03 9.98863135e-01 -2.92937213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.970714057 meters 0.04524806331642868 Centerline is valid? [True, True] Translation: X:442.41, Y:-59.18, Z:-29.30 [[ 9.97593108e-01 5.19164734e-02 4.59637964e-02 4.42411946e+02] [-5.16861229e-02 9.98644215e-01 -6.18673533e-03 -5.91838786e+01] [-4.62226729e-02 3.79615410e-03 9.98923948e-01 -2.92961185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.000714057 meters 0.043898786633141965 Centerline is valid? [True, True] Translation: X:442.44, Y:-59.18, Z:-29.30 [[ 9.97503233e-01 5.37568515e-02 4.57984783e-02 4.42442795e+02] [-5.35300446e-02 9.98547206e-01 -6.16529882e-03 -5.91847496e+01] [-4.60633696e-02 3.69831092e-03 9.98931674e-01 -2.92978112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.030714057 meters 0.04424336690881667 Centerline is valid? [True, True] Translation: X:442.47, Y:-59.19, Z:-29.30 [[ 9.97446685e-01 5.53717840e-02 4.51007239e-02 4.42472992e+02] [-5.51534944e-02 9.98459430e-01 -6.07107177e-03 -5.91881355e+01] [-4.53674092e-02 3.56810788e-03 9.98963997e-01 -2.92995374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.060714057 meters 0.04303131645869269 Centerline is valid? [True, True] Translation: X:442.50, Y:-59.19, Z:-29.30 [[ 9.97194686e-01 5.98120316e-02 4.50030917e-02 4.42502947e+02] [-5.95988983e-02 9.98203986e-01 -6.06410889e-03 -5.91883387e+01] [-4.52849722e-02 3.36496248e-03 9.98968442e-01 -2.93012619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.090714057 meters 0.042881589483183956 Centerline is valid? [True, True] Translation: X:442.53, Y:-59.19, Z:-29.30 [[ 9.97045536e-01 6.21804153e-02 4.50976122e-02 4.42531406e+02] [-6.19688063e-02 9.98059589e-01 -6.07655218e-03 -5.91908102e+01] [-4.53879469e-02 3.26395403e-03 9.98964104e-01 -2.93030470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.120714057 meters 0.03575286877004303 Centerline is valid? [True, True] Translation: X:442.56, Y:-59.18, Z:-29.30 [[ 9.96791030e-01 6.58256891e-02 4.55480024e-02 4.42563591e+02] [-6.56135807e-02 9.97826229e-01 -6.13792947e-03 -5.91819981e+01] [-4.58530250e-02 3.12966551e-03 9.98943294e-01 -2.93026736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.150714057 meters 0.03755093472576508 Centerline is valid? [True, True] Translation: X:442.59, Y:-59.19, Z:-29.30 [[ 9.96744912e-01 6.66230240e-02 4.53977273e-02 4.42590882e+02] [-6.64131111e-02 9.97773454e-01 -6.11823984e-03 -5.91871763e+01] [-4.57042629e-02 3.08332012e-03 9.98950256e-01 -2.93045532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.180714057 meters 0.03920521622971345 Centerline is valid? [True, True] Translation: X:442.62, Y:-59.19, Z:-29.31 [[ 9.96745517e-01 6.66598194e-02 4.53303791e-02 4.42618269e+02] [-6.64507561e-02 9.97771029e-01 -6.10503054e-03 -5.91924977e+01] [-4.56362992e-02 3.07292386e-03 9.98953395e-01 -2.93062921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.210714057 meters 0.03811961359542821 Centerline is valid? [True, True] Translation: X:442.65, Y:-59.19, Z:-29.31 [[ 9.96820515e-01 6.52096000e-02 4.57883096e-02 4.42648245e+02] [-6.49950037e-02 9.97866567e-01 -6.16154276e-03 -5.91946718e+01] [-4.60924150e-02 3.16594087e-03 9.98932163e-01 -2.93073657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.240714057 meters 0.037250306604274606 Centerline is valid? [True, True] Translation: X:442.68, Y:-59.20, Z:-29.31 [[ 9.96934011e-01 6.35306333e-02 4.56775342e-02 4.42677978e+02] [-6.33153977e-02 9.97974649e-01 -6.14499101e-03 -5.91970507e+01] [-4.59754163e-02 3.23405929e-03 9.98937336e-01 -2.93090634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.270714057 meters 0.04025283024186463 Centerline is valid? [True, True] Translation: X:442.71, Y:-59.21, Z:-29.31 [[ 9.97221075e-01 5.94621821e-02 4.48818142e-02 4.42706431e+02] [-5.92503722e-02 9.98224904e-01 -6.03610076e-03 -5.92054789e+01] [-4.51610644e-02 3.36006269e-03 9.98974068e-01 -2.93115650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.300714057 meters 0.04198628305201537 Centerline is valid? [True, True] Translation: X:442.74, Y:-59.21, Z:-29.31 [[ 9.97392103e-01 5.68855343e-02 4.44187984e-02 4.42736237e+02] [-5.66755748e-02 9.98374781e-01 -5.97296776e-03 -5.92110753e+01] [-4.46863835e-02 3.43992994e-03 9.98995142e-01 -2.93140888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.330714057 meters 0.044837627023455943 Centerline is valid? [True, True] Translation: X:442.76, Y:-59.22, Z:-29.32 [[ 9.97683620e-01 5.21223079e-02 4.37110977e-02 4.42764901e+02] [-5.19144943e-02 9.98634242e-01 -5.87678747e-03 -5.92179372e+01] [-4.39577106e-02 3.59393506e-03 9.99026928e-01 -2.93168238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.360714057 meters 0.045528395775705055 Centerline is valid? [True, True] Translation: X:442.79, Y:-59.22, Z:-29.32 [[ 9.97813246e-01 4.98918743e-02 4.33535128e-02 4.42794920e+02] [-4.96853621e-02 9.98747912e-01 -5.82865839e-03 -5.92220304e+01] [-4.35900331e-02 3.66187756e-03 9.99042792e-01 -2.93188944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.390714057 meters 0.04690143542234569 Centerline is valid? [True, True] Translation: X:442.83, Y:-59.23, Z:-29.32 [[ 9.97896349e-01 4.82034535e-02 4.33509449e-02 4.42825795e+02] [-4.79954006e-02 9.98830554e-01 -5.82795158e-03 -5.92271302e+01] [-4.35811757e-02 3.73504563e-03 9.99042907e-01 -2.93209426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.420714057 meters 0.04690143542234569 Centerline is valid? [True, True] Translation: X:442.86, Y:-59.23, Z:-29.32 [[ 9.97894655e-01 4.82386841e-02 4.33507398e-02 4.42856426e+02] [-4.80305984e-02 9.98828854e-01 -5.82947709e-03 -5.92312807e+01] [-4.35811760e-02 3.73504207e-03 9.99042907e-01 -2.93227332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.450714057 meters 0.04698588239408097 Centerline is valid? [True, True] Translation: X:442.89, Y:-59.23, Z:-29.32 [[ 9.97974061e-01 4.56716159e-02 4.42930731e-02 4.42887267e+02] [-4.54517860e-02 9.98948766e-01 -5.95806265e-03 -5.92323108e+01] [-4.45186250e-02 3.93279270e-03 9.99000813e-01 -2.93231636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.480714057 meters 0.049428891986734634 Centerline is valid? [True, True] Translation: X:442.92, Y:-59.24, Z:-29.32 [[ 9.97918581e-01 4.51588868e-02 4.60345584e-02 4.42918054e+02] [-4.49209450e-02 9.98971363e-01 -6.19076257e-03 -5.92363397e+01] [-4.62667734e-02 4.10996113e-03 9.98920664e-01 -2.93243350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.51071405700003 meters 0.050667147122392744 Centerline is valid? [True, True] Translation: X:442.95, Y:-59.24, Z:-29.33 [[ 9.97894236e-01 4.54754048e-02 4.62502063e-02 4.42950319e+02] [-4.52350661e-02 9.98956941e-01 -6.23045016e-03 -5.92402838e+01] [-4.64852968e-02 4.12519916e-03 9.98910456e-01 -2.93261070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.540714057 meters 0.0516104400288773 Centerline is valid? [True, True] Translation: X:442.98, Y:-59.24, Z:-29.33 [[ 9.97866472e-01 4.59009510e-02 4.64285226e-02 4.42981086e+02] [-4.56586626e-02 9.98937446e-01 -6.26619413e-03 -5.92423957e+01] [-4.66668141e-02 4.13296078e-03 9.98901961e-01 -2.93281101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.57071405700003 meters 0.05215724175458979 Centerline is valid? [True, True] Translation: X:443.01, Y:-59.25, Z:-29.33 [[ 9.97880538e-01 4.58676605e-02 4.61583141e-02 4.43013028e+02] [-4.56276743e-02 9.98939026e-01 -6.24000156e-03 -5.92458929e+01] [-4.63955556e-02 4.12067959e-03 9.98914647e-01 -2.93303675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.600714057 meters 0.053149906468519685 Centerline is valid? [True, True] Translation: X:443.04, Y:-59.25, Z:-29.33 [[ 9.97941776e-01 4.52227439e-02 4.54655407e-02 4.43044529e+02] [-4.49887449e-02 9.98968518e-01 -6.15739925e-03 -5.92489909e+01] [-4.56970983e-02 4.09928833e-03 9.98946931e-01 -2.93329958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.630714057 meters 0.05456379661574081 Centerline is valid? [True, True] Translation: X:443.07, Y:-59.25, Z:-29.34 [[ 9.97969925e-01 4.50454826e-02 4.50214794e-02 4.43074967e+02] [-4.48154038e-02 9.98976617e-01 -6.10727693e-03 -5.92540205e+01] [-4.52505104e-02 4.07722292e-03 9.98967351e-01 -2.93357254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.660714057 meters 0.04731218686983576 Centerline is valid? [True, True] Translation: X:443.11, Y:-59.25, Z:-29.34 [[ 9.98124828e-01 4.41002786e-02 4.24498972e-02 4.43107340e+02] [-4.38944150e-02 9.99019513e-01 -5.76994075e-03 -5.92462819e+01] [-4.26627316e-02 3.89580772e-03 9.99081936e-01 -2.93380642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.690714057 meters 0.05635606598545833 Centerline is valid? [True, True] Translation: X:443.14, Y:-59.26, Z:-29.34 [[ 9.98165914e-01 4.39977773e-02 4.15812892e-02 4.43136291e+02] [-4.38002401e-02 9.99024331e-01 -5.65021682e-03 -5.92616750e+01] [-4.17893166e-02 3.81858339e-03 9.99119148e-01 -2.93429480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.720714057 meters 0.056092373294926855 Centerline is valid? [True, True] Translation: X:443.17, Y:-59.26, Z:-29.35 [[ 9.98184794e-01 4.43270890e-02 4.07703972e-02 4.43167081e+02] [-4.41369390e-02 9.99010059e-01 -5.55271669e-03 -5.92646557e+01] [-4.09761727e-02 3.74315683e-03 9.99153112e-01 -2.93452405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.750714057 meters 0.05005852675904895 Centerline is valid? [True, True] Translation: X:443.20, Y:-59.26, Z:-29.35 [[ 9.98164499e-01 4.56974488e-02 3.97413660e-02 4.43198885e+02] [-4.55177838e-02 9.98948855e-01 -5.41446539e-03 -5.92576499e+01] [-3.99470193e-02 3.59558822e-03 9.99195330e-01 -2.93464617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.780714057 meters 0.04841658939354864 Centerline is valid? [True, True] Translation: X:443.23, Y:-59.26, Z:-29.35 [[ 9.98125260e-01 4.72807229e-02 3.88651462e-02 4.43229387e+02] [-4.71100886e-02 9.98875669e-01 -5.29508695e-03 -5.92576658e+01] [-3.90718044e-02 3.45421956e-03 9.99230435e-01 -2.93481355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.810714057 meters 0.046655004157191066 Centerline is valid? [True, True] Translation: X:443.26, Y:-59.26, Z:-29.35 [[ 9.97881793e-01 5.20128101e-02 3.90716654e-02 4.43259658e+02] [-5.18439324e-02 9.98641009e-01 -5.32378065e-03 -5.92553459e+01] [-3.92954722e-02 3.28687500e-03 9.99222229e-01 -2.93492271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.840714057 meters 0.054960434432424765 Centerline is valid? [True, True] Translation: X:443.29, Y:-59.27, Z:-29.35 [[ 9.97679846e-01 5.54034388e-02 3.95649366e-02 4.43286971e+02] [-5.52329694e-02 9.98458948e-01 -5.38959182e-03 -5.92683715e+01] [-3.98025669e-02 3.19179820e-03 9.99202466e-01 -2.93533381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.870714057 meters 0.0427919461176505 Centerline is valid? [True, True] Translation: X:443.32, Y:-59.25, Z:-29.35 [[ 9.97135786e-01 6.34287891e-02 4.11948080e-02 4.43320921e+02] [-6.32508376e-02 9.97981892e-01 -5.61015552e-03 -5.92503757e+01] [-4.14675178e-02 2.98848072e-03 9.99135383e-01 -2.93497595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.900714057 meters 0.04128147306749989 Centerline is valid? [True, True] Translation: X:443.35, Y:-59.25, Z:-29.35 [[ 9.96841517e-01 6.72806982e-02 4.21935847e-02 4.43351816e+02] [-6.70974033e-02 9.97729879e-01 -5.74697754e-03 -5.92492154e+01] [-4.24844608e-02 2.89774584e-03 9.99092925e-01 -2.93499645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.930714057 meters 0.03746421307257596 Centerline is valid? [True, True] Translation: X:443.38, Y:-59.25, Z:-29.35 [[ 9.96478570e-01 7.17830310e-02 4.33319250e-02 4.43383132e+02] [-7.15939439e-02 9.97416400e-01 -5.90191798e-03 -5.92451992e+01] [-4.36436301e-02 2.77883138e-03 9.99043298e-01 -2.93495441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.960714057 meters 0.03375911696345694 Centerline is valid? [True, True] Translation: X:443.42, Y:-59.24, Z:-29.35 [[ 9.95743768e-01 8.01625508e-02 4.54787273e-02 4.43415092e+02] [-7.99629521e-02 9.96778591e-01 -6.19417369e-03 -5.92401624e+01] [-4.58287625e-02 2.53119656e-03 9.98946103e-01 -2.93489559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.990714057 meters 0.032869118652550953 Centerline is valid? [True, True] Translation: X:443.45, Y:-59.24, Z:-29.35 [[ 9.95398098e-01 8.39285134e-02 4.62453330e-02 4.43445323e+02] [-8.37261702e-02 9.96468893e-01 -6.29863174e-03 -5.92416026e+01] [-4.66106706e-02 2.39770143e-03 9.98910254e-01 -2.93503877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.020714057 meters 0.030922487372684014 Centerline is valid? [True, True] Translation: X:443.48, Y:-59.24, Z:-29.35 [[ 9.94800272e-01 9.03546361e-02 4.69942490e-02 4.43476559e+02] [-9.01528825e-02 9.95907378e-01 -6.39943567e-03 -5.92404619e+01] [-4.73801380e-02 2.12949333e-03 9.98874661e-01 -2.93522078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.050714057 meters 0.03014245701132573 Centerline is valid? [True, True] Translation: X:443.51, Y:-59.24, Z:-29.36 [[ 9.94439727e-01 9.43482441e-02 4.67764700e-02 4.43506297e+02] [-9.41527161e-02 9.95537382e-01 -6.37078088e-03 -5.92427007e+01] [-4.71687964e-02 1.93122591e-03 9.98885066e-01 -2.93550800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.080714057 meters 0.03004682813499661 Centerline is valid? [True, True] Translation: X:443.53, Y:-59.25, Z:-29.36 [[ 9.94343605e-01 9.54226584e-02 4.66402407e-02 4.43534388e+02] [-9.52293707e-02 9.95435078e-01 -6.35386323e-03 -5.92463939e+01] [-4.70336342e-02 1.87640250e-03 9.98891544e-01 -2.93569509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.110714057 meters 0.02880718074469765 Centerline is valid? [True, True] Translation: X:443.56, Y:-59.25, Z:-29.36 [[ 9.94250426e-01 9.65322169e-02 4.63424346e-02 4.43563741e+02] [-9.63431883e-02 9.95328234e-01 -6.30059474e-03 -5.92476712e+01] [-4.67341440e-02 1.79959110e-03 9.98905742e-01 -2.93581944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.140714057 meters 0.02888954539162802 Centerline is valid? [True, True] Translation: X:443.59, Y:-59.25, Z:-29.36 [[ 9.94165757e-01 9.82130469e-02 4.45942189e-02 4.43591377e+02] [-9.80399914e-02 9.95164045e-01 -6.05663189e-03 -5.92521323e+01] [-4.49734035e-02 1.64927919e-03 9.98986823e-01 -2.93610102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.170714057 meters 0.029166671270990253 Centerline is valid? [True, True] Translation: X:443.62, Y:-59.26, Z:-29.36 [[ 9.94108021e-01 9.89912614e-02 4.41584918e-02 4.43618776e+02] [-9.88225167e-02 9.95087026e-01 -5.99348547e-03 -5.92584485e+01] [-4.45348449e-02 1.59431869e-03 9.99006559e-01 -2.93645085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.200714057 meters 0.028966836670390177 Centerline is valid? [True, True] Translation: X:443.65, Y:-59.26, Z:-29.37 [[ 9.94071276e-01 9.91195106e-02 4.46947485e-02 4.43646759e+02] [-9.89469612e-02 9.95074244e-01 -6.06201081e-03 -5.92635519e+01] [-4.50754566e-02 1.60366128e-03 9.98982298e-01 -2.93663544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.230714057 meters 0.029211369849655094 Centerline is valid? [True, True] Translation: X:443.67, Y:-59.27, Z:-29.37 [[ 9.94088727e-01 9.88804039e-02 4.48360277e-02 4.43674566e+02] [-9.87066631e-02 9.95098012e-01 -6.07797440e-03 -5.92689393e+01] [-4.52172346e-02 1.61643115e-03 9.98975870e-01 -2.93682536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.26071405700003 meters 0.028980880183598443 Centerline is valid? [True, True] Translation: X:443.70, Y:-59.27, Z:-29.37 [[ 9.93995000e-01 9.94486960e-02 4.56497181e-02 4.43703221e+02] [-9.92692517e-02 9.95041375e-01 -6.18683765e-03 -5.92745071e+01] [-4.60386312e-02 1.61807234e-03 9.98938350e-01 -2.93695662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.290714057 meters 0.028493658415716994 Centerline is valid? [True, True] Translation: X:443.73, Y:-59.28, Z:-29.37 [[ 9.93949895e-01 9.98091270e-02 4.58447968e-02 4.43731982e+02] [-9.96291007e-02 9.95005322e-01 -6.20088845e-03 -5.92775208e+01] [-4.62347221e-02 1.59589655e-03 9.98929329e-01 -2.93708001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.32071405700003 meters 0.02750980052863754 Centerline is valid? [True, True] Translation: X:443.76, Y:-59.28, Z:-29.37 [[ 9.93645488e-01 1.02740843e-01 4.59669854e-02 4.43760923e+02] [-1.02563115e-01 9.94707085e-01 -6.21462090e-03 -5.92824845e+01] [-4.63621814e-02 1.46061279e-03 9.98923628e-01 -2.93728189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.350714057 meters 0.027998503860425922 Centerline is valid? [True, True] Translation: X:443.79, Y:-59.29, Z:-29.38 [[ 9.93422445e-01 1.04932925e-01 4.58358770e-02 4.43787980e+02] [-1.04758807e-01 9.94478387e-01 -6.19113657e-03 -5.92882575e+01] [-4.62324431e-02 1.34870225e-03 9.98929798e-01 -2.93756897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.380714057 meters 0.02607934416777648 Centerline is valid? [True, True] Translation: X:443.82, Y:-59.29, Z:-29.38 [[ 9.92886853e-01 1.10056949e-01 4.54220690e-02 4.43817627e+02] [-1.09891527e-01 9.93924679e-01 -6.13063006e-03 -5.92901026e+01] [-4.58208338e-02 1.09552149e-03 9.98949073e-01 -2.93774143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.410714057 meters 0.026196647648213518 Centerline is valid? [True, True] Translation: X:443.84, Y:-59.30, Z:-29.38 [[ 9.92618273e-01 1.12433602e-01 4.54714150e-02 4.43844903e+02] [-1.12270357e-01 9.93658751e-01 -6.13628232e-03 -5.92955695e+01] [-4.58729938e-02 9.85893983e-04 9.98946794e-01 -2.93794164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.440714057 meters 0.02577847663524345 Centerline is valid? [True, True] Translation: X:443.87, Y:-59.30, Z:-29.38 [[ 9.92420376e-01 1.13713238e-01 4.65950320e-02 4.43872863e+02] [-1.13543348e-01 9.93513162e-01 -6.28535086e-03 -5.92999401e+01] [-4.70075052e-02 9.47154305e-04 9.98894087e-01 -2.93807722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.470714057 meters 0.02490284772927079 Centerline is valid? [True, True] Translation: X:443.90, Y:-59.31, Z:-29.38 [[ 9.92105637e-01 1.15715930e-01 4.83345527e-02 4.43900724e+02] [-1.15536099e-01 9.93281966e-01 -6.50738160e-03 -5.93074863e+01] [-4.87628472e-02 8.71624292e-04 9.98810004e-01 -2.93807176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.500714057 meters 0.02604933342337007 Centerline is valid? [True, True] Translation: X:443.93, Y:-59.32, Z:-29.38 [[ 9.92167516e-01 1.14616757e-01 4.96650623e-02 4.43926929e+02] [-1.14426222e-01 9.93409342e-01 -6.67222635e-03 -5.93225049e+01] [-5.01024858e-02 9.36980798e-04 9.98743642e-01 -2.93832767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.530714057 meters 0.025066855469802873 Centerline is valid? [True, True] Translation: X:443.95, Y:-59.33, Z:-29.38 [[ 9.92311507e-01 1.13125891e-01 5.02036423e-02 4.43954983e+02] [-1.12929611e-01 9.93580142e-01 -6.73827917e-03 -5.93273150e+01] [-5.06436159e-02 1.01699418e-03 9.98716271e-01 -2.93839329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.560714057 meters 0.025255502003075723 Centerline is valid? [True, True] Translation: X:443.98, Y:-59.34, Z:-29.39 [[ 9.92469409e-01 1.11743217e-01 5.01789432e-02 4.43982004e+02] [-1.11546065e-01 9.93736535e-01 -6.72114348e-03 -5.93361963e+01] [-5.06156913e-02 1.07326563e-03 9.98717628e-01 -2.93861174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.590714057 meters 0.02544134699184111 Centerline is valid? [True, True] Translation: X:444.01, Y:-59.35, Z:-29.39 [[ 9.92933883e-01 1.08110754e-01 4.89322871e-02 4.44009244e+02] [-1.07919020e-01 9.94138102e-01 -6.55127976e-03 -5.93500610e+01] [-4.93537148e-02 1.22426320e-03 9.98780613e-01 -2.93893816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.620714057 meters 0.025587812094676445 Centerline is valid? [True, True] Translation: X:444.04, Y:-59.36, Z:-29.39 [[ 9.93127285e-01 1.06708981e-01 4.80769161e-02 4.44036774e+02] [-1.06522910e-01 9.94289501e-01 -6.42327013e-03 -5.93588318e+01] [-4.84877935e-02 1.25783180e-03 9.98822983e-01 -2.93918837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.650714057 meters 0.025748792484971254 Centerline is valid? [True, True] Translation: X:444.06, Y:-59.37, Z:-29.39 [[ 9.93544138e-01 1.03832681e-01 4.57036131e-02 4.44064790e+02] [-1.03661661e-01 9.94593896e-01 -6.10269451e-03 -5.93708329e+01] [-4.60901937e-02 1.32558393e-03 9.98936403e-01 -2.93943037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.680714057 meters 0.025871200523883222 Centerline is valid? [True, True] Translation: X:444.09, Y:-59.38, Z:-29.40 [[ 9.93710194e-01 1.02468069e-01 4.51701755e-02 4.44092666e+02] [-1.02299667e-01 9.94735349e-01 -6.03028775e-03 -5.93790085e+01] [-4.55502823e-02 1.37146452e-03 9.98961106e-01 -2.93963598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.710714057 meters 0.02673126709849587 Centerline is valid? [True, True] Translation: X:444.12, Y:-59.39, Z:-29.40 [[ 9.93953004e-01 1.00325318e-01 4.46346958e-02 4.44118778e+02] [-1.00158864e-01 9.94953632e-01 -5.95580740e-03 -5.93928919e+01] [-4.50069709e-02 1.44923224e-03 9.98985622e-01 -2.93985659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.740714057 meters 0.02655369780558718 Centerline is valid? [True, True] Translation: X:444.15, Y:-59.40, Z:-29.40 [[ 9.94069035e-01 9.95075633e-02 4.38747980e-02 4.44146562e+02] [-9.93461208e-02 9.95035739e-01 -5.85026903e-03 -5.94000727e+01] [-4.42391381e-02 1.45678031e-03 9.99019908e-01 -2.94005375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.770714057 meters 0.026665171631257555 Centerline is valid? [True, True] Translation: X:444.17, Y:-59.41, Z:-29.40 [[ 9.94110025e-01 9.92787018e-02 4.34625966e-02 4.44174292e+02] [-9.91201986e-02 9.95058610e-01 -5.79219596e-03 -5.94080839e+01] [-4.38228727e-02 1.45005886e-03 9.99038264e-01 -2.94024121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.800714057 meters 0.027383104404804855 Centerline is valid? [True, True] Translation: X:444.20, Y:-59.42, Z:-29.40 [[ 9.94200526e-01 9.80664891e-02 4.41392942e-02 4.44200604e+02] [-9.79019498e-02 9.95178698e-01 -5.87936362e-03 -5.94190681e+01] [-4.45030539e-02 1.52394344e-03 9.99008086e-01 -2.94043218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.830714057 meters 0.026985620696424725 Centerline is valid? [True, True] Translation: X:444.23, Y:-59.43, Z:-29.40 [[ 9.94245447e-01 9.71853551e-02 4.50665950e-02 4.44228901e+02] [-9.70131183e-02 9.95265026e-01 -5.99854194e-03 -5.94278628e+01] [-4.54361763e-02 1.59197210e-03 9.98965975e-01 -2.94044795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.860714057 meters 0.027652375949459667 Centerline is valid? [True, True] Translation: X:444.26, Y:-59.44, Z:-29.41 [[ 9.94255527e-01 9.66981617e-02 4.58847693e-02 4.44255526e+02] [-9.65192208e-02 9.95312400e-01 -6.10465356e-03 -5.94352375e+01] [-4.62599886e-02 1.64082337e-03 9.98928086e-01 -2.94058518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.890714057 meters 0.027130955601906443 Centerline is valid? [True, True] Translation: X:444.28, Y:-59.44, Z:-29.41 [[ 9.94259324e-01 9.60034907e-02 4.72411521e-02 4.44283976e+02] [-9.58133424e-02 9.95379518e-01 -6.27840848e-03 -5.94414648e+01] [-4.76256243e-02 1.71603349e-03 9.98863782e-01 -2.94065004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.920714057 meters 0.028303082067138535 Centerline is valid? [True, True] Translation: X:444.31, Y:-59.45, Z:-29.41 [[ 9.94467202e-01 9.32905727e-02 4.82892559e-02 4.44310976e+02] [-9.30888694e-02 9.95637144e-01 -6.41409475e-03 -5.94523773e+01] [-4.86769514e-02 1.88341463e-03 9.98812799e-01 -2.94074699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.950714057 meters 0.028878858219723035 Centerline is valid? [True, True] Translation: X:444.34, Y:-59.46, Z:-29.41 [[ 9.94926720e-01 8.79271707e-02 4.88838889e-02 4.44339613e+02] [-8.77141923e-02 9.96124546e-01 -6.48924109e-03 -5.94623807e+01] [-4.92650222e-02 2.16850852e-03 9.98783388e-01 -2.94083608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.980714057 meters 0.03051419792585289 Centerline is valid? [True, True] Translation: X:444.37, Y:-59.47, Z:-29.41 [[ 9.95211553e-01 8.42774700e-02 4.95103331e-02 4.44367435e+02] [-8.40545128e-02 9.96439486e-01 -6.57189386e-03 -5.94717483e+01] [-4.98879135e-02 2.37885776e-03 9.98751990e-01 -2.94100252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.01071405700003 meters 0.03160372621942708 Centerline is valid? [True, True] Translation: X:444.40, Y:-59.48, Z:-29.41 [[ 9.95561181e-01 7.99265204e-02 4.96959427e-02 4.44396474e+02] [-7.96966787e-02 9.96797360e-01 -6.59259080e-03 -5.94798029e+01] [-5.00637073e-02 2.60272591e-03 9.98742635e-01 -2.94117782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.040714057 meters 0.03420630119466025 Centerline is valid? [True, True] Translation: X:444.43, Y:-59.49, Z:-29.41 [[ 9.96286026e-01 7.09235683e-02 4.88262430e-02 4.44425684e+02] [-7.06909790e-02 9.97477240e-01 -6.47624179e-03 -5.94927905e+01] [-4.91623842e-02 3.00061428e-03 9.98786292e-01 -2.94146316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.07071405700003 meters 0.036439456381496454 Centerline is valid? [True, True] Translation: X:444.45, Y:-59.50, Z:-29.42 [[ 9.96616281e-01 6.68227054e-02 4.78614070e-02 4.44454470e+02] [-6.65945271e-02 9.97759927e-01 -6.34807320e-03 -5.95017450e+01] [-4.81783893e-02 3.13928534e-03 9.98833814e-01 -2.94175101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.100714057 meters 0.05238133041225972 Centerline is valid? [True, True] Translation: X:444.48, Y:-59.53, Z:-29.42 [[ 9.97127578e-01 6.05223947e-02 4.55371552e-02 4.44479707e+02] [-6.03093715e-02 9.98161467e-01 -6.03869098e-03 -5.95316319e+01] [-4.58189096e-02 3.27502811e-03 9.98944394e-01 -2.94245103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.130714057 meters 0.0369830786544475 Centerline is valid? [True, True] Translation: X:444.51, Y:-59.51, Z:-29.42 [[ 9.97346793e-01 5.75442863e-02 4.45873172e-02 4.44513553e+02] [-5.73370504e-02 9.98337362e-01 -5.91396077e-03 -5.95144748e+01] [-4.48534993e-02 3.34176456e-03 9.98987986e-01 -2.94224432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.160714057 meters 0.05672634939567131 Centerline is valid? [True, True] Translation: X:444.54, Y:-59.55, Z:-29.43 [[ 9.97516531e-01 5.47320803e-02 4.43302407e-02 4.44538617e+02] [-5.45244223e-02 9.98495119e-01 -5.88091708e-03 -5.95481897e+01] [-4.45854038e-02 3.44923124e-03 9.98999622e-01 -2.94289983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.190714057 meters 0.04433287597574448 Centerline is valid? [True, True] Translation: X:444.57, Y:-59.54, Z:-29.43 [[ 9.97543429e-01 5.45554983e-02 4.39409321e-02 4.44572418e+02] [-5.43514405e-02 9.98504870e-01 -5.82619659e-03 -5.95357106e+01] [-4.41930857e-02 3.42363117e-03 9.99017142e-01 -2.94279447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.220714057 meters 0.045636767530038855 Centerline is valid? [True, True] Translation: X:444.60, Y:-59.54, Z:-29.43 [[ 9.97545332e-01 5.50715478e-02 4.32485265e-02 4.44603444e+02] [-5.48739333e-02 9.98476768e-01 -5.74412792e-03 -5.95418982e+01] [-4.34989870e-02 3.35681124e-03 9.99047832e-01 -2.94299572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.250714057 meters 0.03983541115487211 Centerline is valid? [True, True] Translation: X:444.64, Y:-59.54, Z:-29.43 [[ 9.97495156e-01 5.61320893e-02 4.30418586e-02 4.44636492e+02] [-5.59369384e-02 9.98417885e-01 -5.72597919e-03 -5.95373653e+01] [-4.32951726e-02 3.30400671e-03 9.99056861e-01 -2.94299883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.280714057 meters 0.03914219687861303 Centerline is valid? [True, True] Translation: X:444.67, Y:-59.54, Z:-29.43 [[ 9.97361029e-01 5.84040678e-02 4.31270610e-02 4.44667466e+02] [-5.82096220e-02 9.98287812e-01 -5.75185586e-03 -5.95395305e+01] [-4.33891512e-02 3.22626696e-03 9.99053038e-01 -2.94311290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.310714057 meters 0.03914219687861303 Centerline is valid? [True, True] Translation: X:444.70, Y:-59.54, Z:-29.43 [[ 9.97358933e-01 5.84398993e-02 4.31269916e-02 4.44698072e+02] [-5.82454644e-02 9.98285719e-01 -5.75237654e-03 -5.95436433e+01] [-4.33892281e-02 3.22523247e-03 9.99053038e-01 -2.94329182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.340714057 meters 0.03964446090250701 Centerline is valid? [True, True] Translation: X:444.73, Y:-59.55, Z:-29.43 [[ 9.97289750e-01 5.95214620e-02 4.32475429e-02 4.44728915e+02] [-5.93270018e-02 9.98221942e-01 -5.76723208e-03 -5.95472900e+01] [-4.35139204e-02 3.18585439e-03 9.99047741e-01 -2.94349351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.370714057 meters 0.039767759000882495 Centerline is valid? [True, True] Translation: X:444.76, Y:-59.55, Z:-29.44 [[ 9.97148883e-01 6.15046239e-02 4.37182731e-02 4.44759284e+02] [-6.13072068e-02 9.98101839e-01 -5.84344618e-03 -5.95499482e+01] [-4.39946877e-02 3.14654062e-03 9.99026810e-01 -2.94355345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.400714057 meters 0.03961272223839067 Centerline is valid? [True, True] Translation: X:444.79, Y:-59.55, Z:-29.44 [[ 9.97097677e-01 6.19516194e-02 4.42517645e-02 4.44789432e+02] [-6.17497412e-02 9.98074132e-01 -5.91581438e-03 -5.95532372e+01] [-4.45330358e-02 3.16610977e-03 9.99002895e-01 -2.94365704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.430714057 meters 0.040263583591112255 Centerline is valid? [True, True] Translation: X:444.82, Y:-59.56, Z:-29.44 [[ 9.97064750e-01 6.16481365e-02 4.54025590e-02 4.44819323e+02] [-6.14352996e-02 9.98092613e-01 -6.06965879e-03 -5.95568909e+01] [-4.56901419e-02 3.26252301e-03 9.98950333e-01 -2.94377232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.460714057 meters 0.041051919617192456 Centerline is valid? [True, True] Translation: X:444.85, Y:-59.56, Z:-29.44 [[ 9.97117546e-01 6.06355692e-02 4.56062167e-02 4.44850410e+02] [-6.04197829e-02 9.98154438e-01 -6.09646829e-03 -5.95617731e+01] [-4.58917104e-02 3.32337780e-03 9.98940892e-01 -2.94392748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.490714057 meters 0.04239567666086874 Centerline is valid? [True, True] Translation: X:444.88, Y:-59.57, Z:-29.44 [[ 9.97165541e-01 5.98015417e-02 4.56580644e-02 4.44881481e+02] [-5.95844241e-02 9.98204615e-01 -6.10276285e-03 -5.95670140e+01] [-4.59410452e-02 3.36495534e-03 9.98938485e-01 -2.94409929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.520714057 meters 0.0406672824469324 Centerline is valid? [True, True] Translation: X:444.91, Y:-59.57, Z:-29.44 [[ 9.97313692e-01 5.70909498e-02 4.58914376e-02 4.44912980e+02] [-5.68681619e-02 9.98362775e-01 -6.14673805e-03 -5.95683808e+01] [-4.61672260e-02 3.52046431e-03 9.98927522e-01 -2.94422186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.550714057 meters 0.042641514522067006 Centerline is valid? [True, True] Translation: X:444.94, Y:-59.57, Z:-29.44 [[ 9.97558842e-01 5.36784724e-02 4.46651701e-02 4.44942752e+02] [-5.34639550e-02 9.98551847e-01 -5.98445592e-03 -5.95732736e+01] [-4.49217245e-02 3.58187028e-03 9.98984088e-01 -2.94443380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.580714057 meters 0.04175072352809106 Centerline is valid? [True, True] Translation: X:444.97, Y:-59.57, Z:-29.45 [[ 9.97645600e-01 5.26458470e-02 4.39507878e-02 4.44974956e+02] [-5.24371803e-02 9.98606866e-01 -5.88799681e-03 -5.95749120e+01] [-4.41995371e-02 3.56947872e-03 9.99016346e-01 -2.94458027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.610714057 meters 0.0432283689814592 Centerline is valid? [True, True] Translation: X:445.01, Y:-59.58, Z:-29.45 [[ 9.97735412e-01 5.11787491e-02 4.36438157e-02 4.45006133e+02] [-5.09714342e-02 9.98682975e-01 -5.85055534e-03 -5.95779989e+01] [-4.38857598e-02 3.61271836e-03 9.99030024e-01 -2.94474080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.640714057 meters 0.04386370226102931 Centerline is valid? [True, True] Translation: X:445.04, Y:-59.58, Z:-29.45 [[ 9.97756400e-01 5.11869732e-02 4.31515955e-02 4.45037300e+02] [-5.09843751e-02 9.98682706e-01 -5.78329444e-03 -5.95819821e+01] [-4.33907815e-02 3.57026191e-03 9.99051797e-01 -2.94494568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.670714057 meters 0.044083711744132725 Centerline is valid? [True, True] Translation: X:445.07, Y:-59.59, Z:-29.45 [[ 9.97722402e-01 5.16152708e-02 4.34266416e-02 4.45069556e+02] [-5.14100415e-02 9.98660611e-01 -5.83024261e-03 -5.95854008e+01] [-4.36694060e-02 3.58439821e-03 9.99039606e-01 -2.94512189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.700714057 meters 0.045542629093609656 Centerline is valid? [True, True] Translation: X:445.10, Y:-59.59, Z:-29.45 [[ 9.97707915e-01 5.21344074e-02 4.31383921e-02 4.45101060e+02] [-5.19318973e-02 9.98633771e-01 -5.80260076e-03 -5.95882552e+01] [-4.33819703e-02 3.54904215e-03 9.99052255e-01 -2.94534262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.730714057 meters 0.045437078763684295 Centerline is valid? [True, True] Translation: X:445.13, Y:-59.59, Z:-29.46 [[ 9.97672454e-01 5.28361732e-02 4.31046813e-02 4.45133680e+02] [-5.26341079e-02 9.98596962e-01 -5.81009910e-03 -5.95908916e+01] [-4.33511872e-02 3.52779938e-03 9.99053667e-01 -2.94550287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.76071405700003 meters 0.04626710098134797 Centerline is valid? [True, True] Translation: X:445.17, Y:-59.59, Z:-29.46 [[ 9.97686456e-01 5.30797773e-02 4.24767315e-02 4.45165021e+02] [-5.28837109e-02 9.98584255e-01 -5.72708325e-03 -5.95923334e+01] [-4.27205876e-02 3.46750620e-03 9.99081042e-01 -2.94567017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.790714057 meters 0.04645634275970341 Centerline is valid? [True, True] Translation: X:445.20, Y:-59.60, Z:-29.46 [[ 9.97661381e-01 5.38237051e-02 4.21281096e-02 4.45196248e+02] [-5.36309772e-02 9.98544598e-01 -5.69252242e-03 -5.95956290e+01] [-4.23731889e-02 3.41983810e-03 9.99096000e-01 -2.94589406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.82071405700003 meters 0.047885986374472916 Centerline is valid? [True, True] Translation: X:445.23, Y:-59.60, Z:-29.46 [[ 9.97712752e-01 5.37845566e-02 4.09449088e-02 4.45227455e+02] [-5.36025497e-02 9.98547032e-01 -5.53089416e-03 -5.95995414e+01] [-4.11828939e-02 3.32349212e-03 9.99146097e-01 -2.94628884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.850714057 meters 0.04439726412700723 Centerline is valid? [True, True] Translation: X:445.26, Y:-59.60, Z:-29.46 [[ 9.97754066e-01 5.34416254e-02 4.03833645e-02 4.45258854e+02] [-5.32637828e-02 9.98565507e-01 -5.46779375e-03 -5.95976490e+01] [-4.06176426e-02 3.30454270e-03 9.99169299e-01 -2.94638038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.880714057 meters 0.04909672692038117 Centerline is valid? [True, True] Translation: X:445.29, Y:-59.61, Z:-29.47 [[ 9.97810612e-01 5.25865091e-02 4.01078787e-02 4.45287742e+02] [-5.24104005e-02 9.98610865e-01 -5.43049375e-03 -5.96056996e+01] [-4.03377341e-02 3.31653431e-03 9.99180598e-01 -2.94665418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.910714057 meters 0.04606813168074401 Centerline is valid? [True, True] Translation: X:445.32, Y:-59.60, Z:-29.47 [[ 9.97834801e-01 5.18368440e-02 4.04802675e-02 4.45318348e+02] [-5.16568351e-02 9.98649854e-01 -5.48091415e-03 -5.96046563e+01] [-4.07097265e-02 3.37796437e-03 9.99165305e-01 -2.94671336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.940714057 meters 0.04843922517924939 Centerline is valid? [True, True] Translation: X:445.35, Y:-59.61, Z:-29.47 [[ 9.97959542e-01 4.96656779e-02 4.01257270e-02 4.45347571e+02] [-4.94870687e-02 9.98759988e-01 -5.43291037e-03 -5.96107733e+01] [-4.03457998e-02 3.43612013e-03 9.99179868e-01 -2.94698387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.970714057 meters 0.05477709562443471 Centerline is valid? [True, True] Translation: X:445.38, Y:-59.62, Z:-29.47 [[ 9.98025346e-01 4.86561240e-02 3.97239344e-02 4.45376695e+02] [-4.84803683e-02 9.98809666e-01 -5.37636986e-03 -5.96222382e+01] [-3.99382430e-02 3.43992242e-03 9.99196229e-01 -2.94737389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.000714057 meters 0.0557241061698613 Centerline is valid? [True, True] Translation: X:445.41, Y:-59.63, Z:-29.48 [[ 9.98078102e-01 4.79465776e-02 3.92584784e-02 4.45408678e+02] [-4.77741505e-02 9.98844001e-01 -5.31905312e-03 -5.96267313e+01] [-3.94681260e-02 3.43328999e-03 9.99214932e-01 -2.94761521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.030714057 meters 0.04248079228416581 Centerline is valid? [True, True] Translation: X:445.44, Y:-59.61, Z:-29.47 [[ 9.98140049e-01 4.69562392e-02 3.88787235e-02 4.45442427e+02] [-4.67862540e-02 9.98891016e-01 -5.27104801e-03 -5.96098529e+01] [-3.90831162e-02 3.44225429e-03 9.99230034e-01 -2.94733307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.060714057 meters 0.05769420775391373 Centerline is valid? [True, True] Translation: X:445.47, Y:-59.63, Z:-29.48 [[ 9.98089529e-01 4.74671362e-02 3.95495072e-02 4.45470876e+02] [-4.72916905e-02 9.98866739e-01 -5.36043185e-03 -5.96326044e+01] [-3.97591317e-02 3.47982784e-03 9.99203234e-01 -2.94778774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.090714057 meters 0.04697772421831421 Centerline is valid? [True, True] Translation: X:445.50, Y:-59.62, Z:-29.48 [[ 9.98059396e-01 4.78689409e-02 3.98246926e-02 4.45504230e+02] [-4.76910411e-02 9.98847507e-01 -5.40570548e-03 -5.96207126e+01] [-4.00375604e-02 3.49593409e-03 9.99192060e-01 -2.94761114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.120714057 meters 0.05881116995911425 Centerline is valid? [True, True] Translation: X:445.53, Y:-59.64, Z:-29.48 [[ 9.97980908e-01 4.89945797e-02 4.04182980e-02 4.45531951e+02] [-4.88121767e-02 9.98792898e-01 -5.48805470e-03 -5.96393144e+01] [-4.06383940e-02 3.50406871e-03 9.99167775e-01 -2.94801418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.150714057 meters 0.04291156748995486 Centerline is valid? [True, True] Translation: X:445.57, Y:-59.62, Z:-29.48 [[ 9.97893701e-01 5.13353147e-02 3.96591256e-02 4.45566546e+02] [-5.11615109e-02 9.98675871e-01 -5.38566249e-03 -5.96180520e+01] [-3.98830864e-02 3.34529790e-03 9.99198753e-01 -2.94770375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.180714057 meters 0.04270483944636001 Centerline is valid? [True, True] Translation: X:445.60, Y:-59.62, Z:-29.48 [[ 9.97826658e-01 5.27234366e-02 3.95246652e-02 4.45597200e+02] [-5.25518494e-02 9.98603767e-01 -5.36844578e-03 -5.96200797e+01] [-3.97525225e-02 3.27968406e-03 9.99204174e-01 -2.94788775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.210714057 meters 0.041710633556604794 Centerline is valid? [True, True] Translation: X:445.63, Y:-59.62, Z:-29.48 [[ 9.97676920e-01 5.55019111e-02 3.95006409e-02 4.45627576e+02] [-5.53326842e-02 9.98453557e-01 -5.36544855e-03 -5.96205696e+01] [-3.97373481e-02 3.16730770e-03 9.99205140e-01 -2.94797366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.240714057 meters 0.040764481772303046 Centerline is valid? [True, True] Translation: X:445.66, Y:-59.62, Z:-29.48 [[ 9.97608959e-01 5.68820817e-02 3.92529348e-02 4.45657567e+02] [-5.67160407e-02 9.98376114e-01 -5.33161011e-03 -5.96218825e+01] [-3.94924656e-02 3.09259097e-03 9.99215082e-01 -2.94807998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.270714057 meters 0.037956972693652044 Centerline is valid? [True, True] Translation: X:445.69, Y:-59.62, Z:-29.48 [[ 9.97434323e-01 6.05007430e-02 3.82678987e-02 4.45688758e+02] [-6.03456578e-02 9.98164017e-01 -5.19585116e-03 -5.96186549e+01] [-3.85119924e-02 2.87321876e-03 9.99254007e-01 -2.94814711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.300714057 meters 0.0414236525622374 Centerline is valid? [True, True] Translation: X:445.72, Y:-59.63, Z:-29.48 [[ 9.97297484e-01 6.31220792e-02 3.75942939e-02 4.45716334e+02] [-6.29742586e-02 9.98002098e-01 -5.10443963e-03 -5.96260100e+01] [-3.78413871e-02 2.72317201e-03 9.99280048e-01 -2.94844734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.330714057 meters 0.03876627317241247 Centerline is valid? [True, True] Translation: X:445.75, Y:-59.62, Z:-29.49 [[ 9.97050262e-01 6.78632403e-02 3.58518555e-02 4.45747412e+02] [-6.77318844e-02 9.97691687e-01 -4.86718539e-03 -5.96223645e+01] [-3.60994011e-02 2.42451474e-03 9.99345263e-01 -2.94862134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.360714057 meters 0.03647105014030246 Centerline is valid? [True, True] Translation: X:445.78, Y:-59.62, Z:-29.49 [[ 9.96878693e-01 7.05464978e-02 3.54409921e-02 4.45777461e+02] [-7.04198003e-02 9.97505837e-01 -4.81208012e-03 -5.96213682e+01] [-3.56920719e-02 2.30131255e-03 9.99360185e-01 -2.94872364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.390714057 meters 0.03487222766333368 Centerline is valid? [True, True] Translation: X:445.81, Y:-59.62, Z:-29.49 [[ 9.96484016e-01 7.61095718e-02 3.50276847e-02 4.45808201e+02] [-7.59893040e-02 9.97097300e-01 -4.75400089e-03 -5.96198218e+01] [-3.52878348e-02 2.07555652e-03 9.99375035e-01 -2.94893087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.420714057 meters 0.03306842088273217 Centerline is valid? [True, True] Translation: X:445.84, Y:-59.62, Z:-29.49 [[ 9.96272846e-01 7.87486944e-02 3.52002769e-02 4.45838416e+02] [-7.86288711e-02 9.96892509e-01 -4.77764290e-03 -5.96202191e+01] [-3.54671255e-02 1.99207786e-03 9.99368858e-01 -2.94907544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.450714057 meters 0.030731358753484418 Centerline is valid? [True, True] Translation: X:445.87, Y:-59.62, Z:-29.49 [[ 9.95843962e-01 8.36010924e-02 3.61339293e-02 4.45869154e+02] [-8.34780438e-02 9.96497553e-01 -4.90337342e-03 -5.96176764e+01] [-3.64172995e-02 1.86660508e-03 9.99334927e-01 -2.94903602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.480714057 meters 0.03126706988690488 Centerline is valid? [True, True] Translation: X:445.90, Y:-59.62, Z:-29.49 [[ 9.95686537e-01 8.52536874e-02 3.66077656e-02 4.45897209e+02] [-8.51284539e-02 9.96357594e-01 -4.96898336e-03 -5.96202329e+01] [-3.68980494e-02 1.83118734e-03 9.99317357e-01 -2.94916546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.51071405700003 meters 0.030965947713162346 Centerline is valid? [True, True] Translation: X:445.93, Y:-59.62, Z:-29.49 [[ 9.95555604e-01 8.61185429e-02 3.81134622e-02 4.45926594e+02] [-8.59834145e-02 9.96283136e-01 -5.17354616e-03 -5.96214239e+01] [-3.84173379e-02 1.87342726e-03 9.99260025e-01 -2.94923219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.540714057 meters 0.031106368494485198 Centerline is valid? [True, True] Translation: X:445.95, Y:-59.63, Z:-29.49 [[ 9.95574476e-01 8.58080452e-02 3.83202670e-02 4.45954964e+02] [-8.56716835e-02 9.96309907e-01 -5.18953144e-03 -5.96256345e+01] [-3.86241652e-02 1.88360326e-03 9.99252033e-01 -2.94935605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.57071405700003 meters 0.030817246354722782 Centerline is valid? [True, True] Translation: X:445.98, Y:-59.63, Z:-29.50 [[ 9.95757449e-01 8.33674768e-02 3.89482515e-02 4.45984402e+02] [-8.32248820e-02 9.96516851e-01 -5.27107880e-03 -5.96303546e+01] [-3.92520255e-02 2.00725235e-03 9.99227326e-01 -2.94950418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.600714057 meters 0.03612638779024766 Centerline is valid? [True, True] Translation: X:446.01, Y:-59.64, Z:-29.50 [[ 9.95864422e-01 8.19030660e-02 3.93184622e-02 4.46010441e+02] [-8.17565973e-02 9.96638119e-01 -5.32144951e-03 -5.96433983e+01] [-3.96221212e-02 2.08489856e-03 9.99212560e-01 -2.94992623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.630714057 meters 0.033152634964858804 Centerline is valid? [True, True] Translation: X:446.04, Y:-59.65, Z:-29.50 [[ 9.96150828e-01 7.76439083e-02 4.06810850e-02 4.46040833e+02] [-7.74838729e-02 9.96978444e-01 -5.49834632e-03 -5.96453517e+01] [-4.09850780e-02 2.32505422e-03 9.99157053e-01 -2.94982548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.660714057 meters 0.03446588839418343 Centerline is valid? [True, True] Translation: X:446.07, Y:-59.65, Z:-29.50 [[ 9.96316344e-01 7.51702137e-02 4.12696246e-02 4.46069691e+02] [-7.50034163e-02 9.97167679e-01 -5.57742011e-03 -5.96520221e+01] [-4.15719916e-02 2.46151198e-03 9.99132479e-01 -2.94998045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.690714057 meters 0.03483317101235295 Centerline is valid? [True, True] Translation: X:446.10, Y:-59.66, Z:-29.50 [[ 9.96625787e-01 7.06718338e-02 4.17436464e-02 4.46099930e+02] [-7.04973323e-02 9.97496026e-01 -5.63952014e-03 -5.96581561e+01] [-4.20376766e-02 2.67767549e-03 9.99112438e-01 -2.95009013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.720714057 meters 0.035888175085756306 Centerline is valid? [True, True] Translation: X:446.13, Y:-59.66, Z:-29.50 [[ 9.96774043e-01 6.87585156e-02 4.13977541e-02 4.46128770e+02] [-6.85852466e-02 9.97629582e-01 -5.59295123e-03 -5.96646547e+01] [-4.16841871e-02 2.73563344e-03 9.99127091e-01 -2.95033537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.750714057 meters 0.037855203017341126 Centerline is valid? [True, True] Translation: X:446.16, Y:-59.67, Z:-29.51 [[ 9.97066350e-01 6.48518811e-02 4.06561997e-02 4.46157803e+02] [-6.46816182e-02 9.97890846e-01 -5.49076333e-03 -5.96730095e+01] [-4.09265359e-02 2.84494657e-03 9.99158108e-01 -2.95064592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.780714057 meters 0.039546095702881284 Centerline is valid? [True, True] Translation: X:446.19, Y:-59.68, Z:-29.51 [[ 9.97211354e-01 6.28199567e-02 4.02885676e-02 4.46185880e+02] [-6.26510810e-02 9.98020655e-01 -5.44186734e-03 -5.96796053e+01] [-4.05506805e-02 2.90256958e-03 9.99173267e-01 -2.95086842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.810714057 meters 0.04106933179785608 Centerline is valid? [True, True] Translation: X:446.22, Y:-59.69, Z:-29.51 [[ 9.97400911e-01 5.95935328e-02 4.04973313e-02 4.46215453e+02] [-5.94203712e-02 9.98218077e-01 -5.46725621e-03 -5.96853535e+01] [-4.07509813e-02 3.04667986e-03 9.99164689e-01 -2.95098777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.840714057 meters 0.0430578609593366 Centerline is valid? [True, True] Translation: X:446.24, Y:-59.69, Z:-29.51 [[ 9.97448470e-01 5.85463546e-02 4.08518442e-02 4.46243246e+02] [-5.83692790e-02 9.98279827e-01 -5.51496811e-03 -5.96916982e+01] [-4.11044532e-02 3.11640381e-03 9.99149995e-01 -2.95116237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.870714057 meters 0.04234989901136233 Centerline is valid? [True, True] Translation: X:446.27, Y:-59.69, Z:-29.51 [[ 9.97502670e-01 5.73823170e-02 4.11788022e-02 4.46273015e+02] [-5.72015120e-02 9.98347190e-01 -5.55659728e-03 -5.96933358e+01] [-4.14295919e-02 3.18723087e-03 9.99136342e-01 -2.95126301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.900714057 meters 0.04190739654717694 Centerline is valid? [True, True] Translation: X:446.30, Y:-59.70, Z:-29.51 [[ 9.97563978e-01 5.68199884e-02 4.04672563e-02 4.46302053e+02] [-5.66449549e-02 9.98379457e-01 -5.45978621e-03 -5.96956653e+01] [-4.07119024e-02 3.15422014e-03 9.99165948e-01 -2.95148920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.930714057 meters 0.04185359921771672 Centerline is valid? [True, True] Translation: X:446.33, Y:-59.70, Z:-29.52 [[ 9.97628054e-01 5.62792753e-02 3.96347073e-02 4.46331826e+02] [-5.61110862e-02 9.98410230e-01 -5.34406527e-03 -5.96980007e+01] [-3.98724573e-02 3.10744296e-03 9.99199945e-01 -2.95179368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.960714057 meters 0.044447977817407384 Centerline is valid? [True, True] Translation: X:446.36, Y:-59.70, Z:-29.52 [[ 9.97613537e-01 5.61838529e-02 4.01323558e-02 4.46358631e+02] [-5.60113564e-02 9.98415471e-01 -5.41061131e-03 -5.97042845e+01] [-4.03727540e-02 3.14983140e-03 9.99179723e-01 -2.95198879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.990714057 meters 0.045547475672724755 Centerline is valid? [True, True] Translation: X:446.39, Y:-59.71, Z:-29.52 [[ 9.97530390e-01 5.66158641e-02 4.15663994e-02 4.46387540e+02] [-5.64313884e-02 9.98390780e-01 -5.59903700e-03 -5.97063904e+01] [-4.18165042e-02 3.23955993e-03 9.99120055e-01 -2.95198354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.020714057 meters 0.042356973229044935 Centerline is valid? [True, True] Translation: X:446.42, Y:-59.70, Z:-29.52 [[ 9.97476379e-01 5.68210501e-02 4.25704225e-02 4.46417383e+02] [-5.66277315e-02 9.98378895e-01 -5.73432509e-03 -5.97043737e+01] [-4.28272418e-02 3.30918738e-03 9.99077012e-01 -2.95194201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.050714057 meters 0.040270964993510634 Centerline is valid? [True, True] Translation: X:446.45, Y:-59.70, Z:-29.52 [[ 9.97363875e-01 5.74056364e-02 4.43834792e-02 4.46446791e+02] [-5.71963024e-02 9.98345083e-01 -5.97314589e-03 -5.97018163e+01] [-4.46529205e-02 3.41882903e-03 9.98996711e-01 -2.95192066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.080714057 meters 0.039946310827750915 Centerline is valid? [True, True] Translation: X:446.48, Y:-59.70, Z:-29.52 [[ 9.97374515e-01 5.70636084e-02 4.45849877e-02 4.46476325e+02] [-5.68521955e-02 9.98364597e-01 -5.99653561e-03 -5.97035148e+01] [-4.48542572e-02 3.44603736e-03 9.98987598e-01 -2.95206260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.110714057 meters 0.04103605395041974 Centerline is valid? [True, True] Translation: X:446.50, Y:-59.71, Z:-29.52 [[ 9.97419858e-01 5.65138972e-02 4.42696956e-02 4.46504261e+02] [-5.63049791e-02 9.98395869e-01 -5.95299421e-03 -5.97063404e+01] [-4.45351081e-02 3.44503036e-03 9.99001880e-01 -2.95229144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.140714057 meters 0.04011235723501212 Centerline is valid? [True, True] Translation: X:446.53, Y:-59.71, Z:-29.53 [[ 9.97493800e-01 5.57074631e-02 4.36210775e-02 4.46533838e+02] [-5.55040195e-02 9.98441255e-01 -5.86216714e-03 -5.97078762e+01] [-4.38796498e-02 3.42633024e-03 9.99030949e-01 -2.95253285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.170714057 meters 0.04266746974501095 Centerline is valid? [True, True] Translation: X:446.56, Y:-59.71, Z:-29.53 [[ 9.97683039e-01 5.37749428e-02 4.16750449e-02 4.46562414e+02] [-5.35876457e-02 9.98547452e-01 -5.59920042e-03 -5.97129603e+01] [-4.19156066e-02 3.35295974e-03 9.99115529e-01 -2.95291898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.200714057 meters 0.043257046512419045 Centerline is valid? [True, True] Translation: X:446.59, Y:-59.72, Z:-29.53 [[ 9.97737998e-01 5.29227384e-02 4.14496281e-02 4.46591196e+02] [-5.27367876e-02 9.98592927e-01 -5.56761056e-03 -5.97165412e+01] [-4.16859587e-02 3.36909638e-03 9.99125082e-01 -2.95309025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.230714057 meters 0.043257046512419045 Centerline is valid? [True, True] Translation: X:446.62, Y:-59.72, Z:-29.53 [[ 9.97741736e-01 5.28520481e-02 4.14498483e-02 4.46619306e+02] [-5.26661043e-02 9.98596666e-01 -5.56597090e-03 -5.97202535e+01] [-4.16858533e-02 3.37039943e-03 9.99125082e-01 -2.95325465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.26071405700003 meters 0.04572293700723585 Centerline is valid? [True, True] Translation: X:446.65, Y:-59.72, Z:-29.54 [[ 9.97935555e-01 4.98353343e-02 4.05100980e-02 4.46648656e+02] [-4.96554137e-02 9.98751615e-01 -5.43612159e-03 -5.97248105e+01] [-4.07304367e-02 3.41335334e-03 9.99164341e-01 -2.95352256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.290714057 meters 0.04596694679319422 Centerline is valid? [True, True] Translation: X:446.68, Y:-59.73, Z:-29.54 [[ 9.97998615e-01 4.87864231e-02 4.02324527e-02 4.46677709e+02] [-4.86081317e-02 9.98803337e-01 -5.39848055e-03 -5.97278290e+01] [-4.04476806e-02 3.43205175e-03 9.99175763e-01 -2.95369537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.32071405700003 meters 0.047793647446482054 Centerline is valid? [True, True] Translation: X:446.71, Y:-59.73, Z:-29.54 [[ 9.98141433e-01 4.69388332e-02 3.88642024e-02 4.46707831e+02] [-4.67711843e-02 9.98892031e-01 -5.21224003e-03 -5.97308293e+01] [-3.90657985e-02 3.38482796e-03 9.99230907e-01 -2.95391025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.350714057 meters 0.04684587806415219 Centerline is valid? [True, True] Translation: X:446.74, Y:-59.73, Z:-29.54 [[ 9.98122002e-01 4.70941018e-02 3.91741462e-02 4.46737394e+02] [-4.69238998e-02 9.98884653e-01 -5.25343076e-03 -5.97326150e+01] [-3.93778590e-02 3.40536111e-03 9.99218589e-01 -2.95404746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.380714057 meters 0.0448200414493546 Centerline is valid? [True, True] Translation: X:446.77, Y:-59.73, Z:-29.54 [[ 9.98060362e-01 4.76430815e-02 4.00705588e-02 4.46767771e+02] [-4.74654936e-02 9.98858432e-01 -5.37217333e-03 -5.97308900e+01] [-4.02807625e-02 3.45978441e-03 9.99182411e-01 -2.95405184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.410714057 meters 0.04783648505254292 Centerline is valid? [True, True] Translation: X:446.80, Y:-59.73, Z:-29.54 [[ 9.97908195e-01 4.97163276e-02 4.13221509e-02 4.46796223e+02] [-4.95292929e-02 9.98757316e-01 -5.53840083e-03 -5.97348627e+01] [-4.15461495e-02 3.48015866e-03 9.99130525e-01 -2.95412236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.440714057 meters 0.04523940229128096 Centerline is valid? [True, True] Translation: X:446.83, Y:-59.73, Z:-29.54 [[ 9.97816621e-01 5.08185804e-02 4.21836784e-02 4.46826653e+02] [-5.06247030e-02 9.98701753e-01 -5.65230907e-03 -5.97330254e+01] [-4.24161559e-02 3.50443174e-03 9.99093884e-01 -2.95410371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.470714057 meters 0.04540342384179889 Centerline is valid? [True, True] Translation: X:446.86, Y:-59.74, Z:-29.54 [[ 9.97707991e-01 5.21829738e-02 4.30778491e-02 4.46856169e+02] [-5.19821148e-02 9.98631344e-01 -5.77052567e-03 -5.97357075e+01] [-4.33200135e-02 3.51802188e-03 9.99055054e-01 -2.95417399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.500714057 meters 0.04562660227658602 Centerline is valid? [True, True] Translation: X:446.89, Y:-59.74, Z:-29.54 [[ 9.97477839e-01 5.52385004e-02 4.45720736e-02 4.46885609e+02] [-5.50265643e-02 9.98467050e-01 -5.96885126e-03 -5.97374659e+01] [-4.48334572e-02 3.50114879e-03 9.98988340e-01 -2.95425411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.530714057 meters 0.045861182352702465 Centerline is valid? [True, True] Translation: X:446.91, Y:-59.74, Z:-29.54 [[ 9.97391868e-01 5.64113545e-02 4.50246706e-02 4.46914629e+02] [-5.61963026e-02 9.98401537e-01 -6.02886859e-03 -5.97402580e+01] [-4.52927970e-02 3.48292448e-03 9.98967683e-01 -2.95443121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.560714057 meters 0.045969405000758565 Centerline is valid? [True, True] Translation: X:446.94, Y:-59.74, Z:-29.55 [[ 9.97294945e-01 5.83662942e-02 4.46784974e-02 4.46942883e+02] [-5.81565932e-02 9.98289561e-01 -5.98018788e-03 -5.97431323e+01] [-4.49511190e-02 3.36566195e-03 9.98983518e-01 -2.95478910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.590714057 meters 0.039365298656227024 Centerline is valid? [True, True] Translation: X:446.97, Y:-59.74, Z:-29.55 [[ 9.97301411e-01 5.88415227e-02 4.39041201e-02 4.46972590e+02] [-5.86395779e-02 9.98261934e-01 -5.87458576e-03 -5.97362599e+01] [-4.41734814e-02 3.28421360e-03 9.99018477e-01 -2.95482988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.620714057 meters 0.039851446309092285 Centerline is valid? [True, True] Translation: X:447.00, Y:-59.74, Z:-29.55 [[ 9.97341826e-01 5.91166085e-02 4.25970481e-02 4.47000871e+02] [-5.89268974e-02 9.98246046e-01 -5.69666734e-03 -5.97380163e+01] [-4.28591025e-02 3.17141273e-03 9.99076093e-01 -2.95499539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.650714057 meters 0.04059456714276057 Centerline is valid? [True, True] Translation: X:447.03, Y:-59.74, Z:-29.55 [[ 9.97387382e-01 5.87557722e-02 4.20258306e-02 4.47028367e+02] [-5.85709168e-02 9.98267445e-01 -5.61752588e-03 -5.97419544e+01] [-4.22830806e-02 3.14135800e-03 9.99100732e-01 -2.95523014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.680714057 meters 0.04876528456906523 Centerline is valid? [True, True] Translation: X:447.05, Y:-59.76, Z:-29.56 [[ 9.97529901e-01 5.74743562e-02 4.03830913e-02 4.47054429e+02] [-5.73028083e-02 9.98342274e-01 -5.39371163e-03 -5.97572463e+01] [-4.06261473e-02 3.06632409e-03 9.99169712e-01 -2.95578916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.710714057 meters 0.04212932157867353 Centerline is valid? [True, True] Translation: X:447.08, Y:-59.75, Z:-29.56 [[ 9.97598212e-01 5.66700513e-02 3.98285459e-02 4.47083883e+02] [-5.65025890e-02 9.98388286e-01 -5.31863842e-03 -5.97513952e+01] [-4.00657612e-02 3.05544822e-03 9.99192373e-01 -2.95580306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.740714057 meters 0.04395437937503512 Centerline is valid? [True, True] Translation: X:447.11, Y:-59.76, Z:-29.56 [[ 9.97683202e-01 5.57060663e-02 3.90520499e-02 4.47111523e+02] [-5.55445065e-02 9.98442615e-01 -5.21072363e-03 -5.97565188e+01] [-3.92814997e-02 3.02952460e-03 9.99223591e-01 -2.95603604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.770714057 meters 0.04441934162849484 Centerline is valid? [True, True] Translation: X:447.14, Y:-59.76, Z:-29.56 [[ 9.97703416e-01 5.53087415e-02 3.91003344e-02 4.47140306e+02] [-5.51465311e-02 9.98464649e-01 -5.21583071e-03 -5.97600842e+01] [-3.93287827e-02 3.04760431e-03 9.99221677e-01 -2.95619793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.800714057 meters 0.04533023876278373 Centerline is valid? [True, True] Translation: X:447.17, Y:-59.76, Z:-29.56 [[ 9.97685894e-01 5.50168138e-02 3.99500517e-02 4.47168554e+02] [-5.48473568e-02 9.98480545e-01 -5.32625162e-03 -5.97637277e+01] [-4.01823828e-02 3.12277137e-03 9.99187482e-01 -2.95623660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.830714057 meters 0.041691530443409806 Centerline is valid? [True, True] Translation: X:447.20, Y:-59.76, Z:-29.56 [[ 9.97622479e-01 5.54371582e-02 4.09403398e-02 4.47198440e+02] [-5.52596744e-02 9.98457115e-01 -5.45505228e-03 -5.97619464e+01] [-4.11795862e-02 3.17973293e-03 9.99146701e-01 -2.95623546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.860714057 meters 0.04654180321367023 Centerline is valid? [True, True] Translation: X:447.23, Y:-59.77, Z:-29.56 [[ 9.97600661e-01 5.62296138e-02 4.03875078e-02 4.47225533e+02] [-5.60576038e-02 9.98413042e-01 -5.37980974e-03 -5.97704589e+01] [-4.06259192e-02 3.10287484e-03 9.99169609e-01 -2.95647704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.890714057 meters 0.04096706820067856 Centerline is valid? [True, True] Translation: X:447.26, Y:-59.77, Z:-29.56 [[ 9.97589152e-01 5.65502180e-02 4.02238338e-02 4.47255541e+02] [-5.63800153e-02 9.98395025e-01 -5.35415593e-03 -5.97652203e+01] [-4.04620542e-02 3.07342751e-03 9.99176349e-01 -2.95643517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.920714057 meters 0.04122974400649997 Centerline is valid? [True, True] Translation: X:447.28, Y:-59.77, Z:-29.56 [[ 9.97570144e-01 5.70102368e-02 4.00454718e-02 4.47284072e+02] [-5.68420265e-02 9.98368971e-01 -5.32751361e-03 -5.97664621e+01] [-4.02838793e-02 3.03830275e-03 9.99183656e-01 -2.95649298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.950714057 meters 0.04072547332283076 Centerline is valid? [True, True] Translation: X:447.31, Y:-59.77, Z:-29.57 [[ 9.97553195e-01 5.71199909e-02 4.03104104e-02 4.47312451e+02] [-5.69497545e-02 9.98362658e-01 -5.35981647e-03 -5.97684013e+01] [-4.05505612e-02 3.05103407e-03 9.99172829e-01 -2.95661104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.980714057 meters 0.041419356321834515 Centerline is valid? [True, True] Translation: X:447.34, Y:-59.77, Z:-29.57 [[ 9.97523706e-01 5.75300794e-02 4.04567098e-02 4.47339971e+02] [-5.73590480e-02 9.98339137e-01 -5.37660429e-03 -5.97723794e+01] [-4.06988332e-02 3.04273188e-03 9.99166826e-01 -2.95684251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.01071405700003 meters 0.04086690076340112 Centerline is valid? [True, True] Translation: X:447.37, Y:-59.77, Z:-29.57 [[ 9.97561889e-01 5.71108898e-02 4.01076524e-02 4.47368364e+02] [-5.69426187e-02 9.98363245e-01 -5.32633812e-03 -5.97748682e+01] [-4.03461979e-02 3.02951716e-03 9.99181168e-01 -2.95709395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.040714057 meters 0.042675872030256856 Centerline is valid? [True, True] Translation: X:447.40, Y:-59.78, Z:-29.57 [[ 9.97618799e-01 5.67224714e-02 3.92338167e-02 4.47395826e+02] [-5.65612555e-02 9.98385548e-01 -5.20785057e-03 -5.97802426e+01] [-3.94658777e-02 2.97633570e-03 9.99216486e-01 -2.95741753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.07071405700003 meters 0.042902955515556986 Centerline is valid? [True, True] Translation: X:447.42, Y:-59.78, Z:-29.58 [[ 9.97657536e-01 5.62925973e-02 3.88662379e-02 4.47424348e+02] [-5.61342140e-02 9.98409922e-01 -5.15527346e-03 -5.97832936e+01] [-3.90946413e-02 2.96147170e-03 9.99231124e-01 -2.95763265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.100714057 meters 0.0429101348808488 Centerline is valid? [True, True] Translation: X:447.45, Y:-59.79, Z:-29.58 [[ 9.97629421e-01 5.68305624e-02 3.88049714e-02 4.47452181e+02] [-5.66731794e-02 9.98379529e-01 -5.14467413e-03 -5.97866744e+01] [-3.90344637e-02 2.93327716e-03 9.99233560e-01 -2.95783712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.130714057 meters 0.0441767653248198 Centerline is valid? [True, True] Translation: X:447.48, Y:-59.79, Z:-29.58 [[ 9.97621598e-01 5.70961736e-02 3.86157376e-02 4.47479908e+02] [-5.69406565e-02 9.98364456e-01 -5.11609020e-03 -5.97915884e+01] [-3.88446890e-02 2.90511663e-03 9.99241037e-01 -2.95806490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.160714057 meters 0.0435274181088459 Centerline is valid? [True, True] Translation: X:447.51, Y:-59.79, Z:-29.58 [[ 9.97487330e-01 5.94089439e-02 3.85953833e-02 4.47509943e+02] [-5.92554954e-02 9.98229777e-01 -5.10866499e-03 -5.97927778e+01] [-3.88305612e-02 2.80884005e-03 9.99241862e-01 -2.95816711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.190714057 meters 0.042610955403947756 Centerline is valid? [True, True] Translation: X:447.54, Y:-59.79, Z:-29.58 [[ 9.97379411e-01 6.09165029e-02 3.90319130e-02 4.47539556e+02] [-6.07607240e-02 9.98138991e-01 -5.16607323e-03 -5.97940530e+01] [-3.92739734e-02 2.78092779e-03 9.99224610e-01 -2.95826327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.220714057 meters 0.04206503577984373 Centerline is valid? [True, True] Translation: X:447.57, Y:-59.79, Z:-29.58 [[ 9.97132933e-01 6.45152876e-02 3.95435290e-02 4.47568880e+02] [-6.43582761e-02 9.97913141e-01 -5.23212431e-03 -5.97949362e+01] [-3.97985592e-02 2.67217010e-03 9.99204150e-01 -2.95839423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.250714057 meters 0.036431951112362665 Centerline is valid? [True, True] Translation: X:447.60, Y:-59.79, Z:-29.58 [[ 9.96984089e-01 6.66767954e-02 3.97105968e-02 4.47599399e+02] [-6.65201821e-02 9.97771249e-01 -5.25366617e-03 -5.97890346e+01] [-3.99723894e-02 2.59626544e-03 9.99197412e-01 -2.95833604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.280714057 meters 0.03867463476255581 Centerline is valid? [True, True] Translation: X:447.63, Y:-59.80, Z:-29.59 [[ 9.96847209e-01 6.87479114e-02 3.96152330e-02 4.47627586e+02] [-6.85937358e-02 9.97630917e-01 -5.23959450e-03 -5.97952257e+01] [-3.98815924e-02 2.50571833e-03 9.99201271e-01 -2.95865239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.310714057 meters 0.03511379349638539 Centerline is valid? [True, True] Translation: X:447.66, Y:-59.79, Z:-29.59 [[ 9.96524929e-01 7.32615688e-02 3.96334339e-02 4.47658432e+02] [-7.31108863e-02 9.97310053e-01 -5.23997672e-03 -5.97917463e+01] [-3.99107110e-02 2.32413195e-03 9.99200547e-01 -2.95873542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.340714057 meters 0.03323292179912517 Centerline is valid? [True, True] Translation: X:447.69, Y:-59.79, Z:-29.59 [[ 9.96134545e-01 7.82849988e-02 3.98425343e-02 4.47689293e+02] [-7.81367296e-02 9.96928736e-01 -5.26747148e-03 -5.97901711e+01] [-4.01325314e-02 2.13394498e-03 9.99192087e-01 -2.95885881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.370714057 meters 0.03526312651115731 Centerline is valid? [True, True] Translation: X:447.72, Y:-59.80, Z:-29.59 [[ 9.95909580e-01 8.09535942e-02 4.01325914e-02 4.47717835e+02] [-8.08052994e-02 9.96715781e-01 -5.30623814e-03 -5.97970215e+01] [-4.04303462e-02 2.04160733e-03 9.99180274e-01 -2.95919055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.400714057 meters 0.03403480936723861 Centerline is valid? [True, True] Translation: X:447.75, Y:-59.80, Z:-29.59 [[ 9.95554835e-01 8.54157197e-02 3.96828089e-02 4.47746600e+02] [-8.52743237e-02 9.96343704e-01 -5.24532693e-03 -5.97978489e+01] [-3.99857502e-02 1.83808590e-03 9.99198559e-01 -2.95938072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.430714057 meters 0.030775795651871198 Centerline is valid? [True, True] Translation: X:447.78, Y:-59.80, Z:-29.59 [[ 9.95378168e-01 8.72173485e-02 4.01925081e-02 4.47776492e+02] [-8.70736768e-02 9.96187697e-01 -5.31473835e-03 -5.97958660e+01] [-4.05028195e-02 1.79046506e-03 9.99177820e-01 -2.95931377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.460714057 meters 0.02915300626487227 Centerline is valid? [True, True] Translation: X:447.81, Y:-59.80, Z:-29.59 [[ 9.95203167e-01 8.92125891e-02 4.01468555e-02 4.47805818e+02] [-8.90713530e-02 9.96011165e-01 -5.29660803e-03 -5.97963619e+01] [-4.04592404e-02 1.69526635e-03 9.99179752e-01 -2.95927627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.490714057 meters 0.02991669769243381 Centerline is valid? [True, True] Translation: X:447.83, Y:-59.80, Z:-29.59 [[ 9.95160628e-01 8.97198988e-02 4.00707508e-02 4.47833507e+02] [-8.95796000e-02 9.95965635e-01 -5.28677579e-03 -5.98020770e+01] [-4.03834197e-02 1.67166929e-03 9.99182859e-01 -2.95944606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.520714057 meters 0.030467631223597084 Centerline is valid? [True, True] Translation: X:447.86, Y:-59.81, Z:-29.60 [[ 9.95257888e-01 8.88116727e-02 3.96764902e-02 4.47860269e+02] [-8.86739074e-02 9.96047021e-01 -5.22213862e-03 -5.98071349e+01] [-3.99834368e-02 1.67910523e-03 9.99198932e-01 -2.95964879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.550714057 meters 0.029705162002601693 Centerline is valid? [True, True] Translation: X:447.89, Y:-59.81, Z:-29.60 [[ 9.95408085e-01 8.72186316e-02 3.94417863e-02 4.47888653e+02] [-8.70813045e-02 9.96187690e-01 -5.18973877e-03 -5.98099149e+01] [-3.97440639e-02 1.73126573e-03 9.99208393e-01 -2.95976804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.580714057 meters 0.030613023109691693 Centerline is valid? [True, True] Translation: X:447.92, Y:-59.82, Z:-29.60 [[ 9.95774809e-01 8.33997476e-02 3.84319135e-02 4.47917695e+02] [-8.32670692e-02 9.96514508e-01 -5.04290573e-03 -5.98185948e+01] [-3.87185364e-02 1.82148569e-03 9.99248496e-01 -2.96003908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.610714057 meters 0.03243008456440639 Centerline is valid? [True, True] Translation: X:447.94, Y:-59.83, Z:-29.60 [[ 9.96033410e-01 8.04878407e-02 3.79361667e-02 4.47944744e+02] [-8.03564441e-02 9.96753761e-01 -4.97822819e-03 -5.98268035e+01] [-3.82137037e-02 1.91006614e-03 9.99267764e-01 -2.96028612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.640714057 meters 0.03362909145961869 Centerline is valid? [True, True] Translation: X:447.97, Y:-59.84, Z:-29.60 [[ 9.96516046e-01 7.42870771e-02 3.79104335e-02 4.47973924e+02] [-7.41515408e-02 9.97234597e-01 -4.97074587e-03 -5.98354982e+01] [-3.81748580e-02 2.14231096e-03 9.99268778e-01 -2.96038328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.670714057 meters 0.03454736984651901 Centerline is valid? [True, True] Translation: X:448.00, Y:-59.84, Z:-29.61 [[ 9.96774487e-01 7.08297369e-02 3.77328776e-02 4.48003946e+02] [-7.06930040e-02 9.97485851e-01 -4.94734538e-03 -5.98419315e+01] [-3.79884307e-02 2.26393719e-03 9.99275615e-01 -2.96053909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.700714057 meters 0.03661902851643065 Centerline is valid? [True, True] Translation: X:448.03, Y:-59.85, Z:-29.61 [[ 9.97219981e-01 6.49058330e-02 3.65997598e-02 4.48033505e+02] [-6.47732204e-02 9.97888472e-01 -4.79874442e-03 -5.98513879e+01] [-3.68339448e-02 2.41471952e-03 9.99318483e-01 -2.96070654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.730714057 meters 0.03841495761518824 Centerline is valid? [True, True] Translation: X:448.06, Y:-59.86, Z:-29.61 [[ 9.97469358e-01 6.12869205e-02 3.60387674e-02 4.48063520e+02] [-6.11559992e-02 9.98117036e-01 -4.72502838e-03 -5.98593147e+01] [-3.62604901e-02 2.50908420e-03 9.99339222e-01 -2.96088340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.76071405700003 meters 0.04021198748520261 Centerline is valid? [True, True] Translation: X:448.09, Y:-59.87, Z:-29.61 [[ 9.97571437e-01 5.97911947e-02 3.57245048e-02 4.48091979e+02] [-5.96615109e-02 9.98207666e-01 -4.68613062e-03 -5.98658485e+01] [-3.59406639e-02 2.54337212e-03 9.99350689e-01 -2.96110174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.790714057 meters 0.04049969230366763 Centerline is valid? [True, True] Translation: X:448.12, Y:-59.87, Z:-29.61 [[ 9.97610241e-01 5.90940564e-02 3.58008329e-02 4.48119024e+02] [-5.89634583e-02 9.98249107e-01 -4.69372198e-03 -5.98707609e+01] [-3.60155205e-02 2.57156420e-03 9.99347922e-01 -2.96128028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.82071405700003 meters 0.04211958171546894 Centerline is valid? [True, True] Translation: X:448.15, Y:-59.88, Z:-29.61 [[ 9.97650211e-01 5.83009362e-02 3.59869088e-02 4.48146392e+02] [-5.81685821e-02 9.98295641e-01 -4.71483378e-03 -5.98764474e+01] [-3.62004534e-02 2.61044746e-03 9.99341139e-01 -2.96140323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.850714057 meters 0.04132761929201782 Centerline is valid? [True, True] Translation: X:448.18, Y:-59.88, Z:-29.61 [[ 9.97652589e-01 5.83469935e-02 3.58460685e-02 4.48175153e+02] [-5.82158309e-02 9.98292990e-01 -4.69285021e-03 -5.98790665e+01] [-3.60586926e-02 2.59502550e-03 9.99346305e-01 -2.96149564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.880714057 meters 0.042748177501969194 Centerline is valid? [True, True] Translation: X:448.20, Y:-59.88, Z:-29.62 [[ 9.97636597e-01 5.83172956e-02 3.63361068e-02 4.48202634e+02] [-5.81825678e-02 9.98294634e-01 -4.75516930e-03 -5.98842685e+01] [-3.65514491e-02 2.62980293e-03 9.99328312e-01 -2.96166557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.910714057 meters 0.044118216730217555 Centerline is valid? [True, True] Translation: X:448.23, Y:-59.89, Z:-29.62 [[ 9.97599372e-01 5.81372814e-02 3.76237969e-02 4.48229507e+02] [-5.79928690e-02 9.98304877e-01 -4.91927631e-03 -5.98892773e+01] [-3.78460133e-02 2.72555503e-03 9.99279866e-01 -2.96178501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.940714057 meters 0.04492757226758973 Centerline is valid? [True, True] Translation: X:448.26, Y:-59.89, Z:-29.62 [[ 9.97603841e-01 5.76072878e-02 3.83141878e-02 4.48256674e+02] [-5.74573084e-02 9.98335418e-01 -5.00504374e-03 -5.98939937e+01] [-3.85387377e-02 2.79162076e-03 9.99253207e-01 -2.96193473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.970714057 meters 0.04679507633037521 Centerline is valid? [True, True] Translation: X:448.28, Y:-59.90, Z:-29.62 [[ 9.97709883e-01 5.58699152e-02 3.81253556e-02 4.48284896e+02] [-5.57202869e-02 9.98434014e-01 -4.97681595e-03 -5.98999424e+01] [-3.83437061e-02 2.84106271e-03 9.99260571e-01 -2.96208376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.000714057 meters 0.04586873961373852 Centerline is valid? [True, True] Translation: X:448.31, Y:-59.90, Z:-29.62 [[ 9.97814113e-01 5.43545653e-02 3.75842756e-02 4.48314143e+02] [-5.42081980e-02 9.98517616e-01 -4.90327482e-03 -5.99019869e+01] [-3.77950766e-02 2.85518096e-03 9.99281432e-01 -2.96221254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.030714057 meters 0.048173608860293066 Centerline is valid? [True, True] Translation: X:448.34, Y:-59.91, Z:-29.62 [[ 9.98028012e-01 5.14961564e-02 3.58919696e-02 4.48343370e+02] [-5.13609428e-02 9.98669191e-01 -4.67974549e-03 -5.99087614e+01] [-3.60851932e-02 2.82707169e-03 9.99344719e-01 -2.96246958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.060714057 meters 0.04908513979862739 Centerline is valid? [True, True] Translation: X:448.37, Y:-59.91, Z:-29.63 [[ 9.98111768e-01 5.01214804e-02 3.55068400e-02 4.48372009e+02] [-4.99882578e-02 9.98739072e-01 -4.63044349e-03 -5.99135725e+01] [-3.56941531e-02 2.84677506e-03 9.99358706e-01 -2.96268642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.090714057 meters 0.04701615340467033 Centerline is valid? [True, True] Translation: X:448.40, Y:-59.91, Z:-29.63 [[ 9.98280527e-01 4.74779569e-02 3.43777879e-02 4.48402258e+02] [-4.73516038e-02 9.98868234e-01 -4.48076661e-03 -5.99147731e+01] [-3.45516180e-02 2.84521865e-03 9.99398865e-01 -2.96279516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.120714057 meters 0.04701615340467033 Centerline is valid? [True, True] Translation: X:448.43, Y:-59.92, Z:-29.63 [[ 9.98283814e-01 4.74088478e-02 3.43777139e-02 4.48430388e+02] [-4.72824346e-02 9.98871508e-01 -4.48133548e-03 -5.99183743e+01] [-3.45513738e-02 2.84818267e-03 9.99398865e-01 -2.96295954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.150714057 meters 0.05244424768337495 Centerline is valid? [True, True] Translation: X:448.46, Y:-59.93, Z:-29.63 [[ 9.98350651e-01 4.62587030e-02 3.40016184e-02 4.48457027e+02] [-4.61344905e-02 9.98925419e-01 -4.42907242e-03 -5.99294870e+01] [-3.41699640e-02 2.85311999e-03 9.99411964e-01 -2.96331909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.180714057 meters 0.049708152096077644 Centerline is valid? [True, True] Translation: X:448.49, Y:-59.93, Z:-29.63 [[ 9.98398108e-01 4.56889444e-02 3.33727231e-02 4.48486487e+02] [-4.55689766e-02 9.98951737e-01 -4.34697455e-03 -5.99282200e+01] [-3.35363484e-02 2.81925033e-03 9.99433522e-01 -2.96335002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.210714057 meters 0.05005763146244349 Centerline is valid? [True, True] Translation: X:448.51, Y:-59.93, Z:-29.63 [[ 9.98406639e-01 4.57273364e-02 3.30634911e-02 4.48514686e+02] [-4.56096788e-02 9.98950063e-01 -4.30442958e-03 -5.99311396e+01] [-3.32256066e-02 2.78955586e-03 9.99443984e-01 -2.96348471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.240714057 meters 0.049886379827868664 Centerline is valid? [True, True] Translation: X:448.54, Y:-59.93, Z:-29.64 [[ 9.98318297e-01 4.77422798e-02 3.28824185e-02 4.48544677e+02] [-4.76271096e-02 9.98856027e-01 -4.27733232e-03 -5.99329536e+01] [-3.30490115e-02 2.70404456e-03 9.99450074e-01 -2.96360219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.270714057 meters 0.05077138564566859 Centerline is valid? [True, True] Translation: X:448.57, Y:-59.94, Z:-29.64 [[ 9.98253991e-01 4.90803597e-02 3.28646969e-02 4.48572856e+02] [-4.89660248e-02 9.98791295e-01 -4.27529506e-03 -5.99363118e+01] [-3.30348062e-02 2.65857679e-03 9.99450666e-01 -2.96376189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.300714057 meters 0.048811861496397276 Centerline is valid? [True, True] Translation: X:448.60, Y:-59.94, Z:-29.64 [[ 9.98087620e-01 5.29349000e-02 3.19217568e-02 4.48604131e+02] [-5.28290753e-02 9.98594946e-01 -4.15007093e-03 -5.99352206e+01] [-3.20965886e-02 2.45573752e-03 9.99481755e-01 -2.96388238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.330714057 meters 0.0485178618194426 Centerline is valid? [True, True] Translation: X:448.63, Y:-59.94, Z:-29.64 [[ 9.98011147e-01 5.48185503e-02 3.11235851e-02 4.48633067e+02] [-5.47188562e-02 9.98493601e-01 -4.04655660e-03 -5.99372647e+01] [-3.12985269e-02 2.33546162e-03 9.99507353e-01 -2.96404108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.360714057 meters 0.04771597611703848 Centerline is valid? [True, True] Translation: X:448.66, Y:-59.94, Z:-29.64 [[ 9.97744130e-01 5.94502019e-02 3.11821054e-02 4.48661986e+02] [-5.93524070e-02 9.98228863e-01 -4.05334075e-03 -5.99369550e+01] [-3.13678495e-02 2.19346393e-03 9.99505501e-01 -2.96413410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.390714057 meters 0.03949596093142823 Centerline is valid? [True, True] Translation: X:448.69, Y:-59.93, Z:-29.64 [[ 9.97455768e-01 6.42899787e-02 3.08024394e-02 4.48694617e+02] [-6.41969196e-02 9.97929227e-01 -4.00166279e-03 -5.99254049e+01] [-3.09959213e-02 2.01405991e-03 9.99517482e-01 -2.96387269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.420714057 meters 0.04034845039519408 Centerline is valid? [True, True] Translation: X:448.72, Y:-59.93, Z:-29.64 [[ 9.97324853e-01 6.64363605e-02 3.04852007e-02 4.48723090e+02] [-6.63461691e-02 9.97788801e-01 -3.96169647e-03 -5.99288062e+01] [-3.06809926e-02 1.92852207e-03 9.99527367e-01 -2.96411460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.450714057 meters 0.03756884280732004 Centerline is valid? [True, True] Translation: X:448.75, Y:-59.93, Z:-29.64 [[ 9.97222645e-01 6.78599256e-02 3.06924672e-02 4.48752862e+02] [-6.77690772e-02 9.97693048e-01 -3.99178016e-03 -5.99265891e+01] [-3.08925430e-02 1.90069339e-03 9.99520904e-01 -2.96409603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.480714057 meters 0.03801085292822345 Centerline is valid? [True, True] Translation: X:448.78, Y:-59.93, Z:-29.64 [[ 9.96904795e-01 7.20092605e-02 3.15514921e-02 4.48782337e+02] [-7.19157410e-02 9.97402324e-01 -4.09035050e-03 -5.99288245e+01] [-3.17640746e-02 1.80864109e-03 9.99493758e-01 -2.96430066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.51071405700003 meters 0.03440058595732296 Centerline is valid? [True, True] Translation: X:448.81, Y:-59.93, Z:-29.64 [[ 9.96761009e-01 7.37601722e-02 3.20457103e-02 4.48812197e+02] [-7.36645809e-02 9.97274418e-01 -4.15502843e-03 -5.99250323e+01] [-3.22648427e-02 1.78093651e-03 9.99477768e-01 -2.96416774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.540714057 meters 0.036140058927750254 Centerline is valid? [True, True] Translation: X:448.84, Y:-59.93, Z:-29.64 [[ 9.96543790e-01 7.65087903e-02 3.23555343e-02 4.48840107e+02] [-7.64128772e-02 9.97067448e-01 -4.19236234e-03 -5.99298134e+01] [-3.25814026e-02 1.70549319e-03 9.99467630e-01 -2.96443216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.57071405700003 meters 0.03622629340251384 Centerline is valid? [True, True] Translation: X:448.87, Y:-59.93, Z:-29.65 [[ 9.96356874e-01 7.86343579e-02 3.30093431e-02 4.48868857e+02] [-7.85357541e-02 9.96902131e-01 -4.27516840e-03 -5.99315461e+01] [-3.32432596e-02 1.66717977e-03 9.99445900e-01 -2.96450112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.600714057 meters 0.03542199790065797 Centerline is valid? [True, True] Translation: X:448.90, Y:-59.93, Z:-29.65 [[ 9.96224244e-01 8.02928741e-02 3.30198499e-02 4.48897464e+02] [-8.01951594e-02 9.96770013e-01 -4.27522250e-03 -5.99330898e+01] [-3.32564661e-02 1.61104818e-03 9.99445552e-01 -2.96465635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.630714057 meters 0.03265657215020887 Centerline is valid? [True, True] Translation: X:448.93, Y:-59.93, Z:-29.65 [[ 9.96170784e-01 8.14241013e-02 3.18415598e-02 4.48927150e+02] [-8.13337298e-02 9.96678387e-01 -4.12531920e-03 -5.99300689e+01] [-3.20716949e-02 1.51972964e-03 9.99484415e-01 -2.96459703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.660714057 meters 0.03209119332878358 Centerline is valid? [True, True] Translation: X:448.96, Y:-59.93, Z:-29.65 [[ 9.95918478e-01 8.48458359e-02 3.07826027e-02 4.48955997e+02] [-8.47634121e-02 9.96393177e-01 -3.97508965e-03 -5.99321014e+01] [-3.10088451e-02 1.34962680e-03 9.99518199e-01 -2.96497909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.690714057 meters 0.03169259218977147 Centerline is valid? [True, True] Translation: X:448.98, Y:-59.93, Z:-29.65 [[ 9.95883737e-01 8.55818106e-02 2.98552510e-02 4.48984546e+02] [-8.55044612e-02 9.96330309e-01 -3.86027463e-03 -5.99345301e+01] [-3.00760608e-02 1.29162757e-03 9.99546778e-01 -2.96521118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.720714057 meters 0.03058897133584967 Centerline is valid? [True, True] Translation: X:449.01, Y:-59.94, Z:-29.65 [[ 9.95745364e-01 8.71789938e-02 2.98495187e-02 4.49012757e+02] [-8.71026187e-02 9.96191897e-01 -3.85193815e-03 -5.99370220e+01] [-3.00716567e-02 1.23557831e-03 9.99546982e-01 -2.96539002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.750714057 meters 0.03197171107501479 Centerline is valid? [True, True] Translation: X:449.04, Y:-59.94, Z:-29.66 [[ 9.95682819e-01 8.80362736e-02 2.94166370e-02 4.49039995e+02] [-8.79626805e-02 9.96116564e-01 -3.78903841e-03 -5.99442016e+01] [-2.96359722e-02 1.18511420e-03 9.99560056e-01 -2.96587308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.780714057 meters 0.03045809592334806 Centerline is valid? [True, True] Translation: X:449.07, Y:-59.94, Z:-29.66 [[ 9.95622313e-01 8.90876613e-02 2.82771689e-02 4.49068874e+02] [-8.90202722e-02 9.96023179e-01 -3.63566568e-03 -5.99446169e+01] [-2.84886086e-02 1.10250860e-03 9.99593509e-01 -2.96596273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.810714057 meters 0.030443440468072354 Centerline is valid? [True, True] Translation: X:449.10, Y:-59.95, Z:-29.66 [[ 9.95503668e-01 9.03587234e-02 2.84209050e-02 4.49097922e+02] [-9.02913851e-02 9.95908715e-01 -3.64644023e-03 -5.99480986e+01] [-2.86341147e-02 1.06388175e-03 9.99589394e-01 -2.96607909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.840714057 meters 0.029862044755616084 Centerline is valid? [True, True] Translation: X:449.13, Y:-59.95, Z:-29.66 [[ 9.95401629e-01 9.10905938e-02 2.96327596e-02 4.49126899e+02] [-9.10179332e-02 9.95842024e-01 -3.79452906e-03 -5.99515542e+01] [-2.98551932e-02 1.07996788e-03 9.99553651e-01 -2.96619858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.870714057 meters 0.029895014268078807 Centerline is valid? [True, True] Translation: X:449.16, Y:-59.96, Z:-29.66 [[ 9.95323188e-01 9.16264087e-02 3.05998806e-02 4.49155717e+02] [-9.15494117e-02 9.95792855e-01 -3.91082735e-03 -5.99563480e+01] [-3.08294776e-02 1.09113607e-03 9.99524063e-01 -2.96631590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.900714057 meters 0.03354007904733981 Centerline is valid? [True, True] Translation: X:449.18, Y:-59.97, Z:-29.67 [[ 9.95384838e-01 9.08834976e-02 3.08093063e-02 4.49181441e+02] [-9.08054309e-02 9.95860912e-01 -3.92652941e-03 -5.99683278e+01] [-3.10386406e-02 1.11075550e-03 9.99517568e-01 -2.96707154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.930714057 meters 0.03470306493293757 Centerline is valid? [True, True] Translation: X:449.21, Y:-59.98, Z:-29.67 [[ 9.95575693e-01 8.83378844e-02 3.20227706e-02 4.49207662e+02] [-8.82523216e-02 9.96089803e-01 -4.07833760e-03 -5.99773165e+01] [-3.22578270e-02 1.23420994e-03 9.99478819e-01 -2.96730155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.960714057 meters 0.030823957055834662 Centerline is valid? [True, True] Translation: X:449.24, Y:-59.97, Z:-29.67 [[ 9.95713490e-01 8.67300591e-02 3.21332026e-02 4.49236984e+02] [-8.66431748e-02 9.96231017e-01 -4.08913763e-03 -5.99742526e+01] [-3.23667443e-02 1.28748681e-03 9.99475230e-01 -2.96681214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.990714057 meters 0.031582538743031754 Centerline is valid? [True, True] Translation: X:449.27, Y:-59.98, Z:-29.67 [[ 9.96039656e-01 8.26264537e-02 3.28309786e-02 4.49265606e+02] [-8.25336738e-02 9.96579537e-01 -4.17352785e-03 -5.99829432e+01] [-3.30635252e-02 1.44733797e-03 9.99452204e-01 -2.96699029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.020714057 meters 0.032528906540090795 Centerline is valid? [True, True] Translation: X:449.29, Y:-59.99, Z:-29.67 [[ 9.96236782e-01 8.04768228e-02 3.21831484e-02 4.49294397e+02] [-8.03865870e-02 9.96755370e-01 -4.09004771e-03 -5.99895868e+01] [-3.24078800e-02 1.48756251e-03 9.99473620e-01 -2.96721097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.050714057 meters 0.0329507293482918 Centerline is valid? [True, True] Translation: X:449.32, Y:-60.00, Z:-29.67 [[ 9.96530939e-01 7.66392415e-02 3.24424870e-02 4.49323542e+02] [-7.65455694e-02 9.97057566e-01 -4.12136990e-03 -5.99975805e+01] [-3.26628858e-02 1.62374397e-03 9.99465107e-01 -2.96734405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.080714057 meters 0.03443830408526446 Centerline is valid? [True, True] Translation: X:449.35, Y:-60.01, Z:-29.68 [[ 9.96666497e-01 7.46751874e-02 3.28559143e-02 4.49350899e+02] [-7.45780237e-02 9.97206444e-01 -4.17460647e-03 -6.00058631e+01] [-3.30758690e-02 1.71036125e-03 9.99451380e-01 -2.96758324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.110714057 meters 0.034956773635440995 Centerline is valid? [True, True] Translation: X:449.38, Y:-60.01, Z:-29.68 [[ 9.96895371e-01 7.06835166e-02 3.46909274e-02 4.49380466e+02] [-7.05729206e-02 9.97496902e-01 -4.40377289e-03 -6.00132803e+01] [-3.49153668e-02 1.94186074e-03 9.99388386e-01 -2.96759515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.140714057 meters 0.03680772520399536 Centerline is valid? [True, True] Translation: X:449.41, Y:-60.02, Z:-29.68 [[ 9.97008214e-01 6.84840475e-02 3.58407087e-02 4.49407561e+02] [-6.83645614e-02 9.97650030e-01 -4.55020987e-03 -6.00231701e+01] [-3.60681009e-02 2.08636228e-03 9.99347157e-01 -2.96787658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.170714057 meters 0.03669504930448137 Centerline is valid? [True, True] Translation: X:449.44, Y:-60.03, Z:-29.68 [[ 9.97050816e-01 6.77495871e-02 3.60508570e-02 4.49435368e+02] [-6.76282994e-02 9.97700098e-01 -4.57461214e-03 -6.00284299e+01] [-3.62778717e-02 2.12306261e-03 9.99339486e-01 -2.96806576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.200714057 meters 0.03520936130784844 Centerline is valid? [True, True] Translation: X:449.46, Y:-60.03, Z:-29.68 [[ 9.97038510e-01 6.72225865e-02 3.73541576e-02 4.49462960e+02] [-6.70921146e-02 9.97735541e-01 -4.73686772e-03 -6.00318172e+01] [-3.75879952e-02 2.21667011e-03 9.99290863e-01 -2.96823494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.230714057 meters 0.036502240771202135 Centerline is valid? [True, True] Translation: X:449.49, Y:-60.04, Z:-29.68 [[ 9.97082106e-01 6.65293567e-02 3.74315175e-02 4.49490158e+02] [-6.63980281e-02 9.97781947e-01 -4.74213769e-03 -6.00378405e+01] [-3.76639838e-02 2.24292168e-03 9.99287943e-01 -2.96843682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.26071405700003 meters 0.03788358857159363 Centerline is valid? [True, True] Translation: X:449.52, Y:-60.05, Z:-29.69 [[ 9.97066314e-01 6.63862870e-02 3.81002240e-02 4.49517080e+02] [-6.62502554e-02 9.97791381e-01 -4.82325393e-03 -6.00453352e+01] [-3.83362730e-02 2.28495445e-03 9.99262282e-01 -2.96870867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.290714057 meters 0.03620828623990591 Centerline is valid? [True, True] Translation: X:449.55, Y:-60.05, Z:-29.69 [[ 9.97033939e-01 6.65945398e-02 3.85809801e-02 4.49546346e+02] [-6.64553100e-02 9.97777462e-01 -4.88145627e-03 -6.00474029e+01] [-3.88203108e-02 2.30306657e-03 9.99243554e-01 -2.96880930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.32071405700003 meters 0.0380218628223283 Centerline is valid? [True, True] Translation: X:449.57, Y:-60.05, Z:-29.69 [[ 9.97020164e-01 6.67545438e-02 3.86603615e-02 4.49572854e+02] [-6.66151027e-02 9.97766788e-01 -4.88526287e-03 -6.00549747e+01] [-3.89001382e-02 2.29534163e-03 9.99240467e-01 -2.96913773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.350714057 meters 0.037438469962214026 Centerline is valid? [True, True] Translation: X:449.60, Y:-60.06, Z:-29.69 [[ 9.97124990e-01 6.54825943e-02 3.81285147e-02 4.49602089e+02] [-6.53462093e-02 9.97851042e-01 -4.81363323e-03 -6.00590179e+01] [-3.83617873e-02 2.30824008e-03 9.99261250e-01 -2.96946628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.380714057 meters 0.03995639773149761 Centerline is valid? [True, True] Translation: X:449.63, Y:-60.07, Z:-29.70 [[ 9.97230048e-01 6.35711128e-02 3.86127568e-02 4.49629333e+02] [-6.34298542e-02 9.97974399e-01 -4.87368753e-03 -6.00688193e+01] [-3.88443685e-02 2.41098611e-03 9.99242364e-01 -2.96991249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.410714057 meters 0.03872879647862104 Centerline is valid? [True, True] Translation: X:449.66, Y:-60.07, Z:-29.70 [[ 9.97322956e-01 6.20365860e-02 3.87089615e-02 4.49658362e+02] [-6.18935520e-02 9.98070808e-01 -4.88375993e-03 -6.00707514e+01] [-3.89372563e-02 2.47485077e-03 9.99238593e-01 -2.97002216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.440714057 meters 0.03919826003539031 Centerline is valid? [True, True] Translation: X:449.69, Y:-60.08, Z:-29.70 [[ 9.97484606e-01 5.94532918e-02 3.85975049e-02 4.49688645e+02] [-5.93092750e-02 9.98227793e-01 -4.86662216e-03 -6.00755420e+01] [-3.88184388e-02 2.56519065e-03 9.99242988e-01 -2.97026370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.470714057 meters 0.04051288059759542 Centerline is valid? [True, True] Translation: X:449.72, Y:-60.08, Z:-29.70 [[ 9.97531972e-01 5.86306374e-02 3.86317610e-02 4.49715694e+02] [-5.84856856e-02 9.98276356e-01 -4.87261574e-03 -6.00807536e+01] [-3.88508581e-02 2.60118497e-03 9.99241635e-01 -2.97047662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.500714057 meters 0.03937241941774364 Centerline is valid? [True, True] Translation: X:449.74, Y:-60.08, Z:-29.71 [[ 9.97548336e-01 5.79920543e-02 3.91693532e-02 4.49744027e+02] [-5.78426875e-02 9.98313503e-01 -4.93687475e-03 -6.00820446e+01] [-3.93895937e-02 2.65911054e-03 9.99220391e-01 -2.97056920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.530714057 meters 0.039547347454135344 Centerline is valid? [True, True] Translation: X:449.77, Y:-60.09, Z:-29.71 [[ 9.97436430e-01 5.83667303e-02 4.13991879e-02 4.49772780e+02] [-5.82003620e-02 9.98291308e-01 -5.21358736e-03 -6.00860484e+01] [-4.16327495e-02 2.79077425e-03 9.99129084e-01 -2.97068018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.560714057 meters 0.042031313255595934 Centerline is valid? [True, True] Translation: X:449.80, Y:-60.09, Z:-29.71 [[ 9.97220209e-01 6.05712242e-02 4.33933468e-02 4.49801430e+02] [-6.03906728e-02 9.98159880e-01 -5.46089667e-03 -6.00926845e+01] [-4.36442711e-02 2.82516311e-03 9.99043140e-01 -2.97088681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.590714057 meters 0.039949952329909125 Centerline is valid? [True, True] Translation: X:449.83, Y:-60.09, Z:-29.71 [[ 9.97164606e-01 6.14660021e-02 4.34128944e-02 4.49830570e+02] [-6.12861783e-02 9.98105289e-01 -5.46229264e-03 -6.00919734e+01] [-4.36663848e-02 2.78619450e-03 9.99042283e-01 -2.97098113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.620714057 meters 0.039184781170120184 Centerline is valid? [True, True] Translation: X:449.86, Y:-60.09, Z:-29.71 [[ 9.97018286e-01 6.38043455e-02 4.33998091e-02 4.49860884e+02] [-6.36269837e-02 9.97958829e-01 -5.45725155e-03 -6.00926834e+01] [-4.36594191e-02 2.67958063e-03 9.99042879e-01 -2.97117731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.650714057 meters 0.035998487816348894 Centerline is valid? [True, True] Translation: X:449.89, Y:-60.09, Z:-29.71 [[ 9.96963459e-01 6.45236264e-02 4.35954484e-02 4.49890658e+02] [-6.43453796e-02 9.97912636e-01 -5.48107611e-03 -6.00897958e+01] [-4.38581078e-02 2.65926693e-03 9.99034231e-01 -2.97122565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.680714057 meters 0.0357469479780925 Centerline is valid? [True, True] Translation: X:449.92, Y:-60.09, Z:-29.71 [[ 9.96760012e-01 6.69004090e-02 4.46521471e-02 4.49919797e+02] [-6.67161078e-02 9.97756246e-01 -5.60673026e-03 -6.00928415e+01] [-4.49270512e-02 2.60954705e-03 9.98986862e-01 -2.97140460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.710714057 meters 0.03608999164481514 Centerline is valid? [True, True] Translation: X:449.95, Y:-60.10, Z:-29.72 [[ 9.96659296e-01 6.83772801e-02 4.46631360e-02 4.49947115e+02] [-6.81944075e-02 9.97656295e-01 -5.60717005e-03 -6.00961874e+01] [-4.49418618e-02 2.54266206e-03 9.98986368e-01 -2.97164510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.740714057 meters 0.03393315711110291 Centerline is valid? [True, True] Translation: X:449.98, Y:-60.09, Z:-29.72 [[ 9.96467577e-01 7.17466217e-02 4.36439018e-02 4.49977505e+02] [-7.15754363e-02 9.97420166e-01 -5.47443470e-03 -6.00939867e+01] [-4.39240800e-02 2.33126536e-03 9.99032152e-01 -2.97188797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.770714057 meters 0.03605446643809907 Centerline is valid? [True, True] Translation: X:450.01, Y:-60.10, Z:-29.72 [[ 9.96329724e-01 7.39568909e-02 4.30982526e-02 4.50005199e+02] [-7.37920234e-02 9.97259000e-01 -5.40599109e-03 -6.01003556e+01] [-4.33799306e-02 2.20584235e-03 9.99056213e-01 -2.97225893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.800714057 meters 0.03517656403756613 Centerline is valid? [True, True] Translation: X:450.03, Y:-60.10, Z:-29.73 [[ 9.96045820e-01 7.82417206e-02 4.20827559e-02 4.50034626e+02] [-7.80884968e-02 9.96932475e-01 -5.27511522e-03 -6.00997366e+01] [-4.23664001e-02 1.96807732e-03 9.99100203e-01 -2.97253632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.830714057 meters 0.03447755301233807 Centerline is valid? [True, True] Translation: X:450.06, Y:-60.10, Z:-29.73 [[ 9.95907530e-01 8.00907629e-02 4.18767509e-02 4.50063263e+02] [-7.99407047e-02 9.96785804e-01 -5.24839369e-03 -6.01015407e+01] [-4.21624987e-02 1.87925781e-03 9.99108999e-01 -2.97275047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.860714057 meters 0.03419433120586258 Centerline is valid? [True, True] Translation: X:450.09, Y:-60.10, Z:-29.73 [[ 9.95768562e-01 8.16466283e-02 4.21758162e-02 4.50092276e+02] [-8.14959319e-02 9.96659673e-01 -5.28300199e-03 -6.01037272e+01] [-4.24662745e-02 1.82348985e-03 9.99096237e-01 -2.97291908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.890714057 meters 0.03093177554402993 Centerline is valid? [True, True] Translation: X:450.12, Y:-60.10, Z:-29.73 [[ 9.95489230e-01 8.44945291e-02 4.31493602e-02 4.50122641e+02] [-8.43396086e-02 9.96422428e-01 -5.40151295e-03 -6.00988195e+01] [-4.34513885e-02 1.73794782e-03 9.99054031e-01 -2.97277708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.920714057 meters 0.030754439511299702 Centerline is valid? [True, True] Translation: X:450.15, Y:-60.10, Z:-29.73 [[ 9.95119951e-01 8.77196938e-02 4.51833844e-02 4.50151565e+02] [-8.75532074e-02 9.96143797e-01 -5.65440897e-03 -6.01014532e+01] [-4.55051511e-02 1.67086495e-03 9.98962707e-01 -2.97286705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.950714057 meters 0.030294157065531815 Centerline is valid? [True, True] Translation: X:450.18, Y:-60.10, Z:-29.73 [[ 9.95009594e-01 8.85738863e-02 4.59409995e-02 4.50180136e+02] [-8.84026402e-02 9.96068226e-01 -5.74995658e-03 -6.01037437e+01] [-4.62696658e-02 1.65995631e-03 9.98927606e-01 -2.97295015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.980714057 meters 0.030732550325223085 Centerline is valid? [True, True] Translation: X:450.21, Y:-60.11, Z:-29.73 [[ 9.94873543e-01 8.95153249e-02 4.70493311e-02 4.50207415e+02] [-8.93374031e-02 9.95984092e-01 -5.87512736e-03 -6.01078748e+01] [-4.73862993e-02 1.64174371e-03 9.98875289e-01 -2.97304582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.01071405700003 meters 0.030393973362643847 Centerline is valid? [True, True] Translation: X:450.24, Y:-60.11, Z:-29.73 [[ 9.94839260e-01 8.95139361e-02 4.77713512e-02 4.50236462e+02] [-8.93307173e-02 9.95984182e-01 -5.96088901e-03 -6.01116224e+01] [-4.81130928e-02 1.66267734e-03 9.98840511e-01 -2.97309592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.040714057 meters 0.030393973362643847 Centerline is valid? [True, True] Translation: X:450.26, Y:-60.11, Z:-29.73 [[ 9.94848359e-01 8.94125609e-02 4.77717169e-02 4.50263686e+02] [-8.92293661e-02 9.95993285e-01 -5.95795636e-03 -6.01149234e+01] [-4.81130254e-02 1.66462309e-03 9.98840511e-01 -2.97325500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.07071405700003 meters 0.030875928921438863 Centerline is valid? [True, True] Translation: X:450.29, Y:-60.12, Z:-29.73 [[ 9.94913489e-01 8.76550991e-02 4.96359971e-02 4.50292283e+02] [-8.74554122e-02 9.96149235e-01 -6.18483787e-03 -6.01208174e+01] [-4.99869932e-02 1.81244204e-03 9.98748224e-01 -2.97320257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.100714057 meters 0.031199557643604384 Centerline is valid? [True, True] Translation: X:450.32, Y:-60.13, Z:-29.73 [[ 9.94999891e-01 8.60882572e-02 5.06362389e-02 4.50320248e+02] [-8.58785941e-02 9.96285654e-01 -6.30583607e-03 -6.01266196e+01] [-5.09910168e-02 1.92573720e-03 9.98697255e-01 -2.97328101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.130714057 meters 0.033082117719489906 Centerline is valid? [True, True] Translation: X:450.35, Y:-60.14, Z:-29.74 [[ 9.95425802e-01 8.16262608e-02 4.96449994e-02 4.50347709e+02] [-8.14193793e-02 9.96660779e-01 -6.17870364e-03 -6.01378166e+01] [-4.99835682e-02 2.10837599e-03 9.98747815e-01 -2.97356255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.160714057 meters 0.03344973953263249 Centerline is valid? [True, True] Translation: X:450.38, Y:-60.15, Z:-29.74 [[ 9.96009923e-01 7.62909356e-02 4.63025563e-02 4.50376814e+02] [-7.61053285e-02 9.97083142e-01 -5.76087679e-03 -6.01460665e+01] [-4.66070010e-02 2.21401918e-03 9.98910850e-01 -2.97397207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.190714057 meters 0.033284876873682076 Centerline is valid? [True, True] Translation: X:450.41, Y:-60.15, Z:-29.74 [[ 9.96278108e-01 7.36972555e-02 4.47062244e-02 4.50405512e+02] [-7.35216064e-02 9.97278110e-01 -5.56282050e-03 -6.01515701e+01] [-4.49945036e-02 2.25524285e-03 9.98984689e-01 -2.97426248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.220714057 meters 0.03524534009831997 Centerline is valid? [True, True] Translation: X:450.43, Y:-60.16, Z:-29.75 [[ 9.96468536e-01 7.16406574e-02 4.37958145e-02 4.50433063e+02] [-7.14702165e-02 9.97427860e-01 -5.44722350e-03 -6.01611731e+01] [-4.40734082e-02 2.29789048e-03 9.99025653e-01 -2.97466419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.250714057 meters 0.03501169586507401 Centerline is valid? [True, True] Translation: X:450.46, Y:-60.17, Z:-29.75 [[ 9.96772583e-01 6.83218657e-02 4.21490222e-02 4.50462491e+02] [-6.81611670e-02 9.97660564e-01 -5.23970752e-03 -6.01678301e+01] [-4.24084039e-02 2.34987026e-03 9.99097596e-01 -2.97498362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.280714057 meters 0.03537906667403255 Centerline is valid? [True, True] Translation: X:450.49, Y:-60.17, Z:-29.75 [[ 9.96818297e-01 6.77267624e-02 4.20281856e-02 4.50490955e+02] [-6.75664544e-02 9.97701096e-01 -5.22475644e-03 -6.01734312e+01] [-4.22854226e-02 2.36843733e-03 9.99102764e-01 -2.97519919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.310714057 meters 0.03529115299729713 Centerline is valid? [True, True] Translation: X:450.52, Y:-60.18, Z:-29.75 [[ 9.96730918e-01 6.83702214e-02 4.30463669e-02 4.50518235e+02] [-6.82027709e-02 9.97657144e-01 -5.34840449e-03 -6.01781513e+01] [-4.33111870e-02 2.39503862e-03 9.99058759e-01 -2.97533180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.340714057 meters 0.034977051802163366 Centerline is valid? [True, True] Translation: X:450.55, Y:-60.18, Z:-29.75 [[ 9.96569549e-01 7.00758907e-02 4.40284512e-02 4.50547006e+02] [-6.99025544e-02 9.97538848e-01 -5.46615317e-03 -6.01812057e+01] [-4.43031361e-02 2.36970059e-03 9.99015324e-01 -2.97535478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.370714057 meters 0.037798891778779854 Centerline is valid? [True, True] Translation: X:450.57, Y:-60.19, Z:-29.76 [[ 9.96512000e-01 7.06359163e-02 4.44342452e-02 4.50573962e+02] [-7.04600535e-02 9.97499364e-01 -5.51360402e-03 -6.01892811e+01] [-4.47125898e-02 2.36353327e-03 9.98997096e-01 -2.97561705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.400714057 meters 0.03561081332696821 Centerline is valid? [True, True] Translation: X:450.60, Y:-60.19, Z:-29.76 [[ 9.96411017e-01 7.16140769e-02 4.51276951e-02 4.50603253e+02] [-7.14338411e-02 9.97429642e-01 -5.59605006e-03 -6.01899701e+01] [-4.54124567e-02 2.35232133e-03 9.98965553e-01 -2.97566445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.430714057 meters 0.03603294278434308 Centerline is valid? [True, True] Translation: X:450.63, Y:-60.19, Z:-29.76 [[ 9.96375163e-01 7.16622410e-02 4.58373070e-02 4.50631304e+02] [-7.14766287e-02 9.97426115e-01 -5.67775889e-03 -6.01939915e+01] [-4.61262079e-02 2.38088177e-03 9.98932783e-01 -2.97576776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.460714057 meters 0.03666128286242963 Centerline is valid? [True, True] Translation: X:450.66, Y:-60.20, Z:-29.76 [[ 9.96354225e-01 7.13336492e-02 4.67949693e-02 4.50657962e+02] [-7.11399498e-02 9.97449517e-01 -5.79387970e-03 -6.01983037e+01] [-4.70889181e-02 2.44376476e-03 9.98887712e-01 -2.97584906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.490714057 meters 0.03930238223973643 Centerline is valid? [True, True] Translation: X:450.68, Y:-60.21, Z:-29.76 [[ 9.96344627e-01 7.02900417e-02 4.85457994e-02 4.50684408e+02] [-7.00806988e-02 9.97523262e-01 -6.00307392e-03 -6.02067304e+01] [-4.88475205e-02 2.57900689e-03 9.98802918e-01 -2.97591360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.520714057 meters 0.03789178596683963 Centerline is valid? [True, True] Translation: X:450.71, Y:-60.21, Z:-29.76 [[ 9.96379786e-01 6.94200219e-02 4.90732376e-02 4.50712907e+02] [-6.92052749e-02 9.97584012e-01 -6.06373306e-03 -6.02080560e+01] [-4.93756217e-02 2.64565416e-03 9.98776776e-01 -2.97595836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.550714057 meters 0.03983013553506615 Centerline is valid? [True, True] Translation: X:450.74, Y:-60.22, Z:-29.76 [[ 9.96495438e-01 6.66181430e-02 5.05852245e-02 4.50740793e+02] [-6.63865324e-02 9.97774425e-01 -6.24693690e-03 -6.02162605e+01] [-5.08888026e-02 2.86686648e-03 9.98700211e-01 -2.97601780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.580714057 meters 0.03525458857822111 Centerline is valid? [True, True] Translation: X:450.77, Y:-60.22, Z:-29.76 [[ 9.96731832e-01 6.28884811e-02 5.07020089e-02 4.50771137e+02] [-6.26511320e-02 9.98015864e-01 -6.25861342e-03 -6.02152268e+01] [-5.09950039e-02 3.06162097e-03 9.98694215e-01 -2.97609944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.610714057 meters 0.039200036699971186 Centerline is valid? [True, True] Translation: X:450.80, Y:-60.23, Z:-29.76 [[ 9.96880215e-01 6.06714819e-02 5.04857252e-02 4.50798393e+02] [-6.04333581e-02 9.98152784e-01 -6.23125770e-03 -6.02257917e+01] [-5.07705268e-02 3.16079561e-03 9.98705343e-01 -2.97639404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.640714057 meters 0.03581419127958012 Centerline is valid? [True, True] Translation: X:450.83, Y:-60.23, Z:-29.77 [[ 9.97160960e-01 5.73769638e-02 4.87637493e-02 4.50828297e+02] [-5.71510394e-02 9.98347418e-01 -6.01591108e-03 -6.02258796e+01] [-4.90283379e-02 3.21193272e-03 9.98792223e-01 -2.97658254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.670714057 meters 0.03715070606109665 Centerline is valid? [True, True] Translation: X:450.86, Y:-60.23, Z:-29.77 [[ 9.97216204e-01 5.67553382e-02 4.83598401e-02 4.50856588e+02] [-5.65324441e-02 9.98382940e-01 -5.96553145e-03 -6.02318263e+01] [-4.86202151e-02 3.21502467e-03 9.98812164e-01 -2.97678602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.700714057 meters 0.03769633182587712 Centerline is valid? [True, True] Translation: X:450.89, Y:-60.24, Z:-29.77 [[ 9.97286118e-01 5.58186212e-02 4.80070924e-02 4.50885942e+02] [-5.55980240e-02 9.98435688e-01 -5.91924852e-03 -6.02360295e+01] [-4.82623986e-02 3.23408490e-03 9.98829456e-01 -2.97698961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.730714057 meters 0.037727947533959846 Centerline is valid? [True, True] Translation: X:450.91, Y:-60.24, Z:-29.77 [[ 9.97310171e-01 5.58100336e-02 4.75148775e-02 4.50914515e+02] [-5.55939955e-02 9.98436278e-01 -5.85721888e-03 -6.02397165e+01] [-4.77674690e-02 3.19992208e-03 9.98853357e-01 -2.97716278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.76071405700003 meters 0.03778330690774915 Centerline is valid? [True, True] Translation: X:450.94, Y:-60.24, Z:-29.77 [[ 9.97273513e-01 5.65091297e-02 4.74579652e-02 4.50943523e+02] [-5.62945690e-02 9.98397085e-01 -5.84660169e-03 -6.02431338e+01] [-4.77122805e-02 3.15903531e-03 9.98856125e-01 -2.97730970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.790714057 meters 0.037793223657869725 Centerline is valid? [True, True] Translation: X:450.97, Y:-60.25, Z:-29.78 [[ 9.97254942e-01 5.68017648e-02 4.74988367e-02 4.50972562e+02] [-5.65872869e-02 9.98380522e-01 -5.84907026e-03 -6.02463540e+01] [-4.77541509e-02 3.14518392e-03 9.98854168e-01 -2.97751343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.820714057 meters 0.03767016660495279 Centerline is valid? [True, True] Translation: X:451.00, Y:-60.25, Z:-29.78 [[ 9.97225927e-01 5.79619262e-02 4.66997314e-02 4.51001601e+02] [-5.77559832e-02 9.98314180e-01 -5.74840334e-03 -6.02480315e+01] [-4.69541926e-02 3.03526795e-03 9.98892432e-01 -2.97769909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.850714057 meters 0.038056233374435235 Centerline is valid? [True, True] Translation: X:451.03, Y:-60.25, Z:-29.78 [[ 9.97183696e-01 5.86924654e-02 4.66890804e-02 4.51029564e+02] [-5.84875700e-02 9.98271613e-01 -5.74375983e-03 -6.02516914e+01] [-4.69454990e-02 2.99685279e-03 9.98892957e-01 -2.97785747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.880714057 meters 0.03946092372223782 Centerline is valid? [True, True] Translation: X:451.06, Y:-60.26, Z:-29.78 [[ 9.97167755e-01 5.80853878e-02 4.77761042e-02 4.51057354e+02] [-5.78702968e-02 9.98306828e-01 -5.87417705e-03 -6.02564755e+01] [-4.80364149e-02 3.09272261e-03 9.98840797e-01 -2.97794391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.910714057 meters 0.03912743056844767 Centerline is valid? [True, True] Translation: X:451.09, Y:-60.26, Z:-29.78 [[ 9.97163870e-01 5.71352702e-02 4.89875119e-02 4.51086343e+02] [-5.69082055e-02 9.98361274e-01 -6.01856806e-03 -6.02596325e+01] [-4.92511073e-02 3.21370722e-03 9.98781258e-01 -2.97798841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.940714057 meters 0.040357957529062564 Centerline is valid? [True, True] Translation: X:451.12, Y:-60.27, Z:-29.78 [[ 9.97214597e-01 5.44582307e-02 5.09641992e-02 4.51116326e+02] [-5.42091882e-02 9.98509996e-01 -6.25721455e-03 -6.02656367e+01] [-5.12290191e-02 3.47705782e-03 9.98680879e-01 -2.97797600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.970714057 meters 0.043006304343675764 Centerline is valid? [True, True] Translation: X:451.14, Y:-60.27, Z:-29.78 [[ 9.97336081e-01 5.21252949e-02 5.10264135e-02 4.51144881e+02] [-5.18726121e-02 9.98634060e-01 -6.26474057e-03 -6.02729266e+01] [-5.12832660e-02 3.60117845e-03 9.98677655e-01 -2.97817566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.000714057 meters 0.04097392187948093 Centerline is valid? [True, True] Translation: X:451.18, Y:-60.27, Z:-29.78 [[ 9.97645184e-01 4.71642768e-02 4.97957670e-02 4.51175137e+02] [-4.69174555e-02 9.98880055e-01 -6.11461333e-03 -6.02746372e+01] [-5.00283898e-02 3.76392385e-03 9.98740704e-01 -2.97838640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.030714057 meters 0.0474281005200431 Centerline is valid? [True, True] Translation: X:451.20, Y:-60.29, Z:-29.79 [[ 9.97736538e-01 4.52309778e-02 4.97590231e-02 4.51203961e+02] [-4.49821312e-02 9.98969106e-01 -6.11012005e-03 -6.02886293e+01] [-4.99840935e-02 3.85802312e-03 9.98742562e-01 -2.97869990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.060714057 meters 0.04280142388285853 Centerline is valid? [True, True] Translation: X:451.24, Y:-60.29, Z:-29.79 [[ 9.97938656e-01 4.15324272e-02 4.89233714e-02 4.51235343e+02] [-4.12874141e-02 9.99129245e-01 -6.00849875e-03 -6.02869291e+01] [-4.91303186e-02 3.97619367e-03 9.98784462e-01 -2.97886660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.090714057 meters 0.04400270428259566 Centerline is valid? [True, True] Translation: X:451.27, Y:-60.29, Z:-29.79 [[ 9.98021487e-01 4.06165320e-02 4.79938481e-02 4.51266761e+02] [-4.03797972e-02 9.99167029e-01 -5.89230415e-03 -6.02926022e+01] [-4.81931956e-02 3.94266430e-03 9.98830252e-01 -2.97912265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.120714057 meters 0.045203413231140896 Centerline is valid? [True, True] Translation: X:451.30, Y:-60.30, Z:-29.80 [[ 9.98105376e-01 4.14508880e-02 4.54695849e-02 4.51297268e+02] [-4.12388257e-02 9.99133667e-01 -5.59240036e-03 -6.02979258e+01] [-4.56620030e-02 3.70669258e-03 9.98950070e-01 -2.97953989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.150714057 meters 0.04468809092173477 Centerline is valid? [True, True] Translation: X:451.33, Y:-60.30, Z:-29.80 [[ 9.98081713e-01 4.44262248e-02 4.31185011e-02 4.51328569e+02] [-4.42377660e-02 9.99006889e-01 -5.31556843e-03 -6.02991499e+01] [-4.33118303e-02 3.39790549e-03 9.99055824e-01 -2.97982194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.180714057 meters 0.0432530238853832 Centerline is valid? [True, True] Translation: X:451.36, Y:-60.30, Z:-29.80 [[ 9.97957495e-01 4.68489721e-02 4.34282323e-02 4.51359776e+02] [-4.66600177e-02 9.98896474e-01 -5.35501253e-03 -6.02999734e+01] [-4.36311850e-02 3.31771280e-03 9.99042198e-01 -2.97992148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.210714057 meters 0.0421024777092425 Centerline is valid? [True, True] Translation: X:451.39, Y:-60.30, Z:-29.80 [[ 9.97607305e-01 5.27309748e-02 4.47114046e-02 4.51390105e+02] [-5.25364985e-02 9.98603779e-01 -5.51438883e-03 -6.02997943e+01] [-4.49397567e-02 3.15221394e-03 9.98984726e-01 -2.97993040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.240714057 meters 0.041112282975184156 Centerline is valid? [True, True] Translation: X:451.42, Y:-60.30, Z:-29.80 [[ 9.97379157e-01 5.62514352e-02 4.55037729e-02 4.51420993e+02] [-5.60536589e-02 9.98411987e-01 -5.61175682e-03 -6.03005914e+01] [-4.57471817e-02 3.04639632e-03 9.98948405e-01 -2.98005335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.270714057 meters 0.03929577304523208 Centerline is valid? [True, True] Translation: X:451.45, Y:-60.30, Z:-29.80 [[ 9.96965159e-01 6.24754435e-02 4.64466407e-02 4.51450276e+02] [-6.22760850e-02 9.98042522e-01 -5.72834105e-03 -6.02986237e+01] [-4.67136031e-02 2.81844150e-03 9.98904348e-01 -2.98013170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.300714057 meters 0.039153665963252156 Centerline is valid? [True, True] Translation: X:451.48, Y:-60.30, Z:-29.80 [[ 9.96818145e-01 6.48262479e-02 4.63804232e-02 4.51478648e+02] [-6.46300906e-02 9.97892908e-01 -5.71805871e-03 -6.03008328e+01] [-4.66533757e-02 2.70229372e-03 9.98907483e-01 -2.98034437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.330714057 meters 0.03815910783298527 Centerline is valid? [True, True] Translation: X:451.51, Y:-60.30, Z:-29.81 [[ 9.96531231e-01 6.85175588e-02 4.72318649e-02 4.51507346e+02] [-6.83183768e-02 9.97646591e-01 -5.82049378e-03 -6.03017297e+01] [-4.75195150e-02 2.57349949e-03 9.98866995e-01 -2.98055758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.360714057 meters 0.03799045116571899 Centerline is valid? [True, True] Translation: X:451.54, Y:-60.31, Z:-29.81 [[ 9.96431930e-01 6.94219478e-02 4.80000263e-02 4.51535530e+02] [-6.92173693e-02 9.97584077e-01 -5.91317936e-03 -6.03052930e+01] [-4.82945664e-02 2.56964517e-03 9.98829831e-01 -2.98076026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.390714057 meters 0.03894252091908061 Centerline is valid? [True, True] Translation: X:451.56, Y:-60.31, Z:-29.81 [[ 9.96518168e-01 6.88685625e-02 4.69964065e-02 4.51562454e+02] [-6.86719805e-02 9.97622511e-01 -5.78665555e-03 -6.03096018e+01] [-4.72831917e-02 2.53917107e-03 9.98878297e-01 -2.98106884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.420714057 meters 0.03527540169503163 Centerline is valid? [True, True] Translation: X:451.59, Y:-60.31, Z:-29.81 [[ 9.96742185e-01 6.61391389e-02 4.61587517e-02 4.51592616e+02] [-6.59467903e-02 9.97806979e-01 -5.67923714e-03 -6.03072354e+01] [-4.64331444e-02 2.61671372e-03 9.98917973e-01 -2.98116840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.450714057 meters 0.03515924158757708 Centerline is valid? [True, True] Translation: X:451.62, Y:-60.31, Z:-29.81 [[ 9.96855396e-01 6.45650746e-02 4.59420386e-02 4.51622161e+02] [-6.43729377e-02 9.97909911e-01 -5.65097992e-03 -6.03107760e+01] [-4.62108716e-02 2.67578584e-03 9.98928123e-01 -2.98133269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.480714057 meters 0.03610220438103296 Centerline is valid? [True, True] Translation: X:451.65, Y:-60.32, Z:-29.82 [[ 9.97006389e-01 6.24793937e-02 4.55476193e-02 4.51651472e+02] [-6.22884511e-02 9.98042474e-01 -5.60084082e-03 -6.03164181e+01] [-4.58083958e-02 2.74698343e-03 9.98946468e-01 -2.98154385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.51071405700003 meters 0.03652055511146526 Centerline is valid? [True, True] Translation: X:451.68, Y:-60.32, Z:-29.82 [[ 9.97068436e-01 6.15604452e-02 4.54405609e-02 4.51679933e+02] [-6.13695043e-02 9.98099482e-01 -5.58648021e-03 -6.03204183e+01] [-4.56981065e-02 2.78143839e-03 9.98951424e-01 -2.98171354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.540714057 meters 0.035338635841725544 Centerline is valid? [True, True] Translation: X:451.71, Y:-60.32, Z:-29.82 [[ 9.97096888e-01 6.07057786e-02 4.59630851e-02 4.51708365e+02] [-6.05096569e-02 9.98151635e-01 -5.64760876e-03 -6.03216973e+01] [-4.62209710e-02 2.85000261e-03 9.98927174e-01 -2.98177548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.570714057 meters 0.03999542617818257 Centerline is valid? [True, True] Translation: X:451.74, Y:-60.33, Z:-29.82 [[ 9.97210399e-01 5.92013228e-02 4.54601339e-02 4.51736275e+02] [-5.90081242e-02 9.98241900e-01 -5.58128233e-03 -6.03314825e+01] [-4.57106297e-02 2.88319555e-03 9.98950562e-01 -2.98198723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.600714057 meters 0.03539348713744919 Centerline is valid? [True, True] Translation: X:451.77, Y:-60.33, Z:-29.82 [[ 9.97276031e-01 5.83901036e-02 4.50678876e-02 4.51765921e+02] [-5.81995020e-02 9.98289651e-01 -5.53094102e-03 -6.03277824e+01] [-4.53137580e-02 2.89294629e-03 9.98968615e-01 -2.98204263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.630714057 meters 0.0399491737155539 Centerline is valid? [True, True] Translation: X:451.79, Y:-60.34, Z:-29.82 [[ 9.97322234e-01 5.79413444e-02 4.46224509e-02 4.51792132e+02] [-5.77541829e-02 9.98315831e-01 -5.47326741e-03 -6.03383031e+01] [-4.48644276e-02 2.88147809e-03 9.98988929e-01 -2.98234790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.660714057 meters 0.036482304009948605 Centerline is valid? [True, True] Translation: X:451.82, Y:-60.34, Z:-29.82 [[ 9.97275856e-01 5.87872619e-02 4.45525071e-02 4.51821666e+02] [-5.86017197e-02 9.98266509e-01 -5.46040183e-03 -6.03370015e+01] [-4.47962778e-02 2.83467337e-03 9.98992121e-01 -2.98246175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.690714057 meters 0.03490810435366427 Centerline is valid? [True, True] Translation: X:451.85, Y:-60.34, Z:-29.83 [[ 9.97187985e-01 6.01158208e-02 4.47460756e-02 4.51850439e+02] [-5.99301391e-02 9.98187527e-01 -5.48088086e-03 -6.03383172e+01] [-4.49944622e-02 2.78383000e-03 9.98983358e-01 -2.98256494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.720714057 meters 0.03582701797076994 Centerline is valid? [True, True] Translation: X:451.88, Y:-60.34, Z:-29.83 [[ 9.97015879e-01 6.30446411e-02 4.45500894e-02 4.51879321e+02] [-6.28636619e-02 9.98007226e-01 -5.45314966e-03 -6.03419408e+01] [-4.48051030e-02 2.63629504e-03 9.98992269e-01 -2.98265165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.750714057 meters 0.03519706095977969 Centerline is valid? [True, True] Translation: X:451.91, Y:-60.34, Z:-29.83 [[ 9.96908243e-01 6.46327982e-02 4.46828511e-02 4.51907843e+02] [-6.44523800e-02 9.97905802e-01 -5.46821560e-03 -6.03444671e+01] [-4.49427025e-02 2.57139310e-03 9.98986257e-01 -2.98277864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.780714057 meters 0.03396719942188841 Centerline is valid? [True, True] Translation: X:451.94, Y:-60.35, Z:-29.83 [[ 9.96649216e-01 6.84878430e-02 4.47186300e-02 4.51937676e+02] [-6.83111655e-02 9.97649074e-01 -5.46894194e-03 -6.03464442e+01] [-4.49880559e-02 2.39583496e-03 9.98984652e-01 -2.98292811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.810714057 meters 0.032389304354405964 Centerline is valid? [True, True] Translation: X:451.97, Y:-60.35, Z:-29.83 [[ 9.96547585e-01 7.03599482e-02 4.40725412e-02 4.51966367e+02] [-7.01902134e-02 9.97519069e-01 -5.38889711e-03 -6.03478418e+01] [-4.43423628e-02 2.27683132e-03 9.99013799e-01 -2.98309200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.840714057 meters 0.0319584356251516 Centerline is valid? [True, True] Translation: X:451.99, Y:-60.35, Z:-29.83 [[ 9.96294490e-01 7.42562334e-02 4.33970240e-02 4.51994603e+02] [-7.40955152e-02 9.97237052e-01 -5.30252550e-03 -6.03521175e+01] [-4.36708658e-02 2.06735209e-03 9.99043834e-01 -2.98336417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.870714057 meters 0.0316831000756937 Centerline is valid? [True, True] Translation: X:452.02, Y:-60.36, Z:-29.84 [[ 9.96190532e-01 7.57919467e-02 4.31277675e-02 4.52022549e+02] [-7.56346645e-02 9.97121673e-01 -5.26936704e-03 -6.03556253e+01] [-4.34030073e-02 1.98733933e-03 9.99055669e-01 -2.98351965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.900714057 meters 0.02991510981448609 Centerline is valid? [True, True] Translation: X:452.05, Y:-60.36, Z:-29.84 [[ 9.96072294e-01 7.77042063e-02 4.24504550e-02 4.52051560e+02] [-7.75536858e-02 9.96974701e-01 -5.18369261e-03 -6.03576570e+01] [-4.27248244e-02 1.87114335e-03 9.99085126e-01 -2.98361999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.930714057 meters 0.02991510981448609 Centerline is valid? [True, True] Translation: X:452.08, Y:-60.36, Z:-29.84 [[ 9.96080605e-01 7.75974327e-02 4.24507605e-02 4.52078805e+02] [-7.74469220e-02 9.96983014e-01 -5.18118962e-03 -6.03608938e+01] [-4.27247341e-02 1.87320175e-03 9.99085126e-01 -2.98377914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.960714057 meters 0.029948461896707343 Centerline is valid? [True, True] Translation: X:452.11, Y:-60.37, Z:-29.84 [[ 9.96066057e-01 7.76628497e-02 4.26718988e-02 4.52107116e+02] [-7.75110497e-02 9.96977917e-01 -5.20296596e-03 -6.03659482e+01] [-4.29470180e-02 1.87495413e-03 9.99075592e-01 -2.98391134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.990714057 meters 0.03331327689857442 Centerline is valid? [True, True] Translation: X:452.13, Y:-60.38, Z:-29.84 [[ 9.96034397e-01 7.74510250e-02 4.37814871e-02 4.52133365e+02] [-7.72911518e-02 9.96994289e-01 -5.33522165e-03 -6.03801979e+01] [-4.40631110e-02 1.93014272e-03 9.99026885e-01 -2.98422512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.020714057 meters 0.030210924870980115 Centerline is valid? [True, True] Translation: X:452.16, Y:-60.38, Z:-29.84 [[ 9.96058040e-01 7.68483504e-02 4.43025107e-02 4.52162345e+02] [-7.66842424e-02 9.97040835e-01 -5.39444194e-03 -6.03805120e+01] [-4.45859662e-02 1.97587280e-03 9.99003597e-01 -2.98413462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.050714057 meters 0.02978193451026303 Centerline is valid? [True, True] Translation: X:452.19, Y:-60.39, Z:-29.84 [[ 9.96168728e-01 7.49642257e-02 4.50358744e-02 4.52190172e+02] [-7.47928638e-02 9.97184031e-01 -5.48044708e-03 -6.03882863e+01] [-4.53198923e-02 2.09108797e-03 9.98970337e-01 -2.98419379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.080714057 meters 0.03094584133632008 Centerline is valid? [True, True] Translation: X:452.22, Y:-60.40, Z:-29.84 [[ 9.96406357e-01 7.20339195e-02 4.45587949e-02 4.52218384e+02] [-7.18634033e-02 9.97399762e-01 -5.41895858e-03 -6.03987181e+01] [-4.48332803e-02 2.19733813e-03 9.98992066e-01 -2.98436499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.110714057 meters 0.031169096472409955 Centerline is valid? [True, True] Translation: X:452.25, Y:-60.41, Z:-29.85 [[ 9.96535001e-01 7.02574465e-02 4.45183559e-02 4.52247208e+02] [-7.00855908e-02 9.97526304e-01 -5.41140234e-03 -6.04054839e+01] [-4.47884223e-02 2.27255656e-03 9.98993910e-01 -2.98453426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.140714057 meters 0.03291741854443862 Centerline is valid? [True, True] Translation: X:452.27, Y:-60.42, Z:-29.85 [[ 9.96769174e-01 6.71411852e-02 4.40825982e-02 4.52274943e+02] [-6.69697288e-02 9.97740629e-01 -5.35647093e-03 -6.04186030e+01] [-4.43426390e-02 2.38696547e-03 9.99013530e-01 -2.98482852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.170714057 meters 0.03253165614164209 Centerline is valid? [True, True] Translation: X:452.30, Y:-60.42, Z:-29.85 [[ 9.96933280e-01 6.52269773e-02 4.32374378e-02 4.52304116e+02] [-6.50602380e-02 9.97867507e-01 -5.25388915e-03 -6.04233826e+01] [-4.34879296e-02 2.42473895e-03 9.99051010e-01 -2.98500570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.200714057 meters 0.033740721491605584 Centerline is valid? [True, True] Translation: X:452.33, Y:-60.43, Z:-29.85 [[ 9.97139466e-01 6.24990355e-02 4.25059592e-02 4.52333756e+02] [-6.23355123e-02 9.98041897e-01 -5.16295735e-03 -6.04333689e+01] [-4.27454080e-02 2.49855779e-03 9.99082873e-01 -2.98522120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.230714057 meters 0.034572153303029096 Centerline is valid? [True, True] Translation: X:452.36, Y:-60.44, Z:-29.85 [[ 9.97236122e-01 6.11824541e-02 4.21523841e-02 4.52361494e+02] [-6.10204123e-02 9.98123380e-01 -5.12138337e-03 -6.04394996e+01] [-4.23866189e-02 2.53507263e-03 9.99098067e-01 -2.98539950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.26071405700003 meters 0.035208601314278345 Centerline is valid? [True, True] Translation: X:452.39, Y:-60.45, Z:-29.86 [[ 9.97323583e-01 6.00991677e-02 4.16384586e-02 4.52389614e+02] [-5.99402818e-02 9.98189165e-01 -5.05497537e-03 -6.04455174e+01] [-4.18668581e-02 2.54562520e-03 9.99119956e-01 -2.98555659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.290714057 meters 0.03707306321914006 Centerline is valid? [True, True] Translation: X:452.42, Y:-60.46, Z:-29.86 [[ 9.97434181e-01 5.84995486e-02 4.12656959e-02 4.52417001e+02] [-5.83422672e-02 9.98284085e-01 -5.00650358e-03 -6.04550648e+01] [-4.14877657e-02 2.58612354e-03 9.99135665e-01 -2.98581526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.320714057 meters 0.03838714044177767 Centerline is valid? [True, True] Translation: X:452.45, Y:-60.46, Z:-29.86 [[ 9.97541041e-01 5.70231054e-02 4.07459947e-02 4.52445098e+02] [-5.68686252e-02 9.98369442e-01 -4.94130288e-03 -6.04630751e+01] [-4.09613244e-02 2.61198371e-03 9.99157319e-01 -2.98605119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.350714057 meters 0.037607225791813435 Centerline is valid? [True, True] Translation: X:452.47, Y:-60.47, Z:-29.86 [[ 9.97606832e-01 5.61293350e-02 4.03745754e-02 4.52474134e+02] [-5.59770161e-02 9.98420062e-01 -4.89418075e-03 -6.04662709e+01] [-4.05854932e-02 2.62241990e-03 9.99172628e-01 -2.98612086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.380714057 meters 0.04081552101735506 Centerline is valid? [True, True] Translation: X:452.50, Y:-60.48, Z:-29.86 [[ 9.97752772e-01 5.38364601e-02 3.98878692e-02 4.52502579e+02] [-5.36860782e-02 9.98546169e-01 -4.83248915e-03 -6.04753032e+01] [-4.00900431e-02 2.68020618e-03 9.99192476e-01 -2.98630642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.410714057 meters 0.03987480013133844 Centerline is valid? [True, True] Translation: X:452.53, Y:-60.48, Z:-29.86 [[ 9.97821386e-01 5.25497548e-02 3.98873964e-02 4.52531992e+02] [-5.23983691e-02 9.98614571e-01 -4.83204231e-03 -6.04777619e+01] [-4.00860579e-02 2.73148064e-03 9.99192497e-01 -2.98640268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.440714057 meters 0.0394621855159096 Centerline is valid? [True, True] Translation: X:452.56, Y:-60.48, Z:-29.86 [[ 9.97864799e-01 5.04120559e-02 4.15267014e-02 4.52561354e+02] [-5.02461840e-02 9.98724201e-01 -5.02910036e-03 -6.04826844e+01] [-4.17272489e-02 2.93180395e-03 9.99124738e-01 -2.98645667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.470714057 meters 0.04548003574720543 Centerline is valid? [True, True] Translation: X:452.59, Y:-60.50, Z:-29.87 [[ 9.97921962e-01 4.83219700e-02 4.26232992e-02 4.52589195e+02] [-4.81453975e-02 9.98827009e-01 -5.16007185e-03 -6.04962470e+01] [-4.28226473e-02 3.09723334e-03 9.99077889e-01 -2.98669016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.500714057 meters 0.03966569501230304 Centerline is valid? [True, True] Translation: X:452.62, Y:-60.49, Z:-29.87 [[ 9.97918944e-01 4.78562381e-02 4.32153024e-02 4.52620103e+02] [-4.76743109e-02 9.98849235e-01 -5.23122343e-03 -6.04918907e+01] [-4.34159184e-02 3.16007720e-03 9.99052087e-01 -2.98667036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.530714057 meters 0.040790956200116635 Centerline is valid? [True, True] Translation: X:452.65, Y:-60.50, Z:-29.87 [[ 9.97973797e-01 4.70897481e-02 4.27885144e-02 4.52649446e+02] [-4.69107867e-02 9.98885665e-01 -5.17752013e-03 -6.04974205e+01] [-4.29846418e-02 3.15978655e-03 9.99070736e-01 -2.98685250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.560714057 meters 0.04182942275769258 Centerline is valid? [True, True] Translation: X:452.68, Y:-60.50, Z:-29.87 [[ 9.97982977e-01 4.68844420e-02 4.27998411e-02 4.52679760e+02] [-4.67052092e-02 9.98895292e-01 -5.17863279e-03 -6.05026574e+01] [-4.29953571e-02 3.16921184e-03 9.99070245e-01 -2.98705184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.590714057 meters 0.0396861131145086 Centerline is valid? [True, True] Translation: X:452.71, Y:-60.50, Z:-29.87 [[ 9.97996480e-01 4.66394841e-02 4.27525870e-02 4.52710392e+02] [-4.64603803e-02 9.98906734e-01 -5.17392658e-03 -6.05035506e+01] [-4.29471563e-02 3.17725906e-03 9.99072293e-01 -2.98720868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.620714057 meters 0.03908031502488094 Centerline is valid? [True, True] Translation: X:452.74, Y:-60.51, Z:-29.87 [[ 9.98105312e-01 4.57592564e-02 4.11324168e-02 4.52740936e+02] [-4.55927372e-02 9.98947708e-01 -4.97785326e-03 -6.05065390e+01] [-4.13169164e-02 3.09308231e-03 9.99141304e-01 -2.98744917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.650714057 meters 0.03971710071188283 Centerline is valid? [True, True] Translation: X:452.77, Y:-60.51, Z:-29.88 [[ 9.98168446e-01 4.51401001e-02 4.02756202e-02 4.52770803e+02] [-4.49799498e-02 9.98975999e-01 -4.87416356e-03 -6.05108727e+01] [-4.04543981e-02 3.05364089e-03 9.99176720e-01 -2.98770990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.680714057 meters 0.04469768545984949 Centerline is valid? [True, True] Translation: X:452.80, Y:-60.52, Z:-29.88 [[ 9.98275161e-01 4.37851018e-02 3.91096849e-02 4.52799550e+02] [-4.36331272e-02 9.99036418e-01 -4.73141421e-03 -6.05216921e+01] [-3.92791650e-02 3.01677543e-03 9.99223722e-01 -2.98821230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.710714057 meters 0.07611466222288053 Centerline is valid? [True, True] Translation: X:452.82, Y:-60.57, Z:-29.89 [[ 9.98159324e-01 4.43038284e-02 4.14141790e-02 4.52824705e+02] [-4.41337679e-02 9.99013058e-01 -5.01207835e-03 -6.05676637e+01] [-4.15953599e-02 3.17508898e-03 9.99129494e-01 -2.98925171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.740714057 meters 0.04256129366640886 Centerline is valid? [True, True] Translation: X:452.86, Y:-60.53, Z:-29.89 [[ 9.98416038e-01 4.09319523e-02 3.86003884e-02 4.52860699e+02] [-4.07812659e-02 9.99157122e-01 -4.68341846e-03 -6.05251858e+01] [-3.87595544e-02 3.10182740e-03 9.99243752e-01 -2.98850428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.770714057 meters 0.04772155947817741 Centerline is valid? [True, True] Translation: X:452.89, Y:-60.54, Z:-29.89 [[ 9.98456386e-01 3.95749185e-02 3.89701287e-02 4.52890296e+02] [-3.94203746e-02 9.99211537e-01 -4.72645125e-03 -6.05363690e+01] [-3.91264511e-02 3.18293836e-03 9.99229198e-01 -2.98892323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.800714057 meters 0.04811448194831167 Centerline is valid? [True, True] Translation: X:452.92, Y:-60.54, Z:-29.89 [[ 9.98435583e-01 4.00365263e-02 3.90315652e-02 4.52922356e+02] [-3.98817352e-02 9.99193180e-01 -4.73669184e-03 -6.05404099e+01] [-3.91897144e-02 3.17263513e-03 9.99226751e-01 -2.98913640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.830714057 meters 0.04794545950472005 Centerline is valid? [True, True] Translation: X:452.95, Y:-60.54, Z:-29.89 [[ 9.98377542e-01 4.07534133e-02 3.97673586e-02 4.52953895e+02] [-4.05927515e-02 9.99164054e-01 -4.83950266e-03 -6.05423666e+01] [-3.99313415e-02 3.21738427e-03 9.99197246e-01 -2.98924906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.860714057 meters 0.04259803857398078 Centerline is valid? [True, True] Translation: X:452.99, Y:-60.54, Z:-29.89 [[ 9.98329813e-01 4.12622074e-02 4.04353215e-02 4.52986414e+02] [-4.10964567e-02 9.99143059e-01 -4.92218721e-03 -6.05376813e+01] [-4.06037712e-02 3.25221780e-03 9.99170034e-01 -2.98925604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.890714057 meters 0.04478509151668305 Centerline is valid? [True, True] Translation: X:453.02, Y:-60.54, Z:-29.89 [[ 9.98207280e-01 4.26469667e-02 4.19936113e-02 4.53016515e+02] [-4.24693221e-02 9.99084684e-01 -5.11374808e-03 -6.05422416e+01] [-4.21732597e-02 3.32114035e-03 9.99104792e-01 -2.98935587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.920714057 meters 0.043726541167216054 Centerline is valid? [True, True] Translation: X:453.05, Y:-60.54, Z:-29.89 [[ 9.98160900e-01 4.31685793e-02 4.25592764e-02 4.53048172e+02] [-4.29865611e-02 9.99062205e-01 -5.18315985e-03 -6.05434839e+01] [-4.27431142e-02 3.34415057e-03 9.99080499e-01 -2.98944749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.950714057 meters 0.041644368293815695 Centerline is valid? [True, True] Translation: X:453.08, Y:-60.54, Z:-29.89 [[ 9.97993349e-01 4.42603116e-02 4.52802423e-02 4.53079603e+02] [-4.40552807e-02 9.99013864e-01 -5.51648474e-03 -6.05426832e+01] [-4.54797512e-02 3.51058129e-03 9.98959092e-01 -2.98949178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.980714057 meters 0.041549051985899026 Centerline is valid? [True, True] Translation: X:453.11, Y:-60.55, Z:-29.90 [[ 9.97910455e-01 4.49900155e-02 4.63747985e-02 4.53111014e+02] [-4.47756947e-02 9.98981085e-01 -5.65049586e-03 -6.05454429e+01] [-4.65817624e-02 3.56222508e-03 9.98908129e-01 -2.98963775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.01071405700003 meters 0.0409967396446633 Centerline is valid? [True, True] Translation: X:453.14, Y:-60.55, Z:-29.90 [[ 9.97797501e-01 4.66541633e-02 4.71543931e-02 4.53142634e+02] [-4.64343423e-02 9.98904812e-01 -5.74702529e-03 -6.05464947e+01] [-4.73708729e-02 3.54478424e-03 9.98871080e-01 -2.98989488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.040714057 meters 0.03889924497276722 Centerline is valid? [True, True] Translation: X:453.17, Y:-60.55, Z:-29.90 [[ 9.97758123e-01 4.74943496e-02 4.71488494e-02 4.53173824e+02] [-4.72753830e-02 9.98865349e-01 -5.74908346e-03 -6.05463096e+01] [-4.73684009e-02 3.50721481e-03 9.98871330e-01 -2.99009630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.070714057 meters 0.042742232213932446 Centerline is valid? [True, True] Translation: X:453.20, Y:-60.55, Z:-29.91 [[ 9.97685041e-01 4.91102276e-02 4.70398188e-02 4.53203424e+02] [-4.88939684e-02 9.98787494e-01 -5.73769916e-03 -6.05536564e+01] [-4.72645624e-02 3.42445322e-03 9.98876536e-01 -2.99051082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.100714057 meters 0.03639631352600789 Centerline is valid? [True, True] Translation: X:453.23, Y:-60.55, Z:-29.91 [[ 9.97623613e-01 5.01531166e-02 4.72418442e-02 4.53234974e+02] [-4.99361060e-02 9.98735785e-01 -5.76340426e-03 -6.05460116e+01] [-4.74711730e-02 3.39063444e-03 9.98866854e-01 -2.99060352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.130714057 meters 0.036798998036023586 Centerline is valid? [True, True] Translation: X:453.27, Y:-60.55, Z:-29.91 [[ 9.97554803e-01 5.07996159e-02 4.79980639e-02 4.53265438e+02] [-5.05763391e-02 9.98703032e-01 -5.85566145e-03 -6.05494716e+01] [-4.82332773e-02 3.41377685e-03 9.98830264e-01 -2.99082520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.160714057 meters 0.03896684330834957 Centerline is valid? [True, True] Translation: X:453.29, Y:-60.55, Z:-29.91 [[ 9.97513388e-01 5.19780572e-02 4.75954109e-02 4.53294725e+02] [-5.17598398e-02 9.98642679e-01 -5.80671910e-03 -6.05540397e+01] [-4.78326307e-02 3.32874920e-03 9.98849818e-01 -2.99113636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.190714057 meters 0.03770157566861522 Centerline is valid? [True, True] Translation: X:453.32, Y:-60.55, Z:-29.91 [[ 9.97473080e-01 5.28864322e-02 4.74392320e-02 4.53324598e+02] [-5.26707006e-02 9.98595167e-01 -5.78697655e-03 -6.05548255e+01] [-4.76786403e-02 3.27369574e-03 9.98857362e-01 -2.99132434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.220714057 meters 0.03660975712785319 Centerline is valid? [True, True] Translation: X:453.35, Y:-60.55, Z:-29.92 [[ 9.97392568e-01 5.51676889e-02 4.65251741e-02 4.53354780e+02] [-5.49627536e-02 9.98472286e-01 -5.67362744e-03 -6.05541399e+01] [-4.67670979e-02 3.10168215e-03 9.98901005e-01 -2.99161514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.250714057 meters 0.035518661579657634 Centerline is valid? [True, True] Translation: X:453.39, Y:-60.55, Z:-29.92 [[ 9.97331546e-01 5.67047169e-02 4.59821947e-02 4.53385008e+02] [-5.65062051e-02 9.98386506e-01 -5.60658908e-03 -6.05547341e+01] [-4.62259227e-02 2.99334883e-03 9.98926526e-01 -2.99182455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.280714057 meters 0.03714801013300052 Centerline is valid? [True, True] Translation: X:453.41, Y:-60.56, Z:-29.92 [[ 9.97115103e-01 6.08018926e-02 4.54378909e-02 4.53414170e+02] [-6.06123258e-02 9.98146012e-01 -5.53945477e-03 -6.05575883e+01] [-4.56904589e-02 2.76937777e-03 9.98951807e-01 -2.99213044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.310714057 meters 0.03565365834803185 Centerline is valid? [True, True] Translation: X:453.44, Y:-60.56, Z:-29.92 [[ 9.96999064e-01 6.24626694e-02 4.57305373e-02 4.53443321e+02] [-6.22724126e-02 9.98043621e-01 -5.57464883e-03 -6.05571623e+01] [-4.59892785e-02 2.71016878e-03 9.98938257e-01 -2.99222849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.340714057 meters 0.03449460426885131 Centerline is valid? [True, True] Translation: X:453.47, Y:-60.56, Z:-29.92 [[ 9.96704846e-01 6.55563378e-02 4.77683589e-02 4.53473836e+02] [-6.53524655e-02 9.97845276e-01 -5.81897535e-03 -6.05566497e+01] [-4.80469020e-02 2.67802091e-03 9.98841491e-01 -2.99218861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.370714057 meters 0.033674706417089716 Centerline is valid? [True, True] Translation: X:453.50, Y:-60.56, Z:-29.92 [[ 9.96546670e-01 6.69016190e-02 4.91823859e-02 4.53503070e+02] [-6.66871411e-02 9.97755950e-01 -5.99076437e-03 -6.05568240e+01] [-4.94728100e-02 2.69024358e-03 9.98771848e-01 -2.99221473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.400714057 meters 0.034047627462984696 Centerline is valid? [True, True] Translation: X:453.53, Y:-60.56, Z:-29.92 [[ 9.96526116e-01 6.70763473e-02 4.93605409e-02 4.53531211e+02] [-6.68607013e-02 9.97744226e-01 -6.00891280e-03 -6.05602834e+01] [-4.96522506e-02 2.68775816e-03 9.98762950e-01 -2.99239599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.430714057 meters 0.03900484293179788 Centerline is valid? [True, True] Translation: X:453.56, Y:-60.57, Z:-29.93 [[ 9.96612684e-01 6.58536485e-02 4.92590628e-02 4.53557252e+02] [-6.56375597e-02 9.97825531e-01 -5.99335825e-03 -6.05711219e+01] [-4.95466350e-02 2.73981217e-03 9.98768053e-01 -2.99272344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.460714057 meters 0.03320951726443028 Centerline is valid? [True, True] Translation: X:453.59, Y:-60.57, Z:-29.93 [[ 9.96684124e-01 6.49035047e-02 4.90743545e-02 4.53586835e+02] [-6.46881565e-02 9.97887697e-01 -5.96544335e-03 -6.05656282e+01] [-4.93578728e-02 2.77113315e-03 9.98777313e-01 -2.99276714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.490714057 meters 0.03487546492558825 Centerline is valid? [True, True] Translation: X:453.62, Y:-60.57, Z:-29.93 [[ 9.96970326e-01 6.15593011e-02 4.75459879e-02 4.53615053e+02] [-6.13535577e-02 9.98099383e-01 -5.77596576e-03 -6.05714668e+01] [-4.78111856e-02 2.84135096e-03 9.98852350e-01 -2.99301703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.520714057 meters 0.036526466259222436 Centerline is valid? [True, True] Translation: X:453.64, Y:-60.58, Z:-29.93 [[ 9.97107423e-01 5.94888736e-02 4.73060421e-02 4.53642474e+02] [-5.92829615e-02 9.98224686e-01 -5.74516801e-03 -6.05772696e+01] [-4.75638326e-02 2.92410739e-03 9.98863920e-01 -2.99325776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.550714057 meters 0.03707464062395086 Centerline is valid? [True, True] Translation: X:453.67, Y:-60.58, Z:-29.93 [[ 9.97265111e-01 5.74981246e-02 4.64355858e-02 4.53671807e+02] [-5.72976672e-02 9.98341222e-01 -5.63756105e-03 -6.05815813e+01] [-4.66827087e-02 2.96149221e-03 9.98905378e-01 -2.99346978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.580714057 meters 0.03933721134039727 Centerline is valid? [True, True] Translation: X:453.70, Y:-60.59, Z:-29.94 [[ 9.97506357e-01 5.41732470e-02 4.52363527e-02 4.53699849e+02] [-5.39796869e-02 9.98526939e-01 -5.49040220e-03 -6.05884057e+01] [-4.54671497e-02 3.03486695e-03 9.98961224e-01 -2.99370641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.610714057 meters 0.04118320205348272 Centerline is valid? [True, True] Translation: X:453.73, Y:-60.59, Z:-29.94 [[ 9.97661804e-01 5.14311119e-02 4.50085037e-02 4.53729772e+02] [-5.12368133e-02 9.98671602e-01 -5.46073099e-03 -6.05942327e+01] [-4.52295660e-02 3.14187043e-03 9.98971679e-01 -2.99392635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.640714057 meters 0.04155547131836103 Centerline is valid? [True, True] Translation: X:453.76, Y:-60.60, Z:-29.94 [[ 9.97693478e-01 5.08094972e-02 4.50124276e-02 4.53759533e+02] [-5.06145158e-02 9.98703330e-01 -5.46163971e-03 -6.05983828e+01] [-4.52315645e-02 3.17076009e-03 9.98971497e-01 -2.99408383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.670714057 meters 0.043035339779947064 Centerline is valid? [True, True] Translation: X:453.79, Y:-60.60, Z:-29.94 [[ 9.97781600e-01 4.96501000e-02 4.43480032e-02 4.53788189e+02] [-4.94597560e-02 9.98761629e-01 -5.37972777e-03 -6.06020256e+01] [-4.45601879e-02 3.17435197e-03 9.99001658e-01 -2.99429892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.700714057 meters 0.0438067371457819 Centerline is valid? [True, True] Translation: X:453.82, Y:-60.61, Z:-29.94 [[ 9.97826702e-01 4.91564873e-02 4.38806708e-02 4.53817765e+02] [-4.89697721e-02 9.98786090e-01 -5.32055415e-03 -6.06054483e+01] [-4.40889433e-02 3.16016455e-03 9.99022612e-01 -2.99446162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.730714057 meters 0.04507358247020891 Centerline is valid? [True, True] Translation: X:453.85, Y:-60.61, Z:-29.95 [[ 9.97914156e-01 4.78647196e-02 4.33163419e-02 4.53846947e+02] [-4.76816444e-02 9.98848784e-01 -5.25042035e-03 -6.06103535e+01] [-4.35177854e-02 3.17407438e-03 9.99047610e-01 -2.99472969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.76071405700003 meters 0.04736084182713452 Centerline is valid? [True, True] Translation: X:453.88, Y:-60.62, Z:-29.95 [[ 9.98083262e-01 4.56510134e-02 4.17826239e-02 4.53876001e+02] [-4.54787850e-02 9.98952470e-01 -5.06379257e-03 -6.06167856e+01] [-4.19700226e-02 3.15386364e-03 9.99113893e-01 -2.99503860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.790714057 meters 0.04818673402130772 Centerline is valid? [True, True] Translation: X:453.91, Y:-60.62, Z:-29.95 [[ 9.98142055e-01 4.44943180e-02 4.16256476e-02 4.53905824e+02] [-4.43224053e-02 9.99004545e-01 -5.04422811e-03 -6.06210846e+01] [-4.18086506e-02 3.18990739e-03 9.99120544e-01 -2.99520016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.820714057 meters 0.04818673402130772 Centerline is valid? [True, True] Translation: X:453.93, Y:-60.62, Z:-29.95 [[ 9.98143531e-01 4.44611365e-02 4.16256998e-02 4.53934809e+02] [-4.42892129e-02 9.99006019e-01 -5.04379795e-03 -6.06245624e+01] [-4.18085776e-02 3.19086482e-03 9.99120544e-01 -2.99536936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.850714057 meters 0.04948802837976981 Centerline is valid? [True, True] Translation: X:453.97, Y:-60.63, Z:-29.95 [[ 9.98218572e-01 4.29569211e-02 4.14051460e-02 4.53965001e+02] [-4.27856104e-02 9.99071689e-01 -5.01514510e-03 -6.06288711e+01] [-4.15821443e-02 3.23466653e-03 9.99129853e-01 -2.99549853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.880714057 meters 0.051849716391635846 Centerline is valid? [True, True] Translation: X:454.00, Y:-60.63, Z:-29.96 [[ 9.98313136e-01 4.02731704e-02 4.18204989e-02 4.53995654e+02] [-4.00960741e-02 9.99182991e-01 -5.06520308e-03 -6.06338179e+01] [-4.19903230e-02 3.37982095e-03 9.99112301e-01 -2.99557202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.910714057 meters 0.05246746106368943 Centerline is valid? [True, True] Translation: X:454.03, Y:-60.64, Z:-29.96 [[ 9.98371829e-01 3.87879858e-02 4.18232352e-02 4.54026636e+02] [-3.86095553e-02 9.99241532e-01 -5.06593954e-03 -6.06381780e+01] [-4.19880112e-02 3.44291481e-03 9.99112183e-01 -2.99572180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.940714057 meters 0.054877933243206854 Centerline is valid? [True, True] Translation: X:454.06, Y:-60.64, Z:-29.96 [[ 9.98475025e-01 3.64247537e-02 4.14832809e-02 4.54056129e+02] [-3.62471106e-02 9.99330216e-01 -5.02666081e-03 -6.06448380e+01] [-4.16385909e-02 3.51534620e-03 9.99126554e-01 -2.99594293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.970714057 meters 0.04635938027195317 Centerline is valid? [True, True] Translation: X:454.09, Y:-60.64, Z:-29.96 [[ 9.98531272e-01 3.53391070e-02 4.10663550e-02 4.54089841e+02] [-3.51641573e-02 9.99369167e-01 -4.97495387e-03 -6.06366461e+01] [-4.12162594e-02 3.52358325e-03 9.99144036e-01 -2.99596465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.000714057 meters 0.04778466300185691 Centerline is valid? [True, True] Translation: X:454.12, Y:-60.64, Z:-29.96 [[ 9.98643417e-01 3.37624901e-02 3.96411415e-02 4.54120628e+02] [-3.35981161e-02 9.99423870e-01 -4.80563840e-03 -6.06415109e+01] [-3.97805534e-02 3.46725148e-03 9.99202425e-01 -2.99620714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.030714057 meters 0.04994723694497199 Centerline is valid? [True, True] Translation: X:454.15, Y:-60.65, Z:-29.96 [[ 9.98740644e-01 3.25182584e-02 3.82058671e-02 4.54150311e+02] [-3.23646013e-02 9.99465388e-01 -4.63360707e-03 -6.06458875e+01] [-3.83361186e-02 3.39125405e-03 9.99259146e-01 -2.99642780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.060714057 meters 0.05077532785466336 Centerline is valid? [True, True] Translation: X:454.18, Y:-60.65, Z:-29.97 [[ 9.98744859e-01 3.26844183e-02 3.79530578e-02 4.54182683e+02] [-3.25330906e-02 9.99460082e-01 -4.59816343e-03 -6.06497724e+01] [-3.80828546e-02 3.35766182e-03 9.99268944e-01 -2.99661762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.090714057 meters 0.050523971288869235 Centerline is valid? [True, True] Translation: X:454.22, Y:-60.65, Z:-29.97 [[ 9.98727007e-01 3.33010373e-02 3.78867650e-02 4.54215127e+02] [-3.31502076e-02 9.99439783e-01 -4.60250199e-03 -6.06532411e+01] [-3.80188083e-02 3.34068891e-03 9.99271440e-01 -2.99678279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.120714057 meters 0.046798471812261884 Centerline is valid? [True, True] Translation: X:454.25, Y:-60.65, Z:-29.97 [[ 9.98672845e-01 3.47274494e-02 3.80335887e-02 4.54247002e+02] [-3.45763073e-02 9.99391360e-01 -4.62469328e-03 -6.06499109e+01] [-3.81710438e-02 3.30349454e-03 9.99265760e-01 -2.99679143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.150714057 meters 0.045639650179723525 Centerline is valid? [True, True] Translation: X:454.28, Y:-60.65, Z:-29.97 [[ 9.98634338e-01 3.68058207e-02 3.70781641e-02 4.54278537e+02] [-3.66635551e-02 9.99317490e-01 -4.50980428e-03 -6.06484455e+01] [-3.72188449e-02 3.14422810e-03 9.99302192e-01 -2.99687562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.180714057 meters 0.04719757881548196 Centerline is valid? [True, True] Translation: X:454.31, Y:-60.65, Z:-29.97 [[ 9.98564777e-01 3.85530143e-02 3.71759449e-02 4.54308371e+02] [-3.84111211e-02 9.99251781e-01 -4.52377625e-03 -6.06527140e+01] [-3.73225344e-02 3.08931390e-03 9.99298496e-01 -2.99704122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.210714057 meters 0.04469177096406697 Centerline is valid? [True, True] Translation: X:454.34, Y:-60.65, Z:-29.97 [[ 9.98536578e-01 3.98521056e-02 3.65583480e-02 4.54338300e+02] [-3.97157275e-02 9.99201113e-01 -4.44937154e-03 -6.06510586e+01] [-3.67064589e-02 2.99091884e-03 9.99321615e-01 -2.99710220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.240714057 meters 0.042584387249441975 Centerline is valid? [True, True] Translation: X:454.37, Y:-60.65, Z:-29.97 [[ 9.98357239e-01 4.37528518e-02 3.69933868e-02 4.54368676e+02] [-4.36159413e-02 9.99038236e-01 -4.50029345e-03 -6.06500425e+01] [-3.71547085e-02 2.87939916e-03 9.99305377e-01 -2.99723073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.270714057 meters 0.04135536112793064 Centerline is valid? [True, True] Translation: X:454.40, Y:-60.65, Z:-29.97 [[ 9.98274824e-01 4.55915545e-02 3.69971178e-02 4.54398368e+02] [-4.54558498e-02 9.98956207e-01 -4.50132054e-03 -6.06509019e+01] [-3.71637227e-02 2.81181954e-03 9.99305234e-01 -2.99741105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.300714057 meters 0.041022064367857915 Centerline is valid? [True, True] Translation: X:454.43, Y:-60.65, Z:-29.98 [[ 9.98068025e-01 5.00228337e-02 3.68501404e-02 4.54428077e+02] [-4.98912685e-02 9.98744599e-01 -4.48180543e-03 -6.06522832e+01] [-3.70280713e-02 2.63464645e-03 9.99310753e-01 -2.99757313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.330714057 meters 0.038456236924321645 Centerline is valid? [True, True] Translation: X:454.46, Y:-60.65, Z:-29.98 [[ 9.98000372e-01 5.17189497e-02 3.63374148e-02 4.54457780e+02] [-5.15921423e-02 9.98658460e-01 -4.41939494e-03 -6.06507316e+01] [-3.65172332e-02 2.53583272e-03 9.99329806e-01 -2.99762829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.360714057 meters 0.03678495136428632 Centerline is valid? [True, True] Translation: X:454.49, Y:-60.65, Z:-29.98 [[ 9.97764341e-01 5.64327516e-02 3.58003537e-02 4.54488141e+02] [-5.63127941e-02 9.98403695e-01 -4.35106961e-03 -6.06507983e+01] [-3.59887482e-02 2.32532416e-03 9.99349490e-01 -2.99776975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.390714057 meters 0.03586653183094685 Centerline is valid? [True, True] Translation: X:454.52, Y:-60.65, Z:-29.98 [[ 9.97645487e-01 5.86699155e-02 3.55151149e-02 4.54518157e+02] [-5.85532646e-02 9.98274953e-01 -4.31666715e-03 -6.06531462e+01] [-3.57071081e-02 2.22697758e-03 9.99359817e-01 -2.99796655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.420714057 meters 0.035286220776437754 Centerline is valid? [True, True] Translation: X:454.55, Y:-60.66, Z:-29.98 [[ 9.97447469e-01 6.26808213e-02 3.42003133e-02 4.54546923e+02] [-6.25750053e-02 9.98031608e-01 -4.15669247e-03 -6.06557700e+01] [-3.43935386e-02 2.00599759e-03 9.99406354e-01 -2.99821166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.450714057 meters 0.03403278533954663 Centerline is valid? [True, True] Translation: X:454.58, Y:-60.66, Z:-29.98 [[ 9.97340497e-01 6.43260162e-02 3.42650810e-02 4.54575632e+02] [-6.42207798e-02 9.97927027e-01 -4.16417177e-03 -6.06570827e+01] [-3.44619150e-02 1.95256692e-03 9.99404104e-01 -2.99830510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.480714057 meters 0.03708884224493761 Centerline is valid? [True, True] Translation: X:454.60, Y:-60.67, Z:-29.99 [[ 9.97151821e-01 6.72884281e-02 3.40663152e-02 4.54603464e+02] [-6.71862463e-02 9.97731876e-01 -4.13669155e-03 -6.06652139e+01] [-3.42674001e-02 1.83612166e-03 9.99411014e-01 -2.99871426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.51071405700003 meters 0.03550732614527201 Centerline is valid? [True, True] Translation: X:454.63, Y:-60.67, Z:-29.99 [[ 9.97112740e-01 6.82790291e-02 3.32288837e-02 4.54632338e+02] [-6.81823685e-02 9.97664716e-01 -4.03474004e-03 -6.06658332e+01] [-3.34267729e-02 1.75746671e-03 9.99439624e-01 -2.99876330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.540714057 meters 0.03229603316829235 Centerline is valid? [True, True] Translation: X:454.66, Y:-60.67, Z:-29.99 [[ 9.97036164e-01 6.95851617e-02 3.28145149e-02 4.54661862e+02] [-6.94916891e-02 9.97574584e-01 -3.98182116e-03 -6.06651825e+01] [-3.30120017e-02 1.68968363e-03 9.99453527e-01 -2.99876202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.570714057 meters 0.03373776551975888 Centerline is valid? [True, True] Translation: X:454.69, Y:-60.67, Z:-29.99 [[ 9.96989873e-01 7.01848522e-02 3.29435712e-02 4.54689129e+02] [-7.00910003e-02 9.97532596e-01 -3.99653838e-03 -6.06716971e+01] [-3.31427825e-02 1.67546044e-03 9.99449223e-01 -2.99902186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.600714057 meters 0.033551780239213874 Centerline is valid? [True, True] Translation: X:454.72, Y:-60.68, Z:-29.99 [[ 9.96975670e-01 7.01411776e-02 3.34623371e-02 4.54717733e+02] [-7.00444411e-02 9.97535626e-01 -4.05589955e-03 -6.06759734e+01] [-3.36643590e-02 1.69978247e-03 9.99431749e-01 -2.99914837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.630714057 meters 0.03250056390045523 Centerline is valid? [True, True] Translation: X:454.75, Y:-60.68, Z:-29.99 [[ 9.97044659e-01 6.93440591e-02 3.30658389e-02 4.54746618e+02] [-6.92492406e-02 9.97591348e-01 -4.00558178e-03 -6.06774744e+01] [-3.32639581e-02 1.70395969e-03 9.99445149e-01 -2.99916706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.660714057 meters 0.03314497254977624 Centerline is valid? [True, True] Translation: X:454.77, Y:-60.68, Z:-29.99 [[ 9.97113318e-01 6.81502465e-02 3.34749798e-02 4.54774266e+02] [-6.80524647e-02 9.97673511e-01 -4.05308181e-03 -6.06834407e+01] [-3.36733192e-02 1.76332697e-03 9.99431337e-01 -2.99934881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.690714057 meters 0.03422420310984301 Centerline is valid? [True, True] Translation: X:454.80, Y:-60.69, Z:-30.00 [[ 9.97232734e-01 6.62610642e-02 3.37097141e-02 4.54802088e+02] [-6.61609638e-02 9.97800632e-01 -4.07754355e-03 -6.06910985e+01] [-3.39057564e-02 1.83599273e-03 9.99423348e-01 -2.99965720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.720714057 meters 0.03508763921462412 Centerline is valid? [True, True] Translation: X:454.83, Y:-60.70, Z:-30.00 [[ 9.97295116e-01 6.51268725e-02 3.40725942e-02 4.54829107e+02] [-6.50239808e-02 9.97875195e-01 -4.12038167e-03 -6.06970601e+01] [-3.42685442e-02 1.89370080e-03 9.99410867e-01 -2.99985634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.750714057 meters 0.035835996775407976 Centerline is valid? [True, True] Translation: X:454.86, Y:-60.70, Z:-30.00 [[ 9.97397357e-01 6.28134410e-02 3.53975055e-02 4.54857618e+02] [-6.27010828e-02 9.98023189e-01 -4.27647303e-03 -6.07035641e+01] [-3.55961514e-02 2.04588097e-03 9.99364162e-01 -2.99989313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.780714057 meters 0.03612079168412526 Centerline is valid? [True, True] Translation: X:454.89, Y:-60.71, Z:-30.00 [[ 9.97437489e-01 6.15948446e-02 3.63940992e-02 4.54885590e+02] [-6.14753057e-02 9.98098926e-01 -4.39559349e-03 -6.07083010e+01] [-3.65956572e-02 2.14699136e-03 9.99327848e-01 -3.00001284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.810714057 meters 0.03690646027426216 Centerline is valid? [True, True] Translation: X:454.91, Y:-60.72, Z:-30.00 [[ 9.97546005e-01 5.94436542e-02 3.69921576e-02 4.54914474e+02] [-5.93188457e-02 9.98229109e-01 -4.46333521e-03 -6.07154731e+01] [-3.71919655e-02 2.25805012e-03 9.99305588e-01 -3.00016563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.840714057 meters 0.03730537238173537 Centerline is valid? [True, True] Translation: X:454.94, Y:-60.72, Z:-30.00 [[ 9.97599237e-01 5.84363376e-02 3.71612184e-02 4.54942910e+02] [-5.83097117e-02 9.98288475e-01 -4.48312715e-03 -6.07206577e+01] [-3.73595936e-02 2.30550429e-03 9.99299227e-01 -3.00038601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.870714057 meters 0.036879258127907745 Centerline is valid? [True, True] Translation: X:454.97, Y:-60.73, Z:-30.01 [[ 9.97779336e-01 5.53598096e-02 3.70363089e-02 4.54972570e+02] [-5.52320619e-02 9.98463564e-01 -4.46434254e-03 -6.07261706e+01] [-3.72265502e-02 2.40883702e-03 9.99303948e-01 -3.00057370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.900714057 meters 0.03945092070121364 Centerline is valid? [True, True] Translation: X:455.00, Y:-60.73, Z:-30.01 [[ 9.97880177e-01 5.37264451e-02 3.67235902e-02 4.54999925e+02] [-5.35997419e-02 9.98552688e-01 -4.42675378e-03 -6.07344788e+01] [-3.69082735e-02 2.44899489e-03 9.99315657e-01 -3.00089440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.930714057 meters 0.03869500944996444 Centerline is valid? [True, True] Translation: X:455.03, Y:-60.74, Z:-30.01 [[ 9.98074253e-01 5.02784738e-02 3.63298910e-02 4.55029534e+02] [-5.01523022e-02 9.98731992e-01 -4.37652887e-03 -6.07386761e+01] [-3.65038696e-02 2.54607311e-03 9.99330268e-01 -3.00109858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.960714057 meters 0.04138732968643308 Centerline is valid? [True, True] Translation: X:455.06, Y:-60.75, Z:-30.01 [[ 9.98270236e-01 4.71291439e-02 3.51479818e-02 4.55057364e+02] [-4.70091419e-02 9.98885489e-01 -4.23326619e-03 -6.07480138e+01] [-3.53083192e-02 2.57366718e-03 9.99373153e-01 -3.00142614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.990714057 meters 0.042202935243576795 Centerline is valid? [True, True] Translation: X:455.09, Y:-60.75, Z:-30.02 [[ 9.98319046e-01 4.62256646e-02 3.49609939e-02 4.55086298e+02] [-4.61063664e-02 9.98927659e-01 -4.21129963e-03 -6.07536858e+01] [-3.51181739e-02 2.59229623e-03 9.99379805e-01 -3.00166382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.020714057 meters 0.042981788529299306 Centerline is valid? [True, True] Translation: X:455.12, Y:-60.76, Z:-30.02 [[ 9.98394475e-01 4.47495820e-02 3.47267510e-02 4.55115427e+02] [-4.46310330e-02 9.98994786e-01 -4.18185846e-03 -6.07589720e+01] [-3.48789796e-02 2.62525361e-03 9.99388095e-01 -3.00189360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.050714057 meters 0.04193130670709334 Centerline is valid? [True, True] Translation: X:455.15, Y:-60.76, Z:-30.02 [[ 9.98502982e-01 4.23077165e-02 3.46677512e-02 4.55145931e+02] [-4.21881781e-02 9.99100969e-01 -4.17272242e-03 -6.07608007e+01] [-3.48131221e-02 2.70390652e-03 9.99390182e-01 -3.00193918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.080714057 meters 0.04383046859048696 Centerline is valid? [True, True] Translation: X:455.17, Y:-60.77, Z:-30.02 [[ 9.98537417e-01 4.13405315e-02 3.48423088e-02 4.55173422e+02] [-4.12191436e-02 9.99141322e-01 -4.19536198e-03 -6.07667949e+01] [-3.49858290e-02 2.75305578e-03 9.99384017e-01 -3.00214434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.110714057 meters 0.045223437106900036 Centerline is valid? [True, True] Translation: X:455.20, Y:-60.77, Z:-30.02 [[ 9.98600449e-01 3.94317602e-02 3.52459986e-02 4.55202399e+02] [-3.93064809e-02 9.99218203e-01 -4.24057119e-03 -6.07725685e+01] [-3.53856565e-02 2.84924013e-03 9.99369670e-01 -3.00231713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.140714057 meters 0.045578097332943615 Centerline is valid? [True, True] Translation: X:455.23, Y:-60.78, Z:-30.03 [[ 9.98616538e-01 3.84967351e-02 3.58191371e-02 4.55232690e+02] [-3.83668236e-02 9.99254438e-01 -4.30744316e-03 -6.07767657e+01] [-3.59582542e-02 2.92721746e-03 9.99349006e-01 -3.00251054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.170714057 meters 0.045126263161856126 Centerline is valid? [True, True] Translation: X:455.26, Y:-60.78, Z:-30.03 [[ 9.98641433e-01 3.68797046e-02 3.68126992e-02 4.55263322e+02] [-3.67413906e-02 9.99315002e-01 -4.42692432e-03 -6.07793095e+01] [-3.69507462e-02 3.06836029e-03 9.99312377e-01 -3.00260534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.200714057 meters 0.04593155007657608 Centerline is valid? [True, True] Translation: X:455.29, Y:-60.78, Z:-30.03 [[ 9.98617068e-01 3.58556259e-02 3.84489941e-02 4.55293689e+02] [-3.57039808e-02 9.99351713e-01 -4.62369755e-03 -6.07823287e+01] [-3.85898537e-02 3.24452114e-03 9.99249867e-01 -3.00262822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.230714057 meters 0.045720134474594686 Centerline is valid? [True, True] Translation: X:455.32, Y:-60.78, Z:-30.03 [[ 9.98570755e-01 3.58978899e-02 3.95953217e-02 4.55324985e+02] [-3.57371195e-02 9.99349885e-01 -4.76090887e-03 -6.07848144e+01] [-3.97404867e-02 3.33908162e-03 9.99204456e-01 -3.00273353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.26071405700003 meters 0.04713590792423612 Centerline is valid? [True, True] Translation: X:455.36, Y:-60.79, Z:-30.03 [[ 9.98452035e-01 3.69377548e-02 4.15828875e-02 4.55355574e+02] [-3.67612541e-02 9.99311561e-01 -5.00149149e-03 -6.07885543e+01] [-4.17390041e-02 3.46511026e-03 9.99122539e-01 -3.00284346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.290714057 meters 0.047991440544604184 Centerline is valid? [True, True] Translation: X:455.39, Y:-60.79, Z:-30.03 [[ 9.98396455e-01 3.77586567e-02 4.21758482e-02 4.55386525e+02] [-3.75778121e-02 9.99280829e-01 -5.07274670e-03 -6.07924138e+01] [-4.23370567e-02 3.47973622e-03 9.99097325e-01 -3.00301674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.320714057 meters 0.0475455128131026 Centerline is valid? [True, True] Translation: X:455.42, Y:-60.79, Z:-30.03 [[ 9.98353235e-01 3.83637457e-02 4.26502236e-02 4.55418420e+02] [-3.81790373e-02 9.99257710e-01 -5.13721161e-03 -6.07935940e+01] [-4.28156474e-02 3.50040735e-03 9.99076858e-01 -3.00318723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.350714057 meters 0.04833990496608766 Centerline is valid? [True, True] Translation: X:455.45, Y:-60.80, Z:-30.03 [[ 9.98358706e-01 3.82523567e-02 4.26222048e-02 4.55449287e+02] [-3.80676829e-02 9.99261962e-01 -5.13634519e-03 -6.07980288e+01] [-4.27872253e-02 3.50538636e-03 9.99078058e-01 -3.00344575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.380714057 meters 0.05045941254341114 Centerline is valid? [True, True] Translation: X:455.48, Y:-60.80, Z:-30.04 [[ 9.98393720e-01 3.74251191e-02 4.25363512e-02 4.55479425e+02] [-3.72403809e-02 9.99293182e-01 -5.12747068e-03 -6.08037299e+01] [-4.26981820e-02 3.53516460e-03 9.99081762e-01 -3.00383588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.410714057 meters 0.051147823079949764 Centerline is valid? [True, True] Translation: X:455.51, Y:-60.81, Z:-30.04 [[ 9.98483333e-01 3.60384213e-02 4.16204925e-02 4.55509955e+02] [-3.58602930e-02 9.99344211e-01 -5.01874962e-03 -6.08076815e+01] [-4.17740661e-02 3.51861479e-03 9.99120887e-01 -3.00410726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.440714057 meters 0.052443725745206046 Centerline is valid? [True, True] Translation: X:455.54, Y:-60.81, Z:-30.04 [[ 9.98521121e-01 3.51567457e-02 4.14677492e-02 4.55541417e+02] [-3.49791735e-02 9.99375533e-01 -5.00022188e-03 -6.08127565e+01] [-4.16176455e-02 3.54231956e-03 9.99127331e-01 -3.00441533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.470714057 meters 0.055045027730455214 Centerline is valid? [True, True] Translation: X:455.57, Y:-60.82, Z:-30.05 [[ 9.98569291e-01 3.36717880e-02 4.15401129e-02 4.55570918e+02] [-3.34922105e-02 9.99426413e-01 -5.01157428e-03 -6.08192162e+01] [-4.16850348e-02 3.61313397e-03 9.99124268e-01 -3.00467765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.500714057 meters 0.053264503745258415 Centerline is valid? [True, True] Translation: X:455.60, Y:-60.82, Z:-30.05 [[ 9.98582471e-01 3.32265813e-02 4.15817718e-02 4.55603595e+02] [-3.30462214e-02 9.99441230e-01 -5.01753229e-03 -6.08202025e+01] [-4.17252526e-02 3.63629935e-03 9.99122505e-01 -3.00483133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.530714057 meters 0.05642858869912191 Centerline is valid? [True, True] Translation: X:455.63, Y:-60.83, Z:-30.05 [[ 9.98633217e-01 3.18147985e-02 4.14670637e-02 4.55633328e+02] [-3.16336862e-02 9.99486940e-01 -5.01665237e-03 -6.08275546e+01] [-4.16053924e-02 3.69803962e-03 9.99127277e-01 -3.00517287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.560714057 meters 0.05757925281169452 Centerline is valid? [True, True] Translation: X:455.67, Y:-60.83, Z:-30.05 [[ 9.98648427e-01 3.12763502e-02 4.15103462e-02 4.55665410e+02] [-3.10944391e-02 9.99503840e-01 -5.02090316e-03 -6.08327506e+01] [-4.16467860e-02 3.72337611e-03 9.99125458e-01 -3.00544984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.590714057 meters 0.059151496602948356 Centerline is valid? [True, True] Translation: X:455.70, Y:-60.84, Z:-30.06 [[ 9.98686787e-01 3.03655530e-02 4.12629911e-02 4.55695529e+02] [-3.01845081e-02 9.99531820e-01 -5.00368697e-03 -6.08382067e+01] [-4.13956123e-02 3.75161298e-03 9.99135791e-01 -3.00574059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.620714057 meters 0.04854625028027822 Centerline is valid? [True, True] Translation: X:455.73, Y:-60.83, Z:-30.06 [[ 9.98679171e-01 3.01598493e-02 4.15968449e-02 4.55729487e+02] [-2.99757706e-02 9.99537909e-01 -5.04208779e-03 -6.08271396e+01] [-4.17296920e-02 3.78853058e-03 9.99121754e-01 -3.00564183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.650714057 meters 0.06121237957280676 Centerline is valid? [True, True] Translation: X:455.76, Y:-60.85, Z:-30.06 [[ 9.98688381e-01 2.96833806e-02 4.17182833e-02 4.55757912e+02] [-2.94972835e-02 9.99552005e-01 -5.06944039e-03 -6.08472481e+01] [-4.18500718e-02 3.83221518e-03 9.99116553e-01 -3.00605241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.680714057 meters 0.04812804560139004 Centerline is valid? [True, True] Translation: X:455.79, Y:-60.83, Z:-30.06 [[ 9.98694865e-01 2.96458101e-02 4.15895775e-02 4.55791983e+02] [-2.94606942e-02 9.99553147e-01 -5.05700766e-03 -6.08325127e+01] [-4.17209121e-02 3.82514976e-03 9.99121981e-01 -3.00593592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.710714057 meters 0.048435035039873786 Centerline is valid? [True, True] Translation: X:455.82, Y:-60.84, Z:-30.06 [[ 9.98649220e-01 2.98740245e-02 4.25120966e-02 4.55823787e+02] [-2.96803227e-02 9.99546018e-01 -5.18043362e-03 -6.08368074e+01] [-4.26475573e-02 3.91166324e-03 9.99082521e-01 -3.00618697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.740714057 meters 0.048435035039873786 Centerline is valid? [True, True] Translation: X:455.86, Y:-60.84, Z:-30.06 [[ 9.98640662e-01 3.01604959e-02 4.25108620e-02 4.55856246e+02] [-2.99666247e-02 9.99537423e-01 -5.19054206e-03 -6.08408486e+01] [-4.26477468e-02 3.90957930e-03 9.99082522e-01 -3.00637599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.770714057 meters 0.04892313653426945 Centerline is valid? [True, True] Translation: X:455.89, Y:-60.85, Z:-30.07 [[ 9.98593165e-01 3.04579551e-02 4.34051224e-02 4.55887753e+02] [-3.02555240e-02 9.99528075e-01 -5.31324029e-03 -6.08456466e+01] [-4.35464689e-02 3.99252071e-03 9.99043425e-01 -3.00655048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.800714057 meters 0.05073957807942525 Centerline is valid? [True, True] Translation: X:455.92, Y:-60.85, Z:-30.07 [[ 9.98484424e-01 3.06387162e-02 4.57178862e-02 4.55918373e+02] [-3.04137259e-02 9.99521658e-01 -5.60893819e-03 -6.08522299e+01] [-4.58678681e-02 4.20998615e-03 9.98938644e-01 -3.00663133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.830714057 meters 0.04841002407846744 Centerline is valid? [True, True] Translation: X:455.95, Y:-60.85, Z:-30.07 [[ 9.98427320e-01 3.08722708e-02 4.67951862e-02 4.55951281e+02] [-3.06362958e-02 9.99514049e-01 -5.75173846e-03 -6.08532878e+01] [-4.69500153e-02 4.30906165e-03 9.98887946e-01 -3.00670741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.860714057 meters 0.05027930200785553 Centerline is valid? [True, True] Translation: X:455.98, Y:-60.86, Z:-30.07 [[ 9.98368923e-01 3.00315214e-02 4.85551321e-02 4.55981352e+02] [-2.97756211e-02 9.99538688e-01 -5.98521137e-03 -6.08610427e+01] [-4.87124780e-02 4.52968981e-03 9.98802571e-01 -3.00684067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.890714057 meters 0.04970496016553536 Centerline is valid? [True, True] Translation: X:456.01, Y:-60.86, Z:-30.07 [[ 9.98380456e-01 2.95026395e-02 4.86421642e-02 4.56013429e+02] [-2.92452050e-02 9.99554285e-01 -5.99579744e-03 -6.08646986e+01] [-4.87973755e-02 4.56353691e-03 9.98798273e-01 -3.00702181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.920714057 meters 0.049615982436371775 Centerline is valid? [True, True] Translation: X:456.05, Y:-60.87, Z:-30.07 [[ 9.98428830e-01 2.90706788e-02 4.79037269e-02 4.56045093e+02] [-2.88199407e-02 9.99567108e-01 -5.91675627e-03 -6.08703486e+01] [-4.80549939e-02 4.52687747e-03 9.98834433e-01 -3.00735927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.950714057 meters 0.04995082011609414 Centerline is valid? [True, True] Translation: X:456.08, Y:-60.88, Z:-30.08 [[ 9.98450980e-01 2.88821441e-02 4.75548262e-02 4.56076726e+02] [-2.86342596e-02 9.99572627e-01 -5.88575433e-03 -6.08761504e+01] [-4.77044957e-02 4.51493994e-03 9.98851288e-01 -3.00768278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.980714057 meters 0.05854555404008902 Centerline is valid? [True, True] Translation: X:456.11, Y:-60.89, Z:-30.08 [[ 9.98479284e-01 2.85105823e-02 4.71833183e-02 4.56105846e+02] [-2.82655776e-02 9.99583320e-01 -5.85183121e-03 -6.08933958e+01] [-4.73304971e-02 4.50926849e-03 9.98869106e-01 -3.00819861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.01071405700003 meters 0.05195754897143126 Centerline is valid? [True, True] Translation: X:456.14, Y:-60.89, Z:-30.08 [[ 9.98490209e-01 2.88005759e-02 4.67742360e-02 4.56139708e+02] [-2.85596396e-02 9.99575197e-01 -5.81133696e-03 -6.08890309e+01] [-4.69217361e-02 4.46670774e-03 9.98888582e-01 -3.00830866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.040714057 meters 0.05286466013905179 Centerline is valid? [True, True] Translation: X:456.17, Y:-60.89, Z:-30.09 [[ 9.98485389e-01 2.96040035e-02 4.63738112e-02 4.56171038e+02] [-2.93674050e-02 9.99552001e-01 -5.77516041e-03 -6.08940937e+01] [-4.65240036e-02 4.40453480e-03 9.98907462e-01 -3.00853694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.070714057 meters 0.05302683689587772 Centerline is valid? [True, True] Translation: X:456.20, Y:-60.90, Z:-30.09 [[ 9.98428191e-01 3.05980500e-02 4.69564368e-02 4.56202385e+02] [-3.03558981e-02 9.99521966e-01 -5.86157543e-03 -6.08983591e+01] [-4.71133428e-02 4.42695735e-03 9.98879740e-01 -3.00871049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.100714057 meters 0.04650323764275894 Centerline is valid? [True, True] Translation: X:456.23, Y:-60.89, Z:-30.09 [[ 9.98344841e-01 3.23545298e-02 4.75474713e-02 4.56234074e+02] [-3.21080718e-02 9.99466762e-01 -5.93826077e-03 -6.08934567e+01] [-4.77142468e-02 4.40177439e-03 9.98851328e-01 -3.00880713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.130714057 meters 0.054666867051110915 Centerline is valid? [True, True] Translation: X:456.26, Y:-60.91, Z:-30.09 [[ 9.98272081e-01 3.35036617e-02 4.82737615e-02 4.56263078e+02] [-3.32509042e-02 9.99428847e-01 -6.02970831e-03 -6.09089177e+01] [-4.84482071e-02 4.41414325e-03 9.98815942e-01 -3.00906446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.160714057 meters 0.055147198298052834 Centerline is valid? [True, True] Translation: X:456.29, Y:-60.91, Z:-30.09 [[ 9.98156976e-01 3.54424524e-02 4.92593459e-02 4.56292271e+02] [-3.51814831e-02 9.99361985e-01 -6.15511129e-03 -6.09132316e+01] [-4.94460700e-02 4.41075043e-03 9.98767056e-01 -3.00919369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.190714057 meters 0.046893801146823816 Centerline is valid? [True, True] Translation: X:456.33, Y:-60.91, Z:-30.09 [[ 9.98100947e-01 3.66385003e-02 4.95188805e-02 4.56325112e+02] [-3.63762935e-02 9.99319016e-01 -6.18626721e-03 -6.09056531e+01] [-4.97118145e-02 4.37320583e-03 9.98754029e-01 -3.00922293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.220714057 meters 0.05451277541704558 Centerline is valid? [True, True] Translation: X:456.35, Y:-60.92, Z:-30.09 [[ 9.98001742e-01 3.80148198e-02 5.04717404e-02 4.56353895e+02] [-3.77440563e-02 9.99267534e-01 -6.30731805e-03 -6.09200165e+01] [-5.06745432e-02 4.38970619e-03 9.98705573e-01 -3.00945650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.250714057 meters 0.047608524972684044 Centerline is valid? [True, True] Translation: X:456.39, Y:-60.91, Z:-30.10 [[ 9.97951975e-01 3.88329591e-02 5.08316596e-02 4.56387041e+02] [-3.85593984e-02 9.99236123e-01 -6.35170546e-03 -6.09147243e+01] [-5.10394860e-02 4.37865880e-03 9.98687037e-01 -3.00957574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.280714057 meters 0.04525989744382381 Centerline is valid? [True, True] Translation: X:456.42, Y:-60.92, Z:-30.10 [[ 9.97872942e-01 4.04993815e-02 5.10822085e-02 4.56418864e+02] [-4.02245563e-02 9.99170187e-01 -6.39710416e-03 -6.09157857e+01] [-5.12988985e-02 4.32873798e-03 9.98673963e-01 -3.00977309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.310714057 meters 0.04717172033763097 Centerline is valid? [True, True] Translation: X:456.45, Y:-60.92, Z:-30.10 [[ 9.97869282e-01 4.11399521e-02 5.06399007e-02 4.56449190e+02] [-4.08706119e-02 9.99144312e-01 -6.34323935e-03 -6.09221073e+01] [-5.08575293e-02 4.26003997e-03 9.98696833e-01 -3.01004719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.340714057 meters 0.045921012817555285 Centerline is valid? [True, True] Translation: X:456.48, Y:-60.92, Z:-30.10 [[ 9.97870598e-01 4.24026837e-02 4.95608930e-02 4.56481716e+02] [-4.21456996e-02 9.99092118e-01 -6.21927057e-03 -6.09240693e+01] [-4.97796114e-02 4.11724874e-03 9.98751740e-01 -3.01029126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.370714057 meters 0.04627254866438398 Centerline is valid? [True, True] Translation: X:456.51, Y:-60.93, Z:-30.11 [[ 9.97890082e-01 4.27255292e-02 4.88867468e-02 4.56514906e+02] [-4.24752987e-02 9.99078610e-01 -6.14651340e-03 -6.09283045e+01] [-4.91043161e-02 4.05706559e-03 9.98785416e-01 -3.01053578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.400714057 meters 0.04728047966649166 Centerline is valid? [True, True] Translation: X:456.55, Y:-60.93, Z:-30.11 [[ 9.97913960e-01 4.26594529e-02 4.84551202e-02 4.56545265e+02] [-4.24128556e-02 9.99081509e-01 -6.10647229e-03 -6.09339937e+01] [-4.86711133e-02 4.03861394e-03 9.98806694e-01 -3.01087687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.430714057 meters 0.04642634789569689 Centerline is valid? [True, True] Translation: X:456.58, Y:-60.94, Z:-30.11 [[ 9.97940852e-01 4.28988231e-02 4.76838254e-02 4.56576929e+02] [-4.26597848e-02 9.99071521e-01 -6.01986911e-03 -6.09366753e+01] [-4.78977973e-02 3.97329157e-03 9.98844339e-01 -3.01114115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.460714057 meters 0.046984554353620735 Centerline is valid? [True, True] Translation: X:456.61, Y:-60.94, Z:-30.11 [[ 9.97946657e-01 4.34551107e-02 4.70544785e-02 4.56608687e+02] [-4.32224114e-02 9.99047745e-01 -5.95202474e-03 -6.09409278e+01] [-4.72683165e-02 3.90599516e-03 9.98874591e-01 -3.01138867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.490714057 meters 0.05015150385089742 Centerline is valid? [True, True] Translation: X:456.64, Y:-60.95, Z:-30.12 [[ 9.97903424e-01 4.45437487e-02 4.69532763e-02 4.56639211e+02] [-4.43126874e-02 9.98999985e-01 -5.95105982e-03 -6.09485830e+01] [-4.71714049e-02 3.85795712e-03 9.98879359e-01 -3.01163618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.520714057 meters 0.046939806746426505 Centerline is valid? [True, True] Translation: X:456.67, Y:-60.95, Z:-30.12 [[ 9.97772690e-01 4.68445137e-02 4.74894700e-02 4.56670494e+02] [-4.66101010e-02 9.98894945e-01 -6.03211831e-03 -6.09457189e+01] [-4.77195632e-02 3.80519392e-03 9.98853525e-01 -3.01172897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.550714057 meters 0.04822674076440796 Centerline is valid? [True, True] Translation: X:456.70, Y:-60.95, Z:-30.12 [[ 9.97660469e-01 4.82279256e-02 4.84526119e-02 4.56700154e+02] [-4.79854681e-02 9.98829067e-01 -6.15548432e-03 -6.09504182e+01] [-4.86927434e-02 3.81606211e-03 9.98806515e-01 -3.01191264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.580714057 meters 0.04732805634854525 Centerline is valid? [True, True] Translation: X:456.73, Y:-60.95, Z:-30.12 [[ 9.97340457e-01 5.23022856e-02 5.07590752e-02 4.56729994e+02] [-5.20414037e-02 9.98624107e-01 -6.44861915e-03 -6.09517404e+01] [-5.10265137e-02 3.78989525e-03 9.98690108e-01 -3.01194855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.610714057 meters 0.03996402716121979 Centerline is valid? [True, True] Translation: X:456.76, Y:-60.94, Z:-30.12 [[ 9.97037547e-01 5.62676356e-02 5.24412271e-02 4.56762192e+02] [-5.59946609e-02 9.98408847e-01 -6.66128151e-03 -6.09414526e+01] [-5.27325997e-02 3.70511905e-03 9.98601795e-01 -3.01187101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.640714057 meters 0.03798132749259777 Centerline is valid? [True, True] Translation: X:456.79, Y:-60.94, Z:-30.12 [[ 9.96849303e-01 5.84378726e-02 5.36328432e-02 4.56792312e+02] [-5.81554623e-02 9.98284294e-01 -6.81258461e-03 -6.09408077e+01] [-5.39389380e-02 3.67207743e-03 9.98537484e-01 -3.01195388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.670714057 meters 0.03736853340498362 Centerline is valid? [True, True] Translation: X:456.82, Y:-60.94, Z:-30.12 [[ 9.96535397e-01 6.21886415e-02 5.52247667e-02 4.56821922e+02] [-6.18950418e-02 9.98058028e-01 -7.01266646e-03 -6.09422916e+01] [-5.55536299e-02 3.57023112e-03 9.98449322e-01 -3.01215306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.700714057 meters 0.037586851916222276 Centerline is valid? [True, True] Translation: X:456.85, Y:-60.95, Z:-30.12 [[ 9.96478056e-01 6.29408245e-02 5.54070133e-02 4.56850172e+02] [-6.26465027e-02 9.98010987e-01 -7.03465360e-03 -6.09459570e+01] [-5.57395749e-02 3.53882233e-03 9.98439070e-01 -3.01238789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.730714057 meters 0.03696430427262538 Centerline is valid? [True, True] Translation: X:456.88, Y:-60.95, Z:-30.13 [[ 9.96470795e-01 6.37165581e-02 5.46457203e-02 4.56878908e+02] [-6.34316547e-02 9.97962095e-01 -6.93409149e-03 -6.09493686e+01] [-5.49761739e-02 3.44335120e-03 9.98481729e-01 -3.01273519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.76071405700003 meters 0.037359732518987804 Centerline is valid? [True, True] Translation: X:456.91, Y:-60.95, Z:-30.13 [[ 9.96519015e-01 6.32287186e-02 5.43321509e-02 4.56907728e+02] [-6.29465726e-02 9.97993112e-01 -6.89038088e-03 -6.09534890e+01] [-5.46587823e-02 3.44637289e-03 9.98499144e-01 -3.01301597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.790714057 meters 0.03697485530624672 Centerline is valid? [True, True] Translation: X:456.94, Y:-60.96, Z:-30.13 [[ 9.96597224e-01 6.26290023e-02 5.35871296e-02 4.56936022e+02] [-6.23538933e-02 9.98030991e-01 -6.79208452e-03 -6.09564781e+01] [-5.39069976e-02 3.42760642e-03 9.98540078e-01 -3.01328848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.820714057 meters 0.03881761819118296 Centerline is valid? [True, True] Translation: X:456.96, Y:-60.96, Z:-30.14 [[ 9.96790708e-01 6.07853283e-02 5.20905779e-02 4.56963218e+02] [-6.05230762e-02 9.98144987e-01 -6.59871358e-03 -6.09646231e+01] [-5.23950541e-02 3.42485437e-03 9.98620563e-01 -3.01378931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.850714057 meters 0.03813988206631082 Centerline is valid? [True, True] Translation: X:456.99, Y:-60.97, Z:-30.14 [[ 9.96850529e-01 6.03079439e-02 5.14973265e-02 4.56992216e+02] [-6.00511952e-02 9.98174005e-01 -6.51987603e-03 -6.09669636e+01] [-5.17964930e-02 3.40686587e-03 9.98651850e-01 -3.01399207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.880714057 meters 0.03846552207047403 Centerline is valid? [True, True] Translation: X:457.02, Y:-60.97, Z:-30.14 [[ 9.96883937e-01 5.97233622e-02 5.15319007e-02 4.57020978e+02] [-5.94656862e-02 9.98209054e-01 -6.52049541e-03 -6.09712685e+01] [-5.18290357e-02 3.43579730e-03 9.98650062e-01 -3.01417661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.910714057 meters 0.03881542428918259 Centerline is valid? [True, True] Translation: X:457.05, Y:-60.97, Z:-30.14 [[ 9.96915756e-01 5.95196146e-02 5.11506723e-02 4.57049296e+02] [-5.92656637e-02 9.98221287e-01 -6.46858461e-03 -6.09740570e+01] [-5.14446976e-02 3.41715537e-03 9.98669999e-01 -3.01432196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.940714057 meters 0.03893119150184116 Centerline is valid? [True, True] Translation: X:457.08, Y:-60.98, Z:-30.14 [[ 9.96896379e-01 6.00089108e-02 5.09562604e-02 4.57077582e+02] [-5.97577121e-02 9.98192135e-01 -6.44034656e-03 -6.09770225e+01] [-5.12506166e-02 3.37532862e-03 9.98680120e-01 -3.01449327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.970714057 meters 0.03716229096541201 Centerline is valid? [True, True] Translation: X:457.11, Y:-60.98, Z:-30.15 [[ 9.96757822e-01 6.17125482e-02 5.16275587e-02 4.57107714e+02] [-6.14571588e-02 9.98088418e-01 -6.52124377e-03 -6.09762131e+01] [-5.19313110e-02 3.32721767e-03 9.98645116e-01 -3.01466449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.000714057 meters 0.03826049394304924 Centerline is valid? [True, True] Translation: X:457.14, Y:-60.98, Z:-30.15 [[ 9.96544960e-01 6.39249381e-02 5.30258932e-02 4.57135993e+02] [-6.36587283e-02 9.97949262e-01 -6.69597286e-03 -6.09800284e+01] [-5.33451907e-02 3.29727708e-03 9.98570688e-01 -3.01485747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.030714057 meters 0.036985870352062696 Centerline is valid? [True, True] Translation: X:457.17, Y:-60.98, Z:-30.15 [[ 9.96502421e-01 6.44667716e-02 5.31691759e-02 4.57165251e+02] [-6.42000370e-02 9.97914482e-01 -6.71127046e-03 -6.09804096e+01] [-5.34909446e-02 3.27433420e-03 9.98562966e-01 -3.01498965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.060714057 meters 0.03576811957326868 Centerline is valid? [True, True] Translation: X:457.19, Y:-60.98, Z:-30.15 [[ 9.96509016e-01 6.45035575e-02 5.30006853e-02 4.57194269e+02] [-6.42387668e-02 9.97912158e-01 -6.68621418e-03 -6.09799569e+01] [-5.33213128e-02 3.25817405e-03 9.98572091e-01 -3.01513001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.090714057 meters 0.03597409905073301 Centerline is valid? [True, True] Translation: X:457.22, Y:-60.98, Z:-30.15 [[ 9.96508821e-01 6.42175462e-02 5.33505001e-02 4.57222557e+02] [-6.39490462e-02 9.97930496e-01 -6.72644196e-03 -6.09833780e+01] [-5.36720466e-02 3.29124515e-03 9.98553193e-01 -3.01533380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.120714057 meters 0.03875830187628208 Centerline is valid? [True, True] Translation: X:457.25, Y:-60.99, Z:-30.16 [[ 9.96580896e-01 6.29537526e-02 5.35102208e-02 4.57249006e+02] [-6.26820303e-02 9.98010770e-01 -6.74280913e-03 -6.09912946e+01] [-5.38282619e-02 3.36562548e-03 9.98544536e-01 -3.01558151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.150714057 meters 0.04063681893132115 Centerline is valid? [True, True] Translation: X:457.28, Y:-61.00, Z:-30.16 [[ 9.96633294e-01 6.19464738e-02 5.37095130e-02 4.57276182e+02] [-6.16715874e-02 9.98073590e-01 -6.76197314e-03 -6.09981110e+01] [-5.40249268e-02 3.42685665e-03 9.98533707e-01 -3.01576499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.180714057 meters 0.03758178435756741 Centerline is valid? [True, True] Translation: X:457.31, Y:-61.00, Z:-30.16 [[ 9.96721417e-01 5.99176760e-02 5.43717701e-02 4.57306374e+02] [-5.96332292e-02 9.98196918e-01 -6.84036727e-03 -6.09971783e+01] [-5.46835923e-02 3.57557633e-03 9.98497331e-01 -3.01589133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.210714057 meters 0.038099409775221804 Centerline is valid? [True, True] Translation: X:457.34, Y:-61.00, Z:-30.16 [[ 9.96793201e-01 5.91767110e-02 5.38649416e-02 4.57335589e+02] [-5.88965778e-02 9.98241102e-01 -6.77466411e-03 -6.10010941e+01] [-5.41711010e-02 3.58047840e-03 9.98525249e-01 -3.01609108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.240714057 meters 0.037623454052893 Centerline is valid? [True, True] Translation: X:457.37, Y:-61.00, Z:-30.16 [[ 9.96899574e-01 5.83106509e-02 5.28309233e-02 4.57365043e+02] [-5.80400722e-02 9.98292154e-01 -6.64273761e-03 -6.10032419e+01] [-5.31280386e-02 3.55583169e-03 9.98581378e-01 -3.01644562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.270714057 meters 0.03820182438240536 Centerline is valid? [True, True] Translation: X:457.39, Y:-61.01, Z:-30.17 [[ 9.96969073e-01 5.77053146e-02 5.21801191e-02 4.57393897e+02] [-5.74406437e-02 9.98327377e-01 -6.55901414e-03 -6.10075658e+01] [-5.24713315e-02 3.54187461e-03 9.98616150e-01 -3.01673673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.300714057 meters 0.040342617092834675 Centerline is valid? [True, True] Translation: X:457.42, Y:-61.01, Z:-30.17 [[ 9.96977501e-01 5.77019675e-02 5.20225533e-02 4.57421765e+02] [-5.74389844e-02 9.98327614e-01 -6.53740463e-03 -6.10145244e+01] [-5.23127726e-02 3.52952271e-03 9.98624512e-01 -3.01703667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.330714057 meters 0.03797191574167966 Centerline is valid? [True, True] Translation: X:457.45, Y:-61.01, Z:-30.17 [[ 9.96950199e-01 5.82327969e-02 5.19542329e-02 4.57451653e+02] [-5.79713746e-02 9.98296916e-01 -6.52589872e-03 -6.10139088e+01] [-5.22457718e-02 3.49413773e-03 9.98628144e-01 -3.01714228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.360714057 meters 0.043810123610390474 Centerline is valid? [True, True] Translation: X:457.48, Y:-61.02, Z:-30.17 [[ 9.96864764e-01 5.88761414e-02 5.28605962e-02 4.57479326e+02] [-5.86065139e-02 9.98259093e-01 -6.63774090e-03 -6.10249335e+01] [-5.31593754e-02 3.51895475e-03 9.98579840e-01 -3.01731270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.390714057 meters 0.039501354028277307 Centerline is valid? [True, True] Translation: X:457.51, Y:-61.02, Z:-30.17 [[ 9.96856135e-01 5.88774873e-02 5.30215732e-02 4.57508554e+02] [-5.86062892e-02 9.98258981e-01 -6.65656443e-03 -6.10208686e+01] [-5.33211834e-02 3.52823943e-03 9.98571181e-01 -3.01738612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.420714057 meters 0.038443739661713126 Centerline is valid? [True, True] Translation: X:457.54, Y:-61.02, Z:-30.17 [[ 9.96856041e-01 5.84784128e-02 5.34631484e-02 4.57537904e+02] [-5.82023100e-02 9.98282271e-01 -6.70814188e-03 -6.10210194e+01] [-5.37635947e-02 3.57537302e-03 9.98547291e-01 -3.01747842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.450714057 meters 0.0382582966326097 Centerline is valid? [True, True] Translation: X:457.57, Y:-61.02, Z:-30.18 [[ 9.96902264e-01 5.77984261e-02 5.33405937e-02 4.57567691e+02] [-5.75228361e-02 9.98321784e-01 -6.68875892e-03 -6.10232041e+01] [-5.36376764e-02 3.59973668e-03 9.98553975e-01 -3.01762932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.480714057 meters 0.040360992746229965 Centerline is valid? [True, True] Translation: X:457.60, Y:-61.03, Z:-30.18 [[ 9.96995265e-01 5.62224143e-02 5.32867820e-02 4.57595859e+02] [-5.59452418e-02 9.98411491e-01 -6.68014349e-03 -6.10297512e+01] [-5.35777093e-02 3.67892953e-03 9.98556906e-01 -3.01789826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.51071405700003 meters 0.04092709386814313 Centerline is valid? [True, True] Translation: X:457.63, Y:-61.03, Z:-30.18 [[ 9.97183033e-01 5.36240362e-02 5.24448422e-02 4.57625263e+02] [-5.33521468e-02 9.98554136e-01 -6.57162025e-03 -6.10334738e+01] [-5.27214109e-02 3.75506330e-03 9.98602199e-01 -3.01814943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.540714057 meters 0.0398676092665317 Centerline is valid? [True, True] Translation: X:457.65, Y:-61.03, Z:-30.18 [[ 9.97275027e-01 5.26491939e-02 5.16776783e-02 4.57654677e+02] [-5.23839506e-02 9.98606029e-01 -6.47468337e-03 -6.10349000e+01] [-5.19465279e-02 3.74995909e-03 9.98642827e-01 -3.01832618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.570714057 meters 0.042329098584197214 Centerline is valid? [True, True] Translation: X:457.68, Y:-61.04, Z:-30.19 [[ 9.97348399e-01 5.17488971e-02 5.11685690e-02 4.57683791e+02] [-5.14877833e-02 9.98653060e-01 -6.40893652e-03 -6.10419092e+01] [-5.14313034e-02 3.75738639e-03 9.98669466e-01 -3.01856664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.600714057 meters 0.044911228956088727 Centerline is valid? [True, True] Translation: X:457.71, Y:-61.05, Z:-30.19 [[ 9.97453919e-01 4.94676967e-02 5.13675659e-02 4.57712654e+02] [-4.92015875e-02 9.98768152e-01 -6.43292531e-03 -6.10486479e+01] [-5.16225109e-02 3.88918077e-03 9.98659096e-01 -3.01879212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.630714057 meters 0.044911228956088727 Centerline is valid? [True, True] Translation: X:457.74, Y:-61.05, Z:-30.19 [[ 9.97453915e-01 4.94676393e-02 5.13676905e-02 4.57742456e+02] [-4.92015809e-02 9.98768159e-01 -6.43193073e-03 -6.10523799e+01] [-5.16225860e-02 3.88818291e-03 9.98659096e-01 -3.01896621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.660714057 meters 0.04172213711347358 Centerline is valid? [True, True] Translation: X:457.77, Y:-61.05, Z:-30.19 [[ 9.97527805e-01 4.81331627e-02 5.12003524e-02 4.57773603e+02] [-4.78670904e-02 9.98833140e-01 -6.41097773e-03 -6.10502432e+01] [-5.14491893e-02 3.94431665e-03 9.98667824e-01 -3.01906113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.690714057 meters 0.04317797874185921 Centerline is valid? [True, True] Translation: X:457.80, Y:-61.06, Z:-30.19 [[ 9.97551019e-01 4.76931625e-02 5.11598237e-02 4.57803593e+02] [-4.74269624e-02 9.98854171e-01 -6.40540958e-03 -6.10553879e+01] [-5.14066975e-02 3.96336782e-03 9.98669937e-01 -3.01922544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.720714057 meters 0.04483552417708188 Centerline is valid? [True, True] Translation: X:457.83, Y:-61.06, Z:-30.19 [[ 9.97587438e-01 4.74042828e-02 5.07162440e-02 4.57833105e+02] [-4.71420837e-02 9.98867982e-01 -6.35436918e-03 -6.10591278e+01] [-5.09600567e-02 3.94816944e-03 9.98692888e-01 -3.01941469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.750714057 meters 0.04213777343883814 Centerline is valid? [True, True] Translation: X:457.86, Y:-61.06, Z:-30.20 [[ 9.97567392e-01 4.75404776e-02 5.09823551e-02 4.57864198e+02] [-4.72756933e-02 9.98861455e-01 -6.38771092e-03 -6.10577729e+01] [-5.12279842e-02 3.96194594e-03 9.98679126e-01 -3.01954530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.780714057 meters 0.04595876455074856 Centerline is valid? [True, True] Translation: X:457.89, Y:-61.06, Z:-30.20 [[ 9.97494926e-01 4.80732442e-02 5.18925506e-02 4.57894121e+02] [-4.77996552e-02 9.98835786e-01 -6.50118708e-03 -6.10649369e+01] [-5.21446697e-02 4.00445510e-03 9.98631513e-01 -3.01964716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.810714057 meters 0.04632201953713079 Centerline is valid? [True, True] Translation: X:457.92, Y:-61.07, Z:-30.20 [[ 9.97425389e-01 4.86279595e-02 5.27059364e-02 4.57924771e+02] [-4.83461684e-02 9.98808775e-01 -6.60906333e-03 -6.10687341e+01] [-5.29645370e-02 4.04391748e-03 9.98588206e-01 -3.01975381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.840714057 meters 0.04701733697255476 Centerline is valid? [True, True] Translation: X:457.95, Y:-61.07, Z:-30.20 [[ 9.97339560e-01 4.88772166e-02 5.40815941e-02 4.57954909e+02] [-4.85808684e-02 9.98796230e-01 -6.78156399e-03 -6.10717276e+01] [-5.43479563e-02 4.13619125e-03 9.98513491e-01 -3.01984099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.870714057 meters 0.047666459179229244 Centerline is valid? [True, True] Translation: X:457.98, Y:-61.08, Z:-30.20 [[ 9.97316701e-01 4.89148574e-02 5.44677430e-02 4.57984747e+02] [-4.86143151e-02 9.98794273e-01 -6.82993482e-03 -6.10760892e+01] [-5.47361550e-02 4.16369604e-03 9.98492172e-01 -3.02005436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.900714057 meters 0.04298067817309887 Centerline is valid? [True, True] Translation: X:458.02, Y:-61.07, Z:-30.20 [[ 9.97372905e-01 4.85720959e-02 5.37404916e-02 4.58016966e+02] [-4.82789962e-02 9.98811152e-01 -6.73958126e-03 -6.10718680e+01] [-5.40039578e-02 4.12733875e-03 9.98532192e-01 -3.02025413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.930714057 meters 0.045213420518079105 Centerline is valid? [True, True] Translation: X:458.05, Y:-61.08, Z:-30.21 [[ 9.97489850e-01 4.76607458e-02 5.23684276e-02 4.58047133e+02] [-4.73810951e-02 9.98855283e-01 -6.56934417e-03 -6.10773809e+01] [-5.26215803e-02 4.07158068e-03 9.98606224e-01 -3.02050806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.960714057 meters 0.05029522902398966 Centerline is valid? [True, True] Translation: X:458.08, Y:-61.09, Z:-30.21 [[ 9.97501343e-01 4.77264821e-02 5.20888976e-02 4.58076730e+02] [-4.74497993e-02 9.98852238e-01 -6.53622689e-03 -6.10882481e+01] [-5.23410631e-02 4.04828737e-03 9.98621062e-01 -3.02074036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.990714057 meters 0.04182842042806065 Centerline is valid? [True, True] Translation: X:458.11, Y:-61.08, Z:-30.21 [[ 9.97505259e-01 4.76355373e-02 5.20971495e-02 4.58108677e+02] [-4.73585899e-02 9.98856554e-01 -6.53828608e-03 -6.10797258e+01] [-5.23490340e-02 4.05472722e-03 9.98620618e-01 -3.02086527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.020714057 meters 0.05286842694201171 Centerline is valid? [True, True] Translation: X:458.14, Y:-61.10, Z:-30.21 [[ 9.97502051e-01 4.78480179e-02 5.19636886e-02 4.58136506e+02] [-4.75727809e-02 9.98846485e-01 -6.52143788e-03 -6.11004269e+01] [-5.22157856e-02 4.03309049e-03 9.98627681e-01 -3.02123967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.050714057 meters 0.042501560345672706 Centerline is valid? [True, True] Translation: X:458.17, Y:-61.09, Z:-30.21 [[ 9.97553793e-01 4.74921373e-02 5.12925678e-02 4.58168967e+02] [-4.72234576e-02 9.98863602e-01 -6.43812823e-03 -6.10895175e+01] [-5.15400395e-02 4.00016683e-03 9.98662918e-01 -3.02135402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.080714057 meters 0.042951037358807655 Centerline is valid? [True, True] Translation: X:458.20, Y:-61.09, Z:-30.22 [[ 9.97623541e-01 4.69579087e-02 5.04204947e-02 4.58199483e+02] [-4.66975676e-02 9.98889019e-01 -6.32969998e-03 -6.10942440e+01] [-5.06617079e-02 3.96014325e-03 9.98708020e-01 -3.02151594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.110714057 meters 0.0433913285869435 Centerline is valid? [True, True] Translation: X:458.23, Y:-61.10, Z:-30.22 [[ 9.97655539e-01 4.65211204e-02 5.01917417e-02 4.58229281e+02] [-4.62625899e-02 9.98909441e-01 -6.30098274e-03 -6.10997408e+01] [-5.04301334e-02 3.96421037e-03 9.98719724e-01 -3.02167829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.140714057 meters 0.04265300866846681 Centerline is valid? [True, True] Translation: X:458.26, Y:-61.10, Z:-30.22 [[ 9.97677822e-01 4.60077148e-02 5.02220528e-02 4.58259176e+02] [-4.57482255e-02 9.98933106e-01 -6.30478794e-03 -6.11031837e+01] [-5.04585401e-02 3.99257730e-03 9.98718176e-01 -3.02185249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.170714057 meters 0.047830027253120674 Centerline is valid? [True, True] Translation: X:458.29, Y:-61.12, Z:-30.22 [[ 9.97718146e-01 4.49445234e-02 5.03834314e-02 4.58287900e+02] [-4.46820223e-02 9.98981237e-01 -6.32491914e-03 -6.11163789e+01] [-5.06163731e-02 4.05925300e-03 9.98709920e-01 -3.02201860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.200714057 meters 0.04503031831339886 Centerline is valid? [True, True] Translation: X:458.32, Y:-61.12, Z:-30.22 [[ 9.97786153e-01 4.34935371e-02 5.03100915e-02 4.58318866e+02] [-4.32299357e-02 9.99045182e-01 -6.31637658e-03 -6.11179206e+01] [-5.05367761e-02 4.12749107e-03 9.98713672e-01 -3.02211690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.230714057 meters 0.045933043372983456 Centerline is valid? [True, True] Translation: X:458.35, Y:-61.12, Z:-30.22 [[ 9.97805122e-01 4.30479648e-02 5.03171015e-02 4.58350727e+02] [-4.27836620e-02 9.99064379e-01 -6.31855183e-03 -6.11247665e+01] [-5.05420246e-02 4.15193352e-03 9.98713305e-01 -3.02228228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.26071405700003 meters 0.04597621771562003 Centerline is valid? [True, True] Translation: X:458.38, Y:-61.13, Z:-30.22 [[ 9.97848296e-01 4.20895076e-02 5.02717760e-02 4.58382023e+02] [-4.18238254e-02 9.99104976e-01 -6.32568954e-03 -6.11307534e+01] [-5.04930267e-02 4.20952055e-03 9.98715542e-01 -3.02244773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.290714057 meters 0.04434054735304965 Centerline is valid? [True, True] Translation: X:458.41, Y:-61.13, Z:-30.23 [[ 9.97856748e-01 4.22602421e-02 4.99598090e-02 4.58414421e+02] [-4.19974843e-02 9.99097867e-01 -6.29795372e-03 -6.11334614e+01] [-5.01808917e-02 4.18626932e-03 9.98731372e-01 -3.02262913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.320714057 meters 0.04676709545516695 Centerline is valid? [True, True] Translation: X:458.44, Y:-61.14, Z:-30.23 [[ 9.97890774e-01 4.30189515e-02 4.86145367e-02 4.58444701e+02] [-4.27704250e-02 9.99066051e-01 -6.14140197e-03 -6.11424780e+01] [-4.88333299e-02 4.04918397e-03 9.98798733e-01 -3.02285238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.350714057 meters 0.04720923924789337 Centerline is valid? [True, True] Translation: X:458.48, Y:-61.15, Z:-30.23 [[ 9.97875805e-01 4.38741052e-02 4.81553876e-02 4.58475968e+02] [-4.36308668e-02 9.99029151e-01 -6.09119295e-03 -6.11475590e+01] [-4.83758816e-02 3.97719277e-03 9.98821283e-01 -3.02309476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.380714057 meters 0.04646877637192251 Centerline is valid? [True, True] Translation: X:458.51, Y:-61.15, Z:-30.23 [[ 9.97844183e-01 4.55392199e-02 4.72563856e-02 4.58506667e+02] [-4.53067150e-02 9.98955224e-01 -5.98013531e-03 -6.11517958e+01] [-4.74793440e-02 3.82621164e-03 9.98864892e-01 -3.02331874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.410714057 meters 0.04616764064619638 Centerline is valid? [True, True] Translation: X:458.54, Y:-61.16, Z:-30.23 [[ 9.97774535e-01 4.75755210e-02 4.67177393e-02 4.58536757e+02] [-4.73504126e-02 9.98860833e-01 -5.91399638e-03 -6.11564657e+01] [-4.69458814e-02 3.68873075e-03 9.98890623e-01 -3.02349460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.440714057 meters 0.046241068830063535 Centerline is valid? [True, True] Translation: X:458.57, Y:-61.16, Z:-30.24 [[ 9.97730882e-01 4.90523532e-02 4.61189154e-02 4.58565683e+02] [-4.88345421e-02 9.98789818e-01 -5.83838805e-03 -6.11610599e+01] [-4.63494898e-02 3.57294394e-03 9.98918895e-01 -3.02367785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.470714057 meters 0.04193442611347499 Centerline is valid? [True, True] Translation: X:458.60, Y:-61.16, Z:-30.24 [[ 9.97604655e-01 5.20967270e-02 4.55069490e-02 4.58596352e+02] [-5.18878462e-02 9.98636306e-01 -5.76013320e-03 -6.11599809e+01] [-4.57449755e-02 3.38507812e-03 9.98947415e-01 -3.02372754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.500714057 meters 0.045425231441646896 Centerline is valid? [True, True] Translation: X:458.62, Y:-61.17, Z:-30.24 [[ 9.97483617e-01 5.47736170e-02 4.50142743e-02 4.58624183e+02] [-5.45719725e-02 9.98493586e-01 -5.69723102e-03 -6.11693848e+01] [-4.52585221e-02 3.22637686e-03 9.98970098e-01 -3.02399619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.530714057 meters 0.0392676005062535 Centerline is valid? [True, True] Translation: X:458.65, Y:-61.16, Z:-30.24 [[ 9.97372778e-01 5.63963858e-02 4.54641642e-02 4.58654633e+02] [-5.61924376e-02 9.98403384e-01 -5.75254910e-03 -6.11649039e+01] [-4.57159984e-02 3.18269367e-03 9.98949407e-01 -3.02401851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.560714057 meters 0.038239280179570866 Centerline is valid? [True, True] Translation: X:458.68, Y:-61.17, Z:-30.24 [[ 9.97175988e-01 5.93687740e-02 4.59934610e-02 4.58684522e+02] [-5.91632679e-02 9.98231366e-01 -5.81783316e-03 -6.11686423e+01] [-4.62575130e-02 3.08028007e-03 9.98924799e-01 -3.02415866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.590714057 meters 0.0389904072469695 Centerline is valid? [True, True] Translation: X:458.71, Y:-61.17, Z:-30.24 [[ 9.97081249e-01 6.08152660e-02 4.61571873e-02 4.58712119e+02] [-6.06098876e-02 9.98144462e-01 -5.83740978e-03 -6.11733669e+01] [-4.64265444e-02 3.02278990e-03 9.98917133e-01 -3.02431700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.620714057 meters 0.03534838960811553 Centerline is valid? [True, True] Translation: X:458.74, Y:-61.17, Z:-30.24 [[ 9.96904497e-01 6.35669094e-02 4.62673952e-02 4.58743016e+02] [-6.33637280e-02 9.97973375e-01 -5.84640261e-03 -6.11719093e+01] [-4.65452663e-02 2.89663041e-03 9.98911982e-01 -3.02432510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.650714057 meters 0.03638185544231421 Centerline is valid? [True, True] Translation: X:458.77, Y:-61.18, Z:-30.25 [[ 9.96825932e-01 6.45188269e-02 4.66409834e-02 4.58770640e+02] [-6.43133985e-02 9.97912349e-01 -5.89332829e-03 -6.11777744e+01] [-4.69238439e-02 2.87498232e-03 9.98894332e-01 -3.02452010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.680714057 meters 0.037157308078180275 Centerline is valid? [True, True] Translation: X:458.80, Y:-61.18, Z:-30.25 [[ 9.96947564e-01 6.37668004e-02 4.50483138e-02 4.58797758e+02] [-6.35745429e-02 9.97960877e-01 -5.68914551e-03 -6.11835169e+01] [-4.53192334e-02 2.80785380e-03 9.98968610e-01 -3.02473444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.710714057 meters 0.03789253082318045 Centerline is valid? [True, True] Translation: X:458.83, Y:-61.19, Z:-30.25 [[ 9.97032447e-01 6.28952859e-02 4.43901183e-02 4.58826184e+02] [-6.27079348e-02 9.98016199e-01 -5.60188908e-03 -6.11889377e+01] [-4.46543896e-02 2.80165254e-03 9.98998567e-01 -3.02497171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.740714057 meters 0.03817163172412682 Centerline is valid? [True, True] Translation: X:458.85, Y:-61.19, Z:-30.25 [[ 9.97150029e-01 6.14938860e-02 4.37072327e-02 4.58854713e+02] [-6.13110642e-02 9.98103485e-01 -5.51241696e-03 -6.11941109e+01] [-4.39633212e-02 2.81696979e-03 9.99029174e-01 -3.02518627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.770714057 meters 0.039125945054706825 Centerline is valid? [True, True] Translation: X:458.88, Y:-61.20, Z:-30.25 [[ 9.97312072e-01 5.92689558e-02 4.30792467e-02 4.58882936e+02] [-5.90893863e-02 9.98237922e-01 -5.43094371e-03 -6.12017758e+01] [-4.33252240e-02 2.87081948e-03 9.99056897e-01 -3.02544288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.800714057 meters 0.04013027292396697 Centerline is valid? [True, True] Translation: X:458.91, Y:-61.21, Z:-30.26 [[ 9.97351432e-01 5.85598907e-02 4.31376969e-02 4.58910045e+02] [-5.83792517e-02 9.98279674e-01 -5.43650618e-03 -6.12074341e+01] [-4.33818472e-02 2.90376076e-03 9.99054345e-01 -3.02563734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.830714057 meters 0.04129719326959419 Centerline is valid? [True, True] Translation: X:458.94, Y:-61.21, Z:-30.26 [[ 9.97379909e-01 5.83525992e-02 4.27585191e-02 4.58937185e+02] [-5.81750955e-02 9.98291871e-01 -5.38498545e-03 -6.12119705e+01] [-4.29997099e-02 2.88339537e-03 9.99070924e-01 -3.02572599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.860714057 meters 0.041826242361727405 Centerline is valid? [True, True] Translation: X:458.97, Y:-61.22, Z:-30.26 [[ 9.97413604e-01 5.80429552e-02 4.23924340e-02 4.58965493e+02] [-5.78683700e-02 9.98309967e-01 -5.33494357e-03 -6.12160350e+01] [-4.26304453e-02 2.86796424e-03 9.99086793e-01 -3.02586561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.890714057 meters 0.04237921894002736 Centerline is valid? [True, True] Translation: X:458.99, Y:-61.22, Z:-30.26 [[ 9.97316769e-01 5.88807233e-02 4.35008421e-02 4.58993517e+02] [-5.86978122e-02 9.98260804e-01 -5.47129269e-03 -6.12207913e+01] [-4.37473392e-02 2.90320769e-03 9.99038409e-01 -3.02597117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.920714057 meters 0.042660938978393105 Centerline is valid? [True, True] Translation: X:459.02, Y:-61.23, Z:-30.26 [[ 9.97175056e-01 6.01120948e-02 4.50382523e-02 4.59021447e+02] [-5.99174122e-02 9.98187283e-01 -5.66140475e-03 -6.12256204e+01] [-4.52969296e-02 2.94683608e-03 9.98969221e-01 -3.02613720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.950714057 meters 0.04297168472401262 Centerline is valid? [True, True] Translation: X:459.05, Y:-61.23, Z:-30.26 [[ 9.97099444e-01 6.06241878e-02 4.60152772e-02 4.59049099e+02] [-6.04216436e-02 9.98156202e-01 -5.78116223e-03 -6.12301058e+01] [-4.62809126e-02 2.98407497e-03 9.98924007e-01 -3.02627506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.980714057 meters 0.03893545905054408 Centerline is valid? [True, True] Translation: X:459.08, Y:-61.23, Z:-30.26 [[ 9.97126740e-01 6.01148328e-02 4.60919800e-02 4.59078551e+02] [-5.99112572e-02 9.98186934e-01 -5.78677738e-03 -6.12269635e+01] [-4.63562833e-02 3.00872200e-03 9.98920439e-01 -3.02625031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.01071405700003 meters 0.039796717612316 Centerline is valid? [True, True] Translation: X:459.11, Y:-61.23, Z:-30.26 [[ 9.97186192e-01 5.94387587e-02 4.56807667e-02 4.59106436e+02] [-5.92382351e-02 9.98227416e-01 -5.73213798e-03 -6.12315142e+01] [-4.59405048e-02 3.00996085e-03 9.98939643e-01 -3.02648892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.040714057 meters 0.04156346773659761 Centerline is valid? [True, True] Translation: X:459.13, Y:-61.24, Z:-30.27 [[ 9.97342219e-01 5.68914647e-02 4.55176813e-02 4.59134515e+02] [-5.66899579e-02 9.98375521e-01 -5.70673420e-03 -6.12389726e+01] [-4.57684033e-02 3.11117152e-03 9.98947233e-01 -3.02676583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.070714057 meters 0.04363989087664352 Centerline is valid? [True, True] Translation: X:459.16, Y:-61.25, Z:-30.27 [[ 9.97468991e-01 5.45496881e-02 4.56063987e-02 4.59164164e+02] [-5.43449480e-02 9.98505849e-01 -5.71810592e-03 -6.12466348e+01] [-4.58501767e-02 3.22515598e-03 9.98943121e-01 -3.02707425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.100714057 meters 0.04552228469006704 Centerline is valid? [True, True] Translation: X:459.19, Y:-61.26, Z:-30.27 [[ 9.97701282e-01 5.05938636e-02 4.50822828e-02 4.59193044e+02] [-5.03899555e-02 9.98713645e-01 -5.64875505e-03 -6.12550738e+01] [-4.53100833e-02 3.36407593e-03 9.98967306e-01 -3.02739851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.130714057 meters 0.046263598035619156 Centerline is valid? [True, True] Translation: X:459.22, Y:-61.26, Z:-30.28 [[ 9.97805747e-01 4.88550509e-02 4.46864036e-02 4.59222694e+02] [-4.86529655e-02 9.98800048e-01 -5.59943383e-03 -6.12600442e+01] [-4.49063427e-02 3.41302120e-03 9.98985371e-01 -3.02759760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.160714057 meters 0.0408457973635675 Centerline is valid? [True, True] Translation: X:459.25, Y:-61.25, Z:-30.28 [[ 9.97937129e-01 4.73522104e-02 4.33503743e-02 4.59253431e+02] [-4.71606597e-02 9.98872551e-01 -5.43132097e-03 -6.12547438e+01] [-4.35586840e-02 3.37568460e-03 9.99045167e-01 -3.02765072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.190714057 meters 0.04868222522571458 Centerline is valid? [True, True] Translation: X:459.28, Y:-61.27, Z:-30.28 [[ 9.97949880e-01 4.78861471e-02 4.24612024e-02 4.59281273e+02] [-4.77028926e-02 9.98847406e-01 -5.31915848e-03 -6.12690747e+01] [-4.26669759e-02 3.28273139e-03 9.99083957e-01 -3.02813246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.220714057 meters 0.048683231116448886 Centerline is valid? [True, True] Translation: X:459.31, Y:-61.27, Z:-30.28 [[ 9.97872088e-01 4.94344506e-02 4.25150591e-02 4.59310640e+02] [-4.92521503e-02 9.98772179e-01 -5.32535778e-03 -6.12730202e+01] [-4.27261143e-02 3.22006781e-03 9.99081633e-01 -3.02836168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.250714057 meters 0.0416649759602729 Centerline is valid? [True, True] Translation: X:459.34, Y:-61.27, Z:-30.28 [[ 9.97753263e-01 5.18702705e-02 4.24016547e-02 4.59341499e+02] [-5.16911937e-02 9.98649002e-01 -5.30961949e-03 -6.12667922e+01] [-4.26197815e-02 3.10589803e-03 9.99086537e-01 -3.02841145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.280714057 meters 0.04091498797532336 Centerline is valid? [True, True] Translation: X:459.37, Y:-61.27, Z:-30.29 [[ 9.97694423e-01 5.30886617e-02 4.22780300e-02 4.59370135e+02] [-5.29117332e-02 9.98585162e-01 -5.29373533e-03 -6.12687919e+01] [-4.24992507e-02 3.04452638e-03 9.99091860e-01 -3.02854799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.310714057 meters 0.04270439431544639 Centerline is valid? [True, True] Translation: X:459.40, Y:-61.27, Z:-30.29 [[ 9.97534048e-01 5.51923775e-02 4.33546429e-02 4.59398266e+02] [-5.50084705e-02 9.98471153e-01 -5.42443897e-03 -6.12730732e+01] [-4.35877480e-02 3.02618997e-03 9.99045019e-01 -3.02861988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.340714057 meters 0.0409791318128147 Centerline is valid? [True, True] Translation: X:459.43, Y:-61.27, Z:-30.29 [[ 9.97430944e-01 5.66641738e-02 4.38256124e-02 4.59427647e+02] [-5.64776448e-02 9.98388804e-01 -5.48369394e-03 -6.12736221e+01] [-4.40657298e-02 2.99443865e-03 9.99024146e-01 -3.02872256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.370714057 meters 0.03746081319401196 Centerline is valid? [True, True] Translation: X:459.46, Y:-61.27, Z:-30.29 [[ 9.97285992e-01 5.91658131e-02 4.38184554e-02 4.59458036e+02] [-5.89818680e-02 9.98244012e-01 -5.48006519e-03 -6.12726736e+01] [-4.40657433e-02 2.88069789e-03 9.99024480e-01 -3.02887370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.400714057 meters 0.04076398395562218 Centerline is valid? [True, True] Translation: X:459.48, Y:-61.28, Z:-30.29 [[ 9.97283724e-01 5.96267382e-02 4.32414902e-02 4.59484856e+02] [-5.94480292e-02 9.98216752e-01 -5.40816106e-03 -6.12816410e+01] [-4.34868509e-02 2.82284963e-03 9.99050011e-01 -3.02919368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.430714057 meters 0.04169839341840969 Centerline is valid? [True, True] Translation: X:459.51, Y:-61.29, Z:-30.29 [[ 9.97256891e-01 6.03857631e-02 4.28048312e-02 4.59511751e+02] [-6.02115113e-02 9.98171305e-01 -5.34966345e-03 -6.12871322e+01] [-4.30495978e-02 2.75764516e-03 9.99069131e-01 -3.02941700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.460714057 meters 0.042352175776436525 Centerline is valid? [True, True] Translation: X:459.54, Y:-61.29, Z:-30.30 [[ 9.97295216e-01 5.97290635e-02 4.28333057e-02 4.59539935e+02] [-5.95541464e-02 9.98210744e-01 -5.34928613e-03 -6.12927249e+01] [-4.30761738e-02 2.78391650e-03 9.99067912e-01 -3.02956973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.490714057 meters 0.03687071167220438 Centerline is valid? [True, True] Translation: X:459.57, Y:-61.29, Z:-30.30 [[ 9.97329669e-01 5.93170913e-02 4.26029708e-02 4.59569918e+02] [-5.91437970e-02 9.98235309e-01 -5.31773925e-03 -6.12885987e+01] [-4.28432225e-02 2.78383768e-03 9.99077929e-01 -3.02959509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.520714057 meters 0.037172343257161865 Centerline is valid? [True, True] Translation: X:459.60, Y:-61.29, Z:-30.30 [[ 9.97456795e-01 5.76247135e-02 4.19444137e-02 4.59599330e+02] [-5.74553992e-02 9.98334364e-01 -5.23200459e-03 -6.12941583e+01] [-4.21760424e-02 2.80876550e-03 9.99106247e-01 -3.02984116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.550714057 meters 0.037172343257161865 Centerline is valid? [True, True] Translation: X:459.63, Y:-61.30, Z:-30.30 [[ 9.97460903e-01 5.75534766e-02 4.19445320e-02 4.59627440e+02] [-5.73841394e-02 9.98338468e-01 -5.23105633e-03 -6.12976034e+01] [-4.21759053e-02 2.81082330e-03 9.99106247e-01 -3.03000536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.580714057 meters 0.03843203085670231 Centerline is valid? [True, True] Translation: X:459.65, Y:-61.30, Z:-30.30 [[ 9.97505001e-01 5.68540167e-02 4.18496674e-02 4.59654928e+02] [-5.66849487e-02 9.98378488e-01 -5.21646864e-03 -6.13040844e+01] [-4.20783849e-02 2.83120730e-03 9.99110301e-01 -3.03025186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.610714057 meters 0.038451979446267395 Centerline is valid? [True, True] Translation: X:459.68, Y:-61.31, Z:-30.30 [[ 9.97620054e-01 5.48886047e-02 4.17309179e-02 4.59683909e+02] [-5.47189590e-02 9.98488268e-01 -5.19751399e-03 -6.13076184e+01] [-4.19531162e-02 2.90167180e-03 9.99115367e-01 -3.03036481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.640714057 meters 0.038109197482063754 Centerline is valid? [True, True] Translation: X:459.71, Y:-61.31, Z:-30.30 [[ 9.97692734e-01 5.39828587e-02 4.11710984e-02 4.59712315e+02] [-5.38170709e-02 9.98537658e-01 -5.12535935e-03 -6.13111504e+01] [-4.13875737e-02 2.89782586e-03 9.99138965e-01 -3.03049086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.670714057 meters 0.040811523005106494 Centerline is valid? [True, True] Translation: X:459.74, Y:-61.32, Z:-30.31 [[ 9.97825624e-01 5.15689449e-02 4.10446972e-02 4.59740070e+02] [-5.14022914e-02 9.98664975e-01 -5.10603188e-03 -6.13198985e+01] [-4.12532142e-02 2.98513796e-03 9.99144265e-01 -3.03074804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.700714057 meters 0.04258539643347201 Centerline is valid? [True, True] Translation: X:459.77, Y:-61.33, Z:-30.31 [[ 9.97963062e-01 4.90327177e-02 4.08107868e-02 4.59769881e+02] [-4.88659360e-02 9.98792454e-01 -5.07486645e-03 -6.13278640e+01] [-4.10103404e-02 3.07027196e-03 9.99154005e-01 -3.03101874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.730714057 meters 0.04106024647387179 Centerline is valid? [True, True] Translation: X:459.80, Y:-61.33, Z:-30.31 [[ 9.98041873e-01 4.75634841e-02 4.06218481e-02 4.59798905e+02] [-4.73969974e-02 9.98863354e-01 -5.05228467e-03 -6.13299782e+01] [-4.08159796e-02 3.11703803e-03 9.99161819e-01 -3.03114893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.76071405700003 meters 0.0418891768508553 Centerline is valid? [True, True] Translation: X:459.83, Y:-61.34, Z:-30.31 [[ 9.98119064e-01 4.59877934e-02 4.05395712e-02 4.59828180e+02] [-4.58207917e-02 9.98936964e-01 -5.03954587e-03 -6.13356133e+01] [-4.07282338e-02 3.17251156e-03 9.99165225e-01 -3.03131387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.790714057 meters 0.04752499791615876 Centerline is valid? [True, True] Translation: X:459.86, Y:-61.35, Z:-30.32 [[ 9.98230753e-01 4.32493224e-02 4.08026889e-02 4.59855808e+02] [-4.30779331e-02 9.99058847e-01 -5.07075781e-03 -6.13484333e+01] [-4.09835941e-02 3.30409089e-03 9.99154356e-01 -3.03163125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.820714057 meters 0.04507156602630588 Centerline is valid? [True, True] Translation: X:459.89, Y:-61.35, Z:-30.32 [[ 9.98296850e-01 4.17859040e-02 4.07103989e-02 4.59886949e+02] [-4.16142024e-02 9.99120959e-01 -5.05633141e-03 -6.13493028e+01] [-4.08858962e-02 3.35358895e-03 9.99158194e-01 -3.03175997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.850714057 meters 0.044301277202596905 Centerline is valid? [True, True] Translation: X:459.92, Y:-61.35, Z:-30.32 [[ 9.98391244e-01 3.96351942e-02 4.05459763e-02 4.59917181e+02] [-3.94630043e-02 9.99208328e-01 -5.03867816e-03 -6.13544005e+01] [-4.07135862e-02 3.43050612e-03 9.99164969e-01 -3.03199937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.880714057 meters 0.045960169733007296 Centerline is valid? [True, True] Translation: X:459.95, Y:-61.36, Z:-30.32 [[ 9.98406470e-01 3.87318666e-02 4.10410033e-02 4.59947993e+02] [-3.85547275e-02 9.99243479e-01 -5.09918881e-03 -6.13610564e+01] [-4.12074560e-02 3.50873840e-03 9.99144451e-01 -3.03215723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.910714057 meters 0.04702581089854484 Centerline is valid? [True, True] Translation: X:459.98, Y:-61.37, Z:-30.32 [[ 9.98402791e-01 3.85773795e-02 4.12753265e-02 4.59979716e+02] [-3.83979453e-02 9.99249351e-01 -5.13153385e-03 -6.13662972e+01] [-4.14423043e-02 3.53844999e-03 9.99134633e-01 -3.03229973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.940714057 meters 0.047462183992870055 Centerline is valid? [True, True] Translation: X:460.01, Y:-61.37, Z:-30.32 [[ 9.98398458e-01 3.87633091e-02 4.12058907e-02 4.60011770e+02] [-3.85842101e-02 9.99242167e-01 -5.13317879e-03 -6.13714114e+01] [-4.13736425e-02 3.53506104e-03 9.99137491e-01 -3.03248879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.970714057 meters 0.04722224914574447 Centerline is valid? [True, True] Translation: X:460.04, Y:-61.38, Z:-30.33 [[ 9.98397493e-01 3.90427581e-02 4.09647277e-02 4.60044051e+02] [-3.88654573e-02 9.99231356e-01 -5.11593621e-03 -6.13761383e+01] [-4.11329806e-02 3.51562501e-03 9.99147496e-01 -3.03270588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.000714057 meters 0.0449967294476255 Centerline is valid? [True, True] Translation: X:460.08, Y:-61.38, Z:-30.33 [[ 9.98440412e-01 3.89175944e-02 4.00270520e-02 4.60076355e+02] [-3.87482004e-02 9.99236500e-01 -4.99941016e-03 -6.13777169e+01] [-4.01910564e-02 3.44063691e-03 9.99186089e-01 -3.03294090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.030714057 meters 0.044019723591394895 Centerline is valid? [True, True] Translation: X:460.11, Y:-61.38, Z:-30.33 [[ 9.98439974e-01 3.90711260e-02 3.98881731e-02 4.60108263e+02] [-3.89026235e-02 9.99230536e-01 -4.99215201e-03 -6.13807851e+01] [-4.00525295e-02 3.43260954e-03 9.99191679e-01 -3.03310951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.060714057 meters 0.051394324129363955 Centerline is valid? [True, True] Translation: X:460.14, Y:-61.39, Z:-30.34 [[ 9.98479503e-01 3.89415478e-02 3.90158617e-02 4.60138162e+02] [-3.87798467e-02 9.99235799e-01 -4.89305140e-03 -6.13945921e+01] [-3.91765887e-02 3.37258240e-03 9.99226611e-01 -3.03350438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.090714057 meters 0.05199657240874978 Centerline is valid? [True, True] Translation: X:460.17, Y:-61.40, Z:-30.34 [[ 9.98488545e-01 3.88650257e-02 3.88604659e-02 4.60169482e+02] [-3.87041870e-02 9.99238782e-01 -4.88294782e-03 -6.13993001e+01] [-3.90206605e-02 3.37150472e-03 9.99232716e-01 -3.03372939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.120714057 meters 0.04742528529537122 Centerline is valid? [True, True] Translation: X:460.20, Y:-61.40, Z:-30.34 [[ 9.98470890e-01 3.87443403e-02 3.94304079e-02 4.60201266e+02] [-3.85781620e-02 9.99243241e-01 -4.96693915e-03 -6.13971791e+01] [-3.95930094e-02 3.43819149e-03 9.99209974e-01 -3.03375240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.150714057 meters 0.04761841782341022 Centerline is valid? [True, True] Translation: X:460.23, Y:-61.40, Z:-30.34 [[ 9.98447536e-01 3.92875836e-02 3.94842252e-02 4.60232640e+02] [-3.91213160e-02 9.99222083e-01 -4.97514038e-03 -6.14016468e+01] [-3.96489710e-02 3.42274181e-03 9.99207808e-01 -3.03391494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.180714057 meters 0.04590839528240678 Centerline is valid? [True, True] Translation: X:460.26, Y:-61.40, Z:-30.34 [[ 9.98411864e-01 3.96852275e-02 3.99854140e-02 4.60264483e+02] [-3.95149792e-02 9.99206270e-01 -5.03944098e-03 -6.14030733e+01] [-4.01536678e-02 3.45141485e-03 9.99187555e-01 -3.03405613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.210714057 meters 0.05388427127949332 Centerline is valid? [True, True] Translation: X:460.29, Y:-61.42, Z:-30.34 [[ 9.98396172e-01 4.03361503e-02 3.97250506e-02 4.60293699e+02] [-4.01686651e-02 9.99180375e-01 -5.00561581e-03 -6.14177480e+01] [-3.98943982e-02 3.40188540e-03 9.99198111e-01 -3.03444674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.240714057 meters 0.04684611163198661 Centerline is valid? [True, True] Translation: X:460.33, Y:-61.41, Z:-30.34 [[ 9.98390200e-01 4.13767757e-02 3.87939457e-02 4.60325863e+02] [-4.12173517e-02 9.99138185e-01 -4.90067677e-03 -6.14113830e+01] [-3.89632868e-02 3.29380395e-03 9.99235214e-01 -3.03448707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.270714057 meters 0.04744994379728352 Centerline is valid? [True, True] Translation: X:460.36, Y:-61.42, Z:-30.35 [[ 9.98364193e-01 4.20776942e-02 3.87092422e-02 4.60355428e+02] [-4.19194096e-02 9.99109019e-01 -4.89201684e-03 -6.14164949e+01] [-3.88805977e-02 3.26134587e-03 9.99238541e-01 -3.03468669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.300714057 meters 0.04848577573990327 Centerline is valid? [True, True] Translation: X:460.39, Y:-61.42, Z:-30.35 [[ 9.98329950e-01 4.25261193e-02 3.91003922e-02 4.60385997e+02] [-4.23649624e-02 9.99089982e-01 -4.94135871e-03 -6.14216829e+01] [-3.92749469e-02 3.27661975e-03 9.99223069e-01 -3.03486170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.330714057 meters 0.049107931680590744 Centerline is valid? [True, True] Translation: X:460.42, Y:-61.43, Z:-30.35 [[ 9.98322680e-01 4.26933715e-02 3.91037535e-02 4.60415837e+02] [-4.25323030e-02 9.99082869e-01 -4.94206939e-03 -6.14261403e+01] [-3.92788838e-02 3.27060727e-03 9.99222934e-01 -3.03499019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.360714057 meters 0.049462603647717776 Centerline is valid? [True, True] Translation: X:460.44, Y:-61.43, Z:-30.35 [[ 9.98257832e-01 4.33709388e-02 4.00032894e-02 4.60444707e+02] [-4.32029341e-02 9.99053528e-01 -5.05513825e-03 -6.14300606e+01] [-4.01846735e-02 3.31807187e-03 9.99186761e-01 -3.03506124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.390714057 meters 0.049634176167651846 Centerline is valid? [True, True] Translation: X:460.47, Y:-61.43, Z:-30.35 [[ 9.98260059e-01 4.33471865e-02 3.99734355e-02 4.60474785e+02] [-4.31793318e-02 9.99054557e-01 -5.05340312e-03 -6.14339514e+01] [-4.01546938e-02 3.31858426e-03 9.99187964e-01 -3.03520611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.420714057 meters 0.04993286000650074 Centerline is valid? [True, True] Translation: X:460.50, Y:-61.44, Z:-30.35 [[ 9.98213386e-01 4.45160595e-02 3.98542003e-02 4.60504038e+02] [-4.43501625e-02 9.99003347e-01 -5.03752632e-03 -6.14377416e+01] [-4.00387303e-02 3.26098594e-03 9.99192807e-01 -3.03534665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.450714057 meters 0.05015793983706903 Centerline is valid? [True, True] Translation: X:460.53, Y:-61.44, Z:-30.36 [[ 9.98171712e-01 4.56550415e-02 3.96087281e-02 4.60533822e+02] [-4.54919696e-02 9.98952146e-01 -5.00911176e-03 -6.14407901e+01] [-3.97959151e-02 3.19807460e-03 9.99202711e-01 -3.03552206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.480714057 meters 0.05034003842605276 Centerline is valid? [True, True] Translation: X:460.56, Y:-61.44, Z:-30.36 [[ 9.98054638e-01 4.82315905e-02 3.95051113e-02 4.60563292e+02] [-4.80713595e-02 9.98831407e-01 -4.99642009e-03 -6.14431733e+01] [-3.96999313e-02 3.08763583e-03 9.99206876e-01 -3.03572818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.51071405700003 meters 0.050320101985378604 Centerline is valid? [True, True] Translation: X:460.59, Y:-61.44, Z:-30.36 [[ 9.97941974e-01 5.03245074e-02 3.97399066e-02 4.60592811e+02] [-5.01640434e-02 9.98728349e-01 -5.02537026e-03 -6.14447822e+01] [-3.99422706e-02 3.02151352e-03 9.99197421e-01 -3.03581542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.540714057 meters 0.05011129414422901 Centerline is valid? [True, True] Translation: X:460.62, Y:-61.45, Z:-30.36 [[ 9.97892039e-01 5.13992359e-02 3.96181359e-02 4.60622666e+02] [-5.12406484e-02 9.98673775e-01 -5.00866161e-03 -6.14468546e+01] [-3.98230347e-02 2.96804457e-03 9.99202340e-01 -3.03593658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.570714057 meters 0.03942990294636218 Centerline is valid? [True, True] Translation: X:460.65, Y:-61.43, Z:-30.36 [[ 9.97699850e-01 5.36945666e-02 4.13751410e-02 4.60654484e+02] [-5.35236103e-02 9.98552891e-01 -5.22938941e-03 -6.14335355e+01] [-4.15960565e-02 3.00281411e-03 9.99129997e-01 -3.03565664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.600714057 meters 0.04006220598673419 Centerline is valid? [True, True] Translation: X:460.68, Y:-61.44, Z:-30.36 [[ 9.97605605e-01 5.46464816e-02 4.23889019e-02 4.60682117e+02] [-5.44679265e-02 9.98501152e-01 -5.35673264e-03 -6.14379351e+01] [-4.26180940e-02 3.03507091e-03 9.99086826e-01 -3.03581381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.630714057 meters 0.03699451743513142 Centerline is valid? [True, True] Translation: X:460.71, Y:-61.44, Z:-30.36 [[ 9.97428055e-01 5.69000510e-02 4.35850783e-02 4.60712123e+02] [-5.67136183e-02 9.98375321e-01 -5.50309304e-03 -6.14359552e+01] [-4.38273928e-02 3.01707190e-03 9.99034562e-01 -3.03582619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.660714057 meters 0.037966041289697994 Centerline is valid? [True, True] Translation: X:460.74, Y:-61.44, Z:-30.36 [[ 9.97375649e-01 5.75701494e-02 4.39032310e-02 4.60739414e+02] [-5.73816682e-02 9.98336930e-01 -5.54236473e-03 -6.14400606e+01] [-4.41492917e-02 3.00857898e-03 9.99020414e-01 -3.03601293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.690714057 meters 0.037793149080938795 Centerline is valid? [True, True] Translation: X:460.77, Y:-61.44, Z:-30.36 [[ 9.97336959e-01 5.84585943e-02 4.36071430e-02 4.60768294e+02] [-5.82736788e-02 9.98285490e-01 -5.50077074e-03 -6.14427823e+01] [-4.38539455e-02 2.94497332e-03 9.99033612e-01 -3.03617226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.720714057 meters 0.03857931937137796 Centerline is valid? [True, True] Translation: X:460.80, Y:-61.45, Z:-30.36 [[ 9.97333674e-01 5.86457279e-02 4.34306516e-02 4.60795288e+02] [-5.84626053e-02 9.98274582e-01 -5.47573079e-03 -6.14471969e+01] [-4.36768438e-02 2.92206167e-03 9.99041438e-01 -3.03638870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.750714057 meters 0.03953129559412537 Centerline is valid? [True, True] Translation: X:460.82, Y:-61.45, Z:-30.37 [[ 9.97271171e-01 5.93352715e-02 4.39264961e-02 4.60822357e+02] [-5.91488021e-02 9.98233838e-01 -5.53380688e-03 -6.14529986e+01] [-4.41772647e-02 2.92050644e-03 9.99019439e-01 -3.03655427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.780714057 meters 0.039494651598136025 Centerline is valid? [True, True] Translation: X:460.85, Y:-61.46, Z:-30.37 [[ 9.97253909e-01 5.95199297e-02 4.40683519e-02 4.60850407e+02] [-5.93326170e-02 9.98222854e-01 -5.54751429e-03 -6.14567531e+01] [-4.43202237e-02 2.91758966e-03 9.99013116e-01 -3.03670871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.810714057 meters 0.03915915160870786 Centerline is valid? [True, True] Translation: X:460.88, Y:-61.46, Z:-30.37 [[ 9.97135780e-01 6.11367153e-02 4.45256955e-02 4.60878691e+02] [-6.09472487e-02 9.98125270e-01 -5.60166604e-03 -6.14612306e+01] [-4.47846893e-02 2.87190301e-03 9.98992534e-01 -3.03689384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.840714057 meters 0.03533621114705915 Centerline is valid? [True, True] Translation: X:460.91, Y:-61.46, Z:-30.37 [[ 9.97087587e-01 6.18097466e-02 4.46754891e-02 4.60907593e+02] [-6.16197692e-02 9.98083883e-01 -5.61840271e-03 -6.14589704e+01] [-4.49371577e-02 2.84914627e-03 9.98985753e-01 -3.03694462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.870714057 meters 0.036309073614091136 Centerline is valid? [True, True] Translation: X:460.93, Y:-61.46, Z:-30.37 [[ 9.97010753e-01 6.30518850e-02 4.46544305e-02 4.60934939e+02] [-6.28634643e-02 9.98006354e-01 -5.61270074e-03 -6.14643058e+01] [-4.49192967e-02 2.78879079e-03 9.98986726e-01 -3.03717257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.900714057 meters 0.03898651582069553 Centerline is valid? [True, True] Translation: X:460.96, Y:-61.47, Z:-30.38 [[ 9.96792057e-01 6.63173472e-02 4.48062899e-02 4.60962880e+02] [-6.61311432e-02 9.97795074e-01 -5.62697845e-03 -6.14734390e+01] [-4.50806616e-02 2.64583626e-03 9.98979846e-01 -3.03754287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.930714057 meters 0.038666313296573405 Centerline is valid? [True, True] Translation: X:460.99, Y:-61.48, Z:-30.38 [[ 9.96667931e-01 6.88610392e-02 4.37171989e-02 4.60991160e+02] [-6.86862789e-02 9.97623209e-01 -5.48890255e-03 -6.14764586e+01] [-4.39912638e-02 2.46784143e-03 9.99028868e-01 -3.03780268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.960714057 meters 0.037771348379009966 Centerline is valid? [True, True] Translation: X:461.02, Y:-61.48, Z:-30.38 [[ 9.96584554e-01 7.01036444e-02 4.36429350e-02 4.61020064e+02] [-6.99307515e-02 9.97536809e-01 -5.47760985e-03 -6.14786807e+01] [-4.39194345e-02 2.40691813e-03 9.99032177e-01 -3.03794101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.990714057 meters 0.03815286898161123 Centerline is valid? [True, True] Translation: X:461.05, Y:-61.48, Z:-30.38 [[ 9.96539353e-01 7.12641594e-02 4.27871188e-02 4.61047714e+02] [-7.10991618e-02 9.97454810e-01 -5.36764036e-03 -6.14828453e+01] [-4.30607378e-02 2.30693656e-03 9.99069793e-01 -3.03809537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.020714057 meters 0.03292981876563138 Centerline is valid? [True, True] Translation: X:461.08, Y:-61.48, Z:-30.38 [[ 9.96580382e-01 7.09966992e-02 4.22730493e-02 4.61077268e+02] [-7.08355603e-02 9.97473929e-01 -5.29951652e-03 -6.14783953e+01] [-4.25425127e-02 2.28695907e-03 9.99092040e-01 -3.03799824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.050714057 meters 0.03268782305793426 Centerline is valid? [True, True] Translation: X:461.11, Y:-61.48, Z:-30.38 [[ 9.96695979e-01 6.94917283e-02 4.20478936e-02 4.61106817e+02] [-6.93311175e-02 9.97579795e-01 -5.26775597e-03 -6.14833665e+01] [-4.23121945e-02 2.33512374e-03 9.99101709e-01 -3.03811318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.080714057 meters 0.03604831405932421 Centerline is valid? [True, True] Translation: X:461.13, Y:-61.49, Z:-30.38 [[ 9.96769723e-01 6.83487419e-02 4.21730889e-02 4.61133655e+02] [-6.81861834e-02 9.97658628e-01 -5.28272669e-03 -6.14927967e+01] [-4.24354137e-02 2.39004004e-03 9.99096353e-01 -3.03839213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.110714057 meters 0.03439821883615848 Centerline is valid? [True, True] Translation: X:461.16, Y:-61.49, Z:-30.38 [[ 9.96894432e-01 6.63896633e-02 4.23545008e-02 4.61163271e+02] [-6.62241392e-02 9.97790692e-01 -5.30079239e-03 -6.14949253e+01] [-4.26128444e-02 2.47944006e-03 9.99088584e-01 -3.03832510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.140714057 meters 0.03863611974557617 Centerline is valid? [True, True] Translation: X:461.19, Y:-61.51, Z:-30.39 [[ 9.96946484e-01 6.56756974e-02 4.22422943e-02 4.61190165e+02] [-6.55104257e-02 9.97837882e-01 -5.28641455e-03 -6.15062876e+01] [-4.24981504e-02 2.50296172e-03 9.99093410e-01 -3.03855946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.170714057 meters 0.03505765402296231 Centerline is valid? [True, True] Translation: X:461.22, Y:-61.50, Z:-30.38 [[ 9.96975671e-01 6.52189107e-02 4.22611427e-02 4.61219436e+02] [-6.50533173e-02 9.97867803e-01 -5.28325518e-03 -6.15042619e+01] [-4.25156018e-02 2.51804935e-03 9.99092630e-01 -3.03845754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.200714057 meters 0.038548978839954055 Centerline is valid? [True, True] Translation: X:461.25, Y:-61.51, Z:-30.39 [[ 9.96951779e-01 6.49277445e-02 4.32612798e-02 4.61245619e+02] [-6.47540711e-02 9.97886613e-01 -5.40531167e-03 -6.15145277e+01] [-4.35208067e-02 2.58749109e-03 9.99049170e-01 -3.03864094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.230714057 meters 0.03463942455561183 Centerline is valid? [True, True] Translation: X:461.27, Y:-61.51, Z:-30.39 [[ 9.96948555e-01 6.42153487e-02 4.43843120e-02 4.61274447e+02] [-6.40320246e-02 9.97932460e-01 -5.54129385e-03 -6.15148643e+01] [-4.46483817e-02 2.68236754e-03 9.98999163e-01 -3.03852357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.26071405700003 meters 0.03930274968947697 Centerline is valid? [True, True] Translation: X:461.30, Y:-61.53, Z:-30.39 [[ 9.96999544e-01 6.34082568e-02 4.43993405e-02 4.61300626e+02] [-6.32241448e-02 9.97983975e-01 -5.54018464e-03 -6.15260166e+01] [-4.46611238e-02 2.71645122e-03 9.98998501e-01 -3.03877037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.290714057 meters 0.035470183777079924 Centerline is valid? [True, True] Translation: X:461.33, Y:-61.53, Z:-30.39 [[ 9.97166633e-01 6.15288129e-02 4.32771338e-02 4.61330496e+02] [-6.13523311e-02 9.98101587e-01 -5.39565096e-03 -6.15253589e+01] [-4.35269639e-02 2.72521007e-03 9.99048536e-01 -3.03886158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.320714057 meters 0.0369743356979037 Centerline is valid? [True, True] Translation: X:461.36, Y:-61.53, Z:-30.39 [[ 9.97359510e-01 5.96570290e-02 4.14131295e-02 4.61358567e+02] [-5.94938737e-02 9.98215323e-01 -5.16212628e-03 -6.15323808e+01] [-4.16471775e-02 2.68466824e-03 9.99128773e-01 -3.03919804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.350714057 meters 0.03772543663566967 Centerline is valid? [True, True] Translation: X:461.39, Y:-61.54, Z:-30.39 [[ 9.97451085e-01 5.88029218e-02 4.04171889e-02 4.61386837e+02] [-5.86469008e-02 9.98266086e-01 -5.03616922e-03 -6.15382488e+01] [-4.06432505e-02 2.65298959e-03 9.99170200e-01 -3.03947275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.380714057 meters 0.0395058884309605 Centerline is valid? [True, True] Translation: X:461.42, Y:-61.55, Z:-30.40 [[ 9.97661861e-01 5.65825641e-02 3.83304736e-02 4.61415578e+02] [-5.64407531e-02 9.98394543e-01 -4.77261338e-03 -6.15452702e+01] [-3.85389824e-02 2.59805355e-03 9.99253720e-01 -3.03981960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.410714057 meters 0.04005821645611744 Centerline is valid? [True, True] Translation: X:461.44, Y:-61.55, Z:-30.40 [[ 9.97748901e-01 5.52496128e-02 3.80080498e-02 4.61444707e+02] [-5.51092290e-02 9.98469118e-01 -4.73214421e-03 -6.15499720e+01] [-3.82113131e-02 2.62689737e-03 9.99266228e-01 -3.03998205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.440714057 meters 0.04005821645611744 Centerline is valid? [True, True] Translation: X:461.47, Y:-61.55, Z:-30.40 [[ 9.97752725e-01 5.51804403e-02 3.80081307e-02 4.61472827e+02] [-5.50400312e-02 9.98472938e-01 -4.73149403e-03 -6.15534086e+01] [-3.82111759e-02 2.62889237e-03 9.99266228e-01 -3.04014629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.470714057 meters 0.042256992682105046 Centerline is valid? [True, True] Translation: X:461.50, Y:-61.56, Z:-30.40 [[ 9.97951876e-01 5.20233175e-02 3.72240195e-02 4.61501268e+02] [-5.18865846e-02 9.98642248e-01 -4.63056563e-03 -6.15600809e+01] [-3.74143759e-02 2.68965442e-03 9.99296217e-01 -3.04027697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.500714057 meters 0.04309157812836209 Centerline is valid? [True, True] Translation: X:461.53, Y:-61.56, Z:-30.40 [[ 9.98057980e-01 5.02682232e-02 3.67882463e-02 4.61529887e+02] [-5.01335164e-02 9.98732043e-01 -4.57562308e-03 -6.15649520e+01] [-3.69716088e-02 2.72241298e-03 9.99312608e-01 -3.04045065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.530714057 meters 0.04599708644637217 Centerline is valid? [True, True] Translation: X:461.56, Y:-61.57, Z:-30.41 [[ 9.98316330e-01 4.60263864e-02 3.52998156e-02 4.61558700e+02] [-4.58998187e-02 9.98936411e-01 -4.38797420e-03 -6.15731943e+01] [-3.54642337e-02 2.76033116e-03 9.99367134e-01 -3.04081110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.560714057 meters 0.048067520394965486 Centerline is valid? [True, True] Translation: X:461.59, Y:-61.58, Z:-30.41 [[ 9.98421687e-01 4.38596150e-02 3.50780443e-02 4.61587942e+02] [-4.37333239e-02 9.99033727e-01 -4.35986764e-03 -6.15796354e+01] [-3.52353715e-02 2.81890693e-03 9.99375066e-01 -3.04107885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.590714057 meters 0.051079442433399576 Centerline is valid? [True, True] Translation: X:461.62, Y:-61.59, Z:-30.41 [[ 9.98541550e-01 4.08359464e-02 3.53156870e-02 4.61616369e+02] [-4.07060751e-02 9.99161525e-01 -4.38896009e-03 -6.15865312e+01] [-3.54653030e-02 2.94499601e-03 9.99366569e-01 -3.04124353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.620714057 meters 0.051937357966003614 Centerline is valid? [True, True] Translation: X:461.65, Y:-61.59, Z:-30.41 [[ 9.98593877e-01 3.94993681e-02 3.53563130e-02 4.61645989e+02] [-3.93684034e-02 9.99215107e-01 -4.39295605e-03 -6.15904231e+01] [-3.55020810e-02 2.99485742e-03 9.99365115e-01 -3.04135386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.650714057 meters 0.05406030458613359 Centerline is valid? [True, True] Translation: X:461.68, Y:-61.59, Z:-30.41 [[ 9.98623951e-01 3.85643730e-02 3.55386276e-02 4.61675561e+02] [-3.84315006e-02 9.99251485e-01 -4.41463238e-03 -6.15945091e+01] [-3.56822740e-02 3.04275484e-03 9.99358553e-01 -3.04147902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.680714057 meters 0.053837593582043396 Centerline is valid? [True, True] Translation: X:461.71, Y:-61.60, Z:-30.42 [[ 9.98618420e-01 3.86143880e-02 3.56395979e-02 4.61705767e+02] [-3.84807908e-02 9.99249533e-01 -4.42717497e-03 -6.15967029e+01] [-3.57838042e-02 3.04961856e-03 9.99354902e-01 -3.04159611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.710714057 meters 0.054983026601120345 Centerline is valid? [True, True] Translation: X:461.74, Y:-61.60, Z:-30.42 [[ 9.98623314e-01 3.84831505e-02 3.56444027e-02 4.61735060e+02] [-3.83494213e-02 9.99254579e-01 -4.42813424e-03 -6.15986308e+01] [-3.57882412e-02 3.05509587e-03 9.99354726e-01 -3.04175546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.740714057 meters 0.05531675934080283 Centerline is valid? [True, True] Translation: X:461.76, Y:-61.60, Z:-30.42 [[ 9.98627210e-01 3.81947514e-02 3.58449000e-02 4.61764960e+02] [-3.80593629e-02 9.99265562e-01 -4.45208055e-03 -6.16018601e+01] [-3.59886203e-02 3.08173472e-03 9.99347448e-01 -3.04194078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.770714057 meters 0.04411072520842143 Centerline is valid? [True, True] Translation: X:461.80, Y:-61.59, Z:-30.42 [[ 9.98701219e-01 3.67066360e-02 3.53340844e-02 4.61797096e+02] [-3.65741531e-02 9.99321305e-01 -4.38873903e-03 -6.15883041e+01] [-3.54711992e-02 3.09072480e-03 9.99365920e-01 -3.04174423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.800714057 meters 0.046876735296503595 Centerline is valid? [True, True] Translation: X:461.83, Y:-61.60, Z:-30.42 [[ 9.98761572e-01 3.54396325e-02 3.49192494e-02 4.61826868e+02] [-3.53094994e-02 9.99367017e-01 -4.33653796e-03 -6.15952551e+01] [-3.50508314e-02 3.09818626e-03 9.99380728e-01 -3.04201752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.830714057 meters 0.04913487406847464 Centerline is valid? [True, True] Translation: X:461.86, Y:-61.60, Z:-30.42 [[ 9.98877474e-01 3.26561304e-02 3.43128232e-02 4.61856535e+02] [-3.25288192e-02 9.99461710e-01 -4.26217050e-03 -6.16006313e+01] [-3.44335389e-02 3.14123048e-03 9.99402053e-01 -3.04226630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.860714057 meters 0.048545947435354314 Centerline is valid? [True, True] Translation: X:461.89, Y:-61.60, Z:-30.42 [[ 9.98963237e-01 3.05463307e-02 3.37546073e-02 4.61887865e+02] [-3.04219588e-02 9.99528354e-01 -4.19217499e-03 -6.16025117e+01] [-3.38667427e-02 3.16094742e-03 9.99421359e-01 -3.04244016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.890714057 meters 0.04892031075917475 Centerline is valid? [True, True] Translation: X:461.92, Y:-61.61, Z:-30.43 [[ 9.99066163e-01 2.69917054e-02 3.37379707e-02 4.61918188e+02] [-2.68653800e-02 9.99630270e-01 -4.19212059e-03 -6.16053816e+01] [-3.38386492e-02 3.28182243e-03 9.99421921e-01 -3.04260304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.920714057 meters 0.06874371247726258 Centerline is valid? [True, True] Translation: X:461.95, Y:-61.64, Z:-30.43 [[ 9.99065078e-01 2.63347631e-02 3.42848431e-02 4.61945346e+02] [-2.62041057e-02 9.99647559e-01 -4.25478800e-03 -6.16351061e+01] [-3.43848086e-02 3.35240645e-03 9.99403045e-01 -3.04338084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.950714057 meters 0.051985056635784385 Centerline is valid? [True, True] Translation: X:461.98, Y:-61.62, Z:-30.43 [[ 9.99067212e-01 2.51205607e-02 3.51235483e-02 4.61980779e+02] [-2.49822532e-02 9.99678338e-01 -4.37115021e-03 -6.16151577e+01] [-3.52220562e-02 3.48960747e-03 9.99373418e-01 -3.04296219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.980714057 meters 0.049371189650133804 Centerline is valid? [True, True] Translation: X:462.01, Y:-61.61, Z:-30.43 [[ 9.99048528e-01 2.59050916e-02 3.50850983e-02 4.62013573e+02] [-2.57676218e-02 9.99658431e-01 -4.36477607e-03 -6.16143678e+01] [-3.51861842e-02 3.45656357e-03 9.99374797e-01 -3.04305849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.01071405700003 meters 0.05087372235326994 Centerline is valid? [True, True] Translation: X:462.04, Y:-61.62, Z:-30.43 [[ 9.98975676e-01 2.86332249e-02 3.50390714e-02 4.62043006e+02] [-2.84972482e-02 9.99584301e-01 -4.37409745e-03 -6.16157947e+01] [-3.51497502e-02 3.37109984e-03 9.99376371e-01 -3.04326832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.040714057 meters 0.048937296411105786 Centerline is valid? [True, True] Translation: X:462.07, Y:-61.61, Z:-30.43 [[ 9.98885335e-01 3.10272155e-02 3.55724581e-02 4.62073741e+02] [-3.08885967e-02 9.99512972e-01 -4.43989787e-03 -6.16149754e+01] [-3.56928910e-02 3.33616555e-03 9.99357237e-01 -3.04341114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.070714057 meters 0.04544209338402529 Centerline is valid? [True, True] Translation: X:462.11, Y:-61.61, Z:-30.43 [[ 9.98626214e-01 3.72724743e-02 3.68299688e-02 4.62105593e+02] [-3.71280877e-02 9.99299942e-01 -4.59679358e-03 -6.16103360e+01] [-3.69755196e-02 3.22305226e-03 9.99310974e-01 -3.04345968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.100714057 meters 0.04298119839451893 Centerline is valid? [True, True] Translation: X:462.14, Y:-61.61, Z:-30.44 [[ 9.98446327e-01 4.09305900e-02 3.78102894e-02 4.62136208e+02] [-4.07810067e-02 9.99156964e-01 -4.71928960e-03 -6.16088427e+01] [-3.79715773e-02 3.17001571e-03 9.99273791e-01 -3.04350372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.130714057 meters 0.041689390958910263 Centerline is valid? [True, True] Translation: X:462.17, Y:-61.61, Z:-30.44 [[ 9.98087509e-01 4.74610338e-02 3.96077541e-02 4.62166498e+02] [-4.73019770e-02 9.98868400e-01 -4.94384430e-03 -6.16066352e+01] [-3.97975740e-02 3.06086418e-03 9.99203075e-01 -3.04353424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.160714057 meters 0.0393041389424562 Centerline is valid? [True, True] Translation: X:462.20, Y:-61.61, Z:-30.44 [[ 9.97840181e-01 5.10105847e-02 4.13871127e-02 4.62196804e+02] [-5.08399916e-02 9.98693457e-01 -5.16467038e-03 -6.16063107e+01] [-4.15964915e-02 3.04939517e-03 9.99129838e-01 -3.04357252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.190714057 meters 0.03905435622523051 Centerline is valid? [True, True] Translation: X:462.23, Y:-61.61, Z:-30.44 [[ 9.97468862e-01 5.65784191e-02 4.30668350e-02 4.62226103e+02] [-5.63988343e-02 9.98393853e-01 -5.37455005e-03 -6.16068662e+01] [-4.33017469e-02 2.93202703e-03 9.99057737e-01 -3.04370386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.220714057 meters 0.03867951739230413 Centerline is valid? [True, True] Translation: X:462.25, Y:-61.61, Z:-30.44 [[ 9.97277618e-01 5.92527061e-02 4.38915646e-02 4.62254702e+02] [-5.90688179e-02 9.98238894e-01 -5.47589897e-03 -6.16091501e+01] [-4.41387287e-02 2.86836865e-03 9.99021294e-01 -3.04388796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.250714057 meters 0.03978049602314984 Centerline is valid? [True, True] Translation: X:462.28, Y:-61.61, Z:-30.44 [[ 9.97037376e-01 6.32806801e-02 4.37267231e-02 4.62283774e+02] [-6.31020601e-02 9.97992173e-01 -5.45458256e-03 -6.16134085e+01] [-4.39840971e-02 2.67917638e-03 9.99028639e-01 -3.04423629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.280714057 meters 0.034965246958442074 Centerline is valid? [True, True] Translation: X:462.31, Y:-61.61, Z:-30.44 [[ 9.96994324e-01 6.40445064e-02 4.35960819e-02 4.62313645e+02] [-6.38676899e-02 9.97943558e-01 -5.43806399e-03 -6.16082984e+01] [-4.38547072e-02 2.63733789e-03 9.99034438e-01 -3.04429433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.310714057 meters 0.034460096275245655 Centerline is valid? [True, True] Translation: X:462.34, Y:-61.61, Z:-30.45 [[ 9.96850901e-01 6.57749653e-02 4.42937445e-02 4.62342595e+02] [-6.55942876e-02 9.97831098e-01 -5.52179937e-03 -6.16102963e+01] [-4.45608719e-02 2.59899406e-03 9.99003290e-01 -3.04451478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.340714057 meters 0.03421590324706013 Centerline is valid? [True, True] Translation: X:462.37, Y:-61.61, Z:-30.45 [[ 9.96828325e-01 6.59395925e-02 4.45562619e-02 4.62370937e+02] [-6.57570725e-02 9.97820219e-01 -5.55132359e-03 -6.16132600e+01] [-4.48251910e-02 2.60382725e-03 9.98991453e-01 -3.04471790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.370714057 meters 0.03592027060118342 Centerline is valid? [True, True] Translation: X:462.40, Y:-61.62, Z:-30.45 [[ 9.96930313e-01 6.44289720e-02 4.44843627e-02 4.62399114e+02] [-6.42456977e-02 9.97918740e-01 -5.53891220e-03 -6.16197764e+01] [-4.47486456e-02 2.66398055e-03 9.98994726e-01 -3.04512592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.400714057 meters 0.03587817389787187 Centerline is valid? [True, True] Translation: X:462.43, Y:-61.62, Z:-30.45 [[ 9.97030708e-01 6.32241447e-02 4.39599303e-02 4.62426952e+02] [-6.30440688e-02 9.97995742e-01 -5.47213660e-03 -6.16239597e+01] [-4.42177945e-02 2.68447536e-03 9.99018308e-01 -3.04537162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.430714057 meters 0.04133619098427356 Centerline is valid? [True, True] Translation: X:462.46, Y:-61.64, Z:-30.46 [[ 9.97333506e-01 5.92162591e-02 4.26533977e-02 4.62455033e+02] [-5.90433696e-02 9.98241333e-01 -5.30289961e-03 -6.16366606e+01] [-4.28924025e-02 2.77035914e-03 9.99075856e-01 -3.04590886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.460714057 meters 0.040887371246365975 Centerline is valid? [True, True] Translation: X:462.48, Y:-61.64, Z:-30.46 [[ 9.97618014e-01 5.49433455e-02 4.17076371e-02 4.62484903e+02] [-5.47743182e-02 9.98485295e-01 -5.18552738e-03 -6.16404693e+01] [-4.19293725e-02 2.88866815e-03 9.99116401e-01 -3.04613341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.490714057 meters 0.038144293825771496 Centerline is valid? [True, True] Translation: X:462.51, Y:-61.64, Z:-30.46 [[ 9.97711768e-01 5.32389684e-02 4.16754148e-02 4.62514345e+02] [-5.30686998e-02 9.98577418e-01 -5.18208075e-03 -6.16403701e+01] [-4.18920167e-02 2.95856288e-03 9.99117764e-01 -3.04619130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.520714057 meters 0.03982862778339236 Centerline is valid? [True, True] Translation: X:462.54, Y:-61.65, Z:-30.46 [[ 9.97781831e-01 5.12677841e-02 4.24621159e-02 4.62542936e+02] [-5.10893484e-02 9.98680142e-01 -5.27751196e-03 -6.16470806e+01] [-4.26766383e-02 3.09644372e-03 9.99084139e-01 -3.04628530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.550714057 meters 0.04318456698895551 Centerline is valid? [True, True] Translation: X:462.57, Y:-61.66, Z:-30.46 [[ 9.97756407e-01 5.09876557e-02 4.33867743e-02 4.62569516e+02] [-5.08011785e-02 9.98694239e-01 -5.39050660e-03 -6.16555732e+01] [-4.36049708e-02 3.17431323e-03 9.99043808e-01 -3.04644818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.580714057 meters 0.03937484969971567 Centerline is valid? [True, True] Translation: X:462.60, Y:-61.65, Z:-30.46 [[ 9.97658767e-01 5.17537233e-02 4.47050062e-02 4.62598821e+02] [-5.15566956e-02 9.98654648e-01 -5.54986920e-03 -6.16534105e+01] [-4.49320886e-02 3.23203326e-03 9.98984815e-01 -3.04644600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.610714057 meters 0.04279710607393174 Centerline is valid? [True, True] Translation: X:462.63, Y:-61.66, Z:-30.47 [[ 9.97389209e-01 5.56750421e-02 4.59897287e-02 4.62627272e+02] [-5.54708497e-02 9.98444007e-01 -5.70529977e-03 -6.16614175e+01] [-4.62358118e-02 3.13931510e-03 9.98925620e-01 -3.04657167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.640714057 meters 0.03932103998788542 Centerline is valid? [True, True] Translation: X:462.66, Y:-61.66, Z:-30.47 [[ 9.97260155e-01 5.82073958e-02 4.56517616e-02 4.62658013e+02] [-5.80088824e-02 9.98300009e-01 -5.66235929e-03 -6.16588313e+01] [-4.59037452e-02 2.99863763e-03 9.98941367e-01 -3.04662268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.670714057 meters 0.03560602003275328 Centerline is valid? [True, True] Translation: X:462.69, Y:-61.66, Z:-30.47 [[ 9.96941689e-01 6.34443173e-02 4.56298939e-02 4.62688818e+02] [-6.32514984e-02 9.97981577e-01 -5.65866233e-03 -6.16562534e+01] [-4.58968034e-02 2.75519722e-03 9.98942387e-01 -3.04673183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.700714057 meters 0.035832296321387985 Centerline is valid? [True, True] Translation: X:462.72, Y:-61.66, Z:-30.47 [[ 9.96789113e-01 6.55784011e-02 4.59449385e-02 4.62717760e+02] [-6.53851553e-02 9.97843833e-01 -5.69795507e-03 -6.16602331e+01] [-4.62195363e-02 2.67554264e-03 9.98927723e-01 -3.04690201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.730714057 meters 0.0340676567399768 Centerline is valid? [True, True] Translation: X:462.75, Y:-61.66, Z:-30.47 [[ 9.96555205e-01 6.91450699e-02 4.57895569e-02 4.62747266e+02] [-6.89569557e-02 9.97603483e-01 -5.67704709e-03 -6.16617775e+01] [-4.60723613e-02 2.49998237e-03 9.98934977e-01 -3.04709496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.76071405700003 meters 0.034074718549479764 Centerline is valid? [True, True] Translation: X:462.78, Y:-61.67, Z:-30.47 [[ 9.96277122e-01 7.25029532e-02 4.66392293e-02 4.62776176e+02] [-7.23115337e-02 9.97365342e-01 -5.78066961e-03 -6.16659627e+01] [-4.69354665e-02 2.38659468e-03 9.98895073e-01 -3.04723765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.790714057 meters 0.03340365449287495 Centerline is valid? [True, True] Translation: X:462.81, Y:-61.67, Z:-30.47 [[ 9.96158996e-01 7.40131604e-02 4.67900322e-02 4.62805389e+02] [-7.38221982e-02 9.97254561e-01 -5.79856410e-03 -6.16687104e+01] [-4.70907431e-02 2.32214876e-03 9.98887916e-01 -3.04729638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.820714057 meters 0.033295568399376696 Centerline is valid? [True, True] Translation: X:462.83, Y:-61.67, Z:-30.47 [[ 9.96028593e-01 7.58795032e-02 4.65761959e-02 4.62832812e+02] [-7.56925760e-02 9.97114527e-01 -5.76657155e-03 -6.16722888e+01] [-4.68793662e-02 2.21819790e-03 9.98898095e-01 -3.04738607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.850714057 meters 0.05033101701428303 Centerline is valid? [True, True] Translation: X:462.86, Y:-61.70, Z:-30.48 [[ 9.95593236e-01 8.12238804e-02 4.68699325e-02 4.62857846e+02] [-8.10408048e-02 9.96693930e-01 -5.79628634e-03 -6.17035997e+01] [-4.71857741e-02 1.97236642e-03 9.98884184e-01 -3.04817450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.880714057 meters 0.03093224948361846 Centerline is valid? [True, True] Translation: X:462.89, Y:-61.68, Z:-30.48 [[ 9.95378655e-01 8.38925707e-02 4.67265488e-02 4.62890369e+02] [-8.37135701e-02 9.96473106e-01 -5.77808044e-03 -6.16764532e+01] [-4.70464873e-02 1.83973172e-03 9.98891007e-01 -3.04753792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.910714057 meters 0.031411185127828485 Centerline is valid? [True, True] Translation: X:462.92, Y:-61.68, Z:-30.48 [[ 9.95324839e-01 8.48197678e-02 4.61960154e-02 4.62918051e+02] [-8.46459263e-02 9.96394733e-01 -5.70994899e-03 -6.16807997e+01] [-4.65137830e-02 1.77294954e-03 9.98916075e-01 -3.04773158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.940714057 meters 0.0318932451410297 Centerline is valid? [True, True] Translation: X:462.94, Y:-61.69, Z:-30.48 [[ 9.95208162e-01 8.65569302e-02 4.54820017e-02 4.62944717e+02] [-8.63905219e-02 9.96245524e-01 -5.61544932e-03 -6.16879173e+01] [-4.57972967e-02 1.65932713e-03 9.98949375e-01 -3.04796205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.970714057 meters 0.031099825714375313 Centerline is valid? [True, True] Translation: X:462.97, Y:-61.69, Z:-30.48 [[ 9.95190058e-01 8.70387707e-02 4.49555461e-02 4.62973710e+02] [-8.68768694e-02 9.96203617e-01 -5.54640210e-03 -6.16908522e+01] [-4.52676297e-02 1.61412712e-03 9.98973591e-01 -3.04807059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.000714057 meters 0.03208073329238504 Centerline is valid? [True, True] Translation: X:463.00, Y:-61.70, Z:-30.48 [[ 9.95261919e-01 8.70083943e-02 4.33964527e-02 4.63000494e+02] [-8.68576215e-02 9.96206362e-01 -5.35142635e-03 -6.16978530e+01] [-4.36974413e-02 1.55675820e-03 9.99043598e-01 -3.04832059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.030714057 meters 0.03197267895356976 Centerline is valid? [True, True] Translation: X:463.03, Y:-61.70, Z:-30.49 [[ 9.95263002e-01 8.73302066e-02 4.27199281e-02 4.63027662e+02] [-8.71845519e-02 9.96178267e-01 -5.26440671e-03 -6.17036943e+01] [-4.30164057e-02 1.51495143e-03 9.99073217e-01 -3.04852641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.060714057 meters 0.030288705584559743 Centerline is valid? [True, True] Translation: X:463.06, Y:-61.71, Z:-30.49 [[ 9.95448437e-01 8.63738991e-02 4.02735551e-02 4.63056195e+02] [-8.62436851e-02 9.96261712e-01 -4.96273676e-03 -6.17053997e+01] [-4.05516518e-02 1.46680875e-03 9.99176367e-01 -3.04856082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.090714057 meters 0.030727118183171254 Centerline is valid? [True, True] Translation: X:463.08, Y:-61.71, Z:-30.49 [[ 9.95488592e-01 8.61544593e-02 3.97476151e-02 4.63083520e+02] [-8.60279642e-02 9.96280746e-01 -4.88512432e-03 -6.17123678e+01] [-4.00206589e-02 1.44367912e-03 9.99197810e-01 -3.04881286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.120714057 meters 0.031287586355855414 Centerline is valid? [True, True] Translation: X:463.11, Y:-61.72, Z:-30.49 [[ 9.95676810e-01 8.46629362e-02 3.82083482e-02 4.63111644e+02] [-8.45449634e-02 9.96408600e-01 -4.69578878e-03 -6.17183017e+01] [-3.84686860e-02 1.44516460e-03 9.99258761e-01 -3.04893807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.150714057 meters 0.03146189938861327 Centerline is valid? [True, True] Translation: X:463.14, Y:-61.72, Z:-30.49 [[ 9.95775206e-01 8.34596911e-02 3.82912376e-02 4.63139797e+02] [-8.33406881e-02 9.96510047e-01 -4.69636918e-03 -6.17244125e+01] [-3.85495605e-02 1.48530989e-03 9.99255586e-01 -3.04905408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.180714057 meters 0.031607049771149524 Centerline is valid? [True, True] Translation: X:463.17, Y:-61.73, Z:-30.49 [[ 9.96034866e-01 8.02715606e-02 3.83539176e-02 4.63168389e+02] [-8.01503371e-02 9.96771751e-01 -4.69036309e-03 -6.17337703e+01] [-3.86066044e-02 1.59768574e-03 9.99253210e-01 -3.04910866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.210714057 meters 0.03185378766581747 Centerline is valid? [True, True] Translation: X:463.20, Y:-61.74, Z:-30.49 [[ 9.96215684e-01 7.79462336e-02 3.84538149e-02 4.63196934e+02] [-7.78226893e-02 9.96956130e-01 -4.70153117e-03 -6.17409837e+01] [-3.87032331e-02 1.69115981e-03 9.99249318e-01 -3.04921342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.240714057 meters 0.03295571789623108 Centerline is valid? [True, True] Translation: X:463.22, Y:-61.75, Z:-30.49 [[ 9.96413353e-01 7.56241380e-02 3.79660386e-02 4.63224820e+02] [-7.55020882e-02 9.97134847e-01 -4.64031577e-03 -6.17487990e+01] [-3.82081800e-02 1.75715740e-03 9.99268256e-01 -3.04935787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.270714057 meters 0.03381320301194051 Centerline is valid? [True, True] Translation: X:463.25, Y:-61.76, Z:-30.49 [[ 9.96828650e-01 7.05448804e-02 3.68247568e-02 4.63254505e+02] [-7.04267592e-02 9.97506818e-01 -4.49664672e-03 -6.17574537e+01] [-3.70501614e-02 1.88893800e-03 9.99311622e-01 -3.04947837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.300714057 meters 0.03407413003739471 Centerline is valid? [True, True] Translation: X:463.28, Y:-61.76, Z:-30.50 [[ 9.97143790e-01 6.68807040e-02 3.50889361e-02 4.63284099e+02] [-6.67711916e-02 9.97759113e-01 -4.28490794e-03 -6.17639653e+01] [-3.52968834e-02 1.92973927e-03 9.99375008e-01 -3.04957213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.330714057 meters 0.03527334540119779 Centerline is valid? [True, True] Translation: X:463.31, Y:-61.77, Z:-30.50 [[ 9.97207864e-01 6.59767900e-02 3.49791299e-02 4.63310854e+02] [-6.58673583e-02 9.97819239e-01 -4.27290983e-03 -6.17702247e+01] [-3.51847617e-02 1.95699640e-03 9.99378908e-01 -3.04974199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.360714057 meters 0.03527334540119779 Centerline is valid? [True, True] Translation: X:463.34, Y:-61.77, Z:-30.50 [[ 9.97214959e-01 6.58692199e-02 3.49795922e-02 4.63338121e+02] [-6.57598548e-02 9.97826346e-01 -4.26912135e-03 -6.17734613e+01] [-3.51847623e-02 1.95697877e-03 9.99378908e-01 -3.04990134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.390714057 meters 0.036939150902920256 Centerline is valid? [True, True] Translation: X:463.36, Y:-61.78, Z:-30.50 [[ 9.97302587e-01 6.46011722e-02 3.48459206e-02 4.63364896e+02] [-6.44920039e-02 9.97909178e-01 -4.24900103e-03 -6.17809544e+01] [-3.50475544e-02 1.99025647e-03 9.99383664e-01 -3.04984714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.420714057 meters 0.03663228534634112 Centerline is valid? [True, True] Translation: X:463.39, Y:-61.78, Z:-30.50 [[ 9.97288100e-01 6.44913897e-02 3.54585192e-02 4.63393821e+02] [-6.43784490e-02 9.97916210e-01 -4.31890847e-03 -6.17844859e+01] [-3.56631635e-02 2.02443155e-03 9.99361817e-01 -3.04988664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.450714057 meters 0.03489913699306003 Centerline is valid? [True, True] Translation: X:463.42, Y:-61.78, Z:-30.50 [[ 9.97314577e-01 6.42586103e-02 3.51349501e-02 4.63422863e+02] [-6.41476636e-02 9.97931252e-01 -4.27709369e-03 -6.17848653e+01] [-3.53371048e-02 2.01178293e-03 9.99373425e-01 -3.04980876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.480714057 meters 0.03841329772507417 Centerline is valid? [True, True] Translation: X:463.45, Y:-61.79, Z:-30.50 [[ 9.97322305e-01 6.42720449e-02 3.48901816e-02 4.63448633e+02] [-6.41626604e-02 9.97930417e-01 -4.24693179e-03 -6.17941259e+01] [-3.50909325e-02 1.99691292e-03 9.99382129e-01 -3.05002741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.51071405700003 meters 0.036726151018320705 Centerline is valid? [True, True] Translation: X:463.48, Y:-61.79, Z:-30.50 [[ 9.97408465e-01 6.37565206e-02 3.33385526e-02 4.63477673e+02] [-6.36566187e-02 9.97963641e-01 -4.05053719e-03 -6.17938260e+01] [-3.35289115e-02 1.91782056e-03 9.99435908e-01 -3.05013713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.540714057 meters 0.036020020346969585 Centerline is valid? [True, True] Translation: X:463.51, Y:-61.80, Z:-30.50 [[ 9.97436335e-01 6.37688867e-02 3.24697876e-02 4.63506723e+02] [-6.36742035e-02 9.97962950e-01 -3.94280651e-03 -6.17964698e+01] [-3.26550734e-02 1.86521061e-03 9.99464940e-01 -3.05029538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.570714057 meters 0.03614350873871744 Centerline is valid? [True, True] Translation: X:463.54, Y:-61.80, Z:-30.50 [[ 9.97619644e-01 6.20268686e-02 3.01283007e-02 4.63536386e+02] [-6.19446484e-02 9.98072892e-01 -3.65563609e-03 -6.17994269e+01] [-3.02969878e-02 1.78064739e-03 9.99539355e-01 -3.05047902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.600714057 meters 0.039361092164416196 Centerline is valid? [True, True] Translation: X:463.56, Y:-61.81, Z:-30.51 [[ 9.97707310e-01 6.09459243e-02 2.94230736e-02 4.63562792e+02] [-6.08670110e-02 9.98139496e-01 -3.57108547e-03 -6.18079782e+01] [-2.95859749e-02 1.77200354e-03 9.99560669e-01 -3.05086111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.630714057 meters 0.040459019513210674 Centerline is valid? [True, True] Translation: X:463.59, Y:-61.81, Z:-30.51 [[ 9.97814022e-01 5.94249691e-02 2.89110720e-02 4.63591569e+02] [-5.93482602e-02 9.98231185e-01 -3.50492554e-03 -6.18133401e+01] [-2.90682138e-02 1.78144202e-03 9.99575843e-01 -3.05105929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.660714057 meters 0.041357466780116627 Centerline is valid? [True, True] Translation: X:463.62, Y:-61.82, Z:-30.51 [[ 9.98062082e-01 5.55747404e-02 2.79915861e-02 4.63621790e+02] [-5.55014384e-02 9.98452854e-01 -3.38948151e-03 -6.18196379e+01] [-2.81366486e-02 1.82933968e-03 9.99602412e-01 -3.05113254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.690714057 meters 0.043002703021812076 Centerline is valid? [True, True] Translation: X:463.65, Y:-61.83, Z:-30.51 [[ 9.98315477e-01 5.06484826e-02 2.83008661e-02 4.63650952e+02] [-5.05715700e-02 9.98714559e-01 -3.42731517e-03 -6.18288350e+01] [-2.84380753e-02 1.99032255e-03 9.99593575e-01 -3.05125720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.720714057 meters 0.04266572937719806 Centerline is valid? [True, True] Translation: X:463.68, Y:-61.83, Z:-30.51 [[ 9.98678464e-01 4.36860340e-02 2.70712983e-02 4.63681360e+02] [-4.36131372e-02 9.99043118e-01 -3.27766875e-03 -6.18327503e+01] [-2.71885826e-02 2.09267295e-03 9.99628132e-01 -3.05120542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.750714057 meters 0.045752698723252 Centerline is valid? [True, True] Translation: X:463.71, Y:-61.84, Z:-30.51 [[ 9.98754228e-01 4.18608251e-02 2.71599580e-02 4.63708832e+02] [-4.17867445e-02 9.99121137e-01 -3.28967295e-03 -6.18419901e+01] [-2.72737965e-02 2.15064855e-03 9.99625687e-01 -3.05145343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.780714057 meters 0.04730354967346908 Centerline is valid? [True, True] Translation: X:463.74, Y:-61.85, Z:-30.52 [[ 9.98940265e-01 3.71511179e-02 2.71687559e-02 4.63738808e+02] [-3.70753448e-02 9.99307065e-01 -3.28759441e-03 -6.18484218e+01] [-2.72720675e-02 2.27681944e-03 9.99625455e-01 -3.05155304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.810714057 meters 0.050060494128357405 Centerline is valid? [True, True] Translation: X:463.77, Y:-61.86, Z:-30.52 [[ 9.98964526e-01 3.62230613e-02 2.75275607e-02 4.63766749e+02] [-3.61448770e-02 9.99341003e-01 -3.33267742e-03 -6.18552569e+01] [-2.76301399e-02 2.33424622e-03 9.99615489e-01 -3.05181647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.840714057 meters 0.049431779273758754 Centerline is valid? [True, True] Translation: X:463.80, Y:-61.86, Z:-30.52 [[ 9.99031388e-01 3.46504614e-02 2.71225107e-02 4.63796005e+02] [-3.45740255e-02 9.99396750e-01 -3.28220941e-03 -6.18576359e+01] [-2.72198791e-02 2.34129584e-03 9.99626729e-01 -3.05191835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.870714057 meters 0.05016275932262831 Centerline is valid? [True, True] Translation: X:463.82, Y:-61.86, Z:-30.52 [[ 9.99000930e-01 3.41184062e-02 2.88630533e-02 4.63824196e+02] [-3.40316687e-02 9.99414657e-01 -3.49119602e-03 -6.18629718e+01] [-2.89652725e-02 2.50545020e-03 9.99577279e-01 -3.05211059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.900714057 meters 0.0592692936954557 Centerline is valid? [True, True] Translation: X:463.85, Y:-61.88, Z:-30.53 [[ 9.99005831e-01 3.35886744e-02 2.93112858e-02 4.63851625e+02] [-3.34990917e-02 9.99432471e-01 -3.54211416e-03 -6.18786421e+01] [-2.94136257e-02 2.55669125e-03 9.99564056e-01 -3.05264351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.930714057 meters 0.05233196598103599 Centerline is valid? [True, True] Translation: X:463.88, Y:-61.87, Z:-30.52 [[ 9.98985674e-01 3.33488245e-02 3.02568968e-02 4.63882967e+02] [-3.32532138e-02 9.99440265e-01 -3.65780504e-03 -6.18710666e+01] [-3.03619445e-02 2.64795577e-03 9.99535462e-01 -3.05237542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.960714057 meters 0.05291613397668615 Centerline is valid? [True, True] Translation: X:463.91, Y:-61.87, Z:-30.53 [[ 9.98947589e-01 3.40004504e-02 3.07844847e-02 4.63912881e+02] [-3.39018440e-02 9.99418246e-01 -3.71957493e-03 -6.18747998e+01] [-3.08930429e-02 2.67200961e-03 9.99519125e-01 -3.05259091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.990714057 meters 0.04623904901940893 Centerline is valid? [True, True] Translation: X:463.94, Y:-61.87, Z:-30.53 [[ 9.98918719e-01 3.50258791e-02 3.05709163e-02 4.63944338e+02] [-3.49290758e-02 9.99382963e-01 -3.69499080e-03 -6.18668918e+01] [-3.06814732e-02 2.62318163e-03 9.99525771e-01 -3.05255800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.020714057 meters 0.04603870031683915 Centerline is valid? [True, True] Translation: X:463.97, Y:-61.87, Z:-30.53 [[ 9.98862334e-01 3.60677398e-02 3.11954580e-02 4.63973888e+02] [-3.59674971e-02 9.99345854e-01 -3.76875960e-03 -6.18702101e+01] [-3.13109823e-02 2.64244946e-03 9.99506198e-01 -3.05274253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.050714057 meters 0.046419535096960146 Centerline is valid? [True, True] Translation: X:464.00, Y:-61.87, Z:-30.53 [[ 9.98807956e-01 3.63260523e-02 3.26049895e-02 4.64003204e+02] [-3.62167201e-02 9.99336201e-01 -3.93777014e-03 -6.18735999e+01] [-3.27263900e-02 2.75223036e-03 9.99460559e-01 -3.05291955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.080714057 meters 0.046301870825222365 Centerline is valid? [True, True] Translation: X:464.03, Y:-61.88, Z:-30.53 [[ 9.98729986e-01 3.66316624e-02 3.45909802e-02 4.64032977e+02] [-3.65088274e-02 9.99324604e-01 -4.17625579e-03 -6.18753434e+01] [-3.47206008e-02 2.90807576e-03 9.99392827e-01 -3.05300267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.110714057 meters 0.04662286888570491 Centerline is valid? [True, True] Translation: X:464.06, Y:-61.88, Z:-30.53 [[ 9.98724881e-01 3.66338228e-02 3.47357869e-02 4.64063072e+02] [-3.65100302e-02 9.99324496e-01 -4.19166959e-03 -6.18788984e+01] [-3.48658796e-02 2.91812009e-03 9.99387740e-01 -3.05321562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.140714057 meters 0.0467721473772941 Centerline is valid? [True, True] Translation: X:464.09, Y:-61.88, Z:-30.53 [[ 9.98712980e-01 3.66532962e-02 3.50559592e-02 4.64093456e+02] [-3.65272216e-02 9.99323705e-01 -4.23030573e-03 -6.18823239e+01] [-3.51873057e-02 2.94436445e-03 9.99376398e-01 -3.05341644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.170714057 meters 0.04549020398694155 Centerline is valid? [True, True] Translation: X:464.12, Y:-61.88, Z:-30.54 [[ 9.98694471e-01 3.69029855e-02 3.53202897e-02 4.64124418e+02] [-3.67751564e-02 9.99314476e-01 -4.26220327e-03 -6.18834230e+01] [-3.54533649e-02 2.95772966e-03 9.99366955e-01 -3.05362276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.200714057 meters 0.050168774925288234 Centerline is valid? [True, True] Translation: X:464.15, Y:-61.89, Z:-30.54 [[ 9.98669646e-01 3.73483484e-02 3.55533188e-02 4.64153340e+02] [-3.72191062e-02 9.99297919e-01 -4.29032357e-03 -6.18933541e+01] [-3.56885940e-02 2.96135318e-03 9.99358572e-01 -3.05398428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.230714057 meters 0.04770225414540871 Centerline is valid? [True, True] Translation: X:464.18, Y:-61.89, Z:-30.54 [[ 9.98666261e-01 3.77123165e-02 3.52630035e-02 4.64184507e+02] [-3.75854028e-02 9.99284359e-01 -4.25529037e-03 -6.18917453e+01] [-3.53982447e-02 2.92424074e-03 9.99369007e-01 -3.05408065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.26071405700003 meters 0.04577427584631858 Centerline is valid? [True, True] Translation: X:464.21, Y:-61.89, Z:-30.54 [[ 9.98651135e-01 3.82999636e-02 3.50574333e-02 4.64214276e+02] [-3.81748575e-02 9.99262116e-01 -4.23128285e-03 -6.18906361e+01] [-3.51936229e-02 2.88726290e-03 9.99376342e-01 -3.05424274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.290714057 meters 0.04867932943099501 Centerline is valid? [True, True] Translation: X:464.24, Y:-61.90, Z:-30.55 [[ 9.98636302e-01 3.91262225e-02 3.45640723e-02 4.64242648e+02] [-3.90051624e-02 9.99230308e-01 -4.17011817e-03 -6.18975880e+01] [-3.47006296e-02 2.81625413e-03 9.99393784e-01 -3.05457542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.320714057 meters 0.04623546313914317 Centerline is valid? [True, True] Translation: X:464.27, Y:-61.90, Z:-30.55 [[ 9.98583764e-01 4.02843145e-02 3.47511114e-02 4.64273323e+02] [-4.01626580e-02 9.99184361e-01 -4.19206135e-03 -6.18953076e+01] [-3.48916414e-02 2.79042740e-03 9.99387206e-01 -3.05469875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.350714057 meters 0.04569365181271026 Centerline is valid? [True, True] Translation: X:464.30, Y:-61.90, Z:-30.55 [[ 9.98536812e-01 4.11316307e-02 3.51059019e-02 4.64303465e+02] [-4.10080185e-02 9.99149845e-01 -4.23422924e-03 -6.18974883e+01] [-3.52502172e-02 2.78841030e-03 9.99374628e-01 -3.05481130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.380714057 meters 0.046361274268550766 Centerline is valid? [True, True] Translation: X:464.33, Y:-61.90, Z:-30.55 [[ 9.98444919e-01 4.26836837e-02 3.58587103e-02 4.64331866e+02] [-4.25557009e-02 9.99084734e-01 -4.32512605e-03 -6.18988773e+01] [-3.60105024e-02 2.79240758e-03 9.99347510e-01 -3.05498469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.410714057 meters 0.04402504555249959 Centerline is valid? [True, True] Translation: X:464.36, Y:-61.90, Z:-30.55 [[ 9.98386484e-01 4.34494779e-02 3.65591593e-02 4.64361514e+02] [-4.33170394e-02 9.99051655e-01 -4.40727365e-03 -6.18982700e+01] [-3.67159823e-02 2.81652790e-03 9.99321772e-01 -3.05502922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.440714057 meters 0.04351239105189149 Centerline is valid? [True, True] Translation: X:464.39, Y:-61.90, Z:-30.55 [[ 9.98209551e-01 4.61718228e-02 3.80244119e-02 4.64391917e+02] [-4.60305885e-02 9.98929523e-01 -4.58189618e-03 -6.18983647e+01] [-3.81952621e-02 2.82340647e-03 9.99266306e-01 -3.05511730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.470714057 meters 0.04626275556298086 Centerline is valid? [True, True] Translation: X:464.42, Y:-61.90, Z:-30.55 [[ 9.98115696e-01 4.76512732e-02 3.86576521e-02 4.64420607e+02] [-4.75063820e-02 9.98860071e-01 -4.65855026e-03 -6.19038555e+01] [-3.88355710e-02 2.81328694e-03 9.99241654e-01 -3.05537413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.500714057 meters 0.0435989222263358 Centerline is valid? [True, True] Translation: X:464.45, Y:-61.90, Z:-30.55 [[ 9.97893776e-01 5.06416888e-02 4.05392577e-02 4.64452104e+02] [-5.04848764e-02 9.98712887e-01 -4.88324964e-03 -6.19005660e+01] [-4.07343751e-02 2.82634500e-03 9.99166013e-01 -3.05537235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.530714057 meters 0.043360239476090044 Centerline is valid? [True, True] Translation: X:464.48, Y:-61.90, Z:-30.56 [[ 9.97788443e-01 5.20111192e-02 4.13892148e-02 4.64481758e+02] [-5.18488144e-02 9.98642499e-01 -4.98599082e-03 -6.19029420e+01] [-4.15923559e-02 2.82898230e-03 9.99130659e-01 -3.05552608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.560714057 meters 0.04279044076948392 Centerline is valid? [True, True] Translation: X:464.51, Y:-61.90, Z:-30.56 [[ 9.97612431e-01 5.42798739e-02 4.26981685e-02 4.64511986e+02] [-5.41092767e-02 9.98521781e-01 -5.14188950e-03 -6.19042692e+01] [-4.29141524e-02 2.81924587e-03 9.99074786e-01 -3.05571429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.590714057 meters 0.040395428854350206 Centerline is valid? [True, True] Translation: X:464.54, Y:-61.90, Z:-30.56 [[ 9.97556056e-01 5.48831077e-02 4.32407081e-02 4.64541085e+02] [-5.47087079e-02 9.98488779e-01 -5.20722932e-03 -6.19030295e+01] [-4.34611508e-02 2.82885988e-03 9.99051113e-01 -3.05579536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.620714057 meters 0.040091649330635186 Centerline is valid? [True, True] Translation: X:464.57, Y:-61.90, Z:-30.56 [[ 9.97396903e-01 5.69134422e-02 4.42750240e-02 4.64571111e+02] [-5.67327575e-02 9.98375184e-01 -5.32787340e-03 -6.19039837e+01] [-4.45063129e-02 2.80216023e-03 9.99005173e-01 -3.05598128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.650714057 meters 0.03976543173543469 Centerline is valid? [True, True] Translation: X:464.60, Y:-61.91, Z:-30.56 [[ 9.97296255e-01 5.84746325e-02 4.45072718e-02 4.64600136e+02] [-5.82935805e-02 9.98285115e-01 -5.35610783e-03 -6.19070497e+01] [-4.47441434e-02 2.74713805e-03 9.98994702e-01 -3.05618659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.680714057 meters 0.04005187871678751 Centerline is valid? [True, True] Translation: X:464.63, Y:-61.91, Z:-30.56 [[ 9.97110169e-01 6.09663604e-02 4.53256506e-02 4.64628626e+02] [-6.07813857e-02 9.98136227e-01 -5.44934885e-03 -6.19102250e+01] [-4.55734009e-02 2.67864530e-03 9.98957401e-01 -3.05640057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.710714057 meters 0.037851723767584666 Centerline is valid? [True, True] Translation: X:464.66, Y:-61.91, Z:-30.57 [[ 9.96992102e-01 6.22817822e-02 4.61272953e-02 4.64658059e+02] [-6.20917072e-02 9.98055053e-01 -5.54347986e-03 -6.19090085e+01] [-4.63828380e-02 2.66268312e-03 9.98920188e-01 -3.05651552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.740714057 meters 0.03918768654784194 Centerline is valid? [True, True] Translation: X:464.69, Y:-61.91, Z:-30.57 [[ 9.96741589e-01 6.54014732e-02 4.72107281e-02 4.64686906e+02] [-6.52060220e-02 9.97855715e-01 -5.66989478e-03 -6.19142023e+01] [-4.74803143e-02 2.57299615e-03 9.98868860e-01 -3.05669604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.770714057 meters 0.03649580316255422 Centerline is valid? [True, True] Translation: X:464.72, Y:-61.91, Z:-30.57 [[ 9.96593487e-01 6.70501445e-02 4.80176988e-02 4.64716181e+02] [-6.68499218e-02 9.97746385e-01 -5.76542855e-03 -6.19126257e+01] [-4.82960582e-02 2.53580914e-03 9.98829846e-01 -3.05674606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.800714057 meters 0.03421399356033775 Centerline is valid? [True, True] Translation: X:464.75, Y:-61.91, Z:-30.57 [[ 9.96337778e-01 6.97752771e-02 4.94210774e-02 4.64746269e+02] [-6.95667014e-02 9.97559677e-01 -5.93006534e-03 -6.19109641e+01] [-4.97142460e-02 2.47028679e-03 9.98760427e-01 -3.05691008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.830714057 meters 0.036310417185921894 Centerline is valid? [True, True] Translation: X:464.77, Y:-61.92, Z:-30.57 [[ 9.96155564e-01 7.23079797e-02 4.94535060e-02 4.64774466e+02] [-7.21023300e-02 9.97379598e-01 -5.93217042e-03 -6.19189088e+01] [-4.97528612e-02 2.34365156e-03 9.98758810e-01 -3.05731849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.860714057 meters 0.035986845888667164 Centerline is valid? [True, True] Translation: X:464.80, Y:-61.92, Z:-30.58 [[ 9.96108828e-01 7.29553828e-02 4.94440516e-02 4.64802784e+02] [-7.27506823e-02 9.97332532e-01 -5.92952439e-03 -6.19223832e+01] [-4.97447519e-02 2.30936310e-03 9.98759294e-01 -3.05751849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.890714057 meters 0.03585892104170631 Centerline is valid? [True, True] Translation: X:464.83, Y:-61.93, Z:-30.58 [[ 9.96055308e-01 7.35654532e-02 4.96180183e-02 4.64830981e+02] [-7.33602314e-02 9.97287777e-01 -5.94702096e-03 -6.19261674e+01] [-4.99209385e-02 2.28357249e-03 9.98750562e-01 -3.05776345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.920714057 meters 0.03272241009346605 Centerline is valid? [True, True] Translation: X:464.86, Y:-61.92, Z:-30.58 [[ 9.95988929e-01 7.40134958e-02 5.02797735e-02 4.64860240e+02] [-7.38034994e-02 9.97254615e-01 -6.02293723e-03 -6.19243155e+01] [-5.05875148e-02 2.28795557e-03 9.98717011e-01 -3.05784628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.950714057 meters 0.0327673226592742 Centerline is valid? [True, True] Translation: X:464.89, Y:-61.93, Z:-30.58 [[ 9.95970045e-01 7.42205330e-02 5.03485971e-02 4.64888881e+02] [-7.40104099e-02 9.97239253e-01 -6.02752954e-03 -6.19284328e+01] [-5.06569638e-02 2.27691856e-03 9.98713516e-01 -3.05802537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.980714057 meters 0.032787020828430484 Centerline is valid? [True, True] Translation: X:464.92, Y:-61.93, Z:-30.58 [[ 9.95969746e-01 7.44734557e-02 4.99796954e-02 4.64916863e+02] [-7.42669006e-02 9.97220472e-01 -5.97979853e-03 -6.19335453e+01] [-5.02861117e-02 2.24386135e-03 9.98732333e-01 -3.05827466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.01071405700003 meters 0.033261327629330255 Centerline is valid? [True, True] Translation: X:464.94, Y:-61.94, Z:-30.59 [[ 9.95997897e-01 7.43727045e-02 4.95670263e-02 4.64943596e+02] [-7.41695577e-02 9.97228027e-01 -5.92776847e-03 -6.19383934e+01] [-4.98704920e-02 2.22768051e-03 9.98753208e-01 -3.05851979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.040714057 meters 0.03361448488441016 Centerline is valid? [True, True] Translation: X:464.97, Y:-61.94, Z:-30.59 [[ 9.96042259e-01 7.36574302e-02 4.97433458e-02 4.64971720e+02] [-7.34524408e-02 9.97281038e-01 -5.93895172e-03 -6.19448416e+01] [-5.00455435e-02 2.26167673e-03 9.98744376e-01 -3.05870357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.070714057 meters 0.034119920507783084 Centerline is valid? [True, True] Translation: X:465.00, Y:-61.95, Z:-30.59 [[ 9.96088476e-01 7.28325600e-02 5.00316608e-02 4.64999305e+02] [-7.26243199e-02 9.97341500e-01 -5.96995035e-03 -6.19510591e+01] [-5.03334584e-02 2.31308340e-03 9.98729790e-01 -3.05889429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.100714057 meters 0.033164864269160876 Centerline is valid? [True, True] Translation: X:465.03, Y:-61.96, Z:-30.59 [[ 9.96175486e-01 7.12573012e-02 5.05647952e-02 4.65027216e+02] [-7.10427977e-02 9.97455047e-01 -6.02911995e-03 -6.19559968e+01] [-5.08657289e-02 2.41379698e-03 9.98702584e-01 -3.05895732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.130714057 meters 0.03375765541043424 Centerline is valid? [True, True] Translation: X:465.06, Y:-61.96, Z:-30.59 [[ 9.96272469e-01 7.00712787e-02 5.03108602e-02 4.65055070e+02] [-6.98576443e-02 9.97538960e-01 -5.99438427e-03 -6.19613119e+01] [-5.06070774e-02 2.45744184e-03 9.98715618e-01 -3.05911604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.160714057 meters 0.03513725037210175 Centerline is valid? [True, True] Translation: X:465.08, Y:-61.97, Z:-30.59 [[ 9.96477023e-01 6.78506839e-02 4.92932812e-02 4.65082544e+02] [-6.76431311e-02 9.97692321e-01 -5.86855561e-03 -6.19713681e+01] [-4.95777137e-02 2.51352893e-03 9.98767106e-01 -3.05935724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.190714057 meters 0.035012364511334756 Centerline is valid? [True, True] Translation: X:465.11, Y:-61.98, Z:-30.60 [[ 9.96597972e-01 6.61535939e-02 4.91546903e-02 4.65111863e+02] [-6.59452861e-02 9.97806096e-01 -5.84930628e-03 -6.19765279e+01] [-4.94338023e-02 2.58788666e-03 9.98774050e-01 -3.05953933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.220714057 meters 0.03568379986544753 Centerline is valid? [True, True] Translation: X:465.14, Y:-61.99, Z:-30.60 [[ 9.96779930e-01 6.34096485e-02 4.90814302e-02 4.65140176e+02] [-6.31987246e-02 9.97983881e-01 -5.83900678e-03 -6.19851708e+01] [-4.93527256e-02 2.71832098e-03 9.98777713e-01 -3.05966392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.250714057 meters 0.03568379986544753 Centerline is valid? [True, True] Translation: X:465.17, Y:-61.99, Z:-30.60 [[ 9.96784337e-01 6.33401194e-02 4.90817181e-02 4.65168285e+02] [-6.31292304e-02 9.97988294e-01 -5.83658569e-03 -6.19884519e+01] [-4.93526701e-02 2.71932611e-03 9.98777713e-01 -3.05982803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.280714057 meters 0.03503964490211433 Centerline is valid? [True, True] Translation: X:465.20, Y:-61.99, Z:-30.60 [[ 9.96955320e-01 6.13251315e-02 4.81593090e-02 4.65197183e+02] [-6.11199284e-02 9.98114020e-01 -5.72341675e-03 -6.19914220e+01] [-4.84194708e-02 2.76249726e-03 9.98823269e-01 -3.05992115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.310714057 meters 0.03867439977321045 Centerline is valid? [True, True] Translation: X:465.22, Y:-62.00, Z:-30.60 [[ 9.97111518e-01 5.89858332e-02 4.78465541e-02 4.65224090e+02] [-5.87807228e-02 9.98254737e-01 -5.68383102e-03 -6.20048792e+01] [-4.80983148e-02 2.85495834e-03 9.98838526e-01 -3.06020006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.340714057 meters 0.03786394821981068 Centerline is valid? [True, True] Translation: X:465.25, Y:-62.01, Z:-30.60 [[ 9.97182362e-01 5.79067891e-02 4.76879516e-02 4.65252938e+02] [-5.77019820e-02 9.98317800e-01 -5.66138078e-03 -6.20088193e+01] [-4.79355633e-02 2.89373974e-03 9.98846238e-01 -3.06031557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.370714057 meters 0.040968913664629444 Centerline is valid? [True, True] Translation: X:465.28, Y:-62.02, Z:-30.61 [[ 9.97347699e-01 5.53992768e-02 4.72068525e-02 4.65280419e+02] [-5.51959136e-02 9.98459830e-01 -5.60162460e-03 -6.20202230e+01] [-4.74444719e-02 2.98114206e-03 9.98869428e-01 -3.06059554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.400714057 meters 0.04176367928164844 Centerline is valid? [True, True] Translation: X:465.31, Y:-62.03, Z:-30.61 [[ 9.97447207e-01 5.42253827e-02 4.64615610e-02 4.65309482e+02] [-5.40272031e-02 9.98524253e-01 -5.51158746e-03 -6.20261661e+01] [-4.66918634e-02 2.98732933e-03 9.98904873e-01 -3.06079615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.430714057 meters 0.04385933110850525 Centerline is valid? [True, True] Translation: X:465.34, Y:-62.03, Z:-30.61 [[ 9.97690727e-01 5.10777787e-02 4.47691063e-02 4.65337909e+02] [-5.08907169e-02 9.98690117e-01 -5.30893941e-03 -6.20344471e+01] [-4.49816328e-02 3.01834771e-03 9.98983254e-01 -3.06111780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.460714057 meters 0.038339142449352964 Centerline is valid? [True, True] Translation: X:465.37, Y:-62.03, Z:-30.61 [[ 9.97807537e-01 4.89601833e-02 4.45310971e-02 4.65369148e+02] [-4.87730089e-02 9.98795929e-01 -5.28070907e-03 -6.20303719e+01] [-4.47360229e-02 3.09721571e-03 9.98994042e-01 -3.06115660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.490714057 meters 0.044591704302697946 Centerline is valid? [True, True] Translation: X:465.40, Y:-62.05, Z:-30.62 [[ 9.98049387e-01 4.46048931e-02 4.36786421e-02 4.65397315e+02] [-4.44206815e-02 9.98999488e-01 -5.17945161e-03 -6.20454753e+01] [-4.38659700e-02 3.22911346e-03 9.99032206e-01 -3.06154826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.520714057 meters 0.04150609091144038 Centerline is valid? [True, True] Translation: X:465.43, Y:-62.05, Z:-30.62 [[ 9.98220891e-01 4.10470029e-02 4.32457658e-02 4.65428188e+02] [-4.08630804e-02 9.99151592e-01 -5.12877481e-03 -6.20462847e+01] [-4.34195965e-02 3.35249496e-03 9.99051300e-01 -3.06158176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.550714057 meters 0.044453823775732315 Centerline is valid? [True, True] Translation: X:465.46, Y:-62.05, Z:-30.62 [[ 9.98233386e-01 3.98936537e-02 4.40295692e-02 4.65458975e+02] [-3.97020133e-02 9.99197936e-01 -5.21879401e-03 -6.20544701e+01] [-4.42024514e-02 3.46151187e-03 9.99016597e-01 -3.06178736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.580714057 meters 0.04367627301491155 Centerline is valid? [True, True] Translation: X:465.49, Y:-62.06, Z:-30.62 [[ 9.98282459e-01 3.87896857e-02 4.39032262e-02 4.65491153e+02] [-3.85975385e-02 9.99241223e-01 -5.21618497e-03 -6.20583331e+01] [-4.40722476e-02 3.51266949e-03 9.99022171e-01 -3.06197436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.610714057 meters 0.04483618626372941 Centerline is valid? [True, True] Translation: X:465.52, Y:-62.06, Z:-30.62 [[ 9.98243019e-01 3.91939948e-02 4.44376633e-02 4.65521556e+02] [-3.89974823e-02 9.99225354e-01 -5.28085493e-03 -6.20639197e+01] [-4.46102177e-02 3.53861958e-03 9.98998202e-01 -3.06214511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.640714057 meters 0.045716223187802905 Centerline is valid? [True, True] Translation: X:465.55, Y:-62.07, Z:-30.62 [[ 9.98264605e-01 3.91420024e-02 4.39963889e-02 4.65553877e+02] [-3.89488922e-02 9.99227474e-01 -5.23824108e-03 -6.20683268e+01] [-4.41674358e-02 3.51554005e-03 9.99017957e-01 -3.06225976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.670714057 meters 0.04581508146411711 Centerline is valid? [True, True] Translation: X:465.59, Y:-62.07, Z:-30.62 [[ 9.98237268e-01 3.96849116e-02 4.41300946e-02 4.65585381e+02] [-3.94906682e-02 9.99206068e-01 -5.26506392e-03 -6.20727720e+01] [-4.43040019e-02 3.51305610e-03 9.99011919e-01 -3.06246301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.700714057 meters 0.04293761172175112 Centerline is valid? [True, True] Translation: X:465.62, Y:-62.07, Z:-30.63 [[ 9.98217835e-01 4.08504310e-02 4.35016831e-02 4.65617702e+02] [-4.06623311e-02 9.99159412e-01 -5.20045428e-03 -6.20734055e+01] [-4.36775569e-02 3.42230637e-03 9.99039818e-01 -3.06273389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.730714057 meters 0.042732407559467445 Centerline is valid? [True, True] Translation: X:465.65, Y:-62.08, Z:-30.63 [[ 9.98227927e-01 4.13712763e-02 4.27717477e-02 4.65649993e+02] [-4.11894661e-02 9.99138217e-01 -5.12365889e-03 -6.20770145e+01] [-4.29468600e-02 3.35283394e-03 9.99071732e-01 -3.06297887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.76071405700003 meters 0.047906615768863584 Centerline is valid? [True, True] Translation: X:465.68, Y:-62.09, Z:-30.63 [[ 9.98181776e-01 4.25304784e-02 4.27118348e-02 4.65679196e+02] [-4.23496245e-02 9.99089679e-01 -5.13062965e-03 -6.20876487e+01] [-4.28911614e-02 3.31247085e-03 9.99074259e-01 -3.06326558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.790714057 meters 0.042279360679468164 Centerline is valid? [True, True] Translation: X:465.71, Y:-62.08, Z:-30.63 [[ 9.98183223e-01 4.29623891e-02 4.22431709e-02 4.65711751e+02] [-4.27858499e-02 9.99071378e-01 -5.07480190e-03 -6.20828253e+01] [-4.24219686e-02 3.25817215e-03 9.99094470e-01 -3.06332056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.820714057 meters 0.04255622254299825 Centerline is valid? [True, True] Translation: X:465.74, Y:-62.09, Z:-30.64 [[ 9.98191145e-01 4.34664550e-02 4.15343993e-02 4.65742605e+02] [-4.32961678e-02 9.99049814e-01 -4.99110451e-03 -6.20868458e+01] [-4.17118795e-02 3.18379600e-03 9.99124608e-01 -3.06355711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.850714057 meters 0.04831500354224271 Centerline is valid? [True, True] Translation: X:465.77, Y:-62.10, Z:-30.64 [[ 9.98233681e-01 4.46549968e-02 3.91848163e-02 4.65771620e+02] [-4.45043476e-02 9.98998093e-01 -4.70891413e-03 -6.20990749e+01] [-3.93558333e-02 2.95670199e-03 9.99220885e-01 -3.06411644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.880714057 meters 0.04246924737437507 Centerline is valid? [True, True] Translation: X:465.80, Y:-62.09, Z:-30.64 [[ 9.98230995e-01 4.60771186e-02 3.75736553e-02 4.65801917e+02] [-4.59393835e-02 9.98933997e-01 -4.52135218e-03 -6.20930520e+01] [-3.77419325e-02 2.78724333e-03 9.99283632e-01 -3.06414670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.910714057 meters 0.0428124418017424 Centerline is valid? [True, True] Translation: X:465.83, Y:-62.10, Z:-30.64 [[ 9.98216187e-01 4.68776310e-02 3.69720479e-02 4.65830654e+02] [-4.67448722e-02 9.98896960e-01 -4.44754806e-03 -6.20959005e+01] [-3.71397567e-02 2.71136081e-03 9.99306403e-01 -3.06423904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.940714057 meters 0.03835131400917707 Centerline is valid? [True, True] Translation: X:465.86, Y:-62.09, Z:-30.64 [[ 9.98098083e-01 4.88576147e-02 3.75918820e-02 4.65861460e+02] [-4.87217929e-02 9.98802155e-01 -4.52126140e-03 -6.20908526e+01] [-3.77677508e-02 2.68111844e-03 9.99282947e-01 -3.06410392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.970714057 meters 0.03832451232564744 Centerline is valid? [True, True] Translation: X:465.89, Y:-62.09, Z:-30.64 [[ 9.98079726e-01 4.95044939e-02 3.72312496e-02 4.65889951e+02] [-4.93717462e-02 9.98770437e-01 -4.47704882e-03 -6.20941780e+01] [-3.74071055e-02 2.63027985e-03 9.99296648e-01 -3.06426137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.000714057 meters 0.03892133053545939 Centerline is valid? [True, True] Translation: X:465.92, Y:-62.10, Z:-30.64 [[ 9.98034779e-01 5.02180682e-02 3.74796776e-02 4.65917797e+02] [-5.00841468e-02 9.98734845e-01 -4.50415386e-03 -6.20984909e+01] [-3.76584499e-02 2.61816452e-03 9.99287239e-01 -3.06447588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.030714057 meters 0.03834520948814623 Centerline is valid? [True, True] Translation: X:465.95, Y:-62.10, Z:-30.65 [[ 9.97917829e-01 5.19291919e-02 3.82539731e-02 4.65947498e+02] [-5.17910634e-02 9.98647377e-01 -4.59366211e-03 -6.21004634e+01] [-3.84407751e-02 2.60288337e-03 9.99257490e-01 -3.06457232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.060714057 meters 0.03706757056694931 Centerline is valid? [True, True] Translation: X:465.98, Y:-62.10, Z:-30.65 [[ 9.97821645e-01 5.29548891e-02 3.93413931e-02 4.65976538e+02] [-5.28096157e-02 9.98593428e-01 -4.72343615e-03 -6.20998215e+01] [-3.95361856e-02 2.63554298e-03 9.99214664e-01 -3.06451399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.090714057 meters 0.03847014585130604 Centerline is valid? [True, True] Translation: X:466.00, Y:-62.10, Z:-30.65 [[ 9.97775511e-01 5.34205477e-02 3.98782448e-02 4.66004167e+02] [-5.32717563e-02 9.98568586e-01 -4.78523948e-03 -6.21047730e+01] [-4.00767926e-02 2.65021063e-03 9.99193088e-01 -3.06470655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.120714057 meters 0.03738025622264163 Centerline is valid? [True, True] Translation: X:466.03, Y:-62.11, Z:-30.65 [[ 9.97812998e-01 5.27493613e-02 3.98337401e-02 4.66033337e+02] [-5.26005258e-02 9.98604213e-01 -4.77600585e-03 -6.21065585e+01] [-4.00300719e-02 2.67028504e-03 9.99194907e-01 -3.06487069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.150714057 meters 0.04001219428826303 Centerline is valid? [True, True] Translation: X:466.06, Y:-62.11, Z:-30.65 [[ 9.97876367e-01 5.20221945e-02 3.91975490e-02 4.66061415e+02] [-5.18776426e-02 9.98642404e-01 -4.69661709e-03 -6.21140170e+01] [-3.93886630e-02 2.65316676e-03 9.99220443e-01 -3.06520062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.180714057 meters 0.03983981511557915 Centerline is valid? [True, True] Translation: X:466.09, Y:-62.12, Z:-30.65 [[ 9.98015196e-01 4.92055263e-02 3.92999294e-02 4.66091818e+02] [-4.90581679e-02 9.98784838e-01 -4.70577299e-03 -6.21171650e+01] [-3.94837237e-02 2.76845042e-03 9.99216379e-01 -3.06533650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.210714057 meters 0.03983272599017516 Centerline is valid? [True, True] Translation: X:466.12, Y:-62.12, Z:-30.65 [[ 9.98122596e-01 4.73851343e-02 3.88063362e-02 4.66120879e+02] [-4.72400490e-02 9.98872753e-01 -4.64767429e-03 -6.21205685e+01] [-3.89828226e-02 2.80573551e-03 9.99235942e-01 -3.06544031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.240714057 meters 0.04273400472274922 Centerline is valid? [True, True] Translation: X:466.15, Y:-62.13, Z:-30.66 [[ 9.98213656e-01 4.55755080e-02 3.86311969e-02 4.66149292e+02] [-4.54304763e-02 9.98956800e-01 -4.62428682e-03 -6.21284181e+01] [-3.88016511e-02 2.86099258e-03 9.99242837e-01 -3.06569000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.270714057 meters 0.04630323872343896 Centerline is valid? [True, True] Translation: X:466.18, Y:-62.14, Z:-30.66 [[ 9.98422021e-01 4.19804084e-02 3.72976197e-02 4.66177336e+02] [-4.18427902e-02 9.99114239e-01 -4.46303685e-03 -6.21376903e+01] [-3.74519430e-02 2.89535780e-03 9.99294235e-01 -3.06603729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.300714057 meters 0.04469869615355458 Centerline is valid? [True, True] Translation: X:466.21, Y:-62.14, Z:-30.66 [[ 9.98590279e-01 3.96709295e-02 3.52657273e-02 4.66207886e+02] [-3.95465093e-02 9.99208824e-01 -4.21891534e-03 -6.21389808e+01] [-3.54051943e-02 2.81833143e-03 9.99369066e-01 -3.06629106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.330714057 meters 0.04562462171604929 Centerline is valid? [True, True] Translation: X:466.24, Y:-62.14, Z:-30.67 [[ 9.98647523e-01 3.91679712e-02 3.41905653e-02 4.66238316e+02] [-3.90507321e-02 9.99228857e-01 -4.09031651e-03 -6.21428599e+01] [-3.43244089e-02 2.74961784e-03 9.99406961e-01 -3.06655594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.360714057 meters 0.047030125549077026 Centerline is valid? [True, True] Translation: X:466.27, Y:-62.15, Z:-30.67 [[ 9.98583169e-01 4.03667941e-02 3.46724109e-02 4.66267501e+02] [-4.02469822e-02 9.99181157e-01 -4.14684188e-03 -6.21469651e+01] [-3.48114144e-02 2.74550660e-03 9.99390128e-01 -3.06679569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.390714057 meters 0.04659029919257142 Centerline is valid? [True, True] Translation: X:466.30, Y:-62.15, Z:-30.67 [[ 9.98518874e-01 4.14606816e-02 3.52288332e-02 4.66297583e+02] [-4.13375524e-02 9.99136340e-01 -4.21664253e-03 -6.21489198e+01] [-3.53732324e-02 2.75412341e-03 9.99370376e-01 -3.06690313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.420714057 meters 0.04653598774734449 Centerline is valid? [True, True] Translation: X:466.33, Y:-62.15, Z:-30.67 [[ 9.98356516e-01 4.43029016e-02 3.63527050e-02 4.66327222e+02] [-4.41736794e-02 9.99014394e-01 -4.35058926e-03 -6.21502549e+01] [-3.65096192e-02 2.73760641e-03 9.99329552e-01 -3.06691861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.450714057 meters 0.041904928020407475 Centerline is valid? [True, True] Translation: X:466.36, Y:-62.15, Z:-30.67 [[ 9.98160682e-01 4.73206454e-02 3.78947059e-02 4.66358532e+02] [-4.71824286e-02 9.98875999e-01 -4.53392712e-03 -6.21457345e+01] [-3.80666606e-02 2.73762353e-03 9.99271452e-01 -3.06684402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.480714057 meters 0.044724978873886476 Centerline is valid? [True, True] Translation: X:466.39, Y:-62.15, Z:-30.67 [[ 9.98073923e-01 4.84427562e-02 3.87523427e-02 4.66386837e+02] [-4.82990317e-02 9.98822157e-01 -4.63699039e-03 -6.21532361e+01] [-3.89313272e-02 2.75635857e-03 9.99238087e-01 -3.06713285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.51071405700003 meters 0.04481327047461328 Centerline is valid? [True, True] Translation: X:466.42, Y:-62.16, Z:-30.67 [[ 9.98035048e-01 4.94656559e-02 3.84602576e-02 4.66415937e+02] [-4.93248864e-02 9.98772189e-01 -4.60100897e-03 -6.21556565e+01] [-3.86406277e-02 2.69492037e-03 9.99249538e-01 -3.06732468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.540714057 meters 0.04534637371691355 Centerline is valid? [True, True] Translation: X:466.44, Y:-62.16, Z:-30.68 [[ 9.98045219e-01 4.95871901e-02 3.80374893e-02 4.66444642e+02] [-4.94496484e-02 9.98766259e-01 -4.54885928e-03 -6.21590600e+01] [-3.82161261e-02 2.65902678e-03 9.99265959e-01 -3.06754859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.570714057 meters 0.0462887416954153 Centerline is valid? [True, True] Translation: X:466.47, Y:-62.16, Z:-30.68 [[ 9.98100490e-01 4.92241748e-02 3.70458042e-02 4.66471996e+02] [-4.90935435e-02 9.98784369e-01 -4.42820720e-03 -6.21629023e+01] [-3.72187450e-02 2.60108598e-03 9.99303757e-01 -3.06786635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.600714057 meters 0.0391845497335344 Centerline is valid? [True, True] Translation: X:466.50, Y:-62.16, Z:-30.68 [[ 9.98153714e-01 4.87951983e-02 3.61689354e-02 4.66502386e+02] [-4.86705150e-02 9.98805545e-01 -4.32026125e-03 -6.21554295e+01] [-3.63365413e-02 2.55192410e-03 9.99336352e-01 -3.06777754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.630714057 meters 0.040515986110477464 Centerline is valid? [True, True] Translation: X:466.53, Y:-62.16, Z:-30.68 [[ 9.98210556e-01 4.81380020e-02 3.54742000e-02 4.66529650e+02] [-4.80177272e-02 9.98837505e-01 -4.23518074e-03 -6.21601687e+01] [-3.56368345e-02 2.52421166e-03 9.99361618e-01 -3.06805647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.660714057 meters 0.04572990830788079 Centerline is valid? [True, True] Translation: X:466.56, Y:-62.17, Z:-30.68 [[ 9.98210646e-01 4.76739325e-02 3.60929560e-02 4.66555710e+02] [-4.75492423e-02 9.98859615e-01 -4.30571337e-03 -6.21711444e+01] [-3.62570664e-02 2.58181622e-03 9.99339161e-01 -3.06845751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.690714057 meters 0.04110189547989638 Centerline is valid? [True, True] Translation: X:466.59, Y:-62.17, Z:-30.68 [[ 9.98205996e-01 4.75150571e-02 3.64295170e-02 4.66585113e+02] [-4.73880574e-02 9.98867117e-01 -4.34222432e-03 -6.21658278e+01] [-3.65945676e-02 2.60811031e-03 9.99326791e-01 -3.06833578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.720714057 meters 0.03982543974409773 Centerline is valid? [True, True] Translation: X:466.61, Y:-62.17, Z:-30.68 [[ 9.98214740e-01 4.76363194e-02 3.60293434e-02 4.66614562e+02] [-4.75122789e-02 9.98861434e-01 -4.29164672e-03 -6.21661364e+01] [-3.61927599e-02 2.57214880e-03 9.99341517e-01 -3.06846135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.750714057 meters 0.03898740068198655 Centerline is valid? [True, True] Translation: X:466.64, Y:-62.17, Z:-30.69 [[ 9.98211741e-01 4.80319036e-02 3.55844856e-02 4.66643573e+02] [-4.79112118e-02 9.98842611e-01 -4.23717863e-03 -6.21674010e+01] [-3.57468203e-02 2.52470564e-03 9.99357689e-01 -3.06869337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.780714057 meters 0.03992853537035367 Centerline is valid? [True, True] Translation: X:466.67, Y:-62.17, Z:-30.69 [[ 9.98217260e-01 4.77051419e-02 3.58681057e-02 4.66670849e+02] [-4.75823795e-02 9.98858195e-01 -4.26895510e-03 -6.21716377e+01] [-3.60308024e-02 2.55465485e-03 9.99347415e-01 -3.06890070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.810714057 meters 0.0413591127138725 Centerline is valid? [True, True] Translation: X:466.70, Y:-62.18, Z:-30.69 [[ 9.98131971e-01 4.79502757e-02 3.78594746e-02 4.66698004e+02] [-4.78138410e-02 9.98846121e-01 -4.50147583e-03 -6.21754629e+01] [-3.80316363e-02 2.68286005e-03 9.99272934e-01 -3.06902310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.840714057 meters 0.040646710170853376 Centerline is valid? [True, True] Translation: X:466.73, Y:-62.18, Z:-30.69 [[ 9.98075845e-01 4.81644355e-02 3.90486280e-02 4.66726423e+02] [-4.80196095e-02 9.98835621e-01 -4.63887153e-03 -6.21768908e+01] [-3.92265892e-02 2.75484575e-03 9.99226544e-01 -3.06908076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.870714057 meters 0.0429429756882662 Centerline is valid? [True, True] Translation: X:466.75, Y:-62.18, Z:-30.69 [[ 9.98013645e-01 4.80209658e-02 4.07768520e-02 4.66753383e+02] [-4.78630226e-02 9.98842176e-01 -4.84138273e-03 -6.21819935e+01] [-4.09621274e-02 2.88006264e-03 9.99156549e-01 -3.06926958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.900714057 meters 0.044686088125126096 Centerline is valid? [True, True] Translation: X:466.78, Y:-62.19, Z:-30.70 [[ 9.98018652e-01 4.74724403e-02 4.12933134e-02 4.66780900e+02] [-4.73101676e-02 9.98868235e-01 -4.89868488e-03 -6.21879998e+01] [-4.14791316e-02 2.93538530e-03 9.99135059e-01 -3.06954405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.930714057 meters 0.04048305015592268 Centerline is valid? [True, True] Translation: X:466.81, Y:-62.18, Z:-30.70 [[ 9.98091564e-01 4.60462488e-02 4.11457420e-02 4.66811399e+02] [-4.58840692e-02 9.98934862e-01 -4.87780431e-03 -6.21841669e+01] [-4.13265207e-02 2.98056127e-03 9.99141249e-01 -3.06968152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.960714057 meters 0.041065145367520435 Centerline is valid? [True, True] Translation: X:466.84, Y:-62.19, Z:-30.70 [[ 9.98148535e-01 4.53666813e-02 4.05137895e-02 4.66840440e+02] [-4.52089508e-02 9.98966014e-01 -4.80144661e-03 -6.21877121e+01] [-4.06897245e-02 2.96097098e-03 9.99167443e-01 -3.06994729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.990714057 meters 0.03980360258307687 Centerline is valid? [True, True] Translation: X:466.87, Y:-62.19, Z:-30.70 [[ 9.98183607e-01 4.47826701e-02 4.02988730e-02 4.66870494e+02] [-4.46261945e-02 9.98992346e-01 -4.77454579e-03 -6.21872290e+01] [-4.04720825e-02 2.96748800e-03 9.99176263e-01 -3.07013385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.020714057 meters 0.04266728668414925 Centerline is valid? [True, True] Translation: X:466.90, Y:-62.19, Z:-30.70 [[ 9.98156646e-01 4.50610104e-02 4.06548206e-02 4.66898394e+02] [-4.49020356e-02 9.98979789e-01 -4.81550141e-03 -6.21945097e+01] [-4.08303354e-02 2.98114054e-03 9.99161647e-01 -3.07042421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.050714057 meters 0.04089970678120228 Centerline is valid? [True, True] Translation: X:466.93, Y:-62.19, Z:-30.71 [[ 9.98084542e-01 4.61999440e-02 4.11438105e-02 4.66928466e+02] [-4.60381895e-02 9.98927805e-01 -4.87080389e-03 -6.21924992e+01] [-4.13247272e-02 2.96728753e-03 9.99141362e-01 -3.07056276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.080714057 meters 0.03989957215471553 Centerline is valid? [True, True] Translation: X:466.96, Y:-62.19, Z:-30.71 [[ 9.97986948e-01 4.76227876e-02 4.18822382e-02 4.66958074e+02] [-4.74564810e-02 9.98861008e-01 -4.95668342e-03 -6.21931463e+01] [-4.20705858e-02 2.95912172e-03 9.99110259e-01 -3.07068451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.110714057 meters 0.03968636239528796 Centerline is valid? [True, True] Translation: X:466.99, Y:-62.19, Z:-30.71 [[ 9.97814027e-01 5.05795810e-02 4.25308503e-02 4.66988800e+02] [-5.04108297e-02 9.98715891e-01 -5.03160097e-03 -6.21921274e+01] [-4.27307323e-02 2.87658657e-03 9.99082484e-01 -3.07085785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.140714057 meters 0.042213308448873686 Centerline is valid? [True, True] Translation: X:467.02, Y:-62.20, Z:-30.71 [[ 9.97700774e-01 5.24107159e-02 4.29683952e-02 4.67016981e+02] [-5.22401733e-02 9.98621613e-01 -5.08309403e-03 -6.21978319e+01] [-4.31755767e-02 2.82673044e-03 9.99063501e-01 -3.07110171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.170714057 meters 0.042213308448873686 Centerline is valid? [True, True] Translation: X:467.05, Y:-62.20, Z:-30.71 [[ 9.97704320e-01 5.23429656e-02 4.29686371e-02 4.67045113e+02] [-5.21724482e-02 9.98625164e-01 -5.08104820e-03 -6.22010937e+01] [-4.31755194e-02 2.82760474e-03 9.99063501e-01 -3.07126594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.200714057 meters 0.03932329371654248 Centerline is valid? [True, True] Translation: X:467.08, Y:-62.20, Z:-30.71 [[ 9.97521547e-01 5.45582678e-02 4.44315117e-02 4.67075309e+02] [-5.43782813e-02 9.98506603e-01 -5.25040470e-03 -6.21965896e+01] [-4.46516108e-02 2.82128258e-03 9.98998636e-01 -3.07128733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.230714057 meters 0.03876887380241949 Centerline is valid? [True, True] Translation: X:467.10, Y:-62.20, Z:-30.71 [[ 9.97496847e-01 5.49799770e-02 4.44661888e-02 4.67104000e+02] [-5.48001760e-02 9.98483521e-01 -5.25339100e-03 -6.21973913e+01] [-4.46875881e-02 2.80348599e-03 9.98997077e-01 -3.07144551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.26071405700003 meters 0.037846072802144075 Centerline is valid? [True, True] Translation: X:467.13, Y:-62.20, Z:-30.72 [[ 9.97479601e-01 5.51318788e-02 4.46645500e-02 4.67133227e+02] [-5.49507633e-02 9.98475139e-01 -5.27364224e-03 -6.21969458e+01] [-4.48871885e-02 2.80599944e-03 9.98988121e-01 -3.07156181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.290714057 meters 0.038933045871347154 Centerline is valid? [True, True] Translation: X:467.16, Y:-62.20, Z:-30.72 [[ 9.97474830e-01 5.48083989e-02 4.51664029e-02 4.67161026e+02] [-5.46229910e-02 9.98492824e-01 -5.32994405e-03 -6.22003410e+01] [-4.53904549e-02 2.84936102e-03 9.98965259e-01 -3.07172281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.320714057 meters 0.03977951146506784 Centerline is valid? [True, True] Translation: X:467.19, Y:-62.20, Z:-30.72 [[ 9.97392914e-01 5.45881674e-02 4.71964655e-02 4.67189133e+02] [-5.43857000e-02 9.98504498e-01 -5.56437738e-03 -6.22033287e+01] [-4.74296323e-02 2.98305775e-03 9.98870127e-01 -3.07176885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.350714057 meters 0.041605646644795005 Centerline is valid? [True, True] Translation: X:467.22, Y:-62.21, Z:-30.72 [[ 9.97420891e-01 5.37263525e-02 4.75924878e-02 4.67215957e+02] [-5.35196986e-02 9.98551053e-01 -5.60677583e-03 -6.22079983e+01] [-4.78247604e-02 3.04517974e-03 9.98851100e-01 -3.07208405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.380714057 meters 0.041174306780072674 Centerline is valid? [True, True] Translation: X:467.24, Y:-62.21, Z:-30.72 [[ 9.97484915e-01 5.33540369e-02 4.66603860e-02 4.67244042e+02] [-5.31551694e-02 9.98571155e-01 -5.49336771e-03 -6.22104550e+01] [-4.68868089e-02 2.99931070e-03 9.98895706e-01 -3.07235639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.410714057 meters 0.04194595957228298 Centerline is valid? [True, True] Translation: X:467.27, Y:-62.21, Z:-30.73 [[ 9.97612118e-01 5.28378958e-02 4.44771661e-02 4.67271986e+02] [-5.26569170e-02 9.98598958e-01 -5.23165605e-03 -6.22132865e+01] [-4.46912814e-02 2.87713303e-03 9.98996702e-01 -3.07277769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.440714057 meters 0.041912416918623005 Centerline is valid? [True, True] Translation: X:467.30, Y:-62.22, Z:-30.73 [[ 9.97675838e-01 5.24614184e-02 4.34824381e-02 4.67300859e+02] [-5.22881794e-02 9.98618950e-01 -5.11271392e-03 -6.22155951e+01] [-4.36906069e-02 2.82721362e-03 9.99041109e-01 -3.07306767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.470714057 meters 0.04412558781298185 Centerline is valid? [True, True] Translation: X:467.33, Y:-62.22, Z:-30.73 [[ 9.97758375e-01 5.17818836e-02 4.23893935e-02 4.67328024e+02] [-5.16167506e-02 9.98654542e-01 -4.98162429e-03 -6.22210723e+01] [-4.25903183e-02 2.78245460e-03 9.99088746e-01 -3.07339211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.500714057 meters 0.03996550726666409 Centerline is valid? [True, True] Translation: X:467.36, Y:-62.22, Z:-30.73 [[ 9.97855813e-01 5.04206026e-02 4.17317554e-02 4.67358036e+02] [-5.02595404e-02 9.98724169e-01 -4.90034224e-03 -6.22164924e+01] [-4.19255909e-02 2.79241615e-03 9.99116834e-01 -3.07344884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.530714057 meters 0.04043848809173038 Centerline is valid? [True, True] Translation: X:467.39, Y:-62.22, Z:-30.74 [[ 9.97881058e-01 4.83760783e-02 4.35103357e-02 4.67387715e+02] [-4.81991682e-02 9.98824691e-01 -5.10647854e-03 -6.22204180e+01] [-4.37062290e-02 2.99849622e-03 9.99039926e-01 -3.07360817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.560714057 meters 0.040741955521233574 Centerline is valid? [True, True] Translation: X:467.42, Y:-62.22, Z:-30.74 [[ 9.97894324e-01 4.76441490e-02 4.40108245e-02 4.67416581e+02] [-4.74624838e-02 9.98859672e-01 -5.16409062e-03 -6.22244835e+01] [-4.42066764e-02 3.06435368e-03 9.99017707e-01 -3.07379764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.590714057 meters 0.04272388087997372 Centerline is valid? [True, True] Translation: X:467.44, Y:-62.23, Z:-30.74 [[ 9.97903205e-01 4.57320671e-02 4.58014367e-02 4.67444170e+02] [-4.55334610e-02 9.98948377e-01 -5.37073846e-03 -6.22302189e+01] [-4.59988858e-02 3.27397919e-03 9.98936126e-01 -3.07393722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.620714057 meters 0.04305610632071489 Centerline is valid? [True, True] Translation: X:467.47, Y:-62.23, Z:-30.74 [[ 9.97905291e-01 4.47464343e-02 4.67203130e-02 4.67473985e+02] [-4.45388753e-02 9.98992651e-01 -5.47469923e-03 -6.22338181e+01] [-4.69182226e-02 3.38236113e-03 9.98893007e-01 -3.07405220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.650714057 meters 0.044854659739882334 Centerline is valid? [True, True] Translation: X:467.50, Y:-62.24, Z:-30.74 [[ 9.97897335e-01 4.28822823e-02 4.86006118e-02 4.67502550e+02] [-4.26555527e-02 9.99073616e-01 -5.69323175e-03 -6.22397732e+01] [-4.87997278e-02 3.60817483e-03 9.98802066e-01 -3.07411389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.680714057 meters 0.04535132426644584 Centerline is valid? [True, True] Translation: X:467.53, Y:-62.24, Z:-30.74 [[ 9.97881446e-01 4.18648322e-02 4.97991512e-02 4.67533681e+02] [-4.16256270e-02 9.99116261e-01 -5.83129786e-03 -6.22445410e+01] [-4.99992681e-02 3.74602304e-03 9.98742229e-01 -3.07421813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.710714057 meters 0.046199675275633706 Centerline is valid? [True, True] Translation: X:467.56, Y:-62.25, Z:-30.74 [[ 9.97912972e-01 4.01543362e-02 5.05700407e-02 4.67564704e+02] [-3.99053853e-02 9.99185906e-01 -5.92337050e-03 -6.22496842e+01] [-5.07667209e-02 3.89299130e-03 9.98702951e-01 -3.07435253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.740714057 meters 0.04615210104913447 Centerline is valid? [True, True] Translation: X:467.60, Y:-62.25, Z:-30.75 [[ 9.98031826e-01 3.66351527e-02 5.08953819e-02 4.67595030e+02] [-3.63783370e-02 9.99320296e-01 -5.96347747e-03 -6.22546113e+01] [-5.10792610e-02 4.10025095e-03 9.98686185e-01 -3.07456191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.770714057 meters 0.0475070800200704 Centerline is valid? [True, True] Translation: X:467.62, Y:-62.26, Z:-30.75 [[ 9.98111551e-01 3.53011811e-02 5.02708568e-02 4.67624091e+02] [-3.50489474e-02 9.99368237e-01 -5.89048738e-03 -6.22608751e+01] [-5.04470387e-02 4.11742287e-03 9.98718250e-01 -3.07483065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.800714057 meters 0.051790489566435116 Centerline is valid? [True, True] Translation: X:467.65, Y:-62.27, Z:-30.75 [[ 9.98287809e-01 3.24588496e-02 4.86608077e-02 4.67652820e+02] [-3.22191736e-02 9.99464563e-01 -5.70195532e-03 -6.22715927e+01] [-4.88198319e-02 4.12438147e-03 9.98799086e-01 -3.07531130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.830714057 meters 0.05212635811347619 Centerline is valid? [True, True] Translation: X:467.68, Y:-62.28, Z:-30.76 [[ 9.98343424e-01 3.14569297e-02 4.81754103e-02 4.67684577e+02] [-3.12209294e-02 9.99496575e-01 -5.64362334e-03 -6.22767684e+01] [-4.83286887e-02 4.13019316e-03 9.98822947e-01 -3.07560691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.860714057 meters 0.05388652959536229 Centerline is valid? [True, True] Translation: X:467.71, Y:-62.28, Z:-30.76 [[ 9.98432286e-01 3.12720659e-02 4.64222913e-02 4.67714772e+02] [-3.10526832e-02 9.99502947e-01 -5.43964124e-03 -6.22830706e+01] [-4.65693257e-02 3.98957673e-03 9.98907093e-01 -3.07601544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.890714057 meters 0.05303135288658395 Centerline is valid? [True, True] Translation: X:467.75, Y:-62.29, Z:-30.76 [[ 9.98462077e-01 3.14399485e-02 4.56619229e-02 4.67747223e+02] [-3.12274300e-02 9.99497932e-01 -5.36024015e-03 -6.22857592e+01] [-4.58075232e-02 3.92609201e-03 9.98942569e-01 -3.07626847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.920714057 meters 0.05298219898322329 Centerline is valid? [True, True] Translation: X:467.78, Y:-62.29, Z:-30.77 [[ 9.98478310e-01 3.22190519e-02 4.47548491e-02 4.67779378e+02] [-3.20152060e-02 9.99473519e-01 -5.26424208e-03 -6.22888333e+01] [-4.49008954e-02 3.82339583e-03 9.98984130e-01 -3.07652283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.950714057 meters 0.046076786989939125 Centerline is valid? [True, True] Translation: X:467.81, Y:-62.28, Z:-30.77 [[ 9.98452385e-01 3.34161552e-02 4.44544248e-02 4.67812484e+02] [-3.32156401e-02 9.99434462e-01 -5.24181964e-03 -6.22807787e+01] [-4.46044457e-02 3.75712515e-03 9.98997661e-01 -3.07659050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.980714057 meters 0.04659078983654316 Centerline is valid? [True, True] Translation: X:467.84, Y:-62.28, Z:-30.77 [[ 9.98393002e-01 3.44343977e-02 4.50076128e-02 4.67843527e+02] [-3.42298712e-02 9.99399894e-01 -5.30731453e-03 -6.22843321e+01] [-4.51633577e-02 3.75818090e-03 9.98972546e-01 -3.07671032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.01071405700003 meters 0.04578110830108776 Centerline is valid? [True, True] Translation: X:467.87, Y:-62.28, Z:-30.77 [[ 9.98227422e-01 3.63293894e-02 4.71401037e-02 4.67874940e+02] [-3.61064438e-02 9.99332412e-01 -5.57262303e-03 -6.22847562e+01] [-4.73110835e-02 3.86068362e-03 9.98872743e-01 -3.07672177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.040714057 meters 0.05036245063894547 Centerline is valid? [True, True] Translation: X:467.90, Y:-62.29, Z:-30.77 [[ 9.98024331e-01 3.81908010e-02 4.98888425e-02 4.67903705e+02] [-3.79433212e-02 9.99262483e-01 -5.89865087e-03 -6.22937735e+01] [-5.00773229e-02 3.99404872e-03 9.98737358e-01 -3.07683043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.070714057 meters 0.04545015697795709 Centerline is valid? [True, True] Translation: X:467.94, Y:-62.29, Z:-30.77 [[ 9.97950725e-01 3.88619117e-02 5.08340589e-02 4.67936601e+02] [-3.86059031e-02 9.99236448e-01 -6.00875987e-03 -6.22899917e+01] [-5.10287563e-02 4.03395152e-03 9.98689037e-01 -3.07689540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.100714057 meters 0.048938176655628995 Centerline is valid? [True, True] Translation: X:467.97, Y:-62.30, Z:-30.77 [[ 9.97939082e-01 3.85651091e-02 5.12866572e-02 4.67966964e+02] [-3.83034548e-02 9.99247685e-01 -6.07529313e-03 -6.22979417e+01] [-5.14823678e-02 4.09831630e-03 9.98665494e-01 -3.07709385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.130714057 meters 0.044730204766949735 Centerline is valid? [True, True] Translation: X:468.00, Y:-62.30, Z:-30.77 [[ 9.98002375e-01 3.84299225e-02 5.01437961e-02 4.67999918e+02] [-3.81790865e-02 9.99253193e-01 -5.95096189e-03 -6.22950223e+01] [-5.03350434e-02 4.02462977e-03 9.98724279e-01 -3.07728261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.160714057 meters 0.04571433775322013 Centerline is valid? [True, True] Translation: X:468.03, Y:-62.30, Z:-30.78 [[ 9.98129919e-01 3.78556405e-02 4.79959969e-02 4.68030500e+02] [-3.76246295e-02 9.99275642e-01 -5.70779149e-03 -6.22996619e+01] [-4.81773027e-02 3.89128586e-03 9.98831220e-01 -3.07766878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.190714057 meters 0.046430220860957556 Centerline is valid? [True, True] Translation: X:468.06, Y:-62.30, Z:-30.78 [[ 9.98171607e-01 3.77358100e-02 4.72170638e-02 4.68062722e+02] [-3.75116091e-02 9.99280356e-01 -5.62573046e-03 -6.23049981e+01] [-4.73953758e-02 3.84425638e-03 9.98868810e-01 -3.07793905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.220714057 meters 0.04739914239252393 Centerline is valid? [True, True] Translation: X:468.09, Y:-62.31, Z:-30.78 [[ 9.98168858e-01 3.77419302e-02 4.72702667e-02 4.68093666e+02] [-3.75166184e-02 9.99280060e-01 -5.64494809e-03 -6.23103236e+01] [-4.74492862e-02 3.86119083e-03 9.98866185e-01 -3.07819221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.250714057 meters 0.045483177682960486 Centerline is valid? [True, True] Translation: X:468.13, Y:-62.31, Z:-30.78 [[ 9.98169050e-01 3.84015494e-02 4.67318855e-02 4.68126231e+02] [-3.81818260e-02 9.99255197e-01 -5.58571235e-03 -6.23115620e+01] [-4.69115794e-02 3.79117647e-03 9.98891851e-01 -3.07836316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.280714057 meters 0.045753725172454324 Centerline is valid? [True, True] Translation: X:468.16, Y:-62.31, Z:-30.79 [[ 9.98136049e-01 4.05716933e-02 4.55891026e-02 4.68156724e+02] [-4.03642166e-02 9.99170100e-01 -5.46277874e-03 -6.23147157e+01] [-4.57729024e-02 3.61242798e-03 9.98945340e-01 -3.07863936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.310714057 meters 0.04524988680338212 Centerline is valid? [True, True] Translation: X:468.19, Y:-62.32, Z:-30.79 [[ 9.98081495e-01 4.18834700e-02 4.55971939e-02 4.68187477e+02] [-4.16771960e-02 9.99116179e-01 -5.46556532e-03 -6.23174188e+01] [-4.57858110e-02 3.55471642e-03 9.98944955e-01 -3.07883943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.340714057 meters 0.04014159438337728 Centerline is valid? [True, True] Translation: X:468.22, Y:-62.31, Z:-30.79 [[ 9.97879327e-01 4.59695696e-02 4.60830509e-02 4.68218643e+02] [-4.57631537e-02 9.98937040e-01 -5.52482378e-03 -6.23132242e+01] [-4.62880402e-02 3.40420169e-03 9.98922334e-01 -3.07893835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.370714057 meters 0.03902852326968385 Centerline is valid? [True, True] Translation: X:468.25, Y:-62.31, Z:-30.79 [[ 9.97742201e-01 4.86377418e-02 4.63127389e-02 4.68248152e+02] [-4.84320989e-02 9.98811042e-01 -5.55278453e-03 -6.23144631e+01] [-4.65277499e-02 3.29722431e-03 9.98911556e-01 -3.07906647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.400714057 meters 0.03784216279063203 Centerline is valid? [True, True] Translation: X:468.28, Y:-62.31, Z:-30.79 [[ 9.97380483e-01 5.49427629e-02 4.70474680e-02 4.68278129e+02] [-5.47376106e-02 9.98484851e-01 -5.63881472e-03 -6.23144217e+01] [-4.72859961e-02 3.04877777e-03 9.98876739e-01 -3.07918596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.430714057 meters 0.03539047075011466 Centerline is valid? [True, True] Translation: X:468.31, Y:-62.31, Z:-30.79 [[ 9.96969202e-01 6.15303356e-02 4.76070156e-02 4.68308286e+02] [-6.13277478e-02 9.98101373e-01 -5.70581211e-03 -6.23120314e+01] [-4.78677082e-02 2.76888790e-03 9.98849846e-01 -3.07925752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.460714057 meters 0.035683187789160964 Centerline is valid? [True, True] Translation: X:468.34, Y:-62.32, Z:-30.79 [[ 9.96761430e-01 6.48535566e-02 4.75464745e-02 4.68337409e+02] [-6.46553173e-02 9.97891393e-01 -5.69714956e-03 -6.23152720e+01] [-4.78156980e-02 2.60456655e-03 9.98852780e-01 -3.07945099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.490714057 meters 0.03295856376557663 Centerline is valid? [True, True] Translation: X:468.37, Y:-62.31, Z:-30.79 [[ 9.96351770e-01 7.04141361e-02 4.82182542e-02 4.68368498e+02] [-7.02168370e-02 9.97515032e-01 -5.77560151e-03 -6.23132087e+01] [-4.85051174e-02 2.36879749e-03 9.98820125e-01 -3.07948761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.520714057 meters 0.03269222959343784 Centerline is valid? [True, True] Translation: X:468.40, Y:-62.32, Z:-30.80 [[ 9.96190100e-01 7.23738561e-02 4.86550132e-02 4.68396360e+02] [-7.21752639e-02 9.97374934e-01 -5.82851778e-03 -6.23160580e+01] [-4.89491229e-02 2.29462328e-03 9.98798637e-01 -3.07960894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.550714057 meters 0.03277299283964204 Centerline is valid? [True, True] Translation: X:468.43, Y:-62.32, Z:-30.80 [[ 9.95944515e-01 7.53106021e-02 4.92223111e-02 4.68425248e+02] [-7.51111654e-02 9.97157762e-01 -5.89160147e-03 -6.23192376e+01] [-4.95261096e-02 2.17056301e-03 9.98770471e-01 -3.07970393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.580714057 meters 0.03178896493058938 Centerline is valid? [True, True] Translation: X:468.45, Y:-62.32, Z:-30.80 [[ 9.95888651e-01 7.60727981e-02 4.91805178e-02 4.68454383e+02] [-7.58747056e-02 9.97099993e-01 -5.88501871e-03 -6.23214525e+01] [-4.94855838e-02 2.12926603e-03 9.98772568e-01 -3.07994822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.610714057 meters 0.03023846312780438 Centerline is valid? [True, True] Translation: X:468.48, Y:-62.32, Z:-30.80 [[ 9.95896353e-01 7.66251545e-02 4.81564000e-02 4.68483054e+02] [-7.64359885e-02 9.97057852e-01 -5.76018417e-03 -6.23235396e+01] [-4.84560917e-02 2.05566438e-03 9.98823198e-01 -3.08018719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.640714057 meters 0.032280933973755574 Centerline is valid? [True, True] Translation: X:468.51, Y:-62.33, Z:-30.80 [[ 9.95950267e-01 7.61715388e-02 4.77594231e-02 4.68510067e+02] [-7.59851185e-02 9.97092606e-01 -5.70942881e-03 -6.23310369e+01] [-4.80554636e-02 2.05730173e-03 9.98842550e-01 -3.08041605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.670714057 meters 0.030439581086502455 Centerline is valid? [True, True] Translation: X:468.54, Y:-62.33, Z:-30.80 [[ 9.96001770e-01 7.48455359e-02 4.87711073e-02 4.68538574e+02] [-7.46497696e-02 9.97192796e-01 -5.82571492e-03 -6.23324672e+01] [-4.90702256e-02 2.16167045e-03 9.98792992e-01 -3.08037486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.700714057 meters 0.03045837176138077 Centerline is valid? [True, True] Translation: X:468.57, Y:-62.34, Z:-30.80 [[ 9.96052839e-01 7.37723501e-02 4.93597250e-02 4.68567235e+02] [-7.35706931e-02 9.97272597e-01 -5.89236272e-03 -6.23371446e+01] [-4.96597946e-02 2.23767543e-03 9.98763685e-01 -3.08048595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.730714057 meters 0.03027345448732032 Centerline is valid? [True, True] Translation: X:468.60, Y:-62.34, Z:-30.81 [[ 9.96165539e-01 7.24009636e-02 4.91153742e-02 4.68595642e+02] [-7.21998155e-02 9.97372975e-01 -5.85959976e-03 -6.23409992e+01] [-4.94105876e-02 2.29101040e-03 9.98775923e-01 -3.08060546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.76071405700003 meters 0.03507866019241521 Centerline is valid? [True, True] Translation: X:468.62, Y:-62.35, Z:-30.81 [[ 9.96466913e-01 6.83557960e-02 4.87972970e-02 4.68623187e+02] [-6.81526032e-02 9.97657946e-01 -5.81771760e-03 -6.23548876e+01] [-4.90806859e-02 2.47150027e-03 9.98791759e-01 -3.08086563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.790714057 meters 0.03349560005109553 Centerline is valid? [True, True] Translation: X:468.65, Y:-62.36, Z:-30.81 [[ 9.96817691e-01 6.37865407e-02 4.78097157e-02 4.68653112e+02] [-6.35863526e-02 9.97960074e-01 -5.69799888e-03 -6.23579580e+01] [-4.80756430e-02 2.63982064e-03 9.98840209e-01 -3.08103812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.820714057 meters 0.03520724428503175 Centerline is valid? [True, True] Translation: X:468.68, Y:-62.36, Z:-30.81 [[ 9.96986117e-01 6.12542569e-02 4.76088004e-02 4.68680845e+02] [-6.10528703e-02 9.98118406e-01 -5.67410086e-03 -6.23645025e+01] [-4.78667828e-02 2.75034587e-03 9.98849942e-01 -3.08128859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.850714057 meters 0.035458209081145095 Centerline is valid? [True, True] Translation: X:468.71, Y:-62.37, Z:-30.82 [[ 9.97112092e-01 5.92917583e-02 4.74548553e-02 4.68710096e+02] [-5.90896321e-02 9.98236680e-01 -5.65213489e-03 -6.23695260e+01] [-4.77063022e-02 2.83172210e-03 9.98857392e-01 -3.08151328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.880714057 meters 0.036213431660971754 Centerline is valid? [True, True] Translation: X:468.74, Y:-62.38, Z:-30.82 [[ 9.97327650e-01 5.60210667e-02 4.68956145e-02 4.68739363e+02] [-5.58201679e-02 9.98425226e-01 -5.58366283e-03 -6.23761668e+01] [-4.71345672e-02 2.95102025e-03 9.98884190e-01 -3.08178212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.910714057 meters 0.03648034044735292 Centerline is valid? [True, True] Translation: X:468.77, Y:-62.38, Z:-30.82 [[ 9.97394027e-01 5.50407616e-02 4.66440767e-02 4.68767523e+02] [-5.48409588e-02 9.98479658e-01 -5.55346211e-03 -6.23798717e+01] [-4.68788286e-02 2.98098405e-03 9.98896135e-01 -3.08191638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.940714057 meters 0.03668111557698299 Centerline is valid? [True, True] Translation: X:468.80, Y:-62.38, Z:-30.82 [[ 9.97439213e-01 5.49436669e-02 4.57843933e-02 4.68796295e+02] [-5.47512156e-02 9.98485165e-01 -5.44785883e-03 -6.23829166e+01] [-4.60143628e-02 2.92715683e-03 9.98936490e-01 -3.08202950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.970714057 meters 0.03596150812993742 Centerline is valid? [True, True] Translation: X:468.83, Y:-62.39, Z:-30.82 [[ 9.97271723e-01 5.69734256e-02 4.69376062e-02 4.68826485e+02] [-5.67735787e-02 9.98371481e-01 -5.58099690e-03 -6.23852941e+01] [-4.71791359e-02 2.90095452e-03 9.98882232e-01 -3.08209028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.000714057 meters 0.035933483635275626 Centerline is valid? [True, True] Translation: X:468.85, Y:-62.39, Z:-30.82 [[ 9.97213785e-01 5.81334373e-02 4.67458115e-02 4.68854743e+02] [-5.79365034e-02 9.98304799e-01 -5.55792395e-03 -6.23881295e+01] [-4.69896692e-02 2.83414951e-03 9.98891355e-01 -3.08222887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.030714057 meters 0.035551491627060075 Centerline is valid? [True, True] Translation: X:468.88, Y:-62.39, Z:-30.82 [[ 9.97141049e-01 5.93153479e-02 4.68125846e-02 4.68883195e+02] [-5.91193058e-02 9.98235426e-01 -5.56250034e-03 -6.23901355e+01] [-4.70599220e-02 2.77906992e-03 9.98888202e-01 -3.08236152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.060714057 meters 0.035551491627060075 Centerline is valid? [True, True] Translation: X:468.91, Y:-62.39, Z:-30.83 [[ 9.97145236e-01 5.92446149e-02 4.68129783e-02 4.68911309e+02] [-5.90486503e-02 9.98239627e-01 -5.55918456e-03 -6.23934140e+01] [-4.70599218e-02 2.77907121e-03 9.98888202e-01 -3.08252571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.090714057 meters 0.03457332807025986 Centerline is valid? [True, True] Translation: X:468.94, Y:-62.39, Z:-30.83 [[ 9.97027367e-01 6.13971408e-02 4.65491220e-02 4.68941495e+02] [-6.12059006e-02 9.98109876e-01 -5.52394321e-03 -6.23946614e+01] [-4.68002927e-02 2.65844162e-03 9.98900728e-01 -3.08275030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.120714057 meters 0.03511802446267071 Centerline is valid? [True, True] Translation: X:468.97, Y:-62.40, Z:-30.83 [[ 9.97003495e-01 6.16480562e-02 4.67284531e-02 4.68968754e+02] [-6.14556166e-02 9.98094414e-01 -5.54514176e-03 -6.23991669e+01] [-4.69812552e-02 2.65679981e-03 9.98892238e-01 -3.08299694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.150714057 meters 0.03462869875253339 Centerline is valid? [True, True] Translation: X:469.00, Y:-62.40, Z:-30.83 [[ 9.97020147e-01 6.14855329e-02 4.65870713e-02 4.68997388e+02] [-6.12942843e-02 9.98104451e-01 -5.52401584e-03 -6.24023809e+01] [-4.68384103e-02 2.65203389e-03 9.98898959e-01 -3.08317463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.180714057 meters 0.035025259445671246 Centerline is valid? [True, True] Translation: X:469.03, Y:-62.41, Z:-30.83 [[ 9.97117313e-01 6.06105676e-02 4.56445346e-02 4.69025671e+02] [-6.04262194e-02 9.98158011e-01 -5.40906023e-03 -6.24058638e+01] [-4.58883041e-02 2.63534094e-03 9.98943101e-01 -3.08335290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.210714057 meters 0.035576021195063104 Centerline is valid? [True, True] Translation: X:469.05, Y:-62.41, Z:-30.84 [[ 9.97223628e-01 5.99863557e-02 4.41211264e-02 4.69054061e+02] [-5.98136435e-02 9.98195884e-01 -5.22549594e-03 -6.24103322e+01] [-4.43549853e-02 2.57194269e-03 9.99012523e-01 -3.08356169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.240714057 meters 0.035373819177732496 Centerline is valid? [True, True] Translation: X:469.08, Y:-62.41, Z:-30.84 [[ 9.97303697e-01 5.94434814e-02 4.30326540e-02 4.69083117e+02] [-5.92788174e-02 9.98228469e-01 -5.09361308e-03 -6.24127225e+01] [-4.32592025e-02 2.52895431e-03 9.99060682e-01 -3.08380048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.270714057 meters 0.03466642177611579 Centerline is valid? [True, True] Translation: X:469.11, Y:-62.41, Z:-30.84 [[ 9.97362492e-01 5.89509777e-02 4.23419633e-02 4.69111481e+02] [-5.87912452e-02 9.98257732e-01 -5.00889645e-03 -6.24145342e+01] [-4.25634716e-02 2.50634869e-03 9.99090621e-01 -3.08392931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.300714057 meters 0.03555868401093331 Centerline is valid? [True, True] Translation: X:469.14, Y:-62.42, Z:-30.84 [[ 9.97381313e-01 5.87825979e-02 4.21322021e-02 4.69139030e+02] [-5.86244089e-02 9.98267682e-01 -4.98140974e-03 -6.24190591e+01] [-4.23520359e-02 2.49838954e-03 9.99099626e-01 -3.08411497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.330714057 meters 0.03439856780930067 Centerline is valid? [True, True] Translation: X:469.17, Y:-62.42, Z:-30.84 [[ 9.97438332e-01 5.83631905e-02 4.13583438e-02 4.69168101e+02] [-5.82105812e-02 9.98292371e-01 -4.88566091e-03 -6.24202496e+01] [-4.15728618e-02 2.46565224e-03 9.99132433e-01 -3.08426482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.360714057 meters 0.03581297959266673 Centerline is valid? [True, True] Translation: X:469.20, Y:-62.42, Z:-30.84 [[ 9.97472610e-01 5.80387333e-02 4.09865554e-02 4.69195034e+02] [-5.78886758e-02 9.98311314e-01 -4.83952818e-03 -6.24246128e+01] [-4.11982221e-02 2.45463938e-03 9.99147978e-01 -3.08445871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.390714057 meters 0.035143274453438525 Centerline is valid? [True, True] Translation: X:469.22, Y:-62.43, Z:-30.84 [[ 9.97445122e-01 5.83828514e-02 4.11663846e-02 4.69223658e+02] [-5.82319979e-02 9.98291271e-01 -4.85514344e-03 -6.24251788e+01] [-4.13794995e-02 2.44553832e-03 9.99140509e-01 -3.08446082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.420714057 meters 0.03487627726373879 Centerline is valid? [True, True] Translation: X:469.25, Y:-62.43, Z:-30.85 [[ 9.97426022e-01 5.82959233e-02 4.17482371e-02 4.69252117e+02] [-5.81408263e-02 9.98296264e-01 -4.92067097e-03 -6.24281558e+01] [-4.19639642e-02 2.48072827e-03 9.99116045e-01 -3.08454190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.450714057 meters 0.03586663941406007 Centerline is valid? [True, True] Translation: X:469.28, Y:-62.43, Z:-30.85 [[ 9.97328924e-01 5.82811160e-02 4.40264567e-02 4.69280139e+02] [-5.81087536e-02 9.98296790e-01 -5.18575189e-03 -6.24326362e+01] [-4.42537018e-02 2.61357783e-03 9.99016906e-01 -3.08458063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.480714057 meters 0.03538772407322627 Centerline is valid? [True, True] Translation: X:469.31, Y:-62.44, Z:-30.85 [[ 9.97325290e-01 5.78274213e-02 4.47018470e-02 4.69308638e+02] [-5.76494198e-02 9.98323022e-01 -5.26201145e-03 -6.24350436e+01] [-4.49311716e-02 2.67090155e-03 9.98986514e-01 -3.08459564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.51071405700003 meters 0.03657656144169396 Centerline is valid? [True, True] Translation: X:469.34, Y:-62.44, Z:-30.85 [[ 9.97311968e-01 5.76043952e-02 4.52832328e-02 4.69335821e+02] [-5.74216424e-02 9.98335802e-01 -5.32733478e-03 -6.24398696e+01] [-4.55147505e-02 2.71277714e-03 9.98959983e-01 -3.08470971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.540714057 meters 0.03735019044491834 Centerline is valid? [True, True] Translation: X:469.36, Y:-62.44, Z:-30.85 [[ 9.97277246e-01 5.70480884e-02 4.67291219e-02 4.69363497e+02] [-5.68530647e-02 9.98367445e-01 -5.49307210e-03 -6.24434656e+01] [-4.69662033e-02 2.82142202e-03 9.98892494e-01 -3.08475226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.570714057 meters 0.03593085539961637 Centerline is valid? [True, True] Translation: X:469.39, Y:-62.45, Z:-30.85 [[ 9.97345595e-01 5.54569281e-02 4.71836119e-02 4.69392917e+02] [-5.52565416e-02 9.98456811e-01 -5.54173857e-03 -6.24454446e+01] [-4.74181265e-02 2.91982534e-03 9.98870860e-01 -3.08493325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.600714057 meters 0.039779234099381625 Centerline is valid? [True, True] Translation: X:469.42, Y:-62.46, Z:-30.85 [[ 9.97405633e-01 5.42404563e-02 4.73283875e-02 4.69419144e+02] [-5.40375208e-02 9.98523439e-01 -5.55774787e-03 -6.24558020e+01] [-4.75599590e-02 2.98582031e-03 9.98863922e-01 -3.08523134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.630714057 meters 0.037475980000290135 Centerline is valid? [True, True] Translation: X:469.45, Y:-62.46, Z:-30.85 [[ 9.97606309e-01 5.12473765e-02 4.64258498e-02 4.69449495e+02] [-5.10491621e-02 9.98681293e-01 -5.44588956e-03 -6.24570203e+01] [-4.66437152e-02 3.06285305e-03 9.98906894e-01 -3.08540877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.660714057 meters 0.03753408051990098 Centerline is valid? [True, True] Translation: X:469.48, Y:-62.46, Z:-30.86 [[ 9.97725464e-01 4.94956659e-02 4.57610845e-02 4.69478887e+02] [-4.93012865e-02 9.98769531e-01 -5.36731142e-03 -6.24605257e+01] [-4.59704355e-02 3.09902294e-03 9.98937994e-01 -3.08561646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.690714057 meters 0.039628620358550186 Centerline is valid? [True, True] Translation: X:469.51, Y:-62.47, Z:-30.86 [[ 9.98001676e-01 4.58677233e-02 4.34603953e-02 4.69508060e+02] [-4.56890655e-02 9.98942712e-01 -5.09576397e-03 -6.24669204e+01] [-4.36481762e-02 3.09991613e-03 9.99042155e-01 -3.08591411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.720714057 meters 0.04157961636368007 Centerline is valid? [True, True] Translation: X:469.54, Y:-62.47, Z:-30.86 [[ 9.98077515e-01 4.46889017e-02 4.29438717e-02 4.69535940e+02] [-4.45134007e-02 9.98996100e-01 -5.03480838e-03 -6.24732661e+01] [-4.31257604e-02 3.11355126e-03 9.99064800e-01 -3.08618308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.750714057 meters 0.04047823601387089 Centerline is valid? [True, True] Translation: X:469.57, Y:-62.48, Z:-30.86 [[ 9.98147972e-01 4.32239650e-02 4.28055441e-02 4.69565737e+02] [-4.30483638e-02 9.99060397e-01 -5.01604787e-03 -6.24756819e+01] [-4.29821374e-02 3.16404938e-03 9.99070831e-01 -3.08641477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.780714057 meters 0.04093325942930696 Centerline is valid? [True, True] Translation: X:469.60, Y:-62.48, Z:-30.87 [[ 9.98159436e-01 4.26390139e-02 4.31237220e-02 4.69595422e+02] [-4.24603159e-02 9.99085382e-01 -5.05175459e-03 -6.24799766e+01] [-4.32996821e-02 3.21140965e-03 9.99056968e-01 -3.08658011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.810714057 meters 0.04274219020515264 Centerline is valid? [True, True] Translation: X:469.62, Y:-62.48, Z:-30.87 [[ 9.98076579e-01 4.34821875e-02 4.41864331e-02 4.69624331e+02] [-4.32954604e-02 9.99048911e-01 -5.17459816e-03 -6.24842823e+01] [-4.43694108e-02 3.25157326e-03 9.99009901e-01 -3.08662491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.840714057 meters 0.03966948968529816 Centerline is valid? [True, True] Translation: X:469.65, Y:-62.48, Z:-30.87 [[ 9.98021727e-01 4.40465392e-02 4.48612805e-02 4.69654500e+02] [-4.38546999e-02 9.99024115e-01 -5.25200114e-03 -6.24817636e+01] [-4.50488335e-02 3.27423326e-03 9.98979420e-01 -3.08660966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.870714057 meters 0.042228518706409555 Centerline is valid? [True, True] Translation: X:469.68, Y:-62.49, Z:-30.87 [[ 9.97924752e-01 4.53626458e-02 4.56992237e-02 4.69682720e+02] [-4.51650070e-02 9.98965222e-01 -5.34860508e-03 -6.24874005e+01] [-4.58945620e-02 3.27349965e-03 9.98940926e-01 -3.08671196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.900714057 meters 0.044104248208699175 Centerline is valid? [True, True] Translation: X:469.71, Y:-62.49, Z:-30.87 [[ 9.97909163e-01 4.56323688e-02 4.57710626e-02 4.69710705e+02] [-4.54345046e-02 9.98952969e-01 -5.35451525e-03 -6.24930256e+01] [-4.59674782e-02 3.26373427e-03 9.98937605e-01 -3.08695523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.930714057 meters 0.04347834075874582 Centerline is valid? [True, True] Translation: X:469.74, Y:-62.50, Z:-30.87 [[ 9.97893615e-01 4.51304278e-02 4.66001988e-02 4.69740367e+02] [-4.49249046e-02 9.98975507e-01 -5.44883051e-03 -6.24957583e+01] [-4.67983652e-02 3.34384369e-03 9.98898760e-01 -3.08715088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.960714057 meters 0.041606750274553544 Centerline is valid? [True, True] Translation: X:469.77, Y:-62.50, Z:-30.87 [[ 9.98004055e-01 4.29326064e-02 4.63108892e-02 4.69770914e+02] [-4.27273695e-02 9.99072105e-01 -5.41301339e-03 -6.24965693e+01] [-4.65003124e-02 3.42346683e-03 9.98912409e-01 -3.08734310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.990714057 meters 0.04069381330864005 Centerline is valid? [True, True] Translation: X:469.80, Y:-62.50, Z:-30.88 [[ 9.98076258e-01 4.16066230e-02 4.59638101e-02 4.69800586e+02] [-4.14030465e-02 9.99128081e-01 -5.37265415e-03 -6.24993091e+01] [-4.61472714e-02 3.45927678e-03 9.98928657e-01 -3.08754109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.020714057 meters 0.04941872634766176 Centerline is valid? [True, True] Translation: X:469.83, Y:-62.52, Z:-30.88 [[ 9.98238722e-01 3.93421839e-02 4.44032327e-02 4.69828600e+02] [-3.91500273e-02 9.99219869e-01 -5.18923156e-03 -6.25162278e+01] [-4.45727481e-02 3.44170411e-03 9.99000213e-01 -3.08805844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.050714057 meters 0.04191448363883652 Centerline is valid? [True, True] Translation: X:469.86, Y:-62.51, Z:-30.88 [[ 9.98303512e-01 3.85302126e-02 4.36522702e-02 4.69860579e+02] [-3.83437461e-02 9.99251587e-01 -5.10121714e-03 -6.25090592e+01] [-4.38161513e-02 3.41877142e-03 9.99033762e-01 -3.08807233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.080714057 meters 0.0504879468780105 Centerline is valid? [True, True] Translation: X:469.89, Y:-62.53, Z:-30.89 [[ 9.98327702e-01 3.82545180e-02 4.33404224e-02 4.69889584e+02] [-3.80704914e-02 9.99262225e-01 -5.06383134e-03 -6.25252278e+01] [-4.35021614e-02 3.40537192e-03 9.99047529e-01 -3.08852546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.110714057 meters 0.041923383742285936 Centerline is valid? [True, True] Translation: X:469.92, Y:-62.52, Z:-30.89 [[ 9.98378848e-01 3.81360479e-02 4.22530274e-02 4.69922314e+02] [-3.79607308e-02 9.99267001e-01 -4.94410719e-03 -6.25167995e+01] [-4.24106047e-02 3.33213624e-03 9.99094709e-01 -3.08856548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.140714057 meters 0.04269550820784853 Centerline is valid? [True, True] Translation: X:469.95, Y:-62.52, Z:-30.89 [[ 9.98376038e-01 3.88718657e-02 4.16444983e-02 4.69952851e+02] [-3.87021152e-02 9.99238901e-01 -4.87497606e-03 -6.25206038e+01] [-4.18023021e-02 3.25532912e-03 9.99120599e-01 -3.08881184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.170714057 meters 0.04256883504900932 Centerline is valid? [True, True] Translation: X:469.98, Y:-62.52, Z:-30.89 [[ 9.98388203e-01 3.90859995e-02 4.11494948e-02 4.69983315e+02] [-3.89204442e-02 9.99230702e-01 -4.81703011e-03 -6.25235625e+01] [-4.13061170e-02 3.20770942e-03 9.99141389e-01 -3.08902623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.200714057 meters 0.03983949838804754 Centerline is valid? [True, True] Translation: X:470.01, Y:-62.52, Z:-30.89 [[ 9.98354041e-01 4.03057936e-02 4.08001484e-02 4.70013433e+02] [-4.01440265e-02 9.99182486e-01 -4.77674682e-03 -6.25228499e+01] [-4.09593243e-02 3.13100225e-03 9.99155909e-01 -3.08912539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.230714057 meters 0.04359238813721761 Centerline is valid? [True, True] Translation: X:470.04, Y:-62.53, Z:-30.89 [[ 9.98339746e-01 4.03940360e-02 4.10618229e-02 4.70040876e+02] [-4.02303106e-02 9.99178874e-01 -4.80615399e-03 -6.25312074e+01] [-4.12222460e-02 3.14624466e-03 9.99145048e-01 -3.08936826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.26071405700003 meters 0.043986772309491544 Centerline is valid? [True, True] Translation: X:470.07, Y:-62.53, Z:-30.89 [[ 9.98283870e-01 4.09005222e-02 4.19101607e-02 4.70070231e+02] [-4.07305116e-02 9.99158140e-01 -4.90279349e-03 -6.25346314e+01] [-4.20754050e-02 3.18735737e-03 9.99109354e-01 -3.08945401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.290714057 meters 0.04388784537690977 Centerline is valid? [True, True] Translation: X:470.10, Y:-62.54, Z:-30.90 [[ 9.98250038e-01 4.12575346e-02 4.23636360e-02 4.70099600e+02] [-4.10842061e-02 9.99143404e-01 -4.95432573e-03 -6.25376170e+01] [-4.25317507e-02 3.20517950e-03 9.99089974e-01 -3.08956221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.320714057 meters 0.04164740474870597 Centerline is valid? [True, True] Translation: X:470.13, Y:-62.54, Z:-30.90 [[ 9.98205119e-01 4.17822962e-02 4.29043027e-02 4.70129414e+02] [-4.16050593e-02 9.99121543e-01 -5.01602605e-03 -6.25376246e+01] [-4.30761942e-02 3.22198682e-03 9.99066595e-01 -3.08960614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.350714057 meters 0.041543493131622714 Centerline is valid? [True, True] Translation: X:470.16, Y:-62.54, Z:-30.90 [[ 9.98151703e-01 4.24439156e-02 4.34935830e-02 4.70159539e+02] [-4.22624771e-02 9.99093612e-01 -5.08308258e-03 -6.25397614e+01] [-4.36699068e-02 3.23554098e-03 9.99040775e-01 -3.08972474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.380714057 meters 0.04015162811799228 Centerline is valid? [True, True] Translation: X:470.19, Y:-62.54, Z:-30.90 [[ 9.98132437e-01 4.27776446e-02 4.36086185e-02 4.70189362e+02] [-4.25955841e-02 9.99079400e-01 -5.09599597e-03 -6.25404594e+01] [-4.37864671e-02 3.22894430e-03 9.99035695e-01 -3.08981349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.410714057 meters 0.0414572220043996 Centerline is valid? [True, True] Translation: X:470.22, Y:-62.55, Z:-30.90 [[ 9.98118787e-01 4.27271000e-02 4.39691011e-02 4.70218001e+02] [-4.25420268e-02 9.99081473e-01 -5.13674105e-03 -6.25455648e+01] [-4.41481923e-02 3.25654307e-03 9.99019686e-01 -3.09002828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.440714057 meters 0.04137650023308325 Centerline is valid? [True, True] Translation: X:470.25, Y:-62.55, Z:-30.90 [[ 9.98188082e-01 4.12932419e-02 4.37655271e-02 4.70247808e+02] [-4.11086463e-02 9.99141616e-01 -5.10985692e-03 -6.25492162e+01] [-4.39389620e-02 3.30145671e-03 9.99028762e-01 -3.09030259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.470714057 meters 0.043712804986802356 Centerline is valid? [True, True] Translation: X:470.28, Y:-62.56, Z:-30.91 [[ 9.98253042e-01 3.99947630e-02 4.34888933e-02 4.70276277e+02] [-3.98112575e-02 9.99194315e-01 -5.07787022e-03 -6.25564870e+01] [-4.36569431e-02 3.33765186e-03 9.99041006e-01 -3.09061179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.500714057 meters 0.04481232723206295 Centerline is valid? [True, True] Translation: X:470.31, Y:-62.56, Z:-30.91 [[ 9.98422789e-01 3.67614326e-02 4.24326776e-02 4.70306723e+02] [-3.65838832e-02 9.99318309e-01 -4.95349205e-03 -6.25625898e+01] [-4.25858491e-02 3.39332722e-03 9.99087049e-01 -3.09091439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.530714057 meters 0.04615475883799484 Centerline is valid? [True, True] Translation: X:470.34, Y:-62.57, Z:-30.91 [[ 9.98528292e-01 3.34984731e-02 4.26509280e-02 4.70336510e+02] [-3.33161297e-02 9.99432461e-01 -4.97910133e-03 -6.25690624e+01] [-4.27935142e-02 3.55080971e-03 9.99077628e-01 -3.09110893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.560714057 meters 0.045564915323705844 Centerline is valid? [True, True] Translation: X:470.37, Y:-62.57, Z:-30.91 [[ 9.98527942e-01 3.29076742e-02 4.31165259e-02 4.70368839e+02] [-3.27209273e-02 9.99451870e-01 -5.03000603e-03 -6.25727641e+01] [-4.32584183e-02 3.61178886e-03 9.99057388e-01 -3.09125429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.590714057 meters 0.04707586853261425 Centerline is valid? [True, True] Translation: X:470.40, Y:-62.58, Z:-30.91 [[ 9.98523964e-01 3.25614139e-02 4.34700682e-02 4.70399367e+02] [-3.23707644e-02 9.99463006e-01 -5.08268448e-03 -6.25795396e+01] [-4.36122245e-02 3.66802292e-03 9.99041801e-01 -3.09142327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.620714057 meters 0.04634249020744883 Centerline is valid? [True, True] Translation: X:470.43, Y:-62.58, Z:-30.92 [[ 9.98448153e-01 3.36675338e-02 4.43596892e-02 4.70430665e+02] [-3.34694856e-02 9.99426212e-01 -5.19998475e-03 -6.25826192e+01] [-4.45093068e-02 3.70721919e-03 9.99002091e-01 -3.09150863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.650714057 meters 0.04598051215708959 Centerline is valid? [True, True] Translation: X:470.46, Y:-62.58, Z:-30.92 [[ 9.98416118e-01 3.48033046e-02 4.42039072e-02 4.70463176e+02] [-3.46077390e-02 9.99387538e-01 -5.18199693e-03 -6.25849210e+01] [-4.43571846e-02 3.64399198e-03 9.99009090e-01 -3.09171132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.680714057 meters 0.045130747358827536 Centerline is valid? [True, True] Translation: X:470.49, Y:-62.59, Z:-30.92 [[ 9.98265916e-01 3.94126138e-02 4.37242119e-02 4.70493024e+02] [-3.92253237e-02 9.99217204e-01 -5.13349599e-03 -6.25875244e+01] [-4.38923093e-02 3.40949771e-03 9.99030450e-01 -3.09198790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.710714057 meters 0.041415799233111894 Centerline is valid? [True, True] Translation: X:470.52, Y:-62.59, Z:-30.92 [[ 9.98172095e-01 4.19209394e-02 4.35327841e-02 4.70524720e+02] [-4.17376711e-02 9.99115533e-01 -5.11070241e-03 -6.25852569e+01] [-4.37085262e-02 3.28440351e-03 9.99038927e-01 -3.09214895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.740714057 meters 0.038911319977729855 Centerline is valid? [True, True] Translation: X:470.56, Y:-62.58, Z:-30.92 [[ 9.97934339e-01 4.86976143e-02 4.18998496e-02 4.70555980e+02] [-4.85337479e-02 9.98809426e-01 -4.91988748e-03 -6.25838032e+01] [-4.20895515e-02 2.87616793e-03 9.99109702e-01 -3.09238329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.770714057 meters 0.04189406824584208 Centerline is valid? [True, True] Translation: X:470.58, Y:-62.59, Z:-30.93 [[ 9.97749277e-01 5.25255854e-02 4.16826378e-02 4.70584892e+02] [-5.23667070e-02 9.98615925e-01 -4.89513170e-03 -6.25906784e+01] [-4.18820656e-02 2.70133164e-03 9.99118910e-01 -3.09275775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.800714057 meters 0.03874381651018196 Centerline is valid? [True, True] Translation: X:470.62, Y:-62.59, Z:-30.93 [[ 9.97272649e-01 6.04209675e-02 4.23859635e-02 4.70615960e+02] [-6.02638296e-02 9.98170078e-01 -4.97647890e-03 -6.25881044e+01] [-4.26090842e-02 2.40856581e-03 9.99088917e-01 -3.09290107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.830714057 meters 0.03746399581238345 Centerline is valid? [True, True] Translation: X:470.64, Y:-62.59, Z:-30.93 [[ 9.97031180e-01 6.40267904e-02 4.27714503e-02 4.70644832e+02] [-6.38700703e-02 9.97945586e-01 -5.02207328e-03 -6.25885361e+01] [-4.30051273e-02 2.27534811e-03 9.99072261e-01 -3.09304173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.860714057 meters 0.03263542643973394 Centerline is valid? [True, True] Translation: X:470.68, Y:-62.58, Z:-30.93 [[ 9.96633675e-01 6.93526345e-02 4.37210383e-02 4.70676716e+02] [-6.91940650e-02 9.97590020e-01 -5.13164222e-03 -6.25825080e+01] [-4.39715644e-02 2.08913108e-03 9.99030599e-01 -3.09297802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.890714057 meters 0.03255632143130989 Centerline is valid? [True, True] Translation: X:470.70, Y:-62.59, Z:-30.93 [[ 9.96477449e-01 7.09188550e-02 4.47572215e-02 4.70704215e+02] [-7.07541887e-02 9.97479942e-01 -5.25461332e-03 -6.25862195e+01] [-4.50170819e-02 2.06934278e-03 9.98984074e-01 -3.09310867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.920714057 meters 0.03210450852558121 Centerline is valid? [True, True] Translation: X:470.73, Y:-62.59, Z:-30.93 [[ 9.96415044e-01 7.11355343e-02 4.57907786e-02 4.70732676e+02] [-7.09636844e-02 9.97464446e-01 -5.36971792e-03 -6.25896683e+01] [-4.60566514e-02 2.10098536e-03 9.98936620e-01 -3.09319574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.950714057 meters 0.03361012333917593 Centerline is valid? [True, True] Translation: X:470.76, Y:-62.60, Z:-30.93 [[ 9.96530618e-01 6.92804222e-02 4.61188730e-02 4.70760026e+02] [-6.91042611e-02 9.97594801e-01 -5.40509599e-03 -6.25965401e+01] [-4.63824153e-02 2.19933300e-03 9.98921335e-01 -3.09341457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.980714057 meters 0.03361012333917593 Centerline is valid? [True, True] Translation: X:470.79, Y:-62.60, Z:-30.94 [[ 9.96537656e-01 6.91788253e-02 4.61193136e-02 4.70787289e+02] [-6.90027294e-02 9.97601849e-01 -5.40133404e-03 -6.25996381e+01] [-4.63823704e-02 2.20027425e-03 9.98921336e-01 -3.09357378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.01071405700003 meters 0.037303697050924185 Centerline is valid? [True, True] Translation: X:470.82, Y:-62.61, Z:-30.94 [[ 9.96937992e-01 6.33467731e-02 4.58456846e-02 4.70815802e+02] [-6.31668754e-02 9.97988566e-01 -5.36358838e-03 -6.26114193e+01] [-4.60932350e-02 2.45123639e-03 9.98934135e-01 -3.09385989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.040714057 meters 0.03844066854274021 Centerline is valid? [True, True] Translation: X:470.85, Y:-62.62, Z:-30.94 [[ 9.97407372e-01 5.62131678e-02 4.49289810e-02 4.70845008e+02] [-5.60332200e-02 9.98415073e-01 -5.25556894e-03 -6.26202755e+01] [-4.51532040e-02 2.72442774e-03 9.98976359e-01 -3.09410739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.070714057 meters 0.03991984234315526 Centerline is valid? [True, True] Translation: X:470.87, Y:-62.63, Z:-30.94 [[ 9.97663994e-01 5.22483004e-02 4.40076248e-02 4.70874511e+02] [-5.20718578e-02 9.98630077e-01 -5.14698595e-03 -6.26276110e+01] [-4.42162590e-02 2.84340378e-03 9.99017937e-01 -3.09431241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.100714057 meters 0.04410801264945922 Centerline is valid? [True, True] Translation: X:470.90, Y:-62.64, Z:-30.95 [[ 9.98021473e-01 4.53851742e-02 4.35123506e-02 4.70901999e+02] [-4.52061885e-02 9.98964715e-01 -5.08914745e-03 -6.26394187e+01] [-4.36982747e-02 3.11205092e-03 9.99039927e-01 -3.09461029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.130714057 meters 0.04013645660185643 Centerline is valid? [True, True] Translation: X:470.93, Y:-62.64, Z:-30.95 [[ 9.98150449e-01 4.27706521e-02 4.32013043e-02 4.70932187e+02] [-4.25918576e-02 9.99079787e-01 -5.05105571e-03 -6.26383847e+01] [-4.33775868e-02 3.20168972e-03 9.99053619e-01 -3.09466072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.160714057 meters 0.04834812539197865 Centerline is valid? [True, True] Translation: X:470.96, Y:-62.66, Z:-30.95 [[ 9.98343404e-01 3.90061268e-02 4.22962034e-02 4.70959662e+02] [-3.88314105e-02 9.99233541e-01 -4.94483395e-03 -6.26558065e+01] [-4.24566639e-02 3.29422113e-03 9.99092878e-01 -3.09514460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.190714057 meters 0.047004477520760514 Centerline is valid? [True, True] Translation: X:470.99, Y:-62.66, Z:-30.95 [[ 9.98405838e-01 3.77790342e-02 4.19348004e-02 4.70990688e+02] [-3.76062765e-02 9.99280614e-01 -4.90119399e-03 -6.26579489e+01] [-4.20897955e-02 3.31636900e-03 9.99108328e-01 -3.09527679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.220714057 meters 0.043946472679514376 Centerline is valid? [True, True] Translation: X:471.02, Y:-62.66, Z:-30.95 [[ 9.98458490e-01 3.61433655e-02 4.21224437e-02 4.71022171e+02] [-3.59675501e-02 9.99340825e-01 -4.92457106e-03 -6.26581140e+01] [-4.22726682e-02 3.40193868e-03 9.99100319e-01 -3.09538105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.250714057 meters 0.04515409770091559 Centerline is valid? [True, True] Translation: X:471.05, Y:-62.66, Z:-30.96 [[ 9.98466278e-01 3.61947292e-02 4.18931136e-02 4.71052499e+02] [-3.60209358e-02 9.99339041e-01 -4.89618115e-03 -6.26637228e+01] [-4.20426400e-02 3.37964262e-03 9.99110101e-01 -3.09553700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.280714057 meters 0.04536417777531794 Centerline is valid? [True, True] Translation: X:471.08, Y:-62.67, Z:-30.96 [[ 9.98462027e-01 3.67871267e-02 4.14763615e-02 4.71084876e+02] [-3.66168950e-02 9.99317574e-01 -4.85681540e-03 -6.26676198e+01] [-4.16267252e-02 3.33061018e-03 9.99127681e-01 -3.09576021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.310714057 meters 0.04751111256060079 Centerline is valid? [True, True] Translation: X:471.12, Y:-62.67, Z:-30.96 [[ 9.98402383e-01 3.76630333e-02 4.21209989e-02 4.71115356e+02] [-3.74877179e-02 9.99284855e-01 -4.94460976e-03 -6.26746754e+01] [-4.22771053e-02 3.35769004e-03 9.99100281e-01 -3.09597506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.340714057 meters 0.04670874289208396 Centerline is valid? [True, True] Translation: X:471.15, Y:-62.68, Z:-30.96 [[ 9.98325561e-01 3.90180198e-02 4.27044406e-02 4.71146769e+02] [-3.88387104e-02 9.99232879e-01 -5.02081268e-03 -6.26777517e+01] [-4.28675833e-02 3.35382023e-03 9.99075133e-01 -3.09605752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.370714057 meters 0.047068139467759576 Centerline is valid? [True, True] Translation: X:471.18, Y:-62.68, Z:-30.96 [[ 9.98297220e-01 3.96214569e-02 4.28112308e-02 4.71177761e+02] [-3.94417352e-02 9.99209187e-01 -5.03487506e-03 -6.26823435e+01] [-4.29768642e-02 3.33775255e-03 9.99070492e-01 -3.09625743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.400714057 meters 0.04645597826163817 Centerline is valid? [True, True] Translation: X:471.21, Y:-62.69, Z:-30.96 [[ 9.98213838e-01 4.08419956e-02 4.36012108e-02 4.71208090e+02] [-4.06566426e-02 9.99160009e-01 -5.12979753e-03 -6.26854577e+01] [-4.37740973e-02 3.34795604e-03 9.99035845e-01 -3.09639946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.430714057 meters 0.04723064607632465 Centerline is valid? [True, True] Translation: X:471.24, Y:-62.69, Z:-30.97 [[ 9.98208142e-01 4.12015033e-02 4.33928752e-02 4.71237734e+02] [-4.10182670e-02 9.99145355e-01 -5.10504506e-03 -6.26903312e+01] [-4.35661253e-02 3.31599700e-03 9.99045042e-01 -3.09658657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.460714057 meters 0.04767320800024271 Centerline is valid? [True, True] Translation: X:471.27, Y:-62.69, Z:-30.97 [[ 9.98231011e-01 4.15313743e-02 4.25440096e-02 4.71267823e+02] [-4.13554991e-02 9.99131954e-01 -5.00614516e-03 -6.26948391e+01] [-4.27149916e-02 3.23786060e-03 9.99082052e-01 -3.09687293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.490714057 meters 0.04496056677981722 Centerline is valid? [True, True] Translation: X:471.30, Y:-62.69, Z:-30.97 [[ 9.98260288e-01 4.11731891e-02 4.22038729e-02 4.71298440e+02] [-4.09997989e-02 9.99146813e-01 -4.96612134e-03 -6.26948276e+01] [-4.23723361e-02 3.22713141e-03 9.99096677e-01 -3.09702975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.520714057 meters 0.042181073684953475 Centerline is valid? [True, True] Translation: X:471.33, Y:-62.70, Z:-30.97 [[ 9.98310847e-01 4.05258580e-02 4.16306032e-02 4.71329192e+02] [-4.03565907e-02 9.99173333e-01 -4.89866481e-03 -6.26958624e+01] [-4.17947111e-02 3.21032101e-03 9.99121062e-01 -3.09721070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.550714057 meters 0.04175878588328203 Centerline is valid? [True, True] Translation: X:471.36, Y:-62.70, Z:-30.97 [[ 9.98320015e-01 4.00641929e-02 4.18570068e-02 4.71359168e+02] [-3.98926748e-02 9.99191831e-01 -4.92530568e-03 -6.26986871e+01] [-4.20205077e-02 3.24724328e-03 9.99111471e-01 -3.09739885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.580714057 meters 0.04077970604592235 Centerline is valid? [True, True] Translation: X:471.39, Y:-62.70, Z:-30.97 [[ 9.98358154e-01 3.88319906e-02 4.21078715e-02 4.71389959e+02] [-3.86573200e-02 9.99240242e-01 -4.95482487e-03 -6.27012408e+01] [-4.22682854e-02 3.31891235e-03 9.99100784e-01 -3.09745991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.610714057 meters 0.049545636103356085 Centerline is valid? [True, True] Translation: X:471.42, Y:-62.72, Z:-30.98 [[ 9.98377796e-01 3.82127037e-02 4.22085988e-02 4.71419117e+02] [-3.80367991e-02 9.99264014e-01 -4.96306595e-03 -6.27178427e+01] [-4.23671861e-02 3.34953485e-03 9.99096493e-01 -3.09790239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.640714057 meters 0.04379684199072022 Centerline is valid? [True, True] Translation: X:471.45, Y:-62.71, Z:-30.98 [[ 9.98444345e-01 3.63544456e-02 4.22758030e-02 4.71451310e+02] [-3.61757697e-02 9.99333014e-01 -4.98405735e-03 -6.27142541e+01] [-4.24287983e-02 3.44694416e-03 9.99093547e-01 -3.09786183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.670714057 meters 0.04211290057171301 Centerline is valid? [True, True] Translation: X:471.48, Y:-62.72, Z:-30.98 [[ 9.98448651e-01 3.57875790e-02 4.26560698e-02 4.71483968e+02] [-3.56052317e-02 9.99353288e-01 -5.02716690e-03 -6.27159545e+01] [-4.28083938e-02 3.50058876e-03 9.99077168e-01 -3.09796697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.700714057 meters 0.04596320304330021 Centerline is valid? [True, True] Translation: X:471.51, Y:-62.73, Z:-30.98 [[ 9.98432132e-01 3.46821116e-02 4.39366554e-02 4.71514128e+02] [-3.44870480e-02 9.99391668e-01 -5.19011971e-03 -6.27266798e+01] [-4.40899316e-02 3.66673674e-03 9.99020837e-01 -3.09815773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.730714057 meters 0.0463422259474193 Centerline is valid? [True, True] Translation: X:471.55, Y:-62.73, Z:-30.98 [[ 9.98372410e-01 3.49144172e-02 4.50944973e-02 4.71546020e+02] [-3.47086688e-02 9.99383218e-01 -5.33779703e-03 -6.27325238e+01] [-4.52530499e-02 3.76393932e-03 9.98968465e-01 -3.09829108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.76071405700003 meters 0.047087080824579415 Centerline is valid? [True, True] Translation: X:471.58, Y:-62.74, Z:-30.98 [[ 9.98328934e-01 3.52829101e-02 4.57652264e-02 4.71577782e+02] [-3.50708407e-02 9.99370084e-01 -5.42879005e-03 -6.27381562e+01] [-4.59279417e-02 3.81469321e-03 9.98937472e-01 -3.09846734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.790714057 meters 0.04542396565308675 Centerline is valid? [True, True] Translation: X:471.61, Y:-62.74, Z:-30.99 [[ 9.98286405e-01 3.61604025e-02 4.60073853e-02 4.71609669e+02] [-3.59464784e-02 9.99338752e-01 -5.46892322e-03 -6.27409817e+01] [-4.61747215e-02 3.80574822e-03 9.98926129e-01 -3.09866461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.820714057 meters 0.04698147970048323 Centerline is valid? [True, True] Translation: X:471.64, Y:-62.75, Z:-30.99 [[ 9.98271512e-01 3.77385493e-02 4.50531984e-02 4.71639126e+02] [-3.75344320e-02 9.99280915e-01 -5.36827322e-03 -6.27484211e+01] [-4.52233922e-02 3.66794801e-03 9.98970165e-01 -3.09897032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.850714057 meters 0.0477217967954095 Centerline is valid? [True, True] Translation: X:471.67, Y:-62.75, Z:-30.99 [[ 9.98256648e-01 3.89472949e-02 4.43483234e-02 4.71669917e+02] [-3.87505671e-02 9.99234926e-01 -5.28737478e-03 -6.27538633e+01] [-4.45203226e-02 3.55963434e-03 9.99002137e-01 -3.09927570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.880714057 meters 0.047779407040907725 Centerline is valid? [True, True] Translation: X:471.70, Y:-62.76, Z:-31.00 [[ 9.98250035e-01 4.04035656e-02 4.31789302e-02 4.71700318e+02] [-4.02179120e-02 9.99177608e-01 -5.16006284e-03 -6.27593351e+01] [-4.33519051e-02 3.41446650e-03 9.99054029e-01 -3.09964389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.910714057 meters 0.043594867977714495 Centerline is valid? [True, True] Translation: X:471.73, Y:-62.76, Z:-31.00 [[ 9.98220159e-01 4.10545481e-02 4.32554984e-02 4.71732296e+02] [-4.08687775e-02 9.99151143e-01 -5.17069634e-03 -6.27582314e+01] [-4.34310613e-02 3.39369398e-03 9.99050662e-01 -3.09977417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.940714057 meters 0.048154955105833855 Centerline is valid? [True, True] Translation: X:471.76, Y:-62.77, Z:-31.00 [[ 9.98220556e-01 4.19969253e-02 4.23317814e-02 4.71762372e+02] [-4.18199161e-02 9.99112358e-01 -5.05877845e-03 -6.27708434e+01] [-4.25066590e-02 3.27946509e-03 9.99090801e-01 -3.10024250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.970714057 meters 0.041256762455601066 Centerline is valid? [True, True] Translation: X:471.79, Y:-62.77, Z:-31.00 [[ 9.98215662e-01 4.25861660e-02 4.18558240e-02 4.71793782e+02] [-4.24130773e-02 9.99087574e-01 -5.01510185e-03 -6.27652828e+01] [-4.20312076e-02 3.23091891e-03 9.99111074e-01 -3.10029905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.000714057 meters 0.04108488477482488 Centerline is valid? [True, True] Translation: X:471.82, Y:-62.77, Z:-31.01 [[ 9.98218237e-01 4.35171325e-02 4.08241371e-02 4.71823538e+02] [-4.33532513e-02 9.99047831e-01 -4.89148668e-03 -6.27693497e+01] [-4.09981291e-02 3.11291213e-03 9.99154374e-01 -3.10054345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.030714057 meters 0.049110912452911756 Centerline is valid? [True, True] Translation: X:471.85, Y:-62.78, Z:-31.01 [[ 9.98213957e-01 4.40302615e-02 4.03761287e-02 4.71851416e+02] [-4.38703648e-02 9.99025517e-01 -4.83811306e-03 -6.27849314e+01] [-4.05498062e-02 3.05815649e-03 9.99172838e-01 -3.10099549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.060714057 meters 0.04206510520437916 Centerline is valid? [True, True] Translation: X:471.88, Y:-62.78, Z:-31.01 [[ 9.98185669e-01 4.42301811e-02 4.08541393e-02 4.71882150e+02] [-4.40666581e-02 9.99016601e-01 -4.89494093e-03 -6.27790468e+01] [-4.10304675e-02 3.08575450e-03 9.99153131e-01 -3.10093112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.090714057 meters 0.041801829915567294 Centerline is valid? [True, True] Translation: X:471.91, Y:-62.78, Z:-31.01 [[ 9.98139478e-01 4.46120125e-02 4.15614025e-02 4.71911309e+02] [-4.44431667e-02 9.98999511e-01 -4.97816428e-03 -6.27824388e+01] [-4.17419067e-02 3.12178197e-03 9.99123550e-01 -3.10105843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.120714057 meters 0.041940644042510675 Centerline is valid? [True, True] Translation: X:471.94, Y:-62.79, Z:-31.01 [[ 9.98016066e-01 4.62327755e-02 4.27371315e-02 4.71941039e+02] [-4.60558020e-02 9.98925763e-01 -5.11686710e-03 -6.27870475e+01] [-4.29277886e-02 3.13842271e-03 9.99073248e-01 -3.10110002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.150714057 meters 0.042601458188691314 Centerline is valid? [True, True] Translation: X:471.97, Y:-62.79, Z:-31.01 [[ 9.97961728e-01 4.68675739e-02 4.33107289e-02 4.71969335e+02] [-4.66863919e-02 9.98896134e-01 -5.18592088e-03 -6.27911172e+01] [-4.35059712e-02 3.15332890e-03 9.99048191e-01 -3.10123919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.180714057 meters 0.042648346038170144 Centerline is valid? [True, True] Translation: X:472.00, Y:-62.79, Z:-31.01 [[ 9.97931260e-01 4.68769694e-02 4.39971674e-02 4.71998489e+02] [-4.66900510e-02 9.98895539e-01 -5.26702418e-03 -6.27942757e+01] [-4.41954763e-02 3.20189808e-03 9.99017771e-01 -3.10139626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.210714057 meters 0.04401725393877588 Centerline is valid? [True, True] Translation: X:472.03, Y:-62.80, Z:-31.02 [[ 9.97955082e-01 4.61236259e-02 4.42523042e-02 4.72027294e+02] [-4.59338750e-02 9.98930445e-01 -5.29577302e-03 -6.28007070e+01] [-4.44492341e-02 3.25226378e-03 9.99006351e-01 -3.10156979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.240714057 meters 0.04469972546234067 Centerline is valid? [True, True] Translation: X:472.06, Y:-62.81, Z:-31.02 [[ 9.97981919e-01 4.54093243e-02 4.43856147e-02 4.72056790e+02] [-4.52177597e-02 9.98963036e-01 -5.31095194e-03 -6.28054876e+01] [-4.45807552e-02 3.29321595e-03 9.99000356e-01 -3.10176900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.270714057 meters 0.04260585128584516 Centerline is valid? [True, True] Translation: X:472.09, Y:-62.81, Z:-31.02 [[ 9.98100586e-01 4.37544657e-02 4.33678061e-02 4.72087210e+02] [-4.35700827e-02 9.99036901e-01 -5.18819703e-03 -6.28072193e+01] [-4.35530454e-02 3.28880359e-03 9.99045703e-01 -3.10201174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.300714057 meters 0.04328164025714416 Centerline is valid? [True, True] Translation: X:472.12, Y:-62.81, Z:-31.02 [[ 9.98149544e-01 4.28630256e-02 4.31306103e-02 4.72117401e+02] [-4.26798287e-02 9.99075477e-01 -5.15982071e-03 -6.28125822e+01] [-4.33119006e-02 3.30946563e-03 9.99056118e-01 -3.10226479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.330714057 meters 0.043908410266245715 Centerline is valid? [True, True] Translation: X:472.15, Y:-62.82, Z:-31.03 [[ 9.98236090e-01 4.16226776e-02 4.23351176e-02 4.72148288e+02] [-4.14450959e-02 9.99127949e-01 -5.06411748e-03 -6.28177060e+01] [-4.25089813e-02 3.30060182e-03 9.99090633e-01 -3.10250826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.360714057 meters 0.04501514208700977 Centerline is valid? [True, True] Translation: X:472.18, Y:-62.82, Z:-31.03 [[ 9.98260304e-01 4.14381557e-02 4.19433551e-02 4.72178387e+02] [-4.12636125e-02 9.99135688e-01 -5.01900302e-03 -6.28228253e+01] [-4.21150812e-02 3.27953713e-03 9.99107384e-01 -3.10268400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.390714057 meters 0.04478424161923074 Centerline is valid? [True, True] Translation: X:472.21, Y:-62.83, Z:-31.03 [[ 9.98261778e-01 4.14687049e-02 4.18780314e-02 4.72209829e+02] [-4.12947125e-02 9.99134440e-01 -5.01165252e-03 -6.28263869e+01] [-4.20496102e-02 3.27359989e-03 9.99110161e-01 -3.10284618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.420714057 meters 0.046123089323286966 Centerline is valid? [True, True] Translation: X:472.24, Y:-62.83, Z:-31.03 [[ 9.98221758e-01 4.20379096e-02 4.22627107e-02 4.72239348e+02] [-4.18611856e-02 9.99110632e-01 -5.05826953e-03 -6.28314260e+01] [-4.24377626e-02 3.28010753e-03 9.99093728e-01 -3.10306177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.450714057 meters 0.04334656930341574 Centerline is valid? [True, True] Translation: X:472.27, Y:-62.83, Z:-31.03 [[ 9.98148236e-01 4.29448611e-02 4.30794464e-02 4.72270011e+02] [-4.27618312e-02 9.99071961e-01 -5.16163280e-03 -6.28309000e+01] [-4.32611326e-02 3.30991866e-03 9.99058316e-01 -3.10313461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.480714057 meters 0.04343188730495719 Centerline is valid? [True, True] Translation: X:472.30, Y:-62.83, Z:-31.03 [[ 9.98025307e-01 4.51999960e-02 4.36170459e-02 4.72299546e+02] [-4.50144949e-02 9.98972663e-01 -5.22628955e-03 -6.28325836e+01] [-4.38084647e-02 3.25256994e-03 9.99034654e-01 -3.10327107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.51071405700003 meters 0.03881948067695959 Centerline is valid? [True, True] Translation: X:472.33, Y:-62.83, Z:-31.03 [[ 9.97971463e-01 4.67644525e-02 4.31977364e-02 4.72330475e+02] [-4.65839928e-02 9.98900970e-01 -5.17530593e-03 -6.28273974e+01] [-4.33922811e-02 3.15248459e-03 9.99053138e-01 -3.10329324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.540714057 meters 0.03747857817507971 Centerline is valid? [True, True] Translation: X:472.36, Y:-62.82, Z:-31.03 [[ 9.97824933e-01 4.97185326e-02 4.32836142e-02 4.72360842e+02] [-4.95401520e-02 9.98758675e-01 -5.18480112e-03 -6.28247472e+01] [-4.34876659e-02 3.02924701e-03 9.99049371e-01 -3.10343029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.570714057 meters 0.03718143935666301 Centerline is valid? [True, True] Translation: X:472.39, Y:-62.83, Z:-31.04 [[ 9.97727584e-01 5.13273619e-02 4.36482612e-02 4.72390858e+02] [-5.11475276e-02 9.98677426e-01 -5.22766566e-03 -6.28265781e+01] [-4.38588555e-02 2.98328558e-03 9.99033283e-01 -3.10363909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.600714057 meters 0.037016655575265026 Centerline is valid? [True, True] Translation: X:472.42, Y:-62.83, Z:-31.04 [[ 9.97591110e-01 5.41972524e-02 4.32970658e-02 4.72420208e+02] [-5.40230152e-02 9.98526228e-01 -5.18507076e-03 -6.28271551e+01] [-4.35142724e-02 2.83354244e-03 9.99048787e-01 -3.10385102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.630714057 meters 0.036970101914986134 Centerline is valid? [True, True] Translation: X:472.45, Y:-62.83, Z:-31.04 [[ 9.97568871e-01 5.51652943e-02 4.25809550e-02 4.72448493e+02] [-5.49976976e-02 9.98473465e-01 -5.09832150e-03 -6.28295570e+01] [-4.27972041e-02 2.74407233e-03 9.99080012e-01 -3.10410161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.660714057 meters 0.037042492006102816 Centerline is valid? [True, True] Translation: X:472.48, Y:-62.83, Z:-31.04 [[ 9.97520789e-01 5.62609497e-02 4.22726888e-02 4.72477545e+02] [-5.60968927e-02 9.98412517e-01 -5.05810531e-03 -6.28321807e+01] [-4.24901554e-02 2.67419872e-03 9.99093307e-01 -3.10435296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.690714057 meters 0.037356239881391425 Centerline is valid? [True, True] Translation: X:472.51, Y:-62.83, Z:-31.05 [[ 9.97523507e-01 5.72956595e-02 4.07928924e-02 4.72505289e+02] [-5.71438185e-02 9.98354032e-01 -4.87953672e-03 -6.28331510e+01] [-4.10053249e-02 2.53639094e-03 9.99155709e-01 -3.10460941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.720714057 meters 0.03705914223777992 Centerline is valid? [True, True] Translation: X:472.53, Y:-62.84, Z:-31.05 [[ 9.97484887e-01 5.82219952e-02 4.04240020e-02 4.72533849e+02] [-5.80738049e-02 9.98300601e-01 -4.83153867e-03 -6.28352154e+01] [-4.06366073e-02 2.47181120e-03 9.99170934e-01 -3.10477201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.750714057 meters 0.03729137655122604 Centerline is valid? [True, True] Translation: X:472.56, Y:-62.84, Z:-31.05 [[ 9.97379866e-01 6.03828943e-02 3.98410519e-02 4.72562633e+02] [-6.02408032e-02 9.98172532e-01 -4.75846389e-03 -6.28375623e+01] [-4.00555734e-02 2.34593911e-03 9.99194700e-01 -3.10491792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.780714057 meters 0.03709187659777753 Centerline is valid? [True, True] Translation: X:472.59, Y:-62.84, Z:-31.05 [[ 9.97267041e-01 6.19115406e-02 4.03163783e-02 4.72591339e+02] [-6.17673154e-02 9.98078965e-01 -4.81438503e-03 -6.28406207e+01] [-4.05369951e-02 2.31099306e-03 9.99175366e-01 -3.10507456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.810714057 meters 0.035946891541610654 Centerline is valid? [True, True] Translation: X:472.62, Y:-62.84, Z:-31.05 [[ 9.96949979e-01 6.64023841e-02 4.10056522e-02 4.72620892e+02] [-6.62571197e-02 9.97790586e-01 -4.89297578e-03 -6.28405884e+01] [-4.12399590e-02 2.16113570e-03 9.99146934e-01 -3.10507455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.840714057 meters 0.03535388124525656 Centerline is valid? [True, True] Translation: X:472.65, Y:-62.84, Z:-31.05 [[ 9.96759912e-01 6.91286888e-02 4.11205798e-02 4.72650796e+02] [-6.89849598e-02 9.97605638e-01 -4.90574922e-03 -6.28420021e+01] [-4.13612503e-02 2.05315262e-03 9.99142148e-01 -3.10514636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.870714057 meters 0.03535388124525656 Centerline is valid? [True, True] Translation: X:472.68, Y:-62.85, Z:-31.05 [[ 9.96766860e-01 6.90284871e-02 4.11204989e-02 4.72678060e+02] [-6.88846451e-02 9.97612566e-01 -4.90642839e-03 -6.28451562e+01] [-4.13610098e-02 2.05799425e-03 9.99142148e-01 -3.10530545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.900714057 meters 0.03440123111603984 Centerline is valid? [True, True] Translation: X:472.71, Y:-62.85, Z:-31.05 [[ 9.96544559e-01 7.17315492e-02 4.18751319e-02 4.72708168e+02] [-7.15849956e-02 9.97422017e-01 -4.99075849e-03 -6.28469064e+01] [-4.21251734e-02 1.97588209e-03 9.99110387e-01 -3.10536743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.930714057 meters 0.03286238320017431 Centerline is valid? [True, True] Translation: X:472.74, Y:-62.85, Z:-31.05 [[ 9.96078127e-01 7.76345000e-02 4.24411195e-02 4.72737854e+02] [-7.74893276e-02 9.96980354e-01 -5.05752437e-03 -6.28474067e+01] [-4.27056007e-02 1.74895560e-03 9.99086169e-01 -3.10543793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.960714057 meters 0.030864791585087016 Centerline is valid? [True, True] Translation: X:472.77, Y:-62.85, Z:-31.06 [[ 9.95657699e-01 8.32560983e-02 4.16433395e-02 4.72767003e+02] [-8.31212658e-02 9.96527087e-01 -4.96186966e-03 -6.28473137e+01] [-4.19118217e-02 1.47887664e-03 9.99120219e-01 -3.10561519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.990714057 meters 0.03036874150304577 Centerline is valid? [True, True] Translation: X:472.80, Y:-62.85, Z:-31.06 [[ 9.95490221e-01 8.54230235e-02 4.12568377e-02 4.72795230e+02] [-8.52925762e-02 9.96343826e-01 -4.91497893e-03 -6.28497203e+01] [-4.15258478e-02 1.37391149e-03 9.99136485e-01 -3.10578139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.020714057 meters 0.029642760950678162 Centerline is valid? [True, True] Translation: X:472.82, Y:-62.85, Z:-31.06 [[ 9.95218011e-01 8.85317500e-02 4.12703261e-02 4.72823572e+02] [-8.84039988e-02 9.96072581e-01 -4.91386607e-03 -6.28519153e+01] [-4.15432734e-02 1.24190616e-03 9.99135934e-01 -3.10591839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.050714057 meters 0.02950496725311632 Centerline is valid? [True, True] Translation: X:472.85, Y:-62.86, Z:-31.06 [[ 9.95131335e-01 8.92817392e-02 4.17420276e-02 4.72851046e+02] [-8.91518141e-02 9.96005662e-01 -4.96751051e-03 -6.28562991e+01] [-4.20188038e-02 1.22194788e-03 9.99116073e-01 -3.10605366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.080714057 meters 0.029322900396504793 Centerline is valid? [True, True] Translation: X:472.88, Y:-62.86, Z:-31.06 [[ 9.95073056e-01 8.97652493e-02 4.20929103e-02 4.72879125e+02] [-8.96337172e-02 9.95962219e-01 -5.00559275e-03 -6.28606371e+01] [-4.23722766e-02 1.20798646e-03 9.99101162e-01 -3.10621187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.110714057 meters 0.02572433728512729 Centerline is valid? [True, True] Translation: X:472.91, Y:-62.86, Z:-31.06 [[ 9.95004770e-01 9.01758462e-02 4.28231726e-02 4.72908372e+02] [-9.00400877e-02 9.95925123e-01 -5.09242754e-03 -6.28601474e+01] [-4.31078874e-02 1.21118748e-03 9.99069689e-01 -3.10583412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.140714057 meters 0.026053524503490737 Centerline is valid? [True, True] Translation: X:472.94, Y:-62.87, Z:-31.06 [[ 9.94938833e-01 9.05459952e-02 4.35676529e-02 4.72935521e+02] [-9.04064288e-02 9.95891549e-01 -5.16724346e-03 -6.28656306e+01] [-4.38565306e-02 1.20229527e-03 9.99037116e-01 -3.10598445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.170714057 meters 0.025807554747488148 Centerline is valid? [True, True] Translation: X:472.96, Y:-62.87, Z:-31.06 [[ 9.94741278e-01 9.19134647e-02 4.51852314e-02 4.72962711e+02] [-9.17649157e-02 9.95766298e-01 -5.35531107e-03 -6.28732363e+01] [-4.54861558e-02 1.18073003e-03 9.98964271e-01 -3.10598612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.200714057 meters 0.025600828277812883 Centerline is valid? [True, True] Translation: X:472.99, Y:-62.88, Z:-31.06 [[ 9.94658755e-01 9.26302260e-02 4.55368194e-02 4.72990669e+02] [-9.24803173e-02 9.95699911e-01 -5.39235092e-03 -6.28781838e+01] [-4.58405017e-02 1.15228955e-03 9.98948107e-01 -3.10602003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.230714057 meters 0.0252597479630677 Centerline is valid? [True, True] Translation: X:473.02, Y:-62.89, Z:-31.06 [[ 9.94565877e-01 9.36258670e-02 4.55292560e-02 4.73018592e+02] [-9.34775754e-02 9.95606849e-01 -5.38000639e-03 -6.28870476e+01] [-4.58329469e-02 1.09480631e-03 9.98948518e-01 -3.10621418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.26071405700003 meters 0.02483980934143606 Centerline is valid? [True, True] Translation: X:473.05, Y:-62.89, Z:-31.06 [[ 9.94531778e-01 9.41048234e-02 4.52860250e-02 4.73047267e+02] [-9.39591278e-02 9.95561735e-01 -5.33989853e-03 -6.28930991e+01] [-4.55875439e-02 1.05566337e-03 9.98959790e-01 -3.10638949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.290714057 meters 0.0248007379873865 Centerline is valid? [True, True] Translation: X:473.07, Y:-62.90, Z:-31.07 [[ 9.94576963e-01 9.44178407e-02 4.36111972e-02 4.73074383e+02] [-9.42834459e-02 9.95532162e-01 -5.13294195e-03 -6.29034599e+01] [-4.39009907e-02 9.93291863e-04 9.99035393e-01 -3.10668005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.320714057 meters 0.024342167963948818 Centerline is valid? [True, True] Translation: X:473.10, Y:-62.91, Z:-31.07 [[ 9.94604696e-01 9.43426293e-02 4.31389341e-02 4.73101229e+02] [-9.42115003e-02 9.95539309e-01 -5.06724240e-03 -6.29101694e+01] [-4.34245616e-02 9.75719389e-04 9.99056232e-01 -3.10684522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.350714057 meters 0.02440122817622654 Centerline is valid? [True, True] Translation: X:473.13, Y:-62.92, Z:-31.07 [[ 9.94679300e-01 9.38778016e-02 4.24269813e-02 4.73128903e+02] [-9.37510771e-02 9.95583258e-01 -4.97117158e-03 -6.29168481e+01] [-4.27062749e-02 9.67146271e-04 9.99087203e-01 -3.10700210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.380714057 meters 0.024532108557292286 Centerline is valid? [True, True] Translation: X:473.16, Y:-62.93, Z:-31.07 [[ 9.94929213e-01 9.18755130e-02 4.09237275e-02 4.73156129e+02] [-9.17563274e-02 9.95769993e-01 -4.78520198e-03 -6.29283134e+01] [-4.11902627e-02 1.00592630e-03 9.99150815e-01 -3.10715177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.410714057 meters 0.025468411710824618 Centerline is valid? [True, True] Translation: X:473.18, Y:-62.94, Z:-31.07 [[ 9.95385757e-01 8.78835782e-02 3.85184618e-02 4.73183355e+02] [-8.77755070e-02 9.96130157e-01 -4.49117298e-03 -6.29424140e+01] [-3.87641018e-02 1.08947210e-03 9.99247796e-01 -3.10749264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.440714057 meters 0.02611389064307981 Centerline is valid? [True, True] Translation: X:473.21, Y:-62.95, Z:-31.08 [[ 9.95666474e-01 8.50466750e-02 3.76209580e-02 4.73211817e+02] [-8.49416354e-02 9.96376281e-01 -4.38455780e-03 -6.29507707e+01] [-3.78575223e-02 1.16997151e-03 9.99282462e-01 -3.10768263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.470714057 meters 0.02665527185200413 Centerline is valid? [True, True] Translation: X:473.24, Y:-62.96, Z:-31.08 [[ 9.95885545e-01 8.25815183e-02 3.73132009e-02 4.73240334e+02] [-8.24765513e-02 9.96583528e-01 -4.34633422e-03 -6.29597037e+01] [-3.75446482e-02 1.25098729e-03 9.99294168e-01 -3.10786668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.500714057 meters 0.028013512020268368 Centerline is valid? [True, True] Translation: X:473.27, Y:-62.97, Z:-31.08 [[ 9.96311370e-01 7.75657999e-02 3.67042317e-02 4.73269468e+02] [-7.74609078e-02 9.96986232e-01 -4.27338493e-03 -6.29724491e+01] [-3.69250822e-02 1.41447888e-03 9.99317036e-01 -3.10798045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.530714057 meters 0.02878356864974601 Centerline is valid? [True, True] Translation: X:473.30, Y:-62.98, Z:-31.08 [[ 9.96517353e-01 7.49732553e-02 3.64989993e-02 4.73298665e+02] [-7.48677702e-02 9.97184412e-01 -4.25023689e-03 -6.29798866e+01] [-3.67148873e-02 1.50283612e-03 9.99324651e-01 -3.10810008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.560714057 meters 0.030974363161005013 Centerline is valid? [True, True] Translation: X:473.33, Y:-62.99, Z:-31.08 [[ 9.96837970e-01 7.04975093e-02 3.66628196e-02 4.73326523e+02] [-7.03881020e-02 9.97510551e-01 -4.26799215e-03 -6.29925139e+01] [-3.68724322e-02 1.67387035e-03 9.99318579e-01 -3.10826479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.590714057 meters 0.03196349841923713 Centerline is valid? [True, True] Translation: X:473.36, Y:-63.00, Z:-31.08 [[ 9.97039038e-01 6.79686416e-02 3.59641557e-02 4.73355308e+02] [-6.78617702e-02 9.97685954e-01 -4.18541498e-03 -6.30001422e+01] [-3.61654099e-02 1.73243086e-03 9.99344316e-01 -3.10848296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.620714057 meters 0.03418095467642726 Centerline is valid? [True, True] Translation: X:473.38, Y:-63.01, Z:-31.09 [[ 9.97338181e-01 6.36164873e-02 3.56299645e-02 4.73384255e+02] [-6.35088813e-02 9.97972666e-01 -4.14491626e-03 -6.30111616e+01] [-3.58214157e-02 1.87106406e-03 9.99356456e-01 -3.10864294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.650714057 meters 0.03541999603262945 Centerline is valid? [True, True] Translation: X:473.41, Y:-63.02, Z:-31.09 [[ 9.97413560e-01 6.19249185e-02 3.64896437e-02 4.73410904e+02] [-6.18108962e-02 9.98078848e-01 -4.24573249e-03 -6.30184572e+01] [-3.66824582e-02 1.97929358e-03 9.99325012e-01 -3.10876713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.680714057 meters 0.03617311562371589 Centerline is valid? [True, True] Translation: X:473.44, Y:-63.03, Z:-31.09 [[ 9.97535758e-01 6.01343767e-02 3.61423469e-02 4.73440071e+02] [-6.00214980e-02 9.98188244e-01 -4.20109406e-03 -6.30252814e+01] [-3.63294960e-02 2.02142374e-03 9.99337822e-01 -3.10889285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.710714057 meters 0.03434649463988426 Centerline is valid? [True, True] Translation: X:473.47, Y:-63.03, Z:-31.09 [[ 9.97600202e-01 5.87414193e-02 3.66508287e-02 4.73468892e+02] [-5.86244228e-02 9.98271021e-01 -4.25967643e-03 -6.30282363e+01] [-3.68376796e-02 2.10082039e-03 9.99319054e-01 -3.10878344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.740714057 meters 0.033336216332443776 Centerline is valid? [True, True] Translation: X:473.50, Y:-63.03, Z:-31.09 [[ 9.97609533e-01 5.85977158e-02 3.66268589e-02 4.73497248e+02] [-5.84808697e-02 9.98279464e-01 -4.25434343e-03 -6.30298361e+01] [-3.68131358e-02 2.10220301e-03 9.99319956e-01 -3.10882898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.770714057 meters 0.037534337715961597 Centerline is valid? [True, True] Translation: X:473.52, Y:-63.04, Z:-31.09 [[ 9.97519540e-01 6.00441234e-02 3.67351411e-02 4.73524144e+02] [-5.99276613e-02 9.98193614e-01 -4.26424017e-03 -6.30419469e+01] [-3.69248258e-02 2.05221180e-03 9.99315939e-01 -3.10926081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.800714057 meters 0.03327538746177307 Centerline is valid? [True, True] Translation: X:473.55, Y:-63.04, Z:-31.09 [[ 9.97476915e-01 6.08066808e-02 3.66381156e-02 4.73553391e+02] [-6.06914436e-02 9.98147526e-01 -4.25032933e-03 -6.30394305e+01] [-3.68286929e-02 2.01598526e-03 9.99319560e-01 -3.10917646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.830714057 meters 0.031162935933563153 Centerline is valid? [True, True] Translation: X:473.58, Y:-63.04, Z:-31.09 [[ 9.97350151e-01 6.29804380e-02 3.64162043e-02 4.73582944e+02] [-6.28681444e-02 9.98012913e-01 -4.22166615e-03 -6.30405412e+01] [-3.66097245e-02 1.92106019e-03 9.99327793e-01 -3.10924416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.860714057 meters 0.030416603493640424 Centerline is valid? [True, True] Translation: X:473.61, Y:-63.04, Z:-31.09 [[ 9.97261735e-01 6.45341415e-02 3.61161498e-02 4.73612209e+02] [-6.44247776e-02 9.97913791e-01 -4.18495217e-03 -6.30425884e+01] [-3.63108763e-02 1.84671774e-03 9.99338836e-01 -3.10939333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.890714057 meters 0.030214229493066062 Centerline is valid? [True, True] Translation: X:473.64, Y:-63.05, Z:-31.10 [[ 9.97164615e-01 6.63921849e-02 3.54232884e-02 4.73639736e+02] [-6.62881871e-02 9.97792081e-01 -4.10356548e-03 -6.30460174e+01] [-3.56175214e-02 1.74378472e-03 9.99363973e-01 -3.10959124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.920714057 meters 0.030032944811834307 Centerline is valid? [True, True] Translation: X:473.67, Y:-63.05, Z:-31.10 [[ 9.96992815e-01 6.94869113e-02 3.43059257e-02 4.73668300e+02] [-6.93913445e-02 9.97581616e-01 -3.96996560e-03 -6.30487953e+01] [-3.44988214e-02 1.57749288e-03 9.99403494e-01 -3.10984635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.950714057 meters 0.030032738121592358 Centerline is valid? [True, True] Translation: X:473.70, Y:-63.05, Z:-31.10 [[ 9.96780584e-01 7.24768875e-02 3.42865719e-02 4.73696178e+02] [-7.23832282e-02 9.97369006e-01 -3.96670573e-03 -6.30540265e+01] [-3.44838587e-02 1.47216249e-03 9.99404171e-01 -3.11007444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.980714057 meters 0.02987001184612103 Centerline is valid? [True, True] Translation: X:473.72, Y:-63.06, Z:-31.10 [[ 9.96691508e-01 7.36904516e-02 3.42892860e-02 4.73724623e+02] [-7.35975443e-02 9.97280139e-01 -3.96556413e-03 -6.30573152e+01] [-3.44882481e-02 1.42883684e-03 9.99404082e-01 -3.11023227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.01071405700003 meters 0.028178236257504242 Centerline is valid? [True, True] Translation: X:473.75, Y:-63.06, Z:-31.10 [[ 9.96542734e-01 7.54266623e-02 3.48338662e-02 4.73753690e+02] [-7.53319233e-02 9.97150386e-01 -4.02609968e-03 -6.30581672e+01] [-3.50382783e-02 1.38807824e-03 9.99385007e-01 -3.11023673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.040714057 meters 0.027142706128343675 Centerline is valid? [True, True] Translation: X:473.78, Y:-63.06, Z:-31.10 [[ 9.96266039e-01 7.88533555e-02 3.51586222e-02 4.73783324e+02] [-7.87590892e-02 9.96885410e-01 -4.06027864e-03 -6.30601773e+01] [-3.53692841e-02 1.27605666e-03 9.99373496e-01 -3.11036316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.070714057 meters 0.02697797213137781 Centerline is valid? [True, True] Translation: X:473.81, Y:-63.06, Z:-31.11 [[ 9.96034448e-01 8.11916226e-02 3.63771666e-02 4.73811396e+02] [-8.10922857e-02 9.96697747e-01 -4.20036362e-03 -6.30644406e+01] [-3.65980743e-02 1.23379928e-03 9.99329304e-01 -3.11051773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.100714057 meters 0.025737911092472435 Centerline is valid? [True, True] Translation: X:473.84, Y:-63.07, Z:-31.10 [[ 9.95676132e-01 8.47917150e-02 3.79394885e-02 4.73841361e+02] [-8.46864022e-02 9.96398040e-01 -4.37721310e-03 -6.30658182e+01] [-3.81739834e-02 1.14532782e-03 9.99270451e-01 -3.11043856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.130714057 meters 0.025198708647377704 Centerline is valid? [True, True] Translation: X:473.87, Y:-63.07, Z:-31.11 [[ 9.95505320e-01 8.65628277e-02 3.84192026e-02 4.73870509e+02] [-8.64561920e-02 9.96245797e-01 -4.43148924e-03 -6.30693043e+01] [-3.86585713e-02 1.08999316e-03 9.99251884e-01 -3.11058702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.160714057 meters 0.02426079634970439 Centerline is valid? [True, True] Translation: X:473.90, Y:-63.07, Z:-31.11 [[ 9.95212430e-01 8.93027344e-02 3.97144796e-02 4.73899660e+02] [-8.91910513e-02 9.96004012e-01 -4.57865321e-03 -6.30726882e+01] [-3.99646672e-02 1.01455641e-03 9.99200578e-01 -3.11060704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.190714057 meters 0.024722357530777124 Centerline is valid? [True, True] Translation: X:473.93, Y:-63.08, Z:-31.11 [[ 9.95140815e-01 8.96328518e-02 4.07518186e-02 4.73926672e+02] [-8.95156012e-02 9.95974347e-01 -4.69654439e-03 -6.30768671e+01] [-4.10087306e-02 1.02579946e-03 9.99158262e-01 -3.11080190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.220714057 meters 0.024569914028658844 Centerline is valid? [True, True] Translation: X:473.96, Y:-63.08, Z:-31.11 [[ 9.95098707e-01 8.98937037e-02 4.12029728e-02 4.73955268e+02] [-8.97742321e-02 9.95950841e-01 -4.74449921e-03 -6.30832510e+01] [-4.14626360e-02 1.02227979e-03 9.99139532e-01 -3.11102190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.250714057 meters 0.024783905627511073 Centerline is valid? [True, True] Translation: X:473.98, Y:-63.09, Z:-31.11 [[ 9.95165289e-01 8.93522056e-02 4.07704562e-02 4.73983688e+02] [-8.92348951e-02 9.95999558e-01 -4.69180709e-03 -6.30888797e+01] [-4.10265797e-02 1.03097618e-03 9.99157524e-01 -3.11126989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.280714057 meters 0.025047472459746232 Centerline is valid? [True, True] Translation: X:474.01, Y:-63.10, Z:-31.12 [[ 9.95380097e-01 8.68847048e-02 4.08596394e-02 4.74010947e+02] [-8.67648838e-02 9.96217729e-01 -4.70011157e-03 -6.30976199e+01] [-4.11134650e-02 1.13321565e-03 9.99153841e-01 -3.11161714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.310714057 meters 0.025481164216369225 Centerline is valid? [True, True] Translation: X:474.04, Y:-63.10, Z:-31.12 [[ 9.95523847e-01 8.51219118e-02 4.10673979e-02 4.74039165e+02] [-8.49996342e-02 9.96369814e-01 -4.71762483e-03 -6.31041019e+01] [-4.13198889e-02 1.20579422e-03 9.99145241e-01 -3.11183772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.340714057 meters 0.02531151700485006 Centerline is valid? [True, True] Translation: X:474.07, Y:-63.11, Z:-31.12 [[ 9.95620621e-01 8.37125510e-02 4.16147588e-02 4.74067460e+02] [-8.35858874e-02 9.96489124e-01 -4.77747745e-03 -6.31096009e+01] [-4.18685894e-02 1.27814852e-03 9.99122309e-01 -3.11197037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.370714057 meters 0.026630004485881032 Centerline is valid? [True, True] Translation: X:474.10, Y:-63.12, Z:-31.12 [[ 9.95925859e-01 8.01266891e-02 4.13690322e-02 4.74095106e+02] [-7.99985517e-02 9.96783680e-01 -4.74629593e-03 -6.31195872e+01] [-4.16162811e-02 1.41749619e-03 9.99132662e-01 -3.11220142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.400714057 meters 0.026998302310751635 Centerline is valid? [True, True] Translation: X:474.12, Y:-63.13, Z:-31.12 [[ 9.96032719e-01 7.83412704e-02 4.22074371e-02 4.74123254e+02] [-7.82064237e-02 9.96925442e-01 -4.83916663e-03 -6.31266455e+01] [-4.24567744e-02 1.51907559e-03 9.99097150e-01 -3.11243098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.430714057 meters 0.027590070381045332 Centerline is valid? [True, True] Translation: X:474.15, Y:-63.14, Z:-31.13 [[ 9.96290342e-01 7.53114182e-02 4.16382555e-02 4.74152267e+02] [-7.51776913e-02 9.97158743e-01 -4.77040453e-03 -6.31354589e+01] [-4.18792164e-02 1.62244004e-03 9.99121363e-01 -3.11268375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.460714057 meters 0.02737493362953759 Centerline is valid? [True, True] Translation: X:474.18, Y:-63.14, Z:-31.13 [[ 9.96393270e-01 7.41449119e-02 4.12672206e-02 4.74180469e+02] [-7.40125964e-02 9.97246103e-01 -4.72703309e-03 -6.31394109e+01] [-4.15040604e-02 1.65568981e-03 9.99136963e-01 -3.11287214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.490714057 meters 0.02858961427841625 Centerline is valid? [True, True] Translation: X:474.21, Y:-63.15, Z:-31.13 [[ 9.96494208e-01 7.26799849e-02 4.14356430e-02 4.74207613e+02] [-7.25454292e-02 9.97353828e-01 -4.74376788e-03 -6.31478754e+01] [-4.16707741e-02 1.72117071e-03 9.99129914e-01 -3.11316146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.520714057 meters 0.02867528098389525 Centerline is valid? [True, True] Translation: X:474.24, Y:-63.15, Z:-31.13 [[ 9.96522524e-01 7.20421973e-02 4.18662275e-02 4.74235691e+02] [-7.19044781e-02 9.97400030e-01 -4.78805293e-03 -6.31525606e+01] [-4.21023185e-02 1.76103335e-03 9.99111752e-01 -3.11331308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.550714057 meters 0.028989105620668046 Centerline is valid? [True, True] Translation: X:474.26, Y:-63.16, Z:-31.13 [[ 9.96547467e-01 7.14906153e-02 4.22165581e-02 4.74264260e+02] [-7.13502171e-02 9.97439655e-01 -4.82503869e-03 -6.31577539e+01] [-4.24534142e-02 1.79621950e-03 9.99096833e-01 -3.11343936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.580714057 meters 0.02878184967622036 Centerline is valid? [True, True] Translation: X:474.29, Y:-63.16, Z:-31.13 [[ 9.96583526e-01 6.96559638e-02 4.43770448e-02 4.74292989e+02] [-6.94991528e-02 9.97569134e-01 -5.06858263e-03 -6.31636077e+01] [-4.46222272e-02 1.96709893e-03 9.99001996e-01 -3.11346614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.610714057 meters 0.0300577645940374 Centerline is valid? [True, True] Translation: X:474.32, Y:-63.17, Z:-31.14 [[ 9.96715193e-01 6.68798827e-02 4.56717213e-02 4.74321519e+02] [-6.67110904e-02 9.97758722e-01 -5.21173687e-03 -6.31709931e+01] [-4.59179186e-02 2.14780699e-03 9.98942907e-01 -3.11364311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.640714057 meters 0.03078329444158751 Centerline is valid? [True, True] Translation: X:474.35, Y:-63.18, Z:-31.14 [[ 9.96827666e-01 6.50657257e-02 4.58372779e-02 4.74350852e+02] [-6.48936831e-02 9.97878462e-01 -5.23302661e-03 -6.31764844e+01] [-4.60805230e-02 2.24187592e-03 9.98935213e-01 -3.11385238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.670714057 meters 0.03373483987672174 Centerline is valid? [True, True] Translation: X:474.38, Y:-63.19, Z:-31.14 [[ 9.97020950e-01 6.12577500e-02 4.68691165e-02 4.74379526e+02] [-6.10738116e-02 9.98118926e-01 -5.34786976e-03 -6.31866676e+01] [-4.71085507e-02 2.46946259e-03 9.98886723e-01 -3.11411787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.700714057 meters 0.033883762164960626 Centerline is valid? [True, True] Translation: X:474.41, Y:-63.19, Z:-31.14 [[ 9.97118865e-01 5.91489150e-02 4.74907923e-02 4.74410139e+02] [-5.89574638e-02 9.98245764e-01 -5.42325207e-03 -6.31901779e+01] [-4.77282617e-02 2.60769028e-03 9.98856953e-01 -3.11428194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.730714057 meters 0.03554887054652659 Centerline is valid? [True, True] Translation: X:474.44, Y:-63.20, Z:-31.14 [[ 9.97254165e-01 5.60084003e-02 4.84478018e-02 4.74439227e+02] [-5.58054045e-02 9.98426330e-01 -5.53357400e-03 -6.31969468e+01] [-4.86814876e-02 2.81473054e-03 9.98810387e-01 -3.11441279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.76071405700003 meters 0.03422610280977084 Centerline is valid? [True, True] Translation: X:474.47, Y:-63.20, Z:-31.15 [[ 9.97313347e-01 5.47556373e-02 4.86611459e-02 4.74470971e+02] [-5.45494642e-02 9.98495613e-01 -5.55586855e-03 -6.31973684e+01] [-4.88921558e-02 2.88650243e-03 9.98799892e-01 -3.11455150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.790714057 meters 0.03422610280977084 Centerline is valid? [True, True] Translation: X:474.50, Y:-63.20, Z:-31.15 [[ 9.97297698e-01 5.50410387e-02 4.86599078e-02 4.74503346e+02] [-5.48346777e-02 9.98479930e-01 -5.56668928e-03 -6.32011437e+01] [-4.88923377e-02 2.88339604e-03 9.98799893e-01 -3.11474005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.820714057 meters 0.03427218361768506 Centerline is valid? [True, True] Translation: X:474.54, Y:-63.20, Z:-31.15 [[ 9.97305775e-01 5.46474562e-02 4.89371801e-02 4.74535158e+02] [-5.44375444e-02 9.98501401e-01 -5.61299705e-03 -6.32048771e+01] [-4.91705789e-02 2.93385446e-03 9.98786087e-01 -3.11488595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.850714057 meters 0.03641679773454448 Centerline is valid? [True, True] Translation: X:474.57, Y:-63.21, Z:-31.15 [[ 9.97355704e-01 5.29166618e-02 4.98139123e-02 4.74565301e+02] [-5.26962751e-02 9.98594158e-01 -5.72809384e-03 -6.32102146e+01] [-5.00469934e-02 3.08793944e-03 9.98742090e-01 -3.11506388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.880714057 meters 0.035606458590343185 Centerline is valid? [True, True] Translation: X:474.60, Y:-63.21, Z:-31.15 [[ 9.97316604e-01 5.23776224e-02 5.11485696e-02 4.74597430e+02] [-5.21445211e-02 9.98622226e-01 -5.88210330e-03 -6.32122318e+01] [-5.13861890e-02 3.19920163e-03 9.98673733e-01 -3.11520892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.910714057 meters 0.03712701537202546 Centerline is valid? [True, True] Translation: X:474.63, Y:-63.22, Z:-31.15 [[ 9.97418366e-01 5.02263381e-02 5.13217166e-02 4.74627015e+02] [-4.99880963e-02 9.98732292e-01 -5.91602448e-03 -6.32160305e+01] [-5.15537959e-02 3.33527656e-03 9.98664649e-01 -3.11539838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.940714057 meters 0.035814827461972336 Centerline is valid? [True, True] Translation: X:474.66, Y:-63.22, Z:-31.16 [[ 9.97441485e-01 4.95233804e-02 5.15550111e-02 4.74659401e+02] [-4.92818488e-02 9.98767210e-01 -5.94642510e-03 -6.32172797e+01] [-5.17859416e-02 3.39048482e-03 9.98652452e-01 -3.11560310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.970714057 meters 0.036008359939183394 Centerline is valid? [True, True] Translation: X:474.69, Y:-63.22, Z:-31.16 [[ 9.97520998e-01 4.81611696e-02 5.13065283e-02 4.74691589e+02] [-4.79194393e-02 9.98833589e-01 -5.93193584e-03 -6.32207181e+01] [-5.15323728e-02 3.45865049e-03 9.98665335e-01 -3.11583389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.000714057 meters 0.038169101340614534 Centerline is valid? [True, True] Translation: X:474.72, Y:-63.23, Z:-31.16 [[ 9.97706545e-01 4.47295306e-02 5.08027406e-02 4.74720850e+02] [-4.44878861e-02 9.98992631e-01 -5.87795744e-03 -6.32254080e+01] [-5.10144818e-02 3.60437007e-03 9.98691409e-01 -3.11610689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.030714057 meters 0.03949199064398391 Centerline is valid? [True, True] Translation: X:474.75, Y:-63.23, Z:-31.16 [[ 9.97790170e-01 4.27563254e-02 5.08593496e-02 4.74751178e+02] [-4.25116371e-02 9.99078647e-01 -5.88364049e-03 -6.32301106e+01] [-5.10640530e-02 3.70852443e-03 9.98688495e-01 -3.11640554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.060714057 meters 0.04317542692457847 Centerline is valid? [True, True] Translation: X:474.78, Y:-63.24, Z:-31.17 [[ 9.97992755e-01 3.80389734e-02 5.06309976e-02 4.74780804e+02] [-3.77903970e-02 9.99268516e-01 -5.85819327e-03 -6.32364325e+01] [-5.08168015e-02 3.93306894e-03 9.98700247e-01 -3.11665694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.090714057 meters 0.04563907746442766 Centerline is valid? [True, True] Translation: X:474.81, Y:-63.24, Z:-31.17 [[ 9.98119941e-01 3.40062756e-02 5.09917333e-02 4.74809707e+02] [-3.37488894e-02 9.99412927e-01 -5.90040624e-03 -6.32415880e+01] [-5.11624483e-02 4.16839876e-03 9.98681645e-01 -3.11678114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.120714057 meters 0.04445562225541744 Centerline is valid? [True, True] Translation: X:474.84, Y:-63.24, Z:-31.17 [[ 9.98157267e-01 3.17284240e-02 5.17240479e-02 4.74841322e+02] [-3.14605382e-02 9.99487074e-01 -5.98531856e-03 -6.32424733e+01] [-5.18874220e-02 4.34702284e-03 9.98643479e-01 -3.11688202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.150714057 meters 0.0459464732869075 Centerline is valid? [True, True] Translation: X:474.87, Y:-63.25, Z:-31.17 [[ 9.98174068e-01 3.05532869e-02 5.21059152e-02 4.74872902e+02] [-3.02797936e-02 9.99523271e-01 -6.03034093e-03 -6.32466243e+01] [-5.22653215e-02 4.44157358e-03 9.98623357e-01 -3.11699571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.180714057 meters 0.04989183407551324 Centerline is valid? [True, True] Translation: X:474.90, Y:-63.25, Z:-31.17 [[ 9.98241087e-01 2.86843994e-02 5.18838867e-02 4.74902115e+02] [-2.84100381e-02 9.99578238e-01 -6.01794100e-03 -6.32518818e+01] [-5.20346251e-02 4.53333277e-03 9.98634992e-01 -3.11719077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.210714057 meters 0.04535478751715689 Centerline is valid? [True, True] Translation: X:474.93, Y:-63.25, Z:-31.17 [[ 9.98241100e-01 2.84822667e-02 5.19948746e-02 4.74934626e+02] [-2.82065294e-02 9.99583932e-01 -6.02942540e-03 -6.32480549e+01] [-5.21449729e-02 4.55222528e-03 9.98629150e-01 -3.11734793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.240714057 meters 0.043629227948728456 Centerline is valid? [True, True] Translation: X:474.97, Y:-63.25, Z:-31.18 [[ 9.98205013e-01 2.88251320e-02 5.24963143e-02 4.74967569e+02] [-2.85438049e-02 9.99573924e-01 -6.10102201e-03 -6.32467810e+01] [-5.26498096e-02 4.59162620e-03 9.98602481e-01 -3.11750968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.270714057 meters 0.04390061680848079 Centerline is valid? [True, True] Translation: X:475.00, Y:-63.25, Z:-31.18 [[ 9.98160423e-01 2.92587986e-02 5.31007878e-02 4.74999689e+02] [-2.89708159e-02 9.99561122e-01 -6.18513763e-03 -6.32492783e+01] [-5.32584527e-02 4.63538644e-03 9.98570003e-01 -3.11768919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.300714057 meters 0.043638205582920704 Centerline is valid? [True, True] Translation: X:475.03, Y:-63.25, Z:-31.18 [[ 9.98069056e-01 3.18873082e-02 5.33043909e-02 4.75030943e+02] [-3.16000384e-02 9.99481218e-01 -6.22359855e-03 -6.32485544e+01] [-5.34751913e-02 4.52716033e-03 9.98558916e-01 -3.11781394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.330714057 meters 0.04079739543898338 Centerline is valid? [True, True] Translation: X:475.06, Y:-63.25, Z:-31.18 [[ 9.98037869e-01 3.33631730e-02 5.29840585e-02 4.75062856e+02] [-3.30813670e-02 9.99433511e-01 -6.18706990e-03 -6.32453195e+01] [-5.31604639e-02 4.42214497e-03 9.98576191e-01 -3.11790894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.360714057 meters 0.04378318662358473 Centerline is valid? [True, True] Translation: X:475.09, Y:-63.25, Z:-31.18 [[ 9.97917951e-01 3.66713180e-02 5.30563662e-02 4.75092043e+02] [-3.63932636e-02 9.99318327e-01 -6.19773123e-03 -6.32473551e+01] [-5.32474781e-02 4.25393293e-03 9.98572286e-01 -3.11804254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.390714057 meters 0.04342558671883531 Centerline is valid? [True, True] Translation: X:475.12, Y:-63.25, Z:-31.18 [[ 9.97835584e-01 3.84957380e-02 5.33125310e-02 4.75123244e+02] [-3.82176267e-02 9.99250040e-01 -6.22667570e-03 -6.32487456e+01] [-5.35122492e-02 4.17572017e-03 9.98558462e-01 -3.11824451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.420714057 meters 0.03855399170829989 Centerline is valid? [True, True] Translation: X:475.15, Y:-63.24, Z:-31.19 [[ 9.97705803e-01 4.18543180e-02 5.32104083e-02 4.75154856e+02] [-4.15819093e-02 9.99115757e-01 -6.21676128e-03 -6.32413338e+01] [-5.34235557e-02 3.98990843e-03 9.98563971e-01 -3.11851763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.450714057 meters 0.038781223452196804 Centerline is valid? [True, True] Translation: X:475.19, Y:-63.24, Z:-31.19 [[ 9.97651130e-01 4.35096656e-02 5.29068182e-02 4.75186515e+02] [-4.32426663e-02 9.99045475e-01 -6.18142707e-03 -6.32432127e+01] [-5.31252692e-02 3.87907582e-03 9.98580322e-01 -3.11874954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.480714057 meters 0.041080666817387965 Centerline is valid? [True, True] Translation: X:475.22, Y:-63.25, Z:-31.19 [[ 9.97607794e-01 4.52113460e-02 5.22936288e-02 4.75217086e+02] [-4.49526037e-02 9.98970411e-01 -6.11411061e-03 -6.32477850e+01] [-5.25162150e-02 3.74874962e-03 9.98613035e-01 -3.11897280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.51071405700003 meters 0.03748652166106159 Centerline is valid? [True, True] Translation: X:475.25, Y:-63.24, Z:-31.19 [[ 9.97497188e-01 4.78044248e-02 5.20969964e-02 4.75249259e+02] [-4.75510401e-02 9.98850225e-01 -6.09309007e-03 -6.32407246e+01] [-5.23283732e-02 3.60057384e-03 9.98623441e-01 -3.11905749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.540714057 meters 0.03710126568207485 Centerline is valid? [True, True] Translation: X:475.28, Y:-63.24, Z:-31.19 [[ 9.97391129e-01 4.97389393e-02 5.23160967e-02 4.75280095e+02] [-4.94860083e-02 9.98756068e-01 -6.11975606e-03 -6.32418012e+01] [-5.25554092e-02 3.51487562e-03 9.98611824e-01 -3.11918113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.570714057 meters 0.035022470424492094 Centerline is valid? [True, True] Translation: X:475.31, Y:-63.24, Z:-31.19 [[ 9.97206746e-01 5.30036119e-02 5.26243523e-02 4.75311580e+02] [-5.27521039e-02 9.98588652e-01 -6.15782420e-03 -6.32372750e+01] [-5.28764679e-02 3.36457853e-03 9.98595393e-01 -3.11928421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.600714057 meters 0.03478965975966352 Centerline is valid? [True, True] Translation: X:475.34, Y:-63.24, Z:-31.19 [[ 9.97104600e-01 5.48135533e-02 5.27057002e-02 4.75343650e+02] [-5.45637409e-02 9.98491238e-01 -6.16813010e-03 -6.32364944e+01] [-5.29642770e-02 3.27445072e-03 9.98591039e-01 -3.11946959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.630714057 meters 0.03459117754577094 Centerline is valid? [True, True] Translation: X:475.38, Y:-63.24, Z:-31.20 [[ 9.97070972e-01 5.56269948e-02 5.24891764e-02 4.75375310e+02] [-5.53802043e-02 9.98446425e-01 -6.14564611e-03 -6.32388103e+01] [-5.27494943e-02 3.22078403e-03 9.98602582e-01 -3.11968375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.660714057 meters 0.03554343560840338 Centerline is valid? [True, True] Translation: X:475.41, Y:-63.24, Z:-31.20 [[ 9.97056801e-01 5.63354913e-02 5.20004712e-02 4.75405577e+02] [-5.60941049e-02 9.98406907e-01 -6.09099987e-03 -6.32407868e+01] [-5.22607691e-02 3.15615296e-03 9.98628485e-01 -3.11992986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.690714057 meters 0.03539296279654542 Centerline is valid? [True, True] Translation: X:475.44, Y:-63.24, Z:-31.20 [[ 9.97069924e-01 5.62469945e-02 5.18444064e-02 4.75436228e+02] [-5.60066488e-02 9.98411894e-01 -6.07825016e-03 -6.32432186e+01] [-5.21039553e-02 3.15680896e-03 9.98636677e-01 -3.12014963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.720714057 meters 0.036192583574229636 Centerline is valid? [True, True] Translation: X:475.47, Y:-63.25, Z:-31.20 [[ 9.97099433e-01 5.58330430e-02 5.17241894e-02 4.75466111e+02] [-5.55932573e-02 9.98435083e-01 -6.06415589e-03 -6.32470831e+01] [-5.19818257e-02 3.17105023e-03 9.98642996e-01 -3.12032962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.750714057 meters 0.040303241653240694 Centerline is valid? [True, True] Translation: X:475.50, Y:-63.26, Z:-31.21 [[ 9.97205411e-01 5.36961506e-02 5.19431572e-02 4.75495337e+02] [-5.34514667e-02 9.98551882e-01 -6.08935532e-03 -6.32559113e+01] [-5.21949123e-02 3.29590013e-03 9.98631478e-01 -3.12059032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.780714057 meters 0.03890087496060153 Centerline is valid? [True, True] Translation: X:475.53, Y:-63.26, Z:-31.21 [[ 9.97285839e-01 5.21527578e-02 5.19715796e-02 4.75526926e+02] [-5.19054725e-02 9.98633388e-01 -6.09742042e-03 -6.32569927e+01] [-5.22185519e-02 3.38326165e-03 9.98629950e-01 -3.12071142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.810714057 meters 0.03775612065147884 Centerline is valid? [True, True] Translation: X:475.56, Y:-63.26, Z:-31.21 [[ 9.97477182e-01 4.88360960e-02 5.15199660e-02 4.75558062e+02] [-4.85885946e-02 9.98800576e-01 -6.04632401e-03 -6.32584455e+01] [-5.17534505e-02 3.52778750e-03 9.98653661e-01 -3.12087730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.840714057 meters 0.03739712071201157 Centerline is valid? [True, True] Translation: X:475.59, Y:-63.26, Z:-31.21 [[ 9.97583901e-01 4.68778499e-02 5.12721032e-02 4.75589429e+02] [-4.66301147e-02 9.98894097e-01 -6.01800595e-03 -6.32610300e+01] [-5.14975124e-02 3.61264179e-03 9.98666589e-01 -3.12107172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.870714057 meters 0.03966700794012851 Centerline is valid? [True, True] Translation: X:475.62, Y:-63.27, Z:-31.21 [[ 9.97793923e-01 4.35938279e-02 5.00686094e-02 4.75618733e+02] [-4.33533796e-02 9.99042503e-01 -5.87889816e-03 -6.32671614e+01] [-5.02769525e-02 3.69528543e-03 9.98728478e-01 -3.12132426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.900714057 meters 0.04029227203429038 Centerline is valid? [True, True] Translation: X:475.65, Y:-63.27, Z:-31.22 [[ 9.97921351e-01 4.20545786e-02 4.88302098e-02 4.75649166e+02] [-4.18241191e-02 9.99108545e-01 -5.73225884e-03 -6.32708802e+01] [-4.90277476e-02 3.67806297e-03 9.98790645e-01 -3.12155838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.930714057 meters 0.040499061774680795 Centerline is valid? [True, True] Translation: X:475.68, Y:-63.27, Z:-31.22 [[ 9.98088279e-01 3.91266805e-02 4.78423466e-02 4.75679529e+02] [-3.89019868e-02 9.99227232e-01 -5.61903147e-03 -6.32734923e+01] [-4.80252296e-02 3.74712712e-03 9.98839094e-01 -3.12179459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.960714057 meters 0.04149288217545068 Centerline is valid? [True, True] Translation: X:475.71, Y:-63.28, Z:-31.22 [[ 9.98153780e-01 3.77544926e-02 4.75776220e-02 4.75711510e+02] [-3.75307417e-02 9.99279851e-01 -5.58775400e-03 -6.32775807e+01] [-4.77543218e-02 3.79181433e-03 9.98851914e-01 -3.12199652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.990714057 meters 0.042596490070801275 Centerline is valid? [True, True] Translation: X:475.74, Y:-63.28, Z:-31.22 [[ 9.98262947e-01 3.58580893e-02 4.67470481e-02 4.75742761e+02] [-3.56398519e-02 9.99349598e-01 -5.49389728e-03 -6.32807074e+01] [-4.69136444e-02 3.81829621e-03 9.98891651e-01 -3.12218031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.020714057 meters 0.04303450370260547 Centerline is valid? [True, True] Translation: X:475.77, Y:-63.28, Z:-31.22 [[ 9.98305580e-01 3.49528701e-02 4.65216777e-02 4.75774629e+02] [-3.47356986e-02 9.99381571e-01 -5.46868625e-03 -6.32836741e+01] [-4.66840536e-02 3.84345702e-03 9.98902311e-01 -3.12237412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.050714057 meters 0.042746911510629225 Centerline is valid? [True, True] Translation: X:475.81, Y:-63.29, Z:-31.23 [[ 9.98328967e-01 3.33136101e-02 4.72173419e-02 4.75806125e+02] [-3.30878849e-02 9.99437012e-01 -5.55433469e-03 -6.32851214e+01] [-4.73757940e-02 3.98273124e-03 9.98869197e-01 -3.12250896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.080714057 meters 0.04321176370841058 Centerline is valid? [True, True] Translation: X:475.84, Y:-63.29, Z:-31.23 [[ 9.98319934e-01 3.29622215e-02 4.76529246e-02 4.75837947e+02] [-3.27319295e-02 9.99448449e-01 -5.60518488e-03 -6.32885533e+01] [-4.78114009e-02 4.03599564e-03 9.98848227e-01 -3.12263731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.110714057 meters 0.04469196042587912 Centerline is valid? [True, True] Translation: X:475.87, Y:-63.29, Z:-31.23 [[ 9.98368333e-01 3.20280152e-02 4.72744951e-02 4.75869128e+02] [-3.17997510e-02 9.99478724e-01 -5.57288685e-03 -6.32918215e+01] [-4.74283405e-02 4.06047658e-03 9.98866390e-01 -3.12278183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.140714057 meters 0.05002393799031062 Centerline is valid? [True, True] Translation: X:475.90, Y:-63.30, Z:-31.23 [[ 9.98397005e-01 3.21698640e-02 4.65673700e-02 4.75899290e+02] [-3.19480303e-02 9.99474397e-01 -5.50036593e-03 -6.33015649e+01] [-4.67198401e-02 4.00381312e-03 9.98900008e-01 -3.12306301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.170714057 meters 0.04620540263269119 Centerline is valid? [True, True] Translation: X:475.93, Y:-63.30, Z:-31.23 [[ 9.98431496e-01 3.26583518e-02 4.54750525e-02 4.75933088e+02] [-3.24468730e-02 9.99458976e-01 -5.38103712e-03 -6.32981606e+01] [-4.56261852e-02 3.89707369e-03 9.98950982e-01 -3.12323900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.200714057 meters 0.04651556340767961 Centerline is valid? [True, True] Translation: X:475.96, Y:-63.30, Z:-31.23 [[ 9.98435325e-01 3.32667914e-02 4.49468750e-02 4.75964968e+02] [-3.30602172e-02 9.99439140e-01 -5.33173169e-03 -6.33016838e+01] [-4.50990357e-02 3.83743582e-03 9.98975150e-01 -3.12345752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.230714057 meters 0.046845609515163075 Centerline is valid? [True, True] Translation: X:476.00, Y:-63.30, Z:-31.24 [[ 9.98444911e-01 3.36952627e-02 4.44115755e-02 4.75997190e+02] [-3.34935173e-02 9.99424992e-01 -5.27915890e-03 -6.33049213e+01] [-4.45639211e-02 3.78344947e-03 9.98999371e-01 -3.12366086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.26071405700003 meters 0.05242411981831712 Centerline is valid? [True, True] Translation: X:476.03, Y:-63.31, Z:-31.24 [[ 9.98419666e-01 3.55136826e-02 4.35539773e-02 4.76026636e+02] [-3.53207755e-02 9.99362545e-01 -5.19096820e-03 -6.33138300e+01] [-4.37105640e-02 3.64440448e-03 9.99037589e-01 -3.12397570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.290714057 meters 0.04253901637547503 Centerline is valid? [True, True] Translation: X:476.06, Y:-63.30, Z:-31.24 [[ 9.98396538e-01 3.78483368e-02 4.20934176e-02 4.76059518e+02] [-3.76701910e-02 9.99277629e-01 -5.01760343e-03 -6.32995562e+01] [-4.22529185e-02 3.42389082e-03 9.99101080e-01 -3.12392843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.320714057 meters 0.04126085243232422 Centerline is valid? [True, True] Translation: X:476.09, Y:-63.30, Z:-31.24 [[ 9.98342423e-01 3.92794603e-02 4.20657896e-02 4.76090923e+02] [-3.91027897e-02 9.99222610e-01 -5.01478848e-03 -6.33001452e+01] [-4.22300662e-02 3.36158635e-03 9.99102258e-01 -3.12414230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.350714057 meters 0.047833745484946726 Centerline is valid? [True, True] Translation: X:476.12, Y:-63.31, Z:-31.25 [[ 9.98265104e-01 4.07555196e-02 4.24943419e-02 4.76120516e+02] [-4.05764883e-02 9.99163585e-01 -5.06747048e-03 -6.33116353e+01] [-4.26653264e-02 3.33440778e-03 9.99083856e-01 -3.12452280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.380714057 meters 0.039352309812108306 Centerline is valid? [True, True] Translation: X:476.15, Y:-63.30, Z:-31.24 [[ 9.98107283e-01 4.46738000e-02 4.22623227e-02 4.76153042e+02] [-4.45001217e-02 9.98996656e-01 -5.04187129e-03 -6.32997693e+01] [-4.24451586e-02 3.15164995e-03 9.99093827e-01 -3.12443337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.410714057 meters 0.03986176269039926 Centerline is valid? [True, True] Translation: X:476.18, Y:-63.30, Z:-31.25 [[ 9.97990836e-01 4.72384923e-02 4.22234073e-02 4.76182519e+02] [-4.70674595e-02 9.98879017e-01 -5.03620151e-03 -6.33020479e+01] [-4.24139781e-02 3.03873444e-03 9.99095501e-01 -3.12463528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.440714057 meters 0.037877692746498375 Centerline is valid? [True, True] Translation: X:476.21, Y:-63.30, Z:-31.25 [[ 9.97794695e-01 5.16701985e-02 4.16645835e-02 4.76213286e+02] [-5.15073361e-02 9.98660231e-01 -4.97366574e-03 -6.32984046e+01] [-4.18657528e-02 2.81666558e-03 9.99119275e-01 -3.12476361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.470714057 meters 0.03652843844858446 Centerline is valid? [True, True] Translation: X:476.24, Y:-63.30, Z:-31.25 [[ 9.97679820e-01 5.37728314e-02 4.17547427e-02 4.76243041e+02] [-5.36110789e-02 9.98549450e-01 -4.98481412e-03 -6.32977865e+01] [-4.19622229e-02 2.73473165e-03 9.99115455e-01 -3.12486403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.500714057 meters 0.03600840709120381 Centerline is valid? [True, True] Translation: X:476.27, Y:-63.30, Z:-31.25 [[ 9.97470538e-01 5.73251144e-02 4.20280564e-02 4.76273436e+02] [-5.71644554e-02 9.98352177e-01 -5.01552387e-03 -6.32953866e+01] [-4.22463171e-02 2.60032633e-03 9.99103842e-01 -3.12491622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.530714057 meters 0.03514949767199858 Centerline is valid? [True, True] Translation: X:476.30, Y:-63.30, Z:-31.25 [[ 9.97368204e-01 5.88243145e-02 4.23835477e-02 4.76302493e+02] [-5.86622542e-02 9.98265071e-01 -5.05836443e-03 -6.32953977e+01] [-4.26075701e-02 2.55873740e-03 9.99088609e-01 -3.12502177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.560714057 meters 0.03546031739053148 Centerline is valid? [True, True] Translation: X:476.33, Y:-63.30, Z:-31.25 [[ 9.97257057e-01 6.07710561e-02 4.22521242e-02 4.76330462e+02] [-6.06118550e-02 9.98148687e-01 -5.03997802e-03 -6.32959493e+01] [-4.24801870e-02 2.46517402e-03 9.99094268e-01 -3.12521028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.590714057 meters 0.03434038682973148 Centerline is valid? [True, True] Translation: X:476.36, Y:-63.30, Z:-31.25 [[ 9.97215198e-01 6.14743688e-02 4.22226243e-02 4.76359255e+02] [-6.13162031e-02 9.98105706e-01 -5.03210352e-03 -6.32965954e+01] [-4.24519877e-02 2.42915910e-03 9.99095555e-01 -3.12535859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.620714057 meters 0.03466653288467365 Centerline is valid? [True, True] Translation: X:476.39, Y:-63.30, Z:-31.26 [[ 9.97142515e-01 6.21502507e-02 4.29435923e-02 4.76388280e+02] [-6.19873955e-02 9.98063826e-01 -5.11484056e-03 -6.32977159e+01] [-4.31783347e-02 2.43826353e-03 9.99064405e-01 -3.12551127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.650714057 meters 0.034488819237026264 Centerline is valid? [True, True] Translation: X:476.42, Y:-63.30, Z:-31.26 [[ 9.97086388e-01 6.27825163e-02 4.33253973e-02 4.76416617e+02] [-6.26174820e-02 9.98024276e-01 -5.15716750e-03 -6.32996517e+01] [-4.35635782e-02 2.42921423e-03 9.99047703e-01 -3.12564999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.680714057 meters 0.034488819237026264 Centerline is valid? [True, True] Translation: X:476.44, Y:-63.30, Z:-31.26 [[ 9.97093021e-01 6.26768710e-02 4.33257028e-02 4.76443888e+02] [-6.25118486e-02 9.98030911e-01 -5.15459995e-03 -6.33028052e+01] [-4.35634648e-02 2.43124586e-03 9.99047703e-01 -3.12580923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.710714057 meters 0.033745126975796076 Centerline is valid? [True, True] Translation: X:476.47, Y:-63.30, Z:-31.26 [[ 9.97124087e-01 6.26504134e-02 4.26436591e-02 4.76472973e+02] [-6.24907402e-02 9.98032674e-01 -5.06845259e-03 -6.33026219e+01] [-4.28773057e-02 2.38904235e-03 9.99077489e-01 -3.12598594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.740714057 meters 0.03495017879103553 Centerline is valid? [True, True] Translation: X:476.50, Y:-63.31, Z:-31.26 [[ 9.97181306e-01 6.21428330e-02 4.20441635e-02 4.76500399e+02] [-6.19872866e-02 9.98064443e-01 -4.99447638e-03 -6.33065419e+01] [-4.22731555e-02 2.37419486e-03 9.99103270e-01 -3.12626443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.770714057 meters 0.03538886284541319 Centerline is valid? [True, True] Translation: X:476.53, Y:-63.31, Z:-31.26 [[ 9.97341581e-01 6.00651605e-02 4.12546586e-02 4.76529967e+02] [-5.99138206e-02 9.98191545e-01 -4.89619510e-03 -6.33093829e+01] [-4.14741421e-02 2.41145475e-03 9.99136668e-01 -3.12649049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.800714057 meters 0.03410688883095866 Centerline is valid? [True, True] Translation: X:476.56, Y:-63.31, Z:-31.27 [[ 9.97449733e-01 5.82069511e-02 4.13035325e-02 4.76559873e+02] [-5.80537260e-02 9.98301432e-01 -4.90052934e-03 -6.33103813e+01] [-4.15186205e-02 2.49020772e-03 9.99134627e-01 -3.12657834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.830714057 meters 0.035932140333198186 Centerline is valid? [True, True] Translation: X:476.59, Y:-63.32, Z:-31.27 [[ 9.97649297e-01 5.45151487e-02 4.15208336e-02 4.76588506e+02] [-5.43571860e-02 9.98509411e-01 -4.92477173e-03 -6.33158832e+01] [-4.17274178e-02 2.65623937e-03 9.99125501e-01 -3.12675605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.860714057 meters 0.03717290475185724 Centerline is valid? [True, True] Translation: X:476.62, Y:-63.32, Z:-31.27 [[ 9.97731723e-01 5.31953640e-02 4.12512070e-02 4.76618118e+02] [-5.30383867e-02 9.98580495e-01 -4.89129734e-03 -6.33200974e+01] [-4.14528451e-02 2.69230505e-03 9.99136834e-01 -3.12695812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.890714057 meters 0.03713170047096267 Centerline is valid? [True, True] Translation: X:476.65, Y:-63.32, Z:-31.27 [[ 9.97836480e-01 5.10202995e-02 4.14643030e-02 4.76647197e+02] [-5.08598768e-02 9.98693703e-01 -4.91534547e-03 -6.33222693e+01] [-4.16609207e-02 2.79584169e-03 9.99127895e-01 -3.12706570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.920714057 meters 0.03818538648082402 Centerline is valid? [True, True] Translation: X:476.67, Y:-63.33, Z:-31.27 [[ 9.97871858e-01 5.02319806e-02 4.15752690e-02 4.76674594e+02] [-5.00700886e-02 9.98733555e-01 -4.92678100e-03 -6.33259906e+01] [-4.17700982e-02 2.83461870e-03 9.99123228e-01 -3.12718086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.950714057 meters 0.039139988688685685 Centerline is valid? [True, True] Translation: X:476.70, Y:-63.33, Z:-31.27 [[ 9.97862440e-01 4.98471146e-02 4.22589091e-02 4.76702173e+02] [-4.96796736e-02 9.98752668e-01 -5.00387629e-03 -6.33297587e+01] [-4.24556270e-02 2.89377139e-03 9.99094163e-01 -3.12732502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.980714057 meters 0.039376399988753634 Centerline is valid? [True, True] Translation: X:476.73, Y:-63.33, Z:-31.27 [[ 9.97844131e-01 4.94305596e-02 4.31707065e-02 4.76730568e+02] [-4.92556056e-02 9.98773146e-01 -5.10759660e-03 -6.33313687e+01] [-4.33702137e-02 2.97018599e-03 9.99054654e-01 -3.12737408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.01071405700003 meters 0.03963608762035741 Centerline is valid? [True, True] Translation: X:476.76, Y:-63.34, Z:-31.28 [[ 9.97808330e-01 4.97141596e-02 4.36696587e-02 4.76758868e+02] [-4.95355441e-02 9.98759014e-01 -5.16345849e-03 -6.33351360e+01] [-4.38721623e-02 2.98894159e-03 9.99032682e-01 -3.12752717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.040714057 meters 0.03801758216148179 Centerline is valid? [True, True] Translation: X:476.79, Y:-63.34, Z:-31.28 [[ 9.97806078e-01 4.97051425e-02 4.37313418e-02 4.76787277e+02] [-4.95261489e-02 9.98759458e-01 -5.16766387e-03 -6.33354627e+01] [-4.39339507e-02 2.99048147e-03 9.99029962e-01 -3.12770489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.070714057 meters 0.041122030094600005 Centerline is valid? [True, True] Translation: X:476.81, Y:-63.34, Z:-31.28 [[ 9.97770525e-01 5.03281568e-02 4.38298535e-02 4.76814925e+02] [-5.01491181e-02 9.98728331e-01 -5.17556289e-03 -6.33432832e+01] [-4.40345930e-02 2.96599560e-03 9.99025604e-01 -3.12798353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.100714057 meters 0.039291132798973324 Centerline is valid? [True, True] Translation: X:476.84, Y:-63.34, Z:-31.28 [[ 9.97792551e-01 5.00864281e-02 4.36047505e-02 4.76843448e+02] [-4.99090303e-02 9.98740499e-01 -5.14819006e-03 -6.33433357e+01] [-4.38076847e-02 2.96055488e-03 9.99035596e-01 -3.12810124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.130714057 meters 0.039724605610915446 Centerline is valid? [True, True] Translation: X:476.87, Y:-63.35, Z:-31.28 [[ 9.97791207e-01 5.00858287e-02 4.36361967e-02 4.76871541e+02] [-4.99083106e-02 9.98740532e-01 -5.14879361e-03 -6.33470495e+01] [-4.38391199e-02 2.95961213e-03 9.99034220e-01 -3.12823694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.160714057 meters 0.04112602070906191 Centerline is valid? [True, True] Translation: X:476.90, Y:-63.35, Z:-31.28 [[ 9.97747786e-01 5.03793185e-02 4.42863302e-02 4.76899761e+02] [-5.01969197e-02 9.98725689e-01 -5.22179418e-03 -6.33526746e+01] [-4.44929661e-02 2.98699623e-03 9.99005232e-01 -3.12838202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.190714057 meters 0.0405772512185509 Centerline is valid? [True, True] Translation: X:476.93, Y:-63.36, Z:-31.29 [[ 9.97736948e-01 5.06115217e-02 4.42657398e-02 4.76928034e+02] [-5.04295609e-02 9.98713987e-01 -5.21844742e-03 -6.33554959e+01] [-4.44729271e-02 2.97433598e-03 9.99006162e-01 -3.12851672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.220714057 meters 0.04168004491628244 Centerline is valid? [True, True] Translation: X:476.96, Y:-63.36, Z:-31.29 [[ 9.97743506e-01 5.05843698e-02 4.41488043e-02 4.76955133e+02] [-5.04034700e-02 9.98715391e-01 -5.20181071e-03 -6.33610370e+01] [-4.43552206e-02 2.96481992e-03 9.99011423e-01 -3.12870579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.250714057 meters 0.04258437111899242 Centerline is valid? [True, True] Translation: X:476.98, Y:-63.37, Z:-31.29 [[ 9.97730580e-01 5.06577726e-02 4.43562912e-02 4.76982235e+02] [-5.04754125e-02 9.98711650e-01 -5.22237153e-03 -6.33654678e+01] [-4.45636985e-02 2.97161767e-03 9.99002125e-01 -3.12890665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.280714057 meters 0.042559683261666495 Centerline is valid? [True, True] Translation: X:477.01, Y:-63.37, Z:-31.29 [[ 9.97794745e-01 5.04240549e-02 4.31631894e-02 4.77010774e+02] [-5.02513286e-02 9.98723694e-01 -5.07809563e-03 -6.33689687e+01] [-4.33641582e-02 2.89788952e-03 9.99055130e-01 -3.12918040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.310714057 meters 0.042716116900964 Centerline is valid? [True, True] Translation: X:477.04, Y:-63.37, Z:-31.29 [[ 9.97826444e-01 5.03499904e-02 4.25119460e-02 4.77039423e+02] [-5.01824958e-02 9.98727556e-01 -4.99863095e-03 -6.33731711e+01] [-4.27095330e-02 2.85441060e-03 9.99083454e-01 -3.12943443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.340714057 meters 0.04376332403418056 Centerline is valid? [True, True] Translation: X:477.07, Y:-63.38, Z:-31.30 [[ 9.97873555e-01 5.04535190e-02 4.12651349e-02 4.77066874e+02] [-5.02959012e-02 9.98722586e-01 -4.84959532e-03 -6.33796585e+01] [-4.14571014e-02 2.76381577e-03 9.99136462e-01 -3.12970037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.370714057 meters 0.04443744100292258 Centerline is valid? [True, True] Translation: X:477.09, Y:-63.38, Z:-31.30 [[ 9.97820746e-01 5.12855421e-02 4.15156772e-02 4.77094845e+02] [-5.11268792e-02 9.98680266e-01 -4.87522121e-03 -6.33844899e+01] [-4.17109159e-02 2.74202986e-03 9.99125958e-01 -3.12977036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.400714057 meters 0.03788729273872208 Centerline is valid? [True, True] Translation: X:477.12, Y:-63.38, Z:-31.30 [[ 9.97768500e-01 5.17643098e-02 4.21719785e-02 4.77124820e+02] [-5.16011314e-02 9.98655509e-01 -4.94948833e-03 -6.33781871e+01] [-4.23714855e-02 2.76232175e-03 9.99098107e-01 -3.12958100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.430714057 meters 0.03796683572694107 Centerline is valid? [True, True] Translation: X:477.15, Y:-63.38, Z:-31.30 [[ 9.97725649e-01 5.22623067e-02 4.25697109e-02 4.77153716e+02] [-5.20966167e-02 9.98629567e-01 -4.99307921e-03 -6.33814596e+01] [-4.27723218e-02 2.76398528e-03 9.99081022e-01 -3.12967035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.460714057 meters 0.03816803308767983 Centerline is valid? [True, True] Translation: X:477.18, Y:-63.39, Z:-31.30 [[ 9.97645243e-01 5.31936955e-02 4.32943350e-02 4.77182433e+02] [-5.30233234e-02 9.98580379e-01 -5.07489400e-03 -6.33860124e+01] [-4.35028258e-02 2.76733433e-03 9.99049471e-01 -3.12974778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.490714057 meters 0.03877002290647742 Centerline is valid? [True, True] Translation: X:477.21, Y:-63.39, Z:-31.30 [[ 9.97512506e-01 5.41726775e-02 4.51012309e-02 4.77210136e+02] [-5.39889249e-02 9.98527557e-01 -5.28330397e-03 -6.33925611e+01] [-4.53210326e-02 2.83519481e-03 9.98968451e-01 -3.12988705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.520714057 meters 0.03678288105472536 Centerline is valid? [True, True] Translation: X:477.24, Y:-63.40, Z:-31.30 [[ 9.97328139e-01 5.64453778e-02 4.63735059e-02 4.77239975e+02] [-5.62537199e-02 9.98401747e-01 -5.42865929e-03 -6.33952896e+01] [-4.66058121e-02 2.80547246e-03 9.98909419e-01 -3.12998458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.550714057 meters 0.035586462203067784 Centerline is valid? [True, True] Translation: X:477.27, Y:-63.40, Z:-31.30 [[ 9.97235514e-01 5.78221170e-02 4.66683192e-02 4.77268417e+02] [-5.76295962e-02 9.98323095e-01 -5.46140968e-03 -6.33980940e+01] [-4.69058511e-02 2.75683531e-03 9.98895511e-01 -3.13011479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.580714057 meters 0.03646671881906744 Centerline is valid? [True, True] Translation: X:477.30, Y:-63.40, Z:-31.30 [[ 9.97129787e-01 6.01994058e-02 4.59153457e-02 4.77296428e+02] [-6.00157325e-02 9.98182989e-01 -5.36962728e-03 -6.34035000e+01] [-4.61551654e-02 2.59857220e-03 9.98930903e-01 -3.13028977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.610714057 meters 0.03415958251571174 Centerline is valid? [True, True] Translation: X:477.33, Y:-63.40, Z:-31.30 [[ 9.97091363e-01 6.08946906e-02 4.58328475e-02 4.77325769e+02] [-6.07124656e-02 9.98140912e-01 -5.35875467e-03 -6.34045990e+01] [-4.60739599e-02 2.56054282e-03 9.98934750e-01 -3.13044163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.640714057 meters 0.03420277691138089 Centerline is valid? [True, True] Translation: X:477.35, Y:-63.41, Z:-31.31 [[ 9.97106345e-01 6.10704697e-02 4.52695715e-02 4.77354315e+02] [-6.08929796e-02 9.98130279e-01 -5.29071823e-03 -6.34089908e+01] [-4.55080367e-02 2.51880963e-03 9.98960797e-01 -3.13066695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.670714057 meters 0.034395919308468276 Centerline is valid? [True, True] Translation: X:477.38, Y:-63.42, Z:-31.31 [[ 9.97178697e-01 6.05918527e-02 4.43088458e-02 4.77381860e+02] [-6.04214900e-02 9.98159536e-01 -5.17533067e-03 -6.34170224e+01] [-4.45408798e-02 2.48352301e-03 9.99004476e-01 -3.13102433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.700714057 meters 0.03255645563610964 Centerline is valid? [True, True] Translation: X:477.41, Y:-63.42, Z:-31.31 [[ 9.97231292e-01 6.01391278e-02 4.37382693e-02 4.77410523e+02] [-5.99728279e-02 9.98186953e-01 -5.10564461e-03 -6.34186357e+01] [-4.39660188e-02 2.46840087e-03 9.99029978e-01 -3.13119760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.730714057 meters 0.03373602058757813 Centerline is valid? [True, True] Translation: X:477.44, Y:-63.43, Z:-31.31 [[ 9.97306678e-01 5.98089951e-02 4.24531993e-02 4.77437766e+02] [-5.96521506e-02 9.98206937e-01 -4.95288317e-03 -6.34261765e+01] [-4.26733050e-02 2.40711882e-03 9.99086180e-01 -3.13148899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.76071405700003 meters 0.04051024849831439 Centerline is valid? [True, True] Translation: X:477.46, Y:-63.44, Z:-31.32 [[ 9.97264856e-01 6.05707765e-02 4.23555070e-02 4.77463510e+02] [-6.04155044e-02 9.98161103e-01 -4.93758441e-03 -6.34414762e+01] [-4.25766929e-02 2.36515009e-03 9.99090402e-01 -3.13195364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.790714057 meters 0.03382357078260248 Centerline is valid? [True, True] Translation: X:477.49, Y:-63.44, Z:-31.32 [[ 9.97230426e-01 6.09644869e-02 4.26005832e-02 4.77493640e+02] [-6.08079458e-02 9.98137151e-01 -4.96203374e-03 -6.34358062e+01] [-4.28237326e-02 2.35783706e-03 9.99079861e-01 -3.13184086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.820714057 meters 0.03284482175218053 Centerline is valid? [True, True] Translation: X:477.52, Y:-63.44, Z:-31.32 [[ 9.97081961e-01 6.25324211e-02 4.37865269e-02 4.77522592e+02] [-6.23686962e-02 9.98040164e-01 -5.09667971e-03 -6.34408478e+01] [-4.40194202e-02 2.35089880e-03 9.99027909e-01 -3.13194945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.850714057 meters 0.03361666598786244 Centerline is valid? [True, True] Translation: X:477.55, Y:-63.45, Z:-31.32 [[ 9.97082843e-01 6.23615632e-02 4.40095432e-02 4.77549534e+02] [-6.21960791e-02 9.98050813e-01 -5.12083094e-03 -6.34459034e+01] [-4.42431033e-02 2.36867164e-03 9.99017986e-01 -3.13208310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.880714057 meters 0.03375525038649486 Centerline is valid? [True, True] Translation: X:477.58, Y:-63.45, Z:-31.32 [[ 9.97072993e-01 6.21715928e-02 4.44987709e-02 4.77578089e+02] [-6.20024295e-02 9.98062593e-01 -5.17302444e-03 -6.34507789e+01] [-4.47341738e-02 2.39885106e-03 9.98996046e-01 -3.13218297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.910714057 meters 0.03472122682833548 Centerline is valid? [True, True] Translation: X:477.61, Y:-63.46, Z:-31.32 [[ 9.97107810e-01 6.11648924e-02 4.51095366e-02 4.77605854e+02] [-6.09901712e-02 9.98124608e-01 -5.24075868e-03 -6.34589525e+01] [-4.53454889e-02 2.47436306e-03 9.98968300e-01 -3.13239595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.940714057 meters 0.03517895012308326 Centerline is valid? [True, True] Translation: X:477.63, Y:-63.47, Z:-31.33 [[ 9.97180487e-01 6.00734508e-02 4.49695166e-02 4.77633887e+02] [-5.98988506e-02 9.98190796e-01 -5.22133073e-03 -6.34652988e+01] [-4.52018209e-02 2.51298677e-03 9.98974715e-01 -3.13261173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.970714057 meters 0.03666041374126067 Centerline is valid? [True, True] Translation: X:477.66, Y:-63.47, Z:-31.33 [[ 9.97312279e-01 5.81514213e-02 4.45716431e-02 4.77661355e+02] [-5.79781360e-02 9.98304457e-01 -5.17181117e-03 -6.34745222e+01] [-4.47968181e-02 2.57372999e-03 9.98992803e-01 -3.13285500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.000714057 meters 0.03693016068537756 Centerline is valid? [True, True] Translation: X:477.69, Y:-63.48, Z:-31.33 [[ 9.97355785e-01 5.73231099e-02 4.46710167e-02 4.77689374e+02] [-5.71483183e-02 9.98352255e-01 -5.18121633e-03 -6.34797770e+01] [-4.48944136e-02 2.61464260e-03 9.98988316e-01 -3.13301468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.030714057 meters 0.03813865347621362 Centerline is valid? [True, True] Translation: X:477.72, Y:-63.49, Z:-31.33 [[ 9.97419771e-01 5.65931256e-02 4.41703432e-02 4.77716221e+02] [-5.64216370e-02 9.98393900e-01 -5.12052029e-03 -6.34870368e+01] [-4.43891875e-02 2.61514510e-03 9.99010891e-01 -3.13322324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.060714057 meters 0.03910347225488193 Centerline is valid? [True, True] Translation: X:477.74, Y:-63.49, Z:-31.33 [[ 9.97457672e-01 5.67911478e-02 4.30459953e-02 4.77743189e+02] [-5.66286539e-02 9.98382861e-01 -4.98590672e-03 -6.34934297e+01] [-4.32595393e-02 2.53559414e-03 9.99060650e-01 -3.13342752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.090714057 meters 0.039205906257156566 Centerline is valid? [True, True] Translation: X:477.77, Y:-63.50, Z:-31.34 [[ 9.97445279e-01 5.70789395e-02 4.29524114e-02 4.77771557e+02] [-5.69175851e-02 9.98366504e-01 -4.97119189e-03 -6.34973239e+01] [-4.31659992e-02 2.51374435e-03 9.99064751e-01 -3.13363013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.120714057 meters 0.03948363471657303 Centerline is valid? [True, True] Translation: X:477.80, Y:-63.50, Z:-31.34 [[ 9.97447533e-01 5.72847713e-02 4.26248109e-02 4.77799774e+02] [-5.71261797e-02 9.98354792e-01 -4.93043695e-03 -6.35018736e+01] [-4.28371232e-02 2.48285956e-03 9.99078984e-01 -3.13386332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.150714057 meters 0.038851562302934864 Centerline is valid? [True, True] Translation: X:477.83, Y:-63.51, Z:-31.34 [[ 9.97328902e-01 5.94028789e-02 4.25012959e-02 4.77827927e+02] [-5.92472535e-02 9.98231248e-01 -4.91306593e-03 -6.35061173e+01] [-4.27179719e-02 2.38185760e-03 9.99084332e-01 -3.13411052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.180714057 meters 0.03857487401968867 Centerline is valid? [True, True] Translation: X:477.86, Y:-63.51, Z:-31.34 [[ 9.97233074e-01 6.08758676e-02 4.26652679e-02 4.77857008e+02] [-6.07204732e-02 9.98142635e-01 -4.92988256e-03 -6.35091147e+01] [-4.28861339e-02 2.32558668e-03 9.99077260e-01 -3.13427470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.210714057 meters 0.03742353593642016 Centerline is valid? [True, True] Translation: X:477.89, Y:-63.51, Z:-31.34 [[ 9.96934721e-01 6.45678795e-02 4.41831454e-02 4.77885874e+02] [-6.44049433e-02 9.97910800e-01 -5.10285350e-03 -6.35107280e+01] [-4.44203184e-02 2.24159886e-03 9.99010416e-01 -3.13430896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.240714057 meters 0.03677919637993165 Centerline is valid? [True, True] Translation: X:477.92, Y:-63.51, Z:-31.34 [[ 9.96757236e-01 6.67213215e-02 4.49808518e-02 4.77915301e+02] [-6.65547154e-02 9.97769263e-01 -5.19308833e-03 -6.35133148e+01] [-4.52270010e-02 2.18256058e-03 9.98974351e-01 -3.13437599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.270714057 meters 0.03700465468663396 Centerline is valid? [True, True] Translation: X:477.94, Y:-63.52, Z:-31.35 [[ 9.96725531e-01 6.74604952e-02 4.45791252e-02 4.77943369e+02] [-6.72976369e-02 9.97719675e-01 -5.14569546e-03 -6.35175165e+01] [-4.48246015e-02 2.12877626e-03 9.98992604e-01 -3.13453389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.300714057 meters 0.03675161798314 Centerline is valid? [True, True] Translation: X:477.97, Y:-63.52, Z:-31.35 [[ 9.96703322e-01 6.75983651e-02 4.48659043e-02 4.77971795e+02] [-6.74336737e-02 9.97710334e-01 -5.17588492e-03 -6.35213932e+01] [-4.51130577e-02 2.13334894e-03 9.98979610e-01 -3.13469155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.330714057 meters 0.031341451790876836 Centerline is valid? [True, True] Translation: X:478.00, Y:-63.52, Z:-31.35 [[ 9.96802323e-01 6.64478229e-02 4.43826011e-02 4.78001274e+02] [-6.62856479e-02 9.97787565e-01 -5.11740185e-03 -6.35179148e+01] [-4.46244477e-02 2.15910858e-03 9.99001500e-01 -3.13458016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.360714057 meters 0.032166895651540094 Centerline is valid? [True, True] Translation: X:478.03, Y:-63.52, Z:-31.35 [[ 9.96836109e-01 6.57736738e-02 4.46272924e-02 4.78028867e+02] [-6.56091649e-02 9.97832146e-01 -5.14262320e-03 -6.35241760e+01] [-4.48687962e-02 2.19839312e-03 9.98990470e-01 -3.13481524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.390714057 meters 0.03382413332051603 Centerline is valid? [True, True] Translation: X:478.06, Y:-63.53, Z:-31.35 [[ 9.96964267e-01 6.38321151e-02 4.45837684e-02 4.78056527e+02] [-6.36661895e-02 9.97958049e-01 -5.13319391e-03 -6.35338803e+01] [-4.48203931e-02 2.27913226e-03 9.98992461e-01 -3.13510333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.420714057 meters 0.03380946444928914 Centerline is valid? [True, True] Translation: X:478.09, Y:-63.54, Z:-31.35 [[ 9.97009457e-01 6.32491631e-02 4.44036649e-02 4.78085366e+02] [-6.30840938e-02 9.97995131e-01 -5.11035795e-03 -6.35382820e+01] [-4.46378672e-02 2.29391024e-03 9.99000600e-01 -3.13525333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.450714057 meters 0.03551919965796322 Centerline is valid? [True, True] Translation: X:478.11, Y:-63.55, Z:-31.35 [[ 9.97127717e-01 6.13073032e-02 4.44716845e-02 4.78113328e+02] [-6.11399516e-02 9.98116098e-01 -5.11484705e-03 -6.35467488e+01] [-4.47014817e-02 2.38115913e-03 9.98997551e-01 -3.13542779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.480714057 meters 0.033010980450161306 Centerline is valid? [True, True] Translation: X:478.14, Y:-63.55, Z:-31.35 [[ 9.97153737e-01 6.05797530e-02 4.48833769e-02 4.78142079e+02] [-6.04086463e-02 9.98160392e-01 -5.16009766e-03 -6.35476799e+01] [-4.51134065e-02 2.43406662e-03 9.98978907e-01 -3.13545963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.51071405700003 meters 0.03277052522429257 Centerline is valid? [True, True] Translation: X:478.17, Y:-63.55, Z:-31.36 [[ 9.97191160e-01 5.97974720e-02 4.51004638e-02 4.78170859e+02] [-5.96240556e-02 9.98207454e-01 -5.18179000e-03 -6.35523547e+01] [-4.53294771e-02 2.47816263e-03 9.98969017e-01 -3.13562864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.540714057 meters 0.033398892966238616 Centerline is valid? [True, True] Translation: X:478.20, Y:-63.56, Z:-31.36 [[ 9.97234657e-01 5.90745584e-02 4.50914093e-02 4.78199286e+02] [-5.89006341e-02 9.98250425e-01 -5.17724798e-03 -6.35595104e+01] [-4.53183622e-02 2.50701851e-03 9.98969449e-01 -3.13582524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.570714057 meters 0.033398892966238616 Centerline is valid? [True, True] Translation: X:478.23, Y:-63.56, Z:-31.36 [[ 9.97238840e-01 5.90037141e-02 4.50916599e-02 4.78227413e+02] [-5.88298161e-02 9.98254613e-01 -5.17506431e-03 -6.35626782e+01] [-4.53183055e-02 2.50804107e-03 9.98969449e-01 -3.13598936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.600714057 meters 0.038309127785001736 Centerline is valid? [True, True] Translation: X:478.25, Y:-63.58, Z:-31.36 [[ 9.97230124e-01 5.85744390e-02 4.58379152e-02 4.78253618e+02] [-5.83944264e-02 9.98279745e-01 -5.25754468e-03 -6.35751353e+01] [-4.60670200e-02 2.56630316e-03 9.98935055e-01 -3.13630569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.630714057 meters 0.03258977096738336 Centerline is valid? [True, True] Translation: X:478.28, Y:-63.57, Z:-31.36 [[ 9.97180052e-01 5.84783136e-02 4.70343490e-02 4.78283545e+02] [-5.82888789e-02 9.98285206e-01 -5.39027444e-03 -6.35717357e+01] [-4.72689089e-02 2.63349468e-03 9.98878729e-01 -3.13626098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.660714057 meters 0.03288514179169451 Centerline is valid? [True, True] Translation: X:478.31, Y:-63.58, Z:-31.36 [[ 9.97173563e-01 5.78593520e-02 4.79289052e-02 4.78312238e+02] [-5.76621138e-02 9.98321067e-01 -5.48885005e-03 -6.35780908e+01] [-4.81660171e-02 2.70965418e-03 9.98835668e-01 -3.13643380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.690714057 meters 0.03294964628546261 Centerline is valid? [True, True] Translation: X:478.34, Y:-63.58, Z:-31.37 [[ 9.97195278e-01 5.71229656e-02 4.83584983e-02 4.78341408e+02] [-5.69213963e-02 9.98363313e-01 -5.53626588e-03 -6.35833124e+01] [-4.85955985e-02 2.76810494e-03 9.98814700e-01 -3.13662592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.720714057 meters 0.03421506511838315 Centerline is valid? [True, True] Translation: X:478.37, Y:-63.59, Z:-31.37 [[ 9.97248248e-01 5.59057883e-02 4.86875206e-02 4.78370810e+02] [-5.57001150e-02 9.98431996e-01 -5.57197614e-03 -6.35898741e+01] [-4.89226841e-02 2.84474295e-03 9.98798517e-01 -3.13686153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.750714057 meters 0.03470672472531891 Centerline is valid? [True, True] Translation: X:478.40, Y:-63.60, Z:-31.37 [[ 9.97436147e-01 5.31233365e-02 4.79483409e-02 4.78401315e+02] [-5.29207228e-02 9.98583646e-01 -5.48618066e-03 -6.35971570e+01] [-4.81718733e-02 2.93465405e-03 9.98834750e-01 -3.13708051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.780714057 meters 0.036299119787326535 Centerline is valid? [True, True] Translation: X:478.43, Y:-63.60, Z:-31.37 [[ 9.97518355e-01 5.18716500e-02 4.76073928e-02 4.78431293e+02] [-5.16704583e-02 9.98649330e-01 -5.44785139e-03 -6.36046993e+01] [-4.78256799e-02 2.97443596e-03 9.98851269e-01 -3.13732789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.810714057 meters 0.03519975211918385 Centerline is valid? [True, True] Translation: X:478.46, Y:-63.61, Z:-31.38 [[ 9.97695554e-01 4.88844816e-02 4.70519874e-02 4.78461799e+02] [-4.86845794e-02 9.98799682e-01 -5.38587831e-03 -6.36093621e+01] [-4.72587959e-02 3.08276063e-03 9.98877922e-01 -3.13753546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.840714057 meters 0.03703942546131441 Centerline is valid? [True, True] Translation: X:478.49, Y:-63.62, Z:-31.38 [[ 9.97818416e-01 4.70027431e-02 4.63589245e-02 4.78490633e+02] [-4.68065458e-02 9.98889863e-01 -5.30923036e-03 -6.36172056e+01] [-4.65570082e-02 3.12774670e-03 9.98910738e-01 -3.13780464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.870714057 meters 0.038873899895108026 Centerline is valid? [True, True] Translation: X:478.52, Y:-63.63, Z:-31.38 [[ 9.98046802e-01 4.35421166e-02 4.47958174e-02 4.78519165e+02] [-4.33554622e-02 9.99046537e-01 -5.13040016e-03 -6.36261020e+01] [-4.49764947e-02 3.17823611e-03 9.98982990e-01 -3.13814957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.900714057 meters 0.06631589395472376 Centerline is valid? [True, True] Translation: X:478.54, Y:-63.67, Z:-31.39 [[ 9.98138442e-01 4.17535005e-02 4.44555509e-02 4.78543810e+02] [-4.15679462e-02 9.99122711e-01 -5.09060295e-03 -6.36688906e+01] [-4.46291011e-02 3.23320055e-03 9.98998393e-01 -3.13901574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.930714057 meters 0.04137094377152053 Centerline is valid? [True, True] Translation: X:478.58, Y:-63.64, Z:-31.39 [[ 9.98208116e-01 4.03839051e-02 4.41553805e-02 4.78580168e+02] [-4.01995605e-02 9.99178883e-01 -5.05527681e-03 -6.36385617e+01] [-4.43232756e-02 3.27119145e-03 9.99011885e-01 -3.13855249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.960714057 meters 0.04287768052264598 Centerline is valid? [True, True] Translation: X:478.61, Y:-63.64, Z:-31.39 [[ 9.98268716e-01 3.83223725e-02 4.46202372e-02 4.78610869e+02] [-3.81318994e-02 9.99259637e-01 -5.11242880e-03 -6.36440070e+01] [-4.47831224e-02 3.40212334e-03 9.98990940e-01 -3.13862063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.990714057 meters 0.043105997139641965 Centerline is valid? [True, True] Translation: X:478.64, Y:-63.65, Z:-31.39 [[ 9.98290025e-01 3.68829262e-02 4.53505789e-02 4.78643209e+02] [-3.66846773e-02 9.99313381e-01 -5.19627806e-03 -6.36473418e+01] [-4.55110942e-02 3.52372120e-03 9.98957619e-01 -3.13869263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.020714057 meters 0.03842723266287002 Centerline is valid? [True, True] Translation: X:478.68, Y:-63.64, Z:-31.39 [[ 9.98269367e-01 3.65446610e-02 4.60734081e-02 4.78676112e+02] [-3.63396237e-02 9.99325548e-01 -5.28027350e-03 -6.36440532e+01] [-4.62352996e-02 3.59684497e-03 9.98924101e-01 -3.13870547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.050714057 meters 0.04030550652080161 Centerline is valid? [True, True] Translation: X:478.71, Y:-63.65, Z:-31.39 [[ 9.98242672e-01 3.54730715e-02 4.74681893e-02 4.78706398e+02] [-3.52534900e-02 9.99363513e-01 -5.45534265e-03 -6.36498296e+01] [-4.76314942e-02 3.77233649e-03 9.98857853e-01 -3.13887396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.080714057 meters 0.043408290648874595 Centerline is valid? [True, True] Translation: X:478.74, Y:-63.66, Z:-31.39 [[ 9.98232972e-01 3.53020564e-02 4.77985109e-02 4.78736367e+02] [-3.50792006e-02 9.99369437e-01 -5.49350893e-03 -6.36577274e+01] [-4.79623031e-02 3.80706819e-03 9.98841891e-01 -3.13904057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.110714057 meters 0.043716898202744846 Centerline is valid? [True, True] Translation: X:478.77, Y:-63.66, Z:-31.39 [[ 9.98263859e-01 3.47834098e-02 4.75329542e-02 4.78767797e+02] [-3.45619972e-02 9.99387574e-01 -5.47230627e-03 -6.36611666e+01] [-4.76941892e-02 3.81997174e-03 9.98854680e-01 -3.13920607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.140714057 meters 0.04257319890839518 Centerline is valid? [True, True] Translation: X:478.80, Y:-63.66, Z:-31.39 [[ 9.98318437e-01 3.38861237e-02 4.70322215e-02 4.78799596e+02] [-3.36678018e-02 9.99418346e-01 -5.42662952e-03 -6.36626839e+01] [-4.71887525e-02 3.83403279e-03 9.98878632e-01 -3.13938756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.170714057 meters 0.041528072965507645 Centerline is valid? [True, True] Translation: X:478.83, Y:-63.66, Z:-31.40 [[ 9.98433343e-01 3.23150361e-02 4.56792926e-02 4.78830753e+02] [-3.21071689e-02 9.99470500e-01 -5.27717001e-03 -6.36645944e+01] [-4.58256374e-02 3.80226973e-03 9.98942217e-01 -3.13969798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.200714057 meters 0.04379215153557598 Centerline is valid? [True, True] Translation: X:478.86, Y:-63.67, Z:-31.40 [[ 9.98493449e-01 3.13361899e-02 4.50430450e-02 4.78861187e+02] [-3.11330646e-02 9.99501700e-01 -5.20422346e-03 -6.36715659e+01] [-4.51836806e-02 3.79405501e-03 9.98971491e-01 -3.13999705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.230714057 meters 0.042507070779592454 Centerline is valid? [True, True] Translation: X:478.89, Y:-63.67, Z:-31.40 [[ 9.98542237e-01 3.03797708e-02 4.46146807e-02 4.78893168e+02] [-3.01792719e-02 9.99531179e-01 -5.16086773e-03 -6.36737380e+01] [-4.47505504e-02 3.80690583e-03 9.98990939e-01 -3.14021971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.26071405700003 meters 0.04274459510238852 Centerline is valid? [True, True] Translation: X:478.92, Y:-63.68, Z:-31.40 [[ 9.98656156e-01 2.83063124e-02 4.34123870e-02 4.78923511e+02] [-2.81143702e-02 9.99592079e-01 -5.02568251e-03 -6.36766973e+01] [-4.35369368e-02 3.79841685e-03 9.99044597e-01 -3.14045840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.290714057 meters 0.044900835985143744 Centerline is valid? [True, True] Translation: X:478.95, Y:-63.68, Z:-31.41 [[ 9.98692333e-01 2.81499657e-02 4.26755530e-02 4.78954145e+02] [-2.79644559e-02 9.99596722e-01 -4.93785607e-03 -6.36828049e+01] [-4.27973434e-02 3.73800038e-03 9.99076781e-01 -3.14070301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.320714057 meters 0.04514756816853589 Centerline is valid? [True, True] Translation: X:478.99, Y:-63.69, Z:-31.41 [[ 9.98658433e-01 2.92608595e-02 4.27216197e-02 4.78986312e+02] [-2.90755208e-02 9.99564945e-01 -4.95335663e-03 -6.36853534e+01] [-4.28479729e-02 3.70455803e-03 9.99074736e-01 -3.14087178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.350714057 meters 0.044796306982741334 Centerline is valid? [True, True] Translation: X:479.02, Y:-63.69, Z:-31.41 [[ 9.98597303e-01 3.09268589e-02 4.29762195e-02 4.79017608e+02] [-3.07402174e-02 9.99514916e-01 -4.99714859e-03 -6.36856926e+01] [-4.31099185e-02 3.66904078e-03 9.99063598e-01 -3.14094922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.380714057 meters 0.042794478301321166 Centerline is valid? [True, True] Translation: X:479.05, Y:-63.68, Z:-31.41 [[ 9.98577226e-01 3.21365690e-02 4.25530832e-02 4.79049653e+02] [-3.19546240e-02 9.99477067e-01 -4.94920429e-03 -6.36847321e+01] [-4.26898812e-02 3.58239491e-03 9.99081949e-01 -3.14106124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.410714057 meters 0.04438938617382621 Centerline is valid? [True, True] Translation: X:479.08, Y:-63.69, Z:-31.41 [[ 9.98553334e-01 3.34941356e-02 4.20640292e-02 4.79080219e+02] [-3.33174387e-02 9.99432833e-01 -4.89490410e-03 -6.36890858e+01] [-4.22041224e-02 3.48635710e-03 9.99102926e-01 -3.14130362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.440714057 meters 0.04072508159003124 Centerline is valid? [True, True] Translation: X:479.11, Y:-63.68, Z:-31.41 [[ 9.98487253e-01 3.56660766e-02 4.18465886e-02 4.79111464e+02] [-3.54930088e-02 9.99358050e-01 -4.87169673e-03 -6.36837387e+01] [-4.19934795e-02 3.37906574e-03 9.99112171e-01 -3.14141300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.470714057 meters 0.042154667175330285 Centerline is valid? [True, True] Translation: X:479.14, Y:-63.69, Z:-31.42 [[ 9.98408502e-01 3.76302720e-02 4.20050635e-02 4.79142047e+02] [-3.74576404e-02 9.99286254e-01 -4.88957369e-03 -6.36884977e+01] [-4.21590785e-02 3.30838138e-03 9.99105433e-01 -3.14158160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.500714057 meters 0.0409257279532333 Centerline is valid? [True, True] Translation: X:479.17, Y:-63.69, Z:-31.42 [[ 9.98246871e-01 4.05473276e-02 4.31172590e-02 4.79173023e+02] [-4.03680449e-02 9.99172263e-01 -5.02097118e-03 -6.36873537e+01] [-4.32851562e-02 3.27160932e-03 9.99057402e-01 -3.14156669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.530714057 meters 0.040869315319419584 Centerline is valid? [True, True] Translation: X:479.20, Y:-63.69, Z:-31.42 [[ 9.98153905e-01 4.18496633e-02 4.40157665e-02 4.79204022e+02] [-4.16640586e-02 9.99118526e-01 -5.12614256e-03 -6.36896066e+01] [-4.41914951e-02 3.28280373e-03 9.99017685e-01 -3.14163174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.560714057 meters 0.04019880760240398 Centerline is valid? [True, True] Translation: X:479.24, Y:-63.69, Z:-31.42 [[ 9.98046812e-01 4.35909016e-02 4.47481187e-02 4.79235518e+02] [-4.34007286e-02 9.99044143e-01 -5.21309436e-03 -6.36913732e+01] [-4.49325894e-02 3.26081126e-03 9.98984699e-01 -3.14176075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.590714057 meters 0.040026638083896254 Centerline is valid? [True, True] Translation: X:479.27, Y:-63.69, Z:-31.42 [[ 9.97876127e-01 4.68691712e-02 4.52384446e-02 4.79265174e+02] [-4.66780563e-02 9.98896071e-01 -5.27235178e-03 -6.36921373e+01] [-4.54356154e-02 3.14951131e-03 9.98962304e-01 -3.14187329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.620714057 meters 0.037548818416116826 Centerline is valid? [True, True] Translation: X:479.30, Y:-63.69, Z:-31.42 [[ 9.97691879e-01 5.06909039e-02 4.51812632e-02 4.79296440e+02] [-5.05041816e-02 9.98709969e-01 -5.26544079e-03 -6.36894885e+01] [-4.53898880e-02 2.97144479e-03 9.98964929e-01 -3.14199004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.650714057 meters 0.03760186970755233 Centerline is valid? [True, True] Translation: X:479.33, Y:-63.69, Z:-31.42 [[ 9.97604785e-01 5.21486399e-02 4.54446127e-02 4.79327010e+02] [-5.19612124e-02 9.98635057e-01 -5.29668695e-03 -6.36914627e+01] [-4.56587984e-02 2.92264307e-03 9.98952818e-01 -3.14214941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.680714057 meters 0.03721252954031053 Centerline is valid? [True, True] Translation: X:479.36, Y:-63.69, Z:-31.42 [[ 9.97537303e-01 5.34059346e-02 4.54657588e-02 4.79356591e+02] [-5.32196127e-02 9.98568769e-01 -5.29957974e-03 -6.36920844e+01] [-4.56837158e-02 2.86685841e-03 9.98951840e-01 -3.14229139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.710714057 meters 0.03725492812782544 Centerline is valid? [True, True] Translation: X:479.39, Y:-63.69, Z:-31.42 [[ 9.97444295e-01 5.50391471e-02 4.55584222e-02 4.79385068e+02] [-5.48538256e-02 9.98480282e-01 -5.30895726e-03 -6.36929376e+01] [-4.57813867e-02 2.79633539e-03 9.98947569e-01 -3.14249152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.740714057 meters 0.03794704212300889 Centerline is valid? [True, True] Translation: X:479.41, Y:-63.70, Z:-31.43 [[ 9.97466591e-01 5.47150948e-02 4.54605042e-02 4.79414485e+02] [-5.45303546e-02 9.98498074e-01 -5.29492193e-03 -6.36963417e+01] [-4.56819381e-02 2.80253031e-03 9.98952104e-01 -3.14266716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.770714057 meters 0.035540445039646956 Centerline is valid? [True, True] Translation: X:479.44, Y:-63.69, Z:-31.43 [[ 9.97520511e-01 5.31470666e-02 4.61326311e-02 4.79444118e+02] [-5.29552147e-02 9.98582440e-01 -5.37178700e-03 -6.36938681e+01] [-4.63527301e-02 2.91550433e-03 9.98920880e-01 -3.14274564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.800714057 meters 0.04080297505749399 Centerline is valid? [True, True] Translation: X:479.47, Y:-63.71, Z:-31.43 [[ 9.97583316e-01 5.19298971e-02 4.61607285e-02 4.79471753e+02] [-5.17366413e-02 9.98646313e-01 -5.37231604e-03 -6.37051490e+01] [-4.63772252e-02 2.97113180e-03 9.98919579e-01 -3.14306803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.830714057 meters 0.03659461860019085 Centerline is valid? [True, True] Translation: X:479.50, Y:-63.70, Z:-31.43 [[ 9.97758253e-01 4.89784714e-02 4.56023867e-02 4.79502997e+02] [-4.87868929e-02 9.98795121e-01 -5.30527478e-03 -6.37018477e+01] [-4.58072856e-02 3.06858294e-03 9.98945582e-01 -3.14320717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.860714057 meters 0.03653470060389981 Centerline is valid? [True, True] Translation: X:479.53, Y:-63.70, Z:-31.43 [[ 9.97861785e-01 4.75219836e-02 4.48722525e-02 4.79532702e+02] [-4.73350204e-02 9.98865427e-01 -5.22056530e-03 -6.37045970e+01] [-4.50694333e-02 3.08537362e-03 9.98979092e-01 -3.14344586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.890714057 meters 0.043921265296660794 Centerline is valid? [True, True] Translation: X:479.56, Y:-63.72, Z:-31.44 [[ 9.97972237e-01 4.53345809e-02 4.46787336e-02 4.79560967e+02] [-4.51470952e-02 9.98966832e-01 -5.19699351e-03 -6.37175768e+01] [-4.48681765e-02 3.16934020e-03 9.98987889e-01 -3.14374136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.920714057 meters 0.03902130379254152 Centerline is valid? [True, True] Translation: X:479.59, Y:-63.71, Z:-31.44 [[ 9.98023047e-01 4.42455188e-02 4.46355377e-02 4.79592996e+02] [-4.40573334e-02 9.99015515e-01 -5.19150341e-03 -6.37126221e+01] [-4.48212954e-02 3.21471728e-03 9.98989848e-01 -3.14373857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.950714057 meters 0.039816102622916585 Centerline is valid? [True, True] Translation: X:479.62, Y:-63.72, Z:-31.44 [[ 9.98066728e-01 4.35552327e-02 4.43367493e-02 4.79623982e+02] [-4.33688121e-02 9.99045814e-01 -5.15835025e-03 -6.37171362e+01] [-4.45191170e-02 3.22554561e-03 9.99003325e-01 -3.14393434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.980714057 meters 0.041288950776542134 Centerline is valid? [True, True] Translation: X:479.65, Y:-63.72, Z:-31.44 [[ 9.98113644e-01 4.16945580e-02 4.50634824e-02 4.79653687e+02] [-4.14999997e-02 9.99124738e-01 -5.24478749e-03 -6.37226252e+01] [-4.52427192e-02 3.36475945e-03 9.98970357e-01 -3.14412285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.01071405700003 meters 0.04170354847780609 Centerline is valid? [True, True] Translation: X:479.69, Y:-63.73, Z:-31.44 [[ 9.98168218e-01 4.06677029e-02 4.47922676e-02 4.79685479e+02] [-4.04744489e-02 9.99166973e-01 -5.21333476e-03 -6.37267082e+01] [-4.49669688e-02 3.39084272e-03 9.98982720e-01 -3.14429526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.040714057 meters 0.04376321880072135 Centerline is valid? [True, True] Translation: X:479.71, Y:-63.73, Z:-31.45 [[ 9.98236422e-01 3.85258509e-02 4.51642040e-02 4.79714706e+02] [-3.83270480e-02 9.99251406e-01 -5.25981603e-03 -6.37330743e+01] [-4.53330332e-02 3.51952932e-03 9.98965730e-01 -3.14452136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.070714057 meters 0.045391127717802605 Centerline is valid? [True, True] Translation: X:479.75, Y:-63.74, Z:-31.45 [[ 9.98301706e-01 3.72691510e-02 4.47740459e-02 4.79745361e+02] [-3.70723831e-02 9.99298963e-01 -5.21732477e-03 -6.37384181e+01] [-4.49371029e-02 3.54858363e-03 9.98983516e-01 -3.14475123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.100714057 meters 0.047003156508252056 Centerline is valid? [True, True] Translation: X:479.78, Y:-63.74, Z:-31.45 [[ 9.98398503e-01 3.52393554e-02 4.42562643e-02 4.79776088e+02] [-3.50448375e-02 9.99372401e-01 -5.16369648e-03 -6.37433188e+01] [-4.44104545e-02 3.60447324e-03 9.99006867e-01 -3.14499584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.130714057 meters 0.0431192657686286 Centerline is valid? [True, True] Translation: X:479.81, Y:-63.74, Z:-31.45 [[ 9.98413553e-01 3.46717348e-02 4.43649443e-02 4.79809004e+02] [-3.44758067e-02 9.99392139e-01 -5.17405292e-03 -6.37417683e+01] [-4.45173700e-02 3.63632731e-03 9.99001992e-01 -3.14513021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.160714057 meters 0.04066470619810175 Centerline is valid? [True, True] Translation: X:479.84, Y:-63.74, Z:-31.45 [[ 9.98385343e-01 3.47689697e-02 4.49202198e-02 4.79841938e+02] [-3.45677015e-02 9.99388570e-01 -5.24984903e-03 -6.37413059e+01] [-4.50752860e-02 3.68858357e-03 9.98976783e-01 -3.14526788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.190714057 meters 0.04788854771697026 Centerline is valid? [True, True] Translation: X:479.87, Y:-63.75, Z:-31.46 [[ 9.98354114e-01 3.55992305e-02 4.49639625e-02 4.79871376e+02] [-3.53977640e-02 9.99359412e-01 -5.26916931e-03 -6.37546131e+01] [-4.51227375e-02 3.66887312e-03 9.98974713e-01 -3.14556561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.220714057 meters 0.048144357767381234 Centerline is valid? [True, True] Translation: X:479.90, Y:-63.76, Z:-31.46 [[ 9.98312150e-01 3.76612657e-02 4.42094931e-02 4.79900927e+02] [-3.74679009e-02 9.99284330e-01 -5.19463046e-03 -6.37550255e+01] [-4.43734901e-02 3.52942580e-03 9.99008777e-01 -3.14567707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.250714057 meters 0.040065032677405 Centerline is valid? [True, True] Translation: X:479.93, Y:-63.75, Z:-31.46 [[ 9.98255198e-01 3.91961342e-02 4.41613184e-02 4.79933386e+02] [-3.90047483e-02 9.99225560e-01 -5.18748868e-03 -6.37459700e+01] [-4.43304476e-02 3.45593643e-03 9.99010945e-01 -3.14564791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.280714057 meters 0.040897839323796044 Centerline is valid? [True, True] Translation: X:479.96, Y:-63.75, Z:-31.46 [[ 9.98127335e-01 4.21077319e-02 4.43707387e-02 4.79963340e+02] [-4.19172873e-02 9.99107478e-01 -5.21423609e-03 -6.37487435e+01] [-4.45506965e-02 3.34457057e-03 9.99001526e-01 -3.14588484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.310714057 meters 0.0415777916940724 Centerline is valid? [True, True] Translation: X:479.99, Y:-63.75, Z:-31.46 [[ 9.98074590e-01 4.32975824e-02 4.44120743e-02 4.79993288e+02] [-4.31079637e-02 9.99056789e-01 -5.21886095e-03 -6.37521443e+01] [-4.45961484e-02 3.29429842e-03 9.98999665e-01 -3.14608173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.340714057 meters 0.04033433340011398 Centerline is valid? [True, True] Translation: X:480.02, Y:-63.75, Z:-31.46 [[ 9.98019010e-01 4.42016049e-02 4.47691194e-02 4.80024325e+02] [-4.40097903e-02 9.99017244e-01 -5.26162312e-03 -6.37529840e+01] [-4.49576944e-02 3.28092034e-03 9.98983504e-01 -3.14622287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.370714057 meters 0.04081771951670998 Centerline is valid? [True, True] Translation: X:480.06, Y:-63.76, Z:-31.46 [[ 9.97979167e-01 4.52579770e-02 4.46015488e-02 4.80055098e+02] [-4.50686072e-02 9.98970137e-01 -5.24278550e-03 -6.37555714e+01] [-4.47928931e-02 3.22206103e-03 9.98991099e-01 -3.14639015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.400714057 meters 0.03982843595495306 Centerline is valid? [True, True] Translation: X:480.09, Y:-63.76, Z:-31.46 [[ 9.97827439e-01 4.78982017e-02 4.52345413e-02 4.80085704e+02] [-4.77060761e-02 9.98847260e-01 -5.31796697e-03 -6.37554765e+01] [-4.54371187e-02 3.14845090e-03 9.98962239e-01 -3.14648493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.430714057 meters 0.03640634027250029 Centerline is valid? [True, True] Translation: X:480.12, Y:-63.75, Z:-31.47 [[ 9.97799155e-01 4.83551672e-02 4.53720604e-02 4.80115596e+02] [-4.81623201e-02 9.98825277e-01 -5.33458071e-03 -6.37520874e+01] [-4.55767153e-02 3.13761643e-03 9.98955914e-01 -3.14659504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.460714057 meters 0.03874848178326387 Centerline is valid? [True, True] Translation: X:480.14, Y:-63.76, Z:-31.47 [[ 9.97802599e-01 4.81097485e-02 4.55568419e-02 4.80143478e+02] [-4.79151393e-02 9.98837056e-01 -5.35482815e-03 -6.37586729e+01] [-4.57614812e-02 3.16019902e-03 9.98947396e-01 -3.14682984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.490714057 meters 0.03874848178326387 Centerline is valid? [True, True] Translation: X:480.17, Y:-63.76, Z:-31.47 [[ 9.97804290e-01 4.80743621e-02 4.55571582e-02 4.80172457e+02] [-4.78798386e-02 9.98838764e-01 -5.35213495e-03 -6.37620473e+01] [-4.57615561e-02 3.15911383e-03 9.98947396e-01 -3.14699902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.520714057 meters 0.040140696153471545 Centerline is valid? [True, True] Translation: X:480.20, Y:-63.77, Z:-31.47 [[ 9.97897703e-01 4.61623422e-02 4.54885997e-02 4.80202075e+02] [-4.59665127e-02 9.98928696e-01 -5.34223697e-03 -6.37668374e+01] [-4.56864777e-02 3.24005371e-03 9.98950573e-01 -3.14725968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.550714057 meters 0.041657729914554034 Centerline is valid? [True, True] Translation: X:480.23, Y:-63.77, Z:-31.48 [[ 9.98025116e-01 4.43175173e-02 4.45176941e-02 4.80232712e+02] [-4.41282140e-02 9.99012204e-01 -5.22656578e-03 -6.37719786e+01] [-4.47053481e-02 3.25175759e-03 9.98994924e-01 -3.14754976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.580714057 meters 0.04218467195782813 Centerline is valid? [True, True] Translation: X:480.26, Y:-63.78, Z:-31.48 [[ 9.98237956e-01 4.02063926e-02 4.36397775e-02 4.80262586e+02] [-4.00204618e-02 9.99185710e-01 -5.12626464e-03 -6.37761861e+01] [-4.38103507e-02 3.37074789e-03 9.99034179e-01 -3.14780611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.610714057 meters 0.04370672595844073 Centerline is valid? [True, True] Translation: X:480.29, Y:-63.78, Z:-31.48 [[ 9.98370987e-01 3.80292809e-02 4.25340551e-02 4.80292795e+02] [-3.78507019e-02 9.99270915e-01 -4.99627106e-03 -6.37814681e+01] [-4.26930488e-02 3.37818823e-03 9.99082525e-01 -3.14805747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.640714057 meters 0.046870023235937135 Centerline is valid? [True, True] Translation: X:480.32, Y:-63.79, Z:-31.48 [[ 9.98546248e-01 3.41458232e-02 4.17067571e-02 4.80321520e+02] [-3.39707746e-02 9.99410820e-01 -4.89886112e-03 -6.37894255e+01] [-4.18494600e-02 3.47492854e-03 9.99117885e-01 -3.14835962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.670714057 meters 0.04786430132243035 Centerline is valid? [True, True] Translation: X:480.35, Y:-63.79, Z:-31.49 [[ 9.98646064e-01 3.24490549e-02 4.06582994e-02 4.80351892e+02] [-3.22811405e-02 9.99467399e-01 -4.77980188e-03 -6.37932342e+01] [-4.07917448e-02 3.46083406e-03 9.99161677e-01 -3.14856345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.700714057 meters 0.04982916307630158 Centerline is valid? [True, True] Translation: X:480.38, Y:-63.80, Z:-31.49 [[ 9.98711894e-01 3.05727190e-02 4.04952074e-02 4.80381387e+02] [-3.04045784e-02 9.99526332e-01 -4.76164114e-03 -6.37978611e+01] [-4.06216024e-02 3.52426794e-03 9.99168387e-01 -3.14865823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.730714057 meters 0.04647653549903221 Centerline is valid? [True, True] Translation: X:480.41, Y:-63.80, Z:-31.49 [[ 9.98696856e-01 3.02911467e-02 4.10735406e-02 4.80413902e+02] [-3.01180994e-02 9.99534699e-01 -4.82551608e-03 -6.37958901e+01] [-4.12005995e-02 3.58217076e-03 9.99144473e-01 -3.14865485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.76071405700003 meters 0.04740371104498909 Centerline is valid? [True, True] Translation: X:480.45, Y:-63.80, Z:-31.49 [[ 9.98653564e-01 3.05797015e-02 4.19039479e-02 4.80446194e+02] [-3.03993746e-02 9.99525655e-01 -4.93395982e-03 -6.38007089e+01] [-4.20349499e-02 3.65346275e-03 9.99109461e-01 -3.14877460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.790714057 meters 0.04784999343694375 Centerline is valid? [True, True] Translation: X:480.48, Y:-63.80, Z:-31.49 [[ 9.98576018e-01 3.11739473e-02 4.32911225e-02 4.80477911e+02] [-3.09815347e-02 9.99506902e-01 -5.10862157e-03 -6.38042576e+01] [-4.34290316e-02 3.76012158e-03 9.99049439e-01 -3.14885240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.820714057 meters 0.0531285739082161 Centerline is valid? [True, True] Translation: X:480.51, Y:-63.81, Z:-31.49 [[ 9.98536492e-01 3.19371809e-02 4.36450531e-02 4.80508459e+02] [-3.17418451e-02 9.99482774e-01 -5.16144413e-03 -6.38149633e+01] [-4.37873207e-02 3.76851580e-03 9.99033768e-01 -3.14912806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.850714057 meters 0.04610247477068005 Centerline is valid? [True, True] Translation: X:480.54, Y:-63.81, Z:-31.49 [[ 9.98478321e-01 3.37434853e-02 4.36167324e-02 4.80541092e+02] [-3.35495123e-02 9.99423675e-01 -5.17180861e-03 -6.38072617e+01] [-4.37661099e-02 3.70061868e-03 9.99034951e-01 -3.14912801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.880714057 meters 0.048330040082537135 Centerline is valid? [True, True] Translation: X:480.57, Y:-63.81, Z:-31.49 [[ 9.98427108e-01 3.50681304e-02 4.37439962e-02 4.80571184e+02] [-3.48742146e-02 9.99378241e-01 -5.18848949e-03 -6.38129599e+01] [-4.38987486e-02 3.65479105e-03 9.99029300e-01 -3.14935240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.910714057 meters 0.04846507017415802 Centerline is valid? [True, True] Translation: X:480.60, Y:-63.82, Z:-31.50 [[ 9.98405545e-01 3.62050795e-02 4.33077301e-02 4.80602386e+02] [-3.60160099e-02 9.99338003e-01 -5.13829380e-03 -6.38157673e+01] [-4.34650929e-02 3.57032939e-03 9.99048567e-01 -3.14957070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.940714057 meters 0.048237498356514905 Centerline is valid? [True, True] Translation: X:480.63, Y:-63.82, Z:-31.50 [[ 9.98356964e-01 3.82954944e-02 4.26242610e-02 4.80631544e+02] [-3.81141466e-02 9.99260584e-01 -5.05942961e-03 -6.38179777e+01] [-4.27864973e-02 3.42652946e-03 9.99078363e-01 -3.14983011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.970714057 meters 0.04810758010570384 Centerline is valid? [True, True] Translation: X:480.66, Y:-63.82, Z:-31.50 [[ 9.98306703e-01 3.98452610e-02 4.23801954e-02 4.80663098e+02] [-3.96674473e-02 9.99200283e-01 -5.02870473e-03 -6.38217771e+01] [-4.25466733e-02 3.33907547e-03 9.99088901e-01 -3.15006433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.000714057 meters 0.04605629894173895 Centerline is valid? [True, True] Translation: X:480.69, Y:-63.82, Z:-31.50 [[ 9.98318008e-01 4.16042306e-02 4.03762738e-02 4.80694652e+02] [-4.14441863e-02 9.99129324e-01 -4.79314399e-03 -6.38215851e+01] [-4.05405342e-02 3.11172014e-03 9.99173049e-01 -3.15039323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.030714057 meters 0.0459824822388551 Centerline is valid? [True, True] Translation: X:480.72, Y:-63.82, Z:-31.51 [[ 9.98274839e-01 4.29678679e-02 4.00138590e-02 4.80724930e+02] [-4.28116949e-02 9.99071857e-01 -4.75209849e-03 -6.38244467e+01] [-4.01809080e-02 3.03083923e-03 9.99187825e-01 -3.15065384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.060714057 meters 0.045920551034944405 Centerline is valid? [True, True] Translation: X:480.75, Y:-63.83, Z:-31.51 [[ 9.98264396e-01 4.41700529e-02 3.89512811e-02 4.80754353e+02] [-4.40229545e-02 9.99019807e-01 -4.62653871e-03 -6.38269270e+01] [-3.91174558e-02 2.90375840e-03 9.99230400e-01 -3.15089158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.090714057 meters 0.03972004523502771 Centerline is valid? [True, True] Translation: X:480.79, Y:-63.82, Z:-31.51 [[ 9.98136539e-01 4.73713673e-02 3.84630040e-02 4.80785179e+02] [-4.72303614e-02 9.98873584e-01 -4.56693210e-03 -6.38198998e+01] [-3.86360205e-02 2.74180022e-03 9.99249589e-01 -3.15087782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.120714057 meters 0.03669066974500581 Centerline is valid? [True, True] Translation: X:480.82, Y:-63.82, Z:-31.51 [[ 9.97828684e-01 5.26524447e-02 3.95681348e-02 4.80815499e+02] [-5.25073619e-02 9.98609488e-01 -4.69769563e-03 -6.38161715e+01] [-3.97604599e-02 2.60987708e-03 9.99205832e-01 -3.15083442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.150714057 meters 0.03971114040878711 Centerline is valid? [True, True] Translation: X:480.84, Y:-63.82, Z:-31.51 [[ 9.97640532e-01 5.57908320e-02 4.00093995e-02 4.80843289e+02] [-5.56450427e-02 9.98439320e-01 -4.74914447e-03 -6.38236722e+01] [-4.02119164e-02 2.51161427e-03 9.99188017e-01 -3.15108220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.180714057 meters 0.03876001327133518 Centerline is valid? [True, True] Translation: X:480.87, Y:-63.82, Z:-31.51 [[ 9.97443443e-01 5.89450128e-02 4.03988175e-02 4.80873072e+02] [-5.87990504e-02 9.98258334e-01 -4.79278844e-03 -6.38242247e+01] [-4.06109673e-02 2.40512329e-03 9.99172140e-01 -3.15117432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.210714057 meters 0.03226727908195826 Centerline is valid? [True, True] Translation: X:480.90, Y:-63.82, Z:-31.51 [[ 9.96929613e-01 6.63004543e-02 4.16604862e-02 4.80904616e+02] [-6.61516832e-02 9.97797345e-01 -4.94102046e-03 -6.38154569e+01] [-4.18963144e-02 2.16993833e-03 9.99119608e-01 -3.15100112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.240714057 meters 0.03219655562581583 Centerline is valid? [True, True] Translation: X:480.93, Y:-63.82, Z:-31.51 [[ 9.96688274e-01 6.96823335e-02 4.19148691e-02 4.80933481e+02] [-6.95347860e-02 9.97567149e-01 -4.96961701e-03 -6.38179542e+01] [-4.21591909e-02 2.03861755e-03 9.99108826e-01 -3.15114072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.270714057 meters 0.029417289379281786 Centerline is valid? [True, True] Translation: X:480.96, Y:-63.82, Z:-31.51 [[ 9.96089379e-01 7.73260864e-02 4.27390312e-02 4.80963651e+02] [-7.71797640e-02 9.97004325e-01 -5.06561113e-03 -6.38160403e+01] [-4.30027028e-02 1.74721311e-03 9.99073428e-01 -3.15116309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.300714057 meters 0.028746231035453537 Centerline is valid? [True, True] Translation: X:480.99, Y:-63.82, Z:-31.51 [[ 9.95814986e-01 8.07176161e-02 4.28623294e-02 4.80993403e+02] [-8.05736256e-02 9.96735718e-01 -5.07921912e-03 -6.38178391e+01] [-4.31323971e-02 1.60438924e-03 9.99068077e-01 -3.15128461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.330714057 meters 0.028222003991584657 Centerline is valid? [True, True] Translation: X:481.02, Y:-63.82, Z:-31.51 [[ 9.95524420e-01 8.42348630e-02 4.28440963e-02 4.81021622e+02] [-8.40943016e-02 9.96444873e-01 -5.07576564e-03 -6.38206035e+01] [-4.31193365e-02 1.45010429e-03 9.99068877e-01 -3.15145755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.360714057 meters 0.02672886126518052 Centerline is valid? [True, True] Translation: X:481.05, Y:-63.82, Z:-31.52 [[ 9.94999687e-01 9.01835314e-02 4.29249767e-02 4.81051365e+02] [-9.00480749e-02 9.95924450e-01 -5.08276467e-03 -6.38217136e+01] [-4.32084155e-02 1.19203774e-03 9.99065369e-01 -3.15156195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.390714057 meters 0.026841122386109705 Centerline is valid? [True, True] Translation: X:481.08, Y:-63.83, Z:-31.52 [[ 9.94816786e-01 9.23224241e-02 4.26161005e-02 4.81078709e+02] [-9.21909025e-02 9.95728568e-01 -5.04545922e-03 -6.38253206e+01] [-4.28998777e-02 1.09049076e-03 9.99078781e-01 -3.15176059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.420714057 meters 0.02622600713641304 Centerline is valid? [True, True] Translation: X:481.11, Y:-63.83, Z:-31.52 [[ 9.94580544e-01 9.53401115e-02 4.14705187e-02 4.81107588e+02] [-9.52183121e-02 9.95444321e-01 -4.90690239e-03 -6.38300650e+01] [-4.17494169e-02 9.31556858e-04 9.99127679e-01 -3.15198969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.450714057 meters 0.025955165926501773 Centerline is valid? [True, True] Translation: X:481.14, Y:-63.84, Z:-31.52 [[ 9.94703320e-01 9.47400003e-02 3.98702673e-02 4.81135582e+02] [-9.46270500e-02 9.95501628e-01 -4.71488717e-03 -6.38375195e+01] [-4.01376044e-02 9.17108146e-04 9.99193741e-01 -3.15223553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.480714057 meters 0.026074701525789508 Centerline is valid? [True, True] Translation: X:481.16, Y:-63.84, Z:-31.52 [[ 9.94756145e-01 9.41064762e-02 4.00522615e-02 4.81163429e+02] [-9.39925173e-02 9.95561700e-01 -4.72306425e-03 -6.38444307e+01] [-4.03189685e-02 9.33684301e-04 9.99186424e-01 -3.15249395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.51071405700003 meters 0.02632671583532704 Centerline is valid? [True, True] Translation: X:481.19, Y:-63.85, Z:-31.53 [[ 9.94910480e-01 9.25202709e-02 3.99141169e-02 4.81190536e+02] [-9.24059243e-02 9.95710307e-01 -4.70422187e-03 -6.38522578e+01] [-4.01781334e-02 9.91978777e-04 9.99192040e-01 -3.15265408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.540714057 meters 0.026643431406884546 Centerline is valid? [True, True] Translation: X:481.22, Y:-63.86, Z:-31.53 [[ 9.95304065e-01 8.78748027e-02 4.05935532e-02 4.81219124e+02] [-8.77528548e-02 9.96130810e-01 -4.77970519e-03 -6.38629038e+01] [-4.08565047e-02 1.19505982e-03 9.99164310e-01 -3.15261158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.570714057 meters 0.027782266821345356 Centerline is valid? [True, True] Translation: X:481.25, Y:-63.87, Z:-31.53 [[ 9.95531183e-01 8.52907195e-02 4.05358779e-02 4.81246087e+02] [-8.51670012e-02 9.96355261e-01 -4.77235592e-03 -6.38715092e+01] [-4.07951729e-02 1.29870997e-03 9.99166686e-01 -3.15277572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.600714057 meters 0.028565298942446537 Centerline is valid? [True, True] Translation: X:481.28, Y:-63.88, Z:-31.53 [[ 9.95984800e-01 7.95754884e-02 4.10124365e-02 4.81275227e+02] [-7.94442173e-02 9.96827644e-01 -4.82326280e-03 -6.38845041e+01] [-4.12661440e-02 1.54569552e-03 9.99146994e-01 -3.15280386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.630714057 meters 0.02901262240794294 Centerline is valid? [True, True] Translation: X:481.30, Y:-63.89, Z:-31.53 [[ 9.96173263e-01 7.69103967e-02 4.15165035e-02 4.81303891e+02] [-7.67735426e-02 9.97036598e-01 -4.88311406e-03 -6.38924830e+01] [-4.17690357e-02 1.67705862e-03 9.99125886e-01 -3.15289916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.660714057 meters 0.03105523155822487 Centerline is valid? [True, True] Translation: X:481.33, Y:-63.90, Z:-31.53 [[ 9.96339020e-01 7.45493624e-02 4.18443571e-02 4.81331366e+02] [-7.44083111e-02 9.97215720e-01 -4.92043454e-03 -6.39025411e+01] [-4.20946659e-02 1.78885298e-03 9.99112025e-01 -3.15308775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.690714057 meters 0.033677921135379284 Centerline is valid? [True, True] Translation: X:481.36, Y:-63.92, Z:-31.53 [[ 9.96591625e-01 7.08991191e-02 4.21716498e-02 4.81357823e+02] [-7.07526765e-02 9.97481573e-01 -4.95688425e-03 -6.39167137e+01] [-4.24168823e-02 1.95623223e-03 9.99098084e-01 -3.15330620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.720714057 meters 0.032541164777395305 Centerline is valid? [True, True] Translation: X:481.39, Y:-63.92, Z:-31.53 [[ 9.96736994e-01 6.87221612e-02 4.23394536e-02 4.81386862e+02] [-6.85727378e-02 9.97633724e-01 -4.97316545e-03 -6.39238142e+01] [-4.25810334e-02 2.05360573e-03 9.99090906e-01 -3.15342006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.750714057 meters 0.03164708919977486 Centerline is valid? [True, True] Translation: X:481.42, Y:-63.93, Z:-31.54 [[ 9.96813428e-01 6.77218727e-02 4.21513585e-02 4.81415521e+02] [-6.75729212e-02 9.97702058e-01 -4.95017314e-03 -6.39275133e+01] [-4.23897321e-02 2.08610863e-03 9.99098973e-01 -3.15354279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.780714057 meters 0.03159278409641381 Centerline is valid? [True, True] Translation: X:481.44, Y:-63.93, Z:-31.54 [[ 9.96877448e-01 6.68564386e-02 4.20187019e-02 4.81443604e+02] [-6.67077839e-02 9.97760367e-01 -4.93159915e-03 -6.39330786e+01] [-4.22543046e-02 2.11322549e-03 9.99104653e-01 -3.15375180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.810714057 meters 0.03316895337511338 Centerline is valid? [True, True] Translation: X:481.47, Y:-63.94, Z:-31.54 [[ 9.96931431e-01 6.63438848e-02 4.15477027e-02 4.81470764e+02] [-6.61982139e-02 9.97794590e-01 -4.87365747e-03 -6.39427315e+01] [-4.17794103e-02 2.10831861e-03 9.99124635e-01 -3.15400976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.840714057 meters 0.0326794250547312 Centerline is valid? [True, True] Translation: X:481.50, Y:-63.95, Z:-31.54 [[ 9.96935008e-01 6.63721294e-02 4.14165470e-02 4.81499558e+02] [-6.62275671e-02 9.97792737e-01 -4.85430477e-03 -6.39460313e+01] [-4.16473203e-02 2.09650922e-03 9.99130174e-01 -3.15415822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.870714057 meters 0.03429748985432851 Centerline is valid? [True, True] Translation: X:481.53, Y:-63.95, Z:-31.54 [[ 9.96972619e-01 6.57755256e-02 4.14629645e-02 4.81525994e+02] [-6.56302291e-02 9.97832190e-01 -4.85723610e-03 -6.39547695e+01] [-4.16925679e-02 2.12130754e-03 9.99128235e-01 -3.15443548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.900714057 meters 0.034850213704939084 Centerline is valid? [True, True] Translation: X:481.55, Y:-63.96, Z:-31.55 [[ 9.96981975e-01 6.57131329e-02 4.13367425e-02 4.81552857e+02] [-6.55688428e-02 9.97836318e-01 -4.83821841e-03 -6.39601669e+01] [-4.15652374e-02 2.11321417e-03 9.99133557e-01 -3.15465146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.930714057 meters 0.03404220551352931 Centerline is valid? [True, True] Translation: X:481.58, Y:-63.96, Z:-31.55 [[ 9.97016525e-01 6.53633363e-02 4.10570629e-02 4.81581256e+02] [-6.52208525e-02 9.97859301e-01 -4.80173901e-03 -6.39639409e+01] [-4.12830298e-02 2.10963650e-03 9.99145265e-01 -3.15481682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.960714057 meters 0.034172721927880546 Centerline is valid? [True, True] Translation: X:481.61, Y:-63.97, Z:-31.55 [[ 9.96991812e-01 6.54149177e-02 4.15718069e-02 4.81609421e+02] [-6.52690038e-02 9.97855875e-01 -4.85900355e-03 -6.39682495e+01] [-4.18005231e-02 2.13103633e-03 9.99123704e-01 -3.15494514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.990714057 meters 0.033504297548124874 Centerline is valid? [True, True] Translation: X:481.64, Y:-63.97, Z:-31.55 [[ 9.96986323e-01 6.45284838e-02 4.30621145e-02 4.81637731e+02] [-6.43712224e-02 9.97913345e-01 -5.03010152e-03 -6.39717165e+01] [-4.32968435e-02 2.24298147e-03 9.99059734e-01 -3.15498423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.020714057 meters 0.03591825697602053 Centerline is valid? [True, True] Translation: X:481.66, Y:-63.98, Z:-31.55 [[ 9.96977623e-01 6.38884071e-02 4.42028322e-02 4.81664219e+02] [-6.37222175e-02 9.97954334e-01 -5.16002748e-03 -6.39797529e+01] [-4.44420740e-02 2.32772944e-03 9.99009251e-01 -3.15520821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.050714057 meters 0.034959191718951746 Centerline is valid? [True, True] Translation: X:481.69, Y:-63.98, Z:-31.55 [[ 9.96971420e-01 6.33174070e-02 4.51541165e-02 4.81692524e+02] [-6.31435194e-02 9.97990551e-01 -5.26839372e-03 -6.39829737e+01] [-4.53969627e-02 2.40124813e-03 9.98966140e-01 -3.15529893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.080714057 meters 0.03451552660735053 Centerline is valid? [True, True] Translation: X:481.72, Y:-63.99, Z:-31.55 [[ 9.97011766e-01 6.12170999e-02 4.71169353e-02 4.81721999e+02] [-6.10255925e-02 9.98121083e-01 -5.49365883e-03 -6.39877667e+01] [-4.73647123e-02 2.60190360e-03 9.98874273e-01 -3.15539742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.110714057 meters 0.03768859637142005 Centerline is valid? [True, True] Translation: X:481.75, Y:-64.00, Z:-31.56 [[ 9.97040517e-01 5.98408998e-02 4.82625511e-02 4.81749915e+02] [-5.96384275e-02 9.98204193e-01 -5.62565480e-03 -6.39972865e+01] [-4.85125251e-02 2.73070312e-03 9.98818842e-01 -3.15559866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.140714057 meters 0.03449538307596696 Centerline is valid? [True, True] Translation: X:481.78, Y:-64.00, Z:-31.56 [[ 9.97036445e-01 5.85881063e-02 4.98574150e-02 4.81779518e+02] [-5.83705985e-02 9.98278083e-01 -5.80873433e-03 -6.39974240e+01] [-5.01118874e-02 2.88131267e-03 9.98739454e-01 -3.15567056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.170714057 meters 0.03449538307596696 Centerline is valid? [True, True] Translation: X:481.81, Y:-64.00, Z:-31.56 [[ 9.97036440e-01 5.85879895e-02 4.98576504e-02 4.81809317e+02] [-5.83705823e-02 9.98278096e-01 -5.80671310e-03 -6.40008952e+01] [-5.01120039e-02 2.87928447e-03 9.98739454e-01 -3.15584447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.200714057 meters 0.03403979393503337 Centerline is valid? [True, True] Translation: X:481.84, Y:-64.01, Z:-31.56 [[ 9.96991209e-01 5.85720952e-02 5.07724144e-02 4.81839909e+02] [-5.83466078e-02 9.98278872e-01 -5.91325186e-03 -6.40054310e+01] [-5.10313802e-02 2.93306198e-03 9.98692743e-01 -3.15604453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.230714057 meters 0.03210773659963673 Centerline is valid? [True, True] Translation: X:481.87, Y:-64.01, Z:-31.56 [[ 9.96894250e-01 5.95419528e-02 5.15423104e-02 4.81870563e+02] [-5.93108609e-02 9.98221512e-01 -6.00287354e-03 -6.40081547e+01] [-5.18080659e-02 2.92721131e-03 9.98652770e-01 -3.15635962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.26071405700003 meters 0.03132831892101791 Centerline is valid? [True, True] Translation: X:481.90, Y:-64.01, Z:-31.57 [[ 9.96733554e-01 6.23636630e-02 5.13127232e-02 4.81900639e+02] [-6.21383297e-02 9.98049652e-01 -5.97656861e-03 -6.40116568e+01] [-5.15853663e-02 2.76855957e-03 9.98664751e-01 -3.15667940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.290714057 meters 0.030350813459794502 Centerline is valid? [True, True] Translation: X:481.93, Y:-64.01, Z:-31.57 [[ 9.96663258e-01 6.37190905e-02 5.10120386e-02 4.81929769e+02] [-6.34981499e-02 9.97964268e-01 -5.94178592e-03 -6.40137838e+01] [-5.12867970e-02 2.68278964e-03 9.98680363e-01 -3.15693117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.320714057 meters 0.0307046544595971 Centerline is valid? [True, True] Translation: X:481.96, Y:-64.02, Z:-31.57 [[ 9.96477702e-01 6.64107606e-02 5.12035223e-02 4.81958123e+02] [-6.61917959e-02 9.97789105e-01 -5.96218189e-03 -6.40190098e+01] [-5.14862697e-02 2.55192821e-03 9.98670442e-01 -3.15722933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.350714057 meters 0.030409701232755985 Centerline is valid? [True, True] Translation: X:481.99, Y:-64.02, Z:-31.57 [[ 9.96364873e-01 6.76158293e-02 5.18183302e-02 4.81987774e+02] [-6.73932945e-02 9.97708254e-01 -6.03183674e-03 -6.40230068e+01] [-5.21074234e-02 2.51770226e-03 9.98638312e-01 -3.15744123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.380714057 meters 0.030409701232755985 Centerline is valid? [True, True] Translation: X:482.02, Y:-64.03, Z:-31.58 [[ 9.96369668e-01 6.75449866e-02 5.18185214e-02 4.82015885e+02] [-6.73224415e-02 9.97713048e-01 -6.03019415e-03 -6.40262182e+01] [-5.21073243e-02 2.51975317e-03 9.98638312e-01 -3.15760526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.410714057 meters 0.03025930217497854 Centerline is valid? [True, True] Translation: X:482.04, Y:-64.03, Z:-31.58 [[ 9.96228991e-01 6.89366292e-02 5.26833830e-02 4.82044030e+02] [-6.87087348e-02 9.97617948e-01 -6.12688437e-03 -6.40313285e+01] [-5.29802553e-02 2.48397123e-03 9.98592471e-01 -3.15785416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.440714057 meters 0.029800143051974367 Centerline is valid? [True, True] Translation: X:482.07, Y:-64.03, Z:-31.58 [[ 9.96215798e-01 6.86891344e-02 5.32530475e-02 4.82072169e+02] [-6.84560776e-02 9.97634926e-01 -6.19032280e-03 -6.40342876e+01] [-5.35523080e-02 2.52140262e-03 9.98561862e-01 -3.15799342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.470714057 meters 0.03080848941771071 Centerline is valid? [True, True] Translation: X:482.10, Y:-64.04, Z:-31.58 [[ 9.96150249e-01 6.76030811e-02 5.58077482e-02 4.82100614e+02] [-6.73456395e-02 9.97708642e-01 -6.48301916e-03 -6.40403551e+01] [-5.61181448e-02 2.69965266e-03 9.98420485e-01 -3.15807821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.500714057 meters 0.031104040019468638 Centerline is valid? [True, True] Translation: X:482.13, Y:-64.05, Z:-31.58 [[ 9.96136434e-01 6.70089030e-02 5.67627710e-02 4.82130143e+02] [-6.67417807e-02 9.97748513e-01 -6.59083225e-03 -6.40450689e+01] [-5.70766148e-02 2.77691973e-03 9.98365939e-01 -3.15820788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.530714057 meters 0.03166978500899424 Centerline is valid? [True, True] Translation: X:482.16, Y:-64.05, Z:-31.58 [[ 9.96159269e-01 6.60037123e-02 5.75345163e-02 4.82160597e+02] [-6.57277164e-02 9.97815247e-01 -6.67836544e-03 -6.40502744e+01] [-5.78496145e-02 2.87110327e-03 9.98321180e-01 -3.15838834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.560714057 meters 0.03265220116274561 Centerline is valid? [True, True] Translation: X:482.19, Y:-64.06, Z:-31.59 [[ 9.96208924e-01 6.45145210e-02 5.83579973e-02 4.82189618e+02] [-6.42280103e-02 9.97912259e-01 -6.77395167e-03 -6.40582992e+01] [-5.86731792e-02 3.00005305e-03 9.98272737e-01 -3.15863680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.590714057 meters 0.03361931290549553 Centerline is valid? [True, True] Translation: X:482.22, Y:-64.06, Z:-31.59 [[ 9.96252900e-01 6.33385368e-02 5.88930289e-02 4.82220613e+02] [-6.30446906e-02 9.97987292e-01 -6.83610564e-03 -6.40641628e+01] [-5.92074834e-02 3.09759728e-03 9.98240892e-01 -3.15888090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.620714057 meters 0.034774563346895236 Centerline is valid? [True, True] Translation: X:482.25, Y:-64.07, Z:-31.59 [[ 9.96399062e-01 6.12450215e-02 5.86340993e-02 4.82251585e+02] [-6.09500253e-02 9.98117600e-01 -6.80808502e-03 -6.40710677e+01] [-5.89406878e-02 3.20981969e-03 9.98256326e-01 -3.15914675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.650714057 meters 0.03428450512352546 Centerline is valid? [True, True] Translation: X:482.28, Y:-64.07, Z:-31.59 [[ 9.96470180e-01 5.96785482e-02 5.90394083e-02 4.82282987e+02] [-5.93765737e-02 9.98212100e-01 -6.85751869e-03 -6.40749641e+01] [-5.93430985e-02 3.32775510e-03 9.98232099e-01 -3.15938905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.680714057 meters 0.03743442816147148 Centerline is valid? [True, True] Translation: X:482.31, Y:-64.08, Z:-31.60 [[ 9.96556586e-01 5.88052369e-02 5.84543907e-02 4.82313098e+02] [-5.85069467e-02 9.98263822e-01 -6.80286890e-03 -6.40835541e+01] [-5.87529478e-02 3.35945588e-03 9.98266901e-01 -3.15956293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.710714057 meters 0.0361901311604098 Centerline is valid? [True, True] Translation: X:482.35, Y:-64.09, Z:-31.60 [[ 9.96555891e-01 5.82556205e-02 5.90138933e-02 4.82345308e+02] [-5.79498162e-02 9.98295779e-01 -6.88158853e-03 -6.40859634e+01] [-5.93142118e-02 3.43804332e-03 9.98233442e-01 -3.15978513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.740714057 meters 0.03737456423579104 Centerline is valid? [True, True] Translation: X:482.38, Y:-64.09, Z:-31.60 [[ 9.96584128e-01 5.74106074e-02 5.93641172e-02 4.82375486e+02] [-5.70988186e-02 9.98344434e-01 -6.93658132e-03 -6.40920955e+01] [-5.96640694e-02 3.52326588e-03 9.98212295e-01 -3.15997296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.770714057 meters 0.039968137061256695 Centerline is valid? [True, True] Translation: X:482.41, Y:-64.10, Z:-31.60 [[ 9.96603888e-01 5.63567335e-02 6.00383934e-02 4.82406169e+02] [-5.60357500e-02 9.98404098e-01 -7.01796551e-03 -6.41013079e+01] [-6.03380876e-02 3.62983531e-03 9.98171398e-01 -3.16011427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.800714057 meters 0.0342472262366816 Centerline is valid? [True, True] Translation: X:482.44, Y:-64.10, Z:-31.60 [[ 9.96620361e-01 5.65197527e-02 5.96101814e-02 4.82439872e+02] [-5.62028294e-02 9.98394964e-01 -6.98122841e-03 -6.40966384e+01] [-5.99090822e-02 3.60737352e-03 9.98197320e-01 -3.16036627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.830714057 meters 0.03435415920735871 Centerline is valid? [True, True] Translation: X:482.47, Y:-64.10, Z:-31.61 [[ 9.96576462e-01 5.73378801e-02 5.95627616e-02 4.82471883e+02] [-5.70218858e-02 9.98348438e-01 -6.99285659e-03 -6.41007975e+01] [-5.98653456e-02 3.57253528e-03 9.98200069e-01 -3.16065653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.860714057 meters 0.03208281469973743 Centerline is valid? [True, True] Translation: X:482.50, Y:-64.10, Z:-31.61 [[ 9.96498271e-01 5.89179232e-02 5.93285350e-02 4.82503950e+02] [-5.86063098e-02 9.98256769e-01 -6.98027078e-03 -6.41014665e+01] [-5.96363747e-02 3.47880126e-03 9.98214106e-01 -3.16090328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.890714057 meters 0.03274823988509019 Centerline is valid? [True, True] Translation: X:482.53, Y:-64.11, Z:-31.61 [[ 9.96328076e-01 6.12196780e-02 5.98541214e-02 4.82533878e+02] [-6.09057403e-02 9.98118574e-01 -7.05713649e-03 -6.41062190e+01] [-6.01735459e-02 3.38576365e-03 9.98182188e-01 -3.16114378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.920714057 meters 0.030452700177966353 Centerline is valid? [True, True] Translation: X:482.57, Y:-64.11, Z:-31.61 [[ 9.96197112e-01 6.29555644e-02 6.02321414e-02 4.82566000e+02] [-6.26407278e-02 9.98010865e-01 -7.10293728e-03 -6.41059852e+01] [-6.05595010e-02 3.30294043e-03 9.98159124e-01 -3.16133790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.950714057 meters 0.031529484701677955 Centerline is valid? [True, True] Translation: X:482.60, Y:-64.11, Z:-31.62 [[ 9.96039573e-01 6.55198355e-02 6.01025797e-02 4.82595576e+02] [-6.52108054e-02 9.97846316e-01 -7.09093867e-03 -6.41114371e+01] [-6.04377349e-02 3.14351789e-03 9.98167019e-01 -3.16154749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.980714057 meters 0.030637252024547146 Centerline is valid? [True, True] Translation: X:482.63, Y:-64.11, Z:-31.62 [[ 9.95934934e-01 6.69288782e-02 6.02837618e-02 4.82627739e+02] [-6.66204414e-02 9.97753029e-01 -7.11412153e-03 -6.41135968e+01] [-6.06244461e-02 3.06907134e-03 9.98155928e-01 -3.16177271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.01071405700003 meters 0.030231951618247915 Centerline is valid? [True, True] Translation: X:482.66, Y:-64.12, Z:-31.62 [[ 9.95893320e-01 6.83031835e-02 5.94236518e-02 4.82658630e+02] [-6.80050651e-02 9.97660228e-01 -7.02716102e-03 -6.41170435e+01] [-5.97645915e-02 2.95719341e-03 9.98208119e-01 -3.16196981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.040714057 meters 0.029729868676683743 Centerline is valid? [True, True] Translation: X:482.69, Y:-64.12, Z:-31.62 [[ 9.95905477e-01 6.84973078e-02 5.89949075e-02 4.82689689e+02] [-6.82036943e-02 9.97647009e-01 -6.97859462e-03 -6.41206847e+01] [-5.93341080e-02 2.92634997e-03 9.98233890e-01 -3.16221154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.070714057 meters 0.02993877051984191 Centerline is valid? [True, True] Translation: X:482.72, Y:-64.13, Z:-31.62 [[ 9.95956045e-01 6.82390700e-02 5.84378778e-02 4.82720198e+02] [-6.79504143e-02 9.97664736e-01 -6.91482752e-03 -6.41268182e+01] [-5.87732714e-02 2.91598626e-03 9.98267098e-01 -3.16247400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.100714057 meters 0.03109833511593741 Centerline is valid? [True, True] Translation: X:482.75, Y:-64.13, Z:-31.63 [[ 9.96040433e-01 6.70915462e-02 5.83282198e-02 4.82750021e+02] [-6.68018895e-02 9.97742373e-01 -6.90395922e-03 -6.41335984e+01] [-5.86597338e-02 2.98018723e-03 9.98273587e-01 -3.16266885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.130714057 meters 0.03164658434322746 Centerline is valid? [True, True] Translation: X:482.78, Y:-64.14, Z:-31.63 [[ 9.96051031e-01 6.65099823e-02 5.88112682e-02 4.82781176e+02] [-6.62144101e-02 9.97781126e-01 -6.96250085e-03 -6.41396936e+01] [-5.91438492e-02 3.04085272e-03 9.98244839e-01 -3.16284053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.160714057 meters 0.03198578146605591 Centerline is valid? [True, True] Translation: X:482.81, Y:-64.14, Z:-31.63 [[ 9.96030118e-01 6.64443414e-02 5.92381070e-02 4.82812630e+02] [-6.61435096e-02 9.97785377e-01 -7.02697275e-03 -6.41448568e+01] [-5.95738195e-02 3.08086020e-03 9.98219148e-01 -3.16302622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.190714057 meters 0.030507599898581438 Centerline is valid? [True, True] Translation: X:482.84, Y:-64.15, Z:-31.63 [[ 9.96023294e-01 6.65953661e-02 5.91832405e-02 4.82844956e+02] [-6.62944770e-02 9.97775299e-01 -7.03523574e-03 -6.41471164e+01] [-5.95200896e-02 3.08373669e-03 9.98222345e-01 -3.16319619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.220714057 meters 0.03321590340130225 Centerline is valid? [True, True] Translation: X:482.88, Y:-64.16, Z:-31.63 [[ 9.95954242e-01 6.73759381e-02 5.94611774e-02 4.82875448e+02] [-6.70726821e-02 9.97722947e-01 -7.08356853e-03 -6.41566187e+01] [-5.98030432e-02 3.06668948e-03 9.98205486e-01 -3.16337307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.250714057 meters 0.030056668616393927 Centerline is valid? [True, True] Translation: X:482.91, Y:-64.16, Z:-31.64 [[ 9.95906888e-01 6.82271420e-02 5.92834527e-02 4.82908253e+02] [-6.79263644e-02 9.97665241e-01 -7.07640898e-03 -6.41562525e+01] [-5.96278433e-02 3.02053504e-03 9.98216107e-01 -3.16355644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.280714057 meters 0.030781532272913602 Centerline is valid? [True, True] Translation: X:482.94, Y:-64.16, Z:-31.64 [[ 9.95843390e-01 6.88842585e-02 5.95894341e-02 4.82938866e+02] [-6.85806081e-02 9.97620111e-01 -7.12838274e-03 -6.41617573e+01] [-5.99386512e-02 3.01207321e-03 9.98197518e-01 -3.16374841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.310714057 meters 0.043013420412403594 Centerline is valid? [True, True] Translation: X:482.97, Y:-64.19, Z:-31.64 [[ 9.95696693e-01 7.19258717e-02 5.84359895e-02 4.82966373e+02] [-7.16383073e-02 9.97406085e-01 -7.00384278e-03 -6.41850450e+01] [-5.87881690e-02 2.78744772e-03 9.98266588e-01 -3.16386584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.340714057 meters 0.03169478073278137 Centerline is valid? [True, True] Translation: X:483.00, Y:-64.17, Z:-31.64 [[ 9.95990969e-01 6.71841165e-02 5.90616943e-02 4.82998831e+02] [-6.68819772e-02 9.97735775e-01 -7.07990478e-03 -6.41732438e+01] [-5.94036224e-02 3.10135833e-03 9.98229228e-01 -3.16419727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.370714057 meters 0.03226770262160785 Centerline is valid? [True, True] Translation: X:483.03, Y:-64.18, Z:-31.64 [[ 9.96099889e-01 6.56491771e-02 5.89507980e-02 4.83030289e+02] [-6.53454695e-02 9.97837675e-01 -7.06703629e-03 -6.41798262e+01] [-5.92872724e-02 3.18730649e-03 9.98235874e-01 -3.16441162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.400714057 meters 0.0321600277869061 Centerline is valid? [True, True] Translation: X:483.06, Y:-64.19, Z:-31.65 [[ 9.96383352e-01 6.14628736e-02 5.86730793e-02 4.83060967e+02] [-6.11545470e-02 9.98103496e-01 -7.03792040e-03 -6.41856318e+01] [-5.89943764e-02 3.42434114e-03 9.98252442e-01 -3.16469662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.430714057 meters 0.03252272747603873 Centerline is valid? [True, True] Translation: X:483.09, Y:-64.19, Z:-31.65 [[ 9.96523435e-01 5.98196228e-02 5.79884169e-02 4.83092905e+02] [-5.95156280e-02 9.98203132e-01 -6.95685207e-03 -6.41912586e+01] [-5.83003756e-02 3.48144907e-03 9.98293016e-01 -3.16493716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.460714057 meters 0.03467449593509478 Centerline is valid? [True, True] Translation: X:483.12, Y:-64.20, Z:-31.65 [[ 9.96621010e-01 5.86214682e-02 5.75333475e-02 4.83123102e+02] [-5.83199961e-02 9.98274049e-01 -6.90655278e-03 -6.41994905e+01] [-5.78389200e-02 3.52787100e-03 9.98319695e-01 -3.16515350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.490714057 meters 0.03532558140419302 Centerline is valid? [True, True] Translation: X:483.15, Y:-64.21, Z:-31.65 [[ 9.96786244e-01 5.63980785e-02 5.68897248e-02 4.83153435e+02] [-5.60989356e-02 9.98401765e-01 -6.84295398e-03 -6.42063366e+01] [-5.71847311e-02 3.62950939e-03 9.98357017e-01 -3.16541708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.520714057 meters 0.034946895882498066 Centerline is valid? [True, True] Translation: X:483.19, Y:-64.21, Z:-31.66 [[ 9.96864372e-01 5.57995808e-02 5.61055349e-02 4.83185026e+02] [-5.55075546e-02 9.98435443e-01 -6.75112753e-03 -6.42103335e+01] [-5.63944646e-02 3.61567746e-03 9.98402019e-01 -3.16568927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.550714057 meters 0.03623132415319029 Centerline is valid? [True, True] Translation: X:483.22, Y:-64.22, Z:-31.66 [[ 9.97026320e-01 5.44009785e-02 5.45806854e-02 4.83215047e+02] [-5.41217721e-02 9.98512651e-01 -6.58170658e-03 -6.42172438e+01] [-5.48575562e-02 3.60813127e-03 9.98487671e-01 -3.16596792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.580714057 meters 0.03627964797444893 Centerline is valid? [True, True] Translation: X:483.25, Y:-64.22, Z:-31.66 [[ 9.97009476e-01 5.44080030e-02 5.48805475e-02 4.83246829e+02] [-5.41253531e-02 9.98512173e-01 -6.62463133e-03 -6.42222283e+01] [-5.51593277e-02 3.63439120e-03 9.98470951e-01 -3.16613663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.610714057 meters 0.03782776369596455 Centerline is valid? [True, True] Translation: X:483.28, Y:-64.23, Z:-31.66 [[ 9.96941359e-01 5.46911605e-02 5.58283384e-02 4.83278375e+02] [-5.43982770e-02 9.98496478e-01 -6.75353985e-03 -6.42282846e+01] [-5.61137582e-02 3.69591778e-03 9.98417541e-01 -3.16625680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.640714057 meters 0.03789764871878883 Centerline is valid? [True, True] Translation: X:483.31, Y:-64.23, Z:-31.66 [[ 9.96959899e-01 5.40020798e-02 5.61670343e-02 4.83309963e+02] [-5.37036678e-02 9.98533696e-01 -6.80992018e-03 -6.42326406e+01] [-5.64524261e-02 3.77284159e-03 9.98398162e-01 -3.16636590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.670714057 meters 0.038247978773528195 Centerline is valid? [True, True] Translation: X:483.34, Y:-64.24, Z:-31.67 [[ 9.96986289e-01 5.40656899e-02 5.56348906e-02 4.83341722e+02] [-5.37722341e-02 9.98530350e-01 -6.75928530e-03 -6.42374197e+01] [-5.59185722e-02 3.74730240e-03 9.98428300e-01 -3.16654308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.700714057 meters 0.03740807025288277 Centerline is valid? [True, True] Translation: X:483.37, Y:-64.24, Z:-31.67 [[ 9.97065752e-01 5.34856062e-02 5.47647406e-02 4.83373431e+02] [-5.31996531e-02 9.98561639e-01 -6.66710840e-03 -6.42412201e+01] [-5.50425635e-02 3.73408024e-03 9.98477027e-01 -3.16679628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.730714057 meters 0.03940592357603236 Centerline is valid? [True, True] Translation: X:483.40, Y:-64.25, Z:-31.67 [[ 9.97066060e-01 5.33877406e-02 5.48545397e-02 4.83404352e+02] [-5.30999222e-02 9.98566780e-01 -6.69213409e-03 -6.42485800e+01] [-5.51331989e-02 3.75972798e-03 9.98471930e-01 -3.16702908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.76071405700003 meters 0.040225474759075376 Centerline is valid? [True, True] Translation: X:483.44, Y:-64.25, Z:-31.67 [[ 9.97068228e-01 5.36252394e-02 5.45828078e-02 4.83435577e+02] [-5.33399244e-02 9.98554125e-01 -6.67169970e-03 -6.42537745e+01] [-5.48616594e-02 3.74069695e-03 9.98486958e-01 -3.16721455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.790714057 meters 0.04034445112960305 Centerline is valid? [True, True] Translation: X:483.47, Y:-64.26, Z:-31.67 [[ 9.96997815e-01 5.49663696e-02 5.45348987e-02 4.83466608e+02] [-5.46827357e-02 9.98481430e-01 -6.68070106e-03 -6.42569677e+01] [-5.48192975e-02 3.67852691e-03 9.98489516e-01 -3.16739176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.820714057 meters 0.03964664218882308 Centerline is valid? [True, True] Translation: X:483.50, Y:-64.26, Z:-31.68 [[ 9.96968246e-01 5.63865355e-02 5.36178599e-02 4.83498343e+02] [-5.61140373e-02 9.98402714e-01 -6.57536150e-03 -6.42601899e+01] [-5.39029787e-02 3.54671204e-03 9.98539879e-01 -3.16759598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.850714057 meters 0.03579294098651405 Centerline is valid? [True, True] Translation: X:483.53, Y:-64.26, Z:-31.68 [[ 9.96869742e-01 5.86653189e-02 5.30009258e-02 4.83529891e+02] [-5.84015316e-02 9.98271925e-01 -6.51349174e-03 -6.42579824e+01] [-5.32914522e-02 3.39776759e-03 9.98573220e-01 -3.16786372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.880714057 meters 0.0361853747642196 Centerline is valid? [True, True] Translation: X:483.56, Y:-64.26, Z:-31.68 [[ 9.96806143e-01 5.99951087e-02 5.27076794e-02 4.83560791e+02] [-5.97360330e-02 9.98193186e-01 -6.47844779e-03 -6.42630125e+01] [-5.30011216e-02 3.30920888e-03 9.98588970e-01 -3.16808960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.910714057 meters 0.03649132982227998 Centerline is valid? [True, True] Translation: X:483.59, Y:-64.27, Z:-31.68 [[ 9.96767839e-01 6.09129468e-02 5.23783236e-02 4.83593098e+02] [-6.06577209e-02 9.98137784e-01 -6.45015708e-03 -6.42671785e+01] [-5.26736819e-02 3.25215940e-03 9.98606482e-01 -3.16830239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.940714057 meters 0.03448910055489101 Centerline is valid? [True, True] Translation: X:483.63, Y:-64.27, Z:-31.68 [[ 9.96665103e-01 6.24787030e-02 5.24889013e-02 4.83625413e+02] [-6.22238601e-02 9.98041201e-01 -6.47698673e-03 -6.42693706e+01] [-5.27907599e-02 3.18932459e-03 9.98600503e-01 -3.16846359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.970714057 meters 0.03524780173958752 Centerline is valid? [True, True] Translation: X:483.66, Y:-64.27, Z:-31.69 [[ 9.96602692e-01 6.33154154e-02 5.26709797e-02 4.83656120e+02] [-6.30592167e-02 9.97988532e-01 -6.51351659e-03 -6.42749536e+01] [-5.29774397e-02 3.16999744e-03 9.98590678e-01 -3.16867283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.000714057 meters 0.03597701242822829 Centerline is valid? [True, True] Translation: X:483.69, Y:-64.28, Z:-31.69 [[ 9.96612117e-01 6.38893028e-02 5.17923303e-02 4.83686625e+02] [-6.36420007e-02 9.97952196e-01 -6.41177939e-03 -6.42806871e+01] [-5.20959138e-02 3.09388952e-03 9.98637293e-01 -3.16891318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.030714057 meters 0.03598299221756647 Centerline is valid? [True, True] Translation: X:483.72, Y:-64.29, Z:-31.69 [[ 9.96617955e-01 6.40279822e-02 5.15079556e-02 4.83718782e+02] [-6.37829636e-02 9.97943346e-01 -6.38837434e-03 -6.42860313e+01] [-5.18110563e-02 3.08143851e-03 9.98652151e-01 -3.16908908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.060714057 meters 0.03501359482314454 Centerline is valid? [True, True] Translation: X:483.75, Y:-64.29, Z:-31.69 [[ 9.96595474e-01 6.40878400e-02 5.18672396e-02 4.83750976e+02] [-6.38387884e-02 9.97939406e-01 -6.44594567e-03 -6.42895662e+01] [-5.21734690e-02 3.11285854e-03 9.98633186e-01 -3.16926206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.090714057 meters 0.034462447457947055 Centerline is valid? [True, True] Translation: X:483.78, Y:-64.29, Z:-31.69 [[ 9.96616743e-01 6.34574186e-02 5.22324015e-02 4.83782666e+02] [-6.32032819e-02 9.97979476e-01 -6.50462870e-03 -6.42948746e+01] [-5.25396316e-02 3.18136267e-03 9.98613772e-01 -3.16941157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.120714057 meters 0.03261880452395417 Centerline is valid? [True, True] Translation: X:483.82, Y:-64.30, Z:-31.70 [[ 9.96581150e-01 6.37594608e-02 5.25427785e-02 4.83816126e+02] [-6.35020026e-02 9.97960173e-01 -6.55663338e-03 -6.42975753e+01] [-5.28536477e-02 3.19764557e-03 9.98597150e-01 -3.16954475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.150714057 meters 0.03423815081067751 Centerline is valid? [True, True] Translation: X:483.85, Y:-64.31, Z:-31.70 [[ 9.96547093e-01 6.41745099e-02 5.26832445e-02 4.83846207e+02] [-6.39153891e-02 9.97933560e-01 -6.59036890e-03 -6.43064699e+01] [-5.29973114e-02 3.20034290e-03 9.98589527e-01 -3.16974973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.180714057 meters 0.03376697148011888 Centerline is valid? [True, True] Translation: X:483.88, Y:-64.31, Z:-31.70 [[ 9.96519220e-01 6.46170329e-02 5.26695589e-02 4.83878439e+02] [-6.43579898e-02 9.97905041e-01 -6.60132706e-03 -6.43109108e+01] [-5.29857765e-02 3.18864236e-03 9.98590176e-01 -3.16990142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.210714057 meters 0.0341951069558429 Centerline is valid? [True, True] Translation: X:483.91, Y:-64.32, Z:-31.70 [[ 9.96498369e-01 6.47305974e-02 5.29240055e-02 4.83910956e+02] [-6.44684791e-02 9.97897608e-01 -6.64677517e-03 -6.43173308e+01] [-5.32429883e-02 3.21157047e-03 9.98576422e-01 -3.17006546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.240714057 meters 0.03512191210966544 Centerline is valid? [True, True] Translation: X:483.94, Y:-64.32, Z:-31.70 [[ 9.96509529e-01 6.45982864e-02 5.28755123e-02 4.83941341e+02] [-6.43356230e-02 9.97906117e-01 -6.65646074e-03 -6.43234717e+01] [-5.31947932e-02 3.23144753e-03 9.98578926e-01 -3.17024247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.270714057 meters 0.03541284152263843 Centerline is valid? [True, True] Translation: X:483.97, Y:-64.33, Z:-31.70 [[ 9.96568955e-01 6.42364976e-02 5.21918696e-02 4.83972624e+02] [-6.39794561e-02 9.97929506e-01 -6.58257115e-03 -6.43287462e+01] [-5.25066480e-02 3.22077862e-03 9.98615381e-01 -3.17046699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.300714057 meters 0.03541284152263843 Centerline is valid? [True, True] Translation: X:484.00, Y:-64.33, Z:-31.71 [[ 9.96550665e-01 6.45208197e-02 5.21903788e-02 4.84004952e+02] [-6.42635508e-02 9.97911174e-01 -6.59436897e-03 -6.43329033e+01] [-5.25068362e-02 3.21768372e-03 9.98615381e-01 -3.17065555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.330714057 meters 0.03750235153203844 Centerline is valid? [True, True] Translation: X:484.03, Y:-64.34, Z:-31.71 [[ 9.96763405e-01 6.21372050e-02 5.10066972e-02 4.84034439e+02] [-6.18875502e-02 9.98062216e-01 -6.46094139e-03 -6.43416227e+01] [-5.13093221e-02 3.28335041e-03 9.98677412e-01 -3.17094664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.360714057 meters 0.03921830894960084 Centerline is valid? [True, True] Translation: X:484.06, Y:-64.35, Z:-31.71 [[ 9.96898010e-01 5.98786024e-02 5.10774942e-02 4.84063655e+02] [-5.96252499e-02 9.98199858e-01 -6.47093978e-03 -6.43503008e+01] [-5.13730183e-02 3.40535863e-03 9.98673729e-01 -3.17115930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.390714057 meters 0.04011058649658924 Centerline is valid? [True, True] Translation: X:484.10, Y:-64.36, Z:-31.71 [[ 9.96932234e-01 5.93773306e-02 5.09946397e-02 4.84095580e+02] [-5.91242286e-02 9.98229737e-01 -6.45887059e-03 -6.43556950e+01] [-5.12878763e-02 3.42403755e-03 9.98678041e-01 -3.17129744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.420714057 meters 0.03998792838562778 Centerline is valid? [True, True] Translation: X:484.13, Y:-64.36, Z:-31.71 [[ 9.96876896e-01 5.97227172e-02 5.16686675e-02 4.84128543e+02] [-5.94626738e-02 9.98208995e-01 -6.55692849e-03 -6.43601469e+01] [-5.19677262e-02 3.46409340e-03 9.98642757e-01 -3.17143665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.450714057 meters 0.038340165811636726 Centerline is valid? [True, True] Translation: X:484.16, Y:-64.36, Z:-31.72 [[ 9.96806001e-01 6.07033400e-02 5.18931690e-02 4.84160888e+02] [-6.04415771e-02 9.98149915e-01 -6.60023087e-03 -6.43623681e+01] [-5.21978183e-02 3.44264476e-03 9.98630831e-01 -3.17161023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.480714057 meters 0.03767005461394552 Centerline is valid? [True, True] Translation: X:484.19, Y:-64.37, Z:-31.72 [[ 9.96785031e-01 6.18970087e-02 5.08759544e-02 4.84192724e+02] [-6.16463304e-02 9.98077000e-01 -6.48324709e-03 -6.43651202e+01] [-5.11794135e-02 3.32608775e-03 9.98683936e-01 -3.17184812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.51071405700003 meters 0.03831442439675979 Centerline is valid? [True, True] Translation: X:484.22, Y:-64.37, Z:-31.72 [[ 9.96754044e-01 6.27696876e-02 5.04117294e-02 4.84223490e+02] [-6.25240383e-02 9.98022702e-01 -6.43670097e-03 -6.43694176e+01] [-5.07160801e-02 3.26386282e-03 9.98707778e-01 -3.17206079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.540714057 meters 0.03878965430698384 Centerline is valid? [True, True] Translation: X:484.26, Y:-64.37, Z:-31.72 [[ 9.96752392e-01 6.29436484e-02 5.02271488e-02 4.84255869e+02] [-6.26994523e-02 9.98011777e-01 -6.42428140e-03 -6.43737665e+01] [-5.05316537e-02 3.25420314e-03 9.98717158e-01 -3.17225205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.570714057 meters 0.03691054762274794 Centerline is valid? [True, True] Translation: X:484.29, Y:-64.37, Z:-31.72 [[ 9.96757551e-01 6.28869917e-02 5.01957188e-02 4.84288449e+02] [-6.26423039e-02 9.98015299e-01 -6.43462097e-03 -6.43744397e+01] [-5.05007493e-02 3.26938157e-03 9.98718672e-01 -3.17240382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.600714057 meters 0.038039381667630955 Centerline is valid? [True, True] Translation: X:484.32, Y:-64.38, Z:-31.73 [[ 9.96809609e-01 6.21533229e-02 5.00756143e-02 4.84320230e+02] [-6.19082478e-02 9.98061120e-01 -6.43184823e-03 -6.43798170e+01] [-5.03782844e-02 3.31123459e-03 9.98724719e-01 -3.17263456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.630714057 meters 0.03848624828189143 Centerline is valid? [True, True] Translation: X:484.35, Y:-64.38, Z:-31.73 [[ 9.97069248e-01 5.92315041e-02 4.84204946e-02 4.84350560e+02] [-5.89982795e-02 9.98238625e-01 -6.23300178e-03 -6.43839740e+01] [-4.87043980e-02 3.35800852e-03 9.98807592e-01 -3.17288541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.660714057 meters 0.04015622895625043 Centerline is valid? [True, True] Translation: X:484.38, Y:-64.39, Z:-31.73 [[ 9.97206575e-01 5.74275331e-02 4.77611209e-02 4.84379626e+02] [-5.71985164e-02 9.98343888e-01 -6.14914384e-03 -6.43903096e+01] [-4.80351533e-02 3.40010141e-03 9.98839859e-01 -3.17313503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.690714057 meters 0.047517084405212705 Centerline is valid? [True, True] Translation: X:484.41, Y:-64.41, Z:-31.74 [[ 9.97475338e-01 5.27365711e-02 4.75584338e-02 4.84407950e+02] [-5.25042133e-02 9.98601933e-01 -6.12265682e-03 -6.44050758e+01] [-4.78148319e-02 3.61018102e-03 9.98849693e-01 -3.17350641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.720714057 meters 0.04516090155754888 Centerline is valid? [True, True] Translation: X:484.44, Y:-64.41, Z:-31.74 [[ 9.97572128e-01 5.06259001e-02 4.78212060e-02 4.84439354e+02] [-5.03884606e-02 9.98710707e-01 -6.15845244e-03 -6.44058590e+01] [-4.80713277e-02 3.73386356e-03 9.98836926e-01 -3.17354391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.750714057 meters 0.051058031081706916 Centerline is valid? [True, True] Translation: X:484.47, Y:-64.42, Z:-31.74 [[ 9.97644528e-01 4.88798259e-02 4.81264892e-02 4.84468043e+02] [-4.86372263e-02 9.98797268e-01 -6.19978693e-03 -6.44173663e+01] [-4.83716505e-02 3.84444455e-03 9.98822008e-01 -3.17369957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.780714057 meters 0.04443017290266119 Centerline is valid? [True, True] Translation: X:484.50, Y:-64.41, Z:-31.74 [[ 9.97707689e-01 4.70569431e-02 4.86313782e-02 4.84500773e+02] [-4.68070863e-02 9.98884304e-01 -6.26451458e-03 -6.44108660e+01] [-4.88719093e-02 3.97386124e-03 9.98797149e-01 -3.17364665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.810714057 meters 0.04554374801730384 Centerline is valid? [True, True] Translation: X:484.53, Y:-64.42, Z:-31.74 [[ 9.97714304e-01 4.69344576e-02 4.86140278e-02 4.84533028e+02] [-4.66846411e-02 9.98890049e-01 -6.26215222e-03 -6.44158528e+01] [-4.88539793e-02 3.97831041e-03 9.98798008e-01 -3.17385827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.840714057 meters 0.046412961120674806 Centerline is valid? [True, True] Translation: X:484.56, Y:-64.42, Z:-31.74 [[ 9.97741158e-01 4.67595254e-02 4.82299501e-02 4.84564594e+02] [-4.65128555e-02 9.98898296e-01 -6.22476145e-03 -6.44186610e+01] [-4.84678819e-02 3.96738800e-03 9.98816862e-01 -3.17407845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.870714057 meters 0.04723280325864244 Centerline is valid? [True, True] Translation: X:484.60, Y:-64.42, Z:-31.74 [[ 9.97730245e-01 4.73319436e-02 4.78961940e-02 4.84596525e+02] [-4.70888142e-02 9.98871512e-01 -6.19247379e-03 -6.44230529e+01] [-4.81352455e-02 3.92304341e-03 9.98833123e-01 -3.17427652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.900714057 meters 0.04760418592184329 Centerline is valid? [True, True] Translation: X:484.63, Y:-64.43, Z:-31.74 [[ 9.97691588e-01 4.78916567e-02 4.81444191e-02 4.84628772e+02] [-4.76460672e-02 9.98844812e-01 -6.23649450e-03 -6.44265548e+01] [-4.83874793e-02 3.92820587e-03 9.98820915e-01 -3.17447383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.930714057 meters 0.0478923545580561 Centerline is valid? [True, True] Translation: X:484.66, Y:-64.43, Z:-31.75 [[ 9.97582615e-01 4.97842286e-02 4.84815080e-02 4.84659718e+02] [-4.95367268e-02 9.98752471e-01 -6.29402572e-03 -6.44284391e+01] [-4.87343691e-02 3.87719542e-03 9.98804249e-01 -3.17460720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.960714057 meters 0.046679069143040514 Centerline is valid? [True, True] Translation: X:484.69, Y:-64.43, Z:-31.75 [[ 9.97325816e-01 5.36031238e-02 4.96781892e-02 4.84690262e+02] [-5.33478457e-02 9.98555150e-01 -6.45135569e-03 -6.44279024e+01] [-4.99522245e-02 3.78387920e-03 9.98744441e-01 -3.17462269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.990714057 meters 0.04101318873360661 Centerline is valid? [True, True] Translation: X:484.72, Y:-64.42, Z:-31.75 [[ 9.97149167e-01 5.59483616e-02 5.06292418e-02 4.84722236e+02] [-5.56861996e-02 9.98426670e-01 -6.57503198e-03 -6.44220258e+01] [-5.09174476e-02 3.73693760e-03 9.98695874e-01 -3.17465629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.020714057 meters 0.04058379836826436 Centerline is valid? [True, True] Translation: X:484.75, Y:-64.42, Z:-31.75 [[ 9.96961482e-01 5.86389871e-02 5.12764298e-02 4.84752346e+02] [-5.83735469e-02 9.98272593e-01 -6.66029020e-03 -6.44243462e+01] [-5.15784072e-02 3.64686571e-03 9.98662289e-01 -3.17473815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.050714057 meters 0.040872926286773276 Centerline is valid? [True, True] Translation: X:484.78, Y:-64.43, Z:-31.75 [[ 9.96551126e-01 6.42593244e-02 5.25032604e-02 4.84782262e+02] [-6.39887732e-02 9.97927317e-01 -6.81959945e-03 -6.44265109e+01] [-5.28326607e-02 3.43646029e-03 9.98597467e-01 -3.17484410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.080714057 meters 0.04036008285415422 Centerline is valid? [True, True] Translation: X:484.81, Y:-64.43, Z:-31.75 [[ 9.96377341e-01 6.67728823e-02 5.26647595e-02 4.84812292e+02] [-6.65041285e-02 9.97762697e-01 -6.84109268e-03 -6.44285277e+01] [-5.30037319e-02 3.31388581e-03 9.98588816e-01 -3.17500412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.110714057 meters 0.03354936166718819 Centerline is valid? [True, True] Translation: X:484.84, Y:-64.42, Z:-31.75 [[ 9.96048420e-01 7.16255701e-02 5.25102087e-02 4.84843935e+02] [-7.13651053e-02 9.97426937e-01 -6.82101006e-03 -6.44208880e+01] [-5.28636554e-02 3.04665972e-03 9.98597092e-01 -3.17513778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.140714057 meters 0.03481648040979507 Centerline is valid? [True, True] Translation: X:484.87, Y:-64.43, Z:-31.75 [[ 9.95896799e-01 7.38221937e-02 5.23435760e-02 4.84872821e+02] [-7.35663939e-02 9.97267142e-01 -6.79953412e-03 -6.44261015e+01] [-5.27024850e-02 2.92090613e-03 9.98605987e-01 -3.17534988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.170714057 meters 0.037376584022026677 Centerline is valid? [True, True] Translation: X:484.90, Y:-64.43, Z:-31.76 [[ 9.95817123e-01 7.53537609e-02 5.16727039e-02 4.84901577e+02] [-7.51065854e-02 9.97152926e-01 -6.71146080e-03 -6.44331350e+01] [-5.20313217e-02 2.80242724e-03 9.98641521e-01 -3.17558975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.200714057 meters 0.03246571983263536 Centerline is valid? [True, True] Translation: X:484.93, Y:-64.43, Z:-31.76 [[ 9.95724655e-01 7.75500022e-02 5.01837563e-02 4.84931789e+02] [-7.73196962e-02 9.96985049e-01 -6.51734803e-03 -6.44283199e+01] [-5.05378751e-02 2.60929132e-03 9.98718737e-01 -3.17575336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.230714057 meters 0.03190439025131883 Centerline is valid? [True, True] Translation: X:484.96, Y:-64.43, Z:-31.76 [[ 9.95770418e-01 7.74788527e-02 4.93791725e-02 4.84960417e+02] [-7.72558638e-02 9.96990685e-01 -6.41141949e-03 -6.44302194e+01] [-4.97273244e-02 2.56947123e-03 9.98759526e-01 -3.17594117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.26071405700003 meters 0.031113629545690046 Centerline is valid? [True, True] Translation: X:484.99, Y:-64.43, Z:-31.76 [[ 9.95709704e-01 7.81038002e-02 4.96183517e-02 4.84989142e+02] [-7.78795973e-02 9.96941979e-01 -6.43887419e-03 -6.44328487e+01] [-4.99695182e-02 2.54699227e-03 9.98747496e-01 -3.17611627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.290714057 meters 0.031039739525365345 Centerline is valid? [True, True] Translation: X:485.02, Y:-64.44, Z:-31.76 [[ 9.95714504e-01 7.77150407e-02 5.01298217e-02 4.85018147e+02] [-7.74858827e-02 9.96972250e-01 -6.50155410e-03 -6.44364705e+01] [-5.04833097e-02 2.58933823e-03 9.98721548e-01 -3.17626771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.320714057 meters 0.03170079164149421 Centerline is valid? [True, True] Translation: X:485.05, Y:-64.44, Z:-31.76 [[ 9.95686095e-01 7.76696716e-02 5.07604427e-02 4.85046810e+02] [-7.74348454e-02 9.96975704e-01 -6.57946883e-03 -6.44414119e+01] [-5.11179533e-02 2.62045859e-03 9.98689185e-01 -3.17643800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.350714057 meters 0.03257915824393384 Centerline is valid? [True, True] Translation: X:485.07, Y:-64.45, Z:-31.77 [[ 9.95748639e-01 7.66499798e-02 5.10825748e-02 4.85074697e+02] [-7.64109702e-02 9.97054442e-01 -6.61836967e-03 -6.44462812e+01] [-5.14394060e-02 2.68696349e-03 9.98672503e-01 -3.17651001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.380714057 meters 0.03262921674830904 Centerline is valid? [True, True] Translation: X:485.10, Y:-64.45, Z:-31.77 [[ 9.95776112e-01 7.60966895e-02 5.13734233e-02 4.85104122e+02] [-7.58543341e-02 9.97096709e-01 -6.65372898e-03 -6.44501984e+01] [-5.17305981e-02 2.72872755e-03 9.98657348e-01 -3.17667879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.410714057 meters 0.03278690551191986 Centerline is valid? [True, True] Translation: X:485.13, Y:-64.45, Z:-31.77 [[ 9.95924301e-01 7.42094337e-02 5.12615435e-02 4.85133214e+02] [-7.39657369e-02 9.97238695e-01 -6.63741052e-03 -6.44543199e+01] [-5.16125532e-02 2.81876059e-03 9.98663206e-01 -3.17684177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.440714057 meters 0.03444934696376118 Centerline is valid? [True, True] Translation: X:485.16, Y:-64.46, Z:-31.77 [[ 9.95981495e-01 7.33610561e-02 5.13713595e-02 4.85161546e+02] [-7.31152853e-02 9.97301326e-01 -6.64976381e-03 -6.44612405e+01] [-5.17205587e-02 2.86701010e-03 9.98657481e-01 -3.17704168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.470714057 meters 0.03363824748429747 Centerline is valid? [True, True] Translation: X:485.19, Y:-64.46, Z:-31.77 [[ 9.96130995e-01 7.14616714e-02 5.11494943e-02 4.85191683e+02] [-7.12156323e-02 9.97438982e-01 -6.61899218e-03 -6.44642539e+01] [-5.14915038e-02 2.95073968e-03 9.98669073e-01 -3.17721917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.500714057 meters 0.03438910091040946 Centerline is valid? [True, True] Translation: X:485.22, Y:-64.47, Z:-31.77 [[ 9.96167899e-01 7.07547709e-02 5.14128380e-02 4.85221401e+02] [-7.05052514e-02 9.97489221e-01 -6.65307013e-03 -6.44693039e+01] [-5.17544882e-02 3.00269982e-03 9.98655324e-01 -3.17741728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.530714057 meters 0.03508322269680376 Centerline is valid? [True, True] Translation: X:485.25, Y:-64.47, Z:-31.78 [[ 9.96181934e-01 7.03512533e-02 5.16938733e-02 4.85251618e+02] [-7.00984543e-02 9.97517648e-01 -6.68943745e-03 -6.44739192e+01] [-5.20361612e-02 3.04023612e-03 9.98640573e-01 -3.17759013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.560714057 meters 0.03350137648579763 Centerline is valid? [True, True] Translation: X:485.28, Y:-64.47, Z:-31.78 [[ 9.96220527e-01 6.98884417e-02 5.15777884e-02 4.85282396e+02] [-6.96361604e-02 9.97550128e-01 -6.67441551e-03 -6.44746793e+01] [-5.19178940e-02 3.05751059e-03 9.98646676e-01 -3.17765477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.590714057 meters 0.03427905825073041 Centerline is valid? [True, True] Translation: X:485.31, Y:-64.48, Z:-31.78 [[ 9.96167175e-01 7.04543301e-02 5.18376951e-02 4.85311717e+02] [-7.02002547e-02 9.97510363e-01 -6.70814934e-03 -6.44786693e+01] [-5.21812562e-02 3.04341878e-03 9.98632993e-01 -3.17786959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.620714057 meters 0.03157076947332694 Centerline is valid? [True, True] Translation: X:485.34, Y:-64.48, Z:-31.78 [[ 9.96131392e-01 7.08186055e-02 5.20286024e-02 4.85342226e+02] [-7.05632029e-02 9.97484595e-01 -6.73180685e-03 -6.44773519e+01] [-5.23744666e-02 3.03445929e-03 9.98622905e-01 -3.17800674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.650714057 meters 0.03119764045070703 Centerline is valid? [True, True] Translation: X:485.37, Y:-64.48, Z:-31.78 [[ 9.96058999e-01 7.16903679e-02 5.22203262e-02 4.85372184e+02] [-7.14342705e-02 9.97422425e-01 -6.75661334e-03 -6.44806227e+01] [-5.25701085e-02 2.99966461e-03 9.98612731e-01 -3.17820108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.680714057 meters 0.03180980615365457 Centerline is valid? [True, True] Translation: X:485.40, Y:-64.48, Z:-31.78 [[ 9.95959580e-01 7.31829695e-02 5.20458286e-02 4.85401206e+02] [-7.29306074e-02 9.97314282e-01 -6.73413472e-03 -6.44839386e+01] [-5.23988722e-02 2.91119209e-03 9.98621992e-01 -3.17842349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.710714057 meters 0.03272994318464976 Centerline is valid? [True, True] Translation: X:485.43, Y:-64.49, Z:-31.79 [[ 9.95873870e-01 7.51920073e-02 5.08074527e-02 4.85430168e+02] [-7.49541698e-02 9.97165316e-01 -6.57310073e-03 -6.44871333e+01] [-5.11576742e-02 2.73774883e-03 9.98686836e-01 -3.17867138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.740714057 meters 0.03193682334838509 Centerline is valid? [True, True] Translation: X:485.46, Y:-64.49, Z:-31.79 [[ 9.95779203e-01 7.62359241e-02 5.11063774e-02 4.85459556e+02] [-7.59967435e-02 9.97086157e-01 -6.60989701e-03 -6.44889365e+01] [-5.14613731e-02 2.69807973e-03 9.98671341e-01 -3.17881411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.770714057 meters 0.03128303663718645 Centerline is valid? [True, True] Translation: X:485.49, Y:-64.49, Z:-31.79 [[ 9.95682118e-01 7.74197744e-02 5.12181530e-02 4.85488448e+02] [-7.71811895e-02 9.96995087e-01 -6.62274016e-03 -6.44905722e+01] [-5.15769780e-02 2.64106597e-03 9.98665530e-01 -3.17897208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.800714057 meters 0.029379785353987723 Centerline is valid? [True, True] Translation: X:485.52, Y:-64.49, Z:-31.79 [[ 9.95506564e-01 7.97449148e-02 5.10630015e-02 4.85518450e+02] [-7.95110231e-02 9.96812145e-01 -6.59879502e-03 -6.44887748e+01] [-5.14264405e-02 2.50907226e-03 9.98673633e-01 -3.17912137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.830714057 meters 0.02940423764358844 Centerline is valid? [True, True] Translation: X:485.55, Y:-64.49, Z:-31.79 [[ 9.95472026e-01 8.08230650e-02 5.00307661e-02 4.85546382e+02] [-8.05999711e-02 9.96725570e-01 -6.46400199e-03 -6.44918424e+01] [-5.03893843e-02 2.40225485e-03 9.98726759e-01 -3.17934759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.860714057 meters 0.028576171660925017 Centerline is valid? [True, True] Translation: X:485.57, Y:-64.49, Z:-31.80 [[ 9.95420317e-01 8.25051052e-02 4.82835457e-02 4.85574906e+02] [-8.22995220e-02 9.96588143e-01 -6.23387116e-03 -6.44934035e+01] [-4.86331353e-02 2.23160927e-03 9.98814216e-01 -3.17960971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.890714057 meters 0.029957880407346493 Centerline is valid? [True, True] Translation: X:485.60, Y:-64.50, Z:-31.80 [[ 9.95352359e-01 8.33069014e-02 4.83077793e-02 4.85602709e+02] [-8.31022174e-02 9.96521532e-01 -6.23363151e-03 -6.44970202e+01] [-4.86590468e-02 2.19017624e-03 9.98813046e-01 -3.17982241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.920714057 meters 0.027863547453824123 Centerline is valid? [True, True] Translation: X:485.63, Y:-64.50, Z:-31.80 [[ 9.95318981e-01 8.35079559e-02 4.86471814e-02 4.85632318e+02] [-8.33008557e-02 9.96504702e-01 -6.27267524e-03 -6.44965472e+01] [-4.90009633e-02 2.19096089e-03 9.98796328e-01 -3.17987566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.950714057 meters 0.027830055553344838 Centerline is valid? [True, True] Translation: X:485.66, Y:-64.50, Z:-31.80 [[ 9.95263387e-01 8.36434167e-02 4.95436206e-02 4.85661335e+02] [-8.34289144e-02 9.96493273e-01 -6.38544702e-03 -6.45003779e+01] [-4.99039852e-02 2.22183114e-03 9.98751549e-01 -3.18000804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.980714057 meters 0.027754517942981165 Centerline is valid? [True, True] Translation: X:485.69, Y:-64.50, Z:-31.80 [[ 9.95245334e-01 8.36608178e-02 4.98757747e-02 4.85689683e+02] [-8.34435821e-02 9.96491786e-01 -6.42560642e-03 -6.45044923e+01] [-5.02383713e-02 2.23324151e-03 9.98734759e-01 -3.18017251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.01071405700003 meters 0.028058725136797167 Centerline is valid? [True, True] Translation: X:485.72, Y:-64.51, Z:-31.80 [[ 9.95415879e-01 8.18129510e-02 4.95365443e-02 4.85717926e+02] [-8.15965623e-02 9.96645031e-01 -6.37826643e-03 -6.45082893e+01] [-4.98921756e-02 2.30701596e-03 9.98751945e-01 -3.18035405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.040714057 meters 0.030799085020054417 Centerline is valid? [True, True] Translation: X:485.74, Y:-64.52, Z:-31.81 [[ 9.95549430e-01 8.05301787e-02 4.89512295e-02 4.85744702e+02] [-8.03175014e-02 9.96749425e-01 -6.29946507e-03 -6.45165469e+01] [-4.92994069e-02 2.33978841e-03 9.98781304e-01 -3.18063930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.070714057 meters 0.03088650625868394 Centerline is valid? [True, True] Translation: X:485.77, Y:-64.52, Z:-31.81 [[ 9.95819453e-01 7.72431968e-02 4.87555669e-02 4.85774138e+02] [-7.70285342e-02 9.97009178e-01 -6.26930002e-03 -6.45196089e+01] [-4.90940084e-02 2.48752106e-03 9.98791065e-01 -3.18073469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.100714057 meters 0.031110733938940385 Centerline is valid? [True, True] Translation: X:485.80, Y:-64.52, Z:-31.81 [[ 9.95920664e-01 7.55158555e-02 4.93901420e-02 4.85803033e+02] [-7.52935269e-02 9.97141199e-01 -6.34927225e-03 -6.45230591e+01] [-4.97284161e-02 2.60461345e-03 9.98759381e-01 -3.18084475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.130714057 meters 0.0319863327037154 Centerline is valid? [True, True] Translation: X:485.83, Y:-64.53, Z:-31.81 [[ 9.95993717e-01 7.39507163e-02 5.02773108e-02 4.85832573e+02] [-7.37184824e-02 9.97258166e-01 -6.46037733e-03 -6.45279209e+01] [-5.06172083e-02 2.72812818e-03 9.98714401e-01 -3.18095623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.160714057 meters 0.03333230362706048 Centerline is valid? [True, True] Translation: X:485.86, Y:-64.53, Z:-31.81 [[ 9.96103023e-01 7.11040713e-02 5.21821715e-02 4.85861742e+02] [-7.08500990e-02 9.97464451e-01 -6.70316444e-03 -6.45342945e+01] [-5.25264834e-02 2.97993035e-03 9.98615085e-01 -3.18099223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.190714057 meters 0.03333230362706048 Centerline is valid? [True, True] Translation: X:485.89, Y:-64.54, Z:-31.81 [[ 9.96105536e-01 7.10686859e-02 5.21824091e-02 4.85890662e+02] [-7.08147618e-02 9.97466973e-01 -6.70131410e-03 -6.45379785e+01] [-5.25264833e-02 2.97993120e-03 9.98615085e-01 -3.18116123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.220714057 meters 0.033406370580295885 Centerline is valid? [True, True] Translation: X:485.92, Y:-64.54, Z:-31.81 [[ 9.96152887e-01 6.97673532e-02 5.30277505e-02 4.85919739e+02] [-6.95033934e-02 9.97558485e-01 -6.80792894e-03 -6.45416747e+01] [-5.33732537e-02 3.09612946e-03 9.98569832e-01 -3.18128386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.250714057 meters 0.03393653486626137 Centerline is valid? [True, True] Translation: X:485.95, Y:-64.55, Z:-31.81 [[ 9.96302914e-01 6.74511652e-02 5.32056702e-02 4.85949565e+02] [-6.71822478e-02 9.97717352e-01 -6.82875774e-03 -6.45457363e+01] [-5.35448281e-02 3.22903472e-03 9.98560226e-01 -3.18147872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.280714057 meters 0.034878567708767357 Centerline is valid? [True, True] Translation: X:485.98, Y:-64.55, Z:-31.82 [[ 9.96394060e-01 6.64518029e-02 5.27544780e-02 4.85979542e+02] [-6.61860929e-02 9.97784331e-01 -6.76981259e-03 -6.45500222e+01] [-5.30874578e-02 3.25378828e-03 9.98584566e-01 -3.18170109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.310714057 meters 0.03464311067152715 Centerline is valid? [True, True] Translation: X:486.01, Y:-64.55, Z:-31.82 [[ 9.96455324e-01 6.60877664e-02 5.20499291e-02 4.86010268e+02] [-6.58286198e-02 9.97808588e-01 -6.67940010e-03 -6.45526913e+01] [-5.23772929e-02 3.22934879e-03 9.98622146e-01 -3.18195490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.340714057 meters 0.03366949092839128 Centerline is valid? [True, True] Translation: X:486.04, Y:-64.55, Z:-31.82 [[ 9.96531583e-01 6.56940221e-02 5.10793460e-02 4.86040342e+02] [-6.54439395e-02 9.97834717e-01 -6.55496479e-03 -6.45530925e+01] [-5.13993667e-02 3.18939581e-03 9.98673086e-01 -3.18220828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.370714057 meters 0.03524234512453264 Centerline is valid? [True, True] Translation: X:486.07, Y:-64.56, Z:-31.82 [[ 9.96559273e-01 6.55613600e-02 5.07082101e-02 4.86069216e+02] [-6.53147789e-02 9.97843498e-01 -6.50640636e-03 -6.45583913e+01] [-5.10254266e-02 3.17202406e-03 9.98692317e-01 -3.18243481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.400714057 meters 0.03592458377858562 Centerline is valid? [True, True] Translation: X:486.10, Y:-64.56, Z:-31.83 [[ 9.96555234e-01 6.57439621e-02 5.05509335e-02 4.86098604e+02] [-6.54991909e-02 9.97831547e-01 -6.48529889e-03 -6.45614515e+01] [-5.08676854e-02 3.15191332e-03 9.98700428e-01 -3.18270349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.430714057 meters 0.03494274490556843 Centerline is valid? [True, True] Translation: X:486.13, Y:-64.56, Z:-31.83 [[ 9.96541117e-01 6.59748593e-02 5.05284163e-02 4.86129448e+02] [-6.57306541e-02 9.97816352e-01 -6.48138332e-03 -6.45628676e+01] [-5.08456884e-02 3.13769911e-03 9.98701592e-01 -3.18287506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.460714057 meters 0.036507741243286936 Centerline is valid? [True, True] Translation: X:486.16, Y:-64.57, Z:-31.83 [[ 9.96551372e-01 6.60967579e-02 5.01655398e-02 4.86158187e+02] [-6.58562118e-02 9.97808375e-01 -6.43470364e-03 -6.45674753e+01] [-5.04809088e-02 3.10880033e-03 9.98720188e-01 -3.18306847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.490714057 meters 0.03606731459818532 Centerline is valid? [True, True] Translation: X:486.19, Y:-64.57, Z:-31.83 [[ 9.96682682e-01 6.49123067e-02 4.90919983e-02 4.86188315e+02] [-6.46804672e-02 9.97886151e-01 -6.29818294e-03 -6.45669799e+01] [-4.93970548e-02 3.10199648e-03 9.98774403e-01 -3.18327049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.520714057 meters 0.03507713262307046 Centerline is valid? [True, True] Translation: X:486.22, Y:-64.57, Z:-31.83 [[ 9.96684619e-01 6.47897355e-02 4.92144285e-02 4.86217924e+02] [-6.45566246e-02 9.97894076e-01 -6.31315577e-03 -6.45660720e+01] [-4.95198144e-02 3.11510787e-03 9.98768283e-01 -3.18345818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.550714057 meters 0.03726816099710349 Centerline is valid? [True, True] Translation: X:486.25, Y:-64.57, Z:-31.84 [[ 9.96660432e-01 6.52629426e-02 4.90788252e-02 4.86247329e+02] [-6.50317823e-02 9.97863345e-01 -6.29383183e-03 -6.45714561e+01] [-4.93847146e-02 3.08112968e-03 9.98775078e-01 -3.18366698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.580714057 meters 0.03544771124400412 Centerline is valid? [True, True] Translation: X:486.28, Y:-64.57, Z:-31.84 [[ 9.96590965e-01 6.60021676e-02 4.94991061e-02 4.86277258e+02] [-6.57679728e-02 9.97814757e-01 -6.34696893e-03 -6.45708456e+01] [-4.98098523e-02 3.06987602e-03 9.98754001e-01 -3.18379400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.610714057 meters 0.035485652041436055 Centerline is valid? [True, True] Translation: X:486.31, Y:-64.57, Z:-31.84 [[ 9.96416867e-01 6.82560181e-02 4.99454083e-02 4.86306805e+02] [-6.80204868e-02 9.97663382e-01 -6.40238011e-03 -6.45696389e+01] [-5.02657059e-02 2.98212854e-03 9.98731428e-01 -3.18391277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.640714057 meters 0.03470124797511829 Centerline is valid? [True, True] Translation: X:486.34, Y:-64.57, Z:-31.84 [[ 9.96314940e-01 6.99970826e-02 4.95676219e-02 4.86336609e+02] [-6.97673377e-02 9.97543066e-01 -6.35220055e-03 -6.45681747e+01] [-4.98904730e-02 2.87059130e-03 9.98750570e-01 -3.18402379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.670714057 meters 0.03507966731082288 Centerline is valid? [True, True] Translation: X:486.37, Y:-64.57, Z:-31.84 [[ 9.96260007e-01 7.07882512e-02 4.95481837e-02 4.86365790e+02] [-7.05597239e-02 9.97487355e-01 -6.34845519e-03 -6.45706191e+01] [-4.98730827e-02 2.82860585e-03 9.98751558e-01 -3.18419212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.700714057 meters 0.035176774423924126 Centerline is valid? [True, True] Translation: X:486.39, Y:-64.57, Z:-31.84 [[ 9.96226410e-01 7.11677892e-02 4.96798393e-02 4.86394904e+02] [-7.09387739e-02 9.97460395e-01 -6.36014755e-03 -6.45728781e+01] [-5.00063098e-02 2.81192007e-03 9.98744943e-01 -3.18438455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.730714057 meters 0.0333014062383047 Centerline is valid? [True, True] Translation: X:486.42, Y:-64.57, Z:-31.84 [[ 9.96175346e-01 7.14469533e-02 5.02992406e-02 4.86424456e+02] [-7.12127207e-02 9.97440388e-01 -6.43588489e-03 -6.45710142e+01] [-5.06303185e-02 2.82932408e-03 9.98713455e-01 -3.18443327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.76071405700003 meters 0.03629418965398008 Centerline is valid? [True, True] Translation: X:486.45, Y:-64.58, Z:-31.85 [[ 9.96193364e-01 7.11008870e-02 5.04325776e-02 4.86451811e+02] [-7.08651464e-02 9.97465055e-01 -6.44943380e-03 -6.45772465e+01] [-5.07632943e-02 2.85097116e-03 9.98706644e-01 -3.18459880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.790714057 meters 0.03220140838209171 Centerline is valid? [True, True] Translation: X:486.48, Y:-64.57, Z:-31.85 [[ 9.96156873e-01 7.13240026e-02 5.08367034e-02 4.86481583e+02] [-7.10849935e-02 9.97449106e-01 -6.49644468e-03 -6.45716922e+01] [-5.11703769e-02 2.85775128e-03 9.98685849e-01 -3.18457696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.820714057 meters 0.03252374946241075 Centerline is valid? [True, True] Translation: X:486.51, Y:-64.57, Z:-31.85 [[ 9.96097566e-01 7.15991677e-02 5.16061830e-02 4.86509182e+02] [-7.13534232e-02 9.97429319e-01 -6.59103130e-03 -6.45748994e+01] [-5.19454323e-02 2.88303243e-03 9.98645763e-01 -3.18471227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.850714057 meters 0.03329881347872701 Centerline is valid? [True, True] Translation: X:486.54, Y:-64.58, Z:-31.85 [[ 9.96093711e-01 7.15534408e-02 5.17438260e-02 4.86536761e+02] [-7.13065666e-02 9.97432585e-01 -6.60389585e-03 -6.45788784e+01] [-5.20835096e-02 2.88842455e-03 9.98638556e-01 -3.18486420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.880714057 meters 0.03291580697640732 Centerline is valid? [True, True] Translation: X:486.57, Y:-64.58, Z:-31.85 [[ 9.96163728e-01 7.04561490e-02 5.19014323e-02 4.86565540e+02] [-7.02065334e-02 9.97510515e-01 -6.61922956e-03 -6.45813818e+01] [-5.22385899e-02 2.95001675e-03 9.98630276e-01 -3.18508527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.910714057 meters 0.03428869656350648 Centerline is valid? [True, True] Translation: X:486.59, Y:-64.59, Z:-31.85 [[ 9.96282870e-01 6.91342220e-02 5.13897103e-02 4.86593873e+02] [-6.88879548e-02 9.97602899e-01 -6.55016412e-03 -6.45865608e+01] [-5.17193645e-02 2.98568427e-03 9.98657195e-01 -3.18529394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.940714057 meters 0.033138863918596544 Centerline is valid? [True, True] Translation: X:486.62, Y:-64.59, Z:-31.85 [[ 9.96401464e-01 6.76934013e-02 5.10071124e-02 4.86623034e+02] [-6.74490521e-02 9.97701555e-01 -6.49865141e-03 -6.45879647e+01] [-5.13297911e-02 3.03488440e-03 9.98677146e-01 -3.18549908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.970714057 meters 0.03500756623695408 Centerline is valid? [True, True] Translation: X:486.65, Y:-64.59, Z:-31.86 [[ 9.96605780e-01 6.49948349e-02 5.05231801e-02 4.86651581e+02] [-6.47517894e-02 9.97880657e-01 -6.43429280e-03 -6.45936556e+01] [-5.08342999e-02 3.14098707e-03 9.98702162e-01 -3.18573049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.000714057 meters 0.03683144026676605 Centerline is valid? [True, True] Translation: X:486.68, Y:-64.60, Z:-31.86 [[ 9.96689909e-01 6.38056235e-02 5.03792423e-02 4.86679714e+02] [-6.35625366e-02 9.97957244e-01 -6.41425749e-03 -6.45999064e+01] [-5.06855955e-02 3.19079328e-03 9.98709562e-01 -3.18595953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.030714057 meters 0.03546883399083017 Centerline is valid? [True, True] Translation: X:486.71, Y:-64.60, Z:-31.86 [[ 9.96800124e-01 6.17361469e-02 5.07756034e-02 4.86709713e+02] [-6.14866969e-02 9.98086986e-01 -6.46171978e-03 -6.46008314e+01] [-5.10773906e-02 3.31901894e-03 9.98689183e-01 -3.18608482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.060714057 meters 0.037841119711735406 Centerline is valid? [True, True] Translation: X:486.74, Y:-64.61, Z:-31.86 [[ 9.96883564e-01 6.06910260e-02 5.03960204e-02 4.86738148e+02] [-6.04440069e-02 9.98150991e-01 -6.41262170e-03 -6.46072057e+01] [-5.06920263e-02 3.34649977e-03 9.98708726e-01 -3.18625555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.090714057 meters 0.03888831704606436 Centerline is valid? [True, True] Translation: X:486.77, Y:-64.61, Z:-31.86 [[ 9.96935143e-01 5.94983316e-02 5.07963574e-02 4.86768413e+02] [-5.92459354e-02 9.98222505e-01 -6.46145797e-03 -6.46131431e+01] [-5.10905131e-02 3.43217681e-03 9.98688129e-01 -3.18646321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.120714057 meters 0.03896098227219356 Centerline is valid? [True, True] Translation: X:486.80, Y:-64.62, Z:-31.87 [[ 9.96992664e-01 5.87310750e-02 5.05597517e-02 4.86798303e+02] [-5.84800457e-02 9.98267861e-01 -6.43136097e-03 -6.46171541e+01] [-5.08498959e-02 3.45528312e-03 9.98700330e-01 -3.18669124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.150714057 meters 0.037258373222654836 Centerline is valid? [True, True] Translation: X:486.83, Y:-64.62, Z:-31.87 [[ 9.97099707e-01 5.78065746e-02 4.95032739e-02 4.86828998e+02] [-5.75648041e-02 9.98321913e-01 -6.29697363e-03 -6.46181364e+01] [-4.97842095e-02 3.42906430e-03 9.98754111e-01 -3.18691855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.180714057 meters 0.04018828937249852 Centerline is valid? [True, True] Translation: X:486.86, Y:-64.63, Z:-31.87 [[ 9.97152223e-01 5.69241445e-02 4.94680369e-02 4.86858154e+02] [-5.66816744e-02 9.98372476e-01 -6.29177108e-03 -6.46262331e+01] [-4.97456802e-02 3.46992236e-03 9.98755890e-01 -3.18710750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.210714057 meters 0.037440597361111556 Centerline is valid? [True, True] Translation: X:486.89, Y:-64.63, Z:-31.87 [[ 9.97120379e-01 5.67939062e-02 5.02533873e-02 4.86888985e+02] [-5.65432348e-02 9.98379658e-01 -6.39696102e-03 -6.46259580e+01] [-5.05352680e-02 3.53705112e-03 9.98716014e-01 -3.18715144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.240714057 meters 0.036877648020945 Centerline is valid? [True, True] Translation: X:486.92, Y:-64.63, Z:-31.87 [[ 9.97061939e-01 5.71225179e-02 5.10343718e-02 4.86919024e+02] [-5.68644078e-02 9.98360774e-01 -6.49649274e-03 -6.46286125e+01] [-5.13218110e-02 3.57536632e-03 9.98675767e-01 -3.18718305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.270714057 meters 0.03700400570807365 Centerline is valid? [True, True] Translation: X:486.95, Y:-64.63, Z:-31.87 [[ 9.97052994e-01 5.76368521e-02 5.06292396e-02 4.86949262e+02] [-5.73835411e-02 9.98331411e-01 -6.44387268e-03 -6.46324038e+01] [-5.09161647e-02 3.51959750e-03 9.98696729e-01 -3.18739127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.300714057 meters 0.0376563431400392 Centerline is valid? [True, True] Translation: X:486.98, Y:-64.64, Z:-31.88 [[ 9.96980518e-01 5.95846976e-02 4.97946837e-02 4.86978905e+02] [-5.93420939e-02 9.98217587e-01 -6.33765398e-03 -6.46369110e+01] [-5.00835561e-02 3.36359675e-03 9.98739367e-01 -3.18769350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.330714057 meters 0.035393686138304514 Centerline is valid? [True, True] Translation: X:487.01, Y:-64.64, Z:-31.88 [[ 9.96912230e-01 6.08947167e-02 4.95765991e-02 4.87009336e+02] [-6.06558306e-02 9.98138794e-01 -6.31022846e-03 -6.46373182e+01] [-4.98685863e-02 3.28363413e-03 9.98750390e-01 -3.18785093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.360714057 meters 0.035800522627846436 Centerline is valid? [True, True] Translation: X:487.04, Y:-64.64, Z:-31.88 [[ 9.96743922e-01 6.37109652e-02 4.94213293e-02 4.87038409e+02] [-6.34771256e-02 9.97963482e-01 -6.28832924e-03 -6.46406891e+01] [-4.97213174e-02 3.13073001e-03 9.98758224e-01 -3.18799294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.390714057 meters 0.03549333371707822 Centerline is valid? [True, True] Translation: X:487.07, Y:-64.64, Z:-31.88 [[ 9.96636999e-01 6.49783629e-02 4.99249970e-02 4.87068054e+02] [-6.47414035e-02 9.97881867e-01 -6.35056706e-03 -6.46434249e+01] [-5.02318987e-02 3.09699572e-03 9.98732780e-01 -3.18811791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.420714057 meters 0.033843327650308286 Centerline is valid? [True, True] Translation: X:487.10, Y:-64.64, Z:-31.88 [[ 9.96567609e-01 6.62530618e-02 4.96339947e-02 4.87097677e+02] [-6.60205146e-02 9.97798302e-01 -6.31192715e-03 -6.46430750e+01] [-4.99429001e-02 3.01340027e-03 9.98747529e-01 -3.18817675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.450714057 meters 0.033319099702095345 Centerline is valid? [True, True] Translation: X:487.13, Y:-64.64, Z:-31.88 [[ 9.96381457e-01 6.93427869e-02 4.91484499e-02 4.87126324e+02] [-6.91186681e-02 9.97588885e-01 -6.24708056e-03 -6.46449755e+01] [-4.94631373e-02 2.82739984e-03 9.98771948e-01 -3.18829934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.480714057 meters 0.033154773267013236 Centerline is valid? [True, True] Translation: X:487.16, Y:-64.65, Z:-31.88 [[ 9.96349615e-01 7.01303198e-02 4.86742484e-02 4.87155544e+02] [-6.99114326e-02 9.97534015e-01 -6.18706001e-03 -6.46476239e+01] [-4.89881190e-02 2.76158842e-03 9.98795544e-01 -3.18847252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.51071405700003 meters 0.033286395624237214 Centerline is valid? [True, True] Translation: X:487.18, Y:-64.65, Z:-31.89 [[ 9.96254986e-01 7.21226657e-02 4.76898759e-02 4.87182725e+02] [-7.19149296e-02 9.97392361e-01 -6.05974749e-03 -6.46511210e+01] [-4.80025631e-02 2.60743958e-03 9.98843809e-01 -3.18874845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.540714057 meters 0.0330532166429241 Centerline is valid? [True, True] Translation: X:487.21, Y:-64.65, Z:-31.89 [[ 9.96230962e-01 7.28144854e-02 4.71372484e-02 4.87210907e+02] [-7.26125198e-02 9.97342268e-01 -5.98515168e-03 -6.46544209e+01] [-4.74477760e-02 2.53983904e-03 9.98870491e-01 -3.18896748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.570714057 meters 0.033406881064128174 Centerline is valid? [True, True] Translation: X:487.24, Y:-64.66, Z:-31.89 [[ 9.96238073e-01 7.35563626e-02 4.58166333e-02 4.87238178e+02] [-7.33664836e-02 9.97288098e-01 -5.81449950e-03 -6.46580743e+01] [-4.61200765e-02 2.43122050e-03 9.98932945e-01 -3.18921437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.600714057 meters 0.033394933298922846 Centerline is valid? [True, True] Translation: X:487.27, Y:-64.66, Z:-31.89 [[ 9.96199849e-01 7.41350345e-02 4.57149685e-02 4.87266590e+02] [-7.39468012e-02 9.97245337e-01 -5.79734080e-03 -6.46619683e+01] [-4.60188252e-02 2.39483433e-03 9.98937702e-01 -3.18940844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.630714057 meters 0.033739881973514366 Centerline is valid? [True, True] Translation: X:487.29, Y:-64.67, Z:-31.90 [[ 9.96183196e-01 7.44837436e-02 4.55105809e-02 4.87294301e+02] [-7.42976879e-02 9.97219423e-01 -5.76849791e-03 -6.46665404e+01] [-4.58136946e-02 2.36514974e-03 9.98947202e-01 -3.18958059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.660714057 meters 0.034497588275878004 Centerline is valid? [True, True] Translation: X:487.32, Y:-64.67, Z:-31.90 [[ 9.96228893e-01 7.42594309e-02 4.48723789e-02 4.87321132e+02] [-7.40785187e-02 9.97236216e-01 -5.68352482e-03 -6.46722611e+01] [-4.51704166e-02 2.33801228e-03 9.98976560e-01 -3.18980044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.690714057 meters 0.03484734424749776 Centerline is valid? [True, True] Translation: X:487.35, Y:-64.68, Z:-31.90 [[ 9.96244743e-01 7.40095229e-02 4.49333110e-02 4.87349675e+02] [-7.38280776e-02 9.97254771e-01 -5.68655256e-03 -6.46772140e+01] [-4.52308178e-02 2.34785812e-03 9.98973804e-01 -3.19000593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.720714057 meters 0.03566136469029268 Centerline is valid? [True, True] Translation: X:487.38, Y:-64.68, Z:-31.90 [[ 9.96306948e-01 7.34781118e-02 4.44233297e-02 4.87377137e+02] [-7.33003634e-02 9.97294080e-01 -5.61922117e-03 -6.46831518e+01] [-4.47160135e-02 2.34222288e-03 9.98996993e-01 -3.19021656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.750714057 meters 0.0359001581780487 Centerline is valid? [True, True] Translation: X:487.40, Y:-64.69, Z:-31.90 [[ 9.96313386e-01 7.34282548e-02 4.43613286e-02 4.87404477e+02] [-7.32511128e-02 9.97297762e-01 -5.60781143e-03 -6.46878061e+01] [-4.46532255e-02 2.33762091e-03 9.98999812e-01 -3.19042777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.780714057 meters 0.036856627854947345 Centerline is valid? [True, True] Translation: X:487.43, Y:-64.69, Z:-31.91 [[ 9.96351543e-01 7.25488303e-02 4.49474093e-02 4.87431824e+02] [-7.23663013e-02 9.97361965e-01 -5.67703512e-03 -6.46938637e+01] [-4.52406988e-02 2.40364494e-03 9.98973224e-01 -3.19050345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.810714057 meters 0.0378019464310401 Centerline is valid? [True, True] Translation: X:487.46, Y:-64.70, Z:-31.91 [[ 9.96394316e-01 7.15781838e-02 4.55513971e-02 4.87459505e+02] [-7.13898740e-02 9.97431917e-01 -5.74955886e-03 -6.46994815e+01] [-4.58459603e-02 2.47691927e-03 9.98945450e-01 -3.19062405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.840714057 meters 0.031503969913489874 Centerline is valid? [True, True] Translation: X:487.49, Y:-64.69, Z:-31.91 [[ 9.96479172e-01 7.00378368e-02 4.60864469e-02 4.87489259e+02] [-6.98436487e-02 9.97541017e-01 -5.81241761e-03 -6.46936526e+01] [-4.63802102e-02 2.57310748e-03 9.98920545e-01 -3.19052365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.870714057 meters 0.03352297693605947 Centerline is valid? [True, True] Translation: X:487.52, Y:-64.70, Z:-31.91 [[ 9.96714049e-01 6.59611971e-02 4.70130373e-02 4.87517068e+02] [-6.57547838e-02 9.97818219e-01 -5.92532321e-03 -6.47035154e+01] [-4.73013066e-02 2.81452078e-03 9.98876702e-01 -3.19067649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.900714057 meters 0.034748854260887634 Centerline is valid? [True, True] Translation: X:487.55, Y:-64.71, Z:-31.91 [[ 9.96884222e-01 6.35884696e-02 4.66728362e-02 4.87546030e+02] [-6.33825260e-02 9.97971980e-01 -5.88073856e-03 -6.47098111e+01] [-4.69521299e-02 2.90417324e-03 9.98892919e-01 -3.19086585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.930714057 meters 0.03705717933875245 Centerline is valid? [True, True] Translation: X:487.57, Y:-64.72, Z:-31.91 [[ 9.97122154e-01 5.95418680e-02 4.69273472e-02 4.87574109e+02] [-5.93293077e-02 9.98220966e-01 -5.91070911e-03 -6.47185926e+01] [-4.71957965e-02 3.10953198e-03 9.98880818e-01 -3.19109298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.960714057 meters 0.038324282948038246 Centerline is valid? [True, True] Translation: X:487.60, Y:-64.72, Z:-31.91 [[ 9.97186200e-01 5.80469270e-02 4.74366625e-02 4.87603165e+02] [-5.78280323e-02 9.98308679e-01 -5.97502568e-03 -6.47249094e+01] [-4.77032638e-02 3.21504430e-03 9.98856377e-01 -3.19124354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.990714057 meters 0.037704472810839634 Centerline is valid? [True, True] Translation: X:487.63, Y:-64.73, Z:-31.91 [[ 9.97234045e-01 5.69918994e-02 4.77093678e-02 4.87633120e+02] [-5.67693279e-02 9.98369242e-01 -6.00831521e-03 -6.47280462e+01] [-4.79739907e-02 3.28326773e-03 9.98843189e-01 -3.19135008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.020714057 meters 0.03820030681124526 Centerline is valid? [True, True] Translation: X:487.66, Y:-64.73, Z:-31.92 [[ 9.97315301e-01 5.57086848e-02 4.75261240e-02 4.87663420e+02] [-5.54863642e-02 9.98441505e-01 -5.98540352e-03 -6.47319575e+01] [-4.77854937e-02 3.33228269e-03 9.98852062e-01 -3.19150697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.050714057 meters 0.038487964420431564 Centerline is valid? [True, True] Translation: X:487.69, Y:-64.74, Z:-31.92 [[ 9.97366093e-01 5.54991890e-02 4.66981401e-02 4.87693356e+02] [-5.52843262e-02 9.98453332e-01 -5.88112786e-03 -6.47359714e+01] [-4.69523114e-02 3.28396231e-03 9.98891734e-01 -3.19170855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.080714057 meters 0.03940229208489009 Centerline is valid? [True, True] Translation: X:487.72, Y:-64.74, Z:-31.92 [[ 9.97506613e-01 5.48291311e-02 4.44333501e-02 4.87722685e+02] [-5.46339499e-02 9.98490769e-01 -5.59613374e-03 -6.47402715e+01] [-4.46731210e-02 3.15461099e-03 9.98996677e-01 -3.19213252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.110714057 meters 0.03940229208489009 Centerline is valid? [True, True] Translation: X:487.75, Y:-64.74, Z:-31.92 [[ 9.97506611e-01 5.48290727e-02 4.44334773e-02 4.87752477e+02] [-5.46339362e-02 9.98490775e-01 -5.59512330e-03 -6.47440233e+01] [-4.46731926e-02 3.15359671e-03 9.98996677e-01 -3.19230655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.140714057 meters 0.037353333911822544 Centerline is valid? [True, True] Translation: X:487.78, Y:-64.74, Z:-31.92 [[ 9.97589083e-01 5.40653863e-02 4.35081092e-02 4.87783327e+02] [-5.38775772e-02 9.98532519e-01 -5.47859970e-03 -6.47439608e+01] [-4.37404645e-02 3.12127974e-03 9.99038052e-01 -3.19247242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.170714057 meters 0.0383912396113533 Centerline is valid? [True, True] Translation: X:487.81, Y:-64.75, Z:-31.93 [[ 9.97618301e-01 5.28484305e-02 4.43257174e-02 4.87812651e+02] [-5.26522853e-02 9.98597306e-01 -5.58179275e-03 -6.47489129e+01] [-4.45585310e-02 3.23464828e-03 9.99001539e-01 -3.19258972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.200714057 meters 0.038789002679169925 Centerline is valid? [True, True] Translation: X:487.84, Y:-64.75, Z:-31.93 [[ 9.97625866e-01 5.20746596e-02 4.50650744e-02 4.87843305e+02] [-5.18711740e-02 9.98637667e-01 -5.67383161e-03 -6.47524027e+01] [-4.52991435e-02 3.32278286e-03 9.98967941e-01 -3.19272633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.230714057 meters 0.039848292847614264 Centerline is valid? [True, True] Translation: X:487.87, Y:-64.76, Z:-31.93 [[ 9.97649927e-01 5.10088924e-02 4.57462060e-02 4.87873292e+02] [-5.07980995e-02 9.98692336e-01 -5.75937755e-03 -6.47566499e+01] [-4.59801649e-02 3.42202226e-03 9.98936492e-01 -3.19287541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.26071405700003 meters 0.03774253749970371 Centerline is valid? [True, True] Translation: X:487.90, Y:-64.76, Z:-31.93 [[ 9.97699220e-01 5.01498955e-02 4.56207755e-02 4.87904308e+02] [-4.99393280e-02 9.98735734e-01 -5.74440191e-03 -6.47563758e+01] [-4.58511798e-02 3.45291443e-03 9.98942314e-01 -3.19301813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.290714057 meters 0.03960375313394706 Centerline is valid? [True, True] Translation: X:487.93, Y:-64.76, Z:-31.93 [[ 9.97724762e-01 4.95477293e-02 4.57200423e-02 4.87933778e+02] [-4.93355761e-02 9.98765663e-01 -5.75775629e-03 -6.47622176e+01] [-4.59488921e-02 3.48903140e-03 9.98937699e-01 -3.19320398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.320714057 meters 0.04075650811860935 Centerline is valid? [True, True] Translation: X:487.97, Y:-64.76, Z:-31.93 [[ 9.97853963e-01 4.76136022e-02 4.49490164e-02 4.87965164e+02] [-4.74065741e-02 9.98859633e-01 -5.66124528e-03 -6.47648343e+01] [-4.51673103e-02 3.51821716e-03 9.98973241e-01 -3.19343712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.350714057 meters 0.042190854787247906 Centerline is valid? [True, True] Translation: X:488.00, Y:-64.77, Z:-31.94 [[ 9.97871382e-01 4.70775176e-02 4.51266217e-02 4.87995498e+02] [-4.68683297e-02 9.98884910e-01 -5.68305188e-03 -6.47698513e+01] [-4.53438454e-02 3.55594545e-03 9.98965110e-01 -3.19364813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.380714057 meters 0.04200601415228544 Centerline is valid? [True, True] Translation: X:488.03, Y:-64.77, Z:-31.94 [[ 9.97939873e-01 4.60768681e-02 4.46422626e-02 4.88027621e+02] [-4.58707382e-02 9.98931511e-01 -5.63136414e-03 -6.47707192e+01] [-4.48540384e-02 3.57198928e-03 9.98987165e-01 -3.19373039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.410714057 meters 0.04253568961677436 Centerline is valid? [True, True] Translation: X:488.06, Y:-64.77, Z:-31.94 [[ 9.97930976e-01 4.59130323e-02 4.50084470e-02 4.88059140e+02] [-4.57028501e-02 9.98938883e-01 -5.68833940e-03 -6.47742883e+01] [-4.52218567e-02 3.61955578e-03 9.98970411e-01 -3.19388609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.440714057 meters 0.040927405054815756 Centerline is valid? [True, True] Translation: X:488.09, Y:-64.77, Z:-31.94 [[ 9.97945931e-01 4.46886413e-02 4.59003783e-02 4.88090705e+02] [-4.44681350e-02 9.98993883e-01 -5.81443831e-03 -6.47727545e+01] [-4.61140365e-02 3.76139083e-03 9.98929100e-01 -3.19391929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.470714057 meters 0.043134620549783655 Centerline is valid? [True, True] Translation: X:488.12, Y:-64.78, Z:-31.94 [[ 9.97974341e-01 4.37038617e-02 4.62297271e-02 4.88120953e+02] [-4.34790474e-02 9.99037165e-01 -5.85788502e-03 -6.47782934e+01] [-4.64412277e-02 3.83599444e-03 9.98913659e-01 -3.19409893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.500714057 meters 0.04399881762060353 Centerline is valid? [True, True] Translation: X:488.15, Y:-64.78, Z:-31.94 [[ 9.98062950e-01 4.18920315e-02 4.59935387e-02 4.88151921e+02] [-4.16675230e-02 9.99114524e-01 -5.82964851e-03 -6.47814590e+01] [-4.61970284e-02 3.90191936e-03 9.98924727e-01 -3.19431540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.530714057 meters 0.04423511490408913 Centerline is valid? [True, True] Translation: X:488.18, Y:-64.78, Z:-31.95 [[ 9.98133533e-01 4.07872209e-02 4.54516607e-02 4.88184182e+02] [-4.05667857e-02 9.99160214e-01 -5.76215087e-03 -6.47845712e+01] [-4.56485132e-02 3.90756822e-03 9.98949921e-01 -3.19455364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.560714057 meters 0.04856917327973084 Centerline is valid? [True, True] Translation: X:488.21, Y:-64.79, Z:-31.95 [[ 9.98234117e-01 3.91302421e-02 4.46930924e-02 4.88213932e+02] [-3.89153033e-02 9.99226429e-01 -5.66952625e-03 -6.47922440e+01] [-4.48803690e-02 3.92026929e-03 9.98984677e-01 -3.19482401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.590714057 meters 0.04637959272444069 Centerline is valid? [True, True] Translation: X:488.25, Y:-64.79, Z:-31.95 [[ 9.98236793e-01 3.89505065e-02 4.47902177e-02 4.88246474e+02] [-3.87344757e-02 9.99233388e-01 -5.68132301e-03 -6.47919180e+01] [-4.49771714e-02 3.93638006e-03 9.98980260e-01 -3.19493672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.620714057 meters 0.049438550484528034 Centerline is valid? [True, True] Translation: X:488.28, Y:-64.80, Z:-31.95 [[ 9.98202994e-01 3.98647172e-02 4.47390980e-02 4.88277532e+02] [-3.96495719e-02 9.99197466e-01 -5.68636881e-03 -6.47967485e+01] [-4.49298789e-02 3.90226429e-03 9.98982522e-01 -3.19507690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.650714057 meters 0.0465152447307334 Centerline is valid? [True, True] Translation: X:488.31, Y:-64.79, Z:-31.95 [[ 9.98153710e-01 4.09170601e-02 4.48883560e-02 4.88309690e+02] [-4.07009470e-02 9.99155010e-01 -5.71828137e-03 -6.47948769e+01] [-4.50844011e-02 3.88072517e-03 9.98975644e-01 -3.19515698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.680714057 meters 0.042984756654702125 Centerline is valid? [True, True] Translation: X:488.34, Y:-64.79, Z:-31.95 [[ 9.97917645e-01 4.60250721e-02 4.51892237e-02 4.88341568e+02] [-4.58111602e-02 9.98933520e-01 -5.75850037e-03 -6.47899407e+01] [-4.54060657e-02 3.67633837e-03 9.98961848e-01 -3.19518707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.710714057 meters 0.040212303389859844 Centerline is valid? [True, True] Translation: X:488.37, Y:-64.79, Z:-31.95 [[ 9.97732147e-01 4.96413370e-02 4.54565893e-02 4.88372165e+02] [-4.94285709e-02 9.98760858e-01 -5.79344355e-03 -6.47875321e+01] [-4.56878565e-02 3.53345062e-03 9.98949516e-01 -3.19531928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.740714057 meters 0.038355774541679294 Centerline is valid? [True, True] Translation: X:488.40, Y:-64.78, Z:-31.95 [[ 9.97254520e-01 5.83268419e-02 4.56223753e-02 4.88402808e+02] [-5.81215356e-02 9.98292579e-01 -5.81489547e-03 -6.47839998e+01] [-4.58836432e-02 3.14728829e-03 9.98941833e-01 -3.19547494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.770714057 meters 0.0354856276001888 Centerline is valid? [True, True] Translation: X:488.43, Y:-64.78, Z:-31.96 [[ 9.96962610e-01 6.28859497e-02 4.59446625e-02 4.88433663e+02] [-6.26825418e-02 9.98016335e-01 -5.85605960e-03 -6.47809844e+01] [-4.62217875e-02 2.95834424e-03 9.98926821e-01 -3.19557747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.800714057 meters 0.034225709987791814 Centerline is valid? [True, True] Translation: X:488.46, Y:-64.78, Z:-31.96 [[ 9.96670868e-01 6.71204475e-02 4.62820366e-02 4.88464334e+02] [-6.69185863e-02 9.97741001e-01 -5.89898415e-03 -6.47802300e+01] [-4.65734279e-02 2.78221719e-03 9.98910995e-01 -3.19570223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.830714057 meters 0.032738582048211284 Centerline is valid? [True, True] Translation: X:488.49, Y:-64.78, Z:-31.96 [[ 9.96121471e-01 7.38302325e-02 4.78655558e-02 4.88493383e+02] [-7.36220092e-02 9.97267555e-01 -6.10107328e-03 -6.47778300e+01] [-4.81852095e-02 2.55345170e-03 9.98835154e-01 -3.19578838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.860714057 meters 0.03155210211876377 Centerline is valid? [True, True] Translation: X:488.52, Y:-64.78, Z:-31.96 [[ 9.95904331e-01 7.57758885e-02 4.93211757e-02 4.88522549e+02] [-7.55572864e-02 9.97121659e-01 -6.28433692e-03 -6.47782460e+01] [-4.96554138e-02 2.53202416e-03 9.98763200e-01 -3.19586679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.890714057 meters 0.03386023399970543 Centerline is valid? [True, True] Translation: X:488.55, Y:-64.78, Z:-31.96 [[ 9.95740572e-01 7.66763645e-02 5.12000839e-02 4.88549687e+02] [-7.64421498e-02 9.97052700e-01 -6.52003367e-03 -6.47843975e+01] [-5.15491144e-02 2.57841757e-03 9.98667132e-01 -3.19598464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.920714057 meters 0.031563918053555816 Centerline is valid? [True, True] Translation: X:488.58, Y:-64.78, Z:-31.96 [[ 9.95811414e-01 7.56494182e-02 5.13497252e-02 4.88579207e+02] [-7.54127150e-02 9.97130997e-01 -6.53435596e-03 -6.47832447e+01] [-5.16967229e-02 2.63456405e-03 9.98659355e-01 -3.19609174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.950714057 meters 0.03255144656350406 Centerline is valid? [True, True] Translation: X:488.61, Y:-64.79, Z:-31.96 [[ 9.95924729e-01 7.41826052e-02 5.12920656e-02 4.88606011e+02] [-7.39446749e-02 9.97241008e-01 -6.52353623e-03 -6.47884132e+01] [-5.16344842e-02 2.70417593e-03 9.98662389e-01 -3.19633078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.980714057 meters 0.032284849971622336 Centerline is valid? [True, True] Translation: X:488.64, Y:-64.79, Z:-31.97 [[ 9.96195652e-01 7.04680783e-02 5.12686340e-02 4.88635898e+02] [-7.02257758e-02 9.97509850e-01 -6.51450488e-03 -6.47926181e+01] [-5.16000320e-02 2.88934184e-03 9.98663651e-01 -3.19656559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.01071405700003 meters 0.034057116359334505 Centerline is valid? [True, True] Translation: X:488.67, Y:-64.80, Z:-31.97 [[ 9.96410472e-01 6.74724267e-02 5.11238024e-02 4.88665087e+02] [-6.72276125e-02 9.97716523e-01 -6.49517174e-03 -6.47989201e+01] [-5.14453074e-02 3.03492597e-03 9.98671202e-01 -3.19685278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.040714057 meters 0.03512280138860382 Centerline is valid? [True, True] Translation: X:488.69, Y:-64.80, Z:-31.97 [[ 9.96486021e-01 6.64764013e-02 5.09558355e-02 4.88692268e+02] [-6.62319215e-02 9.97783257e-01 -6.47337426e-03 -6.48044164e+01] [-5.12732061e-02 3.07572407e-03 9.98679928e-01 -3.19704387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.070714057 meters 0.034989182616374605 Centerline is valid? [True, True] Translation: X:488.72, Y:-64.81, Z:-31.97 [[ 9.96519527e-01 6.60144412e-02 5.09011444e-02 4.88720981e+02] [-6.57701285e-02 9.97813879e-01 -6.46170800e-03 -6.48076068e+01] [-5.12164344e-02 3.09144339e-03 9.98682792e-01 -3.19720119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.100714057 meters 0.034521131974846506 Centerline is valid? [True, True] Translation: X:488.75, Y:-64.81, Z:-31.97 [[ 9.96459384e-01 6.66980826e-02 5.11865480e-02 4.88749308e+02] [-6.64521089e-02 9.97768481e-01 -6.49422970e-03 -6.48102487e+01] [-5.15054769e-02 3.06978206e-03 9.98667994e-01 -3.19734498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.130714057 meters 0.03523504074343706 Centerline is valid? [True, True] Translation: X:488.78, Y:-64.81, Z:-31.98 [[ 9.96374785e-01 6.80404080e-02 5.10665375e-02 4.88776735e+02] [-6.77975267e-02 9.97678086e-01 -6.47543458e-03 -6.48146368e+01] [-5.13885566e-02 2.98977480e-03 9.98674260e-01 -3.19755531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.160714057 meters 0.033555999512629754 Centerline is valid? [True, True] Translation: X:488.81, Y:-64.82, Z:-31.98 [[ 9.96133683e-01 7.15472215e-02 5.09772657e-02 4.88806343e+02] [-7.13100145e-02 9.97433286e-01 -6.45921078e-03 -6.48150792e+01] [-5.13085602e-02 2.79904786e-03 9.98678926e-01 -3.19785510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.190714057 meters 0.03316548567053512 Centerline is valid? [True, True] Translation: X:488.84, Y:-64.82, Z:-31.98 [[ 9.96009412e-01 7.34578834e-02 5.06871745e-02 4.88835591e+02] [-7.32259223e-02 9.97294710e-01 -6.42076977e-03 -6.48179594e+01] [-5.10217072e-02 2.68353202e-03 9.98693939e-01 -3.19806080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.220714057 meters 0.032632184845657025 Centerline is valid? [True, True] Translation: X:488.86, Y:-64.82, Z:-31.98 [[ 9.95720727e-01 7.72136010e-02 5.07769013e-02 4.88864489e+02] [-7.69858284e-02 9.97011457e-01 -6.42929983e-03 -6.48197773e+01] [-5.11215817e-02 2.49268529e-03 9.98689326e-01 -3.19823237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.250714057 meters 0.032175285857472806 Centerline is valid? [True, True] Translation: X:488.89, Y:-64.82, Z:-31.98 [[ 9.95581562e-01 7.88560981e-02 5.09810653e-02 4.88893685e+02] [-7.86287013e-02 9.96883080e-01 -6.45386066e-03 -6.48224087e+01] [-5.13310876e-02 2.41676972e-03 9.98678767e-01 -3.19839195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.280714057 meters 0.033009207343295106 Centerline is valid? [True, True] Translation: X:488.92, Y:-64.83, Z:-31.99 [[ 9.95481608e-01 8.02115501e-02 5.08180601e-02 4.88921524e+02] [-7.99876854e-02 9.96775132e-01 -6.42702008e-03 -6.48269392e+01] [-5.11696998e-02 2.33316127e-03 9.98687247e-01 -3.19855380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.310714057 meters 0.03046946450132568 Centerline is valid? [True, True] Translation: X:488.95, Y:-64.83, Z:-31.99 [[ 9.95427130e-01 8.08352732e-02 5.08968239e-02 4.88950516e+02] [-8.06117072e-02 9.96724818e-01 -6.43345848e-03 -6.48258752e+01] [-5.12501779e-02 2.30115925e-03 9.98683195e-01 -3.19867132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.340714057 meters 0.034470180033139224 Centerline is valid? [True, True] Translation: X:488.98, Y:-64.84, Z:-31.99 [[ 9.95480806e-01 8.02286566e-02 5.08067665e-02 4.88977564e+02] [-8.00052737e-02 9.96773775e-01 -6.41856419e-03 -6.48363546e+01] [-5.11578052e-02 2.32474819e-03 9.98687876e-01 -3.19891965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.370714057 meters 0.03515457969033102 Centerline is valid? [True, True] Translation: X:489.01, Y:-64.84, Z:-31.99 [[ 9.95562864e-01 7.87161991e-02 5.15591241e-02 4.89005256e+02] [-7.84843652e-02 9.96894096e-01 -6.50892927e-03 -6.48417607e+01] [-5.19113446e-02 2.43346314e-03 9.98648732e-01 -3.19910012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.400714057 meters 0.03626663305022557 Centerline is valid? [True, True] Translation: X:489.03, Y:-64.85, Z:-31.99 [[ 9.95704761e-01 7.74988635e-02 5.06552508e-02 4.89032258e+02] [-7.72737340e-02 9.96989433e-01 -6.39071074e-03 -6.48466862e+01] [-5.09980226e-02 2.44894074e-03 9.98695752e-01 -3.19932423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.430714057 meters 0.03839613636752921 Centerline is valid? [True, True] Translation: X:489.06, Y:-64.85, Z:-32.00 [[ 9.95957874e-01 7.49836344e-02 4.94506558e-02 4.89059523e+02] [-7.47662064e-02 9.97181600e-01 -6.23467144e-03 -6.48534416e+01] [-4.97787824e-02 2.51223218e-03 9.98757108e-01 -3.19959806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.460714057 meters 0.035842576809541615 Centerline is valid? [True, True] Translation: X:489.09, Y:-64.85, Z:-32.00 [[ 9.96094476e-01 7.32525540e-02 4.92935983e-02 4.89089088e+02] [-7.30345637e-02 9.97310067e-01 -6.21143738e-03 -6.48531075e+01] [-4.96160055e-02 2.58704201e-03 9.98765017e-01 -3.19971039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.490714057 meters 0.03380073060204469 Centerline is valid? [True, True] Translation: X:489.12, Y:-64.85, Z:-32.00 [[ 9.96337195e-01 6.98598179e-02 4.93132900e-02 4.89119598e+02] [-6.96376499e-02 9.97553016e-01 -6.21113014e-03 -6.48529565e+01] [-4.96265296e-02 2.75431835e-03 9.98764047e-01 -3.19971626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.520714057 meters 0.050449471052628696 Centerline is valid? [True, True] Translation: X:489.14, Y:-64.88, Z:-32.00 [[ 9.96267031e-01 7.06218271e-02 4.96443395e-02 4.89143427e+02] [-7.03976232e-02 9.97499414e-01 -6.25247686e-03 -6.48825046e+01] [-4.99617609e-02 2.73429305e-03 9.98747389e-01 -3.20023712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.550714057 meters 0.035024468080441386 Centerline is valid? [True, True] Translation: X:489.18, Y:-64.86, Z:-32.00 [[ 9.96638406e-01 6.60680287e-02 4.84448554e-02 4.89176718e+02] [-6.58494217e-02 9.97810948e-01 -6.09640942e-03 -6.48615894e+01] [-4.87415848e-02 2.88585005e-03 9.98807254e-01 -3.20008734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.580714057 meters 0.0357311219040829 Centerline is valid? [True, True] Translation: X:489.20, Y:-64.87, Z:-32.00 [[ 9.96692285e-01 6.54901686e-02 4.81199130e-02 4.89203827e+02] [-6.52737815e-02 9.97849014e-01 -6.05624086e-03 -6.48658905e+01] [-4.84130320e-02 2.89523986e-03 9.98823206e-01 -3.20025697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.610714057 meters 0.03469868833974078 Centerline is valid? [True, True] Translation: X:489.23, Y:-64.87, Z:-32.00 [[ 9.96625904e-01 6.62128333e-02 4.85043069e-02 4.89233142e+02] [-6.59940820e-02 9.97801373e-01 -6.09934092e-03 -6.48666207e+01] [-4.88015186e-02 2.87776395e-03 9.98804350e-01 -3.20036479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.640714057 meters 0.03823642118367441 Centerline is valid? [True, True] Translation: X:489.26, Y:-64.87, Z:-32.01 [[ 9.96609609e-01 6.64831148e-02 4.84693934e-02 4.89260355e+02] [-6.62651618e-02 9.97783454e-01 -6.09157421e-03 -6.48749481e+01] [-4.87669456e-02 2.85908920e-03 9.98806093e-01 -3.20060011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.670714057 meters 0.03522960138785843 Centerline is valid? [True, True] Translation: X:489.29, Y:-64.87, Z:-32.01 [[ 9.96492663e-01 6.85854824e-02 4.79416699e-02 4.89291181e+02] [-6.83749174e-02 9.97641532e-01 -6.02027815e-03 -6.48718934e+01] [-4.82415047e-02 2.72115528e-03 9.98831994e-01 -3.20071565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.700714057 meters 0.03308682430257391 Centerline is valid? [True, True] Translation: X:489.32, Y:-64.87, Z:-32.01 [[ 9.96422690e-01 6.98969984e-02 4.74998135e-02 4.89320565e+02] [-6.96917989e-02 9.97550740e-01 -5.96450190e-03 -6.48709620e+01] [-4.78003748e-02 2.63281758e-03 9.98853439e-01 -3.20087341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.730714057 meters 0.03400060085551231 Centerline is valid? [True, True] Translation: X:489.35, Y:-64.87, Z:-32.01 [[ 9.96307024e-01 7.24572950e-02 4.60679424e-02 4.89349340e+02] [-7.22671876e-02 9.97368554e-01 -5.78104826e-03 -6.48733833e+01] [-4.63655962e-02 2.43049835e-03 9.98921581e-01 -3.20119476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.76071405700003 meters 0.034334955209599886 Centerline is valid? [True, True] Translation: X:489.38, Y:-64.88, Z:-32.01 [[ 9.96286042e-01 7.31302636e-02 4.54542229e-02 4.89377104e+02] [-7.29459195e-02 9.97319590e-01 -5.70338762e-03 -6.48763783e+01] [-4.57494771e-02 2.36650539e-03 9.98950141e-01 -3.20144752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.790714057 meters 0.034483356954407206 Centerline is valid? [True, True] Translation: X:489.41, Y:-64.88, Z:-32.02 [[ 9.96304695e-01 7.33464831e-02 4.46905866e-02 4.89406056e+02] [-7.31687617e-02 9.97303841e-01 -5.60181734e-03 -6.48787521e+01] [-4.49809673e-02 2.31116203e-03 9.98985171e-01 -3.20168712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.820714057 meters 0.033832504528237405 Centerline is valid? [True, True] Translation: X:489.43, Y:-64.88, Z:-32.02 [[ 9.96361059e-01 7.27990239e-02 4.43276703e-02 4.89434904e+02] [-7.26237760e-02 9.97343947e-01 -5.55326999e-03 -6.48799744e+01] [-4.46142062e-02 2.31381917e-03 9.99001611e-01 -3.20184160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.850714057 meters 0.03672916298668734 Centerline is valid? [True, True] Translation: X:489.46, Y:-64.89, Z:-32.02 [[ 9.96508976e-01 7.07253865e-02 4.43596729e-02 4.89462656e+02] [-7.05479886e-02 9.97492925e-01 -5.55389112e-03 -6.48873057e+01] [-4.46412610e-02 2.40501665e-03 9.99000187e-01 -3.20207189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.880714057 meters 0.03459013217188409 Centerline is valid? [True, True] Translation: X:489.49, Y:-64.89, Z:-32.02 [[ 9.96639470e-01 6.89179167e-02 4.42728695e-02 4.89492320e+02] [-6.87395392e-02 9.97619254e-01 -5.54070245e-03 -6.48861306e+01] [-4.45493207e-02 2.47878610e-03 9.99004111e-01 -3.20208602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.910714057 meters 0.03762685625959151 Centerline is valid? [True, True] Translation: X:489.52, Y:-64.89, Z:-32.02 [[ 9.96809364e-01 6.55651667e-02 4.55225247e-02 4.89520369e+02] [-6.53732252e-02 9.97844637e-01 -5.69403581e-03 -6.48938691e+01] [-4.57977375e-02 2.69991396e-03 9.98947085e-01 -3.20217005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.940714057 meters 0.03747180034404555 Centerline is valid? [True, True] Translation: X:489.55, Y:-64.90, Z:-32.02 [[ 9.96889512e-01 6.35712208e-02 4.65832669e-02 4.89549344e+02] [-6.33680436e-02 9.97973215e-01 -5.82693270e-03 -6.48974579e+01] [-4.68592778e-02 2.85691761e-03 9.98897415e-01 -3.20222280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.970714057 meters 0.03913538383633519 Centerline is valid? [True, True] Translation: X:489.58, Y:-64.90, Z:-32.02 [[ 9.96982554e-01 6.14752186e-02 4.73981387e-02 4.89577088e+02] [-6.12626833e-02 9.98104091e-01 -5.92514204e-03 -6.49036687e+01] [-4.76725256e-02 3.00352608e-03 9.98858503e-01 -3.20236197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.000714057 meters 0.03913538383633519 Centerline is valid? [True, True] Translation: X:489.61, Y:-64.91, Z:-32.03 [[ 9.96986766e-01 6.14066389e-02 4.73984447e-02 4.89605191e+02] [-6.11941423e-02 9.98108310e-01 -5.92269302e-03 -6.49071167e+01] [-4.76724742e-02 3.00433938e-03 9.98858503e-01 -3.20252617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.030714057 meters 0.04143692043475882 Centerline is valid? [True, True] Translation: X:489.63, Y:-64.91, Z:-32.03 [[ 9.97192168e-01 5.68554054e-02 4.87364623e-02 4.89633926e+02] [-5.66255141e-02 9.98376939e-01 -6.08592474e-03 -6.49149420e+01] [-4.90033778e-02 3.30910925e-03 9.98793131e-01 -3.20259661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.060714057 meters 0.04479285826282873 Centerline is valid? [True, True] Translation: X:489.66, Y:-64.92, Z:-32.03 [[ 9.97429976e-01 5.29001414e-02 4.83220252e-02 4.89662471e+02] [-5.26695731e-02 9.98593769e-01 -6.03328555e-03 -6.49243681e+01] [-4.85732350e-02 3.47267942e-03 9.98813587e-01 -3.20288133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.090714057 meters 0.046338486793380075 Centerline is valid? [True, True] Translation: X:489.69, Y:-64.93, Z:-32.03 [[ 9.97548000e-01 5.12768282e-02 4.76305979e-02 4.89691320e+02] [-5.10510122e-02 9.98678345e-01 -5.94623709e-03 -6.49307235e+01] [-4.78725508e-02 3.50006669e-03 9.98847320e-01 -3.20317449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.120714057 meters 0.04748505277943134 Centerline is valid? [True, True] Translation: X:489.72, Y:-64.94, Z:-32.03 [[ 9.97646439e-01 5.00027078e-02 4.69181403e-02 4.89720355e+02] [-4.97822847e-02 9.98742928e-01 -5.85555514e-03 -6.49368524e+01] [-4.71519544e-02 3.50608152e-03 9.98881575e-01 -3.20345931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.150714057 meters 0.04837485060570179 Centerline is valid? [True, True] Translation: X:489.75, Y:-64.94, Z:-32.04 [[ 9.97770111e-01 4.92077561e-02 4.50932541e-02 4.89750271e+02] [-4.90033966e-02 9.98782762e-01 -5.62687446e-03 -6.49430074e+01] [-4.53152508e-02 3.40460454e-03 9.98966935e-01 -3.20386966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.180714057 meters 0.04817585280204084 Centerline is valid? [True, True] Translation: X:489.78, Y:-64.95, Z:-32.04 [[ 9.97769673e-01 4.98056447e-02 4.44418444e-02 4.89779265e+02] [-4.96077220e-02 9.98753381e-01 -5.54602308e-03 -6.49464115e+01] [-4.46626656e-02 3.32899497e-03 9.98996579e-01 -3.20411753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.210714057 meters 0.041583543233117894 Centerline is valid? [True, True] Translation: X:489.81, Y:-64.94, Z:-32.04 [[ 9.97738478e-01 5.19161051e-02 4.26924656e-02 4.89809795e+02] [-5.17354470e-02 9.98646621e-01 -5.32639076e-03 -6.49391361e+01] [-4.29112119e-02 3.10563122e-03 9.99074063e-01 -3.20415011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.240714057 meters 0.047485985587613584 Centerline is valid? [True, True] Translation: X:489.84, Y:-64.95, Z:-32.05 [[ 9.97663368e-01 5.36504793e-02 4.23016621e-02 4.89837075e+02] [-5.34747183e-02 9.98555263e-01 -5.27641152e-03 -6.49507371e+01] [-4.25236293e-02 3.00201303e-03 9.99090951e-01 -3.20457418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.270714057 meters 0.040376572496785064 Centerline is valid? [True, True] Translation: X:489.87, Y:-64.94, Z:-32.05 [[ 9.97533503e-01 5.61438391e-02 4.21281466e-02 4.89867778e+02] [-5.59718348e-02 9.98418533e-01 -5.25228682e-03 -6.49436550e+01] [-4.23564059e-02 2.88134241e-03 9.99098410e-01 -3.20456683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.300714057 meters 0.03558628912142448 Centerline is valid? [True, True] Translation: X:489.90, Y:-64.94, Z:-32.05 [[ 9.97202912e-01 6.16575195e-02 4.22457491e-02 4.89898218e+02] [-6.14895403e-02 9.98093839e-01 -5.26542351e-03 -6.49386611e+01] [-4.24898748e-02 2.65302396e-03 9.99093375e-01 -3.20467976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.330714057 meters 0.04291686945823325 Centerline is valid? [True, True] Translation: X:489.93, Y:-64.95, Z:-32.05 [[ 9.97045574e-01 6.41957708e-02 4.21784961e-02 4.89925472e+02] [-6.40306445e-02 9.97934093e-01 -5.25570149e-03 -6.49530999e+01] [-4.24287530e-02 2.53945762e-03 9.99096268e-01 -3.20521845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.360714057 meters 0.033314715250649184 Centerline is valid? [True, True] Translation: X:489.96, Y:-64.94, Z:-32.05 [[ 9.96757262e-01 6.86830850e-02 4.19236781e-02 4.89957521e+02] [-6.85239865e-02 9.97635803e-01 -5.22195164e-03 -6.49402585e+01] [-4.21832220e-02 2.33224067e-03 9.99107170e-01 -3.20510264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.390714057 meters 0.036368201452397726 Centerline is valid? [True, True] Translation: X:489.99, Y:-64.95, Z:-32.05 [[ 9.96674948e-01 7.02356533e-02 4.13037695e-02 4.89985026e+02] [-7.00825175e-02 9.97527926e-01 -5.14568229e-03 -6.49481150e+01] [-4.15630739e-02 2.23390048e-03 9.99133385e-01 -3.20541266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.420714057 meters 0.03621389559356517 Centerline is valid? [True, True] Translation: X:490.01, Y:-64.95, Z:-32.06 [[ 9.96565935e-01 7.16458568e-02 4.15115547e-02 4.90014210e+02] [-7.14925340e-02 9.97427745e-01 -5.16823291e-03 -6.49506382e+01] [-4.17750589e-02 2.18271862e-03 9.99124657e-01 -3.20554464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.450714057 meters 0.03567921643456857 Centerline is valid? [True, True] Translation: X:490.04, Y:-64.95, Z:-32.06 [[ 9.96354491e-01 7.38297299e-02 4.27422324e-02 4.90042724e+02] [-7.36692751e-02 9.97268542e-01 -5.31918750e-03 -6.49529159e+01] [-4.30181980e-02 2.15100708e-03 9.99071973e-01 -3.20558090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.480714057 meters 0.03225793470357412 Centerline is valid? [True, True] Translation: X:490.07, Y:-64.95, Z:-32.06 [[ 9.96305662e-01 7.40891033e-02 4.34261854e-02 4.90072083e+02] [-7.39237993e-02 9.97249260e-01 -5.40235635e-03 -6.49500934e+01] [-4.37069870e-02 2.17216960e-03 9.99042032e-01 -3.20551215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.51071405700003 meters 0.03150891217255301 Centerline is valid? [True, True] Translation: X:490.10, Y:-64.95, Z:-32.06 [[ 9.96301662e-01 7.38905710e-02 4.38540987e-02 4.90099399e+02] [-7.37219175e-02 9.97263929e-01 -5.45290449e-03 -6.49534342e+01] [-4.41370290e-02 2.19972956e-03 9.99023065e-01 -3.20558382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.540714057 meters 0.03225233068066909 Centerline is valid? [True, True] Translation: X:490.13, Y:-64.96, Z:-32.06 [[ 9.96328236e-01 7.31301127e-02 4.45200186e-02 4.90127953e+02] [-7.29557803e-02 9.97319843e-01 -5.53029117e-03 -6.49586136e+01] [-4.48051288e-02 2.26199256e-03 9.98993185e-01 -3.20580494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.570714057 meters 0.0325615628532677 Centerline is valid? [True, True] Translation: X:490.16, Y:-64.96, Z:-32.06 [[ 9.96466463e-01 7.09233087e-02 4.49941318e-02 4.90156694e+02] [-7.07431562e-02 9.97478925e-01 -5.58568463e-03 -6.49647196e+01] [-4.52768534e-02 2.38292052e-03 9.98971635e-01 -3.20595169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.600714057 meters 0.03329914127749956 Centerline is valid? [True, True] Translation: X:490.18, Y:-64.97, Z:-32.06 [[ 9.96551377e-01 6.97726571e-02 4.49124709e-02 4.90183591e+02] [-6.95920835e-02 9.97559962e-01 -5.57356459e-03 -6.49705957e+01] [-4.51917651e-02 2.42879105e-03 9.98975378e-01 -3.20618214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.630714057 meters 0.035754226417488315 Centerline is valid? [True, True] Translation: X:490.21, Y:-64.98, Z:-32.07 [[ 9.96779531e-01 6.74162751e-02 4.34236281e-02 4.90210561e+02] [-6.72454279e-02 9.97721933e-01 -5.38486098e-03 -6.49797316e+01] [-4.36877335e-02 2.44747875e-03 9.99042237e-01 -3.20658798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.660714057 meters 0.03471348582652959 Centerline is valid? [True, True] Translation: X:490.24, Y:-64.98, Z:-32.07 [[ 9.96895053e-01 6.61591855e-02 4.26991201e-02 4.90239473e+02] [-6.59929813e-02 9.97806054e-01 -5.29189510e-03 -6.49828632e+01] [-4.29555481e-02 2.45762181e-03 9.99073962e-01 -3.20679603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.690714057 meters 0.03526856686848962 Centerline is valid? [True, True] Translation: X:490.27, Y:-64.99, Z:-32.07 [[ 9.97142690e-01 6.33438243e-02 4.11584233e-02 4.90269278e+02] [-6.31871808e-02 9.97988678e-01 -5.09698988e-03 -6.49889430e+01] [-4.13985033e-02 2.48174146e-03 9.99139632e-01 -3.20710194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.720714057 meters 0.03562462055552424 Centerline is valid? [True, True] Translation: X:490.30, Y:-64.99, Z:-32.07 [[ 9.97251761e-01 6.20039824e-02 4.05515930e-02 4.90298252e+02] [-6.18507865e-02 9.98072769e-01 -5.02275462e-03 -6.49929157e+01] [-4.07848715e-02 2.50080297e-03 9.99164821e-01 -3.20731927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.750714057 meters 0.03916869228197696 Centerline is valid? [True, True] Translation: X:490.32, Y:-65.00, Z:-32.08 [[ 9.97335619e-01 6.09171969e-02 4.01342420e-02 4.90324769e+02] [-6.07663259e-02 9.98139648e-01 -4.96952836e-03 -6.50025293e+01] [-4.03623080e-02 2.51747722e-03 9.99181939e-01 -3.20769151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.780714057 meters 0.03910629606569999 Centerline is valid? [True, True] Translation: X:490.35, Y:-65.01, Z:-32.08 [[ 9.97376794e-01 6.05611974e-02 3.96468479e-02 4.90353332e+02] [-6.04138446e-02 9.98161362e-01 -4.90532626e-03 -6.50057712e+01] [-3.98710241e-02 2.49724007e-03 9.99201714e-01 -3.20789190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.810714057 meters 0.0352622929563777 Centerline is valid? [True, True] Translation: X:490.38, Y:-65.00, Z:-32.08 [[ 9.97438725e-01 6.00808399e-02 3.88108464e-02 4.90383190e+02] [-5.99393765e-02 9.98190481e-01 -4.79935929e-03 -6.50026923e+01] [-3.90289670e-02 2.46076888e-03 9.99235050e-01 -3.20793642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.840714057 meters 0.03570410993062399 Centerline is valid? [True, True] Translation: X:490.41, Y:-65.01, Z:-32.08 [[ 9.97435459e-01 5.97446208e-02 3.94092041e-02 4.90411301e+02] [-5.95986142e-02 9.98210541e-01 -4.87041277e-03 -6.50060533e+01] [-3.96296639e-02 2.50918844e-03 9.99211286e-01 -3.20808906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.870714057 meters 0.04278208331113066 Centerline is valid? [True, True] Translation: X:490.44, Y:-65.02, Z:-32.08 [[ 9.97451847e-01 5.87825456e-02 4.04280144e-02 4.90438031e+02] [-5.86282116e-02 9.98267397e-01 -4.99358742e-03 -6.50186628e+01] [-4.06515045e-02 2.61064082e-03 9.99169975e-01 -3.20842549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.900714057 meters 0.03759281480216978 Centerline is valid? [True, True] Translation: X:490.47, Y:-65.01, Z:-32.08 [[ 9.97443409e-01 5.79259833e-02 4.18476449e-02 4.90467572e+02] [-5.77600394e-02 9.98317136e-01 -5.16471486e-03 -6.50134365e+01] [-4.20763922e-02 2.73438918e-03 9.99110655e-01 -3.20826844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.930714057 meters 0.03833412814765581 Centerline is valid? [True, True] Translation: X:490.50, Y:-65.02, Z:-32.08 [[ 9.97460149e-01 5.69297722e-02 4.28048147e-02 4.90495587e+02] [-5.67553562e-02 9.98374154e-01 -5.27994544e-03 -6.50173984e+01] [-4.30358067e-02 2.83713266e-03 9.99069502e-01 -3.20834824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.960714057 meters 0.03712336251911517 Centerline is valid? [True, True] Translation: X:490.52, Y:-65.02, Z:-32.08 [[ 9.97434878e-01 5.53471993e-02 4.53910986e-02 4.90524055e+02] [-5.51496171e-02 9.98462428e-01 -5.59465248e-03 -6.50179270e+01] [-4.56309549e-02 3.07699981e-03 9.98953627e-01 -3.20822346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.990714057 meters 0.04089904894634136 Centerline is valid? [True, True] Translation: X:490.55, Y:-65.03, Z:-32.08 [[ 9.97496521e-01 5.34029389e-02 4.63553250e-02 4.90551747e+02] [-5.31949968e-02 9.98567826e-01 -5.70877874e-03 -6.50260975e+01] [-4.65938016e-02 3.22861557e-03 9.98908701e-01 -3.20842759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.020714057 meters 0.042691161496081195 Centerline is valid? [True, True] Translation: X:490.58, Y:-65.03, Z:-32.09 [[ 9.97609736e-01 5.16849435e-02 4.58637356e-02 4.90579497e+02] [-5.14796911e-02 9.98658082e-01 -5.64597440e-03 -6.50320997e+01] [-4.60940021e-02 3.27142809e-03 9.98931750e-01 -3.20871392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.050714057 meters 0.04405625516183091 Centerline is valid? [True, True] Translation: X:490.61, Y:-65.04, Z:-32.09 [[ 9.97722291e-01 5.01779660e-02 4.50821743e-02 4.90608575e+02] [-4.99782846e-02 9.98734905e-01 -5.54625963e-03 -6.50376102e+01] [-4.53034411e-02 3.28049713e-03 9.98967886e-01 -3.20903349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.080714057 meters 0.04724749680919176 Centerline is valid? [True, True] Translation: X:490.64, Y:-65.05, Z:-32.10 [[ 9.97997357e-01 4.63551414e-02 4.30404138e-02 4.90637233e+02] [-4.61696887e-02 9.98919586e-01 -5.29342709e-03 -6.50454570e+01] [-4.32392899e-02 3.29566373e-03 9.99059309e-01 -3.20951790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.110714057 meters 0.048057147338473286 Centerline is valid? [True, True] Translation: X:490.67, Y:-65.05, Z:-32.10 [[ 9.98115218e-01 4.46934264e-02 4.20536428e-02 4.90666748e+02] [-4.45149588e-02 9.98995334e-01 -5.17117169e-03 -6.50497561e+01] [-4.22425103e-02 3.28940898e-03 9.99101972e-01 -3.20978310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.140714057 meters 0.044479889241959406 Centerline is valid? [True, True] Translation: X:490.70, Y:-65.05, Z:-32.10 [[ 9.98286094e-01 4.20113722e-02 4.07420956e-02 4.90697356e+02] [-4.18416554e-02 9.99111694e-01 -5.00981892e-03 -6.50463340e+01] [-4.09163735e-02 3.29651584e-03 9.99157136e-01 -3.21000272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.170714057 meters 0.04408257263426252 Centerline is valid? [True, True] Translation: X:490.73, Y:-65.05, Z:-32.10 [[ 9.98349637e-01 4.11686976e-02 4.00392319e-02 4.90728010e+02] [-4.10041385e-02 9.99146849e-01 -4.92286431e-03 -6.50481002e+01] [-4.02077403e-02 3.27296559e-03 9.99185981e-01 -3.21021700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.200714057 meters 0.04414786713024588 Centerline is valid? [True, True] Translation: X:490.76, Y:-65.05, Z:-32.10 [[ 9.98415036e-01 4.02782582e-02 3.93074799e-02 4.90758848e+02] [-4.01189780e-02 9.99183222e-01 -4.83289466e-03 -6.50486523e+01] [-3.94700350e-02 3.24825878e-03 9.99215475e-01 -3.21044237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.230714057 meters 0.04518856913486154 Centerline is valid? [True, True] Translation: X:490.79, Y:-65.05, Z:-32.11 [[ 9.98430365e-01 3.98624247e-02 3.93420090e-02 4.90788644e+02] [-3.97025184e-02 9.99199833e-01 -4.83778520e-03 -6.50521734e+01] [-3.95033747e-02 3.26821480e-03 9.99214092e-01 -3.21067038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.26071405700003 meters 0.04475381499636301 Centerline is valid? [True, True] Translation: X:490.82, Y:-65.05, Z:-32.11 [[ 9.98414204e-01 3.98243426e-02 3.97881694e-02 4.90817986e+02] [-3.96608139e-02 9.99201229e-01 -4.89120615e-03 -6.50537847e+01] [-3.99511769e-02 3.30541851e-03 9.99196166e-01 -3.21079394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.290714057 meters 0.04598117589364127 Centerline is valid? [True, True] Translation: X:490.85, Y:-65.06, Z:-32.11 [[ 9.98324169e-01 4.05903666e-02 4.12465151e-02 4.90848485e+02] [-4.04153586e-02 9.99170111e-01 -5.06835150e-03 -6.50556807e+01] [-4.14180113e-02 3.39286510e-03 9.99136145e-01 -3.21085724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.320714057 meters 0.04533247640818053 Centerline is valid? [True, True] Translation: X:490.88, Y:-65.06, Z:-32.11 [[ 9.98284623e-01 4.12774617e-02 4.15208686e-02 4.90878701e+02] [-4.11007060e-02 9.99141982e-01 -5.10206392e-03 -6.50567250e+01] [-4.16958432e-02 3.38677495e-03 9.99124610e-01 -3.21096900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.350714057 meters 0.04418800034540876 Centerline is valid? [True, True] Translation: X:490.91, Y:-65.05, Z:-32.11 [[ 9.98229196e-01 4.15593312e-02 4.25593143e-02 4.90909128e+02] [-4.13738477e-02 9.99130046e-01 -5.23020114e-03 -6.50548123e+01] [-4.27396533e-02 3.46009689e-03 9.99080252e-01 -3.21110675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.380714057 meters 0.04439574883789915 Centerline is valid? [True, True] Translation: X:490.94, Y:-65.06, Z:-32.11 [[ 9.98205992e-01 4.18303441e-02 4.28371423e-02 4.90938909e+02] [-4.16427437e-02 9.99118704e-01 -5.26279077e-03 -6.50574444e+01] [-4.30195345e-02 3.46949314e-03 9.99068207e-01 -3.21127032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.410714057 meters 0.04380110437513379 Centerline is valid? [True, True] Translation: X:490.97, Y:-65.06, Z:-32.11 [[ 9.98170341e-01 4.19512514e-02 4.35437957e-02 4.90968747e+02] [-4.17575892e-02 9.99113458e-01 -5.34801466e-03 -6.50577163e+01] [-4.37295482e-02 3.51994569e-03 9.99037205e-01 -3.21144257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.440714057 meters 0.04457344538237654 Centerline is valid? [True, True] Translation: X:491.00, Y:-65.06, Z:-32.12 [[ 9.98157301e-01 4.18585943e-02 4.39301820e-02 4.90998030e+02] [-4.16614585e-02 9.99117225e-01 -5.39386816e-03 -6.50610258e+01] [-4.41171812e-02 3.55373343e-03 9.99020043e-01 -3.21162005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.470714057 meters 0.04429468544032148 Centerline is valid? [True, True] Translation: X:491.03, Y:-65.06, Z:-32.12 [[ 9.98139769e-01 4.21859903e-02 4.40152718e-02 4.91028139e+02] [-4.19884963e-02 9.99103489e-01 -5.40226428e-03 -6.50633529e+01] [-4.42037115e-02 3.54407974e-03 9.99016252e-01 -3.21182538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.500714057 meters 0.03935146070901692 Centerline is valid? [True, True] Translation: X:491.06, Y:-65.06, Z:-32.12 [[ 9.98009259e-01 4.58730010e-02 4.32803379e-02 4.91059162e+02] [-4.56854938e-02 9.98941749e-01 -5.31211155e-03 -6.50580467e+01] [-4.34782190e-02 3.32425290e-03 9.99048845e-01 -3.21200924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.530714057 meters 0.03984726444474064 Centerline is valid? [True, True] Translation: X:491.09, Y:-65.06, Z:-32.12 [[ 9.97896013e-01 4.80732843e-02 4.35029445e-02 4.91088885e+02] [-4.78859171e-02 9.98838540e-01 -5.33948484e-03 -6.50610807e+01] [-4.37091042e-02 3.24507224e-03 9.99039030e-01 -3.21221400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.560714057 meters 0.040538716821382124 Centerline is valid? [True, True] Translation: X:491.12, Y:-65.06, Z:-32.12 [[ 9.97724223e-01 5.16116482e-02 4.33890880e-02 4.91118549e+02] [-5.14286194e-02 9.98662477e-01 -5.32477511e-03 -6.50633536e+01] [-4.36058745e-02 3.08121622e-03 9.99044060e-01 -3.21237508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.590714057 meters 0.03768845856090343 Centerline is valid? [True, True] Translation: X:491.15, Y:-65.06, Z:-32.12 [[ 9.97693576e-01 5.22273966e-02 4.33569687e-02 4.91148090e+02] [-5.20452287e-02 9.98630555e-01 -5.32057001e-03 -6.50609612e+01] [-4.35754732e-02 3.05177517e-03 9.99045477e-01 -3.21243313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.620714057 meters 0.0381049854156249 Centerline is valid? [True, True] Translation: X:491.18, Y:-65.06, Z:-32.13 [[ 9.97652808e-01 5.35732623e-02 4.26471531e-02 4.91175503e+02] [-5.33983598e-02 9.98559590e-01 -5.23062480e-03 -6.50632869e+01] [-4.28659453e-02 2.94105950e-03 9.99076504e-01 -3.21270166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.650714057 meters 0.038097323562515426 Centerline is valid? [True, True] Translation: X:491.20, Y:-65.07, Z:-32.13 [[ 9.97657512e-01 5.38233287e-02 4.22201070e-02 4.91204285e+02] [-5.36523107e-02 9.98546272e-01 -5.17415635e-03 -6.50660780e+01] [-4.24372207e-02 2.89682966e-03 9.99094936e-01 -3.21296460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.680714057 meters 0.038016722832715004 Centerline is valid? [True, True] Translation: X:491.23, Y:-65.07, Z:-32.13 [[ 9.97644036e-01 5.40227217e-02 4.22838427e-02 4.91232546e+02] [-5.38514964e-02 9.98535525e-01 -5.17887237e-03 -6.50692961e+01] [-4.25016959e-02 2.88962293e-03 9.99092216e-01 -3.21316452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.710714057 meters 0.03912695160744576 Centerline is valid? [True, True] Translation: X:491.26, Y:-65.07, Z:-32.13 [[ 9.97622719e-01 5.36427031e-02 4.32593491e-02 4.91259960e+02] [-5.34632543e-02 9.98555777e-01 -5.29536270e-03 -6.50733229e+01] [-4.34809305e-02 2.96998855e-03 9.99049843e-01 -3.21332173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.740714057 meters 0.039515462338033124 Centerline is valid? [True, True] Translation: X:491.29, Y:-65.08, Z:-32.13 [[ 9.97610724e-01 5.33150637e-02 4.39357289e-02 4.91288064e+02] [-5.31298168e-02 9.98573153e-01 -5.37412860e-03 -6.50765278e+01] [-4.41595613e-02 3.02699109e-03 9.99019905e-01 -3.21340978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.770714057 meters 0.03831450964931079 Centerline is valid? [True, True] Translation: X:491.32, Y:-65.08, Z:-32.13 [[ 9.97588499e-01 5.28295584e-02 4.50136007e-02 4.91317279e+02] [-5.26348098e-02 9.98598673e-01 -5.50158251e-03 -6.50759645e+01] [-4.52411681e-02 3.11903313e-03 9.98971225e-01 -3.21340564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.800714057 meters 0.0392064916520694 Centerline is valid? [True, True] Translation: X:491.34, Y:-65.08, Z:-32.14 [[ 9.97593551e-01 5.24441207e-02 4.53510891e-02 4.91344935e+02] [-5.22461851e-02 9.98618870e-01 -5.53969634e-03 -6.50803374e+01] [-4.55789779e-02 3.15694394e-03 9.98955750e-01 -3.21354837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.830714057 meters 0.04044354294927668 Centerline is valid? [True, True] Translation: X:491.37, Y:-65.09, Z:-32.14 [[ 9.97642274e-01 5.11368931e-02 4.57701964e-02 4.91373901e+02] [-5.09341309e-02 9.98686392e-01 -5.58610407e-03 -6.50854154e+01] [-4.59957283e-02 3.24166839e-03 9.98936377e-01 -3.21376960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.860714057 meters 0.03920504169585294 Centerline is valid? [True, True] Translation: X:491.40, Y:-65.09, Z:-32.14 [[ 9.97696110e-01 5.03680914e-02 4.54480795e-02 4.91402104e+02] [-5.01674169e-02 9.98725424e-01 -5.54603676e-03 -6.50874252e+01] [-4.56694957e-02 3.25324655e-03 9.98951307e-01 -3.21394304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.890714057 meters 0.04220241739675745 Centerline is valid? [True, True] Translation: X:491.43, Y:-65.10, Z:-32.14 [[ 9.97790982e-01 4.95358060e-02 4.42646594e-02 4.91429165e+02] [-4.93448652e-02 9.98767221e-01 -5.39658147e-03 -6.50967736e+01] [-4.44774149e-02 3.20042667e-03 9.99005264e-01 -3.21440961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.920714057 meters 0.04220241739675745 Centerline is valid? [True, True] Translation: X:491.46, Y:-65.10, Z:-32.15 [[ 9.97794416e-01 4.94662466e-02 4.42650425e-02 4.91457293e+02] [-4.92753764e-02 9.98770668e-01 -5.39343747e-03 -6.51001377e+01] [-4.44774191e-02 3.20036516e-03 9.99005264e-01 -3.21457394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.950714057 meters 0.042281962971033135 Centerline is valid? [True, True] Translation: X:491.49, Y:-65.10, Z:-32.15 [[ 9.97891246e-01 4.84304176e-02 4.32152294e-02 4.91486676e+02] [-4.82476855e-02 9.98821541e-01 -5.26206516e-03 -6.51039045e+01] [-4.34191461e-02 3.16593395e-03 9.99051928e-01 -3.21481132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.980714057 meters 0.04004398661267614 Centerline is valid? [True, True] Translation: X:491.52, Y:-65.11, Z:-32.15 [[ 9.97924724e-01 4.92038232e-02 4.15358793e-02 4.91515004e+02] [-4.90357275e-02 9.98784224e-01 -5.05677204e-03 -6.51054236e+01] [-4.17341935e-02 3.00953578e-03 9.99124216e-01 -3.21513028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.01071405700003 meters 0.04003578328186524 Centerline is valid? [True, True] Translation: X:491.54, Y:-65.11, Z:-32.15 [[ 9.97948240e-01 4.89684681e-02 4.12480286e-02 4.91543229e+02] [-4.88026184e-02 9.98795833e-01 -5.01878168e-03 -6.51095532e+01] [-4.14441212e-02 2.99547254e-03 9.99136333e-01 -3.21536318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.040714057 meters 0.03997969155141754 Centerline is valid? [True, True] Translation: X:491.57, Y:-65.11, Z:-32.16 [[ 9.97946731e-01 4.90183875e-02 4.12252272e-02 4.91571811e+02] [-4.88528872e-02 9.98793405e-01 -5.01302438e-03 -6.51140248e+01] [-4.14212154e-02 2.98875992e-03 9.99137303e-01 -3.21553938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.070714057 meters 0.04163531779171183 Centerline is valid? [True, True] Translation: X:491.60, Y:-65.12, Z:-32.16 [[ 9.97934297e-01 4.82392536e-02 4.24277402e-02 4.91598847e+02] [-4.80633747e-02 9.98830979e-01 -5.15631606e-03 -6.51214075e+01] [-4.26268781e-02 3.10644427e-03 9.99086232e-01 -3.21565054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.100714057 meters 0.042333611489690455 Centerline is valid? [True, True] Translation: X:491.63, Y:-65.13, Z:-32.16 [[ 9.97963829e-01 4.71355827e-02 4.29701307e-02 4.91627597e+02] [-4.69543519e-02 9.98883409e-01 -5.21773349e-03 -6.51264065e+01] [-4.31680915e-02 3.18947465e-03 9.99062732e-01 -3.21569766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.130714057 meters 0.041075985017965395 Centerline is valid? [True, True] Translation: X:491.66, Y:-65.13, Z:-32.16 [[ 9.97952914e-01 4.51719828e-02 4.52711172e-02 4.91656707e+02] [-4.49689007e-02 9.98973275e-01 -5.49485373e-03 -6.51306129e+01] [-4.54728497e-02 3.44781291e-03 9.98959625e-01 -3.21559595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.160714057 meters 0.04534428293420182 Centerline is valid? [True, True] Translation: X:491.69, Y:-65.14, Z:-32.16 [[ 9.97985489e-01 4.36295178e-02 4.60589817e-02 4.91685048e+02] [-4.34178050e-02 9.99041378e-01 -5.58749138e-03 -6.51422398e+01] [-4.62586080e-02 3.57645543e-03 9.98923095e-01 -3.21581416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.190714057 meters 0.04771120840992656 Centerline is valid? [True, True] Translation: X:491.71, Y:-65.15, Z:-32.16 [[ 9.98146102e-01 4.04733369e-02 4.54562239e-02 4.91714173e+02] [-4.02639319e-02 9.99173868e-01 -5.51330261e-03 -6.51522846e+01] [-4.56418128e-02 3.67283521e-03 9.98951118e-01 -3.21600108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.220714057 meters 0.044581734227315754 Centerline is valid? [True, True] Translation: X:491.75, Y:-65.15, Z:-32.16 [[ 9.98222502e-01 3.89107516e-02 4.51418802e-02 4.91745698e+02] [-3.87026607e-02 9.99235773e-01 -5.47491720e-03 -6.51527771e+01] [-4.53204147e-02 3.71807467e-03 9.98965583e-01 -3.21612212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.250714057 meters 0.045167256232528256 Centerline is valid? [True, True] Translation: X:491.78, Y:-65.16, Z:-32.16 [[ 9.98384461e-01 3.57968719e-02 4.41254121e-02 4.91775553e+02] [-3.55949499e-02 9.99351959e-01 -5.35358580e-03 -6.51597663e+01] [-4.42884587e-02 3.77429504e-03 9.99011655e-01 -3.21634163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.280714057 meters 0.04690870367824868 Centerline is valid? [True, True] Translation: X:491.81, Y:-65.17, Z:-32.17 [[ 9.98421770e-01 3.47591676e-02 4.41108817e-02 4.91805212e+02] [-3.45563808e-02 9.99388421e-01 -5.35166734e-03 -6.51682141e+01] [-4.42699240e-02 3.81890875e-03 9.99012307e-01 -3.21657980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.310714057 meters 0.04324999701121359 Centerline is valid? [True, True] Translation: X:491.84, Y:-65.17, Z:-32.17 [[ 9.98498431e-01 3.26519904e-02 4.39855681e-02 4.91836454e+02] [-3.24482571e-02 9.99459162e-01 -5.33804950e-03 -6.51708395e+01] [-4.41360770e-02 3.90277903e-03 9.99017905e-01 -3.21677158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.340714057 meters 0.04717500581611699 Centerline is valid? [True, True] Translation: X:491.87, Y:-65.18, Z:-32.17 [[ 9.98547554e-01 3.17116595e-02 4.35563107e-02 4.91865953e+02] [-3.15109293e-02 9.99489421e-01 -5.28756400e-03 -6.51815803e+01] [-4.37017492e-02 3.90738427e-03 9.99036981e-01 -3.21705626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.370714057 meters 0.04927796314798189 Centerline is valid? [True, True] Translation: X:491.90, Y:-65.19, Z:-32.17 [[ 9.98540755e-01 3.14525579e-02 4.38987156e-02 4.91896109e+02] [-3.12484520e-02 9.99497446e-01 -5.32813838e-03 -6.51897377e+01] [-4.40442377e-02 3.94859641e-03 9.99021778e-01 -3.21725448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.400714057 meters 0.04629341334867413 Centerline is valid? [True, True] Translation: X:491.93, Y:-65.19, Z:-32.17 [[ 9.98588560e-01 3.06005017e-02 4.34107853e-02 4.91927729e+02] [-3.03996831e-02 9.99523883e-01 -5.27879133e-03 -6.51919525e+01] [-4.35516504e-02 3.95166652e-03 9.99043361e-01 -3.21742093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.430714057 meters 0.052132667961398794 Centerline is valid? [True, True] Translation: X:491.96, Y:-65.21, Z:-32.18 [[ 9.98585482e-01 3.07702452e-02 4.33615901e-02 4.91958711e+02] [-3.05695535e-02 9.99518675e-01 -5.28399493e-03 -6.52059096e+01] [-4.35033089e-02 3.95097617e-03 9.99045470e-01 -3.21772443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.460714057 meters 0.05329497226740813 Centerline is valid? [True, True] Translation: X:491.99, Y:-65.21, Z:-32.18 [[ 9.98604607e-01 3.04144186e-02 4.31717694e-02 4.91990040e+02] [-3.02148441e-02 9.99529545e-01 -5.26796720e-03 -6.52148389e+01] [-4.33116812e-02 3.95618803e-03 9.99053776e-01 -3.21793347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.490714057 meters 0.049111963888222865 Centerline is valid? [True, True] Translation: X:492.02, Y:-65.22, Z:-32.18 [[ 9.98618163e-01 3.05047026e-02 4.27928537e-02 4.92022863e+02] [-3.03082645e-02 9.99526906e-01 -5.23189214e-03 -6.52150116e+01] [-4.29322060e-02 3.92768539e-03 9.99070267e-01 -3.21807698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.520714057 meters 0.04990577366559822 Centerline is valid? [True, True] Translation: X:492.05, Y:-65.22, Z:-32.18 [[ 9.98635029e-01 3.06077124e-02 4.23231193e-02 4.92054186e+02] [-3.04152111e-02 9.99523902e-01 -5.18499093e-03 -6.52237475e+01] [-4.24616701e-02 3.89064696e-03 9.99090521e-01 -3.21831509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.550714057 meters 0.04746701756591189 Centerline is valid? [True, True] Translation: X:492.09, Y:-65.23, Z:-32.18 [[ 9.98645782e-01 3.09833145e-02 4.17927810e-02 4.92087493e+02] [-3.07955331e-02 9.99512542e-01 -5.12964530e-03 -6.52255586e+01] [-4.19313422e-02 3.83566767e-03 9.99113132e-01 -3.21847449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.580714057 meters 0.05194117957402146 Centerline is valid? [True, True] Translation: X:492.12, Y:-65.24, Z:-32.19 [[ 9.98625789e-01 3.17520419e-02 4.16934189e-02 4.92117528e+02] [-3.15652706e-02 9.99488525e-01 -5.13050395e-03 -6.52370489e+01] [-4.18349978e-02 3.80738951e-03 9.99117279e-01 -3.21879184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.610714057 meters 0.04664728481128854 Centerline is valid? [True, True] Translation: X:492.15, Y:-65.24, Z:-32.19 [[ 9.98603392e-01 3.31865910e-02 4.11085930e-02 4.92149345e+02] [-3.30057057e-02 9.99442297e-01 -5.07127885e-03 -6.52355844e+01] [-4.12539651e-02 3.70737813e-03 9.99141815e-01 -3.21887387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.640714057 meters 0.04379232156892661 Centerline is valid? [True, True] Translation: X:492.18, Y:-65.24, Z:-32.19 [[ 9.98501076e-01 3.59768347e-02 4.12464466e-02 4.92180466e+02] [-3.57970235e-02 9.99346119e-01 -5.08998060e-03 -6.52372319e+01] [-4.14025977e-02 3.60585109e-03 9.99136038e-01 -3.21895871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.670714057 meters 0.046643819341527816 Centerline is valid? [True, True] Translation: X:492.21, Y:-65.25, Z:-32.19 [[ 9.98447170e-01 3.75559158e-02 4.11436804e-02 4.92209881e+02] [-3.73782805e-02 9.99288283e-01 -5.07850334e-03 -6.52460470e+01] [-4.13051256e-02 3.53273726e-03 9.99140334e-01 -3.21917674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.700714057 meters 0.043092288911189505 Centerline is valid? [True, True] Translation: X:492.24, Y:-65.25, Z:-32.19 [[ 9.98353047e-01 3.99835062e-02 4.11401632e-02 4.92241240e+02] [-3.98079147e-02 9.99194443e-01 -5.07884014e-03 -6.52454311e+01] [-4.13100923e-02 3.43277142e-03 9.99140477e-01 -3.21920121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.730714057 meters 0.04182187295272097 Centerline is valid? [True, True] Translation: X:492.27, Y:-65.25, Z:-32.19 [[ 9.98157841e-01 4.47024217e-02 4.10197383e-02 4.92270825e+02] [-4.45317568e-02 9.98995128e-01 -5.06534857e-03 -6.52480979e+01] [-4.12049520e-02 3.22933638e-03 9.99145497e-01 -3.21934483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.76071405700003 meters 0.04034231865982636 Centerline is valid? [True, True] Translation: X:492.30, Y:-65.25, Z:-32.19 [[ 9.98049225e-01 4.70965273e-02 4.09836707e-02 4.92300904e+02] [-4.69282020e-02 9.98885449e-01 -5.06006737e-03 -6.52500217e+01] [-4.11763039e-02 3.12690634e-03 9.99147003e-01 -3.21947740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.790714057 meters 0.03885452590102959 Centerline is valid? [True, True] Translation: X:492.33, Y:-65.25, Z:-32.20 [[ 9.97794286e-01 5.19341030e-02 4.13450343e-02 4.92330977e+02] [-5.17669598e-02 9.98646150e-01 -5.10376666e-03 -6.52531479e+01] [-4.15541189e-02 2.95220248e-03 9.99131893e-01 -3.21965769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.820714057 meters 0.039869332431332165 Centerline is valid? [True, True] Translation: X:492.36, Y:-65.26, Z:-32.20 [[ 9.97655315e-01 5.42129497e-02 4.17711424e-02 4.92359678e+02] [-5.40443255e-02 9.98525224e-01 -5.15640976e-03 -6.52593343e+01] [-4.19890835e-02 2.88682638e-03 9.99113899e-01 -3.21986611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.850714057 meters 0.03907779615730289 Centerline is valid? [True, True] Translation: X:492.39, Y:-65.26, Z:-32.20 [[ 9.97380389e-01 5.88008600e-02 4.21286013e-02 4.92388670e+02] [-5.86334821e-02 9.98266041e-01 -5.19876141e-03 -6.52624997e+01] [-4.23612437e-02 2.71499609e-03 9.99098671e-01 -3.21999772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.880714057 meters 0.036946256392436365 Centerline is valid? [True, True] Translation: X:492.42, Y:-65.26, Z:-32.20 [[ 9.97266385e-01 6.11911122e-02 4.14174512e-02 4.92418671e+02] [-6.10314299e-02 9.98122764e-01 -5.11013062e-03 -6.52634036e+01] [-4.16523955e-02 2.56839522e-03 9.99128861e-01 -3.22009813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.910714057 meters 0.037674677624913264 Centerline is valid? [True, True] Translation: X:492.45, Y:-65.27, Z:-32.20 [[ 9.97144659e-01 6.31813301e-02 4.13599943e-02 4.92446539e+02] [-6.30238025e-02 9.97998978e-01 -5.10287366e-03 -6.52682294e+01] [-4.15996384e-02 2.48163909e-03 9.99131278e-01 -3.22035579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.940714057 meters 0.03381045213345277 Centerline is valid? [True, True] Translation: X:492.48, Y:-65.27, Z:-32.20 [[ 9.96908282e-01 6.71249307e-02 4.08426302e-02 4.92476384e+02] [-6.69747182e-02 9.97741960e-01 -5.03661699e-03 -6.52679090e+01] [-4.10884885e-02 2.28562154e-03 9.99152897e-01 -3.22043339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.970714057 meters 0.03274704241173812 Centerline is valid? [True, True] Translation: X:492.51, Y:-65.27, Z:-32.21 [[ 9.96737149e-01 7.00560623e-02 4.00899410e-02 4.92505972e+02] [-6.99137706e-02 9.97540796e-01 -4.94208137e-03 -6.52717083e+01] [-4.03375744e-02 2.12311716e-03 9.99183853e-01 -3.22065594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.000714057 meters 0.03177455241980224 Centerline is valid? [True, True] Translation: X:492.53, Y:-65.27, Z:-32.21 [[ 9.96655188e-01 7.13044037e-02 3.99264191e-02 4.92534558e+02] [-7.11642599e-02 9.97452465e-01 -4.92216564e-03 -6.52749005e+01] [-4.01756773e-02 2.06436786e-03 9.99190499e-01 -3.22077535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.030714057 meters 0.03612724736781042 Centerline is valid? [True, True] Translation: X:492.56, Y:-65.29, Z:-32.21 [[ 9.96585326e-01 7.20761775e-02 4.02829045e-02 4.92560633e+02] [-7.19342557e-02 9.97397026e-01 -4.96343162e-03 -6.52867284e+01] [-4.05357944e-02 2.04876237e-03 9.99175986e-01 -3.22118482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.060714057 meters 0.031188032249855235 Centerline is valid? [True, True] Translation: X:492.59, Y:-65.28, Z:-32.21 [[ 9.96521990e-01 7.34514752e-02 3.93548594e-02 4.92590321e+02] [-7.33172394e-02 9.97296899e-01 -4.84532879e-03 -6.52844748e+01] [-3.96043758e-02 1.94308704e-03 9.99213550e-01 -3.22112840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.090714057 meters 0.03125489706058075 Centerline is valid? [True, True] Translation: X:492.62, Y:-65.29, Z:-32.21 [[ 9.96467572e-01 7.42763027e-02 3.91843044e-02 4.92618767e+02] [-7.41439760e-02 9.97235892e-01 -4.82150283e-03 -6.52890904e+01] [-3.94341181e-02 1.89919109e-03 9.99220368e-01 -3.22127129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.120714057 meters 0.03129858141301412 Centerline is valid? [True, True] Translation: X:492.65, Y:-65.29, Z:-32.21 [[ 9.96334711e-01 7.59441508e-02 3.93653257e-02 4.92645787e+02] [-7.58119749e-02 9.97110376e-01 -4.84178856e-03 -6.52949477e+01] [-3.96192803e-02 1.83967892e-03 9.99213155e-01 -3.22142424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.150714057 meters 0.03056253214480582 Centerline is valid? [True, True] Translation: X:492.67, Y:-65.30, Z:-32.22 [[ 9.96248300e-01 7.71511074e-02 3.92049854e-02 4.92674442e+02] [-7.70211582e-02 9.97017825e-01 -4.81651070e-03 -6.52981893e+01] [-3.94596684e-02 1.77882721e-03 9.99219581e-01 -3.22152137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.180714057 meters 0.0298581570683898 Centerline is valid? [True, True] Translation: X:492.70, Y:-65.30, Z:-32.22 [[ 9.96108906e-01 7.85471413e-02 3.99674102e-02 4.92703321e+02] [-7.84133245e-02 9.96908857e-01 -4.90724877e-03 -6.53015391e+01] [-4.02293155e-02 1.75417671e-03 9.99188934e-01 -3.22167126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.210714057 meters 0.029372535432261652 Centerline is valid? [True, True] Translation: X:492.73, Y:-65.31, Z:-32.22 [[ 9.95869347e-01 8.16100134e-02 3.98001163e-02 4.92733170e+02] [-8.14799070e-02 9.96663023e-01 -4.88292218e-03 -6.53061886e+01] [-4.00657996e-02 1.61984275e-03 9.99195730e-01 -3.22178286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.240714057 meters 0.028372519995686827 Centerline is valid? [True, True] Translation: X:492.76, Y:-65.31, Z:-32.22 [[ 9.95769370e-01 8.25758051e-02 4.03062929e-02 4.92761935e+02] [-8.24431477e-02 9.96583500e-01 -4.94522111e-03 -6.53112527e+01] [-4.05769421e-02 1.60132205e-03 9.99175134e-01 -3.22186230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.270714057 meters 0.031090466111205604 Centerline is valid? [True, True] Translation: X:492.79, Y:-65.32, Z:-32.22 [[ 9.95801324e-01 8.20240988e-02 4.06419799e-02 4.92788841e+02] [-8.18888418e-02 9.96629005e-01 -4.98447312e-03 -6.53217902e+01] [-4.09138229e-02 1.63542027e-03 9.99161341e-01 -3.22220954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.300714057 meters 0.030188285745936 Centerline is valid? [True, True] Translation: X:492.82, Y:-65.33, Z:-32.22 [[ 9.95848321e-01 8.11375243e-02 4.12652841e-02 4.92817246e+02] [-8.09976011e-02 9.96701481e-01 -5.05426384e-03 -6.53263041e+01] [-4.15392602e-02 1.69089114e-03 9.99135442e-01 -3.22222912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.330714057 meters 0.029327408136516308 Centerline is valid? [True, True] Translation: X:492.85, Y:-65.33, Z:-32.22 [[ 9.96067919e-01 7.80339039e-02 4.19453273e-02 4.92845996e+02] [-7.78867285e-02 9.96948995e-01 -5.13407529e-03 -6.53342241e+01] [-4.22179839e-02 1.84690337e-03 9.99106716e-01 -3.22222956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.360714057 meters 0.02822756335787866 Centerline is valid? [True, True] Translation: X:492.87, Y:-65.34, Z:-32.22 [[ 9.96231354e-01 7.60749901e-02 4.16615649e-02 4.92874829e+02] [-7.59281409e-02 9.97100259e-01 -5.09816994e-03 -6.53383499e+01] [-4.19286003e-02 1.91567158e-03 9.99118773e-01 -3.22227257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.390714057 meters 0.028925157146427714 Centerline is valid? [True, True] Translation: X:492.90, Y:-65.35, Z:-32.22 [[ 9.96503460e-01 7.21659344e-02 4.21061925e-02 4.92903553e+02] [-7.20125774e-02 9.97390430e-01 -5.14959212e-03 -6.53498716e+01] [-4.23679386e-02 2.09941092e-03 9.99099870e-01 -3.22249841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.420714057 meters 0.03101960540982616 Centerline is valid? [True, True] Translation: X:492.93, Y:-65.36, Z:-32.23 [[ 9.96619317e-01 7.06120911e-02 4.19984505e-02 4.92930177e+02] [-7.04581277e-02 9.97501512e-01 -5.13677431e-03 -6.53597056e+01] [-4.22562362e-02 2.16027632e-03 9.99104471e-01 -3.22280707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.450714057 meters 0.032252328353367936 Centerline is valid? [True, True] Translation: X:492.96, Y:-65.37, Z:-32.23 [[ 9.96703213e-01 6.91711560e-02 4.24034970e-02 4.92957204e+02] [-6.90130659e-02 9.97602294e-01 -5.18257758e-03 -6.53681448e+01] [-4.26603108e-02 2.23909639e-03 9.99087126e-01 -3.22305307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.480714057 meters 0.032244953720745595 Centerline is valid? [True, True] Translation: X:492.99, Y:-65.38, Z:-32.23 [[ 9.96874528e-01 6.66942322e-02 4.23444724e-02 4.92985831e+02] [-6.65345977e-02 9.97770726e-01 -5.16966483e-03 -6.53762858e+01] [-4.25948618e-02 2.33613476e-03 9.99089696e-01 -3.22320244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.51071405700003 meters 0.047909081184195505 Centerline is valid? [True, True] Translation: X:493.01, Y:-65.41, Z:-32.24 [[ 9.96728923e-01 6.68246009e-02 4.54524713e-02 4.93009821e+02] [-6.66408399e-02 9.97761604e-01 -5.54795745e-03 -6.54052736e+01] [-4.57214707e-02 2.50081879e-03 9.98951096e-01 -3.22384042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.540714057 meters 0.0345594630752393 Centerline is valid? [True, True] Translation: X:493.04, Y:-65.39, Z:-32.24 [[ 9.97121283e-01 6.38088808e-02 4.09581939e-02 4.93041465e+02] [-6.36573306e-02 9.97959315e-01 -4.99503959e-03 -6.53919818e+01] [-4.11933390e-02 2.37337099e-03 9.99148375e-01 -3.22367301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.570714057 meters 0.033844927342434425 Centerline is valid? [True, True] Translation: X:493.07, Y:-65.40, Z:-32.24 [[ 9.97210332e-01 6.24925986e-02 4.08194645e-02 4.93070312e+02] [-6.23409670e-02 9.98042494e-01 -4.97832539e-03 -6.53960429e+01] [-4.10506687e-02 2.41971263e-03 9.99154136e-01 -3.22377638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.600714057 meters 0.03618486136430259 Centerline is valid? [True, True] Translation: X:493.10, Y:-65.41, Z:-32.24 [[ 9.97358015e-01 5.97550463e-02 4.13076872e-02 4.93097526e+02] [-5.95975507e-02 9.98209789e-01 -5.03483271e-03 -6.54061893e+01] [-4.15345944e-02 2.55969377e-03 9.99133788e-01 -3.22395856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.630714057 meters 0.0331862383260228 Centerline is valid? [True, True] Translation: X:493.13, Y:-65.41, Z:-32.24 [[ 9.97423550e-01 5.84601069e-02 4.15773599e-02 4.93127768e+02] [-5.82995751e-02 9.98286289e-01 -5.06414938e-03 -6.54065028e+01] [-4.18021590e-02 2.62715944e-03 9.99122454e-01 -3.22399836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.660714057 meters 0.03524654041623937 Centerline is valid? [True, True] Translation: X:493.16, Y:-65.41, Z:-32.24 [[ 9.97493706e-01 5.71753497e-02 4.16807713e-02 4.93155820e+02] [-5.70129541e-02 9.98360537e-01 -5.07548082e-03 -6.54146903e+01] [-4.19026296e-02 2.68641627e-03 9.99118088e-01 -3.22420532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.690714057 meters 0.03596088166828016 Centerline is valid? [True, True] Translation: X:493.19, Y:-65.42, Z:-32.24 [[ 9.97591310e-01 5.50846524e-02 4.21575638e-02 4.93185699e+02] [-5.49167950e-02 9.98477754e-01 -5.13033679e-03 -6.54211869e+01] [-4.23759924e-02 2.80282111e-03 9.99097803e-01 -3.22438839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.720714057 meters 0.03734436423404668 Centerline is valid? [True, True] Translation: X:493.21, Y:-65.43, Z:-32.25 [[ 9.97601720e-01 5.43674606e-02 4.28367640e-02 4.93214090e+02] [-5.41935228e-02 9.98516848e-01 -5.21220097e-03 -6.54274887e+01] [-4.30566047e-02 2.87822550e-03 9.99068488e-01 -3.22450557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.750714057 meters 0.039620128568798874 Centerline is valid? [True, True] Translation: X:493.24, Y:-65.43, Z:-32.25 [[ 9.97609330e-01 5.41567636e-02 4.29263392e-02 4.93243165e+02] [-5.39817761e-02 9.98528245e-01 -5.22603761e-03 -6.54337918e+01] [-4.31461875e-02 2.89630384e-03 9.99064571e-01 -3.22468705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.780714057 meters 0.036903061436009875 Centerline is valid? [True, True] Translation: X:493.27, Y:-65.43, Z:-32.25 [[ 9.97566987e-01 5.44555152e-02 4.35281803e-02 4.93274141e+02] [-5.42758335e-02 9.98511915e-01 -5.30003849e-03 -6.54343327e+01] [-4.37520230e-02 2.92461516e-03 9.99038141e-01 -3.22473047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.810714057 meters 0.036903061436009875 Centerline is valid? [True, True] Translation: X:493.30, Y:-65.44, Z:-32.25 [[ 9.97568914e-01 5.44202545e-02 4.35281204e-02 4.93303104e+02] [-5.42405180e-02 9.98513831e-01 -5.30053077e-03 -6.54378284e+01] [-4.37518865e-02 2.92665692e-03 9.99038141e-01 -3.22489953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.840714057 meters 0.03940775541874777 Centerline is valid? [True, True] Translation: X:493.33, Y:-65.44, Z:-32.25 [[ 9.97583946e-01 5.40811915e-02 4.36061453e-02 4.93331964e+02] [-5.39005671e-02 9.98532199e-01 -5.30821020e-03 -6.54449266e+01] [-4.38292145e-02 2.94498931e-03 9.99034698e-01 -3.22506509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.870714057 meters 0.03725290950222116 Centerline is valid? [True, True] Translation: X:493.36, Y:-65.45, Z:-32.25 [[ 9.97532398e-01 5.46054231e-02 4.41289361e-02 4.93362602e+02] [-5.44209946e-02 9.98503635e-01 -5.37081310e-03 -6.54453391e+01] [-4.43561787e-02 2.95601947e-03 9.99011407e-01 -3.22511447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.900714057 meters 0.03656746434252151 Centerline is valid? [True, True] Translation: X:493.39, Y:-65.45, Z:-32.25 [[ 9.97471917e-01 5.53543512e-02 4.45608721e-02 4.93392711e+02] [-5.51670351e-02 9.98462410e-01 -5.42338285e-03 -6.54484026e+01] [-4.47925636e-02 2.95138089e-03 9.98991950e-01 -3.22523063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.930714057 meters 0.03724180223243202 Centerline is valid? [True, True] Translation: X:493.42, Y:-65.45, Z:-32.25 [[ 9.97434353e-01 5.59008633e-02 4.47191737e-02 4.93421716e+02] [-5.57127753e-02 9.98432005e-01 -5.44229534e-03 -6.54523188e+01] [-4.49532833e-02 2.93690305e-03 9.98984773e-01 -3.22538473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.960714057 meters 0.03509088559213809 Centerline is valid? [True, True] Translation: X:493.45, Y:-65.45, Z:-32.25 [[ 9.97336433e-01 5.76712769e-02 4.46549346e-02 4.93452677e+02] [-5.74854237e-02 9.98331546e-01 -5.43607517e-03 -6.54521421e+01] [-4.48939353e-02 2.85458798e-03 9.98987681e-01 -3.22548569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.990714057 meters 0.03518965856432517 Centerline is valid? [True, True] Translation: X:493.48, Y:-65.46, Z:-32.26 [[ 9.97293936e-01 5.84403508e-02 4.46041480e-02 4.93482390e+02] [-5.82556653e-02 9.98286927e-01 -5.43035588e-03 -6.54550741e+01] [-4.48450897e-02 2.81721667e-03 9.98989981e-01 -3.22571562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.020714057 meters 0.03522936011413639 Centerline is valid? [True, True] Translation: X:493.51, Y:-65.46, Z:-32.26 [[ 9.97231711e-01 6.01897617e-02 4.36589913e-02 4.93510653e+02] [-6.00145734e-02 9.98183359e-01 -5.31351654e-03 -6.54576978e+01] [-4.38994979e-02 2.67863145e-03 9.99032361e-01 -3.22591148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.050714057 meters 0.035600913309933056 Centerline is valid? [True, True] Translation: X:493.54, Y:-65.46, Z:-32.26 [[ 9.97229081e-01 6.05931356e-02 4.31582167e-02 4.93539058e+02] [-6.04223361e-02 9.98159083e-01 -5.25225517e-03 -6.54610943e+01] [-4.33970166e-02 2.62998132e-03 9.99054444e-01 -3.22613781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.080714057 meters 0.035894374998206656 Centerline is valid? [True, True] Translation: X:493.57, Y:-65.46, Z:-32.26 [[ 9.97207507e-01 6.10252114e-02 4.30477935e-02 4.93568141e+02] [-6.08557856e-02 9.98132833e-01 -5.23652729e-03 -6.54642375e+01] [-4.32869763e-02 2.60219703e-03 9.99059291e-01 -3.22627569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.110714057 meters 0.03601955248464822 Centerline is valid? [True, True] Translation: X:493.60, Y:-65.47, Z:-32.26 [[ 9.97163851e-01 6.13663133e-02 4.35709753e-02 4.93596492e+02] [-6.11931571e-02 9.98111881e-01 -5.29807387e-03 -6.54680008e+01] [-4.38138314e-02 2.61680221e-03 9.99036286e-01 -3.22641567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.140714057 meters 0.037071436147874226 Centerline is valid? [True, True] Translation: X:493.63, Y:-65.47, Z:-32.27 [[ 9.97164378e-01 6.13680923e-02 4.35564038e-02 4.93625108e+02] [-6.11951984e-02 9.98111783e-01 -5.29300115e-03 -6.54723536e+01] [-4.37989813e-02 2.61254943e-03 9.99036948e-01 -3.22658577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.170714057 meters 0.037468751597976926 Centerline is valid? [True, True] Translation: X:493.65, Y:-65.48, Z:-32.27 [[ 9.97191585e-01 6.12848888e-02 4.30477050e-02 4.93654768e+02] [-6.11160426e-02 9.98116972e-01 -5.22871680e-03 -6.54766197e+01] [-4.32870863e-02 2.58312702e-03 9.99059335e-01 -3.22680899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.200714057 meters 0.03763889777680831 Centerline is valid? [True, True] Translation: X:493.68, Y:-65.48, Z:-32.27 [[ 9.97198125e-01 6.12872525e-02 4.28925718e-02 4.93683691e+02] [-6.11196661e-02 9.98116854e-01 -5.20890267e-03 -6.54803819e+01] [-4.31310382e-02 2.57272831e-03 9.99066111e-01 -3.22698416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.230714057 meters 0.035848461299172324 Centerline is valid? [True, True] Translation: X:493.71, Y:-65.48, Z:-32.27 [[ 9.97234080e-01 6.07551111e-02 4.28136205e-02 4.93712580e+02] [-6.05877777e-02 9.98149347e-01 -5.19642317e-03 -6.54799431e+01] [-4.30500966e-02 2.58806816e-03 9.99069563e-01 -3.22709011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.26071405700003 meters 0.036861840981126395 Centerline is valid? [True, True] Translation: X:493.74, Y:-65.48, Z:-32.27 [[ 9.97256480e-01 5.99195893e-02 4.34644325e-02 4.93740608e+02] [-5.97464832e-02 9.98199661e-01 -5.27204107e-03 -6.54839931e+01] [-4.37020803e-02 2.66073014e-03 9.99041065e-01 -3.22724430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.290714057 meters 0.03799614504624538 Centerline is valid? [True, True] Translation: X:493.77, Y:-65.49, Z:-32.27 [[ 9.97300102e-01 5.88845415e-02 4.38761481e-02 4.93768538e+02] [-5.87072433e-02 9.98261069e-01 -5.31964668e-03 -6.54891647e+01] [-4.41130954e-02 2.72943648e-03 9.99022815e-01 -3.22741305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.320714057 meters 0.037879096709889794 Centerline is valid? [True, True] Translation: X:493.80, Y:-65.49, Z:-32.28 [[ 9.97356493e-01 5.77714506e-02 4.40736392e-02 4.93798142e+02] [-5.75915818e-02 9.98325940e-01 -5.34105471e-03 -6.54926315e+01] [-4.43084178e-02 2.78866500e-03 9.99014008e-01 -3.22751257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.350714057 meters 0.039722526934598754 Centerline is valid? [True, True] Translation: X:493.83, Y:-65.50, Z:-32.28 [[ 9.97485876e-01 5.46714763e-02 4.50883223e-02 4.93826869e+02] [-5.44801688e-02 9.98499915e-01 -5.46184792e-03 -6.54991601e+01] [-4.53192932e-02 2.99169675e-03 9.98968073e-01 -3.22766933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.380714057 meters 0.04307337549029469 Centerline is valid? [True, True] Translation: X:493.86, Y:-65.51, Z:-32.28 [[ 9.97721865e-01 5.05862539e-02 4.46330619e-02 4.93855973e+02] [-5.03946920e-02 9.98714741e-01 -5.40745730e-03 -6.55063708e+01] [-4.48492399e-02 3.14586897e-03 9.98988813e-01 -3.22791670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.410714057 meters 0.044087557380115105 Centerline is valid? [True, True] Translation: X:493.89, Y:-65.51, Z:-32.28 [[ 9.97788867e-01 4.92224814e-02 4.46601000e-02 4.93886373e+02] [-4.90293749e-02 9.98782687e-01 -5.40970156e-03 -6.55114094e+01] [-4.48720136e-02 3.20808320e-03 9.98987593e-01 -3.22811134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.440714057 meters 0.04554650905746327 Centerline is valid? [True, True] Translation: X:493.92, Y:-65.52, Z:-32.28 [[ 9.97909960e-01 4.71544895e-02 4.41833115e-02 4.93916659e+02] [-4.69634393e-02 9.98882267e-01 -5.35269111e-03 -6.55164929e+01] [-4.43863298e-02 3.26650351e-03 9.99009101e-01 -3.22835059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.470714057 meters 0.048625106646423 Centerline is valid? [True, True] Translation: X:493.95, Y:-65.52, Z:-32.29 [[ 9.98057506e-01 4.43343879e-02 4.37684444e-02 4.93945325e+02] [-4.41441674e-02 9.99011094e-01 -5.30353967e-03 -6.55235665e+01] [-4.39602906e-02 3.36111604e-03 9.99027625e-01 -3.22862967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.500714057 meters 0.04199345916717726 Centerline is valid? [True, True] Translation: X:493.98, Y:-65.52, Z:-32.29 [[ 9.98105356e-01 4.32601661e-02 4.37522205e-02 4.93978696e+02] [-4.30691313e-02 9.99058036e-01 -5.29998020e-03 -6.55173944e+01] [-4.39402856e-02 3.40556849e-03 9.99028355e-01 -3.22866152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.530714057 meters 0.04290925042802161 Centerline is valid? [True, True] Translation: X:494.01, Y:-65.52, Z:-32.29 [[ 9.98231396e-01 4.15459206e-02 4.25207824e-02 4.94009491e+02] [-4.13637917e-02 9.99130856e-01 -5.15455477e-03 -6.55208023e+01] [-4.26979764e-02 3.38661762e-03 9.99082286e-01 -3.22893870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.560714057 meters 0.040325815051862134 Centerline is valid? [True, True] Translation: X:494.04, Y:-65.52, Z:-32.29 [[ 9.98256735e-01 4.13482083e-02 4.21166978e-02 4.94041918e+02] [-4.11694770e-02 9.99139148e-01 -5.10263007e-03 -6.55200324e+01] [-4.22914261e-02 3.35981242e-03 9.99099668e-01 -3.22908552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.590714057 meters 0.0418077167036084 Centerline is valid? [True, True] Translation: X:494.07, Y:-65.52, Z:-32.29 [[ 9.98190446e-01 4.25407756e-02 4.24984122e-02 4.94072577e+02] [-4.23593724e-02 9.99089113e-01 -5.16030632e-03 -6.55235561e+01] [-4.26792243e-02 3.35076240e-03 9.99083208e-01 -3.22928694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.620714057 meters 0.04129023817873496 Centerline is valid? [True, True] Translation: X:494.11, Y:-65.53, Z:-32.29 [[ 9.98156201e-01 4.33915464e-02 4.24425787e-02 4.94105013e+02] [-4.32109636e-02 9.99052627e-01 -5.16338061e-03 -6.55256497e+01] [-4.26264168e-02 3.31987565e-03 9.99085565e-01 -3.22944128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.650714057 meters 0.04150606461219094 Centerline is valid? [True, True] Translation: X:494.14, Y:-65.53, Z:-32.30 [[ 9.98087285e-01 4.44389565e-02 4.29761705e-02 4.94136749e+02] [-4.42541593e-02 9.99006550e-01 -5.24232243e-03 -6.55283626e+01] [-4.31664392e-02 3.33042107e-03 9.99062344e-01 -3.22959339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.680714057 meters 0.04015002309258191 Centerline is valid? [True, True] Translation: X:494.17, Y:-65.53, Z:-32.30 [[ 9.97974204e-01 4.71448765e-02 4.27182561e-02 4.94167386e+02] [-4.69646215e-02 9.98882945e-01 -5.21398513e-03 -6.55276831e+01] [-4.29163502e-02 3.19717592e-03 9.99073553e-01 -3.22978787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.710714057 meters 0.03964901908700391 Centerline is valid? [True, True] Translation: X:494.20, Y:-65.53, Z:-32.30 [[ 9.97872887e-01 4.91065218e-02 4.28748329e-02 4.94198069e+02] [-4.89267531e-02 9.98788661e-01 -5.23283286e-03 -6.55295731e+01] [-4.30798632e-02 3.12397567e-03 9.99066748e-01 -3.22998094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.740714057 meters 0.04042474138999162 Centerline is valid? [True, True] Translation: X:494.23, Y:-65.53, Z:-32.30 [[ 9.97775104e-01 5.13270361e-02 4.25485306e-02 4.94228262e+02] [-5.11519587e-02 9.98677375e-01 -5.19403943e-03 -6.55299520e+01] [-4.27588495e-02 3.00604255e-03 9.99080900e-01 -3.23015409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.770714057 meters 0.040087394553694776 Centerline is valid? [True, True] Translation: X:494.26, Y:-65.53, Z:-32.30 [[ 9.97676513e-01 5.30322461e-02 4.27686362e-02 4.94258542e+02] [-5.28568866e-02 9.98588447e-01 -5.22144023e-03 -6.55315820e+01] [-4.29851707e-02 2.94869132e-03 9.99071359e-01 -3.23027291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.800714057 meters 0.04011945938478899 Centerline is valid? [True, True] Translation: X:494.29, Y:-65.53, Z:-32.30 [[ 9.97569842e-01 5.46481967e-02 4.32201835e-02 4.94288249e+02] [-5.44706905e-02 9.98501436e-01 -5.27496179e-03 -6.55340676e+01] [-4.34436825e-02 2.90790956e-03 9.99051646e-01 -3.23046057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.830714057 meters 0.03939087700803785 Centerline is valid? [True, True] Translation: X:494.32, Y:-65.53, Z:-32.31 [[ 9.97382390e-01 5.82108250e-02 4.28936737e-02 4.94317114e+02] [-5.80393308e-02 9.98300578e-01 -5.23372589e-03 -6.55341646e+01] [-4.31254387e-02 2.73050592e-03 9.99065934e-01 -3.23073345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.860714057 meters 0.038920434120909266 Centerline is valid? [True, True] Translation: X:494.35, Y:-65.54, Z:-32.31 [[ 9.97298747e-01 5.97727034e-02 4.26899704e-02 4.94346877e+02] [-5.96043431e-02 9.98208500e-01 -5.20693703e-03 -6.55357901e+01] [-4.29247241e-02 2.64836413e-03 9.99074799e-01 -3.23094237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.890714057 meters 0.03636193514284012 Centerline is valid? [True, True] Translation: X:494.38, Y:-65.53, Z:-32.31 [[ 9.97189270e-01 6.16695595e-02 4.25490876e-02 4.94377356e+02] [-6.15040914e-02 9.98093347e-01 -5.18829172e-03 -6.55323794e+01] [-4.27879209e-02 2.55676587e-03 9.99080906e-01 -3.23108610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.920714057 meters 0.035070882385536864 Centerline is valid? [True, True] Translation: X:494.41, Y:-65.53, Z:-32.31 [[ 9.97139943e-01 6.23263282e-02 4.27476712e-02 4.94406756e+02] [-6.21599545e-02 9.98052594e-01 -5.21151382e-03 -6.55319261e+01] [-4.29892387e-02 2.53941530e-03 9.99072308e-01 -3.23118254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.950714057 meters 0.03930966215576526 Centerline is valid? [True, True] Translation: X:494.43, Y:-65.54, Z:-32.31 [[ 9.97055147e-01 6.30200068e-02 4.36979688e-02 4.94433645e+02] [-6.28469437e-02 9.98008974e-01 -5.32435844e-03 -6.55385795e+01] [-4.39465061e-02 2.56239520e-03 9.99030600e-01 -3.23145177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.980714057 meters 0.03571816982966485 Centerline is valid? [True, True] Translation: X:494.46, Y:-65.54, Z:-32.31 [[ 9.97013496e-01 6.32694450e-02 4.42839280e-02 4.94463346e+02] [-6.30921414e-02 9.97993143e-01 -5.39147761e-03 -6.55353254e+01] [-4.45361723e-02 2.58140809e-03 9.99004437e-01 -3.23143076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.01071405700003 meters 0.04049437516281028 Centerline is valid? [True, True] Translation: X:494.49, Y:-65.54, Z:-32.32 [[ 9.96953894e-01 6.34542145e-02 4.53486055e-02 4.94489845e+02] [-6.32686065e-02 9.97981280e-01 -5.51802096e-03 -6.55437040e+01] [-4.56072010e-02 2.63206941e-03 9.98955983e-01 -3.23169348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.040714057 meters 0.03673205711339892 Centerline is valid? [True, True] Translation: X:494.52, Y:-65.54, Z:-32.32 [[ 9.96992828e-01 6.26708019e-02 4.55814774e-02 4.94519672e+02] [-6.24826681e-02 9.98030662e-01 -5.54194282e-03 -6.55396386e+01] [-4.58390300e-02 2.67722493e-03 9.98945252e-01 -3.23170240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.070714057 meters 0.03857516736431611 Centerline is valid? [True, True] Translation: X:494.55, Y:-65.54, Z:-32.32 [[ 9.97109756e-01 6.02224229e-02 4.63183950e-02 4.94547384e+02] [-6.00256751e-02 9.98180966e-01 -5.62821669e-03 -6.55439365e+01] [-4.65730851e-02 2.83165684e-03 9.98910872e-01 -3.23187212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.100714057 meters 0.0353109965595797 Centerline is valid? [True, True] Translation: X:494.58, Y:-65.54, Z:-32.32 [[ 9.97225241e-01 5.79817632e-02 4.66897570e-02 4.94577564e+02] [-5.77795702e-02 9.98313265e-01 -5.66971341e-03 -6.55416494e+01] [-4.69397437e-02 2.95626723e-03 9.98893348e-01 -3.23190144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.130714057 meters 0.038987114602105806 Centerline is valid? [True, True] Translation: X:494.61, Y:-65.55, Z:-32.32 [[ 9.97397025e-01 5.42864886e-02 4.74568309e-02 4.94605882e+02] [-5.40735120e-02 9.98520338e-01 -5.76108623e-03 -6.55514796e+01] [-4.76993599e-02 3.17993275e-03 9.98856676e-01 -3.23212916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.160714057 meters 0.03980567825791992 Centerline is valid? [True, True] Translation: X:494.64, Y:-65.56, Z:-32.32 [[ 9.97466976e-01 5.28336326e-02 4.76260396e-02 4.94635644e+02] [-5.26175773e-02 9.98598010e-01 -5.77970821e-03 -6.55563641e+01] [-4.78646314e-02 3.25910125e-03 9.98848515e-01 -3.23231097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.190714057 meters 0.04008646538534371 Centerline is valid? [True, True] Translation: X:494.67, Y:-65.56, Z:-32.32 [[ 9.97564289e-01 5.10176788e-02 4.75676941e-02 4.94665337e+02] [-5.08001397e-02 9.98692161e-01 -5.77178720e-03 -6.55597911e+01] [-4.77999464e-02 3.34128329e-03 9.98851341e-01 -3.23248973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.220714057 meters 0.04325470673301682 Centerline is valid? [True, True] Translation: X:494.70, Y:-65.57, Z:-32.33 [[ 9.97669571e-01 4.89654361e-02 4.75164548e-02 4.94695158e+02] [-4.87461237e-02 9.98794569e-01 -5.76405107e-03 -6.55671176e+01] [-4.77414162e-02 3.43437538e-03 9.98853824e-01 -3.23276183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.250714057 meters 0.044179360118068126 Centerline is valid? [True, True] Translation: X:494.73, Y:-65.57, Z:-32.33 [[ 9.97764351e-01 4.79567080e-02 4.65451816e-02 4.94726116e+02] [-4.77450718e-02 9.98843582e-01 -5.64869251e-03 -6.55712805e+01] [-4.67622486e-02 3.41376098e-03 9.98900214e-01 -3.23312479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.280714057 meters 0.04551310168127075 Centerline is valid? [True, True] Translation: X:494.76, Y:-65.58, Z:-32.33 [[ 9.97775214e-01 4.80649400e-02 4.61993914e-02 4.94755788e+02] [-4.78564726e-02 9.98838477e-01 -5.60849873e-03 -6.55759975e+01] [-4.64153018e-02 3.38508111e-03 9.98916494e-01 -3.23339483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.310714057 meters 0.04602588273152906 Centerline is valid? [True, True] Translation: X:494.79, Y:-65.58, Z:-32.34 [[ 9.97813306e-01 4.79072058e-02 4.55357657e-02 4.94785814e+02] [-4.77044823e-02 9.98846191e-01 -5.52890337e-03 -6.55791964e+01] [-4.57481004e-02 3.34455322e-03 9.98947409e-01 -3.23366131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.340714057 meters 0.04486760582202338 Centerline is valid? [True, True] Translation: X:494.82, Y:-65.58, Z:-32.34 [[ 9.97768568e-01 4.82583626e-02 4.61412594e-02 4.94816347e+02] [-4.80505801e-02 9.98829192e-01 -5.60242176e-03 -6.55795384e+01] [-4.63576005e-02 3.37280605e-03 9.98919214e-01 -3.23381479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.370714057 meters 0.04104849318931965 Centerline is valid? [True, True] Translation: X:494.85, Y:-65.57, Z:-32.34 [[ 9.97752092e-01 4.82216980e-02 4.65341945e-02 4.94847701e+02] [-4.80103185e-02 9.98830859e-01 -5.65013151e-03 -6.55746155e+01] [-4.67522484e-02 3.40330904e-03 9.98900718e-01 -3.23389876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.400714057 meters 0.04485842462372502 Centerline is valid? [True, True] Translation: X:494.88, Y:-65.58, Z:-32.34 [[ 9.97726668e-01 4.84642507e-02 4.68264050e-02 4.94876772e+02] [-4.82504800e-02 9.98819086e-01 -5.68542273e-03 -6.55827462e+01] [-4.70466468e-02 3.41310136e-03 9.98886862e-01 -3.23416680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.430714057 meters 0.039052897548822706 Centerline is valid? [True, True] Translation: X:494.91, Y:-65.58, Z:-32.34 [[ 9.97757252e-01 4.79142731e-02 4.67406527e-02 4.94907786e+02] [-4.77006283e-02 9.98845549e-01 -5.67622712e-03 -6.55769262e+01] [-4.69586652e-02 3.43393827e-03 9.98890931e-01 -3.23421505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.460714057 meters 0.040781695199727755 Centerline is valid? [True, True] Translation: X:494.94, Y:-65.58, Z:-32.34 [[ 9.97810246e-01 4.65288985e-02 4.70082489e-02 4.94937258e+02] [-4.63113199e-02 9.98910749e-01 -5.70766599e-03 -6.55809783e+01] [-4.72226166e-02 3.51815355e-03 9.98878194e-01 -3.23445210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.490714057 meters 0.04047471171059185 Centerline is valid? [True, True] Translation: X:494.97, Y:-65.58, Z:-32.35 [[ 9.97828717e-01 4.56418312e-02 4.74834208e-02 4.94968050e+02] [-4.54188377e-02 9.98951396e-01 -5.76517990e-03 -6.55832339e+01] [-4.76967629e-02 3.59602028e-03 9.98855389e-01 -3.23457398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.520714057 meters 0.042136840339273285 Centerline is valid? [True, True] Translation: X:495.00, Y:-65.59, Z:-32.35 [[ 9.97889989e-01 4.36837049e-02 4.80344071e-02 4.94997500e+02] [-4.34532350e-02 9.99038438e-01 -5.83232263e-03 -6.55874694e+01] [-4.82429965e-02 3.73276599e-03 9.98828654e-01 -3.23473163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.550714057 meters 0.04103081700032454 Centerline is valid? [True, True] Translation: X:495.03, Y:-65.59, Z:-32.35 [[ 9.97912980e-01 4.29667223e-02 4.82031597e-02 4.95029786e+02] [-4.27336706e-02 9.99069341e-01 -5.85543251e-03 -6.55889237e+01] [-4.84098877e-02 3.78331415e-03 9.98820389e-01 -3.23491248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.580714057 meters 0.044169341826498364 Centerline is valid? [True, True] Translation: X:495.06, Y:-65.60, Z:-32.35 [[ 9.98013084e-01 4.13736774e-02 4.75194928e-02 4.95059472e+02] [-4.11447211e-02 9.99136440e-01 -5.78665207e-03 -6.55954827e+01] [-4.77178719e-02 3.81997820e-03 9.98853549e-01 -3.23522117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.610714057 meters 0.043601953746402085 Centerline is valid? [True, True] Translation: X:495.09, Y:-65.60, Z:-32.35 [[ 9.98044751e-01 4.06897945e-02 4.74448762e-02 4.95091396e+02] [-4.04608572e-02 9.99164428e-01 -5.77615770e-03 -6.55979841e+01] [-4.76402632e-02 3.84520351e-03 9.98857157e-01 -3.23544366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.640714057 meters 0.04405949186075556 Centerline is valid? [True, True] Translation: X:495.12, Y:-65.60, Z:-32.36 [[ 9.98070883e-01 4.00630239e-02 4.74285348e-02 4.95123463e+02] [-3.98329904e-02 9.99189601e-01 -5.78573498e-03 -6.56020908e+01] [-4.76218928e-02 3.88535325e-03 9.98857877e-01 -3.23568308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.670714057 meters 0.044642195899628215 Centerline is valid? [True, True] Translation: X:495.16, Y:-65.61, Z:-32.36 [[ 9.98089897e-01 3.95340043e-02 4.74723169e-02 4.95155151e+02] [-3.93023789e-02 9.99210512e-01 -5.80307584e-03 -6.56056856e+01] [-4.76642569e-02 3.92621638e-03 9.98855697e-01 -3.23588968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.700714057 meters 0.04463454020117692 Centerline is valid? [True, True] Translation: X:495.19, Y:-65.61, Z:-32.36 [[ 9.98105319e-01 3.98780823e-02 4.68562879e-02 4.95187590e+02] [-3.96522825e-02 9.99197058e-01 -5.73900483e-03 -6.56090219e+01] [-4.70475255e-02 3.87017248e-03 9.98885155e-01 -3.23610903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.730714057 meters 0.04463454020117692 Centerline is valid? [True, True] Translation: X:495.22, Y:-65.61, Z:-32.36 [[ 9.98093999e-01 4.01623128e-02 4.68546534e-02 4.95220014e+02] [-3.99362033e-02 9.99185674e-01 -5.75231506e-03 -6.56130805e+01] [-4.70475247e-02 3.87015418e-03 9.98885155e-01 -3.23629781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.76071405700003 meters 0.04664684469065838 Centerline is valid? [True, True] Translation: X:495.25, Y:-65.62, Z:-32.37 [[ 9.98128065e-01 4.10705318e-02 4.53164186e-02 4.95251246e+02] [-4.08593752e-02 9.99149345e-01 -5.57647513e-03 -6.56180193e+01] [-4.55068988e-02 3.71443578e-03 9.98957119e-01 -3.23663114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.790714057 meters 0.04656030260713617 Centerline is valid? [True, True] Translation: X:495.28, Y:-65.62, Z:-32.37 [[ 9.98108576e-01 4.17862556e-02 4.50907862e-02 4.95283102e+02] [-4.15774130e-02 9.99119815e-01 -5.55997150e-03 -6.56212424e+01] [-4.52834284e-02 3.67469699e-03 9.98967421e-01 -3.23685012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.820714057 meters 0.044848519485838845 Centerline is valid? [True, True] Translation: X:495.32, Y:-65.62, Z:-32.37 [[ 9.98008295e-01 4.30837630e-02 4.60785437e-02 4.95315038e+02] [-4.28663932e-02 9.99064579e-01 -5.69561144e-03 -6.56221172e+01] [-4.62808292e-02 3.70904649e-03 9.98921582e-01 -3.23699507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.850714057 meters 0.040467899036824816 Centerline is valid? [True, True] Translation: X:495.35, Y:-65.62, Z:-32.37 [[ 9.97966905e-01 4.36026440e-02 4.64851149e-02 4.95346701e+02] [-4.33818505e-02 9.99042026e-01 -5.74856417e-03 -6.56187454e+01] [-4.66912359e-02 3.72026649e-03 9.98902442e-01 -3.23703838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.880714057 meters 0.045259686440627105 Centerline is valid? [True, True] Translation: X:495.38, Y:-65.63, Z:-32.37 [[ 9.97849583e-01 4.48341600e-02 4.78132528e-02 4.95376325e+02] [-4.46018723e-02 9.98987332e-01 -5.91464039e-03 -6.56283314e+01] [-4.80300118e-02 3.76936086e-03 9.98838781e-01 -3.23721434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.910714057 meters 0.044930324930662166 Centerline is valid? [True, True] Translation: X:495.41, Y:-65.63, Z:-32.37 [[ 9.97836692e-01 4.51469535e-02 4.77879588e-02 4.95407118e+02] [-4.49151824e-02 9.98973303e-01 -5.91329291e-03 -6.56310336e+01] [-4.80058622e-02 3.75409574e-03 9.98839999e-01 -3.23737458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.940714057 meters 0.04538009706664361 Centerline is valid? [True, True] Translation: X:495.44, Y:-65.64, Z:-32.38 [[ 9.97835069e-01 4.46867757e-02 4.82521194e-02 4.95437760e+02] [-4.44498576e-02 9.98993764e-01 -5.97245221e-03 -6.56351713e+01] [-4.84704560e-02 3.81472243e-03 9.98817332e-01 -3.23752671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.970714057 meters 0.05040793831326896 Centerline is valid? [True, True] Translation: X:495.47, Y:-65.65, Z:-32.38 [[ 9.97833171e-01 4.42310767e-02 4.87090924e-02 4.95467755e+02] [-4.39890616e-02 9.99013815e-01 -6.02992008e-03 -6.56462905e+01] [-4.89277661e-02 3.87418701e-03 9.98794806e-01 -3.23779698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.000714057 meters 0.0425362223633074 Centerline is valid? [True, True] Translation: X:495.50, Y:-65.64, Z:-32.38 [[ 9.97820489e-01 4.39533072e-02 4.92176707e-02 4.95500943e+02] [-4.37055987e-02 9.99025841e-01 -6.09837368e-03 -6.56393561e+01] [-4.94377685e-02 3.93399444e-03 9.98769458e-01 -3.23787383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.030714057 meters 0.04789244709454886 Centerline is valid? [True, True] Translation: X:495.53, Y:-65.65, Z:-32.38 [[ 9.97819748e-01 4.29833789e-02 5.00817347e-02 4.95530898e+02] [-4.27249728e-02 9.99067513e-01 -6.21935079e-03 -6.56512538e+01] [-5.03023629e-02 4.06605028e-03 9.98725758e-01 -3.23815997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.060714057 meters 0.04801388292460563 Centerline is valid? [True, True] Translation: X:495.56, Y:-65.66, Z:-32.38 [[ 9.97800025e-01 4.33310345e-02 5.01750040e-02 4.95564206e+02] [-4.30718255e-02 9.99052514e-01 -6.23637920e-03 -6.56552356e+01] [-5.03976927e-02 4.06153030e-03 9.98720970e-01 -3.23833186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.090714057 meters 0.04876944365035376 Centerline is valid? [True, True] Translation: X:495.59, Y:-65.66, Z:-32.39 [[ 9.97748206e-01 4.41071026e-02 5.05280296e-02 4.95594810e+02] [-4.38444752e-02 9.99018537e-01 -6.29485466e-03 -6.56598464e+01] [-5.07560860e-02 4.06530500e-03 9.98702805e-01 -3.23852690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.120714057 meters 0.04932431083046638 Centerline is valid? [True, True] Translation: X:495.62, Y:-65.66, Z:-32.39 [[ 9.97669098e-01 4.60030149e-02 5.03993423e-02 4.95623975e+02] [-4.57434679e-02 9.98933405e-01 -6.29182676e-03 -6.56639868e+01] [-5.06350296e-02 3.97172043e-03 9.98709327e-01 -3.23882597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.150714057 meters 0.04354618987523494 Centerline is valid? [True, True] Translation: X:495.66, Y:-65.66, Z:-32.39 [[ 9.97622704e-01 4.72435393e-02 5.01695911e-02 4.95657127e+02] [-4.69880545e-02 9.98875833e-01 -6.26036032e-03 -6.56589971e+01] [-5.04089537e-02 3.88810612e-03 9.98721092e-01 -3.23899382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.180714057 meters 0.049224924797864104 Centerline is valid? [True, True] Translation: X:495.69, Y:-65.67, Z:-32.39 [[ 9.97569818e-01 4.84487195e-02 5.00717487e-02 4.95686373e+02] [-4.81950238e-02 9.98818313e-01 -6.26235573e-03 -6.56708612e+01] [-5.03159827e-02 3.83392794e-03 9.98725990e-01 -3.23932300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.210714057 meters 0.04891144884024578 Centerline is valid? [True, True] Translation: X:495.72, Y:-65.67, Z:-32.40 [[ 9.97456469e-01 5.04361124e-02 5.03665609e-02 4.95715796e+02] [-5.01818828e-02 9.98720224e-01 -6.30024850e-03 -6.56745048e+01] [-5.06198630e-02 3.75673477e-03 9.98710927e-01 -3.23956115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.240714057 meters 0.041093079011868434 Centerline is valid? [True, True] Translation: X:495.75, Y:-65.67, Z:-32.40 [[ 9.97432940e-01 5.09090075e-02 5.03567637e-02 4.95747423e+02] [-5.06554759e-02 9.98696323e-01 -6.29902299e-03 -6.56668424e+01] [-5.06117917e-02 3.73200719e-03 9.98711429e-01 -3.23964573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.270714057 meters 0.040059145119506374 Centerline is valid? [True, True] Translation: X:495.78, Y:-65.67, Z:-32.40 [[ 9.97344144e-01 5.21973994e-02 5.07945931e-02 4.95777961e+02] [-5.19410956e-02 9.98629937e-01 -6.35379016e-03 -6.56691908e+01] [-5.10566526e-02 3.69858859e-03 9.98688910e-01 -3.23981184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.300714057 meters 0.04074587376889485 Centerline is valid? [True, True] Translation: X:495.81, Y:-65.67, Z:-32.40 [[ 9.97289649e-01 5.30173696e-02 5.10148527e-02 4.95807533e+02] [-5.27599021e-02 9.98586837e-01 -6.38134197e-03 -6.56739295e+01] [-5.12810823e-02 3.67250767e-03 9.98677507e-01 -3.23998622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.330714057 meters 0.044248816554962746 Centerline is valid? [True, True] Translation: X:495.84, Y:-65.68, Z:-32.40 [[ 9.97150005e-01 5.49715232e-02 5.16720262e-02 4.95836217e+02] [-5.47099750e-02 9.98481367e-01 -6.46364833e-03 -6.56830477e+01] [-5.19488719e-02 3.61825171e-03 9.98643191e-01 -3.24018275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.360714057 meters 0.03743222567380896 Centerline is valid? [True, True] Translation: X:495.87, Y:-65.68, Z:-32.40 [[ 9.97083788e-01 5.58921466e-02 5.19614034e-02 4.95866512e+02] [-5.56289437e-02 9.98430360e-01 -6.49901951e-03 -6.56767044e+01] [-5.22430868e-02 3.58950901e-03 9.98627946e-01 -3.24026997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.390714057 meters 0.036101846794004085 Centerline is valid? [True, True] Translation: X:495.90, Y:-65.68, Z:-32.40 [[ 9.97000150e-01 5.69122184e-02 5.24566549e-02 4.95896147e+02] [-5.66454748e-02 9.98372811e-01 -6.55902543e-03 -6.56784165e+01] [-5.27445867e-02 3.56791721e-03 9.98601662e-01 -3.24039631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.420714057 meters 0.037064337887897696 Centerline is valid? [True, True] Translation: X:495.92, Y:-65.68, Z:-32.41 [[ 9.96836191e-01 5.92501615e-02 5.29813759e-02 4.95924998e+02] [-5.89814390e-02 9.98237111e-01 -6.62264748e-03 -6.56835758e+01] [-5.32803686e-02 3.47677690e-03 9.98573540e-01 -3.24050557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.450714057 meters 0.036715534128856954 Centerline is valid? [True, True] Translation: X:495.95, Y:-65.69, Z:-32.41 [[ 9.96707530e-01 6.19346064e-02 5.23278519e-02 4.95953962e+02] [-6.16762615e-02 9.98074787e-01 -6.53905612e-03 -6.56865012e+01] [-5.26321035e-02 3.29014019e-03 9.98608550e-01 -3.24070252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.480714057 meters 0.03545129675045787 Centerline is valid? [True, True] Translation: X:495.98, Y:-65.69, Z:-32.41 [[ 9.96610555e-01 6.36419729e-02 5.21258101e-02 4.95982522e+02] [-6.33880340e-02 9.97967710e-01 -6.51213127e-03 -6.56880927e+01] [-5.24343201e-02 3.18590614e-03 9.98619293e-01 -3.24089010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.51071405700003 meters 0.034224605253039934 Centerline is valid? [True, True] Translation: X:496.01, Y:-65.69, Z:-32.41 [[ 9.96358523e-01 6.81482383e-02 5.12397386e-02 4.96012744e+02] [-6.79090066e-02 9.97671008e-01 -6.39745628e-03 -6.56901726e+01] [-5.15563770e-02 2.89452035e-03 9.98665891e-01 -3.24115564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.540714057 meters 0.033623284506153026 Centerline is valid? [True, True] Translation: X:496.04, Y:-65.69, Z:-32.41 [[ 9.96180148e-01 7.06603217e-02 5.13052758e-02 4.96042111e+02] [-7.04237956e-02 9.97496595e-01 -6.40564110e-03 -6.56931172e+01] [-5.16294626e-02 2.76806025e-03 9.98662474e-01 -3.24138118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.570714057 meters 0.030542558687910996 Centerline is valid? [True, True] Translation: X:496.07, Y:-65.69, Z:-32.41 [[ 9.95783429e-01 7.63304218e-02 5.08825014e-02 4.96072860e+02] [-7.61052599e-02 9.97079564e-01 -6.35084654e-03 -6.56905587e+01] [-5.12186651e-02 2.45164175e-03 9.98684454e-01 -3.24149700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.600714057 meters 0.030552529081584793 Centerline is valid? [True, True] Translation: X:496.10, Y:-65.69, Z:-32.42 [[ 9.95577880e-01 7.92711425e-02 5.04060507e-02 4.96101928e+02] [-7.90539357e-02 9.96850487e-01 -6.29145294e-03 -6.56929820e+01] [-5.07460268e-02 2.27883469e-03 9.98708990e-01 -3.24164207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.630714057 meters 0.028539692253333304 Centerline is valid? [True, True] Translation: X:496.13, Y:-65.69, Z:-32.42 [[ 9.95094775e-01 8.53280950e-02 5.00550225e-02 4.96132157e+02] [-8.51216487e-02 9.96350991e-01 -6.24561113e-03 -6.56930424e+01] [-5.04052974e-02 1.95420896e-03 9.98726933e-01 -3.24186014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.660714057 meters 0.02802392579629607 Centerline is valid? [True, True] Translation: X:496.16, Y:-65.70, Z:-32.42 [[ 9.94899255e-01 8.77462020e-02 4.97601837e-02 4.96160435e+02] [-8.75451852e-02 9.96141198e-01 -6.20912523e-03 -6.56959322e+01] [-5.01129962e-02 1.82118957e-03 9.98741894e-01 -3.24204672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.690714057 meters 0.02813664423273489 Centerline is valid? [True, True] Translation: X:496.19, Y:-65.70, Z:-32.42 [[ 9.94717860e-01 8.99542436e-02 4.94430202e-02 4.96188243e+02] [-8.97586829e-02 9.95944456e-01 -6.16599004e-03 -6.57005430e+01] [-4.97971588e-02 1.69548005e-03 9.98757913e-01 -3.24230114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.720714057 meters 0.02749082397759883 Centerline is valid? [True, True] Translation: X:496.22, Y:-65.70, Z:-32.43 [[ 9.94479774e-01 9.26625748e-02 4.92303369e-02 4.96216665e+02] [-9.24721815e-02 9.95696362e-01 -6.13594223e-03 -6.57042556e+01] [-4.95870396e-02 1.54963380e-03 9.98768604e-01 -3.24251553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.750714057 meters 0.026818133901727662 Centerline is valid? [True, True] Translation: X:496.25, Y:-65.71, Z:-32.43 [[ 9.94396068e-01 9.36565214e-02 4.90399398e-02 4.96245139e+02] [-9.34689773e-02 9.95603452e-01 -6.10874430e-03 -6.57090754e+01] [-4.93964571e-02 1.49079829e-03 9.98778137e-01 -3.24263466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.780714057 meters 0.028935833097962483 Centerline is valid? [True, True] Translation: X:496.27, Y:-65.72, Z:-32.43 [[ 9.94414477e-01 9.34549347e-02 4.90512219e-02 4.96272274e+02] [-9.32672264e-02 9.95622384e-01 -6.10677344e-03 -6.57182983e+01] [-4.94072026e-02 1.49779251e-03 9.98777595e-01 -3.24294716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.810714057 meters 0.027198802837882945 Centerline is valid? [True, True] Translation: X:496.30, Y:-65.72, Z:-32.43 [[ 9.94418520e-01 9.34095407e-02 4.90557321e-02 4.96300290e+02] [-9.32219511e-02 9.95626647e-01 -6.10312056e-03 -6.57188493e+01] [-4.94112838e-02 1.49598505e-03 9.98777396e-01 -3.24295537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.840714057 meters 0.027085182032043444 Centerline is valid? [True, True] Translation: X:496.33, Y:-65.73, Z:-32.43 [[ 9.94457834e-01 9.28321188e-02 4.93539610e-02 4.96328928e+02] [-9.26418066e-02 9.95680602e-01 -6.13465681e-03 -6.57251112e+01] [-4.97102748e-02 1.52841741e-03 9.98762511e-01 -3.24306408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.870714057 meters 0.02695204006545811 Centerline is valid? [True, True] Translation: X:496.36, Y:-65.73, Z:-32.43 [[ 9.94536419e-01 9.20023931e-02 4.93241388e-02 4.96357196e+02] [-9.18114672e-02 9.95757555e-01 -6.12742915e-03 -6.57305747e+01] [-4.96786220e-02 1.56542990e-03 9.98764028e-01 -3.24321436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.900714057 meters 0.027802769405734062 Centerline is valid? [True, True] Translation: X:496.39, Y:-65.74, Z:-32.43 [[ 9.94903429e-01 8.86829777e-02 4.79843375e-02 4.96385337e+02] [-8.84986068e-02 9.96058485e-01 -5.95746625e-03 -6.57393149e+01] [-4.83235323e-02 1.68055658e-03 9.98830322e-01 -3.24346597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.930714057 meters 0.02823537654020414 Centerline is valid? [True, True] Translation: X:496.41, Y:-65.75, Z:-32.44 [[ 9.95092081e-01 8.67525026e-02 4.75999260e-02 4.96413498e+02] [-8.65689857e-02 9.96228344e-01 -5.90735890e-03 -6.57461074e+01] [-4.79328736e-02 1.75768875e-03 9.98849013e-01 -3.24366623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.960714057 meters 0.02851980639877841 Centerline is valid? [True, True] Translation: X:496.44, Y:-65.76, Z:-32.44 [[ 9.95559897e-01 8.19837036e-02 4.62511009e-02 4.96442873e+02] [-8.18054859e-02 9.96631807e-01 -5.73619885e-03 -6.57550824e+01] [-4.65655931e-02 1.92713575e-03 9.98913375e-01 -3.24385302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.990714057 meters 0.030216194793189592 Centerline is valid? [True, True] Translation: X:496.47, Y:-65.76, Z:-32.44 [[ 9.95763524e-01 7.95640777e-02 4.60929676e-02 4.96470170e+02] [-7.93845241e-02 9.96827681e-01 -5.71587476e-03 -6.57647029e+01] [-4.64015243e-02 2.03259129e-03 9.98920801e-01 -3.24410298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.020714057 meters 0.03003354155412078 Centerline is valid? [True, True] Translation: X:496.50, Y:-65.77, Z:-32.44 [[ 9.96138271e-01 7.51876519e-02 4.53360923e-02 4.96499436e+02] [-7.50095600e-02 9.97166983e-01 -5.61915525e-03 -6.57720131e+01] [-4.56301454e-02 2.19681526e-03 9.98955987e-01 -3.24413743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.050714057 meters 0.030608579664854318 Centerline is valid? [True, True] Translation: X:496.53, Y:-65.78, Z:-32.44 [[ 9.96207770e-01 7.39344473e-02 4.58669342e-02 4.96526120e+02] [-7.37508277e-02 9.97260495e-01 -5.68505110e-03 -6.57790560e+01] [-4.61616026e-02 2.28076772e-03 9.98931381e-01 -3.24422286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.080714057 meters 0.03124694760134364 Centerline is valid? [True, True] Translation: X:496.55, Y:-65.79, Z:-32.44 [[ 9.96371041e-01 7.21173470e-02 4.52088250e-02 4.96554632e+02] [-7.19373289e-02 9.97393442e-01 -5.59841396e-03 -6.57857441e+01] [-4.54947283e-02 2.32589543e-03 9.98961871e-01 -3.24427560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.110714057 meters 0.031183429776899498 Centerline is valid? [True, True] Translation: X:496.58, Y:-65.79, Z:-32.44 [[ 9.96398717e-01 7.19036049e-02 4.49384974e-02 4.96582670e+02] [-7.17256178e-02 9.97408889e-01 -5.56273867e-03 -6.57900783e+01] [-4.52220377e-02 2.31946418e-03 9.98974268e-01 -3.24439156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.140714057 meters 0.03073961584902354 Centerline is valid? [True, True] Translation: X:496.61, Y:-65.79, Z:-32.45 [[ 9.96434959e-01 7.20107965e-02 4.39524389e-02 4.96611120e+02] [-7.18407815e-02 9.97401291e-01 -5.43758698e-03 -6.57942012e+01] [-4.42297842e-02 2.26062421e-03 9.99018827e-01 -3.24455699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.170714057 meters 0.031094332463617768 Centerline is valid? [True, True] Translation: X:496.64, Y:-65.80, Z:-32.45 [[ 9.96473662e-01 7.17344616e-02 4.35247944e-02 4.96639319e+02] [-7.15676167e-02 9.97421233e-01 -5.38153163e-03 -6.57990773e+01] [-4.37985954e-02 2.24758873e-03 9.99037853e-01 -3.24473294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.200714057 meters 0.0324982349397846 Centerline is valid? [True, True] Translation: X:496.67, Y:-65.81, Z:-32.45 [[ 9.96523588e-01 7.07375917e-02 4.40105821e-02 4.96665906e+02] [-7.05661732e-02 9.97492275e-01 -5.43835450e-03 -6.58067301e+01] [-4.42849118e-02 2.31379019e-03 9.99016263e-01 -3.24488559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.230714057 meters 0.03091137839315265 Centerline is valid? [True, True] Translation: X:496.69, Y:-65.81, Z:-32.45 [[ 9.96577606e-01 7.01329131e-02 4.37544187e-02 4.96694993e+02] [-6.99630454e-02 9.97534949e-01 -5.40351408e-03 -6.58089289e+01] [-4.40255260e-02 2.32382874e-03 9.99027704e-01 -3.24494570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.26071405700003 meters 0.03215542801201934 Centerline is valid? [True, True] Translation: X:496.72, Y:-65.82, Z:-32.45 [[ 9.96713095e-01 6.86724496e-02 4.29779193e-02 4.96722685e+02] [-6.85073533e-02 9.97636511e-01 -5.30427970e-03 -6.58156566e+01] [-4.32405993e-02 2.34254153e-03 9.99061942e-01 -3.24511951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.290714057 meters 0.03195782986044013 Centerline is valid? [True, True] Translation: X:496.75, Y:-65.82, Z:-32.45 [[ 9.96733334e-01 6.82560765e-02 4.31713930e-02 4.96751073e+02] [-6.80891916e-02 9.97665022e-01 -5.32605196e-03 -6.58193615e+01] [-4.34341242e-02 2.36914828e-03 9.99053484e-01 -3.24523276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.320714057 meters 0.03192582220916109 Centerline is valid? [True, True] Translation: X:496.78, Y:-65.82, Z:-32.45 [[ 9.96839714e-01 6.73561592e-02 4.21157104e-02 4.96779884e+02] [-6.71966671e-02 9.97726236e-01 -5.19285390e-03 -6.58237372e+01] [-4.23697199e-02 2.34640762e-03 9.99099245e-01 -3.24536877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.350714057 meters 0.031694481749794876 Centerline is valid? [True, True] Translation: X:496.81, Y:-65.83, Z:-32.46 [[ 9.96879444e-01 6.71107768e-02 4.15634232e-02 4.96808322e+02] [-6.69553549e-02 9.97742826e-01 -5.12179213e-03 -6.58270625e+01] [-4.18133348e-02 2.32291554e-03 9.99122740e-01 -3.24554927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.380714057 meters 0.03259619526331939 Centerline is valid? [True, True] Translation: X:496.84, Y:-65.83, Z:-32.46 [[ 9.96911915e-01 6.73521393e-02 4.03772707e-02 4.96835590e+02] [-6.72057682e-02 9.97726743e-01 -4.97308202e-03 -6.58334794e+01] [-4.06204305e-02 2.24413922e-03 9.99172130e-01 -3.24583458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.410714057 meters 0.03318298869918342 Centerline is valid? [True, True] Translation: X:496.86, Y:-65.84, Z:-32.46 [[ 9.96845671e-01 6.83195582e-02 4.03874493e-02 4.96862780e+02] [-6.81740529e-02 9.97661060e-01 -4.97068474e-03 -6.58384944e+01] [-4.06325804e-02 2.20162946e-03 9.99171730e-01 -3.24600492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.440714057 meters 0.0308639658317689 Centerline is valid? [True, True] Translation: X:496.89, Y:-65.84, Z:-32.46 [[ 9.96778251e-01 6.93606515e-02 4.02767809e-02 4.96891620e+02] [-6.92169542e-02 9.97589335e-01 -4.95302018e-03 -6.58377466e+01] [-4.05232318e-02 2.14922669e-03 9.99176285e-01 -3.24603068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.470714057 meters 0.030678722021044026 Centerline is valid? [True, True] Translation: X:496.92, Y:-65.84, Z:-32.46 [[ 9.96558000e-01 7.27149988e-02 3.98080719e-02 4.96920021e+02] [-7.25774245e-02 9.97350783e-01 -4.89217379e-03 -6.58397882e+01] [-4.00583461e-02 1.98616759e-03 9.99195368e-01 -3.24612151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.500714057 meters 0.02809652052337554 Centerline is valid? [True, True] Translation: X:496.95, Y:-65.84, Z:-32.46 [[ 9.96226259e-01 7.76738128e-02 3.87300765e-02 4.96950038e+02] [-7.75474213e-02 9.96977314e-01 -4.75733075e-03 -6.58380889e+01] [-3.89825276e-02 1.73596026e-03 9.99238384e-01 -3.24616532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.530714057 meters 0.02755446162436075 Centerline is valid? [True, True] Translation: X:496.98, Y:-65.84, Z:-32.46 [[ 9.96059259e-01 7.98885617e-02 3.85197362e-02 4.96978703e+02] [-7.97652202e-02 9.96802453e-01 -4.73077362e-03 -6.58402446e+01] [-3.87745023e-02 1.63959563e-03 9.99246641e-01 -3.24633917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.560714057 meters 0.027186648914664956 Centerline is valid? [True, True] Translation: X:497.01, Y:-65.84, Z:-32.47 [[ 9.95884203e-01 8.22479597e-02 3.80778993e-02 4.97006020e+02] [-8.21292467e-02 9.96610726e-01 -4.67408725e-03 -6.58429749e+01] [-3.83332770e-02 1.52754047e-03 9.99263842e-01 -3.24652568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.590714057 meters 0.026977843345979257 Centerline is valid? [True, True] Translation: X:497.03, Y:-65.85, Z:-32.47 [[ 9.95659839e-01 8.48013380e-02 3.83434205e-02 4.97033469e+02] [-8.46829901e-02 9.96396845e-01 -4.70311036e-03 -6.58454059e+01] [-3.86040932e-02 1.43566261e-03 9.99253553e-01 -3.24670880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.620714057 meters 0.026977843345979257 Centerline is valid? [True, True] Translation: X:497.06, Y:-65.85, Z:-32.47 [[ 9.95668851e-01 8.46952884e-02 3.83437991e-02 4.97060711e+02] [-8.45769808e-02 9.96405863e-01 -4.70002082e-03 -6.58486557e+01] [-3.86040559e-02 1.43666157e-03 9.99253553e-01 -3.24686796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.650714057 meters 0.02736315477959745 Centerline is valid? [True, True] Translation: X:497.09, Y:-65.85, Z:-32.47 [[ 9.95687170e-01 8.44778993e-02 3.83476721e-02 4.97089689e+02] [-8.43595937e-02 9.96424312e-01 -4.69566013e-03 -6.58521183e+01] [-3.86072323e-02 1.44041451e-03 9.99253425e-01 -3.24697751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.680714057 meters 0.027792167473879355 Centerline is valid? [True, True] Translation: X:497.12, Y:-65.86, Z:-32.47 [[ 9.95793540e-01 8.32168270e-02 3.83430039e-02 4.97118235e+02] [-8.30977238e-02 9.96530356e-01 -4.69232171e-03 -6.58571257e+01] [-3.86004475e-02 1.48636730e-03 9.99253620e-01 -3.24696950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.710714057 meters 0.029145143712028452 Centerline is valid? [True, True] Translation: X:497.15, Y:-65.86, Z:-32.47 [[ 9.96002789e-01 8.01060743e-02 3.95153242e-02 4.97145544e+02] [-7.99772459e-02 9.96784974e-01 -4.83283865e-03 -6.58648109e+01] [-3.97754211e-02 1.65319397e-03 9.99207277e-01 -3.24708614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.740714057 meters 0.029603031729464026 Centerline is valid? [True, True] Translation: X:497.17, Y:-65.87, Z:-32.47 [[ 9.96187519e-01 7.75418725e-02 3.99710471e-02 4.97174179e+02] [-7.74081229e-02 9.96987520e-01 -4.88536850e-03 -6.58706727e+01] [-4.02294557e-02 1.77265941e-03 9.99188895e-01 -3.24719580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.770714057 meters 0.030979156343901172 Centerline is valid? [True, True] Translation: X:497.20, Y:-65.88, Z:-32.47 [[ 9.96419471e-01 7.44207884e-02 4.01221095e-02 4.97202711e+02] [-7.42835871e-02 9.97225111e-01 -4.90169603e-03 -6.58773841e+01] [-4.03755631e-02 1.90373115e-03 9.99182761e-01 -3.24740313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.800714057 meters 0.031062065762181842 Centerline is valid? [True, True] Translation: X:497.23, Y:-65.88, Z:-32.48 [[ 9.96954811e-01 6.78755812e-02 3.83928420e-02 4.97232907e+02] [-6.77452297e-02 9.97691641e-01 -4.68752192e-03 -6.58829372e+01] [-3.86223858e-02 2.07231563e-03 9.99251728e-01 -3.24752142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.830714057 meters 0.03214914899099569 Centerline is valid? [True, True] Translation: X:497.26, Y:-65.89, Z:-32.48 [[ 9.97264914e-01 6.32248859e-02 3.82792966e-02 4.97262808e+02] [-6.30918829e-02 9.97996778e-01 -4.67384033e-03 -6.58897951e+01] [-3.84981177e-02 2.24594408e-03 9.99256149e-01 -3.24771000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.860714057 meters 0.03284229959150115 Centerline is valid? [True, True] Translation: X:497.29, Y:-65.89, Z:-32.48 [[ 9.97348597e-01 6.17173225e-02 3.85583810e-02 4.97291360e+02] [-6.15812101e-02 9.98090968e-01 -4.70892759e-03 -6.58944797e+01] [-3.87753943e-02 2.32197056e-03 9.99245254e-01 -3.24787599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.890714057 meters 0.0331792139060625 Centerline is valid? [True, True] Translation: X:497.32, Y:-65.90, Z:-32.48 [[ 9.97363964e-01 6.11967881e-02 3.89881548e-02 4.97319702e+02] [-6.10573408e-02 9.98122917e-01 -4.75850324e-03 -6.58991086e+01] [-3.92061760e-02 2.36544659e-03 9.99228342e-01 -3.24803485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.920714057 meters 0.03341636891948073 Centerline is valid? [True, True] Translation: X:497.35, Y:-65.90, Z:-32.48 [[ 9.97349426e-01 6.14169865e-02 3.90137868e-02 4.97348209e+02] [-6.12776351e-02 9.98109416e-01 -4.75878512e-03 -6.59017576e+01] [-3.92322982e-02 2.35549902e-03 9.99227341e-01 -3.24813696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.950714057 meters 0.03262196406051242 Centerline is valid? [True, True] Translation: X:497.38, Y:-65.90, Z:-32.48 [[ 9.97318559e-01 6.21362513e-02 3.86623669e-02 4.97377264e+02] [-6.20000463e-02 9.98065018e-01 -4.71315948e-03 -6.59034625e+01] [-3.88804140e-02 2.30345288e-03 9.99241216e-01 -3.24825728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.980714057 meters 0.03395886070559298 Centerline is valid? [True, True] Translation: X:497.40, Y:-65.91, Z:-32.49 [[ 9.97257056e-01 6.36291818e-02 3.78112712e-02 4.97404718e+02] [-6.35000703e-02 9.97971200e-01 -4.60703365e-03 -6.59078703e+01] [-3.80277015e-02 2.19337843e-03 9.99274278e-01 -3.24852011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.01071405700003 meters 0.03371592383977311 Centerline is valid? [True, True] Translation: X:497.43, Y:-65.91, Z:-32.49 [[ 9.97180622e-01 6.45870634e-02 3.82010229e-02 4.97433341e+02] [-6.44561196e-02 9.97909705e-01 -4.65076413e-03 -6.59106974e+01] [-3.84215507e-02 2.17536216e-03 9.99259252e-01 -3.24867582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.040714057 meters 0.034109093997216754 Centerline is valid? [True, True] Translation: X:497.46, Y:-65.91, Z:-32.49 [[ 9.97025623e-01 6.63655842e-02 3.91856534e-02 4.97462235e+02] [-6.62293069e-02 9.97793041e-01 -4.76710464e-03 -6.59140259e+01] [-3.94155440e-02 2.15768681e-03 9.99220576e-01 -3.24884222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.070714057 meters 0.03425958803494394 Centerline is valid? [True, True] Translation: X:497.49, Y:-65.92, Z:-32.49 [[ 9.96947596e-01 6.71961744e-02 3.97512971e-02 4.97489674e+02] [-6.70566104e-02 9.97737455e-01 -4.83540191e-03 -6.59168296e+01] [-3.99862786e-02 2.15505506e-03 9.99197905e-01 -3.24893739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.100714057 meters 0.03076181453745273 Centerline is valid? [True, True] Translation: X:497.52, Y:-65.91, Z:-32.49 [[ 9.96842930e-01 6.85966360e-02 3.99834201e-02 4.97519699e+02] [-6.84567220e-02 9.97642251e-01 -4.85958764e-03 -6.59127317e+01] [-4.02225006e-02 2.10711170e-03 9.99188526e-01 -3.24882752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.130714057 meters 0.02901141255775296 Centerline is valid? [True, True] Translation: X:497.55, Y:-65.91, Z:-32.49 [[ 9.96779224e-01 6.95132089e-02 3.99886484e-02 4.97548442e+02] [-6.93740675e-02 9.97578887e-01 -4.85838869e-03 -6.59130028e+01] [-4.02295535e-02 2.06856572e-03 9.99188323e-01 -3.24894058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.160714057 meters 0.02997965349991871 Centerline is valid? [True, True] Translation: X:497.58, Y:-65.92, Z:-32.49 [[ 9.96734447e-01 7.01823060e-02 3.99360290e-02 4.97576179e+02] [-7.00441581e-02 9.97532103e-01 -4.84970901e-03 -6.59171833e+01] [-4.01778347e-02 2.03658649e-03 9.99190469e-01 -3.24921073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.190714057 meters 0.03045216330656107 Centerline is valid? [True, True] Translation: X:497.60, Y:-65.92, Z:-32.49 [[ 9.96725934e-01 7.05007512e-02 3.95860692e-02 4.97603461e+02] [-7.03654574e-02 9.97509719e-01 -4.80240356e-03 -6.59208227e+01] [-3.98260619e-02 2.00118831e-03 9.99204624e-01 -3.24947282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.220714057 meters 0.03121618404357079 Centerline is valid? [True, True] Translation: X:497.63, Y:-65.92, Z:-32.50 [[ 9.96795709e-01 6.97308728e-02 3.91908048e-02 4.97631135e+02] [-6.95977970e-02 9.97563818e-01 -4.75137449e-03 -6.59248336e+01] [-3.94266463e-02 2.00855603e-03 9.99220449e-01 -3.24969299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.250714057 meters 0.030244427349129317 Centerline is valid? [True, True] Translation: X:497.66, Y:-65.93, Z:-32.50 [[ 9.96864405e-01 6.88007549e-02 3.90872548e-02 4.97660149e+02] [-6.86678732e-02 9.97628346e-01 -4.73363212e-03 -6.59267603e+01] [-3.93202308e-02 2.03475071e-03 9.99224589e-01 -3.24979914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.280714057 meters 0.03567428092054772 Centerline is valid? [True, True] Translation: X:497.69, Y:-65.94, Z:-32.50 [[ 9.97005954e-01 6.69524376e-02 3.86846078e-02 4.97687369e+02] [-6.68209999e-02 9.97753993e-01 -4.68215133e-03 -6.59370626e+01] [-3.89112034e-02 2.08318858e-03 9.99240501e-01 -3.25019417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.310714057 meters 0.03208360037884844 Centerline is valid? [True, True] Translation: X:497.72, Y:-65.93, Z:-32.50 [[ 9.97056518e-01 6.60641055e-02 3.89080116e-02 4.97717209e+02] [-6.59305868e-02 9.97813113e-01 -4.70621624e-03 -6.59343691e+01] [-3.91338362e-02 2.12713554e-03 9.99231714e-01 -3.25012199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.340714057 meters 0.034041443013065616 Centerline is valid? [True, True] Translation: X:497.74, Y:-65.94, Z:-32.50 [[ 9.97101443e-01 6.45843700e-02 4.02190387e-02 4.97743960e+02] [-6.44406151e-02 9.97909700e-01 -4.86185078e-03 -6.59399641e+01] [-4.04489684e-02 2.25601884e-03 9.99179059e-01 -3.25032276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.370714057 meters 0.034687355603563425 Centerline is valid? [True, True] Translation: X:497.77, Y:-65.94, Z:-32.51 [[ 9.97137360e-01 6.37386942e-02 4.06751025e-02 4.97772556e+02] [-6.35910882e-02 9.97963941e-01 -4.91378429e-03 -6.59439642e+01] [-4.09054838e-02 2.31314386e-03 9.99160343e-01 -3.25050087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.400714057 meters 0.034761591294213995 Centerline is valid? [True, True] Translation: X:497.80, Y:-65.95, Z:-32.51 [[ 9.97146823e-01 6.30360409e-02 4.15291470e-02 4.97801313e+02] [-6.28816840e-02 9.98008394e-01 -5.01398347e-03 -6.59469418e+01] [-4.17624990e-02 2.38825498e-03 9.99124712e-01 -3.25061581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.430714057 meters 0.03103216630780129 Centerline is valid? [True, True] Translation: X:497.83, Y:-65.94, Z:-32.51 [[ 9.97140849e-01 6.28525106e-02 4.19486541e-02 4.97830902e+02] [-6.26949782e-02 9.98019899e-01 -5.06172417e-03 -6.59434907e+01] [-4.21837336e-02 2.41728198e-03 9.99106946e-01 -3.25055012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.460714057 meters 0.03317007859648747 Centerline is valid? [True, True] Translation: X:497.86, Y:-65.95, Z:-32.51 [[ 9.96999291e-01 6.36024615e-02 4.41264214e-02 4.97858617e+02] [-6.34290102e-02 9.97972166e-01 -5.32125870e-03 -6.59483473e+01] [-4.43753855e-02 2.50639591e-03 9.99011783e-01 -3.25064356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.490714057 meters 0.03702597404984708 Centerline is valid? [True, True] Translation: X:497.89, Y:-65.96, Z:-32.51 [[ 9.96919635e-01 6.42118191e-02 4.50342472e-02 4.97885111e+02] [-6.40319643e-02 9.97933094e-01 -5.42646827e-03 -6.59575973e+01] [-4.52896090e-02 2.52612146e-03 9.98970705e-01 -3.25086971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.520714057 meters 0.030810903830959475 Centerline is valid? [True, True] Translation: X:497.92, Y:-65.95, Z:-32.51 [[ 9.96779389e-01 6.52522874e-02 4.66153319e-02 4.97915019e+02] [-6.50609145e-02 9.97865511e-01 -5.61249908e-03 -6.59499213e+01] [-4.68820603e-02 2.56158729e-03 9.98897147e-01 -3.25072542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.550714057 meters 0.03068198045595981 Centerline is valid? [True, True] Translation: X:497.94, Y:-65.95, Z:-32.51 [[ 9.96723798e-01 6.57717554e-02 4.70717118e-02 4.97943929e+02] [-6.55773560e-02 9.97831414e-01 -5.66395862e-03 -6.59528689e+01] [-4.73421613e-02 2.55856394e-03 9.98875454e-01 -3.25088640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.580714057 meters 0.030255669270295278 Centerline is valid? [True, True] Translation: X:497.97, Y:-65.95, Z:-32.51 [[ 9.96682397e-01 6.65841244e-02 4.68054893e-02 4.97972646e+02] [-6.63929717e-02 9.97777677e-01 -5.62854461e-03 -6.59535251e+01] [-4.70762441e-02 2.50231580e-03 9.98888165e-01 -3.25106783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.610714057 meters 0.031541047595532445 Centerline is valid? [True, True] Translation: X:498.00, Y:-65.96, Z:-32.51 [[ 9.96670071e-01 6.72238500e-02 4.61489277e-02 4.97999520e+02] [-6.70388558e-02 9.97734949e-01 -5.54646442e-03 -6.59583077e+01] [-4.64172528e-02 2.43422378e-03 9.98919173e-01 -3.25136385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.640714057 meters 0.030769252060425398 Centerline is valid? [True, True] Translation: X:498.03, Y:-65.96, Z:-32.52 [[ 9.96665351e-01 6.75754447e-02 4.57355159e-02 4.98028521e+02] [-6.73943211e-02 9.97711300e-01 -5.49245154e-03 -6.59598912e+01] [-4.60019959e-02 2.39182210e-03 9.98938484e-01 -3.25158408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.670714057 meters 0.030135599006260522 Centerline is valid? [True, True] Translation: X:498.06, Y:-65.96, Z:-32.52 [[ 9.96612523e-01 6.86973594e-02 4.52122888e-02 4.98057056e+02] [-6.85216566e-02 9.97634871e-01 -5.42640536e-03 -6.59613213e+01] [-4.54781356e-02 2.31000261e-03 9.98962664e-01 -3.25182436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.700714057 meters 0.030111026881803088 Centerline is valid? [True, True] Translation: X:498.09, Y:-65.96, Z:-32.52 [[ 9.96558865e-01 6.96462650e-02 4.49424847e-02 4.98085632e+02] [-6.94737630e-02 9.97569213e-01 -5.39078790e-03 -6.59639235e+01] [-4.52086873e-02 2.24991394e-03 9.98975031e-01 -3.25205412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.730714057 meters 0.029727575132913985 Centerline is valid? [True, True] Translation: X:498.11, Y:-65.97, Z:-32.52 [[ 9.96492681e-01 7.04827802e-02 4.51055857e-02 4.98114690e+02] [-7.03100255e-02 9.97510533e-01 -5.40708671e-03 -6.59662473e+01] [-4.53744034e-02 2.21674745e-03 9.98967592e-01 -3.25222073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.76071405700003 meters 0.02919177699898084 Centerline is valid? [True, True] Translation: X:498.14, Y:-65.97, Z:-32.52 [[ 9.96352216e-01 7.21026234e-02 4.56450894e-02 4.98143266e+02] [-7.19275566e-02 9.97394868e-01 -5.46841295e-03 -6.59683918e+01] [-4.59204649e-02 2.16532561e-03 9.98942752e-01 -3.25243915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.790714057 meters 0.029351275024439707 Centerline is valid? [True, True] Translation: X:498.17, Y:-65.97, Z:-32.53 [[ 9.96285494e-01 7.26734275e-02 4.61929422e-02 4.98172248e+02] [-7.24949076e-02 9.97353449e-01 -5.53047172e-03 -6.59718966e+01] [-4.64726085e-02 2.16117567e-03 9.98917227e-01 -3.25259319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.820714057 meters 0.02883876088648722 Centerline is valid? [True, True] Translation: X:498.20, Y:-65.97, Z:-32.53 [[ 9.96204820e-01 7.34152172e-02 4.67564246e-02 4.98200664e+02] [-7.32332368e-02 9.97299144e-01 -5.59559113e-03 -6.59732849e+01] [-4.70409438e-02 2.15023054e-03 9.98890648e-01 -3.25271316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.850714057 meters 0.029162855091209746 Centerline is valid? [True, True] Translation: X:498.23, Y:-65.98, Z:-32.53 [[ 9.96107267e-01 7.42109111e-02 4.75715687e-02 4.98228064e+02] [-7.40235894e-02 9.97240259e-01 -5.68980423e-03 -6.59776220e+01] [-4.78625290e-02 2.14623707e-03 9.98851627e-01 -3.25283925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.880714057 meters 0.029137882846041442 Centerline is valid? [True, True] Translation: X:498.26, Y:-65.98, Z:-32.53 [[ 9.96107765e-01 7.40664588e-02 4.77857716e-02 4.98255733e+02] [-7.38774781e-02 9.97250971e-01 -5.71129042e-03 -6.59806315e+01] [-4.80774222e-02 2.15876844e-03 9.98841279e-01 -3.25299049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.910714057 meters 0.029741518403661727 Centerline is valid? [True, True] Translation: X:498.28, Y:-65.99, Z:-32.53 [[ 9.96139825e-01 7.34255733e-02 4.81054560e-02 4.98283505e+02] [-7.32335674e-02 9.97298275e-01 -5.74414275e-03 -6.59859283e+01] [-4.83972553e-02 2.19903520e-03 9.98825746e-01 -3.25317100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.940714057 meters 0.030232128913351516 Centerline is valid? [True, True] Translation: X:498.31, Y:-65.99, Z:-32.53 [[ 9.96196632e-01 7.26600385e-02 4.80914624e-02 4.98310897e+02] [-7.24674610e-02 9.97354270e-01 -5.73821407e-03 -6.59908905e+01] [-4.83811642e-02 2.23132336e-03 9.98826453e-01 -3.25336621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.970714057 meters 0.031098195471270403 Centerline is valid? [True, True] Translation: X:498.34, Y:-66.00, Z:-32.54 [[ 9.96331873e-01 7.06437681e-02 4.82934507e-02 4.98339710e+02] [-7.04474359e-02 9.97498877e-01 -5.75758257e-03 -6.59975939e+01] [-4.85794002e-02 2.33431325e-03 9.98816596e-01 -3.25362050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.000714057 meters 0.03232463923729094 Centerline is valid? [True, True] Translation: X:498.37, Y:-66.00, Z:-32.54 [[ 9.96441697e-01 6.90742119e-02 4.82980070e-02 4.98367203e+02] [-6.88760633e-02 9.97608614e-01 -5.75691164e-03 -6.60036825e+01] [-4.85801619e-02 2.40985022e-03 9.98816380e-01 -3.25385178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.030714057 meters 0.03514256041724227 Centerline is valid? [True, True] Translation: X:498.39, Y:-66.01, Z:-32.54 [[ 9.96686829e-01 6.60981965e-02 4.73961286e-02 4.98394889e+02] [-6.59042481e-02 9.97809985e-01 -5.64485665e-03 -6.60131991e+01] [-4.76654452e-02 2.50254806e-03 9.98860222e-01 -3.25415416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.060714057 meters 0.03559284822984918 Centerline is valid? [True, True] Translation: X:498.42, Y:-66.02, Z:-32.54 [[ 9.96765565e-01 6.48126659e-02 4.75155380e-02 4.98423613e+02] [-6.46163451e-02 9.97894141e-01 -5.65776621e-03 -6.60178699e+01] [-4.77821720e-02 2.56918613e-03 9.98854476e-01 -3.25434729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.090714057 meters 0.03382736219697357 Centerline is valid? [True, True] Translation: X:498.45, Y:-66.02, Z:-32.54 [[ 9.96882451e-01 6.31119922e-02 4.73524605e-02 4.98452896e+02] [-6.29152652e-02 9.98002964e-01 -5.63500757e-03 -6.60188406e+01] [-4.76135324e-02 2.63824754e-03 9.98862348e-01 -3.25443524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.120714057 meters 0.034481763718608706 Centerline is valid? [True, True] Translation: X:498.48, Y:-66.02, Z:-32.55 [[ 9.96942583e-01 6.23846409e-02 4.70493606e-02 4.98481068e+02] [-6.21897276e-02 9.98048654e-01 -5.59665868e-03 -6.60229175e+01] [-4.73066965e-02 2.65356044e-03 9.98876887e-01 -3.25462944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.150714057 meters 0.034954103345581 Centerline is valid? [True, True] Translation: X:498.51, Y:-66.03, Z:-32.55 [[ 9.97034265e-01 6.11019785e-02 4.67891251e-02 4.98510059e+02] [-6.09079716e-02 9.98127888e-01 -5.56227480e-03 -6.60264740e+01] [-4.70413966e-02 2.69594787e-03 9.98889303e-01 -3.25478248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.180714057 meters 0.03670639284636995 Centerline is valid? [True, True] Translation: X:498.54, Y:-66.03, Z:-32.55 [[ 9.97048659e-01 6.06289431e-02 4.70967417e-02 4.98537022e+02] [-6.04319497e-02 9.98156629e-01 -5.59671512e-03 -6.60323154e+01] [-4.73492479e-02 2.73404938e-03 9.98874654e-01 -3.25496642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.210714057 meters 0.03823454350921777 Centerline is valid? [True, True] Translation: X:498.57, Y:-66.04, Z:-32.55 [[ 9.97128091e-01 5.88120669e-02 4.77149019e-02 4.98565229e+02] [-5.86080100e-02 9.98264996e-01 -5.66562387e-03 -6.60370953e+01] [-4.79653234e-02 2.85287726e-03 9.98844927e-01 -3.25505888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.240714057 meters 0.033632161926057 Centerline is valid? [True, True] Translation: X:498.60, Y:-66.03, Z:-32.55 [[ 9.97161042e-01 5.78986447e-02 4.81414970e-02 4.98595133e+02] [-5.76899775e-02 9.98318195e-01 -5.71383059e-03 -6.60326875e+01] [-4.83913554e-02 2.92032739e-03 9.98824183e-01 -3.25506145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.270714057 meters 0.03541640474129256 Centerline is valid? [True, True] Translation: X:498.62, Y:-66.04, Z:-32.55 [[ 9.97186223e-01 5.65507827e-02 4.92102136e-02 4.98622907e+02] [-5.63312099e-02 9.98395065e-01 -5.83854313e-03 -6.60369539e+01] [-4.94614086e-02 3.05004391e-03 9.98771378e-01 -3.25510836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.300714057 meters 0.03419890061363426 Centerline is valid? [True, True] Translation: X:498.65, Y:-66.04, Z:-32.55 [[ 9.97178252e-01 5.59707266e-02 5.00281001e-02 4.98652152e+02] [-5.57432515e-02 9.98427516e-01 -5.93177341e-03 -6.60380589e+01] [-5.02814374e-02 3.12630648e-03 9.98730195e-01 -3.25517761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.330714057 meters 0.03934020580895991 Centerline is valid? [True, True] Translation: X:498.68, Y:-66.05, Z:-32.55 [[ 9.97237045e-01 5.48225097e-02 5.01275166e-02 4.98680862e+02] [-5.45928363e-02 9.98491028e-01 -5.94055678e-03 -6.60472788e+01] [-5.03775518e-02 3.18753999e-03 9.98725158e-01 -3.25539823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.360714057 meters 0.03562483183100051 Centerline is valid? [True, True] Translation: X:498.71, Y:-66.04, Z:-32.56 [[ 9.97255362e-01 5.47679130e-02 4.98218705e-02 4.98710913e+02] [-5.45410048e-02 9.98494079e-01 -5.90357827e-03 -6.60444110e+01] [-5.00701694e-02 3.17004020e-03 9.98740672e-01 -3.25553954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.390714057 meters 0.03494923095026605 Centerline is valid? [True, True] Translation: X:498.74, Y:-66.05, Z:-32.56 [[ 9.97237079e-01 5.60281646e-02 4.87755401e-02 4.98740736e+02] [-5.58122809e-02 9.98424562e-01 -5.77789177e-03 -6.60454402e+01] [-4.90224220e-02 3.03965376e-03 9.98793053e-01 -3.25582468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.420714057 meters 0.03488337686924335 Centerline is valid? [True, True] Translation: X:498.77, Y:-66.05, Z:-32.56 [[ 9.97089148e-01 5.91109510e-02 4.81573182e-02 4.98769996e+02] [-5.89041728e-02 9.98247352e-01 -5.70295192e-03 -6.60462825e+01] [-4.84100222e-02 2.84968448e-03 9.98823482e-01 -3.25602528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.450714057 meters 0.0320291035652003 Centerline is valid? [True, True] Translation: X:498.80, Y:-66.04, Z:-32.56 [[ 9.96984058e-01 6.10882096e-02 4.78645833e-02 4.98800090e+02] [-6.08862906e-02 9.98128624e-01 -5.66660150e-03 -6.60438673e+01] [-4.81211732e-02 2.73521443e-03 9.98837760e-01 -3.25612610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.480714057 meters 0.03165916963403466 Centerline is valid? [True, True] Translation: X:498.83, Y:-66.04, Z:-32.56 [[ 9.96692908e-01 6.57928118e-02 4.76922705e-02 4.98829940e+02] [-6.55978003e-02 9.97830181e-01 -5.64432970e-03 -6.60444359e+01] [-4.79601432e-02 2.49715534e-03 9.98846129e-01 -3.25637331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.51071405700003 meters 0.03151862885495678 Centerline is valid? [True, True] Translation: X:498.86, Y:-66.05, Z:-32.57 [[ 9.96545037e-01 6.82264698e-02 4.73617773e-02 4.98859151e+02] [-6.80369379e-02 9.97667062e-01 -5.60428450e-03 -6.60463973e+01] [-4.76336458e-02 2.36257161e-03 9.98862080e-01 -3.25660106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.540714057 meters 0.03151862885495678 Centerline is valid? [True, True] Translation: X:498.89, Y:-66.05, Z:-32.57 [[ 9.96552127e-01 6.81227526e-02 4.73618904e-02 4.98886417e+02] [-6.79331492e-02 9.97674140e-01 -5.60332894e-03 -6.60495300e+01] [-4.76334475e-02 2.36656700e-03 9.98862080e-01 -3.25676018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.570714057 meters 0.027589717426798086 Centerline is valid? [True, True] Translation: X:498.92, Y:-66.04, Z:-32.57 [[ 9.96133829e-01 7.40963288e-02 4.71924659e-02 4.98917267e+02] [-7.39150487e-02 9.97248946e-01 -5.57727258e-03 -6.60443632e+01] [-4.74758923e-02 2.06747647e-03 9.98870244e-01 -3.25694549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.600714057 meters 0.02723535628270123 Centerline is valid? [True, True] Translation: X:498.94, Y:-66.05, Z:-32.57 [[ 9.95938750e-01 7.69116644e-02 4.68038678e-02 4.98944909e+02] [-7.67364247e-02 9.97036066e-01 -5.53211498e-03 -6.60458889e+01] [-4.70906284e-02 1.91808620e-03 9.98888779e-01 -3.25714157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.630714057 meters 0.02924438276226195 Centerline is valid? [True, True] Translation: X:498.97, Y:-66.05, Z:-32.58 [[ 9.95733644e-01 7.94692670e-02 4.68950449e-02 4.98972542e+02] [-7.92963835e-02 9.96835698e-01 -5.53843836e-03 -6.60518449e+01] [-4.71867905e-02 1.79620195e-03 9.98884468e-01 -3.25750882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.660714057 meters 0.0255560032537992 Centerline is valid? [True, True] Translation: X:499.00, Y:-66.05, Z:-32.58 [[ 9.95329260e-01 8.44436535e-02 4.67860457e-02 4.99002755e+02] [-8.42772340e-02 9.96427046e-01 -5.52180152e-03 -6.60474762e+01] [-4.70851624e-02 1.55301209e-03 9.98889671e-01 -3.25758105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.690714057 meters 0.025114275234037944 Centerline is valid? [True, True] Translation: X:499.03, Y:-66.05, Z:-32.58 [[ 9.94904116e-01 8.85366122e-02 4.82396927e-02 4.99031618e+02] [-8.83645724e-02 9.96071940e-01 -5.69154247e-03 -6.60503218e+01] [-4.85541141e-02 1.39985922e-03 9.98819573e-01 -3.25765584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.720714057 meters 0.02506878574290737 Centerline is valid? [True, True] Translation: X:499.06, Y:-66.05, Z:-32.58 [[ 9.94840258e-01 8.92820045e-02 4.81828310e-02 4.99059828e+02] [-8.91113117e-02 9.96005458e-01 -5.68342313e-03 -6.60531672e+01] [-4.84977901e-02 1.36046286e-03 9.98822363e-01 -3.25781127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.750714057 meters 0.024869634255154354 Centerline is valid? [True, True] Translation: X:499.09, Y:-66.06, Z:-32.58 [[ 9.94770204e-01 8.98941871e-02 4.84899550e-02 4.99087945e+02] [-8.97222056e-02 9.95950426e-01 -5.71617561e-03 -6.60577056e+01] [-4.88074424e-02 1.33565547e-03 9.98807314e-01 -3.25798926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.780714057 meters 0.025194968110105923 Centerline is valid? [True, True] Translation: X:499.12, Y:-66.06, Z:-32.58 [[ 9.94799050e-01 8.93710641e-02 4.88637238e-02 4.99116064e+02] [-8.91959614e-02 9.95997460e-01 -5.75672866e-03 -6.60629749e+01] [-4.91826298e-02 1.36834138e-03 9.98788865e-01 -3.25819785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.810714057 meters 0.025470196457163256 Centerline is valid? [True, True] Translation: X:499.14, Y:-66.07, Z:-32.59 [[ 9.95022580e-01 8.69521883e-02 4.86762917e-02 4.99144166e+02] [-8.67757042e-02 9.96211388e-01 -5.73123185e-03 -6.60708093e+01] [-4.89902193e-02 1.47878562e-03 9.98798164e-01 -3.25852254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.840714057 meters 0.02708632299630286 Centerline is valid? [True, True] Translation: X:499.17, Y:-66.08, Z:-32.59 [[ 9.95315873e-01 8.37540878e-02 4.82862841e-02 4.99171312e+02] [-8.35768395e-02 9.96485138e-01 -5.68171329e-03 -6.60822605e+01] [-4.85924312e-02 1.61948441e-03 9.98817377e-01 -3.25884972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.870714057 meters 0.026428373119738592 Centerline is valid? [True, True] Translation: X:499.20, Y:-66.09, Z:-32.59 [[ 9.95441396e-01 8.21108660e-02 4.85204296e-02 4.99199931e+02] [-8.19300639e-02 9.96621742e-01 -5.70681354e-03 -6.60869333e+01] [-4.88251065e-02 1.70551654e-03 9.98805887e-01 -3.25898448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.900714057 meters 0.02845770193505308 Centerline is valid? [True, True] Translation: X:499.23, Y:-66.10, Z:-32.59 [[ 9.95619893e-01 8.00774314e-02 4.82559236e-02 4.99226515e+02] [-7.98963713e-02 9.96787035e-01 -5.67244018e-03 -6.60956290e+01] [-4.85551134e-02 1.79212110e-03 9.98818897e-01 -3.25920738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.930714057 meters 0.030422158761962668 Centerline is valid? [True, True] Translation: X:499.25, Y:-66.11, Z:-32.59 [[ 9.95899244e-01 7.60325141e-02 4.90280801e-02 4.99253645e+02] [-7.58409421e-02 9.97103300e-01 -5.75861281e-03 -6.61058675e+01] [-4.93239023e-02 2.01666236e-03 9.98780800e-01 -3.25931848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.960714057 meters 0.02909095416085396 Centerline is valid? [True, True] Translation: X:499.28, Y:-66.11, Z:-32.59 [[ 9.95993593e-01 7.42569858e-02 4.98263351e-02 4.99282049e+02] [-7.40570755e-02 9.97236852e-01 -5.84891826e-03 -6.61084486e+01] [-5.01229806e-02 2.13549246e-03 9.98740770e-01 -3.25933393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.990714057 meters 0.02991177325110356 Centerline is valid? [True, True] Translation: X:499.31, Y:-66.12, Z:-32.59 [[ 9.96021597e-01 7.20078579e-02 5.24961598e-02 4.99310396e+02] [-7.17830183e-02 9.97401260e-01 -6.15838683e-03 -6.61170742e+01] [-5.28031882e-02 2.36555348e-03 9.98602137e-01 -3.25929854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.020714057 meters 0.02953586495934989 Centerline is valid? [True, True] Translation: X:499.34, Y:-66.12, Z:-32.59 [[ 9.96048801e-01 7.07154940e-02 5.37224836e-02 4.99338290e+02] [-7.04783437e-02 9.97493425e-01 -6.29849052e-03 -6.61216653e+01] [-5.40332250e-02 2.48733227e-03 9.98536040e-01 -3.25944376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.050714057 meters 0.03090781986958722 Centerline is valid? [True, True] Translation: X:499.37, Y:-66.13, Z:-32.60 [[ 9.96178647e-01 6.87608475e-02 5.38521098e-02 4.99365811e+02] [-6.85200132e-02 9.97629800e-01 -6.30795189e-03 -6.61305389e+01] [-5.41582097e-02 2.59389970e-03 9.98528998e-01 -3.25969923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.080714057 meters 0.03135025732491831 Centerline is valid? [True, True] Translation: X:499.39, Y:-66.14, Z:-32.60 [[ 9.96466593e-01 6.56301023e-02 5.24120065e-02 4.99394856e+02] [-6.53978254e-02 9.97840403e-01 -6.13636945e-03 -6.61380045e+01] [-5.27015482e-02 2.68705591e-03 9.98606693e-01 -3.26010487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.110714057 meters 0.03157743734018007 Centerline is valid? [True, True] Translation: X:499.42, Y:-66.14, Z:-32.60 [[ 9.96597973e-01 6.41259222e-02 5.17720678e-02 4.99424317e+02] [-6.38973080e-02 9.97938076e-01 -6.06063973e-03 -6.61434992e+01] [-5.20539618e-02 2.73192551e-03 9.98640537e-01 -3.26040728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.140714057 meters 0.03356633557092557 Centerline is valid? [True, True] Translation: X:499.45, Y:-66.15, Z:-32.61 [[ 9.96713076e-01 6.27379767e-02 5.12541682e-02 4.99452377e+02] [-6.25121788e-02 9.98026176e-01 -5.99828214e-03 -6.61519256e+01] [-5.15293215e-02 2.77455652e-03 9.98667628e-01 -3.26070294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.170714057 meters 0.034000919630544725 Centerline is valid? [True, True] Translation: X:499.48, Y:-66.16, Z:-32.61 [[ 9.96936831e-01 5.99002365e-02 5.02883313e-02 4.99482287e+02] [-5.96794192e-02 9.98200262e-01 -5.88249037e-03 -6.61573955e+01] [-5.05501881e-02 2.86329290e-03 9.98717418e-01 -3.26094452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.200714057 meters 0.034355211063719956 Centerline is valid? [True, True] Translation: X:499.51, Y:-66.16, Z:-32.61 [[ 9.97055660e-01 5.85827162e-02 4.94780461e-02 4.99511537e+02] [-5.83673348e-02 9.98278395e-01 -5.78798834e-03 -6.61615232e+01] [-4.97319405e-02 2.88304485e-03 9.98758440e-01 -3.26117017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.230714057 meters 0.03580266156827818 Centerline is valid? [True, True] Translation: X:499.54, Y:-66.17, Z:-32.62 [[ 9.97281580e-01 5.62841473e-02 4.75556987e-02 4.99540891e+02] [-5.60826744e-02 9.98410640e-01 -5.56133729e-03 -6.61670422e+01] [-4.77931307e-02 2.87916848e-03 9.98853106e-01 -3.26153744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.26071405700003 meters 0.037042763002454245 Centerline is valid? [True, True] Translation: X:499.57, Y:-66.17, Z:-32.62 [[ 9.97459867e-01 5.45008384e-02 4.58636253e-02 4.99569664e+02] [-5.43116404e-02 9.98509636e-01 -5.36221591e-03 -6.61715023e+01] [-4.60875171e-02 2.85766645e-03 9.98933318e-01 -3.26186076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.290714057 meters 0.033919182619292186 Centerline is valid? [True, True] Translation: X:499.60, Y:-66.17, Z:-32.62 [[ 9.97476780e-01 5.41082203e-02 4.59605726e-02 4.99600057e+02] [-5.39177240e-02 9.98530913e-01 -5.37532168e-03 -6.61696090e+01] [-4.61839016e-02 2.88366910e-03 9.98928792e-01 -3.26195258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.320714057 meters 0.03834696543169407 Centerline is valid? [True, True] Translation: X:499.63, Y:-66.18, Z:-32.62 [[ 9.97400871e-01 5.42154627e-02 4.74572129e-02 4.99628646e+02] [-5.40125813e-02 9.98524843e-01 -5.54796084e-03 -6.61775860e+01] [-4.76879913e-02 2.97025440e-03 9.98857864e-01 -3.26207562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.350714057 meters 0.03406139120301944 Centerline is valid? [True, True] Translation: X:499.66, Y:-66.17, Z:-32.62 [[ 9.97336574e-01 5.42538263e-02 4.87471055e-02 4.99659164e+02] [-5.40397135e-02 9.98522515e-01 -5.70053108e-03 -6.61735525e+01] [-4.89843580e-02 3.05106852e-03 9.98794886e-01 -3.26209617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.380714057 meters 0.034684096922718496 Centerline is valid? [True, True] Translation: X:499.69, Y:-66.18, Z:-32.62 [[ 9.97263786e-01 5.39580972e-02 5.05318272e-02 4.99689733e+02] [-5.37277338e-02 9.98538150e-01 -5.90707664e-03 -6.61751815e+01] [-5.07766918e-02 3.17595305e-03 9.98704982e-01 -3.26212155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.410714057 meters 0.0357215991857992 Centerline is valid? [True, True] Translation: X:499.72, Y:-66.18, Z:-32.62 [[ 9.97281682e-01 5.31900211e-02 5.09908570e-02 4.99719924e+02] [-5.29544554e-02 9.98579139e-01 -5.96062007e-03 -6.61792425e+01] [-5.12354515e-02 3.24422415e-03 9.98681332e-01 -3.26227165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.440714057 meters 0.03634998910642174 Centerline is valid? [True, True] Translation: X:499.75, Y:-66.18, Z:-32.63 [[ 9.97430014e-01 5.03656020e-02 5.09575598e-02 4.99751196e+02] [-5.01266348e-02 9.98725102e-01 -5.95752578e-03 -6.61821414e+01] [-5.11926485e-02 3.38788404e-03 9.98683050e-01 -3.26250488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.470714057 meters 0.037374920295084955 Centerline is valid? [True, True] Translation: X:499.78, Y:-66.19, Z:-32.63 [[ 9.97514788e-01 4.88375182e-02 5.07852709e-02 4.99783168e+02] [-4.85981147e-02 9.98800757e-01 -5.93896674e-03 -6.61874620e+01] [-5.10144114e-02 3.45613873e-03 9.98691937e-01 -3.26274735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.500714057 meters 0.03820897411263858 Centerline is valid? [True, True] Translation: X:499.81, Y:-66.19, Z:-32.63 [[ 9.97750018e-01 4.43886860e-02 5.02448704e-02 4.99812729e+02] [-4.41485327e-02 9.99007674e-01 -5.87997602e-03 -6.61920916e+01] [-5.04560155e-02 3.64850887e-03 9.98719620e-01 -3.26307980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.530714057 meters 0.04182866576008723 Centerline is valid? [True, True] Translation: X:499.84, Y:-66.20, Z:-32.63 [[ 9.97809610e-01 4.31267710e-02 5.01603769e-02 4.99843012e+02] [-4.28859718e-02 9.99062744e-01 -5.86748634e-03 -6.62010824e+01] [-5.03664096e-02 3.70345775e-03 9.98723940e-01 -3.26335546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.560714057 meters 0.042660290864014815 Centerline is valid? [True, True] Translation: X:499.87, Y:-66.20, Z:-32.64 [[ 9.97878675e-01 4.18572657e-02 4.98609944e-02 4.99874434e+02] [-4.16171742e-02 9.99116538e-01 -5.84416243e-03 -6.62039800e+01] [-5.00615648e-02 3.75669137e-03 9.98739069e-01 -3.26354307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.590714057 meters 0.04112216515032896 Centerline is valid? [True, True] Translation: X:499.91, Y:-66.20, Z:-32.64 [[ 9.97870037e-01 4.22568219e-02 4.96965837e-02 4.99906396e+02] [-4.20182465e-02 9.99099798e-01 -5.83607786e-03 -6.62039955e+01] [-4.98984608e-02 3.73548393e-03 9.98747310e-01 -3.26371217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.620714057 meters 0.04221574157879928 Centerline is valid? [True, True] Translation: X:499.94, Y:-66.21, Z:-32.64 [[ 9.97778928e-01 4.43681478e-02 4.96858060e-02 4.99937252e+02] [-4.41315726e-02 9.99008606e-01 -5.84892040e-03 -6.62061489e+01] [-4.98960536e-02 3.64321677e-03 9.98747771e-01 -3.26399190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.650714057 meters 0.039853657522192325 Centerline is valid? [True, True] Translation: X:499.97, Y:-66.20, Z:-32.64 [[ 9.97699871e-01 4.58575962e-02 4.99204191e-02 4.99969572e+02] [-4.56205495e-02 9.98941546e-01 -5.87819099e-03 -6.62044568e+01] [-5.01371404e-02 3.58727345e-03 9.98735900e-01 -3.26419513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.680714057 meters 0.04229062570377361 Centerline is valid? [True, True] Translation: X:500.00, Y:-66.21, Z:-32.64 [[ 9.97513485e-01 4.86800756e-02 5.09617191e-02 4.99999477e+02] [-4.84365256e-02 9.98808218e-01 -6.00395978e-03 -6.62079427e+01] [-5.11932571e-02 3.52062224e-03 9.98682560e-01 -3.26440837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.710714057 meters 0.03693049829385765 Centerline is valid? [True, True] Translation: X:500.03, Y:-66.20, Z:-32.64 [[ 9.97337202e-01 4.97815829e-02 5.32944661e-02 5.00032897e+02] [-4.95168181e-02 9.98753561e-01 -6.27773112e-03 -6.61992894e+01] [-5.35405531e-02 3.62204240e-03 9.98559107e-01 -3.26440653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.740714057 meters 0.036592372294335575 Centerline is valid? [True, True] Translation: X:500.06, Y:-66.20, Z:-32.65 [[ 9.97283571e-01 4.98848249e-02 5.41939432e-02 5.00064797e+02] [-4.96104236e-02 9.98748154e-01 -6.39769646e-03 -6.62007734e+01] [-5.44452487e-02 3.69173309e-03 9.98509933e-01 -3.26455144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.770714057 meters 0.03896737461503295 Centerline is valid? [True, True] Translation: X:500.10, Y:-66.21, Z:-32.65 [[ 9.97297681e-01 4.83188456e-02 5.53409855e-02 5.00095623e+02] [-4.80294856e-02 9.98824458e-01 -6.54759110e-03 -6.62058126e+01] [-5.55923018e-02 3.87189835e-03 9.98446045e-01 -3.26475040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.800714057 meters 0.03774188872350477 Centerline is valid? [True, True] Translation: X:500.13, Y:-66.21, Z:-32.65 [[ 9.97353201e-01 4.67351361e-02 5.56993623e-02 5.00127893e+02] [-4.64388017e-02 9.98899310e-01 -6.60344448e-03 -6.62074829e+01] [-5.59466674e-02 3.99935485e-03 9.98425749e-01 -3.26499105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.830714057 meters 0.03992000928979264 Centerline is valid? [True, True] Translation: X:500.16, Y:-66.21, Z:-32.65 [[ 9.97629688e-01 4.17827108e-02 5.46736714e-02 5.00158567e+02] [-4.14895912e-02 9.99117885e-01 -6.48585850e-03 -6.62126595e+01] [-5.48964397e-02 4.20209671e-03 9.98483211e-01 -3.26528998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.860714057 meters 0.04106576869275312 Centerline is valid? [True, True] Translation: X:500.19, Y:-66.22, Z:-32.66 [[ 9.97789457e-01 3.91274630e-02 5.37144459e-02 5.00189580e+02] [-3.88406510e-02 9.99225091e-01 -6.37353129e-03 -6.62172769e+01] [-5.39222021e-02 4.27313828e-03 9.98535997e-01 -3.26555789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.890714057 meters 0.04470520994876183 Centerline is valid? [True, True] Translation: X:500.22, Y:-66.23, Z:-32.66 [[ 9.98005694e-01 3.48502602e-02 5.26316923e-02 5.00218598e+02] [-3.45688977e-02 9.99382792e-01 -6.24706614e-03 -6.62256009e+01] [-5.28169195e-02 4.41518799e-03 9.98594452e-01 -3.26600887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.920714057 meters 0.04604477355205352 Centerline is valid? [True, True] Translation: X:500.25, Y:-66.23, Z:-32.66 [[ 9.98169264e-01 3.29289975e-02 5.07326445e-02 5.00249258e+02] [-3.26651159e-02 9.99448211e-01 -6.02201893e-03 -6.62299028e+01] [-5.09029498e-02 4.35380649e-03 9.98694114e-01 -3.26639488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.950714057 meters 0.0471366763461006 Centerline is valid? [True, True] Translation: X:500.28, Y:-66.23, Z:-32.67 [[ 9.98208773e-01 3.29481125e-02 4.99366389e-02 5.00280310e+02] [-3.26924806e-02 9.99447881e-01 -5.92751722e-03 -6.62339440e+01] [-5.01043685e-02 4.28434709e-03 9.98734798e-01 -3.26664332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.980714057 meters 0.047363207996443626 Centerline is valid? [True, True] Translation: X:500.31, Y:-66.23, Z:-32.67 [[ 9.98171452e-01 3.43943791e-02 4.97069279e-02 5.00311567e+02] [-3.41425002e-02 9.99399514e-01 -5.90776333e-03 -6.62341127e+01] [-4.98802735e-02 4.19984190e-03 9.98746374e-01 -3.26686541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.01071405700003 meters 0.04676602257230975 Centerline is valid? [True, True] Translation: X:500.34, Y:-66.24, Z:-32.67 [[ 9.98083658e-01 3.59844516e-02 5.03401479e-02 5.00342714e+02] [-3.57280226e-02 9.99343630e-01 -5.98482570e-03 -6.62353113e+01] [-5.05224668e-02 4.17480279e-03 9.98714199e-01 -3.26700477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.040714057 meters 0.04585791167905373 Centerline is valid? [True, True] Translation: X:500.37, Y:-66.23, Z:-32.67 [[ 9.97861540e-01 3.97707158e-02 5.18713483e-02 5.00372738e+02] [-3.95033940e-02 9.99200393e-01 -6.16905737e-03 -6.62346043e+01] [-5.20752194e-02 4.10677079e-03 9.98634721e-01 -3.26714783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.070714057 meters 0.04589166008338203 Centerline is valid? [True, True] Translation: X:500.40, Y:-66.24, Z:-32.67 [[ 9.97765439e-01 4.15481843e-02 5.23247185e-02 5.00404557e+02] [-4.12786588e-02 9.99128302e-01 -6.22168003e-03 -6.62362751e+01] [-5.25376066e-02 4.04788311e-03 9.98610742e-01 -3.26730837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.100714057 meters 0.046351601818040024 Centerline is valid? [True, True] Translation: X:500.44, Y:-66.24, Z:-32.67 [[ 9.97663764e-01 4.32974829e-02 5.28426061e-02 5.00435432e+02] [-4.30248745e-02 9.99054225e-01 -6.28611869e-03 -6.62383807e+01] [-5.30648021e-02 3.99788633e-03 9.98583068e-01 -3.26748023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.130714057 meters 0.04481783106584406 Centerline is valid? [True, True] Translation: X:500.47, Y:-66.24, Z:-32.68 [[ 9.97481757e-01 4.61070257e-02 5.38914365e-02 5.00466400e+02] [-4.58274390e-02 9.98928786e-01 -6.41290888e-03 -6.62356352e+01] [-5.41293874e-02 3.92705310e-03 9.98526208e-01 -3.26754261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.160714057 meters 0.03824759369117908 Centerline is valid? [True, True] Translation: X:500.50, Y:-66.23, Z:-32.68 [[ 9.97375490e-01 4.67784709e-02 5.52621656e-02 5.00500355e+02] [-4.64855168e-02 9.98897322e-01 -6.57546103e-03 -6.62270179e+01] [-5.55088193e-02 3.98931334e-03 9.98450227e-01 -3.26761560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.190714057 meters 0.04088709268080086 Centerline is valid? [True, True] Translation: X:500.53, Y:-66.23, Z:-32.68 [[ 9.97349784e-01 4.66733309e-02 5.58122700e-02 5.00530769e+02] [-4.63735296e-02 9.98901998e-01 -6.65541275e-03 -6.62339784e+01] [-5.60616183e-02 4.04956251e-03 9.98419098e-01 -3.26778302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.220714057 meters 0.044242792129635986 Centerline is valid? [True, True] Translation: X:500.56, Y:-66.24, Z:-32.68 [[ 9.97415366e-01 4.46200292e-02 5.63173198e-02 5.00560163e+02] [-4.43107477e-02 9.98995133e-01 -6.72921351e-03 -6.62422022e+01] [-5.65609860e-02 4.21635841e-03 9.98390243e-01 -3.26794663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.250714057 meters 0.045715379078762323 Centerline is valid? [True, True] Translation: X:500.59, Y:-66.25, Z:-32.68 [[ 9.97468969e-01 4.33604810e-02 5.63517918e-02 5.00591872e+02] [-4.30485654e-02 9.99050260e-01 -6.73788063e-03 -6.62473517e+01] [-5.65904300e-02 4.29496305e-03 9.98388239e-01 -3.26816740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.280714057 meters 0.042725654388536656 Centerline is valid? [True, True] Translation: X:500.62, Y:-66.25, Z:-32.68 [[ 9.97613632e-01 4.11829721e-02 5.54166334e-02 5.00623212e+02] [-4.08777870e-02 9.99142158e-01 -6.62988620e-03 -6.62467877e+01] [-5.56421331e-02 4.34875552e-03 9.98441306e-01 -3.26846924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.310714057 meters 0.0448354330747749 Centerline is valid? [True, True] Translation: X:500.65, Y:-66.25, Z:-32.69 [[ 9.97771567e-01 3.93852860e-02 5.38581324e-02 5.00652229e+02] [-3.90943192e-02 9.99214735e-01 -6.44578551e-03 -6.62531836e+01] [-5.40697086e-02 4.32587449e-03 9.98527793e-01 -3.26891872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.340714057 meters 0.04467544051760607 Centerline is valid? [True, True] Translation: X:500.68, Y:-66.26, Z:-32.69 [[ 9.97785671e-01 3.97978849e-02 5.32905629e-02 5.00684110e+02] [-3.95136655e-02 9.99198682e-01 -6.37683168e-03 -6.62577059e+01] [-5.35016447e-02 4.25700579e-03 9.98558687e-01 -3.26917061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.370714057 meters 0.04569088489447386 Centerline is valid? [True, True] Translation: X:500.72, Y:-66.26, Z:-32.69 [[ 9.97834786e-01 3.97644013e-02 5.23882762e-02 5.00715878e+02] [-3.94890207e-02 9.99200260e-01 -6.28158774e-03 -6.62612647e+01] [-5.25961627e-02 4.19922504e-03 9.98607035e-01 -3.26947195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.400714057 meters 0.046200434762105974 Centerline is valid? [True, True] Translation: X:500.75, Y:-66.27, Z:-32.70 [[ 9.97821419e-01 4.01227750e-02 5.23696327e-02 5.00748137e+02] [-3.98474122e-02 9.99185966e-01 -6.29204910e-03 -6.62660632e+01] [-5.25794565e-02 4.19154702e-03 9.98607947e-01 -3.26966466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.430714057 meters 0.046200434762105974 Centerline is valid? [True, True] Translation: X:500.78, Y:-66.27, Z:-32.70 [[ 9.97810374e-01 4.03987687e-02 5.23678931e-02 5.00780561e+02] [-4.01230301e-02 9.99174845e-01 -6.30649334e-03 -6.62700538e+01] [-5.25794560e-02 4.19152593e-03 9.98607947e-01 -3.26985339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.460714057 meters 0.04380209744567278 Centerline is valid? [True, True] Translation: X:500.81, Y:-66.27, Z:-32.70 [[ 9.97837343e-01 4.03522552e-02 5.18876934e-02 5.00813374e+02] [-4.00807347e-02 9.99176815e-01 -6.26321766e-03 -6.62698544e+01] [-5.20977152e-02 4.16997559e-03 9.98633286e-01 -3.27006207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.490714057 meters 0.044639666106138565 Centerline is valid? [True, True] Translation: X:500.84, Y:-66.27, Z:-32.70 [[ 9.97847936e-01 4.06812128e-02 5.14250454e-02 5.00844989e+02] [-4.04142952e-02 9.99163648e-01 -6.22008060e-03 -6.62748763e+01] [-5.16350763e-02 4.12838762e-03 9.98657486e-01 -3.27028988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.520714057 meters 0.04264890014979682 Centerline is valid? [True, True] Translation: X:500.88, Y:-66.28, Z:-32.70 [[ 9.97845952e-01 4.11258649e-02 5.11088968e-02 5.00877471e+02] [-4.08620988e-02 9.99145587e-01 -6.19552642e-03 -6.62756146e+01] [-5.13200251e-02 4.09376417e-03 9.98673869e-01 -3.27049627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.550714057 meters 0.047063034148597506 Centerline is valid? [True, True] Translation: X:500.91, Y:-66.29, Z:-32.71 [[ 9.97821828e-01 4.20267280e-02 5.08463799e-02 5.00907866e+02] [-4.17661666e-02 9.99108321e-01 -6.17666270e-03 -6.62850341e+01] [-5.10606261e-02 4.03955050e-03 9.98687386e-01 -3.27074889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.580714057 meters 0.04616766339706696 Centerline is valid? [True, True] Translation: X:500.94, Y:-66.29, Z:-32.71 [[ 9.97726053e-01 4.42527529e-02 5.08371720e-02 5.00938998e+02] [-4.39944759e-02 9.99012605e-01 -6.18884101e-03 -6.62859554e+01] [-5.10608488e-02 3.93821318e-03 9.98687779e-01 -3.27091561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.610714057 meters 0.04667110341520931 Centerline is valid? [True, True] Translation: X:500.97, Y:-66.29, Z:-32.71 [[ 9.97680371e-01 4.55228334e-02 5.06117557e-02 5.00969267e+02] [-4.52684236e-02 9.98955853e-01 -6.16226919e-03 -6.62892491e+01] [-5.08394335e-02 3.85686062e-03 9.98699393e-01 -3.27107154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.640714057 meters 0.045205148906970166 Centerline is valid? [True, True] Translation: X:501.00, Y:-66.29, Z:-32.71 [[ 9.97572964e-01 4.80291783e-02 5.04121049e-02 5.01000305e+02] [-4.77799102e-02 9.98839024e-01 -6.13882138e-03 -6.62891370e+01] [-5.06484202e-02 3.71523639e-03 9.98709635e-01 -3.27118201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.670714057 meters 0.04556084396208552 Centerline is valid? [True, True] Translation: X:501.03, Y:-66.29, Z:-32.71 [[ 9.97504804e-01 4.90358233e-02 5.07902994e-02 5.01030573e+02] [-4.87840490e-02 9.98790195e-01 -6.18575359e-03 -6.62925245e+01] [-5.10321766e-02 3.69256247e-03 9.98690183e-01 -3.27134307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.700714057 meters 0.04077168753157838 Centerline is valid? [True, True] Translation: X:501.06, Y:-66.29, Z:-32.71 [[ 9.97426804e-01 5.05071164e-02 5.08802759e-02 5.01062269e+02] [-5.02563074e-02 9.98717124e-01 -6.19756805e-03 -6.62884720e+01] [-5.11280242e-02 3.62456570e-03 9.98685530e-01 -3.27142324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.730714057 meters 0.04141950650022499 Centerline is valid? [True, True] Translation: X:501.09, Y:-66.29, Z:-32.72 [[ 9.97445432e-01 5.04744043e-02 5.05464560e-02 5.01091370e+02] [-5.02267779e-02 9.98718854e-01 -6.15807941e-03 -6.62929162e+01] [-5.07925240e-02 3.60356256e-03 9.98702725e-01 -3.27164380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.76071405700003 meters 0.040547536061099704 Centerline is valid? [True, True] Translation: X:501.12, Y:-66.30, Z:-32.72 [[ 9.97456602e-01 5.03318706e-02 5.04680990e-02 5.01121602e+02] [-5.00848820e-02 9.98726045e-01 -6.14752407e-03 -6.62952350e+01] [-5.07132213e-02 3.60419969e-03 9.98706753e-01 -3.27178612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.790714057 meters 0.04285419817055572 Centerline is valid? [True, True] Translation: X:501.15, Y:-66.30, Z:-32.72 [[ 9.97500187e-01 4.99092694e-02 5.00244091e-02 5.01150119e+02] [-4.96660742e-02 9.98747290e-01 -6.09360910e-03 -6.63020480e+01] [-5.02658706e-02 3.59386021e-03 9.98729406e-01 -3.27193980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.820714057 meters 0.044252078276885 Centerline is valid? [True, True] Translation: X:501.18, Y:-66.31, Z:-32.72 [[ 9.97533034e-01 4.94219003e-02 4.98529991e-02 5.01179240e+02] [-4.91798099e-02 9.98771485e-01 -6.07184726e-03 -6.63071623e+01] [-5.00918362e-02 3.60510720e-03 9.98738109e-01 -3.27205892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.850714057 meters 0.04013378486523045 Centerline is valid? [True, True] Translation: X:501.21, Y:-66.30, Z:-32.72 [[ 9.97534157e-01 4.95990096e-02 4.96542528e-02 5.01209972e+02] [-4.93591081e-02 9.98762792e-01 -6.04679383e-03 -6.63043673e+01] [-4.98927352e-02 3.58099375e-03 9.98748162e-01 -3.27214182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.880714057 meters 0.04006291009598586 Centerline is valid? [True, True] Translation: X:501.24, Y:-66.31, Z:-32.72 [[ 9.97562662e-01 4.96660130e-02 4.90104236e-02 5.01239853e+02] [-4.94324064e-02 9.98759642e-01 -5.96784024e-03 -6.63078258e+01] [-4.92460320e-02 3.53059142e-03 9.98780438e-01 -3.27234505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.910714057 meters 0.045315796260736 Centerline is valid? [True, True] Translation: X:501.27, Y:-66.32, Z:-32.73 [[ 9.97562258e-01 5.07572278e-02 4.78878308e-02 5.01268244e+02] [-5.05356031e-02 9.98705254e-01 -5.82819826e-03 -6.63193256e+01] [-4.81216514e-02 3.39395020e-03 9.98835716e-01 -3.27273188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.940714057 meters 0.03933968622073964 Centerline is valid? [True, True] Translation: X:501.30, Y:-66.31, Z:-32.73 [[ 9.97564902e-01 5.12528151e-02 4.73013199e-02 5.01299082e+02] [-5.10371760e-02 9.98680166e-01 -5.75616875e-03 -6.63133135e+01] [-4.75339098e-02 3.32802613e-03 9.98864081e-01 -3.27284116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.970714057 meters 0.039124244924605235 Centerline is valid? [True, True] Translation: X:501.33, Y:-66.32, Z:-32.73 [[ 9.97558468e-01 5.23237294e-02 4.62528919e-02 5.01328742e+02] [-5.21187726e-02 9.98625040e-01 -5.62696579e-03 -6.63156320e+01] [-4.64837199e-02 3.20258342e-03 9.98913914e-01 -3.27307364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.000714057 meters 0.03818478061396633 Centerline is valid? [True, True] Translation: X:501.36, Y:-66.32, Z:-32.73 [[ 9.97600252e-01 5.23509745e-02 4.53112833e-02 5.01357768e+02] [-5.21543650e-02 9.98623827e-01 -5.51127155e-03 -6.63172798e+01] [-4.55374476e-02 3.13486468e-03 9.98957714e-01 -3.27319919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.030714057 meters 0.038575927526405554 Centerline is valid? [True, True] Translation: X:501.39, Y:-66.32, Z:-32.73 [[ 9.97633983e-01 5.19842196e-02 4.49897361e-02 5.01387555e+02] [-5.17901884e-02 9.98643015e-01 -5.46848694e-03 -6.63211727e+01] [-4.52129607e-02 3.12552150e-03 9.98972482e-01 -3.27336306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.0607140569999 meters 0.038825288789428404 Centerline is valid? [True, True] Translation: X:501.42, Y:-66.33, Z:-32.74 [[ 9.97718342e-01 5.10294289e-02 4.42052799e-02 5.01416840e+02] [-5.08412479e-02 9.98692302e-01 -5.37158042e-03 -6.63251229e+01] [-4.44215814e-02 3.11187272e-03 9.99008028e-01 -3.27354586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.0907140569999 meters 0.04078201569102216 Centerline is valid? [True, True] Translation: X:501.44, Y:-66.33, Z:-32.74 [[ 9.97780285e-01 5.01356938e-02 4.38282447e-02 5.01444675e+02] [-4.99499161e-02 9.98737532e-01 -5.32436486e-03 -6.63319290e+01] [-4.40398537e-02 3.12332914e-03 9.99024893e-01 -3.27378486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.120714057 meters 0.03841273265538805 Centerline is valid? [True, True] Translation: X:501.47, Y:-66.33, Z:-32.74 [[ 9.97822872e-01 4.90671744e-02 4.40673164e-02 5.01474051e+02] [-4.88784171e-02 9.98790400e-01 -5.35136144e-03 -6.63319548e+01] [-4.42765887e-02 3.18577017e-03 9.99014231e-01 -3.27383973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.150714057 meters 0.04168367126266173 Centerline is valid? [True, True] Translation: X:501.50, Y:-66.34, Z:-32.74 [[ 9.97809034e-01 4.87900260e-02 4.46840647e-02 5.01501292e+02] [-4.85957799e-02 9.98803801e-01 -5.42375116e-03 -6.63407020e+01] [-4.48952387e-02 3.24041093e-03 9.98986445e-01 -3.27404753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.1807140569999 meters 0.042851510173060575 Centerline is valid? [True, True] Translation: X:501.53, Y:-66.35, Z:-32.74 [[ 9.97812065e-01 4.80783761e-02 4.53822970e-02 5.01529464e+02] [-4.78773911e-02 9.98838045e-01 -5.50595187e-03 -6.63459226e+01] [-4.55942820e-02 3.32111922e-03 9.98954519e-01 -3.27410100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.2107140569999 meters 0.04332691627957123 Centerline is valid? [True, True] Translation: X:501.56, Y:-66.35, Z:-32.74 [[ 9.97834254e-01 4.76106860e-02 4.53874963e-02 5.01559296e+02] [-4.74093114e-02 9.98860385e-01 -5.50356939e-03 -6.63500562e+01] [-4.55978008e-02 3.33986011e-03 9.98954296e-01 -3.27424274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.240714057 meters 0.045043873283492866 Centerline is valid? [True, True] Translation: X:501.59, Y:-66.36, Z:-32.74 [[ 9.97945965e-01 4.55511437e-02 4.50438129e-02 5.01588333e+02] [-4.53507213e-02 9.98956195e-01 -5.46196888e-03 -6.63558638e+01] [-4.52455949e-02 3.40798039e-03 9.98970081e-01 -3.27447385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.270714057 meters 0.039566255965754374 Centerline is valid? [True, True] Translation: X:501.62, Y:-66.35, Z:-32.75 [[ 9.98047408e-01 4.43523232e-02 4.39800255e-02 5.01619530e+02] [-4.41601218e-02 9.99010233e-01 -5.33264159e-03 -6.63518566e+01] [-4.41730106e-02 3.38006583e-03 9.99018178e-01 -3.27453701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.3007140569999 meters 0.04205298887675652 Centerline is valid? [True, True] Translation: X:501.65, Y:-66.36, Z:-32.75 [[ 9.98155376e-01 4.21592358e-02 4.36857503e-02 5.01648828e+02] [-4.19675669e-02 9.99104939e-01 -5.29573658e-03 -6.63590618e+01] [-4.38699130e-02 3.45258329e-03 9.99031286e-01 -3.27477550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.3307140569999 meters 0.04266892427910826 Centerline is valid? [True, True] Translation: X:501.68, Y:-66.36, Z:-32.75 [[ 9.98251148e-01 4.07583546e-02 4.28182423e-02 5.01679742e+02] [-4.05727557e-02 9.99163081e-01 -5.19505796e-03 -6.63634494e+01] [-4.29941489e-02 3.44871849e-03 9.99069372e-01 -3.27497248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.360714057 meters 0.045388578972258974 Centerline is valid? [True, True] Translation: X:501.71, Y:-66.37, Z:-32.75 [[ 9.98328198e-01 3.90619337e-02 4.26025241e-02 5.01708785e+02] [-3.88765792e-02 9.99230640e-01 -5.17095549e-03 -6.63711175e+01] [-4.27717349e-02 3.50607027e-03 9.99078719e-01 -3.27516673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.390714057 meters 0.04536590418438116 Centerline is valid? [True, True] Translation: X:501.74, Y:-66.37, Z:-32.75 [[ 9.98325259e-01 3.89437976e-02 4.27791851e-02 5.01739400e+02] [-3.87568163e-02 9.99235184e-01 -5.19187522e-03 -6.63747965e+01] [-4.29486583e-02 3.52519516e-03 9.99071061e-01 -3.27533820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.4207140569999 meters 0.04507396751512599 Centerline is valid? [True, True] Translation: X:501.77, Y:-66.38, Z:-32.76 [[ 9.98309492e-01 3.96339492e-02 4.25124481e-02 5.01770690e+02] [-3.94498511e-02 9.99208223e-01 -5.16100919e-03 -6.63780225e+01] [-4.26833389e-02 3.47517471e-03 9.99082607e-01 -3.27551306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.4507140569999 meters 0.042801791355364535 Centerline is valid? [True, True] Translation: X:501.80, Y:-66.38, Z:-32.76 [[ 9.98284230e-01 4.03115199e-02 4.24685371e-02 5.01802479e+02] [-4.01283469e-02 9.99181224e-01 -5.15717945e-03 -6.63777560e+01] [-4.26416586e-02 3.44413873e-03 9.99084494e-01 -3.27559336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.480714057 meters 0.04487827442567824 Centerline is valid? [True, True] Translation: X:501.83, Y:-66.38, Z:-32.76 [[ 9.98180168e-01 4.20155063e-02 4.32556374e-02 5.01832749e+02] [-4.18269939e-02 9.99111052e-01 -5.25436578e-03 -6.63839242e+01] [-4.34379502e-02 3.43555044e-03 9.99050220e-01 -3.27574367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.510714057 meters 0.043026270545957576 Centerline is valid? [True, True] Translation: X:501.86, Y:-66.38, Z:-32.76 [[ 9.98103675e-01 4.41279085e-02 4.29159840e-02 5.01863376e+02] [-4.39441982e-02 9.99020375e-01 -5.21516544e-03 -6.63839094e+01] [-4.31040768e-02 3.31936728e-03 9.99065073e-01 -3.27586915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.540714057 meters 0.04387750716252766 Centerline is valid? [True, True] Translation: X:501.89, Y:-66.39, Z:-32.76 [[ 9.98023734e-01 4.58383481e-02 4.29822275e-02 5.01892244e+02] [-4.56556348e-02 9.98943581e-01 -5.22347222e-03 -6.63880193e+01] [-4.31762556e-02 3.25076837e-03 9.99062182e-01 -3.27606787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5707140569999 meters 0.04070137839924869 Centerline is valid? [True, True] Translation: X:501.92, Y:-66.39, Z:-32.76 [[ 9.97866042e-01 4.91816454e-02 4.29479707e-02 5.01923293e+02] [-4.90023427e-02 9.98785032e-01 -5.21834863e-03 -6.63860566e+01] [-4.31524372e-02 3.10266172e-03 9.99063682e-01 -3.27617432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.6007140569999 meters 0.038321504835879934 Centerline is valid? [True, True] Translation: X:501.95, Y:-66.38, Z:-32.76 [[ 9.97848982e-01 5.03414634e-02 4.19898444e-02 5.01953512e+02] [-5.01710851e-02 9.98727605e-01 -5.10225769e-03 -6.63849351e+01] [-4.21932719e-02 2.98460658e-03 9.99105009e-01 -3.27629490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.630714057 meters 0.04143755093450613 Centerline is valid? [True, True] Translation: X:501.98, Y:-66.39, Z:-32.77 [[ 9.97762578e-01 5.30267460e-02 4.07185848e-02 5.01982037e+02] [-5.28688174e-02 9.98589216e-01 -4.94636984e-03 -6.63912472e+01] [-4.09234296e-02 2.78255929e-03 9.99158411e-01 -3.27668895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.660714057 meters 0.03735735045109477 Centerline is valid? [True, True] Translation: X:502.01, Y:-66.39, Z:-32.77 [[ 9.97728018e-01 5.46062757e-02 3.94582937e-02 5.02011215e+02] [-5.44592354e-02 9.98504493e-01 -4.79257013e-03 -6.63879452e+01] [-3.96609879e-02 2.63281300e-03 9.99209725e-01 -3.27679074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.6907140569999 meters 0.03625939810472716 Centerline is valid? [True, True] Translation: X:502.04, Y:-66.39, Z:-32.77 [[ 9.97566695e-01 5.81820447e-02 3.84127394e-02 5.02041297e+02] [-5.80454657e-02 9.98303054e-01 -4.66224284e-03 -6.63876509e+01] [-3.86188138e-02 2.42121283e-03 9.99251082e-01 -3.27707290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7207140569999 meters 0.03444841294814221 Centerline is valid? [True, True] Translation: X:502.07, Y:-66.39, Z:-32.77 [[ 9.97315017e-01 6.27495296e-02 3.77525221e-02 5.02072479e+02] [-6.26209382e-02 9.98026873e-01 -4.58021757e-03 -6.63857055e+01] [-3.79654380e-02 2.20382141e-03 9.99276623e-01 -3.27710175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.750714057 meters 0.03402110250730799 Centerline is valid? [True, True] Translation: X:502.10, Y:-66.39, Z:-32.77 [[ 9.97110824e-01 6.56708924e-02 3.81751099e-02 5.02102911e+02] [-6.55415400e-02 9.97839094e-01 -4.63141616e-03 -6.63866381e+01] [-3.83967663e-02 2.11597969e-03 9.99260332e-01 -3.27719166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.780714057 meters 0.02975945263344753 Centerline is valid? [True, True] Translation: X:502.14, Y:-66.38, Z:-32.77 [[ 9.96631653e-01 7.22422180e-02 3.88125123e-02 5.02135091e+02] [-7.21135223e-02 9.97385322e-01 -4.70747308e-03 -6.63791948e+01] [-3.90511084e-02 1.89270970e-03 9.99235422e-01 -3.27696716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.8107140569999 meters 0.029711079499184858 Centerline is valid? [True, True] Translation: X:502.16, Y:-66.38, Z:-32.77 [[ 9.96309967e-01 7.59635673e-02 3.99497911e-02 5.02164244e+02] [-7.58301408e-02 9.97108970e-01 -4.84681641e-03 -6.63819841e+01] [-4.02024765e-02 1.79953321e-03 9.99189933e-01 -3.27711878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.8407140569999 meters 0.028935926010834688 Centerline is valid? [True, True] Translation: X:502.19, Y:-66.38, Z:-32.77 [[ 9.96028292e-01 7.93085693e-02 4.04696593e-02 5.02194761e+02] [-7.91744734e-02 9.96848691e-01 -4.90807322e-03 -6.63827596e+01] [-4.07313792e-02 1.68441581e-03 9.99168713e-01 -3.27721476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.870714057 meters 0.02748858996724271 Centerline is valid? [True, True] Translation: X:502.23, Y:-66.38, Z:-32.77 [[ 9.95506611e-01 8.52033283e-02 4.13156200e-02 5.02225513e+02] [-8.50686673e-02 9.96362497e-01 -5.00973357e-03 -6.63826452e+01] [-4.15921803e-02 1.47255816e-03 9.99133586e-01 -3.27734370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.900714057 meters 0.027303099353800705 Centerline is valid? [True, True] Translation: X:502.25, Y:-66.39, Z:-32.78 [[ 9.95198612e-01 8.89740149e-02 4.07841598e-02 5.02254160e+02] [-8.88459397e-02 9.96033101e-01 -4.94574709e-03 -6.63850447e+01] [-4.10624161e-02 1.29849365e-03 9.99155740e-01 -3.27756960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.9307140569999 meters 0.027370020357618482 Centerline is valid? [True, True] Translation: X:502.28, Y:-66.39, Z:-32.78 [[ 9.95143580e-01 8.99396624e-02 4.00014089e-02 5.02281788e+02] [-8.98172982e-02 9.95946453e-01 -4.84933221e-03 -6.63885627e+01] [-4.02754086e-02 1.23296334e-03 9.99187856e-01 -3.27779216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.9607140569999 meters 0.027431649385607007 Centerline is valid? [True, True] Translation: X:502.31, Y:-66.39, Z:-32.78 [[ 9.95156433e-01 9.05219317e-02 3.83334582e-02 5.02308871e+02] [-9.04099750e-02 9.95893787e-01 -4.64766681e-03 -6.63927525e+01] [-3.85967686e-02 1.15942853e-03 9.99254194e-01 -3.27806780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.990714057 meters 0.027668755417619442 Centerline is valid? [True, True] Translation: X:502.34, Y:-66.40, Z:-32.78 [[ 9.95183233e-01 9.03753523e-02 3.79819428e-02 5.02336019e+02] [-9.02658507e-02 9.95907121e-01 -4.59154470e-03 -6.63981312e+01] [-3.82414498e-02 1.14095592e-03 9.99267877e-01 -3.27835134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.020714057 meters 0.027177093623714996 Centerline is valid? [True, True] Translation: X:502.36, Y:-66.40, Z:-32.78 [[ 9.95213950e-01 8.99053837e-02 3.82911977e-02 5.02363228e+02] [-8.97938263e-02 9.95949628e-01 -4.62677798e-03 -6.64038821e+01] [-3.85520764e-02 1.16632083e-03 9.99255912e-01 -3.27839068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.0507140569999 meters 0.027458786542255656 Centerline is valid? [True, True] Translation: X:502.39, Y:-66.41, Z:-32.79 [[ 9.95320029e-01 8.86908090e-02 3.83664011e-02 5.02391372e+02] [-8.85783629e-02 9.96058477e-01 -4.62418873e-03 -6.64095763e+01] [-3.86253021e-02 1.20411466e-03 9.99253039e-01 -3.27850710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.0807140569999 meters 0.027794987524900058 Centerline is valid? [True, True] Translation: X:502.42, Y:-66.42, Z:-32.79 [[ 9.95562638e-01 8.56112540e-02 3.90608150e-02 5.02419180e+02] [-8.54927247e-02 9.96327719e-01 -4.69787852e-03 -6.64184043e+01] [-3.93195640e-02 1.33761683e-03 9.99225792e-01 -3.27858946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.110714057 meters 0.028171443792124516 Centerline is valid? [True, True] Translation: X:502.45, Y:-66.42, Z:-32.79 [[ 9.95765505e-01 8.31880640e-02 3.91255032e-02 5.02447005e+02] [-8.30676601e-02 9.96532846e-01 -4.69585223e-03 -6.64245584e+01] [-3.93804879e-02 1.42590366e-03 9.99223270e-01 -3.27874523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.140714057 meters 0.030014512948917344 Centerline is valid? [True, True] Translation: X:502.48, Y:-66.44, Z:-32.79 [[ 9.96192637e-01 7.78154564e-02 3.93062999e-02 5.02475187e+02] [-7.76903231e-02 9.96966445e-01 -4.70334525e-03 -6.64369474e+01] [-3.95530550e-02 1.63171877e-03 9.99216139e-01 -3.27900815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.1707140569999 meters 0.031009955917187765 Centerline is valid? [True, True] Translation: X:502.50, Y:-66.45, Z:-32.79 [[ 9.96595952e-01 7.20033021e-02 4.01501236e-02 5.02504353e+02] [-7.18680724e-02 9.97402581e-01 -4.80320629e-03 -6.64466176e+01] [-4.03916836e-02 1.90134396e-03 9.99182114e-01 -3.27909964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.2007140569999 meters 0.03204608188254746 Centerline is valid? [True, True] Translation: X:502.53, Y:-66.45, Z:-32.79 [[ 9.96767357e-01 6.92919124e-02 4.06628520e-02 5.02532837e+02] [-6.91509526e-02 9.97594347e-01 -4.86458512e-03 -6.64539709e+01] [-4.09021077e-02 2.03698470e-03 9.99161082e-01 -3.27921037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.230714057 meters 0.033605821458870325 Centerline is valid? [True, True] Translation: X:502.56, Y:-66.46, Z:-32.79 [[ 9.97115233e-01 6.37544121e-02 4.11896565e-02 5.02562715e+02] [-6.36051881e-02 9.97962990e-01 -4.92457942e-03 -6.64629392e+01] [-4.14197164e-02 2.29049731e-03 9.99139210e-01 -3.27926978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.260714057 meters 0.036484185916526586 Centerline is valid? [True, True] Translation: X:502.59, Y:-66.47, Z:-32.80 [[ 9.97284729e-01 6.08343153e-02 4.15012742e-02 5.02589918e+02] [-6.06802651e-02 9.98144918e-01 -4.96276080e-03 -6.64720951e+01] [-4.17261921e-02 2.43097723e-03 9.99126126e-01 -3.27953777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.290714057 meters 0.038870262042446126 Centerline is valid? [True, True] Translation: X:502.62, Y:-66.48, Z:-32.80 [[ 9.97573010e-01 5.60484641e-02 4.13117373e-02 5.02617998e+02] [-5.58919127e-02 9.98424625e-01 -4.93572019e-03 -6.64820029e+01] [-4.15232953e-02 2.61474923e-03 9.99134115e-01 -3.27978932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3207140569999 meters 0.04025536773859484 Centerline is valid? [True, True] Translation: X:502.65, Y:-66.49, Z:-32.80 [[ 9.97725639e-01 5.37896429e-02 4.06229556e-02 5.02646722e+02] [-5.36363724e-02 9.98548735e-01 -4.85430047e-03 -6.64887364e+01] [-4.08251120e-02 2.66439206e-03 9.99162755e-01 -3.28000347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3507140569999 meters 0.04025536773859484 Centerline is valid? [True, True] Translation: X:502.67, Y:-66.49, Z:-32.80 [[ 9.97729286e-01 5.37217905e-02 4.06231652e-02 5.02674851e+02] [-5.35685351e-02 9.98552385e-01 -4.85254583e-03 -6.64920315e+01] [-4.08250459e-02 2.66540364e-03 9.99162755e-01 -3.28016770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.380714057 meters 0.04299143368593736 Centerline is valid? [True, True] Translation: X:502.70, Y:-66.50, Z:-32.80 [[ 9.97931557e-01 5.01038244e-02 4.02767325e-02 5.02703050e+02] [-4.99504006e-02 9.98740130e-01 -4.80721827e-03 -6.65009168e+01] [-4.04668491e-02 2.78543589e-03 9.99176999e-01 -3.28046372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.410714057 meters 0.04162721890988431 Centerline is valid? [True, True] Translation: X:502.73, Y:-66.50, Z:-32.81 [[ 9.98056399e-01 4.78802905e-02 3.98861233e-02 5.02733240e+02] [-4.77280493e-02 9.98849021e-01 -4.76096185e-03 -6.65026805e+01] [-4.00681714e-02 2.84802158e-03 9.99192890e-01 -3.28056905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4407140569999 meters 0.041976419221898924 Centerline is valid? [True, True] Translation: X:502.76, Y:-66.51, Z:-32.81 [[ 9.98057575e-01 4.73598911e-02 4.04736584e-02 5.02762845e+02] [-4.72027203e-02 9.98873650e-01 -4.83066537e-03 -6.65067682e+01] [-4.06568507e-02 2.91081538e-03 9.99168928e-01 -3.28071731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4707140569999 meters 0.03878113063993783 Centerline is valid? [True, True] Translation: X:502.79, Y:-66.50, Z:-32.81 [[ 9.97992496e-01 4.76312805e-02 4.17401381e-02 5.02792920e+02] [-4.74644112e-02 9.98860514e-01 -4.98031719e-03 -6.65039332e+01] [-4.19297947e-02 2.98914811e-03 9.99116088e-01 -3.28062855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.500714057 meters 0.04170620639857415 Centerline is valid? [True, True] Translation: X:502.82, Y:-66.51, Z:-32.81 [[ 9.97892299e-01 4.86606693e-02 4.29313369e-02 5.02821448e+02] [-4.84851493e-02 9.98810777e-01 -5.12082443e-03 -6.65109757e+01] [-4.31294647e-02 3.02849898e-03 9.99064902e-01 -3.28082869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.530714057 meters 0.03688170002847192 Centerline is valid? [True, True] Translation: X:502.85, Y:-66.50, Z:-32.81 [[ 9.97770047e-01 5.03285306e-02 4.38403137e-02 5.02852780e+02] [-5.01471654e-02 9.98728158e-01 -5.22763413e-03 -6.65043675e+01] [-4.40476549e-02 3.01750928e-03 9.99024874e-01 -3.28082639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.5607140569999 meters 0.03693284429041063 Centerline is valid? [True, True] Translation: X:502.88, Y:-66.51, Z:-32.81 [[ 9.97727404e-01 5.10578039e-02 4.39673607e-02 5.02881975e+02] [-5.08761486e-02 9.98691216e-01 -5.24144759e-03 -6.65067649e+01] [-4.41774337e-02 2.99264592e-03 9.99019218e-01 -3.28102752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.5907140569999 meters 0.037561454935610555 Centerline is valid? [True, True] Translation: X:502.91, Y:-66.51, Z:-32.81 [[ 9.97713095e-01 5.19099144e-02 4.32890316e-02 5.02910592e+02] [-5.17347396e-02 9.98647542e-01 -5.15791747e-03 -6.65081877e+01] [-4.34982320e-02 2.90657503e-03 9.99049276e-01 -3.28128443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.620714057 meters 0.03791993243443396 Centerline is valid? [True, True] Translation: X:502.94, Y:-66.51, Z:-32.82 [[ 9.97747343e-01 5.17804280e-02 4.26500496e-02 5.02938749e+02] [-5.16102874e-02 9.98654373e-01 -5.08144221e-03 -6.65103545e+01] [-4.28557778e-02 2.86881415e-03 9.99077150e-01 -3.28151638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.650714057 meters 0.03926271573576808 Centerline is valid? [True, True] Translation: X:502.97, Y:-66.51, Z:-32.82 [[ 9.97826798e-01 5.14999181e-02 4.11027949e-02 5.02966017e+02] [-5.13418153e-02 9.98669150e-01 -4.89359058e-03 -6.65128637e+01] [-4.13001128e-02 2.77266372e-03 9.99142939e-01 -3.28185271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.6807140569999 meters 0.04034459615204727 Centerline is valid? [True, True] Translation: X:502.99, Y:-66.51, Z:-32.82 [[ 9.97920176e-01 5.11260322e-02 3.92613099e-02 5.02993630e+02] [-5.09816296e-02 9.98688668e-01 -4.67106654e-03 -6.65147475e+01] [-3.94486383e-02 2.65974599e-03 9.99218060e-01 -3.28221525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.7107140569999 meters 0.040305007888367037 Centerline is valid? [True, True] Translation: X:503.02, Y:-66.52, Z:-32.82 [[ 9.97934373e-01 5.14531924e-02 3.84649952e-02 5.03022461e+02] [-5.13149732e-02 9.98672050e-01 -4.57271539e-03 -6.65160533e+01] [-3.86491964e-02 2.58943966e-03 9.99249486e-01 -3.28242374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.740714057 meters 0.04089872128091592 Centerline is valid? [True, True] Translation: X:503.05, Y:-66.52, Z:-32.83 [[ 9.97852639e-01 5.35753361e-02 3.76801682e-02 5.03051228e+02] [-5.34443192e-02 9.98560797e-01 -4.47650481e-03 -6.65163247e+01] [-3.78657690e-02 2.45310121e-03 9.99279824e-01 -3.28267521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.770714057 meters 0.04025258240735977 Centerline is valid? [True, True] Translation: X:503.08, Y:-66.52, Z:-32.83 [[ 9.97744745e-01 5.51486027e-02 3.82629692e-02 5.03080769e+02] [-5.50147415e-02 9.98475205e-01 -4.54337834e-03 -6.65169532e+01] [-3.84551870e-02 2.42810450e-03 9.99257376e-01 -3.28278798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.8007140569999 meters 0.039875808317330605 Centerline is valid? [True, True] Translation: X:503.11, Y:-66.52, Z:-32.83 [[ 9.97528597e-01 5.79016975e-02 3.98006601e-02 5.03109832e+02] [-5.77590816e-02 9.98319370e-01 -4.72480971e-03 -6.65156179e+01] [-4.00073444e-02 2.41428322e-03 9.99196469e-01 -3.28282249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.8307140569999 meters 0.03936346884754721 Centerline is valid? [True, True] Translation: X:503.14, Y:-66.52, Z:-32.83 [[ 9.97438605e-01 5.89397530e-02 4.05257286e-02 5.03138700e+02] [-5.87928186e-02 9.98258623e-01 -4.80903644e-03 -6.65164118e+01] [-4.07386015e-02 2.41409679e-03 9.99166922e-01 -3.28288702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.860714057 meters 0.03970674453689078 Centerline is valid? [True, True] Translation: X:503.17, Y:-66.52, Z:-32.83 [[ 9.97305100e-01 5.95022726e-02 4.29187262e-02 5.03166598e+02] [-5.93381033e-02 9.98224965e-01 -5.09010577e-03 -6.65162041e+01] [-4.31454168e-02 2.52967263e-03 9.99065600e-01 -3.28284450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.890714057 meters 0.03999949426515711 Centerline is valid? [True, True] Translation: X:503.20, Y:-66.52, Z:-32.83 [[ 9.97303794e-01 5.90679088e-02 4.35445022e-02 5.03195236e+02] [-5.88986744e-02 9.98250628e-01 -5.16036581e-03 -6.65183129e+01] [-4.37731387e-02 2.58173894e-03 9.99038161e-01 -3.28295711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9207140569999 meters 0.042085537068850466 Centerline is valid? [True, True] Translation: X:503.22, Y:-66.52, Z:-32.83 [[ 9.97437514e-01 5.62963812e-02 4.41488828e-02 5.03224116e+02] [-5.61198754e-02 9.98410349e-01 -5.22823060e-03 -6.65230654e+01] [-4.43730319e-02 2.73720353e-03 9.99011282e-01 -3.28319414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9507140569999 meters 0.03651303063610954 Centerline is valid? [True, True] Translation: X:503.26, Y:-66.52, Z:-32.83 [[ 9.97578004e-01 5.33689348e-02 4.46081084e-02 5.03255623e+02] [-5.31858455e-02 9.98570661e-01 -5.28206616e-03 -6.65170859e+01] [-4.48262466e-02 2.89675305e-03 9.98990599e-01 -3.28322653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.980714057 meters 0.03845512257734445 Centerline is valid? [True, True] Translation: X:503.29, Y:-66.52, Z:-32.84 [[ 9.97911272e-01 4.74901735e-02 4.37924290e-02 5.03285174e+02] [-4.73080839e-02 9.98866885e-01 -5.18563351e-03 -6.65221004e+01] [-4.39890737e-02 3.10306622e-03 9.99027193e-01 -3.28353365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.010714057 meters 0.04371181516402614 Centerline is valid? [True, True] Translation: X:503.31, Y:-66.53, Z:-32.84 [[ 9.98078567e-01 4.44329540e-02 4.31843340e-02 5.03313125e+02] [-4.42530497e-02 9.99007267e-01 -5.11350857e-03 -6.65321674e+01] [-4.33686718e-02 3.19264482e-03 9.99054035e-01 -3.28390481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.040714057 meters 0.04184896938820407 Centerline is valid? [True, True] Translation: X:503.34, Y:-66.53, Z:-32.84 [[ 9.98333341e-01 3.97605004e-02 4.18287387e-02 5.03343952e+02] [-3.95877308e-02 9.99203833e-01 -4.95097035e-03 -6.65307897e+01] [-4.19922891e-02 3.28681393e-03 9.99112528e-01 -3.28412544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0707140569999 meters 0.046045788352329996 Centerline is valid? [True, True] Translation: X:503.37, Y:-66.54, Z:-32.85 [[ 9.98461126e-01 3.70045631e-02 4.13042612e-02 5.03372961e+02] [-3.68337571e-02 9.99309448e-01 -4.88896256e-03 -6.65378974e+01] [-4.14566524e-02 3.36004793e-03 9.99134654e-01 -3.28451319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.1007140569999 meters 0.0776135413546781 Centerline is valid? [True, True] Translation: X:503.40, Y:-66.58, Z:-32.86 [[ 9.98310524e-01 3.99587510e-02 4.21828778e-02 5.03396790e+02] [-3.97832092e-02 9.99195859e-01 -4.99307194e-03 -6.65836177e+01] [-4.23484738e-02 3.30646601e-03 9.99097430e-01 -3.28553383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.130714057 meters 0.04696115475117955 Centerline is valid? [True, True] Translation: X:503.43, Y:-66.54, Z:-32.85 [[ 9.98416462e-01 4.01608840e-02 3.93912562e-02 5.03431499e+02] [-4.00079788e-02 9.99188481e-01 -4.66265871e-03 -6.65422243e+01] [-3.95465460e-02 3.07931067e-03 9.99212985e-01 -3.28516304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.160714057 meters 0.045905795715837035 Centerline is valid? [True, True] Translation: X:503.46, Y:-66.54, Z:-32.85 [[ 9.98344700e-01 4.21842741e-02 3.90940700e-02 5.03461765e+02] [-4.20352753e-02 9.99105419e-01 -4.62582924e-03 -6.65426309e+01] [-3.92542344e-02 2.97484211e-03 9.99224827e-01 -3.28537801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.1907140569999 meters 0.040884344467862904 Centerline is valid? [True, True] Translation: X:503.49, Y:-66.54, Z:-32.85 [[ 9.98053219e-01 4.73373175e-02 4.06072659e-02 5.03492656e+02] [-4.71808133e-02 9.98874812e-01 -4.80434830e-03 -6.65356041e+01] [-4.07890001e-02 2.87911146e-03 9.99163634e-01 -3.28532099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.2207140569999 meters 0.03955291365941695 Centerline is valid? [True, True] Translation: X:503.52, Y:-66.54, Z:-32.85 [[ 9.97880783e-01 4.98197887e-02 4.18560883e-02 5.03523052e+02] [-4.96557379e-02 9.98754124e-01 -4.95060166e-03 -6.65351326e+01] [-4.20505787e-02 2.86171531e-03 9.99111385e-01 -3.28542675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.250714057 meters 0.038170539538637284 Centerline is valid? [True, True] Translation: X:503.55, Y:-66.53, Z:-32.85 [[ 9.97512517e-01 5.51499570e-02 4.39005833e-02 5.03552165e+02] [-5.49746300e-02 9.98474253e-01 -5.19197099e-03 -6.65334264e+01] [-4.41199390e-02 2.76563773e-03 9.99022413e-01 -3.28547520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.280714057 meters 0.03740873855649884 Centerline is valid? [True, True] Translation: X:503.58, Y:-66.53, Z:-32.86 [[ 9.97349068e-01 5.76222674e-02 4.44354697e-02 5.03580678e+02] [-5.74451885e-02 9.98334843e-01 -5.25283143e-03 -6.65340991e+01] [-4.46641577e-02 2.68630260e-03 9.98998447e-01 -3.28560378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.3107140569999 meters 0.03513283554709838 Centerline is valid? [True, True] Translation: X:503.61, Y:-66.53, Z:-32.86 [[ 9.97088441e-01 6.14153242e-02 4.51973334e-02 5.03611148e+02] [-6.12360526e-02 9.98109018e-01 -5.34165999e-03 -6.65310258e+01] [-4.54399258e-02 2.55840114e-03 9.98963797e-01 -3.28569039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.3407140569999 meters 0.03273201962364447 Centerline is valid? [True, True] Translation: X:503.64, Y:-66.53, Z:-32.86 [[ 9.96960282e-01 6.28293426e-02 4.60724312e-02 5.03640457e+02] [-6.26445868e-02 9.98021048e-01 -5.44450160e-03 -6.65287000e+01] [-4.63233306e-02 2.54176343e-03 9.98923265e-01 -3.28580885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.370714057 meters 0.03673619832834145 Centerline is valid? [True, True] Translation: X:503.67, Y:-66.54, Z:-32.86 [[ 9.96926411e-01 6.30915962e-02 4.64454684e-02 5.03667322e+02] [-6.29042678e-02 9.98004491e-01 -5.48536774e-03 -6.65381862e+01] [-4.66988666e-02 2.54688980e-03 9.98905766e-01 -3.28613666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.400714057 meters 0.037199849287319856 Centerline is valid? [True, True] Translation: X:503.69, Y:-66.54, Z:-32.86 [[ 9.96904037e-01 6.33369623e-02 4.65915282e-02 5.03694996e+02] [-6.31489200e-02 9.97988969e-01 -5.49834910e-03 -6.65420630e+01] [-4.68460799e-02 2.53912173e-03 9.98898893e-01 -3.28634986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.4307140569999 meters 0.033120314523110476 Centerline is valid? [True, True] Translation: X:503.72, Y:-66.54, Z:-32.87 [[ 9.96937622e-01 6.35777442e-02 4.55329311e-02 5.03724277e+02] [-6.33985849e-02 9.97973841e-01 -5.36954405e-03 -6.65382877e+01] [-4.57820576e-02 2.46637708e-03 9.98948407e-01 -3.28657373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.4607140569999 meters 0.03390877396218803 Centerline is valid? [True, True] Translation: X:503.75, Y:-66.54, Z:-32.87 [[ 9.96916723e-01 6.42224466e-02 4.50835301e-02 5.03751873e+02] [-6.40476008e-02 9.97932698e-01 -5.31358215e-03 -6.65414865e+01] [-4.53315801e-02 2.40970696e-03 9.98969089e-01 -3.28682171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.490714057 meters 0.03253105341778763 Centerline is valid? [True, True] Translation: X:503.78, Y:-66.54, Z:-32.87 [[ 9.96874816e-01 6.50203407e-02 4.48659746e-02 5.03780912e+02] [-6.48481737e-02 9.97881153e-01 -5.28376520e-03 -6.65418572e+01] [-4.51144627e-02 2.35777595e-03 9.98979042e-01 -3.28692275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.520714057 meters 0.032423368361447165 Centerline is valid? [True, True] Translation: X:503.81, Y:-66.54, Z:-32.87 [[ 9.96819992e-01 6.60917929e-02 4.45171616e-02 5.03810053e+02] [-6.59235110e-02 9.97810924e-01 -5.23930991e-03 -6.65441946e+01] [-4.47659855e-02 2.28792127e-03 9.98994881e-01 -3.28707492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.5507140569999 meters 0.03171417480430319 Centerline is valid? [True, True] Translation: X:503.84, Y:-66.55, Z:-32.87 [[ 9.96616545e-01 6.87712319e-02 4.50108837e-02 5.03839534e+02] [-6.86020379e-02 9.97630055e-01 -5.29475887e-03 -6.65459036e+01] [-4.52683374e-02 2.18900594e-03 9.98972465e-01 -3.28723464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.5807140569999 meters 0.030563036902164116 Centerline is valid? [True, True] Translation: X:503.87, Y:-66.55, Z:-32.87 [[ 9.96398988e-01 7.16334184e-02 4.53619924e-02 5.03869835e+02] [-7.14646137e-02 9.97428872e-01 -5.33422414e-03 -6.65470614e+01] [-4.56274697e-02 2.07323827e-03 9.98956373e-01 -3.28735433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.610714057 meters 0.029888372986912146 Centerline is valid? [True, True] Translation: X:503.90, Y:-66.55, Z:-32.87 [[ 9.96222828e-01 7.34128491e-02 4.63748893e-02 5.03898786e+02] [-7.32383257e-02 9.97299557e-01 -5.45359790e-03 -6.65496256e+01] [-4.66500207e-02 2.03657948e-03 9.98909219e-01 -3.28749678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.640714057 meters 0.029373677755566346 Centerline is valid? [True, True] Translation: X:503.93, Y:-66.55, Z:-32.88 [[ 9.95928616e-01 7.68553799e-02 4.71109591e-02 5.03927930e+02] [-7.66794193e-02 9.97040443e-01 -5.53361935e-03 -6.65524786e+01] [-4.73968199e-02 1.89864887e-03 9.98874335e-01 -3.28767447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.6707140569999 meters 0.02964639529692552 Centerline is valid? [True, True] Translation: X:503.96, Y:-66.56, Z:-32.88 [[ 9.95793633e-01 7.83874994e-02 4.74388046e-02 5.03955299e+02] [-7.82108696e-02 9.96921273e-01 -5.57096175e-03 -6.65565703e+01] [-4.77294472e-02 1.83729808e-03 9.98858611e-01 -3.28787818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.7007140569999 meters 0.027987103106650774 Centerline is valid? [True, True] Translation: X:503.98, Y:-66.56, Z:-32.88 [[ 9.95566699e-01 8.14046856e-02 4.71192538e-02 5.03984235e+02] [-8.12340038e-02 9.96679720e-01 -5.52916535e-03 -6.65575234e+01] [-4.74129047e-02 1.67696726e-03 9.98873968e-01 -3.28803120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.730714057 meters 0.027893798906376964 Centerline is valid? [True, True] Translation: X:504.01, Y:-66.56, Z:-32.88 [[ 9.95531371e-01 8.26538587e-02 4.56686774e-02 5.04011417e+02] [-8.24949769e-02 9.96577088e-01 -5.35606211e-03 -6.65619597e+01] [-4.59550567e-02 1.56469137e-03 9.98942283e-01 -3.28834738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.760714057 meters 0.02768321313043927 Centerline is valid? [True, True] Translation: X:504.04, Y:-66.57, Z:-32.89 [[ 9.95570502e-01 8.25380316e-02 4.50205461e-02 5.04038820e+02] [-8.23835796e-02 9.96586716e-01 -5.27857237e-03 -6.65661188e+01] [-4.53025612e-02 1.54623720e-03 9.98972115e-01 -3.28857159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.790714057 meters 0.028367715572256577 Centerline is valid? [True, True] Translation: X:504.07, Y:-66.57, Z:-32.89 [[ 9.95652580e-01 8.18587599e-02 4.44419117e-02 5.04066410e+02] [-8.17082380e-02 9.96642747e-01 -5.19602571e-03 -6.65715671e+01] [-4.47180492e-02 1.54216611e-03 9.98998457e-01 -3.28879904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.8207140569999 meters 0.027308297861201602 Centerline is valid? [True, True] Translation: X:504.09, Y:-66.57, Z:-32.89 [[ 9.95864094e-01 7.96209882e-02 4.37630515e-02 5.04094822e+02] [-7.94729366e-02 9.96823899e-01 -5.11527301e-03 -6.65748796e+01] [-4.40313387e-02 1.61613850e-03 9.99028843e-01 -3.28883473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.8507140569999 meters 0.029799939319495965 Centerline is valid? [True, True] Translation: X:504.12, Y:-66.58, Z:-32.89 [[ 9.95996363e-01 7.81041685e-02 4.34854345e-02 5.04121363e+02] [-7.79571306e-02 9.96943823e-01 -5.06950721e-03 -6.65845671e+01] [-4.37484850e-02 1.65921104e-03 9.99041199e-01 -3.28911896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.880714057 meters 0.028763254743379107 Centerline is valid? [True, True] Translation: X:504.15, Y:-66.59, Z:-32.89 [[ 9.96231779e-01 7.49573272e-02 4.36307361e-02 5.04150854e+02] [-7.48064985e-02 9.97185120e-01 -5.08174422e-03 -6.65896214e+01] [-4.38888348e-02 1.79873249e-03 9.99034802e-01 -3.28914069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.910714057 meters 0.028203706865254478 Centerline is valid? [True, True] Translation: X:504.18, Y:-66.59, Z:-32.89 [[ 9.96370690e-01 7.30441106e-02 4.37036191e-02 5.04179214e+02] [-7.28909871e-02 9.97326929e-01 -5.08917604e-03 -6.65939258e+01] [-4.39585306e-02 1.88510591e-03 9.99031578e-01 -3.28923695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9407140569999 meters 0.029275745538912663 Centerline is valid? [True, True] Translation: X:504.21, Y:-66.60, Z:-32.89 [[ 9.96647898e-01 6.90070820e-02 4.39430215e-02 5.04209127e+02] [-6.88485482e-02 9.97614022e-01 -5.11279680e-03 -6.66025119e+01] [-4.41909936e-02 2.07024495e-03 9.99020956e-01 -3.28935331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9707140569999 meters 0.03668016183248446 Centerline is valid? [True, True] Translation: X:504.24, Y:-66.62, Z:-32.90 [[ 9.96888016e-01 6.51895194e-02 4.43239187e-02 5.04235757e+02] [-6.50244383e-02 9.97870343e-01 -5.15759519e-03 -6.66212518e+01] [-4.45657451e-02 2.25940692e-03 9.99003899e-01 -3.28970511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.000714057 meters 0.034230211984090896 Centerline is valid? [True, True] Translation: X:504.26, Y:-66.62, Z:-32.90 [[ 9.96951398e-01 6.33295675e-02 4.55771515e-02 5.04264997e+02] [-6.31531350e-02 9.97989764e-01 -5.30208442e-03 -6.66220684e+01] [-4.58213094e-02 2.40758047e-03 9.98946751e-01 -3.28965335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.030714057 meters 0.03391526886069142 Centerline is valid? [True, True] Translation: X:504.29, Y:-66.63, Z:-32.90 [[ 9.97123291e-01 5.99107715e-02 4.64310406e-02 5.04294866e+02] [-5.97241464e-02 9.98200327e-01 -5.39755803e-03 -6.66274784e+01] [-4.66708518e-02 2.60897655e-03 9.98906915e-01 -3.28965806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.0607140569999 meters 0.03766178211642072 Centerline is valid? [True, True] Translation: X:504.32, Y:-66.64, Z:-32.90 [[ 9.97233260e-01 5.81886514e-02 4.62591131e-02 5.04321928e+02] [-5.80015718e-02 9.98302009e-01 -5.37734268e-03 -6.66384689e+01] [-4.64934658e-02 2.67936371e-03 9.98915001e-01 -3.28992688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.0907140569999 meters 0.03464208925323102 Centerline is valid? [True, True] Translation: X:504.35, Y:-66.64, Z:-32.90 [[ 9.97485740e-01 5.46839012e-02 4.50762643e-02 5.04351977e+02] [-5.45028798e-02 9.98499885e-01 -5.23609582e-03 -6.66398010e+01] [-4.52949749e-02 2.76614469e-03 9.98969826e-01 -3.28996280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.120714057 meters 0.03517038105791802 Centerline is valid? [True, True] Translation: X:504.38, Y:-66.65, Z:-32.90 [[ 9.97575077e-01 5.35631140e-02 4.44405161e-02 5.04380237e+02] [-5.33860635e-02 9.98560604e-01 -5.16216143e-03 -6.66452188e+01] [-4.46530501e-02 2.77713937e-03 9.98998695e-01 -3.29014506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.150714057 meters 0.038070855760811144 Centerline is valid? [True, True] Translation: X:504.41, Y:-66.65, Z:-32.90 [[ 9.97768313e-01 5.13884694e-02 4.26335390e-02 5.04407380e+02] [-5.12236967e-02 9.98674942e-01 -4.94904466e-03 -6.66546240e+01] [-4.28313709e-02 2.75415247e-03 9.99078520e-01 -3.29046174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.1807140569999 meters 0.03761204986249992 Centerline is valid? [True, True] Translation: X:504.44, Y:-66.66, Z:-32.91 [[ 9.97942688e-01 4.97747420e-02 4.04087376e-02 5.04435878e+02] [-4.96254840e-02 9.98756890e-01 -4.68902638e-03 -6.66597678e+01] [-4.05919001e-02 2.67407643e-03 9.99172231e-01 -3.29069976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.2107140569999 meters 0.037200051341475804 Centerline is valid? [True, True] Translation: X:504.46, Y:-66.66, Z:-32.91 [[ 9.97993829e-01 4.95364083e-02 3.94266633e-02 5.04464548e+02] [-4.93942297e-02 9.98768892e-01 -4.57272584e-03 -6.66636967e+01] [-3.96046413e-02 2.61610251e-03 9.99212004e-01 -3.29089224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.240714057 meters 0.037200051341475804 Centerline is valid? [True, True] Translation: X:504.49, Y:-66.67, Z:-32.91 [[ 9.97997339e-01 4.94653710e-02 3.94269907e-02 5.04492686e+02] [-4.93232482e-02 9.98772413e-01 -4.56990150e-03 -6.66668977e+01] [-3.96046425e-02 2.61608229e-03 9.99212004e-01 -3.29105651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.270714057 meters 0.037837278808107694 Centerline is valid? [True, True] Translation: X:504.52, Y:-66.67, Z:-32.91 [[ 9.98072755e-01 4.95205047e-02 3.73964625e-02 5.04520675e+02] [-4.93927846e-02 9.98770037e-01 -4.33206091e-03 -6.66724952e+01] [-3.75649921e-02 2.47659655e-03 9.99291118e-01 -3.29131078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.3007140569999 meters 0.03606918559835943 Centerline is valid? [True, True] Translation: X:504.55, Y:-66.67, Z:-32.91 [[ 9.98021583e-01 5.08165790e-02 3.70215457e-02 5.04549523e+02] [-5.06923925e-02 9.98705117e-01 -4.28603429e-03 -6.66739192e+01] [-3.71914088e-02 2.40084400e-03 9.99305276e-01 -3.29139388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.3307140569999 meters 0.036995675883022494 Centerline is valid? [True, True] Translation: X:504.58, Y:-66.68, Z:-32.92 [[ 9.97960864e-01 5.23511054e-02 3.65167945e-02 5.04577373e+02] [-5.22314035e-02 9.98626071e-01 -4.22496571e-03 -6.66788534e+01] [-3.66878047e-02 2.30902700e-03 9.99324108e-01 -3.29159108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.360714057 meters 0.03566164748608797 Centerline is valid? [True, True] Translation: X:504.61, Y:-66.68, Z:-32.92 [[ 9.97620353e-01 5.80784482e-02 3.71554229e-02 5.04606604e+02] [-5.79586123e-02 9.98309747e-01 -4.29519345e-03 -6.66804054e+01] [-3.73420790e-02 2.13149565e-03 9.99300268e-01 -3.29160472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.390714057 meters 0.03365348906341324 Centerline is valid? [True, True] Translation: X:504.64, Y:-66.68, Z:-32.92 [[ 9.97203372e-01 6.46903971e-02 3.74244346e-02 5.04635685e+02] [-6.45734827e-02 9.97903580e-01 -4.32562781e-03 -6.66791051e+01] [-3.76258039e-02 1.89690456e-03 9.99290098e-01 -3.29161526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.4207140569999 meters 0.030552464205894372 Centerline is valid? [True, True] Translation: X:504.67, Y:-66.68, Z:-32.92 [[ 9.96966986e-01 6.82555009e-02 3.73900511e-02 5.04666483e+02] [-6.81413651e-02 9.97666323e-01 -4.31995298e-03 -6.66772250e+01] [-3.75976554e-02 1.75904137e-03 9.99291410e-01 -3.29158640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.4507140569999 meters 0.029273401870314696 Centerline is valid? [True, True] Translation: X:504.70, Y:-66.68, Z:-32.92 [[ 9.96570592e-01 7.40892782e-02 3.68488111e-02 5.04697310e+02] [-7.39824853e-02 9.97250463e-01 -4.25516729e-03 -6.66773692e+01] [-3.70627562e-02 1.51440796e-03 9.99311793e-01 -3.29174072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.480714057 meters 0.02823362712098702 Centerline is valid? [True, True] Translation: X:504.73, Y:-66.68, Z:-32.92 [[ 9.96425948e-01 7.61150963e-02 3.66308891e-02 5.04725834e+02] [-7.60108958e-02 9.97098011e-01 -4.23091614e-03 -6.66783647e+01] [-3.68466233e-02 1.43144793e-03 9.99319907e-01 -3.29181075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.510714057 meters 0.02780900116737249 Centerline is valid? [True, True] Translation: X:504.75, Y:-66.68, Z:-32.92 [[ 9.96236573e-01 7.87066040e-02 3.63037230e-02 5.04754328e+02] [-7.86060695e-02 9.96896948e-01 -4.19053213e-03 -6.66819591e+01] [-3.65208932e-02 1.32106840e-03 9.99332016e-01 -3.29194894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.540714057 meters 0.028099271658363338 Centerline is valid? [True, True] Translation: X:504.78, Y:-66.69, Z:-32.92 [[ 9.96198328e-01 7.91235904e-02 3.64465086e-02 5.04781341e+02] [-7.90226262e-02 9.96863955e-01 -4.20471416e-03 -6.66865347e+01] [-3.66649028e-02 1.30863039e-03 9.99326760e-01 -3.29215599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5707140569999 meters 0.028274396348328245 Centerline is valid? [True, True] Translation: X:504.81, Y:-66.69, Z:-32.92 [[ 9.96225383e-01 7.87616312e-02 3.64909772e-02 5.04808554e+02] [-7.86601476e-02 9.96892598e-01 -4.21066739e-03 -6.66917095e+01] [-3.67092241e-02 1.32438808e-03 9.99325112e-01 -3.29227347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.6007140569999 meters 0.02830884812743306 Centerline is valid? [True, True] Translation: X:504.84, Y:-66.70, Z:-32.92 [[ 9.96349313e-01 7.72270005e-02 3.63873253e-02 5.04836578e+02] [-7.71254796e-02 9.97012600e-01 -4.18755543e-03 -6.66984244e+01] [-3.66020141e-02 1.36587806e-03 9.99328988e-01 -3.29239456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.630714057 meters 0.02857926418549801 Centerline is valid? [True, True] Translation: X:504.86, Y:-66.70, Z:-32.93 [[ 9.96465575e-01 7.58999232e-02 3.59938802e-02 5.04864276e+02] [-7.58001712e-02 9.97114476e-01 -4.12989666e-03 -6.67041207e+01] [-3.62034778e-02 1.38695756e-03 9.99343477e-01 -3.29256291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.660714057 meters 0.02918534496916839 Centerline is valid? [True, True] Translation: X:504.89, Y:-66.71, Z:-32.93 [[ 9.96660267e-01 7.29407099e-02 3.67146487e-02 5.04892859e+02] [-7.28350829e-02 9.97335121e-01 -4.20809075e-03 -6.67132058e+01] [-3.69237497e-02 1.51992237e-03 9.99316930e-01 -3.29271417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.6907140569999 meters 0.03059296991346186 Centerline is valid? [True, True] Translation: X:504.92, Y:-66.72, Z:-32.93 [[ 9.96752315e-01 7.13002286e-02 3.74312690e-02 5.04920044e+02] [-7.11892933e-02 9.97453599e-01 -4.28990755e-03 -6.67210441e+01] [-3.76418254e-02 1.61126969e-03 9.99289996e-01 -3.29295390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.7207140569999 meters 0.030097579741868673 Centerline is valid? [True, True] Translation: X:504.95, Y:-66.73, Z:-32.93 [[ 9.96862201e-01 6.93914330e-02 3.80864881e-02 5.04948187e+02] [-6.92753333e-02 9.97588045e-01 -4.36119892e-03 -6.67258217e+01] [-3.82972550e-02 1.70906020e-03 9.99264930e-01 -3.29299620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.750714057 meters 0.029856918990763114 Centerline is valid? [True, True] Translation: X:504.98, Y:-66.73, Z:-32.93 [[ 9.97062953e-01 6.59351506e-02 3.89618156e-02 5.04977341e+02] [-6.58111570e-02 9.97822138e-01 -4.45785984e-03 -6.67331564e+01] [-3.91708918e-02 1.88064473e-03 9.99230756e-01 -3.29304655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.780714057 meters 0.03185035526677265 Centerline is valid? [True, True] Translation: X:505.00, Y:-66.75, Z:-32.93 [[ 9.97217231e-01 6.28462902e-02 4.01015917e-02 5.05004383e+02] [-6.27124775e-02 9.98021093e-01 -4.58734968e-03 -6.67450280e+01] [-4.03105323e-02 2.05971398e-03 9.99185077e-01 -3.29327477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.8107140569999 meters 0.031353580779471056 Centerline is valid? [True, True] Translation: X:505.03, Y:-66.75, Z:-32.93 [[ 9.97306110e-01 6.13885984e-02 4.01492512e-02 5.05032847e+02] [-6.12534087e-02 9.98111694e-01 -4.58985355e-03 -6.67490575e+01] [-4.03552018e-02 2.11821050e-03 9.99183152e-01 -3.29336478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.8407140569999 meters 0.032675228550369306 Centerline is valid? [True, True] Translation: X:505.06, Y:-66.76, Z:-32.94 [[ 9.97381184e-01 6.00562236e-02 4.02991684e-02 5.05060035e+02] [-5.99190458e-02 9.98192621e-01 -4.60432288e-03 -6.67562631e+01] [-4.05028507e-02 2.17757729e-03 9.99177050e-01 -3.29356331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.870714057 meters 0.03311618344094127 Centerline is valid? [True, True] Translation: X:505.09, Y:-66.76, Z:-32.94 [[ 9.97525890e-01 5.72662147e-02 4.07759682e-02 5.05088681e+02] [-5.71236259e-02 9.98356263e-01 -4.65441590e-03 -6.67629843e+01] [-4.09754841e-02 2.31362921e-03 9.99157473e-01 -3.29368819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.900714057 meters 0.032311241467507267 Centerline is valid? [True, True] Translation: X:505.12, Y:-66.77, Z:-32.94 [[ 9.97574920e-01 5.51949775e-02 4.24003965e-02 5.05117784e+02] [-5.50390430e-02 9.98472486e-01 -4.83715848e-03 -6.67673196e+01] [-4.26026162e-02 2.49175074e-03 9.99088989e-01 -3.29377667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.9307140569999 meters 0.03325423883658347 Centerline is valid? [True, True] Translation: X:505.14, Y:-66.77, Z:-32.94 [[ 9.97607586e-01 5.40333593e-02 4.31219259e-02 5.05144454e+02] [-5.38710127e-02 9.98535787e-01 -4.91889069e-03 -6.67733600e+01] [-4.33245704e-02 2.58410085e-03 9.99057708e-01 -3.29395293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.9607140569999 meters 0.0348222460457449 Centerline is valid? [True, True] Translation: X:505.17, Y:-66.78, Z:-32.94 [[ 9.97702224e-01 5.12314817e-02 4.43351676e-02 5.05172394e+02] [-5.10573663e-02 9.98682947e-01 -5.05150162e-03 -6.67811966e+01] [-4.45355717e-02 2.77625751e-03 9.99003942e-01 -3.29414728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.990714057 meters 0.03531455626920371 Centerline is valid? [True, True] Translation: X:505.20, Y:-66.79, Z:-32.94 [[ 9.97781431e-01 4.97610302e-02 4.42273274e-02 5.05201023e+02] [-4.95864310e-02 9.98757136e-01 -5.03679318e-03 -6.67858940e+01] [-4.44229949e-02 2.83254338e-03 9.99008796e-01 -3.29430916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.020714057 meters 0.03592744357567187 Centerline is valid? [True, True] Translation: X:505.23, Y:-66.79, Z:-32.95 [[ 9.97899909e-01 4.73824487e-02 4.41664523e-02 5.05231106e+02] [-4.72061459e-02 9.98872520e-01 -5.02683012e-03 -6.67915871e+01] [-4.43548391e-02 2.93134533e-03 9.99011539e-01 -3.29457592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.0507140569999 meters 0.03759852709951333 Centerline is valid? [True, True] Translation: X:505.26, Y:-66.80, Z:-32.95 [[ 9.98065433e-01 4.45991071e-02 4.33164171e-02 5.05259827e+02] [-4.44269113e-02 9.99000471e-01 -4.93033822e-03 -6.67985514e+01] [-4.34930098e-02 2.99638552e-03 9.99049238e-01 -3.29492835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.0807140569999 meters 0.038523633379734246 Centerline is valid? [True, True] Translation: X:505.29, Y:-66.80, Z:-32.95 [[ 9.98143133e-01 4.35130745e-02 4.26250940e-02 5.05289734e+02] [-4.33453942e-02 9.99048371e-01 -4.85063080e-03 -6.68037784e+01] [-4.27955966e-02 2.99402232e-03 9.99079363e-01 -3.29519168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.110714057 meters 0.03820794567408982 Centerline is valid? [True, True] Translation: X:505.32, Y:-66.81, Z:-32.95 [[ 9.98238722e-01 4.16442439e-02 4.22517548e-02 5.05320282e+02] [-4.14778589e-02 9.99127858e-01 -4.80735963e-03 -6.68068510e+01] [-4.24151041e-02 3.04638021e-03 9.99095430e-01 -3.29544005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.140714057 meters 0.03771204612505162 Centerline is valid? [True, True] Translation: X:505.35, Y:-66.81, Z:-32.96 [[ 9.98301836e-01 4.09946905e-02 4.13869481e-02 5.05351899e+02] [-4.08344007e-02 9.99154821e-01 -4.71127942e-03 -6.68086710e+01] [-4.15451061e-02 3.01326767e-03 9.99132086e-01 -3.29558640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.1707140569999 meters 0.04012088905453477 Centerline is valid? [True, True] Translation: X:505.38, Y:-66.81, Z:-32.96 [[ 9.98332876e-01 4.01906004e-02 4.14268504e-02 5.05381571e+02] [-4.00292371e-02 9.99187372e-01 -4.71764192e-03 -6.68148081e+01] [-4.15827906e-02 3.05149181e-03 9.99130402e-01 -3.29581669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.2007140569999 meters 0.039943043596810515 Centerline is valid? [True, True] Translation: X:505.41, Y:-66.82, Z:-32.96 [[ 9.98346477e-01 3.99460360e-02 4.13355375e-02 5.05412834e+02] [-3.97851561e-02 9.99197167e-01 -4.70770730e-03 -6.68173355e+01] [-4.14904062e-02 3.05538219e-03 9.99134231e-01 -3.29599436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.230714057 meters 0.041193446450497766 Centerline is valid? [True, True] Translation: X:505.44, Y:-66.82, Z:-32.96 [[ 9.98326328e-01 3.97727675e-02 4.19841591e-02 5.05443322e+02] [-3.96065657e-02 9.99203903e-01 -4.78340273e-03 -6.68206776e+01] [-4.21409848e-02 3.11254852e-03 9.99106826e-01 -3.29619168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.260714057 meters 0.03902425407984981 Centerline is valid? [True, True] Translation: X:505.47, Y:-66.82, Z:-32.96 [[ 9.98324224e-01 3.97799949e-02 4.20273116e-02 5.05474722e+02] [-3.96134378e-02 9.99203604e-01 -4.78878281e-03 -6.68199845e+01] [-4.21843390e-02 3.11591159e-03 9.99104986e-01 -3.29627602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.290714057 meters 0.04106419048455481 Centerline is valid? [True, True] Translation: X:505.50, Y:-66.82, Z:-32.96 [[ 9.98289282e-01 3.96595010e-02 4.29608458e-02 5.05504513e+02] [-3.94852644e-02 9.99208153e-01 -4.89703026e-03 -6.68245352e+01] [-4.31210412e-02 3.19233247e-03 9.99064755e-01 -3.29647815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.3207140569999 meters 0.039887318721778676 Centerline is valid? [True, True] Translation: X:505.54, Y:-66.82, Z:-32.97 [[ 9.98277574e-01 3.99497119e-02 4.29640143e-02 5.05536277e+02] [-3.97756945e-02 9.99196630e-01 -4.89790593e-03 -6.68242370e+01] [-4.31251683e-02 3.18054614e-03 9.99064615e-01 -3.29662069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.3507140569999 meters 0.039406797534507654 Centerline is valid? [True, True] Translation: X:505.57, Y:-66.83, Z:-32.97 [[ 9.98257584e-01 4.03742717e-02 4.30315481e-02 5.05567446e+02] [-4.02000311e-02 9.99179602e-01 -4.90716247e-03 -6.68258817e+01] [-4.31943682e-02 3.16874259e-03 9.99061663e-01 -3.29677809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.380714057 meters 0.03860331618723551 Centerline is valid? [True, True] Translation: X:505.60, Y:-66.83, Z:-32.97 [[ 9.98213039e-01 4.15229334e-02 4.29717947e-02 5.05598616e+02] [-4.13501564e-02 9.99132691e-01 -4.90216675e-03 -6.68251730e+01] [-4.31380772e-02 3.11651634e-03 9.99064259e-01 -3.29694171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.410714057 meters 0.03891838083518863 Centerline is valid? [True, True] Translation: X:505.63, Y:-66.83, Z:-32.97 [[ 9.98144236e-01 4.30374995e-02 4.30796719e-02 5.05628630e+02] [-4.28652217e-02 9.99068773e-01 -4.91526246e-03 -6.68285893e+01] [-4.32510955e-02 3.05952121e-03 9.99059549e-01 -3.29712425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4407140569999 meters 0.03842158656511554 Centerline is valid? [True, True] Translation: X:505.66, Y:-66.83, Z:-32.97 [[ 9.98109664e-01 4.38821749e-02 4.30285157e-02 5.05659265e+02] [-4.37110411e-02 9.99032148e-01 -4.91048315e-03 -6.68295882e+01] [-4.32023531e-02 3.02037947e-03 9.99061777e-01 -3.29728348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4707140569999 meters 0.03666659664796424 Centerline is valid? [True, True] Translation: X:505.69, Y:-66.83, Z:-32.97 [[ 9.97986706e-01 4.64467926e-02 4.31883142e-02 5.05689624e+02] [-4.62767603e-02 9.98916496e-01 -4.92901353e-03 -6.68281695e+01] [-4.33704564e-02 2.92047472e-03 9.99054790e-01 -3.29739532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.500714057 meters 0.036518134670518884 Centerline is valid? [True, True] Translation: X:505.72, Y:-66.83, Z:-32.98 [[ 9.97780553e-01 5.05316917e-02 4.33649257e-02 5.05718534e+02] [-5.03641420e-02 9.98718663e-01 -4.94828802e-03 -6.68291433e+01] [-4.35594060e-02 2.75326828e-03 9.99047045e-01 -3.29761234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.530714057 meters 0.03582468565640956 Centerline is valid? [True, True] Translation: X:505.75, Y:-66.83, Z:-32.98 [[ 9.97680662e-01 5.27143669e-02 4.30638222e-02 5.05748287e+02] [-5.25511931e-02 9.98606145e-01 -4.91321067e-03 -6.68304878e+01] [-4.32627943e-02 2.63876003e-03 9.99060242e-01 -3.29781294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.5607140569999 meters 0.03576616013152647 Centerline is valid? [True, True] Translation: X:505.78, Y:-66.83, Z:-32.98 [[ 9.97417693e-01 5.80096076e-02 4.23418259e-02 5.05777192e+02] [-5.78566876e-02 9.98313219e-01 -4.82913217e-03 -6.68320288e+01] [-4.25505406e-02 2.36690408e-03 9.99091512e-01 -3.29810352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.5907140569999 meters 0.03257939835405569 Centerline is valid? [True, True] Translation: X:505.81, Y:-66.83, Z:-32.98 [[ 9.97261613e-01 6.07810890e-02 4.21299692e-02 5.05807911e+02] [-6.06321815e-02 9.98148614e-01 -4.80448117e-03 -6.68283652e+01] [-4.23439919e-02 2.23689271e-03 9.99100587e-01 -3.29816315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.620714057 meters 0.030727965316624327 Centerline is valid? [True, True] Translation: X:505.84, Y:-66.83, Z:-32.98 [[ 9.96785041e-01 6.77407457e-02 4.27875489e-02 5.05837963e+02] [-6.75936429e-02 9.97701014e-01 -4.87708755e-03 -6.68271053e+01] [-4.30195585e-02 1.96924161e-03 9.99072290e-01 -3.29831863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.650714057 meters 0.03164422437904681 Centerline is valid? [True, True] Translation: X:505.87, Y:-66.83, Z:-32.99 [[ 9.96498827e-01 7.14984820e-02 4.33365341e-02 5.05866838e+02] [-7.13511668e-02 9.97439031e-01 -4.93861838e-03 -6.68312978e+01] [-4.35786544e-02 1.82921515e-03 9.99048325e-01 -3.29855657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.6807140569999 meters 0.029310861451609622 Centerline is valid? [True, True] Translation: X:505.90, Y:-66.83, Z:-32.99 [[ 9.95909326e-01 7.85119145e-02 4.47268724e-02 5.05897713e+02] [-7.83621366e-02 9.96911940e-01 -5.09497639e-03 -6.68289342e+01] [-4.49887695e-02 1.56924122e-03 9.98986260e-01 -3.29859266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.7107140569999 meters 0.02867183602775912 Centerline is valid? [True, True] Translation: X:505.93, Y:-66.83, Z:-32.99 [[ 9.95663018e-01 8.14556431e-02 4.49458898e-02 5.05926374e+02] [-8.13073562e-02 9.96675922e-01 -5.12061363e-03 -6.68304451e+01] [-4.52135891e-02 1.44397415e-03 9.98976299e-01 -3.29874682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.740714057 meters 0.02674181070330768 Centerline is valid? [True, True] Translation: X:505.96, Y:-66.83, Z:-32.99 [[ 9.95366232e-01 8.47903256e-02 4.53504711e-02 5.05955635e+02] [-8.46429522e-02 9.96397967e-01 -5.16359764e-03 -6.68292978e+01] [-4.56249403e-02 1.30107297e-03 9.98957793e-01 -3.29878176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.770714057 meters 0.026826812248530216 Centerline is valid? [True, True] Translation: X:505.98, Y:-66.83, Z:-32.99 [[ 9.95368918e-01 8.49865623e-02 4.49221621e-02 5.05983327e+02] [-8.48422840e-02 9.96381279e-01 -5.11211400e-03 -6.68333703e+01] [-4.51940624e-02 1.27714055e-03 9.98977410e-01 -3.29906710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.8007140569999 meters 0.026629016156898513 Centerline is valid? [True, True] Translation: X:506.01, Y:-66.84, Z:-32.99 [[ 9.95422289e-01 8.45155816e-02 4.46271604e-02 5.06011597e+02] [-8.43729548e-02 9.96421329e-01 -5.07333292e-03 -6.68386433e+01] [-4.48962302e-02 1.28478328e-03 9.98990830e-01 -3.29928550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.8307140569999 meters 0.027042424547584203 Centerline is valid? [True, True] Translation: X:506.04, Y:-66.85, Z:-33.00 [[ 9.95733513e-01 8.04601506e-02 4.51767027e-02 5.06040383e+02] [-8.03099857e-02 9.96756724e-01 -5.13211270e-03 -6.68462742e+01] [-4.54431128e-02 1.48207627e-03 9.98965829e-01 -3.29951375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.860714057 meters 0.028491691143988352 Centerline is valid? [True, True] Translation: X:506.07, Y:-66.85, Z:-33.00 [[ 9.95885449e-01 7.83276973e-02 4.55735037e-02 5.06067090e+02] [-7.81726983e-02 9.96926395e-01 -5.17616719e-03 -6.68541426e+01] [-4.58388660e-02 1.59226583e-03 9.98947578e-01 -3.29972847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.890714057 meters 0.027803222706918346 Centerline is valid? [True, True] Translation: X:506.10, Y:-66.86, Z:-33.00 [[ 9.96235027e-01 7.31799790e-02 4.64807600e-02 5.06096587e+02] [-7.30133833e-02 9.97317015e-01 -5.27418983e-03 -6.68605040e+01] [-4.67420180e-02 1.86061511e-03 9.98905262e-01 -3.29973592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.9207140569999 meters 0.029276935486336985 Centerline is valid? [True, True] Translation: X:506.12, Y:-66.87, Z:-33.00 [[ 9.96426592e-01 7.05581356e-02 4.64283980e-02 5.06124442e+02] [-7.03890962e-02 9.97505702e-01 -5.26779684e-03 -6.68680146e+01] [-4.66842777e-02 1.98091989e-03 9.98907731e-01 -3.29994555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.9507140569999 meters 0.030000063885113053 Centerline is valid? [True, True] Translation: X:506.15, Y:-66.88, Z:-33.00 [[ 9.96700535e-01 6.59660873e-02 4.72918405e-02 5.06154147e+02] [-6.57856922e-02 9.97819365e-01 -5.36254815e-03 -6.68768575e+01] [-4.75424606e-02 2.23372815e-03 9.98866720e-01 -3.30004102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.980714057 meters 0.03205383103769025 Centerline is valid? [True, True] Translation: X:506.18, Y:-66.89, Z:-33.00 [[ 9.96828526e-01 6.37175163e-02 4.76756480e-02 5.06181710e+02] [-6.35315884e-02 9.97965183e-01 -5.40659976e-03 -6.68861941e+01] [-4.79231319e-02 2.36054323e-03 9.98848237e-01 -3.30024114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.010714057 meters 0.03319851318253387 Centerline is valid? [True, True] Translation: X:506.21, Y:-66.90, Z:-33.00 [[ 9.97118772e-01 5.89219495e-02 4.77740451e-02 5.06211241e+02] [-5.87299101e-02 9.98259224e-01 -5.41473534e-03 -6.68951760e+01] [-4.80099279e-02 2.59336888e-03 9.98843492e-01 -3.30045432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.040714057 meters 0.03461892461774137 Centerline is valid? [True, True] Translation: X:506.24, Y:-66.90, Z:-33.01 [[ 9.97454453e-01 5.40616578e-02 4.64967914e-02 5.06240272e+02] [-5.38745226e-02 9.98533810e-01 -5.26941076e-03 -6.69041041e+01] [-4.67134914e-02 2.75100479e-03 9.98904541e-01 -3.30069795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0707140569999 meters 0.03500713513275827 Centerline is valid? [True, True] Translation: X:506.27, Y:-66.91, Z:-33.01 [[ 9.97574433e-01 5.18643872e-02 4.64256003e-02 5.06269721e+02] [-5.16754329e-02 9.98650070e-01 -5.26182371e-03 -6.69096336e+01] [-4.66358302e-02 2.84999782e-03 9.98907892e-01 -3.30088792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.1007140569999 meters 0.03783126871498509 Centerline is valid? [True, True] Translation: X:506.30, Y:-66.92, Z:-33.01 [[ 9.97752851e-01 4.80947893e-02 4.66491154e-02 5.06297952e+02] [-4.79000099e-02 9.98838154e-01 -5.28496930e-03 -6.69191521e+01] [-4.68490958e-02 3.03860010e-03 9.98897357e-01 -3.30105920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.130714057 meters 0.05855708174735926 Centerline is valid? [True, True] Translation: X:506.33, Y:-66.95, Z:-33.02 [[ 9.97655548e-01 4.87580575e-02 4.80214488e-02 5.06325283e+02] [-4.85524743e-02 9.98805824e-01 -5.43895497e-03 -6.69526596e+01] [-4.82292957e-02 3.09464345e-03 9.98831496e-01 -3.30158482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.160714057 meters 0.05855708174735926 Centerline is valid? [True, True] Translation: X:506.36, Y:-66.96, Z:-33.02 [[ 9.97654218e-01 4.87866740e-02 4.80200103e-02 5.06355940e+02] [-4.85805165e-02 9.98804392e-01 -5.45162533e-03 -6.69561757e+01] [-4.82285639e-02 3.10600010e-03 9.98831497e-01 -3.30176321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.1907140569999 meters 0.037009221630261664 Centerline is valid? [True, True] Translation: X:506.39, Y:-66.93, Z:-33.01 [[ 9.97850375e-01 4.55982094e-02 4.70683764e-02 5.06390577e+02] [-4.53965528e-02 9.98954746e-01 -5.34499905e-03 -6.69292225e+01] [-4.72629004e-02 3.19676727e-03 9.98877369e-01 -3.30142373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.2207140569999 meters 0.037650544211127554 Centerline is valid? [True, True] Translation: X:506.42, Y:-66.93, Z:-33.02 [[ 9.97895459e-01 4.50434973e-02 4.66447991e-02 5.06421846e+02] [-4.48448249e-02 9.98979919e-01 -5.29752933e-03 -6.69338347e+01] [-4.68358369e-02 3.19460262e-03 9.98897492e-01 -3.30163630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.250714057 meters 0.03983794401117712 Centerline is valid? [True, True] Translation: X:506.45, Y:-66.94, Z:-33.02 [[ 9.97944759e-01 4.45713738e-02 4.60396607e-02 5.06451409e+02] [-4.43772427e-02 9.99001152e-01 -5.23064117e-03 -6.69401994e+01] [-4.62268109e-02 3.17677774e-03 9.98925918e-01 -3.30185789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.280714057 meters 0.03921762368616936 Centerline is valid? [True, True] Translation: X:506.48, Y:-66.94, Z:-33.02 [[ 9.97941660e-01 4.48130951e-02 4.58718810e-02 5.06482515e+02] [-4.46206036e-02 9.98990408e-01 -5.21218894e-03 -6.69427110e+01] [-4.60591435e-02 3.15462946e-03 9.98933733e-01 -3.30203506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.3107140569999 meters 0.038289068089840596 Centerline is valid? [True, True] Translation: X:506.51, Y:-66.94, Z:-33.02 [[ 9.98012825e-01 4.55075194e-02 4.35828692e-02 5.06513576e+02] [-4.53343704e-02 9.98959587e-01 -4.95354482e-03 -6.69438727e+01] [-4.37629486e-02 2.96789932e-03 9.99037535e-01 -3.30231455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.3407140569999 meters 0.036536513663624065 Centerline is valid? [True, True] Translation: X:506.54, Y:-66.94, Z:-33.03 [[ 9.98012231e-01 4.62902442e-02 4.27644711e-02 5.06543627e+02] [-4.61241476e-02 9.98923878e-01 -4.86307347e-03 -6.69440955e+01] [-4.29435642e-02 2.88093202e-03 9.99073346e-01 -3.30250662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.370714057 meters 0.03615282278129627 Centerline is valid? [True, True] Translation: X:506.57, Y:-66.94, Z:-33.03 [[ 9.98005461e-01 4.82971417e-02 4.06507836e-02 5.06573468e+02] [-4.81487827e-02 9.98829484e-01 -4.62133962e-03 -6.69442945e+01] [-4.08263987e-02 2.65483643e-03 9.99162728e-01 -3.30276001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.400714057 meters 0.03550709646650375 Centerline is valid? [True, True] Translation: X:506.60, Y:-66.95, Z:-33.03 [[ 9.97975039e-01 4.90307745e-02 4.05191829e-02 5.06602748e+02] [-4.88839851e-02 9.98793842e-01 -4.60618090e-03 -6.69451601e+01] [-4.06961550e-02 2.61611443e-03 9.99168143e-01 -3.30293505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.4307140569999 meters 0.034373299053392495 Centerline is valid? [True, True] Translation: X:506.63, Y:-66.94, Z:-33.03 [[ 9.97826429e-01 5.18336280e-02 4.06901966e-02 5.06632855e+02] [-5.16881646e-02 9.98652589e-01 -4.61954115e-03 -6.69444096e+01] [-4.08748177e-02 2.50629867e-03 9.99161132e-01 -3.30306703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.4607140569999 meters 0.034396160467033976 Centerline is valid? [True, True] Translation: X:506.66, Y:-66.94, Z:-33.03 [[ 9.97635403e-01 5.45785966e-02 4.17705485e-02 5.06661956e+02] [-5.44277178e-02 9.98506455e-01 -4.74168529e-03 -6.69448162e+01] [-4.19669568e-02 2.45699749e-03 9.99115978e-01 -3.30315829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.490714057 meters 0.03435936461814997 Centerline is valid? [True, True] Translation: X:506.69, Y:-66.95, Z:-33.03 [[ 9.97501063e-01 5.61501951e-02 4.28810520e-02 5.06690273e+02] [-5.59926741e-02 9.98419319e-01 -4.86666222e-03 -6.69465528e+01] [-4.30865347e-02 2.45347597e-03 9.99068331e-01 -3.30324736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.520714057 meters 0.03348453790775726 Centerline is valid? [True, True] Translation: X:506.72, Y:-66.95, Z:-33.03 [[ 9.97270108e-01 5.89140624e-02 4.45136483e-02 5.06720985e+02] [-5.87472310e-02 9.98260127e-01 -5.04793363e-03 -6.69461240e+01] [-4.47335945e-02 2.41909974e-03 9.98996023e-01 -3.30326615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.5507140569999 meters 0.03316289604546122 Centerline is valid? [True, True] Translation: X:506.75, Y:-66.95, Z:-33.03 [[ 9.97211123e-01 5.96184051e-02 4.48956712e-02 5.06749814e+02] [-5.94494129e-02 9.98218337e-01 -5.09112147e-03 -6.69473615e+01] [-4.51192067e-02 2.40790167e-03 9.98978708e-01 -3.30337802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.5807140569999 meters 0.03246541704422097 Centerline is valid? [True, True] Translation: X:506.78, Y:-66.95, Z:-33.03 [[ 9.97137436e-01 6.03447553e-02 4.55570423e-02 5.06778832e+02] [-6.01716498e-02 9.98174693e-01 -5.16282440e-03 -6.69474598e+01] [-4.57854361e-02 2.40680309e-03 9.98948398e-01 -3.30348334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.610714057 meters 0.03242099612031892 Centerline is valid? [True, True] Translation: X:506.81, Y:-66.95, Z:-33.04 [[ 9.97134328e-01 6.01964972e-02 4.58204430e-02 5.06807200e+02] [-6.00213791e-02 9.98183603e-01 -5.18936256e-03 -6.69503978e+01] [-4.60495963e-02 2.42428537e-03 9.98936213e-01 -3.30369767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.640714057 meters 0.035659641985142876 Centerline is valid? [True, True] Translation: X:506.83, Y:-66.96, Z:-33.04 [[ 9.97292058e-01 5.88474390e-02 4.41081645e-02 5.06834658e+02] [-5.86839965e-02 9.98264126e-01 -4.99235332e-03 -6.69579536e+01] [-4.43253855e-02 2.39039094e-03 9.99014287e-01 -3.30414115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.6707140569999 meters 0.037112229471332636 Centerline is valid? [True, True] Translation: X:506.86, Y:-66.96, Z:-33.04 [[ 9.97422601e-01 5.74860223e-02 4.29361396e-02 5.06863068e+02] [-5.73300247e-02 9.98343468e-01 -4.85680507e-03 -6.69617624e+01] [-4.31442129e-02 2.38275720e-03 9.99066014e-01 -3.30447431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.7007140569999 meters 0.0382195501485278 Centerline is valid? [True, True] Translation: X:506.89, Y:-66.97, Z:-33.05 [[ 9.97527428e-01 5.60833108e-02 4.23520046e-02 5.06892198e+02] [-5.59304036e-02 9.98423191e-01 -4.78764744e-03 -6.69658351e+01] [-4.25537307e-02 2.40704493e-03 9.99091280e-01 -3.30473315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.730714057 meters 0.039424856255519745 Centerline is valid? [True, True] Translation: X:506.92, Y:-66.97, Z:-33.05 [[ 9.97619634e-01 5.39284991e-02 4.29742096e-02 5.06921479e+02] [-5.37691347e-02 9.98541584e-01 -4.85650431e-03 -6.69699752e+01] [-4.31734393e-02 2.53425799e-03 9.99064378e-01 -3.30488531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.760714057 meters 0.04046718123009887 Centerline is valid? [True, True] Translation: X:506.95, Y:-66.97, Z:-33.05 [[ 9.97670854e-01 5.27945958e-02 4.31925610e-02 5.06949851e+02] [-5.26325910e-02 9.98602020e-01 -4.88019325e-03 -6.69743424e+01] [-4.33898265e-02 2.59549017e-03 9.99054847e-01 -3.30506715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.790714057 meters 0.03583957182616853 Centerline is valid? [True, True] Translation: X:506.98, Y:-66.97, Z:-33.05 [[ 9.97757403e-01 5.07129327e-02 4.36848125e-02 5.06980392e+02] [-5.05453728e-02 9.98709586e-01 -4.93242715e-03 -6.69695176e+01] [-4.38785788e-02 2.71330057e-03 9.99033187e-01 -3.30508634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.8207140569999 meters 0.04298969244005386 Centerline is valid? [True, True] Translation: X:507.01, Y:-66.98, Z:-33.05 [[ 9.97784205e-01 5.01396385e-02 4.37343985e-02 5.07007446e+02] [-4.99712144e-02 9.98738458e-01 -4.93654677e-03 -6.69831883e+01] [-4.39267424e-02 2.74014739e-03 9.99030997e-01 -3.30547968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.8507140569999 meters 0.0420851255769757 Centerline is valid? [True, True] Translation: X:507.04, Y:-66.98, Z:-33.06 [[ 9.97879461e-01 4.79199192e-02 4.40484050e-02 5.07036603e+02] [-4.77469942e-02 9.98847096e-01 -4.97015258e-03 -6.69837719e+01] [-4.42357907e-02 2.85643424e-03 9.99017035e-01 -3.30558757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.880714057 meters 0.03779185052113831 Centerline is valid? [True, True] Translation: X:507.07, Y:-66.98, Z:-33.06 [[ 9.97985732e-01 4.53056100e-02 4.44058605e-02 5.07067610e+02] [-4.51274192e-02 9.98968688e-01 -5.00756759e-03 -6.69807696e+01] [-4.45869352e-02 2.99355912e-03 9.99001023e-01 -3.30562062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.910714057 meters 0.03964937787466564 Centerline is valid? [True, True] Translation: X:507.10, Y:-66.99, Z:-33.06 [[ 9.98071227e-01 4.34212738e-02 4.43668718e-02 5.07096389e+02] [-4.32415333e-02 9.99052119e-01 -5.00340412e-03 -6.69862667e+01] [-4.45420715e-02 3.07526212e-03 9.99002776e-01 -3.30584926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9407140569999 meters 0.03973152731228842 Centerline is valid? [True, True] Translation: X:507.13, Y:-66.99, Z:-33.06 [[ 9.98238681e-01 4.03237107e-02 4.35147554e-02 5.07126738e+02] [-4.01479405e-02 9.99181702e-01 -4.90607597e-03 -6.69887322e+01] [-4.36769786e-02 3.15040699e-03 9.99040738e-01 -3.30606808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9707140569999 meters 0.043519532802585206 Centerline is valid? [True, True] Translation: X:507.16, Y:-67.00, Z:-33.06 [[ 9.98271807e-01 3.94372794e-02 4.35671891e-02 5.07156616e+02] [-3.92602261e-02 9.99216945e-01 -4.91243444e-03 -6.69968974e+01] [-4.37268067e-02 3.19348711e-03 9.99038422e-01 -3.30633692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.000714057 meters 0.039485995963867516 Centerline is valid? [True, True] Translation: X:507.19, Y:-66.99, Z:-33.06 [[ 9.98338841e-01 3.77708837e-02 4.35076773e-02 5.07188722e+02] [-3.75926733e-02 9.99281096e-01 -4.90727445e-03 -6.69916562e+01] [-4.36617516e-02 3.26355279e-03 9.99041041e-01 -3.30634901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.030714057 meters 0.04349185234405915 Centerline is valid? [True, True] Translation: X:507.22, Y:-67.00, Z:-33.07 [[ 9.98329970e-01 3.76723822e-02 4.37956985e-02 5.07219203e+02] [-3.74917571e-02 9.99284733e-01 -4.93865197e-03 -6.70000286e+01] [-4.39504237e-02 3.28842658e-03 9.99028301e-01 -3.30662637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.0607140569999 meters 0.041393389356401425 Centerline is valid? [True, True] Translation: X:507.25, Y:-67.00, Z:-33.07 [[ 9.98321801e-01 3.79303664e-02 4.37592138e-02 5.07251427e+02] [-3.77498461e-02 9.99274987e-01 -4.94460603e-03 -6.69983150e+01] [-4.39150385e-02 3.28440442e-03 9.99029870e-01 -3.30678831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.0907140569999 meters 0.0427072575135668 Centerline is valid? [True, True] Translation: X:507.28, Y:-67.00, Z:-33.07 [[ 9.98321923e-01 3.84733986e-02 4.32797324e-02 5.07282824e+02] [-3.82968481e-02 9.99254386e-01 -4.90135330e-03 -6.70019587e+01] [-4.34360342e-02 3.23565111e-03 9.99050970e-01 -3.30700262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.120714057 meters 0.04072570880006821 Centerline is valid? [True, True] Translation: X:507.31, Y:-67.00, Z:-33.07 [[ 9.98253530e-01 4.01637257e-02 4.33216359e-02 5.07314795e+02] [-3.99878609e-02 9.99188058e-01 -4.91882891e-03 -6.69986078e+01] [-4.34840197e-02 3.17789878e-03 9.99049068e-01 -3.30705163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.150714057 meters 0.039754286539322364 Centerline is valid? [True, True] Translation: X:507.35, Y:-67.00, Z:-33.07 [[ 9.98123580e-01 4.31303767e-02 4.34636626e-02 5.07346192e+02] [-4.29560728e-02 9.99064765e-01 -4.93677746e-03 -6.69953815e+01] [-4.36359389e-02 3.06048573e-03 9.99042811e-01 -3.30716831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.1807140569999 meters 0.037699794118570225 Centerline is valid? [True, True] Translation: X:507.38, Y:-66.99, Z:-33.07 [[ 9.98032702e-01 4.52940902e-02 4.33494071e-02 5.07376666e+02] [-4.51226655e-02 9.98969312e-01 -4.92533381e-03 -6.69936265e+01] [-4.35278159e-02 2.95960341e-03 9.99047832e-01 -3.30725333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.2107140569999 meters 0.04126678358142747 Centerline is valid? [True, True] Translation: X:507.41, Y:-67.00, Z:-33.08 [[ 9.97821592e-01 4.97354834e-02 4.33411143e-02 5.07406084e+02] [-4.95683811e-02 9.98758602e-01 -4.92236829e-03 -6.69983032e+01] [-4.35321272e-02 2.76329649e-03 9.99048206e-01 -3.30762482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.240714057 meters 0.03623537560528904 Centerline is valid? [True, True] Translation: X:507.44, Y:-66.99, Z:-33.08 [[ 9.97672945e-01 5.24026447e-02 4.36194636e-02 5.07437016e+02] [-5.22359235e-02 9.98622484e-01 -4.95401879e-03 -6.69924290e+01] [-4.38189808e-02 2.66398755e-03 9.99035935e-01 -3.30764994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.270714057 meters 0.03931190342948588 Centerline is valid? [True, True] Translation: X:507.47, Y:-67.00, Z:-33.08 [[ 9.97356130e-01 5.76995749e-02 4.41758874e-02 5.07465900e+02] [-5.75337772e-02 9.98330957e-01 -5.01645862e-03 -6.69970042e+01] [-4.43916034e-02 2.46159010e-03 9.99011174e-01 -3.30797943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.3007140569999 meters 0.03260747137912898 Centerline is valid? [True, True] Translation: X:507.50, Y:-66.99, Z:-33.08 [[ 9.97168914e-01 6.04786829e-02 4.46820599e-02 5.07497189e+02] [-6.03118848e-02 9.98166690e-01 -5.07295431e-03 -6.69883142e+01] [-4.49069495e-02 2.36373309e-03 9.98988378e-01 -3.30791073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.3307140569999 meters 0.032602734803412886 Centerline is valid? [True, True] Translation: X:507.53, Y:-66.99, Z:-33.08 [[ 9.96854119e-01 6.50086601e-02 4.53402653e-02 5.07526772e+02] [-6.48416122e-02 9.97882295e-01 -5.14691973e-03 -6.69889256e+01] [-4.55788423e-02 2.19079223e-03 9.98958342e-01 -3.30815505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.360714057 meters 0.030670529353355944 Centerline is valid? [True, True] Translation: X:507.56, Y:-66.99, Z:-33.08 [[ 9.96727537e-01 6.66976541e-02 4.56688090e-02 5.07556088e+02] [-6.65299651e-02 9.97770962e-01 -5.18371869e-03 -6.69878919e+01] [-4.59127534e-02 2.12841089e-03 9.98943186e-01 -3.30827241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.390714057 meters 0.029477546964794567 Centerline is valid? [True, True] Translation: X:507.59, Y:-66.99, Z:-33.09 [[ 9.96613047e-01 6.87849998e-02 4.50672739e-02 5.07585288e+02] [-6.86239740e-02 9.97629498e-01 -5.11228986e-03 -6.69873786e+01] [-4.53120907e-02 2.00227934e-03 9.98970873e-01 -3.30853570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.4207140569999 meters 0.029607653781873623 Centerline is valid? [True, True] Translation: X:507.61, Y:-66.99, Z:-33.09 [[ 9.96588049e-01 6.95716837e-02 4.44076832e-02 5.07612619e+02] [-6.94162273e-02 9.97575078e-01 -5.03505885e-03 -6.69901354e+01] [-4.46502955e-02 1.93526565e-03 9.99000804e-01 -3.30877642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.4507140569999 meters 0.029449516700077893 Centerline is valid? [True, True] Translation: X:507.64, Y:-66.99, Z:-33.09 [[ 9.96562106e-01 7.00437845e-02 4.42474506e-02 5.07640966e+02] [-6.98902007e-02 9.97542107e-01 -5.01042977e-03 -6.69929675e+01] [-4.44896446e-02 1.90074124e-03 9.99008037e-01 -3.30897357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.480714057 meters 0.02867143037127707 Centerline is valid? [True, True] Translation: X:507.67, Y:-66.99, Z:-33.09 [[ 9.96574465e-01 7.03010191e-02 4.35557387e-02 5.07669984e+02] [-7.01525816e-02 9.97524095e-01 -4.92906273e-03 -6.69947818e+01] [-4.37944169e-02 1.85663054e-03 9.99038839e-01 -3.30919164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.510714057 meters 0.029002987853291393 Centerline is valid? [True, True] Translation: X:507.70, Y:-67.00, Z:-33.09 [[ 9.96614219e-01 7.01195469e-02 4.29342341e-02 5.07698595e+02] [-6.99752831e-02 9.97536908e-01 -4.85565599e-03 -6.69989348e+01] [-4.31689595e-02 1.83488061e-03 9.99066101e-01 -3.30941512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.540714057 meters 0.030977933893616798 Centerline is valid? [True, True] Translation: X:507.73, Y:-67.01, Z:-33.10 [[ 9.96750299e-01 6.83191019e-02 4.26771730e-02 5.07726019e+02] [-6.81750353e-02 9.97661714e-01 -4.82378467e-03 -6.70054998e+01] [-4.29069382e-02 1.89859104e-03 9.99077269e-01 -3.30976471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5707140569999 meters 0.030741120244673383 Centerline is valid? [True, True] Translation: X:507.75, Y:-67.01, Z:-33.10 [[ 9.96796584e-01 6.72807358e-02 4.32420279e-02 5.07754177e+02] [-6.71320366e-02 9.97732149e-01 -4.88340506e-03 -6.70090849e+01] [-4.34725205e-02 1.96483608e-03 9.99052691e-01 -3.30986406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.6007140569999 meters 0.031889179163409 Centerline is valid? [True, True] Translation: X:507.78, Y:-67.02, Z:-33.10 [[ 9.96900935e-01 6.48436402e-02 4.45401881e-02 5.07782858e+02] [-6.46836022e-02 9.97893164e-01 -5.02651135e-03 -6.70156173e+01] [-4.47722865e-02 2.12991405e-03 9.98994948e-01 -3.30993341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.630714057 meters 0.030812591284233838 Centerline is valid? [True, True] Translation: X:507.81, Y:-67.02, Z:-33.10 [[ 9.96931694e-01 6.24974703e-02 4.71302808e-02 5.07811752e+02] [-6.23157625e-02 9.98042325e-01 -5.31636800e-03 -6.70174914e+01] [-4.73702746e-02 2.36309638e-03 9.98874603e-01 -3.30975454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.660714057 meters 0.03166746227332377 Centerline is valid? [True, True] Translation: X:507.84, Y:-67.02, Z:-33.10 [[ 9.96940002e-01 6.14165703e-02 4.83594688e-02 5.07838752e+02] [-6.12241400e-02 9.98109154e-01 -5.45181226e-03 -6.70225404e+01] [-4.86028601e-02 2.47436283e-03 9.98815118e-01 -3.30977190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.6907140569999 meters 0.036899484943864296 Centerline is valid? [True, True] Translation: X:507.87, Y:-67.04, Z:-33.10 [[ 9.97068716e-01 5.82424336e-02 4.96164729e-02 5.07866185e+02] [-5.80362591e-02 9.98298841e-01 -5.58717005e-03 -6.70352226e+01] [-4.98574778e-02 2.69123799e-03 9.98752717e-01 -3.30993767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.7207140569999 meters 0.03265447245046768 Centerline is valid? [True, True] Translation: X:507.90, Y:-67.03, Z:-33.10 [[ 9.97221110e-01 5.60437773e-02 4.90831238e-02 5.07896335e+02] [-5.58395560e-02 9.98424478e-01 -5.52318283e-03 -6.70321026e+01] [-4.93153323e-02 2.76705468e-03 9.98779426e-01 -3.31006332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.750714057 meters 0.039242907022714706 Centerline is valid? [True, True] Translation: X:507.92, Y:-67.05, Z:-33.11 [[ 9.97507323e-01 5.20392080e-02 4.76556471e-02 5.07923416e+02] [-5.18422435e-02 9.98640899e-01 -5.36062292e-03 -6.70485793e+01] [-4.78698408e-02 2.87668496e-03 9.98849440e-01 -3.31062112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.780714057 meters 0.040321959478450194 Centerline is valid? [True, True] Translation: X:507.95, Y:-67.06, Z:-33.11 [[ 9.97633971e-01 5.01864421e-02 4.69870384e-02 5.07952655e+02] [-4.99929360e-02 9.98735587e-01 -5.28517029e-03 -6.70550329e+01] [-4.71928713e-02 2.92364542e-03 9.98881517e-01 -3.31094558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.8107140569999 meters 0.0432517832493784 Centerline is valid? [True, True] Translation: X:507.98, Y:-67.06, Z:-33.11 [[ 9.97896900e-01 4.61969201e-02 4.54711008e-02 5.07981148e+02] [-4.60116730e-02 9.98927818e-01 -5.11275779e-03 -6.70643545e+01] [-4.56585412e-02 3.00980373e-03 9.98952571e-01 -3.31126526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.8407140569999 meters 0.037731062019278956 Centerline is valid? [True, True] Translation: X:508.01, Y:-67.06, Z:-33.11 [[ 9.97984977e-01 4.49685663e-02 4.47639701e-02 5.08011034e+02] [-4.47877761e-02 9.98983841e-01 -5.03403246e-03 -6.70593627e+01] [-4.49448560e-02 3.01901010e-03 9.98984908e-01 -3.31130641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.870714057 meters 0.044880658697284206 Centerline is valid? [True, True] Translation: X:508.04, Y:-67.07, Z:-33.12 [[ 9.98056528e-01 4.45522205e-02 4.35691114e-02 5.08038473e+02] [-4.43806708e-02 9.99002689e-01 -4.89727376e-03 -6.70734844e+01] [-4.37438439e-02 2.95412965e-03 9.99038412e-01 -3.31175178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.900714057 meters 0.03698236852129367 Centerline is valid? [True, True] Translation: X:508.07, Y:-67.06, Z:-33.12 [[ 9.98061067e-01 4.51007653e-02 4.28955532e-02 5.08069381e+02] [-4.49350774e-02 9.98978284e-01 -4.81946981e-03 -6.70649004e+01] [-4.30690879e-02 2.88261017e-03 9.99067938e-01 -3.31172988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.9307140569999 meters 0.03608252995613723 Centerline is valid? [True, True] Translation: X:508.10, Y:-67.07, Z:-33.12 [[ 9.97924553e-01 4.80145395e-02 4.29090917e-02 5.08099170e+02] [-4.78514946e-02 9.98842834e-01 -4.81943019e-03 -6.70663166e+01] [-4.30908415e-02 2.75616354e-03 9.99067357e-01 -3.31192763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.9607140569999 meters 0.03574912727419016 Centerline is valid? [True, True] Translation: X:508.13, Y:-67.07, Z:-33.12 [[ 9.97800698e-01 5.03688694e-02 4.30899579e-02 5.08128611e+02] [-5.02066989e-02 9.98727130e-01 -4.83818509e-03 -6.70677881e+01] [-4.32788039e-02 2.66413992e-03 9.99059481e-01 -3.31208277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.990714057 meters 0.03397175899674857 Centerline is valid? [True, True] Translation: X:508.16, Y:-67.07, Z:-33.12 [[ 9.97536356e-01 5.55429465e-02 4.28509086e-02 5.08159245e+02] [-5.53874121e-02 9.98453356e-01 -4.80932826e-03 -6.70655134e+01] [-4.30517578e-02 2.42407886e-03 9.99069902e-01 -3.31215778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.020714057 meters 0.03351940315910212 Centerline is valid? [True, True] Translation: X:508.19, Y:-67.07, Z:-33.12 [[ 9.97354647e-01 5.81367976e-02 4.36327985e-02 5.08188505e+02] [-5.79779877e-02 9.98305849e-01 -4.89745491e-03 -6.70669100e+01] [-4.38436003e-02 2.35475756e-03 9.99035632e-01 -3.31225398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.0507140569999 meters 0.03351940315910212 Centerline is valid? [True, True] Translation: X:508.22, Y:-67.07, Z:-33.12 [[ 9.97360694e-01 5.80329192e-02 4.36328615e-02 5.08215790e+02] [-5.78740346e-02 9.98311883e-01 -4.89689443e-03 -6.70698786e+01] [-4.38433852e-02 2.35876029e-03 9.99035632e-01 -3.31241312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.0807140569999 meters 0.03230756637818833 Centerline is valid? [True, True] Translation: X:508.25, Y:-67.07, Z:-33.12 [[ 9.97011398e-01 6.27501897e-02 4.50631383e-02 5.08246663e+02] [-6.25857930e-02 9.98026805e-01 -5.05118929e-03 -6.70695576e+01] [-4.52911831e-02 2.21578105e-03 9.98971370e-01 -3.31245906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.110714057 meters 0.03105039110655058 Centerline is valid? [True, True] Translation: X:508.28, Y:-67.07, Z:-33.13 [[ 9.96808303e-01 6.55452151e-02 4.55744587e-02 5.08276325e+02] [-6.53799663e-02 9.97847364e-01 -5.10871258e-03 -6.70701778e+01] [-4.58112052e-02 2.11275054e-03 9.98947881e-01 -3.31254009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.140714057 meters 0.031167111590140427 Centerline is valid? [True, True] Translation: X:508.30, Y:-67.07, Z:-33.13 [[ 9.96717437e-01 6.67501636e-02 4.58122958e-02 5.08303501e+02] [-6.65845003e-02 9.97767580e-01 -5.13435873e-03 -6.70735383e+01] [-4.60527428e-02 2.06711606e-03 9.98936871e-01 -3.31272597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.1707140569999 meters 0.03115639635529311 Centerline is valid? [True, True] Translation: X:508.33, Y:-67.08, Z:-33.13 [[ 9.96697865e-01 6.77017177e-02 4.48312710e-02 5.08332421e+02] [-6.75442306e-02 9.97703651e-01 -5.02016686e-03 -6.70774222e+01] [-4.50681967e-02 1.97549589e-03 9.98981959e-01 -3.31301895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.2007140569999 meters 0.028908825104791966 Centerline is valid? [True, True] Translation: X:508.36, Y:-67.08, Z:-33.13 [[ 9.96724264e-01 6.79217887e-02 4.39018490e-02 5.08360634e+02] [-6.77710446e-02 9.97688795e-01 -4.91466626e-03 -6.70762883e+01] [-4.41341957e-02 1.92329295e-03 9.99023760e-01 -3.31307889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.230714057 meters 0.0321869917250089 Centerline is valid? [True, True] Translation: X:508.39, Y:-67.09, Z:-33.14 [[ 9.96816755e-01 6.76367326e-02 4.22093428e-02 5.08387425e+02] [-6.74973380e-02 9.97708287e-01 -4.72054426e-03 -6.70867413e+01] [-4.24318933e-02 1.85649934e-03 9.99097637e-01 -3.31350424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.260714057 meters 0.03298135772746254 Centerline is valid? [True, True] Translation: X:508.42, Y:-67.09, Z:-33.14 [[ 9.96908355e-01 6.70050918e-02 4.10371602e-02 5.08415818e+02] [-6.68729653e-02 9.97750961e-01 -4.58552116e-03 -6.70913083e+01] [-4.12521193e-02 1.82706776e-03 9.99147099e-01 -3.31374920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.290714057 meters 0.033692383347351244 Centerline is valid? [True, True] Translation: X:508.44, Y:-67.10, Z:-33.14 [[ 9.97002454e-01 6.61485378e-02 4.01307640e-02 5.08443099e+02] [-6.60215887e-02 9.97808129e-01 -4.48191677e-03 -6.70972293e+01] [-4.03392748e-02 1.81898521e-03 9.99184384e-01 -3.31405578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.3207140569999 meters 0.03457992147159597 Centerline is valid? [True, True] Translation: X:508.47, Y:-67.10, Z:-33.14 [[ 9.97049647e-01 6.55975298e-02 3.98618376e-02 5.08470594e+02] [-6.54719708e-02 9.97844492e-01 -4.44857773e-03 -6.71032890e+01] [-4.00677308e-02 1.82561979e-03 9.99195298e-01 -3.31427133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.3507140569999 meters 0.03424842503044561 Centerline is valid? [True, True] Translation: X:508.50, Y:-67.11, Z:-33.14 [[ 9.97059048e-01 6.52334429e-02 4.02225296e-02 5.08499124e+02] [-6.51054515e-02 9.97868310e-01 -4.48519474e-03 -6.71064190e+01] [-4.04293723e-02 1.85329805e-03 9.99180680e-01 -3.31433586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.380714057 meters 0.031921409079646 Centerline is valid? [True, True] Translation: X:508.53, Y:-67.11, Z:-33.14 [[ 9.97023771e-01 6.50474925e-02 4.13814436e-02 5.08528589e+02] [-6.49119701e-02 9.97880338e-01 -4.61164517e-03 -6.71052517e+01] [-4.15937049e-02 1.91176883e-03 9.99132778e-01 -3.31410225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.410714057 meters 0.031990905869408406 Centerline is valid? [True, True] Translation: X:508.56, Y:-67.11, Z:-33.14 [[ 9.96961461e-01 6.52402674e-02 4.25623365e-02 5.08557483e+02] [-6.50972012e-02 9.97867669e-01 -4.74017089e-03 -6.71091232e+01] [-4.27808295e-02 1.95507872e-03 9.99082568e-01 -3.31418052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4407140569999 meters 0.030682774010375866 Centerline is valid? [True, True] Translation: X:508.59, Y:-67.11, Z:-33.14 [[ 9.96882952e-01 6.51458224e-02 4.45017027e-02 5.08586870e+02] [-6.49894619e-02 9.97873659e-01 -4.95292410e-03 -6.71104281e+01] [-4.47297392e-02 2.04534389e-03 9.98997031e-01 -3.31404059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4707140569999 meters 0.030165306076741016 Centerline is valid? [True, True] Translation: X:508.62, Y:-67.11, Z:-33.14 [[ 9.96868908e-01 6.46443285e-02 4.55356114e-02 5.08616008e+02] [-6.44802429e-02 9.97906132e-01 -5.06466252e-03 -6.71132291e+01] [-4.57676675e-02 2.11265732e-03 9.98949877e-01 -3.31411149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.500714057 meters 0.030185996646535068 Centerline is valid? [True, True] Translation: X:508.64, Y:-67.12, Z:-33.14 [[ 9.96863829e-01 6.34732235e-02 4.72615654e-02 5.08644684e+02] [-6.32953084e-02 9.97981016e-01 -5.25307439e-03 -6.71181312e+01] [-4.74995746e-02 2.24516449e-03 9.98868735e-01 -3.31412476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.530714057 meters 0.031582724256995015 Centerline is valid? [True, True] Translation: X:508.67, Y:-67.12, Z:-33.14 [[ 9.96893176e-01 6.25265441e-02 4.79001839e-02 5.08672081e+02] [-6.23428558e-02 9.98040610e-01 -5.32070321e-03 -6.71240920e+01] [-4.81390139e-02 2.31793846e-03 9.98837956e-01 -3.31431245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.5607140569999 meters 0.03606725662366428 Centerline is valid? [True, True] Translation: X:508.70, Y:-67.14, Z:-33.15 [[ 9.97023161e-01 6.03404071e-02 4.79984472e-02 5.08699259e+02] [-6.01536633e-02 9.98174915e-01 -5.32694716e-03 -6.71373943e+01] [-4.82322761e-02 2.42380727e-03 9.98833206e-01 -3.31456538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.5907140569999 meters 0.03231884588436819 Centerline is valid? [True, True] Translation: X:508.73, Y:-67.14, Z:-33.15 [[ 9.97218091e-01 5.78808172e-02 4.69669014e-02 5.08728778e+02] [-5.76994051e-02 9.98320405e-01 -5.21027153e-03 -6.71366529e+01] [-4.71895908e-02 2.48581476e-03 9.98882858e-01 -3.31470304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.620714057 meters 0.03504719933390973 Centerline is valid? [True, True] Translation: X:508.76, Y:-67.15, Z:-33.15 [[ 9.97290370e-01 5.72106056e-02 4.62478677e-02 5.08755603e+02] [-5.70341325e-02 9.98359062e-01 -5.12748921e-03 -6.71456644e+01] [-4.64653246e-02 2.47588859e-03 9.98916835e-01 -3.31509505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.650714057 meters 0.03339033446544438 Centerline is valid? [True, True] Translation: X:508.78, Y:-67.15, Z:-33.15 [[ 9.97397612e-01 5.63469296e-02 4.49780630e-02 5.08784226e+02] [-5.61793735e-02 9.98408264e-01 -4.98169816e-03 -6.71474227e+01] [-4.51871732e-02 2.44189445e-03 9.98975554e-01 -3.31532734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.6807140569999 meters 0.034142420688782316 Centerline is valid? [True, True] Translation: X:508.81, Y:-67.15, Z:-33.16 [[ 9.97492176e-01 5.61651549e-02 4.30677916e-02 5.08811315e+02] [-5.60114866e-02 9.98418742e-01 -4.76745225e-03 -6.71536370e+01] [-4.32674550e-02 2.34320528e-03 9.99060777e-01 -3.31573899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.7107140569999 meters 0.03326878688475266 Centerline is valid? [True, True] Translation: X:508.84, Y:-67.16, Z:-33.16 [[ 9.97563081e-01 5.57992710e-02 4.18848456e-02 5.08839620e+02] [-5.56537746e-02 9.98439380e-01 -4.63266905e-03 -6.71556789e+01] [-4.20779788e-02 2.29032985e-03 9.99111705e-01 -3.31593019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.740714057 meters 0.03312104685992692 Centerline is valid? [True, True] Translation: X:508.87, Y:-67.16, Z:-33.16 [[ 9.97668594e-01 5.55479804e-02 3.96459022e-02 5.08867928e+02] [-5.54175405e-02 9.98453650e-01 -4.38239641e-03 -6.71595162e+01] [-3.98280290e-02 2.17510087e-03 9.99204182e-01 -3.31624227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.770714057 meters 0.03336465483736752 Centerline is valid? [True, True] Translation: X:508.90, Y:-67.16, Z:-33.16 [[ 9.97832542e-01 5.36359167e-02 3.81235593e-02 5.08897358e+02] [-5.35140431e-02 9.98558219e-01 -4.21083059e-03 -6.71639828e+01] [-3.82944452e-02 2.16155800e-03 9.99264161e-01 -3.31646035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.8007140569999 meters 0.03512086547511856 Centerline is valid? [True, True] Translation: X:508.92, Y:-67.17, Z:-33.17 [[ 9.97908650e-01 5.23385496e-02 3.79341850e-02 5.08923942e+02] [-5.22169489e-02 9.98626975e-01 -4.18995371e-03 -6.71701161e+01] [-3.81013965e-02 2.20038365e-03 9.99271456e-01 -3.31669730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.8307140569999 meters 0.03559497814542556 Centerline is valid? [True, True] Translation: X:508.95, Y:-67.18, Z:-33.17 [[ 9.98058539e-01 4.88256186e-02 3.86679796e-02 5.08953774e+02] [-4.86968714e-02 9.98804498e-01 -4.26500515e-03 -6.71759756e+01] [-3.88299934e-02 2.37371518e-03 9.99243012e-01 -3.31680280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.860714057 meters 0.03596690438986762 Centerline is valid? [True, True] Translation: X:508.98, Y:-67.18, Z:-33.17 [[ 9.98118162e-01 4.74357996e-02 3.88584497e-02 5.08983251e+02] [-4.73047455e-02 9.98871310e-01 -4.28564853e-03 -6.71801905e+01] [-3.90178837e-02 2.43939456e-03 9.99235535e-01 -3.31691403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.890714057 meters 0.03687519269768871 Centerline is valid? [True, True] Translation: X:509.01, Y:-67.19, Z:-33.17 [[ 9.98141829e-01 4.52448499e-02 4.08141264e-02 5.09012649e+02] [-4.50985039e-02 9.98972411e-01 -4.49975571e-03 -6.71854896e+01] [-4.09757770e-02 2.65073835e-03 9.99156624e-01 -3.31688238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.9207140569999 meters 0.04067043915503573 Centerline is valid? [True, True] Translation: X:509.04, Y:-67.19, Z:-33.17 [[ 9.98137764e-01 4.46358703e-02 4.15769533e-02 5.09040107e+02] [-4.44835252e-02 9.98999607e-01 -4.58259992e-03 -6.71947808e+01] [-4.17399084e-02 2.72457659e-03 9.99124795e-01 -3.31710465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.9507140569999 meters 0.038684153750724204 Centerline is valid? [True, True] Translation: X:509.07, Y:-67.19, Z:-33.17 [[ 9.98131254e-01 4.36402664e-02 4.27729716e-02 5.09069863e+02] [-4.34782272e-02 9.99043264e-01 -4.71177610e-03 -6.71947433e+01] [-4.29376723e-02 2.84327801e-03 9.99073707e-01 -3.31700030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.980714057 meters 0.038829484119190676 Centerline is valid? [True, True] Translation: X:509.10, Y:-67.20, Z:-33.17 [[ 9.98162407e-01 4.29440467e-02 4.27506569e-02 5.09099106e+02] [-4.27816063e-02 9.99073356e-01 -4.70780402e-03 -6.71983789e+01] [-4.29132145e-02 2.87021122e-03 9.99074681e-01 -3.31717169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.010714057 meters 0.03922304902609686 Centerline is valid? [True, True] Translation: X:509.13, Y:-67.20, Z:-33.17 [[ 9.98169921e-01 4.26966473e-02 4.28229420e-02 5.09128109e+02] [-4.25334957e-02 9.99083919e-01 -4.71424006e-03 -6.72025272e+01] [-4.29849950e-02 2.88420321e-03 9.99071555e-01 -3.31738621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.040714057 meters 0.03687964699186843 Centerline is valid? [True, True] Translation: X:509.16, Y:-67.20, Z:-33.18 [[ 9.98201585e-01 4.23488882e-02 4.24283704e-02 5.09157755e+02] [-4.21884816e-02 9.99098759e-01 -4.66934023e-03 -6.72023845e+01] [-4.25878736e-02 2.87095430e-03 9.99088600e-01 -3.31750535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0707140569999 meters 0.03891821167748192 Centerline is valid? [True, True] Translation: X:509.19, Y:-67.21, Z:-33.18 [[ 9.98230966e-01 4.23887313e-02 4.16909229e-02 5.09185680e+02] [-4.22339414e-02 9.99097219e-01 -4.58698002e-03 -6.72086615e+01] [-4.18477214e-02 2.81809350e-03 9.99120026e-01 -3.31773161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.1007140569999 meters 0.03734222174278582 Centerline is valid? [True, True] Translation: X:509.21, Y:-67.21, Z:-33.18 [[ 9.98235775e-01 4.28468884e-02 4.11033155e-02 5.09214996e+02] [-4.26969233e-02 9.99077847e-01 -4.51984687e-03 -6.72099009e+01] [-4.12590733e-02 2.75688773e-03 9.99144678e-01 -3.31792498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.130714057 meters 0.03914033492058468 Centerline is valid? [True, True] Translation: X:509.24, Y:-67.22, Z:-33.18 [[ 9.98278277e-01 4.35565887e-02 3.92849342e-02 5.09243196e+02] [-4.34202058e-02 9.99047564e-01 -4.31859182e-03 -6.72154569e+01] [-3.94356210e-02 2.60539647e-03 9.99218717e-01 -3.31829261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.160714057 meters 0.03602317206670462 Centerline is valid? [True, True] Translation: X:509.27, Y:-67.21, Z:-33.18 [[ 9.98271775e-01 4.46627997e-02 3.81928961e-02 5.09272679e+02] [-4.45347299e-02 9.98999017e-01 -4.19787924e-03 -6.72137272e+01] [-3.83421547e-02 2.48971405e-03 9.99261568e-01 -3.31833876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.1907140569999 meters 0.03529417796171604 Centerline is valid? [True, True] Translation: X:509.30, Y:-67.22, Z:-33.19 [[ 9.98244828e-01 4.57790497e-02 3.75704950e-02 5.09301956e+02] [-4.56560249e-02 9.98948697e-01 -4.12641292e-03 -6.72155299e+01] [-3.77199003e-02 2.40385091e-03 9.99285460e-01 -3.31859712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.2207140569999 meters 0.03556434742833791 Centerline is valid? [True, True] Translation: X:509.33, Y:-67.22, Z:-33.19 [[ 9.98197473e-01 4.73080287e-02 3.69290703e-02 5.09330045e+02] [-4.71902727e-02 9.98877690e-01 -4.05435387e-03 -6.72185209e+01] [-3.70794279e-02 2.30435289e-03 9.99309665e-01 -3.31879784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.250714057 meters 0.03557250219320138 Centerline is valid? [True, True] Translation: X:509.36, Y:-67.22, Z:-33.19 [[ 9.98152603e-01 4.82731229e-02 3.68929115e-02 5.09358826e+02] [-4.81563537e-02 9.98831608e-01 -4.04769339e-03 -6.72211058e+01] [-3.70452009e-02 2.26358760e-03 9.99311027e-01 -3.31899245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.280714057 meters 0.0347611788363995 Centerline is valid? [True, True] Translation: X:509.39, Y:-67.22, Z:-33.19 [[ 9.98017777e-01 5.02973079e-02 3.78245569e-02 5.09388502e+02] [-5.01761453e-02 9.98731777e-01 -4.14637383e-03 -6.72227847e+01] [-3.79851383e-02 2.24026433e-03 9.99275793e-01 -3.31911742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.3107140569999 meters 0.03499861642791215 Centerline is valid? [True, True] Translation: X:509.42, Y:-67.23, Z:-33.19 [[ 9.97984193e-01 5.06467516e-02 3.82420855e-02 5.09417389e+02] [-5.05231807e-02 9.98714093e-01 -4.19142832e-03 -6.72257350e+01] [-3.84051920e-02 2.25086741e-03 9.99259713e-01 -3.31924526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.3407140569999 meters 0.03460026897290002 Centerline is valid? [True, True] Translation: X:509.45, Y:-67.23, Z:-33.19 [[ 9.97950270e-01 5.05003947e-02 3.93060784e-02 5.09446726e+02] [-5.03698623e-02 9.98721355e-01 -4.30480384e-03 -6.72271831e+01] [-3.94732142e-02 2.31613840e-03 9.99217945e-01 -3.31933109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.370714057 meters 0.03519515290908314 Centerline is valid? [True, True] Translation: X:509.47, Y:-67.23, Z:-33.19 [[ 9.97948627e-01 4.96743634e-02 4.03855771e-02 5.09473892e+02] [-4.95359512e-02 9.98762555e-01 -4.42137147e-03 -6.72311211e+01] [-4.05552310e-02 2.41176362e-03 9.99174388e-01 -3.31945827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.400714057 meters 0.03600421362387045 Centerline is valid? [True, True] Translation: X:509.50, Y:-67.24, Z:-33.20 [[ 9.97993901e-01 4.88771762e-02 4.02392320e-02 5.09502334e+02] [-4.87392798e-02 9.98801837e-01 -4.40141301e-03 -6.72358637e+01] [-4.04061475e-02 2.43135215e-03 9.99180380e-01 -3.31964616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.4307140569999 meters 0.03819176308780456 Centerline is valid? [True, True] Translation: X:509.53, Y:-67.24, Z:-33.20 [[ 9.98064140e-01 4.71093971e-02 4.06039032e-02 5.09530306e+02] [-4.69676630e-02 9.98886551e-01 -4.43807217e-03 -6.72425071e+01] [-4.07677678e-02 2.52241024e-03 9.99165465e-01 -3.31991459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.4607140569999 meters 0.03760841277325244 Centerline is valid? [True, True] Translation: X:509.56, Y:-67.25, Z:-33.20 [[ 9.98086230e-01 4.62607942e-02 4.10343391e-02 5.09558588e+02] [-4.61154022e-02 9.98926059e-01 -4.48319456e-03 -6.72450752e+01] [-4.11976668e-02 2.58229970e-03 9.99147679e-01 -3.32000257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.490714057 meters 0.03947215315012103 Centerline is valid? [True, True] Translation: X:509.59, Y:-67.25, Z:-33.20 [[ 9.98129117e-01 4.43048189e-02 4.21348946e-02 5.09586376e+02] [-4.41499360e-02 9.99014327e-01 -4.59980214e-03 -6.72510229e+01] [-4.22971567e-02 2.73094355e-03 9.99101342e-01 -3.32010852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.520714057 meters 0.04022253651583577 Centerline is valid? [True, True] Translation: X:509.62, Y:-67.26, Z:-33.20 [[ 9.98121908e-01 4.35678585e-02 4.30638831e-02 5.09615262e+02] [-4.34054461e-02 9.99046485e-01 -4.69974369e-03 -6.72557333e+01] [-4.32275789e-02 2.82171008e-03 9.99061267e-01 -3.32031358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.5507140569999 meters 0.04097264693199897 Centerline is valid? [True, True] Translation: X:509.65, Y:-67.26, Z:-33.21 [[ 9.98166859e-01 4.22924401e-02 4.32928519e-02 5.09645465e+02] [-4.21271877e-02 9.99101094e-01 -4.72273232e-03 -6.72611659e+01] [-4.34536716e-02 2.89026879e-03 9.99051262e-01 -3.32053964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.5807140569999 meters 0.041888046808689544 Centerline is valid? [True, True] Translation: X:509.67, Y:-67.27, Z:-33.21 [[ 9.98189740e-01 4.17671405e-02 4.32752645e-02 5.09674919e+02] [-4.16015206e-02 9.99123128e-01 -4.72105731e-03 -6.72662189e+01] [-4.34345027e-02 2.91219416e-03 9.99052032e-01 -3.32080795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.610714057 meters 0.0425965539060206 Centerline is valid? [True, True] Translation: X:509.70, Y:-67.27, Z:-33.21 [[ 9.98263560e-01 4.06968312e-02 4.25867665e-02 5.09704930e+02] [-4.05355159e-02 9.99167301e-01 -4.64497791e-03 -6.72710390e+01] [-4.27403404e-02 2.91063563e-03 9.99081974e-01 -3.32113938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.640714057 meters 0.04390411535247363 Centerline is valid? [True, True] Translation: X:509.73, Y:-67.28, Z:-33.21 [[ 9.98297464e-01 4.02903517e-02 4.21765445e-02 5.09733670e+02] [-4.01317758e-02 9.99183807e-01 -4.60011582e-03 -6.72757679e+01] [-4.23274606e-02 2.89966433e-03 9.99099584e-01 -3.32140309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.6707140569999 meters 0.04161738385247272 Centerline is valid? [True, True] Translation: X:509.76, Y:-67.28, Z:-33.22 [[ 9.98310456e-01 4.02148835e-02 4.19403897e-02 5.09764195e+02] [-4.00579948e-02 9.99186884e-01 -4.57480207e-03 -6.72753451e+01] [-4.20902624e-02 2.88702483e-03 9.99109641e-01 -3.32155638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.7007140569999 meters 0.039965616030702006 Centerline is valid? [True, True] Translation: X:509.79, Y:-67.28, Z:-33.22 [[ 9.98300901e-01 4.07705335e-02 4.16302028e-02 5.09794909e+02] [-4.06164394e-02 9.99164493e-01 -4.54096730e-03 -6.72762578e+01] [-4.17805581e-02 2.84238114e-03 9.99122768e-01 -3.32176512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.730714057 meters 0.042540252395577904 Centerline is valid? [True, True] Translation: X:509.82, Y:-67.28, Z:-33.22 [[ 9.98279385e-01 4.12028177e-02 4.17204647e-02 5.09823849e+02] [-4.10484182e-02 9.99146794e-01 -4.55108879e-03 -6.72827029e+01] [-4.18723862e-02 2.83069904e-03 9.99118957e-01 -3.32203512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.760714057 meters 0.03739613163270402 Centerline is valid? [True, True] Translation: X:509.85, Y:-67.28, Z:-33.22 [[ 9.98180254e-01 4.23008279e-02 4.29746517e-02 5.09854095e+02] [-4.21380327e-02 9.99100803e-01 -4.68738997e-03 -6.72769079e+01] [-4.31342895e-02 2.86799283e-03 9.99065167e-01 -3.32195848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.790714057 meters 0.03795399209015504 Centerline is valid? [True, True] Translation: X:509.88, Y:-67.28, Z:-33.22 [[ 9.98124428e-01 4.28660826e-02 4.37049754e-02 5.09883162e+02] [-4.26983234e-02 9.99076647e-01 -4.76518988e-03 -6.72807181e+01] [-4.38688853e-02 2.89012325e-03 9.99033117e-01 -3.32210573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.8207140569999 meters 0.0394485288151858 Centerline is valid? [True, True] Translation: X:509.91, Y:-67.29, Z:-33.22 [[ 9.98076663e-01 4.20651218e-02 4.55357056e-02 5.09911677e+02] [-4.18822007e-02 9.99110223e-01 -4.96415014e-03 -6.72860508e+01] [-4.57040065e-02 3.04746685e-03 9.98950378e-01 -3.32222939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.8507140569999 meters 0.04023533335701836 Centerline is valid? [True, True] Translation: X:509.94, Y:-67.29, Z:-33.22 [[ 9.98058116e-01 4.16562771e-02 4.63114617e-02 5.09941427e+02] [-4.14667228e-02 9.99127140e-01 -5.04665162e-03 -6.72908674e+01] [-4.64812630e-02 3.11646706e-03 9.98914301e-01 -3.32242128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.880714057 meters 0.041729417314956524 Centerline is valid? [True, True] Translation: X:509.97, Y:-67.30, Z:-33.23 [[ 9.98093649e-01 4.01641050e-02 4.68605700e-02 5.09971703e+02] [-3.99684496e-02 9.99187900e-01 -5.10518975e-03 -6.72981166e+01] [-4.70275599e-02 3.22251313e-03 9.98888394e-01 -3.32257935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.910714057 meters 0.037612427127835 Centerline is valid? [True, True] Translation: X:510.00, Y:-67.30, Z:-33.23 [[ 9.98149412e-01 3.86757674e-02 4.69247998e-02 5.10003658e+02] [-3.84776258e-02 9.99246351e-01 -5.11882445e-03 -6.72967387e+01] [-4.70874094e-02 3.30379672e-03 9.98885309e-01 -3.32259429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9407140569999 meters 0.03848706575497994 Centerline is valid? [True, True] Translation: X:510.03, Y:-67.30, Z:-33.23 [[ 9.98184322e-01 3.83523962e-02 4.64451618e-02 5.10034749e+02] [-3.81579662e-02 9.99258878e-01 -5.06594887e-03 -6.73019046e+01] [-4.66050316e-02 3.28449782e-03 9.98907995e-01 -3.32280348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9707140569999 meters 0.03848706575497994 Centerline is valid? [True, True] Translation: X:510.07, Y:-67.31, Z:-33.23 [[ 9.98174706e-01 3.86032822e-02 4.64439762e-02 5.10066365e+02] [-3.84086202e-02 9.99249220e-01 -5.07679264e-03 -6.73054011e+01] [-4.66050878e-02 3.28367696e-03 9.98907995e-01 -3.32298727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.000714057 meters 0.03767542703574621 Centerline is valid? [True, True] Translation: X:510.10, Y:-67.31, Z:-33.23 [[ 9.98224227e-01 3.89986645e-02 4.50277283e-02 5.10098498e+02] [-3.88156079e-02 9.99234214e-01 -4.93295338e-03 -6.73085361e+01] [-4.51856253e-02 3.17641493e-03 9.98973558e-01 -3.32323959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.030714057 meters 0.03779918498981331 Centerline is valid? [True, True] Translation: X:510.13, Y:-67.31, Z:-33.24 [[ 9.98235238e-01 3.97435517e-02 4.41232408e-02 5.10129391e+02] [-3.95678869e-02 9.99205125e-01 -4.84781973e-03 -6.73125795e+01] [-4.42808379e-02 3.09340107e-03 9.99014333e-01 -3.32350844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.0607140569999 meters 0.03766397238947958 Centerline is valid? [True, True] Translation: X:510.16, Y:-67.32, Z:-33.24 [[ 9.98141063e-01 4.33120087e-02 4.28776069e-02 5.10159237e+02] [-4.31493180e-02 9.99057518e-01 -4.71299216e-03 -6.73162412e+01] [-4.30413247e-02 2.85409151e-03 9.99069216e-01 -3.32377534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.0907140569999 meters 0.03677063114612805 Centerline is valid? [True, True] Translation: X:510.19, Y:-67.32, Z:-33.24 [[ 9.98048773e-01 4.56605580e-02 4.25882692e-02 5.10188825e+02] [-4.55021622e-02 9.98953270e-01 -4.68172478e-03 -6.73175622e+01] [-4.27574609e-02 2.73473134e-03 9.99081739e-01 -3.32397465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.120714057 meters 0.035044527712334635 Centerline is valid? [True, True] Translation: X:510.22, Y:-67.32, Z:-33.24 [[ 9.97647679e-01 5.28822809e-02 4.36184974e-02 5.10218708e+02] [-5.27230874e-02 9.98597669e-01 -4.79284284e-03 -6.73175106e+01] [-4.38107863e-02 2.48186668e-03 9.99036764e-01 -3.32414434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.150714057 meters 0.032775058373255776 Centerline is valid? [True, True] Translation: X:510.25, Y:-67.32, Z:-33.24 [[ 9.97137293e-01 6.11685986e-02 4.44479539e-02 5.10248616e+02] [-6.10114774e-02 9.98125114e-01 -4.88425163e-03 -6.73163935e+01] [-4.46633818e-02 2.15843412e-03 9.98999762e-01 -3.32424444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.1807140569999 meters 0.03150812962897333 Centerline is valid? [True, True] Translation: X:510.28, Y:-67.32, Z:-33.24 [[ 9.96835569e-01 6.53955327e-02 4.51915017e-02 5.10277180e+02] [-6.52374469e-02 9.97857413e-01 -4.96574698e-03 -6.73176497e+01] [-4.54194126e-02 2.00185503e-03 9.98966000e-01 -3.32437110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.2107140569999 meters 0.029212016184739724 Centerline is valid? [True, True] Translation: X:510.31, Y:-67.32, Z:-33.24 [[ 9.96188203e-01 7.35644976e-02 4.68756792e-02 5.10307105e+02] [-7.34035478e-02 9.97289034e-01 -5.14805035e-03 -6.73161844e+01] [-4.71273146e-02 1.68758587e-03 9.98887465e-01 -3.32439996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.240714057 meters 0.02811992952799228 Centerline is valid? [True, True] Translation: X:510.34, Y:-67.32, Z:-33.24 [[ 9.95832626e-01 7.74027061e-02 4.82307088e-02 5.10336875e+02] [-7.72368741e-02 9.96998708e-01 -5.29535572e-03 -6.73175848e+01] [-4.84958292e-02 1.54809881e-03 9.98822185e-01 -3.32445179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.270714057 meters 0.026762700630718037 Centerline is valid? [True, True] Translation: X:510.37, Y:-67.32, Z:-33.24 [[ 9.95214169e-01 8.33276856e-02 5.10416945e-02 5.10365731e+02] [-8.31498139e-02 9.96521312e-01 -5.60211880e-03 -6.73201310e+01] [-5.13309480e-02 1.33120060e-03 9.98680811e-01 -3.32447425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.3007140569999 meters 0.026467833087169403 Centerline is valid? [True, True] Translation: X:510.39, Y:-67.32, Z:-33.25 [[ 9.95020141e-01 8.51233753e-02 5.18549031e-02 5.10394696e+02] [-8.49423085e-02 9.96369626e-01 -5.68968058e-03 -6.73236562e+01] [-5.21509752e-02 1.25667160e-03 9.98638421e-01 -3.32461833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.3307140569999 meters 0.02607477808528942 Centerline is valid? [True, True] Translation: X:510.42, Y:-67.33, Z:-33.25 [[ 9.94828390e-01 8.72701699e-02 5.19652997e-02 5.10421788e+02] [-8.70913714e-02 9.96184023e-01 -5.69957575e-03 -6.73301295e+01] [-5.22644042e-02 1.14437055e-03 9.98632626e-01 -3.32491173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.360714057 meters 0.02622627061193665 Centerline is valid? [True, True] Translation: X:510.45, Y:-67.34, Z:-33.25 [[ 9.94853859e-01 8.69704267e-02 5.19802367e-02 5.10450435e+02] [-8.67914654e-02 9.96210226e-01 -5.69455165e-03 -6.73363920e+01] [-5.22785009e-02 1.15380577e-03 9.98631878e-01 -3.32516340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.390714057 meters 0.026895435402745044 Centerline is valid? [True, True] Translation: X:510.48, Y:-67.35, Z:-33.25 [[ 9.95085253e-01 8.44146325e-02 5.17639821e-02 5.10477958e+02] [-8.42338797e-02 9.96429894e-01 -5.66748783e-03 -6.73473257e+01] [-5.20575981e-02 1.27935252e-03 9.98643265e-01 -3.32541150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4207140569999 meters 0.027952962475417897 Centerline is valid? [True, True] Translation: X:510.51, Y:-67.36, Z:-33.26 [[ 9.95457758e-01 8.02448073e-02 5.12310828e-02 5.10505847e+02] [-8.00624195e-02 9.96774089e-01 -5.60574119e-03 -6.73591317e+01] [-5.15156475e-02 1.47859411e-03 9.98671093e-01 -3.32570223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4507140569999 meters 0.02652170678568559 Centerline is valid? [True, True] Translation: X:510.53, Y:-67.36, Z:-33.26 [[ 9.95665429e-01 7.77343814e-02 5.10658416e-02 5.10533947e+02] [-7.75499877e-02 9.96972819e-01 -5.58541009e-03 -6.73621170e+01] [-5.13454345e-02 1.60104434e-03 9.98679670e-01 -3.32583849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.480714057 meters 0.026894539002666643 Centerline is valid? [True, True] Translation: X:510.56, Y:-67.37, Z:-33.26 [[ 9.96101779e-01 7.22088669e-02 5.06668148e-02 5.10563518e+02] [-7.20204689e-02 9.97387787e-01 -5.53665820e-03 -6.73726155e+01] [-5.09342581e-02 1.86602732e-03 9.98700265e-01 -3.32608494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.510714057 meters 0.027430389522007628 Centerline is valid? [True, True] Translation: X:510.59, Y:-67.38, Z:-33.26 [[ 9.96324992e-01 6.90837230e-02 5.06354497e-02 5.10592265e+02] [-6.88915172e-02 9.97608811e-01 -5.53348191e-03 -6.73804112e+01] [-5.08966443e-02 2.02479337e-03 9.98701873e-01 -3.32628720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.540714057 meters 0.028632952292002915 Centerline is valid? [True, True] Translation: X:510.62, Y:-67.39, Z:-33.27 [[ 9.96543981e-01 6.60230491e-02 5.04088475e-02 5.10621086e+02] [-6.58287473e-02 9.97815740e-01 -5.50688464e-03 -6.73879765e+01] [-5.06623228e-02 2.16950146e-03 9.98713484e-01 -3.32652076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5707140569999 meters 0.031891868975937016 Centerline is valid? [True, True] Translation: X:510.65, Y:-67.40, Z:-33.27 [[ 9.96989894e-01 5.96384627e-02 4.95419440e-02 5.10649324e+02] [-5.94430239e-02 9.98217038e-01 -5.41027452e-03 -6.74024528e+01] [-4.97762731e-02 2.44906606e-03 9.98757390e-01 -3.32680182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.6007140569999 meters 0.03536031708082034 Centerline is valid? [True, True] Translation: X:510.68, Y:-67.42, Z:-33.27 [[ 9.97413127e-01 5.24458648e-02 4.91577661e-02 5.10677572e+02] [-5.22447857e-02 9.98619884e-01 -5.36738058e-03 -6.74155375e+01] [-4.93714196e-02 2.78525889e-03 9.98776604e-01 -3.32705588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.630714057 meters 0.0343633050179444 Centerline is valid? [True, True] Translation: X:510.71, Y:-67.42, Z:-33.27 [[ 9.97609848e-01 4.90423075e-02 4.86769203e-02 5.10708086e+02] [-4.88411639e-02 9.98792423e-01 -5.31379091e-03 -6.74188659e+01] [-4.88787398e-02 2.92365270e-03 9.98800441e-01 -3.32721382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.660714057 meters 0.04046422336694643 Centerline is valid? [True, True] Translation: X:510.74, Y:-67.43, Z:-33.27 [[ 9.97946770e-01 4.21521175e-02 4.82228542e-02 5.10736083e+02] [-4.19466656e-02 9.99105979e-01 -5.26499576e-03 -6.74339224e+01] [-4.84016727e-02 3.23139757e-03 9.98822725e-01 -3.32744266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.6907140569999 meters 0.039737645880168454 Centerline is valid? [True, True] Translation: X:510.77, Y:-67.44, Z:-33.28 [[ 9.98047726e-01 3.94298982e-02 4.84357249e-02 5.10767200e+02] [-3.92193753e-02 9.99216624e-01 -5.28951255e-03 -6.74373277e+01] [-4.86063465e-02 3.37956709e-03 9.98812295e-01 -3.32756525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.7207140569999 meters 0.042426663071830954 Centerline is valid? [True, True] Translation: X:510.80, Y:-67.45, Z:-33.28 [[ 9.98211943e-01 3.48971331e-02 4.85294405e-02 5.10796551e+02] [-3.46803701e-02 9.99384392e-01 -5.30174252e-03 -6.74458785e+01] [-4.86845810e-02 3.60924375e-03 9.98807682e-01 -3.32769386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.750714057 meters 0.04076564745549417 Centerline is valid? [True, True] Translation: X:510.83, Y:-67.45, Z:-33.28 [[ 9.98254951e-01 3.34468326e-02 4.86658235e-02 5.10829096e+02] [-3.32271519e-02 9.99433686e-01 -5.31630522e-03 -6.74472838e+01] [-4.88160769e-02 3.69000130e-03 9.98800968e-01 -3.32779291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.780714057 meters 0.04193629831662396 Centerline is valid? [True, True] Translation: X:510.86, Y:-67.45, Z:-33.28 [[ 9.98266094e-01 3.22154288e-02 4.92643042e-02 5.10860482e+02] [-3.19887024e-02 9.99473729e-01 -5.38397487e-03 -6.74513887e+01] [-4.94118249e-02 3.79873840e-03 9.98771266e-01 -3.32789878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.8107140569999 meters 0.043467559204682295 Centerline is valid? [True, True] Translation: X:510.89, Y:-67.46, Z:-33.28 [[ 9.98261172e-01 3.22619058e-02 4.93335698e-02 5.10891225e+02] [-3.20340220e-02 9.99472174e-01 -5.40315333e-03 -6.74563540e+01] [-4.94818463e-02 3.81340552e-03 9.98767743e-01 -3.32808553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.8407140569999 meters 0.04127490048679546 Centerline is valid? [True, True] Translation: X:510.92, Y:-67.46, Z:-33.28 [[ 9.98295515e-01 3.22883073e-02 4.86161431e-02 5.10923599e+02] [-3.20665083e-02 9.99471496e-01 -5.33549839e-03 -6.74558527e+01] [-4.87627235e-02 3.76745416e-03 9.98803285e-01 -3.32826233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.870714057 meters 0.041338853810275564 Centerline is valid? [True, True] Translation: X:510.96, Y:-67.46, Z:-33.29 [[ 9.98352543e-01 3.21157807e-02 4.75476192e-02 5.10955381e+02] [-3.19028767e-02 9.99477290e-01 -5.23002711e-03 -6.74579293e+01] [-4.76907320e-02 3.70450503e-03 9.98855280e-01 -3.32855614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.900714057 meters 0.04328140824609726 Centerline is valid? [True, True] Translation: X:510.99, Y:-67.46, Z:-33.29 [[ 9.98380588e-01 3.17713521e-02 4.71887969e-02 5.10985923e+02] [-3.15606476e-02 9.99488293e-01 -5.20370503e-03 -6.74628369e+01] [-4.73299788e-02 3.70596910e-03 9.98872434e-01 -3.32879821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.9307140569999 meters 0.043595660934938565 Centerline is valid? [True, True] Translation: X:511.02, Y:-67.46, Z:-33.29 [[ 9.98470288e-01 3.00605385e-02 4.64052506e-02 5.11016951e+02] [-2.98545978e-02 9.99541115e-01 -5.12474859e-03 -6.74643441e+01] [-4.65380086e-02 3.73149911e-03 9.98909550e-01 -3.32904488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.9607140569999 meters 0.04352397834341735 Centerline is valid? [True, True] Translation: X:511.05, Y:-67.47, Z:-33.29 [[ 9.98516645e-01 2.91766022e-02 4.59699487e-02 5.11048688e+02] [-2.89735719e-02 9.99567285e-01 -5.07686451e-03 -6.74671537e+01] [-4.60981825e-02 3.73742010e-03 9.98929922e-01 -3.32925414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.990714057 meters 0.045322076147249216 Centerline is valid? [True, True] Translation: X:511.08, Y:-67.47, Z:-33.30 [[ 9.98661658e-01 2.60331363e-02 4.46896916e-02 5.11078560e+02] [-2.58379636e-02 9.99653941e-01 -4.93947588e-03 -6.74713794e+01] [-4.48028164e-02 3.77817454e-03 9.98988705e-01 -3.32956876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.020714057 meters 0.046566963920556266 Centerline is valid? [True, True] Translation: X:511.11, Y:-67.48, Z:-33.30 [[ 9.98724847e-01 2.43998959e-02 4.41964271e-02 5.11109165e+02] [-2.42074270e-02 9.99695023e-01 -4.88491142e-03 -6.74756076e+01] [-4.43021395e-02 3.80880063e-03 9.99010918e-01 -3.32979593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.0507140569999 meters 0.04826545226074378 Centerline is valid? [True, True] Translation: X:511.14, Y:-67.48, Z:-33.30 [[ 9.98853099e-01 2.11931968e-02 4.29340713e-02 5.11138885e+02] [-2.10085956e-02 9.99768029e-01 -4.74634046e-03 -6.74800343e+01] [-4.30247020e-02 3.83891233e-03 9.99066633e-01 -3.33011213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.0807140569999 meters 0.05085708719146798 Centerline is valid? [True, True] Translation: X:511.17, Y:-67.49, Z:-33.30 [[ 9.98971903e-01 1.84991665e-02 4.13874239e-02 5.11167916e+02] [-1.83253273e-02 9.99821606e-01 -4.57576958e-03 -6.74852444e+01] [-4.14646885e-02 3.81262716e-03 9.99132696e-01 -3.33045278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.110714057 meters 0.05165968679119483 Centerline is valid? [True, True] Translation: X:511.20, Y:-67.49, Z:-33.31 [[ 9.99000152e-01 1.77780323e-02 4.10199615e-02 5.11199761e+02] [-1.76067489e-02 9.99834713e-01 -4.53313408e-03 -6.74888502e+01] [-4.10937716e-02 3.80637348e-03 9.99148044e-01 -3.33068777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.140714057 meters 0.04715135722261259 Centerline is valid? [True, True] Translation: X:511.23, Y:-67.48, Z:-33.31 [[ 9.99018634e-01 1.74490401e-02 4.07099561e-02 5.11232694e+02] [-1.72800788e-02 9.99840568e-01 -4.49859199e-03 -6.74828719e+01] [-4.07819618e-02 3.79070598e-03 9.99160879e-01 -3.33069592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.1707140569999 meters 0.05290101911709217 Centerline is valid? [True, True] Translation: X:511.26, Y:-67.49, Z:-33.31 [[ 9.98964450e-01 1.84717697e-02 4.15790912e-02 5.11263425e+02] [-1.82959284e-02 9.99822008e-01 -4.60567458e-03 -6.74932266e+01] [-4.16567654e-02 3.84017710e-03 9.99124600e-01 -3.33094296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.2007140569999 meters 0.0466554273522408 Centerline is valid? [True, True] Translation: X:511.30, Y:-67.48, Z:-33.31 [[ 9.98872082e-01 2.03644906e-02 4.28934835e-02 5.11295732e+02] [-2.01784377e-02 9.99785034e-01 -4.76610321e-03 -6.74837790e+01] [-4.29813221e-02 3.89520395e-03 9.99068283e-01 -3.33074667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.230714057 meters 0.048156519981776634 Centerline is valid? [True, True] Translation: X:511.33, Y:-67.49, Z:-33.31 [[ 9.98812296e-01 2.18671027e-02 4.35410957e-02 5.11326531e+02] [-2.16767754e-02 9.99753322e-01 -4.83861802e-03 -6.74874347e+01] [-4.36361616e-02 3.88904062e-03 9.99039920e-01 -3.33085733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.260714057 meters 0.044933508098177144 Centerline is valid? [True, True] Translation: X:511.36, Y:-67.48, Z:-33.31 [[ 9.98612501e-01 2.59540942e-02 4.58198463e-02 5.11358304e+02] [-2.57474734e-02 9.99655500e-01 -5.09395553e-03 -6.74829079e+01] [-4.59362704e-02 3.90714240e-03 9.98936731e-01 -3.33077810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.290714057 meters 0.044775532896849754 Centerline is valid? [True, True] Translation: X:511.39, Y:-67.48, Z:-33.31 [[ 9.98509972e-01 2.80731704e-02 4.67945798e-02 5.11388614e+02] [-2.78599395e-02 9.99598296e-01 -5.20286385e-03 -6.74846973e+01] [-4.69218431e-02 3.89141728e-03 9.98890984e-01 -3.33087551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.3207140569999 meters 0.04124718421339969 Centerline is valid? [True, True] Translation: X:511.42, Y:-67.48, Z:-33.31 [[ 9.98279289e-01 3.32421445e-02 4.83054931e-02 5.11420351e+02] [-3.30209216e-02 9.99440230e-01 -5.37070238e-03 -6.74802560e+01] [-4.84569868e-02 3.76636905e-03 9.98818169e-01 -3.33093478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.3507140569999 meters 0.04028659255569554 Centerline is valid? [True, True] Translation: X:511.45, Y:-67.48, Z:-33.31 [[ 9.98074524e-01 3.89605268e-02 4.82630537e-02 5.11450052e+02] [-3.87462803e-02 9.99234667e-01 -5.36712311e-03 -6.74788571e+01] [-4.84352224e-02 3.48677503e-03 9.98820240e-01 -3.33112029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.380714057 meters 0.039431926659592095 Centerline is valid? [True, True] Translation: X:511.48, Y:-67.48, Z:-33.31 [[ 9.97987686e-01 4.20194534e-02 4.74862567e-02 5.11480954e+02] [-4.18155634e-02 9.99111399e-01 -5.27937008e-03 -6.74794508e+01] [-4.76658966e-02 3.28308175e-03 9.98857940e-01 -3.33132289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.410714057 meters 0.03733085552963181 Centerline is valid? [True, True] Translation: X:511.51, Y:-67.48, Z:-33.32 [[ 9.97808690e-01 4.82378152e-02 4.52872120e-02 5.11512362e+02] [-4.80587109e-02 9.98831817e-01 -5.03597559e-03 -6.74760871e+01] [-4.54772327e-02 2.84849518e-03 9.98961314e-01 -3.33168036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4407140569999 meters 0.03613696757196861 Centerline is valid? [True, True] Translation: X:511.54, Y:-67.48, Z:-33.32 [[ 9.97645206e-01 5.19130255e-02 4.48227643e-02 5.11542605e+02] [-5.17412202e-02 9.98648082e-01 -4.98548082e-03 -6.74764228e+01] [-4.50209789e-02 2.65455653e-03 9.98982515e-01 -3.33192283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4707140569999 meters 0.03299212276221065 Centerline is valid? [True, True] Translation: X:511.57, Y:-67.47, Z:-33.32 [[ 9.97289729e-01 5.90670617e-02 4.38666012e-02 5.11572988e+02] [-5.89094330e-02 9.98251410e-01 -4.87854478e-03 -6.74719089e+01] [-4.40780578e-02 2.28116599e-03 9.99025486e-01 -3.33217606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.500714057 meters 0.031844067996530896 Centerline is valid? [True, True] Translation: X:511.60, Y:-67.47, Z:-33.32 [[ 9.97100914e-01 6.25954453e-02 4.32617263e-02 5.11603426e+02] [-6.24455078e-02 9.98036785e-01 -4.80988703e-03 -6.74724439e+01] [-4.34778712e-02 2.09444229e-03 9.99052195e-01 -3.33237453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.530714057 meters 0.030036152888975248 Centerline is valid? [True, True] Translation: X:511.63, Y:-67.47, Z:-33.32 [[ 9.96666863e-01 6.91260182e-02 4.33215619e-02 5.11634016e+02] [-6.89818595e-02 9.97606292e-01 -4.81555256e-03 -6.74699366e+01] [-4.35507427e-02 1.81109977e-03 9.99049575e-01 -3.33249740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.5607140569999 meters 0.02935274997307591 Centerline is valid? [True, True] Translation: X:511.66, Y:-67.47, Z:-33.33 [[ 9.96418032e-01 7.23178265e-02 4.38319234e-02 5.11664305e+02] [-7.21733264e-02 9.97380204e-01 -4.87235528e-03 -6.74711163e+01] [-4.40694509e-02 1.69140695e-03 9.99027038e-01 -3.33259405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.5907140569999 meters 0.027883365917513912 Centerline is valid? [True, True] Translation: X:511.69, Y:-67.47, Z:-33.33 [[ 9.95946542e-01 7.80202372e-02 4.47585461e-02 5.11693681e+02] [-7.78753308e-02 9.96950693e-01 -4.97476105e-03 -6.74708628e+01] [-4.50101956e-02 1.46900948e-03 9.98985448e-01 -3.33268409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.620714057 meters 0.02831697870858141 Centerline is valid? [True, True] Translation: X:511.72, Y:-67.47, Z:-33.33 [[ 9.95829220e-01 7.95594324e-02 4.46593868e-02 5.11721627e+02] [-7.94167638e-02 9.96829148e-01 -4.96261237e-03 -6.74747117e+01] [-4.49126011e-02 1.39521044e-03 9.98989946e-01 -3.33294995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.650714057 meters 0.026857051309014633 Centerline is valid? [True, True] Translation: X:511.75, Y:-67.48, Z:-33.33 [[ 9.95655042e-01 8.13475812e-02 4.53167490e-02 5.11750895e+02] [-8.12025844e-02 9.96684903e-01 -5.03441826e-03 -6.74758719e+01] [-4.55760573e-02 1.33270679e-03 9.98959983e-01 -3.33298375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.6807140569999 meters 0.026499473938342843 Centerline is valid? [True, True] Translation: X:511.78, Y:-67.48, Z:-33.33 [[ 9.95646601e-01 8.13093779e-02 4.55700592e-02 5.11779083e+02] [-8.11631839e-02 9.96688021e-01 -5.05232648e-03 -6.74788311e+01] [-4.58299336e-02 1.33172060e-03 9.98948369e-01 -3.33310262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.7107140569999 meters 0.02680616977745498 Centerline is valid? [True, True] Translation: X:511.81, Y:-67.48, Z:-33.33 [[ 9.95714152e-01 8.01901361e-02 4.60746172e-02 5.11807001e+02] [-8.00401800e-02 9.96778625e-01 -5.09333930e-03 -6.74845249e+01] [-4.63346292e-02 1.38368936e-03 9.98925016e-01 -3.33315185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.740714057 meters 0.029130278875856137 Centerline is valid? [True, True] Translation: X:511.83, Y:-67.50, Z:-33.33 [[ 9.95805562e-01 7.85997009e-02 4.68334227e-02 5.11833696e+02] [-7.84431570e-02 9.96905161e-01 -5.17398425e-03 -6.74962893e+01] [-4.70951545e-02 1.47852076e-03 9.98889313e-01 -3.33343561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.770714057 meters 0.029584398290774257 Centerline is valid? [True, True] Translation: X:511.86, Y:-67.50, Z:-33.34 [[ 9.95845753e-01 7.80557020e-02 4.68886284e-02 5.11860963e+02] [-7.78983869e-02 9.96947868e-01 -5.17583827e-03 -6.75017952e+01] [-4.71495218e-02 1.50178805e-03 9.98886714e-01 -3.33359476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.8007140569999 meters 0.027603996942350342 Centerline is valid? [True, True] Translation: X:511.89, Y:-67.50, Z:-33.34 [[ 9.96086259e-01 7.55092602e-02 4.59403595e-02 5.11890224e+02] [-7.53557281e-02 9.97143840e-01 -5.06718621e-03 -6.75032728e+01] [-4.61917659e-02 1.58548532e-03 9.98931332e-01 -3.33365757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.8307140569999 meters 0.02772823540977996 Centerline is valid? [True, True] Translation: X:511.92, Y:-67.51, Z:-33.34 [[ 9.96191497e-01 7.40858387e-02 4.59759708e-02 5.11918166e+02] [-7.39306598e-02 9.97250502e-01 -5.06884708e-03 -6.75089307e+01] [-4.62250898e-02 1.65050850e-03 9.98929686e-01 -3.33390783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.860714057 meters 0.02772823540977996 Centerline is valid? [True, True] Translation: X:511.95, Y:-67.51, Z:-33.34 [[ 9.96199373e-01 7.39796603e-02 4.59762840e-02 5.11945437e+02] [-7.38244996e-02 9.97258381e-01 -5.06600445e-03 -6.75118460e+01] [-4.62250159e-02 1.65257429e-03 9.98929686e-01 -3.33406692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.890714057 meters 0.02934265752860843 Centerline is valid? [True, True] Translation: X:511.97, Y:-67.52, Z:-33.34 [[ 9.96501549e-01 7.01805611e-02 4.53800760e-02 5.11972452e+02] [-7.00257089e-02 9.97532681e-01 -4.99505249e-03 -6.75217954e+01] [-4.56186645e-02 1.79980555e-03 9.98957305e-01 -3.33432623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9207140569999 meters 0.029230287134992514 Centerline is valid? [True, True] Translation: X:512.00, Y:-67.53, Z:-33.34 [[ 9.96678097e-01 6.79698531e-02 4.48650193e-02 5.12001963e+02] [-6.78164264e-02 9.97685612e-01 -4.93475160e-03 -6.75265406e+01] [-4.50965986e-02 1.87577356e-03 9.98980870e-01 -3.33447346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9507140569999 meters 0.030352790915425684 Centerline is valid? [True, True] Translation: X:512.03, Y:-67.54, Z:-33.35 [[ 9.96846395e-01 6.50984030e-02 4.53812936e-02 5.12030628e+02] [-6.49385282e-02 9.97876790e-01 -4.98989009e-03 -6.75351919e+01] [-4.56097735e-02 2.02715954e-03 9.98957276e-01 -3.33459310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.980714057 meters 0.030830855419283276 Centerline is valid? [True, True] Translation: X:512.06, Y:-67.54, Z:-33.35 [[ 9.96927117e-01 6.38037833e-02 4.54466835e-02 5.12058579e+02] [-6.36421495e-02 9.97960278e-01 -4.99611260e-03 -6.75395772e+01] [-4.56727558e-02 2.08843551e-03 9.98954272e-01 -3.33471880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.010714057 meters 0.031519193574353656 Centerline is valid? [True, True] Translation: X:512.09, Y:-67.55, Z:-33.35 [[ 9.97044195e-01 6.24901926e-02 4.46973156e-02 5.12086082e+02] [-6.23327089e-02 9.98043349e-01 -4.90981684e-03 -6.75462566e+01] [-4.49166740e-02 2.10919961e-03 9.98988510e-01 -3.33491398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.040714057 meters 0.03206447859044868 Centerline is valid? [True, True] Translation: X:512.11, Y:-67.55, Z:-33.35 [[ 9.97104629e-01 6.16470955e-02 4.45196004e-02 5.12114567e+02] [-6.14902100e-02 9.98095727e-01 -4.88615306e-03 -6.75523570e+01] [-4.47360400e-02 2.13448626e-03 9.98996562e-01 -3.33516802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0707140569999 meters 0.03213265039980083 Centerline is valid? [True, True] Translation: X:512.14, Y:-67.56, Z:-33.35 [[ 9.97141266e-01 6.12597568e-02 4.42327729e-02 5.12142828e+02] [-6.11046451e-02 9.98119574e-01 -4.85158849e-03 -6.75566060e+01] [-4.44468035e-02 2.13489120e-03 9.99009471e-01 -3.33535028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.1007140569999 meters 0.03333813818267167 Centerline is valid? [True, True] Translation: X:512.17, Y:-67.56, Z:-33.36 [[ 9.97250018e-01 6.01719294e-02 4.32636188e-02 5.12169980e+02] [-6.00226323e-02 9.98185749e-01 -4.74281344e-03 -6.75616997e+01] [-4.34705119e-02 2.13297451e-03 9.99052434e-01 -3.33557577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.130714057 meters 0.031169215301233597 Centerline is valid? [True, True] Translation: X:512.20, Y:-67.56, Z:-33.36 [[ 9.97303920e-01 5.97820224e-02 4.25558487e-02 5.12199121e+02] [-5.96374238e-02 9.98209225e-01 -4.66045672e-03 -6.75620248e+01] [-4.27582523e-02 2.10997057e-03 9.99083220e-01 -3.33571221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.160714057 meters 0.03442335665493852 Centerline is valid? [True, True] Translation: X:512.23, Y:-67.57, Z:-33.36 [[ 9.97443047e-01 5.88557209e-02 4.05385374e-02 5.12225533e+02] [-5.87238383e-02 9.98264404e-01 -4.43743119e-03 -6.75709766e+01] [-4.07293471e-02 2.04550637e-03 9.99168122e-01 -3.33622040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.1907140569999 meters 0.03502611399245029 Centerline is valid? [True, True] Translation: X:512.25, Y:-67.58, Z:-33.37 [[ 9.97509009e-01 5.85077281e-02 3.94033432e-02 5.12252378e+02] [-5.83830306e-02 9.98284957e-01 -4.30892065e-03 -6.75755111e+01] [-3.95878699e-02 1.99770057e-03 9.99214096e-01 -3.33651665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.2207140569999 meters 0.03561544388575866 Centerline is valid? [True, True] Translation: X:512.28, Y:-67.58, Z:-33.37 [[ 9.97577004e-01 5.76651193e-02 3.89211454e-02 5.12280628e+02] [-5.75429949e-02 9.98333976e-01 -4.25165761e-03 -6.75789953e+01] [-3.91014741e-02 2.00171659e-03 9.99233240e-01 -3.33669735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.250714057 meters 0.036267463916175635 Centerline is valid? [True, True] Translation: X:512.31, Y:-67.58, Z:-33.37 [[ 9.97657159e-01 5.66817322e-02 3.83063290e-02 5.12309317e+02] [-5.65628125e-02 9.98390284e-01 -4.18196865e-03 -6.75823737e+01] [-3.84817079e-02 2.00545725e-03 9.99257292e-01 -3.33687150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.280714057 meters 0.03784571821139208 Centerline is valid? [True, True] Translation: X:512.34, Y:-67.59, Z:-33.37 [[ 9.97715926e-01 5.52784290e-02 3.88230138e-02 5.12336670e+02] [-5.51553006e-02 9.98468801e-01 -4.23627526e-03 -6.75869235e+01] [-3.89977427e-02 2.08530430e-03 9.99237123e-01 -3.33699401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.3107140569999 meters 0.03464788322723326 Centerline is valid? [True, True] Translation: X:512.37, Y:-67.59, Z:-33.37 [[ 9.97725192e-01 5.46100436e-02 3.95244824e-02 5.12366014e+02] [-5.44820764e-02 9.98505454e-01 -4.30837344e-03 -6.75850458e+01] [-3.97006917e-02 2.14519685e-03 9.99209314e-01 -3.33687133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.3407140569999 meters 0.03921827574640768 Centerline is valid? [True, True] Translation: X:512.39, Y:-67.59, Z:-33.37 [[ 9.97732516e-01 5.35055605e-02 4.08286820e-02 5.12392986e+02] [-5.33681926e-02 9.98564997e-01 -4.44782265e-03 -6.75949744e+01] [-4.10080760e-02 2.25878432e-03 9.99156262e-01 -3.33710381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.370714057 meters 0.03600330090113197 Centerline is valid? [True, True] Translation: X:512.42, Y:-67.59, Z:-33.37 [[ 9.97715261e-01 5.31757674e-02 4.16724854e-02 5.12422163e+02] [-5.30325398e-02 9.98582484e-01 -4.53574142e-03 -6.75925643e+01] [-4.18546055e-02 2.31538069e-03 9.99121029e-01 -3.33702980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.400714057 meters 0.03627679236682719 Centerline is valid? [True, True] Translation: X:512.45, Y:-67.59, Z:-33.37 [[ 9.97619152e-01 5.35586363e-02 4.34453622e-02 5.12451253e+02] [-5.34034533e-02 9.98561836e-01 -4.72553076e-03 -6.75949238e+01] [-4.36359736e-02 2.39414762e-03 9.99044629e-01 -3.33703545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.4307140569999 meters 0.03774262717072206 Centerline is valid? [True, True] Translation: X:512.48, Y:-67.60, Z:-33.37 [[ 9.97584915e-01 5.36284909e-02 4.41398046e-02 5.12479100e+02] [-5.34685191e-02 9.98558010e-01 -4.79773450e-03 -6.75991426e+01] [-4.43334507e-02 2.42605757e-03 9.99013843e-01 -3.33719198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.4607140569999 meters 0.036127478536762785 Centerline is valid? [True, True] Translation: X:512.51, Y:-67.60, Z:-33.37 [[ 9.97596118e-01 5.24352529e-02 4.53048607e-02 5.12508295e+02] [-5.22655906e-02 9.98621089e-01 -4.92218929e-03 -6.75994155e+01] [-4.55004856e-02 2.54247163e-03 9.98961081e-01 -3.33723314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.490714057 meters 0.03578842992827933 Centerline is valid? [True, True] Translation: X:512.54, Y:-67.60, Z:-33.37 [[ 9.97673453e-01 5.11806298e-02 4.50358052e-02 5.12538153e+02] [-5.10118644e-02 9.98686078e-01 -4.88943475e-03 -6.76018638e+01] [-4.52268760e-02 2.58069886e-03 9.98973408e-01 -3.33741106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.520714057 meters 0.0350290341019526 Centerline is valid? [True, True] Translation: X:512.57, Y:-67.61, Z:-33.38 [[ 9.97784169e-01 4.90020417e-02 4.50061359e-02 5.12567324e+02] [-4.88313620e-02 9.98795093e-01 -4.88464207e-03 -6.76051227e+01] [-4.51912652e-02 2.67610761e-03 9.98974768e-01 -3.33770263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.5507140569999 meters 0.036846321384639426 Centerline is valid? [True, True] Translation: X:512.60, Y:-67.61, Z:-33.38 [[ 9.97878969e-01 4.74138252e-02 4.46037209e-02 5.12595612e+02] [-4.72446777e-02 9.98871624e-01 -4.83937803e-03 -6.76113179e+01] [-4.47828445e-02 2.72182514e-03 9.98993037e-01 -3.33803064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.5807140569999 meters 0.04073180942271117 Centerline is valid? [True, True] Translation: X:512.62, Y:-67.62, Z:-33.38 [[ 9.98034504e-01 4.51624355e-02 4.34451809e-02 5.12624117e+02] [-4.49999279e-02 9.98975879e-01 -4.71175315e-03 -6.76202742e+01] [-4.36134820e-02 2.74746221e-03 9.99044702e-01 -3.33832919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.610714057 meters 0.03559260118605686 Centerline is valid? [True, True] Translation: X:512.66, Y:-67.61, Z:-33.38 [[ 9.98169068e-01 4.30335955e-02 4.25043791e-02 5.12655182e+02] [-4.28761436e-02 9.99069762e-01 -4.60949419e-03 -6.76147202e+01] [-4.26632030e-02 2.77863066e-03 9.99085647e-01 -3.33832995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.640714057 meters 0.039260819686974265 Centerline is valid? [True, True] Translation: X:512.68, Y:-67.62, Z:-33.39 [[ 9.98150931e-01 4.28491214e-02 4.31123125e-02 5.12684636e+02] [-4.26869810e-02 9.99077558e-01 -4.67489895e-03 -6.76239538e+01] [-4.32728593e-02 2.82592027e-03 9.99059294e-01 -3.33863452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.6707140569999 meters 0.03715396139279095 Centerline is valid? [True, True] Translation: X:512.72, Y:-67.62, Z:-33.39 [[ 9.98113600e-01 4.34463691e-02 4.33780467e-02 5.12715074e+02] [-4.32827374e-02 9.99051785e-01 -4.70477185e-03 -6.76229586e+01] [-4.35413202e-02 2.81837617e-03 9.99047652e-01 -3.33866617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.7007140569999 meters 0.035444142030092794 Centerline is valid? [True, True] Translation: X:512.75, Y:-67.62, Z:-33.39 [[ 9.98090361e-01 4.36563127e-02 4.37007709e-02 5.12745658e+02] [-4.34904354e-02 9.99042600e-01 -4.73977444e-03 -6.76225345e+01] [-4.38658528e-02 2.83015763e-03 9.99033421e-01 -3.33874294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.730714057 meters 0.042191900299532244 Centerline is valid? [True, True] Translation: X:512.77, Y:-67.64, Z:-33.39 [[ 9.98011352e-01 4.43736194e-02 4.47696607e-02 5.12774726e+02] [-4.42002979e-02 9.99010895e-01 -4.85440782e-03 -6.76358147e+01] [-4.49407864e-02 2.86592178e-03 9.98985542e-01 -3.33906678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.760714057 meters 0.03457768311051777 Centerline is valid? [True, True] Translation: X:512.81, Y:-67.63, Z:-33.39 [[ 9.97987021e-01 4.39539588e-02 4.57160404e-02 5.12806562e+02] [-4.37725122e-02 9.99029197e-01 -4.96300825e-03 -6.76257860e+01] [-4.58898030e-02 2.95191188e-03 9.98942147e-01 -3.33898308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.790714057 meters 0.037007387249356205 Centerline is valid? [True, True] Translation: X:512.84, Y:-67.63, Z:-33.39 [[ 9.97995329e-01 4.30399289e-02 4.63992201e-02 5.12836027e+02] [-4.28520400e-02 9.99068732e-01 -5.03696908e-03 -6.76326637e+01] [-4.65728008e-02 3.03857038e-03 9.98910277e-01 -3.33923229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.8207140569999 meters 0.038128069695663035 Centerline is valid? [True, True] Translation: X:512.87, Y:-67.64, Z:-33.39 [[ 9.98028502e-01 4.21130937e-02 4.65359753e-02 5.12866980e+02] [-4.19231093e-02 9.99108070e-01 -5.05144254e-03 -6.76376273e+01] [-4.67072003e-02 3.09055086e-03 9.98903842e-01 -3.33946132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.8507140569999 meters 0.03835992964967758 Centerline is valid? [True, True] Translation: X:512.90, Y:-67.64, Z:-33.40 [[ 9.98151510e-01 3.88910850e-02 4.67016665e-02 5.12897904e+02] [-3.86958882e-02 9.99238137e-01 -5.07682071e-03 -6.76400905e+01] [-4.68635293e-02 3.26027379e-03 9.98895981e-01 -3.33959958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.880714057 meters 0.03866651137959393 Centerline is valid? [True, True] Translation: X:512.93, Y:-67.64, Z:-33.40 [[ 9.98238659e-01 3.69193270e-02 4.64386018e-02 5.12929008e+02] [-3.67241736e-02 9.99312686e-01 -5.04886131e-03 -6.76435329e+01] [-4.65930844e-02 3.33454927e-03 9.98908387e-01 -3.33973971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.910714057 meters 0.041630228521823534 Centerline is valid? [True, True] Translation: X:512.96, Y:-67.65, Z:-33.40 [[ 9.98410488e-01 3.21987149e-02 4.62573217e-02 5.12959225e+02] [-3.19999633e-02 9.99475208e-01 -5.03095126e-03 -6.76508119e+01] [-4.63950365e-02 3.54272191e-03 9.98916888e-01 -3.33997765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9407140569999 meters 0.041363551951952314 Centerline is valid? [True, True] Translation: X:512.99, Y:-67.65, Z:-33.40 [[ 9.98497826e-01 2.96362705e-02 4.60845173e-02 5.12989691e+02] [-2.94362303e-02 9.99554087e-01 -5.01346931e-03 -6.76537508e+01] [-4.62125481e-02 3.64938374e-03 9.98924963e-01 -3.34015125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9707140569999 meters 0.045129857757859805 Centerline is valid? [True, True] Translation: X:513.02, Y:-67.66, Z:-33.40 [[ 9.98577147e-01 2.69902392e-02 4.59913990e-02 5.13019027e+02] [-2.67881715e-02 9.99628606e-01 -5.00439873e-03 -6.76630356e+01] [-4.61093880e-02 3.76525272e-03 9.98929300e-01 -3.34043299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.000714057 meters 0.047420578549990704 Centerline is valid? [True, True] Translation: X:513.05, Y:-67.67, Z:-33.41 [[ 9.98712423e-01 2.24074408e-02 4.55126698e-02 5.13049516e+02] [-2.22048550e-02 9.99741178e-01 -4.95195663e-03 -6.76708956e+01] [-4.56118508e-02 3.93497837e-03 9.98951488e-01 -3.34073449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.030714057 meters 0.0483125923733531 Centerline is valid? [True, True] Translation: X:513.08, Y:-67.68, Z:-33.41 [[ 9.98768487e-01 1.94988618e-02 4.56213075e-02 5.13079692e+02] [-1.92922247e-02 9.99801558e-01 -4.96536275e-03 -6.76756558e+01] [-4.57090733e-02 4.07911133e-03 9.98946466e-01 -3.34094063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.0607140569999 meters 0.046677800975096294 Centerline is valid? [True, True] Translation: X:513.11, Y:-67.68, Z:-33.41 [[ 9.98782324e-01 1.88423713e-02 4.55942398e-02 5.13111505e+02] [-1.86354080e-02 9.99814042e-01 -4.96008600e-03 -6.76763903e+01] [-4.56792210e-02 4.10437896e-03 9.98947728e-01 -3.34108419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.0907140569999 meters 0.04652011197186792 Centerline is valid? [True, True] Translation: X:513.14, Y:-67.68, Z:-33.41 [[ 9.98745617e-01 1.95952333e-02 4.60784136e-02 5.13143288e+02] [-1.93841409e-02 9.99799489e-01 -5.02357699e-03 -6.76788998e+01] [-4.61676126e-02 4.12408503e-03 9.98925194e-01 -3.34118186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.120714057 meters 0.046313962424300845 Centerline is valid? [True, True] Translation: X:513.17, Y:-67.68, Z:-33.41 [[ 9.98692350e-01 2.07429650e-02 4.67260086e-02 5.13174857e+02] [-2.05264690e-02 9.99776259e-01 -5.10842595e-03 -6.76811976e+01] [-4.68215180e-02 4.14262594e-03 9.98894681e-01 -3.34135960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.150714057 meters 0.04550856684892768 Centerline is valid? [True, True] Translation: X:513.21, Y:-67.68, Z:-33.42 [[ 9.98640282e-01 2.29911000e-02 4.67867040e-02 5.13206053e+02] [-2.27763514e-02 9.99727485e-01 -5.11796177e-03 -6.76822720e+01] [-4.68916215e-02 4.04537238e-03 9.98891791e-01 -3.34151331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.1807140569999 meters 0.04846805677766793 Centerline is valid? [True, True] Translation: X:513.24, Y:-67.69, Z:-33.42 [[ 9.98624168e-01 2.42577282e-02 4.64901370e-02 5.13236289e+02] [-2.40471161e-02 9.99697898e-01 -5.08427207e-03 -6.76897443e+01] [-4.65994251e-02 3.95932324e-03 9.98905810e-01 -3.34183502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.2107140569999 meters 0.04468694318195434 Centerline is valid? [True, True] Translation: X:513.27, Y:-67.69, Z:-33.42 [[ 9.98684866e-01 2.52505769e-02 4.46200362e-02 5.13268783e+02] [-2.50571384e-02 9.99674064e-01 -4.88932575e-03 -6.76865869e+01] [-4.47289512e-02 3.76484520e-03 9.98992065e-01 -3.34214097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.240714057 meters 0.044199199315322 Centerline is valid? [True, True] Translation: X:513.30, Y:-67.69, Z:-33.42 [[ 9.98705817e-01 2.63875735e-02 4.34785806e-02 5.13300911e+02] [-2.62045190e-02 9.99645199e-01 -4.77489351e-03 -6.76889934e+01] [-4.35891522e-02 3.62937863e-03 9.99042949e-01 -3.34247235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.270714057 meters 0.04395980527397111 Centerline is valid? [True, True] Translation: X:513.33, Y:-67.69, Z:-33.43 [[ 9.98701616e-01 2.68996133e-02 4.32607596e-02 5.13333417e+02] [-2.67183239e-02 9.99631652e-01 -4.76347531e-03 -6.76916748e+01] [-4.33729602e-02 3.60143550e-03 9.99052459e-01 -3.34271289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.3007140569999 meters 0.045319266092228104 Centerline is valid? [True, True] Translation: X:513.36, Y:-67.70, Z:-33.43 [[ 9.98703232e-01 2.73961707e-02 4.29104138e-02 5.13364229e+02] [-2.72180699e-02 9.99618332e-01 -4.72938910e-03 -6.76963725e+01] [-4.30236034e-02 3.55531754e-03 9.99067730e-01 -3.34292877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.3307140569999 meters 0.04473239807060266 Centerline is valid? [True, True] Translation: X:513.40, Y:-67.70, Z:-33.43 [[ 9.98709961e-01 2.76280431e-02 4.26040600e-02 5.13397066e+02] [-2.74523031e-02 9.99612044e-01 -4.70462497e-03 -6.76978925e+01] [-4.27175110e-02 3.52897626e-03 9.99080958e-01 -3.34309355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.360714057 meters 0.044934819006235305 Centerline is valid? [True, True] Translation: X:513.43, Y:-67.70, Z:-33.43 [[ 9.98690780e-01 2.77917787e-02 4.29458244e-02 5.13429586e+02] [-2.76127195e-02 9.99607377e-01 -4.75712621e-03 -6.77010306e+01] [-4.30611718e-02 3.56504709e-03 9.99066077e-01 -3.34327392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.390714057 meters 0.04641818635376588 Centerline is valid? [True, True] Translation: X:513.46, Y:-67.71, Z:-33.43 [[ 9.98670011e-01 2.71767473e-02 4.38136223e-02 5.13460644e+02] [-2.69895853e-02 9.99623911e-01 -4.85778202e-03 -6.77054102e+01] [-4.39291632e-02 3.66880972e-03 9.99027912e-01 -3.34340281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4207140569999 meters 0.04472505373623725 Centerline is valid? [True, True] Translation: X:513.49, Y:-67.71, Z:-33.43 [[ 9.98647087e-01 2.67342060e-02 4.46013197e-02 5.13492980e+02] [-2.65393491e-02 9.99635487e-01 -4.95539906e-03 -6.77061446e+01] [-4.47175406e-02 3.76500485e-03 9.98992576e-01 -3.34347914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4507140569999 meters 0.04661762676530948 Centerline is valid? [True, True] Translation: X:513.52, Y:-67.71, Z:-33.44 [[ 9.98625230e-01 2.50042583e-02 4.60699180e-02 5.13522638e+02] [-2.47938240e-02 9.99679405e-01 -5.13358561e-03 -6.77117894e+01] [-4.61835097e-02 3.98427867e-03 9.98925027e-01 -3.34356728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.480714057 meters 0.04831067772897348 Centerline is valid? [True, True] Translation: X:513.55, Y:-67.72, Z:-33.44 [[ 9.98664892e-01 2.17555144e-02 4.68522184e-02 5.13552800e+02] [-2.15343213e-02 9.99754478e-01 -5.22072015e-03 -6.77177284e+01] [-4.69542946e-02 4.20481920e-03 9.98888189e-01 -3.34369201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.510714057 meters 0.04997960583973978 Centerline is valid? [True, True] Translation: X:513.58, Y:-67.72, Z:-33.44 [[ 9.98691592e-01 1.98208770e-02 4.71406087e-02 5.13582937e+02] [-1.95948123e-02 9.99794204e-01 -5.25287497e-03 -6.77235283e+01] [-4.72350240e-02 4.32229069e-03 9.98874452e-01 -3.34387246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.540714057 meters 0.052346701197964376 Centerline is valid? [True, True] Translation: X:513.61, Y:-67.73, Z:-33.44 [[ 9.98765167e-01 1.57888798e-02 4.71046906e-02 5.13613345e+02] [-1.55586844e-02 9.99865176e-01 -5.24956451e-03 -6.77308768e+01] [-4.71812244e-02 4.51019516e-03 9.98876164e-01 -3.34408548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5707140569999 meters 0.054603966296016215 Centerline is valid? [True, True] Translation: X:513.64, Y:-67.74, Z:-33.44 [[ 9.98780899e-01 1.48195448e-02 4.70860552e-02 5.13643785e+02] [-1.45884368e-02 9.99879810e-01 -5.24808655e-03 -6.77377961e+01] [-4.71581702e-02 4.55477667e-03 9.98877050e-01 -3.34432090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.6007140569999 meters 0.05658922289268631 Centerline is valid? [True, True] Translation: X:513.67, Y:-67.74, Z:-33.45 [[ 9.98814906e-01 1.33943514e-02 4.67907668e-02 5.13673074e+02] [-1.31643148e-02 9.99899716e-01 -5.22099251e-03 -6.77442312e+01] [-4.68560063e-02 4.59883675e-03 9.98891068e-01 -3.34461384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.630714057 meters 0.056092118160870265 Centerline is valid? [True, True] Translation: X:513.70, Y:-67.75, Z:-33.45 [[ 9.98796927e-01 1.42454755e-02 4.69229696e-02 5.13704747e+02] [-1.40149635e-02 9.99888066e-01 -5.23791383e-03 -6.77476205e+01] [-4.69923339e-02 4.57398852e-03 9.98884778e-01 -3.34490228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.660714057 meters 0.05828993544480469 Centerline is valid? [True, True] Translation: X:513.74, Y:-67.75, Z:-33.45 [[ 9.98813256e-01 1.50005608e-02 4.63364089e-02 5.13735486e+02] [-1.47760618e-02 9.99877391e-01 -5.18372337e-03 -6.77537378e+01] [-4.64084864e-02 4.49290198e-03 9.98912442e-01 -3.34513726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.6907140569999 meters 0.053576755586806656 Centerline is valid? [True, True] Translation: X:513.77, Y:-67.75, Z:-33.45 [[ 9.98781042e-01 1.79658751e-02 4.59745400e-02 5.13766398e+02] [-1.77473960e-02 9.99829208e-01 -5.15598336e-03 -6.77504078e+01] [-4.60593197e-02 4.33377006e-03 9.98929306e-01 -3.34524901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.7207140569999 meters 0.05709885779948567 Centerline is valid? [True, True] Translation: X:513.80, Y:-67.76, Z:-33.46 [[ 9.98755253e-01 1.96093484e-02 4.58630291e-02 5.13795718e+02] [-1.93936507e-02 9.99798696e-01 -5.14336679e-03 -6.77581125e+01] [-4.59546547e-02 4.24751303e-03 9.98934497e-01 -3.34553664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.750714057 meters 0.0559259235911638 Centerline is valid? [True, True] Translation: X:513.82, Y:-67.76, Z:-33.46 [[ 9.98674887e-01 2.34916699e-02 4.57887745e-02 5.13824928e+02] [-2.32806597e-02 9.99715775e-01 -5.13625456e-03 -6.77586676e+01] [-4.58964194e-02 4.06345557e-03 9.98937940e-01 -3.34571584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.780714057 meters 0.0559259235911638 Centerline is valid? [True, True] Translation: X:513.86, Y:-67.76, Z:-33.46 [[ 9.98668658e-01 2.37541108e-02 4.57892344e-02 5.13857398e+02] [-2.35435605e-02 9.99709639e-01 -5.13215708e-03 -6.77624177e+01] [-4.58978489e-02 4.04728281e-03 9.98937940e-01 -3.34590529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.8107140569999 meters 0.05394999225157157 Centerline is valid? [True, True] Translation: X:513.89, Y:-67.76, Z:-33.46 [[ 9.98640702e-01 2.55166908e-02 4.54493948e-02 5.13889444e+02] [-2.53104011e-02 9.99666587e-01 -5.10868092e-03 -6.77616972e+01] [-4.55645980e-02 3.95139428e-03 9.98953579e-01 -3.34605437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.8407140569999 meters 0.0455025052355708 Centerline is valid? [True, True] Translation: X:513.92, Y:-67.75, Z:-33.46 [[ 9.98492414e-01 2.98590708e-02 4.60579483e-02 5.13921187e+02] [-2.96516611e-02 9.99546870e-01 -5.18004070e-03 -6.77517425e+01] [-4.61917493e-02 3.80653667e-03 9.98925339e-01 -3.34606716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.870714057 meters 0.04340594887744727 Centerline is valid? [True, True] Translation: X:513.95, Y:-67.75, Z:-33.46 [[ 9.98430601e-01 3.15847439e-02 4.62465110e-02 5.13953016e+02] [-3.13774995e-02 9.99494075e-01 -5.20057980e-03 -6.77512527e+01] [-4.63873727e-02 3.74131813e-03 9.98916520e-01 -3.34621632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.900714057 meters 0.04260578642088982 Centerline is valid? [True, True] Translation: X:513.98, Y:-67.75, Z:-33.46 [[ 9.98275826e-01 3.57372089e-02 4.65642301e-02 5.13984106e+02] [-3.55314529e-02 9.99354825e-01 -5.23925044e-03 -6.77508185e+01] [-4.67214242e-02 3.57572232e-03 9.98901558e-01 -3.34637000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.9307140569999 meters 0.04007598061344318 Centerline is valid? [True, True] Translation: X:514.02, Y:-67.75, Z:-33.47 [[ 9.98132957e-01 3.99089942e-02 4.62371227e-02 5.14015071e+02] [-3.97105230e-02 9.99197677e-01 -5.20344972e-03 -6.77483681e+01] [-4.64076901e-02 3.35763433e-03 9.98916940e-01 -3.34661264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.9607140569999 meters 0.04832044222483678 Centerline is valid? [True, True] Translation: X:514.04, Y:-67.76, Z:-33.47 [[ 9.98066358e-01 4.14235681e-02 4.63425524e-02 5.14043929e+02] [-4.12258216e-02 9.99136244e-01 -5.21513327e-03 -6.77625886e+01] [-4.65185532e-02 3.29453927e-03 9.98911993e-01 -3.34704299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.990714057 meters 0.038649504541279606 Centerline is valid? [True, True] Translation: X:514.08, Y:-67.75, Z:-33.47 [[ 9.97917399e-01 4.48234176e-02 4.63867115e-02 5.14076641e+02] [-4.46289073e-02 9.98989991e-01 -5.22094577e-03 -6.77498353e+01] [-4.65738812e-02 3.13988437e-03 9.98909913e-01 -3.34702497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.020714057 meters 0.04693118034555737 Centerline is valid? [True, True] Translation: X:514.11, Y:-67.76, Z:-33.47 [[ 9.97839535e-01 4.63403131e-02 4.65707865e-02 5.14105341e+02] [-4.61458596e-02 9.98920956e-01 -5.24248905e-03 -6.77647312e+01] [-4.67634732e-02 3.08211386e-03 9.98901235e-01 -3.34737186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.0507140569999 meters 0.036505085329447004 Centerline is valid? [True, True] Translation: X:514.14, Y:-67.75, Z:-33.47 [[ 9.97736282e-01 4.87279250e-02 4.63454471e-02 5.14137295e+02] [-4.85378570e-02 9.98807712e-01 -5.21833872e-03 -6.77500758e+01] [-4.65444688e-02 2.95701719e-03 9.98911842e-01 -3.34729330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.0807140569999 meters 0.03604972207073181 Centerline is valid? [True, True] Translation: X:514.17, Y:-67.75, Z:-33.48 [[ 9.97673533e-01 5.00285660e-02 4.63105208e-02 5.14166830e+02] [-4.98402092e-02 9.98743596e-01 -5.21376925e-03 -6.77523150e+01] [-4.65131734e-02 2.89351354e-03 9.98913486e-01 -3.34753638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.110714057 meters 0.03620915487450378 Centerline is valid? [True, True] Translation: X:514.20, Y:-67.75, Z:-33.48 [[ 9.97648580e-01 5.11608894e-02 4.56056460e-02 5.14196487e+02] [-5.09794796e-02 9.98686511e-01 -5.13279997e-03 -6.77546963e+01] [-4.58083421e-02 2.79577849e-03 9.98946335e-01 -3.34780377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.140714057 meters 0.0347885919056596 Centerline is valid? [True, True] Translation: X:514.23, Y:-67.75, Z:-33.48 [[ 9.97555048e-01 5.39510776e-02 4.44208000e-02 5.14226027e+02] [-5.37818026e-02 9.98540204e-01 -4.99791514e-03 -6.77546031e+01] [-4.46255976e-02 2.59666478e-03 9.99000407e-01 -3.34811370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.1707140569999 meters 0.036250289068259625 Centerline is valid? [True, True] Translation: X:514.25, Y:-67.76, Z:-33.48 [[ 9.97418747e-01 5.63791429e-02 4.44661075e-02 5.14254033e+02] [-5.62119870e-02 9.98406328e-01 -5.00164004e-03 -6.77584878e+01] [-4.46772313e-02 2.48920129e-03 9.98998373e-01 -3.34839732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.2007140569999 meters 0.037613252223664656 Centerline is valid? [True, True] Translation: X:514.28, Y:-67.76, Z:-33.49 [[ 9.97345149e-01 5.74702480e-02 4.47194046e-02 5.14281723e+02] [-5.73023632e-02 9.98344208e-01 -5.02813623e-03 -6.77632711e+01] [-4.49343268e-02 2.45225972e-03 9.98986933e-01 -3.34859625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.230714057 meters 0.03261474377074812 Centerline is valid? [True, True] Translation: X:514.31, Y:-67.76, Z:-33.49 [[ 9.97194676e-01 5.94139927e-02 4.55275160e-02 5.14311685e+02] [-5.92421909e-02 9.98230535e-01 -5.11480412e-03 -6.77575127e+01] [-4.57508476e-02 2.40330564e-03 9.98949991e-01 -3.34855665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.260714057 meters 0.032765335495543065 Centerline is valid? [True, True] Translation: X:514.34, Y:-67.76, Z:-33.49 [[ 9.97191958e-01 5.94717508e-02 4.55116399e-02 5.14340626e+02] [-5.93002771e-02 9.98227112e-01 -5.10978189e-03 -6.77599648e+01] [-4.57348406e-02 2.39658055e-03 9.98950740e-01 -3.34875904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.290714057 meters 0.03224973804339978 Centerline is valid? [True, True] Translation: X:514.37, Y:-67.76, Z:-33.49 [[ 9.97173476e-01 5.96095914e-02 4.57357225e-02 5.14369493e+02] [-5.94367202e-02 9.98218885e-01 -5.13163457e-03 -6.77609683e+01] [-4.59601566e-02 2.39874854e-03 9.98940394e-01 -3.34889453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.3207140569999 meters 0.03284330474368922 Centerline is valid? [True, True] Translation: X:514.40, Y:-67.76, Z:-33.49 [[ 9.97170080e-01 5.94604965e-02 4.60030580e-02 5.14398410e+02] [-5.92855944e-02 9.98227735e-01 -5.15826235e-03 -6.77643997e+01] [-4.62282412e-02 2.41634624e-03 9.98927981e-01 -3.34907609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.3507140569999 meters 0.036555832036453545 Centerline is valid? [True, True] Translation: X:514.43, Y:-67.77, Z:-33.49 [[ 9.97284687e-01 5.77755476e-02 4.56644242e-02 5.14425621e+02] [-5.76016122e-02 9.98326536e-01 -5.11681694e-03 -6.77728389e+01] [-4.58836333e-02 2.47257872e-03 9.98943731e-01 -3.34936667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.380714057 meters 0.03451798685397386 Centerline is valid? [True, True] Translation: X:514.45, Y:-67.77, Z:-33.49 [[ 9.97387049e-01 5.58285554e-02 4.58502687e-02 5.14454813e+02] [-5.56512635e-02 9.98437062e-01 -5.13518049e-03 -6.77726912e+01] [-4.60652973e-02 2.57013713e-03 9.98935124e-01 -3.34944288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.410714057 meters 0.03495126152087802 Centerline is valid? [True, True] Translation: X:514.48, Y:-67.78, Z:-33.50 [[ 9.97451789e-01 5.46186507e-02 4.58991413e-02 5.14483600e+02] [-5.44398075e-02 9.98503833e-01 -5.13841186e-03 -6.77765269e+01] [-4.61111217e-02 2.62657768e-03 9.98932863e-01 -3.34963446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4407140569999 meters 0.03594483081536805 Centerline is valid? [True, True] Translation: X:514.51, Y:-67.78, Z:-33.50 [[ 9.97529723e-01 5.33397940e-02 4.57090574e-02 5.14512059e+02] [-5.31612409e-02 9.98572847e-01 -5.11390996e-03 -6.77809886e+01] [-4.59165984e-02 2.67132698e-03 9.98941705e-01 -3.34988427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4707140569999 meters 0.03726076907905102 Centerline is valid? [True, True] Translation: X:514.54, Y:-67.79, Z:-33.50 [[ 9.97675203e-01 5.16950922e-02 4.44050422e-02 5.14539604e+02] [-5.15251222e-02 9.98659359e-01 -4.96454708e-03 -6.77863527e+01] [-4.46021537e-02 2.66503029e-03 9.99001274e-01 -3.35018384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.500714057 meters 0.03785222441302001 Centerline is valid? [True, True] Translation: X:514.57, Y:-67.79, Z:-33.50 [[ 9.97735240e-01 5.10840794e-02 4.37585237e-02 5.14568451e+02] [-5.09184876e-02 9.98690835e-01 -4.89121649e-03 -6.77902333e+01] [-4.39510999e-02 2.65202120e-03 9.99030164e-01 -3.35046252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.530714057 meters 0.03875576408971576 Centerline is valid? [True, True] Translation: X:514.60, Y:-67.79, Z:-33.51 [[ 9.97819138e-01 5.05257543e-02 4.24748956e-02 5.14597186e+02] [-5.03693600e-02 9.98719387e-01 -4.74489693e-03 -6.77941914e+01] [-4.26602412e-02 2.59511565e-03 9.99086267e-01 -3.35075404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.5607140569999 meters 0.039256752498555765 Centerline is valid? [True, True] Translation: X:514.62, Y:-67.80, Z:-33.51 [[ 9.97826858e-01 5.05621616e-02 4.22496034e-02 5.14624890e+02] [-5.04075674e-02 9.98717591e-01 -4.71710001e-03 -6.77969790e+01] [-4.24339289e-02 2.57714935e-03 9.99095951e-01 -3.35084641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.5907140569999 meters 0.035641092384762756 Centerline is valid? [True, True] Translation: X:514.65, Y:-67.79, Z:-33.51 [[ 9.97831905e-01 5.02719211e-02 4.24761440e-02 5.14654624e+02] [-5.01155665e-02 9.98732185e-01 -4.73852569e-03 -6.77939635e+01] [-4.26605069e-02 2.59953609e-03 9.99086244e-01 -3.35078708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.620714057 meters 0.037235289521459665 Centerline is valid? [True, True] Translation: X:514.68, Y:-67.80, Z:-33.51 [[ 9.97798449e-01 5.03302635e-02 4.31870219e-02 5.14681678e+02] [-5.01688086e-02 9.98729146e-01 -4.81491144e-03 -6.77996438e+01] [-4.33744733e-02 2.63766974e-03 9.99055403e-01 -3.35093958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.650714057 meters 0.04056104515645725 Centerline is valid? [True, True] Translation: X:514.71, Y:-67.81, Z:-33.51 [[ 9.97810293e-01 4.98671526e-02 4.34498026e-02 5.14708866e+02] [-4.97034593e-02 9.98752290e-01 -4.84028956e-03 -6.78075538e+01] [-4.36369613e-02 2.67008525e-03 9.99043886e-01 -3.35124195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.6807140569999 meters 0.039590482325761206 Centerline is valid? [True, True] Translation: X:514.74, Y:-67.81, Z:-33.51 [[ 9.97875137e-01 4.84185865e-02 4.35987447e-02 5.14738359e+02] [-4.82525908e-02 9.98823379e-01 -4.85233061e-03 -6.78094969e+01] [-4.37823884e-02 2.73826769e-03 9.99037339e-01 -3.35143700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.7107140569999 meters 0.03788079556773565 Centerline is valid? [True, True] Translation: X:514.77, Y:-67.81, Z:-33.52 [[ 9.97916254e-01 4.74664742e-02 4.37045126e-02 5.14768302e+02] [-4.72988280e-02 9.98868948e-01 -4.86260883e-03 -6.78109367e+01] [-4.38858914e-02 2.78530416e-03 9.99032667e-01 -3.35153809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.740714057 meters 0.04021647220131275 Centerline is valid? [True, True] Translation: X:514.80, Y:-67.82, Z:-33.52 [[ 9.97978791e-01 4.59639768e-02 4.38821728e-02 5.14796207e+02] [-4.57935762e-02 9.98938999e-01 -4.88105293e-03 -6.78179200e+01] [-4.40599664e-02 2.86166568e-03 9.99024790e-01 -3.35178481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.770714057 meters 0.043249486390600875 Centerline is valid? [True, True] Translation: X:514.82, Y:-67.83, Z:-33.52 [[ 9.98186355e-01 4.25644614e-02 4.25707315e-02 5.14824784e+02] [-4.24011374e-02 9.99089459e-01 -4.73254520e-03 -6.78271928e+01] [-4.27334073e-02 2.91891461e-03 9.99082247e-01 -3.35206557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.8007140569999 meters 0.04192766567142428 Centerline is valid? [True, True] Translation: X:514.86, Y:-67.83, Z:-33.52 [[ 9.98367602e-01 3.87992714e-02 4.19135674e-02 5.14855324e+02] [-3.86377051e-02 9.99242427e-01 -4.65827823e-03 -6.78309079e+01] [-4.20625526e-02 3.03123001e-03 9.99110381e-01 -3.35223452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.8307140569999 meters 0.04335143634279914 Centerline is valid? [True, True] Translation: X:514.89, Y:-67.84, Z:-33.52 [[ 9.98428235e-01 3.74512174e-02 4.16949071e-02 5.14886268e+02] [-3.72901806e-02 9.99293737e-01 -4.63360572e-03 -6.78374577e+01] [-4.18389937e-02 3.07151216e-03 9.99119645e-01 -3.35245372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.860714057 meters 0.04478047271106982 Centerline is valid? [True, True] Translation: X:514.92, Y:-67.84, Z:-33.53 [[ 9.98472496e-01 3.54622216e-02 4.23686777e-02 5.14916736e+02] [-3.52940999e-02 9.99365871e-01 -4.70975345e-03 -6.78448305e+01] [-4.25088288e-02 3.20719495e-03 9.99090944e-01 -3.35254801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.890714057 meters 0.04536015765753452 Centerline is valid? [True, True] Translation: X:514.95, Y:-67.85, Z:-33.53 [[ 9.98441212e-01 3.57725467e-02 4.28424020e-02 5.14948279e+02] [-3.56009508e-02 9.99354741e-01 -4.76181748e-03 -6.78504717e+01] [-4.29850998e-02 3.22916457e-03 9.99070495e-01 -3.35266056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9207140569999 meters 0.046418792163237174 Centerline is valid? [True, True] Translation: X:514.98, Y:-67.86, Z:-33.53 [[ 9.98314933e-01 3.74237331e-02 4.43481624e-02 5.14978396e+02] [-3.72408515e-02 9.99294093e-01 -4.94309807e-03 -6.78567564e+01] [-4.45018459e-02 3.28320529e-03 9.99003907e-01 -3.35276158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9507140569999 meters 0.04478907480960469 Centerline is valid? [True, True] Translation: X:515.01, Y:-67.86, Z:-33.53 [[ 9.98165296e-01 4.07831469e-02 4.47523957e-02 5.15008372e+02] [-4.06001725e-02 9.99163011e-01 -4.99031928e-03 -6.78587232e+01] [-4.49184594e-02 3.16420854e-03 9.98985645e-01 -3.35284036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.980714057 meters 0.044041030414120844 Centerline is valid? [True, True] Translation: X:515.04, Y:-67.86, Z:-33.53 [[ 9.98042107e-01 4.34638047e-02 4.49761110e-02 5.15039307e+02] [-4.32817448e-02 9.99050323e-01 -5.01431387e-03 -6.78614305e+01] [-4.51513393e-02 3.05785182e-03 9.98975478e-01 -3.35301195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.010714057 meters 0.04167705545837606 Centerline is valid? [True, True] Translation: X:515.07, Y:-67.86, Z:-33.53 [[ 9.97715852e-01 5.02684516e-02 4.51238454e-02 5.15068998e+02] [-5.00920722e-02 9.98731929e-01 -5.03177779e-03 -6.78618208e+01] [-4.53195648e-02 2.75993755e-03 9.98968728e-01 -3.35324778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.040714057 meters 0.04042617448127922 Centerline is valid? [True, True] Translation: X:515.10, Y:-67.86, Z:-33.53 [[ 9.97502151e-01 5.39911703e-02 4.55457154e-02 5.15099338e+02] [-5.38153389e-02 9.98537989e-01 -5.07881436e-03 -6.78629767e+01] [-4.57533382e-02 2.61507014e-03 9.98949345e-01 -3.35343185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0707140569999 meters 0.03871864167467705 Centerline is valid? [True, True] Translation: X:515.13, Y:-67.86, Z:-33.54 [[ 9.97268666e-01 5.78988514e-02 4.58577221e-02 5.15129889e+02] [-5.77247393e-02 9.98319443e-01 -5.11310397e-03 -6.78638552e+01] [-4.60766984e-02 2.45201332e-03 9.98934896e-01 -3.35355511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.1007140569999 meters 0.03632342501426576 Centerline is valid? [True, True] Translation: X:515.16, Y:-67.86, Z:-33.54 [[ 9.96754579e-01 6.51886859e-02 4.72307577e-02 5.15158976e+02] [-6.50121285e-02 9.97870577e-01 -5.26637545e-03 -6.78626715e+01] [-4.74734915e-02 2.17871176e-03 9.98870122e-01 -3.35358944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.130714057 meters 0.0353792681780105 Centerline is valid? [True, True] Translation: X:515.19, Y:-67.86, Z:-33.54 [[ 9.96544836e-01 6.80086446e-02 4.76782458e-02 5.15187408e+02] [-6.78320500e-02 9.97682602e-01 -5.31400459e-03 -6.78640952e+01] [-4.79291546e-02 2.06153067e-03 9.98848610e-01 -3.35371278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.160714057 meters 0.02889725724063327 Centerline is valid? [True, True] Translation: X:515.22, Y:-67.86, Z:-33.54 [[ 9.96277300e-01 7.16890758e-02 4.78771096e-02 5.15218144e+02] [-7.15153112e-02 9.97425236e-01 -5.33474458e-03 -6.78560914e+01] [-4.81362803e-02 1.89093854e-03 9.98838987e-01 -3.35360983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.1907140569999 meters 0.02918237711576461 Centerline is valid? [True, True] Translation: X:515.25, Y:-67.86, Z:-33.54 [[ 9.96163397e-01 7.34157834e-02 4.76299266e-02 5.15245202e+02] [-7.32458188e-02 9.97299801e-01 -5.30638005e-03 -6.78623014e+01] [-4.78908884e-02 1.79732861e-03 9.98850956e-01 -3.35394526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.2207140569999 meters 0.028696497003216356 Centerline is valid? [True, True] Translation: X:515.27, Y:-67.87, Z:-33.54 [[ 9.96167515e-01 7.35630414e-02 4.73155373e-02 5.15273537e+02] [-7.33957907e-02 9.97288995e-01 -5.26484780e-03 -6.78660923e+01] [-4.75745629e-02 1.77190908e-03 9.98866118e-01 -3.35415752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.250714057 meters 0.02900796491078073 Centerline is valid? [True, True] Translation: X:515.30, Y:-67.87, Z:-33.55 [[ 9.96329748e-01 7.22365853e-02 4.59228574e-02 5.15300877e+02] [-7.20777745e-02 9.97385940e-01 -5.10690465e-03 -6.78740440e+01] [-4.61717177e-02 1.77814366e-03 9.98931935e-01 -3.35451093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.280714057 meters 0.0293636646588096 Centerline is valid? [True, True] Translation: X:515.33, Y:-67.88, Z:-33.55 [[ 9.96468826e-01 7.05163946e-02 4.55775890e-02 5.15329550e+02] [-7.03583642e-02 9.97508924e-01 -5.06425095e-03 -6.78796255e+01] [-4.58211645e-02 1.83960359e-03 9.98947965e-01 -3.35472856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.3107140569999 meters 0.030355207539041307 Centerline is valid? [True, True] Translation: X:515.36, Y:-67.89, Z:-33.55 [[ 9.96709911e-01 6.69627198e-02 4.56656073e-02 5.15357716e+02] [-6.68005172e-02 9.97753467e-01 -5.07051839e-03 -6.78888209e+01] [-4.59025537e-02 2.00334975e-03 9.98943913e-01 -3.35485438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.3407140569999 meters 0.030910355142471452 Centerline is valid? [True, True] Translation: X:515.39, Y:-67.90, Z:-33.55 [[ 9.96806515e-01 6.51898743e-02 4.61199643e-02 5.15385723e+02] [-6.50226402e-02 9.97870661e-01 -5.11863973e-03 -6.78955043e+01] [-4.63554427e-02 2.10345159e-03 9.98922794e-01 -3.35498263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.370714057 meters 0.03221838123245654 Centerline is valid? [True, True] Translation: X:515.41, Y:-67.91, Z:-33.55 [[ 9.97053045e-01 6.02786620e-02 4.74521757e-02 5.15414320e+02] [-6.00962647e-02 9.98178714e-01 -5.26242836e-03 -6.79075185e+01] [-4.76829639e-02 2.39522171e-03 9.98859649e-01 -3.35506999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.400714057 meters 0.033473409409091395 Centerline is valid? [True, True] Translation: X:515.44, Y:-67.92, Z:-33.55 [[ 9.97258090e-01 5.69589138e-02 4.72438825e-02 5.15444053e+02] [-5.67744507e-02 9.98373288e-01 -5.23830344e-03 -6.79161602e+01] [-4.74653983e-02 2.54169501e-03 9.98869649e-01 -3.35530329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.4307140569999 meters 0.03623598162877869 Centerline is valid? [True, True] Translation: X:515.47, Y:-67.93, Z:-33.56 [[ 9.97692511e-01 5.03544432e-02 4.55421039e-02 5.15472174e+02] [-5.01761751e-02 9.98727616e-01 -5.04980793e-03 -6.79290131e+01] [-4.57384371e-02 2.75302698e-03 9.98949657e-01 -3.35561637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.4607140569999 meters 0.03994169864224258 Centerline is valid? [True, True] Translation: X:515.50, Y:-67.94, Z:-33.56 [[ 9.98090525e-01 4.40863481e-02 4.32631135e-02 5.15500488e+02] [-4.39196581e-02 9.99023553e-01 -4.79636065e-03 -6.79418525e+01] [-4.34323234e-02 2.88710096e-03 9.99052200e-01 -3.35597730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.490714057 meters 0.04125484079488201 Centerline is valid? [True, True] Translation: X:515.53, Y:-67.95, Z:-33.56 [[ 9.98238965e-01 4.15393348e-02 4.23491718e-02 5.15531033e+02] [-4.13773839e-02 9.99132563e-01 -4.69395771e-03 -6.79496512e+01] [-4.25074205e-02 2.93339354e-03 9.99091845e-01 -3.35622604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.520714057 meters 0.03987878036215054 Centerline is valid? [True, True] Translation: X:515.56, Y:-67.95, Z:-33.56 [[ 9.98380848e-01 3.88801369e-02 4.15212883e-02 5.15562021e+02] [-3.87221033e-02 9.99239412e-01 -4.60387385e-03 -6.79526652e+01] [-4.16687070e-02 2.98862786e-03 9.99127012e-01 -3.35633679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.5507140569999 meters 0.04559561714362247 Centerline is valid? [True, True] Translation: X:515.59, Y:-67.97, Z:-33.57 [[ 9.98533324e-01 3.51850361e-02 4.11486887e-02 5.15589778e+02] [-3.50266765e-02 9.99375959e-01 -4.56334162e-03 -6.79666172e+01] [-4.12835716e-02 3.11534687e-03 9.99142613e-01 -3.35664460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.5807140569999 meters 0.04297105786323926 Centerline is valid? [True, True] Translation: X:515.62, Y:-67.97, Z:-33.57 [[ 9.98653197e-01 3.21424124e-02 4.07266074e-02 5.15620820e+02] [-3.19847421e-02 9.99478149e-01 -4.51729007e-03 -6.79678017e+01] [-4.08505508e-02 3.20857614e-03 9.99160116e-01 -3.35666764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.610714057 meters 0.04316066063004975 Centerline is valid? [True, True] Translation: X:515.65, Y:-67.97, Z:-33.57 [[ 9.98667093e-01 3.18933176e-02 4.05814572e-02 5.15652727e+02] [-3.17367276e-02 9.99486146e-01 -4.49721723e-03 -6.79721539e+01] [-4.07040354e-02 3.20330020e-03 9.99166113e-01 -3.35682606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.640714057 meters 0.05003441001347776 Centerline is valid? [True, True] Translation: X:515.68, Y:-67.99, Z:-33.57 [[ 9.98614282e-01 3.19343695e-02 4.18295648e-02 5.15682051e+02] [-3.17674964e-02 9.99484477e-01 -4.64817083e-03 -6.79863393e+01] [-4.19564371e-02 3.31290922e-03 9.99113948e-01 -3.35713716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.6707140569999 meters 0.05003441001347776 Centerline is valid? [True, True] Translation: X:515.71, Y:-67.99, Z:-33.57 [[ 9.98605791e-01 3.21993523e-02 4.18291353e-02 5.15714497e+02] [-3.20325494e-02 9.99476000e-01 -4.65203431e-03 -6.79900528e+01] [-4.19570093e-02 3.30565456e-03 9.99113948e-01 -3.35732614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.7007140569999 meters 0.050146110774436425 Centerline is valid? [True, True] Translation: X:515.75, Y:-67.99, Z:-33.57 [[ 9.98557764e-01 3.31548824e-02 4.22273154e-02 5.15746375e+02] [-3.29852244e-02 9.99444749e-01 -4.70835347e-03 -6.79942609e+01] [-4.23599735e-02 3.30868543e-03 9.99096935e-01 -3.35746900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.730714057 meters 0.0503207413860004 Centerline is valid? [True, True] Translation: X:515.78, Y:-68.00, Z:-33.58 [[ 9.98509520e-01 3.44795348e-02 4.23072221e-02 5.15778306e+02] [-3.43098902e-02 9.99400051e-01 -4.72961549e-03 -6.79968313e+01] [-4.24449149e-02 3.27100995e-03 9.99093454e-01 -3.35756459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.760714057 meters 0.05070452186737104 Centerline is valid? [True, True] Translation: X:515.81, Y:-68.00, Z:-33.58 [[ 9.98500957e-01 3.52734067e-02 4.18524169e-02 5.15810658e+02] [-3.51080622e-02 9.99372567e-01 -4.67932895e-03 -6.80005506e+01] [-4.19912132e-02 3.20295718e-03 9.99112846e-01 -3.35770881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.790714057 meters 0.04679656242839857 Centerline is valid? [True, True] Translation: X:515.84, Y:-68.00, Z:-33.58 [[ 9.98468567e-01 3.55477035e-02 4.23896368e-02 5.15843858e+02] [-3.53778134e-02 9.99362714e-01 -4.75151198e-03 -6.79987944e+01] [-4.25315278e-02 3.24458270e-03 9.99089857e-01 -3.35768989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.8207140569999 meters 0.05309739393447857 Centerline is valid? [True, True] Translation: X:515.87, Y:-68.01, Z:-33.58 [[ 9.98465116e-01 3.54195820e-02 4.25777502e-02 5.15873778e+02] [-3.52479933e-02 9.99367193e-01 -4.77424329e-03 -6.80110529e+01] [-4.27199084e-02 3.26613513e-03 9.99081749e-01 -3.35799467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.8507140569999 meters 0.042940625427303224 Centerline is valid? [True, True] Translation: X:515.91, Y:-68.00, Z:-33.58 [[ 9.98464836e-01 3.47464796e-02 4.31352999e-02 5.15907435e+02] [-3.45693363e-02 9.99390553e-01 -4.84607215e-03 -6.80002743e+01] [-4.32773952e-02 3.34747395e-03 9.99057487e-01 -3.35784817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.880714057 meters 0.042207666448004395 Centerline is valid? [True, True] Translation: X:515.94, Y:-68.00, Z:-33.58 [[ 9.98530831e-01 3.46033761e-02 4.16987563e-02 5.15939911e+02] [-3.44373034e-02 9.99395834e-01 -4.69464124e-03 -6.80026899e+01] [-4.18360138e-02 3.25175130e-03 9.99119199e-01 -3.35812417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.910714057 meters 0.04078733131344747 Centerline is valid? [True, True] Translation: X:515.97, Y:-68.00, Z:-33.58 [[ 9.98557987e-01 3.52561611e-02 4.04839448e-02 5.15972667e+02] [-3.50997940e-02 9.99373377e-01 -4.56697516e-03 -6.80040441e+01] [-4.06195906e-02 3.13941140e-03 9.99169752e-01 -3.35834874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9407140569999 meters 0.04213482773055147 Centerline is valid? [True, True] Translation: X:516.00, Y:-68.01, Z:-33.59 [[ 9.98583393e-01 3.68524655e-02 3.83810343e-02 5.16003355e+02] [-3.67126617e-02 9.99316434e-01 -4.34121142e-03 -6.80084504e+01] [-3.85147827e-02 2.92599171e-03 9.99253747e-01 -3.35871163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9707140569999 meters 0.041597287494768535 Centerline is valid? [True, True] Translation: X:516.04, Y:-68.01, Z:-33.59 [[ 9.98566740e-01 3.81862105e-02 3.75003902e-02 5.16035331e+02] [-3.80533781e-02 9.99266671e-01 -4.24981371e-03 -6.80099889e+01] [-3.76351743e-02 2.81670610e-03 9.99287576e-01 -3.35889829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.000714057 meters 0.041101697900841457 Centerline is valid? [True, True] Translation: X:516.07, Y:-68.01, Z:-33.59 [[ 9.98454038e-01 4.13406957e-02 3.71548127e-02 5.16065316e+02] [-4.12119401e-02 9.99141494e-01 -4.22492892e-03 -6.80109270e+01] [-3.72975765e-02 2.68717543e-03 9.99300590e-01 -3.35903357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.030714057 meters 0.04099520070708024 Centerline is valid? [True, True] Translation: X:516.10, Y:-68.01, Z:-33.59 [[ 9.98432955e-01 4.25211454e-02 3.63811342e-02 5.16095376e+02] [-4.23984650e-02 9.99092214e-01 -4.13732505e-03 -6.80131803e+01] [-3.65240317e-02 2.58833743e-03 9.99329423e-01 -3.35922179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.0607140569999 meters 0.04068377585182502 Centerline is valid? [True, True] Translation: X:516.12, Y:-68.02, Z:-33.59 [[ 9.98237820e-01 4.63097016e-02 3.71034586e-02 5.16124855e+02] [-4.61847242e-02 9.98924007e-01 -4.21885830e-03 -6.80159255e+01] [-3.72589096e-02 2.49781091e-03 9.99302524e-01 -3.35936748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.0907140569999 meters 0.0390440552189917 Centerline is valid? [True, True] Translation: X:516.15, Y:-68.02, Z:-33.59 [[ 9.98115166e-01 4.85228300e-02 3.75719268e-02 5.16154870e+02] [-4.83962678e-02 9.98819082e-01 -4.27126117e-03 -6.80165925e+01] [-3.77348111e-02 2.44486952e-03 9.99284798e-01 -3.35945730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.120714057 meters 0.03510788073965046 Centerline is valid? [True, True] Translation: X:516.19, Y:-68.01, Z:-33.59 [[ 9.97828826e-01 5.31561977e-02 3.88851162e-02 5.16185621e+02] [-5.30241686e-02 9.98583449e-01 -4.41956497e-03 -6.80133279e+01] [-3.90649607e-02 2.34811837e-03 9.99233914e-01 -3.35933713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.150714057 meters 0.0329168880740835 Centerline is valid? [True, True] Translation: X:516.22, Y:-68.01, Z:-33.59 [[ 9.97458529e-01 5.86527590e-02 4.04516637e-02 5.16216431e+02] [-5.85143771e-02 9.98275979e-01 -4.59748644e-03 -6.80125684e+01] [-4.06515795e-02 2.21879816e-03 9.99170919e-01 -3.35936899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.1807140569999 meters 0.032329584958606696 Centerline is valid? [True, True] Translation: X:516.25, Y:-68.01, Z:-33.60 [[ 9.97287379e-01 6.15486597e-02 4.03688842e-02 5.16246081e+02] [-6.14131900e-02 9.98101881e-01 -4.58852670e-03 -6.80149290e+01] [-4.05746770e-02 2.09689780e-03 9.99174308e-01 -3.35950693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.2107140569999 meters 0.03085632724370815 Centerline is valid? [True, True] Translation: X:516.28, Y:-68.02, Z:-33.60 [[ 9.97006559e-01 6.58309087e-02 4.05488934e-02 5.16276550e+02] [-6.56978295e-02 9.97828928e-01 -4.60722938e-03 -6.80158770e+01] [-4.07641569e-02 1.92946362e-03 9.99166933e-01 -3.35969493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.240714057 meters 0.03045935976301715 Centerline is valid? [True, True] Translation: X:516.31, Y:-68.02, Z:-33.60 [[ 9.96946317e-01 6.69281372e-02 4.02326342e-02 5.16305320e+02] [-6.67980094e-02 9.97756046e-01 -4.57151485e-03 -6.80184273e+01] [-4.04483170e-02 1.87009502e-03 9.99179882e-01 -3.35987452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.270714057 meters 0.030967919308707185 Centerline is valid? [True, True] Translation: X:516.33, Y:-68.02, Z:-33.60 [[ 9.96924809e-01 6.75263924e-02 3.97631956e-02 5.16332864e+02] [-6.73998605e-02 9.97715825e-01 -4.51566623e-03 -6.80243259e+01] [-3.99772962e-02 1.82174586e-03 9.99198928e-01 -3.36012911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.3007140569999 meters 0.030950929339990094 Centerline is valid? [True, True] Translation: X:516.36, Y:-68.03, Z:-33.60 [[ 9.96952813e-01 6.73900518e-02 3.92895693e-02 5.16361330e+02] [-6.72665622e-02 9.97725080e-01 -4.45809014e-03 -6.80284811e+01] [-3.95006196e-02 1.80163124e-03 9.99217922e-01 -3.36028668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.3307140569999 meters 0.029349252564072836 Centerline is valid? [True, True] Translation: X:516.39, Y:-68.03, Z:-33.60 [[ 9.97001563e-01 6.72137164e-02 3.83431719e-02 5.16390106e+02] [-6.70960768e-02 9.97737045e-01 -4.34813485e-03 -6.80304049e+01] [-3.85486573e-02 1.76242084e-03 9.99255170e-01 -3.36038195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.360714057 meters 0.02976177777635852 Centerline is valid? [True, True] Translation: X:516.42, Y:-68.04, Z:-33.61 [[ 9.97031205e-01 6.72778981e-02 3.74494338e-02 5.16417569e+02] [-6.71658138e-02 9.97732799e-01 -4.24447881e-03 -6.80358080e+01] [-3.76500880e-02 1.71655612e-03 9.99289510e-01 -3.36061356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.390714057 meters 0.030029025550754672 Centerline is valid? [True, True] Translation: X:516.45, Y:-68.04, Z:-33.61 [[ 9.97021149e-01 6.73599261e-02 3.75695079e-02 5.16446342e+02] [-6.72473246e-02 9.97727267e-01 -4.25425026e-03 -6.80403844e+01] [-3.77706884e-02 1.71512859e-03 9.99284961e-01 -3.36077046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4207140569999 meters 0.03152494601009612 Centerline is valid? [True, True] Translation: X:516.47, Y:-68.05, Z:-33.61 [[ 9.96992441e-01 6.75599127e-02 3.79701239e-02 5.16473488e+02] [-6.74451095e-02 9.97713730e-01 -4.29780215e-03 -6.80477776e+01] [-3.81736731e-02 1.72397710e-03 9.99269633e-01 -3.36101768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4507140569999 meters 0.029153167616529595 Centerline is valid? [True, True] Translation: X:516.50, Y:-68.05, Z:-33.61 [[ 9.96948335e-01 6.80831733e-02 3.81929291e-02 5.16502369e+02] [-6.79676161e-02 9.97678186e-01 -4.31742789e-03 -6.80471790e+01] [-3.83981965e-02 1.70837020e-03 9.99261057e-01 -3.36096169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.480714057 meters 0.029255674474757815 Centerline is valid? [True, True] Translation: X:516.53, Y:-68.05, Z:-33.61 [[ 9.96763143e-01 6.99924628e-02 3.95511268e-02 5.16529688e+02] [-6.98701432e-02 9.97546088e-01 -4.46824159e-03 -6.80520435e+01] [-3.97668151e-02 1.69033564e-03 9.99207558e-01 -3.36106117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.510714057 meters 0.028894534154343458 Centerline is valid? [True, True] Translation: X:516.56, Y:-68.06, Z:-33.61 [[ 9.96685774e-01 7.06248423e-02 4.03683034e-02 5.16558200e+02] [-7.04980958e-02 9.97501507e-01 -4.55648350e-03 -6.80550916e+01] [-4.05892444e-02 1.69549377e-03 9.99174479e-01 -3.36119150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.540714057 meters 0.028723515677679935 Centerline is valid? [True, True] Translation: X:516.59, Y:-68.06, Z:-33.61 [[ 9.96507349e-01 7.21145373e-02 4.21022098e-02 5.16585409e+02] [-7.19781122e-02 9.97394905e-01 -4.74925908e-03 -6.80601197e+01] [-4.23350201e-02 1.70223400e-03 9.99102021e-01 -3.36126862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5707140569999 meters 0.027355162376405243 Centerline is valid? [True, True] Translation: X:516.61, Y:-68.06, Z:-33.61 [[ 9.96492020e-01 7.18668450e-02 4.28813504e-02 5.16614736e+02] [-7.17252697e-02 9.97412717e-01 -4.83301373e-03 -6.80612632e+01] [-4.31177377e-02 1.74038319e-03 9.99068482e-01 -3.36130259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.6007140569999 meters 0.027680650025621062 Centerline is valid? [True, True] Translation: X:516.64, Y:-68.07, Z:-33.62 [[ 9.96536900e-01 7.12109386e-02 4.29326215e-02 5.16641763e+02] [-7.10685212e-02 9.97459711e-01 -4.83637895e-03 -6.80687590e+01] [-4.31679633e-02 1.76847216e-03 9.99066264e-01 -3.36159847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.630714057 meters 0.02868265980179795 Centerline is valid? [True, True] Translation: X:516.67, Y:-68.08, Z:-33.62 [[ 9.96769416e-01 6.88857458e-02 4.12975166e-02 5.16669436e+02] [-6.87522426e-02 9.97622947e-01 -4.64599276e-03 -6.80769265e+01] [-4.15193929e-02 1.79168661e-03 9.99136092e-01 -3.36192675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.660714057 meters 0.029765095678980693 Centerline is valid? [True, True] Translation: X:516.70, Y:-68.08, Z:-33.62 [[ 9.96963060e-01 6.67146683e-02 4.01722487e-02 5.16697299e+02] [-6.65866724e-02 9.97770419e-01 -4.51729319e-03 -6.80834392e+01] [-4.03840512e-02 1.82863807e-03 9.99182558e-01 -3.36220848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.6907140569999 meters 0.030990184619321806 Centerline is valid? [True, True] Translation: X:516.73, Y:-68.09, Z:-33.62 [[ 9.97257571e-01 6.27721659e-02 3.92044890e-02 5.16726207e+02] [-6.26473337e-02 9.98026002e-01 -4.40577036e-03 -6.80912782e+01] [-3.94036592e-02 1.93763115e-03 9.99221496e-01 -3.36243706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.7207140569999 meters 0.03156459311246476 Centerline is valid? [True, True] Translation: X:516.76, Y:-68.10, Z:-33.63 [[ 9.97548368e-01 5.85404020e-02 3.83441665e-02 5.16755629e+02] [-5.84178997e-02 9.98282919e-01 -4.30842561e-03 -6.80986944e+01] [-3.85305435e-02 2.05787726e-03 9.99255304e-01 -3.36257602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.750714057 meters 0.03223784082176612 Centerline is valid? [True, True] Translation: X:516.78, Y:-68.10, Z:-33.63 [[ 9.97655841e-01 5.68188414e-02 3.81371541e-02 5.16784634e+02] [-5.66964181e-02 9.98382270e-01 -4.28482869e-03 -6.81041366e+01] [-3.83189174e-02 2.11254433e-03 9.99263328e-01 -3.36276032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.780714057 meters 0.03307998953767008 Centerline is valid? [True, True] Translation: X:516.81, Y:-68.11, Z:-33.63 [[ 9.97703243e-01 5.56467486e-02 3.86222476e-02 5.16811632e+02] [-5.55203188e-02 9.98448129e-01 -4.33920513e-03 -6.81098052e+01] [-3.88037735e-02 2.18491953e-03 9.99244461e-01 -3.36293889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.8107140569999 meters 0.033397381656660646 Centerline is valid? [True, True] Translation: X:516.84, Y:-68.11, Z:-33.63 [[ 9.97781539e-01 5.37874125e-02 3.92290027e-02 5.16840629e+02] [-5.36557619e-02 9.98549790e-01 -4.40186299e-03 -6.81146263e+01] [-3.94088772e-02 2.28723560e-03 9.99220551e-01 -3.36302493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.8407140569999 meters 0.03424934007794709 Centerline is valid? [True, True] Translation: X:516.87, Y:-68.12, Z:-33.63 [[ 9.97779380e-01 5.32672053e-02 3.99864216e-02 5.16868060e+02] [-5.31300245e-02 9.98577525e-01 -4.48630126e-03 -6.81202025e+01] [-4.01685147e-02 2.35185933e-03 9.99190152e-01 -3.36307634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.870714057 meters 0.03384601119919785 Centerline is valid? [True, True] Translation: X:516.90, Y:-68.12, Z:-33.63 [[ 9.97828394e-01 5.16885232e-02 4.08263811e-02 5.16896796e+02] [-5.15443812e-02 9.98660221e-01 -4.57608158e-03 -6.81244476e+01] [-4.10082136e-02 2.46177358e-03 9.99155777e-01 -3.36321181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.900714057 meters 0.03337791069409206 Centerline is valid? [True, True] Translation: X:516.93, Y:-68.13, Z:-33.63 [[ 9.97859387e-01 5.05984471e-02 4.14299481e-02 5.16925754e+02] [-5.04491589e-02 9.98715844e-01 -4.64166775e-03 -6.81280375e+01] [-4.16116068e-02 2.54162571e-03 9.99130629e-01 -3.36333404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.9307140569999 meters 0.03478456978224033 Centerline is valid? [True, True] Translation: X:516.95, Y:-68.13, Z:-33.64 [[ 9.97898149e-01 4.93229912e-02 4.20300601e-02 5.16954264e+02] [-4.91683423e-02 9.98779419e-01 -4.70593575e-03 -6.81347039e+01] [-4.22108699e-02 2.62949620e-03 9.99105264e-01 -3.36354109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.9607140569999 meters 0.03713216937562331 Centerline is valid? [True, True] Translation: X:516.98, Y:-68.14, Z:-33.64 [[ 9.98050770e-01 4.62297843e-02 4.19221650e-02 5.16983199e+02] [-4.60732567e-02 9.98927041e-01 -4.69279947e-03 -6.81428263e+01] [-4.20941313e-02 2.75216145e-03 9.99109859e-01 -3.36370729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.990714057 meters 0.03770177550894408 Centerline is valid? [True, True] Translation: X:517.01, Y:-68.15, Z:-33.64 [[ 9.98121017e-01 4.47234047e-02 4.18838061e-02 5.17014071e+02] [-4.45658673e-02 9.98995449e-01 -4.68794428e-03 -6.81478385e+01] [-4.20513925e-02 2.81254757e-03 9.99111490e-01 -3.36390466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.020714057 meters 0.04033426487523863 Centerline is valid? [True, True] Translation: X:517.04, Y:-68.16, Z:-33.64 [[ 9.98243960e-01 4.19231762e-02 4.18502642e-02 5.17042953e+02] [-4.17633558e-02 9.99116540e-01 -4.68625639e-03 -6.81560421e+01] [-4.20097539e-02 2.93021966e-03 9.99112904e-01 -3.36417966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.0507140569999 meters 0.03904402671148658 Centerline is valid? [True, True] Translation: X:517.08, Y:-68.16, Z:-33.64 [[ 9.98288765e-01 4.05751286e-02 4.21093895e-02 5.17075279e+02] [-4.04121759e-02 9.99171974e-01 -4.71415480e-03 -6.81583607e+01] [-4.22657993e-02 3.00435572e-03 9.99101885e-01 -3.36430248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.0807140569999 meters 0.0407732690670507 Centerline is valid? [True, True] Translation: X:517.11, Y:-68.16, Z:-33.65 [[ 9.98386514e-01 3.85185592e-02 4.17215598e-02 5.17106095e+02] [-3.83566611e-02 9.99253180e-01 -4.67431039e-03 -6.81645750e+01] [-4.18704490e-02 3.06646873e-03 9.99118342e-01 -3.36453959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.110714057 meters 0.04237565426790521 Centerline is valid? [True, True] Translation: X:517.14, Y:-68.17, Z:-33.65 [[ 9.98442518e-01 3.72723592e-02 4.15127736e-02 5.17136234e+02] [-3.71109461e-02 9.99300322e-01 -4.65240046e-03 -6.81702933e+01] [-4.16571340e-02 3.10457612e-03 9.99127141e-01 -3.36479471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.140714057 meters 0.04264742001972446 Centerline is valid? [True, True] Translation: X:517.17, Y:-68.17, Z:-33.65 [[ 9.98445094e-01 3.71668842e-02 4.15453620e-02 5.17168313e+02] [-3.70052057e-02 9.99304235e-01 -4.65415810e-03 -6.81741178e+01] [-4.16894367e-02 3.10952665e-03 9.99125779e-01 -3.36500681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.1707140569999 meters 0.04355362274085574 Centerline is valid? [True, True] Translation: X:517.20, Y:-68.18, Z:-33.65 [[ 9.98439851e-01 3.69692886e-02 4.18465681e-02 5.17199568e+02] [-3.68046285e-02 9.99311434e-01 -4.69871152e-03 -6.81777985e+01] [-4.19914620e-02 3.15123344e-03 9.99113000e-01 -3.36509737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.2007140569999 meters 0.04299974352703615 Centerline is valid? [True, True] Translation: X:517.23, Y:-68.18, Z:-33.65 [[ 9.98382010e-01 3.73192622e-02 4.29026128e-02 5.17231876e+02] [-3.71460732e-02 9.99298187e-01 -4.82720984e-03 -6.81801625e+01] [-4.30526511e-02 3.22573587e-03 9.99067597e-01 -3.36517602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.230714057 meters 0.04195579694798052 Centerline is valid? [True, True] Translation: X:517.26, Y:-68.18, Z:-33.65 [[ 9.98337263e-01 3.75448020e-02 4.37389626e-02 5.17264682e+02] [-3.73644221e-02 9.99289523e-01 -4.93455669e-03 -6.81809490e+01] [-4.38931540e-02 3.29207076e-03 9.99030807e-01 -3.36526537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.260714057 meters 0.041229068724026936 Centerline is valid? [True, True] Translation: X:517.30, Y:-68.18, Z:-33.65 [[ 9.98305008e-01 3.78405503e-02 4.42176904e-02 5.17297951e+02] [-3.76564242e-02 9.99278287e-01 -4.98993448e-03 -6.81827433e+01] [-4.43745998e-02 3.31639647e-03 9.99009458e-01 -3.36543362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.290714057 meters 0.0410306459177297 Centerline is valid? [True, True] Translation: X:517.33, Y:-68.18, Z:-33.66 [[ 9.98260160e-01 3.92803322e-02 4.39739486e-02 5.17329249e+02] [-3.90990294e-02 9.99222952e-01 -4.97581179e-03 -6.81843268e+01] [-4.41352302e-02 3.24781596e-03 9.99020287e-01 -3.36556870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.3207140569999 meters 0.03939705555797677 Centerline is valid? [True, True] Translation: X:517.36, Y:-68.18, Z:-33.66 [[ 9.98253861e-01 3.98070230e-02 4.36420690e-02 5.17361347e+02] [-3.96285240e-02 9.99202231e-01 -4.94795618e-03 -6.81839402e+01] [-4.38042161e-02 3.20984558e-03 9.99034978e-01 -3.36571766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.3507140569999 meters 0.040947819144905785 Centerline is valid? [True, True] Translation: X:517.39, Y:-68.19, Z:-33.66 [[ 9.98254390e-01 3.99796537e-02 4.34718403e-02 5.17393574e+02] [-3.98021822e-02 9.99195364e-01 -4.94070427e-03 -6.81878303e+01] [-4.36343890e-02 3.20180561e-03 9.99042436e-01 -3.36595120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.380714057 meters 0.03882633789500059 Centerline is valid? [True, True] Translation: X:517.43, Y:-68.19, Z:-33.66 [[ 9.98268906e-01 4.00386830e-02 4.30824349e-02 5.17425798e+02] [-3.98641467e-02 9.99193079e-01 -4.90308553e-03 -6.81875074e+01] [-4.32439838e-02 3.17715332e-03 9.99059490e-01 -3.36607887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.410714057 meters 0.040403815972591885 Centerline is valid? [True, True] Translation: X:517.46, Y:-68.19, Z:-33.66 [[ 9.98390178e-01 3.84418415e-02 4.17046535e-02 5.17455766e+02] [-3.82763287e-02 9.99255854e-01 -4.76024899e-03 -6.81916916e+01] [-4.18566119e-02 3.15628480e-03 9.99118643e-01 -3.36634728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4407140569999 meters 0.041629377612081166 Centerline is valid? [True, True] Translation: X:517.49, Y:-68.20, Z:-33.67 [[ 9.98449707e-01 3.77695833e-02 4.08857112e-02 5.17487107e+02] [-3.76099972e-02 9.99281602e-01 -4.66566550e-03 -6.81959416e+01] [-4.10325593e-02 3.12072086e-03 9.99152936e-01 -3.36661729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4707140569999 meters 0.04190459375008023 Centerline is valid? [True, True] Translation: X:517.52, Y:-68.20, Z:-33.67 [[ 9.98509338e-01 3.66638675e-02 4.04334325e-02 5.17518940e+02] [-3.65067603e-02 9.99322739e-01 -4.61735432e-03 -6.81980168e+01] [-4.05753386e-02 3.13437778e-03 9.99171566e-01 -3.36683453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.500714057 meters 0.04259474376326659 Centerline is valid? [True, True] Translation: X:517.55, Y:-68.20, Z:-33.67 [[ 9.98505205e-01 3.64137587e-02 4.07601872e-02 5.17550705e+02] [-3.62535081e-02 9.99331742e-01 -4.66406915e-03 -6.82009491e+01] [-4.09027851e-02 3.17939755e-03 9.99158072e-01 -3.36698246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.530714057 meters 0.04351809661695296 Centerline is valid? [True, True] Translation: X:517.58, Y:-68.20, Z:-33.67 [[ 9.98498160e-01 3.66467455e-02 4.07239547e-02 5.17583754e+02] [-3.64865787e-02 9.99323233e-01 -4.66954943e-03 -6.82048255e+01] [-4.08675179e-02 3.17665873e-03 9.99159524e-01 -3.36717690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.5607140569999 meters 0.04444879652105897 Centerline is valid? [True, True] Translation: X:517.62, Y:-68.21, Z:-33.67 [[ 9.98494012e-01 3.73778640e-02 4.01572328e-02 5.17615843e+02] [-3.72222370e-02 9.99296349e-01 -4.61641082e-03 -6.82074589e+01] [-4.03015277e-02 3.11471653e-03 9.99182709e-01 -3.36736965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.5907140569999 meters 0.04444879652105897 Centerline is valid? [True, True] Translation: X:517.65, Y:-68.21, Z:-33.68 [[ 9.98483552e-01 3.76573840e-02 4.01561770e-02 5.17648277e+02] [-3.75016153e-02 9.99285861e-01 -4.62557310e-03 -6.82112830e+01] [-4.03016869e-02 3.11263715e-03 9.99182709e-01 -3.36755844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.620714057 meters 0.04473022813692402 Centerline is valid? [True, True] Translation: X:517.68, Y:-68.21, Z:-33.68 [[ 9.98460331e-01 3.81085351e-02 4.03076615e-02 5.17680394e+02] [-3.79514624e-02 9.99268741e-01 -4.65515027e-03 -6.82140943e+01] [-4.04555871e-02 3.11824818e-03 9.99176472e-01 -3.36772424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.650714057 meters 0.04123334892921783 Centerline is valid? [True, True] Translation: X:517.71, Y:-68.21, Z:-33.68 [[ 9.98398981e-01 3.93316546e-02 4.06508958e-02 5.17712952e+02] [-3.91723725e-02 9.99221378e-01 -4.70772873e-03 -6.82102463e+01] [-4.08044069e-02 3.10779954e-03 9.99162320e-01 -3.36773506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.6807140569999 meters 0.04066187323022856 Centerline is valid? [True, True] Translation: X:517.74, Y:-68.21, Z:-33.68 [[ 9.98340305e-01 4.02513414e-02 4.11881744e-02 5.17744702e+02] [-4.00884391e-02 9.99184732e-01 -4.77372982e-03 -6.82123813e+01] [-4.13467441e-02 3.11463726e-03 9.99140003e-01 -3.36790791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.7107140569999 meters 0.04074130270608661 Centerline is valid? [True, True] Translation: X:517.78, Y:-68.21, Z:-33.68 [[ 9.98311115e-01 4.15809264e-02 4.05702433e-02 5.17775887e+02] [-4.14238698e-02 9.99130587e-01 -4.70457618e-03 -6.82139006e+01] [-4.07305916e-02 3.01605422e-03 9.99165613e-01 -3.36804706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.740714057 meters 0.03894997191009966 Centerline is valid? [True, True] Translation: X:517.81, Y:-68.21, Z:-33.68 [[ 9.98289746e-01 4.23470503e-02 4.03027413e-02 5.17807132e+02] [-4.21926092e-02 9.99098556e-01 -4.67530858e-03 -6.82136831e+01] [-4.04643962e-02 2.96683480e-03 9.99176576e-01 -3.36821331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.770714057 meters 0.040847367880571195 Centerline is valid? [True, True] Translation: X:517.84, Y:-68.22, Z:-33.69 [[ 9.98282563e-01 4.37469062e-02 3.89632100e-02 5.17837323e+02] [-4.36036630e-02 9.99038687e-01 -4.51901363e-03 -6.82185884e+01] [-3.91234471e-02 2.81231383e-03 9.99230427e-01 -3.36856174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.8007140569999 meters 0.03924555067101887 Centerline is valid? [True, True] Translation: X:517.87, Y:-68.22, Z:-33.69 [[ 9.98304555e-01 4.39489497e-02 3.81641889e-02 5.17867118e+02] [-4.38114211e-02 9.99029984e-01 -4.43287915e-03 -6.82189513e+01] [-3.83219894e-02 2.75333609e-03 9.99261650e-01 -3.36872778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.8307140569999 meters 0.04047841327867019 Centerline is valid? [True, True] Translation: X:517.90, Y:-68.22, Z:-33.69 [[ 9.98314311e-01 4.42552195e-02 3.75501362e-02 5.17895815e+02] [-4.41223485e-02 9.99016620e-01 -4.36024791e-03 -6.82232358e+01] [-3.77061739e-02 2.69609769e-03 9.99285232e-01 -3.36898450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.860714057 meters 0.0410769311624655 Centerline is valid? [True, True] Translation: X:517.93, Y:-68.23, Z:-33.69 [[ 9.98333709e-01 4.40934967e-02 3.72232384e-02 5.17925638e+02] [-4.39628705e-02 9.99023821e-01 -4.32090290e-03 -6.82269950e+01] [-3.73774256e-02 2.67726261e-03 9.99297634e-01 -3.36918869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.890714057 meters 0.04085462986446781 Centerline is valid? [True, True] Translation: X:517.96, Y:-68.23, Z:-33.69 [[ 9.98304914e-01 4.44861021e-02 3.75271276e-02 5.17955644e+02] [-4.43536731e-02 9.99006402e-01 -4.35447500e-03 -6.82299502e+01] [-3.76835543e-02 2.68262784e-03 9.99286122e-01 -3.36932267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9207140569999 meters 0.0408326520450682 Centerline is valid? [True, True] Translation: X:517.99, Y:-68.23, Z:-33.69 [[ 9.98285816e-01 4.48250001e-02 3.76317664e-02 5.17985405e+02] [-4.46920828e-02 9.98991268e-01 -4.36629631e-03 -6.82333735e+01] [-3.77895252e-02 2.67696966e-03 9.99282135e-01 -3.36948522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9507140569999 meters 0.03882890814165764 Centerline is valid? [True, True] Translation: X:518.02, Y:-68.23, Z:-33.70 [[ 9.98233791e-01 4.59417703e-02 3.76649932e-02 5.18015706e+02] [-4.58094722e-02 9.98940643e-01 -4.36847159e-03 -6.82325963e+01] [-3.78257879e-02 2.63534249e-03 9.99280874e-01 -3.36955002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.980714057 meters 0.038618865726383775 Centerline is valid? [True, True] Translation: X:518.04, Y:-68.24, Z:-33.70 [[ 9.98118934e-01 4.84722271e-02 3.75371417e-02 5.18044506e+02] [-4.83426185e-02 9.98821325e-01 -4.35332167e-03 -6.82354166e+01] [-3.77039128e-02 2.53048907e-03 9.99285751e-01 -3.36974149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.010714057 meters 0.03757406980795231 Centerline is valid? [True, True] Translation: X:518.07, Y:-68.24, Z:-33.70 [[ 9.98105413e-01 4.91432291e-02 3.70206334e-02 5.18073856e+02] [-4.90176586e-02 9.98788688e-01 -4.29249604e-03 -6.82366103e+01] [-3.71867370e-02 2.46969877e-03 9.99305282e-01 -3.36985042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.040714057 meters 0.037693472525870575 Centerline is valid? [True, True] Translation: X:518.10, Y:-68.24, Z:-33.70 [[ 9.98053400e-01 5.02189404e-02 3.69793061e-02 5.18102603e+02] [-5.00944464e-02 9.98735288e-01 -4.28605660e-03 -6.82404097e+01] [-3.71477792e-02 2.42525549e-03 9.99306840e-01 -3.37002015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0707140569999 meters 0.03743484119910551 Centerline is valid? [True, True] Translation: X:518.13, Y:-68.24, Z:-33.70 [[ 9.98025832e-01 5.04365376e-02 3.74245045e-02 5.18131343e+02] [-5.03092814e-02 9.98724279e-01 -4.33491792e-03 -6.82439780e+01] [-3.75953995e-02 2.44356013e-03 9.99290055e-01 -3.37018248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.1007140569999 meters 0.038152102320609775 Centerline is valid? [True, True] Translation: X:518.16, Y:-68.25, Z:-33.70 [[ 9.98038387e-01 5.02505696e-02 3.73397633e-02 5.18159858e+02] [-5.01238606e-02 9.98733656e-01 -4.32241831e-03 -6.82489200e+01] [-3.75096823e-02 2.44232631e-03 9.99293280e-01 -3.37044236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.130714057 meters 0.036481431317532856 Centerline is valid? [True, True] Translation: X:518.19, Y:-68.25, Z:-33.71 [[ 9.98094110e-01 4.97034123e-02 3.65748256e-02 5.18188843e+02] [-4.95815702e-02 9.98761114e-01 -4.23138726e-03 -6.82497509e+01] [-3.67398280e-02 2.40988541e-03 9.99321959e-01 -3.37057499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.160714057 meters 0.03699820148964322 Centerline is valid? [True, True] Translation: X:518.22, Y:-68.25, Z:-33.71 [[ 9.98131080e-01 4.92179012e-02 3.62207751e-02 5.18217052e+02] [-4.90981849e-02 9.98785177e-01 -4.18781298e-03 -6.82539970e+01] [-3.63828887e-02 2.40161198e-03 9.99335038e-01 -3.37076795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.1907140569999 meters 0.0386705513945741 Centerline is valid? [True, True] Translation: X:518.24, Y:-68.26, Z:-33.71 [[ 9.98192617e-01 4.79493251e-02 3.62265252e-02 5.18244641e+02] [-4.78288358e-02 9.98846776e-01 -4.18582833e-03 -6.82602324e+01] [-3.63854555e-02 2.44559041e-03 9.99334838e-01 -3.37103845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.2207140569999 meters 0.0399820465182829 Centerline is valid? [True, True] Translation: X:518.27, Y:-68.27, Z:-33.71 [[ 9.98298307e-01 4.60943568e-02 3.57183560e-02 5.18273559e+02] [-4.59761633e-02 9.98934025e-01 -4.12379895e-03 -6.82662069e+01] [-3.58703650e-02 2.47458853e-03 9.99353388e-01 -3.37124025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.250714057 meters 0.039399674213903536 Centerline is valid? [True, True] Translation: X:518.30, Y:-68.27, Z:-33.71 [[ 9.98329950e-01 4.55269605e-02 3.55613211e-02 5.18303170e+02] [-4.54094911e-02 9.98960025e-01 -4.10442177e-03 -6.82686143e+01] [-3.57112001e-02 2.48274569e-03 9.99359068e-01 -3.37134692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.280714057 meters 0.04019405174208633 Centerline is valid? [True, True] Translation: X:518.33, Y:-68.27, Z:-33.71 [[ 9.98341992e-01 4.50128477e-02 3.58763142e-02 5.18331356e+02] [-4.48929986e-02 9.98983224e-01 -4.13961287e-03 -6.82737312e+01] [-3.60261718e-02 2.52215403e-03 9.99347664e-01 -3.37149450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.3107140569999 meters 0.041044896193997746 Centerline is valid? [True, True] Translation: X:518.36, Y:-68.28, Z:-33.72 [[ 9.98364486e-01 4.41718485e-02 3.62932513e-02 5.18360843e+02] [-4.40487069e-02 9.99020615e-01 -4.18597639e-03 -6.82779797e+01] [-3.64426086e-02 2.58045939e-03 9.99332416e-01 -3.37168512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.3407140569999 meters 0.04149288969945479 Centerline is valid? [True, True] Translation: X:518.39, Y:-68.28, Z:-33.72 [[ 9.98395439e-01 4.29954421e-02 3.68502296e-02 5.18390274e+02] [-4.28677423e-02 9.99071721e-01 -4.24887334e-03 -6.82825916e+01] [-3.69987045e-02 2.66236962e-03 9.99311767e-01 -3.37177550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.370714057 meters 0.042985319501031315 Centerline is valid? [True, True] Translation: X:518.42, Y:-68.29, Z:-33.72 [[ 9.98395348e-01 4.26553496e-02 3.72457979e-02 5.18418214e+02] [-4.25246935e-02 9.99086191e-01 -4.29349032e-03 -6.82881839e+01] [-3.73949027e-02 2.70273462e-03 9.99296911e-01 -3.37197679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.400714057 meters 0.04431940845717273 Centerline is valid? [True, True] Translation: X:518.45, Y:-68.29, Z:-33.72 [[ 9.98397727e-01 4.21144776e-02 3.77935056e-02 5.18447131e+02] [-4.19796669e-02 9.99108979e-01 -4.35388796e-03 -6.82937550e+01] [-3.79431925e-02 2.76035307e-03 9.99276085e-01 -3.37222537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.4307140569999 meters 0.0393284747065702 Centerline is valid? [True, True] Translation: X:518.48, Y:-68.29, Z:-33.72 [[ 9.98454405e-01 4.07729465e-02 3.77673008e-02 5.18478289e+02] [-4.06374064e-02 9.99164491e-01 -4.34986947e-03 -6.82892688e+01] [-3.79131029e-02 2.80838118e-03 9.99277094e-01 -3.37217405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.4607140569999 meters 0.04223067022296535 Centerline is valid? [True, True] Translation: X:518.51, Y:-68.30, Z:-33.72 [[ 9.98502190e-01 3.95851442e-02 3.77676247e-02 5.18507491e+02] [-3.94487572e-02 9.99212127e-01 -4.34990678e-03 -6.82970434e+01] [-3.79100603e-02 2.85350559e-03 9.99277081e-01 -3.37246441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.490714057 meters 0.043248318765503606 Centerline is valid? [True, True] Translation: X:518.54, Y:-68.30, Z:-33.73 [[ 9.98537606e-01 3.84255169e-02 3.80280056e-02 5.18538488e+02] [-3.82864322e-02 9.99257210e-01 -4.37920513e-03 -6.83017632e+01] [-3.81680320e-02 2.91684434e-03 9.99267078e-01 -3.37264759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.520714057 meters 0.04139915434028099 Centerline is valid? [True, True] Translation: X:518.57, Y:-68.30, Z:-33.73 [[ 9.98597808e-01 3.62865523e-02 3.85448351e-02 5.18570221e+02] [-3.61420222e-02 9.99336800e-01 -4.44009953e-03 -6.83010541e+01] [-3.86803881e-02 3.04078537e-03 9.99247007e-01 -3.37268433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.5507140569999 meters 0.041561953593043995 Centerline is valid? [True, True] Translation: X:518.60, Y:-68.30, Z:-33.73 [[ 9.98617404e-01 3.51060347e-02 3.91260251e-02 5.18602372e+02] [-3.49561792e-02 9.99378679e-01 -4.50783445e-03 -6.83046655e+01] [-3.92599675e-02 3.13390559e-03 9.99224116e-01 -3.37283535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.5807140569999 meters 0.045399673589734985 Centerline is valid? [True, True] Translation: X:518.63, Y:-68.31, Z:-33.73 [[ 9.98722367e-01 3.22513419e-02 3.89035270e-02 5.18630939e+02] [-3.21008634e-02 9.99474564e-01 -4.48662705e-03 -6.83119975e+01] [-3.90277855e-02 3.23205798e-03 9.99232899e-01 -3.37308684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.610714057 meters 0.04526417550575307 Centerline is valid? [True, True] Translation: X:518.66, Y:-68.31, Z:-33.73 [[ 9.98834707e-01 2.87245532e-02 3.87830955e-02 5.18661216e+02] [-2.85723944e-02 9.99581722e-01 -4.47202881e-03 -6.83142358e+01] [-3.88953305e-02 3.35869168e-03 9.99237646e-01 -3.37327649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.640714057 meters 0.04583495467271943 Centerline is valid? [True, True] Translation: X:518.69, Y:-68.32, Z:-33.73 [[ 9.98888588e-01 2.66342216e-02 3.88871091e-02 5.18691780e+02] [-2.64796795e-02 9.99639296e-01 -4.48387336e-03 -6.83186695e+01] [-3.89925069e-02 3.44917174e-03 9.99233550e-01 -3.37348053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.6707140569999 meters 0.04734608664133632 Centerline is valid? [True, True] Translation: X:518.72, Y:-68.32, Z:-33.74 [[ 9.98980126e-01 2.31928127e-02 3.87401862e-02 5.18721454e+02] [-2.30368194e-02 9.99724632e-01 -4.46826407e-03 -6.83234118e+01] [-3.88331500e-02 3.57125633e-03 9.99239327e-01 -3.37375680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.7007140569999 meters 0.04760044588808134 Centerline is valid? [True, True] Translation: X:518.75, Y:-68.33, Z:-33.74 [[ 9.98997517e-01 2.26968124e-02 3.85851712e-02 5.18753270e+02] [-2.25419203e-02 9.99736019e-01 -4.44467376e-03 -6.83269442e+01] [-3.86758654e-02 3.57043420e-03 9.99245430e-01 -3.37394904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.730714057 meters 0.048150805744306184 Centerline is valid? [True, True] Translation: X:518.79, Y:-68.33, Z:-33.74 [[ 9.99037265e-01 2.18486891e-02 3.80418002e-02 5.18785746e+02] [-2.16970221e-02 9.99754931e-01 -4.39519192e-03 -6.83287724e+01] [-3.81285065e-02 3.56556674e-03 9.99266483e-01 -3.37406780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.760714057 meters 0.04977978672018342 Centerline is valid? [True, True] Translation: X:518.82, Y:-68.33, Z:-33.74 [[ 9.99006950e-01 2.27843285e-02 3.82882211e-02 5.18817155e+02] [-2.26313937e-02 9.99734093e-01 -4.42303964e-03 -6.83336266e+01] [-3.83788160e-02 3.55213153e-03 9.99256948e-01 -3.37430793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.790714057 meters 0.04888046352122463 Centerline is valid? [True, True] Translation: X:518.85, Y:-68.33, Z:-33.74 [[ 9.98939222e-01 2.55861561e-02 3.82854869e-02 5.18848533e+02] [-2.54347283e-02 9.99666638e-01 -4.43716256e-03 -6.83329822e+01] [-3.83862539e-02 3.45867476e-03 9.99256991e-01 -3.37446536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.8207140569999 meters 0.0473072868463307 Centerline is valid? [True, True] Translation: X:518.88, Y:-68.33, Z:-33.75 [[ 9.98783431e-01 3.02403946e-02 3.89509436e-02 5.18879914e+02] [-3.00871602e-02 9.99537085e-01 -4.51436426e-03 -6.83313143e+01] [-3.90694288e-02 3.33694895e-03 9.99230927e-01 -3.37461875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.8507140569999 meters 0.04725656562137789 Centerline is valid? [True, True] Translation: X:518.91, Y:-68.33, Z:-33.75 [[ 9.98695060e-01 3.25218350e-02 3.93764833e-02 5.18911113e+02] [-3.23669674e-02 9.99465631e-01 -4.56429541e-03 -6.83329539e+01] [-3.95038809e-02 3.28384193e-03 9.99214021e-01 -3.37478536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.880714057 meters 0.04536461125070211 Centerline is valid? [True, True] Translation: X:518.94, Y:-68.33, Z:-33.75 [[ 9.98528481e-01 3.73052695e-02 3.93597385e-02 5.18942796e+02] [-3.71541948e-02 9.99299126e-01 -4.56307548e-03 -6.83298736e+01] [-3.95023791e-02 3.09398143e-03 9.99214686e-01 -3.37492035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.910714057 meters 0.04556061905057772 Centerline is valid? [True, True] Translation: X:518.97, Y:-68.33, Z:-33.75 [[ 9.98452817e-01 3.95139081e-02 3.91231817e-02 5.18972912e+02] [-3.93662935e-02 9.99214549e-01 -4.53657615e-03 -6.83317686e+01] [-3.92717102e-02 2.98942258e-03 9.99224097e-01 -3.37511798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9407140569999 meters 0.044608193783313786 Centerline is valid? [True, True] Translation: X:519.00, Y:-68.33, Z:-33.75 [[ 9.98335084e-01 4.24279374e-02 3.90759591e-02 5.19003797e+02] [-4.22829063e-02 9.99095404e-01 -4.53088126e-03 -6.83309053e+01] [-3.92328471e-02 2.87109261e-03 9.99225971e-01 -3.37529182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9707140569999 meters 0.04509815649863432 Centerline is valid? [True, True] Translation: X:519.03, Y:-68.33, Z:-33.76 [[ 9.98286273e-01 4.32477139e-02 3.94227429e-02 5.19032015e+02] [-4.31006666e-02 9.99060270e-01 -4.57271243e-03 -6.83339546e+01] [-3.95834555e-02 2.86572955e-03 9.99212158e-01 -3.37550461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.000714057 meters 0.045935569117295634 Centerline is valid? [True, True] Translation: X:519.06, Y:-68.34, Z:-33.76 [[ 9.98264492e-01 4.35703129e-02 3.96185810e-02 5.19060931e+02] [-4.34221471e-02 9.99046256e-01 -4.59305597e-03 -6.83366911e+01] [-3.97809159e-02 2.86476084e-03 9.99204319e-01 -3.37572451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.030714057 meters 0.04229993406245851 Centerline is valid? [True, True] Translation: X:519.09, Y:-68.33, Z:-33.76 [[ 9.98342467e-01 4.26834184e-02 3.86062821e-02 5.19091261e+02] [-4.25421210e-02 9.99084655e-01 -4.47446109e-03 -6.83336459e+01] [-3.87619293e-02 2.82465140e-03 9.99244482e-01 -3.37577294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.0607140569999 meters 0.044124473314613985 Centerline is valid? [True, True] Translation: X:519.12, Y:-68.34, Z:-33.76 [[ 9.98459100e-01 4.08278544e-02 3.75833873e-02 5.19120191e+02] [-4.06927289e-02 9.99162223e-01 -4.35363330e-03 -6.83376608e+01] [-3.77296503e-02 2.81755419e-03 9.99284011e-01 -3.37604222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.0907140569999 meters 0.04516159855084615 Centerline is valid? [True, True] Translation: X:519.15, Y:-68.34, Z:-33.76 [[ 9.98516521e-01 3.98758259e-02 3.70766092e-02 5.19150017e+02] [-3.97436384e-02 9.99200675e-01 -4.29577124e-03 -6.83422107e+01] [-3.72182704e-02 2.81583921e-03 9.99303193e-01 -3.37629036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.120714057 meters 0.04580457216130851 Centerline is valid? [True, True] Translation: X:519.18, Y:-68.35, Z:-33.77 [[ 9.98695846e-01 3.66565126e-02 3.55374057e-02 5.19180686e+02] [-3.65330528e-02 9.99323963e-01 -4.11744633e-03 -6.83451417e+01] [-3.56643123e-02 2.81378663e-03 9.99359865e-01 -3.37657906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.150714057 meters 0.04896150944527246 Centerline is valid? [True, True] Translation: X:519.21, Y:-68.35, Z:-33.77 [[ 9.98740870e-01 3.55596535e-02 3.53862467e-02 5.19209747e+02] [-3.54365594e-02 9.99363518e-01 -4.09990572e-03 -6.83531576e+01] [-3.55095152e-02 2.84077657e-03 9.99365301e-01 -3.37688602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.1807140569999 meters 0.04651963536561886 Centerline is valid? [True, True] Translation: X:519.24, Y:-68.35, Z:-33.77 [[ 9.98782394e-01 3.39600247e-02 3.57833123e-02 5.19240799e+02] [-3.38331451e-02 9.99418898e-01 -4.14552891e-03 -6.83520612e+01] [-3.59033008e-02 2.92981930e-03 9.99350974e-01 -3.37688090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.2107140569999 meters 0.04581906874782147 Centerline is valid? [True, True] Translation: X:519.27, Y:-68.35, Z:-33.77 [[ 9.98782136e-01 3.36069494e-02 3.61222584e-02 5.19272332e+02] [-3.34774144e-02 9.99430712e-01 -4.18506085e-03 -6.83545914e+01] [-3.62423415e-02 2.97068420e-03 9.99338615e-01 -3.37699631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.240714057 meters 0.04695503060644461 Centerline is valid? [True, True] Translation: X:519.30, Y:-68.36, Z:-33.77 [[ 9.98724721e-01 3.37764212e-02 3.75244613e-02 5.19302696e+02] [-3.36366801e-02 9.99424663e-01 -4.34928247e-03 -6.83583817e+01] [-3.76497753e-02 3.08153763e-03 9.99286245e-01 -3.37705269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.270714057 meters 0.04694721668099734 Centerline is valid? [True, True] Translation: X:519.33, Y:-68.36, Z:-33.77 [[ 9.98617473e-01 3.55804307e-02 3.86933616e-02 5.19332745e+02] [-3.54331461e-02 9.99361981e-01 -4.48580704e-03 -6.83606262e+01] [-3.88282815e-02 3.10857775e-03 9.99241063e-01 -3.37712321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.3007140569999 meters 0.049516922926251754 Centerline is valid? [True, True] Translation: X:519.36, Y:-68.37, Z:-33.77 [[ 9.98553723e-01 3.69067960e-02 3.90941341e-02 5.19362770e+02] [-3.67574770e-02 9.99313941e-01 -4.53163258e-03 -6.83673150e+01] [-3.92345613e-02 3.08807685e-03 9.99225256e-01 -3.37740039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.3307140569999 meters 0.04036084007647701 Centerline is valid? [True, True] Translation: X:519.40, Y:-68.36, Z:-33.77 [[ 9.98539924e-01 3.78295712e-02 3.85609011e-02 5.19395269e+02] [-3.76849214e-02 9.99279667e-01 -4.47144021e-03 -6.83565372e+01] [-3.87022771e-02 3.01174705e-03 9.99246248e-01 -3.37730259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.360714057 meters 0.04080002007612525 Centerline is valid? [True, True] Translation: X:519.43, Y:-68.36, Z:-33.78 [[ 9.98491806e-01 3.99913636e-02 3.76138780e-02 5.19425077e+02] [-3.98552211e-02 9.99195941e-01 -4.36265714e-03 -6.83590444e+01] [-3.77581028e-02 2.85696798e-03 9.99282825e-01 -3.37759854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.390714057 meters 0.04970406951527995 Centerline is valid? [True, True] Translation: X:519.45, Y:-68.37, Z:-33.78 [[ 9.98460998e-01 4.11318603e-02 3.71995289e-02 5.19452697e+02] [-4.09994757e-02 9.99149851e-01 -4.31496238e-03 -6.83744835e+01] [-3.73453861e-02 2.78316046e-03 9.99298542e-01 -3.37823308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4207140569999 meters 0.04118530302574695 Centerline is valid? [True, True] Translation: X:519.48, Y:-68.37, Z:-33.78 [[ 9.98447387e-01 4.17553310e-02 3.68688045e-02 5.19483716e+02] [-4.16257245e-02 9.99124123e-01 -4.27631481e-03 -6.83652228e+01] [-3.70150709e-02 2.73498465e-03 9.99310965e-01 -3.37815303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4507140569999 meters 0.038208294999670954 Centerline is valid? [True, True] Translation: X:519.51, Y:-68.36, Z:-33.78 [[ 9.98371181e-01 4.36696096e-02 3.67144357e-02 5.19514244e+02] [-4.35424353e-02 9.99042510e-01 -4.25674145e-03 -6.83635671e+01] [-3.68651723e-02 2.65117205e-03 9.99316732e-01 -3.37827852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.480714057 meters 0.038208294999670954 Centerline is valid? [True, True] Translation: X:519.54, Y:-68.37, Z:-33.78 [[ 9.98374332e-01 4.35975661e-02 3.67143825e-02 5.19542395e+02] [-4.34703265e-02 9.99045648e-01 -4.25720119e-03 -6.83667707e+01] [-3.68649477e-02 2.65429420e-03 9.99316732e-01 -3.37844275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.510714057 meters 0.037502087442974216 Centerline is valid? [True, True] Translation: X:519.57, Y:-68.37, Z:-33.79 [[ 9.98286516e-01 4.64065560e-02 3.56435752e-02 5.19572396e+02] [-4.62885472e-02 9.98919576e-01 -4.12934863e-03 -6.83666989e+01] [-3.57966938e-02 2.47238374e-03 9.99356035e-01 -3.37860840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.540714057 meters 0.03969072848217998 Centerline is valid? [True, True] Translation: X:519.60, Y:-68.37, Z:-33.79 [[ 9.98203752e-01 4.82371683e-02 3.55308942e-02 5.19600915e+02] [-4.81210676e-02 9.98833030e-01 -4.11604417e-03 -6.83724833e+01] [-3.56879770e-02 2.39886617e-03 9.99360102e-01 -3.37888326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5707140569999 meters 0.047492909379530476 Centerline is valid? [True, True] Translation: X:519.63, Y:-68.39, Z:-33.79 [[ 9.98118923e-01 4.99320917e-02 3.55724814e-02 5.19627778e+02] [-4.98168241e-02 9.98749874e-01 -4.11991233e-03 -6.83859377e+01] [-3.57337271e-02 2.34005441e-03 9.99358607e-01 -3.37946853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.6007140569999 meters 0.03622111756614709 Centerline is valid? [True, True] Translation: X:519.66, Y:-68.37, Z:-33.79 [[ 9.97917500e-01 5.28536380e-02 3.69750740e-02 5.19659513e+02] [-5.27311808e-02 9.98599572e-01 -4.27996672e-03 -6.83721827e+01] [-3.71495049e-02 2.32131437e-03 9.99307023e-01 -3.37900976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.630714057 meters 0.03660280923204706 Centerline is valid? [True, True] Translation: X:519.69, Y:-68.38, Z:-33.79 [[ 9.97825897e-01 5.40571814e-02 3.77001484e-02 5.19688672e+02] [-5.39307661e-02 9.98535146e-01 -4.36286072e-03 -6.83760661e+01] [-3.78807671e-02 2.32017753e-03 9.99279573e-01 -3.37912708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.660714057 meters 0.03526950037274094 Centerline is valid? [True, True] Translation: X:519.72, Y:-68.38, Z:-33.79 [[ 9.97648269e-01 5.60990839e-02 3.93805113e-02 5.19718338e+02] [-5.59628256e-02 9.98422464e-01 -4.55477641e-03 -6.83776020e+01] [-3.95739059e-02 2.34022011e-03 9.99213906e-01 -3.37917929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.6907140569999 meters 0.034079537901021084 Centerline is valid? [True, True] Translation: X:519.75, Y:-68.38, Z:-33.79 [[ 9.97489869e-01 5.79398318e-02 4.07054834e-02 5.19748777e+02] [-5.77958222e-02 9.98317329e-01 -4.70676092e-03 -6.83788486e+01] [-4.09096984e-02 2.34233945e-03 9.99160102e-01 -3.37919858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.7207140569999 meters 0.033899320378199184 Centerline is valid? [True, True] Translation: X:519.78, Y:-68.38, Z:-33.79 [[ 9.97400868e-01 5.89625191e-02 4.14117060e-02 5.19777470e+02] [-5.88144213e-02 9.98257458e-01 -4.78655847e-03 -6.83820976e+01] [-4.16217719e-02 2.33851205e-03 9.99130702e-01 -3.37932163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.750714057 meters 0.0333061859310771 Centerline is valid? [True, True] Translation: X:519.81, Y:-68.38, Z:-33.79 [[ 9.97236400e-01 6.09657135e-02 4.24587271e-02 5.19806453e+02] [-6.08119951e-02 9.98137192e-01 -4.90384372e-03 -6.83846491e+01] [-4.26786010e-02 2.30829155e-03 9.99086187e-01 -3.37937019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.780714057 meters 0.03197065127241486 Centerline is valid? [True, True] Translation: X:519.84, Y:-68.39, Z:-33.79 [[ 9.97148380e-01 6.22979995e-02 4.25918767e-02 5.19835733e+02] [-6.21445804e-02 9.98055041e-01 -4.91795140e-03 -6.83870822e+01] [-4.28154157e-02 2.25707297e-03 9.99080450e-01 -3.37947265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.8107140569999 meters 0.032151099410581786 Centerline is valid? [True, True] Translation: X:519.86, Y:-68.39, Z:-33.80 [[ 9.97127235e-01 6.26573350e-02 4.25597783e-02 5.19864475e+02] [-6.25045203e-02 9.98032588e-01 -4.91315118e-03 -6.83921567e+01] [-4.27838906e-02 2.23885833e-03 9.99081842e-01 -3.37970018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.8407140569999 meters 0.03224857808277823 Centerline is valid? [True, True] Translation: X:519.89, Y:-68.40, Z:-33.80 [[ 9.97109059e-01 6.30583136e-02 4.23930881e-02 5.19893249e+02] [-6.29073436e-02 9.98007406e-01 -4.88715868e-03 -6.83968871e+01] [-4.26167919e-02 2.20619363e-03 9.99089056e-01 -3.37991453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.870714057 meters 0.03127826486614656 Centerline is valid? [True, True] Translation: X:519.92, Y:-68.40, Z:-33.80 [[ 9.97089154e-01 6.32549686e-02 4.25679293e-02 5.19922201e+02] [-6.31030605e-02 9.97994966e-01 -4.90423296e-03 -6.83990297e+01] [-4.27927963e-02 2.20379087e-03 9.99081538e-01 -3.38007476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.900714057 meters 0.030669083387866787 Centerline is valid? [True, True] Translation: X:519.95, Y:-68.40, Z:-33.80 [[ 9.97109339e-01 6.37537970e-02 4.13330332e-02 5.19951216e+02] [-6.36111419e-02 9.97963415e-01 -4.75874487e-03 -6.84024817e+01] [-4.15522430e-02 2.11574751e-03 9.99134092e-01 -3.38029513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.9307140569999 meters 0.031140409825307042 Centerline is valid? [True, True] Translation: X:519.98, Y:-68.41, Z:-33.81 [[ 9.97129988e-01 6.38415592e-02 4.06945021e-02 5.19977952e+02] [-6.37033635e-02 9.97957881e-01 -4.68498286e-03 -6.84070554e+01] [-4.09104957e-02 2.07916025e-03 9.99160652e-01 -3.38052840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.9607140569999 meters 0.03178942087991402 Centerline is valid? [True, True] Translation: X:520.01, Y:-68.41, Z:-33.81 [[ 9.97094231e-01 6.48423433e-02 3.99820689e-02 5.20005673e+02] [-6.47100793e-02 9.97893528e-01 -4.59476065e-03 -6.84119810e+01] [-4.01957829e-02 1.99416648e-03 9.99189833e-01 -3.38072249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.990714057 meters 0.03025009198492179 Centerline is valid? [True, True] Translation: X:520.03, Y:-68.41, Z:-33.81 [[ 9.97051695e-01 6.55774847e-02 3.98435897e-02 5.20034401e+02] [-6.54468780e-02 9.97845567e-01 -4.57493307e-03 -6.84130373e+01] [-4.00577620e-02 1.95380621e-03 9.99195456e-01 -3.38079175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.020714057 meters 0.030500958274736277 Centerline is valid? [True, True] Translation: X:520.06, Y:-68.42, Z:-33.81 [[ 9.96911680e-01 6.72072598e-02 4.06237304e-02 5.20062191e+02] [-6.70729607e-02 9.97737184e-01 -4.66141991e-03 -6.84176270e+01] [-4.08450876e-02 1.92227008e-03 9.99163642e-01 -3.38091318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.0507140569999 meters 0.030650204921839994 Centerline is valid? [True, True] Translation: X:520.09, Y:-68.42, Z:-33.81 [[ 9.96810008e-01 6.81622142e-02 4.15177077e-02 5.20091094e+02] [-6.80228550e-02 9.97672400e-01 -4.76175420e-03 -6.84217940e+01] [-4.17456428e-02 1.92241124e-03 9.99126421e-01 -3.38109098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.0807140569999 meters 0.030950081532698046 Centerline is valid? [True, True] Translation: X:520.12, Y:-68.43, Z:-33.81 [[ 9.96705214e-01 6.98139401e-02 4.12883791e-02 5.20118410e+02] [-6.96777742e-02 9.97558339e-01 -4.72959271e-03 -6.84264326e+01] [-4.15177584e-02 1.83712736e-03 9.99136077e-01 -3.38127054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.110714057 meters 0.030456993561375986 Centerline is valid? [True, True] Translation: X:520.15, Y:-68.43, Z:-33.81 [[ 9.96649307e-01 7.04571206e-02 4.15445803e-02 5.20147428e+02] [-7.03199842e-02 9.97513153e-01 -4.75491504e-03 -6.84291857e+01] [-4.17762829e-02 1.81756855e-03 9.99125337e-01 -3.38136242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.140714057 meters 0.029855800716498074 Centerline is valid? [True, True] Translation: X:520.18, Y:-68.43, Z:-33.81 [[ 9.96660479e-01 7.03902623e-02 4.13896159e-02 5.20175444e+02] [-7.02541876e-02 9.97517885e-01 -4.73484331e-03 -6.84321374e+01] [-4.16201690e-02 1.81123736e-03 9.99131864e-01 -3.38145431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.1707140569999 meters 0.030934015857084444 Centerline is valid? [True, True] Translation: X:520.20, Y:-68.44, Z:-33.82 [[ 9.96803109e-01 6.86846600e-02 4.08164158e-02 5.20202285e+02] [-6.85510951e-02 9.97636702e-01 -4.66461911e-03 -6.84394390e+01] [-4.10403422e-02 1.85169683e-03 9.99155774e-01 -3.38168495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.2007140569999 meters 0.030039752308360253 Centerline is valid? [True, True] Translation: X:520.23, Y:-68.44, Z:-33.82 [[ 9.96912112e-01 6.73609231e-02 4.03577349e-02 5.20231079e+02] [-6.72294173e-02 9.97726901e-01 -4.60839956e-03 -6.84420262e+01] [-4.05764238e-02 1.88094234e-03 9.99174667e-01 -3.38173803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.230714057 meters 0.0309233038320381 Centerline is valid? [True, True] Translation: X:520.26, Y:-68.45, Z:-33.82 [[ 9.96995276e-01 6.60721751e-02 4.04337432e-02 5.20258545e+02] [-6.59392248e-02 9.97812971e-01 -4.61440795e-03 -6.84483712e+01] [-4.06501974e-02 1.93437324e-03 9.99171567e-01 -3.38196150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.260714057 meters 0.03183849079688021 Centerline is valid? [True, True] Translation: X:520.29, Y:-68.46, Z:-33.82 [[ 9.97200583e-01 6.31181528e-02 4.00886095e-02 5.20287492e+02] [-6.29852670e-02 9.98003991e-01 -4.57046107e-03 -6.84569437e+01] [-4.02970714e-02 2.03267466e-03 9.99185676e-01 -3.38216414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.290714057 meters 0.03596280444737145 Centerline is valid? [True, True] Translation: X:520.31, Y:-68.47, Z:-33.83 [[ 9.97279436e-01 6.17751960e-02 4.02188042e-02 5.20313654e+02] [-6.16403588e-02 9.98087893e-01 -4.58524236e-03 -6.84687549e+01] [-4.04251558e-02 2.09366640e-03 9.99180376e-01 -3.38255280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.3207140569999 meters 0.03193269954802469 Centerline is valid? [True, True] Translation: X:520.34, Y:-68.47, Z:-33.82 [[ 9.97499959e-01 5.88127447e-02 3.91777166e-02 5.20343830e+02] [-5.86827669e-02 9.98266717e-01 -4.46039205e-03 -6.84678343e+01] [-3.93721384e-02 2.15018407e-03 9.99222303e-01 -3.38245140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.3507140569999 meters 0.03654479229656472 Centerline is valid? [True, True] Translation: X:520.37, Y:-68.48, Z:-33.83 [[ 9.97617839e-01 5.73629965e-02 3.83162462e-02 5.20370749e+02] [-5.72375985e-02 9.98351053e-01 -4.36260713e-03 -6.84796343e+01] [-3.85033170e-02 2.15908478e-03 9.99256140e-01 -3.38287380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.380714057 meters 0.03397572504112825 Centerline is valid? [True, True] Translation: X:520.40, Y:-68.48, Z:-33.83 [[ 9.97823424e-01 5.44222693e-02 3.72374845e-02 5.20401349e+02] [-5.43019484e-02 9.98515577e-01 -4.23571757e-03 -6.84808644e+01] [-3.74127257e-02 2.20443025e-03 9.99297467e-01 -3.38284032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.410714057 meters 0.03498857603688421 Centerline is valid? [True, True] Translation: X:520.43, Y:-68.49, Z:-33.83 [[ 9.97977048e-01 5.13129312e-02 3.75339202e-02 5.20431119e+02] [-5.11884953e-02 9.98679884e-01 -4.26943676e-03 -6.84881440e+01] [-3.77034484e-02 2.33949500e-03 9.99286234e-01 -3.38297728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4407140569999 meters 0.03599207115021264 Centerline is valid? [True, True] Translation: X:520.46, Y:-68.49, Z:-33.83 [[ 9.98052611e-01 4.96059827e-02 3.78184203e-02 5.20460337e+02] [-4.94784048e-02 9.98765926e-01 -4.30251060e-03 -6.84944457e+01] [-3.79851799e-02 2.42293683e-03 9.99275365e-01 -3.38312697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4707140569999 meters 0.03659220408357737 Centerline is valid? [True, True] Translation: X:520.49, Y:-68.50, Z:-33.83 [[ 9.98178555e-01 4.67342009e-02 3.81508497e-02 5.20489948e+02] [-4.66023479e-02 9.98904098e-01 -4.33858125e-03 -6.85003481e+01] [-3.83118002e-02 2.55275959e-03 9.99262573e-01 -3.38320710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.500714057 meters 0.03672582806241251 Centerline is valid? [True, True] Translation: X:520.52, Y:-68.50, Z:-33.83 [[ 9.98190403e-01 4.60651070e-02 3.86513303e-02 5.20518892e+02] [-4.59292851e-02 9.98935025e-01 -4.39511878e-03 -6.85048354e+01] [-3.88126292e-02 2.61193742e-03 9.99243092e-01 -3.38330164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.530714057 meters 0.036977821902229334 Centerline is valid? [True, True] Translation: X:520.55, Y:-68.51, Z:-33.83 [[ 9.98181270e-01 4.56420889e-02 3.93821375e-02 5.20547209e+02] [-4.55007833e-02 9.98954269e-01 -4.47740699e-03 -6.85087022e+01] [-3.95453125e-02 2.67734569e-03 9.99214191e-01 -3.38346531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.5607140569999 meters 0.036838557053575104 Centerline is valid? [True, True] Translation: X:520.58, Y:-68.51, Z:-33.84 [[ 9.98132291e-01 4.59977276e-02 4.02012341e-02 5.20576037e+02] [-4.58508873e-02 9.98937853e-01 -4.56752142e-03 -6.85128869e+01] [-4.03686301e-02 2.71572836e-03 9.99181164e-01 -3.38350958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.5907140569999 meters 0.036470827416778144 Centerline is valid? [True, True] Translation: X:520.61, Y:-68.52, Z:-33.84 [[ 9.98044175e-01 4.75039585e-02 4.06349481e-02 5.20605484e+02] [-4.73553200e-02 9.98867455e-01 -4.61319180e-03 -6.85163573e+01] [-4.08080720e-02 2.67988823e-03 9.99163410e-01 -3.38366268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.620714057 meters 0.03671759317426641 Centerline is valid? [True, True] Translation: X:520.63, Y:-68.52, Z:-33.84 [[ 9.98001379e-01 4.83695218e-02 4.06649318e-02 5.20633786e+02] [-4.82214272e-02 9.98826007e-01 -4.61541197e-03 -6.85206839e+01] [-4.08404367e-02 2.64526646e-03 9.99162180e-01 -3.38386740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.650714057 meters 0.0355500201213711 Centerline is valid? [True, True] Translation: X:520.66, Y:-68.52, Z:-33.84 [[ 9.97949178e-01 4.97673310e-02 4.02573015e-02 5.20663032e+02] [-4.96234248e-02 9.98757559e-01 -4.56667552e-03 -6.85229252e+01] [-4.04345555e-02 2.55960491e-03 9.99178910e-01 -3.38403310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.6807140569999 meters 0.03634944466312925 Centerline is valid? [True, True] Translation: X:520.69, Y:-68.53, Z:-33.84 [[ 9.97935521e-01 5.01506805e-02 4.01198919e-02 5.20690159e+02] [-5.00080799e-02 9.98738446e-01 -4.55069770e-03 -6.85274097e+01] [-4.02974991e-02 2.53498412e-03 9.99184510e-01 -3.38427489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.7107140569999 meters 0.03808019520737517 Centerline is valid? [True, True] Translation: X:520.72, Y:-68.54, Z:-33.85 [[ 9.97858597e-01 5.15015298e-02 4.03213778e-02 5.20718212e+02] [-5.13588045e-02 9.98669817e-01 -4.56826633e-03 -6.85354391e+01] [-4.05030157e-02 2.48762607e-03 9.99176320e-01 -3.38462559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.740714057 meters 0.034895515800872724 Centerline is valid? [True, True] Translation: X:520.75, Y:-68.53, Z:-33.85 [[ 9.97847370e-01 5.21712989e-02 3.97338914e-02 5.20746971e+02] [-5.20332295e-02 9.98635207e-01 -4.50181637e-03 -6.85344399e+01] [-3.99145284e-02 2.42464294e-03 9.99200156e-01 -3.38467987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.770714057 meters 0.0351481656472989 Centerline is valid? [True, True] Translation: X:520.77, Y:-68.54, Z:-33.85 [[ 9.97776311e-01 5.36229102e-02 3.95855712e-02 5.20774723e+02] [-5.34871121e-02 9.98558479e-01 -4.48239883e-03 -6.85384398e+01] [-3.97688670e-02 2.35511349e-03 9.99206130e-01 -3.38487317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.8007140569999 meters 0.03377459824687042 Centerline is valid? [True, True] Translation: X:520.80, Y:-68.54, Z:-33.85 [[ 9.97734887e-01 5.42917166e-02 3.97178251e-02 5.20804133e+02] [-5.41556970e-02 9.98522393e-01 -4.49336260e-03 -6.85396760e+01] [-3.99030902e-02 2.33223812e-03 9.99200833e-01 -3.38498414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.8307140569999 meters 0.03366990936092664 Centerline is valid? [True, True] Translation: X:520.83, Y:-68.54, Z:-33.85 [[ 9.97625095e-01 5.61542825e-02 3.98856696e-02 5.20832830e+02] [-5.60186812e-02 9.98419534e-01 -4.51014986e-03 -6.85426535e+01] [-4.00758959e-02 2.26509607e-03 9.99194071e-01 -3.38514057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.860714057 meters 0.033705962961131215 Centerline is valid? [True, True] Translation: X:520.86, Y:-68.55, Z:-33.85 [[ 9.97568824e-01 5.68880278e-02 4.02516189e-02 5.20861697e+02] [-5.67505973e-02 9.98378020e-01 -4.54962852e-03 -6.85455414e+01] [-4.04451510e-02 2.25426416e-03 9.99179217e-01 -3.38528833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.890714057 meters 0.03316927616694054 Centerline is valid? [True, True] Translation: X:520.89, Y:-68.55, Z:-33.85 [[ 9.97489130e-01 5.79156514e-02 4.07579878e-02 5.20890242e+02] [-5.77757163e-02 9.98318973e-01 -4.60387336e-03 -6.85484932e+01] [-4.09561088e-02 2.23749169e-03 9.99158441e-01 -3.38539635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9207140569999 meters 0.03458699464655244 Centerline is valid? [True, True] Translation: X:520.92, Y:-68.55, Z:-33.86 [[ 9.97476390e-01 5.77958113e-02 4.12370651e-02 5.20917508e+02] [-5.76525766e-02 9.98325853e-01 -4.65524462e-03 -6.85539429e+01] [-4.14370818e-02 2.26607355e-03 9.99138546e-01 -3.38557729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9507140569999 meters 0.033479740311572824 Centerline is valid? [True, True] Translation: X:520.95, Y:-68.56, Z:-33.86 [[ 9.97497215e-01 5.62513154e-02 4.28380274e-02 5.20946586e+02] [-5.60954992e-02 9.98413717e-01 -4.83170329e-03 -6.85562215e+01] [-4.30418638e-02 2.41659004e-03 9.99070347e-01 -3.38562457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.980714057 meters 0.03678347921352923 Centerline is valid? [True, True] Translation: X:520.98, Y:-68.57, Z:-33.86 [[ 9.97598698e-01 5.29300381e-02 4.46682124e-02 5.20975127e+02] [-5.27574794e-02 9.98594666e-01 -5.03402526e-03 -6.85670351e+01] [-4.48718898e-02 2.66535474e-03 9.98989194e-01 -3.38584245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.010714057 meters 0.03790688170033837 Centerline is valid? [True, True] Translation: X:521.00, Y:-68.57, Z:-33.86 [[ 9.97693241e-01 5.06584177e-02 4.51876230e-02 5.21003815e+02] [-5.04795169e-02 9.98712115e-01 -5.09216233e-03 -6.85734213e+01] [-4.53873875e-02 2.79936656e-03 9.98965539e-01 -3.38602485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.040714057 meters 0.03668639752673904 Centerline is valid? [True, True] Translation: X:521.03, Y:-68.58, Z:-33.86 [[ 9.97943043e-01 4.58669734e-02 4.47873084e-02 5.21034310e+02] [-4.56865607e-02 9.98943089e-01 -5.04407913e-03 -6.85763364e+01] [-4.49713288e-02 2.98752560e-03 9.98983811e-01 -3.38620986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0707140569999 meters 0.041961043316191146 Centerline is valid? [True, True] Translation: X:521.06, Y:-68.59, Z:-33.87 [[ 9.98086647e-01 4.33626205e-02 4.40763934e-02 5.21062642e+02] [-4.31855139e-02 9.99054744e-01 -4.96290668e-03 -6.85882319e+01] [-4.42499346e-02 3.04994919e-03 9.99015836e-01 -3.38658430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.1007140569999 meters 0.03994445834066529 Centerline is valid? [True, True] Translation: X:521.09, Y:-68.59, Z:-33.87 [[ 9.98182360e-01 4.12553995e-02 4.39314009e-02 5.21093629e+02] [-4.10772329e-02 9.99143708e-01 -4.95098175e-03 -6.85896543e+01] [-4.40980375e-02 3.13740226e-03 9.99022282e-01 -3.38676146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.130714057 meters 0.04446933476670708 Centerline is valid? [True, True] Translation: X:521.12, Y:-68.60, Z:-33.87 [[ 9.98327633e-01 3.69523825e-02 4.44573837e-02 5.21121486e+02] [-3.67656368e-02 9.99311351e-01 -5.01118403e-03 -6.86017962e+01] [-4.46119433e-02 3.36829947e-03 9.98998713e-01 -3.38717569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.160714057 meters 0.04275992613610048 Centerline is valid? [True, True] Translation: X:521.15, Y:-68.60, Z:-33.87 [[ 9.98458882e-01 3.35493053e-02 4.42075240e-02 5.21152060e+02] [-3.33613199e-02 9.99430932e-01 -4.98348050e-03 -6.86038659e+01] [-4.43495592e-02 3.50097902e-03 9.99009940e-01 -3.38739126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.1907140569999 meters 0.041770736547411334 Centerline is valid? [True, True] Translation: X:521.18, Y:-68.61, Z:-33.88 [[ 9.98472034e-01 3.27743377e-02 4.44909075e-02 5.21184480e+02] [-3.25833028e-02 9.99456454e-01 -5.01241254e-03 -6.86063412e+01] [-4.46310032e-02 3.55509303e-03 9.98997215e-01 -3.38763277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.2207140569999 meters 0.043132921931146734 Centerline is valid? [True, True] Translation: X:521.21, Y:-68.61, Z:-33.88 [[ 9.98495546e-01 3.11004833e-02 4.51597638e-02 5.21214914e+02] [-3.09013109e-02 9.99509419e-01 -5.10199025e-03 -6.86111899e+01] [-4.52962836e-02 3.69881864e-03 9.98966749e-01 -3.38780288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.250714057 meters 0.04368760028756369 Centerline is valid? [True, True] Translation: X:521.25, Y:-68.61, Z:-33.88 [[ 9.98493950e-01 3.03137761e-02 4.57264378e-02 5.21246343e+02] [-3.01088289e-02 9.99533285e-01 -5.16429301e-03 -6.86147230e+01] [-4.58616458e-02 3.77974583e-03 9.98940650e-01 -3.38796186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.280714057 meters 0.043582254369047835 Centerline is valid? [True, True] Translation: X:521.28, Y:-68.62, Z:-33.88 [[ 9.98489040e-01 2.91641390e-02 4.65734892e-02 5.21278084e+02] [-2.89496970e-02 9.99566965e-01 -5.27241363e-03 -6.86174942e+01] [-4.67070866e-02 3.91615882e-03 9.98900952e-01 -3.38812806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.3107140569999 meters 0.044506508311140565 Centerline is valid? [True, True] Translation: X:521.31, Y:-68.62, Z:-33.88 [[ 9.98474714e-01 2.89900409e-02 4.69874762e-02 5.21309538e+02] [-2.87713574e-02 9.99571841e-01 -5.32387994e-03 -6.86227013e+01] [-4.71216976e-02 3.96386603e-03 9.98881291e-01 -3.38833512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.3407140569999 meters 0.04434562997137675 Centerline is valid? [True, True] Translation: X:521.34, Y:-68.63, Z:-33.89 [[ 9.98462575e-01 2.77340461e-02 4.79928024e-02 5.21341250e+02] [-2.75038464e-02 9.99606838e-01 -5.45041782e-03 -6.86253304e+01] [-4.81250956e-02 4.12205154e-03 9.98832811e-01 -3.38852372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.370714057 meters 0.04359041302378229 Centerline is valid? [True, True] Translation: X:521.37, Y:-68.63, Z:-33.89 [[ 9.98463691e-01 2.73420336e-02 4.81941020e-02 5.21373847e+02] [-2.71088963e-02 9.99617440e-01 -5.48459292e-03 -6.86275773e+01] [-4.83256248e-02 4.16967797e-03 9.98822931e-01 -3.38867412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.400714057 meters 0.04359041302378229 Centerline is valid? [True, True] Translation: X:521.41, Y:-68.63, Z:-33.89 [[ 9.98455767e-01 2.76322418e-02 4.81927441e-02 5.21406313e+02] [-2.73988695e-02 9.99609469e-01 -5.49649645e-03 -6.86313495e+01] [-4.83258038e-02 4.16758188e-03 9.98822931e-01 -3.38886303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.4307140569999 meters 0.04599009697270705 Centerline is valid? [True, True] Translation: X:521.44, Y:-68.64, Z:-33.89 [[ 9.98476917e-01 2.60551684e-02 4.86309980e-02 5.21435983e+02] [-2.58148612e-02 9.99651262e-01 -5.56309557e-03 -6.86374861e+01] [-4.87589859e-02 4.29922005e-03 9.98801321e-01 -3.38911170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.4607140569999 meters 0.045970101491079524 Centerline is valid? [True, True] Translation: X:521.47, Y:-68.64, Z:-33.89 [[ 9.98478663e-01 2.57604615e-02 4.87520026e-02 5.21467576e+02] [-2.55185647e-02 9.99658787e-01 -5.57780792e-03 -6.86408455e+01] [-4.88790547e-02 4.32524106e-03 9.98795340e-01 -3.38934742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.490714057 meters 0.04662417509414032 Centerline is valid? [True, True] Translation: X:521.50, Y:-68.64, Z:-33.90 [[ 9.98484031e-01 2.53615464e-02 4.88511190e-02 5.21499107e+02] [-2.51176227e-02 9.99668814e-01 -5.60072873e-03 -6.86447740e+01] [-4.89769834e-02 4.36521422e-03 9.98790368e-01 -3.38960524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.520714057 meters 0.0469404155262598 Centerline is valid? [True, True] Translation: X:521.53, Y:-68.65, Z:-33.90 [[ 9.98447390e-01 2.57247219e-02 4.94069582e-02 5.21531272e+02] [-2.54750727e-02 9.99659343e-01 -5.67609769e-03 -6.86485489e+01] [-4.95361435e-02 4.40863907e-03 9.98762602e-01 -3.38979883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.5507140569999 meters 0.04772226790671105 Centerline is valid? [True, True] Translation: X:521.56, Y:-68.65, Z:-33.90 [[ 9.98388986e-01 2.69018722e-02 4.99572009e-02 5.21561544e+02] [-2.66473561e-02 9.99628337e-01 -5.75386462e-03 -6.86520146e+01] [-5.00934234e-02 4.41336774e-03 9.98734785e-01 -3.38996828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.5807140569999 meters 0.04637933911573035 Centerline is valid? [True, True] Translation: X:521.59, Y:-68.65, Z:-33.90 [[ 9.98328949e-01 2.92269090e-02 4.98507518e-02 5.21592426e+02] [-2.89763089e-02 9.99563604e-01 -5.74247181e-03 -6.86518114e+01] [-4.99968318e-02 4.28838507e-03 9.98740170e-01 -3.39015578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.610714057 meters 0.046771365227009365 Centerline is valid? [True, True] Translation: X:521.62, Y:-68.65, Z:-33.90 [[ 9.98306355e-01 3.08159361e-02 4.93436809e-02 5.21622856e+02] [-3.05722895e-02 9.99516391e-01 -5.68507105e-03 -6.86548760e+01] [-4.94950086e-02 4.16689326e-03 9.98765679e-01 -3.39040991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.640714057 meters 0.04603366078279727 Centerline is valid? [True, True] Translation: X:521.65, Y:-68.66, Z:-33.91 [[ 9.98168905e-01 3.40282565e-02 5.00091502e-02 5.21653236e+02] [-3.37818834e-02 9.99412609e-01 -5.76380565e-03 -6.86561360e+01] [-5.01759076e-02 4.06384829e-03 9.98732128e-01 -3.39065897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.6707140569999 meters 0.04543816544002943 Centerline is valid? [True, True] Translation: X:521.68, Y:-68.66, Z:-33.91 [[ 9.98083658e-01 3.55701534e-02 5.06337439e-02 5.21684834e+02] [-3.53195692e-02 9.99359033e-01 -5.83542214e-03 -6.86582623e+01] [-5.08088562e-02 4.03587745e-03 9.98700241e-01 -3.39082878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.7007140569999 meters 0.04061697754704399 Centerline is valid? [True, True] Translation: X:521.72, Y:-68.65, Z:-33.91 [[ 9.97942255e-01 3.77960943e-02 5.17948916e-02 5.21716328e+02] [-3.75366246e-02 9.99277398e-01 -5.97354369e-03 -6.86529418e+01] [-5.19832411e-02 4.01704626e-03 9.98639878e-01 -3.39090257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.730714057 meters 0.04031888141834993 Centerline is valid? [True, True] Translation: X:521.75, Y:-68.66, Z:-33.91 [[ 9.97844565e-01 3.91131726e-02 5.26914104e-02 5.21747801e+02] [-3.88464127e-02 9.99226710e-01 -6.07774489e-03 -6.86560211e+01] [-5.28883845e-02 4.01777243e-03 9.98592347e-01 -3.39106835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.760714057 meters 0.04105345135821114 Centerline is valid? [True, True] Translation: X:521.78, Y:-68.66, Z:-33.91 [[ 9.97754412e-01 4.03965229e-02 5.34252244e-02 5.21778457e+02] [-4.01239352e-02 9.99175689e-01 -6.16544423e-03 -6.86597693e+01] [-5.36302479e-02 4.00796894e-03 9.98552819e-01 -3.39124864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.790714057 meters 0.04037589340492625 Centerline is valid? [True, True] Translation: X:521.81, Y:-68.66, Z:-33.91 [[ 9.97697813e-01 4.12752929e-02 5.38091371e-02 5.21810775e+02] [-4.09999743e-02 9.99139843e-01 -6.21093320e-03 -6.86619370e+01] [-5.40192109e-02 3.99046123e-03 9.98531923e-01 -3.39141795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.8207140569999 meters 0.03969277383149514 Centerline is valid? [True, True] Translation: X:521.84, Y:-68.66, Z:-33.92 [[ 9.97637522e-01 4.21833321e-02 5.42212334e-02 5.21842635e+02] [-4.19043529e-02 9.99101938e-01 -6.27234047e-03 -6.86636669e+01] [-5.44371276e-02 3.98541650e-03 9.98509247e-01 -3.39163390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.8507140569999 meters 0.03961217239052964 Centerline is valid? [True, True] Translation: X:521.88, Y:-68.67, Z:-33.92 [[ 9.97624130e-01 4.26347951e-02 5.41144035e-02 5.21875009e+02] [-4.23568290e-02 9.99082849e-01 -6.27370626e-03 -6.86667203e+01] [-5.43322506e-02 3.96668622e-03 9.98515033e-01 -3.39187563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.880714057 meters 0.04062979049785841 Centerline is valid? [True, True] Translation: X:521.91, Y:-68.67, Z:-33.92 [[ 9.97627269e-01 4.28649439e-02 5.38741850e-02 5.21906478e+02] [-4.25890387e-02 9.99073067e-01 -6.25948460e-03 -6.86718564e+01] [-5.40925597e-02 3.95018279e-03 9.98528112e-01 -3.39213728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.910714057 meters 0.041219845610073566 Centerline is valid? [True, True] Translation: X:521.94, Y:-68.68, Z:-33.92 [[ 9.97625635e-01 4.30200334e-02 5.37807500e-02 5.21938026e+02] [-4.27445199e-02 9.99066403e-01 -6.26323101e-03 -6.86764275e+01] [-5.39999849e-02 3.94952748e-03 9.98533126e-01 -3.39237949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9407140569999 meters 0.04198180657407664 Centerline is valid? [True, True] Translation: X:521.97, Y:-68.68, Z:-33.93 [[ 9.97631617e-01 4.30172389e-02 5.36719147e-02 5.21970139e+02] [-4.27420552e-02 9.99066497e-01 -6.26503755e-03 -6.86808172e+01] [-5.38913165e-02 3.95615160e-03 9.98538970e-01 -3.39258408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9707140569999 meters 0.04056043648135384 Centerline is valid? [True, True] Translation: X:522.00, Y:-68.68, Z:-33.93 [[ 9.97622081e-01 4.32279888e-02 5.36798336e-02 5.22003460e+02] [-4.29523172e-02 9.99057391e-01 -6.27911184e-03 -6.86822237e+01] [-5.39006679e-02 3.95850739e-03 9.98538456e-01 -3.39275406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.000714057 meters 0.04339412234826 Centerline is valid? [True, True] Translation: X:522.03, Y:-68.69, Z:-33.93 [[ 9.97628947e-01 4.28169156e-02 5.38813085e-02 5.22033958e+02] [-4.25377165e-02 9.99074882e-01 -6.31847245e-03 -6.86896047e+01] [-5.41019994e-02 4.01150319e-03 9.98527356e-01 -3.39298254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.030714057 meters 0.04201420241498555 Centerline is valid? [True, True] Translation: X:522.07, Y:-68.69, Z:-33.93 [[ 9.97613549e-01 4.29330542e-02 5.40736568e-02 5.22067229e+02] [-4.26513499e-02 9.99069815e-01 -6.35344357e-03 -6.86911348e+01] [-5.42961310e-02 4.03196693e-03 9.98516737e-01 -3.39322421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.0607140569999 meters 0.043536765080341606 Centerline is valid? [True, True] Translation: X:522.10, Y:-68.70, Z:-33.93 [[ 9.97623905e-01 4.27894905e-02 5.39963362e-02 5.22098147e+02] [-4.25075384e-02 9.99075903e-01 -6.35992040e-03 -6.86960289e+01] [-5.42185761e-02 4.04955729e-03 9.98520880e-01 -3.39348372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.0907140569999 meters 0.0449332565351732 Centerline is valid? [True, True] Translation: X:522.13, Y:-68.70, Z:-33.94 [[ 9.97597307e-01 4.21949028e-02 5.49472735e-02 5.22128792e+02] [-4.19013119e-02 9.99100709e-01 -6.48478735e-03 -6.87013620e+01] [-5.51714849e-02 4.16684355e-03 9.98468199e-01 -3.39369802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.120714057 meters 0.0393412442615995 Centerline is valid? [True, True] Translation: X:522.16, Y:-68.70, Z:-33.94 [[ 9.97613104e-01 4.15473683e-02 5.51535257e-02 5.22162263e+02] [-4.12498921e-02 9.99127577e-01 -6.52158742e-03 -6.86963745e+01] [-5.53763633e-02 4.23094409e-03 9.98456588e-01 -3.39383360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.150714057 meters 0.04800030715988218 Centerline is valid? [True, True] Translation: X:522.19, Y:-68.71, Z:-33.94 [[ 9.97717176e-01 3.90659806e-02 5.50843449e-02 5.22190430e+02] [-3.87646695e-02 9.99227042e-01 -6.52831042e-03 -6.87111265e+01] [-5.52968019e-02 4.37808101e-03 9.98460363e-01 -3.39398275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.1807140569999 meters 0.04280255632525184 Centerline is valid? [True, True] Translation: X:522.22, Y:-68.71, Z:-33.94 [[ 9.97778645e-01 3.76281260e-02 5.49718062e-02 5.22222268e+02] [-3.73258847e-02 9.99281909e-01 -6.51488276e-03 -6.87070243e+01] [-5.51774743e-02 4.44853959e-03 9.98466653e-01 -3.39413323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.2107140569999 meters 0.04417279922049303 Centerline is valid? [True, True] Translation: X:522.25, Y:-68.71, Z:-33.94 [[ 9.97863981e-01 3.53253447e-02 5.49508375e-02 5.22252793e+02] [-3.50197585e-02 9.99365388e-01 -6.51438898e-03 -6.87122230e+01] [-5.51460881e-02 4.57610906e-03 9.98467810e-01 -3.39430861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.240714057 meters 0.045146247738438276 Centerline is valid? [True, True] Translation: X:522.28, Y:-68.72, Z:-33.95 [[ 9.97860019e-01 3.49007477e-02 5.52930464e-02 5.22284897e+02] [-3.45905950e-02 9.99380058e-01 -6.55669279e-03 -6.87170087e+01] [-5.54876014e-02 4.63004222e-03 9.98448641e-01 -3.39454879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.270714057 meters 0.04556257316621542 Centerline is valid? [True, True] Translation: X:522.32, Y:-68.72, Z:-33.95 [[ 9.97899618e-01 3.53926106e-02 5.42560162e-02 5.22316690e+02] [-3.50939898e-02 9.99363221e-01 -6.44710532e-03 -6.87198885e+01] [-5.44496469e-02 4.52950386e-03 9.98506244e-01 -3.39480016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.3007140569999 meters 0.045936509166949475 Centerline is valid? [True, True] Translation: X:522.35, Y:-68.72, Z:-33.95 [[ 9.97864353e-01 3.75894727e-02 5.34206450e-02 5.22346866e+02] [-3.73023518e-02 9.99283773e-01 -6.36201582e-03 -6.87216318e+01] [-5.36215285e-02 4.35571311e-03 9.98551831e-01 -3.39501130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.3307140569999 meters 0.045881775651501866 Centerline is valid? [True, True] Translation: X:522.38, Y:-68.72, Z:-33.95 [[ 9.97821005e-01 3.94317021e-02 5.28997510e-02 5.22376885e+02] [-3.91527347e-02 9.99213378e-01 -6.29990006e-03 -6.87236299e+01] [-5.31065546e-02 4.21500269e-03 9.98579956e-01 -3.39520832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.360714057 meters 0.04313544133013328 Centerline is valid? [True, True] Translation: X:522.41, Y:-68.72, Z:-33.95 [[ 9.97775759e-01 4.11504650e-02 5.24421102e-02 5.22409056e+02] [-4.08786343e-02 9.99144596e-01 -6.24601883e-03 -6.87213924e+01] [-5.26542776e-02 4.08836433e-03 9.98604432e-01 -3.39537011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.390714057 meters 0.039900643639220364 Centerline is valid? [True, True] Translation: X:522.44, Y:-68.72, Z:-33.95 [[ 9.97583451e-01 4.52598056e-02 5.27144046e-02 5.22439827e+02] [-4.49905997e-02 9.98967652e-01 -6.28298750e-03 -6.87175107e+01] [-5.29443518e-02 3.89615167e-03 9.98589864e-01 -3.39548940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4207140569999 meters 0.04011575254962669 Centerline is valid? [True, True] Translation: X:522.47, Y:-68.72, Z:-33.96 [[ 9.97482323e-01 4.69221022e-02 5.31726663e-02 5.22469802e+02] [-4.66505248e-02 9.98891165e-01 -6.33783306e-03 -6.87204868e+01] [-5.34110911e-02 3.84134365e-03 9.98565220e-01 -3.39566908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4507140569999 meters 0.03984264353349309 Centerline is valid? [True, True] Translation: X:522.50, Y:-68.72, Z:-33.96 [[ 9.97329512e-01 4.92547074e-02 5.39241939e-02 5.22499154e+02] [-4.89787172e-02 9.98779134e-01 -6.42854078e-03 -6.87217658e+01] [-5.41749956e-02 3.77023560e-03 9.98524339e-01 -3.39579531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.480714057 meters 0.04057174796154569 Centerline is valid? [True, True] Translation: X:522.53, Y:-68.73, Z:-33.96 [[ 9.97285991e-01 5.05941736e-02 5.34872159e-02 5.22529813e+02] [-5.03246220e-02 9.98712565e-01 -6.37528675e-03 -6.87254013e+01] [-5.37409070e-02 3.66626024e-03 9.98548183e-01 -3.39597282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.510714057 meters 0.04117356514598345 Centerline is valid? [True, True] Translation: X:522.56, Y:-68.73, Z:-33.96 [[ 9.97315976e-01 5.03399090e-02 5.31670668e-02 5.22560150e+02] [-5.00731106e-02 9.98725437e-01 -6.33915863e-03 -6.87295161e+01] [-5.34184147e-02 3.65990376e-03 9.98565510e-01 -3.39621961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.540714057 meters 0.04239499466709148 Centerline is valid? [True, True] Translation: X:522.59, Y:-68.73, Z:-33.96 [[ 9.97385368e-01 4.94680098e-02 5.26815380e-02 5.22590162e+02] [-4.92048626e-02 9.98768956e-01 -6.28118589e-03 -6.87348553e+01] [-5.29274025e-02 3.67257506e-03 9.98591609e-01 -3.39648938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5707140569999 meters 0.043341411700012475 Centerline is valid? [True, True] Translation: X:522.62, Y:-68.74, Z:-33.97 [[ 9.97425296e-01 4.90857768e-02 5.22815915e-02 5.22620953e+02] [-4.88260498e-02 9.98787840e-01 -6.23431185e-03 -6.87399190e+01] [-5.25242339e-02 3.66555675e-03 9.98612922e-01 -3.39669896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.6007140569999 meters 0.04436763187255529 Centerline is valid? [True, True] Translation: X:522.65, Y:-68.75, Z:-33.97 [[ 9.97483256e-01 4.78089104e-02 5.23589805e-02 5.22651137e+02] [-4.75465637e-02 9.98849498e-01 -6.24544181e-03 -6.87451095e+01] [-5.25973291e-02 3.74023402e-03 9.98608798e-01 -3.39685282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.630714057 meters 0.04514111526456304 Centerline is valid? [True, True] Translation: X:522.68, Y:-68.75, Z:-33.97 [[ 9.97542560e-01 4.68108941e-02 5.21304266e-02 5.22682492e+02] [-4.65494384e-02 9.98896628e-01 -6.21898581e-03 -6.87498425e+01] [-5.23640236e-02 3.77706094e-03 9.98620921e-01 -3.39699998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.660714057 meters 0.04060169076171069 Centerline is valid? [True, True] Translation: X:522.71, Y:-68.75, Z:-33.97 [[ 9.97757296e-01 4.44065696e-02 5.00842807e-02 5.22714108e+02] [-4.41621679e-02 9.99006499e-01 -5.97645381e-03 -6.87456237e+01] [-5.02999157e-02 3.75121998e-03 9.98727113e-01 -3.39715222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.6907140569999 meters 0.048537763796195385 Centerline is valid? [True, True] Translation: X:522.74, Y:-68.76, Z:-33.98 [[ 9.97878383e-01 4.32412170e-02 4.86716613e-02 5.22743725e+02] [-4.30090288e-02 9.99057800e-01 -5.80820733e-03 -6.87607789e+01] [-4.88769569e-02 3.70256366e-03 9.98797945e-01 -3.39753709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.7207140569999 meters 0.05115421436450136 Centerline is valid? [True, True] Translation: X:522.77, Y:-68.77, Z:-33.98 [[ 9.98065374e-01 4.04756211e-02 4.71935697e-02 5.22772661e+02] [-4.02536574e-02 9.99173549e-01 -5.64459030e-03 -6.87674735e+01] [-4.73830348e-02 3.73395635e-03 9.98869814e-01 -3.39783363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.750714057 meters 0.041929329752934695 Centerline is valid? [True, True] Translation: X:522.81, Y:-68.76, Z:-33.98 [[ 9.98107317e-01 3.98684683e-02 4.68218869e-02 5.22806072e+02] [-3.96493928e-02 9.99197968e-01 -5.59873832e-03 -6.87576985e+01] [-4.70075473e-02 3.73168230e-03 9.98887564e-01 -3.39781126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.780714057 meters 0.043658858349216866 Centerline is valid? [True, True] Translation: X:522.84, Y:-68.76, Z:-33.98 [[ 9.98113697e-01 3.93518489e-02 4.71219578e-02 5.22836616e+02] [-3.91287967e-02 9.99218219e-01 -5.64697304e-03 -6.87631869e+01] [-4.73073376e-02 3.79249563e-03 9.98873182e-01 -3.39794208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.8107140569999 meters 0.04295759964484622 Centerline is valid? [True, True] Translation: X:522.87, Y:-68.77, Z:-33.98 [[ 9.98083521e-01 3.96633987e-02 4.74984244e-02 5.22869751e+02] [-3.94365997e-02 9.99205801e-01 -5.70287716e-03 -6.87657946e+01] [-4.76868966e-02 3.81877137e-03 9.98855033e-01 -3.39806961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.8407140569999 meters 0.050800028492469854 Centerline is valid? [True, True] Translation: X:522.90, Y:-68.78, Z:-33.98 [[ 9.97987841e-01 4.05375642e-02 4.87542369e-02 5.22899727e+02] [-4.02988938e-02 9.99170434e-01 -5.86881577e-03 -6.87794240e+01] [-4.89516995e-02 3.89226496e-03 9.98793563e-01 -3.39825176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.870714057 meters 0.043430444579049286 Centerline is valid? [True, True] Translation: X:522.93, Y:-68.77, Z:-33.98 [[ 9.97878449e-01 4.16075357e-02 5.00740933e-02 5.22932365e+02] [-4.13564110e-02 9.99126194e-01 -6.04119891e-03 -6.87720469e+01] [-5.02816976e-02 3.95749742e-03 9.98727235e-01 -3.39813834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.900714057 meters 0.042049208171715 Centerline is valid? [True, True] Translation: X:522.96, Y:-68.77, Z:-33.98 [[ 9.97867501e-01 4.21103067e-02 4.98715638e-02 5.22964454e+02] [-4.18618280e-02 9.99105292e-01 -6.01690581e-03 -6.87734948e+01] [-5.00803171e-02 3.91635994e-03 9.98737515e-01 -3.39828010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.9307140569999 meters 0.04258914349684325 Centerline is valid? [True, True] Translation: X:523.00, Y:-68.78, Z:-33.98 [[ 9.97850033e-01 4.29175155e-02 4.95317975e-02 5.22996321e+02] [-4.26727769e-02 9.99071155e-01 -5.98847577e-03 -6.87773206e+01] [-4.97428006e-02 3.86194140e-03 9.98754594e-01 -3.39849654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.9607140569999 meters 0.0414452809605193 Centerline is valid? [True, True] Translation: X:523.03, Y:-68.78, Z:-33.99 [[ 9.97893556e-01 4.31337390e-02 4.84554625e-02 5.23028905e+02] [-4.28992060e-02 9.99062159e-01 -5.87023995e-03 -6.87792837e+01] [-4.86632244e-02 3.77917375e-03 9.98808094e-01 -3.39873883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.990714057 meters 0.04195844855611773 Centerline is valid? [True, True] Translation: X:523.06, Y:-68.78, Z:-33.99 [[ 9.97927711e-01 4.30142112e-02 4.78545774e-02 5.23059690e+02] [-4.27846482e-02 9.99067415e-01 -5.81158014e-03 -6.87839023e+01] [-4.80599294e-02 3.75209561e-03 9.98837407e-01 -3.39901149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.020714057 meters 0.04377509879445004 Centerline is valid? [True, True] Translation: X:523.09, Y:-68.79, Z:-33.99 [[ 9.98078157e-01 4.16087992e-02 4.59205844e-02 5.23088764e+02] [-4.13958641e-02 9.99127249e-01 -5.57870522e-03 -6.87893962e+01] [-4.61126304e-02 3.66706155e-03 9.98929516e-01 -3.39934039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.0507140569999 meters 0.04434941939544834 Centerline is valid? [True, True] Translation: X:523.12, Y:-68.79, Z:-34.00 [[ 9.98134461e-01 4.11810668e-02 4.50745723e-02 5.23120147e+02] [-4.09756093e-02 9.99145157e-01 -5.47305819e-03 -6.87941801e+01] [-4.52614270e-02 3.61588992e-03 9.98968632e-01 -3.39958820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.0807140569999 meters 0.04683488310675053 Centerline is valid? [True, True] Translation: X:523.15, Y:-68.80, Z:-34.00 [[ 9.98295101e-01 3.91886848e-02 4.32566554e-02 5.23149023e+02] [-3.89971092e-02 9.99225457e-01 -5.26412475e-03 -6.88017883e+01] [-4.34294454e-02 3.56826544e-03 9.99050124e-01 -3.39996340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.110714057 meters 0.04860064173890939 Centerline is valid? [True, True] Translation: X:523.18, Y:-68.81, Z:-34.00 [[ 9.98395990e-01 3.78741990e-02 4.20831630e-02 5.23178298e+02] [-3.76915595e-02 9.99276277e-01 -5.12524931e-03 -6.88072050e+01] [-4.22468211e-02 3.53084832e-03 9.99100965e-01 -3.40021772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.140714057 meters 0.04859723329524513 Centerline is valid? [True, True] Translation: X:523.21, Y:-68.81, Z:-34.00 [[ 9.98370207e-01 3.80376984e-02 4.25448332e-02 5.23210413e+02] [-3.78513288e-02 9.99269967e-01 -5.17784728e-03 -6.88108567e+01] [-4.27107274e-02 3.55903000e-03 9.99081141e-01 -3.40035471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.1707140569999 meters 0.04888786839275727 Centerline is valid? [True, True] Translation: X:523.24, Y:-68.81, Z:-34.01 [[ 9.98297293e-01 3.98925344e-02 4.25570236e-02 5.23241119e+02] [-3.97071537e-02 9.99197867e-01 -5.19282628e-03 -6.88142694e+01] [-4.27300422e-02 3.49416614e-03 9.99080544e-01 -3.40053867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.2007140569999 meters 0.047971310296518625 Centerline is valid? [True, True] Translation: X:523.27, Y:-68.82, Z:-34.01 [[ 9.98218847e-01 4.21990147e-02 4.21708026e-02 5.23271518e+02] [-4.20189466e-02 9.99103553e-01 -5.14766484e-03 -6.88160397e+01] [-4.23502251e-02 3.36652336e-03 9.99097155e-01 -3.40076089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.230714057 meters 0.04793144210803526 Centerline is valid? [True, True] Translation: X:523.30, Y:-68.82, Z:-34.01 [[ 9.98028940e-01 4.62835578e-02 4.23800242e-02 5.23300702e+02] [-4.61053436e-02 9.98923186e-01 -5.17347077e-03 -6.88178740e+01] [-4.25738354e-02 3.20932797e-03 9.99088169e-01 -3.40094094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.260714057 meters 0.04583133766212271 Centerline is valid? [True, True] Translation: X:523.33, Y:-68.82, Z:-34.01 [[ 9.97941693e-01 4.81438380e-02 4.23621124e-02 5.23331098e+02] [-4.79674632e-02 9.98835515e-01 -5.17074856e-03 -6.88176956e+01] [-4.25617221e-02 3.12810251e-03 9.99088942e-01 -3.40103699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.290714057 meters 0.04583133766212271 Centerline is valid? [True, True] Translation: X:523.36, Y:-68.82, Z:-34.01 [[ 9.97944912e-01 4.80769809e-02 4.23622107e-02 5.23359234e+02] [-4.79005801e-02 9.98838729e-01 -5.16994391e-03 -6.88210625e+01] [-4.25615719e-02 3.13014475e-03 9.99088942e-01 -3.40120127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.3207140569999 meters 0.04615624915750518 Centerline is valid? [True, True] Translation: X:523.39, Y:-68.82, Z:-34.01 [[ 9.97750061e-01 5.12386286e-02 4.32367729e-02 5.23388335e+02] [-5.10579748e-02 9.98681771e-01 -5.27298340e-03 -6.88241674e+01] [-4.34499574e-02 3.05353744e-03 9.99050938e-01 -3.40131673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.3507140569999 meters 0.045907444424997154 Centerline is valid? [True, True] Translation: X:523.42, Y:-68.83, Z:-34.01 [[ 9.97661306e-01 5.23048823e-02 4.40013319e-02 5.23417393e+02] [-5.21188332e-02 9.98626475e-01 -5.36568049e-03 -6.88274456e+01] [-4.42215463e-02 3.05983373e-03 9.99017063e-01 -3.40146379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.380714057 meters 0.04294487510881482 Centerline is valid? [True, True] Translation: X:523.45, Y:-68.83, Z:-34.02 [[ 9.97546141e-01 5.36612882e-02 4.49684597e-02 5.23447211e+02] [-5.34684473e-02 9.98554497e-01 -5.48111529e-03 -6.88271390e+01] [-4.51975813e-02 3.06327169e-03 9.98973371e-01 -3.40153013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.410714057 meters 0.03880492606412099 Centerline is valid? [True, True] Translation: X:523.48, Y:-68.82, Z:-34.02 [[ 9.97572881e-01 5.30999341e-02 4.50415764e-02 5.23476608e+02] [-5.29059445e-02 9.98584414e-01 -5.48895144e-03 -6.88247690e+01] [-4.52692791e-02 3.09266196e-03 9.98970034e-01 -3.40152692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.4407140569999 meters 0.039549378705304554 Centerline is valid? [True, True] Translation: X:523.51, Y:-68.83, Z:-34.02 [[ 9.97624540e-01 5.23226614e-02 4.48064422e-02 5.23505027e+02] [-5.21300577e-02 9.98625394e-01 -5.45710779e-03 -6.88301414e+01] [-4.50303814e-02 3.10838223e-03 9.98980782e-01 -3.40172353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.4707140569999 meters 0.0508278177640923 Centerline is valid? [True, True] Translation: X:523.53, Y:-68.85, Z:-34.02 [[ 9.97788715e-01 4.99378837e-02 4.38621470e-02 5.23531452e+02] [-4.97511828e-02 9.98747375e-01 -5.33857761e-03 -6.88512834e+01] [-4.40738014e-02 3.14457881e-03 9.99023329e-01 -3.40226439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.500714057 meters 0.0410923279937351 Centerline is valid? [True, True] Translation: X:523.56, Y:-68.84, Z:-34.02 [[ 9.97876016e-01 4.86687285e-02 4.32991038e-02 5.23562527e+02] [-4.84856717e-02 9.98809983e-01 -5.26853827e-03 -6.88416943e+01] [-4.35039902e-02 3.15796185e-03 9.99048262e-01 -3.40221926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.530714057 meters 0.043578685903326156 Centerline is valid? [True, True] Translation: X:523.59, Y:-68.85, Z:-34.03 [[ 9.97994549e-01 4.67459899e-02 4.26812840e-02 5.23590943e+02] [-4.65664510e-02 9.98901703e-01 -5.19161093e-03 -6.88506438e+01] [-4.28770943e-02 3.19368349e-03 9.99075250e-01 -3.40250991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.5607140569999 meters 0.04302929012704588 Centerline is valid? [True, True] Translation: X:523.62, Y:-68.85, Z:-34.03 [[ 9.97998451e-01 4.64151051e-02 4.29503268e-02 5.23619854e+02] [-4.62330002e-02 9.98917023e-01 -5.22408269e-03 -6.88541679e+01] [-4.31462889e-02 3.22790397e-03 9.99063551e-01 -3.40268093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.5907140569999 meters 0.042619969071282175 Centerline is valid? [True, True] Translation: X:523.65, Y:-68.86, Z:-34.03 [[ 9.98050932e-01 4.56123954e-02 4.25892822e-02 5.23649369e+02] [-4.54327216e-02 9.98953983e-01 -5.17768529e-03 -6.88584468e+01] [-4.27808997e-02 3.23264663e-03 9.99079248e-01 -3.40285073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.620714057 meters 0.045065654310044896 Centerline is valid? [True, True] Translation: X:523.68, Y:-68.87, Z:-34.03 [[ 9.97954243e-01 4.59904440e-02 4.44095412e-02 5.23677204e+02] [-4.57955061e-02 9.98936253e-01 -5.39753860e-03 -6.88661759e+01] [-4.46105358e-02 3.35273914e-03 9.98998828e-01 -3.40297048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.650714057 meters 0.04351645729153274 Centerline is valid? [True, True] Translation: X:523.71, Y:-68.87, Z:-34.03 [[ 9.97895370e-01 4.67730969e-02 4.49122257e-02 5.23708008e+02] [-4.65746441e-02 9.98899915e-01 -5.45554852e-03 -6.88680950e+01] [-4.51179913e-02 3.35229569e-03 9.98976040e-01 -3.40305990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.6807140569999 meters 0.04451855059843649 Centerline is valid? [True, True] Translation: X:523.74, Y:-68.87, Z:-34.03 [[ 9.97765734e-01 4.85507615e-02 4.58951442e-02 5.23736844e+02] [-4.83453790e-02 9.98815119e-01 -5.57514461e-03 -6.88734156e+01] [-4.61114415e-02 3.34387011e-03 9.98930705e-01 -3.40319457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.7107140569999 meters 0.04000807804301478 Centerline is valid? [True, True] Translation: X:523.77, Y:-68.87, Z:-34.03 [[ 9.97746062e-01 4.92152794e-02 4.56141647e-02 5.23767266e+02] [-4.90131226e-02 9.98782768e-01 -5.54044699e-03 -6.88705593e+01] [-4.58313163e-02 3.29226652e-03 9.98943768e-01 -3.40326911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.740714057 meters 0.039971803469828676 Centerline is valid? [True, True] Translation: X:523.80, Y:-68.87, Z:-34.03 [[ 9.97702148e-01 5.00855644e-02 4.56274137e-02 5.23796868e+02] [-4.98842699e-02 9.98739637e-01 -5.54042264e-03 -6.88741640e+01] [-4.58474019e-02 3.25160135e-03 9.98943163e-01 -3.40347471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.770714057 meters 0.04482490582220044 Centerline is valid? [True, True] Translation: X:523.82, Y:-68.89, Z:-34.04 [[ 9.97714292e-01 5.06926187e-02 4.46816568e-02 5.23824314e+02] [-5.05002674e-02 9.98709319e-01 -5.42397422e-03 -6.88856702e+01] [-4.48989425e-02 3.15514098e-03 9.98986551e-01 -3.40388011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.8007140569999 meters 0.041402190528883547 Centerline is valid? [True, True] Translation: X:523.85, Y:-68.89, Z:-34.04 [[ 9.97748540e-01 5.09824588e-02 4.35733737e-02 5.23852907e+02] [-5.07998497e-02 9.98694851e-01 -5.28862607e-03 -6.88852317e+01] [-4.37861311e-02 3.06319811e-03 9.99036231e-01 -3.40415125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.8307140569999 meters 0.042108069736668904 Centerline is valid? [True, True] Translation: X:523.88, Y:-68.89, Z:-34.04 [[ 9.97772685e-01 5.11027409e-02 4.28739936e-02 5.23881707e+02] [-5.09261890e-02 9.98688878e-01 -5.20078960e-03 -6.88899493e+01] [-4.30835551e-02 3.00579670e-03 9.99066951e-01 -3.40441178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.860714057 meters 0.0429615810080616 Centerline is valid? [True, True] Translation: X:523.91, Y:-68.90, Z:-34.05 [[ 9.97817036e-01 5.10776181e-02 4.18597675e-02 5.23908584e+02] [-5.09094126e-02 9.98690379e-01 -5.07519986e-03 -6.88950428e+01] [-4.20641762e-02 2.93306470e-03 9.99110606e-01 -3.40472057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.890714057 meters 0.03829068439506816 Centerline is valid? [True, True] Translation: X:523.94, Y:-68.89, Z:-34.05 [[ 9.97826605e-01 5.09471673e-02 4.17905915e-02 5.23938310e+02] [-5.07795648e-02 9.98697052e-01 -5.06298335e-03 -6.88919296e+01] [-4.19940852e-02 2.92987143e-03 9.99113563e-01 -3.40475761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9207140569999 meters 0.04009518539229346 Centerline is valid? [True, True] Translation: X:523.97, Y:-68.90, Z:-34.05 [[ 9.97928864e-01 4.95515099e-02 4.10198868e-02 5.23966471e+02] [-4.93889959e-02 9.98767271e-01 -4.96641349e-03 -6.88987589e+01] [-4.12154137e-02 2.93019635e-03 9.99145987e-01 -3.40507331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9507140569999 meters 0.04363384765972168 Centerline is valid? [True, True] Translation: X:523.99, Y:-68.91, Z:-34.05 [[ 9.97964514e-01 4.88945459e-02 4.09408418e-02 5.23994510e+02] [-4.87322012e-02 9.98799592e-01 -4.95458712e-03 -6.89074044e+01] [-4.11339484e-02 2.94936478e-03 9.99149288e-01 -3.40536135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.980714057 meters 0.04490125305391889 Centerline is valid? [True, True] Translation: X:524.02, Y:-68.91, Z:-34.06 [[ 9.98023999e-01 4.73244177e-02 4.13339735e-02 5.24023830e+02] [-4.71577045e-02 9.98874944e-01 -4.99962357e-03 -6.89127205e+01] [-4.15240748e-02 3.04052900e-03 9.99132877e-01 -3.40550709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.010714057 meters 0.046011240240663734 Centerline is valid? [True, True] Translation: X:524.05, Y:-68.92, Z:-34.06 [[ 9.98012815e-01 4.67011375e-02 4.23015879e-02 5.24052031e+02] [-4.65260177e-02 9.98903980e-01 -5.11541797e-03 -6.89182392e+01] [-4.24941204e-02 3.13712826e-03 9.99091792e-01 -3.40568710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.040714057 meters 0.0479978921258657 Centerline is valid? [True, True] Translation: X:524.08, Y:-68.93, Z:-34.06 [[ 9.98022881e-01 4.60143289e-02 4.28136702e-02 5.24080442e+02] [-4.58344719e-02 9.98935651e-01 -5.17362771e-03 -6.89252540e+01] [-4.30061625e-02 3.20105687e-03 9.99069679e-01 -3.40584536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0707140569999 meters 0.04378706176608627 Centerline is valid? [True, True] Translation: X:524.11, Y:-68.92, Z:-34.06 [[ 9.98031503e-01 4.56691553e-02 4.29819450e-02 5.24110445e+02] [-4.54874157e-02 9.98951391e-01 -5.19735435e-03 -6.89228899e+01] [-4.31742326e-02 3.23198577e-03 9.99062330e-01 -3.40588620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.1007140569999 meters 0.04616020390315002 Centerline is valid? [True, True] Translation: X:524.14, Y:-68.93, Z:-34.06 [[ 9.97982208e-01 4.60411035e-02 4.37233351e-02 5.24139421e+02] [-4.58534693e-02 9.98934195e-01 -5.28519095e-03 -6.89306370e+01] [-4.39200706e-02 3.26965993e-03 9.99029698e-01 -3.40620343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.130714057 meters 0.04107386141333317 Centerline is valid? [True, True] Translation: X:524.17, Y:-68.93, Z:-34.06 [[ 9.97969028e-01 4.61721872e-02 4.38856342e-02 5.24170206e+02] [-4.59833047e-02 9.98928126e-01 -5.30429838e-03 -6.89267981e+01] [-4.40835054e-02 3.27551901e-03 9.99022480e-01 -3.40627704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.160714057 meters 0.039140461807770734 Centerline is valid? [True, True] Translation: X:524.20, Y:-68.93, Z:-34.06 [[ 9.97974025e-01 4.59448453e-02 4.40104178e-02 5.24199478e+02] [-4.57547370e-02 9.98938549e-01 -5.31778659e-03 -6.89278939e+01] [-4.42080278e-02 3.29332779e-03 9.99016919e-01 -3.40636512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.1907140569999 meters 0.03973630708135506 Centerline is valid? [True, True] Translation: X:524.23, Y:-68.93, Z:-34.07 [[ 9.97925445e-01 4.61561122e-02 4.48822962e-02 5.24228413e+02] [-4.59586794e-02 9.98928630e-01 -5.42143406e-03 -6.89339121e+01] [-4.50844430e-02 3.34745593e-03 9.98977571e-01 -3.40660327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.2207140569999 meters 0.03960549415011951 Centerline is valid? [True, True] Translation: X:524.26, Y:-68.94, Z:-34.07 [[ 9.97905171e-01 4.61535167e-02 4.53334606e-02 5.24258261e+02] [-4.59521851e-02 9.98928643e-01 -5.47380894e-03 -6.89382390e+01] [-4.55375278e-02 3.37917067e-03 9.98956913e-01 -3.40678154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.250714057 meters 0.0394691363984464 Centerline is valid? [True, True] Translation: X:524.29, Y:-68.94, Z:-34.07 [[ 9.97895019e-01 4.62277593e-02 4.54810482e-02 5.24288282e+02] [-4.60251900e-02 9.98925184e-01 -5.49162948e-03 -6.89426525e+01] [-4.56860302e-02 3.38679581e-03 9.98950107e-01 -3.40701071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.280714057 meters 0.04125290810375924 Centerline is valid? [True, True] Translation: X:524.32, Y:-68.95, Z:-34.07 [[ 9.97931469e-01 4.57811860e-02 4.51316441e-02 5.24317359e+02] [-4.55812661e-02 9.98945770e-01 -5.44944052e-03 -6.89500639e+01] [-4.53335468e-02 3.38101070e-03 9.98966185e-01 -3.40730058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.3107140569999 meters 0.04055447206621451 Centerline is valid? [True, True] Translation: X:524.35, Y:-68.95, Z:-34.08 [[ 9.97972746e-01 4.50705778e-02 4.49337495e-02 5.24347897e+02] [-4.48717344e-02 9.98978028e-01 -5.42463120e-03 -6.89545531e+01] [-4.51323197e-02 3.39737882e-03 9.98975241e-01 -3.40753353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.3407140569999 meters 0.046333635724430944 Centerline is valid? [True, True] Translation: X:524.38, Y:-68.97, Z:-34.08 [[ 9.98000978e-01 4.47331724e-02 4.46429319e-02 5.24376811e+02] [-4.45363843e-02 9.98993204e-01 -5.39346610e-03 -6.89674766e+01] [-4.48392525e-02 3.39444967e-03 9.98988448e-01 -3.40790430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.370714057 meters 0.041295301311015026 Centerline is valid? [True, True] Translation: X:524.41, Y:-68.97, Z:-34.08 [[ 9.98004618e-01 4.45057663e-02 4.47886165e-02 5.24408613e+02] [-4.43074367e-02 9.99003286e-01 -5.41165117e-03 -6.89656189e+01] [-4.49848247e-02 3.41638407e-03 9.98981829e-01 -3.40794130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.400714057 meters 0.047665129218825264 Centerline is valid? [True, True] Translation: X:524.44, Y:-68.98, Z:-34.08 [[ 9.97980053e-01 4.54374508e-02 4.43987890e-02 5.24438156e+02] [-4.52435223e-02 9.98961589e-01 -5.36355284e-03 -6.89794395e+01] [-4.45963910e-02 3.34396114e-03 9.98999489e-01 -3.40830191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.4307140569999 meters 0.04029793136787217 Centerline is valid? [True, True] Translation: X:524.47, Y:-68.97, Z:-34.08 [[ 9.97934189e-01 4.68863213e-02 4.39206941e-02 5.24469545e+02] [-4.66973551e-02 9.98894921e-01 -5.31915673e-03 -6.89732541e+01] [-4.41215540e-02 3.25718810e-03 9.99020860e-01 -3.40836893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.4607140569999 meters 0.040239611345637014 Centerline is valid? [True, True] Translation: X:524.50, Y:-68.98, Z:-34.09 [[ 9.97802265e-01 5.01181512e-02 4.33452511e-02 5.24499047e+02] [-4.99371397e-02 9.98738567e-01 -5.24946585e-03 -6.89774845e+01] [-4.35536675e-02 3.07339106e-03 9.99046361e-01 -3.40863746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.490714057 meters 0.039505386383688224 Centerline is valid? [True, True] Translation: X:524.53, Y:-68.98, Z:-34.09 [[ 9.97721189e-01 5.20621210e-02 4.29181149e-02 5.24529141e+02] [-5.18864398e-02 9.98639464e-01 -5.19799522e-03 -6.89803122e+01] [-4.31303419e-02 2.95928179e-03 9.99065071e-01 -3.40884886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.520714057 meters 0.03828818687685684 Centerline is valid? [True, True] Translation: X:524.56, Y:-68.98, Z:-34.09 [[ 9.97537740e-01 5.53163858e-02 4.31109680e-02 5.24559208e+02] [-5.51421782e-02 9.98464865e-01 -5.22057153e-03 -6.89821855e+01] [-4.33335699e-02 2.83048445e-03 9.99056650e-01 -3.40900767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.5507140569999 meters 0.037902161569900165 Centerline is valid? [True, True] Translation: X:524.59, Y:-68.99, Z:-34.09 [[ 9.97447078e-01 5.67106453e-02 4.33961910e-02 5.24587552e+02] [-5.65354367e-02 9.98386763e-01 -5.25510330e-03 -6.89850440e+01] [-4.36242029e-02 2.78826483e-03 9.99044120e-01 -3.40910052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.5807140569999 meters 0.03766770849903224 Centerline is valid? [True, True] Translation: X:524.62, Y:-68.99, Z:-34.09 [[ 9.97370356e-01 5.72652627e-02 4.44191685e-02 5.24616129e+02] [-5.70823824e-02 9.98354999e-01 -5.37572398e-03 -6.89885416e+01] [-4.46539411e-02 2.82603578e-03 9.98998518e-01 -3.40915152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.610714057 meters 0.03949739292361524 Centerline is valid? [True, True] Translation: X:524.64, Y:-69.00, Z:-34.09 [[ 9.97360347e-01 5.68841990e-02 4.51278927e-02 5.24642701e+02] [-5.66951721e-02 9.98376613e-01 -5.45864911e-03 -6.89956566e+01] [-4.53651435e-02 2.88570653e-03 9.98966304e-01 -3.40934766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.640714057 meters 0.03735170251639383 Centerline is valid? [True, True] Translation: X:524.67, Y:-69.00, Z:-34.09 [[ 9.97367842e-01 5.58213567e-02 4.62748795e-02 5.24671530e+02] [-5.56217047e-02 9.98436255e-01 -5.59194783e-03 -6.89986396e+01] [-4.65146676e-02 3.00334125e-03 9.98913092e-01 -3.40949962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.6707140569999 meters 0.04090550502773037 Centerline is valid? [True, True] Translation: X:524.70, Y:-69.01, Z:-34.10 [[ 9.97429939e-01 5.45675156e-02 4.64316972e-02 5.24699022e+02] [-5.43653221e-02 9.98505368e-01 -5.60731764e-03 -6.90080988e+01] [-4.66682763e-02 3.06863232e-03 9.98905729e-01 -3.40977921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.7007140569999 meters 0.037160205456739565 Centerline is valid? [True, True] Translation: X:524.73, Y:-69.01, Z:-34.10 [[ 9.97515595e-01 5.22468650e-02 4.72535944e-02 5.24729623e+02] [-5.20349901e-02 9.98628974e-01 -5.70367211e-03 -6.90077200e+01] [-4.74868075e-02 3.23066156e-03 9.98866641e-01 -3.40990511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.730714057 meters 0.039832568077595325 Centerline is valid? [True, True] Translation: X:524.76, Y:-69.02, Z:-34.10 [[ 9.97528409e-01 5.03638268e-02 4.89955011e-02 5.24758212e+02] [-5.01337599e-02 9.98725002e-01 -5.91408041e-03 -6.90168791e+01] [-4.92308876e-02 3.44313453e-03 9.98781490e-01 -3.41012745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.760714057 meters 0.03972414221297571 Centerline is valid? [True, True] Translation: X:524.79, Y:-69.02, Z:-34.10 [[ 9.97523478e-01 4.96564173e-02 4.98111471e-02 5.24788935e+02] [-4.94178084e-02 9.98760104e-01 -6.01119326e-03 -6.90207774e+01] [-5.00478808e-02 3.53474869e-03 9.98740565e-01 -3.41029359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.790714057 meters 0.04115415446386443 Centerline is valid? [True, True] Translation: X:524.82, Y:-69.03, Z:-34.11 [[ 9.97526678e-01 4.91882172e-02 5.02100215e-02 5.24819685e+02] [-4.89451571e-02 9.98783085e-01 -6.05973413e-03 -6.90270236e+01] [-5.04469877e-02 3.58720907e-03 9.98720298e-01 -3.41057295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.8207140569999 meters 0.04151505616595146 Centerline is valid? [True, True] Translation: X:524.85, Y:-69.03, Z:-34.11 [[ 9.97523242e-01 4.91161419e-02 5.03486499e-02 5.24851225e+02] [-4.88710560e-02 9.98786541e-01 -6.08809217e-03 -6.90314854e+01] [-5.05865775e-02 3.61242175e-03 9.98713146e-01 -3.41082366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.8507140569999 meters 0.04241434619543316 Centerline is valid? [True, True] Translation: X:524.88, Y:-69.04, Z:-34.11 [[ 9.97568993e-01 4.80540319e-02 5.04669565e-02 5.24883199e+02] [-4.78057413e-02 9.98837927e-01 -6.11616711e-03 -6.90369809e+01] [-5.07022167e-02 3.68868839e-03 9.98707003e-01 -3.41107976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.880714057 meters 0.042334721921261184 Centerline is valid? [True, True] Translation: X:524.92, Y:-69.04, Z:-34.11 [[ 9.97587661e-01 4.77940127e-02 5.03447254e-02 5.24915103e+02] [-4.75464794e-02 9.98850378e-01 -6.10364972e-03 -6.90412316e+01] [-5.05785659e-02 3.69521120e-03 9.98713249e-01 -3.41132637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.910714057 meters 0.04266095469194533 Centerline is valid? [True, True] Translation: X:524.95, Y:-69.05, Z:-34.12 [[ 9.97588698e-01 4.64853473e-02 5.15354360e-02 5.24947027e+02] [-4.62234847e-02 9.98911495e-01 -6.26213461e-03 -6.90473309e+01] [-5.17704369e-02 3.86488728e-03 9.98651533e-01 -3.41157516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9407140569999 meters 0.04405987895476177 Centerline is valid? [True, True] Translation: X:524.98, Y:-69.05, Z:-34.12 [[ 9.97665386e-01 4.54831240e-02 5.09417518e-02 5.24978035e+02] [-4.52258379e-02 9.98957595e-01 -6.19254699e-03 -6.90528106e+01] [-5.11703062e-02 3.87420638e-03 9.98682427e-01 -3.41182045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9707140569999 meters 0.044389718311781325 Centerline is valid? [True, True] Translation: X:525.01, Y:-69.06, Z:-34.12 [[ 9.97688898e-01 4.52448531e-02 5.06928560e-02 5.25010275e+02] [-4.49891882e-02 9.98968397e-01 -6.17374505e-03 -6.90568981e+01] [-5.09198913e-02 3.87884646e-03 9.98695208e-01 -3.41201224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.000714057 meters 0.04308787458926695 Centerline is valid? [True, True] Translation: X:525.04, Y:-69.06, Z:-34.12 [[ 9.97679049e-01 4.52009414e-02 5.09253396e-02 5.25041871e+02] [-4.49422188e-02 9.98970257e-01 -6.21470359e-03 -6.90593450e+01] [-5.11538100e-02 3.91158181e-03 9.98683127e-01 -3.41228213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.030714057 meters 0.04602275328460395 Centerline is valid? [True, True] Translation: X:525.07, Y:-69.07, Z:-34.13 [[ 9.97632157e-01 4.58196642e-02 5.12897484e-02 5.25072332e+02] [-4.55574164e-02 9.98942038e-01 -6.27113778e-03 -6.90677599e+01] [-5.15228272e-02 3.91966028e-03 9.98664125e-01 -3.41253210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.0607140569999 meters 0.046509412824647836 Centerline is valid? [True, True] Translation: X:525.10, Y:-69.07, Z:-34.13 [[ 9.97618796e-01 4.61622876e-02 5.12423799e-02 5.25104726e+02] [-4.59003824e-02 9.98926302e-01 -6.27681705e-03 -6.90724682e+01] [-5.14771132e-02 3.90982584e-03 9.98666521e-01 -3.41273153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.0907140569999 meters 0.04336861468116276 Centerline is valid? [True, True] Translation: X:525.14, Y:-69.07, Z:-34.13 [[ 9.97554811e-01 4.82362507e-02 5.05733482e-02 5.25137115e+02] [-4.79830222e-02 9.98828847e-01 -6.21006897e-03 -6.90711034e+01] [-5.08136695e-02 3.76822208e-03 9.98701042e-01 -3.41295488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.120714057 meters 0.03832400150683086 Centerline is valid? [True, True] Translation: X:525.17, Y:-69.07, Z:-34.13 [[ 9.97496132e-01 4.98107706e-02 5.02031312e-02 5.25168921e+02] [-4.95630834e-02 9.98751953e-01 -6.16735444e-03 -6.90669118e+01] [-5.04476761e-02 3.66369022e-03 9.98719985e-01 -3.41312891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.150714057 meters 0.04011508519839925 Centerline is valid? [True, True] Translation: X:525.20, Y:-69.07, Z:-34.13 [[ 9.97358782e-01 5.28342512e-02 4.98397622e-02 5.25198752e+02] [-5.25937877e-02 9.98597206e-01 -6.12482208e-03 -6.90713015e+01] [-5.00934477e-02 3.48738322e-03 9.98738447e-01 -3.41340527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.1807140569999 meters 0.03707663025019666 Centerline is valid? [True, True] Translation: X:525.23, Y:-69.07, Z:-34.14 [[ 9.97303842e-01 5.44298251e-02 4.92183070e-02 5.25229681e+02] [-5.41972595e-02 9.98511929e-01 -6.04845128e-03 -6.90686352e+01] [-4.94742828e-02 3.36464634e-03 9.98769730e-01 -3.41363135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.2107140569999 meters 0.03707663025019666 Centerline is valid? [True, True] Translation: X:525.26, Y:-69.07, Z:-34.14 [[ 9.97305807e-01 5.43938385e-02 4.92182705e-02 5.25258638e+02] [-5.41612148e-02 9.98513883e-01 -6.04874777e-03 -6.90721636e+01] [-4.94741411e-02 3.36672995e-03 9.98769730e-01 -3.41380039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.240714057 meters 0.038064546003366055 Centerline is valid? [True, True] Translation: X:525.29, Y:-69.08, Z:-34.14 [[ 9.97273691e-01 5.47698797e-02 4.94514473e-02 5.25287267e+02] [-5.45355951e-02 9.98493343e-01 -6.07557680e-03 -6.90773290e+01] [-4.97096996e-02 3.36214879e-03 9.98758050e-01 -3.41399907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.270714057 meters 0.03621385690768956 Centerline is valid? [True, True] Translation: X:525.32, Y:-69.08, Z:-34.14 [[ 9.97277518e-01 5.46544795e-02 4.95019216e-02 5.25317340e+02] [-5.44196643e-02 9.98499641e-01 -6.07997620e-03 -6.90764676e+01] [-4.97599489e-02 3.36954562e-03 9.98755522e-01 -3.41415154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.3007140569999 meters 0.03933296483424541 Centerline is valid? [True, True] Translation: X:525.35, Y:-69.08, Z:-34.14 [[ 9.97254529e-01 5.43062986e-02 5.03411363e-02 5.25346013e+02] [-5.40631169e-02 9.98518391e-01 -6.18082375e-03 -6.90836631e+01] [-5.06022081e-02 3.44225574e-03 9.98712955e-01 -3.41434407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.3307140569999 meters 0.0384034121996733 Centerline is valid? [True, True] Translation: X:525.38, Y:-69.09, Z:-34.14 [[ 9.97262106e-01 5.35091753e-02 5.10397903e-02 5.25376871e+02] [-5.32581153e-02 9.98561112e-01 -6.26729496e-03 -6.90851538e+01] [-5.13017075e-02 3.53185273e-03 9.98676955e-01 -3.41442253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.360714057 meters 0.03787155954270284 Centerline is valid? [True, True] Translation: X:525.41, Y:-69.09, Z:-34.15 [[ 9.97248115e-01 5.35177185e-02 5.13035139e-02 5.25407085e+02] [-5.32640656e-02 9.98560591e-01 -6.29967820e-03 -6.90875877e+01] [-5.15668115e-02 3.54970848e-03 9.98663238e-01 -3.41458061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.390714057 meters 0.037138459035652896 Centerline is valid? [True, True] Translation: X:525.44, Y:-69.09, Z:-34.15 [[ 9.97182585e-01 5.43667433e-02 5.16831555e-02 5.25437361e+02] [-5.41104522e-02 9.98514789e-01 -6.34629528e-03 -6.90894504e+01] [-5.19514225e-02 3.53181622e-03 9.98643368e-01 -3.41474293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4207140569999 meters 0.036862672076411425 Centerline is valid? [True, True] Translation: X:525.47, Y:-69.09, Z:-34.15 [[ 9.97096931e-01 5.50230548e-02 5.26324476e-02 5.25467960e+02] [-5.47581605e-02 9.98478731e-01 -6.46286107e-03 -6.90923834e+01] [-5.29079859e-02 3.56204292e-03 9.98593039e-01 -3.41488211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4507140569999 meters 0.037073266661298884 Centerline is valid? [True, True] Translation: X:525.50, Y:-69.09, Z:-34.15 [[ 9.96954883e-01 5.65821477e-02 5.36602398e-02 5.25497523e+02] [-5.63090366e-02 9.98391644e-01 -6.58913423e-03 -6.90949866e+01] [-5.39467624e-02 3.54751314e-03 9.98537512e-01 -3.41497338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.480714057 meters 0.03674255811608246 Centerline is valid? [True, True] Translation: X:525.53, Y:-69.10, Z:-34.15 [[ 9.96859436e-01 5.79575696e-02 5.39646622e-02 5.25528416e+02] [-5.76834124e-02 9.98312941e-01 -6.62540604e-03 -6.90964544e+01] [-5.42576130e-02 3.49173267e-03 9.98520866e-01 -3.41514878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.510714057 meters 0.03665121395940659 Centerline is valid? [True, True] Translation: X:525.56, Y:-69.10, Z:-34.15 [[ 9.96835300e-01 5.83797428e-02 5.39554521e-02 5.25559114e+02] [-5.81062383e-02 9.98288420e-01 -6.62531230e-03 -6.90994898e+01] [-5.42498871e-02 3.46919681e-03 9.98521364e-01 -3.41532141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.540714057 meters 0.03702288816071924 Centerline is valid? [True, True] Translation: X:525.59, Y:-69.10, Z:-34.16 [[ 9.96800912e-01 5.90992448e-02 5.38072665e-02 5.25589254e+02] [-5.88282856e-02 9.98246252e-01 -6.60711625e-03 -6.91032192e+01] [-5.41033777e-02 3.42059025e-03 9.98529481e-01 -3.41552439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5707140569999 meters 0.035788474613018484 Centerline is valid? [True, True] Translation: X:525.62, Y:-69.10, Z:-34.16 [[ 9.96826499e-01 5.92966880e-02 5.31115147e-02 5.25619125e+02] [-5.90329696e-02 9.98234729e-01 -6.52183967e-03 -6.91034397e+01] [-5.34044820e-02 3.36581217e-03 9.98567290e-01 -3.41572465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.6007140569999 meters 0.035801609936017886 Centerline is valid? [True, True] Translation: X:525.65, Y:-69.11, Z:-34.16 [[ 9.96866482e-01 5.91010499e-02 5.25764572e-02 5.25648080e+02] [-5.88424489e-02 9.98246416e-01 -6.45433730e-03 -6.91062206e+01] [-5.28657181e-02 3.34038501e-03 9.98596043e-01 -3.41594826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.630714057 meters 0.03690252605275698 Centerline is valid? [True, True] Translation: X:525.68, Y:-69.11, Z:-34.16 [[ 9.96887393e-01 5.90685276e-02 5.22152823e-02 5.25676618e+02] [-5.88135752e-02 9.98248422e-01 -6.40718223e-03 -6.91106750e+01] [-5.25022859e-02 3.31627175e-03 9.98615297e-01 -3.41615547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.660714057 meters 0.037394843710954834 Centerline is valid? [True, True] Translation: X:525.71, Y:-69.11, Z:-34.16 [[ 9.96924876e-01 5.89891133e-02 5.15856199e-02 5.25706046e+02] [-5.87403220e-02 9.98253246e-01 -6.32706598e-03 -6.91141642e+01] [-5.18687405e-02 3.27745354e-03 9.98648533e-01 -3.41636811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.6907140569999 meters 0.03868560532122489 Centerline is valid? [True, True] Translation: X:525.73, Y:-69.12, Z:-34.17 [[ 9.97061928e-01 5.81410766e-02 4.98711136e-02 5.25734544e+02] [-5.79075882e-02 9.98303218e-01 -6.11521050e-03 -6.91178639e+01] [-5.01420382e-02 3.20932766e-03 9.98736940e-01 -3.41673078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.7207140569999 meters 0.03916701013529645 Centerline is valid? [True, True] Translation: X:525.76, Y:-69.12, Z:-34.17 [[ 9.97114495e-01 5.76542024e-02 4.93829637e-02 5.25763475e+02] [-5.74248081e-02 9.98331487e-01 -6.05263605e-03 -6.91222973e+01] [-4.96495275e-02 3.19936392e-03 9.98761577e-01 -3.41699261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.750714057 meters 0.04170002640571457 Centerline is valid? [True, True] Translation: X:525.79, Y:-69.13, Z:-34.17 [[ 9.97298448e-01 5.50552076e-02 4.86284845e-02 5.25791788e+02] [-5.48297832e-02 9.98477937e-01 -5.95849114e-03 -6.91279871e+01] [-4.88825149e-02 3.27610470e-03 9.98799162e-01 -3.41720603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.780714057 meters 0.04270667179604265 Centerline is valid? [True, True] Translation: X:525.82, Y:-69.13, Z:-34.17 [[ 9.97375983e-01 5.37019804e-02 4.85514762e-02 5.25821043e+02] [-5.34757572e-02 9.98551437e-01 -5.94737354e-03 -6.91321967e+01] [-4.88005321e-02 3.33544057e-03 9.98802975e-01 -3.41732096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.8107140569999 meters 0.04215145434714741 Centerline is valid? [True, True] Translation: X:525.85, Y:-69.13, Z:-34.17 [[ 9.97412857e-01 5.19542955e-02 4.96824332e-02 5.25851656e+02] [-5.17153428e-02 9.98643334e-01 -6.08390264e-03 -6.91334122e+01] [-4.99311157e-02 3.49881865e-03 9.98746535e-01 -3.41734716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.8407140569999 meters 0.042647089791290844 Centerline is valid? [True, True] Translation: X:525.88, Y:-69.14, Z:-34.17 [[ 9.97426777e-01 5.11693146e-02 5.02147969e-02 5.25881680e+02] [-5.09242187e-02 9.98683590e-01 -6.14909366e-03 -6.91371465e+01] [-5.04633385e-02 3.57612138e-03 9.98719512e-01 -3.41747848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.870714057 meters 0.03888845009190663 Centerline is valid? [True, True] Translation: X:525.91, Y:-69.13, Z:-34.18 [[ 9.97437992e-01 5.07770051e-02 5.03899521e-02 5.25912288e+02] [-5.05296966e-02 9.98703497e-01 -6.17054243e-03 -6.91348693e+01] [-5.06379430e-02 3.60854447e-03 9.98710557e-01 -3.41757248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.900714057 meters 0.044752905267081936 Centerline is valid? [True, True] Translation: X:525.94, Y:-69.15, Z:-34.18 [[ 9.97427364e-01 5.07905624e-02 5.05862829e-02 5.25941481e+02] [-5.05413446e-02 9.98702759e-01 -6.19446089e-03 -6.91471274e+01] [-5.08352805e-02 3.62182605e-03 9.98700484e-01 -3.41784333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.9307140569999 meters 0.039634573612782574 Centerline is valid? [True, True] Translation: X:525.97, Y:-69.14, Z:-34.18 [[ 9.97562796e-01 4.95560495e-02 4.91188996e-02 5.25973185e+02] [-4.93195820e-02 9.98764935e-01 -6.01529023e-03 -6.91421391e+01] [-4.93563286e-02 3.57810615e-03 9.98774824e-01 -3.41803835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.9607140569999 meters 0.04707774061221561 Centerline is valid? [True, True] Translation: X:526.00, Y:-69.16, Z:-34.18 [[ 9.97644378e-01 4.89019583e-02 4.81071047e-02 5.26001664e+02] [-4.86742334e-02 9.98797313e-01 -5.89454188e-03 -6.91558916e+01] [-4.83375016e-02 3.53908012e-03 9.98824790e-01 -3.41838461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.990714057 meters 0.04197375603285681 Centerline is valid? [True, True] Translation: X:526.03, Y:-69.15, Z:-34.19 [[ 9.97808648e-01 4.66853265e-02 4.68869141e-02 5.26032908e+02] [-4.64665611e-02 9.98903322e-01 -5.74555189e-03 -6.91518129e+01] [-4.71037272e-02 3.55428770e-03 9.98883680e-01 -3.41858681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.020714057 meters 0.0397962739928034 Centerline is valid? [True, True] Translation: X:526.06, Y:-69.15, Z:-34.19 [[ 9.97885787e-01 4.51326744e-02 4.67653544e-02 5.26064039e+02] [-4.49132336e-02 9.98974441e-01 -5.73310503e-03 -6.91522872e+01] [-4.69761441e-02 3.62060074e-03 9.98889450e-01 -3.41876252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.0507140569999 meters 0.04225122916545484 Centerline is valid? [True, True] Translation: X:526.09, Y:-69.16, Z:-34.19 [[ 9.97988504e-01 4.31750193e-02 4.64205020e-02 5.26093566e+02] [-4.29566623e-02 9.99060724e-01 -5.69168482e-03 -6.91600642e+01] [-4.66226389e-02 3.68616619e-03 9.98905772e-01 -3.41903552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.0807140569999 meters 0.043389346967119886 Centerline is valid? [True, True] Translation: X:526.13, Y:-69.17, Z:-34.19 [[ 9.98019685e-01 4.27779798e-02 4.61167310e-02 5.26125117e+02] [-4.25621369e-02 9.99077831e-01 -5.65263004e-03 -6.91650553e+01] [-4.63160117e-02 3.67860943e-03 9.98920064e-01 -3.41928451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.110714057 meters 0.04346414371413601 Centerline is valid? [True, True] Translation: X:526.16, Y:-69.17, Z:-34.20 [[ 9.98110216e-01 4.21164404e-02 4.47459633e-02 5.26156908e+02] [-4.19120892e-02 9.99106187e-01 -5.49572894e-03 -6.91670238e+01] [-4.49374293e-02 3.60994639e-03 9.98983281e-01 -3.41955868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.140714057 meters 0.042813586748679106 Centerline is valid? [True, True] Translation: X:526.19, Y:-69.17, Z:-34.20 [[ 9.98131579e-01 4.22074908e-02 4.41800658e-02 5.26188892e+02] [-4.20079258e-02 9.99102488e-01 -5.43620206e-03 -6.91685855e+01] [-4.43698621e-02 3.57013202e-03 9.99008794e-01 -3.41970457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.1707140569999 meters 0.04640540226409261 Centerline is valid? [True, True] Translation: X:526.22, Y:-69.18, Z:-34.20 [[ 9.98150816e-01 4.20777075e-02 4.38681654e-02 5.26219376e+02] [-4.18803254e-02 9.99107991e-01 -5.40922657e-03 -6.91750950e+01] [-4.40566425e-02 3.56201087e-03 9.99022685e-01 -3.41990503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.2007140569999 meters 0.04405844225661967 Centerline is valid? [True, True] Translation: X:526.25, Y:-69.17, Z:-34.20 [[ 9.98173226e-01 4.14559537e-02 4.39501409e-02 5.26250976e+02] [-4.12566539e-02 9.99133813e-01 -5.43246886e-03 -6.91742917e+01] [-4.41372800e-02 3.60930922e-03 9.99018955e-01 -3.41999605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.230714057 meters 0.04481552409316481 Centerline is valid? [True, True] Translation: X:526.28, Y:-69.18, Z:-34.20 [[ 9.98210068e-01 4.00537854e-02 4.44111969e-02 5.26282990e+02] [-3.98488489e-02 9.99190634e-01 -5.49062030e-03 -6.91780725e+01] [-4.45951721e-02 3.71105739e-03 9.98998248e-01 -3.42007576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.260714057 meters 0.04736494152039792 Centerline is valid? [True, True] Translation: X:526.31, Y:-69.19, Z:-34.20 [[ 9.98183002e-01 3.97937409e-02 4.52454612e-02 5.26313070e+02] [-3.95806789e-02 9.99200710e-01 -5.59555207e-03 -6.91852608e+01] [-4.54319650e-02 3.79453889e-03 9.98960228e-01 -3.42022329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.290714057 meters 0.048190442571645835 Centerline is valid? [True, True] Translation: X:526.34, Y:-69.19, Z:-34.20 [[ 9.98226797e-01 3.83179947e-02 4.55520989e-02 5.26344330e+02] [-3.80999993e-02 9.99257989e-01 -5.64457212e-03 -6.91888918e+01] [-4.57345875e-02 3.89902821e-03 9.98946017e-01 -3.42035594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.3207140569999 meters 0.04810723205768333 Centerline is valid? [True, True] Translation: X:526.38, Y:-69.19, Z:-34.21 [[ 9.98226080e-01 3.79803991e-02 4.58495573e-02 5.26376669e+02] [-3.77592302e-02 9.99270720e-01 -5.68058683e-03 -6.91921585e+01] [-4.60318711e-02 3.93926594e-03 9.98932204e-01 -3.42055756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.3507140569999 meters 0.049810109233673794 Centerline is valid? [True, True] Translation: X:526.41, Y:-69.20, Z:-34.21 [[ 9.98259340e-01 3.80161774e-02 4.50894817e-02 5.26407281e+02] [-3.78018103e-02 9.99269577e-01 -5.59774190e-03 -6.91971888e+01] [-4.52693521e-02 3.88353410e-03 9.98967269e-01 -3.42082102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.380714057 meters 0.050156731513545105 Centerline is valid? [True, True] Translation: X:526.44, Y:-69.20, Z:-34.21 [[ 9.98226450e-01 3.88606668e-02 4.50977164e-02 5.26439573e+02] [-3.86466116e-02 9.99237198e-01 -5.60901877e-03 -6.92003795e+01] [-4.52812860e-02 3.85619696e-03 9.98966834e-01 -3.42094902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.410714057 meters 0.05016999263993597 Centerline is valid? [True, True] Translation: X:526.47, Y:-69.20, Z:-34.21 [[ 9.98186900e-01 3.92437697e-02 4.56381231e-02 5.26471427e+02] [-3.90244299e-02 9.99222071e-01 -5.68748268e-03 -6.92035343e+01] [-4.58258181e-02 3.89616897e-03 9.98941847e-01 -3.42107662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4407140569999 meters 0.05097213709786337 Centerline is valid? [True, True] Translation: X:526.50, Y:-69.21, Z:-34.21 [[ 9.98167734e-01 3.95575751e-02 4.57861642e-02 5.26503201e+02] [-3.93366220e-02 9.99209660e-01 -5.71710433e-03 -6.92082692e+01] [-4.59761324e-02 3.90555604e-03 9.98934904e-01 -3.42123626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4707140569999 meters 0.0529659101469151 Centerline is valid? [True, True] Translation: X:526.53, Y:-69.21, Z:-34.21 [[ 9.98179484e-01 3.94965866e-02 4.55822000e-02 5.26533550e+02] [-3.92770248e-02 9.99212086e-01 -5.70280411e-03 -6.92139357e+01] [-4.57715265e-02 3.90208887e-03 9.98944313e-01 -3.42138734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.500714057 meters 0.05404208738281277 Centerline is valid? [True, True] Translation: X:526.57, Y:-69.22, Z:-34.22 [[ 9.98233413e-01 3.82953120e-02 4.54260198e-02 5.26565118e+02] [-3.80754728e-02 9.99258636e-01 -5.69524127e-03 -6.92193149e+01] [-4.56104437e-02 3.95556295e-03 9.98951471e-01 -3.42162832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.530714057 meters 0.0557578334640207 Centerline is valid? [True, True] Translation: X:526.60, Y:-69.23, Z:-34.22 [[ 9.98272173e-01 3.74509866e-02 4.52779409e-02 5.26596788e+02] [-3.72315795e-02 9.99290523e-01 -5.67972535e-03 -6.92255270e+01] [-4.54585286e-02 3.98414251e-03 9.98958282e-01 -3.42190646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.5607140569999 meters 0.0483198371278814 Centerline is valid? [True, True] Translation: X:526.63, Y:-69.22, Z:-34.22 [[ 9.98295599e-01 3.73338027e-02 4.48562516e-02 5.26629711e+02] [-3.71183194e-02 9.99295032e-01 -5.62750264e-03 -6.92193169e+01] [-4.50347255e-02 3.95292245e-03 9.98977601e-01 -3.42196397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.5907140569999 meters 0.047048658133598306 Centerline is valid? [True, True] Translation: X:526.66, Y:-69.22, Z:-34.22 [[ 9.98297259e-01 3.86963868e-02 4.36482792e-02 5.26660987e+02] [-3.84930515e-02 9.99243788e-01 -5.48970656e-03 -6.92210897e+01] [-4.38277036e-02 3.80020355e-03 9.99031877e-01 -3.42227179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.620714057 meters 0.050363590563400625 Centerline is valid? [True, True] Translation: X:526.69, Y:-69.23, Z:-34.23 [[ 9.98256949e-01 4.12112516e-02 4.22456762e-02 5.26689600e+02] [-4.10229325e-02 9.99144067e-01 -5.31533872e-03 -6.92305745e+01] [-4.24285685e-02 3.57303229e-03 9.99093114e-01 -3.42273811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.650714057 meters 0.0422435224530118 Centerline is valid? [True, True] Translation: X:526.72, Y:-69.22, Z:-34.23 [[ 9.98105512e-01 4.58375455e-02 4.10402956e-02 5.26721883e+02] [-4.56637168e-02 9.98943524e-01 -5.16350476e-03 -6.92223409e+01] [-4.12336198e-02 3.27967013e-03 9.99144150e-01 -3.42273445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.6807140569999 meters 0.04189739315042113 Centerline is valid? [True, True] Translation: X:526.75, Y:-69.22, Z:-34.23 [[ 9.98042743e-01 4.68999297e-02 4.13652029e-02 5.26751264e+02] [-4.67241923e-02 9.98894265e-01 -5.20557834e-03 -6.92245650e+01] [-4.15636052e-02 3.26263399e-03 9.99130533e-01 -3.42282486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.7107140569999 meters 0.03985365566615783 Centerline is valid? [True, True] Translation: X:526.78, Y:-69.22, Z:-34.23 [[ 9.97970354e-01 4.80207295e-02 4.18232246e-02 5.26780939e+02] [-4.78421178e-02 9.98841052e-01 -5.26168560e-03 -6.92247833e+01] [-4.20274236e-02 3.25009460e-03 9.99111171e-01 -3.42287864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.740714057 meters 0.03865223901298415 Centerline is valid? [True, True] Translation: X:526.81, Y:-69.23, Z:-34.23 [[ 9.97946215e-01 4.86660637e-02 4.16529338e-02 5.26809867e+02] [-4.84895025e-02 9.98809951e-01 -5.23932475e-03 -6.92271517e+01] [-4.18583421e-02 3.20883427e-03 9.99118403e-01 -3.42305255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.770714057 meters 0.04074623500268287 Centerline is valid? [True, True] Translation: X:526.84, Y:-69.23, Z:-34.23 [[ 9.97884761e-01 5.01979290e-02 4.13058279e-02 5.26837604e+02] [-5.00257440e-02 9.98734432e-01 -5.19230635e-03 -6.92348638e+01] [-4.15141955e-02 3.11496861e-03 9.99133058e-01 -3.42333979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.8007140569999 meters 0.04075916684517388 Centerline is valid? [True, True] Translation: X:526.87, Y:-69.24, Z:-34.23 [[ 9.97814909e-01 5.11538015e-02 4.18174222e-02 5.26865992e+02] [-5.09782440e-02 9.98685941e-01 -5.25451893e-03 -6.92391716e+01] [-4.20312603e-02 3.11125857e-03 9.99111452e-01 -3.42347592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.8307140569999 meters 0.03997018917266387 Centerline is valid? [True, True] Translation: X:526.90, Y:-69.24, Z:-34.23 [[ 9.97737470e-01 5.18327828e-02 4.28171023e-02 5.26895402e+02] [-5.16494949e-02 9.98650800e-01 -5.37667638e-03 -6.92408151e+01] [-4.30380216e-02 3.15302978e-03 9.99068460e-01 -3.42347633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.860714057 meters 0.044273137142633444 Centerline is valid? [True, True] Translation: X:526.92, Y:-69.25, Z:-34.24 [[ 9.97683150e-01 5.23663982e-02 4.34291756e-02 5.26922574e+02] [-5.21784259e-02 9.98622899e-01 -5.45136098e-03 -6.92502035e+01] [-4.36548374e-02 3.17266497e-03 9.99041635e-01 -3.42365512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.890714057 meters 0.04423288004593985 Centerline is valid? [True, True] Translation: X:526.95, Y:-69.25, Z:-34.24 [[ 9.97636999e-01 5.27691200e-02 4.39981722e-02 5.26951723e+02] [-5.25767006e-02 9.98601633e-01 -5.51994697e-03 -6.92534923e+01] [-4.42279293e-02 3.19362460e-03 9.99016362e-01 -3.42376989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9207140569999 meters 0.037362864813458116 Centerline is valid? [True, True] Translation: X:526.98, Y:-69.25, Z:-34.24 [[ 9.97524304e-01 5.43127906e-02 4.46697144e-02 5.26982795e+02] [-5.41162411e-02 9.98518948e-01 -5.59853247e-03 -6.92481623e+01] [-4.49076281e-02 3.16731517e-03 9.98986123e-01 -3.42373484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9507140569999 meters 0.04599812078570246 Centerline is valid? [True, True] Translation: X:527.01, Y:-69.27, Z:-34.24 [[ 9.97453205e-01 5.50934685e-02 4.52969421e-02 5.27008880e+02] [-5.48921646e-02 9.98476150e-01 -5.67695641e-03 -6.92650420e+01] [-4.55406796e-02 3.17605116e-03 9.98957436e-01 -3.42412658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.980714057 meters 0.03874085252651803 Centerline is valid? [True, True] Translation: X:527.04, Y:-69.26, Z:-34.24 [[ 9.97476303e-01 5.49177275e-02 4.50007595e-02 5.27038514e+02] [-5.47190207e-02 9.98485883e-01 -5.63655381e-03 -6.92582663e+01] [-4.52421698e-02 3.15993136e-03 9.98971051e-01 -3.42412174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.010714057 meters 0.045886898502959544 Centerline is valid? [True, True] Translation: X:527.07, Y:-69.27, Z:-34.24 [[ 9.97450557e-01 5.53913520e-02 4.49909354e-02 5.27065626e+02] [-5.51933710e-02 9.98459801e-01 -5.63179526e-03 -6.92729245e+01] [-4.52335932e-02 3.13423594e-03 9.98971520e-01 -3.42444762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.040714057 meters 0.03968532192835501 Centerline is valid? [True, True] Translation: X:527.10, Y:-69.27, Z:-34.24 [[ 9.97465694e-01 5.57231246e-02 4.42393852e-02 5.27095107e+02] [-5.55321279e-02 9.98441556e-01 -5.53558177e-03 -6.92679393e+01] [-4.44789004e-02 3.06484571e-03 9.99005623e-01 -3.42439248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0707140569999 meters 0.038782672955738916 Centerline is valid? [True, True] Translation: X:527.12, Y:-69.27, Z:-34.25 [[ 9.97463012e-01 5.64513325e-02 4.33680327e-02 5.27123481e+02] [-5.62686075e-02 9.98400936e-01 -5.42354429e-03 -6.92712968e+01] [-4.36048507e-02 2.96952601e-03 9.99044443e-01 -3.42453688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.1007140569999 meters 0.038782672955738916 Centerline is valid? [True, True] Translation: X:527.15, Y:-69.27, Z:-34.25 [[ 9.97466980e-01 5.63808953e-02 4.33684157e-02 5.27151593e+02] [-5.61982367e-02 9.98404916e-01 -5.42047961e-03 -6.92747491e+01] [-4.36048509e-02 2.96952093e-03 9.99044443e-01 -3.42470116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.130714057 meters 0.037986539567076844 Centerline is valid? [True, True] Translation: X:527.18, Y:-69.28, Z:-34.25 [[ 9.97449735e-01 5.70479554e-02 4.28900571e-02 5.27180544e+02] [-5.68700512e-02 9.98367213e-01 -5.35766931e-03 -6.92778131e+01] [-4.31256709e-02 2.90484609e-03 9.99065432e-01 -3.42489410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.160714057 meters 0.03872146296073232 Centerline is valid? [True, True] Translation: X:527.21, Y:-69.28, Z:-34.25 [[ 9.97325467e-01 5.95432277e-02 4.23853333e-02 5.27208736e+02] [-5.93718829e-02 9.98221911e-01 -5.29106917e-03 -6.92836946e+01] [-4.26250157e-02 2.76042099e-03 9.99087328e-01 -3.42515141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.1907140569999 meters 0.03799467721743057 Centerline is valid? [True, True] Translation: X:527.24, Y:-69.29, Z:-34.25 [[ 9.97218645e-01 6.12397838e-02 4.24813253e-02 5.27237160e+02] [-6.10692371e-02 9.98119450e-01 -5.30203657e-03 -6.92866062e+01] [-4.27261326e-02 2.69298760e-03 9.99083192e-01 -3.42528195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.2207140569999 meters 0.03671615097990764 Centerline is valid? [True, True] Translation: X:527.27, Y:-69.29, Z:-34.25 [[ 9.96920599e-01 6.56814338e-02 4.28400437e-02 5.27267783e+02] [-6.55122464e-02 9.97837462e-01 -5.34283365e-03 -6.92886081e+01] [-4.30983255e-02 2.51983342e-03 9.99067658e-01 -3.42531943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.250714057 meters 0.034525683803226646 Centerline is valid? [True, True] Translation: X:527.30, Y:-69.29, Z:-34.25 [[ 9.96702924e-01 6.85498268e-02 4.34073960e-02 5.27298322e+02] [-6.83788321e-02 9.97644740e-01 -5.41364547e-03 -6.92890340e+01] [-4.36762648e-02 2.42764922e-03 9.99042787e-01 -3.42539359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.280714057 meters 0.03533683362599276 Centerline is valid? [True, True] Translation: X:527.33, Y:-69.30, Z:-34.26 [[ 9.96163632e-01 7.50674226e-02 4.49766633e-02 5.27326674e+02] [-7.48904710e-02 9.97175991e-01 -5.60886364e-03 -6.92960798e+01] [-4.52706918e-02 2.21902248e-03 9.98972292e-01 -3.42562177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.3107140569999 meters 0.032072177654183166 Centerline is valid? [True, True] Translation: X:527.36, Y:-69.30, Z:-34.26 [[ 9.95910752e-01 7.77740389e-02 4.59670878e-02 5.27356831e+02] [-7.75921808e-02 9.96968715e-01 -5.73011067e-03 -6.92954588e+01] [-4.62734023e-02 2.13999224e-03 9.98926520e-01 -3.42565738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.3407140569999 meters 0.030710888828836307 Centerline is valid? [True, True] Translation: X:527.39, Y:-69.30, Z:-34.26 [[ 9.95482720e-01 8.26350096e-02 4.67504919e-02 5.27386681e+02] [-8.24523304e-02 9.96577981e-01 -5.82584088e-03 -6.92975499e+01] [-4.70719293e-02 1.94483692e-03 9.98889609e-01 -3.42568721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.370714057 meters 0.03055255034030244 Centerline is valid? [True, True] Translation: X:527.41, Y:-69.30, Z:-34.26 [[ 9.95294993e-01 8.46151293e-02 4.72033502e-02 5.27414554e+02] [-8.44311078e-02 9.96411956e-01 -5.88237151e-03 -6.93013622e+01] [-4.75317201e-02 1.86926377e-03 9.98867980e-01 -3.42579851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.400714057 meters 0.03015912624386107 Centerline is valid? [True, True] Translation: X:527.44, Y:-69.31, Z:-34.26 [[ 9.95016783e-01 8.79548446e-02 4.69632589e-02 5.27442540e+02] [-8.77765700e-02 9.96123016e-01 -5.84893158e-03 -6.93063853e+01] [-4.72956250e-02 1.69751130e-03 9.98879493e-01 -3.42599386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.4307140569999 meters 0.028107791425110204 Centerline is valid? [True, True] Translation: X:527.47, Y:-69.31, Z:-34.26 [[ 9.94913473e-01 8.91668992e-02 4.68662496e-02 5.27471332e+02] [-8.89907782e-02 9.96015357e-01 -5.83525871e-03 -6.93071361e+01] [-4.71998162e-02 1.63491349e-03 9.98884130e-01 -3.42604723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.4607140569999 meters 0.027506045568691132 Centerline is valid? [True, True] Translation: X:527.50, Y:-69.31, Z:-34.26 [[ 9.94750018e-01 9.12141056e-02 4.63938535e-02 5.27499538e+02] [-9.10438959e-02 9.95830146e-01 -5.77315751e-03 -6.93135910e+01] [-4.67269913e-02 1.51897137e-03 9.98906543e-01 -3.42618806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.490714057 meters 0.027629656501502568 Centerline is valid? [True, True] Translation: X:527.53, Y:-69.32, Z:-34.26 [[ 9.94677257e-01 9.19266239e-02 4.65472916e-02 5.27527619e+02] [-9.17562219e-02 9.95764673e-01 -5.78889834e-03 -6.93189968e+01] [-4.68823025e-02 1.48708190e-03 9.98899313e-01 -3.42636970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.520714057 meters 0.026510108512386787 Centerline is valid? [True, True] Translation: X:527.56, Y:-69.33, Z:-34.27 [[ 9.94630712e-01 9.30439550e-02 4.53052982e-02 5.27556213e+02] [-9.28838305e-02 9.95661028e-01 -5.63133658e-03 -6.93252382e+01] [-4.56326816e-02 1.39297067e-03 9.98957315e-01 -3.42650713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.5507140569999 meters 0.027283702196873788 Centerline is valid? [True, True] Translation: X:527.58, Y:-69.33, Z:-34.27 [[ 9.94648173e-01 9.32234220e-02 4.45466701e-02 5.27582275e+02] [-9.30689109e-02 9.95644287e-01 -5.53454122e-03 -6.93320834e+01] [-4.48685865e-02 1.35901124e-03 9.98991973e-01 -3.42678576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.5807140569999 meters 0.027112735297119158 Centerline is valid? [True, True] Translation: X:527.61, Y:-69.34, Z:-34.27 [[ 9.94718420e-01 9.29676579e-02 4.35003467e-02 5.27609706e+02] [-9.28203498e-02 9.95668238e-01 -5.39840328e-03 -6.93414870e+01] [-4.38137905e-02 1.33217378e-03 9.99038827e-01 -3.42707344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.610714057 meters 0.026807608372818814 Centerline is valid? [True, True] Translation: X:527.64, Y:-69.35, Z:-34.27 [[ 9.94742232e-01 9.27172276e-02 4.34903227e-02 5.27637711e+02] [-9.25698840e-02 9.95691579e-01 -5.39406852e-03 -6.93472981e+01] [-4.38030712e-02 1.33981363e-03 9.99039286e-01 -3.42723812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.640714057 meters 0.02702805209053023 Centerline is valid? [True, True] Translation: X:527.66, Y:-69.36, Z:-34.27 [[ 9.94752766e-01 9.22111581e-02 4.43174600e-02 5.27664080e+02] [-9.20577662e-02 9.95738511e-01 -5.49408045e-03 -6.93568264e+01] [-4.46352171e-02 1.38548535e-03 9.99002391e-01 -3.42736865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.6707140569999 meters 0.0268216401355496 Centerline is valid? [True, True] Translation: X:527.69, Y:-69.36, Z:-34.27 [[ 9.94882504e-01 9.07842178e-02 4.43512032e-02 5.27691583e+02] [-9.06294455e-02 9.95869539e-01 -5.49223949e-03 -6.93648993e+01] [-4.46666209e-02 1.44460802e-03 9.99000904e-01 -3.42740493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.7007140569999 meters 0.027210634252402964 Centerline is valid? [True, True] Translation: X:527.72, Y:-69.37, Z:-34.28 [[ 9.95001980e-01 8.90825744e-02 4.51148973e-02 5.27719389e+02] [-8.89208756e-02 9.96023049e-01 -5.58241367e-03 -6.93723593e+01] [-4.54327734e-02 1.54285649e-03 9.98966207e-01 -3.42758260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.730714057 meters 0.027471148387066747 Centerline is valid? [True, True] Translation: X:527.75, Y:-69.38, Z:-34.28 [[ 9.95122896e-01 8.73148486e-02 4.58970580e-02 5.27747534e+02] [-8.71457686e-02 9.96179401e-01 -5.67583308e-03 -6.93796389e+01] [-4.62172883e-02 1.64841705e-03 9.98930050e-01 -3.42772767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.760714057 meters 0.028953651340390026 Centerline is valid? [True, True] Translation: X:527.78, Y:-69.39, Z:-34.28 [[ 9.95541500e-01 8.16432262e-02 4.72388080e-02 5.27776068e+02] [-8.14579275e-02 9.96659685e-01 -5.83767571e-03 -6.93928270e+01] [-4.75576222e-02 1.96367304e-03 9.98866566e-01 -3.42790853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.790714057 meters 0.02993973040704004 Centerline is valid? [True, True] Translation: X:527.80, Y:-69.40, Z:-34.28 [[ 9.95844213e-01 7.79689071e-02 4.70654153e-02 5.27804529e+02] [-7.77808832e-02 9.96953514e-01 -5.81602193e-03 -6.94014622e+01] [-4.73755000e-02 2.13106222e-03 9.98874877e-01 -3.42817386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.8207140569999 meters 0.0328837398136564 Centerline is valid? [True, True] Translation: X:527.83, Y:-69.42, Z:-34.28 [[ 9.96516151e-01 6.98901224e-02 4.55074971e-02 5.27832517e+02] [-6.97061361e-02 9.97551742e-01 -5.61935870e-03 -6.94152275e+01] [-4.57888207e-02 2.42762992e-03 9.98948192e-01 -3.42849802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.8507140569999 meters 0.0344345333287786 Centerline is valid? [True, True] Translation: X:527.86, Y:-69.42, Z:-34.29 [[ 9.96860545e-01 6.56124161e-02 4.43177695e-02 5.27861496e+02] [-6.54337455e-02 9.97841913e-01 -5.47183597e-03 -6.94232857e+01] [-4.45811483e-02 2.55477973e-03 9.99002500e-01 -3.42880681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.880714057 meters 0.038709290201704674 Centerline is valid? [True, True] Translation: X:527.89, Y:-69.44, Z:-34.29 [[ 9.97409140e-01 5.74857613e-02 4.32480619e-02 5.27888719e+02] [-5.73080281e-02 9.98342267e-01 -5.33929760e-03 -6.94374941e+01] [-4.34833017e-02 2.84700308e-03 9.99050097e-01 -3.42912447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.910714057 meters 0.042728239680352095 Centerline is valid? [True, True] Translation: X:527.92, Y:-69.45, Z:-34.29 [[ 9.97592277e-01 5.42681380e-02 4.31812158e-02 5.27916647e+02] [-5.40879277e-02 9.98521942e-01 -5.33166115e-03 -6.94483336e+01] [-4.34067308e-02 2.98324150e-03 9.99053030e-01 -3.42938081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9407140569999 meters 0.04370524587922785 Centerline is valid? [True, True] Translation: X:527.95, Y:-69.46, Z:-34.29 [[ 9.97812255e-01 4.92841886e-02 4.40655419e-02 5.27946843e+02] [-4.90917737e-02 9.98779464e-01 -5.43876410e-03 -6.94550495e+01] [-4.42798034e-02 3.26360986e-03 9.99013838e-01 -3.42937059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9707140569999 meters 0.045558536350475985 Centerline is valid? [True, True] Translation: X:527.98, Y:-69.46, Z:-34.30 [[ 9.97861622e-01 4.76533605e-02 4.47363478e-02 5.27976571e+02] [-4.74534305e-02 9.98858193e-01 -5.52106821e-03 -6.94616955e+01] [-4.49483650e-02 3.38636891e-03 9.98983572e-01 -3.42951613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.000714057 meters 0.047484624196228085 Centerline is valid? [True, True] Translation: X:528.01, Y:-69.47, Z:-34.30 [[ 9.97922150e-01 4.56818249e-02 4.54373669e-02 5.28006090e+02] [-4.54734157e-02 9.98949795e-01 -5.61037843e-03 -6.94692704e+01] [-4.56459406e-02 3.53252863e-03 9.98951435e-01 -3.42957983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.030714057 meters 0.04139258726960259 Centerline is valid? [True, True] Translation: X:528.04, Y:-69.46, Z:-34.30 [[ 9.97919437e-01 4.55797383e-02 4.55991805e-02 5.28039153e+02] [-4.53698271e-02 9.98954404e-01 -5.62834612e-03 -6.94649002e+01] [-4.58080407e-02 3.54780905e-03 9.98943961e-01 -3.42964162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.0607140569999 meters 0.04859213903162009 Centerline is valid? [True, True] Translation: X:528.07, Y:-69.48, Z:-34.30 [[ 9.97881198e-01 4.59222299e-02 4.60897227e-02 5.28069025e+02] [-4.57075770e-02 9.98938595e-01 -5.70096930e-03 -6.94793764e+01] [-4.63026040e-02 3.58224053e-03 9.98921036e-01 -3.42992469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.0907140569999 meters 0.04054858423302559 Centerline is valid? [True, True] Translation: X:528.10, Y:-69.47, Z:-34.30 [[ 9.97836221e-01 4.61486157e-02 4.68314070e-02 5.28102968e+02] [-4.59267434e-02 9.98927954e-01 -5.80324602e-03 -6.94719876e+01] [-4.70490133e-02 3.63987507e-03 9.98885950e-01 -3.42986414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.120714057 meters 0.0420643818628984 Centerline is valid? [True, True] Translation: X:528.13, Y:-69.48, Z:-34.30 [[ 9.97768572e-01 4.64284505e-02 4.79820302e-02 5.28134187e+02] [-4.61951273e-02 9.98914650e-01 -5.96083868e-03 -6.94779888e+01] [-4.82067054e-02 3.73100151e-03 9.98830413e-01 -3.42989193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.150714057 meters 0.04168517674930027 Centerline is valid? [True, True] Translation: X:528.17, Y:-69.48, Z:-34.30 [[ 9.97734078e-01 4.66780515e-02 4.84548194e-02 5.28167235e+02] [-4.64398551e-02 9.98902884e-01 -6.03065525e-03 -6.94811401e+01] [-4.86831580e-02 3.76675547e-03 9.98807169e-01 -3.43006069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.1807140569999 meters 0.0424886018302436 Centerline is valid? [True, True] Translation: X:528.20, Y:-69.49, Z:-34.30 [[ 9.97775440e-01 4.68188857e-02 4.74569541e-02 5.28198151e+02] [-4.65898992e-02 9.98896556e-01 -5.92044906e-03 -6.94862598e+01] [-4.76817768e-02 3.69626396e-03 9.98855738e-01 -3.43033164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.2107140569999 meters 0.04301028088626127 Centerline is valid? [True, True] Translation: X:528.23, Y:-69.49, Z:-34.31 [[ 9.97783181e-01 4.71740181e-02 4.69397063e-02 5.28231147e+02] [-4.69499060e-02 9.98880020e-01 -5.86619860e-03 -6.94910172e+01] [-4.71638669e-02 3.64937950e-03 9.98880499e-01 -3.43065158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.240714057 meters 0.043603689581089886 Centerline is valid? [True, True] Translation: X:528.26, Y:-69.50, Z:-34.31 [[ 9.97830732e-01 4.78670547e-02 4.51948575e-02 5.28261680e+02] [-4.76594243e-02 9.98847601e-01 -5.66114280e-03 -6.94956654e+01] [-4.54137572e-02 3.49490138e-03 9.98962150e-01 -3.43107919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.270714057 meters 0.03908211061582441 Centerline is valid? [True, True] Translation: X:528.29, Y:-69.49, Z:-34.31 [[ 9.97841325e-01 4.86457884e-02 4.41166381e-02 5.28294805e+02] [-4.84482914e-02 9.98810353e-01 -5.53554910e-03 -6.94925540e+01] [-4.43334360e-02 3.38622391e-03 9.99011051e-01 -3.43126797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.3007140569999 meters 0.040382488008596416 Centerline is valid? [True, True] Translation: X:528.32, Y:-69.50, Z:-34.32 [[ 9.97787243e-01 5.10656572e-02 4.25783515e-02 5.28324859e+02] [-5.08832903e-02 9.98690241e-01 -5.35660856e-03 -6.94959716e+01] [-4.27961228e-02 3.17822907e-03 9.99078771e-01 -3.43150677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.3307140569999 meters 0.03940371036424192 Centerline is valid? [True, True] Translation: X:528.36, Y:-69.50, Z:-34.32 [[ 9.97656376e-01 5.35703103e-02 4.25673387e-02 5.28355775e+02] [-5.33902707e-02 9.98559358e-01 -5.35600110e-03 -6.94965337e+01] [-4.27929371e-02 3.07076691e-03 9.99079244e-01 -3.43161545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.360714057 meters 0.038017350614083976 Centerline is valid? [True, True] Translation: X:528.39, Y:-69.49, Z:-34.32 [[ 9.97318763e-01 5.94513287e-02 4.26711252e-02 5.28385672e+02] [-5.92756996e-02 9.98227203e-01 -5.37052171e-03 -6.94941613e+01] [-4.29147626e-02 2.82676127e-03 9.99074738e-01 -3.43163982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.390714057 meters 0.03568747280362348 Centerline is valid? [True, True] Translation: X:528.42, Y:-69.49, Z:-34.32 [[ 9.97055449e-01 6.29620236e-02 4.37745897e-02 5.28416616e+02] [-6.27806251e-02 9.98012153e-01 -5.50776962e-03 -6.94924597e+01] [-4.40343528e-02 2.74335560e-03 9.99026251e-01 -3.43167589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4207140569999 meters 0.03318123570470724 Centerline is valid? [True, True] Translation: X:528.45, Y:-69.49, Z:-34.32 [[ 9.96539852e-01 6.97667869e-02 4.51765386e-02 5.28447312e+02] [-6.95805301e-02 9.97560143e-01 -5.68425096e-03 -6.94882732e+01] [-4.54628862e-02 2.52117511e-03 9.98962847e-01 -3.43167273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4507140569999 meters 0.031951181589077816 Centerline is valid? [True, True] Translation: X:528.48, Y:-69.49, Z:-34.32 [[ 9.96150229e-01 7.42722753e-02 4.65655572e-02 5.28478304e+02] [-7.40793674e-02 9.97235148e-01 -5.85721971e-03 -6.94874361e+01] [-4.68718394e-02 2.38512373e-03 9.98898064e-01 -3.43177872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.480714057 meters 0.032351700991835534 Centerline is valid? [True, True] Translation: X:528.51, Y:-69.49, Z:-34.32 [[ 9.96099810e-01 7.47058786e-02 4.69489083e-02 5.28506342e+02] [-7.45102329e-02 9.97202760e-01 -5.90598256e-03 -6.94908059e+01] [-4.72587926e-02 2.38477401e-03 9.98879832e-01 -3.43195123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.510714057 meters 0.03330327939607842 Centerline is valid? [True, True] Translation: X:528.54, Y:-69.49, Z:-34.32 [[ 9.96229117e-01 7.31700860e-02 4.66227934e-02 5.28535237e+02] [-7.29756296e-02 9.97316499e-01 -5.86166072e-03 -6.94944315e+01] [-4.69265793e-02 2.43722938e-03 9.98895368e-01 -3.43213033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.540714057 meters 0.03206553204423434 Centerline is valid? [True, True] Translation: X:528.56, Y:-69.50, Z:-34.32 [[ 9.96340669e-01 7.15744847e-02 4.67157840e-02 5.28563532e+02] [-7.13776485e-02 9.97432089e-01 -5.87025658e-03 -6.94955294e+01] [-4.70159826e-02 2.51431256e-03 9.98890973e-01 -3.43221164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5707140569999 meters 0.032819192300849426 Centerline is valid? [True, True] Translation: X:528.59, Y:-69.50, Z:-34.32 [[ 9.96455419e-01 6.98309040e-02 4.69067527e-02 5.28592983e+02] [-6.96307570e-02 9.97555448e-01 -5.88941992e-03 -6.95008316e+01] [-4.72033503e-02 2.60239168e-03 9.98881911e-01 -3.43237180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.6007140569999 meters 0.033257189034484894 Centerline is valid? [True, True] Translation: X:528.62, Y:-69.50, Z:-34.32 [[ 9.96773341e-01 6.56858261e-02 4.61332740e-02 5.28622463e+02] [-6.54878927e-02 9.97836563e-01 -5.79047052e-03 -6.95045462e+01] [-4.64138194e-02 2.75061575e-03 9.98918511e-01 -3.43246959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.630714057 meters 0.037027107782393744 Centerline is valid? [True, True] Translation: X:528.65, Y:-69.51, Z:-34.33 [[ 9.97050335e-01 6.23610220e-02 4.47407264e-02 5.28650906e+02] [-6.21715674e-02 9.98049683e-01 -5.61493202e-03 -6.95136845e+01] [-4.50036207e-02 2.81676877e-03 9.98982853e-01 -3.43280466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.660714057 meters 0.03888503621239036 Centerline is valid? [True, True] Translation: X:528.68, Y:-69.52, Z:-34.33 [[ 9.97149480e-01 6.12903615e-02 4.40046122e-02 5.28678618e+02] [-6.11060712e-02 9.98116002e-01 -5.52222657e-03 -6.95199279e+01] [-4.42601668e-02 2.81753639e-03 9.99016066e-01 -3.43309288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.6907140569999 meters 0.03668461748149971 Centerline is valid? [True, True] Translation: X:528.71, Y:-69.52, Z:-34.33 [[ 9.97289515e-01 5.98366133e-02 4.28159101e-02 5.28708026e+02] [-5.96609120e-02 9.98204252e-01 -5.37089657e-03 -6.95191851e+01] [-4.30603998e-02 2.80190259e-03 9.99068542e-01 -3.43333323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.7207140569999 meters 0.035217116506095866 Centerline is valid? [True, True] Translation: X:528.74, Y:-69.52, Z:-34.33 [[ 9.97349534e-01 5.95064351e-02 4.18675561e-02 5.28736866e+02] [-5.93382271e-02 9.98224129e-01 -5.25003580e-03 -6.95198160e+01] [-4.21056156e-02 2.75177420e-03 9.99109376e-01 -3.43349634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.750714057 meters 0.040258368520006804 Centerline is valid? [True, True] Translation: X:528.76, Y:-69.53, Z:-34.34 [[ 9.97301794e-01 6.06504066e-02 4.13601362e-02 5.28763344e+02] [-6.04873461e-02 9.98155504e-01 -5.18369792e-03 -6.95294496e+01] [-4.15982410e-02 2.66794636e-03 9.99130857e-01 -3.43399115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.780714057 meters 0.03992069051533709 Centerline is valid? [True, True] Translation: X:528.79, Y:-69.53, Z:-34.34 [[ 9.97216633e-01 6.21826136e-02 4.11376890e-02 5.28792062e+02] [-6.20227707e-02 9.98061439e-01 -5.15172732e-03 -6.95313537e+01] [-4.13782890e-02 2.58591472e-03 9.99140206e-01 -3.43417450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.8107140569999 meters 0.034793007734208015 Centerline is valid? [True, True] Translation: X:528.82, Y:-69.52, Z:-34.34 [[ 9.97030395e-01 6.51833833e-02 4.10063092e-02 5.28823467e+02] [-6.50272359e-02 9.97870294e-01 -5.13167698e-03 -6.95232547e+01] [-4.12534779e-02 2.44991098e-03 9.99145709e-01 -3.43404161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.8407140569999 meters 0.032991216118127394 Centerline is valid? [True, True] Translation: X:528.85, Y:-69.52, Z:-34.34 [[ 9.96915928e-01 6.65687376e-02 4.15600205e-02 5.28852331e+02] [-6.64095360e-02 9.97778894e-01 -5.20108445e-03 -6.95221989e+01] [-4.18139409e-02 2.42506225e-03 9.99122472e-01 -3.43412704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.870714057 meters 0.03321937991294413 Centerline is valid? [True, True] Translation: X:528.88, Y:-69.52, Z:-34.34 [[ 9.96714418e-01 6.89287859e-02 4.25345798e-02 5.28881312e+02] [-6.87643264e-02 9.97618751e-01 -5.31928882e-03 -6.95243173e+01] [-4.27999465e-02 2.37695013e-03 9.99080835e-01 -3.43426256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.900714057 meters 0.03206318971790937 Centerline is valid? [True, True] Translation: X:528.91, Y:-69.52, Z:-34.34 [[ 9.96653081e-01 6.93287596e-02 4.33146496e-02 5.28910633e+02] [-6.91586316e-02 9.97590975e-01 -5.41575679e-03 -6.95249436e+01] [-4.35857713e-02 2.40204880e-03 9.99046801e-01 -3.43435700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.9307140569999 meters 0.03636806886787065 Centerline is valid? [True, True] Translation: X:528.94, Y:-69.53, Z:-34.35 [[ 9.96506325e-01 7.08037843e-02 4.42941104e-02 5.28937122e+02] [-7.06274661e-02 9.97487406e-01 -5.53496717e-03 -6.95342626e+01] [-4.45747139e-02 2.38724901e-03 9.99003201e-01 -3.43461200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.9607140569999 meters 0.03415387934379625 Centerline is valid? [True, True] Translation: X:528.97, Y:-69.53, Z:-34.35 [[ 9.96546527e-01 7.09060567e-02 4.32128461e-02 5.28966526e+02] [-7.07384967e-02 9.97480298e-01 -5.39634373e-03 -6.95334759e+01] [-4.34865960e-02 2.32089583e-03 9.99051315e-01 -3.43474732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.990714057 meters 0.032648689133148626 Centerline is valid? [True, True] Translation: X:529.00, Y:-69.53, Z:-34.35 [[ 9.96653697e-01 7.07170052e-02 4.09940663e-02 5.28995110e+02] [-7.05661585e-02 9.97493977e-01 -5.11693749e-03 -6.95325529e+01] [-4.12531887e-02 2.20702088e-03 9.99146287e-01 -3.43491823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.020714057 meters 0.032648689133148626 Centerline is valid? [True, True] Translation: X:529.02, Y:-69.54, Z:-34.35 [[ 9.96661200e-01 7.06109397e-02 4.09944831e-02 5.29022363e+02] [-7.04601406e-02 9.97501489e-01 -5.11359578e-03 -6.95358621e+01] [-4.12531337e-02 2.20804547e-03 9.99146287e-01 -3.43507750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.0507140569999 meters 0.03339173332997471 Centerline is valid? [True, True] Translation: X:529.05, Y:-69.54, Z:-34.35 [[ 9.96709259e-01 6.97859733e-02 4.12379687e-02 5.29049383e+02] [-6.96328717e-02 9.97559448e-01 -5.13917347e-03 -6.95404648e+01] [-4.14959675e-02 2.25074361e-03 9.99136136e-01 -3.43529357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.0807140569999 meters 0.0357677586117467 Centerline is valid? [True, True] Translation: X:529.08, Y:-69.55, Z:-34.36 [[ 9.96940948e-01 6.67877127e-02 4.05973882e-02 5.29077728e+02] [-6.66370384e-02 9.97764478e-01 -5.05488534e-03 -6.95474569e+01] [-4.08442361e-02 2.33413247e-03 9.99162800e-01 -3.43552117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.110714057 meters 0.03503795034378776 Centerline is valid? [True, True] Translation: X:529.11, Y:-69.55, Z:-34.36 [[ 9.97038964e-01 6.51810120e-02 4.08012248e-02 5.29107525e+02] [-6.50275384e-02 9.97870545e-01 -5.07882844e-03 -6.95503284e+01] [-4.10453836e-02 2.41058663e-03 9.99154375e-01 -3.43562989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.140714057 meters 0.0371535669307702 Centerline is valid? [True, True] Translation: X:529.14, Y:-69.56, Z:-34.36 [[ 9.97232275e-01 6.21753246e-02 4.07678726e-02 5.29135608e+02] [-6.20196781e-02 9.98062035e-01 -5.07277675e-03 -6.95571691e+01] [-4.10042674e-02 2.53032636e-03 9.99155767e-01 -3.43580337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.1707140569999 meters 0.04025906681039639 Centerline is valid? [True, True] Translation: X:529.16, Y:-69.56, Z:-34.36 [[ 9.97340227e-01 6.05337649e-02 4.05972399e-02 5.29163422e+02] [-6.03780506e-02 9.98162797e-01 -5.05190508e-03 -6.95640208e+01] [-4.08284653e-02 2.58728595e-03 9.99162821e-01 -3.43608666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.2007140569999 meters 0.040714793392263214 Centerline is valid? [True, True] Translation: X:529.19, Y:-69.57, Z:-34.36 [[ 9.97504234e-01 5.77207486e-02 4.06647168e-02 5.29193100e+02] [-5.75623004e-02 9.98329105e-01 -5.05757858e-03 -6.95667710e+01] [-4.08886976e-02 2.70420141e-03 9.99160048e-01 -3.43618263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.230714057 meters 0.03809064829823718 Centerline is valid? [True, True] Translation: X:529.22, Y:-69.57, Z:-34.36 [[ 9.97578657e-01 5.63964220e-02 4.06972665e-02 5.29222840e+02] [-5.62366269e-02 9.98404639e-01 -5.06153405e-03 -6.95654988e+01] [-4.09177920e-02 2.76060134e-03 9.99158703e-01 -3.43616292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.260714057 meters 0.040069321516553555 Centerline is valid? [True, True] Translation: X:529.25, Y:-69.57, Z:-34.36 [[ 9.97633401e-01 5.42469561e-02 4.22476600e-02 5.29250573e+02] [-5.40729174e-02 9.98523176e-01 -5.25222971e-03 -6.95700515e+01] [-4.24701851e-02 2.95534556e-03 9.99093364e-01 -3.43617497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.290714057 meters 0.04162351026983224 Centerline is valid? [True, True] Translation: X:529.28, Y:-69.57, Z:-34.36 [[ 9.97704495e-01 5.17186673e-02 4.37140731e-02 5.29280030e+02] [-5.15300781e-02 9.98656677e-01 -5.43078742e-03 -6.95739343e+01] [-4.39362240e-02 3.16573142e-03 9.99029322e-01 -3.43617912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.3207140569999 meters 0.0407811099662066 Centerline is valid? [True, True] Translation: X:529.31, Y:-69.57, Z:-34.36 [[ 9.97759078e-01 5.03423278e-02 4.40734984e-02 5.29310032e+02] [-5.01493556e-02 9.98726729e-01 -5.47389191e-03 -6.95749956e+01] [-4.42929494e-02 3.25136780e-03 9.99013295e-01 -3.43624988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.3507140569999 meters 0.0423988462984861 Centerline is valid? [True, True] Translation: X:529.34, Y:-69.58, Z:-34.36 [[ 9.97882004e-01 4.83430548e-02 4.35253397e-02 5.29339817e+02] [-4.81530524e-02 9.98825351e-01 -5.40384707e-03 -6.95793014e+01] [-4.37354512e-02 3.29652378e-03 9.99037709e-01 -3.43643231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.380714057 meters 0.04265121295577903 Centerline is valid? [True, True] Translation: X:529.37, Y:-69.58, Z:-34.37 [[ 9.98036846e-01 4.50313868e-02 4.35273297e-02 5.29370079e+02] [-4.48382485e-02 9.98979644e-01 -5.40383948e-03 -6.95814535e+01] [-4.37262587e-02 3.44154169e-03 9.99037622e-01 -3.43668479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.410714057 meters 0.04803333948937383 Centerline is valid? [True, True] Translation: X:529.40, Y:-69.59, Z:-34.37 [[ 9.98102443e-01 4.40557611e-02 4.30186337e-02 5.29399498e+02] [-4.38662470e-02 9.99023142e-01 -5.33993076e-03 -6.95921847e+01] [-4.32118653e-02 3.44273193e-03 9.99059999e-01 -3.43710177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4407140569999 meters 0.04489295776148304 Centerline is valid? [True, True] Translation: X:529.43, Y:-69.59, Z:-34.37 [[ 9.98273355e-01 4.27655262e-02 4.02668486e-02 5.29430889e+02] [-4.25983903e-02 9.99079765e-01 -4.99999042e-03 -6.95886495e+01] [-4.04436209e-02 3.27605428e-03 9.99176451e-01 -3.43741033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4707140569999 meters 0.044678477031515854 Centerline is valid? [True, True] Translation: X:529.46, Y:-69.59, Z:-34.38 [[ 9.98382796e-01 4.30089140e-02 3.71756149e-02 5.29461220e+02] [-4.28665889e-02 9.99070135e-01 -4.61745475e-03 -6.95865315e+01] [-3.73396383e-02 3.01639558e-03 9.99298080e-01 -3.43769107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.500714057 meters 0.0464485462201397 Centerline is valid? [True, True] Translation: X:529.49, Y:-69.59, Z:-34.38 [[ 9.98375022e-01 4.36604860e-02 3.66207250e-02 5.29489426e+02] [-4.35228120e-02 9.99042079e-01 -4.54863489e-03 -6.95898267e+01] [-3.67842408e-02 2.94740653e-03 9.99318884e-01 -3.43795197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.530714057 meters 0.04244183149418158 Centerline is valid? [True, True] Translation: X:529.52, Y:-69.58, Z:-34.38 [[ 9.98282868e-01 4.55233623e-02 3.68637983e-02 5.29520489e+02] [-4.53852164e-02 9.98959079e-01 -4.57609123e-03 -6.95830722e+01] [-3.70337450e-02 2.89516202e-03 9.99309822e-01 -3.43787770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.5607140569999 meters 0.04624795719822788 Centerline is valid? [True, True] Translation: X:529.55, Y:-69.59, Z:-34.38 [[ 9.98212560e-01 4.66095298e-02 3.74063614e-02 5.29548945e+02] [-4.64680553e-02 9.98908986e-01 -4.64310662e-03 -6.95898100e+01] [-3.75819635e-02 2.89660648e-03 9.99289350e-01 -3.43812181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.5907140569999 meters 0.04162879531815206 Centerline is valid? [True, True] Translation: X:529.58, Y:-69.58, Z:-34.38 [[ 9.98033481e-01 4.90080724e-02 3.90817072e-02 5.29580541e+02] [-4.88555313e-02 9.98794084e-01 -4.84924728e-03 -6.95831591e+01] [-3.92722302e-02 2.93035358e-03 9.99224252e-01 -3.43800253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.620714057 meters 0.040685299102910986 Centerline is valid? [True, True] Translation: X:529.61, Y:-69.58, Z:-34.38 [[ 9.97954611e-01 4.98114042e-02 4.00676736e-02 5.29609184e+02] [-4.96516991e-02 9.98754219e-01 -4.97178756e-03 -6.95836715e+01] [-4.02654097e-02 2.97219025e-03 9.99184599e-01 -3.43811534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.650714057 meters 0.037961295984962916 Centerline is valid? [True, True] Translation: X:529.64, Y:-69.58, Z:-34.38 [[ 9.97835468e-01 5.11744670e-02 4.12983436e-02 5.29640106e+02] [-5.10061196e-02 9.98685214e-01 -5.12050405e-03 -6.95797961e+01] [-4.15060842e-02 3.00295230e-03 9.99133738e-01 -3.43812889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.6807140569999 meters 0.04013264414471904 Centerline is valid? [True, True] Translation: X:529.67, Y:-69.58, Z:-34.38 [[ 9.97799480e-01 5.15691335e-02 4.16752096e-02 5.29667210e+02] [-5.13980242e-02 9.98664878e-01 -5.16759598e-03 -6.95840569e+01] [-4.18860566e-02 3.01420115e-03 9.99117847e-01 -3.43827809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.7107140569999 meters 0.038216816683098835 Centerline is valid? [True, True] Translation: X:529.70, Y:-69.58, Z:-34.38 [[ 9.97736286e-01 5.23479387e-02 4.22137022e-02 5.29696991e+02] [-5.21732589e-02 9.98624353e-01 -5.22988536e-03 -6.95817647e+01] [-4.24294048e-02 3.01561998e-03 9.99094916e-01 -3.43836734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.740714057 meters 0.038895931365356226 Centerline is valid? [True, True] Translation: X:529.72, Y:-69.58, Z:-34.39 [[ 9.97756866e-01 5.22221677e-02 4.18817486e-02 5.29724487e+02] [-5.20501897e-02 9.98630999e-01 -5.18701811e-03 -6.95849387e+01] [-4.20952898e-02 2.99542998e-03 9.99109110e-01 -3.43855544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.770714057 meters 0.03967168917406028 Centerline is valid? [True, True] Translation: X:529.75, Y:-69.59, Z:-34.39 [[ 9.97839014e-01 5.19299877e-02 4.02564144e-02 5.29752480e+02] [-5.17710126e-02 9.98646554e-01 -4.98224079e-03 -6.95876908e+01] [-4.04606572e-02 2.88735890e-03 9.99176961e-01 -3.43879619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.8007140569999 meters 0.03952969850292555 Centerline is valid? [True, True] Translation: X:529.78, Y:-69.59, Z:-34.39 [[ 9.97907311e-01 5.15698446e-02 3.90070478e-02 5.29781003e+02] [-5.14204614e-02 9.98665442e-01 -4.82393072e-03 -6.95901312e+01] [-3.92037600e-02 2.80807534e-03 9.99227291e-01 -3.43905518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.8307140569999 meters 0.04101499679032649 Centerline is valid? [True, True] Translation: X:529.81, Y:-69.59, Z:-34.39 [[ 9.98033332e-01 5.09199017e-02 3.65599718e-02 5.29808833e+02] [-5.07883381e-02 9.98699216e-01 -4.51891884e-03 -6.95936648e+01] [-3.67425181e-02 2.65321142e-03 9.99321244e-01 -3.43944433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.860714057 meters 0.0391686276949914 Centerline is valid? [True, True] Translation: X:529.84, Y:-69.59, Z:-34.40 [[ 9.98066638e-01 5.09268270e-02 3.56292620e-02 5.29837992e+02] [-5.08019714e-02 9.98699047e-01 -4.40145901e-03 -6.95932420e+01] [-3.58070624e-02 2.58291264e-03 9.99355384e-01 -3.43962565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.890714057 meters 0.03850210719064806 Centerline is valid? [True, True] Translation: X:529.87, Y:-69.59, Z:-34.40 [[ 9.98093430e-01 5.12600602e-02 3.43789443e-02 5.29865846e+02] [-5.11440667e-02 9.98682262e-01 -4.24550181e-03 -6.95935461e+01] [-3.45512666e-02 2.47912844e-03 9.99399852e-01 -3.43985915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9207140569999 meters 0.03962006053683756 Centerline is valid? [True, True] Translation: X:529.89, Y:-69.60, Z:-34.40 [[ 9.98009297e-01 5.27017490e-02 3.46405785e-02 5.29893619e+02] [-5.25849961e-02 9.98607308e-01 -4.27350569e-03 -6.95964208e+01] [-3.48175560e-02 2.44342373e-03 9.99390698e-01 -3.44004528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9507140569999 meters 0.03773882178834996 Centerline is valid? [True, True] Translation: X:529.92, Y:-69.60, Z:-34.40 [[ 9.97943596e-01 5.34459462e-02 3.53851661e-02 5.29922763e+02] [-5.33247154e-02 9.98567700e-01 -4.36163831e-03 -6.95957784e+01] [-3.55675958e-02 2.46576511e-03 9.99364231e-01 -3.44003374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.980714057 meters 0.03763724729192008 Centerline is valid? [True, True] Translation: X:529.95, Y:-69.60, Z:-34.40 [[ 9.97753720e-01 5.58218229e-02 3.70329236e-02 5.29952579e+02] [-5.56908097e-02 9.98437646e-01 -4.56072149e-03 -6.95978933e+01] [-3.72296528e-02 2.48808333e-03 9.99303639e-01 -3.44019501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.010714057 meters 0.03717772921593866 Centerline is valid? [True, True] Translation: X:529.98, Y:-69.60, Z:-34.40 [[ 9.97644960e-01 5.72545502e-02 3.77683643e-02 5.29981859e+02] [-5.71193002e-02 9.98356525e-01 -4.65129274e-03 -6.96002744e+01] [-3.79726006e-02 2.48303622e-03 9.99275696e-01 -3.44033596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.040714057 meters 0.037705848875538336 Centerline is valid? [True, True] Translation: X:530.01, Y:-69.60, Z:-34.40 [[ 9.97451534e-01 5.96525149e-02 3.91409632e-02 5.30010928e+02] [-5.95091874e-02 9.98216132e-01 -4.81777809e-03 -6.96036347e+01] [-3.93585334e-02 2.47625323e-03 9.99222084e-01 -3.44048213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0707140569999 meters 0.034810965080197806 Centerline is valid? [True, True] Translation: X:530.04, Y:-69.60, Z:-34.41 [[ 9.97366932e-01 6.08880396e-02 3.93935290e-02 5.30040223e+02] [-6.07438447e-02 9.98141614e-01 -4.84810742e-03 -6.96016999e+01] [-3.96155123e-02 2.44242762e-03 9.99212012e-01 -3.44055915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.1007140569999 meters 0.03536631163712982 Centerline is valid? [True, True] Translation: X:530.07, Y:-69.61, Z:-34.41 [[ 9.97368671e-01 6.14884624e-02 3.84044688e-02 5.30067209e+02] [-6.13519563e-02 9.98105015e-01 -4.72402292e-03 -6.96056154e+01] [-3.86221659e-02 2.35540317e-03 9.99251110e-01 -3.44086138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.130714057 meters 0.03591646571651572 Centerline is valid? [True, True] Translation: X:530.10, Y:-69.61, Z:-34.41 [[ 9.97407989e-01 6.17268258e-02 3.69743482e-02 5.30095383e+02] [-6.16005976e-02 9.98090534e-01 -4.54456422e-03 -6.96091900e+01] [-3.71842684e-02 2.25514272e-03 9.99305881e-01 -3.44120143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.160714057 meters 0.03527216065103035 Centerline is valid? [True, True] Translation: X:530.12, Y:-69.61, Z:-34.42 [[ 9.97482998e-01 6.22381324e-02 3.39718078e-02 5.30123627e+02] [-6.21319494e-02 9.98059218e-01 -4.17342218e-03 -6.96101048e+01] [-3.41656219e-02 2.05218303e-03 9.99414078e-01 -3.44168732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.1907140569999 meters 0.03587606781096002 Centerline is valid? [True, True] Translation: X:530.15, Y:-69.61, Z:-34.42 [[ 9.97538484e-01 6.21192446e-02 3.25295523e-02 5.30151909e+02] [-6.20218990e-02 9.98066797e-01 -3.99404302e-03 -6.96133796e+01] [-3.27147730e-02 1.96666702e-03 9.99462794e-01 -3.44198981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.2207140569999 meters 0.036246525175416155 Centerline is valid? [True, True] Translation: X:530.18, Y:-69.62, Z:-34.42 [[ 9.97516017e-01 6.33675787e-02 3.07627374e-02 5.30180576e+02] [-6.32811769e-02 9.97988598e-01 -3.77513480e-03 -6.96152551e+01] [-3.09400823e-02 1.81905520e-03 9.99519586e-01 -3.44233048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.250714057 meters 0.03451952553958672 Centerline is valid? [True, True] Translation: X:530.21, Y:-69.62, Z:-34.42 [[ 9.97430917e-01 6.48751982e-02 3.03772013e-02 5.30209912e+02] [-6.47917240e-02 9.97891855e-01 -3.72526918e-03 -6.96152745e+01] [-3.05548394e-02 1.74750741e-03 9.99531564e-01 -3.44244030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.280714057 meters 0.031879577497082374 Centerline is valid? [True, True] Translation: X:530.24, Y:-69.61, Z:-34.42 [[ 9.97206393e-01 6.75222615e-02 3.19398372e-02 5.30240476e+02] [-6.74314174e-02 9.97716234e-01 -3.91410639e-03 -6.96135012e+01] [-3.21311834e-02 1.74942342e-03 9.99482129e-01 -3.44230255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.3107140569999 meters 0.03233883458582514 Centerline is valid? [True, True] Translation: X:530.27, Y:-69.62, Z:-34.42 [[ 9.97036290e-01 6.85152530e-02 3.49899417e-02 5.30269192e+02] [-6.84068281e-02 9.97648294e-01 -4.28795208e-03 -6.96164920e+01] [-3.52014458e-02 1.88169290e-03 9.99378466e-01 -3.44223505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.3407140569999 meters 0.03254576080492782 Centerline is valid? [True, True] Translation: X:530.30, Y:-69.62, Z:-34.42 [[ 9.96987331e-01 6.85977267e-02 3.62023932e-02 5.30297457e+02] [-6.84817699e-02 9.97642511e-01 -4.43482598e-03 -6.96200085e+01] [-3.64212654e-02 1.94226136e-03 9.99334638e-01 -3.44232449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.370714057 meters 0.033497197297564237 Centerline is valid? [True, True] Translation: X:530.33, Y:-69.63, Z:-34.42 [[ 9.96994160e-01 6.71682105e-02 3.86144578e-02 5.30325121e+02] [-6.70352822e-02 9.97739401e-01 -4.72841739e-03 -6.96268248e+01] [-3.88447653e-02 2.12567345e-03 9.99242996e-01 -3.44235243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.400714057 meters 0.037158162976460726 Centerline is valid? [True, True] Translation: X:530.35, Y:-69.64, Z:-34.43 [[ 9.97053024e-01 6.57366949e-02 3.95468594e-02 5.30352083e+02] [-6.55963916e-02 9.97834517e-01 -4.83635217e-03 -6.96374656e+01] [-3.97791471e-02 2.22796829e-03 9.99206013e-01 -3.44263875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.4307140569999 meters 0.038150907031534495 Centerline is valid? [True, True] Translation: X:530.38, Y:-69.65, Z:-34.43 [[ 9.97199942e-01 6.29778450e-02 4.03245199e-02 5.30380326e+02] [-6.28298783e-02 9.98012087e-01 -4.92751049e-03 -6.96455367e+01] [-4.05546822e-02 2.38012850e-03 9.99174486e-01 -3.44269155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.4607140569999 meters 0.0397204773223148 Centerline is valid? [True, True] Translation: X:530.41, Y:-69.65, Z:-34.43 [[ 9.97275437e-01 6.16914338e-02 4.04458972e-02 5.30407167e+02] [-6.15416337e-02 9.98092294e-01 -4.93956494e-03 -6.96529777e+01] [-4.06734672e-02 2.43700019e-03 9.99169520e-01 -3.44289644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.490714057 meters 0.04166630580037265 Centerline is valid? [True, True] Translation: X:530.43, Y:-69.66, Z:-34.43 [[ 9.97437833e-01 5.96276079e-02 3.95261618e-02 5.30434379e+02] [-5.94830720e-02 9.98217659e-01 -4.82376205e-03 -6.96623621e+01] [-3.97433421e-02 2.46026524e-03 9.99206892e-01 -3.44325369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.520714057 meters 0.03601290756556052 Centerline is valid? [True, True] Translation: X:530.46, Y:-69.66, Z:-34.43 [[ 9.97527514e-01 5.88218244e-02 3.84558477e-02 5.30463659e+02] [-5.86845167e-02 9.98265559e-01 -4.69060906e-03 -6.96587990e+01] [-3.86650585e-02 2.42224876e-03 9.99249291e-01 -3.44326814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.5507140569999 meters 0.042555467397158146 Centerline is valid? [True, True] Translation: X:530.49, Y:-69.68, Z:-34.44 [[ 9.97622363e-01 5.89998414e-02 3.56179685e-02 5.30488758e+02] [-5.88822545e-02 9.98255491e-01 -4.34223802e-03 -6.96753302e+01] [-3.58120240e-02 2.23464747e-03 9.99356045e-01 -3.44406491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.5807140569999 meters 0.03538832639107583 Centerline is valid? [True, True] Translation: X:530.52, Y:-69.67, Z:-34.44 [[ 9.97549356e-01 6.13809065e-02 3.35807605e-02 5.30518313e+02] [-6.12778126e-02 9.98112363e-01 -4.09160508e-03 -6.96715828e+01] [-3.37685187e-02 2.02382246e-03 9.99427632e-01 -3.44405770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.610714057 meters 0.03432914300945309 Centerline is valid? [True, True] Translation: X:530.55, Y:-69.67, Z:-34.44 [[ 9.97478520e-01 6.29328327e-02 3.28033560e-02 5.30546913e+02] [-6.28353689e-02 9.98015911e-01 -3.99463875e-03 -6.96748378e+01] [-3.29896652e-02 1.92335537e-03 9.99453842e-01 -3.44417776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.640714057 meters 0.03411322292502722 Centerline is valid? [True, True] Translation: X:530.58, Y:-69.68, Z:-34.44 [[ 9.97211811e-01 6.69634228e-02 3.29318204e-02 5.30575975e+02] [-6.68674995e-02 9.97753819e-01 -4.00678058e-03 -6.96808537e+01] [-3.31261573e-02 1.79354043e-03 9.99449569e-01 -3.44430636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.6707140569999 meters 0.032237379962128845 Centerline is valid? [True, True] Translation: X:530.61, Y:-69.68, Z:-34.44 [[ 9.97020104e-01 6.94033654e-02 3.36761886e-02 5.30606191e+02] [-6.93044796e-02 9.97587144e-01 -4.09623775e-03 -6.96824768e+01] [-3.38792255e-02 1.75012066e-03 9.99424402e-01 -3.44430470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.7007140569999 meters 0.0326206251231532 Centerline is valid? [True, True] Translation: X:530.63, Y:-69.69, Z:-34.44 [[ 9.96803860e-01 7.18695132e-02 3.48832073e-02 5.30634632e+02] [-7.17649232e-02 9.97412550e-01 -4.24278798e-03 -6.96884207e+01] [-3.50978758e-02 1.72583675e-03 9.99382390e-01 -3.44445487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.730714057 meters 0.03131757384357672 Centerline is valid? [True, True] Translation: X:530.66, Y:-69.69, Z:-34.44 [[ 9.96298211e-01 7.72584734e-02 3.76961951e-02 5.30664211e+02] [-7.71402390e-02 9.97009718e-01 -4.58313410e-03 -6.96923818e+01] [-3.79375588e-02 1.65827480e-03 9.99278736e-01 -3.44437617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.760714057 meters 0.029653223502399108 Centerline is valid? [True, True] Translation: X:530.69, Y:-69.70, Z:-34.44 [[ 9.95719156e-01 8.26546864e-02 4.13710569e-02 5.30694058e+02] [-8.25169594e-02 9.96576974e-01 -5.02863680e-03 -6.96962260e+01] [-4.16450831e-02 1.59329617e-03 9.99131197e-01 -3.44424576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.790714057 meters 0.02936392122571921 Centerline is valid? [True, True] Translation: X:530.72, Y:-69.70, Z:-34.44 [[ 9.95486731e-01 8.48428014e-02 4.25190137e-02 5.30722807e+02] [-8.46992481e-02 9.96393151e-01 -5.16965383e-03 -6.97008972e+01] [-4.28042620e-02 1.54499330e-03 9.99082283e-01 -3.44432496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.8207140569999 meters 0.0273532641441065 Centerline is valid? [True, True] Translation: X:530.75, Y:-69.70, Z:-34.44 [[ 9.95206334e-01 8.76717972e-02 4.33360029e-02 5.30751784e+02] [-8.75254902e-02 9.96148363e-01 -5.26571633e-03 -6.97039973e+01] [-4.36307432e-02 1.44746934e-03 9.99046677e-01 -3.44423839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.8507140569999 meters 0.02737380203979636 Centerline is valid? [True, True] Translation: X:530.78, Y:-69.71, Z:-34.44 [[ 9.95095976e-01 8.86601917e-02 4.38562284e-02 5.30778648e+02] [-8.85118541e-02 9.96060935e-01 -5.31654368e-03 -6.97100036e+01] [-4.41548417e-02 1.40867513e-03 9.99023706e-01 -3.44443855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.880714057 meters 0.026860921389403714 Centerline is valid? [True, True] Translation: X:530.81, Y:-69.72, Z:-34.45 [[ 9.95083261e-01 8.89743222e-02 4.35071712e-02 5.30806917e+02] [-8.88288162e-02 9.96032965e-01 -5.27016052e-03 -6.97173849e+01] [-4.38034857e-02 1.37955800e-03 9.99039214e-01 -3.44464075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.910714057 meters 0.026860921389403714 Centerline is valid? [True, True] Translation: X:530.83, Y:-69.72, Z:-34.45 [[ 9.95108687e-01 8.86894967e-02 4.35071854e-02 5.30834067e+02] [-8.85437238e-02 9.96058349e-01 -5.27004842e-03 -6.97206043e+01] [-4.38030932e-02 1.39198276e-03 9.99039214e-01 -3.44479934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9407140569999 meters 0.02666372527634787 Centerline is valid? [True, True] Translation: X:530.86, Y:-69.73, Z:-34.45 [[ 9.95125032e-01 8.85762109e-02 4.33638666e-02 5.30859788e+02] [-8.84318963e-02 9.96068449e-01 -5.23881684e-03 -6.97278875e+01] [-4.36574138e-02 1.37852883e-03 9.99045610e-01 -3.44507765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9707140569999 meters 0.026631373508022867 Centerline is valid? [True, True] Translation: X:530.89, Y:-69.74, Z:-34.45 [[ 9.95369353e-01 8.63911767e-02 4.21475502e-02 5.30887997e+02] [-8.62533376e-02 9.96260278e-01 -5.08140851e-03 -6.97389480e+01] [-4.24289189e-02 1.42251143e-03 9.99098475e-01 -3.44548653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.000714057 meters 0.027697124789687354 Centerline is valid? [True, True] Translation: X:530.91, Y:-69.75, Z:-34.46 [[ 9.95602473e-01 8.40793361e-02 4.13083650e-02 5.30914309e+02] [-8.39449845e-02 9.96457950e-01 -4.97934725e-03 -6.97537184e+01] [-4.15807089e-02 1.48982038e-03 9.99134038e-01 -3.44590756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.030714057 meters 0.02760000659047731 Centerline is valid? [True, True] Translation: X:530.94, Y:-69.76, Z:-34.46 [[ 9.95745506e-01 8.27007665e-02 4.06382796e-02 5.30942510e+02] [-8.25697126e-02 9.96573266e-01 -4.89569643e-03 -6.97606484e+01] [-4.09039009e-02 1.51937665e-03 9.99161930e-01 -3.44613515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.0607140569999 meters 0.02868446125239178 Centerline is valid? [True, True] Translation: X:530.97, Y:-69.77, Z:-34.46 [[ 9.95810996e-01 8.16888521e-02 4.10778643e-02 5.30969087e+02] [-8.15541690e-02 9.96656635e-01 -4.94665777e-03 -6.97733997e+01] [-4.13446128e-02 1.57586512e-03 9.99143703e-01 -3.44632041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.0907140569999 meters 0.02734568914860251 Centerline is valid? [True, True] Translation: X:531.00, Y:-69.78, Z:-34.46 [[ 9.95764314e-01 8.19209753e-02 4.17418752e-02 5.30997894e+02] [-8.17823792e-02 9.96637568e-01 -5.02006274e-03 -6.97771887e+01] [-4.20127695e-02 1.58504946e-03 9.99115817e-01 -3.44626398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.120714057 meters 0.027474770609806794 Centerline is valid? [True, True] Translation: X:531.03, Y:-69.79, Z:-34.46 [[ 9.95465164e-01 8.39775840e-02 4.46863923e-02 5.31025720e+02] [-8.38209766e-02 9.96466359e-01 -5.37020876e-03 -6.97882777e+01] [-4.49794638e-02 1.60019870e-03 9.98986630e-01 -3.44634323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.150714057 meters 0.026415752938108723 Centerline is valid? [True, True] Translation: X:531.05, Y:-69.79, Z:-34.46 [[ 9.95376498e-01 8.44709621e-02 4.57196120e-02 5.31054273e+02] [-8.43076005e-02 9.96424635e-01 -5.49312309e-03 -6.97927891e+01] [-4.60201571e-02 1.61321484e-03 9.98939209e-01 -3.44637585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.1807140569999 meters 0.02623477066556982 Centerline is valid? [True, True] Translation: X:531.08, Y:-69.80, Z:-34.47 [[ 9.95183913e-01 8.58577897e-02 4.73013668e-02 5.31081077e+02] [-8.56846438e-02 9.96306119e-01 -5.67979441e-03 -6.98027791e+01] [-4.76142957e-02 1.59943926e-03 9.98864516e-01 -3.44653664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.2107140569999 meters 0.02612227111964793 Centerline is valid? [True, True] Translation: X:531.11, Y:-69.81, Z:-34.47 [[ 9.95194484e-01 8.56272327e-02 4.74964763e-02 5.31108333e+02] [-8.54525883e-02 9.96325938e-01 -5.69912577e-03 -6.98094625e+01] [-4.78099717e-02 1.61304169e-03 9.98855147e-01 -3.44669318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.240714057 meters 0.025804534537396083 Centerline is valid? [True, True] Translation: X:531.14, Y:-69.82, Z:-34.47 [[ 9.95338474e-01 8.37172460e-02 4.78826220e-02 5.31136319e+02] [-8.35378050e-02 9.96488077e-01 -5.73999720e-03 -6.98180426e+01] [-4.81949987e-02 1.71323091e-03 9.98836477e-01 -3.44680090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.270714057 meters 0.026550124573411615 Centerline is valid? [True, True] Translation: X:531.16, Y:-69.83, Z:-34.47 [[ 9.95553855e-01 8.09915743e-02 4.80924855e-02 5.31163027e+02] [-8.08075522e-02 9.96713070e-01 -5.76161879e-03 -6.98304602e+01] [-4.84010514e-02 1.84976576e-03 9.98826269e-01 -3.44704694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.3007140569999 meters 0.02692292075771302 Centerline is valid? [True, True] Translation: X:531.19, Y:-69.84, Z:-34.47 [[ 9.95719810e-01 7.87717094e-02 4.83433343e-02 5.31192002e+02] [-7.85833379e-02 9.96890746e-01 -5.78780775e-03 -6.98380585e+01] [-4.86489382e-02 1.96405426e-03 9.98814008e-01 -3.44725442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.3307140569999 meters 0.02844584103729275 Centerline is valid? [True, True] Translation: X:531.22, Y:-69.85, Z:-34.48 [[ 9.96012521e-01 7.48704550e-02 4.85126147e-02 5.31218401e+02] [-7.46762144e-02 9.97190928e-01 -5.80661373e-03 -6.98515687e+01] [-4.88110831e-02 2.16072156e-03 9.98805692e-01 -3.44750931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.360714057 meters 0.02976605927963923 Centerline is valid? [True, True] Translation: X:531.25, Y:-69.86, Z:-34.48 [[ 9.96146742e-01 7.30203483e-02 4.85767064e-02 5.31245976e+02] [-7.28235791e-02 9.97327912e-01 -5.81061196e-03 -6.98595051e+01] [-4.88711981e-02 2.25069255e-03 9.98802553e-01 -3.44773005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.390714057 meters 0.028603020160761914 Centerline is valid? [True, True] Translation: X:531.27, Y:-69.87, Z:-34.48 [[ 9.96389090e-01 6.99766905e-02 4.80837120e-02 5.31274346e+02] [-6.97804863e-02 9.97545804e-01 -5.74911498e-03 -6.98662646e+01] [-4.83680092e-02 2.37305064e-03 9.98826764e-01 -3.44787655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4207140569999 meters 0.029816342216733474 Centerline is valid? [True, True] Translation: X:531.30, Y:-69.87, Z:-34.48 [[ 9.96477908e-01 6.87998378e-02 4.79412329e-02 5.31301809e+02] [-6.86035860e-02 9.97627549e-01 -5.72900930e-03 -6.98738301e+01] [-4.82216495e-02 2.41989071e-03 9.98833728e-01 -3.44807772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4507140569999 meters 0.031833812663527195 Centerline is valid? [True, True] Translation: X:531.33, Y:-69.88, Z:-34.48 [[ 9.96539658e-01 6.73134839e-02 4.87606881e-02 5.31329101e+02] [-6.71086957e-02 9.97728657e-01 -5.82672748e-03 -6.98845347e+01] [-4.90421532e-02 2.53429883e-03 9.98793494e-01 -3.44825429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.480714057 meters 0.029528023503136637 Centerline is valid? [True, True] Translation: X:531.36, Y:-69.89, Z:-34.48 [[ 9.96546706e-01 6.70730519e-02 4.89476008e-02 5.31358880e+02] [-6.68665385e-02 9.97744801e-01 -5.84625441e-03 -6.98860450e+01] [-4.92293403e-02 2.55310894e-03 9.98784238e-01 -3.44832588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.510714057 meters 0.030042266767540474 Centerline is valid? [True, True] Translation: X:531.39, Y:-69.89, Z:-34.48 [[ 9.96541375e-01 6.63770773e-02 4.99937161e-02 5.31387914e+02] [-6.61608557e-02 9.97791115e-01 -5.96930699e-03 -6.98929795e+01] [-5.02795108e-02 2.64103436e-03 9.98731694e-01 -3.44841437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.540714057 meters 0.031091903801537604 Centerline is valid? [True, True] Translation: X:531.42, Y:-69.90, Z:-34.49 [[ 9.96539896e-01 6.56016883e-02 5.10358112e-02 5.31417024e+02] [-6.53754406e-02 9.97842143e-01 -6.09169158e-03 -6.99004546e+01] [-5.13253085e-02 2.73412505e-03 9.98678245e-01 -3.44852714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5707140569999 meters 0.0316359903943869 Centerline is valid? [True, True] Translation: X:531.45, Y:-69.91, Z:-34.49 [[ 9.96571006e-01 6.49902701e-02 5.12102921e-02 5.31447135e+02] [-6.47617211e-02 9.97882042e-01 -6.11146501e-03 -6.99060513e+01] [-5.14990166e-02 2.77404218e-03 9.98669192e-01 -3.44870721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.6007140569999 meters 0.03304684649292947 Centerline is valid? [True, True] Translation: X:531.48, Y:-69.91, Z:-34.49 [[ 9.96778575e-01 6.18314408e-02 5.10817564e-02 5.31477333e+02] [-6.15999116e-02 9.98082306e-01 -6.09601095e-03 -6.99138872e+01] [-5.13607224e-02 2.92974143e-03 9.98675870e-01 -3.44894667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.630714057 meters 0.032393463711725475 Centerline is valid? [True, True] Translation: X:531.51, Y:-69.92, Z:-34.49 [[ 9.96955076e-01 5.93037711e-02 5.06323961e-02 5.31508095e+02] [-5.90730089e-02 9.98235372e-01 -6.04328484e-03 -6.99176173e+01] [-5.09014383e-02 3.03387551e-03 9.98699073e-01 -3.44913262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.660714057 meters 0.03573573117487926 Centerline is valid? [True, True] Translation: X:531.54, Y:-69.93, Z:-34.49 [[ 9.97218919e-01 5.41441201e-02 5.12136878e-02 5.31536380e+02] [-5.39011953e-02 9.98527558e-01 -6.11368347e-03 -6.99281215e+01] [-5.14692986e-02 3.33620184e-03 9.98669005e-01 -3.44931341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.6907140569999 meters 0.03617424082890351 Centerline is valid? [True, True] Translation: X:531.57, Y:-69.93, Z:-34.49 [[ 9.97343683e-01 5.15762137e-02 5.14341562e-02 5.31567456e+02] [-5.13277790e-02 9.98662984e-01 -6.14026470e-03 -6.99326430e+01] [-5.16820795e-02 3.48395320e-03 9.98657511e-01 -3.44943276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.7207140569999 meters 0.03883058139353757 Centerline is valid? [True, True] Translation: X:531.60, Y:-69.94, Z:-34.50 [[ 9.97587538e-01 4.60459606e-02 5.19506915e-02 5.31598046e+02] [-4.57849447e-02 9.98932055e-01 -6.20387980e-03 -6.99405805e+01] [-5.21808746e-02 3.81035364e-03 9.98630381e-01 -3.44953933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.750714057 meters 0.04114741436816945 Centerline is valid? [True, True] Translation: X:531.63, Y:-69.95, Z:-34.50 [[ 9.97792489e-01 4.11985935e-02 5.20847898e-02 5.31628665e+02] [-4.09295840e-02 9.99142664e-01 -6.22141214e-03 -6.99480843e+01] [-5.22964491e-02 4.07586952e-03 9.98623287e-01 -3.44976666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.780714057 meters 0.042463495169203676 Centerline is valid? [True, True] Translation: X:531.66, Y:-69.95, Z:-34.50 [[ 9.97877489e-01 3.94738712e-02 5.17912208e-02 5.31659666e+02] [-3.92054966e-02 9.99212008e-01 -6.18799098e-03 -6.99538592e+01] [-5.19946738e-02 4.14435637e-03 9.98638763e-01 -3.45000190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.8107140569999 meters 0.043954150745818404 Centerline is valid? [True, True] Translation: X:531.69, Y:-69.96, Z:-34.50 [[ 9.98011295e-01 3.74370760e-02 5.07141040e-02 5.31690830e+02] [-3.71770591e-02 9.99290313e-01 -6.06108668e-03 -6.99576184e+01] [-5.09050222e-02 4.16363173e-03 9.98694820e-01 -3.45020366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.8407140569999 meters 0.04232713585254044 Centerline is valid? [True, True] Translation: X:531.72, Y:-69.96, Z:-34.50 [[ 9.98015182e-01 3.79250399e-02 5.02731367e-02 5.31722805e+02] [-3.76701338e-02 9.99272164e-01 -6.00860209e-03 -6.99577648e+01] [-5.04644226e-02 4.10288032e-03 9.98717432e-01 -3.45039529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.870714057 meters 0.04246899653365646 Centerline is valid? [True, True] Translation: X:531.75, Y:-69.96, Z:-34.51 [[ 9.97988004e-01 3.94634157e-02 4.96244084e-02 5.31753310e+02] [-3.92162278e-02 9.99213060e-01 -5.94536924e-03 -6.99589123e+01] [-4.98199816e-02 3.98732508e-03 9.98750254e-01 -3.45063518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.900714057 meters 0.0436341126282546 Centerline is valid? [True, True] Translation: X:531.78, Y:-69.96, Z:-34.51 [[ 9.97952778e-01 4.07299491e-02 4.93084683e-02 5.31784209e+02] [-4.04874794e-02 9.99162587e-01 -5.90666934e-03 -6.99627126e+01] [-4.95077551e-02 3.89820147e-03 9.98766132e-01 -3.45089762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.9307140569999 meters 0.04350998398012001 Centerline is valid? [True, True] Translation: X:531.82, Y:-69.96, Z:-34.51 [[ 9.97924540e-01 4.21475125e-02 4.86846920e-02 5.31816581e+02] [-4.19122802e-02 9.99104209e-01 -5.84299001e-03 -6.99633443e+01] [-4.88873481e-02 3.79037667e-03 9.98797107e-01 -3.45113660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.9607140569999 meters 0.0435781801394941 Centerline is valid? [True, True] Translation: X:531.85, Y:-69.96, Z:-34.51 [[ 9.97923174e-01 4.29414004e-02 4.80143130e-02 5.31849360e+02] [-4.27128860e-02 9.99070694e-01 -5.77569257e-03 -6.99642298e+01] [-4.82177093e-02 3.71286759e-03 9.98829949e-01 -3.45133122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.990714057 meters 0.04234409552575734 Centerline is valid? [True, True] Translation: X:531.88, Y:-69.97, Z:-34.51 [[ 9.97916192e-01 4.31336227e-02 4.79871352e-02 5.31882560e+02] [-4.29054737e-02 9.99062447e-01 -5.77479282e-03 -6.99651219e+01] [-4.81912325e-02 3.70384849e-03 9.98831260e-01 -3.45149826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.020714057 meters 0.04030449947347831 Centerline is valid? [True, True] Translation: X:531.92, Y:-69.96, Z:-34.52 [[ 9.97893406e-01 4.34412397e-02 4.81830879e-02 5.31915785e+02] [-4.32109089e-02 9.99049066e-01 -5.81218404e-03 -6.99635202e+01] [-4.83897574e-02 3.71790510e-03 9.98821610e-01 -3.45161898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.0507140569999 meters 0.040541017963944596 Centerline is valid? [True, True] Translation: X:531.95, Y:-69.97, Z:-34.52 [[ 9.97848633e-01 4.43682831e-02 4.82655311e-02 5.31947878e+02] [-4.41375370e-02 9.99008414e-01 -5.83661148e-03 -6.99661761e+01] [-4.84766321e-02 3.69373313e-03 9.98817487e-01 -3.45179213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.0807140569999 meters 0.04154990127024379 Centerline is valid? [True, True] Translation: X:531.98, Y:-69.97, Z:-34.52 [[ 9.97798821e-01 4.55952340e-02 4.81517037e-02 5.31979686e+02] [-4.53664044e-02 9.98953373e-01 -5.83505683e-03 -6.99676385e+01] [-4.83673577e-02 3.63774317e-03 9.98822990e-01 -3.45191820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.110714057 meters 0.040339276878809456 Centerline is valid? [True, True] Translation: X:532.01, Y:-69.97, Z:-34.52 [[ 9.97683335e-01 4.74473117e-02 4.87515675e-02 5.32011869e+02] [-4.72142416e-02 9.98867232e-01 -5.92191902e-03 -6.99655274e+01] [-4.89773224e-02 3.60643164e-03 9.98793380e-01 -3.45193828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.140714057 meters 0.04072841335386199 Centerline is valid? [True, True] Translation: X:532.04, Y:-69.97, Z:-34.52 [[ 9.97651952e-01 4.82903438e-02 4.85656900e-02 5.32044352e+02] [-4.80599994e-02 9.98827024e-01 -5.90021989e-03 -6.99677089e+01] [-4.87936472e-02 3.55229886e-03 9.98802564e-01 -3.45207483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.1707140569999 meters 0.03932746904825949 Centerline is valid? [True, True] Translation: X:532.08, Y:-69.97, Z:-34.52 [[ 9.97629128e-01 4.86798445e-02 4.86456164e-02 5.32076814e+02] [-4.84486067e-02 9.98808121e-01 -5.92206863e-03 -6.99665135e+01] [-4.88759221e-02 3.55121582e-03 9.98798545e-01 -3.45221853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.2007140569999 meters 0.03950616403478158 Centerline is valid? [True, True] Translation: X:532.11, Y:-69.97, Z:-34.52 [[ 9.97600436e-01 4.88129358e-02 4.90985572e-02 5.32109447e+02] [-4.85769212e-02 9.98801486e-01 -5.98948522e-03 -6.99691483e+01] [-4.93320762e-02 3.59005632e-03 9.98775980e-01 -3.45235658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.230714057 meters 0.04169978842801783 Centerline is valid? [True, True] Translation: X:532.14, Y:-69.97, Z:-34.53 [[ 9.97631345e-01 4.84738503e-02 4.88055789e-02 5.32140533e+02] [-4.82395293e-02 9.98817965e-01 -5.96829268e-03 -6.99732071e+01] [-4.90371952e-02 3.59979770e-03 9.98790466e-01 -3.45260109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.260714057 meters 0.042744476718533854 Centerline is valid? [True, True] Translation: X:532.17, Y:-69.98, Z:-34.53 [[ 9.97721023e-01 4.79870940e-02 4.74341575e-02 5.32171364e+02] [-4.77647110e-02 9.98841710e-01 -5.81131253e-03 -6.99759195e+01] [-4.76580829e-02 3.53238986e-03 9.98857462e-01 -3.45293039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.290714057 meters 0.042814198259325975 Centerline is valid? [True, True] Translation: X:532.20, Y:-69.98, Z:-34.53 [[ 9.97701285e-01 4.85400077e-02 4.72864995e-02 5.32203473e+02] [-4.83191197e-02 9.98815087e-01 -5.80385909e-03 -6.99791871e+01] [-4.75121884e-02 3.50567565e-03 9.98864506e-01 -3.45315815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.3207140569999 meters 0.04295726749811446 Centerline is valid? [True, True] Translation: X:532.24, Y:-69.98, Z:-34.53 [[ 9.97693643e-01 4.89501241e-02 4.70242462e-02 5.32236363e+02] [-4.87316084e-02 9.98795169e-01 -5.78279502e-03 -6.99810532e+01] [-4.72506585e-02 3.47789068e-03 9.98877009e-01 -3.45329369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.3507140569999 meters 0.04327687014329753 Centerline is valid? [True, True] Translation: X:532.27, Y:-69.98, Z:-34.53 [[ 9.97651252e-01 4.95555125e-02 4.72888096e-02 5.32268394e+02] [-4.93345524e-02 9.98765300e-01 -5.82904153e-03 -6.99840359e+01] [-4.75192832e-02 3.48237833e-03 9.98864250e-01 -3.45346841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.380714057 meters 0.036854000613133306 Centerline is valid? [True, True] Translation: X:532.30, Y:-69.98, Z:-34.53 [[ 9.97616025e-01 5.09014895e-02 4.65972587e-02 5.32301900e+02] [-5.06878952e-02 9.98697962e-01 -5.75478773e-03 -6.99763334e+01] [-4.68295146e-02 3.37915150e-03 9.98897181e-01 -3.45349433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.410714057 meters 0.043144663055333606 Centerline is valid? [True, True] Translation: X:532.33, Y:-69.99, Z:-34.54 [[ 9.97534366e-01 5.22270124e-02 4.68777962e-02 5.32331441e+02] [-5.20116001e-02 9.98629614e-01 -5.80408523e-03 -6.99889101e+01] [-4.71166856e-02 3.35158529e-03 9.98883769e-01 -3.45380213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4407140569999 meters 0.042867713881714446 Centerline is valid? [True, True] Translation: X:532.36, Y:-69.99, Z:-34.54 [[ 9.97324470e-01 5.59576136e-02 4.70387797e-02 5.32360807e+02] [-5.57447358e-02 9.98428054e-01 -5.82630268e-03 -6.99909830e+01] [-4.72908633e-02 3.18854989e-03 9.98876072e-01 -3.45405042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4707140569999 meters 0.04148295040300795 Centerline is valid? [True, True] Translation: X:532.39, Y:-69.99, Z:-34.54 [[ 9.97208250e-01 5.82736540e-02 4.66892651e-02 5.32391829e+02] [-5.80665072e-02 9.98295973e-01 -5.78193009e-03 -6.99920512e+01] [-4.69466395e-02 3.05470584e-03 9.98892728e-01 -3.45419634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.500714057 meters 0.04002913458563346 Centerline is valid? [True, True] Translation: X:532.42, Y:-69.99, Z:-34.54 [[ 9.96904335e-01 6.39276161e-02 4.57712503e-02 5.32421573e+02] [-6.37343971e-02 9.97950790e-01 -5.66989560e-03 -6.99905724e+01] [-4.60399183e-02 2.73514046e-03 9.98935856e-01 -3.45440260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.530714057 meters 0.03309841961489061 Centerline is valid? [True, True] Translation: X:532.45, Y:-69.98, Z:-34.54 [[ 9.96737000e-01 6.67370791e-02 4.54039178e-02 5.32452425e+02] [-6.65499025e-02 9.97767252e-01 -5.62334418e-03 -6.99826082e+01] [-4.56778279e-02 2.58336890e-03 9.98952883e-01 -3.45441587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.5607140569999 meters 0.03708822742182104 Centerline is valid? [True, True] Translation: X:532.48, Y:-69.99, Z:-34.55 [[ 9.96366125e-01 7.18849212e-02 4.56848339e-02 5.32480625e+02] [-7.17008943e-02 9.97410140e-01 -5.65629991e-03 -6.99915220e+01] [-4.59731192e-02 2.36010217e-03 9.98939889e-01 -3.45478906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.5907140569999 meters 0.0318950745306945 Centerline is valid? [True, True] Translation: X:532.51, Y:-69.99, Z:-34.55 [[ 9.96227386e-01 7.37416950e-02 4.57510332e-02 5.32510221e+02] [-7.35591046e-02 9.97274775e-01 -5.66408400e-03 -6.99866455e+01] [-4.60440304e-02 2.27731057e-03 9.98936815e-01 -3.45477138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.620714057 meters 0.03199132328635179 Centerline is valid? [True, True] Translation: X:532.54, Y:-69.99, Z:-34.55 [[ 9.96060433e-01 7.54733098e-02 4.65552622e-02 5.32537524e+02] [-7.52862729e-02 9.97145322e-01 -5.76047140e-03 -6.99905955e+01] [-4.68571238e-02 2.23280547e-03 9.98899106e-01 -3.45491955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.650714057 meters 0.03233766327811016 Centerline is valid? [True, True] Translation: X:532.56, Y:-69.99, Z:-34.55 [[ 9.96023528e-01 7.57601128e-02 4.68778866e-02 5.32564965e+02] [-7.55709793e-02 9.97123578e-01 -5.79636231e-03 -6.99948336e+01] [-4.71821791e-02 2.23070544e-03 9.98883810e-01 -3.45504502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.6807140569999 meters 0.0331698183987621 Centerline is valid? [True, True] Translation: X:532.59, Y:-70.00, Z:-34.55 [[ 9.96081008e-01 7.43559329e-02 4.78938447e-02 5.32592548e+02] [-7.41571251e-02 9.97229016e-01 -5.91704193e-03 -7.00008324e+01] [-4.82010988e-02 2.34218325e-03 9.98834905e-01 -3.45510036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.7107140569999 meters 0.03256342755775094 Centerline is valid? [True, True] Translation: X:532.62, Y:-70.01, Z:-34.55 [[ 9.96308174e-01 7.07035376e-02 4.86932481e-02 5.32622149e+02] [-7.04939189e-02 9.97494098e-01 -6.01097359e-03 -7.00057067e+01] [-4.89962247e-02 2.55620424e-03 9.98795693e-01 -3.45518668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.740714057 meters 0.03677592615714825 Centerline is valid? [True, True] Translation: X:532.65, Y:-70.02, Z:-34.55 [[ 9.96458013e-01 6.85354739e-02 4.87269629e-02 5.32649619e+02] [-6.83230084e-02 9.97645123e-01 -6.01457827e-03 -7.00172177e+01] [-4.90244289e-02 2.66410201e-03 9.98794027e-01 -3.45546362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.770714057 meters 0.03484431906192108 Centerline is valid? [True, True] Translation: X:532.68, Y:-70.02, Z:-34.56 [[ 9.96622335e-01 6.63294372e-02 4.84182557e-02 5.32679349e+02] [-6.61171947e-02 9.97793982e-01 -5.97378677e-03 -7.00189971e+01] [-4.87076821e-02 2.75233008e-03 9.98809284e-01 -3.45558331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.8007140569999 meters 0.03511105079142266 Centerline is valid? [True, True] Translation: X:532.71, Y:-70.03, Z:-34.56 [[ 9.96842783e-01 6.31536787e-02 4.81256620e-02 5.32709318e+02] [-6.29404058e-02 9.97999636e-01 -5.93569085e-03 -7.00258538e+01] [-4.84042539e-02 2.88790189e-03 9.98823652e-01 -3.45579252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.8307140569999 meters 0.03511105079142266 Centerline is valid? [True, True] Translation: X:532.74, Y:-70.03, Z:-34.56 [[ 9.96847176e-01 6.30843505e-02 4.81255822e-02 5.32737424e+02] [-6.28709660e-02 9.98004009e-01 -5.93633823e-03 -7.00292577e+01] [-4.84040140e-02 2.89192016e-03 9.98823652e-01 -3.45595658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.860714057 meters 0.040279637132915186 Centerline is valid? [True, True] Translation: X:532.77, Y:-70.04, Z:-34.56 [[ 9.96915625e-01 6.21916915e-02 4.78688917e-02 5.32765080e+02] [-6.19797252e-02 9.98059963e-01 -5.90113712e-03 -7.00408926e+01] [-4.81430260e-02 2.91603505e-03 9.98836196e-01 -3.45622016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.890714057 meters 0.03295459357701151 Centerline is valid? [True, True] Translation: X:532.80, Y:-70.03, Z:-34.56 [[ 9.96967349e-01 6.21631922e-02 4.68171091e-02 5.32795369e+02] [-6.19605181e-02 9.98061927e-01 -5.76929828e-03 -7.00340110e+01] [-4.70850121e-02 2.85098969e-03 9.98886817e-01 -3.45621394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9207140569999 meters 0.0342857157565267 Centerline is valid? [True, True] Translation: X:532.82, Y:-70.04, Z:-34.57 [[ 9.96950333e-01 6.36230674e-02 4.51900368e-02 5.32823261e+02] [-6.34358962e-02 9.97970397e-01 -5.56538574e-03 -7.00404159e+01] [-4.54524059e-02 2.68174268e-03 9.98962906e-01 -3.45651288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9507140569999 meters 0.04077000228462239 Centerline is valid? [True, True] Translation: X:532.85, Y:-70.05, Z:-34.57 [[ 9.96909332e-01 6.46946186e-02 4.45689281e-02 5.32850667e+02] [-6.45137466e-02 9.97901737e-01 -5.48624886e-03 -7.00544538e+01] [-4.48303416e-02 2.59398416e-03 9.98991247e-01 -3.45696988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.980714057 meters 0.03181821439912133 Centerline is valid? [True, True] Translation: X:532.88, Y:-70.04, Z:-34.57 [[ 9.96855523e-01 6.59179327e-02 4.39760329e-02 5.32881476e+02] [-6.57430868e-02 9.97821906e-01 -5.41199575e-03 -7.00448989e+01] [-4.42369965e-02 2.50385771e-03 9.99017927e-01 -3.45687457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.010714057 meters 0.03133598847535323 Centerline is valid? [True, True] Translation: X:532.91, Y:-70.05, Z:-34.57 [[ 9.96667737e-01 6.90212198e-02 4.34682907e-02 5.32910139e+02] [-6.88534461e-02 9.97612457e-01 -5.34689442e-03 -7.00489084e+01] [-4.37335574e-02 2.33613556e-03 9.99040499e-01 -3.45705540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.040714057 meters 0.03298040079118189 Centerline is valid? [True, True] Translation: X:532.94, Y:-70.05, Z:-34.57 [[ 9.96575504e-01 7.02886353e-02 4.35519498e-02 5.32937515e+02] [-7.01214603e-02 9.97524080e-01 -5.35628510e-03 -7.00549655e+01] [-4.38206047e-02 2.28401621e-03 9.99036805e-01 -3.45727912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0707140569999 meters 0.030418304823301226 Centerline is valid? [True, True] Translation: X:532.97, Y:-70.05, Z:-34.57 [[ 9.96354335e-01 7.31075389e-02 4.39696123e-02 5.32967562e+02] [-7.29400746e-02 9.97321689e-01 -5.40315534e-03 -7.00548917e+01] [-4.42468594e-02 2.17631044e-03 9.99018258e-01 -3.45728863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.1007140569999 meters 0.02991781729556797 Centerline is valid? [True, True] Translation: X:533.00, Y:-70.06, Z:-34.57 [[ 9.96095000e-01 7.61038985e-02 4.47543004e-02 5.32996675e+02] [-7.59334882e-02 9.97097727e-01 -5.49793611e-03 -7.00579684e+01] [-4.50428256e-02 2.07811653e-03 9.98982895e-01 -3.45740664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.130714057 meters 0.028439608105469565 Centerline is valid? [True, True] Translation: X:533.03, Y:-70.06, Z:-34.57 [[ 9.95957113e-01 7.74812762e-02 4.54541586e-02 5.33025342e+02] [-7.73069760e-02 9.96991708e-01 -5.58270782e-03 -7.00589532e+01] [-4.57499746e-02 2.04621401e-03 9.98950826e-01 -3.45746324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.160714057 meters 0.02855576245900615 Centerline is valid? [True, True] Translation: X:533.05, Y:-70.06, Z:-34.58 [[ 9.95805293e-01 7.90449953e-02 4.60836995e-02 5.33052876e+02] [-7.88676424e-02 9.96869046e-01 -5.65695057e-03 -7.00622621e+01] [-4.63865672e-02 1.99870859e-03 9.98921564e-01 -3.45755358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.1907140569999 meters 0.027437724555724408 Centerline is valid? [True, True] Translation: X:533.08, Y:-70.06, Z:-34.58 [[ 9.95587225e-01 8.10934909e-02 4.72220583e-02 5.33081873e+02] [-8.09098049e-02 9.96704601e-01 -5.79151896e-03 -7.00638912e+01] [-4.75360973e-02 1.94523477e-03 9.98867627e-01 -3.45752741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.2207140569999 meters 0.02744423043896672 Centerline is valid? [True, True] Translation: X:533.11, Y:-70.07, Z:-34.58 [[ 9.95609621e-01 8.07646534e-02 4.73133441e-02 5.33110915e+02] [-8.05800489e-02 9.96731270e-01 -5.79928532e-03 -7.00673120e+01] [-4.76270668e-02 1.96131269e-03 9.98863262e-01 -3.45763865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.250714057 meters 0.028417151734780755 Centerline is valid? [True, True] Translation: X:533.14, Y:-70.08, Z:-34.58 [[ 9.95831595e-01 7.82255140e-02 4.69063212e-02 5.33138337e+02] [-7.80414239e-02 9.96933558e-01 -5.74601510e-03 -7.00752052e+01] [-4.72119707e-02 2.06142728e-03 9.98882766e-01 -3.45783697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.280714057 meters 0.028854840053937802 Centerline is valid? [True, True] Translation: X:533.17, Y:-70.08, Z:-34.58 [[ 9.95986916e-01 7.64410547e-02 4.65491931e-02 5.33166274e+02] [-7.62579716e-02 9.97071835e-01 -5.69893209e-03 -7.00814524e+01] [-4.68485218e-02 2.12631475e-03 9.98899742e-01 -3.45800651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.3107140569999 meters 0.028770580545490507 Centerline is valid? [True, True] Translation: X:533.20, Y:-70.09, Z:-34.58 [[ 9.96265318e-01 7.28856606e-02 4.62936013e-02 5.33196232e+02] [-7.27009453e-02 9.97337704e-01 -5.66357063e-03 -7.00872909e+01] [-4.65831471e-02 2.27683042e-03 9.98911821e-01 -3.45820294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.3407140569999 meters 0.030776929548618586 Centerline is valid? [True, True] Translation: X:533.22, Y:-70.10, Z:-34.58 [[ 9.96538778e-01 6.92456695e-02 4.59945778e-02 5.33224144e+02] [-6.90594495e-02 9.97596674e-01 -5.62740586e-03 -7.00959580e+01] [-4.62737113e-02 2.43156793e-03 9.98925839e-01 -3.45840385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.370714057 meters 0.03170071469402682 Centerline is valid? [True, True] Translation: X:533.25, Y:-70.10, Z:-34.59 [[ 9.96673845e-01 6.75093764e-02 4.56478947e-02 5.33252955e+02] [-6.73242069e-02 9.97715528e-01 -5.58354369e-03 -7.01015295e+01] [-4.59205550e-02 2.49176365e-03 9.98941987e-01 -3.45857524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.400714057 meters 0.030417874703203066 Centerline is valid? [True, True] Translation: X:533.28, Y:-70.10, Z:-34.59 [[ 9.96908518e-01 6.44328040e-02 4.49646596e-02 5.33282611e+02] [-6.42501503e-02 9.97918684e-01 -5.49713726e-03 -7.01047576e+01] [-4.52252699e-02 2.59115682e-03 9.98973454e-01 -3.45877685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.4307140569999 meters 0.03393322455769622 Centerline is valid? [True, True] Translation: X:533.31, Y:-70.11, Z:-34.59 [[ 9.97022196e-01 6.30956891e-02 4.43359378e-02 5.33309885e+02] [-6.29168094e-02 9.98004058e-01 -5.41994282e-03 -7.01142725e+01] [-4.45894208e-02 2.61432755e-03 9.99001976e-01 -3.45911406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.4607140569999 meters 0.032650334491352226 Centerline is valid? [True, True] Translation: X:533.34, Y:-70.12, Z:-34.59 [[ 9.97211893e-01 6.09371913e-02 4.30708620e-02 5.33338954e+02] [-6.07664768e-02 9.98138135e-01 -5.26298045e-03 -7.01164268e+01] [-4.33113811e-02 2.63104216e-03 9.99058157e-01 -3.45936375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.490714057 meters 0.0341811920467414 Centerline is valid? [True, True] Translation: X:533.37, Y:-70.12, Z:-34.60 [[ 9.97258570e-01 6.04053173e-02 4.27380608e-02 5.33367392e+02] [-6.02368471e-02 9.98170463e-01 -5.21997245e-03 -7.01226384e+01] [-4.29751841e-02 2.63125623e-03 9.99072675e-01 -3.45959888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.520714057 meters 0.0354039317915553 Centerline is valid? [True, True] Translation: X:533.40, Y:-70.13, Z:-34.60 [[ 9.97293348e-01 5.98445867e-02 4.27153858e-02 5.33395607e+02] [-5.96758844e-02 9.98204185e-01 -5.21484975e-03 -7.01271905e+01] [-4.29507574e-02 2.65165654e-03 9.99073672e-01 -3.45975188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.5507140569999 meters 0.034671131409614 Centerline is valid? [True, True] Translation: X:533.43, Y:-70.13, Z:-34.60 [[ 9.97256629e-01 6.02041091e-02 4.30659994e-02 5.33425489e+02] [-6.00330699e-02 9.98182556e-01 -5.25506324e-03 -7.01285307e+01] [-4.33041057e-02 2.65526250e-03 9.99058409e-01 -3.45980527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.5807140569999 meters 0.03397787112814349 Centerline is valid? [True, True] Translation: X:533.46, Y:-70.13, Z:-34.60 [[ 9.97106164e-01 6.21096220e-02 4.38371167e-02 5.33455857e+02] [-6.19342995e-02 9.98065902e-01 -5.34761837e-03 -7.01289876e+01] [-4.40844700e-02 2.61712212e-03 9.99024379e-01 -3.45975741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.610714057 meters 0.03612319748072027 Centerline is valid? [True, True] Translation: X:533.48, Y:-70.14, Z:-34.60 [[ 9.97005899e-01 6.31713098e-02 4.45939726e-02 5.33484314e+02] [-6.29910220e-02 9.97999278e-01 -5.43797632e-03 -7.01356170e+01] [-4.48482766e-02 2.61267456e-03 9.98990393e-01 -3.45999346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.640714057 meters 0.03368212114581794 Centerline is valid? [True, True] Translation: X:533.51, Y:-70.14, Z:-34.60 [[ 9.96831028e-01 6.49042797e-02 4.59927753e-02 5.33514257e+02] [-6.47144102e-02 9.97888074e-01 -5.60685113e-03 -7.01356045e+01] [-4.62595506e-02 2.61268786e-03 9.98926037e-01 -3.46002724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.6707140569999 meters 0.03358000427440781 Centerline is valid? [True, True] Translation: X:533.54, Y:-70.14, Z:-34.60 [[ 9.96756625e-01 6.56315149e-02 4.65696751e-02 5.33543347e+02] [-6.54377084e-02 9.97840515e-01 -5.67569304e-03 -7.01380748e+01] [-4.68416129e-02 2.60987182e-03 9.98898920e-01 -3.46017087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.7007140569999 meters 0.03137853529069409 Centerline is valid? [True, True] Translation: X:533.57, Y:-70.14, Z:-34.60 [[ 9.96619766e-01 6.75286263e-02 4.67859640e-02 5.33573274e+02] [-6.73352228e-02 9.97714130e-01 -5.69937233e-03 -7.01370355e+01] [-4.70638882e-02 2.52976381e-03 9.98888678e-01 -3.46023879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.730714057 meters 0.03244994079069713 Centerline is valid? [True, True] Translation: X:533.60, Y:-70.14, Z:-34.61 [[ 9.96470225e-01 6.98454154e-02 4.65693897e-02 5.33602112e+02] [-6.96564004e-02 9.97554922e-01 -5.67129910e-03 -7.01412283e+01] [-4.68516382e-02 2.40742463e-03 9.98898958e-01 -3.46050957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.760714057 meters 0.03130819894086313 Centerline is valid? [True, True] Translation: X:533.63, Y:-70.14, Z:-34.61 [[ 9.96330272e-01 7.17079020e-02 4.67329281e-02 5.33630808e+02] [-7.15196602e-02 9.97422961e-01 -5.68989433e-03 -7.01433708e+01] [-4.70205059e-02 2.32669083e-03 9.98891215e-01 -3.46067767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.790714057 meters 0.029598785226229305 Centerline is valid? [True, True] Translation: X:533.66, Y:-70.14, Z:-34.61 [[ 9.96143153e-01 7.42881651e-02 4.66914045e-02 5.33660397e+02] [-7.41032568e-02 9.97234392e-01 -5.68115874e-03 -7.01437801e+01] [-4.69843173e-02 2.19926224e-03 9.98893206e-01 -3.46084166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.8207140569999 meters 0.028675627628983805 Centerline is valid? [True, True] Translation: X:533.69, Y:-70.15, Z:-34.61 [[ 9.96007675e-01 7.59518469e-02 4.69044546e-02 5.33688855e+02] [-7.57671483e-02 9.97109214e-01 -5.70574943e-03 -7.01465003e+01] [-4.72022261e-02 2.12915346e-03 9.98883085e-01 -3.46096340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.8507140569999 meters 0.031059574448573667 Centerline is valid? [True, True] Translation: X:533.72, Y:-70.15, Z:-34.61 [[ 9.95930591e-01 7.68389131e-02 4.70960718e-02 5.33716237e+02] [-7.66538548e-02 9.97041325e-01 -5.72559053e-03 -7.01542950e+01] [-4.73966780e-02 2.09219530e-03 9.98873955e-01 -3.46119843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.880714057 meters 0.028748512699255407 Centerline is valid? [True, True] Translation: X:533.75, Y:-70.15, Z:-34.61 [[ 9.95783557e-01 7.86359743e-02 4.72386705e-02 5.33745769e+02] [-7.84519820e-02 9.96901373e-01 -5.73930251e-03 -7.01538597e+01] [-4.75436111e-02 2.00913574e-03 9.98867143e-01 -3.46126629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.910714057 meters 0.027819762659571007 Centerline is valid? [True, True] Translation: X:533.77, Y:-70.16, Z:-34.61 [[ 9.95653322e-01 7.96800290e-02 4.82240122e-02 5.33774194e+02] [-7.94896165e-02 9.96818490e-01 -5.85653153e-03 -7.01580703e+01] [-4.85372356e-02 1.99776684e-03 9.98819376e-01 -3.46144316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9407140569999 meters 0.02812201210989057 Centerline is valid? [True, True] Translation: X:533.80, Y:-70.16, Z:-34.62 [[ 9.95658111e-01 7.92808307e-02 4.87798620e-02 5.33802696e+02] [-7.90856976e-02 9.96850240e-01 -5.92045173e-03 -7.01627335e+01] [-4.90955955e-02 2.03695637e-03 9.98792007e-01 -3.46164928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9707140569999 meters 0.028646318794906055 Centerline is valid? [True, True] Translation: X:533.83, Y:-70.17, Z:-34.62 [[ 9.95733932e-01 7.80553589e-02 4.92066820e-02 5.33829682e+02] [-7.78554711e-02 9.96946788e-01 -5.96880519e-03 -7.01697992e+01] [-4.95223409e-02 2.11233245e-03 9.98770782e-01 -3.46179141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.000714057 meters 0.028828441120668676 Centerline is valid? [True, True] Translation: X:533.86, Y:-70.17, Z:-34.62 [[ 9.95817576e-01 7.70655682e-02 4.90739690e-02 5.33858419e+02] [-7.68657831e-02 9.97023706e-01 -5.94817779e-03 -7.01745187e+01] [-4.93863101e-02 2.15119094e-03 9.98777435e-01 -3.46197235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.030714057 meters 0.028986579283450546 Centerline is valid? [True, True] Translation: X:533.89, Y:-70.18, Z:-34.62 [[ 9.95873171e-01 7.61949215e-02 4.93047860e-02 5.33886318e+02] [-7.59923555e-02 9.97090512e-01 -5.97275031e-03 -7.01793249e+01] [-4.96164275e-02 2.20131496e-03 9.98765921e-01 -3.46212577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.0607140569999 meters 0.032192211975524535 Centerline is valid? [True, True] Translation: X:533.91, Y:-70.19, Z:-34.62 [[ 9.95967950e-01 7.46637707e-02 4.97309227e-02 5.33913211e+02] [-7.44560065e-02 9.97206129e-01 -6.01986864e-03 -7.01908101e+01] [-5.00414470e-02 2.29283032e-03 9.98744510e-01 -3.46234769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.0907140569999 meters 0.029169373358937118 Centerline is valid? [True, True] Translation: X:533.94, Y:-70.19, Z:-34.62 [[ 9.96033124e-01 7.33053542e-02 5.04414517e-02 5.33942527e+02] [-7.30901048e-02 9.97306679e-01 -6.10121025e-03 -7.01917801e+01] [-5.07528480e-02 2.39023652e-03 9.98708383e-01 -3.46234565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.120714057 meters 0.03181162917686096 Centerline is valid? [True, True] Translation: X:533.97, Y:-70.20, Z:-34.63 [[ 9.96082547e-01 7.24370058e-02 5.07192244e-02 5.33969248e+02] [-7.22184386e-02 9.97369994e-01 -6.13120181e-03 -7.02012946e+01] [-5.10299584e-02 2.44431993e-03 9.98694132e-01 -3.46258266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.150714057 meters 0.03251240824070044 Centerline is valid? [True, True] Translation: X:534.00, Y:-70.21, Z:-34.63 [[ 9.96115437e-01 7.18403312e-02 5.09215322e-02 5.33997185e+02] [-7.16194826e-02 9.97413062e-01 -6.15088521e-03 -7.02087047e+01] [-5.12316830e-02 2.48001792e-03 9.98683716e-01 -3.46283914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.1807140569999 meters 0.032528228508797385 Centerline is valid? [True, True] Translation: X:534.03, Y:-70.21, Z:-34.63 [[ 9.96142948e-01 7.12316875e-02 5.12374253e-02 5.34026185e+02] [-7.10074797e-02 9.97456606e-01 -6.18526629e-03 -7.02130165e+01] [-5.15476953e-02 2.52316896e-03 9.98667346e-01 -3.46306677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.2107140569999 meters 0.03441493440546013 Centerline is valid? [True, True] Translation: X:534.05, Y:-70.22, Z:-34.63 [[ 9.96271309e-01 6.85918369e-02 5.23320047e-02 5.34054245e+02] [-6.83544207e-02 9.97641113e-01 -6.31522418e-03 -7.02218605e+01] [-5.26417322e-02 2.71455280e-03 9.98609773e-01 -3.46325583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.240714057 meters 0.03578321007816047 Centerline is valid? [True, True] Translation: X:534.08, Y:-70.23, Z:-34.63 [[ 9.96350801e-01 6.66740462e-02 5.32883977e-02 5.34082784e+02] [-6.64250380e-02 9.97770685e-01 -6.43233637e-03 -7.02290686e+01] [-5.35984710e-02 2.86917965e-03 9.98558447e-01 -3.46341498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.270714057 meters 0.03353593500967598 Centerline is valid? [True, True] Translation: X:534.11, Y:-70.23, Z:-34.63 [[ 9.96620585e-01 6.09110542e-02 5.51112786e-02 5.34113230e+02] [-6.06359744e-02 9.98137785e-01 -6.65135101e-03 -7.02315632e+01] [-5.54137904e-02 3.28714726e-03 9.98458064e-01 -3.46347499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.3007140569999 meters 0.035443851340345785 Centerline is valid? [True, True] Translation: X:534.14, Y:-70.24, Z:-34.64 [[ 9.96812012e-01 5.76731617e-02 5.51327490e-02 5.34143418e+02] [-5.73929288e-02 9.98329492e-01 -6.65407428e-03 -7.02389170e+01] [-5.54244108e-02 3.46863123e-03 9.98456861e-01 -3.46366753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.3307140569999 meters 0.03660887365516356 Centerline is valid? [True, True] Translation: X:534.17, Y:-70.25, Z:-34.64 [[ 9.97160388e-01 5.14481689e-02 5.49931463e-02 5.34173906e+02] [-5.11598805e-02 9.98668414e-01 -6.63818925e-03 -7.02458682e+01] [-5.52614409e-02 3.80589657e-03 9.98464666e-01 -3.46392843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.360714057 meters 0.03886511909645404 Centerline is valid? [True, True] Translation: X:534.20, Y:-70.25, Z:-34.64 [[ 9.97291248e-01 4.87727409e-02 5.50580350e-02 5.34203119e+02] [-4.84796282e-02 9.98802050e-01 -6.64761664e-03 -7.02530956e+01] [-5.53163007e-02 3.96041682e-03 9.98461027e-01 -3.46414066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.390714057 meters 0.041773000310631976 Centerline is valid? [True, True] Translation: X:534.23, Y:-70.26, Z:-34.64 [[ 9.97491896e-01 4.39261738e-02 5.55014310e-02 5.34231882e+02] [-4.36206324e-02 9.99025666e-01 -6.70519199e-03 -7.02614274e+01] [-5.57418875e-02 4.26736715e-03 9.98436093e-01 -3.46436854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4207140569999 meters 0.042192969581466885 Centerline is valid? [True, True] Translation: X:534.26, Y:-70.27, Z:-34.65 [[ 9.97565955e-01 4.21790681e-02 5.55255860e-02 5.34262638e+02] [-4.18703133e-02 9.99100503e-01 -6.71274336e-03 -7.02668188e+01] [-5.57587782e-02 4.37153056e-03 9.98434699e-01 -3.46459342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4507140569999 meters 0.04427915523340553 Centerline is valid? [True, True] Translation: X:534.29, Y:-70.27, Z:-34.65 [[ 9.97745910e-01 3.89024197e-02 5.46781586e-02 5.34292657e+02] [-3.85980332e-02 9.99232940e-01 -6.61232007e-03 -7.02741480e+01] [-5.48934524e-02 4.48694592e-03 9.98482136e-01 -3.46499155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.480714057 meters 0.04074382793123109 Centerline is valid? [True, True] Translation: X:534.32, Y:-70.27, Z:-34.65 [[ 9.97779592e-01 3.71477334e-02 5.52804846e-02 5.34324693e+02] [-3.68339156e-02 9.99299039e-01 -6.68527116e-03 -7.02720389e+01] [-5.54900779e-02 4.63423042e-03 9.98448484e-01 -3.46514827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.510714057 meters 0.04670720569457636 Centerline is valid? [True, True] Translation: X:534.35, Y:-70.28, Z:-34.65 [[ 9.97772221e-01 3.64032539e-02 5.59052677e-02 5.34354125e+02] [-3.60810140e-02 9.99325984e-01 -6.76294277e-03 -7.02833550e+01] [-5.61137798e-02 4.73075768e-03 9.98413173e-01 -3.46534108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.540714057 meters 0.043240216906189684 Centerline is valid? [True, True] Translation: X:534.39, Y:-70.28, Z:-34.65 [[ 9.97677420e-01 3.66314369e-02 5.74273727e-02 5.34387455e+02] [-3.62916320e-02 9.99317079e-01 -6.94927829e-03 -7.02805093e+01] [-5.76427164e-02 4.84900496e-03 9.98325500e-01 -3.46548890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5707140569999 meters 0.04341536310391534 Centerline is valid? [True, True] Translation: X:534.42, Y:-70.28, Z:-34.66 [[ 9.97625447e-01 3.73145542e-02 5.78886120e-02 5.34419787e+02] [-3.69694044e-02 9.99291725e-01 -7.02222035e-03 -7.02833543e+01] [-5.81096420e-02 4.86543821e-03 9.98298351e-01 -3.46563950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.6007140569999 meters 0.04383021894768737 Centerline is valid? [True, True] Translation: X:534.45, Y:-70.28, Z:-34.66 [[ 9.97494318e-01 3.88448087e-02 5.91283831e-02 5.34451204e+02] [-3.84864626e-02 9.99233271e-01 -7.18770762e-03 -7.02845918e+01] [-5.93622528e-02 4.89405521e-03 9.98224509e-01 -3.46574468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.630714057 meters 0.044821876076054964 Centerline is valid? [True, True] Translation: X:534.48, Y:-70.29, Z:-34.66 [[ 9.97446873e-01 4.00517784e-02 5.91235270e-02 5.34483254e+02] [-3.96954449e-02 9.99185959e-01 -7.18964634e-03 -7.02874206e+01] [-5.93633562e-02 4.82435555e-03 9.98224783e-01 -3.46592018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.660714057 meters 0.04394863278854139 Centerline is valid? [True, True] Translation: X:534.51, Y:-70.29, Z:-34.66 [[ 9.97369401e-01 4.14714728e-02 5.94507805e-02 5.34514536e+02] [-4.11128043e-02 9.99128250e-01 -7.24409449e-03 -7.02879174e+01] [-5.96993776e-02 4.78084988e-03 9.98204953e-01 -3.46608609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.6907140569999 meters 0.04496298765013267 Centerline is valid? [True, True] Translation: X:534.55, Y:-70.29, Z:-34.66 [[ 9.97331797e-01 4.20729703e-02 5.96586219e-02 5.34546268e+02] [-4.17126956e-02 9.99103182e-01 -7.27205680e-03 -7.02910293e+01] [-5.99110761e-02 4.76413154e-03 9.98192349e-01 -3.46627522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.7207140569999 meters 0.04496298765013267 Centerline is valid? [True, True] Translation: X:534.58, Y:-70.30, Z:-34.66 [[ 9.97320018e-01 4.23538005e-02 5.96568217e-02 5.34578663e+02] [-4.19931485e-02 9.99091326e-01 -7.28679612e-03 -7.02950655e+01] [-5.99112366e-02 4.76208987e-03 9.98192349e-01 -3.46646400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.750714057 meters 0.044802372298727154 Centerline is valid? [True, True] Translation: X:534.61, Y:-70.30, Z:-34.67 [[ 9.97303557e-01 4.35504501e-02 5.90675259e-02 5.34609464e+02] [-4.31979960e-02 9.99040359e-01 -7.23142193e-03 -7.02971165e+01] [-5.93257740e-02 4.66032406e-03 9.98227797e-01 -3.46674584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.780714057 meters 0.045724576363589016 Centerline is valid? [True, True] Translation: X:534.64, Y:-70.30, Z:-34.67 [[ 9.97246033e-01 4.47305167e-02 5.91568371e-02 5.34639454e+02] [-4.43782673e-02 9.98988451e-01 -7.25560439e-03 -7.02993822e+01] [-5.94215440e-02 4.61034477e-03 9.98222332e-01 -3.46699722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.8107140569999 meters 0.04296540591971702 Centerline is valid? [True, True] Translation: X:534.67, Y:-70.30, Z:-34.67 [[ 9.97208973e-01 4.54912433e-02 5.92014376e-02 5.34672482e+02] [-4.51397214e-02 9.98954286e-01 -7.26227710e-03 -7.02979581e+01] [-5.94698998e-02 4.56967149e-03 9.98219640e-01 -3.46720857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.8407140569999 meters 0.043679778640575095 Centerline is valid? [True, True] Translation: X:534.70, Y:-70.30, Z:-34.67 [[ 9.97149742e-01 4.66418812e-02 5.93036905e-02 5.34703259e+02] [-4.62907584e-02 9.98901469e-01 -7.28160088e-03 -7.03011820e+01] [-5.95781711e-02 4.51563362e-03 9.98213429e-01 -3.46742024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.870714057 meters 0.041186311223702456 Centerline is valid? [True, True] Translation: X:534.74, Y:-70.30, Z:-34.68 [[ 9.97053389e-01 4.83927226e-02 5.95204470e-02 5.34735424e+02] [-4.80412957e-02 9.98818513e-01 -7.32203109e-03 -7.02974916e+01] [-5.98044573e-02 4.44101652e-03 9.98200233e-01 -3.46761986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.900714057 meters 0.04081148767756358 Centerline is valid? [True, True] Translation: X:534.77, Y:-70.30, Z:-34.68 [[ 9.97062083e-01 4.93188608e-02 5.86076126e-02 5.34768122e+02] [-4.89796096e-02 9.98773741e-01 -7.21188883e-03 -7.02992520e+01] [-5.88914267e-02 4.32012292e-03 9.98255046e-01 -3.46788526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.9307140569999 meters 0.04501159750618292 Centerline is valid? [True, True] Translation: X:534.80, Y:-70.31, Z:-34.68 [[ 9.97088667e-01 5.09481596e-02 5.67316052e-02 5.34798195e+02] [-5.06326470e-02 9.98692911e-01 -6.98600617e-03 -7.03053588e+01] [-5.70133762e-02 4.09319624e-03 9.98365024e-01 -3.46825017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.9607140569999 meters 0.04103095498565723 Centerline is valid? [True, True] Translation: X:534.83, Y:-70.30, Z:-34.68 [[ 9.97090612e-01 5.22789098e-02 5.54727656e-02 5.34831621e+02] [-5.19792247e-02 9.98624793e-01 -6.83251464e-03 -7.02999719e+01] [-5.57536754e-02 3.92920485e-03 9.98436823e-01 -3.46846813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.990714057 meters 0.040133856911754376 Centerline is valid? [True, True] Translation: X:534.86, Y:-70.30, Z:-34.69 [[ 9.97080126e-01 5.24852100e-02 5.54664403e-02 5.34864426e+02] [-5.21851433e-02 9.98613965e-01 -6.84548074e-03 -7.03004496e+01] [-5.57488483e-02 3.93096867e-03 9.98437085e-01 -3.46860158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.020714057 meters 0.039579654073357375 Centerline is valid? [True, True] Translation: X:534.90, Y:-70.30, Z:-34.69 [[ 9.96971879e-01 5.30882045e-02 5.68217860e-02 5.34897014e+02] [-5.27732860e-02 9.98581777e-01 -7.02954925e-03 -7.03004232e+01] [-5.71143862e-02 4.00959056e-03 9.98359590e-01 -3.46856774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.0507140569999 meters 0.039187008665534886 Centerline is valid? [True, True] Translation: X:534.93, Y:-70.30, Z:-34.69 [[ 9.96927634e-01 5.32578025e-02 5.74360420e-02 5.34930128e+02] [-5.29354630e-02 9.98572551e-01 -7.12016108e-03 -7.03027993e+01] [-5.77332591e-02 4.05788187e-03 9.98323797e-01 -3.46871538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.0807140569999 meters 0.040537602332701636 Centerline is valid? [True, True] Translation: X:534.96, Y:-70.31, Z:-34.69 [[ 9.96983722e-01 5.19973377e-02 5.76171379e-02 5.34961637e+02] [-5.16698957e-02 9.98638556e-01 -7.15935014e-03 -7.03071684e+01] [-5.79109626e-02 4.16068405e-03 9.98313082e-01 -3.46891485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.110714057 meters 0.04120994677266383 Centerline is valid? [True, True] Translation: X:534.99, Y:-70.31, Z:-34.69 [[ 9.97041026e-01 5.12213009e-02 5.73199047e-02 5.34993462e+02] [-5.08951906e-02 9.98678507e-01 -7.13572839e-03 -7.03111793e+01] [-5.76096581e-02 4.19730648e-03 9.98330361e-01 -3.46915261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.140714057 meters 0.04306673694844879 Centerline is valid? [True, True] Translation: X:535.02, Y:-70.32, Z:-34.69 [[ 9.97310980e-01 4.79471337e-02 5.54245604e-02 5.35023294e+02] [-4.76364796e-02 9.98840814e-01 -6.91335844e-03 -7.03154849e+01] [-5.56917888e-02 4.25453733e-03 9.98438943e-01 -3.46946122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.1707140569999 meters 0.044732283881588446 Centerline is valid? [True, True] Translation: X:535.05, Y:-70.32, Z:-34.70 [[ 9.97423196e-01 4.64235737e-02 5.46975288e-02 5.35053342e+02] [-4.61187461e-02 9.98912664e-01 -6.82276916e-03 -7.03211921e+01] [-5.49547915e-02 4.28260678e-03 9.98479659e-01 -3.46971536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.2007140569999 meters 0.04583041498384011 Centerline is valid? [True, True] Translation: X:535.08, Y:-70.32, Z:-34.70 [[ 9.97666507e-01 4.29231443e-02 5.30956231e-02 5.35083734e+02] [-4.26308619e-02 9.99068921e-01 -6.62571396e-03 -7.03238166e+01] [-5.33305834e-02 4.34674073e-03 9.98567451e-01 -3.47000576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.230714057 meters 0.048337946843129025 Centerline is valid? [True, True] Translation: X:535.11, Y:-70.33, Z:-34.70 [[ 9.97766482e-01 4.11396465e-02 5.26267682e-02 5.35113353e+02] [-4.08500585e-02 9.99143707e-01 -6.56699437e-03 -7.03297211e+01] [-5.28518681e-02 4.40252031e-03 9.98592659e-01 -3.47014070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.260714057 meters 0.05470305291752984 Centerline is valid? [True, True] Translation: X:535.14, Y:-70.34, Z:-34.70 [[ 9.97838786e-01 3.86322974e-02 5.31535866e-02 5.35141785e+02] [-3.83330931e-02 9.99242973e-01 -6.63745601e-03 -7.03410082e+01] [-5.33697681e-02 4.58556966e-03 9.98564290e-01 -3.47024256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.290714057 meters 0.05314184092964158 Centerline is valid? [True, True] Translation: X:535.17, Y:-70.34, Z:-34.70 [[ 9.97860234e-01 3.80831913e-02 5.31471892e-02 5.35173945e+02] [-3.77833414e-02 9.99263923e-01 -6.63563344e-03 -7.03416301e+01] [-5.33607749e-02 4.61335634e-03 9.98564642e-01 -3.47039855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.3207140569999 meters 0.052928588613633684 Centerline is valid? [True, True] Translation: X:535.21, Y:-70.34, Z:-34.70 [[ 9.97827696e-01 3.77158671e-02 5.40129916e-02 5.35206378e+02] [-3.74049099e-02 9.99277348e-01 -6.75682923e-03 -7.03431734e+01] [-5.42287987e-02 4.72180026e-03 9.98517372e-01 -3.47043988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.3507140569999 meters 0.05316497243514835 Centerline is valid? [True, True] Translation: X:535.24, Y:-70.35, Z:-34.71 [[ 9.97827550e-01 3.78956930e-02 5.38896671e-02 5.35239236e+02] [-3.75857276e-02 9.99270582e-01 -6.75410913e-03 -7.03462984e+01] [-5.41063107e-02 4.71395382e-03 9.98524054e-01 -3.47054986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.380714057 meters 0.050895569453782104 Centerline is valid? [True, True] Translation: X:535.27, Y:-70.34, Z:-34.71 [[ 9.97824484e-01 3.84778205e-02 5.35327585e-02 5.35271995e+02] [-3.81719983e-02 9.99248561e-01 -6.72396274e-03 -7.03434526e+01] [-5.37512554e-02 4.66588228e-03 9.98543455e-01 -3.47076492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.410714057 meters 0.044702663885636935 Centerline is valid? [True, True] Translation: X:535.30, Y:-70.34, Z:-34.71 [[ 9.97813341e-01 4.04799514e-02 5.22485477e-02 5.35304310e+02] [-4.01906540e-02 9.99170388e-01 -6.57622136e-03 -7.03354937e+01] [-5.24714069e-02 4.46193810e-03 9.98612459e-01 -3.47106036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4407140569999 meters 0.05044994386739528 Centerline is valid? [True, True] Translation: X:535.33, Y:-70.35, Z:-34.71 [[ 9.97757588e-01 4.21792369e-02 5.19683420e-02 5.35333308e+02] [-4.18952753e-02 9.99100590e-01 -6.54189876e-03 -7.03466363e+01] [-5.21975334e-02 4.35000113e-03 9.98627305e-01 -3.47132215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4707140569999 meters 0.050660032268800316 Centerline is valid? [True, True] Translation: X:535.36, Y:-70.35, Z:-34.72 [[ 9.97763531e-01 4.37469102e-02 5.05385374e-02 5.35363265e+02] [-4.34803263e-02 9.99034021e-01 -6.36282178e-03 -7.03480783e+01] [-5.07680720e-02 4.15115943e-03 9.98701843e-01 -3.47170835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.500714057 meters 0.04381458403784892 Centerline is valid? [True, True] Translation: X:535.40, Y:-70.34, Z:-34.72 [[ 9.97737761e-01 4.50326270e-02 4.99141597e-02 5.35396412e+02] [-4.47742397e-02 9.98977371e-01 -6.28330054e-03 -7.03412156e+01] [-5.01460695e-02 4.03421766e-03 9.98733747e-01 -3.47185335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.530714057 meters 0.043071033787569435 Centerline is valid? [True, True] Translation: X:535.43, Y:-70.34, Z:-34.72 [[ 9.97727457e-01 4.62485190e-02 4.89999653e-02 5.35428929e+02] [-4.60003794e-02 9.98922304e-01 -6.18032226e-03 -7.03423432e+01] [-4.92329890e-02 3.91226022e-03 9.98779659e-01 -3.47202974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.5607140569999 meters 0.043124241357197356 Centerline is valid? [True, True] Translation: X:535.46, Y:-70.35, Z:-34.72 [[ 9.97695833e-01 4.70412167e-02 4.88891478e-02 5.35461476e+02] [-4.67944710e-02 9.98885421e-01 -6.18003753e-03 -7.03456860e+01] [-4.91253735e-02 3.87805587e-03 9.98785091e-01 -3.47218228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.5907140569999 meters 0.04340739725353846 Centerline is valid? [True, True] Translation: X:535.49, Y:-70.35, Z:-34.72 [[ 9.97631802e-01 4.87570258e-02 4.85133023e-02 5.35493127e+02] [-4.85158435e-02 9.98803557e-01 -6.13733476e-03 -7.03460665e+01] [-4.87544971e-02 3.76913655e-03 9.98803681e-01 -3.47242454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.620714057 meters 0.042731300082565246 Centerline is valid? [True, True] Translation: X:535.52, Y:-70.35, Z:-34.73 [[ 9.97610492e-01 4.97517046e-02 4.79382372e-02 5.35524189e+02] [-4.95172710e-02 9.98754845e-01 -6.06628332e-03 -7.03470525e+01] [-4.81803546e-02 3.67801720e-03 9.98831881e-01 -3.47264902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.650714057 meters 0.040532536750899746 Centerline is valid? [True, True] Translation: X:535.56, Y:-70.35, Z:-34.73 [[ 9.97576729e-01 5.09813714e-02 4.73452127e-02 5.35555900e+02] [-5.07540048e-02 9.98693204e-01 -5.99289950e-03 -7.03454105e+01] [-4.75888684e-02 3.57541793e-03 9.98860609e-01 -3.47281506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.6807140569999 meters 0.041095427190518556 Centerline is valid? [True, True] Translation: X:535.59, Y:-70.35, Z:-34.73 [[ 9.97597847e-01 5.08596083e-02 4.70301601e-02 5.35586418e+02] [-5.06350269e-02 9.98699470e-01 -5.95511493e-03 -7.03471191e+01] [-4.72718708e-02 3.55943641e-03 9.98875718e-01 -3.47298589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.7107140569999 meters 0.04265730349664224 Centerline is valid? [True, True] Translation: X:535.62, Y:-70.35, Z:-34.73 [[ 9.97610290e-01 5.03526890e-02 4.73108355e-02 5.35615549e+02] [-5.01248413e-02 9.98724992e-01 -5.99083609e-03 -7.03510735e+01] [-4.75521685e-02 3.60507160e-03 9.98862250e-01 -3.47313373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.740714057 meters 0.04505981413361556 Centerline is valid? [True, True] Translation: X:535.65, Y:-70.35, Z:-34.73 [[ 9.97661963e-01 4.86211762e-02 4.80269600e-02 5.35645008e+02] [-4.83844683e-02 9.98810283e-01 -6.07965017e-03 -7.03543458e+01] [-4.82654213e-02 3.74167679e-03 9.98827537e-01 -3.47338661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.770714057 meters 0.04458472618477322 Centerline is valid? [True, True] Translation: X:535.68, Y:-70.36, Z:-34.74 [[ 9.97630685e-01 4.84969221e-02 4.87961628e-02 5.35676329e+02] [-4.82521798e-02 9.98816055e-01 -6.18182322e-03 -7.03573771e+01] [-4.90381902e-02 3.81265531e-03 9.98789627e-01 -3.47354733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.8007140569999 meters 0.046650166526454206 Centerline is valid? [True, True] Translation: X:535.71, Y:-70.36, Z:-34.74 [[ 9.97691788e-01 4.78393620e-02 4.81922321e-02 5.35706750e+02] [-4.75998029e-02 9.98847818e-01 -6.10699913e-03 -7.03616627e+01] [-4.84288609e-02 3.79896214e-03 9.98819410e-01 -3.47374558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.8307140569999 meters 0.04389780361062495 Centerline is valid? [True, True] Translation: X:535.74, Y:-70.36, Z:-34.74 [[ 9.97719475e-01 4.74410343e-02 4.80124736e-02 5.35738614e+02] [-4.72027212e-02 9.98866790e-01 -6.08590719e-03 -7.03601099e+01] [-4.82467871e-02 3.80570872e-03 9.98828196e-01 -3.47385579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.860714057 meters 0.04312176830321761 Centerline is valid? [True, True] Translation: X:535.77, Y:-70.36, Z:-34.74 [[ 9.97848350e-01 4.50788667e-02 4.76084763e-02 5.35769544e+02] [-4.48418039e-02 9.98975863e-01 -6.03631533e-03 -7.03606906e+01] [-4.78318289e-02 3.88847733e-03 9.98847834e-01 -3.47400406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.890714057 meters 0.04468800494417989 Centerline is valid? [True, True] Translation: X:535.80, Y:-70.37, Z:-34.74 [[ 9.97921732e-01 4.35608640e-02 4.74833371e-02 5.35799344e+02] [-4.33232280e-02 9.99042954e-01 -6.02281941e-03 -7.03665102e+01] [-4.77002525e-02 3.95317094e-03 9.98853872e-01 -3.47417788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9207140569999 meters 0.04633525065274606 Centerline is valid? [True, True] Translation: X:535.83, Y:-70.37, Z:-34.74 [[ 9.98048866e-01 4.06297977e-02 4.74097194e-02 5.35829374e+02] [-4.03895696e-02 9.99165907e-01 -6.01447566e-03 -7.03720904e+01] [-4.76145422e-02 4.08788245e-03 9.98857420e-01 -3.47442363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9507140569999 meters 0.049688817576976574 Centerline is valid? [True, True] Translation: X:535.86, Y:-70.38, Z:-34.75 [[ 9.98198855e-01 3.75580840e-02 4.67807299e-02 5.35858356e+02] [-3.73208291e-02 9.99285710e-01 -5.93508847e-03 -7.03802957e+01] [-4.69702254e-02 4.17850289e-03 9.98887550e-01 -3.47469625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.980714057 meters 0.049599395672461924 Centerline is valid? [True, True] Translation: X:535.89, Y:-70.38, Z:-34.75 [[ 9.98207358e-01 3.71434743e-02 4.69300928e-02 5.35890669e+02] [-3.69044094e-02 9.99301083e-01 -5.95057563e-03 -7.03837081e+01] [-4.71183176e-02 4.20798102e-03 9.98880452e-01 -3.47485698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.010714057 meters 0.050366966482020895 Centerline is valid? [True, True] Translation: X:535.92, Y:-70.39, Z:-34.75 [[ 9.98301804e-01 3.57247967e-02 4.60135497e-02 5.35921337e+02] [-3.54928524e-02 9.99352818e-01 -5.84822734e-03 -7.03868244e+01] [-4.61926973e-02 4.20514378e-03 9.98923697e-01 -3.47500595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.040714057 meters 0.0500789599655409 Centerline is valid? [True, True] Translation: X:535.95, Y:-70.39, Z:-34.75 [[ 9.98316133e-01 3.63758611e-02 4.51851320e-02 5.35953878e+02] [-3.61529555e-02 9.99329778e-01 -5.74088108e-03 -7.03893856e+01] [-4.53636775e-02 4.09763813e-03 9.98962134e-01 -3.47519381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0707140569999 meters 0.05161620212277848 Centerline is valid? [True, True] Translation: X:535.98, Y:-70.39, Z:-34.75 [[ 9.98335095e-01 3.61982041e-02 4.49079984e-02 5.35984579e+02] [-3.59772788e-02 9.99336248e-01 -5.71830071e-03 -7.03947551e+01] [-4.50851829e-02 4.09311270e-03 9.98974761e-01 -3.47547543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.1007140569999 meters 0.04959923663891904 Centerline is valid? [True, True] Translation: X:536.02, Y:-70.39, Z:-34.76 [[ 9.98336959e-01 3.68671405e-02 4.43185079e-02 5.36017512e+02] [-3.66523486e-02 9.99312107e-01 -5.64968424e-03 -7.03947418e+01] [-4.44963092e-02 4.01591118e-03 9.99001477e-01 -3.47562148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.130714057 meters 0.050521656613807774 Centerline is valid? [True, True] Translation: X:536.05, Y:-70.40, Z:-34.76 [[ 9.98345095e-01 3.79372493e-02 4.32184755e-02 5.36048501e+02] [-3.77338601e-02 9.99272620e-01 -5.51246617e-03 -7.03973515e+01] [-4.33961670e-02 3.87254365e-03 9.99050437e-01 -3.47586087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.160714057 meters 0.05348816342902496 Centerline is valid? [True, True] Translation: X:536.08, Y:-70.40, Z:-34.76 [[ 9.98284028e-01 3.96902143e-02 4.30544645e-02 5.36078176e+02] [-3.94896403e-02 9.99204846e-01 -5.49948181e-03 -7.04026894e+01] [-4.32385052e-02 3.78983953e-03 9.99057590e-01 -3.47615701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.1907140569999 meters 0.0553509659142092 Centerline is valid? [True, True] Translation: X:536.11, Y:-70.41, Z:-34.76 [[ 9.98282569e-01 4.00884511e-02 4.27180155e-02 5.36108863e+02] [-3.98914067e-02 9.99189128e-01 -5.45550974e-03 -7.04088346e+01] [-4.29020795e-02 3.74205855e-03 9.99072274e-01 -3.47639026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.2207140569999 meters 0.055113718261936694 Centerline is valid? [True, True] Translation: X:536.14, Y:-70.41, Z:-34.77 [[ 9.98288974e-01 4.14049499e-02 4.12886852e-02 5.36139983e+02] [-4.12217040e-02 9.99136073e-01 -5.28005465e-03 -7.04103907e+01] [-4.14716352e-02 3.56903038e-03 9.99133307e-01 -3.47660627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.250714057 meters 0.055619553269247765 Centerline is valid? [True, True] Translation: X:536.17, Y:-70.41, Z:-34.77 [[ 9.98261469e-01 4.23669811e-02 4.09765705e-02 5.36171191e+02] [-4.21872445e-02 9.99095973e-01 -5.24152113e-03 -7.04131923e+01] [-4.11615940e-02 3.50371998e-03 9.99146359e-01 -3.47681331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.280714057 meters 0.05099824179283118 Centerline is valid? [True, True] Translation: X:536.20, Y:-70.41, Z:-34.77 [[ 9.98274822e-01 4.21874848e-02 4.08362075e-02 5.36202105e+02] [-4.20087495e-02 9.99103578e-01 -5.22551064e-03 -7.04094678e+01] [-4.10200522e-02 3.50101769e-03 9.99152190e-01 -3.47679811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.3107140569999 meters 0.0498080929820289 Centerline is valid? [True, True] Translation: X:536.23, Y:-70.41, Z:-34.77 [[ 9.98217969e-01 4.36080441e-02 4.07335900e-02 5.36233036e+02] [-4.34313803e-02 9.99042815e-01 -5.21237943e-03 -7.04091685e+01] [-4.09219021e-02 3.43397477e-03 9.99156447e-01 -3.47683227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.3407140569999 meters 0.05291832335151632 Centerline is valid? [True, True] Translation: X:536.26, Y:-70.42, Z:-34.77 [[ 9.98136549e-01 4.49661054e-02 4.12489935e-02 5.36262412e+02] [-4.47860902e-02 9.98982655e-01 -5.27833184e-03 -7.04160008e+01] [-4.14443751e-02 3.42111479e-03 9.99134956e-01 -3.47699483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.370714057 meters 0.046532048486150356 Centerline is valid? [True, True] Translation: X:536.29, Y:-70.41, Z:-34.77 [[ 9.98120207e-01 4.54404182e-02 4.11244542e-02 5.36292825e+02] [-4.52618646e-02 9.98961293e-01 -5.26298092e-03 -7.04099595e+01] [-4.13208899e-02 3.39171813e-03 9.99140171e-01 -3.47699589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.400714057 meters 0.05323296290732562 Centerline is valid? [True, True] Translation: X:536.32, Y:-70.42, Z:-34.77 [[ 9.97987997e-01 4.79194285e-02 4.15172899e-02 5.36320368e+02] [-4.77396429e-02 9.98845690e-01 -5.31161713e-03 -7.04223142e+01] [-4.17238958e-02 3.31890955e-03 9.99123667e-01 -3.47731185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.4307140569999 meters 0.05202441770220985 Centerline is valid? [True, True] Translation: X:536.35, Y:-70.42, Z:-34.77 [[ 9.97814832e-01 5.08521059e-02 4.21855916e-02 5.36350441e+02] [-5.06691521e-02 9.98700919e-01 -5.39552365e-03 -7.04245971e+01] [-4.24051628e-02 3.24622537e-03 9.99095223e-01 -3.47744513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.4607140569999 meters 0.05177792770727678 Centerline is valid? [True, True] Translation: X:536.38, Y:-70.43, Z:-34.78 [[ 9.97879452e-01 5.02338488e-02 4.13903422e-02 5.36379005e+02] [-5.00571801e-02 9.98732321e-01 -5.29439887e-03 -7.04278281e+01] [-4.16038306e-02 3.21128803e-03 9.99129025e-01 -3.47768760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.490714057 meters 0.04534451038062209 Centerline is valid? [True, True] Translation: X:536.41, Y:-70.42, Z:-34.78 [[ 9.97668248e-01 5.44525315e-02 4.11459443e-02 5.36411011e+02] [-5.42816252e-02 9.98511810e-01 -5.26034637e-03 -7.04204976e+01] [-4.13711505e-02 3.01461182e-03 9.99139300e-01 -3.47763553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.520714057 meters 0.04286985243528307 Centerline is valid? [True, True] Translation: X:536.44, Y:-70.42, Z:-34.78 [[ 9.97630811e-01 5.53015145e-02 4.09207355e-02 5.36439780e+02] [-5.51331442e-02 9.98465301e-01 -5.23255325e-03 -7.04207986e+01] [-4.11473026e-02 2.96406753e-03 9.99148695e-01 -3.47772657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.5507140569999 meters 0.04374974103674612 Centerline is valid? [True, True] Translation: X:536.47, Y:-70.43, Z:-34.78 [[ 9.97576407e-01 5.62722379e-02 4.09236803e-02 5.36466915e+02] [-5.61047651e-02 9.98411188e-01 -5.23027112e-03 -7.04267351e+01] [-4.11529793e-02 2.92158160e-03 9.99148586e-01 -3.47799348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.5807140569999 meters 0.04475446501688102 Centerline is valid? [True, True] Translation: X:536.50, Y:-70.43, Z:-34.78 [[ 9.97527218e-01 5.73886260e-02 4.05708568e-02 5.36495847e+02] [-5.72251195e-02 9.98347857e-01 -5.18099727e-03 -7.04311427e+01] [-4.08011582e-02 2.84651367e-03 9.99163231e-01 -3.47821202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.610714057 meters 0.04172094212766696 Centerline is valid? [True, True] Translation: X:536.53, Y:-70.43, Z:-34.78 [[ 9.97649928e-01 5.58668548e-02 3.96675539e-02 5.36525283e+02] [-5.57094365e-02 9.98434183e-01 -5.06363977e-03 -7.04316898e+01] [-3.98883314e-02 2.84188279e-03 9.99200102e-01 -3.47835508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.640714057 meters 0.04172094212766696 Centerline is valid? [True, True] Translation: X:536.55, Y:-70.44, Z:-34.79 [[ 9.97653906e-01 5.57956183e-02 3.96677855e-02 5.36553393e+02] [-5.56382158e-02 9.98438164e-01 -5.06182426e-03 -7.04352157e+01] [-3.98882585e-02 2.84290394e-03 9.99200102e-01 -3.47851937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.6707140569999 meters 0.04679024307192018 Centerline is valid? [True, True] Translation: X:536.58, Y:-70.45, Z:-34.79 [[ 9.97679040e-01 5.52765745e-02 3.97622191e-02 5.36580084e+02] [-5.51181148e-02 9.98466963e-01 -5.07128654e-03 -7.04472347e+01] [-3.99815855e-02 2.86789772e-03 9.99196301e-01 -3.47882556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.7007140569999 meters 0.04442363404164519 Centerline is valid? [True, True] Translation: X:536.61, Y:-70.45, Z:-34.79 [[ 9.97736435e-01 5.40634843e-02 3.99893259e-02 5.36608806e+02] [-5.39023993e-02 9.98533204e-01 -5.09627146e-03 -7.04480073e+01] [-4.02061919e-02 2.92921511e-03 9.99187111e-01 -3.47890469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.730714057 meters 0.04409976985528919 Centerline is valid? [True, True] Translation: X:536.64, Y:-70.45, Z:-34.79 [[ 9.97655523e-01 5.51754149e-02 4.04861783e-02 5.36637769e+02] [-5.50113261e-02 9.98472414e-01 -5.15673218e-03 -7.04502907e+01] [-4.07088571e-02 2.91744398e-03 9.99166792e-01 -3.47904462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.760714057 meters 0.0440562642920126 Centerline is valid? [True, True] Translation: X:536.67, Y:-70.45, Z:-34.79 [[ 9.97584844e-01 5.64267899e-02 4.05030522e-02 5.36666301e+02] [-5.62637070e-02 9.98402630e-01 -5.15600881e-03 -7.04528463e+01] [-4.07292908e-02 2.86470438e-03 9.99166111e-01 -3.47918923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.790714057 meters 0.04411498198741398 Centerline is valid? [True, True] Translation: X:536.69, Y:-70.46, Z:-34.79 [[ 9.97668243e-01 5.50574151e-02 4.03330826e-02 5.36694308e+02] [-5.48947140e-02 9.98478964e-01 -5.13121948e-03 -7.04572781e+01] [-4.05542462e-02 2.90518168e-03 9.99173115e-01 -3.47934514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.8207140569999 meters 0.0418090629092229 Centerline is valid? [True, True] Translation: X:536.72, Y:-70.46, Z:-34.79 [[ 9.97684307e-01 5.45491110e-02 4.06253499e-02 5.36722992e+02] [-5.43836977e-02 9.98506745e-01 -5.16656417e-03 -7.04570685e+01] [-4.08465174e-02 2.94524325e-03 9.99161092e-01 -3.47945233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.8507140569999 meters 0.04351968023770695 Centerline is valid? [True, True] Translation: X:536.75, Y:-70.46, Z:-34.80 [[ 9.97707210e-01 5.43243757e-02 4.03631727e-02 5.36750124e+02] [-5.41610148e-02 9.98519034e-01 -5.13061998e-03 -7.04639292e+01] [-4.05821139e-02 2.93274615e-03 9.99171903e-01 -3.47972230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.880714057 meters 0.0419488479400625 Centerline is valid? [True, True] Translation: X:536.78, Y:-70.47, Z:-34.80 [[ 9.97816162e-01 5.25655580e-02 3.99971248e-02 5.36779210e+02] [-5.24039114e-02 9.98613050e-01 -5.07992865e-03 -7.04662230e+01] [-4.02086801e-02 2.97282913e-03 9.99186882e-01 -3.47987892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.910714057 meters 0.04148229804996765 Centerline is valid? [True, True] Translation: X:536.81, Y:-70.47, Z:-34.80 [[ 9.97863770e-01 5.13489200e-02 4.03879197e-02 5.36808327e+02] [-5.11832085e-02 9.98676120e-01 -5.12704712e-03 -7.04696144e+01] [-4.05977192e-02 3.04891126e-03 9.99170921e-01 -3.48005595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9407140569999 meters 0.04685616149915312 Centerline is valid? [True, True] Translation: X:536.84, Y:-70.48, Z:-34.80 [[ 9.97998700e-01 4.90365526e-02 3.99250604e-02 5.36835758e+02] [-4.88728394e-02 9.98792157e-01 -5.06684129e-03 -7.04826802e+01] [-4.01252976e-02 3.10544995e-03 9.99189830e-01 -3.48042807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9707140569999 meters 0.042855048249914963 Centerline is valid? [True, True] Translation: X:536.86, Y:-70.48, Z:-34.80 [[ 9.98032150e-01 4.83439206e-02 3.99336181e-02 5.36864941e+02] [-4.81796195e-02 9.98825835e-01 -5.06709948e-03 -7.04809168e+01] [-4.01316929e-02 3.13314166e-03 9.99189487e-01 -3.48047387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.000714057 meters 0.06655304605975959 Centerline is valid? [True, True] Translation: X:536.89, Y:-70.52, Z:-34.81 [[ 9.97731986e-01 5.17775615e-02 4.30112479e-02 5.36889659e+02] [-5.15903006e-02 9.98653445e-01 -5.45315694e-03 -7.05210457e+01] [-4.32356821e-02 3.22182590e-03 9.99059706e-01 -3.48119743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.030714057 meters 0.04242291327185588 Centerline is valid? [True, True] Translation: X:536.92, Y:-70.49, Z:-34.81 [[ 9.98163022e-01 4.59033931e-02 3.95406179e-02 5.36923603e+02] [-4.57405709e-02 9.98940773e-01 -5.01318766e-03 -7.04926419e+01] [-3.97288577e-02 3.19536811e-03 9.99205388e-01 -3.48083247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.0607140569999 meters 0.04314831476608201 Centerline is valid? [True, True] Translation: X:536.95, Y:-70.50, Z:-34.81 [[ 9.98149085e-01 4.58728133e-02 3.99260495e-02 5.36952791e+02] [-4.57067769e-02 9.98942074e-01 -5.06200259e-03 -7.04988457e+01] [-4.01160190e-02 3.22774222e-03 9.99189815e-01 -3.48108507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.0907140569999 meters 0.04406408810715135 Centerline is valid? [True, True] Translation: X:536.98, Y:-70.51, Z:-34.81 [[ 9.98150040e-01 4.58903899e-02 3.98819425e-02 5.36980424e+02] [-4.57247803e-02 9.98941284e-01 -5.05526508e-03 -7.05063571e+01] [-4.00717069e-02 3.22231999e-03 9.99191611e-01 -3.48124878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.120714057 meters 0.04403940880757467 Centerline is valid? [True, True] Translation: X:537.01, Y:-70.51, Z:-34.81 [[ 9.98137368e-01 4.63017345e-02 3.97233514e-02 5.37009771e+02] [-4.61378628e-02 9.98922404e-01 -5.03268143e-03 -7.05112454e+01] [-3.99135676e-02 3.19055685e-03 9.99198042e-01 -3.48141574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.150714057 meters 0.043401510492209756 Centerline is valid? [True, True] Translation: X:537.04, Y:-70.52, Z:-34.82 [[ 9.98018708e-01 4.85682564e-02 3.99972972e-02 5.37039129e+02] [-4.84039819e-02 9.98814993e-01 -5.06592304e-03 -7.05157045e+01] [-4.01959432e-02 3.11985752e-03 9.99186946e-01 -3.48154210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.1807140569999 meters 0.04396739046542245 Centerline is valid? [True, True] Translation: X:537.07, Y:-70.52, Z:-34.82 [[ 9.97939293e-01 5.02434728e-02 3.99094035e-02 5.37066834e+02] [-5.00812966e-02 9.98732359e-01 -5.05365555e-03 -7.05222942e+01] [-4.01127259e-02 3.04452678e-03 9.99190522e-01 -3.48170756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.2107140569999 meters 0.0447198755149021 Centerline is valid? [True, True] Translation: X:537.09, Y:-70.53, Z:-34.82 [[ 9.97905737e-01 5.06098441e-02 4.02837977e-02 5.37094598e+02] [-5.04449946e-02 9.98713825e-01 -5.09886120e-03 -7.05289137e+01] [-4.04900382e-02 3.05606689e-03 9.99175269e-01 -3.48190441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.240714057 meters 0.044613064167470205 Centerline is valid? [True, True] Translation: X:537.12, Y:-70.53, Z:-34.82 [[ 9.97863582e-01 5.19948451e-02 3.95576421e-02 5.37123424e+02] [-5.18370526e-02 9.98643015e-01 -5.00489489e-03 -7.05347943e+01] [-3.97641917e-02 2.94365077e-03 9.99204756e-01 -3.48207943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.270714057 meters 0.04425660033844496 Centerline is valid? [True, True] Translation: X:537.15, Y:-70.54, Z:-34.82 [[ 9.97819025e-01 5.27521463e-02 3.96787767e-02 5.37151704e+02] [-5.25940513e-02 9.98603365e-01 -5.01844724e-03 -7.05384311e+01] [-3.98880938e-02 2.92063451e-03 9.99199885e-01 -3.48221807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.3007140569999 meters 0.04391492414001644 Centerline is valid? [True, True] Translation: X:537.18, Y:-70.54, Z:-34.82 [[ 9.97651261e-01 5.45124533e-02 4.14771482e-02 5.37179756e+02] [-5.43413446e-02 9.98508655e-01 -5.24253771e-03 -7.05449821e+01] [-4.17010750e-02 2.97630036e-03 9.99125699e-01 -3.48227902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.3307140569999 meters 0.041433699805879534 Centerline is valid? [True, True] Translation: X:537.21, Y:-70.55, Z:-34.82 [[ 9.97609056e-01 5.49263353e-02 4.19436399e-02 5.37208945e+02] [-5.47517977e-02 9.98485931e-01 -5.29958287e-03 -7.05463954e+01] [-4.21712211e-02 2.99042217e-03 9.99105923e-01 -3.48226988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.360714057 meters 0.04099373361604762 Centerline is valid? [True, True] Translation: X:537.24, Y:-70.55, Z:-34.82 [[ 9.97478201e-01 5.64847408e-02 4.29733960e-02 5.37238056e+02] [-5.63031178e-02 9.98398977e-01 -5.42602474e-03 -7.05523362e+01] [-4.32110822e-02 2.99280522e-03 9.99061482e-01 -3.48242923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.390714057 meters 0.04438983483622265 Centerline is valid? [True, True] Translation: X:537.27, Y:-70.56, Z:-34.83 [[ 9.97474159e-01 5.63349160e-02 4.32629030e-02 5.37265135e+02] [-5.61507307e-02 9.98407364e-01 -5.46176979e-03 -7.05616727e+01] [-4.35016892e-02 3.01873062e-03 9.99048793e-01 -3.48268677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4207140569999 meters 0.04268989142088597 Centerline is valid? [True, True] Translation: X:537.29, Y:-70.56, Z:-34.83 [[ 9.97503351e-01 5.61519878e-02 4.28254548e-02 5.37293747e+02] [-5.59715157e-02 9.98417749e-01 -5.40255260e-03 -7.05645389e+01] [-4.30610583e-02 2.99205870e-03 9.99067962e-01 -3.48276657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4507140569999 meters 0.04733168778501229 Centerline is valid? [True, True] Translation: X:537.32, Y:-70.58, Z:-34.83 [[ 9.97545794e-01 5.49631571e-02 4.33755795e-02 5.37320338e+02] [-5.47770655e-02 9.98483637e-01 -5.46809480e-03 -7.05772805e+01] [-4.36103501e-02 3.07868801e-03 9.99043872e-01 -3.48307020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.480714057 meters 0.044379511924116266 Centerline is valid? [True, True] Translation: X:537.35, Y:-70.58, Z:-34.83 [[ 9.97580581e-01 5.39968338e-02 4.37872833e-02 5.37349791e+02] [-5.38062789e-02 9.98536137e-01 -5.51966012e-03 -7.05788162e+01] [-4.40212289e-02 3.15027497e-03 9.99025629e-01 -3.48317284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.510714057 meters 0.04639343177639878 Centerline is valid? [True, True] Translation: X:537.38, Y:-70.59, Z:-34.83 [[ 9.97743326e-01 5.08705282e-02 4.38228760e-02 5.37379017e+02] [-5.06767425e-02 9.98699840e-01 -5.52238529e-03 -7.05882957e+01] [-4.40468259e-02 3.28912246e-03 9.99024053e-01 -3.48336457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.540714057 meters 0.04606659567415851 Centerline is valid? [True, True] Translation: X:537.41, Y:-70.59, Z:-34.83 [[ 9.97787525e-01 4.97271312e-02 4.41278421e-02 5.37409459e+02] [-4.95295687e-02 9.98757183e-01 -5.55983822e-03 -7.05933923e+01] [-4.43494740e-02 3.36190423e-03 9.99010421e-01 -3.48349359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5707140569999 meters 0.05116586605355765 Centerline is valid? [True, True] Translation: X:537.44, Y:-70.61, Z:-34.84 [[ 9.97877940e-01 4.73245195e-02 4.47214368e-02 5.37438418e+02] [-4.71192138e-02 9.98873382e-01 -5.63440783e-03 -7.06063783e+01] [-4.49376984e-02 3.51521233e-03 9.98983607e-01 -3.48376509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.6007140569999 meters 0.0462381304950867 Centerline is valid? [True, True] Translation: X:537.47, Y:-70.60, Z:-34.84 [[ 9.97892325e-01 4.70065194e-02 4.47358403e-02 5.37470211e+02] [-4.68007393e-02 9.98888341e-01 -5.63676919e-03 -7.06043750e+01] [-4.49510742e-02 3.53121831e-03 9.98982949e-01 -3.48386402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.630714057 meters 0.05035354552525414 Centerline is valid? [True, True] Translation: X:537.50, Y:-70.62, Z:-34.84 [[ 9.97891117e-01 4.74477143e-02 4.42948420e-02 5.37499827e+02] [-4.72464504e-02 9.98867676e-01 -5.58021916e-03 -7.06156428e+01] [-4.45094546e-02 3.47567707e-03 9.99002917e-01 -3.48427763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.660714057 meters 0.04791299967885908 Centerline is valid? [True, True] Translation: X:537.53, Y:-70.62, Z:-34.85 [[ 9.97921025e-01 4.74298177e-02 4.36353213e-02 5.37531397e+02] [-4.72340596e-02 9.98868669e-01 -5.50695262e-03 -7.06184394e+01] [-4.38471490e-02 3.43443043e-03 9.99032348e-01 -3.48457760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.6907140569999 meters 0.047901653289161954 Centerline is valid? [True, True] Translation: X:537.56, Y:-70.62, Z:-34.85 [[ 9.97951508e-01 4.70899374e-02 4.33050316e-02 5.37562656e+02] [-4.68962744e-02 9.98884745e-01 -5.47770947e-03 -7.06233790e+01] [-4.35146805e-02 3.43564378e-03 9.99046880e-01 -3.48480140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.7207140569999 meters 0.049471877422219125 Centerline is valid? [True, True] Translation: X:537.59, Y:-70.63, Z:-34.85 [[ 9.98013032e-01 4.65015241e-02 4.25158299e-02 5.37593089e+02] [-4.63143901e-02 9.98912444e-01 -5.37649443e-03 -7.06301693e+01] [-4.27196068e-02 3.39671678e-03 9.99081327e-01 -3.48504617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.750714057 meters 0.048361948055965734 Centerline is valid? [True, True] Translation: X:537.62, Y:-70.63, Z:-34.85 [[ 9.98038262e-01 4.61164140e-02 4.23426958e-02 5.37624494e+02] [-4.59299305e-02 9.98930246e-01 -5.36699021e-03 -7.06334346e+01] [-4.25449059e-02 3.41166451e-03 9.99088731e-01 -3.48525401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.780714057 meters 0.04690338315882276 Centerline is valid? [True, True] Translation: X:537.66, Y:-70.64, Z:-34.85 [[ 9.98045931e-01 4.60972392e-02 4.21825165e-02 5.37655433e+02] [-4.59120860e-02 9.98931168e-01 -5.34814905e-03 -7.06359034e+01] [-4.23839654e-02 3.40101107e-03 9.99095607e-01 -3.48547989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.8107140569999 meters 0.05024296256954305 Centerline is valid? [True, True] Translation: X:537.69, Y:-70.65, Z:-34.86 [[ 9.98040279e-01 4.60848819e-02 4.23294803e-02 5.37685832e+02] [-4.58984842e-02 9.98931700e-01 -5.36537353e-03 -7.06453528e+01] [-4.25315223e-02 3.41199991e-03 9.99089299e-01 -3.48584549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.8407140569999 meters 0.05001595322536219 Centerline is valid? [True, True] Translation: X:537.72, Y:-70.65, Z:-34.86 [[ 9.98066898e-01 4.59544068e-02 4.18408927e-02 5.37716773e+02] [-4.57716509e-02 9.98937784e-01 -5.31593974e-03 -7.06490096e+01] [-4.20407395e-02 3.39053676e-03 9.99110144e-01 -3.48602645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.870714057 meters 0.05128403997731107 Centerline is valid? [True, True] Translation: X:537.75, Y:-70.65, Z:-34.86 [[ 9.98091660e-01 4.57718851e-02 4.14484392e-02 5.37747444e+02] [-4.55923922e-02 9.98946246e-01 -5.26597266e-03 -7.06546127e+01] [-4.16457963e-02 3.36618989e-03 9.99126767e-01 -3.48634079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.900714057 meters 0.05016442700640661 Centerline is valid? [True, True] Translation: X:537.78, Y:-70.66, Z:-34.87 [[ 9.98152624e-01 4.48869499e-02 4.09450870e-02 5.37778985e+02] [-4.47107739e-02 9.98986394e-01 -5.20882796e-03 -7.06570315e+01] [-4.11373932e-02 3.36851877e-03 9.99147821e-01 -3.48652926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.9307140569999 meters 0.05021504695306817 Centerline is valid? [True, True] Translation: X:537.81, Y:-70.66, Z:-34.87 [[ 9.98231288e-01 4.31212307e-02 4.09249892e-02 5.37810120e+02] [-4.29436965e-02 9.99063921e-01 -5.20768435e-03 -7.06611849e+01] [-4.11112420e-02 3.44100314e-03 9.99148650e-01 -3.48675907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.9607140569999 meters 0.05307837219139852 Centerline is valid? [True, True] Translation: X:537.84, Y:-70.67, Z:-34.87 [[ 9.98281803e-01 4.09701603e-02 4.18913806e-02 5.37839066e+02] [-4.07822176e-02 9.99153835e-01 -5.33157587e-03 -7.06688339e+01] [-4.20743691e-02 3.61399177e-03 9.99107945e-01 -3.48692592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.990714057 meters 0.05689912916907099 Centerline is valid? [True, True] Translation: X:537.87, Y:-70.68, Z:-34.87 [[ 9.98315498e-01 4.01308626e-02 4.19008490e-02 5.37869244e+02] [-3.99420697e-02 9.99187762e-01 -5.33353471e-03 -7.06780981e+01] [-4.20808549e-02 3.65094373e-03 9.99107538e-01 -3.48718298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.020714057 meters 0.056156129124739294 Centerline is valid? [True, True] Translation: X:537.90, Y:-70.68, Z:-34.87 [[ 9.98403273e-01 3.78379054e-02 4.19427767e-02 5.37900236e+02] [-3.76461995e-02 9.99276802e-01 -5.35139241e-03 -7.06806134e+01] [-4.21149292e-02 3.76386156e-03 9.99105683e-01 -3.48736825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.0507140569999 meters 0.05736379460624544 Centerline is valid? [True, True] Translation: X:537.93, Y:-70.69, Z:-34.88 [[ 9.98409622e-01 3.75752332e-02 4.20277107e-02 5.37930627e+02] [-3.73826201e-02 9.99286652e-01 -5.35982873e-03 -7.06863138e+01] [-4.21991271e-02 3.78019863e-03 9.99102069e-01 -3.48758772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.0807140569999 meters 0.054619008048898327 Centerline is valid? [True, True] Translation: X:537.96, Y:-70.69, Z:-34.88 [[ 9.98458925e-01 3.66944920e-02 4.16327947e-02 5.37962921e+02] [-3.65042478e-02 9.99319332e-01 -5.32088327e-03 -7.06852019e+01] [-4.17997038e-02 3.79290954e-03 9.99118811e-01 -3.48773670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.110714057 meters 0.054708920504746225 Centerline is valid? [True, True] Translation: X:538.00, Y:-70.69, Z:-34.88 [[ 9.98471188e-01 3.64848844e-02 4.15227591e-02 5.37995025e+02] [-3.62954601e-02 9.99327011e-01 -5.30695395e-03 -7.06891303e+01] [-4.16884383e-02 3.79175298e-03 9.99123464e-01 -3.48794850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.140714057 meters 0.05254094921193777 Centerline is valid? [True, True] Translation: X:538.03, Y:-70.69, Z:-34.88 [[ 9.98426891e-01 3.72861048e-02 4.18746943e-02 5.38027870e+02] [-3.70937204e-02 9.99297405e-01 -5.36218508e-03 -7.06885174e+01] [-4.20452083e-02 3.80046158e-03 9.99108481e-01 -3.48809557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.1707140569999 meters 0.04847262024061676 Centerline is valid? [True, True] Translation: X:538.06, Y:-70.69, Z:-34.88 [[ 9.98387372e-01 3.83704808e-02 4.18373234e-02 5.38060029e+02] [-3.81788097e-02 9.99256489e-01 -5.37105202e-03 -7.06858353e+01] [-4.20123067e-02 3.76509131e-03 9.99109999e-01 -3.48819046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.2007140569999 meters 0.04801556606827582 Centerline is valid? [True, True] Translation: X:538.09, Y:-70.69, Z:-34.88 [[ 9.98309445e-01 4.06999015e-02 4.14942170e-02 5.38090579e+02] [-4.05132718e-02 9.99164789e-01 -5.32909568e-03 -7.06865679e+01] [-4.16764542e-02 3.63902006e-03 9.99124532e-01 -3.48839102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.230714057 meters 0.05627745588323978 Centerline is valid? [True, True] Translation: X:538.12, Y:-70.70, Z:-34.89 [[ 9.98211640e-01 4.28141028e-02 4.17189981e-02 5.38118419e+02] [-4.26272638e-02 9.99076677e-01 -5.35824683e-03 -7.06990984e+01] [-4.19098865e-02 3.57029762e-03 9.99115016e-01 -3.48880038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.260714057 meters 0.05295020680333753 Centerline is valid? [True, True] Translation: X:538.15, Y:-70.70, Z:-34.89 [[ 9.98154519e-01 4.38076082e-02 4.20529476e-02 5.38151579e+02] [-4.36188382e-02 9.99033671e-01 -5.39641508e-03 -7.06969329e+01] [-4.22487146e-02 3.55215538e-03 9.99100810e-01 -3.48887484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.290714057 meters 0.0470735122353623 Centerline is valid? [True, True] Translation: X:538.18, Y:-70.69, Z:-34.89 [[ 9.98141832e-01 4.42072206e-02 4.19357246e-02 5.38184236e+02] [-4.40192966e-02 9.99016116e-01 -5.39455363e-03 -7.06894107e+01] [-4.21329429e-02 3.53854855e-03 9.99105747e-01 -3.48891985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.3207140569999 meters 0.04545511802667851 Centerline is valid? [True, True] Translation: X:538.22, Y:-70.69, Z:-34.89 [[ 9.98119289e-01 4.45274422e-02 4.21330249e-02 5.38215842e+02] [-4.43379627e-02 9.99001878e-01 -5.42146164e-03 -7.06900690e+01] [-4.23323748e-02 3.54317296e-03 9.99097301e-01 -3.48906064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.3507140569999 meters 0.045655638888283875 Centerline is valid? [True, True] Translation: X:538.25, Y:-70.69, Z:-34.89 [[ 9.98085356e-01 4.40034547e-02 4.34662803e-02 5.38246816e+02] [-4.38012174e-02 9.99024601e-01 -5.59468287e-03 -7.06922252e+01] [-4.36700687e-02 3.68009505e-03 9.99039229e-01 -3.48913610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.380714057 meters 0.05023766209533659 Centerline is valid? [True, True] Translation: X:538.28, Y:-70.70, Z:-34.89 [[ 9.98083935e-01 4.30812640e-02 4.44124276e-02 5.38276462e+02] [-4.28691905e-02 9.99064337e-01 -5.71696049e-03 -7.07024322e+01] [-4.46171664e-02 3.80208160e-03 9.98996923e-01 -3.48932697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.410714057 meters 0.05309328967533899 Centerline is valid? [True, True] Translation: X:538.31, Y:-70.71, Z:-34.89 [[ 9.98158521e-01 4.05014859e-02 4.51574569e-02 5.38305619e+02] [-4.02792736e-02 9.99171509e-01 -5.82031453e-03 -7.07101291e+01] [-4.53557757e-02 3.99068699e-03 9.98962926e-01 -3.48949690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4407140569999 meters 0.049976697317729704 Centerline is valid? [True, True] Translation: X:538.34, Y:-70.71, Z:-34.90 [[ 9.98285685e-01 3.72700755e-02 4.51290588e-02 5.38336738e+02] [-3.70448714e-02 9.99296675e-01 -5.81660011e-03 -7.07099810e+01] [-4.53141035e-02 4.13482845e-03 9.98964231e-01 -3.48967189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4707140569999 meters 0.05139771299404308 Centerline is valid? [True, True] Translation: X:538.37, Y:-70.72, Z:-34.90 [[ 9.98366713e-01 3.56183029e-02 4.46681337e-02 5.38367612e+02] [-3.53960543e-02 9.99356782e-01 -5.75690497e-03 -7.07156993e+01] [-4.48444535e-02 4.16642661e-03 9.98985293e-01 -3.48989733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.500714057 meters 0.05379707004659001 Centerline is valid? [True, True] Translation: X:538.40, Y:-70.72, Z:-34.90 [[ 9.98492906e-01 3.28184527e-02 4.39871209e-02 5.38396536e+02] [-3.26001633e-02 9.99452385e-01 -5.67095602e-03 -7.07229490e+01] [-4.41491449e-02 4.22842202e-03 9.99016003e-01 -3.49013573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.530714057 meters 0.05379707004659001 Centerline is valid? [True, True] Translation: X:538.43, Y:-70.73, Z:-34.90 [[ 9.98483645e-01 3.30985167e-02 4.39874951e-02 5.38428965e+02] [-3.28806229e-02 9.99443214e-01 -5.66805801e-03 -7.07272195e+01] [-4.41506078e-02 4.21312698e-03 9.99016003e-01 -3.49032524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.5607140569999 meters 0.05131698039720047 Centerline is valid? [True, True] Translation: X:538.46, Y:-70.73, Z:-34.90 [[ 9.98544704e-01 3.17878874e-02 4.35660880e-02 5.38460128e+02] [-3.15722173e-02 9.99485618e-01 -5.62974411e-03 -7.07276306e+01] [-4.37226361e-02 4.24607317e-03 9.99034685e-01 -3.49042896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.5907140569999 meters 0.052925506104821954 Centerline is valid? [True, True] Translation: X:538.49, Y:-70.73, Z:-34.91 [[ 9.98571356e-01 3.13541322e-02 4.32685293e-02 5.38490530e+02] [-3.11410964e-02 9.99499372e-01 -5.58901757e-03 -7.07340963e+01] [-4.34221067e-02 4.23360341e-03 9.99047845e-01 -3.49066054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.620714057 meters 0.05003257368753618 Centerline is valid? [True, True] Translation: X:538.52, Y:-70.73, Z:-34.91 [[ 9.98577854e-01 3.17388240e-02 4.28359238e-02 5.38523534e+02] [-3.15299915e-02 9.99487441e-01 -5.54218701e-03 -7.07337792e+01] [-4.29898704e-02 4.18368890e-03 9.99066748e-01 -3.49088557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.650714057 meters 0.05809504191438107 Centerline is valid? [True, True] Translation: X:538.55, Y:-70.75, Z:-34.91 [[ 9.98496174e-01 3.35950436e-02 4.33216341e-02 5.38551202e+02] [-3.33824154e-02 9.99426837e-01 -5.62245828e-03 -7.07482166e+01] [-4.34856904e-02 4.16782229e-03 9.99045356e-01 -3.49121383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.6807140569999 meters 0.050643036114699475 Centerline is valid? [True, True] Translation: X:538.58, Y:-70.74, Z:-34.91 [[ 9.98455383e-01 3.46570094e-02 4.34251067e-02 5.38583935e+02] [-3.44444262e-02 9.99390732e-01 -5.63432623e-03 -7.07411081e+01] [-4.35939181e-02 4.12987047e-03 9.99040797e-01 -3.49124046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.7107140569999 meters 0.05024915867553513 Centerline is valid? [True, True] Translation: X:538.61, Y:-70.74, Z:-34.91 [[ 9.98284447e-01 3.80326889e-02 4.45160402e-02 5.38613588e+02] [-3.78124985e-02 9.99268146e-01 -5.77826175e-03 -7.07427987e+01] [-4.47032238e-02 4.08508613e-03 9.98991959e-01 -3.49131573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.740714057 meters 0.04920613320347516 Centerline is valid? [True, True] Translation: X:538.64, Y:-70.74, Z:-34.91 [[ 9.98128590e-01 4.11451499e-02 4.52370916e-02 5.38644119e+02] [-4.09209803e-02 9.99145138e-01 -5.87075876e-03 -7.07434322e+01] [-4.54399734e-02 4.00862603e-03 9.98959028e-01 -3.49139839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.770714057 meters 0.04774891907564088 Centerline is valid? [True, True] Translation: X:538.68, Y:-70.75, Z:-34.92 [[ 9.98023536e-01 4.29482036e-02 4.58745510e-02 5.38675339e+02] [-4.27195611e-02 9.99069365e-01 -5.95334750e-03 -7.07451234e+01] [-4.60875441e-02 3.98184024e-03 9.98929469e-01 -3.49152207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.8007140569999 meters 0.04922928441230554 Centerline is valid? [True, True] Translation: X:538.71, Y:-70.75, Z:-34.92 [[ 9.97965494e-01 4.40136661e-02 4.61266687e-02 5.38705258e+02] [-4.37835912e-02 9.99023100e-01 -5.98690330e-03 -7.07502008e+01] [-4.63451131e-02 3.95513171e-03 9.98917658e-01 -3.49175242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.8307140569999 meters 0.04851607636933653 Centerline is valid? [True, True] Translation: X:538.74, Y:-70.75, Z:-34.92 [[ 9.97950908e-01 4.43089050e-02 4.61595701e-02 5.38737149e+02] [-4.40788969e-02 9.99010099e-01 -5.98940650e-03 -7.07535799e+01] [-4.63792607e-02 3.94247072e-03 9.98916123e-01 -3.49192924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.860714057 meters 0.047677685885291046 Centerline is valid? [True, True] Translation: X:538.77, Y:-70.76, Z:-34.92 [[ 9.98045457e-01 4.36353736e-02 4.47349959e-02 5.38768732e+02] [-4.34181944e-02 9.99040060e-01 -5.81545868e-03 -7.07555752e+01] [-4.49458127e-02 3.86177937e-03 9.98981962e-01 -3.49222115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.890714057 meters 0.049655475020517384 Centerline is valid? [True, True] Translation: X:538.80, Y:-70.76, Z:-34.93 [[ 9.98093992e-01 4.32127812e-02 4.40572306e-02 5.38799161e+02] [-4.30012811e-02 9.99058542e-01 -5.73749144e-03 -7.07626664e+01] [-4.42636856e-02 3.83203838e-03 9.99012533e-01 -3.49254611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9207140569999 meters 0.048319044870898636 Centerline is valid? [True, True] Translation: X:538.83, Y:-70.77, Z:-34.93 [[ 9.98234448e-01 4.11972335e-02 4.27875532e-02 5.38829762e+02] [-4.09953930e-02 9.99143729e-01 -5.58442858e-03 -7.07657217e+01] [-4.29809785e-02 3.82047642e-03 9.99068586e-01 -3.49281366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9507140569999 meters 0.05581306709669677 Centerline is valid? [True, True] Translation: X:538.86, Y:-70.78, Z:-34.93 [[ 9.98259036e-01 4.09682103e-02 4.24323251e-02 5.38858908e+02] [-4.07695501e-02 9.99153234e-01 -5.53700499e-03 -7.07811631e+01] [-4.26232361e-02 3.79741846e-03 9.99084000e-01 -3.49320031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.980714057 meters 0.05873403177161649 Centerline is valid? [True, True] Translation: X:538.89, Y:-70.79, Z:-34.93 [[ 9.98349395e-01 3.96342932e-02 4.15644986e-02 5.38888329e+02] [-3.94419991e-02 9.99207072e-01 -5.43661238e-03 -7.07888850e+01] [-4.17470173e-02 3.78825177e-03 9.99121032e-01 -3.49345285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.010714057 meters 0.05023088417807446 Centerline is valid? [True, True] Translation: X:538.92, Y:-70.78, Z:-34.93 [[ 9.98319878e-01 4.01176184e-02 4.18090556e-02 5.38921760e+02] [-3.99235963e-02 9.99187787e-01 -5.46567064e-03 -7.07813796e+01] [-4.19943674e-02 3.78731979e-03 9.99110669e-01 -3.49337489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.040714057 meters 0.0563021857822711 Centerline is valid? [True, True] Translation: X:538.95, Y:-70.79, Z:-34.94 [[ 9.98291287e-01 4.04678621e-02 4.21528000e-02 5.38951566e+02] [-4.02704197e-02 9.99173554e-01 -5.52296577e-03 -7.07943172e+01] [-4.23414656e-02 3.81601766e-03 9.99095910e-01 -3.49363736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0707140569999 meters 0.05103873266431632 Centerline is valid? [True, True] Translation: X:538.98, Y:-70.79, Z:-34.94 [[ 9.98252432e-01 4.11074048e-02 4.24530636e-02 5.38984484e+02] [-4.09075177e-02 9.99147429e-01 -5.56682548e-03 -7.07911773e+01] [-4.26457071e-02 3.82044763e-03 9.99082953e-01 -3.49369564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.1007140569999 meters 0.04752214557167401 Centerline is valid? [True, True] Translation: X:539.02, Y:-70.79, Z:-34.94 [[ 9.98146884e-01 4.26156837e-02 4.34361848e-02 5.39016780e+02] [-4.24072373e-02 9.99084094e-01 -5.70952691e-03 -7.07909952e+01] [-4.36397167e-02 3.85693790e-03 9.99039889e-01 -3.49384870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.130714057 meters 0.05048657352170508 Centerline is valid? [True, True] Translation: X:539.05, Y:-70.80, Z:-34.94 [[ 9.98073925e-01 4.37705971e-02 4.39610710e-02 5.39046563e+02] [-4.35580698e-02 9.99034170e-01 -5.78121752e-03 -7.07995063e+01] [-4.41716594e-02 3.85522306e-03 9.99016517e-01 -3.49404338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.160714057 meters 0.04760777681713991 Centerline is valid? [True, True] Translation: X:539.08, Y:-70.80, Z:-34.94 [[ 9.97968856e-01 4.57340754e-02 4.43458789e-02 5.39077422e+02] [-4.55196366e-02 9.98946409e-01 -5.83392939e-03 -7.07980151e+01] [-4.45659659e-02 3.80347154e-03 9.98999203e-01 -3.49408120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.1907140569999 meters 0.04811001841046011 Centerline is valid? [True, True] Translation: X:539.11, Y:-70.80, Z:-34.94 [[ 9.97910052e-01 4.67974393e-02 4.45592529e-02 5.39108301e+02] [-4.65819921e-02 9.98897271e-01 -5.86177214e-03 -7.08014799e+01] [-4.47844320e-02 3.77386258e-03 9.98989546e-01 -3.49424634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.2207140569999 meters 0.046059289189089136 Centerline is valid? [True, True] Translation: X:539.14, Y:-70.80, Z:-34.94 [[ 9.97796365e-01 4.92757968e-02 4.44332084e-02 5.39139485e+02] [-4.90639714e-02 9.98778530e-01 -5.84597715e-03 -7.08017972e+01] [-4.46669997e-02 3.65302508e-03 9.98995253e-01 -3.49440615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.250714057 meters 0.04624519880688319 Centerline is valid? [True, True] Translation: X:539.17, Y:-70.81, Z:-34.95 [[ 9.97787616e-01 4.96965293e-02 4.41602492e-02 5.39169904e+02] [-4.94876644e-02 9.98757830e-01 -5.81108677e-03 -7.08053801e+01] [-4.43941855e-02 3.61284282e-03 9.99007559e-01 -3.49467431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.280714057 meters 0.04667929064019086 Centerline is valid? [True, True] Translation: X:539.20, Y:-70.81, Z:-34.95 [[ 9.97773388e-01 5.03528914e-02 4.37361639e-02 5.39198671e+02] [-5.01486271e-02 9.98725181e-01 -5.75576369e-03 -7.08099194e+01] [-4.39702276e-02 3.54963926e-03 9.99026536e-01 -3.49502322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.3107140569999 meters 0.04854763592174219 Centerline is valid? [True, True] Translation: X:539.23, Y:-70.82, Z:-34.95 [[ 9.97847524e-01 4.96722054e-02 4.28134525e-02 5.39227544e+02] [-4.94759395e-02 9.98759435e-01 -5.63234279e-03 -7.08158576e+01] [-4.30401105e-02 3.50198352e-03 9.99067207e-01 -3.49537337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.3407140569999 meters 0.04858717264037015 Centerline is valid? [True, True] Translation: X:539.26, Y:-70.82, Z:-34.96 [[ 9.97867274e-01 4.95294899e-02 4.25174536e-02 5.39257354e+02] [-4.93358095e-02 9.98766586e-01 -5.59322780e-03 -7.08190306e+01] [-4.27420417e-02 3.48366598e-03 9.99080068e-01 -3.49555510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.370714057 meters 0.04416923281446354 Centerline is valid? [True, True] Translation: X:539.29, Y:-70.81, Z:-34.96 [[ 9.97932774e-01 4.85779014e-02 4.20757191e-02 5.39287973e+02] [-4.83873360e-02 9.98813303e-01 -5.53634421e-03 -7.08140024e+01] [-4.22947320e-02 3.48896738e-03 9.99099086e-01 -3.49561867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.400714057 meters 0.050352737308533436 Centerline is valid? [True, True] Translation: X:539.32, Y:-70.83, Z:-34.96 [[ 9.97946437e-01 4.82994001e-02 4.20722757e-02 5.39316007e+02] [-4.81086973e-02 9.98826775e-01 -5.53407110e-03 -7.08260463e+01] [-4.22902077e-02 3.49866416e-03 9.99099243e-01 -3.49593211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.4307140569999 meters 0.05308988701812716 Centerline is valid? [True, True] Translation: X:539.34, Y:-70.83, Z:-34.96 [[ 9.97984034e-01 4.67328489e-02 4.29407633e-02 5.39345000e+02] [-4.65327884e-02 9.98900800e-01 -5.64732283e-03 -7.08317594e+01] [-4.31574783e-02 3.63778456e-03 9.99061659e-01 -3.49617138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.4607140569999 meters 0.0475390842552561 Centerline is valid? [True, True] Translation: X:539.38, Y:-70.83, Z:-34.96 [[ 9.98002684e-01 4.60237781e-02 4.32718586e-02 5.39375971e+02] [-4.58199586e-02 9.98933504e-01 -5.69081779e-03 -7.08270887e+01] [-4.34876223e-02 3.69673666e-03 9.99047126e-01 -3.49616021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.490714057 meters 0.047411775958024004 Centerline is valid? [True, True] Translation: X:539.41, Y:-70.83, Z:-34.96 [[ 9.98037357e-01 4.39551123e-02 4.46024982e-02 5.39406490e+02] [-4.37365621e-02 9.99025886e-01 -5.86451831e-03 -7.08300967e+01] [-4.48168258e-02 3.90224842e-03 9.98987600e-01 -3.49623075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.520714057 meters 0.04867162753034023 Centerline is valid? [True, True] Translation: X:539.44, Y:-70.84, Z:-34.96 [[ 9.98077464e-01 4.25798574e-02 4.50370135e-02 5.39437046e+02] [-4.23556083e-02 9.99085046e-01 -5.92225487e-03 -7.08361298e+01] [-4.52479755e-02 4.00329901e-03 9.98967764e-01 -3.49642207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.5507140569999 meters 0.049016030396709695 Centerline is valid? [True, True] Translation: X:539.47, Y:-70.84, Z:-34.97 [[ 9.98142323e-01 3.98348019e-02 4.60987082e-02 5.39467383e+02] [-3.95968533e-02 9.99197338e-01 -6.06378988e-03 -7.08410455e+01] [-4.63032563e-02 4.22716154e-03 9.98918485e-01 -3.49661824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.5807140569999 meters 0.05045382606552037 Centerline is valid? [True, True] Translation: X:539.50, Y:-70.85, Z:-34.97 [[ 9.98172982e-01 3.88594263e-02 4.62670886e-02 5.39499056e+02] [-3.86186987e-02 9.99235487e-01 -6.08588382e-03 -7.08469293e+01] [-4.64682107e-02 4.28799004e-03 9.98910566e-01 -3.49682969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.610714057 meters 0.05076277659298938 Centerline is valid? [True, True] Translation: X:539.53, Y:-70.85, Z:-34.97 [[ 9.98231682e-01 3.73748436e-02 4.62237005e-02 5.39529661e+02] [-3.71327570e-02 9.99291814e-01 -6.08520798e-03 -7.08508778e+01] [-4.64183992e-02 4.35803396e-03 9.98912579e-01 -3.49703242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.640714057 meters 0.05081043065944238 Centerline is valid? [True, True] Translation: X:539.56, Y:-70.85, Z:-34.97 [[ 9.98288954e-01 3.64769751e-02 4.57011379e-02 5.39561427e+02] [-3.62393960e-02 9.99325026e-01 -6.01659856e-03 -7.08549354e+01] [-4.58897581e-02 4.35012225e-03 9.98937038e-01 -3.49722109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.6707140569999 meters 0.05251356701441929 Centerline is valid? [True, True] Translation: X:539.59, Y:-70.86, Z:-34.97 [[ 9.98373818e-01 3.46263951e-02 4.52850093e-02 5.39590930e+02] [-3.43910523e-02 9.99390646e-01 -5.96597251e-03 -7.08608581e+01] [-4.54639948e-02 4.39887163e-03 9.98956293e-01 -3.49748067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.7007140569999 meters 0.05397171267188801 Centerline is valid? [True, True] Translation: X:539.62, Y:-70.87, Z:-34.98 [[ 9.98382593e-01 3.43889028e-02 4.52725205e-02 5.39621166e+02] [-3.41535758e-02 9.99398816e-01 -5.96152211e-03 -7.08678342e+01] [-4.54503136e-02 4.40566144e-03 9.98956886e-01 -3.49775366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.730714057 meters 0.05366487046013902 Centerline is valid? [True, True] Translation: X:539.65, Y:-70.87, Z:-34.98 [[ 9.98388861e-01 3.38367337e-02 4.55495163e-02 5.39653419e+02] [-3.35974659e-02 9.99417384e-01 -6.00849834e-03 -7.08724096e+01] [-4.57262864e-02 4.46846949e-03 9.98944012e-01 -3.49799382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.760714057 meters 0.054580626363397465 Centerline is valid? [True, True] Translation: X:539.68, Y:-70.88, Z:-34.98 [[ 9.98394932e-01 3.46031124e-02 4.48350881e-02 5.39684970e+02] [-3.43715786e-02 9.99391559e-01 -5.92501517e-03 -7.08761010e+01] [-4.50128326e-02 4.37445236e-03 9.98976831e-01 -3.49824800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.790714057 meters 0.052829915382729936 Centerline is valid? [True, True] Translation: X:539.72, Y:-70.88, Z:-34.98 [[ 9.98392945e-01 3.55847601e-02 4.41050047e-02 5.39717168e+02] [-3.53611866e-02 9.99357539e-01 -5.83922576e-03 -7.08771182e+01] [-4.42844564e-02 4.27023651e-03 9.99009836e-01 -3.49841813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.8207140569999 meters 0.05154811180619603 Centerline is valid? [True, True] Translation: X:539.75, Y:-70.88, Z:-34.99 [[ 9.98342823e-01 3.72077352e-02 4.38997993e-02 5.39748496e+02] [-3.69871811e-02 9.99298758e-01 -5.82592157e-03 -7.08775450e+01] [-4.40857842e-02 4.19253716e-03 9.99018952e-01 -3.49862359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.8507140569999 meters 0.04929771348576034 Centerline is valid? [True, True] Translation: X:539.78, Y:-70.88, Z:-34.99 [[ 9.98292336e-01 3.83719307e-02 4.40455049e-02 5.39781187e+02] [-3.81510891e-02 9.99254894e-01 -5.84394767e-03 -7.08782317e+01] [-4.42369299e-02 4.15358419e-03 9.99012433e-01 -3.49879978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.880714057 meters 0.04915217073664088 Centerline is valid? [True, True] Translation: X:539.81, Y:-70.88, Z:-34.99 [[ 9.98159984e-01 4.08115380e-02 4.48449010e-02 5.39811835e+02] [-4.05843753e-02 9.99158311e-01 -5.96473644e-03 -7.08812685e+01] [-4.50505856e-02 4.13375894e-03 9.98976154e-01 -3.49891448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.910714057 meters 0.052581383566330166 Centerline is valid? [True, True] Translation: X:539.84, Y:-70.89, Z:-34.99 [[ 9.98103792e-01 4.17928821e-02 4.51904320e-02 5.39841332e+02] [-4.15631614e-02 9.99117793e-01 -6.01151892e-03 -7.08892917e+01] [-4.54018034e-02 4.12186261e-03 9.98960303e-01 -3.49909856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9407140569999 meters 0.055891279011768685 Centerline is valid? [True, True] Translation: X:539.87, Y:-70.90, Z:-34.99 [[ 9.97990779e-01 4.31899336e-02 4.63576778e-02 5.39871639e+02] [-4.29496431e-02 9.99058202e-01 -6.16747049e-03 -7.08966731e+01] [-4.65803908e-02 4.16403297e-03 9.98905865e-01 -3.49925082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9707140569999 meters 0.04869390659257766 Centerline is valid? [True, True] Translation: X:539.91, Y:-70.89, Z:-34.99 [[ 9.97949962e-01 4.39532808e-02 4.65186246e-02 5.39905024e+02] [-4.37121729e-02 9.99025001e-01 -6.18816788e-03 -7.08910106e+01] [-4.67452593e-02 4.14205174e-03 9.98898255e-01 -3.49932680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.000714057 meters 0.05030588199360427 Centerline is valid? [True, True] Translation: X:539.94, Y:-70.90, Z:-35.00 [[ 9.97986228e-01 4.35281316e-02 4.61388228e-02 5.39935833e+02] [-4.32899514e-02 9.99043625e-01 -6.14942347e-03 -7.08973440e+01] [-4.63623697e-02 4.13969254e-03 9.98916109e-01 -3.49963349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.030714057 meters 0.05138769025717819 Centerline is valid? [True, True] Translation: X:539.97, Y:-70.90, Z:-35.00 [[ 9.98029467e-01 4.27336480e-02 4.59458102e-02 5.39965918e+02] [-4.24960765e-02 9.99077794e-01 -6.13553522e-03 -7.09045720e+01] [-4.61656325e-02 4.17092828e-03 9.98925091e-01 -3.49999113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.0607140569999 meters 0.05299887889372264 Centerline is valid? [True, True] Translation: X:540.00, Y:-70.91, Z:-35.00 [[ 9.98054387e-01 4.22995002e-02 4.58060293e-02 5.39996298e+02] [-4.20627074e-02 9.99096220e-01 -6.12148936e-03 -7.09114627e+01] [-4.60235667e-02 4.18285370e-03 9.98931597e-01 -3.50027206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.0907140569999 meters 0.05235842824335351 Centerline is valid? [True, True] Translation: X:540.03, Y:-70.91, Z:-35.01 [[ 9.98127777e-01 4.14275470e-02 4.49966501e-02 5.40028087e+02] [-4.11976339e-02 9.99132849e-01 -6.02534292e-03 -7.09149974e+01] [-4.52072464e-02 4.16030662e-03 9.98968967e-01 -3.50051245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.120714057 meters 0.0562205620464615 Centerline is valid? [True, True] Translation: X:540.06, Y:-70.92, Z:-35.01 [[ 9.98250720e-01 4.03689583e-02 4.31954560e-02 5.40057443e+02] [-4.01559574e-02 9.99176661e-01 -5.78782128e-03 -7.09243406e+01] [-4.33935399e-02 4.04314187e-03 9.99049875e-01 -3.50087081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.150714057 meters 0.053450032993930065 Centerline is valid? [True, True] Translation: X:540.09, Y:-70.92, Z:-35.01 [[ 9.98285024e-01 4.01141754e-02 4.26364136e-02 5.40089656e+02] [-3.99065403e-02 9.99187100e-01 -5.71025998e-03 -7.09245747e+01] [-4.28308168e-02 3.99899526e-03 9.99074336e-01 -3.50103074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.1807140569999 meters 0.05313312014090381 Centerline is valid? [True, True] Translation: X:540.12, Y:-70.93, Z:-35.01 [[ 9.98224692e-01 4.13982250e-02 4.28211456e-02 5.40120454e+02] [-4.11893627e-02 9.99134820e-01 -5.74877608e-03 -7.09288035e+01] [-4.30220868e-02 3.97479453e-03 9.99066215e-01 -3.50122095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.2107140569999 meters 0.052383960833662924 Centerline is valid? [True, True] Translation: X:540.15, Y:-70.93, Z:-35.01 [[ 9.98024158e-01 4.47655738e-02 4.40888177e-02 5.40151354e+02] [-4.45473165e-02 9.98989729e-01 -5.92101085e-03 -7.09309606e+01] [-4.43093335e-02 3.94527335e-03 9.99010069e-01 -3.50123409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.240714057 meters 0.05284053929406568 Centerline is valid? [True, True] Translation: X:540.18, Y:-70.93, Z:-35.01 [[ 9.97929138e-01 4.63630369e-02 4.45859287e-02 5.40181869e+02] [-4.61414176e-02 9.98916973e-01 -5.98752551e-03 -7.09344654e+01] [-4.48152409e-02 3.91786821e-03 9.98987610e-01 -3.50133987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.270714057 meters 0.051993970162557995 Centerline is valid? [True, True] Translation: X:540.21, Y:-70.94, Z:-35.01 [[ 9.97760707e-01 4.95615382e-02 4.49135429e-02 5.40212124e+02] [-4.93397711e-02 9.98763828e-01 -6.03352026e-03 -7.09351426e+01] [-4.51570525e-02 3.80398551e-03 9.98972657e-01 -3.50141067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.3007140569999 meters 0.05238248889673443 Centerline is valid? [True, True] Translation: X:540.24, Y:-70.94, Z:-35.02 [[ 9.97696008e-01 5.07539885e-02 4.50189683e-02 5.40242196e+02] [-5.05323701e-02 9.98704111e-01 -6.04796323e-03 -7.09381327e+01] [-4.52675869e-02 3.75911361e-03 9.98967825e-01 -3.50160998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.3307140569999 meters 0.05217923002770127 Centerline is valid? [True, True] Translation: X:540.27, Y:-70.94, Z:-35.02 [[ 9.97616533e-01 5.19983856e-02 4.53587936e-02 5.40270850e+02] [-5.17747088e-02 9.98640203e-01 -6.09303643e-03 -7.09417032e+01] [-4.56139429e-02 3.73007555e-03 9.98952178e-01 -3.50179098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.360714057 meters 0.04716647440546807 Centerline is valid? [True, True] Translation: X:540.30, Y:-70.94, Z:-35.02 [[ 9.97616115e-01 5.21420869e-02 4.52027751e-02 5.40301015e+02] [-5.19201628e-02 9.98632788e-01 -6.07056934e-03 -7.09373278e+01] [-4.54575054e-02 3.70916235e-03 9.98959387e-01 -3.50189865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.390714057 meters 0.04778544321726858 Centerline is valid? [True, True] Translation: X:540.33, Y:-70.94, Z:-35.02 [[ 9.97593906e-01 5.27406429e-02 4.49980357e-02 5.40329212e+02] [-5.25213931e-02 9.98601523e-01 -6.04169951e-03 -7.09403811e+01] [-4.52537501e-02 3.66380309e-03 9.98968806e-01 -3.50204073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4207140569999 meters 0.047734924284257664 Centerline is valid? [True, True] Translation: X:540.36, Y:-70.94, Z:-35.02 [[ 9.97588776e-01 5.31279174e-02 4.46548864e-02 5.40359336e+02] [-5.29125125e-02 9.98581169e-01 -5.99283471e-03 -7.09421068e+01] [-4.49099156e-02 3.61558241e-03 9.98984498e-01 -3.50222410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4507140569999 meters 0.047734924284257664 Centerline is valid? [True, True] Translation: X:540.39, Y:-70.95, Z:-35.02 [[ 9.97592446e-01 5.30589490e-02 4.46549016e-02 5.40387442e+02] [-5.28434805e-02 9.98584826e-01 -5.99272170e-03 -7.09458136e+01] [-4.49096747e-02 3.61857348e-03 9.98984498e-01 -3.50238842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.480714057 meters 0.04868144997893213 Centerline is valid? [True, True] Translation: X:540.42, Y:-70.95, Z:-35.03 [[ 9.97585325e-01 5.37412464e-02 4.39931599e-02 5.40416280e+02] [-5.35329365e-02 9.98548652e-01 -5.90040067e-03 -7.09497099e+01] [-4.42464054e-02 3.53107008e-03 9.99014408e-01 -3.50259540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.510714057 meters 0.044541061277513255 Centerline is valid? [True, True] Translation: X:540.45, Y:-70.95, Z:-35.03 [[ 9.97432196e-01 5.65261232e-02 4.39751360e-02 5.40447329e+02] [-5.63207504e-02 9.98395316e-01 -5.89621555e-03 -7.09460973e+01] [-4.42378600e-02 3.40436256e-03 9.99015226e-01 -3.50270127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.540714057 meters 0.04816580072741772 Centerline is valid? [True, True] Translation: X:540.48, Y:-70.95, Z:-35.03 [[ 9.97352837e-01 5.81758032e-02 4.36221773e-02 5.40475615e+02] [-5.79753073e-02 9.98300887e-01 -5.84837219e-03 -7.09540899e+01] [-4.38882920e-02 3.30388146e-03 9.99030982e-01 -3.50305491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5707140569999 meters 0.047503695965386686 Centerline is valid? [True, True] Translation: X:540.51, Y:-70.95, Z:-35.03 [[ 9.97148037e-01 6.19364005e-02 4.31239540e-02 5.40505248e+02] [-6.17440318e-02 9.98075282e-01 -5.77985647e-03 -7.09549259e+01] [-4.33989360e-02 3.10072574e-03 9.99053011e-01 -3.50329657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.6007140569999 meters 0.040191673141282885 Centerline is valid? [True, True] Translation: X:540.54, Y:-70.95, Z:-35.03 [[ 9.96985102e-01 6.44441333e-02 4.32164436e-02 5.40536194e+02] [-6.42533095e-02 9.97916815e-01 -5.79159095e-03 -7.09469110e+01] [-4.34996498e-02 2.99733037e-03 9.99048946e-01 -3.50323481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.630714057 meters 0.04028037631424511 Centerline is valid? [True, True] Translation: X:540.57, Y:-70.95, Z:-35.03 [[ 9.96738156e-01 6.81952296e-02 4.31562088e-02 5.40565198e+02] [-6.80085126e-02 9.97667988e-01 -5.78174158e-03 -7.09486884e+01] [-4.34498552e-02 2.82789287e-03 9.99051607e-01 -3.50340854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.660714057 meters 0.03821533026312886 Centerline is valid? [True, True] Translation: X:540.59, Y:-70.95, Z:-35.03 [[ 9.96596784e-01 6.97078186e-02 4.39962578e-02 5.40593976e+02] [-6.95152373e-02 9.97563478e-01 -5.89395852e-03 -7.09486508e+01] [-4.42999150e-02 2.81548980e-03 9.99014309e-01 -3.50348025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.6907140569999 meters 0.037479322022802755 Centerline is valid? [True, True] Translation: X:540.62, Y:-70.95, Z:-35.04 [[ 9.96414152e-01 7.16255730e-02 4.50401556e-02 5.40624073e+02] [-7.14258689e-02 9.97427685e-01 -6.02979558e-03 -7.09508995e+01] [-4.53561856e-02 2.79114140e-03 9.98966979e-01 -3.50350948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.7207140569999 meters 0.037600610182939746 Centerline is valid? [True, True] Translation: X:540.65, Y:-70.95, Z:-35.04 [[ 9.96332390e-01 7.21253922e-02 4.60401530e-02 5.40652954e+02] [-7.19172567e-02 9.97391558e-01 -6.16342582e-03 -7.09547050e+01] [-4.63645995e-02 2.82973927e-03 9.98920576e-01 -3.50360857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.750714057 meters 0.0367692621868471 Centerline is valid? [True, True] Translation: X:540.68, Y:-70.96, Z:-35.04 [[ 9.96240599e-01 7.27051638e-02 4.71023191e-02 5.40682155e+02] [-7.24881246e-02 9.97349366e-01 -6.30194756e-03 -7.09570681e+01] [-4.74356522e-02 2.86389723e-03 9.98870190e-01 -3.50366640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.780714057 meters 0.03831916880951103 Centerline is valid? [True, True] Translation: X:540.71, Y:-70.96, Z:-35.04 [[ 9.96213286e-01 7.31896546e-02 4.69293454e-02 5.40709150e+02] [-7.29748463e-02 9.97314031e-01 -6.27662754e-03 -7.09632333e+01] [-4.72626788e-02 2.82819798e-03 9.98878491e-01 -3.50391074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.8107140569999 meters 0.038065748894102254 Centerline is valid? [True, True] Translation: X:540.74, Y:-70.97, Z:-35.04 [[ 9.96207268e-01 7.42240978e-02 4.54077311e-02 5.40737386e+02] [-7.40242657e-02 9.97237974e-01 -6.06895387e-03 -7.09674102e+01] [-4.57327764e-02 2.68466200e-03 9.98950102e-01 -3.50425211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.8407140569999 meters 0.03987181211011385 Centerline is valid? [True, True] Translation: X:540.76, Y:-70.98, Z:-35.05 [[ 9.96142473e-01 7.59279881e-02 4.39899414e-02 5.40764760e+02] [-7.57422372e-02 9.97110115e-01 -5.87646966e-03 -7.09756014e+01] [-4.43090040e-02 2.52190445e-03 9.99014691e-01 -3.50467459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.870714057 meters 0.03865356662810536 Centerline is valid? [True, True] Translation: X:540.79, Y:-70.98, Z:-35.05 [[ 9.96151633e-01 7.60078777e-02 4.36431741e-02 5.40793334e+02] [-7.58252562e-02 9.97104095e-01 -5.82710359e-03 -7.09776293e+01] [-4.39596934e-02 2.49542390e-03 9.99030189e-01 -3.50488671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.900714057 meters 0.03444824746543043 Centerline is valid? [True, True] Translation: X:540.82, Y:-70.98, Z:-35.05 [[ 9.96054263e-01 7.73650858e-02 4.34804382e-02 5.40823360e+02] [-7.71852532e-02 9.96999885e-01 -5.80217665e-03 -7.09751691e+01] [-4.37988778e-02 2.42323416e-03 9.99037430e-01 -3.50489473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.9307140569999 meters 0.03557235419458973 Centerline is valid? [True, True] Translation: X:540.85, Y:-70.98, Z:-35.05 [[ 9.95984767e-01 7.82676892e-02 4.34570194e-02 5.40850977e+02] [-7.80890011e-02 9.96929538e-01 -5.79689116e-03 -7.09811312e+01] [-4.37772956e-02 2.38010005e-03 9.99038480e-01 -3.50514026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.9607140569999 meters 0.03835695174666406 Centerline is valid? [True, True] Translation: X:540.88, Y:-70.99, Z:-35.05 [[ 9.95843026e-01 8.05535440e-02 4.25181594e-02 5.40877565e+02] [-8.03846944e-02 9.96747794e-01 -5.66886981e-03 -7.09890650e+01] [-4.28365291e-02 2.22749522e-03 9.99079611e-01 -3.50549686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.990714057 meters 0.03439391997907063 Centerline is valid? [True, True] Translation: X:540.91, Y:-70.99, Z:-35.05 [[ 9.95768972e-01 8.16010585e-02 4.22542559e-02 5.40907070e+02] [-8.14354089e-02 9.96662722e-01 -5.62972215e-03 -7.09856041e+01] [-4.25726329e-02 2.16491003e-03 9.99091029e-01 -3.50548454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.020714057 meters 0.033202138208166455 Centerline is valid? [True, True] Translation: X:540.94, Y:-70.99, Z:-35.06 [[ 9.95620404e-01 8.32517675e-02 4.25341671e-02 5.40935728e+02] [-8.30855477e-02 9.96526323e-01 -5.66394459e-03 -7.09873212e+01] [-4.28579506e-02 2.10516422e-03 9.99078958e-01 -3.50553763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.0507140569999 meters 0.03390492268575735 Centerline is valid? [True, True] Translation: X:540.96, Y:-70.99, Z:-35.06 [[ 9.95618920e-01 8.28560593e-02 4.33340451e-02 5.40964192e+02] [-8.26832919e-02 9.96559187e-01 -5.76722691e-03 -7.09920442e+01] [-4.36627904e-02 2.15895873e-03 9.99043993e-01 -3.50567921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.0807140569999 meters 0.034247876490545996 Centerline is valid? [True, True] Translation: X:540.99, Y:-71.00, Z:-35.06 [[ 9.95709533e-01 8.06816156e-02 4.53100728e-02 5.40992185e+02] [-8.04906227e-02 9.96737144e-01 -6.02697816e-03 -7.09971839e+01] [-4.56484989e-02 2.35408363e-03 9.98954790e-01 -3.50568807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.110714057 meters 0.03478151380721043 Centerline is valid? [True, True] Translation: X:541.02, Y:-71.00, Z:-35.06 [[ 9.95846750e-01 7.85269487e-02 4.60735071e-02 5.41021086e+02] [-7.83273866e-02 9.96908883e-01 -6.12367687e-03 -7.10028751e+01] [-4.64119622e-02 2.48942630e-03 9.98919282e-01 -3.50577543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.140714057 meters 0.03743916243377409 Centerline is valid? [True, True] Translation: X:541.05, Y:-71.01, Z:-35.06 [[ 9.96232972e-01 7.27839669e-02 4.71419070e-02 5.41050529e+02] [-7.25687257e-02 9.97343746e-01 -6.26357504e-03 -7.10125638e+01] [-4.74725740e-02 2.81895186e-03 9.98868564e-01 -3.50598152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.1707140569999 meters 0.03755665059265145 Centerline is valid? [True, True] Translation: X:541.08, Y:-71.02, Z:-35.06 [[ 9.96407673e-01 6.98544096e-02 4.78759883e-02 5.41080630e+02] [-6.96290393e-02 9.97552672e-01 -6.36109841e-03 -7.10186367e+01] [-4.82031708e-02 3.00468819e-03 9.98833032e-01 -3.50614595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.2007140569999 meters 0.0382910481867481 Centerline is valid? [True, True] Translation: X:541.11, Y:-71.03, Z:-35.06 [[ 9.96744354e-01 6.46653918e-02 4.81568348e-02 5.41110766e+02] [-6.44313384e-02 9.97901630e-01 -6.39840896e-03 -7.10251710e+01] [-4.84695395e-02 3.27476868e-03 9.98819293e-01 -3.50631260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.230714057 meters 0.04190919572555722 Centerline is valid? [True, True] Translation: X:541.14, Y:-71.03, Z:-35.07 [[ 9.96915086e-01 6.23294944e-02 4.77005795e-02 5.41137644e+02] [-6.20971642e-02 9.98049981e-01 -6.33851785e-03 -7.10346966e+01] [-4.80026391e-02 3.35689335e-03 9.98841568e-01 -3.50656688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.260714057 meters 0.043901901250598806 Centerline is valid? [True, True] Translation: X:541.17, Y:-71.04, Z:-35.07 [[ 9.97206479e-01 5.88744234e-02 4.59678149e-02 5.41165760e+02] [-5.86552054e-02 9.98259637e-01 -6.10447948e-03 -7.10428885e+01] [-4.62472119e-02 3.39117487e-03 9.98924269e-01 -3.50692094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.290714057 meters 0.044912191513020554 Centerline is valid? [True, True] Translation: X:541.19, Y:-71.05, Z:-35.07 [[ 9.97336708e-01 5.77231841e-02 4.45816734e-02 5.41194876e+02] [-5.75158877e-02 9.98327041e-01 -5.91968442e-03 -7.10483161e+01] [-4.48487931e-02 3.33976405e-03 9.98988204e-01 -3.50721283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.3207140569999 meters 0.04603546645996838 Centerline is valid? [True, True] Translation: X:541.22, Y:-71.05, Z:-35.08 [[ 9.97439916e-01 5.75410374e-02 4.24575550e-02 5.41222092e+02] [-5.73529015e-02 9.98338053e-01 -5.63701905e-03 -7.10544458e+01] [-4.27113528e-02 3.18752383e-03 9.99082369e-01 -3.50764688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.3507140569999 meters 0.04654069607160911 Centerline is valid? [True, True] Translation: X:541.25, Y:-71.06, Z:-35.08 [[ 9.97373999e-01 5.92502520e-02 4.16474915e-02 5.41250910e+02] [-5.90708952e-02 9.98238500e-01 -5.52512560e-03 -7.10581617e+01] [-4.19014946e-02 3.05046200e-03 9.99117090e-01 -3.50797843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.380714057 meters 0.04612213508855036 Centerline is valid? [True, True] Translation: X:541.28, Y:-71.06, Z:-35.08 [[ 9.97272337e-01 6.09417587e-02 4.16411797e-02 5.41279809e+02] [-6.07639825e-02 9.98136883e-01 -5.52285576e-03 -7.10607537e+01] [-4.19001699e-02 2.97750736e-03 9.99117366e-01 -3.50811393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.410714057 meters 0.04529069652363189 Centerline is valid? [True, True] Translation: X:541.31, Y:-71.06, Z:-35.08 [[ 9.96965925e-01 6.50625258e-02 4.27295163e-02 5.41310480e+02] [-6.48791764e-02 9.97877045e-01 -5.66523918e-03 -7.10619053e+01] [-4.30073982e-02 2.87579459e-03 9.99070615e-01 -3.50824317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4407140569999 meters 0.03922094345686422 Centerline is valid? [True, True] Translation: X:541.34, Y:-71.06, Z:-35.08 [[ 9.96790470e-01 6.71064870e-02 4.36517931e-02 5.41341562e+02] [-6.69170779e-02 9.97741754e-01 -5.78758843e-03 -7.10559005e+01] [-4.39416014e-02 2.84796255e-03 9.99030042e-01 -3.50819197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4707140569999 meters 0.03866896288040289 Centerline is valid? [True, True] Translation: X:541.37, Y:-71.06, Z:-35.08 [[ 9.96528462e-01 7.01530796e-02 4.48282256e-02 5.41370310e+02] [-6.99564105e-02 9.97532346e-01 -5.94295089e-03 -7.10580481e+01] [-4.51345213e-02 2.78629796e-03 9.98977033e-01 -3.50831286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.500714057 meters 0.037617885893473126 Centerline is valid? [True, True] Translation: X:541.40, Y:-71.06, Z:-35.08 [[ 9.96435139e-01 7.14425116e-02 4.48662669e-02 5.41399885e+02] [-7.12468352e-02 9.97440984e-01 -5.94742994e-03 -7.10577655e+01] [-4.51763528e-02 2.72964865e-03 9.98975298e-01 -3.50839908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.530714057 meters 0.037559218002131696 Centerline is valid? [True, True] Translation: X:541.43, Y:-71.06, Z:-35.09 [[ 9.96496884e-01 7.07824530e-02 4.45399288e-02 5.41428460e+02] [-7.05892241e-02 9.97488031e-01 -5.89825555e-03 -7.10609965e+01] [-4.48455389e-02 2.73355427e-03 9.98990193e-01 -3.50852261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.5607140569999 meters 0.039706612346949624 Centerline is valid? [True, True] Translation: X:541.46, Y:-71.07, Z:-35.09 [[ 9.96634498e-01 6.86672149e-02 4.47715447e-02 5.41456321e+02] [-6.84700008e-02 9.97635579e-01 -5.92545712e-03 -7.10680783e+01] [-4.50725705e-02 2.84000729e-03 9.98979678e-01 -3.50876691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.5907140569999 meters 0.04222938100059791 Centerline is valid? [True, True] Translation: X:541.48, Y:-71.08, Z:-35.09 [[ 9.96691991e-01 6.74548234e-02 4.53312408e-02 5.41482792e+02] [-6.72514824e-02 9.97718030e-01 -5.99762101e-03 -7.10758174e+01] [-4.56323647e-02 2.92918769e-03 9.98954007e-01 -3.50898743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.620714057 meters 0.04072423858181686 Centerline is valid? [True, True] Translation: X:541.51, Y:-71.08, Z:-35.09 [[ 9.96856338e-01 6.47423316e-02 4.56713387e-02 5.41513497e+02] [-6.45333563e-02 9.97897290e-01 -6.03687187e-03 -7.10770698e+01] [-4.59661463e-02 3.07056921e-03 9.98938279e-01 -3.50899435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.650714057 meters 0.0445300135028426 Centerline is valid? [True, True] Translation: X:541.54, Y:-71.09, Z:-35.09 [[ 9.96924178e-01 6.32467601e-02 4.62820699e-02 5.41540560e+02] [-6.30305231e-02 9.97992846e-01 -6.11817307e-03 -7.10862702e+01] [-4.65761293e-02 3.18217159e-03 9.98909675e-01 -3.50918514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.6807140569999 meters 0.04731388363338944 Centerline is valid? [True, True] Translation: X:541.57, Y:-71.09, Z:-35.09 [[ 9.97003659e-01 6.16581571e-02 4.67116168e-02 5.41568615e+02] [-6.14362653e-02 9.98091922e-01 -6.17249375e-03 -7.10939213e+01] [-4.70030720e-02 3.28421157e-03 9.98889346e-01 -3.50936774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.7107140569999 meters 0.04512927293832044 Centerline is valid? [True, True] Translation: X:541.60, Y:-71.09, Z:-35.09 [[ 9.97039066e-01 6.13948461e-02 4.63009062e-02 5.41597180e+02] [-6.11766600e-02 9.98108215e-01 -6.11608801e-03 -7.10942065e+01] [-4.65888111e-02 3.26544388e-03 9.98908814e-01 -3.50947906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.740714057 meters 0.039355121662848595 Centerline is valid? [True, True] Translation: X:541.63, Y:-71.09, Z:-35.10 [[ 9.97093189e-01 6.12147234e-02 4.53644168e-02 5.41626759e+02] [-6.10052319e-02 9.98119476e-01 -5.98941756e-03 -7.10879092e+01] [-4.56457485e-02 3.20454068e-03 9.98952550e-01 -3.50958744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.770714057 meters 0.04161208612762961 Centerline is valid? [True, True] Translation: X:541.65, Y:-71.09, Z:-35.10 [[ 9.97153182e-01 6.08279661e-02 4.45588410e-02 5.41653831e+02] [-6.06256051e-02 9.98143257e-01 -5.88006963e-03 -7.10937586e+01] [-4.48337793e-02 3.16192344e-03 9.98989457e-01 -3.50985896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.8007140569999 meters 0.04287048915954 Centerline is valid? [True, True] Translation: X:541.68, Y:-71.10, Z:-35.10 [[ 9.97181050e-01 6.03916472e-02 4.45286701e-02 5.41681148e+02] [-6.01893131e-02 9.98169708e-01 -5.87195767e-03 -7.10989803e+01] [-4.48017869e-02 3.17525484e-03 9.98990850e-01 -3.51001645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.8307140569999 meters 0.0406211100910258 Centerline is valid? [True, True] Translation: X:541.71, Y:-71.10, Z:-35.10 [[ 9.97139420e-01 6.08250635e-02 4.48696808e-02 5.41710718e+02] [-6.06202549e-02 9.98143390e-01 -5.91243802e-03 -7.10990794e+01] [-4.51459997e-02 3.17551353e-03 9.98975352e-01 -3.51012997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.860714057 meters 0.042350426318782844 Centerline is valid? [True, True] Translation: X:541.74, Y:-71.10, Z:-35.10 [[ 9.97126899e-01 6.11948749e-02 4.46445272e-02 5.41738067e+02] [-6.09925749e-02 9.98120895e-01 -5.88081516e-03 -7.11047515e+01] [-4.49205113e-02 3.14093431e-03 9.98985627e-01 -3.51037176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.890714057 meters 0.041486795209303526 Centerline is valid? [True, True] Translation: X:541.77, Y:-71.10, Z:-35.11 [[ 9.97056021e-01 6.21716032e-02 4.48774233e-02 5.41766864e+02] [-6.19683632e-02 9.98060633e-01 -5.90720235e-03 -7.11047498e+01] [-4.51576497e-02 3.10883121e-03 9.98975036e-01 -3.51056844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9207140569999 meters 0.040540120228051736 Centerline is valid? [True, True] Translation: X:541.80, Y:-71.11, Z:-35.11 [[ 9.97030429e-01 6.29242356e-02 4.43944111e-02 5.41795944e+02] [-6.27262330e-02 9.98013681e-01 -5.84048628e-03 -7.11063278e+01] [-4.46737378e-02 3.03844836e-03 9.98997010e-01 -3.51071372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9507140569999 meters 0.0397159385678889 Centerline is valid? [True, True] Translation: X:541.83, Y:-71.11, Z:-35.11 [[ 9.96920752e-01 6.43420878e-02 4.48230892e-02 5.41825461e+02] [-6.41418229e-02 9.97923391e-01 -5.89339394e-03 -7.11063092e+01] [-4.51092025e-02 3.00021207e-03 9.98977557e-01 -3.51081899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.980714057 meters 0.04107366784177887 Centerline is valid? [True, True] Translation: X:541.85, Y:-71.11, Z:-35.11 [[ 9.96893468e-01 6.44903463e-02 4.52151357e-02 5.41852381e+02] [-6.42868054e-02 9.97913768e-01 -5.94288033e-03 -7.11115287e+01] [-4.55040649e-02 3.01768195e-03 9.98959596e-01 -3.51098222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.010714057 meters 0.042218885903859325 Centerline is valid? [True, True] Translation: X:541.88, Y:-71.12, Z:-35.11 [[ 9.96847008e-01 6.43223559e-02 4.64615567e-02 5.41880013e+02] [-6.41074454e-02 9.97924344e-01 -6.10245716e-03 -7.11160043e+01] [-4.67576429e-02 3.10468446e-03 9.98901438e-01 -3.51112061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.040714057 meters 0.04051554482122592 Centerline is valid? [True, True] Translation: X:541.91, Y:-71.12, Z:-35.11 [[ 9.96992156e-01 6.23412134e-02 4.60457810e-02 5.41909277e+02] [-6.21282255e-02 9.98049877e-01 -6.04369979e-03 -7.11157098e+01] [-4.63327576e-02 3.16477862e-03 9.98921048e-01 -3.51123033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0707140569999 meters 0.04461060802240658 Centerline is valid? [True, True] Translation: X:541.94, Y:-71.13, Z:-35.12 [[ 9.97084050e-01 6.12342696e-02 4.55385826e-02 5.41935751e+02] [-6.10249471e-02 9.98118363e-01 -5.97400021e-03 -7.11252626e+01] [-4.58187091e-02 3.17759072e-03 9.98944718e-01 -3.51152151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.1007140569999 meters 0.04591708395320715 Centerline is valid? [True, True] Translation: X:541.97, Y:-71.13, Z:-35.12 [[ 9.97233206e-01 5.89267077e-02 4.53163955e-02 5.41965060e+02] [-5.87172779e-02 9.98256980e-01 -5.93996908e-03 -7.11306970e+01] [-4.55874309e-02 3.26267903e-03 9.98955025e-01 -3.51170155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.130714057 meters 0.04181540950870735 Centerline is valid? [True, True] Translation: X:541.99, Y:-71.13, Z:-35.12 [[ 9.97306688e-01 5.78187923e-02 4.51260180e-02 5.41994512e+02] [-5.76100049e-02 9.98321643e-01 -5.91473813e-03 -7.11278731e+01] [-4.53922635e-02 3.29909778e-03 9.98963792e-01 -3.51177408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.160714057 meters 0.04452181047905222 Centerline is valid? [True, True] Translation: X:542.02, Y:-71.14, Z:-35.12 [[ 9.97402199e-01 5.64159567e-02 4.47894258e-02 5.42021884e+02] [-5.62090143e-02 9.98401783e-01 -5.86739493e-03 -7.11360723e+01] [-4.50488573e-02 3.33458313e-03 9.98979220e-01 -3.51204104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.1907140569999 meters 0.046111547182893085 Centerline is valid? [True, True] Translation: X:542.05, Y:-71.14, Z:-35.12 [[ 9.97406173e-01 5.62743718e-02 4.48789508e-02 5.42048665e+02] [-5.60665958e-02 9.98409740e-01 -5.87607670e-03 -7.11414110e+01] [-4.51382542e-02 3.34462519e-03 9.98975151e-01 -3.51225276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.2207140569999 meters 0.041155312305926436 Centerline is valid? [True, True] Translation: X:542.08, Y:-71.14, Z:-35.12 [[ 9.97370627e-01 5.68036178e-02 4.50020075e-02 5.42078309e+02] [-5.65954228e-02 9.98379832e-01 -5.88805012e-03 -7.11371001e+01] [-4.52635593e-02 3.32566060e-03 9.98969544e-01 -3.51221963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.250714057 meters 0.04601163022587014 Centerline is valid? [True, True] Translation: X:542.10, Y:-71.15, Z:-35.12 [[ 9.97333797e-01 5.71990407e-02 4.53162903e-02 5.42104871e+02] [-5.69884741e-02 9.98357249e-01 -5.92602858e-03 -7.11473099e+01] [-4.55808101e-02 3.32772235e-03 9.98955112e-01 -3.51245838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.280714057 meters 0.045729036862324615 Centerline is valid? [True, True] Translation: X:542.13, Y:-71.15, Z:-35.13 [[ 9.97153398e-01 5.99042005e-02 4.57885111e-02 5.42133932e+02] [-5.96922795e-02 9.98198896e-01 -5.98288610e-03 -7.11489787e+01] [-4.60644412e-02 3.23263460e-03 9.98933240e-01 -3.51256923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.3107140569999 meters 0.041038256429285845 Centerline is valid? [True, True] Translation: X:542.16, Y:-71.14, Z:-35.13 [[ 9.97083025e-01 6.12366586e-02 4.55577929e-02 5.42163548e+02] [-6.10283038e-02 9.98118292e-01 -5.95163338e-03 -7.11444992e+01] [-4.58365246e-02 3.15395779e-03 9.98943975e-01 -3.51264160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.3407140569999 meters 0.041038256429285845 Centerline is valid? [True, True] Translation: X:542.19, Y:-71.15, Z:-35.13 [[ 9.97087317e-01 6.11664302e-02 4.55582121e-02 5.42191640e+02] [-6.09581485e-02 9.98122598e-01 -5.94842287e-03 -7.11481060e+01] [-4.58365248e-02 3.15395273e-03 9.98943975e-01 -3.51280589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.370714057 meters 0.04023662888916618 Centerline is valid? [True, True] Translation: X:542.22, Y:-71.15, Z:-35.13 [[ 9.96949916e-01 6.38449793e-02 4.48852207e-02 5.42221684e+02] [-6.36456841e-02 9.97955373e-01 -5.85673014e-03 -7.11502870e+01] [-4.51673700e-02 2.98211604e-03 9.98974983e-01 -3.51306227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.400714057 meters 0.04493250339102458 Centerline is valid? [True, True] Translation: X:542.25, Y:-71.16, Z:-35.13 [[ 9.96935507e-01 6.44596612e-02 4.43232037e-02 5.42248324e+02] [-6.42659278e-02 9.97916049e-01 -5.78354258e-03 -7.11595565e+01] [-4.46036415e-02 2.91734715e-03 9.99000503e-01 -3.51345225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.4307140569999 meters 0.04491504979634139 Centerline is valid? [True, True] Translation: X:542.28, Y:-71.16, Z:-35.14 [[ 9.96905207e-01 6.54635988e-02 4.35261439e-02 5.42275531e+02] [-6.52778927e-02 9.97850982e-01 -5.67578799e-03 -7.11628101e+01] [-4.38041629e-02 2.81692765e-03 9.99036166e-01 -3.51366920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.4607140569999 meters 0.03975877712096522 Centerline is valid? [True, True] Translation: X:542.31, Y:-71.16, Z:-35.14 [[ 9.96937861e-01 6.52191251e-02 4.31435681e-02 5.42305342e+02] [-6.50366210e-02 9.97867042e-01 -5.62182733e-03 -7.11577320e+01] [-4.34181953e-02 2.79870063e-03 9.99053065e-01 -3.51366952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.490714057 meters 0.037683485672804454 Centerline is valid? [True, True] Translation: X:542.33, Y:-71.16, Z:-35.14 [[ 9.96917706e-01 6.54260985e-02 4.32956462e-02 5.42334769e+02] [-6.52426324e-02 9.97853499e-01 -5.63857753e-03 -7.11567914e+01] [-4.35716222e-02 2.79647584e-03 9.99046392e-01 -3.51378304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.520714057 meters 0.03824193231491661 Centerline is valid? [True, True] Translation: X:542.36, Y:-71.16, Z:-35.14 [[ 9.96809757e-01 6.58166478e-02 4.51495058e-02 5.42361950e+02] [-6.56176674e-02 9.97827533e-01 -5.87674636e-03 -7.11611827e+01] [-4.54382078e-02 2.89539285e-03 9.98962955e-01 -3.51378614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.5507140569999 meters 0.038787170304524825 Centerline is valid? [True, True] Translation: X:542.39, Y:-71.16, Z:-35.14 [[ 9.96796615e-01 6.53884435e-02 4.60527922e-02 5.42390601e+02] [-6.51811677e-02 9.97855469e-01 -5.98983484e-03 -7.11638900e+01] [-4.63456965e-02 2.96887232e-03 9.98921049e-01 -3.51374846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.5807140569999 meters 0.039064386171330755 Centerline is valid? [True, True] Translation: X:542.42, Y:-71.17, Z:-35.14 [[ 9.96747375e-01 6.55685823e-02 4.68554306e-02 5.42419156e+02] [-6.53543725e-02 9.97843529e-01 -6.09078290e-03 -7.11678085e+01] [-4.71537522e-02 3.00876460e-03 9.98883112e-01 -3.51384561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.610714057 meters 0.044617111112910605 Centerline is valid? [True, True] Translation: X:542.45, Y:-71.18, Z:-35.14 [[ 9.96873767e-01 6.36715438e-02 4.67827581e-02 5.42446135e+02] [-6.34560871e-02 9.97966124e-01 -6.07777793e-03 -7.11808253e+01] [-4.70745893e-02 3.09012661e-03 9.98886597e-01 -3.51423970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.640714057 meters 0.043415600798063024 Centerline is valid? [True, True] Translation: X:542.47, Y:-71.18, Z:-35.14 [[ 9.96962323e-01 6.25841128e-02 4.63611339e-02 5.42474881e+02] [-6.23714626e-02 9.98034845e-01 -6.02071194e-03 -7.11831005e+01] [-4.66468280e-02 3.11081123e-03 9.98906600e-01 -3.51447367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.6707140569999 meters 0.04224040066288891 Centerline is valid? [True, True] Translation: X:542.51, Y:-71.19, Z:-35.15 [[ 9.97238328e-01 5.97159350e-02 4.41556821e-02 5.42505283e+02] [-5.95204212e-02 9.98210639e-01 -5.73054870e-03 -7.11853913e+01] [-4.44188768e-02 3.08655800e-03 9.99008226e-01 -3.51486127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.7007140569999 meters 0.04555861416923223 Centerline is valid? [True, True] Translation: X:542.53, Y:-71.19, Z:-35.15 [[ 9.97371768e-01 5.81627544e-02 4.32047577e-02 5.42532734e+02] [-5.79740956e-02 9.98302337e-01 -5.60788826e-03 -7.11941545e+01] [-4.34575808e-02 3.08839268e-03 9.99050499e-01 -3.51522457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.7307140569999 meters 0.046797994507641126 Centerline is valid? [True, True] Translation: X:542.56, Y:-71.20, Z:-35.15 [[ 9.97604756e-01 5.47792084e-02 4.22372855e-02 5.42562646e+02] [-5.45960193e-02 9.98493491e-01 -5.47938717e-03 -7.12001228e+01] [-4.24738111e-02 3.16027505e-03 9.99092582e-01 -3.51548342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.760714057 meters 0.04769927124921298 Centerline is valid? [True, True] Translation: X:542.59, Y:-71.21, Z:-35.16 [[ 9.97708413e-01 5.22823596e-02 4.29473899e-02 5.42592357e+02] [-5.20906524e-02 9.98626818e-01 -5.57156800e-03 -7.12052724e+01] [-4.31797100e-02 3.32164270e-03 9.99061800e-01 -3.51557811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.790714057 meters 0.04377595591316035 Centerline is valid? [True, True] Translation: X:542.62, Y:-71.20, Z:-35.16 [[ 9.97739550e-01 5.14103023e-02 4.32755329e-02 5.42621230e+02] [-5.12148247e-02 9.98671878e-01 -5.61441915e-03 -7.12033723e+01] [-4.35066967e-02 3.38537920e-03 9.99047400e-01 -3.51561828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.8207140569999 meters 0.04683664741284716 Centerline is valid? [True, True] Translation: X:542.65, Y:-71.21, Z:-35.16 [[ 9.97827822e-01 5.04353007e-02 4.23782853e-02 5.42648472e+02] [-5.02471499e-02 9.98721703e-01 -5.49397692e-03 -7.12107360e+01] [-4.26012036e-02 3.35265497e-03 9.99086531e-01 -3.51592574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.8507140569999 meters 0.046219643145141764 Centerline is valid? [True, True] Translation: X:542.68, Y:-71.21, Z:-35.16 [[ 9.97797026e-01 5.06798509e-02 4.28094346e-02 5.42677358e+02] [-5.04882096e-02 9.98709254e-01 -5.54669277e-03 -7.12132903e+01] [-4.30352841e-02 3.37310184e-03 9.99067859e-01 -3.51607289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.880714057 meters 0.04767675103415498 Centerline is valid? [True, True] Translation: X:542.70, Y:-71.22, Z:-35.16 [[ 9.97782553e-01 5.09492043e-02 4.28270446e-02 5.42704981e+02] [-5.07577698e-02 9.98695593e-01 -5.54623095e-03 -7.12168107e+01] [-4.30537568e-02 3.36012721e-03 9.99067107e-01 -3.51621942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.910714057 meters 0.04829134891374217 Centerline is valid? [True, True] Translation: X:542.73, Y:-71.22, Z:-35.16 [[ 9.97766468e-01 5.12581825e-02 4.28330892e-02 5.42733568e+02] [-5.10671562e-02 9.98679840e-01 -5.54284845e-03 -7.12208774e+01] [-4.30606590e-02 3.34310426e-03 9.99066866e-01 -3.51636971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9407140569999 meters 0.04777364536735923 Centerline is valid? [True, True] Translation: X:542.76, Y:-71.22, Z:-35.17 [[ 9.97655748e-01 5.25903642e-02 4.37865510e-02 5.42763193e+02] [-5.23921659e-02 9.98610533e-01 -5.66260924e-03 -7.12230065e+01] [-4.40235097e-02 3.35526241e-03 9.99024861e-01 -3.51651026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9707140569999 meters 0.043058288251202816 Centerline is valid? [True, True] Translation: X:542.79, Y:-71.22, Z:-35.17 [[ 9.97513788e-01 5.50510272e-02 4.39957713e-02 5.42793613e+02] [-5.48533747e-02 9.98478218e-01 -5.68813663e-03 -7.12192758e+01] [-4.42419571e-02 3.26067819e-03 9.99015524e-01 -3.51663421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.000714057 meters 0.047455578403583026 Centerline is valid? [True, True] Translation: X:542.82, Y:-71.23, Z:-35.17 [[ 9.97455754e-01 5.58931140e-02 4.42490436e-02 5.42820609e+02] [-5.56940438e-02 9.98431498e-01 -5.71992210e-03 -7.12285545e+01] [-4.44993431e-02 3.24096104e-03 9.99004156e-01 -3.51691540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.030714057 meters 0.04688106646487971 Centerline is valid? [True, True] Translation: X:542.85, Y:-71.23, Z:-35.17 [[ 9.97347379e-01 5.74138820e-02 4.47420478e-02 5.42849168e+02] [-5.72120613e-02 9.98345320e-01 -5.77937351e-03 -7.12296748e+01] [-4.49998303e-02 3.20425824e-03 9.98981856e-01 -3.51699981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.0607140569999 meters 0.04307524185345544 Centerline is valid? [True, True] Translation: X:542.88, Y:-71.23, Z:-35.17 [[ 9.97286623e-01 5.83939267e-02 4.48279140e-02 5.42878441e+02] [-5.81924079e-02 9.98288605e-01 -5.78839502e-03 -7.12272745e+01] [-4.50892029e-02 3.16404466e-03 9.98977954e-01 -3.51704969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.0907140569999 meters 0.039885801107163416 Centerline is valid? [True, True] Translation: X:542.91, Y:-71.23, Z:-35.17 [[ 9.97224821e-01 5.95106382e-02 4.47340977e-02 5.42907696e+02] [-5.93112198e-02 9.98222846e-01 -5.77317988e-03 -7.12250984e+01] [-4.49981640e-02 3.10392437e-03 9.98982248e-01 -3.51718125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.120714057 meters 0.040551564657897866 Centerline is valid? [True, True] Translation: X:542.93, Y:-71.23, Z:-35.17 [[ 9.97197734e-01 5.97153463e-02 4.50639246e-02 5.42934809e+02] [-5.95133207e-02 9.98210588e-01 -5.81268402e-03 -7.12298043e+01] [-4.53303931e-02 3.11449153e-03 9.98967194e-01 -3.51736290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.150714057 meters 0.04155880921843699 Centerline is valid? [True, True] Translation: X:542.96, Y:-71.23, Z:-35.18 [[ 9.97217539e-01 5.91023270e-02 4.54323192e-02 5.42962016e+02] [-5.88965450e-02 9.98246916e-01 -5.85591782e-03 -7.12347157e+01] [-4.56987709e-02 3.16381732e-03 9.98950255e-01 -3.51757099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.1807140569999 meters 0.04013807614025661 Centerline is valid? [True, True] Translation: X:542.99, Y:-71.24, Z:-35.18 [[ 9.97246580e-01 5.87482869e-02 4.52537125e-02 5.42991189e+02] [-5.85439518e-02 9.98267816e-01 -5.82865694e-03 -7.12355837e+01] [-4.55177484e-02 3.16327703e-03 9.98958522e-01 -3.51771656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.2107140569999 meters 0.04268137448074912 Centerline is valid? [True, True] Translation: X:543.02, Y:-71.24, Z:-35.18 [[ 9.97297621e-01 5.80506189e-02 4.50286626e-02 5.43017596e+02] [-5.78477339e-02 9.98308588e-01 -5.79684079e-03 -7.12432391e+01] [-4.52890107e-02 3.17636944e-03 9.98968876e-01 -3.51806528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.240714057 meters 0.0468451452987029 Centerline is valid? [True, True] Translation: X:543.04, Y:-71.25, Z:-35.18 [[ 9.97356333e-01 5.76408234e-02 4.42479541e-02 5.43043608e+02] [-5.74447268e-02 9.98332464e-01 -5.69163445e-03 -7.12533332e+01] [-4.45022395e-02 3.13477603e-03 9.99004366e-01 -3.51849297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.270714057 meters 0.04408021837671701 Centerline is valid? [True, True] Translation: X:543.07, Y:-71.25, Z:-35.19 [[ 9.97373488e-01 5.74569379e-02 4.41001800e-02 5.43073082e+02] [-5.72621970e-02 9.98343087e-01 -5.66754083e-03 -7.12529650e+01] [-4.43527494e-02 3.12738177e-03 9.99011038e-01 -3.51864839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.3007140569999 meters 0.040146304448173936 Centerline is valid? [True, True] Translation: X:543.10, Y:-71.25, Z:-35.19 [[ 9.97402667e-01 5.74700284e-02 4.34179168e-02 5.43102388e+02] [-5.72814125e-02 9.98342495e-01 -5.57691436e-03 -7.12498386e+01] [-4.36664568e-02 3.07538965e-03 9.99041432e-01 -3.51874842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.3307140569999 meters 0.039514648487296716 Centerline is valid? [True, True] Translation: X:543.13, Y:-71.25, Z:-35.19 [[ 9.97403431e-01 5.76346167e-02 4.31815662e-02 5.43130815e+02] [-5.74483391e-02 9.98333090e-01 -5.54344100e-03 -7.12510538e+01] [-4.34290806e-02 3.04833781e-03 9.99051862e-01 -3.51885264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.360714057 meters 0.04108119501530644 Centerline is valid? [True, True] Translation: X:543.16, Y:-71.26, Z:-35.19 [[ 9.97355504e-01 5.87575001e-02 4.27733068e-02 5.43158017e+02] [-5.85758802e-02 9.98267873e-01 -5.48819310e-03 -7.12554503e+01] [-4.30216905e-02 2.96819551e-03 9.99069729e-01 -3.51911469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.390714057 meters 0.03923753038132574 Centerline is valid? [True, True] Translation: X:543.19, Y:-71.26, Z:-35.19 [[ 9.97308816e-01 5.96939046e-02 4.25648050e-02 5.43187400e+02] [-5.95150884e-02 9.98212490e-01 -5.45706174e-03 -7.12556649e+01] [-4.28144733e-02 2.90912765e-03 9.99078805e-01 -3.51923337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4207140569999 meters 0.04187610177664535 Centerline is valid? [True, True] Translation: X:543.21, Y:-71.26, Z:-35.20 [[ 9.97230749e-01 6.05728115e-02 4.31482163e-02 5.43214951e+02] [-6.03899680e-02 9.98159543e-01 -5.52970431e-03 -7.12624934e+01] [-4.34037536e-02 2.90867177e-03 9.99053379e-01 -3.51950094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4507140569999 meters 0.03962477570566723 Centerline is valid? [True, True] Translation: X:543.25, Y:-71.26, Z:-35.20 [[ 9.97002151e-01 6.35949989e-02 4.40725294e-02 5.43245741e+02] [-6.34073471e-02 9.97971769e-01 -5.64415435e-03 -7.12618862e+01] [-4.43420801e-02 2.83271186e-03 9.99012390e-01 -3.51960998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4807140569999 meters 0.03927268444364396 Centerline is valid? [True, True] Translation: X:543.28, Y:-71.26, Z:-35.20 [[ 9.96763222e-01 6.67918677e-02 4.47428758e-02 5.43275810e+02] [-6.66017020e-02 9.97763193e-01 -5.72918275e-03 -7.12639447e+01] [-4.50254574e-02 2.73068698e-03 9.98982108e-01 -3.51972027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.510714057 meters 0.03839009835178916 Centerline is valid? [True, True] Translation: X:543.31, Y:-71.27, Z:-35.20 [[ 9.96649583e-01 6.85133961e-02 4.46712908e-02 5.43305076e+02] [-6.83255759e-02 9.97646681e-01 -5.71968183e-03 -7.12651504e+01] [-4.49580399e-02 2.64832684e-03 9.98985366e-01 -3.51980163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.540714057 meters 0.035205591509239784 Centerline is valid? [True, True] Translation: X:543.34, Y:-71.26, Z:-35.20 [[ 9.96414091e-01 7.15164639e-02 4.52145304e-02 5.43335270e+02] [-7.13272429e-02 9.97436183e-01 -5.78660909e-03 -7.12618826e+01] [-4.55124464e-02 2.54083105e-03 9.98960540e-01 -3.51983301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5707140569999 meters 0.039655344805428705 Centerline is valid? [True, True] Translation: X:543.36, Y:-71.27, Z:-35.20 [[ 9.96285266e-01 7.30846205e-02 4.55445574e-02 5.43362009e+02] [-7.28943048e-02 9.97322644e-01 -5.82781068e-03 -7.12724701e+01] [-4.58485417e-02 2.48622306e-03 9.98945309e-01 -3.52019776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.6007140569999 meters 0.03421404459023396 Centerline is valid? [True, True] Translation: X:543.39, Y:-71.27, Z:-35.20 [[ 9.96183086e-01 7.44066864e-02 4.56388355e-02 5.43392085e+02] [-7.42171610e-02 9.97225029e-01 -5.83558926e-03 -7.12661478e+01] [-4.59463959e-02 2.42613052e-03 9.98940961e-01 -3.52016949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.630714057 meters 0.03431692059558227 Centerline is valid? [True, True] Translation: X:543.42, Y:-71.27, Z:-35.20 [[ 9.96125870e-01 7.50972780e-02 4.57564120e-02 5.43420569e+02] [-7.49076531e-02 9.97173331e-01 -5.84730516e-03 -7.12698661e+01] [-4.60661905e-02 2.39714651e-03 9.98935513e-01 -3.52037603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.660714057 meters 0.03501121012917939 Centerline is valid? [True, True] Translation: X:543.45, Y:-71.27, Z:-35.21 [[ 9.96187841e-01 7.47750111e-02 4.49275415e-02 5.43447490e+02] [-7.45920076e-02 9.97197625e-01 -5.73840656e-03 -7.12745495e+01] [-4.52307271e-02 2.36529532e-03 9.98973767e-01 -3.52059613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.6907140569999 meters 0.03507285120479098 Centerline is valid? [True, True] Translation: X:543.48, Y:-71.28, Z:-35.21 [[ 9.96382455e-01 7.29150717e-02 4.36508499e-02 5.43476207e+02] [-7.27407405e-02 9.97335324e-01 -5.57100336e-03 -7.12793214e+01] [-4.39407446e-02 2.37565486e-03 9.99031314e-01 -3.52088008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.7207140569999 meters 0.03636409767683917 Centerline is valid? [True, True] Translation: X:543.50, Y:-71.29, Z:-35.21 [[ 9.96516909e-01 7.13997037e-02 4.30828584e-02 5.43502802e+02] [-7.12285074e-02 9.97444873e-01 -5.49769540e-03 -7.12851490e+01] [-4.33653101e-02 2.40981873e-03 9.99056376e-01 -3.52118981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.750714057 meters 0.037566136009558784 Centerline is valid? [True, True] Translation: X:543.53, Y:-71.29, Z:-35.21 [[ 9.96723822e-01 6.89672955e-02 4.22508510e-02 5.43531117e+02] [-6.88008147e-02 9.97615891e-01 -5.38353476e-03 -7.12924459e+01] [-4.25214082e-02 2.45900437e-03 9.99092530e-01 -3.52149857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.780714057 meters 0.03848231691482835 Centerline is valid? [True, True] Translation: X:543.56, Y:-71.30, Z:-35.22 [[ 9.96834757e-01 6.76233170e-02 4.18037502e-02 5.43559310e+02] [-6.74592582e-02 9.97707823e-01 -5.32438196e-03 -7.12988478e+01] [-4.20679810e-02 2.48747902e-03 9.99111654e-01 -3.52171870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.8107140569999 meters 0.03947054881308936 Centerline is valid? [True, True] Translation: X:543.59, Y:-71.30, Z:-35.22 [[ 9.97047964e-01 6.52356609e-02 4.04927974e-02 5.43589323e+02] [-6.50798948e-02 9.97866744e-01 -5.15449437e-03 -7.13049931e+01] [-4.07426727e-02 2.50401112e-03 9.99166535e-01 -3.52196150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.8407140569999 meters 0.04005338145663308 Centerline is valid? [True, True] Translation: X:543.62, Y:-71.31, Z:-35.22 [[ 9.97129170e-01 6.41488962e-02 4.02285538e-02 5.43617954e+02] [-6.39942282e-02 9.97937124e-01 -5.12206606e-03 -7.13105494e+01] [-4.04741422e-02 2.53296623e-03 9.99177376e-01 -3.52213895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.870714057 meters 0.039187626315543476 Centerline is valid? [True, True] Translation: X:543.65, Y:-71.31, Z:-35.22 [[ 9.97199493e-01 6.25973367e-02 4.09236508e-02 5.43647642e+02] [-6.24361182e-02 9.98035379e-01 -5.20704616e-03 -7.13147533e+01] [-4.11691986e-02 2.63734989e-03 9.99148708e-01 -3.52221339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.900714057 meters 0.04063495434123145 Centerline is valid? [True, True] Translation: X:543.67, Y:-71.32, Z:-35.22 [[ 9.97237042e-01 6.10897327e-02 4.22649592e-02 5.43674576e+02] [-6.09164504e-02 9.98128386e-01 -5.37692594e-03 -7.13229920e+01] [-4.25143305e-02 2.78743843e-03 9.99091969e-01 -3.52224056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.9307140569999 meters 0.039437487434838124 Centerline is valid? [True, True] Translation: X:543.70, Y:-71.32, Z:-35.22 [[ 9.97295001e-01 6.01419738e-02 4.22566514e-02 5.43703110e+02] [-5.99680825e-02 9.98185840e-01 -5.37188166e-03 -7.13246996e+01] [-4.25030666e-02 2.82330037e-03 9.99092347e-01 -3.52225992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.9607140569999 meters 0.04351997226519167 Centerline is valid? [True, True] Translation: X:543.73, Y:-71.34, Z:-35.22 [[ 9.97313638e-01 5.92131466e-02 4.31197167e-02 5.43729568e+02] [-5.90313383e-02 9.98241096e-01 -5.47864408e-03 -7.13357168e+01] [-4.33682810e-02 2.91851188e-03 9.99054891e-01 -3.52235837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.990714057 meters 0.0432758141995667 Centerline is valid? [True, True] Translation: X:543.76, Y:-71.34, Z:-35.22 [[ 9.97310458e-01 5.86725006e-02 4.39248045e-02 5.43757772e+02] [-5.84835019e-02 9.98272799e-01 -5.57665106e-03 -7.13401307e+01] [-4.41761336e-02 2.99277603e-03 9.99019275e-01 -3.52244206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.020714057 meters 0.044026468998274476 Centerline is valid? [True, True] Translation: X:543.79, Y:-71.35, Z:-35.23 [[ 9.97277319e-01 5.86326268e-02 4.47231970e-02 5.43785942e+02] [-5.84367923e-02 9.98274981e-01 -5.67483710e-03 -7.13472178e+01] [-4.49787793e-02 3.04590615e-03 9.98983299e-01 -3.52259853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.0507140569999 meters 0.04209385672938573 Centerline is valid? [True, True] Translation: X:543.82, Y:-71.35, Z:-35.23 [[ 9.97289684e-01 5.87434361e-02 4.43000628e-02 5.43815222e+02] [-5.85515448e-02 9.98268579e-01 -5.61793498e-03 -7.13488542e+01] [-4.45533775e-02 3.00887149e-03 9.99002474e-01 -3.52278701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.0807140569999 meters 0.04504699418823707 Centerline is valid? [True, True] Translation: X:543.84, Y:-71.36, Z:-35.23 [[ 9.97261439e-01 5.94400920e-02 4.40056456e-02 5.43841542e+02] [-5.92515013e-02 9.98227498e-01 -5.57875754e-03 -7.13594067e+01] [-4.42592474e-02 2.95607920e-03 9.99015706e-01 -3.52312315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.110714057 meters 0.04473800748304341 Centerline is valid? [True, True] Translation: X:543.87, Y:-71.36, Z:-35.23 [[ 9.97134801e-01 6.20196594e-02 4.33099382e-02 5.43869951e+02] [-6.18396054e-02 9.98071023e-01 -5.48608965e-03 -7.13642272e+01] [-4.35666397e-02 2.79210143e-03 9.99046622e-01 -3.52332494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.140714057 meters 0.04409419413667956 Centerline is valid? [True, True] Translation: X:543.90, Y:-71.37, Z:-35.24 [[ 9.97015935e-01 6.36827585e-02 4.36317825e-02 5.43899933e+02] [-6.35016765e-02 9.97966437e-01 -5.52515437e-03 -7.13679698e+01] [-4.38949116e-02 2.73797561e-03 9.99032402e-01 -3.52350699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.1707140569999 meters 0.03847120307388811 Centerline is valid? [True, True] Translation: X:543.93, Y:-71.37, Z:-35.24 [[ 9.96748685e-01 6.79105050e-02 4.33615359e-02 5.43931382e+02] [-6.77356941e-02 9.97688197e-01 -5.48978128e-03 -7.13654400e+01] [-4.36341063e-02 2.53480854e-03 9.99044363e-01 -3.52355630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.2007140569999 meters 0.03766404406397049 Centerline is valid? [True, True] Translation: X:543.96, Y:-71.37, Z:-35.24 [[ 9.96588823e-01 7.01821705e-02 4.34186721e-02 5.43960666e+02] [-7.00089877e-02 9.97531207e-01 -5.49834115e-03 -7.13686371e+01] [-4.36973659e-02 2.43988805e-03 9.99041835e-01 -3.52374283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.2307140569999 meters 0.034439071108600075 Centerline is valid? [True, True] Translation: X:543.99, Y:-71.37, Z:-35.24 [[ 9.96258892e-01 7.47603277e-02 4.33487493e-02 5.43991812e+02] [-7.45921060e-02 9.97199030e-01 -5.48752716e-03 -7.13681082e+01] [-4.36375801e-02 2.23352322e-03 9.99044930e-01 -3.52379910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.260714057 meters 0.034439071108600075 Centerline is valid? [True, True] Translation: X:544.02, Y:-71.37, Z:-35.24 [[ 9.96266912e-01 7.46534598e-02 4.33485946e-02 5.44019048e+02] [-7.44850841e-02 9.97207023e-01 -5.48875005e-03 -7.13714659e+01] [-4.36372771e-02 2.23943635e-03 9.99044930e-01 -3.52395814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.290714057 meters 0.0345577268155785 Centerline is valid? [True, True] Translation: X:544.05, Y:-71.38, Z:-35.24 [[ 9.96116398e-01 7.66141944e-02 4.33864934e-02 5.44046088e+02] [-7.64475969e-02 9.97058494e-01 -5.48853951e-03 -7.13759645e+01] [-4.36793718e-02 2.15043105e-03 9.99043286e-01 -3.52418102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.3207140569999 meters 0.032669723626536314 Centerline is valid? [True, True] Translation: X:544.08, Y:-71.38, Z:-35.24 [[ 9.95693910e-01 8.16664049e-02 4.38661220e-02 5.44076157e+02] [-8.15012129e-02 9.96657822e-01 -5.54414003e-03 -7.13797082e+01] [-4.41722836e-02 1.94512432e-03 9.99022035e-01 -3.52432138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.3507140569999 meters 0.03241093541328168 Centerline is valid? [True, True] Translation: X:544.10, Y:-71.38, Z:-35.25 [[ 9.95522479e-01 8.35972977e-02 4.41189860e-02 5.44104266e+02] [-8.34320750e-02 9.96497864e-01 -5.57633906e-03 -7.13844983e+01] [-4.44306422e-02 1.87043234e-03 9.99010720e-01 -3.52452450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.380714057 meters 0.03173365897958901 Centerline is valid? [True, True] Translation: X:544.13, Y:-71.39, Z:-35.25 [[ 9.95278397e-01 8.62799792e-02 4.44598387e-02 5.44132983e+02] [-8.61149132e-02 9.96269370e-01 -5.61827713e-03 -7.13906127e+01] [-4.47787203e-02 1.76309471e-03 9.98995374e-01 -3.52467099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.410714057 meters 0.03224763371060116 Centerline is valid? [True, True] Translation: X:544.16, Y:-71.40, Z:-35.25 [[ 9.95194906e-01 8.64687901e-02 4.59374269e-02 5.44159403e+02] [-8.62933528e-02 9.96252933e-01 -5.79224044e-03 -7.14004840e+01] [-4.62661443e-02 1.80031360e-03 9.98927526e-01 -3.52474634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4407140569999 meters 0.03195300645020326 Centerline is valid? [True, True] Translation: X:544.19, Y:-71.41, Z:-35.25 [[ 9.95262273e-01 8.55783398e-02 4.61449371e-02 5.44188141e+02] [-8.54005585e-02 9.96329735e-01 -5.81408585e-03 -7.14061991e+01] [-4.64731328e-02 1.84573690e-03 9.98917835e-01 -3.52486403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4707140569999 meters 0.03345201383234607 Centerline is valid? [True, True] Translation: X:544.22, Y:-71.42, Z:-35.25 [[ 9.95444851e-01 8.27394496e-02 4.73680503e-02 5.44215146e+02] [-8.25490789e-02 9.96569152e-01 -5.96451673e-03 -7.14204121e+01] [-4.76990385e-02 2.02715854e-03 9.98859696e-01 -3.52510938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.500714057 meters 0.033541967658370704 Centerline is valid? [True, True] Translation: X:544.24, Y:-71.43, Z:-35.25 [[ 9.95610457e-01 8.08019704e-02 4.72319760e-02 5.44244330e+02] [-8.06106457e-02 9.96727939e-01 -5.94469351e-03 -7.14275694e+01] [-4.75577731e-02 2.11119894e-03 9.98866258e-01 -3.52531840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.530714057 meters 0.032837639596295806 Centerline is valid? [True, True] Translation: X:544.27, Y:-71.44, Z:-35.26 [[ 9.96006926e-01 7.68792707e-02 4.53848096e-02 5.44273646e+02] [-7.66986460e-02 9.97037967e-01 -5.71048155e-03 -7.14371341e+01] [-4.56893960e-02 2.20672572e-03 9.98953257e-01 -3.52563877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.5607140569999 meters 0.03608959969222535 Centerline is valid? [True, True] Translation: X:544.30, Y:-71.45, Z:-35.26 [[ 9.96219886e-01 7.45894202e-02 4.45236623e-02 5.44300964e+02] [-7.44133245e-02 9.97211751e-01 -5.60179895e-03 -7.14500943e+01] [-4.48173541e-02 2.26746978e-03 9.98992624e-01 -3.52604042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.5907140569999 meters 0.03783298304096574 Centerline is valid? [True, True] Translation: X:544.33, Y:-71.46, Z:-35.26 [[ 9.96590288e-01 7.07684556e-02 4.24219682e-02 5.44329093e+02] [-7.06052693e-02 9.97490069e-01 -5.33463981e-03 -7.14625033e+01] [-4.26930162e-02 2.32123573e-03 9.99085541e-01 -3.52641144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.620714057 meters 0.03538162546726787 Centerline is valid? [True, True] Translation: X:544.36, Y:-71.46, Z:-35.26 [[ 9.96739409e-01 6.88556955e-02 4.20647628e-02 5.44358249e+02] [-6.86935547e-02 9.97623785e-01 -5.28961556e-03 -7.14638523e+01] [-4.23290281e-02 2.38279020e-03 9.99100884e-01 -3.52645577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.650714057 meters 0.04063253926922319 Centerline is valid? [True, True] Translation: X:544.38, Y:-71.48, Z:-35.27 [[ 9.96917942e-01 6.58689187e-02 4.26134193e-02 5.44384248e+02] [-6.56998950e-02 9.97825051e-01 -5.35636727e-03 -7.14813540e+01] [-4.28735554e-02 2.54016146e-03 9.99077277e-01 -3.52674351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.6807140569999 meters 0.03764831464026348 Centerline is valid? [True, True] Translation: X:544.41, Y:-71.48, Z:-35.27 [[ 9.97098158e-01 6.31604393e-02 4.24973185e-02 5.44414391e+02] [-6.29900306e-02 9.97999879e-01 -5.33839000e-03 -7.14836775e+01] [-4.27494937e-02 2.64599144e-03 9.99082319e-01 -3.52676495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.7107140569999 meters 0.03743567931593403 Centerline is valid? [True, True] Translation: X:544.44, Y:-71.49, Z:-35.27 [[ 9.97184619e-01 6.19425291e-02 4.22606058e-02 5.44442273e+02] [-6.17729113e-02 9.98076110e-01 -5.30899841e-03 -7.14887922e+01] [-4.25081538e-02 2.68349090e-03 9.99092516e-01 -3.52689062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.740714057 meters 0.0386540050766111 Centerline is valid? [True, True] Translation: X:544.47, Y:-71.50, Z:-35.27 [[ 9.97268602e-01 6.00261582e-02 4.30371552e-02 5.44470485e+02] [-5.98486646e-02 9.98192845e-01 -5.40201829e-03 -7.14969053e+01] [-4.32836428e-02 2.81154695e-03 9.99058868e-01 -3.52703021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.770714057 meters 0.03935757531955806 Centerline is valid? [True, True] Translation: X:544.50, Y:-71.50, Z:-35.27 [[ 9.97308605e-01 5.91217668e-02 4.33608553e-02 5.44498272e+02] [-5.89408221e-02 9.98246652e-01 -5.44077788e-03 -7.15029043e+01] [-4.36064970e-02 2.87041014e-03 9.99044661e-01 -3.52719640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.8007140569999 meters 0.04004488591008233 Centerline is valid? [True, True] Translation: X:544.53, Y:-71.51, Z:-35.27 [[ 9.97433888e-01 5.71036512e-02 4.31834660e-02 5.44526800e+02] [-5.69224906e-02 9.98363920e-01 -5.41419994e-03 -7.15096398e+01] [-4.34219849e-02 2.94219606e-03 9.99052488e-01 -3.52738069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.8307140569999 meters 0.04000189801030497 Centerline is valid? [True, True] Translation: X:544.56, Y:-71.51, Z:-35.28 [[ 9.97499420e-01 5.64132408e-02 4.25729177e-02 5.44556337e+02] [-5.62366610e-02 9.98403213e-01 -5.33494301e-03 -7.15145211e+01] [-4.28058992e-02 2.92744381e-03 9.99079119e-01 -3.52753407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.860714057 meters 0.044012788214598114 Centerline is valid? [True, True] Translation: X:544.58, Y:-71.53, Z:-35.28 [[ 9.97596542e-01 5.47717726e-02 4.24404668e-02 5.44583996e+02] [-5.45948781e-02 9.98494432e-01 -5.31682324e-03 -7.15256988e+01] [-4.26677817e-02 2.98701236e-03 9.99084850e-01 -3.52783842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.890714057 meters 0.04397823749930889 Centerline is valid? [True, True] Translation: X:544.61, Y:-71.53, Z:-35.28 [[ 9.97661044e-01 5.34666424e-02 4.25882452e-02 5.44613454e+02] [-5.32873963e-02 9.98564972e-01 -5.33379315e-03 -7.15314047e+01] [-4.28123099e-02 3.05190095e-03 9.99078471e-01 -3.52802342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9207140569999 meters 0.04568998174615588 Centerline is valid? [True, True] Translation: X:544.64, Y:-71.54, Z:-35.28 [[ 9.97705227e-01 5.26840462e-02 4.25284790e-02 5.44642724e+02] [-5.25046844e-02 9.98606484e-01 -5.32424615e-03 -7.15378180e+01] [-4.27497178e-02 3.07908384e-03 9.99081068e-01 -3.52821726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9507140569999 meters 0.0468007261445676 Centerline is valid? [True, True] Translation: X:544.67, Y:-71.54, Z:-35.28 [[ 9.97749637e-01 5.17387498e-02 4.26469568e-02 5.44672486e+02] [-5.15575162e-02 9.98655753e-01 -5.33935052e-03 -7.15425363e+01] [-4.28658801e-02 3.12856388e-03 9.99075937e-01 -3.52839337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9807140569999 meters 0.040886944705609427 Centerline is valid? [True, True] Translation: X:544.70, Y:-71.54, Z:-35.28 [[ 9.97872898e-01 5.05259665e-02 4.11922983e-02 5.44703504e+02] [-5.03558550e-02 9.98718022e-01 -5.15752569e-03 -7.15372781e+01] [-4.14000797e-02 3.07228171e-03 9.99137926e-01 -3.52843928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.010714057 meters 0.040685836606983244 Centerline is valid? [True, True] Translation: X:544.73, Y:-71.54, Z:-35.29 [[ 9.98013546e-01 4.91960482e-02 3.93536715e-02 5.44733545e+02] [-4.90398058e-02 9.98784676e-01 -4.92631419e-03 -7.15419865e+01] [-3.95481992e-02 2.98663189e-03 9.99213200e-01 -3.52882459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.040714057 meters 0.045340834563731926 Centerline is valid? [True, True] Translation: X:544.76, Y:-71.55, Z:-35.29 [[ 9.98120670e-01 4.81248337e-02 3.79358500e-02 5.44761582e+02] [-4.79788712e-02 9.98837060e-01 -4.74918637e-03 -7.15523618e+01] [-3.81202867e-02 2.92014182e-03 9.99268891e-01 -3.52925872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0707140569999 meters 0.04221404479997819 Centerline is valid? [True, True] Translation: X:544.79, Y:-71.55, Z:-35.29 [[ 9.98214191e-01 4.72578911e-02 3.65392957e-02 5.44792333e+02] [-4.71219437e-02 9.98878675e-01 -4.57334080e-03 -7.15508908e+01] [-3.67144497e-02 2.84337106e-03 9.99321752e-01 -3.52937536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.1007140569999 meters 0.043996107887541165 Centerline is valid? [True, True] Translation: X:544.82, Y:-71.56, Z:-35.30 [[ 9.98243258e-01 4.68431286e-02 3.62783646e-02 5.44820643e+02] [-4.67088031e-02 9.98898223e-01 -4.54182738e-03 -7.15564803e+01] [-3.64511473e-02 2.83932957e-03 9.99331403e-01 -3.52961195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.130714057 meters 0.04437150019047267 Centerline is valid? [True, True] Translation: X:544.85, Y:-71.56, Z:-35.30 [[ 9.98251012e-01 4.63394052e-02 3.67093576e-02 5.44849914e+02] [-4.62016178e-02 9.98921574e-01 -4.59337396e-03 -7.15591856e+01] [-3.68826235e-02 2.88930850e-03 9.99315428e-01 -3.52964686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.160714057 meters 0.04310523291118832 Centerline is valid? [True, True] Translation: X:544.88, Y:-71.56, Z:-35.30 [[ 9.98171436e-01 4.73427227e-02 3.75825779e-02 5.44880262e+02] [-4.71990704e-02 9.98874441e-01 -4.70089567e-03 -7.15594922e+01] [-3.77628297e-02 2.91843704e-03 9.99282468e-01 -3.52963650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.1907140569999 meters 0.04364487189030938 Centerline is valid? [True, True] Translation: X:544.91, Y:-71.56, Z:-35.30 [[ 9.98059509e-01 4.85691840e-02 3.89647504e-02 5.44909281e+02] [-4.84157218e-02 9.98815384e-01 -4.87303669e-03 -7.15634659e+01] [-3.91552715e-02 2.97707409e-03 9.99228703e-01 -3.52975417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.2207140569999 meters 0.04360225986584367 Centerline is valid? [True, True] Translation: X:544.94, Y:-71.57, Z:-35.30 [[ 9.97963593e-01 4.98128130e-02 3.98415613e-02 5.44939666e+02] [-4.96533886e-02 9.98754086e-01 -4.98164184e-03 -7.15660882e+01] [-4.00400717e-02 2.99322866e-03 9.99193591e-01 -3.52983876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.250714057 meters 0.04292974901627161 Centerline is valid? [True, True] Translation: X:544.97, Y:-71.57, Z:-35.30 [[ 9.97744595e-01 5.24984908e-02 4.18285948e-02 5.44970382e+02] [-5.23250969e-02 9.98616407e-01 -5.23019409e-03 -7.15663391e+01] [-4.20452983e-02 3.02971261e-03 9.99111112e-01 -3.52988794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.280714057 meters 0.04296593033004737 Centerline is valid? [True, True] Translation: X:545.00, Y:-71.57, Z:-35.30 [[ 9.97681163e-01 5.32440438e-02 4.23953883e-02 5.45000381e+02] [-5.30665893e-02 9.98576906e-01 -5.30095193e-03 -7.15688408e+01] [-4.26172998e-02 3.03888123e-03 9.99086849e-01 -3.53004270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.3107140569999 meters 0.04349883757714343 Centerline is valid? [True, True] Translation: X:545.03, Y:-71.57, Z:-35.30 [[ 9.97590343e-01 5.41363851e-02 4.33907722e-02 5.45029469e+02] [-5.39513563e-02 9.98528829e-01 -5.42486691e-03 -7.15709108e+01] [-4.36206196e-02 3.07080383e-03 9.99043448e-01 -3.53010160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.3407140569999 meters 0.0458115268308693 Centerline is valid? [True, True] Translation: X:545.06, Y:-71.58, Z:-35.30 [[ 9.97625809e-01 5.26570490e-02 4.43844678e-02 5.45058737e+02] [-5.24620666e-02 9.98607510e-01 -5.54727785e-03 -7.15758148e+01] [-4.46147662e-02 3.20560665e-03 9.98999122e-01 -3.53024746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.370714057 meters 0.0425519422749136 Centerline is valid? [True, True] Translation: X:545.09, Y:-71.57, Z:-35.30 [[ 9.97691700e-01 5.11940899e-02 4.46143209e-02 5.45089529e+02] [-5.09956715e-02 9.98683314e-01 -5.57500560e-03 -7.15742049e+01] [-4.48409852e-02 3.28699956e-03 9.98988730e-01 -3.53032071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.400714057 meters 0.041405454911218234 Centerline is valid? [True, True] Translation: X:545.12, Y:-71.58, Z:-35.31 [[ 9.97891918e-01 4.79214966e-02 4.37635612e-02 5.45120242e+02] [-4.77274586e-02 9.98845426e-01 -5.46853251e-03 -7.15754421e+01] [-4.39750932e-02 3.36828085e-03 9.99026950e-01 -3.53053425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.4307140569999 meters 0.04517275687677594 Centerline is valid? [True, True] Translation: X:545.15, Y:-71.59, Z:-35.31 [[ 9.98000679e-01 4.63521454e-02 4.29665312e-02 5.45148822e+02] [-4.61636425e-02 9.98919459e-01 -5.36960876e-03 -7.15850342e+01] [-4.31689970e-02 3.37538160e-03 9.99062082e-01 -3.53088387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.4607140569999 meters 0.04436657216507858 Centerline is valid? [True, True] Translation: X:545.18, Y:-71.59, Z:-35.31 [[ 9.98192593e-01 4.33644460e-02 4.16061607e-02 5.45179587e+02] [-4.31851243e-02 9.99053557e-01 -5.19953892e-03 -7.15873745e+01] [-4.17922580e-02 3.39337401e-03 9.99120559e-01 -3.53118240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.490714057 meters 0.04448068676446475 Centerline is valid? [True, True] Translation: X:545.21, Y:-71.59, Z:-35.31 [[ 9.98243240e-01 4.30585475e-02 4.06988327e-02 5.45211948e+02] [-4.28868791e-02 9.99067009e-01 -5.08213856e-03 -7.15911062e+01] [-4.08796905e-02 3.32776455e-03 9.99158534e-01 -3.53142990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.520714057 meters 0.04686766530351005 Centerline is valid? [True, True] Translation: X:545.24, Y:-71.60, Z:-35.32 [[ 9.98287036e-01 4.37128525e-02 3.88867570e-02 5.45242767e+02] [-4.35562593e-02 9.99039128e-01 -4.86543627e-03 -7.15964801e+01] [-3.90620739e-02 3.16334028e-03 9.99231779e-01 -3.53179220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.5507140569999 meters 0.046456903277231815 Centerline is valid? [True, True] Translation: X:545.27, Y:-71.60, Z:-35.32 [[ 9.98194694e-01 4.60912820e-02 3.85090455e-02 5.45273339e+02] [-4.59389621e-02 9.98932565e-01 -4.83144645e-03 -7.15973899e+01] [-3.86906272e-02 3.05365863e-03 9.99246571e-01 -3.53193117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.5807140569999 meters 0.04507147161475099 Centerline is valid? [True, True] Translation: X:545.30, Y:-71.60, Z:-35.32 [[ 9.98120934e-01 4.74726800e-02 3.87420400e-02 5.45304004e+02] [-4.73195437e-02 9.98867977e-01 -4.86067855e-03 -7.15977583e+01] [-3.89289325e-02 3.01828936e-03 9.99237423e-01 -3.53200143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.610714057 meters 0.04156096238703973 Centerline is valid? [True, True] Translation: X:545.34, Y:-71.59, Z:-35.32 [[ 9.97922046e-01 5.07134892e-02 3.97458398e-02 5.45335686e+02] [-5.05548604e-02 9.98708836e-01 -4.98668487e-03 -7.15937369e+01] [-3.99474136e-02 2.96697739e-03 9.99197379e-01 -3.53196955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.640714057 meters 0.04120958024216223 Centerline is valid? [True, True] Translation: X:545.37, Y:-71.60, Z:-35.32 [[ 9.97837553e-01 5.21109635e-02 4.00582666e-02 5.45365510e+02] [-5.19509323e-02 9.98636990e-01 -5.02629132e-03 -7.15955082e+01] [-4.02655917e-02 2.93435794e-03 9.99184703e-01 -3.53211111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.6707140569999 meters 0.04207299468592613 Centerline is valid? [True, True] Translation: X:545.39, Y:-71.60, Z:-35.32 [[ 9.97692202e-01 5.43157214e-02 4.07439969e-02 5.45394168e+02] [-5.41520504e-02 9.98519622e-01 -5.11081743e-03 -7.15984897e+01] [-4.09612781e-02 2.89265172e-03 9.99156547e-01 -3.53224048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.7007140569999 meters 0.04205363312901894 Centerline is valid? [True, True] Translation: X:545.42, Y:-71.60, Z:-35.32 [[ 9.97630728e-01 5.51921824e-02 4.10701160e-02 5.45422435e+02] [-5.50266557e-02 9.98471600e-01 -5.15080263e-03 -7.16012586e+01] [-4.12916285e-02 2.87864784e-03 9.99142990e-01 -3.53237048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.7307140569999 meters 0.03989121450234129 Centerline is valid? [True, True] Translation: X:545.45, Y:-71.60, Z:-35.32 [[ 9.97797523e-01 5.33393073e-02 3.94337622e-02 5.45452011e+02] [-5.31853874e-02 9.98572423e-01 -4.94280939e-03 -7.15996231e+01] [-3.96411135e-02 2.83462305e-03 9.99209961e-01 -3.53248466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.760714057 meters 0.04385700680799841 Centerline is valid? [True, True] Translation: X:545.48, Y:-71.61, Z:-35.33 [[ 9.97858786e-01 5.22479200e-02 3.93446160e-02 5.45478929e+02] [-5.20939422e-02 9.98630023e-01 -4.92935625e-03 -7.16092621e+01] [-3.95482634e-02 2.86918529e-03 9.99213542e-01 -3.53282292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.790714057 meters 0.044063925438100116 Centerline is valid? [True, True] Translation: X:545.51, Y:-71.61, Z:-35.33 [[ 9.98038080e-01 4.89766522e-02 3.90035619e-02 5.45508866e+02] [-4.88230069e-02 9.98795512e-01 -4.88263964e-03 -7.16123143e+01] [-3.91957179e-02 2.96878912e-03 9.99227142e-01 -3.53290395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.8207140569999 meters 0.04641341676895097 Centerline is valid? [True, True] Translation: X:545.54, Y:-71.62, Z:-35.33 [[ 9.98239897e-01 4.53417216e-02 3.82261260e-02 5.45538752e+02] [-4.51915125e-02 9.98966882e-01 -4.78488331e-03 -7.16183957e+01] [-3.84035887e-02 3.04896498e-03 9.99257659e-01 -3.53312875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.8507140569999 meters 0.049888507559992926 Centerline is valid? [True, True] Translation: X:545.57, Y:-71.63, Z:-35.33 [[ 9.98313280e-01 4.37809405e-02 3.81290541e-02 5.45567058e+02] [-4.36303514e-02 9.99036341e-01 -4.77303759e-03 -7.16281404e+01] [-3.83012788e-02 3.10140279e-03 9.99261424e-01 -3.53346357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.880714057 meters 0.045649205010678665 Centerline is valid? [True, True] Translation: X:545.60, Y:-71.63, Z:-35.34 [[ 9.98461285e-01 4.05646520e-02 3.78096780e-02 5.45597880e+02] [-4.04143330e-02 9.99171803e-01 -4.73184857e-03 -7.16263176e+01] [-3.79703100e-02 3.19651469e-03 9.99273755e-01 -3.53354470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.910714057 meters 0.05317032568486746 Centerline is valid? [True, True] Translation: X:545.63, Y:-71.64, Z:-35.34 [[ 9.98477117e-01 4.00864225e-02 3.79015247e-02 5.45627295e+02] [-3.99351802e-02 9.99191033e-01 -4.73939506e-03 -7.16414638e+01] [-3.80608490e-02 3.21857329e-03 9.99270240e-01 -3.53400525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9407140569999 meters 0.0483819603620701 Centerline is valid? [True, True] Translation: X:545.66, Y:-71.64, Z:-35.34 [[ 9.98490545e-01 3.95848632e-02 3.80745412e-02 5.45658946e+02] [-3.94314123e-02 9.99210879e-01 -4.77310121e-03 -7.16381063e+01] [-3.82334384e-02 3.26456349e-03 9.99263502e-01 -3.53394377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9707140569999 meters 0.04727093368834858 Centerline is valid? [True, True] Translation: X:545.69, Y:-71.64, Z:-35.34 [[ 9.98510973e-01 3.94122155e-02 3.77162209e-02 5.45690091e+02] [-3.92613864e-02 9.99217771e-01 -4.73167717e-03 -7.16395879e+01] [-3.78732041e-02 3.24384045e-03 9.99277288e-01 -3.53403288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.000714057 meters 0.04807041851119141 Centerline is valid? [True, True] Translation: X:545.72, Y:-71.64, Z:-35.34 [[ 9.98519294e-01 3.90719373e-02 3.78497498e-02 5.45721015e+02] [-3.89197431e-02 9.99231051e-01 -4.74979713e-03 -7.16444442e+01] [-3.80062291e-02 3.26966154e-03 9.99272153e-01 -3.53414879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.030714057 meters 0.04801702323516288 Centerline is valid? [True, True] Translation: X:545.75, Y:-71.65, Z:-35.34 [[ 9.98483722e-01 3.90630419e-02 3.87857705e-02 5.45751805e+02] [-3.89031593e-02 9.99231124e-01 -4.86869344e-03 -7.16500708e+01] [-3.89461350e-02 3.35242214e-03 9.99235688e-01 -3.53430500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.0607140569999 meters 0.04803635178425119 Centerline is valid? [True, True] Translation: X:545.78, Y:-71.65, Z:-35.34 [[ 9.98443512e-01 3.93974139e-02 3.94765320e-02 5.45782412e+02] [-3.92319831e-02 9.99217835e-01 -4.95685743e-03 -7.16544060e+01] [-3.96409422e-02 3.40039950e-03 9.99208203e-01 -3.53443730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.0907140569999 meters 0.048677222959055653 Centerline is valid? [True, True] Translation: X:545.81, Y:-71.66, Z:-35.35 [[ 9.98352567e-01 4.05222804e-02 4.06213830e-02 5.45813147e+02] [-4.03479701e-02 9.99172663e-01 -5.10212396e-03 -7.16590470e+01] [-4.07945251e-02 3.45472821e-03 9.99161584e-01 -3.53454332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.120714057 meters 0.04550006305670679 Centerline is valid? [True, True] Translation: X:545.85, Y:-71.66, Z:-35.35 [[ 9.98293108e-01 4.13869795e-02 4.12066447e-02 5.45845028e+02] [-4.12082758e-02 9.99137166e-01 -5.17711708e-03 -7.16584376e+01] [-4.13853554e-02 3.47022552e-03 9.99137233e-01 -3.53463515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.150714057 meters 0.04550006305670679 Centerline is valid? [True, True] Translation: X:545.88, Y:-71.66, Z:-35.35 [[ 9.98291627e-01 4.14228831e-02 4.12064567e-02 5.45875692e+02] [-4.12441485e-02 9.99135678e-01 -5.17861269e-03 -7.16623222e+01] [-4.13853542e-02 3.47024047e-03 9.99137233e-01 -3.53481418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.1807140569999 meters 0.050514346175323854 Centerline is valid? [True, True] Translation: X:545.90, Y:-71.67, Z:-35.35 [[ 9.98153885e-01 4.33846791e-02 4.25040275e-02 5.45904637e+02] [-4.31961744e-02 9.99052318e-01 -5.34384549e-03 -7.16731869e+01] [-4.26955882e-02 3.49796876e-03 9.99082004e-01 -3.53508159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.2107140569999 meters 0.04536026308279206 Centerline is valid? [True, True] Translation: X:545.94, Y:-71.67, Z:-35.35 [[ 9.98135728e-01 4.41793809e-02 4.21099877e-02 5.45937261e+02] [-4.39950951e-02 9.99017723e-01 -5.29347765e-03 -7.16696716e+01] [-4.23024866e-02 3.43097625e-03 9.99098958e-01 -3.53512275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.240714057 meters 0.04117947525648153 Centerline is valid? [True, True] Translation: X:545.97, Y:-71.67, Z:-35.35 [[ 9.98120038e-01 4.55023904e-02 4.10599914e-02 5.45968692e+02] [-4.53281862e-02 9.98958801e-01 -5.16421017e-03 -7.16669981e+01] [-4.12522237e-02 3.29332671e-03 9.99143337e-01 -3.53525765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.270714057 meters 0.04109347651149366 Centerline is valid? [True, True] Translation: X:546.00, Y:-71.67, Z:-35.35 [[ 9.98077533e-01 4.66820155e-02 4.07679812e-02 5.45999006e+02] [-4.65112160e-02 9.98904602e-01 -5.12854671e-03 -7.16709884e+01] [-4.09627350e-02 3.22251886e-03 9.99155478e-01 -3.53548387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.3007140569999 meters 0.04248549060772533 Centerline is valid? [True, True] Translation: X:546.03, Y:-71.68, Z:-35.36 [[ 9.98092729e-01 4.70843151e-02 3.99245855e-02 5.46027403e+02] [-4.69208083e-02 9.98885983e-01 -5.02308900e-03 -7.16772294e+01] [-4.01166176e-02 3.14021478e-03 9.99190070e-01 -3.53589614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.3307140569999 meters 0.043233857589883656 Centerline is valid? [True, True] Translation: X:546.06, Y:-71.68, Z:-35.36 [[ 9.98134085e-01 4.77124066e-02 3.81034856e-02 5.46055381e+02] [-4.75639770e-02 9.98856694e-01 -4.79300212e-03 -7.16808281e+01] [-3.82886073e-02 2.97170547e-03 9.99262304e-01 -3.53614240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.360714057 meters 0.043332210177306964 Centerline is valid? [True, True] Translation: X:546.09, Y:-71.68, Z:-35.36 [[ 9.98116204e-01 4.82231117e-02 3.79285572e-02 5.46085190e+02] [-4.80765001e-02 9.98832273e-01 -4.76861040e-03 -7.16837962e+01] [-3.81142242e-02 2.93615503e-03 9.99269075e-01 -3.53631084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.390714057 meters 0.04365461701035966 Centerline is valid? [True, True] Translation: X:546.11, Y:-71.69, Z:-35.37 [[ 9.98117667e-01 4.86201053e-02 3.73792354e-02 5.46114270e+02] [-4.84780249e-02 9.98813198e-01 -4.69859125e-03 -7.16866998e+01] [-3.75633197e-02 2.87767543e-03 9.99290106e-01 -3.53650534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4207140569999 meters 0.04308142699487458 Centerline is valid? [True, True] Translation: X:546.14, Y:-71.69, Z:-35.37 [[ 9.97944690e-01 5.08945135e-02 3.89376941e-02 5.46144395e+02] [-5.07421633e-02 9.98699807e-01 -4.89162131e-03 -7.16884962e+01] [-3.91360243e-02 2.90578468e-03 9.99229667e-01 -3.53650540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4507140569999 meters 0.04173330024137514 Centerline is valid? [True, True] Translation: X:546.17, Y:-71.69, Z:-35.37 [[ 9.97839811e-01 5.20852086e-02 4.00355090e-02 5.46174242e+02] [-5.19251101e-02 9.98638318e-01 -5.02911199e-03 -7.16887227e+01] [-4.02429357e-02 2.93939994e-03 9.99185601e-01 -3.53656678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4807140569999 meters 0.04108778469148669 Centerline is valid? [True, True] Translation: X:546.20, Y:-71.69, Z:-35.37 [[ 9.97654914e-01 5.42297886e-02 4.17588730e-02 5.46204362e+02] [-5.40575454e-02 9.98524053e-01 -5.24373632e-03 -7.16896174e+01] [-4.19816058e-02 2.97405713e-03 9.99113957e-01 -3.53653884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.510714057 meters 0.03906442221833759 Centerline is valid? [True, True] Translation: X:546.23, Y:-71.69, Z:-35.37 [[ 9.97520515e-01 5.58692092e-02 4.27954855e-02 5.46234538e+02] [-5.56898243e-02 9.98433658e-01 -5.37338898e-03 -7.16884615e+01] [-4.30286602e-02 2.97679267e-03 9.99069404e-01 -3.53660053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.540714057 meters 0.03842056600481522 Centerline is valid? [True, True] Translation: X:546.26, Y:-71.69, Z:-35.37 [[ 9.97511687e-01 5.59767475e-02 4.28606857e-02 5.46263173e+02] [-5.57969578e-02 9.98427638e-01 -5.38055591e-03 -7.16895957e+01] [-4.30944792e-02 2.97567153e-03 9.99066570e-01 -3.53678169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5707140569999 meters 0.04083307102786501 Centerline is valid? [True, True] Translation: X:546.29, Y:-71.70, Z:-35.37 [[ 9.97561209e-01 5.58753307e-02 4.18280080e-02 5.46290629e+02] [-5.57041308e-02 9.98433526e-01 -5.24823933e-03 -7.16958001e+01] [-4.20557327e-02 2.90544713e-03 9.99111042e-01 -3.53716509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.6007140569999 meters 0.04171811816976464 Centerline is valid? [True, True] Translation: X:546.32, Y:-71.70, Z:-35.37 [[ 9.97631003e-01 5.54161656e-02 4.07606378e-02 5.46318115e+02] [-5.52533643e-02 9.98459286e-01 -5.11071217e-03 -7.17007470e+01] [-4.09810534e-02 2.84644255e-03 9.99155869e-01 -3.53747488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.630714057 meters 0.03873743985971552 Centerline is valid? [True, True] Translation: X:546.35, Y:-71.70, Z:-35.38 [[ 9.97807046e-01 5.38301988e-02 3.85150539e-02 5.46347800e+02] [-5.36838212e-02 9.98546325e-01 -4.82544225e-03 -7.16985818e+01] [-3.87188201e-02 2.74722501e-03 9.99246369e-01 -3.53765362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.660714057 meters 0.0411366709171647 Centerline is valid? [True, True] Translation: X:546.38, Y:-71.71, Z:-35.38 [[ 9.97897032e-01 5.27091903e-02 3.77260414e-02 5.46375364e+02] [-5.25680185e-02 9.98606168e-01 -4.72492830e-03 -7.17051467e+01] [-3.79225047e-02 2.73180869e-03 9.99276949e-01 -3.53793229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.6907140569999 meters 0.04685016499764373 Centerline is valid? [True, True] Translation: X:546.40, Y:-71.72, Z:-35.38 [[ 9.98025616e-01 5.08242165e-02 3.69021590e-02 5.46402470e+02] [-5.06879774e-02 9.98703858e-01 -4.61873291e-03 -7.17162178e+01] [-3.70890721e-02 2.73911795e-03 9.99308210e-01 -3.53839080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.7207140569999 meters 0.04276825719175487 Centerline is valid? [True, True] Translation: X:546.43, Y:-71.71, Z:-35.38 [[ 9.98082178e-01 4.99994049e-02 3.64969354e-02 5.46432366e+02] [-4.98656654e-02 9.98745496e-01 -4.56609809e-03 -7.17134447e+01] [-3.66794520e-02 2.73739716e-03 9.99323333e-01 -3.53837712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.750714057 meters 0.04129975479710592 Centerline is valid? [True, True] Translation: X:546.46, Y:-71.71, Z:-35.38 [[ 9.98137777e-01 4.91090138e-02 3.61840161e-02 5.46461181e+02] [-4.89770322e-02 9.98789653e-01 -4.52544486e-03 -7.17138736e+01] [-3.63624610e-02 2.74483175e-03 9.99334897e-01 -3.53843437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.780714057 meters 0.043386176981247734 Centerline is valid? [True, True] Translation: X:546.49, Y:-71.72, Z:-35.39 [[ 9.98130886e-01 4.87663381e-02 3.68317580e-02 5.46488215e+02] [-4.86294428e-02 9.98806277e-01 -4.60406506e-03 -7.17199863e+01] [-3.70123145e-02 2.80435167e-03 9.99310875e-01 -3.53868055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.8107140569999 meters 0.04460391018881336 Centerline is valid? [True, True] Translation: X:546.52, Y:-71.72, Z:-35.39 [[ 9.98111309e-01 4.83715341e-02 3.78683309e-02 5.46517062e+02] [-4.82266881e-02 9.98825218e-01 -4.72968672e-03 -7.17245711e+01] [-3.80526260e-02 2.89448962e-03 9.99271544e-01 -3.53871557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.8407140569999 meters 0.043078478946720476 Centerline is valid? [True, True] Translation: X:546.55, Y:-71.73, Z:-35.39 [[ 9.98084449e-01 4.80390427e-02 3.89831014e-02 5.46545939e+02] [-4.78853969e-02 9.98840983e-01 -4.86607291e-03 -7.17254529e+01] [-3.91716808e-02 2.99003042e-03 9.99228022e-01 -3.53876564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.870714057 meters 0.043281520210737646 Centerline is valid? [True, True] Translation: X:546.58, Y:-71.73, Z:-35.39 [[ 9.98021921e-01 4.83990385e-02 4.01220311e-02 5.46575369e+02] [-4.82367126e-02 9.98823394e-01 -5.00461579e-03 -7.17290816e+01] [-4.03170419e-02 3.05936138e-03 9.99182254e-01 -3.53885677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.900714057 meters 0.04385155768461238 Centerline is valid? [True, True] Translation: X:546.60, Y:-71.73, Z:-35.39 [[ 9.98020486e-01 4.84708188e-02 4.00710438e-02 5.46604115e+02] [-4.83089960e-02 9.98819937e-01 -4.99743564e-03 -7.17324440e+01] [-4.02659873e-02 3.05175125e-03 9.99184336e-01 -3.53904963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.9307140569999 meters 0.04420763288728144 Centerline is valid? [True, True] Translation: X:546.63, Y:-71.74, Z:-35.39 [[ 9.97976262e-01 4.98118208e-02 3.95242052e-02 5.46633443e+02] [-4.96555681e-02 9.98754254e-01 -4.92583253e-03 -7.17352453e+01] [-3.97203327e-02 2.95326708e-03 9.99206472e-01 -3.53929661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.9607140569999 meters 0.04095361233514436 Centerline is valid? [True, True] Translation: X:546.66, Y:-71.73, Z:-35.39 [[ 9.97960744e-01 5.17516029e-02 3.73647698e-02 5.46663613e+02] [-5.16133645e-02 9.98656291e-01 -4.65551335e-03 -7.17330840e+01] [-3.75554927e-02 2.71749808e-03 9.99290849e-01 -3.53949200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.990714057 meters 0.04404176330759469 Centerline is valid? [True, True] Translation: X:546.69, Y:-71.74, Z:-35.40 [[ 9.97959679e-01 5.27306090e-02 3.59994846e-02 5.46690590e+02] [-5.26029304e-02 9.98605434e-01 -4.48532029e-03 -7.17402317e+01] [-3.61857947e-02 2.58249041e-03 9.99341743e-01 -3.53987744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.020714057 meters 0.041585815499307045 Centerline is valid? [True, True] Translation: X:546.72, Y:-71.74, Z:-35.40 [[ 9.97896937e-01 5.44760218e-02 3.51292703e-02 5.46719534e+02] [-5.43556431e-02 9.98512062e-01 -4.37341852e-03 -7.17392697e+01] [-3.53152466e-02 2.45474687e-03 9.99373207e-01 -3.54004537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.0507140569999 meters 0.04406988542410778 Centerline is valid? [True, True] Translation: X:546.75, Y:-71.75, Z:-35.40 [[ 9.97855261e-01 5.55843365e-02 3.45725149e-02 5.46746289e+02] [-5.54684796e-02 9.98451171e-01 -4.30202174e-03 -7.17461035e+01] [-3.47580930e-02 2.37511019e-03 9.99392933e-01 -3.54032517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.0807140569999 meters 0.03810380732454762 Centerline is valid? [True, True] Translation: X:546.78, Y:-71.74, Z:-35.40 [[ 9.97758142e-01 5.69692119e-02 3.51169304e-02 5.46776083e+02] [-5.68506451e-02 9.98373146e-01 -4.36647543e-03 -7.17391957e+01] [-3.53085550e-02 2.36026626e-03 9.99373671e-01 -3.54017335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.110714057 meters 0.03815490672384301 Centerline is valid? [True, True] Translation: X:546.80, Y:-71.74, Z:-35.40 [[ 9.97680946e-01 5.78848625e-02 3.58060387e-02 5.46804679e+02] [-5.77622787e-02 9.98320450e-01 -4.44944946e-03 -7.17415939e+01] [-3.60034565e-02 2.37089256e-03 9.99348853e-01 -3.54028368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.140714057 meters 0.0398517189897337 Centerline is valid? [True, True] Translation: X:546.83, Y:-71.75, Z:-35.40 [[ 9.97428843e-01 6.05904853e-02 3.82687466e-02 5.46833465e+02] [-6.04525762e-02 9.98159761e-01 -4.75168685e-03 -7.17472729e+01] [-3.84862299e-02 2.42602520e-03 9.99256186e-01 -3.54029834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.1707140569999 meters 0.03786515597491748 Centerline is valid? [True, True] Translation: X:546.86, Y:-71.75, Z:-35.40 [[ 9.97278468e-01 6.21980469e-02 3.95861227e-02 5.46863107e+02] [-6.20517929e-02 9.98060835e-01 -4.91378515e-03 -7.17472075e+01] [-3.98149865e-02 2.44402224e-03 9.99204080e-01 -3.54029072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.2007140569999 meters 0.037395915227970075 Centerline is valid? [True, True] Translation: X:546.89, Y:-71.75, Z:-35.40 [[ 9.97041251e-01 6.47783812e-02 4.13824229e-02 5.46892414e+02] [-6.46208220e-02 9.97896678e-01 -5.13517952e-03 -7.17488425e+01] [-4.16280310e-02 2.44581963e-03 9.99130184e-01 -3.54032439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.2307140569999 meters 0.03718790134455598 Centerline is valid? [True, True] Translation: X:546.92, Y:-71.75, Z:-35.40 [[ 9.96803297e-01 6.73713656e-02 4.29451492e-02 5.46921273e+02] [-6.72041393e-02 9.97725023e-01 -5.32748629e-03 -7.17515001e+01] [-4.32063700e-02 2.42436410e-03 9.99063227e-01 -3.54042934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.260714057 meters 0.03723065490763439 Centerline is valid? [True, True] Translation: X:546.95, Y:-71.75, Z:-35.41 [[ 9.96789863e-01 6.77735454e-02 4.26229449e-02 5.46949900e+02] [-6.76092287e-02 9.97697872e-01 -5.28654894e-03 -7.17541943e+01] [-4.28831097e-02 2.38787396e-03 9.99077243e-01 -3.54059876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.290714057 meters 0.03824262711684205 Centerline is valid? [True, True] Translation: X:546.98, Y:-71.76, Z:-35.41 [[ 9.96827190e-01 6.74685773e-02 4.22320293e-02 5.46977674e+02] [-6.73071035e-02 9.97718570e-01 -5.23540086e-03 -7.17591891e+01] [-4.24889049e-02 2.37627436e-03 9.99094113e-01 -3.54081996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.3207140569999 meters 0.03670700548362504 Centerline is valid? [True, True] Translation: X:547.01, Y:-71.76, Z:-35.41 [[ 9.96883770e-01 6.67804312e-02 4.19895608e-02 5.47006857e+02] [-6.66203627e-02 9.97764838e-01 -5.20147959e-03 -7.17608966e+01] [-4.22430644e-02 2.38791081e-03 9.99104510e-01 -3.54095015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.3507140569999 meters 0.038115855150662264 Centerline is valid? [True, True] Translation: X:547.04, Y:-71.77, Z:-35.41 [[ 9.97162276e-01 6.36925510e-02 4.01329620e-02 5.47036501e+02] [-6.35439986e-02 9.97966674e-01 -4.96761276e-03 -7.17679355e+01] [-4.03677586e-02 2.40330717e-03 9.99182000e-01 -3.54142473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.380714057 meters 0.04089530602015254 Centerline is valid? [True, True] Translation: X:547.06, Y:-71.78, Z:-35.42 [[ 9.97514540e-01 5.94473823e-02 3.78252623e-02 5.47064528e+02] [-5.93124271e-02 9.98228493e-01 -4.68106042e-03 -7.17758374e+01] [-3.80365314e-02 2.42591771e-03 9.99273405e-01 -3.54179928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.410714057 meters 0.04221310455530688 Centerline is valid? [True, True] Translation: X:547.09, Y:-71.78, Z:-35.42 [[ 9.97661822e-01 5.73686712e-02 3.71446440e-02 5.47093016e+02] [-5.72369456e-02 9.98350021e-01 -4.60089649e-03 -7.17805819e+01] [-3.73473034e-02 2.46409281e-03 9.99299308e-01 -3.54201241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4407140569999 meters 0.043002233115111047 Centerline is valid? [True, True] Translation: X:547.12, Y:-71.78, Z:-35.42 [[ 9.97768861e-01 5.60072870e-02 3.63384735e-02 5.47121669e+02] [-5.58804291e-02 9.98427336e-01 -4.49810563e-03 -7.17847998e+01] [-3.65332520e-02 2.45746024e-03 9.99329416e-01 -3.54220011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4707140569999 meters 0.04452027970472434 Centerline is valid? [True, True] Translation: X:547.15, Y:-71.79, Z:-35.42 [[ 9.97791287e-01 5.49419573e-02 3.73353573e-02 5.47149261e+02] [-5.48073417e-02 9.98486258e-01 -4.62032158e-03 -7.17889824e+01] [-3.75326908e-02 2.56386493e-03 9.99292111e-01 -3.54236326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.500714057 meters 0.04141519656959923 Centerline is valid? [True, True] Translation: X:547.18, Y:-71.79, Z:-35.42 [[ 9.97664788e-01 5.64352316e-02 3.84712228e-02 5.47180268e+02] [-5.62936002e-02 9.98402932e-01 -4.75571030e-03 -7.17857764e+01] [-3.86781712e-02 2.57892108e-03 9.99248392e-01 -3.54226385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.530714057 meters 0.041386044783532784 Centerline is valid? [True, True] Translation: X:547.21, Y:-71.79, Z:-35.42 [[ 9.97619305e-01 5.69098088e-02 3.89486330e-02 5.47209075e+02] [-5.67649875e-02 9.98375957e-01 -4.81499520e-03 -7.17883929e+01] [-3.91593992e-02 2.59261350e-03 9.99229613e-01 -3.54237400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.5607140569999 meters 0.04139615214335623 Centerline is valid? [True, True] Translation: X:547.24, Y:-71.79, Z:-35.43 [[ 9.97463383e-01 5.93988079e-02 3.92247534e-02 5.47238292e+02] [-5.92539741e-02 9.98231178e-01 -4.84572855e-03 -7.17892857e+01] [-3.94432023e-02 2.50921427e-03 9.99218664e-01 -3.54250733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.5907140569999 meters 0.04098063826853289 Centerline is valid? [True, True] Translation: X:547.27, Y:-71.79, Z:-35.43 [[ 9.97412030e-01 6.02211891e-02 3.92765866e-02 5.47267234e+02] [-6.00766359e-02 9.98181978e-01 -4.85139662e-03 -7.17910537e+01] [-3.94973378e-02 2.47923616e-03 9.99216600e-01 -3.54260803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.620714057 meters 0.03792958733793145 Centerline is valid? [True, True] Translation: X:547.30, Y:-71.79, Z:-35.43 [[ 9.97276461e-01 6.14743863e-02 4.07499814e-02 5.47297313e+02] [-6.13199504e-02 9.98105486e-01 -5.03016568e-03 -7.17879637e+01] [-4.09820063e-02 2.51767899e-03 9.99156713e-01 -3.54259463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.650714057 meters 0.038918937797550845 Centerline is valid? [True, True] Translation: X:547.33, Y:-71.79, Z:-35.43 [[ 9.97271229e-01 6.09944322e-02 4.15905676e-02 5.47326273e+02] [-6.08332230e-02 9.98134752e-01 -5.13191887e-03 -7.17904534e+01] [-4.18260094e-02 2.58782677e-03 9.99121558e-01 -3.54264415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.6807140569999 meters 0.04320403591755071 Centerline is valid? [True, True] Translation: X:547.35, Y:-71.80, Z:-35.43 [[ 9.97350970e-01 5.95995139e-02 4.17006065e-02 5.47353053e+02] [-5.94363496e-02 9.98218850e-01 -5.14278554e-03 -7.17996687e+01] [-4.19328390e-02 2.65063032e-03 9.99116916e-01 -3.54300535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.7107140569999 meters 0.04089852683233157 Centerline is valid? [True, True] Translation: X:547.38, Y:-71.80, Z:-35.43 [[ 9.97526189e-01 5.78024073e-02 4.00048027e-02 5.47382564e+02] [-5.76509696e-02 9.98324628e-01 -4.92977652e-03 -7.17978288e+01] [-4.02227327e-02 2.61126552e-03 9.99187326e-01 -3.54300521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.740714057 meters 0.04342520630633662 Centerline is valid? [True, True] Translation: X:547.41, Y:-71.81, Z:-35.44 [[ 9.97626505e-01 5.52603762e-02 4.10809910e-02 5.47410171e+02] [-5.50986108e-02 9.98468094e-01 -5.06044246e-03 -7.18056932e+01] [-4.12977007e-02 2.78492599e-03 9.99143005e-01 -3.54358466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.770714057 meters 0.042657205014887664 Centerline is valid? [True, True] Translation: X:547.44, Y:-71.81, Z:-35.44 [[ 9.97734915e-01 5.25892460e-02 4.19453201e-02 5.47439682e+02] [-5.24184177e-02 9.98611864e-01 -5.16289722e-03 -7.18075927e+01] [-4.21586072e-02 2.95249551e-03 9.99106568e-01 -3.54426277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.8007140569999 meters 0.04501037611494259 Centerline is valid? [True, True] Translation: X:547.47, Y:-71.81, Z:-35.45 [[ 9.97745975e-01 5.19943871e-02 4.24211420e-02 5.47466219e+02] [-5.18191109e-02 9.98642836e-01 -5.22175761e-03 -7.18139804e+01] [-4.26350716e-02 3.01176178e-03 9.99086172e-01 -3.54481723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.8307140569999 meters 0.04467811718172699 Centerline is valid? [True, True] Translation: X:547.49, Y:-71.82, Z:-35.45 [[ 9.97831428e-01 5.28235604e-02 3.92697460e-02 5.47494841e+02] [-5.26741495e-02 9.98600071e-01 -4.83041971e-03 -7.18167723e+01] [-3.94699311e-02 2.75144413e-03 9.99216970e-01 -3.54460727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.860714057 meters 0.04564383515493848 Centerline is valid? [True, True] Translation: X:547.52, Y:-71.82, Z:-35.45 [[ 9.97697699e-01 5.53523839e-02 3.91843808e-02 5.47523701e+02] [-5.52056924e-02 9.98463385e-01 -4.81662226e-03 -7.18219045e+01] [-3.93907811e-02 2.64233207e-03 9.99220388e-01 -3.54486086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.890714057 meters 0.04193493820477957 Centerline is valid? [True, True] Translation: X:547.55, Y:-71.82, Z:-35.45 [[ 9.97520356e-01 5.96472694e-02 3.73542934e-02 5.47554740e+02] [-5.95170319e-02 9.98216738e-01 -4.58988337e-03 -7.18194625e+01] [-3.75614549e-02 2.35528542e-03 9.99291544e-01 -3.54481221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9207140569999 meters 0.042677297158641284 Centerline is valid? [True, True] Translation: X:547.58, Y:-71.82, Z:-35.45 [[ 9.97211967e-01 6.24414565e-02 4.08577783e-02 5.47584764e+02] [-6.22879669e-02 9.98045594e-01 -5.02020795e-03 -7.18213087e+01] [-4.10913947e-02 2.46126350e-03 9.99152360e-01 -3.54476057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9507140569999 meters 0.038204711406847405 Centerline is valid? [True, True] Translation: X:547.62, Y:-71.82, Z:-35.45 [[ 9.96916449e-01 6.70847352e-02 4.07091223e-02 5.47616094e+02] [-6.69362235e-02 9.97744719e-01 -5.00177912e-03 -7.18170555e+01] [-4.09528548e-02 2.26144097e-03 9.99158521e-01 -3.54504032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9807140569999 meters 0.037923410388044004 Centerline is valid? [True, True] Translation: X:547.64, Y:-71.82, Z:-35.45 [[ 9.96617084e-01 7.07126316e-02 4.18821126e-02 5.47644953e+02] [-7.05586100e-02 9.97494360e-01 -5.14623079e-03 -7.18201630e+01] [-4.21410747e-02 2.17367788e-03 9.99109306e-01 -3.54500119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.010714057 meters 0.03633676791223046 Centerline is valid? [True, True] Translation: X:547.67, Y:-71.82, Z:-35.45 [[ 9.95973621e-01 7.68855263e-02 4.60994757e-02 5.47674849e+02] [-7.67055701e-02 9.97037707e-01 -5.66263308e-03 -7.18183174e+01] [-4.63982901e-02 2.10374661e-03 9.98920804e-01 -3.54522408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.040714057 meters 0.03375239748988596 Centerline is valid? [True, True] Translation: X:547.71, Y:-71.81, Z:-35.45 [[ 9.95724832e-01 8.06301031e-02 4.50648957e-02 5.47705473e+02] [-8.04620137e-02 9.96742311e-01 -5.53446732e-03 -7.18142344e+01] [-4.53643330e-02 1.88479428e-03 9.98968731e-01 -3.54514119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0707140569999 meters 0.03375239748988596 Centerline is valid? [True, True] Translation: X:547.73, Y:-71.82, Z:-35.45 [[ 9.95733005e-01 8.05290661e-02 4.50649816e-02 5.47732711e+02] [-8.03609051e-02 9.96750471e-01 -5.53376797e-03 -7.18174823e+01] [-4.53641709e-02 1.88869270e-03 9.98968731e-01 -3.54530023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.1007140569999 meters 0.03230357200526223 Centerline is valid? [True, True] Translation: X:547.76, Y:-71.82, Z:-35.45 [[ 9.95443684e-01 8.31327580e-02 4.66992124e-02 5.47762849e+02] [-8.29553075e-02 9.96536804e-01 -5.72849204e-03 -7.18203946e+01] [-4.70137092e-02 1.82844370e-03 9.98892571e-01 -3.54524581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.130714057 meters 0.03246552506706215 Centerline is valid? [True, True] Translation: X:547.79, Y:-71.82, Z:-35.46 [[ 9.95393129e-01 8.32904294e-02 4.74891987e-02 5.47791078e+02] [-8.31071136e-02 9.96523595e-01 -5.82507858e-03 -7.18223714e+01] [-4.78092803e-02 1.85155296e-03 9.98854766e-01 -3.54553367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.160714057 meters 0.032993472983826135 Centerline is valid? [True, True] Translation: X:547.82, Y:-71.83, Z:-35.46 [[ 9.95235340e-01 8.49583528e-02 4.78403269e-02 5.47818632e+02] [-8.47743966e-02 9.96382911e-01 -5.86483172e-03 -7.18304914e+01] [-4.81655506e-02 1.78125295e-03 9.98837778e-01 -3.54559089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.1907140569999 meters 0.03217603243445918 Centerline is valid? [True, True] Translation: X:547.85, Y:-71.83, Z:-35.46 [[ 9.95420495e-01 8.29286451e-02 4.75486836e-02 5.47847659e+02] [-8.27447861e-02 9.96553744e-01 -5.82551834e-03 -7.18345503e+01] [-4.78679210e-02 1.86443470e-03 9.98851934e-01 -3.54584900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.2207140569999 meters 0.032596160226553816 Centerline is valid? [True, True] Translation: X:547.88, Y:-71.84, Z:-35.46 [[ 9.95539592e-01 8.16631153e-02 4.72446524e-02 5.47875676e+02] [-8.14802395e-02 9.96658157e-01 -5.78701733e-03 -7.18396528e+01] [-4.75593540e-02 1.91169927e-03 9.98866584e-01 -3.54609042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.250714057 meters 0.033191504104291426 Centerline is valid? [True, True] Translation: X:547.90, Y:-71.84, Z:-35.46 [[ 9.95845522e-01 7.85048090e-02 4.61377465e-02 5.47904555e+02] [-7.83271769e-02 9.96911707e-01 -5.64818957e-03 -7.18446269e+01] [-4.64386697e-02 2.01088486e-03 9.98919119e-01 -3.54632906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.280714057 meters 0.033844682488414546 Centerline is valid? [True, True] Translation: X:547.93, Y:-71.85, Z:-35.46 [[ 9.95931361e-01 7.73765595e-02 4.61908307e-02 5.47931344e+02] [-7.71973945e-02 9.96999803e-01 -5.65281946e-03 -7.18505250e+01] [-4.64896448e-02 2.06400840e-03 9.98916640e-01 -3.54645847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.3107140569999 meters 0.0365629623510208 Centerline is valid? [True, True] Translation: X:547.96, Y:-71.86, Z:-35.47 [[ 9.96055788e-01 7.52287814e-02 4.70478154e-02 5.47958774e+02] [-7.50407772e-02 9.97163876e-01 -5.75207954e-03 -7.18604901e+01] [-4.73471039e-02 2.19888749e-03 9.98876077e-01 -3.54669151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.3407140569999 meters 0.03568589091550679 Centerline is valid? [True, True] Translation: X:547.99, Y:-71.86, Z:-35.47 [[ 9.96178757e-01 7.31474239e-02 4.77214580e-02 5.47988206e+02] [-7.29517410e-02 9.97318422e-01 -5.83172948e-03 -7.18630463e+01] [-4.80200652e-02 2.32808158e-03 9.98843658e-01 -3.54674339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.370714057 meters 0.03693180832358748 Centerline is valid? [True, True] Translation: X:548.02, Y:-71.87, Z:-35.47 [[ 9.96453508e-01 6.88735401e-02 4.83408982e-02 5.48017266e+02] [-6.86678154e-02 9.97622101e-01 -5.90556397e-03 -7.18714873e+01] [-4.86326855e-02 2.56515606e-03 9.98813437e-01 -3.54692380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.400714057 meters 0.040193410705990584 Centerline is valid? [True, True] Translation: X:548.04, Y:-71.88, Z:-35.47 [[ 9.96625802e-01 6.62951248e-02 4.83938840e-02 5.48044853e+02] [-6.60859357e-02 9.97796423e-01 -5.91169242e-03 -7.18828323e+01] [-4.86791607e-02 2.69359009e-03 9.98810835e-01 -3.54721339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.4307140569999 meters 0.03853800066214145 Centerline is valid? [True, True] Translation: X:548.07, Y:-71.89, Z:-35.47 [[ 9.96819260e-01 6.35471060e-02 4.80949846e-02 5.48073776e+02] [-6.33374863e-02 9.97974894e-01 -5.87150845e-03 -7.18852608e+01] [-4.83707045e-02 2.80661728e-03 9.98825509e-01 -3.54742475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.4607140569999 meters 0.038900826073884426 Centerline is valid? [True, True] Translation: X:548.10, Y:-71.89, Z:-35.48 [[ 9.97213688e-01 5.76319181e-02 4.73647775e-02 5.48103125e+02] [-5.74221152e-02 9.98333260e-01 -5.77943166e-03 -7.18937854e+01] [-4.76189125e-02 3.04354266e-03 9.98860939e-01 -3.54769703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.490714057 meters 0.04445914472528792 Centerline is valid? [True, True] Translation: X:548.13, Y:-71.91, Z:-35.48 [[ 9.97563975e-01 5.24583711e-02 4.59808030e-02 5.48130900e+02] [-5.22551793e-02 9.98618003e-01 -5.61080703e-03 -7.19080502e+01] [-4.62115914e-02 3.19440386e-03 9.98926566e-01 -3.54801285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.520714057 meters 0.04674903406821385 Centerline is valid? [True, True] Translation: X:548.16, Y:-71.92, Z:-35.48 [[ 9.97687157e-01 5.03972545e-02 4.56119906e-02 5.48159302e+02] [-5.01952250e-02 9.98723923e-01 -5.56459842e-03 -7.19155768e+01] [-4.58342267e-02 3.26222425e-03 9.98943733e-01 -3.54814908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.5507140569999 meters 0.04402130122206269 Centerline is valid? [True, True] Translation: X:548.19, Y:-71.92, Z:-35.48 [[ 9.97868862e-01 4.66962292e-02 4.55762604e-02 5.48189964e+02] [-4.64906265e-02 9.98903245e-01 -5.56136642e-03 -7.19163124e+01] [-4.57859693e-02 3.43064548e-03 9.98945382e-01 -3.54816510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.5807140569999 meters 0.050440573561616756 Centerline is valid? [True, True] Translation: X:548.22, Y:-71.93, Z:-35.49 [[ 9.97908004e-01 4.53246672e-02 4.61008646e-02 5.48218728e+02] [-4.51128616e-02 9.98966060e-01 -5.62502580e-03 -7.19303771e+01] [-4.63081515e-02 3.53351634e-03 9.98920953e-01 -3.54855551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.610714057 meters 0.04884035457482876 Centerline is valid? [True, True] Translation: X:548.25, Y:-71.93, Z:-35.49 [[ 9.97911963e-01 4.46515499e-02 4.66685499e-02 5.48249686e+02] [-4.44337284e-02 9.98996102e-01 -5.69495261e-03 -7.19330844e+01] [-4.68759879e-02 3.60940366e-03 9.98894196e-01 -3.54863595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.640714057 meters 0.05058094293380063 Centerline is valid? [True, True] Translation: X:548.28, Y:-71.94, Z:-35.49 [[ 9.97992006e-01 4.27102003e-02 4.67738678e-02 5.48280011e+02] [-4.24891914e-02 9.99080612e-01 -5.70959009e-03 -7.19409456e+01] [-4.69747222e-02 3.71074145e-03 9.98889186e-01 -3.54879382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.6707140569999 meters 0.05307506436200879 Centerline is valid? [True, True] Translation: X:548.31, Y:-71.95, Z:-35.49 [[ 9.98054722e-01 4.01116800e-02 4.77265624e-02 5.48309201e+02] [-3.98785689e-02 9.99187544e-01 -5.82688075e-03 -7.19494375e+01] [-4.79215126e-02 3.91227884e-03 9.98843443e-01 -3.54892436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.7007140569999 meters 0.04873789265601939 Centerline is valid? [True, True] Translation: X:548.34, Y:-71.95, Z:-35.49 [[ 9.98161525e-01 3.79600471e-02 4.72504384e-02 5.48340805e+02] [-3.77291842e-02 9.99271351e-01 -5.76857154e-03 -7.19466345e+01] [-4.74349847e-02 3.97524568e-03 9.98866417e-01 -3.54902528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.7307140569999 meters 0.04990389893692307 Centerline is valid? [True, True] Translation: X:548.37, Y:-71.95, Z:-35.49 [[ 9.98161827e-01 3.60623522e-02 4.87080535e-02 5.48370959e+02] [-3.58147246e-02 9.99340750e-01 -5.94741730e-03 -7.19545123e+01] [-4.88904206e-02 4.19201939e-03 9.98795351e-01 -3.54917240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.760714057 meters 0.054149138590296325 Centerline is valid? [True, True] Translation: X:548.40, Y:-71.97, Z:-35.49 [[ 9.98136231e-01 3.56754329e-02 4.95108948e-02 5.48400898e+02] [-3.54191317e-02 9.99354265e-01 -6.04467732e-03 -7.19662074e+01] [-4.96945704e-02 4.27977853e-03 9.98755292e-01 -3.54937119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.790714057 meters 0.049890256670571835 Centerline is valid? [True, True] Translation: X:548.43, Y:-71.96, Z:-35.49 [[ 9.98199026e-01 3.42137002e-02 4.92760286e-02 5.48432300e+02] [-3.39574254e-02 9.99405096e-01 -6.02884299e-03 -7.19639462e+01] [-4.94529832e-02 4.34469814e-03 9.98767003e-01 -3.54948937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.8207140569999 meters 0.05181637781670006 Centerline is valid? [True, True] Translation: X:548.46, Y:-71.97, Z:-35.50 [[ 9.98274800e-01 3.17203712e-02 4.94089307e-02 5.48462571e+02] [-3.14596386e-02 9.99486737e-01 -6.04599007e-03 -7.19715079e+01] [-4.95753519e-02 4.48117242e-03 9.98760333e-01 -3.54971820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.8507140569999 meters 0.05414173843732488 Centerline is valid? [True, True] Translation: X:548.49, Y:-71.98, Z:-35.50 [[ 9.98384845e-01 3.01081861e-02 4.81788253e-02 5.48491921e+02] [-2.98583898e-02 9.99536748e-01 -5.89625441e-03 -7.19798012e+01] [-4.83340319e-02 4.44818889e-03 9.98821323e-01 -3.55009001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.880714057 meters 0.05458794589805623 Centerline is valid? [True, True] Translation: X:548.52, Y:-71.99, Z:-35.50 [[ 9.98416570e-01 3.05532917e-02 4.72318591e-02 5.48524842e+02] [-3.03138100e-02 9.99523727e-01 -5.77851071e-03 -7.19859907e+01] [-4.73859164e-02 4.33758325e-03 9.98867239e-01 -3.55037164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.910714057 meters 0.056821778510987714 Centerline is valid? [True, True] Translation: X:548.55, Y:-72.00, Z:-35.51 [[ 9.98531680e-01 2.98253760e-02 4.52209133e-02 5.48554372e+02] [-2.96044557e-02 9.99546299e-01 -5.54737440e-03 -7.19954677e+01] [-4.53658490e-02 4.20048856e-03 9.98961609e-01 -3.55075593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9407140569999 meters 0.057221580330718294 Centerline is valid? [True, True] Translation: X:548.59, Y:-72.00, Z:-35.51 [[ 9.98569743e-01 2.96026474e-02 4.45213647e-02 5.48586091e+02] [-2.93883465e-02 9.99553155e-01 -5.46043227e-03 -7.20007707e+01] [-4.46631138e-02 4.14421315e-03 9.98993509e-01 -3.55103182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9707140569999 meters 0.061073589890438124 Centerline is valid? [True, True] Translation: X:548.62, Y:-72.01, Z:-35.51 [[ 9.98568055e-01 3.00343573e-02 4.42693572e-02 5.48616678e+02] [-2.98223702e-02 9.99540403e-01 -5.44140194e-03 -7.20103187e+01] [-4.44124401e-02 4.11339300e-03 9.99004812e-01 -3.55136946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.000714057 meters 0.05725269940203717 Centerline is valid? [True, True] Translation: X:548.65, Y:-72.01, Z:-35.51 [[ 9.98524808e-01 3.13837855e-02 4.43087561e-02 5.48648942e+02] [-3.11724200e-02 9.99499145e-01 -5.45337058e-03 -7.20087137e+01] [-4.44577112e-02 4.06411466e-03 9.99003000e-01 -3.55136481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.030714057 meters 0.05749410402195632 Centerline is valid? [True, True] Translation: X:548.68, Y:-72.01, Z:-35.52 [[ 9.98494582e-01 3.23617759e-02 4.42863988e-02 5.48679606e+02] [-3.21514658e-02 9.99468132e-01 -5.45312577e-03 -7.20128373e+01] [-4.44393171e-02 4.02104390e-03 9.99003993e-01 -3.55152092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.0607140569999 meters 0.05664502198343862 Centerline is valid? [True, True] Translation: X:548.71, Y:-72.02, Z:-35.52 [[ 9.98319987e-01 3.53054655e-02 4.59426463e-02 5.48710347e+02] [-3.50821119e-02 9.99368411e-01 -5.65908597e-03 -7.20162311e+01] [-4.61134260e-02 4.03781358e-03 9.98928049e-01 -3.55162291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.0907140569999 meters 0.053727340945586795 Centerline is valid? [True, True] Translation: X:548.74, Y:-72.02, Z:-35.52 [[ 9.98200570e-01 3.75425006e-02 4.67566379e-02 5.48741746e+02] [-3.73135957e-02 9.99287009e-01 -5.75919810e-03 -7.20160834e+01] [-4.69395156e-02 4.00417654e-03 9.98889708e-01 -3.55175892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.120714057 meters 0.05115796423385578 Centerline is valid? [True, True] Translation: X:548.77, Y:-72.02, Z:-35.52 [[ 9.98146760e-01 3.86090031e-02 4.70360489e-02 5.48773421e+02] [-3.83784970e-02 9.99246475e-01 -5.79423288e-03 -7.20151419e+01] [-4.72243156e-02 3.97832192e-03 9.98876387e-01 -3.55183793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.150714057 meters 0.05195527732912143 Centerline is valid? [True, True] Translation: X:548.80, Y:-72.02, Z:-35.52 [[ 9.98043776e-01 4.09040900e-02 4.72808282e-02 5.48803161e+02] [-4.06736353e-02 9.99155498e-01 -5.82641715e-03 -7.20184993e+01] [-4.74792237e-02 3.89193621e-03 9.98864644e-01 -3.55197939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.1807140569999 meters 0.053449213144061404 Centerline is valid? [True, True] Translation: X:548.83, Y:-72.02, Z:-35.52 [[ 9.98014713e-01 4.20793299e-02 4.68611007e-02 5.48834049e+02] [-4.18543489e-02 9.99107048e-01 -5.77235776e-03 -7.20247047e+01] [-4.70621529e-02 3.79955711e-03 9.98884737e-01 -3.55215068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.2107140569999 meters 0.05272451645668764 Centerline is valid? [True, True] Translation: X:548.87, Y:-72.03, Z:-35.52 [[ 9.98028452e-01 4.19875953e-02 4.66503063e-02 5.48865491e+02] [-4.17640538e-02 9.99110917e-01 -5.75667871e-03 -7.20279904e+01] [-4.68505394e-02 3.79702324e-03 9.98894694e-01 -3.55245152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.240714057 meters 0.051778896025325566 Centerline is valid? [True, True] Translation: X:548.90, Y:-72.03, Z:-35.53 [[ 9.98021438e-01 4.25605502e-02 4.62796855e-02 5.48897618e+02] [-4.23407020e-02 9.99086852e-01 -5.72082049e-03 -7.20318490e+01] [-4.64809065e-02 3.74998711e-03 9.98912140e-01 -3.55269024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.270714057 meters 0.047348163738843145 Centerline is valid? [True, True] Translation: X:548.93, Y:-72.03, Z:-35.53 [[ 9.98088206e-01 4.15553007e-02 4.57502990e-02 5.48929841e+02] [-4.13389121e-02 9.99129115e-01 -5.66619667e-03 -7.20293420e+01] [-4.59459162e-02 3.76409648e-03 9.98936837e-01 -3.55291686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.3007140569999 meters 0.052354359977336166 Centerline is valid? [True, True] Translation: X:548.96, Y:-72.04, Z:-35.53 [[ 9.98110750e-01 4.14021086e-02 4.53960008e-02 5.48959474e+02] [-4.11884250e-02 9.99135519e-01 -5.63282077e-03 -7.20407285e+01] [-4.55899675e-02 3.75238919e-03 9.98953189e-01 -3.55317250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.3307140569999 meters 0.05372759665587844 Centerline is valid? [True, True] Translation: X:548.99, Y:-72.05, Z:-35.53 [[ 9.98104784e-01 4.14530540e-02 4.54806001e-02 5.48989721e+02] [-4.12381390e-02 9.99133349e-01 -5.65394640e-03 -7.20467098e+01] [-4.56755576e-02 3.76769564e-03 9.98949222e-01 -3.55344235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.360714057 meters 0.05281609439302011 Centerline is valid? [True, True] Translation: X:549.02, Y:-72.05, Z:-35.54 [[ 9.98088286e-01 4.19100550e-02 4.54237937e-02 5.49021718e+02] [-4.16956995e-02 9.99114343e-01 -5.65668059e-03 -7.20489990e+01] [-4.56206356e-02 3.75188978e-03 9.98951791e-01 -3.55365620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.390714057 meters 0.053944659296737585 Centerline is valid? [True, True] Translation: X:549.05, Y:-72.06, Z:-35.54 [[ 9.98071526e-01 4.19742190e-02 4.57317638e-02 5.49053282e+02] [-4.17564665e-02 9.99111520e-01 -5.70687615e-03 -7.20553322e+01] [-4.59306737e-02 3.78627372e-03 9.98937454e-01 -3.55388030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4207140569999 meters 0.05254464135072573 Centerline is valid? [True, True] Translation: X:549.09, Y:-72.06, Z:-35.54 [[ 9.98009737e-01 4.31842740e-02 4.59530494e-02 5.49085222e+02] [-4.29653502e-02 9.99060064e-01 -5.74163603e-03 -7.20584266e+01] [-4.61578049e-02 3.75581981e-03 9.98927100e-01 -3.55400976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4507140569999 meters 0.0493025170907249 Centerline is valid? [True, True] Translation: X:549.12, Y:-72.06, Z:-35.54 [[ 9.97887141e-01 4.46028274e-02 4.72423610e-02 5.49117583e+02] [-4.43723833e-02 9.98997544e-01 -5.91596712e-03 -7.20574538e+01] [-4.74588714e-02 3.80721137e-03 9.98865937e-01 -3.55404724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4807140569999 meters 0.04940951754094922 Centerline is valid? [True, True] Translation: X:549.15, Y:-72.06, Z:-35.54 [[ 9.97815366e-01 4.57245319e-02 4.76839888e-02 5.49149616e+02] [-4.54909287e-02 9.98946893e-01 -5.97331522e-03 -7.20616765e+01] [-4.79068995e-02 3.79107678e-03 9.98844611e-01 -3.55418800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.510714057 meters 0.05009178927144006 Centerline is valid? [True, True] Translation: X:549.18, Y:-72.07, Z:-35.54 [[ 9.97789704e-01 4.60914542e-02 4.78673573e-02 5.49181956e+02] [-4.58559069e-02 9.98929998e-01 -6.00794533e-03 -7.20659767e+01] [-4.80930541e-02 3.79966491e-03 9.98835632e-01 -3.55444326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.540714057 meters 0.04594262291191539 Centerline is valid? [True, True] Translation: X:549.21, Y:-72.06, Z:-35.55 [[ 9.97688341e-01 4.74765159e-02 4.86205234e-02 5.49213799e+02] [-4.72344527e-02 9.98865105e-01 -6.11618737e-03 -7.20639462e+01] [-4.88557195e-02 3.80548501e-03 9.98798597e-01 -3.55459528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5707140569999 meters 0.04653648951019534 Centerline is valid? [True, True] Translation: X:549.24, Y:-72.07, Z:-35.55 [[ 9.97554285e-01 4.91413597e-02 4.97048791e-02 5.49244040e+02] [-4.88903276e-02 9.98784570e-01 -6.25443733e-03 -7.20697522e+01] [-4.99518179e-02 3.80905294e-03 9.98744365e-01 -3.55497152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.6007140569999 meters 0.044178922867136775 Centerline is valid? [True, True] Translation: X:549.28, Y:-72.07, Z:-35.55 [[ 9.97609829e-01 4.98403176e-02 4.78599145e-02 5.49275649e+02] [-4.96083143e-02 9.98750583e-01 -6.02392072e-03 -7.20695122e+01] [-4.81003516e-02 3.63527284e-03 9.98835893e-01 -3.55518347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.630714057 meters 0.04466640272240691 Centerline is valid? [True, True] Translation: X:549.31, Y:-72.07, Z:-35.55 [[ 9.97588292e-01 5.12202389e-02 4.68410773e-02 5.49306384e+02] [-5.09994427e-02 9.98681269e-01 -5.89751997e-03 -7.20738223e+01] [-4.70813789e-02 3.49442803e-03 9.98884945e-01 -3.55542182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.660714057 meters 0.043735022978363035 Centerline is valid? [True, True] Translation: X:549.34, Y:-72.08, Z:-35.56 [[ 9.97546471e-01 5.35525700e-02 4.50905835e-02 5.49337016e+02] [-5.33503161e-02 9.98559715e-01 -5.67789334e-03 -7.20760150e+01] [-4.53297060e-02 3.25836558e-03 9.98966767e-01 -3.55583059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.6907140569999 meters 0.045621683782621957 Centerline is valid? [True, True] Translation: X:549.37, Y:-72.08, Z:-35.56 [[ 9.97455807e-01 5.54445631e-02 4.48086395e-02 5.49365511e+02] [-5.52466651e-02 9.98456786e-01 -5.64385185e-03 -7.20825119e+01] [-4.50524111e-02 3.15396490e-03 9.98979646e-01 -3.55615208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.7207140569999 meters 0.0431492454538269 Centerline is valid? [True, True] Translation: X:549.40, Y:-72.08, Z:-35.56 [[ 9.97210195e-01 5.97919638e-02 4.46849956e-02 5.49396377e+02] [-5.95995877e-02 9.98206509e-01 -5.62629384e-03 -7.20825314e+01] [-4.49412606e-02 2.94739026e-03 9.98985283e-01 -3.55625684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.750714057 meters 0.039609635266780865 Centerline is valid? [True, True] Translation: X:549.43, Y:-72.08, Z:-35.56 [[ 9.97079834e-01 6.20395256e-02 4.45297819e-02 5.49427000e+02] [-6.18507121e-02 9.98069663e-01 -5.60682346e-03 -7.20810449e+01] [-4.47916691e-02 2.83625188e-03 9.98992323e-01 -3.55628491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.780714057 meters 0.037912930717360814 Centerline is valid? [True, True] Translation: X:549.46, Y:-72.08, Z:-35.56 [[ 9.96682034e-01 6.76764330e-02 4.52197325e-02 5.49457569e+02] [-6.74875185e-02 9.97703875e-01 -5.69314014e-03 -7.20814166e+01] [-4.55011938e-02 2.62248295e-03 9.98960842e-01 -3.55626792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.8107140569999 meters 0.036504299419393475 Centerline is valid? [True, True] Translation: X:549.49, Y:-72.08, Z:-35.56 [[ 9.96471547e-01 7.03138789e-02 4.58302822e-02 5.49487677e+02] [-7.01227025e-02 9.97521698e-01 -5.76784848e-03 -7.20829613e+01] [-4.61222607e-02 2.53375365e-03 9.98932589e-01 -3.55631938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.8407140569999 meters 0.039388750271514845 Centerline is valid? [True, True] Translation: X:549.52, Y:-72.09, Z:-35.57 [[ 9.96271836e-01 7.27871113e-02 4.63083615e-02 5.49515416e+02] [-7.25946051e-02 9.97344506e-01 -5.82756512e-03 -7.20914282e+01] [-4.66095615e-02 2.44410179e-03 9.98910194e-01 -3.55657988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.870714057 meters 0.038437764257404916 Centerline is valid? [True, True] Translation: X:549.54, Y:-72.09, Z:-35.57 [[ 9.95963458e-01 7.65173358e-02 4.69242763e-02 5.49543902e+02] [-7.63239273e-02 9.97065605e-01 -5.90229933e-03 -7.20946014e+01] [-4.72382102e-02 2.29702940e-03 9.98881012e-01 -3.55673495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.900714057 meters 0.03818799616906572 Centerline is valid? [True, True] Translation: X:549.57, Y:-72.10, Z:-35.57 [[ 9.95815582e-01 7.80004818e-02 4.76156742e-02 5.49571570e+02] [-7.78030718e-02 9.96950763e-01 -5.98812514e-03 -7.20985172e+01] [-4.79375594e-02 2.25842260e-03 9.98847781e-01 -3.55687046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.9307140569999 meters 0.03848892875623307 Centerline is valid? [True, True] Translation: X:549.60, Y:-72.10, Z:-35.57 [[ 9.95761710e-01 7.90087635e-02 4.70768830e-02 5.49598845e+02] [-7.88171074e-02 9.96871536e-01 -5.91648791e-03 -7.21028455e+01] [-4.73970590e-02 2.18094838e-03 9.98873747e-01 -3.55703794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.9607140569999 meters 0.03848892875623307 Centerline is valid? [True, True] Translation: X:549.63, Y:-72.11, Z:-35.57 [[ 9.95769388e-01 7.89116540e-02 4.70773427e-02 5.49626086e+02] [-7.87200623e-02 9.96879226e-01 -5.91282764e-03 -7.21061657e+01] [-4.73970159e-02 2.18188142e-03 9.98873747e-01 -3.55719714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.990714057 meters 0.03507453748009275 Centerline is valid? [True, True] Translation: X:549.66, Y:-72.10, Z:-35.57 [[ 9.95811541e-01 7.84016698e-02 4.70377899e-02 5.49655845e+02] [-7.82100667e-02 9.96919426e-01 -5.90292685e-03 -7.21030130e+01] [-4.73556858e-02 2.19937399e-03 9.98875669e-01 -3.55720599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.020714057 meters 0.037028850419740675 Centerline is valid? [True, True] Translation: X:549.68, Y:-72.11, Z:-35.58 [[ 9.95953311e-01 7.67643556e-02 4.67358204e-02 5.49681951e+02] [-7.65735402e-02 9.97046703e-01 -5.86224511e-03 -7.21132069e+01] [-4.70478071e-02 2.25979521e-03 9.98890083e-01 -3.55750427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.0507140569999 meters 0.03726388224314233 Centerline is valid? [True, True] Translation: X:549.71, Y:-72.12, Z:-35.58 [[ 9.96181634e-01 7.43207947e-02 4.58101621e-02 5.49710796e+02] [-7.41351845e-02 9.97231683e-01 -5.73981730e-03 -7.21184708e+01] [-4.61099328e-02 2.32175576e-03 9.98933673e-01 -3.55767987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.0807140569999 meters 0.038348920053019125 Centerline is valid? [True, True] Translation: X:549.74, Y:-72.13, Z:-35.58 [[ 9.96365375e-01 7.21548288e-02 4.52738328e-02 5.49739665e+02] [-7.19714301e-02 9.97390577e-01 -5.67006207e-03 -7.21255962e+01] [-4.55648166e-02 2.39103103e-03 9.98958523e-01 -3.55788987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.110714057 meters 0.04144778925359991 Centerline is valid? [True, True] Translation: X:549.77, Y:-72.14, Z:-35.58 [[ 9.96803499e-01 6.64446582e-02 4.43609366e-02 5.49767604e+02] [-6.62630282e-02 9.97786733e-01 -5.55398835e-03 -7.21375383e+01] [-4.46317869e-02 2.59674503e-03 9.99000130e-01 -3.55820411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.140714057 meters 0.04211087452703502 Centerline is valid? [True, True] Translation: X:549.80, Y:-72.15, Z:-35.58 [[ 9.97232532e-01 6.01187023e-02 4.37380788e-02 5.49796968e+02] [-5.99361117e-02 9.98187199e-01 -5.47528862e-03 -7.21453520e+01] [-4.39879576e-02 2.83864556e-03 9.99028028e-01 -3.55837644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.1707140569999 meters 0.043573428573940226 Centerline is valid? [True, True] Translation: X:549.83, Y:-72.15, Z:-35.59 [[ 9.97392064e-01 5.73315298e-02 4.38425274e-02 5.49826696e+02] [-5.71454263e-02 9.98350784e-01 -5.48743662e-03 -7.21534072e+01] [-4.40848248e-02 2.96772581e-03 9.99023384e-01 -3.55858262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.2007140569999 meters 0.045242953049918225 Centerline is valid? [True, True] Translation: X:549.86, Y:-72.16, Z:-35.59 [[ 9.97562575e-01 5.42853743e-02 4.38406967e-02 5.49856133e+02] [-5.40963491e-02 9.98520642e-01 -5.48744521e-03 -7.21610766e+01] [-4.40737286e-02 3.10244834e-03 9.99023464e-01 -3.55882705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.2307140569999 meters 0.04729473223627653 Centerline is valid? [True, True] Translation: X:549.89, Y:-72.17, Z:-35.59 [[ 9.97769723e-01 5.00828252e-02 4.41281237e-02 5.49885144e+02] [-4.98872762e-02 9.98739588e-01 -5.52224822e-03 -7.21715983e+01] [-4.43490739e-02 3.30850018e-03 9.99010617e-01 -3.55899607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.260714057 meters 0.050751584509379985 Centerline is valid? [True, True] Translation: X:549.91, Y:-72.18, Z:-35.59 [[ 9.97863161e-01 4.83090059e-02 4.39926302e-02 5.49913897e+02] [-4.81129624e-02 9.98826731e-01 -5.50486976e-03 -7.21811733e+01] [-4.42069498e-02 3.37649097e-03 9.99016689e-01 -3.55925465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.290714057 meters 0.05327949452469818 Centerline is valid? [True, True] Translation: X:549.94, Y:-72.19, Z:-35.59 [[ 9.98005966e-01 4.52448023e-02 4.40113524e-02 5.49942258e+02] [-4.50454120e-02 9.98969733e-01 -5.51217149e-03 -7.21891634e+01] [-4.42154061e-02 3.51867053e-03 9.99015824e-01 -3.55940050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.3207140569999 meters 0.04682160936676348 Centerline is valid? [True, True] Translation: X:549.98, Y:-72.18, Z:-35.59 [[ 9.98014167e-01 4.45942778e-02 4.44867724e-02 5.49975935e+02] [-4.43900922e-02 9.98998759e-01 -5.56766093e-03 -7.21839408e+01] [-4.46905163e-02 3.58183255e-03 9.98994459e-01 -3.55933202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.3507140569999 meters 0.05486479628995415 Centerline is valid? [True, True] Translation: X:550.00, Y:-72.20, Z:-35.60 [[ 9.98062163e-01 4.25597215e-02 4.53937185e-02 5.50004016e+02] [-4.23443980e-02 9.99086843e-01 -5.69497964e-03 -7.22016322e+01] [-4.55946437e-02 3.76177402e-03 9.98952941e-01 -3.55965643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.380714057 meters 0.04993129129988117 Centerline is valid? [True, True] Translation: X:550.04, Y:-72.20, Z:-35.60 [[ 9.98103521e-01 4.15191549e-02 4.54479965e-02 5.50036768e+02] [-4.13020719e-02 9.99130415e-01 -5.70557814e-03 -7.21995029e+01] [-4.56453664e-02 3.81766122e-03 9.98950412e-01 -3.55974308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.410714057 meters 0.05147330758904463 Centerline is valid? [True, True] Translation: X:550.07, Y:-72.21, Z:-35.60 [[ 9.98238354e-01 3.82510629e-02 4.53546591e-02 5.50066061e+02] [-3.80313402e-02 9.99260302e-01 -5.69789808e-03 -7.22073762e+01] [-4.55390611e-02 3.96296193e-03 9.98954698e-01 -3.55993608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4407140569999 meters 0.05352253793511931 Centerline is valid? [True, True] Translation: X:550.10, Y:-72.21, Z:-35.60 [[ 9.98339496e-01 3.66211273e-02 4.44650796e-02 5.50095634e+02] [-3.64083623e-02 9.99321385e-01 -5.58572077e-03 -7.22139544e+01] [-4.46394603e-02 3.95754494e-03 9.98995324e-01 -3.56016789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4707140569999 meters 0.05956176777101532 Centerline is valid? [True, True] Translation: X:550.12, Y:-72.23, Z:-35.60 [[ 9.98449334e-01 3.38599254e-02 4.41863424e-02 5.50123747e+02] [-3.36470388e-02 9.99418351e-01 -5.55301162e-03 -7.22272954e+01] [-4.43486660e-02 4.05766118e-03 9.99007873e-01 -3.56047139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.500714057 meters 0.05197292624424198 Centerline is valid? [True, True] Translation: X:550.16, Y:-72.22, Z:-35.60 [[ 9.98482879e-01 3.28943136e-02 4.41577255e-02 5.50157339e+02] [-3.26807594e-02 9.99450434e-01 -5.54959078e-03 -7.22206951e+01] [-4.43160079e-02 4.09806338e-03 9.99009158e-01 -3.56049078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.530714057 meters 0.05480461475734831 Centerline is valid? [True, True] Translation: X:550.19, Y:-72.23, Z:-35.61 [[ 9.98522771e-01 3.13778320e-02 4.43588484e-02 5.50186415e+02] [-3.11606576e-02 9.99498818e-01 -5.57904064e-03 -7.22292747e+01] [-4.45116748e-02 4.18854824e-03 9.99000084e-01 -3.56065569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.5607140569999 meters 0.052024164289859925 Centerline is valid? [True, True] Translation: X:550.22, Y:-72.23, Z:-35.61 [[ 9.98535610e-01 3.08994897e-02 4.44056038e-02 5.50218740e+02] [-3.06815359e-02 9.99513626e-01 -5.58161223e-03 -7.22291017e+01] [-4.45564751e-02 4.21100644e-03 9.98997992e-01 -3.56078825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.5907140569999 meters 0.057828273976793985 Centerline is valid? [True, True] Translation: X:550.25, Y:-72.24, Z:-35.61 [[ 9.98520751e-01 3.11331474e-02 4.45761973e-02 5.50248983e+02] [-3.09132433e-02 9.99506304e-01 -5.61425508e-03 -7.22418968e+01] [-4.47289797e-02 4.22795537e-03 9.98990212e-01 -3.56103284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.620714057 meters 0.05293691793590406 Centerline is valid? [True, True] Translation: X:550.28, Y:-72.24, Z:-35.61 [[ 9.98540532e-01 3.09509238e-02 4.42588491e-02 5.50282100e+02] [-3.07334257e-02 9.99512005e-01 -5.58642265e-03 -7.22370200e+01] [-4.44101560e-02 4.21804340e-03 9.99004478e-01 -3.56108257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.650714057 meters 0.05394838252985129 Centerline is valid? [True, True] Translation: X:550.31, Y:-72.24, Z:-35.61 [[ 9.98599412e-01 3.02120542e-02 4.34332306e-02 5.50314050e+02] [-3.00013318e-02 9.99534752e-01 -5.49546455e-03 -7.22415941e+01] [-4.35790527e-02 4.18471291e-03 9.99041218e-01 -3.56135844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.6807140569999 meters 0.05235231650932628 Centerline is valid? [True, True] Translation: X:550.35, Y:-72.24, Z:-35.62 [[ 9.98626146e-01 3.03421886e-02 4.27220266e-02 5.50346561e+02] [-3.01384205e-02 9.99531117e-01 -5.40580579e-03 -7.22431609e+01] [-4.28660189e-02 4.11080461e-03 9.99072373e-01 -3.56157503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.7107140569999 meters 0.05507490196855803 Centerline is valid? [True, True] Translation: X:550.38, Y:-72.25, Z:-35.62 [[ 9.98635449e-01 3.03348620e-02 4.25092420e-02 5.50377123e+02] [-3.01325782e-02 9.99531370e-01 -5.39142555e-03 -7.22507143e+01] [-4.26528691e-02 4.10315562e-03 9.99081527e-01 -3.56186164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.740714057 meters 0.055731232430233424 Centerline is valid? [True, True] Translation: X:550.41, Y:-72.25, Z:-35.62 [[ 9.98583529e-01 3.12893806e-02 4.30338289e-02 5.50407005e+02] [-3.10826081e-02 9.99501874e-01 -5.46579679e-03 -7.22546535e+01] [-4.31834140e-02 4.12045101e-03 9.99058664e-01 -3.56196807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.770714057 meters 0.05761253846296086 Centerline is valid? [True, True] Translation: X:550.44, Y:-72.26, Z:-35.62 [[ 9.98555121e-01 3.20038461e-02 4.31673877e-02 5.50437973e+02] [-3.17965443e-02 9.99479336e-01 -5.48054243e-03 -7.22606432e+01] [-4.33203104e-02 4.10004996e-03 9.99052822e-01 -3.56213590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.8007140569999 meters 0.05741372695996615 Centerline is valid? [True, True] Translation: X:550.47, Y:-72.26, Z:-35.62 [[ 9.98460975e-01 3.39593322e-02 4.38456991e-02 5.50467346e+02] [-3.37467320e-02 9.99414839e-01 -5.58015094e-03 -7.22620141e+01] [-4.40095405e-02 4.09191389e-03 9.99022731e-01 -3.56223031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.8307140569999 meters 0.051779416757782665 Centerline is valid? [True, True] Translation: X:550.50, Y:-72.26, Z:-35.62 [[ 9.98400741e-01 3.52219489e-02 4.42196117e-02 5.50499484e+02] [-3.50069966e-02 9.99371230e-01 -5.62626071e-03 -7.22566781e+01] [-4.43899756e-02 4.06926706e-03 9.99005992e-01 -3.56219328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.860714057 meters 0.05011324694343861 Centerline is valid? [True, True] Translation: X:550.53, Y:-72.26, Z:-35.62 [[ 9.98287916e-01 3.78304431e-02 4.46104829e-02 5.50530685e+02] [-3.76141725e-02 9.99276207e-01 -5.67776439e-03 -7.22558609e+01] [-4.47929865e-02 3.99005717e-03 9.98988322e-01 -3.56236648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.890714057 meters 0.048757348439806926 Centerline is valid? [True, True] Translation: X:550.56, Y:-72.26, Z:-35.63 [[ 9.98235838e-01 3.91718150e-02 4.46181755e-02 5.50561900e+02] [-3.89567536e-02 9.99224755e-01 -5.67974197e-03 -7.22572390e+01] [-4.48060713e-02 3.93154271e-03 9.98987967e-01 -3.56254984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9207140569999 meters 0.05635233692438884 Centerline is valid? [True, True] Translation: X:550.59, Y:-72.27, Z:-35.63 [[ 9.98073916e-01 4.20037955e-02 4.56523808e-02 5.50590186e+02] [-4.17814724e-02 9.99109859e-01 -5.81368087e-03 -7.22701197e+01] [-4.58559404e-02 3.89505954e-03 9.98940469e-01 -3.56276648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9507140569999 meters 0.05013832996553017 Centerline is valid? [True, True] Translation: X:550.62, Y:-72.26, Z:-35.63 [[ 9.98010367e-01 4.27878993e-02 4.63087839e-02 5.50623922e+02] [-4.25600482e-02 9.99076516e-01 -5.89555682e-03 -7.22642315e+01] [-4.65182769e-02 3.91292275e-03 9.98909775e-01 -3.56277804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9807140569999 meters 0.0472523509755298 Centerline is valid? [True, True] Translation: X:550.66, Y:-72.26, Z:-35.63 [[ 9.97934475e-01 4.38232303e-02 4.69713508e-02 5.50655623e+02] [-4.35897190e-02 9.99031591e-01 -5.98467164e-03 -7.22619439e+01] [-4.71881309e-02 3.92484217e-03 9.98878309e-01 -3.56285194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.010714057 meters 0.04703393293016524 Centerline is valid? [True, True] Translation: X:550.69, Y:-72.27, Z:-35.63 [[ 9.97909531e-01 4.43354501e-02 4.70205835e-02 5.50687706e+02] [-4.41020376e-02 9.99009072e-01 -5.99042150e-03 -7.22655104e+01] [-4.72395775e-02 3.90419517e-03 9.98875958e-01 -3.56299502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.040714057 meters 0.04746086299585423 Centerline is valid? [True, True] Translation: X:550.72, Y:-72.27, Z:-35.63 [[ 9.97923235e-01 4.40521283e-02 4.69960400e-02 5.50719261e+02] [-4.38180870e-02 9.99021514e-01 -5.99916078e-03 -7.22697983e+01] [-4.72143308e-02 3.92742536e-03 9.98877061e-01 -3.56314572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0707140569999 meters 0.05392432622172809 Centerline is valid? [True, True] Translation: X:550.75, Y:-72.28, Z:-35.63 [[ 9.97967067e-01 4.27167327e-02 4.72970902e-02 5.50748456e+02] [-4.24775161e-02 9.99079094e-01 -6.05179868e-03 -7.22829507e+01] [-4.75120471e-02 4.03043286e-03 9.98862534e-01 -3.56348077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.1007140569999 meters 0.048680834085705546 Centerline is valid? [True, True] Translation: X:550.78, Y:-72.28, Z:-35.64 [[ 9.98112682e-01 4.02049785e-02 4.64180308e-02 5.50780335e+02] [-3.99718017e-02 9.99183146e-01 -5.94111231e-03 -7.22795141e+01] [-4.66189763e-02 4.07448722e-03 9.98904435e-01 -3.56361190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.130714057 meters 0.052489665693322814 Centerline is valid? [True, True] Translation: X:550.81, Y:-72.29, Z:-35.64 [[ 9.98168393e-01 3.92076774e-02 4.60718624e-02 5.50810525e+02] [-3.89769914e-02 9.99222719e-01 -5.89516281e-03 -7.22892822e+01] [-4.62671873e-02 4.08862260e-03 9.98920733e-01 -3.56388137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.160714057 meters 0.05395978468001344 Centerline is valid? [True, True] Translation: X:550.84, Y:-72.30, Z:-35.64 [[ 9.98190940e-01 3.87424127e-02 4.59768827e-02 5.50841329e+02] [-3.85116916e-02 9.99240768e-01 -5.89375680e-03 -7.22958736e+01] [-4.61703140e-02 4.11244711e-03 9.98925117e-01 -3.56403923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.1907140569999 meters 0.05542254970305269 Centerline is valid? [True, True] Translation: X:550.87, Y:-72.30, Z:-35.64 [[ 9.98305398e-01 3.59798122e-02 4.57360365e-02 5.50871407e+02] [-3.57480351e-02 9.99343561e-01 -5.87583251e-03 -7.23019051e+01] [-4.59174249e-02 4.23090188e-03 9.98936279e-01 -3.56425375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.2207140569999 meters 0.05667337536131906 Centerline is valid? [True, True] Translation: X:550.90, Y:-72.31, Z:-35.65 [[ 9.98355768e-01 3.49719596e-02 4.54172145e-02 5.50903163e+02] [-3.47424018e-02 9.99379271e-01 -5.83422676e-03 -7.23082602e+01] [-4.55930571e-02 4.24673082e-03 9.98951069e-01 -3.56451263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.250714057 meters 0.06551561538013147 Centerline is valid? [True, True] Translation: X:550.93, Y:-72.33, Z:-35.65 [[ 9.98385222e-01 3.35286773e-02 4.58560498e-02 5.50931355e+02] [-3.32929730e-02 9.99428253e-01 -5.89442749e-03 -7.23264792e+01] [-4.60274641e-02 4.35822506e-03 9.98930667e-01 -3.56486493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.280714057 meters 0.052627013523815255 Centerline is valid? [True, True] Translation: X:550.97, Y:-72.31, Z:-35.65 [[ 9.98374048e-01 3.34659248e-02 4.61442445e-02 5.50965783e+02] [-3.32272648e-02 9.99430232e-01 -5.92962493e-03 -7.23126586e+01] [-4.63163934e-02 4.38673661e-03 9.98917188e-01 -3.56489703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.3107140569999 meters 0.05405354750361089 Centerline is valid? [True, True] Translation: X:551.00, Y:-72.32, Z:-35.65 [[ 9.98389906e-01 3.38019233e-02 4.55524521e-02 5.50996972e+02] [-3.35691879e-02 9.99419189e-01 -5.86472078e-03 -7.23188390e+01] [-4.57242336e-02 4.32611920e-03 9.98944733e-01 -3.56503970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.3407140569999 meters 0.05123717970010156 Centerline is valid? [True, True] Translation: X:551.03, Y:-72.32, Z:-35.65 [[ 9.98364591e-01 3.45985020e-02 4.55091918e-02 5.51029844e+02] [-3.43664619e-02 9.99392051e-01 -5.87154463e-03 -7.23190964e+01] [-4.56846712e-02 4.29795235e-03 9.98946664e-01 -3.56510489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.370714057 meters 0.060199673680655 Centerline is valid? [True, True] Translation: X:551.06, Y:-72.34, Z:-35.65 [[ 9.98286004e-01 3.55270981e-02 4.65067612e-02 5.51058393e+02] [-3.52850722e-02 9.99359186e-01 -6.01499858e-03 -7.23357171e+01] [-4.66906545e-02 4.36369447e-03 9.98899865e-01 -3.56529917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.400714057 meters 0.0555304332000918 Centerline is valid? [True, True] Translation: X:551.09, Y:-72.33, Z:-35.65 [[ 9.98240529e-01 3.61795602e-02 4.69775118e-02 5.51091657e+02] [-3.59333909e-02 9.99335726e-01 -6.07439453e-03 -7.23332607e+01] [-4.71660748e-02 4.37564551e-03 9.98877478e-01 -3.56534725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.4307140569999 meters 0.051586629353051784 Centerline is valid? [True, True] Translation: X:551.12, Y:-72.33, Z:-35.65 [[ 9.98208961e-01 3.70050926e-02 4.70052565e-02 5.51124112e+02] [-3.67590007e-02 9.99305607e-01 -6.08937651e-03 -7.23315889e+01] [-4.71979543e-02 4.35060394e-03 9.98876081e-01 -3.56541811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.4607140569999 meters 0.05297002984803757 Centerline is valid? [True, True] Translation: X:551.16, Y:-72.34, Z:-35.66 [[ 9.98245676e-01 3.66006751e-02 4.65398924e-02 5.51155269e+02] [-3.63584493e-02 9.99320555e-01 -6.04088452e-03 -7.23373633e+01] [-4.67293716e-02 4.33816853e-03 9.98898166e-01 -3.56566078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.490714057 meters 0.08675648148641533 Centerline is valid? [True, True] Translation: X:551.18, Y:-72.39, Z:-35.66 [[ 9.98050363e-01 3.99386385e-02 4.79622673e-02 5.51178545e+02] [-3.96845209e-02 9.99192779e-01 -6.23925290e-03 -7.23880475e+01] [-4.81727385e-02 4.32372902e-03 9.98829661e-01 -3.56630499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.520714057 meters 0.053194849845621874 Centerline is valid? [True, True] Translation: X:551.22, Y:-72.35, Z:-35.66 [[ 9.98236792e-01 3.69895551e-02 4.64228427e-02 5.51215487e+02] [-3.67483451e-02 9.99306304e-01 -6.03895605e-03 -7.23457591e+01] [-4.66140177e-02 4.32234546e-03 9.98903624e-01 -3.56610822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.5507140569999 meters 0.05508023654175213 Centerline is valid? [True, True] Translation: X:551.25, Y:-72.35, Z:-35.66 [[ 9.98243619e-01 3.73070220e-02 4.60202476e-02 5.51246694e+02] [-3.70704458e-02 9.99294740e-01 -5.98377480e-03 -7.23527394e+01] [-4.62110282e-02 4.26727391e-03 9.98922585e-01 -3.56635866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.5807140569999 meters 0.05593025897966264 Centerline is valid? [True, True] Translation: X:551.28, Y:-72.36, Z:-35.67 [[ 9.98231581e-01 3.81708480e-02 4.55707891e-02 5.51278076e+02] [-3.79392082e-02 9.99262409e-01 -5.93752485e-03 -7.23571110e+01] [-4.57638169e-02 4.19810516e-03 9.98943466e-01 -3.56653202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.610714057 meters 0.05217175220183843 Centerline is valid? [True, True] Translation: X:551.31, Y:-72.35, Z:-35.67 [[ 9.98194515e-01 3.83730249e-02 4.62084436e-02 5.51311980e+02] [-3.81345589e-02 9.99254410e-01 -6.03151122e-03 -7.23546342e+01] [-4.64054384e-02 4.25848281e-03 9.98913610e-01 -3.56650535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.640714057 meters 0.05903299405855564 Centerline is valid? [True, True] Translation: X:551.34, Y:-72.37, Z:-35.67 [[ 9.98161333e-01 3.87017422e-02 4.66489827e-02 5.51341338e+02] [-3.84583980e-02 9.99241564e-01 -6.10310338e-03 -7.23684234e+01] [-4.68498032e-02 4.29783666e-03 9.98892699e-01 -3.56675447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.6707140569999 meters 0.055687574560152185 Centerline is valid? [True, True] Translation: X:551.37, Y:-72.37, Z:-35.67 [[ 9.98125030e-01 3.88727013e-02 4.72793510e-02 5.51374966e+02] [-3.86224163e-02 9.99234665e-01 -6.19615560e-03 -7.23683225e+01] [-4.74840278e-02 4.35849522e-03 9.98862488e-01 -3.56686370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.7007140569999 meters 0.05240494319400476 Centerline is valid? [True, True] Translation: X:551.41, Y:-72.37, Z:-35.67 [[ 9.98081748e-01 3.92485266e-02 4.78787877e-02 5.51407549e+02] [-3.89916111e-02 9.99219750e-01 -6.28853972e-03 -7.23683371e+01] [-4.80882462e-02 4.40960564e-03 9.98833357e-01 -3.56703068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.7307140569999 meters 0.05789026145709054 Centerline is valid? [True, True] Translation: X:551.44, Y:-72.38, Z:-35.67 [[ 9.98139909e-01 3.87224649e-02 4.70881309e-02 5.51437598e+02] [-3.84728380e-02 9.99240434e-01 -6.19641570e-03 -7.23803429e+01] [-4.72923049e-02 4.37327577e-03 9.98871519e-01 -3.56728947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.760714057 meters 0.05664816203010346 Centerline is valid? [True, True] Translation: X:551.47, Y:-72.38, Z:-35.67 [[ 9.98192817e-01 3.72844771e-02 4.71271467e-02 5.51468226e+02] [-3.70322355e-02 9.99294748e-01 -6.21448026e-03 -7.23830176e+01] [-4.73256139e-02 4.45802597e-03 9.98869567e-01 -3.56744127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.790714057 meters 0.055816798393664796 Centerline is valid? [True, True] Translation: X:551.50, Y:-72.39, Z:-35.68 [[ 9.98271443e-01 3.57043973e-02 4.66832012e-02 5.51499675e+02] [-3.54551507e-02 9.99352305e-01 -6.15654629e-03 -7.23856027e+01] [-4.68727805e-02 4.49074442e-03 9.98890773e-01 -3.56761799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.8207140569999 meters 0.058006794191033995 Centerline is valid? [True, True] Translation: X:551.53, Y:-72.39, Z:-35.68 [[ 9.98302662e-01 3.36132730e-02 4.75598940e-02 5.51528852e+02] [-3.33521197e-02 9.99423969e-01 -6.27421210e-03 -7.23949807e+01] [-4.77433949e-02 4.67733936e-03 9.98848683e-01 -3.56778751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.8507140569999 meters 0.054212602842005825 Centerline is valid? [True, True] Translation: X:551.56, Y:-72.39, Z:-35.68 [[ 9.98375911e-01 3.19868534e-02 4.71421320e-02 5.51560069e+02] [-3.17284868e-02 9.99477177e-01 -6.21891599e-03 -7.23940429e+01] [-4.73164086e-02 4.71306740e-03 9.98868832e-01 -3.56795687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.880714057 meters 0.054212602842005825 Centerline is valid? [True, True] Translation: X:551.59, Y:-72.40, Z:-35.68 [[ 9.98366806e-01 3.22694457e-02 4.71423805e-02 5.51592500e+02] [-3.20114787e-02 9.99468165e-01 -6.21703632e-03 -7.23984075e+01] [-4.73179288e-02 4.69778538e-03 9.98868832e-01 -3.56814646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.910714057 meters 0.05579500583742484 Centerline is valid? [True, True] Translation: X:551.62, Y:-72.41, Z:-35.68 [[ 9.98419986e-01 3.15298144e-02 4.65124000e-02 5.51623388e+02] [-3.12772635e-02 9.99491840e-01 -6.14776380e-03 -7.24054024e+01] [-4.66826021e-02 4.68326965e-03 9.98898795e-01 -3.56839658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9407140569999 meters 0.053406793717319746 Centerline is valid? [True, True] Translation: X:551.65, Y:-72.41, Z:-35.69 [[ 9.98505470e-01 3.02923130e-02 4.54884860e-02 5.51654359e+02] [-3.00489129e-02 9.99530269e-01 -6.02525765e-03 -7.24061783e+01] [-4.56496377e-02 4.64937317e-03 9.98946692e-01 -3.56855636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9707140569999 meters 0.06243329234764557 Centerline is valid? [True, True] Translation: X:551.68, Y:-72.42, Z:-35.69 [[ 9.98511253e-01 2.99943828e-02 4.55589143e-02 5.51683317e+02] [-2.97500002e-02 9.99539165e-01 -6.03285493e-03 -7.24229457e+01] [-4.57188710e-02 4.66849582e-03 9.98943437e-01 -3.56886728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.000714057 meters 0.060013776549358265 Centerline is valid? [True, True] Translation: X:551.72, Y:-72.42, Z:-35.69 [[ 9.98488833e-01 3.03521407e-02 4.58126347e-02 5.51715928e+02] [-3.01049010e-02 9.99528270e-01 -6.07725861e-03 -7.24238854e+01] [-4.59754813e-02 4.68889003e-03 9.98931564e-01 -3.56901761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.030714057 meters 0.054702658022199015 Centerline is valid? [True, True] Translation: X:551.75, Y:-72.42, Z:-35.69 [[ 9.98451116e-01 3.10311368e-02 4.61783194e-02 5.51748842e+02] [-3.07801258e-02 9.99507339e-01 -6.13703541e-03 -7.24212731e+01] [-4.63460083e-02 4.70615537e-03 9.98914361e-01 -3.56904726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.0607140569999 meters 0.05599871449101156 Centerline is valid? [True, True] Translation: X:551.78, Y:-72.43, Z:-35.69 [[ 9.98419445e-01 3.16676539e-02 4.64302810e-02 5.51779499e+02] [-3.14140115e-02 9.99487336e-01 -6.18258353e-03 -7.24264754e+01] [-4.66022658e-02 4.71425024e-03 9.98902400e-01 -3.56920301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.0907140569999 meters 0.05621316181171828 Centerline is valid? [True, True] Translation: X:551.81, Y:-72.43, Z:-35.69 [[ 9.98402692e-01 3.20809309e-02 4.65067541e-02 5.51811494e+02] [-3.18263945e-02 9.99474160e-01 -6.20347744e-03 -7.24314299e+01] [-4.66813123e-02 4.71342628e-03 9.98898713e-01 -3.56936275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.120714057 meters 0.05465195561167849 Centerline is valid? [True, True] Translation: X:551.84, Y:-72.43, Z:-35.69 [[ 9.98335889e-01 3.30706425e-02 4.72417746e-02 5.51843193e+02] [-3.28084194e-02 9.99441705e-01 -6.31552877e-03 -7.24333757e+01] [-4.74242584e-02 4.75509107e-03 9.98863519e-01 -3.56944080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.150714057 meters 0.056494915198220454 Centerline is valid? [True, True] Translation: X:551.87, Y:-72.44, Z:-35.70 [[ 9.98294254e-01 3.35755056e-02 4.77626174e-02 5.51873649e+02] [-3.33079491e-02 9.99424728e-01 -6.38692728e-03 -7.24408131e+01] [-4.79495853e-02 4.78515798e-03 9.98838295e-01 -3.56965715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.1807140569999 meters 0.05445579173468956 Centerline is valid? [True, True] Translation: X:551.91, Y:-72.44, Z:-35.70 [[ 9.98264061e-01 3.38322088e-02 4.82104305e-02 5.51906983e+02] [-3.35596268e-02 9.99415888e-01 -6.45249623e-03 -7.24425607e+01] [-4.84005724e-02 4.82337103e-03 9.98816359e-01 -3.56982407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.2107140569999 meters 0.05487800733501793 Centerline is valid? [True, True] Translation: X:551.94, Y:-72.45, Z:-35.70 [[ 9.98212632e-01 3.45966751e-02 4.87299888e-02 5.51938540e+02] [-3.43183679e-02 9.99389575e-01 -6.53659157e-03 -7.24484712e+01] [-4.89263871e-02 4.85257459e-03 9.98790599e-01 -3.57000626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.240714057 meters 0.05587690862210076 Centerline is valid? [True, True] Translation: X:551.97, Y:-72.45, Z:-35.70 [[ 9.98197855e-01 3.48439123e-02 4.88563715e-02 5.51971146e+02] [-3.45638622e-02 9.99380925e-01 -6.56553596e-03 -7.24545812e+01] [-4.90548947e-02 4.86503901e-03 9.98784235e-01 -3.57018833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.270714057 meters 0.055888549103023696 Centerline is valid? [True, True] Translation: X:552.00, Y:-72.46, Z:-35.70 [[ 9.98230465e-01 3.39958079e-02 4.87875432e-02 5.52002929e+02] [-3.37147751e-02 9.99409887e-01 -6.57198329e-03 -7.24592649e+01] [-4.89821729e-02 4.91549288e-03 9.98787557e-01 -3.57035387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.3007140569999 meters 0.05371807666575997 Centerline is valid? [True, True] Translation: X:552.04, Y:-72.46, Z:-35.70 [[ 9.98242389e-01 3.37534315e-02 4.87117885e-02 5.52035148e+02] [-3.34728925e-02 9.99418072e-01 -6.56369488e-03 -7.24607265e+01] [-4.89049890e-02 4.92163400e-03 9.98791309e-01 -3.57044328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.3307140569999 meters 0.0616254011644166 Centerline is valid? [True, True] Translation: X:552.06, Y:-72.48, Z:-35.71 [[ 9.98295316e-01 3.28190424e-02 4.82635743e-02 5.52064157e+02] [-3.25419662e-02 9.99449131e-01 -6.51570123e-03 -7.24773733e+01] [-4.84508265e-02 4.93400241e-03 9.98813382e-01 -3.57090376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.360714057 meters 0.05761776506104567 Centerline is valid? [True, True] Translation: X:552.10, Y:-72.48, Z:-35.71 [[ 9.98331375e-01 3.20973805e-02 4.80023259e-02 5.52096674e+02] [-3.18218630e-02 9.99472465e-01 -6.49309705e-03 -7.24774819e+01] [-4.81854144e-02 4.95473907e-03 9.98826119e-01 -3.57117121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.390714057 meters 0.05747610600627622 Centerline is valid? [True, True] Translation: X:552.13, Y:-72.48, Z:-35.71 [[ 9.98359025e-01 3.24155918e-02 4.72068450e-02 5.52129641e+02] [-3.21494379e-02 9.99462668e-01 -6.38662528e-03 -7.24825434e+01] [-4.73885055e-02 4.85847146e-03 9.98864718e-01 -3.57137495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4207140569999 meters 0.0551673405132859 Centerline is valid? [True, True] Translation: X:552.16, Y:-72.48, Z:-35.72 [[ 9.98351118e-01 3.22672664e-02 4.74749323e-02 5.52161781e+02] [-3.19972416e-02 9.99467229e-01 -6.43694257e-03 -7.24832932e+01] [-4.76573416e-02 4.90726193e-03 9.98851689e-01 -3.57161410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4507140569999 meters 0.05368951514197689 Centerline is valid? [True, True] Translation: X:552.19, Y:-72.49, Z:-35.72 [[ 9.98278791e-01 3.50750322e-02 4.70020965e-02 5.52192400e+02] [-3.48127631e-02 9.99373441e-01 -6.38721521e-03 -7.24853939e+01] [-4.71966787e-02 4.73994863e-03 9.98874370e-01 -3.57163129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4807140569999 meters 0.05408314365112259 Centerline is valid? [True, True] Translation: X:552.22, Y:-72.49, Z:-35.72 [[ 9.98188268e-01 3.69143096e-02 4.75133240e-02 5.52223095e+02] [-3.66483632e-02 9.99307365e-01 -6.45661650e-03 -7.24901171e+01] [-4.77187561e-02 4.70363329e-03 9.98849737e-01 -3.57175080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.510714057 meters 0.05380423536106658 Centerline is valid? [True, True] Translation: X:552.25, Y:-72.49, Z:-35.72 [[ 9.98097534e-01 3.87095210e-02 4.79883961e-02 5.52253535e+02] [-3.84402202e-02 9.99239615e-01 -6.52236452e-03 -7.24927788e+01] [-4.82043841e-02 4.66527142e-03 9.98826598e-01 -3.57186368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.540714057 meters 0.04982600818950527 Centerline is valid? [True, True] Translation: X:552.28, Y:-72.49, Z:-35.72 [[ 9.97828222e-01 4.39686025e-02 4.90469253e-02 5.52284444e+02] [-4.36935649e-02 9.99022739e-01 -6.66629854e-03 -7.24894589e+01] [-4.92921015e-02 4.50878581e-03 9.98774229e-01 -3.57195680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5707140569999 meters 0.0497240156345124 Centerline is valid? [True, True] Translation: X:552.31, Y:-72.49, Z:-35.72 [[ 9.97651454e-01 4.70894897e-02 4.97408967e-02 5.52314676e+02] [-4.68104726e-02 9.98880914e-01 -6.76016131e-03 -7.24925982e+01] [-5.00035649e-02 4.41588988e-03 9.98739277e-01 -3.57215526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.6007140569999 meters 0.04925162351548308 Centerline is valid? [True, True] Translation: X:552.34, Y:-72.49, Z:-35.72 [[ 9.97388475e-01 5.30738589e-02 4.89836183e-02 5.52344725e+02] [-5.28104306e-02 9.98582364e-01 -6.65742194e-03 -7.24920000e+01] [-4.92675124e-02 4.05318995e-03 9.98777395e-01 -3.57223409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.630714057 meters 0.04592224753974805 Centerline is valid? [True, True] Translation: X:552.38, Y:-72.49, Z:-35.72 [[ 9.97240016e-01 5.50113315e-02 4.98608437e-02 5.52376387e+02] [-5.47408127e-02 9.98477606e-01 -6.77593151e-03 -7.24886029e+01] [-5.01576888e-02 4.02780695e-03 9.98733189e-01 -3.57243245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.660714057 meters 0.04872778733719385 Centerline is valid? [True, True] Translation: X:552.40, Y:-72.50, Z:-35.73 [[ 9.96887145e-01 6.18470596e-02 4.88974657e-02 5.52404953e+02] [-6.15950147e-02 9.98079097e-01 -6.64613157e-03 -7.24952678e+01] [-4.92145821e-02 3.61360300e-03 9.98781691e-01 -3.57263091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.6907140569999 meters 0.04237642783750225 Centerline is valid? [True, True] Translation: X:552.44, Y:-72.49, Z:-35.73 [[ 9.96754158e-01 6.40246793e-02 4.88056338e-02 5.52436247e+02] [-6.37762036e-02 9.97942182e-01 -6.63308785e-03 -7.24879919e+01] [-4.91298820e-02 3.49891985e-03 9.98786270e-01 -3.57270752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.7207140569999 meters 0.04375247781591347 Centerline is valid? [True, True] Translation: X:552.46, Y:-72.49, Z:-35.73 [[ 9.96600410e-01 6.63118400e-02 4.88913325e-02 5.52464094e+02] [-6.60652554e-02 9.97793184e-01 -6.64415066e-03 -7.24934220e+01] [-4.92240242e-02 3.39154490e-03 9.98782005e-01 -3.57293459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.750714057 meters 0.043997421506886306 Centerline is valid? [True, True] Translation: X:552.49, Y:-72.50, Z:-35.73 [[ 9.96426888e-01 6.94178945e-02 4.81104166e-02 5.52492835e+02] [-6.91828643e-02 9.97582589e-01 -6.53531345e-03 -7.24953455e+01] [-4.84477816e-02 3.18354562e-03 9.98820643e-01 -3.57314362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.780714057 meters 0.041492831636218655 Centerline is valid? [True, True] Translation: X:552.52, Y:-72.49, Z:-35.73 [[ 9.96207589e-01 7.21777154e-02 4.85882347e-02 5.52523439e+02] [-7.19413467e-02 9.97387038e-01 -6.59835159e-03 -7.24933879e+01] [-4.89375295e-02 3.07782489e-03 9.98797099e-01 -3.57329417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.8107140569999 meters 0.038780408451350945 Centerline is valid? [True, True] Translation: X:552.55, Y:-72.49, Z:-35.73 [[ 9.96115041e-01 7.31697634e-02 4.90001087e-02 5.52552595e+02] [-7.29305814e-02 9.97314823e-01 -6.65387270e-03 -7.24914456e+01] [-4.93553970e-02 3.05441626e-03 9.98776609e-01 -3.57337755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.8407140569999 meters 0.04184851160646045 Centerline is valid? [True, True] Translation: X:552.58, Y:-72.50, Z:-35.74 [[ 9.96072262e-01 7.38089966e-02 4.89109400e-02 5.52579440e+02] [-7.35716203e-02 9.97267842e-01 -6.63836189e-03 -7.24991505e+01] [-4.92672784e-02 3.01383105e-03 9.98781083e-01 -3.57358832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.870714057 meters 0.04179299394098034 Centerline is valid? [True, True] Translation: X:552.61, Y:-72.50, Z:-35.74 [[ 9.95955683e-01 7.52046223e-02 4.91583424e-02 5.52606992e+02] [-7.49667520e-02 9.97163744e-01 -6.66743346e-03 -7.25014687e+01] [-4.95203385e-02 2.95522699e-03 9.98768743e-01 -3.57376190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.900714057 meters 0.03806788583477929 Centerline is valid? [True, True] Translation: X:552.64, Y:-72.50, Z:-35.74 [[ 9.95923277e-01 7.54786593e-02 4.93943104e-02 5.52636260e+02] [-7.52390522e-02 9.97143050e-01 -6.69504222e-03 -7.24979567e+01] [-4.97585261e-02 2.95136729e-03 9.98756917e-01 -3.57380820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.9307140569999 meters 0.042905602611655616 Centerline is valid? [True, True] Translation: X:552.66, Y:-72.51, Z:-35.74 [[ 9.95963337e-01 7.52699446e-02 4.89026193e-02 5.52662706e+02] [-7.50350035e-02 9.97158893e-01 -6.62504487e-03 -7.25095514e+01] [-4.92623485e-02 2.92889359e-03 9.98781579e-01 -3.57410206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.9607140569999 meters 0.03829417981607784 Centerline is valid? [True, True] Translation: X:552.69, Y:-72.50, Z:-35.74 [[ 9.96037588e-01 7.47317039e-02 4.82109559e-02 5.52692164e+02] [-7.45029549e-02 9.97199433e-01 -6.52692486e-03 -7.25047679e+01] [-4.85637061e-02 2.90920382e-03 9.98815850e-01 -3.57420547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.990714057 meters 0.03815391305035148 Centerline is valid? [True, True] Translation: X:552.72, Y:-72.51, Z:-35.74 [[ 9.96084374e-01 7.42841546e-02 4.79352073e-02 5.52720941e+02] [-7.40576671e-02 9.97232867e-01 -6.48616129e-03 -7.25080084e+01] [-4.82843832e-02 2.91079428e-03 9.98829388e-01 -3.57439020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.020714057 meters 0.03914127578431775 Centerline is valid? [True, True] Translation: X:552.75, Y:-72.51, Z:-35.75 [[ 9.96096088e-01 7.41521328e-02 4.78961944e-02 5.52748293e+02] [-7.39260111e-02 9.97242690e-01 -6.47780110e-03 -7.25135593e+01] [-4.82444725e-02 2.91173773e-03 9.98831313e-01 -3.57451526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.0507140569999 meters 0.03868710191679591 Centerline is valid? [True, True] Translation: X:552.78, Y:-72.52, Z:-35.75 [[ 9.95942657e-01 7.55191105e-02 4.89396281e-02 5.52777264e+02] [-7.52849688e-02 9.97140133e-01 -6.61271954e-03 -7.25170582e+01] [-4.92990540e-02 2.90147110e-03 9.98779848e-01 -3.57458974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.0807140569999 meters 0.03840078072581668 Centerline is valid? [True, True] Translation: X:552.81, Y:-72.52, Z:-35.75 [[ 9.95828199e-01 7.67559179e-02 4.93429638e-02 5.52805956e+02] [-7.65195344e-02 9.97045808e-01 -6.66470109e-03 -7.25198732e+01] [-4.97087505e-02 2.86119667e-03 9.98759658e-01 -3.57468146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.110714057 meters 0.03677482505104219 Centerline is valid? [True, True] Translation: X:552.84, Y:-72.52, Z:-35.75 [[ 9.95721582e-01 7.82060392e-02 4.92173328e-02 5.52835440e+02] [-7.79727760e-02 9.96933345e-01 -6.64465726e-03 -7.25200316e+01] [-4.95860526e-02 2.77861657e-03 9.98765990e-01 -3.57473723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.140714057 meters 0.03654167707112666 Centerline is valid? [True, True] Translation: X:552.87, Y:-72.52, Z:-35.75 [[ 9.95313977e-01 8.28706374e-02 4.98251353e-02 5.52865105e+02] [-8.26377368e-02 9.96556997e-01 -6.71988281e-03 -7.25226372e+01] [-5.02104682e-02 2.57095687e-03 9.98735350e-01 -3.57486257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.1707140569999 meters 0.03479468807679378 Centerline is valid? [True, True] Translation: X:552.90, Y:-72.52, Z:-35.75 [[ 9.94812213e-01 8.80951854e-02 5.08714044e-02 5.52895755e+02] [-8.78592619e-02 9.96109278e-01 -6.85974531e-03 -7.25240014e+01] [-5.12777885e-02 2.35463436e-03 9.98681653e-01 -3.57498518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.2007140569999 meters 0.03452658216090153 Centerline is valid? [True, True] Translation: X:552.92, Y:-72.53, Z:-35.75 [[ 9.94546935e-01 9.06551022e-02 5.15562390e-02 5.52924673e+02] [-9.04162129e-02 9.95879801e-01 -6.95197489e-03 -7.25277035e+01] [-5.19740490e-02 2.25254544e-03 9.98645895e-01 -3.57515948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.2307140569999 meters 0.03384021718236424 Centerline is valid? [True, True] Translation: X:552.95, Y:-72.53, Z:-35.75 [[ 9.94286032e-01 9.33990440e-02 5.16904740e-02 5.52954530e+02] [-9.31627050e-02 9.95626514e-01 -6.96817429e-03 -7.25310432e+01] [-5.21152272e-02 2.11273399e-03 9.98638843e-01 -3.57532647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.260714057 meters 0.03261390007143885 Centerline is valid? [True, True] Translation: X:552.98, Y:-72.53, Z:-35.75 [[ 9.93809596e-01 9.82018599e-02 5.19507583e-02 5.52983303e+02] [-9.79697148e-02 9.95164760e-01 -7.00254799e-03 -7.25317700e+01] [-5.23872271e-02 1.86959842e-03 9.98625096e-01 -3.57537434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.290714057 meters 0.031002497410105474 Centerline is valid? [True, True] Translation: X:553.01, Y:-72.53, Z:-35.76 [[ 9.93404168e-01 1.02310820e-01 5.17750379e-02 5.53013286e+02] [-1.02085955e-01 9.94751120e-01 -6.97613598e-03 -7.25314781e+01] [-5.22170111e-02 1.64461840e-03 9.98634407e-01 -3.57552698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.3207140569999 meters 0.030131081783397896 Centerline is valid? [True, True] Translation: X:553.04, Y:-72.53, Z:-35.76 [[ 9.93284038e-01 1.03579866e-01 5.15561022e-02 5.53041746e+02] [-1.03358688e-01 9.94619901e-01 -6.94506687e-03 -7.25328620e+01] [-5.19980944e-02 1.56965297e-03 9.98645950e-01 -3.57571731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.3507140569999 meters 0.03087638221586198 Centerline is valid? [True, True] Translation: X:553.07, Y:-72.54, Z:-35.76 [[ 9.93197290e-01 1.04510563e-01 5.13486663e-02 5.53068952e+02] [-1.04292578e-01 9.94522628e-01 -6.91379600e-03 -7.25397984e+01] [-5.17899753e-02 1.51147866e-03 9.98656855e-01 -3.57600291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.380714057 meters 0.03228587994771713 Centerline is valid? [True, True] Translation: X:553.10, Y:-72.55, Z:-35.76 [[ 9.93339696e-01 1.03880207e-01 4.98512929e-02 5.53095687e+02] [-1.03674308e-01 9.94588696e-01 -6.70541827e-03 -7.25495384e+01] [-5.02780927e-02 1.49245983e-03 9.98734142e-01 -3.57641887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.410714057 meters 0.03000171830526167 Centerline is valid? [True, True] Translation: X:553.12, Y:-72.55, Z:-35.76 [[ 9.93437556e-01 1.02656757e-01 5.04322480e-02 5.53124914e+02] [-1.02444615e-01 9.94715601e-01 -6.78037566e-03 -7.25499523e+01] [-5.08617953e-02 1.56936758e-03 9.98704468e-01 -3.57645045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4407140569999 meters 0.03066032886775184 Centerline is valid? [True, True] Translation: X:553.15, Y:-72.56, Z:-35.77 [[ 9.93757899e-01 9.96622590e-02 5.01265709e-02 5.53152278e+02] [-9.94495881e-02 9.95019874e-01 -6.72527096e-03 -7.25597361e+01] [-5.05471900e-02 1.69822431e-03 9.98720230e-01 -3.57659990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4707140569999 meters 0.03176735533069374 Centerline is valid? [True, True] Translation: X:553.18, Y:-72.57, Z:-35.77 [[ 9.94150493e-01 9.54016244e-02 5.06293118e-02 5.53180181e+02] [-9.51793414e-02 9.95436991e-01 -6.78888903e-03 -7.25704078e+01] [-5.10459609e-02 1.93031282e-03 9.98694440e-01 -3.57680740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.500714057 meters 0.032371417514391786 Centerline is valid? [True, True] Translation: X:553.21, Y:-72.58, Z:-35.77 [[ 9.94391004e-01 9.29276131e-02 5.05073226e-02 5.53208344e+02] [-9.27033551e-02 9.95670758e-01 -6.76980259e-03 -7.25786625e+01] [-5.09177657e-02 2.04963254e-03 9.98700746e-01 -3.57701038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.530714057 meters 0.033241832718058174 Centerline is valid? [True, True] Translation: X:553.24, Y:-72.59, Z:-35.77 [[ 9.94629445e-01 9.01108573e-02 5.09146435e-02 5.53236919e+02] [-8.98794300e-02 9.95929292e-01 -6.82151047e-03 -7.25864243e+01] [-5.13220771e-02 2.20869603e-03 9.98679711e-01 -3.57721188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.5607140569999 meters 0.03535597663474184 Centerline is valid? [True, True] Translation: X:553.26, Y:-72.60, Z:-35.77 [[ 9.95006193e-01 8.48904958e-02 5.25002778e-02 5.53264734e+02] [-8.46372719e-02 9.96387015e-01 -7.03192455e-03 -7.25999087e+01] [-5.29075387e-02 2.55332818e-03 9.98596151e-01 -3.57730021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.5907140569999 meters 0.035539912032261256 Centerline is valid? [True, True] Translation: X:553.29, Y:-72.61, Z:-35.77 [[ 9.95141037e-01 8.26742091e-02 5.34723439e-02 5.53293817e+02] [-8.24083756e-02 9.96572917e-01 -7.16110925e-03 -7.26070233e+01] [-5.38811288e-02 2.71974468e-03 9.98543653e-01 -3.57739301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.620714057 meters 0.03728361821947132 Centerline is valid? [True, True] Translation: X:553.32, Y:-72.62, Z:-35.78 [[ 9.95615903e-01 7.61927467e-02 5.42553083e-02 5.53323428e+02] [-7.59095807e-02 9.97088246e-01 -7.26392269e-03 -7.26164200e+01] [-5.46507885e-02 3.11357924e-03 9.98500674e-01 -3.57751304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.650714057 meters 0.03837935467998153 Centerline is valid? [True, True] Translation: X:553.35, Y:-72.62, Z:-35.78 [[ 9.95811545e-01 7.32734156e-02 5.46842998e-02 5.53353219e+02] [-7.29813866e-02 9.97306433e-01 -7.32095621e-03 -7.26239880e+01] [-5.50734354e-02 3.29935670e-03 9.98476856e-01 -3.57768629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.6807140569999 meters 0.04258106888672092 Centerline is valid? [True, True] Translation: X:553.38, Y:-72.64, Z:-35.78 [[ 9.96172778e-01 6.80639711e-02 5.48369583e-02 5.53381115e+02] [-6.77624463e-02 9.97674473e-01 -7.34143762e-03 -7.26399718e+01] [-5.52091209e-02 3.59745386e-03 9.98468333e-01 -3.57788657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.7107140569999 meters 0.03965796066987441 Centerline is valid? [True, True] Translation: X:553.41, Y:-72.64, Z:-35.78 [[ 9.96341173e-01 6.56777991e-02 5.46872389e-02 5.53411291e+02] [-6.53743971e-02 9.97833954e-01 -7.32043722e-03 -7.26414067e+01] [-5.50495740e-02 3.71850774e-03 9.98476698e-01 -3.57803772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.740714057 meters 0.04173375070893261 Centerline is valid? [True, True] Translation: X:553.44, Y:-72.65, Z:-35.78 [[ 9.96724326e-01 6.00798936e-02 5.41389362e-02 5.53440348e+02] [-5.97743932e-02 9.98185612e-01 -7.24605458e-03 -7.26510632e+01] [-5.44760494e-02 3.98619681e-03 9.98507121e-01 -3.57823009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.770714057 meters 0.04173375070893261 Centerline is valid? [True, True] Translation: X:553.47, Y:-72.66, Z:-35.78 [[ 9.96724323e-01 6.00798429e-02 5.41390538e-02 5.53470113e+02] [-5.97743898e-02 9.98185619e-01 -7.24517561e-03 -7.26550468e+01] [-5.44761140e-02 3.98531385e-03 9.98507121e-01 -3.57840414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.8007140569999 meters 0.04460200022541108 Centerline is valid? [True, True] Translation: X:553.50, Y:-72.66, Z:-35.79 [[ 9.96864180e-01 5.79041392e-02 5.39343778e-02 5.53498948e+02] [-5.75978445e-02 9.98313776e-01 -7.21750833e-03 -7.26646956e+01] [-5.42613560e-02 4.08837162e-03 9.98518398e-01 -3.57859961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.8307140569999 meters 0.04457933608728922 Centerline is valid? [True, True] Translation: X:553.53, Y:-72.67, Z:-35.79 [[ 9.97087341e-01 5.47377337e-02 5.31094637e-02 5.53529210e+02] [-5.44360414e-02 9.98491934e-01 -7.11168526e-03 -7.26704803e+01] [-5.34186486e-02 4.19990238e-03 9.98563372e-01 -3.57882098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.860714057 meters 0.04947870273148937 Centerline is valid? [True, True] Translation: X:553.56, Y:-72.68, Z:-35.79 [[ 9.97120754e-01 5.41377901e-02 5.30970906e-02 5.53559004e+02] [-5.38354349e-02 9.98524514e-01 -7.10926103e-03 -7.26829456e+01] [-5.34036263e-02 4.23028675e-03 9.98564048e-01 -3.57905844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.890714057 meters 0.04611188168037085 Centerline is valid? [True, True] Translation: X:553.59, Y:-72.68, Z:-35.79 [[ 9.97118488e-01 5.38528972e-02 5.34283313e-02 5.53591263e+02] [-5.35456731e-02 9.98539687e-01 -7.16613335e-03 -7.26830661e+01] [-5.37362263e-02 4.28462809e-03 9.98545973e-01 -3.57929024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9207140569999 meters 0.046874340774563775 Centerline is valid? [True, True] Translation: X:553.62, Y:-72.69, Z:-35.79 [[ 9.97151027e-01 5.38957829e-02 5.27738037e-02 5.53623533e+02] [-5.35954163e-02 9.98537553e-01 -7.09137278e-03 -7.26878344e+01] [-5.30788199e-02 4.24273567e-03 9.98581313e-01 -3.57949167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9507140569999 meters 0.04650953868572402 Centerline is valid? [True, True] Translation: X:553.66, Y:-72.69, Z:-35.80 [[ 9.97098199e-01 5.48054810e-02 5.28350302e-02 5.53655358e+02] [-5.45049827e-02 9.98488165e-01 -7.11278226e-03 -7.26912614e+01] [-5.31449718e-02 4.21236998e-03 9.98577923e-01 -3.57971014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9807140569999 meters 0.046645076687592955 Centerline is valid? [True, True] Translation: X:553.69, Y:-72.69, Z:-35.80 [[ 9.97028048e-01 5.68383670e-02 5.20045247e-02 5.53685395e+02] [-5.65492664e-02 9.98375165e-01 -7.01495520e-03 -7.26947342e+01] [-5.23187445e-02 4.05328938e-03 9.98622211e-01 -3.57988739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.010714057 meters 0.04552584918435288 Centerline is valid? [True, True] Translation: X:553.72, Y:-72.69, Z:-35.80 [[ 9.96900013e-01 5.88179229e-02 5.22572035e-02 5.53717057e+02] [-5.85286615e-02 9.98260835e-01 -7.04984969e-03 -7.26945597e+01] [-5.25809772e-02 3.96945107e-03 9.98608774e-01 -3.58001060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.040714057 meters 0.047141306841745036 Centerline is valid? [True, True] Translation: X:553.75, Y:-72.70, Z:-35.80 [[ 9.96805420e-01 5.97156021e-02 5.30377391e-02 5.53746890e+02] [-5.94187801e-02 9.98207485e-01 -7.15714911e-03 -7.27000786e+01] [-5.33700616e-02 3.98284727e-03 9.98566860e-01 -3.58012799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0707140569999 meters 0.04237628758317719 Centerline is valid? [True, True] Translation: X:553.78, Y:-72.70, Z:-35.80 [[ 9.96671634e-01 6.02684175e-02 5.48941923e-02 5.53778328e+02] [-5.99512006e-02 9.98173815e-01 -7.40871013e-03 -7.26955228e+01] [-5.52404566e-02 4.09307849e-03 9.98464691e-01 -3.58013919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.1007140569999 meters 0.041732546262349124 Centerline is valid? [True, True] Translation: X:553.81, Y:-72.70, Z:-35.80 [[ 9.96703227e-01 5.95231074e-02 5.51332721e-02 5.53808618e+02] [-5.92019846e-02 9.98218291e-01 -7.44097717e-03 -7.26974249e+01] [-5.54779508e-02 4.15244682e-03 9.98451278e-01 -3.58023198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.130714057 meters 0.0444736264487514 Centerline is valid? [True, True] Translation: X:553.84, Y:-72.70, Z:-35.80 [[ 9.96776332e-01 5.72171913e-02 5.62417700e-02 5.53838202e+02] [-5.68793643e-02 9.98352203e-01 -7.59052981e-03 -7.27044903e+01] [-5.65834038e-02 4.36706434e-03 9.98388325e-01 -3.58034864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.160714057 meters 0.04550568208614056 Centerline is valid? [True, True] Translation: X:553.87, Y:-72.71, Z:-35.81 [[ 9.96895012e-01 5.53540042e-02 5.60023982e-02 5.53868424e+02] [-5.50159724e-02 9.98456846e-01 -7.56103193e-03 -7.27095849e+01] [-5.63345112e-02 4.45652862e-03 9.98402004e-01 -3.58058152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.1907140569999 meters 0.04676239607270586 Centerline is valid? [True, True] Translation: X:553.90, Y:-72.72, Z:-35.81 [[ 9.97067753e-01 5.31114080e-02 5.50915053e-02 5.53898942e+02] [-5.27808444e-02 9.98578411e-01 -7.43903213e-03 -7.27152291e+01] [-5.54082853e-02 4.50944288e-03 9.98453598e-01 -3.58086637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.2207140569999 meters 0.048220160608709456 Centerline is valid? [True, True] Translation: X:553.93, Y:-72.72, Z:-35.81 [[ 9.97370295e-01 4.89096282e-02 5.34821671e-02 5.53929641e+02] [-4.85920756e-02 9.98792593e-01 -7.22262268e-03 -7.27216486e+01] [-5.37708482e-02 4.60481980e-03 9.98542684e-01 -3.58123725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.250714057 meters 0.04910774012485648 Centerline is valid? [True, True] Translation: X:553.96, Y:-72.73, Z:-35.82 [[ 9.97488852e-01 4.70673386e-02 5.29212160e-02 5.53959907e+02] [-4.67537714e-02 9.98880867e-01 -7.14832776e-03 -7.27273419e+01] [-5.31984429e-02 4.65611082e-03 9.98573105e-01 -3.58151167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.280714057 meters 0.0492179499925012 Centerline is valid? [True, True] Translation: X:553.99, Y:-72.73, Z:-35.82 [[ 9.97720178e-01 4.35033051e-02 5.15936931e-02 5.53989709e+02] [-4.32005139e-02 9.99042108e-01 -6.97002293e-03 -7.27316485e+01] [-5.18474910e-02 4.72525846e-03 9.98643835e-01 -3.58177357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.3107140569999 meters 0.05391327478060176 Centerline is valid? [True, True] Translation: X:554.02, Y:-72.74, Z:-35.82 [[ 9.97819245e-01 4.19618686e-02 5.09505166e-02 5.54018443e+02] [-4.16646248e-02 9.99107947e-01 -6.88259908e-03 -7.27416232e+01] [-5.11938727e-02 4.74475566e-03 9.98677463e-01 -3.58203053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.3407140569999 meters 0.05110125191561562 Centerline is valid? [True, True] Translation: X:554.05, Y:-72.74, Z:-35.82 [[ 9.97930832e-01 4.03926771e-02 5.00248485e-02 5.54049925e+02] [-4.01039577e-02 9.99172630e-01 -6.76227038e-03 -7.27396119e+01] [-5.02566057e-02 4.74208371e-03 9.98725080e-01 -3.58213120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.370714057 meters 0.05264173163981758 Centerline is valid? [True, True] Translation: X:554.08, Y:-72.74, Z:-35.82 [[ 9.97818444e-01 4.10614250e-02 5.16944182e-02 5.54080664e+02] [-4.07539632e-02 9.99144774e-01 -6.98822070e-03 -7.27437930e+01] [-5.19371541e-02 4.86622308e-03 9.98638499e-01 -3.58215531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.400714057 meters 0.05141635131336487 Centerline is valid? [True, True] Translation: X:554.11, Y:-72.75, Z:-35.82 [[ 9.97770814e-01 4.19114307e-02 5.19310583e-02 5.54112602e+02] [-4.16019192e-02 9.99109553e-01 -7.02720273e-03 -7.27458639e+01] [-5.21793366e-02 4.85110610e-03 9.98625948e-01 -3.58231136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.4307140569999 meters 0.05656657693688996 Centerline is valid? [True, True] Translation: X:554.14, Y:-72.76, Z:-35.83 [[ 9.97727910e-01 4.30456611e-02 5.18274815e-02 5.54142736e+02] [-4.27382113e-02 9.99061597e-01 -7.02640032e-03 -7.27570141e+01] [-5.20813025e-02 4.79542185e-03 9.98631334e-01 -3.58255389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.4607140569999 meters 0.0517514439254303 Centerline is valid? [True, True] Translation: X:554.17, Y:-72.75, Z:-35.83 [[ 9.97662461e-01 4.50937860e-02 5.13435966e-02 5.54174858e+02] [-4.47940660e-02 9.98971899e-01 -6.97393601e-03 -7.27521155e+01] [-5.16052914e-02 4.65774571e-03 9.98656697e-01 -3.58272957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.490714057 meters 0.049331507787669246 Centerline is valid? [True, True] Translation: X:554.21, Y:-72.75, Z:-35.83 [[ 9.97584354e-01 4.69505691e-02 5.11966928e-02 5.54206790e+02] [-4.66549520e-02 9.98886854e-01 -6.95467040e-03 -7.27517238e+01] [-5.14662292e-02 4.54929112e-03 9.98664374e-01 -3.58293455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.520714057 meters 0.04878054652313388 Centerline is valid? [True, True] Translation: X:554.24, Y:-72.75, Z:-35.83 [[ 9.97460007e-01 4.98818125e-02 5.08462241e-02 5.54237598e+02] [-4.95938555e-02 9.98745563e-01 -6.91007938e-03 -7.27524848e+01] [-5.11271280e-02 4.37086754e-03 9.98682588e-01 -3.58309024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.5507140569999 meters 0.0524242344189493 Centerline is valid? [True, True] Translation: X:554.27, Y:-72.76, Z:-35.83 [[ 9.97280562e-01 5.29820689e-02 5.12287110e-02 5.54266698e+02] [-5.26937900e-02 9.98586445e-01 -6.96256615e-03 -7.27590568e+01] [-5.15251876e-02 4.24419694e-03 9.98662677e-01 -3.58328450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.5807140569999 meters 0.046384741602792094 Centerline is valid? [True, True] Translation: X:554.30, Y:-72.75, Z:-35.83 [[ 9.97234041e-01 5.40348534e-02 5.10343152e-02 5.54298986e+02] [-5.37501762e-02 9.98530331e-01 -6.93522646e-03 -7.27524677e+01] [-5.13340556e-02 4.17294047e-03 9.98672820e-01 -3.58330543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.610714057 meters 0.04490509205898968 Centerline is valid? [True, True] Translation: X:554.33, Y:-72.75, Z:-35.83 [[ 9.97044135e-01 5.67617016e-02 5.17793633e-02 5.54330373e+02] [-5.64722459e-02 9.98379367e-01 -7.03736326e-03 -7.27523302e+01] [-5.20949007e-02 4.09246483e-03 9.98633753e-01 -3.58335061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.640714057 meters 0.04493258890397724 Centerline is valid? [True, True] Translation: X:554.36, Y:-72.76, Z:-35.83 [[ 9.96992482e-01 5.75837248e-02 5.18662311e-02 5.54360620e+02] [-5.72943132e-02 9.98332433e-01 -7.05084233e-03 -7.27550713e+01] [-5.21857545e-02 4.05799670e-03 9.98629150e-01 -3.58349239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.6707140569999 meters 0.04598323851012733 Centerline is valid? [True, True] Translation: X:554.39, Y:-72.76, Z:-35.84 [[ 9.97030293e-01 5.79513810e-02 5.07171812e-02 5.54390290e+02] [-5.76751374e-02 9.98311596e-01 -6.89463722e-03 -7.27586610e+01] [-5.10311038e-02 3.94904178e-03 9.98689257e-01 -3.58380119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.7007140569999 meters 0.05029759704331656 Centerline is valid? [True, True] Translation: X:554.42, Y:-72.77, Z:-35.84 [[ 9.97059870e-01 5.79373441e-02 5.01485836e-02 5.54418432e+02] [-5.76672425e-02 9.98312582e-01 -6.81746738e-03 -7.27686858e+01] [-5.04589479e-02 3.90549261e-03 9.98718500e-01 -3.58411389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.7307140569999 meters 0.04482357846559056 Centerline is valid? [True, True] Translation: X:554.45, Y:-72.76, Z:-35.84 [[ 9.97121989e-01 5.73159708e-02 4.96247833e-02 5.54448549e+02] [-5.70507599e-02 9.98348491e-01 -6.74553478e-03 -7.27643253e+01] [-4.99294543e-02 3.89498946e-03 9.98745152e-01 -3.58421402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.760714057 meters 0.046524636206803825 Centerline is valid? [True, True] Translation: X:554.48, Y:-72.77, Z:-35.84 [[ 9.97266649e-01 5.49176355e-02 4.94295860e-02 5.54477565e+02] [-5.46516794e-02 9.98482887e-01 -6.71707233e-03 -7.27697518e+01] [-4.97234814e-02 3.99730233e-03 9.98755024e-01 -3.58439795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.790714057 meters 0.047927609921123174 Centerline is valid? [True, True] Translation: X:554.51, Y:-72.78, Z:-35.85 [[ 9.97418470e-01 5.20260552e-02 4.94942980e-02 5.54507794e+02] [-5.17559227e-02 9.98637122e-01 -6.72474937e-03 -7.27756426e+01] [-4.97767055e-02 4.14576616e-03 9.98751767e-01 -3.58455616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.8207140569999 meters 0.04895100318464368 Centerline is valid? [True, True] Translation: X:554.54, Y:-72.78, Z:-35.85 [[ 9.97481228e-01 5.08129773e-02 4.94898138e-02 5.54538032e+02] [-5.05413891e-02 9.98699328e-01 -6.72460468e-03 -7.27808614e+01] [-4.97671410e-02 4.20638299e-03 9.98751990e-01 -3.58477819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.8507140569999 meters 0.052371433622999355 Centerline is valid? [True, True] Translation: X:554.57, Y:-72.79, Z:-35.85 [[ 9.97599932e-01 4.88231804e-02 4.90986115e-02 5.54567496e+02] [-4.85534505e-02 9.98798301e-01 -6.67209728e-03 -7.27897511e+01] [-4.93653628e-02 4.27217679e-03 9.98771650e-01 -3.58497031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.880714057 meters 0.05203129707023719 Centerline is valid? [True, True] Translation: X:554.60, Y:-72.79, Z:-35.85 [[ 9.97673628e-01 4.77499526e-02 4.86546427e-02 5.54599514e+02] [-4.74837230e-02 9.98850116e-01 -6.61370735e-03 -7.27938029e+01] [-4.89144998e-02 4.28801782e-03 9.98793765e-01 -3.58516531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.910714057 meters 0.0532173638166688 Centerline is valid? [True, True] Translation: X:554.63, Y:-72.80, Z:-35.85 [[ 9.97706623e-01 4.72016425e-02 4.85128713e-02 5.54631113e+02] [-4.69362294e-02 9.98876108e-01 -6.59631141e-03 -7.28001696e+01] [-4.87697048e-02 4.30417233e-03 9.98800776e-01 -3.58541618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9407140569999 meters 0.0496481967627938 Centerline is valid? [True, True] Translation: X:554.66, Y:-72.80, Z:-35.86 [[ 9.97787808e-01 4.62855876e-02 4.77193260e-02 5.54663126e+02] [-4.60272034e-02 9.98919039e-01 -6.49993007e-03 -7.27994013e+01] [-4.79685963e-02 4.28916386e-03 9.98839635e-01 -3.58557877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9707140569999 meters 0.05094441711097147 Centerline is valid? [True, True] Translation: X:554.69, Y:-72.81, Z:-35.86 [[ 9.97810667e-01 4.66639053e-02 4.68652534e-02 5.54694116e+02] [-4.64146173e-02 9.98901797e-01 -6.39404587e-03 -7.28055642e+01] [-4.71121570e-02 4.20481437e-03 9.98880756e-01 -3.58582624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.000714057 meters 0.05061912356048492 Centerline is valid? [True, True] Translation: X:554.73, Y:-72.81, Z:-35.86 [[ 9.97832165e-01 4.69733315e-02 4.60920528e-02 5.54726543e+02] [-4.67319616e-02 9.98887592e-01 -6.30094862e-03 -7.28092168e+01] [-4.63367562e-02 4.13331716e-03 9.98917324e-01 -3.58606114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.030714057 meters 0.05157280050164091 Centerline is valid? [True, True] Translation: X:554.76, Y:-72.82, Z:-35.86 [[ 9.97780284e-01 4.78052398e-02 4.63590844e-02 5.54756798e+02] [-4.75613946e-02 9.98848136e-01 -6.34941126e-03 -7.28161017e+01] [-4.66092202e-02 4.13041466e-03 9.98904660e-01 -3.58631055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.0607140569999 meters 0.05047891688912662 Centerline is valid? [True, True] Translation: X:554.79, Y:-72.82, Z:-35.86 [[ 9.97758890e-01 4.84621531e-02 4.61369368e-02 5.54787883e+02] [-4.82207419e-02 9.98816634e-01 -6.33181808e-03 -7.28175352e+01] [-4.63891935e-02 4.09287045e-03 9.98915057e-01 -3.58637658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.0907140569999 meters 0.04875910618421671 Centerline is valid? [True, True] Translation: X:554.82, Y:-72.82, Z:-35.86 [[ 9.97730907e-01 4.86557481e-02 4.65365941e-02 5.54819158e+02] [-4.84102628e-02 9.98807106e-01 -6.38834025e-03 -7.28181304e+01] [-4.67919103e-02 4.12099576e-03 9.98896158e-01 -3.58645533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.120714057 meters 0.04967671992533531 Centerline is valid? [True, True] Translation: X:554.85, Y:-72.82, Z:-35.87 [[ 9.97650152e-01 5.02847027e-02 4.65362488e-02 5.54849522e+02] [-5.00408992e-02 9.98726728e-01 -6.38998310e-03 -7.28228459e+01] [-4.67983139e-02 4.04625188e-03 9.98896164e-01 -3.58655651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.150714057 meters 0.05254283498942112 Centerline is valid? [True, True] Translation: X:554.88, Y:-72.83, Z:-35.87 [[ 9.97521322e-01 5.20710144e-02 4.73267485e-02 5.54878823e+02] [-5.18207428e-02 9.98635245e-01 -6.50064242e-03 -7.28304326e+01] [-4.76006541e-02 4.03202215e-03 9.98858309e-01 -3.58677435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.1807140569999 meters 0.048503262655937546 Centerline is valid? [True, True] Translation: X:554.91, Y:-72.83, Z:-35.87 [[ 9.97459587e-01 5.33943402e-02 4.71531165e-02 5.54909846e+02] [-5.31473707e-02 9.98565675e-01 -6.47679291e-03 -7.28276107e+01] [-4.74313077e-02 3.95427502e-03 9.98866675e-01 -3.58687845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.2107140569999 meters 0.050446374030991004 Centerline is valid? [True, True] Translation: X:554.94, Y:-72.83, Z:-35.87 [[ 9.97401308e-01 5.49477870e-02 4.65979844e-02 5.54938867e+02] [-5.47082777e-02 9.98481865e-01 -6.40073127e-03 -7.28326145e+01] [-4.68789484e-02 3.83480226e-03 9.98893217e-01 -3.58707225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.240714057 meters 0.04715418773591064 Centerline is valid? [True, True] Translation: X:554.97, Y:-72.83, Z:-35.87 [[ 9.97394252e-01 5.51405829e-02 4.65211920e-02 5.54969004e+02] [-5.49021005e-02 9.98471298e-01 -6.38955859e-03 -7.28306163e+01] [-4.68023989e-02 3.81879785e-03 9.98896868e-01 -3.58723212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.270714057 meters 0.04748705384798982 Centerline is valid? [True, True] Translation: X:555.00, Y:-72.83, Z:-35.87 [[ 9.97362198e-01 5.51968638e-02 4.71375970e-02 5.54998629e+02] [-5.49521576e-02 9.98468010e-01 -6.47249842e-03 -7.28348922e+01] [-4.74226443e-02 3.86511259e-03 9.98867436e-01 -3.58746339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.3007140569999 meters 0.047017641262117285 Centerline is valid? [True, True] Translation: X:555.03, Y:-72.84, Z:-35.88 [[ 9.97386128e-01 5.49404562e-02 4.69303551e-02 5.55027669e+02] [-5.46976961e-02 9.98482177e-01 -6.44237703e-03 -7.28377894e+01] [-4.72130703e-02 3.85855518e-03 9.98877389e-01 -3.58761471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.3307140569999 meters 0.04961346963697847 Centerline is valid? [True, True] Translation: X:555.06, Y:-72.84, Z:-35.88 [[ 9.97500888e-01 5.36278406e-02 4.60003690e-02 5.55056232e+02] [-5.33933396e-02 9.98553607e-01 -6.31234122e-03 -7.28437448e+01] [-4.62723516e-02 3.84045265e-03 9.98921479e-01 -3.58788578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.360714057 meters 0.04830479998441401 Centerline is valid? [True, True] Translation: X:555.09, Y:-72.84, Z:-35.88 [[ 9.97540575e-01 5.28534950e-02 4.60359628e-02 5.55085941e+02] [-5.26177101e-02 9.98594733e-01 -6.31942875e-03 -7.28446562e+01] [-4.63052739e-02 3.88157964e-03 9.98919794e-01 -3.58803907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.390714057 meters 0.04789655738771315 Centerline is valid? [True, True] Translation: X:555.12, Y:-72.85, Z:-35.88 [[ 9.97603565e-01 5.17194801e-02 4.59589323e-02 5.55115982e+02] [-5.14833752e-02 9.98653936e-01 -6.30701505e-03 -7.28466982e+01] [-4.62232642e-02 3.92577974e-03 9.98923420e-01 -3.58812174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4207140569999 meters 0.0488123060636778 Centerline is valid? [True, True] Translation: X:555.14, Y:-72.85, Z:-35.88 [[ 9.97666182e-01 5.08059694e-02 4.56173434e-02 5.55144820e+02] [-5.05724644e-02 9.98700781e-01 -6.25910605e-03 -7.28512000e+01] [-4.58760764e-02 3.93751696e-03 9.98939378e-01 -3.58823398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4507140569999 meters 0.05376794271528993 Centerline is valid? [True, True] Translation: X:555.17, Y:-72.86, Z:-35.89 [[ 9.97686979e-01 4.99327107e-02 4.61239159e-02 5.55173365e+02] [-4.96930504e-02 9.98744485e-01 -6.32882234e-03 -7.28620995e+01] [-4.63820219e-02 4.02214556e-03 9.98915677e-01 -3.58852191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4807140569999 meters 0.05549755824197798 Centerline is valid? [True, True] Translation: X:555.20, Y:-72.87, Z:-35.89 [[ 9.97861784e-01 4.71138346e-02 4.53006279e-02 5.55203241e+02] [-4.68798280e-02 9.98881203e-01 -6.21481270e-03 -7.28675696e+01] [-4.55427493e-02 4.07783844e-03 9.98954068e-01 -3.58872764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.510714057 meters 0.04901262570658698 Centerline is valid? [True, True] Translation: X:555.23, Y:-72.86, Z:-35.89 [[ 9.97934672e-01 4.56355611e-02 4.52082505e-02 5.55234718e+02] [-4.54009960e-02 9.98949589e-01 -6.20233886e-03 -7.28617133e+01] [-4.54438105e-02 4.13702939e-03 9.98958330e-01 -3.58882251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.540714057 meters 0.05646743721560703 Centerline is valid? [True, True] Translation: X:555.26, Y:-72.88, Z:-35.89 [[ 9.98092063e-01 4.30836627e-02 4.42270376e-02 5.55262518e+02] [-4.28567094e-02 9.99062805e-01 -6.06740619e-03 -7.28750576e+01] [-4.44469943e-02 4.16040467e-03 9.99003081e-01 -3.58913175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5707140569999 meters 0.051670095258931494 Centerline is valid? [True, True] Translation: X:555.29, Y:-72.87, Z:-35.89 [[ 9.98114396e-01 4.25929790e-02 4.41983188e-02 5.55294899e+02] [-4.23658036e-02 9.99083761e-01 -6.06437444e-03 -7.28713609e+01] [-4.44161224e-02 4.18044213e-03 9.99004370e-01 -3.58922968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.6007140569999 meters 0.05188683327437006 Centerline is valid? [True, True] Translation: X:555.33, Y:-72.88, Z:-35.89 [[ 9.98053023e-01 4.35860918e-02 4.46140796e-02 5.55326519e+02] [-4.33555387e-02 9.99040944e-01 -6.12281786e-03 -7.28753274e+01] [-4.48381619e-02 4.17662942e-03 9.98985533e-01 -3.58937736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.630714057 meters 0.07567352032691635 Centerline is valid? [True, True] Translation: X:555.35, Y:-72.91, Z:-35.90 [[ 9.97773128e-01 4.69170222e-02 4.74086236e-02 5.55351015e+02] [-4.66602108e-02 9.98889607e-01 -6.50981577e-03 -7.29114031e+01] [-4.76614026e-02 4.28322287e-03 9.98854366e-01 -3.58977092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.660714057 meters 0.05188989929733669 Centerline is valid? [True, True] Translation: X:555.39, Y:-72.88, Z:-35.90 [[ 9.97785440e-01 4.86989851e-02 4.53058971e-02 5.55387347e+02] [-4.84663569e-02 9.98805451e-01 -6.21964140e-03 -7.28781576e+01] [-4.55546672e-02 4.01005585e-03 9.98953799e-01 -3.58955384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.6907140569999 meters 0.05188989929733669 Centerline is valid? [True, True] Translation: X:555.42, Y:-72.88, Z:-35.90 [[ 9.97787123e-01 4.86648051e-02 4.53055672e-02 5.55416298e+02] [-4.84320338e-02 9.98807101e-01 -6.22204381e-03 -7.28820997e+01] [-4.55543168e-02 4.01403443e-03 9.98953799e-01 -3.58972307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.7207140569999 meters 0.04544431332700508 Centerline is valid? [True, True] Translation: X:555.45, Y:-72.87, Z:-35.90 [[ 9.97411171e-01 5.51794812e-02 4.61105278e-02 5.55448481e+02] [-5.49453550e-02 9.98469294e-01 -6.33058809e-03 -7.28727438e+01] [-4.63892647e-02 3.78063996e-03 9.98916284e-01 -3.58967451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.750714057 meters 0.0445244618579334 Centerline is valid? [True, True] Translation: X:555.48, Y:-72.87, Z:-35.90 [[ 9.97201751e-01 5.88369506e-02 4.61181312e-02 5.55479158e+02] [-5.86066388e-02 9.98261075e-01 -6.33145285e-03 -7.28735360e+01] [-4.64104587e-02 3.61090721e-03 9.98915928e-01 -3.58981670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.780714057 meters 0.043502900200432196 Centerline is valid? [True, True] Translation: X:555.51, Y:-72.87, Z:-35.90 [[ 9.96770516e-01 6.57008588e-02 4.61728925e-02 5.55509358e+02] [-6.54773130e-02 9.97833923e-01 -6.33901484e-03 -7.28723522e+01] [-4.64893572e-02 3.29526615e-03 9.98913350e-01 -3.59007118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.8107140569999 meters 0.04038607537856074 Centerline is valid? [True, True] Translation: X:555.54, Y:-72.87, Z:-35.90 [[ 9.96576807e-01 6.87078605e-02 4.59771415e-02 5.55540146e+02] [-6.84894358e-02 9.97631879e-01 -6.31115090e-03 -7.28699808e+01] [-4.63018877e-02 3.14059814e-03 9.98922555e-01 -3.59018248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.8407140569999 meters 0.04143997330556291 Centerline is valid? [True, True] Translation: X:555.57, Y:-72.87, Z:-35.90 [[ 9.96393168e-01 7.12645641e-02 4.60653607e-02 5.55568110e+02] [-7.10480381e-02 9.97452855e-01 -6.32282341e-03 -7.28747765e+01] [-4.63986188e-02 3.02716454e-03 9.98918417e-01 -3.59038699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.870714057 meters 0.04343262131286445 Centerline is valid? [True, True] Translation: X:555.60, Y:-72.88, Z:-35.91 [[ 9.96093304e-01 7.54896212e-02 4.58197246e-02 5.55597375e+02] [-7.52799799e-02 9.97142621e-01 -6.28626549e-03 -7.28799231e+01] [-4.61633481e-02 2.81239902e-03 9.98929945e-01 -3.59072768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.900714057 meters 0.03630066593955278 Centerline is valid? [True, True] Translation: X:555.63, Y:-72.87, Z:-35.91 [[ 9.95806583e-01 7.91631428e-02 4.58524409e-02 5.55628905e+02] [-7.89571251e-02 9.96858170e-01 -6.28975652e-03 -7.28717966e+01] [-4.62062972e-02 2.64300403e-03 9.98928422e-01 -3.59067332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.9307140569999 meters 0.0364340414146115 Centerline is valid? [True, True] Translation: X:555.66, Y:-72.87, Z:-35.91 [[ 9.95704434e-01 8.05445452e-02 4.56646097e-02 5.55657314e+02] [-8.03416695e-02 9.96747702e-01 -6.26379525e-03 -7.28748336e+01] [-4.60206093e-02 2.56811773e-03 9.98937189e-01 -3.59082643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.9607140569999 meters 0.035205906604722254 Centerline is valid? [True, True] Translation: X:555.69, Y:-72.88, Z:-35.91 [[ 9.95477625e-01 8.35892361e-02 4.51346541e-02 5.55687899e+02] [-8.33943397e-02 9.96497417e-01 -6.18723270e-03 -7.28754443e+01] [-4.54937523e-02 2.39527704e-03 9.98961752e-01 -3.59094112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.990714057 meters 0.03603269837456845 Centerline is valid? [True, True] Translation: X:555.72, Y:-72.88, Z:-35.91 [[ 9.95442411e-01 8.42133569e-02 4.47494989e-02 5.55715555e+02] [-8.40223993e-02 9.96444983e-01 -6.13453222e-03 -7.28802535e+01] [-4.51070232e-02 2.34661328e-03 9.98979404e-01 -3.59118838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.020714057 meters 0.03560017052614269 Centerline is valid? [True, True] Translation: X:555.74, Y:-72.88, Z:-35.91 [[ 9.95471680e-01 8.42102858e-02 4.40994540e-02 5.55743864e+02] [-8.40250199e-02 9.96445331e-01 -6.04130800e-03 -7.28829942e+01] [-4.44514353e-02 2.30849352e-03 9.99008879e-01 -3.59129392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.0507140569999 meters 0.03630986613040313 Centerline is valid? [True, True] Translation: X:555.77, Y:-72.89, Z:-35.92 [[ 9.95607896e-01 8.28469500e-02 4.36038959e-02 5.55770797e+02] [-8.26646505e-02 9.96559536e-01 -5.97055167e-03 -7.28890462e+01] [-4.39485203e-02 2.33982758e-03 9.99031057e-01 -3.59151184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.0807140569999 meters 0.03597436124146103 Centerline is valid? [True, True] Translation: X:555.80, Y:-72.89, Z:-35.92 [[ 9.95742738e-01 8.10384564e-02 4.39222905e-02 5.55799560e+02] [-8.08519261e-02 9.96708006e-01 -6.00970346e-03 -7.28928038e+01] [-4.42647157e-02 2.43291678e-03 9.99016875e-01 -3.59167692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.110714057 meters 0.03788697453789607 Centerline is valid? [True, True] Translation: X:555.83, Y:-72.90, Z:-35.92 [[ 9.96061632e-01 7.66766135e-02 4.45187763e-02 5.55827952e+02] [-7.64807724e-02 9.97052468e-01 -6.08830120e-03 -7.29030111e+01] [-4.48543861e-02 2.65949283e-03 9.98989996e-01 -3.59183171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.140714057 meters 0.042668653613940594 Centerline is valid? [True, True] Translation: X:555.86, Y:-72.92, Z:-35.92 [[ 9.96425084e-01 7.15911913e-02 4.48525685e-02 5.55855999e+02] [-7.13872869e-02 9.97429815e-01 -6.13354720e-03 -7.29163170e+01] [-4.51763970e-02 2.90971712e-03 9.98974788e-01 -3.59207857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.1707140569999 meters 0.039808827614683955 Centerline is valid? [True, True] Translation: X:555.89, Y:-72.92, Z:-35.92 [[ 9.96600675e-01 6.90398390e-02 4.49510280e-02 5.55886681e+02] [-6.88325007e-02 9.97609299e-01 -6.14599165e-03 -7.29165847e+01] [-4.52678818e-02 3.03100777e-03 9.98970286e-01 -3.59209314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.2007140569999 meters 0.04152501125790885 Centerline is valid? [True, True] Translation: X:555.91, Y:-72.92, Z:-35.92 [[ 9.96751168e-01 6.64508152e-02 4.55126255e-02 5.55914780e+02] [-6.62355704e-02 9.97784609e-01 -6.22285729e-03 -7.29240442e+01] [-4.58253112e-02 3.18808556e-03 9.98944381e-01 -3.59222325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.2307140569999 meters 0.04785890242145486 Centerline is valid? [True, True] Translation: X:555.94, Y:-72.94, Z:-35.92 [[ 9.97106155e-01 6.04628914e-02 4.60820331e-02 5.55942041e+02] [-6.02358632e-02 9.98164286e-01 -6.30069616e-03 -7.29396001e+01] [-4.63783980e-02 3.50667188e-03 9.98917788e-01 -3.59241126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.260714057 meters 0.046797141884221245 Centerline is valid? [True, True] Translation: X:555.97, Y:-72.94, Z:-35.93 [[ 9.97286603e-01 5.76398106e-02 4.57939253e-02 5.55971556e+02] [-5.74127334e-02 9.98330904e-01 -6.25966055e-03 -7.29427466e+01] [-4.60782965e-02 3.61352118e-03 9.98931295e-01 -3.59251191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.290714057 meters 0.047583085996039304 Centerline is valid? [True, True] Translation: X:556.00, Y:-72.95, Z:-35.93 [[ 9.97600155e-01 5.28014310e-02 4.47877082e-02 5.56000916e+02] [-5.25794425e-02 9.98597985e-01 -6.12093388e-03 -7.29501279e+01] [-4.50481092e-02 3.75133186e-03 9.98977775e-01 -3.59276672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.3207140569999 meters 0.05102060401121817 Centerline is valid? [True, True] Translation: X:556.03, Y:-72.96, Z:-35.93 [[ 9.97773874e-01 5.00580080e-02 4.40623622e-02 5.56028925e+02] [-4.98405248e-02 9.98739038e-01 -6.02131186e-03 -7.29596497e+01] [-4.43082161e-02 3.81181641e-03 9.99010637e-01 -3.59307365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.3507140569999 meters 0.04879792919598605 Centerline is valid? [True, True] Translation: X:556.06, Y:-72.96, Z:-35.93 [[ 9.97954563e-01 4.71212522e-02 4.32004393e-02 5.56059295e+02] [-4.69095474e-02 9.98881706e-01 -5.90179116e-03 -7.29614298e+01] [-4.34302283e-02 3.86320636e-03 9.99048993e-01 -3.59327220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.380714057 meters 0.053605734415133534 Centerline is valid? [True, True] Translation: X:556.09, Y:-72.97, Z:-35.94 [[ 9.98002404e-01 4.63168042e-02 4.29645734e-02 5.56087398e+02] [-4.61066659e-02 9.98919278e-01 -5.86960707e-03 -7.29729302e+01] [-4.31900020e-02 3.87692874e-03 9.99059354e-01 -3.59356604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.410714057 meters 0.05532966498684507 Centerline is valid? [True, True] Translation: X:556.12, Y:-72.98, Z:-35.94 [[ 9.98028656e-01 4.59802230e-02 4.27155756e-02 5.56116351e+02] [-4.57722587e-02 9.98934863e-01 -5.83445141e-03 -7.29785636e+01] [-4.29383470e-02 3.86776132e-03 9.99070237e-01 -3.59371437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4407140569999 meters 0.05525888637075122 Centerline is valid? [True, True] Translation: X:556.15, Y:-72.98, Z:-35.94 [[ 9.98021515e-01 4.64312687e-02 4.23933018e-02 5.56146501e+02] [-4.62268175e-02 9.98914184e-01 -5.79087916e-03 -7.29820188e+01] [-4.26161484e-02 3.81971457e-03 9.99084218e-01 -3.59389202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4707140569999 meters 0.05529751538256982 Centerline is valid? [True, True] Translation: X:556.18, Y:-72.99, Z:-35.94 [[ 9.97830738e-01 4.89164494e-02 4.40567726e-02 5.56175246e+02] [-4.86980136e-02 9.98795416e-01 -6.01838272e-03 -7.29860605e+01] [-4.42981004e-02 3.85984996e-03 9.99010901e-01 -3.59395293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.500714057 meters 0.05465267650086901 Centerline is valid? [True, True] Translation: X:556.21, Y:-72.99, Z:-35.94 [[ 9.97801893e-01 4.96925592e-02 4.38409752e-02 5.56205120e+02] [-4.94770350e-02 9.98757310e-01 -5.98817825e-03 -7.29876073e+01] [-4.40840624e-02 3.80589413e-03 9.99020576e-01 -3.59410787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.530714057 meters 0.05035868110856716 Centerline is valid? [True, True] Translation: X:556.24, Y:-72.98, Z:-35.94 [[ 9.97634364e-01 5.20188825e-02 4.49412109e-02 5.56235963e+02] [-5.17948174e-02 9.98638893e-01 -6.13667327e-03 -7.29840800e+01] [-4.51992640e-02 3.79443432e-03 9.98970785e-01 -3.59406803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.5607140569999 meters 0.04642813199806836 Centerline is valid? [True, True] Translation: X:556.27, Y:-72.98, Z:-35.94 [[ 9.97533694e-01 5.34429273e-02 4.55014542e-02 5.56266696e+02] [-5.32147426e-02 9.98563767e-01 -6.21237463e-03 -7.29814052e+01] [-4.57681111e-02 3.77570484e-03 9.98944955e-01 -3.59409312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.5907140569999 meters 0.04853559914263778 Centerline is valid? [True, True] Translation: X:556.29, Y:-72.99, Z:-35.94 [[ 9.97417367e-01 5.51683443e-02 4.59896662e-02 5.56294784e+02] [-5.49370729e-02 9.98470078e-01 -6.27859416e-03 -7.29861363e+01] [-4.62656853e-02 3.73584121e-03 9.98922184e-01 -3.59426367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.620714057 meters 0.05193748874107929 Centerline is valid? [True, True] Translation: X:556.32, Y:-72.99, Z:-35.94 [[ 9.97386440e-01 5.57974853e-02 4.59013035e-02 5.56321778e+02] [-5.55678603e-02 9.98435261e-01 -6.26445033e-03 -7.29943829e+01] [-4.61790205e-02 3.69744059e-03 9.98926337e-01 -3.59448396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.650714057 meters 0.049181941502933736 Centerline is valid? [True, True] Translation: X:556.35, Y:-72.99, Z:-35.95 [[ 9.97398906e-01 5.63535330e-02 4.49410964e-02 5.56350651e+02] [-5.61341651e-02 9.98404420e-01 -6.12939236e-03 -7.29923975e+01] [-4.52148022e-02 3.59071830e-03 9.98970835e-01 -3.59464283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.6807140569999 meters 0.044212472928802725 Centerline is valid? [True, True] Translation: X:556.38, Y:-72.99, Z:-35.95 [[ 9.97382061e-01 5.71389739e-02 4.43188728e-02 5.56380266e+02] [-5.69265461e-02 9.98360089e-01 -6.04156095e-03 -7.29882810e+01] [-4.45914024e-02 3.50282415e-03 9.98999168e-01 -3.59472378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.7107140569999 meters 0.04466862956923911 Centerline is valid? [True, True] Translation: X:556.41, Y:-72.99, Z:-35.95 [[ 9.97390200e-01 5.73278855e-02 4.38896692e-02 5.56408521e+02] [-5.71198767e-02 9.98349418e-01 -5.97990234e-03 -7.29925036e+01] [-4.41600409e-02 3.45732349e-03 9.99018487e-01 -3.59498956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.740714057 meters 0.0457257470956591 Centerline is valid? [True, True] Translation: X:556.44, Y:-73.00, Z:-35.95 [[ 9.97368442e-01 5.76751502e-02 4.39291292e-02 5.56435787e+02] [-5.74672290e-02 9.98329469e-01 -5.98239430e-03 -7.29966028e+01] [-4.42007797e-02 3.44216595e-03 9.99016738e-01 -3.59520810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.770714057 meters 0.04598436822647275 Centerline is valid? [True, True] Translation: X:556.46, Y:-73.00, Z:-35.95 [[ 9.97226257e-01 5.99775246e-02 4.40736668e-02 5.56464385e+02] [-5.97706727e-02 9.98194118e-01 -5.99741406e-03 -7.29990928e+01] [-4.43537850e-02 3.34646606e-03 9.99010282e-01 -3.59536063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.8007140569999 meters 0.04598436822647275 Centerline is valid? [True, True] Translation: X:556.49, Y:-73.00, Z:-35.96 [[ 9.97230367e-01 5.99089460e-02 4.40739516e-02 5.56492472e+02] [-5.97021195e-02 9.98198233e-01 -5.99532032e-03 -7.30028493e+01] [-4.43537139e-02 3.34740716e-03 9.99010282e-01 -3.59552496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.8307140569999 meters 0.04461118729570944 Centerline is valid? [True, True] Translation: X:556.52, Y:-73.00, Z:-35.96 [[ 9.97032589e-01 6.30577214e-02 4.41558609e-02 5.56522803e+02] [-6.28533662e-02 9.98004721e-01 -6.00258422e-03 -7.30027256e+01] [-4.44462670e-02 3.20942759e-03 9.99006621e-01 -3.59569585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.860714057 meters 0.04430498345276733 Centerline is valid? [True, True] Translation: X:556.55, Y:-73.01, Z:-35.96 [[ 9.96942261e-01 6.41641759e-02 4.45991847e-02 5.56551286e+02] [-6.39567822e-02 9.97934251e-01 -6.06311036e-03 -7.30051376e+01] [-4.48960884e-02 3.19215060e-03 9.98986562e-01 -3.59583465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.890714057 meters 0.04355740928664586 Centerline is valid? [True, True] Translation: X:556.58, Y:-73.01, Z:-35.96 [[ 9.96779473e-01 6.60570926e-02 4.54658443e-02 5.56580643e+02] [-6.58436797e-02 9.97810829e-01 -6.17725307e-03 -7.30075158e+01] [-4.57743632e-02 3.16372057e-03 9.98946795e-01 -3.59596274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9207140569999 meters 0.04376434529029094 Centerline is valid? [True, True] Translation: X:556.61, Y:-73.01, Z:-35.96 [[ 9.96546100e-01 6.89524472e-02 4.62755863e-02 5.56609465e+02] [-6.87345398e-02 9.97615183e-01 -6.28561692e-03 -7.30107972e+01] [-4.65986362e-02 3.08317590e-03 9.98908935e-01 -3.59612576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9507140569999 meters 0.039087975214412006 Centerline is valid? [True, True] Translation: X:556.64, Y:-73.01, Z:-35.96 [[ 9.96479179e-01 6.98372080e-02 4.63897633e-02 5.56639380e+02] [-6.96192325e-02 9.97553745e-01 -6.29994106e-03 -7.30056384e+01] [-4.67162524e-02 3.04814038e-03 9.98903549e-01 -3.59615809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9807140569999 meters 0.04325785051142977 Centerline is valid? [True, True] Translation: X:556.67, Y:-73.01, Z:-35.96 [[ 9.96279269e-01 7.22069672e-02 4.70507438e-02 5.56667395e+02] [-7.19855426e-02 9.97385233e-01 -6.38585038e-03 -7.30148873e+01] [-4.73888199e-02 2.97511703e-03 9.98872088e-01 -3.59643696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.010714057 meters 0.03873388108664459 Centerline is valid? [True, True] Translation: X:556.70, Y:-73.01, Z:-35.97 [[ 9.96178558e-01 7.34951394e-02 4.71884091e-02 5.56697430e+02] [-7.32738958e-02 9.97291296e-01 -6.40366872e-03 -7.30105109e+01] [-4.75312282e-02 2.92151890e-03 9.98865480e-01 -3.59651092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.040714057 meters 0.03899693580638743 Centerline is valid? [True, True] Translation: X:556.73, Y:-73.02, Z:-35.97 [[ 9.95952188e-01 7.56429791e-02 4.85528473e-02 5.56725567e+02] [-7.54116046e-02 9.97130765e-01 -6.58229363e-03 -7.30150969e+01] [-4.89114420e-02 2.89420162e-03 9.98798926e-01 -3.59670898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0707140569999 meters 0.03691113607849127 Centerline is valid? [True, True] Translation: X:556.76, Y:-73.02, Z:-35.97 [[ 9.95892559e-01 7.61159461e-02 4.90344214e-02 5.56755160e+02] [-7.58806548e-02 9.97094765e-01 -6.64496350e-03 -7.30152994e+01] [-4.93977525e-02 2.89690570e-03 9.98774985e-01 -3.59680648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.1007140569999 meters 0.03908555832144431 Centerline is valid? [True, True] Translation: X:556.78, Y:-73.02, Z:-35.97 [[ 9.95798468e-01 7.66243795e-02 5.01409529e-02 5.56782666e+02] [-7.63791137e-02 9.97055714e-01 -6.79227267e-03 -7.30228872e+01] [-5.05137773e-02 2.93401318e-03 9.98719055e-01 -3.59696104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.130714057 meters 0.039868687372908676 Centerline is valid? [True, True] Translation: X:556.81, Y:-73.03, Z:-35.97 [[ 9.95601045e-01 7.76625488e-02 5.24126768e-02 5.56809671e+02] [-7.73961656e-02 9.96975164e-01 -7.09616441e-03 -7.30283712e+01] [-5.28052433e-02 3.00840849e-03 9.98600298e-01 -3.59705715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.160714057 meters 0.03611321055576853 Centerline is valid? [True, True] Translation: X:556.84, Y:-73.03, Z:-35.97 [[ 9.95503222e-01 7.78494869e-02 5.39702897e-02 5.56838576e+02] [-7.75675522e-02 9.96960356e-01 -7.30224219e-03 -7.30272415e+01] [-5.43747150e-02 3.08306237e-03 9.98515841e-01 -3.59717027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.1907140569999 meters 0.03670213634075563 Centerline is valid? [True, True] Translation: X:556.87, Y:-73.03, Z:-35.97 [[ 9.95501043e-01 7.73277342e-02 5.47548653e-02 5.56865814e+02] [-7.70369654e-02 9.97000742e-01 -7.40443750e-03 -7.30323055e+01] [-5.51632098e-02 3.15297659e-03 9.98472373e-01 -3.59738829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.2207140569999 meters 0.04129575058500751 Centerline is valid? [True, True] Translation: X:556.89, Y:-73.04, Z:-35.98 [[ 9.95511071e-01 7.69112211e-02 5.51576996e-02 5.56892495e+02] [-7.66157933e-02 9.97032828e-01 -7.45393244e-03 -7.30443134e+01] [-5.55673282e-02 3.19452135e-03 9.98449832e-01 -3.59760879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.250714057 meters 0.037096970537770196 Centerline is valid? [True, True] Translation: X:556.92, Y:-73.04, Z:-35.98 [[ 9.95561524e-01 7.60087903e-02 5.54969961e-02 5.56921700e+02] [-7.57085940e-02 9.97101819e-01 -7.49481635e-03 -7.30417070e+01] [-5.59058277e-02 3.25995124e-03 9.98430724e-01 -3.59771012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.280714057 meters 0.04025963400594764 Centerline is valid? [True, True] Translation: X:556.95, Y:-73.05, Z:-35.98 [[ 9.95591126e-01 7.56777617e-02 5.54182928e-02 5.56947817e+02] [-7.53781263e-02 9.97126965e-01 -7.48025860e-03 -7.30515949e+01] [-5.58251633e-02 3.26995200e-03 9.98435205e-01 -3.59790655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.3107140569999 meters 0.03975587877698168 Centerline is valid? [True, True] Translation: X:556.98, Y:-73.06, Z:-35.98 [[ 9.95615904e-01 7.54504244e-02 5.52829540e-02 5.56975836e+02] [-7.51521765e-02 9.97144193e-01 -7.45709924e-03 -7.30554874e+01] [-5.56877179e-02 3.26977228e-03 9.98442881e-01 -3.59828896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.3407140569999 meters 0.036373163125525916 Centerline is valid? [True, True] Translation: X:557.00, Y:-73.05, Z:-35.99 [[ 9.95687948e-01 7.52702532e-02 5.42208457e-02 5.57004731e+02] [-7.49833034e-02 9.97157994e-01 -7.31016454e-03 -7.30547795e+01] [-5.46169877e-02 3.21298461e-03 9.98502209e-01 -3.59850337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.370714057 meters 0.039197209402656336 Centerline is valid? [True, True] Translation: X:557.03, Y:-73.06, Z:-35.99 [[ 9.95769350e-01 7.49154641e-02 5.32078510e-02 5.57031484e+02] [-7.46388442e-02 9.97184856e-01 -7.16985972e-03 -7.30649369e+01] [-5.35951966e-02 3.16815405e-03 9.98557719e-01 -3.59892827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.400714057 meters 0.03657100070529123 Centerline is valid? [True, True] Translation: X:557.06, Y:-73.06, Z:-35.99 [[ 9.95776899e-01 7.52660949e-02 5.25678764e-02 5.57061056e+02] [-7.49968398e-02 9.97158646e-01 -7.07878478e-03 -7.30644742e+01] [-5.29513049e-02 3.10646576e-03 9.98592264e-01 -3.59915433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.4307140569999 meters 0.038262110282840926 Centerline is valid? [True, True] Translation: X:557.09, Y:-73.07, Z:-35.99 [[ 9.95788635e-01 7.57938159e-02 5.15780190e-02 5.57088226e+02] [-7.55354541e-02 9.97118945e-01 -6.94293914e-03 -7.30708192e+01] [-5.19556518e-02 3.01773080e-03 9.98644834e-01 -3.59947811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.4607140569999 meters 0.03734447610862162 Centerline is valid? [True, True] Translation: X:557.12, Y:-73.07, Z:-36.00 [[ 9.95813679e-01 7.55003551e-02 5.15248761e-02 5.57116719e+02] [-7.52423819e-02 9.97141186e-01 -6.93103147e-03 -7.30733385e+01] [-5.19008714e-02 3.02516155e-03 9.98647660e-01 -3.59961414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.490714057 meters 0.039405301966622445 Centerline is valid? [True, True] Translation: X:557.14, Y:-73.08, Z:-36.00 [[ 9.95872788e-01 7.34454897e-02 5.33212023e-02 5.57144431e+02] [-7.31664779e-02 9.97293977e-01 -7.16863597e-03 -7.30814496e+01] [-5.37034179e-02 3.23772492e-03 9.98551681e-01 -3.59981000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.520714057 meters 0.04006739742185078 Centerline is valid? [True, True] Translation: X:557.17, Y:-73.09, Z:-36.00 [[ 9.95948331e-01 7.07467358e-02 5.55141550e-02 5.57173817e+02] [-7.04402749e-02 9.97488101e-01 -7.46031184e-03 -7.30882244e+01] [-5.59025017e-02 3.51965279e-03 9.98430029e-01 -3.59985761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.5507140569999 meters 0.04039600469277609 Centerline is valid? [True, True] Translation: X:557.20, Y:-73.09, Z:-36.00 [[ 9.96027959e-01 6.90743318e-02 5.61875643e-02 5.57202667e+02] [-6.87577876e-02 9.97604815e-01 -7.54984210e-03 -7.30928859e+01] [-5.65744849e-02 3.65652121e-03 9.98391685e-01 -3.59998260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.5807140569999 meters 0.04039600469277609 Centerline is valid? [True, True] Translation: X:557.23, Y:-73.10, Z:-36.00 [[ 9.96032765e-01 6.90046722e-02 5.61879575e-02 5.57230736e+02] [-6.86881821e-02 9.97609632e-01 -7.54691426e-03 -7.30965943e+01] [-5.65744200e-02 3.65752522e-03 9.98391685e-01 -3.60014679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.610714057 meters 0.04196197252259093 Centerline is valid? [True, True] Translation: X:557.26, Y:-73.10, Z:-36.00 [[ 9.96150490e-01 6.75533250e-02 5.58636748e-02 5.57258477e+02] [-6.72384358e-02 9.97708751e-01 -7.49937877e-03 -7.31027846e+01] [-5.62422852e-02 3.71432373e-03 9.98410241e-01 -3.60026932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.640714057 meters 0.04083619225150954 Centerline is valid? [True, True] Translation: X:557.29, Y:-73.11, Z:-36.00 [[ 9.96265539e-01 6.53657570e-02 5.64118262e-02 5.57287671e+02] [-6.50413279e-02 9.97853857e-01 -7.57002927e-03 -7.31057641e+01] [-5.67855790e-02 3.87265921e-03 9.98378886e-01 -3.60045801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.6707140569999 meters 0.04474505600329934 Centerline is valid? [True, True] Translation: X:557.31, Y:-73.12, Z:-36.01 [[ 9.96343002e-01 6.44472449e-02 5.60996943e-02 5.57314909e+02] [-6.41251753e-02 9.97913497e-01 -7.52420997e-03 -7.31161928e+01] [-5.64675568e-02 3.89929121e-03 9.98396820e-01 -3.60069038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.7007140569999 meters 0.04081739027517624 Centerline is valid? [True, True] Translation: X:557.34, Y:-73.12, Z:-36.01 [[ 9.96417042e-01 6.36869722e-02 5.56511243e-02 5.57343916e+02] [-6.33690050e-02 9.97962272e-01 -7.46146577e-03 -7.31150791e+01] [-5.60129206e-02 3.90817528e-03 9.98422395e-01 -3.60098467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.7307140569999 meters 0.045337209392418594 Centerline is valid? [True, True] Translation: X:557.37, Y:-73.13, Z:-36.01 [[ 9.96483845e-01 6.34561506e-02 5.47107313e-02 5.57370709e+02] [-6.31487346e-02 9.97977199e-01 -7.33124214e-03 -7.31263378e+01] [-5.50652748e-02 3.85055091e-03 9.98475332e-01 -3.60126401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.760714057 meters 0.042132210777376645 Centerline is valid? [True, True] Translation: X:557.40, Y:-73.13, Z:-36.02 [[ 9.96476757e-01 6.43600022e-02 5.37760356e-02 5.57399886e+02] [-6.40642851e-02 9.97919752e-01 -7.20667240e-03 -7.31258928e+01] [-5.41279895e-02 3.73615827e-03 9.98527016e-01 -3.60160763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.790714057 meters 0.04312155290997511 Centerline is valid? [True, True] Translation: X:557.43, Y:-73.13, Z:-36.02 [[ 9.96491176e-01 6.48522306e-02 5.29105386e-02 5.57428205e+02] [-6.45668593e-02 9.97888219e-01 -7.08689307e-03 -7.31305608e+01] [-5.32584039e-02 3.64575910e-03 9.98574109e-01 -3.60183863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.8207140569999 meters 0.04344056104626885 Centerline is valid? [True, True] Translation: X:557.46, Y:-73.13, Z:-36.02 [[ 9.96280321e-01 6.80077914e-02 5.29193938e-02 5.57456772e+02] [-6.77269077e-02 9.97678739e-01 -7.08515875e-03 -7.31334754e+01] [-5.32784001e-02 3.47473734e-03 9.98573652e-01 -3.60193937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.8507140569999 meters 0.04010191736501338 Centerline is valid? [True, True] Translation: X:557.49, Y:-73.13, Z:-36.02 [[ 9.95936066e-01 7.24275650e-02 5.35312992e-02 5.57487616e+02] [-7.21466037e-02 9.97368302e-01 -7.16502021e-03 -7.31294806e+01] [-5.39093660e-02 3.27380061e-03 9.98540466e-01 -3.60200290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.880714057 meters 0.03935229831981558 Centerline is valid? [True, True] Translation: X:557.52, Y:-73.13, Z:-36.02 [[ 9.95711694e-01 7.51454923e-02 5.39571877e-02 5.57516682e+02] [-7.48640132e-02 9.97167600e-01 -7.22196285e-03 -7.31313144e+01] [-5.43470573e-02 3.15154124e-03 9.98517133e-01 -3.60217215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.910714057 meters 0.03820987478780775 Centerline is valid? [True, True] Translation: X:557.55, Y:-73.13, Z:-36.02 [[ 9.95491483e-01 7.75090235e-02 5.46722851e-02 5.57546431e+02] [-7.72236822e-02 9.96986952e-01 -7.31572142e-03 -7.31330686e+01] [-5.50745893e-02 3.06074320e-03 9.98477552e-01 -3.60231793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9407140569999 meters 0.03874830614995085 Centerline is valid? [True, True] Translation: X:557.57, Y:-73.14, Z:-36.02 [[ 9.95164936e-01 8.12506884e-02 5.51822074e-02 5.57574911e+02] [-8.09658293e-02 9.96689540e-01 -7.38203474e-03 -7.31355876e+01] [-5.55993244e-02 2.87846894e-03 9.98449012e-01 -3.60244271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9707140569999 meters 0.035283659726454066 Centerline is valid? [True, True] Translation: X:557.60, Y:-73.13, Z:-36.03 [[ 9.95050966e-01 8.23631686e-02 5.55867238e-02 5.57604359e+02] [-8.20760042e-02 9.96598352e-01 -7.43326482e-03 -7.31312312e+01] [-5.60098646e-02 2.83414116e-03 9.98426193e-01 -3.60253881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.000714057 meters 0.03818583420293155 Centerline is valid? [True, True] Translation: X:557.63, Y:-73.14, Z:-36.03 [[ 9.94962883e-01 8.33234654e-02 5.57320596e-02 5.57631615e+02] [-8.30365262e-02 9.96518667e-01 -7.44862437e-03 -7.31406073e+01] [-5.61586829e-02 2.78330815e-03 9.98417976e-01 -3.60275263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.030714057 meters 0.038726957899093487 Centerline is valid? [True, True] Translation: X:557.66, Y:-73.15, Z:-36.03 [[ 9.95071289e-01 8.22660461e-02 5.53663071e-02 5.57659956e+02] [-8.19814566e-02 9.96606414e-01 -7.39575092e-03 -7.31452173e+01] [-5.57868359e-02 2.82028890e-03 9.98438719e-01 -3.60293721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.0607140569999 meters 0.040184366017707286 Centerline is valid? [True, True] Translation: X:557.69, Y:-73.15, Z:-36.03 [[ 9.95405858e-01 7.91234698e-02 5.39133905e-02 5.57689568e+02] [-7.88492445e-02 9.96860565e-01 -7.19796868e-03 -7.31519099e+01] [-5.43136612e-02 2.91387008e-03 9.98519672e-01 -3.60325722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.0907140569999 meters 0.03713292081378922 Centerline is valid? [True, True] Translation: X:557.72, Y:-73.15, Z:-36.03 [[ 9.95653073e-01 7.62237233e-02 5.35247855e-02 5.57719871e+02] [-7.59493106e-02 9.97086078e-01 -7.14526687e-03 -7.31503080e+01] [-5.39134573e-02 3.04903635e-03 9.98540957e-01 -3.60343604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.120714057 meters 0.03948393860738189 Centerline is valid? [True, True] Translation: X:557.75, Y:-73.16, Z:-36.04 [[ 9.95832134e-01 7.39565739e-02 5.33740140e-02 5.57746816e+02] [-7.36805566e-02 9.97256453e-01 -7.12340193e-03 -7.31595330e+01] [-5.37544022e-02 3.16108549e-03 9.98549183e-01 -3.60364121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.150714057 meters 0.03959243255341351 Centerline is valid? [True, True] Translation: X:557.78, Y:-73.16, Z:-36.04 [[ 9.96379813e-01 6.69882153e-02 5.23435552e-02 5.57776706e+02] [-6.67133981e-02 9.97747751e-01 -6.98191257e-03 -7.31639485e+01] [-5.26933704e-02 3.46462030e-03 9.98604729e-01 -3.60395021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.1807140569999 meters 0.040393524126305244 Centerline is valid? [True, True] Translation: X:557.81, Y:-73.17, Z:-36.04 [[ 9.96638248e-01 6.36349089e-02 5.16023380e-02 5.57805787e+02] [-6.33633969e-02 9.97966790e-01 -6.88226529e-03 -7.31702995e+01] [-5.19353720e-02 3.58942939e-03 9.98643997e-01 -3.60416050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.2107140569999 meters 0.046973680870421336 Centerline is valid? [True, True] Translation: X:557.83, Y:-73.19, Z:-36.04 [[ 9.97057070e-01 5.72769170e-02 5.09563858e-02 5.57833458e+02] [-5.70039782e-02 9.98350829e-01 -6.79479327e-03 -7.31864110e+01] [-5.12615348e-02 3.87007997e-03 9.98677765e-01 -3.60439510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.240714057 meters 0.04565152818498068 Centerline is valid? [True, True] Translation: X:557.86, Y:-73.19, Z:-36.05 [[ 9.97251440e-01 5.42669457e-02 5.04446696e-02 5.57863915e+02] [-5.39956879e-02 9.98518518e-01 -6.72564162e-03 -7.31884820e+01] [-5.07349168e-02 3.98336115e-03 9.98704211e-01 -3.60461522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.270714057 meters 0.051480326639305164 Centerline is valid? [True, True] Translation: X:557.89, Y:-73.20, Z:-36.05 [[ 9.97503211e-01 5.04719665e-02 4.93956038e-02 5.57891701e+02] [-5.02072574e-02 9.98717106e-01 -6.58592766e-03 -7.32018182e+01] [-4.96646392e-02 4.08946619e-03 9.98757578e-01 -3.60486746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.3007140569999 meters 0.04827979696761641 Centerline is valid? [True, True] Translation: X:557.92, Y:-73.20, Z:-36.05 [[ 9.97603840e-01 4.91280364e-02 4.87135900e-02 5.57922317e+02] [-4.88690405e-02 9.98784082e-01 -6.49424981e-03 -7.32002335e+01] [-4.89734080e-02 4.09810214e-03 9.98791675e-01 -3.60506597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.3307140569999 meters 0.04678129919778859 Centerline is valid? [True, True] Translation: X:557.95, Y:-73.20, Z:-36.05 [[ 9.97632474e-01 4.91592081e-02 4.80917780e-02 5.57952424e+02] [-4.89068738e-02 9.98782772e-01 -6.41033998e-03 -7.32022846e+01] [-4.83483666e-02 4.04314481e-03 9.98822351e-01 -3.60514584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.360714057 meters 0.04813406087257143 Centerline is valid? [True, True] Translation: X:557.98, Y:-73.21, Z:-36.05 [[ 9.97553385e-01 5.02774537e-02 4.85738876e-02 5.57981324e+02] [-5.00213373e-02 9.98727162e-01 -6.47476033e-03 -7.32063859e+01] [-4.88375954e-02 4.02918826e-03 9.98798606e-01 -3.60532272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.390714057 meters 0.046706982761877486 Centerline is valid? [True, True] Translation: X:558.01, Y:-73.21, Z:-36.05 [[ 9.97432139e-01 5.20100858e-02 4.92349336e-02 5.58011600e+02] [-5.17490770e-02 9.98638559e-01 -6.56210006e-03 -7.32069564e+01] [-4.95091985e-02 3.99738713e-03 9.98765668e-01 -3.60540176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4207140569999 meters 0.04341761030019396 Centerline is valid? [True, True] Translation: X:558.04, Y:-73.20, Z:-36.05 [[ 9.97067981e-01 5.66630634e-02 5.14270282e-02 5.58042088e+02] [-5.63845079e-02 9.98385613e-01 -6.85242557e-03 -7.32041377e+01] [-5.17322845e-02 3.93264645e-03 9.98653246e-01 -3.60533597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4507140569999 meters 0.04387884626534261 Centerline is valid? [True, True] Translation: X:558.07, Y:-73.21, Z:-36.05 [[ 9.96890871e-01 5.89455907e-02 5.22877559e-02 5.58071142e+02] [-5.86608199e-02 9.98253669e-01 -6.96561515e-03 -7.32078469e+01] [-5.26070365e-02 3.87671551e-03 9.98607766e-01 -3.60546976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4807140569999 meters 0.041255416117991356 Centerline is valid? [True, True] Translation: X:558.10, Y:-73.21, Z:-36.06 [[ 9.96730581e-01 6.12383003e-02 5.27069128e-02 5.58101138e+02] [-6.09522279e-02 9.98116001e-01 -7.01953256e-03 -7.32063985e+01] [-5.30374773e-02 3.78397901e-03 9.98585353e-01 -3.60560317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.510714057 meters 0.0407133356084858 Centerline is valid? [True, True] Translation: X:558.13, Y:-73.21, Z:-36.06 [[ 9.96508374e-01 6.46719609e-02 5.28071743e-02 5.58131288e+02] [-6.43897014e-02 9.97900062e-01 -7.03080935e-03 -7.32077507e+01] [-5.31509788e-02 3.60602221e-03 9.98579977e-01 -3.60572865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.540714057 meters 0.04176080116871153 Centerline is valid? [True, True] Translation: X:558.16, Y:-73.21, Z:-36.06 [[ 9.96379174e-01 6.72401517e-02 5.20317591e-02 5.58159291e+02] [-6.69696136e-02 9.97730966e-01 -6.92756085e-03 -7.32124251e+01] [-5.23795075e-02 3.41793056e-03 9.98621402e-01 -3.60606084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5707140569999 meters 0.039935142680368116 Centerline is valid? [True, True] Translation: X:558.19, Y:-73.21, Z:-36.06 [[ 9.96380613e-01 6.79881887e-02 5.10223578e-02 5.58188003e+02] [-6.77291674e-02 9.97680634e-01 -6.79055159e-03 -7.32122550e+01] [-5.13656956e-02 3.31027214e-03 9.98674425e-01 -3.60633597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.6007140569999 meters 0.039546348167672746 Centerline is valid? [True, True] Translation: X:558.22, Y:-73.22, Z:-36.07 [[ 9.96386097e-01 6.88155551e-02 4.97912148e-02 5.58216125e+02] [-6.85700990e-02 9.97624315e-01 -6.62321078e-03 -7.32155118e+01] [-5.01287065e-02 3.18508661e-03 9.98737687e-01 -3.60670408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.630714057 meters 0.044006008490133613 Centerline is valid? [True, True] Translation: X:558.24, Y:-73.23, Z:-36.07 [[ 9.96381030e-01 6.92752862e-02 4.92521790e-02 5.58242001e+02] [-6.90358472e-02 9.97592689e-01 -6.54814787e-03 -7.32276496e+01] [-4.95872386e-02 3.12428442e-03 9.98764910e-01 -3.60703477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.660714057 meters 0.039142138419924206 Centerline is valid? [True, True] Translation: X:558.27, Y:-73.22, Z:-36.07 [[ 9.96453889e-01 6.85493448e-02 4.87917449e-02 5.58271344e+02] [-6.83137189e-02 9.97642829e-01 -6.48247623e-03 -7.32230467e+01] [-4.91211039e-02 3.12634310e-03 9.98787937e-01 -3.60710645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.6907140569999 meters 0.044468001595271714 Centerline is valid? [True, True] Translation: X:558.30, Y:-73.24, Z:-36.07 [[ 9.96459323e-01 6.81532534e-02 4.92336455e-02 5.58297227e+02] [-6.79130355e-02 9.97669825e-01 -6.53754285e-03 -7.32351416e+01] [-4.95644774e-02 3.17078921e-03 9.98765893e-01 -3.60732085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.7207140569999 meters 0.03958946133570106 Centerline is valid? [True, True] Translation: X:558.33, Y:-73.23, Z:-36.07 [[ 9.96429447e-01 6.76483997e-02 5.05178395e-02 5.58327342e+02] [-6.73950039e-02 9.97703845e-01 -6.70460366e-03 -7.32308480e+01] [-5.08553984e-02 3.27601453e-03 9.98700654e-01 -3.60733232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.750714057 meters 0.042867996827220776 Centerline is valid? [True, True] Translation: X:558.35, Y:-73.24, Z:-36.08 [[ 9.96408663e-01 6.74372993e-02 5.12053398e-02 5.58354317e+02] [-6.71768623e-02 9.97717964e-01 -6.79220963e-03 -7.32406844e+01] [-5.15465356e-02 3.32800245e-03 9.98665048e-01 -3.60751282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.780714057 meters 0.03926785833307356 Centerline is valid? [True, True] Translation: X:558.38, Y:-73.24, Z:-36.08 [[ 9.96394552e-01 6.71647745e-02 5.18342557e-02 5.58383554e+02] [-6.68977762e-02 9.97736177e-01 -6.87085258e-03 -7.32385711e+01] [-5.21783914e-02 3.37848363e-03 9.98632065e-01 -3.60757449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.8107140569999 meters 0.043712064614107794 Centerline is valid? [True, True] Translation: X:558.41, Y:-73.25, Z:-36.08 [[ 9.96494690e-01 6.58498224e-02 5.15958734e-02 5.58410092e+02] [-6.55837121e-02 9.97823657e-01 -6.83561964e-03 -7.32500203e+01] [-5.19337074e-02 3.42780977e-03 9.98644652e-01 -3.60781610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.8407140569999 meters 0.040190382606801876 Centerline is valid? [True, True] Translation: X:558.44, Y:-73.25, Z:-36.08 [[ 9.96572059e-01 6.50390769e-02 5.11277847e-02 5.58439440e+02] [-6.47769562e-02 9.97876810e-01 -6.76896230e-03 -7.32477924e+01] [-5.14594777e-02 3.43385643e-03 9.98669180e-01 -3.60796470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.870714057 meters 0.04438782818355939 Centerline is valid? [True, True] Translation: X:558.47, Y:-73.26, Z:-36.08 [[ 9.96777125e-01 6.24892403e-02 5.03036626e-02 5.58466906e+02] [-6.22324840e-02 9.98039487e-01 -6.65583452e-03 -7.32591718e+01] [-5.06209596e-02 3.50386172e-03 9.98711791e-01 -3.60817576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.900714057 meters 0.04760586548947867 Centerline is valid? [True, True] Translation: X:558.50, Y:-73.27, Z:-36.08 [[ 9.96955162e-01 5.96123098e-02 5.02670554e-02 5.58495397e+02] [-5.93523113e-02 9.98214943e-01 -6.65058403e-03 -7.32687538e+01] [-5.05737826e-02 3.64686816e-03 9.98713669e-01 -3.60846600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.9307140569999 meters 0.0422845231571164 Centerline is valid? [True, True] Translation: X:558.53, Y:-73.26, Z:-36.08 [[ 9.97023809e-01 5.85345090e-02 5.01720547e-02 5.58525036e+02] [-5.82741603e-02 9.98278551e-01 -6.63754982e-03 -7.32646228e+01] [-5.04742118e-02 3.69406084e-03 9.98718533e-01 -3.60849309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.9607140569999 meters 0.04937003271881577 Centerline is valid? [True, True] Translation: X:558.55, Y:-73.28, Z:-36.09 [[ 9.97097722e-01 5.72001404e-02 5.02421867e-02 5.58551542e+02] [-5.69375634e-02 9.98355639e-01 -6.64318157e-03 -7.32793972e+01] [-5.05395613e-02 3.76323351e-03 9.98714970e-01 -3.60872938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.990714057 meters 0.04639621315462539 Centerline is valid? [True, True] Translation: X:558.58, Y:-73.28, Z:-36.09 [[ 9.97162151e-01 5.49961506e-02 5.14107858e-02 5.58581579e+02] [-5.47184999e-02 9.98478709e-01 -6.79367947e-03 -7.32795404e+01] [-5.17062012e-02 3.96127895e-03 9.98654483e-01 -3.60876282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.020714057 meters 0.04613145837330355 Centerline is valid? [True, True] Translation: X:558.61, Y:-73.28, Z:-36.09 [[ 9.97169511e-01 5.39875139e-02 5.23289051e-02 5.58610377e+02] [-5.36985578e-02 9.98533260e-01 -6.91326586e-03 -7.32838864e+01] [-5.26253822e-02 4.08371121e-03 9.98605975e-01 -3.60885126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.0507140569999 meters 0.04585331250475889 Centerline is valid? [True, True] Translation: X:558.64, Y:-73.29, Z:-36.09 [[ 9.97172477e-01 5.23832801e-02 5.38798906e-02 5.58640862e+02] [-5.20747634e-02 9.98617842e-01 -7.11503551e-03 -7.32883504e+01] [-5.41781290e-02 4.28913503e-03 9.98522075e-01 -3.60883274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.0807140569999 meters 0.04633040790830346 Centerline is valid? [True, True] Translation: X:558.67, Y:-73.29, Z:-36.09 [[ 9.97202914e-01 5.17954134e-02 5.38849162e-02 5.58671158e+02] [-5.14859869e-02 9.98648367e-01 -7.11569916e-03 -7.32931174e+01] [-5.41806441e-02 4.32147785e-03 9.98521799e-01 -3.60893811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.110714057 meters 0.05047864508336345 Centerline is valid? [True, True] Translation: X:558.70, Y:-73.30, Z:-36.09 [[ 9.97193098e-01 5.15405964e-02 5.43092325e-02 5.58700538e+02] [-5.12258989e-02 9.98661341e-01 -7.17167787e-03 -7.33033557e+01] [-5.46061636e-02 4.36950842e-03 9.98498410e-01 -3.60909684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.140714057 meters 0.04728946356781372 Centerline is valid? [True, True] Translation: X:558.73, Y:-73.30, Z:-36.09 [[ 9.97257704e-01 5.10177987e-02 5.36120821e-02 5.58731069e+02] [-5.07103349e-02 9.98688303e-01 -7.08061826e-03 -7.33029675e+01] [-5.39029968e-02 4.34251447e-03 9.98536734e-01 -3.60929222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.1707140569999 meters 0.04769222560069093 Centerline is valid? [True, True] Translation: X:558.76, Y:-73.31, Z:-36.10 [[ 9.97214483e-01 5.15007731e-02 5.39531692e-02 5.58761248e+02] [-5.11900813e-02 9.98663507e-01 -7.12566607e-03 -7.33084121e+01] [-5.42480384e-02 4.34395030e-03 9.98518042e-01 -3.60952650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.2007140569999 meters 0.04868055749313316 Centerline is valid? [True, True] Translation: X:558.79, Y:-73.31, Z:-36.10 [[ 9.97276366e-01 5.17967665e-02 5.25066080e-02 5.58791110e+02] [-5.15029434e-02 9.98648767e-01 -6.93453246e-03 -7.33144895e+01] [-5.27948456e-02 4.21140048e-03 9.98596499e-01 -3.60989559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.2307140569999 meters 0.049155059965157365 Centerline is valid? [True, True] Translation: X:558.82, Y:-73.32, Z:-36.10 [[ 9.97278435e-01 5.23955658e-02 5.18693298e-02 5.58820299e+02] [-5.21096011e-02 9.98617870e-01 -6.85119556e-03 -7.33198583e+01] [-5.21566119e-02 4.12965951e-03 9.98630379e-01 -3.61015812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.260714057 meters 0.04925001015111339 Centerline is valid? [True, True] Translation: X:558.85, Y:-73.32, Z:-36.11 [[ 9.97330837e-01 5.37854733e-02 4.93793932e-02 5.58849237e+02] [-5.35279401e-02 9.98545040e-01 -6.52402283e-03 -7.33237207e+01] [-4.96584458e-02 3.86343196e-03 9.98758786e-01 -3.61053708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.290714057 meters 0.04928063283605929 Centerline is valid? [True, True] Translation: X:558.88, Y:-73.33, Z:-36.11 [[ 9.97294221e-01 5.50382595e-02 4.87342436e-02 5.58879156e+02] [-5.47889372e-02 9.98477202e-01 -6.43811842e-03 -7.33276626e+01] [-4.90143741e-02 3.75060088e-03 9.98791031e-01 -3.61072447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.3207140569999 meters 0.04839951390245764 Centerline is valid? [True, True] Translation: X:558.91, Y:-73.33, Z:-36.11 [[ 9.97187981e-01 5.78540741e-02 4.76344125e-02 5.58909210e+02] [-5.76191681e-02 9.98318814e-01 -6.29101428e-03 -7.33298262e+01] [-4.79182910e-02 3.52866861e-03 9.98845026e-01 -3.61092418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.3507140569999 meters 0.048533017643503255 Centerline is valid? [True, True] Translation: X:558.94, Y:-73.33, Z:-36.11 [[ 9.97117368e-01 5.94119004e-02 4.71930052e-02 5.58938298e+02] [-5.91830958e-02 9.98227691e-01 -6.23209791e-03 -7.33332054e+01] [-4.74796253e-02 3.42110492e-03 9.98866348e-01 -3.61115614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.380714057 meters 0.04524328885910039 Centerline is valid? [True, True] Translation: X:558.97, Y:-73.33, Z:-36.11 [[ 9.96921104e-01 6.30980703e-02 4.65504588e-02 5.58968799e+02] [-6.28795425e-02 9.98002203e-01 -6.14537833e-03 -7.33309899e+01] [-4.68452219e-02 3.19938580e-03 9.98897036e-01 -3.61126743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.410714057 meters 0.04663744591963783 Centerline is valid? [True, True] Translation: X:559.00, Y:-73.34, Z:-36.11 [[ 9.96728143e-01 6.55156971e-02 4.73360587e-02 5.58997604e+02] [-6.52924283e-02 9.97846604e-01 -6.24925356e-03 -7.33373111e+01] [-4.76435496e-02 3.13812068e-03 9.98859472e-01 -3.61143532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4407140569999 meters 0.04303840671377713 Centerline is valid? [True, True] Translation: X:559.03, Y:-73.34, Z:-36.11 [[ 9.96413321e-01 6.92916002e-02 4.85712632e-02 5.59028607e+02] [-6.90610759e-02 9.97591838e-01 -6.41035159e-03 -7.33350562e+01] [-4.88984792e-02 3.03297603e-03 9.98799149e-01 -3.61138839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4707140569999 meters 0.038440924921789785 Centerline is valid? [True, True] Translation: X:559.06, Y:-73.33, Z:-36.11 [[ 9.96266503e-01 7.09735549e-02 4.91508890e-02 5.59057993e+02] [-7.07395078e-02 9.97473728e-01 -6.48725418e-03 -7.33311430e+01] [-4.94871440e-02 2.98612433e-03 9.98770297e-01 -3.61140926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.500714057 meters 0.038440924921789785 Centerline is valid? [True, True] Translation: X:559.09, Y:-73.33, Z:-36.12 [[ 9.96273938e-01 7.08688161e-02 4.91513020e-02 5.59085225e+02] [-7.06347960e-02 9.97481169e-01 -6.48412331e-03 -7.33346431e+01] [-4.94870204e-02 2.98817087e-03 9.98770297e-01 -3.61156853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.530714057 meters 0.03834554639332096 Centerline is valid? [True, True] Translation: X:559.11, Y:-73.34, Z:-36.12 [[ 9.96055071e-01 7.35058717e-02 4.97109858e-02 5.59114294e+02] [-7.32700536e-02 9.97290615e-01 -6.55202436e-03 -7.33372086e+01] [-5.00579119e-02 2.88385049e-03 9.98742153e-01 -3.61170515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.5607140569999 meters 0.036998949464948 Centerline is valid? [True, True] Translation: X:559.14, Y:-73.34, Z:-36.12 [[ 9.95969806e-01 7.39424114e-02 5.07608586e-02 5.59142787e+02] [-7.36971631e-02 9.97258235e-01 -6.68880458e-03 -7.33381167e+01] [-5.11162706e-02 2.92091613e-03 9.98688437e-01 -3.61181823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.5907140569999 meters 0.04041071934706849 Centerline is valid? [True, True] Translation: X:559.17, Y:-73.35, Z:-36.12 [[ 9.95882418e-01 7.49596979e-02 5.09828794e-02 5.59169904e+02] [-7.47138152e-02 9.97182412e-01 -6.71436159e-03 -7.33483241e+01] [-5.13425371e-02 2.87758922e-03 9.98676956e-01 -3.61205200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.620714057 meters 0.03692428027257471 Centerline is valid? [True, True] Translation: X:559.20, Y:-73.35, Z:-36.12 [[ 9.95880634e-01 7.49832973e-02 5.09830175e-02 5.59199328e+02] [-7.47376315e-02 9.97180652e-01 -6.71073274e-03 -7.33456585e+01] [-5.13424715e-02 2.87273880e-03 9.98676974e-01 -3.61208186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.650714057 meters 0.037604921730236475 Centerline is valid? [True, True] Translation: X:559.23, Y:-73.35, Z:-36.12 [[ 9.95940607e-01 7.42863655e-02 5.08315214e-02 5.59226261e+02] [-7.40414216e-02 9.97232744e-01 -6.68753784e-03 -7.33508979e+01] [-5.11876504e-02 2.89675238e-03 9.98684852e-01 -3.61227723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.6807140569999 meters 0.03721814123665568 Centerline is valid? [True, True] Translation: X:559.26, Y:-73.36, Z:-36.13 [[ 9.96264904e-01 7.11470805e-02 4.89319369e-02 5.59255638e+02] [-7.09166906e-02 9.97461513e-01 -6.43065990e-03 -7.33554637e+01] [-4.92652465e-02 2.93654974e-03 9.98781414e-01 -3.61257871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.7107140569999 meters 0.04080758393493719 Centerline is valid? [True, True] Translation: X:559.28, Y:-73.37, Z:-36.13 [[ 9.96446007e-01 6.89065996e-02 4.84482842e-02 5.59282390e+02] [-6.86781278e-02 9.97618554e-01 -6.36670771e-03 -7.33673182e+01] [-4.87716154e-02 3.01674303e-03 9.98805401e-01 -3.61285076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.740714057 meters 0.04440231232960295 Centerline is valid? [True, True] Translation: X:559.31, Y:-73.38, Z:-36.13 [[ 9.96763919e-01 6.40520463e-02 4.85697950e-02 5.59310452e+02] [-6.38168843e-02 9.97941240e-01 -6.37867227e-03 -7.33787952e+01] [-4.88783685e-02 3.25845739e-03 9.98799423e-01 -3.61306592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.770714057 meters 0.04564513518813696 Centerline is valid? [True, True] Translation: X:559.34, Y:-73.39, Z:-36.13 [[ 9.96931521e-01 6.17623545e-02 4.80931852e-02 5.59339687e+02] [-6.15291790e-02 9.98085306e-01 -6.31524976e-03 -7.33854305e+01] [-4.83911461e-02 3.33673735e-03 9.98822889e-01 -3.61324092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.8007140569999 meters 0.047885410051410206 Centerline is valid? [True, True] Translation: X:559.37, Y:-73.39, Z:-36.13 [[ 9.97130159e-01 5.85366431e-02 4.80094490e-02 5.59367803e+02] [-5.83005938e-02 9.98279172e-01 -6.30357548e-03 -7.33945428e+01] [-4.82958231e-02 3.48650584e-03 9.98826991e-01 -3.61342135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.8307140569999 meters 0.049197795728111095 Centerline is valid? [True, True] Translation: X:559.40, Y:-73.40, Z:-36.14 [[ 9.97229755e-01 5.69763300e-02 4.78174963e-02 5.59395351e+02] [-5.67404395e-02 9.98369230e-01 -6.27720187e-03 -7.34004510e+01] [-4.80971689e-02 3.54662673e-03 9.98836365e-01 -3.61360175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.860714057 meters 0.05079881754280182 Centerline is valid? [True, True] Translation: X:559.42, Y:-73.41, Z:-36.14 [[ 9.97283221e-01 5.63266528e-02 4.74708798e-02 5.59424665e+02] [-5.60936089e-02 9.98406088e-01 -6.22819941e-03 -7.34066338e+01] [-4.77460290e-02 3.54846580e-03 9.98853205e-01 -3.61379892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.890714057 meters 0.05068445338297539 Centerline is valid? [True, True] Translation: X:559.45, Y:-73.41, Z:-36.14 [[ 9.97327373e-01 5.58924521e-02 4.70547100e-02 5.59453322e+02] [-5.56630571e-02 9.98430531e-01 -6.17239177e-03 -7.34100471e+01] [-4.73258492e-02 3.53668625e-03 9.98873243e-01 -3.61391011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9207140569999 meters 0.04783628103629395 Centerline is valid? [True, True] Translation: X:559.48, Y:-73.41, Z:-36.14 [[ 9.97277044e-01 5.64103190e-02 4.75012908e-02 5.59482968e+02] [-5.61772679e-02 9.98401385e-01 -6.22806014e-03 -7.34098322e+01] [-4.77766814e-02 3.54260867e-03 9.98851760e-01 -3.61400000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9507140569999 meters 0.04408012558430719 Centerline is valid? [True, True] Translation: X:559.51, Y:-73.41, Z:-36.14 [[ 9.97257187e-01 5.65801706e-02 4.77156967e-02 5.59512543e+02] [-5.63454393e-02 9.98391764e-01 -6.25123471e-03 -7.34072458e+01] [-4.79926545e-02 3.54552685e-03 9.98841396e-01 -3.61400715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9807140569999 meters 0.04309931289343744 Centerline is valid? [True, True] Translation: X:559.54, Y:-73.41, Z:-36.14 [[ 9.97221810e-01 5.69896442e-02 4.79671014e-02 5.59541153e+02] [-5.67530670e-02 9.98368490e-01 -6.28073938e-03 -7.34102354e+01] [-4.82467797e-02 3.54101017e-03 9.98829169e-01 -3.61409699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.010714057 meters 0.046051101345663446 Centerline is valid? [True, True] Translation: X:559.57, Y:-73.42, Z:-36.14 [[ 9.97227667e-01 5.67874117e-02 4.80850361e-02 5.59568023e+02] [-5.65495944e-02 9.98379959e-01 -6.29288539e-03 -7.34178906e+01] [-4.83644930e-02 3.55625012e-03 9.98823422e-01 -3.61426053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.040714057 meters 0.04639332982021243 Centerline is valid? [True, True] Translation: X:559.60, Y:-73.42, Z:-36.14 [[ 9.97353801e-01 5.58083044e-02 4.65921488e-02 5.59596744e+02] [-5.55841815e-02 9.98435412e-01 -6.09314422e-03 -7.34222939e+01] [-4.68592994e-02 3.48723409e-03 9.98895413e-01 -3.61449471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0707140569999 meters 0.04893588967087214 Centerline is valid? [True, True] Translation: X:559.62, Y:-73.43, Z:-36.15 [[ 9.97494730e-01 5.40286406e-02 4.56636513e-02 5.59623718e+02] [-5.38116297e-02 9.98533263e-01 -5.96924760e-03 -7.34306316e+01] [-4.59191851e-02 3.49705753e-03 9.98939037e-01 -3.61484558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.1007140569999 meters 0.04980552522804648 Centerline is valid? [True, True] Translation: X:559.65, Y:-73.44, Z:-36.15 [[ 9.97612062e-01 5.22339334e-02 4.51861711e-02 5.59653136e+02] [-5.20196947e-02 9.98628601e-01 -5.90501337e-03 -7.34355872e+01] [-4.54326449e-02 3.54034173e-03 9.98961131e-01 -3.61507547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.130714057 meters 0.0513108324885033 Centerline is valid? [True, True] Translation: X:559.68, Y:-73.44, Z:-36.15 [[ 9.97716133e-01 5.11830857e-02 4.40773225e-02 5.59681106e+02] [-5.09782720e-02 9.98683158e-01 -5.75899794e-03 -7.34417744e+01] [-4.43140429e-02 3.49885942e-03 9.99011523e-01 -3.61527941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.160714057 meters 0.05059224129572325 Centerline is valid? [True, True] Translation: X:559.71, Y:-73.44, Z:-36.15 [[ 9.97778074e-01 5.01887377e-02 4.38178673e-02 5.59710034e+02] [-4.99854767e-02 9.98733549e-01 -5.72285812e-03 -7.34448218e+01] [-4.40495971e-02 3.51988537e-03 9.99023145e-01 -3.61542853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.1907140569999 meters 0.04854425462546185 Centerline is valid? [True, True] Translation: X:559.74, Y:-73.44, Z:-36.15 [[ 9.97921372e-01 4.79143858e-02 4.30946212e-02 5.59740973e+02] [-4.77157973e-02 9.98845110e-01 -5.62566708e-03 -7.34446535e+01] [-4.33144020e-02 3.55767920e-03 9.99055156e-01 -3.61547262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.2207140569999 meters 0.04890198369983918 Centerline is valid? [True, True] Translation: X:559.77, Y:-73.45, Z:-36.16 [[ 9.97969658e-01 4.64545206e-02 4.35722384e-02 5.59770468e+02] [-4.62501039e-02 9.98913695e-01 -5.68840374e-03 -7.34496486e+01] [-4.37891577e-02 3.66163378e-03 9.99034085e-01 -3.61550551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.250714057 meters 0.0517778347785468 Centerline is valid? [True, True] Translation: X:559.80, Y:-73.46, Z:-36.16 [[ 9.98002800e-01 4.56436999e-02 4.36699472e-02 5.59798630e+02] [-4.54376939e-02 9.98950919e-01 -5.69889018e-03 -7.34579149e+01] [-4.38842523e-02 3.70324667e-03 9.99029759e-01 -3.61567766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.280714057 meters 0.05429967538510267 Centerline is valid? [True, True] Translation: X:559.83, Y:-73.47, Z:-36.16 [[ 9.97993188e-01 4.46829700e-02 4.48667808e-02 5.59827294e+02] [-4.44644070e-02 9.98993793e-01 -5.85810575e-03 -7.34658947e+01] [-4.50833932e-02 3.85137483e-03 9.98975803e-01 -3.61581572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.3107140569999 meters 0.05314099808935824 Centerline is valid? [True, True] Translation: X:559.86, Y:-73.47, Z:-36.16 [[ 9.97930755e-01 4.48524834e-02 4.60701895e-02 5.59858135e+02] [-4.46222559e-02 9.98985828e-01 -6.01416488e-03 -7.34692006e+01] [-4.62932166e-02 3.94596431e-03 9.98920101e-01 -3.61583845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.3407140569999 meters 0.0554813038562722 Centerline is valid? [True, True] Translation: X:559.89, Y:-73.48, Z:-36.16 [[ 9.97953767e-01 4.47535909e-02 4.56661349e-02 5.59887498e+02] [-4.45272817e-02 9.98990381e-01 -5.96149327e-03 -7.34761716e+01] [-4.58868278e-02 3.91590581e-03 9.98938969e-01 -3.61599557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.370714057 meters 0.053711921546562395 Centerline is valid? [True, True] Translation: X:559.92, Y:-73.48, Z:-36.16 [[ 9.97930372e-01 4.58089222e-02 4.51277666e-02 5.59918624e+02] [-4.55889684e-02 9.98942908e-01 -5.89175698e-03 -7.34784644e+01] [-4.53499574e-02 3.82223491e-03 9.98963849e-01 -3.61616935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.400714057 meters 0.04736612274794446 Centerline is valid? [True, True] Translation: X:559.95, Y:-73.47, Z:-36.16 [[ 9.97903461e-01 4.65338561e-02 4.49809159e-02 5.59950348e+02] [-4.63159751e-02 9.98909566e-01 -5.87453816e-03 -7.34731011e+01] [-4.52052321e-02 3.77888698e-03 9.98970574e-01 -3.61623137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.4307140569999 meters 0.04572499786105472 Centerline is valid? [True, True] Translation: X:559.98, Y:-73.47, Z:-36.16 [[ 9.97838584e-01 4.81180442e-02 4.47528165e-02 5.59980868e+02] [-4.79039507e-02 9.98834846e-01 -5.84474822e-03 -7.34747585e+01] [-4.49819104e-02 3.68827857e-03 9.98980993e-01 -3.61633391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.4607140569999 meters 0.050628785329810494 Centerline is valid? [True, True] Translation: X:560.01, Y:-73.49, Z:-36.17 [[ 9.97785719e-01 4.91397551e-02 4.48212501e-02 5.60009543e+02] [-4.89260292e-02 9.98785251e-01 -5.85368570e-03 -7.34856143e+01] [-4.50544523e-02 3.64779820e-03 9.98977873e-01 -3.61665006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.490714057 meters 0.05038964889232832 Centerline is valid? [True, True] Translation: X:560.04, Y:-73.49, Z:-36.17 [[ 9.97673583e-01 5.18064517e-02 4.43115424e-02 5.60038092e+02] [-5.16001583e-02 9.98651054e-01 -5.78749534e-03 -7.34893088e+01] [-4.45515981e-02 3.48754861e-03 9.99000997e-01 -3.61679502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.520714057 meters 0.04420313951140892 Centerline is valid? [True, True] Translation: X:560.07, Y:-73.48, Z:-36.17 [[ 9.97594745e-01 5.28247288e-02 4.48806517e-02 5.60069142e+02] [-5.26141769e-02 9.98597718e-01 -5.86059323e-03 -7.34833088e+01] [-4.51273007e-02 3.48513846e-03 9.98975165e-01 -3.61678452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.5507140569999 meters 0.042775400925833894 Centerline is valid? [True, True] Translation: X:560.10, Y:-73.48, Z:-36.17 [[ 9.97443201e-01 5.55075182e-02 4.50108353e-02 5.60098823e+02] [-5.52985296e-02 9.98452576e-01 -5.87596658e-03 -7.34848328e+01] [-4.52673448e-02 3.37190992e-03 9.98969218e-01 -3.61690064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.5807140569999 meters 0.04156959652393219 Centerline is valid? [True, True] Translation: X:560.13, Y:-73.49, Z:-36.17 [[ 9.97310712e-01 5.72197906e-02 4.57956365e-02 5.60128829e+02] [-5.70053254e-02 9.98355986e-01 -5.97652666e-03 -7.34871950e+01] [-4.60623234e-02 3.34985889e-03 9.98932951e-01 -3.61705321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.610714057 meters 0.04162634305330698 Centerline is valid? [True, True] Translation: X:560.16, Y:-73.49, Z:-36.17 [[ 9.97293328e-01 5.73938229e-02 4.59561383e-02 5.60157697e+02] [-5.71780441e-02 9.98345984e-01 -5.99725585e-03 -7.34912230e+01] [-4.62243316e-02 3.35334114e-03 9.98925456e-01 -3.61724738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.640714057 meters 0.04094765256989416 Centerline is valid? [True, True] Translation: X:560.19, Y:-73.49, Z:-36.17 [[ 9.97247698e-01 5.82516041e-02 4.58669819e-02 5.60186621e+02] [-5.80377271e-02 9.98296467e-01 -5.98209982e-03 -7.34949626e+01] [-4.61373129e-02 3.30361990e-03 9.98929644e-01 -3.61740661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.6707140569999 meters 0.04254423053794421 Centerline is valid? [True, True] Translation: X:560.21, Y:-73.50, Z:-36.18 [[ 9.97293682e-01 5.78390168e-02 4.53867892e-02 5.60213544e+02] [-5.76292658e-02 9.98320515e-01 -5.91745629e-03 -7.35018539e+01] [-4.56528227e-02 3.28583443e-03 9.98951962e-01 -3.61758107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.7007140569999 meters 0.0471114021489713 Centerline is valid? [True, True] Translation: X:560.24, Y:-73.51, Z:-36.18 [[ 9.97334540e-01 5.72144363e-02 4.52805093e-02 5.60240233e+02] [-5.70052141e-02 9.98356450e-01 -5.89950431e-03 -7.35128867e+01] [-4.55436253e-02 3.30255429e-03 9.98956892e-01 -3.61787796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.7307140569999 meters 0.04175056678001534 Centerline is valid? [True, True] Translation: X:560.27, Y:-73.51, Z:-36.18 [[ 9.97430605e-01 5.59024539e-02 4.48007212e-02 5.60270664e+02] [-5.56965354e-02 9.98430708e-01 -5.83244128e-03 -7.35101039e+01] [-4.50564636e-02 3.32221048e-03 9.98978918e-01 -3.61796773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.760714057 meters 0.0420541433601124 Centerline is valid? [True, True] Translation: X:560.30, Y:-73.52, Z:-36.18 [[ 9.97508075e-01 5.49257305e-02 4.42809769e-02 5.60299352e+02] [-5.47236701e-02 9.98484904e-01 -5.76342173e-03 -7.35159545e+01] [-4.45304471e-02 3.32584214e-03 9.99002492e-01 -3.61820177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.790714057 meters 0.04409169535734974 Centerline is valid? [True, True] Translation: X:560.33, Y:-73.53, Z:-36.19 [[ 9.97664291e-01 5.30744462e-02 4.30007693e-02 5.60326713e+02] [-5.28822990e-02 9.98585081e-01 -5.59452475e-03 -7.35258326e+01] [-4.32368529e-02 3.30747803e-03 9.99059375e-01 -3.61855774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.8207140569999 meters 0.04995240464013303 Centerline is valid? [True, True] Translation: X:560.35, Y:-73.54, Z:-36.19 [[ 9.97742203e-01 5.17578595e-02 4.27974277e-02 5.60353664e+02] [-5.15664227e-02 9.98654057e-01 -5.56576134e-03 -7.35396317e+01] [-4.30278967e-02 3.34628474e-03 9.99068267e-01 -3.61894389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.8507140569999 meters 0.04802412516726318 Centerline is valid? [True, True] Translation: X:560.38, Y:-73.54, Z:-36.19 [[ 9.97822714e-01 5.00428356e-02 4.29598184e-02 5.60383213e+02] [-4.98484749e-02 9.98741180e-01 -5.58429262e-03 -7.35424636e+01] [-4.31851935e-02 3.43065259e-03 9.99061194e-01 -3.61903040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.880714057 meters 0.045973819050264104 Centerline is valid? [True, True] Translation: X:560.41, Y:-73.54, Z:-36.19 [[ 9.97831145e-01 4.96039728e-02 4.32718404e-02 5.60412494e+02] [-4.94064323e-02 9.98762926e-01 -5.62333555e-03 -7.35446465e+01] [-4.34972498e-02 3.47323210e-03 9.99047509e-01 -3.61906005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.910714057 meters 0.05093830542518762 Centerline is valid? [True, True] Translation: X:560.44, Y:-73.56, Z:-36.19 [[ 9.97916058e-01 4.79398559e-02 4.31892428e-02 5.60440496e+02] [-4.77415998e-02 9.98843961e-01 -5.61080672e-03 -7.35572604e+01] [-4.34082956e-02 3.53719058e-03 9.99051154e-01 -3.61925125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9407140569999 meters 0.04658901894290197 Centerline is valid? [True, True] Translation: X:560.47, Y:-73.56, Z:-36.19 [[ 9.97939584e-01 4.72697851e-02 4.33838108e-02 5.60471675e+02] [-4.70691529e-02 9.98875738e-01 -5.63506555e-03 -7.35553466e+01] [-4.36014044e-02 3.58141575e-03 9.99042587e-01 -3.61929551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9707140569999 meters 0.04938568985584332 Centerline is valid? [True, True] Translation: X:560.50, Y:-73.57, Z:-36.19 [[ 9.97926124e-01 4.61657696e-02 4.48572467e-02 5.60499881e+02] [-4.59501483e-02 9.98926741e-01 -5.82667040e-03 -7.35652127e+01] [-4.50780959e-02 3.75338947e-03 9.98976415e-01 -3.61944746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.000714057 meters 0.05049939464884005 Centerline is valid? [True, True] Translation: X:560.53, Y:-73.57, Z:-36.20 [[ 9.97918383e-01 4.56554142e-02 4.55465039e-02 5.60530061e+02] [-4.54326387e-02 9.98949893e-01 -5.91496011e-03 -7.35717763e+01] [-4.57687251e-02 3.83334957e-03 9.98944708e-01 -3.61960454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.030714057 meters 0.047471864653844696 Centerline is valid? [True, True] Translation: X:560.56, Y:-73.57, Z:-36.20 [[ 9.97892255e-01 4.53187332e-02 4.64463061e-02 5.60561668e+02] [-4.50866689e-02 9.98964865e-01 -6.03243892e-03 -7.35733513e+01] [-4.66716104e-02 3.92561486e-03 9.98902573e-01 -3.61962974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.0607140569999 meters 0.049214163699306444 Centerline is valid? [True, True] Translation: X:560.59, Y:-73.58, Z:-36.20 [[ 9.97884858e-01 4.51988964e-02 4.67211956e-02 5.60592173e+02] [-4.49639627e-02 9.98970182e-01 -6.06774450e-03 -7.35807101e+01] [-4.69473366e-02 3.95414026e-03 9.98889540e-01 -3.61981695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.0907140569999 meters 0.05135392096692193 Centerline is valid? [True, True] Translation: X:560.62, Y:-73.59, Z:-36.20 [[ 9.97928177e-01 4.44568007e-02 4.65074966e-02 5.60622703e+02] [-4.42227095e-02 9.99003373e-01 -6.05076688e-03 -7.35896106e+01] [-4.67301437e-02 3.98154325e-03 9.98899615e-01 -3.62007195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.120714057 meters 0.04888062913572035 Centerline is valid? [True, True] Translation: X:560.65, Y:-73.59, Z:-36.20 [[ 9.97916149e-01 4.46560115e-02 4.65746782e-02 5.60654685e+02] [-4.44208763e-02 9.98994453e-01 -6.07192608e-03 -7.35903752e+01] [-4.67989932e-02 3.99038507e-03 9.98896357e-01 -3.62023824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.150714057 meters 0.04965260282019496 Centerline is valid? [True, True] Translation: X:560.69, Y:-73.60, Z:-36.21 [[ 9.97901010e-01 4.55055008e-02 4.60741200e-02 5.60685460e+02] [-4.52762352e-02 9.98956439e-01 -6.00797759e-03 -7.35977810e+01] [-4.62994349e-02 3.90930421e-03 9.98919957e-01 -3.62053949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.1807140569999 meters 0.05096810017367524 Centerline is valid? [True, True] Translation: X:560.72, Y:-73.60, Z:-36.21 [[ 9.97910874e-01 4.60087364e-02 4.53550810e-02 5.60716307e+02] [-4.57866244e-02 9.98933674e-01 -5.92448945e-03 -7.36043700e+01] [-4.55792960e-02 3.83545639e-03 9.98953361e-01 -3.62081983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.2107140569999 meters 0.05103031252295042 Centerline is valid? [True, True] Translation: X:560.75, Y:-73.61, Z:-36.21 [[ 9.97890394e-01 4.70004400e-02 4.47852729e-02 5.60747365e+02] [-4.67843087e-02 9.98887811e-01 -5.86251643e-03 -7.36095128e+01] [-4.50110041e-02 3.75490080e-03 9.98979434e-01 -3.62108829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.240714057 meters 0.05208144108340879 Centerline is valid? [True, True] Translation: X:560.78, Y:-73.62, Z:-36.21 [[ 9.97874972e-01 4.73831445e-02 4.47255910e-02 5.60777147e+02] [-4.71678904e-02 9.98869807e-01 -5.85649311e-03 -7.36153713e+01] [-4.49525415e-02 3.73443612e-03 9.98982143e-01 -3.62132195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.270714057 meters 0.05247023540414183 Centerline is valid? [True, True] Translation: X:560.81, Y:-73.62, Z:-36.21 [[ 9.97795836e-01 4.83726393e-02 4.54264069e-02 5.60807567e+02] [-4.81515615e-02 9.98822324e-01 -5.94906129e-03 -7.36210314e+01] [-4.56606811e-02 3.74859615e-03 9.98949974e-01 -3.62147215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.3007140569999 meters 0.04824143597671286 Centerline is valid? [True, True] Translation: X:560.84, Y:-73.62, Z:-36.22 [[ 9.97772250e-01 4.86164938e-02 4.56834166e-02 5.60839041e+02] [-4.83931152e-02 9.98810444e-01 -5.98366639e-03 -7.36190811e+01] [-4.59199785e-02 3.75957343e-03 9.98938047e-01 -3.62156827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.3307140569999 meters 0.05248254531998584 Centerline is valid? [True, True] Translation: X:560.87, Y:-73.63, Z:-36.22 [[ 9.97743508e-01 4.89625349e-02 4.59408658e-02 5.60868262e+02] [-4.87369942e-02 9.98793521e-01 -6.01736731e-03 -7.36299571e+01] [-4.61800647e-02 3.76476945e-03 9.98926037e-01 -3.62183751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.360714057 meters 0.04744837632422677 Centerline is valid? [True, True] Translation: X:560.90, Y:-73.63, Z:-36.22 [[ 9.97637957e-01 5.03347121e-02 4.67431638e-02 5.60899706e+02] [-5.01026643e-02 9.98725301e-01 -6.12347848e-03 -7.36264693e+01] [-4.69918039e-02 3.76705751e-03 9.98888172e-01 -3.62187864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.390714057 meters 0.04744837632422677 Centerline is valid? [True, True] Translation: X:560.93, Y:-73.63, Z:-36.22 [[ 9.97637957e-01 5.03347121e-02 4.67431638e-02 5.60929499e+02] [-5.01026643e-02 9.98725301e-01 -6.12347848e-03 -7.36303722e+01] [-4.69918039e-02 3.76705751e-03 9.98888172e-01 -3.62205276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4207140569999 meters 0.0507688772737983 Centerline is valid? [True, True] Translation: X:560.96, Y:-73.64, Z:-36.22 [[ 9.97523817e-01 5.14349110e-02 4.79654536e-02 5.60958508e+02] [-5.11918273e-02 9.98669072e-01 -6.28343632e-03 -7.36394974e+01] [-4.82248030e-02 3.81243816e-03 9.98829232e-01 -3.62223922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4507140569999 meters 0.04829436227021545 Centerline is valid? [True, True] Translation: X:560.99, Y:-73.64, Z:-36.22 [[ 9.97436630e-01 5.27044841e-02 4.83984104e-02 5.60989238e+02] [-5.24584223e-02 9.98602976e-01 -6.34117220e-03 -7.36384833e+01] [-4.86650049e-02 3.78601318e-03 9.98807981e-01 -3.62232938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4807140569999 meters 0.0457185814024417 Centerline is valid? [True, True] Translation: X:561.02, Y:-73.64, Z:-36.23 [[ 9.97411391e-01 5.31647587e-02 4.84151446e-02 5.61019913e+02] [-5.29190653e-02 9.98578657e-01 -6.34336472e-03 -7.36386404e+01] [-4.86835735e-02 3.76486003e-03 9.98807156e-01 -3.62251491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.510714057 meters 0.04946722874267574 Centerline is valid? [True, True] Translation: X:561.05, Y:-73.65, Z:-36.23 [[ 9.97458655e-01 5.28460856e-02 4.77862257e-02 5.61048264e+02] [-5.26063688e-02 9.98595698e-01 -6.26113251e-03 -7.36474399e+01] [-4.80499957e-02 3.73136101e-03 9.98837962e-01 -3.62287550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.540714057 meters 0.044998866043616186 Centerline is valid? [True, True] Translation: X:561.08, Y:-73.64, Z:-36.23 [[ 9.97502475e-01 5.24100889e-02 4.73497179e-02 5.61078838e+02] [-5.21742871e-02 9.98618729e-01 -6.20311637e-03 -7.36449254e+01] [-4.76094210e-02 3.71718615e-03 9.98859112e-01 -3.62302981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5707140569999 meters 0.05001729060999292 Centerline is valid? [True, True] Translation: X:561.11, Y:-73.66, Z:-36.23 [[ 9.97687252e-01 4.95534929e-02 4.65252523e-02 5.61106857e+02] [-4.93228160e-02 9.98764299e-01 -6.09378631e-03 -7.36560314e+01] [-4.67697294e-02 3.78493646e-03 9.98898527e-01 -3.62331599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.6007140569999 meters 0.05114886631089054 Centerline is valid? [True, True] Translation: X:561.14, Y:-73.66, Z:-36.23 [[ 9.97783351e-01 4.76715709e-02 4.64306581e-02 5.61136960e+02] [-4.74397418e-02 9.98855580e-01 -6.08283467e-03 -7.36617465e+01] [-4.66675002e-02 3.86669273e-03 9.98902995e-01 -3.62347871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.630714057 meters 0.05449700313891894 Centerline is valid? [True, True] Translation: X:561.17, Y:-73.67, Z:-36.24 [[ 9.97941194e-01 4.40506109e-02 4.66145638e-02 5.61165751e+02] [-4.38129763e-02 9.99021079e-01 -6.10785472e-03 -7.36711699e+01] [-4.68379866e-02 4.05295704e-03 9.98894277e-01 -3.62365717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.660714057 meters 0.05647213150156982 Centerline is valid? [True, True] Translation: X:561.20, Y:-73.68, Z:-36.24 [[ 9.97994213e-01 4.24467256e-02 4.69662239e-02 5.61195209e+02] [-4.22037101e-02 9.99090072e-01 -6.15428766e-03 -7.36777759e+01] [-4.71847174e-02 4.15979457e-03 9.98877519e-01 -3.62384916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.6907140569999 meters 0.05039583607599378 Centerline is valid? [True, True] Translation: X:561.23, Y:-73.67, Z:-36.24 [[ 9.98020029e-01 4.13832573e-02 4.73650383e-02 5.61228760e+02] [-4.11349395e-02 9.99134328e-01 -6.20583250e-03 -7.36725671e+01] [-4.75808533e-02 4.24518715e-03 9.98858369e-01 -3.62378718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.7207140569999 meters 0.055603217052676505 Centerline is valid? [True, True] Translation: X:561.26, Y:-73.68, Z:-36.24 [[ 9.97927969e-01 4.20405999e-02 4.87068542e-02 5.61259376e+02] [-4.17786725e-02 9.99106496e-01 -6.38371603e-03 -7.36827242e+01] [-4.89317097e-02 4.33558106e-03 9.98792717e-01 -3.62401300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.750714057 meters 0.0486425797213555 Centerline is valid? [True, True] Translation: X:561.29, Y:-73.68, Z:-36.24 [[ 9.97854129e-01 4.29784408e-02 4.93962636e-02 5.61293131e+02] [-4.27094979e-02 9.99066468e-01 -6.48774236e-03 -7.36765934e+01] [-4.96289837e-02 4.36413088e-03 9.98758188e-01 -3.62406918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.780714057 meters 0.05316571010463778 Centerline is valid? [True, True] Translation: X:561.32, Y:-73.69, Z:-36.24 [[ 9.97793261e-01 4.39848354e-02 4.97387502e-02 5.61323433e+02] [-4.37132141e-02 9.99022739e-01 -6.53615786e-03 -7.36866783e+01] [-4.99776343e-02 4.34749362e-03 9.98740875e-01 -3.62428418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.8107140569999 meters 0.05047229428919226 Centerline is valid? [True, True] Translation: X:561.36, Y:-73.69, Z:-36.24 [[ 9.97710101e-01 4.50987355e-02 5.04049514e-02 5.61355804e+02] [-4.48205317e-02 9.98973010e-01 -6.63669713e-03 -7.36854981e+01] [-5.06524926e-02 4.36232304e-03 9.98706811e-01 -3.62433454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.8407140569999 meters 0.051858547084492244 Centerline is valid? [True, True] Translation: X:561.39, Y:-73.69, Z:-36.24 [[ 9.97630897e-01 4.57311298e-02 5.13931530e-02 5.61386389e+02] [-4.54425461e-02 9.98944011e-01 -6.77036155e-03 -7.36917203e+01] [-5.16484987e-02 4.41888615e-03 9.98655549e-01 -3.62448693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.870714057 meters 0.051840627724937784 Centerline is valid? [True, True] Translation: X:561.42, Y:-73.70, Z:-36.25 [[ 9.97589046e-01 4.63344217e-02 5.16644569e-02 5.61418268e+02] [-4.60432331e-02 9.98916216e-01 -6.81281240e-03 -7.36957771e+01] [-5.19241315e-02 4.41758840e-03 9.98641262e-01 -3.62465453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.900714057 meters 0.06082594299219211 Centerline is valid? [True, True] Translation: X:561.45, Y:-73.71, Z:-36.25 [[ 9.97565933e-01 4.70771510e-02 5.14388095e-02 5.61447928e+02] [-4.67888411e-02 9.98881688e-01 -6.79545649e-03 -7.37124131e+01] [-5.17011956e-02 4.37215361e-03 9.98653028e-01 -3.62499032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.9307140569999 meters 0.04894743499310131 Centerline is valid? [True, True] Translation: X:561.48, Y:-73.70, Z:-36.25 [[ 9.97610604e-01 4.79225734e-02 4.97645471e-02 5.61482018e+02] [-4.76532178e-02 9.98842229e-01 -6.58570518e-03 -7.36981489e+01] [-5.00225352e-02 4.19852852e-03 9.98739264e-01 -3.62519051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.9607140569999 meters 0.050440860480148314 Centerline is valid? [True, True] Translation: X:561.51, Y:-73.70, Z:-36.25 [[ 9.97653578e-01 4.85577927e-02 4.82646818e-02 5.61512247e+02] [-4.83046150e-02 9.98812154e-01 -6.39891314e-03 -7.37036654e+01] [-4.85180678e-02 4.05249172e-03 9.98814084e-01 -3.62547192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.990714057 meters 0.0517354625241983 Centerline is valid? [True, True] Translation: X:561.54, Y:-73.71, Z:-36.26 [[ 9.97553285e-01 5.09860911e-02 4.78315974e-02 5.61541929e+02] [-5.07395868e-02 9.98691702e-01 -6.35447280e-03 -7.37086148e+01] [-4.80930092e-02 3.91196972e-03 9.98835201e-01 -3.62577895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.020714057 meters 0.0446428577069781 Centerline is valid? [True, True] Translation: X:561.57, Y:-73.70, Z:-36.26 [[ 9.97476763e-01 5.22786865e-02 4.80317190e-02 5.61573997e+02] [-5.20316090e-02 9.98625053e-01 -6.38089025e-03 -7.37013877e+01] [-4.82992625e-02 3.86562213e-03 9.98825429e-01 -3.62579289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.0507140569999 meters 0.04339959971090723 Centerline is valid? [True, True] Translation: X:561.61, Y:-73.70, Z:-36.26 [[ 9.97186503e-01 5.65257568e-02 4.92332902e-02 5.61605032e+02] [-5.62712355e-02 9.98394088e-01 -6.54160721e-03 -7.37013589e+01] [-4.95239951e-02 3.75278436e-03 9.98765884e-01 -3.62588260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.0807140569999 meters 0.04136893349253235 Centerline is valid? [True, True] Translation: X:561.64, Y:-73.70, Z:-36.26 [[ 9.96996367e-01 5.92913816e-02 4.98274603e-02 5.61635548e+02] [-5.90341073e-02 9.98234012e-01 -6.62050994e-03 -7.37011940e+01] [-5.01320048e-02 3.65910472e-03 9.98735898e-01 -3.62589816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.110714057 meters 0.04065651207849642 Centerline is valid? [True, True] Translation: X:561.67, Y:-73.70, Z:-36.26 [[ 9.96505086e-01 6.58857029e-02 5.13486873e-02 5.61665557e+02] [-6.56212183e-02 9.97821288e-01 -6.82157810e-03 -7.37017326e+01] [-5.16862577e-02 3.42817385e-03 9.98657488e-01 -3.62595858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.140714057 meters 0.03815095099637821 Centerline is valid? [True, True] Translation: X:561.70, Y:-73.70, Z:-36.26 [[ 9.96274459e-01 6.85483346e-02 5.23290444e-02 5.61696146e+02] [-6.82773031e-02 9.97642162e-01 -6.95169447e-03 -7.37001559e+01] [-5.26821881e-02 3.35290962e-03 9.98605701e-01 -3.62601248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.1707140569999 meters 0.038715018813744666 Centerline is valid? [True, True] Translation: X:561.72, Y:-73.70, Z:-36.26 [[ 9.96025157e-01 7.14245321e-02 5.32205092e-02 5.61724906e+02] [-7.11483115e-02 9.97440697e-01 -7.06921045e-03 -7.37038899e+01] [-5.35892169e-02 3.25456208e-03 9.98557762e-01 -3.62612114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.2007140569999 meters 0.03645814076197493 Centerline is valid? [True, True] Translation: X:561.76, Y:-73.70, Z:-36.26 [[ 9.95695840e-01 7.54248406e-02 5.38598843e-02 5.61755758e+02] [-7.51478736e-02 9.97146752e-01 -7.15207022e-03 -7.37022074e+01] [-5.42456525e-02 3.07383078e-03 9.98522889e-01 -3.62619566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.2307140569999 meters 0.036801845522190055 Centerline is valid? [True, True] Translation: X:561.78, Y:-73.71, Z:-36.26 [[ 9.95543994e-01 7.68502379e-02 5.46461000e-02 5.61783368e+02] [-7.65672592e-02 9.97038013e-01 -7.25639124e-03 -7.37070072e+01] [-5.50418943e-02 3.03995462e-03 9.98479418e-01 -3.62637661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.260714057 meters 0.05473063439965829 Centerline is valid? [True, True] Translation: X:561.81, Y:-73.74, Z:-36.27 [[ 9.95229575e-01 7.99179430e-02 5.59572592e-02 5.61807910e+02] [-7.96263267e-02 9.96797127e-01 -7.42532301e-03 -7.37397935e+01] [-5.63714518e-02 2.93423006e-03 9.98405554e-01 -3.62657341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.290714057 meters 0.03589587766342807 Centerline is valid? [True, True] Translation: X:561.84, Y:-73.71, Z:-36.27 [[ 9.95789117e-01 7.45610040e-02 5.33356392e-02 5.61842034e+02] [-7.42885984e-02 9.97211690e-01 -7.07457532e-03 -7.37141384e+01] [-5.37144103e-02 3.08255523e-03 9.98551581e-01 -3.62686958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.3207140569999 meters 0.04031337280177329 Centerline is valid? [True, True] Translation: X:561.87, Y:-73.73, Z:-36.27 [[ 9.95922756e-01 7.37681816e-02 5.19241637e-02 5.61868168e+02] [-7.35089219e-02 9.97270774e-01 -6.88780368e-03 -7.37262117e+01] [-5.22905517e-02 3.04283113e-03 9.98627278e-01 -3.62719237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.3507140569999 meters 0.04149757838712783 Centerline is valid? [True, True] Translation: X:561.90, Y:-73.73, Z:-36.28 [[ 9.96101165e-01 7.22857503e-02 5.05691583e-02 5.61896773e+02] [-7.20381956e-02 9.97379348e-01 -6.70337267e-03 -7.37318958e+01] [-5.09211924e-02 3.03432641e-03 9.98698065e-01 -3.62754842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.380714057 meters 0.041921882122356834 Centerline is valid? [True, True] Translation: X:561.93, Y:-73.74, Z:-36.28 [[ 9.96359454e-01 7.02782038e-02 4.82577661e-02 5.61925801e+02] [-7.00505585e-02 9.97522947e-01 -6.39450807e-03 -7.37374890e+01] [-4.85876236e-02 2.99074510e-03 9.98814446e-01 -3.62794221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.410714057 meters 0.044987634820586576 Centerline is valid? [True, True] Translation: X:561.95, Y:-73.75, Z:-36.28 [[ 9.96447485e-01 6.92803553e-02 4.78815425e-02 5.61952093e+02] [-6.90551559e-02 9.97592675e-01 -6.34354122e-03 -7.37461162e+01] [-4.82057589e-02 3.01453832e-03 9.98832878e-01 -3.62819773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4407140569999 meters 0.038906494288553514 Centerline is valid? [True, True] Translation: X:561.98, Y:-73.74, Z:-36.28 [[ 9.96591400e-01 6.70058639e-02 4.81227127e-02 5.61982241e+02] [-6.67759670e-02 9.97747654e-01 -6.37098470e-03 -7.37397978e+01] [-4.84412170e-02 3.13582789e-03 9.98821113e-01 -3.62812428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4707140569999 meters 0.03931233653847584 Centerline is valid? [True, True] Translation: X:562.01, Y:-73.74, Z:-36.28 [[ 9.96648196e-01 6.57726430e-02 4.86449616e-02 5.62010647e+02] [-6.55363857e-02 9.97829414e-01 -6.43760819e-03 -7.37442918e+01] [-4.89627920e-02 3.22801562e-03 9.98795387e-01 -3.62821577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.500714057 meters 0.040050286345840874 Centerline is valid? [True, True] Translation: X:562.04, Y:-73.75, Z:-36.28 [[ 9.96731758e-01 6.34981019e-02 4.99379052e-02 5.62039685e+02] [-6.32464661e-02 9.97976083e-01 -6.60471720e-03 -7.37499086e+01] [-5.02562221e-02 3.42473535e-03 9.98730486e-01 -3.62826679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.530714057 meters 0.04084867096243371 Centerline is valid? [True, True] Translation: X:562.07, Y:-73.75, Z:-36.28 [[ 9.96809586e-01 6.19360688e-02 5.03445468e-02 5.62068256e+02] [-6.16784170e-02 9.98073875e-01 -6.65682594e-03 -7.37549574e+01] [-5.06598745e-02 3.53041596e-03 9.98709724e-01 -3.62834974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.5607140569999 meters 0.04578048165772836 Centerline is valid? [True, True] Translation: X:562.10, Y:-73.77, Z:-36.29 [[ 9.97013494e-01 5.86185321e-02 5.02788366e-02 5.62095774e+02] [-5.83575282e-02 9.98273633e-01 -6.64478326e-03 -7.37670699e+01] [-5.05815443e-02 3.69078995e-03 9.98713115e-01 -3.62855241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.5907140569999 meters 0.042640563707878346 Centerline is valid? [True, True] Translation: X:562.13, Y:-73.77, Z:-36.29 [[ 9.97130485e-01 5.67164192e-02 5.01402397e-02 5.62126077e+02] [-5.64544876e-02 9.98383187e-01 -6.62598901e-03 -7.37657575e+01] [-5.04349747e-02 3.77633409e-03 9.98720207e-01 -3.62864678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.620714057 meters 0.047301081302837236 Centerline is valid? [True, True] Translation: X:562.15, Y:-73.78, Z:-36.29 [[ 9.97387991e-01 5.28479929e-02 4.92370382e-02 5.62154004e+02] [-5.25908434e-02 9.98594960e-01 -6.50452801e-03 -7.37766943e+01] [-4.95116095e-02 3.89812075e-03 9.98765941e-01 -3.62882974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.650714057 meters 0.04491226565323394 Centerline is valid? [True, True] Translation: X:562.18, Y:-73.78, Z:-36.29 [[ 9.97492428e-01 5.11420398e-02 4.89218493e-02 5.62184853e+02] [-5.08861212e-02 9.98683548e-01 -6.46323003e-03 -7.37769288e+01] [-4.91879888e-02 3.95757986e-03 9.98781698e-01 -3.62899382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.6807140569999 meters 0.047587934371511986 Centerline is valid? [True, True] Translation: X:562.21, Y:-73.78, Z:-36.29 [[ 9.97690261e-01 4.87255424e-02 4.73282691e-02 5.62214226e+02] [-4.84833740e-02 9.98804423e-01 -6.25201882e-03 -7.37847245e+01] [-4.75763175e-02 3.94294412e-03 9.98859824e-01 -3.62931455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.7107140569999 meters 0.04859836536131752 Centerline is valid? [True, True] Translation: X:562.24, Y:-73.79, Z:-36.30 [[ 9.97761001e-01 4.80076965e-02 4.65644191e-02 5.62244549e+02] [-4.77723347e-02 9.98839287e-01 -6.15493212e-03 -7.37904254e+01] [-4.68058553e-02 3.91666022e-03 9.98896327e-01 -3.62952720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.740714057 meters 0.049935395547278105 Centerline is valid? [True, True] Translation: X:562.27, Y:-73.80, Z:-36.30 [[ 9.97843577e-01 4.73141546e-02 4.54924834e-02 5.62274533e+02] [-4.70888086e-02 9.98872608e-01 -6.01303398e-03 -7.37960509e+01] [-4.57256972e-02 3.85788050e-03 9.98946584e-01 -3.62979193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.770714057 meters 0.049656760084445244 Centerline is valid? [True, True] Translation: X:562.31, Y:-73.80, Z:-36.30 [[ 9.97932162e-01 4.63380374e-02 4.45442180e-02 5.62305172e+02] [-4.61210203e-02 9.98918507e-01 -5.88793993e-03 -7.37984133e+01] [-4.47688793e-02 3.82133984e-03 9.98990062e-01 -3.63004035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.8007140569999 meters 0.04687573890592365 Centerline is valid? [True, True] Translation: X:562.34, Y:-73.80, Z:-36.30 [[ 9.97956744e-01 4.62740038e-02 4.40573989e-02 5.62336107e+02] [-4.60615004e-02 9.98921611e-01 -5.82688580e-03 -7.37960455e+01] [-4.42795212e-02 3.78563008e-03 9.99012008e-01 -3.63011292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.8307140569999 meters 0.050204336246468126 Centerline is valid? [True, True] Translation: X:562.37, Y:-73.80, Z:-36.30 [[ 9.97952788e-01 4.64742430e-02 4.39360601e-02 5.62365078e+02] [-4.62630915e-02 9.98912387e-01 -5.81108022e-03 -7.38036982e+01] [-4.41583403e-02 3.76656574e-03 9.99017444e-01 -3.63033278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.860714057 meters 0.05349875195852741 Centerline is valid? [True, True] Translation: X:562.39, Y:-73.81, Z:-36.31 [[ 9.97890890e-01 4.73845394e-02 4.43675125e-02 5.62394091e+02] [-4.71701460e-02 9.98869637e-01 -5.86732574e-03 -7.38102966e+01] [-4.45953816e-02 3.76212887e-03 9.98998047e-01 -3.63051844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.890714057 meters 0.04660640755264491 Centerline is valid? [True, True] Translation: X:562.42, Y:-73.80, Z:-36.31 [[ 9.97845747e-01 4.82384815e-02 4.44625117e-02 5.62424761e+02] [-4.80240335e-02 9.98828877e-01 -5.87935070e-03 -7.38031302e+01] [-4.46940516e-02 3.73141594e-03 9.98993753e-01 -3.63054696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9207140569999 meters 0.04678823272927082 Centerline is valid? [True, True] Translation: X:562.45, Y:-73.81, Z:-36.31 [[ 9.97741878e-01 4.99970193e-02 4.48491231e-02 5.62453733e+02] [-4.97806600e-02 9.98742577e-01 -5.92882598e-03 -7.38059594e+01] [-4.50891524e-02 3.68281901e-03 9.98976178e-01 -3.63071126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9507140569999 meters 0.04502925161889281 Centerline is valid? [True, True] Translation: X:562.48, Y:-73.81, Z:-36.31 [[ 9.97705332e-01 5.05133610e-02 4.50829251e-02 5.62483426e+02] [-5.02953348e-02 9.98716617e-01 -5.95811407e-03 -7.38061251e+01] [-4.53260308e-02 3.67698136e-03 9.98965480e-01 -3.63085955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9807140569999 meters 0.044284619076874004 Centerline is valid? [True, True] Translation: X:562.51, Y:-73.81, Z:-36.31 [[ 9.97674285e-01 5.17118114e-02 4.44061981e-02 5.62513581e+02] [-5.15015472e-02 9.98655682e-01 -5.86686191e-03 -7.38067852e+01] [-4.46498881e-02 3.56622935e-03 9.98996331e-01 -3.63109257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.010714057 meters 0.04424507495074354 Centerline is valid? [True, True] Translation: X:562.54, Y:-73.81, Z:-36.31 [[ 9.97679008e-01 5.18412605e-02 4.41483982e-02 5.62542240e+02] [-5.16335620e-02 9.98649065e-01 -5.83272338e-03 -7.38090839e+01] [-4.43911323e-02 3.53964662e-03 9.99007957e-01 -3.63122291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.040714057 meters 0.04633907132597007 Centerline is valid? [True, True] Translation: X:562.57, Y:-73.81, Z:-36.31 [[ 9.97633611e-01 5.26914100e-02 4.41677864e-02 5.62570234e+02] [-5.24845105e-02 9.98604710e-01 -5.83181681e-03 -7.38140912e+01] [-4.44134462e-02 3.49989182e-03 9.99007105e-01 -3.63141453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0707140569999 meters 0.04864400380872226 Centerline is valid? [True, True] Translation: X:562.60, Y:-73.82, Z:-36.32 [[ 9.97652056e-01 5.25169146e-02 4.39584881e-02 5.62597042e+02] [-5.23118895e-02 9.98613939e-01 -5.80226691e-03 -7.38201172e+01] [-4.42022761e-02 3.48909194e-03 9.99016509e-01 -3.63159394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.1007140569999 meters 0.04927198413461814 Centerline is valid? [True, True] Translation: X:562.63, Y:-73.82, Z:-36.32 [[ 9.97676857e-01 5.17938938e-02 4.42524648e-02 5.62625848e+02] [-5.15856039e-02 9.98651520e-01 -5.83668248e-03 -7.38246591e+01] [-4.44950958e-02 3.54033292e-03 9.99003330e-01 -3.63167469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.130714057 meters 0.049454143482270174 Centerline is valid? [True, True] Translation: X:562.65, Y:-73.83, Z:-36.32 [[ 9.97667792e-01 5.13004160e-02 4.50249251e-02 5.62654953e+02] [-5.10844026e-02 9.98676698e-01 -5.93597795e-03 -7.38283703e+01] [-4.52698617e-02 3.62206261e-03 9.98968228e-01 -3.63179844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.160714057 meters 0.050687201628494744 Centerline is valid? [True, True] Translation: X:562.68, Y:-73.83, Z:-36.32 [[ 9.97646504e-01 5.09274019e-02 4.59113484e-02 5.62683493e+02] [-5.07024650e-02 9.98695469e-01 -6.05141406e-03 -7.38333167e+01] [-4.61596385e-02 3.70935354e-03 9.98927189e-01 -3.63193616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.1907140569999 meters 0.04744937456805025 Centerline is valid? [True, True] Translation: X:562.71, Y:-73.83, Z:-36.32 [[ 9.97621204e-01 5.08104111e-02 4.65857922e-02 5.62713202e+02] [-5.05787883e-02 9.98701212e-01 -6.13808265e-03 -7.38315792e+01] [-4.68371656e-02 3.76722848e-03 9.98895434e-01 -3.63199654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.2207140569999 meters 0.046753724080132876 Centerline is valid? [True, True] Translation: X:562.74, Y:-73.83, Z:-36.32 [[ 9.97573495e-01 5.16635140e-02 4.66690905e-02 5.62743657e+02] [-5.14321569e-02 9.98657582e-01 -6.14547083e-03 -7.38314030e+01] [-4.69239377e-02 3.73026683e-03 9.98891500e-01 -3.63211686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.250714057 meters 0.043888221840733294 Centerline is valid? [True, True] Translation: X:562.77, Y:-73.83, Z:-36.32 [[ 9.97513839e-01 5.20828103e-02 4.74712755e-02 5.62773332e+02] [-5.18439608e-02 9.98635642e-01 -6.24972363e-03 -7.38301151e+01] [-4.77320108e-02 3.77308686e-03 9.98853052e-01 -3.63217548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.280714057 meters 0.043738761436951226 Centerline is valid? [True, True] Translation: X:562.80, Y:-73.83, Z:-36.32 [[ 9.97369025e-01 5.44093246e-02 4.79025325e-02 5.62802214e+02] [-5.41690637e-02 9.98511901e-01 -6.30054139e-03 -7.38319333e+01] [-4.81740570e-02 3.68912950e-03 9.98832143e-01 -3.63231273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.3107140569999 meters 0.043738761436951226 Centerline is valid? [True, True] Translation: X:562.83, Y:-73.84, Z:-36.32 [[ 9.97372840e-01 5.43391920e-02 4.79027114e-02 5.62830318e+02] [-5.40989156e-02 9.98515712e-01 -6.29918076e-03 -7.38355668e+01] [-4.81739024e-02 3.69114707e-03 9.98832143e-01 -3.63247703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.3407140569999 meters 0.04377846166528366 Centerline is valid? [True, True] Translation: X:562.86, Y:-73.84, Z:-36.33 [[ 9.97361246e-01 5.49734341e-02 4.74180036e-02 5.62859101e+02] [-5.47388727e-02 9.98481255e-01 -6.23208925e-03 -7.38374482e+01] [-4.76885871e-02 3.62003623e-03 9.98855692e-01 -3.63264268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.370714057 meters 0.04479381314904167 Centerline is valid? [True, True] Translation: X:562.89, Y:-73.84, Z:-36.33 [[ 9.97294008e-01 5.62273415e-02 4.73618775e-02 5.62886697e+02] [-5.59948946e-02 9.98411671e-01 -6.22148355e-03 -7.38413274e+01] [-4.76364688e-02 3.55262493e-03 9.98858421e-01 -3.63288341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.400714057 meters 0.04514785448925595 Centerline is valid? [True, True] Translation: X:562.91, Y:-73.84, Z:-36.33 [[ 9.97310618e-01 5.61511512e-02 4.71017902e-02 5.62914972e+02] [-5.59213690e-02 9.98416030e-01 -6.18308685e-03 -7.38445976e+01] [-4.73743698e-02 3.53246158e-03 9.98870958e-01 -3.63315521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.4307140569999 meters 0.0464521477960165 Centerline is valid? [True, True] Translation: X:562.94, Y:-73.85, Z:-36.33 [[ 9.97426297e-01 5.47342533e-02 4.63135370e-02 5.62944359e+02] [-5.45107532e-02 9.98494697e-01 -6.07604119e-03 -7.38492887e+01] [-4.65763887e-02 3.53581748e-03 9.98908473e-01 -3.63347056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.4607140569999 meters 0.04711610486505174 Centerline is valid? [True, True] Translation: X:562.97, Y:-73.85, Z:-36.34 [[ 9.97463115e-01 5.39666991e-02 4.64212198e-02 5.62972855e+02] [-5.37413898e-02 9.98536323e-01 -6.08892274e-03 -7.38535094e+01] [-4.66818732e-02 3.57873498e-03 9.98903396e-01 -3.63369208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.490714057 meters 0.048669115440109004 Centerline is valid? [True, True] Translation: X:563.00, Y:-73.86, Z:-36.34 [[ 9.97577365e-01 5.23654956e-02 4.57958124e-02 5.63000874e+02] [-5.21446993e-02 9.98621494e-01 -6.00355512e-03 -7.38587326e+01] [-4.60470617e-02 3.60100183e-03 9.98932781e-01 -3.63388387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.520714057 meters 0.05098551657778296 Centerline is valid? [True, True] Translation: X:563.03, Y:-73.86, Z:-36.34 [[ 9.97647350e-01 5.13569321e-02 4.54117872e-02 5.63028917e+02] [-5.11388956e-02 9.98673821e-01 -5.95087713e-03 -7.38648633e+01] [-4.56571818e-02 3.61456816e-03 9.98950628e-01 -3.63403301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.5507140569999 meters 0.051675689096145 Centerline is valid? [True, True] Translation: X:563.06, Y:-73.87, Z:-36.34 [[ 9.97648773e-01 5.06057897e-02 4.62166654e-02 5.63058569e+02] [-5.03792687e-02 9.98711811e-01 -6.05375446e-03 -7.38690338e+01] [-4.64634846e-02 3.71115891e-03 9.98913095e-01 -3.63417915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.5807140569999 meters 0.05221885624318877 Centerline is valid? [True, True] Translation: X:563.09, Y:-73.87, Z:-36.34 [[ 9.97615995e-01 5.00804534e-02 4.74792091e-02 5.63086553e+02] [-4.98408835e-02 9.98737821e-01 -6.21704378e-03 -7.38730824e+01] [-4.77306342e-02 3.83581658e-03 9.98852879e-01 -3.63415454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.610714057 meters 0.05158444125978557 Centerline is valid? [True, True] Translation: X:563.12, Y:-73.88, Z:-36.34 [[ 9.97650167e-01 4.90296881e-02 4.78563910e-02 5.63115547e+02] [-4.87850460e-02 9.98789637e-01 -6.26739880e-03 -7.38753719e+01] [-4.81057560e-02 3.91799523e-03 9.98834564e-01 -3.63424765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.640714057 meters 0.050843547006413706 Centerline is valid? [True, True] Translation: X:563.15, Y:-73.88, Z:-36.34 [[ 9.97676035e-01 4.84203899e-02 4.79374074e-02 5.63145023e+02] [-4.81743453e-02 9.98819229e-01 -6.27540503e-03 -7.38780482e+01] [-4.81846619e-02 3.95146799e-03 9.98830628e-01 -3.63435357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.6707140569999 meters 0.0504054243867453 Centerline is valid? [True, True] Translation: X:563.17, Y:-73.88, Z:-36.35 [[ 9.97749619e-01 4.74298440e-02 4.73931247e-02 5.63174408e+02] [-4.71883275e-02 9.98866753e-01 -6.20255484e-03 -7.38801073e+01] [-4.76336028e-02 3.95219444e-03 9.98857057e-01 -3.63457066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.7007140569999 meters 0.05235501224559015 Centerline is valid? [True, True] Translation: X:563.20, Y:-73.89, Z:-36.35 [[ 9.97778900e-01 4.71437843e-02 4.70609213e-02 5.63202936e+02] [-4.69054269e-02 9.98880359e-01 -6.15701778e-03 -7.38860483e+01] [-4.72984951e-02 3.93592983e-03 9.98873045e-01 -3.63474764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.7307140569999 meters 0.04846097817303774 Centerline is valid? [True, True] Translation: X:563.23, Y:-73.88, Z:-36.35 [[ 9.97781918e-01 4.72776307e-02 4.68622515e-02 5.63233258e+02] [-4.70413877e-02 9.98874120e-01 -6.13192384e-03 -7.38838335e+01] [-4.70993930e-02 3.91385739e-03 9.98882540e-01 -3.63477593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.760714057 meters 0.048265428564130346 Centerline is valid? [True, True] Translation: X:563.26, Y:-73.89, Z:-36.35 [[ 9.97778996e-01 4.71044671e-02 4.70982485e-02 5.63262475e+02] [-4.68657241e-02 9.98882197e-01 -6.16113072e-03 -7.38863227e+01] [-4.73358188e-02 3.94015330e-03 9.98871261e-01 -3.63495976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.790714057 meters 0.04888535119531814 Centerline is valid? [True, True] Translation: X:563.29, Y:-73.89, Z:-36.35 [[ 9.97717637e-01 4.85819134e-02 4.68968449e-02 5.63291922e+02] [-4.83469164e-02 9.98811775e-01 -6.13294857e-03 -7.38898867e+01] [-4.71390713e-02 3.85163311e-03 9.98880910e-01 -3.63507235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.8207140569999 meters 0.04449253119814649 Centerline is valid? [True, True] Translation: X:563.32, Y:-73.89, Z:-36.35 [[ 9.97668956e-01 4.95280343e-02 4.69428255e-02 5.63321867e+02] [-4.92936453e-02 9.98765467e-01 -6.13833227e-03 -7.38867653e+01] [-4.71888925e-02 3.81004056e-03 9.98878717e-01 -3.63517751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.8507140569999 meters 0.04577257830776853 Centerline is valid? [True, True] Translation: X:563.35, Y:-73.89, Z:-36.35 [[ 9.97634040e-01 5.03704810e-02 4.67882233e-02 5.63349631e+02] [-5.01386265e-02 9.98723538e-01 -6.11659364e-03 -7.38919859e+01] [-4.70365956e-02 3.75622477e-03 9.98886104e-01 -3.63540026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.880714057 meters 0.04629857596246042 Centerline is valid? [True, True] Translation: X:563.38, Y:-73.90, Z:-36.36 [[ 9.97595422e-01 5.14390536e-02 4.64477922e-02 5.63379255e+02] [-5.12118394e-02 9.98669370e-01 -6.06940838e-03 -7.38959240e+01] [-4.66981920e-02 3.67613714e-03 9.98902280e-01 -3.63559268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.910714057 meters 0.04768795719791001 Centerline is valid? [True, True] Translation: X:563.41, Y:-73.90, Z:-36.36 [[ 9.97612833e-01 5.10831015e-02 4.64666859e-02 5.63407772e+02] [-5.08553871e-02 9.98687579e-01 -6.07041625e-03 -7.39013653e+01] [-4.67157977e-02 3.69284385e-03 9.98901395e-01 -3.63569949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9407140569999 meters 0.0489797601273423 Centerline is valid? [True, True] Translation: X:563.44, Y:-73.91, Z:-36.36 [[ 9.97643307e-01 5.04182214e-02 4.65385247e-02 5.63435347e+02] [-5.01891904e-02 9.98721237e-01 -6.07751328e-03 -7.39073297e+01] [-4.67854303e-02 3.72745957e-03 9.98898008e-01 -3.63589590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9707140569999 meters 0.049135954785653385 Centerline is valid? [True, True] Translation: X:563.46, Y:-73.91, Z:-36.36 [[ 9.97674097e-01 4.97268225e-02 4.66222966e-02 5.63464462e+02] [-4.94963856e-02 9.98755767e-01 -6.08483496e-03 -7.39117744e+01] [-4.68668672e-02 3.76304706e-03 9.98894057e-01 -3.63604778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.000714057 meters 0.05081374164292062 Centerline is valid? [True, True] Translation: X:563.49, Y:-73.92, Z:-36.36 [[ 9.97776812e-01 4.79963036e-02 4.62362259e-02 5.63493501e+02] [-4.77679004e-02 9.98840244e-01 -6.03285156e-03 -7.39186749e+01] [-4.64721577e-02 3.81083196e-03 9.98912317e-01 -3.63634178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.030714057 meters 0.051384858918849675 Centerline is valid? [True, True] Translation: X:563.52, Y:-73.92, Z:-36.37 [[ 9.97824492e-01 4.75844433e-02 4.56289872e-02 5.63522632e+02] [-4.73616475e-02 9.98860074e-01 -5.95210963e-03 -7.39233769e+01] [-4.58602013e-02 3.77809676e-03 9.98940723e-01 -3.63654661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.0607140569999 meters 0.05274014628722411 Centerline is valid? [True, True] Translation: X:563.55, Y:-73.93, Z:-36.37 [[ 9.97834362e-01 4.80566571e-02 4.49126290e-02 5.63550974e+02] [-4.78413540e-02 9.98837774e-01 -5.85709511e-03 -7.39288614e+01] [-4.51419028e-02 3.69572978e-03 9.98973749e-01 -3.63675467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.0907140569999 meters 0.04479446382465024 Centerline is valid? [True, True] Translation: X:563.58, Y:-73.92, Z:-36.37 [[ 9.97781667e-01 4.88814990e-02 4.51922916e-02 5.63582369e+02] [-4.86644037e-02 9.98797806e-01 -5.89224570e-03 -7.39200527e+01] [-4.54259835e-02 3.67991882e-03 9.98960929e-01 -3.63673170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.120714057 meters 0.04752008133943695 Centerline is valid? [True, True] Translation: X:563.61, Y:-73.93, Z:-36.37 [[ 9.97641671e-01 5.14642157e-02 4.54150887e-02 5.63610780e+02] [-5.12477064e-02 9.98668429e-01 -5.91961894e-03 -7.39271190e+01] [-4.56592638e-02 3.57823941e-03 9.98950663e-01 -3.63686288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.150714057 meters 0.04459118237782247 Centerline is valid? [True, True] Translation: X:563.64, Y:-73.93, Z:-36.37 [[ 9.97564706e-01 5.28617299e-02 4.55004893e-02 5.63640778e+02] [-5.26459246e-02 9.98595640e-01 -5.92909560e-03 -7.39258204e+01] [-4.57500125e-02 3.51924119e-03 9.98946721e-01 -3.63694768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.1807140569999 meters 0.04571859600605011 Centerline is valid? [True, True] Translation: X:563.67, Y:-73.93, Z:-36.37 [[ 9.97379556e-01 5.59757160e-02 4.58338296e-02 5.63669726e+02] [-5.57600846e-02 9.98426344e-01 -5.97071974e-03 -7.39309810e+01] [-4.60959182e-02 3.39937559e-03 9.98931234e-01 -3.63720919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.2107140569999 meters 0.04761668613699518 Centerline is valid? [True, True] Translation: X:563.70, Y:-73.94, Z:-36.37 [[ 9.97299996e-01 5.76879416e-02 4.54402757e-02 5.63697605e+02] [-5.74777997e-02 9.98329240e-01 -5.91874656e-03 -7.39369944e+01] [-4.57057962e-02 3.29095885e-03 9.98949523e-01 -3.63743178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.240714057 meters 0.04205550818068844 Centerline is valid? [True, True] Translation: X:563.73, Y:-73.93, Z:-36.37 [[ 9.97139407e-01 5.96970449e-02 4.63601768e-02 5.63728705e+02] [-5.94805918e-02 9.98211215e-01 -6.03573438e-03 -7.39317739e+01] [-4.66375639e-02 3.26093785e-03 9.98906554e-01 -3.63745544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.270714057 meters 0.04320264181728704 Centerline is valid? [True, True] Translation: X:563.76, Y:-73.94, Z:-36.38 [[ 9.97074076e-01 6.07273622e-02 4.64270774e-02 5.63756158e+02] [-6.05113968e-02 9.98149205e-01 -6.04438683e-03 -7.39369492e+01] [-4.67082100e-02 3.21733411e-03 9.98903395e-01 -3.63762995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.3007140569999 meters 0.07289384038158205 Centerline is valid? [True, True] Translation: X:563.78, Y:-73.98, Z:-36.38 [[ 9.96512735e-01 6.75923053e-02 4.89249268e-02 5.63779477e+02] [-6.73609362e-02 9.97708374e-01 -6.36440815e-03 -7.39844050e+01] [-4.92429941e-02 3.04658490e-03 9.98782181e-01 -3.63828017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.3307140569999 meters 0.04209943739866162 Centerline is valid? [True, True] Translation: X:563.82, Y:-73.94, Z:-36.38 [[ 9.96904460e-01 6.33840182e-02 4.65184281e-02 5.63815802e+02] [-6.31703573e-02 9.97984418e-01 -6.05032379e-03 -7.39420488e+01] [-4.68081603e-02 3.09300904e-03 9.98899109e-01 -3.63791531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.360714057 meters 0.03910736128081741 Centerline is valid? [True, True] Translation: X:563.84, Y:-73.94, Z:-36.38 [[ 9.96884916e-01 6.41222884e-02 4.59216331e-02 5.63844706e+02] [-6.39148219e-02 9.97937479e-01 -5.97350472e-03 -7.39396824e+01] [-4.62099536e-02 3.01982375e-03 9.98927185e-01 -3.63808372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.390714057 meters 0.0433305569354886 Centerline is valid? [True, True] Translation: X:563.87, Y:-73.95, Z:-36.38 [[ 9.96913091e-01 6.39961369e-02 4.54838718e-02 5.63871311e+02] [-6.37926198e-02 9.97945656e-01 -5.91350389e-03 -7.39498895e+01] [-4.57688737e-02 2.99371411e-03 9.98947570e-01 -3.63837737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4207140569999 meters 0.041366861851104136 Centerline is valid? [True, True] Translation: X:563.90, Y:-73.95, Z:-36.39 [[ 9.96972726e-01 6.35778004e-02 4.47576501e-02 5.63900707e+02] [-6.33805048e-02 9.97972494e-01 -5.81490250e-03 -7.39494852e+01] [-4.50366024e-02 2.96053675e-03 9.98980951e-01 -3.63853904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4507140569999 meters 0.03970334499703107 Centerline is valid? [True, True] Translation: X:563.93, Y:-73.95, Z:-36.39 [[ 9.96948535e-01 6.38302873e-02 4.49367658e-02 5.63929439e+02] [-6.36318066e-02 9.97956385e-01 -5.83500764e-03 -7.39507325e+01] [-4.52173826e-02 2.95779473e-03 9.98972792e-01 -3.63867304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4807140569999 meters 0.03944155852826401 Centerline is valid? [True, True] Translation: X:563.96, Y:-73.95, Z:-36.39 [[ 9.97027786e-01 6.35149888e-02 4.36054997e-02 5.63957587e+02] [-6.33279352e-02 9.97976727e-01 -5.65913699e-03 -7.39536345e+01] [-4.38767138e-02 2.88087057e-03 9.99032800e-01 -3.63892799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.510714057 meters 0.04035954222750151 Centerline is valid? [True, True] Translation: X:563.99, Y:-73.96, Z:-36.39 [[ 9.97073305e-01 6.29529503e-02 4.33791428e-02 5.63985145e+02] [-6.27674312e-02 9.98012318e-01 -5.62689287e-03 -7.39583999e+01] [-4.36471484e-02 2.88762731e-03 9.99042836e-01 -3.63914791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.540714057 meters 0.039753885492708245 Centerline is valid? [True, True] Translation: X:564.01, Y:-73.96, Z:-36.39 [[ 9.97074227e-01 6.28227014e-02 4.35464644e-02 5.64012833e+02] [-6.26357843e-02 9.98020487e-01 -5.64493162e-03 -7.39609958e+01] [-4.38148934e-02 2.90084888e-03 9.99035455e-01 -3.63926508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5707140569999 meters 0.04425016069823399 Centerline is valid? [True, True] Translation: X:564.04, Y:-73.97, Z:-36.39 [[ 9.97069359e-01 6.25793820e-02 4.40058460e-02 5.64038264e+02] [-6.23884657e-02 9.98035666e-01 -5.69987084e-03 -7.39725473e+01] [-4.42760982e-02 2.93770935e-03 9.99015013e-01 -3.63943468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.6007140569999 meters 0.04426386919396402 Centerline is valid? [True, True] Translation: X:564.07, Y:-73.98, Z:-36.39 [[ 9.97020468e-01 6.21413728e-02 4.57015923e-02 5.64066496e+02] [-6.19352954e-02 9.98062652e-01 -5.91283747e-03 -7.39770591e+01] [-4.59804842e-02 3.06467837e-03 9.98937637e-01 -3.63945779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.630714057 meters 0.03987270742293176 Centerline is valid? [True, True] Translation: X:564.10, Y:-73.97, Z:-36.39 [[ 9.97021993e-01 6.15163199e-02 4.65068599e-02 5.64096041e+02] [-6.13023823e-02 9.98101123e-01 -6.01383553e-03 -7.39745444e+01] [-4.67884981e-02 3.14494499e-03 9.98899868e-01 -3.63940783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.660714057 meters 0.04474311628849434 Centerline is valid? [True, True] Translation: X:564.12, Y:-73.99, Z:-36.40 [[ 9.97109213e-01 5.98386864e-02 4.68246713e-02 5.64123022e+02] [-5.96201414e-02 9.98202795e-01 -6.05133453e-03 -7.39879835e+01] [-4.71026217e-02 3.24214788e-03 9.98884794e-01 -3.63971666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.6907140569999 meters 0.04436112234706122 Centerline is valid? [True, True] Translation: X:564.15, Y:-73.99, Z:-36.40 [[ 9.97234686e-01 5.80251371e-02 4.64334333e-02 5.64152198e+02] [-5.78084018e-02 9.98309677e-01 -5.99809992e-03 -7.39915049e+01] [-4.67029864e-02 3.29727072e-03 9.98903378e-01 -3.63994407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.7207140569999 meters 0.046526254029182174 Centerline is valid? [True, True] Translation: X:564.18, Y:-74.00, Z:-36.40 [[ 9.97496107e-01 5.43473257e-02 4.52535624e-02 5.64181650e+02] [-5.41377989e-02 9.98516374e-01 -5.84376050e-03 -7.40008545e+01] [-4.55040158e-02 3.37920008e-03 9.98958440e-01 -3.64023393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.750714057 meters 0.04288819927953512 Centerline is valid? [True, True] Translation: X:564.21, Y:-74.00, Z:-36.40 [[ 9.97669328e-01 5.19045273e-02 4.42925655e-02 5.64212641e+02] [-5.17014228e-02 9.98646208e-01 -5.71959670e-03 -7.40001409e+01] [-4.45294756e-02 3.41627754e-03 9.99002230e-01 -3.64039861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.780714057 meters 0.049573076202436145 Centerline is valid? [True, True] Translation: X:564.24, Y:-74.02, Z:-36.41 [[ 9.97811781e-01 4.95502036e-02 4.37770261e-02 5.64239851e+02] [-4.93495308e-02 9.98765569e-01 -5.65351422e-03 -7.40153520e+01] [-4.40031191e-02 3.48076739e-03 9.99025330e-01 -3.64079059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.8107140569999 meters 0.04666340740603011 Centerline is valid? [True, True] Translation: X:564.27, Y:-74.02, Z:-36.41 [[ 9.98039841e-01 4.57885999e-02 4.26600580e-02 5.64269860e+02] [-4.55947077e-02 9.98944838e-01 -5.50751123e-03 -7.40170191e+01] [-4.28672260e-02 3.55164275e-03 9.99074465e-01 -3.64093827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.8407140569999 meters 0.0534753761475529 Centerline is valid? [True, True] Translation: X:564.30, Y:-74.03, Z:-36.41 [[ 9.98064498e-01 4.49292465e-02 4.29955895e-02 5.64297360e+02] [-4.47315318e-02 9.98983627e-01 -5.55005376e-03 -7.40319793e+01] [-4.32012497e-02 3.61605304e-03 9.99059846e-01 -3.64127092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.870714057 meters 0.050665616986737716 Centerline is valid? [True, True] Translation: X:564.33, Y:-74.03, Z:-36.41 [[ 9.98175787e-01 4.27342686e-02 4.26483390e-02 5.64327901e+02] [-4.25377926e-02 9.99079696e-01 -5.50421243e-03 -7.40332414e+01] [-4.28443081e-02 3.68000538e-03 9.99074984e-01 -3.64132906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.900714057 meters 0.05202319329580324 Centerline is valid? [True, True] Translation: X:564.36, Y:-74.04, Z:-36.41 [[ 9.98199483e-01 4.20652695e-02 4.27586758e-02 5.64357152e+02] [-4.18671683e-02 9.99107946e-01 -5.51839366e-03 -7.40390682e+01] [-4.29526655e-02 3.71827302e-03 9.99070189e-01 -3.64149439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.9307140569999 meters 0.05632669574576051 Centerline is valid? [True, True] Translation: X:564.39, Y:-74.05, Z:-36.42 [[ 9.98176398e-01 4.22008268e-02 4.31621246e-02 5.64385058e+02] [-4.19990714e-02 9.99102118e-01 -5.57094098e-03 -7.40494683e+01] [-4.33584684e-02 3.74801265e-03 9.99052549e-01 -3.64169110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.9607140569999 meters 0.052064344339851715 Centerline is valid? [True, True] Translation: X:564.42, Y:-74.05, Z:-36.42 [[ 9.98099830e-01 4.30088119e-02 4.41245068e-02 5.64415754e+02] [-4.27987792e-02 9.99067486e-01 -5.69414367e-03 -7.40479561e+01] [-4.43282584e-02 3.79484881e-03 9.99009812e-01 -3.64170705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.990714057 meters 0.05158378117885512 Centerline is valid? [True, True] Translation: X:564.45, Y:-74.05, Z:-36.42 [[ 9.97988460e-01 4.50710445e-02 4.45828936e-02 5.64445888e+02] [-4.48586631e-02 9.98976776e-01 -5.75329721e-03 -7.40514627e+01] [-4.47965825e-02 3.74179521e-03 9.98989122e-01 -3.64190483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.020714057 meters 0.048897832874280164 Centerline is valid? [True, True] Translation: X:564.48, Y:-74.05, Z:-36.42 [[ 9.97922335e-01 4.59225091e-02 4.51899969e-02 5.64476268e+02] [-4.57051419e-02 9.98937949e-01 -5.83215529e-03 -7.40510043e+01] [-4.54098300e-02 3.75462281e-03 9.98961386e-01 -3.64200240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.0507140569999 meters 0.049855996679535435 Centerline is valid? [True, True] Translation: X:564.51, Y:-74.06, Z:-36.42 [[ 9.97791913e-01 4.78523253e-02 4.60592399e-02 5.64505195e+02] [-4.76286441e-02 9.98847437e-01 -5.94227094e-03 -7.40558673e+01] [-4.62905052e-02 3.73541074e-03 9.98921036e-01 -3.64215664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.0807140569999 meters 0.045449665287938514 Centerline is valid? [True, True] Translation: X:564.54, Y:-74.05, Z:-36.42 [[ 9.97775370e-01 4.83365980e-02 4.59116972e-02 5.64535069e+02] [-4.81149313e-02 9.98824253e-01 -5.92164922e-03 -7.40529161e+01] [-4.61439490e-02 3.69943759e-03 9.98927950e-01 -3.64226095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.110714057 meters 0.04372406781277279 Centerline is valid? [True, True] Translation: X:564.56, Y:-74.06, Z:-36.43 [[ 9.97752073e-01 4.87611490e-02 4.59690166e-02 5.64564613e+02] [-4.85394519e-02 9.98803678e-01 -5.92738708e-03 -7.40553581e+01] [-4.62030490e-02 3.68275187e-03 9.98925280e-01 -3.64252238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.140714057 meters 0.04494360128875188 Centerline is valid? [True, True] Translation: X:564.59, Y:-74.06, Z:-36.43 [[ 9.97795835e-01 4.82473259e-02 4.55594850e-02 5.64593443e+02] [-4.80291181e-02 9.98828671e-01 -5.87272717e-03 -7.40607718e+01] [-4.57894633e-02 3.67160083e-03 9.98944365e-01 -3.64277818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.1707140569999 meters 0.04789268772789405 Centerline is valid? [True, True] Translation: X:564.62, Y:-74.07, Z:-36.43 [[ 9.97878917e-01 4.78454660e-02 4.41415829e-02 5.64621328e+02] [-4.76402737e-02 9.98848354e-01 -5.68942682e-03 -7.40697000e+01] [-4.43629607e-02 3.57444198e-03 9.99009085e-01 -3.64315934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.2007140569999 meters 0.04789268772789405 Centerline is valid? [True, True] Translation: X:564.65, Y:-74.07, Z:-36.43 [[ 9.97880558e-01 4.78110338e-02 4.41417891e-02 5.64650292e+02] [-4.76058783e-02 9.98850003e-01 -5.68782682e-03 -7.40734001e+01] [-4.43629670e-02 3.57436317e-03 9.99009085e-01 -3.64332862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.2307140569999 meters 0.044497878854750705 Centerline is valid? [True, True] Translation: X:564.68, Y:-74.07, Z:-36.43 [[ 9.97921769e-01 4.74462656e-02 4.36004076e-02 5.64680045e+02] [-4.72458352e-02 9.98867501e-01 -5.61658214e-03 -7.40721214e+01] [-4.38175160e-02 3.54497191e-03 9.99033262e-01 -3.64348195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.260714057 meters 0.05012503872580601 Centerline is valid? [True, True] Translation: X:564.71, Y:-74.08, Z:-36.44 [[ 9.97954016e-01 4.71590131e-02 4.31718610e-02 5.64707085e+02] [-4.69622961e-02 9.98881188e-01 -5.56008255e-03 -7.40844399e+01] [-4.33857678e-02 3.52125699e-03 9.99052189e-01 -3.64382653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.290714057 meters 0.05126816732947073 Centerline is valid? [True, True] Translation: X:564.74, Y:-74.09, Z:-36.44 [[ 9.97999826e-01 4.63781512e-02 4.29582814e-02 5.64735751e+02] [-4.61827607e-02 9.98917699e-01 -5.53022589e-03 -7.40898274e+01] [-4.31682692e-02 3.53523245e-03 9.99061561e-01 -3.64407483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.3207140569999 meters 0.04824133355686397 Centerline is valid? [True, True] Translation: X:564.77, Y:-74.09, Z:-36.44 [[ 9.97998231e-01 4.63502997e-02 4.30253496e-02 5.64765887e+02] [-4.61543775e-02 9.98918976e-01 -5.53642924e-03 -7.40890714e+01] [-4.32354533e-02 3.53953836e-03 9.99058641e-01 -3.64413438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.3507140569999 meters 0.04810985453684664 Centerline is valid? [True, True] Translation: X:564.80, Y:-74.09, Z:-36.44 [[ 9.97956179e-01 4.67556183e-02 4.35588895e-02 5.64795546e+02] [-4.65552542e-02 9.98899999e-01 -5.60352988e-03 -7.40923535e+01] [-4.37729712e-02 3.56418209e-03 9.99035146e-01 -3.64420455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.380714057 meters 0.05600801363430313 Centerline is valid? [True, True] Translation: X:564.82, Y:-74.11, Z:-36.44 [[ 9.97884278e-01 4.70625398e-02 4.48562710e-02 5.64823717e+02] [-4.68504430e-02 9.98885258e-01 -5.76857481e-03 -7.41060457e+01] [-4.50777516e-02 3.65483394e-03 9.98976796e-01 -3.64435036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.410714057 meters 0.04555949076061299 Centerline is valid? [True, True] Translation: X:564.86, Y:-74.09, Z:-36.44 [[ 9.97810613e-01 4.78493672e-02 4.56554446e-02 5.64855385e+02] [-4.76304834e-02 9.98847772e-01 -5.87075667e-03 -7.40936008e+01] [-4.58837511e-02 3.68331241e-03 9.98939996e-01 -3.64420453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4407140569999 meters 0.049440122216551814 Centerline is valid? [True, True] Translation: X:564.88, Y:-74.10, Z:-36.44 [[ 9.97540128e-01 5.11664728e-02 4.79133077e-02 5.64883815e+02] [-5.09292757e-02 9.98683270e-01 -6.15912710e-03 -7.41026394e+01] [-4.81653597e-02 3.70378638e-03 9.98832509e-01 -3.64424176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4707140569999 meters 0.04855005701327258 Centerline is valid? [True, True] Translation: X:564.91, Y:-74.10, Z:-36.44 [[ 9.97391038e-01 5.32747793e-02 4.87125754e-02 5.64913770e+02] [-5.30321415e-02 9.98573179e-01 -6.26086906e-03 -7.41044361e+01] [-4.89766177e-02 3.66120251e-03 9.98793215e-01 -3.64438793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.500714057 meters 0.04711808102282851 Centerline is valid? [True, True] Translation: X:564.94, Y:-74.10, Z:-36.44 [[ 9.97087500e-01 5.78197090e-02 4.97332806e-02 5.64943530e+02] [-5.75724755e-02 9.98320875e-01 -6.39062739e-03 -7.41046131e+01] [-5.00192765e-02 3.50874660e-03 9.98742089e-01 -3.64444752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.530714057 meters 0.04256455311218064 Centerline is valid? [True, True] Translation: X:564.97, Y:-74.10, Z:-36.45 [[ 9.96907895e-01 6.08233355e-02 4.97510797e-02 5.64974763e+02] [-6.05797226e-02 9.98142900e-01 -6.39135074e-03 -7.41004497e+01] [-5.00474302e-02 3.35768140e-03 9.98741198e-01 -3.64452691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.5607140569999 meters 0.041443296991187976 Centerline is valid? [True, True] Translation: X:565.00, Y:-74.10, Z:-36.45 [[ 9.96765669e-01 6.33409645e-02 4.94582914e-02 5.65004728e+02] [-6.31033394e-02 9.97986778e-01 -6.35288281e-03 -7.41011975e+01] [-4.97611186e-02 3.21135214e-03 9.98755985e-01 -3.64470904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.5907140569999 meters 0.03917768587332085 Centerline is valid? [True, True] Translation: X:565.04, Y:-74.10, Z:-36.45 [[ 9.96403011e-01 6.89153765e-02 4.93123827e-02 5.65035273e+02] [-6.86859800e-02 9.97618225e-01 -6.33346823e-03 -7.41009638e+01] [-4.96314051e-02 2.92361748e-03 9.98763323e-01 -3.64497958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.620714057 meters 0.04035677635277829 Centerline is valid? [True, True] Translation: X:565.06, Y:-74.11, Z:-36.45 [[ 9.96259820e-01 7.11939801e-02 4.89672233e-02 5.65063740e+02] [-7.09706243e-02 9.97458592e-01 -6.28717963e-03 -7.41062954e+01] [-4.92903870e-02 2.78843003e-03 9.98780598e-01 -3.64525609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.650714057 meters 0.036919394371030936 Centerline is valid? [True, True] Translation: X:565.09, Y:-74.10, Z:-36.45 [[ 9.95966663e-01 7.53547854e-02 4.87038327e-02 5.65094500e+02] [-7.51388772e-02 9.97153483e-01 -6.25145777e-03 -7.41037779e+01] [-4.90362737e-02 2.56669223e-03 9.98793700e-01 -3.64540800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.6807140569999 meters 0.03223928934674334 Centerline is valid? [True, True] Translation: X:565.13, Y:-74.10, Z:-36.46 [[ 9.95634235e-01 7.97863440e-02 4.84418049e-02 5.65125161e+02] [-7.95779831e-02 9.96809251e-01 -6.21780061e-03 -7.40978220e+01] [-4.87833349e-02 2.33575402e-03 9.98806653e-01 -3.64550468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.7107140569999 meters 0.03247939864787839 Centerline is valid? [True, True] Translation: X:565.15, Y:-74.10, Z:-36.46 [[ 9.95448905e-01 8.18805800e-02 4.87549716e-02 5.65153353e+02] [-8.16720917e-02 9.96639617e-01 -6.25650256e-03 -7.41009577e+01] [-4.91034223e-02 2.24610811e-03 9.98791174e-01 -3.64569409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.740714057 meters 0.03205031205002465 Centerline is valid? [True, True] Translation: X:565.18, Y:-74.10, Z:-36.46 [[ 9.95261507e-01 8.39951366e-02 4.89831503e-02 5.65182221e+02] [-8.37874224e-02 9.96463849e-01 -6.28217495e-03 -7.41038148e+01] [-4.93376106e-02 2.14823500e-03 9.98779848e-01 -3.64576625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.770714057 meters 0.03244350613175654 Centerline is valid? [True, True] Translation: X:565.21, Y:-74.11, Z:-36.46 [[ 9.95131381e-01 8.53309619e-02 4.93169587e-02 5.65209674e+02] [-8.51222117e-02 9.96350464e-01 -6.32154651e-03 -7.41075059e+01] [-4.96763983e-02 2.09280071e-03 9.98763173e-01 -3.64585829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.8007140569999 meters 0.03121705986878811 Centerline is valid? [True, True] Translation: X:565.24, Y:-74.11, Z:-36.46 [[ 9.94820983e-01 8.82644536e-02 5.04043363e-02 5.65239307e+02] [-8.80503965e-02 9.96095100e-01 -6.45594645e-03 -7.41092439e+01] [-5.07773430e-02 1.98438920e-03 9.98708027e-01 -3.64595402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.8307140569999 meters 0.030321453766679284 Centerline is valid? [True, True] Translation: X:565.27, Y:-74.11, Z:-36.46 [[ 9.94596049e-01 9.02563484e-02 5.13077987e-02 5.65268313e+02] [-9.00372201e-02 9.95916724e-01 -6.57099804e-03 -7.41126860e+01] [-5.16913691e-02 1.91587713e-03 9.98661270e-01 -3.64609229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.860714057 meters 0.030974066196085313 Centerline is valid? [True, True] Translation: X:565.30, Y:-74.12, Z:-36.46 [[ 9.94510131e-01 9.12975733e-02 5.11307331e-02 5.65295910e+02] [-9.10819969e-02 9.95821951e-01 -6.53538338e-03 -7.41186235e+01] [-5.15137710e-02 1.84241572e-03 9.98670585e-01 -3.64628533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.890714057 meters 0.031111520480912754 Centerline is valid? [True, True] Translation: X:565.32, Y:-74.13, Z:-36.46 [[ 9.94403803e-01 9.24343010e-02 5.11563847e-02 5.65323104e+02] [-9.22202340e-02 9.95717194e-01 -6.53430523e-03 -7.41253029e+01] [-5.15412858e-02 1.78008421e-03 9.98669278e-01 -3.64648041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9207140569999 meters 0.03086524145567338 Centerline is valid? [True, True] Translation: X:565.35, Y:-74.13, Z:-36.47 [[ 9.94383075e-01 9.27601720e-02 5.09691192e-02 5.65351664e+02] [-9.25484540e-02 9.95686943e-01 -6.50346370e-03 -7.41294735e+01] [-5.13525489e-02 1.74982105e-03 9.98679054e-01 -3.64670254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9507140569999 meters 0.03125323021072709 Centerline is valid? [True, True] Translation: X:565.38, Y:-74.14, Z:-36.47 [[ 9.94395089e-01 9.31138550e-02 5.00821095e-02 5.65378542e+02] [-9.29100626e-02 9.95654020e-01 -6.38699384e-03 -7.41370495e+01] [-5.04591712e-02 1.69806338e-03 9.98724681e-01 -3.64689388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9807140569999 meters 0.030623638069470407 Centerline is valid? [True, True] Translation: X:565.41, Y:-74.14, Z:-36.47 [[ 9.94433763e-01 9.26773916e-02 5.01237665e-02 5.65406952e+02] [-9.24729309e-02 9.95694708e-01 -6.38786338e-03 -7.41399192e+01] [-5.04999796e-02 1.71721542e-03 9.98722586e-01 -3.64704294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.010714057 meters 0.03127526421108234 Centerline is valid? [True, True] Translation: X:565.43, Y:-74.15, Z:-36.47 [[ 9.94403486e-01 9.30238857e-02 5.00825775e-02 5.65434030e+02] [-9.28203561e-02 9.95662434e-01 -6.37952064e-03 -7.41471332e+01] [-5.04587888e-02 1.69513488e-03 9.98724705e-01 -3.64728382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.040714057 meters 0.03101333048881678 Centerline is valid? [True, True] Translation: X:565.46, Y:-74.15, Z:-36.47 [[ 9.94402788e-01 9.27868525e-02 5.05340946e-02 5.65462608e+02] [-9.25796908e-02 9.95684517e-01 -6.42991121e-03 -7.41530885e+01] [-5.09126268e-02 1.71549078e-03 9.98701638e-01 -3.64742187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0707140569999 meters 0.030869137848791094 Centerline is valid? [True, True] Translation: X:565.49, Y:-74.16, Z:-36.48 [[ 9.94429806e-01 9.18361870e-02 5.17249936e-02 5.65490637e+02] [-9.16180452e-02 9.95772498e-01 -6.57775441e-03 -7.41584665e+01] [-5.21104019e-02 1.80217225e-03 9.98639704e-01 -3.64756083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.1007140569999 meters 0.030837173912442544 Centerline is valid? [True, True] Translation: X:565.52, Y:-74.17, Z:-36.48 [[ 9.94607731e-01 8.94413419e-02 5.24948396e-02 5.65518993e+02] [-8.92135206e-02 9.95990177e-01 -6.67190882e-03 -7.41660511e+01] [-5.28810891e-02 1.95268264e-03 9.98598907e-01 -3.64763233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.130714057 meters 0.03146335976623261 Centerline is valid? [True, True] Translation: X:565.55, Y:-74.17, Z:-36.48 [[ 9.94764393e-01 8.76521192e-02 5.25443458e-02 5.65547284e+02] [-8.74215785e-02 9.96149045e-01 -6.67438971e-03 -7.41726245e+01] [-5.29270243e-02 2.04593559e-03 9.98596287e-01 -3.64780128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.160714057 meters 0.033484356286631226 Centerline is valid? [True, True] Translation: X:565.58, Y:-74.19, Z:-36.48 [[ 9.95103453e-01 8.32138520e-02 5.33345334e-02 5.65575020e+02] [-8.29701785e-02 9.96529030e-01 -6.77062439e-03 -7.41871746e+01] [-5.37128206e-02 2.31229596e-03 9.98553747e-01 -3.64797338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.1907140569999 meters 0.034566354837497835 Centerline is valid? [True, True] Translation: X:565.60, Y:-74.20, Z:-36.48 [[ 9.95590410e-01 7.70394236e-02 5.35225475e-02 5.65603897e+02] [-7.67851907e-02 9.97024516e-01 -6.79329705e-03 -7.41978194e+01] [-5.38866437e-02 2.65360238e-03 9.98543533e-01 -3.64814632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.2207140569999 meters 0.03754450643058828 Centerline is valid? [True, True] Translation: X:565.63, Y:-74.21, Z:-36.48 [[ 9.95770403e-01 7.44562494e-02 5.38291022e-02 5.65631155e+02] [-7.41953255e-02 9.97220323e-01 -6.83228858e-03 -7.42100041e+01] [-5.41881813e-02 2.80952299e-03 9.98526789e-01 -3.64833364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.250714057 meters 0.037608426448702714 Centerline is valid? [True, True] Translation: X:565.66, Y:-74.22, Z:-36.49 [[ 9.96078103e-01 7.01410713e-02 5.39318365e-02 5.65660111e+02] [-6.98730096e-02 9.97532428e-01 -6.84230929e-03 -7.42192304e+01] [-5.42786828e-02 3.04709472e-03 9.98521176e-01 -3.64856860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.280714057 meters 0.038664468325440335 Centerline is valid? [True, True] Translation: X:565.69, Y:-74.23, Z:-36.49 [[ 9.96326770e-01 6.67255865e-02 5.36718117e-02 5.65689276e+02] [-6.64552189e-02 9.97766180e-01 -6.80841504e-03 -7.42299260e+01] [-5.40062140e-02 3.21663418e-03 9.98535419e-01 -3.64878726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.3107140569999 meters 0.03726938389506601 Centerline is valid? [True, True] Translation: X:565.72, Y:-74.24, Z:-36.49 [[ 9.96415443e-01 6.51548696e-02 5.39546815e-02 5.65718000e+02] [-6.48794094e-02 9.97869647e-01 -6.84317394e-03 -7.42355053e+01] [-5.42856051e-02 3.31809632e-03 9.98519936e-01 -3.64894090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.3407140569999 meters 0.04178332662667786 Centerline is valid? [True, True] Translation: X:565.74, Y:-74.25, Z:-36.49 [[ 9.96485591e-01 6.43012650e-02 5.36825326e-02 5.65744196e+02] [-6.40275021e-02 9.97924927e-01 -6.80578731e-03 -7.42512100e+01] [-5.40087581e-02 3.34471052e-03 9.98534860e-01 -3.64919221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.370714057 meters 0.038057845318694515 Centerline is valid? [True, True] Translation: X:565.77, Y:-74.26, Z:-36.49 [[ 9.96433292e-01 6.44722180e-02 5.44428907e-02 5.65772752e+02] [-6.41911155e-02 9.97913783e-01 -6.89806185e-03 -7.42581395e+01] [-5.47740443e-02 3.37870859e-03 9.98493059e-01 -3.64943310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.400714057 meters 0.040784270276883486 Centerline is valid? [True, True] Translation: X:565.80, Y:-74.27, Z:-36.50 [[ 9.96449378e-01 6.41665847e-02 5.45095068e-02 5.65800079e+02] [-6.38844434e-02 9.97933417e-01 -6.90458051e-03 -7.42674596e+01] [-5.48399017e-02 3.39775545e-03 9.98489379e-01 -3.64966270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.4307140569999 meters 0.03758547851509533 Centerline is valid? [True, True] Translation: X:565.83, Y:-74.27, Z:-36.50 [[ 9.96410328e-01 6.44914841e-02 5.48389082e-02 5.65829639e+02] [-6.42065744e-02 9.97912474e-01 -6.94329266e-03 -7.42670856e+01] [-5.51722138e-02 3.39735008e-03 9.98471074e-01 -3.64972949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.4607140569999 meters 0.03758547851509533 Centerline is valid? [True, True] Translation: X:565.86, Y:-74.27, Z:-36.50 [[ 9.96414934e-01 6.44200823e-02 5.48391461e-02 5.65857733e+02] [-6.41351680e-02 9.97917079e-01 -6.94141348e-03 -7.42705823e+01] [-5.51720869e-02 3.39941021e-03 9.98471074e-01 -3.64989361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.490714057 meters 0.03758547851509533 Centerline is valid? [True, True] Translation: X:565.89, Y:-74.27, Z:-36.50 [[ 9.96419528e-01 6.43485618e-02 5.48396433e-02 5.65885826e+02] [-6.40637551e-02 9.97921694e-01 -6.93748314e-03 -7.42740778e+01] [-5.51720867e-02 3.39941020e-03 9.98471074e-01 -3.65005781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.520714057 meters 0.0415158925759737 Centerline is valid? [True, True] Translation: X:565.91, Y:-74.29, Z:-36.50 [[ 9.96443172e-01 6.39268314e-02 5.49032438e-02 5.65912748e+02] [-6.36409497e-02 9.97948719e-01 -6.94147989e-03 -7.42860820e+01] [-5.52343687e-02 3.42269566e-03 9.98467551e-01 -3.65022483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.5507140569999 meters 0.03824202804241081 Centerline is valid? [True, True] Translation: X:565.94, Y:-74.29, Z:-36.50 [[ 9.96453694e-01 6.40081597e-02 5.46167666e-02 5.65942582e+02] [-6.37255436e-02 9.97943593e-01 -6.90226639e-03 -7.42861214e+01] [-5.49462536e-02 3.39730570e-03 9.98483534e-01 -3.65037201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.5807140569999 meters 0.03832891215118407 Centerline is valid? [True, True] Translation: X:565.97, Y:-74.29, Z:-36.51 [[ 9.96519219e-01 6.30302426e-02 5.45585442e-02 5.65971432e+02] [-6.27468787e-02 9.98005670e-01 -6.89294276e-03 -7.42939999e+01] [-5.48842003e-02 3.44557158e-03 9.98486781e-01 -3.65058538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.610714057 meters 0.0377062657889082 Centerline is valid? [True, True] Translation: X:566.00, Y:-74.30, Z:-36.51 [[ 9.96571128e-01 6.20619204e-02 5.47202506e-02 5.66000871e+02] [-6.17755315e-02 9.98066139e-01 -6.91133858e-03 -7.42990152e+01] [-5.50433602e-02 3.50726792e-03 9.98477805e-01 -3.65080243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.640714057 meters 0.03828788180956976 Centerline is valid? [True, True] Translation: X:566.03, Y:-74.31, Z:-36.51 [[ 9.96634861e-01 6.11464946e-02 5.45899251e-02 5.66030619e+02] [-6.08601610e-02 9.98122495e-01 -6.89383000e-03 -7.43065926e+01] [-5.49089658e-02 3.54827968e-03 9.98485060e-01 -3.65097827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.6707140569999 meters 0.04212646859046133 Centerline is valid? [True, True] Translation: X:566.06, Y:-74.32, Z:-36.51 [[ 9.96866982e-01 5.79243077e-02 5.38608816e-02 5.66059183e+02] [-5.76409005e-02 9.98314210e-01 -6.80176352e-03 -7.43200283e+01] [-5.41640709e-02 3.67586376e-03 9.98525283e-01 -3.65124968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.7007140569999 meters 0.04098849557987503 Centerline is valid? [True, True] Translation: X:566.09, Y:-74.32, Z:-36.51 [[ 9.96997618e-01 5.60720542e-02 5.34010704e-02 5.66090091e+02] [-5.57908363e-02 9.98419705e-01 -6.74355287e-03 -7.43235093e+01] [-5.36948058e-02 3.74401578e-03 9.98550374e-01 -3.65143985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.7307140569999 meters 0.043022609976260257 Centerline is valid? [True, True] Translation: X:566.12, Y:-74.33, Z:-36.52 [[ 9.97185859e-01 5.28846006e-02 5.31373786e-02 5.66118560e+02] [-5.26015444e-02 9.98593021e-01 -6.71235276e-03 -7.43343007e+01] [-5.34175955e-02 3.89835508e-03 9.98564652e-01 -3.65166711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.760714057 meters 0.042081514307481485 Centerline is valid? [True, True] Translation: X:566.15, Y:-74.34, Z:-36.52 [[ 9.97249923e-01 5.18218468e-02 5.29819555e-02 5.66150314e+02] [-5.15390022e-02 9.98648562e-01 -6.69184100e-03 -7.43381491e+01] [-5.32571372e-02 3.94280080e-03 9.98573048e-01 -3.65185722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.790714057 meters 0.04393173083169113 Centerline is valid? [True, True] Translation: X:566.18, Y:-74.35, Z:-36.52 [[ 9.97288246e-01 5.07059698e-02 5.33390959e-02 5.66180535e+02] [-5.04175343e-02 9.98705483e-01 -6.74019139e-03 -7.43462922e+01] [-5.36118155e-02 4.03268794e-03 9.98553709e-01 -3.65200376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.8207140569999 meters 0.04253528927782135 Centerline is valid? [True, True] Translation: X:566.21, Y:-74.35, Z:-36.52 [[ 9.97238311e-01 5.10198457e-02 5.39696729e-02 5.66213742e+02] [-5.07243165e-02 9.98689322e-01 -6.83241758e-03 -7.43488199e+01] [-5.42475249e-02 4.07597380e-03 9.98519200e-01 -3.65213642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.8507140569999 meters 0.044718098087464846 Centerline is valid? [True, True] Translation: X:566.24, Y:-74.36, Z:-36.52 [[ 9.97268133e-01 5.05103528e-02 5.38978249e-02 5.66244578e+02] [-5.02140104e-02 9.98715064e-01 -6.83919730e-03 -7.43561468e+01] [-5.41740199e-02 4.11408758e-03 9.98523034e-01 -3.65228452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.880714057 meters 0.04500123845212418 Centerline is valid? [True, True] Translation: X:566.28, Y:-74.36, Z:-36.52 [[ 9.97223260e-01 5.02303751e-02 5.49788902e-02 5.66276842e+02] [-4.99208610e-02 9.98728719e-01 -6.98949105e-03 -7.43608726e+01] [-5.52600813e-02 4.22548952e-03 9.98463053e-01 -3.65236988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.910714057 meters 0.0436005602154595 Centerline is valid? [True, True] Translation: X:566.31, Y:-74.36, Z:-36.53 [[ 9.97254358e-01 4.95364390e-02 5.50444143e-02 5.66309077e+02] [-4.92243758e-02 9.98763135e-01 -7.01153415e-03 -7.43628608e+01] [-5.53236582e-02 4.28275605e-03 9.98459289e-01 -3.65255979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9407140569999 meters 0.048357917778842456 Centerline is valid? [True, True] Translation: X:566.34, Y:-74.37, Z:-36.53 [[ 9.97310410e-01 4.87402477e-02 5.47387897e-02 5.66339057e+02] [-4.84296758e-02 9.98802159e-01 -6.98672415e-03 -7.43740371e+01] [-5.50137560e-02 4.31695088e-03 9.98476264e-01 -3.65279769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9707140569999 meters 0.046987614060027785 Centerline is valid? [True, True] Translation: X:566.37, Y:-74.37, Z:-36.53 [[ 9.97437036e-01 4.65129062e-02 5.43682770e-02 5.66370451e+02] [-4.62028433e-02 9.98907924e-01 -6.94676307e-03 -7.43746148e+01] [-5.46320169e-02 4.41698978e-03 9.98496787e-01 -3.65295108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.000714057 meters 0.04499568525733931 Centerline is valid? [True, True] Translation: X:566.40, Y:-74.37, Z:-36.53 [[ 9.97525170e-01 4.49856842e-02 5.40353832e-02 5.66402265e+02] [-4.46770647e-02 9.98977608e-01 -6.90648717e-03 -7.43747849e+01] [-5.42908309e-02 4.47525248e-03 9.98515137e-01 -3.65314824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.030714057 meters 0.05229860460328831 Centerline is valid? [True, True] Translation: X:566.43, Y:-74.39, Z:-36.53 [[ 9.97692090e-01 4.15542407e-02 5.37004471e-02 5.66429852e+02] [-4.12443924e-02 9.99125498e-01 -6.86581545e-03 -7.43885367e+01] [-5.39387897e-02 4.63512746e-03 9.98533486e-01 -3.65341309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.0607140569999 meters 0.04626203129071763 Centerline is valid? [True, True] Translation: X:566.46, Y:-74.38, Z:-36.54 [[ 9.97799809e-01 3.96341721e-02 5.31476547e-02 5.66461460e+02] [-3.93280273e-02 9.99203255e-01 -6.79419724e-03 -7.43828888e+01] [-5.33745920e-02 4.68905629e-03 9.98563551e-01 -3.65354245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.0907140569999 meters 0.04817127695474742 Centerline is valid? [True, True] Translation: X:566.49, Y:-74.39, Z:-36.54 [[ 9.97976487e-01 3.62123663e-02 5.22646637e-02 5.66491621e+02] [-3.59116165e-02 9.99332628e-01 -6.68234118e-03 -7.43877714e+01] [-5.24717671e-02 4.79191082e-03 9.98610911e-01 -3.65369379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.120714057 meters 0.04817127695474742 Centerline is valid? [True, True] Translation: X:566.52, Y:-74.39, Z:-36.54 [[ 9.97966003e-01 3.64999230e-02 5.22648300e-02 5.66524038e+02] [-3.61996315e-02 9.99322246e-01 -6.68104190e-03 -7.43919937e+01] [-5.24732648e-02 4.77548509e-03 9.98610911e-01 -3.65388323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.150714057 meters 0.048735259720500086 Centerline is valid? [True, True] Translation: X:566.56, Y:-74.40, Z:-36.54 [[ 9.98058764e-01 3.46525064e-02 5.17484984e-02 5.66555235e+02] [-3.43548090e-02 9.99387698e-01 -6.63150348e-03 -7.43957974e+01] [-5.19466109e-02 4.84082039e-03 9.98638131e-01 -3.65414298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.1807140569999 meters 0.052862410251758106 Centerline is valid? [True, True] Translation: X:566.58, Y:-74.40, Z:-36.54 [[ 9.98215584e-01 3.13284533e-02 5.08348002e-02 5.66583951e+02] [-3.10368085e-02 9.99496999e-01 -6.51658274e-03 -7.44044370e+01] [-5.10133847e-02 4.92720449e-03 9.98685815e-01 -3.65444627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.2107140569999 meters 0.05108798852979696 Centerline is valid? [True, True] Translation: X:566.62, Y:-74.40, Z:-36.55 [[ 9.98265652e-01 3.04683398e-02 5.03722920e-02 5.66615881e+02] [-3.01810277e-02 9.99523607e-01 -6.45476975e-03 -7.44049421e+01] [-5.05449611e-02 4.92328739e-03 9.98709652e-01 -3.65462139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.240714057 meters 0.0942473705822665 Centerline is valid? [True, True] Translation: X:566.64, Y:-74.47, Z:-36.55 [[ 9.98026605e-01 3.51249299e-02 5.20493613e-02 5.66637907e+02] [-3.48236730e-02 9.99371121e-01 -6.68381737e-03 -7.44668970e+01] [-5.22513972e-02 4.85807761e-03 9.98622146e-01 -3.65508090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.270714057 meters 0.050971091422663914 Centerline is valid? [True, True] Translation: X:566.68, Y:-74.41, Z:-36.55 [[ 9.98190272e-01 3.08757411e-02 5.16029977e-02 5.66676850e+02] [-3.05740272e-02 9.99510541e-01 -6.62620812e-03 -7.44104376e+01] [-5.17823292e-02 5.03650503e-03 9.98645695e-01 -3.65491592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.3007140569999 meters 0.04916890909039498 Centerline is valid? [True, True] Translation: X:566.71, Y:-74.41, Z:-36.55 [[ 9.98114053e-01 3.42503167e-02 5.09436267e-02 5.66707711e+02] [-3.39605388e-02 9.99401755e-01 -6.54322584e-03 -7.44078236e+01] [-5.11372575e-02 4.80081265e-03 9.98680095e-01 -3.65501958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.3307140569999 meters 0.05004821128088678 Centerline is valid? [True, True] Translation: X:566.74, Y:-74.41, Z:-36.55 [[ 9.97989338e-01 3.72751381e-02 5.12625105e-02 5.66737002e+02] [-3.69856480e-02 9.99294103e-01 -6.58460392e-03 -7.44104491e+01] [-5.14717665e-02 4.67538733e-03 9.98663506e-01 -3.65516747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.360714057 meters 0.048390073231391724 Centerline is valid? [True, True] Translation: X:566.77, Y:-74.41, Z:-36.55 [[ 9.97866165e-01 4.03641804e-02 5.13210426e-02 5.66767397e+02] [-4.00781266e-02 9.99174810e-01 -6.59116954e-03 -7.44096156e+01] [-5.15447401e-02 4.52025383e-03 9.98660456e-01 -3.65534131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.390714057 meters 0.045777621869038124 Centerline is valid? [True, True] Translation: X:566.80, Y:-74.41, Z:-36.55 [[ 9.97548149e-01 4.68961966e-02 5.19464833e-02 5.66798382e+02] [-4.66118881e-02 9.98890794e-01 -6.67179744e-03 -7.44060280e+01] [-5.22017459e-02 4.23411553e-03 9.98627583e-01 -3.65547799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4207140569999 meters 0.04534744073233322 Centerline is valid? [True, True] Translation: X:566.83, Y:-74.41, Z:-36.56 [[ 9.97307643e-01 5.05240978e-02 5.31486605e-02 5.66827965e+02] [-5.02315559e-02 9.98714268e-01 -6.82656444e-03 -7.44077716e+01] [-5.34252316e-02 4.13844498e-03 9.98563277e-01 -3.65560724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4507140569999 meters 0.04124224400507288 Centerline is valid? [True, True] Translation: X:566.86, Y:-74.40, Z:-36.56 [[ 9.96840638e-01 5.84275911e-02 5.38048268e-02 5.66859794e+02] [-5.81392626e-02 9.98284569e-01 -6.90984426e-03 -7.44026908e+01] [-5.41162539e-02 3.75984060e-03 9.98527563e-01 -3.65565502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4807140569999 meters 0.038215129613792115 Centerline is valid? [True, True] Translation: X:566.89, Y:-74.40, Z:-36.56 [[ 9.96569232e-01 6.24831341e-02 5.42736097e-02 5.66891198e+02] [-6.21957179e-02 9.98039632e-01 -6.97033834e-03 -7.44002698e+01] [-5.46027420e-02 3.57083860e-03 9.98501773e-01 -3.65582916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.510714057 meters 0.03956886354953245 Centerline is valid? [True, True] Translation: X:566.92, Y:-74.40, Z:-36.56 [[ 9.96273849e-01 6.69914958e-02 5.43190292e-02 5.66920393e+02] [-6.67102719e-02 9.97748002e-01 -6.97603940e-03 -7.44049214e+01] [-5.46640382e-02 3.32640842e-03 9.98499263e-01 -3.65602143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.540714057 meters 0.03643411445789484 Centerline is valid? [True, True] Translation: X:566.95, Y:-74.40, Z:-36.56 [[ 9.95745454e-01 7.48857607e-02 5.36946258e-02 5.66951612e+02] [-7.46224633e-02 9.97188022e-01 -6.89463751e-03 -7.43992993e+01] [-5.40599479e-02 2.85847872e-03 9.98533600e-01 -3.65618091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5707140569999 meters 0.032300515844688585 Centerline is valid? [True, True] Translation: X:566.98, Y:-74.39, Z:-36.56 [[ 9.95085443e-01 8.24105209e-02 5.48950485e-02 5.66982944e+02] [-8.21467191e-02 9.96595321e-01 -7.04863569e-03 -7.43937904e+01] [-5.52890302e-02 2.50454664e-03 9.98467251e-01 -3.65633443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.6007140569999 meters 0.03199050569588276 Centerline is valid? [True, True] Translation: X:567.01, Y:-74.40, Z:-36.56 [[ 9.94806723e-01 8.56435180e-02 5.49979234e-02 5.67011196e+02] [-8.53837762e-02 9.96323127e-01 -7.05959378e-03 -7.43966903e+01] [-5.54003114e-02 2.32700098e-03 9.98461512e-01 -3.65644792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.630714057 meters 0.030958562912547026 Centerline is valid? [True, True] Translation: X:567.04, Y:-74.40, Z:-36.57 [[ 9.94624031e-01 8.76916310e-02 5.50746367e-02 5.67039877e+02] [-8.74344590e-02 9.96145210e-01 -7.06648715e-03 -7.43971882e+01] [-5.54820074e-02 2.21307687e-03 9.98457235e-01 -3.65661598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.660714057 meters 0.03183009044710028 Centerline is valid? [True, True] Translation: X:567.07, Y:-74.40, Z:-36.57 [[ 9.94290383e-01 9.17001813e-02 5.45684164e-02 5.67067730e+02] [-9.14539626e-02 9.95784719e-01 -6.99752403e-03 -7.44037082e+01] [-5.49800694e-02 1.96707293e-03 9.98485514e-01 -3.65692135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.6907140569999 meters 0.030463813512833164 Centerline is valid? [True, True] Translation: X:567.10, Y:-74.40, Z:-36.57 [[ 9.94153574e-01 9.32584390e-02 5.44199890e-02 5.67096507e+02] [-9.30160487e-02 9.95640174e-01 -6.97558481e-03 -7.44046912e+01] [-5.48332595e-02 1.87287022e-03 9.98493769e-01 -3.65711028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.7207140569999 meters 0.029893327576070272 Centerline is valid? [True, True] Translation: X:567.13, Y:-74.41, Z:-36.57 [[ 9.94018235e-01 9.47137865e-02 5.43787345e-02 5.67125341e+02] [-9.44741492e-02 9.95502940e-01 -6.96643521e-03 -7.44077174e+01] [-5.47940075e-02 1.78737896e-03 9.98496080e-01 -3.65740379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.750714057 meters 0.030376170059864236 Centerline is valid? [True, True] Translation: X:567.15, Y:-74.41, Z:-36.58 [[ 9.94010408e-01 9.49619290e-02 5.40882674e-02 5.67152220e+02] [-9.47254246e-02 9.95479348e-01 -6.92537036e-03 -7.44146779e+01] [-5.45013997e-02 1.76035612e-03 9.98512142e-01 -3.65761242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.780714057 meters 0.03199812371092601 Centerline is valid? [True, True] Translation: X:567.18, Y:-74.42, Z:-36.58 [[ 9.94030715e-01 9.46949138e-02 5.41831192e-02 5.67177821e+02] [-9.44574333e-02 9.95504760e-01 -6.93292463e-03 -7.44230016e+01] [-5.45960658e-02 1.77354166e-03 9.98506947e-01 -3.65782556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.8107140569999 meters 0.03035425310361774 Centerline is valid? [True, True] Translation: X:567.21, Y:-74.43, Z:-36.58 [[ 9.94154771e-01 9.39724000e-02 5.31552342e-02 5.67205954e+02] [-9.37433650e-02 9.95573232e-01 -6.79128509e-03 -7.44264588e+01] [-5.35581216e-02 1.76863795e-03 9.98563168e-01 -3.65798687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.8407140569999 meters 0.0302692310997532 Centerline is valid? [True, True] Translation: X:567.23, Y:-74.43, Z:-36.58 [[ 9.94154843e-01 9.39518970e-02 5.31901231e-02 5.67233008e+02] [-9.37227281e-02 9.95575169e-01 -6.79208392e-03 -7.44325746e+01] [-5.35928950e-02 1.76725968e-03 9.98561304e-01 -3.65812207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.870714057 meters 0.030426043641384633 Centerline is valid? [True, True] Translation: X:567.26, Y:-74.44, Z:-36.58 [[ 9.94087836e-01 9.43381628e-02 5.37557886e-02 5.67260163e+02] [-9.41049631e-02 9.95538656e-01 -6.85858472e-03 -7.44405996e+01] [-5.41629919e-02 1.75934913e-03 9.98530558e-01 -3.65826168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.900714057 meters 0.03075737469674096 Centerline is valid? [True, True] Translation: X:567.29, Y:-74.45, Z:-36.58 [[ 9.93999136e-01 9.49554892e-02 5.43062920e-02 5.67286928e+02] [-9.47188022e-02 9.95480005e-01 -6.92154432e-03 -7.44466432e+01] [-5.47180665e-02 1.73618214e-03 9.98500335e-01 -3.65840940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.9307140569999 meters 0.03054847099775105 Centerline is valid? [True, True] Translation: X:567.32, Y:-74.45, Z:-36.59 [[ 9.93830619e-01 9.68355538e-02 5.40701116e-02 5.67315407e+02] [-9.66039641e-02 9.95299075e-01 -6.88660882e-03 -7.44545355e+01] [-5.44828006e-02 1.62073558e-03 9.98513394e-01 -3.65856754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.9607140569999 meters 0.030376840289994773 Centerline is valid? [True, True] Translation: X:567.34, Y:-74.46, Z:-36.59 [[ 9.93759952e-01 9.75760561e-02 5.40376779e-02 5.67342874e+02] [-9.73459843e-02 9.95226822e-01 -6.87978294e-03 -7.44605888e+01] [-5.44510485e-02 1.57650182e-03 9.98515197e-01 -3.65879542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.990714057 meters 0.029368269705149205 Centerline is valid? [True, True] Translation: X:567.37, Y:-74.46, Z:-36.59 [[ 9.93764949e-01 9.80145452e-02 5.31448532e-02 5.67372010e+02] [-9.77928947e-02 9.95183818e-01 -6.76148870e-03 -7.44635796e+01] [-5.35516222e-02 1.52214144e-03 9.98563922e-01 -3.65894208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.020714057 meters 0.030921448348558152 Centerline is valid? [True, True] Translation: X:567.40, Y:-74.48, Z:-36.59 [[ 9.93729159e-01 9.83251437e-02 5.32402604e-02 5.67397845e+02] [-9.81032887e-02 9.95153204e-01 -6.77087593e-03 -7.44766637e+01] [-5.36479631e-02 1.50537221e-03 9.98558776e-01 -3.65929551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.0507140569999 meters 0.03141586863361978 Centerline is valid? [True, True] Translation: X:567.42, Y:-74.49, Z:-36.59 [[ 9.93810714e-01 9.73750900e-02 5.34636057e-02 5.67424417e+02] [-9.71502570e-02 9.95246534e-01 -6.79442795e-03 -7.44884622e+01] [-5.38710763e-02 1.55837225e-03 9.98546683e-01 -3.65948581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.0807140569999 meters 0.03175499063943703 Centerline is valid? [True, True] Translation: X:567.45, Y:-74.50, Z:-36.60 [[ 9.93907851e-01 9.61633769e-02 5.38496912e-02 5.67452684e+02] [-9.59337560e-02 9.95364227e-01 -6.83888942e-03 -7.44964666e+01] [-5.42577069e-02 1.63122275e-03 9.98525633e-01 -3.65962989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.110714057 meters 0.03230132889250744 Centerline is valid? [True, True] Translation: X:567.48, Y:-74.50, Z:-36.60 [[ 9.94053275e-01 9.46137013e-02 5.39104278e-02 5.67480528e+02] [-9.43814810e-02 9.95512586e-01 -6.84302061e-03 -7.45044263e+01] [-5.43159529e-02 1.71418103e-03 9.98522328e-01 -3.65975765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.140714057 meters 0.0336656915185452 Centerline is valid? [True, True] Translation: X:567.51, Y:-74.52, Z:-36.60 [[ 9.94443128e-01 9.04135431e-02 5.39282561e-02 5.67507621e+02] [-9.01751996e-02 9.95902417e-01 -6.84165564e-03 -7.45172126e+01] [-5.43258589e-02 1.94064618e-03 9.98521374e-01 -3.65991610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.1707140569999 meters 0.03465990301818601 Centerline is valid? [True, True] Translation: X:567.54, Y:-74.53, Z:-36.60 [[ 9.94657436e-01 8.76812251e-02 5.44847488e-02 5.67535992e+02] [-8.74339869e-02 9.96146352e-01 -6.90959195e-03 -7.45265106e+01] [-5.48806253e-02 2.10885820e-03 9.98490696e-01 -3.66001170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.2007140569999 meters 0.03311388963110291 Centerline is valid? [True, True] Translation: X:567.57, Y:-74.53, Z:-36.60 [[ 9.95122297e-01 8.14956399e-02 5.55884454e-02 5.67565742e+02] [-8.12288585e-02 9.96670573e-01 -7.04566950e-03 -7.45337035e+01] [-5.59775591e-02 2.49591685e-03 9.98428907e-01 -3.66002746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.2307140569999 meters 0.034062131983866005 Centerline is valid? [True, True] Translation: X:567.59, Y:-74.54, Z:-36.60 [[ 9.95380566e-01 7.76516787e-02 5.64601230e-02 5.67594935e+02] [-7.73703080e-02 9.96976745e-01 -7.15579198e-03 -7.45426015e+01] [-5.68450889e-02 2.75439917e-03 9.98379211e-01 -3.66017870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.260714057 meters 0.03885102105731727 Centerline is valid? [True, True] Translation: X:567.62, Y:-74.56, Z:-36.60 [[ 9.95873779e-01 6.98705941e-02 5.79095457e-02 5.67621713e+02] [-6.95615179e-02 9.97550672e-01 -7.33845213e-03 -7.45615017e+01] [-5.82804482e-02 3.27989616e-03 9.98294862e-01 -3.66034956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.290714057 meters 0.03864766623213467 Centerline is valid? [True, True] Translation: X:567.65, Y:-74.57, Z:-36.61 [[ 9.96151737e-01 6.58484898e-02 5.78419625e-02 5.67652114e+02] [-6.55332774e-02 9.97823449e-01 -7.33168553e-03 -7.45673729e+01] [-5.81988469e-02 3.51289790e-03 9.98298830e-01 -3.66055211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.3207140569999 meters 0.04169590254774013 Centerline is valid? [True, True] Translation: X:567.68, Y:-74.58, Z:-36.61 [[ 9.96582103e-01 5.88841683e-02 5.79376188e-02 5.67681556e+02] [-5.85561770e-02 9.98257100e-01 -7.34412598e-03 -7.45797357e+01] [-5.82690921e-02 3.92641905e-03 9.98293191e-01 -3.66076275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.3507140569999 meters 0.04385436847182174 Centerline is valid? [True, True] Translation: X:567.71, Y:-74.59, Z:-36.61 [[ 9.96773987e-01 5.57820225e-02 5.77060147e-02 5.67710226e+02] [-5.54514691e-02 9.98434588e-01 -7.31498456e-03 -7.45883880e+01] [-5.80237256e-02 4.09150303e-03 9.98306820e-01 -3.66091071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.380714057 meters 0.04369409179334876 Centerline is valid? [True, True] Translation: X:567.74, Y:-74.59, Z:-36.61 [[ 9.97082340e-01 5.07509853e-02 5.70188148e-02 5.67740900e+02] [-5.04200931e-02 9.98701944e-01 -7.22784758e-03 -7.45944661e+01] [-5.73116216e-02 4.33186523e-03 9.98346940e-01 -3.66120338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.410714057 meters 0.04376029544516997 Centerline is valid? [True, True] Translation: X:567.77, Y:-74.60, Z:-36.61 [[ 9.97175942e-01 4.93644817e-02 5.65976107e-02 5.67772792e+02] [-4.90361489e-02 9.98771224e-01 -7.17620193e-03 -7.45997182e+01] [-5.68823144e-02 4.38060705e-03 9.98371280e-01 -3.66147767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4407140569999 meters 0.04593331871345397 Centerline is valid? [True, True] Translation: X:567.80, Y:-74.61, Z:-36.62 [[ 9.97282815e-01 4.81788438e-02 5.57295823e-02 5.67803394e+02] [-4.78584715e-02 9.98829106e-01 -7.06985867e-03 -7.46074375e+01] [-5.60049465e-02 4.38351592e-03 9.98420869e-01 -3.66170633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4707140569999 meters 0.047211329280149046 Centerline is valid? [True, True] Translation: X:567.84, Y:-74.61, Z:-36.62 [[ 9.97269725e-01 4.84938306e-02 5.56906107e-02 5.67835117e+02] [-4.81736689e-02 9.98813897e-01 -7.07785956e-03 -7.46130662e+01] [-5.59677885e-02 4.37571402e-03 9.98422986e-01 -3.66188731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.500714057 meters 0.04567900949414658 Centerline is valid? [True, True] Translation: X:567.87, Y:-74.61, Z:-36.62 [[ 9.97264028e-01 4.89316788e-02 5.54089223e-02 5.67867728e+02] [-4.86146027e-02 9.98792682e-01 -7.05677244e-03 -7.46142808e+01] [-5.56873259e-02 4.34378257e-03 9.98438808e-01 -3.66206536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.530714057 meters 0.045309003384062456 Centerline is valid? [True, True] Translation: X:567.90, Y:-74.62, Z:-36.62 [[ 9.97201916e-01 5.04694663e-02 5.51468225e-02 5.67899620e+02] [-5.01569358e-02 9.98716554e-01 -7.03755801e-03 -7.46155937e+01] [-5.54312263e-02 4.25187070e-03 9.98453454e-01 -3.66222398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.5607140569999 meters 0.04434880218556487 Centerline is valid? [True, True] Translation: X:567.93, Y:-74.62, Z:-36.62 [[ 9.97047463e-01 5.27114471e-02 5.58378064e-02 5.67930694e+02] [-5.23943434e-02 9.98601028e-01 -7.12882769e-03 -7.46167391e+01] [-5.61354617e-02 4.18219435e-03 9.98414403e-01 -3.66248181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.5907140569999 meters 0.043283199606172475 Centerline is valid? [True, True] Translation: X:567.96, Y:-74.62, Z:-36.63 [[ 9.96964483e-01 5.39403796e-02 5.61449428e-02 5.67962457e+02] [-5.36216553e-02 9.98535590e-01 -7.16899715e-03 -7.46178726e+01] [-5.64494220e-02 4.13665077e-03 9.98396890e-01 -3.66267812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.620714057 meters 0.04105273255450848 Centerline is valid? [True, True] Translation: X:568.00, Y:-74.62, Z:-36.63 [[ 9.96892627e-01 5.52743230e-02 5.61234382e-02 5.67995371e+02] [-5.49577875e-02 9.98462942e-01 -7.16902092e-03 -7.46169318e+01] [-5.64334360e-02 4.06232411e-03 9.98398099e-01 -3.66286621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.650714057 meters 0.0407714811282216 Centerline is valid? [True, True] Translation: X:568.03, Y:-74.62, Z:-36.63 [[ 9.96783314e-01 5.72822345e-02 5.60515010e-02 5.68026803e+02] [-5.69688401e-02 9.98350178e-01 -7.17447072e-03 -7.46167708e+01] [-5.63699957e-02 3.95820371e-03 9.98402101e-01 -3.66302579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.6807140569999 meters 0.044370860115476654 Centerline is valid? [True, True] Translation: X:568.06, Y:-74.62, Z:-36.63 [[ 9.96752301e-01 5.79356374e-02 5.59313128e-02 5.68057539e+02] [-5.76245037e-02 9.98312645e-01 -7.16097523e-03 -7.46242607e+01] [-5.62518124e-02 3.91470440e-03 9.98408939e-01 -3.66318134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.7107140569999 meters 0.0410565405378521 Centerline is valid? [True, True] Translation: X:568.09, Y:-74.62, Z:-36.63 [[ 9.96623070e-01 5.97297967e-02 5.63454360e-02 5.68090086e+02] [-5.94164092e-02 9.98207157e-01 -7.22234987e-03 -7.46203468e+01] [-5.66758070e-02 3.85011701e-03 9.98385211e-01 -3.66334853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.740714057 meters 0.041635747939381365 Centerline is valid? [True, True] Translation: X:568.12, Y:-74.62, Z:-36.64 [[ 9.96604174e-01 5.98354340e-02 5.65671311e-02 5.68123116e+02] [-5.95195774e-02 9.98200784e-01 -7.25364290e-03 -7.46232221e+01] [-5.68993794e-02 3.86215906e-03 9.98372448e-01 -3.66350651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.770714057 meters 0.04496552125154413 Centerline is valid? [True, True] Translation: X:568.15, Y:-74.63, Z:-36.64 [[ 9.96564629e-01 6.00352614e-02 5.70500492e-02 5.68154627e+02] [-5.97133607e-02 9.98188637e-01 -7.33203003e-03 -7.46296520e+01] [-5.73868912e-02 3.90019163e-03 9.98344396e-01 -3.66362950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.8007140569999 meters 0.04085980714567172 Centerline is valid? [True, True] Translation: X:568.19, Y:-74.63, Z:-36.64 [[ 9.96555186e-01 6.02721888e-02 5.69651208e-02 5.68188447e+02] [-5.99507640e-02 9.98174376e-01 -7.33623790e-03 -7.46256866e+01] [-5.73032951e-02 3.89586341e-03 9.98349215e-01 -3.66380916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.8307140569999 meters 0.04221082926525798 Centerline is valid? [True, True] Translation: X:568.22, Y:-74.63, Z:-36.64 [[ 9.96527122e-01 6.04600238e-02 5.72562690e-02 5.68219832e+02] [-6.01346508e-02 9.98162916e-01 -7.39033819e-03 -7.46298071e+01] [-5.75979045e-02 3.92158671e-03 9.98332160e-01 -3.66399270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.860714057 meters 0.04210662652068564 Centerline is valid? [True, True] Translation: X:568.25, Y:-74.63, Z:-36.64 [[ 9.96521845e-01 6.15291121e-02 5.61994758e-02 5.68252279e+02] [-6.12165066e-02 9.98098044e-01 -7.26875699e-03 -7.46300809e+01] [-5.65398270e-02 3.80313954e-03 9.98393101e-01 -3.66425357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.890714057 meters 0.040118537452660225 Centerline is valid? [True, True] Translation: X:568.28, Y:-74.63, Z:-36.65 [[ 9.96489925e-01 6.27528330e-02 5.54067831e-02 5.68284389e+02] [-6.24501219e-02 9.98022261e-01 -7.17975236e-03 -7.46294393e+01] [-5.57477527e-02 3.69439053e-03 9.98438050e-01 -3.66454593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9207140569999 meters 0.04025671663975802 Centerline is valid? [True, True] Translation: X:568.31, Y:-74.63, Z:-36.65 [[ 9.96356208e-01 6.55451520e-02 5.45723294e-02 5.68313848e+02] [-6.52548804e-02 9.97843470e-01 -7.08594769e-03 -7.46296804e+01] [-5.49190921e-02 3.49901715e-03 9.98484677e-01 -3.66476957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9507140569999 meters 0.03974384905329559 Centerline is valid? [True, True] Translation: X:568.34, Y:-74.63, Z:-36.65 [[ 9.96236792e-01 6.72088659e-02 5.47286348e-02 5.68344585e+02] [-6.69194821e-02 9.97733080e-01 -7.10521319e-03 -7.46304066e+01] [-5.50821027e-02 3.41606290e-03 9.98475985e-01 -3.66489923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9807140569999 meters 0.03671848365697929 Centerline is valid? [True, True] Translation: X:568.38, Y:-74.63, Z:-36.65 [[ 9.95863577e-01 7.12700201e-02 5.63588549e-02 5.68375438e+02] [-7.09695885e-02 9.97451643e-01 -7.31686915e-03 -7.46253993e+01] [-5.67367059e-02 3.28683874e-03 9.98383765e-01 -3.66496139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.010714057 meters 0.03671848365697929 Centerline is valid? [True, True] Translation: X:568.40, Y:-74.63, Z:-36.65 [[ 9.95866113e-01 7.12345230e-02 5.63589270e-02 5.68404353e+02] [-7.09340662e-02 9.97454174e-01 -7.31631386e-03 -7.46291228e+01] [-5.67366211e-02 3.28830118e-03 9.98383765e-01 -3.66513034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.040714057 meters 0.03588311811611716 Centerline is valid? [True, True] Translation: X:568.43, Y:-74.63, Z:-36.65 [[ 9.95625071e-01 7.36710499e-02 5.74742921e-02 5.68434067e+02] [-7.33627325e-02 9.97277430e-01 -7.45898061e-03 -7.46302764e+01] [-5.78673253e-02 3.20987699e-03 9.98319122e-01 -3.66528923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0707140569999 meters 0.034777043168475116 Centerline is valid? [True, True] Translation: X:568.46, Y:-74.63, Z:-36.65 [[ 9.95446584e-01 7.57384643e-02 5.78773129e-02 5.68464459e+02] [-7.54294054e-02 9.97122870e-01 -7.50917585e-03 -7.46310653e+01] [-5.82795258e-02 3.10933215e-03 9.98295462e-01 -3.66546678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.1007140569999 meters 0.034959555102454985 Centerline is valid? [True, True] Translation: X:568.49, Y:-74.63, Z:-36.66 [[ 9.95226924e-01 7.92227010e-02 5.69836269e-02 5.68493628e+02] [-7.89288734e-02 9.96852842e-01 -7.39220597e-03 -7.46327160e+01] [-5.73899209e-02 2.85926893e-03 9.98347746e-01 -3.66567490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.130714057 meters 0.03329922774060352 Centerline is valid? [True, True] Translation: X:568.52, Y:-74.63, Z:-36.66 [[ 9.95033037e-01 8.16460777e-02 5.69488647e-02 5.68524146e+02] [-8.13566837e-02 9.96657686e-01 -7.38562177e-03 -7.46310439e+01] [-5.73615307e-02 2.71576689e-03 9.98349778e-01 -3.66579055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.160714057 meters 0.03467605568335073 Centerline is valid? [True, True] Translation: X:568.55, Y:-74.64, Z:-36.66 [[ 9.94959205e-01 8.24926119e-02 5.70188577e-02 5.68551271e+02] [-8.22039489e-02 9.96588102e-01 -7.39369109e-03 -7.46361576e+01] [-5.74342400e-02 2.66924574e-03 9.98345723e-01 -3.66596638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.1907140569999 meters 0.03283741849255294 Centerline is valid? [True, True] Translation: X:568.58, Y:-74.64, Z:-36.66 [[ 9.94896934e-01 8.33284077e-02 5.68899596e-02 5.68580761e+02] [-8.30427062e-02 9.96518723e-01 -7.37185657e-03 -7.46357570e+01] [-5.73061949e-02 2.60994130e-03 9.98353238e-01 -3.66615760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.2207140569999 meters 0.03239158392729701 Centerline is valid? [True, True] Translation: X:568.61, Y:-74.64, Z:-36.66 [[ 9.94684320e-01 8.54100189e-02 5.75172299e-02 5.68608217e+02] [-8.51216285e-02 9.96342715e-01 -7.44995867e-03 -7.46391192e+01] [-5.79431741e-02 2.51439680e-03 9.98316716e-01 -3.66637437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.250714057 meters 0.031878434178365896 Centerline is valid? [True, True] Translation: X:568.64, Y:-74.64, Z:-36.67 [[ 9.94399657e-01 8.91262479e-02 5.67964196e-02 5.68636499e+02] [-8.88513848e-02 9.96017764e-01 -7.35151206e-03 -7.46413692e+01] [-5.72254556e-02 2.26390054e-03 9.98358714e-01 -3.66668514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.280714057 meters 0.030376359031336078 Centerline is valid? [True, True] Translation: X:568.67, Y:-74.64, Z:-36.67 [[ 9.94193392e-01 9.17877337e-02 5.61650384e-02 5.68665934e+02] [-9.15233601e-02 9.95776415e-01 -7.26680917e-03 -7.46420368e+01] [-5.65948245e-02 2.08420062e-03 9.98395053e-01 -3.66688524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.3107140569999 meters 0.030285776653911755 Centerline is valid? [True, True] Translation: X:568.69, Y:-74.65, Z:-36.67 [[ 9.93919309e-01 9.45325549e-02 5.64624029e-02 5.68694007e+02] [-9.42699659e-02 9.95519890e-01 -7.30219169e-03 -7.46454909e+01] [-5.68997400e-02 1.93508053e-03 9.98378022e-01 -3.66707863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.3407140569999 meters 0.029341017565160336 Centerline is valid? [True, True] Translation: X:568.72, Y:-74.65, Z:-36.67 [[ 9.93477987e-01 9.93173540e-02 5.60138625e-02 5.68723455e+02] [-9.90667432e-02 9.95054451e-01 -7.24011234e-03 -7.46467889e+01] [-5.64559120e-02 1.64378131e-03 9.98403740e-01 -3.66735399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.370714057 meters 0.02910044550241685 Centerline is valid? [True, True] Translation: X:568.75, Y:-74.65, Z:-36.68 [[ 9.93335859e-01 1.00774008e-01 5.59327269e-02 5.68752361e+02] [-1.00526541e-01 9.94908124e-01 -7.22763991e-03 -7.46507824e+01] [-5.63762826e-02 1.55675036e-03 9.98408379e-01 -3.66760005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.400714057 meters 0.03041501089751843 Centerline is valid? [True, True] Translation: X:568.78, Y:-74.66, Z:-36.68 [[ 9.93335105e-01 1.00625682e-01 5.62124727e-02 5.68777893e+02] [-1.00375661e-01 9.94923116e-01 -7.26083212e-03 -7.46610652e+01] [-5.66577147e-02 1.57007531e-03 9.98392427e-01 -3.66779546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.4307140569999 meters 0.029457564041993144 Centerline is valid? [True, True] Translation: X:568.81, Y:-74.66, Z:-36.68 [[ 9.93397270e-01 9.94893092e-02 5.71291643e-02 5.68806696e+02] [-9.92295991e-02 9.95037256e-01 -7.37200182e-03 -7.46647401e+01] [-5.75790823e-02 1.65442241e-03 9.98339578e-01 -3.66790877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.4607140569999 meters 0.030045747902238962 Centerline is valid? [True, True] Translation: X:568.83, Y:-74.67, Z:-36.68 [[ 9.93806330e-01 9.47870761e-02 5.80033532e-02 5.68834766e+02] [-9.45115927e-02 9.95495655e-01 -7.48065872e-03 -7.46733139e+01] [-5.84511558e-02 1.95233669e-03 9.98288361e-01 -3.66801825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.490714057 meters 0.03045911077367113 Centerline is valid? [True, True] Translation: X:568.86, Y:-74.68, Z:-36.68 [[ 9.94064973e-01 9.17608902e-02 5.84360257e-02 5.68863373e+02] [-9.14762462e-02 9.95778764e-01 -7.53325801e-03 -7.46806416e+01] [-5.88806119e-02 2.14303964e-03 9.98262731e-01 -3.66816831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.520714057 meters 0.03213904878201644 Centerline is valid? [True, True] Translation: X:568.89, Y:-74.69, Z:-36.68 [[ 9.94634927e-01 8.51176643e-02 5.87906864e-02 5.68892631e+02] [-8.48181548e-02 9.96367647e-01 -7.57581951e-03 -7.46933574e+01] [-5.92219739e-02 2.54865714e-03 9.98241585e-01 -3.66825314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.5507140569999 meters 0.03441617960345214 Centerline is valid? [True, True] Translation: X:568.92, Y:-74.71, Z:-36.69 [[ 9.95300414e-01 7.75621018e-02 5.79759134e-02 5.68921496e+02] [-7.72580753e-02 9.96983139e-01 -7.47057675e-03 -7.47069246e+01] [-5.83804418e-02 2.95636066e-03 9.98290030e-01 -3.66850286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.5807140569999 meters 0.035616942899947664 Centerline is valid? [True, True] Translation: X:568.95, Y:-74.72, Z:-36.69 [[ 9.95607318e-01 7.40121571e-02 5.73434246e-02 5.68950982e+02] [-7.37088652e-02 9.97252427e-01 -7.38912445e-03 -7.47155569e+01] [-5.77327544e-02 3.12994763e-03 9.98327167e-01 -3.66876288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.610714057 meters 0.03654294643749662 Centerline is valid? [True, True] Translation: X:568.98, Y:-74.72, Z:-36.69 [[ 9.95887255e-01 7.10361193e-02 5.62356268e-02 5.68980083e+02] [-7.07397192e-02 9.97468487e-01 -7.24639696e-03 -7.47234003e+01] [-5.66080215e-02 3.23850192e-03 9.98391228e-01 -3.66896625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.640714057 meters 0.038143378307575575 Centerline is valid? [True, True] Translation: X:569.01, Y:-74.73, Z:-36.69 [[ 9.96226342e-01 6.75872373e-02 5.44521801e-02 5.69010369e+02] [-6.73042907e-02 9.97707831e-01 -7.01548644e-03 -7.47325972e+01] [-5.48015238e-02 3.32414703e-03 9.98491734e-01 -3.66922007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.6707140569999 meters 0.03824237296038727 Centerline is valid? [True, True] Translation: X:569.04, Y:-74.74, Z:-36.69 [[ 9.96298814e-01 6.69236260e-02 5.39434994e-02 5.69040799e+02] [-6.66448723e-02 9.97752540e-01 -6.95191523e-03 -7.47379180e+01] [-5.42875110e-02 3.33112727e-03 9.98519789e-01 -3.66942966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.7007140569999 meters 0.03808956480877176 Centerline is valid? [True, True] Translation: X:569.07, Y:-74.74, Z:-36.70 [[ 9.96203100e-01 6.84018556e-02 5.38569310e-02 5.69070778e+02] [-6.81260918e-02 9.97652568e-01 -6.94178157e-03 -7.47432251e+01] [-5.42053362e-02 3.24636210e-03 9.98524533e-01 -3.66959433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.7307140569999 meters 0.03898806970028058 Centerline is valid? [True, True] Translation: X:569.10, Y:-74.75, Z:-36.70 [[ 9.96069116e-01 7.02455009e-02 5.39618972e-02 5.69100346e+02] [-6.99713535e-02 9.97524753e-01 -6.95531099e-03 -7.47484422e+01] [-5.43169075e-02 3.15218348e-03 9.98518772e-01 -3.66973832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.760714057 meters 0.03474819140124101 Centerline is valid? [True, True] Translation: X:569.13, Y:-74.74, Z:-36.70 [[ 9.95551076e-01 7.64386302e-02 5.50925760e-02 5.69131973e+02] [-7.61623013e-02 9.97070147e-01 -7.10105302e-03 -7.47440636e+01] [-5.54739576e-02 2.87348360e-03 9.98456000e-01 -3.66980038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.790714057 meters 0.0326457410766582 Centerline is valid? [True, True] Translation: X:569.16, Y:-74.74, Z:-36.70 [[ 9.95267945e-01 8.00753087e-02 5.50423668e-02 5.69162654e+02] [-7.98050306e-02 9.96785245e-01 -7.09448742e-03 -7.47427162e+01] [-5.54335123e-02 2.66825815e-03 9.98458815e-01 -3.66997147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.8207140569999 meters 0.03510966409923347 Centerline is valid? [True, True] Translation: X:569.19, Y:-74.75, Z:-36.70 [[ 9.94950068e-01 8.38746357e-02 5.51308291e-02 5.69191042e+02] [-8.36093551e-02 9.96473279e-01 -7.10491461e-03 -7.47499390e+01] [-5.55323202e-02 2.45958221e-03 9.98453861e-01 -3.67016505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.8507140569999 meters 0.0308653941500405 Centerline is valid? [True, True] Translation: X:569.22, Y:-74.74, Z:-36.70 [[ 9.94354614e-01 9.01331286e-02 5.59903701e-02 5.69222892e+02] [-8.98695123e-02 9.95927425e-01 -7.21357071e-03 -7.47436548e+01] [-5.64125268e-02 2.14102006e-03 9.98405250e-01 -3.67024378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.880714057 meters 0.03083403103820829 Centerline is valid? [True, True] Translation: X:569.25, Y:-74.75, Z:-36.70 [[ 9.94184315e-01 9.17406423e-02 5.64021453e-02 5.69251603e+02] [-9.14757174e-02 9.95780795e-01 -7.26650122e-03 -7.47464751e+01] [-5.68308065e-02 2.06481484e-03 9.98381689e-01 -3.67038441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.910714057 meters 0.03023103002999988 Centerline is valid? [True, True] Translation: X:569.28, Y:-74.75, Z:-36.70 [[ 9.94005547e-01 9.29826192e-02 5.75083018e-02 5.69280413e+02] [-9.27095054e-02 9.95665665e-01 -7.40482316e-03 -7.47491837e+01] [-5.79475614e-02 2.02886908e-03 9.98317567e-01 -3.67044748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9407140569999 meters 0.030810786861742996 Centerline is valid? [True, True] Translation: X:569.31, Y:-74.76, Z:-36.71 [[ 9.93958638e-01 9.31493606e-02 5.80467203e-02 5.69307303e+02] [-9.28716357e-02 9.95650069e-01 -7.46989154e-03 -7.47554192e+01] [-5.84900367e-02 2.03386937e-03 9.98285920e-01 -3.67052697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9707140569999 meters 0.03245585037556686 Centerline is valid? [True, True] Translation: X:569.33, Y:-74.76, Z:-36.71 [[ 9.94047282e-01 9.19600785e-02 5.84238370e-02 5.69334208e+02] [-9.16769905e-02 9.95760454e-01 -7.51313727e-03 -7.47645883e+01] [-5.88670552e-02 2.11229213e-03 9.98263596e-01 -3.67064745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.000714057 meters 0.03198047131754933 Centerline is valid? [True, True] Translation: X:569.36, Y:-74.77, Z:-36.71 [[ 9.94198669e-01 9.03696626e-02 5.83295085e-02 5.69362427e+02] [-9.00850563e-02 9.95905866e-01 -7.49593379e-03 -7.47685692e+01] [-5.87681047e-02 2.19783034e-03 9.98269242e-01 -3.67087199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.030714057 meters 0.032291601260381594 Centerline is valid? [True, True] Translation: X:569.39, Y:-74.78, Z:-36.71 [[ 9.94581967e-01 8.66871144e-02 5.73764333e-02 5.69390620e+02] [-8.64058552e-02 9.96232763e-01 -7.36954364e-03 -7.47754002e+01] [-5.77991272e-02 2.37195542e-03 9.98325415e-01 -3.67118845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.0607140569999 meters 0.03203668484149679 Centerline is valid? [True, True] Translation: X:569.42, Y:-74.78, Z:-36.71 [[ 9.94872233e-01 8.39130067e-02 5.64610306e-02 5.69419756e+02] [-8.36363742e-02 9.96469974e-01 -7.24898746e-03 -7.47804379e+01] [-5.68700061e-02 2.48962045e-03 9.98378487e-01 -3.67143237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.0907140569999 meters 0.03767103156005395 Centerline is valid? [True, True] Translation: X:569.45, Y:-74.80, Z:-36.72 [[ 9.95330096e-01 7.91510984e-02 5.52549009e-02 5.69446509e+02] [-7.88789634e-02 9.96858972e-01 -7.09215513e-03 -7.47985423e+01] [-5.56426955e-02 2.70058614e-03 9.98447093e-01 -3.67179694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.120714057 meters 0.03483380696123282 Centerline is valid? [True, True] Translation: X:569.48, Y:-74.80, Z:-36.72 [[ 9.95476778e-01 7.73870083e-02 5.51111274e-02 5.69476058e+02] [-7.71137055e-02 9.96997225e-01 -7.07170257e-03 -7.47985559e+01] [-5.54928990e-02 2.78989243e-03 9.98455184e-01 -3.67195414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.150714057 meters 0.039402077315792615 Centerline is valid? [True, True] Translation: X:569.50, Y:-74.81, Z:-36.72 [[ 9.95622176e-01 7.59971529e-02 5.44142951e-02 5.69503605e+02] [-7.57287623e-02 9.97104021e-01 -6.98036586e-03 -7.48111501e+01] [-5.47872004e-02 2.82907983e-03 9.98494046e-01 -3.67215639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.1807140569999 meters 0.034492761725499 Centerline is valid? [True, True] Translation: X:569.53, Y:-74.81, Z:-36.72 [[ 9.95597113e-01 7.55216229e-02 5.55236263e-02 5.69533621e+02] [-7.52415396e-02 9.97139913e-01 -7.12066163e-03 -7.48084492e+01] [-5.59025878e-02 2.91162704e-03 9.98431982e-01 -3.67216462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.2107140569999 meters 0.03563825387446034 Centerline is valid? [True, True] Translation: X:569.56, Y:-74.81, Z:-36.72 [[ 9.95618223e-01 7.53188405e-02 5.54204421e-02 5.69562881e+02] [-7.50396035e-02 9.97155240e-01 -7.10531717e-03 -7.48147420e+01] [-5.57979485e-02 2.91545526e-03 9.98437824e-01 -3.67229984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.240714057 meters 0.03533765470503556 Centerline is valid? [True, True] Translation: X:569.59, Y:-74.82, Z:-36.72 [[ 9.95531300e-01 7.57544414e-02 5.63799158e-02 5.69592557e+02] [-7.54660847e-02 9.97122163e-01 -7.22922418e-03 -7.48203987e+01] [-5.67653094e-02 2.94214745e-03 9.98383215e-01 -3.67240086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.270714057 meters 0.034237759569169295 Centerline is valid? [True, True] Translation: X:569.62, Y:-74.82, Z:-36.73 [[ 9.95483634e-01 7.60836544e-02 5.67768608e-02 5.69622979e+02] [-7.57917513e-02 9.97097092e-01 -7.28012183e-03 -7.48237638e+01] [-5.71659411e-02 2.94402442e-03 9.98360350e-01 -3.67253936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.3007140569999 meters 0.036185052737774386 Centerline is valid? [True, True] Translation: X:569.65, Y:-74.83, Z:-36.73 [[ 9.95454152e-01 7.59687662e-02 5.74436913e-02 5.69651764e+02] [-7.56697666e-02 9.97105729e-01 -7.36562397e-03 -7.48323238e+01] [-5.78369911e-02 2.98539025e-03 9.98321576e-01 -3.67271503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.3307140569999 meters 0.03655893066931201 Centerline is valid? [True, True] Translation: X:569.68, Y:-74.84, Z:-36.73 [[ 9.95552263e-01 7.44766480e-02 5.76967958e-02 5.69682238e+02] [-7.41725671e-02 9.97217987e-01 -7.39704881e-03 -7.48402057e+01] [-5.80871900e-02 3.08462922e-03 9.98306748e-01 -3.67291283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.360714057 meters 0.03583733818850232 Centerline is valid? [True, True] Translation: X:569.71, Y:-74.85, Z:-36.73 [[ 9.95721402e-01 7.19556035e-02 5.79765457e-02 5.69712804e+02] [-7.16441857e-02 9.97402543e-01 -7.43495327e-03 -7.48458671e+01] [-5.83609406e-02 3.24945970e-03 9.98290259e-01 -3.67309125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.390714057 meters 0.036075824732158195 Centerline is valid? [True, True] Translation: X:569.74, Y:-74.85, Z:-36.73 [[ 9.95802135e-01 7.06986718e-02 5.81360974e-02 5.69744060e+02] [-7.03833300e-02 9.97492148e-01 -7.45663742e-03 -7.48520360e+01] [-5.85174750e-02 3.33352334e-03 9.98280819e-01 -3.67326038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4207140569999 meters 0.036444250688319926 Centerline is valid? [True, True] Translation: X:569.78, Y:-74.86, Z:-36.73 [[ 9.95887160e-01 6.94566631e-02 5.81767644e-02 5.69775362e+02] [-6.91379608e-02 9.97579098e-01 -7.47562851e-03 -7.48582429e+01] [-5.85551563e-02 3.42265960e-03 9.98278307e-01 -3.67343949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4507140569999 meters 0.03758442438049936 Centerline is valid? [True, True] Translation: X:569.81, Y:-74.87, Z:-36.74 [[ 9.96153390e-01 6.66737921e-02 5.68597300e-02 5.69805914e+02] [-6.63641009e-02 9.97768625e-01 -7.31965783e-03 -7.48663012e+01] [-5.72208839e-02 3.51805710e-03 9.98355344e-01 -3.67365463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4807140569999 meters 0.04046565440494362 Centerline is valid? [True, True] Translation: X:569.84, Y:-74.88, Z:-36.74 [[ 9.96226958e-01 6.58373335e-02 5.65446171e-02 5.69836411e+02] [-6.55296222e-02 9.97824061e-01 -7.28096446e-03 -7.48754757e+01] [-5.69009388e-02 3.54814568e-03 9.98373524e-01 -3.67389843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.510714057 meters 0.03818299446847536 Centerline is valid? [True, True] Translation: X:569.87, Y:-74.88, Z:-36.74 [[ 9.96284553e-01 6.56169673e-02 5.57808499e-02 5.69868347e+02] [-6.53164579e-02 9.97838657e-01 -7.19545287e-03 -7.48767517e+01] [-5.61324322e-02 3.52531102e-03 9.98417108e-01 -3.67414661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.540714057 meters 0.038231550489735144 Centerline is valid? [True, True] Translation: X:569.90, Y:-74.88, Z:-36.74 [[ 9.96193327e-01 6.69695863e-02 5.58025951e-02 5.69899320e+02] [-6.66701526e-02 9.97749002e-01 -7.21250987e-03 -7.48807983e+01] [-5.61600024e-02 3.46468668e-03 9.98415770e-01 -3.67424354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5707140569999 meters 0.03726861620611266 Centerline is valid? [True, True] Translation: X:569.93, Y:-74.88, Z:-36.74 [[ 9.95866013e-01 7.09989736e-02 5.66571278e-02 5.69930002e+02] [-7.06959963e-02 9.97470927e-01 -7.33662309e-03 -7.48815643e+01] [-5.70347305e-02 3.30086148e-03 9.98366738e-01 -3.67426587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.6007140569999 meters 0.03655417961338592 Centerline is valid? [True, True] Translation: X:569.96, Y:-74.88, Z:-36.74 [[ 9.95629222e-01 7.39975327e-02 5.69808529e-02 5.69960691e+02] [-7.36959236e-02 9.97253456e-01 -7.37932423e-03 -7.48837301e+01] [-5.73704043e-02 3.14781426e-03 9.98347999e-01 -3.67441659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.630714057 meters 0.035391982548499054 Centerline is valid? [True, True] Translation: X:569.99, Y:-74.88, Z:-36.75 [[ 9.95144172e-01 7.96837738e-02 5.77803888e-02 5.69989921e+02] [-7.93831159e-02 9.96816087e-01 -7.48389814e-03 -7.48847672e+01] [-5.81927664e-02 2.86077032e-03 9.98301266e-01 -3.67455563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.660714057 meters 0.03484374983959952 Centerline is valid? [True, True] Translation: X:570.02, Y:-74.89, Z:-36.75 [[ 9.94914841e-01 8.22821266e-02 5.80870922e-02 5.70019984e+02] [-8.19827358e-02 9.96605359e-01 -7.52262997e-03 -7.48865902e+01] [-5.85088854e-02 2.72223747e-03 9.98283176e-01 -3.67472108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.6907140569999 meters 0.03262939132250073 Centerline is valid? [True, True] Translation: X:570.05, Y:-74.89, Z:-36.75 [[ 9.94362125e-01 8.77515839e-02 5.95283538e-02 5.70050655e+02] [-8.74469620e-02 9.96139354e-01 -7.70824503e-03 -7.48856296e+01] [-5.99749466e-02 2.45921322e-03 9.98196853e-01 -3.67480234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.7207140569999 meters 0.03275103801346152 Centerline is valid? [True, True] Translation: X:570.08, Y:-74.89, Z:-36.75 [[ 9.94141961e-01 8.99262779e-02 5.99585284e-02 5.70079175e+02] [-8.96211936e-02 9.95945665e-01 -7.76365753e-03 -7.48891730e+01] [-6.04135932e-02 2.34462285e-03 9.98170677e-01 -3.67492905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.750714057 meters 0.03188131587344641 Centerline is valid? [True, True] Translation: X:570.11, Y:-74.89, Z:-36.75 [[ 9.94113944e-01 9.10137879e-02 5.87703676e-02 5.70107614e+02] [-9.07226472e-02 9.95847131e-01 -7.60878181e-03 -7.48916049e+01] [-5.92188060e-02 2.23219277e-03 9.98242531e-01 -3.67517997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.780714057 meters 0.03112043612151865 Centerline is valid? [True, True] Translation: X:570.14, Y:-74.90, Z:-36.75 [[ 9.94233699e-01 9.01184288e-02 5.81207373e-02 5.70135927e+02] [-8.98324046e-02 9.95928501e-01 -7.52068464e-03 -7.48950174e+01] [-5.85618510e-02 2.25619253e-03 9.98281233e-01 -3.67544729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.8107140569999 meters 0.032109815366190654 Centerline is valid? [True, True] Translation: X:570.16, Y:-74.90, Z:-36.76 [[ 9.94488962e-01 8.76629424e-02 5.75057574e-02 5.70164511e+02] [-8.73790853e-02 9.96147371e-01 -7.43705942e-03 -7.49015321e+01] [-5.79361636e-02 2.37127302e-03 9.98317474e-01 -3.67573624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.8407140569999 meters 0.03357987258531512 Centerline is valid? [True, True] Translation: X:570.19, Y:-74.91, Z:-36.76 [[ 9.95024378e-01 8.18232782e-02 5.68457485e-02 5.70193467e+02] [-8.15365814e-02 9.96643259e-01 -7.34852618e-03 -7.49103606e+01] [-5.72562125e-02 2.67695469e-03 9.98355929e-01 -3.67597851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.870714057 meters 0.033858086140417985 Centerline is valid? [True, True] Translation: X:570.22, Y:-74.92, Z:-36.76 [[ 9.95261950e-01 7.88478839e-02 5.68916646e-02 5.70223116e+02] [-7.85558954e-02 9.96882585e-01 -7.35412898e-03 -7.49151054e+01] [-5.72941671e-02 2.85010910e-03 9.98353272e-01 -3.67612371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.900714057 meters 0.03495103960082923 Centerline is valid? [True, True] Translation: X:570.25, Y:-74.92, Z:-36.76 [[ 9.95569583e-01 7.40982693e-02 5.78848167e-02 5.70252689e+02] [-7.37880437e-02 9.97245884e-01 -7.48144694e-03 -7.49225339e+01] [-5.82797574e-02 3.17709363e-03 9.98295235e-01 -3.67608472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.9307140569999 meters 0.03495103960082923 Centerline is valid? [True, True] Translation: X:570.28, Y:-74.93, Z:-36.76 [[ 9.95550912e-01 7.43487331e-02 5.78847697e-02 5.70284165e+02] [-7.40389081e-02 9.97227287e-01 -7.48181057e-03 -7.49266422e+01] [-5.82805350e-02 3.16279820e-03 9.98295235e-01 -3.67626866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.9607140569999 meters 0.036803419072840106 Centerline is valid? [True, True] Translation: X:570.31, Y:-74.93, Z:-36.76 [[ 9.95582701e-01 7.28093043e-02 5.92780866e-02 5.70314137e+02] [-7.24807303e-02 9.97340265e-01 -7.67719739e-03 -7.49345222e+01] [-5.96793940e-02 3.34676590e-03 9.98211986e-01 -3.67628916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.990714057 meters 0.03658443843025809 Centerline is valid? [True, True] Translation: X:570.34, Y:-74.94, Z:-36.76 [[ 9.95680310e-01 7.01844293e-02 6.07854056e-02 5.70344415e+02] [-6.98335670e-02 9.97527532e-01 -7.88006382e-03 -7.49395764e+01] [-6.11881735e-02 3.60116270e-03 9.98119752e-01 -3.67634176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.020714057 meters 0.03831439739372253 Centerline is valid? [True, True] Translation: X:570.38, Y:-74.95, Z:-36.77 [[ 9.95741384e-01 6.96889368e-02 6.03535330e-02 5.70375216e+02] [-6.93419386e-02 9.97562242e-01 -7.82744828e-03 -7.49469208e+01] [-6.07518922e-02 3.60908320e-03 9.98146373e-01 -3.67656706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.0507140569999 meters 0.03786119441808804 Centerline is valid? [True, True] Translation: X:570.41, Y:-74.95, Z:-36.77 [[ 9.95763500e-01 6.96021343e-02 6.00882345e-02 5.70407513e+02] [-6.92571747e-02 9.97568290e-01 -7.80710874e-03 -7.49504008e+01] [-6.04855088e-02 3.61249256e-03 9.98162538e-01 -3.67681252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.0807140569999 meters 0.048484462394249 Centerline is valid? [True, True] Translation: X:570.44, Y:-74.97, Z:-36.77 [[ 9.95657212e-01 7.17688392e-02 5.92954536e-02 5.70435384e+02] [-7.14359054e-02 9.97415329e-01 -7.71839818e-03 -7.49709175e+01] [-5.96961348e-02 3.44905440e-03 9.98210637e-01 -3.67693651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.110714057 meters 0.037372441711262944 Centerline is valid? [True, True] Translation: X:570.47, Y:-74.96, Z:-36.77 [[ 9.95952843e-01 6.82665862e-02 5.84603077e-02 5.70468281e+02] [-6.79369069e-02 9.97660590e-01 -7.61075405e-03 -7.49568687e+01] [-5.88431053e-02 3.60833965e-03 9.98260722e-01 -3.67722603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.140714057 meters 0.03741653544184176 Centerline is valid? [True, True] Translation: X:570.50, Y:-74.96, Z:-36.77 [[ 9.95916612e-01 6.88000579e-02 5.84521596e-02 5.70500086e+02] [-6.84712398e-02 9.97624050e-01 -7.61216093e-03 -7.49611306e+01] [-5.88369973e-02 3.57878568e-03 9.98261188e-01 -3.67746754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.1707140569999 meters 0.037292133876218526 Centerline is valid? [True, True] Translation: X:570.53, Y:-74.97, Z:-36.78 [[ 9.95919338e-01 6.86524261e-02 5.85791567e-02 5.70531642e+02] [-6.83210360e-02 9.97634106e-01 -7.64368937e-03 -7.49658824e+01] [-5.89653224e-02 3.61030939e-03 9.98253503e-01 -3.67764656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.2007140569999 meters 0.03764277439191825 Centerline is valid? [True, True] Translation: X:570.56, Y:-74.97, Z:-36.78 [[ 9.96023070e-01 6.73060439e-02 5.83775744e-02 5.70562935e+02] [-6.69737574e-02 9.97725546e-01 -7.63224526e-03 -7.49712975e+01] [-5.87584935e-02 3.69212685e-03 9.98265399e-01 -3.67784590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.2307140569999 meters 0.03907779460774312 Centerline is valid? [True, True] Translation: X:570.59, Y:-74.98, Z:-36.78 [[ 9.96196111e-01 6.51142472e-02 5.79089170e-02 5.70592166e+02] [-6.47828050e-02 9.97870564e-01 -7.58453497e-03 -7.49776861e+01] [-5.82794650e-02 3.80418217e-03 9.98293059e-01 -3.67802491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.260714057 meters 0.03905444151715069 Centerline is valid? [True, True] Translation: X:570.62, Y:-74.98, Z:-36.78 [[ 9.96244432e-01 6.45613901e-02 5.76962599e-02 5.70623651e+02] [-6.42314538e-02 9.97906416e-01 -7.55676799e-03 -7.49821452e+01] [-5.80633434e-02 3.82247338e-03 9.98305583e-01 -3.67826029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.290714057 meters 0.04023285496927363 Centerline is valid? [True, True] Translation: X:570.65, Y:-74.99, Z:-36.79 [[ 9.96370094e-01 6.32660971e-02 5.69564482e-02 5.70654323e+02] [-6.29416501e-02 9.97989221e-01 -7.47422108e-03 -7.49876498e+01] [-5.73147862e-02 3.86215752e-03 9.98348686e-01 -3.67851522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.3207140569999 meters 0.041187112483506746 Centerline is valid? [True, True] Translation: X:570.68, Y:-74.99, Z:-36.79 [[ 9.96530964e-01 6.11901081e-02 5.64075296e-02 5.70684694e+02] [-6.08678297e-02 9.98118289e-01 -7.41548067e-03 -7.49936109e+01] [-5.67551410e-02 3.95635219e-03 9.98380289e-01 -3.67877643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.3507140569999 meters 0.041296368780827715 Centerline is valid? [True, True] Translation: X:570.72, Y:-75.00, Z:-36.79 [[ 9.96656713e-01 5.97107084e-02 5.57676275e-02 5.70716005e+02] [-5.93932633e-02 9.98207721e-01 -7.33392513e-03 -7.49975577e+01] [-5.61055902e-02 3.99718433e-03 9.98416839e-01 -3.67896839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.380714057 meters 0.04346544960931978 Centerline is valid? [True, True] Translation: X:570.75, Y:-75.00, Z:-36.79 [[ 9.96812573e-01 5.71791035e-02 5.56349294e-02 5.70745580e+02] [-5.68588537e-02 9.98355366e-01 -7.32353974e-03 -7.50033072e+01] [-5.59621838e-02 4.13685817e-03 9.98424319e-01 -3.67909806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.410714057 meters 0.04552422133342712 Centerline is valid? [True, True] Translation: X:570.78, Y:-75.01, Z:-36.79 [[ 9.96862412e-01 5.61641133e-02 5.57756508e-02 5.70776126e+02] [-5.58406810e-02 9.98412699e-01 -7.34169852e-03 -7.50099750e+01] [-5.60994580e-02 4.20411297e-03 9.98416334e-01 -3.67928584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4407140569999 meters 0.043668038624220855 Centerline is valid? [True, True] Translation: X:570.81, Y:-75.01, Z:-36.79 [[ 9.96965703e-01 5.39634990e-02 5.61010496e-02 5.70807883e+02] [-5.36320646e-02 9.98533361e-01 -7.39781356e-03 -7.50105871e+01] [-5.64179816e-02 4.36655128e-03 9.98397689e-01 -3.67938825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4707140569999 meters 0.04310929444071099 Centerline is valid? [True, True] Translation: X:570.84, Y:-75.01, Z:-36.80 [[ 9.97000709e-01 5.32619630e-02 5.61493425e-02 5.70839474e+02] [-5.29287507e-02 9.98570828e-01 -7.40597329e-03 -7.50131020e+01] [-5.64635521e-02 4.41184607e-03 9.98394913e-01 -3.67950524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.500714057 meters 0.044775232704165176 Centerline is valid? [True, True] Translation: X:570.87, Y:-75.02, Z:-36.80 [[ 9.97059455e-01 5.24838025e-02 5.58381008e-02 5.70869959e+02] [-5.21523230e-02 9.98611886e-01 -7.37815500e-03 -7.50188271e+01] [-5.61478247e-02 4.44437254e-03 9.98412575e-01 -3.67965535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.530714057 meters 0.04455799151744182 Centerline is valid? [True, True] Translation: X:570.90, Y:-75.02, Z:-36.80 [[ 9.97122268e-01 5.17243102e-02 5.54236309e-02 5.70901698e+02] [-5.13958493e-02 9.98651413e-01 -7.33639497e-03 -7.50207446e+01] [-5.57283573e-02 4.46673820e-03 9.98435976e-01 -3.67980094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.5607140569999 meters 0.04622793620325239 Centerline is valid? [True, True] Translation: X:570.93, Y:-75.02, Z:-36.80 [[ 9.97111909e-01 5.17313051e-02 5.56031765e-02 5.70932248e+02] [-5.13999819e-02 9.98650928e-01 -7.37335261e-03 -7.50245061e+01] [-5.59095970e-02 4.49405543e-03 9.98425721e-01 -3.68000665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.5907140569999 meters 0.045365818442159214 Centerline is valid? [True, True] Translation: X:570.96, Y:-75.03, Z:-36.80 [[ 9.97051846e-01 5.24998906e-02 5.59587146e-02 5.70964246e+02] [-5.21647695e-02 9.98610824e-01 -7.43368234e-03 -7.50257384e+01] [-5.62712455e-02 4.49269325e-03 9.98405410e-01 -3.68016121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.620714057 meters 0.05096657468027804 Centerline is valid? [True, True] Translation: X:570.99, Y:-75.04, Z:-36.80 [[ 9.96919598e-01 5.37830503e-02 5.70850159e-02 5.70994627e+02] [-5.34355271e-02 9.98542395e-01 -7.59799456e-03 -7.50365371e+01] [-5.74104518e-02 4.52422177e-03 9.98340409e-01 -3.68026428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.650714057 meters 0.04739122746465419 Centerline is valid? [True, True] Translation: X:571.03, Y:-75.03, Z:-36.80 [[ 9.96673416e-01 5.70261223e-02 5.82247637e-02 5.71026299e+02] [-5.66692608e-02 9.98362823e-01 -7.76327171e-03 -7.50320632e+01] [-5.85721488e-02 4.43789221e-03 9.98273314e-01 -3.68035202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.6807140569999 meters 0.04344669410720966 Centerline is valid? [True, True] Translation: X:571.06, Y:-75.03, Z:-36.81 [[ 9.96578054e-01 5.86859497e-02 5.82077533e-02 5.71059044e+02] [-5.83320826e-02 9.98267062e-01 -7.76146189e-03 -7.50280593e+01] [-5.85623717e-02 4.33952311e-03 9.98274320e-01 -3.68057756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.7107140569999 meters 0.04492639422004863 Centerline is valid? [True, True] Translation: X:571.09, Y:-75.03, Z:-36.81 [[ 9.96373372e-01 6.25007076e-02 5.77387600e-02 5.71087969e+02] [-6.21587142e-02 9.98036559e-01 -7.70199062e-03 -7.50303881e+01] [-5.81067733e-02 4.08509128e-03 9.98302016e-01 -3.68078275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.740714057 meters 0.04031924382130715 Centerline is valid? [True, True] Translation: X:571.12, Y:-75.02, Z:-36.81 [[ 9.96309767e-01 6.41788134e-02 5.69905906e-02 5.71120198e+02] [-6.38484209e-02 9.97930659e-01 -7.60125801e-03 -7.50248009e+01] [-5.73604973e-02 3.93444838e-03 9.98345779e-01 -3.68100262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.770714057 meters 0.04038722565978731 Centerline is valid? [True, True] Translation: X:571.15, Y:-75.02, Z:-36.81 [[ 9.96171306e-01 6.69039863e-02 5.62724182e-02 5.71150171e+02] [-6.65860863e-02 9.97752439e-01 -7.50753278e-03 -7.50239091e+01] [-5.66482264e-02 3.73182865e-03 9.98387225e-01 -3.68126941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.8007140569999 meters 0.04008751312657991 Centerline is valid? [True, True] Translation: X:571.18, Y:-75.03, Z:-36.81 [[ 9.96127878e-01 6.81542485e-02 5.55360156e-02 5.71181946e+02] [-6.78465635e-02 9.97668255e-01 -7.40918953e-03 -7.50254080e+01] [-5.59114875e-02 3.61257243e-03 9.98429194e-01 -3.68142371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.8307140569999 meters 0.04002308627040779 Centerline is valid? [True, True] Translation: X:571.21, Y:-75.03, Z:-36.82 [[ 9.96089081e-01 6.88661549e-02 5.53533655e-02 5.71212970e+02] [-6.85614179e-02 9.97619543e-01 -7.38784753e-03 -7.50268998e+01] [-5.57303718e-02 3.56384903e-03 9.98439495e-01 -3.68166468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.860714057 meters 0.038948685206921047 Centerline is valid? [True, True] Translation: X:571.24, Y:-75.02, Z:-36.82 [[ 9.95996495e-01 7.05516406e-02 5.48948767e-02 5.71244468e+02] [-7.02544312e-02 9.97502191e-01 -7.32761938e-03 -7.50245369e+01] [-5.52747354e-02 3.44167488e-03 9.98465252e-01 -3.68184321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.890714057 meters 0.03747389494146896 Centerline is valid? [True, True] Translation: X:571.28, Y:-75.02, Z:-36.82 [[ 9.95730928e-01 7.38188220e-02 5.54138960e-02 5.71275425e+02] [-7.35209346e-02 9.97266234e-01 -7.39796663e-03 -7.50216925e+01] [-5.58085166e-02 3.29230275e-03 9.98436062e-01 -3.68205260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9207140569999 meters 0.03669566112467065 Centerline is valid? [True, True] Translation: X:571.31, Y:-75.02, Z:-36.82 [[ 9.95559758e-01 7.59488355e-02 5.56106288e-02 5.71305877e+02] [-7.56521914e-02 9.97106635e-01 -7.42323018e-03 -7.50218827e+01] [-5.60135126e-02 3.18320331e-03 9.98424936e-01 -3.68227980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9507140569999 meters 0.03498600568991332 Centerline is valid? [True, True] Translation: X:571.34, Y:-75.02, Z:-36.82 [[ 9.95358869e-01 7.84606778e-02 5.57193242e-02 5.71335600e+02] [-7.81668457e-02 9.96912553e-01 -7.43676441e-03 -7.50211394e+01] [-5.61307874e-02 3.04684560e-03 9.98418776e-01 -3.68242601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9807140569999 meters 0.033604726175034814 Centerline is valid? [True, True] Translation: X:571.37, Y:-75.02, Z:-36.83 [[ 9.94846422e-01 8.45362494e-02 5.59841030e-02 5.71365707e+02] [-8.42493136e-02 9.96416706e-01 -7.47003090e-03 -7.50180626e+01] [-5.64149839e-02 2.71491126e-03 9.98403715e-01 -3.68250780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.010714057 meters 0.03268098459578564 Centerline is valid? [True, True] Translation: X:571.40, Y:-75.02, Z:-36.83 [[ 9.94610972e-01 8.73038075e-02 5.59201120e-02 5.71395522e+02] [-8.70219549e-02 9.96178460e-01 -7.46030868e-03 -7.50174948e+01] [-5.63577244e-02 2.55382740e-03 9.98407374e-01 -3.68264777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.040714057 meters 0.031263015881032016 Centerline is valid? [True, True] Translation: X:571.43, Y:-75.02, Z:-36.83 [[ 9.94031671e-01 9.27818041e-02 5.73809482e-02 5.71426622e+02] [-9.24942367e-02 9.95683809e-01 -7.65305156e-03 -7.50164423e+01] [-5.78433450e-02 2.29996863e-03 9.98323023e-01 -3.68276346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0707140569999 meters 0.033012706303813144 Centerline is valid? [True, True] Translation: X:571.45, Y:-75.02, Z:-36.83 [[ 9.93789438e-01 9.46373366e-02 5.85348394e-02 5.71453861e+02] [-9.43413205e-02 9.95509305e-01 -7.80631459e-03 -7.50241625e+01] [-5.90107461e-02 2.23557895e-03 9.98254844e-01 -3.68285527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.1007140569999 meters 0.030879200385010696 Centerline is valid? [True, True] Translation: X:571.48, Y:-75.02, Z:-36.83 [[ 9.93613890e-01 9.59246271e-02 5.94129871e-02 5.71483275e+02] [-9.56222736e-02 9.95386200e-01 -7.91797888e-03 -7.50226524e+01] [-5.98983967e-02 2.18620889e-03 9.98202085e-01 -3.68302822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.130714057 meters 0.03177239128491552 Centerline is valid? [True, True] Translation: X:571.51, Y:-75.03, Z:-36.83 [[ 9.93451106e-01 9.72215094e-02 6.00239743e-02 5.71510675e+02] [-9.69155289e-02 9.95260499e-01 -7.99494893e-03 -7.50293995e+01] [-6.05167717e-02 2.12533564e-03 9.98164918e-01 -3.68320909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.160714057 meters 0.032141479115987935 Centerline is valid? [True, True] Translation: X:571.54, Y:-75.03, Z:-36.83 [[ 9.93569630e-01 9.64606587e-02 5.92851663e-02 5.71539167e+02] [-9.61611630e-02 9.95334499e-01 -7.89084761e-03 -7.50341923e+01] [-5.97697277e-02 2.13917600e-03 9.98209900e-01 -3.68348037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.1907140569999 meters 0.03277145905857429 Centerline is valid? [True, True] Translation: X:571.57, Y:-75.04, Z:-36.84 [[ 9.93913928e-01 9.43628718e-02 5.68397023e-02 5.71567322e+02] [-9.40843938e-02 9.95535509e-01 -7.56161976e-03 -7.50406615e+01] [-5.72994781e-02 2.16787026e-03 9.98354682e-01 -3.68392213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.2207140569999 meters 0.03159607216637286 Centerline is valid? [True, True] Translation: X:571.60, Y:-75.04, Z:-36.84 [[ 9.94104683e-01 9.32476537e-02 5.53240917e-02 5.71595663e+02] [-9.29823266e-02 9.95640583e-01 -7.35632607e-03 -7.50428935e+01] [-5.57688711e-02 2.16879543e-03 9.98441350e-01 -3.68425712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.250714057 meters 0.032256040699390004 Centerline is valid? [True, True] Translation: X:571.62, Y:-75.05, Z:-36.85 [[ 9.94458996e-01 9.09717785e-02 5.26824435e-02 5.71623906e+02] [-9.07282179e-02 9.95851079e-01 -7.00140677e-03 -7.50498521e+01] [-5.31007986e-02 2.18282773e-03 9.98586772e-01 -3.68474922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.280714057 meters 0.03179017930692376 Centerline is valid? [True, True] Translation: X:571.65, Y:-75.05, Z:-36.85 [[ 9.94521875e-01 9.03365228e-02 5.25885174e-02 5.71652002e+02] [-9.00930847e-02 9.95908845e-01 -6.98628823e-03 -7.50533544e+01] [-5.30044866e-02 2.21015472e-03 9.98591828e-01 -3.68488340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.3107140569999 meters 0.03178237261656605 Centerline is valid? [True, True] Translation: X:571.68, Y:-75.06, Z:-36.85 [[ 9.94537291e-01 9.04198872e-02 5.21519079e-02 5.71680706e+02] [-9.01808454e-02 9.95901341e-01 -6.92349000e-03 -7.50583710e+01] [-5.25641762e-02 2.18256584e-03 9.98615163e-01 -3.68498145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.3407140569999 meters 0.031762965135801395 Centerline is valid? [True, True] Translation: X:571.71, Y:-75.06, Z:-36.85 [[ 9.94382171e-01 9.15645832e-02 5.31039038e-02 5.71708978e+02] [-9.13185634e-02 9.95796804e-01 -7.04595823e-03 -7.50633114e+01] [-5.35258579e-02 2.15700303e-03 9.98564134e-01 -3.68501572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.370714057 meters 0.030754407292837623 Centerline is valid? [True, True] Translation: X:571.74, Y:-75.07, Z:-36.85 [[ 9.94086914e-01 9.40712712e-02 5.42384031e-02 5.71737499e+02] [-9.38185559e-02 9.95563331e-01 -7.19249556e-03 -7.50679142e+01] [-5.46743724e-02 2.06139706e-03 9.98502110e-01 -3.68506342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.400714057 meters 0.030476291200618066 Centerline is valid? [True, True] Translation: X:571.77, Y:-75.07, Z:-36.85 [[ 9.93956754e-01 9.50728958e-02 5.48736409e-02 5.71765664e+02] [-9.48159652e-02 9.95468252e-01 -7.27271517e-03 -7.50718879e+01] [-5.53164055e-02 2.02586713e-03 9.98466820e-01 -3.68514989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.4307140569999 meters 0.030316708678768123 Centerline is valid? [True, True] Translation: X:571.79, Y:-75.08, Z:-36.85 [[ 9.93850795e-01 9.59652519e-02 5.52382738e-02 5.71793840e+02] [-9.57064927e-02 9.95382705e-01 -7.31699454e-03 -7.50767951e+01] [-5.56853996e-02 1.98533940e-03 9.98446391e-01 -3.68528996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.4607140569999 meters 0.030117397652069743 Centerline is valid? [True, True] Translation: X:571.82, Y:-75.08, Z:-36.85 [[ 9.93702941e-01 9.71327550e-02 5.58542072e-02 5.71821905e+02] [-9.68702575e-02 9.95269549e-01 -7.39449117e-03 -7.50831335e+01] [-5.63082389e-02 1.93731619e-03 9.98411553e-01 -3.68538861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.490714057 meters 0.030759510645848955 Centerline is valid? [True, True] Translation: X:571.85, Y:-75.09, Z:-36.86 [[ 9.93771687e-01 9.64571131e-02 5.58019662e-02 5.71848094e+02] [-9.61942693e-02 9.95335192e-01 -7.38357406e-03 -7.50927220e+01] [-5.62538590e-02 1.96975749e-03 9.98414555e-01 -3.68556958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.520714057 meters 0.030010322818425313 Centerline is valid? [True, True] Translation: X:571.88, Y:-75.10, Z:-36.86 [[ 9.93815225e-01 9.57525092e-02 5.62383824e-02 5.71876696e+02] [-9.54847583e-02 9.95403124e-01 -7.43514063e-03 -7.50975227e+01] [-5.66917949e-02 2.01924761e-03 9.98389685e-01 -3.68574189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.5507140569999 meters 0.03093887396978372 Centerline is valid? [True, True] Translation: X:571.90, Y:-75.11, Z:-36.86 [[ 9.93964381e-01 9.42927502e-02 5.60685951e-02 5.71903809e+02] [-9.40245254e-02 9.95542315e-01 -7.40866803e-03 -7.51057881e+01] [-5.65172426e-02 2.09212908e-03 9.98399431e-01 -3.68588678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.5807140569999 meters 0.033341670730588316 Centerline is valid? [True, True] Translation: X:571.93, Y:-75.12, Z:-36.86 [[ 9.94226576e-01 9.14594441e-02 5.61131566e-02 5.71930493e+02] [-9.11866401e-02 9.95806263e-01 -7.40835667e-03 -7.51193367e+01] [-5.65553969e-02 2.24881487e-03 9.98396930e-01 -3.68606289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.610714057 meters 0.03289364093744916 Centerline is valid? [True, True] Translation: X:571.96, Y:-75.12, Z:-36.86 [[ 9.94325349e-01 9.05131182e-02 5.58970058e-02 5.71958808e+02] [-9.02411441e-02 9.95892631e-01 -7.37589098e-03 -7.51244428e+01] [-5.63350310e-02 2.28982562e-03 9.98409295e-01 -3.68620203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.640714057 meters 0.032939770698825206 Centerline is valid? [True, True] Translation: X:571.99, Y:-75.13, Z:-36.86 [[ 9.94530110e-01 8.90765978e-02 5.45455705e-02 5.71987334e+02] [-8.88156818e-02 9.96022100e-01 -7.19380437e-03 -7.51316650e+01] [-5.49693933e-02 2.30995302e-03 9.98485368e-01 -3.68645030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.6707140569999 meters 0.03183008922546628 Centerline is valid? [True, True] Translation: X:572.02, Y:-75.13, Z:-36.87 [[ 9.94602631e-01 8.87764873e-02 5.37060675e-02 5.72016071e+02] [-8.85232058e-02 9.96048943e-01 -7.08137832e-03 -7.51344512e+01] [-5.41225316e-02 2.28892425e-03 9.98531678e-01 -3.68666222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.7007140569999 meters 0.033844429895825194 Centerline is valid? [True, True] Translation: X:572.04, Y:-75.15, Z:-36.87 [[ 9.94641572e-01 8.79342611e-02 5.43664294e-02 5.72042697e+02] [-8.76736651e-02 9.96123485e-01 -7.16454195e-03 -7.51460022e+01] [-5.47856858e-02 2.35964715e-03 9.98495348e-01 -3.68683983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.7307140569999 meters 0.03194719291227532 Centerline is valid? [True, True] Translation: X:572.07, Y:-75.15, Z:-36.87 [[ 9.94574269e-01 8.77415747e-02 5.58877447e-02 5.72071350e+02] [-8.74661980e-02 9.96140305e-01 -7.35919917e-03 -7.51483248e+01] [-5.63177427e-02 2.43098160e-03 9.98409937e-01 -3.68691995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.760714057 meters 0.03306873364414542 Centerline is valid? [True, True] Translation: X:572.10, Y:-75.16, Z:-36.87 [[ 9.94552020e-01 8.72298056e-02 5.70722331e-02 5.72098483e+02] [-8.69420204e-02 9.96185058e-01 -7.51095449e-03 -7.51555482e+01] [-5.75096850e-02 2.50805970e-03 9.98341798e-01 -3.68699939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.790714057 meters 0.03320550814364257 Centerline is valid? [True, True] Translation: X:572.13, Y:-75.16, Z:-36.87 [[ 9.94526733e-01 8.71193075e-02 5.76784468e-02 5.72126790e+02] [-8.68254876e-02 9.96194657e-01 -7.58550492e-03 -7.51624905e+01] [-5.81198045e-02 2.53602816e-03 9.98306394e-01 -3.68706775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.8207140569999 meters 0.03320550814364257 Centerline is valid? [True, True] Translation: X:572.16, Y:-75.17, Z:-36.87 [[ 9.94529750e-01 8.70845086e-02 5.76789731e-02 5.72155679e+02] [-8.67908621e-02 9.96197705e-01 -7.58150128e-03 -7.51662583e+01] [-5.81198919e-02 2.53402078e-03 9.98306394e-01 -3.68723668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.8507140569999 meters 0.03389000405662404 Centerline is valid? [True, True] Translation: X:572.18, Y:-75.17, Z:-36.87 [[ 9.94549989e-01 8.70407614e-02 5.73953418e-02 5.72183571e+02] [-8.67500439e-02 9.96201559e-01 -7.54219692e-03 -7.51726480e+01] [-5.78338075e-02 2.52204344e-03 9.98323039e-01 -3.68740558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.880714057 meters 0.03376162303477565 Centerline is valid? [True, True] Translation: X:572.21, Y:-75.18, Z:-36.88 [[ 9.94467764e-01 8.78653471e-02 5.75634205e-02 5.72212565e+02] [-8.75744369e-02 9.96129276e-01 -7.56192337e-03 -7.51798728e+01] [-5.80050394e-02 2.47900490e-03 9.98313212e-01 -3.68767969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.910714057 meters 0.03334310509563371 Centerline is valid? [True, True] Translation: X:572.24, Y:-75.18, Z:-36.88 [[ 9.94390231e-01 8.87547862e-02 5.75383075e-02 5.72241405e+02] [-8.84657313e-02 9.96050557e-01 -7.55662224e-03 -7.51843280e+01] [-5.79817496e-02 2.42406289e-03 9.98314700e-01 -3.68789022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9407140569999 meters 0.03209896344250608 Centerline is valid? [True, True] Translation: X:572.27, Y:-75.19, Z:-36.88 [[ 9.94162316e-01 9.15415554e-02 5.71089547e-02 5.72270390e+02] [-9.12615605e-02 9.95798734e-01 -7.49725846e-03 -7.51895494e+01] [-5.75553355e-02 2.24163950e-03 9.98339801e-01 -3.68808563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9707140569999 meters 0.03158869001930162 Centerline is valid? [True, True] Translation: X:572.30, Y:-75.19, Z:-36.88 [[ 9.94062973e-01 9.29723120e-02 5.65239316e-02 5.72299347e+02] [-9.27004504e-02 9.95666406e-01 -7.41849228e-03 -7.51931798e+01] [-5.69686943e-02 2.13465457e-03 9.98373683e-01 -3.68829422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.000714057 meters 0.030999068029405476 Centerline is valid? [True, True] Translation: X:572.33, Y:-75.20, Z:-36.89 [[ 9.93885307e-01 9.47873157e-02 5.66335642e-02 5.72327925e+02] [-9.45174509e-02 9.95495471e-01 -7.43088956e-03 -7.51968367e+01] [-5.70828108e-02 2.03259183e-03 9.98367378e-01 -3.68852225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.030714057 meters 0.02997175012461663 Centerline is valid? [True, True] Translation: X:572.36, Y:-75.20, Z:-36.89 [[ 9.93472381e-01 9.87863308e-02 5.70428716e-02 5.72356919e+02] [-9.85193617e-02 9.95107019e-01 -7.48044928e-03 -7.52033972e+01] [-5.75027280e-02 1.81179245e-03 9.98343705e-01 -3.68878747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.0607140569999 meters 0.029581906431663273 Centerline is valid? [True, True] Translation: X:572.39, Y:-75.21, Z:-36.89 [[ 9.92953890e-01 1.02855153e-01 5.88505768e-02 5.72385337e+02] [-1.02578233e-01 9.94695018e-01 -7.71534040e-03 -7.52095741e+01] [-5.93319381e-02 1.62418906e-03 9.98236987e-01 -3.68896871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.0907140569999 meters 0.029001828576450197 Centerline is valid? [True, True] Translation: X:572.41, Y:-75.21, Z:-36.89 [[ 9.92640734e-01 1.05269319e-01 5.98560255e-02 5.72413979e+02] [-1.04987361e-01 9.94442613e-01 -7.84491180e-03 -7.52138519e+01] [-6.03492110e-02 1.50305285e-03 9.98176194e-01 -3.68913714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.120714057 meters 0.028331748775623923 Centerline is valid? [True, True] Translation: X:572.44, Y:-75.22, Z:-36.89 [[ 9.92351868e-01 1.07549470e-01 6.05878080e-02 5.72442780e+02] [-1.07265071e-01 9.94198781e-01 -7.93656847e-03 -7.52185276e+01] [-6.10898986e-02 1.37691303e-03 9.98131318e-01 -3.68931081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.150714057 meters 0.028275460269663086 Centerline is valid? [True, True] Translation: X:572.47, Y:-75.23, Z:-36.90 [[ 9.92029415e-01 1.10297489e-01 6.09270329e-02 5.72469831e+02] [-1.10015271e-01 9.93897881e-01 -7.97765573e-03 -7.52261429e+01] [-6.14351642e-02 1.21116511e-03 9.98110341e-01 -3.68963248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.1807140569999 meters 0.027936759439468013 Centerline is valid? [True, True] Translation: X:572.50, Y:-75.23, Z:-36.90 [[ 9.91962897e-01 1.10738850e-01 6.12088003e-02 5.72498275e+02] [-1.10455163e-01 9.93848834e-01 -8.00952684e-03 -7.52328394e+01] [-6.17192606e-02 1.18432547e-03 9.98092847e-01 -3.68984336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.2107140569999 meters 0.02802661624811724 Centerline is valid? [True, True] Translation: X:572.52, Y:-75.24, Z:-36.90 [[ 9.91954893e-01 1.10446785e-01 6.18627324e-02 5.72524977e+02] [-1.10156704e-01 9.93881301e-01 -8.09069508e-03 -7.52438082e+01] [-6.23778042e-02 1.21100988e-03 9.98051874e-01 -3.69002798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.240714057 meters 0.028290868672044587 Centerline is valid? [True, True] Translation: X:572.55, Y:-75.25, Z:-36.90 [[ 9.91945651e-01 1.09916537e-01 6.29458552e-02 5.72552726e+02] [-1.09615473e-01 9.93940021e-01 -8.22695690e-03 -7.52515247e+01] [-6.34686832e-02 1.26085440e-03 9.97983034e-01 -3.69012753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.270714057 meters 0.02841706647230985 Centerline is valid? [True, True] Translation: X:572.58, Y:-75.26, Z:-36.90 [[ 9.91920222e-01 1.09568566e-01 6.39453087e-02 5.72580481e+02] [-1.09257416e-01 9.93978391e-01 -8.35317881e-03 -7.52593438e+01] [-6.44755009e-02 1.29918778e-03 9.97918445e-01 -3.69015302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.3007140569999 meters 0.028444407778616874 Centerline is valid? [True, True] Translation: X:572.61, Y:-75.27, Z:-36.90 [[ 9.91839425e-01 1.08914716e-01 6.62732123e-02 5.72608475e+02] [-1.08579310e-01 9.94050131e-01 -8.65278694e-03 -7.52697264e+01] [-6.68213112e-02 1.38627558e-03 9.97763995e-01 -3.69025116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.3307140569999 meters 0.028249167623723606 Centerline is valid? [True, True] Translation: X:572.64, Y:-75.28, Z:-36.90 [[ 9.91736193e-01 1.09332685e-01 6.71244124e-02 5.72637860e+02] [-1.08989757e-01 9.94004266e-01 -8.76086241e-03 -7.52808651e+01] [-6.76798009e-02 1.37259092e-03 9.97706149e-01 -3.69037859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.360714057 meters 0.02802363521147975 Centerline is valid? [True, True] Translation: X:572.67, Y:-75.29, Z:-36.91 [[ 9.91741709e-01 1.08793703e-01 6.79140067e-02 5.72667917e+02] [-1.08441328e-01 9.94063325e-01 -8.86477524e-03 -7.52883524e+01] [-6.84752550e-02 1.42688230e-03 9.97651795e-01 -3.69064447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.390714057 meters 0.028127434313725774 Centerline is valid? [True, True] Translation: X:572.70, Y:-75.30, Z:-36.91 [[ 9.91636997e-01 1.09536120e-01 6.82488406e-02 5.72698806e+02] [-1.09181661e-01 9.93981848e-01 -8.91356074e-03 -7.52968010e+01] [-6.88144656e-02 1.38749481e-03 9.97628510e-01 -3.69087405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4207140569999 meters 0.028090287042270016 Centerline is valid? [True, True] Translation: X:572.73, Y:-75.31, Z:-36.91 [[ 9.91493952e-01 1.11415044e-01 6.72787617e-02 5.72728658e+02] [-1.11074758e-01 9.93773187e-01 -8.78927947e-03 -7.53090367e+01] [-6.78390874e-02 1.24154523e-03 9.97695503e-01 -3.69120239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4507140569999 meters 0.027873654006190914 Centerline is valid? [True, True] Translation: X:572.76, Y:-75.32, Z:-36.91 [[ 9.91344858e-01 1.13041043e-01 6.67614794e-02 5.72758210e+02] [-1.12709508e-01 9.93589684e-01 -8.72393903e-03 -7.53173884e+01] [-6.73196804e-02 1.12377863e-03 9.97730824e-01 -3.69140630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4807140569999 meters 0.027525978744040534 Centerline is valid? [True, True] Translation: X:572.79, Y:-75.33, Z:-36.92 [[ 9.90977253e-01 1.16481262e-01 6.63038375e-02 5.72788125e+02] [-1.16161859e-01 9.93192495e-01 -8.66548271e-03 -7.53287374e+01] [-6.68618401e-02 8.85319220e-04 9.97761851e-01 -3.69163347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.510714057 meters 0.027122526772344127 Centerline is valid? [True, True] Translation: X:572.82, Y:-75.34, Z:-36.92 [[ 9.90747002e-01 1.18719577e-01 6.57726402e-02 5.72819301e+02] [-1.18410037e-01 9.92927554e-01 -8.59855765e-03 -7.53358311e+01] [-6.63282839e-02 7.30854459e-04 9.97797587e-01 -3.69183038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.540714057 meters 0.02668172587634743 Centerline is valid? [True, True] Translation: X:572.85, Y:-75.35, Z:-36.92 [[ 9.90150867e-01 1.24048952e-01 6.49085328e-02 5.72849340e+02] [-1.23758711e-01 9.92276030e-01 -8.48896957e-03 -7.53472492e+01] [-6.54602289e-02 3.72364224e-04 9.97855110e-01 -3.69201999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5707140569999 meters 0.026752806328778314 Centerline is valid? [True, True] Translation: X:572.88, Y:-75.36, Z:-36.92 [[ 9.89895100e-01 1.26228733e-01 6.46064803e-02 5.72879336e+02] [-1.25945674e-01 9.92001136e-01 -8.45179859e-03 -7.53557522e+01] [-6.51565617e-02 2.29487298e-04 9.97875027e-01 -3.69224857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.6007140569999 meters 0.02618361316516811 Centerline is valid? [True, True] Translation: X:572.91, Y:-75.36, Z:-36.92 [[ 9.89554674e-01 1.28900673e-01 6.45458201e-02 5.72908824e+02] [-1.28623687e-01 9.91657508e-01 -8.44592646e-03 -7.53645258e+01] [-6.50960327e-02 5.55846322e-05 9.97879002e-01 -3.69240111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.630714057 meters 0.025830141126051007 Centerline is valid? [True, True] Translation: X:572.94, Y:-75.38, Z:-36.92 [[ 9.89039875e-01 1.32406181e-01 6.53355041e-02 5.72937324e+02] [-1.32129996e-01 9.91195527e-01 -8.54940049e-03 -7.53789597e+01] [-6.58922528e-02 -1.77081914e-04 9.97826728e-01 -3.69240262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.660714057 meters 0.0256027600113488 Centerline is valid? [True, True] Translation: X:572.97, Y:-75.39, Z:-36.92 [[ 9.88619467e-01 1.35195587e-01 6.59825875e-02 5.72967281e+02] [-1.34919889e-01 9.90818864e-01 -8.63726252e-03 -7.53949955e+01] [-6.65445122e-02 -3.63397511e-04 9.97783391e-01 -3.69248440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.6907140569999 meters 0.024985170510601843 Centerline is valid? [True, True] Translation: X:573.00, Y:-75.41, Z:-36.93 [[ 9.88502556e-01 1.36282322e-01 6.54967556e-02 5.72997433e+02] [-1.36011990e-01 9.90669952e-01 -8.58975187e-03 -7.54054104e+01] [-6.60562991e-02 -4.17352425e-04 9.97815810e-01 -3.69252065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.7207140569999 meters 0.024827055204151217 Centerline is valid? [True, True] Translation: X:573.03, Y:-75.42, Z:-36.93 [[ 9.88462535e-01 1.36853638e-01 6.49068435e-02 5.73028562e+02] [-1.36588413e-01 9.90591183e-01 -8.52727868e-03 -7.54166313e+01] [-6.54631360e-02 -4.36627214e-04 9.97854893e-01 -3.69271806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.750714057 meters 0.023964794710849956 Centerline is valid? [True, True] Translation: X:573.06, Y:-75.44, Z:-36.93 [[ 9.88494806e-01 1.37304210e-01 6.34474023e-02 5.73058216e+02] [-1.37050748e-01 9.90528828e-01 -8.35063417e-03 -7.54355548e+01] [-6.39930582e-02 -4.40955420e-04 9.97950246e-01 -3.69287673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.780714057 meters 0.023490876458290046 Centerline is valid? [True, True] Translation: X:573.09, Y:-75.45, Z:-36.93 [[ 9.88548161e-01 1.37341822e-01 6.25280565e-02 5.73089405e+02] [-1.37094828e-01 9.90523622e-01 -8.24395880e-03 -7.54476284e+01] [-6.30677573e-02 -4.22722864e-04 9.98009158e-01 -3.69298766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.8107140569999 meters 0.022397057579025905 Centerline is valid? [True, True] Translation: X:573.12, Y:-75.47, Z:-36.93 [[ 9.88696690e-01 1.36541095e-01 6.19304777e-02 5.73119222e+02] [-1.36296702e-01 9.90634342e-01 -8.17367497e-03 -7.54680713e+01] [-6.24665005e-02 -3.59634499e-04 9.98046996e-01 -3.69292312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.8407140569999 meters 0.02159966361701632 Centerline is valid? [True, True] Translation: X:573.15, Y:-75.48, Z:-36.93 [[ 9.88768623e-01 1.36032245e-01 6.19018380e-02 5.73151213e+02] [-1.35786087e-01 9.90704361e-01 -8.18580752e-03 -7.54807068e+01] [-6.24399547e-02 -3.11538703e-04 9.98048674e-01 -3.69297422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.870714057 meters 0.02015305393430985 Centerline is valid? [True, True] Translation: X:573.18, Y:-75.50, Z:-36.93 [[ 9.89095636e-01 1.33777018e-01 6.15916580e-02 5.73180183e+02] [-1.33527865e-01 9.91011446e-01 -8.16227101e-03 -7.55023730e+01] [-6.21299623e-02 -1.50935957e-04 9.98068056e-01 -3.69276825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.900714057 meters 0.019386099556975716 Centerline is valid? [True, True] Translation: X:573.21, Y:-75.52, Z:-36.93 [[ 9.89279629e-01 1.32282916e-01 6.18631209e-02 5.73210860e+02] [-1.32027753e-01 9.91212000e-01 -8.21243854e-03 -7.55154698e+01] [-6.24058331e-02 -4.32507226e-05 9.98050855e-01 -3.69274591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.9307140569999 meters 0.01865457329687758 Centerline is valid? [True, True] Translation: X:573.24, Y:-75.53, Z:-36.93 [[ 9.89465220e-01 1.30855309e-01 6.19311372e-02 5.73242318e+02] [-1.30596077e-01 9.91401475e-01 -8.23286011e-03 -7.55282477e+01] [-6.24759342e-02 5.81651726e-05 9.98046469e-01 -3.69275988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.9607140569999 meters 0.018329704556250985 Centerline is valid? [True, True] Translation: X:573.27, Y:-75.55, Z:-36.93 [[ 9.89856009e-01 1.28046665e-01 6.15559327e-02 5.73272218e+02] [-1.27784079e-01 9.91768112e-01 -8.20003083e-03 -7.55474958e+01] [-6.20991978e-02 2.50981615e-04 9.98069951e-01 -3.69276971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.990714057 meters 0.01732292077154254 Centerline is valid? [True, True] Translation: X:573.30, Y:-75.57, Z:-36.93 [[ 9.90156452e-01 1.26479533e-01 5.99427164e-02 5.73303392e+02] [-1.26226745e-01 9.91969153e-01 -8.00046754e-03 -7.55657892e+01] [-6.04732210e-02 3.55340578e-04 9.98169757e-01 -3.69305107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.020714057 meters 0.01723765889781138 Centerline is valid? [True, True] Translation: X:573.33, Y:-75.58, Z:-36.93 [[ 9.90261415e-01 1.26097718e-01 5.90058880e-02 5.73334995e+02] [-1.25851102e-01 9.92017749e-01 -7.89216475e-03 -7.55769906e+01] [-5.95300721e-02 3.89350243e-04 9.98226437e-01 -3.69329367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.0507140569999 meters 0.01683521745994691 Centerline is valid? [True, True] Translation: X:573.37, Y:-75.59, Z:-36.93 [[ 9.90269295e-01 1.26560641e-01 5.78716411e-02 5.73365689e+02] [-1.26323258e-01 9.91958803e-01 -7.75677763e-03 -7.55875145e+01] [-5.83879865e-02 3.70764444e-04 9.98293897e-01 -3.69348157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.0807140569999 meters 0.0163557364049312 Centerline is valid? [True, True] Translation: X:573.40, Y:-75.60, Z:-36.94 [[ 9.90128412e-01 1.27705706e-01 5.77666119e-02 5.73396743e+02] [-1.27470234e-01 9.91812055e-01 -7.75807943e-03 -7.56023231e+01] [-5.82843730e-02 3.17971323e-04 9.98299970e-01 -3.69353089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.110714057 meters 0.016199339021301887 Centerline is valid? [True, True] Translation: X:573.43, Y:-75.61, Z:-36.94 [[ 9.89972078e-01 1.28917307e-01 5.77547570e-02 5.73428967e+02] [-1.28683016e-01 9.91655312e-01 -7.77321457e-03 -7.56113216e+01] [-5.82749134e-02 2.63209092e-04 9.98300539e-01 -3.69360147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.140714057 meters 0.0159716938333416 Centerline is valid? [True, True] Translation: X:573.46, Y:-75.62, Z:-36.94 [[ 9.89706912e-01 1.30439098e-01 5.88716456e-02 5.73459657e+02] [-1.30197307e-01 9.91456305e-01 -7.94086959e-03 -7.56245035e+01] [-5.94044641e-02 1.94203829e-04 9.98233977e-01 -3.69355990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.1707140569999 meters 0.01615965364780228 Centerline is valid? [True, True] Translation: X:573.49, Y:-75.63, Z:-36.94 [[ 9.89600416e-01 1.30912848e-01 5.96057266e-02 5.73490405e+02] [-1.30664864e-01 9.91393863e-01 -8.05611678e-03 -7.56333635e+01] [-6.01474008e-02 1.83962383e-04 9.98189489e-01 -3.69364961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.2007140569999 meters 0.01583477192216116 Centerline is valid? [True, True] Translation: X:573.52, Y:-75.65, Z:-36.94 [[ 9.89736312e-01 1.29263025e-01 6.09352457e-02 5.73522114e+02] [-1.28999713e-01 9.91610295e-01 -8.25213366e-03 -7.56464453e+01] [-6.14907127e-02 3.06807125e-04 9.98107609e-01 -3.69375817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.2307140569999 meters 0.016186811510994943 Centerline is valid? [True, True] Translation: X:573.55, Y:-75.66, Z:-36.94 [[ 9.89901713e-01 1.27696068e-01 6.15492750e-02 5.73552049e+02] [-1.27423291e-01 9.91813255e-01 -8.35296499e-03 -7.56557863e+01] [-6.21120276e-02 4.25803181e-04 9.98069093e-01 -3.69394606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.260714057 meters 0.016390739200131888 Centerline is valid? [True, True] Translation: X:573.58, Y:-75.67, Z:-36.94 [[ 9.90120590e-01 1.25973764e-01 6.15778135e-02 5.73583511e+02] [-1.25696510e-01 9.92033422e-01 -8.37121998e-03 -7.56653472e+01] [-6.21418031e-02 5.48400994e-04 9.98067180e-01 -3.69413517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.290714057 meters 0.016837478023542053 Centerline is valid? [True, True] Translation: X:573.61, Y:-75.68, Z:-36.94 [[ 9.90510282e-01 1.22885916e-01 6.15502529e-02 5.73614301e+02] [-1.22601999e-01 9.92420515e-01 -8.38279871e-03 -7.56796693e+01] [-6.21138616e-02 7.57064294e-04 9.98068783e-01 -3.69447540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.3207140569999 meters 0.01704086696445741 Centerline is valid? [True, True] Translation: X:573.64, Y:-75.69, Z:-36.95 [[ 9.90710518e-01 1.21530687e-01 6.10160787e-02 5.73644028e+02] [-1.21248201e-01 9.92587311e-01 -8.32485196e-03 -7.56887473e+01] [-6.15755105e-02 8.49428604e-04 9.98102066e-01 -3.69469834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.3507140569999 meters 0.017582109330966933 Centerline is valid? [True, True] Translation: X:573.67, Y:-75.70, Z:-36.95 [[ 9.91016180e-01 1.19043865e-01 6.09548181e-02 5.73674532e+02] [-1.18756705e-01 9.92888481e-01 -8.32527435e-03 -7.57001437e+01] [-6.15124096e-02 1.01168822e-03 9.98105806e-01 -3.69496972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.380714057 meters 0.01749541095320854 Centerline is valid? [True, True] Translation: X:573.71, Y:-75.71, Z:-36.95 [[ 9.91184180e-01 1.17594212e-01 6.10370533e-02 5.73706251e+02] [-1.17302583e-01 9.93061101e-01 -8.35185335e-03 -7.57069275e+01] [-6.15956530e-02 1.11842089e-03 9.98100558e-01 -3.69514745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.410714057 meters 0.018161392968436992 Centerline is valid? [True, True] Translation: X:573.74, Y:-75.72, Z:-36.95 [[ 9.91509034e-01 1.14428764e-01 6.17729106e-02 5.73737151e+02] [-1.14122920e-01 9.93430543e-01 -8.46848568e-03 -7.57177309e+01] [-6.23361345e-02 1.34687512e-03 9.98054303e-01 -3.69520788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4407140569999 meters 0.01891751752648687 Centerline is valid? [True, True] Translation: X:573.77, Y:-75.73, Z:-36.95 [[ 9.91650251e-01 1.12851889e-01 6.24037738e-02 5.73767119e+02] [-1.12535642e-01 9.93610724e-01 -8.57078984e-03 -7.57263773e+01] [-6.29722887e-02 1.47657715e-03 9.98014184e-01 -3.69529860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4707140569999 meters 0.020714545807718882 Centerline is valid? [True, True] Translation: X:573.80, Y:-75.74, Z:-36.95 [[ 9.92072529e-01 1.08787169e-01 6.29082628e-02 5.73797021e+02] [-1.08456681e-01 9.94063500e-01 -8.65482803e-03 -7.57384741e+01] [-6.34763421e-02 1.76339576e-03 9.97981786e-01 -3.69535333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.500714057 meters 0.020409393408893695 Centerline is valid? [True, True] Translation: X:573.83, Y:-75.74, Z:-36.96 [[ 9.92334954e-01 1.06288044e-01 6.30411858e-02 5.73829001e+02] [-1.05950261e-01 9.94333488e-01 -8.68662122e-03 -7.57434406e+01] [-6.36072462e-02 1.94080780e-03 9.97973122e-01 -3.69564014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.530714057 meters 0.023651141553193228 Centerline is valid? [True, True] Translation: X:573.86, Y:-75.76, Z:-36.96 [[ 9.93038092e-01 1.00208256e-01 6.19164988e-02 5.73857836e+02] [-9.98703766e-02 9.94963843e-01 -8.53574902e-03 -7.57556286e+01] [-6.24600301e-02 2.29269987e-03 9.98044833e-01 -3.69587534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.5607140569999 meters 0.022257607783676497 Centerline is valid? [True, True] Translation: X:573.89, Y:-75.76, Z:-36.96 [[ 9.93375817e-01 9.72103935e-02 6.12749955e-02 5.73889226e+02] [-9.68737068e-02 9.95260822e-01 -8.44877150e-03 -7.57580539e+01] [-6.18059108e-02 2.45686935e-03 9.98085163e-01 -3.69617759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.5907140569999 meters 0.02753312172748192 Centerline is valid? [True, True] Translation: X:573.92, Y:-75.77, Z:-36.96 [[ 9.94026594e-01 9.16587867e-02 5.92435496e-02 5.73917174e+02] [-9.13338564e-02 9.95786771e-01 -8.17515305e-03 -7.57700866e+01] [-5.97432675e-02 2.71537769e-03 9.98210082e-01 -3.69642319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.620714057 meters 0.0238103037486444 Centerline is valid? [True, True] Translation: X:573.95, Y:-75.77, Z:-36.97 [[ 9.94213302e-01 8.96509734e-02 5.91828839e-02 5.73949329e+02] [-8.93230216e-02 9.95969208e-01 -8.16913162e-03 -7.57677738e+01] [-5.96767006e-02 2.83546530e-03 9.98213730e-01 -3.69663906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.650714057 meters 0.024374021144664727 Centerline is valid? [True, True] Translation: X:573.98, Y:-75.77, Z:-36.97 [[ 9.94337547e-01 8.82904309e-02 5.91408639e-02 5.73980081e+02] [-8.79602683e-02 9.96090496e-01 -8.16798296e-03 -7.57717396e+01] [-5.96308071e-02 2.91968589e-03 9.98216230e-01 -3.69675154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.6807140569999 meters 0.025472197688154986 Centerline is valid? [True, True] Translation: X:574.01, Y:-75.77, Z:-36.97 [[ 9.94422383e-01 8.76050952e-02 5.87321977e-02 5.74011979e+02] [-8.72774816e-02 9.96150903e-01 -8.12524435e-03 -7.57742456e+01] [-5.92179446e-02 2.95392655e-03 9.98240707e-01 -3.69676745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.7107140569999 meters 0.03096142103981102 Centerline is valid? [True, True] Translation: X:574.04, Y:-75.78, Z:-36.97 [[ 9.94349135e-01 8.84107919e-02 5.87650418e-02 5.74041801e+02] [-8.80838876e-02 9.96079839e-01 -8.13527830e-03 -7.57846928e+01] [-5.92539198e-02 2.91305360e-03 9.98238692e-01 -3.69686477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.740714057 meters 0.03096142103981102 Centerline is valid? [True, True] Translation: X:574.07, Y:-75.79, Z:-36.97 [[ 9.94326521e-01 8.86660026e-02 5.87631713e-02 5.74073962e+02] [-8.83387472e-02 9.96057159e-01 -8.14876770e-03 -7.57892415e+01] [-5.92539961e-02 2.91147090e-03 9.98238693e-01 -3.69705310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.770714057 meters 0.024574671154885448 Centerline is valid? [True, True] Translation: X:574.11, Y:-75.78, Z:-36.97 [[ 9.94045445e-01 9.13965926e-02 5.93322578e-02 5.74106987e+02] [-9.10668910e-02 9.95810662e-01 -8.24295664e-03 -7.57788488e+01] [-5.98370730e-02 2.79066925e-03 9.98204256e-01 -3.69713641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.8007140569999 meters 0.023345973548335747 Centerline is valid? [True, True] Translation: X:574.14, Y:-75.78, Z:-36.97 [[ 9.93877868e-01 9.30778290e-02 5.95256275e-02 5.74140035e+02] [-9.27486968e-02 9.95655167e-01 -8.27449094e-03 -7.57781173e+01] [-6.00371703e-02 2.70290904e-03 9.98192483e-01 -3.69725250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.8307140569999 meters 0.022388071254372442 Centerline is valid? [True, True] Translation: X:574.17, Y:-75.77, Z:-36.97 [[ 9.93479650e-01 9.74054325e-02 5.92483431e-02 5.74171250e+02] [-9.70867225e-02 9.95241806e-01 -8.24116499e-03 -7.57732349e+01] [-5.97691622e-02 2.43520226e-03 9.98209255e-01 -3.69738232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.860714057 meters 0.02159371093247288 Centerline is valid? [True, True] Translation: X:574.20, Y:-75.77, Z:-36.98 [[ 9.93241642e-01 1.00024386e-01 5.88741259e-02 5.74203431e+02] [-9.97142774e-02 9.94982412e-01 -8.18919826e-03 -7.57728018e+01] [-5.93978394e-02 2.26326181e-03 9.98231824e-01 -3.69756767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.890714057 meters 0.020379452033813753 Centerline is valid? [True, True] Translation: X:574.23, Y:-75.77, Z:-36.98 [[ 9.92760255e-01 1.04506623e-01 5.92067799e-02 5.74234777e+02] [-1.04200759e-01 9.94522160e-01 -8.23858391e-03 -7.57683087e+01] [-5.97434412e-02 2.00954725e-03 9.98211743e-01 -3.69770277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9207140569999 meters 0.019969488675218038 Centerline is valid? [True, True] Translation: X:574.27, Y:-75.77, Z:-36.98 [[ 9.92511597e-01 1.06815696e-01 5.92548524e-02 5.74265825e+02] [-1.06513414e-01 9.94277074e-01 -8.24572669e-03 -7.57694282e+01] [-5.97965144e-02 1.87254272e-03 9.98208831e-01 -3.69788461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9507140569999 meters 0.019390978347946734 Centerline is valid? [True, True] Translation: X:574.30, Y:-75.77, Z:-36.98 [[ 9.92279796e-01 1.09021122e-01 5.91202284e-02 5.74298802e+02] [-1.08723300e-01 9.94037894e-01 -8.24070866e-03 -7.57673548e+01] [-5.96661587e-02 1.74934240e-03 9.98216855e-01 -3.69817642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9807140569999 meters 0.01948001124096522 Centerline is valid? [True, True] Translation: X:574.33, Y:-75.77, Z:-36.98 [[ 9.92282670e-01 1.09298145e-01 5.85578294e-02 5.74331743e+02] [-1.09005579e-01 9.94007505e-01 -8.17703703e-03 -7.57694257e+01] [-5.91006569e-02 1.73080205e-03 9.98250528e-01 -3.69844694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.010714057 meters 0.020051721645139724 Centerline is valid? [True, True] Translation: X:574.36, Y:-75.77, Z:-36.99 [[ 9.92337398e-01 1.09232381e-01 5.77475136e-02 5.74364167e+02] [-1.08946793e-01 9.94014740e-01 -8.08034465e-03 -7.57696229e+01] [-5.82845150e-02 1.72702176e-03 9.98298519e-01 -3.69874544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.040714057 meters 0.019643201826862657 Centerline is valid? [True, True] Translation: X:574.40, Y:-75.77, Z:-36.99 [[ 9.92352625e-01 1.09597846e-01 5.67853820e-02 5.74397294e+02] [-1.09321443e-01 9.93974572e-01 -7.96069535e-03 -7.57707751e+01] [-5.73157008e-02 1.69195701e-03 9.98354670e-01 -3.69899625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0707140569999 meters 0.019261733202821874 Centerline is valid? [True, True] Translation: X:574.43, Y:-75.77, Z:-36.99 [[ 9.92183394e-01 1.11727892e-01 5.55786895e-02 5.74429430e+02] [-1.11465572e-01 9.93737627e-01 -7.80733839e-03 -7.57699111e+01] [-5.61029325e-02 1.55120111e-03 9.98423785e-01 -3.69928108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.1007140569999 meters 0.019306801464797584 Centerline is valid? [True, True] Translation: X:574.46, Y:-75.77, Z:-36.99 [[ 9.91938425e-01 1.14005023e-01 5.53264561e-02 5.74460578e+02] [-1.13747831e-01 9.93479144e-01 -7.78594000e-03 -7.57726676e+01] [-5.58533165e-02 1.42990868e-03 9.98437961e-01 -3.69948109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.130714057 meters 0.01836932969316348 Centerline is valid? [True, True] Translation: X:574.49, Y:-75.77, Z:-37.00 [[ 9.91632935e-01 1.16429713e-01 5.57516229e-02 5.74493346e+02] [-1.16171621e-01 9.93198061e-01 -7.85915030e-03 -7.57737361e+01] [-5.62874424e-02 1.31663589e-03 9.98413737e-01 -3.69966499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.160714057 meters 0.01735042729193323 Centerline is valid? [True, True] Translation: X:574.53, Y:-75.77, Z:-37.00 [[ 9.91034813e-01 1.21431580e-01 5.57168823e-02 5.74525403e+02] [-1.21181267e-01 9.92599260e-01 -7.86193449e-03 -7.57725342e+01] [-5.62592233e-02 1.03960837e-03 9.98415654e-01 -3.69982253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.1907140569999 meters 0.01713225760511498 Centerline is valid? [True, True] Translation: X:574.56, Y:-75.77, Z:-37.00 [[ 9.90756934e-01 1.23937177e-01 5.51386835e-02 5.74557576e+02] [-1.23695711e-01 9.92289666e-01 -7.78395780e-03 -7.57742719e+01] [-5.56782676e-02 8.91591530e-04 9.98448364e-01 -3.70004902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.2207140569999 meters 0.016550494472172956 Centerline is valid? [True, True] Translation: X:574.59, Y:-75.78, Z:-37.00 [[ 9.90504464e-01 1.26570251e-01 5.36738089e-02 5.74589867e+02] [-1.26344598e-01 9.91957372e-01 -7.59038174e-03 -7.57750865e+01] [-5.42028470e-02 7.36911175e-04 9.98529673e-01 -3.70027890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.250714057 meters 0.016671964438946533 Centerline is valid? [True, True] Translation: X:574.62, Y:-75.78, Z:-37.01 [[ 9.90429896e-01 1.27317742e-01 5.32805125e-02 5.74621951e+02] [-1.27095738e-01 9.91861732e-01 -7.54831695e-03 -7.57796174e+01] [-5.38079361e-02 7.04352721e-04 9.98551055e-01 -3.70052939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.280714057 meters 0.01680760176436276 Centerline is valid? [True, True] Translation: X:574.65, Y:-75.78, Z:-37.01 [[ 9.90627769e-01 1.26162684e-01 5.23411897e-02 5.74653109e+02] [-1.25946082e-01 9.92009268e-01 -7.42943946e-03 -7.57847239e+01] [-5.28602633e-02 7.67641259e-04 9.98601624e-01 -3.70079130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.3107140569999 meters 0.017310223747550292 Centerline is valid? [True, True] Translation: X:574.68, Y:-75.79, Z:-37.01 [[ 9.90762791e-01 1.25300276e-01 5.18549112e-02 5.74683621e+02] [-1.25085870e-01 9.92118527e-01 -7.37250178e-03 -7.57898332e+01] [-5.23699946e-02 8.18083787e-04 9.98627415e-01 -3.70101524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.3407140569999 meters 0.01741706586319879 Centerline is valid? [True, True] Translation: X:574.72, Y:-75.80, Z:-37.01 [[ 9.90881824e-01 1.24107235e-01 5.24462142e-02 5.74715210e+02] [-1.23885580e-01 9.92268400e-01 -7.46894608e-03 -7.57958814e+01] [-5.29676713e-02 9.03513258e-04 9.98595819e-01 -3.70104905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.370714057 meters 0.017409853974756317 Centerline is valid? [True, True] Translation: X:574.75, Y:-75.80, Z:-37.01 [[ 9.90848663e-01 1.24044980e-01 5.32143828e-02 5.74747793e+02] [-1.23815967e-01 9.92276157e-01 -7.59176272e-03 -7.58007705e+01] [-5.37450833e-02 9.33497680e-04 9.98554252e-01 -3.70111359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.400714057 meters 0.017179749027300524 Centerline is valid? [True, True] Translation: X:574.78, Y:-75.81, Z:-37.01 [[ 9.90738556e-01 1.24494930e-01 5.42044843e-02 5.74779986e+02] [-1.24257108e-01 9.92219797e-01 -7.74891343e-03 -7.58060895e+01] [-5.47474628e-02 9.41854825e-04 9.98499789e-01 -3.70117397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.4307140569999 meters 0.017113486653771822 Centerline is valid? [True, True] Translation: X:574.81, Y:-75.81, Z:-37.01 [[ 9.90461603e-01 1.25788948e-01 5.62401450e-02 5.74811787e+02] [-1.25534043e-01 9.92056599e-01 -8.05662840e-03 -7.58117858e+01] [-5.68068418e-02 9.19728272e-04 9.98384764e-01 -3.70113671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.4607140569999 meters 0.01722856013623884 Centerline is valid? [True, True] Translation: X:574.84, Y:-75.82, Z:-37.01 [[ 9.90308876e-01 1.26550835e-01 5.72120244e-02 5.74843951e+02] [-1.26287461e-01 9.91959710e-01 -8.21043815e-03 -7.58170671e+01] [-5.77910609e-02 9.05708459e-04 9.98328289e-01 -3.70125715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.490714057 meters 0.01706804959460171 Centerline is valid? [True, True] Translation: X:574.88, Y:-75.82, Z:-37.01 [[ 9.90230692e-01 1.27158211e-01 5.72185792e-02 5.74876681e+02] [-1.26894963e-01 9.91882053e-01 -8.22566344e-03 -7.58231425e+01] [-5.78000424e-02 8.84554926e-04 9.98327788e-01 -3.70139343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.520714057 meters 0.016506403154192616 Centerline is valid? [True, True] Translation: X:574.91, Y:-75.83, Z:-37.02 [[ 9.90232768e-01 1.27295124e-01 5.68772018e-02 5.74909614e+02] [-1.27034305e-01 9.91864489e-01 -8.19277694e-03 -7.58280185e+01] [-5.74573773e-02 8.87400404e-04 9.98347566e-01 -3.70163844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.5507140569999 meters 0.01730210140473303 Centerline is valid? [True, True] Translation: X:574.94, Y:-75.84, Z:-37.02 [[ 9.90295981e-01 1.26917013e-01 5.66210385e-02 5.74940542e+02] [-1.26656972e-01 9.91912911e-01 -8.17245638e-03 -7.58373386e+01] [-5.72003629e-02 9.21701419e-04 9.98362293e-01 -3.70194294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.5807140569999 meters 0.017347711206875505 Centerline is valid? [True, True] Translation: X:574.97, Y:-75.84, Z:-37.02 [[ 9.90423199e-01 1.26079938e-01 5.62648728e-02 5.74971582e+02] [-1.25820938e-01 9.92019602e-01 -8.13640339e-03 -7.58437647e+01] [-5.68416939e-02 9.79183594e-04 9.98382724e-01 -3.70211724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.610714057 meters 0.016744375613773965 Centerline is valid? [True, True] Translation: X:575.00, Y:-75.85, Z:-37.02 [[ 9.90474818e-01 1.25687914e-01 5.62332906e-02 5.75003857e+02] [-1.25427859e-01 9.92069312e-01 -8.14440660e-03 -7.58483880e+01] [-5.68109754e-02 1.01360840e-03 9.98384438e-01 -3.70232184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.640714057 meters 0.016901029013866805 Centerline is valid? [True, True] Translation: X:575.04, Y:-75.86, Z:-37.03 [[ 9.90589280e-01 1.24766047e-01 5.62699839e-02 5.75035595e+02] [-1.24503222e-01 9.92185597e-01 -8.16630120e-03 -7.58561558e+01] [-5.68491447e-02 1.08365612e-03 9.98382192e-01 -3.70254778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.6707140569999 meters 0.01694240513943199 Centerline is valid? [True, True] Translation: X:575.07, Y:-75.86, Z:-37.03 [[ 9.90472642e-01 1.25952436e-01 5.56770094e-02 5.75066787e+02] [-1.25696205e-01 9.92035758e-01 -8.09431453e-03 -7.58629338e+01] [-5.62530829e-02 1.01880829e-03 9.98416022e-01 -3.70276636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.7007140569999 meters 0.016542919435073026 Centerline is valid? [True, True] Translation: X:575.10, Y:-75.87, Z:-37.03 [[ 9.90245118e-01 1.27642233e-01 5.58754510e-02 5.75098153e+02] [-1.27386052e-01 9.91819831e-01 -8.13741304e-03 -7.58677980e+01] [-5.64570579e-02 9.40280439e-04 9.98404586e-01 -3.70294335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.7307140569999 meters 0.01607339465250018 Centerline is valid? [True, True] Translation: X:575.13, Y:-75.87, Z:-37.03 [[ 9.89563816e-01 1.32582248e-01 5.64393658e-02 5.75129572e+02] [-1.32328053e-01 9.91171774e-01 -8.23412728e-03 -7.58731085e+01] [-5.70328054e-02 6.79683015e-04 9.98372074e-01 -3.70315334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.760714057 meters 0.015795786793588503 Centerline is valid? [True, True] Translation: X:575.16, Y:-75.88, Z:-37.03 [[ 9.89081560e-01 1.36049225e-01 5.66416502e-02 5.75161134e+02] [-1.35798055e-01 9.90701955e-01 -8.27802275e-03 -7.58780622e+01] [-5.72412122e-02 4.95813729e-04 9.98360255e-01 -3.70332827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.790714057 meters 0.015284049167729349 Centerline is valid? [True, True] Translation: X:575.19, Y:-75.88, Z:-37.04 [[ 9.88062523e-01 1.43168717e-01 5.68785452e-02 5.75192848e+02] [-1.42926382e-01 9.89698292e-01 -8.32710076e-03 -7.58823106e+01] [-5.74847793e-02 9.82515081e-05 9.98346378e-01 -3.70352065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.8207140569999 meters 0.01535647947981336 Centerline is valid? [True, True] Translation: X:575.23, Y:-75.89, Z:-37.04 [[ 9.87502292e-01 1.46815998e-01 5.73086855e-02 5.75225364e+02] [-1.46575266e-01 9.89163815e-01 -8.40468527e-03 -7.58867977e+01] [-5.79216202e-02 -1.00389867e-04 9.98321129e-01 -3.70373598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.8507140569999 meters 0.015774139088590815 Centerline is valid? [True, True] Translation: X:575.26, Y:-75.89, Z:-37.04 [[ 9.86596917e-01 1.52476727e-01 5.81151476e-02 5.75255582e+02] [-1.52237971e-01 9.88306971e-01 -8.53994167e-03 -7.58919338e+01] [-5.87377479e-02 -4.21852008e-04 9.98273359e-01 -3.70389292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.880714057 meters 0.01571978994163728 Centerline is valid? [True, True] Translation: X:575.29, Y:-75.90, Z:-37.04 [[ 9.86211274e-01 1.54593499e-01 5.90607510e-02 5.75287141e+02] [-1.54349976e-01 9.87978012e-01 -8.69091047e-03 -7.58983084e+01] [-5.96942816e-02 -5.44951584e-04 9.98216558e-01 -3.70405442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.910714057 meters 0.01572266189683566 Centerline is valid? [True, True] Translation: X:575.32, Y:-75.91, Z:-37.04 [[ 9.86014178e-01 1.55713265e-01 5.94089275e-02 5.75318789e+02] [-1.55467974e-01 9.87802115e-01 -8.75737092e-03 -7.59088567e+01] [-6.00479030e-02 -6.01293720e-04 9.98195315e-01 -3.70426424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9407140569999 meters 0.015817240265539777 Centerline is valid? [True, True] Translation: X:575.35, Y:-75.92, Z:-37.04 [[ 9.86098696e-01 1.55159085e-01 5.94560311e-02 5.75350530e+02] [-1.54911359e-01 9.87889343e-01 -8.78156531e-03 -7.59177084e+01] [-6.00985191e-02 -5.50924465e-04 9.98192298e-01 -3.70448827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9707140569999 meters 0.015570809770316925 Centerline is valid? [True, True] Translation: X:575.38, Y:-75.93, Z:-37.05 [[ 9.86784676e-01 1.50891746e-01 5.90566189e-02 5.75379793e+02] [-1.50638685e-01 9.88550255e-01 -8.73954730e-03 -7.59320307e+01] [-5.96991612e-02 -2.72160043e-04 9.98216377e-01 -3.70479775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.000714057 meters 0.015680554658341405 Centerline is valid? [True, True] Translation: X:575.41, Y:-75.94, Z:-37.05 [[ 9.87146141e-01 1.48578263e-01 5.88812013e-02 5.75411716e+02] [-1.48321766e-01 9.88900645e-01 -8.72742238e-03 -7.59423062e+01] [-5.95243632e-02 -1.18122438e-04 9.98226846e-01 -3.70506435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.030714057 meters 0.01577444673985938 Centerline is valid? [True, True] Translation: X:575.44, Y:-75.95, Z:-37.05 [[ 9.87550503e-01 1.45808721e-01 5.90238964e-02 5.75443694e+02] [-1.45545027e-01 9.89312798e-01 -8.76541029e-03 -7.59528827e+01] [-5.96711693e-02 6.56507503e-05 9.98218086e-01 -3.70536210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.0607140569999 meters 0.01675291715753407 Centerline is valid? [True, True] Translation: X:575.47, Y:-75.97, Z:-37.06 [[ 9.88656793e-01 1.38104084e-01 5.90339468e-02 5.75472079e+02] [-1.37825560e-01 9.90417570e-01 -8.78367538e-03 -7.59711403e+01] [-5.96813196e-02 5.47653546e-04 9.98217331e-01 -3.70560037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.0907140569999 meters 0.017671255963697945 Centerline is valid? [True, True] Translation: X:575.50, Y:-75.99, Z:-37.06 [[ 9.89860240e-01 1.29097372e-01 5.92500935e-02 5.75501575e+02] [-1.28799869e-01 9.91631303e-01 -8.82910161e-03 -7.59858595e+01] [-5.98940612e-02 1.10817233e-03 9.98204124e-01 -3.70574488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.120714057 meters 0.02105750080630351 Centerline is valid? [True, True] Translation: X:575.53, Y:-76.00, Z:-37.06 [[ 9.90388155e-01 1.24625603e-01 5.99980110e-02 5.75530897e+02] [-1.24312190e-01 9.92202854e-01 -8.94294828e-03 -7.60010246e+01] [-6.06447180e-02 1.39850593e-03 9.98158436e-01 -3.70586471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.150714057 meters 0.02096940140070563 Centerline is valid? [True, True] Translation: X:575.56, Y:-76.01, Z:-37.06 [[ 9.90858115e-01 1.20517231e-01 6.06283133e-02 5.75561619e+02] [-1.20189043e-01 9.92709823e-01 -9.04446082e-03 -7.60087739e+01] [-6.12763355e-02 1.67491846e-03 9.98119434e-01 -3.70608081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.1807140569999 meters 0.02660317705133581 Centerline is valid? [True, True] Translation: X:575.59, Y:-76.03, Z:-37.06 [[ 9.91812428e-01 1.11923666e-01 6.14914672e-02 5.75588573e+02] [-1.11568761e-01 9.93714259e-01 -9.18597897e-03 -7.60279162e+01] [-6.21330762e-02 2.25024129e-03 9.98065337e-01 -3.70610607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.2107140569999 meters 0.023984341725652072 Centerline is valid? [True, True] Translation: X:575.62, Y:-76.03, Z:-37.06 [[ 9.92463106e-01 1.05396257e-01 6.25189004e-02 5.75619344e+02] [-1.05016478e-01 9.94426630e-01 -9.33901923e-03 -7.60315620e+01] [-6.31547571e-02 2.70311731e-03 9.98000085e-01 -3.70645719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.240714057 meters 0.024524379005249904 Centerline is valid? [True, True] Translation: X:575.65, Y:-76.04, Z:-37.07 [[ 9.92761097e-01 1.02919415e-01 6.19112179e-02 5.75650373e+02] [-1.02542079e-01 9.94685659e-01 -9.25001452e-03 -7.60381999e+01] [-6.25342067e-02 2.83454956e-03 9.98038796e-01 -3.70667766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.270714057 meters 0.02561801314879666 Centerline is valid? [True, True] Translation: X:575.68, Y:-76.05, Z:-37.07 [[ 9.93187656e-01 9.87597923e-02 6.18448363e-02 5.75680566e+02] [-9.83743965e-02 9.95106454e-01 -9.25332630e-03 -7.60457080e+01] [-6.24560523e-02 3.10634101e-03 9.98042881e-01 -3.70693605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.3007140569999 meters 0.02479340590749185 Centerline is valid? [True, True] Translation: X:575.71, Y:-76.05, Z:-37.07 [[ 9.93332024e-01 9.72410152e-02 6.19328216e-02 5.75712098e+02] [-9.68514447e-02 9.95255691e-01 -9.26862595e-03 -7.60491066e+01] [-6.25402838e-02 3.20853973e-03 9.98037283e-01 -3.70716675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.3307140569999 meters 0.027401648391418388 Centerline is valid? [True, True] Translation: X:575.74, Y:-76.06, Z:-37.07 [[ 9.93420186e-01 9.64931515e-02 6.16879719e-02 5.75742643e+02] [-9.61043441e-02 9.95328320e-01 -9.24606598e-03 -7.60580702e+01] [-6.22919675e-02 3.25674651e-03 9.98052656e-01 -3.70730351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.360714057 meters 0.02709974039607074 Centerline is valid? [True, True] Translation: X:575.77, Y:-76.06, Z:-37.07 [[ 9.93586617e-01 9.52818859e-02 6.08851095e-02 5.75774257e+02] [-9.49003973e-02 9.95444871e-01 -9.13359538e-03 -7.60618862e+01] [-6.14780362e-02 3.29699705e-03 9.98102991e-01 -3.70746699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.390714057 meters 0.027325669981978697 Centerline is valid? [True, True] Translation: X:575.81, Y:-76.07, Z:-37.08 [[ 9.93509986e-01 9.55883420e-02 6.16504442e-02 5.75806367e+02] [-9.51973773e-02 9.95415395e-01 -9.25479510e-03 -7.60651801e+01] [-6.22524518e-02 3.32577075e-03 9.98054894e-01 -3.70761206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4207140569999 meters 0.0259552252639821 Centerline is valid? [True, True] Translation: X:575.84, Y:-76.07, Z:-37.08 [[ 9.93416240e-01 9.63454889e-02 6.19816206e-02 5.75838553e+02] [-9.59507281e-02 9.95342440e-01 -9.32118998e-03 -7.60664674e+01] [-6.25909921e-02 3.31263987e-03 9.98033764e-01 -3.70776402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4507140569999 meters 0.027985394347026633 Centerline is valid? [True, True] Translation: X:575.87, Y:-76.07, Z:-37.08 [[ 9.93237655e-01 9.75746096e-02 6.29138728e-02 5.75869657e+02] [-9.71693592e-02 9.95222745e-01 -9.47651454e-03 -7.60726609e+01] [-6.35379844e-02 3.29913038e-03 9.97973968e-01 -3.70785170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4807140569999 meters 0.026704201435175053 Centerline is valid? [True, True] Translation: X:575.90, Y:-76.07, Z:-37.08 [[ 9.92959376e-01 9.96623170e-02 6.40242110e-02 5.75902083e+02] [-9.92465771e-02 9.95016084e-01 -9.64930336e-03 -7.60710109e+01] [-6.46667917e-02 3.22718245e-03 9.97901694e-01 -3.70802331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.510714057 meters 0.025600859788593958 Centerline is valid? [True, True] Translation: X:575.93, Y:-76.07, Z:-37.08 [[ 9.92859671e-01 1.00679023e-01 6.39797428e-02 5.75934919e+02] [-1.00265727e-01 9.94913933e-01 -9.64627044e-03 -7.60716692e+01] [-6.46255146e-02 3.16241746e-03 9.97904576e-01 -3.70824359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.540714057 meters 0.02422858934408155 Centerline is valid? [True, True] Translation: X:575.97, Y:-76.07, Z:-37.09 [[ 9.92670122e-01 1.02790863e-01 6.35615321e-02 5.75967041e+02] [-1.02386932e-01 9.94698435e-01 -9.58854227e-03 -7.60690287e+01] [-6.42101710e-02 3.01038917e-03 9.97931857e-01 -3.70853129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5707140569999 meters 0.024368361452234238 Centerline is valid? [True, True] Translation: X:576.00, Y:-76.07, Z:-37.09 [[ 9.92581528e-01 1.03729734e-01 6.34196543e-02 5.75998614e+02] [-1.03329283e-01 9.94601156e-01 -9.57078699e-03 -7.60711552e+01] [-6.40700367e-02 2.94667898e-03 9.97941054e-01 -3.70874464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.6007140569999 meters 0.024405780524744528 Centerline is valid? [True, True] Translation: X:576.03, Y:-76.07, Z:-37.09 [[ 9.92350663e-01 1.05979588e-01 6.33126290e-02 5.76029699e+02] [-1.05584114e-01 9.94364331e-01 -9.56928682e-03 -7.60703000e+01] [-6.39699691e-02 2.81128029e-03 9.97947864e-01 -3.70890340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.630714057 meters 0.024405780524744528 Centerline is valid? [True, True] Translation: X:576.06, Y:-76.08, Z:-37.09 [[ 9.92321349e-01 1.06254041e-01 6.33120722e-02 5.76061797e+02] [-1.05858889e-01 9.94335081e-01 -9.57296837e-03 -7.60752190e+01] [-6.39705810e-02 2.79731525e-03 9.97947864e-01 -3.70909159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.660714057 meters 0.023067194623407446 Centerline is valid? [True, True] Translation: X:576.09, Y:-76.07, Z:-37.09 [[ 9.92195180e-01 1.07298443e-01 6.35276953e-02 5.76094244e+02] [-1.06901577e-01 9.94223035e-01 -9.62342524e-03 -7.60748683e+01] [-6.41932765e-02 2.75710532e-03 9.97933676e-01 -3.70926517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.6907140569999 meters 0.02362293002717875 Centerline is valid? [True, True] Translation: X:576.13, Y:-76.08, Z:-37.09 [[ 9.92065718e-01 1.08086098e-01 6.42106432e-02 5.76125842e+02] [-1.07681218e-01 9.94137729e-01 -9.74328037e-03 -7.60775530e+01] [-6.48873361e-02 2.75169415e-03 9.97888802e-01 -3.70937593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.7207140569999 meters 0.02239357614021024 Centerline is valid? [True, True] Translation: X:576.16, Y:-76.07, Z:-37.09 [[ 9.92044712e-01 1.08167530e-01 6.43977800e-02 5.76159369e+02] [-1.07759376e-01 9.94128818e-01 -9.78822076e-03 -7.60747520e+01] [-6.50784566e-02 2.77088806e-03 9.97876303e-01 -3.70944421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.750714057 meters 0.023695930323294232 Centerline is valid? [True, True] Translation: X:576.19, Y:-76.08, Z:-37.09 [[ 9.92132320e-01 1.06838844e-01 6.52604094e-02 5.76190770e+02] [-1.06415551e-01 9.94272077e-01 -9.93822519e-03 -7.60769343e+01] [-6.59483912e-02 2.91531201e-03 9.97818776e-01 -3.70949827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.780714057 meters 0.02338626488198313 Centerline is valid? [True, True] Translation: X:576.22, Y:-76.08, Z:-37.10 [[ 9.92238466e-01 1.06069062e-01 6.49013226e-02 5.76223267e+02] [-1.05647778e-01 9.94354344e-01 -9.89876842e-03 -7.60790760e+01] [-6.55848651e-02 2.96525828e-03 9.97842589e-01 -3.70972828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.8107140569999 meters 0.02359343708960344 Centerline is valid? [True, True] Translation: X:576.26, Y:-76.08, Z:-37.10 [[ 9.92379405e-01 1.05194348e-01 6.41659194e-02 5.76255197e+02] [-1.04779710e-01 9.94447144e-01 -9.80258633e-03 -7.60819913e+01] [-6.48407920e-02 3.00459834e-03 9.97891098e-01 -3.70998046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.8407140569999 meters 0.024045318133919982 Centerline is valid? [True, True] Translation: X:576.29, Y:-76.08, Z:-37.10 [[ 9.92586306e-01 1.03552906e-01 6.36334814e-02 5.76287665e+02] [-1.03140820e-01 9.94619114e-01 -9.73599057e-03 -7.60821419e+01] [-6.42992670e-02 3.10060151e-03 9.97925844e-01 -3.71033838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.870714057 meters 0.027361291958756466 Centerline is valid? [True, True] Translation: X:576.32, Y:-76.09, Z:-37.11 [[ 9.92682800e-01 1.03301437e-01 6.25273695e-02 5.76318512e+02] [-1.02902742e-01 9.94645365e-01 -9.57202467e-03 -7.60856311e+01] [-6.31813621e-02 3.06774650e-03 9.97997347e-01 -3.71058253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.900714057 meters 0.02468680460408173 Centerline is valid? [True, True] Translation: X:576.35, Y:-76.08, Z:-37.11 [[ 9.92690407e-01 1.03763821e-01 6.16346156e-02 5.76351313e+02] [-1.03376452e-01 9.94597414e-01 -9.44948445e-03 -7.60835545e+01] [-6.22821440e-02 3.00884467e-03 9.98054047e-01 -3.71086808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.9307140569999 meters 0.02459144829389803 Centerline is valid? [True, True] Translation: X:576.38, Y:-76.09, Z:-37.11 [[ 9.92651412e-01 1.04295705e-01 6.13643263e-02 5.76383371e+02] [-1.03911800e-01 9.94541875e-01 -9.42324726e-03 -7.60854569e+01] [-6.20121963e-02 2.97752211e-03 9.98070950e-01 -3.71105196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.9607140569999 meters 0.026319569542148407 Centerline is valid? [True, True] Translation: X:576.41, Y:-76.09, Z:-37.11 [[ 9.92615508e-01 1.05046673e-01 6.06601131e-02 5.76414489e+02] [-1.04672025e-01 9.94463030e-01 -9.32997766e-03 -7.60864982e+01] [-6.13043230e-02 2.91166364e-03 9.98114874e-01 -3.71129930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.990714057 meters 0.028853611565473874 Centerline is valid? [True, True] Translation: X:576.45, Y:-76.09, Z:-37.11 [[ 9.92630108e-01 1.04996815e-01 6.05073313e-02 5.76445155e+02] [-1.04623053e-01 9.94468265e-01 -9.32130177e-03 -7.60920429e+01] [-6.11513277e-02 2.92214303e-03 9.98124229e-01 -3.71143153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.020714057 meters 0.029461532186087838 Centerline is valid? [True, True] Translation: X:576.48, Y:-76.09, Z:-37.12 [[ 9.92633241e-01 1.04468012e-01 6.13651615e-02 5.76478106e+02] [-1.04081682e-01 9.94523690e-01 -9.46750807e-03 -7.60916427e+01] [-6.20181586e-02 3.01077399e-03 9.98070480e-01 -3.71153809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.0507140569999 meters 0.03024318334068706 Centerline is valid? [True, True] Translation: X:576.51, Y:-76.09, Z:-37.12 [[ 9.92619800e-01 1.04041807e-01 6.22995623e-02 5.76509910e+02] [-1.03641846e-01 9.94568098e-01 -9.62628103e-03 -7.60947917e+01] [-6.29626929e-02 3.09839549e-03 9.98011072e-01 -3.71164653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.0807140569999 meters 0.03330135745698468 Centerline is valid? [True, True] Translation: X:576.54, Y:-76.10, Z:-37.12 [[ 9.92734953e-01 1.02197749e-01 6.35053727e-02 5.76541991e+02] [-1.01777476e-01 9.94758656e-01 -9.82653911e-03 -7.60980415e+01] [-6.41767694e-02 3.29173231e-03 9.97933117e-01 -3.71172507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.110714057 meters 0.027273175983874486 Centerline is valid? [True, True] Translation: X:576.58, Y:-76.09, Z:-37.12 [[ 9.92840823e-01 1.01105459e-01 6.35986418e-02 5.76575572e+02] [-1.00681301e-01 9.94869994e-01 -9.84740877e-03 -7.60912321e+01] [-6.42680072e-02 3.37371545e-03 9.97926972e-01 -3.71206192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.140714057 meters 0.036261929146551415 Centerline is valid? [True, True] Translation: X:576.60, Y:-76.10, Z:-37.12 [[ 9.93070270e-01 9.91213583e-02 6.31379002e-02 5.76604885e+02] [-9.86983850e-02 9.95069227e-01 -9.79097321e-03 -7.61028717e+01] [-6.37970761e-02 3.49151564e-03 9.97956784e-01 -3.71227877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.1707140569999 meters 0.028527226038569605 Centerline is valid? [True, True] Translation: X:576.64, Y:-76.09, Z:-37.13 [[ 9.93138400e-01 9.86757611e-02 6.27631469e-02 5.76638383e+02] [-9.82566911e-02 9.95113474e-01 -9.73638936e-03 -7.60942833e+01] [-6.34171988e-02 3.50268301e-03 9.97980957e-01 -3.71271113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.2007140569999 meters 0.0330301536658254 Centerline is valid? [True, True] Translation: X:576.67, Y:-76.10, Z:-37.13 [[ 9.93241222e-01 9.80405748e-02 6.21282601e-02 5.76668301e+02] [-9.76277243e-02 9.95176183e-01 -9.65365574e-03 -7.61031632e+01] [-6.27750147e-02 3.52296818e-03 9.98021486e-01 -3.71294302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.2307140569999 meters 0.028312833472440718 Centerline is valid? [True, True] Translation: X:576.70, Y:-76.10, Z:-37.13 [[ 9.93374765e-01 9.72183982e-02 6.12793503e-02 5.76701427e+02] [-9.68143136e-02 9.95256775e-01 -9.53622249e-03 -7.60972978e+01] [-6.19157848e-02 3.54032455e-03 9.98075098e-01 -3.71328292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.260714057 meters 0.027174098580996214 Centerline is valid? [True, True] Translation: X:576.73, Y:-76.10, Z:-37.13 [[ 9.93346624e-01 9.73487194e-02 6.15281306e-02 5.76734708e+02] [-9.69405763e-02 9.95243957e-01 -9.59122985e-03 -7.60981333e+01] [-6.21691941e-02 3.56284336e-03 9.98059266e-01 -3.71345064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.290714057 meters 0.028723965391729746 Centerline is valid? [True, True] Translation: X:576.77, Y:-76.10, Z:-37.13 [[ 9.93062985e-01 9.91720428e-02 6.31728953e-02 5.76765212e+02] [-9.87442761e-02 9.95063937e-01 -9.86558800e-03 -7.60983218e+01] [-6.38394604e-02 3.55918845e-03 9.97953834e-01 -3.71349580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.3207140569999 meters 0.029740384721227506 Centerline is valid? [True, True] Translation: X:576.80, Y:-76.10, Z:-37.14 [[ 9.92801070e-01 1.01289093e-01 6.39261678e-02 5.76795433e+02] [-1.00855338e-01 9.94851000e-01 -9.98445580e-03 -7.61010414e+01] [-6.46083284e-02 3.46528317e-03 9.97904683e-01 -3.71356577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.3507140569999 meters 0.029133699580280687 Centerline is valid? [True, True] Translation: X:576.83, Y:-76.10, Z:-37.14 [[ 9.92268480e-01 1.06023851e-01 6.45151655e-02 5.76826390e+02] [-1.05591951e-01 9.94358479e-01 -1.00774822e-02 -7.60970829e+01] [-6.52196553e-02 3.18728570e-03 9.97865842e-01 -3.71370171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.380714057 meters 0.026949393845793243 Centerline is valid? [True, True] Translation: X:576.86, Y:-76.10, Z:-37.14 [[ 9.91913672e-01 1.08691800e-01 6.55237425e-02 5.76858495e+02] [-1.08252068e-01 9.94070789e-01 -1.02350258e-02 -7.60953089e+01] [-6.62477018e-02 3.05918142e-03 9.97798518e-01 -3.71381693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.410714057 meters 0.02623266981594354 Centerline is valid? [True, True] Translation: X:576.89, Y:-76.09, Z:-37.14 [[ 9.91464929e-01 1.11758934e-01 6.71359411e-02 5.76890163e+02] [-1.11304097e-01 9.93731036e-01 -1.04893624e-02 -7.60949833e+01] [-6.78873483e-02 2.92732963e-03 9.97688698e-01 -3.71393754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4407140569999 meters 0.025917545094341382 Centerline is valid? [True, True] Translation: X:576.92, Y:-76.09, Z:-37.14 [[ 9.90472277e-01 1.19695223e-01 6.81008183e-02 5.76920995e+02] [-1.19245738e-01 9.92807734e-01 -1.06422343e-02 -7.60924240e+01] [-6.88848437e-02 2.42010567e-03 9.97621683e-01 -3.71401977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4707140569999 meters 0.021823660785875408 Centerline is valid? [True, True] Translation: X:576.95, Y:-76.08, Z:-37.15 [[ 9.89460949e-01 1.28530657e-01 6.66850828e-02 5.76953477e+02] [-1.28119695e-01 9.91703961e-01 -1.04210337e-02 -7.60810304e+01] [-6.74712830e-02 1.76753344e-03 9.97719651e-01 -3.71460505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.500714057 meters 0.021618046275993456 Centerline is valid? [True, True] Translation: X:576.98, Y:-76.08, Z:-37.15 [[ 9.88955176e-01 1.32634748e-01 6.61489546e-02 5.76984347e+02] [-1.32239508e-01 9.91163884e-01 -1.03376807e-02 -7.60821507e+01] [-6.69355905e-02 1.47599767e-03 9.97756207e-01 -3.71483310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.530714057 meters 0.020489357326425515 Centerline is valid? [True, True] Translation: X:577.02, Y:-76.08, Z:-37.15 [[ 9.88395282e-01 1.36767022e-01 6.61025557e-02 5.77016760e+02] [-1.36381270e-01 9.90602515e-01 -1.03347345e-02 -7.60818522e+01] [-6.68948088e-02 1.19965236e-03 9.97759312e-01 -3.71510998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.5607140569999 meters 0.02008475671031415 Centerline is valid? [True, True] Translation: X:577.05, Y:-76.08, Z:-37.15 [[ 9.87374287e-01 1.43413910e-01 6.72641590e-02 5.77048436e+02] [-1.43028842e-01 9.89662491e-01 -1.05311200e-02 -7.60804210e+01] [-6.80791242e-02 7.77442306e-04 9.97679622e-01 -3.71515455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.5907140569999 meters 0.020179852372149146 Centerline is valid? [True, True] Translation: X:577.08, Y:-76.08, Z:-37.15 [[ 9.86924627e-01 1.45832614e-01 6.86485992e-02 5.77081027e+02] [-1.45437133e-01 9.89309080e-01 -1.07510029e-02 -7.60830616e+01] [-6.94825294e-02 6.26374115e-04 9.97582972e-01 -3.71534638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.620714057 meters 0.020025409185477527 Centerline is valid? [True, True] Translation: X:577.11, Y:-76.09, Z:-37.15 [[ 9.86198458e-01 1.50274900e-01 6.94986049e-02 5.77112996e+02] [-1.49879960e-01 9.88644197e-01 -1.08926332e-02 -7.60858846e+01] [-7.03462818e-02 3.25849953e-04 9.97522578e-01 -3.71545060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.650714057 meters 0.019886973368341124 Centerline is valid? [True, True] Translation: X:577.14, Y:-76.09, Z:-37.16 [[ 9.85729906e-01 1.53547903e-01 6.89898101e-02 5.77144773e+02] [-1.53165494e-01 9.88141199e-01 -1.08305893e-02 -7.60901513e+01] [-6.98346879e-02 1.09177364e-04 9.97558572e-01 -3.71565660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.6807140569999 meters 0.020075543736953114 Centerline is valid? [True, True] Translation: X:577.18, Y:-76.09, Z:-37.16 [[ 9.85238846e-01 1.56759029e-01 6.87824399e-02 5.77177031e+02] [-1.56385466e-01 9.87636875e-01 -1.08161551e-02 -7.60945839e+01] [-6.96276040e-02 -1.00077742e-04 9.97573048e-01 -3.71596103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.7107140569999 meters 0.020218736229149784 Centerline is valid? [True, True] Translation: X:577.21, Y:-76.10, Z:-37.16 [[ 9.84359813e-01 1.62981769e-01 6.68782575e-02 5.77209496e+02] [-1.62641656e-01 9.86628951e-01 -1.05358899e-02 -7.60997285e+01] [-6.77011830e-02 -5.06083906e-04 9.97705515e-01 -3.71644576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.740714057 meters 0.019796122558733906 Centerline is valid? [True, True] Translation: X:577.24, Y:-76.11, Z:-37.17 [[ 9.83609868e-01 1.67981091e-01 6.55284698e-02 5.77239692e+02] [-1.67664420e-01 9.85789881e-01 -1.03417774e-02 -7.61075808e+01] [-6.63345255e-02 -8.14518585e-04 9.97797107e-01 -3.71671967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.770714057 meters 0.0200077429541635 Centerline is valid? [True, True] Translation: X:577.27, Y:-76.12, Z:-37.17 [[ 9.83296213e-01 1.70075578e-01 6.48294314e-02 5.77270930e+02] [-1.69769167e-01 9.85430582e-01 -1.02468426e-02 -7.61158234e+01] [-6.56276420e-02 -9.30357021e-04 9.97843749e-01 -3.71694716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.8007140569999 meters 0.019628516357794834 Centerline is valid? [True, True] Translation: X:577.30, Y:-76.12, Z:-37.17 [[ 9.83070193e-01 1.71498115e-01 6.45088551e-02 5.77302109e+02] [-1.71196715e-01 9.85183936e-01 -1.02125584e-02 -7.61245158e+01] [-6.53045223e-02 -1.00404232e-03 9.97864876e-01 -3.71708226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.8307140569999 meters 0.019540585185964857 Centerline is valid? [True, True] Translation: X:577.33, Y:-76.14, Z:-37.17 [[ 9.82603184e-01 1.74426746e-01 6.37674880e-02 5.77332715e+02] [-1.74137354e-01 9.84669459e-01 -1.01112822e-02 -7.61374218e+01] [-6.45535760e-02 -1.16892348e-03 9.97913558e-01 -3.71716679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.860714057 meters 0.01967458528417257 Centerline is valid? [True, True] Translation: X:577.36, Y:-76.15, Z:-37.17 [[ 9.82407100e-01 1.75602731e-01 6.35607645e-02 5.77362616e+02] [-1.75316678e-01 9.84460347e-01 -1.00939035e-02 -7.61459464e+01] [-6.43455693e-02 -1.22693966e-03 9.97926922e-01 -3.71727212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.890714057 meters 0.019994299811538437 Centerline is valid? [True, True] Translation: X:577.39, Y:-76.16, Z:-37.17 [[ 9.81754816e-01 1.79152693e-01 6.37322011e-02 5.77392255e+02] [-1.78871948e-01 9.83820206e-01 -1.01305625e-02 -7.61592228e+01] [-6.45159447e-02 -1.45417443e-03 9.97915617e-01 -3.71727449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9207140569999 meters 0.020459752416754858 Centerline is valid? [True, True] Translation: X:577.42, Y:-76.17, Z:-37.17 [[ 9.81406081e-01 1.81083352e-01 6.36468733e-02 5.77422684e+02] [-1.80806458e-01 9.83466508e-01 -1.01317558e-02 -7.61679533e+01] [-6.44292605e-02 -1.56439900e-03 9.97921051e-01 -3.71728781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9507140569999 meters 0.020202426390128862 Centerline is valid? [True, True] Translation: X:577.45, Y:-76.19, Z:-37.17 [[ 9.80835399e-01 1.83833129e-01 6.45546363e-02 5.77452235e+02] [-1.83553156e-01 9.82955901e-01 -1.02924594e-02 -7.61851758e+01] [-6.53464558e-02 -1.75399875e-03 9.97861095e-01 -3.71735354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9807140569999 meters 0.021490347388211043 Centerline is valid? [True, True] Translation: X:577.48, Y:-76.19, Z:-37.17 [[ 9.80624716e-01 1.85112349e-01 6.40982462e-02 5.77482557e+02] [-1.84838006e-01 9.82715697e-01 -1.02357551e-02 -7.61943090e+01] [-6.48851174e-02 -1.81035760e-03 9.97891098e-01 -3.71743727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.010714057 meters 0.019827225217259138 Centerline is valid? [True, True] Translation: X:577.51, Y:-76.21, Z:-37.18 [[ 9.80575285e-01 1.85631358e-01 6.33491103e-02 5.77513955e+02] [-1.85363509e-01 9.82617794e-01 -1.01311585e-02 -7.62095611e+01] [-6.41286238e-02 -1.80824973e-03 9.97940003e-01 -3.71767500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.040714057 meters 0.020314953334199307 Centerline is valid? [True, True] Translation: X:577.54, Y:-76.23, Z:-37.18 [[ 9.80618132e-01 1.85571322e-01 6.28598818e-02 5.77542274e+02] [-1.85306333e-01 9.82629199e-01 -1.00707989e-02 -7.62279548e+01] [-6.36368068e-02 -1.77272620e-03 9.97971550e-01 -3.71783691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0707140569999 meters 0.019325723003010085 Centerline is valid? [True, True] Translation: X:577.57, Y:-76.25, Z:-37.18 [[ 9.80922426e-01 1.83969634e-01 6.28201218e-02 5.77571776e+02] [-1.83700756e-01 9.82930537e-01 -1.00792633e-02 -7.62483707e+01] [-6.36020944e-02 -1.65312841e-03 9.97973968e-01 -3.71791789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.1007140569999 meters 0.01924091814318437 Centerline is valid? [True, True] Translation: X:577.60, Y:-76.26, Z:-37.18 [[ 9.81049610e-01 1.83147208e-01 6.32357769e-02 5.77601267e+02] [-1.82872037e-01 9.83084206e-01 -1.01617689e-02 -7.62607283e+01] [-6.40271932e-02 -1.59485592e-03 9.97946880e-01 -3.71805302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.130714057 meters 0.019798926964085854 Centerline is valid? [True, True] Translation: X:577.63, Y:-76.27, Z:-37.18 [[ 9.81271064e-01 1.82037852e-01 6.30025356e-02 5.77631301e+02] [-1.81761498e-01 9.83290376e-01 -1.01387904e-02 -7.62717245e+01] [-6.37954305e-02 -1.50253358e-03 9.97961866e-01 -3.71819458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.160714057 meters 0.017964658826793514 Centerline is valid? [True, True] Translation: X:577.66, Y:-76.30, Z:-37.19 [[ 9.81651482e-01 1.80075799e-01 6.27142271e-02 5.77660331e+02] [-1.79797053e-01 9.83651804e-01 -1.01068170e-02 -7.62952637e+01] [-6.35089558e-02 -1.35446129e-03 9.97980350e-01 -3.71852021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.1907140569999 meters 0.018304067337864424 Centerline is valid? [True, True] Translation: X:577.69, Y:-76.31, Z:-37.19 [[ 9.81759307e-01 1.79289522e-01 6.32766237e-02 5.77690088e+02] [-1.79003080e-01 9.83795497e-01 -1.02136391e-02 -7.63073847e+01] [-6.40824559e-02 -1.29937529e-03 9.97943761e-01 -3.71872900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.2207140569999 meters 0.018152757365885012 Centerline is valid? [True, True] Translation: X:577.72, Y:-76.33, Z:-37.19 [[ 9.82180084e-01 1.76906294e-01 6.34542854e-02 5.77718530e+02] [-1.76612305e-01 9.84227048e-01 -1.02573212e-02 -7.63275231e+01] [-6.42680086e-02 -1.13227094e-03 9.97932032e-01 -3.71887500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.250714057 meters 0.018147471940335863 Centerline is valid? [True, True] Translation: X:577.75, Y:-76.34, Z:-37.19 [[ 9.82444177e-01 1.75436679e-01 6.34461182e-02 5.77748418e+02] [-1.75138766e-01 9.84490187e-01 -1.02705742e-02 -7.63395131e+01] [-6.42639162e-02 -1.02160900e-03 9.97932415e-01 -3.71902170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.280714057 meters 0.017439115737072783 Centerline is valid? [True, True] Translation: X:577.78, Y:-76.36, Z:-37.19 [[ 9.83031483e-01 1.71894323e-01 6.40425210e-02 5.77777855e+02] [-1.71582298e-01 9.85115084e-01 -1.03820037e-02 -7.63607258e+01] [-6.48738610e-02 -7.82726468e-04 9.97893165e-01 -3.71922094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.3107140569999 meters 0.017198637734940115 Centerline is valid? [True, True] Translation: X:577.81, Y:-76.37, Z:-37.19 [[ 9.83383345e-01 1.69599854e-01 6.47540447e-02 5.77808279e+02] [-1.69274795e-01 9.85512812e-01 -1.05138464e-02 -7.63729649e+01] [-6.55990875e-02 -6.22086251e-04 9.97845866e-01 -3.71941475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.3407140569999 meters 0.017047453718295233 Centerline is valid? [True, True] Translation: X:577.84, Y:-76.39, Z:-37.20 [[ 9.83769447e-01 1.67347706e-01 6.47489073e-02 5.77838645e+02] [-1.67016753e-01 9.85897833e-01 -1.05293096e-02 -7.63857334e+01] [-6.55978632e-02 -4.55739222e-04 9.97846037e-01 -3.71961497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.370714057 meters 0.017721303951297514 Centerline is valid? [True, True] Translation: X:577.87, Y:-76.41, Z:-37.20 [[ 9.84895688e-01 1.60749060e-01 6.43445650e-02 5.77867809e+02] [-1.60407092e-01 9.86995309e-01 -1.04797488e-02 -7.64058220e+01] [-6.51923936e-02 1.34861752e-07 9.97872713e-01 -3.72000124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.400714057 meters 0.018688580252230812 Centerline is valid? [True, True] Translation: X:577.90, Y:-76.43, Z:-37.20 [[ 9.86191877e-01 1.53017691e-01 6.33337793e-02 5.77896953e+02] [-1.52669425e-01 9.88223313e-01 -1.03310238e-02 -7.64255343e+01] [-6.41687466e-02 5.19240053e-04 9.97938927e-01 -3.72031364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.4307140569999 meters 0.01919111891150847 Centerline is valid? [True, True] Translation: X:577.93, Y:-76.44, Z:-37.20 [[ 9.86814997e-01 1.48995733e-01 6.32173527e-02 5.77926515e+02] [-1.48639467e-01 9.88837519e-01 -1.03281152e-02 -7.64379314e+01] [-6.40505353e-02 7.95345307e-04 9.97946339e-01 -3.72049488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.4607140569999 meters 0.019931905133081594 Centerline is valid? [True, True] Translation: X:577.96, Y:-76.45, Z:-37.21 [[ 9.87327567e-01 1.45392145e-01 6.36034591e-02 5.77957477e+02] [-1.45023052e-01 9.89373550e-01 -1.04064296e-02 -7.64490780e+01] [-6.44405932e-02 1.05058708e-03 9.97920992e-01 -3.72070787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.490714057 meters 0.02113081082492003 Centerline is valid? [True, True] Translation: X:577.99, Y:-76.47, Z:-37.21 [[ 9.88191288e-01 1.39672081e-01 6.30054681e-02 5.77986374e+02] [-1.39297272e-01 9.90196787e-01 -1.03244249e-02 -7.64655654e+01] [-6.38298460e-02 1.42601691e-03 9.97959777e-01 -3.72087829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.520714057 meters 0.021816445592176104 Centerline is valid? [True, True] Translation: X:578.02, Y:-76.48, Z:-37.21 [[ 9.88875245e-01 1.35186205e-01 6.20519140e-02 5.78017132e+02] [-1.34812991e-01 9.90818747e-01 -1.01817487e-02 -7.64781747e+01] [-6.28586317e-02 1.70307510e-03 9.98020988e-01 -3.72113603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.5507140569999 meters 0.021816445592176104 Centerline is valid? [True, True] Translation: X:578.05, Y:-76.48, Z:-37.21 [[ 9.88837086e-01 1.35465453e-01 6.20510194e-02 5.78049121e+02] [-1.35092446e-01 9.90780628e-01 -1.01871978e-02 -7.64834824e+01] [-6.28589613e-02 1.69085505e-03 9.98020988e-01 -3.72132401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.5807140569999 meters 0.022399901695043117 Centerline is valid? [True, True] Translation: X:578.08, Y:-76.49, Z:-37.22 [[ 9.89026291e-01 1.34185461e-01 6.18163266e-02 5.78078727e+02] [-1.33811705e-01 9.90954633e-01 -1.01657658e-02 -7.64918348e+01] [-6.26212733e-02 1.78246161e-03 9.98035770e-01 -3.72156533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.610714057 meters 0.025554891653278174 Centerline is valid? [True, True] Translation: X:578.11, Y:-76.51, Z:-37.22 [[ 9.89172152e-01 1.33373010e-01 6.12380093e-02 5.78108156e+02] [-1.33004166e-01 9.91064231e-01 -1.00787499e-02 -7.65054979e+01] [-6.20350338e-02 1.82470844e-03 9.98072305e-01 -3.72167951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.640714057 meters 0.022965786666092575 Centerline is valid? [True, True] Translation: X:578.14, Y:-76.51, Z:-37.22 [[ 9.89277923e-01 1.33062900e-01 6.01951491e-02 5.78140517e+02] [-1.32705111e-01 9.91105912e-01 -9.92090266e-03 -7.65069900e+01] [-6.09798722e-02 1.82632606e-03 9.98137325e-01 -3.72203097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.6707140569999 meters 0.022651984489989185 Centerline is valid? [True, True] Translation: X:578.17, Y:-76.51, Z:-37.22 [[ 9.89198079e-01 1.33949776e-01 5.95366864e-02 5.78171762e+02] [-1.33600489e-01 9.90986547e-01 -9.82719935e-03 -7.65128898e+01] [-6.03164064e-02 1.76691628e-03 9.98177744e-01 -3.72227960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.7007140569999 meters 0.02260695875320296 Centerline is valid? [True, True] Translation: X:578.20, Y:-76.52, Z:-37.23 [[ 9.88840709e-01 1.37284190e-01 5.78541554e-02 5.78201700e+02] [-1.36959265e-01 9.90530515e-01 -9.56339215e-03 -7.65178315e+01] [-5.86192089e-02 1.53300885e-03 9.98279239e-01 -3.72252780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.7307140569999 meters 0.022215331777112105 Centerline is valid? [True, True] Translation: X:578.23, Y:-76.52, Z:-37.23 [[ 9.88403306e-01 1.40394151e-01 5.78652507e-02 5.78233436e+02] [-1.40074350e-01 9.90094773e-01 -9.56643619e-03 -7.65215837e+01] [-5.86351540e-02 1.35005977e-03 9.98278566e-01 -3.72269696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.760714057 meters 0.021165512128300618 Centerline is valid? [True, True] Translation: X:578.27, Y:-76.52, Z:-37.23 [[ 9.87381884e-01 1.47043897e-01 5.87801672e-02 5.78265001e+02] [-1.46724792e-01 9.89129477e-01 -9.73203835e-03 -7.65213371e+01] [-5.95722329e-02 9.84730537e-04 9.98223512e-01 -3.72277626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.790714057 meters 0.02076102010335029 Centerline is valid? [True, True] Translation: X:578.30, Y:-76.52, Z:-37.23 [[ 9.86858018e-01 1.50444390e-01 5.89723473e-02 5.78295824e+02] [-1.50129104e-01 9.88618162e-01 -9.76637458e-03 -7.65246217e+01] [-5.97704299e-02 7.84559406e-04 9.98211841e-01 -3.72288372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.8207140569999 meters 0.02035785357092252 Centerline is valid? [True, True] Translation: X:578.33, Y:-76.53, Z:-37.23 [[ 9.86346388e-01 1.53831744e-01 5.87928413e-02 5.78328119e+02] [-1.53523569e-01 9.88096880e-01 -9.75031541e-03 -7.65269819e+01] [-5.95929311e-02 5.91101552e-04 9.98222587e-01 -3.72301859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.8507140569999 meters 0.01996563376485523 Centerline is valid? [True, True] Translation: X:578.36, Y:-76.53, Z:-37.23 [[ 9.85681569e-01 1.57961640e-01 5.89912311e-02 5.78360574e+02] [-1.57657882e-01 9.87445185e-01 -9.79792392e-03 -7.65287554e+01] [-5.97983032e-02 3.57200454e-04 9.98210416e-01 -3.72312178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.880714057 meters 0.01983589569212566 Centerline is valid? [True, True] Translation: X:578.39, Y:-76.53, Z:-37.23 [[ 9.85277015e-01 1.59956983e-01 6.03570048e-02 5.78392834e+02] [-1.59641772e-01 9.87123953e-01 -1.00402724e-02 -7.65329384e+01] [-6.11858568e-02 2.56950431e-04 9.98126357e-01 -3.72319677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.910714057 meters 0.019840459449553278 Centerline is valid? [True, True] Translation: X:578.43, Y:-76.54, Z:-37.23 [[ 9.85216071e-01 1.60117693e-01 6.09230463e-02 5.78425382e+02] [-1.59795747e-01 9.87097894e-01 -1.01521500e-02 -7.65382157e+01] [-6.17625496e-02 2.66817639e-04 9.98090836e-01 -3.72329262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9407140569999 meters 0.020121143485314928 Centerline is valid? [True, True] Translation: X:578.46, Y:-76.54, Z:-37.23 [[ 9.85221012e-01 1.59763898e-01 6.17661340e-02 5.78457855e+02] [-1.59431145e-01 9.87155206e-01 -1.03106574e-02 -7.65436664e+01] [-6.26200315e-02 3.10830839e-04 9.98037392e-01 -3.72347325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9707140569999 meters 0.019868884495473294 Centerline is valid? [True, True] Translation: X:578.49, Y:-76.55, Z:-37.24 [[ 9.85327646e-01 1.58982303e-01 6.20810578e-02 5.78490574e+02] [-1.58643460e-01 9.87281359e-01 -1.03812220e-02 -7.65490599e+01] [-6.29419018e-02 3.80151233e-04 9.98017120e-01 -3.72364798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.000714057 meters 0.020182976975945205 Centerline is valid? [True, True] Translation: X:578.52, Y:-76.56, Z:-37.24 [[ 9.85450706e-01 1.58279252e-01 6.19240147e-02 5.78522042e+02] [-1.57939590e-01 9.87394290e-01 -1.03731752e-02 -7.65553583e+01] [-6.27852769e-02 4.41999332e-04 9.98026960e-01 -3.72384411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.030714057 meters 0.020091947200074105 Centerline is valid? [True, True] Translation: X:578.55, Y:-76.56, Z:-37.24 [[ 9.85738323e-01 1.56766425e-01 6.11902436e-02 5.78554526e+02] [-1.56430820e-01 9.87635554e-01 -1.02670018e-02 -7.65619568e+01] [-6.20431813e-02 5.48537136e-04 9.98073315e-01 -3.72413033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.0607140569999 meters 0.020315292351778137 Centerline is valid? [True, True] Translation: X:578.59, Y:-76.57, Z:-37.24 [[ 9.85901753e-01 1.55908142e-01 6.07485438e-02 5.78585634e+02] [-1.55574665e-01 9.87771366e-01 -1.02103587e-02 -7.65683279e+01] [-6.15975502e-02 6.15476247e-04 9.98100878e-01 -3.72432752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.0907140569999 meters 0.020637130016161433 Centerline is valid? [True, True] Translation: X:578.62, Y:-76.58, Z:-37.25 [[ 9.86224724e-01 1.54190428e-01 5.98840981e-02 5.78617391e+02] [-1.53862250e-01 9.88040880e-01 -1.00809999e-02 -7.65750622e+01] [-6.07223307e-02 7.28229236e-04 9.98154431e-01 -3.72460607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.120714057 meters 0.020760657965553618 Centerline is valid? [True, True] Translation: X:578.65, Y:-76.58, Z:-37.25 [[ 9.86315854e-01 1.53784015e-01 5.94265291e-02 5.78649221e+02] [-1.53459193e-01 9.88104193e-01 -1.00190074e-02 -7.65814168e+01] [-6.02603658e-02 7.62358653e-04 9.98182402e-01 -3.72484792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.150714057 meters 0.02064659857620049 Centerline is valid? [True, True] Translation: X:578.68, Y:-76.59, Z:-37.25 [[ 9.86429639e-01 1.53272119e-01 5.88576752e-02 5.78681616e+02] [-1.52951574e-01 9.88183694e-01 -9.93994802e-03 -7.65864027e+01] [-5.96857118e-02 8.02685258e-04 9.98216896e-01 -3.72505384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.1807140569999 meters 0.021041347670090808 Centerline is valid? [True, True] Translation: X:578.71, Y:-76.59, Z:-37.25 [[ 9.86576208e-01 1.52599328e-01 5.81449110e-02 5.78711832e+02] [-1.52284345e-01 9.88287773e-01 -9.83644312e-03 -7.65930464e+01] [-5.89649392e-02 8.49841092e-04 9.98259693e-01 -3.72519087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.2107140569999 meters 0.021225864297350426 Centerline is valid? [True, True] Translation: X:578.74, Y:-76.60, Z:-37.25 [[ 9.86841465e-01 1.50488781e-01 5.91358567e-02 5.78743169e+02] [-1.50158644e-01 9.88611210e-01 -1.00128544e-02 -7.65994297e+01] [-5.99691931e-02 1.00133987e-03 9.98199726e-01 -3.72527710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.240714057 meters 0.021631506043652125 Centerline is valid? [True, True] Translation: X:578.77, Y:-76.61, Z:-37.25 [[ 9.86963008e-01 1.49405052e-01 5.98510815e-02 5.78773445e+02] [-1.49063967e-01 9.88775471e-01 -1.01490202e-02 -7.66056241e+01] [-6.06955961e-02 1.09506782e-03 9.98155722e-01 -3.72537064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.270714057 meters 0.021680831741062213 Centerline is valid? [True, True] Translation: X:578.81, Y:-76.61, Z:-37.26 [[ 9.87122743e-01 1.48292332e-01 5.99839534e-02 5.78805136e+02] [-1.47946830e-01 9.88942866e-01 -1.01854404e-02 -7.66108352e+01] [-6.08311255e-02 1.17984412e-03 9.98147375e-01 -3.72554251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.3007140569999 meters 0.02209588306432435 Centerline is valid? [True, True] Translation: X:578.84, Y:-76.62, Z:-37.26 [[ 9.87574291e-01 1.45604366e-01 5.91302699e-02 5.78837096e+02] [-1.45262948e-01 9.89341989e-01 -1.00550991e-02 -7.66163534e+01] [-5.99641251e-02 1.34072008e-03 9.98199632e-01 -3.72572917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.3307140569999 meters 0.0223323136087192 Centerline is valid? [True, True] Translation: X:578.87, Y:-76.62, Z:-37.26 [[ 9.88061202e-01 1.42524327e-01 5.84968164e-02 5.78868737e+02] [-1.42183942e-01 9.89790124e-01 -9.96182951e-03 -7.66220919e+01] [-5.93193742e-02 1.52558931e-03 9.98237890e-01 -3.72578257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.360714057 meters 0.02303727734592451 Centerline is valid? [True, True] Translation: X:578.90, Y:-76.63, Z:-37.26 [[ 9.88318667e-01 1.40538898e-01 5.89493939e-02 5.78900694e+02] [-1.40189414e-01 9.90073763e-01 -1.00435320e-02 -7.66273176e+01] [-5.97757551e-02 1.66212912e-03 9.98210447e-01 -3.72593656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.390714057 meters 0.024077437382389776 Centerline is valid? [True, True] Translation: X:578.93, Y:-76.63, Z:-37.26 [[ 9.88564288e-01 1.38532626e-01 5.95765063e-02 5.78931121e+02] [-1.38171104e-01 9.90356203e-01 -1.01655171e-02 -7.66343619e+01] [-6.04102183e-02 1.81751550e-03 9.98171980e-01 -3.72601959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4207140569999 meters 0.023589657909243455 Centerline is valid? [True, True] Translation: X:578.96, Y:-76.64, Z:-37.26 [[ 9.89026051e-01 1.34771516e-01 6.05318837e-02 5.78962130e+02] [-1.34390424e-01 9.90874490e-01 -1.03421072e-02 -7.66367237e+01] [-6.13733209e-02 2.09370794e-03 9.98112685e-01 -3.72606367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4507140569999 meters 0.023509462424467498 Centerline is valid? [True, True] Translation: X:578.99, Y:-76.64, Z:-37.26 [[ 9.89191755e-01 1.33299497e-01 6.10812249e-02 5.78993894e+02] [-1.32908517e-01 9.91073344e-01 -1.04380476e-02 -7.66402915e+01] [-6.19273603e-02 2.20701554e-03 9.98078219e-01 -3.72619963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4807140569999 meters 0.024258700953623515 Centerline is valid? [True, True] Translation: X:579.03, Y:-76.64, Z:-37.26 [[ 9.89257510e-01 1.32233015e-01 6.23218219e-02 5.79025113e+02] [-1.31822832e-01 9.91215906e-01 -1.06662628e-02 -7.66441652e+01] [-6.31848133e-02 2.33624155e-03 9.97999109e-01 -3.72626536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.510714057 meters 0.024108203817415328 Centerline is valid? [True, True] Translation: X:579.06, Y:-76.65, Z:-37.26 [[ 9.89161776e-01 1.33085419e-01 6.20262281e-02 5.79056571e+02] [-1.32679870e-01 9.91101936e-01 -1.06303543e-02 -7.66479377e+01] [-6.28890599e-02 2.28550833e-03 9.98017907e-01 -3.72642410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.540714057 meters 0.02334428767932983 Centerline is valid? [True, True] Translation: X:579.09, Y:-76.65, Z:-37.27 [[ 9.88993010e-01 1.34674484e-01 6.12830255e-02 5.79088705e+02] [-1.34280694e-01 9.90887511e-01 -1.05183651e-02 -7.66502124e+01] [-6.21411400e-02 2.17346234e-03 9.98065005e-01 -3.72665547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.5707140569999 meters 0.022600640154544483 Centerline is valid? [True, True] Translation: X:579.12, Y:-76.65, Z:-37.27 [[ 9.88289847e-01 1.40360197e-01 5.98514228e-02 5.79119159e+02] [-1.39994146e-01 9.90098894e-01 -1.02868588e-02 -7.66491982e+01] [-6.07026930e-02 1.78754930e-03 9.98154291e-01 -3.72698376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.6007140569999 meters 0.021289289744696373 Centerline is valid? [True, True] Translation: X:579.15, Y:-76.65, Z:-37.27 [[ 9.87725344e-01 1.44531217e-01 5.92399543e-02 5.79151082e+02] [-1.44180093e-01 9.89499080e-01 -1.01818845e-02 -7.66492574e+01] [-6.00894805e-02 1.51568320e-03 9.98191844e-01 -3.72728364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.630714057 meters 0.019462118834084927 Centerline is valid? [True, True] Translation: X:579.18, Y:-76.64, Z:-37.27 [[ 9.86309118e-01 1.53964423e-01 5.90701214e-02 5.79183321e+02] [-1.53631994e-01 9.88075943e-01 -1.01558258e-02 -7.66447304e+01] [-5.99294018e-02 9.41723013e-04 9.98202174e-01 -3.72741741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.660714057 meters 0.01850026208923247 Centerline is valid? [True, True] Translation: X:579.22, Y:-76.65, Z:-37.28 [[ 9.85446532e-01 1.59310145e-01 5.92908987e-02 5.79215678e+02] [-1.58984766e-01 9.87228389e-01 -1.01956790e-02 -7.66453342e+01] [-6.01579335e-02 6.20946845e-04 9.98188678e-01 -3.72751966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.6907140569999 meters 0.017715459792984833 Centerline is valid? [True, True] Translation: X:579.25, Y:-76.64, Z:-37.28 [[ 9.83814286e-01 1.68836390e-01 6.00310265e-02 5.79248507e+02] [-1.68519577e-01 9.85644089e-01 -1.03383648e-02 -7.66429158e+01] [-6.09147186e-02 5.46277698e-05 9.98142973e-01 -3.72758458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.7207140569999 meters 0.017847021686442168 Centerline is valid? [True, True] Translation: X:579.28, Y:-76.65, Z:-37.28 [[ 9.83028771e-01 1.73102216e-01 6.07458505e-02 5.79280485e+02] [-1.72784971e-01 9.84903845e-01 -1.04770990e-02 -7.66450166e+01] [-6.16424307e-02 -1.96680308e-04 9.98098278e-01 -3.72770667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.750714057 meters 0.017583545643273493 Centerline is valid? [True, True] Translation: X:579.31, Y:-76.65, Z:-37.28 [[ 9.81815796e-01 1.79640899e-01 6.13750030e-02 5.79313333e+02] [-1.79328748e-01 9.83732073e-01 -1.06023137e-02 -7.66451883e+01] [-6.22811681e-02 -5.96783398e-04 9.98058465e-01 -3.72788377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.780714057 meters 0.018028172081752537 Centerline is valid? [True, True] Translation: X:579.35, Y:-76.65, Z:-37.28 [[ 9.81142391e-01 1.82914187e-01 6.24660693e-02 5.79345515e+02] [-1.82596427e-01 9.83128555e-01 -1.08069064e-02 -7.66493385e+01] [-6.33889130e-02 -8.02967069e-04 9.97988578e-01 -3.72812916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.8107140569999 meters 0.018963332430118197 Centerline is valid? [True, True] Translation: X:579.38, Y:-76.65, Z:-37.28 [[ 9.80083102e-01 1.88379822e-01 6.28502601e-02 5.79376512e+02] [-1.88068350e-01 9.82095578e-01 -1.08890314e-02 -7.66535036e+01] [-6.37762363e-02 -1.14798905e-03 9.97963563e-01 -3.72828442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.8407140569999 meters 0.01943065341831573 Centerline is valid? [True, True] Translation: X:579.41, Y:-76.66, Z:-37.28 [[ 9.79659779e-01 1.90686036e-01 6.24944217e-02 5.79408212e+02] [-1.90382225e-01 9.81650239e-01 -1.08359173e-02 -7.66595899e+01] [-6.34139221e-02 -1.28231465e-03 9.97986488e-01 -3.72844637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.870714057 meters 0.02013603497839646 Centerline is valid? [True, True] Translation: X:579.44, Y:-76.67, Z:-37.29 [[ 9.79115248e-01 1.93440571e-01 6.25625749e-02 5.79438944e+02] [-1.93140693e-01 9.81110928e-01 -1.08636999e-02 -7.66675774e+01] [-6.34823062e-02 -1.44656480e-03 9.97981916e-01 -3.72870454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.900714057 meters 0.020141204382221122 Centerline is valid? [True, True] Translation: X:579.47, Y:-76.68, Z:-37.29 [[ 9.79349743e-01 1.92252603e-01 6.25541101e-02 5.79469623e+02] [-1.91949434e-01 9.81344538e-01 -1.08771957e-02 -7.66795637e+01] [-6.34783035e-02 -1.35464717e-03 9.97982299e-01 -3.72896396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.9307140569999 meters 0.020537218169822426 Centerline is valid? [True, True] Translation: X:579.50, Y:-76.69, Z:-37.29 [[ 9.79781975e-01 1.90018999e-01 6.26103993e-02 5.79499464e+02] [-1.89709707e-01 9.81779686e-01 -1.09030113e-02 -7.66891776e+01] [-6.35413975e-02 -1.19522651e-03 9.97978488e-01 -3.72919141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.9607140569999 meters 0.019922797382562092 Centerline is valid? [True, True] Translation: X:579.53, Y:-76.70, Z:-37.29 [[ 9.80385628e-01 1.87141935e-01 6.18216441e-02 5.79528859e+02] [-1.86833767e-01 9.82332394e-01 -1.07801280e-02 -7.66999106e+01] [-6.27468176e-02 -9.81688036e-04 9.98028994e-01 -3.72930244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.990714057 meters 0.01963172050656658 Centerline is valid? [True, True] Translation: X:579.56, Y:-76.72, Z:-37.30 [[ 9.81996370e-01 1.78417053e-01 6.20522751e-02 5.79557864e+02] [-1.78088293e-01 9.83954870e-01 -1.08339465e-02 -7.67187855e+01] [-6.29895991e-02 -4.11887619e-04 9.98014098e-01 -3.72951972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.020714057 meters 0.019484769375630085 Centerline is valid? [True, True] Translation: X:579.59, Y:-76.73, Z:-37.30 [[ 9.82747117e-01 1.74235751e-01 6.20484218e-02 5.79588119e+02] [-1.73898425e-01 9.84703957e-01 -1.08376350e-02 -7.67307884e+01] [-6.29876300e-02 -1.39468205e-04 9.98014298e-01 -3.72967671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.0507140569999 meters 0.020317799638738605 Centerline is valid? [True, True] Translation: X:579.62, Y:-76.75, Z:-37.30 [[ 9.84069026e-01 1.66345045e-01 6.27493322e-02 5.79617131e+02] [-1.65982972e-01 9.86067532e-01 -1.09761589e-02 -7.67475351e+01] [-6.37009087e-02 3.85977412e-04 9.97968960e-01 -3.72980555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.0807140569999 meters 0.020650142941917988 Centerline is valid? [True, True] Translation: X:579.65, Y:-76.76, Z:-37.30 [[ 9.84512872e-01 1.63411997e-01 6.34895530e-02 5.79648025e+02] [-1.63034240e-01 9.86557734e-01 -1.11209095e-02 -7.67575886e+01] [-6.44533995e-02 5.97707543e-04 9.97920539e-01 -3.73003557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.110714057 meters 0.021706629066002285 Centerline is valid? [True, True] Translation: X:579.68, Y:-76.77, Z:-37.30 [[ 9.85364564e-01 1.58393493e-01 6.29934677e-02 5.79676281e+02] [-1.58010396e-01 9.87375627e-01 -1.10492405e-02 -7.67734986e+01] [-6.39483425e-02 9.33907333e-04 9.97952773e-01 -3.73012709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.140714057 meters 0.021675492847649018 Centerline is valid? [True, True] Translation: X:579.71, Y:-76.78, Z:-37.30 [[ 9.85671408e-01 1.56626188e-01 6.26108066e-02 5.79707071e+02] [-1.56243625e-01 9.87657397e-01 -1.09907353e-02 -7.67810283e+01] [-6.35594633e-02 1.05071418e-03 9.97977500e-01 -3.73040048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.1707140569999 meters 0.022081974902968877 Centerline is valid? [True, True] Translation: X:579.74, Y:-76.79, Z:-37.31 [[ 9.86020602e-01 1.54793902e-01 6.16621416e-02 5.79737997e+02] [-1.54418316e-01 9.87946096e-01 -1.08395477e-02 -7.67899121e+01] [-6.25967679e-02 1.16625327e-03 9.98038218e-01 -3.73062888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.2007140569999 meters 0.022524148773402 Centerline is valid? [True, True] Translation: X:579.77, Y:-76.80, Z:-37.31 [[ 9.86413470e-01 1.52882072e-01 6.01293429e-02 5.79769228e+02] [-1.52520500e-01 9.88243623e-01 -1.05848090e-02 -7.67995417e+01] [-6.10406672e-02 1.27004072e-03 9.98134472e-01 -3.73090962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.2307140569999 meters 0.022697538815737463 Centerline is valid? [True, True] Translation: X:579.80, Y:-76.81, Z:-37.31 [[ 9.86457498e-01 1.52755696e-01 5.97268995e-02 5.79801399e+02] [-1.52397809e-01 9.88263147e-01 -1.05289884e-02 -7.68068320e+01] [-6.06342566e-02 1.28415095e-03 9.98159225e-01 -3.73114638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.260714057 meters 0.022762591987915214 Centerline is valid? [True, True] Translation: X:579.83, Y:-76.81, Z:-37.31 [[ 9.86380042e-01 1.53154506e-01 5.99842444e-02 5.79833593e+02] [-1.52793208e-01 9.88201424e-01 -1.05916077e-02 -7.68126535e+01] [-6.08986682e-02 1.28216532e-03 9.98143130e-01 -3.73131460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.290714057 meters 0.023027407610637728 Centerline is valid? [True, True] Translation: X:579.86, Y:-76.82, Z:-37.31 [[ 9.86238187e-01 1.54019677e-01 6.01013998e-02 5.79864087e+02] [-1.53657529e-01 9.88066992e-01 -1.06293044e-02 -7.68193684e+01] [-6.10213314e-02 1.24799333e-03 9.98135682e-01 -3.73143498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.3207140569999 meters 0.02210360597567665 Centerline is valid? [True, True] Translation: X:579.90, Y:-76.82, Z:-37.32 [[ 9.85675945e-01 1.57130107e-01 6.12622302e-02 5.79896551e+02] [-1.56758916e-01 9.87577309e-01 -1.08490285e-02 -7.68221218e+01] [-6.22058975e-02 1.09022564e-03 9.98062742e-01 -3.73150614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.3507140569999 meters 0.022005270288501088 Centerline is valid? [True, True] Translation: X:579.93, Y:-76.83, Z:-37.32 [[ 9.85313624e-01 1.59133353e-01 6.19163769e-02 5.79928215e+02] [-1.58757135e-01 9.87256601e-01 -1.09806967e-02 -7.68265538e+01] [-6.28747469e-02 9.89763444e-04 9.98020935e-01 -3.73166169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.380714057 meters 0.021405765299038856 Centerline is valid? [True, True] Translation: X:579.96, Y:-76.83, Z:-37.32 [[ 9.84418985e-01 1.64246792e-01 6.27873633e-02 5.79960197e+02] [-1.63869259e-01 9.86419037e-01 -1.11511729e-02 -7.68279265e+01] [-6.37661948e-02 6.88507613e-04 9.97964628e-01 -3.73185246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.410714057 meters 0.02132377683492219 Centerline is valid? [True, True] Translation: X:579.99, Y:-76.83, Z:-37.32 [[ 9.83872342e-01 1.67451419e-01 6.28906827e-02 5.79991374e+02] [-1.67078186e-01 9.85880203e-01 -1.11850146e-02 -7.68315268e+01] [-6.38756256e-02 4.96965321e-04 9.97957743e-01 -3.73198204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.4407140569999 meters 0.02132377683492219 Centerline is valid? [True, True] Translation: X:580.02, Y:-76.84, Z:-37.32 [[ 9.83825233e-01 1.67728623e-01 6.28889459e-02 5.80023274e+02] [-1.67355332e-01 9.85833084e-01 -1.11947716e-02 -7.68372689e+01] [-6.38756871e-02 4.88898383e-04 9.97957743e-01 -3.73217002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.4707140569999 meters 0.020840102383577606 Centerline is valid? [True, True] Translation: X:580.05, Y:-76.84, Z:-37.32 [[ 9.82832507e-01 1.73656969e-01 6.23178951e-02 5.80054984e+02] [-1.73301206e-01 9.84806195e-01 -1.11107752e-02 -7.68381206e+01] [-6.33005127e-02 1.20264663e-04 9.97994504e-01 -3.73240644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.500714057 meters 0.021248589671398428 Centerline is valid? [True, True] Translation: X:580.09, Y:-76.84, Z:-37.33 [[ 9.82282407e-01 1.76804459e-01 6.21406144e-02 5.80087609e+02] [-1.76456071e-01 9.84245995e-01 -1.10939842e-02 -7.68422213e+01] [-6.31231167e-02 -6.76631761e-05 9.98005745e-01 -3.73267275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.530714057 meters 0.02118854922336327 Centerline is valid? [True, True] Translation: X:580.12, Y:-76.85, Z:-37.33 [[ 9.81821961e-01 1.79360401e-01 6.20925449e-02 5.80119598e+02] [-1.79016508e-01 9.83783411e-01 -1.11035568e-02 -7.68467022e+01] [-6.30771540e-02 -2.13874653e-04 9.98008631e-01 -3.73283890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.5607140569999 meters 0.021379473892928096 Centerline is valid? [True, True] Translation: X:580.15, Y:-76.85, Z:-37.33 [[ 9.81044668e-01 1.83510087e-01 6.22527658e-02 5.80151460e+02] [-1.83171677e-01 9.83017717e-01 -1.11492101e-02 -7.68512406e+01] [-6.32415642e-02 -4.65070441e-04 9.97998140e-01 -3.73302731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.5907140569999 meters 0.021487631684094007 Centerline is valid? [True, True] Translation: X:580.18, Y:-76.86, Z:-37.33 [[ 9.80544605e-01 1.86367499e-01 6.16395428e-02 5.80182392e+02] [-1.86040386e-01 9.82479904e-01 -1.10550216e-02 -7.68557137e+01] [-6.26199089e-02 -6.27502528e-04 9.98037250e-01 -3.73327933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.620714057 meters 0.02167844835496751 Centerline is valid? [True, True] Translation: X:580.21, Y:-76.86, Z:-37.34 [[ 9.80363082e-01 1.87485728e-01 6.11337062e-02 5.80214494e+02] [-1.87165226e-01 9.82267093e-01 -1.09789379e-02 -7.68620725e+01] [-6.21080220e-02 -6.78758590e-04 9.98069202e-01 -3.73353812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.650714057 meters 0.021885316022444964 Centerline is valid? [True, True] Translation: X:580.25, Y:-76.87, Z:-37.34 [[ 9.80216019e-01 1.88457882e-01 6.04994519e-02 5.80246058e+02] [-1.88144803e-01 9.82081012e-01 -1.08820452e-02 -7.68675438e+01] [-6.14661701e-02 -7.15902451e-04 9.98108911e-01 -3.73374192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.6807140569999 meters 0.02191372961899842 Centerline is valid? [True, True] Translation: X:580.28, Y:-76.88, Z:-37.34 [[ 9.80164526e-01 1.89145682e-01 5.91727438e-02 5.80277339e+02] [-1.88846801e-01 9.81948764e-01 -1.06541137e-02 -7.68779148e+01] [-6.01197823e-02 -7.31799100e-04 9.98190902e-01 -3.73414220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.7107140569999 meters 0.02206875507871799 Centerline is valid? [True, True] Translation: X:580.31, Y:-76.89, Z:-37.34 [[ 9.80155764e-01 1.89436015e-01 5.83838605e-02 5.80309306e+02] [-1.89144577e-01 9.81892801e-01 -1.05288039e-02 -7.68864690e+01] [-5.93212270e-02 -7.23122714e-04 9.98238683e-01 -3.73439992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.740714057 meters 0.021540966360430472 Centerline is valid? [True, True] Translation: X:580.34, Y:-76.90, Z:-37.35 [[ 9.80398708e-01 1.88553183e-01 5.71495527e-02 5.80339522e+02] [-1.88271494e-01 9.82062772e-01 -1.03226116e-02 -7.68989535e+01] [-5.80708094e-02 -6.39356616e-04 9.98312262e-01 -3.73468318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.770714057 meters 0.021822200683278514 Centerline is valid? [True, True] Translation: X:580.37, Y:-76.91, Z:-37.35 [[ 9.80620479e-01 1.87532901e-01 5.66999713e-02 5.80369070e+02] [-1.87253084e-01 9.82258162e-01 -1.02559803e-02 -7.69077533e+01] [-5.76173433e-02 -5.60020170e-04 9.98338584e-01 -3.73491619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.8007140569999 meters 0.021770041819681025 Centerline is valid? [True, True] Translation: X:580.40, Y:-76.92, Z:-37.35 [[ 9.81194644e-01 1.84346766e-01 5.72131076e-02 5.80399760e+02] [-1.84055955e-01 9.82861198e-01 -1.03571792e-02 -7.69215762e+01] [-5.81418559e-02 -3.68004356e-04 9.98308264e-01 -3.73505035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.8307140569999 meters 0.02203607213155899 Centerline is valid? [True, True] Translation: X:580.43, Y:-76.93, Z:-37.35 [[ 9.81433607e-01 1.82877421e-01 5.78266700e-02 5.80429388e+02] [-1.82577461e-01 9.83135683e-01 -1.04737434e-02 -7.69307497e+01] [-5.87668738e-02 -2.78562874e-04 9.98271695e-01 -3.73520846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.860714057 meters 0.02175606762744597 Centerline is valid? [True, True] Translation: X:580.46, Y:-76.94, Z:-37.35 [[ 9.81795871e-01 1.80371264e-01 5.95237419e-02 5.80460649e+02] [-1.80047936e-01 9.83598594e-01 -1.07957115e-02 -7.69443661e+01] [-6.04947050e-02 -1.17941914e-04 9.98168511e-01 -3.73524165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.890714057 meters 0.021957841951936723 Centerline is valid? [True, True] Translation: X:580.49, Y:-76.95, Z:-37.35 [[ 9.81770593e-01 1.80100325e-01 6.07484655e-02 5.80492757e+02] [-1.79761922e-01 9.83648243e-01 -1.10356628e-02 -7.69541284e+01] [-6.17426478e-02 -8.57717530e-05 9.98092099e-01 -3.73537373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.9207140569999 meters 0.02185447194342003 Centerline is valid? [True, True] Translation: X:580.52, Y:-76.96, Z:-37.35 [[ 9.81736621e-01 1.79940953e-01 6.17613154e-02 5.80523176e+02] [-1.79589691e-01 9.83677412e-01 -1.12380045e-02 -7.69631901e+01] [-6.27753881e-02 -5.89350078e-05 9.98027679e-01 -3.73545792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.9507140569999 meters 0.02182040400672772 Centerline is valid? [True, True] Translation: X:580.55, Y:-76.97, Z:-37.36 [[ 9.81522452e-01 1.80879600e-01 6.24199152e-02 5.80554947e+02] [-1.80521593e-01 9.83505241e-01 -1.13751886e-02 -7.69748531e+01] [-6.34478533e-02 -1.03139531e-04 9.97985150e-01 -3.73561071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.9807140569999 meters 0.022116915535098067 Centerline is valid? [True, True] Translation: X:580.59, Y:-76.98, Z:-37.36 [[ 9.81364317e-01 1.81889584e-01 6.19698092e-02 5.80586427e+02] [-1.81537604e-01 9.83318950e-01 -1.13111173e-02 -7.69829587e+01] [-6.29934622e-02 -1.49523798e-04 9.98013928e-01 -3.73590612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.010714057 meters 0.02176342419909053 Centerline is valid? [True, True] Translation: X:580.62, Y:-76.99, Z:-37.36 [[ 9.81213111e-01 1.83185015e-01 6.05316537e-02 5.80616623e+02] [-1.82850593e-01 9.83078433e-01 -1.10659253e-02 -7.69923057e+01] [-6.15344750e-02 -2.10217767e-04 9.98104936e-01 -3.73621922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.040714057 meters 0.021917310694154105 Centerline is valid? [True, True] Translation: X:580.65, Y:-77.00, Z:-37.36 [[ 9.81022111e-01 1.84133689e-01 6.07486769e-02 5.80648084e+02] [-1.83797643e-01 9.82901175e-01 -1.11223486e-02 -7.70003078e+01] [-6.17579450e-02 -2.54193704e-04 9.98091124e-01 -3.73645942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.0707140569999 meters 0.022018178786085068 Centerline is valid? [True, True] Translation: X:580.68, Y:-77.01, Z:-37.37 [[ 9.80882364e-01 1.84419873e-01 6.21216513e-02 5.80679607e+02] [-1.84067837e-01 9.82847518e-01 -1.13924746e-02 -7.70113325e+01] [-6.31571095e-02 -2.59920546e-04 9.98003563e-01 -3.73661184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.1007140569999 meters 0.022069975889587375 Centerline is valid? [True, True] Translation: X:580.71, Y:-77.02, Z:-37.37 [[ 9.80949478e-01 1.84072125e-01 6.20932672e-02 5.80711053e+02] [-1.83718554e-01 9.82912715e-01 -1.14056285e-02 -7.70202440e+01] [-6.31317201e-02 -2.19339957e-04 9.98005179e-01 -3.73672652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.130714057 meters 0.022193612280614512 Centerline is valid? [True, True] Translation: X:580.74, Y:-77.03, Z:-37.37 [[ 9.81305529e-01 1.82103130e-01 6.22728607e-02 5.80742504e+02] [-1.81742380e-01 9.83279434e-01 -1.14569992e-02 -7.70322555e+01] [-6.33179787e-02 -7.48012930e-05 9.97993401e-01 -3.73692287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.160714057 meters 0.021992992337556274 Centerline is valid? [True, True] Translation: X:580.77, Y:-77.04, Z:-37.37 [[ 9.81506561e-01 1.80927296e-01 6.25314694e-02 5.80772789e+02] [-1.80559989e-01 9.83496473e-01 -1.15228890e-02 -7.70411169e+01] [-6.35842848e-02 1.91096718e-05 9.97976472e-01 -3.73712647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.1907140569999 meters 0.022086700823167646 Centerline is valid? [True, True] Translation: X:580.80, Y:-77.05, Z:-37.37 [[ 9.81740010e-01 1.79641931e-01 6.25725914e-02 5.80804524e+02] [-1.79270434e-01 9.83732058e-01 -1.15476968e-02 -7.70499306e+01] [-6.36291146e-02 1.19420390e-04 9.97973608e-01 -3.73732876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.2207140569999 meters 0.022184306541330613 Centerline is valid? [True, True] Translation: X:580.83, Y:-77.06, Z:-37.38 [[ 9.82129386e-01 1.77263554e-01 6.32416158e-02 5.80834596e+02] [-1.76877933e-01 9.84163373e-01 -1.16897907e-02 -7.70607276e+01] [-6.43122558e-02 2.94840640e-04 9.97929781e-01 -3.73756567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.250714057 meters 0.022127153225125505 Centerline is valid? [True, True] Translation: X:580.87, Y:-77.07, Z:-37.38 [[ 9.82366643e-01 1.75857606e-01 6.34813378e-02 5.80865990e+02] [-1.75465109e-01 9.84415532e-01 -1.17497308e-02 -7.70705744e+01] [-6.45582945e-02 4.03783709e-04 9.97913856e-01 -3.73777353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.280714057 meters 0.022275894638898463 Centerline is valid? [True, True] Translation: X:580.90, Y:-77.08, Z:-37.38 [[ 9.82499862e-01 1.75250634e-01 6.30970352e-02 5.80898297e+02] [-1.74860438e-01 9.84523745e-01 -1.16971190e-02 -7.70785962e+01] [-6.41704569e-02 4.59242552e-04 9.97938847e-01 -3.73802786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.3107140569999 meters 0.02237665800480933 Centerline is valid? [True, True] Translation: X:580.93, Y:-77.09, Z:-37.38 [[ 9.82589774e-01 1.74696865e-01 6.32324367e-02 5.80928967e+02] [-1.74302653e-01 9.84622131e-01 -1.17407246e-02 -7.70860178e+01] [-6.43111244e-02 5.14734458e-04 9.97929764e-01 -3.73821794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.3407140569999 meters 0.022235097713222286 Centerline is valid? [True, True] Translation: X:580.96, Y:-77.09, Z:-37.38 [[ 9.82863403e-01 1.72909118e-01 6.38902733e-02 5.80959571e+02] [-1.72501747e-01 9.84937565e-01 -1.18802437e-02 -7.70934101e+01] [-6.49821327e-02 6.55472976e-04 9.97886212e-01 -3.73837593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.370714057 meters 0.02242895311973455 Centerline is valid? [True, True] Translation: X:580.99, Y:-77.10, Z:-37.39 [[ 9.82926540e-01 1.72624045e-01 6.36895239e-02 5.80992000e+02] [-1.72217646e-01 9.84987547e-01 -1.18581428e-02 -7.71000129e+01] [-6.47803884e-02 6.87223360e-04 9.97899308e-01 -3.73861518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.400714057 meters 0.022679383098175132 Centerline is valid? [True, True] Translation: X:581.02, Y:-77.11, Z:-37.39 [[ 9.83111455e-01 1.72104690e-01 6.22241289e-02 5.81024273e+02] [-1.71714646e-01 9.85078400e-01 -1.16028374e-02 -7.71062856e+01] [-6.32925481e-02 7.22088101e-04 9.97994755e-01 -3.73888121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.4307140569999 meters 0.022542444500618486 Centerline is valid? [True, True] Translation: X:581.06, Y:-77.11, Z:-37.39 [[ 9.83278839e-01 1.71651963e-01 6.08138859e-02 5.81056991e+02] [-1.71277495e-01 9.85157368e-01 -1.13569431e-02 -7.71102722e+01] [-6.18606894e-02 7.50991795e-04 9.98084511e-01 -3.73928907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.4607140569999 meters 0.02285380640513042 Centerline is valid? [True, True] Translation: X:581.09, Y:-77.12, Z:-37.40 [[ 9.83387633e-01 1.71308264e-01 6.00186754e-02 5.81088532e+02] [-1.70941831e-01 9.85217169e-01 -1.12258483e-02 -7.71166999e+01] [-6.10545100e-02 7.79658174e-04 9.98134129e-01 -3.73951195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.490714057 meters 0.02250421921850822 Centerline is valid? [True, True] Translation: X:581.12, Y:-77.12, Z:-37.40 [[ 9.83403044e-01 1.71189864e-01 6.01039478e-02 5.81121160e+02] [-1.70821152e-01 9.85237729e-01 -1.12583601e-02 -7.71212762e+01] [-6.11439942e-02 8.04479932e-04 9.98128631e-01 -3.73970079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.520714057 meters 0.02282172028790425 Centerline is valid? [True, True] Translation: X:581.15, Y:-77.13, Z:-37.40 [[ 9.83716388e-01 1.69243832e-01 6.04863052e-02 5.81151908e+02] [-1.68865676e-01 9.85573755e-01 -1.13471329e-02 -7.71263449e+01] [-6.15341472e-02 9.48299715e-04 9.98104528e-01 -3.73988143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.5507140569999 meters 0.02291828525066308 Centerline is valid? [True, True] Translation: X:581.18, Y:-77.13, Z:-37.40 [[ 9.84358137e-01 1.65172771e-01 6.12944803e-02 5.81183841e+02] [-1.64776032e-01 9.86263885e-01 -1.15069221e-02 -7.71320939e+01] [-6.23531625e-02 1.22707116e-03 9.98053394e-01 -3.74009749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.5807140569999 meters 0.023478039020546373 Centerline is valid? [True, True] Translation: X:581.21, Y:-77.14, Z:-37.40 [[ 9.84707662e-01 1.63173145e-01 6.10356067e-02 5.81214667e+02] [-1.62775632e-01 9.86596521e-01 -1.14628995e-02 -7.71383046e+01] [-6.20879546e-02 1.35249554e-03 9.98069765e-01 -3.74027955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.610714057 meters 0.023287941287277597 Centerline is valid? [True, True] Translation: X:581.25, Y:-77.14, Z:-37.40 [[ 9.84991315e-01 1.61442607e-01 6.10605697e-02 5.81246558e+02] [-1.61040919e-01 9.86881007e-01 -1.14760818e-02 -7.71426093e+01] [-6.21122451e-02 1.47059070e-03 9.98068087e-01 -3.74047182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.640714057 meters 0.023339200078545543 Centerline is valid? [True, True] Translation: X:581.28, Y:-77.15, Z:-37.41 [[ 9.85220936e-01 1.59808709e-01 6.16513123e-02 5.81278243e+02] [-1.59395009e-01 9.87146697e-01 -1.16029772e-02 -7.71464818e+01] [-6.27131461e-02 1.60458452e-03 9.98030303e-01 -3.74067915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.6707140569999 meters 0.023230568368925043 Centerline is valid? [True, True] Translation: X:581.31, Y:-77.15, Z:-37.41 [[ 9.85211714e-01 1.59759394e-01 6.19258822e-02 5.81310458e+02] [-1.59340888e-01 9.87154637e-01 -1.16706834e-02 -7.71506735e+01] [-6.29949230e-02 1.63076892e-03 9.98012515e-01 -3.74083717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.7007140569999 meters 0.023210724358695298 Centerline is valid? [True, True] Translation: X:581.34, Y:-77.15, Z:-37.41 [[ 9.85037176e-01 1.60594360e-01 6.25396885e-02 5.81342623e+02] [-1.60168026e-01 9.87019177e-01 -1.18045594e-02 -7.71525235e+01] [-6.36236175e-02 1.61107146e-03 9.97972665e-01 -3.74100721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.7307140569999 meters 0.023367921878690735 Centerline is valid? [True, True] Translation: X:581.38, Y:-77.16, Z:-37.41 [[ 9.85026919e-01 1.60621230e-01 6.26321704e-02 5.81375154e+02] [-1.60192655e-01 9.87014778e-01 -1.18381634e-02 -7.71572635e+01] [-6.37203381e-02 1.62769598e-03 9.97966467e-01 -3.74119437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.760714057 meters 0.023400953704807236 Centerline is valid? [True, True] Translation: X:581.41, Y:-77.16, Z:-37.41 [[ 9.85229597e-01 1.59196986e-01 6.30790017e-02 5.81406830e+02] [-1.58758186e-01 9.87245287e-01 -1.19407519e-02 -7.71606124e+01] [-6.41753788e-02 1.75007433e-03 9.97937101e-01 -3.74128456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.790714057 meters 0.023347701977848315 Centerline is valid? [True, True] Translation: X:581.44, Y:-77.16, Z:-37.41 [[ 9.85397519e-01 1.57908417e-01 6.36919277e-02 5.81438516e+02] [-1.57457299e-01 9.87451995e-01 -1.20729543e-02 -7.71649423e+01] [-6.47991422e-02 1.86790033e-03 9.97896579e-01 -3.74142877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.8207140569999 meters 0.023327171599556645 Centerline is valid? [True, True] Translation: X:581.47, Y:-77.17, Z:-37.42 [[ 9.85818990e-01 1.55058180e-01 6.41707049e-02 5.81470316e+02] [-1.54593150e-01 9.87903136e-01 -1.21799997e-02 -7.71673143e+01] [-6.52830492e-02 2.08692361e-03 9.97864604e-01 -3.74154307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.8507140569999 meters 0.02339335769013601 Centerline is valid? [True, True] Translation: X:581.50, Y:-77.17, Z:-37.42 [[ 9.85947929e-01 1.54187295e-01 6.42881037e-02 5.81502307e+02] [-1.53717696e-01 9.88039268e-01 -1.22177771e-02 -7.71709037e+01] [-6.54029970e-02 2.16387278e-03 9.97856586e-01 -3.74176257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.880714057 meters 0.023713543775597836 Centerline is valid? [True, True] Translation: X:581.53, Y:-77.17, Z:-37.42 [[ 9.85974590e-01 1.54226415e-01 6.37833884e-02 5.81533606e+02] [-1.53763187e-01 9.88033170e-01 -1.21382576e-02 -7.71749266e+01] [-6.48921434e-02 2.16047655e-03 9.97889945e-01 -3.74200629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.910714057 meters 0.02298570112577497 Centerline is valid? [True, True] Translation: X:581.57, Y:-77.17, Z:-37.42 [[ 9.85796592e-01 1.56175111e-01 6.17609453e-02 5.81566361e+02] [-1.55743616e-01 9.87727391e-01 -1.17697195e-02 -7.71730258e+01] [-6.28411147e-02 1.98367644e-03 9.98021573e-01 -3.74236044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.9407140569999 meters 0.022485281253352505 Centerline is valid? [True, True] Translation: X:581.60, Y:-77.17, Z:-37.43 [[ 9.85065514e-01 1.61292577e-01 6.02547685e-02 5.81597776e+02] [-1.60890557e-01 9.86905286e-01 -1.14971450e-02 -7.71708904e+01] [-6.13201538e-02 1.63101780e-03 9.98116816e-01 -3.74261741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.9707140569999 meters 0.02155770282994513 Centerline is valid? [True, True] Translation: X:581.63, Y:-77.17, Z:-37.43 [[ 9.84483245e-01 1.64769606e-01 6.03632141e-02 5.81630399e+02] [-1.64372473e-01 9.86331060e-01 -1.15208333e-02 -7.71706036e+01] [-6.14363962e-02 1.42001651e-03 9.98109990e-01 -3.74285169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.000714057 meters 0.020604449653676478 Centerline is valid? [True, True] Translation: X:581.66, Y:-77.17, Z:-37.43 [[ 9.83381288e-01 1.71263255e-01 6.02506494e-02 5.81663436e+02] [-1.70878849e-01 9.85224767e-01 -1.15142116e-02 -7.71668822e+01] [-6.13323934e-02 1.02729866e-03 9.98116868e-01 -3.74304516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.030714057 meters 0.02064423116862207 Centerline is valid? [True, True] Translation: X:581.70, Y:-77.17, Z:-37.43 [[ 9.82802034e-01 1.74509448e-01 6.03872122e-02 5.81695981e+02] [-1.74129161e-01 9.84655149e-01 -1.15443789e-02 -7.71690379e+01] [-6.14751826e-02 8.30664490e-04 9.98108267e-01 -3.74319217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.0607140569999 meters 0.020410497396524733 Centerline is valid? [True, True] Translation: X:581.73, Y:-77.17, Z:-37.43 [[ 9.82274518e-01 1.77378776e-01 6.06097442e-02 5.81728601e+02] [-1.77000206e-01 9.84142430e-01 -1.16018846e-02 -7.71715411e+01] [-6.17065490e-02 6.68298390e-04 9.98094111e-01 -3.74341990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.0907140569999 meters 0.020197794048094502 Centerline is valid? [True, True] Translation: X:581.76, Y:-77.17, Z:-37.44 [[ 9.81269351e-01 1.82933403e-01 6.03807244e-02 5.81760638e+02] [-1.82567814e-01 9.83125254e-01 -1.15640845e-02 -7.71708571e+01] [-6.14772724e-02 3.23904816e-04 9.98108431e-01 -3.74355298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.120714057 meters 0.02023369250357211 Centerline is valid? [True, True] Translation: X:581.79, Y:-77.17, Z:-37.44 [[ 9.80355240e-01 1.87575935e-01 6.09825542e-02 5.81792523e+02] [-1.87211077e-01 9.82250104e-01 -1.16938661e-02 -7.71695857e+01] [-6.20936081e-02 4.75333085e-05 9.98070329e-01 -3.74368998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.150714057 meters 0.02033651497555521 Centerline is valid? [True, True] Translation: X:581.83, Y:-77.17, Z:-37.44 [[ 9.79714861e-01 1.90669172e-01 6.16770434e-02 5.81825919e+02] [-1.90301155e-01 9.81654343e-01 -1.18415465e-02 -7.71727021e+01] [-6.28033554e-02 -1.35873532e-04 9.98025912e-01 -3.74387901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.1807140569999 meters 0.019990560977331713 Centerline is valid? [True, True] Translation: X:581.86, Y:-77.18, Z:-37.44 [[ 9.79121702e-01 1.93504019e-01 6.22646499e-02 5.81858607e+02] [-1.93133512e-01 9.81099436e-01 -1.19726136e-02 -7.71761300e+01] [-6.34045617e-02 -3.02744744e-04 9.97987861e-01 -3.74405035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.2107140569999 meters 0.020695692563589135 Centerline is valid? [True, True] Translation: X:581.89, Y:-77.18, Z:-37.44 [[ 9.77928046e-01 1.98894816e-01 6.40124078e-02 5.81890070e+02] [-1.98513475e-01 9.80020626e-01 -1.23277135e-02 -7.71775406e+01] [-6.51853982e-02 -6.51708797e-04 9.97872957e-01 -3.74399661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.240714057 meters 0.021181248235207818 Centerline is valid? [True, True] Translation: X:581.92, Y:-77.18, Z:-37.44 [[ 9.77403263e-01 2.01077159e-01 6.51984465e-02 5.81921809e+02] [-2.00685332e-01 9.79575082e-01 -1.25720146e-02 -7.71819613e+01] [-6.63947185e-02 -7.96443799e-04 9.97793118e-01 -3.74408540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.270714057 meters 0.0210401017179776 Centerline is valid? [True, True] Translation: X:581.95, Y:-77.19, Z:-37.44 [[ 9.77018016e-01 2.02356538e-01 6.69897656e-02 5.81953306e+02] [-2.01944700e-01 9.79311512e-01 -1.29344709e-02 -7.71884103e+01] [-6.82212234e-02 -8.91017068e-04 9.97669821e-01 -3.74431102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.3007140569999 meters 0.02108519849042487 Centerline is valid? [True, True] Translation: X:581.98, Y:-77.20, Z:-37.45 [[ 9.77261625e-01 2.01636457e-01 6.55931026e-02 5.81984210e+02] [-2.01238897e-01 9.79460100e-01 -1.26814120e-02 -7.71953307e+01] [-6.68028618e-02 -8.06826273e-04 9.97765868e-01 -3.74457321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.3307140569999 meters 0.020839929143688703 Centerline is valid? [True, True] Translation: X:582.02, Y:-77.21, Z:-37.45 [[ 9.78089396e-01 1.98117054e-01 6.39590979e-02 5.82015173e+02] [-1.97730578e-01 9.80178220e-01 -1.23804178e-02 -7.72058151e+01] [-6.51440867e-02 -5.37513995e-04 9.97875723e-01 -3.74504967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.360714057 meters 0.020839929143688703 Centerline is valid? [True, True] Translation: X:582.05, Y:-77.21, Z:-37.45 [[ 9.78033238e-01 1.98394543e-01 6.39577278e-02 5.82046983e+02] [-1.98008197e-01 9.80122086e-01 -1.23874915e-02 -7.72120400e+01] [-6.51439923e-02 -5.48775973e-04 9.97875723e-01 -3.74523759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.390714057 meters 0.020636636617062373 Centerline is valid? [True, True] Translation: X:582.08, Y:-77.22, Z:-37.46 [[ 9.78596176e-01 1.95808914e-01 6.33118694e-02 5.82078308e+02] [-1.95423753e-01 9.80642006e-01 -1.22806197e-02 -7.72207019e+01] [-6.44909334e-02 -3.54875687e-04 9.97918230e-01 -3.74554381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.4207140569999 meters 0.02022855333349847 Centerline is valid? [True, True] Translation: X:582.11, Y:-77.23, Z:-37.46 [[ 9.79625497e-01 1.90962421e-01 6.21871383e-02 5.82109112e+02] [-1.90580134e-01 9.81597348e-01 -1.20772088e-02 -7.72326525e+01] [-6.33490230e-02 -2.04915018e-05 9.97991433e-01 -3.74585295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.4507140569999 meters 0.02023683339812849 Centerline is valid? [True, True] Translation: X:582.14, Y:-77.24, Z:-37.46 [[ 9.79904955e-01 1.89407618e-01 6.25382580e-02 5.82141128e+02] [-1.89017396e-01 9.81898542e-01 -1.21522538e-02 -7.72418693e+01] [-6.37079538e-02 8.72350869e-05 9.97968581e-01 -3.74605853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.4807140569999 meters 0.02060632131447287 Centerline is valid? [True, True] Translation: X:582.17, Y:-77.25, Z:-37.46 [[ 9.80258223e-01 1.87542365e-01 6.26232980e-02 5.82172402e+02] [-1.87146117e-01 9.82256489e-01 -1.21869135e-02 -7.72527214e+01] [-6.37977034e-02 2.26615169e-04 9.97962826e-01 -3.74624955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.510714057 meters 0.02078191018939312 Centerline is valid? [True, True] Translation: X:582.20, Y:-77.26, Z:-37.46 [[ 9.80282933e-01 1.87285063e-01 6.30053707e-02 5.82203011e+02] [-1.86882240e-01 9.82305572e-01 -1.22797588e-02 -7.72623253e+01] [-6.41903421e-02 2.63053172e-04 9.97937639e-01 -3.74641433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.540714057 meters 0.02088329101801023 Centerline is valid? [True, True] Translation: X:582.23, Y:-77.27, Z:-37.47 [[ 9.80125142e-01 1.88150620e-01 6.28812455e-02 5.82234834e+02] [-1.87750056e-01 9.82140160e-01 -1.22728151e-02 -7.72698380e+01] [-6.40673343e-02 2.22937267e-04 9.97945553e-01 -3.74663793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.5707140569999 meters 0.020791888684476116 Centerline is valid? [True, True] Translation: X:582.27, Y:-77.28, Z:-37.47 [[ 9.79764801e-01 1.90105637e-01 6.26161458e-02 5.82267067e+02] [-1.89711278e-01 9.81763635e-01 -1.22391421e-02 -7.72772339e+01] [-6.38009848e-02 1.12491534e-04 9.97962635e-01 -3.74682331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.6007140569999 meters 0.02059108386029177 Centerline is valid? [True, True] Translation: X:582.30, Y:-77.28, Z:-37.47 [[ 9.78660795e-01 1.95406261e-01 6.35565941e-02 5.82297692e+02] [-1.95009969e-01 9.80722359e-01 -1.24405430e-02 -7.72837996e+01] [-6.47623329e-02 -2.19097710e-04 9.97900693e-01 -3.74690167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.630714057 meters 0.020852620497316263 Centerline is valid? [True, True] Translation: X:582.33, Y:-77.29, Z:-37.47 [[ 9.77831115e-01 1.99315877e-01 6.41832687e-02 5.82329448e+02] [-1.98919481e-01 9.79935180e-01 -1.25730791e-02 -7.72902227e+01] [-6.54014572e-02 -4.72954573e-04 9.97858921e-01 -3.74704087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.660714057 meters 0.021972648629921272 Centerline is valid? [True, True] Translation: X:582.36, Y:-77.29, Z:-37.47 [[ 9.76070561e-01 2.07462681e-01 6.51574654e-02 5.82359800e+02] [-2.07071235e-01 9.78242402e-01 -1.27791167e-02 -7.72941715e+01] [-6.63909853e-02 -1.01891725e-03 9.97793164e-01 -3.74708879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.6907140569999 meters 0.02313581194820919 Centerline is valid? [True, True] Translation: X:582.39, Y:-77.30, Z:-37.47 [[ 9.75148750e-01 2.11671804e-01 6.54214210e-02 5.82390575e+02] [-2.11286350e-01 9.77339931e-01 -1.28350300e-02 -7.72973809e+01] [-6.66557810e-02 -1.30658977e-03 9.97775175e-01 -3.74717323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.7207140569999 meters 0.024445231966234725 Centerline is valid? [True, True] Translation: X:582.42, Y:-77.30, Z:-37.47 [[ 9.73438998e-01 2.19394857e-01 6.54401539e-02 5.82420549e+02] [-2.19025668e-01 9.75634448e-01 -1.28522557e-02 -7.73040741e+01] [-6.66653873e-02 -1.82218653e-03 9.97773725e-01 -3.74737741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.750714057 meters 0.025323168335193533 Centerline is valid? [True, True] Translation: X:582.45, Y:-77.31, Z:-37.48 [[ 9.72626790e-01 2.22905495e-01 6.56526278e-02 5.82452083e+02] [-2.22541766e-01 9.74837866e-01 -1.28956495e-02 -7.73108922e+01] [-6.68751787e-02 -2.06779750e-03 9.97759207e-01 -3.74750825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.780714057 meters 0.02703663450564377 Centerline is valid? [True, True] Translation: X:582.48, Y:-77.32, Z:-37.48 [[ 9.71388436e-01 2.28399048e-01 6.51028533e-02 5.82481486e+02] [-2.28053391e-01 9.73564592e-01 -1.27920494e-02 -7.73211026e+01] [-6.63035247e-02 -2.42087763e-03 9.97796563e-01 -3.74766923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.8107140569999 meters 0.026714301553080824 Centerline is valid? [True, True] Translation: X:582.51, Y:-77.33, Z:-37.48 [[ 9.70935999e-01 2.30521760e-01 6.43661794e-02 5.82511700e+02] [-2.30188269e-01 9.73063875e-01 -1.26513667e-02 -7.73308205e+01] [-6.55488193e-02 -2.53267207e-03 9.97846149e-01 -3.74789667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.8407140569999 meters 0.028066479238014867 Centerline is valid? [True, True] Translation: X:582.54, Y:-77.34, Z:-37.48 [[ 9.70215188e-01 2.33880277e-01 6.31070925e-02 5.82541767e+02] [-2.33565830e-01 9.72261681e-01 -1.24188132e-02 -7.73417616e+01] [-6.42611233e-02 -2.69073922e-03 9.97929490e-01 -3.74820055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.870714057 meters 0.02945682939660283 Centerline is valid? [True, True] Translation: X:582.57, Y:-77.35, Z:-37.48 [[ 9.69983963e-01 2.35012228e-01 6.24529014e-02 5.82572274e+02] [-2.34705661e-01 9.71988601e-01 -1.23049484e-02 -7.73492278e+01] [-6.35953216e-02 -2.72244683e-03 9.97972055e-01 -3.74839879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.900714057 meters 0.03048268461838222 Centerline is valid? [True, True] Translation: X:582.60, Y:-77.36, Z:-37.49 [[ 9.69766347e-01 2.36180176e-01 6.14178881e-02 5.82601452e+02] [-2.35885150e-01 9.71705420e-01 -1.21149974e-02 -7.73620121e+01] [-6.25414169e-02 -2.73885097e-03 9.98038611e-01 -3.74856595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.9307140569999 meters 0.029597190901077465 Centerline is valid? [True, True] Translation: X:582.63, Y:-77.37, Z:-37.49 [[ 9.69777385e-01 2.36236848e-01 6.10243810e-02 5.82631698e+02] [-2.35945163e-01 9.71691707e-01 -1.20460399e-02 -7.73746066e+01] [-6.21426034e-02 -2.71643050e-03 9.98063584e-01 -3.74877313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.9607140569999 meters 0.030041116792793827 Centerline is valid? [True, True] Translation: X:582.66, Y:-77.39, Z:-37.49 [[ 9.69969083e-01 2.35674337e-01 6.01463609e-02 5.82660551e+02] [-2.35388987e-01 9.71828537e-01 -1.18877719e-02 -7.73895197e+01] [-6.12535927e-02 -2.62701972e-03 9.98118779e-01 -3.74894151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.990714057 meters 0.029604028455704454 Centerline is valid? [True, True] Translation: X:582.69, Y:-77.40, Z:-37.49 [[ 9.70162036e-01 2.35072770e-01 5.93836474e-02 5.82690701e+02] [-2.34792653e-01 9.71974448e-01 -1.17508378e-02 -7.74004506e+01] [-6.04816899e-02 -2.54262745e-03 9.98166068e-01 -3.74908681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.020714057 meters 0.02956052568919927 Centerline is valid? [True, True] Translation: X:582.72, Y:-77.42, Z:-37.49 [[ 9.70470027e-01 2.34235959e-01 5.76319589e-02 5.82719816e+02] [-2.33969835e-01 9.72176805e-01 -1.14182244e-02 -7.74155581e+01] [-5.87030124e-02 -2.40309534e-03 9.98272599e-01 -3.74931026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.0507140569999 meters 0.029729226509858354 Centerline is valid? [True, True] Translation: X:582.75, Y:-77.43, Z:-37.50 [[ 9.70600935e-01 2.33866613e-01 5.69230432e-02 5.82750459e+02] [-2.33605553e-01 9.72265880e-01 -1.12917361e-02 -7.74264168e+01] [-5.79850928e-02 -2.33776934e-03 9.98314712e-01 -3.74951723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.0807140569999 meters 0.02959269497320378 Centerline is valid? [True, True] Translation: X:582.78, Y:-77.44, Z:-37.50 [[ 9.70967688e-01 2.32523199e-01 5.61668093e-02 5.82780349e+02] [-2.32266003e-01 9.72588330e-01 -1.11554307e-02 -7.74431428e+01] [-5.72210797e-02 -2.21407755e-03 9.98359077e-01 -3.74959318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.110714057 meters 0.029181772656232674 Centerline is valid? [True, True] Translation: X:582.81, Y:-77.45, Z:-37.50 [[ 9.71313451e-01 2.31158054e-01 5.58223422e-02 5.82810832e+02] [-2.30901486e-01 9.72913910e-01 -1.10917375e-02 -7.74546757e+01] [-5.68742777e-02 -2.11590795e-03 9.98379106e-01 -3.74972937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.140714057 meters 0.02808681663472695 Centerline is valid? [True, True] Translation: X:582.84, Y:-77.47, Z:-37.50 [[ 9.72278012e-01 2.27268410e-01 5.49957909e-02 5.82839393e+02] [-2.27012410e-01 9.73830406e-01 -1.09410729e-02 -7.74716400e+01] [-5.60431336e-02 -1.84696241e-03 9.98426640e-01 -3.74987484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.1707140569999 meters 0.027423302741312806 Centerline is valid? [True, True] Translation: X:582.87, Y:-77.48, Z:-37.50 [[ 9.73015845e-01 2.24204979e-01 5.45187346e-02 5.82868479e+02] [-2.23948495e-01 9.74540605e-01 -1.08480467e-02 -7.74832704e+01] [-5.55629067e-02 -1.65406725e-03 9.98453818e-01 -3.75002918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.2007140569999 meters 0.02488954483291053 Centerline is valid? [True, True] Translation: X:582.90, Y:-77.50, Z:-37.50 [[ 9.74988735e-01 2.15583606e-01 5.40432803e-02 5.82895553e+02] [-2.15318222e-01 9.76484709e-01 -1.07553360e-02 -7.75034445e+01] [-5.50911109e-02 -1.15017158e-03 9.98480669e-01 -3.75020599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.2307140569999 meters 0.023966285190242364 Centerline is valid? [True, True] Translation: X:582.93, Y:-77.52, Z:-37.50 [[ 9.76085843e-01 2.10719575e-01 5.34199212e-02 5.82925006e+02] [-2.10452951e-01 9.77546169e-01 -1.06321218e-02 -7.75169609e+01] [-5.44608356e-02 -8.64516460e-04 9.98515533e-01 -3.75034996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.260714057 meters 0.021815411071778788 Centerline is valid? [True, True] Translation: X:582.95, Y:-77.54, Z:-37.50 [[ 9.78729091e-01 1.98281676e-01 5.26663381e-02 5.82952390e+02] [-1.98004391e-01 9.80145065e-01 -1.04838944e-02 -7.75397769e+01] [-5.36994156e-02 -1.67273774e-04 9.98557131e-01 -3.75031675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.290714057 meters 0.022008320301632047 Centerline is valid? [True, True] Translation: X:582.98, Y:-77.55, Z:-37.50 [[ 9.79953680e-01 1.92176496e-01 5.25259926e-02 5.82983066e+02] [-1.91891869e-01 9.81360365e-01 -1.04567954e-02 -7.75535693e+01] [-5.35564775e-02 1.67864254e-04 9.98564808e-01 -3.75042304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.3207140569999 meters 0.02294959305217788 Centerline is valid? [True, True] Translation: X:583.01, Y:-77.57, Z:-37.50 [[ 9.82446698e-01 1.79073399e-01 5.22609249e-02 5.83009718e+02] [-1.78772198e-01 9.83835310e-01 -1.04203493e-02 -7.75724003e+01] [-5.32821506e-02 8.94637329e-04 9.98579097e-01 -3.75040075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.3507140569999 meters 0.023634825367064915 Centerline is valid? [True, True] Translation: X:583.04, Y:-77.58, Z:-37.51 [[ 9.83535658e-01 1.73058941e-01 5.20404866e-02 5.83039810e+02] [-1.72751868e-01 9.84910720e-01 -1.03762266e-02 -7.75830874e+01] [-5.30509320e-02 1.21529761e-03 9.98591068e-01 -3.75052748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.380714057 meters 0.025387304613787912 Centerline is valid? [True, True] Translation: X:583.07, Y:-77.60, Z:-37.51 [[ 9.85218859e-01 1.62861352e-01 5.31034875e-02 5.83069107e+02] [-1.62526671e-01 9.86647318e-01 -1.05901811e-02 -7.75954540e+01] [-5.41191447e-02 1.80291315e-03 9.98532858e-01 -3.75057805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.410714057 meters 0.02544614684369882 Centerline is valid? [True, True] Translation: X:583.10, Y:-77.60, Z:-37.51 [[ 9.85881229e-01 1.58719235e-01 5.33517188e-02 5.83099028e+02] [-1.58375290e-01 9.87321649e-01 -1.06409302e-02 -7.76030331e+01] [-5.43642272e-02 2.04109943e-03 9.98519086e-01 -3.75063820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.4407140569999 meters 0.02829532650599827 Centerline is valid? [True, True] Translation: X:583.13, Y:-77.61, Z:-37.51 [[ 9.86909526e-01 1.52020802e-01 5.38448103e-02 5.83127090e+02] [-1.51660450e-01 9.88374298e-01 -1.07403128e-02 -7.76129961e+01] [-5.48515775e-02 2.43358885e-03 9.98491553e-01 -3.75076123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.4707140569999 meters 0.028103435943343854 Centerline is valid? [True, True] Translation: X:583.16, Y:-77.62, Z:-37.51 [[ 9.87336212e-01 1.49346293e-01 5.35059816e-02 5.83157882e+02] [-1.48986550e-01 9.88781624e-01 -1.06727215e-02 -7.76177343e+01] [-5.44996628e-02 2.56589278e-03 9.98510492e-01 -3.75106616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.500714057 meters 0.028670737054640703 Centerline is valid? [True, True] Translation: X:583.19, Y:-77.62, Z:-37.51 [[ 9.88020982e-01 1.45055855e-01 5.26624858e-02 5.83188559e+02] [-1.44701192e-01 9.89419618e-01 -1.05064168e-02 -7.76193700e+01] [-5.36293139e-02 2.76023578e-03 9.98557098e-01 -3.75135029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.530714057 meters 0.030005791375775387 Centerline is valid? [True, True] Translation: X:583.22, Y:-77.62, Z:-37.52 [[ 9.88250072e-01 1.43607612e-01 5.23321046e-02 5.83219030e+02] [-1.43255321e-01 9.89630684e-01 -1.04413486e-02 -7.76235655e+01] [-5.32889136e-02 2.82181102e-03 9.98575149e-01 -3.75157094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.5607140569999 meters 0.02900509110488524 Centerline is valid? [True, True] Translation: X:583.25, Y:-77.62, Z:-37.52 [[ 9.88385420e-01 1.42131664e-01 5.37852379e-02 5.83252580e+02] [-1.41757235e-01 9.89843263e-01 -1.07331739e-02 -7.76204449e+01] [-5.47644792e-02 2.98406604e-03 9.98494841e-01 -3.75180927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.5907140569999 meters 0.0326584612053117 Centerline is valid? [True, True] Translation: X:583.28, Y:-77.63, Z:-37.52 [[ 9.88534427e-01 1.41188365e-01 5.35306697e-02 5.83282269e+02] [-1.40815912e-01 9.89978128e-01 -1.06857813e-02 -7.76286855e+01] [-5.45029001e-02 3.02529264e-03 9.98509029e-01 -3.75197932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.620714057 meters 0.030806625060380538 Centerline is valid? [True, True] Translation: X:583.32, Y:-77.62, Z:-37.52 [[ 9.88671043e-01 1.40081845e-01 5.39133149e-02 5.83315718e+02] [-1.39701694e-01 9.90135008e-01 -1.07750525e-02 -7.76229796e+01] [-5.48908497e-02 3.12120093e-03 9.98487483e-01 -3.75219781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.650714057 meters 0.03188006533304123 Centerline is valid? [True, True] Translation: X:583.35, Y:-77.63, Z:-37.52 [[ 9.88804840e-01 1.38995619e-01 5.42697501e-02 5.83346865e+02] [-1.38608082e-01 9.90287776e-01 -1.08590949e-02 -7.76255585e+01] [-5.52520367e-02 3.21529964e-03 9.98467263e-01 -3.75242497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.6807140569999 meters 0.03255060432618435 Centerline is valid? [True, True] Translation: X:583.38, Y:-77.62, Z:-37.53 [[ 9.88727815e-01 1.38633015e-01 5.65525867e-02 5.83380545e+02] [-1.38210768e-01 9.90338035e-01 -1.13295751e-02 -7.76202001e+01] [-5.75768308e-02 3.38568960e-03 9.98335337e-01 -3.75315762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.7107140569999 meters 0.033242377065205546 Centerline is valid? [True, True] Translation: X:583.41, Y:-77.62, Z:-37.54 [[ 9.88684562e-01 1.38829925e-01 5.68250798e-02 5.83414013e+02] [-1.38403086e-01 9.90310385e-01 -1.13985315e-02 -7.76206232e+01] [-5.78569239e-02 3.40478572e-03 9.98319079e-01 -3.75353538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.740714057 meters 0.03283423472544298 Centerline is valid? [True, True] Translation: X:583.45, Y:-77.61, Z:-37.54 [[ 9.88677084e-01 1.38537785e-01 5.76620033e-02 5.83447548e+02] [-1.38096780e-01 9.90351002e-01 -1.15832279e-02 -7.76139980e+01] [-5.87103375e-02 3.48913502e-03 9.98268963e-01 -3.75378217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.770714057 meters 0.033290108668928564 Centerline is valid? [True, True] Translation: X:583.48, Y:-77.62, Z:-37.54 [[ 9.88542776e-01 1.39311724e-01 5.80984030e-02 5.83479575e+02] [-1.38864525e-01 9.90242451e-01 -1.16846574e-02 -7.76152473e+01] [-5.91593148e-02 3.48297654e-03 9.98242478e-01 -3.75401660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.8007140569999 meters 0.03165505834036055 Centerline is valid? [True, True] Translation: X:583.51, Y:-77.61, Z:-37.54 [[ 9.88398162e-01 1.40560981e-01 5.75472274e-02 5.83514577e+02] [-1.40123511e-01 9.90066220e-01 -1.15880094e-02 -7.76069988e+01] [-5.86043879e-02 3.38984763e-03 9.98275530e-01 -3.75420462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.8307140569999 meters 0.03246326659003349 Centerline is valid? [True, True] Translation: X:583.55, Y:-77.60, Z:-37.54 [[ 9.87951868e-01 1.43624560e-01 5.76462755e-02 5.83545976e+02] [-1.43190309e-01 9.89627004e-01 -1.16158373e-02 -7.76004499e+01] [-5.87166304e-02 3.22150013e-03 9.98269492e-01 -3.75436638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.860714057 meters 0.03035261298011677 Centerline is valid? [True, True] Translation: X:583.58, Y:-77.60, Z:-37.54 [[ 9.87573417e-01 1.46277502e-01 5.74598847e-02 5.83578994e+02] [-1.45850588e-01 9.89238885e-01 -1.15772838e-02 -7.75957446e+01] [-5.85350485e-02 3.05285974e-03 9.98280686e-01 -3.75448253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.890714057 meters 0.02890498326153031 Centerline is valid? [True, True] Translation: X:583.61, Y:-77.58, Z:-37.55 [[ 9.86600248e-01 1.52365930e-01 5.83487198e-02 5.83612561e+02] [-1.51936165e-01 9.88320363e-01 -1.17584947e-02 -7.75848229e+01] [-5.94588219e-02 2.73565303e-03 9.98227011e-01 -3.75456074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.9207140569999 meters 0.02748061268683915 Centerline is valid? [True, True] Translation: X:583.65, Y:-77.58, Z:-37.55 [[ 9.86107581e-01 1.55272974e-01 5.90096842e-02 5.83645845e+02] [-1.54838549e-01 9.87868207e-01 -1.18924202e-02 -7.75810350e+01] [-6.01403624e-02 2.59023184e-03 9.98186570e-01 -3.75458530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.9507140569999 meters 0.027688177298910436 Centerline is valid? [True, True] Translation: X:583.68, Y:-77.58, Z:-37.55 [[ 9.85519480e-01 1.58463451e-01 6.03381231e-02 5.83676702e+02] [-1.58014893e-01 9.87361793e-01 -1.21648118e-02 -7.75811424e+01] [-6.15032355e-02 2.45433699e-03 9.98103866e-01 -3.75463242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.9807140569999 meters 0.025674146412287373 Centerline is valid? [True, True] Translation: X:583.71, Y:-77.57, Z:-37.55 [[ 9.84787386e-01 1.62597310e-01 6.12855588e-02 5.83711009e+02] [-1.62142434e-01 9.86689988e-01 -1.23571336e-02 -7.75714082e+01] [-6.24790840e-02 2.23215957e-03 9.98043777e-01 -3.75461928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.010714057 meters 0.02517101143089386 Centerline is valid? [True, True] Translation: X:583.74, Y:-77.57, Z:-37.55 [[ 9.84515455e-01 1.64146339e-01 6.15247820e-02 5.83743557e+02] [-1.63690649e-01 9.86433663e-01 -1.24096495e-02 -7.75710073e+01] [-6.27271146e-02 2.14646024e-03 9.98028407e-01 -3.75475748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.040714057 meters 0.024717966389508888 Centerline is valid? [True, True] Translation: X:583.78, Y:-77.56, Z:-37.55 [[ 9.84273199e-01 1.65592115e-01 6.15265859e-02 5.83778073e+02] [-1.65138279e-01 9.86192157e-01 -1.24249052e-02 -7.75647560e+01] [-6.27345028e-02 2.06910669e-03 9.98028106e-01 -3.75497466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.0707140569999 meters 0.02421838087630842 Centerline is valid? [True, True] Translation: X:583.81, Y:-77.56, Z:-37.55 [[ 9.84263512e-01 1.65866322e-01 6.09401530e-02 5.83812746e+02] [-1.65421081e-01 9.86146134e-01 -1.23153388e-02 -7.75594690e+01] [-6.21385963e-02 2.04075270e-03 9.98065444e-01 -3.75523795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.1007140569999 meters 0.025248123541881228 Centerline is valid? [True, True] Translation: X:583.84, Y:-77.56, Z:-37.55 [[ 9.84367095e-01 1.65497255e-01 6.02667492e-02 5.83843320e+02] [-1.65060091e-01 9.86208104e-01 -1.21959846e-02 -7.75636085e+01] [-6.14539585e-02 2.05769081e-03 9.98107798e-01 -3.75536163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.130714057 meters 0.02530730218624699 Centerline is valid? [True, True] Translation: X:583.88, Y:-77.57, Z:-37.56 [[ 9.84435929e-01 1.65167046e-01 6.00478888e-02 5.83875712e+02] [-1.64731911e-01 9.86263415e-01 -1.21603295e-02 -7.75657748e+01] [-6.12315216e-02 2.07926179e-03 9.98121424e-01 -3.75554970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.160714057 meters 0.02444049122994007 Centerline is valid? [True, True] Translation: X:583.91, Y:-77.56, Z:-37.56 [[ 9.84684155e-01 1.63653325e-01 6.01224155e-02 5.83908609e+02] [-1.63213394e-01 9.86515479e-01 -1.21900425e-02 -7.75624052e+01] [-6.13066345e-02 2.19055818e-03 9.98116575e-01 -3.75567521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.1907140569999 meters 0.025727559021984307 Centerline is valid? [True, True] Translation: X:583.94, Y:-77.57, Z:-37.56 [[ 9.84796645e-01 1.62772112e-01 6.06696639e-02 5.83939578e+02] [-1.62321573e-01 9.86661057e-01 -1.23152803e-02 -7.75670935e+01] [-6.18649789e-02 2.28005146e-03 9.98081923e-01 -3.75575683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.2207140569999 meters 0.025056603395848892 Centerline is valid? [True, True] Translation: X:583.97, Y:-77.56, Z:-37.56 [[ 9.84941998e-01 1.61641527e-01 6.13292468e-02 5.83972715e+02] [-1.61178039e-01 9.86846645e-01 -1.24635342e-02 -7.75639294e+01] [-6.25371861e-02 2.39093056e-03 9.98039771e-01 -3.75581614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.250714057 meters 0.025056603395848892 Centerline is valid? [True, True] Translation: X:584.00, Y:-77.57, Z:-37.56 [[ 9.84898128e-01 1.61909756e-01 6.13262529e-02 5.84004497e+02] [-1.61445871e-01 9.86802677e-01 -1.24782487e-02 -7.75704650e+01] [-6.25372608e-02 2.38893346e-03 9.98039771e-01 -3.75600437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.280714057 meters 0.02557749946092717 Centerline is valid? [True, True] Translation: X:584.04, Y:-77.57, Z:-37.56 [[ 9.84862560e-01 1.62272753e-01 6.09367883e-02 5.84037265e+02] [-1.61814380e-01 9.86743101e-01 -1.24160759e-02 -7.75694651e+01] [-6.21437463e-02 2.36767969e-03 9.98064401e-01 -3.75616091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.3107140569999 meters 0.025580678381234193 Centerline is valid? [True, True] Translation: X:584.07, Y:-77.57, Z:-37.56 [[ 9.84710436e-01 1.63217026e-01 6.08733031e-02 5.84069091e+02] [-1.62760416e-01 9.86587459e-01 -1.24190777e-02 -7.75721491e+01] [-6.20838423e-02 2.32143123e-03 9.98068238e-01 -3.75632521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.3407140569999 meters 0.024224652912237514 Centerline is valid? [True, True] Translation: X:584.10, Y:-77.57, Z:-37.57 [[ 9.84247201e-01 1.66591528e-01 5.92005864e-02 5.84102394e+02] [-1.66164971e-01 9.86023835e-01 -1.20912708e-02 -7.75687144e+01] [-6.03874925e-02 2.06373572e-03 9.98172877e-01 -3.75651465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.370714057 meters 0.023721096243927767 Centerline is valid? [True, True] Translation: X:584.14, Y:-77.57, Z:-37.57 [[ 9.83954341e-01 1.68535396e-01 5.85634299e-02 5.84135123e+02] [-1.68121138e-01 9.85693717e-01 -1.19657784e-02 -7.75704317e+01] [-5.97422621e-02 1.92802909e-03 9.98211974e-01 -3.75674294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.400714057 meters 0.023181842983193677 Centerline is valid? [True, True] Translation: X:584.17, Y:-77.57, Z:-37.57 [[ 9.83495437e-01 1.71741187e-01 5.69358496e-02 5.84166195e+02] [-1.71354248e-01 9.85140640e-01 -1.16464856e-02 -7.75680246e+01] [-5.80900006e-02 1.69806580e-03 9.98309906e-01 -3.75704007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.4307140569999 meters 0.022788558595536787 Centerline is valid? [True, True] Translation: X:584.20, Y:-77.57, Z:-37.57 [[ 9.83335912e-01 1.72752670e-01 5.66303779e-02 5.84197980e+02] [-1.72371494e-01 9.84963886e-01 -1.15849610e-02 -7.75708060e+01] [-5.77802101e-02 1.63044531e-03 9.98327997e-01 -3.75721007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.4607140569999 meters 0.021141758108685713 Centerline is valid? [True, True] Translation: X:584.23, Y:-77.57, Z:-37.57 [[ 9.83264649e-01 1.73012329e-01 5.70733151e-02 5.84232116e+02] [-1.72624803e-01 9.84918291e-01 -1.16891967e-02 -7.75695774e+01] [-5.82349272e-02 1.64130418e-03 9.98301557e-01 -3.75733566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.490714057 meters 0.02094255007583667 Centerline is valid? [True, True] Translation: X:584.26, Y:-77.57, Z:-37.57 [[ 9.83287851e-01 1.72532645e-01 5.81161657e-02 5.84263738e+02] [-1.72128976e-01 9.85002304e-01 -1.19196197e-02 -7.75741059e+01] [-5.93010807e-02 1.71694112e-03 9.98238666e-01 -3.75743104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.520714057 meters 0.021523597261054423 Centerline is valid? [True, True] Translation: X:584.30, Y:-77.58, Z:-37.57 [[ 9.83647656e-01 1.70085720e-01 5.92295189e-02 5.84295372e+02] [-1.69661071e-01 9.85427410e-01 -1.21631283e-02 -7.75773373e+01] [-6.04351658e-02 1.91528903e-03 9.98170287e-01 -3.75747191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.5507140569999 meters 0.022121725342294174 Centerline is valid? [True, True] Translation: X:584.33, Y:-77.58, Z:-37.58 [[ 9.83839471e-01 1.68898859e-01 5.94396477e-02 5.84326287e+02] [-1.68468177e-01 9.85631340e-01 -1.22202391e-02 -7.75830527e+01] [-6.06495640e-02 2.00906444e-03 9.98157099e-01 -3.75761339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.5807140569999 meters 0.02409803243972844 Centerline is valid? [True, True] Translation: X:584.36, Y:-77.59, Z:-37.58 [[ 9.84502961e-01 1.64714930e-01 6.01906340e-02 5.84355807e+02] [-1.64264651e-01 9.86338512e-01 -1.23880308e-02 -7.75893439e+01] [-6.14088341e-02 2.30885953e-03 9.98110026e-01 -3.75771374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.610714057 meters 0.025585083103619344 Centerline is valid? [True, True] Translation: X:584.39, Y:-77.60, Z:-37.58 [[ 9.84742746e-01 1.63213125e-01 6.03589222e-02 5.84386114e+02] [-1.62757416e-01 9.86587890e-01 -1.24241313e-02 -7.75967110e+01] [-6.15771630e-02 2.41071099e-03 9.98099415e-01 -3.75791060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.640714057 meters 0.023171964080485354 Centerline is valid? [True, True] Translation: X:584.42, Y:-77.60, Z:-37.58 [[ 9.85170555e-01 1.60206101e-01 6.14246148e-02 5.84417776e+02] [-1.59727853e-01 9.87080023e-01 -1.26507042e-02 -7.75961688e+01] [-6.26577302e-02 2.65187948e-03 9.98031551e-01 -3.75809641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.6707140569999 meters 0.02724134132930728 Centerline is valid? [True, True] Translation: X:584.45, Y:-77.61, Z:-37.58 [[ 9.85255307e-01 1.59573388e-01 6.17115412e-02 5.84447886e+02] [-1.59089307e-01 9.87182358e-01 -1.27115555e-02 -7.76059966e+01] [-6.29489707e-02 2.70648122e-03 9.98013077e-01 -3.75824466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.7007140569999 meters 0.024028902448445612 Centerline is valid? [True, True] Translation: X:584.48, Y:-77.61, Z:-37.58 [[ 9.85187098e-01 1.60114041e-01 6.13993129e-02 5.84481111e+02] [-1.59635333e-01 9.87094919e-01 -1.26562646e-02 -7.76060045e+01] [-6.26333955e-02 2.66728891e-03 9.98033037e-01 -3.75848456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.7307140569999 meters 0.022679163018184213 Centerline is valid? [True, True] Translation: X:584.51, Y:-77.61, Z:-37.59 [[ 9.84867465e-01 1.62352301e-01 6.06449317e-02 5.84513169e+02] [-1.61888646e-01 9.86729670e-01 -1.25150033e-02 -7.76062738e+01] [-6.18719930e-02 2.50789368e-03 9.98080942e-01 -3.75881328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.760714057 meters 0.02403045818509032 Centerline is valid? [True, True] Translation: X:584.54, Y:-77.61, Z:-37.59 [[ 9.84576340e-01 1.64198893e-01 6.03999519e-02 5.84543170e+02] [-1.63742258e-01 9.86424368e-01 -1.24674981e-02 -7.76129116e+01] [-6.16271337e-02 2.38517917e-03 9.98096392e-01 -3.75898579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.790714057 meters 0.02162064834140789 Centerline is valid? [True, True] Translation: X:584.57, Y:-77.61, Z:-37.59 [[ 9.83819195e-01 1.68942339e-01 5.96513047e-02 5.84574583e+02] [-1.68504781e-01 9.85623749e-01 -1.23273632e-02 -7.76107442e+01] [-6.08763561e-02 2.07636655e-03 9.98143155e-01 -3.75925754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.8207140569999 meters 0.020871891334472422 Centerline is valid? [True, True] Translation: X:584.61, Y:-77.61, Z:-37.59 [[ 9.83285015e-01 1.72162352e-01 5.92511971e-02 5.84606320e+02] [-1.71736474e-01 9.85066824e-01 -1.22448192e-02 -7.76138902e+01] [-6.04744855e-02 1.86455560e-03 9.98168002e-01 -3.75941379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.8507140569999 meters 0.01899683182681704 Centerline is valid? [True, True] Translation: X:584.64, Y:-77.61, Z:-37.60 [[ 9.82020120e-01 1.79349403e-01 5.89090416e-02 5.84637972e+02] [-1.78941141e-01 9.83784419e-01 -1.21772087e-02 -7.76123166e+01] [-6.01377724e-02 1.41701285e-03 9.98189081e-01 -3.75961587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.880714057 meters 0.019578719538729965 Centerline is valid? [True, True] Translation: X:584.67, Y:-77.62, Z:-37.60 [[ 9.81398053e-01 1.82920201e-01 5.82929028e-02 5.84668496e+02] [-1.82526646e-01 9.83127047e-01 -1.20512492e-02 -7.76180483e+01] [-5.95137463e-02 1.18706447e-03 9.98226780e-01 -3.75975807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.910714057 meters 0.017572055419669146 Centerline is valid? [True, True] Translation: X:584.70, Y:-77.62, Z:-37.60 [[ 9.80377285e-01 1.88601288e-01 5.73579326e-02 5.84700546e+02] [-1.88229202e-01 9.82053382e-01 -1.18710585e-02 -7.76165796e+01] [-5.85674486e-02 8.41678284e-04 9.98283099e-01 -3.75999848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.9407140569999 meters 0.017216324705507425 Centerline is valid? [True, True] Translation: X:584.73, Y:-77.62, Z:-37.60 [[ 9.79663598e-01 1.92441111e-01 5.67948336e-02 5.84731317e+02] [-1.92082623e-01 9.81308335e-01 -1.17565745e-02 -7.76200538e+01] [-5.79956919e-02 6.08187509e-04 9.98316648e-01 -3.76020170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.9707140569999 meters 0.01706206548686341 Centerline is valid? [True, True] Translation: X:584.76, Y:-77.63, Z:-37.60 [[ 9.79417906e-01 1.93674309e-01 5.68403768e-02 5.84763290e+02] [-1.93316554e-01 9.81065727e-01 -1.17791603e-02 -7.76252200e+01] [-5.80454663e-02 5.48534690e-04 9.98313790e-01 -3.76040362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.000714057 meters 0.01707821637956107 Centerline is valid? [True, True] Translation: X:584.79, Y:-77.63, Z:-37.60 [[ 9.79092761e-01 1.95116181e-01 5.75068864e-02 5.84794423e+02] [-1.94751612e-01 9.80780018e-01 -1.19317496e-02 -7.76307236e+01] [-5.87296825e-02 4.82730821e-04 9.98273806e-01 -3.76049885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.030714057 meters 0.01683750985972367 Centerline is valid? [True, True] Translation: X:584.83, Y:-77.64, Z:-37.61 [[ 9.78893227e-01 1.95934575e-01 5.81179238e-02 5.84826362e+02] [-1.95562845e-01 9.80616866e-01 -1.20720842e-02 -7.76370665e+01] [-5.93567550e-02 4.51574925e-04 9.98236731e-01 -3.76061470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.0607140569999 meters 0.016833276836118075 Centerline is valid? [True, True] Translation: X:584.86, Y:-77.64, Z:-37.61 [[ 9.78661062e-01 1.97007187e-01 5.84011520e-02 5.84857267e+02] [-1.96632747e-01 9.80401961e-01 -1.21473396e-02 -7.76434881e+01] [-5.96497171e-02 4.04549292e-04 9.98219288e-01 -3.76073091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.0907140569999 meters 0.01664547089531216 Centerline is valid? [True, True] Translation: X:584.89, Y:-77.65, Z:-37.61 [[ 9.77967444e-01 1.99926340e-01 6.00760997e-02 5.84889385e+02] [-1.99534604e-01 9.79810898e-01 -1.25118064e-02 -7.76486216e+01] [-6.13646569e-02 2.48878564e-04 9.98115383e-01 -3.76081178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.120714057 meters 0.01654740323445426 Centerline is valid? [True, True] Translation: X:584.92, Y:-77.65, Z:-37.61 [[ 9.77524962e-01 2.02036426e-01 6.02181961e-02 5.84922062e+02] [-2.01645895e-01 9.79377999e-01 -1.25565875e-02 -7.76548020e+01] [-6.15132645e-02 1.31625654e-04 9.98106257e-01 -3.76095388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.150714057 meters 0.01653637818602591 Centerline is valid? [True, True] Translation: X:584.95, Y:-77.66, Z:-37.61 [[ 9.76930436e-01 2.04846763e-01 6.03715772e-02 5.84954388e+02] [-2.04458521e-01 9.78794055e-01 -1.26059649e-02 -7.76608640e+01] [-6.16736319e-02 -2.83325861e-05 9.98096369e-01 -3.76116704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.1807140569999 meters 0.016547999730211933 Centerline is valid? [True, True] Translation: X:584.98, Y:-77.67, Z:-37.61 [[ 9.75822331e-01 2.10297941e-01 5.95445514e-02 5.84984776e+02] [-2.09929356e-01 9.77637281e-01 -1.24504046e-02 -7.76666181e+01] [-6.08312678e-02 -3.50766532e-04 9.98148002e-01 -3.76136734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.2107140569999 meters 0.017154865787169578 Centerline is valid? [True, True] Translation: X:585.02, Y:-77.67, Z:-37.62 [[ 9.75251855e-01 2.12984889e-01 5.93401813e-02 5.85015670e+02] [-2.12622947e-01 9.77055364e-01 -1.24216834e-02 -7.76719907e+01] [-6.06242733e-02 -5.02814460e-04 9.98160531e-01 -3.76162202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.240714057 meters 0.01778453910489009 Centerline is valid? [True, True] Translation: X:585.05, Y:-77.68, Z:-37.62 [[ 9.74075214e-01 2.18662591e-01 5.80012780e-02 5.85046217e+02] [-2.18326072e-01 9.75800181e-01 -1.21545642e-02 -7.76796597e+01] [-5.92554060e-02 -8.23731448e-04 9.98242515e-01 -3.76202950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.270714057 meters 0.018177419154230805 Centerline is valid? [True, True] Translation: X:585.08, Y:-77.69, Z:-37.62 [[ 9.73514286e-01 2.21205194e-01 5.77771332e-02 5.85076730e+02] [-2.20874950e-01 9.75226813e-01 -1.21210084e-02 -7.76867143e+01] [-5.90270395e-02 -9.61546618e-04 9.98255921e-01 -3.76224008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.3007140569999 meters 0.019101385383586432 Centerline is valid? [True, True] Translation: X:585.11, Y:-77.70, Z:-37.63 [[ 9.72825470e-01 2.24656645e-01 5.60356664e-02 5.85107542e+02] [-2.24351015e-01 9.74437340e-01 -1.17682580e-02 -7.76954591e+01] [-5.72470631e-02 -1.12319748e-03 9.98359410e-01 -3.76260919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.3307140569999 meters 0.019597336640201427 Centerline is valid? [True, True] Translation: X:585.14, Y:-77.70, Z:-37.63 [[ 9.72492228e-01 2.26119692e-01 5.59352498e-02 5.85137190e+02] [-2.25816779e-01 9.74098794e-01 -1.17610481e-02 -7.77031025e+01] [-5.71458639e-02 -1.19359011e-03 9.98365126e-01 -3.76287607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.360714057 meters 0.01918768399800099 Centerline is valid? [True, True] Translation: X:585.17, Y:-77.72, Z:-37.63 [[ 9.72226104e-01 2.27777419e-01 5.37945150e-02 5.85166566e+02] [-2.27499448e-01 9.73712443e-01 -1.13172333e-02 -7.77163902e+01] [-5.49581988e-02 -1.23531282e-03 9.98487892e-01 -3.76320445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.390714057 meters 0.02011092839535815 Centerline is valid? [True, True] Translation: X:585.20, Y:-77.73, Z:-37.63 [[ 9.72171254e-01 2.28120928e-01 5.33281781e-02 5.85196503e+02] [-2.27847884e-01 9.73632021e-01 -1.12262806e-02 -7.77276721e+01] [-5.44829714e-02 -1.23684527e-03 9.98513934e-01 -3.76336032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.4207140569999 meters 0.019927384076670898 Centerline is valid? [True, True] Translation: X:585.23, Y:-77.74, Z:-37.63 [[ 9.71987443e-01 2.28684130e-01 5.42584517e-02 5.85227448e+02] [-2.28401799e-01 9.73499834e-01 -1.14319964e-02 -7.77393711e+01] [-5.54349099e-02 -1.28097105e-03 9.98461481e-01 -3.76348338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.4507140569999 meters 0.019524489486524556 Centerline is valid? [True, True] Translation: X:585.26, Y:-77.75, Z:-37.63 [[ 9.71988731e-01 2.28328500e-01 5.57135760e-02 5.85257703e+02] [-2.28029282e-01 9.73583310e-01 -1.17552009e-02 -7.77535986e+01] [-5.69258551e-02 -1.27840395e-03 9.98377590e-01 -3.76344996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.4807140569999 meters 0.019564964488690783 Centerline is valid? [True, True] Translation: X:585.29, Y:-77.76, Z:-37.64 [[ 9.71900346e-01 2.28583016e-01 5.62096277e-02 5.85289338e+02] [-2.28278029e-01 9.73523569e-01 -1.18744383e-02 -7.77641147e+01] [-5.74356922e-02 -1.29065232e-03 9.98348374e-01 -3.76352482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.510714057 meters 0.019627749527764606 Centerline is valid? [True, True] Translation: X:585.32, Y:-77.78, Z:-37.64 [[ 9.71667579e-01 2.29099682e-01 5.80986309e-02 5.85319609e+02] [-2.28773712e-01 9.73402033e-01 -1.22911241e-02 -7.77787421e+01] [-5.93692181e-02 -1.34855261e-03 9.98235181e-01 -3.76362144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.540714057 meters 0.02012989291790965 Centerline is valid? [True, True] Translation: X:585.35, Y:-77.79, Z:-37.64 [[ 9.71078698e-01 2.31354990e-01 5.90002648e-02 5.85349438e+02] [-2.31021910e-01 9.72868255e-01 -1.24994303e-02 -7.77928345e+01] [-6.02912902e-02 -1.49242337e-03 9.98179710e-01 -3.76377252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.5707140569999 meters 0.019791879502430477 Centerline is valid? [True, True] Translation: X:585.38, Y:-77.80, Z:-37.64 [[ 9.70686000e-01 2.32909520e-01 5.93451376e-02 5.85379363e+02] [-2.32574494e-01 9.72497120e-01 -1.25879331e-02 -7.78040548e+01] [-6.06448249e-02 -1.58323487e-03 9.98158153e-01 -3.76390981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.6007140569999 meters 0.02101286029864672 Centerline is valid? [True, True] Translation: X:585.41, Y:-77.82, Z:-37.64 [[ 9.69795106e-01 2.36450282e-01 5.99058997e-02 5.85408781e+02] [-2.36114706e-01 9.71641909e-01 -1.27218973e-02 -7.78164066e+01] [-6.12151789e-02 -1.80703020e-03 9.98122957e-01 -3.76408551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.630714057 meters 0.022408994056863765 Centerline is valid? [True, True] Translation: X:585.44, Y:-77.83, Z:-37.64 [[ 9.68895229e-01 2.40129396e-01 5.98323421e-02 5.85438211e+02] [-2.39800737e-01 9.70738782e-01 -1.27210069e-02 -7.78305373e+01] [-6.11362626e-02 -2.02251682e-03 9.98127380e-01 -3.76435364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.660714057 meters 0.023408018541620806 Centerline is valid? [True, True] Translation: X:585.47, Y:-77.84, Z:-37.65 [[ 9.68360722e-01 2.42324748e-01 5.96341205e-02 5.85468024e+02] [-2.42001532e-01 9.70192835e-01 -1.26933319e-02 -7.78406820e+01] [-6.09325049e-02 -2.13982442e-03 9.98139595e-01 -3.76459182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.6907140569999 meters 0.023511464648660087 Centerline is valid? [True, True] Translation: X:585.50, Y:-77.86, Z:-37.65 [[ 9.67628988e-01 2.45578794e-01 5.81824540e-02 5.85496536e+02] [-2.45276177e-01 9.69373965e-01 -1.23980750e-02 -7.78582108e+01] [-5.94452605e-02 -2.27403306e-03 9.98228977e-01 -3.76493954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.7207140569999 meters 0.02546446096338784 Centerline is valid? [True, True] Translation: X:585.53, Y:-77.87, Z:-37.65 [[ 9.67324900e-01 2.46989627e-01 5.72596038e-02 5.85525893e+02] [-2.46698190e-01 9.69015371e-01 -1.22152917e-02 -7.78673163e+01] [-5.85024866e-02 -2.30968477e-03 9.98284591e-01 -3.76521725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.750714057 meters 0.026103190375921903 Centerline is valid? [True, True] Translation: X:585.56, Y:-77.89, Z:-37.66 [[ 9.67047997e-01 2.48380510e-01 5.59043223e-02 5.85555107e+02] [-2.48104621e-01 9.68659741e-01 -1.19333044e-02 -7.78852228e+01] [-5.71162666e-02 -2.33004259e-03 9.98364815e-01 -3.76558213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.780714057 meters 0.03352491271945379 Centerline is valid? [True, True] Translation: X:585.59, Y:-77.89, Z:-37.66 [[ 9.66865379e-01 2.49120370e-01 5.57707772e-02 5.85586390e+02] [-2.48846205e-01 9.68469669e-01 -1.19191779e-02 -7.78864303e+01] [-5.69816161e-02 -2.35410575e-03 9.98372452e-01 -3.76585604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.8107140569999 meters 0.026887864823627167 Centerline is valid? [True, True] Translation: X:585.61, Y:-77.92, Z:-37.66 [[ 9.66694877e-01 2.49687390e-01 5.61891676e-02 5.85612368e+02] [-2.49409275e-01 9.68323543e-01 -1.20220554e-02 -7.79174531e+01] [-5.74110495e-02 -2.39244024e-03 9.98347759e-01 -3.76600464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.8407140569999 meters 0.03490977336232788 Centerline is valid? [True, True] Translation: X:585.64, Y:-77.92, Z:-37.66 [[ 9.66570632e-01 2.50236619e-01 5.58824429e-02 5.85644073e+02] [-2.49961623e-01 9.68181742e-01 -1.19708719e-02 -7.79178149e+01] [-5.70999114e-02 -2.39777294e-03 9.98365590e-01 -3.76615597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.870714057 meters 0.02822907541755635 Centerline is valid? [True, True] Translation: X:585.67, Y:-77.95, Z:-37.66 [[ 9.66201508e-01 2.51576138e-01 5.62502713e-02 5.85669750e+02] [-2.51298992e-01 9.67834333e-01 -1.20632002e-02 -7.79497770e+01] [-5.74757571e-02 -2.48015424e-03 9.98343822e-01 -3.76634722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.900714057 meters 0.028580186789614572 Centerline is valid? [True, True] Translation: X:585.70, Y:-77.97, Z:-37.66 [[ 9.65794001e-01 2.53032793e-01 5.67129085e-02 5.85697812e+02] [-2.52752713e-01 9.67454279e-01 -1.21772011e-02 -7.79692873e+01] [-5.79483772e-02 -2.57367378e-03 9.98316263e-01 -3.76648200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.9307140569999 meters 0.029035989694316457 Centerline is valid? [True, True] Translation: X:585.73, Y:-77.98, Z:-37.67 [[ 9.65696208e-01 2.53341508e-01 5.69992465e-02 5.85727831e+02] [-2.53058316e-01 9.67373435e-01 -1.22526017e-02 -7.79810941e+01] [-5.82436495e-02 -2.59184230e-03 9.98299033e-01 -3.76658448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.9607140569999 meters 0.029600959154478475 Centerline is valid? [True, True] Translation: X:585.76, Y:-78.00, Z:-37.67 [[ 9.65645542e-01 2.53228206e-01 5.83452107e-02 5.85756223e+02] [-2.52930600e-01 9.67402982e-01 -1.25531379e-02 -7.79992880e+01] [-5.96221394e-02 -2.63540756e-03 9.98217539e-01 -3.76661328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.990714057 meters 0.028376752348169366 Centerline is valid? [True, True] Translation: X:585.79, Y:-78.02, Z:-37.67 [[ 9.65632238e-01 2.53355340e-01 5.80125273e-02 5.85786889e+02] [-2.53060526e-01 9.67369751e-01 -1.24954133e-02 -7.80152335e+01] [-5.92853437e-02 -2.61470677e-03 9.98237653e-01 -3.76682779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.020714057 meters 0.02846674593273262 Centerline is valid? [True, True] Translation: X:585.82, Y:-78.03, Z:-37.67 [[ 9.65911422e-01 2.52630355e-01 5.65068838e-02 5.85815326e+02] [-2.52348458e-01 9.67559671e-01 -1.21876230e-02 -7.80332233e+01] [-5.77527454e-02 -2.48726075e-03 9.98327819e-01 -3.76706025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.0507140569999 meters 0.028332897149528354 Centerline is valid? [True, True] Translation: X:585.85, Y:-78.05, Z:-37.67 [[ 9.66005605e-01 2.52406459e-01 5.58941010e-02 5.85845024e+02] [-2.52129450e-01 9.67618241e-01 -1.20698293e-02 -7.80455532e+01] [-5.71306546e-02 -2.43302614e-03 9.98363746e-01 -3.76731852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.0807140569999 meters 0.028958905335670172 Centerline is valid? [True, True] Translation: X:585.87, Y:-78.06, Z:-37.67 [[ 9.66326242e-01 2.51311925e-01 5.52802922e-02 5.85873093e+02] [-2.51038376e-01 9.67903350e-01 -1.19515114e-02 -7.80623161e+01] [-5.65095374e-02 -2.32841567e-03 9.98399344e-01 -3.76749058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.110714057 meters 0.027521067991748267 Centerline is valid? [True, True] Translation: X:585.90, Y:-78.08, Z:-37.68 [[ 9.66405190e-01 2.50958348e-01 5.55059983e-02 5.85902349e+02] [-2.50681521e-01 9.67995131e-01 -1.20083634e-02 -7.80774706e+01] [-5.67431352e-02 -2.30938337e-03 9.98386139e-01 -3.76765224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.140714057 meters 0.027099802059491328 Centerline is valid? [True, True] Translation: X:585.93, Y:-78.10, Z:-37.68 [[ 9.66636660e-01 2.50190486e-01 5.49389518e-02 5.85931392e+02] [-2.49917255e-01 9.68194071e-01 -1.18998410e-02 -7.80950395e+01] [-5.61687944e-02 -2.22736951e-03 9.98418803e-01 -3.76777817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.1707140569999 meters 0.027099802059491328 Centerline is valid? [True, True] Translation: X:585.96, Y:-78.10, Z:-37.68 [[ 9.66565805e-01 2.50464726e-01 5.49360114e-02 5.85963055e+02] [-2.50191168e-01 9.68123159e-01 -1.19133996e-02 -7.81019742e+01] [-5.61687113e-02 -2.22942020e-03 9.98418803e-01 -3.76796638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.2007140569999 meters 0.026858567563760823 Centerline is valid? [True, True] Translation: X:585.99, Y:-78.11, Z:-37.68 [[ 9.66571889e-01 2.50581248e-01 5.42938415e-02 5.85993558e+02] [-2.50313349e-01 9.68093085e-01 -1.17900532e-02 -7.81143505e+01] [-5.55158588e-02 -2.19453929e-03 9.98455394e-01 -3.76815589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.2307140569999 meters 0.027083893408012167 Centerline is valid? [True, True] Translation: X:586.02, Y:-78.13, Z:-37.68 [[ 9.66539028e-01 2.51011217e-01 5.28741533e-02 5.86023440e+02] [-2.50756965e-01 9.67981799e-01 -1.14970454e-02 -7.81310261e+01] [-5.40671054e-02 -2.14621916e-03 9.98534998e-01 -3.76833063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.260714057 meters 0.027265014583799447 Centerline is valid? [True, True] Translation: X:586.05, Y:-78.15, Z:-37.69 [[ 9.66391761e-01 2.51825958e-01 5.16783454e-02 5.86052852e+02] [-2.51583446e-01 9.67770200e-01 -1.12520874e-02 -7.81464123e+01] [-5.28463304e-02 -2.12749164e-03 9.98600390e-01 -3.76853027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.290714057 meters 0.029168592909876244 Centerline is valid? [True, True] Translation: X:586.08, Y:-78.15, Z:-37.69 [[ 9.66177541e-01 2.52723223e-01 5.13023643e-02 5.86083143e+02] [-2.52484794e-01 9.67536232e-01 -1.11834500e-02 -7.81541726e+01] [-5.24632137e-02 -2.14786864e-03 9.98620548e-01 -3.76875269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.3207140569999 meters 0.030610267018908028 Centerline is valid? [True, True] Translation: X:586.11, Y:-78.16, Z:-37.69 [[ 9.65895183e-01 2.53789678e-01 5.13546068e-02 5.86113503e+02] [-2.53551621e-01 9.67256934e-01 -1.12071061e-02 -7.81627308e+01] [-5.25173474e-02 -2.19615401e-03 9.98617597e-01 -3.76892521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.3507140569999 meters 0.02777262868714745 Centerline is valid? [True, True] Translation: X:586.14, Y:-78.18, Z:-37.69 [[ 9.65373548e-01 2.55791657e-01 5.12302754e-02 5.86141580e+02] [-2.55556953e-01 9.66729224e-01 -1.11915737e-02 -7.81825807e+01] [-5.23885155e-02 -2.28820392e-03 9.98624157e-01 -3.76896102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.380714057 meters 0.028456030221675224 Centerline is valid? [True, True] Translation: X:586.17, Y:-78.20, Z:-37.69 [[ 9.64840823e-01 2.57930049e-01 5.05398485e-02 5.86171522e+02] [-2.57703878e-01 9.66160713e-01 -1.10538187e-02 -7.81968429e+01] [-5.16807281e-02 -2.35913941e-03 9.98660872e-01 -3.76908812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.410714057 meters 0.02905779648857665 Centerline is valid? [True, True] Translation: X:586.20, Y:-78.21, Z:-37.69 [[ 9.64477472e-01 2.59398190e-01 4.99578328e-02 5.86201922e+02] [-2.59179036e-01 9.65767459e-01 -1.09290039e-02 -7.82068832e+01] [-5.10826131e-02 -2.40724487e-03 9.98691530e-01 -3.76924210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.4407140569999 meters 0.02992088085746035 Centerline is valid? [True, True] Translation: X:586.23, Y:-78.22, Z:-37.69 [[ 9.64000303e-01 2.61441444e-01 4.84952251e-02 5.86231853e+02] [-2.61236832e-01 9.65216284e-01 -1.06227686e-02 -7.82195981e+01] [-4.95856129e-02 -2.42838679e-03 9.98766925e-01 -3.76944908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.4707140569999 meters 0.03008876649799137 Centerline is valid? [True, True] Translation: X:586.26, Y:-78.23, Z:-37.70 [[ 9.63627169e-01 2.62826548e-01 4.84240180e-02 5.86261961e+02] [-2.62624168e-01 9.64839876e-01 -1.06094124e-02 -7.82294618e+01] [-4.95098588e-02 -2.49379945e-03 9.98770522e-01 -3.76965990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.500714057 meters 0.031115954196902832 Centerline is valid? [True, True] Translation: X:586.29, Y:-78.24, Z:-37.70 [[ 9.62942277e-01 2.65475947e-01 4.75887876e-02 5.86290932e+02] [-2.65283064e-01 9.64114053e-01 -1.04397262e-02 -7.82414023e+01] [-4.86525151e-02 -2.57164564e-03 9.98812455e-01 -3.76983269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.530714057 meters 0.03218865448387635 Centerline is valid? [True, True] Translation: X:586.32, Y:-78.25, Z:-37.70 [[ 9.62268234e-01 2.67942046e-01 4.74015330e-02 5.86319686e+02] [-2.67753614e-01 9.63431291e-01 -1.03995278e-02 -7.82536206e+01] [-4.84545909e-02 -2.68479649e-03 9.98821778e-01 -3.76999541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.5607140569999 meters 0.03167536204417306 Centerline is valid? [True, True] Translation: X:586.35, Y:-78.26, Z:-37.70 [[ 9.62102012e-01 2.68605902e-01 4.70168965e-02 5.86350054e+02] [-2.68421376e-01 9.63246382e-01 -1.03136857e-02 -7.82649052e+01] [-4.80591723e-02 -2.69752230e-03 9.98840848e-01 -3.77015457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.5907140569999 meters 0.032469831501160624 Centerline is valid? [True, True] Translation: X:586.38, Y:-78.28, Z:-37.70 [[ 9.62222017e-01 2.68310075e-01 4.62438578e-02 5.86379366e+02] [-2.68130652e-01 9.63329022e-01 -1.01562744e-02 -7.82779604e+01] [-4.72730811e-02 -2.62680490e-03 9.98878549e-01 -3.77034938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.620714057 meters 0.030883734246524946 Centerline is valid? [True, True] Translation: X:586.41, Y:-78.29, Z:-37.71 [[ 9.62392119e-01 2.67756261e-01 4.59128967e-02 5.86409277e+02] [-2.67578262e-01 9.63483252e-01 -1.00943847e-02 -7.82913147e+01] [-4.69391417e-02 -2.57053678e-03 9.98894444e-01 -3.77051667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.650714057 meters 0.030890720134079494 Centerline is valid? [True, True] Translation: X:586.44, Y:-78.31, Z:-37.71 [[ 9.63414919e-01 2.64229916e-01 4.48803531e-02 5.86436993e+02] [-2.64055355e-01 9.64456904e-01 -9.88178714e-03 -7.83061029e+01] [-4.58962301e-02 -2.33063641e-03 9.98943494e-01 -3.77072661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.6807140569999 meters 0.030325188220277213 Centerline is valid? [True, True] Translation: X:586.47, Y:-78.32, Z:-37.71 [[ 9.64111633e-01 2.61673712e-01 4.48957416e-02 5.86466287e+02] [-2.61496227e-01 9.65153868e-01 -9.88602556e-03 -7.83179291e+01] [-4.59182117e-02 -2.20883481e-03 9.98942761e-01 -3.77089936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.7107140569999 meters 0.028244350127668665 Centerline is valid? [True, True] Translation: X:586.49, Y:-78.34, Z:-37.71 [[ 9.65762048e-01 2.55566797e-01 4.46013391e-02 5.86493703e+02] [-2.55385045e-01 9.66789526e-01 -9.82297652e-03 -7.83367392e+01] [-4.56305341e-02 -1.90385708e-03 9.98956570e-01 -3.77101543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.740714057 meters 0.027556205461108173 Centerline is valid? [True, True] Translation: X:586.52, Y:-78.35, Z:-37.71 [[ 9.66812913e-01 2.51592881e-01 4.44276097e-02 5.86522062e+02] [-2.51408291e-01 9.67831651e-01 -9.78604852e-03 -7.83487227e+01] [-4.54605470e-02 -1.70819136e-03 9.98964674e-01 -3.77112099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.770714057 meters 0.025511895590580314 Centerline is valid? [True, True] Translation: X:586.55, Y:-78.37, Z:-37.71 [[ 9.68888438e-01 2.43447096e-01 4.45949005e-02 5.86550147e+02] [-2.43252468e-01 9.69913265e-01 -9.82318219e-03 -7.83678683e+01] [-4.56446107e-02 -1.33025197e-03 9.98956856e-01 -3.77123091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.8007140569999 meters 0.024448820294986167 Centerline is valid? [True, True] Translation: X:586.58, Y:-78.38, Z:-37.71 [[ 9.70632058e-01 2.36294612e-01 4.51471394e-02 5.86578733e+02] [-2.36087290e-01 9.71680940e-01 -9.94699154e-03 -7.83847581e+01] [-4.62190353e-02 -1.00379692e-03 9.98930825e-01 -3.77136836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.8307140569999 meters 0.02404099285130225 Centerline is valid? [True, True] Translation: X:586.61, Y:-78.40, Z:-37.72 [[ 9.71313706e-01 2.33388239e-01 4.56027876e-02 5.86609535e+02] [-2.33173488e-01 9.72383241e-01 -1.00477931e-02 -7.83960769e+01] [-4.66884231e-02 -8.73801896e-04 9.98909119e-01 -3.77151162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.860714057 meters 0.023848678471296837 Centerline is valid? [True, True] Translation: X:586.64, Y:-78.41, Z:-37.72 [[ 9.72121338e-01 2.29703537e-01 4.70785349e-02 5.86638996e+02] [-2.29470056e-01 9.73260384e-01 -1.03787233e-02 -7.84090263e+01] [-4.82037025e-02 -7.13735692e-04 9.98837271e-01 -3.77164728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.890714057 meters 0.023874775296101915 Centerline is valid? [True, True] Translation: X:586.67, Y:-78.42, Z:-37.72 [[ 9.72247004e-01 2.28939682e-01 4.81911355e-02 5.86670126e+02] [-2.28693469e-01 9.73440373e-01 -1.06365809e-02 -7.84182855e+01] [-4.93463324e-02 -6.79614036e-04 9.98781496e-01 -3.77175386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.9207140569999 meters 0.02386420069744754 Centerline is valid? [True, True] Translation: X:586.70, Y:-78.43, Z:-37.72 [[ 9.72111069e-01 2.29120417e-01 5.00390185e-02 5.86701526e+02] [-2.28854455e-01 9.73397834e-01 -1.10587391e-02 -7.84275657e+01] [-5.12416551e-02 -7.01329593e-04 9.98686037e-01 -3.77183322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.9507140569999 meters 0.02392098872769278 Centerline is valid? [True, True] Translation: X:586.73, Y:-78.43, Z:-37.72 [[ 9.71797266e-01 2.30405479e-01 5.02333439e-02 5.86732505e+02] [-2.30138975e-01 9.73094407e-01 -1.11052983e-02 -7.84341574e+01] [-5.14405075e-02 -7.68551785e-04 9.98675765e-01 -3.77202287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.9807140569999 meters 0.024459542587862627 Centerline is valid? [True, True] Translation: X:586.76, Y:-78.44, Z:-37.72 [[ 9.70583028e-01 2.35439001e-01 5.03692667e-02 5.86763833e+02] [-2.35177134e-01 9.71888587e-01 -1.11485285e-02 -7.84383583e+01] [-5.15781139e-02 -1.02512729e-03 9.98668437e-01 -3.77236351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.010714057 meters 0.02621780291958699 Centerline is valid? [True, True] Translation: X:586.79, Y:-78.44, Z:-37.73 [[ 9.69206575e-01 2.41302330e-01 4.91100796e-02 5.86793840e+02] [-2.41060242e-01 9.70449133e-01 -1.08830148e-02 -7.84395165e+01] [-5.02849310e-02 -1.29059816e-03 9.98734079e-01 -3.77281800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.040714057 meters 0.02671988362981467 Centerline is valid? [True, True] Translation: X:586.82, Y:-78.45, Z:-37.73 [[ 9.68328499e-01 2.45108894e-01 4.75557425e-02 5.86824474e+02] [-2.44886576e-01 9.69494481e-01 -1.05364699e-02 -7.84460495e+01] [-4.86876124e-02 -1.44299883e-03 9.98813013e-01 -3.77311214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.0707140569999 meters 0.02758648968935146 Centerline is valid? [True, True] Translation: X:586.86, Y:-78.45, Z:-37.74 [[ 9.66706428e-01 2.51839664e-01 4.53372521e-02 5.86855247e+02] [-2.51644414e-01 9.67767503e-01 -1.00572921e-02 -7.84497499e+01] [-4.64087443e-02 -1.68641731e-03 9.98921110e-01 -3.77351528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.1007140569999 meters 0.02838868504549459 Centerline is valid? [True, True] Translation: X:586.89, Y:-78.45, Z:-37.74 [[ 9.65878549e-01 2.55095642e-01 4.47754546e-02 5.86885827e+02] [-2.54908728e-01 9.66914111e-01 -9.93185353e-03 -7.84543704e+01] [-4.58275915e-02 -1.82068993e-03 9.98947705e-01 -3.77377267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.130714057 meters 0.032438126401249406 Centerline is valid? [True, True] Translation: X:586.92, Y:-78.45, Z:-37.74 [[ 9.64308753e-01 2.60986006e-01 4.46646853e-02 5.86916271e+02] [-2.60805835e-01 9.65340332e-01 -9.91765856e-03 -7.84549901e+01] [-4.57049923e-02 -2.08512558e-03 9.98952805e-01 -3.77405498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.160714057 meters 0.030937314321861108 Centerline is valid? [True, True] Translation: X:586.95, Y:-78.47, Z:-37.74 [[ 9.63726961e-01 2.62929531e-01 4.58083568e-02 5.86946618e+02] [-2.62742077e-01 9.64812462e-01 -1.01742262e-02 -7.84650142e+01] [-4.68715780e-02 -2.23060675e-03 9.98898433e-01 -3.77409455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.1907140569999 meters 0.03392817512435458 Centerline is valid? [True, True] Translation: X:586.98, Y:-78.47, Z:-37.74 [[ 9.63115096e-01 2.64889955e-01 4.73563572e-02 5.86977991e+02] [-2.64691709e-01 9.64275663e-01 -1.05235336e-02 -7.84687537e+01] [-4.84521610e-02 -2.39946105e-03 9.98822622e-01 -3.77424907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.2207140569999 meters 0.031602912764295533 Centerline is valid? [True, True] Translation: X:587.01, Y:-78.48, Z:-37.74 [[ 9.63085134e-01 2.64790140e-01 4.85098647e-02 5.87008656e+02] [-2.64581337e-01 9.64302975e-01 -1.07930114e-02 -7.84811710e+01] [-4.96360898e-02 -2.44021606e-03 9.98764389e-01 -3.77431207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.250714057 meters 0.030486996754539947 Centerline is valid? [True, True] Translation: X:587.04, Y:-78.49, Z:-37.74 [[ 9.63314829e-01 2.63714118e-01 4.97936100e-02 5.87038783e+02] [-2.63492496e-01 9.64597786e-01 -1.10822432e-02 -7.84935280e+01] [-5.09533500e-02 -2.44455339e-03 9.98698043e-01 -3.77431241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.280714057 meters 0.03314521171258394 Centerline is valid? [True, True] Translation: X:587.07, Y:-78.50, Z:-37.75 [[ 9.63833755e-01 2.61548532e-01 5.11552321e-02 5.87069175e+02] [-2.61310790e-01 9.65187393e-01 -1.14003063e-02 -7.84986488e+01] [-5.23561185e-02 -2.37941409e-03 9.98625643e-01 -3.77451340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.3107140569999 meters 0.030546577613663625 Centerline is valid? [True, True] Translation: X:587.10, Y:-78.51, Z:-37.75 [[ 9.63912047e-01 2.61371910e-01 5.05795478e-02 5.87098974e+02] [-2.61139220e-01 9.65235327e-01 -1.12725693e-02 -7.85120296e+01] [-5.17674994e-02 -2.34253835e-03 9.98656417e-01 -3.77468390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.3407140569999 meters 0.029944369714076963 Centerline is valid? [True, True] Translation: X:587.13, Y:-78.52, Z:-37.75 [[ 9.64038953e-01 2.61135711e-01 4.93663678e-02 5.87129048e+02] [-2.60913113e-01 9.65299448e-01 -1.10146566e-02 -7.85222688e+01] [-5.05296478e-02 -2.26177474e-03 9.98720000e-01 -3.77493245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.370714057 meters 0.031602068378917374 Centerline is valid? [True, True] Translation: X:587.16, Y:-78.53, Z:-37.75 [[ 9.63979413e-01 2.61485545e-01 4.86723944e-02 5.87159830e+02] [-2.61268991e-01 9.65204802e-01 -1.08721849e-02 -7.85291314e+01] [-4.98217480e-02 -2.23602501e-03 9.98755623e-01 -3.77527666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.400714057 meters 0.03393443911087903 Centerline is valid? [True, True] Translation: X:587.19, Y:-78.53, Z:-37.76 [[ 9.63870470e-01 2.61897558e-01 4.86146804e-02 5.87191730e+02] [-2.61681363e-01 9.65093076e-01 -1.08728766e-02 -7.85338488e+01] [-4.97652713e-02 -2.24151120e-03 9.98758426e-01 -3.77556063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.4307140569999 meters 0.030313238776427873 Centerline is valid? [True, True] Translation: X:587.22, Y:-78.55, Z:-37.76 [[ 9.64136891e-01 2.60911732e-01 4.86325324e-02 5.87221405e+02] [-2.60693408e-01 9.65360206e-01 -1.08912945e-02 -7.85502053e+01] [-4.97895780e-02 -2.17748182e-03 9.98757356e-01 -3.77568497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.4607140569999 meters 0.03052555146148359 Centerline is valid? [True, True] Translation: X:587.25, Y:-78.56, Z:-37.76 [[ 9.64154608e-01 2.60865965e-01 4.85267050e-02 5.87251820e+02] [-2.60648375e-01 9.65372597e-01 -1.08707583e-02 -7.85589549e+01] [-4.96821621e-02 -2.16731508e-03 9.98762727e-01 -3.77584644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.490714057 meters 0.030555391801259817 Centerline is valid? [True, True] Translation: X:587.28, Y:-78.57, Z:-37.76 [[ 9.64404051e-01 2.59814919e-01 4.92040069e-02 5.87282312e+02] [-2.59589197e-01 9.65656083e-01 -1.10353485e-02 -7.85702168e+01] [-5.03812967e-02 -2.13029383e-03 9.98727784e-01 -3.77597358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.520714057 meters 0.030427233245971665 Centerline is valid? [True, True] Translation: X:587.31, Y:-78.58, Z:-37.76 [[ 9.64381298e-01 2.59850365e-01 4.94621145e-02 5.87313158e+02] [-2.59621670e-01 9.65646543e-01 -1.11059608e-02 -7.85801977e+01] [-5.06488079e-02 -2.13105584e-03 9.98714252e-01 -3.77615130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.5507140569999 meters 0.02972301250058108 Centerline is valid? [True, True] Translation: X:587.34, Y:-78.59, Z:-37.76 [[ 9.64399531e-01 2.59768506e-01 4.95365273e-02 5.87343803e+02] [-2.59538369e-01 9.65668597e-01 -1.11353767e-02 -7.85896971e+01] [-5.07284890e-02 -2.11767739e-03 9.98710236e-01 -3.77635291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.5807140569999 meters 0.029891406792218897 Centerline is valid? [True, True] Translation: X:587.38, Y:-78.60, Z:-37.77 [[ 9.64375407e-01 2.59855682e-01 4.95489510e-02 5.87375934e+02] [-2.59624898e-01 9.65645158e-01 -1.11508825e-02 -7.85977255e+01] [-5.07443248e-02 -2.11050445e-03 9.98709447e-01 -3.77661121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.610714057 meters 0.030124885971945 Centerline is valid? [True, True] Translation: X:587.41, Y:-78.61, Z:-37.77 [[ 9.64342390e-01 2.59986701e-01 4.95042456e-02 5.87406335e+02] [-2.59755755e-01 9.65609911e-01 -1.11556066e-02 -7.86068363e+01] [-5.07020995e-02 -2.10118834e-03 9.98711611e-01 -3.77683224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.640714057 meters 0.029783628625746517 Centerline is valid? [True, True] Translation: X:587.44, Y:-78.62, Z:-37.77 [[ 9.64556952e-01 2.59125124e-01 4.98402993e-02 5.87437189e+02] [-2.58889168e-01 9.65841572e-01 -1.12453329e-02 -7.86175465e+01] [-5.10517813e-02 -2.05634959e-03 9.98693891e-01 -3.77693955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.6707140569999 meters 0.029714028849327542 Centerline is valid? [True, True] Translation: X:587.47, Y:-78.63, Z:-37.77 [[ 9.64557948e-01 2.59156195e-01 4.96591439e-02 5.87468478e+02] [-2.58921357e-01 9.65833273e-01 -1.12169462e-02 -7.86265560e+01] [-5.08693946e-02 -2.03841834e-03 9.98703234e-01 -3.77710855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.7007140569999 meters 0.029217095108889396 Centerline is valid? [True, True] Translation: X:587.50, Y:-78.64, Z:-37.77 [[ 9.65079542e-01 2.57108227e-01 5.01680965e-02 5.87498424e+02] [-2.56864957e-01 9.66380679e-01 -1.13480130e-02 -7.86363513e+01] [-5.13991466e-02 -1.93469080e-03 9.98676316e-01 -3.77735255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.7307140569999 meters 0.029727324912869252 Centerline is valid? [True, True] Translation: X:587.53, Y:-78.64, Z:-37.78 [[ 9.65354201e-01 2.56022299e-01 5.04365895e-02 5.87529204e+02] [-2.55774701e-01 9.66669043e-01 -1.14133302e-02 -7.86427687e+01] [-5.16775568e-02 -1.88249738e-03 9.98662048e-01 -3.77761411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.760714057 meters 0.0276633660353236 Centerline is valid? [True, True] Translation: X:587.56, Y:-78.66, Z:-37.78 [[ 9.66272816e-01 2.52469993e-01 5.07518185e-02 5.87558499e+02] [-2.52213644e-01 9.67603250e-01 -1.14990471e-02 -7.86568327e+01] [-5.20107889e-02 -1.68908450e-03 9.98645095e-01 -3.77781838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.790714057 meters 0.027339737021049873 Centerline is valid? [True, True] Translation: X:587.59, Y:-78.67, Z:-37.78 [[ 9.67748422e-01 2.46834317e-01 5.03568367e-02 5.87587914e+02] [-2.46574162e-01 9.69056725e-01 -1.14125245e-02 -7.86667438e+01] [-5.16156340e-02 -1.37224223e-03 9.98666082e-01 -3.77798424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.8207140569999 meters 0.026035914107414432 Centerline is valid? [True, True] Translation: X:587.62, Y:-78.68, Z:-37.78 [[ 9.68485553e-01 2.44027158e-01 4.98646210e-02 5.87618492e+02] [-2.43768290e-01 9.69767644e-01 -1.13021209e-02 -7.86786405e+01] [-5.11151205e-02 -1.20947256e-03 9.98692035e-01 -3.77811555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.8507140569999 meters 0.024879089576053476 Centerline is valid? [True, True] Translation: X:587.65, Y:-78.69, Z:-37.78 [[ 9.70071918e-01 2.37683318e-01 4.96700584e-02 5.87647286e+02] [-2.37417893e-01 9.71342313e-01 -1.12629885e-02 -7.86905685e+01] [-5.09236540e-02 -8.66651740e-04 9.98702173e-01 -3.77839168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.880714057 meters 0.024834013771584094 Centerline is valid? [True, True] Translation: X:587.68, Y:-78.70, Z:-37.79 [[ 9.70781105e-01 2.34751973e-01 4.97549710e-02 5.87677188e+02] [-2.34481762e-01 9.72055041e-01 -1.12827772e-02 -7.87000736e+01] [-5.10132245e-02 -7.13526335e-04 9.98697723e-01 -3.77856886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.910714057 meters 0.023996194049095136 Centerline is valid? [True, True] Translation: X:587.71, Y:-78.71, Z:-37.79 [[ 9.72129285e-01 2.28725093e-01 5.14731420e-02 5.87707607e+02] [-2.28426770e-01 9.73490972e-01 -1.16849495e-02 -7.87120830e+01] [-5.27812802e-02 -3.98561930e-04 9.98606017e-01 -3.77858679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.9407140569999 meters 0.024032618949097737 Centerline is valid? [True, True] Translation: X:587.74, Y:-78.72, Z:-37.79 [[ 9.72619969e-01 2.26339361e-01 5.27341492e-02 5.87737848e+02] [-2.26021982e-01 9.74048472e-01 -1.19849449e-02 -7.87211073e+01] [-5.40782822e-02 -2.62280202e-04 9.98536665e-01 -3.77865831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.9707140569999 meters 0.024063411502618124 Centerline is valid? [True, True] Translation: X:587.77, Y:-78.73, Z:-37.79 [[ 9.73043305e-01 2.24225485e-01 5.39412477e-02 5.87768914e+02] [-2.23889444e-01 9.74537282e-01 -1.22720626e-02 -7.87303684e+01] [-5.53194661e-02 -1.35627621e-04 9.98468697e-01 -3.77866398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.000714057 meters 0.024038389441782777 Centerline is valid? [True, True] Translation: X:587.80, Y:-78.74, Z:-37.79 [[ 9.72998457e-01 2.24154446e-01 5.50344201e-02 5.87800119e+02] [-2.23803713e-01 9.74553626e-01 -1.25350845e-02 -7.87374058e+01] [-5.64437886e-02 -1.20289676e-04 9.98405771e-01 -3.77879470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.030714057 meters 0.02423840725248596 Centerline is valid? [True, True] Translation: X:587.83, Y:-78.74, Z:-37.79 [[ 9.72400717e-01 2.26667422e-01 5.53057445e-02 5.87832528e+02] [-2.26316716e-01 9.73972183e-01 -1.26067815e-02 -7.87432067e+01] [-5.67238034e-02 -2.57771066e-04 9.98389876e-01 -3.77895343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.0607140569999 meters 0.02423840725248596 Centerline is valid? [True, True] Translation: X:587.86, Y:-78.75, Z:-37.79 [[ 9.72336851e-01 2.26942098e-01 5.53021904e-02 5.87864032e+02] [-2.26590950e-01 9.73908218e-01 -1.26223530e-02 -7.87504603e+01] [-5.67238010e-02 -2.57796924e-04 9.98389876e-01 -3.77914155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.0907140569999 meters 0.024493256471280016 Centerline is valid? [True, True] Translation: X:587.89, Y:-78.75, Z:-37.79 [[ 9.71413308e-01 2.31206614e-01 5.38487369e-02 5.87894958e+02] [-2.30879367e-01 9.72904555e-01 -1.23062994e-02 -7.87538821e+01] [-5.52349792e-02 -4.78059250e-04 9.98473269e-01 -3.77946700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.120714057 meters 0.02480498505642733 Centerline is valid? [True, True] Translation: X:587.93, Y:-78.76, Z:-37.80 [[ 9.70908246e-01 2.33394894e-01 5.35163707e-02 5.87925372e+02] [-2.33074282e-01 9.72381859e-01 -1.22433430e-02 -7.87580364e+01] [-5.48958818e-02 -5.86126959e-04 9.98491912e-01 -3.77982457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.150714057 meters 0.02537399022822883 Centerline is valid? [True, True] Translation: X:587.96, Y:-78.76, Z:-37.80 [[ 9.69928175e-01 2.38082886e-01 5.05556535e-02 5.87956782e+02] [-2.37802805e-01 9.71244512e-01 -1.15725150e-02 -7.87613624e+01] [-5.18571188e-02 -7.97767822e-04 9.98654196e-01 -3.78029689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.1807140569999 meters 0.02550729963394053 Centerline is valid? [True, True] Translation: X:587.99, Y:-78.77, Z:-37.81 [[ 9.69320783e-01 2.40804632e-01 4.92985647e-02 5.87988004e+02] [-2.40541560e-01 9.70573177e-01 -1.12900518e-02 -7.87663981e+01] [-5.05665614e-02 -9.14671813e-04 9.98720274e-01 -3.78062340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.2107140569999 meters 0.026278426096884248 Centerline is valid? [True, True] Translation: X:588.02, Y:-78.77, Z:-37.81 [[ 9.68180850e-01 2.45674754e-01 4.76419731e-02 5.88020216e+02] [-2.45434303e-01 9.69351674e-01 -1.09240353e-02 -7.87705813e+01] [-4.88655860e-02 -1.11653266e-03 9.98804740e-01 -3.78090180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.240714057 meters 0.027014053040909106 Centerline is valid? [True, True] Translation: X:588.05, Y:-78.77, Z:-37.81 [[ 9.67646896e-01 2.47914967e-01 4.68791344e-02 5.88050539e+02] [-2.47684618e-01 9.68781045e-01 -1.07525253e-02 -7.87748521e+01] [-4.80813288e-02 -1.20659275e-03 9.98842695e-01 -3.78112386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.270714057 meters 0.027941876775559014 Centerline is valid? [True, True] Translation: X:588.08, Y:-78.78, Z:-37.81 [[ 9.66768190e-01 2.51194371e-01 4.75463422e-02 5.88081291e+02] [-2.50961172e-01 9.67935674e-01 -1.09096571e-02 -7.87782303e+01] [-4.87622452e-02 -1.38517628e-03 9.98809454e-01 -3.78124639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.3007140569999 meters 0.02839787679969397 Centerline is valid? [True, True] Translation: X:588.11, Y:-78.78, Z:-37.81 [[ 9.66148132e-01 2.53612418e-01 4.73131002e-02 5.88113442e+02] [-2.53384390e-01 9.67304757e-01 -1.08562488e-02 -7.87826342e+01] [-4.85194664e-02 -1.49965656e-03 9.98821111e-01 -3.78131447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.3307140569999 meters 0.029115954651553488 Centerline is valid? [True, True] Translation: X:588.14, Y:-78.79, Z:-37.82 [[ 9.65896334e-01 2.54575587e-01 4.72815197e-02 5.88143510e+02] [-2.54348372e-01 9.67051662e-01 -1.08622724e-02 -7.87881196e+01] [-4.84889416e-02 -1.53414845e-03 9.98822541e-01 -3.78156127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.360714057 meters 0.02863650188747318 Centerline is valid? [True, True] Translation: X:588.18, Y:-78.80, Z:-37.82 [[ 9.65661682e-01 2.55340010e-01 4.79478485e-02 5.88175577e+02] [-2.55107046e-01 9.66850015e-01 -1.10201561e-02 -7.87962311e+01] [-4.91722648e-02 -1.59009154e-03 9.98789047e-01 -3.78164251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.390714057 meters 0.02888994154669268 Centerline is valid? [True, True] Translation: X:588.21, Y:-78.80, Z:-37.82 [[ 9.65561280e-01 2.55609225e-01 4.85318399e-02 5.88206555e+02] [-2.55370155e-01 9.66778845e-01 -1.11691054e-02 -7.88026115e+01] [-4.97744825e-02 -1.60912772e-03 9.98759186e-01 -3.78179378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.4207140569999 meters 0.028915258213243193 Centerline is valid? [True, True] Translation: X:588.24, Y:-78.81, Z:-37.82 [[ 9.65388164e-01 2.56223250e-01 4.87374459e-02 5.88238566e+02] [-2.55982262e-01 9.66616249e-01 -1.12297909e-02 -7.88105546e+01] [-4.99877407e-02 -1.63481440e-03 9.98748493e-01 -3.78190466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.4507140569999 meters 0.02912278983910101 Centerline is valid? [True, True] Translation: X:588.27, Y:-78.82, Z:-37.82 [[ 9.65365434e-01 2.56317756e-01 4.86907218e-02 5.88270400e+02] [-2.56076634e-01 9.66591211e-01 -1.12333478e-02 -7.88172563e+01] [-4.99433303e-02 -1.62427042e-03 9.98750732e-01 -3.78211039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.4807140569999 meters 0.02882097008421735 Centerline is valid? [True, True] Translation: X:588.30, Y:-78.82, Z:-37.82 [[ 9.65146406e-01 2.57161410e-01 4.85841905e-02 5.88301634e+02] [-2.56921691e-01 9.66367055e-01 -1.12231556e-02 -7.88244532e+01] [-4.98363236e-02 -1.65034411e-03 9.98756035e-01 -3.78226548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.510714057 meters 0.028962012540557105 Centerline is valid? [True, True] Translation: X:588.33, Y:-78.83, Z:-37.82 [[ 9.64897831e-01 2.58191788e-01 4.80538991e-02 5.88332521e+02] [-2.57957943e-01 9.66092233e-01 -1.11129610e-02 -7.88313835e+01] [-4.92937739e-02 -1.67301300e-03 9.98782922e-01 -3.78248378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.540714057 meters 0.029118262242739314 Centerline is valid? [True, True] Translation: X:588.36, Y:-78.84, Z:-37.83 [[ 9.64401638e-01 2.60297437e-01 4.66339437e-02 5.88363982e+02] [-2.60079024e-01 9.65526956e-01 -1.07980446e-02 -7.88378008e+01] [-4.78370331e-02 -1.71485870e-03 9.98853682e-01 -3.78267159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.5707140569999 meters 0.029348060782759842 Centerline is valid? [True, True] Translation: X:588.40, Y:-78.84, Z:-37.83 [[ 9.64209205e-01 2.61240292e-01 4.53223954e-02 5.88395681e+02] [-2.61034978e-01 9.65272284e-01 -1.04955881e-02 -7.88429630e+01] [-4.64903226e-02 -1.71078784e-03 9.98917275e-01 -3.78293322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.6007140569999 meters 0.03055073957702326 Centerline is valid? [True, True] Translation: X:588.43, Y:-78.85, Z:-37.83 [[ 9.63997841e-01 2.62077001e-01 4.49867459e-02 5.88426517e+02] [-2.61875075e-01 9.65045421e-01 -1.04297913e-02 -7.88468911e+01] [-4.61476616e-02 -1.72661115e-03 9.98933137e-01 -3.78329121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.630714057 meters 0.0296080379256797 Centerline is valid? [True, True] Translation: X:588.46, Y:-78.86, Z:-37.83 [[ 9.63841703e-01 2.62680850e-01 4.48100693e-02 5.88457257e+02] [-2.62480672e-01 9.64881210e-01 -1.03994062e-02 -7.88565592e+01] [-4.59681187e-02 -1.73839576e-03 9.98941395e-01 -3.78343484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.660714057 meters 0.032219145472043624 Centerline is valid? [True, True] Translation: X:588.49, Y:-78.86, Z:-37.84 [[ 9.63779264e-01 2.62970461e-01 4.44529679e-02 5.88489076e+02] [-2.62773253e-01 9.64802339e-01 -1.03278362e-02 -7.88592112e+01] [-4.56042433e-02 -1.72729659e-03 9.98958092e-01 -3.78375166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.6907140569999 meters 0.029986610276532887 Centerline is valid? [True, True] Translation: X:588.52, Y:-78.87, Z:-37.84 [[ 9.64095127e-01 2.61864508e-01 4.41312419e-02 5.88519568e+02] [-2.61668331e-01 9.65103238e-01 -1.02675978e-02 -7.88719961e+01] [-4.52799239e-02 -1.64880740e-03 9.98972978e-01 -3.78373023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.7207140569999 meters 0.02921780320240699 Centerline is valid? [True, True] Translation: X:588.55, Y:-78.88, Z:-37.84 [[ 9.64216900e-01 2.61473605e-01 4.37872611e-02 5.88549814e+02] [-2.61279989e-01 9.65209274e-01 -1.01894528e-02 -7.88821620e+01] [-4.49281435e-02 -1.61589245e-03 9.98988914e-01 -3.78383878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.750714057 meters 0.029024512884369153 Centerline is valid? [True, True] Translation: X:588.58, Y:-78.89, Z:-37.84 [[ 9.64578039e-01 2.60300493e-01 4.28119155e-02 5.88580497e+02] [-2.60113769e-01 9.65526466e-01 -9.97352930e-03 -7.88913043e+01] [-4.39321520e-02 -1.51572136e-03 9.99033367e-01 -3.78403731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.780714057 meters 0.02881544925072327 Centerline is valid? [True, True] Translation: X:588.61, Y:-78.90, Z:-37.84 [[ 9.64669454e-01 2.59955004e-01 4.28513852e-02 5.88611475e+02] [-2.59767104e-01 9.65619580e-01 -9.99389173e-03 -7.88994404e+01] [-4.39760988e-02 -1.49057816e-03 9.99031471e-01 -3.78423329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.8107140569999 meters 0.02886909783931196 Centerline is valid? [True, True] Translation: X:588.64, Y:-78.91, Z:-37.84 [[ 9.64993167e-01 2.58786047e-01 4.26376497e-02 5.88641358e+02] [-2.58598381e-01 9.65933625e-01 -9.95536389e-03 -7.89075836e+01] [-4.37614488e-02 -1.41916905e-03 9.99041001e-01 -3.78441825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.8407140569999 meters 0.02821110340854253 Centerline is valid? [True, True] Translation: X:588.67, Y:-78.92, Z:-37.84 [[ 9.65324912e-01 2.57505455e-01 4.28806984e-02 5.88671791e+02] [-2.57313937e-01 9.66275889e-01 -1.00221979e-02 -7.89176457e+01] [-4.40153556e-02 -1.35912404e-03 9.99029930e-01 -3.78443528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.870714057 meters 0.0276706243821852 Centerline is valid? [True, True] Translation: X:588.70, Y:-78.93, Z:-37.85 [[ 9.65555363e-01 2.56598717e-01 4.31270143e-02 5.88702709e+02] [-2.56403590e-01 9.66517134e-01 -1.00910076e-02 -7.89261492e+01] [-4.42723378e-02 -1.31449481e-03 9.99018635e-01 -3.78453551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.900714057 meters 0.02858669533567237 Centerline is valid? [True, True] Translation: X:588.73, Y:-78.93, Z:-37.85 [[ 9.66062751e-01 2.54537745e-01 4.39692800e-02 5.88733304e+02] [-2.54332245e-01 9.67062055e-01 -1.03000865e-02 -7.89320290e+01] [-4.51427830e-02 -1.23227580e-03 9.98979785e-01 -3.78480245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.9307140569999 meters 0.027308926836251135 Centerline is valid? [True, True] Translation: X:588.76, Y:-78.94, Z:-37.85 [[ 9.66143874e-01 2.54185192e-01 4.42255925e-02 5.88763929e+02] [-2.53976439e-01 9.67154805e-01 -1.03706644e-02 -7.89436309e+01] [-4.54090636e-02 -1.21270464e-03 9.98967740e-01 -3.78475976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.9607140569999 meters 0.027088254628283414 Centerline is valid? [True, True] Translation: X:588.80, Y:-78.95, Z:-37.85 [[ 9.66583337e-01 2.52404498e-01 4.48176576e-02 5.88795165e+02] [-2.52187659e-01 9.67621148e-01 -1.05213081e-02 -7.89519160e+01] [-4.60221388e-02 -1.13273912e-03 9.98939778e-01 -3.78488559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.990714057 meters 0.026767862159988748 Centerline is valid? [True, True] Translation: X:588.83, Y:-78.96, Z:-37.85 [[ 9.66650451e-01 2.52235317e-01 4.43198627e-02 5.88826963e+02] [-2.52022599e-01 9.67665299e-01 -1.04152904e-02 -7.89595707e+01] [-4.55138973e-02 -1.10166184e-03 9.98963098e-01 -3.78507235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.020714057 meters 0.027476470902049493 Centerline is valid? [True, True] Translation: X:588.86, Y:-78.97, Z:-37.85 [[ 9.67087984e-01 2.50725869e-01 4.33286255e-02 5.88857527e+02] [-2.50520465e-01 9.68057617e-01 -1.01954664e-02 -7.89658888e+01] [-4.45008731e-02 -9.94794340e-04 9.99008850e-01 -3.78548118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.0507140569999 meters 0.026076512407172465 Centerline is valid? [True, True] Translation: X:588.89, Y:-78.98, Z:-37.86 [[ 9.67822876e-01 2.47950881e-01 4.28863712e-02 5.88887977e+02] [-2.47746500e-01 9.68772233e-01 -1.01010612e-02 -7.89776887e+01] [-4.40516927e-02 -8.48910260e-04 9.99028892e-01 -3.78551788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.0807140569999 meters 0.026134168566517492 Centerline is valid? [True, True] Translation: X:588.92, Y:-78.99, Z:-37.86 [[ 9.68377188e-01 2.45846192e-01 4.24884922e-02 5.88917863e+02] [-2.45643068e-01 9.69308573e-01 -1.00186553e-02 -7.89861934e+01] [-4.36475080e-02 -7.35166361e-04 9.99046723e-01 -3.78573391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.110714057 meters 0.025506447379548568 Centerline is valid? [True, True] Translation: X:588.95, Y:-79.00, Z:-37.86 [[ 9.69698472e-01 2.40679199e-01 4.19332396e-02 5.88946967e+02] [-2.40476086e-01 9.70604599e-01 -9.89772233e-03 -7.89969228e+01] [-4.30827711e-02 -4.86135114e-04 9.99071388e-01 -3.78594908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.140714057 meters 0.025380010960471096 Centerline is valid? [True, True] Translation: X:588.98, Y:-79.01, Z:-37.86 [[ 9.70460021e-01 2.37639400e-01 4.16516810e-02 5.88977370e+02] [-2.37435795e-01 9.71353386e-01 -9.84087188e-03 -7.90065021e+01] [-4.27970803e-02 -3.39427256e-04 9.99083728e-01 -3.78608517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.1707140569999 meters 0.025578608276035097 Centerline is valid? [True, True] Translation: X:589.01, Y:-79.02, Z:-37.86 [[ 9.71752682e-01 2.32323573e-01 4.15027933e-02 5.89006986e+02] [-2.32116101e-01 9.72638550e-01 -9.81667991e-03 -7.90164041e+01] [-4.26478628e-02 -9.40815126e-05 9.99090162e-01 -3.78635245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.2007140569999 meters 0.02538597447364565 Centerline is valid? [True, True] Translation: X:589.04, Y:-79.03, Z:-37.86 [[ 9.72488854e-01 2.29209098e-01 4.15766602e-02 5.89038756e+02] [-2.28997649e-01 9.73377207e-01 -9.84325168e-03 -7.90255494e+01] [-4.27259362e-02 5.14950943e-05 9.99086829e-01 -3.78636823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.2307140569999 meters 0.02528701372885013 Centerline is valid? [True, True] Translation: X:589.07, Y:-79.03, Z:-37.87 [[ 9.72775488e-01 2.27942832e-01 4.18319847e-02 5.89069964e+02] [-2.27727063e-01 9.73674510e-01 -9.91635058e-03 -7.90331505e+01] [-4.29910982e-02 1.20107783e-04 9.99075448e-01 -3.78655462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.260714057 meters 0.025714331768130243 Centerline is valid? [True, True] Translation: X:589.10, Y:-79.04, Z:-37.87 [[ 9.73172260e-01 2.26195386e-01 4.20879925e-02 5.89102496e+02] [-2.25974847e-01 9.74081928e-01 -9.98826445e-03 -7.90396336e+01] [-4.32564523e-02 2.09474240e-04 9.99063980e-01 -3.78670102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.290714057 meters 0.025649503881000818 Centerline is valid? [True, True] Translation: X:589.13, Y:-79.05, Z:-37.87 [[ 9.73270461e-01 2.25698092e-01 4.24850583e-02 5.89133688e+02] [-2.25472283e-01 9.74197264e-01 -1.00965263e-02 -7.90465877e+01] [-4.36675943e-02 2.47447699e-04 9.99046085e-01 -3.78691738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.3207140569999 meters 0.025940472257820955 Centerline is valid? [True, True] Translation: X:589.17, Y:-79.05, Z:-37.87 [[ 9.73532140e-01 2.24321048e-01 4.37634564e-02 5.89166390e+02] [-2.24079738e-01 9.74515244e-01 -1.04071789e-02 -7.90527129e+01] [-4.49827047e-02 3.25219297e-04 9.98987713e-01 -3.78692521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.3507140569999 meters 0.025750868944267747 Centerline is valid? [True, True] Translation: X:589.20, Y:-79.06, Z:-37.87 [[ 9.73099012e-01 2.25951699e-01 4.49904812e-02 5.89198237e+02] [-2.25697756e-01 9.74138469e-01 -1.07129118e-02 -7.90572468e+01] [-4.62475591e-02 2.70473259e-04 9.98929973e-01 -3.78702564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.380714057 meters 0.0257892453096162 Centerline is valid? [True, True] Translation: X:589.23, Y:-79.06, Z:-37.87 [[ 9.72729361e-01 2.27503920e-01 4.51614475e-02 5.89229979e+02] [-2.27249180e-01 9.73777142e-01 -1.07651016e-02 -7.90621296e+01] [-4.64262881e-02 2.08628504e-04 9.98921697e-01 -3.78718770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.410714057 meters 0.025762582127639582 Centerline is valid? [True, True] Translation: X:589.26, Y:-79.07, Z:-37.87 [[ 9.72214824e-01 2.29759756e-01 4.48195350e-02 5.89261732e+02] [-2.29510751e-01 9.73247369e-01 -1.06945426e-02 -7.90666793e+01] [-4.60776700e-02 1.10827739e-04 9.98937854e-01 -3.78745283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.4407140569999 meters 0.025375803208534383 Centerline is valid? [True, True] Translation: X:589.29, Y:-79.07, Z:-37.88 [[ 9.70997238e-01 2.34936700e-01 4.43746562e-02 5.89294986e+02] [-2.34697494e-01 9.72010665e-01 -1.05997383e-02 -7.90671829e+01] [-4.56229066e-02 -1.22303949e-04 9.98958726e-01 -3.78763757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.4707140569999 meters 0.02559667383933057 Centerline is valid? [True, True] Translation: X:589.33, Y:-79.07, Z:-37.88 [[ 9.70137762e-01 2.38432912e-01 4.45249177e-02 5.89327323e+02] [-2.38195149e-01 9.71158932e-01 -1.06489422e-02 -7.90712016e+01] [-4.57798298e-02 -2.74678405e-04 9.98951516e-01 -3.78783504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.500714057 meters 0.025906844973628152 Centerline is valid? [True, True] Translation: X:589.36, Y:-79.07, Z:-37.88 [[ 9.68568650e-01 2.44762974e-01 4.43379780e-02 5.89359554e+02] [-2.44533193e-01 9.69582784e-01 -1.06179977e-02 -7.90702360e+01] [-4.55882328e-02 -5.57847685e-04 9.98960160e-01 -3.78807829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.530714057 meters 0.026064460356063766 Centerline is valid? [True, True] Translation: X:589.39, Y:-79.07, Z:-37.88 [[ 9.67834331e-01 2.47618952e-01 4.45147374e-02 5.89391192e+02] [-2.47389861e-01 9.68857258e-01 -1.06710245e-02 -7.90734381e+01] [-4.57707743e-02 -6.84710817e-04 9.98951734e-01 -3.78829751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.5607140569999 meters 0.025965049521645307 Centerline is valid? [True, True] Translation: X:589.42, Y:-79.07, Z:-37.89 [[ 9.66779853e-01 2.51734343e-01 4.43456343e-02 5.89424046e+02] [-2.51510843e-01 9.67795986e-01 -1.06407575e-02 -7.90744846e+01] [-4.55961710e-02 -8.66137926e-04 9.98959578e-01 -3.78861054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.5907140569999 meters 0.025999831932792043 Centerline is valid? [True, True] Translation: X:589.46, Y:-79.08, Z:-37.89 [[ 9.66112464e-01 2.54361395e-01 4.38974749e-02 5.89455668e+02] [-2.54144584e-01 9.67108754e-01 -1.05445922e-02 -7.90780320e+01] [-4.51357694e-02 -9.69043619e-04 9.98980392e-01 -3.78877295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.620714057 meters 0.02713878636987384 Centerline is valid? [True, True] Translation: X:589.49, Y:-79.08, Z:-37.89 [[ 9.65843476e-01 2.55459950e-01 4.34349370e-02 5.89487122e+02] [-2.55248332e-01 9.66819122e-01 -1.04438717e-02 -7.90812352e+01] [-4.46617186e-02 -9.99549844e-04 9.99001668e-01 -3.78913397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.650714057 meters 0.027216455118906045 Centerline is valid? [True, True] Translation: X:589.52, Y:-79.09, Z:-37.89 [[ 9.65485669e-01 2.56651592e-01 4.43552035e-02 5.89520070e+02] [-2.56431685e-01 9.66503400e-01 -1.06756185e-02 -7.90862040e+01] [-4.56093695e-02 -1.06692287e-03 9.98958781e-01 -3.78927035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.6807140569999 meters 0.02604640956714997 Centerline is valid? [True, True] Translation: X:589.55, Y:-79.10, Z:-37.89 [[ 9.65353819e-01 2.57175590e-01 4.41895907e-02 5.89551884e+02] [-2.56957325e-01 9.66364092e-01 -1.06477597e-02 -7.90958183e+01] [-4.54415776e-02 -1.07598354e-03 9.98966419e-01 -3.78925602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.7107140569999 meters 0.02642422858786179 Centerline is valid? [True, True] Translation: X:589.58, Y:-79.10, Z:-37.90 [[ 9.65243680e-01 2.57573648e-01 4.42770226e-02 5.89583540e+02] [-2.57354321e-01 9.66258061e-01 -1.06823486e-02 -7.90992301e+01] [-4.55345215e-02 -1.08381356e-03 9.98962178e-01 -3.78954101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.740714057 meters 0.02599644972207581 Centerline is valid? [True, True] Translation: X:589.61, Y:-79.11, Z:-37.90 [[ 9.65308434e-01 2.57243702e-01 4.47806342e-02 5.89614964e+02] [-2.57018407e-01 9.66345972e-01 -1.08167014e-02 -7.91061987e+01] [-4.60561138e-02 -1.06799418e-03 9.98938283e-01 -3.78973109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.770714057 meters 0.02589188135026414 Centerline is valid? [True, True] Translation: X:589.65, Y:-79.11, Z:-37.90 [[ 9.65437050e-01 2.56858837e-01 4.42135822e-02 5.89646492e+02] [-2.56638319e-01 9.66448387e-01 -1.06905317e-02 -7.91134592e+01] [-4.54761027e-02 -1.02586405e-03 9.98964900e-01 -3.78993459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.8007140569999 meters 0.02537965815453324 Centerline is valid? [True, True] Translation: X:589.68, Y:-79.12, Z:-37.90 [[ 9.65797262e-01 2.55467463e-01 4.44074782e-02 5.89677591e+02] [-2.55242908e-01 9.66817186e-01 -1.07511576e-02 -7.91208389e+01] [-4.56804841e-02 -9.51255307e-04 9.98955649e-01 -3.79004132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.8307140569999 meters 0.02582112736807175 Centerline is valid? [True, True] Translation: X:589.71, Y:-79.13, Z:-37.90 [[ 9.65871867e-01 2.55280180e-01 4.38584891e-02 5.89709450e+02] [-2.55060446e-01 9.66866683e-01 -1.06294551e-02 -7.91262450e+01] [-4.51188011e-02 -9.19874136e-04 9.98981205e-01 -3.79035280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.860714057 meters 0.025314077937195836 Centerline is valid? [True, True] Translation: X:589.74, Y:-79.13, Z:-37.90 [[ 9.66214727e-01 2.54153543e-01 4.28378126e-02 5.89740770e+02] [-2.53942287e-01 9.67163522e-01 -1.03940454e-02 -7.91337322e+01] [-4.40728532e-02 -8.35452400e-04 9.99027970e-01 -3.79047703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.890714057 meters 0.025298456770021554 Centerline is valid? [True, True] Translation: X:589.77, Y:-79.14, Z:-37.91 [[ 9.66508243e-01 2.52828293e-01 4.40416932e-02 5.89771602e+02] [-2.52603015e-01 9.67510847e-01 -1.06994061e-02 -7.91400991e+01] [-4.53159285e-02 -7.84000273e-04 9.98972398e-01 -3.79064659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.9207140569999 meters 0.024991677190914937 Centerline is valid? [True, True] Translation: X:589.80, Y:-79.15, Z:-37.91 [[ 9.66548322e-01 2.52570770e-01 4.46357284e-02 5.89802266e+02] [-2.52338847e-01 9.67578112e-01 -1.08491472e-02 -7.91484446e+01] [-4.59287312e-02 -7.77103280e-04 9.98944417e-01 -3.79068268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.9507140569999 meters 0.025414237498104588 Centerline is valid? [True, True] Translation: X:589.83, Y:-79.15, Z:-37.91 [[ 9.66714541e-01 2.51779970e-01 4.54955169e-02 5.89832746e+02] [-2.51537567e-01 9.67784220e-01 -1.10705131e-02 -7.91526039e+01] [-4.68171768e-02 -7.41805633e-04 9.98903199e-01 -3.79086477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.9807140569999 meters 0.025414237498104588 Centerline is valid? [True, True] Translation: X:589.86, Y:-79.16, Z:-37.91 [[ 9.66648414e-01 2.52034171e-01 4.54930859e-02 5.89864164e+02] [-2.51791579e-01 9.67718050e-01 -1.10804932e-02 -7.91603500e+01] [-4.68171432e-02 -7.43834760e-04 9.98903199e-01 -3.79105284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.010714057 meters 0.02491892672059002 Centerline is valid? [True, True] Translation: X:589.90, Y:-79.17, Z:-37.91 [[ 9.66618884e-01 2.52145616e-01 4.55029933e-02 5.89895371e+02] [-2.51902455e-01 9.67689023e-01 -1.10954147e-02 -7.91692950e+01] [-4.68304073e-02 -7.37278348e-04 9.98902583e-01 -3.79113089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.040714057 meters 0.024684440626266305 Centerline is valid? [True, True] Translation: X:589.93, Y:-79.18, Z:-37.91 [[ 9.66598000e-01 2.52373589e-01 4.46752599e-02 5.89927732e+02] [-2.52138854e-01 9.67629604e-01 -1.09063524e-02 -7.91759522e+01] [-4.59815794e-02 -7.22310365e-04 9.98942027e-01 -3.79130062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.0707140569999 meters 0.024795765654606294 Centerline is valid? [True, True] Translation: X:589.96, Y:-79.18, Z:-37.92 [[ 9.66460896e-01 2.52897309e-01 4.46798320e-02 5.89960102e+02] [-2.52662470e-01 9.67492849e-01 -1.09208280e-02 -7.91825628e+01] [-4.59892659e-02 -7.34363456e-04 9.98941664e-01 -3.79156869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.1007140569999 meters 0.024837095846915427 Centerline is valid? [True, True] Translation: X:589.99, Y:-79.19, Z:-37.92 [[ 9.65900862e-01 2.55032059e-01 4.46561732e-02 5.89991572e+02] [-2.54799120e-01 9.66932248e-01 -1.09286822e-02 -7.91884753e+01] [-4.59666583e-02 -8.22330026e-04 9.98942636e-01 -3.79169356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.130714057 meters 0.025251766258848042 Centerline is valid? [True, True] Translation: X:590.02, Y:-79.19, Z:-37.92 [[ 9.65232040e-01 2.57538581e-01 4.47324112e-02 5.90023136e+02] [-2.57306995e-01 9.66267567e-01 -1.09589942e-02 -7.91938237e+01] [-4.60458420e-02 -9.31989940e-04 9.98938893e-01 -3.79188425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.160714057 meters 0.02565982980306467 Centerline is valid? [True, True] Translation: X:590.05, Y:-79.20, Z:-37.92 [[ 9.64882387e-01 2.58890678e-01 4.44701807e-02 5.90054079e+02] [-2.58662694e-01 9.65906133e-01 -1.09065401e-02 -7.91991933e+01] [-4.57776218e-02 -9.79248304e-04 9.98951175e-01 -3.79214768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.1907140569999 meters 0.02617955497633571 Centerline is valid? [True, True] Translation: X:590.08, Y:-79.21, Z:-37.92 [[ 9.64274768e-01 2.61255488e-01 4.38148598e-02 5.90084956e+02] [-2.61036144e-01 9.65269100e-01 -1.07562212e-02 -7.92052989e+01] [-4.51032521e-02 -1.06530939e-03 9.98981762e-01 -3.79237804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.2207140569999 meters 0.02602872166252256 Centerline is valid? [True, True] Translation: X:590.12, Y:-79.21, Z:-37.93 [[ 9.63937324e-01 2.62526482e-01 4.36426506e-02 5.90116067e+02] [-2.62309705e-01 9.64924149e-01 -1.07240611e-02 -7.92126911e+01] [-4.49271975e-02 -1.11056804e-03 9.98989646e-01 -3.79250694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.250714057 meters 0.026543042806396213 Centerline is valid? [True, True] Translation: X:590.15, Y:-79.22, Z:-37.93 [[ 9.63073734e-01 2.65709335e-01 4.34457476e-02 5.90147064e+02] [-2.65497160e-01 9.64052390e-01 -1.06886791e-02 -7.92184649e+01] [-4.47240586e-02 -1.24073653e-03 9.98998608e-01 -3.79266543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.280714057 meters 0.027067735747267174 Centerline is valid? [True, True] Translation: X:590.18, Y:-79.22, Z:-37.93 [[ 9.62543026e-01 2.67585485e-01 4.36913275e-02 5.90178111e+02] [-2.67372648e-01 9.63533204e-01 -1.07532276e-02 -7.92246473e+01] [-4.49754524e-02 -1.33142175e-03 9.98987205e-01 -3.79284605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.3107140569999 meters 0.028290870735171402 Centerline is valid? [True, True] Translation: X:590.21, Y:-79.23, Z:-37.93 [[ 9.61337046e-01 2.71845138e-01 4.39466270e-02 5.90209160e+02] [-2.71633644e-01 9.62339800e-01 -1.08292781e-02 -7.92286680e+01] [-4.52354748e-02 -1.52679618e-03 9.98975185e-01 -3.79300205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.3407140569999 meters 0.029028789404933846 Centerline is valid? [True, True] Translation: X:590.24, Y:-79.23, Z:-37.93 [[ 9.60152901e-01 2.75889010e-01 4.46280290e-02 5.90239998e+02] [-2.75675182e-01 9.61187921e-01 -1.09988687e-02 -7.92335198e+01] [-4.59303894e-02 -1.74224435e-03 9.98943123e-01 -3.79319765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.370714057 meters 0.029881455297722133 Centerline is valid? [True, True] Translation: X:590.27, Y:-79.24, Z:-37.93 [[ 9.59595253e-01 2.77817811e-01 4.46566248e-02 5.90270271e+02] [-2.77605823e-01 9.60632027e-01 -1.10052388e-02 -7.92392360e+01] [-4.59560354e-02 -1.83636413e-03 9.98941775e-01 -3.79337953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.400714057 meters 0.03237963990488046 Centerline is valid? [True, True] Translation: X:590.30, Y:-79.24, Z:-37.94 [[ 9.58796278e-01 2.80652609e-01 4.40886723e-02 5.90300201e+02] [-2.80448413e-01 9.59807464e-01 -1.08774833e-02 -7.92419724e+01] [-4.53694308e-02 -1.93530774e-03 9.98968403e-01 -3.79363189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.4307140569999 meters 0.03332708164702431 Centerline is valid? [True, True] Translation: X:590.33, Y:-79.25, Z:-37.94 [[ 9.58345266e-01 2.82250823e-01 4.36900831e-02 5.90331382e+02] [-2.82051869e-01 9.59338579e-01 -1.07811763e-02 -7.92485831e+01] [-4.49565781e-02 -1.99078026e-03 9.98986958e-01 -3.79384348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.4607140569999 meters 0.03379152625766319 Centerline is valid? [True, True] Translation: X:590.36, Y:-79.26, Z:-37.94 [[ 9.57843013e-01 2.83914454e-01 4.39243160e-02 5.90362572e+02] [-2.83714610e-01 9.58847381e-01 -1.08498999e-02 -7.92560086e+01] [-4.51971588e-02 -2.06946934e-03 9.98975943e-01 -3.79407014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.490714057 meters 0.03095516645497282 Centerline is valid? [True, True] Translation: X:590.39, Y:-79.27, Z:-37.94 [[ 9.57670849e-01 2.84493028e-01 4.39347403e-02 5.90392081e+02] [-2.84293214e-01 9.58675837e-01 -1.08631112e-02 -7.92694549e+01] [-4.52096533e-02 -2.08706359e-03 9.98975341e-01 -3.79410637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.520714057 meters 0.03156554707257922 Centerline is valid? [True, True] Translation: X:590.42, Y:-79.28, Z:-37.94 [[ 9.57658265e-01 2.84652238e-01 4.31711750e-02 5.90423868e+02] [-2.84459000e-01 9.58628661e-01 -1.06849218e-02 -7.92789479e+01] [-4.44266126e-02 -2.04792566e-03 9.99010552e-01 -3.79435071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.5507140569999 meters 0.030605697914856227 Centerline is valid? [True, True] Translation: X:590.46, Y:-79.29, Z:-37.94 [[ 9.57636909e-01 2.84757174e-01 4.29523227e-02 5.90455426e+02] [-2.84565438e-01 9.58597533e-01 -1.06433749e-02 -7.92900600e+01] [-4.42047679e-02 -2.03025783e-03 9.99020429e-01 -3.79447184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.5807140569999 meters 0.03196744952121357 Centerline is valid? [True, True] Translation: X:590.49, Y:-79.30, Z:-37.95 [[ 9.57718568e-01 2.84486730e-01 4.29237195e-02 5.90485373e+02] [-2.84294367e-01 9.58677885e-01 -1.06501211e-02 -7.92976638e+01] [-4.41798388e-02 -2.00315290e-03 9.99021586e-01 -3.79475752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.610714057 meters 0.03151365073227595 Centerline is valid? [True, True] Translation: X:590.52, Y:-79.31, Z:-37.95 [[ 9.57858663e-01 2.84047662e-01 4.27048923e-02 5.90515466e+02] [-2.83856372e-01 9.58808152e-01 -1.06060256e-02 -7.93083106e+01] [-4.39584156e-02 -1.96298227e-03 9.99031433e-01 -3.79493045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.640714057 meters 0.030555283783890472 Centerline is valid? [True, True] Translation: X:590.55, Y:-79.32, Z:-37.95 [[ 9.57850125e-01 2.84082120e-01 4.26671705e-02 5.90545594e+02] [-2.83890721e-01 9.58797965e-01 -1.06075964e-02 -7.93188448e+01] [-4.39226247e-02 -1.95232624e-03 9.99033028e-01 -3.79511561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.6707140569999 meters 0.030445232127298005 Centerline is valid? [True, True] Translation: X:590.58, Y:-79.33, Z:-37.95 [[ 9.58219135e-01 2.82859240e-01 4.25057677e-02 5.90576118e+02] [-2.82667598e-01 9.59159591e-01 -1.05786196e-02 -7.93297355e+01] [-4.37620751e-02 -1.87836751e-03 9.99040216e-01 -3.79536584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.7007140569999 meters 0.029804741539774252 Centerline is valid? [True, True] Translation: X:590.61, Y:-79.34, Z:-37.96 [[ 9.58513095e-01 2.81857707e-01 4.25309256e-02 5.90606745e+02] [-2.81664362e-01 9.59454486e-01 -1.05961042e-02 -7.93392889e+01] [-4.37930810e-02 -1.82294139e-03 9.99038960e-01 -3.79554118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.7307140569999 meters 0.029695650100228385 Centerline is valid? [True, True] Translation: X:590.64, Y:-79.35, Z:-37.96 [[ 9.59012423e-01 2.80157667e-01 4.25071009e-02 5.90636516e+02] [-2.79962381e-01 9.59952435e-01 -1.06013485e-02 -7.93515393e+01] [-4.37748440e-02 -1.73356428e-03 9.99039918e-01 -3.79565301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.760714057 meters 0.0293811584844331 Centerline is valid? [True, True] Translation: X:590.67, Y:-79.36, Z:-37.96 [[ 9.59220433e-01 2.79384384e-01 4.29013705e-02 5.90667048e+02] [-2.79184180e-01 9.60177830e-01 -1.07111142e-02 -7.93632821e+01] [-4.41854629e-02 -1.70306431e-03 9.99021894e-01 -3.79575914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.790714057 meters 0.029928066203109033 Centerline is valid? [True, True] Translation: X:590.70, Y:-79.37, Z:-37.96 [[ 9.59407987e-01 2.78777952e-01 4.26517117e-02 5.90696936e+02] [-2.78578913e-01 9.60354164e-01 -1.06615458e-02 -7.93707451e+01] [-4.39329528e-02 -1.65309533e-03 9.99033114e-01 -3.79597118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.8207140569999 meters 0.028778395965992 Centerline is valid? [True, True] Translation: X:590.73, Y:-79.38, Z:-37.96 [[ 9.59523645e-01 2.78285548e-01 4.32611736e-02 5.90726789e+02] [-2.78080050e-01 9.60496973e-01 -1.08190066e-02 -7.93819048e+01] [-4.45629995e-02 -1.64897669e-03 9.99005215e-01 -3.79608356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.8507140569999 meters 0.0286611705178046 Centerline is valid? [True, True] Translation: X:590.76, Y:-79.39, Z:-37.96 [[ 9.60128769e-01 2.76198072e-01 4.32130920e-02 5.90756618e+02] [-2.75990405e-01 9.61099504e-01 -1.08185174e-02 -7.93921615e+01] [-4.45201349e-02 -1.53922898e-03 9.99007301e-01 -3.79631946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.880714057 meters 0.028018365884366115 Centerline is valid? [True, True] Translation: X:590.79, Y:-79.40, Z:-37.97 [[ 9.60923107e-01 2.73503474e-01 4.26922976e-02 5.90786005e+02] [-2.73297514e-01 9.61870020e-01 -1.07020706e-02 -7.94049480e+01] [-4.39914947e-02 -1.38383185e-03 9.99030947e-01 -3.79653037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.910714057 meters 0.027847906077315066 Centerline is valid? [True, True] Translation: X:590.82, Y:-79.41, Z:-37.97 [[ 9.61390951e-01 2.71880011e-01 4.25288105e-02 5.90816315e+02] [-2.71674055e-01 9.62330274e-01 -1.06607027e-02 -7.94149056e+01] [-4.38251938e-02 -1.30487132e-03 9.99038362e-01 -3.79677557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.9407140569999 meters 0.02682842823562667 Centerline is valid? [True, True] Translation: X:590.85, Y:-79.43, Z:-37.97 [[ 9.62595947e-01 2.67497048e-01 4.30624204e-02 5.90845098e+02] [-2.67280867e-01 9.63558046e-01 -1.08088160e-02 -7.94289471e+01] [-4.43844680e-02 -1.10523855e-03 9.99013913e-01 -3.79682240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.9707140569999 meters 0.026274037733591864 Centerline is valid? [True, True] Translation: X:590.88, Y:-79.44, Z:-37.97 [[ 9.63296914e-01 2.64919756e-01 4.33194837e-02 5.90875075e+02] [-2.64698434e-01 9.64269950e-01 -1.08721349e-02 -7.94390832e+01] [-4.46519197e-02 -9.93505488e-04 9.99002112e-01 -3.79697652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.000714057 meters 0.02536731941198078 Centerline is valid? [True, True] Translation: X:590.90, Y:-79.45, Z:-37.97 [[ 9.64605691e-01 2.59862943e-01 4.48008067e-02 5.90904016e+02] [-2.59620089e-01 9.65645202e-01 -1.12584757e-02 -7.94536288e+01] [-4.61873447e-02 -7.71199698e-04 9.98932497e-01 -3.79699248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.030714057 meters 0.024703589287471805 Centerline is valid? [True, True] Translation: X:590.93, Y:-79.47, Z:-37.97 [[ 9.65904440e-01 2.54814366e-01 4.58066876e-02 5.90932550e+02] [-2.54554762e-01 9.66989838e-01 -1.15120185e-02 -7.94666139e+01] [-4.72280291e-02 -5.40800723e-04 9.98883988e-01 -3.79709845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.0607140569999 meters 0.02475098789526532 Centerline is valid? [True, True] Translation: X:590.96, Y:-79.48, Z:-37.97 [[ 9.66343603e-01 2.53109449e-01 4.59961753e-02 5.90961774e+02] [-2.52845216e-01 9.67437546e-01 -1.15711172e-02 -7.94765835e+01] [-4.74271861e-02 -4.48237825e-04 9.98874597e-01 -3.79726259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.0907140569999 meters 0.02429651767475763 Centerline is valid? [True, True] Translation: X:590.99, Y:-79.49, Z:-37.97 [[ 9.67268278e-01 2.49526986e-01 4.61341782e-02 5.90990934e+02] [-2.49256557e-01 9.68367810e-01 -1.16169779e-02 -7.94879017e+01] [-4.75736026e-02 -2.62512192e-04 9.98867701e-01 -3.79747058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.120714057 meters 0.024300672794896432 Centerline is valid? [True, True] Translation: X:591.02, Y:-79.50, Z:-37.98 [[ 9.67559659e-01 2.48375864e-01 4.62356602e-02 5.91021352e+02] [-2.48102420e-01 9.68663714e-01 -1.16532234e-02 -7.94970310e+01] [-4.76811857e-02 -1.95990326e-04 9.98862586e-01 -3.79772126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.150714057 meters 0.024444111419917914 Centerline is valid? [True, True] Translation: X:591.05, Y:-79.51, Z:-37.98 [[ 9.67922542e-01 2.46997558e-01 4.60234689e-02 5.91052502e+02] [-2.46724483e-01 9.69016095e-01 -1.16119262e-02 -7.95077114e+01] [-4.74655995e-02 -1.15671401e-04 9.98872867e-01 -3.79787690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.1807140569999 meters 0.024069080493135046 Centerline is valid? [True, True] Translation: X:591.08, Y:-79.52, Z:-37.98 [[ 9.68163911e-01 2.46076381e-01 4.58808870e-02 5.91084154e+02] [-2.45803318e-01 9.69250438e-01 -1.15895343e-02 -7.95169060e+01] [-4.73219805e-02 -5.71053668e-05 9.98879686e-01 -3.79806028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.2107140569999 meters 0.02406849956385768 Centerline is valid? [True, True] Translation: X:591.11, Y:-79.52, Z:-37.98 [[ 9.68119669e-01 2.46260596e-01 4.58260372e-02 5.91114746e+02] [-2.45987702e-01 9.69203650e-01 -1.15902731e-02 -7.95246451e+01] [-4.72689901e-02 -5.18702592e-05 9.98882195e-01 -3.79834579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.240714057 meters 0.024130831128270417 Centerline is valid? [True, True] Translation: X:591.15, Y:-79.53, Z:-37.99 [[ 9.68146975e-01 2.46146930e-01 4.58598187e-02 5.91145207e+02] [-2.45873150e-01 9.69232525e-01 -1.16063256e-02 -7.95319603e+01] [-4.73056893e-02 -3.90690319e-05 9.98880458e-01 -3.79858750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.270714057 meters 0.024091929914427015 Centerline is valid? [True, True] Translation: X:591.18, Y:-79.54, Z:-37.99 [[ 9.68068758e-01 2.46472737e-01 4.57610071e-02 5.91177314e+02] [-2.46199928e-01 9.69149724e-01 -1.15934163e-02 -7.95388597e+01] [-4.72067285e-02 -4.31325069e-05 9.98885140e-01 -3.79875885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.3007140569999 meters 0.024315819031191562 Centerline is valid? [True, True] Translation: X:591.21, Y:-79.55, Z:-37.99 [[ 9.67676663e-01 2.47862997e-01 4.65382725e-02 5.91209525e+02] [-2.47581761e-01 9.68795089e-01 -1.18045016e-02 -7.95455324e+01] [-4.80119490e-02 -9.90867694e-05 9.98846756e-01 -3.79891939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.3307140569999 meters 0.024345977978381176 Centerline is valid? [True, True] Translation: X:591.24, Y:-79.55, Z:-37.99 [[ 9.67405278e-01 2.48888878e-01 4.67049778e-02 5.91240174e+02] [-2.48606140e-01 9.68532038e-01 -1.18608374e-02 -7.95522477e+01] [-4.81872979e-02 -1.36907566e-04 9.98838308e-01 -3.79910633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.360714057 meters 0.024488911869221055 Centerline is valid? [True, True] Translation: X:591.27, Y:-79.56, Z:-37.99 [[ 9.66688597e-01 2.51741636e-01 4.62526266e-02 5.91271495e+02] [-2.51467003e-01 9.67794441e-01 -1.17587137e-02 -7.95576294e+01] [-4.77231927e-02 -2.63994976e-04 9.98860564e-01 -3.79924671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.390714057 meters 0.024690398486863264 Centerline is valid? [True, True] Translation: X:591.30, Y:-79.56, Z:-38.00 [[ 9.66198865e-01 2.53531772e-01 4.67054062e-02 5.91302804e+02] [-2.53253240e-01 9.67326999e-01 -1.18858826e-02 -7.95641102e+01] [-4.81928493e-02 -3.44169186e-04 9.98837990e-01 -3.79950565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.4207140569999 meters 0.02491701171811957 Centerline is valid? [True, True] Translation: X:591.33, Y:-79.57, Z:-38.00 [[ 9.65090157e-01 2.57788120e-01 4.63279063e-02 5.91334693e+02] [-2.57518356e-01 9.66201322e-01 -1.18026507e-02 -7.95687567e+01] [-4.78046674e-02 -5.39664205e-04 9.98856558e-01 -3.79970547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.4507140569999 meters 0.02527020934889145 Centerline is valid? [True, True] Translation: X:591.37, Y:-79.57, Z:-38.00 [[ 9.64442600e-01 2.60182931e-01 4.64253601e-02 5.91366360e+02] [-2.59914224e-01 9.65559124e-01 -1.18395138e-02 -7.95748180e+01] [-4.79068694e-02 -6.48079986e-04 9.98851597e-01 -3.79993962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.4807140569999 meters 0.025753661239837633 Centerline is valid? [True, True] Translation: X:591.40, Y:-79.58, Z:-38.00 [[ 9.63143759e-01 2.64919576e-01 4.66016937e-02 5.91397711e+02] [-2.64653763e-01 9.64270114e-01 -1.18967623e-02 -7.95791359e+01] [-4.80883057e-02 -8.75021253e-04 9.98842705e-01 -3.80015069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.510714057 meters 0.02600610262790898 Centerline is valid? [True, True] Translation: X:591.43, Y:-79.59, Z:-38.00 [[ 9.62357538e-01 2.67852133e-01 4.60782445e-02 5.91429351e+02] [-2.67595100e-01 9.63459514e-01 -1.17739865e-02 -7.95856691e+01] [-4.75482104e-02 -9.99527793e-04 9.98868444e-01 -3.80029077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.540714057 meters 0.027699289072471166 Centerline is valid? [True, True] Translation: X:591.46, Y:-79.59, Z:-38.01 [[ 9.61054573e-01 2.72540428e-01 4.57801543e-02 5.91460629e+02] [-2.72291340e-01 9.62143571e-01 -1.17121352e-02 -7.95867161e+01] [-4.72391115e-02 -1.20953843e-03 9.98882878e-01 -3.80061867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.5707140569999 meters 0.028055066667443233 Centerline is valid? [True, True] Translation: X:591.49, Y:-79.59, Z:-38.01 [[ 9.59797200e-01 2.76980426e-01 4.55101985e-02 5.91491451e+02] [-2.76739171e-01 9.60874515e-01 -1.16446579e-02 -7.95919381e+01] [-4.69549322e-02 -1.41794456e-03 9.98896002e-01 -3.80079875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.6007140569999 meters 0.02987132807567918 Centerline is valid? [True, True] Translation: X:591.52, Y:-79.60, Z:-38.01 [[ 9.59031721e-01 2.79647645e-01 4.53360067e-02 5.91522209e+02] [-2.79411136e-01 9.60101463e-01 -1.16016136e-02 -7.95951186e+01] [-4.67715303e-02 -1.54106972e-03 9.98904424e-01 -3.80113956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.630714057 meters 0.02881292157181709 Centerline is valid? [True, True] Translation: X:591.55, Y:-79.60, Z:-38.01 [[ 9.57896132e-01 2.83473807e-01 4.55807027e-02 5.91552026e+02] [-2.83238950e-01 9.58978410e-01 -1.16664770e-02 -7.96042789e+01] [-4.70180505e-02 -1.73495716e-03 9.98892533e-01 -3.80121084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.660714057 meters 0.028486126826997752 Centerline is valid? [True, True] Translation: X:591.58, Y:-79.61, Z:-38.01 [[ 9.57465972e-01 2.84935935e-01 4.55019199e-02 5.91583604e+02] [-2.84703568e-01 9.58544865e-01 -1.16456247e-02 -7.96114935e+01] [-4.69338886e-02 -1.80426955e-03 9.98896368e-01 -3.80130222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.6907140569999 meters 0.030739970369956956 Centerline is valid? [True, True] Translation: X:591.61, Y:-79.62, Z:-38.01 [[ 9.56744839e-01 2.87286665e-01 4.58877530e-02 5.91614198e+02] [-2.87052443e-01 9.57842717e-01 -1.17568847e-02 -7.96162158e+01] [-4.73308463e-02 -1.92385287e-03 9.98877415e-01 -3.80146843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.7207140569999 meters 0.029519052919328742 Centerline is valid? [True, True] Translation: X:591.64, Y:-79.63, Z:-38.02 [[ 9.56444402e-01 2.88267197e-01 4.60013974e-02 5.91644238e+02] [-2.88032418e-01 9.57547991e-01 -1.17970714e-02 -7.96268607e+01] [-4.74492544e-02 -1.96665084e-03 9.98871714e-01 -3.80155648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.750714057 meters 0.030262756773965796 Centerline is valid? [True, True] Translation: X:591.67, Y:-79.63, Z:-38.02 [[ 9.56111754e-01 2.89416727e-01 4.56976216e-02 5.91674467e+02] [-2.89185773e-01 9.57201109e-01 -1.17313611e-02 -7.96344332e+01] [-4.71370662e-02 -1.99860980e-03 9.98886431e-01 -3.80173841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.780714057 meters 0.03039556500613688 Centerline is valid? [True, True] Translation: X:591.70, Y:-79.64, Z:-38.02 [[ 9.55800857e-01 2.90557327e-01 4.49573212e-02 5.91704865e+02] [-2.90334568e-01 9.56855472e-01 -1.15518197e-02 -7.96446472e+01] [-4.63741247e-02 -2.01142529e-03 9.98922116e-01 -3.80193286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.8107140569999 meters 0.030782410935745314 Centerline is valid? [True, True] Translation: X:591.74, Y:-79.65, Z:-38.02 [[ 9.55596760e-01 2.91312953e-01 4.44026610e-02 5.91735937e+02] [-2.91095945e-01 9.56625693e-01 -1.14207899e-02 -7.96535632e+01] [-4.58037504e-02 -2.01176480e-03 9.98948432e-01 -3.80215142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.8407140569999 meters 0.03399219561604217 Centerline is valid? [True, True] Translation: X:591.77, Y:-79.66, Z:-38.03 [[ 9.55406430e-01 2.91980923e-01 4.41100222e-02 5.91766448e+02] [-2.91766943e-01 9.56422011e-01 -1.13572536e-02 -7.96577285e+01] [-4.55038975e-02 -2.01905316e-03 9.98962121e-01 -3.80252229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.870714057 meters 0.03399219561604217 Centerline is valid? [True, True] Translation: X:591.80, Y:-79.67, Z:-38.03 [[ 9.55329057e-01 2.92234352e-01 4.41075559e-02 5.91797780e+02] [-2.92020200e-01 9.56344602e-01 -1.13668225e-02 -7.96659074e+01] [-4.55037990e-02 -2.02124152e-03 9.98962121e-01 -3.80271051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.900714057 meters 0.030468182010866412 Centerline is valid? [True, True] Translation: X:591.83, Y:-79.68, Z:-38.03 [[ 9.55251960e-01 2.92633610e-01 4.31191773e-02 5.91827015e+02] [-2.92428821e-01 9.56222588e-01 -1.11241447e-02 -7.96816828e+01] [-4.44868299e-02 -1.98292915e-03 9.99008003e-01 -3.80272740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.9307140569999 meters 0.03240181794925796 Centerline is valid? [True, True] Translation: X:591.86, Y:-79.69, Z:-38.03 [[ 9.55292985e-01 2.92613229e-01 4.23416015e-02 5.91857961e+02] [-2.92415268e-01 9.56228922e-01 -1.09343642e-02 -7.96888920e+01] [-4.36878036e-02 -1.93580933e-03 9.99043357e-01 -3.80309944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.9607140569999 meters 0.03115230272119552 Centerline is valid? [True, True] Translation: X:591.89, Y:-79.70, Z:-38.03 [[ 9.55268091e-01 2.92718476e-01 4.21754399e-02 5.91888304e+02] [-2.92521655e-01 9.56196738e-01 -1.09032375e-02 -7.97011230e+01] [-4.35195971e-02 -1.92171458e-03 9.99050725e-01 -3.80323465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.990714057 meters 0.0315206667585602 Centerline is valid? [True, True] Translation: X:591.92, Y:-79.71, Z:-38.03 [[ 9.55395084e-01 2.92413048e-01 4.14106570e-02 5.91918742e+02] [-2.92222375e-01 9.56290309e-01 -1.07205036e-02 -7.97106619e+01] [-4.27354251e-02 -1.85880415e-03 9.99084695e-01 -3.80345889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.020714057 meters 0.030949025394151654 Centerline is valid? [True, True] Translation: X:591.95, Y:-79.72, Z:-38.04 [[ 9.55677860e-01 2.91489439e-01 4.13972830e-02 5.91948587e+02] [-2.91297965e-01 9.56572324e-01 -1.07184447e-02 -7.97238443e+01] [-4.27238086e-02 -1.81556398e-03 9.99085272e-01 -3.80365655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.0507140569999 meters 0.031033327591490956 Centerline is valid? [True, True] Translation: X:591.98, Y:-79.74, Z:-38.04 [[ 9.56046770e-01 2.90274566e-01 4.14155682e-02 5.91977988e+02] [-2.90081318e-01 9.56941800e-01 -1.07340822e-02 -7.97363487e+01] [-4.27481195e-02 -1.75159804e-03 9.99084346e-01 -3.80376565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.0807140569999 meters 0.030226610655968836 Centerline is valid? [True, True] Translation: X:592.01, Y:-79.75, Z:-38.04 [[ 9.56754498e-01 2.87663328e-01 4.32508974e-02 5.92006314e+02] [-2.87449244e-01 9.57730099e-01 -1.12245253e-02 -7.97488095e+01] [-4.46515705e-02 -1.69332268e-03 9.99001186e-01 -3.80376228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.110714057 meters 0.030995929409824145 Centerline is valid? [True, True] Translation: X:592.04, Y:-79.76, Z:-38.04 [[ 9.56930860e-01 2.86995637e-01 4.37816654e-02 5.92035869e+02] [-2.86775648e-01 9.57930408e-01 -1.13604693e-02 -7.97572695e+01] [-4.52001937e-02 -1.68433184e-03 9.98976529e-01 -3.80392929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.140714057 meters 0.028663136472250685 Centerline is valid? [True, True] Translation: X:592.06, Y:-79.77, Z:-38.04 [[ 9.57187089e-01 2.86065655e-01 4.42641779e-02 5.92064782e+02] [-2.85839333e-01 9.58208601e-01 -1.14957888e-02 -7.97744715e+01] [-4.57028663e-02 -1.64882247e-03 9.98953717e-01 -3.80379233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.1707140569999 meters 0.030508068841199904 Centerline is valid? [True, True] Translation: X:592.10, Y:-79.78, Z:-38.04 [[ 9.57345239e-01 2.85535043e-01 4.42699948e-02 5.92095053e+02] [-2.85307549e-01 9.58366913e-01 -1.15092255e-02 -7.97801028e+01] [-4.57131854e-02 -1.61226144e-03 9.98953305e-01 -3.80412799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.2007140569999 meters 0.02908872851948803 Centerline is valid? [True, True] Translation: X:592.12, Y:-79.79, Z:-38.04 [[ 9.57684136e-01 2.84483418e-01 4.37067498e-02 5.92124360e+02] [-2.84260118e-01 9.58679737e-01 -1.13731304e-02 -7.97936852e+01] [-4.51362424e-02 -1.53221928e-03 9.98979665e-01 -3.80426499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.2307140569999 meters 0.029202487659062287 Centerline is valid? [True, True] Translation: X:592.16, Y:-79.80, Z:-38.04 [[ 9.57840456e-01 2.84004930e-01 4.33919385e-02 5.92155199e+02] [-2.83783855e-01 9.58821665e-01 -1.13021671e-02 -7.98034045e+01] [-4.48150019e-02 -1.48825868e-03 9.98994195e-01 -3.80449430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.260714057 meters 0.029828848719867913 Centerline is valid? [True, True] Translation: X:592.18, Y:-79.81, Z:-38.05 [[ 9.58250179e-01 2.82763309e-01 4.24441558e-02 5.92184462e+02] [-2.82550049e-01 9.59188712e-01 -1.10672347e-02 -7.98134959e+01] [-4.38413631e-02 -1.38741869e-03 9.99037542e-01 -3.80488046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.290714057 meters 0.027476661333628232 Centerline is valid? [True, True] Translation: X:592.21, Y:-79.83, Z:-38.05 [[ 9.58958038e-01 2.80514041e-01 4.13685160e-02 5.92213827e+02] [-2.80309117e-01 9.59849113e-01 -1.07925656e-02 -7.98299671e+01] [-4.27349996e-02 -1.24635467e-03 9.99085665e-01 -3.80494829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.3207140569999 meters 0.027441628209194314 Centerline is valid? [True, True] Translation: X:592.24, Y:-79.84, Z:-38.05 [[ 9.59245144e-01 2.79597027e-01 4.09176734e-02 5.92243159e+02] [-2.79395473e-01 9.60116708e-01 -1.06806329e-02 -7.98388919e+01] [-4.22720151e-02 -1.18686744e-03 9.99105434e-01 -3.80511236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.3507140569999 meters 0.027289486717827414 Centerline is valid? [True, True] Translation: X:592.27, Y:-79.85, Z:-38.05 [[ 9.59801148e-01 2.77726178e-01 4.06192947e-02 5.92273008e+02] [-2.77525697e-01 9.60659657e-01 -1.06070860e-02 -7.98508629e+01] [-4.19671832e-02 -1.09220479e-03 9.99118393e-01 -3.80524389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.380714057 meters 0.02694830918460781 Centerline is valid? [True, True] Translation: X:592.30, Y:-79.86, Z:-38.05 [[ 9.60148293e-01 2.76429082e-01 4.12579478e-02 5.92302959e+02] [-2.76220566e-01 9.61033756e-01 -1.07851628e-02 -7.98598300e+01] [-4.26316132e-02 -1.04093803e-03 9.99090317e-01 -3.80541844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.410714057 meters 0.026156084559823423 Centerline is valid? [True, True] Translation: X:592.33, Y:-79.87, Z:-38.05 [[ 9.60809989e-01 2.74025791e-01 4.18811584e-02 5.92333723e+02] [-2.73808141e-01 9.61721887e-01 -1.09596697e-02 -7.98713803e+01] [-4.32812588e-02 -9.37242047e-04 9.99062488e-01 -3.80546135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.4407140569999 meters 0.02647006928723694 Centerline is valid? [True, True] Translation: X:592.36, Y:-79.88, Z:-38.06 [[ 9.61016366e-01 2.73207527e-01 4.24875374e-02 5.92363657e+02] [-2.72982514e-01 9.61954688e-01 -1.11232055e-02 -7.98788857e+01] [-4.39100293e-02 -9.08772198e-04 9.99035076e-01 -3.80570023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.4707140569999 meters 0.02585321185425859 Centerline is valid? [True, True] Translation: X:592.39, Y:-79.89, Z:-38.06 [[ 9.61183718e-01 2.72599971e-01 4.26041912e-02 5.92394615e+02] [-2.72372684e-01 9.62127067e-01 -1.11637271e-02 -7.98891189e+01] [-4.40338772e-02 -8.73825171e-04 9.99029656e-01 -3.80566346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.500714057 meters 0.026494531323229917 Centerline is valid? [True, True] Translation: X:592.43, Y:-79.89, Z:-38.06 [[ 9.61059046e-01 2.73104637e-01 4.21825419e-02 5.92425525e+02] [-2.72881816e-01 9.61983933e-01 -1.10646594e-02 -7.98940719e+01] [-4.36007374e-02 -8.77057579e-04 9.99048651e-01 -3.80589909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.530714057 meters 0.026493023527954365 Centerline is valid? [True, True] Translation: X:592.46, Y:-79.90, Z:-38.06 [[ 9.60756546e-01 2.74220988e-01 4.18295149e-02 5.92455635e+02] [-2.74002499e-01 9.61666273e-01 -1.09822285e-02 -7.98998355e+01] [-4.32375913e-02 -9.10143659e-04 9.99064404e-01 -3.80615336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.5607140569999 meters 0.026892575685841778 Centerline is valid? [True, True] Translation: X:592.49, Y:-79.90, Z:-38.06 [[ 9.60050407e-01 2.76761014e-01 4.13104897e-02 5.92487669e+02] [-2.76549862e-01 9.60938258e-01 -1.08553252e-02 -7.99039454e+01] [-4.27011608e-02 -1.00275083e-03 9.99087386e-01 -3.80639885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.5907140569999 meters 0.027400041581373723 Centerline is valid? [True, True] Translation: X:592.52, Y:-79.91, Z:-38.07 [[ 9.59607297e-01 2.78330478e-01 4.10606970e-02 5.92518396e+02] [-2.78122850e-01 9.60484789e-01 -1.08004672e-02 -7.99097215e+01] [-4.24442741e-02 -1.05571092e-03 9.99098278e-01 -3.80662086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.620714057 meters 0.028065606397752706 Centerline is valid? [True, True] Translation: X:592.55, Y:-79.91, Z:-38.07 [[ 9.58942518e-01 2.80724598e-01 4.02858220e-02 5.92550563e+02] [-2.80526349e-01 9.59787699e-01 -1.06085263e-02 -7.99134959e+01] [-4.16439107e-02 -1.12826767e-03 9.99131879e-01 -3.80687083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.650714057 meters 0.027956548113075252 Centerline is valid? [True, True] Translation: X:592.58, Y:-79.92, Z:-38.07 [[ 9.58613896e-01 2.81913444e-01 3.98021094e-02 5.92581596e+02] [-2.81720958e-01 9.59439134e-01 -1.04809787e-02 -7.99205057e+01] [-4.11424302e-02 -1.16587655e-03 9.99152612e-01 -3.80706841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.6807140569999 meters 0.030068373993095122 Centerline is valid? [True, True] Translation: X:592.61, Y:-79.92, Z:-38.08 [[ 9.57963119e-01 2.84216883e-01 3.90823064e-02 5.92613479e+02] [-2.84032799e-01 9.58759222e-01 -1.03016422e-02 -7.99209301e+01] [-4.03984223e-02 -1.23206362e-03 9.99182891e-01 -3.80767404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.7107140569999 meters 0.028850903375745536 Centerline is valid? [True, True] Translation: X:592.64, Y:-79.93, Z:-38.08 [[ 9.57813834e-01 2.84766469e-01 3.87391013e-02 5.92644504e+02] [-2.84585700e-01 9.58596125e-01 -1.02200139e-02 -7.99303893e+01] [-4.00454697e-02 -1.23572358e-03 9.99197094e-01 -3.80773948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.740714057 meters 0.02944095142565248 Centerline is valid? [True, True] Translation: X:592.68, Y:-79.94, Z:-38.08 [[ 9.57371965e-01 2.86208920e-01 3.90304309e-02 5.92675665e+02] [-2.86026193e-01 9.58166361e-01 -1.03073711e-02 -7.99359916e+01] [-4.03477075e-02 -1.29573742e-03 9.99184860e-01 -3.80786895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.770714057 meters 0.02855155380991618 Centerline is valid? [True, True] Translation: X:592.71, Y:-79.95, Z:-38.08 [[ 9.57108853e-01 2.86930618e-01 4.01679505e-02 5.92707239e+02] [-2.86737353e-01 9.57950406e-01 -1.06165068e-02 -7.99465193e+01] [-4.15251054e-02 -1.35649922e-03 9.99136540e-01 -3.80776383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.8007140569999 meters 0.029568723055219792 Centerline is valid? [True, True] Translation: X:592.74, Y:-79.95, Z:-38.08 [[ 9.57114831e-01 2.86797952e-01 4.09650521e-02 5.92738583e+02] [-2.86596235e-01 9.57990122e-01 -1.08409113e-02 -7.99507306e+01] [-4.23532664e-02 -1.36443269e-03 9.99101766e-01 -3.80804783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.8307140569999 meters 0.028322757916208773 Centerline is valid? [True, True] Translation: X:592.77, Y:-79.96, Z:-38.08 [[ 9.57031808e-01 2.86970684e-01 4.16886582e-02 5.92768932e+02] [-2.86761499e-01 9.57938361e-01 -1.10425837e-02 -7.99609883e+01] [-4.31040627e-02 -1.38659830e-03 9.99069626e-01 -3.80795246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.860714057 meters 0.028040302718914396 Centerline is valid? [True, True] Translation: X:592.80, Y:-79.97, Z:-38.08 [[ 9.57019084e-01 2.86890239e-01 4.25260389e-02 5.92800107e+02] [-2.86671976e-01 9.57962437e-01 -1.12759322e-02 -7.99690659e+01] [-4.39733028e-02 -1.39974124e-03 9.99031726e-01 -3.80809435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.890714057 meters 0.02882549011445007 Centerline is valid? [True, True] Translation: X:592.83, Y:-79.97, Z:-38.08 [[ 9.57035598e-01 2.86764185e-01 4.30019372e-02 5.92830491e+02] [-2.86540352e-01 9.58000181e-01 -1.14139937e-02 -7.99747215e+01] [-4.44689882e-02 -1.39819193e-03 9.99009787e-01 -3.80830161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.9207140569999 meters 0.02825666475069957 Centerline is valid? [True, True] Translation: X:592.86, Y:-79.98, Z:-38.08 [[ 9.56915267e-01 2.87219096e-01 4.26422740e-02 5.92862345e+02] [-2.86999017e-01 9.57863892e-01 -1.13281897e-02 -7.99838009e+01] [-4.40991670e-02 -1.39817303e-03 9.99026180e-01 -3.80841284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.9507140569999 meters 0.029410256273382247 Centerline is valid? [True, True] Translation: X:592.89, Y:-79.99, Z:-38.09 [[ 9.56582398e-01 2.88349683e-01 4.24802938e-02 5.92893050e+02] [-2.88131724e-01 9.57524106e-01 -1.13002383e-02 -7.99871475e+01] [-4.39343255e-02 -1.43031122e-03 9.99033397e-01 -3.80872266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.9807140569999 meters 0.02883195904819105 Centerline is valid? [True, True] Translation: X:592.92, Y:-80.00, Z:-38.09 [[ 9.56323126e-01 2.89271110e-01 4.20512127e-02 5.92923325e+02] [-2.89058269e-01 9.57246107e-01 -1.11896160e-02 -7.99962987e+01] [-4.34901923e-02 -1.45436222e-03 9.99052795e-01 -3.80885694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.010714057 meters 0.03129957163907191 Centerline is valid? [True, True] Translation: X:592.95, Y:-80.00, Z:-38.09 [[ 9.55851054e-01 2.90970569e-01 4.10474121e-02 5.92954519e+02] [-2.90768806e-01 9.56730855e-01 -1.09349327e-02 -7.99971488e+01] [-4.24530692e-02 -1.48314008e-03 9.99097361e-01 -3.80941352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.040714057 meters 0.02970130689268737 Centerline is valid? [True, True] Translation: X:592.98, Y:-80.01, Z:-38.10 [[ 9.55395017e-01 2.92591278e-01 4.01335838e-02 5.92984981e+02] [-2.92399703e-01 9.56236394e-01 -1.06945226e-02 -8.00062317e+01] [-4.15063175e-02 -1.51755434e-03 9.99137089e-01 -3.80958677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.0707140569999 meters 0.029542112960835875 Centerline is valid? [True, True] Translation: X:593.02, Y:-80.01, Z:-38.10 [[ 9.55236275e-01 2.93115762e-01 4.00850169e-02 5.93016998e+02] [-2.92924703e-01 9.56075736e-01 -1.06914114e-02 -8.00146709e+01] [-4.14581332e-02 -1.52906767e-03 9.99139072e-01 -3.80974991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.1007140569999 meters 0.02939484944540716 Centerline is valid? [True, True] Translation: X:593.05, Y:-80.02, Z:-38.10 [[ 9.55347456e-01 2.92665479e-01 4.07204553e-02 5.93048263e+02] [-2.92467346e-01 9.56213682e-01 -1.08741413e-02 -8.00225731e+01] [-4.21199422e-02 -1.52082029e-03 9.99111404e-01 -3.80991011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.130714057 meters 0.030128112753239775 Centerline is valid? [True, True] Translation: X:593.08, Y:-80.03, Z:-38.10 [[ 9.55412937e-01 2.92395815e-01 4.11194333e-02 5.93078288e+02] [-2.92193046e-01 9.56296188e-01 -1.09920638e-02 -8.00296516e+01] [-4.25363908e-02 -1.51285247e-03 9.99093773e-01 -3.81005625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.160714057 meters 0.028752731752428227 Centerline is valid? [True, True] Translation: X:593.11, Y:-80.04, Z:-38.10 [[ 9.56016203e-01 2.90209326e-01 4.25625065e-02 5.93108290e+02] [-2.89989327e-01 9.56962087e-01 -1.13909444e-02 -8.00409152e+01] [-4.40364633e-02 -1.45274519e-03 9.99028868e-01 -3.81006090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.1907140569999 meters 0.02874679470219027 Centerline is valid? [True, True] Translation: X:593.14, Y:-80.05, Z:-38.10 [[ 9.56324874e-01 2.89265056e-01 4.20530873e-02 5.93137763e+02] [-2.89049346e-01 9.57248030e-01 -1.12554380e-02 -8.00493239e+01] [-4.35110399e-02 -1.39156205e-03 9.99051977e-01 -3.81029208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.2207140569999 meters 0.028008878706598243 Centerline is valid? [True, True] Translation: X:593.17, Y:-80.06, Z:-38.11 [[ 9.57126386e-01 2.86708486e-01 4.13197944e-02 5.93168339e+02] [-2.86497338e-01 9.58017068e-01 -1.10712496e-02 -8.00602620e+01] [-4.27592895e-02 -1.24142600e-03 9.99084632e-01 -3.81057866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.250714057 meters 0.028135797260866142 Centerline is valid? [True, True] Translation: X:593.20, Y:-80.07, Z:-38.11 [[ 9.57782097e-01 2.84702276e-01 3.99758393e-02 5.93198644e+02] [-2.84502859e-01 9.58615342e-01 -1.07121082e-02 -8.00686244e+01] [-4.13712145e-02 -1.11337507e-03 9.99143224e-01 -3.81100447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.280714057 meters 0.027721507330092574 Centerline is valid? [True, True] Translation: X:593.23, Y:-80.08, Z:-38.11 [[ 9.58138982e-01 2.83510791e-01 3.98913849e-02 5.93228525e+02] [-2.83310736e-01 9.58968472e-01 -1.07003139e-02 -8.00774751e+01] [-4.12882349e-02 -1.04926974e-03 9.99146726e-01 -3.81124811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.3107140569999 meters 0.027173064240926616 Centerline is valid? [True, True] Translation: X:593.26, Y:-80.09, Z:-38.11 [[ 9.58650308e-01 2.81799552e-01 3.97315845e-02 5.93258106e+02] [-2.81599258e-01 9.59472816e-01 -1.06664250e-02 -8.00899408e+01] [-4.11271690e-02 -9.63013138e-04 9.99153456e-01 -3.81129302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.3407140569999 meters 0.026506016496403238 Centerline is valid? [True, True] Translation: X:593.29, Y:-80.10, Z:-38.11 [[ 9.58968788e-01 2.80562865e-01 4.07840953e-02 5.93288509e+02] [-2.80350229e-01 9.59835208e-01 -1.09600706e-02 -8.01003750e+01] [-4.22209994e-02 -9.23464805e-04 9.99107869e-01 -3.81137480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.370714057 meters 0.026723968391447365 Centerline is valid? [True, True] Translation: X:593.32, Y:-80.11, Z:-38.11 [[ 9.59529997e-01 2.78337583e-01 4.27828737e-02 5.93318656e+02] [-2.78100768e-01 9.60482932e-01 -1.15108805e-02 -8.01092884e+01] [-4.42961306e-02 -8.52914909e-04 9.99018081e-01 -3.81145655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.400714057 meters 0.026238301925194947 Centerline is valid? [True, True] Translation: X:593.35, Y:-80.12, Z:-38.11 [[ 9.59603535e-01 2.77900783e-01 4.39569129e-02 5.93349448e+02] [-2.77650072e-01 9.60609407e-01 -1.18323949e-02 -8.01187798e+01] [-4.55136558e-02 -8.50232071e-04 9.98963355e-01 -3.81147626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.4307140569999 meters 0.025780227443017983 Centerline is valid? [True, True] Translation: X:593.38, Y:-80.13, Z:-38.11 [[ 9.59523355e-01 2.78017689e-01 4.49565904e-02 5.93379931e+02] [-2.77755021e-01 9.60575566e-01 -1.21132289e-02 -8.01287324e+01] [-4.65518942e-02 -8.63992658e-04 9.98915499e-01 -3.81142280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.4607140569999 meters 0.0259700594873026 Centerline is valid? [True, True] Translation: X:593.41, Y:-80.14, Z:-38.12 [[ 9.59418011e-01 2.78363821e-01 4.50628768e-02 5.93411061e+02] [-2.78099742e-01 9.60475311e-01 -1.21535930e-02 -8.01359374e+01] [-4.66649012e-02 -8.71598430e-04 9.98910220e-01 -3.81164193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.490714057 meters 0.02562025640592046 Centerline is valid? [True, True] Translation: X:593.44, Y:-80.15, Z:-38.12 [[ 9.59211980e-01 2.79084491e-01 4.49913742e-02 5.93442802e+02] [-2.78821461e-01 9.60266135e-01 -1.21467458e-02 -8.01463680e+01] [-4.65936613e-02 -8.93256637e-04 9.98913526e-01 -3.81174204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.520714057 meters 0.025442620317410687 Centerline is valid? [True, True] Translation: X:593.47, Y:-80.16, Z:-38.12 [[ 9.59261754e-01 2.78875150e-01 4.52276198e-02 5.93473837e+02] [-2.78608452e-01 9.60326969e-01 -1.22247222e-02 -8.01551136e+01] [-4.68424742e-02 -8.74088624e-04 9.98901906e-01 -3.81188065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.5507140569999 meters 0.025346323853861537 Centerline is valid? [True, True] Translation: X:593.50, Y:-80.16, Z:-38.12 [[ 9.59340524e-01 2.78509556e-01 4.58059658e-02 5.93504938e+02] [-2.78234987e-01 9.60433077e-01 -1.23934019e-02 -8.01638964e+01] [-4.74452456e-02 -8.55329634e-04 9.98873474e-01 -3.81206618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.5807140569999 meters 0.024970444676269025 Centerline is valid? [True, True] Translation: X:593.54, Y:-80.17, Z:-38.12 [[ 9.59670319e-01 2.77265305e-01 4.64416905e-02 5.93535554e+02] [-2.76981007e-01 9.60793069e-01 -1.25777404e-02 -8.01737236e+01] [-4.81082254e-02 -7.92982106e-04 9.98841814e-01 -3.81221872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.610714057 meters 0.02455703627289047 Centerline is valid? [True, True] Translation: X:593.57, Y:-80.18, Z:-38.12 [[ 9.59854212e-01 2.76607526e-01 4.65635995e-02 5.93565973e+02] [-2.76320360e-01 9.60982682e-01 -1.26231784e-02 -8.01823118e+01] [-4.82384789e-02 -7.50059587e-04 9.98835565e-01 -3.81237749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.640714057 meters 0.024808888850061807 Centerline is valid? [True, True] Translation: X:593.60, Y:-80.19, Z:-38.13 [[ 9.60238755e-01 2.75391675e-01 4.58362248e-02 5.93596007e+02] [-2.75111451e-01 9.61331879e-01 -1.24381677e-02 -8.01909440e+01] [-4.74891920e-02 -6.66459669e-04 9.98871530e-01 -3.81266611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.6707140569999 meters 0.02447653366352954 Centerline is valid? [True, True] Translation: X:593.63, Y:-80.20, Z:-38.13 [[ 9.60357531e-01 2.75029430e-01 4.55217039e-02 5.93627504e+02] [-2.74752138e-01 9.61435599e-01 -1.23633387e-02 -8.01998294e+01] [-4.71664687e-02 -6.33960007e-04 9.98886842e-01 -3.81286206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.7007140569999 meters 0.024413430549974757 Centerline is valid? [True, True] Translation: X:593.66, Y:-80.21, Z:-38.13 [[ 9.60492092e-01 2.74634004e-01 4.50677940e-02 5.93659195e+02] [-2.74361171e-01 9.61548651e-01 -1.22531211e-02 -8.02089614e+01] [-4.67000002e-02 -5.95826780e-04 9.98908782e-01 -3.81308907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.7307140569999 meters 0.024579531427465825 Centerline is valid? [True, True] Translation: X:593.69, Y:-80.22, Z:-38.13 [[ 9.60635178e-01 2.74117483e-01 4.51625952e-02 5.93689271e+02] [-2.73842261e-01 9.61696051e-01 -1.22931744e-02 -8.02159457e+01] [-4.68024634e-02 -5.58171441e-04 9.98904008e-01 -3.81330542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.760714057 meters 0.024144039199736508 Centerline is valid? [True, True] Translation: X:593.72, Y:-80.22, Z:-38.13 [[ 9.60717010e-01 2.73784685e-01 4.54397813e-02 5.93719832e+02] [-2.73505189e-01 9.61790861e-01 -1.23794751e-02 -8.02247282e+01] [-4.70928771e-02 -5.34843724e-04 9.98890372e-01 -3.81341872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.790714057 meters 0.024144039199736508 Centerline is valid? [True, True] Translation: X:593.75, Y:-80.23, Z:-38.14 [[ 9.60640377e-01 2.74053933e-01 4.54368566e-02 5.93751007e+02] [-2.73774230e-01 9.61714175e-01 -1.23901994e-02 -8.02333016e+01] [-4.70928519e-02 -5.36914606e-04 9.98890372e-01 -3.81360676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.8207140569999 meters 0.024845159469384447 Centerline is valid? [True, True] Translation: X:593.78, Y:-80.24, Z:-38.14 [[ 9.60973641e-01 2.72887585e-01 4.54095446e-02 5.93782277e+02] [-2.72606255e-01 9.62045814e-01 -1.23968083e-02 -8.02421421e+01] [-4.70689974e-02 -4.65919843e-04 9.98891532e-01 -3.81374085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.8507140569999 meters 0.024388662199258337 Centerline is valid? [True, True] Translation: X:593.81, Y:-80.25, Z:-38.14 [[ 9.61115171e-01 2.72281795e-01 4.60461910e-02 5.93812493e+02] [-2.71991225e-01 9.62217459e-01 -1.25831104e-02 -8.02500734e+01] [-4.77326008e-02 -4.30341575e-04 9.98860057e-01 -3.81390289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.880714057 meters 0.02444268132068426 Centerline is valid? [True, True] Translation: X:593.84, Y:-80.26, Z:-38.14 [[ 9.61350582e-01 2.71448094e-01 4.60542140e-02 5.93842760e+02] [-2.71155890e-01 9.62453007e-01 -1.25973494e-02 -8.02573491e+01] [-4.77445433e-02 -3.77402220e-04 9.98859508e-01 -3.81415621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.910714057 meters 0.02472059776297664 Centerline is valid? [True, True] Translation: X:593.87, Y:-80.27, Z:-38.14 [[ 9.61339812e-01 2.71475947e-01 4.61148249e-02 5.93874107e+02] [-2.71182755e-01 9.62445152e-01 -1.26191627e-02 -8.02659080e+01] [-4.78087888e-02 -3.74241716e-04 9.98856436e-01 -3.81435383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.9407140569999 meters 0.02484166560409255 Centerline is valid? [True, True] Translation: X:593.90, Y:-80.27, Z:-38.15 [[ 9.61374694e-01 2.71606383e-01 4.45945220e-02 5.93904399e+02] [-2.71331734e-01 9.62408357e-01 -1.22165422e-02 -8.02723951e+01] [-4.62362315e-02 -3.55234479e-04 9.98930470e-01 -3.81471266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.9707140569999 meters 0.02485758538703668 Centerline is valid? [True, True] Translation: X:593.94, Y:-80.28, Z:-38.15 [[ 9.61300921e-01 2.71891950e-01 4.44444200e-02 5.93935776e+02] [-2.71618975e-01 9.62327720e-01 -1.21857480e-02 -8.02801589e+01] [-4.60833041e-02 -3.57777037e-04 9.98937536e-01 -3.81496058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.000714057 meters 0.024902691105263733 Centerline is valid? [True, True] Translation: X:593.97, Y:-80.29, Z:-38.15 [[ 9.61094718e-01 2.72756217e-01 4.36003288e-02 5.93967225e+02] [-2.72493883e-01 9.62083105e-01 -1.19659000e-02 -8.02875409e+01] [-4.52109134e-02 -3.80459565e-04 9.98977391e-01 -3.81508434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.030714057 meters 0.02487712396478314 Centerline is valid? [True, True] Translation: X:594.00, Y:-80.30, Z:-38.15 [[ 9.61193912e-01 2.72282714e-01 4.43665213e-02 5.93998540e+02] [-2.72010031e-01 9.62217231e-01 -1.21878588e-02 -8.02952255e+01] [-4.60087745e-02 -3.53243182e-04 9.98940973e-01 -3.81522759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.0607140569999 meters 0.02483967254609502 Centerline is valid? [True, True] Translation: X:594.03, Y:-80.30, Z:-38.15 [[ 9.61208861e-01 2.72176073e-01 4.46957667e-02 5.94030298e+02] [-2.71898694e-01 9.62247406e-01 -1.22894462e-02 -8.03039322e+01] [-4.63532788e-02 -3.39995962e-04 9.98925051e-01 -3.81532658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.0907140569999 meters 0.02449160730616572 Centerline is valid? [True, True] Translation: X:594.06, Y:-80.31, Z:-38.15 [[ 9.61355603e-01 2.71376303e-01 4.63714007e-02 5.94061607e+02] [-2.71076082e-01 9.62473279e-01 -1.27649910e-02 -8.03121168e+01] [-4.80953502e-02 -2.98481945e-04 9.98842704e-01 -3.81540260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.120714057 meters 0.0245488875146178 Centerline is valid? [True, True] Translation: X:594.09, Y:-80.32, Z:-38.16 [[ 9.61398388e-01 2.71125945e-01 4.69453128e-02 5.94091464e+02] [-2.70817322e-01 9.62543841e-01 -1.29357257e-02 -8.03198565e+01] [-4.86941326e-02 -2.77218106e-04 9.98813699e-01 -3.81562663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.150714057 meters 0.024953512296687675 Centerline is valid? [True, True] Translation: X:594.12, Y:-80.33, Z:-38.16 [[ 9.61612323e-01 2.70475411e-01 4.63118931e-02 5.94121861e+02] [-2.70173753e-01 9.62726856e-01 -1.27727887e-02 -8.03275851e+01] [-4.80404285e-02 -2.29786893e-04 9.98845366e-01 -3.81586037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.1807140569999 meters 0.024739149782504646 Centerline is valid? [True, True] Translation: X:594.15, Y:-80.34, Z:-38.16 [[ 9.61802792e-01 2.69851214e-01 4.59968635e-02 5.94153789e+02] [-2.69552586e-01 9.62902013e-01 -1.26932070e-02 -8.03365718e+01] [-4.77157497e-02 -1.90211566e-04 9.98860937e-01 -3.81600818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.2107140569999 meters 0.02462675802814557 Centerline is valid? [True, True] Translation: X:594.18, Y:-80.35, Z:-38.16 [[ 9.62002268e-01 2.69242318e-01 4.53895318e-02 5.94183899e+02] [-2.68950200e-01 9.63072455e-01 -1.25394123e-02 -8.03451336e+01] [-4.70895482e-02 -1.44580587e-04 9.98890661e-01 -3.81628123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.240714057 meters 0.024401451767767344 Centerline is valid? [True, True] Translation: X:594.22, Y:-80.35, Z:-38.16 [[ 9.62132265e-01 2.68715665e-01 4.57536531e-02 5.94215826e+02] [-2.68417629e-01 9.63219539e-01 -1.26529379e-02 -8.03541895e+01] [-4.74708553e-02 -1.07287286e-04 9.98872618e-01 -3.81641619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.270714057 meters 0.024566529956335372 Centerline is valid? [True, True] Translation: X:594.25, Y:-80.36, Z:-38.17 [[ 9.62248422e-01 2.68125974e-01 4.67593529e-02 5.94245659e+02] [-2.67813275e-01 9.63383858e-01 -1.29457339e-02 -8.03620808e+01] [-4.85182933e-02 -6.57634033e-05 9.98822292e-01 -3.81652248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.3007140569999 meters 0.024591859745255747 Centerline is valid? [True, True] Translation: X:594.28, Y:-80.37, Z:-38.17 [[ 9.62278497e-01 2.67970256e-01 4.70322927e-02 5.94277789e+02] [-2.67653181e-01 9.63427184e-01 -1.30320654e-02 -8.03703307e+01] [-4.88043953e-02 -4.78664864e-05 9.98808354e-01 -3.81670091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.3307140569999 meters 0.024559037272091074 Centerline is valid? [True, True] Translation: X:594.31, Y:-80.38, Z:-38.17 [[ 9.62416706e-01 2.67326444e-01 4.78608089e-02 5.94309474e+02] [-2.66996594e-01 9.63606025e-01 -1.32757832e-02 -8.03780599e+01] [-4.96679318e-02 -1.83744137e-06 9.98765787e-01 -3.81682922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.360714057 meters 0.02454696998276173 Centerline is valid? [True, True] Translation: X:594.34, Y:-80.39, Z:-38.17 [[ 9.62418408e-01 2.67393948e-01 4.74476962e-02 5.94341107e+02] [-2.67069160e-01 9.63587296e-01 -1.31752377e-02 -8.03864281e+01] [-4.92429761e-02 8.27486340e-06 9.98786829e-01 -3.81706936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.390714057 meters 0.02434814348776304 Centerline is valid? [True, True] Translation: X:594.37, Y:-80.39, Z:-38.17 [[ 9.62366425e-01 2.67588152e-01 4.74072267e-02 5.94372101e+02] [-2.67263445e-01 9.63533383e-01 -1.31784111e-02 -8.03932618e+01] [-4.92048322e-02 1.22416590e-05 9.98788709e-01 -3.81736496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.4207140569999 meters 0.0242986023298899 Centerline is valid? [True, True] Translation: X:594.40, Y:-80.40, Z:-38.17 [[ 9.61888579e-01 2.69460245e-01 4.64923375e-02 5.94403124e+02] [-2.69149466e-01 9.63011512e-01 -1.29380522e-02 -8.03996439e+01] [-4.82589469e-02 -6.84231209e-05 9.98834856e-01 -3.81749214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.4507140569999 meters 0.024428005078665906 Centerline is valid? [True, True] Translation: X:594.43, Y:-80.41, Z:-38.18 [[ 9.61379961e-01 2.71341949e-01 4.60664387e-02 5.94434854e+02] [-2.71038753e-01 9.62482998e-01 -1.28246781e-02 -8.04068640e+01] [-4.78180372e-02 -1.56401528e-04 9.98856051e-01 -3.81777117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.4807140569999 meters 0.02441616475594171 Centerline is valid? [True, True] Translation: X:594.47, Y:-80.41, Z:-38.18 [[ 9.60247769e-01 2.75471584e-01 4.51622587e-02 5.94467258e+02] [-2.75184101e-01 9.61309154e-01 -1.25865286e-02 -8.04111880e+01] [-4.68821236e-02 -3.41749584e-04 9.98900370e-01 -3.81807369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.510714057 meters 0.024596366727864923 Centerline is valid? [True, True] Translation: X:594.50, Y:-80.42, Z:-38.18 [[ 9.59516713e-01 2.78088480e-01 4.46595338e-02 5.94498789e+02] [-2.77809664e-01 9.60555356e-01 -1.24578832e-02 -8.04175519e+01] [-4.63623482e-02 -4.53302926e-04 9.98924585e-01 -3.81830319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.540714057 meters 0.02498335252912379 Centerline is valid? [True, True] Translation: X:594.53, Y:-80.42, Z:-38.19 [[ 9.58218655e-01 2.82563288e-01 4.44409417e-02 5.94530142e+02] [-2.82291449e-01 9.59248435e-01 -1.24088139e-02 -8.04213029e+01] [-4.61361790e-02 -6.54940863e-04 9.98934945e-01 -3.81859004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.5707140569999 meters 0.025033187462263247 Centerline is valid? [True, True] Translation: X:594.56, Y:-80.43, Z:-38.19 [[ 9.57400175e-01 2.85283923e-01 4.46988690e-02 5.94560961e+02] [-2.85011380e-01 9.58442734e-01 -1.24915445e-02 -8.04289897e+01] [-4.64049431e-02 -7.80279472e-04 9.98922406e-01 -3.81869985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.6007140569999 meters 0.02569324611600467 Centerline is valid? [True, True] Translation: X:594.59, Y:-80.43, Z:-38.19 [[ 9.56123282e-01 2.89446132e-01 4.52681645e-02 5.94591560e+02] [-2.89170662e-01 9.57193800e-01 -1.26632148e-02 -8.04333817e+01] [-4.69957250e-02 -9.82630597e-04 9.98894607e-01 -3.81893445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.630714057 meters 0.025847357119292258 Centerline is valid? [True, True] Translation: X:594.62, Y:-80.44, Z:-38.19 [[ 9.55350050e-01 2.92042094e-01 4.49187774e-02 5.94622218e+02] [-2.91773214e-01 9.56404843e-01 -1.25764547e-02 -8.04409920e+01] [-4.66333904e-02 -1.09117942e-03 9.98911476e-01 -3.81901953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.660714057 meters 0.02670699088249993 Centerline is valid? [True, True] Translation: X:594.65, Y:-80.45, Z:-38.19 [[ 9.54179651e-01 2.95952256e-01 4.41979237e-02 5.94653268e+02] [-2.95695563e-01 9.55201916e-01 -1.23868449e-02 -8.04461503e+01] [-4.58838560e-02 -1.24985456e-03 9.98945999e-01 -3.81926223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.6907140569999 meters 0.027211057344128625 Centerline is valid? [True, True] Translation: X:594.68, Y:-80.45, Z:-38.20 [[ 9.53160784e-01 2.99338700e-01 4.33689050e-02 5.94684597e+02] [-2.99094780e-01 9.54145920e-01 -1.21604258e-02 -8.04520320e+01] [-4.50203498e-02 -1.38057215e-03 9.98985116e-01 -3.81961749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.7207140569999 meters 0.02904119551431622 Centerline is valid? [True, True] Translation: X:594.72, Y:-80.46, Z:-38.20 [[ 9.52653473e-01 3.01013169e-01 4.29235708e-02 5.94715295e+02] [-3.00775885e-01 9.53618890e-01 -1.20365907e-02 -8.04571033e+01] [-4.45559003e-02 -1.44367505e-03 9.99005850e-01 -3.81999276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.750714057 meters 0.028454799148892665 Centerline is valid? [True, True] Translation: X:594.75, Y:-80.47, Z:-38.20 [[ 9.52160392e-01 3.02605151e-01 4.26697915e-02 5.94745681e+02] [-3.02371811e-01 9.53114827e-01 -1.19755503e-02 -8.04686351e+01] [-4.42930741e-02 -1.49949747e-03 9.99017455e-01 -3.82008238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.780714057 meters 0.02838536054180548 Centerline is valid? [True, True] Translation: X:594.78, Y:-80.48, Z:-38.20 [[ 9.51961070e-01 3.03204111e-01 4.28647711e-02 5.94776709e+02] [-3.02968763e-01 9.52924417e-01 -1.20409647e-02 -8.04792099e+01] [-4.44977570e-02 -1.52415704e-03 9.99008322e-01 -3.82018901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.8107140569999 meters 0.027907407834810348 Centerline is valid? [True, True] Translation: X:594.81, Y:-80.49, Z:-38.20 [[ 9.51975865e-01 3.03147547e-01 4.29362017e-02 5.94807009e+02] [-3.02910769e-01 9.52942433e-01 -1.20741912e-02 -8.04903923e+01] [-4.45759900e-02 -1.51149931e-03 9.99004853e-01 -3.82031755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.8407140569999 meters 0.02833478859884541 Centerline is valid? [True, True] Translation: X:594.84, Y:-80.50, Z:-38.20 [[ 9.52247309e-01 3.02231343e-01 4.33736960e-02 5.94836699e+02] [-3.01988241e-01 9.53233469e-01 -1.22088207e-02 -8.05014354e+01] [-4.50351470e-02 -1.47252949e-03 9.98984318e-01 -3.82049369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.870714057 meters 0.026938943449303362 Centerline is valid? [True, True] Translation: X:594.87, Y:-80.51, Z:-38.21 [[ 9.52484194e-01 3.01491668e-01 4.33201417e-02 5.94865963e+02] [-3.01247896e-01 9.53467746e-01 -1.22049850e-02 -8.05143371e+01] [-4.49840592e-02 -1.42504627e-03 9.98986688e-01 -3.82053468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.900714057 meters 0.027370767745383443 Centerline is valid? [True, True] Translation: X:594.90, Y:-80.53, Z:-38.21 [[ 9.52966503e-01 2.99913228e-01 4.36680702e-02 5.94895566e+02] [-2.99663326e-01 9.53965531e-01 -1.23149267e-02 -8.05256396e+01] [-4.53512432e-02 -1.35000657e-03 9.98970191e-01 -3.82068287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.9307140569999 meters 0.02641270110249315 Centerline is valid? [True, True] Translation: X:594.92, Y:-80.54, Z:-38.21 [[ 9.53572470e-01 2.97891539e-01 4.42738730e-02 5.94924550e+02] [-2.97631920e-01 9.54598892e-01 -1.24978557e-02 -8.05399706e+01] [-4.59867955e-02 -1.25970668e-03 9.98941253e-01 -3.82076188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.9607140569999 meters 0.02620496971468792 Centerline is valid? [True, True] Translation: X:594.95, Y:-80.55, Z:-38.21 [[ 9.53970462e-01 2.96636029e-01 4.41296231e-02 5.94953769e+02] [-2.96376204e-01 9.54989877e-01 -1.24691938e-02 -8.05496853e+01] [-4.58421555e-02 -1.18372756e-03 9.98947994e-01 -3.82098785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.990714057 meters 0.0255028493292574 Centerline is valid? [True, True] Translation: X:594.98, Y:-80.56, Z:-38.21 [[ 9.54955062e-01 2.93520223e-01 4.36658753e-02 5.94983088e+02] [-2.93262099e-01 9.55952327e-01 -1.23486328e-02 -8.05626573e+01] [-4.53670685e-02 -1.01315684e-03 9.98969871e-01 -3.82126833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.020714057 meters 0.026041736128746572 Centerline is valid? [True, True] Translation: X:595.01, Y:-80.57, Z:-38.22 [[ 9.55457343e-01 2.91986992e-01 4.29518627e-02 5.95012763e+02] [-2.91735189e-01 9.56421853e-01 -1.21580569e-02 -8.05726262e+01] [-4.46300945e-02 -9.14065086e-04 9.99003163e-01 -3.82161373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.0507140569999 meters 0.02528185383645571 Centerline is valid? [True, True] Translation: X:595.04, Y:-80.59, Z:-38.22 [[ 9.56549407e-01 2.88552559e-01 4.18408061e-02 5.95042139e+02] [-2.88309915e-01 9.57463783e-01 -1.18531769e-02 -8.05873030e+01] [-4.34813210e-02 -7.24969950e-04 9.99053977e-01 -3.82179754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.0807140569999 meters 0.024646111783353165 Centerline is valid? [True, True] Translation: X:595.07, Y:-80.60, Z:-38.22 [[ 9.57031113e-01 2.86955919e-01 4.18060968e-02 5.95072251e+02] [-2.86711693e-01 9.57943573e-01 -1.18539579e-02 -8.05991774e+01] [-4.34494451e-02 -6.41690281e-04 9.99055421e-01 -3.82190394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.110714057 meters 0.024020027501771367 Centerline is valid? [True, True] Translation: X:595.10, Y:-80.61, Z:-38.22 [[ 9.57990803e-01 2.83695020e-01 4.20803554e-02 5.95101431e+02] [-2.83443951e-01 9.58914438e-01 -1.19426849e-02 -8.06124857e+01] [-4.37395405e-02 -4.86439867e-04 9.99042850e-01 -3.82204094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.140714057 meters 0.024072805426795064 Centerline is valid? [True, True] Translation: X:595.13, Y:-80.62, Z:-38.22 [[ 9.58365807e-01 2.82380532e-01 4.23817775e-02 5.95131019e+02] [-2.82124061e-01 9.59302382e-01 -1.20396871e-02 -8.06219182e+01] [-4.40567133e-02 -4.18494785e-04 9.99028944e-01 -3.82232735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.1707140569999 meters 0.02395162122136565 Centerline is valid? [True, True] Translation: X:595.16, Y:-80.63, Z:-38.22 [[ 9.58729726e-01 2.80959323e-01 4.35794831e-02 5.95160503e+02] [-2.80686191e-01 9.59719612e-01 -1.23906458e-02 -8.06344995e+01] [-4.53053521e-02 -3.52878655e-04 9.98973123e-01 -3.82236794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.2007140569999 meters 0.023587022537558632 Centerline is valid? [True, True] Translation: X:595.19, Y:-80.65, Z:-38.22 [[ 9.58886189e-01 2.80270329e-01 4.45625246e-02 5.95190607e+02] [-2.79983452e-01 9.59921061e-01 -1.26816514e-02 -8.06464003e+01] [-4.63307965e-02 -3.16509084e-04 9.98926102e-01 -3.82232993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.2307140569999 meters 0.023688192149915476 Centerline is valid? [True, True] Translation: X:595.22, Y:-80.66, Z:-38.23 [[ 9.58828164e-01 2.80433498e-01 4.47839846e-02 5.95221320e+02] [-2.80143351e-01 9.59873406e-01 -1.27572778e-02 -8.06557631e+01] [-4.65645239e-02 -3.13898235e-04 9.98915235e-01 -3.82255418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.260714057 meters 0.02389974185576126 Centerline is valid? [True, True] Translation: X:595.25, Y:-80.67, Z:-38.23 [[ 9.58426895e-01 2.81913132e-01 4.40780251e-02 5.95251194e+02] [-2.81633292e-01 9.59439861e-01 -1.25635202e-02 -8.06658225e+01] [-4.58320356e-02 -3.72623657e-04 9.98949091e-01 -3.82274468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.290714057 meters 0.023285091380872452 Centerline is valid? [True, True] Translation: X:595.28, Y:-80.67, Z:-38.23 [[ 9.58234932e-01 2.82595600e-01 4.38810019e-02 5.95281456e+02] [-2.82318502e-01 9.59239059e-01 -1.25176479e-02 -8.06738968e+01] [-4.56298032e-02 -3.93571257e-04 9.98958341e-01 -3.82303427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.3207140569999 meters 0.02371901467222316 Centerline is valid? [True, True] Translation: X:595.31, Y:-80.68, Z:-38.23 [[ 9.57503664e-01 2.85234592e-01 4.27546635e-02 5.95311833e+02] [-2.84973641e-01 9.58457606e-01 -1.22082322e-02 -8.06828448e+01] [-4.44607426e-02 -4.94525029e-04 9.99011010e-01 -3.82330036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.3507140569999 meters 0.02403170816574548 Centerline is valid? [True, True] Translation: X:595.34, Y:-80.69, Z:-38.24 [[ 9.57203785e-01 2.86216502e-01 4.29072044e-02 5.95341415e+02] [-2.85954097e-01 9.58164826e-01 -1.22646263e-02 -8.06903874e+01] [-4.46225124e-02 -5.29744218e-04 9.99003779e-01 -3.82357012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.380714057 meters 0.023892323121006802 Centerline is valid? [True, True] Translation: X:595.37, Y:-80.70, Z:-38.24 [[ 9.56609295e-01 2.88115836e-01 4.34502179e-02 5.95371419e+02] [-2.87848504e-01 9.57595362e-01 -1.24242130e-02 -8.07005067e+01] [-4.51873396e-02 -6.21962549e-04 9.98978337e-01 -3.82360083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.410714057 meters 0.02385032539074952 Centerline is valid? [True, True] Translation: X:595.40, Y:-80.71, Z:-38.24 [[ 9.56250972e-01 2.89289884e-01 4.35366598e-02 5.95402110e+02] [-2.89022243e-01 9.57241305e-01 -1.24590427e-02 -8.07106202e+01] [-4.52793640e-02 -6.69091321e-04 9.98974140e-01 -3.82372739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.4407140569999 meters 0.02400490288924792 Centerline is valid? [True, True] Translation: X:595.43, Y:-80.72, Z:-38.24 [[ 9.56167090e-01 2.89602760e-01 4.32982373e-02 5.95433472e+02] [-2.89337876e-01 9.57146693e-01 -1.24016565e-02 -8.07201008e+01] [-4.50343186e-02 -6.69764222e-04 9.98985216e-01 -3.82395562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.4707140569999 meters 0.02399489532582039 Centerline is valid? [True, True] Translation: X:595.46, Y:-80.73, Z:-38.24 [[ 9.56181209e-01 2.89601796e-01 4.29918102e-02 5.95463965e+02] [-2.89340061e-01 9.57146997e-01 -1.23269985e-02 -8.07299618e+01] [-4.47194029e-02 -6.52408627e-04 9.98999374e-01 -3.82417094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.500714057 meters 0.02393533852287654 Centerline is valid? [True, True] Translation: X:595.50, Y:-80.74, Z:-38.24 [[ 9.56173735e-01 2.89602482e-01 4.31531116e-02 5.95495265e+02] [-2.89338247e-01 9.57146796e-01 -1.23850810e-02 -8.07406006e+01] [-4.48906126e-02 -6.43556516e-04 9.98991701e-01 -3.82430947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.530714057 meters 0.023818448265809245 Centerline is valid? [True, True] Translation: X:595.53, Y:-80.75, Z:-38.24 [[ 9.56609412e-01 2.87952198e-01 4.45192592e-02 5.95525200e+02] [-2.87668513e-01 9.57644614e-01 -1.27914153e-02 -8.07519578e+01] [-4.63169450e-02 -5.70400775e-04 9.98926632e-01 -3.82432642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.5607140569999 meters 0.02342126633247942 Centerline is valid? [True, True] Translation: X:595.56, Y:-80.76, Z:-38.24 [[ 9.56752436e-01 2.87333196e-01 4.54357931e-02 5.95555981e+02] [-2.87036433e-01 9.57830540e-01 -1.30668678e-02 -8.07618215e+01] [-4.72743351e-02 -5.39970373e-04 9.98881798e-01 -3.82436575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.5907140569999 meters 0.02376413341728672 Centerline is valid? [True, True] Translation: X:595.59, Y:-80.77, Z:-38.25 [[ 9.56958312e-01 2.86314570e-01 4.74842743e-02 5.95585286e+02] [-2.85988478e-01 9.58135543e-01 -1.36700963e-02 -8.07708022e+01] [-4.94103187e-02 -4.98243082e-04 9.98778440e-01 -3.82454490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.620714057 meters 0.023682546845926748 Centerline is valid? [True, True] Translation: X:595.62, Y:-80.78, Z:-38.25 [[ 9.57062189e-01 2.85972975e-01 4.74491647e-02 5.95616716e+02] [-2.85646654e-01 9.58237566e-01 -1.36659054e-02 -8.07807228e+01] [-4.93756517e-02 -4.74573765e-04 9.98780166e-01 -3.82470612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.650714057 meters 0.024112084785402808 Centerline is valid? [True, True] Translation: X:595.65, Y:-80.79, Z:-38.25 [[ 9.57032886e-01 2.86236742e-01 4.64390124e-02 5.95647600e+02] [-2.85923842e-01 9.58158813e-01 -1.33882582e-02 -8.07907936e+01] [-4.83281604e-02 -4.65017464e-04 9.98831404e-01 -3.82491980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.6807140569999 meters 0.024112084785402808 Centerline is valid? [True, True] Translation: X:595.68, Y:-80.80, Z:-38.25 [[ 9.56953558e-01 2.86502443e-01 4.64353005e-02 5.95678640e+02] [-2.86189232e-01 9.58079398e-01 -1.34011187e-02 -8.07998256e+01] [-4.83281580e-02 -4.65034718e-04 9.98831404e-01 -3.82510793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.7107140569999 meters 0.024443147706383294 Centerline is valid? [True, True] Translation: X:595.71, Y:-80.81, Z:-38.26 [[ 9.56689162e-01 2.87673261e-01 4.46087708e-02 5.95708916e+02] [-2.87384866e-01 9.57728487e-01 -1.28873750e-02 -8.08078365e+01] [-4.64304438e-02 -4.90673600e-04 9.98921405e-01 -3.82555585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.740714057 meters 0.024594129588551047 Centerline is valid? [True, True] Translation: X:595.74, Y:-80.81, Z:-38.26 [[ 9.56552839e-01 2.88262603e-01 4.37188391e-02 5.95738722e+02] [-2.87985751e-01 9.57551264e-01 -1.26406037e-02 -8.08148495e+01] [-4.55068429e-02 -4.98997293e-04 9.98963902e-01 -3.82593983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.770714057 meters 0.024682039192337017 Centerline is valid? [True, True] Translation: X:595.77, Y:-80.82, Z:-38.26 [[ 9.56139017e-01 2.89910789e-01 4.18319852e-02 5.95769508e+02] [-2.89658504e-01 9.57053519e-01 -1.21042315e-02 -8.08226298e+01] [-4.35445959e-02 -5.43662274e-04 9.99051336e-01 -3.82631568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.8007140569999 meters 0.024814263589635403 Centerline is valid? [True, True] Translation: X:595.80, Y:-80.83, Z:-38.27 [[ 9.55996002e-01 2.90531047e-01 4.07842518e-02 5.95800666e+02] [-2.90291371e-01 9.56865409e-01 -1.18114117e-02 -8.08312309e+01] [-4.24566216e-02 -5.47654015e-04 9.99098161e-01 -3.82651694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.8307140569999 meters 0.02506132372280587 Centerline is valid? [True, True] Translation: X:595.83, Y:-80.84, Z:-38.27 [[ 9.55724521e-01 2.91483434e-01 4.03490752e-02 5.95831090e+02] [-2.91249239e-01 9.56575705e-01 -1.16962206e-02 -8.08389429e+01] [-4.20061996e-02 -5.73272608e-04 9.99117186e-01 -3.82671341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.860714057 meters 0.024984129790837736 Centerline is valid? [True, True] Translation: X:595.86, Y:-80.85, Z:-38.27 [[ 9.55564412e-01 2.92007354e-01 4.03529261e-02 5.95862396e+02] [-2.91773207e-01 9.56415893e-01 -1.17062593e-02 -8.08480113e+01] [-4.20124937e-02 -5.87817837e-04 9.99116913e-01 -3.82688326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.890714057 meters 0.025078446298999905 Centerline is valid? [True, True] Translation: X:595.89, Y:-80.86, Z:-38.27 [[ 9.55140942e-01 2.93222557e-01 4.15489202e-02 5.95894110e+02] [-2.92974911e-01 9.56043991e-01 -1.20660425e-02 -8.08559379e+01] [-4.32606313e-02 -6.48019942e-04 9.99063611e-01 -3.82695648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.9207140569999 meters 0.02476627791207326 Centerline is valid? [True, True] Translation: X:595.92, Y:-80.87, Z:-38.27 [[ 9.54962322e-01 2.93654023e-01 4.25943573e-02 5.95924853e+02] [-2.93393585e-01 9.55911536e-01 -1.23830684e-02 -8.08652133e+01] [-4.43527753e-02 -6.71547433e-04 9.99015706e-01 -3.82696712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.9507140569999 meters 0.024867518294992796 Centerline is valid? [True, True] Translation: X:595.96, Y:-80.87, Z:-38.27 [[ 9.54549565e-01 2.94589244e-01 4.53023707e-02 5.95955963e+02] [-2.94295058e-01 9.55623680e-01 -1.31833803e-02 -8.08739183e+01] [-4.71757003e-02 -7.48073922e-04 9.98886327e-01 -3.82695413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.9807140569999 meters 0.025282146659188758 Centerline is valid? [True, True] Translation: X:595.99, Y:-80.88, Z:-38.27 [[ 9.54303551e-01 2.95250131e-01 4.61745856e-02 5.95986966e+02] [-2.94944676e-01 9.55419670e-01 -1.34496142e-02 -8.08812538e+01] [-4.80871077e-02 -7.83933569e-04 9.98842838e-01 -3.82702544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.010714057 meters 0.02515055010281583 Centerline is valid? [True, True] Translation: X:596.02, Y:-80.89, Z:-38.27 [[ 9.53845377e-01 2.96665800e-01 4.65660796e-02 5.96017817e+02] [-2.96356168e-01 9.54980985e-01 -1.35772053e-02 -8.08903561e+01] [-4.84976130e-02 -8.49590348e-04 9.98822937e-01 -3.82723097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.040714057 meters 0.02532115161714437 Centerline is valid? [True, True] Translation: X:596.05, Y:-80.90, Z:-38.28 [[ 9.53510870e-01 2.97870567e-01 4.57181274e-02 5.96048936e+02] [-2.97572924e-01 9.54605859e-01 -1.33419942e-02 -8.08983757e+01] [-4.76169797e-02 -8.82740339e-04 9.98865278e-01 -3.82752517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.0707140569999 meters 0.02571559910794077 Centerline is valid? [True, True] Translation: X:596.08, Y:-80.91, Z:-38.28 [[ 9.53186321e-01 2.99102300e-01 4.44257895e-02 5.96080349e+02] [-2.98822060e-01 9.54220620e-01 -1.29762978e-02 -8.09058372e+01] [-4.62732449e-02 -9.06576368e-04 9.98928408e-01 -3.82797808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.1007140569999 meters 0.025545198943267542 Centerline is valid? [True, True] Translation: X:596.11, Y:-80.91, Z:-38.28 [[ 9.53233571e-01 2.99100944e-01 4.34094871e-02 5.96112351e+02] [-2.98832898e-01 9.54221074e-01 -1.26901786e-02 -8.09148635e+01] [-4.52178918e-02 -8.75478560e-04 9.98976764e-01 -3.82825238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.130714057 meters 0.0257779745041355 Centerline is valid? [True, True] Translation: X:596.14, Y:-80.92, Z:-38.29 [[ 9.53782289e-01 2.97506102e-01 4.23020678e-02 5.96142563e+02] [-2.97249420e-01 9.54719609e-01 -1.23794619e-02 -8.09234433e+01] [-4.40695790e-02 -7.66953660e-04 9.99028170e-01 -3.82865740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.160714057 meters 0.02568970636845106 Centerline is valid? [True, True] Translation: X:596.17, Y:-80.93, Z:-38.29 [[ 9.54182942e-01 2.96190517e-01 4.24981196e-02 5.96172102e+02] [-2.95929626e-01 9.55128625e-01 -1.24485550e-02 -8.09333064e+01] [-4.42783144e-02 -6.98253826e-04 9.99018990e-01 -3.82881067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.1907140569999 meters 0.02480691008086226 Centerline is valid? [True, True] Translation: X:596.20, Y:-80.95, Z:-38.29 [[ 9.55484247e-01 2.91825116e-01 4.34506120e-02 5.96201495e+02] [-2.91547417e-01 9.56471565e-01 -1.27377163e-02 -8.09462590e+01] [-4.52764604e-02 -4.97226444e-04 9.98974372e-01 -3.82876541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.2207140569999 meters 0.024435284670527652 Centerline is valid? [True, True] Translation: X:596.23, Y:-80.96, Z:-38.29 [[ 9.56705432e-01 2.87448269e-01 4.56969298e-02 5.96230350e+02] [-2.87135492e-01 9.57796120e-01 -1.34090395e-02 -8.09573058e+01] [-4.76227472e-02 -2.92709499e-04 9.98865350e-01 -3.82880493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.250714057 meters 0.024113333434010037 Centerline is valid? [True, True] Translation: X:596.26, Y:-80.97, Z:-38.29 [[ 9.57199442e-01 2.85662754e-01 4.65405048e-02 5.96260498e+02] [-2.85335661e-01 9.58330190e-01 -1.36677884e-02 -8.09677342e+01] [-4.85055489e-02 -1.96866257e-04 9.98822894e-01 -3.82893406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.280714057 meters 0.024123010158807842 Centerline is valid? [True, True] Translation: X:596.29, Y:-80.98, Z:-38.29 [[ 9.58269562e-01 2.81787832e-01 4.81151196e-02 5.96290757e+02] [-2.81432702e-01 9.59476741e-01 -1.41427251e-02 -8.09790631e+01] [-5.01505860e-02 1.13748759e-05 9.98741668e-01 -3.82894115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.3107140569999 meters 0.02417056313824953 Centerline is valid? [True, True] Translation: X:596.32, Y:-80.99, Z:-38.29 [[ 9.58897745e-01 2.79596964e-01 4.83802828e-02 5.96321143e+02] [-2.79234472e-01 9.60117450e-01 -1.42334395e-02 -8.09890496e+01] [-5.04303802e-02 1.38970265e-04 9.98727569e-01 -3.82912833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.3407140569999 meters 0.024191885264349313 Centerline is valid? [True, True] Translation: X:596.35, Y:-81.00, Z:-38.29 [[ 9.59019880e-01 2.79208990e-01 4.81996831e-02 5.96352539e+02] [-2.78848040e-01 9.60230342e-01 -1.41936715e-02 -8.09978600e+01] [-5.02457989e-02 1.71625922e-04 9.98736867e-01 -3.82931107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.370714057 meters 0.024268818626167067 Centerline is valid? [True, True] Translation: X:596.38, Y:-81.01, Z:-38.30 [[ 9.59234670e-01 2.78630097e-01 4.72664451e-02 5.96383463e+02] [-2.78281612e-01 9.60398472e-01 -1.39327015e-02 -8.10050768e+01] [-4.92766916e-02 2.11347771e-04 9.98785144e-01 -3.82970368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.400714057 meters 0.024070054105288688 Centerline is valid? [True, True] Translation: X:596.42, Y:-81.01, Z:-38.30 [[ 9.59254278e-01 2.78608035e-01 4.69977962e-02 5.96415720e+02] [-2.78262853e-01 9.60404869e-01 -1.38662099e-02 -8.10130659e+01] [-4.90001498e-02 2.23480350e-04 9.98798746e-01 -3.82995907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.4307140569999 meters 0.02444138411146415 Centerline is valid? [True, True] Translation: X:596.45, Y:-81.02, Z:-38.30 [[ 9.59571422e-01 2.77787128e-01 4.53541429e-02 5.96445536e+02] [-2.77464129e-01 9.60642618e-01 -1.33946850e-02 -8.10203429e+01] [-4.72899937e-02 2.69009108e-04 9.98881166e-01 -3.83030772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.4607140569999 meters 0.024342820914908695 Centerline is valid? [True, True] Translation: X:596.48, Y:-81.03, Z:-38.30 [[ 9.59780303e-01 2.77131480e-01 4.49434477e-02 5.96477153e+02] [-2.76813123e-01 9.60831956e-01 -1.32833349e-02 -8.10286549e+01] [-4.68643310e-02 3.08147035e-04 9.98901216e-01 -3.83043941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.490714057 meters 0.024629580029720623 Centerline is valid? [True, True] Translation: X:596.51, Y:-81.04, Z:-38.31 [[ 9.60329599e-01 2.75296701e-01 4.44835747e-02 5.96507925e+02] [-2.74982223e-01 9.61359226e-01 -1.31611752e-02 -8.10376479e+01] [-4.63879230e-02 4.06873900e-04 9.98923418e-01 -3.83060808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.520714057 meters 0.02472046581278364 Centerline is valid? [True, True] Translation: X:596.54, Y:-81.05, Z:-38.31 [[ 9.60554558e-01 2.74468348e-01 4.47444594e-02 5.96538649e+02] [-2.74148717e-01 9.61596024e-01 -1.32501762e-02 -8.10469798e+01] [-4.66628482e-02 4.60881041e-04 9.98910590e-01 -3.83083670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.5507140569999 meters 0.024883850665572266 Centerline is valid? [True, True] Translation: X:596.57, Y:-81.06, Z:-38.31 [[ 9.60673895e-01 2.73939618e-01 4.54175339e-02 5.96568791e+02] [-2.73609079e-01 9.61746759e-01 -1.34626571e-02 -8.10558127e+01] [-4.73681212e-02 5.06573668e-04 9.98877372e-01 -3.83091957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.5807140569999 meters 0.024972847162947478 Centerline is valid? [True, True] Translation: X:596.60, Y:-81.06, Z:-38.31 [[ 9.60783744e-01 2.73495119e-01 4.57713649e-02 5.96599754e+02] [-2.73158289e-01 9.61873237e-01 -1.35803470e-02 -8.10643367e+01] [-4.77404095e-02 5.44948885e-04 9.98859628e-01 -3.83105714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.610714057 meters 0.024915565406933283 Centerline is valid? [True, True] Translation: X:596.63, Y:-81.07, Z:-38.31 [[ 9.60844077e-01 2.73262506e-01 4.58940321e-02 5.96631639e+02] [-2.72923008e-01 9.61939332e-01 -1.36291551e-02 -8.10729583e+01] [-4.78716116e-02 5.69955647e-04 9.98853335e-01 -3.83116064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.640714057 meters 0.02476590093277094 Centerline is valid? [True, True] Translation: X:596.66, Y:-81.08, Z:-38.31 [[ 9.61461164e-01 2.70923465e-01 4.68284740e-02 5.96662639e+02] [-2.70566507e-01 9.62600626e-01 -1.39211980e-02 -8.10814549e+01] [-4.88486975e-02 7.14474588e-04 9.98805934e-01 -3.83126222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.6707140569999 meters 0.024946743485094455 Centerline is valid? [True, True] Translation: X:596.69, Y:-81.09, Z:-38.31 [[ 9.62061363e-01 2.68766542e-01 4.69305813e-02 5.96693164e+02] [-2.68404845e-01 9.63204985e-01 -1.39640671e-02 -8.10912262e+01] [-4.89568439e-02 8.37894044e-04 9.98800543e-01 -3.83142432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.7007140569999 meters 0.025634176648943078 Centerline is valid? [True, True] Translation: X:596.72, Y:-81.10, Z:-38.31 [[ 9.63437686e-01 2.63633227e-01 4.78053058e-02 5.96723297e+02] [-2.63250874e-01 9.64622329e-01 -1.42386870e-02 -8.11021089e+01] [-4.98678565e-02 1.13329910e-03 9.98755181e-01 -3.83141120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.7307140569999 meters 0.02683616545273919 Centerline is valid? [True, True] Translation: X:596.75, Y:-81.11, Z:-38.31 [[ 9.64804506e-01 2.58467265e-01 4.84452157e-02 5.96751524e+02] [-2.58067907e-01 9.66018969e-01 -1.44328224e-02 -8.11126700e+01] [-5.05294095e-02 1.42269669e-03 9.98721560e-01 -3.83141683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.760714057 meters 0.02759045887424694 Centerline is valid? [True, True] Translation: X:596.78, Y:-81.12, Z:-38.32 [[ 9.65369488e-01 2.56375859e-01 4.83029072e-02 5.96781886e+02] [-2.55975984e-01 9.66575952e-01 -1.43953214e-02 -8.11217012e+01] [-5.03790414e-02 1.53241984e-03 9.98728994e-01 -3.83152481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.790714057 meters 0.028122575777385007 Centerline is valid? [True, True] Translation: X:596.81, Y:-81.13, Z:-38.32 [[ 9.65682798e-01 2.55076525e-01 4.89152351e-02 5.96812536e+02] [-2.54664483e-01 9.66919502e-01 -1.45834982e-02 -8.11299649e+01] [-5.10170027e-02 1.62606030e-03 9.98696461e-01 -3.83178342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.8207140569999 meters 0.028230983250912473 Centerline is valid? [True, True] Translation: X:596.84, Y:-81.13, Z:-38.32 [[ 9.66060200e-01 2.53605632e-01 4.91108222e-02 5.96844724e+02] [-2.53187741e-01 9.67306164e-01 -1.46544491e-02 -8.11334345e+01] [-5.12216519e-02 1.72282192e-03 9.98685824e-01 -3.83195587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.8507140569999 meters 0.02783149127145458 Centerline is valid? [True, True] Translation: X:596.88, Y:-81.14, Z:-38.32 [[ 9.65547692e-01 2.55525503e-01 4.92379190e-02 5.96877239e+02] [-2.55107271e-01 9.66800928e-01 -1.47052818e-02 -8.11365453e+01] [-5.13608403e-02 1.63769972e-03 9.98678818e-01 -3.83213396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.880714057 meters 0.027542337157589074 Centerline is valid? [True, True] Translation: X:596.91, Y:-81.14, Z:-38.32 [[ 9.65074634e-01 2.57230650e-01 4.96320791e-02 5.96909445e+02] [-2.56807208e-01 9.66348756e-01 -1.48371058e-02 -8.11426601e+01] [-5.17784563e-02 1.57303884e-03 9.98657357e-01 -3.83230318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.910714057 meters 0.026911718766189092 Centerline is valid? [True, True] Translation: X:596.94, Y:-81.14, Z:-38.32 [[ 9.63863189e-01 2.61303194e-01 5.18497204e-02 5.96942060e+02] [-2.60846624e-01 9.65255730e-01 -1.55053159e-02 -8.11443368e+01] [-5.40998283e-02 1.42017871e-03 9.98534522e-01 -3.83229873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.9407140569999 meters 0.02642856873800819 Centerline is valid? [True, True] Translation: X:596.97, Y:-81.15, Z:-38.32 [[ 9.63063990e-01 2.64202867e-01 5.20057327e-02 5.96974545e+02] [-2.63747607e-01 9.64466302e-01 -1.55548044e-02 -8.11490586e+01] [-5.42674006e-02 1.26388438e-03 9.98525639e-01 -3.83242157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.9707140569999 meters 0.026096670935668385 Centerline is valid? [True, True] Translation: X:597.01, Y:-81.15, Z:-38.33 [[ 9.61154227e-01 2.71032243e-01 5.21926676e-02 5.97006179e+02] [-2.70583455e-01 9.62569861e-01 -1.56159279e-02 -8.11505592e+01] [-5.44715088e-02 8.86842828e-04 9.98514931e-01 -3.83264299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.000714057 meters 0.02538335541590122 Centerline is valid? [True, True] Translation: X:597.04, Y:-81.15, Z:-38.33 [[ 9.58984256e-01 2.78780687e-01 5.12886423e-02 5.97038748e+02] [-2.78358266e-01 9.60354692e-01 -1.53473783e-02 -8.11497148e+01] [-5.35338409e-02 4.41276589e-04 9.98565938e-01 -3.83296735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.030714057 meters 0.025211067660415108 Centerline is valid? [True, True] Translation: X:597.07, Y:-81.15, Z:-38.33 [[ 9.57825612e-01 2.82893266e-01 5.04132688e-02 5.97071047e+02] [-2.82490801e-01 9.59151373e-01 -1.50861160e-02 -8.11538818e+01] [-5.26217166e-02 2.08583636e-04 9.98614496e-01 -3.83323648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.0607140569999 meters 0.025538861325314403 Centerline is valid? [True, True] Translation: X:597.10, Y:-81.15, Z:-38.34 [[ 9.55780566e-01 2.90015987e-01 4.87261452e-02 5.97103726e+02] [-2.89648634e-01 9.57021787e-01 -1.45934501e-02 -8.11544280e+01] [-5.08643164e-02 -1.65325360e-04 9.98705559e-01 -3.83376449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.0907140569999 meters 0.025472858186350568 Centerline is valid? [True, True] Translation: X:597.14, Y:-81.16, Z:-38.34 [[ 9.54127653e-01 2.95434561e-01 4.85679022e-02 5.97136509e+02] [-2.95075904e-01 9.55362877e-01 -1.45596728e-02 -8.11578241e+01] [-5.07014013e-02 -4.39431214e-04 9.98713760e-01 -3.83399913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.120714057 meters 0.02581486608366362 Centerline is valid? [True, True] Translation: X:597.17, Y:-81.16, Z:-38.34 [[ 9.53515446e-01 2.97485992e-01 4.80664048e-02 5.97167221e+02] [-2.97136651e-01 9.54726036e-01 -1.44224601e-02 -8.11631134e+01] [-5.01807280e-02 -5.30252047e-04 9.98740013e-01 -3.83429579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.150714057 meters 0.02571843444301112 Centerline is valid? [True, True] Translation: X:597.20, Y:-81.17, Z:-38.34 [[ 9.52600628e-01 3.00387341e-01 4.81610734e-02 5.97198587e+02] [-3.00039718e-01 9.53817065e-01 -1.44628853e-02 -8.11700801e+01] [-5.02813213e-02 -6.72881300e-04 9.98734868e-01 -3.83448011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.1807140569999 meters 0.025674596422516984 Centerline is valid? [True, True] Translation: X:597.23, Y:-81.18, Z:-38.35 [[ 9.52356206e-01 3.01230104e-01 4.77292465e-02 5.97229796e+02] [-3.00889113e-01 9.53551224e-01 -1.43459344e-02 -8.11783303e+01] [-4.98337087e-02 -6.98770966e-04 9.98757284e-01 -3.83465693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.2107140569999 meters 0.02564173972515516 Centerline is valid? [True, True] Translation: X:597.26, Y:-81.19, Z:-38.35 [[ 9.52143175e-01 3.01732933e-01 4.87915028e-02 5.97261684e+02] [-3.01376512e-01 9.53392211e-01 -1.46795930e-02 -8.11877556e+01] [-5.09467553e-02 -7.27538641e-04 9.98701106e-01 -3.83480119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.240714057 meters 0.02584083889596971 Centerline is valid? [True, True] Translation: X:597.29, Y:-81.20, Z:-38.35 [[ 9.52072302e-01 3.01890806e-01 4.91962741e-02 5.97292857e+02] [-3.01527864e-01 9.53342232e-01 -1.48167309e-02 -8.11973129e+01] [-5.13739206e-02 -7.27448307e-04 9.98679223e-01 -3.83492751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.270714057 meters 0.025857913899673905 Centerline is valid? [True, True] Translation: X:597.32, Y:-81.21, Z:-38.35 [[ 9.52038251e-01 3.01684907e-01 5.10821487e-02 5.97322756e+02] [-3.01292383e-01 9.53407409e-01 -1.54017143e-02 -8.12065288e+01] [-5.33485638e-02 -7.27641124e-04 9.98575686e-01 -3.83503562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.3007140569999 meters 0.02561486892853095 Centerline is valid? [True, True] Translation: X:597.35, Y:-81.22, Z:-38.35 [[ 9.51970415e-01 3.01844118e-01 5.14048474e-02 5.97354023e+02] [-3.01446458e-01 9.53357010e-01 -1.55062505e-02 -8.12175288e+01] [-5.36876421e-02 -7.34317453e-04 9.98557509e-01 -3.83518491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.3307140569999 meters 0.025469450794475695 Centerline is valid? [True, True] Translation: X:597.38, Y:-81.23, Z:-38.35 [[ 9.51505003e-01 3.03216537e-01 5.19419073e-02 5.97384091e+02] [-3.02811699e-01 9.52921342e-01 -1.56841159e-02 -8.12287406e+01] [-5.42522353e-02 -8.05102512e-04 9.98526938e-01 -3.83530573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.360714057 meters 0.025681931577200078 Centerline is valid? [True, True] Translation: X:597.41, Y:-81.24, Z:-38.36 [[ 9.50663022e-01 3.06024457e-01 5.08807548e-02 5.97413300e+02] [-3.05639245e-01 9.52023195e-01 -1.53781668e-02 -8.12377424e+01] [-5.31457539e-02 -9.31701033e-04 9.98586331e-01 -3.83555953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.390714057 meters 0.0260572200738872 Centerline is valid? [True, True] Translation: X:597.44, Y:-81.25, Z:-38.36 [[ 9.49888340e-01 3.08533220e-01 5.01935546e-02 5.97443591e+02] [-3.08161663e-01 9.51212984e-01 -1.51739525e-02 -8.12466864e+01] [-5.24264293e-02 -1.05416867e-03 9.98624233e-01 -3.83582164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.4207140569999 meters 0.027015284946982018 Centerline is valid? [True, True] Translation: X:597.47, Y:-81.25, Z:-38.36 [[ 9.48452718e-01 3.13371132e-01 4.72860921e-02 5.97473842e+02] [-3.13046785e-01 9.49629935e-01 -1.43072324e-02 -8.12546847e+01] [-4.93877622e-02 -1.23302566e-03 9.98778919e-01 -3.83626146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.4507140569999 meters 0.02705910908427376 Centerline is valid? [True, True] Translation: X:597.50, Y:-81.26, Z:-38.37 [[ 9.47752259e-01 3.15694821e-01 4.58523325e-02 5.97503997e+02] [-3.15392038e-01 9.48859886e-01 -1.38844820e-02 -8.12638429e+01] [-4.78906981e-02 -1.30241143e-03 9.98851733e-01 -3.83657031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.4807140569999 meters 0.029211925827577104 Centerline is valid? [True, True] Translation: X:597.53, Y:-81.27, Z:-38.37 [[ 9.46426942e-01 3.19867738e-01 4.42795030e-02 5.97533597e+02] [-3.19589604e-01 9.47461088e-01 -1.34153231e-02 -8.12699537e+01] [-4.62442352e-02 -1.45464562e-03 9.98929104e-01 -3.83703545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.510714057 meters 0.029360879358215297 Centerline is valid? [True, True] Translation: X:597.56, Y:-81.28, Z:-38.37 [[ 9.45336261e-01 3.23053050e-01 4.44531165e-02 5.97563127e+02] [-3.22776224e-01 9.46379477e-01 -1.34682927e-02 -8.12827594e+01] [-4.64204902e-02 -1.61634363e-03 9.98920680e-01 -3.83705676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.540714057 meters 0.030378710232037472 Centerline is valid? [True, True] Translation: X:597.59, Y:-81.29, Z:-38.37 [[ 9.44795811e-01 3.24560695e-01 4.49580934e-02 5.97592911e+02] [-3.24279164e-01 9.45863329e-01 -1.36229924e-02 -8.12921345e+01] [-4.69456998e-02 -1.70802676e-03 9.98895983e-01 -3.83720189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.5707140569999 meters 0.02919484673754979 Centerline is valid? [True, True] Translation: X:597.62, Y:-81.31, Z:-38.37 [[ 9.44145878e-01 3.26247650e-01 4.63792270e-02 5.97622120e+02] [-3.25949504e-01 9.45282547e-01 -1.40651119e-02 -8.13081766e+01] [-4.84301835e-02 -1.83776862e-03 9.98824880e-01 -3.83705841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.6007140569999 meters 0.02919484673754979 Centerline is valid? [True, True] Translation: X:597.65, Y:-81.32, Z:-38.37 [[ 9.44052820e-01 3.26517313e-01 4.63758206e-02 5.97653070e+02] [-3.26218941e-01 9.45189430e-01 -1.40763336e-02 -8.13176398e+01] [-4.84301021e-02 -1.83986866e-03 9.98824880e-01 -3.83724658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.630714057 meters 0.029925369365871025 Centerline is valid? [True, True] Translation: X:597.68, Y:-81.33, Z:-38.37 [[ 9.43563494e-01 3.27568832e-01 4.88527732e-02 5.97682000e+02] [-3.27238282e-01 9.44825244e-01 -1.48447032e-02 -8.13299036e+01] [-5.10199955e-02 -1.97957753e-03 9.98695670e-01 -3.83712009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.660714057 meters 0.030439225446235462 Centerline is valid? [True, True] Translation: X:597.71, Y:-81.34, Z:-38.37 [[ 9.43239624e-01 3.28246124e-01 5.05321098e-02 5.97712472e+02] [-3.27892729e-01 9.44589955e-01 -1.53679928e-02 -8.13399539e+01] [-5.27766074e-02 -2.07341160e-03 9.98604191e-01 -3.83718139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.6907140569999 meters 0.031245364594912305 Centerline is valid? [True, True] Translation: X:597.74, Y:-81.35, Z:-38.37 [[ 9.42456776e-01 3.30034132e-01 5.34106397e-02 5.97742399e+02] [-3.29641262e-01 9.43966240e-01 -1.62596367e-02 -8.13512462e+01] [-5.57840758e-02 -2.28234594e-03 9.98440247e-01 -3.83710845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.7207140569999 meters 0.03133835665254447 Centerline is valid? [True, True] Translation: X:597.77, Y:-81.36, Z:-38.37 [[ 9.42062454e-01 3.31063630e-01 5.39926394e-02 5.97772863e+02] [-3.30663017e-01 9.43605493e-01 -1.64512446e-02 -8.13618349e+01] [-5.63941599e-02 -2.35526918e-03 9.98405805e-01 -3.83722683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.750714057 meters 0.03225261772975325 Centerline is valid? [True, True] Translation: X:597.80, Y:-81.37, Z:-38.37 [[ 9.41589139e-01 3.32498549e-01 5.34285404e-02 5.97801695e+02] [-3.32107783e-01 9.43100707e-01 -1.62934482e-02 -8.13724583e+01] [-5.58060421e-02 -2.40230018e-03 9.98438739e-01 -3.83749099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.780714057 meters 0.03053113345420654 Centerline is valid? [True, True] Translation: X:597.83, Y:-81.39, Z:-38.38 [[ 9.41394016e-01 3.33233289e-01 5.22769782e-02 5.97831264e+02] [-3.32859645e-01 9.42841400e-01 -1.59546984e-02 -8.13859109e+01] [-5.46055359e-02 -2.38123875e-03 9.98505165e-01 -3.83777329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.8107140569999 meters 0.03410569129630442 Centerline is valid? [True, True] Translation: X:597.86, Y:-81.39, Z:-38.38 [[ 9.41041600e-01 3.34637334e-01 4.95838774e-02 5.97861967e+02] [-3.34302483e-01 9.42344129e-01 -1.51457136e-02 -8.13920388e+01] [-5.17933970e-02 -2.32326677e-03 9.98655119e-01 -3.83836023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.8407140569999 meters 0.033099397640774346 Centerline is valid? [True, True] Translation: X:597.89, Y:-81.41, Z:-38.39 [[ 9.41059787e-01 3.34951742e-01 4.70511078e-02 5.97890401e+02] [-3.34650081e-01 9.42232692e-01 -1.43832410e-02 -8.14066640e+01] [-4.91507836e-02 -2.21016730e-03 9.98788924e-01 -3.83885532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.870714057 meters 0.031130527121915653 Centerline is valid? [True, True] Translation: X:597.92, Y:-81.42, Z:-38.39 [[ 9.41225872e-01 3.34607614e-01 4.61692708e-02 5.97919111e+02] [-3.34316185e-01 9.42355116e-01 -1.41252791e-02 -8.14211583e+01] [-4.82342744e-02 -2.14005638e-03 9.98833757e-01 -3.83906802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.900714057 meters 0.03298429723438204 Centerline is valid? [True, True] Translation: X:597.95, Y:-81.43, Z:-38.40 [[ 9.42193858e-01 3.32113644e-01 4.43988924e-02 5.97948133e+02] [-3.31840755e-01 9.43237421e-01 -1.35970886e-02 -8.14298703e+01] [-4.63944754e-02 -1.92226863e-03 9.98921347e-01 -3.83953459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.9307140569999 meters 0.030697567117665026 Centerline is valid? [True, True] Translation: X:597.98, Y:-81.45, Z:-38.40 [[ 9.42746047e-01 3.30566566e-01 4.42225849e-02 5.97977544e+02] [-3.30293982e-01 9.43780894e-01 -1.35465452e-02 -8.14453610e+01] [-4.62144657e-02 -1.83550170e-03 9.98929854e-01 -3.83965680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.9607140569999 meters 0.028594041697664545 Centerline is valid? [True, True] Translation: X:598.01, Y:-81.46, Z:-38.40 [[ 9.44032553e-01 3.26885233e-01 4.41427575e-02 5.98005212e+02] [-3.26609415e-01 9.45062605e-01 -1.35263389e-02 -8.14635915e+01] [-4.61392298e-02 -1.64813595e-03 9.98933659e-01 -3.83966508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.990714057 meters 0.027755942463554863 Centerline is valid? [True, True] Translation: X:598.03, Y:-81.48, Z:-38.40 [[ 9.45643385e-01 3.22051409e-01 4.51827206e-02 5.98033005e+02] [-3.21756746e-01 9.46721084e-01 -1.38486532e-02 -8.14783272e+01] [-4.72354125e-02 -1.44195793e-03 9.98882744e-01 -3.83971311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.020714057 meters 0.027620658936727632 Centerline is valid? [True, True] Translation: X:598.06, Y:-81.49, Z:-38.40 [[ 9.46325604e-01 3.19923347e-01 4.60098190e-02 5.98062564e+02] [-3.19615090e-01 9.47442459e-01 -1.41061033e-02 -8.14898821e+01] [-4.81045278e-02 -1.35646567e-03 9.98841386e-01 -3.83987819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.0507140569999 meters 0.02636999795278741 Centerline is valid? [True, True] Translation: X:598.09, Y:-81.51, Z:-38.40 [[ 9.47765960e-01 3.15359689e-01 4.78325411e-02 5.98090284e+02] [-3.15019967e-01 9.48971512e-01 -1.46795532e-02 -8.15055587e+01] [-5.00210582e-02 -1.15542470e-03 9.98747495e-01 -3.83990230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.0807140569999 meters 0.02633518220515312 Centerline is valid? [True, True] Translation: X:598.12, Y:-81.52, Z:-38.40 [[ 9.48245496e-01 3.13872409e-01 4.81101846e-02 5.98119887e+02] [-3.13526651e-01 9.49464557e-01 -1.47680289e-02 -8.15163396e+01] [-5.03141919e-02 -1.08010817e-03 9.98732855e-01 -3.84006566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.110714057 meters 0.025450278875070287 Centerline is valid? [True, True] Translation: X:598.15, Y:-81.53, Z:-38.40 [[ 9.49228434e-01 3.10831653e-01 4.84671482e-02 5.98149722e+02] [-3.10476070e-01 9.50464545e-01 -1.48915739e-02 -8.15298383e+01] [-5.06950784e-02 -9.12384339e-04 9.98713761e-01 -3.84016300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.140714057 meters 0.025043886102693105 Centerline is valid? [True, True] Translation: X:598.18, Y:-81.54, Z:-38.40 [[ 9.49771635e-01 3.09227303e-01 4.80865618e-02 5.98179010e+02] [-3.08875059e-01 9.50987806e-01 -1.47780226e-02 -8.15407186e+01] [-5.02995020e-02 -8.16992901e-04 9.98733845e-01 -3.84042749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.1707140569999 meters 0.024975231992522783 Centerline is valid? [True, True] Translation: X:598.21, Y:-81.55, Z:-38.41 [[ 9.49897862e-01 3.08924087e-01 4.75390272e-02 5.98209934e+02] [-3.08578905e-01 9.51086378e-01 -1.46206053e-02 -8.15508933e+01] [-4.97303784e-02 -7.81459208e-04 9.98762374e-01 -3.84068940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.2007140569999 meters 0.025071594614762716 Centerline is valid? [True, True] Translation: X:598.24, Y:-81.56, Z:-38.41 [[ 9.49928620e-01 3.08965212e-01 4.66488515e-02 5.98240983e+02] [-3.08632239e-01 9.51073039e-01 -1.43601992e-02 -8.15606825e+01] [-4.88032669e-02 -7.56175303e-04 9.98808124e-01 -3.84100014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.2307140569999 meters 0.024886518915065065 Centerline is valid? [True, True] Translation: X:598.27, Y:-81.57, Z:-38.41 [[ 9.49994439e-01 3.09041581e-01 4.47645782e-02 5.98271177e+02] [-3.08734469e-01 9.51048257e-01 -1.37927981e-02 -8.15716265e+01] [-4.68358222e-02 -7.17286823e-04 9.98902343e-01 -3.84127908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.260714057 meters 0.02520852842174883 Centerline is valid? [True, True] Translation: X:598.30, Y:-81.58, Z:-38.42 [[ 9.49907765e-01 3.09354537e-01 4.44410749e-02 5.98302151e+02] [-3.09051653e-01 9.50946506e-01 -1.37046957e-02 -8.15793716e+01] [-4.65006947e-02 -7.16390840e-04 9.98918001e-01 -3.84159274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.290714057 meters 0.024537224040235475 Centerline is valid? [True, True] Translation: X:598.33, Y:-81.59, Z:-38.42 [[ 9.49889742e-01 3.09246212e-01 4.55659746e-02 5.98332637e+02] [-3.08927020e-01 9.50981739e-01 -1.40651615e-02 -8.15901309e+01] [-4.76820076e-02 -7.16208074e-04 9.98862309e-01 -3.84161997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.3207140569999 meters 0.02475276906263386 Centerline is valid? [True, True] Translation: X:598.36, Y:-81.60, Z:-38.42 [[ 9.49685384e-01 3.09870945e-01 4.55814437e-02 5.98364278e+02] [-3.09551701e-01 9.50778341e-01 -1.40815352e-02 -8.15996853e+01] [-4.77013081e-02 -7.36785333e-04 9.98861373e-01 -3.84172244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.3507140569999 meters 0.024427749152657025 Centerline is valid? [True, True] Translation: X:598.40, Y:-81.61, Z:-38.42 [[ 9.49341047e-01 3.10715943e-01 4.69806187e-02 5.98396245e+02] [-3.10377097e-01 9.50502488e-01 -1.45285083e-02 -8.16088021e+01] [-4.91694342e-02 -7.89198770e-04 9.98790140e-01 -3.84184635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.380714057 meters 0.02468001501461984 Centerline is valid? [True, True] Translation: X:598.43, Y:-81.62, Z:-38.42 [[ 9.49200436e-01 3.11191596e-01 4.66725050e-02 5.98426745e+02] [-3.10857046e-01 9.50346862e-01 -1.44477679e-02 -8.16170642e+01] [-4.88510926e-02 -7.94649478e-04 9.98805757e-01 -3.84210236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.410714057 meters 0.024704737050315742 Centerline is valid? [True, True] Translation: X:598.46, Y:-81.63, Z:-38.42 [[ 9.49313747e-01 3.10899841e-01 4.63108990e-02 5.98457371e+02] [-3.10569470e-01 9.50442376e-01 -1.43490362e-02 -8.16275474e+01] [-4.84769539e-02 -7.61014008e-04 9.98824011e-01 -3.84228424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.4407140569999 meters 0.02435671119139229 Centerline is valid? [True, True] Translation: X:598.49, Y:-81.64, Z:-38.43 [[ 9.49912861e-01 3.09147213e-01 4.57553982e-02 5.98487047e+02] [-3.08822017e-01 9.51013974e-01 -1.41909626e-02 -8.16388077e+01] [-4.79011196e-02 -6.50096476e-04 9.98851871e-01 -3.84251238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.4707140569999 meters 0.024158687160398457 Centerline is valid? [True, True] Translation: X:598.52, Y:-81.65, Z:-38.43 [[ 9.50665725e-01 3.06743722e-01 4.62922108e-02 5.98516780e+02] [-3.06407393e-01 9.51792002e-01 -1.43699166e-02 -8.16512514e+01] [-4.84684377e-02 -5.23288447e-04 9.98824578e-01 -3.84259947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.500714057 meters 0.02416315273474902 Centerline is valid? [True, True] Translation: X:598.55, Y:-81.66, Z:-38.43 [[ 9.50779734e-01 3.06417905e-01 4.61081929e-02 5.98546711e+02] [-3.06083274e-01 9.51896961e-01 -1.43249762e-02 -8.16610356e+01] [-4.82796779e-02 -4.93049654e-04 9.98833735e-01 -3.84278633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.530714057 meters 0.024112867506137885 Centerline is valid? [True, True] Translation: X:598.58, Y:-81.67, Z:-38.43 [[ 9.50926193e-01 3.05905820e-01 4.64866161e-02 5.98576052e+02] [-3.05564390e-01 9.52061668e-01 -1.44562736e-02 -8.16698226e+01] [-4.86803835e-02 -4.57805299e-04 9.98814302e-01 -3.84294376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.5607140569999 meters 0.024550921518209225 Centerline is valid? [True, True] Translation: X:598.61, Y:-81.68, Z:-38.43 [[ 9.50583591e-01 3.06938312e-01 4.66873627e-02 5.98607087e+02] [-3.06594644e-01 9.51729279e-01 -1.45294390e-02 -8.16791022e+01] [-4.88933715e-02 -5.02649079e-04 9.98803877e-01 -3.84315207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.5907140569999 meters 0.02422785416959756 Centerline is valid? [True, True] Translation: X:598.64, Y:-81.69, Z:-38.43 [[ 9.50285524e-01 3.08000292e-01 4.57519844e-02 5.98637872e+02] [-3.07670836e-01 9.51386113e-01 -1.42520339e-02 -8.16869264e+01] [-4.79174333e-02 -5.33049764e-04 9.98851158e-01 -3.84339181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.620714057 meters 0.02458361888652648 Centerline is valid? [True, True] Translation: X:598.67, Y:-81.69, Z:-38.44 [[ 9.50032907e-01 3.08776941e-01 4.57632713e-02 5.98668187e+02] [-3.08447641e-01 9.51134316e-01 -1.42676759e-02 -8.16946876e+01] [-4.79325470e-02 -5.60811462e-04 9.98850417e-01 -3.84375660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.650714057 meters 0.02456871935324243 Centerline is valid? [True, True] Translation: X:598.70, Y:-81.71, Z:-38.44 [[ 9.50362923e-01 3.07861108e-01 4.50760790e-02 5.98698608e+02] [-3.07540013e-01 9.51431181e-01 -1.40658325e-02 -8.17065098e+01] [-4.72171099e-02 -4.95052177e-04 9.98884528e-01 -3.84386863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.6807140569999 meters 0.02402714480318621 Centerline is valid? [True, True] Translation: X:598.73, Y:-81.72, Z:-38.44 [[ 9.50663303e-01 3.06943692e-01 4.49983867e-02 5.98728205e+02] [-3.06622001e-01 9.51727577e-01 -1.40558926e-02 -8.17164189e+01] [-4.71405731e-02 -4.35074036e-04 9.98888170e-01 -3.84406417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.7107140569999 meters 0.023927345253549604 Centerline is valid? [True, True] Translation: X:598.76, Y:-81.73, Z:-38.44 [[ 9.51341582e-01 3.04773066e-01 4.54155482e-02 5.98758057e+02] [-3.04442377e-01 9.52424945e-01 -1.41973089e-02 -8.17280995e+01] [-4.75818584e-02 -3.19927067e-04 9.98867291e-01 -3.84417182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.740714057 meters 0.02386712711612564 Centerline is valid? [True, True] Translation: X:598.79, Y:-81.74, Z:-38.44 [[ 9.51637176e-01 3.03839547e-01 4.54776263e-02 5.98788718e+02] [-3.03506326e-01 9.52723182e-01 -1.42284505e-02 -8.17380562e+01] [-4.76507548e-02 -2.62424814e-04 9.98864023e-01 -3.84438927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.770714057 meters 0.023642998332200668 Centerline is valid? [True, True] Translation: X:598.82, Y:-81.75, Z:-38.44 [[ 9.52356604e-01 3.01485715e-01 4.60788641e-02 5.98819082e+02] [-3.01140225e-01 9.53470684e-01 -1.44297982e-02 -8.17487673e+01] [-4.82852241e-02 -1.33885863e-04 9.98833579e-01 -3.84446298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.8007140569999 meters 0.02391854344639927 Centerline is valid? [True, True] Translation: X:598.85, Y:-81.76, Z:-38.45 [[ 9.53149739e-01 2.98952183e-01 4.61862210e-02 5.98849855e+02] [-2.98601542e-01 9.54268093e-01 -1.44750241e-02 -8.17594702e+01] [-4.84013771e-02 5.58861132e-06 9.98827967e-01 -3.84465571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.8307140569999 meters 0.02361497509508003 Centerline is valid? [True, True] Translation: X:598.88, Y:-81.77, Z:-38.45 [[ 9.53461769e-01 2.97939510e-01 4.62893358e-02 5.98881405e+02] [-2.97585441e-01 9.54584749e-01 -1.45210987e-02 -8.17696101e+01] [-4.85135031e-02 7.02800982e-05 9.98822524e-01 -3.84477189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.860714057 meters 0.023901084239025407 Centerline is valid? [True, True] Translation: X:598.91, Y:-81.78, Z:-38.45 [[ 9.54211180e-01 2.95619264e-01 4.57195315e-02 5.98911667e+02] [-2.95270531e-01 9.55305821e-01 -1.43562668e-02 -8.17791163e+01] [-4.79201236e-02 1.99279919e-04 9.98851151e-01 -3.84501277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.890714057 meters 0.023850939427620718 Centerline is valid? [True, True] Translation: X:598.94, Y:-81.79, Z:-38.45 [[ 9.54546931e-01 2.94581485e-01 4.54082077e-02 5.98942977e+02] [-2.94235762e-01 9.55626329e-01 -1.42700828e-02 -8.17890743e+01] [-4.75969810e-02 2.60745143e-04 9.98866587e-01 -3.84523199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.9207140569999 meters 0.024285955374547516 Centerline is valid? [True, True] Translation: X:598.97, Y:-81.80, Z:-38.45 [[ 9.55479659e-01 2.91515490e-01 4.55778466e-02 5.98972314e+02] [-2.91162997e-01 9.56566012e-01 -1.43378697e-02 -8.17983724e+01] [-4.77779301e-02 4.28960401e-04 9.98857891e-01 -3.84542201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.9507140569999 meters 0.02469070663564907 Centerline is valid? [True, True] Translation: X:599.00, Y:-81.81, Z:-38.46 [[ 9.55910972e-01 2.89958740e-01 4.64558148e-02 5.99004089e+02] [-2.89590145e-01 9.57039002e-01 -1.46252182e-02 -8.18085175e+01] [-4.87007365e-02 5.27260375e-04 9.98813276e-01 -3.84552251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.9807140569999 meters 0.024288992637491822 Centerline is valid? [True, True] Translation: X:599.04, Y:-81.82, Z:-38.46 [[ 9.56086947e-01 2.89311037e-01 4.68708296e-02 5.99036230e+02] [-2.88934354e-01 9.57234971e-01 -1.47698871e-02 -8.18169461e+01] [-4.91394886e-02 5.78703375e-04 9.98791758e-01 -3.84563602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.010714057 meters 0.02423743007874764 Centerline is valid? [True, True] Translation: X:599.07, Y:-81.82, Z:-38.46 [[ 9.55600275e-01 2.90732085e-01 4.79892648e-02 5.99067822e+02] [-2.90338215e-01 9.56804354e-01 -1.51376820e-02 -8.18231045e+01] [-5.03173473e-02 5.32455617e-04 9.98733138e-01 -3.84577298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.040714057 meters 0.024123662938335587 Centerline is valid? [True, True] Translation: X:599.10, Y:-81.83, Z:-38.46 [[ 9.55110488e-01 2.92299252e-01 4.82193212e-02 5.99098802e+02] [-2.91902938e-01 9.56326791e-01 -1.52231060e-02 -8.18300325e+01] [-5.05631312e-02 4.64386659e-04 9.98720759e-01 -3.84592730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.0707140569999 meters 0.023995539055086078 Centerline is valid? [True, True] Translation: X:599.13, Y:-81.83, Z:-38.46 [[ 9.53636359e-01 2.97291718e-01 4.68543389e-02 5.99130638e+02] [-2.96922946e-01 9.54786674e-01 -1.48044627e-02 -8.18334126e+01] [-4.91371426e-02 2.05945573e-04 9.98792020e-01 -3.84624886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.1007140569999 meters 0.02391997266378281 Centerline is valid? [True, True] Translation: X:599.16, Y:-81.84, Z:-38.47 [[ 9.51827300e-01 3.03233542e-01 4.55434941e-02 5.99163033e+02] [-3.02891409e-01 9.52916267e-01 -1.44008081e-02 -8.18361436e+01] [-4.77659444e-02 -8.76507404e-05 9.98858552e-01 -3.84664054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.130714057 meters 0.023941887786410522 Centerline is valid? [True, True] Translation: X:599.20, Y:-81.84, Z:-38.47 [[ 9.50868132e-01 3.06252491e-01 4.53784880e-02 5.99195636e+02] [-3.05915667e-01 9.51950293e-01 -1.43612128e-02 -8.18426821e+01] [-4.75962221e-02 -2.26370847e-04 9.98866632e-01 -3.84685884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.160714057 meters 0.02398189989956189 Centerline is valid? [True, True] Translation: X:599.23, Y:-81.85, Z:-38.47 [[ 9.49173237e-01 3.11529688e-01 4.49379571e-02 5.99228071e+02] [-3.11204642e-01 9.50236302e-01 -1.42352176e-02 -8.18464564e+01] [-4.71363711e-02 -4.73213240e-04 9.98888351e-01 -3.84707320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.1907140569999 meters 0.02449288150303945 Centerline is valid? [True, True] Translation: X:599.26, Y:-81.85, Z:-38.47 [[ 9.48472178e-01 3.13682400e-01 4.47647226e-02 5.99259141e+02] [-3.13361623e-01 9.49527794e-01 -1.41936817e-02 -8.18517888e+01] [-4.69576564e-02 -5.65233963e-04 9.98896721e-01 -3.84742979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.2207140569999 meters 0.024258362890136793 Centerline is valid? [True, True] Translation: X:599.29, Y:-81.86, Z:-38.48 [[ 9.47778081e-01 3.15838205e-01 4.43050387e-02 5.99289967e+02] [-3.15526104e-01 9.48812833e-01 -1.40529521e-02 -8.18593006e+01] [-4.64756484e-02 -6.60316294e-04 9.98919205e-01 -3.84756612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.250714057 meters 0.024638644507118602 Centerline is valid? [True, True] Translation: X:599.32, Y:-81.87, Z:-38.48 [[ 9.47756030e-01 3.15987500e-01 4.37082140e-02 5.99321566e+02] [-3.15683402e-01 9.48763132e-01 -1.38747902e-02 -8.18691118e+01] [-4.58530022e-02 -6.48041600e-04 9.98947988e-01 -3.84769667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.280714057 meters 0.02442844611804359 Centerline is valid? [True, True] Translation: X:599.35, Y:-81.88, Z:-38.48 [[ 9.47891376e-01 3.15537075e-01 4.40260518e-02 5.99351206e+02] [-3.15227379e-01 9.48913049e-01 -1.39901975e-02 -8.18783955e+01] [-4.61913211e-02 -6.17029355e-04 9.98932421e-01 -3.84786531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.3107140569999 meters 0.024676110755401257 Centerline is valid? [True, True] Translation: X:599.38, Y:-81.89, Z:-38.48 [[ 9.48406445e-01 3.13889603e-01 4.47049463e-02 5.99381952e+02] [-3.13567836e-01 9.49459338e-01 -1.42189568e-02 -8.18893233e+01] [-4.69087114e-02 -5.32683022e-04 9.98899038e-01 -3.84799111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.3407140569999 meters 0.024374542362855228 Centerline is valid? [True, True] Translation: X:599.41, Y:-81.90, Z:-38.48 [[ 9.48993431e-01 3.12004308e-01 4.54398525e-02 5.99411642e+02] [-3.11669567e-01 9.50080583e-01 -1.44556662e-02 -8.18990598e+01] [-4.76817517e-02 -4.43886812e-04 9.98862480e-01 -3.84809701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.370714057 meters 0.02415479431872473 Centerline is valid? [True, True] Translation: X:599.44, Y:-81.91, Z:-38.48 [[ 9.49215370e-01 3.11260660e-01 4.59018820e-02 5.99442004e+02] [-3.10917658e-01 9.50324493e-01 -1.46139883e-02 -8.19093482e+01] [-4.81704423e-02 -3.99883348e-04 9.98839050e-01 -3.84828363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.400714057 meters 0.0241064730753429 Centerline is valid? [True, True] Translation: X:599.47, Y:-81.92, Z:-38.48 [[ 9.49498574e-01 3.10289385e-01 4.66149792e-02 5.99471787e+02] [-3.09933859e-01 9.50642088e-01 -1.48534096e-02 -8.19198279e+01] [-4.89230165e-02 -3.44269171e-04 9.98802493e-01 -3.84840027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.4307140569999 meters 0.024418236718432296 Centerline is valid? [True, True] Translation: X:599.50, Y:-81.93, Z:-38.49 [[ 9.49450309e-01 3.10380785e-01 4.69880839e-02 5.99503131e+02] [-3.10019061e-01 9.50612251e-01 -1.49842938e-02 -8.19299721e+01] [-4.93182851e-02 -3.40359311e-04 9.98783055e-01 -3.84856199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.4607140569999 meters 0.02434770890087508 Centerline is valid? [True, True] Translation: X:599.53, Y:-81.94, Z:-38.49 [[ 9.49260534e-01 3.10964173e-01 4.69651200e-02 5.99534238e+02] [-3.10602833e-01 9.50421567e-01 -1.49908157e-02 -8.19394890e+01] [-4.92982696e-02 -3.57309617e-04 9.98784037e-01 -3.84872347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.490714057 meters 0.02434770890087508 Centerline is valid? [True, True] Translation: X:599.57, Y:-81.95, Z:-38.49 [[ 9.49177965e-01 3.11216713e-01 4.69611303e-02 5.99565020e+02] [-3.10855064e-01 9.50338903e-01 -1.50033027e-02 -8.19494129e+01] [-4.92982676e-02 -3.57300844e-04 9.98784037e-01 -3.84891160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.520714057 meters 0.02390056846769454 Centerline is valid? [True, True] Translation: X:599.60, Y:-81.96, Z:-38.49 [[ 9.48590679e-01 3.13029281e-01 4.67802727e-02 5.99596350e+02] [-3.12671934e-01 9.49743375e-01 -1.49593702e-02 -8.19580315e+01] [-4.91119750e-02 -4.36559253e-04 9.98793183e-01 -3.84908594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.5507140569999 meters 0.02423064541874009 Centerline is valid? [True, True] Translation: X:599.63, Y:-81.97, Z:-38.49 [[ 9.48084754e-01 3.14588977e-01 4.65733318e-02 5.99627052e+02] [-3.14236058e-01 9.49227856e-01 -1.49056109e-02 -8.19663773e+01] [-4.88978448e-02 -5.03237705e-04 9.98803658e-01 -3.84934817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.5807140569999 meters 0.02482970039308071 Centerline is valid? [True, True] Translation: X:599.66, Y:-81.97, Z:-38.50 [[ 9.47006482e-01 3.17854885e-01 4.63356706e-02 5.99657513e+02] [-3.17508855e-01 9.48139146e-01 -1.48420351e-02 -8.19722858e+01] [-4.86502765e-02 -6.56482310e-04 9.98815658e-01 -3.84967236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.610714057 meters 0.02480906054156938 Centerline is valid? [True, True] Translation: X:599.69, Y:-81.98, Z:-38.50 [[ 9.46468545e-01 3.19434886e-01 4.64612469e-02 5.99687859e+02] [-3.19088324e-01 9.47607947e-01 -1.48936106e-02 -8.19814876e+01] [-4.87845857e-02 -7.28907469e-04 9.98809057e-01 -3.84976978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.640714057 meters 0.024939843086351617 Centerline is valid? [True, True] Translation: X:599.72, Y:-81.99, Z:-38.50 [[ 9.45706171e-01 3.21692437e-01 4.64091955e-02 5.99718963e+02] [-3.21348771e-01 9.46843853e-01 -1.48890915e-02 -8.19898872e+01] [-4.87319696e-02 -8.32832188e-04 9.98811545e-01 -3.84992207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.6707140569999 meters 0.025188119327688545 Centerline is valid? [True, True] Translation: X:599.75, Y:-82.00, Z:-38.50 [[ 9.45331432e-01 3.22895414e-01 4.56840952e-02 5.99749760e+02] [-3.22563237e-01 9.46434253e-01 -1.46684196e-02 -8.19986962e+01] [-4.79733579e-02 -8.69491458e-04 9.98848237e-01 -3.85020587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.7007140569999 meters 0.0250726163488722 Centerline is valid? [True, True] Translation: X:599.78, Y:-82.01, Z:-38.50 [[ 9.45288391e-01 3.23091650e-01 4.51845549e-02 5.99780958e+02] [-3.22766382e-01 9.46367290e-01 -1.45194555e-02 -8.20085773e+01] [-4.74522996e-02 -8.58982538e-04 9.98873136e-01 -3.85047401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.7307140569999 meters 0.025739923263157972 Centerline is valid? [True, True] Translation: X:599.81, Y:-82.02, Z:-38.51 [[ 9.45252360e-01 3.23397912e-01 4.37237418e-02 5.99810702e+02] [-3.23093007e-01 9.46262700e-01 -1.40645318e-02 -8.20176498e+01] [-4.59225862e-02 -8.32303372e-04 9.98944655e-01 -3.85081684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.760714057 meters 0.025382519978113888 Centerline is valid? [True, True] Translation: X:599.84, Y:-82.03, Z:-38.51 [[ 9.45020739e-01 3.24091113e-01 4.35976349e-02 5.99842013e+02] [-3.23788501e-01 9.46025482e-01 -1.40283527e-02 -8.20290240e+01] [-4.57909380e-02 -8.59328628e-04 9.98950675e-01 -3.85094321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.790714057 meters 0.025989168324105444 Centerline is valid? [True, True] Translation: X:599.87, Y:-82.04, Z:-38.51 [[ 9.44827299e-01 3.24688728e-01 4.33428659e-02 5.99871733e+02] [-3.24389588e-01 9.45820530e-01 -1.39613888e-02 -8.20375673e+01] [-4.55276780e-02 -8.68873153e-04 9.98962700e-01 -3.85118839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.8207140569999 meters 0.025707933745893582 Centerline is valid? [True, True] Translation: X:599.90, Y:-82.05, Z:-38.51 [[ 9.44566988e-01 3.25500596e-01 4.29251427e-02 5.99901494e+02] [-3.25207822e-01 9.45541412e-01 -1.38315198e-02 -8.20489615e+01] [-4.50896679e-02 -8.94795168e-04 9.98982543e-01 -3.85124008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.8507140569999 meters 0.025614840974883295 Centerline is valid? [True, True] Translation: X:599.93, Y:-82.06, Z:-38.51 [[ 9.44320745e-01 3.26143863e-01 4.34570034e-02 5.99932047e+02] [-3.25843927e-01 9.45319694e-01 -1.40147017e-02 -8.20574533e+01] [-4.56515701e-02 -9.25827094e-04 9.98956995e-01 -3.85144434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.880714057 meters 0.025623658825184224 Centerline is valid? [True, True] Translation: X:599.96, Y:-82.07, Z:-38.52 [[ 9.43962484e-01 3.27026424e-01 4.45931146e-02 5.99963475e+02] [-3.26710959e-01 9.45014685e-01 -1.43942606e-02 -8.20670495e+01] [-4.68484517e-02 -9.81417170e-04 9.98901526e-01 -3.85157275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.910714057 meters 0.025804253098653623 Centerline is valid? [True, True] Translation: X:599.99, Y:-82.08, Z:-38.52 [[ 9.43751383e-01 3.27535754e-01 4.53172897e-02 5.99994684e+02] [-3.27209864e-01 9.44838246e-01 -1.46422172e-02 -8.20771853e+01] [-4.76133582e-02 -1.00965148e-03 9.98865331e-01 -3.85173778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.9407140569999 meters 0.026610509337204657 Centerline is valid? [True, True] Translation: X:600.03, Y:-82.08, Z:-38.52 [[ 9.43215907e-01 3.28968272e-01 4.60828431e-02 6.00025632e+02] [-3.28632212e-01 9.44340351e-01 -1.49054123e-02 -8.20837295e+01] [-4.84212959e-02 -1.08528464e-03 9.98826411e-01 -3.85189904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.9707140569999 meters 0.02739611396604515 Centerline is valid? [True, True] Translation: X:600.06, Y:-82.09, Z:-38.52 [[ 9.42497995e-01 3.31082305e-01 4.56293338e-02 6.00056666e+02] [-3.30755038e-01 9.43601146e-01 -1.47642350e-02 -8.20922952e+01] [-4.79440686e-02 -1.17687013e-03 9.98849329e-01 -3.85217376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.000714057 meters 0.02714423026815705 Centerline is valid? [True, True] Translation: X:600.09, Y:-82.10, Z:-38.52 [[ 9.42097637e-01 3.32200686e-01 4.57684024e-02 6.00086823e+02] [-3.31872177e-01 9.43207930e-01 -1.48208718e-02 -8.21025027e+01] [-4.80926239e-02 -1.22655105e-03 9.98842127e-01 -3.85236299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.030714057 meters 0.02769122793767617 Centerline is valid? [True, True] Translation: X:600.12, Y:-82.11, Z:-38.53 [[ 9.41568940e-01 3.33753445e-01 4.53494124e-02 6.00116395e+02] [-3.33432136e-01 9.42659532e-01 -1.46975167e-02 -8.21105186e+01] [-4.76544027e-02 -1.28222624e-03 9.98863061e-01 -3.85259700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.0607140569999 meters 0.02820557772444137 Centerline is valid? [True, True] Translation: X:600.15, Y:-82.12, Z:-38.53 [[ 9.41295650e-01 3.34601031e-01 4.47733033e-02 6.00145918e+02] [-3.34288383e-01 9.42358987e-01 -1.45195456e-02 -8.21198968e+01] [-4.70507797e-02 -1.30001003e-03 9.98891653e-01 -3.85283987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.0907140569999 meters 0.028378559830271433 Centerline is valid? [True, True] Translation: X:600.18, Y:-82.13, Z:-38.53 [[ 9.41208139e-01 3.34991546e-01 4.36795512e-02 6.00176051e+02] [-3.34693955e-01 9.42220267e-01 -1.41748057e-02 -8.21298065e+01] [-4.59041985e-02 -1.27783929e-03 9.98945029e-01 -3.85314207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.120714057 meters 0.028258818498665586 Centerline is valid? [True, True] Translation: X:600.21, Y:-82.14, Z:-38.53 [[ 9.41065366e-01 3.35346772e-01 4.40286122e-02 6.00207077e+02] [-3.35044287e-01 9.42093872e-01 -1.42989840e-02 -8.21400886e+01] [-4.62742039e-02 -1.29525639e-03 9.98927936e-01 -3.85336896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.150714057 meters 0.02680505743080786 Centerline is valid? [True, True] Translation: X:600.24, Y:-82.15, Z:-38.53 [[ 9.41166861e-01 3.35001877e-01 4.44823821e-02 6.00236551e+02] [-3.34692050e-01 9.42216594e-01 -1.44610297e-02 -8.21548815e+01] [-4.67565106e-02 -1.27765779e-03 9.98905499e-01 -3.85342181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.1807140569999 meters 0.027450516111561758 Centerline is valid? [True, True] Translation: X:600.27, Y:-82.16, Z:-38.54 [[ 9.41405486e-01 3.34199945e-01 4.54544604e-02 6.00266008e+02] [-3.33875208e-01 9.42501358e-01 -1.47829145e-02 -8.21637142e+01] [-4.77813399e-02 -1.25940059e-03 9.98857026e-01 -3.85367381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.2107140569999 meters 0.026311947372541295 Centerline is valid? [True, True] Translation: X:600.30, Y:-82.18, Z:-38.54 [[ 9.41394816e-01 3.34268122e-01 4.51732578e-02 6.00295610e+02] [-3.33946966e-01 9.42477200e-01 -1.47020763e-02 -8.21783550e+01] [-4.74892009e-02 -1.24501403e-03 9.98870976e-01 -3.85371873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.240714057 meters 0.026307004830429553 Centerline is valid? [True, True] Translation: X:600.33, Y:-82.19, Z:-38.54 [[ 9.41411233e-01 3.34161832e-01 4.56153427e-02 6.00325523e+02] [-3.33833526e-01 9.42514900e-01 -1.48606704e-02 -8.21910304e+01] [-4.79590090e-02 -1.23792868e-03 9.98848538e-01 -3.85388852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.270714057 meters 0.026135923922272042 Centerline is valid? [True, True] Translation: X:600.36, Y:-82.20, Z:-38.54 [[ 9.41336890e-01 3.34367937e-01 4.56392717e-02 6.00356032e+02] [-3.34038949e-01 9.42441802e-01 -1.48805173e-02 -8.22022148e+01] [-4.79879253e-02 -1.23771449e-03 9.98847149e-01 -3.85405458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.3007140569999 meters 0.026506788624995243 Centerline is valid? [True, True] Translation: X:600.39, Y:-82.21, Z:-38.54 [[ 9.41098828e-01 3.35141618e-01 4.48674867e-02 6.00385045e+02] [-3.34823870e-01 9.42166946e-01 -1.46431679e-02 -8.22117016e+01] [-4.71801979e-02 -1.24203743e-03 9.98885622e-01 -3.85443756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.3307140569999 meters 0.026538301062526696 Centerline is valid? [True, True] Translation: X:600.42, Y:-82.22, Z:-38.55 [[ 9.40893110e-01 3.35793400e-01 4.43051778e-02 6.00415382e+02] [-3.35483789e-01 9.41934835e-01 -1.44704506e-02 -8.22217145e+01] [-4.65916722e-02 -1.24852161e-03 9.98913238e-01 -3.85473632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.360714057 meters 0.026647076988735096 Centerline is valid? [True, True] Translation: X:600.45, Y:-82.23, Z:-38.55 [[ 9.40393977e-01 3.37387699e-01 4.27634098e-02 6.00445478e+02] [-3.37100435e-01 9.41364926e-01 -1.39775726e-02 -8.22335753e+01] [-4.49718351e-02 -1.27113897e-03 9.98987447e-01 -3.85507227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.390714057 meters 0.027164122620745277 Centerline is valid? [True, True] Translation: X:600.48, Y:-82.24, Z:-38.55 [[ 9.40061134e-01 3.38374445e-01 4.22823734e-02 6.00475357e+02] [-3.38094093e-01 9.41010661e-01 -1.38318585e-02 -8.22428007e+01] [-4.44685116e-02 -1.29262807e-03 9.99009950e-01 -3.85538018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.4207140569999 meters 0.026994024087486333 Centerline is valid? [True, True] Translation: X:600.51, Y:-82.26, Z:-38.56 [[ 9.39590438e-01 3.39688434e-01 4.22087206e-02 6.00505105e+02] [-3.39409927e-01 9.40537062e-01 -1.38179855e-02 -8.22553014e+01] [-4.43926759e-02 -1.34281179e-03 9.99013257e-01 -3.85551017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.4507140569999 meters 0.02864018346960765 Centerline is valid? [True, True] Translation: X:600.53, Y:-82.26, Z:-38.56 [[ 9.38937739e-01 3.41342991e-01 4.33691729e-02 6.00534908e+02] [-3.41050154e-01 9.39937692e-01 -1.42101445e-02 -8.22630047e+01] [-4.56148535e-02 -1.44862214e-03 9.98958051e-01 -3.85571306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.4807140569999 meters 0.02904339979690938 Centerline is valid? [True, True] Translation: X:600.57, Y:-82.27, Z:-38.56 [[ 9.38588248e-01 3.42291833e-01 4.34557426e-02 6.00565637e+02] [-3.41998355e-01 9.39592512e-01 -1.42491113e-02 -8.22733136e+01] [-4.57080447e-02 -1.48774409e-03 9.98953733e-01 -3.85588919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.510714057 meters 0.028386915950480554 Centerline is valid? [True, True] Translation: X:600.59, Y:-82.29, Z:-38.56 [[ 9.37909494e-01 3.43986394e-01 4.47117716e-02 6.00594873e+02] [-3.43677061e-01 9.38973261e-01 -1.46728279e-02 -8.22856919e+01] [-4.70304112e-02 -1.60462570e-03 9.98892169e-01 -3.85587649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.540714057 meters 0.028016566368571808 Centerline is valid? [True, True] Translation: X:600.62, Y:-82.30, Z:-38.56 [[ 9.38063771e-01 3.43515045e-01 4.50974031e-02 6.00624378e+02] [-3.43199289e-01 9.39145837e-01 -1.48102929e-02 -8.22975855e+01] [-4.74405968e-02 -1.58439742e-03 9.98872804e-01 -3.85605050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.5707140569999 meters 0.028261802880489732 Centerline is valid? [True, True] Translation: X:600.65, Y:-82.31, Z:-38.56 [[ 9.38748977e-01 3.41608433e-01 4.53214815e-02 6.00653590e+02] [-3.41286734e-01 9.39841197e-01 -1.48959389e-02 -8.23092682e+01] [-4.76835738e-02 -1.48407298e-03 9.98861389e-01 -3.85628870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.6007140569999 meters 0.02746869641953107 Centerline is valid? [True, True] Translation: X:600.68, Y:-82.32, Z:-38.57 [[ 9.39386997e-01 3.39857085e-01 4.52684286e-02 6.00683604e+02] [-3.39533544e-01 9.40476077e-01 -1.48903212e-02 -8.23206676e+01] [-4.76344553e-02 -1.38237588e-03 9.98863878e-01 -3.85652183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.630714057 meters 0.02603360946801928 Centerline is valid? [True, True] Translation: X:600.71, Y:-82.33, Z:-38.57 [[ 9.40094442e-01 3.37968362e-01 4.47194159e-02 6.00713291e+02] [-3.37649876e-01 9.41156630e-01 -1.47227438e-02 -8.23341760e+01] [-4.70637963e-02 -1.25873559e-03 9.98891093e-01 -3.85682018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.660714057 meters 0.026980242655990617 Centerline is valid? [True, True] Translation: X:600.74, Y:-82.34, Z:-38.57 [[ 9.40184385e-01 3.37744387e-01 4.45202282e-02 6.00743817e+02] [-3.37428305e-01 9.41237056e-01 -1.46609534e-02 -8.23414981e+01] [-4.68557432e-02 -1.23838563e-03 9.98900899e-01 -3.85706234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.6907140569999 meters 0.02771444030472376 Centerline is valid? [True, True] Translation: X:600.77, Y:-82.35, Z:-38.57 [[ 9.39847741e-01 3.38675680e-01 4.45534257e-02 6.00774060e+02] [-3.38359629e-01 9.40902311e-01 -1.46834292e-02 -8.23495903e+01] [-4.68933416e-02 -1.27489286e-03 9.98899089e-01 -3.85725660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.7207140569999 meters 0.026655032852782277 Centerline is valid? [True, True] Translation: X:600.80, Y:-82.36, Z:-38.58 [[ 9.39498823e-01 3.39973286e-01 4.19538699e-02 6.00804917e+02] [-3.39693955e-01 9.40434259e-01 -1.38355452e-02 -8.23576899e+01] [-4.41585723e-02 -1.25299759e-03 9.99023749e-01 -3.85763003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.750714057 meters 0.027119160898999833 Centerline is valid? [True, True] Translation: X:600.84, Y:-82.36, Z:-38.58 [[ 9.39310591e-01 3.40532319e-01 4.16335485e-02 6.00835605e+02] [-3.40257292e-01 9.40231969e-01 -1.37412037e-02 -8.23640378e+01] [-4.38245172e-02 -1.25886032e-03 9.99038451e-01 -3.85803664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.780714057 meters 0.027367545754039622 Centerline is valid? [True, True] Translation: X:600.87, Y:-82.37, Z:-38.58 [[ 9.39424634e-01 3.40203220e-01 4.17507592e-02 6.00865916e+02] [-3.39925818e-01 9.40351126e-01 -1.37912250e-02 -8.23737550e+01] [-4.39521926e-02 -1.23634451e-03 9.99032870e-01 -3.85821139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.8107140569999 meters 0.027009100773182797 Centerline is valid? [True, True] Translation: X:600.90, Y:-82.38, Z:-38.58 [[ 9.39501577e-01 3.39990962e-01 4.17484490e-02 6.00895821e+02] [-3.39712881e-01 9.40427918e-01 -1.38018254e-02 -8.23845505e+01] [-4.39539029e-02 -1.21564916e-03 9.99032821e-01 -3.85822978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.8407140569999 meters 0.02705703770423932 Centerline is valid? [True, True] Translation: X:600.93, Y:-82.39, Z:-38.58 [[ 9.39776989e-01 3.39107455e-01 4.27240570e-02 6.00925193e+02] [-3.38814706e-01 9.40746894e-01 -1.41377341e-02 -8.23946563e+01] [-4.49867350e-02 -1.18922160e-03 9.98986877e-01 -3.85809283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.870714057 meters 0.026934887874885804 Centerline is valid? [True, True] Translation: X:600.96, Y:-82.40, Z:-38.58 [[ 9.39624544e-01 3.39401468e-01 4.37305397e-02 6.00956040e+02] [-3.39094814e-01 9.40640813e-01 -1.44764476e-02 -8.24043950e+01] [-4.60480580e-02 -1.22637374e-03 9.98938473e-01 -3.85817225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.900714057 meters 0.026587136306946913 Centerline is valid? [True, True] Translation: X:600.99, Y:-82.41, Z:-38.58 [[ 9.39318939e-01 3.40077608e-01 4.50238957e-02 6.00988896e+02] [-3.39752731e-01 9.40396495e-01 -1.49168785e-02 -8.24105828e+01] [-4.74132101e-02 -1.28528509e-03 9.98874534e-01 -3.85833283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.9307140569999 meters 0.02681680178665802 Centerline is valid? [True, True] Translation: X:601.02, Y:-82.42, Z:-38.59 [[ 9.38837658e-01 3.41278973e-01 4.59620964e-02 6.01019593e+02] [-3.40941116e-01 9.39961070e-01 -1.52427715e-02 -8.24182994e+01] [-4.84046187e-02 -1.35988051e-03 9.98826884e-01 -3.85852024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.9607140569999 meters 0.027046780725207765 Centerline is valid? [True, True] Translation: X:601.05, Y:-82.43, Z:-38.59 [[ 9.38579606e-01 3.41988524e-01 4.59583873e-02 6.01049297e+02] [-3.41650946e-01 9.39703109e-01 -1.52544434e-02 -8.24266151e+01] [-4.84040840e-02 -1.38421707e-03 9.98826876e-01 -3.85868311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.990714057 meters 0.027648133844432172 Centerline is valid? [True, True] Translation: X:601.08, Y:-82.44, Z:-38.59 [[ 9.37728210e-01 3.44356091e-01 4.56583667e-02 6.01079953e+02] [-3.44025158e-01 9.38837939e-01 -1.51662648e-02 -8.24359139e+01] [-4.80884026e-02 -1.48579248e-03 9.98841978e-01 -3.85875445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.020714057 meters 0.027846969212616455 Centerline is valid? [True, True] Translation: X:601.11, Y:-82.44, Z:-38.59 [[ 9.37202086e-01 3.45795072e-01 4.55852948e-02 6.01110584e+02] [-3.45466297e-01 9.38308787e-01 -1.51544559e-02 -8.24449969e+01] [-4.80134188e-02 -1.54539535e-03 9.98845495e-01 -3.85894658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.0507140569999 meters 0.028100473174595714 Centerline is valid? [True, True] Translation: X:601.14, Y:-82.45, Z:-38.59 [[ 9.36344173e-01 3.48155402e-01 4.52482773e-02 6.01142107e+02] [-3.47833539e-01 9.37435398e-01 -1.50567025e-02 -8.24513677e+01] [-4.76594092e-02 -1.64061282e-03 9.98862297e-01 -3.85925906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.0807140569999 meters 0.028489302653429804 Centerline is valid? [True, True] Translation: X:601.17, Y:-82.46, Z:-38.60 [[ 9.35826279e-01 3.49532255e-01 4.53473055e-02 6.01172705e+02] [-3.49210512e-01 9.36922766e-01 -1.50913829e-02 -8.24599560e+01] [-4.77618480e-02 -1.71284304e-03 9.98857283e-01 -3.85953951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.110714057 meters 0.029239159879487154 Centerline is valid? [True, True] Translation: X:601.20, Y:-82.47, Z:-38.60 [[ 9.35156417e-01 3.51446258e-01 4.43621737e-02 6.01203192e+02] [-3.51139868e-01 9.36206406e-01 -1.47769428e-02 -8.24674196e+01] [-4.67254524e-02 -1.75857495e-03 9.98906222e-01 -3.85973230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.140714057 meters 0.02908521155179771 Centerline is valid? [True, True] Translation: X:601.23, Y:-82.48, Z:-38.60 [[ 9.34788762e-01 3.52436330e-01 4.42561128e-02 6.01233175e+02] [-3.52132308e-01 9.35834064e-01 -1.47459598e-02 -8.24787164e+01] [-4.66133898e-02 -1.79964957e-03 9.98911384e-01 -3.85980135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.1707140569999 meters 0.029691438911852937 Centerline is valid? [True, True] Translation: X:601.26, Y:-82.49, Z:-38.60 [[ 9.34375736e-01 3.53444800e-01 4.49305797e-02 6.01263791e+02] [-3.53131990e-01 9.35453521e-01 -1.49835547e-02 -8.24864456e+01] [-4.73263285e-02 -1.86615503e-03 9.98877738e-01 -3.85997170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.2007140569999 meters 0.029023588258276663 Centerline is valid? [True, True] Translation: X:601.29, Y:-82.50, Z:-38.60 [[ 9.34056280e-01 3.54206930e-01 4.55666245e-02 6.01294246e+02] [-3.53885544e-01 9.35165098e-01 -1.52072649e-02 -8.24964490e+01] [-4.79988355e-02 -1.92092841e-03 9.98845545e-01 -3.86017740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.2307140569999 meters 0.029679355759821988 Centerline is valid? [True, True] Translation: X:601.32, Y:-82.50, Z:-38.60 [[ 9.34060210e-01 3.54122661e-01 4.61374618e-02 6.01324937e+02] [-3.53792420e-01 9.35196997e-01 -1.54110439e-02 -8.25038348e+01] [-4.86050156e-02 -1.92824135e-03 9.98816217e-01 -3.86039502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.260714057 meters 0.030550175035016107 Centerline is valid? [True, True] Translation: X:601.35, Y:-82.51, Z:-38.61 [[ 9.34211835e-01 3.53697630e-01 4.63274614e-02 6.01354793e+02] [-3.53363552e-01 9.35357881e-01 -1.54865705e-02 -8.25130451e+01] [-4.88103194e-02 -1.90269885e-03 9.98806254e-01 -3.86054725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.290714057 meters 0.029564045147521912 Centerline is valid? [True, True] Translation: X:601.39, Y:-82.53, Z:-38.61 [[ 9.34238615e-01 3.53546716e-01 4.69353795e-02 6.01385051e+02] [-3.53203039e-01 9.35414922e-01 -1.57015016e-02 -8.25250360e+01] [-4.94552687e-02 -1.90876957e-03 9.98774516e-01 -3.86059859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.3207140569999 meters 0.029977267650899808 Centerline is valid? [True, True] Translation: X:601.42, Y:-82.53, Z:-38.61 [[ 9.34504420e-01 3.52746436e-01 4.76596361e-02 6.01415270e+02] [-3.52390320e-01 9.35717056e-01 -1.59578455e-02 -8.25314433e+01] [-5.02250075e-02 -1.88211727e-03 9.98736154e-01 -3.86091049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.3507140569999 meters 0.028573502471316493 Centerline is valid? [True, True] Translation: X:601.45, Y:-82.54, Z:-38.61 [[ 9.34975973e-01 3.51441380e-01 4.80508791e-02 6.01445656e+02] [-3.51077330e-01 9.36208119e-01 -1.60955441e-02 -8.25424944e+01] [-5.06422634e-02 -1.82062734e-03 9.98715198e-01 -3.86106124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.380714057 meters 0.029645174860376808 Centerline is valid? [True, True] Translation: X:601.48, Y:-82.55, Z:-38.61 [[ 9.35006925e-01 3.51364623e-01 4.80099205e-02 6.01475958e+02] [-3.51000421e-01 9.36236964e-01 -1.60950827e-02 -8.25498326e+01] [-5.06039049e-02 -1.80248849e-03 9.98717175e-01 -3.86124597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.410714057 meters 0.029645174860376808 Centerline is valid? [True, True] Translation: X:601.51, Y:-82.56, Z:-38.61 [[ 9.34912480e-01 3.51616331e-01 4.80063638e-02 6.01506618e+02] [-3.51251917e-01 9.36142456e-01 -1.61056839e-02 -8.25602086e+01] [-5.06038168e-02 -1.80492243e-03 9.98717175e-01 -3.86143411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.4407140569999 meters 0.03015997752916172 Centerline is valid? [True, True] Translation: X:601.54, Y:-82.57, Z:-38.62 [[ 9.34962107e-01 3.51522334e-01 4.77274222e-02 6.01536633e+02] [-3.51161287e-01 9.36177812e-01 -1.60267071e-02 -8.25690853e+01] [-5.03150992e-02 -1.77565914e-03 9.98731815e-01 -3.86163543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.4707140569999 meters 0.028051471793734354 Centerline is valid? [True, True] Translation: X:601.57, Y:-82.58, Z:-38.62 [[ 9.35091069e-01 3.51319623e-01 4.66820550e-02 6.01566636e+02] [-3.50973463e-01 9.36254013e-01 -1.56860279e-02 -8.25836633e+01] [-4.92170707e-02 -1.71629788e-03 9.98786631e-01 -3.86184890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.500714057 meters 0.02762071009537395 Centerline is valid? [True, True] Translation: X:601.60, Y:-82.59, Z:-38.62 [[ 9.35330805e-01 3.50911220e-01 4.49177171e-02 6.01597685e+02] [-3.50589629e-01 9.36407336e-01 -1.51067489e-02 -8.25926726e+01] [-4.73624075e-02 -1.61787811e-03 9.98876461e-01 -3.86226734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.530714057 meters 0.028373208270500837 Centerline is valid? [True, True] Translation: X:601.63, Y:-82.60, Z:-38.63 [[ 9.35406093e-01 3.50802517e-01 4.41931539e-02 6.01628440e+02] [-3.50490399e-01 9.36448142e-01 -1.48781113e-02 -8.26007944e+01] [-4.66038757e-02 -1.57220019e-03 9.98912212e-01 -3.86262051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.5607140569999 meters 0.028403020494302864 Centerline is valid? [True, True] Translation: X:601.66, Y:-82.61, Z:-38.63 [[ 9.35412599e-01 3.50813911e-01 4.39644074e-02 6.01659500e+02] [-3.50504688e-01 9.36443898e-01 -1.48084613e-02 -8.26126256e+01] [-4.63652152e-02 -1.55770964e-03 9.98923341e-01 -3.86272824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.5907140569999 meters 0.027518471752395565 Centerline is valid? [True, True] Translation: X:601.69, Y:-82.62, Z:-38.63 [[ 9.35533640e-01 3.50389932e-01 4.47627511e-02 6.01689200e+02] [-3.50068198e-01 9.36602632e-01 -1.50919397e-02 -8.26244299e+01] [-4.72129742e-02 -1.55099836e-03 9.98883642e-01 -3.86277550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.620714057 meters 0.027878227007975057 Centerline is valid? [True, True] Translation: X:601.72, Y:-82.63, Z:-38.63 [[ 9.35710992e-01 3.49706199e-01 4.63736286e-02 6.01719171e+02] [-3.49359387e-01 9.36858124e-01 -1.56484420e-02 -8.26343314e+01] [-4.89178679e-02 -1.55864327e-03 9.98801588e-01 -3.86276198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.650714057 meters 0.027047667141029658 Centerline is valid? [True, True] Translation: X:601.75, Y:-82.64, Z:-38.63 [[ 9.36049698e-01 3.48431188e-01 4.90578145e-02 6.01750089e+02] [-3.48040504e-01 9.37333057e-01 -1.65694728e-02 -8.26446820e+01] [-5.17568323e-02 -1.56425646e-03 9.98658492e-01 -3.86275726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.6807140569999 meters 0.026999000169023044 Centerline is valid? [True, True] Translation: X:601.78, Y:-82.65, Z:-38.63 [[ 9.36074435e-01 3.48251648e-01 4.98542103e-02 6.01779563e+02] [-3.47847691e-01 9.37399759e-01 -1.68427076e-02 -8.26536248e+01] [-5.25988253e-02 -1.57564392e-03 9.98614481e-01 -3.86289072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.7107140569999 meters 0.02698507863949859 Centerline is valid? [True, True] Translation: X:601.81, Y:-82.66, Z:-38.63 [[ 9.36062348e-01 3.48114558e-01 5.10248584e-02 6.01810403e+02] [-3.47690475e-01 9.37450649e-01 -1.72515055e-02 -8.26634341e+01] [-5.38387869e-02 -1.59237253e-03 9.98548371e-01 -3.86305458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.740714057 meters 0.026571866231826127 Centerline is valid? [True, True] Translation: X:601.84, Y:-82.67, Z:-38.63 [[ 9.36202167e-01 3.47761976e-01 5.08636512e-02 6.01840988e+02] [-3.47339303e-01 9.37581566e-01 -1.72109122e-02 -8.26737089e+01] [-5.36741226e-02 -1.55405191e-03 9.98557296e-01 -3.86323069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.770714057 meters 0.02644512407314898 Centerline is valid? [True, True] Translation: X:601.87, Y:-82.68, Z:-38.64 [[ 9.36494917e-01 3.47130963e-01 4.97731343e-02 6.01871331e+02] [-3.46724640e-01 9.37815507e-01 -1.68552121e-02 -8.26829275e+01] [-5.25289832e-02 -1.47275158e-03 9.98618314e-01 -3.86360802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.8007140569999 meters 0.026052839375395712 Centerline is valid? [True, True] Translation: X:601.90, Y:-82.69, Z:-38.64 [[ 9.36808404e-01 3.46330501e-01 4.94489521e-02 6.01901503e+02] [-3.45927643e-01 9.38111511e-01 -1.67588451e-02 -8.26927768e+01] [-5.21927304e-02 -1.40593249e-03 9.98636041e-01 -3.86390786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.8307140569999 meters 0.02534660286694666 Centerline is valid? [True, True] Translation: X:601.93, Y:-82.70, Z:-38.64 [[ 9.37622005e-01 3.44334760e-01 4.79431899e-02 6.01931480e+02] [-3.43952823e-01 9.38846115e-01 -1.62612438e-02 -8.27036365e+01] [-5.06105890e-02 -1.24329553e-03 9.98717689e-01 -3.86425749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.860714057 meters 0.02486647828675742 Centerline is valid? [True, True] Translation: X:601.96, Y:-82.71, Z:-38.64 [[ 9.38169503e-01 3.42857504e-01 4.78196130e-02 6.01961826e+02] [-3.42474950e-01 9.39386722e-01 -1.62325143e-02 -8.27146731e+01] [-5.04865488e-02 -1.14816970e-03 9.98724081e-01 -3.86448277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.890714057 meters 0.024825067106026204 Centerline is valid? [True, True] Translation: X:601.99, Y:-82.73, Z:-38.65 [[ 9.39320752e-01 3.39629895e-01 4.82499666e-02 6.01991662e+02] [-3.39235419e-01 9.40558661e-01 -1.63931833e-02 -8.27281146e+01] [-5.09495391e-02 -9.69640340e-04 9.98700758e-01 -3.86456755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.9207140569999 meters 0.024370730952843138 Centerline is valid? [True, True] Translation: X:602.02, Y:-82.74, Z:-38.65 [[ 9.40706016e-01 3.35586992e-01 4.95334463e-02 6.02020973e+02] [-3.35165359e-01 9.42008909e-01 -1.68344166e-02 -8.27411189e+01] [-5.23103590e-02 -7.65658426e-04 9.98630582e-01 -3.86466310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.9507140569999 meters 0.02404297238326824 Centerline is valid? [True, True] Translation: X:602.05, Y:-82.75, Z:-38.65 [[ 9.41181658e-01 3.34105128e-01 5.05059461e-02 6.02050690e+02] [-3.33664481e-01 9.42535560e-01 -1.71677782e-02 -8.27527301e+01] [-5.33394929e-02 -6.94042342e-04 9.98576195e-01 -3.86482821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.9807140569999 meters 0.02354521096321001 Centerline is valid? [True, True] Translation: X:602.08, Y:-82.77, Z:-38.65 [[ 9.42280285e-01 3.30791652e-01 5.18145465e-02 6.02080574e+02] [-3.30322039e-01 9.43703675e-01 -1.76273496e-02 -8.27654618e+01] [-5.47285581e-02 -5.05582675e-04 9.98501141e-01 -3.86502169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.010714057 meters 0.023674049421127035 Centerline is valid? [True, True] Translation: X:602.11, Y:-82.78, Z:-38.65 [[ 9.42664301e-01 3.29656932e-01 5.20607694e-02 6.02110132e+02] [-3.29180309e-01 9.44100696e-01 -1.77256890e-02 -8.27764040e+01] [-5.49940049e-02 -4.28005974e-04 9.98486593e-01 -3.86518975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.040714057 meters 0.023648244140995252 Centerline is valid? [True, True] Translation: X:602.14, Y:-82.79, Z:-38.65 [[ 9.43290139e-01 3.27839290e-01 5.22026217e-02 6.02140048e+02] [-3.27356485e-01 9.44733457e-01 -1.77884075e-02 -8.27882600e+01] [-5.51493021e-02 -3.09237322e-04 9.98478071e-01 -3.86542365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.0707140569999 meters 0.02411647620061098 Centerline is valid? [True, True] Translation: X:602.17, Y:-82.80, Z:-38.66 [[ 9.43417160e-01 3.27506318e-01 5.19968723e-02 6.02170855e+02] [-3.27026037e-01 9.44848949e-01 -1.77323069e-02 -8.27989098e+01] [-5.49366326e-02 -2.75368504e-04 9.98489805e-01 -3.86564452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.1007140569999 meters 0.0238476663672403 Centerline is valid? [True, True] Translation: X:602.20, Y:-82.81, Z:-38.66 [[ 9.43307174e-01 3.27697601e-01 5.27812261e-02 6.02202798e+02] [-3.27202078e-01 9.44782624e-01 -1.80164804e-02 -8.28085269e+01] [-5.57707427e-02 -2.75051674e-04 9.98443563e-01 -3.86579887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.130714057 meters 0.023999104916824294 Centerline is valid? [True, True] Translation: X:602.23, Y:-82.82, Z:-38.66 [[ 9.43016264e-01 3.28464014e-01 5.32138813e-02 6.02233974e+02] [-3.27960602e-01 9.44516436e-01 -1.81809346e-02 -8.28184339e+01] [-5.62331683e-02 -3.07139492e-04 9.98417616e-01 -3.86595624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.160714057 meters 0.02435740755365313 Centerline is valid? [True, True] Translation: X:602.26, Y:-82.83, Z:-38.66 [[ 9.42813214e-01 3.29077393e-01 5.30218229e-02 6.02264244e+02] [-3.28577636e-01 9.44302898e-01 -1.81321310e-02 -8.28281914e+01] [-5.60355354e-02 -3.26572592e-04 9.98428722e-01 -3.86615770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.1907140569999 meters 0.024397286769007605 Centerline is valid? [True, True] Translation: X:602.30, Y:-82.84, Z:-38.66 [[ 9.42762733e-01 3.29223109e-01 5.30148558e-02 6.02295667e+02] [-3.28722838e-01 9.44252107e-01 -1.81453495e-02 -8.28386613e+01] [-5.60332576e-02 -3.20434604e-04 9.98428851e-01 -3.86633997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.2207140569999 meters 0.02437918457881366 Centerline is valid? [True, True] Translation: X:602.33, Y:-82.85, Z:-38.67 [[ 9.42858412e-01 3.28900502e-01 5.33148630e-02 6.02326341e+02] [-3.28393082e-01 9.44364536e-01 -1.82648849e-02 -8.28476361e+01] [-5.63559957e-02 -2.87031819e-04 9.98410697e-01 -3.86657975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.250714057 meters 0.024212928856054194 Centerline is valid? [True, True] Translation: X:602.36, Y:-82.86, Z:-38.67 [[ 9.42996272e-01 3.28500114e-01 5.33451586e-02 6.02357898e+02] [-3.27990902e-01 9.44503897e-01 -1.82854569e-02 -8.28578305e+01] [-5.63914849e-02 -2.53608968e-04 9.98408702e-01 -3.86680356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.280714057 meters 0.024023838907083605 Centerline is valid? [True, True] Translation: X:602.39, Y:-82.87, Z:-38.67 [[ 9.43596310e-01 3.26923367e-01 5.24129355e-02 6.02388753e+02] [-3.26428503e-01 9.45050841e-01 -1.79816762e-02 -8.28682438e+01] [-5.54115189e-02 -1.41632701e-04 9.98463591e-01 -3.86717250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.3107140569999 meters 0.024432258650565915 Centerline is valid? [True, True] Translation: X:602.42, Y:-82.88, Z:-38.67 [[ 9.43865428e-01 3.26287427e-01 5.15225146e-02 6.02419879e+02] [-3.25807435e-01 9.45270600e-01 -1.76920433e-02 -8.28796061e+01] [-5.44754096e-02 -8.75102766e-05 9.98515109e-01 -3.86743230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.3407140569999 meters 0.024094059997406624 Centerline is valid? [True, True] Translation: X:602.45, Y:-82.89, Z:-38.68 [[ 9.44960851e-01 3.23207076e-01 5.08544680e-02 6.02448790e+02] [-3.22734140e-01 9.46328260e-01 -1.74785527e-02 -8.28918978e+01] [-5.37742121e-02 1.04074985e-04 9.98553115e-01 -3.86765668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.370714057 meters 0.024694512252718383 Centerline is valid? [True, True] Translation: X:602.48, Y:-82.90, Z:-38.68 [[ 9.46049595e-01 3.20038131e-01 5.06533142e-02 6.02478347e+02] [-3.19563591e-01 9.47404616e-01 -1.74242502e-02 -8.29043634e+01] [-5.35656081e-02 2.97249814e-04 9.98564288e-01 -3.86779816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.400714057 meters 0.0248728673612767 Centerline is valid? [True, True] Translation: X:602.51, Y:-82.92, Z:-38.68 [[ 9.46606643e-01 3.18432553e-01 5.03643946e-02 6.02508562e+02] [-3.17960425e-01 9.47945436e-01 -1.73383421e-02 -8.29153525e+01] [-5.32637906e-02 3.98705547e-04 9.98580397e-01 -3.86793101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.4307140569999 meters 0.024928628193788913 Centerline is valid? [True, True] Translation: X:602.54, Y:-82.93, Z:-38.68 [[ 9.47488122e-01 3.15756450e-01 5.06371735e-02 6.02538581e+02] [-3.15274622e-01 9.48840105e-01 -1.74461552e-02 -8.29264070e+01] [-5.35553171e-02 5.65409116e-04 9.98564724e-01 -3.86803452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.4607140569999 meters 0.025083257321598603 Centerline is valid? [True, True] Translation: X:602.57, Y:-82.94, Z:-38.68 [[ 9.47744700e-01 3.14966957e-01 5.07523351e-02 6.02568305e+02] [-3.14481025e-01 9.49102431e-01 -1.75002873e-02 -8.29366919e+01] [-5.36811769e-02 6.25158145e-04 9.98557930e-01 -3.86818946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.490714057 meters 0.025102981875248596 Centerline is valid? [True, True] Translation: X:602.60, Y:-82.94, Z:-38.68 [[ 9.47789215e-01 3.14834395e-01 5.07435545e-02 6.02599861e+02] [-3.14348063e-01 9.49146403e-01 -1.75042892e-02 -8.29446098e+01] [-5.36740145e-02 6.39238409e-04 9.98558307e-01 -3.86835548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.520714057 meters 0.025024987375386363 Centerline is valid? [True, True] Translation: X:602.63, Y:-82.95, Z:-38.69 [[ 9.47276302e-01 3.16265539e-01 5.14170780e-02 6.02631609e+02] [-3.15767430e-01 9.48670528e-01 -1.77527111e-02 -8.29503032e+01] [-5.43924373e-02 5.80883906e-04 9.98519467e-01 -3.86855895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.5507140569999 meters 0.0248709879448773 Centerline is valid? [True, True] Translation: X:602.66, Y:-82.96, Z:-38.69 [[ 9.47069501e-01 3.16851246e-01 5.16202251e-02 6.02664008e+02] [-3.16349306e-01 9.48475077e-01 -1.78366205e-02 -8.29584346e+01] [-5.46120524e-02 5.62496891e-04 9.98507490e-01 -3.86874548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.5807140569999 meters 0.024488162936276005 Centerline is valid? [True, True] Translation: X:602.70, Y:-82.97, Z:-38.69 [[ 9.46708704e-01 3.17800384e-01 5.23979545e-02 6.02695695e+02] [-3.17283730e-01 9.48157494e-01 -1.81218211e-02 -8.29663050e+01] [-5.54406349e-02 5.31067302e-04 9.98461844e-01 -3.86884326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.610714057 meters 0.023967407097510208 Centerline is valid? [True, True] Translation: X:602.73, Y:-82.97, Z:-38.69 [[ 9.46103499e-01 3.19553786e-01 5.26644849e-02 6.02727585e+02] [-3.19033779e-01 9.47568035e-01 -1.82281868e-02 -8.29710582e+01] [-5.57280686e-02 4.44001633e-04 9.98445885e-01 -3.86893379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.640714057 meters 0.023995257649955234 Centerline is valid? [True, True] Translation: X:602.76, Y:-82.98, Z:-38.69 [[ 9.45301814e-01 3.22038999e-01 5.19168911e-02 6.02759120e+02] [-3.21536644e-01 9.46726354e-01 -1.79832644e-02 -8.29760297e+01] [-5.49424015e-02 3.06429584e-04 9.98489478e-01 -3.86914101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.6707140569999 meters 0.023740413522867026 Centerline is valid? [True, True] Translation: X:602.79, Y:-82.98, Z:-38.69 [[ 9.44787204e-01 3.23661655e-01 5.11886020e-02 6.02789863e+02] [-3.23175009e-01 9.46172862e-01 -1.77434148e-02 -8.29835408e+01] [-5.41761290e-02 2.20874281e-04 9.98531371e-01 -3.86938155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.7007140569999 meters 0.023405397198203812 Centerline is valid? [True, True] Translation: X:602.82, Y:-82.99, Z:-38.70 [[ 9.43712872e-01 3.26922965e-01 5.02731553e-02 6.02822764e+02] [-3.26457464e-01 9.45050990e-01 -1.74399323e-02 -8.29875430e+01] [-5.32122096e-02 4.62417991e-05 9.98583226e-01 -3.86962284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.7307140569999 meters 0.02330422720030906 Centerline is valid? [True, True] Translation: X:602.85, Y:-83.00, Z:-38.70 [[ 9.43136631e-01 3.28638815e-01 4.98981394e-02 6.02854789e+02] [-3.28181815e-01 9.44455678e-01 -1.73253798e-02 -8.29952022e+01] [-5.28203734e-02 -3.54616065e-05 9.98604029e-01 -3.86991369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.760714057 meters 0.02291321304121923 Centerline is valid? [True, True] Translation: X:602.89, Y:-83.00, Z:-38.70 [[ 9.41822732e-01 3.32477423e-01 4.92818805e-02 6.02886334e+02] [-3.32036064e-01 9.43111186e-01 -1.71272602e-02 -8.29993592e+01] [-5.21727201e-02 -2.32518649e-04 9.98638049e-01 -3.87018971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.790714057 meters 0.023155384976469077 Centerline is valid? [True, True] Translation: X:602.92, Y:-83.00, Z:-38.70 [[ 9.40366685e-01 3.36762247e-01 4.79759076e-02 6.02918187e+02] [-3.36348946e-01 9.41589608e-01 -1.66852216e-02 -8.30049475e+01] [-5.07925687e-02 -4.46419454e-04 9.98709125e-01 -3.87039507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.8207140569999 meters 0.022786279337002634 Centerline is valid? [True, True] Translation: X:602.95, Y:-83.01, Z:-38.71 [[ 9.39588944e-01 3.38929696e-01 4.79507754e-02 6.02948990e+02] [-3.38518970e-01 9.40811542e-01 -1.66897884e-02 -8.30130310e+01] [-5.07693079e-02 -5.50706445e-04 9.98710255e-01 -3.87062629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.8507140569999 meters 0.02318020272296326 Centerline is valid? [True, True] Translation: X:602.98, Y:-83.02, Z:-38.71 [[ 9.38240241e-01 3.42693865e-01 4.76042574e-02 6.02980238e+02] [-3.42293178e-01 9.39446845e-01 -1.65833268e-02 -8.30186642e+01] [-5.04046737e-02 -7.35467955e-04 9.98728606e-01 -3.87091067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.880714057 meters 0.023777768900320934 Centerline is valid? [True, True] Translation: X:603.01, Y:-83.03, Z:-38.71 [[ 9.37462527e-01 3.44871503e-01 4.71980502e-02 6.03011143e+02] [-3.44480083e-01 9.38649531e-01 -1.64478254e-02 -8.30251359e+01] [-4.99748139e-02 -8.39568300e-04 9.98750125e-01 -3.87118832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.910714057 meters 0.02394368197603316 Centerline is valid? [True, True] Translation: X:603.04, Y:-83.03, Z:-38.71 [[ 9.36203197e-01 3.48330560e-01 4.67909611e-02 6.03041545e+02] [-3.47949598e-01 9.37371224e-01 -1.63176172e-02 -8.30347981e+01] [-4.95444252e-02 -1.00429071e-03 9.98771416e-01 -3.87132618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.9407140569999 meters 0.023893992472905724 Centerline is valid? [True, True] Translation: X:603.07, Y:-83.04, Z:-38.72 [[ 9.35569421e-01 3.50083602e-01 4.63824329e-02 6.03072187e+02] [-3.49710803e-01 9.36717841e-01 -1.61876545e-02 -8.30445481e+01] [-4.91142848e-02 -1.07576334e-03 9.98792586e-01 -3.87152268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.9707140569999 meters 0.0241954106824421 Centerline is valid? [True, True] Translation: X:603.10, Y:-83.06, Z:-38.72 [[ 9.34187066e-01 3.53843461e-01 4.57092047e-02 6.03102161e+02] [-3.53485221e-01 9.35303835e-01 -1.59666767e-02 -8.30559555e+01] [-4.84016986e-02 -1.24166546e-03 9.98827179e-01 -3.87161276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.000714057 meters 0.024535044178927053 Centerline is valid? [True, True] Translation: X:603.13, Y:-83.07, Z:-38.72 [[ 9.33374064e-01 3.55958551e-01 4.58951664e-02 6.03132507e+02] [-3.55599844e-01 9.34500762e-01 -1.60336140e-02 -8.30661248e+01] [-4.85963699e-02 -1.35495455e-03 9.98817579e-01 -3.87171986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.030714057 meters 0.02567634395331414 Centerline is valid? [True, True] Translation: X:603.16, Y:-83.08, Z:-38.72 [[ 9.31667030e-01 3.60325987e-01 4.64944034e-02 6.03161969e+02] [-3.59962596e-01 9.32825093e-01 -1.62565606e-02 -8.30759033e+01] [-4.92288074e-02 -1.59054464e-03 9.98786261e-01 -3.87186364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.0607140569999 meters 0.026863599779298284 Centerline is valid? [True, True] Translation: X:603.19, Y:-83.09, Z:-38.72 [[ 9.30336183e-01 3.63582512e-01 4.77738900e-02 6.03191337e+02] [-3.63202507e-01 9.31560259e-01 -1.67159274e-02 -8.30859867e+01] [-5.05818762e-02 -1.80016454e-03 9.98718295e-01 -3.87199498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.0907140569999 meters 0.0266634250834546 Centerline is valid? [True, True] Translation: X:603.22, Y:-83.10, Z:-38.72 [[ 9.29724087e-01 3.65138538e-01 4.78222708e-02 6.03220890e+02] [-3.64759199e-01 9.30951304e-01 -1.67450235e-02 -8.30986923e+01] [-5.06344588e-02 -1.87536152e-03 9.98715492e-01 -3.87208289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.120714057 meters 0.027716482623704852 Centerline is valid? [True, True] Translation: X:603.25, Y:-83.11, Z:-38.72 [[ 9.29102378e-01 3.66742741e-01 4.76291232e-02 6.03249436e+02] [-3.66367883e-01 9.30320369e-01 -1.66908589e-02 -8.31108667e+01] [-5.04315948e-02 -1.94226432e-03 9.98725629e-01 -3.87223811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.150714057 meters 0.027027559396115428 Centerline is valid? [True, True] Translation: X:603.28, Y:-83.12, Z:-38.72 [[ 9.28913214e-01 3.67283388e-01 4.71503359e-02 6.03278628e+02] [-3.66916132e-01 9.30107062e-01 -1.65349605e-02 -8.31248966e+01] [-4.99278767e-02 -1.94067555e-03 9.98750940e-01 -3.87242269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.1807140569999 meters 0.029999357164815683 Centerline is valid? [True, True] Translation: X:603.31, Y:-83.13, Z:-38.73 [[ 9.29109347e-01 3.66921460e-01 4.60919109e-02 6.03307874e+02] [-3.66569442e-01 9.30250053e-01 -1.61766503e-02 -8.31334812e+01] [-4.88125627e-02 -1.86600902e-03 9.98806213e-01 -3.87286172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.2107140569999 meters 0.02839092181935177 Centerline is valid? [True, True] Translation: X:603.34, Y:-83.15, Z:-38.73 [[ 9.29191558e-01 3.66760689e-01 4.57126380e-02 6.03336111e+02] [-3.66413681e-01 9.30313519e-01 -1.60552554e-02 -8.31492605e+01] [-4.84155216e-02 -1.83132812e-03 9.98825602e-01 -3.87306874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.240714057 meters 0.026902462537515253 Centerline is valid? [True, True] Translation: X:603.36, Y:-83.17, Z:-38.73 [[ 9.29644736e-01 3.65747447e-01 4.46034845e-02 6.03363903e+02] [-3.65415368e-01 9.30712540e-01 -1.56772855e-02 -8.31676647e+01] [-4.72469495e-02 -1.72449280e-03 9.98881751e-01 -3.87320773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.270714057 meters 0.02940523163116376 Centerline is valid? [True, True] Translation: X:603.39, Y:-83.18, Z:-38.74 [[ 9.30135880e-01 3.64556996e-01 4.41071446e-02 6.03392831e+02] [-3.64230306e-01 9.31179644e-01 -1.55162538e-02 -8.31774281e+01] [-4.67282341e-02 -1.63293443e-03 9.98906305e-01 -3.87362531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.3007140569999 meters 0.02940523163116376 Centerline is valid? [True, True] Translation: X:603.42, Y:-83.19, Z:-38.74 [[ 9.30039811e-01 3.64802227e-01 4.41053970e-02 6.03423341e+02] [-3.64475577e-01 9.31083587e-01 -1.55212201e-02 -8.31882687e+01] [-4.67279869e-02 -1.63998737e-03 9.98906305e-01 -3.87381326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.3307140569999 meters 0.026847143691051092 Centerline is valid? [True, True] Translation: X:603.45, Y:-83.21, Z:-38.74 [[ 9.30146727e-01 3.64548730e-01 4.39464366e-02 6.03451526e+02] [-3.64223536e-01 9.31182922e-01 -1.54784425e-02 -8.32058156e+01] [-4.65648178e-02 -1.60910388e-03 9.98913975e-01 -3.87385629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.360714057 meters 0.02637692250060719 Centerline is valid? [True, True] Translation: X:603.48, Y:-83.22, Z:-38.74 [[ 9.30982517e-01 3.62478293e-01 4.33709527e-02 6.03479270e+02] [-3.62158770e-01 9.31991048e-01 -1.52876567e-02 -8.32216639e+01] [-4.59627833e-02 -1.47462981e-03 9.98942064e-01 -3.87403688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.390714057 meters 0.026095353163523693 Centerline is valid? [True, True] Translation: X:603.51, Y:-83.24, Z:-38.74 [[ 9.31631494e-01 3.60854993e-01 4.29701491e-02 6.03508495e+02] [-3.60538997e-01 9.32620931e-01 -1.51601932e-02 -8.32364824e+01] [-4.55454918e-02 -1.36870103e-03 9.98961328e-01 -3.87423469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.4207140569999 meters 0.025687663088487873 Centerline is valid? [True, True] Translation: X:603.53, Y:-83.25, Z:-38.74 [[ 9.33155611e-01 3.57060617e-01 4.15730957e-02 6.03534776e+02] [-3.56760894e-01 9.34080518e-01 -1.46714263e-02 -8.32533747e+01] [-4.40712073e-02 -1.14093098e-03 9.99027741e-01 -3.87448408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.4507140569999 meters 0.025079434312899718 Centerline is valid? [True, True] Translation: X:603.56, Y:-83.27, Z:-38.75 [[ 9.33818028e-01 3.55340183e-01 4.14396631e-02 6.03563470e+02] [-3.55040638e-01 9.34736455e-01 -1.46254638e-02 -8.32680108e+01] [-4.39321788e-02 -1.05524270e-03 9.99033958e-01 -3.87462294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.4807140569999 meters 0.0248229093063514 Centerline is valid? [True, True] Translation: X:603.59, Y:-83.29, Z:-38.75 [[ 9.34712367e-01 3.52867942e-01 4.23911070e-02 6.03590716e+02] [-3.52551391e-01 9.35672653e-01 -1.49733963e-02 -8.32852095e+01] [-4.49478311e-02 -9.49225027e-04 9.98988885e-01 -3.87463102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.510714057 meters 0.024472508167606488 Centerline is valid? [True, True] Translation: X:603.62, Y:-83.30, Z:-38.75 [[ 9.35060506e-01 3.51857069e-01 4.31097724e-02 6.03619646e+02] [-3.51528120e-01 9.36053301e-01 -1.52380681e-02 -8.32987756e+01] [-4.57146668e-02 -9.05781536e-04 9.98954127e-01 -3.87470977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.540714057 meters 0.02482181269426872 Centerline is valid? [True, True] Translation: X:603.65, Y:-83.31, Z:-38.75 [[ 9.35058843e-01 3.51649551e-01 4.48057202e-02 6.03648017e+02] [-3.51293364e-01 9.36131267e-01 -1.58500575e-02 -8.33143722e+01] [-4.75177012e-02 -9.19215756e-04 9.98869973e-01 -3.87467036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.5707140569999 meters 0.025196168694069685 Centerline is valid? [True, True] Translation: X:603.68, Y:-83.33, Z:-38.75 [[ 9.34794858e-01 3.52246687e-01 4.56162745e-02 6.03678267e+02] [-3.51877604e-01 9.35906704e-01 -1.61490919e-02 -8.33256328e+01] [-4.83810412e-02 -9.55257286e-04 9.98828495e-01 -3.87482868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.6007140569999 meters 0.02558936904727648 Centerline is valid? [True, True] Translation: X:603.71, Y:-83.34, Z:-38.75 [[ 9.34078547e-01 3.54058976e-01 4.62548246e-02 6.03707423e+02] [-3.53681031e-01 9.35222506e-01 -1.63887756e-02 -8.33379757e+01] [-4.90611461e-02 -1.05105034e-03 9.98795224e-01 -3.87498814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.630714057 meters 0.02499848162948225 Centerline is valid? [True, True] Translation: X:603.74, Y:-83.35, Z:-38.75 [[ 9.33629851e-01 3.55234552e-01 4.63002587e-02 6.03736289e+02] [-3.54856706e-01 9.34776550e-01 -1.64170758e-02 -8.33510208e+01] [-4.91123086e-02 -1.10248530e-03 9.98792654e-01 -3.87510662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.660714057 meters 0.025729032130006112 Centerline is valid? [True, True] Translation: X:603.77, Y:-83.36, Z:-38.75 [[ 9.33014981e-01 3.57073767e-01 4.45125867e-02 6.03766055e+02] [-3.56726133e-01 9.34075489e-01 -1.57938946e-02 -8.33635612e+01] [-4.72177016e-02 -1.14286263e-03 9.98883969e-01 -3.87542377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.6907140569999 meters 0.02671211247591656 Centerline is valid? [True, True] Translation: X:603.80, Y:-83.37, Z:-38.76 [[ 9.32896957e-01 3.57525050e-01 4.33486650e-02 6.03795447e+02] [-3.57195312e-01 9.33902872e-01 -1.53926596e-02 -8.33734283e+01] [-4.59867042e-02 -1.12417468e-03 9.98941419e-01 -3.87573465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.7207140569999 meters 0.025947391380334306 Centerline is valid? [True, True] Translation: X:603.82, Y:-83.39, Z:-38.76 [[ 9.33097745e-01 3.57136965e-01 4.22112040e-02 6.03824682e+02] [-3.56823486e-01 9.34051417e-01 -1.49983408e-02 -8.33894602e+01] [-4.47838968e-02 -1.06703096e-03 9.98996128e-01 -3.87593962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.750714057 meters 0.02534552621967214 Centerline is valid? [True, True] Translation: X:603.85, Y:-83.41, Z:-38.76 [[ 9.34047659e-01 3.54881289e-01 4.01776341e-02 6.03852469e+02] [-3.54594689e-01 9.34910936e-01 -1.42880209e-02 -8.34059260e+01] [-4.26330608e-02 -9.01083255e-04 9.99090391e-01 -3.87620025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.780714057 meters 0.02510367676586304 Centerline is valid? [True, True] Translation: X:603.88, Y:-83.42, Z:-38.76 [[ 9.34718170e-01 3.53189392e-01 3.94866574e-02 6.03880374e+02] [-3.52910594e-01 9.35551503e-01 -1.40534074e-02 -8.34189437e+01] [-4.19053161e-02 -7.99284468e-04 9.99121267e-01 -3.87642792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.8107140569999 meters 0.024940041472336753 Centerline is valid? [True, True] Translation: X:603.91, Y:-83.43, Z:-38.77 [[ 9.35653551e-01 3.50729459e-01 3.92591294e-02 6.03909646e+02] [-3.50451292e-01 9.36476582e-01 -1.39822196e-02 -8.34333922e+01] [-4.16692316e-02 -6.75899245e-04 9.99131232e-01 -3.87659610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.8407140569999 meters 0.024171643043093965 Centerline is valid? [True, True] Translation: X:603.94, Y:-83.45, Z:-38.77 [[ 9.38063571e-01 3.44169527e-01 3.98004259e-02 6.03935304e+02] [-3.43877169e-01 9.38907447e-01 -1.41879682e-02 -8.34516753e+01] [-4.22519825e-02 -3.77241681e-04 9.99106915e-01 -3.87666431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.870714057 meters 0.023972189467869047 Centerline is valid? [True, True] Translation: X:603.96, Y:-83.47, Z:-38.77 [[ 9.39224392e-01 3.40838235e-01 4.10711531e-02 6.03963972e+02] [-3.40523494e-01 9.40121931e-01 -1.46460133e-02 -8.34669460e+01] [-4.36038131e-02 -2.29799642e-04 9.99048875e-01 -3.87666511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.900714057 meters 0.02380804444316702 Centerline is valid? [True, True] Translation: X:603.99, Y:-83.49, Z:-38.77 [[ 9.41427527e-01 3.34518899e-01 4.25595693e-02 6.03990497e+02] [-3.34173878e-01 9.42389039e-01 -1.51894402e-02 -8.34850447e+01] [-4.51888264e-02 7.74607414e-05 9.98978460e-01 -3.87663803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.9307140569999 meters 0.02381412026846427 Centerline is valid? [True, True] Translation: X:604.02, Y:-83.50, Z:-38.77 [[ 9.43005565e-01 3.29949678e-01 4.32864227e-02 6.04018793e+02] [-3.29587427e-01 9.43998471e-01 -1.54601194e-02 -8.35017211e+01] [-4.59633783e-02 3.12317993e-04 9.98943077e-01 -3.87654150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.9607140569999 meters 0.024118938796299286 Centerline is valid? [True, True] Translation: X:604.05, Y:-83.51, Z:-38.77 [[ 9.43309160e-01 3.29007764e-01 4.38374210e-02 6.04049013e+02] [-3.28634680e-01 9.44327142e-01 -1.56682890e-02 -8.35142100e+01] [-4.65518552e-02 3.73543733e-04 9.98915805e-01 -3.87661252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.990714057 meters 0.024138301803890316 Centerline is valid? [True, True] Translation: X:604.08, Y:-83.53, Z:-38.77 [[ 9.43653157e-01 3.27895014e-01 4.47613466e-02 6.04078134e+02] [-3.27504085e-01 9.44714060e-01 -1.60130713e-02 -8.35267479e+01] [-4.75372798e-02 4.51261395e-04 9.98869363e-01 -3.87682352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.020714057 meters 0.024070852663763014 Centerline is valid? [True, True] Translation: X:604.11, Y:-83.54, Z:-38.77 [[ 9.43484977e-01 3.28407241e-01 4.45509037e-02 6.04109191e+02] [-3.28019948e-01 9.44536126e-01 -1.59505383e-02 -8.35377209e+01] [-4.73182103e-02 4.35508157e-04 9.98879771e-01 -3.87711559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.0507140569999 meters 0.02417392740555913 Centerline is valid? [True, True] Translation: X:604.14, Y:-83.55, Z:-38.77 [[ 9.43129310e-01 3.29480679e-01 4.41541204e-02 6.04140005e+02] [-3.29100807e-01 9.44162237e-01 -1.58218164e-02 -8.35482148e+01] [-4.69016359e-02 3.90862158e-04 9.98899436e-01 -3.87742605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.0807140569999 meters 0.02373508225339952 Centerline is valid? [True, True] Translation: X:604.17, Y:-83.56, Z:-38.78 [[ 9.42105659e-01 3.32679556e-01 4.19671259e-02 6.04171185e+02] [-3.32339042e-01 9.43039904e-01 -1.50499578e-02 -8.35571521e+01] [-4.45834877e-02 2.31335985e-04 9.99005635e-01 -3.87782191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.110714057 meters 0.023702519474405426 Centerline is valid? [True, True] Translation: X:604.20, Y:-83.57, Z:-38.78 [[ 9.41697397e-01 3.33964120e-01 4.09142978e-02 6.04200197e+02] [-3.33641069e-01 9.42585770e-01 -1.46868302e-02 -8.35667645e+01] [-4.34701092e-02 1.79859768e-04 9.99054712e-01 -3.87811145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.140714057 meters 0.02380056544622565 Centerline is valid? [True, True] Translation: X:604.23, Y:-83.58, Z:-38.78 [[ 9.40353274e-01 3.37965148e-01 3.89265872e-02 6.04231010e+02] [-3.37676011e-01 9.41158626e-01 -1.39768652e-02 -8.35756159e+01] [-4.13597866e-02 -1.38375671e-06 9.99144318e-01 -3.87846431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.1707140569999 meters 0.02386472371549354 Centerline is valid? [True, True] Translation: X:604.26, Y:-83.59, Z:-38.79 [[ 9.39745138e-01 3.39738113e-01 3.81718493e-02 6.04260808e+02] [-3.39461128e-01 9.40520074e-01 -1.37161454e-02 -8.35851158e+01] [-4.05612879e-02 -6.81780247e-05 9.99177050e-01 -3.87876347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.2007140569999 meters 0.023610391129461696 Centerline is valid? [True, True] Translation: X:604.29, Y:-83.59, Z:-38.79 [[ 9.39148377e-01 3.41420283e-01 3.78486046e-02 6.04291320e+02] [-3.41148987e-01 9.39910726e-01 -1.36086593e-02 -8.35948927e+01] [-4.02205818e-02 -1.31462809e-04 9.99190816e-01 -3.87906511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.2307140569999 meters 0.024094265156938955 Centerline is valid? [True, True] Translation: X:604.32, Y:-83.60, Z:-38.79 [[ 9.38186203e-01 3.44201473e-01 3.64964968e-02 6.04321529e+02] [-3.43950850e-01 9.38895784e-01 -1.31346797e-02 -8.36037110e+01] [-3.87873831e-02 -2.30225866e-04 9.99247460e-01 -3.87941347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.260714057 meters 0.0242515598329415 Centerline is valid? [True, True] Translation: X:604.35, Y:-83.61, Z:-38.80 [[ 9.37248412e-01 3.46667688e-01 3.72414878e-02 6.04353000e+02] [-3.46408568e-01 9.37987954e-01 -1.34053298e-02 -8.36138023e+01] [-3.95792616e-02 -3.36646412e-04 9.99216377e-01 -3.87956907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.290714057 meters 0.024367620278395567 Centerline is valid? [True, True] Translation: X:604.38, Y:-83.63, Z:-38.80 [[ 9.36803492e-01 3.47797281e-01 3.78981321e-02 6.04383576e+02] [-3.47529397e-01 9.37569681e-01 -1.36532487e-02 -8.36252851e+01] [-4.02807024e-02 -3.80303960e-04 9.99188331e-01 -3.87962418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.3207140569999 meters 0.02401675156371066 Centerline is valid? [True, True] Translation: X:604.41, Y:-83.64, Z:-38.80 [[ 9.36373622e-01 3.48879898e-01 3.85649593e-02 6.04414391e+02] [-3.48602930e-01 9.37167348e-01 -1.39053904e-02 -8.36369324e+01] [-4.09931318e-02 -4.23217044e-04 9.99159339e-01 -3.87965703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.3507140569999 meters 0.024515357971848943 Centerline is valid? [True, True] Translation: X:604.44, Y:-83.65, Z:-38.80 [[ 9.35491182e-01 3.51117063e-01 3.96617673e-02 6.04444714e+02] [-3.50825556e-01 9.36331423e-01 -1.43141646e-02 -8.36473429e+01] [-4.21625064e-02 -5.23586830e-04 9.99110629e-01 -3.87983264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.380714057 meters 0.02460561878586356 Centerline is valid? [True, True] Translation: X:604.48, Y:-83.66, Z:-38.80 [[ 9.35037498e-01 3.52268579e-01 4.01463114e-02 6.04475301e+02] [-3.51970390e-01 9.35898778e-01 -1.45024606e-02 -8.36576924e+01] [-4.26816449e-02 -5.69968411e-04 9.99088561e-01 -3.87997577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.410714057 meters 0.024852792058119886 Centerline is valid? [True, True] Translation: X:604.51, Y:-83.67, Z:-38.80 [[ 9.33685639e-01 3.55720413e-01 4.11596302e-02 6.04505350e+02] [-3.55409993e-01 9.34592126e-01 -1.48760028e-02 -8.36654710e+01] [-4.37591642e-02 -7.39033709e-04 9.99041836e-01 -3.88015064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.4407140569999 meters 0.024807537683469844 Centerline is valid? [True, True] Translation: X:604.54, Y:-83.68, Z:-38.80 [[ 9.32874368e-01 3.57788686e-01 4.16253566e-02 6.04535316e+02] [-3.57472808e-01 9.33802205e-01 -1.50543774e-02 -8.36768840e+01] [-4.42561356e-02 -8.36090352e-04 9.99019867e-01 -3.88020823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.4707140569999 meters 0.025382609092062792 Centerline is valid? [True, True] Translation: X:604.57, Y:-83.69, Z:-38.80 [[ 9.32256958e-01 3.59460199e-01 4.10527679e-02 6.04565294e+02] [-3.59154068e-01 9.33159991e-01 -1.48588668e-02 -8.36860399e+01] [-4.36499718e-02 -8.91986658e-04 9.99046488e-01 -3.88049591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.500714057 meters 0.02567460757141902 Centerline is valid? [True, True] Translation: X:604.60, Y:-83.69, Z:-38.81 [[ 9.31588240e-01 3.61287494e-01 4.01833012e-02 6.04595863e+02] [-3.60995463e-01 9.32453993e-01 -1.45542635e-02 -8.36937764e+01] [-4.27273531e-02 -9.47408696e-04 9.99086320e-01 -3.88086675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.530714057 meters 0.025578554572572233 Centerline is valid? [True, True] Translation: X:604.63, Y:-83.70, Z:-38.81 [[ 9.31153093e-01 3.62403425e-01 4.02203355e-02 6.04626050e+02] [-3.62111469e-01 9.32020803e-01 -1.45776367e-02 -8.37037404e+01] [-4.27691748e-02 -9.90233272e-04 9.99084489e-01 -3.88103722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.5607140569999 meters 0.026281499202730346 Centerline is valid? [True, True] Translation: X:604.66, Y:-83.71, Z:-38.81 [[ 9.30481777e-01 3.64131570e-01 4.01480018e-02 6.04655818e+02] [-3.63841753e-01 9.31346919e-01 -1.45635053e-02 -8.37112593e+01] [-4.26947499e-02 -1.05644304e-03 9.99087605e-01 -3.88133073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.5907140569999 meters 0.025872695711134746 Centerline is valid? [True, True] Translation: X:604.69, Y:-83.72, Z:-38.81 [[ 9.30270956e-01 3.64603755e-01 4.07437121e-02 6.04686880e+02] [-3.64305381e-01 9.31162135e-01 -1.47874380e-02 -8.37222150e+01] [-4.33305574e-02 -1.08682952e-03 9.99060199e-01 -3.88145317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.620714057 meters 0.025577370850748758 Centerline is valid? [True, True] Translation: X:604.72, Y:-83.73, Z:-38.82 [[ 9.29995961e-01 3.65193296e-01 4.17297226e-02 6.04717309e+02] [-3.64880289e-01 9.30931030e-01 -1.51588832e-02 -8.37340149e+01] [-4.43834161e-02 -1.12865305e-03 9.99013933e-01 -3.88152204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.650714057 meters 0.02578026364501678 Centerline is valid? [True, True] Translation: X:604.75, Y:-83.75, Z:-38.82 [[ 9.29865265e-01 3.65471010e-01 4.22081802e-02 6.04747858e+02] [-3.65150450e-01 9.30822022e-01 -1.53464211e-02 -8.37450764e+01] [-4.48969756e-02 -1.14223206e-03 9.98990969e-01 -3.88169631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.6807140569999 meters 0.02621242197650305 Centerline is valid? [True, True] Translation: X:604.78, Y:-83.75, Z:-38.82 [[ 9.29757618e-01 3.65618624e-01 4.32873411e-02 6.04778031e+02] [-3.65280927e-01 9.30764022e-01 -1.57537194e-02 -8.37539600e+01] [-4.60501529e-02 -1.16489943e-03 9.98938450e-01 -3.88188489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.7107140569999 meters 0.025993406215709683 Centerline is valid? [True, True] Translation: X:604.81, Y:-83.77, Z:-38.82 [[ 9.29603302e-01 3.66021444e-01 4.31972644e-02 6.04808547e+02] [-3.65685106e-01 9.30605678e-01 -1.57313519e-02 -8.37659248e+01] [-4.59576316e-02 -1.17267955e-03 9.98942702e-01 -3.88208490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.740714057 meters 0.02605120866846983 Centerline is valid? [True, True] Translation: X:604.84, Y:-83.78, Z:-38.82 [[ 9.29607989e-01 3.66024763e-01 4.30680823e-02 6.04839034e+02] [-3.65689807e-01 9.30604393e-01 -1.56980717e-02 -8.37764412e+01] [-4.58252295e-02 -1.15650590e-03 9.98948803e-01 -3.88235121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.770714057 meters 0.025852764695539994 Centerline is valid? [True, True] Translation: X:604.87, Y:-83.79, Z:-38.83 [[ 9.29751138e-01 3.65746809e-01 4.23331179e-02 6.04869747e+02] [-3.65422367e-01 9.30713724e-01 -1.54421060e-02 -8.37893568e+01] [-4.50479148e-02 -1.11215250e-03 9.98984208e-01 -3.88260817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.8007140569999 meters 0.025634518171553818 Centerline is valid? [True, True] Translation: X:604.90, Y:-83.80, Z:-38.83 [[ 9.29827399e-01 3.65586416e-01 4.20426117e-02 6.04900543e+02] [-3.65265663e-01 9.30776770e-01 -1.53492398e-02 -8.38009015e+01] [-4.47437599e-02 -1.08457872e-03 9.98997908e-01 -3.88288591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.8307140569999 meters 0.025473754610712853 Centerline is valid? [True, True] Translation: X:604.93, Y:-83.81, Z:-38.83 [[ 9.30265331e-01 3.64490051e-01 4.18738083e-02 6.04929141e+02] [-3.64170145e-01 9.31206729e-01 -1.53014160e-02 -8.38121766e+01] [-4.45703860e-02 -1.01481399e-03 9.99005731e-01 -3.88319471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.860714057 meters 0.025169619344755433 Centerline is valid? [True, True] Translation: X:604.96, Y:-83.82, Z:-38.83 [[ 9.30534968e-01 3.63866476e-01 4.13020703e-02 6.04959040e+02] [-3.63554199e-01 9.31450622e-01 -1.51024059e-02 -8.38247891e+01] [-4.39660983e-02 -9.62224321e-04 9.99032560e-01 -3.88340211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.890714057 meters 0.024724498308558177 Centerline is valid? [True, True] Translation: X:604.99, Y:-83.84, Z:-38.84 [[ 9.30945360e-01 3.62776364e-01 4.16418746e-02 6.04988156e+02] [-3.62457322e-01 9.31875789e-01 -1.52382152e-02 -8.38374024e+01] [-4.43331190e-02 -9.07456603e-04 9.99016392e-01 -3.88355679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.9207140569999 meters 0.02417626087410178 Centerline is valid? [True, True] Translation: X:605.02, Y:-83.85, Z:-38.84 [[ 9.32238556e-01 3.59326676e-01 4.26100291e-02 6.05017257e+02] [-3.58988361e-01 9.33211542e-01 -1.56068937e-02 -8.38524164e+01] [-4.53721441e-02 -7.47156469e-04 9.98969875e-01 -3.88363084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.9507140569999 meters 0.0242053928269805 Centerline is valid? [True, True] Translation: X:605.05, Y:-83.86, Z:-38.84 [[ 9.33030971e-01 3.57135207e-01 4.36766720e-02 6.05045975e+02] [-3.56777201e-01 9.34052470e-01 -1.60004019e-02 -8.38638627e+01] [-4.65106102e-02 -6.53970221e-04 9.98917582e-01 -3.88380811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.9807140569999 meters 0.023506062422807603 Centerline is valid? [True, True] Translation: X:605.07, Y:-83.88, Z:-38.84 [[ 9.35253653e-01 3.51101056e-01 4.50405724e-02 6.05074284e+02] [-3.50712742e-01 9.36337505e-01 -1.65120724e-02 -8.38793146e+01] [-4.79705832e-02 -3.53326605e-04 9.98848686e-01 -3.88380045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.010714057 meters 0.023532003529763968 Centerline is valid? [True, True] Translation: X:605.10, Y:-83.89, Z:-38.84 [[ 9.36193752e-01 3.48442825e-01 4.61395445e-02 6.05102308e+02] [-3.48031434e-01 9.37330013e-01 -1.69282930e-02 -8.38918877e+01] [-4.91465221e-02 -2.09849718e-04 9.98791558e-01 -3.88392714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.040714057 meters 0.023508941669821697 Centerline is valid? [True, True] Translation: X:605.13, Y:-83.91, Z:-38.84 [[ 9.38194810e-01 3.42628853e-01 4.89486235e-02 6.05130741e+02] [-3.42157197e-01 9.39470838e-01 -1.79721019e-02 -8.39072208e+01] [-5.21435651e-02 1.13208885e-04 9.98639593e-01 -3.88385122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.0707140569999 meters 0.023455457620608338 Centerline is valid? [True, True] Translation: X:605.16, Y:-83.92, Z:-38.84 [[ 9.39060815e-01 3.40118341e-01 4.98427493e-02 6.05159793e+02] [-3.39625015e-01 9.40382604e-01 -1.83141567e-02 -8.39200505e+01] [-5.31002350e-02 2.70262437e-04 9.98589151e-01 -3.88391721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.1007140569999 meters 0.023589622556143813 Centerline is valid? [True, True] Translation: X:605.19, Y:-83.93, Z:-38.84 [[ 9.39843976e-01 3.37805089e-01 5.08037655e-02 6.05189332e+02] [-3.37288341e-01 9.41215992e-01 -1.86824009e-02 -8.39325363e+01] [-5.41283266e-02 4.23024132e-04 9.98533898e-01 -3.88400082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.130714057 meters 0.02390679503705114 Centerline is valid? [True, True] Translation: X:605.22, Y:-83.95, Z:-38.84 [[ 9.41551825e-01 3.32928202e-01 5.13709378e-02 6.05218700e+02] [-3.32391811e-01 9.42951901e-01 -1.89049409e-02 -8.39452195e+01] [-5.47343114e-02 7.24702574e-04 9.98500691e-01 -3.88419772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.160714057 meters 0.024164222472226132 Centerline is valid? [True, True] Translation: X:605.25, Y:-83.96, Z:-38.84 [[ 9.42127368e-01 3.31337187e-01 5.11047128e-02 6.05248909e+02] [-3.30803265e-01 9.43512049e-01 -1.88205589e-02 -8.39560904e+01] [-5.44538634e-02 8.25757707e-04 9.98515946e-01 -3.88448724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.1907140569999 meters 0.02448150962733894 Centerline is valid? [True, True] Translation: X:605.28, Y:-83.97, Z:-38.85 [[ 9.43108176e-01 3.28565723e-01 5.09071158e-02 6.05278645e+02] [-3.28031142e-01 9.44480585e-01 -1.87615049e-02 -8.39665916e+01] [-5.42451700e-02 9.95009369e-04 9.98527151e-01 -3.88484053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.2207140569999 meters 0.02448150962733894 Centerline is valid? [True, True] Translation: X:605.31, Y:-83.98, Z:-38.85 [[ 9.43017791e-01 3.28825739e-01 5.09026403e-02 6.05308955e+02] [-3.28290882e-01 9.44390093e-01 -1.87736396e-02 -8.39778414e+01] [-5.42452051e-02 9.93003527e-04 9.98527151e-01 -3.88502857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.250714057 meters 0.024667375759073306 Centerline is valid? [True, True] Translation: X:605.34, Y:-83.99, Z:-38.85 [[ 9.43260900e-01 3.28354578e-01 4.94180661e-02 6.05338877e+02] [-3.27849042e-01 9.44554002e-01 -1.82412621e-02 -8.39887139e+01] [-5.26676340e-02 1.00460362e-03 9.98611592e-01 -3.88524524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.280714057 meters 0.02516707640013544 Centerline is valid? [True, True] Translation: X:605.37, Y:-84.00, Z:-38.86 [[ 9.43346723e-01 3.28289769e-01 4.81953138e-02 6.05367605e+02] [-3.27808205e-01 9.44576538e-01 -1.78029286e-02 -8.40002866e+01] [-5.13686820e-02 9.95515105e-04 9.98679262e-01 -3.88560306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.3107140569999 meters 0.025658342731674336 Centerline is valid? [True, True] Translation: X:605.40, Y:-84.01, Z:-38.86 [[ 9.43838916e-01 3.27152284e-01 4.62545461e-02 6.05397937e+02] [-3.26706786e-01 9.44971073e-01 -1.70981317e-02 -8.40101098e+01] [-4.93029009e-02 1.02620803e-03 9.98783345e-01 -3.88612106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.3407140569999 meters 0.025532343765952314 Centerline is valid? [True, True] Translation: X:605.43, Y:-84.02, Z:-38.86 [[ 9.44027698e-01 3.26691155e-01 4.56573584e-02 6.05429059e+02] [-3.26256301e-01 9.45130575e-01 -1.68825979e-02 -8.40194175e+01] [-4.86675608e-02 1.04163914e-03 9.98814489e-01 -3.88633944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.370714057 meters 0.02536670355786223 Centerline is valid? [True, True] Translation: X:605.46, Y:-84.03, Z:-38.86 [[ 9.44211919e-01 3.25942964e-01 4.71702991e-02 6.05460890e+02] [-3.25477208e-01 9.45388762e-01 -1.74549598e-02 -8.40280881e+01] [-5.02835920e-02 1.12832378e-03 9.98734343e-01 -3.88635675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.400714057 meters 0.02499800191639217 Centerline is valid? [True, True] Translation: X:605.49, Y:-84.04, Z:-38.86 [[ 9.44044565e-01 3.26169289e-01 4.89229461e-02 6.05491741e+02] [-3.25667710e-01 9.45310647e-01 -1.81197112e-02 -8.40378173e+01] [-5.21574751e-02 1.17319108e-03 9.98638183e-01 -3.88636026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.4307140569999 meters 0.025117052921763458 Centerline is valid? [True, True] Translation: X:605.52, Y:-84.05, Z:-38.86 [[ 9.43850804e-01 3.26468993e-01 5.06325697e-02 6.05521065e+02] [-3.25931341e-01 9.45207136e-01 -1.87678394e-02 -8.40477681e+01] [-5.39853838e-02 1.21129900e-03 9.98540991e-01 -3.88639962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.4607140569999 meters 0.024730879105293348 Centerline is valid? [True, True] Translation: X:605.55, Y:-84.05, Z:-38.86 [[ 9.43196112e-01 3.28067720e-01 5.24658528e-02 6.05553051e+02] [-3.27492402e-01 9.44653485e-01 -1.94555981e-02 -8.40537933e+01] [-5.59448044e-02 1.16827630e-03 9.98433180e-01 -3.88643581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.490714057 meters 0.024467069450434944 Centerline is valid? [True, True] Translation: X:605.58, Y:-84.06, Z:-38.87 [[ 9.42169874e-01 3.30875248e-01 5.32681738e-02 6.05584040e+02] [-3.30285806e-01 9.43673941e-01 -1.97681415e-02 -8.40599435e+01] [-5.68085762e-02 1.03122567e-03 9.98384556e-01 -3.88665734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.520714057 meters 0.023845975812076568 Centerline is valid? [True, True] Translation: X:605.62, Y:-84.07, Z:-38.87 [[ 9.41568752e-01 3.32525722e-01 5.36183590e-02 6.05615918e+02] [-3.31930385e-01 9.43093707e-01 -1.99117973e-02 -8.40662875e+01] [-5.71883218e-02 9.50763640e-04 9.98362956e-01 -3.88689191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.5507140569999 meters 0.024024775935684865 Centerline is valid? [True, True] Translation: X:605.65, Y:-84.07, Z:-38.87 [[ 9.40869237e-01 3.34543384e-01 5.33460728e-02 6.05647397e+02] [-3.33956487e-01 9.42379978e-01 -1.98252866e-02 -8.40741038e+01] [-5.69046894e-02 8.37735222e-04 9.98379264e-01 -3.88713717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.5807140569999 meters 0.023878300555737222 Centerline is valid? [True, True] Translation: X:605.68, Y:-84.08, Z:-38.87 [[ 9.39823340e-01 3.37546331e-01 5.28636310e-02 6.05679435e+02] [-3.36973930e-01 9.41308681e-01 -1.96605468e-02 -8.40792720e+01] [-5.63973403e-02 6.63775269e-04 9.98408183e-01 -3.88732712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.610714057 meters 0.02391374362818991 Centerline is valid? [True, True] Translation: X:605.71, Y:-84.09, Z:-38.88 [[ 9.39342178e-01 3.38993081e-01 5.21532601e-02 6.05708995e+02] [-3.38437392e-01 9.40788686e-01 -1.94108339e-02 -8.40884421e+01] [-5.56453354e-02 5.82801640e-04 9.98450428e-01 -3.88756012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.640714057 meters 0.02380492406957232 Centerline is valid? [True, True] Translation: X:605.74, Y:-84.10, Z:-38.88 [[ 9.38936813e-01 3.40202765e-01 5.15726659e-02 6.05740250e+02] [-3.39660469e-01 9.40351961e-01 -1.92082213e-02 -8.40972454e+01] [-5.50311475e-02 5.18110193e-04 9.98484504e-01 -3.88781677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.6707140569999 meters 0.023699765824269328 Centerline is valid? [True, True] Translation: X:605.77, Y:-84.10, Z:-38.88 [[ 9.38773701e-01 3.40801219e-01 5.05813010e-02 6.05771471e+02] [-3.40280067e-01 9.40135255e-01 -1.88461482e-02 -8.41030426e+01] [-5.39760546e-02 4.80459768e-04 9.98542115e-01 -3.88820227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.7007140569999 meters 0.023792066015410757 Centerline is valid? [True, True] Translation: X:605.80, Y:-84.11, Z:-38.88 [[ 9.38633588e-01 3.41212166e-01 5.04107669e-02 6.05803609e+02] [-3.40694613e-01 9.39986193e-01 -1.87919902e-02 -8.41120767e+01] [-5.37974805e-02 4.64116498e-04 9.98551759e-01 -3.88846003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.7307140569999 meters 0.023866352301049536 Centerline is valid? [True, True] Translation: X:605.83, Y:-84.12, Z:-38.89 [[ 9.38750353e-01 3.40927664e-01 5.01607620e-02 6.05833497e+02] [-3.40413977e-01 9.40089403e-01 -1.87146843e-02 -8.41215623e+01] [-5.35359544e-02 4.92992000e-04 9.98565801e-01 -3.88870839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.760714057 meters 0.023675485700772582 Centerline is valid? [True, True] Translation: X:605.86, Y:-84.13, Z:-38.89 [[ 9.39111194e-01 3.39943822e-01 5.00835651e-02 6.05864640e+02] [-3.39429584e-01 9.40445577e-01 -1.86995727e-02 -8.41289404e+01] [-5.34576715e-02 5.61134401e-04 9.98569959e-01 -3.88881559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.790714057 meters 0.023537365725900997 Centerline is valid? [True, True] Translation: X:605.90, Y:-84.14, Z:-38.89 [[ 9.39315977e-01 3.39364824e-01 5.01698244e-02 6.05896542e+02] [-3.38847247e-01 9.40654637e-01 -1.87455729e-02 -8.41385426e+01] [-5.35540660e-02 6.08109262e-04 9.98564766e-01 -3.88896570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.8207140569999 meters 0.023851801212884122 Centerline is valid? [True, True] Translation: X:605.93, Y:-84.15, Z:-38.89 [[ 9.39297610e-01 3.39464311e-01 4.98395525e-02 6.05927768e+02] [-3.38952827e-01 9.40618735e-01 -1.86380148e-02 -8.41481627e+01] [-5.32069577e-02 6.13385483e-04 9.98583318e-01 -3.88913913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.8507140569999 meters 0.02356521104060146 Centerline is valid? [True, True] Translation: X:605.96, Y:-84.15, Z:-38.89 [[ 9.39058586e-01 3.40072849e-01 5.01939228e-02 6.05959068e+02] [-3.39554054e-01 9.40398904e-01 -1.87868471e-02 -8.41547122e+01] [-5.35912066e-02 5.98400065e-04 9.98562779e-01 -3.88935485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.880714057 meters 0.023658066527021234 Centerline is valid? [True, True] Translation: X:605.99, Y:-84.16, Z:-38.90 [[ 9.38766801e-01 3.40860668e-01 5.03080376e-02 6.05990685e+02] [-3.40339832e-01 9.40113653e-01 -1.88445610e-02 -8.41632772e+01] [-5.37186427e-02 5.68819192e-04 9.98555949e-01 -3.88956012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.910714057 meters 0.02345773378142958 Centerline is valid? [True, True] Translation: X:606.02, Y:-84.17, Z:-38.90 [[ 9.38403943e-01 3.41866256e-01 5.02543731e-02 6.06022742e+02] [-3.41347125e-01 9.39748470e-01 -1.88402054e-02 -8.41723305e+01] [-5.36673007e-02 5.25537241e-04 9.98558734e-01 -3.88975883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.9407140569999 meters 0.02355596906260397 Centerline is valid? [True, True] Translation: X:606.05, Y:-84.18, Z:-38.90 [[ 9.37573456e-01 3.44196605e-01 4.98468877e-02 6.06054282e+02] [-3.43688323e-01 9.38897510e-01 -1.87030107e-02 -8.41789035e+01] [-5.32386315e-02 4.03653083e-04 9.98581737e-01 -3.88983770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.9707140569999 meters 0.023330151424831493 Centerline is valid? [True, True] Translation: X:606.08, Y:-84.19, Z:-38.90 [[ 9.37213079e-01 3.45155933e-01 4.99902560e-02 6.06084524e+02] [-3.44645308e-01 9.38545284e-01 -1.87713059e-02 -8.41879783e+01] [-5.33971466e-02 3.63806201e-04 9.98573288e-01 -3.89002378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.000714057 meters 0.023168523848041026 Centerline is valid? [True, True] Translation: X:606.12, Y:-84.20, Z:-38.90 [[ 9.36870406e-01 3.46103741e-01 4.98602428e-02 6.06116582e+02] [-3.45596732e-01 9.38196195e-01 -1.87295913e-02 -8.41974148e+01] [-5.32610717e-02 3.15662852e-04 9.98580572e-01 -3.89015502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.030714057 meters 0.022771648258130158 Centerline is valid? [True, True] Translation: X:606.15, Y:-84.20, Z:-38.90 [[ 9.36167130e-01 3.47980233e-01 5.00086151e-02 6.06148691e+02] [-3.47472021e-01 9.37501844e-01 -1.88012665e-02 -8.42042499e+01] [-5.34256379e-02 2.24533169e-04 9.98571806e-01 -3.89029748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.0607140569999 meters 0.02300932704985896 Centerline is valid? [True, True] Translation: X:606.18, Y:-84.21, Z:-38.90 [[ 9.35757617e-01 3.49106205e-01 4.98250817e-02 6.06180003e+02] [-3.48602588e-01 9.37083149e-01 -1.87458786e-02 -8.42140184e+01] [-5.32345470e-02 1.72446308e-04 9.98582021e-01 -3.89045602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.0907140569999 meters 0.022617646117728606 Centerline is valid? [True, True] Translation: X:606.21, Y:-84.22, Z:-38.91 [[ 9.35310527e-01 3.50266177e-01 5.00781770e-02 6.06210620e+02] [-3.49758217e-01 9.36650196e-01 -1.88573538e-02 -8.42224381e+01] [-5.35108276e-02 1.22227652e-04 9.98567262e-01 -3.89056905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.120714057 meters 0.022760917073029227 Centerline is valid? [True, True] Translation: X:606.24, Y:-84.23, Z:-38.91 [[ 9.35079300e-01 3.50857191e-01 5.02586745e-02 6.06241933e+02] [-3.50345607e-01 9.36428973e-01 -1.89403044e-02 -8.42331127e+01] [-5.37090209e-02 1.02780709e-04 9.98556624e-01 -3.89071769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.150714057 meters 0.0231903226877094 Centerline is valid? [True, True] Translation: X:606.27, Y:-84.24, Z:-38.91 [[ 9.35096560e-01 3.50834956e-01 5.00924815e-02 6.06271829e+02] [-3.50325856e-01 9.36437301e-01 -1.88937911e-02 -8.42434633e+01] [-5.35370706e-02 1.18827619e-04 9.98565856e-01 -3.89091486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.1807140569999 meters 0.022873600308994012 Centerline is valid? [True, True] Translation: X:606.30, Y:-84.25, Z:-38.91 [[ 9.35168283e-01 3.50581024e-01 5.05294671e-02 6.06302939e+02] [-3.50061807e-01 9.36532393e-01 -1.90737591e-02 -8.42542796e+01] [-5.40093808e-02 1.48738024e-04 9.98540417e-01 -3.89106312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.2107140569999 meters 0.022812143913168076 Centerline is valid? [True, True] Translation: X:606.33, Y:-84.27, Z:-38.91 [[ 9.36041221e-01 3.48058138e-01 5.17915625e-02 6.06333629e+02] [-3.47507825e-01 9.37472896e-01 -1.95673159e-02 -8.42658407e+01] [-5.53637497e-02 3.17840981e-04 9.98466201e-01 -3.89112753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.240714057 meters 0.022654663210144897 Centerline is valid? [True, True] Translation: X:606.36, Y:-84.28, Z:-38.91 [[ 9.36567093e-01 3.46546612e-01 5.24168477e-02 6.06364527e+02] [-3.45979598e-01 9.38032655e-01 -1.98205894e-02 -8.42781307e+01] [-5.60374730e-02 4.28151925e-04 9.98428574e-01 -3.89127224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.270714057 meters 0.023149277963868734 Centerline is valid? [True, True] Translation: X:606.39, Y:-84.29, Z:-38.91 [[ 9.37209487e-01 3.44838765e-01 5.21977262e-02 6.06393388e+02] [-3.44272899e-01 9.38661776e-01 -1.97545125e-02 -8.42902950e+01] [-5.58081321e-02 5.43853959e-04 9.98441364e-01 -3.89146266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.3007140569999 meters 0.023642042783781226 Centerline is valid? [True, True] Translation: X:606.42, Y:-84.30, Z:-38.92 [[ 9.38677020e-01 3.40817170e-01 5.22408827e-02 6.06422968e+02] [-3.40243381e-01 9.40129258e-01 -1.97843091e-02 -8.43035132e+01] [-5.58560146e-02 7.96461699e-04 9.98438517e-01 -3.89154380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.3307140569999 meters 0.02381132378464894 Centerline is valid? [True, True] Translation: X:606.45, Y:-84.32, Z:-38.92 [[ 9.39562655e-01 3.38467990e-01 5.15891207e-02 6.06451698e+02] [-3.37904094e-01 9.40977438e-01 -1.95520811e-02 -8.43157670e+01] [-5.51619522e-02 9.38230140e-04 9.98476980e-01 -3.89173405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.360714057 meters 0.02453119743794945 Centerline is valid? [True, True] Translation: X:606.48, Y:-84.33, Z:-38.92 [[ 9.41668132e-01 3.32718111e-01 5.05943557e-02 6.06480931e+02] [-3.32167048e-01 9.43025491e-01 -1.91826956e-02 -8.43273859e+01] [-5.40941973e-02 1.25795531e-03 9.98535045e-01 -3.89207632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.390714057 meters 0.025481550060205256 Centerline is valid? [True, True] Translation: X:606.51, Y:-84.34, Z:-38.92 [[ 9.42623458e-01 3.30065014e-01 5.01806966e-02 6.06509408e+02] [-3.29519056e-01 9.43957162e-01 -1.90280738e-02 -8.43397664e+01] [-5.36489294e-02 1.40081295e-03 9.98558877e-01 -3.89236489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.4207140569999 meters 0.02553434976179418 Centerline is valid? [True, True] Translation: X:606.54, Y:-84.35, Z:-38.93 [[ 9.43861632e-01 3.26629766e-01 4.93782999e-02 6.06539921e+02] [-3.26095732e-01 9.45151040e-01 -1.87372449e-02 -8.43496883e+01] [-5.27900935e-02 1.58331370e-03 9.98604376e-01 -3.89263153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.4507140569999 meters 0.027097951700502578 Centerline is valid? [True, True] Translation: X:606.57, Y:-84.36, Z:-38.93 [[ 9.45607172e-01 3.21620933e-01 4.88574515e-02 6.06567448e+02] [-3.21091236e-01 9.46866709e-01 -1.85433124e-02 -8.43614351e+01] [-5.22254117e-02 1.84698978e-03 9.98633614e-01 -3.89283823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.4807140569999 meters 0.027618238345188145 Centerline is valid? [True, True] Translation: X:606.60, Y:-84.37, Z:-38.93 [[ 9.46410385e-01 3.19178282e-01 4.93214601e-02 6.06597042e+02] [-3.18634896e-01 9.47692568e-01 -1.87243352e-02 -8.43722911e+01] [-5.27179823e-02 2.00536702e-03 9.98607427e-01 -3.89295743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.510714057 meters 0.027469911291283934 Centerline is valid? [True, True] Translation: X:606.63, Y:-84.38, Z:-38.93 [[ 9.47217607e-01 3.16533733e-01 5.08448686e-02 6.06628063e+02] [-3.15951665e-01 9.48578627e-01 -1.93166644e-02 -8.43816692e+01] [-5.43447315e-02 2.23256377e-03 9.98519737e-01 -3.89301765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.540714057 meters 0.028242025837105677 Centerline is valid? [True, True] Translation: X:606.66, Y:-84.39, Z:-38.93 [[ 9.47913750e-01 3.14225878e-01 5.21691460e-02 6.06657481e+02] [-3.13609358e-01 9.49345138e-01 -1.98237292e-02 -8.43922736e+01] [-5.57556538e-02 2.43045315e-03 9.98441486e-01 -3.89310796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.5707140569999 meters 0.03088107895250593 Centerline is valid? [True, True] Translation: X:606.69, Y:-84.40, Z:-38.93 [[ 9.49346287e-01 3.09638143e-01 5.35336155e-02 6.06686388e+02] [-3.08980822e-01 9.50850392e-01 -2.03564376e-02 -8.44016805e+01] [-5.72055888e-02 2.78444794e-03 9.98358537e-01 -3.89324624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.6007140569999 meters 0.028405717779710463 Centerline is valid? [True, True] Translation: X:606.72, Y:-84.40, Z:-38.93 [[ 9.50110244e-01 3.07210079e-01 5.39675102e-02 6.06718927e+02] [-3.06537840e-01 9.51637120e-01 -2.05266694e-02 -8.44047405e+01] [-5.76634858e-02 2.95951487e-03 9.98331690e-01 -3.89341520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.630714057 meters 0.029380587013457474 Centerline is valid? [True, True] Translation: X:606.75, Y:-84.41, Z:-38.94 [[ 9.50585112e-01 3.05617757e-01 5.46418452e-02 6.06748570e+02] [-3.04925781e-01 9.52149249e-01 -2.07864465e-02 -8.44143051e+01] [-5.83798990e-02 3.09757930e-03 9.98289634e-01 -3.89357810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.660714057 meters 0.03104757246504446 Centerline is valid? [True, True] Translation: X:606.78, Y:-84.42, Z:-38.94 [[ 9.51232839e-01 3.03241353e-01 5.65753286e-02 6.06779082e+02] [-3.02494834e-01 9.52907840e-01 -2.15295903e-02 -8.44187800e+01] [-6.04397363e-02 3.36590873e-03 9.98166173e-01 -3.89367418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.6907140569999 meters 0.029595252176174352 Centerline is valid? [True, True] Translation: X:606.81, Y:-84.42, Z:-38.94 [[ 9.51365307e-01 3.02573761e-01 5.79065718e-02 6.06811869e+02] [-3.01790285e-01 9.53119579e-01 -2.20384104e-02 -8.44223020e+01] [-6.18601321e-02 3.49093826e-03 9.98078723e-01 -3.89390576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.7207140569999 meters 0.029841437685847867 Centerline is valid? [True, True] Translation: X:606.84, Y:-84.43, Z:-38.94 [[ 9.51294204e-01 3.02755076e-01 5.81265988e-02 6.06844671e+02] [-3.01964941e-01 9.53061938e-01 -2.21385985e-02 -8.44293568e+01] [-6.21008220e-02 3.50812548e-03 9.98063716e-01 -3.89407526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.750714057 meters 0.028758270954591332 Centerline is valid? [True, True] Translation: X:606.88, Y:-84.43, Z:-38.94 [[ 9.51306494e-01 3.02760727e-01 5.78955622e-02 6.06879444e+02] [-3.01975749e-01 9.53060131e-01 -2.20688353e-02 -8.44274701e+01] [-6.18595287e-02 3.51117061e-03 9.98078689e-01 -3.89449566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.780714057 meters 0.029426508659998164 Centerline is valid? [True, True] Translation: X:606.91, Y:-84.43, Z:-38.95 [[ 9.51400416e-01 3.02488538e-01 5.77748486e-02 6.06910069e+02] [-3.01705326e-01 9.53146460e-01 -2.20391075e-02 -8.44341981e+01] [-6.17344698e-02 3.53703645e-03 9.98086341e-01 -3.89478563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.8107140569999 meters 0.029732016680777396 Centerline is valid? [True, True] Translation: X:606.94, Y:-84.44, Z:-38.95 [[ 9.51942361e-01 3.00863107e-01 5.73335214e-02 6.06944067e+02] [-3.00088017e-01 9.53660436e-01 -2.18850340e-02 -8.44355075e+01] [-6.12611104e-02 3.62818815e-03 9.98115180e-01 -3.89520299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.8407140569999 meters 0.030971234439520136 Centerline is valid? [True, True] Translation: X:606.97, Y:-84.44, Z:-38.95 [[ 9.52310504e-01 2.99591136e-01 5.78779396e-02 6.06974333e+02] [-2.98798566e-01 9.54060315e-01 -2.20982285e-02 -8.44432981e+01] [-6.18394786e-02 3.75052976e-03 9.98079061e-01 -3.89544012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.870714057 meters 0.03090197947962565 Centerline is valid? [True, True] Translation: X:607.01, Y:-84.45, Z:-38.96 [[ 9.52634993e-01 2.98488603e-01 5.82333544e-02 6.07006042e+02] [-2.97683311e-01 9.54405395e-01 -2.22483217e-02 -8.44492499e+01] [-6.22190981e-02 3.85943207e-03 9.98055053e-01 -3.89570662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.900714057 meters 0.03142551359820139 Centerline is valid? [True, True] Translation: X:607.04, Y:-84.46, Z:-38.96 [[ 9.53066451e-01 2.97109996e-01 5.82236249e-02 6.07037593e+02] [-2.96302125e-01 9.54835076e-01 -2.22492471e-02 -8.44564191e+01] [-6.22044331e-02 3.95322722e-03 9.98055600e-01 -3.89593381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.9307140569999 meters 0.032984650362101665 Centerline is valid? [True, True] Translation: X:607.07, Y:-84.46, Z:-38.96 [[ 9.53876794e-01 2.94447725e-01 5.84773335e-02 6.07068584e+02] [-2.93627538e-01 9.55658580e-01 -2.23505435e-02 -8.44589345e+01] [-6.24654322e-02 4.14910928e-03 9.98038504e-01 -3.89621433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.9607140569999 meters 0.03144001519131683 Centerline is valid? [True, True] Translation: X:607.10, Y:-84.46, Z:-38.96 [[ 9.54038242e-01 2.93891165e-01 5.86431197e-02 6.07100854e+02] [-2.93065178e-01 9.55829667e-01 -2.24153652e-02 -8.44628217e+01] [-6.26405114e-02 4.19885936e-03 9.98027322e-01 -3.89643993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.990714057 meters 0.031385638466133826 Centerline is valid? [True, True] Translation: X:607.13, Y:-84.47, Z:-38.97 [[ 9.53956093e-01 2.94065871e-01 5.91019142e-02 6.07133294e+02] [-2.93226230e-01 9.55775771e-01 -2.26064802e-02 -8.44685545e+01] [-6.31359720e-02 4.23535808e-03 9.97995947e-01 -3.89668232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.020714057 meters 0.03585045544609748 Centerline is valid? [True, True] Translation: X:607.16, Y:-84.47, Z:-38.97 [[ 9.53514088e-01 2.95553545e-01 5.88131496e-02 6.07163381e+02] [-2.94723882e-01 9.55317239e-01 -2.25123747e-02 -8.44737953e+01] [-6.28388278e-02 4.13222665e-03 9.98015133e-01 -3.89694128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.0507140569999 meters 0.04334366759906093 Centerline is valid? [True, True] Translation: X:607.19, Y:-84.49, Z:-38.97 [[ 9.53100339e-01 2.96857093e-01 5.89542996e-02 6.07189819e+02] [-2.96025840e-01 9.54913298e-01 -2.25675916e-02 -8.44889395e+01] [-6.29955942e-02 4.05718314e-03 9.98005558e-01 -3.89705252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.0807140569999 meters 0.04291138922683535 Centerline is valid? [True, True] Translation: X:607.22, Y:-84.49, Z:-38.97 [[ 9.52541597e-01 2.98596200e-01 5.92014768e-02 6.07221938e+02] [-2.97761210e-01 9.54371326e-01 -2.26635043e-02 -8.44939475e+01] [-6.32674282e-02 3.96002725e-03 9.97988753e-01 -3.89724991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.110714057 meters 0.04291138922683535 Centerline is valid? [True, True] Translation: X:607.25, Y:-84.51, Z:-38.97 [[ 9.52469531e-01 2.98826280e-01 5.92000586e-02 6.07252207e+02] [-2.97991502e-01 9.54299357e-01 -2.26672081e-02 -8.45056511e+01] [-6.32681353e-02 3.94871072e-03 9.97988753e-01 -3.89743805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.140714057 meters 0.0426645732333158 Centerline is valid? [True, True] Translation: X:607.29, Y:-84.50, Z:-38.98 [[ 9.51432016e-01 3.02077318e-01 5.93836106e-02 6.07285123e+02] [-3.01242687e-01 9.53276018e-01 -2.27525156e-02 -8.45043546e+01] [-6.34819907e-02 3.75859342e-03 9.97975906e-01 -3.89754955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.1707140569999 meters 0.041939586334693975 Centerline is valid? [True, True] Translation: X:607.32, Y:-84.51, Z:-38.98 [[ 9.50771680e-01 3.04104378e-01 5.96132570e-02 6.07316738e+02] [-3.03267217e-01 9.52631773e-01 -2.28407509e-02 -8.45088201e+01] [-6.37354550e-02 3.63759254e-03 9.97960199e-01 -3.89767975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.2007140569999 meters 0.02912953056150649 Centerline is valid? [True, True] Translation: X:607.36, Y:-84.50, Z:-38.98 [[ 9.50207979e-01 3.05870513e-01 5.95653031e-02 6.07355048e+02] [-3.05038020e-01 9.52066621e-01 -2.28244422e-02 -8.44950806e+01] [-6.36914607e-02 3.51828502e-03 9.97963436e-01 -3.89806506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.2307140569999 meters 0.028660063238367197 Centerline is valid? [True, True] Translation: X:607.39, Y:-84.50, Z:-38.98 [[ 9.49555290e-01 3.07950934e-01 5.92534625e-02 6.07387215e+02] [-3.07131019e-01 9.51396295e-01 -2.27074312e-02 -8.45003401e+01] [-6.33662993e-02 3.36338508e-03 9.97984669e-01 -3.89825241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.260714057 meters 0.02699847505795675 Centerline is valid? [True, True] Translation: X:607.42, Y:-84.50, Z:-38.98 [[ 9.48409063e-01 3.11359117e-01 5.97975655e-02 6.07421325e+02] [-3.10530575e-01 9.50287043e-01 -2.29193745e-02 -8.44987603e+01] [-6.39610079e-02 3.16797016e-03 9.97947370e-01 -3.89834432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.290714057 meters 0.027255933949643915 Centerline is valid? [True, True] Translation: X:607.45, Y:-84.51, Z:-38.98 [[ 9.47933639e-01 3.12781104e-01 5.99149143e-02 6.07452221e+02] [-3.11951940e-01 9.49820240e-01 -2.29673426e-02 -8.45056683e+01] [-6.40921491e-02 3.08094297e-03 9.97939229e-01 -3.89848449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.3207140569999 meters 0.026979474636194052 Centerline is valid? [True, True] Translation: X:607.48, Y:-84.51, Z:-38.99 [[ 9.47124560e-01 3.15121002e-01 6.04468539e-02 6.07484313e+02] [-3.14280838e-01 9.49046879e-01 -2.31856976e-02 -8.45069470e+01] [-6.46731983e-02 2.96245567e-03 9.97902100e-01 -3.89859568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.3507140569999 meters 0.02696065409256182 Centerline is valid? [True, True] Translation: X:607.52, Y:-84.51, Z:-38.99 [[ 9.46823143e-01 3.15983286e-01 6.06671106e-02 6.07516413e+02] [-3.15138554e-01 9.48760272e-01 -2.32731021e-02 -8.45139169e+01] [-6.49124557e-02 2.91696612e-03 9.97886699e-01 -3.89878049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.380714057 meters 0.024342019354864235 Centerline is valid? [True, True] Translation: X:607.55, Y:-84.52, Z:-38.99 [[ 9.46357182e-01 3.17422825e-01 6.04221307e-02 6.07550240e+02] [-3.16586834e-01 9.48279911e-01 -2.31945500e-02 -8.45169149e+01] [-6.46595723e-02 2.82147797e-03 9.97903392e-01 -3.89895085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.410714057 meters 0.026800602898419474 Centerline is valid? [True, True] Translation: X:607.58, Y:-84.53, Z:-38.99 [[ 9.45904986e-01 3.18809836e-01 6.02000495e-02 6.07579210e+02] [-3.17982322e-01 9.47814788e-01 -2.31164762e-02 -8.45278495e+01] [-6.44282571e-02 2.72343853e-03 9.97918625e-01 -3.89903108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.4407140569999 meters 0.02708783005736988 Centerline is valid? [True, True] Translation: X:607.61, Y:-84.53, Z:-38.99 [[ 9.45080926e-01 3.21359432e-01 5.95832113e-02 6.07610761e+02] [-3.20552939e-01 9.46953895e-01 -2.28939835e-02 -8.45309309e+01] [-6.37797516e-02 2.53709361e-03 9.97960774e-01 -3.89919194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.4707140569999 meters 0.023280617877067842 Centerline is valid? [True, True] Translation: X:607.64, Y:-84.53, Z:-38.99 [[ 9.44471490e-01 3.23209510e-01 5.92386364e-02 6.07644148e+02] [-3.22415732e-01 9.46324387e-01 -2.27651290e-02 -8.45325541e+01] [-6.34168724e-02 2.40154703e-03 9.97984235e-01 -3.89946092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.500714057 meters 0.02250010911871412 Centerline is valid? [True, True] Translation: X:607.68, Y:-84.54, Z:-39.00 [[ 9.43685845e-01 3.25579660e-01 5.87784991e-02 6.07676893e+02] [-3.24801787e-01 9.45511962e-01 -2.26037414e-02 -8.45362548e+01] [-6.29350924e-02 2.23946922e-03 9.98015110e-01 -3.89959664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.530714057 meters 0.022372928486685973 Centerline is valid? [True, True] Translation: X:607.71, Y:-84.54, Z:-39.00 [[ 9.43381170e-01 3.26513199e-01 5.84901639e-02 6.07707390e+02] [-3.25744486e-01 9.45190151e-01 -2.24968588e-02 -8.45439572e+01] [-6.26298482e-02 2.17026462e-03 9.98034464e-01 -3.89979299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.5607140569999 meters 0.024780801746621204 Centerline is valid? [True, True] Translation: X:607.74, Y:-84.55, Z:-39.00 [[ 9.42725757e-01 3.28598488e-01 5.73688140e-02 6.07737432e+02] [-3.27862290e-01 9.44467590e-01 -2.20746599e-02 -8.45524829e+01] [-6.14366854e-02 2.00127972e-03 9.98108976e-01 -3.89998185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.5907140569999 meters 0.021568528559946457 Centerline is valid? [True, True] Translation: X:607.77, Y:-84.55, Z:-39.00 [[ 9.42464228e-01 3.29453875e-01 5.67567065e-02 6.07770471e+02] [-3.28734298e-01 9.44169691e-01 -2.18484540e-02 -8.45548874e+01] [-6.07860198e-02 1.93351025e-03 9.98148947e-01 -3.90022538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.620714057 meters 0.021239744545280662 Centerline is valid? [True, True] Translation: X:607.80, Y:-84.56, Z:-39.00 [[ 9.42110569e-01 3.30595469e-01 5.59849223e-02 6.07801416e+02] [-3.29896427e-01 9.43770743e-01 -2.15669115e-02 -8.45632771e+01] [-5.99668549e-02 1.84918942e-03 9.98198656e-01 -3.90040729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.650714057 meters 0.02122426518523723 Centerline is valid? [True, True] Translation: X:607.83, Y:-84.57, Z:-39.01 [[ 9.41759221e-01 3.31677456e-01 5.54944545e-02 6.07832721e+02] [-3.30991575e-01 9.43391170e-01 -2.13934022e-02 -8.45723696e+01] [-5.94486876e-02 1.77923692e-03 9.98229777e-01 -3.90056247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.6807140569999 meters 0.01997815432661159 Centerline is valid? [True, True] Translation: X:607.87, Y:-84.58, Z:-39.01 [[ 9.41490839e-01 3.32248972e-01 5.66182024e-02 6.07866658e+02] [-3.31535045e-01 9.43190014e-01 -2.18428854e-02 -8.45770596e+01] [-6.06589993e-02 1.79395820e-03 9.98156935e-01 -3.90062746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.7107140569999 meters 0.022125656505503178 Centerline is valid? [True, True] Translation: X:607.90, Y:-84.59, Z:-39.01 [[ 9.41716443e-01 3.31607308e-01 5.66280291e-02 6.07895166e+02] [-3.30890834e-01 9.43415687e-01 -2.18654411e-02 -8.45907913e+01] [-6.06745111e-02 1.85334958e-03 9.98155884e-01 -3.90069430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.740714057 meters 0.022569139274521977 Centerline is valid? [True, True] Translation: X:607.93, Y:-84.60, Z:-39.01 [[ 9.42248382e-01 3.30053059e-01 5.68591704e-02 6.07925819e+02] [-3.29326957e-01 9.43960314e-01 -2.19700217e-02 -8.46010481e+01] [-6.09240732e-02 1.97595981e-03 9.98140447e-01 -3.90083171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.770714057 meters 0.02504249996716225 Centerline is valid? [True, True] Translation: X:607.95, Y:-84.61, Z:-39.01 [[ 9.44340555e-01 3.23975056e-01 5.71058554e-02 6.07953475e+02] [-3.23230612e-01 9.46062597e-01 -2.20801871e-02 -8.46123347e+01] [-6.11791438e-02 2.39285553e-03 9.98123934e-01 -3.90094672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.8007140569999 meters 0.02650971137774837 Centerline is valid? [True, True] Translation: X:607.98, Y:-84.62, Z:-39.01 [[ 9.45789991e-01 3.19659115e-01 5.74399092e-02 6.07982389e+02] [-3.18897823e-01 9.47528793e-01 -2.22118428e-02 -8.46238205e+01] [-6.15261858e-02 2.69027665e-03 9.98101844e-01 -3.90106250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.8307140569999 meters 0.028501646453450796 Centerline is valid? [True, True] Translation: X:608.01, Y:-84.64, Z:-39.01 [[ 9.47241905e-01 3.15383308e-01 5.71501780e-02 6.08009701e+02] [-3.14621841e-01 9.48959768e-01 -2.21010338e-02 -8.46355865e+01] [-6.12035168e-02 2.95433115e-03 9.98120935e-01 -3.90117864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.860714057 meters 0.03229484714461844 Centerline is valid? [True, True] Translation: X:608.04, Y:-84.65, Z:-39.01 [[ 9.50510448e-01 3.05439358e-01 5.68918869e-02 6.08038012e+02] [-3.04666758e-01 9.52204791e-01 -2.20046061e-02 -8.46475255e+01] [-6.08938000e-02 3.58254128e-03 9.98137821e-01 -3.90136116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.890714057 meters 0.03043754680737178 Centerline is valid? [True, True] Translation: X:608.07, Y:-84.65, Z:-39.02 [[ 9.52151102e-01 3.00414676e-01 5.62076720e-02 6.08068938e+02] [-2.99651776e-01 9.53800890e-01 -2.17411013e-02 -8.46534467e+01] [-6.01422735e-02 3.85808487e-03 9.98182359e-01 -3.90152568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.9207140569999 meters 0.03245979079204568 Centerline is valid? [True, True] Translation: X:608.10, Y:-84.66, Z:-39.02 [[ 9.55083879e-01 2.91225779e-01 5.47935182e-02 6.08099355e+02] [-2.90485652e-01 9.56644564e-01 -2.11958469e-02 -8.46611415e+01] [-5.85906984e-02 4.32708084e-03 9.98272711e-01 -3.90173077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.9507140569999 meters 0.034166942964970484 Centerline is valid? [True, True] Translation: X:608.13, Y:-84.67, Z:-39.02 [[ 9.56055570e-01 2.88069822e-01 5.45300442e-02 6.08128889e+02] [-2.87331615e-01 9.57598834e-01 -2.10954338e-02 -8.46708777e+01] [-5.82948646e-02 4.50020136e-03 9.98289265e-01 -3.90187321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.9807140569999 meters 0.035043070673370376 Centerline is valid? [True, True] Translation: X:608.16, Y:-84.68, Z:-39.02 [[ 9.56739973e-01 2.85734904e-01 5.48104733e-02 6.08158761e+02] [-2.84985227e-01 9.58297335e-01 -2.12046830e-02 -8.46792565e+01] [-5.85836486e-02 4.66719272e-03 9.98271593e-01 -3.90199109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.010714057 meters 0.037031332149301134 Centerline is valid? [True, True] Translation: X:608.19, Y:-84.68, Z:-39.02 [[ 9.57115111e-01 2.84467069e-01 5.48557226e-02 6.08189619e+02] [-2.83714019e-01 9.58674046e-01 -2.12233279e-02 -8.46844574e+01] [-5.86260954e-02 4.74983029e-03 9.98268711e-01 -3.90203491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.040714057 meters 0.036807043901303904 Centerline is valid? [True, True] Translation: X:608.22, Y:-84.69, Z:-39.02 [[ 9.56832293e-01 2.85425054e-01 5.48133389e-02 6.08220348e+02] [-2.84674589e-01 9.58389558e-01 -2.12092784e-02 -8.46908195e+01] [-5.85861910e-02 4.68975777e-03 9.98271338e-01 -3.90222076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.0707140569999 meters 0.03190689894384561 Centerline is valid? [True, True] Translation: X:608.25, Y:-84.69, Z:-39.02 [[ 9.56508160e-01 2.86673927e-01 5.39462637e-02 6.08254366e+02] [-2.85948517e-01 9.58017418e-01 -2.08823496e-02 -8.46913904e+01] [-5.76678854e-02 4.54828370e-03 9.98325462e-01 -3.90238374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.1007140569999 meters 0.0340602391496137 Centerline is valid? [True, True] Translation: X:608.28, Y:-84.70, Z:-39.03 [[ 9.56039105e-01 2.88248650e-01 5.38697127e-02 6.08284008e+02] [-2.87527590e-01 9.57545253e-01 -2.08559942e-02 -8.47004989e+01] [-5.75943999e-02 4.45011734e-03 9.98330147e-01 -3.90254825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.130714057 meters 0.03259773196776562 Centerline is valid? [True, True] Translation: X:608.32, Y:-84.70, Z:-39.03 [[ 9.55157854e-01 2.91250414e-01 5.33541961e-02 6.08317149e+02] [-2.90547626e-01 9.56637497e-01 -2.06585453e-02 -8.46990917e+01] [-5.70574345e-02 4.23023674e-03 9.98361936e-01 -3.90277299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.160714057 meters 0.032762498073587554 Centerline is valid? [True, True] Translation: X:608.35, Y:-84.71, Z:-39.03 [[ 9.54667060e-01 2.92895543e-01 5.31319583e-02 6.08347418e+02] [-2.92201087e-01 9.56135589e-01 -2.05732873e-02 -8.47055190e+01] [-5.68271804e-02 4.11542374e-03 9.98375548e-01 -3.90296643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.1907140569999 meters 0.029006146632983194 Centerline is valid? [True, True] Translation: X:608.38, Y:-84.71, Z:-39.03 [[ 9.54306386e-01 2.94134018e-01 5.27683816e-02 6.08380934e+02] [-2.93450808e-01 9.55755749e-01 -2.04345610e-02 -8.47067905e+01] [-5.64441836e-02 4.01590782e-03 9.98397680e-01 -3.90310147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.2207140569999 meters 0.02950840616885113 Centerline is valid? [True, True] Translation: X:608.41, Y:-84.71, Z:-39.03 [[ 9.53560381e-01 2.96410127e-01 5.35129669e-02 6.08412781e+02] [-2.95710845e-01 9.55052626e-01 -2.07262616e-02 -8.47079790e+01] [-5.72511734e-02 3.93937728e-03 9.98352034e-01 -3.90320680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.250714057 meters 0.031093765591972487 Centerline is valid? [True, True] Translation: X:608.44, Y:-84.72, Z:-39.03 [[ 9.52950930e-01 2.98300588e-01 5.38635619e-02 6.08442798e+02] [-2.97595104e-01 9.54464211e-01 -2.08620467e-02 -8.47158755e+01] [-5.76340028e-02 3.85097448e-03 9.98330352e-01 -3.90333819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.280714057 meters 0.028947920942673996 Centerline is valid? [True, True] Translation: X:608.48, Y:-84.71, Z:-39.03 [[ 9.51571306e-01 3.02755424e-01 5.33966457e-02 6.08477364e+02] [-3.02068909e-01 9.53061660e-01 -2.06844614e-02 -8.47125207e+01] [-5.71526287e-02 3.55327341e-03 9.98359129e-01 -3.90346625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.3107140569999 meters 0.03244731294990646 Centerline is valid? [True, True] Translation: X:608.51, Y:-84.72, Z:-39.04 [[ 9.50695473e-01 3.05506562e-01 5.33278323e-02 6.08505757e+02] [-3.04826123e-01 9.52183959e-01 -2.06577395e-02 -8.47218499e+01] [-5.70889815e-02 3.38350300e-03 9.98363361e-01 -3.90366529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.3407140569999 meters 0.029204646362831266 Centerline is valid? [True, True] Translation: X:608.54, Y:-84.72, Z:-39.04 [[ 9.49748719e-01 3.08491365e-01 5.30136702e-02 6.08538307e+02] [-3.07823552e-01 9.51221810e-01 -2.05360310e-02 -8.47226908e+01] [-5.67629476e-02 3.18521286e-03 9.98382603e-01 -3.90387057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.370714057 meters 0.028767893370080542 Centerline is valid? [True, True] Translation: X:608.57, Y:-84.73, Z:-39.04 [[ 9.48860684e-01 3.11246456e-01 5.28114141e-02 6.08568934e+02] [-3.10587952e-01 9.50324464e-01 -2.04581611e-02 -8.47274939e+01] [-5.65555089e-02 3.00935576e-03 9.98394921e-01 -3.90407980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.400714057 meters 0.02629839726061322 Centerline is valid? [True, True] Translation: X:608.60, Y:-84.72, Z:-39.04 [[ 9.47239591e-01 3.16075756e-01 5.32284993e-02 6.08603155e+02] [-3.15414003e-01 9.48729972e-01 -2.06263755e-02 -8.47246731e+01] [-5.70189699e-02 2.74910542e-03 9.98369310e-01 -3.90426908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.4307140569999 meters 0.026681148826065877 Centerline is valid? [True, True] Translation: X:608.63, Y:-84.73, Z:-39.04 [[ 9.46675646e-01 3.17712620e-01 5.35155318e-02 6.08633874e+02] [-3.17046291e-01 9.48183309e-01 -2.07379207e-02 -8.47312371e+01] [-5.73312331e-02 2.66518360e-03 9.98351655e-01 -3.90447175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.4607140569999 meters 0.02772519404265996 Centerline is valid? [True, True] Translation: X:608.66, Y:-84.73, Z:-39.05 [[ 9.45949891e-01 3.19807943e-01 5.38672691e-02 6.08663981e+02] [-3.19135687e-01 9.47478923e-01 -2.08831162e-02 -8.47338253e+01] [-5.77166885e-02 2.56341358e-03 9.98329711e-01 -3.90472470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.490714057 meters 0.02514999709920142 Centerline is valid? [True, True] Translation: X:608.69, Y:-84.74, Z:-39.05 [[ 9.45722735e-01 3.20486622e-01 5.38222341e-02 6.08694147e+02] [-3.19816711e-01 9.47249695e-01 -2.08635074e-02 -8.47366162e+01] [-5.76695699e-02 2.51784338e-03 9.98332550e-01 -3.90497504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.520714057 meters 0.027649142032188354 Centerline is valid? [True, True] Translation: X:608.72, Y:-84.75, Z:-39.05 [[ 9.45738818e-01 3.20498984e-01 5.34648359e-02 6.08720265e+02] [-3.19838093e-01 9.47245565e-01 -2.07227913e-02 -8.47471249e+01] [-5.72859623e-02 2.49825701e-03 9.98354685e-01 -3.90517229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.5507140569999 meters 0.02819562368020549 Centerline is valid? [True, True] Translation: X:608.75, Y:-84.76, Z:-39.05 [[ 9.45900769e-01 3.20066723e-01 5.31886041e-02 6.08747971e+02] [-3.19412154e-01 9.47391683e-01 -2.06124941e-02 -8.47551785e+01] [-5.69878146e-02 2.50828740e-03 9.98371723e-01 -3.90536409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.5807140569999 meters 0.028318418714345976 Centerline is valid? [True, True] Translation: X:608.78, Y:-84.76, Z:-39.06 [[ 9.46210002e-01 3.19107901e-01 5.34488478e-02 6.08776719e+02] [-3.18445619e-01 9.47714893e-01 -2.07091577e-02 -8.47598264e+01] [-5.72627250e-02 2.57466079e-03 9.98355824e-01 -3.90557541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.610714057 meters 0.02736600453797694 Centerline is valid? [True, True] Translation: X:608.80, Y:-84.77, Z:-39.06 [[ 9.46345899e-01 3.18704666e-01 5.34488056e-02 6.08804841e+02] [-3.18041986e-01 9.47850516e-01 -2.07049283e-02 -8.47662050e+01] [-5.72602352e-02 2.59505971e-03 9.98355914e-01 -3.90576098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.640714057 meters 0.02834480912321704 Centerline is valid? [True, True] Translation: X:608.83, Y:-84.77, Z:-39.06 [[ 9.46294081e-01 3.18780561e-01 5.39116428e-02 6.08831768e+02] [-3.18106717e-01 9.47824956e-01 -2.08798713e-02 -8.47726928e+01] [-5.77548976e-02 2.60884297e-03 9.98327384e-01 -3.90590162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.6707140569999 meters 0.02699480267392871 Centerline is valid? [True, True] Translation: X:608.86, Y:-84.78, Z:-39.06 [[ 9.46055855e-01 3.19394958e-01 5.44534701e-02 6.08860761e+02] [-3.18708841e-01 9.47618142e-01 -2.10839137e-02 -8.47787402e+01] [-5.83351920e-02 2.59175768e-03 9.98293688e-01 -3.90604043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.7007140569999 meters 0.025423680534034564 Centerline is valid? [True, True] Translation: X:608.89, Y:-84.78, Z:-39.06 [[ 9.45800966e-01 3.20047151e-01 5.50486566e-02 6.08889084e+02] [-3.19347303e-01 9.47398115e-01 -2.13098857e-02 -8.47843015e+01] [-5.89731617e-02 2.57527047e-03 9.98256247e-01 -3.90618060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.7307140569999 meters 0.02907588415898116 Centerline is valid? [True, True] Translation: X:608.91, Y:-84.80, Z:-39.06 [[ 9.45463791e-01 3.20952276e-01 5.55684858e-02 6.08913575e+02] [-3.20240969e-01 9.47091967e-01 -2.15064666e-02 -8.47977721e+01] [-5.95310160e-02 2.53827974e-03 9.98223229e-01 -3.90628339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.760714057 meters 0.025551226130396856 Centerline is valid? [True, True] Translation: X:608.94, Y:-84.80, Z:-39.06 [[ 9.44630383e-01 3.23225445e-01 5.65575070e-02 6.08943975e+02] [-3.22492966e-01 9.46318865e-01 -2.18836026e-02 -8.47987585e+01] [-6.05947730e-02 2.43251768e-03 9.98159484e-01 -3.90645664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.790714057 meters 0.026397014625519733 Centerline is valid? [True, True] Translation: X:608.97, Y:-84.81, Z:-39.07 [[ 9.44081769e-01 3.24817335e-01 5.65978225e-02 6.08970431e+02] [-3.24086940e-01 9.45773906e-01 -2.18946267e-02 -8.48089523e+01] [-6.06404979e-02 2.32770278e-03 9.98156958e-01 -3.90664579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.8207140569999 meters 0.025340912862977398 Centerline is valid? [True, True] Translation: X:609.00, Y:-84.82, Z:-39.07 [[ 9.43478244e-01 3.26567389e-01 5.65910211e-02 6.08998658e+02] [-3.25840592e-01 9.45171336e-01 -2.18873131e-02 -8.48171771e+01] [-6.06358937e-02 2.21055189e-03 9.98157504e-01 -3.90687520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.8507140569999 meters 0.023008709490520918 Centerline is valid? [True, True] Translation: X:609.03, Y:-84.82, Z:-39.07 [[ 9.41977291e-01 3.30924152e-01 5.62848911e-02 6.09028180e+02] [-3.30213405e-01 9.43655418e-01 -2.17614224e-02 -8.48224405e+01] [-6.03149226e-02 1.91274012e-03 9.98177565e-01 -3.90713393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.880714057 meters 0.0241306398807215 Centerline is valid? [True, True] Translation: X:609.05, Y:-84.83, Z:-39.07 [[ 9.41192164e-01 3.33106150e-01 5.65473516e-02 6.09053679e+02] [-3.32392825e-01 9.42887654e-01 -2.18604984e-02 -8.48345892e+01] [-6.05996661e-02 1.77899588e-03 9.98160566e-01 -3.90722893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.910714057 meters 0.021948175843830898 Centerline is valid? [True, True] Translation: X:609.08, Y:-84.84, Z:-39.07 [[ 9.40611044e-01 3.34635171e-01 5.71853630e-02 6.09082034e+02] [-3.33908745e-01 9.42346236e-01 -2.21025205e-02 -8.48406632e+01] [-6.12846923e-02 1.69518206e-03 9.98118887e-01 -3.90738475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.9407140569999 meters 0.02122932143127104 Centerline is valid? [True, True] Translation: X:609.11, Y:-84.85, Z:-39.07 [[ 9.39612529e-01 3.37297111e-01 5.79564851e-02 6.09109302e+02] [-3.36556284e-01 9.41396991e-01 -2.23958434e-02 -8.48505684e+01] [-6.21141140e-02 1.53779582e-03 9.98067869e-01 -3.90745387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.9707140569999 meters 0.021201365179678886 Centerline is valid? [True, True] Translation: X:609.14, Y:-84.86, Z:-39.08 [[ 9.39593938e-01 3.37309835e-01 5.81833969e-02 6.09135318e+02] [-3.36563518e-01 9.41392431e-01 -2.24786540e-02 -8.48612654e+01] [-6.23556805e-02 1.53839825e-03 9.98052805e-01 -3.90762287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.000714057 meters 0.021596368903707714 Centerline is valid? [True, True] Translation: X:609.16, Y:-84.87, Z:-39.08 [[ 9.39810421e-01 3.36788971e-01 5.77023485e-02 6.09160389e+02] [-3.36054399e-01 9.41578874e-01 -2.22859730e-02 -8.48740451e+01] [-6.18369822e-02 1.55346166e-03 9.98085054e-01 -3.90788099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.030714057 meters 0.021596368903707714 Centerline is valid? [True, True] Translation: X:609.19, Y:-84.88, Z:-39.08 [[ 9.39845280e-01 3.36691346e-01 5.77043099e-02 6.09186033e+02] [-3.35956903e-01 9.41613786e-01 -2.22808933e-02 -8.48838490e+01] [-6.18369576e-02 1.55443115e-03 9.98085054e-01 -3.90804009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.0607140569999 meters 0.021917317652097104 Centerline is valid? [True, True] Translation: X:609.21, Y:-84.90, Z:-39.08 [[ 9.40115744e-01 3.35965362e-01 5.75296746e-02 6.09212513e+02] [-3.35234418e-01 9.41872998e-01 -2.22067674e-02 -8.48959452e+01] [-6.16463517e-02 1.59100467e-03 9.98096787e-01 -3.90827860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.0907140569999 meters 0.02210246848424872 Centerline is valid? [True, True] Translation: X:609.24, Y:-84.91, Z:-39.09 [[ 9.40351954e-01 3.35404708e-01 5.69375427e-02 6.09238609e+02] [-3.34687996e-01 9.42072768e-01 -2.19737338e-02 -8.49079509e+01] [-6.10094022e-02 1.60673145e-03 9.98135898e-01 -3.90850739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.120714057 meters 0.021709315254436933 Centerline is valid? [True, True] Translation: X:609.26, Y:-84.92, Z:-39.09 [[ 9.40883404e-01 3.33987561e-01 5.64865400e-02 6.09264549e+02] [-3.33279888e-01 9.42575983e-01 -2.17952423e-02 -8.49207003e+01] [-6.05221958e-02 1.68095408e-03 9.98165436e-01 -3.90866344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.150714057 meters 0.021895574253303966 Centerline is valid? [True, True] Translation: X:609.29, Y:-84.93, Z:-39.09 [[ 9.41199237e-01 3.33094484e-01 5.64983316e-02 6.09290763e+02] [-3.32385186e-01 9.42891858e-01 -2.17952111e-02 -8.49332330e+01] [-6.05316814e-02 1.73442756e-03 9.98164770e-01 -3.90882040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.1807140569999 meters 0.023105783179716028 Centerline is valid? [True, True] Translation: X:609.32, Y:-84.95, Z:-39.09 [[ 9.41425785e-01 3.32403267e-01 5.67940027e-02 6.09315431e+02] [-3.31685547e-01 9.43135667e-01 -2.19046099e-02 -8.49470090e+01] [-6.08456135e-02 1.78381471e-03 9.98145595e-01 -3.90891946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.2107140569999 meters 0.022208186044515226 Centerline is valid? [True, True] Translation: X:609.34, Y:-84.96, Z:-39.09 [[ 9.41755999e-01 3.31462722e-01 5.68163837e-02 6.09341674e+02] [-3.30743071e-01 9.43466522e-01 -2.19076031e-02 -8.49589171e+01] [-6.08659097e-02 1.83999146e-03 9.98144256e-01 -3.90898536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.240714057 meters 0.02185338221692204 Centerline is valid? [True, True] Translation: X:609.37, Y:-84.97, Z:-39.09 [[ 9.41781793e-01 3.31412013e-01 5.66844966e-02 6.09367884e+02] [-3.30695891e-01 9.43484347e-01 -2.18521327e-02 -8.49704480e+01] [-6.07229945e-02 1.83461066e-03 9.98152970e-01 -3.90911026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.270714057 meters 0.021223405715760115 Centerline is valid? [True, True] Translation: X:609.39, Y:-84.98, Z:-39.09 [[ 9.41809197e-01 3.31424926e-01 5.61511803e-02 6.09394898e+02] [-3.30722530e-01 9.43479854e-01 -2.16419463e-02 -8.49813315e+01] [-6.01501878e-02 1.81212368e-03 9.98187693e-01 -3.90925019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.3007140569999 meters 0.02123881023296923 Centerline is valid? [True, True] Translation: X:609.42, Y:-84.99, Z:-39.09 [[ 9.41665556e-01 3.31897420e-01 5.57681225e-02 6.09419965e+02] [-3.31205692e-01 9.43313833e-01 -2.14896030e-02 -8.49933417e+01] [-5.97391851e-02 1.76529937e-03 9.98212459e-01 -3.90931513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.3307140569999 meters 0.020553354601987404 Centerline is valid? [True, True] Translation: X:609.45, Y:-85.00, Z:-39.09 [[ 9.41280826e-01 3.32883820e-01 5.63805779e-02 6.09445938e+02] [-3.32178926e-01 9.42966287e-01 -2.17196482e-02 -8.50049649e+01] [-6.03951037e-02 1.71584856e-03 9.98173075e-01 -3.90939241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.360714057 meters 0.02069085944214013 Centerline is valid? [True, True] Translation: X:609.47, Y:-85.02, Z:-39.09 [[ 9.41060456e-01 3.33475124e-01 5.65646554e-02 6.09471106e+02] [-3.32766968e-01 9.42757404e-01 -2.17858227e-02 -8.50169803e+01] [-6.05917776e-02 1.67892738e-03 9.98161218e-01 -3.90949130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.390714057 meters 0.020030181314496066 Centerline is valid? [True, True] Translation: X:609.50, Y:-85.03, Z:-39.10 [[ 9.40713305e-01 3.34524129e-01 5.61434351e-02 6.09498036e+02] [-3.33828691e-01 9.42385837e-01 -2.16180183e-02 -8.50279839e+01] [-6.01405268e-02 1.59406800e-03 9.98188648e-01 -3.90960911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.4207140569999 meters 0.019595758061383275 Centerline is valid? [True, True] Translation: X:609.52, Y:-85.04, Z:-39.10 [[ 9.39802908e-01 3.37009349e-01 5.65260294e-02 6.09523252e+02] [-3.36309155e-01 9.41500198e-01 -2.17607232e-02 -8.50409410e+01] [-6.05528351e-02 1.44056975e-03 9.98163954e-01 -3.90968899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.4507140569999 meters 0.0197164247295431 Centerline is valid? [True, True] Translation: X:609.55, Y:-85.05, Z:-39.10 [[ 9.39178886e-01 3.38718236e-01 5.66831270e-02 6.09549163e+02] [-3.38017531e-01 9.40886916e-01 -2.18165268e-02 -8.50524950e+01] [-6.07220680e-02 1.32973074e-03 9.98153827e-01 -3.90973046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.4807140569999 meters 0.017737958205054773 Centerline is valid? [True, True] Translation: X:609.58, Y:-85.06, Z:-39.10 [[ 9.37630284e-01 3.42930198e-01 5.69941283e-02 6.09576746e+02] [-3.42229935e-01 9.39360294e-01 -2.19296479e-02 -8.50611561e+01] [-6.10583596e-02 1.05680511e-03 9.98133638e-01 -3.90977731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.510714057 meters 0.0177523555957868 Centerline is valid? [True, True] Translation: X:609.60, Y:-85.07, Z:-39.10 [[ 9.36770927e-01 3.45175375e-01 5.75690077e-02 6.09602093e+02] [-3.44465428e-01 9.38537758e-01 -2.21460166e-02 -8.50723534e+01] [-6.16749470e-02 9.15211654e-04 9.98095869e-01 -3.90984951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.540714057 meters 0.017108209020961797 Centerline is valid? [True, True] Translation: X:609.63, Y:-85.08, Z:-39.10 [[ 9.35947813e-01 3.47423907e-01 5.74310030e-02 6.09629728e+02] [-3.46721942e-01 9.37707871e-01 -2.20871867e-02 -8.50817675e+01] [-6.15271203e-02 7.59865172e-04 9.98105123e-01 -3.91001276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.5707140569999 meters 0.016623031244522826 Centerline is valid? [True, True] Translation: X:609.66, Y:-85.09, Z:-39.10 [[ 9.34882520e-01 3.50284333e-01 5.74069744e-02 6.09655529e+02] [-3.49588627e-01 9.36643243e-01 -2.20732176e-02 -8.50918318e+01] [-6.15017570e-02 5.67039925e-04 9.98106814e-01 -3.91017027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.6007140569999 meters 0.01623766971646673 Centerline is valid? [True, True] Translation: X:609.68, Y:-85.10, Z:-39.10 [[ 9.33167435e-01 3.54954587e-01 5.66195960e-02 6.09682176e+02] [-3.54286764e-01 9.34883510e-01 -2.17648935e-02 -8.51027717e+01] [-6.06582755e-02 2.50716349e-04 9.98158560e-01 -3.91042166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.630714057 meters 0.016100580952704693 Centerline is valid? [True, True] Translation: X:609.71, Y:-85.11, Z:-39.11 [[ 9.32449653e-01 3.56947724e-01 5.59103399e-02 6.09708166e+02] [-3.56300385e-01 9.34124354e-01 -2.14878265e-02 -8.51138799e+01] [-5.98972409e-02 1.15440792e-04 9.98204542e-01 -3.91062498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.660714057 meters 0.015981458537866634 Centerline is valid? [True, True] Translation: X:609.73, Y:-85.12, Z:-39.11 [[ 9.31840405e-01 3.58657728e-01 5.51189080e-02 6.09733481e+02] [-3.58031847e-01 9.33469139e-01 -2.11792940e-02 -8.51248552e+01] [-5.90479171e-02 1.39747192e-06 9.98255150e-01 -3.91086053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.6907140569999 meters 0.015988859835459012 Centerline is valid? [True, True] Translation: X:609.76, Y:-85.14, Z:-39.11 [[ 9.30638287e-01 3.61984753e-01 5.36601989e-02 6.09758746e+02] [-3.61397463e-01 9.32183992e-01 -2.06125973e-02 -8.51382989e+01] [-5.74826243e-02 -2.09787509e-04 9.98346485e-01 -3.91109200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.7207140569999 meters 0.016179025144819992 Centerline is valid? [True, True] Translation: X:609.78, Y:-85.15, Z:-39.11 [[ 9.30093348e-01 3.63388270e-01 5.36221043e-02 6.09783771e+02] [-3.62804393e-01 9.31637738e-01 -2.05936317e-02 -8.51493615e+01] [-5.74398601e-02 -3.00335096e-04 9.98348923e-01 -3.91128402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.750714057 meters 0.016142972789079005 Centerline is valid? [True, True] Translation: X:609.81, Y:-85.16, Z:-39.11 [[ 9.29562783e-01 3.64777553e-01 5.33888480e-02 6.09809204e+02] [-3.64201343e-01 9.31094617e-01 -2.04986848e-02 -8.51623264e+01] [-5.71875290e-02 -3.89475632e-04 9.98363378e-01 -3.91142901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.780714057 meters 0.016450688766158208 Centerline is valid? [True, True] Translation: X:609.83, Y:-85.18, Z:-39.12 [[ 9.28495412e-01 3.67525809e-01 5.31135495e-02 6.09833917e+02] [-3.66960259e-01 9.30013154e-01 -2.03887580e-02 -8.51775386e+01] [-5.68896944e-02 -5.59693665e-04 9.98380313e-01 -3.91156697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.8107140569999 meters 0.01663912847816855 Centerline is valid? [True, True] Translation: X:609.86, Y:-85.19, Z:-39.12 [[ 9.28041649e-01 3.68715239e-01 5.27993447e-02 6.09858877e+02] [-3.68158528e-01 9.29542184e-01 -2.02639043e-02 -8.51898054e+01] [-5.65508285e-02 -6.32781843e-04 9.98399521e-01 -3.91171285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.8407140569999 meters 0.01652443272901244 Centerline is valid? [True, True] Translation: X:609.88, Y:-85.20, Z:-39.12 [[ 9.27681109e-01 3.69662882e-01 5.25082248e-02 6.09884221e+02] [-3.69114111e-01 9.29165688e-01 -2.01469002e-02 -8.52033581e+01] [-5.62364020e-02 -6.91628010e-04 9.98417242e-01 -3.91188386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.870714057 meters 0.01693078544784203 Centerline is valid? [True, True] Translation: X:609.91, Y:-85.22, Z:-39.12 [[ 9.26970126e-01 3.71469130e-01 5.23170300e-02 6.09909090e+02] [-3.70927466e-01 9.28444959e-01 -2.00692153e-02 -8.52205127e+01] [-5.60285767e-02 -8.02260353e-04 9.98428843e-01 -3.91209903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.900714057 meters 0.016890583379852372 Centerline is valid? [True, True] Translation: X:609.94, Y:-85.23, Z:-39.12 [[ 9.26420358e-01 3.72819916e-01 5.24464621e-02 6.09935592e+02] [-3.72277848e-01 9.27903293e-01 -2.01167221e-02 -8.52349109e+01] [-5.61651595e-02 -8.88115107e-04 9.98421097e-01 -3.91220986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.9307140569999 meters 0.017272054816741867 Centerline is valid? [True, True] Translation: X:609.96, Y:-85.25, Z:-39.12 [[ 9.25980107e-01 3.73889821e-01 5.26045827e-02 6.09961903e+02] [-3.73346325e-01 9.27472632e-01 -2.01751791e-02 -8.52483490e+01] [-5.63326049e-02 -9.57913122e-04 9.98411599e-01 -3.91234985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.9607140569999 meters 0.01953267443985817 Centerline is valid? [True, True] Translation: X:609.99, Y:-85.26, Z:-39.13 [[ 9.24935340e-01 3.76334574e-01 5.35434796e-02 6.09987274e+02] [-3.75775639e-01 9.26483144e-01 -2.05341730e-02 -8.52612352e+01] [-5.73348506e-02 -1.12755301e-03 9.98354368e-01 -3.91252627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.990714057 meters 0.01777286958337485 Centerline is valid? [True, True] Translation: X:610.01, Y:-85.28, Z:-39.13 [[ 9.24319573e-01 3.77832780e-01 5.36257168e-02 6.10013886e+02] [-3.77274840e-01 9.25873041e-01 -2.05622738e-02 -8.52809566e+01] [-5.74197065e-02 -1.22552160e-03 9.98349375e-01 -3.91269712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.020714057 meters 0.01811824820344351 Centerline is valid? [True, True] Translation: X:610.04, Y:-85.30, Z:-39.13 [[ 9.23757574e-01 3.79213977e-01 5.35602917e-02 6.10041843e+02] [-3.78658826e-01 9.25308101e-01 -2.05526681e-02 -8.52964444e+01] [-5.73536308e-02 -1.29539435e-03 9.98353085e-01 -3.91288325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.0507140569999 meters 0.017881004903102862 Centerline is valid? [True, True] Translation: X:610.07, Y:-85.31, Z:-39.13 [[ 9.23298439e-01 3.80277832e-01 5.39329419e-02 6.10069627e+02] [-3.79715891e-01 9.24871303e-01 -2.07102452e-02 -8.53134412e+01] [-5.77566774e-02 -1.35745806e-03 9.98329767e-01 -3.91310307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.0807140569999 meters 0.017969776604031693 Centerline is valid? [True, True] Translation: X:610.10, Y:-85.34, Z:-39.13 [[ 9.22974455e-01 3.81057861e-01 5.39727861e-02 6.10095286e+02] [-3.80495500e-01 9.24550143e-01 -2.07414383e-02 -8.53359570e+01] [-5.78042353e-02 -1.39258450e-03 9.98326966e-01 -3.91332005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.110714057 meters 0.018396402132706696 Centerline is valid? [True, True] Translation: X:610.12, Y:-85.35, Z:-39.14 [[ 9.23098185e-01 3.80768186e-01 5.39011013e-02 6.10122657e+02] [-3.80205911e-01 9.24669533e-01 -2.07297198e-02 -8.53521543e+01] [-5.77339239e-02 -1.35795061e-03 9.98331082e-01 -3.91353110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.140714057 meters 0.01822208276953058 Centerline is valid? [True, True] Translation: X:610.15, Y:-85.38, Z:-39.14 [[ 9.24157594e-01 3.78234314e-01 5.35867928e-02 6.10147378e+02] [-3.77673494e-01 9.25709141e-01 -2.06232692e-02 -8.53758722e+01] [-5.74062120e-02 -1.17916046e-03 9.98350207e-01 -3.91372810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.1707140569999 meters 0.017729758683628 Centerline is valid? [True, True] Translation: X:610.17, Y:-85.39, Z:-39.14 [[ 9.24875214e-01 3.76484207e-01 5.35301878e-02 6.10174968e+02] [-3.75920769e-01 9.26422435e-01 -2.06166637e-02 -8.53944218e+01] [-5.73534152e-02 -1.05526816e-03 9.98353380e-01 -3.91391873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.2007140569999 meters 0.01728296102476375 Centerline is valid? [True, True] Translation: X:610.20, Y:-85.41, Z:-39.14 [[ 9.25619356e-01 3.74638335e-01 5.36183364e-02 6.10202199e+02] [-3.74069077e-01 9.27170565e-01 -2.06656727e-02 -8.54134882e+01] [-5.74554964e-02 -9.28414946e-04 9.98347637e-01 -3.91415633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.2307140569999 meters 0.016609253150398542 Centerline is valid? [True, True] Translation: X:610.23, Y:-85.44, Z:-39.14 [[ 9.27173827e-01 3.70752513e-01 5.37705267e-02 6.10226355e+02] [-3.70172589e-01 9.28731457e-01 -2.07397230e-02 -8.54390111e+01] [-5.76276841e-02 -6.75046695e-04 9.98337916e-01 -3.91429120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.260714057 meters 0.0167236219886953 Centerline is valid? [True, True] Translation: X:610.25, Y:-85.46, Z:-39.14 [[ 9.27854984e-01 3.68973124e-01 5.42582878e-02 6.10252927e+02] [-3.68378647e-01 9.29439899e-01 -2.09438914e-02 -8.54563312e+01] [-5.81575505e-02 -5.54700560e-04 9.98307263e-01 -3.91440870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.290714057 meters 0.016729901879772073 Centerline is valid? [True, True] Translation: X:610.28, Y:-85.47, Z:-39.15 [[ 9.28319335e-01 3.67738273e-01 5.46971267e-02 6.10280779e+02] [-3.67131116e-01 9.29929215e-01 -2.11281674e-02 -8.54739611e+01] [-5.86340918e-02 -4.67330849e-04 9.98279432e-01 -3.91461246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.3207140569999 meters 0.01692622980315056 Centerline is valid? [True, True] Translation: X:610.31, Y:-85.50, Z:-39.15 [[ 9.29297543e-01 3.65339915e-01 5.41555384e-02 6.10305464e+02] [-3.64739739e-01 9.30874136e-01 -2.09347954e-02 -8.54957555e+01] [-5.80603064e-02 -2.98022935e-04 9.98313033e-01 -3.91488092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.3507140569999 meters 0.01710746776966158 Centerline is valid? [True, True] Translation: X:610.33, Y:-85.51, Z:-39.15 [[ 9.29786195e-01 3.64180596e-01 5.35735503e-02 6.10333001e+02] [-3.63590507e-01 9.31328325e-01 -2.07242333e-02 -8.55123177e+01] [-5.74419286e-02 -2.09728338e-04 9.98348827e-01 -3.91510146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.380714057 meters 0.01732083680752135 Centerline is valid? [True, True] Translation: X:610.36, Y:-85.53, Z:-39.15 [[ 9.30086990e-01 3.63488734e-01 5.30483863e-02 6.10361629e+02] [-3.62908129e-01 9.31598582e-01 -2.05370865e-02 -8.55300214e+01] [-5.68848010e-02 -1.50413676e-04 9.98380737e-01 -3.91534876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.410714057 meters 0.0175489369368927 Centerline is valid? [True, True] Translation: X:610.39, Y:-85.55, Z:-39.16 [[ 9.31050176e-01 3.61014812e-01 5.30459716e-02 6.10388522e+02] [-3.60429246e-01 9.32560081e-01 -2.05536693e-02 -8.55510005e+01] [-5.68887346e-02 1.71778528e-05 9.98380524e-01 -3.91558590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.4407140569999 meters 0.017663312282300815 Centerline is valid? [True, True] Translation: X:610.42, Y:-85.57, Z:-39.16 [[ 9.31477971e-01 3.59938494e-01 5.28495010e-02 6.10416820e+02] [-3.59354540e-01 9.32976029e-01 -2.04949780e-02 -8.55668980e+01] [-5.66842491e-02 9.89124293e-05 9.98392150e-01 -3.91577390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.4707140569999 meters 0.018040039758967275 Centerline is valid? [True, True] Translation: X:610.45, Y:-85.58, Z:-39.16 [[ 9.32062766e-01 3.58411501e-01 5.29168837e-02 6.10445577e+02] [-3.57822988e-01 9.33563686e-01 -2.05317929e-02 -8.55830457e+01] [-5.67601116e-02 2.02042235e-04 9.98387825e-01 -3.91595637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.500714057 meters 0.018011036649911504 Centerline is valid? [True, True] Translation: X:610.47, Y:-85.60, Z:-39.16 [[ 9.32646006e-01 3.56919567e-01 5.27242896e-02 6.10472968e+02] [-3.56331975e-01 9.34135069e-01 -2.04742705e-02 -8.55987349e+01] [-5.65592757e-02 3.07896355e-04 9.98399195e-01 -3.91613385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.530714057 meters 0.018641060081919028 Centerline is valid? [True, True] Translation: X:610.50, Y:-85.62, Z:-39.16 [[ 9.33945272e-01 3.53507028e-01 5.27163113e-02 6.10499711e+02] [-3.52913718e-01 9.35431723e-01 -2.04792319e-02 -8.56186007e+01] [-5.65520623e-02 5.22172415e-04 9.98399515e-01 -3.91633573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.5607140569999 meters 0.01878246984105986 Centerline is valid? [True, True] Translation: X:610.53, Y:-85.63, Z:-39.16 [[ 9.34695850e-01 3.51504591e-01 5.28033265e-02 6.10528401e+02] [-3.50905270e-01 9.36185926e-01 -2.05281065e-02 -8.56343646e+01] [-5.66494548e-02 6.58570371e-04 9.98393913e-01 -3.91646711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.5907140569999 meters 0.01949340400463976 Centerline is valid? [True, True] Translation: X:610.55, Y:-85.65, Z:-39.17 [[ 9.36068979e-01 3.47682128e-01 5.37773604e-02 6.10554547e+02] [-3.47053261e-01 9.37612014e-01 -2.09223432e-02 -8.56525287e+01] [-5.76966240e-02 9.21148141e-04 9.98333737e-01 -3.91656350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.620714057 meters 0.01979084283310328 Centerline is valid? [True, True] Translation: X:610.58, Y:-85.67, Z:-39.17 [[ 9.36514973e-01 3.46491560e-01 5.36964053e-02 6.10583543e+02] [-3.45861823e-01 9.38052550e-01 -2.09048510e-02 -8.56660936e+01] [-5.76134043e-02 1.00616938e-03 9.98338461e-01 -3.91677331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.650714057 meters 0.020047767732188814 Centerline is valid? [True, True] Translation: X:610.61, Y:-85.68, Z:-39.17 [[ 9.36897519e-01 3.45485728e-01 5.35037407e-02 6.10613082e+02] [-3.44858004e-01 9.38423385e-01 -2.08448530e-02 -8.56795657e+01] [-5.74107606e-02 1.07829789e-03 9.98350060e-01 -3.91697747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.6807140569999 meters 0.02009088186273444 Centerline is valid? [True, True] Translation: X:610.64, Y:-85.69, Z:-39.17 [[ 9.36676783e-01 3.46165683e-01 5.29709810e-02 6.10641390e+02] [-3.45550658e-01 9.38172819e-01 -2.06519859e-02 -8.56933929e+01] [-5.68449434e-02 1.04007834e-03 9.98382477e-01 -3.91712699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.7107140569999 meters 0.019572590250054363 Centerline is valid? [True, True] Translation: X:610.67, Y:-85.70, Z:-39.17 [[ 9.36159576e-01 3.47508172e-01 5.33227880e-02 6.10671576e+02] [-3.46886324e-01 9.37676444e-01 -2.08029739e-02 -8.57037961e+01] [-5.72287257e-02 9.77957263e-04 9.98360615e-01 -3.91725685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.740714057 meters 0.01933758774662027 Centerline is valid? [True, True] Translation: X:610.70, Y:-85.72, Z:-39.17 [[ 9.35490921e-01 3.49274283e-01 5.35183331e-02 6.10700263e+02] [-3.48649852e-01 9.37020110e-01 -2.08948233e-02 -8.57150028e+01] [-5.74457788e-02 8.87758571e-04 9.98348233e-01 -3.91739723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.770714057 meters 0.01924919244266237 Centerline is valid? [True, True] Translation: X:610.73, Y:-85.72, Z:-39.18 [[ 9.34031514e-01 3.53160028e-01 5.35081841e-02 6.10729423e+02] [-3.52541372e-01 9.35562695e-01 -2.09051373e-02 -8.57247449e+01] [-5.74431198e-02 6.62208434e-04 9.98348561e-01 -3.91755469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.8007140569999 meters 0.01905327694131089 Centerline is valid? [True, True] Translation: X:610.76, Y:-85.74, Z:-39.18 [[ 9.33360149e-01 3.54965446e-01 5.32763084e-02 6.10758306e+02] [-3.54354278e-01 9.34879252e-01 -2.08285622e-02 -8.57351460e+01] [-5.72003353e-02 5.61862120e-04 9.98362562e-01 -3.91771797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.8307140569999 meters 0.01905207871522997 Centerline is valid? [True, True] Translation: X:610.79, Y:-85.75, Z:-39.18 [[ 9.32897944e-01 3.56192985e-01 5.31787988e-02 6.10787303e+02] [-3.55585254e-01 9.34412280e-01 -2.08042915e-02 -8.57462167e+01] [-5.71012653e-02 4.98684044e-04 9.98368267e-01 -3.91789157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.860714057 meters 0.018908478539306873 Centerline is valid? [True, True] Translation: X:610.82, Y:-85.76, Z:-39.18 [[ 9.33018168e-01 3.55870397e-01 5.32293131e-02 6.10818156e+02] [-3.55260199e-01 9.34535167e-01 -2.08377818e-02 -8.57578069e+01] [-5.71602147e-02 5.31772644e-04 9.98364877e-01 -3.91811415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.890714057 meters 0.019104657571649374 Centerline is valid? [True, True] Translation: X:610.85, Y:-85.77, Z:-39.18 [[ 9.33429650e-01 3.54824066e-01 5.29997302e-02 6.10847433e+02] [-3.54216449e-01 9.34932891e-01 -2.07652717e-02 -8.57698755e+01] [-5.69192091e-02 6.09544023e-04 9.98378602e-01 -3.91833587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.9207140569999 meters 0.019104657571649374 Centerline is valid? [True, True] Translation: X:610.88, Y:-85.78, Z:-39.19 [[ 9.33328789e-01 3.55090055e-01 5.29945728e-02 6.10877588e+02] [-3.54482120e-01 9.34831901e-01 -2.07784255e-02 -8.57817562e+01] [-5.69192295e-02 6.07474221e-04 9.98378602e-01 -3.91852396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.9507140569999 meters 0.01933857159753719 Centerline is valid? [True, True] Translation: X:610.91, Y:-85.79, Z:-39.19 [[ 9.33841341e-01 3.53818725e-01 5.24658059e-02 6.10907467e+02] [-3.53219899e-01 9.35313759e-01 -2.05882177e-02 -8.57945942e+01] [-5.63564871e-02 6.94162204e-04 9.98410469e-01 -3.91874080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.9807140569999 meters 0.019800524199030754 Centerline is valid? [True, True] Translation: X:610.94, Y:-85.81, Z:-39.19 [[ 9.35356389e-01 3.49908446e-01 5.16962691e-02 6.10936828e+02] [-3.49320284e-01 9.36783440e-01 -2.03008577e-02 -8.58083945e+01] [-5.55316504e-02 9.29981506e-04 9.98456494e-01 -3.91903177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.010714057 meters 0.02021997416105144 Centerline is valid? [True, True] Translation: X:610.97, Y:-85.82, Z:-39.19 [[ 9.36291666e-01 3.47494065e-01 5.10469524e-02 6.10965822e+02] [-3.46916217e-01 9.37681568e-01 -2.00602987e-02 -8.58208305e+01] [-5.48366211e-02 1.07327491e-03 9.98494764e-01 -3.91920574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.040714057 meters 0.020973726592261863 Centerline is valid? [True, True] Translation: X:610.99, Y:-85.84, Z:-39.19 [[ 9.38161627e-01 3.42343876e-01 5.15114705e-02 6.10994064e+02] [-3.41746883e-01 9.39573685e-01 -2.02573231e-02 -8.58350911e+01] [-5.53337927e-02 1.40075872e-03 9.98466929e-01 -3.91930111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.0707140569999 meters 0.021466879511833743 Centerline is valid? [True, True] Translation: X:611.02, Y:-85.85, Z:-39.19 [[ 9.39115809e-01 3.39541502e-01 5.26599017e-02 6.11023390e+02] [-3.38913043e-01 9.40589708e-01 -2.07111215e-02 -8.58481770e+01] [-5.65636469e-02 1.60301409e-03 9.98397708e-01 -3.91943445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.1007140569999 meters 0.021698559141418265 Centerline is valid? [True, True] Translation: X:611.05, Y:-85.86, Z:-39.20 [[ 9.39820861e-01 3.37544740e-01 5.29178334e-02 6.11053200e+02] [-3.36906703e-01 9.41307886e-01 -2.08167583e-02 -8.58609569e+01] [-5.68385612e-02 1.73565096e-03 9.98381874e-01 -3.91951023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.130714057 meters 0.022448967797992807 Centerline is valid? [True, True] Translation: X:611.08, Y:-85.87, Z:-39.20 [[ 9.40490497e-01 3.35667700e-01 5.29605430e-02 6.11081390e+02] [-3.35024783e-01 9.41978618e-01 -2.08489521e-02 -8.58745372e+01] [-5.68860189e-02 1.86514689e-03 9.98378937e-01 -3.91963358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.160714057 meters 0.022512225792306422 Centerline is valid? [True, True] Translation: X:611.11, Y:-85.89, Z:-39.20 [[ 9.40995516e-01 3.34299652e-01 5.26420203e-02 6.11111113e+02] [-3.33661521e-01 9.42464823e-01 -2.07375631e-02 -8.58855063e+01] [-5.65458125e-02 1.94933737e-03 9.98398103e-01 -3.91985058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.1907140569999 meters 0.022157720205315916 Centerline is valid? [True, True] Translation: X:611.14, Y:-85.90, Z:-39.20 [[ 9.40744465e-01 3.35103911e-01 5.20117438e-02 6.11141551e+02] [-3.34481447e-01 9.42179279e-01 -2.05028931e-02 -8.58952345e+01] [-5.58749869e-02 1.89101985e-03 9.98435982e-01 -3.92009921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.2207140569999 meters 0.022033804219663052 Centerline is valid? [True, True] Translation: X:611.17, Y:-85.91, Z:-39.20 [[ 9.40147996e-01 3.36882461e-01 5.13025562e-02 6.11171423e+02] [-3.36278701e-01 9.41545037e-01 -2.02380342e-02 -8.59056093e+01] [-5.51215060e-02 1.77479037e-03 9.98478077e-01 -3.92033588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.250714057 meters 0.0211405512324745 Centerline is valid? [True, True] Translation: X:611.20, Y:-85.91, Z:-39.21 [[ 9.38004193e-01 3.43021010e-01 4.98469669e-02 6.11200614e+02] [-3.42458872e-01 9.39326705e-01 -1.96789838e-02 -8.59114213e+01] [-5.35728921e-02 1.38843324e-03 9.98562976e-01 -3.92053092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.280714057 meters 0.02024486473780303 Centerline is valid? [True, True] Translation: X:611.23, Y:-85.92, Z:-39.21 [[ 9.36661148e-01 3.46732889e-01 4.94186006e-02 6.11231670e+02] [-3.46185602e-01 9.37963191e-01 -1.95085124e-02 -8.59196198e+01] [-5.31170712e-02 1.16485757e-03 9.98587613e-01 -3.92068899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.3107140569999 meters 0.019766507918313376 Centerline is valid? [True, True] Translation: X:611.26, Y:-85.93, Z:-39.21 [[ 9.35168068e-01 3.50729884e-01 4.94897245e-02 6.11263042e+02] [-3.50186460e-01 9.36476194e-01 -1.95392331e-02 -8.59288700e+01] [-5.31989418e-02 9.41835483e-04 9.98583490e-01 -3.92082734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.3407140569999 meters 0.018603679770371452 Centerline is valid? [True, True] Translation: X:611.29, Y:-85.93, Z:-39.21 [[ 9.32086009e-01 3.58783853e-01 4.98980824e-02 6.11294140e+02] [-3.58242468e-01 9.33420539e-01 -1.97086734e-02 -8.59346481e+01] [-5.36470487e-02 4.94566464e-04 9.98559838e-01 -3.92080411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.370714057 meters 0.01859825184124108 Centerline is valid? [True, True] Translation: X:611.33, Y:-85.94, Z:-39.21 [[ 9.30723801e-01 3.62302543e-01 4.99006386e-02 6.11325368e+02] [-3.61766091e-01 9.32060503e-01 -1.97107483e-02 -8.59440550e+01] [-5.36516685e-02 2.92903562e-04 9.98559669e-01 -3.92091968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.400714057 meters 0.018303580410113634 Centerline is valid? [True, True] Translation: X:611.36, Y:-85.95, Z:-39.21 [[ 9.29684078e-01 3.64888156e-01 5.04395485e-02 6.11355104e+02] [-3.64343049e-01 9.31051346e-01 -1.99382677e-02 -8.59538598e+01] [-5.42370472e-02 1.58991181e-04 9.98528075e-01 -3.92107709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.4307140569999 meters 0.018354121333732737 Centerline is valid? [True, True] Translation: X:611.39, Y:-85.96, Z:-39.21 [[ 9.28241431e-01 3.68456280e-01 5.10667708e-02 6.11386056e+02] [-3.67902169e-01 9.29645077e-01 -2.01996481e-02 -8.59643116e+01] [-5.49166592e-02 -3.74254110e-05 9.98490941e-01 -3.92119046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.4607140569999 meters 0.018654254224803178 Centerline is valid? [True, True] Translation: X:611.42, Y:-85.98, Z:-39.21 [[ 9.27767245e-01 3.69527441e-01 5.19366016e-02 6.11416350e+02] [-3.68954979e-01 9.29219814e-01 -2.05611385e-02 -8.59770331e+01] [-5.58584241e-02 -8.63169300e-05 9.98438696e-01 -3.92146169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.490714057 meters 0.018639552495978255 Centerline is valid? [True, True] Translation: X:611.45, Y:-85.99, Z:-39.22 [[ 9.27219898e-01 3.70976305e-01 5.13793992e-02 6.11446061e+02] [-3.70417365e-01 9.28642319e-01 -2.03572892e-02 -8.59905727e+01] [-5.52651563e-02 -1.56138082e-04 9.98471701e-01 -3.92170864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.520714057 meters 0.018739296741189744 Centerline is valid? [True, True] Translation: X:611.48, Y:-86.00, Z:-39.22 [[ 9.26890895e-01 3.71877912e-01 5.07945536e-02 6.11476691e+02] [-3.71332078e-01 9.28281628e-01 -2.01421504e-02 -8.60036160e+01] [-5.46420718e-02 -1.92071312e-04 9.98505988e-01 -3.92193579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.5507140569999 meters 0.018780224537176777 Centerline is valid? [True, True] Translation: X:611.51, Y:-86.02, Z:-39.22 [[ 9.26436044e-01 3.73036767e-01 5.05947365e-02 6.11507031e+02] [-3.72496046e-01 9.27816529e-01 -2.00794499e-02 -8.60164912e+01] [-5.44330059e-02 -2.44013197e-04 9.98517395e-01 -3.92218780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.5807140569999 meters 0.01898379342927314 Centerline is valid? [True, True] Translation: X:611.54, Y:-86.03, Z:-39.22 [[ 9.26010890e-01 3.74096786e-01 5.05512191e-02 6.11536879e+02] [-3.73557670e-01 9.27389621e-01 -2.00787836e-02 -8.60287889e+01] [-5.43920844e-02 -2.90623338e-04 9.98519613e-01 -3.92244164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.610714057 meters 0.019042173146199787 Centerline is valid? [True, True] Translation: X:611.57, Y:-86.04, Z:-39.23 [[ 9.25215938e-01 3.76042066e-01 5.06737934e-02 6.11566699e+02] [-3.75502402e-01 9.26602510e-01 -2.01428732e-02 -8.60438846e+01] [-5.45290318e-02 -3.91623797e-04 9.98512109e-01 -3.92261185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.640714057 meters 0.019139250527730328 Centerline is valid? [True, True] Translation: X:611.60, Y:-86.06, Z:-39.23 [[ 9.24899087e-01 3.76847603e-01 5.04733948e-02 6.11595183e+02] [-3.76312474e-01 9.26275178e-01 -2.00802272e-02 -8.60573850e+01] [-5.43194382e-02 -4.21584285e-04 9.98523520e-01 -3.92275119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.6707140569999 meters 0.019267306318909043 Centerline is valid? [True, True] Translation: X:611.62, Y:-86.07, Z:-39.23 [[ 9.24591136e-01 3.77413581e-01 5.18673353e-02 6.11623768e+02] [-3.76848818e-01 9.26044696e-01 -2.06443580e-02 -8.60746756e+01] [-5.58229318e-02 -4.58553545e-04 9.98440579e-01 -3.92288863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.7007140569999 meters 0.019480764112577462 Centerline is valid? [True, True] Translation: X:611.65, Y:-86.09, Z:-39.23 [[ 9.24524830e-01 3.77585710e-01 5.17964233e-02 6.11652703e+02] [-3.77021830e-01 9.25974528e-01 -2.06328273e-02 -8.60899520e+01] [-5.57528294e-02 -4.52821178e-04 9.98444499e-01 -3.92304201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.7307140569999 meters 0.019409515367891095 Centerline is valid? [True, True] Translation: X:611.68, Y:-86.11, Z:-39.23 [[ 9.24604385e-01 3.77281423e-01 5.25876270e-02 6.11682326e+02] [-3.76698708e-01 9.26098562e-01 -2.09651339e-02 -8.61055506e+01] [-5.66110813e-02 -4.25236362e-04 9.98396216e-01 -3.92326520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.760714057 meters 0.01941210080102557 Centerline is valid? [True, True] Translation: X:611.71, Y:-86.12, Z:-39.24 [[ 9.25416911e-01 3.75210561e-01 5.31090884e-02 6.11708475e+02] [-3.74611823e-01 9.26939563e-01 -2.11903019e-02 -8.61239379e+01] [-5.71797402e-02 -2.85428674e-04 9.98363859e-01 -3.92350860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.790714057 meters 0.019390888636516328 Centerline is valid? [True, True] Translation: X:611.74, Y:-86.14, Z:-39.24 [[ 9.25604453e-01 3.74683824e-01 5.35577080e-02 6.11736880e+02] [-3.74073547e-01 9.27152615e-01 -2.13777982e-02 -8.61402107e+01] [-5.76660842e-02 -2.47136590e-04 9.98335896e-01 -3.92377363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.8207140569999 meters 0.01941126477939713 Centerline is valid? [True, True] Translation: X:611.77, Y:-86.16, Z:-39.24 [[ 9.26032424e-01 3.73687929e-01 5.31157333e-02 6.11766114e+02] [-3.73085064e-01 9.27554475e-01 -2.12186591e-02 -8.61563360e+01] [-5.71968929e-02 -1.67520472e-04 9.98362904e-01 -3.92400406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.8507140569999 meters 0.019206749339473778 Centerline is valid? [True, True] Translation: X:611.79, Y:-86.17, Z:-39.24 [[ 9.26411815e-01 3.72704108e-01 5.34115792e-02 6.11794510e+02] [-3.72091854e-01 9.27950236e-01 -2.13544460e-02 -8.61720991e+01] [-5.75221773e-02 -9.10024021e-05 9.98344225e-01 -3.92426656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.880714057 meters 0.019440341953895386 Centerline is valid? [True, True] Translation: X:611.82, Y:-86.19, Z:-39.24 [[ 9.26809267e-01 3.71681150e-01 5.36442377e-02 6.11822524e+02] [-3.71061201e-01 9.28360448e-01 -2.14584011e-02 -8.61920378e+01] [-5.77768718e-02 -1.74502839e-05 9.98329521e-01 -3.92439557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.910714057 meters 0.019454858710872786 Centerline is valid? [True, True] Translation: X:611.85, Y:-86.21, Z:-39.25 [[ 9.26973199e-01 3.71184839e-01 5.42448454e-02 6.11851282e+02] [-3.70549004e-01 9.28558999e-01 -2.17168533e-02 -8.62078565e+01] [-5.84305060e-02 3.05675458e-05 9.98291478e-01 -3.92452730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.9407140569999 meters 0.01973130404029379 Centerline is valid? [True, True] Translation: X:611.88, Y:-86.23, Z:-39.25 [[ 9.27427503e-01 3.70025896e-01 5.43972769e-02 6.11878589e+02] [-3.69383422e-01 9.29021432e-01 -2.17959985e-02 -8.62265648e+01] [-5.86013200e-02 1.20756113e-04 9.98281459e-01 -3.92466288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.9707140569999 meters 0.019699052926055283 Centerline is valid? [True, True] Translation: X:611.91, Y:-86.24, Z:-39.25 [[ 9.27582294e-01 3.69589013e-01 5.47270497e-02 6.11907933e+02] [-3.68936952e-01 9.29195315e-01 -2.19451896e-02 -8.62416646e+01] [-5.89628191e-02 1.65138398e-04 9.98260166e-01 -3.92482873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.000714057 meters 0.01963486071640456 Centerline is valid? [True, True] Translation: X:611.94, Y:-86.26, Z:-39.25 [[ 9.27833011e-01 3.68942052e-01 5.48421954e-02 6.11937722e+02] [-3.68285054e-01 9.29452372e-01 -2.20092351e-02 -8.62566205e+01] [-5.90933410e-02 2.23333986e-04 9.98252437e-01 -3.92501502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.030714057 meters 0.0197257834379104 Centerline is valid? [True, True] Translation: X:611.97, Y:-86.27, Z:-39.25 [[ 9.27849792e-01 3.68827787e-01 5.53247436e-02 6.11966742e+02] [-3.68157884e-01 9.29497715e-01 -2.22209535e-02 -8.62733418e+01] [-5.96199278e-02 2.49466495e-04 9.98221119e-01 -3.92522959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.0607140569999 meters 0.019683167993853643 Centerline is valid? [True, True] Translation: X:612.00, Y:-86.29, Z:-39.25 [[ 9.27712122e-01 3.69277346e-01 5.46302265e-02 6.11995682e+02] [-3.68623910e-01 9.29319206e-01 -2.19596469e-02 -8.62876434e+01] [-5.88781189e-02 2.34222928e-04 9.98265151e-01 -3.92545999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.0907140569999 meters 0.01980811670218717 Centerline is valid? [True, True] Translation: X:612.03, Y:-86.30, Z:-39.26 [[ 9.27397957e-01 3.70164862e-01 5.39537148e-02 6.12025656e+02] [-3.69528078e-01 9.28966059e-01 -2.17039500e-02 -8.63015359e+01] [-5.81552095e-02 1.90786406e-04 9.98307535e-01 -3.92574461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.120714057 meters 0.01978492007803215 Centerline is valid? [True, True] Translation: X:612.05, Y:-86.32, Z:-39.26 [[ 9.26998446e-01 3.71466561e-01 5.18312142e-02 6.12053658e+02] [-3.70880031e-01 9.28446326e-01 -2.08667952e-02 -8.63159775e+01] [-5.58738170e-02 1.20324437e-04 9.98437831e-01 -3.92612526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.150714057 meters 0.019616599464841247 Centerline is valid? [True, True] Translation: X:612.08, Y:-86.33, Z:-39.26 [[ 9.26642710e-01 3.72431601e-01 5.12639294e-02 6.12083635e+02] [-3.71858456e-01 9.28059641e-01 -2.06541173e-02 -8.63296363e+01] [-5.52682299e-02 7.60616361e-05 9.98471540e-01 -3.92639915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.1807140569999 meters 0.01952464121106264 Centerline is valid? [True, True] Translation: X:612.11, Y:-86.34, Z:-39.27 [[ 9.26666633e-01 3.72410798e-01 5.09818483e-02 6.12113665e+02] [-3.71842983e-01 9.28067987e-01 -2.05574075e-02 -8.63433145e+01] [-5.49704218e-02 9.26210119e-05 9.98487979e-01 -3.92662843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.2107140569999 meters 0.019662839635729724 Centerline is valid? [True, True] Translation: X:612.14, Y:-86.36, Z:-39.27 [[ 9.27267250e-01 3.70836647e-01 5.15327922e-02 6.12141543e+02] [-3.70253071e-01 9.28698088e-01 -2.07972156e-02 -8.63598109e+01] [-5.55707753e-02 2.04402386e-04 9.98454730e-01 -3.92674988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.240714057 meters 0.019886739441907633 Centerline is valid? [True, True] Translation: X:612.17, Y:-86.37, Z:-39.27 [[ 9.27857613e-01 3.69225887e-01 5.24642261e-02 6.12171486e+02] [-3.68617813e-01 9.29339628e-01 -2.11840490e-02 -8.63749094e+01] [-5.65787837e-02 3.16532826e-04 9.98398087e-01 -3.92682623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.270714057 meters 0.020045390611103137 Centerline is valid? [True, True] Translation: X:612.20, Y:-86.39, Z:-39.27 [[ 9.29174654e-01 3.65628956e-01 5.43132477e-02 6.12199429e+02] [-3.64969996e-01 9.30760517e-01 -2.19490932e-02 -8.63916528e+01] [-5.85778505e-02 5.71835271e-04 9.98282680e-01 -3.92676977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.3007140569999 meters 0.019947443012949272 Centerline is valid? [True, True] Translation: X:612.23, Y:-86.41, Z:-39.27 [[ 9.29910487e-01 3.63591878e-01 5.53844101e-02 6.12228145e+02] [-3.62902043e-01 9.31558057e-01 -2.23985128e-02 -8.64056644e+01] [-5.97377108e-02 7.29496347e-04 9.98213842e-01 -3.92687522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.3307140569999 meters 0.020199482529549374 Centerline is valid? [True, True] Translation: X:612.26, Y:-86.42, Z:-39.27 [[ 9.30405437e-01 3.62205318e-01 5.61518537e-02 6.12256515e+02] [-3.61492675e-01 9.32097952e-01 -2.27256188e-02 -8.64194100e+01] [-6.05703678e-02 8.45555497e-04 9.98163572e-01 -3.92695015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.360714057 meters 0.02036597453444922 Centerline is valid? [True, True] Translation: X:612.28, Y:-86.43, Z:-39.27 [[ 9.31089754e-01 3.60278816e-01 5.71930497e-02 6.12283784e+02] [-3.59534889e-01 9.32844129e-01 -2.31623771e-02 -8.64337451e+01] [-6.16971144e-02 1.00335527e-03 9.98094414e-01 -3.92701674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.390714057 meters 0.020353686094013865 Centerline is valid? [True, True] Translation: X:612.31, Y:-86.45, Z:-39.27 [[ 9.31127353e-01 3.60178948e-01 5.72099373e-02 6.12314075e+02] [-3.59433841e-01 9.32882676e-01 -2.31781347e-02 -8.64468315e+01] [-6.17184356e-02 1.01860765e-03 9.98093080e-01 -3.92721003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.4207140569999 meters 0.02022698950705797 Centerline is valid? [True, True] Translation: X:612.34, Y:-86.46, Z:-39.27 [[ 9.30798811e-01 3.61024568e-01 5.72261711e-02 6.12344151e+02] [-3.60279493e-01 9.32555790e-01 -2.32031414e-02 -8.64584935e+01] [-6.17435013e-02 9.80040556e-04 9.98091569e-01 -3.92738564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.4507140569999 meters 0.020154272949615692 Centerline is valid? [True, True] Translation: X:612.37, Y:-86.47, Z:-39.28 [[ 9.29689661e-01 3.64045037e-01 5.61101087e-02 6.12373571e+02] [-3.63333296e-01 9.31381020e-01 -2.27664772e-02 -8.64692351e+01] [-6.05479133e-02 7.79087792e-04 9.98164988e-01 -3.92760682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.4807140569999 meters 0.01976268054592234 Centerline is valid? [True, True] Translation: X:612.40, Y:-86.48, Z:-39.28 [[ 9.28874724e-01 3.66217387e-01 5.54668569e-02 6.12404241e+02] [-3.65524873e-01 9.30529103e-01 -2.25201307e-02 -8.64798679e+01] [-5.98607880e-02 6.43864297e-04 9.98206527e-01 -3.92785876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.510714057 meters 0.019653903016044562 Centerline is valid? [True, True] Translation: X:612.43, Y:-86.49, Z:-39.28 [[ 9.27931755e-01 3.68780693e-01 5.42536515e-02 6.12434617e+02] [-3.68121649e-01 9.29516309e-01 -2.20427627e-02 -8.64904563e+01] [-5.85585992e-02 4.82235768e-04 9.98283856e-01 -3.92808201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.540714057 meters 0.019225665084914998 Centerline is valid? [True, True] Translation: X:612.46, Y:-86.50, Z:-39.28 [[ 9.25708586e-01 3.74411967e-01 5.36590509e-02 6.12464541e+02] [-3.73775856e-01 9.27262455e-01 -2.18162737e-02 -8.64990037e+01] [-5.79242971e-02 1.39054166e-04 9.98320969e-01 -3.92831602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.5707140569999 meters 0.01927527212516351 Centerline is valid? [True, True] Translation: X:612.50, Y:-86.51, Z:-39.28 [[ 9.24559734e-01 3.77310999e-01 5.31573910e-02 6.12495575e+02] [-3.76690726e-01 9.26086610e-01 -2.16260954e-02 -8.65096676e+01] [-5.73881117e-02 -2.92791435e-05 9.98351944e-01 -3.92849783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.6007140569999 meters 0.019295572513954133 Centerline is valid? [True, True] Translation: X:612.53, Y:-86.52, Z:-39.29 [[ 9.23414765e-01 3.80128559e-01 5.29853799e-02 6.12525400e+02] [-3.79515950e-01 9.24933643e-01 -2.15731351e-02 -8.65201997e+01] [-5.72085252e-02 -1.87845320e-04 9.98362234e-01 -3.92868096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.630714057 meters 0.019623276675125166 Centerline is valid? [True, True] Translation: X:612.56, Y:-86.53, Z:-39.29 [[ 9.21773729e-01 3.84224150e-01 5.20095710e-02 6.12555081e+02] [-3.83639543e-01 9.23239745e-01 -2.11913695e-02 -8.65305315e+01] [-5.61595390e-02 -4.19280428e-04 9.98421720e-01 -3.92891616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.660714057 meters 0.019777627313425104 Centerline is valid? [True, True] Translation: X:612.58, Y:-86.54, Z:-39.29 [[ 9.21159666e-01 3.85805733e-01 5.11742775e-02 6.12583998e+02] [-3.85241797e-01 9.22579908e-01 -2.08583736e-02 -8.65420407e+01] [-5.52596403e-02 -5.00578122e-04 9.98471893e-01 -3.92917696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.6907140569999 meters 0.01982659001143569 Centerline is valid? [True, True] Translation: X:612.61, Y:-86.55, Z:-39.29 [[ 9.20801993e-01 3.86759766e-01 5.04041053e-02 6.12614451e+02] [-3.86213437e-01 9.22180348e-01 -2.05569238e-02 -8.65549359e+01] [-5.44322664e-02 -5.37886296e-04 9.98517320e-01 -3.92944607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.7207140569999 meters 0.01971161847820711 Centerline is valid? [True, True] Translation: X:612.64, Y:-86.57, Z:-39.30 [[ 9.20641778e-01 3.87237736e-01 4.96553403e-02 6.12643419e+02] [-3.86707408e-01 9.21979739e-01 -2.02667463e-02 -8.65704849e+01] [-5.36292667e-02 -5.43674552e-04 9.98560767e-01 -3.92961457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.750714057 meters 0.019659931089319196 Centerline is valid? [True, True] Translation: X:612.67, Y:-86.58, Z:-39.30 [[ 9.20745536e-01 3.86990404e-01 4.96596959e-02 6.12672813e+02] [-3.86458733e-01 9.22083599e-01 -2.02850866e-02 -8.65845154e+01] [-5.36405250e-02 -5.14020185e-04 9.98560178e-01 -3.92977073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.780714057 meters 0.019332362434432895 Centerline is valid? [True, True] Translation: X:612.70, Y:-86.60, Z:-39.30 [[ 9.21059620e-01 3.86253018e-01 4.95760319e-02 6.12702041e+02] [-3.85721179e-01 9.22392758e-01 -2.02675209e-02 -8.66008136e+01] [-5.35569639e-02 -4.54930433e-04 9.98564692e-01 -3.92985643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.8107140569999 meters 0.019493981628397484 Centerline is valid? [True, True] Translation: X:612.73, Y:-86.61, Z:-39.30 [[ 9.21245888e-01 3.85767893e-01 4.98913439e-02 6.12731022e+02] [-3.85227630e-01 9.22595774e-01 -2.04135205e-02 -8.66148371e+01] [-5.39044239e-02 -4.13652344e-04 9.98546014e-01 -3.93002383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.8407140569999 meters 0.019493981628397484 Centerline is valid? [True, True] Translation: X:612.76, Y:-86.63, Z:-39.30 [[ 9.21136687e-01 3.86029281e-01 4.98858495e-02 6.12760971e+02] [-3.85488673e-01 9.22486435e-01 -2.04269385e-02 -8.66271652e+01] [-5.39044158e-02 -4.14427438e-04 9.98546014e-01 -3.93021193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.870714057 meters 0.0193529141442611 Centerline is valid? [True, True] Translation: X:612.79, Y:-86.64, Z:-39.30 [[ 9.21339091e-01 3.85512763e-01 5.01416913e-02 6.12790834e+02] [-3.84964923e-01 9.22702429e-01 -2.05483783e-02 -8.66420191e+01] [-5.41875224e-02 -3.70768100e-04 9.98530708e-01 -3.93031379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.900714057 meters 0.019062281446803726 Centerline is valid? [True, True] Translation: X:612.82, Y:-86.66, Z:-39.30 [[ 9.21703113e-01 3.84601904e-01 5.04454861e-02 6.12820182e+02] [-3.84045075e-01 9.23082490e-01 -2.06904942e-02 -8.66564587e+01] [-5.45229484e-02 -3.02847561e-04 9.98512472e-01 -3.93041174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.9307140569999 meters 0.018913694731804112 Centerline is valid? [True, True] Translation: X:612.85, Y:-86.67, Z:-39.31 [[ 9.23036926e-01 3.81239785e-01 5.15660760e-02 6.12847627e+02] [-3.80652388e-01 9.24476185e-01 -2.11552137e-02 -8.66730949e+01] [-5.57368183e-02 -1.01706640e-04 9.98445490e-01 -3.93052834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.9607140569999 meters 0.018859062376313043 Centerline is valid? [True, True] Translation: X:612.88, Y:-86.69, Z:-39.31 [[ 9.23699612e-01 3.79620753e-01 5.16440693e-02 6.12876009e+02] [-3.79028197e-01 9.25142197e-01 -2.12023994e-02 -8.66882455e+01] [-5.58269785e-02 1.00896595e-05 9.98440458e-01 -3.93066389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.990714057 meters 0.019083258834101908 Centerline is valid? [True, True] Translation: X:612.90, Y:-86.71, Z:-39.31 [[ 9.26016425e-01 3.73860118e-01 5.21746387e-02 6.12902970e+02] [-3.73245221e-01 9.27485024e-01 -2.14367575e-02 -8.67072465e+01] [-5.64055448e-02 3.76854936e-04 9.98407869e-01 -3.93076204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.020714057 meters 0.01947892852018053 Centerline is valid? [True, True] Translation: X:612.93, Y:-86.72, Z:-39.31 [[ 9.27131192e-01 3.71083626e-01 5.21986228e-02 6.12930026e+02] [-3.70462891e-01 9.28599283e-01 -2.14620018e-02 -8.67236273e+01] [-5.64358012e-02 5.60438591e-04 9.98406073e-01 -3.93090147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.0507140569999 meters 0.01955105425432571 Centerline is valid? [True, True] Translation: X:612.96, Y:-86.74, Z:-39.31 [[ 9.28243549e-01 3.68396510e-01 5.14579922e-02 6.12959028e+02] [-3.67788387e-01 9.29668481e-01 -2.11711628e-02 -8.67380242e+01] [-5.56382559e-02 7.26343326e-04 9.98450728e-01 -3.93108246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.0807140569999 meters 0.019892755298146218 Centerline is valid? [True, True] Translation: X:612.99, Y:-86.75, Z:-39.31 [[ 9.30142023e-01 3.63701065e-01 5.05702752e-02 6.12987388e+02] [-3.63105993e-01 9.31515178e-01 -2.08209248e-02 -8.67543060e+01] [-5.46795714e-02 1.00404713e-03 9.98503448e-01 -3.93133422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.110714057 meters 0.021009730783681187 Centerline is valid? [True, True] Translation: X:613.01, Y:-86.77, Z:-39.32 [[ 9.30736301e-01 3.62267600e-01 4.99211851e-02 6.13014944e+02] [-3.61685447e-01 9.32073508e-01 -2.05575584e-02 -8.67697757e+01] [-5.39775515e-02 1.07789970e-03 9.98541568e-01 -3.93159849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.140714057 meters 0.02105251546301812 Centerline is valid? [True, True] Translation: X:613.04, Y:-86.78, Z:-39.32 [[ 9.31332104e-01 3.60772893e-01 4.96329766e-02 6.13043021e+02] [-3.60194931e-01 9.32652970e-01 -2.04462343e-02 -8.67844975e+01] [-5.36667902e-02 1.16468785e-03 9.98558220e-01 -3.93170138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.1707140569999 meters 0.020630152522129516 Centerline is valid? [True, True] Translation: X:613.07, Y:-86.80, Z:-39.32 [[ 9.31276859e-01 3.60919599e-01 4.96029730e-02 6.13073299e+02] [-3.60341872e-01 9.32596204e-01 -2.04463877e-02 -8.67962192e+01] [-5.36390464e-02 1.16721954e-03 9.98559708e-01 -3.93177816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.2007140569999 meters 0.020844335755194496 Centerline is valid? [True, True] Translation: X:613.10, Y:-86.81, Z:-39.32 [[ 9.31158232e-01 3.61243784e-01 4.94699486e-02 6.13102715e+02] [-3.60668734e-01 9.32470686e-01 -2.04079257e-02 -8.68093525e+01] [-5.35015132e-02 1.16074430e-03 9.98567094e-01 -3.93188777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.2307140569999 meters 0.02047842263271978 Centerline is valid? [True, True] Translation: X:613.13, Y:-86.82, Z:-39.32 [[ 9.30746261e-01 3.62241852e-01 4.99223302e-02 6.13132335e+02] [-3.61656820e-01 9.32083456e-01 -2.06100975e-02 -8.68205297e+01] [-5.39976180e-02 1.12801994e-03 9.98540427e-01 -3.93203843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.260714057 meters 0.02050529439145706 Centerline is valid? [True, True] Translation: X:613.16, Y:-86.83, Z:-39.32 [[ 9.29388685e-01 3.65720089e-01 4.98546796e-02 6.13162242e+02] [-3.65140857e-01 9.30724415e-01 -2.05965721e-02 -8.68306671e+01] [-5.39335477e-02 9.38240595e-04 9.98544086e-01 -3.93226733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.290714057 meters 0.02032119858325256 Centerline is valid? [True, True] Translation: X:613.19, Y:-86.84, Z:-39.32 [[ 9.28611220e-01 3.67704686e-01 4.97440102e-02 6.13192505e+02] [-3.67130097e-01 9.29942239e-01 -2.05651153e-02 -8.68411878e+01] [-5.38209454e-02 8.34473468e-04 9.98550254e-01 -3.93249264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.3207140569999 meters 0.01977161109144049 Centerline is valid? [True, True] Translation: X:613.22, Y:-86.85, Z:-39.33 [[ 9.27306558e-01 3.71084482e-01 4.89781017e-02 6.13223853e+02] [-3.70531453e-01 9.28598889e-01 -2.02619320e-02 -8.68491326e+01] [-5.29998994e-02 6.41095243e-04 9.98594312e-01 -3.93260683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.3507140569999 meters 0.019805564289678352 Centerline is valid? [True, True] Translation: X:613.25, Y:-86.86, Z:-39.33 [[ 9.26853628e-01 3.72194472e-01 4.91286778e-02 6.13252368e+02] [-3.71638811e-01 9.28154580e-01 -2.03389006e-02 -8.68604287e+01] [-5.31690336e-02 5.93060419e-04 9.98585350e-01 -3.93280436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.380714057 meters 0.019717245189398224 Centerline is valid? [True, True] Translation: X:613.28, Y:-86.87, Z:-39.33 [[ 9.26485895e-01 3.73111605e-01 4.91082148e-02 6.13282781e+02] [-3.72556995e-01 9.27786304e-01 -2.03435658e-02 -8.68719665e+01] [-5.31523496e-02 5.52417857e-04 9.98586262e-01 -3.93298569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.410714057 meters 0.01995482890110406 Centerline is valid? [True, True] Translation: X:613.31, Y:-86.88, Z:-39.33 [[ 9.26146558e-01 3.73926245e-01 4.93124415e-02 6.13311889e+02] [-3.73367250e-01 9.27458295e-01 -2.04452316e-02 -8.68822472e+01] [-5.33802416e-02 5.23630115e-04 9.98574121e-01 -3.93315938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.4407140569999 meters 0.019855306814489975 Centerline is valid? [True, True] Translation: X:613.34, Y:-86.89, Z:-39.33 [[ 9.25927743e-01 3.74466142e-01 4.93246634e-02 6.13343302e+02] [-3.73907245e-01 9.27240454e-01 -2.04576083e-02 -8.68935307e+01] [-5.33965049e-02 4.99418060e-04 9.98573264e-01 -3.93334433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.4707140569999 meters 0.019647928055706986 Centerline is valid? [True, True] Translation: X:613.37, Y:-86.90, Z:-39.34 [[ 9.25723833e-01 3.74915261e-01 4.97386333e-02 6.13374070e+02] [-3.74346699e-01 9.27058954e-01 -2.06456928e-02 -8.69045915e+01] [-5.38510307e-02 4.92716681e-04 9.98548859e-01 -3.93354861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.500714057 meters 0.01964789931084094 Centerline is valid? [True, True] Translation: X:613.40, Y:-86.92, Z:-39.34 [[ 9.25730273e-01 3.74822830e-01 5.03121084e-02 6.13404511e+02] [-3.74239977e-01 9.27096314e-01 -2.09012909e-02 -8.69154620e+01] [-5.44784513e-02 5.20155404e-04 9.98514811e-01 -3.93377180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.530714057 meters 0.019833837326359717 Centerline is valid? [True, True] Translation: X:613.44, Y:-86.93, Z:-39.34 [[ 9.25751220e-01 3.74737225e-01 5.05637390e-02 6.13435495e+02] [-3.74147832e-01 9.27130910e-01 -2.10160962e-02 -8.69268754e+01] [-5.47547189e-02 5.37363376e-04 9.98499691e-01 -3.93402415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.5607140569999 meters 0.02020555012464923 Centerline is valid? [True, True] Translation: X:613.46, Y:-86.94, Z:-39.34 [[ 9.26520142e-01 3.72830932e-01 5.05719580e-02 6.13463822e+02] [-3.72237558e-01 9.27899053e-01 -2.10368146e-02 -8.69384766e+01] [-5.47688471e-02 6.66250295e-04 9.98498838e-01 -3.93428224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.5907140569999 meters 0.02044966299528597 Centerline is valid? [True, True] Translation: X:613.49, Y:-86.95, Z:-39.34 [[ 9.26995041e-01 3.71708713e-01 5.01280980e-02 6.13493028e+02] [-3.71123346e-01 9.28349119e-01 -2.08656388e-02 -8.69510601e+01] [-5.42923154e-02 7.38636243e-04 9.98524811e-01 -3.93448625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.620714057 meters 0.020449840924926875 Centerline is valid? [True, True] Translation: X:613.52, Y:-86.96, Z:-39.35 [[ 9.27507833e-01 3.70438526e-01 5.00451610e-02 6.13522521e+02] [-3.69852460e-01 9.28856619e-01 -2.08456142e-02 -8.69633545e+01] [-5.42067976e-02 8.25144494e-04 9.98529390e-01 -3.93469824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.650714057 meters 0.020703738884068394 Centerline is valid? [True, True] Translation: X:613.55, Y:-86.98, Z:-39.35 [[ 9.28050516e-01 3.69118940e-01 4.97337721e-02 6.13552274e+02] [-3.68537475e-01 9.29381719e-01 -2.07304011e-02 -8.69761921e+01] [-5.38736423e-02 9.10100626e-04 9.98547346e-01 -3.93486599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.6807140569999 meters 0.021250792491433763 Centerline is valid? [True, True] Translation: X:613.58, Y:-86.99, Z:-39.35 [[ 9.28798542e-01 3.67143957e-01 5.03843465e-02 6.13582020e+02] [-3.66543448e-01 9.30163538e-01 -2.10164782e-02 -8.69886494e+01] [-5.45817549e-02 1.05202218e-03 9.98508751e-01 -3.93499962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.7107140569999 meters 0.02135383169141043 Centerline is valid? [True, True] Translation: X:613.61, Y:-87.00, Z:-39.35 [[ 9.28933431e-01 3.66820937e-01 5.02501758e-02 6.13610588e+02] [-3.66222358e-01 9.30290938e-01 -2.09750918e-02 -8.70006317e+01] [-5.44413860e-02 1.08172614e-03 9.98516382e-01 -3.93515483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.740714057 meters 0.021072650819004415 Centerline is valid? [True, True] Translation: X:613.64, Y:-87.01, Z:-39.35 [[ 9.28702836e-01 3.67411473e-01 5.01981378e-02 6.13642557e+02] [-3.66814278e-01 9.30057896e-01 -2.09665270e-02 -8.70106804e+01] [-5.43905170e-02 1.05827942e-03 9.98519179e-01 -3.93531695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.770714057 meters 0.021092332096130057 Centerline is valid? [True, True] Translation: X:613.67, Y:-87.02, Z:-39.36 [[ 9.28082742e-01 3.69041342e-01 4.97082654e-02 6.13671919e+02] [-3.68457167e-01 9.29412475e-01 -2.07790143e-02 -8.70213083e+01] [-5.38677973e-02 9.69277906e-04 9.98547606e-01 -3.93551934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.8007140569999 meters 0.02043831377227365 Centerline is valid? [True, True] Translation: X:613.70, Y:-87.03, Z:-39.36 [[ 9.26295523e-01 3.73439400e-01 5.01958056e-02 6.13704567e+02] [-3.72849669e-01 9.27654291e-01 -2.09914524e-02 -8.70272979e+01] [-5.44033899e-02 7.28798888e-04 9.98518773e-01 -3.93574831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.8307140569999 meters 0.020134232735006034 Centerline is valid? [True, True] Translation: X:613.73, Y:-87.04, Z:-39.36 [[ 9.25179116e-01 3.76268956e-01 4.96515378e-02 6.13734604e+02] [-3.75695771e-01 9.26510312e-01 -2.07684732e-02 -8.70369855e+01] [-5.38171935e-02 5.60684940e-04 9.98550647e-01 -3.93590738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.860714057 meters 0.020187913527513007 Centerline is valid? [True, True] Translation: X:613.77, Y:-87.05, Z:-39.36 [[ 9.24018784e-01 3.79105314e-01 4.96834771e-02 6.13765153e+02] [-3.78534745e-01 9.25353443e-01 -2.07954931e-02 -8.70463282e+01] [-5.38584585e-02 4.08503855e-04 9.98548496e-01 -3.93609225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.890714057 meters 0.020232616398683536 Centerline is valid? [True, True] Translation: X:613.80, Y:-87.05, Z:-39.36 [[ 9.21988209e-01 3.84036736e-01 4.95330943e-02 6.13796066e+02] [-3.83475896e-01 9.23317804e-01 -2.07477846e-02 -8.70537767e+01] [-5.37026993e-02 1.34465045e-04 9.98556960e-01 -3.93624803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.9207140569999 meters 0.020141597058513816 Centerline is valid? [True, True] Translation: X:613.83, Y:-87.06, Z:-39.36 [[ 9.21171093e-01 3.85956811e-01 4.98112140e-02 6.13827218e+02] [-3.85392021e-01 9.22516851e-01 -2.08722439e-02 -8.70648376e+01] [-5.40074689e-02 3.00632954e-05 9.98540531e-01 -3.93645605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.9507140569999 meters 0.02024707239500549 Centerline is valid? [True, True] Translation: X:613.86, Y:-87.08, Z:-39.37 [[ 9.20637454e-01 3.87263383e-01 4.95353423e-02 6.13857464e+02] [-3.86705821e-01 9.21969127e-01 -2.07734721e-02 -8.70762787e+01] [-5.37148614e-02 -3.07687959e-05 9.98556314e-01 -3.93666414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.9807140569999 meters 0.020315216971392228 Centerline is valid? [True, True] Translation: X:613.89, Y:-87.09, Z:-39.37 [[ 9.20200723e-01 3.88276143e-01 4.97218873e-02 6.13888555e+02] [-3.87715316e-01 9.21543070e-01 -2.08615302e-02 -8.70884518e+01] [-5.39208951e-02 -8.11420720e-05 9.98545207e-01 -3.93680175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.010714057 meters 0.020293304245456934 Centerline is valid? [True, True] Translation: X:613.92, Y:-87.10, Z:-39.37 [[ 9.20492783e-01 3.87527456e-01 5.01548261e-02 6.13918181e+02] [-3.86954762e-01 9.21858162e-01 -2.10604380e-02 -8.71003896e+01] [-5.43971338e-02 -2.16676314e-05 9.98519380e-01 -3.93697239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.040714057 meters 0.020382180088617453 Centerline is valid? [True, True] Translation: X:613.95, Y:-87.11, Z:-39.37 [[ 9.21825711e-01 3.84272780e-01 5.07128084e-02 6.13947658e+02] [-3.83681444e-01 9.23219582e-01 -2.13108882e-02 -8.71143602e+01] [-5.50082520e-02 1.87361140e-04 9.98485882e-01 -3.93711013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.0707140569999 meters 0.020330525191208232 Centerline is valid? [True, True] Translation: X:613.98, Y:-87.13, Z:-39.37 [[ 9.22803740e-01 3.81846054e-01 5.12527993e-02 6.13977119e+02] [-3.81237335e-01 9.24225875e-01 -2.15552079e-02 -8.71278425e+01] [-5.55999343e-02 3.51745879e-04 9.98453065e-01 -3.93728264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.1007140569999 meters 0.020558285551477533 Centerline is valid? [True, True] Translation: X:614.01, Y:-87.14, Z:-39.37 [[ 9.23979639e-01 3.78923818e-01 5.17529300e-02 6.14006252e+02] [-3.78297704e-01 9.25427707e-01 -2.17808720e-02 -8.71413109e+01] [-5.61468865e-02 5.47067604e-04 9.98422369e-01 -3.93748236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.130714057 meters 0.020869555350453792 Centerline is valid? [True, True] Translation: X:614.03, Y:-87.16, Z:-39.38 [[ 9.25274031e-01 3.75680667e-01 5.22685793e-02 6.14033663e+02] [-3.75035931e-01 9.26748860e-01 -2.20136509e-02 -8.71555173e+01] [-5.67099493e-02 7.66064200e-04 9.98390402e-01 -3.93767427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.160714057 meters 0.021736699864483185 Centerline is valid? [True, True] Translation: X:614.06, Y:-87.17, Z:-39.38 [[ 9.28095314e-01 3.68755300e-01 5.15617791e-02 6.14061706e+02] [-3.68116386e-01 9.29525750e-01 -2.17303278e-02 -8.71699776e+01] [-5.59411749e-02 1.18707962e-03 9.98433361e-01 -3.93797669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.1907140569999 meters 0.02228005056072766 Centerline is valid? [True, True] Translation: X:614.09, Y:-87.18, Z:-39.38 [[ 9.29296897e-01 3.65779119e-01 5.11166609e-02 6.14090606e+02] [-3.65146584e-01 9.30700702e-01 -2.15447543e-02 -8.71834720e+01] [-5.54549334e-02 1.35639926e-03 9.98460270e-01 -3.93823331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.2207140569999 meters 0.022838728469468345 Centerline is valid? [True, True] Translation: X:614.12, Y:-87.20, Z:-39.38 [[ 9.30362829e-01 3.63151099e-01 5.04607326e-02 6.14120250e+02] [-3.62530615e-01 9.31729058e-01 -2.12724252e-02 -8.71964430e+01] [-5.47408354e-02 1.49751327e-03 9.98499473e-01 -3.93846019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.250714057 meters 0.023577685052289122 Centerline is valid? [True, True] Translation: X:614.15, Y:-87.21, Z:-39.39 [[ 9.32042412e-01 3.58936438e-01 4.96142703e-02 6.14148954e+02] [-3.58330412e-01 9.33360421e-01 -2.09198549e-02 -8.72078437e+01] [-5.38168944e-02 1.71989008e-03 9.98549340e-01 -3.93868913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.280714057 meters 0.024430485392348475 Centerline is valid? [True, True] Translation: X:614.18, Y:-87.22, Z:-39.39 [[ 9.32635490e-01 3.57493057e-01 4.88851438e-02 6.14177520e+02] [-3.56902751e-01 9.33914106e-01 -2.06123275e-02 -8.72201657e+01] [-5.30232894e-02 1.77654588e-03 9.98591696e-01 -3.93887370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.3107140569999 meters 0.025179877208386443 Centerline is valid? [True, True] Translation: X:614.21, Y:-87.23, Z:-39.39 [[ 9.33199810e-01 3.56028384e-01 4.88047495e-02 6.14206465e+02] [-3.55437332e-01 9.34473273e-01 -2.05913945e-02 -8.72322169e+01] [-5.29378548e-02 1.86885545e-03 9.98596060e-01 -3.93909949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.3407140569999 meters 0.02539655492110001 Centerline is valid? [True, True] Translation: X:614.24, Y:-87.24, Z:-39.39 [[ 9.33681246e-01 3.54852461e-01 4.81566458e-02 6.14236119e+02] [-3.54274806e-01 9.34920338e-01 -2.03303335e-02 -8.72431141e+01] [-5.22368965e-02 1.92136473e-03 9.98632873e-01 -3.93929164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.370714057 meters 0.025567702279595893 Centerline is valid? [True, True] Translation: X:614.27, Y:-87.25, Z:-39.39 [[ 9.34780686e-01 3.51949924e-01 4.81281639e-02 6.14266418e+02] [-3.51368394e-01 9.36016485e-01 -2.03320229e-02 -8.72519447e+01] [-5.22046087e-02 2.09526667e-03 9.98634212e-01 -3.93946640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.400714057 meters 0.02492485856093904 Centerline is valid? [True, True] Translation: X:614.30, Y:-87.26, Z:-39.40 [[ 9.35920834e-01 3.48648759e-01 4.99623343e-02 6.14297262e+02] [-3.48017209e-01 9.37250464e-01 -2.11089982e-02 -8.72594074e+01] [-5.41868471e-02 2.36859902e-03 9.98528004e-01 -3.93951837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.4307140569999 meters 0.0261618176457482 Centerline is valid? [True, True] Translation: X:614.33, Y:-87.27, Z:-39.40 [[ 9.36483300e-01 3.47006892e-01 5.08453067e-02 6.14325810e+02] [-3.46350298e-01 9.37859223e-01 -2.14836723e-02 -8.72715881e+01] [-5.51407222e-02 2.50881320e-03 9.98475441e-01 -3.93965472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.4607140569999 meters 0.025666560516173612 Centerline is valid? [True, True] Translation: X:614.36, Y:-87.28, Z:-39.40 [[ 9.37232460e-01 3.44928580e-01 5.11819445e-02 6.14356726e+02] [-3.44259365e-01 9.38625158e-01 -2.16402823e-02 -8.72806345e+01] [-5.55050127e-02 2.66211133e-03 9.98454860e-01 -3.93975669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.490714057 meters 0.02781284838133867 Centerline is valid? [True, True] Translation: X:614.38, Y:-87.29, Z:-39.40 [[ 9.37898650e-01 3.43025161e-01 5.17673847e-02 6.14384758e+02] [-3.42337409e-01 9.39322011e-01 -2.18919638e-02 -8.72940636e+01] [-5.61357383e-02 2.81053098e-03 9.98419190e-01 -3.93993850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.520714057 meters 0.027860645794996183 Centerline is valid? [True, True] Translation: X:614.42, Y:-87.30, Z:-39.40 [[ 9.39167334e-01 3.39494513e-01 5.20403257e-02 6.14415740e+02] [-3.38793255e-01 9.40603086e-01 -2.20219326e-02 -8.73000745e+01] [-5.64256162e-02 3.05136843e-03 9.98402143e-01 -3.94009624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.5507140569999 meters 0.028064063040046265 Centerline is valid? [True, True] Translation: X:614.45, Y:-87.31, Z:-39.40 [[ 9.39704188e-01 3.37949548e-01 5.24036412e-02 6.14446699e+02] [-3.37236002e-01 9.41158899e-01 -2.21767132e-02 -8.73098042e+01] [-5.68147634e-02 3.16715586e-03 9.98379713e-01 -3.94026575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.5807140569999 meters 0.029107742162262182 Centerline is valid? [True, True] Translation: X:614.48, Y:-87.32, Z:-39.40 [[ 9.40098472e-01 3.36819309e-01 5.26081334e-02 6.14475543e+02] [-3.36098163e-01 9.41563687e-01 -2.22676643e-02 -8.73200036e+01] [-5.70340874e-02 3.25230022e-03 9.98366934e-01 -3.94039936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.610714057 meters 0.028103418586993525 Centerline is valid? [True, True] Translation: X:614.51, Y:-87.32, Z:-39.40 [[ 9.40798373e-01 3.34606941e-01 5.41905505e-02 6.14507970e+02] [-3.33837921e-01 9.42351319e-01 -2.29397685e-02 -8.73237838e+01] [-5.87423426e-02 3.49083618e-03 9.98267074e-01 -3.94042218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.640714057 meters 0.0292166670843925 Centerline is valid? [True, True] Translation: X:614.54, Y:-87.33, Z:-39.41 [[ 9.40868619e-01 3.34322586e-01 5.47233948e-02 6.14537873e+02] [-3.33537717e-01 9.42452034e-01 -2.31679681e-02 -8.73336065e+01] [-5.93197498e-02 3.54569797e-03 9.98232736e-01 -3.94054959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.6707140569999 meters 0.029957318016312358 Centerline is valid? [True, True] Translation: X:614.57, Y:-87.34, Z:-39.41 [[ 9.40509920e-01 3.35218112e-01 5.54067426e-02 6.14570297e+02] [-3.34414132e-01 9.42133873e-01 -2.34724040e-02 -8.73379600e+01] [-6.00689439e-02 3.54723111e-03 9.98187928e-01 -3.94067481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.7007140569999 meters 0.029946417223481753 Centerline is valid? [True, True] Translation: X:614.60, Y:-87.35, Z:-39.41 [[ 9.39995655e-01 3.36628680e-01 5.55814779e-02 6.14601006e+02] [-3.35821141e-01 9.41631034e-01 -2.35617699e-02 -8.73452624e+01] [-6.02688120e-02 3.48252596e-03 9.98176108e-01 -3.94086258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.7307140569999 meters 0.029946417223481753 Centerline is valid? [True, True] Translation: X:614.63, Y:-87.36, Z:-39.41 [[ 9.39903868e-01 3.36885047e-01 5.55804361e-02 6.14630862e+02] [-3.36077810e-01 9.41539395e-01 -2.35642269e-02 -8.73579905e+01] [-6.02696059e-02 3.46875680e-03 9.98176108e-01 -3.94105069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.760714057 meters 0.029929572818740778 Centerline is valid? [True, True] Translation: X:614.66, Y:-87.36, Z:-39.41 [[ 9.39267819e-01 3.38607058e-01 5.58679231e-02 6.14660614e+02] [-3.37793403e-01 9.40921757e-01 -2.37036727e-02 -8.73648564e+01] [-6.05935753e-02 3.39228103e-03 9.98156757e-01 -3.94123929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.790714057 meters 0.026204415083646463 Centerline is valid? [True, True] Translation: X:614.70, Y:-87.36, Z:-39.41 [[ 9.38058871e-01 3.41972481e-01 5.56810337e-02 6.14695694e+02] [-3.41169774e-01 9.39704619e-01 -2.36307959e-02 -8.73616400e+01] [-6.04048065e-02 3.17039207e-03 9.98168928e-01 -3.94146092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.8207140569999 meters 0.027677196650132 Centerline is valid? [True, True] Translation: X:614.73, Y:-87.37, Z:-39.42 [[ 9.37509499e-01 3.43499075e-01 5.55367024e-02 6.14725605e+02] [-3.42703106e-01 9.39148012e-01 -2.35710147e-02 -8.73711605e+01] [-6.02538054e-02 3.06544982e-03 9.98178382e-01 -3.94165513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.8507140569999 meters 0.025895382837080393 Centerline is valid? [True, True] Translation: X:614.76, Y:-87.37, Z:-39.42 [[ 9.36443335e-01 3.46516276e-01 5.47754481e-02 6.14760087e+02] [-3.45746618e-01 9.38039660e-01 -2.32566613e-02 -8.73711107e+01] [-5.94403544e-02 2.84011960e-03 9.98227819e-01 -3.94191450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.880714057 meters 0.025395869925728728 Centerline is valid? [True, True] Translation: X:614.79, Y:-87.38, Z:-39.42 [[ 9.35910335e-01 3.48046270e-01 5.41815343e-02 6.14792197e+02] [-3.47295579e-01 9.37473421e-01 -2.30079403e-02 -8.73780407e+01] [-5.88015761e-02 2.71636179e-03 9.98265995e-01 -3.94213082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.910714057 meters 0.025165750560213532 Centerline is valid? [True, True] Translation: X:614.82, Y:-87.39, Z:-39.42 [[ 9.35295971e-01 3.49684746e-01 5.42404423e-02 6.14824554e+02] [-3.48934266e-01 9.36863735e-01 -2.30481946e-02 -8.73853575e+01] [-5.88755055e-02 2.63053461e-03 9.98261867e-01 -3.94233793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.9407140569999 meters 0.024575224948321997 Centerline is valid? [True, True] Translation: X:614.86, Y:-87.39, Z:-39.42 [[ 9.33934817e-01 3.53333076e-01 5.40508657e-02 6.14857078e+02] [-3.52593607e-01 9.35494517e-01 -2.29729831e-02 -8.73862384e+01] [-5.86814033e-02 2.39727907e-03 9.98273883e-01 -3.94239006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.9707140569999 meters 0.023738958979969034 Centerline is valid? [True, True] Translation: X:614.89, Y:-87.39, Z:-39.43 [[ 9.32858964e-01 3.55992193e-01 5.51698450e-02 6.14888988e+02] [-3.55226382e-01 9.34486156e-01 -2.34486925e-02 -8.73926397e+01] [-5.99030079e-02 2.27653853e-03 9.98201606e-01 -3.94252267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.000714057 meters 0.022693056976564124 Centerline is valid? [True, True] Translation: X:614.92, Y:-87.40, Z:-39.43 [[ 9.31730117e-01 3.58917753e-01 5.52904676e-02 6.14920635e+02] [-3.58153523e-01 9.33366837e-01 -2.35032196e-02 -8.73982743e+01] [-6.00420116e-02 2.09618184e-03 9.98193650e-01 -3.94262260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.030714057 meters 0.020431945894182058 Centerline is valid? [True, True] Translation: X:614.95, Y:-87.40, Z:-39.43 [[ 9.28936075e-01 3.66036798e-01 5.56312127e-02 6.14954854e+02] [-3.65275681e-01 9.30598917e-01 -2.36502276e-02 -8.73968160e+01] [-6.04271999e-02 1.64882049e-03 9.98171245e-01 -3.94279814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.0607140569999 meters 0.01964569935648215 Centerline is valid? [True, True] Translation: X:614.99, Y:-87.40, Z:-39.43 [[ 9.27521527e-01 3.69600658e-01 5.56701977e-02 6.14985670e+02] [-3.68844825e-01 9.29189616e-01 -2.36675610e-02 -8.74027311e+01] [-6.04757157e-02 1.41850796e-03 9.98168661e-01 -3.94300864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.0907140569999 meters 0.01753752963017674 Centerline is valid? [True, True] Translation: X:615.02, Y:-87.40, Z:-39.43 [[ 9.24671884e-01 3.76751654e-01 5.51370790e-02 6.15017862e+02] [-3.76022774e-01 9.26313824e-01 -2.34429836e-02 -8.74026226e+01] [-5.99064213e-02 9.44270411e-04 9.98203551e-01 -3.94324870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.120714057 meters 0.016487184886659477 Centerline is valid? [True, True] Translation: X:615.05, Y:-87.41, Z:-39.44 [[ 9.23270202e-01 3.80138429e-01 5.53796806e-02 6.15049735e+02] [-3.79409155e-01 9.24929318e-01 -2.35467488e-02 -8.74086815e+01] [-6.01733143e-02 7.28453739e-04 9.98187679e-01 -3.94351583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.150714057 meters 0.016246033225181658 Centerline is valid? [True, True] Translation: X:615.08, Y:-87.42, Z:-39.44 [[ 9.22021085e-01 3.83239483e-01 5.48143884e-02 6.15081310e+02] [-3.82529569e-01 9.23648858e-01 -2.33220169e-02 -8.74170267e+01] [-5.95671649e-02 5.35267019e-04 9.98224156e-01 -3.94369560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.1807140569999 meters 0.016026397723507595 Centerline is valid? [True, True] Translation: X:615.11, Y:-87.43, Z:-39.44 [[ 9.20714605e-01 3.86317490e-01 5.51671414e-02 6.15111401e+02] [-3.85602965e-01 9.22365802e-01 -2.34878920e-02 -8.74268415e+01] [-5.99580680e-02 3.53031891e-04 9.98200834e-01 -3.94387180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.2107140569999 meters 0.015689260105835035 Centerline is valid? [True, True] Translation: X:615.14, Y:-87.43, Z:-39.44 [[ 9.18331138e-01 3.92042455e-01 5.45035257e-02 6.15143987e+02] [-3.91354547e-01 9.19947125e-01 -2.32143223e-02 -8.74329909e+01] [-5.92413617e-02 -1.17676006e-05 9.98243688e-01 -3.94408532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.240714057 meters 0.015689428298024 Centerline is valid? [True, True] Translation: X:615.18, Y:-87.44, Z:-39.44 [[ 9.17039530e-01 3.95076808e-01 5.43398151e-02 6.15175194e+02] [-3.94397422e-01 9.18648071e-01 -2.31601990e-02 -8.74433148e+01] [-5.90692238e-02 -1.92664986e-04 9.98253870e-01 -3.94426130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.270714057 meters 0.016039899852288732 Centerline is valid? [True, True] Translation: X:615.21, Y:-87.45, Z:-39.45 [[ 9.14765155e-01 4.00304619e-01 5.44143731e-02 6.15206877e+02] [-3.99631518e-01 9.16381988e-01 -2.32099579e-02 -8.74515876e+01] [-5.91554048e-02 -5.14037828e-04 9.98248653e-01 -3.94454460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.3007140569999 meters 0.016108454435031498 Centerline is valid? [True, True] Translation: X:615.24, Y:-87.46, Z:-39.45 [[ 9.13905279e-01 4.02198166e-01 5.48978816e-02 6.15237392e+02] [-4.01515488e-01 9.15552424e-01 -2.34322607e-02 -8.74627730e+01] [-5.96863008e-02 -6.27483013e-04 9.98216986e-01 -3.94470272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.3307140569999 meters 0.016433547139493684 Centerline is valid? [True, True] Translation: X:615.27, Y:-87.47, Z:-39.45 [[ 9.13040888e-01 4.04058018e-01 5.56188431e-02 6.15266130e+02] [-4.03359735e-01 9.14733057e-01 -2.37562421e-02 -8.74741421e+01] [-6.04752944e-02 -7.43981491e-04 9.98169417e-01 -3.94484983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.360714057 meters 0.016729718260540295 Centerline is valid? [True, True] Translation: X:615.30, Y:-87.49, Z:-39.45 [[ 9.11665974e-01 4.06975591e-01 5.68860283e-02 6.15295138e+02] [-4.06249797e-01 9.13438545e-01 -2.43130916e-02 -8.74883551e+01] [-6.18567258e-02 -9.44519098e-04 9.98084592e-01 -3.94497064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.390714057 meters 0.01707529989727581 Centerline is valid? [True, True] Translation: X:615.32, Y:-87.50, Z:-39.45 [[ 9.11061712e-01 4.08314879e-01 5.69694426e-02 6.15324140e+02] [-4.07588521e-01 9.12840576e-01 -2.43655786e-02 -8.75022145e+01] [-6.19528470e-02 -1.02154512e-03 9.98078555e-01 -3.94515006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.4207140569999 meters 0.017038100577595704 Centerline is valid? [True, True] Translation: X:615.35, Y:-87.52, Z:-39.45 [[ 9.10328004e-01 4.09897549e-01 5.73317004e-02 6.15352212e+02] [-4.09163988e-01 9.12130880e-01 -2.45374807e-02 -8.75191757e+01] [-6.23518676e-02 -1.12091140e-03 9.98053600e-01 -3.94540822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.4507140569999 meters 0.01695272348136908 Centerline is valid? [True, True] Translation: X:615.38, Y:-87.53, Z:-39.46 [[ 9.10430907e-01 4.09744088e-01 5.67921290e-02 6.15381120e+02] [-4.09022928e-01 9.12199872e-01 -2.43236053e-02 -8.75339265e+01] [-6.17722263e-02 -1.08432090e-03 9.98089684e-01 -3.94561186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.4807140569999 meters 0.017004835893651465 Centerline is valid? [True, True] Translation: X:615.41, Y:-87.55, Z:-39.46 [[ 9.10561780e-01 4.09457028e-01 5.67643123e-02 6.15408848e+02] [-4.08734965e-01 9.12328802e-01 -2.43287007e-02 -8.75481384e+01] [-6.17492745e-02 -1.04877423e-03 9.98091142e-01 -3.94583059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.510714057 meters 0.01705643920333926 Centerline is valid? [True, True] Translation: X:615.43, Y:-87.57, Z:-39.46 [[ 9.11049518e-01 4.08410007e-01 5.64804502e-02 6.15434433e+02] [-4.07692185e-01 9.12798087e-01 -2.42226151e-02 -8.75664283e+01] [-6.14480053e-02 -9.58636318e-04 9.98109825e-01 -3.94604399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.540714057 meters 0.01690670772530782 Centerline is valid? [True, True] Translation: X:615.46, Y:-87.58, Z:-39.46 [[ 9.11470595e-01 4.07508547e-01 5.61973286e-02 6.15462375e+02] [-4.06795259e-01 9.13200970e-01 -2.41165038e-02 -8.75829539e+01] [-6.11471364e-02 -8.79322770e-04 9.98128376e-01 -3.94626043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.5707140569999 meters 0.016797909398631013 Centerline is valid? [True, True] Translation: X:615.49, Y:-87.60, Z:-39.46 [[ 9.12151177e-01 4.06000487e-01 5.60699131e-02 6.15488349e+02] [-4.05286577e-01 9.13872543e-01 -2.40783151e-02 -8.76029257e+01] [-6.10165618e-02 -7.61319651e-04 9.98136463e-01 -3.94649439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.6007140569999 meters 0.016682048796727647 Centerline is valid? [True, True] Translation: X:615.52, Y:-87.62, Z:-39.47 [[ 9.12755045e-01 4.04629035e-01 5.61566754e-02 6.15515306e+02] [-4.03909299e-01 9.14480680e-01 -2.41322149e-02 -8.76187652e+01] [-6.11187896e-02 -6.55402495e-04 9.98130284e-01 -3.94664638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.630714057 meters 0.01658844074316025 Centerline is valid? [True, True] Translation: X:615.54, Y:-87.64, Z:-39.47 [[ 9.13405969e-01 4.03207517e-01 5.57963654e-02 6.15542964e+02] [-4.02493417e-01 9.15108411e-01 -2.39926224e-02 -8.76355013e+01] [-6.07337289e-02 -5.42665249e-04 9.98153856e-01 -3.94684008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.660714057 meters 0.016514712754516908 Centerline is valid? [True, True] Translation: X:615.57, Y:-87.65, Z:-39.47 [[ 9.14145447e-01 4.01520841e-01 5.58490425e-02 6.15570218e+02] [-4.00801231e-01 9.15849792e-01 -2.40318823e-02 -8.76522548e+01] [-6.07986356e-02 -4.15729229e-04 9.98149965e-01 -3.94706623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.6907140569999 meters 0.01649298395018592 Centerline is valid? [True, True] Translation: X:615.59, Y:-87.67, Z:-39.47 [[ 9.16512686e-01 3.96165918e-01 5.52907021e-02 6.15594870e+02] [-3.95449915e-01 9.18178939e-01 -2.38075959e-02 -8.76736264e+01] [-6.01985163e-02 -4.47398457e-05 9.98186424e-01 -3.94734799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.7207140569999 meters 0.016700765924933875 Centerline is valid? [True, True] Translation: X:615.62, Y:-87.69, Z:-39.48 [[ 9.17819524e-01 3.93137854e-01 5.52263417e-02 6.15623095e+02] [-3.92417454e-01 9.19479527e-01 -2.37895067e-02 -8.76920706e+01] [-6.01320462e-02 1.62693349e-04 9.98190418e-01 -3.94756977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.750714057 meters 0.01711164761837955 Centerline is valid? [True, True] Translation: X:615.65, Y:-87.71, Z:-39.48 [[ 9.19084763e-01 3.90145013e-01 5.54081953e-02 6.15650243e+02] [-3.89413300e-01 9.20753347e-01 -2.38862870e-02 -8.77097823e+01] [-6.03363971e-02 3.76834223e-04 9.98178029e-01 -3.94777317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.780714057 meters 0.017526907969755277 Centerline is valid? [True, True] Translation: X:615.68, Y:-87.73, Z:-39.48 [[ 9.21475427e-01 3.84507778e-01 5.51072260e-02 6.15675583e+02] [-3.83772937e-01 9.23121441e-01 -2.37726198e-02 -8.77307364e+01] [-6.00114191e-02 7.57223015e-04 9.98197403e-01 -3.94790300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.8107140569999 meters 0.017945307801256815 Centerline is valid? [True, True] Translation: X:615.70, Y:-87.75, Z:-39.48 [[ 9.22074047e-01 3.83041754e-01 5.53034128e-02 6.15703754e+02] [-3.82298103e-01 9.23730620e-01 -2.38726345e-02 -8.77466262e+01] [-6.02296715e-02 8.69946884e-04 9.98184166e-01 -3.94810721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.8407140569999 meters 0.018312157538398537 Centerline is valid? [True, True] Translation: X:615.73, Y:-87.76, Z:-39.48 [[ 9.22983288e-01 3.80890076e-01 5.49963660e-02 6.15730867e+02] [-3.80149878e-01 9.24619765e-01 -2.37562626e-02 -8.77629270e+01] [-5.98992517e-02 1.01977149e-03 9.98203907e-01 -3.94828818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.870714057 meters 0.018248708818512715 Centerline is valid? [True, True] Translation: X:615.76, Y:-87.78, Z:-39.49 [[ 9.22837737e-01 3.81255624e-01 5.49059299e-02 6.15760005e+02] [-3.80517604e-01 9.24469109e-01 -2.37322612e-02 -8.77773589e+01] [-5.98068941e-02 1.00835332e-03 9.98209456e-01 -3.94850166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.900714057 meters 0.018239220254132247 Centerline is valid? [True, True] Translation: X:615.79, Y:-87.79, Z:-39.49 [[ 9.22707893e-01 3.81542138e-01 5.50975651e-02 6.15789729e+02] [-3.80798354e-01 9.24350894e-01 -2.38335370e-02 -8.77920042e+01] [-6.00229823e-02 1.01033055e-03 9.98196484e-01 -3.94865684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.9307140569999 meters 0.01834873723580365 Centerline is valid? [True, True] Translation: X:615.82, Y:-87.81, Z:-39.49 [[ 9.22453620e-01 3.82113454e-01 5.53951863e-02 6.15819440e+02] [-3.81361508e-01 9.24114883e-01 -2.39808985e-02 -8.78060932e+01] [-6.03549401e-02 9.95674878e-04 9.98176482e-01 -3.94884076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.9607140569999 meters 0.01849480514969633 Centerline is valid? [True, True] Translation: X:615.85, Y:-87.82, Z:-39.49 [[ 9.22469076e-01 3.81936403e-01 5.63505773e-02 6.15847501e+02] [-3.81156752e-01 9.24188020e-01 -2.44137896e-02 -8.78219326e+01] [-6.14030435e-02 1.04256295e-03 9.98112508e-01 -3.94889988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.990714057 meters 0.018115240402200503 Centerline is valid? [True, True] Translation: X:615.88, Y:-87.83, Z:-39.49 [[ 9.22688694e-01 3.81427127e-01 5.62042818e-02 6.15877257e+02] [-3.80649499e-01 9.24398268e-01 -2.43680188e-02 -8.78337916e+01] [-6.12497642e-02 1.08996375e-03 9.98121876e-01 -3.94910145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.020714057 meters 0.018801610252481882 Centerline is valid? [True, True] Translation: X:615.90, Y:-87.85, Z:-39.49 [[ 9.23772105e-01 3.78841240e-01 5.58964467e-02 6.15904629e+02] [-3.78066359e-01 9.25460805e-01 -2.42513113e-02 -8.78489120e+01] [-6.09173674e-02 1.27011883e-03 9.98142005e-01 -3.94933218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.0507140569999 meters 0.019235181028896316 Centerline is valid? [True, True] Translation: X:615.93, Y:-87.86, Z:-39.50 [[ 9.24237623e-01 3.77763873e-01 5.54911885e-02 6.15933882e+02] [-3.76997327e-01 9.25900991e-01 -2.40908672e-02 -8.78629959e+01] [-6.04800057e-02 1.34565611e-03 9.98168502e-01 -3.94954138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.0807140569999 meters 0.01952191383238274 Centerline is valid? [True, True] Translation: X:615.96, Y:-87.88, Z:-39.50 [[ 9.24863638e-01 3.76301286e-01 5.49962945e-02 6.15962939e+02] [-3.75544826e-01 9.26496227e-01 -2.38919306e-02 -8.78766746e+01] [-5.99444236e-02 1.44320398e-03 9.98200673e-01 -3.94974798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.110714057 meters 0.01995619830089167 Centerline is valid? [True, True] Translation: X:615.99, Y:-87.89, Z:-39.50 [[ 9.25293863e-01 3.75260445e-01 5.48713619e-02 6.15990904e+02] [-3.74504639e-01 9.26918164e-01 -2.38535870e-02 -8.78899708e+01] [-5.98125697e-02 1.52199809e-03 9.98208465e-01 -3.94991918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.140714057 meters 0.019825442063199986 Centerline is valid? [True, True] Translation: X:616.02, Y:-87.90, Z:-39.50 [[ 9.25074811e-01 3.75893663e-01 5.42268202e-02 6.16020425e+02] [-3.75155756e-01 9.26661628e-01 -2.35878319e-02 -8.79021879e+01] [-5.91164300e-02 1.47700539e-03 9.98250002e-01 -3.95008881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.1707140569999 meters 0.01903322800680264 Centerline is valid? [True, True] Translation: X:616.05, Y:-87.91, Z:-39.50 [[ 9.23898054e-01 3.78828425e-01 5.38647362e-02 6.16051608e+02] [-3.78104414e-01 9.25466016e-01 -2.34457935e-02 -8.79115765e+01] [-5.87319159e-02 1.29502847e-03 9.98272951e-01 -3.95033772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.2007140569999 meters 0.018983674784853972 Centerline is valid? [True, True] Translation: X:616.08, Y:-87.92, Z:-39.50 [[ 9.23084004e-01 3.80842692e-01 5.36168322e-02 6.16080838e+02] [-3.80127811e-01 9.24639098e-01 -2.33535131e-02 -8.79232329e+01] [-5.84702341e-02 1.17600535e-03 9.98288460e-01 -3.95049723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.2307140569999 meters 0.017833612374853102 Centerline is valid? [True, True] Translation: X:616.11, Y:-87.93, Z:-39.51 [[ 9.21103913e-01 3.85576477e-01 5.38364310e-02 6.16111690e+02] [-3.84863254e-01 9.22675454e-01 -2.34581186e-02 -8.79302266e+01] [-5.87184521e-02 8.87700824e-04 9.98274188e-01 -3.95066957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.260714057 meters 0.017366393721288488 Centerline is valid? [True, True] Translation: X:616.14, Y:-87.94, Z:-39.51 [[ 9.19989132e-01 3.88145028e-01 5.44374310e-02 6.16142770e+02] [-3.87420116e-01 9.21598013e-01 -2.37224698e-02 -8.79406009e+01] [-5.93771870e-02 7.34258543e-04 9.98235348e-01 -3.95083489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.290714057 meters 0.017278251819345725 Centerline is valid? [True, True] Translation: X:616.17, Y:-87.95, Z:-39.51 [[ 9.18897201e-01 3.90759787e-01 5.41730894e-02 6.16172193e+02] [-3.90045917e-01 9.20492511e-01 -2.36160840e-02 -8.79521993e+01] [-5.90941390e-02 5.70761227e-04 9.98252251e-01 -3.95096514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.3207140569999 meters 0.016692142758016174 Centerline is valid? [True, True] Translation: X:616.20, Y:-87.96, Z:-39.51 [[ 9.16699220e-01 3.95865212e-01 5.43440294e-02 6.16203459e+02] [-3.95154814e-01 9.18308590e-01 -2.37066612e-02 -8.79598349e+01] [-5.92892315e-02 2.57573041e-04 9.98240813e-01 -3.95111280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.3507140569999 meters 0.016493719605107798 Centerline is valid? [True, True] Translation: X:616.23, Y:-87.97, Z:-39.51 [[ 9.15692384e-01 3.98325101e-01 5.33345251e-02 6.16232260e+02] [-3.97644134e-01 9.17244298e-01 -2.32817809e-02 -8.79705429e+01] [-5.81945068e-02 1.10788450e-04 9.98305257e-01 -3.95129420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.380714057 meters 0.016502156762940787 Centerline is valid? [True, True] Translation: X:616.26, Y:-87.98, Z:-39.52 [[ 9.14529764e-01 4.00932262e-01 5.37459970e-02 6.16263824e+02] [-4.00244358e-01 9.16107701e-01 -2.34762532e-02 -8.79815029e+01] [-5.86495090e-02 -4.17997105e-05 9.98278635e-01 -3.95152623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.410714057 meters 0.01666675080378445 Centerline is valid? [True, True] Translation: X:616.29, Y:-87.99, Z:-39.52 [[ 9.12795763e-01 4.04800686e-01 5.42245297e-02 6.16294722e+02] [-4.04106142e-01 9.14404904e-01 -2.37043706e-02 -8.79898318e+01] [-5.91787214e-02 -2.75216456e-04 9.98247366e-01 -3.95170915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.4407140569999 meters 0.016578933588111064 Centerline is valid? [True, True] Translation: X:616.32, Y:-88.00, Z:-39.52 [[ 9.11981514e-01 4.06546251e-01 5.48622208e-02 6.16324737e+02] [-4.05837329e-01 9.13630124e-01 -2.40012174e-02 -8.80024703e+01] [-5.98813826e-02 -3.76470575e-04 9.98205429e-01 -3.95188600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.4707140569999 meters 0.01678812815311226 Centerline is valid? [True, True] Translation: X:616.35, Y:-88.01, Z:-39.52 [[ 9.11156150e-01 4.08276477e-01 5.57206214e-02 6.16354088e+02] [-4.07547240e-01 9.12858197e-01 -2.43959034e-02 -8.80142504e+01] [-6.08252994e-02 -4.80307962e-04 9.98148312e-01 -3.95202778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.500714057 meters 0.016853442063439573 Centerline is valid? [True, True] Translation: X:616.38, Y:-88.03, Z:-39.52 [[ 9.10931544e-01 4.08739575e-01 5.59971579e-02 6.16384009e+02] [-4.08002985e-01 9.12650925e-01 -2.45327077e-02 -8.80282239e+01] [-6.11333465e-02 -4.99390244e-04 9.98129483e-01 -3.95227474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.530714057 meters 0.01696361431479349 Centerline is valid? [True, True] Translation: X:616.41, Y:-88.04, Z:-39.52 [[ 9.10989724e-01 4.08641386e-01 5.57668467e-02 6.16413342e+02] [-4.07909495e-01 9.12694907e-01 -2.44509740e-02 -8.80419599e+01] [-6.08897969e-02 -4.73240237e-04 9.98144383e-01 -3.95249026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.5607140569999 meters 0.016829118096751614 Centerline is valid? [True, True] Translation: X:616.44, Y:-88.06, Z:-39.53 [[ 9.11606799e-01 4.07331295e-01 5.52653517e-02 6.16441808e+02] [-4.06609051e-01 9.13280396e-01 -2.42486728e-02 -8.80574287e+01] [-6.03500056e-02 -3.66137199e-04 9.98177210e-01 -3.95279078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.5907140569999 meters 0.016552351231520077 Centerline is valid? [True, True] Translation: X:616.47, Y:-88.07, Z:-39.53 [[ 9.11887972e-01 4.06745524e-01 5.49400155e-02 6.16470963e+02] [-4.06029724e-01 9.13541451e-01 -2.41222086e-02 -8.80724678e+01] [-6.00015818e-02 -3.10527483e-04 9.98198234e-01 -3.95303016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.620714057 meters 0.016785662098248354 Centerline is valid? [True, True] Translation: X:616.50, Y:-88.09, Z:-39.53 [[ 9.12638222e-01 4.05107677e-01 5.45824579e-02 6.16499408e+02] [-4.04397129e-01 9.14268962e-01 -2.39838698e-02 -8.80903356e+01] [-5.96190969e-02 -1.84392968e-04 9.98221183e-01 -3.95330712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.650714057 meters 0.016785662098248354 Centerline is valid? [True, True] Translation: X:616.53, Y:-88.10, Z:-39.53 [[ 9.12522422e-01 4.05369380e-01 5.45755845e-02 6.16529061e+02] [-4.04658365e-01 9.14152959e-01 -2.39995002e-02 -8.81034355e+01] [-5.96190946e-02 -1.84384690e-04 9.98221183e-01 -3.95349523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.6807140569999 meters 0.016951535227457785 Centerline is valid? [True, True] Translation: X:616.56, Y:-88.12, Z:-39.54 [[ 9.12943176e-01 4.04407901e-01 5.46718107e-02 6.16556824e+02] [-4.03691534e-01 9.14578722e-01 -2.40604879e-02 -8.81186757e+01] [-5.97319262e-02 -1.04688865e-04 9.98214449e-01 -3.95374319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.7107140569999 meters 0.01698286760880059 Centerline is valid? [True, True] Translation: X:616.59, Y:-88.13, Z:-39.54 [[ 9.13455900e-01 4.03268429e-01 5.45242338e-02 6.16586178e+02] [-4.02552864e-01 9.15081731e-01 -2.40128787e-02 -8.81348284e+01] [-5.95777662e-02 -1.41807056e-05 9.98223667e-01 -3.95396090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.740714057 meters 0.01711300047253668 Centerline is valid? [True, True] Translation: X:616.61, Y:-88.15, Z:-39.54 [[ 9.13977580e-01 4.02063365e-01 5.46811963e-02 6.16614341e+02] [-4.01340383e-01 9.15611841e-01 -2.41009002e-02 -8.81507944e+01] [-5.97568398e-02 8.19101657e-05 9.98212960e-01 -3.95420800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.770714057 meters 0.017176857415588713 Centerline is valid? [True, True] Translation: X:616.64, Y:-88.17, Z:-39.54 [[ 9.15168096e-01 3.99263831e-01 5.52788342e-02 6.16642351e+02] [-3.98518745e-01 9.16836034e-01 -2.43823105e-02 -8.81694910e+01] [-6.04166018e-02 2.84261037e-04 9.98173208e-01 -3.95440682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.8007140569999 meters 0.017441529116143734 Centerline is valid? [True, True] Translation: X:616.67, Y:-88.19, Z:-39.54 [[ 9.15763209e-01 3.97881989e-01 5.53865363e-02 6.16669300e+02] [-3.97130332e-01 9.17436520e-01 -2.44485389e-02 -8.81851138e+01] [-6.05412644e-02 3.93398898e-04 9.98165618e-01 -3.95448194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.8307140569999 meters 0.017758946937756436 Centerline is valid? [True, True] Translation: X:616.70, Y:-88.20, Z:-39.55 [[ 9.16846864e-01 3.95138338e-01 5.70747085e-02 6.16696846e+02] [-3.94334154e-01 9.18621430e-01 -2.52040230e-02 -8.82019938e+01] [-6.23891261e-02 6.01722537e-04 9.98051720e-01 -3.95456635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.860714057 meters 0.017993525371805198 Centerline is valid? [True, True] Translation: X:616.72, Y:-88.22, Z:-39.55 [[ 9.17312125e-01 3.93968443e-01 5.76830279e-02 6.16724216e+02] [-3.93143607e-01 9.19123697e-01 -2.54898935e-02 -8.82172837e+01] [-6.30600515e-02 7.04474714e-04 9.98009486e-01 -3.95464492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.890714057 meters 0.01818808105181193 Centerline is valid? [True, True] Translation: X:616.75, Y:-88.23, Z:-39.55 [[ 9.17947229e-01 3.92457038e-01 5.78822745e-02 6.16752398e+02] [-3.91622468e-01 9.19769967e-01 -2.55939745e-02 -8.82318979e+01] [-6.32829131e-02 8.25918855e-04 9.97995286e-01 -3.95481414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.9207140569999 meters 0.01876862497956521 Centerline is valid? [True, True] Translation: X:616.78, Y:-88.25, Z:-39.55 [[ 9.19433763e-01 3.88877056e-01 5.84481855e-02 6.16779570e+02] [-3.88017757e-01 9.21289004e-01 -2.58610093e-02 -8.82488050e+01] [-6.39044237e-02 1.09855121e-03 9.97955419e-01 -3.95499244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.9507140569999 meters 0.01896991346069024 Centerline is valid? [True, True] Translation: X:616.81, Y:-88.26, Z:-39.55 [[ 9.20227247e-01 3.87060673e-01 5.80159396e-02 6.16807824e+02] [-3.86209842e-01 9.22053435e-01 -2.56792047e-02 -8.82629010e+01] [-6.34332066e-02 1.22437692e-03 9.97985335e-01 -3.95520839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.9807140569999 meters 0.01932329335876167 Centerline is valid? [True, True] Translation: X:616.84, Y:-88.28, Z:-39.55 [[ 9.21075533e-01 3.85040182e-01 5.79993103e-02 6.16836629e+02] [-3.84184803e-01 9.22898780e-01 -2.56880965e-02 -8.82775184e+01] [-6.34184421e-02 1.37822359e-03 9.97986073e-01 -3.95542321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.010714057 meters 0.02009981637619944 Centerline is valid? [True, True] Translation: X:616.86, Y:-88.29, Z:-39.56 [[ 9.22767071e-01 3.80825934e-01 5.89282737e-02 6.16864204e+02] [-3.79933260e-01 9.24645167e-01 -2.61157815e-02 -8.82927592e+01] [-6.44333104e-02 1.70997210e-03 9.97920550e-01 -3.95555997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.040714057 meters 0.020006551559985215 Centerline is valid? [True, True] Translation: X:616.89, Y:-88.31, Z:-39.56 [[ 9.23334154e-01 3.79406594e-01 5.92003131e-02 6.16893063e+02] [-3.78502473e-01 9.25228253e-01 -2.62403784e-02 -8.83054665e+01] [-6.47295748e-02 1.82117269e-03 9.97901180e-01 -3.95574292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.0707140569999 meters 0.020901476382391964 Centerline is valid? [True, True] Translation: X:616.92, Y:-88.32, Z:-39.56 [[ 9.23809227e-01 3.78240336e-01 5.92516628e-02 6.16920303e+02] [-3.77331184e-01 9.25705440e-01 -2.62795571e-02 -8.83195528e+01] [-6.47895751e-02 1.91979721e-03 9.97897102e-01 -3.95584834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.1007140569999 meters 0.021667124033985245 Centerline is valid? [True, True] Translation: X:616.95, Y:-88.33, Z:-39.56 [[ 9.24475813e-01 3.76559098e-01 5.95627187e-02 6.16948383e+02] [-3.75635937e-01 9.26390304e-01 -2.64319596e-02 -8.83333221e+01] [-6.51315199e-02 2.06180971e-03 9.97874558e-01 -3.95604200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.130714057 meters 0.021385835781478374 Centerline is valid? [True, True] Translation: X:616.98, Y:-88.34, Z:-39.56 [[ 9.25558029e-01 3.73757624e-01 6.03951490e-02 6.16978938e+02] [-3.72801479e-01 9.27523544e-01 -2.68166287e-02 -8.83439420e+01] [-6.60408421e-02 2.30494510e-03 9.97814258e-01 -3.95627329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.160714057 meters 0.0217609281200451 Centerline is valid? [True, True] Translation: X:617.01, Y:-88.36, Z:-39.56 [[ 9.26331367e-01 3.71897861e-01 6.00181643e-02 6.17008478e+02] [-3.70949307e-01 9.28270480e-01 -2.66557267e-02 -8.83552694e+01] [-6.56262979e-02 2.42833929e-03 9.97841316e-01 -3.95648681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.1907140569999 meters 0.022571514483476638 Centerline is valid? [True, True] Translation: X:617.04, Y:-88.37, Z:-39.57 [[ 9.26774752e-01 3.70871411e-01 5.95227337e-02 6.17037088e+02] [-3.69935342e-01 9.28680877e-01 -2.64512901e-02 -8.83680121e+01] [-6.50876519e-02 2.49482500e-03 9.97876432e-01 -3.95669461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.2207140569999 meters 0.024533179806070414 Centerline is valid? [True, True] Translation: X:617.06, Y:-88.38, Z:-39.57 [[ 9.27075892e-01 3.70201071e-01 5.90038859e-02 6.17064439e+02] [-3.69279272e-01 9.28948207e-01 -2.62306568e-02 -8.83828818e+01] [-6.45221713e-02 2.52889754e-03 9.97913069e-01 -3.95684625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.250714057 meters 0.02279728554677508 Centerline is valid? [True, True] Translation: X:617.10, Y:-88.39, Z:-39.57 [[ 9.27509055e-01 3.69118706e-01 5.89774083e-02 6.17095609e+02] [-3.68194506e-01 9.29378570e-01 -2.62350844e-02 -8.83914772e+01] [-6.44961998e-02 2.61812062e-03 9.97914518e-01 -3.95712324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.280714057 meters 0.023927846914625496 Centerline is valid? [True, True] Translation: X:617.12, Y:-88.40, Z:-39.57 [[ 9.28259363e-01 3.67326009e-01 5.83623027e-02 6.17124234e+02] [-3.66416458e-01 9.30088252e-01 -2.59773352e-02 -8.84025760e+01] [-6.38242430e-02 2.72879631e-03 9.97957424e-01 -3.95732319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.3107140569999 meters 0.024239089779026023 Centerline is valid? [True, True] Translation: X:617.15, Y:-88.41, Z:-39.58 [[ 9.28525395e-01 3.66711043e-01 5.79965600e-02 6.17154481e+02] [-3.65811436e-01 9.30330806e-01 -2.58182837e-02 -8.84137525e+01] [-6.34238361e-02 2.75712719e-03 9.97982873e-01 -3.95752425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.3407140569999 meters 0.02509821652617437 Centerline is valid? [True, True] Translation: X:617.18, Y:-88.42, Z:-39.58 [[ 9.28657259e-01 3.66476818e-01 5.73623363e-02 6.17184381e+02] [-3.65595319e-01 9.30423094e-01 -2.55524519e-02 -8.84226090e+01] [-6.27356237e-02 2.75806821e-03 9.98026370e-01 -3.95773122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.370714057 meters 0.023720026500919207 Centerline is valid? [True, True] Translation: X:617.22, Y:-88.43, Z:-39.58 [[ 9.28414374e-01 3.67112708e-01 5.72276977e-02 6.17215887e+02] [-3.66235578e-01 9.30172481e-01 -2.55079926e-02 -8.84309714e+01] [-6.25959378e-02 2.72316805e-03 9.98035236e-01 -3.95794105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.400714057 meters 0.02363274247405637 Centerline is valid? [True, True] Translation: X:617.25, Y:-88.44, Z:-39.58 [[ 9.28136778e-01 3.67777035e-01 5.74645446e-02 6.17246596e+02] [-3.66892814e-01 9.29910067e-01 -2.56306414e-02 -8.84415074e+01] [-6.28632198e-02 2.70541245e-03 9.98018485e-01 -3.95810607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.4307140569999 meters 0.023706483918219706 Centerline is valid? [True, True] Translation: X:617.28, Y:-88.45, Z:-39.58 [[ 9.27624496e-01 3.69097643e-01 5.72688825e-02 6.17278401e+02] [-3.68220944e-01 9.29386925e-01 -2.55593543e-02 -8.84502391e+01] [-6.26588480e-02 2.62188115e-03 9.98031560e-01 -3.95822944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.4607140569999 meters 0.023440056855092404 Centerline is valid? [True, True] Translation: X:617.31, Y:-88.46, Z:-39.58 [[ 9.27215895e-01 3.70089406e-01 5.74849147e-02 6.17308706e+02] [-3.69207536e-01 9.28992584e-01 -2.56626919e-02 -8.84605731e+01] [-6.29005499e-02 2.57099215e-03 9.98016488e-01 -3.95838640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.490714057 meters 0.022523985101756447 Centerline is valid? [True, True] Translation: X:617.34, Y:-88.47, Z:-39.59 [[ 9.26735711e-01 3.71457377e-01 5.63944871e-02 6.17341489e+02] [-3.70610245e-01 9.28446787e-01 -2.51914586e-02 -8.84669294e+01] [-6.17168335e-02 2.44544966e-03 9.98090703e-01 -3.95868174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.520714057 meters 0.021724312871865246 Centerline is valid? [True, True] Translation: X:617.37, Y:-88.48, Z:-39.59 [[ 9.26355694e-01 3.72543320e-01 5.54671352e-02 6.17373004e+02] [-3.71725438e-01 9.28011855e-01 -2.47829833e-02 -8.84762715e+01] [-6.07068939e-02 2.33931254e-03 9.98152894e-01 -3.95896139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.5507140569999 meters 0.023124209886165533 Centerline is valid? [True, True] Translation: X:617.40, Y:-88.49, Z:-39.59 [[ 9.25923904e-01 3.73715374e-01 5.47881668e-02 6.17401514e+02] [-3.72919093e-01 9.27540727e-01 -2.44857140e-02 -8.84889022e+01] [-5.99689438e-02 2.24035444e-03 9.98197729e-01 -3.95915691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.5807140569999 meters 0.0213276676665063 Centerline is valid? [True, True] Translation: X:617.43, Y:-88.49, Z:-39.59 [[ 9.25188397e-01 3.75608934e-01 5.42619496e-02 6.17434402e+02] [-3.74830277e-01 9.26775849e-01 -2.42649986e-02 -8.84949124e+01] [-5.94028147e-02 2.11067359e-03 9.98231862e-01 -3.95932698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.610714057 meters 0.020763050503973195 Centerline is valid? [True, True] Translation: X:617.47, Y:-88.50, Z:-39.59 [[ 9.24695861e-01 3.76809833e-01 5.43315295e-02 6.17465271e+02] [-3.76030884e-01 9.26288390e-01 -2.43021316e-02 -8.85049219e+01] [-5.94839471e-02 2.04174741e-03 9.98227174e-01 -3.95945765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.640714057 meters 0.02009277247283551 Centerline is valid? [True, True] Translation: X:617.50, Y:-88.51, Z:-39.60 [[ 9.24083113e-01 3.78194760e-01 5.51282500e-02 6.17496182e+02] [-3.77394230e-01 9.25723899e-01 -2.46750710e-02 -8.85149622e+01] [-6.03655210e-02 1.99673297e-03 9.98174342e-01 -3.95950974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.6707140569999 meters 0.019522589834266003 Centerline is valid? [True, True] Translation: X:617.53, Y:-88.52, Z:-39.60 [[ 9.22921987e-01 3.80824230e-01 5.64615905e-02 6.17527802e+02] [-3.79988302e-01 9.24645528e-01 -2.52890905e-02 -8.85224880e+01] [-6.18376555e-02 1.88511381e-03 9.98084441e-01 -3.95957197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.7007140569999 meters 0.01969966023008265 Centerline is valid? [True, True] Translation: X:617.56, Y:-88.53, Z:-39.60 [[ 9.22097160e-01 3.82776755e-01 5.67343280e-02 6.17556483e+02] [-3.81935354e-01 9.23839160e-01 -2.54281797e-02 -8.85335885e+01] [-6.21467100e-02 1.77840667e-03 9.98065441e-01 -3.95971474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.7307140569999 meters 0.019183943668871137 Centerline is valid? [True, True] Translation: X:617.59, Y:-88.54, Z:-39.60 [[ 9.21537730e-01 3.84176456e-01 5.63618997e-02 6.17586888e+02] [-3.83347728e-01 9.23258146e-01 -2.52767831e-02 -8.85439132e+01] [-6.17473279e-02 1.68730311e-03 9.98090387e-01 -3.95990510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.760714057 meters 0.018095042708328454 Centerline is valid? [True, True] Translation: X:617.62, Y:-88.55, Z:-39.60 [[ 9.20305148e-01 3.87242989e-01 5.55094747e-02 6.17617841e+02] [-3.86443796e-01 9.21976516e-01 -2.49097538e-02 -8.85506364e+01] [-6.08245596e-02 1.47328254e-03 9.98147385e-01 -3.96023639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.790714057 meters 0.019341130420337284 Centerline is valid? [True, True] Translation: X:617.65, Y:-88.56, Z:-39.60 [[ 9.19940173e-01 3.88104199e-01 5.55446556e-02 6.17646083e+02] [-3.87305392e-01 9.21614407e-01 -2.49282715e-02 -8.85642778e+01] [-6.08655216e-02 1.41977382e-03 9.98144966e-01 -3.96039694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.8207140569999 meters 0.018091053268596363 Centerline is valid? [True, True] Translation: X:617.68, Y:-88.57, Z:-39.61 [[ 9.19485323e-01 3.89135281e-01 5.58612007e-02 6.17677689e+02] [-3.88328629e-01 9.21179603e-01 -2.50801845e-02 -8.85732735e+01] [-6.12177834e-02 1.36835808e-03 9.98123495e-01 -3.96056709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.8507140569999 meters 0.01787761414126756 Centerline is valid? [True, True] Translation: X:617.71, Y:-88.58, Z:-39.61 [[ 9.18970654e-01 3.90258953e-01 5.64879341e-02 6.17707948e+02] [-3.89435192e-01 9.20704187e-01 -2.53777799e-02 -8.85828178e+01] [-6.19125832e-02 1.32304551e-03 9.98080699e-01 -3.96061086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.880714057 meters 0.017779940019651063 Centerline is valid? [True, True] Translation: X:617.74, Y:-88.59, Z:-39.61 [[ 9.18584260e-01 3.91103373e-01 5.69307465e-02 6.17737552e+02] [-3.90267622e-01 9.20345859e-01 -2.55867836e-02 -8.85943561e+01] [-6.24030541e-02 1.28538960e-03 9.98050202e-01 -3.96071047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.910714057 meters 0.017493433033750047 Centerline is valid? [True, True] Translation: X:617.77, Y:-88.60, Z:-39.61 [[ 9.17996121e-01 3.92436192e-01 5.72447205e-02 6.17767154e+02] [-3.91592765e-01 9.19778428e-01 -2.57439403e-02 -8.86044713e+01] [-6.27553129e-02 1.21621893e-03 9.98028202e-01 -3.96077918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.9407140569999 meters 0.017480269636636726 Centerline is valid? [True, True] Translation: X:617.80, Y:-88.62, Z:-39.61 [[ 9.17581681e-01 3.93344332e-01 5.76549615e-02 6.17796766e+02] [-3.92489910e-01 9.19390485e-01 -2.59385129e-02 -8.86169388e+01] [-6.32101900e-02 1.17171358e-03 9.97999549e-01 -3.96094189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.9707140569999 meters 0.017338004702489182 Centerline is valid? [True, True] Translation: X:617.83, Y:-88.63, Z:-39.61 [[ 9.17218459e-01 3.94165984e-01 5.78227910e-02 6.17826591e+02] [-3.93307167e-01 9.19038570e-01 -2.60303689e-02 -8.86299646e+01] [-6.34016611e-02 1.13341674e-03 9.97987447e-01 -3.96105519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.000714057 meters 0.016690257143616032 Centerline is valid? [True, True] Translation: X:617.86, Y:-88.64, Z:-39.61 [[ 9.16895493e-01 3.94870209e-01 5.81392557e-02 6.17856883e+02] [-3.94002301e-01 9.18736249e-01 -2.61895409e-02 -8.86417267e+01] [-6.37561112e-02 1.10607147e-03 9.97964897e-01 -3.96127800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.030714057 meters 0.017180260974957774 Centerline is valid? [True, True] Translation: X:617.88, Y:-88.66, Z:-39.61 [[ 9.16444639e-01 3.96053361e-01 5.71923020e-02 6.17884579e+02] [-3.95214658e-01 9.18226925e-01 -2.57815397e-02 -8.86555443e+01] [-6.27263771e-02 1.02411772e-03 9.98030236e-01 -3.96144397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.0607140569999 meters 0.01684085987403373 Centerline is valid? [True, True] Translation: X:617.91, Y:-88.67, Z:-39.62 [[ 9.16170747e-01 3.96761643e-01 5.66688641e-02 6.17914572e+02] [-3.95938689e-01 9.17921150e-01 -2.55600491e-02 -8.86681983e+01] [-6.21587960e-02 9.79973524e-04 9.98065791e-01 -3.96173932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.0907140569999 meters 0.016300019209480657 Centerline is valid? [True, True] Translation: X:617.94, Y:-88.68, Z:-39.62 [[ 9.15818615e-01 3.97627163e-01 5.62930231e-02 6.17944411e+02] [-3.96816340e-01 9.17546615e-01 -2.53968834e-02 -8.86804222e+01] [-6.17499635e-02 9.20947235e-04 9.98091225e-01 -3.96203464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.120714057 meters 0.016689136173555375 Centerline is valid? [True, True] Translation: X:617.97, Y:-88.70, Z:-39.62 [[ 9.14992738e-01 3.99629466e-01 5.55389967e-02 6.17972036e+02] [-3.98842932e-01 9.16676424e-01 -2.50728848e-02 -8.86957600e+01] [-6.09311524e-02 7.90171205e-04 9.98141658e-01 -3.96216687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.150714057 meters 0.01654513146934629 Centerline is valid? [True, True] Translation: X:618.00, Y:-88.71, Z:-39.62 [[ 9.14694435e-01 4.00290085e-01 5.56950456e-02 6.18001177e+02] [-3.99499407e-01 9.16388164e-01 -2.51586381e-02 -8.87095001e+01] [-6.11090340e-02 7.62328527e-04 9.98130805e-01 -3.96229927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.1807140569999 meters 0.01606977982384827 Centerline is valid? [True, True] Translation: X:618.03, Y:-88.72, Z:-39.62 [[ 9.14098542e-01 4.01553656e-01 5.63783378e-02 6.18030484e+02] [-4.00744810e-01 9.15835230e-01 -2.54838730e-02 -8.87226957e+01] [-6.18664103e-02 7.01444858e-04 9.98084192e-01 -3.96235429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.2107140569999 meters 0.016010687597499296 Centerline is valid? [True, True] Translation: X:618.06, Y:-88.74, Z:-39.63 [[ 9.13899634e-01 4.01961299e-01 5.66972000e-02 6.18060137e+02] [-4.01143033e-01 9.15656395e-01 -2.56443534e-02 -8.87365481e+01] [-6.22231913e-02 6.92678380e-04 9.98062019e-01 -3.96252381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.240714057 meters 0.01594393084875351 Centerline is valid? [True, True] Translation: X:618.09, Y:-88.75, Z:-39.63 [[ 9.13712932e-01 4.02297610e-01 5.73176363e-02 6.18089352e+02] [-4.01460766e-01 9.15508684e-01 -2.59442277e-02 -8.87508452e+01] [-6.29120946e-02 6.94794146e-04 9.98018830e-01 -3.96266025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.270714057 meters 0.01580793583457924 Centerline is valid? [True, True] Translation: X:618.12, Y:-88.77, Z:-39.63 [[ 9.13387067e-01 4.03073542e-01 5.70594944e-02 6.18118680e+02] [-4.02244553e-01 9.15167356e-01 -2.58462695e-02 -8.87650953e+01] [-6.26369340e-02 6.55777490e-04 9.98036164e-01 -3.96294429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.3007140569999 meters 0.01665239685245389 Centerline is valid? [True, True] Translation: X:618.15, Y:-88.78, Z:-39.63 [[ 9.13351804e-01 4.03224739e-01 5.65534365e-02 6.18146559e+02] [-4.02409528e-01 9.15100747e-01 -2.56357841e-02 -8.87819056e+01] [-6.20890744e-02 6.56847982e-04 9.98070396e-01 -3.96307938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.3307140569999 meters 0.015757784461195613 Centerline is valid? [True, True] Translation: X:618.18, Y:-88.79, Z:-39.63 [[ 9.13534521e-01 4.02862300e-01 5.61840298e-02 6.18176988e+02] [-4.02056263e-01 9.15260342e-01 -2.54807415e-02 -8.87932163e+01] [-6.16882445e-02 6.88395936e-04 9.98095229e-01 -3.96344791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.360714057 meters 0.01620302849503025 Centerline is valid? [True, True] Translation: X:618.20, Y:-88.81, Z:-39.64 [[ 9.14443394e-01 4.00815781e-01 5.60356046e-02 6.18204008e+02] [-4.00008963e-01 9.16158284e-01 -2.54328387e-02 -8.88105193e+01] [-6.15313665e-02 8.42147210e-04 9.98104795e-01 -3.96368885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.390714057 meters 0.017272694960058874 Centerline is valid? [True, True] Translation: X:618.23, Y:-88.83, Z:-39.64 [[ 9.14954826e-01 3.99583094e-01 5.64890904e-02 6.18230153e+02] [-3.98759736e-01 9.16696488e-01 -2.56558287e-02 -8.88284448e+01] [-6.20349862e-02 9.48349562e-04 9.98073525e-01 -3.96382119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.4207140569999 meters 0.01749673590524651 Centerline is valid? [True, True] Translation: X:618.26, Y:-88.85, Z:-39.64 [[ 9.16861261e-01 3.95143843e-01 5.68046797e-02 6.18257631e+02] [-3.94301778e-01 9.18618381e-01 -2.58142808e-02 -8.88455292e+01] [-6.23821770e-02 1.26992784e-03 9.98051527e-01 -3.96409375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.4507140569999 meters 0.01794743697186989 Centerline is valid? [True, True] Translation: X:618.29, Y:-88.86, Z:-39.64 [[ 9.17949447e-01 3.92606067e-01 5.68268331e-02 6.18285592e+02] [-3.91758123e-01 9.19705593e-01 -2.58301046e-02 -8.88609428e+01] [-6.24050120e-02 1.44835673e-03 9.98049857e-01 -3.96431006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.4807140569999 meters 0.01891183930023157 Centerline is valid? [True, True] Translation: X:618.31, Y:-88.88, Z:-39.65 [[ 9.18804866e-01 3.90637153e-01 5.65706042e-02 6.18312065e+02] [-3.89792069e-01 9.20543364e-01 -2.57305014e-02 -8.88769985e+01] [-6.21269841e-02 1.59053702e-03 9.98066986e-01 -3.96451322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.510714057 meters 0.021011053161316726 Centerline is valid? [True, True] Translation: X:618.34, Y:-88.90, Z:-39.65 [[ 9.21326908e-01 3.84652560e-01 5.65609133e-02 6.18336693e+02] [-3.83795571e-01 9.23059249e-01 -2.57406829e-02 -8.88951668e+01] [-6.21102937e-02 2.00775578e-03 9.98067272e-01 -3.96472005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.540714057 meters 0.021011053161316726 Centerline is valid? [True, True] Translation: X:618.37, Y:-88.91, Z:-39.65 [[ 9.21221849e-01 3.84904173e-01 5.65604266e-02 6.18366193e+02] [-3.84047591e-01 9.22954392e-01 -2.57417518e-02 -8.89086679e+01] [-6.21108019e-02 1.99196861e-03 9.98067272e-01 -3.96490804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.5707140569999 meters 0.02117021332823628 Centerline is valid? [True, True] Translation: X:618.39, Y:-88.92, Z:-39.65 [[ 9.22547480e-01 3.81727759e-01 5.64806710e-02 6.18394154e+02] [-3.80866557e-01 9.24272143e-01 -2.57229757e-02 -8.89228235e+01] [-6.20226846e-02 2.21906772e-03 9.98072273e-01 -3.96511817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.6007140569999 meters 0.024846620208876215 Centerline is valid? [True, True] Translation: X:618.42, Y:-88.94, Z:-39.65 [[ 9.23873895e-01 3.78465727e-01 5.67513928e-02 6.18418329e+02] [-3.77589928e-01 9.25612057e-01 -2.58489175e-02 -8.89415234e+01] [-6.23127027e-02 2.45238572e-03 9.98053662e-01 -3.96523420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.630714057 meters 0.02405680894371708 Centerline is valid? [True, True] Translation: X:618.45, Y:-88.95, Z:-39.65 [[ 9.26098529e-01 3.72964016e-01 5.69153535e-02 6.18446716e+02] [-3.72072420e-01 9.27841473e-01 -2.59290418e-02 -8.89535887e+01] [-6.24790250e-02 2.83621412e-03 9.98042247e-01 -3.96548281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.660714057 meters 0.025613067655479868 Centerline is valid? [True, True] Translation: X:618.47, Y:-88.97, Z:-39.66 [[ 9.26798415e-01 3.71325007e-01 5.62355445e-02 6.18473871e+02] [-3.70451496e-01 9.28498386e-01 -2.56209984e-02 -8.89683982e+01] [-6.17283298e-02 2.91295914e-03 9.98088738e-01 -3.96570164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.6907140569999 meters 0.024053232817591214 Centerline is valid? [True, True] Translation: X:618.51, Y:-88.98, Z:-39.66 [[ 9.26919002e-01 3.71296877e-01 5.44039729e-02 6.18505611e+02] [-3.70478494e-01 9.28509883e-01 -2.48008470e-02 -8.89782994e+01] [-5.97231036e-02 2.83287442e-03 9.98210963e-01 -3.96606667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.7207140569999 meters 0.027343618661288333 Centerline is valid? [True, True] Translation: X:618.53, Y:-88.99, Z:-39.66 [[ 9.26339271e-01 3.72908224e-01 5.32448338e-02 6.18532212e+02] [-3.72125996e-01 9.27864342e-01 -2.42900558e-02 -8.89948247e+01] [-5.84619442e-02 2.68704580e-03 9.98286022e-01 -3.96629470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.750714057 meters 0.026880271738358795 Centerline is valid? [True, True] Translation: X:618.56, Y:-89.01, Z:-39.66 [[ 9.25383123e-01 3.75311567e-01 5.29839945e-02 6.18561781e+02] [-3.74540082e-01 9.26895246e-01 -2.41853383e-02 -8.90059526e+01] [-5.81876499e-02 2.53607426e-03 9.98302442e-01 -3.96642655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.780714057 meters 0.022172180816843794 Centerline is valid? [True, True] Translation: X:618.59, Y:-89.01, Z:-39.67 [[ 9.24127806e-01 3.78349927e-01 5.32834978e-02 6.18594242e+02] [-3.77574591e-01 9.25659637e-01 -2.43241809e-02 -8.90105302e+01] [-5.85254353e-02 2.36015706e-03 9.98283128e-01 -3.96655790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.8107140569999 meters 0.021486953797564868 Centerline is valid? [True, True] Translation: X:618.62, Y:-89.02, Z:-39.66 [[ 9.21624675e-01 3.84249369e-01 5.44093727e-02 6.18623520e+02] [-3.83450978e-01 9.23227112e-01 -2.48404347e-02 -8.90183802e+01] [-5.97771294e-02 2.03023036e-03 9.98209684e-01 -3.96648700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.8407140569999 meters 0.01961804593843713 Centerline is valid? [True, True] Translation: X:618.65, Y:-89.03, Z:-39.67 [[ 9.20403416e-01 3.87124190e-01 5.47029599e-02 6.18654239e+02] [-3.86322213e-01 9.22025719e-01 -2.49744157e-02 -8.90264272e+01] [-6.01057364e-02 1.85356895e-03 9.98190295e-01 -3.96658628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.870714057 meters 0.020951357879433998 Centerline is valid? [True, True] Translation: X:618.68, Y:-89.04, Z:-39.67 [[ 9.19129868e-01 3.90072734e-01 5.51683624e-02 6.18681874e+02] [-3.89262188e-01 9.20782520e-01 -2.51892830e-02 -8.90401280e+01] [-6.06237163e-02 1.67726492e-03 9.98159282e-01 -3.96670805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.900714057 meters 0.020433668995498193 Centerline is valid? [True, True] Translation: X:618.71, Y:-89.05, Z:-39.67 [[ 9.17960161e-01 3.92770819e-01 5.54997853e-02 6.18711242e+02] [-3.91955229e-01 9.19635145e-01 -2.53435976e-02 -8.90509383e+01] [-6.09937788e-02 1.51098189e-03 9.98137003e-01 -3.96684734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.9307140569999 meters 0.01722852623313137 Centerline is valid? [True, True] Translation: X:618.74, Y:-89.06, Z:-39.67 [[ 9.15755726e-01 3.97836794e-01 5.58331001e-02 6.18743804e+02] [-3.97019902e-01 9.17455427e-01 -2.55095395e-02 -8.90556171e+01] [-6.13730141e-02 1.19365492e-03 9.98114186e-01 -3.96707636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.9607140569999 meters 0.017094430310108655 Centerline is valid? [True, True] Translation: X:618.77, Y:-89.07, Z:-39.67 [[ 9.14776787e-01 4.00040715e-01 5.61324829e-02 6.18773056e+02] [-3.99218896e-01 9.16496760e-01 -2.56507564e-02 -8.90670795e+01] [-6.17065857e-02 1.05556864e-03 9.98093775e-01 -3.96730324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.990714057 meters 0.01629999744574239 Centerline is valid? [True, True] Translation: X:618.80, Y:-89.08, Z:-39.68 [[ 9.12723353e-01 4.04770719e-01 5.56484208e-02 6.18803883e+02] [-4.03970838e-01 9.14417909e-01 -2.54450414e-02 -8.90772259e+01] [-6.11853203e-02 7.43944308e-04 9.98126146e-01 -3.96754546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.020714057 meters 0.016222742197378234 Centerline is valid? [True, True] Translation: X:618.83, Y:-89.09, Z:-39.68 [[ 9.11731211e-01 4.07047949e-01 5.53006834e-02 6.18832466e+02] [-4.06261221e-01 9.13406593e-01 -2.53025013e-02 -8.90887210e+01] [-6.08113401e-02 6.02557030e-04 9.98149096e-01 -3.96780379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.0507140569999 meters 0.01604220134340529 Centerline is valid? [True, True] Translation: X:618.86, Y:-89.10, Z:-39.68 [[ 9.10945263e-01 4.08795506e-01 5.53620991e-02 6.18862268e+02] [-4.08009308e-01 9.12625873e-01 -2.53460242e-02 -8.91011306e+01] [-6.08862248e-02 5.00588978e-04 9.98144587e-01 -3.96798220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.0807140569999 meters 0.015991516030949827 Centerline is valid? [True, True] Translation: X:618.89, Y:-89.11, Z:-39.68 [[ 9.09671938e-01 4.11561291e-01 5.58056433e-02 6.18891724e+02] [-4.10766592e-01 9.11382024e-01 -2.55658794e-02 -8.91137490e+01] [-6.13821865e-02 3.33469105e-04 9.98114280e-01 -3.96815562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.110714057 meters 0.01586227915534711 Centerline is valid? [True, True] Translation: X:618.92, Y:-89.13, Z:-39.68 [[ 9.09248039e-01 4.12463286e-01 5.60539165e-02 6.18921611e+02] [-4.11662158e-01 9.10974179e-01 -2.56965739e-02 -8.91275312e+01] [-6.16625638e-02 2.89283241e-04 9.98097012e-01 -3.96829382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.140714057 meters 0.016143301506091133 Centerline is valid? [True, True] Translation: X:618.95, Y:-89.14, Z:-39.68 [[ 9.08927153e-01 4.13053914e-01 5.69025089e-02 6.18950320e+02] [-4.12228224e-01 9.10706534e-01 -2.61055717e-02 -8.91429813e+01] [-6.26044952e-02 2.71242731e-04 9.98038378e-01 -3.96846900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.1707140569999 meters 0.01606736629223814 Centerline is valid? [True, True] Translation: X:618.98, Y:-89.16, Z:-39.69 [[ 9.08906132e-01 4.13169778e-01 5.63948428e-02 6.18978803e+02] [-4.12357803e-01 9.10653972e-01 -2.58918008e-02 -8.91578244e+01] [-6.20538972e-02 2.78363014e-04 9.98072761e-01 -3.96865031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.2007140569999 meters 0.016152618306767286 Centerline is valid? [True, True] Translation: X:619.01, Y:-89.17, Z:-39.69 [[ 9.08766718e-01 4.13554242e-01 5.58206233e-02 6.19008293e+02] [-4.12758364e-01 9.10479444e-01 -2.56459459e-02 -8.91722482e+01] [-6.14295198e-02 2.65752888e-04 9.98111388e-01 -3.96895702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.2307140569999 meters 0.016196351234233512 Centerline is valid? [True, True] Translation: X:619.04, Y:-89.19, Z:-39.69 [[ 9.08545668e-01 4.14167290e-01 5.48655113e-02 6.19036984e+02] [-4.13398423e-01 9.10200747e-01 -2.52258781e-02 -8.91868149e+01] [-6.03863629e-02 2.37546413e-04 9.98175050e-01 -3.96925089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.260714057 meters 0.01595073364326203 Centerline is valid? [True, True] Translation: X:619.07, Y:-89.20, Z:-39.70 [[ 9.07965995e-01 4.15598560e-01 5.36245109e-02 6.19065490e+02] [-4.14865598e-01 9.09548137e-01 -2.46723075e-02 -8.92026160e+01] [-5.90278494e-02 1.54651415e-04 9.98256324e-01 -3.96965829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.290714057 meters 0.016081453873593186 Centerline is valid? [True, True] Translation: X:619.09, Y:-89.22, Z:-39.70 [[ 9.07626617e-01 4.16419396e-01 5.29982198e-02 6.19093650e+02] [-4.15703819e-01 9.09172631e-01 -2.44020876e-02 -8.92171566e+01] [-5.83460335e-02 1.16421791e-04 9.98296412e-01 -3.96993164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.3207140569999 meters 0.015886797357228092 Centerline is valid? [True, True] Translation: X:619.12, Y:-89.23, Z:-39.70 [[ 9.07360511e-01 4.17042522e-01 5.26539380e-02 6.19123119e+02] [-4.16336297e-01 9.08886971e-01 -2.42602832e-02 -8.92327356e+01] [-5.79740480e-02 9.10773619e-05 9.98318086e-01 -3.97012920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.3507140569999 meters 0.015811589646105816 Centerline is valid? [True, True] Translation: X:619.15, Y:-89.25, Z:-39.70 [[ 9.06724429e-01 4.18479183e-01 5.22109522e-02 6.19151318e+02] [-4.17786153e-01 9.08226389e-01 -2.40739824e-02 -8.92492298e+01] [-5.74938250e-02 1.54551011e-05 9.98345862e-01 -3.97024860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.380714057 meters 0.01590490985661208 Centerline is valid? [True, True] Translation: X:619.18, Y:-89.26, Z:-39.70 [[ 9.06313877e-01 4.19297957e-01 5.27672169e-02 6.19180717e+02] [-4.18590391e-01 9.07848678e-01 -2.43487596e-02 -8.92645838e+01] [-5.81140333e-02 -2.02312488e-05 9.98309951e-01 -3.97039973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.410714057 meters 0.01600628948842723 Centerline is valid? [True, True] Translation: X:619.21, Y:-89.28, Z:-39.70 [[ 9.05657203e-01 4.20603018e-01 5.36482303e-02 6.19208241e+02] [-4.19872758e-01 9.07244782e-01 -2.47744464e-02 -8.92809925e+01] [-5.90922839e-02 -8.82746419e-05 9.98252520e-01 -3.97045131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.4407140569999 meters 0.016055552813680908 Centerline is valid? [True, True] Translation: X:619.24, Y:-89.30, Z:-39.71 [[ 9.05447612e-01 4.20979055e-01 5.42333612e-02 6.19237088e+02] [-4.20232364e-01 9.07070353e-01 -2.50626164e-02 -8.92962974e+01] [-5.97443107e-02 -9.77274698e-05 9.98213708e-01 -3.97056269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.4707140569999 meters 0.016054258502226967 Centerline is valid? [True, True] Translation: X:619.27, Y:-89.31, Z:-39.71 [[ 9.05191905e-01 4.21520251e-01 5.42981790e-02 6.19266659e+02] [-4.20771646e-01 9.06818981e-01 -2.51109047e-02 -8.93119894e+01] [-5.98233742e-02 -1.16946478e-04 9.98208971e-01 -3.97070018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.500714057 meters 0.016168370261155272 Centerline is valid? [True, True] Translation: X:619.30, Y:-89.33, Z:-39.71 [[ 9.04618584e-01 4.22602369e-01 5.54297288e-02 6.19295082e+02] [-4.21823055e-01 9.06315181e-01 -2.56535074e-02 -8.93296895e+01] [-6.10780377e-02 -1.74897968e-04 9.98132978e-01 -3.97081359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.530714057 meters 0.016252462561764755 Centerline is valid? [True, True] Translation: X:619.32, Y:-89.34, Z:-39.71 [[ 9.04100063e-01 4.23587823e-01 5.63598404e-02 6.19323071e+02] [-4.22782771e-01 9.05855013e-01 -2.61041046e-02 -8.93443798e+01] [-6.21112248e-02 -2.27246877e-04 9.98069208e-01 -3.97093410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.5607140569999 meters 0.016422549028739363 Centerline is valid? [True, True] Translation: X:619.35, Y:-89.36, Z:-39.71 [[ 9.03018378e-01 4.25792870e-01 5.70809945e-02 6.19351280e+02] [-4.24970270e-01 9.04820589e-01 -2.64569829e-02 -8.93597305e+01] [-6.29132537e-02 -3.66583809e-04 9.98018932e-01 -3.97109621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.5907140569999 meters 0.016651264261950748 Centerline is valid? [True, True] Translation: X:619.38, Y:-89.37, Z:-39.71 [[ 9.02320900e-01 4.27231266e-01 5.73623540e-02 6.19380413e+02] [-4.26402309e-01 9.04142268e-01 -2.66050782e-02 -8.93744643e+01] [-6.32302501e-02 -4.53122098e-04 9.97998863e-01 -3.97130511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.620714057 meters 0.016769852858789437 Centerline is valid? [True, True] Translation: X:619.41, Y:-89.39, Z:-39.72 [[ 9.01685533e-01 4.28614080e-01 5.70365592e-02 6.19409573e+02] [-4.27796043e-01 9.03487515e-01 -2.64736725e-02 -8.93895182e+01] [-6.28788080e-02 -5.29086804e-04 9.98021030e-01 -3.97153614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.650714057 meters 0.016997183956511674 Centerline is valid? [True, True] Translation: X:619.44, Y:-89.41, Z:-39.72 [[ 9.00672743e-01 4.30655898e-01 5.76550746e-02 6.19437129e+02] [-4.29822906e-01 9.02515962e-01 -2.67807389e-02 -8.94069085e+01] [-6.35679082e-02 -6.60790099e-04 9.97977297e-01 -3.97170507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.6807140569999 meters 0.01711204272754035 Centerline is valid? [True, True] Translation: X:619.47, Y:-89.42, Z:-39.72 [[ 9.00068204e-01 4.31920309e-01 5.76374357e-02 6.19465833e+02] [-4.31089285e-01 9.01911475e-01 -2.67903007e-02 -8.94231681e+01] [-6.35551396e-02 -7.33783110e-04 9.97978059e-01 -3.97183433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.7107140569999 meters 0.01771994846057706 Centerline is valid? [True, True] Translation: X:619.49, Y:-89.44, Z:-39.72 [[ 8.99378258e-01 4.33239889e-01 5.84974135e-02 6.19492542e+02] [-4.32385383e-01 9.01278272e-01 -2.72095163e-02 -8.94402571e+01] [-6.45106956e-02 -8.21779159e-04 9.97916677e-01 -3.97196376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.740714057 meters 0.017763939171985106 Centerline is valid? [True, True] Translation: X:619.52, Y:-89.46, Z:-39.72 [[ 8.98950466e-01 4.34116009e-01 5.85777273e-02 6.19521206e+02] [-4.33260313e-01 9.00856550e-01 -2.72576217e-02 -8.94567163e+01] [-6.46030992e-02 -8.76152706e-04 9.97910653e-01 -3.97222245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.770714057 meters 0.01753042336551884 Centerline is valid? [True, True] Translation: X:619.55, Y:-89.47, Z:-39.73 [[ 8.98462501e-01 4.35160733e-01 5.83118384e-02 6.19549560e+02] [-4.34313708e-01 9.00352305e-01 -2.71538202e-02 -8.94739748e+01] [-6.43174744e-02 -9.28941532e-04 9.97929055e-01 -3.97252769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.8007140569999 meters 0.017985402091528224 Centerline is valid? [True, True] Translation: X:619.58, Y:-89.49, Z:-39.73 [[ 8.97967858e-01 4.36204886e-01 5.81293631e-02 6.19577942e+02] [-4.35364022e-01 8.99846839e-01 -2.70893969e-02 -8.94892858e+01] [-6.41240509e-02 -9.82025603e-04 9.97941452e-01 -3.97272164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.8307140569999 meters 0.018587522632198664 Centerline is valid? [True, True] Translation: X:619.60, Y:-89.51, Z:-39.73 [[ 8.97387517e-01 4.37408086e-01 5.80500723e-02 6.19603664e+02] [-4.36570814e-01 8.99262512e-01 -2.70713852e-02 -8.95074949e+01] [-6.40434966e-02 -1.04944419e-03 9.97946556e-01 -3.97294500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.860714057 meters 0.018943596798823605 Centerline is valid? [True, True] Translation: X:619.63, Y:-89.52, Z:-39.73 [[ 8.97104200e-01 4.37984588e-01 5.80823199e-02 6.19631966e+02] [-4.37146536e-01 8.98981836e-01 -2.71028339e-02 -8.95248136e+01] [-6.40855741e-02 -1.07641883e-03 9.97943826e-01 -3.97311829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.890714057 meters 0.018581420419584677 Centerline is valid? [True, True] Translation: X:619.66, Y:-89.54, Z:-39.73 [[ 8.96911388e-01 4.38381144e-01 5.80683690e-02 6.19659146e+02] [-4.37543088e-01 8.98788513e-01 -2.71155917e-02 -8.95434760e+01] [-6.40781472e-02 -1.08713048e-03 9.97944292e-01 -3.97334331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.9207140569999 meters 0.01866179814103359 Centerline is valid? [True, True] Translation: X:619.69, Y:-89.56, Z:-39.74 [[ 8.96920691e-01 4.38369052e-01 5.80159310e-02 6.19685906e+02] [-4.37531201e-01 8.98794434e-01 -2.71111240e-02 -8.95645595e+01] [-6.40290736e-02 -1.06725189e-03 9.97947463e-01 -3.97357782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.9507140569999 meters 0.01840657440639631 Centerline is valid? [True, True] Translation: X:619.71, Y:-89.58, Z:-39.74 [[ 8.97149011e-01 4.37970178e-01 5.74958789e-02 6.19713079e+02] [-4.37145236e-01 8.98988932e-01 -2.68875996e-02 -8.95825356e+01] [-6.34641255e-02 -1.01186618e-03 9.97983608e-01 -3.97384720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.9807140569999 meters 0.018410421620309373 Centerline is valid? [True, True] Translation: X:619.74, Y:-89.60, Z:-39.74 [[ 8.97455205e-01 4.37376267e-01 5.72377230e-02 6.19740990e+02] [-4.36556457e-01 8.99278098e-01 -2.67836082e-02 -8.95996747e+01] [-6.31871453e-02 -9.50408995e-04 9.98001243e-01 -3.97410377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.010714057 meters 0.018272879742713882 Centerline is valid? [True, True] Translation: X:619.77, Y:-89.62, Z:-39.74 [[ 8.98462327e-01 4.35346210e-01 5.69133105e-02 6.19765958e+02] [-4.34531160e-01 9.00262763e-01 -2.66388388e-02 -8.96196678e+01] [-6.28340517e-02 -7.96613764e-04 9.98023671e-01 -3.97432166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.040714057 meters 0.01804126337573523 Centerline is valid? [True, True] Translation: X:619.79, Y:-89.64, Z:-39.75 [[ 8.99115702e-01 4.34045674e-01 5.65270499e-02 6.19793246e+02] [-4.33238089e-01 9.00890605e-01 -2.64740772e-02 -8.96372954e+01] [-6.24156468e-02 -6.86412584e-04 9.98050007e-01 -3.97451090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.0707140569999 meters 0.01799663173491282 Centerline is valid? [True, True] Translation: X:619.82, Y:-89.66, Z:-39.75 [[ 9.00706240e-01 4.30862373e-01 5.55507365e-02 6.19818429e+02] [-4.30075400e-01 9.02417542e-01 -2.60332583e-02 -8.96596862e+01] [-6.13467106e-02 -4.42687039e-04 9.98116419e-01 -3.97482066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.1007140569999 meters 0.0182595525898397 Centerline is valid? [True, True] Translation: X:619.85, Y:-89.68, Z:-39.75 [[ 9.01506338e-01 4.29227962e-01 5.52238996e-02 6.19845002e+02] [-4.28446146e-01 9.03196135e-01 -2.58967483e-02 -8.96758801e+01] [-6.09936212e-02 -3.14384199e-04 9.98138106e-01 -3.97502067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.130714057 meters 0.01800172162889851 Centerline is valid? [True, True] Translation: X:619.87, Y:-89.69, Z:-39.75 [[ 9.02392802e-01 4.27457129e-01 5.44760003e-02 6.19871907e+02] [-4.26692226e-01 9.04035603e-01 -2.55611616e-02 -8.96939558e+01] [-6.01745445e-02 -1.78277634e-04 9.98187854e-01 -3.97527936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.160714057 meters 0.018552631750979605 Centerline is valid? [True, True] Translation: X:619.90, Y:-89.71, Z:-39.76 [[ 9.04203335e-01 4.23725766e-01 5.35985589e-02 6.19898819e+02] [-4.22977801e-01 9.05790521e-01 -2.51656833e-02 -8.97146795e+01] [-5.92124150e-02 8.38941656e-05 9.98245402e-01 -3.97559532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.1907140569999 meters 0.01891066821795258 Centerline is valid? [True, True] Translation: X:619.93, Y:-89.73, Z:-39.76 [[ 9.05160357e-01 4.21718014e-01 5.32789355e-02 6.19926056e+02] [-4.20974369e-01 9.06727006e-01 -2.50343252e-02 -8.97317063e+01] [-5.88668755e-02 2.31012515e-04 9.98265815e-01 -3.97580367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.2207140569999 meters 0.019378779930017322 Centerline is valid? [True, True] Translation: X:619.95, Y:-89.75, Z:-39.76 [[ 9.07462395e-01 4.16785267e-01 5.29343287e-02 6.19950966e+02] [-4.16041802e-01 9.09004798e-01 -2.48896643e-02 -8.97522444e+01] [-5.84912042e-02 5.63540858e-04 9.98287765e-01 -3.97598725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.250714057 meters 0.019948782615274677 Centerline is valid? [True, True] Translation: X:619.98, Y:-89.77, Z:-39.76 [[ 9.08626079e-01 4.14236429e-01 5.29795234e-02 6.19978602e+02] [-4.13486494e-01 9.10169012e-01 -2.49256551e-02 -8.97691173e+01] [-5.85454349e-02 7.41782862e-04 9.98284469e-01 -3.97617294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.280714057 meters 0.020114300887969946 Centerline is valid? [True, True] Translation: X:620.01, Y:-89.79, Z:-39.76 [[ 9.10010470e-01 4.11128218e-01 5.34278249e-02 6.20006633e+02] [-4.10359226e-01 9.11577017e-01 -2.51524787e-02 -8.97855705e+01] [-5.90444710e-02 9.64418118e-04 9.98254887e-01 -3.97629050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.3107140569999 meters 0.02129311194034328 Centerline is valid? [True, True] Translation: X:620.03, Y:-89.80, Z:-39.76 [[ 9.12933354e-01 4.04415607e-01 5.47787113e-02 6.20033209e+02] [-4.03594108e-01 9.14574172e-01 -2.58046629e-02 -8.98032289e+01] [-6.05350029e-02 1.44957237e-03 9.98165023e-01 -3.97641337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.3407140569999 meters 0.02155993535818169 Centerline is valid? [True, True] Translation: X:620.06, Y:-89.82, Z:-39.77 [[ 9.14127655e-01 4.01647769e-01 5.52240931e-02 6.20061935e+02] [-4.00807639e-01 9.15792745e-01 -2.60170041e-02 -8.98183782e+01] [-6.10234955e-02 1.64862460e-03 9.98134968e-01 -3.97655743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.370714057 meters 0.022971916924783287 Centerline is valid? [True, True] Translation: X:620.09, Y:-89.83, Z:-39.77 [[ 9.15432550e-01 3.98623426e-01 5.55212641e-02 6.20087942e+02] [-3.97768368e-01 9.17112800e-01 -2.61617761e-02 -8.98348935e+01] [-6.13479588e-02 1.86473886e-03 9.98114698e-01 -3.97666513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.400714057 meters 0.022927519830729617 Centerline is valid? [True, True] Translation: X:620.12, Y:-89.85, Z:-39.77 [[ 9.17552424e-01 3.93659369e-01 5.59450628e-02 6.20116174e+02] [-3.92781811e-01 9.19253714e-01 -2.63639750e-02 -8.98476566e+01] [-6.18061325e-02 2.21612613e-03 9.98085713e-01 -3.97683630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.4307140569999 meters 0.024948535623350976 Centerline is valid? [True, True] Translation: X:620.14, Y:-89.86, Z:-39.77 [[ 9.18506243e-01 3.91335086e-01 5.65962223e-02 6.20142447e+02] [-3.90432364e-01 9.20245117e-01 -2.66738354e-02 -8.98640221e+01] [-6.25208049e-02 2.40308749e-03 9.98040768e-01 -3.97701972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.4607140569999 meters 0.024948535623350976 Centerline is valid? [True, True] Translation: X:620.17, Y:-89.88, Z:-39.77 [[ 9.18398384e-01 3.91588354e-01 5.65947788e-02 6.20171742e+02] [-3.90685923e-01 9.20137410e-01 -2.66768974e-02 -8.98779024e+01] [-6.25213356e-02 2.38923612e-03 9.98040768e-01 -3.97720762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.490714057 meters 0.023740128024362796 Centerline is valid? [True, True] Translation: X:620.20, Y:-89.89, Z:-39.77 [[ 9.19423420e-01 3.89235688e-01 5.61796591e-02 6.20202596e+02] [-3.88340967e-01 9.21134676e-01 -2.64990917e-02 -8.98882002e+01] [-6.20634243e-02 2.54702235e-03 9.98068958e-01 -3.97746032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.520714057 meters 0.025699841139706785 Centerline is valid? [True, True] Translation: X:620.23, Y:-89.90, Z:-39.78 [[ 9.20914662e-01 3.85656983e-01 5.64347032e-02 6.20229596e+02] [-3.84747104e-01 9.22637968e-01 -2.66241535e-02 -8.99022251e+01] [-6.23365906e-02 2.80548470e-03 9.98051241e-01 -3.97760510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.5507140569999 meters 0.027934168287482585 Centerline is valid? [True, True] Translation: X:620.26, Y:-89.92, Z:-39.78 [[ 9.21540120e-01 3.84116391e-01 5.67309863e-02 6.20257178e+02] [-3.83193897e-01 9.23280040e-01 -2.67657371e-02 -8.99175330e+01] [-6.26597457e-02 2.92673283e-03 9.98030656e-01 -3.97772056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.5807140569999 meters 0.02634493827880692 Centerline is valid? [True, True] Translation: X:620.29, Y:-89.93, Z:-39.78 [[ 9.21666187e-01 3.83835293e-01 5.65854006e-02 6.20288187e+02] [-3.82916454e-01 9.23396874e-01 -2.67058546e-02 -8.99265811e+01] [-6.25014315e-02 2.94640225e-03 9.98040525e-01 -3.97790306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.610714057 meters 0.025339066681767906 Centerline is valid? [True, True] Translation: X:620.32, Y:-89.93, Z:-39.78 [[ 9.21982121e-01 3.83078917e-01 5.65642292e-02 6.20320747e+02] [-3.82158290e-01 9.23710707e-01 -2.67127513e-02 -8.99334431e+01] [-6.24820760e-02 3.01219003e-03 9.98041541e-01 -3.97811108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.640714057 meters 0.026341690345540097 Centerline is valid? [True, True] Translation: X:620.35, Y:-89.95, Z:-39.78 [[ 9.21936528e-01 3.83244181e-01 5.61866207e-02 6.20349952e+02] [-3.82335060e-01 9.23642202e-01 -2.65515451e-02 -8.99459757e+01] [-6.20720592e-02 2.99672432e-03 9.98067172e-01 -3.97825918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.6707140569999 meters 0.025748432497994037 Centerline is valid? [True, True] Translation: X:620.38, Y:-89.96, Z:-39.79 [[ 9.21814343e-01 3.83565501e-01 5.59984310e-02 6.20381923e+02] [-3.82661928e-01 9.23508860e-01 -2.64808385e-02 -8.99561258e+01] [-6.18721833e-02 2.98194913e-03 9.98079627e-01 -3.97854177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.7007140569999 meters 0.02562038688818715 Centerline is valid? [True, True] Translation: X:620.41, Y:-89.97, Z:-39.79 [[ 9.21692223e-01 3.83859944e-01 5.59909722e-02 6.20413717e+02] [-3.82955958e-01 9.23386520e-01 -2.64965903e-02 -8.99669700e+01] [-6.18722887e-02 2.97962486e-03 9.98079627e-01 -3.97871013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.7307140569999 meters 0.026383260678704862 Centerline is valid? [True, True] Translation: X:620.44, Y:-89.98, Z:-39.79 [[ 9.21345508e-01 3.84664502e-01 5.61753989e-02 6.20444533e+02] [-3.83754841e-01 9.23051733e-01 -2.66030340e-02 -8.99752003e+01] [-6.20860421e-02 2.95300469e-03 9.98066432e-01 -3.97878611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.760714057 meters 0.02494906187251287 Centerline is valid? [True, True] Translation: X:620.48, Y:-89.98, Z:-39.79 [[ 9.20985380e-01 3.85494397e-01 5.63914864e-02 6.20476773e+02] [-3.84578278e-01 9.22705547e-01 -2.67211761e-02 -8.99830119e+01] [-6.23336009e-02 2.92287179e-03 9.98051090e-01 -3.97890890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.790714057 meters 0.025207925865746682 Centerline is valid? [True, True] Translation: X:620.51, Y:-89.99, Z:-39.79 [[ 9.20221070e-01 3.87319017e-01 5.63663121e-02 6.20509193e+02] [-3.86406066e-01 9.21941464e-01 -2.67262029e-02 -8.99886710e+01] [-6.23180069e-02 2.81373011e-03 9.98052378e-01 -3.97895762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.8207140569999 meters 0.023738870582019744 Centerline is valid? [True, True] Translation: X:620.54, Y:-90.00, Z:-39.79 [[ 9.19781379e-01 3.88365786e-01 5.63403097e-02 6.20541338e+02] [-3.87454584e-01 9.21501174e-01 -2.67307064e-02 -8.99960817e+01] [-6.22989533e-02 2.75709468e-03 9.98053725e-01 -3.97912636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.8507140569999 meters 0.024417833736323134 Centerline is valid? [True, True] Translation: X:620.57, Y:-90.01, Z:-39.79 [[ 9.19533804e-01 3.88947633e-01 5.63677291e-02 6.20571426e+02] [-3.88035605e-01 9.21255807e-01 -2.67601711e-02 -9.00063299e+01] [-6.23374030e-02 2.73419610e-03 9.98051388e-01 -3.97932868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.880714057 meters 0.024115203888661858 Centerline is valid? [True, True] Translation: X:620.61, Y:-90.01, Z:-39.80 [[ 9.19381802e-01 3.89283187e-01 5.65305463e-02 6.20605128e+02] [-3.88365884e-01 9.21114084e-01 -2.68474344e-02 -9.00118143e+01] [-6.25223372e-02 2.72850707e-03 9.98039835e-01 -3.97958173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.910714057 meters 0.02362990515210391 Centerline is valid? [True, True] Translation: X:620.64, Y:-90.02, Z:-39.80 [[ 9.19337046e-01 3.89401810e-01 5.64413567e-02 6.20637034e+02] [-3.88486409e-01 9.21063926e-01 -2.68245268e-02 -9.00212618e+01] [-6.24316169e-02 2.73408126e-03 9.98045499e-01 -3.97981665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.9407140569999 meters 0.02359899304577949 Centerline is valid? [True, True] Translation: X:620.67, Y:-90.03, Z:-39.80 [[ 9.19400319e-01 3.89239112e-01 5.65328845e-02 6.20668101e+02] [-3.88319210e-01 9.21132593e-01 -2.68874811e-02 -9.00315280e+01] [-6.25399417e-02 2.76755367e-03 9.98038625e-01 -3.97999102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.9707140569999 meters 0.023626965486258242 Centerline is valid? [True, True] Translation: X:620.70, Y:-90.04, Z:-39.80 [[ 9.19622884e-01 3.88762321e-01 5.61926145e-02 6.20698717e+02] [-3.87851533e-01 9.21333829e-01 -2.67425365e-02 -9.00413174e+01] [-6.21686472e-02 2.79865688e-03 9.98061735e-01 -3.98018010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.000714057 meters 0.023947123811998015 Centerline is valid? [True, True] Translation: X:620.73, Y:-90.05, Z:-39.80 [[ 9.20397163e-01 3.86885232e-01 5.64701671e-02 6.20731041e+02] [-3.85960859e-01 9.22123139e-01 -2.68911095e-02 -9.00471355e+01] [-6.24762209e-02 2.95522673e-03 9.98042078e-01 -3.98035067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.030714057 meters 0.028419352666394036 Centerline is valid? [True, True] Translation: X:620.76, Y:-90.06, Z:-39.81 [[ 9.21006273e-01 3.85462663e-01 5.62670438e-02 6.20757992e+02] [-3.84541748e-01 9.22718397e-01 -2.68030520e-02 -9.00630368e+01] [-6.22502122e-02 3.04875163e-03 9.98055918e-01 -3.98054270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.0607140569999 meters 0.025090300951752468 Centerline is valid? [True, True] Translation: X:620.79, Y:-90.06, Z:-39.81 [[ 9.23060619e-01 3.80568539e-01 5.59167224e-02 6.20791533e+02] [-3.79649203e-01 9.24746570e-01 -2.66507615e-02 -9.00635772e+01] [-6.18512387e-02 3.37152934e-03 9.98079685e-01 -3.98084257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.0907140569999 meters 0.02746314822588894 Centerline is valid? [True, True] Translation: X:620.82, Y:-90.08, Z:-39.81 [[ 9.24261922e-01 3.77643059e-01 5.59072366e-02 6.20819039e+02] [-3.76718643e-01 9.25944378e-01 -2.66471767e-02 -9.00765005e+01] [-6.18301128e-02 3.56767248e-03 9.98080312e-01 -3.98101443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.120714057 meters 0.026928761407453677 Centerline is valid? [True, True] Translation: X:620.85, Y:-90.09, Z:-39.81 [[ 9.25445305e-01 3.74631409e-01 5.65888307e-02 6.20849233e+02] [-3.73678596e-01 9.27165974e-01 -2.69733859e-02 -9.00858031e+01] [-6.25723158e-02 3.81635850e-03 9.98033136e-01 -3.98121583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.150714057 meters 0.03132355760813999 Centerline is valid? [True, True] Translation: X:620.88, Y:-90.10, Z:-39.81 [[ 9.26588346e-01 3.71836790e-01 5.63155254e-02 6.20875265e+02] [-3.70887891e-01 9.28289555e-01 -2.68453689e-02 -9.01008619e+01] [-6.22592099e-02 3.98785953e-03 9.98052047e-01 -3.98135148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.1807140569999 meters 0.030928062892236013 Centerline is valid? [True, True] Translation: X:620.91, Y:-90.11, Z:-39.81 [[ 9.28366325e-01 3.67346408e-01 5.65029496e-02 6.20907357e+02] [-3.66382881e-01 9.30074241e-01 -2.69349222e-02 -9.01051762e+01] [-6.24463849e-02 4.30376131e-03 9.98039041e-01 -3.98147097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.2107140569999 meters 0.03187265259126031 Centerline is valid? [True, True] Translation: X:620.94, Y:-90.12, Z:-39.82 [[ 9.28863738e-01 3.65991759e-01 5.71155751e-02 6.20938051e+02] [-3.65004465e-01 9.30607474e-01 -2.72299548e-02 -9.01157710e+01] [-6.31181201e-02 4.44547768e-03 9.97996163e-01 -3.98161607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.240714057 meters 0.03323241003575345 Centerline is valid? [True, True] Translation: X:620.97, Y:-90.13, Z:-39.82 [[ 9.29405969e-01 3.64538352e-01 5.75876309e-02 6.20967788e+02] [-3.63531569e-01 9.31177080e-01 -2.74598615e-02 -9.01257945e+01] [-6.36344547e-02 4.58643736e-03 9.97962735e-01 -3.98175197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.270714057 meters 0.034294901233762824 Centerline is valid? [True, True] Translation: X:621.00, Y:-90.13, Z:-39.82 [[ 9.30394143e-01 3.61950917e-01 5.79506038e-02 6.20999034e+02] [-3.60926174e-01 9.32184812e-01 -2.76364538e-02 -9.01307669e+01] [-6.40237125e-02 4.79690504e-03 9.97936849e-01 -3.98175544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.3007140569999 meters 0.03366985011418732 Centerline is valid? [True, True] Translation: X:621.03, Y:-90.14, Z:-39.82 [[ 9.30715857e-01 3.61101249e-01 5.80851278e-02 6.21030276e+02] [-3.60069979e-01 9.32513907e-01 -2.77023988e-02 -9.01391447e+01] [-6.41685603e-02 4.86835107e-03 9.97927199e-01 -3.98192238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.3307140569999 meters 0.0321751185303526 Centerline is valid? [True, True] Translation: X:621.06, Y:-90.15, Z:-39.82 [[ 9.30911929e-01 3.60601958e-01 5.80448880e-02 6.21061558e+02] [-3.59570666e-01 9.32706896e-01 -2.76908237e-02 -9.01461811e+01] [-6.41242326e-02 4.90647902e-03 9.97929862e-01 -3.98209601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.360714057 meters 0.031167969734361742 Centerline is valid? [True, True] Translation: X:621.09, Y:-90.15, Z:-39.82 [[ 9.30900407e-01 3.60624643e-01 5.80887169e-02 6.21093517e+02] [-3.59590732e-01 9.32698030e-01 -2.77288713e-02 -9.01537994e+01] [-6.41789461e-02 4.92465332e-03 9.97926255e-01 -3.98226449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.390714057 meters 0.03823119994777296 Centerline is valid? [True, True] Translation: X:621.12, Y:-90.16, Z:-39.82 [[ 9.30476042e-01 3.61760243e-01 5.78261325e-02 6.21123142e+02] [-3.60736725e-01 9.32258598e-01 -2.76210281e-02 -9.01648810e+01] [-6.39010991e-02 4.84069524e-03 9.97944496e-01 -3.98233406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.4207140569999 meters 0.02994511749754951 Centerline is valid? [True, True] Translation: X:621.16, Y:-90.16, Z:-39.83 [[ 9.30086098e-01 3.62721718e-01 5.80758639e-02 6.21160324e+02] [-3.61690064e-01 9.31885080e-01 -2.77577883e-02 -9.01622704e+01] [-6.41883838e-02 4.81167002e-03 9.97926199e-01 -3.98258864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.4507140569999 meters 0.03301030949540018 Centerline is valid? [True, True] Translation: X:621.19, Y:-90.17, Z:-39.83 [[ 9.29499052e-01 3.64093096e-01 5.88874274e-02 6.21188899e+02] [-3.63034012e-01 9.31350197e-01 -2.81623218e-02 -9.01735432e+01] [-6.50985241e-02 4.79871238e-03 9.97867303e-01 -3.98269903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.4807140569999 meters 0.028602205943361148 Centerline is valid? [True, True] Translation: X:621.23, Y:-90.17, Z:-39.83 [[ 9.28497305e-01 3.66510602e-01 5.96886425e-02 6.21225103e+02] [-3.65427173e-01 9.30402024e-01 -2.85491553e-02 -9.01699597e+01] [-6.59980019e-02 4.69596182e-03 9.97808705e-01 -3.98289187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.510714057 meters 0.031265427302062124 Centerline is valid? [True, True] Translation: X:621.25, Y:-90.18, Z:-39.83 [[ 9.27964982e-01 3.67831600e-01 5.98406763e-02 6.21254044e+02] [-3.66745128e-01 9.29880958e-01 -2.86254074e-02 -9.01812208e+01] [-6.61740348e-02 4.61709918e-03 9.97797414e-01 -3.98302487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.540714057 meters 0.029359005442963448 Centerline is valid? [True, True] Translation: X:621.29, Y:-90.18, Z:-39.83 [[ 9.27288532e-01 3.69655609e-01 5.90822296e-02 6.21289089e+02] [-3.68599228e-01 9.29158212e-01 -2.82776658e-02 -9.01814633e+01] [-6.53497366e-02 4.44389100e-03 9.97852526e-01 -3.98328114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.5707140569999 meters 0.03198552601474682 Centerline is valid? [True, True] Translation: X:621.32, Y:-90.19, Z:-39.84 [[ 9.27111169e-01 3.70219552e-01 5.83297819e-02 6.21319432e+02] [-3.69190766e-01 9.28934090e-01 -2.79219288e-02 -9.01930287e+01] [-6.45217668e-02 4.35191526e-03 9.97906811e-01 -3.98352557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.6007140569999 meters 0.03244697799075879 Centerline is valid? [True, True] Translation: X:621.35, Y:-90.20, Z:-39.84 [[ 9.26977701e-01 3.70639277e-01 5.77829450e-02 6.21350919e+02] [-3.69629855e-01 9.28766982e-01 -2.76706098e-02 -9.02018940e+01] [-6.39227062e-02 4.29173663e-03 9.97945624e-01 -3.98376187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.630714057 meters 0.034509186506965134 Centerline is valid? [True, True] Translation: X:621.38, Y:-90.21, Z:-39.84 [[ 9.27251808e-01 3.70103011e-01 5.68141289e-02 6.21381428e+02] [-3.69125190e-01 9.28980905e-01 -2.72226370e-02 -9.02062346e+01] [-6.28544208e-02 4.27071323e-03 9.98013568e-01 -3.98405710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.660714057 meters 0.038262828602771644 Centerline is valid? [True, True] Translation: X:621.41, Y:-90.22, Z:-39.84 [[ 9.27574713e-01 3.69320674e-01 5.66338418e-02 6.21407396e+02] [-3.68347698e-01 9.29292029e-01 -2.71348058e-02 -9.02183840e+01] [-6.26508226e-02 4.30861443e-03 9.98026207e-01 -3.98426162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.6907140569999 meters 0.03608146831124583 Centerline is valid? [True, True] Translation: X:621.44, Y:-90.22, Z:-39.84 [[ 9.28126011e-01 3.67885262e-01 5.69433209e-02 6.21437732e+02] [-3.66899154e-01 9.29860657e-01 -2.72794714e-02 -9.02235401e+01] [-6.29850693e-02 4.42633077e-03 9.98004654e-01 -3.98447751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.7207140569999 meters 0.03603966726238649 Centerline is valid? [True, True] Translation: X:621.47, Y:-90.23, Z:-39.85 [[ 9.28672692e-01 3.66481574e-01 5.70814047e-02 6.21466756e+02] [-3.65488195e-01 9.30414280e-01 -2.73431302e-02 -9.02317912e+01] [-6.31301075e-02 4.53023873e-03 9.97995023e-01 -3.98466907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.750714057 meters 0.03897525596798803 Centerline is valid? [True, True] Translation: X:621.49, Y:-90.24, Z:-39.85 [[ 9.29353405e-01 3.64829340e-01 5.65844635e-02 6.21493113e+02] [-3.63850321e-01 9.31063047e-01 -2.71025301e-02 -9.02433539e+01] [-6.25715012e-02 4.59955341e-03 9.98029885e-01 -3.98489152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.780714057 meters 0.03875572426286576 Centerline is valid? [True, True] Translation: X:621.52, Y:-90.25, Z:-39.85 [[ 9.30651191e-01 3.61596691e-01 5.60017383e-02 6.21524274e+02] [-3.60632153e-01 9.32322443e-01 -2.68200157e-02 -9.02478621e+01] [-6.19097063e-02 4.76405209e-03 9.98070384e-01 -3.98522581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.8107140569999 meters 0.04163833858486406 Centerline is valid? [True, True] Translation: X:621.55, Y:-90.26, Z:-39.85 [[ 9.31369899e-01 3.59788274e-01 5.57001647e-02 6.21550434e+02] [-3.58830940e-01 9.33021331e-01 -2.66749313e-02 -9.02598814e+01] [-6.15667693e-02 4.85728559e-03 9.98091148e-01 -3.98543792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.8407140569999 meters 0.039481914249126136 Centerline is valid? [True, True] Translation: X:621.58, Y:-90.27, Z:-39.86 [[ 9.31987355e-01 3.58175149e-01 5.57685601e-02 6.21580406e+02] [-3.57212815e-01 9.33641203e-01 -2.67041138e-02 -9.02660510e+01] [-6.16325755e-02 4.96665209e-03 9.98086548e-01 -3.98564783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.870714057 meters 0.03770838683670575 Centerline is valid? [True, True] Translation: X:621.61, Y:-90.27, Z:-39.86 [[ 9.32966119e-01 3.55526554e-01 5.63479453e-02 6.21612723e+02] [-3.54539455e-01 9.34651755e-01 -2.69791131e-02 -9.02688202e+01] [-6.22574971e-02 5.19302860e-03 9.98046610e-01 -3.98587259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.900714057 meters 0.049051346060161115 Centerline is valid? [True, True] Translation: X:621.63, Y:-90.29, Z:-39.86 [[ 9.33454153e-01 3.54292973e-01 5.60342160e-02 6.21633814e+02] [-3.53314736e-01 9.35119770e-01 -2.68274528e-02 -9.02908992e+01] [-6.19034812e-02 5.24448299e-03 9.98068362e-01 -3.98598478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.9307140569999 meters 0.046109162262325865 Centerline is valid? [True, True] Translation: X:621.66, Y:-90.30, Z:-39.86 [[ 9.33765730e-01 3.53504675e-01 5.58211918e-02 6.21663038e+02] [-3.52532719e-01 9.35417897e-01 -2.67215388e-02 -9.02953748e+01] [-6.16623307e-02 5.27286071e-03 9.98083140e-01 -3.98619397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.9607140569999 meters 0.051571387406457385 Centerline is valid? [True, True] Translation: X:621.69, Y:-90.30, Z:-39.86 [[ 9.34439441e-01 3.51777927e-01 5.54546797e-02 6.21689511e+02] [-3.50816053e-01 9.36068219e-01 -2.65402604e-02 -9.03045811e+01] [-6.12456411e-02 5.34587419e-03 9.98108407e-01 -3.98641446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.990714057 meters 0.05368750812574669 Centerline is valid? [True, True] Translation: X:621.72, Y:-90.31, Z:-39.87 [[ 9.34715827e-01 3.50998191e-01 5.57368213e-02 6.21715576e+02] [-3.50025417e-01 9.36360451e-01 -2.66704671e-02 -9.03145499e+01] [-6.15510408e-02 5.42000358e-03 9.98089221e-01 -3.98661671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.020714057 meters 0.05200004006195016 Centerline is valid? [True, True] Translation: X:621.74, Y:-90.32, Z:-39.87 [[ 9.34954093e-01 3.50423856e-01 5.53530981e-02 6.21744531e+02] [-3.49463793e-01 9.36575571e-01 -2.64812639e-02 -9.03201597e+01] [-6.11220260e-02 5.41486244e-03 9.98115613e-01 -3.98686491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.0507140569999 meters 0.04610701768944919 Centerline is valid? [True, True] Translation: X:621.78, Y:-90.32, Z:-39.87 [[ 9.35246048e-01 3.49622437e-01 5.54885708e-02 6.21775675e+02] [-3.48656556e-01 9.36874678e-01 -2.65413601e-02 -9.03206255e+01] [-6.12652918e-02 5.47624815e-03 9.98106495e-01 -3.98708996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.0807140569999 meters 0.043764241039850105 Centerline is valid? [True, True] Translation: X:621.81, Y:-90.32, Z:-39.87 [[ 9.35828159e-01 3.48105960e-01 5.52077660e-02 6.21808722e+02] [-3.47147586e-01 9.37438814e-01 -2.64012241e-02 -9.03200651e+01] [-6.09443261e-02 5.54176625e-03 9.98125783e-01 -3.98734675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.110714057 meters 0.0575587372235522 Centerline is valid? [True, True] Translation: X:621.83, Y:-90.34, Z:-39.88 [[ 9.36196131e-01 3.47110121e-01 5.52391936e-02 6.21828234e+02] [-3.46149113e-01 9.37807616e-01 -2.64133907e-02 -9.03430887e+01] [-6.09720917e-02 5.60711634e-03 9.98123722e-01 -3.98751610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.140714057 meters 0.04932774327877759 Centerline is valid? [True, True] Translation: X:621.87, Y:-90.33, Z:-39.88 [[ 9.36781412e-01 3.45610805e-01 5.47152488e-02 6.21865240e+02] [-3.44665959e-01 9.38360984e-01 -2.61541592e-02 -9.03340184e+01] [-6.03818147e-02 5.64224650e-03 9.98159407e-01 -3.98787154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.1707140569999 meters 0.04615739086864825 Centerline is valid? [True, True] Translation: X:621.90, Y:-90.34, Z:-39.88 [[ 9.36979806e-01 3.45079999e-01 5.46684274e-02 6.21895861e+02] [-3.44136064e-01 9.38556157e-01 -2.61287030e-02 -9.03371515e+01] [-6.03258820e-02 5.66868967e-03 9.98162639e-01 -3.98808202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.2007140569999 meters 0.05011871661875001 Centerline is valid? [True, True] Translation: X:621.92, Y:-90.35, Z:-39.88 [[ 9.37252482e-01 3.44351746e-01 5.45862639e-02 6.21921385e+02] [-3.43410441e-01 9.38823458e-01 -2.60726564e-02 -9.03479193e+01] [-6.02250298e-02 5.69116903e-03 9.98168601e-01 -3.98828554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.2307140569999 meters 0.052330916572406586 Centerline is valid? [True, True] Translation: X:621.95, Y:-90.36, Z:-39.88 [[ 9.37518068e-01 3.43615491e-01 5.46650487e-02 6.21947631e+02] [-3.42670604e-01 9.39092880e-01 -2.61040274e-02 -9.03565069e+01] [-6.03053062e-02 5.74089203e-03 9.98163470e-01 -3.98849275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.260714057 meters 0.049467447355772735 Centerline is valid? [True, True] Translation: X:621.98, Y:-90.35, Z:-39.89 [[ 9.38127016e-01 3.42044636e-01 5.40663381e-02 6.21981041e+02] [-3.41118293e-01 9.39665993e-01 -2.58095307e-02 -9.03540990e+01] [-5.96323108e-02 5.76960102e-03 9.98203736e-01 -3.98879110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.290714057 meters 0.05441538163231056 Centerline is valid? [True, True] Translation: X:622.01, Y:-90.37, Z:-39.89 [[ 9.38491944e-01 3.41100271e-01 5.36979984e-02 6.22006581e+02] [-3.40185208e-01 9.40009108e-01 -2.56300970e-02 -9.03667784e+01] [-5.92190406e-02 5.78637482e-03 9.98228242e-01 -3.98903723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.3207140569999 meters 0.05476963290739299 Centerline is valid? [True, True] Translation: X:622.04, Y:-90.37, Z:-39.89 [[ 9.38975943e-01 3.39865484e-01 5.30625266e-02 6.22035789e+02] [-3.38970231e-01 9.40456226e-01 -2.53232916e-02 -9.03742531e+01] [-5.85094963e-02 5.79134470e-03 9.98270053e-01 -3.98929209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.3507140569999 meters 0.05476963290739299 Centerline is valid? [True, True] Translation: X:622.06, Y:-90.39, Z:-39.89 [[ 9.39072822e-01 3.39597553e-01 5.30635305e-02 6.22060686e+02] [-3.38701995e-01 9.40552920e-01 -2.53211879e-02 -9.03860362e+01] [-5.85080720e-02 5.80571571e-03 9.98270053e-01 -3.98945172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.380714057 meters 0.05070695626158755 Centerline is valid? [True, True] Translation: X:622.09, Y:-90.39, Z:-39.90 [[ 9.39326012e-01 3.38936645e-01 5.28071396e-02 6.22091289e+02] [-3.38049766e-01 9.40791313e-01 -2.51805542e-02 -9.03877009e+01] [-5.82151108e-02 5.80130841e-03 9.98287206e-01 -3.98968551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.410714057 meters 0.05061892403530247 Centerline is valid? [True, True] Translation: X:622.12, Y:-90.39, Z:-39.90 [[ 9.39517781e-01 3.38443483e-01 5.25580387e-02 6.22122083e+02] [-3.37564543e-01 9.40968854e-01 -2.50558398e-02 -9.03887538e+01] [-5.79354632e-02 5.79867673e-03 9.98303490e-01 -3.98994398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.4407140569999 meters 0.05084629545593661 Centerline is valid? [True, True] Translation: X:622.15, Y:-90.40, Z:-39.90 [[ 9.39527752e-01 3.38350268e-01 5.29782930e-02 6.22150158e+02] [-3.37457420e-01 9.41002089e-01 -2.52499301e-02 -9.03959088e+01] [-5.83960050e-02 5.84509204e-03 9.98276385e-01 -3.99016004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.4707140569999 meters 0.05350338683853382 Centerline is valid? [True, True] Translation: X:622.18, Y:-90.40, Z:-39.90 [[ 9.39203160e-01 3.39356558e-01 5.22929320e-02 6.22178940e+02] [-3.38489177e-01 9.40640594e-01 -2.49068124e-02 -9.04002350e+01] [-5.76411448e-02 5.69196542e-03 9.98321141e-01 -3.99041840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.500714057 meters 0.05063410327863842 Centerline is valid? [True, True] Translation: X:622.21, Y:-90.40, Z:-39.91 [[ 9.38758408e-01 3.40640041e-01 5.19327923e-02 6.22209647e+02] [-3.39786987e-01 9.40177310e-01 -2.47270801e-02 -9.04041585e+01] [-5.72490665e-02 5.56666736e-03 9.98344408e-01 -3.99060447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.530714057 meters 0.04824581947619786 Centerline is valid? [True, True] Translation: X:622.24, Y:-90.41, Z:-39.91 [[ 9.38065585e-01 3.42619730e-01 5.14264482e-02 6.22240200e+02] [-3.41786315e-01 9.39458708e-01 -2.44836920e-02 -9.04087194e+01] [-5.67016205e-02 5.39045255e-03 9.98376617e-01 -3.99079540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.5607140569999 meters 0.04765641415010714 Centerline is valid? [True, True] Translation: X:622.27, Y:-90.41, Z:-39.91 [[ 9.36050327e-01 3.48255487e-01 5.02782282e-02 6.22271318e+02] [-3.47467058e-01 9.37386671e-01 -2.39347708e-02 -9.04099928e+01] [-5.54655562e-02 4.93412198e-03 9.98448410e-01 -3.99104284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.5907140569999 meters 0.04936465800734632 Centerline is valid? [True, True] Translation: X:622.30, Y:-90.42, Z:-39.91 [[ 9.34745190e-01 3.51669193e-01 5.07957493e-02 6.22298908e+02] [-3.50869524e-01 9.36112142e-01 -2.41792141e-02 -9.04196460e+01] [-5.60536024e-02 4.77872369e-03 9.98416325e-01 -3.99124865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.620714057 meters 0.04665326728600812 Centerline is valid? [True, True] Translation: X:622.33, Y:-90.42, Z:-39.91 [[ 9.33550500e-01 3.54829669e-01 5.07874934e-02 6.22330141e+02] [-3.54035029e-01 9.34919716e-01 -2.41727677e-02 -9.04236433e+01] [-5.60594440e-02 4.58594763e-03 9.98416901e-01 -3.99137849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.650714057 meters 0.04461252583236619 Centerline is valid? [True, True] Translation: X:622.36, Y:-90.42, Z:-39.91 [[ 9.30826222e-01 3.61827375e-01 5.14149349e-02 6.22362146e+02] [-3.61023603e-01 9.32235583e-01 -2.44698806e-02 -9.04240938e+01] [-5.67847044e-02 4.21520143e-03 9.98377549e-01 -3.99145004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.6807140569999 meters 0.04359998778078712 Centerline is valid? [True, True] Translation: X:622.39, Y:-90.43, Z:-39.92 [[ 9.30070239e-01 3.63756906e-01 5.14807168e-02 6.22392348e+02] [-3.62954146e-01 9.31484890e-01 -2.44987315e-02 -9.04308958e+01] [-5.68650927e-02 4.10040147e-03 9.98373451e-01 -3.99157115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.7107140569999 meters 0.042790080878639 Centerline is valid? [True, True] Translation: X:622.42, Y:-90.44, Z:-39.92 [[ 9.29601822e-01 3.64943902e-01 5.15402889e-02 6.22421318e+02] [-3.64141145e-01 9.31020781e-01 -2.45261447e-02 -9.04381864e+01] [-5.69357469e-02 4.03160902e-03 9.98369705e-01 -3.99179129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.740714057 meters 0.04341153552684451 Centerline is valid? [True, True] Translation: X:622.45, Y:-90.45, Z:-39.92 [[ 9.29587325e-01 3.65093484e-01 5.07361146e-02 6.22447330e+02] [-3.64316633e-01 9.30962500e-01 -2.41291179e-02 -9.04471902e+01] [-5.60428037e-02 3.94611168e-03 9.98420569e-01 -3.99196070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.770714057 meters 0.041496894900115544 Centerline is valid? [True, True] Translation: X:622.48, Y:-90.45, Z:-39.92 [[ 9.30430298e-01 3.62961206e-01 5.05828404e-02 6.22478050e+02] [-3.62186222e-01 9.31795419e-01 -2.40507344e-02 -9.04510366e+01] [-5.58623426e-02 4.05712411e-03 9.98430237e-01 -3.99214354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.8007140569999 meters 0.04276025537043535 Centerline is valid? [True, True] Translation: X:622.50, Y:-90.46, Z:-39.92 [[ 9.30877756e-01 3.61812482e-01 5.05799459e-02 6.22504140e+02] [-3.61036090e-01 9.32241777e-01 -2.40460102e-02 -9.04629218e+01] [-5.58528853e-02 4.12271013e-03 9.98430498e-01 -3.99225926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.8307140569999 meters 0.04358916721824337 Centerline is valid? [True, True] Translation: X:622.53, Y:-90.47, Z:-39.92 [[ 9.31788197e-01 3.59501170e-01 5.02957758e-02 6.22533135e+02] [-3.58730329e-01 9.33135028e-01 -2.39075376e-02 -9.04710330e+01] [-5.55275379e-02 4.23414116e-03 9.98448178e-01 -3.99247610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.860714057 meters 0.04350719292291471 Centerline is valid? [True, True] Translation: X:622.56, Y:-90.48, Z:-39.93 [[ 9.32208163e-01 3.58451952e-01 5.00013900e-02 6.22560321e+02] [-3.57688655e-01 9.33538407e-01 -2.37669571e-02 -9.04805789e+01] [-5.51975302e-02 4.27082147e-03 9.98466320e-01 -3.99265184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.890714057 meters 0.0498706955439423 Centerline is valid? [True, True] Translation: X:622.58, Y:-90.50, Z:-39.93 [[ 9.32361780e-01 3.58117177e-01 4.95338196e-02 6.22582826e+02] [-3.57368478e-01 9.33667041e-01 -2.35292847e-02 -9.04968203e+01] [-5.46743358e-02 4.23597999e-03 9.98495255e-01 -3.99290361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.9207140569999 meters 0.04464754079510307 Centerline is valid? [True, True] Translation: X:622.62, Y:-90.50, Z:-39.93 [[ 9.31738135e-01 3.59825982e-01 4.88805760e-02 6.22616172e+02] [-3.59099691e-01 9.33010541e-01 -2.32108188e-02 -9.04966090e+01] [-5.39579483e-02 4.07340524e-03 9.98534900e-01 -3.99306580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.9507140569999 meters 0.043802573441586695 Centerline is valid? [True, True] Translation: X:622.64, Y:-90.51, Z:-39.93 [[ 9.31022786e-01 3.61690276e-01 4.87515817e-02 6.22644946e+02] [-3.60970505e-01 9.32289935e-01 -2.31467149e-02 -9.05052133e+01] [-5.38225507e-02 3.95223589e-03 9.98542695e-01 -3.99322786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.9807140569999 meters 0.04325211216213432 Centerline is valid? [True, True] Translation: X:622.67, Y:-90.51, Z:-39.93 [[ 9.29129460e-01 3.66521083e-01 4.87928502e-02 6.22674741e+02] [-3.65806808e-01 9.30402493e-01 -2.31641944e-02 -9.05106020e+01] [-5.38871551e-02 3.67377867e-03 9.98540274e-01 -3.99338355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.010714057 meters 0.042474748839610554 Centerline is valid? [True, True] Translation: X:622.70, Y:-90.52, Z:-39.94 [[ 9.28042976e-01 3.69217621e-01 4.91384137e-02 6.22703319e+02] [-3.68497032e-01 9.29336221e-01 -2.33264935e-02 -9.05192670e+01] [-5.42786601e-02 3.54062878e-03 9.98519550e-01 -3.99353423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.040714057 meters 0.041365260385291244 Centerline is valid? [True, True] Translation: X:622.73, Y:-90.53, Z:-39.94 [[ 9.26880691e-01 3.72099667e-01 4.93358204e-02 6.22732748e+02] [-3.71377442e-01 9.28186613e-01 -2.34180788e-02 -9.05274779e+01] [-5.45067074e-02 3.38355431e-03 9.98507672e-01 -3.99369946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.0707140569999 meters 0.03974901178736789 Centerline is valid? [True, True] Translation: X:622.76, Y:-90.54, Z:-39.94 [[ 9.25511705e-01 3.75428339e-01 4.98161170e-02 6.22761650e+02] [-3.74696815e-01 9.26845838e-01 -2.36450640e-02 -9.05356507e+01] [-5.50488878e-02 3.21784312e-03 9.98478475e-01 -3.99382437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.1007140569999 meters 0.03815920520190884 Centerline is valid? [True, True] Translation: X:622.79, Y:-90.54, Z:-39.94 [[ 9.22930204e-01 3.81722474e-01 4.98777711e-02 6.22791056e+02] [-3.80998374e-01 9.24272612e-01 -2.36722951e-02 -9.05409375e+01] [-5.51369048e-02 2.84452640e-03 9.98474752e-01 -3.99393037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.130714057 meters 0.03668976462554412 Centerline is valid? [True, True] Translation: X:622.82, Y:-90.55, Z:-39.94 [[ 9.21651927e-01 3.84808821e-01 4.97985738e-02 6.22819993e+02] [-3.84091663e-01 9.22992488e-01 -2.36317849e-02 -9.05492213e+01] [-5.50574288e-02 2.65306299e-03 9.98479665e-01 -3.99406984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.160714057 meters 0.03594209950267215 Centerline is valid? [True, True] Translation: X:622.85, Y:-90.56, Z:-39.94 [[ 9.20479631e-01 3.87591264e-01 4.99025222e-02 6.22847418e+02] [-3.86875288e-01 9.21827973e-01 -2.36791062e-02 -9.05584674e+01] [-5.51793556e-02 2.49008230e-03 9.98473354e-01 -3.99422263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.1907140569999 meters 0.03464965120771548 Centerline is valid? [True, True] Translation: X:622.88, Y:-90.57, Z:-39.94 [[ 9.19177173e-01 3.90667727e-01 4.99204575e-02 6.22875668e+02] [-3.89955889e-01 9.20528879e-01 -2.36851581e-02 -9.05680427e+01] [-5.52062497e-02 2.30408030e-03 9.98472314e-01 -3.99442438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.2207140569999 meters 0.030499003970445436 Centerline is valid? [True, True] Translation: X:622.91, Y:-90.57, Z:-39.95 [[ 9.17187379e-01 3.95347311e-01 4.96771035e-02 6.22906982e+02] [-3.94649340e-01 9.18529509e-01 -2.35677639e-02 -9.05710384e+01] [-5.49473376e-02 2.01101949e-03 9.98487229e-01 -3.99461388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.250714057 meters 0.03025976537037363 Centerline is valid? [True, True] Translation: X:622.93, Y:-90.58, Z:-39.95 [[ 9.16273134e-01 3.97454406e-01 4.97346801e-02 6.22934237e+02] [-3.96758026e-01 9.17619988e-01 -2.35929495e-02 -9.05817923e+01] [-5.50146582e-02 1.88495230e-03 9.98483768e-01 -3.99479653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.280714057 meters 0.02952693705528017 Centerline is valid? [True, True] Translation: X:622.96, Y:-90.59, Z:-39.95 [[ 9.14292102e-01 4.01936227e-01 5.01719184e-02 6.22961421e+02] [-4.01235052e-01 9.15666236e-01 -2.37860779e-02 -9.05923702e+01] [-5.55012181e-02 1.61669086e-03 9.98457311e-01 -3.99489915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.3107140569999 meters 0.029119136763347715 Centerline is valid? [True, True] Translation: X:622.99, Y:-90.60, Z:-39.95 [[ 9.13886560e-01 4.02769309e-01 5.08747363e-02 6.22987562e+02] [-4.02049724e-01 9.15300151e-01 -2.41174740e-02 -9.06039265e+01] [-5.62794322e-02 1.58646171e-03 9.98413796e-01 -3.99502890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.3407140569999 meters 0.028991750427539514 Centerline is valid? [True, True] Translation: X:623.01, Y:-90.62, Z:-39.95 [[ 9.13641607e-01 4.03216816e-01 5.17224685e-02 6.23013563e+02] [-4.02474601e-01 9.15103126e-01 -2.45043821e-02 -9.06157886e+01] [-5.72119715e-02 1.57124318e-03 9.98360817e-01 -3.99517802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.370714057 meters 0.02914661447633037 Centerline is valid? [True, True] Translation: X:623.04, Y:-90.63, Z:-39.95 [[ 9.13644984e-01 4.03052050e-01 5.29328640e-02 6.23037559e+02] [-4.02275291e-01 9.15175650e-01 -2.50623175e-02 -9.06298849e+01] [-5.85442867e-02 1.60447744e-03 9.98283523e-01 -3.99531400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.400714057 meters 0.028218960103966267 Centerline is valid? [True, True] Translation: X:623.06, Y:-90.64, Z:-39.95 [[ 9.14083625e-01 4.02021675e-01 5.31949101e-02 6.23063316e+02] [-4.01236491e-01 9.15628641e-01 -2.51688268e-02 -9.06424088e+01] [-5.88251972e-02 1.66267339e-03 9.98266914e-01 -3.99545337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.4307140569999 meters 0.0302719079335309 Centerline is valid? [True, True] Translation: X:623.09, Y:-90.66, Z:-39.96 [[ 9.14715400e-01 4.00600063e-01 5.30596515e-02 6.23085133e+02] [-3.99817413e-01 9.16251373e-01 -2.50889831e-02 -9.06605976e+01] [-5.86666268e-02 1.73510666e-03 9.98276122e-01 -3.99567325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.4607140569999 meters 0.029394849293481656 Centerline is valid? [True, True] Translation: X:623.11, Y:-90.67, Z:-39.96 [[ 9.15792069e-01 3.98291456e-01 5.18536633e-02 6.23109693e+02] [-3.97540781e-01 9.17257083e-01 -2.45106159e-02 -9.06744032e+01] [-5.73255089e-02 1.83268185e-03 9.98353859e-01 -3.99594132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.490714057 meters 0.032325661056274255 Centerline is valid? [True, True] Translation: X:623.13, Y:-90.69, Z:-39.96 [[ 9.15989840e-01 3.97830340e-01 5.19002280e-02 6.23131403e+02] [-3.97077896e-01 9.17457120e-01 -2.45270568e-02 -9.06944921e+01] [-5.73738411e-02 1.85810144e-03 9.98351035e-01 -3.99614436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.520714057 meters 0.0298727561999527 Centerline is valid? [True, True] Translation: X:623.16, Y:-90.71, Z:-39.96 [[ 9.16660867e-01 3.96380552e-01 5.11401279e-02 6.23158449e+02] [-3.95648043e-01 9.18084304e-01 -2.41627151e-02 -9.07051526e+01] [-5.65285790e-02 1.91552380e-03 9.98399144e-01 -3.99633118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.5507140569999 meters 0.031115383160527976 Centerline is valid? [True, True] Translation: X:623.18, Y:-90.72, Z:-39.97 [[ 9.16796635e-01 3.96050257e-01 5.12652402e-02 6.23180749e+02] [-3.95314529e-01 9.18226815e-01 -2.42061894e-02 -9.07209813e+01] [-5.66599858e-02 1.92625872e-03 9.98391674e-01 -3.99650246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.5807140569999 meters 0.02997505200890054 Centerline is valid? [True, True] Translation: X:623.21, Y:-90.73, Z:-39.97 [[ 9.16973055e-01 3.95573026e-01 5.17918687e-02 6.23206317e+02] [-3.94822034e-01 9.18432426e-01 -2.44425925e-02 -9.07324890e+01] [-5.72361619e-02 1.96462778e-03 9.98358734e-01 -3.99663711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.610714057 meters 0.030700618761739372 Centerline is valid? [True, True] Translation: X:623.23, Y:-90.75, Z:-39.97 [[ 9.17450926e-01 3.94377148e-01 5.24448671e-02 6.23229141e+02] [-3.93606199e-01 9.18946391e-01 -2.47323777e-02 -9.07496773e+01] [-5.79479059e-02 2.04811806e-03 9.98317507e-01 -3.99679118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.640714057 meters 0.031174380559346196 Centerline is valid? [True, True] Translation: X:623.25, Y:-90.76, Z:-39.97 [[ 9.17681382e-01 3.93805646e-01 5.27066881e-02 6.23252782e+02] [-3.93026362e-01 9.19191355e-01 -2.48501658e-02 -9.07647028e+01] [-5.82336677e-02 2.08941662e-03 9.98300794e-01 -3.99694469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.6707140569999 meters 0.031769954819921 Centerline is valid? [True, True] Translation: X:623.28, Y:-90.78, Z:-39.97 [[ 9.18327738e-01 3.92249868e-01 5.30490890e-02 6.23277858e+02] [-3.91458167e-01 9.19856083e-01 -2.50057935e-02 -9.07796111e+01] [-5.86060465e-02 2.19701465e-03 9.98278771e-01 -3.99715071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.7007140569999 meters 0.032195711957403186 Centerline is valid? [True, True] Translation: X:623.30, Y:-90.79, Z:-39.97 [[ 9.18887978e-01 3.90859708e-01 5.36057172e-02 6.23302147e+02] [-3.90049880e-01 9.20447403e-01 -2.52521288e-02 -9.07945823e+01] [-5.92112829e-02 2.29497406e-03 9.98242835e-01 -3.99734058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.7307140569999 meters 0.031991958304685715 Centerline is valid? [True, True] Translation: X:623.33, Y:-90.81, Z:-39.97 [[ 9.20012355e-01 3.88131843e-01 5.41381455e-02 6.23327051e+02] [-3.87302054e-01 9.21600520e-01 -2.54872678e-02 -9.08109923e+01] [-5.97861632e-02 2.48078632e-03 9.98208125e-01 -3.99749396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.760714057 meters 0.03427385908872355 Centerline is valid? [True, True] Translation: X:623.35, Y:-90.83, Z:-39.98 [[ 9.20711008e-01 3.86503415e-01 5.39105792e-02 6.23349676e+02] [-3.85677954e-01 9.22284385e-01 -2.53777113e-02 -9.08285031e+01] [-5.95294575e-02 2.57341622e-03 9.98223232e-01 -3.99765344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.790714057 meters 0.03337755867775216 Centerline is valid? [True, True] Translation: X:623.38, Y:-90.84, Z:-39.98 [[ 9.21492652e-01 3.84578525e-01 5.43198916e-02 6.23375916e+02] [-3.83737480e-01 9.23088293e-01 -2.55646007e-02 -9.08412422e+01] [-5.99736525e-02 2.71301339e-03 9.98196274e-01 -3.99784289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.8207140569999 meters 0.035117406199557756 Centerline is valid? [True, True] Translation: X:623.40, Y:-90.86, Z:-39.98 [[ 9.23215258e-01 3.80461708e-01 5.40599385e-02 6.23399887e+02] [-3.79621860e-01 9.24791927e-01 -2.54388493e-02 -9.08610990e+01] [-5.96727027e-02 2.96319940e-03 9.98213598e-01 -3.99802558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.8507140569999 meters 0.0335363217285808 Centerline is valid? [True, True] Translation: X:623.43, Y:-90.87, Z:-39.98 [[ 9.24322886e-01 3.77754426e-01 5.41183488e-02 6.23426922e+02] [-3.76908205e-01 9.25900498e-01 -2.54651315e-02 -9.08727801e+01] [-5.97277722e-02 3.14035413e-03 9.98209763e-01 -3.99816846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.880714057 meters 0.036013218564817366 Centerline is valid? [True, True] Translation: X:623.45, Y:-90.89, Z:-39.98 [[ 9.25470062e-01 3.75000993e-01 5.36602208e-02 6.23450074e+02] [-3.74164585e-01 9.27018579e-01 -2.52471336e-02 -9.08908271e+01] [-5.92117218e-02 3.28771210e-03 9.98240033e-01 -3.99836369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.910714057 meters 0.03943338403969762 Centerline is valid? [True, True] Translation: X:623.47, Y:-90.91, Z:-39.99 [[ 9.27443627e-01 3.70189164e-01 5.29934173e-02 6.23472198e+02] [-3.69365807e-01 9.28949622e-01 -2.49299062e-02 -9.09124434e+01] [-5.84569962e-02 3.54712630e-03 9.98283626e-01 -3.99858158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.9407140569999 meters 0.040132683447135976 Centerline is valid? [True, True] Translation: X:623.50, Y:-90.93, Z:-39.99 [[ 9.28049645e-01 3.68680429e-01 5.29017793e-02 6.23497480e+02] [-3.67857615e-01 9.29549104e-01 -2.48845004e-02 -9.09276402e+01] [-5.83492298e-02 3.63372939e-03 9.98289619e-01 -3.99879206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.9707140569999 meters 0.03953925694503729 Centerline is valid? [True, True] Translation: X:623.52, Y:-90.94, Z:-39.99 [[ 9.28535026e-01 3.67467516e-01 5.28235801e-02 6.23522908e+02] [-3.66645315e-01 9.30028987e-01 -2.48454401e-02 -9.09397766e+01] [-5.82573529e-02 3.70234317e-03 9.98294733e-01 -3.99897804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.000714057 meters 0.03897894843964966 Centerline is valid? [True, True] Translation: X:623.55, Y:-90.95, Z:-39.99 [[ 9.28345071e-01 3.67990996e-01 5.25171992e-02 6.23548950e+02] [-3.67179476e-01 9.29822218e-01 -2.46956610e-02 -9.09527531e+01] [-5.79194395e-02 3.64285752e-03 9.98314614e-01 -3.99914727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.030714057 meters 0.039798868563330786 Centerline is valid? [True, True] Translation: X:623.57, Y:-90.97, Z:-39.99 [[ 9.27646582e-01 3.69811009e-01 5.20733725e-02 6.23574423e+02] [-3.69016919e-01 9.29100465e-01 -2.44711810e-02 -9.09667264e+01] [-5.74311068e-02 3.48465187e-03 9.98343390e-01 -3.99933752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.0607140569999 meters 0.037254649163194854 Centerline is valid? [True, True] Translation: X:623.60, Y:-90.98, Z:-40.00 [[ 9.26658622e-01 3.72278636e-01 5.20808596e-02 6.23603418e+02] [-3.71488320e-01 9.28115040e-01 -2.44724614e-02 -9.09755743e+01] [-5.74476037e-02 3.33018632e-03 9.98342968e-01 -3.99951314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.0907140569999 meters 0.0350470109652936 Centerline is valid? [True, True] Translation: X:623.63, Y:-90.98, Z:-40.00 [[ 9.23891638e-01 3.79147195e-01 5.16879687e-02 6.23632986e+02] [-3.78379597e-01 9.25331895e-01 -2.42850896e-02 -9.09840994e+01] [-5.70361496e-02 2.87911842e-03 9.98367962e-01 -3.99969553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.120714057 meters 0.033250145690321184 Centerline is valid? [True, True] Translation: X:623.66, Y:-90.99, Z:-40.00 [[ 9.22308533e-01 3.82913051e-01 5.21973637e-02 6.23661945e+02] [-3.82136381e-01 9.23780529e-01 -2.45218356e-02 -9.09930485e+01] [-5.76086391e-02 2.67018652e-03 9.98335672e-01 -3.99983126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.150714057 meters 0.03188462496942428 Centerline is valid? [True, True] Translation: X:623.69, Y:-91.00, Z:-40.00 [[ 9.20804353e-01 3.86465842e-01 5.25689624e-02 6.23690128e+02] [-3.85683894e-01 9.22300428e-01 -2.46952474e-02 -9.10022124e+01] [-5.80282461e-02 2.46448921e-03 9.98311900e-01 -3.99999497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.1807140569999 meters 0.030906702403533208 Centerline is valid? [True, True] Translation: X:623.72, Y:-91.01, Z:-40.00 [[ 9.19049675e-01 3.90518155e-01 5.33222798e-02 6.23716594e+02] [-3.89720543e-01 9.20592505e-01 -2.50467157e-02 -9.10127378e+01] [-5.88692884e-02 2.23838810e-03 9.98263190e-01 -4.00013267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.2107140569999 meters 0.030869981907760403 Centerline is valid? [True, True] Translation: X:623.74, Y:-91.02, Z:-40.00 [[ 9.18754321e-01 3.91170689e-01 5.36282627e-02 6.23742274e+02] [-3.90365225e-01 9.20315504e-01 -2.51865886e-02 -9.10249968e+01] [-5.92071769e-02 2.20567828e-03 9.98243280e-01 -4.00027811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.240714057 meters 0.03125856303179242 Centerline is valid? [True, True] Translation: X:623.77, Y:-91.04, Z:-40.00 [[ 9.18925648e-01 3.90662691e-01 5.43903889e-02 6.23766130e+02] [-3.89834254e-01 9.20531138e-01 -2.55279857e-02 -9.10382797e+01] [-6.00408782e-02 2.25508413e-03 9.98193372e-01 -4.00042951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.270714057 meters 0.03125856303179242 Centerline is valid? [True, True] Translation: X:623.79, Y:-91.05, Z:-40.01 [[ 9.19036405e-01 3.90401661e-01 5.43932778e-02 6.23790957e+02] [-3.89573132e-01 9.20641848e-01 -2.55218289e-02 -9.10498519e+01] [-6.00404921e-02 2.26533031e-03 9.98193372e-01 -4.00058837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.3007140569999 meters 0.03156918609699994 Centerline is valid? [True, True] Translation: X:623.82, Y:-91.07, Z:-40.01 [[ 9.20053221e-01 3.87880762e-01 5.52321072e-02 6.23815963e+02] [-3.87023061e-01 9.21706304e-01 -2.58967160e-02 -9.10655137e+01] [-6.09526194e-02 2.45025782e-03 9.98137653e-01 -4.00075766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.3307140569999 meters 0.03307585914179779 Centerline is valid? [True, True] Translation: X:623.84, Y:-91.08, Z:-40.01 [[ 9.20575509e-01 3.86662367e-01 5.50722000e-02 6.23838790e+02] [-3.85807768e-01 9.22217908e-01 -2.58165877e-02 -9.10816150e+01] [-6.07708720e-02 2.51883577e-03 9.98148564e-01 -4.00086066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.360714057 meters 0.032058368688862506 Centerline is valid? [True, True] Translation: X:623.87, Y:-91.09, Z:-40.01 [[ 9.21674200e-01 3.83958155e-01 5.56129795e-02 6.23865057e+02] [-3.83082131e-01 9.23346493e-01 -2.60640545e-02 -9.10946528e+01] [-6.13575559e-02 2.71822797e-03 9.98112149e-01 -4.00103343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.390714057 meters 0.03250516502538856 Centerline is valid? [True, True] Translation: X:623.89, Y:-91.11, Z:-40.01 [[ 9.21918421e-01 3.83294438e-01 5.61408800e-02 6.23890605e+02] [-3.82400840e-01 9.23622016e-01 -2.63053086e-02 -9.11082805e+01] [-6.19356312e-02 2.78302896e-03 9.98076266e-01 -4.00113477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.4207140569999 meters 0.032983862770683214 Centerline is valid? [True, True] Translation: X:623.92, Y:-91.12, Z:-40.01 [[ 9.22268968e-01 3.82356966e-01 5.67723557e-02 6.23916111e+02] [-3.81442473e-01 9.24010260e-01 -2.65834347e-02 -9.11222474e+01] [-6.26226006e-02 2.86168919e-03 9.98033176e-01 -4.00125800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.4507140569999 meters 0.03459047523465744 Centerline is valid? [True, True] Translation: X:623.94, Y:-91.14, Z:-40.01 [[ 9.22295046e-01 3.82219273e-01 5.72736954e-02 6.23939575e+02] [-3.81289335e-01 9.24067166e-01 -2.68014058e-02 -9.11379647e+01] [-6.31687552e-02 2.88095456e-03 9.97998702e-01 -4.00130569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.4807140569999 meters 0.03393306864153173 Centerline is valid? [True, True] Translation: X:623.96, Y:-91.15, Z:-40.01 [[ 9.22282012e-01 3.82145057e-01 5.79745258e-02 6.23964213e+02] [-3.81192541e-01 9.24097755e-01 -2.71216722e-02 -9.11499441e+01] [-6.39385421e-02 2.91437357e-03 9.97949583e-01 -4.00144840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.510714057 meters 0.033306494747338544 Centerline is valid? [True, True] Translation: X:623.99, Y:-91.16, Z:-40.02 [[ 9.22586355e-01 3.81387640e-01 5.81195824e-02 6.23989996e+02] [-3.80430122e-01 9.24410477e-01 -2.71696843e-02 -9.11616969e+01] [-6.40885326e-02 2.95594017e-03 9.97939839e-01 -4.00167940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.540714057 meters 0.033132910594176536 Centerline is valid? [True, True] Translation: X:624.02, Y:-91.17, Z:-40.02 [[ 9.22845380e-01 3.80755367e-01 5.81528526e-02 6.24015718e+02] [-3.79796650e-01 9.24670990e-01 -2.71673498e-02 -9.11749992e+01] [-6.41163700e-02 2.98500469e-03 9.97937964e-01 -4.00182004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.5707140569999 meters 0.03422535721907764 Centerline is valid? [True, True] Translation: X:624.04, Y:-91.19, Z:-40.02 [[ 9.23287629e-01 3.79689135e-01 5.81043471e-02 6.24039377e+02] [-3.78730989e-01 9.25109136e-01 -2.71279347e-02 -9.11889474e+01] [-6.40530444e-02 3.04096968e-03 9.97941862e-01 -4.00203686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.6007140569999 meters 0.03457262701407743 Centerline is valid? [True, True] Translation: X:624.06, Y:-91.20, Z:-40.02 [[ 9.24407491e-01 3.77089434e-01 5.72219326e-02 6.24064170e+02] [-3.76155611e-01 9.26171438e-01 -2.67100048e-02 -9.12045419e+01] [-6.30693801e-02 3.16657746e-03 9.98004121e-01 -4.00235475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.630714057 meters 0.036366675814965777 Centerline is valid? [True, True] Translation: X:624.09, Y:-91.22, Z:-40.03 [[ 9.25068933e-01 3.75613864e-01 5.62289513e-02 6.24087774e+02] [-3.74709739e-01 9.26770707e-01 -2.62424994e-02 -9.12200757e+01] [-6.19683916e-02 3.20658530e-03 9.98072961e-01 -4.00256948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.660714057 meters 0.03603588552465542 Centerline is valid? [True, True] Translation: X:624.11, Y:-91.23, Z:-40.03 [[ 9.26393841e-01 3.72520504e-01 5.49811358e-02 6.24114116e+02] [-3.71651186e-01 9.28017988e-01 -2.56516863e-02 -9.12341599e+01] [-6.05792622e-02 3.32975990e-03 9.98157836e-01 -4.00288537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.6907140569999 meters 0.03923173609795152 Centerline is valid? [True, True] Translation: X:624.14, Y:-91.25, Z:-40.03 [[ 9.27075111e-01 3.70845965e-01 5.48179546e-02 6.24137334e+02] [-3.69978986e-01 9.28688065e-01 -2.55739621e-02 -9.12515271e+01] [-6.03927808e-02 3.42749253e-03 9.98168806e-01 -4.00309578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.7207140569999 meters 0.036563387533302565 Centerline is valid? [True, True] Translation: X:624.17, Y:-91.26, Z:-40.03 [[ 9.28475060e-01 3.67423349e-01 5.41677524e-02 6.24165779e+02] [-3.66571238e-01 9.30046825e-01 -2.52671910e-02 -9.12608072e+01] [-5.96623020e-02 3.60361662e-03 9.98212114e-01 -4.00329362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.750714057 meters 0.03882999122504261 Centerline is valid? [True, True] Translation: X:624.19, Y:-91.28, Z:-40.03 [[ 9.29148492e-01 3.65783157e-01 5.37192888e-02 6.24189493e+02] [-3.64942481e-01 9.30692841e-01 -2.50563663e-02 -9.12766965e+01] [-5.91613543e-02 3.67663441e-03 9.98241662e-01 -4.00341266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.780714057 meters 0.04346087278738298 Centerline is valid? [True, True] Translation: X:624.21, Y:-91.30, Z:-40.04 [[ 9.29860729e-01 3.63939094e-01 5.39199524e-02 6.24212047e+02] [-3.63089325e-01 9.31414982e-01 -2.51450648e-02 -9.12954585e+01] [-5.93731236e-02 3.80364918e-03 9.98228613e-01 -4.00353278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.8107140569999 meters 0.03843101781273907 Centerline is valid? [True, True] Translation: X:624.24, Y:-91.30, Z:-40.04 [[ 9.31043796e-01 3.60815845e-01 5.44919793e-02 6.24243442e+02] [-3.59942882e-01 9.32628326e-01 -2.54072259e-02 -9.13002770e+01] [-5.99880931e-02 4.04123999e-03 9.98190912e-01 -4.00367203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.8407140569999 meters 0.04010518962356757 Centerline is valid? [True, True] Translation: X:624.27, Y:-91.31, Z:-40.04 [[ 9.31769785e-01 3.58833328e-01 5.51698314e-02 6.24268292e+02] [-3.57935043e-01 9.33392108e-01 -2.57230945e-02 -9.13142285e+01] [-6.07253888e-02 4.22078626e-03 9.98145587e-01 -4.00381913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.870714057 meters 0.04189342483790763 Centerline is valid? [True, True] Translation: X:624.29, Y:-91.33, Z:-40.04 [[ 9.32408036e-01 3.57119523e-01 5.55058637e-02 6.24293333e+02] [-3.56207460e-01 9.34048541e-01 -2.58760210e-02 -9.13282662e+01] [-6.10860032e-02 4.35540718e-03 9.98123004e-01 -4.00390660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.900714057 meters 0.04256981415654599 Centerline is valid? [True, True] Translation: X:624.32, Y:-91.34, Z:-40.04 [[ 9.33029666e-01 3.55434324e-01 5.58756063e-02 6.24320450e+02] [-3.54507278e-01 9.34690463e-01 -2.60447337e-02 -9.13409434e+01] [-6.14835886e-02 4.49220013e-03 9.98097985e-01 -4.00402763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.9307140569999 meters 0.04304224022539964 Centerline is valid? [True, True] Translation: X:624.35, Y:-91.35, Z:-40.04 [[ 9.33696618e-01 3.53496318e-01 5.70173635e-02 6.24347360e+02] [-3.52527538e-01 9.35424048e-01 -2.65741399e-02 -9.13525241e+01] [-6.27292736e-02 4.71199377e-03 9.98019456e-01 -4.00413018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.9607140569999 meters 0.04366199167508808 Centerline is valid? [True, True] Translation: X:624.37, Y:-91.36, Z:-40.04 [[ 9.33960918e-01 3.52796837e-01 5.70210020e-02 6.24373843e+02] [-3.51827043e-01 9.35687874e-01 -2.65694050e-02 -9.13645068e+01] [-6.27274622e-02 4.75325532e-03 9.98019375e-01 -4.00433584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.990714057 meters 0.04556087807890143 Centerline is valid? [True, True] Translation: X:624.40, Y:-91.38, Z:-40.05 [[ 9.33987666e-01 3.52846721e-01 5.62692796e-02 6.24399612e+02] [-3.51903476e-01 9.35669476e-01 -2.62025863e-02 -9.13757521e+01] [-6.18949440e-02 4.67153736e-03 9.98071737e-01 -4.00452947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.020714057 meters 0.04328012567660155 Centerline is valid? [True, True] Translation: X:624.43, Y:-91.38, Z:-40.05 [[ 9.33688765e-01 3.53749869e-01 5.55546586e-02 6.24427804e+02] [-3.52832577e-01 9.35329020e-01 -2.58611086e-02 -9.13833721e+01] [-6.11102481e-02 4.54473313e-03 9.98120676e-01 -4.00473030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.0507140569999 meters 0.04358631630026493 Centerline is valid? [True, True] Translation: X:624.45, Y:-91.39, Z:-40.05 [[ 9.33439903e-01 3.54404535e-01 5.55641278e-02 6.24453330e+02] [-3.53488392e-01 9.35081384e-01 -2.58604344e-02 -9.13937575e+01] [-6.11220367e-02 4.49788719e-03 9.98120166e-01 -4.00494543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.0807140569999 meters 0.0414101793065356 Centerline is valid? [True, True] Translation: X:624.48, Y:-91.40, Z:-40.05 [[ 9.32405707e-01 3.57089768e-01 5.57359435e-02 6.24483511e+02] [-3.56173220e-01 9.34060046e-01 -2.59319624e-02 -9.13994751e+01] [-6.13207564e-02 4.32745919e-03 9.98108731e-01 -4.00513649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.110714057 meters 0.04059649022174137 Centerline is valid? [True, True] Translation: X:624.51, Y:-91.41, Z:-40.05 [[ 9.32094914e-01 3.57963951e-01 5.53252249e-02 6.24511564e+02] [-3.57062526e-01 9.33725796e-01 -2.57389004e-02 -9.14087693e+01] [-6.08721881e-02 4.23653361e-03 9.98136578e-01 -4.00528342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.140714057 meters 0.038717139485626544 Centerline is valid? [True, True] Translation: X:624.54, Y:-91.42, Z:-40.05 [[ 9.31532316e-01 3.59389049e-01 5.55612747e-02 6.24539962e+02] [-3.58483365e-01 9.33178608e-01 -2.58333500e-02 -9.14162806e+01] [-6.11328161e-02 4.14680761e-03 9.98121026e-01 -4.00547593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.1707140569999 meters 0.0390099292245405 Centerline is valid? [True, True] Translation: X:624.57, Y:-91.43, Z:-40.06 [[ 9.30895259e-01 3.61095795e-01 5.51710350e-02 6.24566703e+02] [-3.60206073e-01 9.32520141e-01 -2.56470743e-02 -9.14265135e+01] [-6.07091520e-02 4.00179801e-03 9.98147476e-01 -4.00562488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.2007140569999 meters 0.03695551675123997 Centerline is valid? [True, True] Translation: X:624.60, Y:-91.43, Z:-40.06 [[ 9.29327813e-01 3.65126084e-01 5.50704885e-02 6.24597438e+02] [-3.64246844e-01 9.30950611e-01 -2.55967964e-02 -9.14318241e+01] [-6.06139629e-02 3.72856324e-03 9.98154319e-01 -4.00584833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.2307140569999 meters 0.037039948732131144 Centerline is valid? [True, True] Translation: X:624.63, Y:-91.44, Z:-40.06 [[ 9.28374017e-01 3.67536133e-01 5.51259920e-02 6.24625061e+02] [-3.66659417e-01 9.30002376e-01 -2.56213238e-02 -9.14417420e+01] [-6.06840658e-02 3.57370723e-03 9.98150626e-01 -4.00601752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.260714057 meters 0.03539738381569323 Centerline is valid? [True, True] Translation: X:624.65, Y:-91.45, Z:-40.06 [[ 9.25951336e-01 3.73456882e-01 5.60721107e-02 6.24654855e+02] [-3.72560709e-01 9.27641886e-01 -2.60585930e-02 -9.14477200e+01] [-6.17465993e-02 3.23872371e-03 9.98086604e-01 -4.00606442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.290714057 meters 0.03503544188951425 Centerline is valid? [True, True] Translation: X:624.68, Y:-91.46, Z:-40.06 [[ 9.24844610e-01 3.76115943e-01 5.65618606e-02 6.24682307e+02] [-3.75209105e-01 9.26567468e-01 -2.62841258e-02 -9.14569047e+01] [-6.22942587e-02 3.08620700e-03 9.98053055e-01 -4.00622437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.3207140569999 meters 0.032986660324488194 Centerline is valid? [True, True] Translation: X:624.71, Y:-91.46, Z:-40.06 [[ 9.23489806e-01 3.79306877e-01 5.73835429e-02 6.24711362e+02] [-3.78379828e-01 9.25266355e-01 -2.66623039e-02 -9.14644942e+01] [-6.32082568e-02 2.90959075e-03 9.97996118e-01 -4.00630670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.3507140569999 meters 0.032632426070148435 Centerline is valid? [True, True] Translation: X:624.74, Y:-91.47, Z:-40.06 [[ 9.22075603e-01 3.82738359e-01 5.73404734e-02 6.24738948e+02] [-3.81819465e-01 9.23852920e-01 -2.66397843e-02 -9.14729483e+01] [-6.31702311e-02 2.67018637e-03 9.97999194e-01 -4.00642361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.380714057 meters 0.03283372490389234 Centerline is valid? [True, True] Translation: X:624.77, Y:-91.48, Z:-40.07 [[ 9.21973683e-01 3.82907510e-01 5.78477859e-02 6.24765623e+02] [-3.81972843e-01 9.23782801e-01 -2.68716095e-02 -9.14844026e+01] [-6.37281307e-02 2.67863354e-03 9.97963702e-01 -4.00655473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.410714057 meters 0.03177461774607192 Centerline is valid? [True, True] Translation: X:624.79, Y:-91.49, Z:-40.07 [[ 9.22119438e-01 3.82462996e-01 5.84619420e-02 6.24792784e+02] [-3.81508603e-01 9.23966800e-01 -2.71392413e-02 -9.14939366e+01] [-6.43966490e-02 2.72188815e-03 9.97920670e-01 -4.00668417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.4407140569999 meters 0.03440915551022403 Centerline is valid? [True, True] Translation: X:624.82, Y:-91.51, Z:-40.07 [[ 9.22193674e-01 3.82137261e-01 5.94133132e-02 6.24816208e+02] [-3.81151961e-01 9.24101412e-01 -2.75637800e-02 -9.15102585e+01] [-6.54370740e-02 2.77364272e-03 9.97852843e-01 -4.00669847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.4707140569999 meters 0.031812018680432805 Centerline is valid? [True, True] Translation: X:624.84, Y:-91.52, Z:-40.07 [[ 9.22079496e-01 3.82460314e-01 5.91059363e-02 6.24844105e+02] [-3.81486359e-01 9.23967888e-01 -2.74134801e-02 -9.15171124e+01] [-6.50965553e-02 2.72929948e-03 9.97875237e-01 -4.00698296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.500714057 meters 0.032058754341957846 Centerline is valid? [True, True] Translation: X:624.87, Y:-91.53, Z:-40.07 [[ 9.21880166e-01 3.83032359e-01 5.85078726e-02 6.24869352e+02] [-3.82080276e-01 9.23731136e-01 -2.71192069e-02 -9.15292058e+01] [-6.44330774e-02 2.64595490e-03 9.97918522e-01 -4.00722836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.530714057 meters 0.03094841276080159 Centerline is valid? [True, True] Translation: X:624.90, Y:-91.54, Z:-40.08 [[ 9.21121299e-01 3.85138201e-01 5.66049303e-02 6.24896831e+02] [-3.84251655e-01 9.22855766e-01 -2.62278551e-02 -9.15395786e+01] [-6.23395352e-02 2.40849781e-03 9.98052094e-01 -4.00751424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.5607140569999 meters 0.03186108344624785 Centerline is valid? [True, True] Translation: X:624.92, Y:-91.55, Z:-40.08 [[ 9.20623512e-01 3.86382407e-01 5.62226357e-02 6.24920837e+02] [-3.85511063e-01 9.22335823e-01 -2.60355346e-02 -9.15531663e+01] [-6.19158235e-02 2.29447726e-03 9.98078737e-01 -4.00765799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.5907140569999 meters 0.03050589553688589 Centerline is valid? [True, True] Translation: X:624.95, Y:-91.56, Z:-40.08 [[ 9.19872292e-01 3.88017608e-01 5.72477274e-02 6.24947595e+02] [-3.87117775e-01 9.21649292e-01 -2.65030348e-02 -9.15636653e+01] [-6.30459716e-02 2.21779450e-03 9.98008160e-01 -4.00780979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.620714057 meters 0.02997742388212017 Centerline is valid? [True, True] Translation: X:624.97, Y:-91.58, Z:-40.08 [[ 9.19740867e-01 3.88244635e-01 5.78173064e-02 6.24973817e+02] [-3.87328354e-01 9.21553703e-01 -2.67491695e-02 -9.15753619e+01] [-6.36669744e-02 2.20802219e-03 9.97968758e-01 -4.00799813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.650714057 meters 0.029970952627711045 Centerline is valid? [True, True] Translation: X:625.00, Y:-91.59, Z:-40.08 [[ 9.19937207e-01 3.87797384e-01 5.76950968e-02 6.24998864e+02] [-3.86885235e-01 9.21741976e-01 -2.66747899e-02 -9.15883343e+01] [-6.35244063e-02 2.21775062e-03 9.97977821e-01 -4.00817756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.6807140569999 meters 0.030276843121069888 Centerline is valid? [True, True] Translation: X:625.02, Y:-91.60, Z:-40.08 [[ 9.20842259e-01 3.85747367e-01 5.69956309e-02 6.25022997e+02] [-3.84854530e-01 9.22601551e-01 -2.63319091e-02 -9.16040255e+01] [-6.27417220e-02 2.31250791e-03 9.98027118e-01 -4.00847693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.7107140569999 meters 0.03219026703056039 Centerline is valid? [True, True] Translation: X:625.05, Y:-91.62, Z:-40.09 [[ 9.21558614e-01 3.84129323e-01 5.63416836e-02 6.25046193e+02] [-3.83254872e-01 9.23276232e-01 -2.60135223e-02 -9.16206631e+01] [-6.20114941e-02 2.37976082e-03 9.98072598e-01 -4.00866247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.740714057 meters 0.03119077193697165 Centerline is valid? [True, True] Translation: X:625.07, Y:-91.63, Z:-40.09 [[ 9.22482113e-01 3.81954074e-01 5.60163873e-02 6.25072733e+02] [-3.81086114e-01 9.24177910e-01 -2.58566194e-02 -9.16324516e+01] [-6.16451489e-02 2.50520153e-03 9.98094985e-01 -4.00885496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.770714057 meters 0.032054116945328996 Centerline is valid? [True, True] Translation: X:625.10, Y:-91.65, Z:-40.09 [[ 9.23408924e-01 3.79699957e-01 5.60705113e-02 6.25096684e+02] [-3.78827179e-01 9.25105916e-01 -2.58652595e-02 -9.16477415e+01] [-6.16921997e-02 2.64317784e-03 9.98091722e-01 -4.00900854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.8007140569999 meters 0.03378363580565838 Centerline is valid? [True, True] Translation: X:625.12, Y:-91.67, Z:-40.09 [[ 9.25339683e-01 3.75038878e-01 5.56085606e-02 6.25121169e+02] [-3.74172312e-01 9.27004467e-01 -2.56475968e-02 -9.16663191e+01] [-6.11682300e-02 2.92555533e-03 9.98123183e-01 -4.00915566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.8307140569999 meters 0.03502615262126451 Centerline is valid? [True, True] Translation: X:625.15, Y:-91.68, Z:-40.09 [[ 9.26474403e-01 3.72276431e-01 5.52760415e-02 6.25146457e+02] [-3.71415381e-01 9.28116761e-01 -2.54929990e-02 -9.16820558e+01] [-6.07930633e-02 3.08823903e-03 9.98145614e-01 -4.00933742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.860714057 meters 0.036284378623191685 Centerline is valid? [True, True] Translation: X:625.17, Y:-91.70, Z:-40.10 [[ 9.27545195e-01 3.69733216e-01 5.43806964e-02 6.25171648e+02] [-3.68895645e-01 9.29132450e-01 -2.50777506e-02 -9.16973221e+01] [-5.97989471e-02 3.19994501e-03 9.98205313e-01 -4.00951793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.890714057 meters 0.03871015258372032 Centerline is valid? [True, True] Translation: X:625.20, Y:-91.72, Z:-40.10 [[ 9.29113429e-01 3.65655009e-01 5.51783462e-02 6.25195021e+02] [-3.64785701e-01 9.30743838e-01 -2.54421081e-02 -9.17164754e+01] [-6.06599400e-02 3.51033259e-03 9.98152318e-01 -4.00959849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.9207140569999 meters 0.03944731732877444 Centerline is valid? [True, True] Translation: X:625.22, Y:-91.73, Z:-40.10 [[ 9.29687927e-01 3.64126057e-01 5.56109151e-02 6.25221254e+02] [-3.63240436e-01 9.31342573e-01 -2.56397682e-02 -9.17310231e+01] [-6.11289204e-02 3.63684988e-03 9.98123253e-01 -4.00972108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.9507140569999 meters 0.04155331774774564 Centerline is valid? [True, True] Translation: X:625.25, Y:-91.75, Z:-40.10 [[ 9.30560046e-01 3.61856399e-01 5.58385801e-02 6.25245166e+02] [-3.60959590e-01 9.32226106e-01 -2.57422260e-02 -9.17472070e+01] [-6.13691713e-02 3.79921602e-03 9.98107905e-01 -4.00984660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.9807140569999 meters 0.03690067107435292 Centerline is valid? [True, True] Translation: X:625.27, Y:-91.75, Z:-40.10 [[ 9.30811619e-01 3.61238336e-01 5.56470599e-02 6.25274149e+02] [-3.60346925e-01 9.32465689e-01 -2.56482432e-02 -9.17530549e+01] [-6.11541028e-02 3.82143587e-03 9.98121021e-01 -4.01000331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.010714057 meters 0.041550061617354805 Centerline is valid? [True, True] Translation: X:625.30, Y:-91.77, Z:-40.10 [[ 9.30884737e-01 3.61051082e-01 5.56392135e-02 6.25295668e+02] [-3.60160609e-01 9.32538225e-01 -2.56280045e-02 -9.17721522e+01] [-6.11387122e-02 3.81766525e-03 9.98121978e-01 -4.01011332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.040714057 meters 0.04264536959726725 Centerline is valid? [True, True] Translation: X:625.32, Y:-91.79, Z:-40.10 [[ 9.30989859e-01 3.60749890e-01 5.58336760e-02 6.25320553e+02] [-3.59853011e-01 9.32654669e-01 -2.57114601e-02 -9.17853403e+01] [-6.13489450e-02 3.84519225e-03 9.98108973e-01 -4.01028688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.0707140569999 meters 0.04348507752199414 Centerline is valid? [True, True] Translation: X:625.34, Y:-91.80, Z:-40.11 [[ 9.30890099e-01 3.60981415e-01 5.60003796e-02 6.25344919e+02] [-3.60079948e-01 9.32565121e-01 -2.57822964e-02 -9.17983647e+01] [-6.15309306e-02 3.83587066e-03 9.98097806e-01 -4.01051973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.1007140569999 meters 0.038098889379181246 Centerline is valid? [True, True] Translation: X:625.37, Y:-91.80, Z:-40.11 [[ 9.30759632e-01 3.61367070e-01 5.56807680e-02 6.25374406e+02] [-3.60477104e-01 9.32415975e-01 -2.56263128e-02 -9.18025318e+01] [-6.11781431e-02 3.78029547e-03 9.98119704e-01 -4.01068971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.130714057 meters 0.0396207189018526 Centerline is valid? [True, True] Translation: X:625.40, Y:-91.82, Z:-40.11 [[ 9.30429401e-01 3.62252942e-01 5.54430910e-02 6.25398662e+02] [-3.61373115e-01 9.32072520e-01 -2.55007723e-02 -9.18154537e+01] [-6.09147113e-02 3.69102577e-03 9.98136150e-01 -4.01084733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.160714057 meters 0.0396207189018526 Centerline is valid? [True, True] Translation: X:625.42, Y:-91.83, Z:-40.11 [[ 9.30529781e-01 3.61994631e-01 5.54455966e-02 6.25423617e+02] [-3.61114671e-01 9.32172829e-01 -2.54953230e-02 -9.18268367e+01] [-6.09140487e-02 3.70193889e-03 9.98136150e-01 -4.01100638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.1907140569999 meters 0.03640884290676197 Centerline is valid? [True, True] Translation: X:625.45, Y:-91.83, Z:-40.11 [[ 9.30411874e-01 3.62329166e-01 5.52387524e-02 6.25451798e+02] [-3.61457474e-01 9.32043057e-01 -2.53817740e-02 -9.18331734e+01] [-6.06814527e-02 3.64904395e-03 9.98150513e-01 -4.01123044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.2207140569999 meters 0.037831607390050176 Centerline is valid? [True, True] Translation: X:625.48, Y:-91.85, Z:-40.11 [[ 9.30309693e-01 3.62618102e-01 5.50634871e-02 6.25476141e+02] [-3.61753434e-01 9.31930860e-01 -2.52848838e-02 -9.18460780e+01] [-6.04841195e-02 3.60336699e-03 9.98162656e-01 -4.01144591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.250714057 meters 0.03766693699451995 Centerline is valid? [True, True] Translation: X:625.50, Y:-91.86, Z:-40.12 [[ 9.29550637e-01 3.64608095e-01 5.47407584e-02 6.25502826e+02] [-3.63757321e-01 9.31154685e-01 -2.51309244e-02 -9.18577172e+01] [-6.01350521e-02 3.44811512e-03 9.98184295e-01 -4.01164656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.280714057 meters 0.03472668173209711 Centerline is valid? [True, True] Translation: X:625.53, Y:-91.86, Z:-40.12 [[ 9.29176039e-01 3.65542432e-01 5.48691060e-02 6.25531902e+02] [-3.64689459e-01 9.30788493e-01 -2.51868954e-02 -9.18639065e+01] [-6.02784115e-02 3.39287517e-03 9.98175837e-01 -4.01183926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.3107140569999 meters 0.034359701371557916 Centerline is valid? [True, True] Translation: X:625.56, Y:-91.87, Z:-40.12 [[ 9.27593390e-01 3.69480311e-01 5.52702750e-02 6.25558777e+02] [-3.68622762e-01 9.29233238e-01 -2.53544607e-02 -9.18743000e+01] [-6.07269506e-02 3.14474869e-03 9.98149462e-01 -4.01198081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.3407140569999 meters 0.03314304003162029 Centerline is valid? [True, True] Translation: X:625.59, Y:-91.88, Z:-40.12 [[ 9.26909881e-01 3.71163326e-01 5.54604180e-02 6.25585959e+02] [-3.70303015e-01 9.28562614e-01 -2.54391414e-02 -9.18833816e+01] [-6.09405471e-02 3.04263154e-03 9.98136760e-01 -4.01210472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.370714057 meters 0.03371091258584763 Centerline is valid? [True, True] Translation: X:625.61, Y:-91.90, Z:-40.12 [[ 9.26326486e-01 3.72565523e-01 5.58047628e-02 6.25611134e+02] [-3.71697324e-01 9.28001156e-01 -2.55920794e-02 -9.18955010e+01] [-6.13216108e-02 2.96413999e-03 9.98113658e-01 -4.01223632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.400714057 meters 0.03341818874699436 Centerline is valid? [True, True] Translation: X:625.64, Y:-91.91, Z:-40.12 [[ 9.25957496e-01 3.73479161e-01 5.58214222e-02 6.25638382e+02] [-3.72612505e-01 9.27634042e-01 -2.55930685e-02 -9.19060435e+01] [-6.13403292e-02 2.89833364e-03 9.98112701e-01 -4.01243564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.4307140569999 meters 0.033121646617726604 Centerline is valid? [True, True] Translation: X:625.66, Y:-91.92, Z:-40.13 [[ 9.26177049e-01 3.72983116e-01 5.54947759e-02 6.25664913e+02] [-3.72126644e-01 9.27833599e-01 -2.54277936e-02 -9.19159588e+01] [-6.09740553e-02 2.89955408e-03 9.98135140e-01 -4.01266453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.4607140569999 meters 0.032148606343272275 Centerline is valid? [True, True] Translation: X:625.69, Y:-91.93, Z:-40.13 [[ 9.26817257e-01 3.71427657e-01 5.52382903e-02 6.25692123e+02] [-3.70577356e-01 9.28457140e-01 -2.52935318e-02 -9.19254944e+01] [-6.06811023e-02 2.97242220e-03 9.98152778e-01 -4.01287441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.490714057 meters 0.03434528476780625 Centerline is valid? [True, True] Translation: X:625.72, Y:-91.94, Z:-40.13 [[ 9.27567982e-01 3.69516256e-01 5.54560681e-02 6.25716866e+02] [-3.68656845e-01 9.29219114e-01 -2.53765282e-02 -9.19405414e+01] [-6.09078782e-02 3.09419598e-03 9.98138596e-01 -4.01302077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.520714057 meters 0.03549404039435733 Centerline is valid? [True, True] Translation: X:625.74, Y:-91.95, Z:-40.13 [[ 9.29755699e-01 3.63952512e-01 5.56139337e-02 6.25744021e+02] [-3.63078481e-01 9.31411058e-01 -2.54451941e-02 -9.19532715e+01] [-6.10602752e-02 3.46559165e-03 9.98128064e-01 -4.01316950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.5507140569999 meters 0.03741661372632908 Centerline is valid? [True, True] Translation: X:625.77, Y:-91.97, Z:-40.13 [[ 9.30829953e-01 3.61219458e-01 5.54626115e-02 6.25768899e+02] [-3.60345434e-01 9.32473753e-01 -2.53745735e-02 -9.19677408e+01] [-6.08832192e-02 3.63371423e-03 9.98138282e-01 -4.01328600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.5807140569999 meters 0.03779277177314528 Centerline is valid? [True, True] Translation: X:625.80, Y:-91.98, Z:-40.13 [[ 9.32117180e-01 3.57866887e-01 5.55774522e-02 6.25796681e+02] [-3.56983522e-01 9.33764644e-01 -2.54234892e-02 -9.19796948e+01] [-6.09944849e-02 3.85743640e-03 9.98130649e-01 -4.01346942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.610714057 meters 0.04314031782883256 Centerline is valid? [True, True] Translation: X:625.82, Y:-92.00, Z:-40.14 [[ 9.34736586e-01 3.50966395e-01 5.55887044e-02 6.25820879e+02] [-3.50070588e-01 9.36378145e-01 -2.54273940e-02 -9.19975788e+01] [-6.09762088e-02 4.30794505e-03 9.98129923e-01 -4.01364956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.640714057 meters 0.04849370887222752 Centerline is valid? [True, True] Translation: X:625.84, Y:-92.02, Z:-40.14 [[ 9.35974535e-01 3.47635260e-01 5.56901757e-02 6.25844777e+02] [-3.46730418e-01 9.37618894e-01 -2.54720945e-02 -9.20163466e+01] [-6.10711591e-02 4.53175392e-03 9.98123127e-01 -4.01382012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.6707140569999 meters 0.042657234679916334 Centerline is valid? [True, True] Translation: X:625.88, Y:-92.02, Z:-40.14 [[ 9.37239724e-01 3.44178194e-01 5.58844446e-02 6.25876466e+02] [-3.43260985e-01 9.38892215e-01 -2.55598082e-02 -9.20203289e+01] [-6.12665987e-02 4.77271809e-03 9.98110027e-01 -4.01400092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.7007140569999 meters 0.04575089466076269 Centerline is valid? [True, True] Translation: X:625.90, Y:-92.04, Z:-40.14 [[ 9.39451361e-01 3.38052021e-01 5.61424256e-02 6.25901381e+02] [-3.37115517e-01 9.41113085e-01 -2.56766449e-02 -9.20354496e+01] [-6.15164130e-02 5.19547610e-03 9.98092550e-01 -4.01419731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.7307140569999 meters 0.045696677018872506 Centerline is valid? [True, True] Translation: X:625.93, Y:-92.05, Z:-40.14 [[ 9.40450857e-01 3.35297439e-01 5.59268517e-02 6.25928842e+02] [-3.34363385e-01 9.42097111e-01 -2.55765725e-02 -9.20466827e+01] [-6.12642847e-02 5.35361809e-03 9.98107222e-01 -4.01448923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.760714057 meters 0.048328293458990576 Centerline is valid? [True, True] Translation: X:625.96, Y:-92.06, Z:-40.15 [[ 9.42082498e-01 3.30875358e-01 5.47910918e-02 6.25955841e+02] [-3.29971585e-01 9.43658292e-01 -2.50555509e-02 -9.20601826e+01] [-5.99943325e-02 5.52489260e-03 9.98183428e-01 -4.01482394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.790714057 meters 0.05412951282389989 Centerline is valid? [True, True] Translation: X:625.98, Y:-92.08, Z:-40.15 [[ 9.42682625e-01 3.29326896e-01 5.37890643e-02 6.25978867e+02] [-3.28453443e-01 9.44199834e-01 -2.45969499e-02 -9.20779473e+01] [-5.88880627e-02 5.51991397e-03 9.98249331e-01 -4.01500344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.8207140569999 meters 0.05984498508176749 Centerline is valid? [True, True] Translation: X:626.00, Y:-92.09, Z:-40.15 [[ 9.43217046e-01 3.27864405e-01 5.33529411e-02 6.26002670e+02] [-3.27003029e-01 9.44708423e-01 -2.43929072e-02 -9.20949011e+01] [-5.84005388e-02 5.56123252e-03 9.98277742e-01 -4.01523057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.8507140569999 meters 0.04809138336685399 Centerline is valid? [True, True] Translation: X:626.04, Y:-92.09, Z:-40.15 [[ 9.43565869e-01 3.26902891e-01 5.30843689e-02 6.26037481e+02] [-3.26048863e-01 9.45041407e-01 -2.42668143e-02 -9.20900484e+01] [-5.80998184e-02 5.58923963e-03 9.98295132e-01 -4.01540434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.880714057 meters 0.04948647970602921 Centerline is valid? [True, True] Translation: X:626.06, Y:-92.10, Z:-40.16 [[ 9.43525537e-01 3.27134841e-01 5.23675082e-02 6.26064074e+02] [-3.26304233e-01 9.44961679e-01 -2.39368341e-02 -9.20988154e+01] [-5.73158610e-02 5.49727468e-03 9.98340960e-01 -4.01559082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.910714057 meters 0.04980031632439929 Centerline is valid? [True, True] Translation: X:626.09, Y:-92.11, Z:-40.16 [[ 9.43253763e-01 3.27882449e-01 5.25874336e-02 6.26091570e+02] [-3.27046488e-01 9.44702713e-01 -2.40287070e-02 -9.21087093e+01] [-5.75580824e-02 5.46663284e-03 9.98327192e-01 -4.01575726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.9407140569999 meters 0.0470148241489862 Centerline is valid? [True, True] Translation: X:626.12, Y:-92.11, Z:-40.16 [[ 9.42764801e-01 3.29322104e-01 5.23591582e-02 6.26121464e+02] [-3.28496027e-01 9.44202494e-01 -2.39167366e-02 -9.21144192e+01] [-5.73139578e-02 5.34808196e-03 9.98341879e-01 -4.01586647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.9707140569999 meters 0.0482341633398801 Centerline is valid? [True, True] Translation: X:626.15, Y:-92.12, Z:-40.16 [[ 9.42040310e-01 3.31296567e-01 5.29399628e-02 6.26148571e+02] [-3.30455261e-01 9.43511879e-01 -2.41796504e-02 -9.21249698e+01] [-5.79601190e-02 5.28391615e-03 9.98304916e-01 -4.01599492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.000714057 meters 0.045347248426612925 Centerline is valid? [True, True] Translation: X:626.18, Y:-92.13, Z:-40.16 [[ 9.40349841e-01 3.36002697e-01 5.33325811e-02 6.26180599e+02] [-3.35156469e-01 9.41847598e-01 -2.43566037e-02 -9.21268164e+01] [-5.84150480e-02 5.02896888e-03 9.98279716e-01 -4.01604053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.030714057 meters 0.04638590884427097 Centerline is valid? [True, True] Translation: X:626.21, Y:-92.14, Z:-40.16 [[ 9.39553776e-01 3.38194210e-01 5.35105470e-02 6.26207508e+02] [-3.37345959e-01 9.41063545e-01 -2.44357796e-02 -9.21367945e+01] [-5.86208642e-02 4.90716218e-03 9.98268258e-01 -4.01618482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.0607140569999 meters 0.04523755909556211 Centerline is valid? [True, True] Translation: X:626.24, Y:-92.14, Z:-40.16 [[ 9.38894731e-01 3.40003734e-01 5.36110624e-02 6.26236907e+02] [-3.39155417e-01 9.40411836e-01 -2.44781760e-02 -9.21448108e+01] [-5.87391489e-02 4.79994824e-03 9.98261826e-01 -4.01635772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.0907140569999 meters 0.04208160326208326 Centerline is valid? [True, True] Translation: X:626.27, Y:-92.15, Z:-40.17 [[ 9.37815439e-01 3.43023262e-01 5.32657888e-02 6.26268809e+02] [-3.42190838e-01 9.39315751e-01 -2.43177132e-02 -9.21477733e+01] [-5.83749357e-02 4.57846197e-03 9.98284230e-01 -4.01652455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.120714057 meters 0.04287791492188274 Centerline is valid? [True, True] Translation: X:626.29, Y:-92.16, Z:-40.17 [[ 9.37681590e-01 3.43423660e-01 5.30417298e-02 6.26294774e+02] [-3.42598936e-01 9.39169655e-01 -2.42142270e-02 -9.21581393e+01] [-5.81309215e-02 4.53319470e-03 9.98298676e-01 -4.01667453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.150714057 meters 0.0409806156968932 Centerline is valid? [True, True] Translation: X:626.32, Y:-92.16, Z:-40.17 [[ 9.37697453e-01 3.43438304e-01 5.26651537e-02 6.26323126e+02] [-3.42625614e-01 9.39164485e-01 -2.40366257e-02 -9.21642789e+01] [-5.77163399e-02 4.49465211e-03 9.98322905e-01 -4.01683668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.1807140569999 meters 0.04245906914486644 Centerline is valid? [True, True] Translation: X:626.35, Y:-92.18, Z:-40.17 [[ 9.37726287e-01 3.43441966e-01 5.21251089e-02 6.26348992e+02] [-3.42646798e-01 9.39163438e-01 -2.37741115e-02 -9.21755429e+01] [-5.71190241e-02 4.43310767e-03 9.98357533e-01 -4.01699083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.2107140569999 meters 0.043038832865652625 Centerline is valid? [True, True] Translation: X:626.38, Y:-92.18, Z:-40.17 [[ 9.38129863e-01 3.42349481e-01 5.20499135e-02 6.26376969e+02] [-3.41555257e-01 9.39561968e-01 -2.37342486e-02 -9.21841578e+01] [-5.70295268e-02 4.48788582e-03 9.98362405e-01 -4.01714475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.240714057 meters 0.0451341795754547 Centerline is valid? [True, True] Translation: X:626.40, Y:-92.20, Z:-40.17 [[ 9.38357404e-01 3.41765546e-01 5.17850674e-02 6.26401419e+02] [-3.40979402e-01 9.39774543e-01 -2.35977931e-02 -9.21961048e+01] [-5.67312007e-02 4.48552254e-03 9.98379412e-01 -4.01726676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.270714057 meters 0.0448771800176371 Centerline is valid? [True, True] Translation: X:626.43, Y:-92.21, Z:-40.17 [[ 9.38782948e-01 3.40652956e-01 5.14017592e-02 6.26429321e+02] [-3.39877137e-01 9.40178280e-01 -2.34165080e-02 -9.22054339e+01] [-5.63037203e-02 4.51273561e-03 9.98403489e-01 -4.01744490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.3007140569999 meters 0.04525376817547008 Centerline is valid? [True, True] Translation: X:626.46, Y:-92.22, Z:-40.18 [[ 9.39252815e-01 3.39464293e-01 5.06768530e-02 6.26457144e+02] [-3.38708687e-01 9.40608100e-01 -2.30830503e-02 -9.22157611e+01] [-5.55029297e-02 4.51612964e-03 9.98448311e-01 -4.01766069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.3307140569999 meters 0.04660352183713826 Centerline is valid? [True, True] Translation: X:626.49, Y:-92.23, Z:-40.18 [[ 9.40143108e-01 3.37107045e-01 4.98976679e-02 6.26485375e+02] [-3.36371342e-01 9.41455177e-01 -2.27259880e-02 -9.22264646e+01] [-5.46375084e-02 4.58153547e-03 9.98495745e-01 -4.01791728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.360714057 meters 0.05335463936684398 Centerline is valid? [True, True] Translation: X:626.51, Y:-92.24, Z:-40.18 [[ 9.40732538e-01 3.35489874e-01 4.96873954e-02 6.26507873e+02] [-3.34758173e-01 9.42032312e-01 -2.26294030e-02 -9.22446424e+01] [-5.43990675e-02 4.65495402e-03 9.98508424e-01 -4.01811252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.390714057 meters 0.04960773640292077 Centerline is valid? [True, True] Translation: X:626.54, Y:-92.25, Z:-40.18 [[ 9.41194332e-01 3.34250928e-01 4.92904260e-02 6.26537984e+02] [-3.33529473e-01 9.42472481e-01 -2.24435444e-02 -9.22502620e+01] [-5.39566456e-02 4.68392705e-03 9.98532294e-01 -4.01830698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.4207140569999 meters 0.045269302028702794 Centerline is valid? [True, True] Translation: X:626.57, Y:-92.25, Z:-40.19 [[ 9.41892928e-01 3.32314788e-01 4.90366647e-02 6.26569304e+02] [-3.31598262e-01 9.43156480e-01 -2.23259231e-02 -9.22540690e+01] [-5.36684825e-02 4.76815634e-03 9.98547424e-01 -4.01852936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.4507140569999 meters 0.04782784501944808 Centerline is valid? [True, True] Translation: X:626.59, Y:-92.27, Z:-40.19 [[ 9.42354953e-01 3.31061389e-01 4.86363967e-02 6.26594982e+02] [-3.30354938e-01 9.43597016e-01 -2.21423979e-02 -9.22670875e+01] [-5.32236518e-02 4.79872454e-03 9.98571087e-01 -4.01872191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.4807140569999 meters 0.05488163494538153 Centerline is valid? [True, True] Translation: X:626.62, Y:-92.29, Z:-40.19 [[ 9.42769408e-01 3.29855259e-01 4.87991016e-02 6.26617633e+02] [-3.29142718e-01 9.44018912e-01 -2.22118363e-02 -9.22858162e+01] [-5.33939658e-02 4.87877080e-03 9.98561607e-01 -4.01896561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.510714057 meters 0.04998309253435093 Centerline is valid? [True, True] Translation: X:626.65, Y:-92.29, Z:-40.19 [[ 9.43483538e-01 3.27952329e-01 4.78130060e-02 6.26650064e+02] [-3.27266074e-01 9.44681657e-01 -2.17596982e-02 -9.22881383e+01] [-5.23042134e-02 4.88234225e-03 9.98619263e-01 -4.01905096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.540714057 meters 0.051056920509889185 Centerline is valid? [True, True] Translation: X:626.68, Y:-92.30, Z:-40.19 [[ 9.43703349e-01 3.27292923e-01 4.79930315e-02 6.26676589e+02] [-3.26600574e-01 9.44910023e-01 -2.18429311e-02 -9.22990804e+01] [-5.24981333e-02 4.93869556e-03 9.98608810e-01 -4.01919267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.5707140569999 meters 0.05195341121935091 Centerline is valid? [True, True] Translation: X:626.70, Y:-92.31, Z:-40.19 [[ 9.43880966e-01 3.26681021e-01 4.86644855e-02 6.26703129e+02] [-3.25969123e-01 9.45121274e-01 -2.21338466e-02 -9.23098892e+01] [-5.32245482e-02 5.02859682e-03 9.98569908e-01 -4.01933152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.6007140569999 meters 0.04901847150743671 Centerline is valid? [True, True] Translation: X:626.73, Y:-92.32, Z:-40.19 [[ 9.44099007e-01 3.25995473e-01 4.90307742e-02 6.26732088e+02] [-3.25272676e-01 9.45357618e-01 -2.22858672e-02 -9.23159579e+01] [-5.36167078e-02 5.09169396e-03 9.98548608e-01 -4.01936919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.630714057 meters 0.0499162791223742 Centerline is valid? [True, True] Translation: X:626.76, Y:-92.32, Z:-40.19 [[ 9.43707230e-01 3.26874189e-01 5.06944624e-02 6.26759630e+02] [-3.26103618e-01 9.45053568e-01 -2.30257247e-02 -9.23248043e+01] [-5.54354977e-02 5.19789523e-03 9.98448741e-01 -4.01937431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.660714057 meters 0.048626505375080564 Centerline is valid? [True, True] Translation: X:626.79, Y:-92.33, Z:-40.19 [[ 9.43726024e-01 3.26791714e-01 5.08759980e-02 6.26788042e+02] [-3.26015712e-01 9.45081982e-01 -2.31041828e-02 -9.23325159e+01] [-5.56322445e-02 5.21764384e-03 9.98437694e-01 -4.01946822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.6907140569999 meters 0.048139519099912056 Centerline is valid? [True, True] Translation: X:626.82, Y:-92.34, Z:-40.20 [[ 9.43582089e-01 3.27189428e-01 5.09894164e-02 6.26815909e+02] [-3.26411407e-01 9.44944513e-01 -2.31400443e-02 -9.23415645e+01] [-5.57533471e-02 5.19100417e-03 9.98431078e-01 -4.01963237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.7207140569999 meters 0.048729934062772304 Centerline is valid? [True, True] Translation: X:626.84, Y:-92.35, Z:-40.20 [[ 9.43398683e-01 3.27671249e-01 5.12881733e-02 6.26842390e+02] [-3.26885597e-01 9.44777608e-01 -2.32610657e-02 -9.23526020e+01] [-5.60779002e-02 5.17909366e-03 9.98412964e-01 -4.01981836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.750714057 meters 0.05144788897998304 Centerline is valid? [True, True] Translation: X:626.87, Y:-92.36, Z:-40.20 [[ 9.43244792e-01 3.28191419e-01 5.07903093e-02 6.26867342e+02] [-3.27422569e-01 9.44597561e-01 -2.30197728e-02 -9.23642453e+01] [-5.55312942e-02 5.08338721e-03 9.98444007e-01 -4.02011923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.780714057 meters 0.05599173256057475 Centerline is valid? [True, True] Translation: X:626.89, Y:-92.38, Z:-40.20 [[ 9.43172650e-01 3.28468064e-01 5.03396759e-02 6.26890806e+02] [-3.27713468e-01 9.44501751e-01 -2.28106539e-02 -9.23806528e+01] [-5.50384833e-02 5.01739510e-03 9.98471628e-01 -4.02039689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.8107140569999 meters 0.056227440209046776 Centerline is valid? [True, True] Translation: X:626.92, Y:-92.39, Z:-40.21 [[ 9.43134869e-01 3.28694447e-01 4.95639031e-02 6.26917920e+02] [-3.27964057e-01 9.44423540e-01 -2.24444662e-02 -9.23913662e+01] [-5.41866883e-02 4.91297989e-03 9.98518736e-01 -4.02066588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.8407140569999 meters 0.047224873197533754 Centerline is valid? [True, True] Translation: X:626.95, Y:-92.39, Z:-40.21 [[ 9.42870438e-01 3.29697374e-01 4.79059404e-02 6.26950850e+02] [-3.29016739e-01 9.44075043e-01 -2.16863671e-02 -9.23884747e+01] [-5.23767410e-02 4.68557820e-03 9.98616404e-01 -4.02090103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.870714057 meters 0.047170275083350276 Centerline is valid? [True, True] Translation: X:626.98, Y:-92.40, Z:-40.21 [[ 9.42808518e-01 3.29961706e-01 4.73008584e-02 6.26977571e+02] [-3.29298648e-01 9.43983066e-01 -2.14095915e-02 -9.23988045e+01] [-5.17155546e-02 4.60903651e-03 9.98651220e-01 -4.02111909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.900714057 meters 0.04764371279027448 Centerline is valid? [True, True] Translation: X:627.00, Y:-92.41, Z:-40.21 [[ 9.42731524e-01 3.30242262e-01 4.68755985e-02 6.27004260e+02] [-3.29592144e-01 9.43885293e-01 -2.12031419e-02 -9.24100407e+01] [-5.12473615e-02 4.53904132e-03 9.98675676e-01 -4.02133860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.9307140569999 meters 0.04814256718617429 Centerline is valid? [True, True] Translation: X:627.03, Y:-92.42, Z:-40.22 [[ 9.42478018e-01 3.31022633e-01 4.64672089e-02 6.27030685e+02] [-3.30385508e-01 9.43612354e-01 -2.10033619e-02 -9.24212585e+01] [-5.07996205e-02 4.44311451e-03 9.98698982e-01 -4.02156130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.9607140569999 meters 0.048380437092147226 Centerline is valid? [True, True] Translation: X:627.06, Y:-92.43, Z:-40.22 [[ 9.42195719e-01 3.31838574e-01 4.63722803e-02 6.27057596e+02] [-3.31205227e-01 9.43325988e-01 -2.09565533e-02 -9.24323005e+01] [-5.06983700e-02 4.38643319e-03 9.98704378e-01 -4.02172479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.990714057 meters 0.04624349622552103 Centerline is valid? [True, True] Translation: X:627.09, Y:-92.44, Z:-40.22 [[ 9.41272688e-01 3.34409926e-01 4.66447041e-02 6.27087281e+02] [-3.33772456e-01 9.42418048e-01 -2.10753464e-02 -9.24390884e+01] [-5.10066160e-02 4.26893053e-03 9.98689192e-01 -4.02187077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.020714057 meters 0.048646613045165765 Centerline is valid? [True, True] Translation: X:627.11, Y:-92.45, Z:-40.22 [[ 9.40717372e-01 3.35932457e-01 4.69064000e-02 6.27112753e+02] [-3.35289730e-01 9.41876673e-01 -2.11926623e-02 -9.24525940e+01] [-5.12993471e-02 4.20907132e-03 9.98674452e-01 -4.02203384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.0507140569999 meters 0.048033727376042404 Centerline is valid? [True, True] Translation: X:627.14, Y:-92.46, Z:-40.22 [[ 9.40173270e-01 3.37444671e-01 4.69608049e-02 6.27140521e+02] [-3.36802431e-01 9.41336307e-01 -2.12150952e-02 -9.24624588e+01] [-5.13648314e-02 4.12935215e-03 9.98671419e-01 -4.02219824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.0807140569999 meters 0.048033727376042404 Centerline is valid? [True, True] Translation: X:627.17, Y:-92.47, Z:-40.22 [[ 9.40264956e-01 3.37189095e-01 4.69609065e-02 6.27165560e+02] [-3.36546549e-01 9.41427825e-01 -2.12148708e-02 -9.24736660e+01] [-5.13637271e-02 4.14306851e-03 9.98671419e-01 -4.02235727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.110714057 meters 0.04547999529216168 Centerline is valid? [True, True] Translation: X:627.19, Y:-92.48, Z:-40.22 [[ 9.39821864e-01 3.38390892e-01 4.71854573e-02 6.27194417e+02] [-3.37744504e-01 9.40996781e-01 -2.13004444e-02 -9.24810098e+01] [-5.16092398e-02 4.08199450e-03 9.98659013e-01 -4.02246715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.140714057 meters 0.04800968789425311 Centerline is valid? [True, True] Translation: X:627.22, Y:-92.50, Z:-40.23 [[ 9.39076759e-01 3.40337455e-01 4.80130881e-02 6.27220190e+02] [-3.39671445e-01 9.40294722e-01 -2.16597788e-02 -9.24950767e+01] [-5.25180873e-02 4.03151987e-03 9.98611835e-01 -4.02262311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.1707140569999 meters 0.044897380298606474 Centerline is valid? [True, True] Translation: X:627.25, Y:-92.50, Z:-40.23 [[ 9.38249920e-01 3.42574812e-01 4.82657822e-02 6.27250725e+02] [-3.41904795e-01 9.39482352e-01 -2.17720335e-02 -9.25008433e+01] [-5.28034009e-02 3.92530636e-03 9.98597213e-01 -4.02271861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.2007140569999 meters 0.04508880076526799 Centerline is valid? [True, True] Translation: X:627.28, Y:-92.51, Z:-40.23 [[ 9.37793893e-01 3.43757992e-01 4.87140448e-02 6.27276191e+02] [-3.43077297e-01 9.39050217e-01 -2.19694983e-02 -9.25115599e+01] [-5.32971250e-02 3.89017849e-03 9.98571121e-01 -4.02287596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.2307140569999 meters 0.04591863755651826 Centerline is valid? [True, True] Translation: X:627.30, Y:-92.52, Z:-40.23 [[ 9.37352291e-01 3.44900400e-01 4.91365121e-02 6.27301744e+02] [-3.44209789e-01 9.38631386e-01 -2.21526927e-02 -9.25233528e+01] [-5.37615451e-02 3.85160881e-03 9.98546374e-01 -4.02304928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.260714057 meters 0.04383381728191019 Centerline is valid? [True, True] Translation: X:627.33, Y:-92.53, Z:-40.23 [[ 9.37412116e-01 3.44727998e-01 4.92049921e-02 6.27328641e+02] [-3.44035391e-01 9.38694666e-01 -2.21804638e-02 -9.25310624e+01] [-5.38346905e-02 3.86397685e-03 9.98542386e-01 -4.02313654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.290714057 meters 0.03889577910141718 Centerline is valid? [True, True] Translation: X:627.36, Y:-92.53, Z:-40.23 [[ 9.37309443e-01 3.44951835e-01 4.95907290e-02 6.27358713e+02] [-3.44249520e-01 9.38612426e-01 -2.23379016e-02 -9.25344248e+01] [-5.42519746e-02 3.86594148e-03 9.98519793e-01 -4.02331953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.3207140569999 meters 0.040559844927437715 Centerline is valid? [True, True] Translation: X:627.38, Y:-92.55, Z:-40.23 [[ 9.37378612e-01 3.44722048e-01 4.98803232e-02 6.27382846e+02] [-3.44012038e-01 9.38696756e-01 -2.24525794e-02 -9.25478217e+01] [-5.45623967e-02 3.88713604e-03 9.98502797e-01 -4.02348046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.3507140569999 meters 0.03983975629275693 Centerline is valid? [True, True] Translation: X:627.41, Y:-92.56, Z:-40.24 [[ 9.37808036e-01 3.43577353e-01 4.97060425e-02 6.27410153e+02] [-3.42870960e-01 9.39116135e-01 -2.23694080e-02 -9.25570922e+01] [-5.43653685e-02 3.93545208e-03 9.98513354e-01 -4.02365555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.380714057 meters 0.04016620584827523 Centerline is valid? [True, True] Translation: X:627.44, Y:-92.57, Z:-40.24 [[ 9.37935753e-01 3.43246461e-01 4.95821622e-02 6.27435946e+02] [-3.42543970e-01 9.39237149e-01 -2.22981444e-02 -9.25685578e+01] [-5.42231678e-02 3.93015611e-03 9.98521107e-01 -4.02382099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.410714057 meters 0.04034659394633967 Centerline is valid? [True, True] Translation: X:627.46, Y:-92.58, Z:-40.24 [[ 9.38121968e-01 3.42752384e-01 4.94770231e-02 6.27461845e+02] [-3.42052442e-01 9.39417497e-01 -2.22461991e-02 -9.25801311e+01] [-5.41045190e-02 3.94591148e-03 9.98527481e-01 -4.02403170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.4407140569999 meters 0.04023120464462094 Centerline is valid? [True, True] Translation: X:627.49, Y:-92.59, Z:-40.24 [[ 9.38268616e-01 3.42422342e-01 4.89790120e-02 6.27488216e+02] [-3.41736764e-01 9.39537994e-01 -2.20077804e-02 -9.25914275e+01] [-5.35535983e-02 3.91128056e-03 9.98557316e-01 -4.02423266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.4707140569999 meters 0.04130060367093102 Centerline is valid? [True, True] Translation: X:627.51, Y:-92.60, Z:-40.25 [[ 9.38225872e-01 3.42572043e-01 4.87504659e-02 6.27513803e+02] [-3.41893832e-01 9.39483588e-01 -2.18905377e-02 -9.26029882e+01] [-5.32993489e-02 3.87078529e-03 9.98571077e-01 -4.02451044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.500714057 meters 0.04071713403387621 Centerline is valid? [True, True] Translation: X:627.54, Y:-92.61, Z:-40.25 [[ 9.38176638e-01 3.42807516e-01 4.80375099e-02 6.27540682e+02] [-3.42150060e-01 9.39398031e-01 -2.15563273e-02 -9.26135014e+01] [-5.25160132e-02 3.78760573e-03 9.98612899e-01 -4.02470896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.530714057 meters 0.041911166960760055 Centerline is valid? [True, True] Translation: X:627.57, Y:-92.63, Z:-40.25 [[ 9.38079016e-01 3.43100429e-01 4.78524289e-02 6.27565347e+02] [-3.42449204e-01 9.39291270e-01 -2.14581675e-02 -9.26256088e+01] [-5.23096752e-02 3.74243049e-03 9.98623899e-01 -4.02497170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.5607140569999 meters 0.041928551776371156 Centerline is valid? [True, True] Translation: X:627.59, Y:-92.64, Z:-40.25 [[ 9.38001207e-01 3.43338262e-01 4.76715185e-02 6.27591361e+02] [-3.42692472e-01 9.39204485e-01 -2.13730020e-02 -9.26369361e+01] [-5.21114733e-02 3.71123111e-03 9.98634378e-01 -4.02519368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.5907140569999 meters 0.04282357452382417 Centerline is valid? [True, True] Translation: X:627.62, Y:-92.65, Z:-40.25 [[ 9.37670569e-01 3.44309556e-01 4.71681395e-02 6.27616783e+02] [-3.43679308e-01 9.38849261e-01 -2.11328858e-02 -9.26484339e+01] [-5.15600274e-02 3.60497148e-03 9.98663391e-01 -4.02542534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.620714057 meters 0.04265231947633246 Centerline is valid? [True, True] Translation: X:627.64, Y:-92.66, Z:-40.26 [[ 9.37617850e-01 3.44438948e-01 4.72713231e-02 6.27643118e+02] [-3.43806407e-01 9.38801816e-01 -2.11732158e-02 -9.26594605e+01] [-5.16712842e-02 3.60020132e-03 9.98657658e-01 -4.02559079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.650714057 meters 0.043237691992308716 Centerline is valid? [True, True] Translation: X:627.67, Y:-92.67, Z:-40.26 [[ 9.37592253e-01 3.44461186e-01 4.76157437e-02 6.27669139e+02] [-3.43820132e-01 9.38793610e-01 -2.13137079e-02 -9.26713640e+01] [-5.20431011e-02 3.61231608e-03 9.98638306e-01 -4.02576979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.6807140569999 meters 0.04336764473284253 Centerline is valid? [True, True] Translation: X:627.70, Y:-92.68, Z:-40.26 [[ 9.37321192e-01 3.45064197e-01 4.85765750e-02 6.27696191e+02] [-3.44398573e-01 9.38572037e-01 -2.17290965e-02 -9.26825021e+01] [-5.30905482e-02 3.63743955e-03 9.98583078e-01 -4.02587608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.7107140569999 meters 0.04491946286616869 Centerline is valid? [True, True] Translation: X:627.72, Y:-92.70, Z:-40.26 [[ 9.37228771e-01 3.45186446e-01 4.94828148e-02 6.27721071e+02] [-3.44496306e-01 9.38526873e-01 -2.21270008e-02 -9.26950527e+01] [-5.40788922e-02 3.69141486e-03 9.98529843e-01 -4.02600445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.740714057 meters 0.043794684945777165 Centerline is valid? [True, True] Translation: X:627.75, Y:-92.71, Z:-40.26 [[ 9.37173751e-01 3.45334173e-01 4.94941355e-02 6.27747513e+02] [-3.44644158e-01 9.38472573e-01 -2.21277047e-02 -9.27052914e+01] [-5.40903413e-02 3.67963936e-03 9.98529266e-01 -4.02613148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.770714057 meters 0.04605175615981203 Centerline is valid? [True, True] Translation: X:627.77, Y:-92.72, Z:-40.26 [[ 9.37027523e-01 3.45582948e-01 5.05158051e-02 6.27772493e+02] [-3.44865281e-01 9.38380803e-01 -2.25700399e-02 -9.27185144e+01] [-5.52028827e-02 3.72760127e-03 9.98468200e-01 -4.02629615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.8007140569999 meters 0.04586767717401302 Centerline is valid? [True, True] Translation: X:627.80, Y:-92.73, Z:-40.26 [[ 9.36917478e-01 3.45809574e-01 5.10037010e-02 6.27798618e+02] [-3.45079097e-01 9.38297274e-01 -2.27737149e-02 -9.27293558e+01] [-5.57320023e-02 3.73678044e-03 9.98438771e-01 -4.02639802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.8307140569999 meters 0.03674615629139011 Centerline is valid? [True, True] Translation: X:627.83, Y:-92.73, Z:-40.27 [[ 9.36913324e-01 3.45729325e-01 5.16203247e-02 6.27830325e+02] [-3.44981742e-01 9.38326699e-01 -2.30348460e-02 -9.27278092e+01] [-5.64005507e-02 3.77358458e-03 9.98401091e-01 -4.02650012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.860714057 meters 0.0375735451668714 Centerline is valid? [True, True] Translation: X:627.86, Y:-92.74, Z:-40.27 [[ 9.36785411e-01 3.46015635e-01 5.20218570e-02 6.27855600e+02] [-3.45257716e-01 9.38221170e-01 -2.31979881e-02 -9.27396933e+01] [-5.68348741e-02 3.77058927e-03 9.98376472e-01 -4.02661304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.890714057 meters 0.041165610399266715 Centerline is valid? [True, True] Translation: X:627.88, Y:-92.76, Z:-40.27 [[ 9.36468903e-01 3.46772668e-01 5.26755200e-02 6.27878877e+02] [-3.45997083e-01 9.37941646e-01 -2.34837612e-02 -9.27559590e+01] [-5.75500905e-02 3.76623585e-03 9.98335516e-01 -4.02676249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.9207140569999 meters 0.03667516609440252 Centerline is valid? [True, True] Translation: X:627.91, Y:-92.76, Z:-40.27 [[ 9.36174151e-01 3.47476018e-01 5.32764056e-02 6.27907898e+02] [-3.46684087e-01 9.37681331e-01 -2.37458622e-02 -9.27609593e+01] [-5.82074086e-02 3.76018032e-03 9.98297430e-01 -4.02693547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.9507140569999 meters 0.03703930727835233 Centerline is valid? [True, True] Translation: X:627.93, Y:-92.77, Z:-40.27 [[ 9.35777562e-01 3.48556333e-01 5.31868100e-02 6.27934159e+02] [-3.47769721e-01 9.37280641e-01 -2.36901082e-02 -9.27724402e+01] [-5.81083046e-02 3.67190961e-03 9.98303532e-01 -4.02712937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.9807140569999 meters 0.036023930229478016 Centerline is valid? [True, True] Translation: X:627.96, Y:-92.78, Z:-40.27 [[ 9.35428832e-01 3.49480051e-01 5.32596822e-02 6.27961171e+02] [-3.48693036e-01 9.36936831e-01 -2.37179627e-02 -9.27829194e+01] [-5.81899127e-02 3.61518585e-03 9.98298986e-01 -4.02725497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.010714057 meters 0.03543694793260146 Centerline is valid? [True, True] Translation: X:627.99, Y:-92.79, Z:-40.27 [[ 9.35070245e-01 3.50464219e-01 5.30892501e-02 6.27988624e+02] [-3.49684709e-01 9.36569476e-01 -2.36267062e-02 -9.27925221e+01] [-5.80020862e-02 3.52813098e-03 9.98310227e-01 -4.02749556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.040714057 meters 0.03696603762642901 Centerline is valid? [True, True] Translation: X:628.01, Y:-92.81, Z:-40.28 [[ 9.34685331e-01 3.51503940e-01 5.29935006e-02 6.28012904e+02] [-3.50729756e-01 9.36180069e-01 -2.35694002e-02 -9.28068282e+01] [-5.78961961e-02 3.44357508e-03 9.98316669e-01 -4.02771102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.0707140569999 meters 0.03872818652826241 Centerline is valid? [True, True] Translation: X:628.04, Y:-92.82, Z:-40.28 [[ 9.34489024e-01 3.52055623e-01 5.27930227e-02 6.28036881e+02] [-3.51288488e-01 9.35972937e-01 -2.34746678e-02 -9.28207824e+01] [-5.76772293e-02 3.39123827e-03 9.98329523e-01 -4.02795230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.1007140569999 meters 0.03756742708202816 Centerline is valid? [True, True] Translation: X:628.06, Y:-92.83, Z:-40.28 [[ 9.34292949e-01 3.52585205e-01 5.27291123e-02 6.28063700e+02] [-3.51821078e-01 9.35773720e-01 -2.34408715e-02 -9.28306092e+01] [-5.76074221e-02 3.34942778e-03 9.98333695e-01 -4.02816710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.130714057 meters 0.03498638527067302 Centerline is valid? [True, True] Translation: X:628.09, Y:-92.84, Z:-40.28 [[ 9.33604169e-01 3.54513672e-01 5.19933837e-02 6.28092617e+02] [-3.53774557e-01 9.35045453e-01 -2.30990185e-02 -9.28390259e+01] [-5.68050949e-02 3.17140369e-03 9.98380250e-01 -4.02836340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.160714057 meters 0.034874516445892234 Centerline is valid? [True, True] Translation: X:628.12, Y:-92.85, Z:-40.29 [[ 9.33379265e-01 3.55117933e-01 5.19076246e-02 6.28119034e+02] [-3.54382367e-01 9.34816281e-01 -2.30577427e-02 -9.28503760e+01] [-5.67123106e-02 3.12647206e-03 9.98385666e-01 -4.02855597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.1907140569999 meters 0.037088791864883036 Centerline is valid? [True, True] Translation: X:628.14, Y:-92.86, Z:-40.29 [[ 9.33091426e-01 3.55928347e-01 5.15305952e-02 6.28142944e+02] [-3.55205520e-01 9.34508302e-01 -2.28751540e-02 -9.28643688e+01] [-5.62976848e-02 3.04065818e-03 9.98409398e-01 -4.02872540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.2207140569999 meters 0.03547676255136763 Centerline is valid? [True, True] Translation: X:628.17, Y:-92.87, Z:-40.29 [[ 9.32112843e-01 3.58423350e-01 5.19456443e-02 6.28170856e+02] [-3.57692985e-01 9.33554628e-01 -2.30539414e-02 -9.28738438e+01] [-5.67571676e-02 2.90828231e-03 9.98383777e-01 -4.02886425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.250714057 meters 0.03495275411152147 Centerline is valid? [True, True] Translation: X:628.20, Y:-92.88, Z:-40.29 [[ 9.31569675e-01 3.59893869e-01 5.15203181e-02 6.28197250e+02] [-3.59177779e-01 9.32989067e-01 -2.28631844e-02 -9.28848576e+01] [-5.62962133e-02 2.79369583e-03 9.98410202e-01 -4.02905653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.280714057 meters 0.033736478564988286 Centerline is valid? [True, True] Translation: X:628.22, Y:-92.89, Z:-40.29 [[ 9.31369538e-01 3.60404670e-01 5.15679902e-02 6.28224035e+02] [-3.59688250e-01 9.32791963e-01 -2.28804881e-02 -9.28941717e+01] [-5.63484416e-02 2.76178943e-03 9.98407345e-01 -4.02925496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.3107140569999 meters 0.03394672328842915 Centerline is valid? [True, True] Translation: X:628.25, Y:-92.91, Z:-40.29 [[ 9.31221493e-01 3.60814215e-01 5.13773720e-02 6.28250512e+02] [-3.60104526e-01 9.32633766e-01 -2.27813381e-02 -9.29062566e+01] [-5.61361025e-02 2.71324749e-03 9.98419439e-01 -4.02941864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.3407140569999 meters 0.03178030490198603 Centerline is valid? [True, True] Translation: X:628.28, Y:-92.92, Z:-40.30 [[ 9.31026836e-01 3.61294440e-01 5.15301788e-02 6.28278470e+02] [-3.60582077e-01 9.32447936e-01 -2.28344705e-02 -9.29153498e+01] [-5.62991761e-02 2.67864592e-03 9.98410350e-01 -4.02956429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.370714057 meters 0.034766235688060886 Centerline is valid? [True, True] Translation: X:628.30, Y:-92.93, Z:-40.30 [[ 9.31191149e-01 3.60828641e-01 5.18240848e-02 6.28301257e+02] [-3.60108218e-01 9.32628197e-01 -2.29503172e-02 -9.29316919e+01] [-5.66137346e-02 2.70885340e-03 9.98392482e-01 -4.02970637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.400714057 meters 0.034188374993857545 Centerline is valid? [True, True] Translation: X:628.33, Y:-92.94, Z:-40.30 [[ 9.31600932e-01 3.59724947e-01 5.21312399e-02 6.28327490e+02] [-3.58994532e-01 9.33054228e-01 -2.30810249e-02 -9.29429266e+01] [-5.69440942e-02 2.78747422e-03 9.98373477e-01 -4.02981772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.4307140569999 meters 0.035035123281854985 Centerline is valid? [True, True] Translation: X:628.35, Y:-92.96, Z:-40.30 [[ 9.32294127e-01 3.57756822e-01 5.32702315e-02 6.28353038e+02] [-3.56991800e-01 9.33810105e-01 -2.35699571e-02 -9.29574115e+01] [-5.81765933e-02 2.95709673e-03 9.98301928e-01 -4.02991500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.4607140569999 meters 0.034304314691309276 Centerline is valid? [True, True] Translation: X:628.38, Y:-92.97, Z:-40.30 [[ 9.32722999e-01 3.56594609e-01 5.35545661e-02 6.28379522e+02] [-3.55819683e-01 9.34254263e-01 -2.36923241e-02 -9.29689396e+01] [-5.84821368e-02 3.04260690e-03 9.98283818e-01 -4.03005262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.490714057 meters 0.03638247970097286 Centerline is valid? [True, True] Translation: X:628.40, Y:-92.98, Z:-40.30 [[ 9.32848493e-01 3.56146721e-01 5.43433735e-02 6.28403231e+02] [-3.55348956e-01 9.34424901e-01 -2.40254936e-02 -9.29847449e+01] [-5.93364022e-02 3.10128447e-03 9.98233226e-01 -4.03019387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.520714057 meters 0.03709214191786066 Centerline is valid? [True, True] Translation: X:628.43, Y:-93.00, Z:-40.30 [[ 9.33206962e-01 3.55191206e-01 5.44423835e-02 6.28427701e+02] [-3.54389243e-01 9.34788321e-01 -2.40636506e-02 -9.29994450e+01] [-5.94393014e-02 3.16257124e-03 9.98226912e-01 -4.03034109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.5507140569999 meters 0.04107913303159593 Centerline is valid? [True, True] Translation: X:628.45, Y:-93.02, Z:-40.30 [[ 9.33516339e-01 3.54420001e-01 5.41637183e-02 6.28450818e+02] [-3.53625265e-01 9.35080898e-01 -2.39350330e-02 -9.30166215e+01] [-5.91305128e-02 3.19008522e-03 9.98245163e-01 -4.03049219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.5807140569999 meters 0.03866243499325308 Centerline is valid? [True, True] Translation: X:628.48, Y:-93.03, Z:-40.31 [[ 9.33830184e-01 3.53683572e-01 5.35641564e-02 6.28478499e+02] [-3.52905610e-01 9.35359681e-01 -2.36621411e-02 -9.30255748e+01] [-5.84706629e-02 3.19333027e-03 9.98284020e-01 -4.03068973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.610714057 meters 0.03951010950809205 Centerline is valid? [True, True] Translation: X:628.50, Y:-93.04, Z:-40.31 [[ 9.33945108e-01 3.53396835e-01 5.34528906e-02 6.28503258e+02] [-3.52622494e-01 9.35468062e-01 -2.35983373e-02 -9.30392441e+01] [-5.83430497e-02 3.19086008e-03 9.98291494e-01 -4.03084744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.640714057 meters 0.03960734570689045 Centerline is valid? [True, True] Translation: X:628.53, Y:-93.05, Z:-40.31 [[ 9.34249005e-01 3.52691584e-01 5.27962466e-02 6.28529232e+02] [-3.51935341e-01 9.35734187e-01 -2.33033619e-02 -9.30522258e+01] [-5.76221525e-02 3.19027756e-03 9.98333366e-01 -4.03109910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.6707140569999 meters 0.04091049727236777 Centerline is valid? [True, True] Translation: X:628.55, Y:-93.07, Z:-40.31 [[ 9.34541607e-01 3.52074684e-01 5.17242925e-02 6.28553120e+02] [-3.51348721e-01 9.35966612e-01 -2.28161791e-02 -9.30671379e+01] [-5.64452099e-02 3.14940467e-03 9.98400731e-01 -4.03139598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.7007140569999 meters 0.04119850403186614 Centerline is valid? [True, True] Translation: X:628.58, Y:-93.08, Z:-40.32 [[ 9.34447094e-01 3.52346522e-01 5.15805922e-02 6.28578921e+02] [-3.51625415e-01 9.35864419e-01 -2.27454916e-02 -9.30810207e+01] [-5.62867358e-02 3.11741138e-03 9.98409778e-01 -4.03158153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.7307140569999 meters 0.04154506562154185 Centerline is valid? [True, True] Translation: X:628.60, Y:-93.09, Z:-40.32 [[ 9.34606123e-01 3.52020234e-01 5.09229822e-02 6.28603986e+02] [-3.51317624e-01 9.35987306e-01 -2.24430523e-02 -9.30941443e+01] [-5.55636734e-02 3.08527294e-03 9.98450379e-01 -4.03181257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.760714057 meters 0.03396051228573541 Centerline is valid? [True, True] Translation: X:628.63, Y:-93.10, Z:-40.32 [[ 9.34311345e-01 3.52837365e-01 5.06764640e-02 6.28634488e+02] [-3.52143484e-01 9.35679826e-01 -2.23210436e-02 -9.30966079e+01] [-5.52926433e-02 3.00941767e-03 9.98465656e-01 -4.03196836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.790714057 meters 0.03352995515995122 Centerline is valid? [True, True] Translation: X:628.66, Y:-93.11, Z:-40.32 [[ 9.33922303e-01 3.53900832e-01 5.04314685e-02 6.28661236e+02] [-3.53216019e-01 9.35278400e-01 -2.21981707e-02 -9.31083555e+01] [-5.50234142e-02 2.91816416e-03 9.98480800e-01 -4.03212116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.8207140569999 meters 0.041498593440808085 Centerline is valid? [True, True] Translation: X:628.68, Y:-93.13, Z:-40.32 [[ 9.33648964e-01 3.54690723e-01 4.99410036e-02 6.28681305e+02] [-3.54021044e-01 9.34979400e-01 -2.19686747e-02 -9.31324172e+01] [-5.44858946e-02 2.83086413e-03 9.98510528e-01 -4.03239230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.8507140569999 meters 0.03364525021769818 Centerline is valid? [True, True] Translation: X:628.71, Y:-93.13, Z:-40.33 [[ 9.33141018e-01 3.56130844e-01 4.91799052e-02 6.28712388e+02] [-3.55484242e-01 9.34432224e-01 -2.16187819e-02 -9.31327482e+01] [-5.36544033e-02 2.69069083e-03 9.98555940e-01 -4.03252164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.880714057 meters 0.03338839194804145 Centerline is valid? [True, True] Translation: X:628.74, Y:-93.14, Z:-40.33 [[ 9.32479894e-01 3.57932891e-01 4.86342871e-02 6.28737312e+02] [-3.57303207e-01 9.33743819e-01 -2.13751967e-02 -9.31447574e+01] [-5.30628509e-02 2.55475437e-03 9.98587907e-01 -4.03271325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.910714057 meters 0.031406155771521484 Centerline is valid? [True, True] Translation: X:628.77, Y:-93.16, Z:-40.33 [[ 9.31131819e-01 3.61541223e-01 4.77648414e-02 6.28765480e+02] [-3.60938954e-01 9.32353287e-01 -2.09861944e-02 -9.31550121e+01] [-5.21210812e-02 2.30072147e-03 9.98638122e-01 -4.03294504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.9407140569999 meters 0.031154843455785907 Centerline is valid? [True, True] Translation: X:628.79, Y:-93.17, Z:-40.33 [[ 9.30480314e-01 3.63288865e-01 4.71973157e-02 6.28792061e+02] [-3.62703440e-01 9.31674026e-01 -2.07297731e-02 -9.31666352e+01] [-5.15034088e-02 2.17001701e-03 9.98670461e-01 -4.03312707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.9707140569999 meters 0.031154843455785907 Centerline is valid? [True, True] Translation: X:628.82, Y:-93.18, Z:-40.33 [[ 9.30581791e-01 3.63028728e-01 4.71982290e-02 6.28817142e+02] [-3.62443074e-01 9.31775392e-01 -2.07276937e-02 -9.31775652e+01] [-5.15028966e-02 2.18214317e-03 9.98670461e-01 -4.03328575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.000714057 meters 0.030875860706034323 Centerline is valid? [True, True] Translation: X:628.84, Y:-93.19, Z:-40.33 [[ 9.29812759e-01 3.64981497e-01 4.72941896e-02 6.28843359e+02] [-3.64396866e-01 9.31012489e-01 -2.07525882e-02 -9.31892193e+01] [-5.16057919e-02 2.06216684e-03 9.98665404e-01 -4.03340181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.030714057 meters 0.030414725212987104 Centerline is valid? [True, True] Translation: X:628.87, Y:-93.20, Z:-40.34 [[ 9.29335695e-01 3.66128849e-01 4.77999133e-02 6.28869279e+02] [-3.65533305e-01 9.30561979e-01 -2.09715660e-02 -9.32008287e+01] [-5.21590773e-02 2.01716462e-03 9.98636752e-01 -4.03354812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.0607140569999 meters 0.029993912051168668 Centerline is valid? [True, True] Translation: X:628.90, Y:-93.21, Z:-40.34 [[ 9.28409953e-01 3.68411530e-01 4.82483491e-02 6.28895527e+02] [-3.67808568e-01 9.29660884e-01 -2.11541505e-02 -9.32137689e+01] [-5.26480359e-02 1.89356767e-03 9.98611335e-01 -4.03362265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.0907140569999 meters 0.02978894500889009 Centerline is valid? [True, True] Translation: X:628.92, Y:-93.23, Z:-40.34 [[ 9.28097134e-01 3.69142945e-01 4.86743817e-02 6.28921255e+02] [-3.68530973e-01 9.29370776e-01 -2.13279654e-02 -9.32268628e+01] [-5.31096159e-02 1.85640634e-03 9.98586963e-01 -4.03377702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.120714057 meters 0.03026225060394917 Centerline is valid? [True, True] Translation: X:628.95, Y:-93.24, Z:-40.34 [[ 9.27856637e-01 3.69701241e-01 4.90209465e-02 6.28945461e+02] [-3.69082083e-01 9.29148894e-01 -2.14650769e-02 -9.32402347e+01] [-5.34834238e-02 1.82376100e-03 9.98567072e-01 -4.03398571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.150714057 meters 0.030089925780455228 Centerline is valid? [True, True] Translation: X:628.97, Y:-93.25, Z:-40.34 [[ 9.27985073e-01 3.69408442e-01 4.87965937e-02 6.28969943e+02] [-3.68794751e-01 9.29265333e-01 -2.13628722e-02 -9.32549733e+01] [-5.32366082e-02 1.82849893e-03 9.98580252e-01 -4.03411799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.1807140569999 meters 0.030350159863484473 Centerline is valid? [True, True] Translation: X:628.99, Y:-93.27, Z:-40.34 [[ 9.28152851e-01 3.69029372e-01 4.84727480e-02 6.28994915e+02] [-3.68424111e-01 9.29415944e-01 -2.12056010e-02 -9.32683347e+01] [-5.28768344e-02 1.82350993e-03 9.98599377e-01 -4.03430431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.2107140569999 meters 0.030797523011569225 Centerline is valid? [True, True] Translation: X:629.02, Y:-93.28, Z:-40.34 [[ 9.28284046e-01 3.68639900e-01 4.89219220e-02 6.29018857e+02] [-3.68023589e-01 9.29570440e-01 -2.13877112e-02 -9.32817913e+01] [-5.33607363e-02 1.84944976e-03 9.98573588e-01 -4.03442918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.240714057 meters 0.029036283306704984 Centerline is valid? [True, True] Translation: X:629.05, Y:-93.29, Z:-40.35 [[ 9.28629194e-01 3.67779704e-01 4.88457804e-02 6.29045859e+02] [-3.67164335e-01 9.29911022e-01 -2.13504563e-02 -9.32912782e+01] [-5.32744940e-02 1.89222855e-03 9.98578113e-01 -4.03454571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.270714057 meters 0.03151914164876034 Centerline is valid? [True, True] Translation: X:629.07, Y:-93.31, Z:-40.35 [[ 9.28909040e-01 3.67038789e-01 4.90970690e-02 6.29066770e+02] [-3.66416842e-01 9.30203634e-01 -2.14452213e-02 -9.33115197e+01] [-5.35415001e-02 1.93066695e-03 9.98563759e-01 -4.03474137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.3007140569999 meters 0.02873857890656779 Centerline is valid? [True, True] Translation: X:629.09, Y:-93.32, Z:-40.35 [[ 9.29241459e-01 3.66250938e-01 4.86884080e-02 6.29094506e+02] [-3.65638510e-01 9.30514067e-01 -2.12614828e-02 -9.33194159e+01] [-5.30922866e-02 1.95469434e-03 9.98587697e-01 -4.03488937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.3307140569999 meters 0.03240731159375484 Centerline is valid? [True, True] Translation: X:629.12, Y:-93.34, Z:-40.35 [[ 9.29510383e-01 3.65610911e-01 4.83643565e-02 6.29115900e+02] [-3.65006550e-01 9.30765709e-01 -2.11048012e-02 -9.33401674e+01] [-5.27320301e-02 1.96382492e-03 9.98606768e-01 -4.03516118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.360714057 meters 0.02854321408568919 Centerline is valid? [True, True] Translation: X:629.14, Y:-93.35, Z:-40.35 [[ 9.29519976e-01 3.65503400e-01 4.89885593e-02 6.29143699e+02] [-3.64883407e-01 9.30807874e-01 -2.13728983e-02 -9.33465658e+01] [-5.34108038e-02 1.99142345e-03 9.98570639e-01 -4.03525290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.390714057 meters 0.028789879798536644 Centerline is valid? [True, True] Translation: X:629.17, Y:-93.36, Z:-40.35 [[ 9.29772340e-01 3.64873726e-01 4.88933634e-02 6.29168153e+02] [-3.64256166e-01 9.31054849e-01 -2.13146373e-02 -9.33619552e+01] [-5.32995542e-02 2.00805114e-03 9.98576550e-01 -4.03541321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.4207140569999 meters 0.028482233816030548 Centerline is valid? [True, True] Translation: X:629.19, Y:-93.37, Z:-40.36 [[ 9.29826522e-01 3.64754334e-01 4.87536144e-02 6.29193066e+02] [-3.64140891e-01 9.31101655e-01 -2.12395707e-02 -9.33748260e+01] [-5.31417965e-02 1.99593154e-03 9.98584982e-01 -4.03556016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.4507140569999 meters 0.028342258356896917 Centerline is valid? [True, True] Translation: X:629.22, Y:-93.39, Z:-40.36 [[ 9.30280085e-01 3.63593849e-01 4.87696225e-02 6.29218986e+02] [-3.62979302e-01 9.31555324e-01 -2.12298003e-02 -9.33878874e+01] [-5.31506263e-02 2.04729691e-03 9.98584408e-01 -4.03576054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.4807140569999 meters 0.028916531113437265 Centerline is valid? [True, True] Translation: X:629.24, Y:-93.40, Z:-40.36 [[ 9.30552212e-01 3.62936344e-01 4.84746510e-02 6.29243051e+02] [-3.62329135e-01 9.31811663e-01 -2.10860732e-02 -9.34025294e+01] [-5.28221474e-02 2.05791367e-03 9.98601815e-01 -4.03596084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.510714057 meters 0.0292614781256218 Centerline is valid? [True, True] Translation: X:629.27, Y:-93.42, Z:-40.36 [[ 9.31493225e-01 3.60623118e-01 4.76585600e-02 6.29268240e+02] [-3.60033452e-01 9.32709149e-01 -2.07257783e-02 -9.34194253e+01] [-5.19257698e-02 2.14724619e-03 9.98648639e-01 -4.03617969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.540714057 meters 0.030095279961505402 Centerline is valid? [True, True] Translation: X:629.29, Y:-93.43, Z:-40.36 [[ 9.31961180e-01 3.59396402e-01 4.77764122e-02 6.29291704e+02] [-3.58802293e-01 9.33182351e-01 -2.07753267e-02 -9.34345788e+01] [-5.20506823e-02 2.21951171e-03 9.98641978e-01 -4.03638041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.5707140569999 meters 0.030487611715781685 Centerline is valid? [True, True] Translation: X:629.32, Y:-93.45, Z:-40.37 [[ 9.32693467e-01 3.57534548e-01 4.74546418e-02 6.29316823e+02] [-3.56946218e-01 9.33897070e-01 -2.06315108e-02 -9.34482567e+01] [-5.16942288e-02 2.30412042e-03 9.98660301e-01 -4.03660763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.6007140569999 meters 0.03501045122156973 Centerline is valid? [True, True] Translation: X:629.34, Y:-93.47, Z:-40.37 [[ 9.33803699e-01 3.54690309e-01 4.69620732e-02 6.29337457e+02] [-3.54111313e-01 9.34980705e-01 -2.04024482e-02 -9.34709151e+01] [-5.11451829e-02 2.42208016e-03 9.98688292e-01 -4.03690087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.630714057 meters 0.03169989668389105 Centerline is valid? [True, True] Translation: X:629.37, Y:-93.48, Z:-40.37 [[ 9.34465208e-01 3.52917809e-01 4.71571417e-02 6.29366080e+02] [-3.52331997e-01 9.35650921e-01 -2.04821634e-02 -9.34794701e+01] [-5.13511433e-02 2.52489915e-03 9.98677468e-01 -4.03702766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.660714057 meters 0.031093011724488195 Centerline is valid? [True, True] Translation: X:629.39, Y:-93.49, Z:-40.37 [[ 9.35055938e-01 3.51342789e-01 4.72084547e-02 6.29392094e+02] [-3.50753723e-01 9.36243244e-01 -2.05039847e-02 -9.34916925e+01] [-5.14025239e-02 2.61383146e-03 9.98674596e-01 -4.03716228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.6907140569999 meters 0.032491951283712135 Centerline is valid? [True, True] Translation: X:629.42, Y:-93.51, Z:-40.37 [[ 9.35541880e-01 3.50016692e-01 4.74310561e-02 6.29415767e+02] [-3.49421157e-01 9.36739615e-01 -2.05851521e-02 -9.35068892e+01] [-5.16356961e-02 2.68485746e-03 9.98662379e-01 -4.03737081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.7207140569999 meters 0.036620958042250545 Centerline is valid? [True, True] Translation: X:629.44, Y:-93.53, Z:-40.38 [[ 9.36363444e-01 3.47738968e-01 4.79698950e-02 6.29437812e+02] [-3.47127110e-01 9.37587094e-01 -2.08137248e-02 -9.35282855e+01] [-5.22136976e-02 2.83755998e-03 9.98631903e-01 -4.03756463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.750714057 meters 0.03359194910372202 Centerline is valid? [True, True] Translation: X:629.47, Y:-93.54, Z:-40.38 [[ 9.36828649e-01 3.46505886e-01 4.78095564e-02 6.29465485e+02] [-3.45896682e-01 9.38043335e-01 -2.07409559e-02 -9.35367601e+01] [-5.20342991e-02 2.89355473e-03 9.98641106e-01 -4.03769147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.780714057 meters 0.03446786507188953 Centerline is valid? [True, True] Translation: X:629.49, Y:-93.55, Z:-40.38 [[ 9.37469768e-01 3.44774898e-01 4.77567101e-02 6.29490998e+02] [-3.44165608e-01 9.38680690e-01 -2.07025627e-02 -9.35523382e+01] [-5.19660255e-02 2.97180949e-03 9.98644432e-01 -4.03792003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.8107140569999 meters 0.03467681099682272 Centerline is valid? [True, True] Translation: X:629.52, Y:-93.57, Z:-40.38 [[ 9.37819912e-01 3.43795610e-01 4.79415502e-02 6.29516190e+02] [-3.43180405e-01 9.39039594e-01 -2.07809849e-02 -9.35651691e+01] [-5.21634252e-02 3.03622082e-03 9.98633946e-01 -4.03810589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.8407140569999 meters 0.035557564265569705 Centerline is valid? [True, True] Translation: X:629.54, Y:-93.58, Z:-40.38 [[ 9.38323303e-01 3.42417000e-01 4.79580764e-02 6.29541441e+02] [-3.41799793e-01 9.39542934e-01 -2.07840374e-02 -9.35788663e+01] [-5.21754796e-02 3.11008603e-03 9.98633089e-01 -4.03826118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.870714057 meters 0.03561623083096671 Centerline is valid? [True, True] Translation: X:629.57, Y:-93.59, Z:-40.38 [[ 9.38615616e-01 3.41527754e-01 4.85748817e-02 6.29566679e+02] [-3.40894182e-01 9.39866290e-01 -2.10359821e-02 -9.35916980e+01] [-5.28382656e-02 3.18580671e-03 9.98598001e-01 -4.03838560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.900714057 meters 0.03621660476487266 Centerline is valid? [True, True] Translation: X:629.59, Y:-93.60, Z:-40.39 [[ 9.39049084e-01 3.40296702e-01 4.88361899e-02 6.29592171e+02] [-3.39654864e-01 9.40312433e-01 -2.11447819e-02 -9.36045517e+01] [-5.31167761e-02 3.26853862e-03 9.98582958e-01 -4.03854431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.9307140569999 meters 0.037379491318438644 Centerline is valid? [True, True] Translation: X:629.62, Y:-93.62, Z:-40.39 [[ 9.39487016e-01 3.38979208e-01 4.95705933e-02 6.29615913e+02] [-3.38316902e-01 9.40787797e-01 -2.14475118e-02 -9.36186292e+01] [-5.39056699e-02 3.37908932e-03 9.98540315e-01 -4.03871593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.9607140569999 meters 0.037560247920664154 Centerline is valid? [True, True] Translation: X:629.64, Y:-93.63, Z:-40.39 [[ 9.39648907e-01 3.38502520e-01 4.97591880e-02 6.29641430e+02] [-3.37834972e-01 9.40959302e-01 -2.15203021e-02 -9.36310941e+01] [-5.41060473e-02 3.41113447e-03 9.98529369e-01 -4.03887338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.990714057 meters 0.037970791837791305 Centerline is valid? [True, True] Translation: X:629.67, Y:-93.64, Z:-40.39 [[ 9.39782593e-01 3.38146075e-01 4.96579313e-02 6.29666907e+02] [-3.37481523e-01 9.41087454e-01 -2.14621906e-02 -9.36428419e+01] [-5.39898117e-02 3.41115885e-03 9.98535660e-01 -4.03905617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.020714057 meters 0.03695292964488399 Centerline is valid? [True, True] Translation: X:629.69, Y:-93.65, Z:-40.39 [[ 9.39595634e-01 3.38709902e-01 4.93522764e-02 6.29693322e+02] [-3.38055170e-01 9.40884919e-01 -2.13136507e-02 -9.36531535e+01] [-5.36539571e-02 3.34242098e-03 9.98553995e-01 -4.03925106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.0507140569999 meters 0.03799088326031377 Centerline is valid? [True, True] Translation: X:629.72, Y:-93.67, Z:-40.39 [[ 9.39056143e-01 3.40228968e-01 4.91712186e-02 6.29718020e+02] [-3.39581915e-01 9.40337078e-01 -2.12203560e-02 -9.36660319e+01] [-5.34572998e-02 3.22944906e-03 9.98564914e-01 -4.03949827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.0807140569999 meters 0.035306524047935176 Centerline is valid? [True, True] Translation: X:629.75, Y:-93.67, Z:-40.40 [[ 9.38855164e-01 3.40784813e-01 4.91598745e-02 6.29746241e+02] [-3.40139048e-01 9.40135903e-01 -2.12111258e-02 -9.36737249e+01] [-5.34453926e-02 3.19298208e-03 9.98565669e-01 -4.03963560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.110714057 meters 0.03674226489685635 Centerline is valid? [True, True] Translation: X:629.77, Y:-93.69, Z:-40.40 [[ 9.38352986e-01 3.42110310e-01 4.95399806e-02 6.29770519e+02] [-3.41457177e-01 9.39654594e-01 -2.13597802e-02 -9.36870148e+01] [-5.38578714e-02 3.12723164e-03 9.98543715e-01 -4.03984120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.140714057 meters 0.037236478842671776 Centerline is valid? [True, True] Translation: X:629.80, Y:-93.70, Z:-40.40 [[ 9.38130049e-01 3.42677734e-01 4.98395682e-02 6.29795886e+02] [-3.42017876e-01 9.39447881e-01 -2.14814159e-02 -9.36988999e+01] [-5.41828797e-02 3.10633852e-03 9.98526197e-01 -4.04004180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.1707140569999 meters 0.036036847614981625 Centerline is valid? [True, True] Translation: X:629.82, Y:-93.71, Z:-40.40 [[ 9.37880931e-01 3.43325859e-01 5.00670896e-02 6.29823506e+02] [-3.42661128e-01 9.39211306e-01 -2.15748601e-02 -9.37087089e+01] [-5.44307840e-02 3.07860443e-03 9.98512800e-01 -4.04019647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.2007140569999 meters 0.03666942131112698 Centerline is valid? [True, True] Translation: X:629.85, Y:-93.72, Z:-40.40 [[ 9.37511981e-01 3.44257086e-01 5.05800660e-02 6.29848523e+02] [-3.43580779e-01 9.38870493e-01 -2.17817687e-02 -9.37205290e+01] [-5.49866597e-02 3.04233062e-03 9.98482454e-01 -4.04036760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.2307140569999 meters 0.037546581189737915 Centerline is valid? [True, True] Translation: X:629.87, Y:-93.73, Z:-40.41 [[ 9.37610051e-01 3.43981321e-01 5.06383568e-02 6.29872937e+02] [-3.43303336e-01 9.38971514e-01 -2.18017309e-02 -9.37327818e+01] [-5.50473628e-02 3.05720517e-03 9.98479064e-01 -4.04051528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.260714057 meters 0.03823843007326127 Centerline is valid? [True, True] Translation: X:629.90, Y:-93.75, Z:-40.41 [[ 9.37736709e-01 3.43598084e-01 5.08942123e-02 6.29899181e+02] [-3.42912984e-01 9.39111713e-01 -2.19060702e-02 -9.37450289e+01] [-5.53222346e-02 3.08984001e-03 9.98463772e-01 -4.04069028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.290714057 meters 0.034877024577548564 Centerline is valid? [True, True] Translation: X:629.93, Y:-93.75, Z:-40.41 [[ 9.38035622e-01 3.42695671e-01 5.14669717e-02 6.29927105e+02] [-3.41994508e-01 9.39441143e-01 -2.21381055e-02 -9.37517531e+01] [-5.59368236e-02 3.16490989e-03 9.98429294e-01 -4.04083863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.3207140569999 meters 0.035261050163421764 Centerline is valid? [True, True] Translation: X:629.95, Y:-93.76, Z:-40.41 [[ 9.38233703e-01 3.42113261e-01 5.17304207e-02 6.29952869e+02] [-3.41404878e-01 9.39653269e-01 -2.22360659e-02 -9.37642692e+01] [-5.62159119e-02 3.20160848e-03 9.98413502e-01 -4.04100383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.3507140569999 meters 0.03577208337089082 Centerline is valid? [True, True] Translation: X:629.98, Y:-93.78, Z:-40.41 [[ 9.38685430e-01 3.40826728e-01 5.20269675e-02 6.29979360e+02] [-3.40109094e-01 9.40120398e-01 -2.23481789e-02 -9.37759992e+01] [-5.65284701e-02 3.28306515e-03 9.98395590e-01 -4.04119502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.380714057 meters 0.03345079594680206 Centerline is valid? [True, True] Translation: X:630.01, Y:-93.78, Z:-40.41 [[ 9.38952677e-01 3.40050741e-01 5.22815867e-02 6.30007128e+02] [-3.39325742e-01 9.40401188e-01 -2.24420757e-02 -9.37842596e+01] [-5.67971107e-02 3.33155886e-03 9.98380183e-01 -4.04134495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.410714057 meters 0.03612284295066894 Centerline is valid? [True, True] Translation: X:630.03, Y:-93.80, Z:-40.42 [[ 9.39341179e-01 3.38865101e-01 5.29961578e-02 6.30030536e+02] [-3.38119202e-01 9.40828703e-01 -2.27322850e-02 -9.38001966e+01] [-5.75634845e-02 3.43435282e-03 9.98335941e-01 -4.04152267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.4407140569999 meters 0.03620395162425062 Centerline is valid? [True, True] Translation: X:630.06, Y:-93.81, Z:-40.42 [[ 9.39400717e-01 3.38653222e-01 5.32943504e-02 6.30055229e+02] [-3.37898896e-01 9.40904891e-01 -2.28543512e-02 -9.38121872e+01] [-5.78846146e-02 3.46129174e-03 9.98317280e-01 -4.04166342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.4707140569999 meters 0.036697341813459794 Centerline is valid? [True, True] Translation: X:630.08, Y:-93.82, Z:-40.42 [[ 9.39308760e-01 3.38704512e-01 5.45738746e-02 6.30080076e+02] [-3.37914678e-01 9.40886197e-01 -2.33844952e-02 -9.38249392e+01] [-5.92682394e-02 3.52394790e-03 9.98235873e-01 -4.04178876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.500714057 meters 0.03718135981593809 Centerline is valid? [True, True] Translation: X:630.11, Y:-93.84, Z:-40.42 [[ 9.39356617e-01 3.38446112e-01 5.53477648e-02 6.30105101e+02] [-3.37633631e-01 9.40978947e-01 -2.37097356e-02 -9.38366566e+01] [-6.01055493e-02 3.58463026e-03 9.98185591e-01 -4.04194029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.530714057 meters 0.037726602052976545 Centerline is valid? [True, True] Translation: X:630.13, Y:-93.85, Z:-40.42 [[ 9.39020708e-01 3.39151389e-01 5.67137177e-02 6.30129622e+02] [-3.38300689e-01 9.40724883e-01 -2.42762918e-02 -9.38494247e+01] [-6.15853435e-02 3.60965095e-03 9.98095294e-01 -4.04205229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.5607140569999 meters 0.035180985209949556 Centerline is valid? [True, True] Translation: X:630.16, Y:-93.86, Z:-40.42 [[ 9.38751113e-01 3.39812626e-01 5.72164941e-02 6.30157167e+02] [-3.38948400e-01 9.40486299e-01 -2.44847496e-02 -9.38578055e+01] [-6.21315559e-02 3.59164679e-03 9.98061506e-01 -4.04223698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.5907140569999 meters 0.03606225903566371 Centerline is valid? [True, True] Translation: X:630.18, Y:-93.87, Z:-40.42 [[ 9.38628759e-01 3.40047195e-01 5.78269669e-02 6.30181537e+02] [-3.39165888e-01 9.40401485e-01 -2.47294802e-02 -9.38708433e+01] [-6.27897559e-02 3.59886671e-03 9.98020288e-01 -4.04243381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.620714057 meters 0.03632793641749411 Centerline is valid? [True, True] Translation: X:630.21, Y:-93.88, Z:-40.43 [[ 9.38352354e-01 3.40747726e-01 5.81880389e-02 6.30207055e+02] [-3.39857155e-01 9.40147999e-01 -2.48767925e-02 -9.38838297e+01] [-6.31820788e-02 3.56757544e-03 9.97995640e-01 -4.04278176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.650714057 meters 0.03636812504004869 Centerline is valid? [True, True] Translation: X:630.23, Y:-93.90, Z:-40.43 [[ 9.38004406e-01 3.41595981e-01 5.88210827e-02 6.30231973e+02] [-3.40688599e-01 9.39840252e-01 -2.51312238e-02 -9.38961062e+01] [-6.38671463e-02 3.53352640e-03 9.97952154e-01 -4.04300212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.6807140569999 meters 0.036897057948073575 Centerline is valid? [True, True] Translation: X:630.26, Y:-93.91, Z:-40.43 [[ 9.37797761e-01 3.42171619e-01 5.87702581e-02 6.30257148e+02] [-3.41267383e-01 9.39631013e-01 -2.51024521e-02 -9.39086695e+01] [-6.38117038e-02 3.48465114e-03 9.97955873e-01 -4.04320183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.7107140569999 meters 0.033502498478282655 Centerline is valid? [True, True] Translation: X:630.29, Y:-93.92, Z:-40.43 [[ 9.37651057e-01 3.42505796e-01 5.91631249e-02 6.30286026e+02] [-3.41591169e-01 9.39509310e-01 -2.52532970e-02 -9.39152208e+01] [-6.42337073e-02 3.46917966e-03 9.97928853e-01 -4.04346736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.740714057 meters 0.03355459020102687 Centerline is valid? [True, True] Translation: X:630.31, Y:-93.93, Z:-40.44 [[ 9.36986105e-01 3.44255948e-01 5.95388998e-02 6.30311542e+02] [-3.43334172e-01 9.38869842e-01 -2.53981611e-02 -9.39264102e+01] [-6.46427455e-02 3.35598517e-03 9.97902827e-01 -4.04363231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.770714057 meters 0.03393561415278104 Centerline is valid? [True, True] Translation: X:630.34, Y:-93.94, Z:-40.44 [[ 9.36699139e-01 3.45116890e-01 5.90682235e-02 6.30336639e+02] [-3.44211751e-01 9.38554034e-01 -2.51911848e-02 -9.39375551e+01] [-6.41326228e-02 3.26458448e-03 9.97936045e-01 -4.04384567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.8007140569999 meters 0.032598882836230005 Centerline is valid? [True, True] Translation: X:630.36, Y:-93.95, Z:-40.44 [[ 9.36580550e-01 3.45416818e-01 5.91954055e-02 6.30363823e+02] [-3.44508842e-01 9.38443764e-01 -2.52380669e-02 -9.39469028e+01] [-6.42692119e-02 3.24414195e-03 9.97927324e-01 -4.04408983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.8307140569999 meters 0.032794885684441936 Centerline is valid? [True, True] Translation: X:630.39, Y:-93.96, Z:-40.44 [[ 9.36324800e-01 3.46136393e-01 5.90378405e-02 6.30388523e+02] [-3.45235730e-01 9.38178844e-01 -2.51544650e-02 -9.39592679e+01] [-6.40949288e-02 3.17077737e-03 9.97938769e-01 -4.04432422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.860714057 meters 0.03208342261409347 Centerline is valid? [True, True] Translation: X:630.42, Y:-93.97, Z:-40.45 [[ 9.36254362e-01 3.46273425e-01 5.93505335e-02 6.30415149e+02] [-3.45363940e-01 9.38128274e-01 -2.52802283e-02 -9.39693246e+01] [-6.44322848e-02 3.17118998e-03 9.97917043e-01 -4.04455759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.890714057 meters 0.03208342261409347 Centerline is valid? [True, True] Translation: X:630.44, Y:-93.98, Z:-40.45 [[ 9.36354410e-01 3.46001681e-01 5.93570280e-02 6.30440376e+02] [-3.45092617e-01 9.38228526e-01 -2.52649707e-02 -9.39799968e+01] [-6.44321792e-02 3.17329463e-03 9.97917043e-01 -4.04471672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.9207140569999 meters 0.03299025477120434 Centerline is valid? [True, True] Translation: X:630.46, Y:-93.99, Z:-40.45 [[ 9.36312654e-01 3.46027056e-01 5.98656031e-02 6.30464774e+02] [-3.45103640e-01 9.38219143e-01 -2.54620876e-02 -9.39926411e+01] [-6.49776260e-02 3.18063726e-03 9.97881652e-01 -4.04481139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.9507140569999 meters 0.034109254317559345 Centerline is valid? [True, True] Translation: X:630.49, Y:-94.01, Z:-40.45 [[ 9.36243570e-01 3.46194582e-01 5.99774129e-02 6.30489186e+02] [-3.45268635e-01 9.38157388e-01 -2.55006898e-02 -9.40060622e+01] [-6.50964537e-02 3.16653736e-03 9.97873952e-01 -4.04488929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.9807140569999 meters 0.03391936004926004 Centerline is valid? [True, True] Translation: X:630.51, Y:-94.02, Z:-40.45 [[ 9.36163875e-01 3.46212593e-01 6.11067952e-02 6.30514536e+02] [-3.45252169e-01 9.38150577e-01 -2.59698740e-02 -9.40166777e+01] [-6.63184727e-02 3.21480434e-03 9.97793328e-01 -4.04500313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.010714057 meters 0.03502242716022463 Centerline is valid? [True, True] Translation: X:630.54, Y:-94.03, Z:-40.45 [[ 9.36011027e-01 3.46660430e-01 6.09089749e-02 6.30538853e+02] [-3.45708394e-01 9.37985389e-01 -2.58672668e-02 -9.40294862e+01] [-6.60988863e-02 3.15530310e-03 9.97808088e-01 -4.04510745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.040714057 meters 0.03238976788698824 Centerline is valid? [True, True] Translation: X:630.57, Y:-94.04, Z:-40.45 [[ 9.35945896e-01 3.46808493e-01 6.10667570e-02 6.30566729e+02] [-3.45852512e-01 9.37930695e-01 -2.59239567e-02 -9.40362175e+01] [-6.62670341e-02 3.14332961e-03 9.97796973e-01 -4.04548516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.0707140569999 meters 0.03221759237680446 Centerline is valid? [True, True] Translation: X:630.59, Y:-94.05, Z:-40.46 [[ 9.35634980e-01 3.47897195e-01 5.96215304e-02 6.30593348e+02] [-3.46989288e-01 9.37527961e-01 -2.52934127e-02 -9.40481928e+01] [-6.46963591e-02 2.97736927e-03 9.97900554e-01 -4.04571918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.1007140569999 meters 0.032547526201941 Centerline is valid? [True, True] Translation: X:630.62, Y:-94.06, Z:-40.46 [[ 9.35576402e-01 3.48112786e-01 5.92813942e-02 6.30619983e+02] [-3.47216691e-01 9.37448079e-01 -2.51330148e-02 -9.40596539e+01] [-6.43223529e-02 2.93036602e-03 9.97924871e-01 -4.04594405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.130714057 meters 0.03156971867933984 Centerline is valid? [True, True] Translation: X:630.65, Y:-94.07, Z:-40.46 [[ 9.35464503e-01 3.48443004e-01 5.91069870e-02 6.30646604e+02] [-3.47553939e-01 9.37325536e-01 -2.50419295e-02 -9.40696410e+01] [-6.41281734e-02 2.88297002e-03 9.97937506e-01 -4.04612507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.160714057 meters 0.03171945258108342 Centerline is valid? [True, True] Translation: X:630.67, Y:-94.08, Z:-40.46 [[ 9.35364877e-01 3.48732316e-01 5.89772787e-02 6.30673152e+02] [-3.47848838e-01 9.37218066e-01 -2.49696492e-02 -9.40809943e+01] [-6.39822947e-02 2.84055495e-03 9.97946991e-01 -4.04629515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.1907140569999 meters 0.030860812092389105 Centerline is valid? [True, True] Translation: X:630.70, Y:-94.09, Z:-40.46 [[ 9.35247016e-01 3.49046146e-01 5.89898902e-02 6.30700021e+02] [-3.48164022e-01 9.37101344e-01 -2.49576613e-02 -9.40907757e+01] [-6.39908809e-02 2.80342080e-03 9.97946546e-01 -4.04644283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.2207140569999 meters 0.031110660612473126 Centerline is valid? [True, True] Translation: X:630.73, Y:-94.10, Z:-40.47 [[ 9.35152548e-01 3.49386009e-01 5.84733094e-02 6.30725810e+02] [-3.48521045e-01 9.36974873e-01 -2.47218428e-02 -9.41020803e+01] [-6.34254876e-02 2.73951538e-03 9.97982817e-01 -4.04657791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.250714057 meters 0.03020829735769599 Centerline is valid? [True, True] Translation: X:630.75, Y:-94.11, Z:-40.47 [[ 9.35193193e-01 3.49316032e-01 5.82409022e-02 6.30752578e+02] [-3.48458903e-01 9.37001029e-01 -2.46062058e-02 -9.41114278e+01] [-6.31671275e-02 2.71699529e-03 9.97999265e-01 -4.04680216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.280714057 meters 0.031087316484562966 Centerline is valid? [True, True] Translation: X:630.78, Y:-94.12, Z:-40.47 [[ 9.35065280e-01 3.49762046e-01 5.76145218e-02 6.30777692e+02] [-3.48925338e-01 9.36834854e-01 -2.43220997e-02 -9.41245025e+01] [-6.24822394e-02 2.63958443e-03 9.98042585e-01 -4.04697980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.3107140569999 meters 0.03161578524201064 Centerline is valid? [True, True] Translation: X:630.80, Y:-94.14, Z:-40.47 [[ 9.34741994e-01 3.50760954e-01 5.67816676e-02 6.30802455e+02] [-3.49951127e-01 9.36461639e-01 -2.39542761e-02 -9.41378662e+01] [-6.15760783e-02 2.52025922e-03 9.98099211e-01 -4.04712952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.3407140569999 meters 0.030497921522527047 Centerline is valid? [True, True] Translation: X:630.83, Y:-94.15, Z:-40.47 [[ 9.34724212e-01 3.50817149e-01 5.67272123e-02 6.30829730e+02] [-3.50009541e-01 9.36440628e-01 -2.39221794e-02 -9.41475533e+01] [-6.15139771e-02 2.50557468e-03 9.98103077e-01 -4.04730728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.370714057 meters 0.030649797642099033 Centerline is valid? [True, True] Translation: X:630.86, Y:-94.16, Z:-40.47 [[ 9.34659468e-01 3.50906361e-01 5.72398918e-02 6.30856455e+02] [-3.50085292e-01 9.36407200e-01 -2.41214632e-02 -9.41591567e+01] [-6.20642216e-02 2.50650978e-03 9.98069011e-01 -4.04746092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.400714057 meters 0.030550761518730058 Centerline is valid? [True, True] Translation: X:630.88, Y:-94.17, Z:-40.48 [[ 9.34463972e-01 3.51404543e-01 5.73753557e-02 6.30882352e+02] [-3.50581564e-01 9.36220475e-01 -2.41617188e-02 -9.41713439e+01] [-6.22065205e-02 2.46351377e-03 9.98060259e-01 -4.04751759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.4307140569999 meters 0.031374895487498604 Centerline is valid? [True, True] Translation: X:630.91, Y:-94.18, Z:-40.48 [[ 9.34354843e-01 3.51735146e-01 5.71262940e-02 6.30907075e+02] [-3.50920904e-01 9.36096443e-01 -2.40409920e-02 -9.41843365e+01] [-6.19317824e-02 2.41600656e-03 9.98077461e-01 -4.04766401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.4607140569999 meters 0.030913861655546698 Centerline is valid? [True, True] Translation: X:630.93, Y:-94.20, Z:-40.48 [[ 9.34246398e-01 3.51984396e-01 5.73642167e-02 6.30933380e+02] [-3.51164234e-01 9.36002783e-01 -2.41344485e-02 -9.41955360e+01] [-6.21880157e-02 2.40326039e-03 9.98061559e-01 -4.04782424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.490714057 meters 0.031196091679692527 Centerline is valid? [True, True] Translation: X:630.96, Y:-94.21, Z:-40.48 [[ 9.34230588e-01 3.52029064e-01 5.73475858e-02 6.30959241e+02] [-3.51210484e-01 9.35986033e-01 -2.41110469e-02 -9.42079153e+01] [-6.21643286e-02 2.38420415e-03 9.98063080e-01 -4.04799594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.520714057 meters 0.02950084282331363 Centerline is valid? [True, True] Translation: X:630.99, Y:-94.22, Z:-40.48 [[ 9.33983455e-01 3.52668515e-01 5.74440960e-02 6.30986194e+02] [-3.51849404e-01 9.35745419e-01 -2.41352100e-02 -9.42182534e+01] [-6.22647784e-02 2.33021587e-03 9.98056946e-01 -4.04820413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.5507140569999 meters 0.03142456822510798 Centerline is valid? [True, True] Translation: X:631.01, Y:-94.23, Z:-40.48 [[ 9.33939859e-01 3.52790917e-01 5.74012934e-02 6.31009771e+02] [-3.51974276e-01 9.35699341e-01 -2.41008925e-02 -9.42340032e+01] [-6.22129284e-02 2.30500544e-03 9.98060238e-01 -4.04831314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.5807140569999 meters 0.029358085510976285 Centerline is valid? [True, True] Translation: X:631.04, Y:-94.24, Z:-40.49 [[ 9.33939851e-01 3.52765537e-01 5.75571874e-02 6.31036724e+02] [-3.51944845e-01 9.35708906e-01 -2.41592549e-02 -9.42421114e+01] [-6.23793254e-02 2.30633553e-03 9.98049849e-01 -4.04854872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.610714057 meters 0.02947144042617659 Centerline is valid? [True, True] Translation: X:631.06, Y:-94.26, Z:-40.49 [[ 9.34095174e-01 3.52379831e-01 5.73991287e-02 6.31060561e+02] [-3.51564139e-01 9.35854225e-01 -2.40733300e-02 -9.42560727e+01] [-6.22001731e-02 2.30730610e-03 9.98061028e-01 -4.04870123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.640714057 meters 0.029958654721495104 Centerline is valid? [True, True] Translation: X:631.09, Y:-94.27, Z:-40.49 [[ 9.34097904e-01 3.52427491e-01 5.70611046e-02 6.31085107e+02] [-3.51622622e-01 9.35836362e-01 -2.39130821e-02 -9.42689937e+01] [-6.18274841e-02 2.27318463e-03 9.98084262e-01 -4.04887457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.6707140569999 meters 0.02990405834189275 Centerline is valid? [True, True] Translation: X:631.11, Y:-94.28, Z:-40.49 [[ 9.34120779e-01 3.52353207e-01 5.71453261e-02 6.31110880e+02] [-3.51546248e-01 9.35864329e-01 -2.39414566e-02 -9.42803067e+01] [-6.19161213e-02 2.27498708e-03 9.98078764e-01 -4.04906149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.7007140569999 meters 0.029895213410023297 Centerline is valid? [True, True] Translation: X:631.14, Y:-94.29, Z:-40.49 [[ 9.33884046e-01 3.52936735e-01 5.74129725e-02 6.31135898e+02] [-3.52124461e-01 9.35644533e-01 -2.40348140e-02 -9.42928019e+01] [-6.22009026e-02 2.22921734e-03 9.98061160e-01 -4.04920555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.7307140569999 meters 0.02935945066496705 Centerline is valid? [True, True] Translation: X:631.16, Y:-94.31, Z:-40.49 [[ 9.33501987e-01 3.54042114e-01 5.68174448e-02 6.31161522e+02] [-3.53249234e-01 9.35227068e-01 -2.37762641e-02 -9.43055673e+01] [-6.15550111e-02 2.12447094e-03 9.98101431e-01 -4.04937875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.760714057 meters 0.02876752627666303 Centerline is valid? [True, True] Translation: X:631.19, Y:-94.32, Z:-40.50 [[ 9.33688790e-01 3.53572699e-01 5.66708850e-02 6.31187176e+02] [-3.52784075e-01 9.35404614e-01 -2.36981973e-02 -9.43160390e+01] [-6.13892429e-02 2.13415543e-03 9.98111620e-01 -4.04961506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.790714057 meters 0.03048545573427425 Centerline is valid? [True, True] Translation: X:631.21, Y:-94.33, Z:-40.50 [[ 9.33951721e-01 3.52983616e-01 5.60067020e-02 6.31211027e+02] [-3.52213451e-01 9.35627078e-01 -2.34020241e-02 -9.43320253e+01] [-6.06619181e-02 2.13004688e-03 9.98156097e-01 -4.04976387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.8207140569999 meters 0.029740373179527817 Centerline is valid? [True, True] Translation: X:631.24, Y:-94.34, Z:-40.50 [[ 9.34279557e-01 3.52168104e-01 5.56716721e-02 6.31237356e+02] [-3.51406047e-01 9.35934262e-01 -2.32561448e-02 -9.43420817e+01] [-6.02950977e-02 2.16437842e-03 9.98178249e-01 -4.05001758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.8507140569999 meters 0.03224732473090492 Centerline is valid? [True, True] Translation: X:631.26, Y:-94.36, Z:-40.50 [[ 9.35296471e-01 3.49439208e-01 5.57920276e-02 6.31260289e+02] [-3.48669351e-01 9.36956116e-01 -2.33006285e-02 -9.43612828e+01] [-6.04168347e-02 2.34002556e-03 9.98170492e-01 -4.05010313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.880714057 meters 0.03153380278824754 Centerline is valid? [True, True] Translation: X:631.29, Y:-94.37, Z:-40.50 [[ 9.36074668e-01 3.47329253e-01 5.59160565e-02 6.31287207e+02] [-3.46552422e-01 9.37739968e-01 -2.33489115e-02 -9.43723797e+01] [-6.05444810e-02 2.47847976e-03 9.98162423e-01 -4.05024523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.910714057 meters 0.034197547032077995 Centerline is valid? [True, True] Translation: X:631.31, Y:-94.39, Z:-40.50 [[ 9.36768243e-01 3.45383582e-01 5.63510484e-02 6.31310663e+02] [-3.44591308e-01 9.38457943e-01 -2.35270115e-02 -9.43898293e+01] [-6.10089324e-02 2.62127572e-03 9.98133778e-01 -4.05029790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.9407140569999 meters 0.03370415770694193 Centerline is valid? [True, True] Translation: X:631.34, Y:-94.40, Z:-40.50 [[ 9.37867276e-01 3.42326177e-01 5.67253066e-02 6.31337166e+02] [-3.41517965e-01 9.39576898e-01 -2.36798046e-02 -9.44031571e+01] [-6.14040046e-02 2.83580258e-03 9.98108965e-01 -4.05038966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.9707140569999 meters 0.03293336265233854 Centerline is valid? [True, True] Translation: X:631.36, Y:-94.41, Z:-40.51 [[ 9.38412018e-01 3.40807368e-01 5.68614329e-02 6.31363352e+02] [-3.39992656e-01 9.40128553e-01 -2.37339050e-02 -9.44139691e+01] [-6.15457464e-02 2.93971211e-03 9.98099934e-01 -4.05055693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.000714057 meters 0.033216626560964316 Centerline is valid? [True, True] Translation: X:631.39, Y:-94.43, Z:-40.51 [[ 9.38811974e-01 3.39766035e-01 5.64899831e-02 6.31388993e+02] [-3.38960596e-01 9.40505269e-01 -2.35701939e-02 -9.44257720e+01] [-6.11374780e-02 2.98010199e-03 9.98124906e-01 -4.05070160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.030714057 meters 0.03311970075637907 Centerline is valid? [True, True] Translation: X:631.41, Y:-94.44, Z:-40.51 [[ 9.39216070e-01 3.38693510e-01 5.62128025e-02 6.31414776e+02] [-3.37894441e-01 9.40891881e-01 -2.34481329e-02 -9.44386016e+01] [-6.08318999e-02 3.02886981e-03 9.98143430e-01 -4.05084535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.0607140569999 meters 0.03346510139548629 Centerline is valid? [True, True] Translation: X:631.44, Y:-94.45, Z:-40.51 [[ 9.39400387e-01 3.38195622e-01 5.61305029e-02 6.31440896e+02] [-3.37399014e-01 9.41070918e-01 -2.33972658e-02 -9.44506664e+01] [-6.07356368e-02 3.04102423e-03 9.98149255e-01 -4.05101013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.0907140569999 meters 0.0334589125038693 Centerline is valid? [True, True] Translation: X:631.47, Y:-94.46, Z:-40.51 [[ 9.39142560e-01 3.38927279e-01 5.60316933e-02 6.31467286e+02] [-3.38135770e-01 9.40807877e-01 -2.33396744e-02 -9.44622739e+01] [-6.06255108e-02 2.97296181e-03 9.98156155e-01 -4.05116419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.120714057 meters 0.03253165879597062 Centerline is valid? [True, True] Translation: X:631.49, Y:-94.47, Z:-40.51 [[ 9.38936639e-01 3.39491834e-01 5.60649884e-02 6.31494462e+02] [-3.38701381e-01 9.40604461e-01 -2.33371532e-02 -9.44719811e+01] [-6.06577511e-02 2.92281914e-03 9.98154344e-01 -4.05131815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.150714057 meters 0.032621791230678265 Centerline is valid? [True, True] Translation: X:631.52, Y:-94.48, Z:-40.51 [[ 9.38467551e-01 3.40830812e-01 5.57943830e-02 6.31519980e+02] [-3.40051306e-01 9.40120458e-01 -2.32084739e-02 -9.44826973e+01] [-6.03636040e-02 2.80744687e-03 9.98172507e-01 -4.05147451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.1807140569999 meters 0.03236366830112918 Centerline is valid? [True, True] Translation: X:631.55, Y:-94.49, Z:-40.52 [[ 9.38330161e-01 3.41313672e-01 5.51496666e-02 6.31545911e+02] [-3.40553289e-01 9.39945465e-01 -2.29342376e-02 -9.44941347e+01] [-5.96654479e-02 2.73848647e-03 9.98214674e-01 -4.05161997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.2107140569999 meters 0.03168580799308327 Centerline is valid? [True, True] Translation: X:631.57, Y:-94.50, Z:-40.52 [[ 9.38017474e-01 3.42242618e-01 5.47102273e-02 6.31572856e+02] [-3.41496831e-01 9.39607899e-01 -2.27356487e-02 -9.45041546e+01] [-5.91872697e-02 2.64306652e-03 9.98243398e-01 -4.05180701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.240714057 meters 0.031533931126139704 Centerline is valid? [True, True] Translation: X:631.60, Y:-94.52, Z:-40.52 [[ 9.37836522e-01 3.42849604e-01 5.40074680e-02 6.31599910e+02] [-3.42124793e-01 9.39386828e-01 -2.24279403e-02 -9.45152351e+01] [-5.84233145e-02 2.55644771e-03 9.98288626e-01 -4.05200935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.270714057 meters 0.03229914207583273 Centerline is valid? [True, True] Translation: X:631.63, Y:-94.53, Z:-40.52 [[ 9.37431723e-01 3.44200379e-01 5.24200717e-02 6.31625429e+02] [-3.43520478e-01 9.38893180e-01 -2.17549324e-02 -9.45274026e+01] [-5.67049038e-02 2.38639571e-03 9.98388130e-01 -4.05224543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.3007140569999 meters 0.03221527025689236 Centerline is valid? [True, True] Translation: X:631.65, Y:-94.54, Z:-40.52 [[ 9.37148175e-01 3.45012236e-01 5.21522332e-02 6.31651547e+02] [-3.44341375e-01 9.38595342e-01 -2.16287189e-02 -9.45388686e+01] [-5.64120158e-02 2.31114276e-03 9.98404899e-01 -4.05240991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.3307140569999 meters 0.03222014659374822 Centerline is valid? [True, True] Translation: X:631.68, Y:-94.55, Z:-40.53 [[ 9.36852550e-01 3.45830427e-01 5.20443656e-02 6.31676820e+02] [-3.45164444e-01 9.38294348e-01 -2.15690167e-02 -9.45498326e+01] [-5.62921564e-02 2.24312373e-03 9.98411820e-01 -4.05254919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.360714057 meters 0.03040100195780252 Centerline is valid? [True, True] Translation: X:631.71, Y:-94.56, Z:-40.53 [[ 9.36229531e-01 3.47573527e-01 5.16421237e-02 6.31705108e+02] [-3.46920865e-01 9.37650346e-01 -2.13949091e-02 -9.45576442e+01] [-5.58585591e-02 2.11481551e-03 9.98436452e-01 -4.05268189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.390714057 meters 0.03188249778827954 Centerline is valid? [True, True] Translation: X:631.73, Y:-94.57, Z:-40.53 [[ 9.35878256e-01 3.48590287e-01 5.11537004e-02 6.31729002e+02] [-3.47952220e-01 9.37273026e-01 -2.11784526e-02 -9.45715005e+01] [-5.53275864e-02 2.02140968e-03 9.98466210e-01 -4.05279516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.4207140569999 meters 0.029842009420140047 Centerline is valid? [True, True] Translation: X:631.76, Y:-94.58, Z:-40.53 [[ 9.35630309e-01 3.49196654e-01 5.15521319e-02 6.31757261e+02] [-3.48549797e-01 9.37047337e-01 -2.13384042e-02 -9.45785462e+01] [-5.57580873e-02 1.99637260e-03 9.98442312e-01 -4.05291606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.4507140569999 meters 0.028925590629206806 Centerline is valid? [True, True] Translation: X:631.78, Y:-94.59, Z:-40.53 [[ 9.35437907e-01 3.49710240e-01 5.15622916e-02 6.31784829e+02] [-3.49064748e-01 9.36855879e-01 -2.13275383e-02 -9.45885272e+01] [-5.57648946e-02 1.95200946e-03 9.98442019e-01 -4.05299822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.4807140569999 meters 0.03470121893794 Centerline is valid? [True, True] Translation: X:631.81, Y:-94.61, Z:-40.53 [[ 9.34215664e-01 3.52820755e-01 5.25224542e-02 6.31805016e+02] [-3.52156737e-01 9.35689226e-01 -2.17095685e-02 -9.46118159e+01] [-5.68042808e-02 1.78528293e-03 9.98383737e-01 -4.05319964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.510714057 meters 0.029502492245256483 Centerline is valid? [True, True] Translation: X:631.84, Y:-94.61, Z:-40.53 [[ 9.35454141e-01 3.49581768e-01 5.21357562e-02 6.31836129e+02] [-3.48922787e-01 9.36903804e-01 -2.15441692e-02 -9.46128310e+01] [-5.63776370e-02 1.96222892e-03 9.98407588e-01 -4.05332622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.540714057 meters 0.029723513522145913 Centerline is valid? [True, True] Translation: X:631.86, Y:-94.62, Z:-40.53 [[ 9.35639559e-01 3.49121237e-01 5.18939002e-02 6.31861090e+02] [-3.48467833e-01 9.37075478e-01 -2.14410456e-02 -9.46247513e+01] [-5.61140257e-02 1.97773550e-03 9.98422408e-01 -4.05349869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.5707140569999 meters 0.030328252552935996 Centerline is valid? [True, True] Translation: X:631.89, Y:-94.64, Z:-40.54 [[ 9.36379192e-01 3.47248122e-01 5.11150789e-02 6.31886130e+02] [-3.46611704e-01 9.37771041e-01 -2.11140222e-02 -9.46379808e+01] [-5.52660453e-02 2.05364639e-03 9.98469552e-01 -4.05361937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.6007140569999 meters 0.03128615117693688 Centerline is valid? [True, True] Translation: X:631.91, Y:-94.65, Z:-40.54 [[ 9.36844237e-01 3.45993165e-01 5.11038760e-02 6.31911101e+02] [-3.45355456e-01 9.38234633e-01 -2.11040998e-02 -9.46504811e+01] [-5.52493006e-02 2.12225182e-03 9.98470335e-01 -4.05383014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.630714057 meters 0.03080844710211999 Centerline is valid? [True, True] Translation: X:631.94, Y:-94.66, Z:-40.54 [[ 9.37320886e-01 3.44743598e-01 5.08075588e-02 6.31937516e+02] [-3.44111696e-01 9.38694362e-01 -2.09770387e-02 -9.46619801e+01] [-5.49244687e-02 2.17874127e-03 9.98488135e-01 -4.05392707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.660714057 meters 0.03238693679875376 Centerline is valid? [True, True] Translation: X:631.96, Y:-94.68, Z:-40.54 [[ 9.37848578e-01 3.43270605e-01 5.10425062e-02 6.31961672e+02] [-3.42631512e-01 9.39233826e-01 -2.10586642e-02 -9.46760043e+01] [-5.51696687e-02 2.26106715e-03 9.98474434e-01 -4.05408767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.6907140569999 meters 0.03335670955575489 Centerline is valid? [True, True] Translation: X:631.99, Y:-94.69, Z:-40.54 [[ 9.38428226e-01 3.41603139e-01 5.15728723e-02 6.31986304e+02] [-3.40948471e-01 9.39841283e-01 -2.12721057e-02 -9.46898003e+01] [-5.57369325e-02 2.37865244e-03 9.98442656e-01 -4.05421413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.7207140569999 meters 0.03236317507385699 Centerline is valid? [True, True] Translation: X:632.01, Y:-94.70, Z:-40.54 [[ 9.38689702e-01 3.40849590e-01 5.17996115e-02 6.32013087e+02] [-3.40188278e-01 9.40114703e-01 -2.13607215e-02 -9.46993575e+01] [-5.59783695e-02 2.42946866e-03 9.98429026e-01 -4.05429854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.750714057 meters 0.032475273296228506 Centerline is valid? [True, True] Translation: X:632.04, Y:-94.71, Z:-40.54 [[ 9.38794881e-01 3.40562353e-01 5.17827702e-02 6.32038429e+02] [-3.39901871e-01 9.40218788e-01 -2.13388894e-02 -9.47098731e+01] [-5.59543559e-02 2.43177969e-03 9.98430366e-01 -4.05441920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.780714057 meters 0.032475273296228506 Centerline is valid? [True, True] Translation: X:632.06, Y:-94.72, Z:-40.55 [[ 9.38891101e-01 3.40296078e-01 5.17888090e-02 6.32063793e+02] [-3.39635998e-01 9.40315195e-01 -2.13242233e-02 -9.47202431e+01] [-5.59543536e-02 2.43177959e-03 9.98430367e-01 -4.05457834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.8107140569999 meters 0.032266144724166265 Centerline is valid? [True, True] Translation: X:632.09, Y:-94.73, Z:-40.55 [[ 9.38990695e-01 3.40016897e-01 5.18168343e-02 6.32089047e+02] [-3.39356641e-01 9.40416178e-01 -2.13185978e-02 -9.47313624e+01] [-5.59780727e-02 2.43357810e-03 9.98429033e-01 -4.05470679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.8407140569999 meters 0.032426277920370214 Centerline is valid? [True, True] Translation: X:632.12, Y:-94.74, Z:-40.55 [[ 9.39218215e-01 3.39363982e-01 5.19733771e-02 6.32115226e+02] [-3.38699709e-01 9.40651911e-01 -2.13656032e-02 -9.47428544e+01] [-5.61395727e-02 2.46359598e-03 9.98419891e-01 -4.05491426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.870714057 meters 0.03291358187511579 Centerline is valid? [True, True] Translation: X:632.14, Y:-94.75, Z:-40.55 [[ 9.39122402e-01 3.39734479e-01 5.12796058e-02 6.32139861e+02] [-3.39089226e-01 9.40518341e-01 -2.10652925e-02 -9.47549842e+01] [-5.53860159e-02 2.39452629e-03 9.98462145e-01 -4.05508589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.900714057 meters 0.03285076132351127 Centerline is valid? [True, True] Translation: X:632.17, Y:-94.77, Z:-40.55 [[ 9.39150679e-01 3.39657140e-01 5.12740596e-02 6.32165967e+02] [-3.39012177e-01 9.40546274e-01 -2.10582476e-02 -9.47658405e+01] [-5.53782099e-02 2.39433697e-03 9.98462579e-01 -4.05528762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.9307140569999 meters 0.03322088265247337 Centerline is valid? [True, True] Translation: X:632.19, Y:-94.78, Z:-40.56 [[ 9.38880102e-01 3.40424050e-01 5.11431381e-02 6.32190882e+02] [-3.39784470e-01 9.40269138e-01 -2.09871837e-02 -9.47786706e+01] [-5.52328565e-02 2.32680505e-03 9.98470790e-01 -4.05551902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.9607140569999 meters 0.033156414989547765 Centerline is valid? [True, True] Translation: X:632.22, Y:-94.79, Z:-40.56 [[ 9.38792467e-01 3.40670335e-01 5.11119066e-02 6.32216972e+02] [-3.40032163e-01 9.40179984e-01 -2.09696148e-02 -9.47898652e+01] [-5.51981173e-02 2.30642423e-03 9.98472758e-01 -4.05572303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.990714057 meters 0.033898004435828966 Centerline is valid? [True, True] Translation: X:632.24, Y:-94.80, Z:-40.56 [[ 9.38858628e-01 3.40484387e-01 5.11356917e-02 6.32242400e+02] [-3.39846166e-01 9.40247346e-01 -2.09645410e-02 -9.48022101e+01] [-5.52182973e-02 2.30447145e-03 9.98471647e-01 -4.05592997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.020714057 meters 0.033486524736619346 Centerline is valid? [True, True] Translation: X:632.27, Y:-94.81, Z:-40.56 [[ 9.38913390e-01 3.40348054e-01 5.10377098e-02 6.32268527e+02] [-3.39712327e-01 9.40296706e-01 -2.09198460e-02 -9.48121138e+01] [-5.51106192e-02 2.30378438e-03 9.98477597e-01 -4.05609542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.0507140569999 meters 0.031575710964424894 Centerline is valid? [True, True] Translation: X:632.30, Y:-94.82, Z:-40.56 [[ 9.39333373e-01 3.39272841e-01 5.04653768e-02 6.32296624e+02] [-3.38650630e-01 9.40685140e-01 -2.06692579e-02 -9.48202435e+01] [-5.44845479e-02 2.32519206e-03 9.98511907e-01 -4.05624563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.0807140569999 meters 0.03249191267787332 Centerline is valid? [True, True] Translation: X:632.32, Y:-94.83, Z:-40.56 [[ 9.39509509e-01 3.38697952e-01 5.10448920e-02 6.32321119e+02] [-3.38061372e-01 9.40892170e-01 -2.08909707e-02 -9.48328193e+01] [-5.51034682e-02 2.37095938e-03 9.98477835e-01 -4.05644259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.110714057 meters 0.03309901240156514 Centerline is valid? [True, True] Translation: X:632.35, Y:-94.85, Z:-40.57 [[ 9.40007543e-01 3.37282628e-01 5.12469372e-02 6.32346641e+02] [-3.36639326e-01 9.41400231e-01 -2.09659045e-02 -9.48454325e+01] [-5.53153139e-02 2.45637402e-03 9.98465914e-01 -4.05659287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.140714057 meters 0.03250891480206409 Centerline is valid? [True, True] Translation: X:632.37, Y:-94.86, Z:-40.57 [[ 9.40324877e-01 3.36309986e-01 5.18142752e-02 6.32373107e+02] [-3.35651726e-01 9.41747953e-01 -2.11828175e-02 -9.48558391e+01] [-5.59199806e-02 2.52717935e-03 9.98432055e-01 -4.05675915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.1707140569999 meters 0.03398168058404187 Centerline is valid? [True, True] Translation: X:632.40, Y:-94.87, Z:-40.57 [[ 9.40453408e-01 3.35935348e-01 5.19117501e-02 6.32397673e+02] [-3.35274916e-01 9.41881624e-01 -2.12070215e-02 -9.48695996e+01] [-5.60189116e-02 2.53950795e-03 9.98426478e-01 -4.05691836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.2007140569999 meters 0.033876572414199294 Centerline is valid? [True, True] Translation: X:632.42, Y:-94.88, Z:-40.57 [[ 9.40869396e-01 3.34685208e-01 5.24460778e-02 6.32424038e+02] [-3.34009463e-01 9.42326304e-01 -2.14199805e-02 -9.48803145e+01] [-5.65902693e-02 2.63591783e-03 9.98394007e-01 -4.05711615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.2307140569999 meters 0.034660166199055216 Centerline is valid? [True, True] Translation: X:632.45, Y:-94.89, Z:-40.57 [[ 9.41572457e-01 3.32692571e-01 5.25067768e-02 6.32449668e+02] [-3.32013045e-01 9.43031347e-01 -2.14293275e-02 -9.48930601e+01] [-5.66449145e-02 2.74432972e-03 9.98390616e-01 -4.05726168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.260714057 meters 0.034675594332518524 Centerline is valid? [True, True] Translation: X:632.48, Y:-94.90, Z:-40.57 [[ 9.42016219e-01 3.31398087e-01 5.27328245e-02 6.32476334e+02] [-3.30710844e-01 9.43486773e-01 -2.15185193e-02 -9.49039059e+01] [-5.68839186e-02 2.83147728e-03 9.98376784e-01 -4.05739062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.290714057 meters 0.03515643095979204 Centerline is valid? [True, True] Translation: X:632.50, Y:-94.92, Z:-40.58 [[ 9.42528286e-01 3.29934378e-01 5.27611325e-02 6.32502603e+02] [-3.29244981e-01 9.43999394e-01 -2.15147967e-02 -9.49158751e+01] [-5.69049481e-02 2.90696635e-03 9.98375369e-01 -4.05757482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.3207140569999 meters 0.033542911744007795 Centerline is valid? [True, True] Translation: X:632.53, Y:-94.92, Z:-40.58 [[ 9.43043248e-01 3.28469458e-01 5.26996043e-02 6.32530423e+02] [-3.27780257e-01 9.44509899e-01 -2.14744800e-02 -9.49243409e+01] [-5.68290088e-02 2.97747352e-03 9.98379486e-01 -4.05773379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.3507140569999 meters 0.03673984671249479 Centerline is valid? [True, True] Translation: X:632.56, Y:-94.94, Z:-40.58 [[ 9.44112921e-01 3.25253963e-01 5.34850584e-02 6.32555168e+02] [-3.24539845e-01 9.45621278e-01 -2.17781599e-02 -9.49413084e+01] [-5.76600421e-02 3.20300963e-03 9.98331138e-01 -4.05787729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.380714057 meters 0.036956008819637294 Centerline is valid? [True, True] Translation: X:632.58, Y:-94.95, Z:-40.58 [[ 9.44794897e-01 3.23162352e-01 5.41174409e-02 6.32582812e+02] [-3.22427948e-01 9.46337546e-01 -2.20333201e-02 -9.49524871e+01] [-5.83337058e-02 3.36799294e-03 9.98291458e-01 -4.05802201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.410714057 meters 0.043997742896955266 Centerline is valid? [True, True] Translation: X:632.60, Y:-94.97, Z:-40.58 [[ 9.45348009e-01 3.21449908e-01 5.46543505e-02 6.32604431e+02] [-3.20698133e-01 9.46920094e-01 -2.22495673e-02 -9.49738043e+01] [-5.89054241e-02 3.50603597e-03 9.98257411e-01 -4.05812326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.4407140569999 meters 0.03807244675952618 Centerline is valid? [True, True] Translation: X:632.64, Y:-94.98, Z:-40.58 [[ 9.46293883e-01 3.18559416e-01 5.52067525e-02 6.32636035e+02] [-3.17787721e-01 9.47895599e-01 -2.24699186e-02 -9.49753086e+01] [-5.94882419e-02 3.71911849e-03 9.98222078e-01 -4.05826097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.4707140569999 meters 0.04061833061658232 Centerline is valid? [True, True] Translation: X:632.66, Y:-94.99, Z:-40.58 [[ 9.46669253e-01 3.17443993e-01 5.51963455e-02 6.32659848e+02] [-3.16670783e-01 9.48269460e-01 -2.24643478e-02 -9.49890691e+01] [-5.94721810e-02 3.78723739e-03 9.98222779e-01 -4.05841304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.500714057 meters 0.03988013023767957 Centerline is valid? [True, True] Translation: X:632.69, Y:-95.00, Z:-40.59 [[ 9.47026179e-01 3.16405842e-01 5.50341594e-02 6.32686862e+02] [-3.15635840e-01 9.48616171e-01 -2.23914658e-02 -9.49977987e+01] [-5.92910841e-02 3.83455117e-03 9.98233371e-01 -4.05862406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.530714057 meters 0.0396410893088177 Centerline is valid? [True, True] Translation: X:632.71, Y:-95.01, Z:-40.59 [[ 9.47298345e-01 3.15644861e-01 5.47189870e-02 6.32713431e+02] [-3.14882747e-01 9.48869573e-01 -2.22573476e-02 -9.50080961e+01] [-5.89465992e-02 3.85428357e-03 9.98253697e-01 -4.05883117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.5607140569999 meters 0.04065202361094296 Centerline is valid? [True, True] Translation: X:632.74, Y:-95.02, Z:-40.59 [[ 9.47559182e-01 3.14903103e-01 5.44759851e-02 6.32738505e+02] [-3.14147456e-01 9.49115943e-01 -2.21427749e-02 -9.50195363e+01] [-5.86768545e-02 3.86809758e-03 9.98269535e-01 -4.05903815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.5907140569999 meters 0.04135425574245465 Centerline is valid? [True, True] Translation: X:632.76, Y:-95.03, Z:-40.59 [[ 9.47674409e-01 3.14578364e-01 5.43476492e-02 6.32764057e+02] [-3.13826086e-01 9.49223603e-01 -2.20848136e-02 -9.50302529e+01] [-5.85354760e-02 3.87350268e-03 9.98277814e-01 -4.05923022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.620714057 meters 0.040740800761086216 Centerline is valid? [True, True] Translation: X:632.79, Y:-95.04, Z:-40.59 [[ 9.47784614e-01 3.14284471e-01 5.41257503e-02 6.32790274e+02] [-3.13538890e-01 9.49321011e-01 -2.19768865e-02 -9.50395293e+01] [-5.82897062e-02 3.85882727e-03 9.98292252e-01 -4.05940905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.650714057 meters 0.03962658631309117 Centerline is valid? [True, True] Translation: X:632.82, Y:-95.05, Z:-40.60 [[ 9.48046732e-01 3.13522803e-01 5.39522518e-02 6.32817622e+02] [-3.12781812e-01 9.49572761e-01 -2.18885999e-02 -9.50479051e+01] [-5.80941639e-02 3.87613256e-03 9.98303583e-01 -4.05962342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.6807140569999 meters 0.03909353738613049 Centerline is valid? [True, True] Translation: X:632.84, Y:-95.06, Z:-40.60 [[ 9.48045596e-01 3.13595426e-01 5.35486381e-02 6.32844752e+02] [-3.12866513e-01 9.49548976e-01 -2.17091573e-02 -9.50563152e+01] [-5.76549469e-02 3.82769529e-03 9.98329232e-01 -4.05972256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.7107140569999 meters 0.03975838818196545 Centerline is valid? [True, True] Translation: X:632.87, Y:-95.07, Z:-40.60 [[ 9.48098013e-01 3.13452855e-01 5.34552608e-02 6.32869871e+02] [-3.12727175e-01 9.49596102e-01 -2.16554268e-02 -9.50666209e+01] [-5.75488627e-02 3.81455447e-03 9.98335403e-01 -4.05987449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.740714057 meters 0.04106528815801005 Centerline is valid? [True, True] Translation: X:632.89, Y:-95.08, Z:-40.60 [[ 9.48142115e-01 3.13314864e-01 5.34820060e-02 6.32894535e+02] [-3.12588692e-01 9.49641629e-01 -2.16583950e-02 -9.50779252e+01] [-5.75746364e-02 3.81736620e-03 9.98333907e-01 -4.06004131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.770714057 meters 0.04132008431484813 Centerline is valid? [True, True] Translation: X:632.92, Y:-95.09, Z:-40.60 [[ 9.48465516e-01 3.12496889e-01 5.25248485e-02 6.32921399e+02] [-3.11795673e-01 9.49911220e-01 -2.12634131e-02 -9.50884467e+01] [-5.65386933e-02 3.79059359e-03 9.98393213e-01 -4.06022091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.8007140569999 meters 0.039396477234117905 Centerline is valid? [True, True] Translation: X:632.95, Y:-95.10, Z:-40.60 [[ 9.48657166e-01 3.11920897e-01 5.24874852e-02 6.32948868e+02] [-3.11220655e-01 9.50100444e-01 -2.12332149e-02 -9.50963434e+01] [-5.64914664e-02 3.80785194e-03 9.98395821e-01 -4.06038351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.8307140569999 meters 0.03941012184544243 Centerline is valid? [True, True] Translation: X:632.98, Y:-95.11, Z:-40.61 [[ 9.48859009e-01 3.11310964e-01 5.24601228e-02 6.32975512e+02] [-3.10611399e-01 9.50300392e-01 -2.12067145e-02 -9.51065898e+01] [-5.64547580e-02 3.82747000e-03 9.98397822e-01 -4.06050565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.860714057 meters 0.04042401149926548 Centerline is valid? [True, True] Translation: X:633.00, Y:-95.12, Z:-40.61 [[ 9.48978768e-01 3.10800325e-01 5.33146894e-02 6.33001043e+02] [-3.10077880e-01 9.50467203e-01 -2.15361055e-02 -9.51173347e+01] [-5.73672923e-02 3.90560102e-03 9.98345501e-01 -4.06055224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.890714057 meters 0.04045274844129982 Centerline is valid? [True, True] Translation: X:633.03, Y:-95.13, Z:-40.61 [[ 9.49058857e-01 3.10598978e-01 5.30618622e-02 6.33027212e+02] [-3.09883372e-01 9.50533067e-01 -2.14285865e-02 -9.51272247e+01] [-5.70927517e-02 3.89400108e-03 9.98361285e-01 -4.06066369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.9207140569999 meters 0.0403205126081972 Centerline is valid? [True, True] Translation: X:633.05, Y:-95.14, Z:-40.61 [[ 9.49120862e-01 3.10366731e-01 5.33111757e-02 6.33053658e+02] [-3.09645034e-01 9.50608862e-01 -2.15114874e-02 -9.51368254e+01] [-5.73545261e-02 3.90946067e-03 9.98346220e-01 -4.06084213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.9507140569999 meters 0.04001350948232265 Centerline is valid? [True, True] Translation: X:633.08, Y:-95.15, Z:-40.61 [[ 9.49170056e-01 3.10226030e-01 5.32542456e-02 6.33079824e+02] [-3.09506670e-01 9.50654840e-01 -2.14708350e-02 -9.51463889e+01] [-5.72872182e-02 3.89692946e-03 9.98350133e-01 -4.06098378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.9807140569999 meters 0.03856918900663613 Centerline is valid? [True, True] Translation: X:633.11, Y:-95.15, Z:-40.61 [[ 9.49107187e-01 3.10409239e-01 5.33071461e-02 6.33108065e+02] [-3.09689755e-01 9.50595132e-01 -2.14743993e-02 -9.51539630e+01] [-5.73393655e-02 3.87282966e-03 9.98347233e-01 -4.06112203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.010714057 meters 0.03967760053315149 Centerline is valid? [True, True] Translation: X:633.13, Y:-95.16, Z:-40.61 [[ 9.49226723e-01 3.09994157e-01 5.35933827e-02 6.33133549e+02] [-3.09267179e-01 9.50730447e-01 -2.15737953e-02 -9.51648942e+01] [-5.76406112e-02 3.90374880e-03 9.98329766e-01 -4.06130446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.040714057 meters 0.03867219262476952 Centerline is valid? [True, True] Translation: X:633.16, Y:-95.17, Z:-40.61 [[ 9.49528652e-01 3.09103673e-01 5.33878216e-02 6.33161074e+02] [-3.08381342e-01 9.51020209e-01 -2.14827853e-02 -9.51736131e+01] [-5.74133051e-02 3.93471204e-03 9.98342742e-01 -4.06141983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.0707140569999 meters 0.040649888883182037 Centerline is valid? [True, True] Translation: X:633.19, Y:-95.19, Z:-40.62 [[ 9.49673573e-01 3.08629360e-01 5.35539251e-02 6.33186020e+02] [-3.07902692e-01 9.51174133e-01 -2.15337144e-02 -9.51859165e+01] [-5.75850448e-02 3.96060184e-03 9.98332748e-01 -4.06164744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.1007140569999 meters 0.04002493699137996 Centerline is valid? [True, True] Translation: X:633.21, Y:-95.20, Z:-40.62 [[ 9.50304221e-01 3.06825337e-01 5.27266598e-02 6.33214444e+02] [-3.06118519e-01 9.51757427e-01 -2.11955933e-02 -9.51952969e+01] [-5.66863351e-02 4.00165479e-03 9.98384017e-01 -4.06186713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.130714057 meters 0.04287456313625175 Centerline is valid? [True, True] Translation: X:633.24, Y:-95.21, Z:-40.62 [[ 9.50731602e-01 3.05519816e-01 5.26028776e-02 6.33239033e+02] [-3.04814452e-01 9.52177029e-01 -2.11436803e-02 -9.52094925e+01] [-5.65470650e-02 4.06784775e-03 9.98391648e-01 -4.06207901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.160714057 meters 0.04070252921640294 Centerline is valid? [True, True] Translation: X:633.27, Y:-95.22, Z:-40.62 [[ 9.51209517e-01 3.04036173e-01 5.25591209e-02 6.33267901e+02] [-3.03329982e-01 9.52651456e-01 -2.11216786e-02 -9.52168436e+01] [-5.64922774e-02 4.14838445e-03 9.98394418e-01 -4.06224674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.1907140569999 meters 0.04539520720351743 Centerline is valid? [True, True] Translation: X:633.29, Y:-95.23, Z:-40.62 [[ 9.51895349e-01 3.01927719e-01 5.22962525e-02 6.33292690e+02] [-3.01225545e-01 9.53321347e-01 -2.10138291e-02 -9.52332553e+01] [-5.61997914e-02 4.24999907e-03 9.98410497e-01 -4.06237979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.2207140569999 meters 0.04368910693401912 Centerline is valid? [True, True] Translation: X:633.32, Y:-95.24, Z:-40.62 [[ 9.52162648e-01 3.01093195e-01 5.22415538e-02 6.33320528e+02] [-3.00391288e-01 9.53585051e-01 -2.09910485e-02 -9.52411860e+01] [-5.61370266e-02 4.29398472e-03 9.98413840e-01 -4.06249690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.250714057 meters 0.042863107433004366 Centerline is valid? [True, True] Translation: X:633.35, Y:-95.25, Z:-40.63 [[ 9.52264397e-01 3.00739783e-01 5.24223246e-02 6.33347660e+02] [-3.00033343e-01 9.53696473e-01 -2.10482888e-02 -9.52496277e+01] [-5.63250439e-02 4.31509076e-03 9.98403160e-01 -4.06261969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.280714057 meters 0.043539987591158937 Centerline is valid? [True, True] Translation: X:633.37, Y:-95.26, Z:-40.63 [[ 9.52460274e-01 3.00190845e-01 5.20085005e-02 6.33374277e+02] [-2.99494995e-01 9.53869433e-01 -2.08770903e-02 -9.52594432e+01] [-5.58764303e-02 4.30831355e-03 9.98428397e-01 -4.06278455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.3107140569999 meters 0.041465947703257615 Centerline is valid? [True, True] Translation: X:633.40, Y:-95.27, Z:-40.63 [[ 9.52362746e-01 3.00635139e-01 5.12222059e-02 6.33402872e+02] [-2.99961633e-01 9.53729964e-01 -2.05468704e-02 -9.52653465e+01] [-5.50292638e-02 4.20337737e-03 9.98475894e-01 -4.06297098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.3407140569999 meters 0.043460704757540346 Centerline is valid? [True, True] Translation: X:633.43, Y:-95.28, Z:-40.63 [[ 9.52261551e-01 3.00982790e-01 5.10617063e-02 6.33427512e+02] [-3.00314850e-01 9.53620518e-01 -2.04669842e-02 -9.52773720e+01] [-5.48537009e-02 4.15533345e-03 9.98485756e-01 -4.06317369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.370714057 meters 0.04265028333482206 Centerline is valid? [True, True] Translation: X:633.45, Y:-95.29, Z:-40.63 [[ 9.52210955e-01 3.01197246e-01 5.07396837e-02 6.33454786e+02] [-3.00538272e-01 9.53552992e-01 -2.03332019e-02 -9.52861984e+01] [-5.45072816e-02 4.11228070e-03 9.98504905e-01 -4.06334852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.400714057 meters 0.04377641926107028 Centerline is valid? [True, True] Translation: X:633.48, Y:-95.30, Z:-40.64 [[ 9.52116322e-01 3.01487215e-01 5.07933871e-02 6.33480702e+02] [-3.00828078e-01 9.53461466e-01 -2.03396429e-02 -9.52972017e+01] [-5.45616796e-02 4.08562903e-03 9.98502043e-01 -4.06350512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.4307140569999 meters 0.04324957518190351 Centerline is valid? [True, True] Translation: X:633.51, Y:-95.31, Z:-40.64 [[ 9.52150650e-01 3.01457196e-01 5.03259241e-02 6.33508460e+02] [-3.00810490e-01 9.53471140e-01 -2.01453466e-02 -9.53060252e+01] [-5.40572760e-02 4.04283899e-03 9.98529652e-01 -4.06366229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.4607140569999 meters 0.041143299820385025 Centerline is valid? [True, True] Translation: X:633.54, Y:-95.31, Z:-40.64 [[ 9.51910606e-01 3.02225151e-01 5.02608731e-02 6.33537096e+02] [-3.01581956e-01 9.53228260e-01 -2.01049391e-02 -9.53110405e+01] [-5.39863028e-02 3.98033236e-03 9.98533743e-01 -4.06374118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.490714057 meters 0.04045563722073898 Centerline is valid? [True, True] Translation: X:633.56, Y:-95.32, Z:-40.64 [[ 9.51837856e-01 3.02409802e-01 5.05272997e-02 6.33564950e+02] [-3.01760796e-01 9.53169708e-01 -2.01972794e-02 -9.53187905e+01] [-5.42689467e-02 3.97737692e-03 9.98518433e-01 -4.06389035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.520714057 meters 0.04069320461934361 Centerline is valid? [True, True] Translation: X:633.59, Y:-95.33, Z:-40.64 [[ 9.51785744e-01 3.02622623e-01 5.02339144e-02 6.33592049e+02] [-3.01982224e-01 9.53102365e-01 -2.00653702e-02 -9.53285366e+01] [-5.39502976e-02 3.92818414e-03 9.98535896e-01 -4.06405265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.5507140569999 meters 0.03872434061701732 Centerline is valid? [True, True] Translation: X:633.62, Y:-95.34, Z:-40.64 [[ 9.51737183e-01 3.02736357e-01 5.04681411e-02 6.33620387e+02] [-3.02090925e-01 9.53066254e-01 -2.01441837e-02 -9.53350759e+01] [-5.41978589e-02 3.92600124e-03 9.98522498e-01 -4.06417308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.5807140569999 meters 0.041944617074582656 Centerline is valid? [True, True] Translation: X:633.64, Y:-95.35, Z:-40.64 [[ 9.51671423e-01 3.03025760e-01 4.99689154e-02 6.33644685e+02] [-3.02394272e-01 9.52974564e-01 -1.99294826e-02 -9.53489106e+01] [-5.36582520e-02 3.85600527e-03 9.98551913e-01 -4.06435840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.610714057 meters 0.04019928078406353 Centerline is valid? [True, True] Translation: X:633.67, Y:-95.35, Z:-40.65 [[ 9.51627096e-01 3.03248405e-01 4.94598353e-02 6.33673268e+02] [-3.02630261e-01 9.52903964e-01 -1.97220851e-02 -9.53548801e+01] [-5.31111639e-02 3.80002769e-03 9.98581376e-01 -4.06451234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.640714057 meters 0.04009211145577675 Centerline is valid? [True, True] Translation: X:633.70, Y:-95.36, Z:-40.65 [[ 9.51712511e-01 3.03054305e-01 4.90039198e-02 6.33700120e+02] [-3.02447989e-01 9.52965861e-01 -1.95264227e-02 -9.53631890e+01] [-5.26166291e-02 3.76240380e-03 9.98607698e-01 -4.06472118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.6707140569999 meters 0.04037789469059543 Centerline is valid? [True, True] Translation: X:633.73, Y:-95.37, Z:-40.65 [[ 9.51653462e-01 3.03269480e-01 4.88191586e-02 6.33727814e+02] [-3.02668873e-01 9.52897570e-01 -1.94364108e-02 -9.53710111e+01] [-5.24141278e-02 3.72068791e-03 9.98618504e-01 -4.06493106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.7007140569999 meters 0.04037789469059543 Centerline is valid? [True, True] Translation: X:633.75, Y:-95.38, Z:-40.65 [[ 9.51739585e-01 3.02998328e-01 4.88239298e-02 6.33753338e+02] [-3.02397978e-01 9.52983817e-01 -1.94244179e-02 -9.53810862e+01] [-5.24139811e-02 3.72272975e-03 9.98618504e-01 -4.06509040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.7307140569999 meters 0.03783468101823605 Centerline is valid? [True, True] Translation: X:633.78, Y:-95.39, Z:-40.65 [[ 9.51771426e-01 3.02944251e-01 4.85379604e-02 6.33781853e+02] [-3.02351689e-01 9.53001141e-01 -1.92945792e-02 -9.53861194e+01] [-5.21019135e-02 3.68849490e-03 9.98634961e-01 -4.06518970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.760714057 meters 0.039930059721226284 Centerline is valid? [True, True] Translation: X:633.81, Y:-95.40, Z:-40.65 [[ 9.51666429e-01 3.03197780e-01 4.90113680e-02 6.33807046e+02] [-3.02594736e-01 9.52920483e-01 -1.94673915e-02 -9.53978407e+01] [-5.26064063e-02 3.69588104e-03 9.98608485e-01 -4.06531224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.790714057 meters 0.042838893053513405 Centerline is valid? [True, True] Translation: X:633.83, Y:-95.41, Z:-40.65 [[ 9.51592471e-01 3.03379658e-01 4.93209210e-02 6.33832197e+02] [-3.02769631e-01 9.52862572e-01 -1.95823640e-02 -9.54103392e+01] [-5.29369506e-02 3.70155309e-03 9.98590996e-01 -4.06543919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.8207140569999 meters 0.03993491330609852 Centerline is valid? [True, True] Translation: X:633.86, Y:-95.41, Z:-40.65 [[ 9.51318898e-01 3.04050692e-01 5.04532619e-02 6.33862004e+02] [-3.03413496e-01 9.52648497e-01 -2.00272817e-02 -9.54132280e+01] [-5.41535329e-02 3.74413099e-03 9.98525601e-01 -4.06545187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.8507140569999 meters 0.04010568528805593 Centerline is valid? [True, True] Translation: X:633.89, Y:-95.42, Z:-40.66 [[ 9.51292890e-01 3.04083552e-01 5.07447540e-02 6.33889370e+02] [-3.03439813e-01 9.52637985e-01 -2.01283043e-02 -9.54216811e+01] [-5.44620665e-02 3.74993412e-03 9.98508799e-01 -4.06554954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.880714057 meters 0.03891957178685499 Centerline is valid? [True, True] Translation: X:633.92, Y:-95.43, Z:-40.66 [[ 9.51222272e-01 3.04308423e-01 5.07205390e-02 6.33917246e+02] [-3.03666408e-01 9.52566289e-01 -2.01041703e-02 -9.54281696e+01] [-5.44325440e-02 3.72141061e-03 9.98510515e-01 -4.06564942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.910714057 meters 0.03989801676059008 Centerline is valid? [True, True] Translation: X:633.94, Y:-95.44, Z:-40.66 [[ 9.51022485e-01 3.04940017e-01 5.06736551e-02 6.33943604e+02] [-3.04300913e-01 9.52364498e-01 -2.00703118e-02 -9.54378653e+01] [-5.43800313e-02 3.66727828e-03 9.98513577e-01 -4.06578901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.9407140569999 meters 0.04104453751995592 Centerline is valid? [True, True] Translation: X:633.97, Y:-95.45, Z:-40.66 [[ 9.50916093e-01 3.05258667e-01 5.07516496e-02 6.33970089e+02] [-3.04618327e-01 9.52262478e-01 -2.00959854e-02 -9.54468958e+01] [-5.44633653e-02 3.64971336e-03 9.98509099e-01 -4.06594299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.9707140569999 meters 0.04116372941343285 Centerline is valid? [True, True] Translation: X:634.00, Y:-95.46, Z:-40.66 [[ 9.51167035e-01 3.04515856e-01 5.05110357e-02 6.33997548e+02] [-3.03880783e-01 9.52500195e-01 -1.99962096e-02 -9.54562699e+01] [-5.42009342e-02 3.67040234e-03 9.98523303e-01 -4.06612949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.000714057 meters 0.042071883434941684 Centerline is valid? [True, True] Translation: X:634.02, Y:-95.47, Z:-40.66 [[ 9.51464203e-01 3.03747567e-01 4.95306613e-02 6.34023109e+02] [-3.03136661e-01 9.52745639e-01 -1.95936946e-02 -9.54665396e+01] [-5.31416587e-02 3.62813976e-03 9.98580393e-01 -4.06631532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.030714057 meters 0.0398930361034653 Centerline is valid? [True, True] Translation: X:634.05, Y:-95.47, Z:-40.66 [[ 9.52087589e-01 3.01909160e-01 4.87860781e-02 6.34052857e+02] [-3.01314364e-01 9.53329635e-01 -1.92940850e-02 -9.54719868e+01] [-5.23342750e-02 3.66971279e-03 9.98622880e-01 -4.06648785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.0607140569999 meters 0.04073651320275363 Centerline is valid? [True, True] Translation: X:634.08, Y:-95.48, Z:-40.67 [[ 9.52629538e-01 3.00307911e-01 4.80845329e-02 6.34080647e+02] [-2.99728186e-01 9.53835131e-01 -1.90146836e-02 -9.54828574e+01] [-5.15749767e-02 3.70165938e-03 9.98662265e-01 -4.06670477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.0907140569999 meters 0.042958992471059894 Centerline is valid? [True, True] Translation: X:634.11, Y:-95.50, Z:-40.67 [[ 9.53146760e-01 2.98743007e-01 4.75801355e-02 6.34106494e+02] [-2.98173537e-01 9.54326250e-01 -1.88135729e-02 -9.54960296e+01] [-5.10273956e-02 3.74495872e-03 9.98690232e-01 -4.06691857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.120714057 meters 0.04189696263039252 Centerline is valid? [True, True] Translation: X:634.14, Y:-95.50, Z:-40.67 [[ 9.53625087e-01 2.97275733e-01 4.71840273e-02 6.34135051e+02] [-2.96714152e-01 9.54784161e-01 -1.86525664e-02 -9.55044503e+01] [-5.05955172e-02 3.78738660e-03 9.98712045e-01 -4.06706721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.150714057 meters 0.04357440560848314 Centerline is valid? [True, True] Translation: X:634.16, Y:-95.52, Z:-40.67 [[ 9.54258445e-01 2.95286240e-01 4.68706475e-02 6.34162767e+02] [-2.94729812e-01 9.55401014e-01 -1.85267618e-02 -9.55153184e+01] [-5.02509619e-02 3.86514176e-03 9.98729143e-01 -4.06721655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.1807140569999 meters 0.04403506699574417 Centerline is valid? [True, True] Translation: X:634.19, Y:-95.53, Z:-40.67 [[ 9.54479752e-01 2.94564654e-01 4.69048706e-02 6.34189605e+02] [-2.94006557e-01 9.55623571e-01 -1.85401090e-02 -9.55251093e+01] [-5.02846607e-02 3.90581918e-03 9.98727289e-01 -4.06733964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.2107140569999 meters 0.042016981054487694 Centerline is valid? [True, True] Translation: X:634.22, Y:-95.53, Z:-40.67 [[ 9.54584573e-01 2.94178374e-01 4.71951056e-02 6.34218263e+02] [-2.93613559e-01 9.55742423e-01 -1.86413003e-02 -9.55319633e+01] [-5.05902320e-02 3.93757474e-03 9.98711732e-01 -4.06746227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.240714057 meters 0.042393673028721074 Centerline is valid? [True, True] Translation: X:634.25, Y:-95.54, Z:-40.68 [[ 9.54486838e-01 2.94501451e-01 4.71568903e-02 6.34245537e+02] [-2.93938639e-01 9.55643058e-01 -1.86124389e-02 -9.55420394e+01] [-5.05465451e-02 3.90409578e-03 9.98714076e-01 -4.06756876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.270714057 meters 0.041773483719007305 Centerline is valid? [True, True] Translation: X:634.28, Y:-95.55, Z:-40.68 [[ 9.53835896e-01 2.96637036e-01 4.69420070e-02 6.34275425e+02] [-2.96082677e-01 9.54982899e-01 -1.85124466e-02 -9.55488682e+01] [-5.03202913e-02 3.75912103e-03 9.98726057e-01 -4.06765112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.3007140569999 meters 0.04063138727452885 Centerline is valid? [True, True] Translation: X:634.30, Y:-95.56, Z:-40.68 [[ 9.53270299e-01 2.98507837e-01 4.65704719e-02 6.34304281e+02] [-2.97964562e-01 9.54400283e-01 -1.83635174e-02 -9.55567195e+01] [-4.99285254e-02 3.62904542e-03 9.98746200e-01 -4.06773761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.3307140569999 meters 0.04005363300537975 Centerline is valid? [True, True] Translation: X:634.33, Y:-95.56, Z:-40.68 [[ 9.52646320e-01 3.00489581e-01 4.65939949e-02 6.34332890e+02] [-2.99948206e-01 9.53778583e-01 -1.83708688e-02 -9.55647916e+01] [-4.99606091e-02 3.52515538e-03 9.98744968e-01 -4.06787154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.360714057 meters 0.03956803548589133 Centerline is valid? [True, True] Translation: X:634.36, Y:-95.57, Z:-40.68 [[ 9.51404699e-01 3.04352865e-01 4.68874414e-02 6.34361767e+02] [-3.03809406e-01 9.52553499e-01 -1.84844938e-02 -9.55721153e+01] [-5.02886050e-02 3.34138855e-03 9.98729138e-01 -4.06794083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.390714057 meters 0.03934051188637612 Centerline is valid? [True, True] Translation: X:634.39, Y:-95.58, Z:-40.68 [[ 9.50814160e-01 3.06145315e-01 4.71961858e-02 6.34389856e+02] [-3.05596911e-01 9.51979187e-01 -1.86052628e-02 -9.55810448e+01] [-5.06257006e-02 3.26713877e-03 9.98712353e-01 -4.06807851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.4207140569999 meters 0.03877484385797145 Centerline is valid? [True, True] Translation: X:634.42, Y:-95.59, Z:-40.68 [[ 9.50115497e-01 3.08330183e-01 4.70429725e-02 6.34418640e+02] [-3.07788102e-01 9.51274223e-01 -1.85428419e-02 -9.55903076e+01] [-5.04680849e-02 3.13857425e-03 9.98720743e-01 -4.06821568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.4507140569999 meters 0.036228509013807524 Centerline is valid? [True, True] Translation: X:634.45, Y:-95.60, Z:-40.68 [[ 9.49137636e-01 3.11410736e-01 4.64876462e-02 6.34448637e+02] [-3.10885097e-01 9.50270865e-01 -1.83232041e-02 -9.55956090e+01] [-4.98818983e-02 2.93892615e-03 9.98750799e-01 -4.06838715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.4807140569999 meters 0.03817715446243384 Centerline is valid? [True, True] Translation: X:634.47, Y:-95.61, Z:-40.69 [[ 9.48745143e-01 3.12633225e-01 4.62938527e-02 6.34473407e+02] [-3.12113489e-01 9.49869612e-01 -1.82452587e-02 -9.56080264e+01] [-4.96771979e-02 2.86116469e-03 9.98761228e-01 -4.06863451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.510714057 meters 0.0367072431999781 Centerline is valid? [True, True] Translation: X:634.50, Y:-95.62, Z:-40.69 [[ 9.48457486e-01 3.13529746e-01 4.61247756e-02 6.34501209e+02] [-3.13015020e-01 9.49574249e-01 -1.81753584e-02 -9.56151852e+01] [-4.94974146e-02 2.80080716e-03 9.98770325e-01 -4.06876497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.540714057 meters 0.03397017305697349 Centerline is valid? [True, True] Translation: X:634.53, Y:-95.62, Z:-40.69 [[ 9.48402606e-01 3.13728872e-01 4.58987086e-02 6.34530399e+02] [-3.13220038e-01 9.49508584e-01 -1.80736501e-02 -9.56201911e+01] [-4.92514437e-02 2.76470157e-03 9.98782585e-01 -4.06887314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.5707140569999 meters 0.03465183545595501 Centerline is valid? [True, True] Translation: X:634.56, Y:-95.63, Z:-40.69 [[ 9.47985123e-01 3.14995793e-01 4.58460162e-02 6.34555844e+02] [-3.14490332e-01 9.49089279e-01 -1.80380752e-02 -9.56307757e+01] [-4.91938803e-02 2.68169805e-03 9.98785648e-01 -4.06908931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.6007140569999 meters 0.03382218101886669 Centerline is valid? [True, True] Translation: X:634.58, Y:-95.64, Z:-40.69 [[ 9.47535720e-01 3.16366806e-01 4.56957734e-02 6.34583659e+02] [-3.15866480e-01 9.48633384e-01 -1.79741102e-02 -9.56385667e+01] [-4.90349480e-02 2.59734835e-03 9.98793686e-01 -4.06924312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.630714057 meters 0.034577145154447084 Centerline is valid? [True, True] Translation: X:634.61, Y:-95.65, Z:-40.69 [[ 9.47310472e-01 3.17020999e-01 4.58318249e-02 6.34609463e+02] [-3.16518628e-01 9.48415043e-01 -1.80240156e-02 -9.56492302e+01] [-4.91815836e-02 2.56771232e-03 9.98786553e-01 -4.06942426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.660714057 meters 0.03328779032003636 Centerline is valid? [True, True] Translation: X:634.64, Y:-95.66, Z:-40.70 [[ 9.47045295e-01 3.17770990e-01 4.61173184e-02 6.34637265e+02] [-3.17263385e-01 9.48164089e-01 -1.81329919e-02 -9.56575873e+01] [-4.94889239e-02 2.54142812e-03 9.98771439e-01 -4.06957429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.6907140569999 meters 0.03852538705376812 Centerline is valid? [True, True] Translation: X:634.66, Y:-95.68, Z:-40.70 [[ 9.46832654e-01 3.18438157e-01 4.58810054e-02 6.34660054e+02] [-3.17937220e-01 9.47940393e-01 -1.80259781e-02 -9.56751877e+01] [-4.92326175e-02 2.48030543e-03 9.98784260e-01 -4.06986367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.7207140569999 meters 0.03293601311977087 Centerline is valid? [True, True] Translation: X:634.69, Y:-95.68, Z:-40.70 [[ 9.47008825e-01 3.17913428e-01 4.58839505e-02 6.34690849e+02] [-3.17412096e-01 9.48116444e-01 -1.80213879e-02 -9.56764965e+01] [-4.92325692e-02 2.50229246e-03 9.98784207e-01 -4.06986553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.750714057 meters 0.035333960186659644 Centerline is valid? [True, True] Translation: X:634.71, Y:-95.69, Z:-40.70 [[ 9.47133437e-01 3.17482412e-01 4.62943939e-02 6.34714662e+02] [-3.16972289e-01 9.48260777e-01 -1.81677616e-02 -9.56909098e+01] [-4.96671027e-02 2.53325453e-03 9.98762615e-01 -4.07011130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.780714057 meters 0.03355152612345474 Centerline is valid? [True, True] Translation: X:634.74, Y:-95.70, Z:-40.70 [[ 9.47773322e-01 3.15585897e-01 4.61656983e-02 6.34742592e+02] [-3.15076613e-01 9.48893394e-01 -1.81122693e-02 -9.56991583e+01] [-4.95223029e-02 2.62059380e-03 9.98769580e-01 -4.07016489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.8107140569999 meters 0.03313527744783958 Centerline is valid? [True, True] Translation: X:634.77, Y:-95.71, Z:-40.70 [[ 9.48314868e-01 3.13971281e-01 4.60537399e-02 6.34769798e+02] [-3.13462618e-01 9.49428649e-01 -1.80673182e-02 -9.57093892e+01] [-4.93973591e-02 2.69738054e-03 9.98775563e-01 -4.07029719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.8407140569999 meters 0.03488193057638678 Centerline is valid? [True, True] Translation: X:634.79, Y:-95.72, Z:-40.71 [[ 9.48849102e-01 3.12392725e-01 4.57839133e-02 6.34794445e+02] [-3.11888912e-01 9.49949066e-01 -1.79465513e-02 -9.57232141e+01] [-4.90987578e-02 2.74907415e-03 9.98790145e-01 -4.07051593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.870714057 meters 0.03676734096111233 Centerline is valid? [True, True] Translation: X:634.82, Y:-95.74, Z:-40.71 [[ 9.49377909e-01 3.10760543e-01 4.59289797e-02 6.34819498e+02] [-3.10251838e-01 9.50483997e-01 -1.79991312e-02 -9.57373683e+01] [-4.92481799e-02 2.83842721e-03 9.98782539e-01 -4.07070202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.900714057 meters 0.036301406606707665 Centerline is valid? [True, True] Translation: X:634.85, Y:-95.75, Z:-40.71 [[ 9.50529916e-01 3.07333101e-01 4.51579834e-02 6.34847107e+02] [-3.06837636e-01 9.51597388e-01 -1.76939667e-02 -9.57483390e+01] [-4.84101607e-02 2.96247578e-03 9.98823148e-01 -4.07077591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.9307140569999 meters 0.038614714263689974 Centerline is valid? [True, True] Translation: X:634.87, Y:-95.76, Z:-40.71 [[ 9.51059549e-01 3.05710885e-01 4.50176565e-02 6.34871996e+02] [-3.05216714e-01 9.52119553e-01 -1.76384244e-02 -9.57628715e+01] [-4.82544493e-02 3.03505071e-03 9.98830464e-01 -4.07095796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.9607140569999 meters 0.03791489595402873 Centerline is valid? [True, True] Translation: X:634.90, Y:-95.77, Z:-40.71 [[ 9.51522954e-01 3.04247250e-01 4.51406618e-02 6.34899544e+02] [-3.03748867e-01 9.52588005e-01 -1.76838621e-02 -9.57727970e+01] [-4.83807193e-02 3.11517584e-03 9.98824109e-01 -4.07102718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.990714057 meters 0.038872919604694744 Centerline is valid? [True, True] Translation: X:634.92, Y:-95.78, Z:-40.71 [[ 9.51864672e-01 3.03128308e-01 4.54629028e-02 6.34924069e+02] [-3.02621621e-01 9.52944404e-01 -1.78078111e-02 -9.57846599e+01] [-4.87216705e-02 3.19256890e-03 9.98807292e-01 -4.07118105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.020714057 meters 0.03968249353013797 Centerline is valid? [True, True] Translation: X:634.95, Y:-95.80, Z:-40.71 [[ 9.52279402e-01 3.01851089e-01 4.52753829e-02 6.34951257e+02] [-3.01347439e-01 9.53349585e-01 -1.77282096e-02 -9.57973925e+01] [-4.85145469e-02 3.23858817e-03 9.98817226e-01 -4.07130452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.0507140569999 meters 0.04034360785197877 Centerline is valid? [True, True] Translation: X:634.98, Y:-95.81, Z:-40.72 [[ 9.52440084e-01 3.01273059e-01 4.57430801e-02 6.34977075e+02] [-3.00758327e-01 9.53532195e-01 -1.79103704e-02 -9.58088730e+01] [-4.90134116e-02 3.30094250e-03 9.98792666e-01 -4.07150829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.0807140569999 meters 0.04115378638829437 Centerline is valid? [True, True] Translation: X:635.00, Y:-95.82, Z:-40.72 [[ 9.52581203e-01 3.00825423e-01 4.57505951e-02 6.35001974e+02] [-3.00310363e-01 9.53673455e-01 -1.79060772e-02 -9.58202586e+01] [-4.90177313e-02 3.31761475e-03 9.98792399e-01 -4.07165897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.110714057 meters 0.04204971784481877 Centerline is valid? [True, True] Translation: X:635.03, Y:-95.83, Z:-40.72 [[ 9.52755359e-01 3.00282057e-01 4.56936757e-02 6.35027017e+02] [-2.99767859e-01 9.53844614e-01 -1.78796773e-02 -9.58316987e+01] [-4.89536128e-02 3.33746307e-03 9.98795477e-01 -4.07178523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.140714057 meters 0.04245283708816199 Centerline is valid? [True, True] Translation: X:635.05, Y:-95.84, Z:-40.72 [[ 9.52863553e-01 2.99949839e-01 4.56195517e-02 6.35054120e+02] [-2.99437207e-01 9.53949115e-01 -1.78450331e-02 -9.58422546e+01] [-4.88713458e-02 3.34369045e-03 9.98799485e-01 -4.07197737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.1707140569999 meters 0.04293769947683737 Centerline is valid? [True, True] Translation: X:635.08, Y:-95.85, Z:-40.72 [[ 9.53047084e-01 2.99475493e-01 4.48963859e-02 6.35080565e+02] [-2.98979055e-01 9.54098275e-01 -1.75500899e-02 -9.58525917e+01] [-4.80913862e-02 3.30298299e-03 9.98837479e-01 -4.07214528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.2007140569999 meters 0.04445854240943445 Centerline is valid? [True, True] Translation: X:635.11, Y:-95.86, Z:-40.72 [[ 9.53201223e-01 2.99076831e-01 4.42772894e-02 6.35105444e+02] [-2.98594217e-01 9.54223451e-01 -1.72945064e-02 -9.58639596e+01] [-4.74228140e-02 3.26420213e-03 9.98869572e-01 -4.07239370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.2307140569999 meters 0.04438161739385095 Centerline is valid? [True, True] Translation: X:635.13, Y:-95.87, Z:-40.73 [[ 9.53440887e-01 2.98408661e-01 4.36204804e-02 6.35132304e+02] [-2.97939683e-01 9.54432676e-01 -1.70355960e-02 -9.58739647e+01] [-4.67163812e-02 3.24616162e-03 9.98902919e-01 -4.07255839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.260714057 meters 0.04034876353352311 Centerline is valid? [True, True] Translation: X:635.16, Y:-95.88, Z:-40.73 [[ 9.53618379e-01 2.97882255e-01 4.33376163e-02 6.35161629e+02] [-2.97419335e-01 9.54597122e-01 -1.69136943e-02 -9.58781596e+01] [-4.64082532e-02 3.23976478e-03 9.98917303e-01 -4.07269257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.290714057 meters 0.0668709232926355 Centerline is valid? [True, True] Translation: X:635.17, Y:-95.92, Z:-40.73 [[ 9.52905148e-01 3.00113450e-01 4.36313553e-02 6.35174946e+02] [-2.99647250e-01 9.53898353e-01 -1.70134332e-02 -9.59232136e+01] [-4.67258381e-02 3.13817250e-03 9.98902822e-01 -4.07344354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.3207140569999 meters 0.047045059386757945 Centerline is valid? [True, True] Translation: X:635.21, Y:-95.91, Z:-40.73 [[ 9.54197343e-01 2.96121195e-01 4.26575814e-02 6.35213321e+02] [-2.95671701e-01 9.55144820e-01 -1.66318330e-02 -9.59072233e+01] [-4.56692062e-02 3.25741121e-03 9.98951307e-01 -4.07318936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.3507140569999 meters 0.03993888734003603 Centerline is valid? [True, True] Translation: X:635.24, Y:-95.91, Z:-40.73 [[ 9.54589753e-01 2.94771845e-01 4.32199398e-02 6.35244918e+02] [-2.94309045e-01 9.55561736e-01 -1.68509468e-02 -9.59065184e+01] [-4.62665054e-02 3.36572191e-03 9.98923462e-01 -4.07310469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.380714057 meters 0.04074586310228519 Centerline is valid? [True, True] Translation: X:635.27, Y:-95.92, Z:-40.73 [[ 9.54575904e-01 2.94811309e-01 4.32566171e-02 6.35270791e+02] [-2.94347923e-01 9.55549570e-01 -1.68618008e-02 -9.59170538e+01] [-4.63048914e-02 3.36337339e-03 9.98921691e-01 -4.07324447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.410714057 meters 0.04129476670105352 Centerline is valid? [True, True] Translation: X:635.30, Y:-95.93, Z:-40.73 [[ 9.54867344e-01 2.93907783e-01 4.29717496e-02 6.35297757e+02] [-2.93449683e-01 9.55827795e-01 -1.67484199e-02 -9.59259448e+01] [-4.59960836e-02 3.38247289e-03 9.98935893e-01 -4.07344031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.4407140569999 meters 0.04031161557950888 Centerline is valid? [True, True] Translation: X:635.33, Y:-95.93, Z:-40.74 [[ 9.54977066e-01 2.93566251e-01 4.28679308e-02 6.35325709e+02] [-2.93110577e-01 9.55932758e-01 -1.66958585e-02 -9.59338495e+01] [-4.58801999e-02 3.37911799e-03 9.98941234e-01 -4.07354773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.4707140569999 meters 0.04111915841441473 Centerline is valid? [True, True] Translation: X:635.35, Y:-95.94, Z:-40.74 [[ 9.54838949e-01 2.93936063e-01 4.34070507e-02 6.35351159e+02] [-2.93469908e-01 9.55819073e-01 -1.68911741e-02 -9.59441729e+01] [-4.64542122e-02 3.38968776e-03 9.98914669e-01 -4.07367398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.500714057 meters 0.04158450522605788 Centerline is valid? [True, True] Translation: X:635.38, Y:-95.95, Z:-40.74 [[ 9.54932438e-01 2.93615484e-01 4.35199548e-02 6.35377838e+02] [-2.93146670e-01 9.55917520e-01 -1.69329581e-02 -9.59537011e+01] [-4.65732659e-02 3.41210119e-03 9.98909049e-01 -4.07380336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.530714057 meters 0.040197277457627315 Centerline is valid? [True, True] Translation: X:635.41, Y:-95.96, Z:-40.74 [[ 9.54758845e-01 2.94139762e-01 4.37875332e-02 6.35405781e+02] [-2.93666395e-01 9.55756394e-01 -1.70224353e-02 -9.59602480e+01] [-4.68571899e-02 3.39339359e-03 9.98895835e-01 -4.07386998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.5607140569999 meters 0.042695568526344346 Centerline is valid? [True, True] Translation: X:635.43, Y:-95.97, Z:-40.74 [[ 9.54594559e-01 2.94631962e-01 4.40594454e-02 6.35430746e+02] [-2.94153901e-01 9.55604839e-01 -1.71135914e-02 -9.59730202e+01] [-4.71456302e-02 3.37628346e-03 9.98882321e-01 -4.07408896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.5907140569999 meters 0.042695568526344346 Centerline is valid? [True, True] Translation: X:635.46, Y:-95.98, Z:-40.74 [[ 9.54675742e-01 2.94368687e-01 4.40602341e-02 6.35456347e+02] [-2.93890440e-01 9.55685934e-01 -1.71115611e-02 -9.59828672e+01] [-4.71448538e-02 3.38711071e-03 9.98882321e-01 -4.07424804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.620714057 meters 0.04298462314260661 Centerline is valid? [True, True] Translation: X:635.48, Y:-95.99, Z:-40.74 [[ 9.54588853e-01 2.94683157e-01 4.38401546e-02 6.35483384e+02] [-2.94210679e-01 9.55589176e-01 -1.70118280e-02 -9.59926609e+01] [-4.69062764e-02 3.34105969e-03 9.98893707e-01 -4.07442648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.650714057 meters 0.043661553696329354 Centerline is valid? [True, True] Translation: X:635.51, Y:-96.00, Z:-40.75 [[ 9.54541187e-01 2.94876884e-01 4.35745922e-02 6.35508729e+02] [-2.94410960e-01 9.55529563e-01 -1.68949953e-02 -9.60027544e+01] [-4.66187546e-02 3.29813134e-03 9.98907310e-01 -4.07459828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.6807140569999 meters 0.044040303065106014 Centerline is valid? [True, True] Translation: X:635.53, Y:-96.01, Z:-40.75 [[ 9.54314299e-01 2.95672769e-01 4.31489605e-02 6.35534863e+02] [-2.95216910e-01 9.55283845e-01 -1.67257943e-02 -9.60118239e+01] [-4.61648668e-02 3.22336186e-03 9.98928634e-01 -4.07478975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.7107140569999 meters 0.04420846868854527 Centerline is valid? [True, True] Translation: X:635.56, Y:-96.02, Z:-40.75 [[ 9.54255049e-01 2.95884710e-01 4.30062834e-02 6.35561530e+02] [-2.95432181e-01 9.55218298e-01 -1.66682325e-02 -9.60217043e+01] [-4.60122639e-02 3.20030493e-03 9.98935749e-01 -4.07498396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.740714057 meters 0.03819233679946749 Centerline is valid? [True, True] Translation: X:635.59, Y:-96.02, Z:-40.75 [[ 9.53916581e-01 2.96963440e-01 4.30798272e-02 6.35592494e+02] [-2.96511058e-01 9.54883683e-01 -1.66836589e-02 -9.60231817e+01] [-4.60906609e-02 3.14117376e-03 9.98932322e-01 -4.07498582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.770714057 meters 0.0372069201081865 Centerline is valid? [True, True] Translation: X:635.62, Y:-96.03, Z:-40.75 [[ 9.53084172e-01 2.99608409e-01 4.31898366e-02 6.35621739e+02] [-2.99156743e-01 9.54057502e-01 -1.67190589e-02 -9.60303729e+01] [-4.62147582e-02 3.01413956e-03 9.98926980e-01 -4.07513040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.8007140569999 meters 0.03992849147555796 Centerline is valid? [True, True] Translation: X:635.65, Y:-96.04, Z:-40.75 [[ 9.52350299e-01 3.01876071e-01 4.35860680e-02 6.35647074e+02] [-3.01418457e-01 9.53342672e-01 -1.68719589e-02 -9.60442656e+01] [-4.66456992e-02 2.93036975e-03 9.98907199e-01 -4.07535848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.8307140569999 meters 0.0356306582710453 Centerline is valid? [True, True] Translation: X:635.68, Y:-96.05, Z:-40.75 [[ 9.51663133e-01 3.03969622e-01 4.40425929e-02 6.35678367e+02] [-3.03504726e-01 9.52677448e-01 -1.70458902e-02 -9.60472296e+01] [-4.71398178e-02 2.85481025e-03 9.98884221e-01 -4.07540646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.860714057 meters 0.034843485092490474 Centerline is valid? [True, True] Translation: X:635.71, Y:-96.06, Z:-40.75 [[ 9.50907078e-01 3.06287766e-01 4.43117664e-02 6.35707323e+02] [-3.05819787e-01 9.51934986e-01 -1.71476024e-02 -9.60557135e+01] [-4.74340216e-02 2.75436160e-03 9.98870576e-01 -4.07548359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.890714057 meters 0.033899924874918844 Centerline is valid? [True, True] Translation: X:635.74, Y:-96.06, Z:-40.76 [[ 9.49291799e-01 3.11038861e-01 4.58247403e-02 6.35735826e+02] [-3.10543985e-01 9.50393636e-01 -1.77304960e-02 -9.60634686e+01] [-4.90664148e-02 2.60081700e-03 9.98792132e-01 -4.07553733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.9207140569999 meters 0.03315784597565209 Centerline is valid? [True, True] Translation: X:635.76, Y:-96.07, Z:-40.76 [[ 9.48719818e-01 3.12667914e-01 4.65777008e-02 6.35763688e+02] [-3.12158615e-01 9.49859061e-01 -1.80212081e-02 -9.60718372e+01] [-4.98769046e-02 2.55744671e-03 9.98752098e-01 -4.07564445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.9507140569999 meters 0.03244196679820219 Centerline is valid? [True, True] Translation: X:635.79, Y:-96.08, Z:-40.76 [[ 9.48030007e-01 3.14708343e-01 4.68803303e-02 6.35790962e+02] [-3.14195572e-01 9.49185251e-01 -1.81246042e-02 -9.60806683e+01] [-5.02020822e-02 2.45307648e-03 9.98736068e-01 -4.07576307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.9807140569999 meters 0.032175133973359825 Centerline is valid? [True, True] Translation: X:635.82, Y:-96.09, Z:-40.76 [[ 9.47549873e-01 3.16092824e-01 4.72711811e-02 6.35817817e+02] [-3.15573371e-01 9.48725243e-01 -1.82718896e-02 -9.60899462e+01] [-5.06229759e-02 2.39600071e-03 9.98714961e-01 -4.07593241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.010714057 meters 0.030965313411585947 Centerline is valid? [True, True] Translation: X:635.85, Y:-96.10, Z:-40.76 [[ 9.46933209e-01 3.17908134e-01 4.74543680e-02 6.35845967e+02] [-3.17387048e-01 9.48118718e-01 -1.83400702e-02 -9.60983713e+01] [-5.08228321e-02 2.30541970e-03 9.98705024e-01 -4.07611859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.040714057 meters 0.031105752063638047 Centerline is valid? [True, True] Translation: X:635.87, Y:-96.11, Z:-40.76 [[ 9.47133091e-01 3.17320023e-01 4.74015962e-02 6.35872960e+02] [-3.16799988e-01 9.48315669e-01 -1.83073632e-02 -9.61092371e+01] [-5.07609693e-02 2.32268440e-03 9.98708130e-01 -4.07632425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.0707140569999 meters 0.03113795172940145 Centerline is valid? [True, True] Translation: X:635.90, Y:-96.12, Z:-40.77 [[ 9.47734206e-01 3.15599114e-01 4.68729546e-02 6.35899551e+02] [-3.15089180e-01 9.48889644e-01 -1.80901009e-02 -9.61206697e+01] [-5.01864810e-02 2.37544661e-03 9.98737040e-01 -4.07658515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.1007140569999 meters 0.03161119319825569 Centerline is valid? [True, True] Translation: X:635.92, Y:-96.13, Z:-40.77 [[ 9.48150508e-01 3.14374548e-01 4.66825212e-02 6.35924258e+02] [-3.13868008e-01 9.49295952e-01 -1.80019050e-02 -9.61327503e+01] [-4.99748692e-02 2.41636542e-03 9.98747553e-01 -4.07680181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.130714057 meters 0.0316466145736886 Centerline is valid? [True, True] Translation: X:635.95, Y:-96.14, Z:-40.77 [[ 9.48584330e-01 3.13076336e-01 4.65937347e-02 6.35950808e+02] [-3.12570329e-01 9.49724736e-01 -1.79643059e-02 -9.61439590e+01] [-4.98754214e-02 2.47684012e-03 9.98752376e-01 -4.07703509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.160714057 meters 0.03387028130863755 Centerline is valid? [True, True] Translation: X:635.98, Y:-96.16, Z:-40.77 [[ 9.49037453e-01 3.11783111e-01 4.60348145e-02 6.35975123e+02] [-3.11288375e-01 9.50150009e-01 -1.77343842e-02 -9.61572876e+01] [-4.92692609e-02 2.50049221e-03 9.98782402e-01 -4.07732473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.1907140569999 meters 0.03258739114751102 Centerline is valid? [True, True] Translation: X:636.00, Y:-96.17, Z:-40.77 [[ 9.49509738e-01 3.10429880e-01 4.54372894e-02 6.36002175e+02] [-3.09946588e-01 9.50592906e-01 -1.74996824e-02 -9.61658772e+01] [-4.86247893e-02 2.53298605e-03 9.98813904e-01 -4.07748548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.2207140569999 meters 0.03543694927008456 Centerline is valid? [True, True] Translation: X:636.03, Y:-96.18, Z:-40.78 [[ 9.49690637e-01 3.09926721e-01 4.50901415e-02 6.36025654e+02] [-3.09450415e-01 9.50757066e-01 -1.73620740e-02 -9.61806476e+01] [-4.82507413e-02 2.53543613e-03 9.98832037e-01 -4.07773539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.250714057 meters 0.03281070538704541 Centerline is valid? [True, True] Translation: X:636.05, Y:-96.19, Z:-40.78 [[ 9.49929403e-01 3.09187031e-01 4.51387845e-02 6.36053582e+02] [-3.08709207e-01 9.50997781e-01 -1.73737138e-02 -9.61870948e+01] [-4.82986109e-02 2.56904326e-03 9.98829637e-01 -4.07781975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.280714057 meters 0.03359079367118654 Centerline is valid? [True, True] Translation: X:636.08, Y:-96.20, Z:-40.78 [[ 9.49879417e-01 3.09290582e-01 4.54799804e-02 6.36078731e+02] [-3.08806339e-01 9.50964108e-01 -1.74902744e-02 -9.61988106e+01] [-4.86594061e-02 2.56914540e-03 9.98812125e-01 -4.07799354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.3107140569999 meters 0.0337553775585217 Centerline is valid? [True, True] Translation: X:636.11, Y:-96.21, Z:-40.78 [[ 9.50027473e-01 3.08731797e-01 4.61787696e-02 6.36105665e+02] [-3.08232056e-01 9.51145486e-01 -1.77556527e-02 -9.62099502e+01] [-4.94044629e-02 2.63458076e-03 9.98775379e-01 -4.07807443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.3407140569999 meters 0.03447889096677845 Centerline is valid? [True, True] Translation: X:636.13, Y:-96.22, Z:-40.78 [[ 9.50037447e-01 3.08604762e-01 4.68182755e-02 6.36132481e+02] [-3.08091596e-01 9.51186627e-01 -1.79880532e-02 -9.62215390e+01] [-5.00841164e-02 2.66500693e-03 9.98741448e-01 -4.07818133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.370714057 meters 0.03507310748919024 Centerline is valid? [True, True] Translation: X:636.16, Y:-96.23, Z:-40.78 [[ 9.50047722e-01 3.08490483e-01 4.73597813e-02 6.36157372e+02] [-3.07965958e-01 9.51223631e-01 -1.81816816e-02 -9.62328594e+01] [-5.06586189e-02 2.68826477e-03 9.98712410e-01 -4.07827692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.400714057 meters 0.03325560605403367 Centerline is valid? [True, True] Translation: X:636.18, Y:-96.24, Z:-40.78 [[ 9.50029355e-01 3.08360726e-01 4.85580913e-02 6.36184389e+02] [-3.07809450e-01 9.51265503e-01 -1.86355673e-02 -9.62415228e+01] [-5.19381142e-02 2.75769660e-03 9.98646498e-01 -4.07838231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.4307140569999 meters 0.03390171741386124 Centerline is valid? [True, True] Translation: X:636.21, Y:-96.25, Z:-40.79 [[ 9.49969056e-01 3.08397449e-01 4.94955249e-02 6.36209616e+02] [-3.07825527e-01 9.51253491e-01 -1.89799980e-02 -9.62542907e+01] [-5.29361738e-02 2.79442472e-03 9.98593988e-01 -4.07860026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.4607140569999 meters 0.03276859233992214 Centerline is valid? [True, True] Translation: X:636.24, Y:-96.26, Z:-40.79 [[ 9.50109917e-01 3.08010371e-01 4.92012010e-02 6.36236550e+02] [-3.07444932e-01 9.51378893e-01 -1.88630821e-02 -9.62629525e+01] [-5.26190090e-02 2.79534148e-03 9.98610748e-01 -4.07877764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.490714057 meters 0.033324405593724384 Centerline is valid? [True, True] Translation: X:636.26, Y:-96.27, Z:-40.79 [[ 9.50276101e-01 3.07548514e-01 4.88798859e-02 6.36261193e+02] [-3.06990623e-01 9.51528317e-01 -1.87248287e-02 -9.62749117e+01] [-5.22693888e-02 2.78809053e-03 9.98629129e-01 -4.07899594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.520714057 meters 0.03445313514169461 Centerline is valid? [True, True] Translation: X:636.29, Y:-96.29, Z:-40.79 [[ 9.50390746e-01 3.07154565e-01 4.91274192e-02 6.36285320e+02] [-3.06590748e-01 9.51655466e-01 -1.88145625e-02 -9.62883804e+01] [-5.25313557e-02 2.81917387e-03 9.98615296e-01 -4.07925224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.5507140569999 meters 0.035209276169263275 Centerline is valid? [True, True] Translation: X:636.31, Y:-96.30, Z:-40.79 [[ 9.50684341e-01 3.06248146e-01 4.91055671e-02 6.36311736e+02] [-3.05683842e-01 9.51947409e-01 -1.88020892e-02 -9.63003158e+01] [-5.25040223e-02 2.86407339e-03 9.98616605e-01 -4.07943037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.5807140569999 meters 0.03498160281772501 Centerline is valid? [True, True] Translation: X:636.34, Y:-96.31, Z:-40.80 [[ 9.50731844e-01 3.06085309e-01 4.92010531e-02 6.36337030e+02] [-3.05519308e-01 9.51999775e-01 -1.88250075e-02 -9.63111312e+01] [-5.26014497e-02 2.86566234e-03 9.98611474e-01 -4.07956879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.610714057 meters 0.03618748013587425 Centerline is valid? [True, True] Translation: X:636.36, Y:-96.32, Z:-40.80 [[ 9.50905073e-01 3.05498716e-01 4.94982552e-02 6.36361497e+02] [-3.04925961e-01 9.52188074e-01 -1.89217063e-02 -9.63241390e+01] [-5.29122052e-02 2.89944348e-03 9.98594959e-01 -4.07975303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.640714057 meters 0.03472636020515095 Centerline is valid? [True, True] Translation: X:636.39, Y:-96.33, Z:-40.80 [[ 9.51006740e-01 3.05142275e-01 4.97430571e-02 6.36388685e+02] [-3.04563563e-01 9.52302267e-01 -1.90112825e-02 -9.63324592e+01] [-5.31715720e-02 2.92993508e-03 9.98581093e-01 -4.07986341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.6707140569999 meters 0.03588874644073413 Centerline is valid? [True, True] Translation: X:636.41, Y:-96.34, Z:-40.80 [[ 9.51047842e-01 3.04980973e-01 4.99460643e-02 6.36412441e+02] [-3.04398214e-01 9.52353923e-01 -1.90717961e-02 -9.63447216e+01] [-5.33828651e-02 2.93469773e-03 9.98569806e-01 -4.08003633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.7007140569999 meters 0.03506667855015899 Centerline is valid? [True, True] Translation: X:636.44, Y:-96.35, Z:-40.80 [[ 9.51145413e-01 3.04672672e-01 4.99696519e-02 6.36438578e+02] [-3.04089276e-01 9.52452558e-01 -1.90745093e-02 -9.63534041e+01] [-5.34052045e-02 2.94739675e-03 9.98568574e-01 -4.08017980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.7307140569999 meters 0.03558973306483921 Centerline is valid? [True, True] Translation: X:636.46, Y:-96.37, Z:-40.80 [[ 9.50972002e-01 3.05197543e-01 5.00670703e-02 6.36463848e+02] [-3.04613510e-01 9.52284625e-01 -1.90945456e-02 -9.63654380e+01] [-5.35057097e-02 2.90727224e-03 9.98563311e-01 -4.08043922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.760714057 meters 0.03570060438215812 Centerline is valid? [True, True] Translation: X:636.49, Y:-96.38, Z:-40.81 [[ 9.50868218e-01 3.05483907e-01 5.02912972e-02 6.36490113e+02] [-3.04895263e-01 9.52192823e-01 -1.91756622e-02 -9.63765246e+01] [-5.37448685e-02 2.89994949e-03 9.98550489e-01 -4.08062893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.790714057 meters 0.03631465236420788 Centerline is valid? [True, True] Translation: X:636.51, Y:-96.39, Z:-40.81 [[ 9.50733907e-01 3.05897012e-01 5.03195471e-02 6.36514893e+02] [-3.05309070e-01 9.52060300e-01 -1.91717894e-02 -9.63880574e+01] [-5.37718362e-02 2.86425604e-03 9.98549140e-01 -4.08084955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.8207140569999 meters 0.035655649386619435 Centerline is valid? [True, True] Translation: X:636.54, Y:-96.40, Z:-40.81 [[ 9.50756436e-01 3.05785967e-01 5.05681896e-02 6.36540518e+02] [-3.05192268e-01 9.52095922e-01 -1.92622940e-02 -9.63977672e+01] [-5.40359063e-02 2.88072952e-03 9.98534838e-01 -4.08098974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.8507140569999 meters 0.03689007906373319 Centerline is valid? [True, True] Translation: X:636.57, Y:-96.41, Z:-40.81 [[ 9.50875745e-01 3.05306756e-01 5.12162205e-02 6.36565115e+02] [-3.04697971e-01 9.52249550e-01 -1.94920956e-02 -9.64109667e+01] [-5.47216914e-02 2.92908251e-03 9.98497350e-01 -4.08118541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.880714057 meters 0.03814841896007195 Centerline is valid? [True, True] Translation: X:636.59, Y:-96.42, Z:-40.81 [[ 9.51071714e-01 3.04663647e-01 5.14067767e-02 6.36590058e+02] [-3.04049661e-01 9.52455368e-01 -1.95595602e-02 -9.64233713e+01] [-5.49217473e-02 2.97233147e-03 9.98486238e-01 -4.08134676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.910714057 meters 0.03391434281255169 Centerline is valid? [True, True] Translation: X:636.62, Y:-96.43, Z:-40.81 [[ 9.51291978e-01 3.04019171e-01 5.11460281e-02 6.36619088e+02] [-3.03410712e-01 9.52661222e-01 -1.94560149e-02 -9.64280048e+01] [-5.46398391e-02 2.99009806e-03 9.98501651e-01 -4.08144055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.9407140569999 meters 0.035125274198522516 Centerline is valid? [True, True] Translation: X:636.64, Y:-96.44, Z:-40.82 [[ 9.51681727e-01 3.02782756e-01 5.12298119e-02 6.36643930e+02] [-3.02171354e-01 9.53054716e-01 -1.94725977e-02 -9.64410170e+01] [-5.47207806e-02 3.05153380e-03 9.98497033e-01 -4.08157019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.9707140569999 meters 0.035373004052087785 Centerline is valid? [True, True] Translation: X:636.67, Y:-96.45, Z:-40.82 [[ 9.51735183e-01 3.02500077e-01 5.19022611e-02 6.36669760e+02] [-3.01872355e-01 9.53144308e-01 -1.97233139e-02 -9.64524826e+01] [-5.54366486e-02 3.10351392e-03 9.98457383e-01 -4.08170811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.000714057 meters 0.03543071185921278 Centerline is valid? [True, True] Translation: X:636.70, Y:-96.46, Z:-40.82 [[ 9.51821823e-01 3.02202531e-01 5.20465870e-02 6.36695602e+02] [-3.01571800e-01 9.53238656e-01 -1.97614058e-02 -9.64628909e+01] [-5.55847655e-02 3.11355434e-03 9.98449117e-01 -4.08183003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.030714057 meters 0.03586684292061462 Centerline is valid? [True, True] Translation: X:636.72, Y:-96.47, Z:-40.82 [[ 9.51797368e-01 3.02220448e-01 5.23886600e-02 6.36721296e+02] [-3.01582389e-01 9.53232966e-01 -1.98739542e-02 -9.64741676e+01] [-5.59449131e-02 3.11648008e-03 9.98428993e-01 -4.08194848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.0607140569999 meters 0.03616192940301691 Centerline is valid? [True, True] Translation: X:636.75, Y:-96.49, Z:-40.82 [[ 9.51351024e-01 3.03571711e-01 5.26824889e-02 6.36746953e+02] [-3.02928829e-01 9.52803715e-01 -1.99801244e-02 -9.64859152e+01] [-5.62614717e-02 3.04906711e-03 9.98411413e-01 -4.08203618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.0907140569999 meters 0.032568542440479444 Centerline is valid? [True, True] Translation: X:636.78, Y:-96.49, Z:-40.82 [[ 9.51070963e-01 3.04357533e-01 5.32025892e-02 6.36776156e+02] [-3.03703336e-01 9.52553054e-01 -2.01733284e-02 -9.64907248e+01] [-5.68181933e-02 3.02846302e-03 9.98379948e-01 -4.08216687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.120714057 meters 0.03216857620332199 Centerline is valid? [True, True] Translation: X:636.80, Y:-96.50, Z:-40.82 [[ 9.50686454e-01 3.05573796e-01 5.31029337e-02 6.36803412e+02] [-3.04924811e-01 9.52163871e-01 -2.01201965e-02 -9.65009982e+01] [-5.67108997e-02 2.93559626e-03 9.98386326e-01 -4.08229255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.150714057 meters 0.0321895401233397 Centerline is valid? [True, True] Translation: X:636.83, Y:-96.51, Z:-40.82 [[ 9.49802367e-01 3.08097881e-01 5.43245721e-02 6.36830087e+02] [-3.07423632e-01 9.51350439e-01 -2.05682369e-02 -9.65116868e+01] [-5.80187357e-02 2.83510286e-03 9.98311469e-01 -4.08242493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.1807140569999 meters 0.03061575108061053 Centerline is valid? [True, True] Translation: X:636.86, Y:-96.52, Z:-40.83 [[ 9.49504907e-01 3.08964771e-01 5.46003757e-02 6.36857842e+02] [-3.08285283e-01 9.51069382e-01 -2.06691889e-02 -9.65188054e+01] [-5.83147968e-02 2.79300401e-03 9.98294337e-01 -4.08258231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.2107140569999 meters 0.029997180575423853 Centerline is valid? [True, True] Translation: X:636.89, Y:-96.53, Z:-40.83 [[ 9.49217963e-01 3.09711000e-01 5.53566112e-02 6.36885080e+02] [-3.09014771e-01 9.50826706e-01 -2.09391159e-02 -9.65289299e+01] [-5.91196188e-02 2.76977436e-03 9.98247063e-01 -4.08268394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.240714057 meters 0.031206945874387625 Centerline is valid? [True, True] Translation: X:636.91, Y:-96.54, Z:-40.83 [[ 9.48958545e-01 3.10542681e-01 5.51445677e-02 6.36910086e+02] [-3.09854112e-01 9.50555624e-01 -2.08431085e-02 -9.65407957e+01] [-5.88906538e-02 2.69247485e-03 9.98260808e-01 -4.08289578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.270714057 meters 0.030957085272565292 Centerline is valid? [True, True] Translation: X:636.94, Y:-96.55, Z:-40.83 [[ 9.49170861e-01 3.10177716e-01 5.35206579e-02 6.36935876e+02] [-3.09528864e-01 9.50674954e-01 -2.02241026e-02 -9.65509773e+01] [-5.71538149e-02 2.62994049e-03 9.98361921e-01 -4.08313395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.3007140569999 meters 0.031574220443425616 Centerline is valid? [True, True] Translation: X:636.96, Y:-96.56, Z:-40.83 [[ 9.49367386e-01 3.09679522e-01 5.29165468e-02 6.36961274e+02] [-3.09045460e-01 9.50837402e-01 -1.99784763e-02 -9.65623536e+01] [-5.65019568e-02 2.61329529e-03 9.98399068e-01 -4.08339237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.3307140569999 meters 0.03232070791347881 Centerline is valid? [True, True] Translation: X:636.99, Y:-96.57, Z:-40.84 [[ 9.49992779e-01 3.07813164e-01 5.25811412e-02 6.36987598e+02] [-3.07184552e-01 9.51442985e-01 -1.98468430e-02 -9.65747301e+01] [-5.61370775e-02 2.70224329e-03 9.98419414e-01 -4.08364287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.360714057 meters 0.032973886789449056 Centerline is valid? [True, True] Translation: X:637.01, Y:-96.59, Z:-40.84 [[ 9.50599435e-01 3.05968183e-01 5.23849765e-02 6.37013544e+02] [-3.05342285e-01 9.52037660e-01 -1.97581322e-02 -9.65866395e+01] [-5.59178302e-02 2.78672091e-03 9.98431485e-01 -4.08379363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.390714057 meters 0.0336830284413737 Centerline is valid? [True, True] Translation: X:637.04, Y:-96.60, Z:-40.84 [[ 9.51178419e-01 3.04168926e-01 5.23534155e-02 6.37040320e+02] [-3.03541914e-01 9.52613768e-01 -1.97310747e-02 -9.65990247e+01] [-5.58741642e-02 2.87631652e-03 9.98433676e-01 -4.08394662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.4207140569999 meters 0.034829387059788504 Centerline is valid? [True, True] Translation: X:637.07, Y:-96.61, Z:-40.84 [[ 9.51696230e-01 3.02476698e-01 5.27459201e-02 6.37066950e+02] [-3.01837769e-01 9.53152071e-01 -1.98768728e-02 -9.66119409e+01] [-5.62871738e-02 2.99603402e-03 9.98410125e-01 -4.08407140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.4507140569999 meters 0.03329512093205889 Centerline is valid? [True, True] Translation: X:637.10, Y:-96.62, Z:-40.84 [[ 9.52401279e-01 3.00184628e-01 5.31130167e-02 6.37095101e+02] [-2.99533335e-01 9.53875913e-01 -2.00130831e-02 -9.66220473e+01] [-5.66708473e-02 3.15136695e-03 9.98387943e-01 -4.08417149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.4807140569999 meters 0.037139394477300955 Centerline is valid? [True, True] Translation: X:637.12, Y:-96.64, Z:-40.84 [[ 9.52680852e-01 2.99371046e-01 5.26893834e-02 6.37118869e+02] [-2.98728988e-01 9.54131497e-01 -1.98513828e-02 -9.66382817e+01] [-5.62155295e-02 3.17218604e-03 9.98413617e-01 -4.08434519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.510714057 meters 0.037139394477300955 Centerline is valid? [True, True] Translation: X:637.14, Y:-96.65, Z:-40.85 [[ 9.52762981e-01 2.99109268e-01 5.26910657e-02 6.37144547e+02] [-2.98467058e-01 9.54213558e-01 -1.98469164e-02 -9.66478617e+01] [-5.62149260e-02 3.18285982e-03 9.98413617e-01 -4.08450414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.540714057 meters 0.034836063253060864 Centerline is valid? [True, True] Translation: X:637.17, Y:-96.66, Z:-40.85 [[ 9.52956102e-01 2.98523222e-01 5.25219398e-02 6.37172447e+02] [-2.97885171e-01 9.54397035e-01 -1.97667347e-02 -9.66550774e+01] [-5.60276130e-02 3.19132339e-03 9.98424119e-01 -4.08463655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.5707140569999 meters 0.0348642805361458 Centerline is valid? [True, True] Translation: X:637.20, Y:-96.67, Z:-40.85 [[ 9.53277739e-01 2.97533180e-01 5.23025658e-02 6.37198722e+02] [-2.96899800e-01 9.54706042e-01 -1.96692980e-02 -9.66665980e+01] [-5.57858444e-02 3.22168259e-03 9.98437560e-01 -4.08483823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.6007140569999 meters 0.03490533046608805 Centerline is valid? [True, True] Translation: X:637.23, Y:-96.68, Z:-40.85 [[ 9.53611423e-01 2.96521034e-01 5.19666338e-02 6.37225523e+02] [-2.95895098e-01 9.55020807e-01 -1.95281526e-02 -9.66776609e+01] [-5.54197245e-02 3.24559723e-03 9.98457871e-01 -4.08496094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.630714057 meters 0.03547923172787119 Centerline is valid? [True, True] Translation: X:637.25, Y:-96.69, Z:-40.85 [[ 9.53887908e-01 2.95577148e-01 5.22686190e-02 6.37251449e+02] [-2.94943357e-01 9.55313157e-01 -1.96262319e-02 -9.66891458e+01] [-5.57339651e-02 3.30494331e-03 9.98440185e-01 -4.08511838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.660714057 meters 0.037216446276775464 Centerline is valid? [True, True] Translation: X:637.28, Y:-96.70, Z:-40.85 [[ 9.54605939e-01 2.93188008e-01 5.26145730e-02 6.37276592e+02] [-2.92542640e-01 9.56048547e-01 -1.97478955e-02 -9.67025743e+01] [-5.60919322e-02 3.45945226e-03 9.98419615e-01 -4.08515881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.6907140569999 meters 0.03828671147456366 Centerline is valid? [True, True] Translation: X:637.30, Y:-96.71, Z:-40.85 [[ 9.54929963e-01 2.92048023e-01 5.30727604e-02 6.37301220e+02] [-2.91389846e-01 9.56397056e-01 -1.99155646e-02 -9.67148601e+01] [-5.65749331e-02 3.55310591e-03 9.98392033e-01 -4.08523919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.7207140569999 meters 0.0397160867751386 Centerline is valid? [True, True] Translation: X:637.33, Y:-96.73, Z:-40.85 [[ 9.55324056e-01 2.90725300e-01 5.32423497e-02 6.37327196e+02] [-2.90061233e-01 9.56799652e-01 -1.99726869e-02 -9.67269691e+01] [-5.67488270e-02 3.63684668e-03 9.98381863e-01 -4.08534922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.750714057 meters 0.04024886037215866 Centerline is valid? [True, True] Translation: X:637.35, Y:-96.74, Z:-40.86 [[ 9.55753007e-01 2.89326275e-01 5.31648019e-02 6.37353990e+02] [-2.88662155e-01 9.57223344e-01 -1.99406531e-02 -9.67379453e+01] [-5.66599444e-02 3.71167289e-03 9.98386636e-01 -4.08553230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.780714057 meters 0.040282344276507676 Centerline is valid? [True, True] Translation: X:637.38, Y:-96.75, Z:-40.86 [[ 9.55961662e-01 2.88619974e-01 5.32523376e-02 6.37380540e+02] [-2.87953416e-01 9.57436411e-01 -1.99586768e-02 -9.67484580e+01] [-5.67461998e-02 3.74553730e-03 9.98381610e-01 -4.08569423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.8107140569999 meters 0.04218934083339524 Centerline is valid? [True, True] Translation: X:637.41, Y:-96.76, Z:-40.86 [[ 9.56523572e-01 2.86946878e-01 5.21933485e-02 6.37405999e+02] [-2.86304929e-01 9.57939140e-01 -1.95471782e-02 -9.67608468e+01] [-5.56070531e-02 3.75412382e-03 9.98445673e-01 -4.08599356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.8407140569999 meters 0.04226680281610752 Centerline is valid? [True, True] Translation: X:637.43, Y:-96.77, Z:-40.86 [[ 9.56873245e-01 2.85886223e-01 5.16009806e-02 6.37432995e+02] [-2.85257436e-01 9.58256157e-01 -1.93218227e-02 -9.67711244e+01] [-5.49708003e-02 3.76897182e-03 9.98480849e-01 -4.08626277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.870714057 meters 0.043798738899870314 Centerline is valid? [True, True] Translation: X:637.46, Y:-96.78, Z:-40.87 [[ 9.57065552e-01 2.85444461e-01 5.04676929e-02 6.37458067e+02] [-2.84843168e-01 9.58388121e-01 -1.88833081e-02 -9.67821611e+01] [-5.37577731e-02 3.69718613e-03 9.98547161e-01 -4.08650089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.900714057 meters 0.04300978627986368 Centerline is valid? [True, True] Translation: X:637.49, Y:-96.79, Z:-40.87 [[ 9.57085564e-01 2.85356784e-01 5.05838741e-02 6.37485663e+02] [-2.84752826e-01 9.58414194e-01 -1.89224874e-02 -9.67901749e+01] [-5.38799631e-02 3.70653839e-03 9.98540541e-01 -4.08668782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.9307140569999 meters 0.03902935722698353 Centerline is valid? [True, True] Translation: X:637.51, Y:-96.79, Z:-40.87 [[ 9.57042778e-01 2.85519324e-01 5.04760955e-02 6.37514654e+02] [-2.84918899e-01 9.58365901e-01 -1.88685253e-02 -9.67935118e+01] [-5.37618973e-02 3.67639236e-03 9.98547016e-01 -4.08677150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.9607140569999 meters 0.03780868666100467 Centerline is valid? [True, True] Translation: X:637.54, Y:-96.80, Z:-40.87 [[ 9.56928901e-01 2.85852943e-01 5.07461696e-02 6.37543035e+02] [-2.85247345e-01 9.58266496e-01 -1.89545222e-02 -9.68011385e+01] [-5.40465601e-02 3.66291990e-03 9.98531698e-01 -4.08688716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.990714057 meters 0.038159869399563694 Centerline is valid? [True, True] Translation: X:637.57, Y:-96.81, Z:-40.87 [[ 9.56892215e-01 2.85928717e-01 5.10103602e-02 6.37569873e+02] [-2.85317307e-01 9.58243860e-01 -1.90456901e-02 -9.68104072e+01] [-5.43260743e-02 3.67053400e-03 9.98516502e-01 -4.08702380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.020714057 meters 0.039088038144600705 Centerline is valid? [True, True] Translation: X:637.60, Y:-96.82, Z:-40.87 [[ 9.56422220e-01 2.87202065e-01 5.26451405e-02 6.37596127e+02] [-2.86553600e-01 9.57862878e-01 -1.96402964e-02 -9.68197536e+01] [-5.60675595e-02 3.69876134e-03 9.98420126e-01 -4.08702847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.0507140569999 meters 0.03688502816212602 Centerline is valid? [True, True] Translation: X:637.62, Y:-96.83, Z:-40.87 [[ 9.56293735e-01 2.87495429e-01 5.33729322e-02 6.37624075e+02] [-2.86829780e-01 9.57774765e-01 -1.99041992e-02 -9.68259618e+01] [-5.68416139e-02 3.72531464e-03 9.98376258e-01 -4.08715149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.0807140569999 meters 0.03836231732120521 Centerline is valid? [True, True] Translation: X:637.65, Y:-96.84, Z:-40.87 [[ 9.56116233e-01 2.87979881e-01 5.39382755e-02 6.37649225e+02] [-2.87301708e-01 9.57629231e-01 -2.00993647e-02 -9.68373171e+01] [-5.74410819e-02 3.72077022e-03 9.98341964e-01 -4.08730460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.110714057 meters 0.03670085208068557 Centerline is valid? [True, True] Translation: X:637.68, Y:-96.84, Z:-40.87 [[ 9.56002977e-01 2.88406022e-01 5.36681901e-02 6.37677206e+02] [-2.87735603e-01 9.57501168e-01 -1.99934050e-02 -9.68436897e+01] [-5.71535730e-02 3.67150564e-03 9.98358648e-01 -4.08747832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.140714057 meters 0.0405813688006867 Centerline is valid? [True, True] Translation: X:637.70, Y:-96.86, Z:-40.88 [[ 9.55784525e-01 2.89241554e-01 5.30590666e-02 6.37702296e+02] [-2.88588409e-01 9.57249501e-01 -1.97515220e-02 -9.68570331e+01] [-5.65037259e-02 3.56596744e-03 9.98396020e-01 -4.08774324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.1707140569999 meters 0.03661568590751359 Centerline is valid? [True, True] Translation: X:637.73, Y:-96.86, Z:-40.88 [[ 9.55719779e-01 2.89587826e-01 5.23315845e-02 6.37731262e+02] [-2.88953816e-01 9.57145110e-01 -1.94661417e-02 -9.68607469e+01] [-5.57260778e-02 3.48276564e-03 9.98440021e-01 -4.08796490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.2007140569999 meters 0.035750876955573614 Centerline is valid? [True, True] Translation: X:637.76, Y:-96.87, Z:-40.88 [[ 9.55619452e-01 2.89949800e-01 5.21591381e-02 6.37758915e+02] [-2.89321315e-01 9.57035687e-01 -1.93873761e-02 -9.68681072e+01] [-5.55395224e-02 3.43620325e-03 9.98450577e-01 -4.08817862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.2307140569999 meters 0.03754869002086525 Centerline is valid? [True, True] Translation: X:637.78, Y:-96.88, Z:-40.88 [[ 9.55327274e-01 2.90889644e-01 5.22782454e-02 6.37784043e+02] [-2.90260536e-01 9.56750661e-01 -1.94163330e-02 -9.68798026e+01] [-5.56652561e-02 3.37464096e-03 9.98443785e-01 -4.08840890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.260714057 meters 0.03697945488757398 Centerline is valid? [True, True] Translation: X:637.81, Y:-96.89, Z:-40.89 [[ 9.55085549e-01 2.91707108e-01 5.21397913e-02 6.37811084e+02] [-2.91082816e-01 9.56501952e-01 -1.93600189e-02 -9.68884290e+01] [-5.55192673e-02 3.31347701e-03 9.98452118e-01 -4.08854412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.290714057 meters 0.03485023162160396 Centerline is valid? [True, True] Translation: X:637.84, Y:-96.89, Z:-40.89 [[ 9.53955382e-01 2.95330339e-01 5.24320430e-02 6.37841426e+02] [-2.94705304e-01 9.55390153e-01 -1.94535125e-02 -9.68935169e+01] [-5.58382701e-02 3.10578180e-03 9.98434996e-01 -4.08863723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.3207140569999 meters 0.03371378795568417 Centerline is valid? [True, True] Translation: X:637.87, Y:-96.90, Z:-40.89 [[ 9.53270035e-01 2.97463345e-01 5.28374653e-02 6.37870450e+02] [-2.96831914e-01 9.54728516e-01 -1.96029257e-02 -9.69005823e+01] [-5.62765867e-02 3.00303573e-03 9.98410701e-01 -4.08874836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.3507140569999 meters 0.03160823791573136 Centerline is valid? [True, True] Translation: X:637.90, Y:-96.90, Z:-40.89 [[ 9.51639271e-01 3.02652782e-01 5.27635424e-02 6.37900959e+02] [-3.02031172e-01 9.53097086e-01 -1.95733691e-02 -9.69040989e+01] [-5.62127131e-02 2.69055219e-03 9.98415190e-01 -4.08890052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.380714057 meters 0.030852277040458613 Centerline is valid? [True, True] Translation: X:637.93, Y:-96.91, Z:-40.89 [[ 9.50806871e-01 3.05304132e-01 5.24945909e-02 6.37929703e+02] [-3.04692932e-01 9.52251562e-01 -1.94725441e-02 -9.69124232e+01] [-5.59331043e-02 2.51989794e-03 9.98431339e-01 -4.08909619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.410714057 meters 0.028900875034910612 Centerline is valid? [True, True] Translation: X:637.96, Y:-96.92, Z:-40.89 [[ 9.50041800e-01 3.07701219e-01 5.23501551e-02 6.37958376e+02] [-3.07097171e-01 9.51480081e-01 -1.94160298e-02 -9.69183784e+01] [-5.57844659e-02 2.36945532e-03 9.98440023e-01 -4.08932935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.4407140569999 meters 0.029671299584037625 Centerline is valid? [True, True] Translation: X:637.98, Y:-96.93, Z:-40.90 [[ 9.49471617e-01 3.09499295e-01 5.20944764e-02 6.37983727e+02] [-3.08904066e-01 9.50897013e-01 -1.93170624e-02 -9.69295184e+01] [-5.55150992e-02 2.24880694e-03 9.98455315e-01 -4.08960070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.4707140569999 meters 0.02877911225895596 Centerline is valid? [True, True] Translation: X:638.01, Y:-96.94, Z:-40.90 [[ 9.48992289e-01 3.10972391e-01 5.20558083e-02 6.38010933e+02] [-3.10380644e-01 9.50416504e-01 -1.92957454e-02 -9.69377915e+01] [-5.54751434e-02 2.15439833e-03 9.98457744e-01 -4.08974831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.500714057 meters 0.029298351010357153 Centerline is valid? [True, True] Translation: X:638.04, Y:-96.95, Z:-40.90 [[ 9.48478635e-01 3.12363183e-01 5.30803206e-02 6.38036617e+02] [-3.11750931e-01 9.49960438e-01 -1.96601721e-02 -9.69473882e+01] [-5.65653185e-02 2.09941380e-03 9.98396693e-01 -4.08991537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.530714057 meters 0.029521697658952153 Centerline is valid? [True, True] Translation: X:638.06, Y:-96.96, Z:-40.90 [[ 9.48482559e-01 3.12345977e-01 5.31114487e-02 6.38061434e+02] [-3.11733275e-01 9.49966102e-01 -1.96664959e-02 -9.69567222e+01] [-5.65968268e-02 2.09672248e-03 9.98394913e-01 -4.09004190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.5607140569999 meters 0.028014809426495584 Centerline is valid? [True, True] Translation: X:638.09, Y:-96.96, Z:-40.90 [[ 9.48699991e-01 3.11646714e-01 5.33352832e-02 6.38089191e+02] [-3.11028133e-01 9.50195634e-01 -1.97422794e-02 -9.69634547e+01] [-5.68315697e-02 2.14072672e-03 9.98381485e-01 -4.09018413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.5907140569999 meters 0.031249450228730477 Centerline is valid? [True, True] Translation: X:638.11, Y:-96.98, Z:-40.90 [[ 9.49499670e-01 3.09271857e-01 5.29272576e-02 6.38112573e+02] [-3.08659890e-01 9.50971005e-01 -1.95760075e-02 -9.69809518e+01] [-5.63865955e-02 2.25089117e-03 9.98406473e-01 -4.09048783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.620714057 meters 0.03254036707914801 Centerline is valid? [True, True] Translation: X:638.14, Y:-96.99, Z:-40.91 [[ 9.50197431e-01 3.07149836e-01 5.27619165e-02 6.38137849e+02] [-3.06538674e-01 9.51658228e-01 -1.95104439e-02 -9.69939564e+01] [-5.62039416e-02 2.36520575e-03 9.98416508e-01 -4.09075495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.650714057 meters 0.02988953447873759 Centerline is valid? [True, True] Translation: X:638.17, Y:-97.00, Z:-40.91 [[ 9.51001113e-01 3.04754672e-01 5.21677345e-02 6.38166164e+02] [-3.04153839e-01 9.52427670e-01 -1.92866945e-02 -9.70008639e+01] [-5.55637040e-02 2.47465123e-03 9.98452077e-01 -4.09093252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.6807140569999 meters 0.031529718452148706 Centerline is valid? [True, True] Translation: X:638.19, Y:-97.01, Z:-40.91 [[ 9.51948939e-01 3.01837588e-01 5.18390594e-02 6.38191376e+02] [-3.01240161e-01 9.53355746e-01 -1.91621352e-02 -9.70140308e+01] [-5.52049178e-02 2.62536763e-03 9.98471594e-01 -4.09117286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.7107140569999 meters 0.03229557599599156 Centerline is valid? [True, True] Translation: X:638.22, Y:-97.03, Z:-40.91 [[ 9.52724141e-01 2.99324921e-01 5.21661107e-02 6.38218084e+02] [-2.98716452e-01 9.54147181e-01 -1.92779229e-02 -9.70266669e+01] [-5.55445102e-02 2.78366703e-03 9.98452332e-01 -4.09132396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.740714057 meters 0.034520739225500745 Centerline is valid? [True, True] Translation: X:638.24, Y:-97.04, Z:-40.91 [[ 9.54070108e-01 2.94857366e-01 5.30034138e-02 6.38244827e+02] [-2.94222434e-01 9.55536279e-01 -1.95851789e-02 -9.70416640e+01] [-5.64215191e-02 3.09084039e-03 9.98402253e-01 -4.09145084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.770714057 meters 0.03489825177488936 Centerline is valid? [True, True] Translation: X:638.27, Y:-97.05, Z:-40.92 [[ 9.54734174e-01 2.92646502e-01 5.32980485e-02 6.38271793e+02] [-2.92001134e-01 9.56215216e-01 -1.96925811e-02 -9.70522255e+01] [-5.67273699e-02 3.23808953e-03 9.98384455e-01 -4.09152201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.8007140569999 meters 0.03437340129076678 Centerline is valid? [True, True] Translation: X:638.30, Y:-97.06, Z:-40.92 [[ 9.55229224e-01 2.90951814e-01 5.37044846e-02 6.38298907e+02] [-2.90294149e-01 9.56731808e-01 -1.98382082e-02 -9.70615400e+01] [-5.71527513e-02 3.35993854e-03 9.98359792e-01 -4.09163954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.8307140569999 meters 0.035678693448709 Centerline is valid? [True, True] Translation: X:638.32, Y:-97.07, Z:-40.92 [[ 9.55556531e-01 2.89765887e-01 5.42903895e-02 6.38323548e+02] [-2.89092779e-01 9.57091325e-01 -2.00389723e-02 -9.70736765e+01] [-5.77674714e-02 3.45341130e-03 9.98324092e-01 -4.09170543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.860714057 meters 0.03737618672064246 Centerline is valid? [True, True] Translation: X:638.35, Y:-97.09, Z:-40.92 [[ 9.55843829e-01 2.88590665e-01 5.54797453e-02 6.38349006e+02] [-2.87886143e-01 9.57445822e-01 -2.04711137e-02 -9.70852964e+01] [-5.90266226e-02 3.59533780e-03 9.98249934e-01 -4.09177154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.890714057 meters 0.038096479110121886 Centerline is valid? [True, True] Translation: X:638.37, Y:-97.09, Z:-40.92 [[ 9.55863747e-01 2.88476836e-01 5.57280278e-02 6.38374115e+02] [-2.87766129e-01 9.57480058e-01 -2.05570961e-02 -9.70948806e+01] [-5.92887213e-02 3.61314401e-03 9.98234338e-01 -4.09184274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.9207140569999 meters 0.03517390347285236 Centerline is valid? [True, True] Translation: X:638.40, Y:-97.10, Z:-40.92 [[ 9.55947997e-01 2.88228515e-01 5.55675263e-02 6.38402398e+02] [-2.87521949e-01 9.57554848e-01 -2.04900417e-02 -9.70989888e+01] [-5.91147685e-02 3.61053087e-03 9.98244664e-01 -4.09197747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.9507140569999 meters 0.03553647576689217 Centerline is valid? [True, True] Translation: X:638.43, Y:-97.11, Z:-40.92 [[ 9.55990258e-01 2.88055431e-01 5.57377428e-02 6.38429045e+02] [-2.87345321e-01 9.57606914e-01 -2.05344724e-02 -9.71086454e+01] [-5.92899141e-02 3.61477595e-03 9.98234261e-01 -4.09207902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.9807140569999 meters 0.03821380944382137 Centerline is valid? [True, True] Translation: X:638.45, Y:-97.12, Z:-40.92 [[ 9.56125153e-01 2.87468604e-01 5.64490350e-02 6.38454196e+02] [-2.86740307e-01 9.57782990e-01 -2.07783817e-02 -9.71214993e+01] [-6.00390578e-02 3.68051978e-03 9.98189243e-01 -4.09220335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.010714057 meters 0.03609611928886782 Centerline is valid? [True, True] Translation: X:638.48, Y:-97.13, Z:-40.92 [[ 9.56414356e-01 2.86498738e-01 5.64805617e-02 6.38482548e+02] [-2.85768310e-01 9.58073329e-01 -2.07838827e-02 -9.71278549e+01] [-6.00670759e-02 3.73764917e-03 9.98187345e-01 -4.09244854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.040714057 meters 0.03823340177403707 Centerline is valid? [True, True] Translation: X:638.51, Y:-97.14, Z:-40.93 [[ 9.56723077e-01 2.85469564e-01 5.64631021e-02 6.38507827e+02] [-2.84738749e-01 9.58380297e-01 -2.07617577e-02 -9.71405020e+01] [-6.00399745e-02 3.78601966e-03 9.98188794e-01 -4.09264674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.0707140569999 meters 0.03632505936828367 Centerline is valid? [True, True] Translation: X:638.54, Y:-97.15, Z:-40.93 [[ 9.56994972e-01 2.84671842e-01 5.58799213e-02 6.38535503e+02] [-2.83955059e-01 9.58617532e-01 -2.05414479e-02 -9.71476825e+01] [-5.94150441e-02 3.79067600e-03 9.98226168e-01 -4.09290902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.1007140569999 meters 0.03816231608486275 Centerline is valid? [True, True] Translation: X:638.56, Y:-97.16, Z:-40.93 [[ 9.57706793e-01 2.82598295e-01 5.41839709e-02 6.38560786e+02] [-2.81921974e-01 9.59230876e-01 -1.99029466e-02 -9.71595321e+01] [-5.75994766e-02 3.78553507e-03 9.98332595e-01 -4.09329545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.130714057 meters 0.038335333470744505 Centerline is valid? [True, True] Translation: X:638.59, Y:-97.17, Z:-40.94 [[ 9.58047074e-01 2.81649260e-01 5.30989433e-02 6.38587924e+02] [-2.80998557e-01 9.59510054e-01 -1.95004145e-02 -9.71691868e+01] [-5.64412473e-02 3.76158856e-03 9.98398836e-01 -4.09352591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.160714057 meters 0.03935161083328154 Centerline is valid? [True, True] Translation: X:638.61, Y:-97.18, Z:-40.94 [[ 9.58279707e-01 2.80933953e-01 5.26888744e-02 6.38613715e+02] [-2.80293043e-01 9.59719739e-01 -1.93347249e-02 -9.71797180e+01] [-5.59983335e-02 3.75974958e-03 9.98423783e-01 -4.09377144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.1907140569999 meters 0.039198808060845185 Centerline is valid? [True, True] Translation: X:638.64, Y:-97.19, Z:-40.94 [[ 9.58424557e-01 2.80544342e-01 5.21271546e-02 6.38640965e+02] [-2.79916730e-01 9.59833790e-01 -1.91238293e-02 -9.71882376e+01] [-5.53984864e-02 3.73748496e-03 9.98457330e-01 -4.09392156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.2207140569999 meters 0.03807357071511829 Centerline is valid? [True, True] Translation: X:638.67, Y:-97.20, Z:-40.94 [[ 9.58510473e-01 2.80272120e-01 5.20116504e-02 6.38668136e+02] [-2.79647693e-01 9.59913339e-01 -1.90669540e-02 -9.71957294e+01] [-5.52706126e-02 3.73093699e-03 9.98464441e-01 -4.09407556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.250714057 meters 0.04058763765776095 Centerline is valid? [True, True] Translation: X:638.69, Y:-97.21, Z:-40.94 [[ 9.58453483e-01 2.80368931e-01 5.25374513e-02 6.38693530e+02] [-2.79732938e-01 9.59885008e-01 -1.92419876e-02 -9.72082742e+01] [-5.58247674e-02 3.74609443e-03 9.98433554e-01 -4.09420317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.280714057 meters 0.03910935132755038 Centerline is valid? [True, True] Translation: X:638.72, Y:-97.22, Z:-40.94 [[ 9.58009211e-01 2.81564264e-01 5.42210088e-02 6.38721679e+02] [-2.80889041e-01 9.59534891e-01 -1.98529534e-02 -9.72151640e+01] [-5.76168319e-02 3.78922503e-03 9.98331579e-01 -4.09414585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.3107140569999 meters 0.03938478283365487 Centerline is valid? [True, True] Translation: X:638.75, Y:-97.22, Z:-40.94 [[ 9.57821566e-01 2.81961134e-01 5.54595991e-02 6.38748612e+02] [-2.81255616e-01 9.59418115e-01 -2.03017234e-02 -9.72246681e+01] [-5.89332410e-02 3.84710479e-03 9.98254513e-01 -4.09422695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.3407140569999 meters 0.041634264480354365 Centerline is valid? [True, True] Translation: X:638.77, Y:-97.24, Z:-40.94 [[ 9.57691762e-01 2.82182531e-01 5.65641894e-02 6.38774068e+02] [-2.81449924e-01 9.59352828e-01 -2.06903991e-02 -9.72371215e+01] [-6.01034842e-02 3.89503798e-03 9.98184552e-01 -4.09432031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.370714057 meters 0.04093131828099214 Centerline is valid? [True, True] Translation: X:638.80, Y:-97.25, Z:-40.94 [[ 9.57756540e-01 2.81849646e-01 5.71243080e-02 6.38800560e+02] [-2.81102392e-01 9.59450470e-01 -2.08863945e-02 -9.72452963e+01] [-6.06947670e-02 3.94630132e-03 9.98148572e-01 -4.09443716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.400714057 meters 0.04093131828099214 Centerline is valid? [True, True] Translation: X:638.83, Y:-97.25, Z:-40.95 [[ 9.57833511e-01 2.81586798e-01 5.71300275e-02 6.38826342e+02] [-2.80840008e-01 9.59527645e-01 -2.08707388e-02 -9.72546252e+01] [-6.06947652e-02 3.94629568e-03 9.98148572e-01 -4.09459648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.4307140569999 meters 0.03732425531686055 Centerline is valid? [True, True] Translation: X:638.86, Y:-97.26, Z:-40.95 [[ 9.57989866e-01 2.80912523e-01 5.78236209e-02 6.38855322e+02] [-2.80147358e-01 9.59724957e-01 -2.11060550e-02 -9.72596585e+01] [-6.14237272e-02 4.02025218e-03 9.98103684e-01 -4.09479906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.4607140569999 meters 0.04162668862162895 Centerline is valid? [True, True] Translation: X:638.88, Y:-97.27, Z:-40.95 [[ 9.58353490e-01 2.79695222e-01 5.76989618e-02 6.38878755e+02] [-2.78932148e-01 9.60080197e-01 -2.10445056e-02 -9.72748895e+01] [-6.12816783e-02 4.07398004e-03 9.98112197e-01 -4.09494849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.490714057 meters 0.037634814427745265 Centerline is valid? [True, True] Translation: X:638.91, Y:-97.28, Z:-40.95 [[ 9.58600621e-01 2.78883269e-01 5.75236698e-02 6.38908179e+02] [-2.78124021e-01 9.60316243e-01 -2.09700395e-02 -9.72791152e+01] [-6.10891076e-02 4.10317847e-03 9.98123883e-01 -4.09517300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.520714057 meters 0.04439966801655028 Centerline is valid? [True, True] Translation: X:638.93, Y:-97.30, Z:-40.95 [[ 9.59080945e-01 2.77310642e-01 5.71187339e-02 6.38931637e+02] [-2.76560232e-01 9.60771312e-01 -2.08068409e-02 -9.72980840e+01] [-6.06479993e-02 4.15867431e-03 9.98150553e-01 -4.09533149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.5507140569999 meters 0.0394148763333522 Centerline is valid? [True, True] Translation: X:638.96, Y:-97.30, Z:-40.96 [[ 9.59711431e-01 2.75281492e-01 5.63388784e-02 6.38962073e+02] [-2.74548181e-01 9.61354383e-01 -2.05194287e-02 -9.73006351e+01] [-5.98102466e-02 4.22499373e-03 9.98200823e-01 -4.09558378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.5807140569999 meters 0.040084936097313804 Centerline is valid? [True, True] Translation: X:638.99, Y:-97.31, Z:-40.96 [[ 9.59947478e-01 2.74541141e-01 5.59285413e-02 6.38988802e+02] [-2.73817393e-01 9.61566018e-01 -2.03673412e-02 -9.73112720e+01] [-5.93706578e-02 4.23737039e-03 9.98227013e-01 -4.09580332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.610714057 meters 0.03904398939383579 Centerline is valid? [True, True] Translation: X:639.02, Y:-97.32, Z:-40.96 [[ 9.60206255e-01 2.73699929e-01 5.56084190e-02 6.39016834e+02] [-2.72983976e-01 9.61805744e-01 -2.02351103e-02 -9.73193838e+01] [-5.90228450e-02 4.24967222e-03 9.98247587e-01 -4.09598359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.640714057 meters 0.04009508900579333 Centerline is valid? [True, True] Translation: X:639.04, Y:-97.33, Z:-40.96 [[ 9.60240884e-01 2.73544958e-01 5.57727626e-02 6.39041584e+02] [-2.72825448e-01 9.61849800e-01 -2.02789628e-02 -9.73293764e+01] [-5.91922286e-02 4.25646019e-03 9.98237528e-01 -4.09613726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.6707140569999 meters 0.03983509616444563 Centerline is valid? [True, True] Translation: X:639.07, Y:-97.34, Z:-40.96 [[ 9.60108036e-01 2.74017794e-01 5.57387508e-02 6.39068847e+02] [-2.73300695e-01 9.61715395e-01 -2.02541046e-02 -9.73390104e+01] [-5.91547998e-02 4.21268926e-03 9.98239933e-01 -4.09627582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.7007140569999 meters 0.04020981554930819 Centerline is valid? [True, True] Translation: X:639.10, Y:-97.35, Z:-40.96 [[ 9.59905517e-01 2.74634620e-01 5.61891828e-02 6.39096215e+02] [-2.73907872e-01 9.61539517e-01 -2.04018254e-02 -9.73487748e+01] [-5.96311673e-02 4.19316520e-03 9.98211672e-01 -4.09648894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.7307140569999 meters 0.03968297388941756 Centerline is valid? [True, True] Translation: X:639.12, Y:-97.36, Z:-40.97 [[ 9.59196386e-01 2.77170415e-01 5.58467098e-02 6.39124218e+02] [-2.76457618e-01 9.60812460e-01 -2.02633322e-02 -9.73565427e+01] [-5.92746108e-02 3.99726666e-03 9.98233711e-01 -4.09673674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.760714057 meters 0.03973493223505601 Centerline is valid? [True, True] Translation: X:639.15, Y:-97.37, Z:-40.97 [[ 9.58661277e-01 2.79028720e-01 5.57810800e-02 6.39152923e+02] [-2.78320855e-01 9.60274936e-01 -2.02373305e-02 -9.73657068e+01] [-5.92119694e-02 3.87570725e-03 9.98237908e-01 -4.09693880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.790714057 meters 0.036234707097364836 Centerline is valid? [True, True] Translation: X:639.18, Y:-97.37, Z:-40.97 [[ 9.58262230e-01 2.80557491e-01 5.49635548e-02 6.39182888e+02] [-2.79872811e-01 9.59829996e-01 -1.99396031e-02 -9.73685784e+01] [-5.83498736e-02 3.72456400e-03 9.98289247e-01 -4.09717956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.8207140569999 meters 0.03671315347935442 Centerline is valid? [True, True] Translation: X:639.21, Y:-97.38, Z:-40.97 [[ 9.57170681e-01 2.84260997e-01 5.49542874e-02 6.39210124e+02] [-2.83583039e-01 9.58740578e-01 -1.99289685e-02 -9.73775874e+01] [-5.83519337e-02 3.49132049e-03 9.98289969e-01 -4.09733032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.8507140569999 meters 0.03475983629083948 Centerline is valid? [True, True] Translation: X:639.24, Y:-97.38, Z:-40.97 [[ 9.56726754e-01 2.85669618e-01 5.53785813e-02 6.39238192e+02] [-2.84983613e-01 9.58322026e-01 -2.00806886e-02 -9.73835865e+01] [-5.88069569e-02 3.42974385e-03 9.98263482e-01 -4.09749946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.880714057 meters 0.03474270111206061 Centerline is valid? [True, True] Translation: X:639.27, Y:-97.39, Z:-40.98 [[ 9.56499766e-01 2.86510224e-01 5.49553306e-02 6.39265343e+02] [-2.85836323e-01 9.58071335e-01 -1.99226809e-02 -9.73925726e+01] [-5.83591787e-02 3.34781000e-03 9.98290037e-01 -4.09765319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.910714057 meters 0.03490326273935471 Centerline is valid? [True, True] Translation: X:639.29, Y:-97.40, Z:-40.98 [[ 9.56309392e-01 2.87112351e-01 5.51257230e-02 6.39292051e+02] [-2.86436171e-01 9.57891208e-01 -1.99688270e-02 -9.74017356e+01] [-5.85377423e-02 3.30637572e-03 9.98279721e-01 -4.09779151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.9407140569999 meters 0.03292673908455809 Centerline is valid? [True, True] Translation: X:639.32, Y:-97.41, Z:-40.98 [[ 9.56009288e-01 2.88002873e-01 5.56829072e-02 6.39320575e+02] [-2.87315377e-01 9.57623963e-01 -2.01548920e-02 -9.74069709e+01] [-5.91279530e-02 3.26970842e-03 9.98245057e-01 -4.09793824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.9707140569999 meters 0.03268764052220386 Centerline is valid? [True, True] Translation: X:639.35, Y:-97.42, Z:-40.98 [[ 9.55802874e-01 2.88608852e-01 5.60873974e-02 6.39348076e+02] [-2.87913329e-01 9.57441607e-01 -2.02850578e-02 -9.74163289e+01] [-5.95548551e-02 3.24020725e-03 9.98219776e-01 -4.09806819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.000714057 meters 0.03260544548568487 Centerline is valid? [True, True] Translation: X:639.38, Y:-97.43, Z:-40.98 [[ 9.55542220e-01 2.89410746e-01 5.63958006e-02 6.39375564e+02] [-2.88709909e-01 9.57199681e-01 -2.03803559e-02 -9.74250547e+01] [-5.98803364e-02 3.19226407e-03 9.98200458e-01 -4.09825534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.030714057 meters 0.032021064471575815 Centerline is valid? [True, True] Translation: X:639.40, Y:-97.43, Z:-40.99 [[ 9.55395019e-01 2.89868795e-01 5.65370657e-02 6.39402990e+02] [-2.89166212e-01 9.57061190e-01 -2.04151981e-02 -9.74339050e+01] [-6.00271603e-02 3.15596947e-03 9.98191755e-01 -4.09850512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.0607140569999 meters 0.03061049360278585 Centerline is valid? [True, True] Translation: X:639.43, Y:-97.44, Z:-40.99 [[ 9.55061401e-01 2.91241952e-01 5.50985074e-02 6.39431470e+02] [-2.90577881e-01 9.56644796e-01 -1.98803712e-02 -9.74408432e+01] [-5.84996985e-02 2.97656763e-03 9.98282989e-01 -4.09877854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.0907140569999 meters 0.0321220080198583 Centerline is valid? [True, True] Translation: X:639.46, Y:-97.45, Z:-40.99 [[ 9.54909434e-01 2.91774755e-01 5.49132442e-02 6.39456608e+02] [-2.91116885e-01 9.56482601e-01 -1.97988056e-02 -9.74521583e+01] [-5.83003543e-02 2.91989367e-03 9.98294818e-01 -4.09898943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.120714057 meters 0.03217678083408769 Centerline is valid? [True, True] Translation: X:639.48, Y:-97.46, Z:-40.99 [[ 9.54802567e-01 2.92224405e-01 5.43778917e-02 6.39483522e+02] [-2.91580359e-01 9.56345505e-01 -1.96002568e-02 -9.74610324e+01] [-5.77317257e-02 2.85885030e-03 9.98328040e-01 -4.09923291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.150714057 meters 0.03189948357958632 Centerline is valid? [True, True] Translation: X:639.51, Y:-97.47, Z:-40.99 [[ 9.54905342e-01 2.91869531e-01 5.44790403e-02 6.39510312e+02] [-2.91223395e-01 9.56453833e-01 -1.96214056e-02 -9.74699617e+01] [-5.78335773e-02 2.87101391e-03 9.98322110e-01 -4.09940195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.1807140569999 meters 0.032008027371642885 Centerline is valid? [True, True] Translation: X:639.54, Y:-97.48, Z:-41.00 [[ 9.54976106e-01 2.91634037e-01 5.44997838e-02 6.39536563e+02] [-2.90988043e-01 9.56525668e-01 -1.96113431e-02 -9.74792568e+01] [-5.78497773e-02 2.86957859e-03 9.98321175e-01 -4.09957890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.2107140569999 meters 0.031967852412957465 Centerline is valid? [True, True] Translation: X:639.56, Y:-97.49, Z:-41.00 [[ 9.54991721e-01 2.91648568e-01 5.41472697e-02 6.39563786e+02] [-2.91011928e-01 9.56521345e-01 -1.94672554e-02 -9.74884251e+01] [-5.74706164e-02 2.83356637e-03 9.98343177e-01 -4.09971546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.240714057 meters 0.03188499073638981 Centerline is valid? [True, True] Translation: X:639.59, Y:-97.50, Z:-41.00 [[ 9.54902346e-01 2.91858457e-01 5.45907498e-02 6.39590912e+02] [-2.91212574e-01 9.56457336e-01 -1.96112394e-02 -9.74982072e+01] [-5.79374292e-02 2.82930570e-03 9.98316207e-01 -4.09989514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.270714057 meters 0.03194978633542745 Centerline is valid? [True, True] Translation: X:639.62, Y:-97.51, Z:-41.00 [[ 9.54790761e-01 2.92209244e-01 5.46659058e-02 6.39618218e+02] [-2.91563045e-01 9.56350319e-01 -1.96228840e-02 -9.75078997e+01] [-5.80137445e-02 2.79719038e-03 9.98311866e-01 -4.10005427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.3007140569999 meters 0.03183855223075485 Centerline is valid? [True, True] Translation: X:639.65, Y:-97.52, Z:-41.00 [[ 9.54600263e-01 2.92807893e-01 5.47893716e-02 6.39645132e+02] [-2.92160644e-01 9.56167330e-01 -1.96518593e-02 -9.75179242e+01] [-5.81420267e-02 2.75237196e-03 9.98304527e-01 -4.10022745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.3307140569999 meters 0.032766999927700075 Centerline is valid? [True, True] Translation: X:639.67, Y:-97.53, Z:-41.00 [[ 9.54479923e-01 2.93173771e-01 5.49292038e-02 6.39670946e+02] [-2.92524707e-01 9.56055296e-01 -1.96867398e-02 -9.75291846e+01] [-5.82869920e-02 2.72244867e-03 9.98296156e-01 -4.10044439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.360714057 meters 0.032161716002729865 Centerline is valid? [True, True] Translation: X:639.70, Y:-97.54, Z:-41.01 [[ 9.54427730e-01 2.93542689e-01 5.38553396e-02 6.39697684e+02] [-2.92920196e-01 9.55942340e-01 -1.92873450e-02 -9.75385620e+01] [-5.71442585e-02 2.63306021e-03 9.98362460e-01 -4.10071921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.390714057 meters 0.03400262873805265 Centerline is valid? [True, True] Translation: X:639.72, Y:-97.55, Z:-41.01 [[ 9.54481765e-01 2.93443221e-01 5.34381583e-02 6.39721715e+02] [-2.92831018e-01 9.55972956e-01 -1.91233507e-02 -9.75507378e+01] [-5.66970518e-02 2.60453926e-03 9.98388031e-01 -4.10095874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.4207140569999 meters 0.0333679142720865 Centerline is valid? [True, True] Translation: X:639.75, Y:-97.56, Z:-41.01 [[ 9.54593850e-01 2.93172783e-01 5.29178756e-02 6.39747668e+02] [-2.92572423e-01 9.56055971e-01 -1.89303621e-02 -9.75594445e+01] [-5.61423178e-02 2.58849621e-03 9.98419421e-01 -4.10118012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.4507140569999 meters 0.03337243574646708 Centerline is valid? [True, True] Translation: X:639.77, Y:-97.57, Z:-41.01 [[ 9.54590965e-01 2.93192856e-01 5.28586702e-02 6.39774652e+02] [-2.92594779e-01 9.56049868e-01 -1.88930058e-02 -9.75701970e+01] [-5.60748190e-02 2.56892171e-03 9.98423265e-01 -4.10134800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.4807140569999 meters 0.033647469126787996 Centerline is valid? [True, True] Translation: X:639.80, Y:-97.58, Z:-41.02 [[ 9.54451477e-01 2.93651586e-01 5.28310969e-02 6.39799715e+02] [-2.93055640e-01 9.55909180e-01 -1.88687936e-02 -9.75821300e+01] [-5.60425817e-02 2.52689704e-03 9.98425182e-01 -4.10151288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.510714057 meters 0.03350765073940832 Centerline is valid? [True, True] Translation: X:639.83, Y:-97.59, Z:-41.02 [[ 9.54419680e-01 2.93689667e-01 5.31926152e-02 6.39826060e+02] [-2.93085860e-01 9.55897454e-01 -1.89930723e-02 -9.75923711e+01] [-5.64247545e-02 2.53735864e-03 9.98403630e-01 -4.10164207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.540714057 meters 0.03082897030716476 Centerline is valid? [True, True] Translation: X:639.85, Y:-97.60, Z:-41.02 [[ 9.54331309e-01 2.93964106e-01 5.32621561e-02 6.39854957e+02] [-2.93359933e-01 9.55813161e-01 -1.90039706e-02 -9.75979433e+01] [-5.64951550e-02 2.51110158e-03 9.98399715e-01 -4.10175745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.5707140569999 meters 0.02967924908426953 Centerline is valid? [True, True] Translation: X:639.88, Y:-97.61, Z:-41.02 [[ 9.54156242e-01 2.94425231e-01 5.38483808e-02 6.39882392e+02] [-2.93809267e-01 9.55671256e-01 -1.91980579e-02 -9.76056687e+01] [-5.71137423e-02 2.49679353e-03 9.98364556e-01 -4.10189624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.6007140569999 meters 0.029471777430731375 Centerline is valid? [True, True] Translation: X:639.91, Y:-97.62, Z:-41.02 [[ 9.53790268e-01 2.95518910e-01 5.43387408e-02 6.39909477e+02] [-2.94894332e-01 9.55333778e-01 -1.93573304e-02 -9.76159275e+01] [-5.76320917e-02 2.43864672e-03 9.98334911e-01 -4.10199628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.630714057 meters 0.029110474578799464 Centerline is valid? [True, True] Translation: X:639.94, Y:-97.63, Z:-41.02 [[ 9.53721660e-01 2.95669932e-01 5.47200674e-02 6.39936010e+02] [-2.95037704e-01 9.55287066e-01 -1.94775409e-02 -9.76262142e+01] [-5.80322959e-02 2.43166961e-03 9.98311745e-01 -4.10210884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.660714057 meters 0.02926800779673881 Centerline is valid? [True, True] Translation: X:639.96, Y:-97.64, Z:-41.02 [[ 9.53689621e-01 2.95715479e-01 5.50314615e-02 6.39962601e+02] [-2.95077019e-01 9.55272977e-01 -1.95727142e-02 -9.76371612e+01] [-5.83580226e-02 2.42777479e-03 9.98292766e-01 -4.10225256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.6907140569999 meters 0.030285465682139634 Centerline is valid? [True, True] Translation: X:639.99, Y:-97.65, Z:-41.02 [[ 9.53892962e-01 2.94959403e-01 5.55622908e-02 6.39987897e+02] [-2.94308197e-01 9.55506560e-01 -1.97458813e-02 -9.76494722e+01] [-5.89143667e-02 2.48301959e-03 9.98259952e-01 -4.10243897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.7207140569999 meters 0.03016780604057306 Centerline is valid? [True, True] Translation: X:640.01, Y:-97.66, Z:-41.03 [[ 9.54254567e-01 2.93792769e-01 5.55340398e-02 6.40014403e+02] [-2.93140593e-01 9.55865741e-01 -1.97301193e-02 -9.76602956e+01] [-5.88796525e-02 2.54827509e-03 9.98261836e-01 -4.10265951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.750714057 meters 0.031002113535228353 Centerline is valid? [True, True] Translation: X:640.04, Y:-97.67, Z:-41.03 [[ 9.55159964e-01 2.90982404e-01 5.47602380e-02 6.40040251e+02] [-2.90344561e-01 9.56724682e-01 -1.94401547e-02 -9.76748976e+01] [-5.80472142e-02 2.66912023e-03 9.98310271e-01 -4.10289175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.780714057 meters 0.03185234652737641 Centerline is valid? [True, True] Translation: X:640.07, Y:-97.69, Z:-41.03 [[ 9.55746252e-01 2.89122830e-01 5.43791457e-02 6.40066532e+02] [-2.88491027e-01 9.57288031e-01 -1.93016407e-02 -9.76876890e+01] [-5.76370503e-02 2.75957514e-03 9.98333789e-01 -4.10313288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.8107140569999 meters 0.032009417087944976 Centerline is valid? [True, True] Translation: X:640.09, Y:-97.70, Z:-41.03 [[ 9.56313054e-01 2.87255276e-01 5.43115876e-02 6.40093237e+02] [-2.86622295e-01 9.57849781e-01 -1.92732385e-02 -9.76995786e+01] [-5.75586818e-02 2.86433770e-03 9.98338016e-01 -4.10331914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.8407140569999 meters 0.03222601169026603 Centerline is valid? [True, True] Translation: X:640.12, Y:-97.71, Z:-41.03 [[ 9.56850834e-01 2.85458225e-01 5.43146600e-02 6.40120011e+02] [-2.84822475e-01 9.58386552e-01 -1.92710740e-02 -9.77112624e+01] [-5.75555263e-02 2.96950738e-03 9.98337890e-01 -4.10346785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.870714057 meters 0.03440204221751579 Centerline is valid? [True, True] Translation: X:640.15, Y:-97.73, Z:-41.04 [[ 9.57899045e-01 2.82044275e-01 5.36697953e-02 6.40145094e+02] [-2.81418386e-01 9.59396272e-01 -1.90390575e-02 -9.77270734e+01] [-5.68604587e-02 3.13382779e-03 9.98377217e-01 -4.10359249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.900714057 meters 0.03619478647499772 Centerline is valid? [True, True] Translation: X:640.17, Y:-97.74, Z:-41.04 [[ 9.58212954e-01 2.80975601e-01 5.36716512e-02 6.40169990e+02] [-2.80348119e-01 9.59709592e-01 -1.90376214e-02 -9.77404558e+01] [-5.68583056e-02 3.19534897e-03 9.98377145e-01 -4.10376789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.9307140569999 meters 0.03600855283751466 Centerline is valid? [True, True] Translation: X:640.20, Y:-97.75, Z:-41.04 [[ 9.58654312e-01 2.79478120e-01 5.36086884e-02 6.40196390e+02] [-2.78850068e-01 9.60146474e-01 -1.90101954e-02 -9.77513378e+01] [-5.67851268e-02 3.27541942e-03 9.98381050e-01 -4.10394289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.9607140569999 meters 0.037105939306158846 Centerline is valid? [True, True] Translation: X:640.22, Y:-97.77, Z:-41.04 [[ 9.58882572e-01 2.78752782e-01 5.33019613e-02 6.40220385e+02] [-2.78131622e-01 9.60357274e-01 -1.88866662e-02 -9.77652423e+01] [-5.64536370e-02 3.28513409e-03 9.98399817e-01 -4.10410209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.990714057 meters 0.03520327339493187 Centerline is valid? [True, True] Translation: X:640.25, Y:-97.77, Z:-41.04 [[ 9.58969161e-01 2.78474089e-01 5.32008541e-02 6.40247486e+02] [-2.77855194e-01 9.60438109e-01 -1.88449075e-02 -9.77723117e+01] [-5.63439461e-02 3.28955151e-03 9.98405999e-01 -4.10426282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.020714057 meters 0.03491869214858377 Centerline is valid? [True, True] Translation: X:640.27, Y:-97.78, Z:-41.04 [[ 9.58788628e-01 2.79111715e-01 5.31132495e-02 6.40274928e+02] [-2.78496790e-01 9.60253204e-01 -1.87968707e-02 -9.77825934e+01] [-5.62485948e-02 3.23035638e-03 9.98411569e-01 -4.10439888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.0507140569999 meters 0.03510335528906738 Centerline is valid? [True, True] Translation: X:640.30, Y:-97.79, Z:-41.05 [[ 9.58256732e-01 2.80925703e-01 5.31487147e-02 6.40300869e+02] [-2.80313520e-01 9.59724472e-01 -1.87954535e-02 -9.77932361e+01] [-5.62882482e-02 3.11256657e-03 9.98409708e-01 -4.10453829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.0807140569999 meters 0.031806879154013014 Centerline is valid? [True, True] Translation: X:640.33, Y:-97.80, Z:-41.05 [[ 9.58018362e-01 2.81787078e-01 5.28853618e-02 6.40330386e+02] [-2.81182534e-01 9.59472141e-01 -1.86974335e-02 -9.77975631e+01] [-5.60107265e-02 3.04204461e-03 9.98425533e-01 -4.10463688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.110714057 meters 0.03516238486155632 Centerline is valid? [True, True] Translation: X:640.35, Y:-97.81, Z:-41.05 [[ 9.57690976e-01 2.82824092e-01 5.32778269e-02 6.40354134e+02] [-2.82212959e-01 9.59167136e-01 -1.88215357e-02 -9.78125715e+01] [-5.64255244e-02 2.98952168e-03 9.98402335e-01 -4.10482151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.140714057 meters 0.03445115610879818 Centerline is valid? [True, True] Translation: X:640.38, Y:-97.82, Z:-41.05 [[ 9.57456942e-01 2.83514238e-01 5.38133956e-02 6.40381443e+02] [-2.82892140e-01 9.58963417e-01 -1.90052873e-02 -9.78219802e+01] [-5.69933473e-02 2.97335757e-03 9.98370131e-01 -4.10496713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.1707140569999 meters 0.03250189778283997 Centerline is valid? [True, True] Translation: X:640.41, Y:-97.83, Z:-41.05 [[ 9.57224333e-01 2.84367410e-01 5.34485945e-02 6.40409184e+02] [-2.83755871e-01 9.58711026e-01 -1.88619988e-02 -9.78293937e+01] [-5.66054946e-02 2.88881175e-03 9.98392444e-01 -4.10511511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.2007140569999 meters 0.031630391748727144 Centerline is valid? [True, True] Translation: X:640.44, Y:-97.84, Z:-41.05 [[ 9.57169586e-01 2.84547542e-01 5.34703723e-02 6.40436720e+02] [-2.83936632e-01 9.58657649e-01 -1.88547270e-02 -9.78378353e+01] [-5.66248477e-02 2.86497382e-03 9.98391416e-01 -4.10524496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.2307140569999 meters 0.032967352394461344 Centerline is valid? [True, True] Translation: X:640.46, Y:-97.85, Z:-41.05 [[ 9.57075601e-01 2.84902905e-01 5.32600103e-02 6.40462415e+02] [-2.84298205e-01 9.58552238e-01 -1.87653301e-02 -9.78493619e+01] [-5.63987991e-02 2.81811432e-03 9.98404344e-01 -4.10541248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.260714057 meters 0.03341545363094462 Centerline is valid? [True, True] Translation: X:640.49, Y:-97.86, Z:-41.06 [[ 9.57034138e-01 2.85079882e-01 5.30577072e-02 6.40488697e+02] [-2.84480491e-01 9.58499703e-01 -1.86860799e-02 -9.78597317e+01] [-5.61828221e-02 2.78933377e-03 9.98416602e-01 -4.10553575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.290714057 meters 0.03118707895826602 Centerline is valid? [True, True] Translation: X:640.52, Y:-97.87, Z:-41.06 [[ 9.56979505e-01 2.85182163e-01 5.34916917e-02 6.40517275e+02] [-2.84573363e-01 9.58469241e-01 -1.88338633e-02 -9.78659633e+01] [-5.66412231e-02 2.80131057e-03 9.98390667e-01 -4.10562143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.3207140569999 meters 0.03118707895826602 Centerline is valid? [True, True] Translation: X:640.54, Y:-97.87, Z:-41.06 [[ 9.57061641e-01 2.84905504e-01 5.34964318e-02 6.40543135e+02] [-2.84297025e-01 9.58551509e-01 -1.88203898e-02 -9.78749938e+01] [-5.66411180e-02 2.80339673e-03 9.98390667e-01 -4.10578055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.3507140569999 meters 0.03278834960089032 Centerline is valid? [True, True] Translation: X:640.57, Y:-97.89, Z:-41.06 [[ 9.57069918e-01 2.84805373e-01 5.38801648e-02 6.40567532e+02] [-2.84188979e-01 9.58581238e-01 -1.89376546e-02 -9.78864792e+01] [-5.70420608e-02 2.81251053e-03 9.98367815e-01 -4.10594827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.380714057 meters 0.031470183167499846 Centerline is valid? [True, True] Translation: X:640.60, Y:-97.89, Z:-41.06 [[ 9.56938260e-01 2.85278421e-01 5.37158146e-02 6.40595887e+02] [-2.84666951e-01 9.58440690e-01 -1.88724713e-02 -9.78940846e+01] [-5.68673313e-02 2.76867269e-03 9.98377905e-01 -4.10609385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.410714057 meters 0.03166868810607994 Centerline is valid? [True, True] Translation: X:640.62, Y:-97.90, Z:-41.06 [[ 9.56521354e-01 2.86529835e-01 5.44752546e-02 6.40622043e+02] [-2.85903793e-01 9.58067463e-01 -1.91248184e-02 -9.79036391e+01] [-5.76708000e-02 2.71861531e-03 9.98331953e-01 -4.10624791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.4407140569999 meters 0.030651733761318127 Centerline is valid? [True, True] Translation: X:640.65, Y:-97.91, Z:-41.06 [[ 9.56274990e-01 2.87373375e-01 5.43570362e-02 6.40649933e+02] [-2.86751716e-01 9.57814953e-01 -1.90779528e-02 -9.79113916e+01] [-5.75464778e-02 2.65679564e-03 9.98339293e-01 -4.10636053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.4707140569999 meters 0.031625243486304834 Centerline is valid? [True, True] Translation: X:640.68, Y:-97.92, Z:-41.07 [[ 9.55934919e-01 2.88384909e-01 5.49779543e-02 6.40676308e+02] [-2.87751531e-01 9.57511007e-01 -1.92802417e-02 -9.79215865e+01] [-5.82021271e-02 2.61066581e-03 9.98301406e-01 -4.10651993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.500714057 meters 0.03002638364838721 Centerline is valid? [True, True] Translation: X:640.70, Y:-97.93, Z:-41.07 [[ 9.55657781e-01 2.89270698e-01 5.51422712e-02 6.40704409e+02] [-2.88635896e-01 9.57243941e-01 -1.93224416e-02 -9.79284182e+01] [-5.83740211e-02 2.54960287e-03 9.98291527e-01 -4.10665383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.530714057 meters 0.030319449466520126 Centerline is valid? [True, True] Translation: X:640.73, Y:-97.94, Z:-41.07 [[ 9.55202589e-01 2.90584548e-01 5.61126886e-02 6.40730141e+02] [-2.89930382e-01 9.56846059e-01 -1.96466821e-02 -9.79385175e+01] [-5.94002272e-02 2.49778841e-03 9.98231123e-01 -4.10680046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.5607140569999 meters 0.030266900804448535 Centerline is valid? [True, True] Translation: X:640.76, Y:-97.95, Z:-41.07 [[ 9.55168565e-01 2.90777514e-01 5.56906614e-02 6.40757521e+02] [-2.90133825e-01 9.56787530e-01 -1.94932136e-02 -9.79480155e+01] [-5.89523186e-02 2.46156031e-03 9.98257765e-01 -4.10698569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.5907140569999 meters 0.03075092134311021 Centerline is valid? [True, True] Translation: X:640.78, Y:-97.96, Z:-41.07 [[ 9.55116157e-01 2.90896451e-01 5.59676814e-02 6.40782662e+02] [-2.90247448e-01 9.56751401e-01 -1.95748643e-02 -9.79589580e+01] [-5.92414162e-02 2.45179248e-03 9.98240674e-01 -4.10710279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.620714057 meters 0.03085934480912196 Centerline is valid? [True, True] Translation: X:640.81, Y:-97.97, Z:-41.07 [[ 9.55221582e-01 2.90484114e-01 5.63090482e-02 6.40809665e+02] [-2.89826796e-01 9.56876583e-01 -1.96884217e-02 -9.79691867e+01] [-5.95999834e-02 2.48693432e-03 9.98219243e-01 -4.10729328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.650714057 meters 0.030789778469661303 Centerline is valid? [True, True] Translation: X:640.84, Y:-97.98, Z:-41.07 [[ 9.55392201e-01 2.89890994e-01 5.64708300e-02 6.40836497e+02] [-2.89229780e-01 9.57056362e-01 -1.97295393e-02 -9.79801411e+01] [-5.97651829e-02 2.51640218e-03 9.98209292e-01 -4.10748249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.6807140569999 meters 0.03169627410231469 Centerline is valid? [True, True] Translation: X:640.86, Y:-97.99, Z:-41.08 [[ 9.55495435e-01 2.89548389e-01 5.64818919e-02 6.40861503e+02] [-2.88887227e-01 9.57160050e-01 -1.97182551e-02 -9.79914610e+01] [-5.97715995e-02 2.52380564e-03 9.98208889e-01 -4.10760732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.7107140569999 meters 0.03207333276000633 Centerline is valid? [True, True] Translation: X:640.89, Y:-98.00, Z:-41.08 [[ 9.55606628e-01 2.89140427e-01 5.66902681e-02 6.40887856e+02] [-2.88474009e-01 9.57283289e-01 -1.97851281e-02 -9.80017099e+01] [-5.99893266e-02 2.55313064e-03 9.98195753e-01 -4.10779892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.740714057 meters 0.03229291297229665 Centerline is valid? [True, True] Translation: X:640.91, Y:-98.01, Z:-41.08 [[ 9.55661758e-01 2.88946647e-01 5.67489117e-02 6.40914051e+02] [-2.88279426e-01 9.57341797e-01 -1.97903164e-02 -9.80121785e+01] [-6.00464507e-02 2.55330488e-03 9.98192318e-01 -4.10796117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.770714057 meters 0.033030605523333444 Centerline is valid? [True, True] Translation: X:640.94, Y:-98.02, Z:-41.08 [[ 9.55830918e-01 2.88388985e-01 5.67366617e-02 6.40938857e+02] [-2.87722084e-01 9.57509885e-01 -1.97692355e-02 -9.80246258e+01] [-6.00271442e-02 2.57165602e-03 9.98193432e-01 -4.10814384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.8007140569999 meters 0.03372052062670933 Centerline is valid? [True, True] Translation: X:640.96, Y:-98.04, Z:-41.08 [[ 9.56089786e-01 2.87505922e-01 5.68565407e-02 6.40964513e+02] [-2.86834962e-01 9.57775256e-01 -1.98056468e-02 -9.80363868e+01] [-6.01500286e-02 2.62753284e-03 9.98185890e-01 -4.10832710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.8307140569999 meters 0.03436969832570298 Centerline is valid? [True, True] Translation: X:640.99, Y:-98.05, Z:-41.08 [[ 9.56388096e-01 2.86557984e-01 5.66244788e-02 6.40990453e+02] [-2.85891153e-01 9.58059177e-01 -1.97195690e-02 -9.80480565e+01] [-5.99004015e-02 2.67112351e-03 9.98200785e-01 -4.10849186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.860714057 meters 0.03531111554837432 Centerline is valid? [True, True] Translation: X:641.02, Y:-98.06, Z:-41.09 [[ 9.56761085e-01 2.85284662e-01 5.67528713e-02 6.41016299e+02] [-2.84612883e-01 9.58438880e-01 -1.97590246e-02 -9.80597025e+01] [-6.00311051e-02 2.75206751e-03 9.98192713e-01 -4.10865982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.890714057 meters 0.03154222742617612 Centerline is valid? [True, True] Translation: X:641.05, Y:-98.06, Z:-41.09 [[ 9.57516164e-01 2.82605813e-01 5.74173272e-02 6.41045697e+02] [-2.81913706e-01 9.59231596e-01 -1.99851709e-02 -9.80647981e+01] [-6.07244399e-02 2.94939266e-03 9.98150211e-01 -4.10882077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.9207140569999 meters 0.03223584655091024 Centerline is valid? [True, True] Translation: X:641.07, Y:-98.08, Z:-41.09 [[ 9.57934096e-01 2.81088363e-01 5.78930045e-02 6.41071838e+02] [-2.80382158e-01 9.59676987e-01 -2.01475916e-02 -9.80765008e+01] [-6.12218377e-02 3.06789939e-03 9.98119469e-01 -4.10894219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.9507140569999 meters 0.03265922357888166 Centerline is valid? [True, True] Translation: X:641.10, Y:-98.09, Z:-41.09 [[ 9.58365209e-01 2.79530514e-01 5.82993782e-02 6.41098515e+02] [-2.78812499e-01 9.60131563e-01 -2.02724404e-02 -9.80879014e+01] [-6.16418388e-02 3.17380626e-03 9.98093288e-01 -4.10913039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.9807140569999 meters 0.034114538206099 Centerline is valid? [True, True] Translation: X:641.12, Y:-98.10, Z:-41.09 [[ 9.58765890e-01 2.78158462e-01 5.82738210e-02 6.41123314e+02] [-2.77439540e-01 9.60529718e-01 -2.02475523e-02 -9.81011138e+01] [-6.16057648e-02 3.24520039e-03 9.98095285e-01 -4.10933159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.010714057 meters 0.035889215331807355 Centerline is valid? [True, True] Translation: X:641.15, Y:-98.12, Z:-41.10 [[ 9.59553435e-01 2.75457800e-01 5.81395400e-02 6.41147775e+02] [-2.74737772e-01 9.61307143e-01 -2.01924133e-02 -9.81161506e+01] [-6.14521128e-02 3.40257186e-03 9.98104233e-01 -4.10955898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.040714057 meters 0.034444284782688676 Centerline is valid? [True, True] Translation: X:641.18, Y:-98.12, Z:-41.10 [[ 9.60263435e-01 2.73158470e-01 5.72589389e-02 6.41175818e+02] [-2.72456308e-01 9.61962712e-01 -1.98821813e-02 -9.81241771e+01] [-6.05119503e-02 3.49157263e-03 9.98161366e-01 -4.10982805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.0707140569999 meters 0.037546192537581145 Centerline is valid? [True, True] Translation: X:641.20, Y:-98.14, Z:-41.10 [[ 9.60950073e-01 2.70852840e-01 5.66894735e-02 6.41200522e+02] [-2.70160803e-01 9.62614045e-01 -1.96809867e-02 -9.81395081e+01] [-5.99007345e-02 3.59717190e-03 9.98197857e-01 -4.11001192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.1007140569999 meters 0.03792033731847764 Centerline is valid? [True, True] Translation: X:641.23, Y:-98.15, Z:-41.10 [[ 9.61791069e-01 2.67938821e-01 5.62736835e-02 6.41228123e+02] [-2.67252205e-01 9.63428643e-01 -1.95322352e-02 -9.81504632e+01] [-5.94491226e-02 3.74666340e-03 9.98224306e-01 -4.11028762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.130714057 meters 0.04052435481712219 Centerline is valid? [True, True] Translation: X:641.25, Y:-98.17, Z:-41.11 [[ 9.63183991e-01 2.63233728e-01 5.46315275e-02 6.41253206e+02] [-2.62579167e-01 9.64724134e-01 -1.89612003e-02 -9.81658097e+01] [-5.76955805e-02 3.91802360e-03 9.98326534e-01 -4.11055755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.160714057 meters 0.03918621630394482 Centerline is valid? [True, True] Translation: X:641.28, Y:-98.17, Z:-41.11 [[ 9.63717469e-01 2.61272458e-01 5.46382958e-02 6.41281015e+02] [-2.60614537e-01 9.65256652e-01 -1.89646525e-02 -9.81742487e+01] [-5.76949199e-02 4.03703271e-03 9.98326098e-01 -4.11072832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.1907140569999 meters 0.03879061858466503 Centerline is valid? [True, True] Translation: X:641.31, Y:-98.18, Z:-41.11 [[ 9.64099548e-01 2.59813571e-01 5.48540763e-02 6.41308491e+02] [-2.59148286e-01 9.65649932e-01 -1.90361726e-02 -9.81837413e+01] [-5.79156910e-02 4.13742554e-03 9.98312904e-01 -4.11082215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.2207140569999 meters 0.041664127370477685 Centerline is valid? [True, True] Translation: X:641.33, Y:-98.20, Z:-41.11 [[ 9.64343579e-01 2.58759937e-01 5.55405841e-02 6.41333189e+02] [-2.58077072e-01 9.65932365e-01 -1.92585356e-02 -9.81964329e+01] [-5.86317852e-02 4.23809375e-03 9.98270681e-01 -4.11092576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.250714057 meters 0.04151205979460324 Centerline is valid? [True, True] Translation: X:641.36, Y:-98.20, Z:-41.11 [[ 9.64490301e-01 2.58086563e-01 5.61229529e-02 6.41360823e+02] [-2.57388509e-01 9.66112146e-01 -1.94544697e-02 -9.82040038e+01] [-5.92420037e-02 4.31824415e-03 9.98234310e-01 -4.11100974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.280714057 meters 0.03935860658155408 Centerline is valid? [True, True] Translation: X:641.39, Y:-98.21, Z:-41.11 [[ 9.64351821e-01 2.58535386e-01 5.64359713e-02 6.41389329e+02] [-2.57831225e-01 9.65992220e-01 -1.95471164e-02 -9.82095748e+01] [-5.95703305e-02 4.29934172e-03 9.98214852e-01 -4.11113066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.3107140569999 meters 0.03908213786446891 Centerline is valid? [True, True] Translation: X:641.42, Y:-98.22, Z:-41.11 [[ 9.64285925e-01 2.58852618e-01 5.61068446e-02 6.41417294e+02] [-2.58158132e-01 9.65907527e-01 -1.94172169e-02 -9.82176526e+01] [-5.92202209e-02 4.23931076e-03 9.98235941e-01 -4.11130672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.3407140569999 meters 0.039580815729919235 Centerline is valid? [True, True] Translation: X:641.44, Y:-98.23, Z:-41.11 [[ 9.64217290e-01 2.59094447e-01 5.61701457e-02 6.41444067e+02] [-2.58399736e-01 9.65842798e-01 -1.94233512e-02 -9.82262270e+01] [-5.92840131e-02 4.21398026e-03 9.98232262e-01 -4.11148807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.370714057 meters 0.04018181208783611 Centerline is valid? [True, True] Translation: X:641.47, Y:-98.23, Z:-41.12 [[ 9.64376865e-01 2.58603547e-01 5.56908183e-02 6.41472168e+02] [-2.57920182e-01 9.65974403e-01 -1.92518398e-02 -9.82341742e+01] [-5.87744990e-02 4.20224295e-03 9.98262440e-01 -4.11166961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.400714057 meters 0.042036868362274785 Centerline is valid? [True, True] Translation: X:641.50, Y:-98.24, Z:-41.12 [[ 9.64618137e-01 2.57616312e-01 5.60864099e-02 6.41497316e+02] [-2.56922461e-01 9.66237826e-01 -1.93729626e-02 -9.82445534e+01] [-5.91836020e-02 4.27765265e-03 9.98237949e-01 -4.11181454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.4307140569999 meters 0.04317494289733045 Centerline is valid? [True, True] Translation: X:641.53, Y:-98.26, Z:-41.12 [[ 9.64988735e-01 2.56175744e-01 5.63092379e-02 6.41525039e+02] [-2.55474318e-01 9.66620313e-01 -1.94433263e-02 -9.82552456e+01] [-5.94105617e-02 4.37702669e-03 9.98224036e-01 -4.11195912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.4607140569999 meters 0.041631811094882655 Centerline is valid? [True, True] Translation: X:641.55, Y:-98.26, Z:-41.12 [[ 9.65515768e-01 2.54070538e-01 5.68107719e-02 6.41553524e+02] [-2.53353063e-01 9.67175014e-01 -1.96142165e-02 -9.82618963e+01] [-5.99293537e-02 4.54465228e-03 9.98192275e-01 -4.11209535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.490714057 meters 0.044507667999113695 Centerline is valid? [True, True] Translation: X:641.58, Y:-98.27, Z:-41.12 [[ 9.66587151e-01 2.50089568e-01 5.62537725e-02 6.41580704e+02] [-2.49379606e-01 9.68211097e-01 -1.94186374e-02 -9.82737577e+01] [-5.93219255e-02 4.74126174e-03 9.98227644e-01 -4.11215781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.520714057 meters 0.04323343989411273 Centerline is valid? [True, True] Translation: X:641.61, Y:-98.28, Z:-41.12 [[ 9.67021138e-01 2.48395000e-01 5.63031259e-02 6.41609744e+02] [-2.47680994e-01 9.68646692e-01 -1.94347784e-02 -9.82801275e+01] [-5.93653385e-02 4.84862737e-03 9.98224548e-01 -4.11231956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.5507140569999 meters 0.04659720385759457 Centerline is valid? [True, True] Translation: X:641.64, Y:-98.29, Z:-41.12 [[ 9.67412315e-01 2.46988978e-01 5.57660989e-02 6.41635053e+02] [-2.46286362e-01 9.69005974e-01 -1.92471081e-02 -9.82925638e+01] [-5.87915066e-02 4.88545976e-03 9.98258329e-01 -4.11242186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.5807140569999 meters 0.044575959211223315 Centerline is valid? [True, True] Translation: X:641.66, Y:-98.30, Z:-41.13 [[ 9.67776511e-01 2.45705961e-01 5.51108472e-02 6.41664337e+02] [-2.45018015e-01 9.69332024e-01 -1.90157997e-02 -9.82956814e+01] [-5.80930043e-02 4.89989389e-03 9.98299151e-01 -4.11256846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.610714057 meters 0.04380380557242353 Centerline is valid? [True, True] Translation: X:641.69, Y:-98.30, Z:-41.13 [[ 9.67814708e-01 2.45698952e-01 5.44675644e-02 6.41692813e+02] [-2.45027854e-01 9.69334160e-01 -1.87786293e-02 -9.83024706e+01] [-5.74111603e-02 4.82816316e-03 9.98338944e-01 -4.11275050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.640714057 meters 0.04584507437409945 Centerline is valid? [True, True] Translation: X:641.72, Y:-98.31, Z:-41.13 [[ 9.67822114e-01 2.45728638e-01 5.42013962e-02 6.41718061e+02] [-2.45065022e-01 9.69326835e-01 -1.86714026e-02 -9.83129189e+01] [-5.71269661e-02 4.78772999e-03 9.98355441e-01 -4.11293821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.6707140569999 meters 0.044164638280182154 Centerline is valid? [True, True] Translation: X:641.75, Y:-98.32, Z:-41.13 [[ 9.67822581e-01 2.45875527e-01 5.35226734e-02 6.41746378e+02] [-2.45228956e-01 9.69289948e-01 -1.84324816e-02 -9.83185062e+01] [-5.64110854e-02 4.71406257e-03 9.98396498e-01 -4.11313159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.7007140569999 meters 0.04151208425085724 Centerline is valid? [True, True] Translation: X:641.78, Y:-98.32, Z:-41.13 [[ 9.67802636e-01 2.46037691e-01 5.31367271e-02 6.41776082e+02] [-2.45401499e-01 9.69249078e-01 -1.82846631e-02 -9.83215708e+01] [-5.60014400e-02 4.65611263e-03 9.98419831e-01 -4.11333556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.7307140569999 meters 0.04281156915539721 Centerline is valid? [True, True] Translation: X:641.80, Y:-98.33, Z:-41.13 [[ 9.67786474e-01 2.46113611e-01 5.30794786e-02 6.41802566e+02] [-2.45479768e-01 9.69229920e-01 -1.82495427e-02 -9.83312363e+01] [-5.59376797e-02 4.63172246e-03 9.98423519e-01 -4.11349647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.760714057 meters 0.04308646424919243 Centerline is valid? [True, True] Translation: X:641.83, Y:-98.34, Z:-41.14 [[ 9.67779359e-01 2.46242885e-01 5.26075532e-02 6.41829728e+02] [-2.45621300e-01 9.69197385e-01 -1.80722420e-02 -9.83393035e+01] [-5.54372640e-02 4.56840721e-03 9.98451721e-01 -4.11361575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.790714057 meters 0.04516933081728225 Centerline is valid? [True, True] Translation: X:641.86, Y:-98.35, Z:-41.14 [[ 9.67760747e-01 2.46369469e-01 5.23566719e-02 6.41855856e+02] [-2.45754829e-01 9.69165421e-01 -1.79708373e-02 -9.83498453e+01] [-5.51697416e-02 4.52456598e-03 9.98466739e-01 -4.11380777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.8207140569999 meters 0.043659365930059695 Centerline is valid? [True, True] Translation: X:641.88, Y:-98.36, Z:-41.14 [[ 9.67875600e-01 2.46069359e-01 5.16400326e-02 6.41883804e+02] [-2.45471264e-01 9.69241892e-01 -1.77204388e-02 -9.83551442e+01] [-5.44121399e-02 4.47503622e-03 9.98508534e-01 -4.11395972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.8507140569999 meters 0.04348387983598114 Centerline is valid? [True, True] Translation: X:641.91, Y:-98.36, Z:-41.14 [[ 9.68062345e-01 2.45383221e-01 5.14040049e-02 6.41911311e+02] [-2.44790528e-01 9.69415821e-01 -1.76228248e-02 -9.83637142e+01] [-5.41562012e-02 4.47677960e-03 9.98522441e-01 -4.11412405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.880714057 meters 0.04593839289023972 Centerline is valid? [True, True] Translation: X:641.94, Y:-98.38, Z:-41.14 [[ 9.68241910e-01 2.44746998e-01 5.10540000e-02 6.41936823e+02] [-2.44162287e-01 9.69576688e-01 -1.74878459e-02 -9.83751113e+01] [-5.37808660e-02 4.46700389e-03 9.98542770e-01 -4.11431639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.910714057 meters 0.04485916472309836 Centerline is valid? [True, True] Translation: X:641.96, Y:-98.38, Z:-41.14 [[ 9.68448958e-01 2.44075118e-01 5.03383809e-02 6.41964517e+02] [-2.43506021e-01 9.69746178e-01 -1.72385562e-02 -9.83822126e+01] [-5.30229551e-02 4.43696292e-03 9.98583436e-01 -4.11447506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.9407140569999 meters 0.046014599953564855 Centerline is valid? [True, True] Translation: X:641.99, Y:-98.39, Z:-41.15 [[ 9.68706780e-01 2.43355278e-01 4.88403829e-02 6.41990344e+02] [-2.42819383e-01 9.69927557e-01 -1.67117396e-02 -9.83908242e+01] [-5.14385233e-02 4.32938384e-03 9.98666779e-01 -4.11473427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.9707140569999 meters 0.046340327972856525 Centerline is valid? [True, True] Translation: X:642.02, Y:-98.40, Z:-41.15 [[ 9.68690910e-01 2.43426616e-01 4.87996249e-02 6.42017348e+02] [-2.42892110e-01 9.69909722e-01 -1.66899450e-02 -9.83991634e+01] [-5.13940075e-02 4.31435421e-03 9.98669136e-01 -4.11488808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.000714057 meters 0.04538745664999155 Centerline is valid? [True, True] Translation: X:642.05, Y:-98.41, Z:-41.15 [[ 9.68635167e-01 2.43754092e-01 4.82685826e-02 6.42045973e+02] [-2.43232244e-01 9.69827814e-01 -1.64950538e-02 -9.84055379e+01] [-5.08329508e-02 4.23721351e-03 9.98698181e-01 -4.11503776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.030714057 meters 0.04590323091049967 Centerline is valid? [True, True] Translation: X:642.07, Y:-98.41, Z:-41.15 [[ 9.68319988e-01 2.44961293e-01 4.84805760e-02 6.42073029e+02] [-2.44437046e-01 9.69523853e-01 -1.65538235e-02 -9.84141471e+01] [-5.10581208e-02 4.17894933e-03 9.98686940e-01 -4.11515337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.0607140569999 meters 0.04387722295672822 Centerline is valid? [True, True] Translation: X:642.10, Y:-98.42, Z:-41.15 [[ 9.67223957e-01 2.49044747e-01 4.95432147e-02 6.42103609e+02] [-2.48502772e-01 9.68483526e-01 -1.69125144e-02 -9.84187714e+01] [-5.21937601e-02 4.04656287e-03 9.98628778e-01 -4.11524016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.0907140569999 meters 0.043085514915445454 Centerline is valid? [True, True] Translation: X:642.13, Y:-98.43, Z:-41.15 [[ 9.66622007e-01 2.51251557e-01 5.01453046e-02 6.42132485e+02] [-2.50699386e-01 9.67913669e-01 -1.71157173e-02 -9.84257741e+01] [-5.28366764e-02 3.97303193e-03 9.98595264e-01 -4.11530453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.120714057 meters 0.04296555707826 Centerline is valid? [True, True] Translation: X:642.16, Y:-98.43, Z:-41.15 [[ 9.66036195e-01 2.53443187e-01 5.04045806e-02 6.42160570e+02] [-2.52888352e-01 9.67342527e-01 -1.72022340e-02 -9.84330764e+01] [-5.31182834e-02 3.87124932e-03 9.98580724e-01 -4.11541009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.150714057 meters 0.06133856880022717 Centerline is valid? [True, True] Translation: X:642.18, Y:-98.46, Z:-41.16 [[ 9.64035938e-01 2.60904023e-01 5.06339823e-02 6.42180424e+02] [-2.60354437e-01 9.65358493e-01 -1.72785371e-02 -9.84638550e+01] [-5.33879847e-02 3.47434880e-03 9.98567800e-01 -4.11570716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.1807140569999 meters 0.0378163132422015 Centerline is valid? [True, True] Translation: X:642.22, Y:-98.44, Z:-41.16 [[ 9.63901299e-01 2.61315450e-01 5.10736781e-02 6.42219542e+02] [-2.60756886e-01 9.65247180e-01 -1.74277818e-02 -9.84392175e+01] [-5.38528724e-02 3.48084829e-03 9.98542814e-01 -4.11568634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.2107140569999 meters 0.0378163132422015 Centerline is valid? [True, True] Translation: X:642.25, Y:-98.45, Z:-41.16 [[ 9.63974911e-01 2.61042939e-01 5.10779337e-02 6.42245512e+02] [-2.60484652e-01 9.65320907e-01 -1.74153001e-02 -9.84479928e+01] [-5.38527384e-02 3.48289457e-03 9.98542814e-01 -4.11584560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.240714057 meters 0.037353114709195716 Centerline is valid? [True, True] Translation: X:642.27, Y:-98.46, Z:-41.16 [[ 9.63247030e-01 2.63650156e-01 5.14174444e-02 6.42273666e+02] [-2.63089044e-01 9.64612576e-01 -1.75138141e-02 -9.84552167e+01] [-5.42154333e-02 3.34276310e-03 9.98523667e-01 -4.11595240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.270714057 meters 0.038583891933722476 Centerline is valid? [True, True] Translation: X:642.30, Y:-98.46, Z:-41.16 [[ 9.61680174e-01 2.69181592e-01 5.20817935e-02 6.42301126e+02] [-2.68614046e-01 9.63084552e-01 -1.77380692e-02 -9.84647842e+01] [-5.49339324e-02 3.06844820e-03 9.98485277e-01 -4.11612095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.3007140569999 meters 0.035238230002979015 Centerline is valid? [True, True] Translation: X:642.33, Y:-98.47, Z:-41.16 [[ 9.60980644e-01 2.71591397e-01 5.24815676e-02 6.42331574e+02] [-2.71018817e-01 9.62408128e-01 -1.78716257e-02 -9.84684289e+01] [-5.53624671e-02 2.95079397e-03 9.98461962e-01 -4.11629684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.3307140569999 meters 0.03644903880385307 Centerline is valid? [True, True] Translation: X:642.36, Y:-98.48, Z:-41.16 [[ 9.60398835e-01 2.73654391e-01 5.24151889e-02 6.42358204e+02] [-2.73086369e-01 9.61823934e-01 -1.78481088e-02 -9.84785659e+01] [-5.52983966e-02 2.82742927e-03 9.98465870e-01 -4.11648258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.360714057 meters 0.03637750546485189 Centerline is valid? [True, True] Translation: X:642.39, Y:-98.49, Z:-41.17 [[ 9.60004085e-01 2.75124998e-01 5.19460599e-02 6.42385061e+02] [-2.74569408e-01 9.61404630e-01 -1.76855296e-02 -9.84866203e+01] [-5.48069138e-02 2.71538175e-03 9.98493279e-01 -4.11672293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.390714057 meters 0.033369614647611165 Centerline is valid? [True, True] Translation: X:642.41, Y:-98.49, Z:-41.17 [[ 9.59592392e-01 2.76682952e-01 5.12736280e-02 6.42414343e+02] [-2.76144135e-01 9.60957776e-01 -1.74519093e-02 -9.84901740e+01] [-5.41004373e-02 2.58780768e-03 9.98532146e-01 -4.11694739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.4207140569999 meters 0.03344978721152513 Centerline is valid? [True, True] Translation: X:642.44, Y:-98.50, Z:-41.17 [[ 9.58820493e-01 2.79502593e-01 5.04139218e-02 6.42441215e+02] [-2.78985797e-01 9.60141977e-01 -1.71554332e-02 -9.84998220e+01] [-5.31995106e-02 2.38421273e-03 9.98581057e-01 -4.11734774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.4507140569999 meters 0.0300202427732863 Centerline is valid? [True, True] Translation: X:642.47, Y:-98.50, Z:-41.18 [[ 9.58648266e-01 2.80203791e-01 4.97929523e-02 6.42470993e+02] [-2.79700695e-01 9.59937747e-01 -1.69423420e-02 -9.85026694e+01] [-5.25454429e-02 2.31462336e-03 9.98615852e-01 -4.11754386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.4807140569999 meters 0.02956777020094403 Centerline is valid? [True, True] Translation: X:642.50, Y:-98.51, Z:-41.18 [[ 9.58416679e-01 2.81137159e-01 4.89833466e-02 6.42498377e+02] [-2.80652157e-01 9.59665042e-01 -1.66545442e-02 -9.85112780e+01] [-5.16898166e-02 2.21471107e-03 9.98660732e-01 -4.11776302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.510714057 meters 0.02913238707892669 Centerline is valid? [True, True] Translation: X:642.53, Y:-98.52, Z:-41.18 [[ 9.57771142e-01 2.83236027e-01 4.95155879e-02 6.42526074e+02] [-2.82743952e-01 9.59047912e-01 -1.68214095e-02 -9.85198991e+01] [-5.22522504e-02 2.11082749e-03 9.98631687e-01 -4.11793665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.540714057 meters 0.03218903280331897 Centerline is valid? [True, True] Translation: X:642.55, Y:-98.53, Z:-41.18 [[ 9.57524489e-01 2.84028071e-01 4.97484409e-02 6.42550567e+02] [-2.83533138e-01 9.58813743e-01 -1.68868664e-02 -9.85341642e+01] [-5.24958329e-02 2.06425653e-03 9.98619010e-01 -4.11819746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.5707140569999 meters 0.028819412366379693 Centerline is valid? [True, True] Translation: X:642.58, Y:-98.54, Z:-41.18 [[ 9.57272171e-01 2.84874923e-01 4.97621312e-02 6.42580214e+02] [-2.84381067e-01 9.58562580e-01 -1.68875308e-02 -9.85367267e+01] [-5.25109510e-02 2.01455532e-03 9.98618316e-01 -4.11823115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.6007140569999 meters 0.027921391937900948 Centerline is valid? [True, True] Translation: X:642.61, Y:-98.55, Z:-41.18 [[ 9.57044353e-01 2.85590128e-01 5.00438429e-02 6.42607658e+02] [-2.85092370e-01 9.58349824e-01 -1.69692372e-02 -9.85450376e+01] [-5.28057546e-02 1.97319486e-03 9.98602853e-01 -4.11837266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.630714057 meters 0.027733306494076317 Centerline is valid? [True, True] Translation: X:642.63, Y:-98.55, Z:-41.19 [[ 9.56780538e-01 2.86385073e-01 5.05429819e-02 6.42634888e+02] [-2.85879198e-01 9.58112648e-01 -1.71241985e-02 -9.85543281e+01] [-5.33299851e-02 1.93491276e-03 9.98575069e-01 -4.11852078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.660714057 meters 0.02799770975628708 Centerline is valid? [True, True] Translation: X:642.66, Y:-98.56, Z:-41.19 [[ 9.56684119e-01 2.86573397e-01 5.12950723e-02 6.42661205e+02] [-2.86053434e-01 9.58056329e-01 -1.73638491e-02 -9.85640811e+01] [-5.41195859e-02 1.93858710e-03 9.98532580e-01 -4.11866340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.6907140569999 meters 0.02774092244003784 Centerline is valid? [True, True] Translation: X:642.69, Y:-98.57, Z:-41.19 [[ 9.56775863e-01 2.86098862e-01 5.22244106e-02 6.42687644e+02] [-2.85559422e-01 9.58198025e-01 -1.76737687e-02 -9.85720978e+01] [-5.50977722e-02 1.99666279e-03 9.98478968e-01 -4.11878607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.7207140569999 meters 0.027736213255925415 Centerline is valid? [True, True] Translation: X:642.71, Y:-98.58, Z:-41.19 [[ 9.56770772e-01 2.86073899e-01 5.24539188e-02 6.42713099e+02] [-2.85530619e-01 9.58205491e-01 -1.77342287e-02 -9.85822524e+01] [-5.53349330e-02 1.99039173e-03 9.98465865e-01 -4.11889033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.750714057 meters 0.028139203644777712 Centerline is valid? [True, True] Translation: X:642.74, Y:-98.59, Z:-41.19 [[ 9.57259017e-01 2.84338461e-01 5.29793686e-02 6.42739873e+02] [-2.83782228e-01 9.58721663e-01 -1.79002828e-02 -9.85935027e+01] [-5.58822072e-02 2.10060386e-03 9.98435159e-01 -4.11898988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.780714057 meters 0.028749354008000175 Centerline is valid? [True, True] Translation: X:642.77, Y:-98.60, Z:-41.19 [[ 9.57439182e-01 2.83543862e-01 5.39730584e-02 6.42765180e+02] [-2.82966173e-01 9.58956808e-01 -1.82204957e-02 -9.86043792e+01] [-5.69241415e-02 2.17246670e-03 9.98376143e-01 -4.11915644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.8107140569999 meters 0.02890064595005494 Centerline is valid? [True, True] Translation: X:642.79, Y:-98.62, Z:-41.19 [[ 9.57660722e-01 2.82712749e-01 5.44007706e-02 6.42791465e+02] [-2.82124828e-01 9.59202017e-01 -1.83595290e-02 -9.86157283e+01] [-5.73718018e-02 2.23439173e-03 9.98350381e-01 -4.11930419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.8407140569999 meters 0.02991510546245525 Centerline is valid? [True, True] Translation: X:642.82, Y:-98.63, Z:-41.20 [[ 9.57831417e-01 2.82045236e-01 5.48585529e-02 6.42816196e+02] [-2.81447156e-01 9.59398401e-01 -1.84988396e-02 -9.86279077e+01] [-5.78487175e-02 2.27898608e-03 9.98322760e-01 -4.11950711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.870714057 meters 0.030101433516153228 Centerline is valid? [True, True] Translation: X:642.84, Y:-98.64, Z:-41.20 [[ 9.58373428e-01 2.80235880e-01 5.46646478e-02 6.42842582e+02] [-2.79639392e-01 9.59928233e-01 -1.84281800e-02 -9.86403275e+01] [-5.76383761e-02 2.37468913e-03 9.98334703e-01 -4.11979502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.900714057 meters 0.0299781719000928 Centerline is valid? [True, True] Translation: X:642.87, Y:-98.65, Z:-41.20 [[ 9.58663456e-01 2.79282808e-01 5.44563233e-02 6.42869384e+02] [-2.78690175e-01 9.60205870e-01 -1.83432257e-02 -9.86501284e+01] [-5.74122288e-02 2.40853783e-03 9.98347652e-01 -4.11998159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.9307140569999 meters 0.030659469499970372 Centerline is valid? [True, True] Translation: X:642.90, Y:-98.66, Z:-41.20 [[ 9.59002636e-01 2.78117395e-01 5.44486727e-02 6.42895053e+02] [-2.77523917e-01 9.60543932e-01 -1.83256581e-02 -9.86611951e+01] [-5.73970265e-02 2.46354552e-03 9.98348392e-01 -4.12022199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.9607140569999 meters 0.031055545414574667 Centerline is valid? [True, True] Translation: X:642.92, Y:-98.67, Z:-41.20 [[ 9.59266105e-01 2.77164464e-01 5.46662653e-02 6.42921367e+02] [-2.76565146e-01 9.60819179e-01 -1.83909164e-02 -9.86722633e+01] [-5.76217046e-02 2.52299906e-03 9.98335301e-01 -4.12043085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.990714057 meters 0.0316948737089686 Centerline is valid? [True, True] Translation: X:642.95, Y:-98.68, Z:-41.21 [[ 9.59794345e-01 2.75398670e-01 5.43174711e-02 6.42947450e+02] [-2.74804998e-01 9.61326595e-01 -1.82589982e-02 -9.86838953e+01] [-5.72453334e-02 2.59817067e-03 9.98356761e-01 -4.12068490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.020714057 meters 0.03245447242068719 Centerline is valid? [True, True] Translation: X:642.97, Y:-98.70, Z:-41.21 [[ 9.59934390e-01 2.74913150e-01 5.43021868e-02 6.42973056e+02] [-2.74319885e-01 9.61465515e-01 -1.82390709e-02 -9.86952996e+01] [-5.72238404e-02 2.61214170e-03 9.98357956e-01 -4.12090066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.0507140569999 meters 0.03235645357419308 Centerline is valid? [True, True] Translation: X:643.00, Y:-98.70, Z:-41.21 [[ 9.60270304e-01 2.73770254e-01 5.41367866e-02 6.42999894e+02] [-2.73179080e-01 9.61791419e-01 -1.81784515e-02 -9.87041876e+01] [-5.70450161e-02 2.66718958e-03 9.98368045e-01 -4.12115560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.0807140569999 meters 0.031041445123574485 Centerline is valid? [True, True] Translation: X:643.03, Y:-98.71, Z:-41.21 [[ 9.60392801e-01 2.73300675e-01 5.43360669e-02 6.43027374e+02] [-2.72705235e-01 9.61924893e-01 -1.82305788e-02 -9.87112098e+01] [-5.72496449e-02 2.69078671e-03 9.98356268e-01 -4.12131875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.110714057 meters 0.031682461015448284 Centerline is valid? [True, True] Translation: X:643.05, Y:-98.72, Z:-41.21 [[ 9.60620437e-01 2.72122650e-01 5.61928753e-02 6.43052242e+02] [-2.71484114e-01 9.62258354e-01 -1.88476794e-02 -9.87228493e+01] [-5.92009442e-02 2.84999299e-03 9.98242018e-01 -4.12140869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.140714057 meters 0.03248015064830268 Centerline is valid? [True, True] Translation: X:643.08, Y:-98.73, Z:-41.22 [[ 9.60838828e-01 2.71069619e-01 5.75326797e-02 6.43078933e+02] [-2.70398989e-01 9.62555148e-01 -1.92865969e-02 -9.87334517e+01] [-6.06063875e-02 2.97453275e-03 9.98157311e-01 -4.12150268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.1707140569999 meters 0.03364413959356372 Centerline is valid? [True, True] Translation: X:643.10, Y:-98.74, Z:-41.22 [[ 9.61018007e-01 2.70276603e-01 5.82661830e-02 6.43104825e+02] [-2.69588249e-01 9.62777890e-01 -1.95169109e-02 -9.87445607e+01] [-6.13723572e-02 3.04822456e-03 9.98110286e-01 -4.12158224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.2007140569999 meters 0.03409104677972113 Centerline is valid? [True, True] Translation: X:643.13, Y:-98.75, Z:-41.22 [[ 9.61523677e-01 2.68176151e-01 5.96135075e-02 6.43132545e+02] [-2.67451885e-01 9.63364409e-01 -1.99625774e-02 -9.87548925e+01] [-6.27830186e-02 3.25074588e-03 9.98021906e-01 -4.12175400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.2307140569999 meters 0.03359560733914688 Centerline is valid? [True, True] Translation: X:643.16, Y:-98.76, Z:-41.22 [[ 9.61974906e-01 2.66436059e-01 6.01340766e-02 6.43159636e+02] [-2.65695913e-01 9.63846633e-01 -2.01332969e-02 -9.87636424e+01] [-6.33242635e-02 3.39034798e-03 9.97987246e-01 -4.12202603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.260714057 meters 0.0342895160360615 Centerline is valid? [True, True] Translation: X:643.19, Y:-98.77, Z:-41.22 [[ 9.62331342e-01 2.65214728e-01 5.98292250e-02 6.43185925e+02] [-2.64480764e-01 9.64183247e-01 -2.00147888e-02 -9.87743720e+01] [-6.29945532e-02 3.43717938e-03 9.98007952e-01 -4.12222008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.290714057 meters 0.03543414980466253 Centerline is valid? [True, True] Translation: X:643.21, Y:-98.79, Z:-41.23 [[ 9.63094307e-01 2.62328519e-01 6.02752342e-02 6.43213209e+02] [-2.61578899e-01 9.64971767e-01 -2.01486597e-02 -9.87874135e+01] [-6.34494673e-02 3.63833001e-03 9.97978420e-01 -4.12250055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.3207140569999 meters 0.03664509168220547 Centerline is valid? [True, True] Translation: X:643.24, Y:-98.80, Z:-41.23 [[ 9.63436906e-01 2.61008527e-01 6.05299611e-02 6.43238857e+02] [-2.60250060e-01 9.65329252e-01 -2.02321815e-02 -9.87988341e+01] [-6.37121140e-02 3.73950430e-03 9.97961313e-01 -4.12265761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.3507140569999 meters 0.03926380961187569 Centerline is valid? [True, True] Translation: X:643.26, Y:-98.81, Z:-41.23 [[ 9.63741254e-01 2.59854625e-01 6.06495585e-02 6.43263905e+02] [-2.59091256e-01 9.65640202e-01 -2.02662664e-02 -9.88113668e+01] [-6.38319350e-02 3.81766674e-03 9.97953360e-01 -4.12276451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.380714057 meters 0.03511875050398354 Centerline is valid? [True, True] Translation: X:643.29, Y:-98.81, Z:-41.23 [[ 9.63984520e-01 2.58826136e-01 6.11790607e-02 6.43293197e+02] [-2.58047758e-01 9.65916001e-01 -2.04361098e-02 -9.88142492e+01] [-6.43832329e-02 3.91297404e-03 9.97917576e-01 -4.12299470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.410714057 meters 0.037246479588249795 Centerline is valid? [True, True] Translation: X:643.32, Y:-98.83, Z:-41.23 [[ 9.64125267e-01 2.58486914e-01 6.03902786e-02 6.43318132e+02] [-2.57728863e-01 9.66007011e-01 -2.01566018e-02 -9.88261474e+01] [-6.35476504e-02 3.86917127e-03 9.97971305e-01 -4.12311856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.4407140569999 meters 0.04018511338379581 Centerline is valid? [True, True] Translation: X:643.34, Y:-98.84, Z:-41.23 [[ 9.64103522e-01 2.58791179e-01 5.94266315e-02 6.43343186e+02] [-2.58058267e-01 9.65925900e-01 -1.98264336e-02 -9.88391674e+01] [-6.25326286e-02 3.77920090e-03 9.98035765e-01 -4.12330494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.4707140569999 meters 0.03997686523885852 Centerline is valid? [True, True] Translation: X:643.37, Y:-98.85, Z:-41.24 [[ 9.63910650e-01 2.59521238e-01 5.93715963e-02 6.43370370e+02] [-2.58791466e-01 9.65730228e-01 -1.98016188e-02 -9.88477336e+01] [-6.24758858e-02 3.72212884e-03 9.98039533e-01 -4.12352665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.500714057 meters 0.03569937535424483 Centerline is valid? [True, True] Translation: X:643.40, Y:-98.85, Z:-41.24 [[ 9.63478925e-01 2.61211472e-01 5.89654823e-02 6.43400604e+02] [-2.60495725e-01 9.65274985e-01 -1.96514902e-02 -9.88497071e+01] [-6.20510998e-02 3.57354058e-03 9.98066576e-01 -4.12379592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.530714057 meters 0.03917811176417126 Centerline is valid? [True, True] Translation: X:643.43, Y:-98.86, Z:-41.24 [[ 9.63216296e-01 2.62175048e-01 5.89797558e-02 6.43425571e+02] [-2.61461209e-01 9.65013968e-01 -1.96488776e-02 -9.88634935e+01] [-6.20677336e-02 3.50520082e-03 9.98065784e-01 -4.12385955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.5607140569999 meters 0.0337101190535961 Centerline is valid? [True, True] Translation: X:643.46, Y:-98.86, Z:-41.24 [[ 9.62983411e-01 2.63055108e-01 5.88639110e-02 6.43456302e+02] [-2.62346103e-01 9.64774693e-01 -1.96039539e-02 -9.88639065e+01] [-6.19473318e-02 3.43556477e-03 9.98073507e-01 -4.12405007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.5907140569999 meters 0.03532442779861338 Centerline is valid? [True, True] Translation: X:643.48, Y:-98.87, Z:-41.24 [[ 9.62715357e-01 2.63990798e-01 5.90592889e-02 6.43481500e+02] [-2.63279737e-01 9.64519303e-01 -1.96543843e-02 -9.88749997e+01] [-6.21524007e-02 3.37246355e-03 9.98060973e-01 -4.12414317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.620714057 meters 0.03232419438725907 Centerline is valid? [True, True] Translation: X:643.51, Y:-98.88, Z:-41.24 [[ 9.62484356e-01 2.64788983e-01 5.92508079e-02 6.43510645e+02] [-2.64075218e-01 9.64300646e-01 -1.97114789e-02 -9.88791578e+01] [-6.23549748e-02 3.32532003e-03 9.98048496e-01 -4.12434176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.650714057 meters 0.03178572975445705 Centerline is valid? [True, True] Translation: X:643.54, Y:-98.89, Z:-41.25 [[ 9.62259978e-01 2.65655521e-01 5.90159290e-02 6.43537911e+02] [-2.64950059e-01 9.64062573e-01 -1.96168510e-02 -9.88870615e+01] [-6.21063732e-02 3.24023666e-03 9.98064276e-01 -4.12454937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.6807140569999 meters 0.03362228247132466 Centerline is valid? [True, True] Translation: X:643.56, Y:-98.90, Z:-41.25 [[ 9.62115318e-01 2.66230283e-01 5.87839384e-02 6.43562768e+02] [-2.65532409e-01 9.63904225e-01 -1.95239728e-02 -9.88989403e+01] [-6.18599593e-02 3.17527248e-03 9.98079788e-01 -4.12469267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.7107140569999 meters 0.03200420576158923 Centerline is valid? [True, True] Translation: X:643.59, Y:-98.90, Z:-41.25 [[ 9.62269414e-01 2.65801572e-01 5.81987969e-02 6.43589936e+02] [-2.65117154e-01 9.64022567e-01 -1.93231632e-02 -9.89043888e+01] [-6.12410807e-02 3.16458955e-03 9.98117987e-01 -4.12489624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.740714057 meters 0.033194856537066095 Centerline is valid? [True, True] Translation: X:643.62, Y:-98.91, Z:-41.25 [[ 9.62503261e-01 2.65094386e-01 5.75537909e-02 6.43616186e+02] [-2.64424884e-01 9.64217300e-01 -1.90913489e-02 -9.89146520e+01] [-6.05553702e-02 3.15683112e-03 9.98159848e-01 -4.12508379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.770714057 meters 0.03400753184964832 Centerline is valid? [True, True] Translation: X:643.64, Y:-98.93, Z:-41.25 [[ 9.62670060e-01 2.64590104e-01 5.70826853e-02 6.43641728e+02] [-2.63930985e-01 9.64355801e-01 -1.89294739e-02 -9.89250500e+01] [-6.00565701e-02 3.15694846e-03 9.98189983e-01 -4.12526937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.8007140569999 meters 0.035337434202952926 Centerline is valid? [True, True] Translation: X:643.67, Y:-98.94, Z:-41.25 [[ 9.63101328e-01 2.63141081e-01 5.65031383e-02 6.43667884e+02] [-2.62493131e-01 9.64752027e-01 -1.87318428e-02 -9.89353471e+01] [-5.94406346e-02 3.20897700e-03 9.98226684e-01 -4.12548555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.8307140569999 meters 0.03995704442901395 Centerline is valid? [True, True] Translation: X:643.69, Y:-98.95, Z:-41.26 [[ 9.63957618e-01 2.59998395e-01 5.64495005e-02 6.43693122e+02] [-2.59346622e-01 9.65603082e-01 -1.87087547e-02 -9.89527001e+01] [-5.93720579e-02 3.39445938e-03 9.98230152e-01 -4.12562799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.860714057 meters 0.038021957060753064 Centerline is valid? [True, True] Translation: X:643.72, Y:-98.96, Z:-41.26 [[ 9.64433598e-01 2.58219396e-01 5.64851985e-02 6.43721791e+02] [-2.57563825e-01 9.66079944e-01 -1.87194767e-02 -9.89595349e+01] [-5.94029494e-02 3.50514852e-03 9.98227932e-01 -4.12580097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.890714057 meters 0.036086558485809474 Centerline is valid? [True, True] Translation: X:643.75, Y:-98.97, Z:-41.26 [[ 9.64958805e-01 2.56219267e-01 5.66232473e-02 6.43750330e+02] [-2.55557187e-01 9.66611853e-01 -1.87630233e-02 -9.89658007e+01] [-5.95401500e-02 3.63506678e-03 9.98219293e-01 -4.12594523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.9207140569999 meters 0.03678924424727726 Centerline is valid? [True, True] Translation: X:643.78, Y:-98.98, Z:-41.26 [[ 9.65380127e-01 2.54706557e-01 5.62652731e-02 6.43777504e+02] [-2.54050473e-01 9.67011308e-01 -1.86410315e-02 -9.89766799e+01] [-5.91571482e-02 3.70146208e-03 9.98241820e-01 -4.12609840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.9507140569999 meters 0.0372149101950409 Centerline is valid? [True, True] Translation: X:643.80, Y:-98.99, Z:-41.26 [[ 9.65745406e-01 2.53401566e-01 5.58878954e-02 6.43804017e+02] [-2.52752354e-01 9.67353902e-01 -1.85115110e-02 -9.89863411e+01] [-5.87542195e-02 3.75160955e-03 9.98265429e-01 -4.12625892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.9807140569999 meters 0.039070157992379805 Centerline is valid? [True, True] Translation: X:643.83, Y:-99.00, Z:-41.27 [[ 9.66349263e-01 2.51390257e-01 5.45164301e-02 6.43829702e+02] [-2.50769669e-01 9.67878453e-01 -1.80519595e-02 -9.89983903e+01] [-5.73033647e-02 3.77343062e-03 9.98349681e-01 -4.12650543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.010714057 meters 0.0395994874763143 Centerline is valid? [True, True] Translation: X:643.86, Y:-99.01, Z:-41.27 [[ 9.66515976e-01 2.50811117e-01 5.42277739e-02 6.43856721e+02] [-2.50196420e-01 9.68028651e-01 -1.79522503e-02 -9.90087538e+01] [-5.69966628e-02 3.78354185e-03 9.98367200e-01 -4.12666882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.040714057 meters 0.04054351547219063 Centerline is valid? [True, True] Translation: X:643.88, Y:-99.02, Z:-41.27 [[ 9.66878215e-01 2.49527751e-01 5.36881612e-02 6.43884536e+02] [-2.48924108e-01 9.68360167e-01 -1.77588156e-02 -9.90199042e+01] [-5.64207941e-02 3.80633435e-03 9.98399823e-01 -4.12683240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.0707140569999 meters 0.038425007571760254 Centerline is valid? [True, True] Translation: X:643.91, Y:-99.03, Z:-41.27 [[ 9.67086421e-01 2.48833423e-01 5.31580938e-02 6.43912862e+02] [-2.48240700e-01 9.68538813e-01 -1.75818707e-02 -9.90257402e+01] [-5.58606341e-02 3.80718605e-03 9.98431317e-01 -4.12698275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.1007140569999 meters 0.042529093393066694 Centerline is valid? [True, True] Translation: X:643.94, Y:-99.04, Z:-41.27 [[ 9.67209377e-01 2.48256996e-01 5.36142232e-02 6.43937512e+02] [-2.47654032e-01 9.68686520e-01 -1.77173929e-02 -9.90403768e+01] [-5.63338421e-02 3.85865001e-03 9.98404532e-01 -4.12710138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.130714057 meters 0.042529093393066694 Centerline is valid? [True, True] Translation: X:643.96, Y:-99.05, Z:-41.27 [[ 9.67277398e-01 2.47991512e-01 5.36157225e-02 6.43963585e+02] [-2.47388393e-01 9.68754478e-01 -1.77128548e-02 -9.90488965e+01] [-5.63331089e-02 3.86933669e-03 9.98404532e-01 -4.12726046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.160714057 meters 0.04235430506521388 Centerline is valid? [True, True] Translation: X:643.99, Y:-99.06, Z:-41.27 [[ 9.67296404e-01 2.47836478e-01 5.39883933e-02 6.43990257e+02] [-2.47225636e-01 9.68794072e-01 -1.78194132e-02 -9.90575072e+01] [-5.67199360e-02 3.88933938e-03 9.98382553e-01 -4.12737448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.1907140569999 meters 0.03859293287244762 Centerline is valid? [True, True] Translation: X:644.02, Y:-99.06, Z:-41.27 [[ 9.66856266e-01 2.49537516e-01 5.40369224e-02 6.44020322e+02] [-2.48929167e-01 9.68357767e-01 -1.78186850e-02 -9.90609486e+01] [-5.67735039e-02 3.77674114e-03 9.98379940e-01 -4.12740904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.2207140569999 meters 0.03791198811685008 Centerline is valid? [True, True] Translation: X:644.05, Y:-99.07, Z:-41.28 [[ 9.66408278e-01 2.51338384e-01 5.37034124e-02 6.44048995e+02] [-2.50740411e-01 9.67892413e-01 -1.77066056e-02 -9.90679135e+01] [-5.64294750e-02 3.64619452e-03 9.98399930e-01 -4.12756479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.250714057 meters 0.03774022240403225 Centerline is valid? [True, True] Translation: X:644.08, Y:-99.08, Z:-41.28 [[ 9.65788433e-01 2.53712463e-01 5.36906762e-02 6.44076965e+02] [-2.53118542e-01 9.67273335e-01 -1.77002793e-02 -9.90768618e+01] [-5.64243409e-02 3.50461926e-03 9.98400727e-01 -4.12768839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.280714057 meters 0.03674398543605823 Centerline is valid? [True, True] Translation: X:644.11, Y:-99.08, Z:-41.28 [[ 9.65123671e-01 2.56281229e-01 5.34437298e-02 6.44105744e+02] [-2.55696799e-01 9.66596501e-01 -1.76167784e-02 -9.90837310e+01] [-5.61733718e-02 3.33697924e-03 9.98415453e-01 -4.12790829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.3107140569999 meters 0.03398560686372364 Centerline is valid? [True, True] Translation: X:644.14, Y:-99.09, Z:-41.28 [[ 9.63654251e-01 2.61968485e-01 5.23736298e-02 6.44135627e+02] [-2.61415711e-01 9.65071940e-01 -1.72620020e-02 -9.90876416e+01] [-5.50664211e-02 2.94331198e-03 9.98478355e-01 -4.12807938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.3407140569999 meters 0.03314973340900471 Centerline is valid? [True, True] Translation: X:644.16, Y:-99.10, Z:-41.28 [[ 9.62758068e-01 2.65298843e-01 5.20905568e-02 6.44164781e+02] [-2.64756962e-01 9.64162349e-01 -1.71673041e-02 -9.90950488e+01] [-5.47782195e-02 2.73662300e-03 9.98494796e-01 -4.12828177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.370714057 meters 0.03090717234822161 Centerline is valid? [True, True] Translation: X:644.19, Y:-99.10, Z:-41.28 [[ 9.61845022e-01 2.68609811e-01 5.19896336e-02 6.44194449e+02] [-2.68074898e-01 9.63245714e-01 -1.71330915e-02 -9.90997457e+01] [-5.46809082e-02 2.54226304e-03 9.98500644e-01 -4.12840515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.400714057 meters 0.02880265942749503 Centerline is valid? [True, True] Translation: X:644.22, Y:-99.11, Z:-41.29 [[ 9.59509503e-01 2.76835933e-01 5.19940355e-02 6.44223692e+02] [-2.76313060e-01 9.60914966e-01 -1.71324313e-02 -9.91050402e+01] [-5.47047195e-02 2.07209959e-03 9.98500426e-01 -4.12854951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.4307140569999 meters 0.027682121553526937 Centerline is valid? [True, True] Translation: X:644.25, Y:-99.11, Z:-41.29 [[ 9.58105404e-01 2.81561746e-01 5.25073148e-02 6.44252622e+02] [-2.81035647e-01 9.59541388e-01 -1.72999872e-02 -9.91117024e+01] [-5.52539563e-02 1.81878403e-03 9.98470677e-01 -4.12873057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.4607140569999 meters 0.026644564786306713 Centerline is valid? [True, True] Translation: X:644.28, Y:-99.12, Z:-41.29 [[ 9.56709835e-01 2.86297971e-01 5.23427539e-02 6.44282027e+02] [-2.85782350e-01 9.58139397e-01 -1.72436532e-02 -9.91190388e+01] [-5.50884776e-02 1.53853742e-03 9.98480292e-01 -4.12891062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.490714057 meters 0.02571698024291442 Centerline is valid? [True, True] Translation: X:644.31, Y:-99.13, Z:-41.29 [[ 9.55306295e-01 2.90935650e-01 5.24054437e-02 6.44309827e+02] [-2.90425802e-01 9.56741778e-01 -1.72633751e-02 -9.91266562e+01] [-5.51610086e-02 1.27191793e-03 9.98476662e-01 -4.12904540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.520714057 meters 0.02433891186201633 Centerline is valid? [True, True] Translation: X:644.34, Y:-99.13, Z:-41.29 [[ 9.52712019e-01 2.99225444e-01 5.29522622e-02 6.44339305e+02] [-2.98717824e-01 9.54182109e-01 -1.74403081e-02 -9.91323155e+01] [-5.57446851e-02 7.97806620e-04 9.98444737e-01 -4.12927134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.5507140569999 meters 0.02388704399062325 Centerline is valid? [True, True] Translation: X:644.37, Y:-99.14, Z:-41.29 [[ 9.51637230e-01 3.02642169e-01 5.28611469e-02 6.44366881e+02] [-3.02141584e-01 9.53104067e-01 -1.74097926e-02 -9.91411964e+01] [-5.56511115e-02 5.96256077e-04 9.98450098e-01 -4.12947716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.5807140569999 meters 0.02334124613680585 Centerline is valid? [True, True] Translation: X:644.39, Y:-99.15, Z:-41.30 [[ 9.50680187e-01 3.05506280e-01 5.36012563e-02 6.44393986e+02] [-3.04996946e-01 9.52189968e-01 -1.76387885e-02 -9.91505270e+01] [-5.64273392e-02 4.20627248e-04 9.98406620e-01 -4.12965274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.610714057 meters 0.023257537594045096 Centerline is valid? [True, True] Translation: X:644.42, Y:-99.16, Z:-41.30 [[ 9.49192802e-01 3.09979479e-01 5.42747337e-02 6.44419319e+02] [-3.09465406e-01 9.50743237e-01 -1.78454675e-02 -9.91618748e+01] [-5.71330647e-02 1.42636817e-04 9.98366562e-01 -4.12987223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.640714057 meters 0.02347907666242728 Centerline is valid? [True, True] Translation: X:644.45, Y:-99.17, Z:-41.30 [[ 9.48703067e-01 3.11413269e-01 5.46284395e-02 6.44445210e+02] [-3.10895139e-01 9.50274578e-01 -1.79565919e-02 -9.91726475e+01] [-5.75039383e-02 5.17574712e-05 9.98345278e-01 -4.13001546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.6707140569999 meters 0.023305669401782723 Centerline is valid? [True, True] Translation: X:644.47, Y:-99.18, Z:-41.30 [[ 9.48359992e-01 3.12357128e-01 5.51937434e-02 6.44470107e+02] [-3.11830832e-01 9.49964749e-01 -1.81248005e-02 -9.91837336e+01] [-5.80935212e-02 -2.22752930e-05 9.98311145e-01 -4.13019356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.7007140569999 meters 0.02373955114644095 Centerline is valid? [True, True] Translation: X:644.49, Y:-99.20, Z:-41.30 [[ 9.47881863e-01 3.13767766e-01 5.54054399e-02 6.44493524e+02] [-3.13240522e-01 9.49499750e-01 -1.81824254e-02 -9.91987131e+01] [-5.83125103e-02 -1.20437732e-04 9.98298371e-01 -4.13037385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.7307140569999 meters 0.02363077904223222 Centerline is valid? [True, True] Translation: X:644.52, Y:-99.21, Z:-41.31 [[ 9.47764555e-01 3.14041427e-01 5.58599207e-02 6.44518594e+02] [-3.13506401e-01 9.49409269e-01 -1.83241784e-02 -9.92115659e+01] [-5.87884777e-02 -1.45435921e-04 9.98270451e-01 -4.13053691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.760714057 meters 0.023706180727148106 Centerline is valid? [True, True] Translation: X:644.54, Y:-99.22, Z:-41.31 [[ 9.47650024e-01 3.14414409e-01 5.57046792e-02 6.44544042e+02] [-3.13883949e-01 9.49285808e-01 -1.82570817e-02 -9.92245046e+01] [-5.86199510e-02 -1.83480821e-04 9.98280355e-01 -4.13072337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.790714057 meters 0.024074322975655087 Centerline is valid? [True, True] Translation: X:644.57, Y:-99.24, Z:-41.31 [[ 9.47504583e-01 3.14843366e-01 5.57558945e-02 6.44568708e+02] [-3.14313619e-01 9.49143616e-01 -1.82577451e-02 -9.92373359e+01] [-5.86686812e-02 -2.25539839e-04 9.98277484e-01 -4.13091010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.8207140569999 meters 0.024372508045486456 Centerline is valid? [True, True] Translation: X:644.59, Y:-99.25, Z:-41.31 [[ 9.47431762e-01 3.14941826e-01 5.64331641e-02 6.44593851e+02] [-3.14400273e-01 9.49110944e-01 -1.84630672e-02 -9.92515897e+01] [-5.93761257e-02 -2.50105929e-04 9.98235650e-01 -4.13110497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.8507140569999 meters 0.0243912723007971 Centerline is valid? [True, True] Translation: X:644.62, Y:-99.27, Z:-41.31 [[ 9.46923340e-01 3.16140952e-01 5.82330425e-02 6.44617650e+02] [-3.15567685e-01 9.48712166e-01 -1.90331909e-02 -9.92712135e+01] [-6.12635670e-02 -3.53493754e-04 9.98121561e-01 -4.13116067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.880714057 meters 0.024486036170280355 Centerline is valid? [True, True] Translation: X:644.64, Y:-99.29, Z:-41.31 [[ 9.46880717e-01 3.16174049e-01 5.87441786e-02 6.44641731e+02] [-3.15591717e-01 9.48701128e-01 -1.91842938e-02 -9.92853003e+01] [-6.17962444e-02 -3.73938354e-04 9.98088716e-01 -4.13124790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.910714057 meters 0.024619812525628514 Centerline is valid? [True, True] Translation: X:644.66, Y:-99.31, Z:-41.31 [[ 9.46528392e-01 3.16960446e-01 6.01670904e-02 6.44664551e+02] [-3.16351645e-01 9.48438653e-01 -1.96407176e-02 -9.93061036e+01] [-6.32901248e-02 -4.43461174e-04 9.97995072e-01 -4.13131869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.9407140569999 meters 0.02452216194899674 Centerline is valid? [True, True] Translation: X:644.69, Y:-99.32, Z:-41.32 [[ 9.46602214e-01 3.16687022e-01 6.04448413e-02 6.44688686e+02] [-3.16072474e-01 9.48529990e-01 -1.97243304e-02 -9.93211932e+01] [-6.35801841e-02 -4.33855748e-04 9.97976639e-01 -4.13153377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.9707140569999 meters 0.024927054642424465 Centerline is valid? [True, True] Translation: X:644.71, Y:-99.34, Z:-41.32 [[ 9.46550037e-01 3.16894013e-01 6.01765090e-02 6.44712801e+02] [-3.16286530e-01 9.48460842e-01 -1.96178841e-02 -9.93357158e+01] [-6.32918524e-02 -4.63710342e-04 9.97994953e-01 -4.13174357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.000714057 meters 0.025187446324393556 Centerline is valid? [True, True] Translation: X:644.74, Y:-99.35, Z:-41.32 [[ 9.46489482e-01 3.17020310e-01 6.04630786e-02 6.44736919e+02] [-3.16408491e-01 9.48418621e-01 -1.96922825e-02 -9.93503437e+01] [-6.35871631e-02 -4.92493220e-04 9.97976167e-01 -4.13194470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.030714057 meters 0.025358492112681003 Centerline is valid? [True, True] Translation: X:644.76, Y:-99.37, Z:-41.32 [[ 9.46084501e-01 3.18423983e-01 5.94161959e-02 6.44760173e+02] [-3.17837090e-01 9.47948213e-01 -1.93331344e-02 -9.93721253e+01] [-6.24796104e-02 -5.93892007e-04 9.98046064e-01 -4.13222961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.0607140569999 meters 0.02538782071334223 Centerline is valid? [True, True] Translation: X:644.78, Y:-99.39, Z:-41.32 [[ 9.45734063e-01 3.19600583e-01 5.86732428e-02 6.44784129e+02] [-3.19031502e-01 9.47552113e-01 -1.90759793e-02 -9.93874499e+01] [-6.16926493e-02 -6.77809329e-04 9.98094964e-01 -4.13239048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.0907140569999 meters 0.025528977347271244 Centerline is valid? [True, True] Translation: X:644.81, Y:-99.40, Z:-41.33 [[ 9.45401616e-01 3.20598512e-01 5.85865064e-02 6.44809391e+02] [-3.20033419e-01 9.47214883e-01 -1.90414319e-02 -9.94031732e+01] [-6.15986656e-02 -7.47839440e-04 9.98100719e-01 -4.13256589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.120714057 meters 0.025488435461782727 Centerline is valid? [True, True] Translation: X:644.83, Y:-99.42, Z:-41.33 [[ 9.45004908e-01 3.21924157e-01 5.77110058e-02 6.44834739e+02] [-3.21379252e-01 9.46765091e-01 -1.87413711e-02 -9.94191370e+01] [-6.06720658e-02 -8.36432268e-04 9.98157403e-01 -4.13267556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.150714057 meters 0.025135433356331508 Centerline is valid? [True, True] Translation: X:644.86, Y:-99.44, Z:-41.33 [[ 9.44407451e-01 3.23752028e-01 5.72642218e-02 6.44857122e+02] [-3.23219818e-01 9.46141481e-01 -1.85808597e-02 -9.94423971e+01] [-6.01956466e-02 -9.61029004e-04 9.98186135e-01 -4.13269217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.1807140569999 meters 0.024657728756073062 Centerline is valid? [True, True] Translation: X:644.88, Y:-99.46, Z:-41.33 [[ 9.44195995e-01 3.24272794e-01 5.78020678e-02 6.44882224e+02] [-3.23732466e-01 9.45963064e-01 -1.87396080e-02 -9.94587308e+01] [-6.07553662e-02 -1.01854312e-03 9.98152167e-01 -4.13276844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.2107140569999 meters 0.02417427538531301 Centerline is valid? [True, True] Translation: X:644.91, Y:-99.48, Z:-41.33 [[ 9.44148477e-01 3.24502036e-01 5.72894625e-02 6.44905897e+02] [-3.23972607e-01 9.45884427e-01 -1.85580313e-02 -9.94750511e+01] [-6.02113293e-02 -1.03867951e-03 9.98185112e-01 -4.13279210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.240714057 meters 0.02294574224437832 Centerline is valid? [True, True] Translation: X:644.93, Y:-99.50, Z:-41.33 [[ 9.44395467e-01 3.23726160e-01 5.76070816e-02 6.44927081e+02] [-3.23190473e-01 9.46150279e-01 -1.86431761e-02 -9.95008462e+01] [-6.05402401e-02 -1.01152898e-03 9.98165245e-01 -4.13277976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.270714057 meters 0.02215802553593453 Centerline is valid? [True, True] Translation: X:644.95, Y:-99.52, Z:-41.33 [[ 9.44790383e-01 3.22591059e-01 5.74990564e-02 6.44951473e+02] [-3.22056342e-01 9.46537954e-01 -1.85906853e-02 -9.95188776e+01] [-6.04222281e-02 -9.53635083e-04 9.98172453e-01 -4.13281070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.3007140569999 meters 0.021799239582352744 Centerline is valid? [True, True] Translation: X:644.98, Y:-99.54, Z:-41.33 [[ 9.45428944e-01 3.20719964e-01 5.74701426e-02 6.44975406e+02] [-3.20183269e-01 9.47173683e-01 -1.85657972e-02 -9.95366524e+01] [-6.03886284e-02 -8.48336120e-04 9.98174581e-01 -4.13290336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.3307140569999 meters 0.020730375929745335 Centerline is valid? [True, True] Translation: X:645.00, Y:-99.55, Z:-41.33 [[ 9.46107575e-01 3.18746202e-01 5.72827694e-02 6.44999067e+02] [-3.18210294e-01 9.47839818e-01 -1.84902392e-02 -9.95541770e+01] [-6.01885832e-02 -7.34211539e-04 9.98186754e-01 -4.13289868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.360714057 meters 0.018776170535580065 Centerline is valid? [True, True] Translation: X:645.02, Y:-99.58, Z:-41.33 [[ 9.47670305e-01 3.14097667e-01 5.71283461e-02 6.45020550e+02] [-3.13556669e-01 9.49390572e-01 -1.84325151e-02 -9.95823224e+01] [-6.00267232e-02 -4.45026689e-04 9.98196671e-01 -4.13300111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.390714057 meters 0.01823106842110368 Centerline is valid? [True, True] Translation: X:645.04, Y:-99.60, Z:-41.33 [[ 9.48453736e-01 3.11878928e-01 5.62765071e-02 6.45044338e+02] [-3.11350312e-01 9.50121804e-01 -1.81532771e-02 -9.95987665e+01] [-5.91311611e-02 -3.04164518e-04 9.98250176e-01 -4.13307256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.4207140569999 meters 0.017333571976635688 Centerline is valid? [True, True] Translation: X:645.07, Y:-99.62, Z:-41.33 [[ 9.49202415e-01 3.09700228e-01 5.56825251e-02 6.45068983e+02] [-3.09179288e-01 9.50834233e-01 -1.79563073e-02 -9.96160165e+01] [-5.85059236e-02 -1.71713209e-04 9.98287047e-01 -4.13323225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.4507140569999 meters 0.016945074020099624 Centerline is valid? [True, True] Translation: X:645.09, Y:-99.63, Z:-41.33 [[ 9.49897947e-01 3.07604610e-01 5.54373035e-02 6.45092525e+02] [-3.07084939e-01 9.51514268e-01 -1.78728363e-02 -9.96320320e+01] [-5.82471521e-02 -4.65904610e-05 9.98302192e-01 -4.13332266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.4807140569999 meters 0.016391472094999963 Centerline is valid? [True, True] Translation: X:645.12, Y:-99.66, Z:-41.33 [[ 9.51238619e-01 3.03290942e-01 5.62111524e-02 6.45115158e+02] [-3.02749572e-01 9.52897979e-01 -1.81145652e-02 -9.96561899e+01] [-5.90574771e-02 2.13371679e-04 9.98254561e-01 -4.13330198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.510714057 meters 0.016190935744196985 Centerline is valid? [True, True] Translation: X:645.14, Y:-99.67, Z:-41.33 [[ 9.52013090e-01 3.00743562e-01 5.67836865e-02 6.45139875e+02] [-3.00186833e-01 9.53704971e-01 -1.82946155e-02 -9.96723464e+01] [-5.96568719e-02 3.70998360e-04 9.98218874e-01 -4.13334148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.540714057 meters 0.016185836180133757 Centerline is valid? [True, True] Translation: X:645.17, Y:-99.69, Z:-41.33 [[ 9.52738211e-01 2.98321433e-01 5.73953360e-02 6.45165152e+02] [-2.97748513e-01 9.54465320e-01 -1.84871528e-02 -9.96886289e+01] [-6.02969717e-02 5.24040859e-04 9.98180345e-01 -4.13342912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.5707140569999 meters 0.01633272982808626 Centerline is valid? [True, True] Translation: X:645.19, Y:-99.71, Z:-41.34 [[ 9.54424425e-01 2.92902264e-01 5.72911916e-02 6.45189960e+02] [-2.92321914e-01 9.56141999e-01 -1.84492971e-02 -9.97110408e+01] [-6.01823554e-02 8.60989019e-04 9.98187028e-01 -4.13356072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.6007140569999 meters 0.01677249599280372 Centerline is valid? [True, True] Translation: X:645.22, Y:-99.73, Z:-41.34 [[ 9.55240005e-01 2.90310624e-01 5.68882653e-02 6.45218481e+02] [-2.89733791e-01 9.56931923e-01 -1.83200475e-02 -9.97264928e+01] [-5.97567016e-02 1.01758948e-03 9.98212453e-01 -4.13377634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.630714057 meters 0.017342115258282494 Centerline is valid? [True, True] Translation: X:645.25, Y:-99.74, Z:-41.34 [[ 9.56078803e-01 2.87623684e-01 5.64441190e-02 6.45246504e+02] [-2.87050235e-01 9.57742762e-01 -1.81924407e-02 -9.97421782e+01] [-5.92915232e-02 1.19110930e-03 9.98239999e-01 -4.13402028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.660714057 meters 0.01831904939087508 Centerline is valid? [True, True] Translation: X:645.27, Y:-99.76, Z:-41.34 [[ 9.57891743e-01 2.81709423e-01 5.55266553e-02 6.45272976e+02] [-2.81143735e-01 9.59498521e-01 -1.79105491e-02 -9.97625104e+01] [-5.83233142e-02 1.54539580e-03 9.98296551e-01 -4.13429593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.6907140569999 meters 0.01909869126185618 Centerline is valid? [True, True] Translation: X:645.30, Y:-99.78, Z:-41.35 [[ 9.58693774e-01 2.78904022e-01 5.58461687e-02 6.45302113e+02] [-2.78326912e-01 9.60317427e-01 -1.80158353e-02 -9.97778950e+01] [-5.86547380e-02 1.72817742e-03 9.98276833e-01 -4.13450876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.7207140569999 meters 0.019202611267589598 Centerline is valid? [True, True] Translation: X:645.33, Y:-99.79, Z:-41.35 [[ 9.59414368e-01 2.76494476e-01 5.54515626e-02 6.45331782e+02] [-2.75921232e-01 9.61013695e-01 -1.78928114e-02 -9.97912912e+01] [-5.82369746e-02 1.86635693e-03 9.98301043e-01 -4.13469521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.750714057 meters 0.020666373671505714 Centerline is valid? [True, True] Translation: X:645.36, Y:-99.81, Z:-41.35 [[ 9.60585684e-01 2.72331661e-01 5.57728451e-02 6.45358032e+02] [-2.71744477e-01 9.62201074e-01 -1.80009218e-02 -9.98076861e+01] [-5.85669123e-02 2.13546515e-03 9.98281201e-01 -4.13478912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.780714057 meters 0.022304245892220808 Centerline is valid? [True, True] Translation: X:645.39, Y:-99.82, Z:-41.35 [[ 9.60871175e-01 2.71142562e-01 5.66418227e-02 6.45386537e+02] [-2.70534525e-01 9.62536575e-01 -1.82869450e-02 -9.98213737e+01] [-5.94781952e-02 2.24782974e-03 9.98227074e-01 -4.13488390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.8107140569999 meters 0.02201067353459697 Centerline is valid? [True, True] Translation: X:645.42, Y:-99.83, Z:-41.35 [[ 9.61012217e-01 2.70544033e-01 5.71090637e-02 6.45416842e+02] [-2.69923931e-01 9.62704809e-01 -1.84532222e-02 -9.98317337e+01] [-5.99715794e-02 2.31866900e-03 9.98197392e-01 -4.13494351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.8407140569999 meters 0.02259337718409697 Centerline is valid? [True, True] Translation: X:645.45, Y:-99.84, Z:-41.35 [[ 9.61091261e-01 2.70165080e-01 5.75709823e-02 6.45446613e+02] [-2.69533286e-01 9.62811084e-01 -1.86178373e-02 -9.98424497e+01] [-6.04598694e-02 2.37614472e-03 9.98167801e-01 -4.13506812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.870714057 meters 0.021222450501054566 Centerline is valid? [True, True] Translation: X:645.48, Y:-99.85, Z:-41.35 [[ 9.60848177e-01 2.70898115e-01 5.81806807e-02 6.45477974e+02] [-2.70253642e-01 9.62605124e-01 -1.88240256e-02 -9.98497496e+01] [-6.11044144e-02 2.36348983e-03 9.98128581e-01 -4.13519819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.900714057 meters 0.02280935645887574 Centerline is valid? [True, True] Translation: X:645.51, Y:-99.86, Z:-41.35 [[ 9.60605694e-01 2.71761405e-01 5.81587458e-02 6.45507068e+02] [-2.71118031e-01 9.62361856e-01 -1.88326992e-02 -9.98613917e+01] [-6.10877593e-02 2.32291340e-03 9.98129696e-01 -4.13536324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.9307140569999 meters 0.02244959893676509 Centerline is valid? [True, True] Translation: X:645.54, Y:-99.87, Z:-41.36 [[ 9.60182793e-01 2.73174215e-01 5.85222434e-02 6.45538222e+02] [-2.72524476e-01 9.61961920e-01 -1.89650956e-02 -9.98702794e+01] [-6.14769447e-02 2.26121476e-03 9.98105942e-01 -4.13557888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.9607140569999 meters 0.022812002209875767 Centerline is valid? [True, True] Translation: X:645.57, Y:-99.88, Z:-41.36 [[ 9.59912534e-01 2.74081583e-01 5.87129678e-02 6.45567803e+02] [-2.73428338e-01 9.61703870e-01 -1.90423075e-02 -9.98798399e+01] [-6.16836342e-02 2.22516040e-03 9.98093271e-01 -4.13574197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.990714057 meters 0.021314408722254204 Centerline is valid? [True, True] Translation: X:645.60, Y:-99.88, Z:-41.36 [[ 9.59398791e-01 2.75751884e-01 5.92862425e-02 6.45599636e+02] [-2.75088072e-01 9.61226438e-01 -1.92428747e-02 -9.98848341e+01] [-6.22937626e-02 2.15265262e-03 9.98055536e-01 -4.13599178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.020714057 meters 0.021314408722254204 Centerline is valid? [True, True] Translation: X:645.63, Y:-99.89, Z:-41.36 [[ 9.59324862e-01 2.76009961e-01 5.92816200e-02 6.45630503e+02] [-2.75345762e-01 9.61152368e-01 -1.92571051e-02 -9.98949324e+01] [-6.22938223e-02 2.15087687e-03 9.98055536e-01 -4.13618000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.0507140569999 meters 0.01968794205441401 Centerline is valid? [True, True] Translation: X:645.66, Y:-99.90, Z:-41.36 [[ 9.58940495e-01 2.77366995e-01 5.91665190e-02 6.45662308e+02] [-2.76706866e-01 9.60761803e-01 -1.92371394e-02 -9.99010738e+01] [-6.21806791e-02 2.07548993e-03 9.98062751e-01 -4.13645041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.0807140569999 meters 0.019616237615208126 Centerline is valid? [True, True] Translation: X:645.69, Y:-99.91, Z:-41.37 [[ 9.58601125e-01 2.78684986e-01 5.84684693e-02 6.45693430e+02] [-2.78041847e-01 9.60380525e-01 -1.90257363e-02 -9.99096989e+01] [-6.14541663e-02 1.98141104e-03 9.98107940e-01 -4.13664191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.110714057 meters 0.018665804104267696 Centerline is valid? [True, True] Translation: X:645.73, Y:-99.92, Z:-41.37 [[ 9.57993885e-01 2.80913818e-01 5.77506939e-02 6.45725336e+02] [-2.80289491e-01 9.59731252e-01 -1.88076096e-02 -9.99154258e+01] [-6.07084631e-02 1.83066246e-03 9.98153861e-01 -4.13694597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.140714057 meters 0.017984683183051717 Centerline is valid? [True, True] Translation: X:645.76, Y:-99.92, Z:-41.37 [[ 9.57722789e-01 2.81920236e-01 5.73414355e-02 6.45756480e+02] [-2.81305591e-01 9.59436215e-01 -1.86899681e-02 -9.99228820e+01] [-6.02845301e-02 1.76934200e-03 9.98179666e-01 -4.13720129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.1707140569999 meters 0.02153910211709346 Centerline is valid? [True, True] Translation: X:645.78, Y:-99.94, Z:-41.37 [[ 9.57582687e-01 2.82518243e-01 5.67348267e-02 6.45784199e+02] [-2.81916662e-01 9.59260369e-01 -1.85078468e-02 -9.99372483e+01] [-5.96522751e-02 1.72830066e-03 9.98217721e-01 -4.13738257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.2007140569999 meters 0.02093441988112441 Centerline is valid? [True, True] Translation: X:645.82, Y:-99.95, Z:-41.38 [[ 9.57458164e-01 2.82996285e-01 5.64532303e-02 6.45816175e+02] [-2.82400633e-01 9.59119491e-01 -1.84305139e-02 -9.99451086e+01] [-5.93611605e-02 1.70401801e-03 9.98235117e-01 -4.13762722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.2307140569999 meters 0.01974199795759869 Centerline is valid? [True, True] Translation: X:645.85, Y:-99.95, Z:-41.38 [[ 9.57641452e-01 2.82431450e-01 5.61722761e-02 6.45847720e+02] [-2.81839790e-01 9.59285895e-01 -1.83549759e-02 -9.99513814e+01] [-5.90692946e-02 1.74590329e-03 9.98252358e-01 -4.13788535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.260714057 meters 0.020203631221140966 Centerline is valid? [True, True] Translation: X:645.88, Y:-99.96, Z:-41.38 [[ 9.57955170e-01 2.81389091e-01 5.60541887e-02 6.45878324e+02] [-2.80797254e-01 9.59592030e-01 -1.83313245e-02 -9.99619741e+01] [-5.89473875e-02 1.82072482e-03 9.98259430e-01 -4.13803461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.290714057 meters 0.021484559550668383 Centerline is valid? [True, True] Translation: X:645.91, Y:-99.97, Z:-41.38 [[ 9.58804224e-01 2.78561545e-01 5.56590214e-02 6.45907693e+02] [-2.77972413e-01 9.60416309e-01 -1.82167627e-02 -9.99719233e+01] [-5.85303214e-02 1.99463649e-03 9.98283639e-01 -4.13829079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.3207140569999 meters 0.02053365130944165 Centerline is valid? [True, True] Translation: X:645.94, Y:-99.98, Z:-41.39 [[ 9.59166162e-01 2.77517885e-01 5.46268970e-02 6.45938712e+02] [-2.76947978e-01 9.60718321e-01 -1.78920574e-02 -9.99795776e+01] [-5.74464267e-02 2.03264734e-03 9.98346521e-01 -4.13852201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.3507140569999 meters 0.023490478144351828 Centerline is valid? [True, True] Translation: X:645.97, Y:-99.99, Z:-41.39 [[ 9.59427155e-01 2.76649103e-01 5.44500476e-02 6.45966487e+02] [-2.76080643e-01 9.60968728e-01 -1.78488602e-02 -9.99931858e+01] [-5.72626642e-02 2.09207699e-03 9.98356955e-01 -4.13870834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.380714057 meters 0.02201423525543181 Centerline is valid? [True, True] Translation: X:646.00, Y:-100.00, Z:-41.39 [[ 9.59593223e-01 2.76115178e-01 5.42333415e-02 6.45997532e+02] [-2.75549605e-01 9.61122197e-01 -1.77915200e-02 -1.00000294e+02] [-5.70373770e-02 2.12864621e-03 9.98369774e-01 -4.13883049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.410714057 meters 0.021727416803224594 Centerline is valid? [True, True] Translation: X:646.03, Y:-100.01, Z:-41.39 [[ 9.59875175e-01 2.74946185e-01 5.51746656e-02 6.46028580e+02] [-2.74358023e-01 9.61456984e-01 -1.81147229e-02 -1.00007924e+02] [-5.80286415e-02 2.25026064e-03 9.98312383e-01 -4.13888032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.4407140569999 meters 0.0227993757672341 Centerline is valid? [True, True] Translation: X:646.06, Y:-100.02, Z:-41.39 [[ 9.59955707e-01 2.74682614e-01 5.50863091e-02 6.46057956e+02] [-2.74095008e-01 9.61532254e-01 -1.81011510e-02 -1.00018735e+02] [-5.79393344e-02 2.27742085e-03 9.98317508e-01 -4.13898976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.4707140569999 meters 0.02472012987023446 Centerline is valid? [True, True] Translation: X:646.09, Y:-100.03, Z:-41.39 [[ 9.60278013e-01 2.73657589e-01 5.45679552e-02 6.46086991e+02] [-2.73078545e-01 9.61824356e-01 -1.79448138e-02 -1.00030032e+02] [-5.73955228e-02 2.33067228e-03 9.98348798e-01 -4.13908951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.500714057 meters 0.025886295677067 Centerline is valid? [True, True] Translation: X:646.12, Y:-100.04, Z:-41.39 [[ 9.60507180e-01 2.72897350e-01 5.43414579e-02 6.46116132e+02] [-2.72321104e-01 9.62040214e-01 -1.78841355e-02 -1.00041063e+02] [-5.71592010e-02 2.37951474e-03 9.98362241e-01 -4.13923662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.530714057 meters 0.025561569036186827 Centerline is valid? [True, True] Translation: X:646.15, Y:-100.05, Z:-41.39 [[ 9.60734190e-01 2.72082757e-01 5.44131296e-02 6.46147141e+02] [-2.71502916e-01 9.62270752e-01 -1.79211382e-02 -1.00050613e+02] [-5.72361958e-02 2.44412679e-03 9.98357673e-01 -4.13935086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.5607140569999 meters 0.027434994314804655 Centerline is valid? [True, True] Translation: X:646.18, Y:-100.06, Z:-41.39 [[ 9.61135738e-01 2.70580572e-01 5.48110099e-02 6.46175682e+02] [-2.69988920e-01 9.62693912e-01 -1.80669837e-02 -1.00062065e+02] [-5.76548003e-02 2.56645835e-03 9.98333280e-01 -4.13947438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.5907140569999 meters 0.025486822318773462 Centerline is valid? [True, True] Translation: X:646.21, Y:-100.07, Z:-41.40 [[ 9.61869940e-01 2.67828653e-01 5.54439432e-02 6.46206698e+02] [-2.67218251e-01 9.63462578e-01 -1.82829956e-02 -1.00066737e+02] [-5.83148745e-02 2.77023036e-03 9.98294396e-01 -4.13957680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.620714057 meters 0.026680139998037783 Centerline is valid? [True, True] Translation: X:646.24, Y:-100.08, Z:-41.40 [[ 9.62189229e-01 2.66725243e-01 5.52225706e-02 6.46235964e+02] [-2.66117834e-01 9.63768465e-01 -1.82111243e-02 -1.00077361e+02] [-5.80791386e-02 2.82683679e-03 9.98307980e-01 -4.13976560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.650714057 meters 0.027926454353838313 Centerline is valid? [True, True] Translation: X:646.27, Y:-100.09, Z:-41.40 [[ 9.62486021e-01 2.65830293e-01 5.43591247e-02 6.46265594e+02] [-2.65239886e-01 9.64015649e-01 -1.79340722e-02 -1.00087874e+02] [-5.71704666e-02 2.84308575e-03 9.98360383e-01 -4.14001005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.6807140569999 meters 0.027110122073189514 Centerline is valid? [True, True] Translation: X:646.30, Y:-100.10, Z:-41.40 [[ 9.62834668e-01 2.64762520e-01 5.33873621e-02 6.46296664e+02] [-2.64190676e-01 9.64309384e-01 -1.76266672e-02 -1.00095736e+02] [-5.61488151e-02 2.86712301e-03 9.98418294e-01 -4.14030971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.7107140569999 meters 0.03232357727020794 Centerline is valid? [True, True] Translation: X:646.32, Y:-100.11, Z:-41.41 [[ 9.63578886e-01 2.62352763e-01 5.18339535e-02 6.46323429e+02] [-2.61809464e-01 9.64967574e-01 -1.71284985e-02 -1.00110044e+02] [-5.45117932e-02 2.93403997e-03 9.98508816e-01 -4.14055797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.740714057 meters 0.027142887754316933 Centerline is valid? [True, True] Translation: X:646.36, Y:-100.11, Z:-41.41 [[ 9.63696690e-01 2.62071106e-01 5.10629486e-02 6.46356897e+02] [-2.61543529e-01 9.65044194e-01 -1.68726361e-02 -1.00111781e+02] [-5.36998325e-02 2.90491980e-03 9.98552898e-01 -4.14071020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.770714057 meters 0.028522382615407293 Centerline is valid? [True, True] Translation: X:646.39, Y:-100.12, Z:-41.41 [[ 9.63685780e-01 2.62145513e-01 5.08866210e-02 6.46387288e+02] [-2.61620920e-01 9.65023987e-01 -1.68285297e-02 -1.00122267e+02] [-5.35183335e-02 2.90441018e-03 9.98562643e-01 -4.14087955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.8007140569999 meters 0.027434168705422275 Centerline is valid? [True, True] Translation: X:646.42, Y:-100.13, Z:-41.41 [[ 9.63210760e-01 2.63950500e-01 5.05486460e-02 6.46419944e+02] [-2.63434531e-01 9.64532163e-01 -1.67318519e-02 -1.00125673e+02] [-5.31721756e-02 2.80004099e-03 9.98581434e-01 -4.14097763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.8307140569999 meters 0.028339644998133063 Centerline is valid? [True, True] Translation: X:646.45, Y:-100.13, Z:-41.41 [[ 9.62679415e-01 2.65822285e-01 5.08611587e-02 6.46449049e+02] [-2.65301713e-01 9.64018191e-01 -1.68501798e-02 -1.00133984e+02] [-5.35102355e-02 2.72776872e-03 9.98563575e-01 -4.14110780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.860714057 meters 0.02656620375488085 Centerline is valid? [True, True] Translation: X:646.48, Y:-100.14, Z:-41.41 [[ 9.61409689e-01 2.70268584e-01 5.14422157e-02 6.46480664e+02] [-2.69742018e-01 9.62781681e-01 -1.70492708e-02 -1.00135010e+02] [-5.41355052e-02 2.51520702e-03 9.98530431e-01 -4.14122830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.890714057 meters 0.025699961785764436 Centerline is valid? [True, True] Translation: X:646.51, Y:-100.14, Z:-41.41 [[ 9.60621853e-01 2.72960059e-01 5.19467187e-02 6.46510266e+02] [-2.72427085e-01 9.62022408e-01 -1.72153764e-02 -1.00140463e+02] [-5.46730176e-02 2.38577361e-03 9.98501462e-01 -4.14135954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.9207140569999 meters 0.024401760086861398 Centerline is valid? [True, True] Translation: X:646.54, Y:-100.15, Z:-41.42 [[ 9.59641941e-01 2.76375251e-01 5.20006276e-02 6.46540451e+02] [-2.75846278e-01 9.61047302e-01 -1.72311808e-02 -1.00145035e+02] [-5.47373348e-02 2.19158421e-03 9.98498383e-01 -4.14155945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.9507140569999 meters 0.022741819315626435 Centerline is valid? [True, True] Translation: X:646.57, Y:-100.15, Z:-41.42 [[ 9.57809549e-01 2.82679114e-01 5.18978464e-02 6.46571356e+02] [-2.82161501e-01 9.59212792e-01 -1.71961376e-02 -1.00145791e+02] [-5.46420670e-02 1.82705057e-03 9.98504335e-01 -4.14188521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.9807140569999 meters 0.020398155794896535 Centerline is valid? [True, True] Translation: X:646.60, Y:-100.15, Z:-41.42 [[ 9.56968257e-01 2.85495264e-01 5.20020145e-02 6.46601196e+02] [-2.84979775e-01 9.58378667e-01 -1.72295615e-02 -1.00147731e+02] [-5.47565796e-02 1.66862106e-03 9.98498339e-01 -4.14209134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.010714057 meters 0.01986694799600947 Centerline is valid? [True, True] Translation: X:646.63, Y:-100.15, Z:-41.42 [[ 9.56066705e-01 2.88525651e-01 5.18594592e-02 6.46629564e+02] [-2.88017659e-01 9.57471011e-01 -1.71782119e-02 -1.00152844e+02] [-5.46102836e-02 1.48707643e-03 9.98506638e-01 -4.14233481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.040714057 meters 0.020137670122733806 Centerline is valid? [True, True] Translation: X:646.66, Y:-100.16, Z:-41.43 [[ 9.55365003e-01 2.90843126e-01 5.18458076e-02 6.46656603e+02] [-2.90339028e-01 9.56769801e-01 -1.71696458e-02 -1.00158834e+02] [-5.45981765e-02 1.35041730e-03 9.98507494e-01 -4.14254159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.0707140569999 meters 0.020576765872870766 Centerline is valid? [True, True] Translation: X:646.68, Y:-100.16, Z:-41.43 [[ 9.54563349e-01 2.93422833e-01 5.20754688e-02 6.46683710e+02] [-2.92918367e-01 9.55982005e-01 -1.72405717e-02 -1.00164457e+02] [-5.48419885e-02 1.20335658e-03 9.98494321e-01 -4.14279827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.1007140569999 meters 0.02049593087241464 Centerline is valid? [True, True] Translation: X:646.71, Y:-100.17, Z:-41.43 [[ 9.54576101e-01 2.93360507e-01 5.21927222e-02 6.46710706e+02] [-2.92853945e-01 9.56001130e-01 -1.72744201e-02 -1.00172113e+02] [-5.49639341e-02 1.20490394e-03 9.98487613e-01 -4.14298567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.130714057 meters 0.019481049457946376 Centerline is valid? [True, True] Translation: X:646.74, Y:-100.18, Z:-41.43 [[ 9.54676899e-01 2.92993215e-01 5.24117784e-02 6.46738885e+02] [-2.92482159e-01 9.56113735e-01 -1.73410584e-02 -1.00178172e+02] [-5.51924336e-02 1.22559776e-03 9.98474984e-01 -4.14306267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.160714057 meters 0.01939042061198802 Centerline is valid? [True, True] Translation: X:646.77, Y:-100.19, Z:-41.43 [[ 9.55004999e-01 2.91909069e-01 5.24837784e-02 6.46766353e+02] [-2.91395195e-01 9.56445211e-01 -1.73608342e-02 -1.00185411e+02] [-5.52656435e-02 1.28616255e-03 9.98470858e-01 -4.14320691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.1907140569999 meters 0.019652762883820497 Centerline is valid? [True, True] Translation: X:646.79, Y:-100.19, Z:-41.43 [[ 9.55521110e-01 2.90215409e-01 5.24826162e-02 6.46794394e+02] [-2.89699234e-01 9.56960350e-01 -1.73563272e-02 -1.00193376e+02] [-5.52608564e-02 1.38016327e-03 9.98470998e-01 -4.14346258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.2207140569999 meters 0.019655015699687535 Centerline is valid? [True, True] Translation: X:646.82, Y:-100.20, Z:-41.44 [[ 9.55819529e-01 2.89281274e-01 5.22051097e-02 6.46821965e+02] [-2.88769382e-01 9.57243083e-01 -1.72604434e-02 -1.00201891e+02] [-5.49661032e-02 1.42263156e-03 9.98487208e-01 -4.14363072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.250714057 meters 0.02011136457532177 Centerline is valid? [True, True] Translation: X:646.85, Y:-100.21, Z:-41.44 [[ 9.55904383e-01 2.88941927e-01 5.25297319e-02 6.46847921e+02] [-2.88423365e-01 9.57345532e-01 -1.73635903e-02 -1.00211173e+02] [-5.53061734e-02 1.44713003e-03 9.98468394e-01 -4.14386273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.280714057 meters 0.020328284769500063 Centerline is valid? [True, True] Translation: X:646.88, Y:-100.22, Z:-41.44 [[ 9.55824753e-01 2.89095603e-01 5.31297865e-02 6.46875806e+02] [-2.88565653e-01 9.57299134e-01 -1.75565683e-02 -1.00218708e+02] [-5.59366253e-02 1.44957107e-03 9.98433269e-01 -4.14396863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.3107140569999 meters 0.019823826929971373 Centerline is valid? [True, True] Translation: X:646.90, Y:-100.23, Z:-41.44 [[ 9.55692008e-01 2.89310318e-01 5.43353111e-02 6.46903434e+02] [-2.88756620e-01 9.57234241e-01 -1.79505485e-02 -1.00226499e+02] [-5.72048992e-02 1.46551494e-03 9.98361383e-01 -4.14403155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.3407140569999 meters 0.019830967288467657 Centerline is valid? [True, True] Translation: X:646.93, Y:-100.24, Z:-41.44 [[ 9.55655540e-01 2.89339841e-01 5.48173900e-02 6.46929186e+02] [-2.88776569e-01 9.57225307e-01 -1.81053853e-02 -1.00235433e+02] [-5.77112023e-02 1.47253389e-03 9.98332234e-01 -4.14411219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.370714057 meters 0.020110193320055793 Centerline is valid? [True, True] Translation: X:646.96, Y:-100.24, Z:-41.44 [[ 9.55640279e-01 2.89249567e-01 5.55548871e-02 6.46955852e+02] [-2.88671328e-01 9.57252561e-01 -1.83411592e-02 -1.00244110e+02] [-5.84852303e-02 1.49044751e-03 9.98287161e-01 -4.14419066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.400714057 meters 0.020256993617287705 Centerline is valid? [True, True] Translation: X:646.98, Y:-100.25, Z:-41.44 [[ 9.55880167e-01 2.88506350e-01 5.52918893e-02 6.46983541e+02] [-2.87932714e-01 9.57476772e-01 -1.82478472e-02 -1.00253196e+02] [-5.82053194e-02 1.52241152e-03 9.98303472e-01 -4.14439235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.4307140569999 meters 0.020914023147762938 Centerline is valid? [True, True] Translation: X:647.01, Y:-100.26, Z:-41.45 [[ 9.56160517e-01 2.87569310e-01 5.53259298e-02 6.47009038e+02] [-2.86993655e-01 9.57758533e-01 -1.82547063e-02 -1.00263621e+02] [-5.82383746e-02 1.57623860e-03 9.98301461e-01 -4.14453290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.4607140569999 meters 0.020685651126619464 Centerline is valid? [True, True] Translation: X:647.04, Y:-100.27, Z:-41.45 [[ 9.56562640e-01 2.86276705e-01 5.50777898e-02 6.47036160e+02] [-2.85704379e-01 9.58145579e-01 -1.81674720e-02 -1.00272038e+02] [-5.79734648e-02 1.64235919e-03 9.98316773e-01 -4.14465273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.490714057 meters 0.021398605486585984 Centerline is valid? [True, True] Translation: X:647.06, Y:-100.28, Z:-41.45 [[ 9.57751777e-01 2.82015119e-01 5.63826743e-02 6.47063581e+02] [-2.81408212e-01 9.59407997e-01 -1.85933971e-02 -1.00283989e+02] [-5.93376077e-02 1.94131159e-03 9.98236084e-01 -4.14474946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.520714057 meters 0.02180915184724242 Centerline is valid? [True, True] Translation: X:647.09, Y:-100.29, Z:-41.45 [[ 9.58528777e-01 2.79318096e-01 5.66037588e-02 6.47091566e+02] [-2.78701854e-01 9.60196298e-01 -1.86640414e-02 -1.00294664e+02] [-5.95639242e-02 2.11444823e-03 9.98222254e-01 -4.14492228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.5507140569999 meters 0.022743733533566107 Centerline is valid? [True, True] Translation: X:647.12, Y:-100.31, Z:-41.45 [[ 9.59385282e-01 2.76346421e-01 5.66792372e-02 6.47119033e+02] [-2.75723491e-01 9.61055340e-01 -1.86866448e-02 -1.00305990e+02] [-5.96358710e-02 2.29989488e-03 9.98217548e-01 -4.14507900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.5807140569999 meters 0.02567825732290006 Centerline is valid? [True, True] Translation: X:647.14, Y:-100.32, Z:-41.45 [[ 9.61681819e-01 2.68324278e-01 5.63041863e-02 6.47144924e+02] [-2.67695963e-01 9.63324644e-01 -1.85607652e-02 -1.00320565e+02] [-5.92195141e-02 2.77714706e-03 9.98241121e-01 -4.14531860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.610714057 meters 0.028791300914305117 Centerline is valid? [True, True] Translation: X:647.17, Y:-100.33, Z:-41.46 [[ 9.62943650e-01 2.63779711e-01 5.62120174e-02 6.47170723e+02] [-2.63145794e-01 9.64578124e-01 -1.85292775e-02 -1.00334754e+02] [-5.91085298e-02 3.05069418e-03 9.98246901e-01 -4.14552585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.640714057 meters 0.028816017734024875 Centerline is valid? [True, True] Translation: X:647.20, Y:-100.35, Z:-41.46 [[ 9.65441285e-01 2.54650672e-01 5.54631448e-02 6.47199535e+02] [-2.54018639e-01 9.67026557e-01 -1.82802668e-02 -1.00345428e+02] [-5.82894162e-02 3.55985169e-03 9.98293379e-01 -4.14573590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.6707140569999 meters 0.03489240132902014 Centerline is valid? [True, True] Translation: X:647.22, Y:-100.36, Z:-41.46 [[ 9.66532777e-01 2.50517672e-01 5.52746467e-02 6.47224625e+02] [-2.49883177e-01 9.68104582e-01 -1.82185832e-02 -1.00362897e+02] [-5.80757158e-02 3.79665348e-03 9.98304962e-01 -4.14590211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.7007140569999 meters 0.03628714803861452 Centerline is valid? [True, True] Translation: X:647.25, Y:-100.37, Z:-41.46 [[ 9.67358772e-01 2.47270373e-01 5.54469900e-02 6.47252996e+02] [-2.46626529e-01 9.68938243e-01 -1.82766408e-02 -1.00373605e+02] [-5.82439809e-02 4.00537013e-03 9.98294343e-01 -4.14607383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.7307140569999 meters 0.03626331783499857 Centerline is valid? [True, True] Translation: X:647.28, Y:-100.38, Z:-41.46 [[ 9.68086905e-01 2.44346528e-01 5.57002627e-02 6.47282731e+02] [-2.43691972e-01 9.69678880e-01 -1.83600610e-02 -1.00382162e+02] [-5.84975856e-02 4.20042777e-03 9.98278713e-01 -4.14620221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.760714057 meters 0.03593509180519211 Centerline is valid? [True, True] Translation: X:647.31, Y:-100.39, Z:-41.46 [[ 9.68695017e-01 2.41633054e-01 5.69511321e-02 6.47313731e+02] [-2.40944001e-01 9.70357430e-01 -1.87735699e-02 -1.00388559e+02] [-5.97992692e-02 4.46383002e-03 9.98200442e-01 -4.14631696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.790714057 meters 0.03643467804303645 Centerline is valid? [True, True] Translation: X:647.34, Y:-100.40, Z:-41.46 [[ 9.68737816e-01 2.41373773e-01 5.73214267e-02 6.47343528e+02] [-2.40675129e-01 9.70421738e-01 -1.88979596e-02 -1.00396763e+02] [-6.01874304e-02 4.51132634e-03 9.98176899e-01 -4.14648869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.8207140569999 meters 0.03648893696631855 Centerline is valid? [True, True] Translation: X:647.37, Y:-100.40, Z:-41.47 [[ 9.68486353e-01 2.42266066e-01 5.78042980e-02 6.47374549e+02] [-2.41557029e-01 9.70199434e-01 -1.90593841e-02 -1.00400815e+02] [-6.06991392e-02 4.49571890e-03 9.98145983e-01 -4.14663054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.8507140569999 meters 0.036619706558415926 Centerline is valid? [True, True] Translation: X:647.40, Y:-100.41, Z:-41.47 [[ 9.68267103e-01 2.43218083e-01 5.74785375e-02 6.47403955e+02] [-2.42518696e-01 9.69961602e-01 -1.89518717e-02 -1.00406730e+02] [-6.03614122e-02 4.41085395e-03 9.98166842e-01 -4.14683415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.880714057 meters 0.03599507669506027 Centerline is valid? [True, True] Translation: X:647.43, Y:-100.41, Z:-41.47 [[ 9.67904333e-01 2.44540061e-01 5.79772400e-02 6.47433763e+02] [-2.43830968e-01 9.69629370e-01 -1.91139619e-02 -1.00411656e+02] [-6.08905641e-02 4.36384006e-03 9.98134909e-01 -4.14705251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.910714057 meters 0.0379529291976466 Centerline is valid? [True, True] Translation: X:647.46, Y:-100.42, Z:-41.47 [[ 9.67477683e-01 2.46137525e-01 5.83373943e-02 6.47461145e+02] [-2.45422617e-01 9.69225431e-01 -1.92302821e-02 -1.00419453e+02] [-6.12753802e-02 4.28755284e-03 9.98111689e-01 -4.14721081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.9407140569999 meters 0.0379529291976466 Centerline is valid? [True, True] Translation: X:647.49, Y:-100.43, Z:-41.47 [[ 9.67494991e-01 2.46069235e-01 5.83384457e-02 6.47488088e+02] [-2.45354394e-01 9.69242767e-01 -1.92270920e-02 -1.00428268e+02] [-6.12753124e-02 4.28852123e-03 9.98111690e-01 -4.14737509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.9707140569999 meters 0.033005431445788484 Centerline is valid? [True, True] Translation: X:647.52, Y:-100.42, Z:-41.48 [[ 9.66103165e-01 2.51199016e-01 5.95292312e-02 6.47521243e+02] [-2.50464599e-01 9.67927027e-01 -1.96151513e-02 -1.00423726e+02] [-6.25472585e-02 4.04029470e-03 9.98033825e-01 -4.14757120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.000714057 meters 0.03499669272403564 Centerline is valid? [True, True] Translation: X:647.55, Y:-100.43, Z:-41.48 [[ 9.65380427e-01 2.53895413e-01 5.98142920e-02 6.47548997e+02] [-2.53159111e-01 9.67223881e-01 -1.97086003e-02 -1.00430946e+02] [-6.28577349e-02 3.88376397e-03 9.98014941e-01 -4.14771747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.030714057 meters 0.032748160490284235 Centerline is valid? [True, True] Translation: X:647.58, Y:-100.43, Z:-41.48 [[ 9.64598156e-01 2.56805057e-01 6.00129963e-02 6.47579880e+02] [-2.56069663e-01 9.66456129e-01 -1.97706551e-02 -1.00432648e+02] [-6.30771323e-02 3.70322969e-03 9.98001784e-01 -4.14794574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.0607140569999 meters 0.03138553650811209 Centerline is valid? [True, True] Translation: X:647.61, Y:-100.43, Z:-41.48 [[ 9.63155358e-01 2.62034549e-01 6.05776473e-02 6.47612333e+02] [-2.61295587e-01 9.65052533e-01 -1.99555497e-02 -1.00431934e+02] [-6.36896554e-02 3.39162271e-03 9.97963990e-01 -4.14816445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.0907140569999 meters 0.030032906819919904 Centerline is valid? [True, True] Translation: X:647.64, Y:-100.43, Z:-41.48 [[ 9.62621237e-01 2.64077674e-01 6.01941627e-02 6.47641921e+02] [-2.63352058e-01 9.64495990e-01 -1.98287243e-02 -1.00434984e+02] [-6.32933520e-02 3.23529443e-03 9.97989722e-01 -4.14835819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.120714057 meters 0.03103213117532092 Centerline is valid? [True, True] Translation: X:647.67, Y:-100.44, Z:-41.49 [[ 9.62213994e-01 2.65560189e-01 6.01831801e-02 6.47668948e+02] [-2.64837983e-01 9.64089191e-01 -1.98210593e-02 -1.00441050e+02] [-6.32856377e-02 3.13330859e-03 9.97990536e-01 -4.14857513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.150714057 meters 0.031130081628519053 Centerline is valid? [True, True] Translation: X:647.70, Y:-100.44, Z:-41.49 [[ 9.61641520e-01 2.67645298e-01 6.00964315e-02 6.47698748e+02] [-2.66929722e-01 9.63512890e-01 -1.97847121e-02 -1.00443270e+02] [-6.31989716e-02 2.98427683e-03 9.97996485e-01 -4.14888389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.1807140569999 meters 0.03199329319594849 Centerline is valid? [True, True] Translation: X:647.73, Y:-100.45, Z:-41.49 [[ 9.61562149e-01 2.68059147e-01 5.95191432e-02 6.47726093e+02] [-2.67358290e-01 9.63398016e-01 -1.95909828e-02 -1.00450168e+02] [-6.25921667e-02 2.92501116e-03 9.98034902e-01 -4.14909398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.2107140569999 meters 0.031049463138533084 Centerline is valid? [True, True] Translation: X:647.75, Y:-100.46, Z:-41.49 [[ 9.61466115e-01 2.68496977e-01 5.90955468e-02 6.47754699e+02] [-2.67807251e-01 9.63276250e-01 -1.94458758e-02 -1.00455361e+02] [-6.21464956e-02 2.87033477e-03 9.98062911e-01 -4.14937153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.240714057 meters 0.03190928621169898 Centerline is valid? [True, True] Translation: X:647.78, Y:-100.46, Z:-41.50 [[ 9.61353167e-01 2.69147953e-01 5.79609083e-02 6.47782004e+02] [-2.68485947e-01 9.63094860e-01 -1.90679328e-02 -1.00459838e+02] [-6.09539479e-02 2.76932822e-03 9.98136738e-01 -4.14968339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.270714057 meters 0.030615110031840906 Centerline is valid? [True, True] Translation: X:647.81, Y:-100.46, Z:-41.50 [[ 9.61187630e-01 2.69863125e-01 5.73779994e-02 6.47810675e+02] [-2.69215988e-01 9.62894933e-01 -1.88706134e-02 -1.00464471e+02] [-6.03414676e-02 2.69112536e-03 9.98174166e-01 -4.14984172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.3007140569999 meters 0.032346549661953584 Centerline is valid? [True, True] Translation: X:647.84, Y:-100.47, Z:-41.50 [[ 9.60885705e-01 2.70931046e-01 5.74023594e-02 6.47836805e+02] [-2.70285540e-01 9.62595190e-01 -1.88739584e-02 -1.00473401e+02] [-6.03687764e-02 2.62068912e-03 9.98172702e-01 -4.15002618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.3307140569999 meters 0.03068922826477828 Centerline is valid? [True, True] Translation: X:647.87, Y:-100.47, Z:-41.50 [[ 9.60191726e-01 2.73427592e-01 5.71769266e-02 6.47866497e+02] [-2.72791902e-01 9.61889472e-01 -1.87942045e-02 -1.00474720e+02] [-6.01367379e-02 2.44863712e-03 9.98187145e-01 -4.15018212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.360714057 meters 0.030456640108146957 Centerline is valid? [True, True] Translation: X:647.89, Y:-100.48, Z:-41.50 [[ 9.59756821e-01 2.74978888e-01 5.70390659e-02 6.47894223e+02] [-2.74349288e-01 9.61447414e-01 -1.87440084e-02 -1.00481477e+02] [-5.99942690e-02 2.34106279e-03 9.98195976e-01 -4.15033764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.390714057 meters 0.029812336624073538 Centerline is valid? [True, True] Translation: X:647.92, Y:-100.49, Z:-41.51 [[ 9.59383766e-01 2.76254060e-01 5.71531610e-02 6.47922774e+02] [-2.75625133e-01 9.61082009e-01 -1.87658728e-02 -1.00487657e+02] [-6.01130234e-02 2.25082608e-03 9.98189039e-01 -4.15054570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.4207140569999 meters 0.02991353498811753 Centerline is valid? [True, True] Translation: X:647.95, Y:-100.50, Z:-41.51 [[ 9.58972178e-01 2.77734456e-01 5.68852740e-02 6.47949806e+02] [-2.77114938e-01 9.60655517e-01 -1.86624960e-02 -1.00495296e+02] [-5.98303705e-02 2.13305523e-03 9.98206280e-01 -4.15069850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.4507140569999 meters 0.028733625504176102 Centerline is valid? [True, True] Translation: X:647.98, Y:-100.50, Z:-41.51 [[ 9.58523538e-01 2.79232744e-01 5.71113123e-02 6.47978096e+02] [-2.78611304e-01 9.60221279e-01 -1.87306127e-02 -1.00500087e+02] [-6.00696977e-02 2.04187596e-03 9.98192097e-01 -4.15084961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.4807140569999 meters 0.028788820005292322 Centerline is valid? [True, True] Translation: X:648.01, Y:-100.51, Z:-41.51 [[ 9.58473749e-01 2.79428138e-01 5.69911178e-02 6.48005819e+02] [-2.78810624e-01 9.60164505e-01 -1.86751147e-02 -1.00508590e+02] [-5.99392009e-02 2.00987806e-03 9.98200006e-01 -4.15105625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.510714057 meters 0.02915928847799894 Centerline is valid? [True, True] Translation: X:648.03, Y:-100.52, Z:-41.51 [[ 9.58631973e-01 2.78825279e-01 5.72817982e-02 6.48032783e+02] [-2.78201345e-01 9.60339675e-01 -1.87541992e-02 -1.00517865e+02] [-6.02391283e-02 2.04250170e-03 9.98181885e-01 -4.15123040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.540714057 meters 0.029089952680152173 Centerline is valid? [True, True] Translation: X:648.06, Y:-100.53, Z:-41.51 [[ 9.59096864e-01 2.77369754e-01 5.65616842e-02 6.48059581e+02] [-2.76759826e-01 9.60760971e-01 -1.85028592e-02 -1.00527634e+02] [-5.94743922e-02 2.09203230e-03 9.98227639e-01 -4.15146141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.5707140569999 meters 0.029337936488710435 Centerline is valid? [True, True] Translation: X:648.09, Y:-100.54, Z:-41.52 [[ 9.59595175e-01 2.75759706e-01 5.59793301e-02 6.48086122e+02] [-2.75160452e-01 9.61224190e-01 -1.82970636e-02 -1.00537285e+02] [-5.88542791e-02 2.15447616e-03 9.98264260e-01 -4.15168888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.6007140569999 meters 0.03096684141445843 Centerline is valid? [True, True] Translation: X:648.11, Y:-100.55, Z:-41.52 [[ 9.60426483e-01 2.73087276e-01 5.48115948e-02 6.48111919e+02] [-2.72508750e-01 9.61986596e-01 -1.79100468e-02 -1.00549820e+02] [-5.76190254e-02 2.26464403e-03 9.98336075e-01 -4.15192798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.630714057 meters 0.032022424961692546 Centerline is valid? [True, True] Translation: X:648.14, Y:-100.56, Z:-41.52 [[ 9.60901908e-01 2.71495512e-01 5.43848372e-02 6.48137985e+02] [-2.70923606e-01 9.62436864e-01 -1.77674353e-02 -1.00560421e+02] [-5.71657511e-02 2.33862623e-03 9.98361962e-01 -4.15209122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.660714057 meters 0.03223640575067797 Centerline is valid? [True, True] Translation: X:648.16, Y:-100.57, Z:-41.52 [[ 9.61413637e-01 2.69670590e-01 5.44205123e-02 6.48164520e+02] [-2.69095316e-01 9.62949532e-01 -1.77738397e-02 -1.00570094e+02] [-5.71972887e-02 2.44370687e-03 9.98359904e-01 -4.15220157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.6907140569999 meters 0.033534515678210364 Centerline is valid? [True, True] Translation: X:648.19, Y:-100.58, Z:-41.52 [[ 9.61909076e-01 2.67882257e-01 5.44979498e-02 6.48189662e+02] [-2.67302783e-01 9.63448287e-01 -1.77938470e-02 -1.00581503e+02] [-5.72726122e-02 2.54860932e-03 9.98355324e-01 -4.15231853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.7207140569999 meters 0.03410302276357111 Centerline is valid? [True, True] Translation: X:648.22, Y:-100.59, Z:-41.52 [[ 9.62783125e-01 2.64583877e-01 5.51726906e-02 6.48217385e+02] [-2.63984920e-01 9.64358691e-01 -1.80077136e-02 -1.00592810e+02] [-5.79708143e-02 2.77276442e-03 9.98314428e-01 -4.15230574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.750714057 meters 0.03214355784044664 Centerline is valid? [True, True] Translation: X:648.25, Y:-100.60, Z:-41.52 [[ 9.63001061e-01 2.63738703e-01 5.54152750e-02 6.48245427e+02] [-2.63133191e-01 9.64589998e-01 -1.80847788e-02 -1.00599168e+02] [-5.82226761e-02 2.83406303e-03 9.98299598e-01 -4.15237633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.780714057 meters 0.03262374042355216 Centerline is valid? [True, True] Translation: X:648.27, Y:-100.61, Z:-41.52 [[ 9.63465394e-01 2.61806323e-01 5.64967533e-02 6.48272545e+02] [-2.61173882e-01 9.65115757e-01 -1.84331058e-02 -1.00610300e+02] [-5.93518105e-02 3.00418320e-03 9.98232607e-01 -4.15243738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.8107140569999 meters 0.03356143266534582 Centerline is valid? [True, True] Translation: X:648.30, Y:-100.62, Z:-41.53 [[ 9.63740365e-01 2.60744998e-01 5.67146748e-02 6.48297923e+02] [-2.60106041e-01 9.65402803e-01 -1.85006986e-02 -1.00621025e+02] [-5.95764706e-02 3.07804048e-03 9.98218999e-01 -4.15256199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.8407140569999 meters 0.03349342657199416 Centerline is valid? [True, True] Translation: X:648.32, Y:-100.63, Z:-41.53 [[ 9.63919872e-01 2.60106230e-01 5.65970827e-02 6.48324590e+02] [-2.59469159e-01 9.65575012e-01 -1.84567296e-02 -1.00630712e+02] [-5.94494392e-02 3.10561096e-03 9.98226487e-01 -4.15273229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.870714057 meters 0.03337607113571061 Centerline is valid? [True, True] Translation: X:648.35, Y:-100.64, Z:-41.53 [[ 9.64683127e-01 2.57471003e-01 5.56340540e-02 6.48352770e+02] [-2.56851337e-01 9.66280700e-01 -1.81383465e-02 -1.00639995e+02] [-5.84282109e-02 3.20807564e-03 9.98286458e-01 -4.15296449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.900714057 meters 0.035141895095750254 Centerline is valid? [True, True] Translation: X:648.38, Y:-100.65, Z:-41.53 [[ 9.65154792e-01 2.55905651e-01 5.46674137e-02 6.48378808e+02] [-2.55304978e-01 9.66696322e-01 -1.78210129e-02 -1.00652043e+02] [-5.74072857e-02 3.24317308e-03 9.98345574e-01 -4.15317688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.9307140569999 meters 0.03501638627636537 Centerline is valid? [True, True] Translation: X:648.41, Y:-100.66, Z:-41.53 [[ 9.65598541e-01 2.54344661e-01 5.41133092e-02 6.48406422e+02] [-2.53753858e-01 9.67108014e-01 -1.76371537e-02 -1.00661453e+02] [-5.68193309e-02 3.29894889e-03 9.98379027e-01 -4.15338041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.9607140569999 meters 0.036264283188450215 Centerline is valid? [True, True] Translation: X:648.43, Y:-100.67, Z:-41.54 [[ 9.66607756e-01 2.50522837e-01 5.39235868e-02 6.48433979e+02] [-2.49930506e-01 9.68104338e-01 -1.75707909e-02 -1.00673804e+02] [-5.66055427e-02 3.50691341e-03 9.98390462e-01 -4.15355398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.990714057 meters 0.037620315937039864 Centerline is valid? [True, True] Translation: X:648.46, Y:-100.69, Z:-41.54 [[ 9.67280689e-01 2.47908107e-01 5.39410821e-02 6.48462066e+02] [-2.47311430e-01 9.68776640e-01 -1.75749631e-02 -1.00685501e+02] [-5.66138361e-02 3.65967624e-03 9.98389443e-01 -4.15367782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.020714057 meters 0.038497344326982756 Centerline is valid? [True, True] Translation: X:648.49, Y:-100.70, Z:-41.54 [[ 9.67980773e-01 2.45138127e-01 5.40418491e-02 6.48490129e+02] [-2.44534982e-01 9.69480607e-01 -1.76067148e-02 -1.00696290e+02] [-5.67086018e-02 3.82783883e-03 9.98383434e-01 -4.15381278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.0507140569999 meters 0.043494252393998206 Centerline is valid? [True, True] Translation: X:648.52, Y:-100.71, Z:-41.54 [[ 9.69427196e-01 2.39185385e-01 5.47837904e-02 6.48515126e+02] [-2.38556150e-01 9.70964694e-01 -1.78473321e-02 -1.00712784e+02] [-5.74619472e-02 4.23267901e-03 9.98338725e-01 -4.15392350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.0807140569999 meters 0.04217482511531679 Centerline is valid? [True, True] Translation: X:648.54, Y:-100.72, Z:-41.54 [[ 9.70281279e-01 2.35711677e-01 5.47196970e-02 6.48544659e+02] [-2.35078545e-01 9.71812929e-01 -1.78243769e-02 -1.00719551e+02] [-5.73787228e-02 4.43123250e-03 9.98342650e-01 -4.15411301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.110714057 meters 0.04491481508276642 Centerline is valid? [True, True] Translation: X:648.57, Y:-100.73, Z:-41.54 [[ 9.70976238e-01 2.32895393e-01 5.44507317e-02 6.48571173e+02] [-2.32264092e-01 9.72491032e-01 -1.77365203e-02 -1.00732097e+02] [-5.70836021e-02 4.57479000e-03 9.98358920e-01 -4.15431689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.140714057 meters 0.04643084881769515 Centerline is valid? [True, True] Translation: X:648.60, Y:-100.74, Z:-41.55 [[ 9.72130721e-01 2.28206131e-01 5.37012432e-02 6.48599573e+02] [-2.27585126e-01 9.73601100e-01 -1.74902292e-02 -1.00743311e+02] [-5.62749670e-02 4.78118492e-03 9.98403860e-01 -4.15457952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.1707140569999 meters 0.046903345990657826 Centerline is valid? [True, True] Translation: X:648.63, Y:-100.75, Z:-41.55 [[ 9.72662714e-01 2.26027694e-01 5.32796928e-02 6.48628281e+02] [-2.25413163e-01 9.74108709e-01 -1.73530597e-02 -1.00751586e+02] [-5.58224848e-02 4.86873007e-03 9.98428839e-01 -4.15477410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.2007140569999 meters 0.04876650484081762 Centerline is valid? [True, True] Translation: X:648.65, Y:-100.76, Z:-41.55 [[ 9.73070783e-01 2.24271878e-01 5.32482438e-02 6.48654434e+02] [-2.23655521e-01 9.74513965e-01 -1.73418607e-02 -1.00761465e+02] [-5.57804488e-02 4.96559422e-03 9.98430711e-01 -4.15493895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.2307140569999 meters 0.051834532977637016 Centerline is valid? [True, True] Translation: X:648.68, Y:-100.77, Z:-41.55 [[ 9.73780982e-01 2.21207243e-01 5.30844196e-02 6.48681893e+02] [-2.20590403e-01 9.75213377e-01 -1.72842135e-02 -1.00772020e+02] [-5.55920293e-02 5.12112486e-03 9.98440434e-01 -4.15517271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.260714057 meters 0.04702610565966654 Centerline is valid? [True, True] Translation: X:648.71, Y:-100.77, Z:-41.55 [[ 9.74132940e-01 2.19651574e-01 5.30867296e-02 6.48712050e+02] [-2.19032454e-01 9.75564479e-01 -1.72838732e-02 -1.00773124e+02] [-5.55859576e-02 5.20907355e-03 9.98440317e-01 -4.15534402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.290714057 meters 0.05063469639100625 Centerline is valid? [True, True] Translation: X:648.74, Y:-100.78, Z:-41.56 [[ 9.74491100e-01 2.18054140e-01 5.30988607e-02 6.48737838e+02] [-2.17432569e-01 9.75922292e-01 -1.72846025e-02 -1.00784832e+02] [-5.55893410e-02 5.29826963e-03 9.98439659e-01 -4.15550667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.3207140569999 meters 0.056470000994043645 Centerline is valid? [True, True] Translation: X:648.76, Y:-100.80, Z:-41.56 [[ 9.75124223e-01 2.15197603e-01 5.31294882e-02 6.48764806e+02] [-2.14571364e-01 9.76555262e-01 -1.72901446e-02 -1.00796680e+02] [-5.56046789e-02 5.45997208e-03 9.98437934e-01 -4.15567874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.3507140569999 meters 0.04933081556398619 Centerline is valid? [True, True] Translation: X:648.80, Y:-100.79, Z:-41.56 [[ 9.75266001e-01 2.14331079e-01 5.40223664e-02 6.48795914e+02] [-2.13682344e-01 9.76745011e-01 -1.75795250e-02 -1.00793951e+02] [-5.65339154e-02 5.60108720e-03 9.98384968e-01 -4.15578563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.380714057 meters 0.05162293973384574 Centerline is valid? [True, True] Translation: X:648.82, Y:-100.80, Z:-41.56 [[ 9.75229917e-01 2.14373839e-01 5.45019828e-02 6.48821568e+02] [-2.13713842e-01 9.76735380e-01 -1.77311083e-02 -1.00803556e+02] [-5.70351006e-02 5.64407913e-03 9.98356220e-01 -4.15592270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.410714057 meters 0.051361238506807856 Centerline is valid? [True, True] Translation: X:648.85, Y:-100.81, Z:-41.56 [[ 9.74926482e-01 2.15545742e-01 5.53026886e-02 6.48851667e+02] [-2.14868436e-01 9.76477392e-01 -1.79849453e-02 -1.00806434e+02] [-5.78784035e-02 5.65119725e-03 9.98307645e-01 -4.15612050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.4407140569999 meters 0.050974486620828444 Centerline is valid? [True, True] Translation: X:648.88, Y:-100.81, Z:-41.56 [[ 9.74690682e-01 2.16598037e-01 5.53476649e-02 6.48880905e+02] [-2.15921436e-01 9.76244862e-01 -1.79973158e-02 -1.00811542e+02] [-5.79310567e-02 5.59106877e-03 9.98304930e-01 -4.15632812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.4707140569999 meters 0.05101198551221819 Centerline is valid? [True, True] Translation: X:648.91, Y:-100.82, Z:-41.57 [[ 9.74403199e-01 2.18092604e-01 5.45345919e-02 6.48910865e+02] [-2.17438473e-01 9.75913061e-01 -1.77259334e-02 -1.00817103e+02] [-5.70869154e-02 5.41428787e-03 9.98354531e-01 -4.15657590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.500714057 meters 0.04981502012907206 Centerline is valid? [True, True] Translation: X:648.94, Y:-100.82, Z:-41.57 [[ 9.73703552e-01 2.21445406e-01 5.35100434e-02 6.48943018e+02] [-2.20820717e-01 9.75159338e-01 -1.73918446e-02 -1.00816930e+02] [-5.60321626e-02 5.11837467e-03 9.98415845e-01 -4.15693496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.530714057 meters 0.04914878544920952 Centerline is valid? [True, True] Translation: X:648.97, Y:-100.82, Z:-41.57 [[ 9.73374187e-01 2.22965167e-01 5.31904739e-02 6.48972665e+02] [-2.22350181e-01 9.74813586e-01 -1.72878319e-02 -1.00821476e+02] [-5.57053810e-02 5.00061785e-03 9.98434727e-01 -4.15714447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.5607140569999 meters 0.04864454820771388 Centerline is valid? [True, True] Translation: X:649.00, Y:-100.83, Z:-41.57 [[ 9.73153086e-01 2.24071272e-01 5.25845590e-02 6.49001126e+02] [-2.23471940e-01 9.74560547e-01 -1.70889233e-02 -1.00826050e+02] [-5.50759734e-02 4.87896500e-03 9.98470246e-01 -4.15738914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.5907140569999 meters 0.04901432916400144 Centerline is valid? [True, True] Translation: X:649.03, Y:-100.83, Z:-41.58 [[ 9.72860076e-01 2.25149111e-01 5.33961650e-02 6.49028362e+02] [-2.24532963e-01 9.74312056e-01 -1.73483845e-02 -1.00831975e+02] [-5.59305006e-02 4.88835149e-03 9.98422698e-01 -4.15754716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.620714057 meters 0.04665213346659948 Centerline is valid? [True, True] Translation: X:649.06, Y:-100.83, Z:-41.58 [[ 9.72372756e-01 2.27328168e-01 5.30389261e-02 6.49060082e+02] [-2.26723754e-01 9.73806742e-01 -1.72269943e-02 -1.00830224e+02] [-5.55658449e-02 4.72587554e-03 9.98443841e-01 -4.15764981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.650714057 meters 0.04888490477170602 Centerline is valid? [True, True] Translation: X:649.09, Y:-100.84, Z:-41.58 [[ 9.72006879e-01 2.28801767e-01 5.34076725e-02 6.49087343e+02] [-2.28191234e-01 9.73461825e-01 -1.73446408e-02 -1.00839060e+02] [-5.59588148e-02 4.67194744e-03 9.98422147e-01 -4.15776724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.6807140569999 meters 0.04577978099933243 Centerline is valid? [True, True] Translation: X:649.12, Y:-100.84, Z:-41.58 [[ 9.71075171e-01 2.32391162e-01 5.48394037e-02 6.49120200e+02] [-2.31753283e-01 9.72611615e-01 -1.78062498e-02 -1.00836626e+02] [-5.74754560e-02 4.58199523e-03 9.98336405e-01 -4.15778890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.7107140569999 meters 0.04492041374984954 Centerline is valid? [True, True] Translation: X:649.15, Y:-100.84, Z:-41.58 [[ 9.70588972e-01 2.34212828e-01 5.56901960e-02 6.49150258e+02] [-2.33557977e-01 9.72174731e-01 -1.80821205e-02 -1.00840931e+02] [-5.83756659e-02 4.54341730e-03 9.98284348e-01 -4.15790383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.740714057 meters 0.043892138151703626 Centerline is valid? [True, True] Translation: X:649.18, Y:-100.85, Z:-41.58 [[ 9.69919950e-01 2.36633531e-01 5.70952112e-02 6.49180110e+02] [-2.35949412e-01 9.71588519e-01 -1.85371178e-02 -1.00845760e+02] [-5.98595554e-02 4.50793884e-03 9.98196630e-01 -4.15802707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.770714057 meters 0.03925421137311754 Centerline is valid? [True, True] Translation: X:649.21, Y:-100.84, Z:-41.58 [[ 9.68998690e-01 2.40403937e-01 5.69867095e-02 6.49212801e+02] [-2.39729030e-01 9.70663567e-01 -1.84995309e-02 -1.00842770e+02] [-5.97622828e-02 4.26465265e-03 9.98203528e-01 -4.15825832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.8007140569999 meters 0.04131030715557572 Centerline is valid? [True, True] Translation: X:649.24, Y:-100.85, Z:-41.58 [[ 9.68480665e-01 2.42413961e-01 5.72771621e-02 6.49240230e+02] [-2.41735670e-01 9.70163984e-01 -1.85933051e-02 -1.00852642e+02] [-6.00755165e-02 4.16132335e-03 9.98185161e-01 -4.15847789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.8307140569999 meters 0.04131030715557572 Centerline is valid? [True, True] Translation: X:649.27, Y:-100.86, Z:-41.59 [[ 9.68549190e-01 2.42139825e-01 5.72780207e-02 6.49266364e+02] [-2.41461213e-01 9.70232379e-01 -1.85906597e-02 -1.00861040e+02] [-6.00745294e-02 4.17554798e-03 9.98185161e-01 -4.15863699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.860714057 meters 0.0397668122134874 Centerline is valid? [True, True] Translation: X:649.30, Y:-100.87, Z:-41.59 [[ 9.68098952e-01 2.44090991e-01 5.66039581e-02 6.49296059e+02] [-2.43432604e-01 9.69744125e-01 -1.83548195e-02 -1.00866018e+02] [-5.93716019e-02 3.99003257e-03 9.98227976e-01 -4.15887096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.890714057 meters 0.03801976660919849 Centerline is valid? [True, True] Translation: X:649.33, Y:-100.87, Z:-41.59 [[ 9.67392640e-01 2.46965005e-01 5.62117914e-02 6.49326657e+02] [-2.46320607e-01 9.69017003e-01 -1.82265537e-02 -1.00868015e+02] [-5.89715026e-02 3.78611136e-03 9.98252487e-01 -4.15908889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.9207140569999 meters 0.038911773136108316 Centerline is valid? [True, True] Translation: X:649.35, Y:-100.88, Z:-41.59 [[ 9.67208992e-01 2.47737274e-01 5.59732886e-02 6.49353236e+02] [-2.47099696e-01 9.68820102e-01 -1.81479960e-02 -1.00876037e+02] [-5.87239823e-02 3.72192229e-03 9.98267320e-01 -4.15928242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.9507140569999 meters 0.03921394174518197 Centerline is valid? [True, True] Translation: X:649.38, Y:-100.88, Z:-41.60 [[ 9.67153229e-01 2.48065218e-01 5.54822459e-02 6.49381186e+02] [-2.47439793e-01 9.68736414e-01 -1.79807859e-02 -1.00881693e+02] [-5.82080795e-02 3.66165971e-03 9.98297757e-01 -4.15950133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.9807140569999 meters 0.03903756831408724 Centerline is valid? [True, True] Translation: X:649.41, Y:-100.89, Z:-41.60 [[ 9.67303580e-01 2.47507003e-01 5.53540160e-02 6.49408857e+02] [-2.46884430e-01 9.68879146e-01 -1.79242696e-02 -1.00888984e+02] [-5.80677340e-02 3.67216544e-03 9.98305892e-01 -4.15968771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.010714057 meters 0.04099223283558667 Centerline is valid? [True, True] Translation: X:649.43, Y:-100.90, Z:-41.60 [[ 9.67611265e-01 2.46389527e-01 5.49603552e-02 6.49434300e+02] [-2.45774850e-01 9.69163828e-01 -1.77819779e-02 -1.00899158e+02] [-5.76468813e-02 3.69816910e-03 9.98330186e-01 -4.15982902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.040714057 meters 0.038226024761768285 Centerline is valid? [True, True] Translation: X:649.46, Y:-100.90, Z:-41.60 [[ 9.67934334e-01 2.45107027e-01 5.50060878e-02 6.49463636e+02] [-2.44489801e-01 9.69488702e-01 -1.77874885e-02 -1.00902803e+02] [-5.76876191e-02 3.76869341e-03 9.98327569e-01 -4.15999614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.0707140569999 meters 0.04407969157987362 Centerline is valid? [True, True] Translation: X:649.49, Y:-100.92, Z:-41.60 [[ 9.68611284e-01 2.42479624e-01 5.47340154e-02 6.49489282e+02] [-2.41865197e-01 9.70148696e-01 -1.76842912e-02 -1.00918489e+02] [-5.73882139e-02 3.89095060e-03 9.98344356e-01 -4.16015891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.1007140569999 meters 0.04486091248351899 Centerline is valid? [True, True] Translation: X:649.52, Y:-100.93, Z:-41.60 [[ 9.68960996e-01 2.41117314e-01 5.45621612e-02 6.49516461e+02] [-2.40504623e-01 9.70487903e-01 -1.76282845e-02 -1.00927689e+02] [-5.72024020e-02 3.95866814e-03 9.98354754e-01 -4.16032442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.130714057 meters 0.04103778687739279 Centerline is valid? [True, True] Translation: X:649.55, Y:-100.93, Z:-41.60 [[ 9.69273698e-01 2.39917001e-01 5.42985344e-02 6.49546435e+02] [-2.39309151e-01 9.70785178e-01 -1.75290614e-02 -1.00929433e+02] [-5.69177322e-02 3.99632205e-03 9.98370874e-01 -4.16048401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.160714057 meters 0.038734123551901915 Centerline is valid? [True, True] Translation: X:649.57, Y:-100.93, Z:-41.61 [[ 9.69343512e-01 2.39682765e-01 5.40863044e-02 6.49574805e+02] [-2.39080135e-01 9.70843103e-01 -1.74458496e-02 -1.00933597e+02] [-5.66907851e-02 3.98006018e-03 9.98383851e-01 -4.16063805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.1907140569999 meters 0.03876488402934469 Centerline is valid? [True, True] Translation: X:649.60, Y:-100.94, Z:-41.61 [[ 9.69330954e-01 2.39737273e-01 5.40697781e-02 6.49602053e+02] [-2.39136087e-01 9.70829732e-01 -1.74230530e-02 -1.00941648e+02] [-5.66695034e-02 3.95866942e-03 9.98385144e-01 -4.16077936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.2207140569999 meters 0.04044719772488348 Centerline is valid? [True, True] Translation: X:649.63, Y:-100.95, Z:-41.61 [[ 9.69088170e-01 2.40632715e-01 5.44427790e-02 6.49628475e+02] [-2.40025488e-01 9.70608337e-01 -1.75277413e-02 -1.00950582e+02] [-5.70603631e-02 3.91827215e-03 9.98363041e-01 -4.16082396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.250714057 meters 0.04168940116493101 Centerline is valid? [True, True] Translation: X:649.65, Y:-100.96, Z:-41.61 [[ 9.68927506e-01 2.41185375e-01 5.48552856e-02 6.49654544e+02] [-2.40570097e-01 9.70471188e-01 -1.76550565e-02 -1.00959856e+02] [-5.74936157e-02 3.90992848e-03 9.98338218e-01 -4.16091563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.280714057 meters 0.04038877151280806 Centerline is valid? [True, True] Translation: X:649.68, Y:-100.97, Z:-41.61 [[ 9.68476116e-01 2.42707156e-01 5.61003577e-02 6.49683639e+02] [-2.42066463e-01 9.70091757e-01 -1.80502129e-02 -1.00965086e+02] [-5.88034104e-02 3.90118492e-03 9.98261959e-01 -4.16089880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.3107140569999 meters 0.03769701547367506 Centerline is valid? [True, True] Translation: X:649.71, Y:-100.97, Z:-41.61 [[ 9.68297672e-01 2.43289532e-01 5.66552854e-02 6.49712916e+02] [-2.42637516e-01 9.69945883e-01 -1.82213980e-02 -1.00968876e+02] [-5.93856363e-02 3.89703959e-03 9.98227509e-01 -4.16098926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.3407140569999 meters 0.039822098715661294 Centerline is valid? [True, True] Translation: X:649.74, Y:-100.98, Z:-41.61 [[ 9.68098695e-01 2.44032485e-01 5.68600240e-02 6.49738382e+02] [-2.43377945e-01 9.69759414e-01 -1.82716847e-02 -1.00979707e+02] [-5.95994281e-02 3.85031831e-03 9.98214948e-01 -4.16115143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.370714057 meters 0.037272159876742456 Centerline is valid? [True, True] Translation: X:649.77, Y:-100.98, Z:-41.61 [[ 9.68025610e-01 2.44241915e-01 5.72040723e-02 6.49766880e+02] [-2.43580148e-01 9.69706671e-01 -1.83761926e-02 -1.00983849e+02] [-5.99594070e-02 3.85484864e-03 9.98193373e-01 -4.16129175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.400714057 meters 0.03948186290182521 Centerline is valid? [True, True] Translation: X:649.79, Y:-101.00, Z:-41.61 [[ 9.67928183e-01 2.44554665e-01 5.75156416e-02 6.49792222e+02] [-2.43887153e-01 9.69627898e-01 -1.84606688e-02 -1.00995258e+02] [-6.02834134e-02 3.84127557e-03 9.98173910e-01 -4.16139112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.4307140569999 meters 0.03724408327535073 Centerline is valid? [True, True] Translation: X:649.82, Y:-101.00, Z:-41.62 [[ 9.67965961e-01 2.44424784e-01 5.74319110e-02 6.49819651e+02] [-2.43759359e-01 9.69660661e-01 -1.84276498e-02 -1.00999776e+02] [-6.01936391e-02 3.83777195e-03 9.98179341e-01 -4.16159919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.4607140569999 meters 0.036881669120518525 Centerline is valid? [True, True] Translation: X:649.85, Y:-101.01, Z:-41.62 [[ 9.68124046e-01 2.43954182e-01 5.67643306e-02 6.49847340e+02] [-2.43304401e-01 9.69779295e-01 -1.81958220e-02 -1.01006968e+02] [-5.94878194e-02 3.80480133e-03 9.98221780e-01 -4.16184319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.490714057 meters 0.036530356764874324 Centerline is valid? [True, True] Translation: X:649.87, Y:-101.01, Z:-41.62 [[ 9.68202499e-01 2.43934921e-01 5.54948148e-02 6.49874706e+02] [-2.43314759e-01 9.69784523e-01 -1.77737942e-02 -1.01014966e+02] [-5.81536616e-02 3.70592450e-03 9.98300765e-01 -4.16213795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.520714057 meters 0.04004054013588918 Centerline is valid? [True, True] Translation: X:649.90, Y:-101.03, Z:-41.62 [[ 9.68205084e-01 2.43931758e-01 5.54636203e-02 6.49899371e+02] [-2.43313181e-01 9.69785382e-01 -1.77484695e-02 -1.01027927e+02] [-5.81172236e-02 3.68912850e-03 9.98302949e-01 -4.16231093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.5507140569999 meters 0.03633291173036994 Centerline is valid? [True, True] Translation: X:649.93, Y:-101.03, Z:-41.62 [[ 9.67993336e-01 2.44792310e-01 5.53681014e-02 6.49929404e+02] [-2.44177581e-01 9.69568759e-01 -1.77124550e-02 -1.01030310e+02] [-5.80190541e-02 3.62588932e-03 9.98308891e-01 -4.16242409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.5807140569999 meters 0.03683024652951469 Centerline is valid? [True, True] Translation: X:649.96, Y:-101.04, Z:-41.63 [[ 9.67783980e-01 2.45698998e-01 5.50106379e-02 6.49956048e+02] [-2.45094091e-01 9.69339705e-01 -1.75903939e-02 -1.01039149e+02] [-5.76459377e-02 3.54091913e-03 9.98330811e-01 -4.16256022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.610714057 meters 0.03663681121437768 Centerline is valid? [True, True] Translation: X:649.98, Y:-101.05, Z:-41.63 [[ 9.67634847e-01 2.46408719e-01 5.44568311e-02 6.49983928e+02] [-2.45817905e-01 9.69159867e-01 -1.73985688e-02 -1.01046825e+02] [-5.70645343e-02 3.44899733e-03 9.98364534e-01 -4.16276980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.640714057 meters 0.03652648565317328 Centerline is valid? [True, True] Translation: X:650.01, Y:-101.06, Z:-41.63 [[ 9.67368195e-01 2.47512072e-01 5.41899344e-02 6.50011965e+02] [-2.46929599e-01 9.68879008e-01 -1.72986101e-02 -1.01055264e+02] [-5.67851047e-02 3.35302641e-03 9.98380794e-01 -4.16290068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.6707140569999 meters 0.03520155648513986 Centerline is valid? [True, True] Translation: X:650.04, Y:-101.06, Z:-41.63 [[ 9.66349214e-01 2.51409307e-01 5.44293775e-02 6.50041790e+02] [-2.50828609e-01 9.67875817e-01 -1.73612035e-02 -1.01060670e+02] [-5.70456464e-02 3.12454033e-03 9.98366682e-01 -4.16301631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.7007140569999 meters 0.035064867894312984 Centerline is valid? [True, True] Translation: X:650.07, Y:-101.07, Z:-41.63 [[ 9.65798434e-01 2.53404453e-01 5.49505975e-02 6.50068602e+02] [-2.52815870e-01 9.67355662e-01 -1.75259385e-02 -1.01067853e+02] [-5.75979225e-02 3.03414088e-03 9.98335251e-01 -4.16312599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.7307140569999 meters 0.03449489953343594 Centerline is valid? [True, True] Translation: X:650.10, Y:-101.07, Z:-41.63 [[ 9.65230663e-01 2.55450043e-01 5.54530680e-02 6.50096938e+02] [-2.54854308e-01 9.66817805e-01 -1.76808579e-02 -1.01074901e+02] [-5.81295895e-02 2.93365291e-03 9.98304735e-01 -4.16321572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.760714057 meters 0.034306354076960095 Centerline is valid? [True, True] Translation: X:650.12, Y:-101.08, Z:-41.63 [[ 9.64414699e-01 2.58252301e-01 5.66572024e-02 6.50124673e+02] [-2.57636025e-01 9.66073416e-01 -1.80508816e-02 -1.01083025e+02] [-5.93966987e-02 2.81159908e-03 9.98230498e-01 -4.16334670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.790714057 meters 0.03456925095016129 Centerline is valid? [True, True] Translation: X:650.15, Y:-101.09, Z:-41.63 [[ 9.64161189e-01 2.59148859e-01 5.68776848e-02 6.50150748e+02] [-2.58529461e-01 9.65833435e-01 -1.81188858e-02 -1.01092682e+02] [-5.96298583e-02 2.76496927e-03 9.98216727e-01 -4.16346750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.8207140569999 meters 0.03413928457332402 Centerline is valid? [True, True] Translation: X:650.18, Y:-101.10, Z:-41.64 [[ 9.64079975e-01 2.59425997e-01 5.69908156e-02 6.50178118e+02] [-2.58804948e-01 9.65759080e-01 -1.81493217e-02 -1.01100999e+02] [-5.97478035e-02 2.74789255e-03 9.98209722e-01 -4.16366357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.8507140569999 meters 0.04046081142809049 Centerline is valid? [True, True] Translation: X:650.20, Y:-101.12, Z:-41.64 [[ 9.63769941e-01 2.60924810e-01 5.53691597e-02 6.50201276e+02] [-2.60341910e-01 9.65355717e-01 -1.76190170e-02 -1.01120399e+02] [-5.80481735e-02 2.56576624e-03 9.98310486e-01 -4.16391226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.880714057 meters 0.03527809299067479 Centerline is valid? [True, True] Translation: X:650.23, Y:-101.12, Z:-41.64 [[ 9.64525071e-01 2.57887882e-01 5.64378286e-02 6.50231810e+02] [-2.57277360e-01 9.66170802e-01 -1.79538808e-02 -1.01122062e+02] [-5.91586704e-02 2.79679261e-03 9.98244674e-01 -4.16408494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.910714057 meters 0.03765478268619988 Centerline is valid? [True, True] Translation: X:650.26, Y:-101.14, Z:-41.64 [[ 9.65188853e-01 2.55500713e-01 5.59451838e-02 6.50257599e+02] [-2.54896934e-01 9.66804472e-01 -1.77951303e-02 -1.01135632e+02] [-5.86347223e-02 2.91540554e-03 9.98275248e-01 -4.16423581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.9407140569999 meters 0.03818320098395283 Centerline is valid? [True, True] Translation: X:650.28, Y:-101.15, Z:-41.64 [[ 9.65648744e-01 2.53795015e-01 5.57726995e-02 6.50284439e+02] [-2.53192306e-01 9.67253354e-01 -1.77371259e-02 -1.01146196e+02] [-5.84479248e-02 3.00661491e-03 9.98285931e-01 -4.16437725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.9707140569999 meters 0.0350427934200385 Centerline is valid? [True, True] Translation: X:650.31, Y:-101.15, Z:-41.65 [[ 9.66177020e-01 2.51719762e-01 5.60279251e-02 6.50313782e+02] [-2.51108858e-01 9.67795095e-01 -1.78043758e-02 -1.01150196e+02] [-5.87052643e-02 3.13307044e-03 9.98270442e-01 -4.16458366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.000714057 meters 0.03511594937844548 Centerline is valid? [True, True] Translation: X:650.34, Y:-101.16, Z:-41.65 [[ 9.67018912e-01 2.48521737e-01 5.57796525e-02 6.50341713e+02] [-2.47911124e-01 9.68620666e-01 -1.77223228e-02 -1.01160901e+02] [-5.84337066e-02 3.30942494e-03 9.98285806e-01 -4.16477443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.030714057 meters 0.03513512908339669 Centerline is valid? [True, True] Translation: X:650.37, Y:-101.17, Z:-41.65 [[ 9.67479823e-01 2.46833952e-01 5.52792152e-02 6.50369737e+02] [-2.46231576e-01 9.69051897e-01 -1.75622538e-02 -1.01170549e+02] [-5.79033888e-02 3.37963788e-03 9.98316471e-01 -4.16493805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.0607140569999 meters 0.03679924694167529 Centerline is valid? [True, True] Translation: X:650.40, Y:-101.18, Z:-41.65 [[ 9.68419975e-01 2.43094240e-01 5.53890160e-02 6.50397414e+02] [-2.42483500e-01 9.69995964e-01 -1.75949563e-02 -1.01183571e+02] [-5.80043545e-02 3.60838468e-03 9.98309809e-01 -4.16514629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.0907140569999 meters 0.03768568514491654 Centerline is valid? [True, True] Translation: X:650.42, Y:-101.19, Z:-41.65 [[ 9.68879170e-01 2.41293166e-01 5.52337020e-02 6.50424895e+02] [-2.40683024e-01 9.70445200e-01 -1.75440995e-02 -1.01193936e+02] [-5.78345523e-02 3.70429812e-03 9.98319309e-01 -4.16526113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.120714057 meters 0.038503062503126594 Centerline is valid? [True, True] Translation: X:650.45, Y:-101.20, Z:-41.65 [[ 9.69176303e-01 2.39937765e-01 5.59210454e-02 6.50452287e+02] [-2.39310276e-01 9.70780720e-01 -1.77591039e-02 -1.01204541e+02] [-5.85481524e-02 3.82922191e-03 9.98277242e-01 -4.16538605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.150714057 meters 0.04009416438835717 Centerline is valid? [True, True] Translation: X:650.48, Y:-101.22, Z:-41.65 [[ 9.69410859e-01 2.38711009e-01 5.70932553e-02 6.50478197e+02] [-2.38054998e-01 9.71082487e-01 -1.81278981e-02 -1.01215082e+02] [-5.97695892e-02 3.98204653e-03 9.98204257e-01 -4.16543087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.1807140569999 meters 0.03634905250960458 Centerline is valid? [True, True] Translation: X:650.51, Y:-101.22, Z:-41.66 [[ 9.69446182e-01 2.38533615e-01 5.72347350e-02 6.50506444e+02] [-2.37874397e-01 9.71126015e-01 -1.81668236e-02 -1.01217199e+02] [-5.99155383e-02 3.99707971e-03 9.98195448e-01 -4.16559221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.2107140569999 meters 0.036511386481225615 Centerline is valid? [True, True] Translation: X:650.53, Y:-101.23, Z:-41.66 [[ 9.69270896e-01 2.39246576e-01 5.72276639e-02 6.50532501e+02] [-2.38589848e-01 9.70950871e-01 -1.81463766e-02 -1.01226351e+02] [-5.99067085e-02 3.93481503e-03 9.98196225e-01 -4.16573064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.240714057 meters 0.03716168042735629 Centerline is valid? [True, True] Translation: X:650.56, Y:-101.24, Z:-41.66 [[ 9.69110895e-01 2.39759141e-01 5.77895051e-02 6.50558462e+02] [-2.39090866e-01 9.70824435e-01 -1.83159366e-02 -1.01235687e+02] [-6.04948769e-02 3.93323086e-03 9.98160758e-01 -4.16585950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.270714057 meters 0.03599113864657991 Centerline is valid? [True, True] Translation: X:650.59, Y:-101.24, Z:-41.66 [[ 9.68987923e-01 2.40173445e-01 5.81302086e-02 6.50586661e+02] [-2.39498546e-01 9.70722070e-01 -1.84149404e-02 -1.01242574e+02] [-6.08510560e-02 3.92175442e-03 9.98139153e-01 -4.16601755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.3007140569999 meters 0.03667507285937728 Centerline is valid? [True, True] Translation: X:650.61, Y:-101.25, Z:-41.66 [[ 9.68758823e-01 2.40900801e-01 5.89334139e-02 6.50613143e+02] [-2.40209476e-01 9.70541853e-01 -1.86525796e-02 -1.01252265e+02] [-6.16907661e-02 3.91348661e-03 9.98087638e-01 -4.16611202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.3307140569999 meters 0.03638102318033059 Centerline is valid? [True, True] Translation: X:650.64, Y:-101.26, Z:-41.66 [[ 9.68774099e-01 2.40850917e-01 5.88861712e-02 6.50640914e+02] [-2.40161625e-01 9.70554298e-01 -1.86212056e-02 -1.01260144e+02] [-6.16371610e-02 3.89754315e-03 9.98091013e-01 -4.16627754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.360714057 meters 0.03550729183270064 Centerline is valid? [True, True] Translation: X:650.67, Y:-101.27, Z:-41.66 [[ 9.68736738e-01 2.40945216e-01 5.91145975e-02 6.50668630e+02] [-2.40251761e-01 9.70530920e-01 -1.86768555e-02 -1.01267594e+02] [-6.18726437e-02 3.89056992e-03 9.98076470e-01 -4.16646782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.390714057 meters 0.035520158585074006 Centerline is valid? [True, True] Translation: X:650.69, Y:-101.28, Z:-41.67 [[ 9.68815112e-01 2.40771088e-01 5.85368461e-02 6.50694753e+02] [-2.40091835e-01 9.70574305e-01 -1.84778208e-02 -1.01277257e+02] [-6.12632837e-02 3.84737327e-03 9.98114226e-01 -4.16673885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.4207140569999 meters 0.03688756844594899 Centerline is valid? [True, True] Translation: X:650.72, Y:-101.29, Z:-41.67 [[ 9.69139154e-01 2.39667560e-01 5.76954228e-02 6.50720030e+02] [-2.39006848e-01 9.70847408e-01 -1.81944166e-02 -1.01287939e+02] [-6.03740631e-02 3.84332038e-03 9.98168423e-01 -4.16699811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.4507140569999 meters 0.03658841155669303 Centerline is valid? [True, True] Translation: X:650.75, Y:-101.30, Z:-41.67 [[ 9.69446801e-01 2.38706991e-01 5.64966515e-02 6.50746957e+02] [-2.38072264e-01 9.71084145e-01 -1.78095487e-02 -1.01296633e+02] [-5.91142663e-02 3.81512430e-03 9.98243932e-01 -4.16723299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.4807140569999 meters 0.03747762207468894 Centerline is valid? [True, True] Translation: X:650.77, Y:-101.31, Z:-41.67 [[ 9.69685818e-01 2.37738801e-01 5.64772241e-02 6.50773885e+02] [-2.37103810e-01 9.71321462e-01 -1.77876658e-02 -1.01306775e+02] [-5.90863582e-02 3.85748226e-03 9.98245422e-01 -4.16743211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.510714057 meters 0.038748105248596745 Centerline is valid? [True, True] Translation: X:650.80, Y:-101.32, Z:-41.68 [[ 9.70407726e-01 2.34836595e-01 5.62193817e-02 6.50801950e+02] [-2.34203446e-01 9.72026628e-01 -1.76912346e-02 -1.01317470e+02] [-5.88012853e-02 4.00093778e-03 9.98261690e-01 -4.16758837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.540714057 meters 0.040854554777042765 Centerline is valid? [True, True] Translation: X:650.83, Y:-101.33, Z:-41.68 [[ 9.70810475e-01 2.33016752e-01 5.68349832e-02 6.50828332e+02] [-2.32366617e-01 9.72463844e-01 -1.78837157e-02 -1.01329020e+02] [-5.94371716e-02 4.15514579e-03 9.98223401e-01 -4.16772052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.5707140569999 meters 0.04076771427978683 Centerline is valid? [True, True] Translation: X:650.86, Y:-101.34, Z:-41.68 [[ 9.71841734e-01 2.28869458e-01 5.60572563e-02 6.50857517e+02] [-2.28230421e-01 9.73447431e-01 -1.76344319e-02 -1.01338564e+02] [-5.86047751e-02 4.34390570e-03 9.98271812e-01 -4.16789370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.6007140569999 meters 0.041063397761171044 Centerline is valid? [True, True] Translation: X:650.89, Y:-101.35, Z:-41.68 [[ 9.72377439e-01 2.26650825e-01 5.57810014e-02 6.50886714e+02] [-2.26014468e-01 9.73965890e-01 -1.75472574e-02 -1.01347830e+02] [-5.83058930e-02 4.45524392e-03 9.98288823e-01 -4.16807103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.630714057 meters 0.043819581308213396 Centerline is valid? [True, True] Translation: X:650.91, Y:-101.36, Z:-41.68 [[ 9.72861310e-01 2.24487712e-01 5.60904448e-02 6.50913281e+02] [-2.23840697e-01 9.74466014e-01 -1.76445644e-02 -1.01360146e+02] [-5.86192200e-02 4.61038975e-03 9.98269769e-01 -4.16822958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.660714057 meters 0.04137804463287231 Centerline is valid? [True, True] Translation: X:650.94, Y:-101.36, Z:-41.68 [[ 9.73295153e-01 2.22639265e-01 5.59312399e-02 6.50942195e+02] [-2.21993023e-01 9.74889537e-01 -1.75922594e-02 -1.01364566e+02] [-5.84435083e-02 4.70611579e-03 9.98279625e-01 -4.16837333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.6907140569999 meters 0.04398810374746314 Centerline is valid? [True, True] Translation: X:650.97, Y:-101.38, Z:-41.68 [[ 9.73816264e-01 2.20136249e-01 5.67619323e-02 6.50969113e+02] [-2.19466628e-01 9.75456700e-01 -1.78501066e-02 -1.01375797e+02] [-5.92982627e-02 4.92537423e-03 9.98228159e-01 -4.16836870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.7207140569999 meters 0.04680633252285682 Centerline is valid? [True, True] Translation: X:651.00, Y:-101.39, Z:-41.68 [[ 9.74021388e-01 2.19257685e-01 5.66427748e-02 6.50995084e+02] [-2.18589469e-01 9.75654341e-01 -1.78115257e-02 -1.01386861e+02] [-5.91690830e-02 4.96729296e-03 9.98235616e-01 -4.16848882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.750714057 meters 0.04680633252285682 Centerline is valid? [True, True] Translation: X:651.02, Y:-101.40, Z:-41.69 [[ 9.74083445e-01 2.18981385e-01 5.66444626e-02 6.51021319e+02] [-2.18313016e-01 9.75716336e-01 -1.78061564e-02 -1.01395021e+02] [-5.91681443e-02 4.97845871e-03 9.98235616e-01 -4.16864813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.780714057 meters 0.04397483995862921 Centerline is valid? [True, True] Translation: X:651.05, Y:-101.40, Z:-41.69 [[ 9.74360519e-01 2.17688248e-01 5.68630354e-02 6.51051502e+02] [-2.17013553e-01 9.76005239e-01 -1.78575223e-02 -1.01398137e+02] [-5.93859932e-02 5.05961542e-03 9.98222272e-01 -4.16880750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.8107140569999 meters 0.047484015505162 Centerline is valid? [True, True] Translation: X:651.08, Y:-101.41, Z:-41.69 [[ 9.74581933e-01 2.16759713e-01 5.66152139e-02 6.51077008e+02] [-2.16089479e-01 9.76211710e-01 -1.77773494e-02 -1.01410147e+02] [-5.91218480e-02 5.09153151e-03 9.98237789e-01 -4.16899378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.8407140569999 meters 0.04571070826463883 Centerline is valid? [True, True] Translation: X:651.11, Y:-101.41, Z:-41.69 [[ 9.74905603e-01 2.15549372e-01 5.56554904e-02 6.51106729e+02] [-2.14900056e-01 9.76479772e-01 -1.74705758e-02 -1.01414781e+02] [-5.81122322e-02 5.07179430e-03 9.98297173e-01 -4.16923293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.870714057 meters 0.04647234426507966 Centerline is valid? [True, True] Translation: X:651.13, Y:-101.42, Z:-41.69 [[ 9.75170092e-01 2.14472938e-01 5.51783520e-02 6.51134297e+02] [-2.13833137e-01 9.76716670e-01 -1.73186326e-02 -1.01422855e+02] [-5.76079943e-02 5.08965247e-03 9.98326307e-01 -4.16940917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.900714057 meters 0.049843380243726525 Centerline is valid? [True, True] Translation: X:651.16, Y:-101.43, Z:-41.70 [[ 9.75615931e-01 2.12474269e-01 5.50294397e-02 6.51161631e+02] [-2.11835649e-01 9.77152939e-01 -1.72566277e-02 -1.01432859e+02] [-5.74387681e-02 5.17864379e-03 9.98335600e-01 -4.16951396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.9307140569999 meters 0.0472214659697661 Centerline is valid? [True, True] Translation: X:651.19, Y:-101.44, Z:-41.70 [[ 9.75841275e-01 2.11497400e-01 5.47964902e-02 6.51190591e+02] [-2.10862685e-01 9.77364655e-01 -1.71830889e-02 -1.01436074e+02] [-5.71903314e-02 5.21343235e-03 9.98349681e-01 -4.16964622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.9607140569999 meters 0.05227859341719824 Centerline is valid? [True, True] Translation: X:651.22, Y:-101.45, Z:-41.70 [[ 9.75911297e-01 2.11165974e-01 5.48276656e-02 6.51216464e+02] [-2.10530895e-01 9.77436276e-01 -1.71775425e-02 -1.01446740e+02] [-5.72178618e-02 5.22084024e-03 9.98348065e-01 -4.16978337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.990714057 meters 0.04702281315119841 Centerline is valid? [True, True] Translation: X:651.25, Y:-101.45, Z:-41.70 [[ 9.75873420e-01 2.11353901e-01 5.47777096e-02 6.51247057e+02] [-2.10720577e-01 9.77395769e-01 -1.71565813e-02 -1.01445888e+02] [-5.71656120e-02 5.19986106e-03 9.98351168e-01 -4.16988970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.020714057 meters 0.04618223160207606 Centerline is valid? [True, True] Translation: X:651.28, Y:-101.45, Z:-41.70 [[ 9.75816928e-01 2.11677819e-01 5.45327847e-02 6.51275485e+02] [-2.11051514e-01 9.77325970e-01 -1.70647675e-02 -1.01451032e+02] [-5.69085395e-02 5.14286217e-03 9.98366150e-01 -4.17006143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.0507140569999 meters 0.04566073246210985 Centerline is valid? [True, True] Translation: X:651.31, Y:-101.45, Z:-41.70 [[ 9.75600406e-01 2.12809612e-01 5.39992348e-02 6.51305320e+02] [-2.12198077e-01 9.77080828e-01 -1.68828755e-02 -1.01453661e+02] [-5.63544552e-02 5.01240642e-03 9.98398243e-01 -4.17028289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.0807140569999 meters 0.043717463772678815 Centerline is valid? [True, True] Translation: X:651.33, Y:-101.46, Z:-41.70 [[ 9.75375896e-01 2.13949277e-01 5.35496839e-02 6.51334112e+02] [-2.13350377e-01 9.76832524e-01 -1.67283255e-02 -1.01457103e+02] [-5.58880861e-02 4.89156016e-03 9.98425057e-01 -4.17049877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.110714057 meters 0.044347354026886256 Centerline is valid? [True, True] Translation: X:651.36, Y:-101.46, Z:-41.71 [[ 9.75145288e-01 2.15146141e-01 5.29509742e-02 6.51361250e+02] [-2.14562555e-01 9.76570241e-01 -1.65370753e-02 -1.01464318e+02] [-5.52682335e-02 4.76475474e-03 9.98460174e-01 -4.17067875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.140714057 meters 0.04355063313861961 Centerline is valid? [True, True] Translation: X:651.39, Y:-101.47, Z:-41.71 [[ 9.74713338e-01 2.17334117e-01 5.19595041e-02 6.51391330e+02] [-2.16775513e-01 9.76086668e-01 -1.62232341e-02 -1.01467476e+02] [-5.42428415e-02 4.54945454e-03 9.98517409e-01 -4.17092147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.1707140569999 meters 0.044982123505604564 Centerline is valid? [True, True] Translation: X:651.42, Y:-101.48, Z:-41.71 [[ 9.74483499e-01 2.18448527e-01 5.15960338e-02 6.51418275e+02] [-2.17899364e-01 9.75838307e-01 -1.61079309e-02 -1.01475136e+02] [-5.38681401e-02 4.45416986e-03 9.98538123e-01 -4.17107346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.2007140569999 meters 0.04449882854947694 Centerline is valid? [True, True] Translation: X:651.45, Y:-101.48, Z:-41.71 [[ 9.74005274e-01 2.20631757e-01 5.13357006e-02 6.51448721e+02] [-2.20091420e-01 9.75347673e-01 -1.60213372e-02 -1.01479211e+02] [-5.36049719e-02 4.30631970e-03 9.98552934e-01 -4.17113066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.2307140569999 meters 0.04322334482788099 Centerline is valid? [True, True] Translation: X:651.48, Y:-101.48, Z:-41.71 [[ 9.73724337e-01 2.21829995e-01 5.15011581e-02 6.51477498e+02] [-2.21287871e-01 9.75076081e-01 -1.60721926e-02 -1.01484129e+02] [-5.37828418e-02 4.25330345e-03 9.98543597e-01 -4.17125441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.260714057 meters 0.04265098829438662 Centerline is valid? [True, True] Translation: X:651.51, Y:-101.49, Z:-41.71 [[ 9.73436591e-01 2.23111083e-01 5.14066857e-02 6.51506183e+02] [-2.22572926e-01 9.74784102e-01 -1.60389021e-02 -1.01489704e+02] [-5.36888768e-02 4.17111778e-03 9.98549000e-01 -4.17138968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.290714057 meters 0.04234534804441097 Centerline is valid? [True, True] Translation: X:651.54, Y:-101.50, Z:-41.72 [[ 9.72572356e-01 2.26830526e-01 5.14871280e-02 6.51535373e+02] [-2.26296223e-01 9.73926172e-01 -1.60571057e-02 -1.01495041e+02] [-5.37869032e-02 3.96535449e-03 9.98544563e-01 -4.17151304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.3207140569999 meters 0.039691399598947436 Centerline is valid? [True, True] Translation: X:651.57, Y:-101.50, Z:-41.72 [[ 9.72183878e-01 2.28498955e-01 5.14464311e-02 6.51565675e+02] [-2.27967907e-01 9.73536472e-01 -1.60427646e-02 -1.01498204e+02] [-5.37507320e-02 3.86838184e-03 9.98546891e-01 -4.17165063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.3507140569999 meters 0.03932161366956049 Centerline is valid? [True, True] Translation: X:651.59, Y:-101.50, Z:-41.72 [[ 9.71869173e-01 2.29826241e-01 5.14801876e-02 6.51593902e+02] [-2.29296387e-01 9.73224272e-01 -1.60525035e-02 -1.01503821e+02] [-5.37910546e-02 3.79671231e-03 9.98544995e-01 -4.17178804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.380714057 meters 0.04017672646550613 Centerline is valid? [True, True] Translation: X:651.62, Y:-101.51, Z:-41.72 [[ 9.71486345e-01 2.31644739e-01 5.05469794e-02 6.51622052e+02] [-2.31136595e-01 9.72793696e-01 -1.57575521e-02 -1.01509910e+02] [-5.28219369e-02 3.62498997e-03 9.98597368e-01 -4.17202015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.410714057 meters 0.04057025863185231 Centerline is valid? [True, True] Translation: X:651.65, Y:-101.52, Z:-41.72 [[ 9.71353770e-01 2.32216350e-01 5.04719736e-02 6.51648707e+02] [-2.31710615e-01 9.72657549e-01 -1.57316269e-02 -1.01517155e+02] [-5.27450871e-02 3.58608310e-03 9.98601570e-01 -4.17217926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.4407140569999 meters 0.04046585647058022 Centerline is valid? [True, True] Translation: X:651.68, Y:-101.52, Z:-41.72 [[ 9.71328869e-01 2.32237675e-01 5.08516529e-02 6.51676778e+02] [-2.31724676e-01 9.72652385e-01 -1.58433573e-02 -1.01524675e+02] [-5.31404060e-02 3.60552758e-03 9.98580541e-01 -4.17230189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.4707140569999 meters 0.037289688067500625 Centerline is valid? [True, True] Translation: X:651.71, Y:-101.53, Z:-41.72 [[ 9.71384739e-01 2.32005411e-01 5.08446579e-02 6.51705506e+02] [-2.31492943e-01 9.72707816e-01 -1.58279122e-02 -1.01525206e+02] [-5.31291574e-02 3.60481293e-03 9.98581142e-01 -4.17235480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.500714057 meters 0.03758652695979292 Centerline is valid? [True, True] Translation: X:651.73, Y:-101.53, Z:-41.72 [[ 9.71196509e-01 2.32636032e-01 5.15540233e-02 6.51732446e+02] [-2.32110968e-01 9.72557192e-01 -1.60314052e-02 -1.01532254e+02] [-5.38687187e-02 3.60339048e-03 9.98541525e-01 -4.17246899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.530714057 meters 0.03829463678994998 Centerline is valid? [True, True] Translation: X:651.76, Y:-101.54, Z:-41.73 [[ 9.71021833e-01 2.33287478e-01 5.18994369e-02 6.51759208e+02] [-2.32756551e-01 9.72401199e-01 -1.61337031e-02 -1.01539927e+02] [-5.42308655e-02 3.58624402e-03 9.98521984e-01 -4.17253652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.5607140569999 meters 0.037557538131790774 Centerline is valid? [True, True] Translation: X:651.79, Y:-101.54, Z:-41.73 [[ 9.70700257e-01 2.34576251e-01 5.21055981e-02 6.51788721e+02] [-2.34043189e-01 9.72091336e-01 -1.61932122e-02 -1.01543921e+02] [-5.44499435e-02 3.52379493e-03 9.98510284e-01 -4.17262234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.5907140569999 meters 0.036993759682585156 Centerline is valid? [True, True] Translation: X:651.82, Y:-101.55, Z:-41.73 [[ 9.70426370e-01 2.35698775e-01 5.21416190e-02 6.51816599e+02] [-2.35167333e-01 9.71820038e-01 -1.61907379e-02 -1.01550295e+02] [-5.44884072e-02 3.44991349e-03 9.98508443e-01 -4.17279486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.620714057 meters 0.03467268492782518 Centerline is valid? [True, True] Translation: X:651.85, Y:-101.55, Z:-41.73 [[ 9.70263249e-01 2.36477443e-01 5.16492648e-02 6.51845794e+02] [-2.35957276e-01 9.71631132e-01 -1.60345551e-02 -1.01554368e+02] [-5.39758442e-02 3.37071971e-03 9.98536552e-01 -4.17297413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.650714057 meters 0.03437378914697676 Centerline is valid? [True, True] Translation: X:651.87, Y:-101.56, Z:-41.73 [[ 9.69887442e-01 2.38269300e-01 5.04588031e-02 6.51873851e+02] [-2.37775983e-01 9.71193912e-01 -1.56514401e-02 -1.01560825e+02] [-5.27345400e-02 3.18224371e-03 9.98603496e-01 -4.17324556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.6807140569999 meters 0.0344560753915374 Centerline is valid? [True, True] Translation: X:651.90, Y:-101.57, Z:-41.74 [[ 9.69674035e-01 2.39193848e-01 5.01853468e-02 6.51901098e+02] [-2.38707255e-01 9.70966847e-01 -1.55636885e-02 -1.01568804e+02] [-5.24510465e-02 3.11209827e-03 9.98618647e-01 -4.17350066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.7107140569999 meters 0.03690447036544907 Centerline is valid? [True, True] Translation: X:651.93, Y:-101.58, Z:-41.74 [[ 9.69583027e-01 2.39670205e-01 4.96683698e-02 6.51926627e+02] [-2.39194952e-01 9.70849601e-01 -1.53892065e-02 -1.01579456e+02] [-5.19088512e-02 3.04069004e-03 9.98647198e-01 -4.17376897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.740714057 meters 0.0384379386939169 Centerline is valid? [True, True] Translation: X:651.95, Y:-101.59, Z:-41.74 [[ 9.69477532e-01 2.40162425e-01 4.93490078e-02 6.51952531e+02] [-2.39694283e-01 9.70728120e-01 -1.52829258e-02 -1.01588282e+02] [-5.15748541e-02 2.98777815e-03 9.98664662e-01 -4.17392455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.770714057 meters 0.0363376677489468 Centerline is valid? [True, True] Translation: X:651.98, Y:-101.59, Z:-41.74 [[ 9.69517460e-01 2.39981348e-01 4.94454020e-02 6.51980343e+02] [-2.39511316e-01 9.70772864e-01 -1.53093648e-02 -1.01592936e+02] [-5.16742165e-02 2.99996313e-03 9.98659489e-01 -4.17407017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.8007140569999 meters 0.03856234030235279 Centerline is valid? [True, True] Translation: X:652.01, Y:-101.60, Z:-41.74 [[ 9.69656288e-01 2.39411083e-01 4.94875346e-02 6.52005360e+02] [-2.38940339e-01 9.70913605e-01 -1.53063935e-02 -1.01604059e+02] [-5.17126409e-02 3.01737246e-03 9.98657448e-01 -4.17429945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.8307140569999 meters 0.03772729371577879 Centerline is valid? [True, True] Translation: X:652.03, Y:-101.61, Z:-41.74 [[ 9.69943243e-01 2.38235597e-01 4.95369099e-02 6.52033466e+02] [-2.37762629e-01 9.71202514e-01 -1.53169679e-02 -1.01611239e+02] [-5.17594184e-02 3.07856353e-03 9.98654838e-01 -4.17447643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.860714057 meters 0.03780550567357643 Centerline is valid? [True, True] Translation: X:652.06, Y:-101.62, Z:-41.75 [[ 9.70027752e-01 2.37873295e-01 4.96231355e-02 6.52060103e+02] [-2.37398868e-01 9.71291276e-01 -1.53308711e-02 -1.01620065e+02] [-5.18453234e-02 3.09089421e-03 9.98650344e-01 -4.17463028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.890714057 meters 0.03853467766585119 Centerline is valid? [True, True] Translation: X:652.09, Y:-101.63, Z:-41.75 [[ 9.70380959e-01 2.36352960e-01 4.99807165e-02 6.52087224e+02] [-2.35870453e-01 9.71662063e-01 -1.54261218e-02 -1.01629349e+02] [-5.22103756e-02 3.18024064e-03 9.98631044e-01 -4.17474539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.9207140569999 meters 0.039232036152720105 Centerline is valid? [True, True] Translation: X:652.11, Y:-101.64, Z:-41.75 [[ 9.70481628e-01 2.35801297e-01 5.06276450e-02 6.52114503e+02] [-2.35306165e-01 9.71795894e-01 -1.56124686e-02 -1.01638244e+02] [-5.28811778e-02 3.23861697e-03 9.98595560e-01 -4.17488726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.9507140569999 meters 0.034816221458480824 Centerline is valid? [True, True] Translation: X:652.14, Y:-101.64, Z:-41.75 [[ 9.70689506e-01 2.34912608e-01 5.07735141e-02 6.52144126e+02] [-2.34414099e-01 9.72010948e-01 -1.56443869e-02 -1.01639467e+02] [-5.30274753e-02 3.28381462e-03 9.98587654e-01 -4.17497205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.9807140569999 meters 0.033737564691866465 Centerline is valid? [True, True] Translation: X:652.17, Y:-101.65, Z:-41.75 [[ 9.70942801e-01 2.33951474e-01 5.03665162e-02 6.52171827e+02] [-2.33460366e-01 9.72242687e-01 -1.55052947e-02 -1.01645953e+02] [-5.25959636e-02 3.29616889e-03 9.98610435e-01 -4.17512986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.010714057 meters 0.03683890597908103 Centerline is valid? [True, True] Translation: X:652.20, Y:-101.66, Z:-41.75 [[ 9.71463571e-01 2.31808502e-01 5.02329400e-02 6.52197618e+02] [-2.31317940e-01 9.72755538e-01 -1.54490752e-02 -1.01658784e+02] [-5.24455976e-02 3.38843357e-03 9.98618034e-01 -4.17543106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.040714057 meters 0.03707240021079885 Centerline is valid? [True, True] Translation: X:652.22, Y:-101.67, Z:-41.76 [[ 9.71744342e-01 2.30610967e-01 5.03141681e-02 6.52224751e+02] [-2.30117365e-01 9.73039896e-01 -1.54712567e-02 -1.01667153e+02] [-5.25255344e-02 3.45594239e-03 9.98613601e-01 -4.17557898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.0707140569999 meters 0.037604418505990576 Centerline is valid? [True, True] Translation: X:652.25, Y:-101.68, Z:-41.76 [[ 9.72012226e-01 2.29525772e-01 5.01014178e-02 6.52251789e+02] [-2.29035111e-01 9.73296306e-01 -1.54019124e-02 -1.01675751e+02] [-5.22986607e-02 3.49586341e-03 9.98625370e-01 -4.17572007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.1007140569999 meters 0.03754700932794529 Centerline is valid? [True, True] Translation: X:652.28, Y:-101.68, Z:-41.76 [[ 9.72308078e-01 2.28266112e-01 5.01157026e-02 6.52279150e+02] [-2.27774267e-01 9.73592305e-01 -1.53918029e-02 -1.01683242e+02] [-5.23056894e-02 3.55050685e-03 9.98624809e-01 -4.17575784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.130714057 meters 0.03688509373917001 Centerline is valid? [True, True] Translation: X:652.31, Y:-101.69, Z:-41.76 [[ 9.72445707e-01 2.27687055e-01 5.00794538e-02 6.52307077e+02] [-2.27195363e-01 9.73727797e-01 -1.53767500e-02 -1.01689548e+02] [-5.22648432e-02 3.57523489e-03 9.98626859e-01 -4.17590967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.160714057 meters 0.03724531687841779 Centerline is valid? [True, True] Translation: X:652.33, Y:-101.70, Z:-41.76 [[ 9.72346942e-01 2.28150125e-01 4.98893298e-02 6.52334413e+02] [-2.27663483e-01 9.73619590e-01 -1.53046660e-02 -1.01697916e+02] [-5.20649902e-02 3.52346662e-03 9.98637483e-01 -4.17604302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.1907140569999 meters 0.0372361484218956 Centerline is valid? [True, True] Translation: X:652.36, Y:-101.71, Z:-41.76 [[ 9.71830831e-01 2.30523667e-01 4.90272769e-02 6.52362674e+02] [-2.30057464e-01 9.73061044e-01 -1.50256007e-02 -1.01705095e+02] [-5.11702899e-02 3.32325108e-03 9.98684413e-01 -4.17618988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.2207140569999 meters 0.03621520723554914 Centerline is valid? [True, True] Translation: X:652.39, Y:-101.71, Z:-41.76 [[ 9.71381216e-01 2.32414501e-01 4.90105287e-02 6.52391766e+02] [-2.31951107e-01 9.72611498e-01 -1.50185718e-02 -1.01711654e+02] [-5.11587376e-02 3.22071213e-03 9.98685341e-01 -4.17638489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.250714057 meters 0.03579867687559082 Centerline is valid? [True, True] Translation: X:652.42, Y:-101.72, Z:-41.77 [[ 9.70360957e-01 2.36915460e-01 4.76516333e-02 6.52420124e+02] [-2.36482913e-01 9.71525945e-01 -1.46003326e-02 -1.01718013e+02] [-4.97538426e-02 2.89879564e-03 9.98757304e-01 -4.17662314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.280714057 meters 0.03515583903840004 Centerline is valid? [True, True] Translation: X:652.45, Y:-101.72, Z:-41.77 [[ 9.69811052e-01 2.39215762e-01 4.73533827e-02 6.52449277e+02] [-2.38791430e-01 9.70962508e-01 -1.45072630e-02 -1.01724818e+02] [-4.94487252e-02 2.76172198e-03 9.98772845e-01 -4.17683382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.3107140569999 meters 0.03559791295476786 Centerline is valid? [True, True] Translation: X:652.48, Y:-101.73, Z:-41.77 [[ 9.69274592e-01 2.41491691e-01 4.67817217e-02 6.52476464e+02] [-2.41080217e-01 9.70399369e-01 -1.43315729e-02 -1.01733050e+02] [-4.88579089e-02 2.61308191e-03 9.98802321e-01 -4.17704785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.3407140569999 meters 0.03225198306533939 Centerline is valid? [True, True] Translation: X:652.51, Y:-101.74, Z:-41.77 [[ 9.68262483e-01 2.45489389e-01 4.69331784e-02 6.52507568e+02] [-2.45080058e-01 9.69396266e-01 -1.43751602e-02 -1.01735257e+02] [-4.90257971e-02 2.41654229e-03 9.98794589e-01 -4.17716328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.370714057 meters 0.032096959883579315 Centerline is valid? [True, True] Translation: X:652.54, Y:-101.74, Z:-41.77 [[ 9.67968876e-01 2.46756398e-01 4.63415085e-02 6.52535785e+02] [-2.46358769e-01 9.69074757e-01 -1.41940945e-02 -1.01742851e+02] [-4.84108697e-02 2.32280470e-03 9.98824806e-01 -4.17733987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.400714057 meters 0.029957628859554067 Centerline is valid? [True, True] Translation: X:652.57, Y:-101.75, Z:-41.77 [[ 9.67456058e-01 2.48786784e-01 4.61942932e-02 6.52565151e+02] [-2.48394589e-01 9.68555774e-01 -1.41365278e-02 -1.01746993e+02] [-4.82587306e-02 2.20205702e-03 9.98832441e-01 -4.17741515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.4307140569999 meters 0.030900282589859267 Centerline is valid? [True, True] Translation: X:652.59, Y:-101.76, Z:-41.78 [[ 9.67496372e-01 2.48694707e-01 4.58444496e-02 6.52591253e+02] [-2.48308630e-01 9.68579462e-01 -1.40232145e-02 -1.01756282e+02] [-4.78914915e-02 2.18383670e-03 9.98850157e-01 -4.17765718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.4607140569999 meters 0.0322185713307276 Centerline is valid? [True, True] Translation: X:652.62, Y:-101.77, Z:-41.78 [[ 9.67431539e-01 2.48968435e-01 4.57267478e-02 6.52617070e+02] [-2.48584859e-01 9.68509190e-01 -1.39827340e-02 -1.01766947e+02] [-4.77680348e-02 2.16036071e-03 9.98856120e-01 -4.17789017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.490714057 meters 0.030525926284750687 Centerline is valid? [True, True] Translation: X:652.65, Y:-101.77, Z:-41.78 [[ 9.67622278e-01 2.48259292e-01 4.55461478e-02 6.52645416e+02] [-2.47878083e-01 9.68691155e-01 -1.39248922e-02 -1.01772871e+02] [-4.75771344e-02 2.18414413e-03 9.98865179e-01 -4.17799292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.520714057 meters 0.03431736575204342 Centerline is valid? [True, True] Translation: X:652.67, Y:-101.79, Z:-41.78 [[ 9.67708810e-01 2.47705580e-01 4.67076603e-02 6.52669290e+02] [-2.47304735e-01 9.68832734e-01 -1.42653946e-02 -1.01788537e+02] [-4.87855281e-02 2.25372242e-03 9.98806735e-01 -4.17826509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.5507140569999 meters 0.03033290008439431 Centerline is valid? [True, True] Translation: X:652.70, Y:-101.79, Z:-41.78 [[ 9.67863001e-01 2.47001651e-01 4.72376553e-02 6.52698905e+02] [-2.46590971e-01 9.69012300e-01 -1.44241034e-02 -1.01790938e+02] [-4.93366463e-02 2.31217674e-03 9.98779530e-01 -4.17822080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.5807140569999 meters 0.03059672921634183 Centerline is valid? [True, True] Translation: X:652.73, Y:-101.80, Z:-41.78 [[ 9.68079824e-01 2.46189281e-01 4.70350174e-02 6.52725651e+02] [-2.45781865e-01 9.69218969e-01 -1.43479578e-02 -1.01800390e+02] [-4.91195445e-02 2.32961418e-03 9.98790190e-01 -4.17833728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.610714057 meters 0.030954746918864372 Centerline is valid? [True, True] Translation: X:652.75, Y:-101.81, Z:-41.79 [[ 9.68537397e-01 2.44279802e-01 4.75677238e-02 6.52753423e+02] [-2.43861057e-01 9.69701697e-01 -1.45053052e-02 -1.01812019e+02] [-4.96698556e-02 2.44901514e-03 9.98762688e-01 -4.17850299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.640714057 meters 0.030954746918864372 Centerline is valid? [True, True] Translation: X:652.78, Y:-101.82, Z:-41.79 [[ 9.68607315e-01 2.44002436e-01 4.75676483e-02 6.52779634e+02] [-2.43583346e-01 9.69771490e-01 -1.45055540e-02 -1.01819937e+02] [-4.96691397e-02 2.46349875e-03 9.98762688e-01 -4.17866171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.6707140569999 meters 0.031364604439281345 Centerline is valid? [True, True] Translation: X:652.81, Y:-101.83, Z:-41.79 [[ 9.68962142e-01 2.42521694e-01 4.79123629e-02 6.52806867e+02] [-2.42095471e-01 9.70142650e-01 -1.45952404e-02 -1.01829737e+02] [-5.00214892e-02 2.54286938e-03 9.98744905e-01 -4.17881919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.7007140569999 meters 0.032591156924264085 Centerline is valid? [True, True] Translation: X:652.83, Y:-101.84, Z:-41.79 [[ 9.69608387e-01 2.39979167e-01 4.76400650e-02 6.52832457e+02] [-2.39555436e-01 9.70774435e-01 -1.44978865e-02 -1.01842727e+02] [-4.97269479e-02 2.64483583e-03 9.98759348e-01 -4.17897327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.7307140569999 meters 0.0369632673562496 Centerline is valid? [True, True] Translation: X:652.86, Y:-101.86, Z:-41.79 [[ 9.70050043e-01 2.38329360e-01 4.69258031e-02 6.52856796e+02] [-2.37916538e-01 9.71180679e-01 -1.42761849e-02 -1.01859020e+02] [-4.89758674e-02 2.68418916e-03 9.98796355e-01 -4.17927356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.760714057 meters 0.035657739020258705 Centerline is valid? [True, True] Translation: X:652.89, Y:-101.87, Z:-41.79 [[ 9.70445932e-01 2.36689273e-01 4.70412632e-02 6.52885013e+02] [-2.36272682e-01 9.71581450e-01 -1.43075170e-02 -1.01866858e+02] [-4.90908545e-02 2.77010621e-03 9.98790476e-01 -4.17943384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.790714057 meters 0.03978841043878352 Centerline is valid? [True, True] Translation: X:652.91, Y:-101.88, Z:-41.80 [[ 9.71295545e-01 2.33379262e-01 4.60335073e-02 6.52910277e+02] [-2.32976777e-01 9.72381548e-01 -1.39981189e-02 -1.01884154e+02] [-4.80290037e-02 2.87157236e-03 9.98841814e-01 -4.17975717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.8207140569999 meters 0.03575770654249589 Centerline is valid? [True, True] Translation: X:652.94, Y:-101.89, Z:-41.80 [[ 9.71738021e-01 2.31658885e-01 4.53803799e-02 6.52940220e+02] [-2.31265908e-01 9.72792717e-01 -1.37989281e-02 -1.01887622e+02] [-4.73423473e-02 2.91400833e-03 9.98874472e-01 -4.17982531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.8507140569999 meters 0.03907830345146622 Centerline is valid? [True, True] Translation: X:652.97, Y:-101.90, Z:-41.80 [[ 9.72125614e-01 2.30025009e-01 4.53903664e-02 6.52965554e+02] [-2.29630159e-01 9.73180116e-01 -1.38003959e-02 -1.01901605e+02] [-4.73474382e-02 2.99272124e-03 9.98873998e-01 -4.18008658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.880714057 meters 0.03932290914859135 Centerline is valid? [True, True] Translation: X:652.99, Y:-101.91, Z:-41.80 [[ 9.72794322e-01 2.27174734e-01 4.54185685e-02 6.52993392e+02] [-2.26776443e-01 9.73848982e-01 -1.38059667e-02 -1.01912580e+02] [-4.73671936e-02 3.13050460e-03 9.98872639e-01 -4.18028978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.910714057 meters 0.04396752256885957 Centerline is valid? [True, True] Translation: X:653.02, Y:-101.93, Z:-41.81 [[ 9.73101786e-01 2.25925968e-01 4.50596411e-02 6.53018761e+02] [-2.25532641e-01 9.74139331e-01 -1.36964019e-02 -1.01927898e+02] [-4.69887415e-02 3.16557333e-03 9.98890403e-01 -4.18053087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.9407140569999 meters 0.03969731957630917 Centerline is valid? [True, True] Translation: X:653.05, Y:-101.93, Z:-41.81 [[ 9.73554125e-01 2.23964344e-01 4.50814707e-02 6.53048461e+02] [-2.23568663e-01 9.74591889e-01 -1.37004980e-02 -1.01930055e+02] [-4.70044587e-02 3.25937218e-03 9.98889362e-01 -4.18050038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.9707140569999 meters 0.040230460087719654 Centerline is valid? [True, True] Translation: X:653.08, Y:-101.94, Z:-41.81 [[ 9.73763682e-01 2.23103299e-01 4.48242063e-02 6.53075308e+02] [-2.22711234e-01 9.74789284e-01 -1.36219633e-02 -1.01938913e+02] [-4.67332609e-02 3.28171882e-03 9.98902014e-01 -4.18074405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.000714057 meters 0.03889519246455702 Centerline is valid? [True, True] Translation: X:653.10, Y:-101.95, Z:-41.81 [[ 9.73900074e-01 2.22556891e-01 4.45766205e-02 6.53102944e+02] [-2.22169132e-01 9.74914193e-01 -1.35348644e-02 -1.01945323e+02] [-4.64706574e-02 3.27805637e-03 9.98914277e-01 -4.18084071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.030714057 meters 0.04322683750533491 Centerline is valid? [True, True] Translation: X:653.13, Y:-101.96, Z:-41.81 [[ 9.73955613e-01 2.22240001e-01 4.49426938e-02 6.53127447e+02] [-2.21846176e-01 9.74986385e-01 -1.36317313e-02 -1.01958966e+02] [-4.68480305e-02 3.30633641e-03 9.98896556e-01 -4.18113333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.0607140569999 meters 0.04021838349813133 Centerline is valid? [True, True] Translation: X:653.16, Y:-101.96, Z:-41.81 [[ 9.74004247e-01 2.21873253e-01 4.56944825e-02 6.53155878e+02] [-2.21465848e-01 9.75069666e-01 -1.38572903e-02 -1.01962515e+02] [-4.76298659e-02 3.37729229e-03 9.98859344e-01 -4.18113497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.0907140569999 meters 0.03838538796207314 Centerline is valid? [True, True] Translation: X:653.18, Y:-101.97, Z:-41.81 [[ 9.74005246e-01 2.21733501e-01 4.63469098e-02 6.53183909e+02] [-2.21314933e-01 9.75101314e-01 -1.40402429e-02 -1.01967733e+02] [-4.83061249e-02 3.41800697e-03 9.98826730e-01 -4.18120261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.120714057 meters 0.03868538063271186 Centerline is valid? [True, True] Translation: X:653.21, Y:-101.97, Z:-41.81 [[ 9.73675262e-01 2.22926016e-01 4.75444519e-02 6.53212108e+02] [-2.22487680e-01 9.74829328e-01 -1.43879617e-02 -1.01974828e+02] [-4.95551771e-02 3.43114753e-03 9.98765494e-01 -4.18132714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.150714057 meters 0.038458178702412735 Centerline is valid? [True, True] Translation: X:653.24, Y:-101.98, Z:-41.81 [[ 9.73411635e-01 2.23944083e-01 4.81543029e-02 6.53240054e+02] [-2.23495851e-01 9.74595997e-01 -1.45686938e-02 -1.01981948e+02] [-5.01935636e-02 3.41904908e-03 9.98733656e-01 -4.18145437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.1807140569999 meters 0.042314562257041624 Centerline is valid? [True, True] Translation: X:653.27, Y:-102.00, Z:-41.82 [[ 9.73096340e-01 2.25212603e-01 4.86086101e-02 6.53265357e+02] [-2.24757635e-01 9.74303776e-01 -1.47022995e-02 -1.01995237e+02] [-5.06706955e-02 3.38159758e-03 9.98709690e-01 -4.18171916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.2107140569999 meters 0.0368529868831224 Centerline is valid? [True, True] Translation: X:653.30, Y:-101.99, Z:-41.82 [[ 9.72519836e-01 2.27674861e-01 4.86757347e-02 6.53297260e+02] [-2.27221911e-01 9.73731775e-01 -1.47184425e-02 -1.01993955e+02] [-5.07481289e-02 3.25378380e-03 9.98706183e-01 -4.18187553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.240714057 meters 0.03811722133621417 Centerline is valid? [True, True] Translation: X:653.32, Y:-102.00, Z:-41.82 [[ 9.72382832e-01 2.28333772e-01 4.83251108e-02 6.53324049e+02] [-2.27888097e-01 9.73577664e-01 -1.46132592e-02 -1.02002875e+02] [-5.03849490e-02 3.19696481e-03 9.98724755e-01 -4.18211081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.270714057 meters 0.03595508660427823 Centerline is valid? [True, True] Translation: X:653.35, Y:-102.01, Z:-41.82 [[ 9.72272666e-01 2.28790711e-01 4.83805038e-02 6.53352674e+02] [-2.28345237e-01 9.73470492e-01 -1.46169043e-02 -1.02006932e+02] [-5.04412048e-02 3.16415888e-03 9.98722020e-01 -4.18228887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.3007140569999 meters 0.03756809571402682 Centerline is valid? [True, True] Translation: X:653.38, Y:-102.02, Z:-41.83 [[ 9.72240618e-01 2.29143045e-01 4.73460140e-02 6.53378426e+02] [-2.28717546e-01 9.73387935e-01 -1.42902628e-02 -1.02016374e+02] [-4.93605531e-02 3.06470981e-03 9.98776323e-01 -4.18265887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.3307140569999 meters 0.03594379642422796 Centerline is valid? [True, True] Translation: X:653.41, Y:-102.02, Z:-41.83 [[ 9.72385407e-01 2.28675443e-01 4.66279196e-02 6.53407032e+02] [-2.28262370e-01 9.73497975e-01 -1.40706210e-02 -1.02021817e+02] [-4.86097908e-02 3.03866707e-03 9.98813223e-01 -4.18286543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.360714057 meters 0.03621734080174536 Centerline is valid? [True, True] Translation: X:653.43, Y:-102.03, Z:-41.83 [[ 9.72577771e-01 2.27972482e-01 4.60546092e-02 6.53434515e+02] [-2.27569324e-01 9.73662880e-01 -1.38851986e-02 -1.02029412e+02] [-4.80071066e-02 3.02381917e-03 9.98842417e-01 -4.18310796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.390714057 meters 0.0373227164651186 Centerline is valid? [True, True] Translation: X:653.46, Y:-102.04, Z:-41.83 [[ 9.72898662e-01 2.26808859e-01 4.50103901e-02 6.53461974e+02] [-2.26423217e-01 9.73934678e-01 -1.35561694e-02 -1.02037559e+02] [-4.69118391e-02 2.99738176e-03 9.98894537e-01 -4.18331730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.4207140569999 meters 0.036636864087709685 Centerline is valid? [True, True] Translation: X:653.49, Y:-102.04, Z:-41.83 [[ 9.72959916e-01 2.26555664e-01 4.49614565e-02 6.53489694e+02] [-2.26170589e-01 9.73993580e-01 -1.35414760e-02 -1.02043611e+02] [-4.68600681e-02 3.00635425e-03 9.98896940e-01 -4.18347875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.4507140569999 meters 0.03652760407181029 Centerline is valid? [True, True] Translation: X:653.52, Y:-102.05, Z:-41.84 [[ 9.72776133e-01 2.27209037e-01 4.56360382e-02 6.53517962e+02] [-2.26813735e-01 9.73841375e-01 -1.37297695e-02 -1.02049811e+02] [-4.75617899e-02 3.00511180e-03 9.98863777e-01 -4.18359364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.4807140569999 meters 0.03673688760382797 Centerline is valid? [True, True] Translation: X:653.55, Y:-102.06, Z:-41.84 [[ 9.72586527e-01 2.27967327e-01 4.58949435e-02 6.53546159e+02] [-2.27568965e-01 9.73664245e-01 -1.37951074e-02 -1.02056955e+02] [-4.78310992e-02 2.97267077e-03 9.98851015e-01 -4.18372573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.510714057 meters 0.03650423342840379 Centerline is valid? [True, True] Translation: X:653.57, Y:-102.06, Z:-41.84 [[ 9.72298659e-01 2.29032900e-01 4.66824284e-02 6.53574029e+02] [-2.28622668e-01 9.73414193e-01 -1.40173017e-02 -1.02063253e+02] [-4.86517617e-02 2.95634233e-03 9.98811427e-01 -4.18379065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.540714057 meters 0.03585199984106522 Centerline is valid? [True, True] Translation: X:653.60, Y:-102.07, Z:-41.84 [[ 9.71429746e-01 2.32273873e-01 4.87144314e-02 6.53603391e+02] [-2.31831386e-01 9.72646065e-01 -1.46232749e-02 -1.02067841e+02] [-5.07785047e-02 2.91195009e-03 9.98705694e-01 -4.18387457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.5707140569999 meters 0.03589713397631765 Centerline is valid? [True, True] Translation: X:653.63, Y:-102.07, Z:-41.84 [[ 9.71220598e-01 2.33010517e-01 4.93624251e-02 6.53631642e+02] [-2.32557144e-01 9.72469857e-01 -1.48172622e-02 -1.02074465e+02] [-5.14560484e-02 2.91124568e-03 9.98671017e-01 -4.18400668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.6007140569999 meters 0.033346247841168984 Centerline is valid? [True, True] Translation: X:653.66, Y:-102.08, Z:-41.84 [[ 9.70994270e-01 2.33835519e-01 4.99107042e-02 6.53660709e+02] [-2.33373786e-01 9.72271885e-01 -1.49685703e-02 -1.02077035e+02] [-5.20269579e-02 2.88654601e-03 9.98641509e-01 -4.18409218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.630714057 meters 0.033901437353112386 Centerline is valid? [True, True] Translation: X:653.69, Y:-102.08, Z:-41.84 [[ 9.71006973e-01 2.33503257e-01 5.12024175e-02 6.53688147e+02] [-2.33017594e-01 9.72351497e-01 -1.53417093e-02 -1.02084054e+02] [-5.33690864e-02 2.96584260e-03 9.98570450e-01 -4.18423349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.660714057 meters 0.03345612927330022 Centerline is valid? [True, True] Translation: X:653.72, Y:-102.09, Z:-41.84 [[ 9.71171378e-01 2.32718040e-01 5.16572183e-02 6.53716299e+02] [-2.32223479e-01 9.72539559e-01 -1.54616144e-02 -1.02091174e+02] [-5.38368849e-02 3.01985846e-03 9.98545177e-01 -4.18442626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.6907140569999 meters 0.0345670245345905 Centerline is valid? [True, True] Translation: X:653.75, Y:-102.10, Z:-41.85 [[ 9.71947995e-01 2.29527674e-01 5.13238957e-02 6.53745161e+02] [-2.29035858e-01 9.73297002e-01 -1.53467296e-02 -1.02100819e+02] [-5.34758929e-02 3.16121057e-03 9.98564137e-01 -4.18464757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.7207140569999 meters 0.035297460727060755 Centerline is valid? [True, True] Translation: X:653.77, Y:-102.11, Z:-41.85 [[ 9.72358836e-01 2.27822895e-01 5.11373012e-02 6.53772890e+02] [-2.27332291e-01 9.73697186e-01 -1.52911859e-02 -1.02110246e+02] [-5.32759285e-02 3.24335993e-03 9.98574562e-01 -4.18487122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.750714057 meters 0.0368740696054983 Centerline is valid? [True, True] Translation: X:653.80, Y:-102.12, Z:-41.85 [[ 9.72722545e-01 2.26240082e-01 5.12472067e-02 6.53799681e+02] [-2.25745339e-01 9.74065864e-01 -1.53210361e-02 -1.02121217e+02] [-5.33843872e-02 3.33429914e-03 9.98568470e-01 -4.18508948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.780714057 meters 0.037917714131934004 Centerline is valid? [True, True] Translation: X:653.83, Y:-102.13, Z:-41.85 [[ 9.73108098e-01 2.24594835e-01 5.11643375e-02 6.53827371e+02] [-2.24099591e-01 9.74446248e-01 -1.52932056e-02 -1.02131421e+02] [-5.32916717e-02 3.41603507e-03 9.98573146e-01 -4.18525028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.8107140569999 meters 0.03869261559080981 Centerline is valid? [True, True] Translation: X:653.86, Y:-102.14, Z:-41.85 [[ 9.73521369e-01 2.22563063e-01 5.21711264e-02 6.53855125e+02] [-2.22045317e-01 9.74911667e-01 -1.55922480e-02 -1.02140678e+02] [-5.43324983e-02 3.59503232e-03 9.98516427e-01 -4.18542070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.8407140569999 meters 0.037046692010203074 Centerline is valid? [True, True] Translation: X:653.88, Y:-102.15, Z:-41.86 [[ 9.73687666e-01 2.21827171e-01 5.22018743e-02 6.53883746e+02] [-2.21307963e-01 9.75079225e-01 -1.55977691e-02 -1.02146216e+02] [-5.43609722e-02 3.63466498e-03 9.98514734e-01 -4.18559169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.870714057 meters 0.03775323872385518 Centerline is valid? [True, True] Translation: X:653.91, Y:-102.15, Z:-41.86 [[ 9.73643246e-01 2.22190162e-01 5.14816667e-02 6.53910472e+02] [-2.21686486e-01 9.74996887e-01 -1.53679226e-02 -1.02154327e+02] [-5.36090660e-02 3.55008432e-03 9.98555689e-01 -4.18581004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.900714057 meters 0.036401127898128306 Centerline is valid? [True, True] Translation: X:653.94, Y:-102.16, Z:-41.86 [[ 9.73575746e-01 2.22531341e-01 5.12842014e-02 6.53939287e+02] [-2.22032226e-01 9.74919206e-01 -1.53046668e-02 -1.02159690e+02] [-5.34037210e-02 3.51350697e-03 9.98566822e-01 -4.18596368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.9307140569999 meters 0.037499998879302776 Centerline is valid? [True, True] Translation: X:653.97, Y:-102.17, Z:-41.86 [[ 9.73070333e-01 2.24596233e-01 5.18715617e-02 6.53966928e+02] [-2.24089295e-01 9.74445893e-01 -1.54657496e-02 -1.02168321e+02] [-5.40195793e-02 3.42540044e-03 9.98534001e-01 -4.18616561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.9607140569999 meters 0.040390507891711204 Centerline is valid? [True, True] Translation: X:653.99, Y:-102.18, Z:-41.86 [[ 9.72773717e-01 2.25689821e-01 5.26820730e-02 6.53992954e+02] [-2.25168605e-01 9.74193225e-01 -1.57054242e-02 -1.02180417e+02] [-5.48670730e-02 3.41547497e-03 9.98487826e-01 -4.18628665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.990714057 meters 0.03984972997156776 Centerline is valid? [True, True] Translation: X:654.02, Y:-102.19, Z:-41.86 [[ 9.72486934e-01 2.26880974e-01 5.28600704e-02 6.54021043e+02] [-2.26358199e-01 9.73916712e-01 -1.57544608e-02 -1.02186683e+02] [-5.50556934e-02 3.35569697e-03 9.98477646e-01 -4.18641494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.020714057 meters 0.03678734606657702 Centerline is valid? [True, True] Translation: X:654.05, Y:-102.19, Z:-41.87 [[ 9.72207364e-01 2.27942416e-01 5.34330973e-02 6.54050566e+02] [-2.27410029e-01 9.73668927e-01 -1.59216441e-02 -1.02189981e+02] [-5.56553645e-02 3.32791748e-03 9.98444493e-01 -4.18651519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.0507140569999 meters 0.037070905062030764 Centerline is valid? [True, True] Translation: X:654.08, Y:-102.20, Z:-41.87 [[ 9.71874647e-01 2.29301239e-01 5.36713457e-02 6.54077956e+02] [-2.28766910e-01 9.73350076e-01 -1.59790783e-02 -1.02196669e+02] [-5.59050309e-02 3.25143318e-03 9.98430797e-01 -4.18669199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.0807140569999 meters 0.03649028058875799 Centerline is valid? [True, True] Translation: X:654.11, Y:-102.20, Z:-41.87 [[ 9.71794260e-01 2.29644813e-01 5.36579640e-02 6.54105325e+02] [-2.29111478e-01 9.73269153e-01 -1.59714130e-02 -1.02203790e+02] [-5.58913934e-02 3.22727200e-03 9.98431639e-01 -4.18691533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.110714057 meters 0.03732274697560559 Centerline is valid? [True, True] Translation: X:654.13, Y:-102.21, Z:-41.87 [[ 9.71624991e-01 2.30601082e-01 5.26119506e-02 6.54131737e+02] [-2.30090524e-01 9.73043448e-01 -1.56460344e-02 -1.02212462e+02] [-5.48017063e-02 3.09656673e-03 9.98492456e-01 -4.18716217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.140714057 meters 0.0379511187698008 Centerline is valid? [True, True] Translation: X:654.16, Y:-102.22, Z:-41.87 [[ 9.71659671e-01 2.30519562e-01 5.23279555e-02 6.54157053e+02] [-2.30014647e-01 9.73062817e-01 -1.55568450e-02 -1.02221209e+02] [-5.45045449e-02 3.07976273e-03 9.98508773e-01 -4.18737127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.1707140569999 meters 0.03755630750181886 Centerline is valid? [True, True] Translation: X:654.18, Y:-102.23, Z:-41.88 [[ 9.71665747e-01 2.30357827e-01 5.29239775e-02 6.54184312e+02] [-2.29841449e-01 9.73100997e-01 -1.57276137e-02 -1.02228530e+02] [-5.51233542e-02 3.11785983e-03 9.98474684e-01 -4.18755757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.2007140569999 meters 0.034189919340730485 Centerline is valid? [True, True] Translation: X:654.21, Y:-102.23, Z:-41.88 [[ 9.71654477e-01 2.30155270e-01 5.40011936e-02 6.54212613e+02] [-2.29618236e-01 9.73148732e-01 -1.60315436e-02 -1.02231317e+02] [-5.62409374e-02 3.17746230e-03 9.98412170e-01 -4.18758736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.2307140569999 meters 0.03429572487586257 Centerline is valid? [True, True] Translation: X:654.24, Y:-102.24, Z:-41.88 [[ 9.71566284e-01 2.30241500e-01 5.52069521e-02 6.54239812e+02] [-2.29681338e-01 9.73128173e-01 -1.63719726e-02 -1.02239446e+02] [-5.74929480e-02 3.22644993e-03 9.98340699e-01 -4.18769755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.260714057 meters 0.03958929540664962 Centerline is valid? [True, True] Translation: X:654.26, Y:-102.26, Z:-41.88 [[ 9.71327718e-01 2.31046474e-01 5.60356209e-02 6.54263646e+02] [-2.30471583e-01 9.72937414e-01 -1.66023510e-02 -1.02256021e+02] [-5.83550668e-02 3.21170546e-03 9.98290725e-01 -4.18783441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.290714057 meters 0.0333169421279293 Centerline is valid? [True, True] Translation: X:654.29, Y:-102.25, Z:-41.88 [[ 9.70957649e-01 2.32548287e-01 5.62364472e-02 6.54293793e+02] [-2.31972089e-01 9.72579824e-01 -1.66564241e-02 -1.02254603e+02] [-5.85678568e-02 3.12739624e-03 9.98278531e-01 -4.18802427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.3207140569999 meters 0.032900063538793364 Centerline is valid? [True, True] Translation: X:654.32, Y:-102.26, Z:-41.88 [[ 9.70643167e-01 2.33937627e-01 5.59019610e-02 6.54321539e+02] [-2.33370816e-01 9.72246913e-01 -1.65530381e-02 -1.02262692e+02] [-5.82228874e-02 3.02120705e-03 9.98299037e-01 -4.18823449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.3507140569999 meters 0.03323857473012261 Centerline is valid? [True, True] Translation: X:654.35, Y:-102.27, Z:-41.88 [[ 9.70236616e-01 2.35712712e-01 5.55015890e-02 6.54348234e+02] [-2.35157139e-01 9.71818485e-01 -1.64302293e-02 -1.02271008e+02] [-5.78102841e-02 2.88961519e-03 9.98323405e-01 -4.18845748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.380714057 meters 0.03318656171881239 Centerline is valid? [True, True] Translation: X:654.38, Y:-102.28, Z:-41.89 [[ 9.70171149e-01 2.36061754e-01 5.51615001e-02 6.54375329e+02] [-2.35513837e-01 9.71733887e-01 -1.63243534e-02 -1.02278960e+02] [-5.74558544e-02 2.84612018e-03 9.98343991e-01 -4.18866117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.410714057 meters 0.031216818898522323 Centerline is valid? [True, True] Translation: X:654.40, Y:-102.28, Z:-41.89 [[ 9.70006181e-01 2.36865925e-01 5.46126565e-02 6.54403453e+02] [-2.36330953e-01 9.71538437e-01 -1.61476395e-02 -1.02283969e+02] [-5.68831205e-02 2.75664899e-03 9.98377039e-01 -4.18885779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.4407140569999 meters 0.03101752735325139 Centerline is valid? [True, True] Translation: X:654.43, Y:-102.29, Z:-41.89 [[ 9.69910138e-01 2.37337381e-01 5.42705416e-02 6.54430681e+02] [-2.36810666e-01 9.71423538e-01 -1.60317760e-02 -1.02291971e+02] [-5.65246213e-02 2.69753901e-03 9.98397561e-01 -4.18907106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.4707140569999 meters 0.03125481652664241 Centerline is valid? [True, True] Translation: X:654.46, Y:-102.30, Z:-41.89 [[ 9.69873655e-01 2.37520254e-01 5.41222937e-02 6.54457945e+02] [-2.36997528e-01 9.71378930e-01 -1.59733052e-02 -1.02301330e+02] [-5.63672392e-02 2.66523809e-03 9.98406546e-01 -4.18924370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.500714057 meters 0.03330098071825046 Centerline is valid? [True, True] Translation: X:654.48, Y:-102.31, Z:-41.89 [[ 9.69830216e-01 2.37672306e-01 5.42330887e-02 6.54483352e+02] [-2.37148510e-01 9.71341786e-01 -1.59911846e-02 -1.02312604e+02] [-5.64795270e-02 2.64743780e-03 9.98400247e-01 -4.18942285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.530714057 meters 0.031088605452828887 Centerline is valid? [True, True] Translation: X:654.51, Y:-102.32, Z:-41.90 [[ 9.69643996e-01 2.38215282e-01 5.51724684e-02 6.54511429e+02] [-2.37674501e-01 9.71208751e-01 -1.62601607e-02 -1.02317535e+02] [-5.74574029e-02 2.65347827e-03 9.98344433e-01 -4.18952563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.5607140569999 meters 0.031088605452828887 Centerline is valid? [True, True] Translation: X:654.54, Y:-102.33, Z:-41.90 [[ 9.69711203e-01 2.37940620e-01 5.51764848e-02 6.54537705e+02] [-2.37400171e-01 9.71276073e-01 -1.62465201e-02 -1.02325200e+02] [-5.74573065e-02 2.65552564e-03 9.98344433e-01 -4.18968471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.5907140569999 meters 0.03263111157496436 Centerline is valid? [True, True] Translation: X:654.56, Y:-102.34, Z:-41.90 [[ 9.69647142e-01 2.38227946e-01 5.50623766e-02 6.54563842e+02] [-2.37691170e-01 9.71205745e-01 -1.61959389e-02 -1.02335693e+02] [-5.73352218e-02 2.61650514e-03 9.98351554e-01 -4.18985607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.620714057 meters 0.03308028413279618 Centerline is valid? [True, True] Translation: X:654.59, Y:-102.34, Z:-41.90 [[ 9.69483264e-01 2.38940132e-01 5.48617816e-02 6.54590531e+02] [-2.38408691e-01 9.71030926e-01 -1.61318423e-02 -1.02344867e+02] [-5.71270311e-02 2.56002557e-03 9.98363635e-01 -4.19005756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.650714057 meters 0.0337759740394629 Centerline is valid? [True, True] Translation: X:654.62, Y:-102.35, Z:-41.90 [[ 9.69294649e-01 2.39704699e-01 5.48592845e-02 6.54616420e+02] [-2.39175342e-01 9.70842625e-01 -1.61168753e-02 -1.02354385e+02] [-5.71230225e-02 2.50101283e-03 9.98364014e-01 -4.19016281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.6807140569999 meters 0.03393985876125712 Centerline is valid? [True, True] Translation: X:654.64, Y:-102.36, Z:-41.90 [[ 9.69275731e-01 2.39734565e-01 5.50626524e-02 6.54644123e+02] [-2.39201740e-01 9.70835249e-01 -1.61692951e-02 -1.02362966e+02] [-5.73331028e-02 2.50142304e-03 9.98351971e-01 -4.19033520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.7107140569999 meters 0.029913671578691188 Centerline is valid? [True, True] Translation: X:654.67, Y:-102.36, Z:-41.90 [[ 9.69246983e-01 2.39484565e-01 5.66341733e-02 6.54672757e+02] [-2.38921295e-01 9.70896759e-01 -1.66161898e-02 -1.02364391e+02] [-5.89652563e-02 2.57408176e-03 9.98256717e-01 -4.19029385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.740714057 meters 0.0308453368718164 Centerline is valid? [True, True] Translation: X:654.70, Y:-102.37, Z:-41.90 [[ 9.69136841e-01 2.39538997e-01 5.82653587e-02 6.54697686e+02] [-2.38943991e-01 9.70883189e-01 -1.70763698e-02 -1.02373884e+02] [-6.06593137e-02 2.62718174e-03 9.98155071e-01 -4.19033905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.770714057 meters 0.030510860457879586 Centerline is valid? [True, True] Translation: X:654.72, Y:-102.38, Z:-41.90 [[ 9.69212230e-01 2.39140050e-01 5.86488612e-02 6.54724915e+02] [-2.38537224e-01 9.70981449e-01 -1.71760873e-02 -1.02382254e+02] [-6.10544466e-02 2.65733739e-03 9.98130900e-01 -4.19045553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.8007140569999 meters 0.030317909597509227 Centerline is valid? [True, True] Translation: X:654.75, Y:-102.39, Z:-41.91 [[ 9.69292273e-01 2.38660223e-01 5.92772122e-02 6.54752296e+02] [-2.38044494e-01 9.71099379e-01 -1.73440215e-02 -1.02392495e+02] [-6.17033920e-02 2.70081207e-03 9.98090876e-01 -4.19060147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.8307140569999 meters 0.030815207359898393 Centerline is valid? [True, True] Translation: X:654.78, Y:-102.40, Z:-41.91 [[ 9.69511041e-01 2.37915738e-01 5.86893842e-02 6.54778911e+02] [-2.37311771e-01 9.71282030e-01 -1.71563986e-02 -1.02402247e+02] [-6.10857214e-02 2.70563613e-03 9.98128857e-01 -4.19082819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.860714057 meters 0.051576536315792 Centerline is valid? [True, True] Translation: X:654.80, Y:-102.44, Z:-41.91 [[ 9.68794911e-01 2.41550660e-01 5.55850588e-02 6.54796864e+02] [-2.41015737e-01 9.70385410e-01 -1.62348770e-02 -1.02443994e+02] [-5.78604754e-02 2.33139230e-03 9.98321957e-01 -4.19103801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.890714057 meters 0.030106069472241377 Centerline is valid? [True, True] Translation: X:654.83, Y:-102.42, Z:-41.91 [[ 9.70065547e-01 2.36201814e-01 5.64051297e-02 6.54834630e+02] [-2.35642072e-01 9.71700303e-01 -1.64722438e-02 -1.02420320e+02] [-5.86996555e-02 2.68773455e-03 9.98272070e-01 -4.19132606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.9207140569999 meters 0.03125495333805861 Centerline is valid? [True, True] Translation: X:654.86, Y:-102.43, Z:-41.92 [[ 9.70380220e-01 2.35097562e-01 5.56000544e-02 6.54860712e+02] [-2.34551981e-01 9.71967990e-01 -1.62356172e-02 -1.02430635e+02] [-5.78584271e-02 2.71361885e-03 9.98321110e-01 -4.19160151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.9507140569999 meters 0.03255220883862109 Centerline is valid? [True, True] Translation: X:654.89, Y:-102.44, Z:-41.92 [[ 9.70707280e-01 2.33876445e-01 5.50380393e-02 6.54886482e+02] [-2.33340195e-01 9.72262428e-01 -1.60662484e-02 -1.02441732e+02] [-5.72689348e-02 2.75303743e-03 9.98354992e-01 -4.19183002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.9807140569999 meters 0.03292870589873804 Centerline is valid? [True, True] Translation: X:654.91, Y:-102.45, Z:-41.92 [[ 9.71403277e-01 2.31242991e-01 5.38734860e-02 6.54913916e+02] [-2.30725465e-01 9.72891877e-01 -1.57211810e-02 -1.02452660e+02] [-5.60484898e-02 2.84162170e-03 9.98424004e-01 -4.19209512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.010714057 meters 0.034482375588522164 Centerline is valid? [True, True] Translation: X:654.94, Y:-102.46, Z:-41.92 [[ 9.71651256e-01 2.30205164e-01 5.38462639e-02 6.54939906e+02] [-2.29686677e-01 9.73137803e-01 -1.57113735e-02 -1.02463461e+02] [-5.60166742e-02 2.89820631e-03 9.98425627e-01 -4.19228541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.040714057 meters 0.03618969628756524 Centerline is valid? [True, True] Translation: X:654.97, Y:-102.47, Z:-41.92 [[ 9.71912884e-01 2.28938052e-01 5.45226030e-02 6.54965980e+02] [-2.28404904e-01 9.73436368e-01 -1.59008669e-02 -1.02474554e+02] [-5.67145981e-02 3.00102747e-03 9.98385921e-01 -4.19233403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.0707140569999 meters 0.03203803118196577 Centerline is valid? [True, True] Translation: X:655.00, Y:-102.48, Z:-41.92 [[ 9.72006580e-01 2.28535900e-01 5.45394348e-02 6.54995266e+02] [-2.28002065e-01 9.73530799e-01 -1.59009686e-02 -1.02475364e+02] [-5.67297618e-02 3.02074235e-03 9.98385001e-01 -4.19238792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.1007140569999 meters 0.03194079409450847 Centerline is valid? [True, True] Translation: X:655.02, Y:-102.48, Z:-41.93 [[ 9.72024694e-01 2.28348512e-01 5.49995627e-02 6.55022419e+02] [-2.27806323e-01 9.73574709e-01 -1.60176783e-02 -1.02483133e+02] [-5.72037962e-02 3.04033071e-03 9.98357893e-01 -4.19252154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.130714057 meters 0.03276031137538346 Centerline is valid? [True, True] Translation: X:655.05, Y:-102.49, Z:-41.93 [[ 9.71961112e-01 2.28439196e-01 5.57416346e-02 6.55048885e+02] [-2.27883441e-01 9.73553377e-01 -1.62160364e-02 -1.02493080e+02] [-5.79718349e-02 3.05876125e-03 9.98313533e-01 -4.19262292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.160714057 meters 0.03318594007126067 Centerline is valid? [True, True] Translation: X:655.08, Y:-102.50, Z:-41.93 [[ 9.72080379e-01 2.27937159e-01 5.57170355e-02 6.55076289e+02] [-2.27381954e-01 9.73670998e-01 -1.61936883e-02 -1.02502296e+02] [-5.79412048e-02 3.07251824e-03 9.98315269e-01 -4.19279689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.1907140569999 meters 0.03216608866584225 Centerline is valid? [True, True] Translation: X:655.10, Y:-102.51, Z:-41.93 [[ 9.72293422e-01 2.27170334e-01 5.51283972e-02 6.55104280e+02] [-2.26626423e-01 9.73850198e-01 -1.60079787e-02 -1.02508995e+02] [-5.73233385e-02 3.07090088e-03 9.98350943e-01 -4.19295771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.2207140569999 meters 0.032345311342507795 Centerline is valid? [True, True] Translation: X:655.13, Y:-102.52, Z:-41.93 [[ 9.72702980e-01 2.25485788e-01 5.48185330e-02 6.55132334e+02] [-2.24946177e-01 9.74241405e-01 -1.59028986e-02 -1.02518071e+02] [-5.69923622e-02 3.13757745e-03 9.98369684e-01 -4.19312540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.250714057 meters 0.03609289181684993 Centerline is valid? [True, True] Translation: X:655.16, Y:-102.53, Z:-41.93 [[ 9.72957184e-01 2.24464313e-01 5.44985267e-02 6.55157118e+02] [-2.23929509e-01 9.74477132e-01 -1.58080544e-02 -1.02531154e+02] [-5.66559120e-02 3.17673183e-03 9.98388710e-01 -4.19333984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.280714057 meters 0.03691387986520079 Centerline is valid? [True, True] Translation: X:655.18, Y:-102.54, Z:-41.93 [[ 9.73223637e-01 2.23550778e-01 5.34864730e-02 6.55182795e+02] [-2.23034730e-01 9.74687155e-01 -1.55067453e-02 -1.02540950e+02] [-5.55991232e-02 3.16218998e-03 9.98448165e-01 -4.19349808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.3107140569999 meters 0.03689044445254671 Centerline is valid? [True, True] Translation: X:655.21, Y:-102.55, Z:-41.94 [[ 9.73237095e-01 2.23514378e-01 5.33936258e-02 6.55210328e+02] [-2.23000321e-01 9.74695529e-01 -1.54752468e-02 -1.02549313e+02] [-5.55014685e-02 3.15428849e-03 9.98453623e-01 -4.19367030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.3407140569999 meters 0.03292475062325968 Centerline is valid? [True, True] Translation: X:655.24, Y:-102.55, Z:-41.94 [[ 9.73170297e-01 2.23866276e-01 5.31362726e-02 6.55239679e+02] [-2.23358441e-01 9.74614921e-01 -1.53870886e-02 -1.02550954e+02] [-5.52320543e-02 3.10582264e-03 9.98468715e-01 -4.19385971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.370714057 meters 0.03260501710543035 Centerline is valid? [True, True] Translation: X:655.27, Y:-102.56, Z:-41.94 [[ 9.73124091e-01 2.24231952e-01 5.24360045e-02 6.55266960e+02] [-2.23738725e-01 9.74531091e-01 -1.51702087e-02 -1.02558429e+02] [-5.45021622e-02 3.03053071e-03 9.98509054e-01 -4.19407148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.400714057 meters 0.03336616365151301 Centerline is valid? [True, True] Translation: X:655.29, Y:-102.57, Z:-41.94 [[ 9.72595185e-01 2.26720194e-01 5.15418251e-02 6.55294672e+02] [-2.26247934e-01 9.73955831e-01 -1.48967241e-02 -1.02567431e+02] [-5.35768492e-02 2.82725073e-03 9.98559727e-01 -4.19435736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.4307140569999 meters 0.033044543875194836 Centerline is valid? [True, True] Translation: X:655.32, Y:-102.57, Z:-41.95 [[ 9.72217819e-01 2.28342647e-01 5.14990168e-02 6.55321795e+02] [-2.27873537e-01 9.73576993e-01 -1.48825060e-02 -1.02574636e+02] [-5.35365687e-02 2.73377440e-03 9.98562147e-01 -4.19456233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.4607140569999 meters 0.029529211756429176 Centerline is valid? [True, True] Translation: X:655.35, Y:-102.58, Z:-41.95 [[ 9.71365703e-01 2.32157891e-01 5.05112291e-02 6.55352066e+02] [-2.31711962e-01 9.72674975e-01 -1.45931479e-02 -1.02575956e+02] [-5.25189229e-02 2.47122735e-03 9.98616871e-01 -4.19469958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.490714057 meters 0.031618246678770716 Centerline is valid? [True, True] Translation: X:655.38, Y:-102.59, Z:-41.95 [[ 9.71019451e-01 2.33609655e-01 5.04752848e-02 6.55377896e+02] [-2.33166392e-01 9.72327527e-01 -1.45813115e-02 -1.02587021e+02] [-5.24848439e-02 2.38959701e-03 9.98618862e-01 -4.19492139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.520714057 meters 0.02870068174917818 Centerline is valid? [True, True] Translation: X:655.41, Y:-102.59, Z:-41.95 [[ 9.70518793e-01 2.35724523e-01 5.02714843e-02 6.55407581e+02] [-2.35288007e-01 9.71817289e-01 -1.45158682e-02 -1.02589947e+02] [-5.22764437e-02 2.25964556e-03 9.98630095e-01 -4.19503020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.5507140569999 meters 0.02938539646352659 Centerline is valid? [True, True] Translation: X:655.43, Y:-102.60, Z:-41.95 [[ 9.70313463e-01 2.36578969e-01 5.02212626e-02 6.55433819e+02] [-2.36145164e-01 9.71609777e-01 -1.44880419e-02 -1.02599325e+02] [-5.22230357e-02 2.19843379e-03 9.98633026e-01 -4.19522833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.5807140569999 meters 0.031188069161993397 Centerline is valid? [True, True] Translation: X:655.46, Y:-102.61, Z:-41.95 [[ 9.70252778e-01 2.36937354e-01 4.97014748e-02 6.55460046e+02] [-2.36513283e-01 9.71522551e-01 -1.43318071e-02 -1.02610004e+02] [-5.16818440e-02 2.15041664e-03 9.98661285e-01 -4.19543419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.610714057 meters 0.028197429507222926 Centerline is valid? [True, True] Translation: X:655.49, Y:-102.61, Z:-41.95 [[ 9.70171468e-01 2.37232738e-01 4.98793547e-02 6.55488798e+02] [-2.36806698e-01 9.71450510e-01 -1.43699253e-02 -1.02612381e+02] [-5.18643412e-02 2.12952625e-03 9.98651869e-01 -4.19549281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.640714057 meters 0.03004055140873974 Centerline is valid? [True, True] Translation: X:655.51, Y:-102.62, Z:-41.96 [[ 9.70160407e-01 2.37004943e-01 5.11609480e-02 6.55513741e+02] [-2.36557150e-01 9.71505991e-01 -1.47249233e-02 -1.02624580e+02] [-5.31930472e-02 2.18304954e-03 9.98581861e-01 -4.19565487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.6707140569999 meters 0.02943554666458945 Centerline is valid? [True, True] Translation: X:655.54, Y:-102.63, Z:-41.96 [[ 9.70414490e-01 2.35865649e-01 5.16053589e-02 6.55541424e+02] [-2.35409307e-01 9.71783071e-01 -1.48364992e-02 -1.02632066e+02] [-5.36486347e-02 2.24917206e-03 9.98557342e-01 -4.19578596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.7007140569999 meters 0.02974895539843786 Centerline is valid? [True, True] Translation: X:655.57, Y:-102.64, Z:-41.96 [[ 9.71052182e-01 2.33030812e-01 5.24814287e-02 6.55568776e+02] [-2.32555511e-01 9.72466310e-01 -1.50734789e-02 -1.02643427e+02] [-5.45490064e-02 2.43228910e-03 9.98508132e-01 -4.19595891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.7307140569999 meters 0.031274701284577135 Centerline is valid? [True, True] Translation: X:655.59, Y:-102.66, Z:-41.96 [[ 9.71487296e-01 2.31102284e-01 5.29543903e-02 6.55594723e+02] [-2.30615618e-01 9.72926088e-01 -1.52073735e-02 -1.02655307e+02] [-5.50351665e-02 2.56166069e-03 9.98481131e-01 -4.19616245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.760714057 meters 0.032241213604074614 Centerline is valid? [True, True] Translation: X:655.62, Y:-102.67, Z:-41.96 [[ 9.71939553e-01 2.29055404e-01 5.35455645e-02 6.55622343e+02] [-2.28554937e-01 9.73409633e-01 -1.53729469e-02 -1.02666581e+02] [-5.56430248e-02 2.70347202e-03 9.98447067e-01 -4.19632966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.790714057 meters 0.03351569249937481 Centerline is valid? [True, True] Translation: X:655.65, Y:-102.68, Z:-41.96 [[ 9.72595409e-01 2.25957551e-01 5.47846238e-02 6.55649866e+02] [-2.25428849e-01 9.74132696e-01 -1.57265747e-02 -1.02678797e+02] [-5.69210315e-02 2.94555966e-03 9.98374339e-01 -4.19642277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.8207140569999 meters 0.032025866069486056 Centerline is valid? [True, True] Translation: X:655.68, Y:-102.69, Z:-41.97 [[ 9.72763707e-01 2.24964407e-01 5.58729455e-02 6.55677535e+02] [-2.24412919e-01 9.74362170e-01 -1.60375482e-02 -1.02685469e+02] [-5.80483620e-02 3.06213407e-03 9.98309076e-01 -4.19651149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.8507140569999 meters 0.03189914026347257 Centerline is valid? [True, True] Translation: X:655.70, Y:-102.69, Z:-41.97 [[ 9.72821343e-01 2.24414834e-01 5.70667758e-02 6.55704835e+02] [-2.23839492e-01 9.74488628e-01 -1.63644835e-02 -1.02694829e+02] [-5.92833569e-02 3.14592076e-03 9.98236238e-01 -4.19661506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.880714057 meters 0.03320726490084326 Centerline is valid? [True, True] Translation: X:655.73, Y:-102.71, Z:-41.97 [[ 9.72894121e-01 2.24085403e-01 5.71205947e-02 6.55730216e+02] [-2.23509312e-01 9.74564407e-01 -1.63647210e-02 -1.02706270e+02] [-5.93347936e-02 3.15415601e-03 9.98233156e-01 -4.19684257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.910714057 meters 0.033331908971115896 Centerline is valid? [True, True] Translation: X:655.76, Y:-102.71, Z:-41.97 [[ 9.72901984e-01 2.24140732e-01 5.67684860e-02 6.55757287e+02] [-2.23572154e-01 9.74551775e-01 -1.62582548e-02 -1.02714934e+02] [-5.89679659e-02 3.12583566e-03 9.98254982e-01 -4.19711987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.9407140569999 meters 0.032576614760615734 Centerline is valid? [True, True] Translation: X:655.79, Y:-102.72, Z:-41.97 [[ 9.72842896e-01 2.24561463e-01 5.61145986e-02 6.55785182e+02] [-2.24007474e-01 9.74455153e-01 -1.60563376e-02 -1.02723496e+02] [-5.82867944e-02 3.05020448e-03 9.98295220e-01 -4.19742321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.9707140569999 meters 0.03251143536637183 Centerline is valid? [True, True] Translation: X:655.81, Y:-102.73, Z:-41.98 [[ 9.72807995e-01 2.24683845e-01 5.62296581e-02 6.55812458e+02] [-2.24128600e-01 9.74426988e-01 -1.60753004e-02 -1.02731741e+02] [-5.84035567e-02 3.03550622e-03 9.98288440e-01 -4.19770525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.000714057 meters 0.032999305429092594 Centerline is valid? [True, True] Translation: X:655.84, Y:-102.74, Z:-41.98 [[ 9.72739991e-01 2.25084503e-01 5.58021220e-02 6.55838159e+02] [-2.24539191e-01 9.74334707e-01 -1.59383213e-02 -1.02742224e+02] [-5.79574133e-02 2.97407915e-03 9.98314626e-01 -4.19799339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.030714057 meters 0.033209727541249824 Centerline is valid? [True, True] Translation: X:655.87, Y:-102.75, Z:-41.98 [[ 9.72825722e-01 2.24685380e-01 5.59159667e-02 6.55865553e+02] [-2.24137492e-01 9.74426748e-01 -1.59655138e-02 -1.02750766e+02] [-5.80732311e-02 2.99879797e-03 9.98307822e-01 -4.19823114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.0607140569999 meters 0.03352360781512636 Centerline is valid? [True, True] Translation: X:655.89, Y:-102.76, Z:-41.98 [[ 9.72866254e-01 2.24497294e-01 5.59662157e-02 6.55892416e+02] [-2.23948967e-01 9.74470099e-01 -1.59651392e-02 -1.02759762e+02] [-5.81215343e-02 2.99836902e-03 9.98305012e-01 -4.19843008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.0907140569999 meters 0.030571429654135087 Centerline is valid? [True, True] Translation: X:655.92, Y:-102.76, Z:-41.99 [[ 9.72926798e-01 2.24348608e-01 5.55080904e-02 6.55920812e+02] [-2.23809939e-01 9.74504439e-01 -1.58180099e-02 -1.02763003e+02] [-5.76416290e-02 2.96650342e-03 9.98332932e-01 -4.19859193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.120714057 meters 0.034040744119610174 Centerline is valid? [True, True] Translation: X:655.95, Y:-102.78, Z:-41.99 [[ 9.72663356e-01 2.25473717e-01 5.55661655e-02 6.55945967e+02] [-2.24936759e-01 9.74244977e-01 -1.58170597e-02 -1.02777229e+02] [-5.77013888e-02 2.88580117e-03 9.98329716e-01 -4.19884207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.150714057 meters 0.03396077491780135 Centerline is valid? [True, True] Translation: X:655.97, Y:-102.79, Z:-41.99 [[ 9.72476755e-01 2.26185189e-01 5.59394449e-02 6.55973710e+02] [-2.25643050e-01 9.74080156e-01 -1.59079670e-02 -1.02785764e+02] [-5.80876497e-02 2.84778122e-03 9.98307425e-01 -4.19895609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.1807140569999 meters 0.029745919473483623 Centerline is valid? [True, True] Translation: X:656.00, Y:-102.79, Z:-41.99 [[ 9.71869102e-01 2.28401848e-01 5.74721144e-02 6.56003419e+02] [-2.27834319e-01 9.73562989e-01 -1.63288133e-02 -1.02788431e+02] [-5.96822546e-02 2.77534912e-03 9.98213567e-01 -4.19902634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.2107140569999 meters 0.033393889338341885 Centerline is valid? [True, True] Translation: X:656.03, Y:-102.80, Z:-41.99 [[ 9.71524161e-01 2.29574776e-01 5.86193409e-02 6.56028627e+02] [-2.28987353e-01 9.73287161e-01 -1.66401701e-02 -1.02802547e+02] [-6.08736152e-02 2.74323957e-03 9.98141712e-01 -4.19905738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.240714057 meters 0.03311129778888001 Centerline is valid? [True, True] Translation: X:656.06, Y:-102.81, Z:-41.99 [[ 9.71193623e-01 2.30813245e-01 5.92299986e-02 6.56056944e+02] [-2.30216184e-01 9.72994359e-01 -1.68072901e-02 -1.02810191e+02] [-6.15097998e-02 2.68742868e-03 9.98102862e-01 -4.19912174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.270714057 meters 0.028743414354641082 Centerline is valid? [True, True] Translation: X:656.09, Y:-102.81, Z:-41.99 [[ 9.70443027e-01 2.33462665e-01 6.11188677e-02 6.56086176e+02] [-2.32832975e-01 9.72362326e-01 -1.73295599e-02 -1.02812475e+02] [-6.34754896e-02 2.58686275e-03 9.97980045e-01 -4.19923966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.3007140569999 meters 0.028966404934266218 Centerline is valid? [True, True] Translation: X:656.11, Y:-102.82, Z:-41.99 [[ 9.70256009e-01 2.34053246e-01 6.18251914e-02 6.56113418e+02] [-2.33410477e-01 9.72220378e-01 -1.75238745e-02 -1.02821263e+02] [-6.42092307e-02 2.57199706e-03 9.97933144e-01 -4.19943500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.3307140569999 meters 0.029753410677509407 Centerline is valid? [True, True] Translation: X:656.14, Y:-102.83, Z:-42.00 [[ 9.70026921e-01 2.34906434e-01 6.21831082e-02 6.56138847e+02] [-2.34258945e-01 9.72014733e-01 -1.76098004e-02 -1.02831892e+02] [-6.45795528e-02 2.51503120e-03 9.97909393e-01 -4.19959023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.360714057 meters 0.02745900106059306 Centerline is valid? [True, True] Translation: X:656.17, Y:-102.84, Z:-42.00 [[ 9.69645226e-01 2.36370357e-01 6.25874590e-02 6.56167059e+02] [-2.35717915e-01 9.71660006e-01 -1.77171478e-02 -1.02838171e+02] [-6.50015393e-02 2.42636245e-03 9.97882214e-01 -4.19992138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.390714057 meters 0.029218371814673884 Centerline is valid? [True, True] Translation: X:656.19, Y:-102.85, Z:-42.00 [[ 9.69566702e-01 2.36739814e-01 6.24073030e-02 6.56192802e+02] [-2.36092913e-01 9.71570172e-01 -1.76504235e-02 -1.02850160e+02] [-6.48116321e-02 2.37934096e-03 9.97894679e-01 -4.20005485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.4207140569999 meters 0.03014836346092381 Centerline is valid? [True, True] Translation: X:656.22, Y:-102.86, Z:-42.00 [[ 9.69478860e-01 2.37404013e-01 6.12378497e-02 6.56218630e+02] [-2.36782847e-01 9.71408314e-01 -1.73139151e-02 -1.02861940e+02] [-6.35973492e-02 2.28540230e-03 9.97973023e-01 -4.20036983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.4507140569999 meters 0.03014836346092381 Centerline is valid? [True, True] Translation: X:656.25, Y:-102.87, Z:-42.01 [[ 9.69541859e-01 2.37146146e-01 6.12396017e-02 6.56245003e+02] [-2.36524858e-01 9.71471273e-01 -1.73077157e-02 -1.02869298e+02] [-6.35969719e-02 2.29586674e-03 9.97973023e-01 -4.20052862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.4807140569999 meters 0.027686788619146883 Centerline is valid? [True, True] Translation: X:656.27, Y:-102.87, Z:-42.01 [[ 9.69567903e-01 2.37162557e-01 6.07618581e-02 6.56273746e+02] [-2.36552060e-01 9.71467351e-01 -1.71554449e-02 -1.02873327e+02] [-6.30967905e-02 2.26002608e-03 9.98004853e-01 -4.20087763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.510714057 meters 0.02726462964630545 Centerline is valid? [True, True] Translation: X:656.30, Y:-102.88, Z:-42.01 [[ 9.69455652e-01 2.37698501e-01 6.04579326e-02 6.56301101e+02] [-2.37096171e-01 9.71336497e-01 -1.70532885e-02 -1.02882144e+02] [-6.27785376e-02 2.19806257e-03 9.98025062e-01 -4.20112779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.540714057 meters 0.02774515060952711 Centerline is valid? [True, True] Translation: X:656.33, Y:-102.89, Z:-42.01 [[ 9.69294746e-01 2.38362338e-01 6.04242553e-02 6.56326894e+02] [-2.37762965e-01 9.71173941e-01 -1.70279110e-02 -1.02892429e+02] [-6.27412748e-02 2.13841454e-03 9.98027535e-01 -4.20133758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.5707140569999 meters 0.02709665795453166 Centerline is valid? [True, True] Translation: X:656.35, Y:-102.90, Z:-42.02 [[ 9.68536309e-01 2.41296309e-01 6.09385668e-02 6.56354360e+02] [-2.40693061e-01 9.70449517e-01 -1.71634735e-02 -1.02901784e+02] [-6.32792856e-02 1.95595709e-03 9.97993941e-01 -4.20157253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.6007140569999 meters 0.026736911359948733 Centerline is valid? [True, True] Translation: X:656.38, Y:-102.91, Z:-42.02 [[ 9.68103593e-01 2.42811405e-01 6.17904089e-02 6.56382049e+02] [-2.42195239e-01 9.70071715e-01 -1.73877385e-02 -1.02909702e+02] [-6.41630692e-02 1.86778926e-03 9.97937679e-01 -4.20175029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.630714057 meters 0.02663245563551784 Centerline is valid? [True, True] Translation: X:656.41, Y:-102.92, Z:-42.02 [[ 9.67024612e-01 2.46738042e-01 6.31168637e-02 6.56408231e+02] [-2.46104515e-01 9.69080850e-01 -1.77446876e-02 -1.02918519e+02] [-6.55436334e-02 1.62620449e-03 9.97848379e-01 -4.20180479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.660714057 meters 0.025741917729702392 Centerline is valid? [True, True] Translation: X:656.44, Y:-102.93, Z:-42.02 [[ 9.66559106e-01 2.48330065e-01 6.39974444e-02 6.56436281e+02] [-2.47682854e-01 9.68674268e-01 -1.79823807e-02 -1.02925476e+02] [-6.64582434e-02 1.52996420e-03 9.97788034e-01 -4.20199643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.6907140569999 meters 0.02589449300369639 Centerline is valid? [True, True] Translation: X:656.46, Y:-102.94, Z:-42.02 [[ 9.66010857e-01 2.50297070e-01 6.46096088e-02 6.56462843e+02] [-2.49642885e-01 9.68168084e-01 -1.81381278e-02 -1.02935124e+02] [-6.70928813e-02 1.39229930e-03 9.97745763e-01 -4.20207670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.7207140569999 meters 0.02546216421365136 Centerline is valid? [True, True] Translation: X:656.49, Y:-102.94, Z:-42.02 [[ 9.65211476e-01 2.53240241e-01 6.50860046e-02 6.56490126e+02] [-2.52583578e-01 9.67402691e-01 -1.82638783e-02 -1.02944159e+02] [-6.75895250e-02 1.18884902e-03 9.97712505e-01 -4.20232601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.750714057 meters 0.025710163865028793 Centerline is valid? [True, True] Translation: X:656.52, Y:-102.95, Z:-42.03 [[ 9.64941492e-01 2.54125699e-01 6.56356995e-02 6.56515769e+02] [-2.53461037e-01 9.67170550e-01 -1.84018912e-02 -1.02953945e+02] [-6.81573091e-02 1.12065587e-03 9.97673957e-01 -4.20252399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.780714057 meters 0.02586667869909435 Centerline is valid? [True, True] Translation: X:656.54, Y:-102.97, Z:-42.03 [[ 9.65020713e-01 2.53851426e-01 6.55322652e-02 6.56540272e+02] [-2.53188682e-01 9.67242561e-01 -1.83662394e-02 -1.02966745e+02] [-6.80478921e-02 1.13177353e-03 9.97681414e-01 -4.20277373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.8107140569999 meters 0.026426866346507642 Centerline is valid? [True, True] Translation: X:656.57, Y:-102.98, Z:-42.03 [[ 9.65364257e-01 2.52476414e-01 6.57838231e-02 6.56566660e+02] [-2.51806064e-01 9.67602275e-01 -1.84267026e-02 -1.02977806e+02] [-6.83048847e-02 1.22371451e-03 9.97663744e-01 -4.20298189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.8407140569999 meters 0.02643428244728051 Centerline is valid? [True, True] Translation: X:656.59, Y:-102.99, Z:-42.03 [[ 9.66080151e-01 2.49765403e-01 6.56230623e-02 6.56593164e+02] [-2.49093259e-01 9.68305374e-01 -1.83644113e-02 -1.02988260e+02] [-6.81299584e-02 1.39523082e-03 9.97675479e-01 -4.20322246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.870714057 meters 0.0270236384728253 Centerline is valid? [True, True] Translation: X:656.62, Y:-103.00, Z:-42.03 [[ 9.66765802e-01 2.46982767e-01 6.60560104e-02 6.56617816e+02] [-2.46296390e-01 9.69018575e-01 -1.84685962e-02 -1.03001547e+02] [-6.85709260e-02 1.58545030e-03 9.97644984e-01 -4.20327350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.900714057 meters 0.029215135177708372 Centerline is valid? [True, True] Translation: X:656.64, Y:-103.02, Z:-42.03 [[ 9.68443398e-01 2.40281422e-01 6.61983572e-02 6.56642556e+02] [-2.39577103e-01 9.70701094e-01 -1.84985729e-02 -1.03019815e+02] [-6.87036812e-02 2.05521019e-03 9.97634994e-01 -4.20340117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.9307140569999 meters 0.030307404293811024 Centerline is valid? [True, True] Translation: X:656.67, Y:-103.03, Z:-42.04 [[ 9.69393890e-01 2.36291636e-01 6.66464403e-02 6.56669744e+02] [-2.35568492e-01 9.71679336e-01 -1.86213039e-02 -1.03033062e+02] [-6.91590273e-02 2.35157676e-03 9.97602876e-01 -4.20357179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.9607140569999 meters 0.03196698638451066 Centerline is valid? [True, True] Translation: X:656.70, Y:-103.05, Z:-42.04 [[ 9.71314626e-01 2.28527282e-01 6.57508862e-02 6.56696649e+02] [-2.27805835e-01 9.73533297e-01 -1.83690109e-02 -1.03050098e+02] [-6.82084972e-02 2.86365339e-03 9.97666979e-01 -4.20383382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.990714057 meters 0.03257162682013476 Centerline is valid? [True, True] Translation: X:656.72, Y:-103.06, Z:-42.04 [[ 9.72308171e-01 2.24532199e-01 6.48237025e-02 6.56724406e+02] [-2.23822157e-01 9.74461742e-01 -1.81095171e-02 -1.03060979e+02] [-6.72343878e-02 3.09905053e-03 9.97732396e-01 -4.20409960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.020714057 meters 0.03336490103755651 Centerline is valid? [True, True] Translation: X:656.75, Y:-103.07, Z:-42.04 [[ 9.73184853e-01 2.20873841e-01 6.42338611e-02 6.56752007e+02] [-2.20168815e-01 9.75296736e-01 -1.79435040e-02 -1.03072870e+02] [-6.66103257e-02 3.32005318e-03 9.97773542e-01 -4.20431810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.0507140569999 meters 0.03547296705703978 Centerline is valid? [True, True] Translation: X:656.78, Y:-103.09, Z:-42.04 [[ 9.74637105e-01 2.14138973e-01 6.50154824e-02 6.56779108e+02] [-2.13401797e-01 9.76795713e-01 -1.81606157e-02 -1.03087906e+02] [-6.73957401e-02 3.82558908e-03 9.97718988e-01 -4.20445530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.0807140569999 meters 0.03680932185021854 Centerline is valid? [True, True] Translation: X:656.81, Y:-103.10, Z:-42.05 [[ 9.75331045e-01 2.10763668e-01 6.56355740e-02 6.56807497e+02] [-2.10004759e-01 9.77528459e-01 -1.83333974e-02 -1.03099422e+02] [-6.80246556e-02 4.09734880e-03 9.97675227e-01 -4.20455982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.110714057 meters 0.039167568516953556 Centerline is valid? [True, True] Translation: X:656.83, Y:-103.11, Z:-42.05 [[ 9.75902041e-01 2.07854400e-01 6.64210401e-02 6.56834122e+02] [-2.07070510e-01 9.78150097e-01 -1.85523828e-02 -1.03112057e+02] [-6.88259412e-02 4.35146961e-03 9.97619193e-01 -4.20462552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.140714057 meters 0.039532416466817696 Centerline is valid? [True, True] Translation: X:656.86, Y:-103.12, Z:-42.05 [[ 9.77082034e-01 2.02419702e-01 6.58556225e-02 6.56862817e+02] [-2.01636980e-01 9.79287624e-01 -1.83923376e-02 -1.03121841e+02] [-6.82145676e-02 4.69189381e-03 9.97659641e-01 -4.20487246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.1707140569999 meters 0.04155193367435802 Centerline is valid? [True, True] Translation: X:656.89, Y:-103.13, Z:-42.05 [[ 9.77703460e-01 1.99689588e-01 6.49616184e-02 6.56890444e+02] [-1.98922024e-01 9.79847374e-01 -1.81425246e-02 -1.03132975e+02] [-6.72753445e-02 4.81571246e-03 9.97722826e-01 -4.20509810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.2007140569999 meters 0.04325496767685679 Centerline is valid? [True, True] Translation: X:656.92, Y:-103.14, Z:-42.05 [[ 9.78961216e-01 1.94255417e-01 6.24481463e-02 6.56918597e+02] [-1.93535269e-01 9.80938310e-01 -1.74394041e-02 -1.03143162e+02] [-6.46454777e-02 4.98658146e-03 9.97895834e-01 -4.20540224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.2307140569999 meters 0.04484598503543003 Centerline is valid? [True, True] Translation: X:656.95, Y:-103.15, Z:-42.06 [[ 9.79452550e-01 1.92038334e-01 6.15952973e-02 6.56946609e+02] [-1.91333467e-01 9.81374373e-01 -1.72001323e-02 -1.03152904e+02] [-6.37511310e-02 5.06147166e-03 9.97952992e-01 -4.20559552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.260714057 meters 0.04565409109708178 Centerline is valid? [True, True] Translation: X:656.97, Y:-103.16, Z:-42.06 [[ 9.79876688e-01 1.90110762e-01 6.08241349e-02 6.56974745e+02] [-1.89419859e-01 9.81749296e-01 -1.69834411e-02 -1.03161220e+02] [-6.29427866e-02 5.12037901e-03 9.98004002e-01 -4.20578749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.290714057 meters 0.04542373776507752 Centerline is valid? [True, True] Translation: X:657.00, Y:-103.17, Z:-42.06 [[ 9.80228400e-01 1.88338094e-01 6.06716303e-02 6.57003845e+02] [-1.87647500e-01 9.82090392e-01 -1.69374729e-02 -1.03167812e+02] [-6.27749966e-02 5.21771224e-03 9.98014066e-01 -4.20595967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.3207140569999 meters 0.04666295385733309 Centerline is valid? [True, True] Translation: X:657.03, Y:-103.17, Z:-42.06 [[ 9.80490941e-01 1.87003031e-01 6.05589062e-02 6.57032304e+02] [-1.86312631e-01 9.82345088e-01 -1.69035772e-02 -1.03174269e+02] [-6.26507642e-02 5.29091513e-03 9.98021487e-01 -4.20607276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.3507140569999 meters 0.05047299054054723 Centerline is valid? [True, True] Translation: X:657.06, Y:-103.19, Z:-42.06 [[ 9.80568067e-01 1.86758039e-01 6.00641450e-02 6.57058076e+02] [-1.86078658e-01 9.82391863e-01 -1.67618785e-02 -1.03185088e+02] [-6.21369428e-02 5.25950733e-03 9.98053775e-01 -4.20617250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.380714057 meters 0.044283986673572966 Centerline is valid? [True, True] Translation: X:657.09, Y:-103.18, Z:-42.06 [[ 9.80548903e-01 1.87107897e-01 5.92830888e-02 6.57089960e+02] [-1.86447106e-01 9.82325801e-01 -1.65377578e-02 -1.03179597e+02] [-6.13296527e-02 5.16291989e-03 9.98104212e-01 -4.20632070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.410714057 meters 0.04419166340770477 Centerline is valid? [True, True] Translation: X:657.12, Y:-103.18, Z:-42.07 [[ 9.80571710e-01 1.87041633e-01 5.91147107e-02 6.57118663e+02] [-1.86385401e-01 9.82338554e-01 -1.64756980e-02 -1.03184459e+02] [-6.11523008e-02 5.13748436e-03 9.98115225e-01 -4.20650714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.4407140569999 meters 0.045649767279632644 Centerline is valid? [True, True] Translation: X:657.15, Y:-103.19, Z:-42.07 [[ 9.80476232e-01 1.87884087e-01 5.80166155e-02 6.57146919e+02] [-1.87254413e-01 9.82178607e-01 -1.61544991e-02 -1.03188445e+02] [-6.00178520e-02 4.97523514e-03 9.98184905e-01 -4.20666844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.4707140569999 meters 0.044761295557222976 Centerline is valid? [True, True] Translation: X:657.18, Y:-103.19, Z:-42.07 [[ 9.80411498e-01 1.88393091e-01 5.74572630e-02 6.57176098e+02] [-1.87776663e-01 9.82081522e-01 -1.59940443e-02 -1.03192153e+02] [-5.94408837e-02 4.89161184e-03 9.98219842e-01 -4.20687706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.500714057 meters 0.051226605411235054 Centerline is valid? [True, True] Translation: X:657.20, Y:-103.21, Z:-42.07 [[ 9.80270615e-01 1.89124298e-01 5.74588666e-02 6.57200780e+02] [-1.88509924e-01 9.81941260e-01 -1.59803406e-02 -1.03205648e+02] [-5.94435025e-02 4.83349172e-03 9.98219969e-01 -4.20702071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.530714057 meters 0.05101720744582694 Centerline is valid? [True, True] Translation: X:657.23, Y:-103.21, Z:-42.07 [[ 9.80230785e-01 1.89262352e-01 5.76833569e-02 6.57229660e+02] [-1.88643727e-01 9.81914635e-01 -1.60372881e-02 -1.03210268e+02] [-5.96753872e-02 4.83864006e-03 9.98206109e-01 -4.20710966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.5607140569999 meters 0.0461812538857843 Centerline is valid? [True, True] Translation: X:657.26, Y:-103.21, Z:-42.07 [[ 9.80377320e-01 1.88445094e-01 5.78684508e-02 6.57260944e+02] [-1.87821351e-01 9.82071505e-01 -1.60841447e-02 -1.03205022e+02] [-5.98619347e-02 4.89960007e-03 9.98194642e-01 -4.20720862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.5907140569999 meters 0.043635677341300624 Centerline is valid? [True, True] Translation: X:657.29, Y:-103.21, Z:-42.07 [[ 9.80437065e-01 1.88200697e-01 5.76511943e-02 6.57290109e+02] [-1.87582105e-01 9.82118460e-01 -1.60088751e-02 -1.03205659e+02] [-5.96331836e-02 4.88136211e-03 9.98208423e-01 -4.20736642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.620714057 meters 0.049770785535491385 Centerline is valid? [True, True] Translation: X:657.32, Y:-103.22, Z:-42.07 [[ 9.80722917e-01 1.86961591e-01 5.68148220e-02 6.57317146e+02] [-1.86359093e-01 9.82355107e-01 -1.57712447e-02 -1.03216061e+02] [-5.87609475e-02 4.87926242e-03 9.98260158e-01 -4.20746177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.650714057 meters 0.046741858689884064 Centerline is valid? [True, True] Translation: X:657.35, Y:-103.22, Z:-42.08 [[ 9.80938973e-01 1.86049263e-01 5.60749773e-02 6.57346684e+02] [-1.85461084e-01 9.82528367e-01 -1.55626120e-02 -1.03216746e+02] [-5.79906683e-02 4.86624650e-03 9.98305265e-01 -4.20766985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.6807140569999 meters 0.04408586904764928 Centerline is valid? [True, True] Translation: X:657.38, Y:-103.22, Z:-42.08 [[ 9.81100476e-01 1.85418067e-01 5.53353109e-02 6.57376514e+02] [-1.84845155e-01 9.82647885e-01 -1.53428574e-02 -1.03218086e+02] [-5.72199692e-02 4.82442060e-03 9.98349939e-01 -4.20784456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.7107140569999 meters 0.05251057736177523 Centerline is valid? [True, True] Translation: X:657.40, Y:-103.23, Z:-42.08 [[ 9.81225198e-01 1.84896989e-01 5.48654152e-02 6.57400797e+02] [-1.84333816e-01 9.82746191e-01 -1.51976568e-02 -1.03233429e+02] [-5.67287788e-02 4.79877246e-03 9.98378093e-01 -4.20806802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.740714057 meters 0.04232125543823839 Centerline is valid? [True, True] Translation: X:657.43, Y:-103.22, Z:-42.08 [[ 9.81269311e-01 1.85034945e-01 5.35967146e-02 6.57433829e+02] [-1.84498153e-01 9.82720834e-01 -1.48389682e-02 -1.03220445e+02] [-5.54163357e-02 4.67252926e-03 9.98452401e-01 -4.20819263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.770714057 meters 0.04295553567668403 Centerline is valid? [True, True] Translation: X:657.46, Y:-103.23, Z:-42.08 [[ 9.81202899e-01 1.85453419e-01 5.33657253e-02 6.57461321e+02] [-1.84922692e-01 9.82642224e-01 -1.47600082e-02 -1.03225304e+02] [-5.51767090e-02 4.61402926e-03 9.98465944e-01 -4.20835210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.8007140569999 meters 0.05147818753741222 Centerline is valid? [True, True] Translation: X:657.49, Y:-103.24, Z:-42.08 [[ 9.81019041e-01 1.86684807e-01 5.24444820e-02 6.57486673e+02] [-1.86174421e-01 9.82409743e-01 -1.44976370e-02 -1.03237443e+02] [-5.42284586e-02 4.45863688e-03 9.98518600e-01 -4.20848549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.8307140569999 meters 0.04231325793602869 Centerline is valid? [True, True] Translation: X:657.52, Y:-103.23, Z:-42.09 [[ 9.80928698e-01 1.87221332e-01 5.22212847e-02 6.57519090e+02] [-1.86716283e-01 9.82307876e-01 -1.44314534e-02 -1.03229552e+02] [-5.39992552e-02 4.40566267e-03 9.98531257e-01 -4.20861419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.860714057 meters 0.04205810780529911 Centerline is valid? [True, True] Translation: X:657.55, Y:-103.23, Z:-42.09 [[ 9.80987276e-01 1.87068210e-01 5.16667176e-02 6.57547334e+02] [-1.86574309e-01 9.82337275e-01 -1.42655114e-02 -1.03230869e+02] [-5.34227663e-02 4.35460306e-03 9.98562490e-01 -4.20873606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.890714057 meters 0.042518271647612224 Centerline is valid? [True, True] Translation: X:657.58, Y:-103.24, Z:-42.09 [[ 9.81143849e-01 1.86325330e-01 5.13772203e-02 6.57575499e+02] [-1.85836799e-01 9.82478452e-01 -1.41694904e-02 -1.03236288e+02] [-5.31171469e-02 4.35453015e-03 9.98578793e-01 -4.20888364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.9207140569999 meters 0.04369959426701485 Centerline is valid? [True, True] Translation: X:657.60, Y:-103.24, Z:-42.09 [[ 9.81388017e-01 1.85119641e-01 5.10713117e-02 6.57603744e+02] [-1.84636027e-01 9.82706231e-01 -1.40713231e-02 -1.03242587e+02] [-5.27929745e-02 4.37982380e-03 9.98595874e-01 -4.20905648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.9507140569999 meters 0.0462909893547326 Centerline is valid? [True, True] Translation: X:657.63, Y:-103.25, Z:-42.09 [[ 9.81896521e-01 1.82651643e-01 5.01756846e-02 6.57632283e+02] [-1.82182419e-01 9.83167763e-01 -1.38099708e-02 -1.03247918e+02] [-5.18535295e-02 4.41883475e-03 9.98644925e-01 -4.20919525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.9807140569999 meters 0.04636205037803477 Centerline is valid? [True, True] Translation: X:657.66, Y:-103.25, Z:-42.09 [[ 9.82095194e-01 1.81577226e-01 5.01870513e-02 6.57661707e+02] [-1.81106497e-01 9.83366508e-01 -1.38111773e-02 -1.03253465e+02] [-5.18600606e-02 4.47468976e-03 9.98644337e-01 -4.20933550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.010714057 meters 0.048316619527477636 Centerline is valid? [True, True] Translation: X:657.69, Y:-103.26, Z:-42.09 [[ 9.82583082e-01 1.78902397e-01 5.02436030e-02 6.57691825e+02] [-1.78427249e-01 9.83855984e-01 -1.38246086e-02 -1.03259347e+02] [-5.19057251e-02 4.61899863e-03 9.98641307e-01 -4.20948823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.040714057 meters 0.048993039096106514 Centerline is valid? [True, True] Translation: X:657.72, Y:-103.27, Z:-42.10 [[ 9.82773058e-01 1.77788257e-01 5.04821956e-02 6.57720395e+02] [-1.77307100e-01 9.84057539e-01 -1.38907058e-02 -1.03265324e+02] [-5.21469895e-02 4.70055971e-03 9.98628357e-01 -4.20961627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.0707140569999 meters 0.04957544287279782 Centerline is valid? [True, True] Translation: X:657.75, Y:-103.27, Z:-42.10 [[ 9.82889879e-01 1.77056499e-01 5.07787652e-02 6.57748253e+02] [-1.76568899e-01 9.84189161e-01 -1.39685018e-02 -1.03271041e+02] [-5.24491244e-02 4.76354835e-03 9.98612236e-01 -4.20972821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.1007140569999 meters 0.05117394577670407 Centerline is valid? [True, True] Translation: X:657.78, Y:-103.27, Z:-42.10 [[ 9.83230730e-01 1.75508800e-01 4.95377849e-02 6.57777506e+02] [-1.75043065e-01 9.84466534e-01 -1.36223368e-02 -1.03274367e+02] [-5.11591314e-02 4.72265447e-03 9.98679348e-01 -4.20984926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.130714057 meters 0.05158571731605029 Centerline is valid? [True, True] Translation: X:657.81, Y:-103.28, Z:-42.10 [[ 9.83371818e-01 1.74753509e-01 4.94072661e-02 6.57805864e+02] [-1.74289357e-01 9.84600766e-01 -1.35849837e-02 -1.03279741e+02] [-5.10204556e-02 4.74792948e-03 9.98686322e-01 -4.20999943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.160714057 meters 0.053174903820250766 Centerline is valid? [True, True] Translation: X:657.83, Y:-103.29, Z:-42.10 [[ 9.83499213e-01 1.74111597e-01 4.91370431e-02 6.57833016e+02] [-1.73652412e-01 9.84714511e-01 -1.34970630e-02 -1.03286033e+02] [-5.07359546e-02 4.74158482e-03 9.98700846e-01 -4.21022930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.1907140569999 meters 0.046758116413714 Centerline is valid? [True, True] Translation: X:657.86, Y:-103.28, Z:-42.10 [[ 9.83574212e-01 1.73800392e-01 4.87359566e-02 6.57863091e+02] [-1.73348578e-01 9.84769622e-01 -1.33813933e-02 -1.03282594e+02] [-5.03193810e-02 4.71328461e-03 9.98722056e-01 -4.21037212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.2207140569999 meters 0.04930393487361475 Centerline is valid? [True, True] Translation: X:657.89, Y:-103.29, Z:-42.11 [[ 9.83711320e-01 1.73295765e-01 4.77558118e-02 6.57889853e+02] [-1.72862176e-01 9.84858957e-01 -1.30959360e-02 -1.03288790e+02] [-4.93022092e-02 4.62744691e-03 9.98773187e-01 -4.21057617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.250714057 meters 0.051443705164063984 Centerline is valid? [True, True] Translation: X:657.92, Y:-103.30, Z:-42.11 [[ 9.83750276e-01 1.73098234e-01 4.76696478e-02 6.57915300e+02] [-1.72666162e-01 9.84893704e-01 -1.30686069e-02 -1.03295827e+02] [-4.92116887e-02 4.62531054e-03 9.98777661e-01 -4.21073864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.280714057 meters 0.051725409300247056 Centerline is valid? [True, True] Translation: X:657.94, Y:-103.30, Z:-42.11 [[ 9.83764359e-01 1.73009457e-01 4.77013042e-02 6.57944039e+02] [-1.72577175e-01 9.84909311e-01 -1.30677886e-02 -1.03298215e+02] [-4.92423097e-02 4.62346835e-03 9.98776160e-01 -4.21079171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.3107140569999 meters 0.0518419722023725 Centerline is valid? [True, True] Translation: X:657.97, Y:-103.30, Z:-42.11 [[ 9.83745478e-01 1.73000843e-01 4.81200970e-02 6.57972752e+02] [-1.72561556e-01 9.84910690e-01 -1.31697392e-02 -1.03303393e+02] [-4.96723739e-02 4.65199252e-03 9.98754732e-01 -4.21095691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.3407140569999 meters 0.048725642825934 Centerline is valid? [True, True] Translation: X:658.00, Y:-103.30, Z:-42.11 [[ 9.83787588e-01 1.72775973e-01 4.80670921e-02 6.58001917e+02] [-1.72337997e-01 9.84950190e-01 -1.31429860e-02 -1.03302069e+02] [-4.96144837e-02 4.64612006e-03 9.98757637e-01 -4.21109870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.370714057 meters 0.048725642825934 Centerline is valid? [True, True] Translation: X:658.03, Y:-103.31, Z:-42.11 [[ 9.83837007e-01 1.72493291e-01 4.80708587e-02 6.58028428e+02] [-1.72055648e-01 9.84999735e-01 -1.31291938e-02 -1.03309231e+02] [-4.96144809e-02 4.64612398e-03 9.98757637e-01 -4.21125838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.400714057 meters 0.04828041181234914 Centerline is valid? [True, True] Translation: X:658.06, Y:-103.31, Z:-42.11 [[ 9.83878092e-01 1.72302965e-01 4.79122960e-02 6.58055668e+02] [-1.71868712e-01 9.85033142e-01 -1.30711765e-02 -1.03314238e+02] [-4.94474020e-02 4.62581958e-03 9.98766017e-01 -4.21144887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.4307140569999 meters 0.048784572585003703 Centerline is valid? [True, True] Translation: X:658.08, Y:-103.32, Z:-42.12 [[ 9.83979549e-01 1.71642702e-01 4.81978327e-02 6.58083493e+02] [-1.71203231e-01 9.85148191e-01 -1.31337673e-02 -1.03320866e+02] [-4.97363230e-02 4.67173370e-03 9.98751457e-01 -4.21165779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.4607140569999 meters 0.04809653372323324 Centerline is valid? [True, True] Translation: X:658.11, Y:-103.33, Z:-42.12 [[ 9.84128399e-01 1.70896662e-01 4.78082086e-02 6.58111548e+02] [-1.70464100e-01 9.85277951e-01 -1.30134746e-02 -1.03325184e+02] [-4.93283332e-02 4.65734664e-03 9.98771758e-01 -4.21181899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.490714057 meters 0.05946674253647823 Centerline is valid? [True, True] Translation: X:658.14, Y:-103.34, Z:-42.12 [[ 9.84467126e-01 1.69301665e-01 4.64911170e-02 6.58135300e+02] [-1.68891080e-01 9.85553533e-01 -1.26505612e-02 -1.03344061e+02] [-4.79612457e-02 4.60212665e-03 9.98838595e-01 -4.21214438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.520714057 meters 0.05340123305451709 Centerline is valid? [True, True] Translation: X:658.17, Y:-103.34, Z:-42.12 [[ 9.84605599e-01 1.68606194e-01 4.60843258e-02 6.58165225e+02] [-1.68202214e-01 9.85672802e-01 -1.25356838e-02 -1.03341878e+02] [-4.75376604e-02 4.59121884e-03 9.98858895e-01 -4.21226216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.5507140569999 meters 0.05233440627124607 Centerline is valid? [True, True] Translation: X:658.20, Y:-103.35, Z:-42.12 [[ 9.84864440e-01 1.67258675e-01 4.54595503e-02 6.58195123e+02] [-1.66864387e-01 9.85902370e-01 -1.23609413e-02 -1.03345163e+02] [-4.68861530e-02 4.58827155e-03 9.98889702e-01 -4.21247409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.5807140569999 meters 0.0491347999068234 Centerline is valid? [True, True] Translation: X:658.22, Y:-103.35, Z:-42.13 [[ 9.84942178e-01 1.66807788e-01 4.54320143e-02 6.58224072e+02] [-1.66413556e-01 9.85978675e-01 -1.23523379e-02 -1.03346707e+02] [-4.68554634e-02 4.60583551e-03 9.98891061e-01 -4.21253970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.610714057 meters 0.052313924899394515 Centerline is valid? [True, True] Translation: X:658.25, Y:-103.36, Z:-42.13 [[ 9.85048880e-01 1.66268545e-01 4.50940776e-02 6.58250371e+02] [-1.65879805e-01 9.86069814e-01 -1.22560869e-02 -1.03356643e+02] [-4.65037104e-02 4.59264785e-03 9.98907560e-01 -4.21275085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.640714057 meters 0.05301446452441006 Centerline is valid? [True, True] Translation: X:658.28, Y:-103.36, Z:-42.13 [[ 9.84998450e-01 1.66588039e-01 4.50164184e-02 6.58278494e+02] [-1.66201085e-01 9.86016007e-01 -1.22324674e-02 -1.03361789e+02] [-4.64246919e-02 4.56718386e-03 9.98911352e-01 -4.21289109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.6707140569999 meters 0.04968561556383445 Centerline is valid? [True, True] Translation: X:658.31, Y:-103.36, Z:-42.13 [[ 9.84923616e-01 1.67009004e-01 4.50939308e-02 6.58307947e+02] [-1.66621705e-01 9.85944902e-01 -1.22416467e-02 -1.03363254e+02] [-4.65045964e-02 4.54345929e-03 9.98907743e-01 -4.21301396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.7007140569999 meters 0.059658547382203005 Centerline is valid? [True, True] Translation: X:658.33, Y:-103.38, Z:-42.13 [[ 9.84802667e-01 1.67709746e-01 4.51347855e-02 6.58331699e+02] [-1.67323130e-01 9.85826144e-01 -1.22386192e-02 -1.03381684e+02] [-4.65475873e-02 4.50053127e-03 9.98905935e-01 -4.21331432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.7307140569999 meters 0.049061327683945534 Centerline is valid? [True, True] Translation: X:658.37, Y:-103.37, Z:-42.13 [[ 9.84342143e-01 1.70300730e-01 4.54775411e-02 6.58365830e+02] [-1.69911199e-01 9.85382285e-01 -1.23262773e-02 -1.03371748e+02] [-4.69119374e-02 4.40613066e-03 9.98889311e-01 -4.21330974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.760714057 meters 0.05051401366355004 Centerline is valid? [True, True] Translation: X:658.39, Y:-103.38, Z:-42.13 [[ 9.84189500e-01 1.71270961e-01 4.51363111e-02 6.58392887e+02] [-1.70888260e-01 9.85214460e-01 -1.22339736e-02 -1.03379424e+02] [-4.65642708e-02 4.32728272e-03 9.98905923e-01 -4.21345176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.790714057 meters 0.04782212178594251 Centerline is valid? [True, True] Translation: X:658.42, Y:-103.38, Z:-42.14 [[ 9.83940446e-01 1.72557456e-01 4.56631420e-02 6.58423655e+02] [-1.72167326e-01 9.84990015e-01 -1.23726737e-02 -1.03380415e+02] [-4.71127360e-02 4.31227298e-03 9.98880270e-01 -4.21360195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.8207140569999 meters 0.048193355220734466 Centerline is valid? [True, True] Translation: X:658.45, Y:-103.39, Z:-42.14 [[ 9.83952835e-01 1.72571827e-01 4.53407442e-02 6.58451794e+02] [-1.72187125e-01 9.84987625e-01 -1.22870545e-02 -1.03387228e+02] [-4.67804714e-02 4.28278972e-03 9.98896013e-01 -4.21377923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.8507140569999 meters 0.051529447443962005 Centerline is valid? [True, True] Translation: X:658.48, Y:-103.40, Z:-42.14 [[ 9.83903873e-01 1.72666197e-01 4.60385954e-02 6.58478006e+02] [-1.72270251e-01 9.84970872e-01 -1.24636215e-02 -1.03398115e+02] [-4.74987216e-02 4.33192510e-03 9.98861905e-01 -4.21399514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.880714057 meters 0.046958813312839236 Centerline is valid? [True, True] Translation: X:658.51, Y:-103.40, Z:-42.14 [[ 9.83952235e-01 1.72566915e-01 4.53724538e-02 6.58506782e+02] [-1.72182780e-01 9.84988573e-01 -1.22719480e-02 -1.03396940e+02] [-4.68090808e-02 4.26265545e-03 9.98894759e-01 -4.21412451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.910714057 meters 0.047540985280048444 Centerline is valid? [True, True] Translation: X:658.53, Y:-103.40, Z:-42.14 [[ 9.84032563e-01 1.72206749e-01 4.49972315e-02 6.58534700e+02] [-1.71829233e-01 9.85051745e-01 -1.21562692e-02 -1.03404538e+02] [-4.64179929e-02 4.23032495e-03 9.98913147e-01 -4.21436649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.9407140569999 meters 0.047787857426725096 Centerline is valid? [True, True] Translation: X:658.56, Y:-103.41, Z:-42.15 [[ 9.84172914e-01 1.71516508e-01 4.45619099e-02 6.58562626e+02] [-1.71146110e-01 9.85172251e-01 -1.20268212e-02 -1.03411636e+02] [-4.59639555e-02 4.20987408e-03 9.98934228e-01 -4.21459508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.9707140569999 meters 0.048252244483035285 Centerline is valid? [True, True] Translation: X:658.59, Y:-103.42, Z:-42.15 [[ 9.84284871e-01 1.70893916e-01 4.44810380e-02 6.58590248e+02] [-1.70524782e-01 9.85280399e-01 -1.19930390e-02 -1.03419113e+02] [-4.58758323e-02 4.21944748e-03 9.98938238e-01 -4.21482321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.000714057 meters 0.04964282739996264 Centerline is valid? [True, True] Translation: X:658.62, Y:-103.43, Z:-42.15 [[ 9.84401855e-01 1.70247893e-01 4.43693853e-02 6.58616279e+02] [-1.69880589e-01 9.85392207e-01 -1.19492328e-02 -1.03426928e+02] [-4.57555782e-02 4.22534967e-03 9.98943729e-01 -4.21497503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.030714057 meters 0.049582963063985956 Centerline is valid? [True, True] Translation: X:658.64, Y:-103.43, Z:-42.15 [[ 9.84495296e-01 1.69602621e-01 4.47656501e-02 6.58644263e+02] [-1.69228225e-01 9.85503195e-01 -1.20524119e-02 -1.03433476e+02] [-4.61608118e-02 4.28993134e-03 9.98924810e-01 -4.21512218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.0607140569999 meters 0.04939287046616247 Centerline is valid? [True, True] Translation: X:658.67, Y:-103.44, Z:-42.15 [[ 9.83886691e-01 1.73025872e-01 4.50447301e-02 6.58672871e+02] [-1.72651015e-01 9.84908575e-01 -1.21130633e-02 -1.03439760e+02] [-4.64608143e-02 4.14086334e-03 9.98911531e-01 -4.21529421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.0907140569999 meters 0.05426496990553022 Centerline is valid? [True, True] Translation: X:658.70, Y:-103.45, Z:-42.16 [[ 9.83322165e-01 1.76232691e-01 4.49395073e-02 6.58699824e+02] [-1.75862993e-01 9.84340497e-01 -1.20828230e-02 -1.03453341e+02] [-4.63651653e-02 3.97811139e-03 9.98916636e-01 -4.21555155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.120714057 meters 0.047065298182778506 Centerline is valid? [True, True] Translation: X:658.73, Y:-103.45, Z:-42.15 [[ 9.82418828e-01 1.80964187e-01 4.58825525e-02 6.58732467e+02] [-1.80583978e-01 9.83482219e-01 -1.23349841e-02 -1.03448721e+02] [-4.73568649e-02 3.83246679e-03 9.98870682e-01 -4.21547115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.150714057 meters 0.046756992663923844 Centerline is valid? [True, True] Translation: X:658.76, Y:-103.46, Z:-42.16 [[ 9.82034604e-01 1.82975869e-01 4.61288291e-02 6.58761725e+02] [-1.82593845e-01 9.83110238e-01 -1.23995324e-02 -1.03455750e+02] [-4.76185393e-02 3.75392957e-03 9.98858540e-01 -4.21561684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.1807140569999 meters 0.04635124069672488 Centerline is valid? [True, True] Translation: X:658.79, Y:-103.46, Z:-42.16 [[ 9.81738737e-01 1.84460645e-01 4.65115327e-02 6.58790634e+02] [-1.84074008e-01 9.82832897e-01 -1.25002613e-02 -1.03462595e+02] [-4.80188707e-02 3.71042652e-03 9.98839537e-01 -4.21584471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.2107140569999 meters 0.04685934291867842 Centerline is valid? [True, True] Translation: X:658.82, Y:-103.47, Z:-42.16 [[ 9.81513949e-01 1.85613289e-01 4.66698480e-02 6.58817235e+02] [-1.85225365e-01 9.82616035e-01 -1.25416013e-02 -1.03470467e+02] [-4.81864289e-02 3.66531700e-03 9.98831634e-01 -4.21608206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.240714057 meters 0.04608963881263159 Centerline is valid? [True, True] Translation: X:658.85, Y:-103.48, Z:-42.16 [[ 9.81160990e-01 1.87517079e-01 4.64807158e-02 6.58846318e+02] [-1.87134650e-01 9.82254918e-01 -1.24859240e-02 -1.03477701e+02] [-4.79972357e-02 3.55254907e-03 9.98841151e-01 -4.21635023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.270714057 meters 0.04613627329985815 Centerline is valid? [True, True] Translation: X:658.87, Y:-103.49, Z:-42.17 [[ 9.81151891e-01 1.87576634e-01 4.64324678e-02 6.58874312e+02] [-1.87195000e-01 9.82243566e-01 -1.24743280e-02 -1.03485228e+02] [-4.79478852e-02 3.54728467e-03 9.98843540e-01 -4.21652485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.3007140569999 meters 0.046853532667012386 Centerline is valid? [True, True] Translation: X:658.90, Y:-103.49, Z:-42.17 [[ 9.81259910e-01 1.86953036e-01 4.66642429e-02 6.58901920e+02] [-1.86567447e-01 9.82362314e-01 -1.25248153e-02 -1.03492827e+02] [-4.81827459e-02 3.58407043e-03 9.98832107e-01 -4.21667537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.3307140569999 meters 0.049897378272118924 Centerline is valid? [True, True] Translation: X:658.93, Y:-103.50, Z:-42.17 [[ 9.81620939e-01 1.85056519e-01 4.66306463e-02 6.58928124e+02] [-1.84669993e-01 9.82721058e-01 -1.25026485e-02 -1.03502909e+02] [-4.81386147e-02 3.66158042e-03 9.98833953e-01 -4.21677690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.360714057 meters 0.051132899400946175 Centerline is valid? [True, True] Translation: X:658.96, Y:-103.51, Z:-42.17 [[ 9.81918451e-01 1.83451786e-01 4.67075803e-02 6.58955476e+02] [-1.83062383e-01 9.83021586e-01 -1.25190413e-02 -1.03512422e+02] [-4.82112001e-02 3.74227668e-03 9.98830154e-01 -4.21697816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.390714057 meters 0.04189595960584902 Centerline is valid? [True, True] Translation: X:658.99, Y:-103.51, Z:-42.17 [[ 9.82575584e-01 1.79920439e-01 4.66246523e-02 6.58987381e+02] [-1.79528600e-01 9.83673411e-01 -1.24940961e-02 -1.03509346e+02] [-4.81113740e-02 3.90593522e-03 9.98834340e-01 -4.21703967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.4207140569999 meters 0.056708597727362996 Centerline is valid? [True, True] Translation: X:659.01, Y:-103.54, Z:-42.17 [[ 9.83001802e-01 1.77537971e-01 4.67731314e-02 6.59010148e+02] [-1.77141000e-01 9.84105681e-01 -1.25329039e-02 -1.03537856e+02] [-4.82547706e-02 4.03442784e-03 9.98826912e-01 -4.21747683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.4507140569999 meters 0.050816581259809625 Centerline is valid? [True, True] Translation: X:659.04, Y:-103.54, Z:-42.18 [[ 9.83377303e-01 1.75379481e-01 4.70225336e-02 6.59040822e+02] [-1.74975857e-01 9.84492112e-01 -1.25988396e-02 -1.03538598e+02] [-4.85028914e-02 4.16160478e-03 9.98814372e-01 -4.21753772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.4807140569999 meters 0.045955672471049064 Centerline is valid? [True, True] Translation: X:659.07, Y:-103.54, Z:-42.18 [[ 9.83770296e-01 1.73249531e-01 4.66969541e-02 6.59071999e+02] [-1.72849158e-01 9.84868853e-01 -1.25104414e-02 -1.03540286e+02] [-4.81578037e-02 4.23587141e-03 9.98830758e-01 -4.21762706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.510714057 meters 0.05092702244649202 Centerline is valid? [True, True] Translation: X:659.10, Y:-103.56, Z:-42.18 [[ 9.84345790e-01 1.70107769e-01 4.61162934e-02 6.59098433e+02] [-1.69713868e-01 9.85415929e-01 -1.23551438e-02 -1.03555252e+02] [-4.75454361e-02 4.33515922e-03 9.98859669e-01 -4.21785213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.540714057 meters 0.04894283330060888 Centerline is valid? [True, True] Translation: X:659.13, Y:-103.56, Z:-42.18 [[ 9.84486190e-01 1.69359680e-01 4.58720064e-02 6.59126303e+02] [-1.68969144e-01 9.85544719e-01 -1.22896190e-02 -1.03560216e+02] [-4.72902796e-02 4.34800660e-03 9.98871726e-01 -4.21799635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.5707140569999 meters 0.04838989173405266 Centerline is valid? [True, True] Translation: X:659.15, Y:-103.57, Z:-42.18 [[ 9.84409578e-01 1.69772877e-01 4.59886091e-02 6.59154304e+02] [-1.69381053e-01 9.85473687e-01 -1.23154776e-02 -1.03567405e+02] [-4.74113982e-02 4.33387510e-03 9.98866046e-01 -4.21815026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.6007140569999 meters 0.0484653905094622 Centerline is valid? [True, True] Translation: X:659.18, Y:-103.58, Z:-42.18 [[ 9.84243215e-01 1.70573351e-01 4.65835397e-02 6.59182319e+02] [-1.70172823e-01 9.85335431e-01 -1.24618995e-02 -1.03575014e+02] [-4.80260801e-02 4.33828756e-03 9.98836661e-01 -4.21832498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.630714057 meters 0.049192225037620586 Centerline is valid? [True, True] Translation: X:659.21, Y:-103.58, Z:-42.18 [[ 9.83955095e-01 1.72069892e-01 4.71627267e-02 6.59210439e+02] [-1.71661703e-01 9.85075337e-01 -1.26031714e-02 -1.03583340e+02] [-4.86274653e-02 4.30492073e-03 9.98807708e-01 -4.21844520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.660714057 meters 0.04779883420627029 Centerline is valid? [True, True] Translation: X:659.24, Y:-103.59, Z:-42.18 [[ 9.83187774e-01 1.76062536e-01 4.84126554e-02 6.59240785e+02] [-1.75637292e-01 9.84369960e-01 -1.29353275e-02 -1.03587973e+02] [-4.99333902e-02 4.21478812e-03 9.98743657e-01 -4.21842140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.6907140569999 meters 0.04405720723251966 Centerline is valid? [True, True] Translation: X:659.27, Y:-103.59, Z:-42.19 [[ 9.82711295e-01 1.78574861e-01 4.88828110e-02 6.59271255e+02] [-1.78144505e-01 9.83917682e-01 -1.30587065e-02 -1.03589828e+02] [-5.04286188e-02 4.12473423e-03 9.98719150e-01 -4.21852101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.7207140569999 meters 0.042278654085603336 Centerline is valid? [True, True] Translation: X:659.30, Y:-103.59, Z:-42.19 [[ 9.81607942e-01 1.84581363e-01 4.87398166e-02 6.59300188e+02] [-1.84160908e-01 9.82809874e-01 -1.30196643e-02 -1.03594075e+02] [-5.03051604e-02 3.80423697e-03 9.98726649e-01 -4.21874220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.750714057 meters 0.03895564242654213 Centerline is valid? [True, True] Translation: X:659.33, Y:-103.60, Z:-42.19 [[ 9.81081542e-01 1.87466698e-01 4.83243759e-02 6.59330636e+02] [-1.87056939e-01 9.82264276e-01 -1.29071421e-02 -1.03596682e+02] [-4.98869674e-02 3.62354898e-03 9.98748297e-01 -4.21892336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.780714057 meters 0.03960697934384316 Centerline is valid? [True, True] Translation: X:659.36, Y:-103.60, Z:-42.19 [[ 9.80569711e-01 1.90071159e-01 4.85386000e-02 6.59358723e+02] [-1.89660966e-01 9.81764057e-01 -1.29635600e-02 -1.03604728e+02] [-5.01174518e-02 3.50579649e-03 9.98737178e-01 -4.21918810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.8107140569999 meters 0.03905579932131735 Centerline is valid? [True, True] Translation: X:659.39, Y:-103.61, Z:-42.19 [[ 9.79745152e-01 1.94486582e-01 4.76907394e-02 6.59387214e+02] [-1.94095892e-01 9.80899891e-01 -1.27353347e-02 -1.03611067e+02] [-4.92566928e-02 3.22080581e-03 9.98780959e-01 -4.21947119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.8407140569999 meters 0.03579331834009358 Centerline is valid? [True, True] Translation: X:659.42, Y:-103.61, Z:-42.20 [[ 9.79369598e-01 1.96494603e-01 4.71705581e-02 6.59417713e+02] [-1.96114809e-01 9.80500057e-01 -1.25944583e-02 -1.03613185e+02] [-4.87254780e-02 3.08378460e-03 9.98807448e-01 -4.21959582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.870714057 meters 0.035363063001476194 Centerline is valid? [True, True] Translation: X:659.45, Y:-103.62, Z:-42.20 [[ 9.79098831e-01 1.97845799e-01 4.71436054e-02 6.59446356e+02] [-1.97467995e-01 9.80228520e-01 -1.25873122e-02 -1.03618895e+02] [-4.87018533e-02 3.01486942e-03 9.98808811e-01 -4.21976807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.900714057 meters 0.03525910172646935 Centerline is valid? [True, True] Translation: X:659.47, Y:-103.63, Z:-42.20 [[ 9.78543347e-01 2.00445385e-01 4.76924084e-02 6.59474727e+02] [-2.00062141e-01 9.79700549e-01 -1.27269058e-02 -1.03625500e+02] [-4.92753282e-02 2.91238365e-03 9.98780987e-01 -4.21991719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.9307140569999 meters 0.03489085653177963 Centerline is valid? [True, True] Translation: X:659.50, Y:-103.63, Z:-42.20 [[ 9.78371428e-01 2.01238410e-01 4.78795409e-02 6.59503027e+02] [-2.00853096e-01 9.79538047e-01 -1.27768392e-02 -1.03631532e+02] [-4.94710228e-02 2.88374038e-03 9.98771396e-01 -4.22011202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.9607140569999 meters 0.04241790516175358 Centerline is valid? [True, True] Translation: X:659.53, Y:-103.65, Z:-42.20 [[ 9.78226801e-01 2.02029765e-01 4.75005192e-02 6.59527106e+02] [-2.01652146e-01 9.79375358e-01 -1.26617496e-02 -1.03649864e+02] [-4.90788883e-02 2.80748116e-03 9.98790960e-01 -4.22046474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.990714057 meters 0.033838294932626294 Centerline is valid? [True, True] Translation: X:659.56, Y:-103.64, Z:-42.20 [[ 9.78153855e-01 2.02574937e-01 4.66736588e-02 6.59558543e+02] [-2.02211108e-01 9.79262961e-01 -1.24386514e-02 -1.03642648e+02] [-4.82255443e-02 2.72898251e-03 9.98832744e-01 -4.22047880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.020714057 meters 0.03382484075071229 Centerline is valid? [True, True] Translation: X:659.59, Y:-103.65, Z:-42.21 [[ 9.78200911e-01 2.02411695e-01 4.63948620e-02 6.59585205e+02] [-2.02052594e-01 9.79296772e-01 -1.23523976e-02 -1.03649439e+02] [-4.79346083e-02 2.70892438e-03 9.98846803e-01 -4.22061813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.0507140569999 meters 0.03502284928308903 Centerline is valid? [True, True] Translation: X:659.61, Y:-103.66, Z:-42.21 [[ 9.78306461e-01 2.01933856e-01 4.62513293e-02 6.59611894e+02] [-2.01577216e-01 9.79395418e-01 -1.22980244e-02 -1.03658341e+02] [-4.77817275e-02 2.70802250e-03 9.98854130e-01 -4.22081034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.0807140569999 meters 0.0344995728547355 Centerline is valid? [True, True] Translation: X:659.64, Y:-103.67, Z:-42.21 [[ 9.78369069e-01 2.01454903e-01 4.70094302e-02 6.59638876e+02] [-2.01086047e-01 9.79493864e-01 -1.24969063e-02 -1.03665465e+02] [-4.85630114e-02 2.77364604e-03 9.98816270e-01 -4.22090119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.110714057 meters 0.03567536399336798 Centerline is valid? [True, True] Translation: X:659.67, Y:-103.67, Z:-42.21 [[ 9.78322048e-01 2.01530689e-01 4.76587024e-02 6.59665164e+02] [-2.01152444e-01 9.79478220e-01 -1.26534913e-02 -1.03674602e+02] [-4.92307278e-02 2.79252503e-03 9.98783529e-01 -4.22107246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.140714057 meters 0.03355026699552067 Centerline is valid? [True, True] Translation: X:659.69, Y:-103.68, Z:-42.21 [[ 9.78287793e-01 2.01608120e-01 4.80329053e-02 6.59694262e+02] [-2.01224288e-01 9.79462250e-01 -1.27470532e-02 -1.03677792e+02] [-4.96163269e-02 2.80489939e-03 9.98764413e-01 -4.22110022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.1707140569999 meters 0.033696700633324986 Centerline is valid? [True, True] Translation: X:659.72, Y:-103.69, Z:-42.21 [[ 9.78235798e-01 2.01754091e-01 4.84769043e-02 6.59721830e+02] [-2.01363964e-01 9.79432176e-01 -1.28516942e-02 -1.03685458e+02] [-5.00727217e-02 2.81048570e-03 9.98741620e-01 -4.22123193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.2007140569999 meters 0.033998841932459646 Centerline is valid? [True, True] Translation: X:659.75, Y:-103.69, Z:-42.21 [[ 9.78213528e-01 2.01783044e-01 4.88046901e-02 6.59749763e+02] [-2.01388318e-01 9.79426198e-01 -1.29254454e-02 -1.03692960e+02] [-5.04087278e-02 2.81515108e-03 9.98724704e-01 -4.22137259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.2307140569999 meters 0.03356103552249468 Centerline is valid? [True, True] Translation: X:659.78, Y:-103.70, Z:-42.22 [[ 9.78406966e-01 2.00846308e-01 4.87910821e-02 6.59777756e+02] [-2.00451295e-01 9.79618619e-01 -1.29089131e-02 -1.03699115e+02] [-5.03893600e-02 2.84993497e-03 9.98725583e-01 -4.22154047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.260714057 meters 0.03356103552249468 Centerline is valid? [True, True] Translation: X:659.80, Y:-103.71, Z:-42.22 [[ 9.78464694e-01 2.00564114e-01 4.87942562e-02 6.59804228e+02] [-2.00169348e-01 9.79676427e-01 -1.28969035e-02 -1.03706043e+02] [-5.03892386e-02 2.85205031e-03 9.98725583e-01 -4.22169963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.290714057 meters 0.03913735799809089 Centerline is valid? [True, True] Translation: X:659.83, Y:-103.72, Z:-42.22 [[ 9.78600381e-01 1.99973307e-01 4.84971119e-02 6.59828111e+02] [-1.99583440e-01 9.79797204e-01 -1.28019379e-02 -1.03722377e+02] [-5.00773805e-02 2.84876093e-03 9.98741278e-01 -4.22205620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.3207140569999 meters 0.0340092142990596 Centerline is valid? [True, True] Translation: X:659.86, Y:-103.72, Z:-42.22 [[ 9.78891495e-01 1.98665797e-01 4.79931444e-02 6.59858113e+02] [-1.98282588e-01 9.80063056e-01 -1.26657540e-02 -1.03721343e+02] [-4.95525598e-02 2.88219397e-03 9.98767359e-01 -4.22219625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.3507140569999 meters 0.03740186101738969 Centerline is valid? [True, True] Translation: X:659.88, Y:-103.73, Z:-42.23 [[ 9.79375600e-01 1.96592680e-01 4.66342403e-02 6.59884060e+02] [-1.96229217e-01 9.80480992e-01 -1.22930778e-02 -1.03734604e+02] [-4.81407152e-02 2.88854003e-03 9.98836387e-01 -4.22260696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.380714057 meters 0.03510453953612074 Centerline is valid? [True, True] Translation: X:659.91, Y:-103.74, Z:-42.23 [[ 9.79624522e-01 1.95434162e-01 4.62740048e-02 6.59913016e+02] [-1.95075038e-01 9.80712470e-01 -1.21975406e-02 -1.03738570e+02] [-4.77653097e-02 2.92210658e-03 9.98854312e-01 -4.22276975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.410714057 meters 0.03599641045353854 Centerline is valid? [True, True] Translation: X:659.94, Y:-103.75, Z:-42.23 [[ 9.79917977e-01 1.93926645e-01 4.64027488e-02 6.59941432e+02] [-1.93564539e-01 9.81011478e-01 -1.22167981e-02 -1.03748155e+02] [-4.78907918e-02 2.98953338e-03 9.98848104e-01 -4.22297196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.4407140569999 meters 0.04036397636618319 Centerline is valid? [True, True] Translation: X:659.97, Y:-103.76, Z:-42.23 [[ 9.80031725e-01 1.93278799e-01 4.67025085e-02 6.59966431e+02] [-1.92911325e-01 9.81139168e-01 -1.22944529e-02 -1.03761512e+02] [-4.81979174e-02 3.03951104e-03 9.98833180e-01 -4.22316423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.4707140569999 meters 0.04044111147577118 Centerline is valid? [True, True] Translation: X:659.99, Y:-103.77, Z:-42.23 [[ 9.80165576e-01 1.92478430e-01 4.71963700e-02 6.59993890e+02] [-1.92102365e-01 9.81296281e-01 -1.24213464e-02 -1.03769586e+02] [-4.87044636e-02 3.10844184e-03 9.98808396e-01 -4.22327677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.500714057 meters 0.04168201047662942 Centerline is valid? [True, True] Translation: X:660.02, Y:-103.78, Z:-42.23 [[ 9.80308780e-01 1.91666545e-01 4.75250638e-02 6.60020740e+02] [-1.91284864e-01 9.81455020e-01 -1.24957425e-02 -1.03778676e+02] [-4.90387282e-02 3.15886067e-03 9.98791883e-01 -4.22340530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.530714057 meters 0.03935262876523302 Centerline is valid? [True, True] Translation: X:660.05, Y:-103.78, Z:-42.23 [[ 9.80646333e-01 1.89959145e-01 4.74161597e-02 6.60049479e+02] [-1.89577879e-01 9.81786703e-01 -1.24537946e-02 -1.03784111e+02] [-4.89182673e-02 3.22371303e-03 9.98797583e-01 -4.22348575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.5607140569999 meters 0.03942580671526455 Centerline is valid? [True, True] Translation: X:660.08, Y:-103.79, Z:-42.24 [[ 9.80856356e-01 1.88833356e-01 4.75686103e-02 6.60076825e+02] [-1.88448426e-01 9.82003641e-01 -1.24915816e-02 -1.03792107e+02] [-4.90713758e-02 3.28821743e-03 9.98789862e-01 -4.22363749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.5907140569999 meters 0.03861836990503584 Centerline is valid? [True, True] Translation: X:660.10, Y:-103.80, Z:-42.24 [[ 9.81249381e-01 1.86880548e-01 4.71732276e-02 6.60104751e+02] [-1.86500429e-01 9.82376953e-01 -1.23738303e-02 -1.03800145e+02] [-4.86543198e-02 3.34398613e-03 9.98810080e-01 -4.22383192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.620714057 meters 0.041556722013205476 Centerline is valid? [True, True] Translation: X:660.13, Y:-103.81, Z:-42.24 [[ 9.81417697e-01 1.85921144e-01 4.74618966e-02 6.60129691e+02] [-1.85535348e-01 9.82558751e-01 -1.24473163e-02 -1.03812060e+02] [-4.89483211e-02 3.41015698e-03 9.98795491e-01 -4.22403362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.650714057 meters 0.04075858622219264 Centerline is valid? [True, True] Translation: X:660.16, Y:-103.82, Z:-42.24 [[ 9.81566708e-01 1.85122967e-01 4.75003641e-02 6.60157782e+02] [-1.84735816e-01 9.82709313e-01 -1.24533107e-02 -1.03819172e+02] [-4.89844440e-02 3.44873661e-03 9.98793588e-01 -4.22418036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.6807140569999 meters 0.04122415013039667 Centerline is valid? [True, True] Translation: X:660.19, Y:-103.83, Z:-42.24 [[ 9.81815919e-01 1.83666013e-01 4.80030941e-02 6.60185975e+02] [-1.83269602e-01 9.82982315e-01 -1.25706416e-02 -1.03829202e+02] [-4.94949922e-02 3.54454805e-03 9.98768082e-01 -4.22429985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.7107140569999 meters 0.042751167091910174 Centerline is valid? [True, True] Translation: X:660.21, Y:-103.84, Z:-42.24 [[ 9.82013930e-01 1.82558821e-01 4.81759092e-02 6.60211929e+02] [-1.82158274e-01 9.83188297e-01 -1.26148840e-02 -1.03838926e+02] [-4.96689485e-02 3.61235128e-03 9.98759203e-01 -4.22449677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.740714057 meters 0.04616331381775334 Centerline is valid? [True, True] Translation: X:660.24, Y:-103.85, Z:-42.25 [[ 9.82141812e-01 1.81940951e-01 4.79056441e-02 6.60237490e+02] [-1.81544507e-01 9.83302809e-01 -1.25370756e-02 -1.03852138e+02] [-4.93867619e-02 3.61617961e-03 9.98773183e-01 -4.22471544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.770714057 meters 0.04020681506352611 Centerline is valid? [True, True] Translation: X:660.27, Y:-103.85, Z:-42.25 [[ 9.82438830e-01 1.80598206e-01 4.68853230e-02 6.60267843e+02] [-1.80217189e-01 9.83550367e-01 -1.22653990e-02 -1.03853569e+02] [-4.83291857e-02 3.60046311e-03 9.98824973e-01 -4.22489709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.8007140569999 meters 0.043654639394032135 Centerline is valid? [True, True] Translation: X:660.29, Y:-103.87, Z:-42.25 [[ 9.82568736e-01 1.79929805e-01 4.67326903e-02 6.60292680e+02] [-1.79550555e-01 9.83672789e-01 -1.22246508e-02 -1.03866586e+02] [-4.81692549e-02 3.62067924e-03 9.98832625e-01 -4.22514621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.8307140569999 meters 0.0400089834135279 Centerline is valid? [True, True] Translation: X:660.32, Y:-103.87, Z:-42.25 [[ 9.82709784e-01 1.79347681e-01 4.59988009e-02 6.60321366e+02] [-1.78979868e-01 9.83779215e-01 -1.20275509e-02 -1.03869535e+02] [-4.74097776e-02 3.58673258e-03 9.98869085e-01 -4.22529470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.8607140569999 meters 0.04045683332582975 Centerline is valid? [True, True] Translation: X:660.35, Y:-103.88, Z:-42.26 [[ 9.82749028e-01 1.79262406e-01 4.54899674e-02 6.60348076e+02] [-1.78903150e-01 9.83794929e-01 -1.18828141e-02 -1.03878997e+02] [-4.68829411e-02 3.53952549e-03 9.98894119e-01 -4.22553203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.890714057 meters 0.03963832100830291 Centerline is valid? [True, True] Translation: X:660.38, Y:-103.89, Z:-42.26 [[ 9.82640348e-01 1.79782340e-01 4.57848915e-02 6.60375450e+02] [-1.79419653e-01 9.83700105e-01 -1.19453474e-02 -1.03886245e+02] [-4.71861651e-02 3.52327094e-03 9.98879899e-01 -4.22567555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.9207140569999 meters 0.03949275101949434 Centerline is valid? [True, True] Translation: X:660.40, Y:-103.89, Z:-42.26 [[ 9.82422926e-01 1.80887007e-01 4.60986505e-02 6.60402531e+02] [-1.80521220e-01 9.83497728e-01 -1.20128386e-02 -1.03894905e+02] [-4.75108844e-02 3.47990338e-03 9.98864659e-01 -4.22586386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.9507140569999 meters 0.039417982022454015 Centerline is valid? [True, True] Translation: X:660.43, Y:-103.90, Z:-42.26 [[ 9.82211715e-01 1.81899896e-01 4.66108767e-02 6.60430467e+02] [-1.81527158e-01 9.83310941e-01 -1.21443199e-02 -1.03903196e+02] [-4.80420356e-02 3.46715329e-03 9.98839297e-01 -4.22602238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.9807140569999 meters 0.0383896609011815 Centerline is valid? [True, True] Translation: X:660.46, Y:-103.91, Z:-42.26 [[ 9.81997355e-01 1.82924563e-01 4.71147515e-02 6.60458484e+02] [-1.82545535e-01 9.83120931e-01 -1.22622879e-02 -1.03909750e+02] [-4.85625720e-02 3.44094676e-03 9.98814215e-01 -4.22615624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.010714057 meters 0.038036649479286304 Centerline is valid? [True, True] Translation: X:660.49, Y:-103.92, Z:-42.26 [[ 9.81701483e-01 1.84390003e-01 4.75660064e-02 6.60485783e+02] [-1.84005564e-01 9.82847285e-01 -1.23760532e-02 -1.03918031e+02] [-4.90321407e-02 3.39717992e-03 9.98791424e-01 -4.22631082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.040714057 meters 0.0391542919712503 Centerline is valid? [True, True] Translation: X:660.51, Y:-103.93, Z:-42.27 [[ 9.81573495e-01 1.85046041e-01 4.76595848e-02 6.60511744e+02] [-1.84661025e-01 9.82724082e-01 -1.23969320e-02 -1.03927336e+02] [-4.91302249e-02 3.36763208e-03 9.98786704e-01 -4.22651840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.0707140569999 meters 0.03849517995045814 Centerline is valid? [True, True] Translation: X:660.54, Y:-103.93, Z:-42.27 [[ 9.81457342e-01 1.85534773e-01 4.81490726e-02 6.60539167e+02] [-1.85142549e-01 9.82631905e-01 -1.25209845e-02 -1.03934556e+02] [-4.96358930e-02 3.37437015e-03 9.98761679e-01 -4.22668780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.1007140569999 meters 0.03939313434444479 Centerline is valid? [True, True] Translation: X:660.56, Y:-103.95, Z:-42.27 [[ 9.81220168e-01 1.86701716e-01 4.84711435e-02 6.60564940e+02] [-1.86306337e-01 9.82411025e-01 -1.25907524e-02 -1.03945365e+02] [-4.99693008e-02 3.32381897e-03 9.98745223e-01 -4.22688804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.130714057 meters 0.039685294662788036 Centerline is valid? [True, True] Translation: X:660.59, Y:-103.95, Z:-42.27 [[ 9.81159081e-01 1.87026267e-01 4.84565141e-02 6.60591016e+02] [-1.86631853e-01 9.82349371e-01 -1.25803151e-02 -1.03954358e+02] [-4.99540755e-02 3.29976136e-03 9.98746065e-01 -4.22703368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.160714057 meters 0.04058480756071503 Centerline is valid? [True, True] Translation: X:660.62, Y:-103.97, Z:-42.27 [[ 9.81002196e-01 1.87697918e-01 4.90324785e-02 6.60617018e+02] [-1.87295115e-01 9.82221258e-01 -1.27255571e-02 -1.03965182e+02] [-5.05493033e-02 3.30025577e-03 9.98716114e-01 -4.22726576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.1907140569999 meters 0.04053864206615034 Centerline is valid? [True, True] Translation: X:660.64, Y:-103.97, Z:-42.27 [[ 9.81016217e-01 1.87801942e-01 4.83488674e-02 6.60644898e+02] [-1.87410701e-01 9.82201563e-01 -1.25426780e-02 -1.03973376e+02] [-4.98438724e-02 3.24347539e-03 9.98751755e-01 -4.22741800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.2207140569999 meters 0.04101578566876922 Centerline is valid? [True, True] Translation: X:660.67, Y:-103.98, Z:-42.28 [[ 9.80973991e-01 1.88007374e-01 4.84071873e-02 6.60671021e+02] [-1.87616114e-01 9.82162327e-01 -1.25442528e-02 -1.03981713e+02] [-4.99021277e-02 3.22361739e-03 9.98748910e-01 -4.22761967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.250714057 meters 0.04036584766580669 Centerline is valid? [True, True] Translation: X:660.70, Y:-103.99, Z:-42.28 [[ 9.80935137e-01 1.88281144e-01 4.81296999e-02 6.60698419e+02] [-1.87894838e-01 9.82109997e-01 -1.24693279e-02 -1.03988609e+02] [-4.96163987e-02 3.18827973e-03 9.98763259e-01 -4.22778684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.280714057 meters 0.04124533849405845 Centerline is valid? [True, True] Translation: X:660.72, Y:-104.00, Z:-42.28 [[ 9.80877954e-01 1.88781959e-01 4.73266418e-02 6.60724339e+02] [-1.88409669e-01 9.82014144e-01 -1.22481427e-02 -1.03998163e+02] [-4.87876601e-02 3.09713629e-03 9.98804371e-01 -4.22802415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.3107140569999 meters 0.03598672924345135 Centerline is valid? [True, True] Translation: X:660.75, Y:-104.00, Z:-42.28 [[ 9.81085082e-01 1.87985089e-01 4.61916351e-02 6.60753514e+02] [-1.87629765e-01 9.82167123e-01 -1.19504535e-02 -1.03998316e+02] [-4.76144124e-02 3.05748607e-03 9.98861111e-01 -4.22816996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.3407140569999 meters 0.043547104177092774 Centerline is valid? [True, True] Translation: X:660.78, Y:-104.02, Z:-42.29 [[ 9.81214480e-01 1.87360333e-01 4.59809650e-02 6.60777627e+02] [-1.87007747e-01 9.82286456e-01 -1.18920542e-02 -1.04016865e+02] [-4.73945784e-02 3.06985912e-03 9.98871528e-01 -4.22854312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.370714057 meters 0.04422230054267207 Centerline is valid? [True, True] Translation: X:660.80, Y:-104.03, Z:-42.29 [[ 9.81363482e-01 1.86586825e-01 4.59464208e-02 6.60804974e+02] [-1.86234185e-01 9.82433585e-01 -1.18776604e-02 -1.04025499e+02] [-4.73555219e-02 3.09950794e-03 9.98873289e-01 -4.22869229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.400714057 meters 0.03806371201835022 Centerline is valid? [True, True] Translation: X:660.84, Y:-104.02, Z:-42.29 [[ 9.81740323e-01 1.84760457e-01 4.52715343e-02 6.60836186e+02] [-1.84416786e-01 9.82778607e-01 -1.16901073e-02 -1.04024384e+02] [-4.66517649e-02 3.12781884e-03 9.98906317e-01 -4.22867949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.4307140569999 meters 0.04117181030077564 Centerline is valid? [True, True] Translation: X:660.86, Y:-104.04, Z:-42.29 [[ 9.81992026e-01 1.83343911e-01 4.55705113e-02 6.60862969e+02] [-1.82994238e-01 9.83043578e-01 -1.17657618e-02 -1.04036203e+02] [-4.69549792e-02 3.21474332e-03 9.98891834e-01 -4.22883175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.4607140569999 meters 0.04005640161751732 Centerline is valid? [True, True] Translation: X:660.89, Y:-104.04, Z:-42.29 [[ 9.82236418e-01 1.82003505e-01 4.56765078e-02 6.60892081e+02] [-1.81650891e-01 9.83292399e-01 -1.17903559e-02 -1.04041853e+02] [-4.70592490e-02 3.28373856e-03 9.98886702e-01 -4.22892965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.490714057 meters 0.040739409740393785 Centerline is valid? [True, True] Translation: X:660.92, Y:-104.05, Z:-42.29 [[ 9.82365288e-01 1.80904268e-01 4.72449558e-02 6.60919766e+02] [-1.80525731e-01 9.83494654e-01 -1.21953447e-02 -1.04049702e+02] [-4.86713513e-02 3.45135317e-03 9.98808885e-01 -4.22894134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.520714057 meters 0.0418973658289003 Centerline is valid? [True, True] Translation: X:660.95, Y:-104.06, Z:-42.29 [[ 9.82373997e-01 1.80711487e-01 4.77984201e-02 6.60945179e+02] [-1.80324474e-01 9.83529965e-01 -1.23244243e-02 -1.04057380e+02] [-4.92383435e-02 3.48796896e-03 9.98780967e-01 -4.22904487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.5507140569999 meters 0.042134618596895865 Centerline is valid? [True, True] Translation: X:660.97, Y:-104.06, Z:-42.29 [[ 9.82404363e-01 1.80441269e-01 4.81935191e-02 6.60972207e+02] [-1.80047752e-01 9.83579442e-01 -1.24212801e-02 -1.04063706e+02] [-4.96434661e-02 3.52558497e-03 9.98760780e-01 -4.22912595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.5807140569999 meters 0.04156612927277096 Centerline is valid? [True, True] Translation: X:661.00, Y:-104.07, Z:-42.29 [[ 9.82285243e-01 1.80860818e-01 4.90414728e-02 6.61000345e+02] [-1.80454602e-01 9.83502289e-01 -1.26247537e-02 -1.04068484e+02] [-5.05157240e-02 3.55134984e-03 9.98716952e-01 -4.22918994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.6107140569999 meters 0.0428035670248532 Centerline is valid? [True, True] Translation: X:661.03, Y:-104.08, Z:-42.29 [[ 9.82214487e-01 1.81218606e-01 4.91377497e-02 6.61027110e+02] [-1.80811942e-01 9.83436517e-01 -1.26356148e-02 -1.04076765e+02] [-5.06136659e-02 3.52619193e-03 9.98712082e-01 -4.22932414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.640714057 meters 0.042236562705739576 Centerline is valid? [True, True] Translation: X:661.05, Y:-104.08, Z:-42.29 [[ 9.82125208e-01 1.81590386e-01 4.95480329e-02 6.61054981e+02] [-1.81177546e-01 9.83367912e-01 -1.27376030e-02 -1.04082407e+02] [-5.10369719e-02 3.53292996e-03 9.98690516e-01 -4.22946002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.6707140569999 meters 0.03781707146319303 Centerline is valid? [True, True] Translation: X:661.09, Y:-104.08, Z:-42.30 [[ 9.81904371e-01 1.82923382e-01 4.90188085e-02 6.61085488e+02] [-1.82521606e-01 9.83121244e-01 -1.25890394e-02 -1.04081353e+02] [-5.04942616e-02 3.41424120e-03 9.98718515e-01 -4.22957554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.7007140569999 meters 0.04173880679807687 Centerline is valid? [True, True] Translation: X:661.11, Y:-104.09, Z:-42.30 [[ 9.81821089e-01 1.83465373e-01 4.86601134e-02 6.61111085e+02] [-1.83070784e-01 9.83020470e-01 -1.24837549e-02 -1.04093479e+02] [-5.01242242e-02 3.34856874e-03 9.98737378e-01 -4.22983341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.7307140569999 meters 0.03716244737903723 Centerline is valid? [True, True] Translation: X:661.14, Y:-104.09, Z:-42.30 [[ 9.81822019e-01 1.83584473e-01 4.81898872e-02 6.61140624e+02] [-1.83197778e-01 9.82998375e-01 -1.23599723e-02 -1.04092593e+02] [-4.96396798e-02 3.30701265e-03 9.98761716e-01 -4.22993914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.760714057 meters 0.03678855736408916 Centerline is valid? [True, True] Translation: X:661.17, Y:-104.10, Z:-42.30 [[ 9.81578583e-01 1.84977591e-01 4.78202410e-02 6.61168962e+02] [-1.84599168e-01 9.82737537e-01 -1.22507367e-02 -1.04098603e+02] [-4.92608577e-02 3.19748409e-03 9.98780829e-01 -4.23011073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.790714057 meters 0.037003062641508315 Centerline is valid? [True, True] Translation: X:661.20, Y:-104.11, Z:-42.30 [[ 9.81457581e-01 1.85562159e-01 4.80385385e-02 6.61195759e+02] [-1.85181143e-01 9.82627385e-01 -1.23031053e-02 -1.04105317e+02] [-4.94869743e-02 3.17914455e-03 9.98769709e-01 -4.23026507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.8207140569999 meters 0.03696032447647373 Centerline is valid? [True, True] Translation: X:661.22, Y:-104.11, Z:-42.30 [[ 9.81301803e-01 1.86321562e-01 4.82809179e-02 6.61224145e+02] [-1.85937765e-01 9.82483756e-01 -1.23618909e-02 -1.04110883e+02] [-4.97385044e-02 3.15349989e-03 9.98757296e-01 -4.23042296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.8507140569999 meters 0.040589794933411714 Centerline is valid? [True, True] Translation: X:661.25, Y:-104.12, Z:-42.31 [[ 9.81185453e-01 1.86773634e-01 4.88949521e-02 6.61250091e+02] [-1.86381288e-01 9.82397907e-01 -1.25047287e-02 -1.04122735e+02] [-5.03698522e-02 3.15635370e-03 9.98725646e-01 -4.23061773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.880714057 meters 0.036503020250538955 Centerline is valid? [True, True] Translation: X:661.28, Y:-104.12, Z:-42.31 [[ 9.81211540e-01 1.86629544e-01 4.89216442e-02 6.61278947e+02] [-1.86236748e-01 9.82425271e-01 -1.25084488e-02 -1.04122498e+02] [-5.03963057e-02 3.16242639e-03 9.98724292e-01 -4.23063462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.910714057 meters 0.035731935860493565 Centerline is valid? [True, True] Translation: X:661.31, Y:-104.13, Z:-42.31 [[ 9.81264681e-01 1.86394456e-01 4.87517403e-02 6.61306258e+02] [-1.86004838e-01 9.82469944e-01 -1.24502746e-02 -1.04127189e+02] [-5.02177817e-02 3.14895515e-03 9.98733327e-01 -4.23074773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.9407140569999 meters 0.036603619125109385 Centerline is valid? [True, True] Translation: X:661.33, Y:-104.13, Z:-42.31 [[ 9.81258299e-01 1.86215406e-01 4.95577694e-02 6.61332341e+02] [-1.85813408e-01 9.82503751e-01 -1.26395170e-02 -1.04134872e+02] [-5.10443671e-02 3.19413291e-03 9.98691279e-01 -4.23089934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.9707140569999 meters 0.03823782566216012 Centerline is valid? [True, True] Translation: X:661.36, Y:-104.14, Z:-42.31 [[ 9.81292383e-01 1.85921101e-01 4.99860283e-02 6.61358280e+02] [-1.85512096e-01 9.82559366e-01 -1.27418119e-02 -1.04144517e+02] [-5.14832120e-02 3.23043008e-03 9.98668635e-01 -4.23106022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.000714057 meters 0.03607278737411949 Centerline is valid? [True, True] Translation: X:661.39, Y:-104.15, Z:-42.31 [[ 9.81415714e-01 1.85414806e-01 4.94423417e-02 6.61387129e+02] [-1.85014194e-01 9.82655074e-01 -1.25997791e-02 -1.04147646e+02] [-5.09209536e-02 3.21808624e-03 9.98697502e-01 -4.23118544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.030714057 meters 0.035094764099808086 Centerline is valid? [True, True] Translation: X:661.41, Y:-104.15, Z:-42.31 [[ 9.81497717e-01 1.85063263e-01 4.91306471e-02 6.61414886e+02] [-1.84667899e-01 9.82721389e-01 -1.25075770e-02 -1.04153122e+02] [-5.05964307e-02 3.20330486e-03 9.98714043e-01 -4.23132876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.0607140569999 meters 0.03992366742118893 Centerline is valid? [True, True] Translation: X:661.44, Y:-104.17, Z:-42.32 [[ 9.81430770e-01 1.85466830e-01 4.89458725e-02 6.61439366e+02] [-1.85075776e-01 9.82645463e-01 -1.24439162e-02 -1.04167860e+02] [-5.04043733e-02 3.15414698e-03 9.98723911e-01 -4.23160689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.0907140569999 meters 0.03554133733124125 Centerline is valid? [True, True] Translation: X:661.47, Y:-104.17, Z:-42.32 [[ 9.81416777e-01 1.85403599e-01 4.94632821e-02 6.61469088e+02] [-1.85004332e-01 9.82657289e-01 -1.25718084e-02 -1.04168762e+02] [-5.09363132e-02 3.18726222e-03 9.98696818e-01 -4.23168663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.120714057 meters 0.040905287324701535 Centerline is valid? [True, True] Translation: X:661.49, Y:-104.18, Z:-42.32 [[ 9.81341311e-01 1.85833131e-01 4.93485444e-02 6.61494107e+02] [-1.85436927e-01 9.82576286e-01 -1.25294691e-02 -1.04184447e+02] [-5.08171000e-02 3.14464320e-03 9.98703026e-01 -4.23193283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.150714057 meters 0.034485036718304045 Centerline is valid? [True, True] Translation: X:661.52, Y:-104.18, Z:-42.32 [[ 9.81155652e-01 1.86647756e-01 4.99620120e-02 6.61524941e+02] [-1.86243415e-01 9.82421924e-01 -1.26710009e-02 -1.04182246e+02] [-5.14487898e-02 3.12712841e-03 9.98670738e-01 -4.23193404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.1807140569999 meters 0.034485036718304045 Centerline is valid? [True, True] Translation: X:661.55, Y:-104.19, Z:-42.32 [[ 9.81209554e-01 1.86363808e-01 4.99634030e-02 6.61551497e+02] [-1.85959378e-01 9.82475798e-01 -1.26655139e-02 -1.04188909e+02] [-5.14482277e-02 3.13635993e-03 9.98670738e-01 -4.23209297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.2107140569999 meters 0.0343290141407708 Centerline is valid? [True, True] Translation: X:661.58, Y:-104.20, Z:-42.32 [[ 9.81175939e-01 1.86444232e-01 5.03222193e-02 6.61579147e+02] [-1.86034895e-01 9.82460531e-01 -1.27406201e-02 -1.04195834e+02] [-5.18150094e-02 3.13910111e-03 9.98651767e-01 -4.23220550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.240714057 meters 0.034621969036054336 Centerline is valid? [True, True] Translation: X:661.61, Y:-104.20, Z:-42.32 [[ 9.81031244e-01 1.87140992e-01 5.05563784e-02 6.61606249e+02] [-1.86729468e-01 9.82328162e-01 -1.27862119e-02 -1.04203411e+02] [-5.20557787e-02 3.10330775e-03 9.98639357e-01 -4.23231302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.270714057 meters 0.03528741314903535 Centerline is valid? [True, True] Translation: X:661.63, Y:-104.21, Z:-42.32 [[ 9.80923701e-01 1.87634098e-01 5.08147504e-02 6.61633230e+02] [-1.87219727e-01 9.82234169e-01 -1.28378887e-02 -1.04211335e+02] [-5.23208098e-02 3.07946554e-03 9.98625580e-01 -4.23246156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.3007140569999 meters 0.03399931543789942 Centerline is valid? [True, True] Translation: X:661.66, Y:-104.22, Z:-42.33 [[ 9.80481739e-01 1.90007019e-01 5.05261525e-02 6.61662265e+02] [-1.89601240e-01 9.81778384e-01 -1.27504499e-02 -1.04216670e+02] [-5.20281594e-02 2.92176214e-03 9.98641344e-01 -4.23264323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.3307140569999 meters 0.03273744687415587 Centerline is valid? [True, True] Translation: X:661.69, Y:-104.22, Z:-42.33 [[ 9.80200738e-01 1.91556394e-01 5.01264487e-02 6.61690645e+02] [-1.91159118e-01 9.81477571e-01 -1.26479385e-02 -1.04222064e+02] [-5.16207786e-02 2.81539100e-03 9.98662790e-01 -4.23284544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.3607140569999 meters 0.03191063716160667 Centerline is valid? [True, True] Translation: X:661.72, Y:-104.23, Z:-42.33 [[ 9.79694793e-01 1.94449730e-01 4.88611880e-02 6.61719874e+02] [-1.94076048e-01 9.80909060e-01 -1.23248787e-02 -1.04228437e+02] [-5.03249513e-02 2.59183325e-03 9.98729534e-01 -4.23315167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.390714057 meters 0.03448378431536862 Centerline is valid? [True, True] Translation: X:661.75, Y:-104.24, Z:-42.33 [[ 9.79525574e-01 1.95450655e-01 4.82565189e-02 6.61745883e+02] [-1.95087483e-01 9.80710333e-01 -1.21703520e-02 -1.04239597e+02] [-4.97043699e-02 2.50692823e-03 9.98760828e-01 -4.23338846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.4207140569999 meters 0.03167419439097155 Centerline is valid? [True, True] Translation: X:661.78, Y:-104.24, Z:-42.34 [[ 9.79408982e-01 1.96222108e-01 4.74861125e-02 6.61775667e+02] [-1.95871503e-01 9.80556476e-01 -1.19729701e-02 -1.04240897e+02] [-4.89121766e-02 2.42525826e-03 9.98800139e-01 -4.23350399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.4507140569999 meters 0.030022657724554352 Centerline is valid? [True, True] Translation: X:661.80, Y:-104.25, Z:-42.34 [[ 9.79058367e-01 1.98112182e-01 4.68644612e-02 6.61804289e+02] [-1.97773483e-01 9.80176683e-01 -1.18033584e-02 -1.04245621e+02] [-4.82738412e-02 2.28762907e-03 9.98831519e-01 -4.23360064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.4807140569999 meters 0.03055484564360074 Centerline is valid? [True, True] Translation: X:661.83, Y:-104.25, Z:-42.34 [[ 9.78839522e-01 1.99121033e-01 4.71593500e-02 6.61831141e+02] [-1.98779392e-01 9.79972325e-01 -1.18741363e-02 -1.04253920e+02] [-4.85792482e-02 2.24856694e-03 9.98816800e-01 -4.23379522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.510714057 meters 0.03085966197202749 Centerline is valid? [True, True] Translation: X:661.86, Y:-104.26, Z:-42.34 [[ 9.78687967e-01 1.99972710e-01 4.66988173e-02 6.61857632e+02] [-1.99638894e-01 9.79799041e-01 -1.17537519e-02 -1.04261263e+02] [-4.81058860e-02 2.18035530e-03 9.98839862e-01 -4.23397557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.540714057 meters 0.02975320778948329 Centerline is valid? [True, True] Translation: X:661.89, Y:-104.27, Z:-42.34 [[ 9.78435554e-01 2.01244751e-01 4.65232879e-02 6.61886187e+02] [-2.00915004e-01 9.79538723e-01 -1.17068779e-02 -1.04266606e+02] [-4.79273098e-02 2.10719901e-03 9.98848604e-01 -4.23408586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.5707140569999 meters 0.029959125427943333 Centerline is valid? [True, True] Translation: X:661.91, Y:-104.27, Z:-42.34 [[ 9.77893442e-01 2.03797028e-01 4.68101253e-02 6.61913318e+02] [-2.03466806e-01 9.79011159e-01 -1.17647475e-02 -1.04274255e+02] [-4.82252556e-02 1.98036275e-03 9.98834522e-01 -4.23419543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.6007140569999 meters 0.028620222322297335 Centerline is valid? [True, True] Translation: X:661.94, Y:-104.28, Z:-42.34 [[ 9.77724552e-01 2.04612581e-01 4.67802537e-02 6.61942107e+02] [-2.04283793e-01 9.78841120e-01 -1.17555687e-02 -1.04278655e+02] [-4.81957732e-02 1.93726049e-03 9.98836030e-01 -4.23430566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.630714057 meters 0.028538636384021522 Centerline is valid? [True, True] Translation: X:661.97, Y:-104.29, Z:-42.34 [[ 9.77587620e-01 2.05337776e-01 4.64633497e-02 6.61970141e+02] [-2.05014835e-01 9.78689367e-01 -1.16636750e-02 -1.04285893e+02] [-4.78681794e-02 1.87658831e-03 9.98851899e-01 -4.23446991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.660714057 meters 0.028504348312243955 Centerline is valid? [True, True] Translation: X:662.00, Y:-104.29, Z:-42.35 [[ 9.77451991e-01 2.05822313e-01 4.71675879e-02 6.61997383e+02] [-2.05490683e-01 9.78587596e-01 -1.18277251e-02 -1.04293592e+02] [-4.85920262e-02 1.86853356e-03 9.98816962e-01 -4.23460388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.6907140569999 meters 0.028554048047090785 Centerline is valid? [True, True] Translation: X:662.02, Y:-104.30, Z:-42.35 [[ 9.77536542e-01 2.05496935e-01 4.68328912e-02 6.62024447e+02] [-2.05170199e-01 9.78655992e-01 -1.17319245e-02 -1.04300960e+02] [-4.82441642e-02 1.85967126e-03 9.98833841e-01 -4.23469378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.7207140569999 meters 0.029445126537027872 Centerline is valid? [True, True] Translation: X:662.05, Y:-104.31, Z:-42.35 [[ 9.77916134e-01 2.03650183e-01 4.69748710e-02 6.62050186e+02] [-2.03320097e-01 9.79041794e-01 -1.17517548e-02 -1.04310815e+02] [-4.83836090e-02 1.94129532e-03 9.98826941e-01 -4.23489654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.750714057 meters 0.030748899941151205 Centerline is valid? [True, True] Translation: X:662.08, Y:-104.32, Z:-42.35 [[ 9.78341103e-01 2.01714001e-01 4.64773910e-02 6.62076716e+02] [-2.01389043e-01 9.79442407e-01 -1.16200104e-02 -1.04321291e+02] [-4.78658465e-02 2.00829646e-03 9.98851755e-01 -4.23514897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.780714057 meters 0.030564370182515035 Centerline is valid? [True, True] Translation: X:662.11, Y:-104.33, Z:-42.35 [[ 9.78806782e-01 1.99572976e-01 4.59119804e-02 6.62105111e+02] [-1.99253660e-01 9.79880749e-01 -1.14759504e-02 -1.04329607e+02] [-4.72785553e-02 2.08460799e-03 9.98879569e-01 -4.23532329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.8107140569999 meters 0.03339067261218016 Centerline is valid? [True, True] Translation: X:662.13, Y:-104.34, Z:-42.36 [[ 9.79805868e-01 1.94743845e-01 4.53353823e-02 6.62131703e+02] [-1.94427423e-01 9.80851469e-01 -1.13301461e-02 -1.04344306e+02] [-4.66737526e-02 2.28690212e-03 9.98907569e-01 -4.23556422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.8407140569999 meters 0.034550891642398024 Centerline is valid? [True, True] Translation: X:662.16, Y:-104.36, Z:-42.36 [[ 9.80231261e-01 1.92461154e-01 4.58844162e-02 6.62159768e+02] [-1.92134603e-01 9.81301602e-01 -1.14656418e-02 -1.04355032e+02] [-4.72331417e-02 2.42299643e-03 9.98880954e-01 -4.23570488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.870714057 meters 0.03420922703228319 Centerline is valid? [True, True] Translation: X:662.19, Y:-104.36, Z:-42.36 [[ 9.80687280e-01 1.90187651e-01 4.56192451e-02 6.62188626e+02] [-1.89862491e-01 9.81744532e-01 -1.13977402e-02 -1.04362532e+02] [-4.69541539e-02 2.51623529e-03 9.98893876e-01 -4.23576362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.900714057 meters 0.037483257302463345 Centerline is valid? [True, True] Translation: X:662.21, Y:-104.38, Z:-42.36 [[ 9.81239798e-01 1.87123743e-01 4.64022056e-02 6.62214954e+02] [-1.86783987e-01 9.82332621e-01 -1.15915878e-02 -1.04377679e+02] [-4.77514615e-02 2.70693835e-03 9.98855580e-01 -4.23596225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.9307140569999 meters 0.03738051563356812 Centerline is valid? [True, True] Translation: X:662.24, Y:-104.39, Z:-42.36 [[ 9.81342063e-01 1.86521314e-01 4.66642747e-02 6.62242877e+02] [-1.86177013e-01 9.82447060e-01 -1.16573592e-02 -1.04385822e+02] [-4.80195254e-02 2.75204162e-03 9.98842606e-01 -4.23610111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.9607140569999 meters 0.038195929048448186 Centerline is valid? [True, True] Translation: X:662.27, Y:-104.39, Z:-42.36 [[ 9.81306885e-01 1.86741702e-01 4.65224028e-02 6.62268884e+02] [-1.86400378e-01 9.82405283e-01 -1.16086013e-02 -1.04394894e+02] [-4.78716642e-02 2.71980698e-03 9.98849792e-01 -4.23627563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.990714057 meters 0.0382004495722982 Centerline is valid? [True, True] Translation: X:662.30, Y:-104.40, Z:-42.36 [[ 9.81106602e-01 1.87595375e-01 4.73055101e-02 6.62296280e+02] [-1.87243586e-01 9.82242625e-01 -1.18010624e-02 -1.04402565e+02] [-4.86793131e-02 2.72044689e-03 9.98810755e-01 -4.23640032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.020714057 meters 0.03285334431079937 Centerline is valid? [True, True] Translation: X:662.33, Y:-104.40, Z:-42.36 [[ 9.80934328e-01 1.88437843e-01 4.75291799e-02 6.62326645e+02] [-1.88084276e-01 9.82081462e-01 -1.18451220e-02 -1.04401676e+02] [-4.89095957e-02 2.67979538e-03 9.98799615e-01 -4.23636448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.0507140569999 meters 0.03203610333674071 Centerline is valid? [True, True] Translation: X:662.36, Y:-104.41, Z:-42.37 [[ 9.80217603e-01 1.92142158e-01 4.74851750e-02 6.62355883e+02] [-1.91794250e-01 9.81363972e-01 -1.18203503e-02 -1.04408686e+02] [-4.88714275e-02 2.47913189e-03 9.98802001e-01 -4.23652566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.0807140569999 meters 0.031176729089981994 Centerline is valid? [True, True] Translation: X:662.38, Y:-104.41, Z:-42.37 [[ 9.79931608e-01 1.93497052e-01 4.78846023e-02 6.62384376e+02] [-1.93144826e-01 9.81097840e-01 -1.19207573e-02 -1.04414657e+02] [-4.92861113e-02 2.43286370e-03 9.98781738e-01 -4.23671180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.1107140569999 meters 0.03160311261841597 Centerline is valid? [True, True] Translation: X:662.41, Y:-104.42, Z:-42.37 [[ 9.79663987e-01 1.94971593e-01 4.73766945e-02 6.62411196e+02] [-1.94629139e-01 9.80806143e-01 -1.17816925e-02 -1.04422822e+02] [-4.87644484e-02 2.32121456e-03 9.98807609e-01 -4.23690352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.140714057 meters 0.031499741289269315 Centerline is valid? [True, True] Translation: X:662.44, Y:-104.43, Z:-42.37 [[ 9.79445659e-01 1.96091597e-01 4.72682402e-02 6.62439515e+02] [-1.95752286e-01 9.80582991e-01 -1.17490652e-02 -1.04429868e+02] [-4.86543253e-02 2.25470487e-03 9.98813132e-01 -4.23708024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.1707140569999 meters 0.030288066791011106 Centerline is valid? [True, True] Translation: X:662.47, Y:-104.44, Z:-42.37 [[ 9.79078510e-01 1.97969033e-01 4.70481980e-02 6.62467571e+02] [-1.97635661e-01 9.80205942e-01 -1.16815105e-02 -1.04435926e+02] [-4.84295005e-02 2.13871422e-03 9.98824314e-01 -4.23728234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.2007140569999 meters 0.03276522078292615 Centerline is valid? [True, True] Translation: X:662.49, Y:-104.45, Z:-42.38 [[ 9.79010914e-01 1.98462453e-01 4.63711755e-02 6.62492876e+02] [-1.98139323e-01 9.80106283e-01 -1.15101264e-02 -1.04448789e+02] [-4.77330084e-02 2.08058609e-03 9.98857963e-01 -4.23758501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.2307140569999 meters 0.030103412516802628 Centerline is valid? [True, True] Translation: X:662.52, Y:-104.45, Z:-42.38 [[ 9.78916814e-01 1.98837046e-01 4.67514816e-02 6.62521413e+02] [-1.98509152e-01 9.80030366e-01 -1.16016752e-02 -1.04453423e+02] [-4.81247144e-02 2.07647791e-03 9.98839176e-01 -4.23774263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.260714057 meters 0.031173304859375264 Centerline is valid? [True, True] Translation: X:662.55, Y:-104.46, Z:-42.38 [[ 9.78818127e-01 1.99231552e-01 4.71366515e-02 6.62547246e+02] [-1.98899371e-01 9.79950277e-01 -1.16831365e-02 -1.04463782e+02] [-4.85192241e-02 2.06021541e-03 9.98820124e-01 -4.23797425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.290714057 meters 0.032065832595043885 Centerline is valid? [True, True] Translation: X:662.57, Y:-104.47, Z:-42.38 [[ 9.78719686e-01 1.99741795e-01 4.70211865e-02 6.62573762e+02] [-1.99412023e-01 9.79846473e-01 -1.16505080e-02 -1.04473187e+02] [-4.84006371e-02 2.02599161e-03 9.98825948e-01 -4.23818378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.3207140569999 meters 0.02924221262541195 Centerline is valid? [True, True] Translation: X:662.60, Y:-104.48, Z:-42.38 [[ 9.78521942e-01 2.00749800e-01 4.68436404e-02 6.62602432e+02] [-2.00423913e-01 9.79640578e-01 -1.16014379e-02 -1.04476894e+02] [-4.82189173e-02 1.96367583e-03 9.98834861e-01 -4.23824595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.3507140569999 meters 0.02910438031879693 Centerline is valid? [True, True] Translation: X:662.63, Y:-104.48, Z:-42.38 [[ 9.78409220e-01 2.01283321e-01 4.69086580e-02 6.62629838e+02] [-2.00957741e-01 9.79531167e-01 -1.16050974e-02 -1.04484542e+02] [-4.82844051e-02 1.92787638e-03 9.98831767e-01 -4.23836381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.380714057 meters 0.028928545527021995 Centerline is valid? [True, True] Translation: X:662.66, Y:-104.49, Z:-42.39 [[ 9.78265122e-01 2.01833659e-01 4.75449822e-02 6.62657059e+02] [-2.01500452e-01 9.79417945e-01 -1.17497821e-02 -1.04492275e+02] [-4.89379102e-02 1.91406662e-03 9.98799989e-01 -4.23854424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.410714057 meters 0.02830855403334283 Centerline is valid? [True, True] Translation: X:662.68, Y:-104.50, Z:-42.39 [[ 9.77988090e-01 2.02999553e-01 4.82750122e-02 6.62684455e+02] [-2.02658087e-01 9.79177041e-01 -1.19172678e-02 -1.04500179e+02] [-4.96889837e-02 1.87162436e-03 9.98762986e-01 -4.23861076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.4407140569999 meters 0.02896729027095825 Centerline is valid? [True, True] Translation: X:662.71, Y:-104.51, Z:-42.39 [[ 9.77923621e-01 2.03104932e-01 4.91302183e-02 6.62711152e+02] [-2.02752059e-01 9.79155161e-01 -1.21150267e-02 -1.04509762e+02] [-5.05667285e-02 1.88631787e-03 9.98718903e-01 -4.23877072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.4707140569999 meters 0.027674980772201305 Centerline is valid? [True, True] Translation: X:662.74, Y:-104.52, Z:-42.39 [[ 9.77949253e-01 2.02914982e-01 4.94041334e-02 6.62737729e+02] [-2.02558572e-01 9.79194527e-01 -1.21697486e-02 -1.04517572e+02] [-5.08456813e-02 1.89416587e-03 9.98704726e-01 -4.23887325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.500714057 meters 0.02775249738737504 Centerline is valid? [True, True] Translation: X:662.76, Y:-104.53, Z:-42.39 [[ 9.77950756e-01 2.02893729e-01 4.94616324e-02 6.62764683e+02] [-2.02537234e-01 9.79198953e-01 -1.21687535e-02 -1.04526342e+02] [-5.09017425e-02 1.88261943e-03 9.98701892e-01 -4.23908316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.530714057 meters 0.027826135179918922 Centerline is valid? [True, True] Translation: X:662.79, Y:-104.54, Z:-42.39 [[ 9.78089871e-01 2.02268991e-01 4.92692504e-02 6.62791551e+02] [-2.01915291e-01 9.79328176e-01 -1.21053319e-02 -1.04535215e+02] [-5.06992983e-02 1.89188745e-03 9.98712172e-01 -4.23933558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.5607140569999 meters 0.028525940229144377 Centerline is valid? [True, True] Translation: X:662.82, Y:-104.55, Z:-42.40 [[ 9.78024189e-01 2.02573316e-01 4.93227837e-02 6.62817240e+02] [-2.02219605e-01 9.79265312e-01 -1.21111487e-02 -1.04545382e+02] [-5.07534868e-02 1.87096254e-03 9.98709459e-01 -4.23955757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.5907140569999 meters 0.028379826586541146 Centerline is valid? [True, True] Translation: X:662.84, Y:-104.56, Z:-42.40 [[ 9.78089713e-01 2.02287611e-01 4.91958858e-02 6.62843197e+02] [-2.01935521e-01 9.79324357e-01 -1.20767853e-02 -1.04555878e+02] [-5.06217133e-02 1.87778265e-03 9.98716134e-01 -4.23978924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.620714057 meters 0.02809406857022716 Centerline is valid? [True, True] Translation: X:662.87, Y:-104.56, Z:-42.40 [[ 9.78159376e-01 2.02085199e-01 4.86395693e-02 6.62869878e+02] [-2.01741496e-01 9.79366193e-01 -1.19260047e-02 -1.04563012e+02] [-5.00460189e-02 1.85291382e-03 9.98745194e-01 -4.23993760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.650714057 meters 0.02794515538789924 Centerline is valid? [True, True] Translation: X:662.90, Y:-104.57, Z:-42.40 [[ 9.78027198e-01 2.02731105e-01 4.86096523e-02 6.62897884e+02] [-2.02389363e-01 9.79232783e-01 -1.19038538e-02 -1.04571100e+02] [-5.00134465e-02 1.80421625e-03 9.98746915e-01 -4.24004987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.6807140569999 meters 0.0270943151711901 Centerline is valid? [True, True] Translation: X:662.93, Y:-104.58, Z:-42.40 [[ 9.77901918e-01 2.03187837e-01 4.92193184e-02 6.62925831e+02] [-2.02838704e-01 9.79138140e-01 -1.20400611e-02 -1.04578326e+02] [-5.06389058e-02 1.79041609e-03 9.98715423e-01 -4.24018448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.7107140569999 meters 0.02754704623626763 Centerline is valid? [True, True] Translation: X:662.95, Y:-104.59, Z:-42.40 [[ 9.77820770e-01 2.03505580e-01 4.95178813e-02 6.62952332e+02] [-2.03153319e-01 9.79072185e-01 -1.20990243e-02 -1.04587365e+02] [-5.09437992e-02 1.77095534e-03 9.98699951e-01 -4.24034555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.740714057 meters 0.02860987180720184 Centerline is valid? [True, True] Translation: X:662.98, Y:-104.60, Z:-42.41 [[ 9.77799014e-01 2.03538735e-01 4.98103561e-02 6.62978204e+02] [-2.03182717e-01 9.79065290e-01 -1.21631435e-02 -1.04599110e+02] [-5.12432616e-02 1.77250626e-03 9.98684628e-01 -4.24059061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.770714057 meters 0.027447777291428926 Centerline is valid? [True, True] Translation: X:663.01, Y:-104.60, Z:-42.41 [[ 9.77838696e-01 2.03274987e-01 5.01075269e-02 6.63005122e+02] [-2.02914534e-01 9.79120045e-01 -1.22323262e-02 -1.04604913e+02] [-5.15478100e-02 1.79369642e-03 9.98668917e-01 -4.24072652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.8007140569999 meters 0.027296358877880483 Centerline is valid? [True, True] Translation: X:663.03, Y:-104.61, Z:-42.41 [[ 9.77918297e-01 2.02754802e-01 5.06586084e-02 6.63031023e+02] [-2.02386473e-01 9.79227836e-01 -1.23515224e-02 -1.04614472e+02] [-5.21106500e-02 1.82616268e-03 9.98639647e-01 -4.24093478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.8307140569999 meters 0.027206334767181064 Centerline is valid? [True, True] Translation: X:663.06, Y:-104.62, Z:-42.41 [[ 9.77962429e-01 2.02587745e-01 5.04746732e-02 6.63058066e+02] [-2.02222651e-01 9.79262435e-01 -1.22915799e-02 -1.04621550e+02] [-5.19180748e-02 1.81358108e-03 9.98649701e-01 -4.24106728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.8607140569999 meters 0.02957674284299933 Centerline is valid? [True, True] Translation: X:663.08, Y:-104.63, Z:-42.41 [[ 9.77983690e-01 2.02420784e-01 5.07319235e-02 6.63082371e+02] [-2.02052590e-01 9.79296957e-01 -1.23377857e-02 -1.04634179e+02] [-5.21790426e-02 1.81563665e-03 9.98636095e-01 -4.24129772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.890714057 meters 0.027802094958862895 Centerline is valid? [True, True] Translation: X:663.11, Y:-104.64, Z:-42.41 [[ 9.78010773e-01 2.02294359e-01 5.07141075e-02 6.63110046e+02] [-2.01926555e-01 9.79323080e-01 -1.23277015e-02 -1.04639214e+02] [-5.21593204e-02 1.81609986e-03 9.98637125e-01 -4.24143671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.9207140569999 meters 0.027644514107408306 Centerline is valid? [True, True] Translation: X:663.14, Y:-104.65, Z:-42.42 [[ 9.78026586e-01 2.02202535e-01 5.07753026e-02 6.63136493e+02] [-2.01834509e-01 9.79342057e-01 -1.23274610e-02 -1.04646686e+02] [-5.22190331e-02 1.80837640e-03 9.98634018e-01 -4.24160923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.9507140569999 meters 0.028027495994808447 Centerline is valid? [True, True] Translation: X:663.16, Y:-104.66, Z:-42.42 [[ 9.78194583e-01 2.01575161e-01 5.00281072e-02 6.63163369e+02] [-2.01217850e-01 9.79471396e-01 -1.21310466e-02 -1.04657102e+02] [-5.14464177e-02 1.79997593e-03 9.98674134e-01 -4.24184188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.9807140569999 meters 0.028255342667605394 Centerline is valid? [True, True] Translation: X:663.19, Y:-104.67, Z:-42.42 [[ 9.78261919e-01 2.01294253e-01 4.98421683e-02 6.63189401e+02] [-2.00939951e-01 9.79529175e-01 -1.20719299e-02 -1.04665909e+02] [-5.12518681e-02 1.79422645e-03 9.98684148e-01 -4.24206262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.010714057 meters 0.02846687090280029 Centerline is valid? [True, True] Translation: X:663.22, Y:-104.67, Z:-42.42 [[ 9.78455753e-01 2.00450024e-01 4.94381105e-02 6.63217392e+02] [-2.00100545e-01 9.79702238e-01 -1.19706708e-02 -1.04674007e+02] [-5.08341488e-02 1.82017886e-03 9.98705450e-01 -4.24228146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.040714057 meters 0.02870413649071484 Centerline is valid? [True, True] Translation: X:663.24, Y:-104.68, Z:-42.43 [[ 9.78617197e-01 1.99752094e-01 4.90661044e-02 6.63244699e+02] [-1.99407621e-01 9.79844759e-01 -1.18679748e-02 -1.04683037e+02] [-5.04478180e-02 1.83004906e-03 9.98725022e-01 -4.24251990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.0707140569999 meters 0.02870413649071484 Centerline is valid? [True, True] Translation: X:663.27, Y:-104.69, Z:-42.43 [[ 9.78672570e-01 1.99479929e-01 4.90689242e-02 6.63271323e+02] [-1.99135699e-01 9.79900200e-01 -1.18563037e-02 -1.04689393e+02] [-5.04477433e-02 1.83206472e-03 9.98725022e-01 -4.24267893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.1007140569999 meters 0.02855797981083972 Centerline is valid? [True, True] Translation: X:663.30, Y:-104.70, Z:-42.43 [[ 9.78941279e-01 1.98198936e-01 4.88994251e-02 6.63298500e+02] [-1.97856220e-01 9.80160016e-01 -1.18007787e-02 -1.04698805e+02] [-5.02681631e-02 1.87721400e-03 9.98733993e-01 -4.24282566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.130714057 meters 0.02859411038957179 Centerline is valid? [True, True] Translation: X:663.33, Y:-104.71, Z:-42.43 [[ 9.78967175e-01 1.97971268e-01 4.93015876e-02 6.63325144e+02] [-1.97623243e-01 9.80205997e-01 -1.18851379e-02 -1.04706959e+02] [-5.06786276e-02 1.89202022e-03 9.98713221e-01 -4.24296852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.160714057 meters 0.028580426344273588 Centerline is valid? [True, True] Translation: X:663.35, Y:-104.72, Z:-42.43 [[ 9.78751910e-01 1.98710213e-01 5.05860626e-02 6.63351580e+02] [-1.98345652e-01 9.80056475e-01 -1.21781653e-02 -1.04716734e+02] [-5.19971240e-02 1.88587694e-03 9.98645454e-01 -4.24305252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.1907140569999 meters 0.028890751831258697 Centerline is valid? [True, True] Translation: X:663.38, Y:-104.72, Z:-42.43 [[ 9.78504526e-01 1.99786723e-01 5.11288452e-02 6.63378528e+02] [-1.99416007e-01 9.79837673e-01 -1.23040724e-02 -1.04724459e+02] [-5.25561590e-02 1.84368040e-03 9.98616268e-01 -4.24323683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.2207140569999 meters 0.028477442045461827 Centerline is valid? [True, True] Translation: X:663.41, Y:-104.73, Z:-42.43 [[ 9.78271290e-01 2.00775813e-01 5.17141836e-02 6.63406580e+02] [-2.00398145e-01 9.79635548e-01 -1.24409070e-02 -1.04731988e+02] [-5.31588858e-02 1.80715571e-03 9.98584432e-01 -4.24337066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.250714057 meters 0.02774322894115471 Centerline is valid? [True, True] Translation: X:663.43, Y:-104.74, Z:-42.44 [[ 9.77615205e-01 2.03897347e-01 5.19074490e-02 6.63433390e+02] [-2.03521984e-01 9.78990917e-01 -1.24734419e-02 -1.04739283e+02] [-5.33602228e-02 1.62991949e-03 9.98573998e-01 -4.24358467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.280714057 meters 0.027621342000018097 Centerline is valid? [True, True] Translation: X:663.46, Y:-104.75, Z:-42.44 [[ 9.77402374e-01 2.04976512e-01 5.16645769e-02 6.63460986e+02] [-2.04606368e-01 9.78765649e-01 -1.24111890e-02 -1.04746969e+02] [-5.31115154e-02 1.55982412e-03 9.98587369e-01 -4.24380389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.3107140569999 meters 0.027435292650254937 Centerline is valid? [True, True] Translation: X:663.49, Y:-104.76, Z:-42.44 [[ 9.77069317e-01 2.06576404e-01 5.15920502e-02 6.63487126e+02] [-2.06210240e-01 9.78429387e-01 -1.23803219e-02 -1.04757031e+02] [-5.30366604e-02 1.45762367e-03 9.98591502e-01 -4.24404767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.3407140569999 meters 0.02763542763302537 Centerline is valid? [True, True] Translation: X:663.51, Y:-104.77, Z:-42.44 [[ 9.77113455e-01 2.06354360e-01 5.16447008e-02 6.63513995e+02] [-2.05987459e-01 9.78476229e-01 -1.23869123e-02 -1.04765850e+02] [-5.30892055e-02 1.46525794e-03 9.98588699e-01 -4.24421341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.370714057 meters 0.027683865280424224 Centerline is valid? [True, True] Translation: X:663.54, Y:-104.78, Z:-42.44 [[ 9.77066619e-01 2.06161265e-01 5.32762072e-02 6.63540247e+02] [-2.05771355e-01 9.78516868e-01 -1.27627918e-02 -1.04777487e+02] [-5.47628607e-02 1.50738052e-03 9.98498251e-01 -4.24433132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.400714057 meters 0.028219224521862377 Centerline is valid? [True, True] Translation: X:663.57, Y:-104.79, Z:-42.44 [[ 9.77208582e-01 2.05258375e-01 5.41515262e-02 6.63567423e+02] [-2.04855013e-01 9.78706564e-01 -1.29570244e-02 -1.04786908e+02] [-5.56579919e-02 1.56850388e-03 9.98448661e-01 -4.24447744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.4307140569999 meters 0.028123163374749398 Centerline is valid? [True, True] Translation: X:663.59, Y:-104.80, Z:-42.45 [[ 9.77241142e-01 2.04858457e-01 5.50705239e-02 6.63593696e+02] [-2.04441423e-01 9.78790293e-01 -1.31631066e-02 -1.04796970e+02] [-5.65990679e-02 1.60483304e-03 9.98395698e-01 -4.24461401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.4607140569999 meters 0.027434102306629377 Centerline is valid? [True, True] Translation: X:663.62, Y:-104.80, Z:-42.45 [[ 9.77517896e-01 2.03537139e-01 5.50581204e-02 6.63621904e+02] [-2.03118457e-01 9.79065791e-01 -1.31556079e-02 -1.04803230e+02] [-5.65831769e-02 1.67652169e-03 9.98396481e-01 -4.24480750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.490714057 meters 0.027368960647172706 Centerline is valid? [True, True] Translation: X:663.65, Y:-104.81, Z:-42.45 [[ 9.77961584e-01 2.01089702e-01 5.61611277e-02 6.63648296e+02] [-2.00650876e-01 9.79571103e-01 -1.34045089e-02 -1.04814735e+02] [-5.77093265e-02 1.84031531e-03 9.98331732e-01 -4.24500989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.520714057 meters 0.028127852463322098 Centerline is valid? [True, True] Translation: X:663.68, Y:-104.83, Z:-42.45 [[ 9.78507939e-01 1.98350502e-01 5.63852144e-02 6.63675528e+02] [-1.97904480e-01 9.80129123e-01 -1.34432071e-02 -1.04829005e+02] [-5.79312576e-02 1.99539834e-03 9.98318580e-01 -4.24529418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.5507140569999 meters 0.030027372260661496 Centerline is valid? [True, True] Translation: X:663.70, Y:-104.84, Z:-42.45 [[ 9.78681818e-01 1.97325570e-01 5.69606745e-02 6.63701014e+02] [-1.96868784e-01 9.80335817e-01 -1.35782232e-02 -1.04842604e+02] [-5.85199200e-02 2.07498144e-03 9.98284085e-01 -4.24545882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.5807140569999 meters 0.030242069206668595 Centerline is valid? [True, True] Translation: X:663.73, Y:-104.85, Z:-42.46 [[ 9.78772052e-01 1.96825963e-01 5.71385279e-02 6.63728346e+02] [-1.96365787e-01 9.80436181e-01 -1.36151827e-02 -1.04852791e+02] [-5.87005015e-02 2.10610828e-03 9.98273417e-01 -4.24561050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.6107140569999 meters 0.02901266141841478 Centerline is valid? [True, True] Translation: X:663.76, Y:-104.86, Z:-42.46 [[ 9.78938995e-01 1.95928356e-01 5.73630886e-02 6.63756174e+02] [-1.95463853e-01 9.80615846e-01 -1.36544700e-02 -1.04858807e+02] [-5.89264516e-02 2.15448274e-03 9.98260002e-01 -4.24582494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.640714057 meters 0.028134452232537653 Centerline is valid? [True, True] Translation: X:663.78, Y:-104.87, Z:-42.46 [[ 9.78965054e-01 1.95785112e-01 5.74074257e-02 6.63782643e+02] [-1.95320525e-01 9.80644465e-01 -1.36501150e-02 -1.04867880e+02] [-5.89687636e-02 2.15013705e-03 9.98257513e-01 -4.24591127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.6707140569999 meters 0.029311877033610552 Centerline is valid? [True, True] Translation: X:663.81, Y:-104.88, Z:-42.46 [[ 9.78882171e-01 1.96051604e-01 5.79091049e-02 6.63808611e+02] [-1.95580353e-01 9.80591254e-01 -1.37520178e-02 -1.04878656e+02] [-5.94812669e-02 2.13572180e-03 9.98227137e-01 -4.24601238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.7007140569999 meters 0.028387001085652373 Centerline is valid? [True, True] Translation: X:663.84, Y:-104.89, Z:-42.46 [[ 9.78672419e-01 1.96872959e-01 5.86628895e-02 6.63836457e+02] [-1.96391179e-01 9.80426743e-01 -1.39250485e-02 -1.04886065e+02] [-6.02561311e-02 2.10718686e-03 9.98180724e-01 -4.24616816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.7307140569999 meters 0.02842839339076759 Centerline is valid? [True, True] Translation: X:663.86, Y:-104.89, Z:-42.46 [[ 9.78576475e-01 1.97348564e-01 5.86653758e-02 6.63863350e+02] [-1.96868506e-01 9.80331213e-01 -1.39105699e-02 -1.04894796e+02] [-6.02567300e-02 2.06319163e-03 9.98180780e-01 -4.24635952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.760714057 meters 0.027491503124865705 Centerline is valid? [True, True] Translation: X:663.89, Y:-104.90, Z:-42.47 [[ 9.78461397e-01 1.97889926e-01 5.87611331e-02 6.63891062e+02] [-1.97409629e-01 9.80222152e-01 -1.39273623e-02 -1.04902049e+02] [-6.03550490e-02 2.02737284e-03 9.98174913e-01 -4.24654369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.790714057 meters 0.028098340144603173 Centerline is valid? [True, True] Translation: X:663.92, Y:-104.91, Z:-42.47 [[ 9.78295345e-01 1.98775962e-01 5.85349078e-02 6.63917493e+02] [-1.98301856e-01 9.80043016e-01 -1.38585801e-02 -1.04911905e+02] [-6.01214802e-02 1.95020348e-03 9.98189163e-01 -4.24681386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.8207140569999 meters 0.02804532861391712 Centerline is valid? [True, True] Translation: X:663.95, Y:-104.92, Z:-42.47 [[ 9.78268943e-01 1.98992957e-01 5.82381090e-02 6.63945278e+02] [-1.98524532e-01 9.79999041e-01 -1.37800383e-02 -1.04919846e+02] [-5.98154215e-02 1.91889017e-03 9.98207610e-01 -4.24703425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.8507140569999 meters 0.028597976251719875 Centerline is valid? [True, True] Translation: X:663.97, Y:-104.93, Z:-42.47 [[ 9.78235441e-01 1.99296164e-01 5.77621062e-02 6.63971777e+02] [-1.98836770e-01 9.79937519e-01 -1.36527752e-02 -1.04929291e+02] [-5.93242008e-02 1.87039794e-03 9.98237016e-01 -4.24721240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.880714057 meters 0.027518621337475613 Centerline is valid? [True, True] Translation: X:664.00, Y:-104.93, Z:-42.47 [[ 9.78380821e-01 1.98607037e-01 5.76733377e-02 6.63999708e+02] [-1.98148189e-01 9.80077354e-01 -1.36262639e-02 -1.04934161e+02] [-5.92306042e-02 1.90380786e-03 9.98242511e-01 -4.24747242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.910714057 meters 0.02819614930896911 Centerline is valid? [True, True] Translation: X:664.03, Y:-104.95, Z:-42.48 [[ 9.78578881e-01 1.97803000e-01 5.70731693e-02 6.64025108e+02] [-1.97353170e-01 9.80239918e-01 -1.34695895e-02 -1.04945550e+02] [-5.86097240e-02 1.91748495e-03 9.98279131e-01 -4.24769585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.9407140569999 meters 0.02841408389314844 Centerline is valid? [True, True] Translation: X:664.05, Y:-104.95, Z:-42.48 [[ 9.78839323e-01 1.96625973e-01 5.66727987e-02 6.64052704e+02] [-1.96180781e-01 9.80476594e-01 -1.33697444e-02 -1.04954175e+02] [-5.81951917e-02 1.96871761e-03 9.98303283e-01 -4.24787510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.9707140569999 meters 0.029133508671892665 Centerline is valid? [True, True] Translation: X:664.08, Y:-104.97, Z:-42.48 [[ 9.79349128e-01 1.94018931e-01 5.68501529e-02 6.64079517e+02] [-1.93567428e-01 9.80995504e-01 -1.33967486e-02 -1.04965074e+02] [-5.83689672e-02 2.11575622e-03 9.98292836e-01 -4.24795799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.000714057 meters 0.029807163317683336 Centerline is valid? [True, True] Translation: X:664.11, Y:-104.97, Z:-42.48 [[ 9.79650100e-01 1.92491907e-01 5.68555027e-02 6.64107259e+02] [-1.92038613e-01 9.81296112e-01 -1.33832976e-02 -1.04974066e+02] [-5.83682602e-02 2.19249702e-03 9.98292712e-01 -4.24807468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.030714057 meters 0.030889609700549898 Centerline is valid? [True, True] Translation: X:664.13, Y:-104.98, Z:-42.48 [[ 9.79898820e-01 1.91077139e-01 5.73395981e-02 6.64133365e+02] [-1.90614533e-01 9.81572371e-01 -1.34825542e-02 -1.04983224e+02] [-5.88591732e-02 2.28177823e-03 9.98263688e-01 -4.24820701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.0607140569999 meters 0.03191027004725739 Centerline is valid? [True, True] Translation: X:664.16, Y:-104.99, Z:-42.48 [[ 9.80385948e-01 1.88245493e-01 5.83697489e-02 6.64160402e+02] [-1.87761408e-01 9.82118847e-01 -1.37194491e-02 -1.04994951e+02] [-5.99086550e-02 2.49076885e-03 9.98200756e-01 -4.24834216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.0907140569999 meters 0.032385575303357485 Centerline is valid? [True, True] Translation: X:664.19, Y:-105.00, Z:-42.48 [[ 9.80591222e-01 1.87005589e-01 5.89047176e-02 6.64187488e+02] [-1.86510575e-01 9.82355445e-01 -1.38414401e-02 -1.05004386e+02] [-6.04537967e-02 2.58644189e-03 9.98167646e-01 -4.24848734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.120714057 meters 0.03126276103204966 Centerline is valid? [True, True] Translation: X:664.22, Y:-105.01, Z:-42.49 [[ 9.80962750e-01 1.84903024e-01 5.93544893e-02 6.64216131e+02] [-1.84397457e-01 9.82753000e-01 -1.39326416e-02 -1.05012236e+02] [-6.09069900e-02 2.72258555e-03 9.98139733e-01 -4.24868972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.150714057 meters 0.03195363422073206 Centerline is valid? [True, True] Translation: X:664.24, Y:-105.02, Z:-42.49 [[ 9.81230207e-01 1.83471167e-01 5.93768561e-02 6.64243213e+02] [-1.82962751e-01 9.83021075e-01 -1.39354850e-02 -1.05020840e+02] [-6.09254606e-02 2.81016586e-03 9.98138363e-01 -4.24886506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.1807140569999 meters 0.03319444319271481 Centerline is valid? [True, True] Translation: X:664.27, Y:-105.03, Z:-42.49 [[ 9.81446396e-01 1.82158715e-01 5.98429194e-02 6.64269031e+02] [-1.81640207e-01 9.83264838e-01 -1.40389733e-02 -1.05030105e+02] [-6.13987598e-02 2.90861951e-03 9.98109078e-01 -4.24903758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.2107140569999 meters 0.03320828944285095 Centerline is valid? [True, True] Translation: X:664.30, Y:-105.04, Z:-42.49 [[ 9.82112488e-01 1.78816308e-01 5.89897411e-02 6.64298247e+02] [-1.78307034e-01 9.83877706e-01 -1.38297525e-02 -1.05039036e+02] [-6.05116764e-02 3.06408684e-03 9.98162787e-01 -4.24924357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.240714057 meters 0.033713204242339236 Centerline is valid? [True, True] Translation: X:664.33, Y:-105.05, Z:-42.49 [[ 9.82461333e-01 1.76915565e-01 5.89118992e-02 6.64326166e+02] [-1.76404240e-01 9.84220905e-01 -1.38113558e-02 -1.05047179e+02] [-6.04257666e-02 3.17681424e-03 9.98167639e-01 -4.24942466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.270714057 meters 0.03500021999640548 Centerline is valid? [True, True] Translation: X:664.35, Y:-105.06, Z:-42.49 [[ 9.82828880e-01 1.74566563e-01 5.97821734e-02 6.64354010e+02] [-1.74035877e-01 9.84639618e-01 -1.40120080e-02 -1.05057833e+02] [-6.13099244e-02 3.36716313e-03 9.98113098e-01 -4.24949648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.3007140569999 meters 0.03640884954653958 Centerline is valid? [True, True] Translation: X:664.38, Y:-105.07, Z:-42.50 [[ 9.82929170e-01 1.73844624e-01 6.02353236e-02 6.64380609e+02] [-1.73304666e-01 9.84767101e-01 -1.41155523e-02 -1.05066870e+02] [-6.17716779e-02 3.43552545e-03 9.98084394e-01 -4.24960675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.3307140569999 meters 0.03463687305975581 Centerline is valid? [True, True] Translation: X:664.41, Y:-105.07, Z:-42.50 [[ 9.82973632e-01 1.73389272e-01 6.08193942e-02 6.64409111e+02] [-1.72838415e-01 9.84847187e-01 -1.42443457e-02 -1.05070950e+02] [-6.23676260e-02 3.48988858e-03 9.98047143e-01 -4.24982561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.3607140569999 meters 0.0337603795355117 Centerline is valid? [True, True] Translation: X:664.44, Y:-105.08, Z:-42.50 [[ 9.83028745e-01 1.73330022e-01 6.00931726e-02 6.64437024e+02] [-1.72792428e-01 9.84857766e-01 -1.40697362e-02 -1.05076143e+02] [-6.16219354e-02 3.44730994e-03 9.98093609e-01 -4.25001231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.390714057 meters 0.034886834699808814 Centerline is valid? [True, True] Translation: X:664.46, Y:-105.08, Z:-42.50 [[ 9.83053861e-01 1.73490089e-01 5.92139775e-02 6.64463764e+02] [-1.72968696e-01 9.84829807e-01 -1.38593263e-02 -1.05084466e+02] [-6.07201458e-02 3.38229973e-03 9.98149099e-01 -4.25027937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.4207140569999 meters 0.03462614542411175 Centerline is valid? [True, True] Translation: X:664.49, Y:-105.09, Z:-42.51 [[ 9.83042730e-01 1.73715474e-01 5.87360625e-02 6.64492245e+02] [-1.73203209e-01 9.84790235e-01 -1.37419292e-02 -1.05090346e+02] [-6.02298866e-02 3.33562908e-03 9.98178959e-01 -4.25054400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.4507140569999 meters 0.03483339901504608 Centerline is valid? [True, True] Translation: X:664.52, Y:-105.10, Z:-42.51 [[ 9.83040280e-01 1.73916323e-01 5.81800646e-02 6.64519085e+02] [-1.73414337e-01 9.84754947e-01 -1.36074243e-02 -1.05097704e+02] [-5.96596596e-02 3.28738880e-03 9.98213363e-01 -4.25076514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.4807140569999 meters 0.03409976885552952 Centerline is valid? [True, True] Translation: X:664.55, Y:-105.10, Z:-42.51 [[ 9.82872931e-01 1.74714968e-01 5.86129874e-02 6.64547273e+02] [-1.74207222e-01 9.84613664e-01 -1.37031450e-02 -1.05102712e+02] [-6.01052928e-02 3.25764453e-03 9.98186727e-01 -4.25102668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.510714057 meters 0.03446275968116321 Centerline is valid? [True, True] Translation: X:664.57, Y:-105.11, Z:-42.51 [[ 9.82786176e-01 1.75374306e-01 5.80963379e-02 6.64574365e+02] [-1.74876894e-01 9.84496679e-01 -1.35779390e-02 -1.05109226e+02] [-5.95768734e-02 3.18450368e-03 9.98218641e-01 -4.25120392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.540714057 meters 0.03666942637444067 Centerline is valid? [True, True] Translation: X:664.60, Y:-105.12, Z:-42.51 [[ 9.82570075e-01 1.76664485e-01 5.78420902e-02 6.64600316e+02] [-1.76173971e-01 9.84266289e-01 -1.35130773e-02 -1.05118644e+02] [-5.93193004e-02 3.08727463e-03 9.98234286e-01 -4.25133323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.5707140569999 meters 0.03341082948146273 Centerline is valid? [True, True] Translation: X:664.63, Y:-105.12, Z:-42.52 [[ 9.82462842e-01 1.77290612e-01 5.77477629e-02 6.64629968e+02] [-1.76803095e-01 9.84153851e-01 -1.34856725e-02 -1.05119848e+02] [-5.92235663e-02 3.03918892e-03 9.98240118e-01 -4.25150878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.6007140569999 meters 0.03435470886440846 Centerline is valid? [True, True] Translation: X:664.66, Y:-105.13, Z:-42.52 [[ 9.82420290e-01 1.77467350e-01 5.79285264e-02 6.64656733e+02] [-1.76977346e-01 9.84122013e-01 -1.35233889e-02 -1.05127523e+02] [-5.94086980e-02 3.03361480e-03 9.98229134e-01 -4.25165233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.630714057 meters 0.03231304559879928 Centerline is valid? [True, True] Translation: X:664.69, Y:-105.13, Z:-42.52 [[ 9.82313179e-01 1.77949657e-01 5.82643759e-02 6.64685217e+02] [-1.77455279e-01 9.84034977e-01 -1.35936834e-02 -1.05130357e+02] [-5.97531751e-02 3.01393327e-03 9.98208633e-01 -4.25179516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.660714057 meters 0.034527859563820575 Centerline is valid? [True, True] Translation: X:664.71, Y:-105.14, Z:-42.52 [[ 9.82130310e-01 1.78884022e-01 5.84855636e-02 6.64711274e+02] [-1.78387803e-01 9.83865703e-01 -1.36407310e-02 -1.05140078e+02] [-5.99820490e-02 2.96386417e-03 9.98195056e-01 -4.25189845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.6907140569999 meters 0.03323752073668746 Centerline is valid? [True, True] Translation: X:664.74, Y:-105.14, Z:-42.52 [[ 9.82201778e-01 1.78389044e-01 5.87964012e-02 6.64740056e+02] [-1.77886984e-01 9.83955447e-01 -1.37076360e-02 -1.05143620e+02] [-6.02983313e-02 3.00455000e-03 9.98175878e-01 -4.25215719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.7207140569999 meters 0.03471801413357482 Centerline is valid? [True, True] Translation: X:664.77, Y:-105.15, Z:-42.52 [[ 9.82385518e-01 1.77301497e-01 5.90158812e-02 6.64766101e+02] [-1.76793995e-01 9.84151768e-01 -1.37542910e-02 -1.05152680e+02] [-6.05192403e-02 3.07836295e-03 9.98162284e-01 -4.25231449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.750714057 meters 0.03412148443409744 Centerline is valid? [True, True] Translation: X:664.79, Y:-105.16, Z:-42.52 [[ 9.82542560e-01 1.76302739e-01 5.93924348e-02 6.64794283e+02] [-1.75787251e-01 9.84330937e-01 -1.38365197e-02 -1.05158558e+02] [-6.09012274e-02 3.15453665e-03 9.98138813e-01 -4.25245149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.780714057 meters 0.03447806922594118 Centerline is valid? [True, True] Translation: X:664.82, Y:-105.17, Z:-42.53 [[ 9.82666145e-01 1.75496733e-01 5.97339461e-02 6.64822203e+02] [-1.74974084e-01 9.84474752e-01 -1.39115846e-02 -1.05165682e+02] [-6.12479994e-02 3.21855075e-03 9.98117390e-01 -4.25263047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.8107140569999 meters 0.036423194187259755 Centerline is valid? [True, True] Translation: X:664.85, Y:-105.17, Z:-42.53 [[ 9.82961124e-01 1.73989004e-01 5.92895888e-02 6.64848867e+02] [-1.73471658e-01 9.84742122e-01 -1.38035150e-02 -1.05173767e+02] [-6.07866153e-02 3.28325536e-03 9.98145384e-01 -4.25276784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.8407140569999 meters 0.034173277394695514 Centerline is valid? [True, True] Translation: X:664.88, Y:-105.18, Z:-42.53 [[ 9.83090441e-01 1.73386922e-01 5.89080571e-02 6.64877452e+02] [-1.72875628e-01 9.84848285e-01 -1.37067005e-02 -1.05175961e+02] [-6.03920616e-02 3.29115883e-03 9.98169308e-01 -4.25298541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.870714057 meters 0.03505227817303237 Centerline is valid? [True, True] Translation: X:664.90, Y:-105.18, Z:-42.53 [[ 9.83178567e-01 1.72957147e-01 5.87003386e-02 6.64904648e+02] [-1.72448966e-01 9.84923817e-01 -1.36538632e-02 -1.05183607e+02] [-6.01768948e-02 3.30137294e-03 9.98182269e-01 -4.25313331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.900714057 meters 0.0348206821775768 Centerline is valid? [True, True] Translation: X:664.93, Y:-105.19, Z:-42.53 [[ 9.83295669e-01 1.72143475e-01 5.91291078e-02 6.64932388e+02] [-1.71626710e-01 9.85066123e-01 -1.37479659e-02 -1.05189457e+02] [-6.06127035e-02 3.37018108e-03 9.98155670e-01 -4.25324990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.9307140569999 meters 0.034804673577286456 Centerline is valid? [True, True] Translation: X:664.96, Y:-105.19, Z:-42.53 [[ 9.83412618e-01 1.71368627e-01 5.94341326e-02 6.64960595e+02] [-1.70845441e-01 9.85201009e-01 -1.38133033e-02 -1.05194768e+02] [-6.09217343e-02 3.43012617e-03 9.98136652e-01 -4.25340309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.9607140569999 meters 0.03565161535579406 Centerline is valid? [True, True] Translation: X:664.99, Y:-105.20, Z:-42.54 [[ 9.83449943e-01 1.71206886e-01 5.92824676e-02 6.64986537e+02] [-1.70686362e-01 9.85229141e-01 -1.37733947e-02 -1.05201922e+02] [-6.07649146e-02 3.42673559e-03 9.98146223e-01 -4.25351412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.990714057 meters 0.03565161535579406 Centerline is valid? [True, True] Translation: X:665.01, Y:-105.21, Z:-42.54 [[ 9.83468120e-01 1.71101853e-01 5.92841770e-02 6.65013316e+02] [-1.70581581e-01 9.85247391e-01 -1.37660331e-02 -1.05208050e+02] [-6.07649745e-02 3.42566605e-03 9.98146223e-01 -4.25367344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.020714057 meters 0.036172209978358565 Centerline is valid? [True, True] Translation: X:665.04, Y:-105.21, Z:-42.54 [[ 9.83365207e-01 1.71584653e-01 5.95951133e-02 6.65040179e+02] [-1.71060192e-01 9.85163488e-01 -1.38315720e-02 -1.05214097e+02] [-6.10842152e-02 3.40713516e-03 9.98126801e-01 -4.25390046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.0507140569999 meters 0.03649335734641079 Centerline is valid? [True, True] Translation: X:665.07, Y:-105.22, Z:-42.54 [[ 9.83317260e-01 1.71883887e-01 5.95239074e-02 6.65067900e+02] [-1.71361560e-01 9.85111421e-01 -1.38095857e-02 -1.05220486e+02] [-6.10113263e-02 3.37909441e-03 9.98131354e-01 -4.25410718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.0807140569999 meters 0.03423234258042954 Centerline is valid? [True, True] Translation: X:665.10, Y:-105.22, Z:-42.54 [[ 9.83161198e-01 1.72909594e-01 5.91297913e-02 6.65096592e+02] [-1.72396280e-01 9.84932208e-01 -1.37138165e-02 -1.05223178e+02] [-6.06100863e-02 3.28913621e-03 9.98156100e-01 -4.25434084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.1107140569999 meters 0.0342793996205279 Centerline is valid? [True, True] Translation: X:665.12, Y:-105.23, Z:-42.55 [[ 9.82972845e-01 1.73873955e-01 5.94326021e-02 6.65124821e+02] [-1.73357394e-01 9.84762580e-01 -1.37795352e-02 -1.05229034e+02] [-6.09229049e-02 3.24182795e-03 9.98137210e-01 -4.25453979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.140714057 meters 0.034012206883560665 Centerline is valid? [True, True] Translation: X:665.15, Y:-105.23, Z:-42.55 [[ 9.82782813e-01 1.74987930e-01 5.93057114e-02 6.65152935e+02] [-1.74475867e-01 9.84565502e-01 -1.37456602e-02 -1.05233966e+02] [-6.07956822e-02 3.16158322e-03 9.98145225e-01 -4.25474050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.1707140569999 meters 0.03128976410953557 Centerline is valid? [True, True] Translation: X:665.18, Y:-105.23, Z:-42.55 [[ 9.82240898e-01 1.78084328e-01 5.90659875e-02 6.65183271e+02] [-1.77582238e-01 9.84010797e-01 -1.36857756e-02 -1.05234877e+02] [-6.05587916e-02 2.95365821e-03 9.98160262e-01 -4.25492528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.2007140569999 meters 0.031228289362996497 Centerline is valid? [True, True] Translation: X:665.21, Y:-105.24, Z:-42.55 [[ 9.81989475e-01 1.79488922e-01 5.89949057e-02 6.65211401e+02] [-1.78990712e-01 9.83755834e-01 -1.36669204e-02 -1.05240308e+02] [-6.04896434e-02 2.86123180e-03 9.98164724e-01 -4.25510760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.2307140569999 meters 0.03180573893048174 Centerline is valid? [True, True] Translation: X:665.24, Y:-105.25, Z:-42.55 [[ 9.81701752e-01 1.81073350e-01 5.89416005e-02 6.65237965e+02] [-1.80579165e-01 9.83465731e-01 -1.36499862e-02 -1.05247090e+02] [-6.04386929e-02 2.75659041e-03 9.98168105e-01 -4.25525141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.260714057 meters 0.030039732410533086 Centerline is valid? [True, True] Translation: X:665.27, Y:-105.25, Z:-42.55 [[ 9.80931097e-01 1.84669094e-01 6.05929821e-02 6.65267329e+02] [-1.84153983e-01 9.82797314e-01 -1.40267283e-02 -1.05250522e+02] [-6.21409233e-02 2.60081495e-03 9.98063997e-01 -4.25536163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.290714057 meters 0.029482064839826235 Centerline is valid? [True, True] Translation: X:665.30, Y:-105.26, Z:-42.56 [[ 9.80510971e-01 1.86708531e-01 6.11404965e-02 6.65295667e+02] [-1.86188169e-01 9.82412193e-01 -1.41509388e-02 -1.05255115e+02] [-6.27072702e-02 2.49151363e-03 9.98028853e-01 -4.25553767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.3207140569999 meters 0.02963052085328459 Centerline is valid? [True, True] Translation: X:665.32, Y:-105.26, Z:-42.56 [[ 9.80155296e-01 1.88512036e-01 6.13091197e-02 6.65323125e+02] [-1.87992611e-01 9.82068000e-01 -1.41852363e-02 -1.05262162e+02] [-6.28838124e-02 2.37807299e-03 9.98018021e-01 -4.25566979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.3507140569999 meters 0.029438612582434492 Centerline is valid? [True, True] Translation: X:665.35, Y:-105.27, Z:-42.56 [[ 9.79800223e-01 1.90521945e-01 6.07693262e-02 6.65351822e+02] [-1.90015827e-01 9.81680418e-01 -1.40550093e-02 -1.05267802e+02] [-6.23338453e-02 2.22396751e-03 9.98052877e-01 -4.25585120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.380714057 meters 0.030269729490569382 Centerline is valid? [True, True] Translation: X:665.38, Y:-105.28, Z:-42.56 [[ 9.78944410e-01 1.94969723e-01 6.04536913e-02 6.65380032e+02] [-1.94478163e-01 9.80807388e-01 -1.39682648e-02 -1.05275962e+02] [-6.20168157e-02 1.91723190e-03 9.98073263e-01 -4.25605598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.410714057 meters 0.02779740277010989 Centerline is valid? [True, True] Translation: X:665.41, Y:-105.28, Z:-42.56 [[ 9.78544467e-01 1.97026734e-01 6.02593752e-02 6.65409073e+02] [-1.96542417e-01 9.80396504e-01 -1.39202606e-02 -1.05276887e+02] [-6.18207443e-02 1.77807077e-03 9.98085685e-01 -4.25634205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.4407140569999 meters 0.02710550652650411 Centerline is valid? [True, True] Translation: X:665.44, Y:-105.28, Z:-42.56 [[ 9.77528500e-01 2.01850124e-01 6.07828816e-02 6.65436829e+02] [-2.01367601e-01 9.79415317e-01 -1.40258820e-02 -1.05284524e+02] [-6.23628113e-02 1.47099637e-03 9.98052462e-01 -4.25645161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.4707140569999 meters 0.026582808382514936 Centerline is valid? [True, True] Translation: X:665.47, Y:-105.29, Z:-42.57 [[ 9.77038788e-01 2.04137488e-01 6.10171459e-02 6.65465675e+02] [-2.03655926e-01 9.78941330e-01 -1.40761186e-02 -1.05289914e+02] [-6.26056695e-02 1.32641050e-03 9.98037460e-01 -4.25662790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.500714057 meters 0.026384999899082363 Centerline is valid? [True, True] Translation: X:665.49, Y:-105.30, Z:-42.57 [[ 9.76615903e-01 2.06106575e-01 6.11674626e-02 6.65494011e+02] [-2.05627054e-01 9.78528821e-01 -1.41018314e-02 -1.05296743e+02] [-6.27606052e-02 1.19438768e-03 9.98027895e-01 -4.25681421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.530714057 meters 0.026461512346851887 Centerline is valid? [True, True] Translation: X:665.52, Y:-105.30, Z:-42.57 [[ 9.76172263e-01 2.08091639e-01 6.15270877e-02 6.65520712e+02] [-2.07611322e-01 9.78108761e-01 -1.41700436e-02 -1.05304615e+02] [-6.31288512e-02 1.05868349e-03 9.98004823e-01 -4.25693565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.5607140569999 meters 0.026151019877048168 Centerline is valid? [True, True] Translation: X:665.55, Y:-105.31, Z:-42.57 [[ 9.75449106e-01 2.11294816e-01 6.20769031e-02 6.65548374e+02] [-2.10812938e-01 9.77422006e-01 -1.42872868e-02 -1.05312826e+02] [-6.36941608e-02 8.49906816e-04 9.97969104e-01 -4.25706239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.5907140569999 meters 0.026082374814316488 Centerline is valid? [True, True] Translation: X:665.58, Y:-105.32, Z:-42.57 [[ 9.75166775e-01 2.12416728e-01 6.26808954e-02 6.65576070e+02] [-2.11928785e-01 9.77178870e-01 -1.44099547e-02 -1.05321192e+02] [-6.43113620e-02 7.68223025e-04 9.97929586e-01 -4.25722534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.620714057 meters 0.026079344440255846 Centerline is valid? [True, True] Translation: X:665.60, Y:-105.33, Z:-42.57 [[ 9.74822589e-01 2.13848458e-01 6.31645269e-02 6.65602629e+02] [-2.13357017e-01 9.76866622e-01 -1.45046858e-02 -1.05332560e+02] [-6.48051228e-02 6.62900344e-04 9.97897719e-01 -4.25745618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.650714057 meters 0.02566468134675875 Centerline is valid? [True, True] Translation: X:665.63, Y:-105.34, Z:-42.58 [[ 9.74766765e-01 2.14124288e-01 6.30915508e-02 6.65629118e+02] [-2.13635654e-01 9.76806222e-01 -1.44710561e-02 -1.05341882e+02] [-6.47268240e-02 6.27299790e-04 9.97902823e-01 -4.25766625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.6807140569999 meters 0.02573086717767014 Centerline is valid? [True, True] Translation: X:665.66, Y:-105.35, Z:-42.58 [[ 9.74842042e-01 2.13825067e-01 6.29431037e-02 6.65655593e+02] [-2.13339334e-01 9.76871766e-01 -1.44180701e-02 -1.05351489e+02] [-6.45702857e-02 6.27101052e-04 9.97912965e-01 -4.25786606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.7107140569999 meters 0.025955762230338464 Centerline is valid? [True, True] Translation: X:665.68, Y:-105.36, Z:-42.58 [[ 9.74986505e-01 2.13196830e-01 6.28365149e-02 6.65682320e+02] [-2.12712672e-01 9.77009053e-01 -1.43745904e-02 -1.05361208e+02] [-6.44564611e-02 6.48908651e-04 9.97920309e-01 -4.25806862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.740714057 meters 0.026470209741573703 Centerline is valid? [True, True] Translation: X:665.71, Y:-105.38, Z:-42.58 [[ 9.75181409e-01 2.12381164e-01 6.25736424e-02 6.65707807e+02] [-2.11900512e-01 9.77186664e-01 -1.42967634e-02 -1.05375364e+02] [-6.41824921e-02 6.82551017e-04 9.97937945e-01 -4.25822266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.770714057 meters 0.0264328960628988 Centerline is valid? [True, True] Translation: X:665.73, Y:-105.39, Z:-42.58 [[ 9.75282996e-01 2.11894236e-01 6.26411197e-02 6.65734059e+02] [-2.11412006e-01 9.77292347e-01 -1.43049848e-02 -1.05385211e+02] [-6.42498307e-02 7.08323632e-04 9.97933594e-01 -4.25838964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.8007140569999 meters 0.02662336366033796 Centerline is valid? [True, True] Translation: X:665.76, Y:-105.40, Z:-42.58 [[ 9.75214747e-01 2.12134747e-01 6.28891638e-02 6.65757928e+02] [-2.11650338e-01 9.77240190e-01 -1.43438014e-02 -1.05399982e+02] [-6.45006371e-02 6.77773851e-04 9.97917436e-01 -4.25845346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.8307140569999 meters 0.025947571655976696 Centerline is valid? [True, True] Translation: X:665.79, Y:-105.41, Z:-42.59 [[ 9.74964586e-01 2.13035819e-01 6.37165288e-02 6.65785784e+02] [-2.12541010e-01 9.77044194e-01 -1.45245221e-02 -1.05409298e+02] [-6.53481080e-02 6.18519342e-04 9.97862336e-01 -4.25864230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.8607140569999 meters 0.02601645989820713 Centerline is valid? [True, True] Translation: X:665.81, Y:-105.42, Z:-42.59 [[ 9.74662227e-01 2.14426103e-01 6.36788069e-02 6.65812680e+02] [-2.13935159e-01 9.76740076e-01 -1.45111072e-02 -1.05419131e+02] [-6.53092029e-02 5.20292387e-04 9.97864939e-01 -4.25874133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.890714057 meters 0.02513617046770617 Centerline is valid? [True, True] Translation: X:665.84, Y:-105.43, Z:-42.59 [[ 9.73667173e-01 2.18891844e-01 6.37071132e-02 6.65838826e+02] [-2.18410317e-01 9.75749104e-01 -1.45127339e-02 -1.05432425e+02] [-6.53388777e-02 2.16281803e-04 9.97863109e-01 -4.25879897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.9207140569999 meters 0.02501970463799352 Centerline is valid? [True, True] Translation: X:665.87, Y:-105.44, Z:-42.59 [[ 9.73110540e-01 2.21406548e-01 6.35217858e-02 6.65866037e+02] [-2.20933484e-01 9.75181593e-01 -1.44657132e-02 -1.05441744e+02] [-6.51480798e-02 4.26485556e-05 9.97875606e-01 -4.25896197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.9507140569999 meters 0.024849094138396713 Centerline is valid? [True, True] Translation: X:665.89, Y:-105.45, Z:-42.59 [[ 9.72418692e-01 2.24574488e-01 6.29935531e-02 6.65891614e+02] [-2.24116263e-01 9.74456910e-01 -1.43398484e-02 -1.05450717e+02] [-6.46048672e-02 -1.73543108e-04 9.97910908e-01 -4.25913934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.9807140569999 meters 0.024185505155987413 Centerline is valid? [True, True] Translation: X:665.92, Y:-105.46, Z:-42.59 [[ 9.71173891e-01 2.30112971e-01 6.22036585e-02 6.65918340e+02] [-2.29678268e-01 9.73163769e-01 -1.41481923e-02 -1.05464441e+02] [-6.37900293e-02 -5.46473604e-04 9.97963192e-01 -4.25932224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.010714057 meters 0.02409882197684811 Centerline is valid? [True, True] Translation: X:665.95, Y:-105.48, Z:-42.59 [[ 9.70693079e-01 2.32379454e-01 6.12758958e-02 6.65945206e+02] [-2.31962424e-01 9.72624961e-01 -1.39326851e-02 -1.05475336e+02] [-6.28361355e-02 -6.89344345e-04 9.98023619e-01 -4.25949144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.040714057 meters 0.023110848846054015 Centerline is valid? [True, True] Translation: X:665.97, Y:-105.49, Z:-42.60 [[ 9.69974690e-01 2.35669906e-01 6.00732649e-02 6.65971274e+02] [-2.35275670e-01 9.71832756e-01 -1.36548093e-02 -1.05492446e+02] [-6.15991941e-02 -8.88958277e-04 9.98100571e-01 -4.25958026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.0707140569999 meters 0.022631236777616928 Centerline is valid? [True, True] Translation: X:666.00, Y:-105.50, Z:-42.60 [[ 9.70000203e-01 2.35607547e-01 5.99056702e-02 6.65995838e+02] [-2.35215692e-01 9.71847877e-01 -1.36118242e-02 -1.05504219e+02] [-6.14262470e-02 -8.87281417e-04 9.98111231e-01 -4.25964022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.1007140569999 meters 0.021993814924673106 Centerline is valid? [True, True] Translation: X:666.02, Y:-105.52, Z:-42.60 [[ 9.70117966e-01 2.34928021e-01 6.06626510e-02 6.66022695e+02] [-2.34525595e-01 9.72012384e-01 -1.37721078e-02 -1.05517594e+02] [-6.22003020e-02 -8.66375123e-04 9.98063311e-01 -4.25969570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.130714057 meters 0.021579522892281686 Centerline is valid? [True, True] Translation: X:666.05, Y:-105.53, Z:-42.60 [[ 9.70341096e-01 2.34024081e-01 6.05878498e-02 6.66048760e+02] [-2.33621163e-01 9.72230462e-01 -1.37506938e-02 -1.05531258e+02] [-6.21233466e-02 -8.11740624e-04 9.98068149e-01 -4.25972588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.160714057 meters 0.020125925315997016 Centerline is valid? [True, True] Translation: X:666.07, Y:-105.55, Z:-42.60 [[ 9.70748391e-01 2.32362566e-01 6.04582409e-02 6.66073770e+02] [-2.31958428e-01 9.72628982e-01 -1.37168209e-02 -1.05552794e+02] [-6.19907130e-02 -7.08216704e-04 9.98076475e-01 -4.25971729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.1907140569999 meters 0.019673453340723387 Centerline is valid? [True, True] Translation: X:666.10, Y:-105.56, Z:-42.60 [[ 9.70925378e-01 2.31706319e-01 6.01339449e-02 6.66100094e+02] [-2.31305537e-01 9.72785555e-01 -1.36386165e-02 -1.05564187e+02] [-6.16575866e-02 -6.67235506e-04 9.98097138e-01 -4.25980263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.2207140569999 meters 0.018554388516131632 Centerline is valid? [True, True] Translation: X:666.13, Y:-105.58, Z:-42.60 [[ 9.71064172e-01 2.31310116e-01 5.94138381e-02 6.66125706e+02] [-2.30918476e-01 9.72879860e-01 -1.34698233e-02 -1.05583283e+02] [-6.09182328e-02 -6.39690141e-04 9.98142555e-01 -4.25993239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.250714057 meters 0.01826316733557678 Centerline is valid? [True, True] Translation: X:666.15, Y:-105.60, Z:-42.60 [[ 9.71002091e-01 2.31676533e-01 5.89993419e-02 6.66152485e+02] [-2.31291280e-01 9.72792653e-01 -1.33715589e-02 -1.05595747e+02] [-6.04920027e-02 -6.62221675e-04 9.98168462e-01 -4.26010556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.280714057 meters 0.017568526097568083 Centerline is valid? [True, True] Translation: X:666.18, Y:-105.61, Z:-42.60 [[ 9.70555620e-01 2.33323200e-01 5.98504252e-02 6.66177912e+02] [-2.32930140e-01 9.72398928e-01 -1.35600196e-02 -1.05613047e+02] [-6.13623565e-02 -7.80214741e-04 9.98115250e-01 -4.26006991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.3107140569999 meters 0.017326511147784895 Centerline is valid? [True, True] Translation: X:666.21, Y:-105.63, Z:-42.60 [[ 9.70328356e-01 2.34175198e-01 6.02067948e-02 6.66205864e+02] [-2.33779280e-01 9.72194048e-01 -1.36374930e-02 -1.05625373e+02] [-6.17262502e-02 -8.42254970e-04 9.98092762e-01 -4.26011314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.3407140569999 meters 0.016880529597745678 Centerline is valid? [True, True] Translation: X:666.23, Y:-105.64, Z:-42.60 [[ 9.70099208e-01 2.35075999e-01 6.03887545e-02 6.66233804e+02] [-2.34679553e-01 9.71976572e-01 -1.36766355e-02 -1.05638379e+02] [-6.19115034e-02 -9.04312693e-04 9.98081233e-01 -4.26020427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.370714057 meters 0.016703553950559533 Centerline is valid? [True, True] Translation: X:666.26, Y:-105.66, Z:-42.60 [[ 9.69738803e-01 2.36545379e-01 6.04395336e-02 6.66261851e+02] [-2.36151054e-01 9.71619930e-01 -1.36891157e-02 -1.05655834e+02] [-6.19623525e-02 -9.97992936e-04 9.98077988e-01 -4.26027771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.400714057 meters 0.01648345465452783 Centerline is valid? [True, True] Translation: X:666.29, Y:-105.67, Z:-42.60 [[ 9.69601800e-01 2.37021215e-01 6.07724711e-02 6.66293176e+02] [-2.36622519e-01 9.71503940e-01 -1.37796601e-02 -1.05669027e+02] [-6.23067668e-02 -1.01935193e-03 9.98056525e-01 -4.26040619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.4307140569999 meters 0.01631015618903288 Centerline is valid? [True, True] Translation: X:666.32, Y:-105.68, Z:-42.61 [[ 9.69563128e-01 2.37134942e-01 6.09455487e-02 6.66323561e+02] [-2.36733041e-01 9.71476194e-01 -1.38373325e-02 -1.05682000e+02] [-6.24884648e-02 -1.01165768e-03 9.98045174e-01 -4.26055136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.4607140569999 meters 0.01612398039255065 Centerline is valid? [True, True] Translation: X:666.35, Y:-105.70, Z:-42.61 [[ 9.69626252e-01 2.36806232e-01 6.12187903e-02 6.66354375e+02] [-2.36398887e-01 9.71556408e-01 -1.39180380e-02 -1.05695176e+02] [-6.27733861e-02 -9.76758871e-04 9.98027328e-01 -4.26073790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.490714057 meters 0.01543316346387441 Centerline is valid? [True, True] Translation: X:666.38, Y:-105.71, Z:-42.61 [[ 9.70028127e-01 2.35414476e-01 6.02117716e-02 6.66381872e+02] [-2.35016648e-01 9.71894693e-01 -1.37069718e-02 -1.05714023e+02] [-6.17463208e-02 -8.54620590e-04 9.98091510e-01 -4.26084601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.520714057 meters 0.015202747012517635 Centerline is valid? [True, True] Translation: X:666.41, Y:-105.73, Z:-42.61 [[ 9.70274330e-01 2.34417796e-01 6.01333629e-02 6.66411933e+02] [-2.34018172e-01 9.72135636e-01 -1.37040072e-02 -1.05727298e+02] [-6.16702481e-02 -7.75653218e-04 9.98096277e-01 -4.26101320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.5507140569999 meters 0.014478030335002716 Centerline is valid? [True, True] Translation: X:666.44, Y:-105.75, Z:-42.61 [[ 9.70965270e-01 2.31697683e-01 5.95199821e-02 6.66440404e+02] [-2.31300120e-01 9.72787667e-01 -1.35797332e-02 -1.05746420e+02] [-6.10466973e-02 -5.81529643e-04 9.98134742e-01 -4.26122764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.5807140569999 meters 0.01412289642570572 Centerline is valid? [True, True] Translation: X:666.47, Y:-105.76, Z:-42.61 [[ 9.71480026e-01 2.29565577e-01 5.93818537e-02 6.66469827e+02] [-2.29164923e-01 9.73293101e-01 -1.35638573e-02 -1.05759321e+02] [-6.09097432e-02 -4.31221506e-04 9.98143185e-01 -4.26138658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.6107140569999 meters 0.014227879540173606 Centerline is valid? [True, True] Translation: X:666.50, Y:-105.77, Z:-42.62 [[ 9.72006340e-01 2.27432600e-01 5.89753181e-02 6.66499512e+02] [-2.27032625e-01 9.73793784e-01 -1.34853290e-02 -1.05772619e+02] [-6.04968016e-02 -2.81496038e-04 9.98168351e-01 -4.26159884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.640714057 meters 0.014055659249789602 Centerline is valid? [True, True] Translation: X:666.53, Y:-105.79, Z:-42.62 [[ 9.73075604e-01 2.22671332e-01 5.95092119e-02 6.66527836e+02] [-2.22254207e-01 9.74893572e-01 -1.36231597e-02 -1.05792180e+02] [-6.10486352e-02 3.01916775e-05 9.98134792e-01 -4.26171342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.6707140569999 meters 0.013966489488900485 Centerline is valid? [True, True] Translation: X:666.56, Y:-105.81, Z:-42.62 [[ 9.73588029e-01 2.20268064e-01 6.00693812e-02 6.66559139e+02] [-2.19837415e-01 9.75439357e-01 -1.37684768e-02 -1.05805331e+02] [-6.16267944e-02 1.99326740e-04 9.98099243e-01 -4.26181407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.7007140569999 meters 0.01412740557016996 Centerline is valid? [True, True] Translation: X:666.59, Y:-105.82, Z:-42.62 [[ 9.74135520e-01 2.17658065e-01 6.07038389e-02 6.66589491e+02] [-2.17212058e-01 9.76025009e-01 -1.39321302e-02 -1.05817817e+02] [-6.22809053e-02 3.86177120e-04 9.98058585e-01 -4.26193839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.7307140569999 meters 0.014577100146178091 Centerline is valid? [True, True] Translation: X:666.62, Y:-105.83, Z:-42.62 [[ 9.74894742e-01 2.13896478e-01 6.18751860e-02 6.66618878e+02] [-2.13424452e-01 9.76856114e-01 -1.42174344e-02 -1.05833855e+02] [-6.34842129e-02 6.54824352e-04 9.97982628e-01 -4.26202903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.760714057 meters 0.014668886230136879 Centerline is valid? [True, True] Translation: X:666.65, Y:-105.84, Z:-42.62 [[ 9.75190691e-01 2.12414948e-01 6.23137719e-02 6.66648954e+02] [-2.11932124e-01 9.77179253e-01 -1.43346504e-02 -1.05844649e+02] [-6.39366191e-02 7.72727601e-04 9.97953662e-01 -4.26219269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.790714057 meters 0.014921537103445669 Centerline is valid? [True, True] Translation: X:666.68, Y:-105.86, Z:-42.62 [[ 9.75422808e-01 2.11299113e-01 6.24742461e-02 6.66678102e+02] [-2.10810458e-01 9.77421065e-01 -1.43879277e-02 -1.05855355e+02] [-6.41038005e-02 8.64088344e-04 9.97942862e-01 -4.26235382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.8207140569999 meters 0.01571619764396005 Centerline is valid? [True, True] Translation: X:666.71, Y:-105.87, Z:-42.63 [[ 9.75685614e-01 2.10184417e-01 6.21296588e-02 6.66707228e+02] [-2.09697929e-01 9.77661298e-01 -1.43235452e-02 -1.05866924e+02] [-6.37523489e-02 9.46816216e-04 9.97965301e-01 -4.26251891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.8507140569999 meters 0.015315237607701029 Centerline is valid? [True, True] Translation: X:666.74, Y:-105.88, Z:-42.63 [[ 9.76227431e-01 2.07504494e-01 6.26249805e-02 6.66737991e+02] [-2.07003721e-01 9.78233394e-01 -1.44529270e-02 -1.05876453e+02] [-6.42608945e-02 1.14573973e-03 9.97932475e-01 -4.26278318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.880714057 meters 0.015315237607701029 Centerline is valid? [True, True] Translation: X:666.77, Y:-105.88, Z:-42.63 [[ 9.76167308e-01 2.07788269e-01 6.26212591e-02 6.66769597e+02] [-2.07287047e-01 9.78173158e-01 -1.44690341e-02 -1.05883802e+02] [-6.42609303e-02 1.14362223e-03 9.97932475e-01 -4.26297131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.910714057 meters 0.01594219220645895 Centerline is valid? [True, True] Translation: X:666.80, Y:-105.89, Z:-42.63 [[ 9.76436520e-01 2.06466048e-01 6.27972401e-02 6.66798810e+02] [-2.05958052e-01 9.78452964e-01 -1.45285606e-02 -1.05893792e+02] [-6.44438002e-02 1.25261989e-03 9.97920552e-01 -4.26312674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.9407140569999 meters 0.01658797384281441 Centerline is valid? [True, True] Translation: X:666.83, Y:-105.91, Z:-42.63 [[ 9.77114986e-01 2.03275527e-01 6.26527228e-02 6.66828392e+02] [-2.02762325e-01 9.79120465e-01 -1.45104872e-02 -1.05906042e+02] [-6.42941900e-02 1.47480273e-03 9.97929898e-01 -4.26338925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.9707140569999 meters 0.016949797746308812 Centerline is valid? [True, True] Translation: X:666.86, Y:-105.92, Z:-42.64 [[ 9.77470919e-01 2.01600580e-01 6.25124639e-02 6.66858874e+02] [-2.01085280e-01 9.79466517e-01 -1.44931927e-02 -1.05915903e+02] [-6.41507014e-02 1.59633813e-03 9.97938946e-01 -4.26361985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.000714057 meters 0.017373295039333252 Centerline is valid? [True, True] Translation: X:666.89, Y:-105.93, Z:-42.64 [[ 9.77885055e-01 1.99605206e-01 6.24386155e-02 6.66889916e+02] [-1.99086017e-01 9.79874854e-01 -1.44923307e-02 -1.05925859e+02] [-6.40747739e-02 1.74117829e-03 9.97943581e-01 -4.26381280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.030714057 meters 0.01892577643695694 Centerline is valid? [True, True] Translation: X:666.92, Y:-105.94, Z:-42.64 [[ 9.78940254e-01 1.94344957e-01 6.24981384e-02 6.66917641e+02] [-1.93813121e-01 9.80930996e-01 -1.45208590e-02 -1.05937895e+02] [-6.41284169e-02 2.10209419e-03 9.97939441e-01 -4.26403220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.0607140569999 meters 0.019934523021874782 Centerline is valid? [True, True] Translation: X:666.95, Y:-105.95, Z:-42.64 [[ 9.79451518e-01 1.91688295e-01 6.26922701e-02 6.66948478e+02] [-1.91147683e-01 9.81453199e-01 -1.45664320e-02 -1.05947728e+02] [-6.43217436e-02 2.28363179e-03 9.97926600e-01 -4.26423494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.0907140569999 meters 0.020497550607677304 Centerline is valid? [True, True] Translation: X:666.98, Y:-105.96, Z:-42.64 [[ 9.80034766e-01 1.88875208e-01 6.21129092e-02 6.66979699e+02] [-1.88338625e-01 9.81998042e-01 -1.44363663e-02 -1.05956541e+02] [-6.37214269e-02 2.44988099e-03 9.97964718e-01 -4.26445505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.120714057 meters 0.024953902838073968 Centerline is valid? [True, True] Translation: X:667.01, Y:-105.97, Z:-42.65 [[ 9.80509227e-01 1.86573673e-01 6.15785749e-02 6.67008457e+02] [-1.86041422e-01 9.82437579e-01 -1.43175747e-02 -1.05971088e+02] [-6.31683885e-02 2.58234847e-03 9.97999542e-01 -4.26459104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.150714057 meters 0.02215291807583998 Centerline is valid? [True, True] Translation: X:667.04, Y:-105.97, Z:-42.65 [[ 9.81380925e-01 1.81763627e-01 6.20762811e-02 6.67039304e+02] [-1.81212255e-01 9.83337890e-01 -1.44469081e-02 -1.05974124e+02] [-6.36678817e-02 2.92893712e-03 9.97966844e-01 -4.26482459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.1807140569999 meters 0.02366148973888647 Centerline is valid? [True, True] Translation: X:667.07, Y:-105.98, Z:-42.65 [[ 9.81537056e-01 1.80731729e-01 6.26182898e-02 6.67068986e+02] [-1.80168417e-01 9.83527780e-01 -1.45756006e-02 -1.05982804e+02] [-6.42211010e-02 3.02465400e-03 9.97931111e-01 -4.26495184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.2107140569999 meters 0.022596842589186407 Centerline is valid? [True, True] Translation: X:667.10, Y:-105.99, Z:-42.65 [[ 9.81591963e-01 1.80368694e-01 6.28040857e-02 6.67100484e+02] [-1.79800314e-01 9.83594273e-01 -1.46339524e-02 -1.05987141e+02] [-6.44132459e-02 3.07237577e-03 9.97918581e-01 -4.26512764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.240714057 meters 0.022597872748244867 Centerline is valid? [True, True] Translation: X:667.13, Y:-105.99, Z:-42.65 [[ 9.81219182e-01 1.82527920e-01 6.23896992e-02 6.67132393e+02] [-1.81970486e-01 9.83196320e-01 -1.45512403e-02 -1.05990463e+02] [-6.39973303e-02 2.92487219e-03 9.97945784e-01 -4.26528922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.270714057 meters 0.021504962376549974 Centerline is valid? [True, True] Translation: X:667.16, Y:-105.99, Z:-42.65 [[ 9.80780670e-01 1.85031773e-01 6.19073532e-02 6.67164234e+02] [-1.84487690e-01 9.82728710e-01 -1.44421556e-02 -1.05994003e+02] [-6.35103910e-02 2.74344248e-03 9.97977406e-01 -4.26547575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.3007140569999 meters 0.02335888648392183 Centerline is valid? [True, True] Translation: X:667.19, Y:-106.00, Z:-42.66 [[ 9.79793344e-01 1.90328815e-01 6.14812574e-02 6.67194288e+02] [-1.89802397e-01 9.81717498e-01 -1.43458828e-02 -1.05998687e+02] [-6.30876611e-02 2.38671046e-03 9.98005136e-01 -4.26555623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.3307140569999 meters 0.02031155340968819 Centerline is valid? [True, True] Translation: X:667.23, Y:-106.00, Z:-42.66 [[ 9.79300485e-01 1.92907235e-01 6.12973003e-02 6.67226808e+02] [-1.92388979e-01 9.81214500e-01 -1.43033219e-02 -1.05998388e+02] [-6.29050142e-02 2.21432500e-03 9.98017062e-01 -4.26575216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.3607140569999 meters 0.019849497437374353 Centerline is valid? [True, True] Translation: X:667.26, Y:-106.00, Z:-42.66 [[ 9.78754795e-01 1.95558448e-01 6.16112429e-02 6.67257996e+02] [-1.95039828e-01 9.80689887e-01 -1.43809124e-02 -1.06002188e+02] [-6.32338318e-02 2.05874080e-03 9.97996615e-01 -4.26592205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.390714057 meters 0.018324330756279997 Centerline is valid? [True, True] Translation: X:667.29, Y:-106.00, Z:-42.66 [[ 9.77806504e-01 2.00303299e-01 6.14249917e-02 6.67290313e+02] [-1.99797007e-01 9.79732377e-01 -1.43396641e-02 -1.06002091e+02] [-6.30523352e-02 1.74888726e-03 9.98008690e-01 -4.26607224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.4207140569999 meters 0.01780135601915988 Centerline is valid? [True, True] Translation: X:667.32, Y:-106.01, Z:-42.66 [[ 9.77452336e-01 2.02052575e-01 6.13326016e-02 6.67322521e+02] [-2.01551030e-01 9.79373309e-01 -1.43214770e-02 -1.06006005e+02] [-6.29612043e-02 1.63691211e-03 9.98014633e-01 -4.26628776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.4507140569999 meters 0.017514543282673753 Centerline is valid? [True, True] Translation: X:667.35, Y:-106.01, Z:-42.66 [[ 9.77123963e-01 2.03650973e-01 6.12784006e-02 6.67354594e+02] [-2.03152445e-01 9.79042330e-01 -1.43247992e-02 -1.06010913e+02] [-6.29114074e-02 1.54824766e-03 9.98017915e-01 -4.26648246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.4807140569999 meters 0.017766214211668126 Centerline is valid? [True, True] Translation: X:667.39, Y:-106.02, Z:-42.67 [[ 9.76766168e-01 2.05152820e-01 6.19691289e-02 6.67386428e+02] [-2.04645018e-01 9.78728829e-01 -1.45015781e-02 -1.06015440e+02] [-6.36260126e-02 1.48297739e-03 9.97972711e-01 -4.26660281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.510714057 meters 0.017011049392366407 Centerline is valid? [True, True] Translation: X:667.42, Y:-106.02, Z:-42.67 [[ 9.76799861e-01 2.04873779e-01 6.23599758e-02 6.67418454e+02] [-2.04358532e-01 9.78787225e-01 -1.45999447e-02 -1.06019702e+02] [-6.40282935e-02 1.51743080e-03 9.97946930e-01 -4.26682251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.540714057 meters 0.0176958088924039 Centerline is valid? [True, True] Translation: X:667.45, Y:-106.03, Z:-42.67 [[ 9.77200727e-01 2.02997732e-01 6.22146231e-02 6.67448873e+02] [-2.02480035e-01 9.79177813e-01 -1.45823785e-02 -1.06025785e+02] [-6.38793683e-02 1.65269178e-03 9.97956259e-01 -4.26702056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.5707140569999 meters 0.018299159248179687 Centerline is valid? [True, True] Translation: X:667.48, Y:-106.03, Z:-42.67 [[ 9.77464531e-01 2.01936424e-01 6.15205004e-02 6.67479966e+02] [-2.01427197e-01 9.79397127e-01 -1.44344177e-02 -1.06032980e+02] [-6.31678360e-02 1.71722937e-03 9.98001441e-01 -4.26725595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.6007140569999 meters 0.018252036837963923 Centerline is valid? [True, True] Translation: X:667.51, Y:-106.04, Z:-42.67 [[ 9.77740228e-01 2.00872311e-01 6.06165050e-02 6.67511101e+02] [-2.00374956e-01 9.79615825e-01 -1.42376985e-02 -1.06039317e+02] [-6.22408470e-02 1.77474104e-03 9.98059581e-01 -4.26744594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.630714057 meters 0.020360707772436207 Centerline is valid? [True, True] Translation: X:667.54, Y:-106.05, Z:-42.68 [[ 9.78043015e-01 1.99366645e-01 6.07025734e-02 6.67540742e+02] [-1.98863997e-01 9.79923147e-01 -1.42736476e-02 -1.06048068e+02] [-6.23295460e-02 1.88868496e-03 9.98053837e-01 -4.26761133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.660714057 meters 0.01880932649234543 Centerline is valid? [True, True] Translation: X:667.57, Y:-106.05, Z:-42.68 [[ 9.78124946e-01 1.99068602e-01 6.03595993e-02 6.67572499e+02] [-1.98570158e-01 9.79983693e-01 -1.42074914e-02 -1.06051620e+02] [-6.19796885e-02 1.91108652e-03 9.98075581e-01 -4.26778732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.6907140569999 meters 0.01861401019749845 Centerline is valid? [True, True] Translation: X:667.60, Y:-106.06, Z:-42.68 [[ 9.78136550e-01 1.98887081e-01 6.07685635e-02 6.67604091e+02] [-1.98380507e-01 9.80020470e-01 -1.43196697e-02 -1.06057660e+02] [-6.24024334e-02 1.95129384e-03 9.98049162e-01 -4.26792117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.7207140569999 meters 0.019062616483529755 Centerline is valid? [True, True] Translation: X:667.63, Y:-106.06, Z:-42.68 [[ 9.78211985e-01 1.98584714e-01 6.05427460e-02 6.67634780e+02] [-1.98080371e-01 9.80081730e-01 -1.42817633e-02 -1.06064812e+02] [-6.21729791e-02 1.97826240e-03 9.98063428e-01 -4.26807021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.750714057 meters 0.019027838857428772 Centerline is valid? [True, True] Translation: X:667.67, Y:-106.07, Z:-42.68 [[ 9.78332447e-01 1.98053767e-01 6.03351293e-02 6.67666596e+02] [-1.97551310e-01 9.80189089e-01 -1.42418699e-02 -1.06070374e+02] [-6.19604913e-02 2.01399963e-03 9.98076571e-01 -4.26823225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.780714057 meters 0.018830554420689535 Centerline is valid? [True, True] Translation: X:667.70, Y:-106.08, Z:-42.68 [[ 9.78333182e-01 1.98087810e-01 6.02113320e-02 6.67698861e+02] [-1.97586501e-01 9.80182190e-01 -1.42284493e-02 -1.06077036e+02] [-6.18365576e-02 2.02321770e-03 9.98084238e-01 -4.26843327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.8107140569999 meters 0.01901213853455523 Centerline is valid? [True, True] Translation: X:667.73, Y:-106.08, Z:-42.69 [[ 9.78574675e-01 1.96865931e-01 6.02943723e-02 6.67730212e+02] [-1.96359805e-01 9.80428124e-01 -1.42660579e-02 -1.06083230e+02] [-6.19227991e-02 2.12101175e-03 9.98078688e-01 -4.26856290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.8407140569999 meters 0.01940205270092071 Centerline is valid? [True, True] Translation: X:667.76, Y:-106.09, Z:-42.69 [[ 9.78705822e-01 1.96258179e-01 6.01468377e-02 6.67761281e+02] [-1.95752404e-01 9.80549856e-01 -1.42469964e-02 -1.06090514e+02] [-6.17730626e-02 2.16973028e-03 9.98087862e-01 -4.26872976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.870714057 meters 0.020469577561387706 Centerline is valid? [True, True] Translation: X:667.79, Y:-106.10, Z:-42.69 [[ 9.78960842e-01 1.95126665e-01 5.96762436e-02 6.67791359e+02] [-1.94625728e-01 9.80775495e-01 -1.41511099e-02 -1.06098568e+02] [-6.12902563e-02 2.23885012e-03 9.98117474e-01 -4.26885113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.900714057 meters 0.021930294765446532 Centerline is valid? [True, True] Translation: X:667.82, Y:-106.11, Z:-42.69 [[ 9.79463541e-01 1.92533718e-01 5.98493131e-02 6.67822466e+02] [-1.92024108e-01 9.81287367e-01 -1.42072155e-02 -1.06107260e+02] [-6.14647429e-02 2.42293866e-03 9.98106314e-01 -4.26902010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.9307140569999 meters 0.02267188973234533 Centerline is valid? [True, True] Translation: X:667.85, Y:-106.11, Z:-42.69 [[ 9.79829974e-01 1.90629617e-01 5.99463949e-02 6.67853323e+02] [-1.90114415e-01 9.81658715e-01 -1.42364355e-02 -1.06114968e+02] [-6.15607872e-02 2.55261247e-03 9.98100072e-01 -4.26916644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.9607140569999 meters 0.02105128912850394 Centerline is valid? [True, True] Translation: X:667.88, Y:-106.12, Z:-42.69 [[ 9.80158469e-01 1.88847662e-01 6.02157534e-02 6.67884973e+02] [-1.88323581e-01 9.82002710e-01 -1.43145745e-02 -1.06119527e+02] [-6.18353070e-02 2.69050507e-03 9.98082740e-01 -4.26937258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.990714057 meters 0.021424815235462344 Centerline is valid? [True, True] Translation: X:667.92, Y:-106.13, Z:-42.70 [[ 9.80545913e-01 1.86741997e-01 6.04742846e-02 6.67916339e+02] [-1.86209114e-01 9.82404886e-01 -1.43807393e-02 -1.06126820e+02] [-6.20957206e-02 2.84011219e-03 9.98066158e-01 -4.26956527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.020714057 meters 0.023627284055907565 Centerline is valid? [True, True] Translation: X:667.95, Y:-106.13, Z:-42.70 [[ 9.81250670e-01 1.82789683e-01 6.11150894e-02 6.67945167e+02] [-1.82237513e-01 9.83147065e-01 -1.45374595e-02 -1.06134982e+02] [-6.27424184e-02 3.12742992e-03 9.98024853e-01 -4.26974166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.0507140569999 meters 0.02454479290291255 Centerline is valid? [True, True] Translation: X:667.98, Y:-106.14, Z:-42.70 [[ 9.81484885e-01 1.81598203e-01 6.09057783e-02 6.67975890e+02] [-1.81047458e-01 9.83367629e-01 -1.44887921e-02 -1.06142254e+02] [-6.25239094e-02 3.19369412e-03 9.98038357e-01 -4.26989105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.0807140569999 meters 0.024621736752885225 Centerline is valid? [True, True] Translation: X:668.01, Y:-106.15, Z:-42.70 [[ 9.81895987e-01 1.79240023e-01 6.12640653e-02 6.68006843e+02] [-1.78677326e-01 9.83799577e-01 -1.45878322e-02 -1.06145920e+02] [-6.28862850e-02 3.37723446e-03 9.98014985e-01 -4.27011004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.1107140569999 meters 0.02678824168450771 Centerline is valid? [True, True] Translation: X:668.04, Y:-106.15, Z:-42.70 [[ 9.81996549e-01 1.78576216e-01 6.15898786e-02 6.68037422e+02] [-1.78006110e-01 9.83920070e-01 -1.46669813e-02 -1.06154388e+02] [-6.32186917e-02 3.43955033e-03 9.97993771e-01 -4.27029587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.140714057 meters 0.025528258492263936 Centerline is valid? [True, True] Translation: X:668.07, Y:-106.16, Z:-42.71 [[ 9.81987582e-01 1.78729113e-01 6.12886039e-02 6.68069107e+02] [-1.78164448e-01 9.83892378e-01 -1.46019942e-02 -1.06158031e+02] [-6.29111917e-02 3.41952672e-03 9.98013271e-01 -4.27052052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.1707140569999 meters 0.026818898227553328 Centerline is valid? [True, True] Translation: X:668.10, Y:-106.16, Z:-42.71 [[ 9.81955217e-01 1.79330266e-01 6.00383927e-02 6.68100695e+02] [-1.78788558e-01 9.83783301e-01 -1.43202240e-02 -1.06162394e+02] [-6.16328177e-02 3.32764095e-03 9.98093344e-01 -4.27075146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.2007140569999 meters 0.026682326015445613 Centerline is valid? [True, True] Translation: X:668.13, Y:-106.17, Z:-42.71 [[ 9.81811542e-01 1.80072925e-01 6.01650921e-02 6.68132328e+02] [-1.79529919e-01 9.83647747e-01 -1.43568403e-02 -1.06166635e+02] [-6.17665355e-02 3.29427736e-03 9.98085188e-01 -4.27102640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.2307140569999 meters 0.026810727974108637 Centerline is valid? [True, True] Translation: X:668.16, Y:-106.17, Z:-42.71 [[ 9.81693428e-01 1.80786922e-01 5.99508336e-02 6.68164648e+02] [-1.80248162e-01 9.83516908e-01 -1.43210446e-02 -1.06171611e+02] [-6.15517161e-02 3.25284785e-03 9.98098595e-01 -4.27124180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.260714057 meters 0.025339381576925536 Centerline is valid? [True, True] Translation: X:668.20, Y:-106.17, Z:-42.71 [[ 9.81427810e-01 1.82045236e-01 6.04895446e-02 6.68198141e+02] [-1.81498756e-01 9.83284923e-01 -1.44555369e-02 -1.06171469e+02] [-6.21100188e-02 3.20828882e-03 9.98064152e-01 -4.27144343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.290714057 meters 0.028180452469748252 Centerline is valid? [True, True] Translation: X:668.23, Y:-106.18, Z:-42.72 [[ 9.81268499e-01 1.82738499e-01 6.09817582e-02 6.68227669e+02] [-1.82184021e-01 9.83156358e-01 -1.45793695e-02 -1.06180124e+02] [-6.26188154e-02 3.19637409e-03 9.98032398e-01 -4.27158696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.3207140569999 meters 0.02625426217152944 Centerline is valid? [True, True] Translation: X:668.26, Y:-106.18, Z:-42.72 [[ 9.81069189e-01 1.83763513e-01 6.11082485e-02 6.68260127e+02] [-1.83208087e-01 9.82965445e-01 -1.46195359e-02 -1.06182560e+02] [-6.27538339e-02 3.14725089e-03 9.98024073e-01 -4.27179864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.3507140569999 meters 0.027879908953091368 Centerline is valid? [True, True] Translation: X:668.29, Y:-106.19, Z:-42.72 [[ 9.80768061e-01 1.84974373e-01 6.22775431e-02 6.68291760e+02] [-1.84398805e-01 9.82738311e-01 -1.49161990e-02 -1.06186441e+02] [-6.39616421e-02 3.14542705e-03 9.97947401e-01 -4.27200603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.380714057 meters 0.024237991775691078 Centerline is valid? [True, True] Translation: X:668.32, Y:-106.19, Z:-42.72 [[ 9.80626387e-01 1.85761902e-01 6.21643386e-02 6.68324538e+02] [-1.85188944e-01 9.82589882e-01 -1.49056551e-02 -1.06185999e+02] [-6.38509530e-02 3.10473046e-03 9.97954616e-01 -4.27222747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.410714057 meters 0.026335155149038905 Centerline is valid? [True, True] Translation: X:668.35, Y:-106.19, Z:-42.72 [[ 9.80437940e-01 1.86799952e-01 6.20259888e-02 6.68354511e+02] [-1.86230543e-01 9.82393248e-01 -1.48892721e-02 -1.06193282e+02] [-6.37152279e-02 3.04687367e-03 9.97963469e-01 -4.27246779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.4407140569999 meters 0.024094739358155325 Centerline is valid? [True, True] Translation: X:668.39, Y:-106.19, Z:-42.73 [[ 9.79996110e-01 1.89463708e-01 6.09190302e-02 6.68387383e+02] [-1.88918702e-01 9.81883628e-01 -1.46377952e-02 -1.06192098e+02] [-6.25887293e-02 2.83623832e-03 9.98035374e-01 -4.27280118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.4707140569999 meters 0.02363854039092376 Centerline is valid? [True, True] Translation: X:668.42, Y:-106.20, Z:-42.73 [[ 9.79650551e-01 1.91375966e-01 6.04982430e-02 6.68419715e+02] [-1.90841834e-01 9.81513093e-01 -1.45410562e-02 -1.06196061e+02] [-6.21626263e-02 2.69955813e-03 9.98062383e-01 -4.27306350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.500714057 meters 0.025166493149397416 Centerline is valid? [True, True] Translation: X:668.45, Y:-106.20, Z:-42.73 [[ 9.79250088e-01 1.93533344e-01 6.01174675e-02 6.68450365e+02] [-1.93008993e-01 9.81090353e-01 -1.44653936e-02 -1.06202911e+02] [-6.17802034e-02 2.56202607e-03 9.98086491e-01 -4.27327721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.530714057 meters 0.023730691704691845 Centerline is valid? [True, True] Translation: X:668.48, Y:-106.20, Z:-42.73 [[ 9.78095018e-01 1.99028495e-01 6.09737241e-02 6.68481785e+02] [-1.98498842e-01 9.79991096e-01 -1.46854136e-02 -1.06201846e+02] [-6.26765225e-02 2.26051624e-03 9.98031334e-01 -4.27343069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.5607140569999 meters 0.020347776120853426 Centerline is valid? [True, True] Translation: X:668.51, Y:-106.20, Z:-42.74 [[ 9.77427096e-01 2.02265197e-01 6.10332914e-02 6.68513978e+02] [-2.01740788e-01 9.79328630e-01 -1.46999475e-02 -1.06200392e+02] [-6.27449375e-02 2.05522273e-03 9.98027479e-01 -4.27361991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.5907140569999 meters 0.019704642735720587 Centerline is valid? [True, True] Translation: X:668.55, Y:-106.20, Z:-42.74 [[ 9.76635326e-01 2.05782109e-01 6.19448506e-02 6.68545281e+02] [-2.05248796e-01 9.78596069e-01 -1.49219485e-02 -1.06203321e+02] [-6.36896574e-02 1.85919603e-03 9.97968021e-01 -4.27383134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.620714057 meters 0.018672774122170863 Centerline is valid? [True, True] Translation: X:668.58, Y:-106.20, Z:-42.74 [[ 9.75184019e-01 2.12460778e-01 6.22619249e-02 6.68576277e+02] [-2.11935412e-01 9.77168545e-01 -1.50005275e-02 -1.06202608e+02] [-6.40274183e-02 1.43276792e-03 9.97947111e-01 -4.27404717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.650714057 meters 0.01770335622775819 Centerline is valid? [True, True] Translation: X:668.61, Y:-106.21, Z:-42.74 [[ 9.74449813e-01 2.15855336e-01 6.20808792e-02 6.68609059e+02] [-2.15339863e-01 9.76424609e-01 -1.49574719e-02 -1.06205813e+02] [-6.38459484e-02 1.20681762e-03 9.97959036e-01 -4.27430018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.6807140569999 meters 0.017628218168616726 Centerline is valid? [True, True] Translation: X:668.64, Y:-106.21, Z:-42.75 [[ 9.73712357e-01 2.19204860e-01 6.19150623e-02 6.68639887e+02] [-2.18698463e-01 9.75678352e-01 -1.49243266e-02 -1.06210198e+02] [-6.36806709e-02 9.91272263e-04 9.97969834e-01 -4.27453544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.7107140569999 meters 0.016805424183557717 Centerline is valid? [True, True] Translation: X:668.67, Y:-106.21, Z:-42.75 [[ 9.72395359e-01 2.25064123e-01 6.15906381e-02 6.68671636e+02] [-2.24573859e-01 9.74343758e-01 -1.48601406e-02 -1.06211974e+02] [-6.33549383e-02 6.18284435e-04 9.97990866e-01 -4.27480799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.740714057 meters 0.016557109673791884 Centerline is valid? [True, True] Translation: X:668.70, Y:-106.22, Z:-42.75 [[ 9.71847827e-01 2.27357559e-01 6.18089082e-02 6.68701318e+02] [-2.26868297e-01 9.73811233e-01 -1.49150596e-02 -1.06217794e+02] [-6.35812606e-02 4.72686607e-04 9.97976553e-01 -4.27496178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.770714057 meters 0.016476099045952236 Centerline is valid? [True, True] Translation: X:668.73, Y:-106.22, Z:-42.75 [[ 9.71468031e-01 2.29028665e-01 6.16095400e-02 6.68731511e+02] [-2.28545847e-01 9.73419611e-01 -1.48679982e-02 -1.06223705e+02] [-6.33771322e-02 3.63180396e-04 9.97989583e-01 -4.27519252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.8007140569999 meters 0.016476099045952236 Centerline is valid? [True, True] Translation: X:668.76, Y:-106.23, Z:-42.75 [[ 9.71459866e-01 2.29063308e-01 6.16094937e-02 6.68761431e+02] [-2.28580547e-01 9.73411460e-01 -1.48681902e-02 -1.06230955e+02] [-6.33771440e-02 3.61118282e-04 9.97989583e-01 -4.27537092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.8307140569999 meters 0.016288947547840802 Centerline is valid? [True, True] Translation: X:668.79, Y:-106.24, Z:-42.75 [[ 9.71094220e-01 2.30417414e-01 6.23203954e-02 6.68790906e+02] [-2.29926075e-01 9.73091845e-01 -1.50420153e-02 -1.06238772e+02] [-6.41094108e-02 2.78130268e-04 9.97942837e-01 -4.27545029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.8607140569999 meters 0.016260502641980555 Centerline is valid? [True, True] Translation: X:668.82, Y:-106.25, Z:-42.76 [[ 9.71115100e-01 2.30279748e-01 6.25036002e-02 6.68820194e+02] [-2.29785160e-01 9.73124429e-01 -1.50872924e-02 -1.06246839e+02] [-6.42980781e-02 2.89097700e-04 9.97930696e-01 -4.27562801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.890714057 meters 0.01584840303220042 Centerline is valid? [True, True] Translation: X:668.85, Y:-106.26, Z:-42.76 [[ 9.71397020e-01 2.29193582e-01 6.21138615e-02 6.68849459e+02] [-2.28702916e-01 9.73380796e-01 -1.49934372e-02 -1.06257583e+02] [-6.38968395e-02 3.58958925e-04 9.97956444e-01 -4.27578412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.9207140569999 meters 0.015876099919061186 Centerline is valid? [True, True] Translation: X:668.88, Y:-106.27, Z:-42.76 [[ 9.71567234e-01 2.28598220e-01 6.16438499e-02 6.68878698e+02] [-2.28113545e-01 9.73520773e-01 -1.48833908e-02 -1.06267539e+02] [-6.34138850e-02 3.98417668e-04 9.97987235e-01 -4.27598759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.9507140569999 meters 0.016051475156143035 Centerline is valid? [True, True] Translation: X:668.91, Y:-106.28, Z:-42.76 [[ 9.71853999e-01 2.27540854e-01 6.10324896e-02 6.68909511e+02] [-2.27062745e-01 9.73768418e-01 -1.47505180e-02 -1.06277609e+02] [-6.27878563e-02 4.77145219e-04 9.98026782e-01 -4.27627006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.9807140569999 meters 0.015753433935588222 Centerline is valid? [True, True] Translation: X:668.94, Y:-106.29, Z:-42.77 [[ 9.72473450e-01 2.25074966e-01 6.03046383e-02 6.68939119e+02] [-2.24602504e-01 9.74341236e-01 -1.45900781e-02 -1.06291155e+02] [-6.20411571e-02 6.43890904e-04 9.98073384e-01 -4.27652550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.010714057 meters 0.015885469858365465 Centerline is valid? [True, True] Translation: X:668.97, Y:-106.30, Z:-42.77 [[ 9.72771500e-01 2.23844619e-01 6.00765851e-02 6.68970004e+02] [-2.23372394e-01 9.74624567e-01 -1.45508574e-02 -1.06301921e+02] [-6.18092469e-02 7.35208730e-04 9.98087710e-01 -4.27671459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.040714057 meters 0.016044547286669736 Centerline is valid? [True, True] Translation: X:669.00, Y:-106.31, Z:-42.77 [[ 9.73122957e-01 2.22394012e-01 5.97713542e-02 6.68999063e+02] [-2.21922857e-01 9.74956512e-01 -1.44929629e-02 -1.06313025e+02] [-6.14976192e-02 8.38805266e-04 9.98106878e-01 -4.27683187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.0707140569999 meters 0.01634254455252618 Centerline is valid? [True, True] Translation: X:669.03, Y:-106.32, Z:-42.77 [[ 9.73381863e-01 2.21153302e-01 6.01578495e-02 6.69029643e+02] [-2.20672720e-01 9.75238605e-01 -1.46018278e-02 -1.06323750e+02] [-6.18974997e-02 9.37958033e-04 9.98082071e-01 -4.27695380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.1007140569999 meters 0.017374723263795914 Centerline is valid? [True, True] Translation: X:669.06, Y:-106.34, Z:-42.77 [[ 9.73919503e-01 2.18909408e-01 5.96613134e-02 6.69057687e+02] [-2.18431574e-01 9.75744582e-01 -1.44968103e-02 -1.06339208e+02] [-6.13876915e-02 1.08681172e-03 9.98113405e-01 -4.27697703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.130714057 meters 0.016550250448037606 Centerline is valid? [True, True] Translation: X:669.09, Y:-106.35, Z:-42.77 [[ 9.74193211e-01 2.17811107e-01 5.92107252e-02 6.69088829e+02] [-2.17337565e-01 9.75990252e-01 -1.44017397e-02 -1.06346644e+02] [-6.09259495e-02 1.16136221e-03 9.98141613e-01 -4.27723968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.160714057 meters 0.016637718620267316 Centerline is valid? [True, True] Translation: X:669.12, Y:-106.36, Z:-42.77 [[ 9.74360391e-01 2.17141363e-01 5.89190665e-02 6.69119051e+02] [-2.16670316e-01 9.76139415e-01 -1.43462834e-02 -1.06357671e+02] [-6.06283946e-02 1.21243752e-03 9.98159670e-01 -4.27738314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.1907140569999 meters 0.01659739789761896 Centerline is valid? [True, True] Translation: X:669.15, Y:-106.37, Z:-42.77 [[ 9.74619272e-01 2.15892731e-01 5.92250256e-02 6.69149232e+02] [-2.15413519e-01 9.76416206e-01 -1.44363680e-02 -1.06371309e+02] [-6.09449817e-02 1.31209130e-03 9.98140265e-01 -4.27748804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.2207140569999 meters 0.01648825392758264 Centerline is valid? [True, True] Translation: X:669.18, Y:-106.38, Z:-42.78 [[ 9.74608088e-01 2.15939014e-01 5.92403274e-02 6.69181135e+02] [-2.15458679e-01 9.76405954e-01 -1.44558286e-02 -1.06381766e+02] [-6.09641858e-02 1.32492474e-03 9.98139075e-01 -4.27762524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.250714057 meters 0.016763954491555856 Centerline is valid? [True, True] Translation: X:669.21, Y:-106.40, Z:-42.78 [[ 9.74675134e-01 2.15889309e-01 5.83111477e-02 6.69210295e+02] [-2.15422815e-01 9.76416946e-01 -1.42463279e-02 -1.06395178e+02] [-6.00116227e-02 1.32398998e-03 9.98196800e-01 -4.27783082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.280714057 meters 0.016476243611179987 Centerline is valid? [True, True] Translation: X:669.24, Y:-106.40, Z:-42.78 [[ 9.74607962e-01 2.16127924e-01 5.85494739e-02 6.69241473e+02] [-2.15657347e-01 9.76364155e-01 -1.43159364e-02 -1.06404787e+02] [-6.02596812e-02 1.32580144e-03 9.98181854e-01 -4.27805095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.3107140569999 meters 0.016450602047229423 Centerline is valid? [True, True] Translation: X:669.27, Y:-106.42, Z:-42.78 [[ 9.74496655e-01 2.16647483e-01 5.84819354e-02 6.69272970e+02] [-2.16177864e-01 9.76249022e-01 -1.43170478e-02 -1.06415552e+02] [-6.01946847e-02 1.30941532e-03 9.98185797e-01 -4.27821156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.3407140569999 meters 0.016057261344792188 Centerline is valid? [True, True] Translation: X:669.30, Y:-106.43, Z:-42.78 [[ 9.74320082e-01 2.17422287e-01 5.85485085e-02 6.69303657e+02] [-2.16951929e-01 9.76076795e-01 -1.43509688e-02 -1.06425733e+02] [-6.02680610e-02 1.28022525e-03 9.98181407e-01 -4.27833730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.370714057 meters 0.0156990225409134 Centerline is valid? [True, True] Translation: X:669.33, Y:-106.44, Z:-42.78 [[ 9.73918691e-01 2.19191159e-01 5.86312112e-02 6.69334193e+02] [-2.18721733e-01 9.75681211e-01 -1.43867384e-02 -1.06436911e+02] [-6.03588170e-02 1.18759333e-03 9.98176038e-01 -4.27849094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.400714057 meters 0.015611406670789389 Centerline is valid? [True, True] Translation: X:669.36, Y:-106.45, Z:-42.79 [[ 9.73642597e-01 2.20472643e-01 5.84115317e-02 6.69364240e+02] [-2.20008105e-01 9.75392516e-01 -1.43482646e-02 -1.06446724e+02] [-6.01375708e-02 1.11907117e-03 9.98189471e-01 -4.27869768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.4307140569999 meters 0.015335931974747925 Centerline is valid? [True, True] Translation: X:669.39, Y:-106.46, Z:-42.79 [[ 9.73058009e-01 2.23353534e-01 5.71953616e-02 6.69393799e+02] [-2.22912313e-01 9.74737054e-01 -1.40632691e-02 -1.06457711e+02] [-5.88915191e-02 9.34826300e-04 9.98263951e-01 -4.27904615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.4607140569999 meters 0.014836474629244728 Centerline is valid? [True, True] Translation: X:669.42, Y:-106.47, Z:-42.79 [[ 9.72640191e-01 2.25176774e-01 5.71531141e-02 6.69424134e+02] [-2.24738540e-01 9.74317566e-01 -1.40665984e-02 -1.06467151e+02] [-5.88527543e-02 8.37231541e-04 9.98266323e-01 -4.27922722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.490714057 meters 0.0142734030563201 Centerline is valid? [True, True] Translation: X:669.46, Y:-106.48, Z:-42.79 [[ 9.72163633e-01 2.27192383e-01 5.72843127e-02 6.69455206e+02] [-2.26754763e-01 9.73849622e-01 -1.41134884e-02 -1.06475979e+02] [-5.89927833e-02 7.31129361e-04 9.98258141e-01 -4.27941980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.520714057 meters 0.014325713993138617 Centerline is valid? [True, True] Translation: X:669.48, Y:-106.49, Z:-42.80 [[ 9.71554558e-01 2.29741728e-01 5.74498015e-02 6.69484901e+02] [-2.29305132e-01 9.73251451e-01 -1.41693114e-02 -1.06485957e+02] [-5.91683847e-02 5.92724798e-04 9.98247840e-01 -4.27960128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.5507140569999 meters 0.013588488857740893 Centerline is valid? [True, True] Translation: X:669.52, Y:-106.49, Z:-42.80 [[ 9.70248481e-01 2.35152937e-01 5.76279615e-02 6.69515703e+02] [-2.34722317e-01 9.71958342e-01 -1.42272526e-02 -1.06494689e+02] [-5.93575582e-02 2.77401618e-04 9.98236747e-01 -4.27970548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.5807140569999 meters 0.013444265809476979 Centerline is valid? [True, True] Translation: X:669.55, Y:-106.50, Z:-42.80 [[ 9.69444210e-01 2.38363891e-01 5.79705051e-02 6.69546673e+02] [-2.37932969e-01 9.71175909e-01 -1.43267557e-02 -1.06502488e+02] [-5.97145393e-02 9.58959677e-05 9.98215490e-01 -4.27984824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.6107140569999 meters 0.013396132303370459 Centerline is valid? [True, True] Translation: X:669.58, Y:-106.51, Z:-42.80 [[ 9.67830939e-01 2.44552699e-01 5.91375568e-02 6.69577152e+02] [-2.44114802e-01 9.69635963e-01 -1.46308584e-02 -1.06511260e+02] [-6.09199178e-02 -2.76155540e-04 9.98142619e-01 -4.27989992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.640714057 meters 0.013746038101470686 Centerline is valid? [True, True] Translation: X:669.61, Y:-106.52, Z:-42.80 [[ 9.66983415e-01 2.47773835e-01 5.95919636e-02 6.69607599e+02] [-2.47334268e-01 9.68817789e-01 -1.47597772e-02 -1.06520267e+02] [-6.13908410e-02 -4.66674912e-04 9.98113694e-01 -4.28002201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.6707140569999 meters 0.013838015758478692 Centerline is valid? [True, True] Translation: X:669.64, Y:-106.53, Z:-42.80 [[ 9.66220985e-01 2.50679978e-01 5.98043231e-02 6.69638335e+02] [-2.50241871e-01 9.68069802e-01 -1.48278479e-02 -1.06530648e+02] [-6.16118038e-02 -6.38567909e-04 9.98099984e-01 -4.28021741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.7007140569999 meters 0.014465153580286815 Centerline is valid? [True, True] Translation: X:669.67, Y:-106.54, Z:-42.80 [[ 9.65162934e-01 2.54633754e-01 6.01843989e-02 6.69667679e+02] [-2.54196723e-01 9.67037164e-01 -1.49382141e-02 -1.06543669e+02] [-6.20043240e-02 -8.80866479e-04 9.98075492e-01 -4.28034882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.7307140569999 meters 0.014899103580958497 Centerline is valid? [True, True] Translation: X:669.70, Y:-106.55, Z:-42.81 [[ 9.64730370e-01 2.56275103e-01 6.01530021e-02 6.69697254e+02] [-2.55840789e-01 9.66603397e-01 -1.49453309e-02 -1.06553768e+02] [-6.19742124e-02 -9.71376884e-04 9.98077278e-01 -4.28051764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.760714057 meters 0.014980307367243803 Centerline is valid? [True, True] Translation: X:669.73, Y:-106.57, Z:-42.81 [[ 9.64419828e-01 2.57371171e-01 6.04522574e-02 6.69727875e+02] [-2.56933732e-01 9.66312069e-01 -1.50347338e-02 -1.06565534e+02] [-6.22852529e-02 -1.03242872e-03 9.98057855e-01 -4.28072936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.790714057 meters 0.015300034187199224 Centerline is valid? [True, True] Translation: X:669.76, Y:-106.58, Z:-42.81 [[ 9.64076397e-01 2.58788401e-01 5.98770803e-02 6.69757061e+02] [-2.58361004e-01 9.65933413e-01 -1.49075097e-02 -1.06581253e+02] [-6.16951632e-02 -1.09792432e-03 9.98094435e-01 -4.28100648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.8207140569999 meters 0.015250149818397112 Centerline is valid? [True, True] Translation: X:669.79, Y:-106.59, Z:-42.81 [[ 9.63999060e-01 2.59308482e-01 5.88636052e-02 6.69787876e+02] [-2.58895468e-01 9.65793926e-01 -1.46706783e-02 -1.06594224e+02] [-6.06543437e-02 -1.09700056e-03 9.98158228e-01 -4.28128204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.8507140569999 meters 0.015435838005272106 Centerline is valid? [True, True] Translation: X:669.82, Y:-106.61, Z:-42.82 [[ 9.63815363e-01 2.60415768e-01 5.69523809e-02 6.69817070e+02] [-2.60030094e-01 9.65495930e-01 -1.42112441e-02 -1.06611226e+02] [-5.86881240e-02 -1.11231761e-03 9.98275747e-01 -4.28160220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.880714057 meters 0.015681332944424378 Centerline is valid? [True, True] Translation: X:669.85, Y:-106.62, Z:-42.82 [[ 9.63531186e-01 2.61553230e-01 5.65469933e-02 6.69847499e+02] [-2.61173978e-01 9.65188360e-01 -1.41273637e-02 -1.06623810e+02] [-5.82735573e-02 -1.15644766e-03 9.98299983e-01 -4.28179380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.910714057 meters 0.01621499044749272 Centerline is valid? [True, True] Translation: X:669.88, Y:-106.64, Z:-42.82 [[ 9.63213206e-01 2.62818428e-01 5.60962968e-02 6.69877038e+02] [-2.62446473e-01 9.64844554e-01 -1.40297953e-02 -1.06635126e+02] [-5.78114952e-02 -1.20859115e-03 9.98326785e-01 -4.28196332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.9407140569999 meters 0.01631227733183728 Centerline is valid? [True, True] Translation: X:669.91, Y:-106.65, Z:-42.82 [[ 9.62909601e-01 2.63970723e-01 5.58977358e-02 6.69907094e+02] [-2.63602538e-01 9.64529870e-01 -1.39939972e-02 -1.06648014e+02] [-5.76090414e-02 -1.25983070e-03 9.98338425e-01 -4.28214661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.9707140569999 meters 0.016801751544012956 Centerline is valid? [True, True] Translation: X:669.94, Y:-106.67, Z:-42.82 [[ 9.62363457e-01 2.65587605e-01 5.76177127e-02 6.69935516e+02] [-2.65198345e-01 9.64085738e-01 -1.44404626e-02 -1.06665673e+02] [-5.93836230e-02 -1.38314848e-03 9.98234277e-01 -4.28218600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.000714057 meters 0.017171073707497618 Centerline is valid? [True, True] Translation: X:669.97, Y:-106.68, Z:-42.82 [[ 9.62320736e-01 2.65567108e-01 5.84201434e-02 6.69965749e+02] [-2.65165923e-01 9.64091381e-01 -1.46575093e-02 -1.06678019e+02] [-6.02149090e-02 -1.38580608e-03 9.98184474e-01 -4.28230114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.030714057 meters 0.01722339482673713 Centerline is valid? [True, True] Translation: X:669.99, Y:-106.70, Z:-42.82 [[ 9.62388551e-01 2.65182625e-01 5.90461956e-02 6.69993895e+02] [-2.64771030e-01 9.64197244e-01 -1.48315781e-02 -1.06696052e+02] [-6.08652559e-02 -1.35998108e-03 9.98145065e-01 -4.28243846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.0607140569999 meters 0.01731968269639291 Centerline is valid? [True, True] Translation: X:670.02, Y:-106.71, Z:-42.83 [[ 9.62495843e-01 2.64805920e-01 5.89879445e-02 6.70023699e+02] [-2.64393486e-01 9.64300826e-01 -1.48324607e-02 -1.06708982e+02] [-6.08098470e-02 -1.31984659e-03 9.98148496e-01 -4.28267816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.0907140569999 meters 0.016908465652249502 Centerline is valid? [True, True] Translation: X:670.05, Y:-106.72, Z:-42.83 [[ 9.62656870e-01 2.64120197e-01 5.94329194e-02 6.70053172e+02] [-2.63699245e-01 9.64488935e-01 -1.49600312e-02 -1.06722413e+02] [-6.12736395e-02 -1.27103914e-03 9.98120196e-01 -4.28289421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.120714057 meters 0.017095683052719256 Centerline is valid? [True, True] Translation: X:670.08, Y:-106.73, Z:-42.83 [[ 9.62940080e-01 2.63115926e-01 5.92993364e-02 6.70082702e+02] [-2.62694004e-01 9.64763492e-01 -1.49420636e-02 -1.06734110e+02] [-6.11413297e-02 -1.18926819e-03 9.98128410e-01 -4.28309224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.150714057 meters 0.015918484981579443 Centerline is valid? [True, True] Translation: X:670.11, Y:-106.75, Z:-42.83 [[ 9.63754642e-01 2.59942147e-01 6.00588947e-02 6.70110423e+02] [-2.59502249e-01 9.65623688e-01 -1.51484261e-02 -1.06753776e+02] [-6.19320058e-02 -9.86052328e-04 9.98079884e-01 -4.28328679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.1807140569999 meters 0.0159621162939503 Centerline is valid? [True, True] Translation: X:670.14, Y:-106.77, Z:-42.83 [[ 9.64131206e-01 2.58414035e-01 6.06069708e-02 6.70139861e+02] [-2.57962022e-01 9.66033857e-01 -1.53030511e-02 -1.06766939e+02] [-6.25029090e-02 -8.80147619e-04 9.98044394e-01 -4.28344851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.2107140569999 meters 0.015830912206900683 Centerline is valid? [True, True] Translation: X:670.17, Y:-106.78, Z:-42.84 [[ 9.64603809e-01 2.56429496e-01 6.15093865e-02 6.70170151e+02] [-2.55958884e-01 9.66562649e-01 -1.55465481e-02 -1.06780202e+02] [-6.34392691e-02 -7.47614339e-04 9.97985421e-01 -4.28361740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.240714057 meters 0.015379305624959927 Centerline is valid? [True, True] Translation: X:670.20, Y:-106.80, Z:-42.84 [[ 9.65868804e-01 2.51256900e-01 6.29874941e-02 6.70199274e+02] [-2.50751976e-01 9.67920348e-01 -1.59262630e-02 -1.06798281e+02] [-6.49684607e-02 -4.11557993e-04 9.97887233e-01 -4.28372040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.270714057 meters 0.015109618030137753 Centerline is valid? [True, True] Translation: X:670.23, Y:-106.81, Z:-42.84 [[ 9.66467866e-01 2.48881544e-01 6.32284895e-02 6.70227909e+02] [-2.48367246e-01 9.68533900e-01 -1.59935956e-02 -1.06810800e+02] [-6.52194463e-02 -2.46589578e-04 9.97870915e-01 -4.28380183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.3007140569999 meters 0.015134282183805676 Centerline is valid? [True, True] Translation: X:670.26, Y:-106.83, Z:-42.84 [[ 9.67860827e-01 2.43386215e-01 6.33132721e-02 6.70257627e+02] [-2.42858082e-01 9.69929447e-01 -1.60255980e-02 -1.06828246e+02] [-6.53098166e-02 1.34408702e-04 9.97865026e-01 -4.28409272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.3307140569999 meters 0.015422954004060197 Centerline is valid? [True, True] Translation: X:670.29, Y:-106.84, Z:-42.84 [[ 9.68600765e-01 2.40584817e-01 6.27017015e-02 6.70287565e+02] [-2.40059758e-01 9.70628060e-01 -1.58896528e-02 -1.06840272e+02] [-6.46828401e-02 3.38574502e-04 9.97905815e-01 -4.28432931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.3607140569999 meters 0.015617783307443085 Centerline is valid? [True, True] Translation: X:670.32, Y:-106.85, Z:-42.85 [[ 9.69315430e-01 2.37711063e-01 6.26182681e-02 6.70317464e+02] [-2.37180268e-01 9.71335756e-01 -1.58861311e-02 -1.06851915e+02] [-6.45996719e-02 5.46854413e-04 9.97911110e-01 -4.28463063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.390714057 meters 0.016021741002937906 Centerline is valid? [True, True] Translation: X:670.35, Y:-106.86, Z:-42.85 [[ 9.70000120e-01 2.35037431e-01 6.21061386e-02 6.70346860e+02] [-2.34508817e-01 9.71986043e-01 -1.57717497e-02 -1.06863647e+02] [-6.40732514e-02 7.34162021e-04 9.97944928e-01 -4.28482435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.4207140569999 meters 0.016417373446155296 Centerline is valid? [True, True] Translation: X:670.38, Y:-106.88, Z:-42.85 [[ 9.71213506e-01 2.30158571e-01 6.14113839e-02 6.70376254e+02] [-2.29631390e-01 9.73152569e-01 -1.56045531e-02 -1.06876215e+02] [-6.33541676e-02 1.05337132e-03 9.97990551e-01 -4.28508929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.4507140569999 meters 0.017236190125781398 Centerline is valid? [True, True] Translation: X:670.41, Y:-106.89, Z:-42.85 [[ 9.71668360e-01 2.28320866e-01 6.10752011e-02 6.70405004e+02] [-2.27794901e-01 9.73585223e-01 -1.55337007e-02 -1.06887446e+02] [-6.30085813e-02 1.18098605e-03 9.98012286e-01 -4.28520371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.4807140569999 meters 0.017736020824223278 Centerline is valid? [True, True] Translation: X:670.44, Y:-106.90, Z:-42.85 [[ 9.71954944e-01 2.27016859e-01 6.13753464e-02 6.70435509e+02] [-2.26482546e-01 9.73889987e-01 -1.56189040e-02 -1.06897003e+02] [-6.33185898e-02 1.28042624e-03 9.97992543e-01 -4.28539790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.510714057 meters 0.017123608336908725 Centerline is valid? [True, True] Translation: X:670.47, Y:-106.90, Z:-42.86 [[ 9.72323796e-01 2.25232060e-01 6.21043803e-02 6.70466562e+02] [-2.24680286e-01 9.74304099e-01 -1.58206305e-02 -1.06904356e+02] [-6.40718655e-02 1.42914557e-03 9.97944264e-01 -4.28557272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.540714057 meters 0.018272944237188404 Centerline is valid? [True, True] Translation: X:670.50, Y:-106.91, Z:-42.86 [[ 9.72561433e-01 2.24186918e-01 6.21649751e-02 6.70495946e+02] [-2.23630853e-01 9.74544985e-01 -1.58528741e-02 -1.06914873e+02] [-6.41365717e-02 1.51588756e-03 9.97939979e-01 -4.28563041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.5707140569999 meters 0.017637223862132928 Centerline is valid? [True, True] Translation: X:670.53, Y:-106.92, Z:-42.86 [[ 9.72791885e-01 2.22906210e-01 6.31567119e-02 6.70527552e+02] [-2.22328487e-01 9.74838513e-01 -1.61219650e-02 -1.06920671e+02] [-6.51612812e-02 1.64178060e-03 9.97873395e-01 -4.28583900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.6007140569999 meters 0.019540849556942037 Centerline is valid? [True, True] Translation: X:670.56, Y:-106.93, Z:-42.86 [[ 9.73039939e-01 2.21735706e-01 6.34551266e-02 6.70557131e+02] [-2.21148913e-01 9.75105242e-01 -1.62149962e-02 -1.06932001e+02] [-6.54708702e-02 1.74480669e-03 9.97852956e-01 -4.28589242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.630714057 meters 0.018271432242029116 Centerline is valid? [True, True] Translation: X:670.59, Y:-106.94, Z:-42.86 [[ 9.73323787e-01 2.20683732e-01 6.27654007e-02 6.70589247e+02] [-2.20106457e-01 9.75343740e-01 -1.60541659e-02 -1.06936958e+02] [-6.47607340e-02 1.81083159e-03 9.97899177e-01 -4.28615379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.660714057 meters 0.019329147229537026 Centerline is valid? [True, True] Translation: X:670.62, Y:-106.95, Z:-42.86 [[ 9.74251497e-01 2.16805371e-01 6.18825620e-02 6.70619034e+02] [-2.16235395e-01 9.76212685e-01 -1.58444614e-02 -1.06945098e+02] [-6.38457064e-02 2.05529004e-03 9.97957665e-01 -4.28634990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.6907140569999 meters 0.019329147229537026 Centerline is valid? [True, True] Translation: X:670.65, Y:-106.95, Z:-42.87 [[ 9.74190397e-01 2.17080811e-01 6.18788453e-02 6.70650433e+02] [-2.16510470e-01 9.76151479e-01 -1.58589641e-02 -1.06953198e+02] [-6.38458031e-02 2.05223263e-03 9.97957665e-01 -4.28653805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.7207140569999 meters 0.019658115255886774 Centerline is valid? [True, True] Translation: X:670.68, Y:-106.96, Z:-42.87 [[ 9.74495320e-01 2.15802364e-01 6.15484510e-02 6.70681235e+02] [-2.15234406e-01 9.76434714e-01 -1.57924064e-02 -1.06960603e+02] [-6.35060828e-02 2.14228185e-03 9.97979152e-01 -4.28670749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.750714057 meters 0.020613926550904903 Centerline is valid? [True, True] Translation: X:670.71, Y:-106.97, Z:-42.87 [[ 9.74778489e-01 2.14481966e-01 6.16796801e-02 6.70711466e+02] [-2.13907980e-01 9.76725362e-01 -1.58411701e-02 -1.06968099e+02] [-6.36417533e-02 2.24785610e-03 9.97970277e-01 -4.28687514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.780714057 meters 0.024128107956603806 Centerline is valid? [True, True] Translation: X:670.74, Y:-106.98, Z:-42.87 [[ 9.74971533e-01 2.13779746e-01 6.10633223e-02 6.70740109e+02] [-2.13214924e-01 9.76879215e-01 -1.56969665e-02 -1.06979652e+02] [-6.30071839e-02 2.28448389e-03 9.98010459e-01 -4.28697904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.8107140569999 meters 0.021030929101975803 Centerline is valid? [True, True] Translation: X:670.77, Y:-106.98, Z:-42.87 [[ 9.75196879e-01 2.13073202e-01 5.99237600e-02 6.70773504e+02] [-2.12527457e-01 9.77033544e-01 -1.54121368e-02 -1.06978345e+02] [-6.18314370e-02 2.29442340e-03 9.98083969e-01 -4.28726566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.8407140569999 meters 0.020303594635636198 Centerline is valid? [True, True] Translation: X:670.81, Y:-106.98, Z:-42.87 [[ 9.75067373e-01 2.13795234e-01 5.94576824e-02 6.70805282e+02] [-2.13258347e-01 9.76875915e-01 -1.53076776e-02 -1.06983466e+02] [-6.13554864e-02 2.24616996e-03 9.98113450e-01 -4.28745308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.870714057 meters 0.020086835951691594 Centerline is valid? [True, True] Translation: X:670.84, Y:-106.99, Z:-42.88 [[ 9.74739360e-01 2.15463060e-01 5.88119879e-02 6.70837450e+02] [-2.14939880e-01 9.76509663e-01 -1.51567502e-02 -1.06987011e+02] [-6.06961942e-02 2.13283939e-03 9.98154008e-01 -4.28764004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.900714057 meters 0.019725431079733544 Centerline is valid? [True, True] Translation: X:670.87, Y:-106.99, Z:-42.88 [[ 9.74407460e-01 2.17063836e-01 5.84242469e-02 6.70869055e+02] [-2.16549493e-01 9.76155291e-01 -1.50720058e-02 -1.06991689e+02] [-6.03027251e-02 2.03453387e-03 9.98178061e-01 -4.28784624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.9307140569999 meters 0.018958131634826382 Centerline is valid? [True, True] Translation: X:670.90, Y:-106.99, Z:-42.88 [[ 9.73465815e-01 2.21509861e-01 5.74255106e-02 6.70901874e+02] [-2.21019824e-01 9.75156574e-01 -1.48288444e-02 -1.06991964e+02] [-5.92835995e-02 1.74319690e-03 9.98239659e-01 -4.28809421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.9607140569999 meters 0.017742106574673466 Centerline is valid? [True, True] Translation: X:670.93, Y:-106.99, Z:-42.88 [[ 9.72781981e-01 2.24567488e-01 5.71372039e-02 6.70934229e+02] [-2.24087423e-01 9.74457302e-01 -1.47578270e-02 -1.06994389e+02] [-5.89918937e-02 1.55241945e-03 9.98257255e-01 -4.28833169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.990714057 meters 0.017024189255767784 Centerline is valid? [True, True] Translation: X:670.97, Y:-107.00, Z:-42.89 [[ 9.72073736e-01 2.27709546e-01 5.67539863e-02 6.70966079e+02] [-2.27240368e-01 9.73728141e-01 -1.46738592e-02 -1.06997827e+02] [-5.86043314e-02 1.36727636e-03 9.98280353e-01 -4.28855922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.020714057 meters 0.01647761518668691 Centerline is valid? [True, True] Translation: X:671.00, Y:-107.00, Z:-42.89 [[ 9.71458275e-01 2.30494318e-01 5.60463116e-02 6.70998026e+02] [-2.30040546e-01 9.73072933e-01 -1.45056813e-02 -1.07001622e+02] [-5.78806259e-02 1.19874003e-03 9.98322792e-01 -4.28875973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.0507140569999 meters 0.015674833687764008 Centerline is valid? [True, True] Translation: X:671.03, Y:-107.00, Z:-42.89 [[ 9.70363424e-01 2.35310869e-01 5.49874554e-02 6.71030885e+02] [-2.34880992e-01 9.71919734e-01 -1.42460423e-02 -1.07002513e+02] [-5.67956416e-02 9.08330358e-04 9.98385412e-01 -4.28895600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.0807140569999 meters 0.01579780878456081 Centerline is valid? [True, True] Translation: X:671.06, Y:-107.01, Z:-42.89 [[ 9.69904256e-01 2.37132107e-01 5.52638869e-02 6.71062060e+02] [-2.36699998e-01 9.71477067e-01 -1.43324766e-02 -1.07007815e+02] [-5.70862891e-02 8.20168156e-04 9.98368911e-01 -4.28912511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.1107140569999 meters 0.015505869322842147 Centerline is valid? [True, True] Translation: X:671.10, Y:-107.01, Z:-42.89 [[ 9.69802395e-01 2.37398417e-01 5.59044322e-02 6.71095683e+02] [-2.36955859e-01 9.71412017e-01 -1.45125418e-02 -1.07010864e+02] [-5.77514916e-02 8.27415001e-04 9.98330647e-01 -4.28917935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.140714057 meters 0.015630448641829487 Centerline is valid? [True, True] Translation: X:671.13, Y:-107.02, Z:-42.89 [[ 9.69946916e-01 2.36691468e-01 5.63926424e-02 6.71127229e+02] [-2.36238947e-01 9.71584453e-01 -1.46563929e-02 -1.07016995e+02] [-5.82592578e-02 8.93784593e-04 9.98301087e-01 -4.28925153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.1707140569999 meters 0.01592852605130983 Centerline is valid? [True, True] Translation: X:671.16, Y:-107.02, Z:-42.89 [[ 9.70170602e-01 2.35529884e-01 5.73992807e-02 6.71159170e+02] [-2.35058109e-01 9.71866597e-01 -1.49332937e-02 -1.07023467e+02] [-5.93016805e-02 9.95676175e-04 9.98239610e-01 -4.28941254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.2007140569999 meters 0.017086610287097032 Centerline is valid? [True, True] Translation: X:671.19, Y:-107.03, Z:-42.90 [[ 9.71077203e-01 2.31648389e-01 5.78626731e-02 6.71189885e+02] [-2.31161162e-01 9.72798768e-01 -1.50690110e-02 -1.07029162e+02] [-5.97794492e-02 1.25757030e-03 9.98210817e-01 -4.28954014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.2307140569999 meters 0.017649575416405692 Centerline is valid? [True, True] Translation: X:671.22, Y:-107.04, Z:-42.90 [[ 9.71457685e-01 2.29946373e-01 5.82634660e-02 6.71219815e+02] [-2.29448458e-01 9.73202315e-01 -1.51874692e-02 -1.07036607e+02] [-6.01944434e-02 1.38552127e-03 9.98185709e-01 -4.28970250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.260714057 meters 0.01848835446156907 Centerline is valid? [True, True] Translation: X:671.25, Y:-107.04, Z:-42.90 [[ 9.71855201e-01 2.28151470e-01 5.86887952e-02 6.71250584e+02] [-2.27642134e-01 9.73624462e-01 -1.53123018e-02 -1.07044299e+02] [-6.06343708e-02 1.52129754e-03 9.98158885e-01 -4.28989039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.290714057 meters 0.019221809631875284 Centerline is valid? [True, True] Translation: X:671.28, Y:-107.05, Z:-42.90 [[ 9.72297685e-01 2.26382501e-01 5.82080307e-02 6.71281649e+02] [-2.25877499e-01 9.74037115e-01 -1.52004466e-02 -1.07051686e+02] [-6.01378974e-02 1.63147463e-03 9.98188745e-01 -4.29011029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.3207140569999 meters 0.021047294220487546 Centerline is valid? [True, True] Translation: X:671.31, Y:-107.06, Z:-42.90 [[ 9.73354116e-01 2.21952336e-01 5.76101129e-02 6.71310933e+02] [-2.21449075e-01 9.75055667e-01 -1.50583592e-02 -1.07056913e+02] [-5.95153051e-02 1.89940967e-03 9.98225586e-01 -4.29033753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.3507140569999 meters 0.022063495857052685 Centerline is valid? [True, True] Translation: X:671.34, Y:-107.06, Z:-42.91 [[ 9.73817560e-01 2.19891721e-01 5.76800755e-02 6.71341973e+02] [-2.19383333e-01 9.75522167e-01 -1.50815738e-02 -1.07063790e+02] [-5.95845055e-02 2.03265413e-03 9.98221195e-01 -4.29054640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.380714057 meters 0.023129417743013372 Centerline is valid? [True, True] Translation: X:671.37, Y:-107.07, Z:-42.91 [[ 9.74265123e-01 2.17845754e-01 5.78852121e-02 6.71372539e+02] [-2.17329872e-01 9.75980799e-01 -1.51396061e-02 -1.07070964e+02] [-5.97929545e-02 2.16980447e-03 9.98208442e-01 -4.29070852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.410714057 meters 0.025211583827879143 Centerline is valid? [True, True] Translation: X:671.40, Y:-107.08, Z:-42.91 [[ 9.75131737e-01 2.13816543e-01 5.83145083e-02 6.71403077e+02] [-2.13285002e-01 9.76870767e-01 -1.52647392e-02 -1.07077076e+02] [-6.02295923e-02 2.44752159e-03 9.98181550e-01 -4.29083440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.4407140569999 meters 0.026103492681602208 Centerline is valid? [True, True] Translation: X:671.43, Y:-107.08, Z:-42.91 [[ 9.75519412e-01 2.12195595e-01 5.77486516e-02 6.71433949e+02] [-2.11671416e-01 9.77223955e-01 -1.51179769e-02 -1.07083497e+02] [-5.96413339e-02 2.52414106e-03 9.98216680e-01 -4.29102615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.4707140569999 meters 0.028219193249885435 Centerline is valid? [True, True] Translation: X:671.46, Y:-107.09, Z:-42.91 [[ 9.76177560e-01 2.09359641e-01 5.69729116e-02 6.71463782e+02] [-2.08843919e-01 9.77835055e-01 -1.49272589e-02 -1.07087871e+02] [-5.88352757e-02 2.67320903e-03 9.98264126e-01 -4.29132267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.500714057 meters 0.02963551181009148 Centerline is valid? [True, True] Translation: X:671.50, Y:-107.09, Z:-42.92 [[ 9.76539551e-01 2.07772542e-01 5.65780633e-02 6.71495182e+02] [-2.07261292e-01 9.78173303e-01 -1.48238483e-02 -1.07094610e+02] [-5.84231396e-02 2.74963165e-03 9.98288123e-01 -4.29152852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.530714057 meters 0.030185041215638007 Centerline is valid? [True, True] Translation: X:671.53, Y:-107.10, Z:-42.92 [[ 9.76674507e-01 2.07071468e-01 5.68182564e-02 6.71527057e+02] [-2.06554444e-01 9.78321791e-01 -1.48908058e-02 -1.07100351e+02] [-5.86699994e-02 2.80740711e-03 9.98273484e-01 -4.29169009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.5607140569999 meters 0.02475953386404568 Centerline is valid? [True, True] Translation: X:671.56, Y:-107.09, Z:-42.92 [[ 9.76755675e-01 2.06383778e-01 5.79144834e-02 6.71562030e+02] [-2.05844554e-01 9.78466773e-01 -1.51919224e-02 -1.07093834e+02] [-5.98027640e-02 2.91741542e-03 9.98205950e-01 -4.29179402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.5907140569999 meters 0.03159086412544761 Centerline is valid? [True, True] Translation: X:671.59, Y:-107.11, Z:-42.92 [[ 9.76701357e-01 2.06717996e-01 5.76379243e-02 6.71591167e+02] [-2.06184150e-01 9.78396303e-01 -1.51251829e-02 -1.07107846e+02] [-5.95193796e-02 2.88876025e-03 9.98222970e-01 -4.29195575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.620714057 meters 0.023292888854125792 Centerline is valid? [True, True] Translation: X:671.63, Y:-107.10, Z:-42.92 [[ 9.76535651e-01 2.07672321e-01 5.70116653e-02 6.71626593e+02] [-2.07150694e-01 9.78194398e-01 -1.49769935e-02 -1.07100788e+02] [-5.88787986e-02 2.81556211e-03 9.98261168e-01 -4.29219764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.650714057 meters 0.031315745280375805 Centerline is valid? [True, True] Translation: X:671.65, Y:-107.12, Z:-42.92 [[ 9.76264645e-01 2.09076237e-01 5.65196427e-02 6.71654477e+02] [-2.08565074e-01 9.77895557e-01 -1.48623639e-02 -1.07116498e+02] [-5.83776746e-02 2.72157695e-03 9.98290860e-01 -4.29237694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.6807140569999 meters 0.030409714577092427 Centerline is valid? [True, True] Translation: X:671.69, Y:-107.12, Z:-42.92 [[ 9.75399987e-01 2.12963780e-01 5.69323595e-02 6.71685485e+02] [-2.12451217e-01 9.77056857e-01 -1.49793025e-02 -1.07115666e+02] [-5.88162011e-02 2.51546243e-03 9.98265660e-01 -4.29249849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.7107140569999 meters 0.02025266530760721 Centerline is valid? [True, True] Translation: X:671.72, Y:-107.10, Z:-42.93 [[ 9.74755977e-01 2.15701393e-01 5.76514866e-02 6.71720547e+02] [-2.15180498e-01 9.76456471e-01 -1.51695024e-02 -1.07104833e+02] [-5.95662499e-02 2.38108752e-03 9.98221515e-01 -4.29264972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.740714057 meters 0.01930144539436199 Centerline is valid? [True, True] Translation: X:671.75, Y:-107.10, Z:-42.93 [[ 9.73298554e-01 2.22147088e-01 5.77978852e-02 6.71751631e+02] [-2.21634730e-01 9.75011126e-01 -1.52102465e-02 -1.07103317e+02] [-5.97324931e-02 1.99409222e-03 9.98212429e-01 -4.29275586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.770714057 meters 0.024530271985279264 Centerline is valid? [True, True] Translation: X:671.78, Y:-107.12, Z:-42.93 [[ 9.72547224e-01 2.25253034e-01 5.84206161e-02 6.71779577e+02] [-2.24735085e-01 9.74298591e-01 -1.53752313e-02 -1.07115704e+02] [-6.03824415e-02 1.82397643e-03 9.98173649e-01 -4.29287702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.8007140569999 meters 0.017973666796885755 Centerline is valid? [True, True] Translation: X:671.81, Y:-107.11, Z:-42.93 [[ 9.71530705e-01 2.29505148e-01 5.87832984e-02 6.71814310e+02] [-2.28988431e-01 9.73306180e-01 -1.54718635e-02 -1.07105690e+02] [-6.07650200e-02 1.57069523e-03 9.98150863e-01 -4.29318140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.8307140569999 meters 0.0172475651284648 Centerline is valid? [True, True] Translation: X:671.85, Y:-107.11, Z:-42.93 [[ 9.71229492e-01 2.30618265e-01 5.94010982e-02 6.71846850e+02] [-2.30092507e-01 9.73043116e-01 -1.56375308e-02 -1.07109691e+02] [-6.14061299e-02 1.51988352e-03 9.98111706e-01 -4.29338842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.8607140569999 meters 0.01707139106671737 Centerline is valid? [True, True] Translation: X:671.88, Y:-107.11, Z:-42.94 [[ 9.71031832e-01 2.31486552e-01 5.92550269e-02 6.71878704e+02] [-2.30964016e-01 9.72836983e-01 -1.56150088e-02 -1.07114846e+02] [-6.12601461e-02 1.47689167e-03 9.98120741e-01 -4.29361010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.890714057 meters 0.017725013268804997 Centerline is valid? [True, True] Translation: X:671.91, Y:-107.12, Z:-42.94 [[ 9.70890619e-01 2.32086040e-01 5.92239507e-02 6.71910323e+02] [-2.31564178e-01 9.72694174e-01 -1.56229063e-02 -1.07122220e+02] [-6.12326503e-02 1.45398765e-03 9.98122462e-01 -4.29378981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.9207140569999 meters 0.017290138780937686 Centerline is valid? [True, True] Translation: X:671.94, Y:-107.12, Z:-42.94 [[ 9.70607984e-01 2.33204323e-01 5.94633145e-02 6.71942734e+02] [-2.32679209e-01 9.72426740e-01 -1.57041525e-02 -1.07124864e+02] [-6.14859933e-02 1.40669875e-03 9.98106955e-01 -4.29402827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.9507140569999 meters 0.017231687992712488 Centerline is valid? [True, True] Translation: X:671.97, Y:-107.13, Z:-42.94 [[ 9.70378574e-01 2.34199155e-01 5.92973706e-02 6.71974563e+02] [-2.33677865e-01 9.72187698e-01 -1.56759734e-02 -1.07130889e+02] [-6.13194740e-02 1.35514573e-03 9.98117271e-01 -4.29422139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.9807140569999 meters 0.016687768259450377 Centerline is valid? [True, True] Translation: X:672.01, Y:-107.13, Z:-42.94 [[ 9.69881049e-01 2.36164405e-01 5.96416373e-02 6.72007115e+02] [-2.35639769e-01 9.71712304e-01 -1.57828007e-02 -1.07134401e+02] [-6.16818486e-02 1.25349764e-03 9.98095075e-01 -4.29445940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.010714057 meters 0.017354630514208384 Centerline is valid? [True, True] Translation: X:672.04, Y:-107.14, Z:-42.95 [[ 9.69456918e-01 2.37705183e-01 6.04113350e-02 6.72037253e+02] [-2.37168869e-01 9.71336625e-01 -1.60027746e-02 -1.07142616e+02] [-6.24836847e-02 1.18631255e-03 9.98045280e-01 -4.29458992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.040714057 meters 0.01666732988804714 Centerline is valid? [True, True] Translation: X:672.07, Y:-107.15, Z:-42.95 [[ 9.69120590e-01 2.39214819e-01 5.98460723e-02 6.72069363e+02] [-2.38690504e-01 9.70966053e-01 -1.58671450e-02 -1.07148556e+02] [-6.19041609e-02 1.09248776e-03 9.98081500e-01 -4.29481935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.0707140569999 meters 0.01590310884110352 Centerline is valid? [True, True] Translation: X:672.10, Y:-107.15, Z:-42.95 [[ 9.68303685e-01 2.42697022e-01 5.90434518e-02 6.72101445e+02] [-2.42192785e-01 9.70101752e-01 -1.56603260e-02 -1.07152876e+02] [-6.10788705e-02 8.64053321e-04 9.98132569e-01 -4.29514041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.1007140569999 meters 0.01606368636687482 Centerline is valid? [True, True] Translation: X:672.13, Y:-107.16, Z:-42.95 [[ 9.67910307e-01 2.44409073e-01 5.84281024e-02 6.72131489e+02] [-2.43917476e-01 9.69671915e-01 -1.55126524e-02 -1.07161254e+02] [-6.04475229e-02 7.63220931e-04 9.98171085e-01 -4.29536918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.130714057 meters 0.01561837871144758 Centerline is valid? [True, True] Translation: X:672.16, Y:-107.17, Z:-42.96 [[ 9.67433783e-01 2.46413772e-01 5.78975680e-02 6.72162717e+02] [-2.45933799e-01 9.69164504e-01 -1.53860471e-02 -1.07167199e+02] [-5.99036017e-02 6.46012882e-04 9.98203958e-01 -4.29563835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.160714057 meters 0.015225115155789429 Centerline is valid? [True, True] Translation: X:672.19, Y:-107.17, Z:-42.96 [[ 9.66806039e-01 2.48920825e-01 5.76585380e-02 6.72194365e+02] [-2.48448364e-01 9.68523706e-01 -1.53375588e-02 -1.07174081e+02] [-5.96614987e-02 5.03275012e-04 9.98218539e-01 -4.29586081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.1907140569999 meters 0.01511851014750763 Centerline is valid? [True, True] Translation: X:672.23, Y:-107.18, Z:-42.96 [[ 9.66571972e-01 2.49722799e-01 5.81132307e-02 6.72226095e+02] [-2.49243344e-01 9.68317252e-01 -1.54743373e-02 -1.07182587e+02] [-6.01363386e-02 4.72724794e-04 9.98190061e-01 -4.29605383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.2207140569999 meters 0.015097087187964122 Centerline is valid? [True, True] Translation: X:672.26, Y:-107.19, Z:-42.96 [[ 9.66524484e-01 2.49988809e-01 5.77582667e-02 6.72257553e+02] [-2.49514608e-01 9.68248612e-01 -1.53976166e-02 -1.07191611e+02] [-5.97735934e-02 4.70642154e-04 9.98211849e-01 -4.29620694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.250714057 meters 0.015306076802606162 Centerline is valid? [True, True] Translation: X:672.29, Y:-107.20, Z:-42.96 [[ 9.66910883e-01 2.48555122e-01 5.74777928e-02 6.72287118e+02] [-2.48081944e-01 9.68617583e-01 -1.53403614e-02 -1.07201869e+02] [-5.94869262e-02 5.73559765e-04 9.98228920e-01 -4.29637067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.280714057 meters 0.015533462362129723 Centerline is valid? [True, True] Translation: X:672.32, Y:-107.21, Z:-42.97 [[ 9.67203883e-01 2.47376725e-01 5.76316230e-02 6.72317631e+02] [-2.46898059e-01 9.68919149e-01 -1.53957945e-02 -1.07211894e+02] [-5.96489443e-02 6.61736390e-04 9.98219197e-01 -4.29652187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.3107140569999 meters 0.01575346187609885 Centerline is valid? [True, True] Translation: X:672.35, Y:-107.22, Z:-42.97 [[ 9.67936306e-01 2.44278625e-01 5.85428046e-02 6.72347607e+02] [-2.43778067e-01 9.69704685e-01 -1.56549760e-02 -1.07223412e+02] [-6.05934079e-02 8.81567934e-04 9.98162142e-01 -4.29657985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.3407140569999 meters 0.016073221370766447 Centerline is valid? [True, True] Translation: X:672.38, Y:-107.23, Z:-42.97 [[ 9.68245493e-01 2.43019790e-01 5.86689599e-02 6.72376804e+02] [-2.42513806e-01 9.70020838e-01 -1.57043967e-02 -1.07233412e+02] [-6.07265929e-02 9.77678548e-04 9.98153959e-01 -4.29673127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.370714057 meters 0.016310017951137474 Centerline is valid? [True, True] Translation: X:672.41, Y:-107.24, Z:-42.97 [[ 9.68597765e-01 2.41678280e-01 5.83950201e-02 6.72407436e+02] [-2.41173709e-01 9.70355843e-01 -1.56454319e-02 -1.07243392e+02] [-6.04451100e-02 1.07078676e-03 9.98170948e-01 -4.29685858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.400714057 meters 0.017042604615539587 Centerline is valid? [True, True] Translation: X:672.44, Y:-107.25, Z:-42.97 [[ 9.69302392e-01 2.38674068e-01 5.90555909e-02 6.72437254e+02] [-2.38151471e-01 9.71098878e-01 -1.58381219e-02 -1.07254518e+02] [-6.11289670e-02 1.28775359e-03 9.98129045e-01 -4.29701814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.4307140569999 meters 0.017472270658420674 Centerline is valid? [True, True] Translation: X:672.47, Y:-107.26, Z:-42.97 [[ 9.69594859e-01 2.37504684e-01 5.89689283e-02 6.72468198e+02] [-2.36980571e-01 9.71385422e-01 -1.58294250e-02 -1.07264573e+02] [-6.10411199e-02 1.37363882e-03 9.98134307e-01 -4.29720822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.4607140569999 meters 0.017373318354867117 Centerline is valid? [True, True] Translation: X:672.50, Y:-107.27, Z:-42.97 [[ 9.69834985e-01 2.36614868e-01 5.85961234e-02 6.72498927e+02] [-2.36094809e-01 9.71602462e-01 -1.57447675e-02 -1.07273729e+02] [-6.06575838e-02 1.43558582e-03 9.98157601e-01 -4.29738778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.490714057 meters 0.017602027058611865 Centerline is valid? [True, True] Translation: X:672.53, Y:-107.28, Z:-42.98 [[ 9.70211160e-01 2.35051442e-01 5.86610979e-02 6.72529624e+02] [-2.34526420e-01 9.71981696e-01 -1.57778917e-02 -1.07283113e+02] [-6.07261296e-02 1.55030932e-03 9.98153262e-01 -4.29762169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.520714057 meters 0.01919749306157014 Centerline is valid? [True, True] Translation: X:672.56, Y:-107.30, Z:-42.98 [[ 9.71143559e-01 2.31289903e-01 5.81822022e-02 6.72558523e+02] [-2.30765770e-01 9.72883237e-01 -1.56641984e-02 -1.07296101e+02] [-6.02274601e-02 1.78572464e-03 9.98183082e-01 -4.29780842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.5507140569999 meters 0.02006379559673322 Centerline is valid? [True, True] Translation: X:672.59, Y:-107.31, Z:-42.98 [[ 9.72120835e-01 2.27165274e-01 5.81121404e-02 6.72587710e+02] [-2.26634619e-01 9.73854072e-01 -1.56523586e-02 -1.07306572e+02] [-6.01484168e-02 2.04576114e-03 9.98187349e-01 -4.29797849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.5807140569999 meters 0.01976615508455039 Centerline is valid? [True, True] Translation: X:672.62, Y:-107.31, Z:-42.98 [[ 9.72503767e-01 2.25504918e-01 5.81717814e-02 6.72619159e+02] [-2.24970106e-01 9.74239652e-01 -1.56700940e-02 -1.07314582e+02] [-6.02069393e-02 2.15231361e-03 9.98183596e-01 -4.29814872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.6107140569999 meters 0.01976615508455039 Centerline is valid? [True, True] Translation: X:672.65, Y:-107.32, Z:-42.98 [[ 9.72439161e-01 2.25784370e-01 5.81678298e-02 6.72650500e+02] [-2.25249181e-01 9.74174930e-01 -1.56847491e-02 -1.07323082e+02] [-6.02070127e-02 2.15020819e-03 9.98183596e-01 -4.29833695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.640714057 meters 0.021985729298924596 Centerline is valid? [True, True] Translation: X:672.68, Y:-107.33, Z:-42.98 [[ 9.72899678e-01 2.23815448e-01 5.80763453e-02 6.72679577e+02] [-2.23277375e-01 9.74628863e-01 -1.56778006e-02 -1.07334734e+02] [-6.01118163e-02 2.28579324e-03 9.98189033e-01 -4.29848437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.6707140569999 meters 0.021432911117241077 Centerline is valid? [True, True] Translation: X:672.71, Y:-107.34, Z:-42.99 [[ 9.73366076e-01 2.21756087e-01 5.81611596e-02 6.72711312e+02] [-2.21211924e-01 9.75099140e-01 -1.57147387e-02 -1.07341684e+02] [-6.01977356e-02 2.43025150e-03 9.98183513e-01 -4.29870525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.7007140569999 meters 0.022092725176152118 Centerline is valid? [True, True] Translation: X:672.74, Y:-107.35, Z:-42.99 [[ 9.74167602e-01 2.18394459e-01 5.74573202e-02 6.72741205e+02] [-2.17857312e-01 9.75857084e-01 -1.55288254e-02 -1.07349144e+02] [-5.94615423e-02 2.61018132e-03 9.98227185e-01 -4.29895103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.7307140569999 meters 0.02308008683178078 Centerline is valid? [True, True] Translation: X:672.77, Y:-107.36, Z:-42.99 [[ 9.74378596e-01 2.17333620e-01 5.79003362e-02 6.72770997e+02] [-2.16786186e-01 9.76093655e-01 -1.56501325e-02 -1.07357915e+02] [-5.99174507e-02 2.69716113e-03 9.98199692e-01 -4.29913424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.760714057 meters 0.02429672953110944 Centerline is valid? [True, True] Translation: X:672.80, Y:-107.37, Z:-42.99 [[ 9.74596601e-01 2.16272383e-01 5.82041391e-02 6.72800654e+02] [-2.15716435e-01 9.76329077e-01 -1.57465012e-02 -1.07366992e+02] [-6.02319268e-02 2.79089709e-03 9.98180508e-01 -4.29929923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.790714057 meters 0.027037944707031535 Centerline is valid? [True, True] Translation: X:672.83, Y:-107.38, Z:-42.99 [[ 9.75257058e-01 2.13243133e-01 5.83184065e-02 6.72829379e+02] [-2.12678774e-01 9.76994567e-01 -1.57910098e-02 -1.07375695e+02] [-6.03440907e-02 2.99720655e-03 9.98173135e-01 -4.29943050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.8207140569999 meters 0.02800813905255518 Centerline is valid? [True, True] Translation: X:672.86, Y:-107.38, Z:-43.00 [[ 9.75447482e-01 2.12227940e-01 5.88346201e-02 6.72860755e+02] [-2.11651479e-01 9.77215304e-01 -1.59342961e-02 -1.07383506e+02] [-6.08757940e-02 3.09063466e-03 9.98140564e-01 -4.29964667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.8507140569999 meters 0.02832888943013214 Centerline is valid? [True, True] Translation: X:672.89, Y:-107.39, Z:-43.00 [[ 9.75629215e-01 2.11475337e-01 5.85304740e-02 6.72892238e+02] [-2.10902555e-01 9.77378302e-01 -1.58671484e-02 -1.07390630e+02] [-6.05619258e-02 3.13622702e-03 9.98159515e-01 -4.29983543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.880714057 meters 0.030090486620691963 Centerline is valid? [True, True] Translation: X:672.92, Y:-107.40, Z:-43.00 [[ 9.76072690e-01 2.09469414e-01 5.83495380e-02 6.72922795e+02] [-2.08895684e-01 9.77809747e-01 -1.58332512e-02 -1.07397091e+02] [-6.03713288e-02 3.26543745e-03 9.98170647e-01 -4.30003951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.910714057 meters 0.030934170167998102 Centerline is valid? [True, True] Translation: X:672.95, Y:-107.40, Z:-43.00 [[ 9.76167206e-01 2.09055872e-01 5.82514241e-02 6.72954257e+02] [-2.08482492e-01 9.77898133e-01 -1.58206402e-02 -1.07404654e+02] [-6.02713566e-02 3.29918803e-03 9.98176577e-01 -4.30023480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.9407140569999 meters 0.031830028534453506 Centerline is valid? [True, True] Translation: X:672.99, Y:-107.41, Z:-43.00 [[ 9.76247902e-01 2.08819272e-01 5.77455151e-02 6.72985733e+02] [-2.08254525e-01 9.77948683e-01 -1.56979956e-02 -1.07411504e+02] [-5.97501944e-02 3.29937041e-03 9.98207908e-01 -4.30048701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.9707140569999 meters 0.03266736923454097 Centerline is valid? [True, True] Translation: X:673.02, Y:-107.41, Z:-43.01 [[ 9.76249620e-01 2.09157461e-01 5.64786412e-02 6.73016856e+02] [-2.08616984e-01 9.77876672e-01 -1.53677611e-02 -1.07414422e+02] [-5.84434276e-02 3.22036713e-03 9.98285528e-01 -4.30081461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.000714057 meters 0.03279829188797391 Centerline is valid? [True, True] Translation: X:673.05, Y:-107.42, Z:-43.01 [[ 9.76075757e-01 2.09975213e-01 5.64493297e-02 6.73049100e+02] [-2.09435877e-01 9.77701529e-01 -1.53731715e-02 -1.07419784e+02] [-5.84185810e-02 3.18286518e-03 9.98287102e-01 -4.30100922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.030714057 meters 0.03227842165893837 Centerline is valid? [True, True] Translation: X:673.08, Y:-107.42, Z:-43.01 [[ 9.75717755e-01 2.11615505e-01 5.65131832e-02 6.73081017e+02] [-2.11076848e-01 9.77348072e-01 -1.54048490e-02 -1.07424439e+02] [-5.84929556e-02 3.10216006e-03 9.98283001e-01 -4.30116065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.0607140569999 meters 0.03222664962382687 Centerline is valid? [True, True] Translation: X:673.11, Y:-107.42, Z:-43.01 [[ 9.75050689e-01 2.14254289e-01 5.80625047e-02 6.73112363e+02] [-2.13689434e-01 9.76773189e-01 -1.58418109e-02 -1.07424648e+02] [-6.01080739e-02 3.03922486e-03 9.98187248e-01 -4.30129026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.0907140569999 meters 0.031729410501937116 Centerline is valid? [True, True] Translation: X:673.14, Y:-107.43, Z:-43.01 [[ 9.74626497e-01 2.15970853e-01 5.88199151e-02 6.73143682e+02] [-2.15393850e-01 9.76395268e-01 -1.60551884e-02 -1.07428849e+02] [-6.08989395e-02 2.97836400e-03 9.98139494e-01 -4.30141152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.120714057 meters 0.026597737094158778 Centerline is valid? [True, True] Translation: X:673.18, Y:-107.42, Z:-43.02 [[ 9.73998724e-01 2.18770474e-01 5.88724445e-02 6.73177605e+02] [-2.18196745e-01 9.75772277e-01 -1.60824392e-02 -1.07422210e+02] [-6.09644621e-02 2.81849953e-03 9.98135958e-01 -4.30166605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.150714057 meters 0.03082799893752014 Centerline is valid? [True, True] Translation: X:673.21, Y:-107.43, Z:-43.02 [[ 9.73570703e-01 2.20615956e-01 5.90650944e-02 6.73207685e+02] [-2.20041665e-01 9.75356976e-01 -1.61380192e-02 -1.07432371e+02] [-6.11698564e-02 2.71472101e-03 9.98123679e-01 -4.30187753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.1807140569999 meters 0.030307586033160232 Centerline is valid? [True, True] Translation: X:673.24, Y:-107.44, Z:-43.02 [[ 9.73095214e-01 2.22745987e-01 5.89061037e-02 6.73238466e+02] [-2.22177788e-01 9.74873083e-01 -1.61091195e-02 -1.07435848e+02] [-6.10142166e-02 2.58807929e-03 9.98133542e-01 -4.30209604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.2107140569999 meters 0.02274329163283311 Centerline is valid? [True, True] Translation: X:673.27, Y:-107.42, Z:-43.02 [[ 9.72083074e-01 2.27294306e-01 5.82391225e-02 6.73273536e+02] [-2.26746931e-01 9.73823448e-01 -1.59286632e-02 -1.07424833e+02] [-6.03351175e-02 2.27844156e-03 9.98175577e-01 -4.30249732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.240714057 meters 0.02202370589215318 Centerline is valid? [True, True] Translation: X:673.31, Y:-107.43, Z:-43.03 [[ 9.71423705e-01 2.29911660e-01 5.89628246e-02 6.73305833e+02] [-2.29355269e-01 9.73209140e-01 -1.61285285e-02 -1.07428444e+02] [-6.10912967e-02 2.14420042e-03 9.98129879e-01 -4.30268797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.270714057 meters 0.022308649164161618 Centerline is valid? [True, True] Translation: X:673.34, Y:-107.43, Z:-43.03 [[ 9.70900799e-01 2.32063543e-01 5.91451665e-02 6.73335930e+02] [-2.31506740e-01 9.72698510e-01 -1.61937742e-02 -1.07433207e+02] [-6.12884000e-02 2.03004362e-03 9.98118035e-01 -4.30282690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.3007140569999 meters 0.020170339306726605 Centerline is valid? [True, True] Translation: X:673.37, Y:-107.43, Z:-43.03 [[ 9.70130196e-01 2.35019711e-01 6.01093766e-02 6.73368467e+02] [-2.34449858e-01 9.71988787e-01 -1.64639480e-02 -1.07430447e+02] [-6.22949923e-02 1.87953834e-03 9.98056011e-01 -4.30297153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.3307140569999 meters 0.02071853091781828 Centerline is valid? [True, True] Translation: X:673.40, Y:-107.44, Z:-43.03 [[ 9.69906187e-01 2.35785216e-01 6.07233170e-02 6.73398010e+02] [-2.35205151e-01 9.71803433e-01 -1.66320106e-02 -1.07435731e+02] [-6.29327101e-02 1.84905302e-03 9.98016060e-01 -4.30316377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.3607140569999 meters 0.02053398842549082 Centerline is valid? [True, True] Translation: X:673.43, Y:-107.44, Z:-43.03 [[ 9.69745692e-01 2.36393746e-01 6.09203481e-02 6.73426975e+02] [-2.35811187e-01 9.71655652e-01 -1.66846950e-02 -1.07440367e+02] [-6.31377581e-02 1.81421148e-03 9.98003172e-01 -4.30332928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.390714057 meters 0.021412033332582268 Centerline is valid? [True, True] Translation: X:673.45, Y:-107.45, Z:-43.03 [[ 9.69800971e-01 2.36067487e-01 6.13043037e-02 6.73454518e+02] [-2.35477059e-01 9.71734912e-01 -1.67873783e-02 -1.07446536e+02] [-6.35344863e-02 1.84465869e-03 9.97977939e-01 -4.30342805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.4207140569999 meters 0.021114287670630855 Centerline is valid? [True, True] Translation: X:673.48, Y:-107.45, Z:-43.04 [[ 9.70144726e-01 2.34498460e-01 6.18844284e-02 6.73484135e+02] [-2.33893826e-01 9.72114510e-01 -1.69427807e-02 -1.07450248e+02] [-6.41318068e-02 1.96256367e-03 9.97939507e-01 -4.30363498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.4507140569999 meters 0.022930301166734425 Centerline is valid? [True, True] Translation: X:673.51, Y:-107.46, Z:-43.04 [[ 9.70462371e-01 2.33253082e-01 6.16099515e-02 6.73511611e+02] [-2.32651456e-01 9.72413937e-01 -1.68651941e-02 -1.07459013e+02] [-6.38442340e-02 2.03339134e-03 9.97957804e-01 -4.30382542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.4807140569999 meters 0.02308160208568248 Centerline is valid? [True, True] Translation: X:673.54, Y:-107.46, Z:-43.04 [[ 9.71295897e-01 2.30014981e-01 6.06414800e-02 6.73541441e+02] [-2.29426019e-01 9.73184583e-01 -1.65972652e-02 -1.07463914e+02] [-6.28329731e-02 2.20812229e-03 9.98021614e-01 -4.30420076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.510714057 meters 0.023154189923494693 Centerline is valid? [True, True] Translation: X:673.57, Y:-107.47, Z:-43.04 [[ 9.71749856e-01 2.28349280e-01 5.96558831e-02 6.73570676e+02] [-2.27776206e-01 9.73576611e-01 -1.63273625e-02 -1.07470398e+02] [-6.18079139e-02 2.27792146e-03 9.98085464e-01 -4.30445533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.540714057 meters 0.02343141775695543 Centerline is valid? [True, True] Translation: X:673.60, Y:-107.48, Z:-43.05 [[ 9.72109604e-01 2.26941647e-01 5.91642446e-02 6.73599553e+02] [-2.26375528e-01 9.73905533e-01 -1.61905248e-02 -1.07476854e+02] [-6.12946895e-02 2.34562750e-03 9.98116957e-01 -4.30466824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.5707140569999 meters 0.024998770320596924 Centerline is valid? [True, True] Translation: X:673.63, Y:-107.49, Z:-43.05 [[ 9.72604364e-01 2.25022538e-01 5.83575948e-02 6.73627360e+02] [-2.24468462e-01 9.74350527e-01 -1.59674734e-02 -1.07485003e+02] [-6.04537947e-02 2.43059476e-03 9.98168037e-01 -4.30480566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.6007140569999 meters 0.024058808620213562 Centerline is valid? [True, True] Translation: X:673.66, Y:-107.49, Z:-43.05 [[ 9.72749294e-01 2.24204020e-01 5.90877973e-02 6.73656936e+02] [-2.23634679e-01 9.74538999e-01 -1.61638392e-02 -1.07490338e+02] [-6.12073605e-02 2.50928267e-03 9.98121918e-01 -4.30491901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.630714057 meters 0.024634231906769076 Centerline is valid? [True, True] Translation: X:673.69, Y:-107.50, Z:-43.05 [[ 9.72895484e-01 2.23469224e-01 5.94632904e-02 6.73686244e+02] [-2.22891391e-01 9.74707599e-01 -1.62642037e-02 -1.07497081e+02] [-6.15938700e-02 2.56951483e-03 9.98097988e-01 -4.30502856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.660714057 meters 0.025813053646596997 Centerline is valid? [True, True] Translation: X:673.71, Y:-107.50, Z:-43.05 [[ 9.73145261e-01 2.22181883e-01 6.01956061e-02 6.73713878e+02] [-2.21587408e-01 9.75001549e-01 -1.64620647e-02 -1.07503744e+02] [-6.23483817e-02 2.68139191e-03 9.98050845e-01 -4.30503372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.6907140569999 meters 0.026717872961822924 Centerline is valid? [True, True] Translation: X:673.74, Y:-107.51, Z:-43.05 [[ 9.73303274e-01 2.21454790e-01 6.03200779e-02 6.73741118e+02] [-2.20856653e-01 9.75166816e-01 -1.64930059e-02 -1.07510801e+02] [-6.24745935e-02 2.73060612e-03 9.98042819e-01 -4.30514322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.7207140569999 meters 0.02695133661200127 Centerline is valid? [True, True] Translation: X:673.77, Y:-107.52, Z:-43.05 [[ 9.73604236e-01 2.20153625e-01 6.02260224e-02 6.73769747e+02] [-2.19555154e-01 9.75461179e-01 -1.64627588e-02 -1.07516285e+02] [-6.23724828e-02 2.80527807e-03 9.98048999e-01 -4.30534962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.750714057 meters 0.027267568614074818 Centerline is valid? [True, True] Translation: X:673.80, Y:-107.52, Z:-43.06 [[ 9.73722752e-01 2.19722718e-01 5.98826366e-02 6.73798173e+02] [-2.19130461e-01 9.75558308e-01 -1.63654752e-02 -1.07522679e+02] [-6.20148704e-02 2.81332580e-03 9.98071261e-01 -4.30553945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.780714057 meters 0.026555358091546466 Centerline is valid? [True, True] Translation: X:673.83, Y:-107.53, Z:-43.06 [[ 9.73775098e-01 2.19537460e-01 5.97106525e-02 6.73826649e+02] [-2.18948474e-01 9.75600014e-01 -1.63149723e-02 -1.07526625e+02] [-6.18354610e-02 2.81355749e-03 9.98082391e-01 -4.30577316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.8107140569999 meters 0.02648827715773754 Centerline is valid? [True, True] Translation: X:673.86, Y:-107.53, Z:-43.06 [[ 9.73689279e-01 2.20201860e-01 5.86543112e-02 6.73855912e+02] [-2.19635029e-01 9.75450539e-01 -1.60218365e-02 -1.07529503e+02] [-6.07424177e-02 2.71774913e-03 9.98149775e-01 -4.30604382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.8407140569999 meters 0.028519366194686323 Centerline is valid? [True, True] Translation: X:673.88, Y:-107.54, Z:-43.06 [[ 9.73631894e-01 2.20646642e-01 5.79309413e-02 6.73882329e+02] [-2.20094779e-01 9.75350206e-01 -1.58197154e-02 -1.07537997e+02] [-5.99935226e-02 2.65228176e-03 9.98195243e-01 -4.30623220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.870714057 meters 0.027279671303107104 Centerline is valid? [True, True] Translation: X:673.91, Y:-107.54, Z:-43.06 [[ 9.73406866e-01 2.21801239e-01 5.72999519e-02 6.73912085e+02] [-2.21263675e-01 9.75088571e-01 -1.56417674e-02 -1.07539891e+02] [-5.93418916e-02 2.54740586e-03 9.98234467e-01 -4.30647593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.900714057 meters 0.026419840268968948 Centerline is valid? [True, True] Translation: X:673.94, Y:-107.54, Z:-43.07 [[ 9.73325560e-01 2.22167042e-01 5.72639478e-02 6.73941097e+02] [-2.21630983e-01 9.75005361e-01 -1.56286137e-02 -1.07543870e+02] [-5.93048189e-02 2.52026414e-03 9.98236739e-01 -4.30667555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.9307140569999 meters 0.0271198030972314 Centerline is valid? [True, True] Translation: X:673.97, Y:-107.55, Z:-43.07 [[ 9.73151716e-01 2.22857286e-01 5.75357884e-02 6.73968549e+02] [-2.22317597e-01 9.74847912e-01 -1.56982218e-02 -1.07550379e+02] [-5.95871063e-02 2.48553327e-03 9.98220015e-01 -4.30680072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.9607140569999 meters 0.027310664152049417 Centerline is valid? [True, True] Translation: X:674.00, Y:-107.55, Z:-43.07 [[ 9.72551966e-01 2.25247426e-01 5.83632643e-02 6.73998199e+02] [-2.24696717e-01 9.74298718e-01 -1.59183139e-02 -1.07552696e+02] [-6.04488128e-02 2.36735357e-03 9.98168491e-01 -4.30687662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.990714057 meters 0.027415384038283037 Centerline is valid? [True, True] Translation: X:674.03, Y:-107.56, Z:-43.07 [[ 9.72138863e-01 2.26918746e-01 5.87700069e-02 6.74025997e+02] [-2.26363581e-01 9.73911034e-01 -1.60258117e-02 -1.07557900e+02] [-6.08733153e-02 2.27592516e-03 9.98142905e-01 -4.30698847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.020714057 meters 0.02638721304049605 Centerline is valid? [True, True] Translation: X:674.06, Y:-107.56, Z:-43.07 [[ 9.71755259e-01 2.28432797e-01 5.92467142e-02 6.74055199e+02] [-2.27871662e-01 9.73557210e-01 -1.61512885e-02 -1.07561505e+02] [-6.13695498e-02 2.19445229e-03 9.98112700e-01 -4.30712333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.0507140569999 meters 0.025438547015696217 Centerline is valid? [True, True] Translation: X:674.08, Y:-107.56, Z:-43.07 [[ 9.70982303e-01 2.31701233e-01 5.92275853e-02 6.74084806e+02] [-2.31146801e-01 9.72784975e-01 -1.61415471e-02 -1.07562500e+02] [-6.13557214e-02 1.98288974e-03 9.98113993e-01 -4.30738553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.0807140569999 meters 0.025883726034258318 Centerline is valid? [True, True] Translation: X:674.11, Y:-107.57, Z:-43.08 [[ 9.70534390e-01 2.33621998e-01 5.90233809e-02 6.74111987e+02] [-2.33075212e-01 9.72325736e-01 -1.60812936e-02 -1.07569411e+02] [-6.11468962e-02 1.85056143e-03 9.98127062e-01 -4.30760681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.1107140569999 meters 0.02521822193254327 Centerline is valid? [True, True] Translation: X:674.14, Y:-107.57, Z:-43.08 [[ 9.70306640e-01 2.34749845e-01 5.82883729e-02 6.74140574e+02] [-2.34218970e-01 9.72054238e-01 -1.58755440e-02 -1.07572727e+02] [-6.03862414e-02 1.75190306e-03 9.98173548e-01 -4.30786466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.140714057 meters 0.024539902503419225 Centerline is valid? [True, True] Translation: X:674.17, Y:-107.57, Z:-43.08 [[ 9.69664846e-01 2.37238478e-01 5.88896536e-02 6.74170063e+02] [-2.36701439e-01 9.71450110e-01 -1.60347489e-02 -1.07574849e+02] [-6.10124199e-02 1.60906653e-03 9.98135710e-01 -4.30804868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.1707140569999 meters 0.025224611217053813 Centerline is valid? [True, True] Translation: X:674.20, Y:-107.58, Z:-43.08 [[ 9.69435598e-01 2.38270210e-01 5.84972503e-02 6.74197539e+02] [-2.37742461e-01 9.71197698e-01 -1.59233770e-02 -1.07581781e+02] [-6.06064612e-02 1.52940827e-03 9.98160567e-01 -4.30816756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.2007140569999 meters 0.025261386370339423 Centerline is valid? [True, True] Translation: X:674.23, Y:-107.58, Z:-43.08 [[ 9.68852321e-01 2.40471464e-01 5.91494353e-02 6.74226538e+02] [-2.39936246e-01 9.70655195e-01 -1.60962930e-02 -1.07584216e+02] [-6.12844058e-02 1.40283736e-03 9.98119358e-01 -4.30834915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.2307140569999 meters 0.025231196340573678 Centerline is valid? [True, True] Translation: X:674.25, Y:-107.59, Z:-43.09 [[ 9.68569220e-01 2.41606224e-01 5.91616355e-02 6.74254893e+02] [-2.41073177e-01 9.70373470e-01 -1.60950813e-02 -1.07590567e+02] [-6.12975534e-02 1.32691695e-03 9.98118655e-01 -4.30851616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.260714057 meters 0.024796690612388032 Centerline is valid? [True, True] Translation: X:674.28, Y:-107.60, Z:-43.09 [[ 9.68307681e-01 2.42594256e-01 5.93991712e-02 6.74282531e+02] [-2.42059051e-01 9.70127016e-01 -1.61551515e-02 -1.07596893e+02] [-6.15438876e-02 1.26505027e-03 9.98103577e-01 -4.30871959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.290714057 meters 0.024546064825758596 Centerline is valid? [True, True] Translation: X:674.31, Y:-107.60, Z:-43.09 [[ 9.67823448e-01 2.44583147e-01 5.91342403e-02 6.74310122e+02] [-2.44056691e-01 9.69627665e-01 -1.60786309e-02 -1.07602831e+02] [-6.12707575e-02 1.12916899e-03 9.98120543e-01 -4.30889813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.3207140569999 meters 0.024729813394578113 Centerline is valid? [True, True] Translation: X:674.34, Y:-107.61, Z:-43.09 [[ 9.67633936e-01 2.45331092e-01 5.91373026e-02 6.74337714e+02] [-2.44806249e-01 9.69438752e-01 -1.60750098e-02 -1.07609683e+02] [-6.12736926e-02 1.07754372e-03 9.98120420e-01 -4.30905344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.3507140569999 meters 0.02509323719090588 Centerline is valid? [True, True] Translation: X:674.36, Y:-107.62, Z:-43.09 [[ 9.67581945e-01 2.45468267e-01 5.94180988e-02 6.74363592e+02] [-2.44938985e-01 9.69404037e-01 -1.61464213e-02 -1.07616333e+02] [-6.15635789e-02 1.06917692e-03 9.98102591e-01 -4.30923234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.380714057 meters 0.024770523485279302 Centerline is valid? [True, True] Translation: X:674.39, Y:-107.62, Z:-43.09 [[ 9.67576802e-01 2.45571450e-01 5.90744804e-02 6.74390346e+02] [-2.45049181e-01 9.69377930e-01 -1.60414677e-02 -1.07623483e+02] [-6.12048240e-02 1.04519903e-03 9.98124680e-01 -4.30944953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.410714057 meters 0.024737985825536955 Centerline is valid? [True, True] Translation: X:674.42, Y:-107.63, Z:-43.10 [[ 9.67688746e-01 2.45234775e-01 5.86378382e-02 6.74416833e+02] [-2.44719913e-01 9.69463148e-01 -1.59175606e-02 -1.07631286e+02] [-6.07507626e-02 1.05339754e-03 9.98152411e-01 -4.30964769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.4407140569999 meters 0.024495852452330262 Centerline is valid? [True, True] Translation: X:674.44, Y:-107.64, Z:-43.10 [[ 9.67816034e-01 2.44881982e-01 5.80080972e-02 6.74443584e+02] [-2.44377809e-01 9.69552316e-01 -1.57414305e-02 -1.07641056e+02] [-6.00966777e-02 1.05891714e-03 9.98192000e-01 -4.30980902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.4707140569999 meters 0.02456801649259011 Centerline is valid? [True, True] Translation: X:674.47, Y:-107.65, Z:-43.10 [[ 9.67884910e-01 2.44603917e-01 5.80321078e-02 6.74469749e+02] [-2.44099082e-01 9.69622490e-01 -1.57437196e-02 -1.07649711e+02] [-6.01202124e-02 1.07252438e-03 9.98190568e-01 -4.30995999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.500714057 meters 0.02456801649259011 Centerline is valid? [True, True] Translation: X:674.50, Y:-107.66, Z:-43.10 [[ 9.67909284e-01 2.44507137e-01 5.80334297e-02 6.74496258e+02] [-2.44002420e-01 9.69646898e-01 -1.57388454e-02 -1.07656802e+02] [-6.01201952e-02 1.07347729e-03 9.98190568e-01 -4.31011905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.530714057 meters 0.02437710332275432 Centerline is valid? [True, True] Translation: X:674.52, Y:-107.67, Z:-43.10 [[ 9.67909103e-01 2.44392091e-01 5.85190090e-02 6.74523137e+02] [-2.43879058e-01 9.69675890e-01 -1.58642120e-02 -1.07665372e+02] [-6.06215601e-02 1.08355444e-03 9.98160234e-01 -4.31021212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.5607140569999 meters 0.024190635010221243 Centerline is valid? [True, True] Translation: X:674.55, Y:-107.67, Z:-43.10 [[ 9.67880900e-01 2.44411267e-01 5.89041192e-02 6.74549040e+02] [-2.43891880e-01 9.69671057e-01 -1.59621994e-02 -1.07673767e+02] [-6.10189609e-02 1.08327160e-03 9.98136019e-01 -4.31032279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.5907140569999 meters 0.02352227888640092 Centerline is valid? [True, True] Translation: X:674.58, Y:-107.68, Z:-43.10 [[ 9.67857241e-01 2.44352022e-01 5.95352907e-02 6.74576267e+02] [-2.43821779e-01 9.69685979e-01 -1.61258160e-02 -1.07681972e+02] [-6.16709123e-02 1.09148728e-03 9.98095941e-01 -4.31037106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.620714057 meters 0.023718653733487836 Centerline is valid? [True, True] Translation: X:674.60, Y:-107.69, Z:-43.10 [[ 9.67863506e-01 2.44259634e-01 5.98119198e-02 6.74601118e+02] [-2.43724687e-01 9.69709250e-01 -1.61940397e-02 -1.07691610e+02] [-6.19557222e-02 1.09597861e-03 9.98078297e-01 -4.31043745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.650714057 meters 0.022215167926483762 Centerline is valid? [True, True] Translation: X:674.63, Y:-107.70, Z:-43.11 [[ 9.67345651e-01 2.46319929e-01 5.97401439e-02 6.74628454e+02] [-2.45790649e-01 9.69188103e-01 -1.61671803e-02 -1.07699365e+02] [-6.18817354e-02 9.55682823e-04 9.98083031e-01 -4.31061515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.6807140569999 meters 0.022950978128415567 Centerline is valid? [True, True] Translation: X:674.65, Y:-107.71, Z:-43.11 [[ 9.67050915e-01 2.47536793e-01 5.94816237e-02 6.74654525e+02] [-2.47014677e-01 9.68878104e-01 -1.60925087e-02 -1.07709899e+02] [-6.16139308e-02 8.69441243e-04 9.98099678e-01 -4.31073793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.7107140569999 meters 0.022210952865627683 Centerline is valid? [True, True] Translation: X:674.68, Y:-107.72, Z:-43.11 [[ 9.66526068e-01 2.49595813e-01 5.94078338e-02 6.74683106e+02] [-2.49079365e-01 9.68349832e-01 -1.60646236e-02 -1.07716104e+02] [-6.15372286e-02 7.29611970e-04 9.98104522e-01 -4.31095881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.740714057 meters 0.021545575163449036 Centerline is valid? [True, True] Translation: X:674.71, Y:-107.72, Z:-43.11 [[ 9.65635094e-01 2.53083677e-01 5.91398135e-02 6.74710218e+02] [-2.52578618e-01 9.67444262e-01 -1.59887866e-02 -1.07724476e+02] [-6.12609741e-02 5.01881169e-04 9.98121657e-01 -4.31105639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.770714057 meters 0.021003580044857396 Centerline is valid? [True, True] Translation: X:674.74, Y:-107.73, Z:-43.11 [[ 9.65264478e-01 2.54520744e-01 5.90226903e-02 6.74737606e+02] [-2.54020636e-01 9.67067230e-01 -1.59527520e-02 -1.07732287e+02] [-6.11392159e-02 4.05643533e-04 9.98129166e-01 -4.31122190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.8007140569999 meters 0.0212358837925932 Centerline is valid? [True, True] Translation: X:674.76, Y:-107.74, Z:-43.11 [[ 9.64932965e-01 2.55816981e-01 5.88391450e-02 6.74764324e+02] [-2.55322664e-01 9.66725179e-01 -1.58986319e-02 -1.07741554e+02] [-6.09484229e-02 3.18146769e-04 9.98140866e-01 -4.31138227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.8307140569999 meters 0.019995978003253225 Centerline is valid? [True, True] Translation: X:674.79, Y:-107.75, Z:-43.12 [[ 9.64492480e-01 2.57641125e-01 5.80973850e-02 6.74790457e+02] [-2.57162832e-01 9.66240660e-01 -1.56928408e-02 -1.07753267e+02] [-6.01791768e-02 1.95138894e-04 9.98187572e-01 -4.31156169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.8607140569999 meters 0.020001448721114267 Centerline is valid? [True, True] Translation: X:674.82, Y:-107.76, Z:-43.12 [[ 9.64454075e-01 2.57886859e-01 5.76429111e-02 6.74815784e+02] [-2.57416732e-01 9.66175107e-01 -1.55656205e-02 -1.07763018e+02] [-5.97073148e-02 1.74076287e-04 9.98215912e-01 -4.31170053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.890714057 meters 0.01953823228052178 Centerline is valid? [True, True] Translation: X:674.84, Y:-107.78, Z:-43.12 [[ 9.64302439e-01 2.58603897e-01 5.69634134e-02 6.74841318e+02] [-2.58146486e-01 9.65983442e-01 -1.53747202e-02 -1.07775747e+02] [-5.90016767e-02 1.20975182e-04 9.98257876e-01 -4.31179328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.9207140569999 meters 0.019158265649268116 Centerline is valid? [True, True] Translation: X:674.87, Y:-107.79, Z:-43.12 [[ 9.64242551e-01 2.58768519e-01 5.72289789e-02 6.74866867e+02] [-2.58307501e-01 9.65939358e-01 -1.54399706e-02 -1.07785643e+02] [-5.92751015e-02 1.05202114e-04 9.98241680e-01 -4.31190910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.9507140569999 meters 0.019160556989245642 Centerline is valid? [True, True] Translation: X:674.89, Y:-107.80, Z:-43.12 [[ 9.64090261e-01 2.59339632e-01 5.72094655e-02 6.74891629e+02] [-2.58880376e-01 9.65786183e-01 -1.54272470e-02 -1.07795578e+02] [-5.92530079e-02 6.28506636e-05 9.98242995e-01 -4.31199535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.9807140569999 meters 0.018610674432930664 Centerline is valid? [True, True] Translation: X:674.92, Y:-107.81, Z:-43.12 [[ 9.63561514e-01 2.61262714e-01 5.73672584e-02 6.74917352e+02] [-2.60804980e-01 9.65267730e-01 -1.54587406e-02 -1.07808998e+02] [-5.94135558e-02 -6.62191391e-05 9.98233452e-01 -4.31202049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.010714057 meters 0.018541248014725977 Centerline is valid? [True, True] Translation: X:674.94, Y:-107.82, Z:-43.12 [[ 9.63169904e-01 2.62721551e-01 5.72810802e-02 6.74944261e+02] [-2.62268141e-01 9.64871681e-01 -1.54292495e-02 -1.07819721e+02] [-5.93224885e-02 -1.62013618e-04 9.98238857e-01 -4.31214432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.040714057 meters 0.017784053851457964 Centerline is valid? [True, True] Translation: X:674.97, Y:-107.83, Z:-43.12 [[ 9.62735369e-01 2.64223414e-01 5.76766499e-02 6.74971506e+02] [-2.63766662e-01 9.64461466e-01 -1.55315339e-02 -1.07830679e+02] [-5.97307013e-02 -2.60420365e-04 9.98214494e-01 -4.31225233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.0707140569999 meters 0.017719110429121703 Centerline is valid? [True, True] Translation: X:675.00, Y:-107.85, Z:-43.12 [[ 9.61874439e-01 2.67286538e-01 5.79264288e-02 6.74997853e+02] [-2.66831629e-01 9.63616987e-01 -1.55943586e-02 -1.07845007e+02] [-5.99870529e-02 -4.56788452e-04 9.98199051e-01 -4.31231569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.1007140569999 meters 0.017327834310033315 Centerline is valid? [True, True] Translation: X:675.02, Y:-107.86, Z:-43.12 [[ 9.61469957e-01 2.68638461e-01 5.83857858e-02 6.75024837e+02] [-2.68179061e-01 9.63240923e-01 -1.57135566e-02 -1.07856796e+02] [-6.04608439e-02 -5.49732663e-04 9.98170418e-01 -4.31240681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.130714057 meters 0.017085198889806075 Centerline is valid? [True, True] Translation: X:675.05, Y:-107.87, Z:-43.12 [[ 9.60987755e-01 2.70412529e-01 5.81343215e-02 6.75049442e+02] [-2.69960596e-01 9.62744320e-01 -1.56413391e-02 -1.07872203e+02] [-6.01981019e-02 -6.62840793e-04 9.98186230e-01 -4.31243560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.160714057 meters 0.016571118599096973 Centerline is valid? [True, True] Translation: X:675.08, Y:-107.88, Z:-43.13 [[ 9.60868330e-01 2.70852202e-01 5.80614933e-02 6.75075760e+02] [-2.70402539e-01 9.62620695e-01 -1.56161806e-02 -1.07884319e+02] [-6.01208719e-02 -6.94881780e-04 9.98190862e-01 -4.31251706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.1907140569999 meters 0.016701845155282957 Centerline is valid? [True, True] Translation: X:675.10, Y:-107.90, Z:-43.13 [[ 9.60757912e-01 2.71224846e-01 5.81491026e-02 6.75102013e+02] [-2.70774775e-01 9.62515745e-01 -1.56352754e-02 -1.07897080e+02] [-6.02101020e-02 -7.23595642e-04 9.98185464e-01 -4.31270825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.2207140569999 meters 0.016237289773693694 Centerline is valid? [True, True] Translation: X:675.13, Y:-107.91, Z:-43.13 [[ 9.60749691e-01 2.71296717e-01 5.79493136e-02 6.75128227e+02] [-2.70850132e-01 9.62495485e-01 -1.55771396e-02 -1.07909962e+02] [-6.00019795e-02 -7.29847201e-04 9.98197991e-01 -4.31284997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.250714057 meters 0.016017959443466682 Centerline is valid? [True, True] Translation: X:675.15, Y:-107.93, Z:-43.13 [[ 9.60817688e-01 2.71186266e-01 5.73356823e-02 6.75153424e+02] [-2.70749156e-01 9.62526619e-01 -1.54078871e-02 -1.07928179e+02] [-5.93655278e-02 -7.19417142e-04 9.98236053e-01 -4.31302832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.280714057 meters 0.01567760866583516 Centerline is valid? [True, True] Translation: X:675.18, Y:-107.94, Z:-43.13 [[ 9.60809734e-01 2.71438111e-01 5.62672782e-02 6.75180032e+02] [-2.71017767e-01 9.62455624e-01 -1.51176398e-02 -1.07941516e+02] [-5.82582620e-02 -7.24256583e-04 9.98301282e-01 -4.31321096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.3107140569999 meters 0.015550480260082595 Centerline is valid? [True, True] Translation: X:675.21, Y:-107.96, Z:-43.13 [[ 9.60741529e-01 2.71965415e-01 5.48682847e-02 6.75206528e+02] [-2.71566704e-01 9.62306742e-01 -1.47396987e-02 -1.07960751e+02] [-5.68088086e-02 -7.39358548e-04 9.98384802e-01 -4.31344376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.3407140569999 meters 0.015233217653350768 Centerline is valid? [True, True] Translation: X:675.23, Y:-107.97, Z:-43.14 [[ 9.60571842e-01 2.72704042e-01 5.41686475e-02 6.75234601e+02] [-2.72316626e-01 9.62097660e-01 -1.45515454e-02 -1.07974812e+02] [-5.60837943e-02 -7.73218558e-04 9.98425766e-01 -4.31357942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.370714057 meters 0.015233005878299455 Centerline is valid? [True, True] Translation: X:675.26, Y:-107.99, Z:-43.14 [[ 9.60433205e-01 2.73163802e-01 5.43101833e-02 6.75263097e+02] [-2.72775096e-01 9.61967200e-01 -1.45895085e-02 -1.07988051e+02] [-5.62299405e-02 -8.02217051e-04 9.98417523e-01 -4.31370978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.400714057 meters 0.015433755823117777 Centerline is valid? [True, True] Translation: X:675.29, Y:-108.01, Z:-43.14 [[ 9.60029057e-01 2.74348720e-01 5.54706251e-02 6.75291175e+02] [-2.73945071e-01 9.61629862e-01 -1.49032750e-02 -1.08006537e+02] [-5.74309040e-02 -8.88327262e-04 9.98349088e-01 -4.31374352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.4307140569999 meters 0.015039192401322975 Centerline is valid? [True, True] Translation: X:675.32, Y:-108.02, Z:-43.14 [[ 9.59863410e-01 2.74796271e-01 5.61181201e-02 6.75321791e+02] [-2.74383034e-01 9.61502043e-01 -1.50921178e-02 -1.08020632e+02] [-5.81049448e-02 -9.11488314e-04 9.98310064e-01 -4.31382674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.4607140569999 meters 0.01486251178270535 Centerline is valid? [True, True] Translation: X:675.35, Y:-108.04, Z:-43.14 [[ 9.59792769e-01 2.74993774e-01 5.63583532e-02 6.75350236e+02] [-2.74576328e-01 9.61445575e-01 -1.51738597e-02 -1.08040580e+02] [-5.83582062e-02 -9.10908849e-04 9.98295292e-01 -4.31398879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.490714057 meters 0.014897861315208325 Centerline is valid? [True, True] Translation: X:675.38, Y:-108.05, Z:-43.14 [[ 9.60001155e-01 2.74214140e-01 5.66073046e-02 6.75378497e+02] [-2.73790616e-01 9.61668281e-01 -1.52583267e-02 -1.08053534e+02] [-5.86214983e-02 -8.50537534e-04 9.98279919e-01 -4.31418948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.520714057 meters 0.014479100675389867 Centerline is valid? [True, True] Translation: X:675.41, Y:-108.07, Z:-43.14 [[ 9.60351219e-01 2.72940084e-01 5.68264648e-02 6.75407460e+02] [-2.72510525e-01 9.62030728e-01 -1.53261945e-02 -1.08068800e+02] [-5.88519381e-02 -7.67280138e-04 9.98266428e-01 -4.31437225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.5507140569999 meters 0.014099222829481714 Centerline is valid? [True, True] Translation: X:675.43, Y:-108.09, Z:-43.14 [[ 9.61411855e-01 2.68909678e-01 5.80932875e-02 6.75433741e+02] [-2.68452433e-01 9.63165260e-01 -1.56835458e-02 -1.08089362e+02] [-6.01708936e-02 -5.16937482e-04 9.98187956e-01 -4.31449972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.5807140569999 meters 0.013769052457391996 Centerline is valid? [True, True] Translation: X:675.46, Y:-108.10, Z:-43.15 [[ 9.62086198e-01 2.66390875e-01 5.85324578e-02 6.75463192e+02] [-2.65921458e-01 9.63865020e-01 -1.58114318e-02 -1.08104155e+02] [-6.06294098e-02 -3.53076171e-04 9.98160283e-01 -4.31465633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.6107140569999 meters 0.013700892149088454 Centerline is valid? [True, True] Translation: X:675.49, Y:-108.13, Z:-43.15 [[ 9.63637306e-01 2.60674459e-01 5.87534662e-02 6.75490663e+02] [-2.60189895e-01 9.65426758e-01 -1.58868723e-02 -1.08125020e+02] [-6.08634702e-02 2.21246071e-05 9.98146100e-01 -4.31484928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.640714057 meters 0.013673471692402236 Centerline is valid? [True, True] Translation: X:675.52, Y:-108.14, Z:-43.15 [[ 9.64462285e-01 2.57595795e-01 5.87954640e-02 6.75520281e+02] [-2.57103839e-01 9.66252737e-01 -1.59142625e-02 -1.08139671e+02] [-6.09107251e-02 2.32166500e-04 9.98143191e-01 -4.31502309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.6707140569999 meters 0.01402160351230672 Centerline is valid? [True, True] Translation: X:675.55, Y:-108.15, Z:-43.15 [[ 9.65235963e-01 2.54743011e-01 5.85280581e-02 6.75549971e+02] [-2.54249262e-01 9.67008695e-01 -1.58586309e-02 -1.08154402e+02] [-6.06370165e-02 4.26605321e-04 9.98159792e-01 -4.31518856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.7007140569999 meters 0.0147687233581726 Centerline is valid? [True, True] Translation: X:675.58, Y:-108.17, Z:-43.15 [[ 9.67081048e-01 2.47658182e-01 5.84779566e-02 6.75577979e+02] [-2.47151400e-01 9.68847068e-01 -1.58601343e-02 -1.08174605e+02] [-6.05840889e-02 8.85126481e-04 9.98162705e-01 -4.31542826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.7307140569999 meters 0.015427695627567904 Centerline is valid? [True, True] Translation: X:675.61, Y:-108.19, Z:-43.16 [[ 9.68052398e-01 2.43904484e-01 5.81821082e-02 6.75607871e+02] [-2.43395749e-01 9.69798613e-01 -1.57847834e-02 -1.08188463e+02] [-6.02749073e-02 1.11921961e-03 9.98181187e-01 -4.31561329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.760714057 meters 0.017174367726234343 Centerline is valid? [True, True] Translation: X:675.63, Y:-108.21, Z:-43.16 [[ 9.69920980e-01 2.36581094e-01 5.72946602e-02 6.75634569e+02] [-2.36074120e-01 9.71610486e-01 -1.55586896e-02 -1.08206895e+02] [-5.93489844e-02 1.56491296e-03 9.98236069e-01 -4.31586236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.790714057 meters 0.017942080901996317 Centerline is valid? [True, True] Translation: X:675.66, Y:-108.22, Z:-43.16 [[ 9.70698539e-01 2.33630190e-01 5.62252748e-02 6.75664463e+02] [-2.33136976e-01 9.72324019e-01 -1.52693557e-02 -1.08219270e+02] [-5.82365677e-02 1.71375075e-03 9.98301340e-01 -4.31606426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.8207140569999 meters 0.01889476811433543 Centerline is valid? [True, True] Translation: X:675.69, Y:-108.23, Z:-43.16 [[ 9.71454724e-01 2.30538002e-01 5.59280762e-02 6.75694400e+02] [-2.30044630e-01 9.73061481e-01 -1.51928556e-02 -1.08231236e+02] [-5.79239872e-02 1.89321776e-03 9.98319201e-01 -4.31624454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.8507140569999 meters 0.02043214750727601 Centerline is valid? [True, True] Translation: X:675.72, Y:-108.24, Z:-43.16 [[ 9.72610122e-01 2.25693343e-01 5.56063421e-02 6.75722974e+02] [-2.25197485e-01 9.74195972e-01 -1.51096426e-02 -1.08243841e+02] [-5.75816202e-02 2.17338295e-03 9.98338436e-01 -4.31626155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.880714057 meters 0.020477774007209945 Centerline is valid? [True, True] Translation: X:675.75, Y:-108.25, Z:-43.16 [[ 9.73056407e-01 2.23781259e-01 5.55263704e-02 6.75753513e+02] [-2.23283662e-01 9.74636717e-01 -1.50889351e-02 -1.08252937e+02] [-5.74946603e-02 2.28425359e-03 9.98343201e-01 -4.31636911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.910714057 meters 0.022758547174791362 Centerline is valid? [True, True] Translation: X:675.78, Y:-108.26, Z:-43.16 [[ 9.73818701e-01 2.20233958e-01 5.63395259e-02 6.75781456e+02] [-2.19715489e-01 9.75443786e-01 -1.53141982e-02 -1.08263850e+02] [-5.83287469e-02 2.53458616e-03 9.98294212e-01 -4.31634146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.9407140569999 meters 0.022871437522247115 Centerline is valid? [True, True] Translation: X:675.81, Y:-108.27, Z:-43.16 [[ 9.74051707e-01 2.19063363e-01 5.68727934e-02 6.75812089e+02] [-2.18533016e-01 9.75707091e-01 -1.54594043e-02 -1.08271478e+02] [-5.88777769e-02 2.62967612e-03 9.98261735e-01 -4.31645896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.9707140569999 meters 0.023310019409628024 Centerline is valid? [True, True] Translation: X:675.84, Y:-108.28, Z:-43.17 [[ 9.74256637e-01 2.18058328e-01 5.72238682e-02 6.75843513e+02] [-2.17518851e-01 9.75931946e-01 -1.55687409e-02 -1.08279466e+02] [-5.92414947e-02 2.72067910e-03 9.98239973e-01 -4.31659590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.000714057 meters 0.0251094015417307 Centerline is valid? [True, True] Translation: X:675.87, Y:-108.29, Z:-43.17 [[ 9.74809607e-01 2.15317962e-01 5.81756511e-02 6.75873216e+02] [-2.14754611e-01 9.76539540e-01 -1.58424552e-02 -1.08286488e+02] [-6.02219888e-02 2.94988821e-03 9.98180650e-01 -4.31660817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.030714057 meters 0.025812801275982858 Centerline is valid? [True, True] Translation: X:675.90, Y:-108.29, Z:-43.17 [[ 9.74947149e-01 2.14606572e-01 5.84985137e-02 6.75904649e+02] [-2.14035564e-01 9.76695933e-01 -1.59320922e-02 -1.08293870e+02] [-6.05543921e-02 3.01218551e-03 9.98160354e-01 -4.31673359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.0607140569999 meters 0.028221359192644555 Centerline is valid? [True, True] Translation: X:675.94, Y:-108.30, Z:-43.17 [[ 9.75190489e-01 2.13562464e-01 5.82630648e-02 6.75935440e+02] [-2.12993299e-01 9.76924559e-01 -1.58827299e-02 -1.08300061e+02] [-6.03105738e-02 3.07904480e-03 9.98174912e-01 -4.31685493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.0907140569999 meters 0.02534534664269709 Centerline is valid? [True, True] Translation: X:675.97, Y:-108.30, Z:-43.17 [[ 9.75141754e-01 2.13700224e-01 5.85728040e-02 6.75968977e+02] [-2.13124310e-01 9.76894361e-01 -1.59823448e-02 -1.08301541e+02] [-6.06348726e-02 3.10176335e-03 9.98155194e-01 -4.31705416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.120714057 meters 0.02473701663036249 Centerline is valid? [True, True] Translation: X:676.00, Y:-108.31, Z:-43.17 [[ 9.75034287e-01 2.14133883e-01 5.87777143e-02 6.76001304e+02] [-2.13553633e-01 9.76799392e-01 -1.60559603e-02 -1.08306016e+02] [-6.08521607e-02 3.10291739e-03 9.98141967e-01 -4.31721689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.150714057 meters 0.028519440024285747 Centerline is valid? [True, True] Translation: X:676.03, Y:-108.32, Z:-43.17 [[ 9.74797496e-01 2.15267198e-01 5.85651318e-02 6.76030358e+02] [-2.14692257e-01 9.76550468e-01 -1.60130857e-02 -1.08316162e+02] [-6.06388989e-02 3.03603552e-03 9.98155152e-01 -4.31740011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.1807140569999 meters 0.026193937770577307 Centerline is valid? [True, True] Translation: X:676.06, Y:-108.31, Z:-43.18 [[ 9.74287518e-01 2.17796191e-01 5.76944754e-02 6.76063666e+02] [-2.17241854e-01 9.75990115e-01 -1.57883870e-02 -1.08313759e+02] [-5.97478882e-02 2.84877359e-03 9.98209434e-01 -4.31766029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.2107140569999 meters 0.024043655333408482 Centerline is valid? [True, True] Translation: X:676.10, Y:-108.32, Z:-43.18 [[ 9.73898546e-01 2.19638253e-01 5.72770383e-02 6.76096062e+02] [-2.19094907e-01 9.75577596e-01 -1.56772689e-02 -1.08315012e+02] [-5.93215233e-02 2.71896206e-03 9.98235225e-01 -4.31791298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.240714057 meters 0.022751880302405634 Centerline is valid? [True, True] Translation: X:676.13, Y:-108.32, Z:-43.18 [[ 9.73512027e-01 2.21644353e-01 5.61080509e-02 6.76127788e+02] [-2.21126123e-01 9.75124246e-01 -1.53604055e-02 -1.08317230e+02] [-5.81168679e-02 2.54658371e-03 9.98306538e-01 -4.31816165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.270714057 meters 0.02365029612070069 Centerline is valid? [True, True] Translation: X:676.16, Y:-108.32, Z:-43.19 [[ 9.72723431e-01 2.25514316e-01 5.43361813e-02 6.76157676e+02] [-2.25034230e-01 9.74237270e-01 -1.48774349e-02 -1.08318855e+02] [-5.62914075e-02 2.24412883e-03 9.98411860e-01 -4.31850619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.3007140569999 meters 0.02195801581809579 Centerline is valid? [True, True] Translation: X:676.19, Y:-108.32, Z:-43.19 [[ 9.72398914e-01 2.26991653e-01 5.39920566e-02 6.76190883e+02] [-2.26519980e-01 9.73894344e-01 -1.47819062e-02 -1.08320923e+02] [-5.59379279e-02 2.14362998e-03 9.98431947e-01 -4.31876719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.3307140569999 meters 0.019894659604100137 Centerline is valid? [True, True] Translation: X:676.22, Y:-108.32, Z:-43.19 [[ 9.71637599e-01 2.30396500e-01 5.32712774e-02 6.76223791e+02] [-2.29942021e-01 9.73094924e-01 -1.45923257e-02 -1.08318384e+02] [-5.52000304e-02 1.92914715e-03 9.98473452e-01 -4.31896557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.3607140569999 meters 0.020126815995680263 Centerline is valid? [True, True] Translation: X:676.26, Y:-108.32, Z:-43.19 [[ 9.71173929e-01 2.32405750e-01 5.29978071e-02 6.76255333e+02] [-2.31958810e-01 9.72617243e-01 -1.45193017e-02 -1.08323661e+02] [-5.49209502e-02 1.80745906e-03 9.98489070e-01 -4.31916755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.390714057 meters 0.020032407285028895 Centerline is valid? [True, True] Translation: X:676.29, Y:-108.33, Z:-43.19 [[ 9.70516785e-01 2.35180941e-01 5.27929519e-02 6.76286805e+02] [-2.34741296e-01 9.71950208e-01 -1.44677640e-02 -1.08328283e+02] [-5.47146629e-02 1.64852179e-03 9.98500670e-01 -4.31933904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.4207140569999 meters 0.020032407285028895 Centerline is valid? [True, True] Translation: X:676.32, Y:-108.34, Z:-43.20 [[ 9.70450509e-01 2.35455087e-01 5.27893197e-02 6.76318094e+02] [-2.35015128e-01 9.71883836e-01 -1.44810045e-02 -1.08336930e+02] [-5.47147126e-02 1.64680945e-03 9.98500670e-01 -4.31952723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.4507140569999 meters 0.018165755939380406 Centerline is valid? [True, True] Translation: X:676.35, Y:-108.33, Z:-43.20 [[ 9.69117863e-01 2.40863552e-01 5.28707555e-02 6.76351894e+02] [-2.40429337e-01 9.70558035e-01 -1.45201273e-02 -1.08334420e+02] [-5.48115060e-02 1.36003406e-03 9.98495793e-01 -4.31964338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.4807140569999 meters 0.017837724714127354 Centerline is valid? [True, True] Translation: X:676.38, Y:-108.34, Z:-43.20 [[ 9.68317275e-01 2.44011792e-01 5.31027368e-02 6.76383289e+02] [-2.43578336e-01 9.69771535e-01 -1.45864324e-02 -1.08338714e+02] [-5.50567841e-02 1.18961819e-03 9.98482516e-01 -4.31975218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.510714057 meters 0.017313833553731728 Centerline is valid? [True, True] Translation: X:676.42, Y:-108.34, Z:-43.20 [[ 9.67456486e-01 2.47192448e-01 5.40725568e-02 6.76415583e+02] [-2.46747195e-01 9.68965846e-01 -1.48664303e-02 -1.08342620e+02] [-5.60693300e-02 1.04037271e-03 9.98426336e-01 -4.31986476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.540714057 meters 0.016612026831445165 Centerline is valid? [True, True] Translation: X:676.45, Y:-108.34, Z:-43.20 [[ 9.65889465e-01 2.52673183e-01 5.66904200e-02 6.76447145e+02] [-2.52192218e-01 9.67551376e-01 -1.56019177e-02 -1.08343154e+02] [-5.87930801e-02 7.72845172e-04 9.98269892e-01 -4.31986422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.5707140569999 meters 0.016489639296136414 Centerline is valid? [True, True] Translation: X:676.48, Y:-108.35, Z:-43.20 [[ 9.65128151e-01 2.55375169e-01 5.75428123e-02 6.76479397e+02] [-2.54884318e-01 9.66841838e-01 -1.58380618e-02 -1.08347848e+02] [-5.96794462e-02 6.18998784e-04 9.98217401e-01 -4.32002556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.6007140569999 meters 0.01621041898663765 Centerline is valid? [True, True] Translation: X:676.51, Y:-108.35, Z:-43.20 [[ 9.64155164e-01 2.58821444e-01 5.84489520e-02 6.76511761e+02] [-2.58320358e-01 9.65925089e-01 -1.61032645e-02 -1.08349994e+02] [-6.06251793e-02 4.27491398e-04 9.98160511e-01 -4.32023217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.630714057 meters 0.01628438249813021 Centerline is valid? [True, True] Translation: X:676.54, Y:-108.36, Z:-43.20 [[ 9.63801404e-01 2.60155215e-01 5.83619576e-02 6.76541874e+02] [-2.59657129e-01 9.65566743e-01 -1.60947036e-02 -1.08356084e+02] [-6.05394865e-02 3.57999613e-04 9.98165739e-01 -4.32040220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.660714057 meters 0.01610909830813521 Centerline is valid? [True, True] Translation: X:676.57, Y:-108.36, Z:-43.21 [[ 9.63318528e-01 2.61795200e-01 5.89973478e-02 6.76574660e+02] [-2.61288684e-01 9.65123413e-01 -1.62794903e-02 -1.08362848e+02] [-6.12016141e-02 2.66995296e-04 9.98125389e-01 -4.32062137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.6907140569999 meters 0.016011541399580515 Centerline is valid? [True, True] Translation: X:676.61, Y:-108.37, Z:-43.21 [[ 9.62918641e-01 2.63229359e-01 5.91438515e-02 6.76607070e+02] [-2.62721907e-01 9.64733262e-01 -1.63380672e-02 -1.08369642e+02] [-6.13586997e-02 1.93843975e-04 9.98115761e-01 -4.32081379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.7207140569999 meters 0.016010078385268935 Centerline is valid? [True, True] Translation: X:676.64, Y:-108.37, Z:-43.21 [[ 9.62180220e-01 2.65929142e-01 5.90839659e-02 6.76639080e+02] [-2.65426731e-01 9.63992578e-01 -1.63389165e-02 -1.08374425e+02] [-6.13014987e-02 3.85183352e-05 9.98119294e-01 -4.32108038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.750714057 meters 0.016099892256438625 Centerline is valid? [True, True] Translation: X:676.67, Y:-108.38, Z:-43.21 [[ 9.61572689e-01 2.68322232e-01 5.81476044e-02 6.76670220e+02] [-2.67839640e-01 9.63329211e-01 -1.60859825e-02 -1.08379918e+02] [-6.03315126e-02 -1.06391953e-04 9.98178390e-01 -4.32143830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.780714057 meters 0.01623187758804749 Centerline is valid? [True, True] Translation: X:676.70, Y:-108.39, Z:-43.22 [[ 9.61318738e-01 2.69423929e-01 5.72453453e-02 6.76702452e+02] [-2.68957186e-01 9.63021662e-01 -1.58527763e-02 -1.08388234e+02] [-5.93996249e-02 -1.56976099e-04 9.98234271e-01 -4.32171250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.8107140569999 meters 0.016021592905209693 Centerline is valid? [True, True] Translation: X:676.73, Y:-108.40, Z:-43.22 [[ 9.61164449e-01 2.70087101e-01 5.67085592e-02 6.76733792e+02] [-2.69629218e-01 9.62835877e-01 -1.57212824e-02 -1.08397210e+02] [-5.88471509e-02 -1.79546807e-04 9.98266989e-01 -4.32196826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.8407140569999 meters 0.01619148809501341 Centerline is valid? [True, True] Translation: X:676.77, Y:-108.41, Z:-43.22 [[ 9.61027521e-01 2.70698438e-01 5.61111278e-02 6.76765597e+02] [-2.70250211e-01 9.62664176e-01 -1.55726482e-02 -1.08406353e+02] [-5.82316641e-02 -1.98300595e-04 9.98303077e-01 -4.32223242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.870714057 meters 0.01622610333613198 Centerline is valid? [True, True] Translation: X:676.80, Y:-108.42, Z:-43.22 [[ 9.60945331e-01 2.71031798e-01 5.59091764e-02 6.76796206e+02] [-2.70586372e-01 9.62570374e-01 -1.55335434e-02 -1.08416451e+02] [-5.80266010e-02 -2.01375212e-04 9.98315017e-01 -4.32241135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.900714057 meters 0.016534142851880762 Centerline is valid? [True, True] Translation: X:676.83, Y:-108.43, Z:-43.23 [[ 9.61016525e-01 2.70753263e-01 5.60348955e-02 6.76826669e+02] [-2.70304431e-01 9.62648763e-01 -1.55843767e-02 -1.08425807e+02] [-5.81614437e-02 -1.69637013e-04 9.98307176e-01 -4.32265195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.9307140569999 meters 0.016283701495592683 Centerline is valid? [True, True] Translation: X:676.86, Y:-108.44, Z:-43.23 [[ 9.61663893e-01 2.68516577e-01 5.56902633e-02 6.76856920e+02] [-2.68068601e-01 9.63275063e-01 -1.55041164e-02 -1.08438538e+02] [-5.78081542e-02 -1.90620588e-05 9.98327710e-01 -4.32282541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.9607140569999 meters 0.016196783810550085 Centerline is valid? [True, True] Translation: X:676.89, Y:-108.45, Z:-43.23 [[ 9.62206164e-01 2.66590763e-01 5.55757404e-02 6.76886736e+02] [-2.66140413e-01 9.63809811e-01 -1.54896068e-02 -1.08450345e+02] [-5.76938300e-02 1.13244624e-04 9.98334317e-01 -4.32298961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.990714057 meters 0.01617566184628361 Centerline is valid? [True, True] Translation: X:676.92, Y:-108.46, Z:-43.23 [[ 9.62760612e-01 2.64491596e-01 5.60017819e-02 6.76917484e+02] [-2.64029800e-01 9.64387956e-01 -1.56248300e-02 -1.08463010e+02] [-5.81400802e-02 2.56831616e-04 9.98308402e-01 -4.32311665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.020714057 meters 0.01640739038712597 Centerline is valid? [True, True] Translation: X:676.95, Y:-108.48, Z:-43.23 [[ 9.64048004e-01 2.59490257e-01 5.72385667e-02 6.76946266e+02] [-2.58997935e-01 9.65745546e-01 -1.59877746e-02 -1.08478844e+02] [-5.94265626e-02 5.88311637e-04 9.98232507e-01 -4.32321108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.0507140569999 meters 0.01658858878953193 Centerline is valid? [True, True] Translation: X:676.97, Y:-108.49, Z:-43.23 [[ 9.64586869e-01 2.57465723e-01 5.73024789e-02 6.76974867e+02] [-2.56967801e-01 9.66287157e-01 -1.60212041e-02 -1.08490540e+02] [-5.94955603e-02 7.28951052e-04 9.98228304e-01 -4.32333418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.0807140569999 meters 0.01674347851949583 Centerline is valid? [True, True] Translation: X:677.01, Y:-108.50, Z:-43.23 [[ 9.65374380e-01 2.54290249e-01 5.82131936e-02 6.77005056e+02] [-2.53769810e-01 9.67127480e-01 -1.62886605e-02 -1.08503418e+02] [-6.04416268e-02 9.51904468e-04 9.98171280e-01 -4.32347615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.1107140569999 meters 0.01692141757054217 Centerline is valid? [True, True] Translation: X:677.04, Y:-108.51, Z:-43.24 [[ 9.65625653e-01 2.53231447e-01 5.86594632e-02 6.77035826e+02] [-2.52700055e-01 9.67405163e-01 -1.64296473e-02 -1.08514133e+02] [-6.09079709e-02 1.04163936e-03 9.98142843e-01 -4.32365910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.140714057 meters 0.01710496262675449 Centerline is valid? [True, True] Translation: X:677.06, Y:-108.53, Z:-43.24 [[ 9.65758083e-01 2.52369355e-01 6.01750274e-02 6.77064814e+02] [-2.51807396e-01 9.67630305e-01 -1.68709213e-02 -1.08527384e+02] [-6.24848836e-02 1.14071164e-03 9.98045259e-01 -4.32370551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.1707140569999 meters 0.017288726973258128 Centerline is valid? [True, True] Translation: X:677.09, Y:-108.54, Z:-43.24 [[ 9.65734582e-01 2.52324077e-01 6.07394197e-02 6.77094677e+02] [-2.51750438e-01 9.67642079e-01 -1.70447819e-02 -1.08538845e+02] [-6.30748272e-02 1.16955979e-03 9.98008115e-01 -4.32379317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.2007140569999 meters 0.01738705963815735 Centerline is valid? [True, True] Translation: X:677.13, Y:-108.55, Z:-43.24 [[ 9.65721180e-01 2.52122845e-01 6.17792261e-02 6.77125575e+02] [-2.51527811e-01 9.67694467e-01 -1.73544980e-02 -1.08549431e+02] [-6.41588806e-02 1.22041274e-03 9.97938950e-01 -4.32393856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.2307140569999 meters 0.017446121955737907 Centerline is valid? [True, True] Translation: X:677.16, Y:-108.56, Z:-43.24 [[ 9.65910628e-01 2.51165434e-01 6.27103200e-02 6.77155565e+02] [-2.50549184e-01 9.67943275e-01 -1.76330329e-02 -1.08561346e+02] [-6.51288409e-02 1.31991441e-03 9.97875990e-01 -4.32409258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.260714057 meters 0.017548352300959084 Centerline is valid? [True, True] Translation: X:677.19, Y:-108.57, Z:-43.24 [[ 9.66064300e-01 2.50487104e-01 6.30553614e-02 6.77185707e+02] [-2.49861496e-01 9.68118939e-01 -1.77469116e-02 -1.08571386e+02] [-6.54904621e-02 1.38955084e-03 9.97852228e-01 -4.32429869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.290714057 meters 0.018217927947770704 Centerline is valid? [True, True] Translation: X:677.21, Y:-108.58, Z:-43.25 [[ 9.66733991e-01 2.48153122e-01 6.20114449e-02 6.77214146e+02] [-2.47542248e-01 9.68719600e-01 -1.74691658e-02 -1.08583733e+02] [-6.44067302e-02 1.53758384e-03 9.97922547e-01 -4.32460295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.3207140569999 meters 0.01871634455821499 Centerline is valid? [True, True] Translation: X:677.24, Y:-108.59, Z:-43.25 [[ 9.67058552e-01 2.46954841e-01 6.17338192e-02 6.77243912e+02] [-2.46346026e-01 9.69025627e-01 -1.74059974e-02 -1.08594458e+02] [-6.41201482e-02 1.62473760e-03 9.97940863e-01 -4.32485184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.3507140569999 meters 0.019630819036389482 Centerline is valid? [True, True] Translation: X:677.27, Y:-108.61, Z:-43.25 [[ 9.67851875e-01 2.43998477e-01 6.10531900e-02 6.77273186e+02] [-2.43396219e-01 9.69773917e-01 -1.72287741e-02 -1.08605874e+02] [-6.34115859e-02 1.81478570e-03 9.97985810e-01 -4.32520552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.380714057 meters 0.020517696730360285 Centerline is valid? [True, True] Translation: X:677.30, Y:-108.62, Z:-43.25 [[ 9.68323171e-01 2.42249418e-01 6.05430153e-02 6.77303438e+02] [-2.41652861e-01 9.70212093e-01 -1.70994171e-02 -1.08616352e+02] [-6.28818894e-02 1.92736899e-03 9.98019115e-01 -4.32538567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.410714057 meters 0.02094407848145007 Centerline is valid? [True, True] Translation: X:677.33, Y:-108.63, Z:-43.26 [[ 9.68589766e-01 2.40948071e-01 6.14645591e-02 6.77334375e+02] [-2.40329555e-01 9.70535827e-01 -1.73756753e-02 -1.08626315e+02] [-6.38401921e-02 2.05815110e-03 9.97958012e-01 -4.32554579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.4407140569999 meters 0.020559111350000017 Centerline is valid? [True, True] Translation: X:677.36, Y:-108.63, Z:-43.26 [[ 9.69350870e-01 2.37625335e-01 6.23946394e-02 6.77364717e+02] [-2.36980102e-01 9.71354101e-01 -1.76533777e-02 -1.08634356e+02] [-6.48021787e-02 2.32602904e-03 9.97895419e-01 -4.32572414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.4707140569999 meters 0.023269668903407013 Centerline is valid? [True, True] Translation: X:677.39, Y:-108.65, Z:-43.26 [[ 9.69741904e-01 2.36001144e-01 6.24827867e-02 6.77393155e+02] [-2.35350472e-01 9.71749709e-01 -1.76821212e-02 -1.08647250e+02] [-6.48906306e-02 2.44174057e-03 9.97889395e-01 -4.32580820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.500714057 meters 0.02399406650108678 Centerline is valid? [True, True] Translation: X:677.42, Y:-108.66, Z:-43.26 [[ 9.70229279e-01 2.34034902e-01 6.23122024e-02 6.77424076e+02] [-2.33382820e-01 9.72224773e-01 -1.76479791e-02 -1.08656892e+02] [-6.47117098e-02 2.57998851e-03 9.97900666e-01 -4.32600717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.530714057 meters 0.02288978435340166 Centerline is valid? [True, True] Translation: X:677.46, Y:-108.66, Z:-43.26 [[ 9.71112816e-01 2.30245792e-01 6.26639756e-02 6.77455059e+02] [-2.29578171e-01 9.73128325e-01 -1.77517998e-02 -1.08661575e+02] [-6.50673668e-02 2.85271938e-03 9.97876796e-01 -4.32624020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.5607140569999 meters 0.02380708313456729 Centerline is valid? [True, True] Translation: X:677.49, Y:-108.67, Z:-43.26 [[ 9.71632010e-01 2.27998419e-01 6.28327716e-02 6.77486131e+02] [-2.27322400e-01 9.73656840e-01 -1.78012193e-02 -1.08670401e+02] [-6.52362077e-02 3.01293806e-03 9.97865301e-01 -4.32643281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.5907140569999 meters 0.02802116536509268 Centerline is valid? [True, True] Translation: X:677.52, Y:-108.68, Z:-43.27 [[ 9.71956770e-01 2.26558741e-01 6.30172517e-02 6.77515110e+02] [-2.25875330e-01 9.73992492e-01 -1.78594998e-02 -1.08683770e+02] [-6.54245558e-02 3.12461920e-03 9.97852627e-01 -4.32651427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.620714057 meters 0.027308923401632657 Centerline is valid? [True, True] Translation: X:677.55, Y:-108.69, Z:-43.27 [[ 9.72685856e-01 2.23296773e-01 6.34096015e-02 6.77546251e+02] [-2.22596993e-01 9.74744652e-01 -1.79844836e-02 -1.08687625e+02] [-6.58240471e-02 3.37846616e-03 9.97825526e-01 -4.32675588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.650714057 meters 0.0263169814961395 Centerline is valid? [True, True] Translation: X:677.58, Y:-108.69, Z:-43.27 [[ 9.72886618e-01 2.22384423e-01 6.35357940e-02 6.77578289e+02] [-2.21679794e-01 9.74952960e-01 -1.80220724e-02 -1.08693564e+02] [-6.59522386e-02 3.44883135e-03 9.97816821e-01 -4.32695747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.6807140569999 meters 0.025606699967796735 Centerline is valid? [True, True] Translation: X:677.61, Y:-108.70, Z:-43.27 [[ 9.73058116e-01 2.21654544e-01 6.34599509e-02 6.77610697e+02] [-2.20949557e-01 9.75118969e-01 -1.80080725e-02 -1.08697236e+02] [-6.58725730e-02 3.50145305e-03 9.97821900e-01 -4.32717309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.7107140569999 meters 0.023909677354996665 Centerline is valid? [True, True] Translation: X:677.64, Y:-108.70, Z:-43.27 [[ 9.72864600e-01 2.22331623e-01 6.40555981e-02 6.77643425e+02] [-2.21613710e-01 9.74964806e-01 -1.81931757e-02 -1.08701228e+02] [-6.64968720e-02 3.50389787e-03 9.97780481e-01 -4.32740291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.740714057 meters 0.022918735389044233 Centerline is valid? [True, True] Translation: X:677.68, Y:-108.71, Z:-43.28 [[ 9.72604086e-01 2.23396170e-01 6.43074183e-02 6.77675677e+02] [-2.22674460e-01 9.74721622e-01 -1.82714170e-02 -1.08705790e+02] [-6.67635957e-02 3.45123518e-03 9.97762853e-01 -4.32756959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.770714057 meters 0.023801046267640916 Centerline is valid? [True, True] Translation: X:677.71, Y:-108.71, Z:-43.28 [[ 9.71995018e-01 2.25913266e-01 6.47215720e-02 6.77706530e+02] [-2.25187183e-01 9.74141803e-01 -1.83978347e-02 -1.08709528e+02] [-6.72043037e-02 3.30813520e-03 9.97733751e-01 -4.32773923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.8007140569999 meters 0.023301380678671393 Centerline is valid? [True, True] Translation: X:677.74, Y:-108.71, Z:-43.28 [[ 9.71577081e-01 2.27911347e-01 6.39874523e-02 6.77737553e+02] [-2.27205814e-01 9.73676836e-01 -1.81916562e-02 -1.08714095e+02] [-6.64491849e-02 3.13627502e-03 9.97784881e-01 -4.32795033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.8307140569999 meters 0.021729459777951744 Centerline is valid? [True, True] Translation: X:677.77, Y:-108.71, Z:-43.28 [[ 9.70421108e-01 2.33095689e-01 6.28432486e-02 6.77769824e+02] [-2.32425876e-01 9.72449961e-01 -1.78685435e-02 -1.08714185e+02] [-6.52769951e-02 2.73361469e-03 9.97863438e-01 -4.32820193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.8607140569999 meters 0.02070923865964199 Centerline is valid? [True, True] Translation: X:677.80, Y:-108.72, Z:-43.28 [[ 9.69685468e-01 2.36272572e-01 6.23326942e-02 6.77801236e+02] [-2.35620094e-01 9.71683601e-01 -1.77242936e-02 -1.08717861e+02] [-6.47554212e-02 2.50015472e-03 9.97898033e-01 -4.32846693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.890714057 meters 0.019456163246838253 Centerline is valid? [True, True] Translation: X:677.83, Y:-108.72, Z:-43.29 [[ 9.67972463e-01 2.43468160e-01 6.12581901e-02 6.77833294e+02] [-2.42852223e-01 9.69906856e-01 -1.74209052e-02 -1.08718093e+02] [-6.36561744e-02 1.98626882e-03 9.97969912e-01 -4.32877426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.9207140569999 meters 0.01805288229401123 Centerline is valid? [True, True] Translation: X:677.86, Y:-108.72, Z:-43.29 [[ 9.67087861e-01 2.46994531e-01 6.11127661e-02 6.77864753e+02] [-2.46388511e-01 9.69015293e-01 -1.73799876e-02 -1.08720742e+02] [-6.35119669e-02 1.75049163e-03 9.97979542e-01 -4.32897128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.9507140569999 meters 0.018167901712486632 Centerline is valid? [True, True] Translation: X:677.90, Y:-108.73, Z:-43.29 [[ 9.66171751e-01 2.50272769e-01 6.22550338e-02 6.77896000e+02] [-2.49650380e-01 9.68174097e-01 -1.77088903e-02 -1.08726676e+02] [-6.47057642e-02 1.56783668e-03 9.97903155e-01 -4.32914693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.9807140569999 meters 0.01746746076627208 Centerline is valid? [True, True] Translation: X:677.93, Y:-108.73, Z:-43.29 [[ 9.65001271e-01 2.54669338e-01 6.25785595e-02 6.77928344e+02] [-2.54048648e-01 9.67027327e-01 -1.78166698e-02 -1.08728752e+02] [-6.50525366e-02 1.29511056e-03 9.97881000e-01 -4.32928327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.010714057 meters 0.017745866665437305 Centerline is valid? [True, True] Translation: X:677.96, Y:-108.74, Z:-43.29 [[ 9.64549895e-01 2.56228874e-01 6.31685442e-02 6.77958695e+02] [-2.55599381e-01 9.66615388e-01 -1.79902215e-02 -1.08735361e+02] [-6.56693010e-02 1.20662548e-03 9.97840712e-01 -4.32940346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.040714057 meters 0.01761674890255516 Centerline is valid? [True, True] Translation: X:677.99, Y:-108.74, Z:-43.30 [[ 9.64046156e-01 2.58013378e-01 6.35932889e-02 6.77991172e+02] [-2.57378612e-01 9.66140716e-01 -1.81209158e-02 -1.08739140e+02] [-6.61155044e-02 1.10184679e-03 9.97811368e-01 -4.32959403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.0707140569999 meters 0.0177112035436019 Centerline is valid? [True, True] Translation: X:678.02, Y:-108.75, Z:-43.30 [[ 9.63815925e-01 2.58742325e-01 6.41191956e-02 6.78022044e+02] [-2.58097945e-01 9.65945787e-01 -1.82807778e-02 -1.08746996e+02] [-6.66656778e-02 1.07027212e-03 9.97774795e-01 -4.32970568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.1007140569999 meters 0.017944079859087754 Centerline is valid? [True, True] Translation: X:678.05, Y:-108.76, Z:-43.30 [[ 9.63648721e-01 2.59308530e-01 6.43446067e-02 6.78052511e+02] [-2.58659967e-01 9.65793968e-01 -1.83584579e-02 -1.08755183e+02] [-6.69041378e-02 1.04773067e-03 9.97758858e-01 -4.32985079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.130714057 meters 0.01775440862561328 Centerline is valid? [True, True] Translation: X:678.08, Y:-108.76, Z:-43.30 [[ 9.63405196e-01 2.60221318e-01 6.43062544e-02 6.78084164e+02] [-2.59574333e-01 9.65548478e-01 -1.83658138e-02 -1.08762327e+02] [-6.68699824e-02 1.00146740e-03 9.97761195e-01 -4.33005549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.160714057 meters 0.017925765363414017 Centerline is valid? [True, True] Translation: X:678.12, Y:-108.77, Z:-43.30 [[ 9.63312953e-01 2.60662633e-01 6.38994994e-02 6.78115709e+02] [-2.60023637e-01 9.65429453e-01 -1.82668956e-02 -1.08770162e+02] [-6.64519559e-02 9.81356921e-04 9.97789143e-01 -4.33036117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.1907140569999 meters 0.018073405176224893 Centerline is valid? [True, True] Translation: X:678.15, Y:-108.78, Z:-43.31 [[ 9.63220963e-01 2.61015813e-01 6.38445187e-02 6.78146990e+02] [-2.60377373e-01 9.65334032e-01 -1.82710169e-02 -1.08778884e+02] [-6.64003110e-02 9.75358493e-04 9.97792587e-01 -4.33056507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.2207140569999 meters 0.017977412970251693 Centerline is valid? [True, True] Translation: X:678.18, Y:-108.79, Z:-43.31 [[ 9.62926622e-01 2.62184186e-01 6.34962400e-02 6.78176581e+02] [-2.61553971e-01 9.65017423e-01 -1.81904552e-02 -1.08787428e+02] [-6.60442276e-02 9.08379874e-04 9.97816283e-01 -4.33082838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.250714057 meters 0.01806518181682813 Centerline is valid? [True, True] Translation: X:678.21, Y:-108.80, Z:-43.31 [[ 9.62878938e-01 2.62547980e-01 6.27113131e-02 6.78207807e+02] [-2.61933002e-01 9.64918530e-01 -1.79814589e-02 -1.08796922e+02] [-6.52323038e-02 8.87805578e-04 9.97869710e-01 -4.33106046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.280714057 meters 0.01767803228062 Centerline is valid? [True, True] Translation: X:678.24, Y:-108.81, Z:-43.31 [[ 9.62860362e-01 2.62758714e-01 6.21110507e-02 6.78239098e+02] [-2.62154692e-01 9.64861171e-01 -1.78280466e-02 -1.08808942e+02] [-6.46130157e-02 8.83215992e-04 9.97910005e-01 -4.33125390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.3107140569999 meters 0.01767803228062 Centerline is valid? [True, True] Translation: X:678.27, Y:-108.82, Z:-43.31 [[ 9.62795539e-01 2.62997305e-01 6.21060932e-02 6.78269494e+02] [-2.62392666e-01 9.64796162e-01 -1.78453010e-02 -1.08817712e+02] [-6.46129864e-02 8.85192787e-04 9.97910005e-01 -4.33143719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.3407140569999 meters 0.018183937451514313 Centerline is valid? [True, True] Translation: X:678.30, Y:-108.83, Z:-43.32 [[ 9.62953466e-01 2.62427115e-01 6.20695688e-02 6.78300805e+02] [-2.61820916e-01 9.64951360e-01 -1.78516441e-02 -1.08828485e+02] [-6.45788703e-02 9.39191187e-04 9.97912164e-01 -4.33167654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.370714057 meters 0.01856822506021459 Centerline is valid? [True, True] Translation: X:678.33, Y:-108.84, Z:-43.32 [[ 9.63635689e-01 2.59964568e-01 6.18440106e-02 6.78329391e+02] [-2.59356560e-01 9.65617510e-01 -1.78044899e-02 -1.08841681e+02] [-6.43461961e-02 1.11739203e-03 9.97927011e-01 -4.33185600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.400714057 meters 0.018798395424343427 Centerline is valid? [True, True] Translation: X:678.36, Y:-108.85, Z:-43.32 [[ 9.63982337e-01 2.58738814e-01 6.15814939e-02 6.78359844e+02] [-2.58132866e-01 9.65946571e-01 -1.77382338e-02 -1.08853130e+02] [-6.40740025e-02 1.20313653e-03 9.97944425e-01 -4.33205059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.4307140569999 meters 0.019430447918719087 Centerline is valid? [True, True] Translation: X:678.39, Y:-108.86, Z:-43.32 [[ 9.64388540e-01 2.57319947e-01 6.11652560e-02 6.78388842e+02] [-2.56718318e-01 9.66325383e-01 -1.76340671e-02 -1.08864869e+02] [-6.36431366e-02 1.30385061e-03 9.97971869e-01 -4.33225103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.4607140569999 meters 0.020124765547672233 Centerline is valid? [True, True] Translation: X:678.42, Y:-108.88, Z:-43.32 [[ 9.65245392e-01 2.54340941e-01 6.01000729e-02 6.78417949e+02] [-2.53753388e-01 9.67113473e-01 -1.73421023e-02 -1.08878158e+02] [-6.25343969e-02 1.48878718e-03 9.98041699e-01 -4.33245319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.490714057 meters 0.019598767269804047 Centerline is valid? [True, True] Translation: X:678.45, Y:-108.89, Z:-43.33 [[ 9.65604469e-01 2.53051891e-01 5.97724804e-02 6.78448574e+02] [-2.52467377e-01 9.67451421e-01 -1.72618670e-02 -1.08887753e+02] [-6.21951192e-02 1.57753458e-03 9.98062763e-01 -4.33264521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.520714057 meters 0.019765393132030202 Centerline is valid? [True, True] Translation: X:678.48, Y:-108.90, Z:-43.33 [[ 9.66628263e-01 2.48930069e-01 6.05278614e-02 6.78477944e+02] [-2.48321644e-01 9.68519635e-01 -1.74950949e-02 -1.08899845e+02] [-6.29774774e-02 1.88087511e-03 9.98013176e-01 -4.33277573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.5507140569999 meters 0.021573876904142274 Centerline is valid? [True, True] Translation: X:678.51, Y:-108.91, Z:-43.33 [[ 9.67053431e-01 2.47118131e-01 6.11579160e-02 6.78506434e+02] [-2.46493113e-01 9.68983248e-01 -1.76807594e-02 -1.08914002e+02] [-6.36302323e-02 2.02323392e-03 9.97971493e-01 -4.33283430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.5807140569999 meters 0.02089013993788355 Centerline is valid? [True, True] Translation: X:678.54, Y:-108.92, Z:-43.33 [[ 9.67624644e-01 2.44770784e-01 6.15614474e-02 6.78536551e+02] [-2.44131754e-01 9.69578461e-01 -1.78127607e-02 -1.08923230e+02] [-6.40486969e-02 2.20696210e-03 9.97944334e-01 -4.33300552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.6107140569999 meters 0.022145325995102577 Centerline is valid? [True, True] Translation: X:678.57, Y:-108.94, Z:-43.33 [[ 9.68143881e-01 2.42552259e-01 6.21757847e-02 6.78565101e+02] [-2.41894820e-01 9.70135391e-01 -1.80060591e-02 -1.08935783e+02] [-6.46863396e-02 2.39245566e-03 9.97902778e-01 -4.33308684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.640714057 meters 0.02230801130754871 Centerline is valid? [True, True] Translation: X:678.59, Y:-108.95, Z:-43.33 [[ 9.69458362e-01 2.37010070e-01 6.30611683e-02 6.78593522e+02] [-2.36321121e-01 9.71503113e-01 -1.82764482e-02 -1.08947015e+02] [-6.55958236e-02 2.81556957e-03 9.97842302e-01 -4.33327681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.6707140569999 meters 0.027135354760741474 Centerline is valid? [True, True] Translation: X:678.62, Y:-108.96, Z:-43.33 [[ 9.70180578e-01 2.34135809e-01 6.26902572e-02 6.78620476e+02] [-2.33448913e-01 9.72199293e-01 -1.81697505e-02 -1.08963801e+02] [-6.52016129e-02 2.99296668e-03 9.97867622e-01 -4.33339622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.7007140569999 meters 0.027096554281189913 Centerline is valid? [True, True] Translation: X:678.65, Y:-108.97, Z:-43.34 [[ 9.71763394e-01 2.27771880e-01 6.16106855e-02 6.78649035e+02] [-2.27095568e-01 9.73708714e-01 -1.78589974e-02 -1.08973750e+02] [-6.40586388e-02 3.36320635e-03 9.97940469e-01 -4.33373916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.7307140569999 meters 0.029864593509945338 Centerline is valid? [True, True] Translation: X:678.68, Y:-108.99, Z:-43.34 [[ 9.72417086e-01 2.25195920e-01 6.07602491e-02 6.78676970e+02] [-2.24533127e-01 9.74307270e-01 -1.76130493e-02 -1.08987036e+02] [-6.31655392e-02 3.48454141e-03 9.97996980e-01 -4.33397881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.760714057 meters 0.029818031251366606 Centerline is valid? [True, True] Translation: X:678.71, Y:-109.00, Z:-43.34 [[ 9.73037003e-01 2.22509854e-01 6.07318424e-02 6.78707103e+02] [-2.21842267e-01 9.74923570e-01 -1.76080096e-02 -1.08996114e+02] [-6.31268603e-02 3.66035531e-03 9.97998798e-01 -4.33423545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.790714057 meters 0.032360023291415345 Centerline is valid? [True, True] Translation: X:678.73, Y:-109.01, Z:-43.34 [[ 9.73947681e-01 2.18507453e-01 6.06663732e-02 6.78734213e+02] [-2.17833425e-01 9.75827415e-01 -1.75913539e-02 -1.09008110e+02] [-6.30437521e-02 3.91789445e-03 9.98003074e-01 -4.33444096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.8207140569999 meters 0.03412047391405262 Centerline is valid? [True, True] Translation: X:678.76, Y:-109.02, Z:-43.35 [[ 9.74276720e-01 2.17168013e-01 6.01907610e-02 6.78762930e+02] [-2.16501858e-01 9.76126146e-01 -1.74554293e-02 -1.09018902e+02] [-6.25445364e-02 3.97500678e-03 9.98034258e-01 -4.33459808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.8507140569999 meters 0.03391271923078632 Centerline is valid? [True, True] Translation: X:678.79, Y:-109.03, Z:-43.35 [[ 9.74708157e-01 2.15047000e-01 6.08177388e-02 6.78793177e+02] [-2.14362625e-01 9.76594856e-01 -1.76395144e-02 -1.09025284e+02] [-6.31876155e-02 4.15632843e-03 9.97993011e-01 -4.33477321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.880714057 meters 0.035140766540320216 Centerline is valid? [True, True] Translation: X:678.82, Y:-109.03, Z:-43.35 [[ 9.74801363e-01 2.14587802e-01 6.09457006e-02 6.78822746e+02] [-2.13899494e-01 9.76695683e-01 -1.76790350e-02 -1.09034384e+02] [-6.33191079e-02 4.19729288e-03 9.97984506e-01 -4.33493984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.910714057 meters 0.035135055577008585 Centerline is valid? [True, True] Translation: X:678.85, Y:-109.04, Z:-43.35 [[ 9.74920699e-01 2.13996607e-01 6.11153211e-02 6.78853808e+02] [-2.13302328e-01 9.76825104e-01 -1.77435505e-02 -1.09042218e+02] [-6.34960395e-02 4.26251439e-03 9.97972988e-01 -4.33510384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.9407140569999 meters 0.03865838958113016 Centerline is valid? [True, True] Translation: X:678.88, Y:-109.05, Z:-43.35 [[ 9.75165807e-01 2.12736637e-01 6.16017219e-02 6.78883078e+02] [-2.12027694e-01 9.77099690e-01 -1.79012035e-02 -1.09053036e+02] [-6.39992652e-02 4.39537052e-03 9.97940266e-01 -4.33524962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.9707140569999 meters 0.03462197020855853 Centerline is valid? [True, True] Translation: X:678.92, Y:-109.05, Z:-43.36 [[ 9.75249754e-01 2.12433398e-01 6.13185899e-02 6.78915802e+02] [-2.11729401e-01 9.77165598e-01 -1.78340983e-02 -1.09054914e+02] [-6.37069747e-02 4.40975162e-03 9.97958905e-01 -4.33555340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.000714057 meters 0.03639818600256249 Centerline is valid? [True, True] Translation: X:678.95, Y:-109.06, Z:-43.36 [[ 9.75307377e-01 2.12224595e-01 6.11248025e-02 6.78945493e+02] [-2.11523630e-01 9.77210899e-01 -1.77936093e-02 -1.09064045e+02] [-6.35080647e-02 4.42489833e-03 9.97971516e-01 -4.33572140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.030714057 meters 0.03618810232879655 Centerline is valid? [True, True] Translation: X:678.98, Y:-109.07, Z:-43.36 [[ 9.75583500e-01 2.11092139e-01 6.06378075e-02 6.78977702e+02] [-2.10399602e-01 9.77455942e-01 -1.76603517e-02 -1.09067702e+02] [-6.29987467e-02 4.47097713e-03 9.98003591e-01 -4.33600679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.0607140569999 meters 0.04080435496985879 Centerline is valid? [True, True] Translation: X:679.01, Y:-109.08, Z:-43.36 [[ 9.75622769e-01 2.10884581e-01 6.07281296e-02 6.79006535e+02] [-2.10189258e-01 9.77500629e-01 -1.76917131e-02 -1.09079875e+02] [-6.30926943e-02 4.49603762e-03 9.97997544e-01 -4.33616648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.0907140569999 meters 0.03488210180381 Centerline is valid? [True, True] Translation: X:679.04, Y:-109.08, Z:-43.36 [[ 9.75650701e-01 2.10760955e-01 6.07085592e-02 6.79041380e+02] [-2.10065241e-01 9.77527218e-01 -1.76955345e-02 -1.09076254e+02] [-6.30737967e-02 4.51190255e-03 9.97998667e-01 -4.33636525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.120714057 meters 0.03535581000526202 Centerline is valid? [True, True] Translation: X:679.07, Y:-109.08, Z:-43.37 [[ 9.75544005e-01 2.11056608e-01 6.13921952e-02 6.79074201e+02] [-2.10344592e-01 9.77463201e-01 -1.79120856e-02 -1.09083109e+02] [-6.37890757e-02 4.56051145e-03 9.97952983e-01 -4.33654811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.150714057 meters 0.033556989869010435 Centerline is valid? [True, True] Translation: X:679.11, Y:-109.09, Z:-43.37 [[ 9.75458160e-01 2.11366965e-01 6.16877898e-02 6.79107719e+02] [-2.10647433e-01 9.77396040e-01 -1.80177741e-02 -1.09086716e+02] [-6.41017637e-02 4.58121023e-03 9.97932852e-01 -4.33676524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.1807140569999 meters 0.0353017377408357 Centerline is valid? [True, True] Translation: X:679.14, Y:-109.09, Z:-43.37 [[ 9.75363496e-01 2.11655399e-01 6.21935978e-02 6.79139760e+02] [-2.10923298e-01 9.77333441e-01 -1.81853702e-02 -1.09091273e+02] [-6.46329147e-02 4.61926746e-03 9.97898416e-01 -4.33682523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.2107140569999 meters 0.03991695407187212 Centerline is valid? [True, True] Translation: X:679.17, Y:-109.10, Z:-43.37 [[ 9.75195141e-01 2.12405358e-01 6.22768065e-02 6.79170787e+02] [-2.11671623e-01 9.77170846e-01 -1.82280583e-02 -1.09097542e+02] [-6.47268169e-02 4.59368115e-03 9.97892448e-01 -4.33710826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.240714057 meters 0.035416470912824544 Centerline is valid? [True, True] Translation: X:679.20, Y:-109.10, Z:-43.37 [[ 9.75044692e-01 2.13011748e-01 6.25607146e-02 6.79204294e+02] [-2.12271423e-01 9.77038852e-01 -1.83282633e-02 -1.09096520e+02] [-6.50283841e-02 4.59102390e-03 9.97872854e-01 -4.33736105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.270714057 meters 0.035416470912824544 Centerline is valid? [True, True] Translation: X:679.24, Y:-109.11, Z:-43.38 [[ 9.74983033e-01 2.13295178e-01 6.25559907e-02 6.79235506e+02] [-2.12554405e-01 9.76977026e-01 -1.83443730e-02 -1.09105748e+02] [-6.50285321e-02 4.58890110e-03 9.97872854e-01 -4.33754963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.3007140569999 meters 0.039199233534414 Centerline is valid? [True, True] Translation: X:679.27, Y:-109.11, Z:-43.38 [[ 9.74710404e-01 2.14565826e-01 6.24590722e-02 6.79266753e+02] [-2.13828680e-01 9.76699090e-01 -1.83353209e-02 -1.09111430e+02] [-6.49378522e-02 4.51608701e-03 9.97879091e-01 -4.33774963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.3307140569999 meters 0.03824022990153267 Centerline is valid? [True, True] Translation: X:679.30, Y:-109.11, Z:-43.38 [[ 9.74356840e-01 2.16361408e-01 6.17777401e-02 6.79300213e+02] [-2.15642877e-01 9.76303592e-01 -1.81506625e-02 -1.09109894e+02] [-6.42409324e-02 4.36329252e-03 9.97924879e-01 -4.33802172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.3607140569999 meters 0.03851738147795873 Centerline is valid? [True, True] Translation: X:679.33, Y:-109.11, Z:-43.38 [[ 9.74131734e-01 2.17525974e-01 6.12357421e-02 6.79332401e+02] [-2.16822005e-01 9.76045266e-01 -1.79960453e-02 -1.09113967e+02] [-6.36834634e-02 4.25326240e-03 9.97961085e-01 -4.33830140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.390714057 meters 0.03612764728917943 Centerline is valid? [True, True] Translation: X:679.37, Y:-109.11, Z:-43.39 [[ 9.73827803e-01 2.18825478e-01 6.14395605e-02 6.79366258e+02] [-2.18118408e-01 9.75754987e-01 -1.80711080e-02 -1.09114637e+02] [-6.39043764e-02 4.19704824e-03 9.97947201e-01 -4.33858262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.4207140569999 meters 0.03635299001468721 Centerline is valid? [True, True] Translation: X:679.40, Y:-109.12, Z:-43.39 [[ 9.73595964e-01 2.19994753e-01 6.09360918e-02 6.79398172e+02] [-2.19301163e-01 9.75492473e-01 -1.79285959e-02 -1.09118421e+02] [-6.33868960e-02 4.09185284e-03 9.97980640e-01 -4.33881848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.4507140569999 meters 0.03644948690045143 Centerline is valid? [True, True] Translation: X:679.43, Y:-109.12, Z:-43.39 [[ 9.73145098e-01 2.21854590e-01 6.13934811e-02 6.79430868e+02] [-2.21154001e-01 9.75071541e-01 -1.80664923e-02 -1.09116203e+02] [-6.38711705e-02 4.00390438e-03 9.97950120e-01 -4.33900060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.4807140569999 meters 0.03569284066563224 Centerline is valid? [True, True] Translation: X:679.46, Y:-109.12, Z:-43.39 [[ 9.73016324e-01 2.22212425e-01 6.21359144e-02 6.79461435e+02] [-2.21495439e-01 9.74989949e-01 -1.82857830e-02 -1.09118552e+02] [-6.46452202e-02 4.02954371e-03 9.97900175e-01 -4.33912363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.510714057 meters 0.036412152586487355 Centerline is valid? [True, True] Translation: X:679.49, Y:-109.12, Z:-43.39 [[ 9.73013420e-01 2.22151787e-01 6.23976702e-02 6.79491105e+02] [-2.21428770e-01 9.75003690e-01 -1.83604150e-02 -1.09122465e+02] [-6.49167577e-02 4.04829080e-03 9.97882471e-01 -4.33931229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.540714057 meters 0.03835837313519262 Centerline is valid? [True, True] Translation: X:679.52, Y:-109.12, Z:-43.39 [[ 9.73122053e-01 2.21748869e-01 6.21362093e-02 6.79520072e+02] [-2.21031267e-01 9.75095377e-01 -1.82807425e-02 -1.09122483e+02] [-6.46424644e-02 4.05534854e-03 9.97900249e-01 -4.33949948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.5707140569999 meters 0.037751268859338646 Centerline is valid? [True, True] Translation: X:679.55, Y:-109.12, Z:-43.40 [[ 9.73181221e-01 2.21256763e-01 6.29583639e-02 6.79549078e+02] [-2.20519381e-01 9.75206816e-01 -1.85167286e-02 -1.09124250e+02] [-6.54943770e-02 4.13659305e-03 9.97844364e-01 -4.33979491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.6007140569999 meters 0.037843152381391944 Centerline is valid? [True, True] Translation: X:679.58, Y:-109.12, Z:-43.40 [[ 9.73344458e-01 2.20497945e-01 6.30969303e-02 6.79579752e+02] [-2.19756038e-01 9.75378430e-01 -1.85526876e-02 -1.09121769e+02] [-6.56342144e-02 4.19222427e-03 9.97834944e-01 -4.34020283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.630714057 meters 0.036546608528013724 Centerline is valid? [True, True] Translation: X:679.61, Y:-109.12, Z:-43.40 [[ 9.73426185e-01 2.20395934e-01 6.21859673e-02 6.79609333e+02] [-2.19675424e-01 9.75401735e-01 -1.82801157e-02 -1.09123494e+02] [-6.46851636e-02 4.13361454e-03 9.97897160e-01 -4.34041290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.660714057 meters 0.03946052096472126 Centerline is valid? [True, True] Translation: X:679.64, Y:-109.13, Z:-43.41 [[ 9.73496317e-01 2.19924683e-01 6.27539139e-02 6.79636233e+02] [-2.19190291e-01 9.75507821e-01 -1.84420010e-02 -1.09131087e+02] [-6.52727850e-02 4.19817147e-03 9.97858627e-01 -4.34053260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.6907140569999 meters 0.03837613168701145 Centerline is valid? [True, True] Translation: X:679.67, Y:-109.13, Z:-43.41 [[ 9.73334467e-01 2.20662599e-01 6.26740281e-02 6.79667863e+02] [-2.19931976e-01 9.75341426e-01 -1.84127578e-02 -1.09127298e+02] [-6.51915829e-02 4.13774898e-03 9.97864187e-01 -4.34071231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.7207140569999 meters 0.03749353548373874 Centerline is valid? [True, True] Translation: X:679.70, Y:-109.13, Z:-43.41 [[ 9.73216943e-01 2.21010152e-01 6.32715878e-02 6.79697051e+02] [-2.20266492e-01 9.75262677e-01 -1.85845006e-02 -1.09128723e+02] [-6.58137814e-02 4.15014015e-03 9.97823292e-01 -4.34087599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.750714057 meters 0.04055762537946227 Centerline is valid? [True, True] Translation: X:679.72, Y:-109.14, Z:-43.41 [[ 9.72939167e-01 2.22058266e-01 6.38709954e-02 6.79723626e+02] [-2.21303027e-01 9.75024723e-01 -1.87552515e-02 -1.09136371e+02] [-6.64405583e-02 4.11287415e-03 9.97781908e-01 -4.34093110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.780714057 meters 0.035823055693220154 Centerline is valid? [True, True] Translation: X:679.76, Y:-109.13, Z:-43.41 [[ 9.72339911e-01 2.24636665e-01 6.39802040e-02 6.79756968e+02] [-2.23884833e-01 9.74434641e-01 -1.87806401e-02 -1.09128821e+02] [-6.65633475e-02 3.93696867e-03 9.97774434e-01 -4.34127771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.8107140569999 meters 0.03517560271346818 Centerline is valid? [True, True] Translation: X:679.79, Y:-109.13, Z:-43.42 [[ 9.72178672e-01 2.25123205e-01 6.47160927e-02 6.79786150e+02] [-2.24355148e-01 9.74322310e-01 -1.89948332e-02 -1.09131939e+02] [-6.73305106e-02 3.94698311e-03 9.97722919e-01 -4.34155512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.8407140569999 meters 0.046061986557040045 Centerline is valid? [True, True] Translation: X:679.81, Y:-109.15, Z:-43.42 [[ 9.71736742e-01 2.27455248e-01 6.31808130e-02 6.79811147e+02] [-2.26728466e-01 9.73781541e-01 -1.85395137e-02 -1.09148852e+02] [-6.57412191e-02 3.69063783e-03 9.97829881e-01 -4.34152221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.870714057 meters 0.035382034180404844 Centerline is valid? [True, True] Translation: X:679.85, Y:-109.14, Z:-43.42 [[ 9.71992809e-01 2.25837176e-01 6.50196136e-02 6.79845640e+02] [-2.25064055e-01 9.74157226e-01 -1.90753738e-02 -1.09136553e+02] [-6.76472550e-02 3.90754824e-03 9.97701649e-01 -4.34198064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.900714057 meters 0.03704271622364952 Centerline is valid? [True, True] Translation: X:679.87, Y:-109.14, Z:-43.42 [[ 9.72266293e-01 2.24722293e-01 6.47931122e-02 6.79872565e+02] [-2.23952302e-01 9.74414770e-01 -1.90058357e-02 -1.09143996e+02] [-6.74064005e-02 3.96816681e-03 9.97717711e-01 -4.34219530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.9307140569999 meters 0.03748250048023875 Centerline is valid? [True, True] Translation: X:679.90, Y:-109.15, Z:-43.43 [[ 9.72744648e-01 2.22883397e-01 6.39596893e-02 6.79901377e+02] [-2.22129548e-01 9.74836753e-01 -1.87555257e-02 -1.09148298e+02] [-6.65305511e-02 4.03700031e-03 9.97776222e-01 -4.34256973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.9607140569999 meters 0.040360670116324195 Centerline is valid? [True, True] Translation: X:679.93, Y:-109.16, Z:-43.43 [[ 9.73163694e-01 2.21201263e-01 6.34226023e-02 6.79928541e+02] [-2.20456726e-01 9.75219504e-01 -1.85943820e-02 -1.09158112e+02] [-6.59640596e-02 4.11343820e-03 9.97813521e-01 -4.34279335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.990714057 meters 0.039264899508808127 Centerline is valid? [True, True] Translation: X:679.96, Y:-109.16, Z:-43.43 [[ 9.73464005e-01 2.19969572e-01 6.30968929e-02 6.79957044e+02] [-2.19230347e-01 9.75497814e-01 -1.84951281e-02 -1.09162730e+02] [-6.56192466e-02 4.17158778e-03 9.97836015e-01 -4.34300927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.020714057 meters 0.03873985047675489 Centerline is valid? [True, True] Translation: X:679.99, Y:-109.17, Z:-43.43 [[ 9.74058291e-01 2.17515177e-01 6.24307031e-02 6.79986448e+02] [-2.16786798e-01 9.76047527e-01 -1.82950568e-02 -1.09165539e+02] [-6.49147859e-02 4.28629957e-03 9.97881605e-01 -4.34327170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.0507140569999 meters 0.04219300151640349 Centerline is valid? [True, True] Translation: X:680.01, Y:-109.18, Z:-43.43 [[ 9.74259200e-01 2.16834035e-01 6.16604705e-02 6.80012404e+02] [-2.16122522e-01 9.76199131e-01 -1.80641003e-02 -1.09176338e+02] [-6.41098095e-02 4.27289947e-03 9.97933703e-01 -4.34345224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.0807140569999 meters 0.0423523573955755 Centerline is valid? [True, True] Translation: X:680.04, Y:-109.18, Z:-43.44 [[ 9.74478718e-01 2.15997937e-01 6.11237992e-02 6.80041840e+02] [-2.15297504e-01 9.76384420e-01 -1.79011194e-02 -1.09178625e+02] [-6.35469300e-02 4.28445845e-03 9.97969654e-01 -4.34371966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.1107140569999 meters 0.041986442991928906 Centerline is valid? [True, True] Translation: X:680.07, Y:-109.18, Z:-43.44 [[ 9.74401301e-01 2.16337755e-01 6.11561999e-02 6.80069966e+02] [-2.15637538e-01 9.76309289e-01 -1.79059896e-02 -1.09184440e+02] [-6.35811077e-02 4.26004716e-03 9.97967582e-01 -4.34386166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.140714057 meters 0.04226935852844518 Centerline is valid? [True, True] Translation: X:680.10, Y:-109.19, Z:-43.44 [[ 9.74205063e-01 2.17100912e-01 6.15766943e-02 6.80097433e+02] [-2.16392841e-01 9.76139981e-01 -1.80243290e-02 -1.09190018e+02] [-6.40205715e-02 4.23463671e-03 9.97939595e-01 -4.34408333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.1707140569999 meters 0.041516978152912304 Centerline is valid? [True, True] Translation: X:680.13, Y:-109.19, Z:-43.44 [[ 9.73422526e-01 2.20549099e-01 6.16983131e-02 6.80128847e+02] [-2.19845446e-01 9.75367628e-01 -1.80546697e-02 -1.09191904e+02] [-6.41604784e-02 4.01072907e-03 9.97931534e-01 -4.34424036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.2007140569999 meters 0.037053376347379895 Centerline is valid? [True, True] Translation: X:680.16, Y:-109.19, Z:-43.44 [[ 9.72892424e-01 2.22674691e-01 6.24204536e-02 6.80160584e+02] [-2.21958841e-01 9.74884943e-01 -1.82652982e-02 -1.09190413e+02] [-6.49199800e-02 3.91539873e-03 9.97882792e-01 -4.34445864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.2307140569999 meters 0.037053376347379895 Centerline is valid? [True, True] Translation: X:680.19, Y:-109.20, Z:-43.45 [[ 9.72956256e-01 2.22395374e-01 6.24213253e-02 6.80186936e+02] [-2.21679142e-01 9.74948637e-01 -1.82623181e-02 -1.09198047e+02] [-6.49190411e-02 3.93093079e-03 9.97882792e-01 -4.34461764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.260714057 meters 0.035797877577820755 Centerline is valid? [True, True] Translation: X:680.22, Y:-109.20, Z:-43.45 [[ 9.71643343e-01 2.27841932e-01 6.32239490e-02 6.80217399e+02] [-2.27119769e-01 9.73691493e-01 -1.84793833e-02 -1.09199025e+02] [-6.57709996e-02 3.59596113e-03 9.97828264e-01 -4.34464697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.290714057 meters 0.035640808028098186 Centerline is valid? [True, True] Translation: X:680.25, Y:-109.20, Z:-43.45 [[ 9.70334605e-01 2.32974202e-01 6.46047683e-02 6.80246605e+02] [-2.32231539e-01 9.72477256e-01 -1.88811732e-02 -1.09202593e+02] [-6.72254941e-02 3.31779097e-03 9.97732291e-01 -4.34471541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.3207140569999 meters 0.03349225629080366 Centerline is valid? [True, True] Translation: X:680.28, Y:-109.21, Z:-43.45 [[ 9.69662091e-01 2.35664303e-01 6.49443265e-02 6.80277349e+02] [-2.34919921e-01 9.71829428e-01 -1.89787653e-02 -1.09205241e+02] [-6.75874252e-02 3.14627325e-03 9.97708395e-01 -4.34493543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.3507140569999 meters 0.03349225629080366 Centerline is valid? [True, True] Translation: X:680.30, Y:-109.21, Z:-43.45 [[ 9.69728702e-01 2.35389763e-01 6.49453932e-02 6.80303681e+02] [-2.34645011e-01 9.71895912e-01 -1.89751137e-02 -1.09212857e+02] [-6.75867097e-02 3.16159983e-03 9.97708395e-01 -4.34509429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.380714057 meters 0.03246119603852906 Centerline is valid? [True, True] Translation: X:680.33, Y:-109.22, Z:-43.45 [[ 9.68687751e-01 2.39192635e-01 6.65651941e-02 6.80333144e+02] [-2.38420397e-01 9.70967647e-01 -1.94304506e-02 -1.09216051e+02] [-6.92802706e-02 2.95153943e-03 9.97592869e-01 -4.34530279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.410714057 meters 0.03182357452757191 Centerline is valid? [True, True] Translation: X:680.36, Y:-109.22, Z:-43.46 [[ 9.68309791e-01 2.40452715e-01 6.75177081e-02 6.80361731e+02] [-2.39661614e-01 9.70656529e-01 -1.97031328e-02 -1.09221305e+02] [-7.02741760e-02 2.89733351e-03 9.97523506e-01 -4.34550474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.4407140569999 meters 0.031379468699157434 Centerline is valid? [True, True] Translation: X:680.39, Y:-109.23, Z:-43.46 [[ 9.67802924e-01 2.42569582e-01 6.72123412e-02 6.80389722e+02] [-2.41791820e-01 9.70130209e-01 -1.95983130e-02 -1.09226770e+02] [-6.99586772e-02 2.71591034e-03 9.97546193e-01 -4.34576908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.4707140569999 meters 0.03246065752018888 Centerline is valid? [True, True] Translation: X:680.42, Y:-109.24, Z:-43.46 [[ 9.67585590e-01 2.43564006e-01 6.67435488e-02 6.80416305e+02] [-2.42799929e-01 9.69881291e-01 -1.94544742e-02 -1.09236321e+02] [-6.94717289e-02 2.61853999e-03 9.97580484e-01 -4.34590562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.500714057 meters 0.031178105975326748 Centerline is valid? [True, True] Translation: X:680.44, Y:-109.24, Z:-43.46 [[ 9.67482542e-01 2.44037163e-01 6.65085978e-02 6.80444272e+02] [-2.43280792e-01 9.69762506e-01 -1.93684987e-02 -1.09241447e+02] [-6.92241779e-02 2.55842003e-03 9.97597849e-01 -4.34619905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.530714057 meters 0.028623348051103132 Centerline is valid? [True, True] Translation: X:680.47, Y:-109.25, Z:-43.47 [[ 9.66979203e-01 2.45954458e-01 6.67654591e-02 6.80472591e+02] [-2.45198018e-01 9.69278381e-01 -1.94255443e-02 -1.09245517e+02] [-6.94921153e-02 2.41333915e-03 9.97579582e-01 -4.34656501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.5607140569999 meters 0.030169558532180573 Centerline is valid? [True, True] Translation: X:680.50, Y:-109.26, Z:-43.47 [[ 9.66744279e-01 2.46909068e-01 6.66439117e-02 6.80498792e+02] [-2.46158906e-01 9.69035870e-01 -1.93720529e-02 -1.09256568e+02] [-6.93634765e-02 2.32282887e-03 9.97588749e-01 -4.34668188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.5907140569999 meters 0.029002581047893376 Centerline is valid? [True, True] Translation: X:680.53, Y:-109.26, Z:-43.47 [[ 9.66590160e-01 2.47751382e-01 6.57473556e-02 6.80527341e+02] [-2.47024441e-01 9.68821112e-01 -1.90939187e-02 -1.09262419e+02] [-6.84279709e-02 2.21479015e-03 9.97653601e-01 -4.34702763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.620714057 meters 0.028966441682652323 Centerline is valid? [True, True] Translation: X:680.55, Y:-109.27, Z:-43.47 [[ 9.66641866e-01 2.47380313e-01 6.63813577e-02 6.80554496e+02] [-2.46639550e-01 9.68915855e-01 -1.92613210e-02 -1.09270387e+02] [-6.90828216e-02 2.24653103e-03 9.97608399e-01 -4.34725902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.650714057 meters 0.029201183143969932 Centerline is valid? [True, True] Translation: X:680.58, Y:-109.28, Z:-43.47 [[ 9.66593322e-01 2.47589247e-01 6.63092279e-02 6.80580840e+02] [-2.46851676e-01 9.68862562e-01 -1.92246310e-02 -1.09279199e+02] [-6.90043403e-02 2.21385591e-03 9.97613903e-01 -4.34741457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.6807140569999 meters 0.02943319667743844 Centerline is valid? [True, True] Translation: X:680.61, Y:-109.29, Z:-43.48 [[ 9.66684564e-01 2.47162443e-01 6.65708724e-02 6.80607635e+02] [-2.46418587e-01 9.68971457e-01 -1.92923449e-02 -1.09287976e+02] [-6.92736183e-02 2.24531169e-03 9.97595171e-01 -4.34769662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.7107140569999 meters 0.02911409800905064 Centerline is valid? [True, True] Translation: X:680.63, Y:-109.30, Z:-43.48 [[ 9.66808140e-01 2.46775561e-01 6.62105967e-02 6.80634558e+02] [-2.46039913e-01 9.69070059e-01 -1.91724102e-02 -1.09296472e+02] [-6.88939891e-02 2.24559280e-03 9.97621459e-01 -4.34792303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.740714057 meters 0.03043215730147057 Centerline is valid? [True, True] Translation: X:680.66, Y:-109.31, Z:-43.48 [[ 9.66968483e-01 2.45994817e-01 6.67720262e-02 6.80659773e+02] [-2.45245203e-01 9.69268380e-01 -1.93286908e-02 -1.09308366e+02] [-6.94747714e-02 2.31471563e-03 9.97581023e-01 -4.34806829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.770714057 meters 0.0302871955988574 Centerline is valid? [True, True] Translation: X:680.69, Y:-109.32, Z:-43.48 [[ 9.67258926e-01 2.44746266e-01 6.71523337e-02 6.80687438e+02] [-2.43985648e-01 9.69584167e-01 -1.94305863e-02 -1.09316839e+02] [-6.98654029e-02 2.41020239e-03 9.97553516e-01 -4.34826077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.8007140569999 meters 0.030139053375992143 Centerline is valid? [True, True] Translation: X:680.72, Y:-109.33, Z:-43.48 [[ 9.67472927e-01 2.43651866e-01 6.80433935e-02 6.80715169e+02] [-2.42869462e-01 9.69859522e-01 -1.96705712e-02 -1.09325918e+02] [-7.07853045e-02 2.50508270e-03 9.97488429e-01 -4.34840921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.8307140569999 meters 0.029411340185112867 Centerline is valid? [True, True] Translation: X:680.74, Y:-109.33, Z:-43.49 [[ 9.67893721e-01 2.41867565e-01 6.84238698e-02 6.80743122e+02] [-2.41073218e-01 9.70305699e-01 -1.97624443e-02 -1.09333029e+02] [-7.11719651e-02 2.63278323e-03 9.97460586e-01 -4.34862529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.8607140569999 meters 0.030934930534557262 Centerline is valid? [True, True] Translation: X:680.77, Y:-109.35, Z:-43.49 [[ 9.68732579e-01 2.38237460e-01 6.92827835e-02 6.80769244e+02] [-2.37414940e-01 9.71202546e-01 -1.99940171e-02 -1.09345735e+02] [-7.20509396e-02 2.92008786e-03 9.97396679e-01 -4.34867994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.890714057 meters 0.030517892543039073 Centerline is valid? [True, True] Translation: X:680.80, Y:-109.35, Z:-43.49 [[ 9.69185614e-01 2.36236804e-01 6.97955425e-02 6.80797378e+02] [-2.35397253e-01 9.71690612e-01 -2.01367219e-02 -1.09354495e+02] [-7.25767082e-02 3.08654222e-03 9.97358057e-01 -4.34894957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.9207140569999 meters 0.035237722644706336 Centerline is valid? [True, True] Translation: X:680.82, Y:-109.37, Z:-43.49 [[ 9.69683047e-01 2.34227955e-01 6.96566877e-02 6.80820870e+02] [-2.33386854e-01 9.72176349e-01 -2.00928550e-02 -1.09371588e+02] [-7.24248927e-02 3.22674562e-03 9.97368650e-01 -4.34891994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.9507140569999 meters 0.03768930378399536 Centerline is valid? [True, True] Translation: X:680.85, Y:-109.39, Z:-43.49 [[ 9.70841108e-01 2.29583974e-01 6.89836315e-02 6.80846861e+02] [-2.28747875e-01 9.73282448e-01 -1.98918454e-02 -1.09386670e+02] [-7.17074067e-02 3.53196214e-03 9.97419457e-01 -4.34911321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.9807140569999 meters 0.032879288680309746 Centerline is valid? [True, True] Translation: X:680.88, Y:-109.39, Z:-43.50 [[ 9.71497669e-01 2.26911068e-01 6.85831285e-02 6.80877192e+02] [-2.26078205e-01 9.73908435e-01 -1.97738736e-02 -1.09387708e+02] [-7.12805981e-02 3.70512159e-03 9.97449422e-01 -4.34957049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.010714057 meters 0.03692456882874064 Centerline is valid? [True, True] Translation: X:680.90, Y:-109.40, Z:-43.50 [[ 9.72664742e-01 2.22142389e-01 6.76465723e-02 6.80902973e+02] [-2.21320837e-01 9.75006044e-01 -1.95013179e-02 -1.09402756e+02] [-7.02878862e-02 3.99664837e-03 9.97518742e-01 -4.34975151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.040714057 meters 0.03598432899186229 Centerline is valid? [True, True] Translation: X:680.93, Y:-109.41, Z:-43.50 [[ 9.73152978e-01 2.20004717e-01 6.76106966e-02 6.80932052e+02] [-2.19179055e-01 9.75489994e-01 -1.94887776e-02 -1.09409629e+02] [-7.02411811e-02 4.14671332e-03 9.97521419e-01 -4.34999449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.0707140569999 meters 0.03803252662846921 Centerline is valid? [True, True] Translation: X:680.96, Y:-109.42, Z:-43.50 [[ 9.73594759e-01 2.18084086e-01 6.74727837e-02 6.80958554e+02] [-2.17257423e-01 9.75920626e-01 -1.94458940e-02 -1.09421009e+02] [-7.00889214e-02 4.27345737e-03 9.97531594e-01 -4.35004215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.1007140569999 meters 0.0388768586756638 Centerline is valid? [True, True] Translation: X:680.99, Y:-109.43, Z:-43.50 [[ 9.73973634e-01 2.16470387e-01 6.72006831e-02 6.80986264e+02] [-2.15646931e-01 9.76279419e-01 -1.93622738e-02 -1.09430010e+02] [-6.97980028e-02 4.36672306e-03 9.97551588e-01 -4.35019174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.130714057 meters 0.03838391383787594 Centerline is valid? [True, True] Translation: X:681.02, Y:-109.44, Z:-43.50 [[ 9.74634030e-01 2.13513246e-01 6.70865161e-02 6.81016224e+02] [-2.12685840e-01 9.76929491e-01 -1.93262350e-02 -1.09436447e+02] [-6.96652032e-02 4.56765425e-03 9.97559971e-01 -4.35037587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.160714057 meters 0.03849012234301072 Centerline is valid? [True, True] Translation: X:681.04, Y:-109.44, Z:-43.51 [[ 9.74787425e-01 2.12781115e-01 6.71838836e-02 6.81043551e+02] [-2.11949651e-01 9.77088942e-01 -1.93531589e-02 -1.09443902e+02] [-6.97626165e-02 4.62561522e-03 9.97552896e-01 -4.35051549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.1907140569999 meters 0.039326185633175206 Centerline is valid? [True, True] Translation: X:681.07, Y:-109.45, Z:-43.51 [[ 9.75091724e-01 2.11521913e-01 6.67428672e-02 6.81071490e+02] [-2.10698996e-01 9.77362068e-01 -1.92177408e-02 -1.09450823e+02] [-6.92969200e-02 4.67640488e-03 9.97585118e-01 -4.35070169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.2207140569999 meters 0.038941260507883144 Centerline is valid? [True, True] Translation: X:681.10, Y:-109.46, Z:-43.51 [[ 9.75222101e-01 2.10926627e-01 6.67218970e-02 6.81099415e+02] [-2.10104098e-01 9.77490600e-01 -1.91936275e-02 -1.09456347e+02] [-6.92684743e-02 4.69950573e-03 9.97586985e-01 -4.35088440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.250714057 meters 0.039779363264394844 Centerline is valid? [True, True] Translation: X:681.13, Y:-109.46, Z:-43.51 [[ 9.75296506e-01 2.10389582e-01 6.73271796e-02 6.81126647e+02] [-2.09551916e-01 9.77606015e-01 -1.93513206e-02 -1.09462666e+02] [-6.98907721e-02 4.76473589e-03 9.97543271e-01 -4.35088503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.280714057 meters 0.039150541201263905 Centerline is valid? [True, True] Translation: X:681.16, Y:-109.47, Z:-43.51 [[ 9.75436060e-01 2.09502044e-01 6.80689803e-02 6.81155381e+02] [-2.08644262e-01 9.77796066e-01 -1.95557075e-02 -1.09467942e+02] [-7.06545418e-02 4.87314012e-03 9.97488941e-01 -4.35101877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.3107140569999 meters 0.04161387882545371 Centerline is valid? [True, True] Translation: X:681.18, Y:-109.48, Z:-43.51 [[ 9.75561416e-01 2.08962238e-01 6.79316350e-02 6.81181627e+02] [-2.08107815e-01 9.77911506e-01 -1.94993476e-02 -1.09477786e+02] [-7.05057548e-02 4.88570703e-03 9.97499408e-01 -4.35109861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.3407140569999 meters 0.042577812299456695 Centerline is valid? [True, True] Translation: X:681.21, Y:-109.48, Z:-43.51 [[ 9.75774557e-01 2.08198760e-01 6.72107889e-02 6.81209624e+02] [-2.07361219e-01 9.78074366e-01 -1.92836344e-02 -1.09483848e+02] [-6.97519785e-02 4.87956871e-03 9.97552430e-01 -4.35129899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.370714057 meters 0.03985213612161675 Centerline is valid? [True, True] Translation: X:681.24, Y:-109.49, Z:-43.52 [[ 9.75852479e-01 2.07982707e-01 6.67467880e-02 6.81237698e+02] [-2.07156736e-01 9.78120461e-01 -1.91428962e-02 -1.09486150e+02] [-6.92677904e-02 4.85359598e-03 9.97586295e-01 -4.35153345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.400714057 meters 0.04232339367529693 Centerline is valid? [True, True] Translation: X:681.26, Y:-109.50, Z:-43.52 [[ 9.75876402e-01 2.07940542e-01 6.65280269e-02 6.81263411e+02] [-2.07121151e-01 9.78129579e-01 -1.90619039e-02 -1.09495760e+02] [-6.90367736e-02 4.82270068e-03 9.97602459e-01 -4.35167771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.4307140569999 meters 0.04208024717448854 Centerline is valid? [True, True] Translation: X:681.29, Y:-109.50, Z:-43.52 [[ 9.75999768e-01 2.07529197e-01 6.60006520e-02 6.81290661e+02] [-2.06722411e-01 9.78217024e-01 -1.89023573e-02 -1.09501065e+02] [-6.84857524e-02 4.80488246e-03 9.97640524e-01 -4.35185776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.4607140569999 meters 0.04386887775682568 Centerline is valid? [True, True] Translation: X:681.32, Y:-109.51, Z:-43.52 [[ 9.76045220e-01 2.07517862e-01 6.53610452e-02 6.81318065e+02] [-2.06727832e-01 9.78219737e-01 -1.87015972e-02 -1.09506955e+02] [-6.78183799e-02 4.74165734e-03 9.97686416e-01 -4.35196081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.490714057 meters 0.04388213518875824 Centerline is valid? [True, True] Translation: X:681.35, Y:-109.51, Z:-43.52 [[ 9.75935450e-01 2.08073180e-01 6.52345739e-02 6.81346189e+02] [-2.07287843e-01 9.78102026e-01 -1.86595071e-02 -1.09513120e+02] [-6.76886118e-02 4.68814033e-03 9.97695481e-01 -4.35213757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.520714057 meters 0.04113058852086323 Centerline is valid? [True, True] Translation: X:681.38, Y:-109.51, Z:-43.52 [[ 9.75690085e-01 2.09577993e-01 6.40774694e-02 6.81376315e+02] [-2.08823824e-01 9.77781588e-01 -1.83241954e-02 -1.09514274e+02] [-6.64941179e-02 4.49783357e-03 9.97776679e-01 -4.35246537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.5507140569999 meters 0.03808883924543756 Centerline is valid? [True, True] Translation: X:681.41, Y:-109.52, Z:-43.53 [[ 9.75556704e-01 2.10573826e-01 6.28313716e-02 6.81406095e+02] [-2.09850970e-01 9.77568320e-01 -1.79652444e-02 -1.09515633e+02] [-6.52049686e-02 4.34089039e-03 9.97862450e-01 -4.35275602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.5807140569999 meters 0.035919246153454154 Centerline is valid? [True, True] Translation: X:681.43, Y:-109.52, Z:-43.53 [[ 9.75274706e-01 2.11999683e-01 6.24129982e-02 6.81434939e+02] [-2.11289651e-01 9.77260656e-01 -1.78407984e-02 -1.09518251e+02] [-6.47760112e-02 4.21245883e-03 9.97890938e-01 -4.35306024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.6107140569999 meters 0.03794210395653561 Centerline is valid? [True, True] Translation: X:681.46, Y:-109.53, Z:-43.53 [[ 9.74705155e-01 2.15091419e-01 6.07086687e-02 6.81463423e+02] [-2.14425931e-01 9.76586160e-01 -1.73491296e-02 -1.09525137e+02] [-6.30188945e-02 3.89277320e-03 9.98004742e-01 -4.35321047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.640714057 meters 0.03638963619623523 Centerline is valid? [True, True] Translation: X:681.49, Y:-109.53, Z:-43.53 [[ 9.74555692e-01 2.15822791e-01 6.05121936e-02 6.81492542e+02] [-2.15163232e-01 9.76425039e-01 -1.72894892e-02 -1.09528626e+02] [-6.28170868e-02 3.82957095e-03 9.98017709e-01 -4.35342783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.6707140569999 meters 0.041600339428087996 Centerline is valid? [True, True] Translation: X:681.52, Y:-109.54, Z:-43.53 [[ 9.74293165e-01 2.17036751e-01 6.03976540e-02 6.81517302e+02] [-2.16382978e-01 9.76156310e-01 -1.72413546e-02 -1.09542142e+02] [-6.26995586e-02 3.72910967e-03 9.98025480e-01 -4.35349022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.7007140569999 meters 0.03658057477974176 Centerline is valid? [True, True] Translation: X:681.55, Y:-109.54, Z:-43.54 [[ 9.74053772e-01 2.18320601e-01 5.96268734e-02 6.81547292e+02] [-2.17686166e-01 9.75870481e-01 -1.70157881e-02 -1.09541011e+02] [-6.19030027e-02 3.59434711e-03 9.98075698e-01 -4.35363537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.7307140569999 meters 0.03620751611771768 Centerline is valid? [True, True] Translation: X:681.58, Y:-109.55, Z:-43.54 [[ 9.73460051e-01 2.20975074e-01 5.95444822e-02 6.81576609e+02] [-2.20347603e-01 9.75273471e-01 -1.69879445e-02 -1.09545218e+02] [-6.18260661e-02 3.41660145e-03 9.98081091e-01 -4.35378151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.760714057 meters 0.03564096181471656 Centerline is valid? [True, True] Translation: X:681.60, Y:-109.55, Z:-43.54 [[ 9.73189903e-01 2.22303407e-01 5.90136268e-02 6.81604787e+02] [-2.21689661e-01 9.74971951e-01 -1.68341806e-02 -1.09550409e+02] [-6.12789265e-02 3.30014361e-03 9.98115225e-01 -4.35394537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.790714057 meters 0.03294897108726779 Centerline is valid? [True, True] Translation: X:681.64, Y:-109.55, Z:-43.54 [[ 9.72540232e-01 2.25132710e-01 5.89979617e-02 6.81635303e+02] [-2.24524737e-01 9.74323123e-01 -1.68254240e-02 -1.09551659e+02] [-6.12710316e-02 3.11689989e-03 9.98116299e-01 -4.35410560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.8207140569999 meters 0.03259424413528914 Centerline is valid? [True, True] Translation: X:681.66, Y:-109.56, Z:-43.54 [[ 9.72333174e-01 2.26104667e-01 5.86930834e-02 6.81663342e+02] [-2.25504913e-01 9.74098279e-01 -1.67355212e-02 -1.09556959e+02] [-6.09568110e-02 3.03692383e-03 9.98135785e-01 -4.35431337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.8507140569999 meters 0.0329126769591067 Centerline is valid? [True, True] Translation: X:681.69, Y:-109.56, Z:-43.54 [[ 9.72100486e-01 2.27158223e-01 5.84789507e-02 6.81690644e+02] [-2.26565697e-01 9.73853413e-01 -1.66587656e-02 -1.09563792e+02] [-6.07341013e-02 2.94466993e-03 9.98149637e-01 -4.35446662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.880714057 meters 0.03492801962233728 Centerline is valid? [True, True] Translation: X:681.72, Y:-109.57, Z:-43.55 [[ 9.71575865e-01 2.29582113e-01 5.77268813e-02 6.81718533e+02] [-2.29009895e-01 9.73285431e-01 -1.64297740e-02 -1.09572182e+02] [-5.99567148e-02 2.74274485e-03 9.98197210e-01 -4.35463601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.910714057 meters 0.031269668064030906 Centerline is valid? [True, True] Translation: X:681.75, Y:-109.57, Z:-43.55 [[ 9.71349712e-01 2.30376886e-01 5.83628864e-02 6.81748133e+02] [-2.29793577e-01 9.73097677e-01 -1.66079428e-02 -1.09572561e+02] [-6.06188753e-02 2.72070404e-03 9.98157277e-01 -4.35480442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.9407140569999 meters 0.031467870022282615 Centerline is valid? [True, True] Translation: X:681.78, Y:-109.58, Z:-43.55 [[ 9.71017799e-01 2.31851262e-01 5.80467594e-02 6.81775210e+02] [-2.31277811e-01 9.72747776e-01 -1.65026977e-02 -1.09579162e+02] [-6.02910274e-02 2.59948577e-03 9.98177457e-01 -4.35494286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.9707140569999 meters 0.03175829856759234 Centerline is valid? [True, True] Translation: X:681.80, Y:-109.59, Z:-43.55 [[ 9.70605701e-01 2.33449472e-01 5.85313328e-02 6.81801806e+02] [-2.32869788e-01 9.72365686e-01 -1.66323335e-02 -1.09586338e+02] [-6.07966690e-02 2.51325865e-03 9.98147008e-01 -4.35505479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.000714057 meters 0.028567537671229992 Centerline is valid? [True, True] Translation: X:681.83, Y:-109.59, Z:-43.55 [[ 9.69658010e-01 2.37445688e-01 5.81626009e-02 6.81832178e+02] [-2.36880778e-01 9.71398226e-01 -1.65222416e-02 -1.09586858e+02] [-6.04221823e-02 2.24332177e-03 9.98170390e-01 -4.35526972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.030714057 meters 0.030387767910933804 Centerline is valid? [True, True] Translation: X:681.86, Y:-109.60, Z:-43.55 [[ 9.69279367e-01 2.39053743e-01 5.78862384e-02 6.81858135e+02] [-2.38497198e-01 9.71004001e-01 -1.64413378e-02 -1.09597522e+02] [-6.01381324e-02 2.13054385e-03 9.98187791e-01 -4.35544436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.0607140569999 meters 0.02996762886640899 Centerline is valid? [True, True] Translation: X:681.89, Y:-109.60, Z:-43.56 [[ 9.68864053e-01 2.40732665e-01 5.78811736e-02 6.81886322e+02] [-2.40179567e-01 9.70589358e-01 -1.64339068e-02 -1.09603696e+02] [-6.01350293e-02 2.02034630e-03 9.98188207e-01 -4.35560615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.0907140569999 meters 0.029075249510704712 Centerline is valid? [True, True] Translation: X:681.91, Y:-109.61, Z:-43.56 [[ 9.68053879e-01 2.43977124e-01 5.78519711e-02 6.81914740e+02] [-2.43431227e-01 9.69779309e-01 -1.64112508e-02 -1.09608848e+02] [-6.01076144e-02 1.80399869e-03 9.98190273e-01 -4.35575638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.120714057 meters 0.029075249510704712 Centerline is valid? [True, True] Translation: X:681.94, Y:-109.62, Z:-43.56 [[ 9.68119429e-01 2.43716595e-01 5.78531932e-02 6.81941104e+02] [-2.43170491e-01 9.69844794e-01 -1.64069414e-02 -1.09616233e+02] [-6.01072621e-02 1.81568928e-03 9.98190273e-01 -4.35591513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.150714057 meters 0.02716829172027516 Centerline is valid? [True, True] Translation: X:681.97, Y:-109.62, Z:-43.56 [[ 9.67882051e-01 2.44711184e-01 5.76261349e-02 6.81970316e+02] [-2.44172119e-01 9.69594472e-01 -1.63259254e-02 -1.09620079e+02] [-5.98691184e-02 1.73087463e-03 9.98204735e-01 -4.35611680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.1807140569999 meters 0.027425468190040873 Centerline is valid? [True, True] Translation: X:682.00, Y:-109.63, Z:-43.56 [[ 9.67449730e-01 2.46598511e-01 5.68347912e-02 6.81996741e+02] [-2.46078237e-01 9.69116445e-01 -1.60878308e-02 -1.09628308e+02] [-5.90467659e-02 1.57836233e-03 9.98253970e-01 -4.35644714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.2107140569999 meters 0.026892513938322715 Centerline is valid? [True, True] Translation: X:682.02, Y:-109.64, Z:-43.57 [[ 9.67334077e-01 2.47203195e-01 5.61726197e-02 6.82024115e+02] [-2.46696319e-01 9.68962474e-01 -1.58949954e-02 -1.09636491e+02] [-5.83584542e-02 1.51819214e-03 9.98294539e-01 -4.35668066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.240714057 meters 0.026570292815901165 Centerline is valid? [True, True] Translation: X:682.05, Y:-109.64, Z:-43.57 [[ 9.67305952e-01 2.47428979e-01 5.56605354e-02 6.82051572e+02] [-2.46932533e-01 9.68904908e-01 -1.57354283e-02 -1.09644308e+02] [-5.78231669e-02 1.47657647e-03 9.98325749e-01 -4.35689386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.270714057 meters 0.026700724151083786 Centerline is valid? [True, True] Translation: X:682.08, Y:-109.65, Z:-43.57 [[ 9.67180957e-01 2.47904632e-01 5.57161462e-02 6.82078168e+02] [-2.47408846e-01 9.68783378e-01 -1.57362458e-02 -1.09653112e+02] [-5.78779646e-02 1.43512985e-03 9.98322634e-01 -4.35704746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.3007140569999 meters 0.026478372359492235 Centerline is valid? [True, True] Translation: X:682.10, Y:-109.66, Z:-43.57 [[ 9.67013478e-01 2.48530000e-01 5.58370174e-02 6.82103917e+02] [-2.48033559e-01 9.68623197e-01 -1.57624635e-02 -1.09662556e+02] [-5.80024754e-02 1.39306050e-03 9.98315467e-01 -4.35719873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.3307140569999 meters 0.0264745857312981 Centerline is valid? [True, True] Translation: X:682.13, Y:-109.67, Z:-43.57 [[ 9.66980132e-01 2.48663220e-01 5.58213883e-02 6.82130781e+02] [-2.48167583e-01 9.68589025e-01 -1.57528037e-02 -1.09670664e+02] [-5.79851270e-02 1.37958915e-03 9.98316494e-01 -4.35736766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.3607140569999 meters 0.02646682546678183 Centerline is valid? [True, True] Translation: X:682.16, Y:-109.68, Z:-43.58 [[ 9.66681847e-01 2.49844334e-01 5.57136940e-02 6.82156735e+02] [-2.49353535e-01 9.68285157e-01 -1.57057366e-02 -1.09681316e+02] [-5.78707322e-02 1.29004394e-03 9.98323251e-01 -4.35753235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.390714057 meters 0.02658456573495816 Centerline is valid? [True, True] Translation: X:682.18, Y:-109.69, Z:-43.58 [[ 9.66616778e-01 2.50039515e-01 5.59664693e-02 6.82183084e+02] [-2.49544882e-01 9.68234788e-01 -1.57717170e-02 -1.09689949e+02] [-5.81322350e-02 1.27906034e-03 9.98308072e-01 -4.35770654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.4207140569999 meters 0.026364824967953733 Centerline is valid? [True, True] Translation: X:682.21, Y:-109.70, Z:-43.58 [[ 9.66548418e-01 2.50236138e-01 5.62674965e-02 6.82209674e+02] [-2.49737459e-01 9.68184018e-01 -1.58401071e-02 -1.09698647e+02] [-5.84410581e-02 1.25812883e-03 9.98290068e-01 -4.35781109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.4507140569999 meters 0.025529749458142043 Centerline is valid? [True, True] Translation: X:682.24, Y:-109.70, Z:-43.58 [[ 9.66621182e-01 2.49942442e-01 5.63228700e-02 6.82236844e+02] [-2.49443238e-01 9.68259875e-01 -1.58393926e-02 -1.09704734e+02] [-5.84941115e-02 1.26133338e-03 9.98286957e-01 -4.35800115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.4807140569999 meters 0.026094949901430537 Centerline is valid? [True, True] Translation: X:682.26, Y:-109.72, Z:-43.58 [[ 9.66738803e-01 2.49377721e-01 5.68052696e-02 6.82262729e+02] [-2.48869986e-01 9.68405436e-01 -1.59574736e-02 -1.09716759e+02] [-5.89899703e-02 1.28958233e-03 9.98257742e-01 -4.35812802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.510714057 meters 0.025925087762495778 Centerline is valid? [True, True] Translation: X:682.29, Y:-109.72, Z:-43.58 [[ 9.66868065e-01 2.48746129e-01 5.73716678e-02 6.82289807e+02] [-2.48227448e-01 9.68567798e-01 -1.61107189e-02 -1.09724817e+02] [-5.95758289e-02 1.33571690e-03 9.98222889e-01 -4.35832109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.540714057 meters 0.026161432661713904 Centerline is valid? [True, True] Translation: X:682.32, Y:-109.73, Z:-43.58 [[ 9.67071182e-01 2.47877223e-01 5.77079789e-02 6.82317265e+02] [-2.47351830e-01 9.68790468e-01 -1.61895189e-02 -1.09733842e+02] [-5.99199529e-02 1.38224294e-03 9.98202228e-01 -4.35845364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.5707140569999 meters 0.02642255746362365 Centerline is valid? [True, True] Translation: X:682.34, Y:-109.75, Z:-43.59 [[ 9.67394055e-01 2.46323811e-01 5.89349039e-02 6.82343597e+02] [-2.45773942e-01 9.69186436e-01 -1.65173101e-02 -1.09745317e+02] [-6.11875162e-02 1.49408398e-03 9.98125170e-01 -4.35856853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.6007140569999 meters 0.026790286508962664 Centerline is valid? [True, True] Translation: X:682.37, Y:-109.76, Z:-43.59 [[ 9.67644116e-01 2.45266308e-01 5.92393697e-02 6.82370164e+02] [-2.44709718e-01 9.69454498e-01 -1.65870606e-02 -1.09755436e+02] [-6.14981206e-02 1.55392212e-03 9.98105990e-01 -4.35869150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.630714057 meters 0.027754773515465785 Centerline is valid? [True, True] Translation: X:682.40, Y:-109.77, Z:-43.59 [[ 9.68338878e-01 2.42648479e-01 5.86645761e-02 6.82395056e+02] [-2.42098193e-01 9.70112794e-01 -1.64204845e-02 -1.09770509e+02] [-6.08956614e-02 1.69800567e-03 9.98142693e-01 -4.35884711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.660714057 meters 0.027753147403874853 Centerline is valid? [True, True] Translation: X:682.42, Y:-109.78, Z:-43.59 [[ 9.68896884e-01 2.40488427e-01 5.83450482e-02 6.82422479e+02] [-2.39940580e-01 9.70650304e-01 -1.63250158e-02 -1.09780141e+02] [-6.05586161e-02 1.81791219e-03 9.98162987e-01 -4.35912594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.6907140569999 meters 0.027933042225240238 Centerline is valid? [True, True] Translation: X:682.45, Y:-109.79, Z:-43.59 [[ 9.69460451e-01 2.38264319e-01 5.81080714e-02 6.82449820e+02] [-2.37717858e-01 9.71198422e-01 -1.62433272e-02 -1.09790247e+02] [-6.03046725e-02 1.93393710e-03 9.98178144e-01 -4.35929778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.7207140569999 meters 0.0308500380948927 Centerline is valid? [True, True] Translation: X:682.48, Y:-109.81, Z:-43.59 [[ 9.70757345e-01 2.32696223e-01 5.90139463e-02 6.82475333e+02] [-2.32123233e-01 9.72546747e-01 -1.64812223e-02 -1.09807502e+02] [-6.12289396e-02 2.30075963e-03 9.98121097e-01 -4.35943008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.750714057 meters 0.031094974792377352 Centerline is valid? [True, True] Translation: X:682.50, Y:-109.82, Z:-43.60 [[ 9.71427139e-01 2.29727660e-01 5.96197547e-02 6.82502972e+02] [-2.29137392e-01 9.73251712e-01 -1.66481214e-02 -1.09818468e+02] [-6.18495623e-02 2.51132187e-03 9.98082324e-01 -4.35952496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.780714057 meters 0.032536924921034514 Centerline is valid? [True, True] Translation: X:682.53, Y:-109.83, Z:-43.60 [[ 9.72200073e-01 2.26293893e-01 6.01505842e-02 6.82530432e+02] [-2.25686639e-01 9.74055183e-01 -1.67940683e-02 -1.09830333e+02] [-6.23903834e-02 2.75201129e-03 9.98048028e-01 -4.35970591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.8107140569999 meters 0.035000950587191174 Centerline is valid? [True, True] Translation: X:682.56, Y:-109.85, Z:-43.60 [[ 9.73606983e-01 2.19995251e-01 6.07579799e-02 6.82557096e+02] [-2.19363553e-01 9.75495741e-01 -1.69614341e-02 -1.09846390e+02] [-6.30005856e-02 3.18568428e-03 9.98008406e-01 -4.35979300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.8407140569999 meters 0.03761980944600635 Centerline is valid? [True, True] Translation: X:682.58, Y:-109.86, Z:-43.60 [[ 9.74413902e-01 2.16423171e-01 6.06511168e-02 6.82583723e+02] [-2.15786876e-01 9.76293699e-01 -1.69303760e-02 -1.09860201e+02] [-6.28774288e-02 3.40947874e-03 9.98015433e-01 -4.35997263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.870714057 meters 0.03723237711324767 Centerline is valid? [True, True] Translation: X:682.61, Y:-109.87, Z:-43.60 [[ 9.75856165e-01 2.09849977e-01 6.05618084e-02 6.82612123e+02] [-2.09202997e-01 9.77726109e-01 -1.69045087e-02 -1.09869758e+02] [-6.27602720e-02 3.82665722e-03 9.98021295e-01 -4.36021809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.900714057 meters 0.042631860272441875 Centerline is valid? [True, True] Translation: X:682.64, Y:-109.89, Z:-43.60 [[ 9.76327161e-01 2.07791507e-01 6.00663307e-02 6.82636549e+02] [-2.07151291e-01 9.78165264e-01 -1.67648405e-02 -1.09886498e+02] [-6.22383897e-02 3.92515119e-03 9.98053594e-01 -4.36032302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.9307140569999 meters 0.044022143714885574 Centerline is valid? [True, True] Translation: X:682.66, Y:-109.90, Z:-43.61 [[ 9.76671268e-01 2.06225340e-01 5.98693955e-02 6.82664107e+02] [-2.05586715e-01 9.78496324e-01 -1.67046852e-02 -1.09895933e+02] [-6.20269128e-02 4.00663368e-03 9.98066435e-01 -4.36053021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.9607140569999 meters 0.03945178082224452 Centerline is valid? [True, True] Translation: X:682.69, Y:-109.90, Z:-43.61 [[ 9.76974610e-01 2.04727898e-01 6.00591313e-02 6.82693814e+02] [-2.04082659e-01 9.78810293e-01 -1.67534416e-02 -1.09896835e+02] [-6.22163928e-02 4.11065983e-03 9.98054218e-01 -4.36078805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.990714057 meters 0.04057669677362838 Centerline is valid? [True, True] Translation: X:682.72, Y:-109.90, Z:-43.61 [[ 9.77036034e-01 2.04467351e-01 5.99473921e-02 6.82720547e+02] [-2.03824981e-01 9.78864779e-01 -1.67069442e-02 -1.09904672e+02] [-6.20964153e-02 4.10451050e-03 9.98061716e-01 -4.36092789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.020714057 meters 0.040673232821325636 Centerline is valid? [True, True] Translation: X:682.75, Y:-109.91, Z:-43.61 [[ 9.77045698e-01 2.04329005e-01 6.02607790e-02 6.82747910e+02] [-2.03680048e-01 9.78893567e-01 -1.67875882e-02 -1.09910715e+02] [-6.24190801e-02 4.12832242e-03 9.98041490e-01 -4.36108318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.0507140569999 meters 0.04155485469208864 Centerline is valid? [True, True] Translation: X:682.78, Y:-109.92, Z:-43.61 [[ 9.77010789e-01 2.04619992e-01 5.98379194e-02 6.82775470e+02] [-2.03981770e-01 9.78833054e-01 -1.66520062e-02 -1.09916655e+02] [-6.19786668e-02 4.06334499e-03 9.98069203e-01 -4.36125911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.0807140569999 meters 0.04191317576549881 Centerline is valid? [True, True] Translation: X:682.80, Y:-109.92, Z:-43.61 [[ 9.76995027e-01 2.04706352e-01 5.97998847e-02 6.82803762e+02] [-2.04070069e-01 9.78815094e-01 -1.66258598e-02 -1.09923945e+02] [-6.19364488e-02 4.04001577e-03 9.98071919e-01 -4.36143211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.1107140569999 meters 0.0425168830100233 Centerline is valid? [True, True] Translation: X:682.83, Y:-109.93, Z:-43.62 [[ 9.77034624e-01 2.04606667e-01 5.94933278e-02 6.82830987e+02] [-2.03977561e-01 9.78836051e-01 -1.65269286e-02 -1.09930482e+02] [-6.16157339e-02 4.01207752e-03 9.98091882e-01 -4.36166112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.140714057 meters 0.04276264251520369 Centerline is valid? [True, True] Translation: X:682.86, Y:-109.94, Z:-43.62 [[ 9.76948332e-01 2.05117514e-01 5.91503367e-02 6.82859240e+02] [-2.04496970e-01 9.78729379e-01 -1.64253201e-02 -1.09937448e+02] [-6.12612931e-02 3.95062444e-03 9.98113945e-01 -4.36183099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.1707140569999 meters 0.04271115482133479 Centerline is valid? [True, True] Translation: X:682.89, Y:-109.94, Z:-43.62 [[ 9.76636199e-01 2.06868886e-01 5.81979364e-02 6.82887763e+02] [-2.06271530e-01 9.78361393e-01 -1.61567375e-02 -1.09941358e+02] [-6.02809404e-02 3.77467730e-03 9.98174313e-01 -4.36202235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.2007140569999 meters 0.03720001366300266 Centerline is valid? [True, True] Translation: X:682.92, Y:-109.94, Z:-43.62 [[ 9.76443691e-01 2.07782144e-01 5.81747246e-02 6.82918832e+02] [-2.07187095e-01 9.78168080e-01 -1.61466749e-02 -1.09939019e+02] [-6.02596494e-02 3.71326662e-03 9.98175829e-01 -4.36221138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.2307140569999 meters 0.035815562760255285 Centerline is valid? [True, True] Translation: X:682.95, Y:-109.94, Z:-43.62 [[ 9.75708410e-01 2.11168468e-01 5.83178968e-02 6.82949004e+02] [-2.10577346e-01 9.77443417e-01 -1.61724182e-02 -1.09940430e+02] [-6.04175491e-02 3.49913653e-03 9.98167058e-01 -4.36235529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.260714057 meters 0.03599692533685104 Centerline is valid? [True, True] Translation: X:682.98, Y:-109.95, Z:-43.62 [[ 9.75172301e-01 2.13586946e-01 5.84773481e-02 6.82977274e+02] [-2.12997050e-01 9.76918293e-01 -1.62143403e-02 -1.09946287e+02] [-6.05907625e-02 3.35627288e-03 9.98157049e-01 -4.36247617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.290714057 meters 0.035169253082690054 Centerline is valid? [True, True] Translation: X:683.01, Y:-109.95, Z:-43.63 [[ 9.74641275e-01 2.15942531e-01 5.86788541e-02 6.83006914e+02] [-2.15353004e-01 9.76400773e-01 -1.62669736e-02 -1.09951180e+02] [-6.08068100e-02 3.21779640e-03 9.98144367e-01 -4.36264884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.3207140569999 meters 0.03415249339650242 Centerline is valid? [True, True] Translation: X:683.04, Y:-109.96, Z:-43.63 [[ 9.74065365e-01 2.18461273e-01 5.89180483e-02 6.83036967e+02] [-2.17871580e-01 9.75840784e-01 -1.63321737e-02 -1.09956202e+02] [-6.10625818e-02 3.07203647e-03 9.98129212e-01 -4.36277421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.3507140569999 meters 0.03208134543370825 Centerline is valid? [True, True] Translation: X:683.07, Y:-109.96, Z:-43.63 [[ 9.73099987e-01 2.22809770e-01 5.85851723e-02 6.83068302e+02] [-2.22234645e-01 9.74857972e-01 -1.62387567e-02 -1.09956568e+02] [-6.07303759e-02 2.78227899e-03 9.98150330e-01 -4.36299460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.380714057 meters 0.02981467609917096 Centerline is valid? [True, True] Translation: X:683.10, Y:-109.96, Z:-43.63 [[ 9.72557478e-01 2.25203710e-01 5.84400633e-02 6.83098200e+02] [-2.24635887e-01 9.74308167e-01 -1.61961211e-02 -1.09958359e+02] [-6.05860575e-02 2.62392327e-03 9.98159529e-01 -4.36319331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.410714057 meters 0.030159983530526173 Centerline is valid? [True, True] Translation: X:683.13, Y:-109.96, Z:-43.63 [[ 9.72126651e-01 2.27200771e-01 5.78755863e-02 6.83125518e+02] [-2.26647841e-01 9.73844812e-01 -1.60324154e-02 -1.09964008e+02] [-6.00044166e-02 2.46816167e-03 9.98195060e-01 -4.36336449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.4407140569999 meters 0.03055889885351416 Centerline is valid? [True, True] Translation: X:683.15, Y:-109.97, Z:-43.64 [[ 9.70787521e-01 2.32870617e-01 5.78175197e-02 6.83153824e+02] [-2.32329145e-01 9.72505435e-01 -1.60108261e-02 -1.09970283e+02] [-5.99563031e-02 2.11041528e-03 9.98198772e-01 -4.36351219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.4707140569999 meters 0.027757808238407473 Centerline is valid? [True, True] Translation: X:683.18, Y:-109.97, Z:-43.64 [[ 9.70112326e-01 2.35624795e-01 5.79916396e-02 6.83184269e+02] [-2.35085104e-01 9.71842157e-01 -1.60566621e-02 -1.09969837e+02] [-6.01420678e-02 1.94379520e-03 9.98187935e-01 -4.36379857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.500714057 meters 0.02680671230156511 Centerline is valid? [True, True] Translation: X:683.21, Y:-109.97, Z:-43.64 [[ 9.68724417e-01 2.41502884e-01 5.70031686e-02 6.83212670e+02] [-2.40992019e-01 9.70398871e-01 -1.57758329e-02 -1.09973650e+02] [-5.91257196e-02 1.54512585e-03 9.98249349e-01 -4.36405034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.530714057 meters 0.027425159227186746 Centerline is valid? [True, True] Translation: X:683.24, Y:-109.98, Z:-43.64 [[ 9.68088043e-01 2.44102083e-01 5.67425247e-02 6.83239849e+02] [-2.43600544e-01 9.69748564e-01 -1.57002343e-02 -1.09981369e+02] [-5.88584418e-02 1.37669923e-03 9.98265390e-01 -4.36426087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.5607140569999 meters 0.025795628299295083 Centerline is valid? [True, True] Translation: X:683.27, Y:-109.98, Z:-43.64 [[ 9.67393201e-01 2.46882819e-01 5.65620778e-02 6.83269027e+02] [-2.46390077e-01 9.69044612e-01 -1.56355633e-02 -1.09983523e+02] [-5.86713287e-02 1.18940292e-03 9.98276645e-01 -4.36446056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.5907140569999 meters 0.024981152904697324 Centerline is valid? [True, True] Translation: X:683.30, Y:-109.99, Z:-43.65 [[ 9.65770019e-01 2.53040681e-01 5.70848845e-02 6.83298032e+02] [-2.52550402e-01 9.67455301e-01 -1.57649741e-02 -1.09987325e+02] [-5.92162539e-02 8.08528750e-04 9.98244851e-01 -4.36455342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.620714057 meters 0.024539195284555306 Centerline is valid? [True, True] Translation: X:683.33, Y:-109.99, Z:-43.65 [[ 9.65091036e-01 2.55588790e-01 5.72159341e-02 6.83326604e+02] [-2.55100999e-01 9.66785368e-01 -1.57965646e-02 -1.09993443e+02] [-5.93529528e-02 6.49280898e-04 9.98236848e-01 -4.36469832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.650714057 meters 0.024647127911958572 Centerline is valid? [True, True] Translation: X:683.35, Y:-110.00, Z:-43.65 [[ 9.64442623e-01 2.57902520e-01 5.77643233e-02 6.83354681e+02] [-2.57410335e-01 9.66170814e-01 -1.59335114e-02 -1.10000400e+02] [-5.99194960e-02 4.97823672e-04 9.98203089e-01 -4.36489243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.6807140569999 meters 0.024475887594433903 Centerline is valid? [True, True] Translation: X:683.38, Y:-110.01, Z:-43.65 [[ 9.63371244e-01 2.61939077e-01 5.74783936e-02 6.83380992e+02] [-2.61459830e-01 9.65084383e-01 -1.58395247e-02 -1.10008348e+02] [-5.96204905e-02 2.31051530e-04 9.98221090e-01 -4.36511355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.7107140569999 meters 0.024661196692225065 Centerline is valid? [True, True] Translation: X:683.41, Y:-110.02, Z:-43.65 [[ 9.63030284e-01 2.63139847e-01 5.77069640e-02 6.83406557e+02] [-2.62659265e-01 9.64757689e-01 -1.58969233e-02 -1.10016663e+02] [-5.98563512e-02 1.51949733e-04 9.98206990e-01 -4.36533299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.740714057 meters 0.02457694704219868 Centerline is valid? [True, True] Translation: X:683.43, Y:-110.03, Z:-43.66 [[ 9.62711032e-01 2.64193319e-01 5.82182036e-02 6.83433133e+02] [-2.63706594e-01 9.64469742e-01 -1.60296023e-02 -1.10025456e+02] [-6.03846097e-02 7.93507185e-05 9.98175181e-01 -4.36554695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.770714057 meters 0.02460063006147595 Centerline is valid? [True, True] Translation: X:683.46, Y:-110.04, Z:-43.66 [[ 9.62323142e-01 2.65518606e-01 5.86006802e-02 6.83457681e+02] [-2.65028963e-01 9.64105736e-01 -1.61176786e-02 -1.10036620e+02] [-6.07767954e-02 -2.04623511e-05 9.98151382e-01 -4.36567442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.8007140569999 meters 0.024571849561435294 Centerline is valid? [True, True] Translation: X:683.48, Y:-110.05, Z:-43.66 [[ 9.62227011e-01 2.65777217e-01 5.90055124e-02 6.83483882e+02] [-2.65281771e-01 9.64034475e-01 -1.62207551e-02 -1.10046511e+02] [-6.11944554e-02 -4.50381477e-05 9.98125862e-01 -4.36580217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.8307140569999 meters 0.02455192185907756 Centerline is valid? [True, True] Translation: X:683.51, Y:-110.06, Z:-43.66 [[ 9.62464715e-01 2.64696968e-01 5.99765517e-02 6.83508373e+02] [-2.64184097e-01 9.64331642e-01 -1.64696046e-02 -1.10060971e+02] [-6.21967410e-02 6.56215604e-06 9.98063908e-01 -4.36601074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.8607140569999 meters 0.024499501484812728 Centerline is valid? [True, True] Translation: X:683.53, Y:-110.07, Z:-43.66 [[ 9.62625740e-01 2.64240852e-01 5.94008170e-02 6.83533098e+02] [-2.63737966e-01 9.64456724e-01 -1.62945844e-02 -1.10072557e+02] [-6.15952122e-02 1.93357055e-05 9.98101212e-01 -4.36615523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.890714057 meters 0.024352042915576407 Centerline is valid? [True, True] Translation: X:683.56, Y:-110.08, Z:-43.66 [[ 9.62923696e-01 2.63043890e-01 5.98821115e-02 6.83558564e+02] [-2.62530975e-01 9.64783864e-01 -1.64189775e-02 -1.10084455e+02] [-6.20922067e-02 8.93133114e-05 9.98070413e-01 -4.36633237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.9207140569999 meters 0.024627694302499843 Centerline is valid? [True, True] Translation: X:683.58, Y:-110.10, Z:-43.67 [[ 9.63359929e-01 2.61273455e-01 6.06121200e-02 6.83582412e+02] [-2.60744856e-01 9.65264804e-01 -1.66125863e-02 -1.10101053e+02] [-6.28471740e-02 1.99601440e-04 9.98023142e-01 -4.36654617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.9507140569999 meters 0.02453411369320114 Centerline is valid? [True, True] Translation: X:683.61, Y:-110.11, Z:-43.67 [[ 9.63501070e-01 2.60555731e-01 6.14524223e-02 6.83608016e+02] [-2.60012089e-01 9.65458781e-01 -1.68242666e-02 -1.10112932e+02] [-6.37134398e-02 2.31826095e-04 9.97968208e-01 -4.36672081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.9807140569999 meters 0.02466971285203477 Centerline is valid? [True, True] Translation: X:683.63, Y:-110.12, Z:-43.67 [[ 9.63615375e-01 2.60201265e-01 6.11613494e-02 6.83633766e+02] [-2.59663210e-01 9.65554372e-01 -1.67263711e-02 -1.10124979e+02] [-6.34068312e-02 2.36436105e-04 9.97987734e-01 -4.36687598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.010714057 meters 0.024960221472272753 Centerline is valid? [True, True] Translation: X:683.66, Y:-110.14, Z:-43.67 [[ 9.63744435e-01 2.59790050e-01 6.08752253e-02 6.83657651e+02] [-2.59257292e-01 9.65665092e-01 -1.66309122e-02 -1.10141198e+02] [-6.31056255e-02 2.45603054e-04 9.98006824e-01 -4.36710725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.040714057 meters 0.024960221472272753 Centerline is valid? [True, True] Translation: X:683.68, Y:-110.15, Z:-43.67 [[ 9.63815310e-01 2.59526467e-01 6.08774345e-02 6.83684083e+02] [-2.58993694e-01 9.65735962e-01 -1.66228215e-02 -1.10148338e+02] [-6.31055899e-02 2.54458251e-04 9.98006824e-01 -4.36726605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.0707140569999 meters 0.02522402297507612 Centerline is valid? [True, True] Translation: X:683.71, Y:-110.16, Z:-43.67 [[ 9.63917437e-01 2.59175393e-01 6.07559921e-02 6.83709518e+02] [-2.58645174e-01 9.65830238e-01 -1.65718473e-02 -1.10160371e+02] [-6.29749893e-02 2.59648463e-04 9.98015072e-01 -4.36747185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.1007140569999 meters 0.025420381718029923 Centerline is valid? [True, True] Translation: X:683.73, Y:-110.18, Z:-43.68 [[ 9.63936786e-01 2.58931982e-01 6.14825299e-02 6.83733577e+02] [-2.58389662e-01 9.65895523e-01 -1.67517880e-02 -1.10177077e+02] [-6.37232740e-02 2.61214572e-04 9.97967573e-01 -4.36770336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.130714057 meters 0.0250807007163512 Centerline is valid? [True, True] Translation: X:683.76, Y:-110.19, Z:-43.68 [[ 9.64016222e-01 2.58679443e-01 6.12998264e-02 6.83758022e+02] [-2.58140930e-01 9.65963187e-01 -1.66847996e-02 -1.10189281e+02] [-6.35293903e-02 2.60423277e-04 9.97979934e-01 -4.36778755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.160714057 meters 0.025190104093229578 Centerline is valid? [True, True] Translation: X:683.78, Y:-110.20, Z:-43.68 [[ 9.64049314e-01 2.58312366e-01 6.23188788e-02 6.83783542e+02] [-2.57755606e-01 9.66061407e-01 -1.69530134e-02 -1.10201445e+02] [-6.45830367e-02 2.80500542e-04 9.97912297e-01 -4.36795804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.1907140569999 meters 0.025266194942793824 Centerline is valid? [True, True] Translation: X:683.81, Y:-110.21, Z:-43.68 [[ 9.64067010e-01 2.58209939e-01 6.24694205e-02 6.83809470e+02] [-2.57651433e-01 9.66088792e-01 -1.69760043e-02 -1.10213941e+02] [-6.47343801e-02 2.70669983e-04 9.97902494e-01 -4.36805363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.2207140569999 meters 0.025010986276449043 Centerline is valid? [True, True] Translation: X:683.83, Y:-110.23, Z:-43.68 [[ 9.64033446e-01 2.58201269e-01 6.30207828e-02 6.83833321e+02] [-2.57633928e-01 9.66091113e-01 -1.71090799e-02 -1.10230672e+02] [-6.53014043e-02 2.57433449e-04 9.97865552e-01 -4.36818593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.250714057 meters 0.02388359941349561 Centerline is valid? [True, True] Translation: X:683.86, Y:-110.25, Z:-43.68 [[ 9.63919005e-01 2.58681177e-01 6.28028658e-02 6.83857872e+02] [-2.58119236e-01 9.65962733e-01 -1.70428462e-02 -1.10247091e+02] [-6.50738913e-02 2.17295592e-04 9.97880424e-01 -4.36838908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.280714057 meters 0.023969094773134598 Centerline is valid? [True, True] Translation: X:683.88, Y:-110.26, Z:-43.69 [[ 9.64007070e-01 2.58284191e-01 6.30844375e-02 6.83883704e+02] [-2.57717620e-01 9.66068955e-01 -1.70997925e-02 -1.10259434e+02] [-6.53605226e-02 2.26349782e-04 9.97861689e-01 -4.36851697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.3107140569999 meters 0.024152042927596602 Centerline is valid? [True, True] Translation: X:683.91, Y:-110.27, Z:-43.69 [[ 9.64073789e-01 2.58086573e-01 6.28732909e-02 6.83908095e+02] [-2.57524545e-01 9.66121769e-01 -1.70246093e-02 -1.10271575e+02] [-6.51370781e-02 2.21563939e-04 9.97876301e-01 -4.36862360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.3407140569999 meters 0.023620359007682543 Centerline is valid? [True, True] Translation: X:683.93, Y:-110.28, Z:-43.69 [[ 9.64196605e-01 2.57519017e-01 6.33155847e-02 6.83934055e+02] [-2.56948349e-01 9.66273197e-01 -1.71363516e-02 -1.10284065e+02] [-6.55930889e-02 2.53977079e-04 9.97846422e-01 -4.36872522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.370714057 meters 0.02361015920829114 Centerline is valid? [True, True] Translation: X:683.96, Y:-110.30, Z:-43.69 [[ 9.64376589e-01 2.56632274e-01 6.41690863e-02 6.83958642e+02] [-2.56044477e-01 9.66509068e-01 -1.73622559e-02 -1.10301667e+02] [-6.64757190e-02 3.13612921e-04 9.97787994e-01 -4.36872087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.400714057 meters 0.02334881621570907 Centerline is valid? [True, True] Translation: X:683.98, Y:-110.31, Z:-43.69 [[ 9.64436740e-01 2.56290803e-01 6.46281546e-02 6.83984910e+02] [-2.55694191e-01 9.66599665e-01 -1.74805053e-02 -1.10313381e+02] [-6.69496454e-02 3.33797828e-04 9.97756300e-01 -4.36883642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.4307140569999 meters 0.022854779102557166 Centerline is valid? [True, True] Translation: X:684.01, Y:-110.33, Z:-43.69 [[ 9.64409726e-01 2.56347703e-01 6.48053689e-02 6.84011165e+02] [-2.55748288e-01 9.66584579e-01 -1.75232394e-02 -1.10325035e+02] [-6.71319124e-02 3.25720314e-04 9.97744056e-01 -4.36896301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.4607140569999 meters 0.02236753565036457 Centerline is valid? [True, True] Translation: X:684.04, Y:-110.34, Z:-43.69 [[ 9.64454868e-01 2.56321494e-01 6.42347186e-02 6.84036806e+02] [-2.55733008e-01 9.66591532e-01 -1.73619716e-02 -1.10341644e+02] [-6.65389816e-02 3.17900241e-04 9.97783776e-01 -4.36906711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.490714057 meters 0.022103486633320818 Centerline is valid? [True, True] Translation: X:684.06, Y:-110.35, Z:-43.69 [[ 9.64521520e-01 2.56179179e-01 6.38002033e-02 6.84061227e+02] [-2.55598711e-01 9.66629260e-01 -1.72387057e-02 -1.10352820e+02] [-6.60873407e-02 3.19852912e-04 9.97813791e-01 -4.36921711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.520714057 meters 0.021258765717707566 Centerline is valid? [True, True] Translation: X:684.09, Y:-110.37, Z:-43.69 [[ 9.64359069e-01 2.56843986e-01 6.35826459e-02 6.84087339e+02] [-2.56269699e-01 9.66452843e-01 -1.71680860e-02 -1.10368354e+02] [-6.58591486e-02 2.61893908e-04 9.97828895e-01 -4.36938284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.5507140569999 meters 0.020749314304584907 Centerline is valid? [True, True] Translation: X:684.11, Y:-110.38, Z:-43.69 [[ 9.64182878e-01 2.57506495e-01 6.35750128e-02 6.84113094e+02] [-2.56934126e-01 9.66276544e-01 -1.71608476e-02 -1.10378797e+02] [-6.58500734e-02 2.11605051e-04 9.97829506e-01 -4.36949286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.5807140569999 meters 0.020616362404633076 Centerline is valid? [True, True] Translation: X:684.14, Y:-110.39, Z:-43.70 [[ 9.64051481e-01 2.57913704e-01 6.39160680e-02 6.84139112e+02] [-2.57336551e-01 9.66167941e-01 -1.72455690e-02 -1.10388930e+02] [-6.62015244e-02 1.77675818e-04 9.97806257e-01 -4.36964001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.6107140569999 meters 0.01995450953710897 Centerline is valid? [True, True] Translation: X:684.16, Y:-110.40, Z:-43.70 [[ 9.63756075e-01 2.58993885e-01 6.40030847e-02 6.84164846e+02] [-2.58418021e-01 9.65878956e-01 -1.72617463e-02 -1.10401302e+02] [-6.62899193e-02 9.65623954e-05 9.97800400e-01 -4.36975698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.640714057 meters 0.019734087474270714 Centerline is valid? [True, True] Translation: X:684.19, Y:-110.41, Z:-43.70 [[ 9.63600326e-01 2.59610924e-01 6.38480974e-02 6.84191415e+02] [-2.59039681e-01 9.65713294e-01 -1.72127200e-02 -1.10410867e+02] [-6.61275665e-02 4.69918508e-05 9.97811176e-01 -4.36991432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.6707140569999 meters 0.0194072142535898 Centerline is valid? [True, True] Translation: X:684.22, Y:-110.42, Z:-43.70 [[ 9.63435480e-01 2.60097692e-01 6.43526699e-02 6.84218952e+02] [-2.59518930e-01 9.65582307e-01 -1.73416977e-02 -1.10420899e+02] [-6.66483350e-02 6.87081417e-06 9.97776528e-01 -4.37007665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.7007140569999 meters 0.019140791513022865 Centerline is valid? [True, True] Translation: X:684.24, Y:-110.43, Z:-43.70 [[ 9.63032060e-01 2.61514066e-01 6.46501648e-02 6.84244220e+02] [-2.60933461e-01 9.65199660e-01 -1.74168004e-02 -1.10433327e+02] [-6.69550554e-02 -9.64540791e-05 9.97755988e-01 -4.37018138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.7307140569999 meters 0.018792069142249 Centerline is valid? [True, True] Translation: X:684.27, Y:-110.44, Z:-43.70 [[ 9.62766636e-01 2.62513697e-01 6.45520250e-02 6.84269405e+02] [-2.61937525e-01 9.64928251e-01 -1.73840026e-02 -1.10442516e+02] [-6.68516114e-02 -1.71860024e-04 9.97762914e-01 -4.37025945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.760714057 meters 0.018422261870869643 Centerline is valid? [True, True] Translation: X:684.30, Y:-110.45, Z:-43.70 [[ 9.62148854e-01 2.64585098e-01 6.53016682e-02 6.84295481e+02] [-2.64000773e-01 9.64362286e-01 -1.75776355e-02 -1.10454507e+02] [-6.76252465e-02 -3.27388999e-04 9.97710739e-01 -4.37036468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.790714057 meters 0.0182332712362165 Centerline is valid? [True, True] Translation: X:684.32, Y:-110.46, Z:-43.70 [[ 9.61822646e-01 2.65696942e-01 6.55921743e-02 6.84321923e+02] [-2.65110411e-01 9.64056515e-01 -1.76495214e-02 -1.10463642e+02] [-6.79239868e-02 -4.13458971e-04 9.97690413e-01 -4.37048828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.8207140569999 meters 0.017692533009063562 Centerline is valid? [True, True] Translation: X:684.35, Y:-110.47, Z:-43.71 [[ 9.61416222e-01 2.67038668e-01 6.60999034e-02 6.84348554e+02] [-2.66446652e-01 9.63685675e-01 -1.77792225e-02 -1.10473726e+02] [-6.84472699e-02 -5.18865077e-04 9.97654601e-01 -4.37071083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.8507140569999 meters 0.01762394041881313 Centerline is valid? [True, True] Translation: X:684.37, Y:-110.48, Z:-43.71 [[ 9.60858760e-01 2.68798297e-01 6.70665298e-02 6.84374946e+02] [-2.68193494e-01 9.63196263e-01 -1.80335373e-02 -1.10484304e+02] [-6.94456150e-02 -6.59124711e-04 9.97585521e-01 -4.37065952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.880714057 meters 0.017265667151433933 Centerline is valid? [True, True] Translation: X:684.40, Y:-110.50, Z:-43.71 [[ 9.60704736e-01 2.69410517e-01 6.68160404e-02 6.84401662e+02] [-2.68812187e-01 9.63025167e-01 -1.79592665e-02 -1.10495851e+02] [-6.91839438e-02 -7.07413522e-04 9.97603670e-01 -4.37097621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.910714057 meters 0.016643192360912624 Centerline is valid? [True, True] Translation: X:684.43, Y:-110.51, Z:-43.71 [[ 9.60707373e-01 2.69368883e-01 6.69458571e-02 6.84426594e+02] [-2.68768497e-01 9.63036811e-01 -1.79887713e-02 -1.10509859e+02] [-6.93169400e-02 -7.10992127e-04 9.97594435e-01 -4.37106568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.9407140569999 meters 0.016542024565786715 Centerline is valid? [True, True] Translation: X:684.45, Y:-110.52, Z:-43.71 [[ 9.60825918e-01 2.68984604e-01 6.67895021e-02 6.84453193e+02] [-2.68386521e-01 9.63144231e-01 -1.79406012e-02 -1.10521069e+02] [-6.91536692e-02 -6.87607463e-04 9.97605783e-01 -4.37123982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.9707140569999 meters 0.016113396244734592 Centerline is valid? [True, True] Translation: X:684.48, Y:-110.53, Z:-43.71 [[ 9.60932307e-01 2.68573636e-01 6.69126608e-02 6.84480632e+02] [-2.67972672e-01 9.63258928e-01 -1.79690095e-02 -1.10532732e+02] [-6.92802201e-02 -6.63762741e-04 9.97597018e-01 -4.37141336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.000714057 meters 0.015581783581065923 Centerline is valid? [True, True] Translation: X:684.51, Y:-110.55, Z:-43.72 [[ 9.61419157e-01 2.66962239e-01 6.63654042e-02 6.84507045e+02] [-2.66367400e-01 9.63706836e-01 -1.78197238e-02 -1.10548328e+02] [-6.87139870e-02 -5.45356301e-04 9.97636252e-01 -4.37157568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.030714057 meters 0.015339334950231886 Centerline is valid? [True, True] Translation: X:684.54, Y:-110.56, Z:-43.72 [[ 9.61700451e-01 2.65989439e-01 6.61956285e-02 6.84535143e+02] [-2.65395413e-01 9.63975826e-01 -1.77730792e-02 -1.10560381e+02] [-6.85384370e-02 -4.75637907e-04 9.97648363e-01 -4.37175604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.0607140569999 meters 0.015239438840001925 Centerline is valid? [True, True] Translation: X:684.56, Y:-110.57, Z:-43.72 [[ 9.61995187e-01 2.65146006e-01 6.52905499e-02 6.84564652e+02] [-2.64566021e-01 9.64208188e-01 -1.75325790e-02 -1.10572881e+02] [-6.76023761e-02 -4.07404336e-04 9.97712260e-01 -4.37195327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.0907140569999 meters 0.015102441489671697 Centerline is valid? [True, True] Translation: X:684.59, Y:-110.59, Z:-43.72 [[ 9.62103983e-01 2.64763278e-01 6.52405801e-02 6.84594876e+02] [-2.64182128e-01 9.64313370e-01 -1.75364889e-02 -1.10585444e+02] [-6.75553819e-02 -3.63469493e-04 9.97715460e-01 -4.37217183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.120714057 meters 0.014684585959739423 Centerline is valid? [True, True] Translation: X:684.62, Y:-110.60, Z:-43.72 [[ 9.62378821e-01 2.64019879e-01 6.41911850e-02 6.84623368e+02] [-2.63454528e-01 9.64517195e-01 -1.72711489e-02 -1.10601584e+02] [-6.64734283e-02 -2.90070449e-04 9.97788153e-01 -4.37233744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.150714057 meters 0.01429147372647423 Centerline is valid? [True, True] Translation: X:684.65, Y:-110.61, Z:-43.73 [[ 9.62454750e-01 2.63735997e-01 6.42197686e-02 6.84654183e+02] [-2.63168352e-01 9.64594868e-01 -1.72962096e-02 -1.10614006e+02] [-6.65076923e-02 -2.53791537e-04 9.97785880e-01 -4.37250563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.1807140569999 meters 0.014101786485878958 Centerline is valid? [True, True] Translation: X:684.68, Y:-110.63, Z:-43.73 [[ 9.62727724e-01 2.62856244e-01 6.37332327e-02 6.84684134e+02] [-2.62293982e-01 9.64834994e-01 -1.71843527e-02 -1.10630477e+02] [-6.60090676e-02 -1.72990571e-04 9.97819008e-01 -4.37274111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.2107140569999 meters 0.013897313694667316 Centerline is valid? [True, True] Translation: X:684.71, Y:-110.64, Z:-43.73 [[ 9.63081205e-01 2.61835913e-01 6.25823210e-02 6.84714556e+02] [-2.61290519e-01 9.65112402e-01 -1.68913286e-02 -1.10643011e+02] [-6.48217306e-02 -8.44460596e-05 9.97896856e-01 -4.37287677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.240714057 meters 0.014084973555886664 Centerline is valid? [True, True] Translation: X:684.74, Y:-110.66, Z:-43.73 [[ 9.63741930e-01 2.59462982e-01 6.22932867e-02 6.84743856e+02] [-2.58917198e-01 9.65753050e-01 -1.68205249e-02 -1.10660368e+02] [-6.45242352e-02 8.18419084e-05 9.97916137e-01 -4.37307161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.270714057 meters 0.01419234909463927 Centerline is valid? [True, True] Translation: X:684.77, Y:-110.67, Z:-43.73 [[ 9.64222484e-01 2.57645651e-01 6.23996855e-02 6.84774777e+02] [-2.57092965e-01 9.66239447e-01 -1.68682519e-02 -1.10673686e+02] [-6.46390693e-02 2.22227532e-04 9.97908684e-01 -4.37322645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.3007140569999 meters 0.014163701685053508 Centerline is valid? [True, True] Translation: X:684.80, Y:-110.69, Z:-43.73 [[ 9.64825893e-01 2.55315397e-01 6.26501828e-02 6.84804991e+02] [-2.54752127e-01 9.66857740e-01 -1.69547638e-02 -1.10686805e+02] [-6.49026264e-02 3.98127734e-04 9.97891522e-01 -4.37338773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.3307140569999 meters 0.014490183990679695 Centerline is valid? [True, True] Translation: X:684.83, Y:-110.70, Z:-43.74 [[ 9.65631962e-01 2.52357943e-01 6.22124009e-02 6.84834829e+02] [-2.51795403e-01 9.67633763e-01 -1.68515850e-02 -1.10700001e+02] [-6.44514510e-02 6.07632581e-04 9.97920659e-01 -4.37352290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.3607140569999 meters 0.015049909890011466 Centerline is valid? [True, True] Translation: X:684.86, Y:-110.72, Z:-43.74 [[ 9.67539382e-01 2.45109022e-01 6.15557541e-02 6.84863335e+02] [-2.44543194e-01 9.69494914e-01 -1.66804780e-02 -1.10716503e+02] [-6.37665262e-02 1.08597864e-03 9.97964253e-01 -4.37369946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.390714057 meters 0.016614821538379336 Centerline is valid? [True, True] Translation: X:684.89, Y:-110.73, Z:-43.74 [[ 9.68345702e-01 2.41830072e-01 6.18451081e-02 6.84891951e+02] [-2.41251193e-01 9.70317713e-01 -1.67749080e-02 -1.10730197e+02] [-6.40660811e-02 1.32370393e-03 9.97944781e-01 -4.37392480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4207140569999 meters 0.018266983964243987 Centerline is valid? [True, True] Translation: X:684.92, Y:-110.74, Z:-43.74 [[ 9.69255108e-01 2.38141550e-01 6.19123449e-02 6.84920107e+02] [-2.37552947e-01 9.71229167e-01 -1.68078376e-02 -1.10744409e+02] [-6.41337196e-02 1.58362246e-03 9.97940057e-01 -4.37404169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4507140569999 meters 0.019038115068533756 Centerline is valid? [True, True] Translation: X:684.95, Y:-110.76, Z:-43.74 [[ 9.70819521e-01 2.31755396e-01 6.16351686e-02 6.84948952e+02] [-2.31158906e-01 9.72772035e-01 -1.67370317e-02 -1.10758260e+02] [-6.38358658e-02 2.00111896e-03 9.97958405e-01 -4.37425772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4807140569999 meters 0.01991828190436551 Centerline is valid? [True, True] Translation: X:684.98, Y:-110.77, Z:-43.74 [[ 9.71524307e-01 2.28940262e-01 6.10481496e-02 6.84979460e+02] [-2.28349384e-01 9.73438060e-01 -1.65801459e-02 -1.10769716e+02] [-6.32224553e-02 2.16770740e-03 9.97997105e-01 -4.37443695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.510714057 meters 0.021691539244068088 Centerline is valid? [True, True] Translation: X:685.01, Y:-110.78, Z:-43.75 [[ 9.72029250e-01 2.26925351e-01 6.05311617e-02 6.85007912e+02] [-2.26340277e-01 9.73909478e-01 -1.64441041e-02 -1.10781652e+02] [-6.26834562e-02 2.28351026e-03 9.98030846e-01 -4.37460877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.540714057 meters 0.022812480794063113 Centerline is valid? [True, True] Translation: X:685.04, Y:-110.79, Z:-43.75 [[ 9.72786790e-01 2.23702768e-01 6.03567207e-02 6.85036944e+02] [-2.23114736e-01 9.74654242e-01 -1.63989005e-02 -1.10792391e+02] [-6.24954133e-02 2.48616000e-03 9.98042155e-01 -4.37477199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.5707140569999 meters 0.021905456916836936 Centerline is valid? [True, True] Translation: X:685.07, Y:-110.80, Z:-43.75 [[ 9.73066083e-01 2.22421100e-01 6.05908630e-02 6.85068293e+02] [-2.21825870e-01 9.74947278e-01 -1.64647890e-02 -1.10800295e+02] [-6.27350134e-02 2.58070687e-03 9.98026882e-01 -4.37493369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.6007140569999 meters 0.021014845102317502 Centerline is valid? [True, True] Translation: X:685.10, Y:-110.81, Z:-43.75 [[ 9.73284006e-01 2.21467756e-01 6.05828066e-02 6.85099134e+02] [-2.20869849e-01 9.75164074e-01 -1.64784032e-02 -1.10807403e+02] [-6.27276115e-02 2.65725093e-03 9.98027147e-01 -4.37518000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.630714057 meters 0.0229211975900746 Centerline is valid? [True, True] Translation: X:685.13, Y:-110.82, Z:-43.75 [[ 9.73637878e-01 2.20111512e-01 5.98348089e-02 6.85128359e+02] [-2.19524822e-01 9.75470910e-01 -1.62897678e-02 -1.10818742e+02] [-6.19526809e-02 2.72510920e-03 9.98075367e-01 -4.37534963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.660714057 meters 0.02293005544821143 Centerline is valid? [True, True] Translation: X:685.16, Y:-110.83, Z:-43.75 [[ 9.73819651e-01 2.19371395e-01 5.95942795e-02 6.85159036e+02] [-2.18787121e-01 9.75637478e-01 -1.62390874e-02 -1.10826328e+02] [-6.17048038e-02 2.77548160e-03 9.98090584e-01 -4.37549294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.6907140569999 meters 0.021720357689174293 Centerline is valid? [True, True] Translation: X:685.19, Y:-110.83, Z:-43.76 [[ 9.73882013e-01 2.19060254e-01 5.97195908e-02 6.85190375e+02] [-2.18471955e-01 9.75707268e-01 -1.62890371e-02 -1.10831914e+02] [-6.18371194e-02 2.81654446e-03 9.98082280e-01 -4.37563518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.7207140569999 meters 0.02429578078400917 Centerline is valid? [True, True] Translation: X:685.22, Y:-110.84, Z:-43.76 [[ 9.74249611e-01 2.17158509e-01 6.06619958e-02 6.85220120e+02] [-2.16546756e-01 9.76131744e-01 -1.65626103e-02 -1.10841172e+02] [-6.28108115e-02 2.99995820e-03 9.98020943e-01 -4.37568950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.750714057 meters 0.023463047913900328 Centerline is valid? [True, True] Translation: X:685.25, Y:-110.85, Z:-43.76 [[ 9.74554184e-01 2.15768409e-01 6.07300217e-02 6.85251529e+02] [-2.15151692e-01 9.76439625e-01 -1.65954589e-02 -1.10846921e+02] [-6.28799753e-02 3.10700706e-03 9.98016260e-01 -4.37584310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.780714057 meters 0.023365782822417847 Centerline is valid? [True, True] Translation: X:685.28, Y:-110.85, Z:-43.76 [[ 9.75249337e-01 2.12679430e-01 6.04664482e-02 6.85282337e+02] [-2.12061804e-01 9.77116467e-01 -1.65288321e-02 -1.10852177e+02] [-6.25981048e-02 3.29710851e-03 9.98033369e-01 -4.37598178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.8107140569999 meters 0.02728067032835944 Centerline is valid? [True, True] Translation: X:685.31, Y:-110.86, Z:-43.76 [[ 9.75612495e-01 2.11179647e-01 5.98616476e-02 6.85311042e+02] [-2.10571431e-01 9.77441488e-01 -1.63648896e-02 -1.10864048e+02] [-6.19671895e-02 3.36063795e-03 9.98072529e-01 -4.37611940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.8407140569999 meters 0.025478503150137964 Centerline is valid? [True, True] Translation: X:685.34, Y:-110.87, Z:-43.76 [[ 9.76008647e-01 2.09469308e-01 5.94115316e-02 6.85343098e+02] [-2.08866776e-01 9.77809145e-01 -1.62464383e-02 -1.10867716e+02] [-6.14962691e-02 3.44756923e-03 9.98101359e-01 -4.37635588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.870714057 meters 0.030315329391514118 Centerline is valid? [True, True] Translation: X:685.37, Y:-110.88, Z:-43.77 [[ 9.76746149e-01 2.06146032e-01 5.89132754e-02 6.85371614e+02] [-2.05547287e-01 9.78514504e-01 -1.61145489e-02 -1.10877731e+02] [-6.09694448e-02 3.63035967e-03 9.98133031e-01 -4.37650888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.900714057 meters 0.030680973625177542 Centerline is valid? [True, True] Translation: X:685.40, Y:-110.88, Z:-43.77 [[ 9.77045084e-01 2.04794829e-01 5.86684021e-02 6.85403358e+02] [-2.04198551e-01 9.78797928e-01 -1.60489041e-02 -1.10884223e+02] [-6.07112430e-02 3.70050015e-03 9.98148512e-01 -4.37666896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.9307140569999 meters 0.030680973625177542 Centerline is valid? [True, True] Translation: X:685.43, Y:-110.89, Z:-43.77 [[ 9.76985784e-01 2.05077995e-01 5.86668011e-02 6.85434694e+02] [-2.04481875e-01 9.78738682e-01 -1.60547543e-02 -1.10892885e+02] [-6.07119444e-02 3.68896918e-03 9.98148512e-01 -4.37685736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.9607140569999 meters 0.03036281487863347 Centerline is valid? [True, True] Translation: X:685.47, Y:-110.90, Z:-43.77 [[ 9.77346680e-01 2.03476904e-01 5.82290067e-02 6.85467354e+02] [-2.02885777e-01 9.79072460e-01 -1.59524010e-02 -1.10895681e+02] [-6.02563620e-02 3.77718886e-03 9.98175788e-01 -4.37703003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.990714057 meters 0.030368526579035538 Centerline is valid? [True, True] Translation: X:685.50, Y:-110.90, Z:-43.77 [[ 9.77425919e-01 2.03270011e-01 5.76183561e-02 6.85499292e+02] [-2.02690586e-01 9.79115521e-01 -1.57899450e-02 -1.10901092e+02] [-5.96246491e-02 3.75480311e-03 9.98213806e-01 -4.37717994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.020714057 meters 0.03237310772701218 Centerline is valid? [True, True] Translation: X:685.53, Y:-110.90, Z:-43.77 [[ 9.77335430e-01 2.03698427e-01 5.76403333e-02 6.85530647e+02] [-2.03118364e-01 9.79026518e-01 -1.58116239e-02 -1.10904609e+02] [-5.96522177e-02 3.74544999e-03 9.98212194e-01 -4.37734367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.0507140569999 meters 0.03186382357859099 Centerline is valid? [True, True] Translation: X:685.56, Y:-110.91, Z:-43.78 [[ 9.77140306e-01 2.04713540e-01 5.73514563e-02 6.85562799e+02] [-2.04140176e-01 9.78815014e-01 -1.57466424e-02 -1.10908322e+02] [-5.93600174e-02 3.67894261e-03 9.98229860e-01 -4.37751647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.0807140569999 meters 0.03155151773327879 Centerline is valid? [True, True] Translation: X:685.59, Y:-110.91, Z:-43.78 [[ 9.76855958e-01 2.06095029e-01 5.72474997e-02 6.85594943e+02] [-2.05525206e-01 9.78525347e-01 -1.57332262e-02 -1.10912146e+02] [-5.92606692e-02 3.60329156e-03 9.98236039e-01 -4.37769717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.1107140569999 meters 0.030979848053740548 Centerline is valid? [True, True] Translation: X:685.63, Y:-110.92, Z:-43.78 [[ 9.76482966e-01 2.07989772e-01 5.67562435e-02 6.85626295e+02] [-2.07432021e-01 9.78124836e-01 -1.56128529e-02 -1.10915509e+02] [-5.87620051e-02 3.47262262e-03 9.98265980e-01 -4.37789370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.140714057 meters 0.028590831974567157 Centerline is valid? [True, True] Translation: X:685.66, Y:-110.91, Z:-43.78 [[ 9.75656873e-01 2.11732893e-01 5.71213524e-02 6.85658737e+02] [-2.11174188e-01 9.77322100e-01 -1.57154442e-02 -1.10912691e+02] [-5.91534366e-02 3.27032597e-03 9.98243545e-01 -4.37805358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.1707140569999 meters 0.025817789006515796 Centerline is valid? [True, True] Translation: X:685.69, Y:-110.91, Z:-43.78 [[ 9.75184210e-01 2.13781355e-01 5.75611720e-02 6.85691585e+02] [-2.13217485e-01 9.76876386e-01 -1.58376233e-02 -1.10913199e+02] [-5.96159383e-02 3.17155185e-03 9.98216350e-01 -4.37826090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.2007140569999 meters 0.02678513840874559 Centerline is valid? [True, True] Translation: X:685.72, Y:-110.91, Z:-43.78 [[ 9.74203291e-01 2.18054525e-01 5.81392437e-02 6.85721908e+02] [-2.17486633e-01 9.75932151e-01 -1.60000035e-02 -1.10914391e+02] [-6.02288304e-02 2.94274774e-03 9.98180258e-01 -4.37844405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.2307140569999 meters 0.02399448981402777 Centerline is valid? [True, True] Translation: X:685.75, Y:-110.91, Z:-43.79 [[ 9.73708051e-01 2.20168830e-01 5.84663916e-02 6.85754295e+02] [-2.19598311e-01 9.75457682e-01 -1.60901409e-02 -1.10914873e+02] [-6.05740383e-02 2.82797887e-03 9.98159701e-01 -4.37859414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.260714057 meters 0.023481722299780974 Centerline is valid? [True, True] Translation: X:685.79, Y:-110.92, Z:-43.79 [[ 9.73231932e-01 2.22226162e-01 5.86100703e-02 6.85786364e+02] [-2.21656370e-01 9.74991380e-01 -1.61326512e-02 -1.10918744e+02] [-6.07294105e-02 2.70951589e-03 9.98150588e-01 -4.37875830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.290714057 meters 0.02339158742788977 Centerline is valid? [True, True] Translation: X:685.82, Y:-110.92, Z:-43.79 [[ 9.72327625e-01 2.25866045e-01 5.96952287e-02 6.85818019e+02] [-2.25280796e-01 9.74155049e-01 -1.64469824e-02 -1.10919546e+02] [-6.18672233e-02 2.54366667e-03 9.98081147e-01 -4.37898410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.3207140569999 meters 0.023052151144282565 Centerline is valid? [True, True] Translation: X:685.85, Y:-110.92, Z:-43.79 [[ 9.71858885e-01 2.27838776e-01 5.98314366e-02 6.85849816e+02] [-2.27254374e-01 9.73695847e-01 -1.64877765e-02 -1.10924617e+02] [-6.20141762e-02 2.42683636e-03 9.98072318e-01 -4.37916827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.3507140569999 meters 0.021860477038591918 Centerline is valid? [True, True] Translation: X:685.88, Y:-110.93, Z:-43.79 [[ 9.71393100e-01 2.29834736e-01 5.97615209e-02 6.85881662e+02] [-2.29254470e-01 9.73226925e-01 -1.64845666e-02 -1.10928593e+02] [-6.19502472e-02 2.31239841e-03 9.98076560e-01 -4.37939986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.380714057 meters 0.021994297510818103 Centerline is valid? [True, True] Translation: X:685.91, Y:-110.93, Z:-43.80 [[ 9.71132557e-01 2.31056085e-01 5.92844181e-02 6.85912625e+02] [-2.30486392e-01 9.72937874e-01 -1.63681476e-02 -1.10933638e+02] [-6.14620159e-02 2.23138937e-03 9.98106929e-01 -4.37962318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.410714057 meters 0.02139721454862805 Centerline is valid? [True, True] Translation: X:685.94, Y:-110.94, Z:-43.80 [[ 9.70820858e-01 2.32349539e-01 5.93342582e-02 6.85944766e+02] [-2.31781156e-01 9.72629968e-01 -1.63841943e-02 -1.10935003e+02] [-6.15171376e-02 2.15355462e-03 9.98103704e-01 -4.37989030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.4407140569999 meters 0.02156515717226458 Centerline is valid? [True, True] Translation: X:685.97, Y:-110.94, Z:-43.80 [[ 9.70687991e-01 2.32907654e-01 5.93198856e-02 6.85974336e+02] [-2.32340452e-01 9.72496546e-01 -1.63823996e-02 -1.10940818e+02] [-6.15039701e-02 2.11978949e-03 9.98104588e-01 -4.38009571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.4707140569999 meters 0.021973711258540928 Centerline is valid? [True, True] Translation: X:686.00, Y:-110.94, Z:-43.80 [[ 9.70533585e-01 2.33608590e-01 5.90896463e-02 6.86003706e+02] [-2.33047092e-01 9.72328521e-01 -1.63186852e-02 -1.10944479e+02] [-6.12667334e-02 2.06716183e-03 9.98119289e-01 -4.38036565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.500714057 meters 0.02119949123569085 Centerline is valid? [True, True] Translation: X:686.03, Y:-110.95, Z:-43.81 [[ 9.70427673e-01 2.34126282e-01 5.87793742e-02 6.86033005e+02] [-2.33571757e-01 9.72204093e-01 -1.62307299e-02 -1.10949922e+02] [-6.09455886e-02 2.02154768e-03 9.98139043e-01 -4.38054558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.530714057 meters 0.02177605277295176 Centerline is valid? [True, True] Translation: X:686.06, Y:-110.96, Z:-43.81 [[ 9.70404577e-01 2.34259835e-01 5.86283756e-02 6.86060705e+02] [-2.33708546e-01 9.72171953e-01 -1.61866886e-02 -1.10956540e+02] [-6.07887534e-02 2.00568434e-03 9.98148639e-01 -4.38072570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.5607140569999 meters 0.021362908612227925 Centerline is valid? [True, True] Translation: X:686.09, Y:-110.96, Z:-43.81 [[ 9.70134026e-01 2.35290476e-01 5.89776523e-02 6.86090883e+02] [-2.34734699e-01 9.71923141e-01 -1.62797221e-02 -1.10959838e+02] [-6.11522087e-02 1.94941090e-03 9.98126549e-01 -4.38096056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.5907140569999 meters 0.021664774844113128 Centerline is valid? [True, True] Translation: X:686.12, Y:-110.97, Z:-43.81 [[ 9.69995333e-01 2.35850512e-01 5.90219526e-02 6.86119064e+02] [-2.35295083e-01 9.71787464e-01 -1.62895045e-02 -1.10966033e+02] [-6.11986816e-02 1.91316811e-03 9.98123770e-01 -4.38112551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.620714057 meters 0.021700583172051056 Centerline is valid? [True, True] Translation: X:686.15, Y:-110.97, Z:-43.81 [[ 9.69824012e-01 2.36498219e-01 5.92450767e-02 6.86147148e+02] [-2.35940069e-01 9.71630113e-01 -1.63464509e-02 -1.10971638e+02] [-6.14302071e-02 1.87489313e-03 9.98109620e-01 -4.38132665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.650714057 meters 0.02246689292217598 Centerline is valid? [True, True] Translation: X:686.17, Y:-110.98, Z:-43.81 [[ 9.69162533e-01 2.39237200e-01 5.90723897e-02 6.86174124e+02] [-2.38687662e-01 9.70959680e-01 -1.62941745e-02 -1.10977437e+02] [-6.12550813e-02 1.69185282e-03 9.98120710e-01 -4.38149378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.6807140569999 meters 0.021503048725902016 Centerline is valid? [True, True] Translation: X:686.20, Y:-110.98, Z:-43.82 [[ 9.68746352e-01 2.40953517e-01 5.89229068e-02 6.86202383e+02] [-2.40410250e-01 9.70535380e-01 -1.62476892e-02 -1.10981992e+02] [-6.11017036e-02 1.57421887e-03 9.98130304e-01 -4.38168626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.7107140569999 meters 0.02128936730028342 Centerline is valid? [True, True] Translation: X:686.23, Y:-110.99, Z:-43.82 [[ 9.68273293e-01 2.42758218e-01 5.92897716e-02 6.86231031e+02] [-2.42211813e-01 9.70085718e-01 -1.63443125e-02 -1.10987707e+02] [-6.14838769e-02 1.46507821e-03 9.98107002e-01 -4.38183204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.740714057 meters 0.020805671495818776 Centerline is valid? [True, True] Translation: X:686.26, Y:-110.99, Z:-43.82 [[ 9.67118143e-01 2.47065363e-01 6.03423904e-02 6.86259058e+02] [-2.46508021e-01 9.68998063e-01 -1.66297545e-02 -1.10991369e+02] [-6.25802957e-02 1.20805408e-03 9.98039201e-01 -4.38189651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.770714057 meters 0.020219948960967436 Centerline is valid? [True, True] Translation: X:686.29, Y:-111.00, Z:-43.82 [[ 9.66424736e-01 2.49638439e-01 6.08595081e-02 6.86288207e+02] [-2.49076937e-01 9.68338555e-01 -1.67666963e-02 -1.10995702e+02] [-6.31182201e-02 1.04505015e-03 9.98005510e-01 -4.38203263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.8007140569999 meters 0.020156746711987986 Centerline is valid? [True, True] Translation: X:686.32, Y:-111.00, Z:-43.82 [[ 9.65772668e-01 2.52099837e-01 6.10641156e-02 6.86315202e+02] [-2.51539693e-01 9.67700827e-01 -1.68193674e-02 -1.11001370e+02] [-6.33319549e-02 8.83636448e-04 9.97992126e-01 -4.38211801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.8307140569999 meters 0.019776649367160105 Centerline is valid? [True, True] Translation: X:686.34, Y:-111.00, Z:-43.82 [[ 9.64359987e-01 2.57350756e-01 6.14849971e-02 6.86344120e+02] [-2.56793867e-01 9.66317908e-01 -1.69295524e-02 -1.11004079e+02] [-6.37708869e-02 5.37212795e-04 9.97964421e-01 -4.38230841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.8607140569999 meters 0.019549028535146663 Centerline is valid? [True, True] Translation: X:686.37, Y:-111.01, Z:-43.82 [[ 9.63684115e-01 2.59888338e-01 6.14082956e-02 6.86371194e+02] [-2.59338291e-01 9.65638607e-01 -1.69036072e-02 -1.11010403e+02] [-6.36912714e-02 3.64215335e-04 9.97969583e-01 -4.38249498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.890714057 meters 0.019530534491555777 Centerline is valid? [True, True] Translation: X:686.40, Y:-111.02, Z:-43.83 [[ 9.62792454e-01 2.63311550e-01 6.08088628e-02 6.86399467e+02] [-2.62779370e-01 9.64710843e-01 -1.67329598e-02 -1.11016300e+02] [-6.30689509e-02 1.31052805e-04 9.98009163e-01 -4.38276580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9207140569999 meters 0.019218667071588806 Centerline is valid? [True, True] Translation: X:686.43, Y:-111.02, Z:-43.83 [[ 9.62637867e-01 2.63986301e-01 6.03288404e-02 6.86427470e+02] [-2.63464107e-01 9.64526426e-01 -1.65963356e-02 -1.11024129e+02] [-6.25699660e-02 8.17770275e-05 9.98040577e-01 -4.38295075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9507140569999 meters 0.01909277985001022 Centerline is valid? [True, True] Translation: X:686.45, Y:-111.03, Z:-43.83 [[ 9.62585437e-01 2.64185612e-01 6.02929436e-02 6.86453929e+02] [-2.63664726e-01 9.64471855e-01 -1.65817421e-02 -1.11032059e+02] [-6.25315048e-02 6.42210226e-05 9.98042988e-01 -4.38313448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9807140569999 meters 0.019285955733704417 Centerline is valid? [True, True] Translation: X:686.48, Y:-111.04, Z:-43.83 [[ 9.62658499e-01 2.63886753e-01 6.04350608e-02 6.86480882e+02] [-2.63363249e-01 9.64553667e-01 -1.66139529e-02 -1.11040547e+02] [-6.26770615e-02 7.71889768e-05 9.98033857e-01 -4.38329826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.010714057 meters 0.018988112243271314 Centerline is valid? [True, True] Translation: X:686.51, Y:-111.05, Z:-43.83 [[ 9.62950419e-01 2.62910576e-01 6.00376445e-02 6.86506283e+02] [-2.62392470e-01 9.64820196e-01 -1.64979026e-02 -1.11050362e+02] [-6.22630050e-02 1.33236434e-04 9.98059768e-01 -4.38345288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.040714057 meters 0.018848417518614508 Centerline is valid? [True, True] Translation: X:686.53, Y:-111.06, Z:-43.84 [[ 9.63179445e-01 2.62266064e-01 5.91765891e-02 6.86532339e+02] [-2.61761975e-01 9.64995588e-01 -1.62537320e-02 -1.11059277e+02] [-6.13679497e-02 1.65079710e-04 9.98115198e-01 -4.38366475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.0707140569999 meters 0.01863819371811372 Centerline is valid? [True, True] Translation: X:686.56, Y:-111.07, Z:-43.84 [[ 9.63371119e-01 2.61738509e-01 5.83869873e-02 6.86558145e+02] [-2.61247231e-01 9.65138807e-01 -1.60301973e-02 -1.11068408e+02] [-6.05472672e-02 1.89590362e-04 9.98165313e-01 -4.38385297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.1007140569999 meters 0.018454152566008308 Centerline is valid? [True, True] Translation: X:686.58, Y:-111.08, Z:-43.84 [[ 9.63507850e-01 2.61295704e-01 5.81134874e-02 6.86584625e+02] [-2.60808790e-01 9.65258780e-01 -1.59456374e-02 -1.11079078e+02] [-6.02610805e-02 2.07238534e-04 9.98182628e-01 -4.38405819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.130714057 meters 0.018209699420744643 Centerline is valid? [True, True] Translation: X:686.61, Y:-111.09, Z:-43.84 [[ 9.63445398e-01 2.61527198e-01 5.81075683e-02 6.86611620e+02] [-2.61041204e-01 9.65196089e-01 -1.59373663e-02 -1.11088015e+02] [-6.02532525e-02 1.86312633e-04 9.98183105e-01 -4.38418331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.160714057 meters 0.017791974972215806 Centerline is valid? [True, True] Translation: X:686.64, Y:-111.10, Z:-43.84 [[ 9.63088668e-01 2.62740516e-01 5.85460401e-02 6.86638021e+02] [-2.62249800e-01 9.64866525e-01 -1.60509242e-02 -1.11098790e+02] [-6.07063423e-02 1.04775865e-04 9.98155664e-01 -4.38421419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.1907140569999 meters 0.017641815218306548 Centerline is valid? [True, True] Translation: X:686.66, Y:-111.11, Z:-43.84 [[ 9.62913497e-01 2.63324773e-01 5.88018747e-02 6.86664510e+02] [-2.62831190e-01 9.64707241e-01 -1.61153836e-02 -1.11108414e+02] [-6.09701740e-02 6.27536465e-05 9.98139586e-01 -4.38432399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.2207140569999 meters 0.017512597065608666 Centerline is valid? [True, True] Translation: X:686.69, Y:-111.12, Z:-43.84 [[ 9.62747793e-01 2.63776272e-01 5.94875218e-02 6.86690446e+02] [-2.63272393e-01 9.64583888e-01 -1.62963152e-02 -1.11118260e+02] [-6.16792864e-02 2.78192518e-05 9.98096020e-01 -4.38435670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.250714057 meters 0.017283807888859533 Centerline is valid? [True, True] Translation: X:686.72, Y:-111.13, Z:-43.84 [[ 9.62650740e-01 2.64025240e-01 5.99518685e-02 6.86716861e+02] [-2.63514359e-01 9.64515771e-01 -1.64167612e-02 -1.11127977e+02] [-6.21589620e-02 5.42908377e-06 9.98066262e-01 -4.38447575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.280714057 meters 0.017196210877092263 Centerline is valid? [True, True] Translation: X:686.74, Y:-111.14, Z:-43.84 [[ 9.62682902e-01 2.63458507e-01 6.18970539e-02 6.86743487e+02] [-2.62913186e-01 9.64670728e-01 -1.69423398e-02 -1.11140331e+02] [-6.41738796e-02 3.65491940e-05 9.97938732e-01 -4.38443642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.3107140569999 meters 0.017193600748698922 Centerline is valid? [True, True] Translation: X:686.77, Y:-111.15, Z:-43.85 [[ 9.62824798e-01 2.62863296e-01 6.22197393e-02 6.86770477e+02] [-2.62311334e-01 9.64833085e-01 -1.70259117e-02 -1.11150196e+02] [-6.45071503e-02 7.20271284e-05 9.97917242e-01 -4.38456384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.3407140569999 meters 0.016729847482197666 Centerline is valid? [True, True] Translation: X:686.80, Y:-111.16, Z:-43.85 [[ 9.63030497e-01 2.62033018e-01 6.25376577e-02 6.86797265e+02] [-2.61473955e-01 9.65058901e-01 -1.71081412e-02 -1.11163078e+02] [-6.48354211e-02 1.23692961e-04 9.97895963e-01 -4.38474495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.370714057 meters 0.016805381281365505 Centerline is valid? [True, True] Translation: X:686.82, Y:-111.17, Z:-43.85 [[ 9.63103465e-01 2.61837768e-01 6.22310065e-02 6.86822950e+02] [-2.61284087e-01 9.65111893e-01 -1.70193956e-02 -1.11172773e+02] [-6.45162051e-02 1.31467128e-04 9.97916651e-01 -4.38488746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.400714057 meters 0.016521359295313152 Centerline is valid? [True, True] Translation: X:686.85, Y:-111.18, Z:-43.85 [[ 9.63178645e-01 2.61717715e-01 6.15689522e-02 6.86850105e+02] [-2.61175881e-01 9.65144456e-01 -1.68326884e-02 -1.11182892e+02] [-6.38283456e-02 1.32560702e-04 9.97960883e-01 -4.38506788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.4307140569999 meters 0.01610670745730892 Centerline is valid? [True, True] Translation: X:686.88, Y:-111.19, Z:-43.85 [[ 9.63247374e-01 2.61624695e-01 6.08852659e-02 6.86877351e+02] [-2.61094922e-01 9.65169675e-01 -1.66415295e-02 -1.11194914e+02] [-6.31184473e-02 1.33075819e-04 9.98006034e-01 -4.38538658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.4607140569999 meters 0.016322057867006707 Centerline is valid? [True, True] Translation: X:686.91, Y:-111.20, Z:-43.86 [[ 9.63377532e-01 2.61291369e-01 6.02540564e-02 6.86905730e+02] [-2.60772025e-01 9.65259964e-01 -1.64667366e-02 -1.11204652e+02] [-6.24634444e-02 1.51111716e-04 9.98047241e-01 -4.38563009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.490714057 meters 0.01601829686028866 Centerline is valid? [True, True] Translation: X:686.93, Y:-111.22, Z:-43.86 [[ 9.63570416e-01 2.60702569e-01 5.97178703e-02 6.86933327e+02] [-2.60191435e-01 9.65419150e-01 -1.63181306e-02 -1.11216192e+02] [-6.19069542e-02 1.85589588e-04 9.98081908e-01 -4.38575350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.520714057 meters 0.01615226288670538 Centerline is valid? [True, True] Translation: X:686.96, Y:-111.23, Z:-43.86 [[ 9.63635720e-01 2.60486014e-01 5.96090209e-02 6.86961705e+02] [-2.59976253e-01 9.65477600e-01 -1.62896074e-02 -1.11226425e+02] [-6.17943893e-02 2.00317669e-04 9.98088880e-01 -4.38595337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.5507140569999 meters 0.01621922479424812 Centerline is valid? [True, True] Translation: X:686.99, Y:-111.24, Z:-43.86 [[ 9.63731867e-01 2.60101566e-01 5.97332763e-02 6.86991450e+02] [-2.59588928e-01 9.65581237e-01 -1.63237174e-02 -1.11237016e+02] [-6.19231552e-02 2.25589451e-04 9.98080895e-01 -4.38614669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.5807140569999 meters 0.016008022137277287 Centerline is valid? [True, True] Translation: X:687.02, Y:-111.25, Z:-43.86 [[ 9.63827296e-01 2.59676196e-01 6.00434507e-02 6.87019579e+02] [-2.59157248e-01 9.65695712e-01 -1.64107616e-02 -1.11247731e+02] [-6.22451870e-02 2.56444474e-04 9.98060855e-01 -4.38624879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.6107140569999 meters 0.015794098856336414 Centerline is valid? [True, True] Translation: X:687.05, Y:-111.26, Z:-43.86 [[ 9.64016352e-01 2.58779687e-01 6.08732078e-02 6.87048093e+02] [-2.58244347e-01 9.65936318e-01 -1.66399127e-02 -1.11260947e+02] [-6.31057136e-02 3.20986156e-04 9.98006797e-01 -4.38627911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.640714057 meters 0.015871224603921257 Centerline is valid? [True, True] Translation: X:687.08, Y:-111.27, Z:-43.86 [[ 9.64141839e-01 2.58300387e-01 6.09214608e-02 6.87078830e+02] [-2.57762257e-01 9.66064581e-01 -1.66686588e-02 -1.11271879e+02] [-6.31595865e-02 3.67698104e-04 9.98003372e-01 -4.38647359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.6707140569999 meters 0.015852315832259167 Centerline is valid? [True, True] Translation: X:687.11, Y:-111.29, Z:-43.87 [[ 9.64367681e-01 2.57468938e-01 6.08664334e-02 6.87108295e+02] [-2.56928924e-01 9.66286475e-01 -1.66726002e-02 -1.11286383e+02] [-6.31070881e-02 4.40169541e-04 9.98006664e-01 -4.38658251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.7007140569999 meters 0.01591740677601826 Centerline is valid? [True, True] Translation: X:687.14, Y:-111.30, Z:-43.87 [[ 9.64467400e-01 2.57155106e-01 6.06125870e-02 6.87139443e+02] [-2.56617855e-01 9.66370025e-01 -1.66208167e-02 -1.11297078e+02] [-6.28483151e-02 4.75963793e-04 9.98022977e-01 -4.38677817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.7307140569999 meters 0.015825344309435566 Centerline is valid? [True, True] Translation: X:687.17, Y:-111.31, Z:-43.87 [[ 9.64538821e-01 2.56890913e-01 6.05963767e-02 6.87170038e+02] [-2.56352260e-01 9.66440271e-01 -1.66349437e-02 -1.11308052e+02] [-6.28361447e-02 5.11030901e-04 9.98023726e-01 -4.38688069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.760714057 meters 0.01575115603154939 Centerline is valid? [True, True] Translation: X:687.20, Y:-111.32, Z:-43.87 [[ 9.64757070e-01 2.55805457e-01 6.17038443e-02 6.87199937e+02] [-2.55243550e-01 9.66728088e-01 -1.69568199e-02 -1.11320815e+02] [-6.39884865e-02 6.09703597e-04 9.97950451e-01 -4.38697203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.790714057 meters 0.016005551297292628 Centerline is valid? [True, True] Translation: X:687.23, Y:-111.33, Z:-43.87 [[ 9.64909365e-01 2.55098459e-01 6.22470407e-02 6.87230422e+02] [-2.54524039e-01 9.66914844e-01 -1.71230373e-02 -1.11331984e+02] [-6.45556480e-02 6.78810841e-04 9.97913878e-01 -4.38711882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.8207140569999 meters 0.015860696099903447 Centerline is valid? [True, True] Translation: X:687.26, Y:-111.34, Z:-43.87 [[ 9.65191962e-01 2.54024691e-01 6.22569894e-02 6.87260533e+02] [-2.53446770e-01 9.67197430e-01 -1.71425523e-02 -1.11342998e+02] [-6.45694317e-02 7.67020865e-04 9.97912922e-01 -4.38725604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.8507140569999 meters 0.015860696099903447 Centerline is valid? [True, True] Translation: X:687.29, Y:-111.35, Z:-43.87 [[ 9.65119131e-01 2.54302332e-01 6.22526137e-02 6.87291819e+02] [-2.53723963e-01 9.67124469e-01 -1.71584288e-02 -1.11351676e+02] [-6.45694544e-02 7.64948009e-04 9.97912922e-01 -4.38744416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.880714057 meters 0.016211176211406404 Centerline is valid? [True, True] Translation: X:687.32, Y:-111.37, Z:-43.88 [[ 9.65894894e-01 2.51187010e-01 6.28660389e-02 6.87321080e+02] [-2.50589316e-01 9.67938057e-01 -1.73468120e-02 -1.11366151e+02] [-6.52077254e-02 1.00163940e-03 9.97871209e-01 -4.38759654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.910714057 meters 0.01673614171069748 Centerline is valid? [True, True] Translation: X:687.35, Y:-111.38, Z:-43.88 [[ 9.66254604e-01 2.49764233e-01 6.30068918e-02 6.87351157e+02] [-2.49159725e-01 9.68306037e-01 -1.74025942e-02 -1.11377627e+02] [-6.53564993e-02 1.11655688e-03 9.97861354e-01 -4.38774105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.9407140569999 meters 0.016905412909071885 Centerline is valid? [True, True] Translation: X:687.38, Y:-111.39, Z:-43.88 [[ 9.67019757e-01 2.46736006e-01 6.31991563e-02 6.87381071e+02] [-2.46120221e-01 9.69081804e-01 -1.74726495e-02 -1.11390956e+02] [-6.55562841e-02 1.34180697e-03 9.97847971e-01 -4.38797677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.9707140569999 meters 0.017254443788891245 Centerline is valid? [True, True] Translation: X:687.41, Y:-111.40, Z:-43.88 [[ 9.67466095e-01 2.45334217e-01 6.18100140e-02 6.87411762e+02] [-2.44741323e-01 9.69437519e-01 -1.71050393e-02 -1.11401272e+02] [-6.41173980e-02 1.42108098e-03 9.97941351e-01 -4.38826616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.000714057 meters 0.017507530630591402 Centerline is valid? [True, True] Translation: X:687.44, Y:-111.41, Z:-43.89 [[ 9.67836060e-01 2.44248219e-01 6.03006556e-02 6.87441587e+02] [-2.43680847e-01 9.69711628e-01 -1.67034081e-02 -1.11411225e+02] [-6.25540246e-02 1.47204583e-03 9.98040494e-01 -4.38859352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.030714057 meters 0.017868153325194633 Centerline is valid? [True, True] Translation: X:687.47, Y:-111.42, Z:-43.89 [[ 9.68162584e-01 2.43224138e-01 5.91880898e-02 6.87471925e+02] [-2.42674712e-01 9.69968915e-01 -1.64100054e-02 -1.11420935e+02] [-6.14019167e-02 1.52410053e-03 9.98111959e-01 -4.38892790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.0607140569999 meters 0.01792573515340794 Centerline is valid? [True, True] Translation: X:687.50, Y:-111.43, Z:-43.89 [[ 9.68900728e-01 2.40438048e-01 5.84886785e-02 6.87501812e+02] [-2.39895532e-01 9.70663006e-01 -1.62315546e-02 -1.11431612e+02] [-6.06754798e-02 1.69559240e-03 9.98156106e-01 -4.38911842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.0907140569999 meters 0.020064315600567765 Centerline is valid? [True, True] Translation: X:687.53, Y:-111.44, Z:-43.89 [[ 9.69319794e-01 2.38471555e-01 5.95856891e-02 6.87530575e+02] [-2.37903804e-01 9.71147686e-01 -1.65515013e-02 -1.11444597e+02] [-6.18135663e-02 1.86803575e-03 9.98085965e-01 -4.38921061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.120714057 meters 0.020628952433536057 Centerline is valid? [True, True] Translation: X:687.56, Y:-111.46, Z:-43.89 [[ 9.70291908e-01 2.34209235e-01 6.06600991e-02 6.87560186e+02] [-2.33611554e-01 9.72183741e-01 -1.68646279e-02 -1.11455847e+02] [-6.29226137e-02 2.19271200e-03 9.98016000e-01 -4.38922866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.150714057 meters 0.02224465997646978 Centerline is valid? [True, True] Translation: X:687.59, Y:-111.47, Z:-43.89 [[ 9.70896064e-01 2.31735543e-01 6.04935672e-02 6.87590325e+02] [-2.31136190e-01 9.72775987e-01 -1.68208695e-02 -1.11467115e+02] [-6.27446828e-02 2.34906337e-03 9.98026847e-01 -4.38939747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.1807140569999 meters 0.021227333450889636 Centerline is valid? [True, True] Translation: X:687.62, Y:-111.47, Z:-43.90 [[ 9.71476363e-01 2.29456070e-01 5.98630787e-02 6.87621781e+02] [-2.28864496e-01 9.73315870e-01 -1.66510902e-02 -1.11474337e+02] [-6.20863782e-02 2.47560719e-03 9.98067710e-01 -4.38961869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.2107140569999 meters 0.02485099053947603 Centerline is valid? [True, True] Translation: X:687.65, Y:-111.49, Z:-43.90 [[ 9.72832531e-01 2.23742724e-01 5.94647827e-02 6.87648647e+02] [-2.23148081e-01 9.74644145e-01 -1.65446488e-02 -1.11486718e+02] [-6.16587471e-02 2.82572043e-03 9.98093289e-01 -4.38983248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.240714057 meters 0.025697563288765872 Centerline is valid? [True, True] Translation: X:687.68, Y:-111.50, Z:-43.90 [[ 9.73502224e-01 2.20916445e-01 5.90706753e-02 6.87678165e+02] [-2.20324450e-01 9.75288169e-01 -1.64354556e-02 -1.11495487e+02] [-6.12417932e-02 2.98523853e-03 9.98118496e-01 -4.39000816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.270714057 meters 0.02944768246588041 Centerline is valid? [True, True] Translation: X:687.71, Y:-111.51, Z:-43.90 [[ 9.74159223e-01 2.18014876e-01 5.90196746e-02 6.87705669e+02] [-2.17418511e-01 9.75940310e-01 -1.64226289e-02 -1.11507150e+02] [-6.11800569e-02 3.16628562e-03 9.98121724e-01 -4.39022810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.3007140569999 meters 0.030988339861934614 Centerline is valid? [True, True] Translation: X:687.73, Y:-111.51, Z:-43.90 [[ 9.75400746e-01 2.12439724e-01 5.88451243e-02 6.87734843e+02] [-2.11836467e-01 9.77167867e-01 -1.63789972e-02 -1.11514559e+02] [-6.09811142e-02 3.51054289e-03 9.98132747e-01 -4.39038064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.3307140569999 meters 0.029704604384749776 Centerline is valid? [True, True] Translation: X:687.77, Y:-111.52, Z:-43.91 [[ 9.75863193e-01 2.10167778e-01 5.93340780e-02 6.87765922e+02] [-2.09550297e-01 9.77658399e-01 -1.65144780e-02 -1.11519584e+02] [-6.14792709e-02 3.68239752e-03 9.98101568e-01 -4.39054792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.3607140569999 meters 0.029459296907106674 Centerline is valid? [True, True] Translation: X:687.80, Y:-111.53, Z:-43.91 [[ 9.76248023e-01 2.08246132e-01 5.97774769e-02 6.87796581e+02] [-2.07615644e-01 9.78068938e-01 -1.66402268e-02 -1.11526015e+02] [-6.19317562e-02 3.83424917e-03 9.98073021e-01 -4.39074091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.390714057 meters 0.030640789026289816 Centerline is valid? [True, True] Translation: X:687.83, Y:-111.53, Z:-43.91 [[ 9.76789639e-01 2.05642283e-01 5.99437448e-02 6.87827947e+02] [-2.05003252e-01 9.78619001e-01 -1.66888640e-02 -1.11531029e+02] [-6.20940238e-02 4.01284681e-03 9.98062237e-01 -4.39081945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4207140569999 meters 0.03183567990019504 Centerline is valid? [True, True] Translation: X:687.86, Y:-111.54, Z:-43.91 [[ 9.76880645e-01 2.05058775e-01 6.04574584e-02 6.87857898e+02] [-2.04407469e-01 9.78741127e-01 -1.68342657e-02 -1.11537390e+02] [-6.26242149e-02 4.08711225e-03 9.98028809e-01 -4.39099689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4507140569999 meters 0.03180747806318623 Centerline is valid? [True, True] Translation: X:687.89, Y:-111.54, Z:-43.91 [[ 9.76828130e-01 2.05137809e-01 6.10351027e-02 6.87890796e+02] [-2.04473902e-01 9.78724407e-01 -1.69987527e-02 -1.11538289e+02] [-6.32236316e-02 4.12477424e-03 9.97990861e-01 -4.39112791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4807140569999 meters 0.030287936130342356 Centerline is valid? [True, True] Translation: X:687.92, Y:-111.54, Z:-43.91 [[ 9.76546021e-01 2.06431084e-01 6.11888590e-02 6.87923327e+02] [-2.05765287e-01 9.78452687e-01 -1.70582930e-02 -1.11541228e+02] [-6.33917654e-02 4.06766508e-03 9.97980430e-01 -4.39133147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.510714057 meters 0.029377263450940782 Centerline is valid? [True, True] Translation: X:687.95, Y:-111.54, Z:-43.92 [[ 9.76218990e-01 2.07930828e-01 6.13290688e-02 6.87954869e+02] [-2.07263918e-01 9.78135376e-01 -1.71130261e-02 -1.11544555e+02] [-6.35464574e-02 3.99475801e-03 9.97970886e-01 -4.39153974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.540714057 meters 0.030121066600118575 Centerline is valid? [True, True] Translation: X:687.98, Y:-111.55, Z:-43.92 [[ 9.75391846e-01 2.11921840e-01 6.08266370e-02 6.87984779e+02] [-2.11273406e-01 9.77279590e-01 -1.69749940e-02 -1.11546321e+02] [-6.30420029e-02 3.70622000e-03 9.98003993e-01 -4.39178331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.5707140569999 meters 0.029897421642560415 Centerline is valid? [True, True] Translation: X:688.02, Y:-111.55, Z:-43.92 [[ 9.74938300e-01 2.14043271e-01 6.06695156e-02 6.88016217e+02] [-2.13402288e-01 9.76817694e-01 -1.69309249e-02 -1.11550643e+02] [-6.28870069e-02 3.55959365e-03 9.98014305e-01 -4.39205443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.6007140569999 meters 0.028388432686460033 Centerline is valid? [True, True] Translation: X:688.05, Y:-111.55, Z:-43.92 [[ 9.74507444e-01 2.16010119e-01 6.06207155e-02 6.88047779e+02] [-2.15373808e-01 9.76385092e-01 -1.69196354e-02 -1.11552856e+02] [-6.28439754e-02 3.43219628e-03 9.98017462e-01 -4.39233959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.630714057 meters 0.027910126794713302 Centerline is valid? [True, True] Translation: X:688.08, Y:-111.55, Z:-43.93 [[ 9.73573351e-01 2.20450427e-01 5.96367331e-02 6.88078003e+02] [-2.19842796e-01 9.75393265e-01 -1.66470309e-02 -1.11552733e+02] [-6.18391129e-02 3.09639952e-03 9.98081328e-01 -4.39271382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.660714057 meters 0.027458318080059475 Centerline is valid? [True, True] Translation: X:688.11, Y:-111.56, Z:-43.93 [[ 9.73062190e-01 2.22809731e-01 5.92097833e-02 6.88109384e+02] [-2.22215209e-01 9.74857566e-01 -1.65265575e-02 -1.11557281e+02] [-6.14033830e-02 2.92405384e-03 9.98108749e-01 -4.39297624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.6907140569999 meters 0.02498345374868165 Centerline is valid? [True, True] Translation: X:688.14, Y:-111.56, Z:-43.93 [[ 9.72636107e-01 2.24720934e-01 5.89873328e-02 6.88142262e+02] [-2.24134194e-01 9.74419153e-01 -1.64674668e-02 -1.11559452e+02] [-6.11789714e-02 2.79577453e-03 9.98122897e-01 -4.39321375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.7207140569999 meters 0.026446780093602153 Centerline is valid? [True, True] Translation: X:688.17, Y:-111.56, Z:-43.93 [[ 9.71937233e-01 2.27846836e-01 5.85135327e-02 6.88172490e+02] [-2.27274217e-01 9.73693533e-01 -1.63503663e-02 -1.11564654e+02] [-6.06996276e-02 2.59291248e-03 9.98152710e-01 -4.39348182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.750714057 meters 0.026140446285872688 Centerline is valid? [True, True] Translation: X:688.20, Y:-111.57, Z:-43.94 [[ 9.71653210e-01 2.28973296e-01 5.88325458e-02 6.88203322e+02] [-2.28396327e-01 9.73429394e-01 -1.64417974e-02 -1.11569715e+02] [-6.10340619e-02 2.53858783e-03 9.98132456e-01 -4.39368655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.780714057 meters 0.023398597387469515 Centerline is valid? [True, True] Translation: X:688.24, Y:-111.57, Z:-43.94 [[ 9.70876908e-01 2.32225125e-01 5.89026353e-02 6.88235459e+02] [-2.31652616e-01 9.72659252e-01 -1.64634561e-02 -1.11568487e+02] [-6.11154213e-02 2.33903975e-03 9.98127965e-01 -4.39387864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.8107140569999 meters 0.02222789100597476 Centerline is valid? [True, True] Translation: X:688.27, Y:-111.57, Z:-43.94 [[ 9.70388981e-01 2.34200344e-01 5.91221120e-02 6.88266634e+02] [-2.33627208e-01 9.72185814e-01 -1.65248433e-02 -1.11571958e+02] [-6.13478026e-02 2.22299190e-03 9.98113974e-01 -4.39412799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.8407140569999 meters 0.021930298384125725 Centerline is valid? [True, True] Translation: X:688.29, Y:-111.58, Z:-43.94 [[ 9.69895487e-01 2.36369467e-01 5.85851411e-02 6.88294747e+02] [-2.35810621e-01 9.71661053e-01 -1.63752834e-02 -1.11577019e+02] [-6.07955169e-02 2.06731500e-03 9.98148101e-01 -4.39433685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.870714057 meters 0.022883261252665814 Centerline is valid? [True, True] Translation: X:688.32, Y:-111.58, Z:-43.95 [[ 9.69297618e-01 2.38844878e-01 5.84401651e-02 6.88322783e+02] [-2.38293489e-01 9.71055868e-01 -1.63313915e-02 -1.11584261e+02] [-6.06493345e-02 1.90406805e-03 9.98157319e-01 -4.39453189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.900714057 meters 0.02037360576086349 Centerline is valid? [True, True] Translation: X:688.35, Y:-111.59, Z:-43.95 [[ 9.68724781e-01 2.40995238e-01 5.91066237e-02 6.88352722e+02] [-2.40435326e-01 9.70524652e-01 -1.65152505e-02 -1.11585621e+02] [-6.13445322e-02 1.78741205e-03 9.98115050e-01 -4.39471261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.9307140569999 meters 0.020757138209091038 Centerline is valid? [True, True] Translation: X:688.38, Y:-111.59, Z:-43.95 [[ 9.67606155e-01 2.45281741e-01 5.97929439e-02 6.88381304e+02] [-2.44717112e-01 9.69450631e-01 -1.67035567e-02 -1.11589850e+02] [-6.20633847e-02 1.53010770e-03 9.98071037e-01 -4.39480001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.9607140569999 meters 0.020571255887456272 Centerline is valid? [True, True] Translation: X:688.41, Y:-111.60, Z:-43.95 [[ 9.67043032e-01 2.47318648e-01 6.05083501e-02 6.88410147e+02] [-2.46744497e-01 9.68933169e-01 -1.69017126e-02 -1.11595136e+02] [-6.28086561e-02 1.41458104e-03 9.98024585e-01 -4.39495247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.990714057 meters 0.019343946800819554 Centerline is valid? [True, True] Translation: X:688.44, Y:-111.60, Z:-43.95 [[ 9.66119865e-01 2.50820740e-01 6.08388327e-02 6.88438878e+02] [-2.50247448e-01 9.68032820e-01 -1.69904162e-02 -1.11598116e+02] [-6.31555355e-02 1.19001597e-03 9.98002987e-01 -4.39513668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.020714057 meters 0.019448814940518824 Centerline is valid? [True, True] Translation: X:688.47, Y:-111.60, Z:-43.95 [[ 9.65757331e-01 2.52214249e-01 6.08338000e-02 6.88466919e+02] [-2.51644112e-01 9.67670799e-01 -1.69842732e-02 -1.11604543e+02] [-6.31507676e-02 1.09421877e-03 9.98003398e-01 -4.39534823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.0507140569999 meters 0.019066336364838295 Centerline is valid? [True, True] Translation: X:688.50, Y:-111.61, Z:-43.96 [[ 9.65423429e-01 2.53370198e-01 6.13281866e-02 6.88495371e+02] [-2.52793374e-01 9.67368853e-01 -1.71176059e-02 -1.11611534e+02] [-6.36640687e-02 1.02237852e-03 9.97970862e-01 -4.39552093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.0807140569999 meters 0.01923074236518718 Centerline is valid? [True, True] Translation: X:688.52, Y:-111.62, Z:-43.96 [[ 9.65063386e-01 2.54643499e-01 6.17199334e-02 6.88521866e+02] [-2.54062122e-01 9.67034541e-01 -1.72230782e-02 -1.11618819e+02] [-6.40710524e-02 9.40664889e-04 9.97944896e-01 -4.39562789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.1107140569999 meters 0.019170044750659313 Centerline is valid? [True, True] Translation: X:688.55, Y:-111.63, Z:-43.96 [[ 9.64623554e-01 2.56103756e-01 6.25480996e-02 6.88549430e+02] [-2.55510110e-01 9.66648925e-01 -1.74481761e-02 -1.11626366e+02] [-6.49305967e-02 8.49249801e-04 9.97889421e-01 -4.39569650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.140714057 meters 0.018855386356494745 Centerline is valid? [True, True] Translation: X:688.58, Y:-111.63, Z:-43.96 [[ 9.64525817e-01 2.56436728e-01 6.26909270e-02 6.88577096e+02] [-2.55841381e-01 9.66560668e-01 -1.74832041e-02 -1.11634401e+02] [-6.50779200e-02 8.24068375e-04 9.97879845e-01 -4.39584967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.1707140569999 meters 0.018721785317944207 Centerline is valid? [True, True] Translation: X:688.60, Y:-111.64, Z:-43.96 [[ 9.64515944e-01 2.56706044e-01 6.17333005e-02 6.88604896e+02] [-2.56129618e-01 9.66489205e-01 -1.72114667e-02 -1.11642938e+02] [-6.40828561e-02 7.89007341e-04 9.97944270e-01 -4.39604376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.2007140569999 meters 0.018432022194420663 Centerline is valid? [True, True] Translation: X:688.63, Y:-111.65, Z:-43.96 [[ 9.64551235e-01 2.56692068e-01 6.12380401e-02 6.88632621e+02] [-2.56125130e-01 9.66492926e-01 -1.70687527e-02 -1.11651751e+02] [-6.35675460e-02 7.79085465e-04 9.97977234e-01 -4.39626316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.2307140569999 meters 0.01866913781780339 Centerline is valid? [True, True] Translation: X:688.66, Y:-111.66, Z:-43.97 [[ 9.64614352e-01 2.56708889e-01 6.01639266e-02 6.88658771e+02] [-2.56162006e-01 9.66488473e-01 -1.67647783e-02 -1.11662719e+02] [-6.24514091e-02 7.59833602e-04 9.98047716e-01 -4.39655731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.260714057 meters 0.01834288364813687 Centerline is valid? [True, True] Translation: X:688.69, Y:-111.67, Z:-43.97 [[ 9.64511987e-01 2.57181984e-01 5.97834005e-02 6.88686207e+02] [-2.56643255e-01 9.66362722e-01 -1.66532122e-02 -1.11672219e+02] [-6.20553558e-02 7.19216263e-04 9.98072450e-01 -4.39671032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.290714057 meters 0.01819137185928841 Centerline is valid? [True, True] Translation: X:688.71, Y:-111.68, Z:-43.97 [[ 9.64394678e-01 2.57615189e-01 5.98106900e-02 6.88712693e+02] [-2.57077082e-01 9.66247350e-01 -1.66562816e-02 -1.11681168e+02] [-6.20828319e-02 6.87271714e-04 9.98070764e-01 -4.39684166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.3207140569999 meters 0.017527262054975307 Centerline is valid? [True, True] Translation: X:688.74, Y:-111.69, Z:-43.97 [[ 9.63876949e-01 2.59433766e-01 6.02938506e-02 6.88739787e+02] [-2.58890815e-01 9.65760735e-01 -1.67853827e-02 -1.11691473e+02] [-6.25841285e-02 5.69519321e-04 9.98039530e-01 -4.39688510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.3507140569999 meters 0.017047669141618694 Centerline is valid? [True, True] Translation: X:688.77, Y:-111.70, Z:-43.97 [[ 9.63534207e-01 2.60589623e-01 6.07855362e-02 6.88767485e+02] [-2.60040291e-01 9.65449534e-01 -1.69187341e-02 -1.11699802e+02] [-6.30942141e-02 4.95090477e-04 9.98007452e-01 -4.39701388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.380714057 meters 0.017203048454014255 Centerline is valid? [True, True] Translation: X:688.80, Y:-111.71, Z:-43.97 [[ 9.63120575e-01 2.62090225e-01 6.08890158e-02 6.88795501e+02] [-2.61542313e-01 9.65043294e-01 -1.69428133e-02 -1.11708199e+02] [-6.32010821e-02 3.92918018e-04 9.98000736e-01 -4.39720177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.410714057 meters 0.016770751134124202 Centerline is valid? [True, True] Translation: X:688.82, Y:-111.72, Z:-43.97 [[ 9.62066273e-01 2.65782522e-01 6.15478524e-02 6.88821966e+02] [-2.65230538e-01 9.64033002e-01 -1.71211090e-02 -1.11717466e+02] [-6.38846524e-02 1.47271467e-04 9.97957278e-01 -4.39723002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.4407140569999 meters 0.017016239644109695 Centerline is valid? [True, True] Translation: X:688.85, Y:-111.73, Z:-43.97 [[ 9.61437890e-01 2.68048980e-01 6.15380127e-02 6.88848197e+02] [-2.67502208e-01 9.63405286e-01 -1.71121163e-02 -1.11725892e+02] [-6.38729320e-02 -9.31732809e-06 9.97958039e-01 -4.39730091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.4707140569999 meters 0.017043499853173504 Centerline is valid? [True, True] Translation: X:688.88, Y:-111.73, Z:-43.97 [[ 9.60986306e-01 2.69610588e-01 6.17693387e-02 6.88875090e+02] [-2.69063285e-01 9.62969427e-01 -1.71706760e-02 -1.11734858e+02] [-6.41113807e-02 -1.19076700e-04 9.97942742e-01 -4.39748209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.500714057 meters 0.016724737055861232 Centerline is valid? [True, True] Translation: X:688.90, Y:-111.74, Z:-43.98 [[ 9.60476671e-01 2.71485629e-01 6.14826638e-02 6.88901224e+02] [-2.70947545e-01 9.62442462e-01 -1.70861358e-02 -1.11743911e+02] [-6.38121666e-02 -2.47742024e-04 9.97961896e-01 -4.39762839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.530714057 meters 0.016770296473865107 Centerline is valid? [True, True] Translation: X:688.93, Y:-111.75, Z:-43.98 [[ 9.59441893e-01 2.75493813e-01 5.97864016e-02 6.88926627e+02] [-2.74993150e-01 9.61302712e-01 -1.66091389e-02 -1.11754937e+02] [-6.20485450e-02 -5.05347257e-04 9.98073005e-01 -4.39776575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.5607140569999 meters 0.01690792667068623 Centerline is valid? [True, True] Translation: X:688.95, Y:-111.77, Z:-43.98 [[ 9.58993445e-01 2.77099283e-01 5.95613982e-02 6.88954038e+02] [-2.76605853e-01 9.60841096e-01 -1.65405578e-02 -1.11765192e+02] [-6.18124159e-02 -6.12744867e-04 9.98087596e-01 -4.39799726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.5907140569999 meters 0.01712962776245586 Centerline is valid? [True, True] Translation: X:688.98, Y:-111.77, Z:-43.98 [[ 9.58636181e-01 2.78427948e-01 5.91147208e-02 6.88979797e+02] [-2.77944704e-01 9.60456866e-01 -1.64119004e-02 -1.11774638e+02] [-6.13466712e-02 -6.97582093e-04 9.98116275e-01 -4.39806882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.620714057 meters 0.01697289308857263 Centerline is valid? [True, True] Translation: X:689.01, Y:-111.79, Z:-43.98 [[ 9.57927079e-01 2.80810854e-01 5.93378084e-02 6.89005637e+02] [-2.80328926e-01 9.59762744e-01 -1.64671826e-02 -1.11790589e+02] [-6.15743814e-02 -8.59743948e-04 9.98102127e-01 -4.39809545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.650714057 meters 0.017491900085216693 Centerline is valid? [True, True] Translation: X:689.03, Y:-111.80, Z:-43.98 [[ 9.57702590e-01 2.81471058e-01 5.98313748e-02 6.89031609e+02] [-2.80982655e-01 9.59569282e-01 -1.65994088e-02 -1.11799854e+02] [-6.20846025e-02 -9.14281776e-04 9.98070472e-01 -4.39807540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.6807140569999 meters 0.01708528655720322 Centerline is valid? [True, True] Translation: X:689.06, Y:-111.81, Z:-43.98 [[ 9.57485009e-01 2.82152018e-01 6.01057093e-02 6.89058237e+02] [-2.81660818e-01 9.59369220e-01 -1.66698148e-02 -1.11812833e+02] [-6.23669893e-02 -9.68325483e-04 9.98052815e-01 -4.39821435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.7107140569999 meters 0.01692842587479926 Centerline is valid? [True, True] Translation: X:689.09, Y:-111.83, Z:-43.98 [[ 9.57380258e-01 2.82459452e-01 6.03299185e-02 6.89085197e+02] [-2.81965463e-01 9.59278722e-01 -1.67275810e-02 -1.11825083e+02] [-6.25980704e-02 -9.96297637e-04 9.98038320e-01 -4.39826869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.740714057 meters 0.01692842587479926 Centerline is valid? [True, True] Translation: X:689.11, Y:-111.83, Z:-43.98 [[ 9.57390235e-01 2.82425509e-01 6.03305117e-02 6.89113265e+02] [-2.81931588e-01 9.59288715e-01 -1.67254411e-02 -1.11832836e+02] [-6.25980703e-02 -9.96302961e-04 9.98038320e-01 -4.39843742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.770714057 meters 0.017716278249479682 Centerline is valid? [True, True] Translation: X:689.14, Y:-111.85, Z:-43.99 [[ 9.57344383e-01 2.82849434e-01 5.90586935e-02 6.89139205e+02] [-2.82377073e-01 9.59163797e-01 -1.63707128e-02 -1.11847804e+02] [-6.12774075e-02 -1.00441104e-03 9.98120269e-01 -4.39852287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.8007140569999 meters 0.01686154677747124 Centerline is valid? [True, True] Translation: X:689.17, Y:-111.86, Z:-43.99 [[ 9.57496490e-01 2.82523500e-01 5.81458772e-02 6.89167057e+02] [-2.82065101e-01 9.59259888e-01 -1.61166471e-02 -1.11862720e+02] [-6.03303391e-02 -9.69289730e-04 9.98177996e-01 -4.39874042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.8307140569999 meters 0.016433732912291502 Centerline is valid? [True, True] Translation: X:689.20, Y:-111.88, Z:-43.99 [[ 9.57556089e-01 2.82384813e-01 5.78373058e-02 6.89196723e+02] [-2.81930984e-01 9.59300738e-01 -1.60316797e-02 -1.11877077e+02] [-6.00104730e-02 -9.54895981e-04 9.98197291e-01 -4.39895756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.8607140569999 meters 0.01605705879074472 Centerline is valid? [True, True] Translation: X:689.22, Y:-111.90, Z:-43.99 [[ 9.57778891e-01 2.81872935e-01 5.66325354e-02 6.89224517e+02] [-2.81436060e-01 9.59451332e-01 -1.57126154e-02 -1.11895612e+02] [-5.87651225e-02 -8.89226288e-04 9.98271441e-01 -4.39913851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.890714057 meters 0.016080419537595834 Centerline is valid? [True, True] Translation: X:689.25, Y:-111.91, Z:-43.99 [[ 9.57787376e-01 2.81960037e-01 5.60524723e-02 6.89254169e+02] [-2.81531351e-01 9.59425755e-01 -1.55666154e-02 -1.11909091e+02] [-5.81673490e-02 -8.71020561e-04 9.98306466e-01 -4.39932208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9207140569999 meters 0.01581885095321564 Centerline is valid? [True, True] Translation: X:689.28, Y:-111.92, Z:-43.99 [[ 9.57864631e-01 2.81717224e-01 5.59531464e-02 6.89284517e+02] [-2.81288712e-01 9.59497109e-01 -1.55550410e-02 -1.11922928e+02] [-5.80690052e-02 -8.39364897e-04 9.98312219e-01 -4.39947948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9507140569999 meters 0.015675177381619523 Centerline is valid? [True, True] Translation: X:689.31, Y:-111.94, Z:-44.00 [[ 9.57814806e-01 2.81879279e-01 5.59899079e-02 6.89314887e+02] [-2.81449485e-01 9.59449518e-01 -1.55823684e-02 -1.11937329e+02] [-5.81118370e-02 -8.33307532e-04 9.98309732e-01 -4.39960263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9807140569999 meters 0.015628379140010192 Centerline is valid? [True, True] Translation: X:689.34, Y:-111.96, Z:-44.00 [[ 9.58003877e-01 2.81120885e-01 5.65651739e-02 6.89343435e+02] [-2.80679845e-01 9.59672049e-01 -1.57601601e-02 -1.11956148e+02] [-5.87145265e-02 -7.78409770e-04 9.98274511e-01 -4.39968056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.010714057 meters 0.016062907101666437 Centerline is valid? [True, True] Translation: X:689.37, Y:-111.97, Z:-44.00 [[ 9.58023610e-01 2.81025982e-01 5.67023820e-02 6.89373040e+02] [-2.80581716e-01 9.59699860e-01 -1.58139134e-02 -1.11969329e+02] [-5.88613886e-02 -7.59549227e-04 9.98265876e-01 -4.39982755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.040714057 meters 0.01607169390371686 Centerline is valid? [True, True] Translation: X:689.40, Y:-111.98, Z:-44.00 [[ 9.58077734e-01 2.80802788e-01 5.68933228e-02 6.89403181e+02] [-2.80354147e-01 9.59765210e-01 -1.58837793e-02 -1.11983046e+02] [-5.90644414e-02 -7.32383725e-04 9.98253903e-01 -4.39996602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.0707140569999 meters 0.016660404736984987 Centerline is valid? [True, True] Translation: X:689.43, Y:-112.00, Z:-44.00 [[ 9.58554508e-01 2.79109532e-01 5.71937479e-02 6.89430645e+02] [-2.78652069e-01 9.60259076e-01 -1.59853835e-02 -1.12002141e+02] [-5.93824884e-02 -6.14294806e-04 9.98235114e-01 -4.40017993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.1007140569999 meters 0.016959477808651008 Centerline is valid? [True, True] Translation: X:689.46, Y:-112.02, Z:-44.00 [[ 9.58821387e-01 2.78216490e-01 5.70712861e-02 6.89460245e+02] [-2.77758497e-01 9.60518240e-01 -1.59664474e-02 -1.12016243e+02] [-5.92601402e-02 -5.43063434e-04 9.98242426e-01 -4.40041314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.130714057 meters 0.01723791593727341 Centerline is valid? [True, True] Translation: X:689.49, Y:-112.03, Z:-44.01 [[ 9.59180627e-01 2.77002361e-01 5.69404725e-02 6.89489941e+02] [-2.76543436e-01 9.60869131e-01 -1.59449372e-02 -1.12030226e+02] [-5.91291276e-02 -4.52439071e-04 9.98250240e-01 -4.40061649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.160714057 meters 0.017642917420662443 Centerline is valid? [True, True] Translation: X:689.52, Y:-112.05, Z:-44.01 [[ 9.59992939e-01 2.74246795e-01 5.65884453e-02 6.89517379e+02] [-2.73787865e-01 9.61659308e-01 -1.58612944e-02 -1.12048527e+02] [-5.87687143e-02 -2.66498945e-04 9.98271590e-01 -4.40090436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.1907140569999 meters 0.017905578795244195 Centerline is valid? [True, True] Translation: X:689.55, Y:-112.06, Z:-44.01 [[ 9.60367195e-01 2.73072695e-01 5.59120253e-02 6.89546349e+02] [-2.72621906e-01 9.61993384e-01 -1.56852008e-02 -1.12061615e+02] [-5.80701985e-02 -1.79290627e-04 9.98312486e-01 -4.40113878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.2207140569999 meters 0.01834667124370857 Centerline is valid? [True, True] Translation: X:689.58, Y:-112.08, Z:-44.01 [[ 9.60685049e-01 2.72026480e-01 5.55502571e-02 6.89577047e+02] [-2.71578879e-01 9.62289761e-01 -1.55989907e-02 -1.12075097e+02] [-5.76987822e-02 -1.00559346e-04 9.98334033e-01 -4.40139137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.250714057 meters 0.018345679374951265 Centerline is valid? [True, True] Translation: X:689.61, Y:-112.09, Z:-44.02 [[ 9.60968149e-01 2.71076129e-01 5.52987269e-02 6.89607019e+02] [-2.70630074e-01 9.62557911e-01 -1.55445010e-02 -1.12088019e+02] [-5.74419702e-02 -2.77281409e-05 9.98348847e-01 -4.40156635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.280714057 meters 0.018427432114802425 Centerline is valid? [True, True] Translation: X:689.64, Y:-112.10, Z:-44.02 [[ 9.61187623e-01 2.70341752e-01 5.50789465e-02 6.89637752e+02] [-2.69897177e-01 9.62764424e-01 -1.54976667e-02 -1.12101017e+02] [-5.72177165e-02 3.05132479e-05 9.98361724e-01 -4.40170792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.3107140569999 meters 0.018635799119111975 Centerline is valid? [True, True] Translation: X:689.67, Y:-112.12, Z:-44.02 [[ 9.61576094e-01 2.68904409e-01 5.53338470e-02 6.89666290e+02] [-2.68452369e-01 9.63166861e-01 -1.55860275e-02 -1.12117067e+02] [-5.74868792e-02 1.32649084e-04 9.98346253e-01 -4.40183248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.3407140569999 meters 0.01898995412632824 Centerline is valid? [True, True] Translation: X:689.70, Y:-112.13, Z:-44.02 [[ 9.61623478e-01 2.68764150e-01 5.51916463e-02 6.89696875e+02] [-2.68313324e-01 9.63206005e-01 -1.55612572e-02 -1.12128807e+02] [-5.73432332e-02 1.55416146e-04 9.98354511e-01 -4.40196096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.370714057 meters 0.018633421394719362 Centerline is valid? [True, True] Translation: X:689.73, Y:-112.14, Z:-44.02 [[ 9.61588742e-01 2.68889416e-01 5.51867107e-02 6.89728405e+02] [-2.68437954e-01 9.63171041e-01 -1.55759299e-02 -1.12139839e+02] [-5.73424443e-02 1.63431093e-04 9.98354555e-01 -4.40212519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.400714057 meters 0.01874228595378207 Centerline is valid? [True, True] Translation: X:689.76, Y:-112.15, Z:-44.02 [[ 9.61387807e-01 2.69537759e-01 5.55236934e-02 6.89759768e+02] [-2.69080852e-01 9.62989811e-01 -1.56881725e-02 -1.12150992e+02] [-5.76973059e-02 1.42054981e-04 9.98334113e-01 -4.40231271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.4307140569999 meters 0.018673888227331528 Centerline is valid? [True, True] Translation: X:689.79, Y:-112.16, Z:-44.02 [[ 9.60862968e-01 2.71434672e-01 5.53676454e-02 6.89790052e+02] [-2.70982504e-01 9.62456865e-01 -1.56609516e-02 -1.12163407e+02] [-5.75398957e-02 4.43652634e-05 9.98343207e-01 -4.40245339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.4607140569999 meters 0.018633503664001197 Centerline is valid? [True, True] Translation: X:689.82, Y:-112.17, Z:-44.03 [[ 9.60476032e-01 2.72844581e-01 5.51509375e-02 6.89821269e+02] [-2.72397306e-01 9.62058124e-01 -1.56164564e-02 -1.12174108e+02] [-5.73192730e-02 -2.37346900e-05 9.98355899e-01 -4.40259665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.490714057 meters 0.01927768448955055 Centerline is valid? [True, True] Translation: X:689.85, Y:-112.18, Z:-44.03 [[ 9.60122698e-01 2.74163954e-01 5.47588501e-02 6.89852111e+02] [-2.73724208e-01 9.61682962e-01 -1.55222047e-02 -1.12184185e+02] [-5.69162822e-02 -8.56018478e-05 9.98378951e-01 -4.40276658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.520714057 meters 0.01959839124925805 Centerline is valid? [True, True] Translation: X:689.88, Y:-112.19, Z:-44.03 [[ 9.59516251e-01 2.76387089e-01 5.42101601e-02 6.89882146e+02] [-2.75958792e-01 9.61046376e-01 -1.53820782e-02 -1.12194333e+02] [-5.63498857e-02 -2.00416244e-04 9.98411063e-01 -4.40294024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.5507140569999 meters 0.019673074012436568 Centerline is valid? [True, True] Translation: X:689.91, Y:-112.20, Z:-44.03 [[ 9.59127053e-01 2.77711809e-01 5.43272266e-02 6.89913378e+02] [-2.77282907e-01 9.60664396e-01 -1.54307536e-02 -1.12204572e+02] [-5.64755348e-02 -2.63958105e-04 9.98403948e-01 -4.40308964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.5807140569999 meters 0.01981096273994721 Centerline is valid? [True, True] Translation: X:689.94, Y:-112.21, Z:-44.03 [[ 9.58856264e-01 2.78564471e-01 5.47403108e-02 6.89943633e+02] [-2.78129450e-01 9.60417485e-01 -1.55648228e-02 -1.12214818e+02] [-5.69093582e-02 -3.00464748e-04 9.98379304e-01 -4.40322490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.6107140569999 meters 0.019594944862122435 Centerline is valid? [True, True] Translation: X:689.97, Y:-112.23, Z:-44.03 [[ 9.58581036e-01 2.79512453e-01 5.47282906e-02 6.89974706e+02] [-2.79078589e-01 9.60142004e-01 -1.55715500e-02 -1.12225890e+02] [-5.68993728e-02 -3.46901527e-04 9.98379858e-01 -4.40333449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.640714057 meters 0.01961560744512855 Centerline is valid? [True, True] Translation: X:690.01, Y:-112.24, Z:-44.03 [[ 9.58234598e-01 2.80626836e-01 5.50911380e-02 6.90005217e+02] [-2.80188078e-01 9.59816868e-01 -1.56914542e-02 -1.12236864e+02] [-5.72808467e-02 -3.99785785e-04 9.98358024e-01 -4.40347384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.6707140569999 meters 0.01968478589095285 Centerline is valid? [True, True] Translation: X:690.03, Y:-112.25, Z:-44.04 [[ 9.57757592e-01 2.82145131e-01 5.56284189e-02 6.90034592e+02] [-2.81699415e-01 9.59371614e-01 -1.58601830e-02 -1.12249589e+02] [-5.78431995e-02 -4.80282325e-04 9.98325565e-01 -4.40355433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.7007140569999 meters 0.019859742226324858 Centerline is valid? [True, True] Translation: X:690.07, Y:-112.26, Z:-44.04 [[ 9.57444101e-01 2.83170219e-01 5.58159604e-02 6.90065018e+02] [-2.82722332e-01 9.59069521e-01 -1.59290880e-02 -1.12261188e+02] [-5.80420297e-02 -5.29207153e-04 9.98314000e-01 -4.40375966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.7307140569999 meters 0.020351505761912726 Centerline is valid? [True, True] Translation: X:690.09, Y:-112.27, Z:-44.04 [[ 9.56906552e-01 2.84858834e-01 5.64384226e-02 6.90093996e+02] [-2.84402799e-01 9.58569277e-01 -1.61242044e-02 -1.12272184e+02] [-5.86932599e-02 -6.21888550e-04 9.98275871e-01 -4.40396573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.760714057 meters 0.020228892296765055 Centerline is valid? [True, True] Translation: X:690.12, Y:-112.28, Z:-44.04 [[ 9.56837195e-01 2.85157321e-01 5.61060106e-02 6.90124720e+02] [-2.84706351e-01 9.58480524e-01 -1.60430575e-02 -1.12283443e+02] [-5.83513137e-02 -6.23143382e-04 9.98295916e-01 -4.40417879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.790714057 meters 0.02018059924700257 Centerline is valid? [True, True] Translation: X:690.16, Y:-112.29, Z:-44.04 [[ 9.56893493e-01 2.85054899e-01 5.56645993e-02 6.90155078e+02] [-2.84609858e-01 9.58511006e-01 -1.59336000e-02 -1.12294616e+02] [-5.78970818e-02 -5.95935518e-04 9.98322379e-01 -4.40442579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.8207140569999 meters 0.020034855540731145 Centerline is valid? [True, True] Translation: X:690.19, Y:-112.31, Z:-44.05 [[ 9.56977890e-01 2.84929222e-01 5.48512284e-02 6.90185634e+02] [-2.84496024e-01 9.58548392e-01 -1.57160314e-02 -1.12306937e+02] [-5.70555134e-02 -5.65061808e-04 9.98370848e-01 -4.40467381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.8507140569999 meters 0.020207139207374863 Centerline is valid? [True, True] Translation: X:690.21, Y:-112.32, Z:-44.05 [[ 9.57784817e-01 2.82426529e-01 5.36982397e-02 6.90213268e+02] [-2.82006532e-01 9.59288852e-01 -1.54017444e-02 -1.12321648e+02] [-5.58619839e-02 -3.91697376e-04 9.98438423e-01 -4.40492527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.880714057 meters 0.01979378534625713 Centerline is valid? [True, True] Translation: X:690.24, Y:-112.33, Z:-44.05 [[ 9.58154268e-01 2.81127622e-01 5.39227137e-02 6.90242415e+02] [-2.80701306e-01 9.59670343e-01 -1.54793273e-02 -1.12334887e+02] [-5.60996956e-02 -3.04592593e-04 9.98425126e-01 -4.40509086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.910714057 meters 0.019874725468844175 Centerline is valid? [True, True] Translation: X:690.27, Y:-112.35, Z:-44.05 [[ 9.58669974e-01 2.79475208e-01 5.33431219e-02 6.90273089e+02] [-2.79054671e-01 9.60152890e-01 -1.53270764e-02 -1.12346952e+02] [-5.55010905e-02 -1.92039368e-04 9.98458608e-01 -4.40529926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.9407140569999 meters 0.01953792264686458 Centerline is valid? [True, True] Translation: X:690.30, Y:-112.36, Z:-44.05 [[ 9.59212298e-01 2.77656938e-01 5.30885289e-02 6.90304106e+02] [-2.77236730e-01 9.60680290e-01 -1.52701069e-02 -1.12359327e+02] [-5.52409545e-02 -7.08157907e-05 9.98473050e-01 -4.40545308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.9707140569999 meters 0.019518279303151666 Centerline is valid? [True, True] Translation: X:690.33, Y:-112.38, Z:-44.05 [[ 9.60434511e-01 2.73175949e-01 5.42259325e-02 6.90333014e+02] [-2.72729422e-01 9.61964063e-01 -1.56142494e-02 -1.12375299e+02] [-5.64288358e-02 2.07456770e-04 9.98406602e-01 -4.40549032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.000714057 meters 0.019420823945170744 Centerline is valid? [True, True] Translation: X:690.36, Y:-112.39, Z:-44.06 [[ 9.60970662e-01 2.71128287e-01 5.49985335e-02 6.90364045e+02] [-2.70664673e-01 9.62543158e-01 -1.58525662e-02 -1.12388323e+02] [-5.72365412e-02 3.47690974e-04 9.98360585e-01 -4.40556063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.030714057 meters 0.01931818229774412 Centerline is valid? [True, True] Translation: X:690.39, Y:-112.40, Z:-44.06 [[ 9.61553139e-01 2.69037061e-01 5.50873892e-02 6.90393483e+02] [-2.68567553e-01 9.63129701e-01 -1.58949290e-02 -1.12400662e+02] [-5.73326257e-02 4.89133550e-04 9.98355012e-01 -4.40563261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.0607140569999 meters 0.019567396560694252 Centerline is valid? [True, True] Translation: X:690.42, Y:-112.42, Z:-44.06 [[ 9.62640610e-01 2.64984679e-01 5.57330766e-02 6.90423061e+02] [-2.64496427e-01 9.64252328e-01 -1.60962105e-02 -1.12415345e+02] [-5.80059980e-02 7.53666270e-04 9.98315950e-01 -4.40574132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.0907140569999 meters 0.020214931084987207 Centerline is valid? [True, True] Translation: X:690.45, Y:-112.43, Z:-44.06 [[ 9.63097814e-01 2.63286543e-01 5.58819865e-02 6.90453401e+02] [-2.62791957e-01 9.64717282e-01 -1.61540205e-02 -1.12426751e+02] [-5.81634543e-02 8.72565309e-04 9.98306692e-01 -4.40596470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.120714057 meters 0.020460700249790575 Centerline is valid? [True, True] Translation: X:690.48, Y:-112.44, Z:-44.06 [[ 9.63606058e-01 2.61371463e-01 5.61099148e-02 6.90482211e+02] [-2.60868724e-01 9.65237766e-01 -1.62346451e-02 -1.12437359e+02] [-5.84026818e-02 1.00648054e-03 9.98292599e-01 -4.40615575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.150714057 meters 0.020570463115291406 Centerline is valid? [True, True] Translation: X:690.51, Y:-112.45, Z:-44.06 [[ 9.63997837e-01 2.59952971e-01 5.59698516e-02 6.90512705e+02] [-2.59449923e-01 9.65620655e-01 -1.62014645e-02 -1.12447051e+02] [-5.82572636e-02 1.09680304e-03 9.98301001e-01 -4.40632877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.1807140569999 meters 0.021043184297604794 Centerline is valid? [True, True] Translation: X:690.54, Y:-112.46, Z:-44.07 [[ 9.64710815e-01 2.57364636e-01 5.56460946e-02 6.90542356e+02] [-2.56862232e-01 9.66313539e-01 -1.61225885e-02 -1.12458623e+02] [-5.79209588e-02 1.26025542e-03 9.98320377e-01 -4.40650229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.2107140569999 meters 0.021457682190449523 Centerline is valid? [True, True] Translation: X:690.57, Y:-112.47, Z:-44.07 [[ 9.64878100e-01 2.56813284e-01 5.52918614e-02 6.90571654e+02] [-2.56315568e-01 9.66460165e-01 -1.60336504e-02 -1.12468883e+02] [-5.75550360e-02 1.29835326e-03 9.98341491e-01 -4.40670222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.240714057 meters 0.021490011061553183 Centerline is valid? [True, True] Translation: X:690.60, Y:-112.48, Z:-44.07 [[ 9.64953181e-01 2.56703628e-01 5.44849127e-02 6.90602600e+02] [-2.56219421e-01 9.66489297e-01 -1.58128848e-02 -1.12478542e+02] [-5.67183098e-02 1.29860077e-03 9.98389376e-01 -4.40689918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.270714057 meters 0.021863391576719265 Centerline is valid? [True, True] Translation: X:690.63, Y:-112.49, Z:-44.07 [[ 9.64992468e-01 2.56669498e-01 5.39472535e-02 6.90633550e+02] [-2.56193903e-01 9.66498356e-01 -1.56720028e-02 -1.12487338e+02] [-5.61624569e-02 1.30240724e-03 9.98420794e-01 -4.40713212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.3007140569999 meters 0.021543263092112092 Centerline is valid? [True, True] Translation: X:690.67, Y:-112.49, Z:-44.07 [[ 9.64829831e-01 2.57293656e-01 5.38829419e-02 6.90665549e+02] [-2.56819316e-01 9.66332416e-01 -1.56684639e-02 -1.12494549e+02] [-5.61002298e-02 1.27922110e-03 9.98424323e-01 -4.40733515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.3307140569999 meters 0.021817026155504318 Centerline is valid? [True, True] Translation: X:690.70, Y:-112.50, Z:-44.08 [[ 9.64608341e-01 2.57974697e-01 5.45875910e-02 6.90697000e+02] [-2.57487987e-01 9.66150836e-01 -1.58902261e-02 -1.12502689e+02] [-5.68391229e-02 1.27219576e-03 9.98382540e-01 -4.40750783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.3607140569999 meters 0.02163010174802625 Centerline is valid? [True, True] Translation: X:690.73, Y:-112.51, Z:-44.08 [[ 9.64311017e-01 2.59002455e-01 5.49726424e-02 6.90727105e+02] [-2.58509676e-01 9.65875874e-01 -1.60169512e-02 -1.12509969e+02] [-5.72451787e-02 1.23436254e-03 9.98359387e-01 -4.40759695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.390714057 meters 0.02214397234491759 Centerline is valid? [True, True] Translation: X:690.76, Y:-112.52, Z:-44.08 [[ 9.64116329e-01 2.59752247e-01 5.48495678e-02 6.90756557e+02] [-2.59262123e-01 9.65674547e-01 -1.59944191e-02 -1.12518943e+02] [-5.71214178e-02 1.20006520e-03 9.98366518e-01 -4.40774650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4207140569999 meters 0.021186172397955852 Centerline is valid? [True, True] Translation: X:690.79, Y:-112.53, Z:-44.08 [[ 9.63902457e-01 2.60372707e-01 5.56606461e-02 6.90789427e+02] [-2.59868212e-01 9.65507446e-01 -1.62444872e-02 -1.12525629e+02] [-5.79703894e-02 1.19366850e-03 9.98317589e-01 -4.40783844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4507140569999 meters 0.021524754571408077 Centerline is valid? [True, True] Translation: X:690.82, Y:-112.53, Z:-44.08 [[ 9.63725915e-01 2.61001778e-01 5.57712546e-02 6.90819795e+02] [-2.60495352e-01 9.65337606e-01 -1.62935291e-02 -1.12533966e+02] [-5.80907294e-02 1.17434362e-03 9.98310617e-01 -4.40797746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4807140569999 meters 0.021504644651609617 Centerline is valid? [True, True] Translation: X:690.85, Y:-112.54, Z:-44.08 [[ 9.63506977e-01 2.61645560e-01 5.65323399e-02 6.90851202e+02] [-2.61125490e-01 9.65163326e-01 -1.65297797e-02 -1.12542107e+02] [-5.88878847e-02 1.16452313e-03 9.98263924e-01 -4.40809945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.510714057 meters 0.02151099060543614 Centerline is valid? [True, True] Translation: X:690.88, Y:-112.55, Z:-44.08 [[ 9.63137623e-01 2.62983663e-01 5.66172364e-02 6.90882210e+02] [-2.62463431e-01 9.64799661e-01 -1.65699204e-02 -1.12548265e+02] [-5.89819088e-02 1.09915958e-03 9.98258447e-01 -4.40822861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.540714057 meters 0.02140893945650392 Centerline is valid? [True, True] Translation: X:690.91, Y:-112.56, Z:-44.08 [[ 9.62970727e-01 2.63487082e-01 5.71133604e-02 6.90913683e+02] [-2.62958060e-01 9.64662313e-01 -1.67236436e-02 -1.12556188e+02] [-5.95015704e-02 1.08596083e-03 9.98227621e-01 -4.40841846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.5707140569999 meters 0.020272156004168672 Centerline is valid? [True, True] Translation: X:690.95, Y:-112.56, Z:-44.09 [[ 9.62440458e-01 2.65327749e-01 5.75286887e-02 6.90945889e+02] [-2.64793288e-01 9.64157765e-01 -1.68617771e-02 -1.12559731e+02] [-5.99406293e-02 9.95245825e-04 9.98201448e-01 -4.40858288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.6007140569999 meters 0.021178349319198035 Centerline is valid? [True, True] Translation: X:690.97, Y:-112.57, Z:-44.09 [[ 9.62053160e-01 2.66685320e-01 5.77291704e-02 6.90974687e+02] [-2.66148615e-01 9.63783211e-01 -1.69362858e-02 -1.12570966e+02] [-6.01550640e-02 9.29068525e-04 9.98188612e-01 -4.40864882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.630714057 meters 0.021050798277814912 Centerline is valid? [True, True] Translation: X:691.01, Y:-112.58, Z:-44.09 [[ 9.61689745e-01 2.68100801e-01 5.72258298e-02 6.91005638e+02] [-2.67575385e-01 9.63390498e-01 -1.67976665e-02 -1.12578449e+02] [-5.96342886e-02 8.41920111e-04 9.98219937e-01 -4.40886370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.660714057 meters 0.021050798277814912 Centerline is valid? [True, True] Translation: X:691.04, Y:-112.59, Z:-44.09 [[ 9.61621113e-01 2.68347670e-01 5.72220457e-02 6.91036722e+02] [-2.67821925e-01 9.63321765e-01 -1.68105475e-02 -1.12587676e+02] [-5.96343133e-02 8.40058976e-04 9.98219937e-01 -4.40905179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.6907140569999 meters 0.02070400651968904 Centerline is valid? [True, True] Translation: X:691.07, Y:-112.59, Z:-44.09 [[ 9.61214587e-01 2.69774181e-01 5.73446608e-02 6.91067635e+02] [-2.69247758e-01 9.62923310e-01 -1.68625110e-02 -1.12594737e+02] [-5.97675806e-02 7.68570180e-04 9.98212024e-01 -4.40921131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.7207140569999 meters 0.019895202010275784 Centerline is valid? [True, True] Translation: X:691.10, Y:-112.60, Z:-44.10 [[ 9.60319241e-01 2.72958744e-01 5.72754680e-02 6.91099435e+02] [-2.72438407e-01 9.62025563e-01 -1.68561723e-02 -1.12598548e+02] [-5.97015039e-02 5.83269320e-04 9.98216104e-01 -4.40955111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.750714057 meters 0.0196816199245325 Centerline is valid? [True, True] Translation: X:691.13, Y:-112.61, Z:-44.10 [[ 9.59933030e-01 2.74304210e-01 5.73217131e-02 6.91130692e+02] [-2.73784510e-01 9.61642832e-01 -1.68850997e-02 -1.12606811e+02] [-5.97546684e-02 5.14767746e-04 9.98212961e-01 -4.40980253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.780714057 meters 0.019937457078647268 Centerline is valid? [True, True] Translation: X:691.16, Y:-112.62, Z:-44.10 [[ 9.59702459e-01 2.75384024e-01 5.59895520e-02 6.91160861e+02] [-2.74889205e-01 9.61334196e-01 -1.65072464e-02 -1.12615378e+02] [-5.83705029e-02 4.51121485e-04 9.98294887e-01 -4.41001259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.8107140569999 meters 0.020090002108825323 Centerline is valid? [True, True] Translation: X:691.19, Y:-112.63, Z:-44.10 [[ 9.59353163e-01 2.76668454e-01 5.56423907e-02 6.91191024e+02] [-2.76181432e-01 9.60965360e-01 -1.64131973e-02 -1.12625975e+02] [-5.80114240e-02 3.78657590e-04 9.98315847e-01 -4.41022142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.8407140569999 meters 0.019430926979063547 Centerline is valid? [True, True] Translation: X:691.22, Y:-112.63, Z:-44.11 [[ 9.59099733e-01 2.77559424e-01 5.55739883e-02 6.91222413e+02] [-2.77074186e-01 9.60708411e-01 -1.64086716e-02 -1.12634154e+02] [-5.79447794e-02 3.39435033e-04 9.98319732e-01 -4.41050751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.870714057 meters 0.019707753805885287 Centerline is valid? [True, True] Translation: X:691.25, Y:-112.64, Z:-44.11 [[ 9.59125182e-01 2.77505000e-01 5.54063255e-02 6.91254031e+02] [-2.77021640e-01 9.60724127e-01 -1.63757075e-02 -1.12644262e+02] [-5.77745344e-02 3.57602273e-04 9.98329593e-01 -4.41071512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.900714057 meters 0.019539635101579446 Centerline is valid? [True, True] Translation: X:691.28, Y:-112.65, Z:-44.11 [[ 9.59180178e-01 2.77219139e-01 5.58832204e-02 6.91284680e+02] [-2.76725953e-01 9.60806637e-01 -1.65334025e-02 -1.12654412e+02] [-5.82763446e-02 3.94174595e-04 9.98300412e-01 -4.41087079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.9307140569999 meters 0.01978446790029876 Centerline is valid? [True, True] Translation: X:691.31, Y:-112.67, Z:-44.11 [[ 9.59901665e-01 2.74576628e-01 5.65373150e-02 6.91313667e+02] [-2.74066305e-01 9.61565049e-01 -1.67426933e-02 -1.12666554e+02] [-5.89614584e-02 5.76366154e-04 9.98260094e-01 -4.41099399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.9607140569999 meters 0.019460955422619195 Centerline is valid? [True, True] Translation: X:691.34, Y:-112.68, Z:-44.11 [[ 9.60432327e-01 2.72655087e-01 5.68238399e-02 6.91344456e+02] [-2.72135404e-01 9.62111583e-01 -1.68411362e-02 -1.12676341e+02] [-5.92626960e-02 7.10993062e-04 9.98242169e-01 -4.41114513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.990714057 meters 0.01987541976412326 Centerline is valid? [True, True] Translation: X:691.37, Y:-112.69, Z:-44.11 [[ 9.61021199e-01 2.70400373e-01 5.76358652e-02 6.91374962e+02] [-2.69860711e-01 9.62747562e-01 -1.70976094e-02 -1.12687266e+02] [-6.01119887e-02 8.77509515e-04 9.98191254e-01 -4.41129900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.020714057 meters 0.020845976191690128 Centerline is valid? [True, True] Translation: X:691.40, Y:-112.70, Z:-44.11 [[ 9.61631613e-01 2.68164074e-01 5.79022483e-02 6.91403278e+02] [-2.67614406e-01 9.63372697e-01 -1.71923381e-02 -1.12700662e+02] [-6.03918125e-02 1.03722012e-03 9.98174210e-01 -4.41138211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.0507140569999 meters 0.021088800540939354 Centerline is valid? [True, True] Translation: X:691.43, Y:-112.71, Z:-44.11 [[ 9.62903975e-01 2.62992622e-01 6.04219859e-02 6.91432731e+02] [-2.62382914e-01 9.64796777e-01 -1.79551199e-02 -1.12711739e+02] [-6.30170013e-02 1.43535959e-03 9.98011421e-01 -4.41145795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.0807140569999 meters 0.02096014343801442 Centerline is valid? [True, True] Translation: X:691.46, Y:-112.72, Z:-44.12 [[ 9.63526854e-01 2.60519768e-01 6.12000934e-02 6.91463202e+02] [-2.59889018e-01 9.65467152e-01 -1.81900098e-02 -1.12722698e+02] [-6.38255370e-02 1.62133078e-03 9.97959755e-01 -4.41158779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.1107140569999 meters 0.02160090230206402 Centerline is valid? [True, True] Translation: X:691.49, Y:-112.73, Z:-44.12 [[ 9.64227224e-01 2.57787511e-01 6.17370247e-02 6.91493413e+02] [-2.57139045e-01 9.66199896e-01 -1.83649711e-02 -1.12733435e+02] [-6.43845670e-02 1.83300553e-03 9.97923478e-01 -4.41174592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.140714057 meters 0.023011596390939408 Centerline is valid? [True, True] Translation: X:691.52, Y:-112.75, Z:-44.12 [[ 9.64873094e-01 2.55378579e-01 6.16578842e-02 6.91522168e+02] [-2.54726539e-01 9.66839075e-01 -1.83464871e-02 -1.12745792e+02] [-6.42985516e-02 1.99613231e-03 9.97928711e-01 -4.41189241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.1707140569999 meters 0.023032710578929316 Centerline is valid? [True, True] Translation: X:691.55, Y:-112.75, Z:-44.12 [[ 9.66074531e-01 2.50947975e-01 6.10337088e-02 6.91551949e+02] [-2.50299785e-01 9.67997902e-01 -1.81680827e-02 -1.12754001e+02] [-6.36397456e-02 2.27499775e-03 9.97970344e-01 -4.41226070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.2007140569999 meters 0.025605184413567152 Centerline is valid? [True, True] Translation: X:691.58, Y:-112.77, Z:-44.12 [[ 9.66474030e-01 2.49565793e-01 6.03727088e-02 6.91580431e+02] [-2.48928642e-01 9.68355007e-01 -1.79752912e-02 -1.12767720e+02] [-6.29482326e-02 2.34415574e-03 9.98014040e-01 -4.41244299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.2307140569999 meters 0.024196355952800435 Centerline is valid? [True, True] Translation: X:691.61, Y:-112.77, Z:-44.13 [[ 9.66773306e-01 2.48528828e-01 5.98564662e-02 6.91611870e+02] [-2.47899633e-01 9.68621513e-01 -1.78363565e-02 -1.12774161e+02] [-6.24111097e-02 2.40531731e-03 9.98047628e-01 -4.41269508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.260714057 meters 0.024581053525651923 Centerline is valid? [True, True] Translation: X:691.64, Y:-112.78, Z:-44.13 [[ 9.67346019e-01 2.46309824e-01 5.97758273e-02 6.91642755e+02] [-2.45677168e-01 9.69187763e-01 -1.78272224e-02 -1.12783298e+02] [-6.23250203e-02 2.55953669e-03 9.98052624e-01 -4.41291476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.290714057 meters 0.024149259053183957 Centerline is valid? [True, True] Translation: X:691.67, Y:-112.79, Z:-44.13 [[ 9.67618963e-01 2.45314160e-01 5.94517066e-02 6.91674237e+02] [-2.44686154e-01 9.69440110e-01 -1.77358037e-02 -1.12790904e+02] [-6.19857128e-02 2.61449053e-03 9.98073612e-01 -4.41313161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.3207140569999 meters 0.025823818605478915 Centerline is valid? [True, True] Translation: X:691.70, Y:-112.80, Z:-44.13 [[ 9.67799823e-01 2.44575472e-01 5.95511637e-02 6.91703590e+02] [-2.43942977e-01 9.69626550e-01 -1.77813626e-02 -1.12801453e+02] [-6.20912746e-02 2.68171146e-03 9.98066873e-01 -4.41329345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.3507140569999 meters 0.026419389825323845 Centerline is valid? [True, True] Translation: X:691.73, Y:-112.81, Z:-44.13 [[ 9.67913444e-01 2.44036939e-01 5.99127549e-02 6.91734262e+02] [-2.43394767e-01 9.69762045e-01 -1.79042694e-02 -1.12810374e+02] [-6.24704189e-02 2.74733207e-03 9.98043035e-01 -4.41347696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.380714057 meters 0.026740049828205503 Centerline is valid? [True, True] Translation: X:691.77, Y:-112.82, Z:-44.14 [[ 9.67926017e-01 2.43900404e-01 6.02645672e-02 6.91765222e+02] [-2.43249408e-01 9.69796279e-01 -1.80250792e-02 -1.12817707e+02] [-6.28406771e-02 2.78762284e-03 9.98019678e-01 -4.41361514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.410714057 meters 0.026143716400871993 Centerline is valid? [True, True] Translation: X:691.80, Y:-112.82, Z:-44.14 [[ 9.67677041e-01 2.44925411e-01 6.01056354e-02 6.91797201e+02] [-2.44278847e-01 9.69538084e-01 -1.79930161e-02 -1.12824211e+02] [-6.26816494e-02 2.72889328e-03 9.98029841e-01 -4.41380350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.4407140569999 meters 0.029381989915224203 Centerline is valid? [True, True] Translation: X:691.83, Y:-112.84, Z:-44.14 [[ 9.67246379e-01 2.46628501e-01 6.00734885e-02 6.91825564e+02] [-2.45984928e-01 9.69106523e-01 -1.79989302e-02 -1.12836859e+02] [-6.26566588e-02 2.63222732e-03 9.98031670e-01 -4.41390308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.4707140569999 meters 0.026013264286242177 Centerline is valid? [True, True] Translation: X:691.86, Y:-112.84, Z:-44.14 [[ 9.65964910e-01 2.51454569e-01 6.06827256e-02 6.91858087e+02] [-2.50806489e-01 9.67866235e-01 -1.81949477e-02 -1.12835673e+02] [-6.33079639e-02 2.35605970e-03 9.97991258e-01 -4.41408182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.500714057 meters 0.023211523413224636 Centerline is valid? [True, True] Translation: X:691.89, Y:-112.84, Z:-44.14 [[ 9.65321754e-01 2.53951307e-01 6.05197910e-02 6.91890890e+02] [-2.53311518e-01 9.67214530e-01 -1.81473700e-02 -1.12836976e+02] [-6.31441696e-02 2.18769083e-03 9.98002018e-01 -4.41429478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.530714057 meters 0.024777764049986255 Centerline is valid? [True, True] Translation: X:691.92, Y:-112.85, Z:-44.14 [[ 9.64593110e-01 2.56661871e-01 6.07026871e-02 6.91920514e+02] [-2.56023345e-01 9.66499149e-01 -1.82055499e-02 -1.12845120e+02] [-6.33417659e-02 2.01964297e-03 9.97989851e-01 -4.41447133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.5607140569999 meters 0.021790189292964123 Centerline is valid? [True, True] Translation: X:691.95, Y:-112.85, Z:-44.15 [[ 9.63850707e-01 2.59403063e-01 6.08429571e-02 6.91953484e+02] [-2.58766873e-01 9.65767385e-01 -1.82500128e-02 -1.12845483e+02] [-6.34942529e-02 1.84614602e-03 9.97980497e-01 -4.41472191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.5907140569999 meters 0.021721530828674968 Centerline is valid? [True, True] Translation: X:691.98, Y:-112.85, Z:-44.15 [[ 9.62753336e-01 2.63322352e-01 6.13787616e-02 6.91983639e+02] [-2.62682620e-01 9.64706568e-01 -1.84140767e-02 -1.12849765e+02] [-6.40613325e-02 1.60507984e-03 9.97944673e-01 -4.41482459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.620714057 meters 0.020780982709957454 Centerline is valid? [True, True] Translation: X:692.02, Y:-112.85, Z:-44.15 [[ 9.62175734e-01 2.65268592e-01 6.20518460e-02 6.92015965e+02] [-2.64618586e-01 9.64173397e-01 -1.86189002e-02 -1.12853840e+02] [-6.47677486e-02 1.49458214e-03 9.97899246e-01 -4.41511288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.650714057 meters 0.020656400261285242 Centerline is valid? [True, True] Translation: X:692.05, Y:-112.86, Z:-44.15 [[ 9.61742963e-01 2.66921013e-01 6.16737111e-02 6.92048057e+02] [-2.66281301e-01 9.63717407e-01 -1.85210083e-02 -1.12860256e+02] [-6.43796752e-02 1.38989334e-03 9.97924509e-01 -4.41533814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.6807140569999 meters 0.020220592646487512 Centerline is valid? [True, True] Translation: X:692.08, Y:-112.87, Z:-44.16 [[ 9.61376536e-01 2.68293644e-01 6.14302677e-02 6.92079984e+02] [-2.67661324e-01 9.63336303e-01 -1.84549138e-02 -1.12866560e+02] [-6.41293431e-02 1.29961425e-03 9.97940749e-01 -4.41557901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.7107140569999 meters 0.020105965085041595 Centerline is valid? [True, True] Translation: X:692.11, Y:-112.87, Z:-44.16 [[ 9.60959601e-01 2.69986143e-01 6.05320378e-02 6.92112744e+02] [-2.69374578e-01 9.62863480e-01 -1.82004389e-02 -1.12870533e+02] [-6.31979549e-02 1.18409433e-03 9.98000309e-01 -4.41592392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.740714057 meters 0.020582056428825917 Centerline is valid? [True, True] Translation: X:692.14, Y:-112.88, Z:-44.16 [[ 9.60923665e-01 2.70119491e-01 6.05076113e-02 6.92143604e+02] [-2.69508244e-01 9.62826082e-01 -1.82000565e-02 -1.12879561e+02] [-6.31744964e-02 1.18156496e-03 9.98001797e-01 -4.41611303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.770714057 meters 0.020379101861183472 Centerline is valid? [True, True] Translation: X:692.18, Y:-112.89, Z:-44.16 [[ 9.60908959e-01 2.70171873e-01 6.05072915e-02 6.92176384e+02] [-2.69559604e-01 9.62811368e-01 -1.82178319e-02 -1.12886137e+02] [-6.31790539e-02 1.19535633e-03 9.98001492e-01 -4.41636829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.8007140569999 meters 0.019938578490284485 Centerline is valid? [True, True] Translation: X:692.21, Y:-112.89, Z:-44.17 [[ 9.61373390e-01 2.68442468e-01 6.08263655e-02 6.92207725e+02] [-2.67819058e-01 9.63294795e-01 -1.83327771e-02 -1.12892010e+02] [-6.35150172e-02 1.33418412e-03 9.97979991e-01 -4.41656778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.8307140569999 meters 0.020562735934689078 Centerline is valid? [True, True] Translation: X:692.24, Y:-112.90, Z:-44.17 [[ 9.61650704e-01 2.67354008e-01 6.12352651e-02 6.92237282e+02] [-2.66718890e-01 9.63597314e-01 -1.84729449e-02 -1.12901876e+02] [-6.39449529e-02 1.43191850e-03 9.97952400e-01 -4.41671590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.8607140569999 meters 0.021060908675472074 Centerline is valid? [True, True] Translation: X:692.27, Y:-112.91, Z:-44.17 [[ 9.61962965e-01 2.66252091e-01 6.11316480e-02 6.92266747e+02] [-2.65615908e-01 9.63902236e-01 -1.84572103e-02 -1.12911171e+02] [-6.38392030e-02 1.51761459e-03 9.97959044e-01 -4.41681529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.890714057 meters 0.020647210916756035 Centerline is valid? [True, True] Translation: X:692.30, Y:-112.92, Z:-44.17 [[ 9.62224535e-01 2.65219696e-01 6.15016854e-02 6.92297883e+02] [-2.64572687e-01 9.64186662e-01 -1.85842532e-02 -1.12917867e+02] [-6.42280148e-02 1.61055819e-03 9.97933950e-01 -4.41701120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9207140569999 meters 0.02117008296994435 Centerline is valid? [True, True] Translation: X:692.33, Y:-112.92, Z:-44.17 [[ 9.62978100e-01 2.62459683e-01 6.15474983e-02 6.92329560e+02] [-2.61805083e-01 9.64941260e-01 -1.86135186e-02 -1.12924613e+02] [-6.42750188e-02 1.81096281e-03 9.97930580e-01 -4.41716064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9507140569999 meters 0.020951041266070454 Centerline is valid? [True, True] Translation: X:692.36, Y:-112.93, Z:-44.17 [[ 9.63197431e-01 2.61639935e-01 6.16056366e-02 6.92360712e+02] [-2.60982041e-01 9.65163735e-01 -1.86370182e-02 -1.12932247e+02] [-6.43357146e-02 1.87316328e-03 9.97926554e-01 -4.41732178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9807140569999 meters 0.022076191518319306 Centerline is valid? [True, True] Translation: X:692.39, Y:-112.94, Z:-44.18 [[ 9.63483022e-01 2.60603377e-01 6.15332959e-02 6.92390559e+02] [-2.59943867e-01 9.65443967e-01 -1.86314754e-02 -1.12940724e+02] [-6.42623748e-02 1.95590735e-03 9.97931121e-01 -4.41751548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.010714057 meters 0.02180856821001919 Centerline is valid? [True, True] Translation: X:692.42, Y:-112.95, Z:-44.18 [[ 9.63876978e-01 2.59233278e-01 6.11496379e-02 6.92422298e+02] [-2.58578255e-01 9.65812564e-01 -1.85304401e-02 -1.12947932e+02] [-6.38627953e-02 2.04909794e-03 9.97956585e-01 -4.41771751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.040714057 meters 0.022046436872317346 Centerline is valid? [True, True] Translation: X:692.45, Y:-112.96, Z:-44.18 [[ 9.64295092e-01 2.57772736e-01 6.07304875e-02 6.92453790e+02] [-2.57122757e-01 9.66203192e-01 -1.84195414e-02 -1.12955687e+02] [-6.34260465e-02 2.14668295e-03 9.97984233e-01 -4.41792447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.0707140569999 meters 0.022241007084771603 Centerline is valid? [True, True] Translation: X:692.49, Y:-112.96, Z:-44.18 [[ 9.64869468e-01 2.55701730e-01 6.03617045e-02 6.92485240e+02] [-2.55054626e-01 9.66753025e-01 -1.83228610e-02 -1.12963750e+02] [-6.30400477e-02 2.28363714e-03 9.98008385e-01 -4.41812279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.1007140569999 meters 0.024802523557777054 Centerline is valid? [True, True] Translation: X:692.51, Y:-112.97, Z:-44.18 [[ 9.66207479e-01 2.50766293e-01 5.96604842e-02 6.92513966e+02] [-2.50124475e-01 9.68044220e-01 -1.81145341e-02 -1.12972193e+02] [-6.22965014e-02 2.57985109e-03 9.98054352e-01 -4.41827079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.130714057 meters 0.030452319477131562 Centerline is valid? [True, True] Translation: X:692.54, Y:-112.99, Z:-44.18 [[ 9.66981437e-01 2.47777881e-01 5.96072284e-02 6.92540976e+02] [-2.47131286e-01 9.68812896e-01 -1.81025155e-02 -1.12987046e+02] [-6.22336544e-02 2.77398546e-03 9.98057752e-01 -4.41831640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.160714057 meters 0.028178534945249092 Centerline is valid? [True, True] Translation: X:692.57, Y:-112.99, Z:-44.18 [[ 9.68316212e-01 2.42470175e-01 5.97656069e-02 6.92573324e+02] [-2.41809915e-01 9.70153825e-01 -1.81527026e-02 -1.12987734e+02] [-6.23833211e-02 3.12563987e-03 9.98047369e-01 -4.41845931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.1907140569999 meters 0.029227025933167547 Centerline is valid? [True, True] Translation: X:692.60, Y:-113.00, Z:-44.19 [[ 9.68913867e-01 2.40161220e-01 5.94012359e-02 6.92602918e+02] [-2.39504637e-01 9.70727559e-01 -1.80425680e-02 -1.12995958e+02] [-6.19955419e-02 3.25482282e-03 9.98071119e-01 -4.41858237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.2207140569999 meters 0.028873349658509982 Centerline is valid? [True, True] Translation: X:692.63, Y:-113.00, Z:-44.19 [[ 9.69331506e-01 2.38678751e-01 5.85566923e-02 6.92634690e+02] [-2.38037958e-01 9.71092963e-01 -1.77872683e-02 -1.13001881e+02] [-6.11094349e-02 3.30304409e-03 9.98125607e-01 -4.41881427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.250714057 meters 0.03173782614467146 Centerline is valid? [True, True] Translation: X:692.66, Y:-113.01, Z:-44.19 [[ 9.69561851e-01 2.37847377e-01 5.81243658e-02 6.92664172e+02] [-2.37214244e-01 9.71296814e-01 -1.76607166e-02 -1.13011653e+02] [-6.06565665e-02 3.33522965e-03 9.98153123e-01 -4.41898038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.280714057 meters 0.02892286700750242 Centerline is valid? [True, True] Translation: X:692.70, Y:-113.01, Z:-44.19 [[ 9.69649092e-01 2.37545918e-01 5.79014332e-02 6.92697775e+02] [-2.36916205e-01 9.71370515e-01 -1.76078055e-02 -1.13010449e+02] [-6.04264073e-02 3.35560478e-03 9.98167015e-01 -4.41916293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.3107140569999 meters 0.02898858305993912 Centerline is valid? [True, True] Translation: X:692.73, Y:-113.02, Z:-44.19 [[ 9.69496553e-01 2.38175733e-01 5.78684256e-02 6.92729539e+02] [-2.37546946e-01 9.71216370e-01 -1.76128221e-02 -1.13016222e+02] [-6.03977090e-02 3.32910254e-03 9.98168840e-01 -4.41933160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.3407140569999 meters 0.025629032135655646 Centerline is valid? [True, True] Translation: X:692.76, Y:-113.02, Z:-44.19 [[ 9.69115314e-01 2.39700048e-01 5.79602866e-02 6.92762987e+02] [-2.39071067e-01 9.70841542e-01 -1.76557421e-02 -1.13017727e+02] [-6.05023362e-02 3.25382249e-03 9.98162752e-01 -4.41947422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.370714057 meters 0.02326658758593738 Centerline is valid? [True, True] Translation: X:692.80, Y:-113.02, Z:-44.20 [[ 9.67692547e-01 2.45327229e-01 5.81866460e-02 6.92795531e+02] [-2.44702532e-01 9.69435907e-01 -1.77396135e-02 -1.13016416e+02] [-6.07602342e-02 2.92807214e-03 9.98148095e-01 -4.41961230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.400714057 meters 0.022762502272023182 Centerline is valid? [True, True] Translation: X:692.83, Y:-113.02, Z:-44.20 [[ 9.66683328e-01 2.49404574e-01 5.76255340e-02 6.92826041e+02] [-2.48799081e-01 9.68395764e-01 -1.75687627e-02 -1.13020920e+02] [-6.01860528e-02 2.64625012e-03 9.98183669e-01 -4.41975792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.4307140569999 meters 0.02166027648741457 Centerline is valid? [True, True] Translation: X:692.86, Y:-113.02, Z:-44.20 [[ 9.65464939e-01 2.54054000e-01 5.77409451e-02 6.92857156e+02] [-2.53454290e-01 9.67187151e-01 -1.76050748e-02 -1.13024046e+02] [-6.03189398e-02 2.36239224e-03 9.98176359e-01 -4.41994905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.4607140569999 meters 0.019700936848521523 Centerline is valid? [True, True] Translation: X:692.89, Y:-113.03, Z:-44.20 [[ 9.64241789e-01 2.58655081e-01 5.77522458e-02 6.92888317e+02] [-2.58063294e-01 9.65967514e-01 -1.76095983e-02 -1.13026123e+02] [-6.03416054e-02 2.07617577e-03 9.98175626e-01 -4.42009124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.490714057 meters 0.01761908393485409 Centerline is valid? [True, True] Translation: X:692.92, Y:-113.02, Z:-44.20 [[ 9.61899793e-01 2.67279505e-01 5.75365535e-02 6.92921313e+02] [-2.66707495e-01 9.63617832e-01 -1.75438429e-02 -1.13023280e+02] [-6.01323586e-02 1.52998881e-03 9.98189240e-01 -4.42026872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.520714057 meters 0.01618734308445839 Centerline is valid? [True, True] Translation: X:692.95, Y:-113.03, Z:-44.20 [[ 9.60782976e-01 2.71267892e-01 5.75308925e-02 6.92953122e+02] [-2.70703102e-01 9.62503034e-01 -1.75425255e-02 -1.13026588e+02] [-6.01323825e-02 1.28076882e-03 9.98189589e-01 -4.42048472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.5507140569999 meters 0.01618734308445839 Centerline is valid? [True, True] Translation: X:692.98, Y:-113.04, Z:-44.21 [[ 9.60703777e-01 2.71548420e-01 5.75300700e-02 6.92984157e+02] [-2.70983970e-01 9.62423947e-01 -1.75452221e-02 -1.13036103e+02] [-6.01326944e-02 1.26603435e-03 9.98189589e-01 -4.42067282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.5807140569999 meters 0.015557870030987471 Centerline is valid? [True, True] Translation: X:693.02, Y:-113.04, Z:-44.21 [[ 9.59770972e-01 2.74902726e-01 5.71679366e-02 6.93015990e+02] [-2.74350221e-01 9.61471452e-01 -1.74528650e-02 -1.13041501e+02] [-5.97631792e-02 1.06671714e-03 9.98212014e-01 -4.42088773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.6107140569999 meters 0.015555295193765088 Centerline is valid? [True, True] Translation: X:693.05, Y:-113.05, Z:-44.21 [[ 9.58401938e-01 2.79678471e-01 5.69708548e-02 6.93047484e+02] [-2.79137240e-01 9.60093403e-01 -1.74085959e-02 -1.13046553e+02] [-5.95661514e-02 7.81744897e-04 9.98224054e-01 -4.42114947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.640714057 meters 0.015023246278052741 Centerline is valid? [True, True] Translation: X:693.08, Y:-113.05, Z:-44.21 [[ 9.57911214e-01 2.81364429e-01 5.69224457e-02 6.93078764e+02] [-2.80826149e-01 9.59600740e-01 -1.74096072e-02 -1.13053258e+02] [-5.95212652e-02 6.91546768e-04 9.98226798e-01 -4.42133937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.6707140569999 meters 0.014854687992629052 Centerline is valid? [True, True] Translation: X:693.11, Y:-113.06, Z:-44.22 [[ 9.57385259e-01 2.83188417e-01 5.67255432e-02 6.93109641e+02] [-2.82656133e-01 9.59064112e-01 -1.73648913e-02 -1.13060586e+02] [-5.93209688e-02 5.91068320e-04 9.98238786e-01 -4.42152304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.7007140569999 meters 0.014598530925839546 Centerline is valid? [True, True] Translation: X:693.14, Y:-113.07, Z:-44.22 [[ 9.56824221e-01 2.85026895e-01 5.69831471e-02 6.93140447e+02] [-2.84492080e-01 9.58519392e-01 -1.74594271e-02 -1.13066909e+02] [-5.95958579e-02 4.94348724e-04 9.98222465e-01 -4.42171941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.7307140569999 meters 0.014716606861077394 Centerline is valid? [True, True] Translation: X:693.17, Y:-113.08, Z:-44.22 [[ 9.56478034e-01 2.86242823e-01 5.66993560e-02 6.93172358e+02] [-2.85714602e-01 9.58157013e-01 -1.73869217e-02 -1.13075439e+02] [-5.93037672e-02 4.30374771e-04 9.98239890e-01 -4.42194205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.760714057 meters 0.014591463487374303 Centerline is valid? [True, True] Translation: X:693.20, Y:-113.08, Z:-44.22 [[ 9.56071287e-01 2.87600737e-01 5.66878261e-02 6.93203355e+02] [-2.87074063e-01 9.57750325e-01 -1.74010966e-02 -1.13084992e+02] [-5.92973520e-02 3.63084317e-04 9.98240298e-01 -4.42212948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.790714057 meters 0.014736705863165726 Centerline is valid? [True, True] Translation: X:693.23, Y:-113.10, Z:-44.22 [[ 9.55405784e-01 2.89826478e-01 5.65720861e-02 6.93232984e+02] [-2.89304879e-01 9.57079179e-01 -1.73819344e-02 -1.13095255e+02] [-5.91817106e-02 2.40220108e-04 9.98247198e-01 -4.42233103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.8207140569999 meters 0.014678417885173089 Centerline is valid? [True, True] Translation: X:693.26, Y:-113.11, Z:-44.23 [[ 9.55118686e-01 2.90797794e-01 5.64352661e-02 6.93264555e+02] [-2.90279519e-01 9.56784514e-01 -1.73549807e-02 -1.13105080e+02] [-5.90431787e-02 1.94064472e-04 9.98255411e-01 -4.42254086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.8507140569999 meters 0.01479026492794842 Centerline is valid? [True, True] Translation: X:693.29, Y:-113.11, Z:-44.23 [[ 9.54862058e-01 2.91577159e-01 5.67557106e-02 6.93294521e+02] [-2.91053285e-01 9.56547298e-01 -1.74714607e-02 -1.13114765e+02] [-5.93838005e-02 1.63898939e-04 9.98235211e-01 -4.42271284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.880714057 meters 0.01466819486400226 Centerline is valid? [True, True] Translation: X:693.33, Y:-113.13, Z:-44.23 [[ 9.54784313e-01 2.91797085e-01 5.69330878e-02 6.93325468e+02] [-2.91269315e-01 9.56480232e-01 -1.75428840e-02 -1.13125292e+02] [-5.95743355e-02 1.66808977e-04 9.98223858e-01 -4.42284595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.910714057 meters 0.014935641082447033 Centerline is valid? [True, True] Translation: X:693.35, Y:-113.14, Z:-44.23 [[ 9.55200162e-01 2.90116531e-01 5.85239173e-02 6.93353653e+02] [-2.89554547e-01 9.56991280e-01 -1.80514330e-02 -1.13138475e+02] [-6.12438976e-02 2.96865349e-04 9.98122786e-01 -4.42294084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.9407140569999 meters 0.014868609180963385 Centerline is valid? [True, True] Translation: X:693.38, Y:-113.15, Z:-44.23 [[ 9.55744317e-01 2.88192700e-01 5.91419407e-02 6.93383687e+02] [-2.87614167e-01 9.57572334e-01 -1.82569399e-02 -1.13150990e+02] [-6.18942030e-02 4.38906529e-04 9.98082619e-01 -4.42304503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.9707140569999 meters 0.016308293359661045 Centerline is valid? [True, True] Translation: X:693.41, Y:-113.17, Z:-44.23 [[ 9.57502327e-01 2.82132279e-01 5.99222115e-02 6.93411134e+02] [-2.81525490e-01 9.59375131e-01 -1.85136785e-02 -1.13168679e+02] [-6.27111858e-02 8.57260280e-04 9.98031348e-01 -4.42323938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.000714057 meters 0.017410343492006677 Centerline is valid? [True, True] Translation: X:693.44, Y:-113.18, Z:-44.23 [[ 9.58581565e-01 2.78496386e-01 5.96753447e-02 6.93439386e+02] [-2.77886646e-01 9.60436642e-01 -1.84518142e-02 -1.13183147e+02] [-6.24531512e-02 1.10458752e-03 9.98047285e-01 -4.42345690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.030714057 meters 0.018676830870451102 Centerline is valid? [True, True] Translation: X:693.47, Y:-113.20, Z:-44.24 [[ 9.60024684e-01 2.73545305e-01 5.93765284e-02 6.93468293e+02] [-2.72931356e-01 9.61858053e-01 -1.83728481e-02 -1.13197573e+02] [-6.21375983e-02 1.43267128e-03 9.98066564e-01 -4.42362383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.0607140569999 meters 0.02007536430267588 Centerline is valid? [True, True] Translation: X:693.50, Y:-113.21, Z:-44.24 [[ 9.61330117e-01 2.68914264e-01 5.94097986e-02 6.93496296e+02] [-2.68290528e-01 9.63162552e-01 -1.83872671e-02 -1.13211146e+02] [-6.21658916e-02 1.73714740e-03 9.98064319e-01 -4.42383807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.0907140569999 meters 0.024619848860188653 Centerline is valid? [True, True] Translation: X:693.52, Y:-113.23, Z:-44.24 [[ 9.64037655e-01 2.59047190e-01 5.93797438e-02 6.93521548e+02] [-2.58405291e-01 9.65861749e-01 -1.83790208e-02 -1.13230721e+02] [-6.21136568e-02 2.37402815e-03 9.98066259e-01 -4.42397247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.120714057 meters 0.0268095228594706 Centerline is valid? [True, True] Translation: X:693.55, Y:-113.24, Z:-44.24 [[ 9.65158823e-01 2.54873750e-01 5.92268399e-02 6.93549879e+02] [-2.54227270e-01 9.66970744e-01 -1.83323404e-02 -1.13244962e+02] [-6.19430538e-02 2.63654226e-03 9.98076203e-01 -4.42418752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.150714057 meters 0.02238120949631656 Centerline is valid? [True, True] Translation: X:693.58, Y:-113.25, Z:-44.24 [[ 9.66092984e-01 2.51302936e-01 5.92552237e-02 6.93580578e+02] [-2.50649007e-01 9.67904233e-01 -1.83431731e-02 -1.13249267e+02] [-6.19630751e-02 2.86894789e-03 9.98074319e-01 -4.42449491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.1807140569999 meters 0.025205565304029058 Centerline is valid? [True, True] Translation: X:693.61, Y:-113.26, Z:-44.25 [[ 9.66937426e-01 2.48269554e-01 5.82601405e-02 6.93607369e+02] [-2.47631871e-01 9.68686302e-01 -1.80362030e-02 -1.13263671e+02] [-6.09136401e-02 3.01281213e-03 9.98138493e-01 -4.42472345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.2107140569999 meters 0.024935125667436317 Centerline is valid? [True, True] Translation: X:693.64, Y:-113.27, Z:-44.25 [[ 9.68007101e-01 2.44323643e-01 5.71682631e-02 6.93636762e+02] [-2.43702801e-01 9.69688464e-01 -1.76982162e-02 -1.13273007e+02] [-5.97594979e-02 3.19993311e-03 9.98207675e-01 -4.42492808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.240714057 meters 0.02555072650055041 Centerline is valid? [True, True] Translation: X:693.67, Y:-113.28, Z:-44.25 [[ 9.68150349e-01 2.43728836e-01 5.72813767e-02 6.93666964e+02] [-2.43104398e-01 9.69837990e-01 -1.77348554e-02 -1.13282856e+02] [-5.98761509e-02 3.24465187e-03 9.98200540e-01 -4.42508915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.270714057 meters 0.025463913793097093 Centerline is valid? [True, True] Translation: X:693.70, Y:-113.29, Z:-44.25 [[ 9.68069562e-01 2.43958484e-01 5.76678556e-02 6.93698136e+02] [-2.43325068e-01 9.69780173e-01 -1.78697277e-02 -1.13291604e+02] [-6.02846146e-02 3.26710457e-03 9.98175882e-01 -4.42524529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.3007140569999 meters 0.02552225916934755 Centerline is valid? [True, True] Translation: X:693.73, Y:-113.30, Z:-44.25 [[ 9.67520698e-01 2.45854928e-01 5.88137238e-02 6.93728168e+02] [-2.45199200e-01 9.69301297e-01 -1.82304434e-02 -1.13298863e+02] [-6.14902631e-02 3.21725336e-03 9.98102498e-01 -4.42533204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.3307140569999 meters 0.024619984015907634 Centerline is valid? [True, True] Translation: X:693.76, Y:-113.31, Z:-44.25 [[ 9.67112546e-01 2.47374982e-01 5.91518473e-02 6.93759839e+02] [-2.46714355e-01 9.68914729e-01 -1.83378054e-02 -1.13306433e+02] [-6.18494103e-02 3.14111186e-03 9.98080550e-01 -4.42544795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.3607140569999 meters 0.02436511854733983 Centerline is valid? [True, True] Translation: X:693.79, Y:-113.31, Z:-44.26 [[ 9.66643329e-01 2.49153388e-01 5.93570835e-02 6.93790333e+02] [-2.48491163e-01 9.68459255e-01 -1.84069006e-02 -1.13314077e+02] [-6.20710585e-02 3.04319699e-03 9.98067093e-01 -4.42561336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.390714057 meters 0.02276546871617525 Centerline is valid? [True, True] Translation: X:693.82, Y:-113.32, Z:-44.26 [[ 9.66203941e-01 2.50929850e-01 5.90267386e-02 6.93822776e+02] [-2.50278115e-01 9.68000884e-01 -1.83072214e-02 -1.13319606e+02] [-6.17317634e-02 2.91540860e-03 9.98088518e-01 -4.42579640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4207140569999 meters 0.02159004601876587 Centerline is valid? [True, True] Translation: X:693.85, Y:-113.32, Z:-44.26 [[ 9.65284815e-01 2.54374291e-01 5.93206958e-02 6.93854883e+02] [-2.53721902e-01 9.67102027e-01 -1.84083078e-02 -1.13323018e+02] [-6.20517654e-02 2.71830020e-03 9.98069231e-01 -4.42598190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4507140569999 meters 0.021636206279708945 Centerline is valid? [True, True] Translation: X:693.89, Y:-113.33, Z:-44.26 [[ 9.64863571e-01 2.56047756e-01 5.89731857e-02 6.93885169e+02] [-2.55405851e-01 9.66660638e-01 -1.83046852e-02 -1.13330563e+02] [-6.16939309e-02 2.59942729e-03 9.98091730e-01 -4.42609871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4807140569999 meters 0.021327499267978802 Centerline is valid? [True, True] Translation: X:693.92, Y:-113.34, Z:-44.26 [[ 9.64563899e-01 2.57155923e-01 5.90535008e-02 6.93917006e+02] [-2.56513446e-01 9.66366571e-01 -1.83440060e-02 -1.13337975e+02] [-6.17845989e-02 2.54594890e-03 9.98086260e-01 -4.42628436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.510714057 meters 0.02074078110454999 Centerline is valid? [True, True] Translation: X:693.95, Y:-113.34, Z:-44.26 [[ 9.64465796e-01 2.57629763e-01 5.85886854e-02 6.93948565e+02] [-2.56997858e-01 9.66240470e-01 -1.82058947e-02 -1.13343083e+02] [-6.13011392e-02 2.50179606e-03 9.98116181e-01 -4.42646992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.540714057 meters 0.02193545141508918 Centerline is valid? [True, True] Translation: X:693.98, Y:-113.35, Z:-44.27 [[ 9.64651688e-01 2.57071232e-01 5.79784687e-02 6.93977959e+02] [-2.56450465e-01 9.66389156e-01 -1.80321623e-02 -1.13352746e+02] [-6.06653136e-02 2.52615051e-03 9.98154967e-01 -4.42661858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.5707140569999 meters 0.021892386661508837 Centerline is valid? [True, True] Translation: X:694.01, Y:-113.36, Z:-44.27 [[ 9.64947811e-01 2.55960271e-01 5.79660342e-02 6.94008740e+02] [-2.55336864e-01 9.66683779e-01 -1.80432278e-02 -1.13360673e+02] [-6.06531745e-02 2.60990780e-03 9.98155489e-01 -4.42682530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.6007140569999 meters 0.023875146627295403 Centerline is valid? [True, True] Translation: X:694.04, Y:-113.37, Z:-44.27 [[ 9.65785161e-01 2.52825016e-01 5.77800494e-02 6.94036961e+02] [-2.52199099e-01 9.67507934e-01 -1.80003499e-02 -1.13369998e+02] [-6.04535949e-02 2.81239439e-03 9.98167047e-01 -4.42696690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.630714057 meters 0.025298057727040146 Centerline is valid? [True, True] Translation: X:694.07, Y:-113.38, Z:-44.27 [[ 9.66034694e-01 2.51865035e-01 5.78011657e-02 6.94067255e+02] [-2.51236867e-01 9.67758100e-01 -1.80082435e-02 -1.13380080e+02] [-6.04731932e-02 2.87480425e-03 9.98165682e-01 -4.42714761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.660714057 meters 0.026049717569917367 Centerline is valid? [True, True] Translation: X:694.10, Y:-113.39, Z:-44.27 [[ 9.66052133e-01 2.51804746e-01 5.77723586e-02 6.94096798e+02] [-2.51176733e-01 9.67773764e-01 -1.80052932e-02 -1.13388883e+02] [-6.04443913e-02 2.88297958e-03 9.98167403e-01 -4.42733566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.6907140569999 meters 0.02345229814500165 Centerline is valid? [True, True] Translation: X:694.13, Y:-113.39, Z:-44.28 [[ 9.65478207e-01 2.54144554e-01 5.71172225e-02 6.94128940e+02] [-2.53533966e-01 9.67162424e-01 -1.78150130e-02 -1.13390891e+02] [-5.97692199e-02 2.71885084e-03 9.98208519e-01 -4.42753501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.7207140569999 meters 0.021762677468655164 Centerline is valid? [True, True] Translation: X:694.16, Y:-113.40, Z:-44.28 [[ 9.64776272e-01 2.56900813e-01 5.66455342e-02 6.94159182e+02] [-2.56304879e-01 9.66434465e-01 -1.76701313e-02 -1.13395180e+02] [-5.92836676e-02 2.52919659e-03 9.98237973e-01 -4.42771232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.750714057 meters 0.022734973535879364 Centerline is valid? [True, True] Translation: X:694.19, Y:-113.40, Z:-44.28 [[ 9.63836342e-01 2.60446241e-01 5.64558361e-02 6.94188759e+02] [-2.59860287e-01 9.65485600e-01 -1.76121124e-02 -1.13403674e+02] [-5.90943053e-02 2.30456423e-03 9.98249744e-01 -4.42787834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.780714057 meters 0.019134454548895515 Centerline is valid? [True, True] Translation: X:694.22, Y:-113.40, Z:-44.28 [[ 9.61448695e-01 2.69210847e-01 5.60528975e-02 6.94221142e+02] [-2.68647937e-01 9.63079663e-01 -1.74885346e-02 -1.13402772e+02] [-5.86915088e-02 1.75583345e-03 9.98274623e-01 -4.42800567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.8107140569999 meters 0.018228303919795696 Centerline is valid? [True, True] Translation: X:694.25, Y:-113.41, Z:-44.28 [[ 9.60196725e-01 2.73610166e-01 5.62114362e-02 6.94251297e+02] [-2.73051518e-01 9.61839514e-01 -1.75390572e-02 -1.13408617e+02] [-5.88652448e-02 1.49232728e-03 9.98264823e-01 -4.42809285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.8407140569999 meters 0.016799178968665385 Centerline is valid? [True, True] Translation: X:694.28, Y:-113.41, Z:-44.28 [[ 9.59056239e-01 2.77491962e-01 5.66510472e-02 6.94282486e+02] [-2.76931220e-01 9.60727126e-01 -1.76773543e-02 -1.13412756e+02] [-5.93315214e-02 1.26513330e-03 9.98237532e-01 -4.42823146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.870714057 meters 0.015648655513935912 Centerline is valid? [True, True] Translation: X:694.31, Y:-113.42, Z:-44.28 [[ 9.57257102e-01 2.83412506e-01 5.77597877e-02 6.94314347e+02] [-2.82840178e-01 9.58997658e-01 -1.80256987e-02 -1.13418208e+02] [-6.05002095e-02 9.18439427e-04 9.98167762e-01 -4.42823419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.900714057 meters 0.015567169654914996 Centerline is valid? [True, True] Translation: X:694.34, Y:-113.43, Z:-44.28 [[ 9.56755264e-01 2.85076200e-01 5.78871817e-02 6.94344479e+02] [-2.84504144e-01 9.58504507e-01 -1.80693769e-02 -1.13426673e+02] [-6.06362739e-02 8.18828416e-04 9.98159592e-01 -4.42836405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.9307140569999 meters 0.015472102075491746 Centerline is valid? [True, True] Translation: X:694.38, Y:-113.44, Z:-44.29 [[ 9.56448118e-01 2.86044953e-01 5.81831765e-02 6.94375654e+02] [-2.85467914e-01 9.58215886e-01 -1.81765473e-02 -1.13435672e+02] [-6.09513536e-02 7.75494500e-04 9.98140437e-01 -4.42860512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.9607140569999 meters 0.01531171030477588 Centerline is valid? [True, True] Translation: X:694.40, Y:-113.45, Z:-44.29 [[ 9.56367286e-01 2.86465785e-01 5.74366460e-02 6.94404896e+02] [-2.85903313e-01 9.58090177e-01 -1.79585493e-02 -1.13445503e+02] [-6.01739962e-02 7.53641689e-04 9.98187619e-01 -4.42881833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.990714057 meters 0.015081128373491556 Centerline is valid? [True, True] Translation: X:694.44, Y:-113.46, Z:-44.29 [[ 9.56622596e-01 2.85976798e-01 5.55920791e-02 6.94435960e+02] [-2.85448597e-01 9.58236235e-01 -1.73901198e-02 -1.13456926e+02] [-5.82435154e-02 7.67100555e-04 9.98302111e-01 -4.42924073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.020714057 meters 0.01543633579435714 Centerline is valid? [True, True] Translation: X:694.46, Y:-113.47, Z:-44.30 [[ 9.56918958e-01 2.85146252e-01 5.47514686e-02 6.94464806e+02] [-2.84631580e-01 9.58483667e-01 -1.71442041e-02 -1.13467931e+02] [-5.73669940e-02 8.21616874e-04 9.98352820e-01 -4.42951686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.0507140569999 meters 0.01580282555060649 Centerline is valid? [True, True] Translation: X:694.49, Y:-113.48, Z:-44.30 [[ 9.57315808e-01 2.83968299e-01 5.39300331e-02 6.94494879e+02] [-2.83466340e-01 9.58833255e-01 -1.69004114e-02 -1.13479654e+02] [-5.65090903e-02 8.91681891e-04 9.98401687e-01 -4.42979612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.0807140569999 meters 0.01580055587719367 Centerline is valid? [True, True] Translation: X:694.52, Y:-113.49, Z:-44.30 [[ 9.57749906e-01 2.82612524e-01 5.33411599e-02 6.94524891e+02] [-2.82118579e-01 9.59233658e-01 -1.67300998e-02 -1.13490679e+02] [-5.58947717e-02 9.74719255e-04 9.98436189e-01 -4.43000354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.1107140569999 meters 0.01682896448314323 Centerline is valid? [True, True] Translation: X:694.55, Y:-113.51, Z:-44.30 [[ 9.59307028e-01 2.77499977e-01 5.21899241e-02 6.94552555e+02] [-2.77018752e-01 9.60724818e-01 -1.63839856e-02 -1.13505328e+02] [-5.46867109e-02 1.25968496e-03 9.98502768e-01 -4.43009556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.140714057 meters 0.017052342230137046 Centerline is valid? [True, True] Translation: X:694.58, Y:-113.52, Z:-44.30 [[ 9.60028677e-01 2.74989230e-01 5.22097988e-02 6.94582419e+02] [-2.74503852e-01 9.61446281e-01 -1.63915981e-02 -1.13516791e+02] [-5.47044298e-02 1.40461336e-03 9.98501604e-01 -4.43017028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.1707140569999 meters 0.018012494029534643 Centerline is valid? [True, True] Translation: X:694.61, Y:-113.53, Z:-44.30 [[ 9.60905343e-01 2.71747420e-01 5.30496142e-02 6.94612494e+02] [-2.71240501e-01 9.62367229e-01 -1.66705251e-02 -1.13529528e+02] [-5.55833824e-02 1.62959271e-03 9.98452719e-01 -4.43025094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.2007140569999 meters 0.019588641704507855 Centerline is valid? [True, True] Translation: X:694.64, Y:-113.54, Z:-44.30 [[ 9.62507071e-01 2.65590588e-01 5.51523175e-02 6.94639504e+02] [-2.65032281e-01 9.64083690e-01 -1.73357957e-02 -1.13543168e+02] [-5.77756739e-02 2.06868145e-03 9.98327447e-01 -4.43009650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.2307140569999 meters 0.020171760799646502 Centerline is valid? [True, True] Translation: X:694.67, Y:-113.55, Z:-44.30 [[ 9.63237334e-01 2.62850324e-01 5.55296790e-02 6.94669375e+02] [-2.62279792e-01 9.64834002e-01 -1.74544977e-02 -1.13553722e+02] [-5.81648427e-02 2.24851114e-03 9.98304460e-01 -4.43020811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.260714057 meters 0.02131090493667308 Centerline is valid? [True, True] Translation: X:694.70, Y:-113.57, Z:-44.30 [[ 9.63905549e-01 2.60330606e-01 5.58038420e-02 6.94698946e+02] [-2.59749374e-01 9.65516488e-01 -1.75548924e-02 -1.13565327e+02] [-5.84496054e-02 2.42624517e-03 9.98287412e-01 -4.43031274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.290714057 meters 0.023429862647783458 Centerline is valid? [True, True] Translation: X:694.73, Y:-113.58, Z:-44.31 [[ 9.65235498e-01 2.55497845e-01 5.51478429e-02 6.94727144e+02] [-2.54921542e-01 9.66805854e-01 -1.73622461e-02 -1.13577363e+02] [-5.77532739e-02 2.70028308e-03 9.98327235e-01 -4.43050709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.3207140569999 meters 0.024328925042372107 Centerline is valid? [True, True] Translation: X:694.76, Y:-113.59, Z:-44.31 [[ 9.65820371e-01 2.53390954e-01 5.46263211e-02 6.94757566e+02] [-2.52822096e-01 9.67359903e-01 -1.71990010e-02 -1.13587870e+02] [-5.72013839e-02 2.80040456e-03 9.98358733e-01 -4.43076821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.3507140569999 meters 0.024645127831934354 Centerline is valid? [True, True] Translation: X:694.79, Y:-113.60, Z:-44.31 [[ 9.66330810e-01 2.51592865e-01 5.39054356e-02 6.94787299e+02] [-2.51035720e-01 9.67828890e-01 -1.69795962e-02 -1.13597142e+02] [-5.64431832e-02 2.87571716e-03 9.98401671e-01 -4.43101427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.380714057 meters 0.029973458057060462 Centerline is valid? [True, True] Translation: X:694.81, Y:-113.61, Z:-44.31 [[ 9.67240003e-01 2.48324286e-01 5.27430134e-02 6.94813727e+02] [-2.47785690e-01 9.68672290e-01 -1.66206492e-02 -1.13612416e+02] [-5.52180064e-02 3.00719280e-03 9.98469794e-01 -4.43131127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.410714057 meters 0.03234020167999533 Centerline is valid? [True, True] Translation: X:694.84, Y:-113.62, Z:-44.32 [[ 9.67623916e-01 2.47043873e-01 5.17037968e-02 6.94842074e+02] [-2.46524441e-01 9.68999589e-01 -1.62940895e-02 -1.13624082e+02] [-5.41263128e-02 3.02030107e-03 9.98529529e-01 -4.43153751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.4407140569999 meters 0.02993739701180575 Centerline is valid? [True, True] Translation: X:694.87, Y:-113.63, Z:-44.32 [[ 9.67948078e-01 2.45821519e-01 5.14616349e-02 6.94874114e+02] [-2.45305128e-01 9.69310229e-01 -1.62195816e-02 -1.13629453e+02] [-5.38694112e-02 3.07590986e-03 9.98543252e-01 -4.43168100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.4707140569999 meters 0.02993739701180575 Centerline is valid? [True, True] Translation: X:694.91, Y:-113.64, Z:-44.32 [[ 9.67878441e-01 2.46095748e-01 5.14607343e-02 6.94905092e+02] [-2.45579591e-01 9.69240681e-01 -1.62224385e-02 -1.13639305e+02] [-5.38701103e-02 3.06364236e-03 9.98543252e-01 -4.43186937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.500714057 meters 0.031190665940484596 Centerline is valid? [True, True] Translation: X:694.93, Y:-113.65, Z:-44.32 [[ 9.68096434e-01 2.45339520e-01 5.09687705e-02 6.94934101e+02] [-2.44831248e-01 9.69432286e-01 -1.60842285e-02 -1.13649427e+02] [-5.33568686e-02 3.09233651e-03 9.98570720e-01 -4.43202018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.530714057 meters 0.02969786346024868 Centerline is valid? [True, True] Translation: X:694.97, Y:-113.65, Z:-44.32 [[ 9.67854393e-01 2.46162977e-01 5.15913015e-02 6.94966499e+02] [-2.45643301e-01 9.69223539e-01 -1.62818711e-02 -1.13654257e+02] [-5.40114977e-02 3.08542286e-03 9.98535547e-01 -4.43207805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.5607140569999 meters 0.028243845154793695 Centerline is valid? [True, True] Translation: X:695.00, Y:-113.66, Z:-44.32 [[ 9.67450164e-01 2.47638794e-01 5.21076530e-02 6.94998443e+02] [-2.47109995e-01 9.68847636e-01 -1.64592955e-02 -1.13660194e+02] [-5.45603365e-02 3.04722632e-03 9.98505826e-01 -4.43218186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.5907140569999 meters 0.03160010756920662 Centerline is valid? [True, True] Translation: X:695.03, Y:-113.67, Z:-44.32 [[ 9.66950872e-01 2.49348763e-01 5.32090683e-02 6.95026729e+02] [-2.48799062e-01 9.68409017e-01 -1.68227102e-02 -1.13671864e+02] [-5.57228635e-02 3.02836804e-03 9.98441682e-01 -4.43230301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.620714057 meters 0.026624572986682596 Centerline is valid? [True, True] Translation: X:695.06, Y:-113.67, Z:-44.32 [[ 9.65689166e-01 2.53936584e-01 5.44118126e-02 6.95059411e+02] [-2.53368595e-01 9.67216722e-01 -1.72095417e-02 -1.13669504e+02] [-5.69981472e-02 2.83282342e-03 9.98370265e-01 -4.43245125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.650714057 meters 0.025967685457662478 Centerline is valid? [True, True] Translation: X:695.09, Y:-113.68, Z:-44.33 [[ 9.65015431e-01 2.56571881e-01 5.40008230e-02 6.95090016e+02] [-2.56016523e-01 9.66521499e-01 -1.70801766e-02 -1.13675471e+02] [-5.65752494e-02 2.65753110e-03 9.98394801e-01 -4.43266736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.6807140569999 meters 0.02680289950869529 Centerline is valid? [True, True] Translation: X:695.12, Y:-113.68, Z:-44.33 [[ 9.64211065e-01 2.59656994e-01 5.36215309e-02 6.95119137e+02] [-2.59114051e-01 9.65697773e-01 -1.69623262e-02 -1.13682742e+02] [-5.61865796e-02 2.46117054e-03 9.98417253e-01 -4.43294608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.7107140569999 meters 0.024565532889416198 Centerline is valid? [True, True] Translation: X:695.15, Y:-113.69, Z:-44.33 [[ 9.63429032e-01 2.62644959e-01 5.31236883e-02 6.95150559e+02] [-2.62116532e-01 9.64889884e-01 -1.68058334e-02 -1.13686812e+02] [-5.56724768e-02 2.26663089e-03 9.98446512e-01 -4.43317008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.740714057 meters 0.021400064163441736 Centerline is valid? [True, True] Translation: X:695.18, Y:-113.69, Z:-44.33 [[ 9.62113505e-01 2.67498231e-01 5.27475098e-02 6.95182899e+02] [-2.66984421e-01 9.63556330e-01 -1.66888868e-02 -1.13686179e+02] [-5.52894446e-02 1.97384005e-03 9.98468418e-01 -4.43344796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.770714057 meters 0.0208398168295891 Centerline is valid? [True, True] Translation: X:695.21, Y:-113.69, Z:-44.34 [[ 9.61561801e-01 2.69455365e-01 5.28460830e-02 6.95214938e+02] [-2.68942553e-01 9.63011073e-01 -1.67205286e-02 -1.13692546e+02] [-5.53967993e-02 1.86526113e-03 9.98462676e-01 -4.43360680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.8007140569999 meters 0.020997736075686942 Centerline is valid? [True, True] Translation: X:695.25, Y:-113.70, Z:-44.34 [[ 9.61139057e-01 2.70896208e-01 5.31691386e-02 6.95245512e+02] [-2.70378458e-01 9.62606865e-01 -1.68378311e-02 -1.13701046e+02] [-5.57422825e-02 1.80770744e-03 9.98443554e-01 -4.43370776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.8307140569999 meters 0.021385724894559192 Centerline is valid? [True, True] Translation: X:695.27, Y:-113.71, Z:-44.34 [[ 9.60809738e-01 2.71785261e-01 5.45657394e-02 6.95274570e+02] [-2.71240458e-01 9.62356207e-01 -1.72958246e-02 -1.13706954e+02] [-5.72124281e-02 1.81756058e-03 9.98360373e-01 -4.43372496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.8607140569999 meters 0.020051133883529956 Centerline is valid? [True, True] Translation: X:695.31, Y:-113.71, Z:-44.34 [[ 9.60720674e-01 2.71933961e-01 5.53868880e-02 6.95305395e+02] [-2.71372773e-01 9.62314161e-01 -1.75577331e-02 -1.13712623e+02] [-5.80741305e-02 1.83758381e-03 9.98310582e-01 -4.43381457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.890714057 meters 0.019861169172464044 Centerline is valid? [True, True] Translation: X:695.34, Y:-113.72, Z:-44.34 [[ 9.60697016e-01 2.71959567e-01 5.56708028e-02 6.95335270e+02] [-2.71392516e-01 9.62306905e-01 -1.76499909e-02 -1.13720601e+02] [-5.83724818e-02 1.84765440e-03 9.98293163e-01 -4.43401458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9207140569999 meters 0.02120884112580821 Centerline is valid? [True, True] Translation: X:695.36, Y:-113.73, Z:-44.34 [[ 9.60812490e-01 2.71762630e-01 5.46299492e-02 6.95364194e+02] [-2.71216169e-01 9.62362580e-01 -1.73220607e-02 -1.13730973e+02] [-5.72813077e-02 1.82672678e-03 9.98356407e-01 -4.43430178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9507140569999 meters 0.022075883458217347 Centerline is valid? [True, True] Translation: X:695.39, Y:-113.74, Z:-44.35 [[ 9.60931107e-01 2.71330744e-01 5.46903497e-02 6.95391997e+02] [-2.70781549e-01 9.62484356e-01 -1.73555844e-02 -1.13741247e+02] [-5.73477096e-02 1.86838329e-03 9.98352518e-01 -4.43453033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9807140569999 meters 0.02111711153183295 Centerline is valid? [True, True] Translation: X:695.42, Y:-113.75, Z:-44.35 [[ 9.61186194e-01 2.70503235e-01 5.43056228e-02 6.95421262e+02] [-2.69960386e-01 9.62717181e-01 -1.72342308e-02 -1.13748437e+02] [-5.69428713e-02 1.90493781e-03 9.98375621e-01 -4.43471235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.010714057 meters 0.021224552492429063 Centerline is valid? [True, True] Translation: X:695.45, Y:-113.76, Z:-44.35 [[ 9.61510382e-01 2.69360531e-01 5.42465582e-02 6.95450754e+02] [-2.68817049e-01 9.63037394e-01 -1.72154863e-02 -1.13755947e+02] [-5.68786366e-02 1.97046910e-03 9.98379155e-01 -4.43496825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.040714057 meters 0.02169974103592097 Centerline is valid? [True, True] Translation: X:695.48, Y:-113.77, Z:-44.35 [[ 9.61513971e-01 2.69309207e-01 5.44374374e-02 6.95478904e+02] [-2.68761808e-01 9.63051727e-01 -1.72760478e-02 -1.13765786e+02] [-5.70786668e-02 1.98045721e-03 9.98367720e-01 -4.43512321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.0707140569999 meters 0.02209775014519304 Centerline is valid? [True, True] Translation: X:695.51, Y:-113.77, Z:-44.35 [[ 9.61509625e-01 2.69396810e-01 5.40795633e-02 6.95506667e+02] [-2.68856661e-01 9.63027260e-01 -1.71636849e-02 -1.13774923e+02] [-5.67039356e-02 1.96339747e-03 9.98389107e-01 -4.43523103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.1007140569999 meters 0.0225185713878752 Centerline is valid? [True, True] Translation: X:695.53, Y:-113.78, Z:-44.35 [[ 9.61520117e-01 2.69296945e-01 5.43895314e-02 6.95534071e+02] [-2.68750480e-01 9.63055158e-01 -1.72610135e-02 -1.13783325e+02] [-5.70284570e-02 1.97959902e-03 9.98370591e-01 -4.43539108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.130714057 meters 0.021939729942325018 Centerline is valid? [True, True] Translation: X:695.56, Y:-113.79, Z:-44.35 [[ 9.61123876e-01 2.70460931e-01 5.56037687e-02 6.95562700e+02] [-2.69891906e-01 9.62728976e-01 -1.76430562e-02 -1.13790488e+02] [-5.83031167e-02 1.95015547e-03 9.98297022e-01 -4.43541652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.160714057 meters 0.021442192268984323 Centerline is valid? [True, True] Translation: X:695.59, Y:-113.80, Z:-44.35 [[ 9.60834979e-01 2.71358040e-01 5.62223858e-02 6.95591714e+02] [-2.70777932e-01 9.62476570e-01 -1.78371346e-02 -1.13798530e+02] [-5.89529790e-02 1.91476146e-03 9.98258924e-01 -4.43549456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.1907140569999 meters 0.021033221458421975 Centerline is valid? [True, True] Translation: X:695.62, Y:-113.81, Z:-44.36 [[ 9.60540299e-01 2.72329460e-01 5.65596981e-02 6.95620707e+02] [-2.71744176e-01 9.62202261e-01 -1.79419297e-02 -1.13806210e+02] [-5.93079854e-02 1.86417793e-03 9.98237992e-01 -4.43565570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.2207140569999 meters 0.020656031644482865 Centerline is valid? [True, True] Translation: X:695.65, Y:-113.81, Z:-44.36 [[ 9.60123468e-01 2.73536741e-01 5.77977303e-02 6.95649193e+02] [-2.72927848e-01 9.61859821e-01 -1.83323505e-02 -1.13813243e+02] [-6.06078859e-02 1.82670978e-03 9.98159981e-01 -4.43582479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.250714057 meters 0.02060896739556745 Centerline is valid? [True, True] Translation: X:695.68, Y:-113.82, Z:-44.36 [[ 9.59950189e-01 2.74174606e-01 5.76534483e-02 6.95677833e+02] [-2.73570037e-01 9.61678282e-01 -1.82843418e-02 -1.13822034e+02] [-6.04571713e-02 1.77980138e-03 9.98169205e-01 -4.43604614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.280714057 meters 0.02165355745758707 Centerline is valid? [True, True] Translation: X:695.70, Y:-113.83, Z:-44.36 [[ 9.59862294e-01 2.74448706e-01 5.78124870e-02 6.95704667e+02] [-2.73841430e-01 9.61600120e-01 -1.83324812e-02 -1.13831492e+02] [-6.06238202e-02 1.76520338e-03 9.98159124e-01 -4.43628078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.3107140569999 meters 0.02047842380511342 Centerline is valid? [True, True] Translation: X:695.73, Y:-113.84, Z:-44.37 [[ 9.59764362e-01 2.75084004e-01 5.64017718e-02 6.95733108e+02] [-2.74507314e-01 9.61418727e-01 -1.78819867e-02 -1.13837984e+02] [-5.91447682e-02 1.67979468e-03 9.98248003e-01 -4.43661472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.3407140569999 meters 0.020774162234740472 Centerline is valid? [True, True] Translation: X:695.76, Y:-113.85, Z:-44.37 [[ 9.59896203e-01 2.74818640e-01 5.54436188e-02 6.95760605e+02] [-2.74261077e-01 9.61494640e-01 -1.75760995e-02 -1.13846852e+02] [-5.81389821e-02 1.66520450e-03 9.98307110e-01 -4.43691460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.370714057 meters 0.020582381536284344 Centerline is valid? [True, True] Translation: X:695.79, Y:-113.86, Z:-44.37 [[ 9.60248573e-01 2.73744544e-01 5.46498149e-02 6.95788118e+02] [-2.73201348e-01 9.61800930e-01 -1.73203388e-02 -1.13856232e+02] [-5.73035910e-02 1.70142760e-03 9.98355349e-01 -4.43725756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.400714057 meters 0.020262653928977192 Centerline is valid? [True, True] Translation: X:695.82, Y:-113.87, Z:-44.37 [[ 9.60577628e-01 2.72730873e-01 5.39304418e-02 6.95815786e+02] [-2.72200477e-01 9.62088800e-01 -1.70892324e-02 -1.13865457e+02] [-5.65466353e-02 1.73564237e-03 9.98398450e-01 -4.43744258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.4307140569999 meters 0.021211151826794505 Centerline is valid? [True, True] Translation: X:695.84, Y:-113.88, Z:-44.38 [[ 9.60934817e-01 2.71509883e-01 5.37276480e-02 6.95842316e+02] [-2.70981747e-01 9.62433973e-01 -1.70217867e-02 -1.13876159e+02] [-5.63308970e-02 1.79761558e-03 9.98410536e-01 -4.43759051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.4607140569999 meters 0.021236855348170998 Centerline is valid? [True, True] Translation: X:695.87, Y:-113.89, Z:-44.38 [[ 9.61274786e-01 2.70232907e-01 5.40829186e-02 6.95870597e+02] [-2.69695921e-01 9.62793142e-01 -1.71311153e-02 -1.13885562e+02] [-5.67000542e-02 1.88176663e-03 9.98389485e-01 -4.43772683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.490714057 meters 0.02083806311333494 Centerline is valid? [True, True] Translation: X:695.90, Y:-113.90, Z:-44.38 [[ 9.61799085e-01 2.68258276e-01 5.45895436e-02 6.95899799e+02] [-2.67708122e-01 9.63344921e-01 -1.72894075e-02 -1.13895529e+02] [-5.72265862e-02 2.01487209e-03 9.98359183e-01 -4.43776486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.520714057 meters 0.021675329441792894 Centerline is valid? [True, True] Translation: X:695.93, Y:-113.91, Z:-44.38 [[ 9.61960312e-01 2.67622029e-01 5.48708224e-02 6.95927009e+02] [-2.67065154e-01 9.63521765e-01 -1.73784769e-02 -1.13905669e+02] [-5.75200949e-02 2.06332042e-03 9.98342217e-01 -4.43791986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.5507140569999 meters 0.021813715261503382 Centerline is valid? [True, True] Translation: X:695.96, Y:-113.92, Z:-44.38 [[ 9.62029624e-01 2.67301851e-01 5.52152450e-02 6.95956115e+02] [-2.66737240e-01 9.63610562e-01 -1.74908273e-02 -1.13915472e+02] [-5.78813238e-02 2.09873192e-03 9.98321265e-01 -4.43802109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.5807140569999 meters 0.022083132007791544 Centerline is valid? [True, True] Translation: X:695.98, Y:-113.93, Z:-44.38 [[ 9.61958643e-01 2.67334657e-01 5.62827796e-02 6.95983977e+02] [-2.66748036e-01 9.63601377e-01 -1.78289737e-02 -1.13925129e+02] [-5.90004664e-02 2.13741438e-03 9.98255667e-01 -4.43806427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.6107140569999 meters 0.0222254785855204 Centerline is valid? [True, True] Translation: X:696.01, Y:-113.93, Z:-44.38 [[ 9.61798674e-01 2.67831862e-01 5.66516101e-02 6.96012845e+02] [-2.67238447e-01 9.63463336e-01 -1.79446958e-02 -1.13933752e+02] [-5.93879106e-02 2.11969638e-03 9.98232730e-01 -4.43819656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.640714057 meters 0.022126677810655557 Centerline is valid? [True, True] Translation: X:696.04, Y:-113.94, Z:-44.38 [[ 9.61511844e-01 2.68773639e-01 5.70587849e-02 6.96040797e+02] [-2.68173376e-01 9.63201134e-01 -1.80725211e-02 -1.13941971e+02] [-5.98165036e-02 2.07529606e-03 9.98207233e-01 -4.43834221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.6707140569999 meters 0.02122188413289348 Centerline is valid? [True, True] Translation: X:696.07, Y:-113.95, Z:-44.39 [[ 9.61268099e-01 2.69678247e-01 5.68971410e-02 6.96069460e+02] [-2.69083095e-01 9.62948388e-01 -1.80191399e-02 -1.13948534e+02] [-5.96483802e-02 2.01116555e-03 9.98217424e-01 -4.43852630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.7007140569999 meters 0.021164284658200343 Centerline is valid? [True, True] Translation: X:696.10, Y:-113.96, Z:-44.39 [[ 9.60657796e-01 2.71907550e-01 5.65940156e-02 6.96097510e+02] [-2.71322720e-01 9.62321580e-01 -1.79209098e-02 -1.13955610e+02] [-5.93344731e-02 1.86061945e-03 9.98236424e-01 -4.43871252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.7307140569999 meters 0.020026902225342154 Centerline is valid? [True, True] Translation: X:696.13, Y:-113.96, Z:-44.39 [[ 9.60276886e-01 2.73200134e-01 5.68329889e-02 6.96126444e+02] [-2.72612805e-01 9.61955560e-01 -1.79932856e-02 -1.13962315e+02] [-5.95865777e-02 1.78513578e-03 9.98221545e-01 -4.43889694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.760714057 meters 0.01962635058492606 Centerline is valid? [True, True] Translation: X:696.15, Y:-113.97, Z:-44.39 [[ 9.59814104e-01 2.74825641e-01 5.68133158e-02 6.96154714e+02] [-2.74241692e-01 9.61492610e-01 -1.79848466e-02 -1.13970214e+02] [-5.95682803e-02 1.68152960e-03 9.98222817e-01 -4.43905251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.790714057 meters 0.018846100548285824 Centerline is valid? [True, True] Translation: X:696.18, Y:-113.98, Z:-44.39 [[ 9.59231769e-01 2.76907286e-01 5.65399699e-02 6.96183510e+02] [-2.76332686e-01 9.60895403e-01 -1.78961331e-02 -1.13977463e+02] [-5.92845668e-02 1.54269772e-03 9.98239931e-01 -4.43922382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.8207140569999 meters 0.017219500803079425 Centerline is valid? [True, True] Translation: X:696.21, Y:-113.98, Z:-44.40 [[ 9.57665050e-01 2.82439941e-01 5.57255100e-02 6.96212832e+02] [-2.81891255e-01 9.59284257e-01 -1.76361974e-02 -1.13982389e+02] [-5.84377710e-02 1.18103587e-03 9.98290355e-01 -4.43952219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.8507140569999 meters 0.016473456659144008 Centerline is valid? [True, True] Translation: X:696.24, Y:-113.99, Z:-44.40 [[ 9.56823617e-01 2.85342722e-01 5.53904136e-02 6.96241063e+02] [-2.84805602e-01 9.58425031e-01 -1.75279637e-02 -1.13988601e+02] [-5.80890357e-02 9.95669571e-04 9.98310910e-01 -4.43975172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.880714057 meters 0.015906503619873568 Centerline is valid? [True, True] Translation: X:696.27, Y:-113.99, Z:-44.40 [[ 9.54817356e-01 2.92036897e-01 5.51204774e-02 6.96269323e+02] [-2.91516378e-01 9.56406876e-01 -1.74381388e-02 -1.13993911e+02] [-5.78101835e-02 5.81715654e-04 9.98327423e-01 -4.43998694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.910714057 meters 0.01591836844887288 Centerline is valid? [True, True] Translation: X:696.30, Y:-114.00, Z:-44.40 [[ 9.53711614e-01 2.95672089e-01 5.48832691e-02 6.96296600e+02] [-2.95162304e-01 9.55289427e-01 -1.73587105e-02 -1.14001297e+02] [-5.75618929e-02 3.55731595e-04 9.98341876e-01 -4.44018286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.9407140569999 meters 0.015438983802171284 Centerline is valid? [True, True] Translation: X:696.32, Y:-114.01, Z:-44.40 [[ 9.52709091e-01 2.98867525e-01 5.49871770e-02 6.96324307e+02] [-2.98361370e-01 9.54294597e-01 -1.73872240e-02 -1.14009111e+02] [-5.76704425e-02 1.58916944e-04 9.98335662e-01 -4.44038410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.9707140569999 meters 0.015344390274757766 Centerline is valid? [True, True] Translation: X:696.35, Y:-114.02, Z:-44.41 [[ 9.51816193e-01 3.01703189e-01 5.49647156e-02 6.96351373e+02] [-3.01202420e-01 9.53401901e-01 -1.73757463e-02 -1.14017808e+02] [-5.76457824e-02 -1.69886800e-05 9.98337099e-01 -4.44053125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.000714057 meters 0.015372129659762162 Centerline is valid? [True, True] Translation: X:696.38, Y:-114.03, Z:-44.41 [[ 9.51085409e-01 3.03910012e-01 5.54549336e-02 6.96378216e+02] [-3.03404268e-01 9.52700730e-01 -1.75262600e-02 -1.14027217e+02] [-5.81583616e-02 -1.56293378e-04 9.98307358e-01 -4.44071059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.030714057 meters 0.015586337922945571 Centerline is valid? [True, True] Translation: X:696.40, Y:-114.04, Z:-44.41 [[ 9.49753066e-01 3.08063908e-01 5.53691464e-02 6.96403590e+02] [-3.07567030e-01 9.51365575e-01 -1.74947233e-02 -1.14037748e+02] [-5.80657927e-02 -4.14056759e-04 9.98312673e-01 -4.44084569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.0607140569999 meters 0.015568243853903525 Centerline is valid? [True, True] Translation: X:696.43, Y:-114.05, Z:-44.41 [[ 9.49093865e-01 3.09972283e-01 5.60180249e-02 6.96430904e+02] [-3.09467329e-01 9.50745439e-01 -1.76941476e-02 -1.14048192e+02] [-5.87435770e-02 -5.42341576e-04 9.98272958e-01 -4.44098348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.0907140569999 meters 0.016224138346970198 Centerline is valid? [True, True] Translation: X:696.46, Y:-114.06, Z:-44.41 [[ 9.48571576e-01 3.11590004e-01 5.58894810e-02 6.96456442e+02] [-3.11090429e-01 9.50216424e-01 -1.76491381e-02 -1.14058093e+02] [-5.86063978e-02 -6.45211941e-04 9.98280959e-01 -4.44111085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.120714057 meters 0.016473481181319517 Centerline is valid? [True, True] Translation: X:696.48, Y:-114.07, Z:-44.41 [[ 9.47460783e-01 3.14811453e-01 5.66728627e-02 6.96481287e+02] [-3.14303910e-01 9.49153836e-01 -1.78898547e-02 -1.14070004e+02] [-5.94231962e-02 -8.62566591e-04 9.98232508e-01 -4.44117591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.150714057 meters 0.016688204518578033 Centerline is valid? [True, True] Translation: X:696.51, Y:-114.08, Z:-44.41 [[ 9.46937595e-01 3.16396144e-01 5.65921567e-02 6.96507891e+02] [-3.15893196e-01 9.48626664e-01 -1.78589264e-02 -1.14081192e+02] [-5.93353242e-02 -9.65788459e-04 9.98237640e-01 -4.44134640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.1807140569999 meters 0.017081474972115776 Centerline is valid? [True, True] Translation: X:696.53, Y:-114.09, Z:-44.41 [[ 9.46436446e-01 3.17811690e-01 5.70419389e-02 6.96533369e+02] [-3.17303544e-01 9.48153253e-01 -1.79963855e-02 -1.14092188e+02] [-5.98039616e-02 -1.06717423e-03 9.98209571e-01 -4.44149959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.2107140569999 meters 0.017090293627322947 Centerline is valid? [True, True] Translation: X:696.56, Y:-114.11, Z:-44.42 [[ 9.46095174e-01 3.18831444e-01 5.70125627e-02 6.96558008e+02] [-3.18325993e-01 9.47810751e-01 -1.79817332e-02 -1.14109584e+02] [-5.97702618e-02 -1.13614962e-03 9.98211513e-01 -4.44168226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.240714057 meters 0.016889906055865895 Centerline is valid? [True, True] Translation: X:696.58, Y:-114.12, Z:-44.42 [[ 9.46297640e-01 3.18165762e-01 5.73700619e-02 6.96582914e+02] [-3.17652994e-01 9.48034454e-01 -1.80900152e-02 -1.14122554e+02] [-6.01444188e-02 -1.10523327e-03 9.98189074e-01 -4.44177608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.270714057 meters 0.015746428891464877 Centerline is valid? [True, True] Translation: X:696.61, Y:-114.15, Z:-44.42 [[ 9.47484048e-01 3.14579916e-01 5.75626285e-02 6.96608826e+02] [-3.14057415e-01 9.49230579e-01 -1.81451892e-02 -1.14145351e+02] [-6.03483193e-02 -8.85692970e-04 9.98176986e-01 -4.44202529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.3007140569999 meters 0.01557491969828189 Centerline is valid? [True, True] Translation: X:696.64, Y:-114.16, Z:-44.42 [[ 9.48405423e-01 3.11883307e-01 5.70609945e-02 6.96636724e+02] [-3.11364842e-01 9.50120153e-01 -1.79897116e-02 -1.14160235e+02] [-5.98254916e-02 -7.05247547e-04 9.98208602e-01 -4.44220419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.3307140569999 meters 0.015129948086148495 Centerline is valid? [True, True] Translation: X:696.66, Y:-114.18, Z:-44.42 [[ 9.49453077e-01 3.08697956e-01 5.69598742e-02 6.96664498e+02] [-3.08174726e-01 9.51159993e-01 -1.79723688e-02 -1.14178449e+02] [-5.97259871e-02 -4.89672804e-04 9.98214690e-01 -4.44246391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.3607140569999 meters 0.015129948086148495 Centerline is valid? [True, True] Translation: X:696.70, Y:-114.19, Z:-44.43 [[ 9.49366475e-01 3.08965006e-01 5.69554353e-02 6.96695431e+02] [-3.08441413e-01 9.51073280e-01 -1.79864252e-02 -1.14188284e+02] [-5.97259686e-02 -4.91705907e-04 9.98214690e-01 -4.44265202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.390714057 meters 0.015096817606108363 Centerline is valid? [True, True] Translation: X:696.72, Y:-114.21, Z:-44.43 [[ 9.50356048e-01 3.05949101e-01 5.67320840e-02 6.96723771e+02] [-3.05423199e-01 9.52047828e-01 -1.79332997e-02 -1.14205925e+02] [-5.94983343e-02 -2.84274746e-04 9.98228364e-01 -4.44290981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4207140569999 meters 0.0156037525384525 Centerline is valid? [True, True] Translation: X:696.75, Y:-114.23, Z:-44.43 [[ 9.52406371e-01 2.99490026e-01 5.68139857e-02 6.96750885e+02] [-2.98950156e-01 9.54099421e-01 -1.79749294e-02 -1.14230201e+02] [-5.95895030e-02 1.34887316e-04 9.98222958e-01 -4.44318960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4507140569999 meters 0.016321547240099977 Centerline is valid? [True, True] Translation: X:696.78, Y:-114.25, Z:-44.43 [[ 9.53256882e-01 2.96779600e-01 5.67731065e-02 6.96778136e+02] [-2.96234647e-01 9.54945949e-01 -1.79796572e-02 -1.14247020e+02] [-5.95512436e-02 3.21070817e-04 9.98225198e-01 -4.44336122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4807140569999 meters 0.016401005973890638 Centerline is valid? [True, True] Translation: X:696.81, Y:-114.26, Z:-44.44 [[ 9.53921179e-01 2.94564290e-01 5.71512420e-02 6.96806973e+02] [-2.94007200e-01 9.55631546e-01 -1.81139165e-02 -1.14262278e+02] [-5.99512427e-02 4.76371944e-04 9.98201193e-01 -4.44356320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.510714057 meters 0.017676588406944506 Centerline is valid? [True, True] Translation: X:696.83, Y:-114.28, Z:-44.44 [[ 9.55149335e-01 2.90339830e-01 5.82454320e-02 6.96832972e+02] [-2.89752347e-01 9.56923293e-01 -1.84767174e-02 -1.14284186e+02] [-6.11009376e-02 7.71273749e-04 9.98131294e-01 -4.44369386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.540714057 meters 0.018351070068642138 Centerline is valid? [True, True] Translation: X:696.86, Y:-114.30, Z:-44.44 [[ 9.55590065e-01 2.88794583e-01 5.86968197e-02 6.96861982e+02] [-2.88194123e-01 9.57390670e-01 -1.86347052e-02 -1.14298313e+02] [-6.15773894e-02 8.91060657e-04 9.98101914e-01 -4.44390133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.5707140569999 meters 0.018525371726842765 Centerline is valid? [True, True] Translation: X:696.89, Y:-114.31, Z:-44.44 [[ 9.56048570e-01 2.87121111e-01 5.94356809e-02 6.96890792e+02] [-2.86501198e-01 9.57893738e-01 -1.88851797e-02 -1.14313070e+02] [-6.23554003e-02 1.02675521e-03 9.98053480e-01 -4.44402258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.6007140569999 meters 0.018939720646879696 Centerline is valid? [True, True] Translation: X:696.92, Y:-114.33, Z:-44.44 [[ 9.56580003e-01 2.85232139e-01 5.99777014e-02 6.96919398e+02] [-2.84596148e-01 9.58457743e-01 -1.90732102e-02 -1.14327377e+02] [-6.29263848e-02 1.17562864e-03 9.98017479e-01 -4.44420725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.630714057 meters 0.02045011726989764 Centerline is valid? [True, True] Translation: X:696.95, Y:-114.35, Z:-44.44 [[ 9.57828580e-01 2.80834936e-01 6.07959664e-02 6.96947027e+02] [-2.80171639e-01 9.59754912e-01 -1.93484249e-02 -1.14345057e+02] [-6.37829411e-02 1.49916883e-03 9.97962669e-01 -4.44444360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.660714057 meters 0.019843838915929855 Centerline is valid? [True, True] Translation: X:696.98, Y:-114.36, Z:-44.45 [[ 9.58444203e-01 2.78705141e-01 6.08946242e-02 6.96976610e+02] [-2.78034441e-01 9.60375289e-01 -1.93946750e-02 -1.14356458e+02] [-6.38870880e-02 1.65791101e-03 9.97955756e-01 -4.44476022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.6907140569999 meters 0.020312277714285315 Centerline is valid? [True, True] Translation: X:697.01, Y:-114.37, Z:-44.45 [[ 9.59082982e-01 2.76623281e-01 6.03273908e-02 6.97005976e+02] [-2.75959956e-01 9.60976764e-01 -1.92291984e-02 -1.14369382e+02] [-6.32924647e-02 1.79445278e-03 9.97993409e-01 -4.44499600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.7207140569999 meters 0.02113137222455539 Centerline is valid? [True, True] Translation: X:697.03, Y:-114.38, Z:-44.45 [[ 9.60083810e-01 2.73105668e-01 6.04348563e-02 6.97034691e+02] [-2.72432034e-01 9.61981867e-01 -1.92788662e-02 -1.14384030e+02] [-6.34024036e-02 2.04493644e-03 9.97985949e-01 -4.44532874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.750714057 meters 0.02154550042578063 Centerline is valid? [True, True] Translation: X:697.06, Y:-114.40, Z:-44.46 [[ 9.60320313e-01 2.72331182e-01 6.01716189e-02 6.97063528e+02] [-2.71661538e-01 9.62201304e-01 -1.92005026e-02 -1.14396761e+02] [-6.31261057e-02 2.09231811e-03 9.98003365e-01 -4.44552181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.780714057 meters 0.021641839731582777 Centerline is valid? [True, True] Translation: X:697.09, Y:-114.41, Z:-44.46 [[ 9.60358779e-01 2.72281859e-01 5.97796372e-02 6.97094596e+02] [-2.71619859e-01 9.62215253e-01 -1.90908171e-02 -1.14407791e+02] [-6.27189619e-02 2.09669718e-03 9.98029025e-01 -4.44580504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.8107140569999 meters 0.021698053180219515 Centerline is valid? [True, True] Translation: X:697.12, Y:-114.42, Z:-44.46 [[ 9.59997299e-01 2.73611019e-01 5.95163505e-02 6.97123539e+02] [-2.72956258e-01 9.61838311e-01 -1.90248561e-02 -1.14419003e+02] [-6.24505163e-02 2.01845013e-03 9.98046020e-01 -4.44600225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.8407140569999 meters 0.021864122983722672 Centerline is valid? [True, True] Translation: X:697.15, Y:-114.43, Z:-44.46 [[ 9.59557592e-01 2.75088773e-01 5.97946023e-02 6.97153575e+02] [-2.74429780e-01 9.61416861e-01 -1.91289102e-02 -1.14428988e+02] [-6.27496873e-02 1.94587144e-03 9.98027400e-01 -4.44618184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.870714057 meters 0.021437123474668893 Centerline is valid? [True, True] Translation: X:697.18, Y:-114.44, Z:-44.46 [[ 9.59025965e-01 2.76854436e-01 6.01732539e-02 6.97184855e+02] [-2.76189566e-01 9.60910076e-01 -1.92652322e-02 -1.14438524e+02] [-6.31547510e-02 1.85663304e-03 9.98002019e-01 -4.44633908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.900714057 meters 0.020602844628023906 Centerline is valid? [True, True] Translation: X:697.22, Y:-114.45, Z:-44.47 [[ 9.58342863e-01 2.79107469e-01 6.06463291e-02 6.97216502e+02] [-2.78436161e-01 9.60258316e-01 -1.94234435e-02 -1.14445554e+02] [-6.36573700e-02 1.72818736e-03 9.97970317e-01 -4.44654356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.9307140569999 meters 0.01997014747028337 Centerline is valid? [True, True] Translation: X:697.25, Y:-114.45, Z:-44.47 [[ 9.56949405e-01 2.83774467e-01 6.09908788e-02 6.97246285e+02] [-2.83103964e-01 9.58889971e-01 -1.95491576e-02 -1.14454100e+02] [-6.40310938e-02 1.44079518e-03 9.97946864e-01 -4.44665665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.9607140569999 meters 0.019151477597772217 Centerline is valid? [True, True] Translation: X:697.28, Y:-114.46, Z:-44.47 [[ 9.56360403e-01 2.85789706e-01 6.08195972e-02 6.97277405e+02] [-2.85126797e-01 9.58291469e-01 -1.94979712e-02 -1.14461840e+02] [-6.38552206e-02 1.30579067e-03 9.97958319e-01 -4.44693435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.990714057 meters 0.0188849910942419 Centerline is valid? [True, True] Translation: X:697.31, Y:-114.47, Z:-44.47 [[ 9.55833947e-01 2.87487462e-01 6.10935818e-02 6.97308022e+02] [-2.86820939e-01 9.57783632e-01 -1.96026400e-02 -1.14470995e+02] [-6.41499459e-02 1.21395032e-03 9.97939533e-01 -4.44721187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.020714057 meters 0.019419007810690832 Centerline is valid? [True, True] Translation: X:697.34, Y:-114.48, Z:-44.47 [[ 9.55569707e-01 2.88550463e-01 6.02093485e-02 6.97337407e+02] [-2.87904196e-01 9.57464008e-01 -1.93351156e-02 -1.14482217e+02] [-6.32274407e-02 1.14152674e-03 9.97998491e-01 -4.44735672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.0507140569999 meters 0.018349676277330713 Centerline is valid? [True, True] Translation: X:697.37, Y:-114.49, Z:-44.48 [[ 9.55185415e-01 2.89908920e-01 5.97799339e-02 6.97369081e+02] [-2.89273558e-01 9.57053654e-01 -1.92122714e-02 -1.14489421e+02] [-6.27824131e-02 1.05852725e-03 9.98026677e-01 -4.44764621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.0807140569999 meters 0.01868379487681145 Centerline is valid? [True, True] Translation: X:697.40, Y:-114.50, Z:-44.48 [[ 9.55101153e-01 2.90206113e-01 5.96841666e-02 6.97399342e+02] [-2.89572370e-01 9.56963586e-01 -1.91973542e-02 -1.14499107e+02] [-6.26867636e-02 1.05252957e-03 9.98032696e-01 -4.44779633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.1107140569999 meters 0.01813581366900965 Centerline is valid? [True, True] Translation: X:697.43, Y:-114.51, Z:-44.48 [[ 9.54891204e-01 2.90899454e-01 5.96682156e-02 6.97431326e+02] [-2.90266640e-01 9.56753088e-01 -1.92043468e-02 -1.14507871e+02] [-6.26742835e-02 1.01836937e-03 9.98033515e-01 -4.44799528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.140714057 meters 0.018040496551563645 Centerline is valid? [True, True] Translation: X:697.46, Y:-114.52, Z:-44.48 [[ 9.54274982e-01 2.92765240e-01 6.03967969e-02 6.97462651e+02] [-2.92119389e-01 9.56183904e-01 -1.94577573e-02 -1.14516933e+02] [-6.34470001e-02 9.24975610e-04 9.97984781e-01 -4.44809335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.1707140569999 meters 0.01781785953487456 Centerline is valid? [True, True] Translation: X:697.49, Y:-114.53, Z:-44.48 [[ 9.53963661e-01 2.93749710e-01 6.05346307e-02 6.97493313e+02] [-2.93101827e-01 9.55881969e-01 -1.95187409e-02 -1.14526792e+02] [-6.35975865e-02 8.77358665e-04 9.97975239e-01 -4.44817043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.2007140569999 meters 0.017510737294836126 Centerline is valid? [True, True] Translation: X:697.52, Y:-114.54, Z:-44.48 [[ 9.53655218e-01 2.94564255e-01 6.14298305e-02 6.97524880e+02] [-2.93897619e-01 9.55631296e-01 -1.98246077e-02 -1.14536691e+02] [-6.45438893e-02 8.51759652e-04 9.97914506e-01 -4.44831887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.2307140569999 meters 0.018350825930085655 Centerline is valid? [True, True] Translation: X:697.55, Y:-114.55, Z:-44.48 [[ 9.53386990e-01 2.95236743e-01 6.23579419e-02 6.97554479e+02] [-2.94549967e-01 9.55423762e-01 -2.01432683e-02 -1.14548644e+02] [-6.55252924e-02 8.36800134e-04 9.97850558e-01 -4.44834872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.260714057 meters 0.0177466542392233 Centerline is valid? [True, True] Translation: X:697.59, Y:-114.56, Z:-44.49 [[ 9.53368688e-01 2.95226275e-01 6.26864621e-02 6.97585754e+02] [-2.94531337e-01 9.55426981e-01 -2.02626581e-02 -1.14557296e+02] [-6.58744063e-02 8.54656251e-04 9.97827556e-01 -4.44864143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.290714057 meters 0.01773734982870576 Centerline is valid? [True, True] Translation: X:697.62, Y:-114.57, Z:-44.49 [[ 9.53389182e-01 2.95165705e-01 6.26599834e-02 6.97617211e+02] [-2.94469935e-01 9.55445675e-01 -2.02736405e-02 -1.14566783e+02] [-6.58522935e-02 8.77188344e-04 9.97828996e-01 -4.44894195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.3207140569999 meters 0.017963715371294355 Centerline is valid? [True, True] Translation: X:697.65, Y:-114.58, Z:-44.49 [[ 9.53405975e-01 2.95222285e-01 6.21357312e-02 6.97647496e+02] [-2.94536968e-01 9.55428187e-01 -2.01234812e-02 -1.14577916e+02] [-6.53071291e-02 8.84577352e-04 9.97864819e-01 -4.44912680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.3507140569999 meters 0.017502909360065124 Centerline is valid? [True, True] Translation: X:697.68, Y:-114.59, Z:-44.49 [[ 9.53375900e-01 2.95469416e-01 6.14183788e-02 6.97678501e+02] [-2.94799194e-01 9.55351798e-01 -1.99092091e-02 -1.14587527e+02] [-6.45587210e-02 8.74871602e-04 9.97913526e-01 -4.44946470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.380714057 meters 0.0180620615904555 Centerline is valid? [True, True] Translation: X:697.71, Y:-114.60, Z:-44.50 [[ 9.53667339e-01 2.94447728e-01 6.17992079e-02 6.97708814e+02] [-2.93765781e-01 9.55667096e-01 -2.00516253e-02 -1.14598455e+02] [-6.49636251e-02 9.68087555e-04 9.97887163e-01 -4.44974003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.410714057 meters 0.017956394912747316 Centerline is valid? [True, True] Translation: X:697.74, Y:-114.61, Z:-44.50 [[ 9.53869700e-01 2.93727457e-01 6.21029472e-02 6.97739454e+02] [-2.93036145e-01 9.55888646e-01 -2.01671716e-02 -1.14609354e+02] [-6.52871542e-02 1.03844570e-03 9.97865978e-01 -4.44991479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.4407140569999 meters 0.018172403329067614 Centerline is valid? [True, True] Translation: X:697.77, Y:-114.62, Z:-44.50 [[ 9.54130719e-01 2.92840062e-01 6.22837775e-02 6.97769406e+02] [-2.92141699e-01 9.56160785e-01 -2.02430585e-02 -1.14620365e+02] [-6.54812841e-02 1.11883538e-03 9.97853170e-01 -4.45008831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.4707140569999 meters 0.018655795738794036 Centerline is valid? [True, True] Translation: X:697.80, Y:-114.63, Z:-44.50 [[ 9.54615770e-01 2.91250841e-01 6.23031242e-02 6.97798005e+02] [-2.90547550e-01 9.56645911e-01 -2.02662884e-02 -1.14631705e+02] [-6.55046025e-02 1.24449845e-03 9.97851491e-01 -4.45029409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.500714057 meters 0.018496844962027182 Centerline is valid? [True, True] Translation: X:697.83, Y:-114.64, Z:-44.51 [[ 9.54647461e-01 2.91290894e-01 6.16266159e-02 6.97829358e+02] [-2.90601867e-01 9.56633717e-01 -2.00620536e-02 -1.14642017e+02] [-6.47979922e-02 1.24337896e-03 9.97897627e-01 -4.45053026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.530714057 meters 0.018776849317379586 Centerline is valid? [True, True] Translation: X:697.86, Y:-114.65, Z:-44.51 [[ 9.54593205e-01 2.91345011e-01 6.22085028e-02 6.97860063e+02] [-2.90641736e-01 9.56617202e-01 -2.02709080e-02 -1.14652388e+02] [-6.54155518e-02 1.27008383e-03 9.97857301e-01 -4.45075867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.5607140569999 meters 0.018706102548979437 Centerline is valid? [True, True] Translation: X:697.89, Y:-114.66, Z:-44.51 [[ 9.54355409e-01 2.92032424e-01 6.26324008e-02 6.97890699e+02] [-2.91319778e-01 9.56407603e-01 -2.04275122e-02 -1.14662863e+02] [-6.58676002e-02 1.24904967e-03 9.97827590e-01 -4.45090431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.5907140569999 meters 0.01872663911899801 Centerline is valid? [True, True] Translation: X:697.92, Y:-114.67, Z:-44.51 [[ 9.54163528e-01 2.92602772e-01 6.28933921e-02 6.97922373e+02] [-2.91884180e-01 9.56233287e-01 -2.05311129e-02 -1.14673466e+02] [-6.61482156e-02 1.23245299e-03 9.97809047e-01 -4.45105572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.620714057 meters 0.018847012432442405 Centerline is valid? [True, True] Translation: X:697.95, Y:-114.68, Z:-44.51 [[ 9.53893344e-01 2.93399368e-01 6.32795358e-02 6.97953517e+02] [-2.92672362e-01 9.55989207e-01 -2.06766802e-02 -1.14683335e+02] [-6.65610781e-02 1.20317640e-03 9.97781627e-01 -4.45129121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.650714057 meters 0.01896132275224508 Centerline is valid? [True, True] Translation: X:697.98, Y:-114.69, Z:-44.51 [[ 9.53562861e-01 2.94438753e-01 6.34325721e-02 6.97982715e+02] [-2.93709249e-01 9.55669658e-01 -2.07456542e-02 -1.14692991e+02] [-6.67289091e-02 1.15155227e-03 9.97770478e-01 -4.45148409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.6807140569999 meters 0.018340130216506986 Centerline is valid? [True, True] Translation: X:698.01, Y:-114.70, Z:-44.52 [[ 9.52867933e-01 2.96794564e-01 6.28942750e-02 6.98013765e+02] [-2.96081498e-01 9.54940836e-01 -2.05850834e-02 -1.14701981e+02] [-6.61698524e-02 9.93034735e-04 9.97807880e-01 -4.45170716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.7107140569999 meters 0.018183332726243343 Centerline is valid? [True, True] Translation: X:698.04, Y:-114.71, Z:-44.52 [[ 9.52300460e-01 2.98709480e-01 6.24217934e-02 6.98044794e+02] [-2.98010134e-01 9.54343697e-01 -2.04467365e-02 -1.14711222e+02] [-6.56794791e-02 8.69109580e-04 9.97840393e-01 -4.45196276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.740714057 meters 0.017648975950202327 Centerline is valid? [True, True] Translation: X:698.08, Y:-114.72, Z:-44.52 [[ 9.51228976e-01 3.02238057e-01 6.17704754e-02 6.98076340e+02] [-3.01559622e-01 9.53232267e-01 -2.02494426e-02 -1.14718677e+02] [-6.50017625e-02 6.34375266e-04 9.97884948e-01 -4.45219255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.770714057 meters 0.0174285862978225 Centerline is valid? [True, True] Translation: X:698.11, Y:-114.73, Z:-44.52 [[ 9.50759969e-01 3.03730517e-01 6.16705313e-02 6.98106833e+02] [-3.03056352e-01 9.52757825e-01 -2.02329841e-02 -1.14727726e+02] [-6.49024560e-02 5.47065142e-04 9.97891463e-01 -4.45237355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.8007140569999 meters 0.017465691577621404 Centerline is valid? [True, True] Translation: X:698.14, Y:-114.74, Z:-44.53 [[ 9.50467473e-01 3.04653047e-01 6.16287575e-02 6.98138590e+02] [-3.03980654e-01 9.52463265e-01 -2.02358740e-02 -1.14738049e+02] [-6.48640483e-02 4.99589985e-04 9.97893985e-01 -4.45256488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.8307140569999 meters 0.017655688883478692 Centerline is valid? [True, True] Translation: X:698.17, Y:-114.75, Z:-44.53 [[ 9.50261769e-01 3.05156301e-01 6.23073256e-02 6.98169468e+02] [-3.04468834e-01 9.52302155e-01 -2.04776831e-02 -1.14748726e+02] [-6.55842944e-02 4.88520596e-04 9.97846913e-01 -4.45272629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.8607140569999 meters 0.017579141623904823 Centerline is valid? [True, True] Translation: X:698.20, Y:-114.76, Z:-44.53 [[ 9.50279643e-01 3.05018057e-01 6.27103224e-02 6.98199559e+02] [-3.04320110e-01 9.52346426e-01 -2.06289917e-02 -1.14760015e+02] [-6.60141664e-02 5.19298665e-04 9.97818551e-01 -4.45278465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.890714057 meters 0.017960643520825253 Centerline is valid? [True, True] Translation: X:698.23, Y:-114.77, Z:-44.53 [[ 9.50930766e-01 3.02790330e-01 6.36293456e-02 6.98228551e+02] [-3.02065576e-01 9.53056937e-01 -2.09490626e-02 -1.14773064e+02] [-6.69855628e-02 7.00873283e-04 9.97753699e-01 -4.45289097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9207140569999 meters 0.018953378780601993 Centerline is valid? [True, True] Translation: X:698.26, Y:-114.79, Z:-44.53 [[ 9.51422248e-01 3.01098523e-01 6.43069630e-02 6.98256718e+02] [-3.00353386e-01 9.53592664e-01 -2.11866463e-02 -1.14785672e+02] [-6.77019161e-02 8.42632585e-04 9.97705237e-01 -4.45298654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9507140569999 meters 0.019249264266316526 Centerline is valid? [True, True] Translation: X:698.29, Y:-114.80, Z:-44.53 [[ 9.52074631e-01 2.98914956e-01 6.48363014e-02 6.98286449e+02] [-2.98151771e-01 9.54279214e-01 -2.13706143e-02 -1.14798142e+02] [-6.82599310e-02 1.01536162e-03 9.97667054e-01 -4.45314285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9807140569999 meters 0.0194912732589473 Centerline is valid? [True, True] Translation: X:698.32, Y:-114.81, Z:-44.54 [[ 9.53361584e-01 2.94806120e-01 6.47382510e-02 6.98316462e+02] [-2.94034787e-01 9.55556176e-01 -2.13527367e-02 -1.14810449e+02] [-6.81559530e-02 1.32158110e-03 9.97673804e-01 -4.45351603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.010714057 meters 0.019422739521080094 Centerline is valid? [True, True] Translation: X:698.35, Y:-114.82, Z:-44.54 [[ 9.53881176e-01 2.93035768e-01 6.51209776e-02 6.98346856e+02] [-2.92250679e-01 9.56100360e-01 -2.14858828e-02 -1.14821413e+02] [-6.85583223e-02 1.46332919e-03 9.97646037e-01 -4.45377566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.040714057 meters 0.019787268485111597 Centerline is valid? [True, True] Translation: X:698.38, Y:-114.83, Z:-44.54 [[ 9.54265824e-01 2.91791313e-01 6.50735539e-02 6.98375734e+02] [-2.91003293e-01 9.56480721e-01 -2.14875146e-02 -1.14832914e+02] [-6.85114699e-02 1.56818239e-03 9.97649096e-01 -4.45396663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.0707140569999 meters 0.020857833954855284 Centerline is valid? [True, True] Translation: X:698.40, Y:-114.85, Z:-44.54 [[ 9.54617395e-01 2.90576455e-01 6.53525337e-02 6.98403855e+02] [-2.89777692e-01 9.56850306e-01 -2.15958664e-02 -1.14846707e+02] [-6.88078421e-02 1.67808333e-03 9.97628521e-01 -4.45409180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.1007140569999 meters 0.020036716648829916 Centerline is valid? [True, True] Translation: X:698.44, Y:-114.86, Z:-44.54 [[ 9.54387096e-01 2.91277534e-01 6.55947360e-02 6.98435969e+02] [-2.90473321e-01 9.56637171e-01 -2.16926995e-02 -1.14855524e+02] [-6.90689587e-02 1.64971162e-03 9.97610524e-01 -4.45434902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.130714057 meters 0.020342239367053094 Centerline is valid? [True, True] Translation: X:698.47, Y:-114.87, Z:-44.54 [[ 9.54092136e-01 2.92273402e-01 6.54557443e-02 6.98465279e+02] [-2.91473599e-01 9.56333478e-01 -2.16661018e-02 -1.14866132e+02] [-6.89299449e-02 1.59283595e-03 9.97620231e-01 -4.45448141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.160714057 meters 0.018889353386591604 Centerline is valid? [True, True] Translation: X:698.50, Y:-114.87, Z:-44.55 [[ 9.52858746e-01 2.96390100e-01 6.49085430e-02 6.98496222e+02] [-2.95612210e-01 9.55066084e-01 -2.14987526e-02 -1.14871347e+02] [-6.83639654e-02 1.29751660e-03 9.97659604e-01 -4.45478939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.1907140569999 meters 0.01881370120051211 Centerline is valid? [True, True] Translation: X:698.53, Y:-114.88, Z:-44.55 [[ 9.52013094e-01 2.99129964e-01 6.47482353e-02 6.98527191e+02] [-2.98361911e-01 9.54211742e-01 -2.14504290e-02 -1.14879682e+02] [-6.81999925e-02 1.10268197e-03 9.97671061e-01 -4.45503090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.2207140569999 meters 0.018941056991627323 Centerline is valid? [True, True] Translation: X:698.56, Y:-114.89, Z:-44.55 [[ 9.51146146e-01 3.01872456e-01 6.47613279e-02 6.98556935e+02] [-3.01109322e-01 9.53347875e-01 -2.14710439e-02 -1.14890239e+02] [-6.82215911e-02 9.21861148e-04 9.97669767e-01 -4.45507458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.250714057 meters 0.018340744507018125 Centerline is valid? [True, True] Translation: X:698.59, Y:-114.90, Z:-44.55 [[ 9.49586719e-01 3.06769965e-01 6.46316565e-02 6.98587799e+02] [-3.06020462e-01 9.51783512e-01 -2.14388461e-02 -1.14897141e+02] [-6.80921391e-02 5.79434175e-04 9.97678869e-01 -4.45532989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.280714057 meters 0.018340744507018125 Centerline is valid? [True, True] Translation: X:698.62, Y:-114.91, Z:-44.56 [[ 9.49509151e-01 3.07010993e-01 6.46267926e-02 6.98618556e+02] [-3.06261050e-01 9.51705793e-01 -2.14534991e-02 -1.14907452e+02] [-6.80921529e-02 5.77624320e-04 9.97678869e-01 -4.45551800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.3107140569999 meters 0.017676072797035734 Centerline is valid? [True, True] Translation: X:698.65, Y:-114.91, Z:-44.56 [[ 9.48810532e-01 3.09131244e-01 6.47800033e-02 6.98649363e+02] [-3.08381424e-01 9.51019283e-01 -2.15225531e-02 -1.14914804e+02] [-6.82603260e-02 4.43875406e-04 9.97667445e-01 -4.45596365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.3407140569999 meters 0.018007203309598877 Centerline is valid? [True, True] Translation: X:698.68, Y:-114.92, Z:-44.56 [[ 9.48297699e-01 3.10746432e-01 6.45610547e-02 6.98679773e+02] [-3.10004209e-01 9.50492787e-01 -2.14674902e-02 -1.14924161e+02] [-6.80357628e-02 3.43372830e-04 9.97682824e-01 -4.45621773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.370714057 meters 0.017939109101782782 Centerline is valid? [True, True] Translation: X:698.71, Y:-114.93, Z:-44.57 [[ 9.47870638e-01 3.12209375e-01 6.37695883e-02 6.98709993e+02] [-3.11487397e-01 9.50013285e-01 -2.12216644e-02 -1.14934139e+02] [-6.72075587e-02 2.51969463e-04 9.97738984e-01 -4.45650332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.400714057 meters 0.017738431058758657 Centerline is valid? [True, True] Translation: X:698.74, Y:-114.95, Z:-44.57 [[ 9.47772205e-01 3.12687228e-01 6.28851764e-02 6.98739679e+02] [-3.11985064e-01 9.49856117e-01 -2.09445949e-02 -1.14945394e+02] [-6.62809768e-02 2.31469141e-04 9.97800971e-01 -4.45680026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.4307140569999 meters 0.018077900613893836 Centerline is valid? [True, True] Translation: X:698.77, Y:-114.96, Z:-44.57 [[ 9.47931298e-01 3.12326614e-01 6.22763201e-02 6.98770482e+02] [-3.11636074e-01 9.49974743e-01 -2.07592072e-02 -1.14956975e+02] [-6.56445841e-02 2.70754341e-04 9.97843031e-01 -4.45704343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.4607140569999 meters 0.0178813334996113 Centerline is valid? [True, True] Translation: X:698.80, Y:-114.97, Z:-44.57 [[ 9.48244155e-01 3.11368543e-01 6.23109335e-02 6.98801242e+02] [-3.10673860e-01 9.50289168e-01 -2.07905948e-02 -1.14968733e+02] [-6.56869424e-02 3.56181813e-04 9.97840217e-01 -4.45719644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.490714057 meters 0.017625621578891925 Centerline is valid? [True, True] Translation: X:698.83, Y:-114.98, Z:-44.57 [[ 9.48441930e-01 3.10680299e-01 6.27348162e-02 6.98832121e+02] [-3.09973297e-01 9.50514372e-01 -2.09519533e-02 -1.14980617e+02] [-6.61397035e-02 4.25593267e-04 9.97810282e-01 -4.45735306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.520714057 meters 0.018184108233609084 Centerline is valid? [True, True] Translation: X:698.86, Y:-114.99, Z:-44.57 [[ 9.48996222e-01 3.08796296e-01 6.36476113e-02 6.98861212e+02] [-3.08062961e-01 9.51128018e-01 -2.12768852e-02 -1.14994153e+02] [-6.71072497e-02 5.84212045e-04 9.97745597e-01 -4.45742433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.5507140569999 meters 0.019000685236890757 Centerline is valid? [True, True] Translation: X:698.89, Y:-115.01, Z:-44.57 [[ 9.49351800e-01 3.07637819e-01 6.39541404e-02 6.98889925e+02] [-3.06893652e-01 9.51503286e-01 -2.13958750e-02 -1.15007798e+02] [-6.74347551e-02 6.85092761e-04 9.97723451e-01 -4.45745581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.5807140569999 meters 0.01843365213044544 Centerline is valid? [True, True] Translation: X:698.92, Y:-115.02, Z:-44.58 [[ 9.49750569e-01 3.06466463e-01 6.36566098e-02 6.98920202e+02] [-3.05725865e-01 9.51881141e-01 -2.13070163e-02 -1.15017432e+02] [-6.71234123e-02 7.74878748e-04 9.97744380e-01 -4.45788405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.6107140569999 meters 0.01896132747938272 Centerline is valid? [True, True] Translation: X:698.95, Y:-115.03, Z:-44.58 [[ 9.50275563e-01 3.04844339e-01 6.36104009e-02 6.98949016e+02] [-3.04100069e-01 9.52401759e-01 -2.13081581e-02 -1.15030305e+02] [-6.70783291e-02 9.04694678e-04 9.97747302e-01 -4.45804178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.640714057 meters 0.019667362099449345 Centerline is valid? [True, True] Translation: X:698.98, Y:-115.04, Z:-44.58 [[ 9.51454556e-01 3.01158118e-01 6.35453867e-02 6.98976763e+02] [-3.00406449e-01 9.53573495e-01 -2.12968226e-02 -1.15044451e+02] [-6.70089075e-02 1.17351491e-03 9.97751687e-01 -4.45821547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.6707140569999 meters 0.01940252301421637 Centerline is valid? [True, True] Translation: X:699.01, Y:-115.05, Z:-44.58 [[ 9.52175333e-01 2.98832707e-01 6.37271404e-02 6.99007069e+02] [-2.98070438e-01 9.54304549e-01 -2.13738362e-02 -1.15054829e+02] [-6.72023014e-02 1.35646289e-03 9.97738448e-01 -4.45848409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.7007140569999 meters 0.019809015605959282 Centerline is valid? [True, True] Translation: X:699.04, Y:-115.07, Z:-44.59 [[ 9.53024510e-01 2.96094008e-01 6.38170942e-02 6.99036835e+02] [-2.95322246e-01 9.55157514e-01 -2.14218145e-02 -1.15066889e+02] [-6.72982480e-02 1.56890672e-03 9.97731670e-01 -4.45866523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.7307140569999 meters 0.021244946215418243 Centerline is valid? [True, True] Translation: X:699.06, Y:-115.08, Z:-44.59 [[ 9.55125819e-01 2.89220753e-01 6.39220338e-02 6.99064021e+02] [-2.88429967e-01 9.57260185e-01 -2.14730805e-02 -1.15080786e+02] [-6.74004784e-02 2.07246354e-03 9.97723850e-01 -4.45882774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.760714057 meters 0.024310465124713843 Centerline is valid? [True, True] Translation: X:699.09, Y:-115.10, Z:-44.59 [[ 9.56401319e-01 2.85084778e-01 6.34285899e-02 6.99091053e+02] [-2.84296776e-01 9.58499424e-01 -2.13118953e-02 -1.15096141e+02] [-6.68719638e-02 2.35018116e-03 9.97758797e-01 -4.45890319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.790714057 meters 0.02390168780230942 Centerline is valid? [True, True] Translation: X:699.12, Y:-115.11, Z:-44.59 [[ 9.57545517e-01 2.81312431e-01 6.30071331e-02 6.99120965e+02] [-2.80526512e-01 9.59612713e-01 -2.11734841e-02 -1.15105053e+02] [-6.64188102e-02 2.59940352e-03 9.97788447e-01 -4.45916356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.8207140569999 meters 0.024392318589163742 Centerline is valid? [True, True] Translation: X:699.15, Y:-115.12, Z:-44.59 [[ 9.58565666e-01 2.77762740e-01 6.32433761e-02 6.99150304e+02] [-2.76963035e-01 9.60645454e-01 -2.12553087e-02 -1.15116189e+02] [-6.66583946e-02 2.85853169e-03 9.97771761e-01 -4.45927998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.8507140569999 meters 0.02650893537187365 Centerline is valid? [True, True] Translation: X:699.18, Y:-115.13, Z:-44.59 [[ 9.60018773e-01 2.72747030e-01 6.30318428e-02 6.99178229e+02] [-2.71941746e-01 9.62080469e-01 -2.11862727e-02 -1.15127208e+02] [-6.64201978e-02 3.19823012e-03 9.97786615e-01 -4.45927353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.880714057 meters 0.027067042510498063 Centerline is valid? [True, True] Translation: X:699.21, Y:-115.14, Z:-44.59 [[ 9.60295610e-01 2.71750490e-01 6.31190427e-02 6.99209020e+02] [-2.70940701e-01 9.62362175e-01 -2.12174739e-02 -1.15136868e+02] [-6.65092381e-02 3.27352932e-03 9.97780439e-01 -4.45941323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.910714057 meters 0.02381822499715313 Centerline is valid? [True, True] Translation: X:699.24, Y:-115.14, Z:-44.60 [[ 9.60377301e-01 2.71571386e-01 6.26452118e-02 6.99241480e+02] [-2.70772250e-01 9.62412719e-01 -2.10747767e-02 -1.15140489e+02] [-6.60138549e-02 3.27715224e-03 9.97813325e-01 -4.45955079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.9407140569999 meters 0.02756385565880239 Centerline is valid? [True, True] Translation: X:699.27, Y:-115.15, Z:-44.60 [[ 9.59798978e-01 2.73635055e-01 6.25282201e-02 6.99270011e+02] [-2.72842247e-01 9.61828452e-01 -2.10508404e-02 -1.15151072e+02] [-6.59016690e-02 3.14423505e-03 9.97821168e-01 -4.45955907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.9707140569999 meters 0.027145912303462204 Centerline is valid? [True, True] Translation: X:699.30, Y:-115.16, Z:-44.60 [[ 9.59279686e-01 2.75437681e-01 6.25824923e-02 6.99301016e+02] [-2.74647223e-01 9.61314172e-01 -2.10704988e-02 -1.15157399e+02] [-6.59650461e-02 3.02439376e-03 9.97817351e-01 -4.45969613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.000714057 meters 0.02719957597549754 Centerline is valid? [True, True] Translation: X:699.33, Y:-115.16, Z:-44.60 [[ 9.58571513e-01 2.78001807e-01 6.20938812e-02 6.99331031e+02] [-2.77228868e-01 9.60576389e-01 -2.09082762e-02 -1.15163896e+02] [-6.54584548e-02 2.82786154e-03 9.97851288e-01 -4.45983556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.030714057 meters 0.02223523720137588 Centerline is valid? [True, True] Translation: X:699.36, Y:-115.16, Z:-44.60 [[ 9.56689029e-01 2.84331119e-01 6.24653307e-02 6.99364912e+02] [-2.83562181e-01 9.58723109e-01 -2.10354567e-02 -1.15160060e+02] [-6.58679910e-02 2.41158522e-03 9.97825432e-01 -4.46008709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.0607140569999 meters 0.02172404383671635 Centerline is valid? [True, True] Translation: X:699.40, Y:-115.17, Z:-44.60 [[ 9.55671246e-01 2.87788154e-01 6.22129190e-02 6.99395379e+02] [-2.87032671e-01 9.57691646e-01 -2.09512896e-02 -1.15166055e+02] [-6.56103258e-02 2.16540468e-03 9.97842972e-01 -4.46018020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.0907140569999 meters 0.020895489657880798 Centerline is valid? [True, True] Translation: X:699.43, Y:-115.17, Z:-44.60 [[ 9.54651064e-01 2.91120768e-01 6.23702275e-02 6.99426737e+02] [-2.90368375e-01 9.56684337e-01 -2.10068193e-02 -1.15172017e+02] [-6.57841411e-02 1.94384076e-03 9.97831984e-01 -4.46031729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.120714057 meters 0.020345100984885872 Centerline is valid? [True, True] Translation: X:699.46, Y:-115.18, Z:-44.60 [[ 9.53746294e-01 2.94042437e-01 6.25064149e-02 6.99458229e+02] [-2.93292771e-01 9.55790764e-01 -2.10562796e-02 -1.15178233e+02] [-6.59344938e-02 1.74966905e-03 9.97822420e-01 -4.46046351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.150714057 meters 0.019843790912267737 Centerline is valid? [True, True] Translation: X:699.49, Y:-115.18, Z:-44.61 [[ 9.52874797e-01 2.96897241e-01 6.23028885e-02 6.99490309e+02] [-2.96158289e-01 9.54908175e-01 -2.09915399e-02 -1.15184723e+02] [-6.57258678e-02 1.55079245e-03 9.97836512e-01 -4.46064851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.1807140569999 meters 0.018656077648324415 Centerline is valid? [True, True] Translation: X:699.52, Y:-115.19, Z:-44.61 [[ 9.51598266e-01 3.01062682e-01 6.18223343e-02 6.99522569e+02] [-3.00343502e-01 9.53603522e-01 -2.08351620e-02 -1.15187808e+02] [-6.52266855e-02 1.25876769e-03 9.97869678e-01 -4.46086422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.2107140569999 meters 0.018656077648324415 Centerline is valid? [True, True] Translation: X:699.55, Y:-115.20, Z:-44.61 [[ 9.51516603e-01 3.01321006e-01 6.18207533e-02 6.99553291e+02] [-3.00602065e-01 9.53521945e-01 -2.08398516e-02 -1.15198244e+02] [-6.52269300e-02 1.24601866e-03 9.97869678e-01 -4.46105226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.240714057 meters 0.018041834854119972 Centerline is valid? [True, True] Translation: X:699.59, Y:-115.20, Z:-44.61 [[ 9.50670056e-01 3.04078359e-01 6.13416375e-02 6.99585340e+02] [-3.03375078e-01 9.52646427e-01 -2.06965424e-02 -1.15202547e+02] [-6.47302625e-02 1.06605909e-03 9.97902228e-01 -4.46128970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.270714057 meters 0.017211605028370148 Centerline is valid? [True, True] Translation: X:699.62, Y:-115.21, Z:-44.62 [[ 9.50459795e-01 3.04762924e-01 6.12024405e-02 6.99617577e+02] [-3.04063173e-01 9.52427684e-01 -2.06662499e-02 -1.15210168e+02] [-6.45892054e-02 1.03303139e-03 9.97911403e-01 -4.46154739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.3007140569999 meters 0.017262612626465355 Centerline is valid? [True, True] Translation: X:699.65, Y:-115.22, Z:-44.62 [[ 9.50328809e-01 3.05241910e-01 6.08484355e-02 6.99649596e+02] [-3.04549974e-01 9.52274304e-01 -2.05660684e-02 -1.15219507e+02] [-6.42220275e-02 1.01313782e-03 9.97935121e-01 -4.46177782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.3307140569999 meters 0.017564205277690623 Centerline is valid? [True, True] Translation: X:699.68, Y:-115.23, Z:-44.62 [[ 9.50334816e-01 3.05330515e-01 6.03076611e-02 6.99681373e+02] [-3.04649797e-01 9.52245895e-01 -2.04023831e-02 -1.15228933e+02] [-6.36571928e-02 1.01637825e-03 9.97971307e-01 -4.46204559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.3607140569999 meters 0.017528635687736754 Centerline is valid? [True, True] Translation: X:699.71, Y:-115.24, Z:-44.62 [[ 9.50612049e-01 3.04591567e-01 5.96716880e-02 6.99711088e+02] [-3.03922554e-01 9.52482456e-01 -2.02052505e-02 -1.15237499e+02] [-6.29905848e-02 1.07178269e-03 9.98013546e-01 -4.46230368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.390714057 meters 0.017383907036212454 Centerline is valid? [True, True] Translation: X:699.74, Y:-115.25, Z:-44.63 [[ 9.50771102e-01 3.04346604e-01 5.83734260e-02 6.99742667e+02] [-3.03705380e-01 9.52560756e-01 -1.97749610e-02 -1.15247511e+02] [-6.16226770e-02 1.07313798e-03 9.98098940e-01 -4.46254829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4207140569999 meters 0.018080722405472097 Centerline is valid? [True, True] Translation: X:699.77, Y:-115.26, Z:-44.63 [[ 9.50981486e-01 3.03813812e-01 5.77181206e-02 6.99772186e+02] [-3.03184877e-01 9.52730776e-01 -1.95703463e-02 -1.15258271e+02] [-6.09355714e-02 1.11177566e-03 9.98141082e-01 -4.46277571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4507140569999 meters 0.017562261318683128 Centerline is valid? [True, True] Translation: X:699.80, Y:-115.27, Z:-44.63 [[ 9.51095542e-01 3.03573088e-01 5.71020990e-02 6.99804528e+02] [-3.02956553e-01 9.52807492e-01 -1.93703188e-02 -1.15266834e+02] [-6.02876152e-02 1.12356875e-03 9.98180415e-01 -4.46305556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4807140569999 meters 0.017798963382027494 Centerline is valid? [True, True] Translation: X:699.83, Y:-115.28, Z:-44.63 [[ 9.51541563e-01 3.02455399e-01 5.55822432e-02 6.99833966e+02] [-3.01868359e-01 9.53162810e-01 -1.88719874e-02 -1.15277024e+02] [-5.86868616e-02 1.17895983e-03 9.98275745e-01 -4.46332895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.510714057 meters 0.017792502279905163 Centerline is valid? [True, True] Translation: X:699.86, Y:-115.29, Z:-44.63 [[ 9.51795404e-01 3.01829735e-01 5.46289363e-02 6.99864154e+02] [-3.01260851e-01 9.53361079e-01 -1.85621054e-02 -1.15287670e+02] [-5.76836970e-02 1.20976679e-03 9.98334176e-01 -4.46349823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.540714057 meters 0.018273613760724648 Centerline is valid? [True, True] Translation: X:699.89, Y:-115.30, Z:-44.64 [[ 9.52059928e-01 3.00979679e-01 5.47094654e-02 6.99893597e+02] [-3.00406841e-01 9.53629698e-01 -1.86045511e-02 -1.15298928e+02] [-5.77721628e-02 1.27754989e-03 9.98328976e-01 -4.46369994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.5707140569999 meters 0.019048844143952314 Centerline is valid? [True, True] Translation: X:699.92, Y:-115.31, Z:-44.64 [[ 9.52495696e-01 2.99665737e-01 5.43359449e-02 6.99921659e+02] [-2.99097777e-01 9.54043287e-01 -1.84912458e-02 -1.15311663e+02] [-5.73800363e-02 1.36107176e-03 9.98351481e-01 -4.46380316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.6007140569999 meters 0.018802955549740034 Centerline is valid? [True, True] Translation: X:699.95, Y:-115.32, Z:-44.64 [[ 9.52683665e-01 2.99001070e-01 5.47009541e-02 6.99952428e+02] [-2.98423671e-01 9.54251717e-01 -1.86272345e-02 -1.15321865e+02] [-5.77680424e-02 1.42180247e-03 9.98329020e-01 -4.46391364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.630714057 meters 0.01939767647005924 Centerline is valid? [True, True] Translation: X:699.98, Y:-115.33, Z:-44.64 [[ 9.52708256e-01 2.98861677e-01 5.50334085e-02 6.99982110e+02] [-2.98276132e-01 9.54295335e-01 -1.87553463e-02 -1.15333042e+02] [-5.81233792e-02 1.45322107e-03 9.98308350e-01 -4.46407903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.660714057 meters 0.019512998522688278 Centerline is valid? [True, True] Translation: X:700.01, Y:-115.34, Z:-44.64 [[ 9.52903942e-01 2.98220715e-01 5.51224395e-02 7.00012363e+02] [-2.97631279e-01 9.54495744e-01 -1.88015049e-02 -1.15344060e+02] [-5.82211321e-02 1.50986593e-03 9.98302569e-01 -4.46417710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.6907140569999 meters 0.02093567451056799 Centerline is valid? [True, True] Translation: X:700.04, Y:-115.36, Z:-44.64 [[ 9.53716169e-01 2.95438698e-01 5.60485994e-02 7.00040686e+02] [-2.94823587e-01 9.55360146e-01 -1.91322554e-02 -1.15356364e+02] [-5.91990067e-02 1.72229216e-03 9.98244715e-01 -4.46427135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.7207140569999 meters 0.021446629368579852 Centerline is valid? [True, True] Translation: X:700.07, Y:-115.37, Z:-44.64 [[ 9.54297506e-01 2.93549334e-01 5.60808164e-02 7.00070590e+02] [-2.92930112e-01 9.55942149e-01 -1.91456802e-02 -1.15368455e+02] [-5.92302178e-02 1.84291501e-03 9.98242648e-01 -4.46439992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.750714057 meters 0.020958926431775816 Centerline is valid? [True, True] Translation: X:700.10, Y:-115.38, Z:-44.65 [[ 9.55152267e-01 2.90703104e-01 5.63547006e-02 7.00101440e+02] [-2.90071998e-01 9.56811126e-01 -1.92537199e-02 -1.15378042e+02] [-5.95179206e-02 2.04331358e-03 9.98225146e-01 -4.46458281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.780714057 meters 0.022143976090091617 Centerline is valid? [True, True] Translation: X:700.13, Y:-115.39, Z:-44.65 [[ 9.56083048e-01 2.87624672e-01 5.63671299e-02 7.00129878e+02] [-2.86987682e-01 9.57740587e-01 -1.92623590e-02 -1.15390962e+02] [-5.95254177e-02 2.23974298e-03 9.98224278e-01 -4.46473409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.8107140569999 meters 0.023196131919502403 Centerline is valid? [True, True] Translation: X:700.16, Y:-115.40, Z:-44.65 [[ 9.58407609e-01 2.79935665e-01 5.55956784e-02 7.00158425e+02] [-2.79302891e-01 9.60015011e-01 -1.90019205e-02 -1.15402489e+02] [-5.86920011e-02 2.68355146e-03 9.98272532e-01 -4.46484330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.8407140569999 meters 0.024115879174593173 Centerline is valid? [True, True] Translation: X:700.19, Y:-115.41, Z:-44.65 [[ 9.59461408e-01 2.76293790e-01 5.56376468e-02 7.00186675e+02] [-2.75653894e-01 9.61068820e-01 -1.90172280e-02 -1.15413445e+02] [-5.87259496e-02 2.90956242e-03 9.98269902e-01 -4.46496014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.870714057 meters 0.02444948243819376 Centerline is valid? [True, True] Translation: X:700.22, Y:-115.42, Z:-44.65 [[ 9.60524503e-01 2.72500027e-01 5.60037039e-02 7.00215785e+02] [-2.71845082e-01 9.62150570e-01 -1.91450495e-02 -1.15422834e+02] [-5.91010221e-02 3.16495772e-03 9.98246990e-01 -4.46505237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.900714057 meters 0.02772771369724111 Centerline is valid? [True, True] Translation: X:700.24, Y:-115.44, Z:-44.65 [[ 9.62129142e-01 2.66660312e-01 5.65667026e-02 7.00243172e+02] [-2.65981986e-01 9.63784001e-01 -1.93386263e-02 -1.15435191e+02] [-5.96749270e-02 3.56053202e-03 9.98211514e-01 -4.46503132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.9307140569999 meters 0.03182262960339338 Centerline is valid? [True, True] Translation: X:700.27, Y:-115.45, Z:-44.65 [[ 9.62630748e-01 2.64855962e-01 5.65098427e-02 7.00269670e+02] [-2.64175883e-01 9.64281005e-01 -1.93195582e-02 -1.15449339e+02] [-5.96082681e-02 3.66906312e-03 9.98215103e-01 -4.46511755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.9607140569999 meters 0.033024303766510076 Centerline is valid? [True, True] Translation: X:700.30, Y:-115.46, Z:-44.65 [[ 9.62970670e-01 2.63687781e-01 5.61804463e-02 7.00299729e+02] [-2.63013304e-01 9.64600891e-01 -1.92125693e-02 -1.15459756e+02] [-5.92578283e-02 3.72493593e-03 9.98235761e-01 -4.46529902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.990714057 meters 0.03341775607789259 Centerline is valid? [True, True] Translation: X:700.33, Y:-115.47, Z:-44.65 [[ 9.63160913e-01 2.63075113e-01 5.57901568e-02 7.00330310e+02] [-2.62408171e-01 9.64768069e-01 -1.90925307e-02 -1.15469476e+02] [-5.88473315e-02 3.74938625e-03 9.98259953e-01 -4.46547367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.020714057 meters 0.03037114314574078 Centerline is valid? [True, True] Translation: X:700.36, Y:-115.47, Z:-44.66 [[ 9.63293191e-01 2.62650162e-01 5.55078539e-02 7.00362881e+02] [-2.61988415e-01 9.64883765e-01 -1.90102938e-02 -1.15473494e+02] [-5.85516838e-02 3.77007196e-03 9.98277260e-01 -4.46575156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.0507140569999 meters 0.027860611518787638 Centerline is valid? [True, True] Translation: X:700.40, Y:-115.48, Z:-44.66 [[ 9.63455969e-01 2.62389600e-01 5.38914916e-02 7.00396070e+02] [-2.61764667e-01 9.64954968e-01 -1.84707778e-02 -1.15476628e+02] [-5.68494026e-02 3.68889282e-03 9.98375950e-01 -4.46602440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.0807140569999 meters 0.03152478662929173 Centerline is valid? [True, True] Translation: X:700.42, Y:-115.49, Z:-44.66 [[ 9.63412889e-01 2.62573669e-01 5.37649930e-02 7.00424974e+02] [-2.61951114e-01 9.64904917e-01 -1.84421924e-02 -1.15489658e+02] [-5.67205402e-02 3.68364607e-03 9.98383299e-01 -4.46625197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.1107140569999 meters 0.027361935785295256 Centerline is valid? [True, True] Translation: X:700.46, Y:-115.49, Z:-44.66 [[ 9.63353373e-01 2.62908219e-01 5.31934908e-02 7.00458847e+02] [-2.62298485e-01 9.64813982e-01 -1.82615589e-02 -1.15492387e+02] [-5.61229376e-02 3.63976231e-03 9.98417231e-01 -4.46638139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.140714057 meters 0.0303380389052444 Centerline is valid? [True, True] Translation: X:700.49, Y:-115.50, Z:-44.67 [[ 9.63184908e-01 2.63586896e-01 5.28846039e-02 7.00488253e+02] [-2.62984298e-01 9.64628954e-01 -1.81724969e-02 -1.15503674e+02] [-5.58040522e-02 3.59565428e-03 9.98435265e-01 -4.46661463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.1707140569999 meters 0.0303380389052444 Centerline is valid? [True, True] Translation: X:700.52, Y:-115.51, Z:-44.67 [[ 9.63107839e-01 2.63869279e-01 5.28799965e-02 7.00518974e+02] [-2.63266372e-01 9.64551756e-01 -1.81858938e-02 -1.15514310e+02] [-5.58041922e-02 3.59345202e-03 9.98435265e-01 -4.46680311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.2007140569999 meters 0.03264289783865547 Centerline is valid? [True, True] Translation: X:700.55, Y:-115.52, Z:-44.67 [[ 9.62735580e-01 2.65314786e-01 5.24239182e-02 7.00549419e+02] [-2.64723411e-01 9.64155507e-01 -1.80464384e-02 -1.15520685e+02] [-5.53327964e-02 3.49610987e-03 9.98461846e-01 -4.46693429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.2307140569999 meters 0.028480317037822295 Centerline is valid? [True, True] Translation: X:700.58, Y:-115.52, Z:-44.67 [[ 9.62418189e-01 2.66387454e-01 5.28105560e-02 7.00582441e+02] [-2.65788450e-01 9.63859791e-01 -1.81879682e-02 -1.15522358e+02] [-5.57470180e-02 3.46799557e-03 9.98438903e-01 -4.46704992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.260714057 meters 0.028742006500983262 Centerline is valid? [True, True] Translation: X:700.61, Y:-115.53, Z:-44.67 [[ 9.62208672e-01 2.67044398e-01 5.33081767e-02 7.00613414e+02] [-2.66434216e-01 9.63677956e-01 -1.83740474e-02 -1.15529712e+02] [-5.62786012e-02 3.47654554e-03 9.98409051e-01 -4.46722062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.290714057 meters 0.03334248958654481 Centerline is valid? [True, True] Translation: X:700.64, Y:-115.54, Z:-44.67 [[ 9.62050489e-01 2.67475656e-01 5.39965791e-02 7.00641886e+02] [-2.66849422e-01 9.63558224e-01 -1.86261915e-02 -1.15542513e+02] [-5.70109006e-02 3.51038066e-03 9.98367385e-01 -4.46730459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.3207140569999 meters 0.029182421948973775 Centerline is valid? [True, True] Translation: X:700.68, Y:-115.54, Z:-44.67 [[ 9.62099196e-01 2.67075625e-01 5.50976163e-02 7.00676182e+02] [-2.66422092e-01 9.63668774e-01 -1.90200563e-02 -1.15540113e+02] [-5.81756457e-02 3.61995866e-03 9.98299800e-01 -4.46736216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.3507140569999 meters 0.03072068380586338 Centerline is valid? [True, True] Translation: X:700.71, Y:-115.55, Z:-44.67 [[ 9.62453483e-01 2.65902214e-01 5.45830115e-02 7.00706336e+02] [-2.65258079e-01 9.63993016e-01 -1.88578030e-02 -1.15548465e+02] [-5.76319734e-02 3.67117346e-03 9.98331147e-01 -4.46745782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.380714057 meters 0.03164052335657995 Centerline is valid? [True, True] Translation: X:700.74, Y:-115.56, Z:-44.68 [[ 9.62947228e-01 2.64130787e-01 5.44753438e-02 7.00736643e+02] [-2.63485938e-01 9.64479477e-01 -1.88281449e-02 -1.15555843e+02] [-5.75134438e-02 3.77702288e-03 9.98337587e-01 -4.46768287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.410714057 meters 0.034712623315656166 Centerline is valid? [True, True] Translation: X:700.77, Y:-115.56, Z:-44.68 [[ 9.64411849e-01 2.58950541e-01 5.34266120e-02 7.00766858e+02] [-2.58322275e-01 9.65882262e-01 -1.84677816e-02 -1.15561394e+02] [-5.63860589e-02 4.00926339e-03 9.98400991e-01 -4.46791831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.4407140569999 meters 0.035157749364983525 Centerline is valid? [True, True] Translation: X:700.80, Y:-115.57, Z:-44.68 [[ 9.65366155e-01 2.55278939e-01 5.38595480e-02 7.00796559e+02] [-2.54634615e-01 9.66858062e-01 -1.86199309e-02 -1.15567564e+02] [-5.68278144e-02 4.26054579e-03 9.98374903e-01 -4.46809930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.4707140569999 meters 0.036898532093746765 Centerline is valid? [True, True] Translation: X:700.83, Y:-115.58, Z:-44.68 [[ 9.66315349e-01 2.51660694e-01 5.38659548e-02 7.00825677e+02] [-2.51010612e-01 9.67805185e-01 -1.86224744e-02 -1.15575380e+02] [-5.68182951e-02 4.47425660e-03 9.98374510e-01 -4.46826726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.500714057 meters 0.03648284785895715 Centerline is valid? [True, True] Translation: X:700.86, Y:-115.58, Z:-44.68 [[ 9.67209351e-01 2.48243456e-01 5.36773526e-02 7.00855962e+02] [-2.47592688e-01 9.68686472e-01 -1.85574618e-02 -1.15580337e+02] [-5.66032938e-02 4.65883057e-03 9.98385879e-01 -4.46843364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.530714057 meters 0.040052504889295355 Centerline is valid? [True, True] Translation: X:700.89, Y:-115.59, Z:-44.69 [[ 9.68629176e-01 2.42447775e-01 5.45581899e-02 7.00885500e+02] [-2.41766311e-01 9.70151158e-01 -1.88621906e-02 -1.15585404e+02] [-5.75027873e-02 5.08013576e-03 9.98332420e-01 -4.46850311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.5607140569999 meters 0.041376690908946905 Centerline is valid? [True, True] Translation: X:700.92, Y:-115.59, Z:-44.69 [[ 9.69151238e-01 2.40336728e-01 5.46272377e-02 7.00916256e+02] [-2.39650113e-01 9.70675576e-01 -1.88877918e-02 -1.15592177e+02] [-5.75647555e-02 5.21370311e-03 9.98328161e-01 -4.46861442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.5907140569999 meters 0.039837001556887644 Centerline is valid? [True, True] Translation: X:700.95, Y:-115.60, Z:-44.69 [[ 9.69512916e-01 2.38690090e-01 5.54233312e-02 7.00948360e+02] [-2.37980494e-01 9.71080828e-01 -1.91653476e-02 -1.15595240e+02] [-5.83951129e-02 5.39138025e-03 9.98278991e-01 -4.46880131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.620714057 meters 0.04377287907773329 Centerline is valid? [True, True] Translation: X:700.98, Y:-115.61, Z:-44.69 [[ 9.69668375e-01 2.38008877e-01 5.56328840e-02 7.00977896e+02] [-2.37292639e-01 9.71247657e-01 -1.92403633e-02 -1.15605440e+02] [-5.86126856e-02 5.45549800e-03 9.98265892e-01 -4.46895904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.650714057 meters 0.04962841797626457 Centerline is valid? [True, True] Translation: X:701.01, Y:-115.61, Z:-44.69 [[ 9.69774088e-01 2.37401883e-01 5.63787526e-02 7.01007863e+02] [-2.36664368e-01 9.71395491e-01 -1.95135077e-02 -1.15612459e+02] [-5.93986096e-02 5.58085228e-03 9.98218743e-01 -4.46916205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.6807140569999 meters 0.04746903905467712 Centerline is valid? [True, True] Translation: X:701.04, Y:-115.61, Z:-44.69 [[ 9.69659337e-01 2.37787292e-01 5.67271946e-02 7.01040773e+02] [-2.37040772e-01 9.71301110e-01 -1.96424682e-02 -1.15614859e+02] [-5.97699164e-02 5.59984471e-03 9.98196473e-01 -4.46942539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.7107140569999 meters 0.04540571115411957 Centerline is valid? [True, True] Translation: X:701.07, Y:-115.62, Z:-44.70 [[ 9.69569529e-01 2.38246712e-01 5.63332353e-02 7.01073879e+02] [-2.37510381e-01 9.71188821e-01 -1.95216100e-02 -1.15617074e+02] [-5.93611677e-02 5.54783010e-03 9.98221155e-01 -4.46971108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.740714057 meters 0.04098291796762293 Centerline is valid? [True, True] Translation: X:701.11, Y:-115.61, Z:-44.70 [[ 9.69246684e-01 2.39747005e-01 5.55179233e-02 7.01109412e+02] [-2.39033399e-01 9.70820429e-01 -1.92543318e-02 -1.15610187e+02] [-5.85141024e-02 5.39155937e-03 9.98272023e-01 -4.47011480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.770714057 meters 0.04267520564568533 Centerline is valid? [True, True] Translation: X:701.14, Y:-115.62, Z:-44.70 [[ 9.68944931e-01 2.40961365e-01 5.55278401e-02 7.01139626e+02] [-2.40249341e-01 9.70520120e-01 -1.92601072e-02 -1.15616742e+02] [-5.85318278e-02 5.32145630e-03 9.98271360e-01 -4.47038465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.8007140569999 meters 0.04165509309197012 Centerline is valid? [True, True] Translation: X:701.17, Y:-115.62, Z:-44.71 [[ 9.68682860e-01 2.42007456e-01 5.55509551e-02 7.01170201e+02] [-2.41296409e-01 9.70260118e-01 -1.92703654e-02 -1.15619749e+02] [-5.85624483e-02 5.26262665e-03 9.98269876e-01 -4.47058660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.8307140569999 meters 0.044516052681994475 Centerline is valid? [True, True] Translation: X:701.20, Y:-115.62, Z:-44.71 [[ 9.68189443e-01 2.44021850e-01 5.53402063e-02 7.01199998e+02] [-2.43319586e-01 9.69756223e-01 -1.91949706e-02 -1.15620606e+02] [-5.83505017e-02 5.11901182e-03 9.98283033e-01 -4.47081003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.8607140569999 meters 0.04523106766086622 Centerline is valid? [True, True] Translation: X:701.23, Y:-115.63, Z:-44.71 [[ 9.67827065e-01 2.45399967e-01 5.55844276e-02 7.01228475e+02] [-2.44693934e-01 9.69408740e-01 -1.92762633e-02 -1.15625059e+02] [-5.86144242e-02 5.05491706e-03 9.98267898e-01 -4.47102784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.890714057 meters 0.04260381578644385 Centerline is valid? [True, True] Translation: X:701.26, Y:-115.63, Z:-44.71 [[ 9.67461943e-01 2.46835581e-01 5.55840280e-02 7.01260088e+02] [-2.46132101e-01 9.69044657e-01 -1.92728081e-02 -1.15625450e+02] [-5.86206202e-02 4.96469480e-03 9.98267987e-01 -4.47129361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9207140569999 meters 0.04381565801917897 Centerline is valid? [True, True] Translation: X:701.29, Y:-115.63, Z:-44.71 [[ 9.67059343e-01 2.48451802e-01 5.53888816e-02 7.01288359e+02] [-2.47756073e-01 9.68632135e-01 -1.92019542e-02 -1.15630476e+02] [-5.84222108e-02 4.84649741e-03 9.98280200e-01 -4.47149567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9507140569999 meters 0.04606350543079944 Centerline is valid? [True, True] Translation: X:701.32, Y:-115.63, Z:-44.72 [[ 9.65867547e-01 2.52953268e-01 5.58079287e-02 7.01318168e+02] [-2.52254535e-01 9.67467530e-01 -1.93449923e-02 -1.15631186e+02] [-5.88857379e-02 4.60689717e-03 9.98254099e-01 -4.47180095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9807140569999 meters 0.03833211759887024 Centerline is valid? [True, True] Translation: X:701.35, Y:-115.62, Z:-44.72 [[ 9.65299974e-01 2.55161370e-01 5.55754895e-02 7.01352081e+02] [-2.54472249e-01 9.66888239e-01 -1.92615778e-02 -1.15623638e+02] [-5.86500977e-02 4.45078072e-03 9.98268680e-01 -4.47209252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.010714057 meters 0.03689690233367703 Centerline is valid? [True, True] Translation: X:701.38, Y:-115.62, Z:-44.72 [[ 9.64683746e-01 2.57474645e-01 5.56064413e-02 7.01382814e+02] [-2.56788705e-01 9.66275441e-01 -1.92700076e-02 -1.15624896e+02] [-5.86926770e-02 4.31035712e-03 9.98266793e-01 -4.47235923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.040714057 meters 0.03719920926877432 Centerline is valid? [True, True] Translation: X:701.41, Y:-115.63, Z:-44.73 [[ 9.64119779e-01 2.59607057e-01 5.54727617e-02 7.01411512e+02] [-2.58928056e-01 9.65705339e-01 -1.92213526e-02 -1.15628599e+02] [-5.85603409e-02 4.16823186e-03 9.98275169e-01 -4.47262122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.0707140569999 meters 0.039270193396873015 Centerline is valid? [True, True] Translation: X:701.44, Y:-115.63, Z:-44.73 [[ 9.63032177e-01 2.63597891e-01 5.55443788e-02 7.01442284e+02] [-2.62923924e-01 9.64624656e-01 -1.92427447e-02 -1.15629686e+02] [-5.86518242e-02 3.92743633e-03 9.98270774e-01 -4.47294981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.1007140569999 meters 0.036966698391254924 Centerline is valid? [True, True] Translation: X:701.47, Y:-115.63, Z:-44.73 [[ 9.62460542e-01 2.65821177e-01 5.48526002e-02 7.01473435e+02] [-2.65167580e-01 9.64015088e-01 -1.90016998e-02 -1.15630751e+02] [-5.79297884e-02 3.74325505e-03 9.98313642e-01 -4.47317133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.130714057 meters 0.03610498469247597 Centerline is valid? [True, True] Translation: X:701.50, Y:-115.63, Z:-44.73 [[ 9.61911557e-01 2.67739328e-01 5.51526013e-02 7.01503372e+02] [-2.67081756e-01 9.63484486e-01 -1.91044732e-02 -1.15634466e+02] [-5.82536946e-02 3.64655992e-03 9.98295152e-01 -4.47334930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.160714057 meters 0.03651625169160931 Centerline is valid? [True, True] Translation: X:701.53, Y:-115.64, Z:-44.73 [[ 9.60663931e-01 2.71950330e-01 5.62834833e-02 7.01533785e+02] [-2.71272807e-01 9.62305073e-01 -1.94938520e-02 -1.15636392e+02] [-5.94632410e-02 3.45886204e-03 9.98224503e-01 -4.47340396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.1907140569999 meters 0.03592082101133895 Centerline is valid? [True, True] Translation: X:701.56, Y:-115.64, Z:-44.73 [[ 9.60231043e-01 2.73237416e-01 5.74252536e-02 7.01563086e+02] [-2.72534525e-01 9.61940456e-01 -1.98869610e-02 -1.15640922e+02] [-6.06735365e-02 3.44571314e-03 9.98151716e-01 -4.47345392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.2207140569999 meters 0.03704794959853083 Centerline is valid? [True, True] Translation: X:701.59, Y:-115.65, Z:-44.73 [[ 9.59623912e-01 2.75066770e-01 5.88236368e-02 7.01589714e+02] [-2.74333555e-01 9.61419125e-01 -2.03560101e-02 -1.15648361e+02] [-6.21534314e-02 3.39681664e-03 9.98060826e-01 -4.47345809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.250714057 meters 0.03614121119519896 Centerline is valid? [True, True] Translation: X:701.62, Y:-115.65, Z:-44.74 [[ 9.59243767e-01 2.76172016e-01 5.98365544e-02 7.01618927e+02] [-2.75416019e-01 9.61102302e-01 -2.06973951e-02 -1.15653171e+02] [-6.32250915e-02 3.37390163e-03 9.97993589e-01 -4.47361257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.280714057 meters 0.03563316523177249 Centerline is valid? [True, True] Translation: X:701.65, Y:-115.66, Z:-44.74 [[ 9.58804914e-01 2.77898046e-01 5.88711575e-02 7.01648578e+02] [-2.77170392e-01 9.60605265e-01 -2.03493978e-02 -1.15655606e+02] [-6.22070018e-02 3.19376084e-03 9.98058159e-01 -4.47390989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.3107140569999 meters 0.0358657997724395 Centerline is valid? [True, True] Translation: X:701.68, Y:-115.66, Z:-44.74 [[ 9.58328943e-01 2.79481624e-01 5.91240956e-02 7.01677241e+02] [-2.78750989e-01 9.60146037e-01 -2.04321559e-02 -1.15660800e+02] [-6.24781783e-02 3.09982626e-03 9.98041516e-01 -4.47412612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.3407140569999 meters 0.03476435785344196 Centerline is valid? [True, True] Translation: X:701.71, Y:-115.67, Z:-44.75 [[ 9.58005574e-01 2.80975364e-01 5.72552606e-02 7.01705061e+02] [-2.80293167e-01 9.59710591e-01 -1.97818591e-02 -1.15666200e+02] [-6.05066950e-02 2.90287292e-03 9.98163570e-01 -4.47456603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.370714057 meters 0.03354232687036344 Centerline is valid? [True, True] Translation: X:701.73, Y:-115.67, Z:-44.75 [[ 9.57768088e-01 2.81729661e-01 5.75211889e-02 7.01734000e+02] [-2.81042773e-01 9.59489551e-01 -1.98686303e-02 -1.15671857e+02] [-6.07885622e-02 2.86362565e-03 9.98146558e-01 -4.47477915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.400714057 meters 0.03219443450791902 Centerline is valid? [True, True] Translation: X:701.76, Y:-115.68, Z:-44.75 [[ 9.57399800e-01 2.82922638e-01 5.77962208e-02 7.01762970e+02] [-2.82232236e-01 9.59138683e-01 -1.99487098e-02 -1.15676379e+02] [-6.10785327e-02 2.78693413e-03 9.98129073e-01 -4.47496212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.4307140569999 meters 0.030622177688001122 Centerline is valid? [True, True] Translation: X:701.79, Y:-115.68, Z:-44.75 [[ 9.56289659e-01 2.86602140e-01 5.80456920e-02 7.01793685e+02] [-2.85913459e-01 9.58046304e-01 -2.00193466e-02 -1.15679585e+02] [-6.13480482e-02 2.54824958e-03 9.98113182e-01 -4.47516338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.4607140569999 meters 0.03085760222741343 Centerline is valid? [True, True] Translation: X:701.82, Y:-115.69, Z:-44.75 [[ 9.55719114e-01 2.88446609e-01 5.83054737e-02 7.01820200e+02] [-2.87755254e-01 9.57492874e-01 -2.01074782e-02 -1.15688531e+02] [-6.16270095e-02 2.43939484e-03 9.98096268e-01 -4.47534272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.490714057 meters 0.03000982436179138 Centerline is valid? [True, True] Translation: X:701.85, Y:-115.70, Z:-44.75 [[ 9.55275831e-01 2.89778797e-01 5.89604484e-02 7.01848460e+02] [-2.89074752e-01 9.57090703e-01 -2.03266605e-02 -1.15695829e+02] [-6.23207323e-02 2.37359051e-03 9.98053352e-01 -4.47549185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.520714057 meters 0.029716236353725698 Centerline is valid? [True, True] Translation: X:701.88, Y:-115.70, Z:-44.76 [[ 9.54978925e-01 2.90569993e-01 5.98692878e-02 7.01876206e+02] [-2.89846672e-01 9.56850874e-01 -2.06230790e-02 -1.15703516e+02] [-6.32784283e-02 2.34169205e-03 9.97993165e-01 -4.47567246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.5507140569999 meters 0.02941648038625357 Centerline is valid? [True, True] Translation: X:701.90, Y:-115.71, Z:-44.76 [[ 9.54834772e-01 2.90962619e-01 6.02603704e-02 7.01903569e+02] [-2.90231671e-01 9.56731622e-01 -2.07407800e-02 -1.15712240e+02] [-6.36877936e-02 2.31454997e-03 9.97967188e-01 -4.47580768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.5807140569999 meters 0.029752602483439576 Centerline is valid? [True, True] Translation: X:701.93, Y:-115.72, Z:-44.76 [[ 9.54865752e-01 2.90626908e-01 6.13791240e-02 7.01930287e+02] [-2.89868978e-01 9.56833535e-01 -2.11083499e-02 -1.15721679e+02] [-6.48642587e-02 2.36373648e-03 9.97891297e-01 -4.47592748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.6107140569999 meters 0.030143832183443152 Centerline is valid? [True, True] Translation: X:701.96, Y:-115.73, Z:-44.76 [[ 9.55122628e-01 2.89759413e-01 6.14837237e-02 7.01957157e+02] [-2.88998219e-01 9.57096480e-01 -2.11271463e-02 -1.15731856e+02] [-6.49676450e-02 2.41032883e-03 9.97884460e-01 -4.47620038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.640714057 meters 0.03035363986686446 Centerline is valid? [True, True] Translation: X:701.98, Y:-115.74, Z:-44.77 [[ 9.55889250e-01 2.87383237e-01 6.07175139e-02 7.01983488e+02] [-2.86637128e-01 9.57812351e-01 -2.08484172e-02 -1.15744433e+02] [-6.41474704e-02 2.52488406e-03 9.97937236e-01 -4.47656809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.6707140569999 meters 0.03146363390110776 Centerline is valid? [True, True] Translation: X:702.01, Y:-115.76, Z:-44.77 [[ 9.56415797e-01 2.85792584e-01 5.99284799e-02 7.02008121e+02] [-2.85062912e-01 9.58287991e-01 -2.05733431e-02 -1.15756756e+02] [-6.33084515e-02 2.59328333e-03 9.97990639e-01 -4.47676739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.7007140569999 meters 0.03199410984407593 Centerline is valid? [True, True] Translation: X:702.04, Y:-115.77, Z:-44.77 [[ 9.57043846e-01 2.83548481e-01 6.05585381e-02 7.02035594e+02] [-2.82799516e-01 9.58953927e-01 -2.07797855e-02 -1.15768321e+02] [-6.39649246e-02 2.76124060e-03 9.97948327e-01 -4.47702941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.7307140569999 meters 0.03496376664863769 Centerline is valid? [True, True] Translation: X:702.06, Y:-115.79, Z:-44.77 [[ 9.58466930e-01 2.78962739e-01 5.93374567e-02 7.02060657e+02] [-2.78235077e-01 9.60297231e-01 -2.03585630e-02 -1.15785864e+02] [-6.26608759e-02 3.00324759e-03 9.98030358e-01 -4.47729557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.760714057 meters 0.03431229783257597 Centerline is valid? [True, True] Translation: X:702.09, Y:-115.79, Z:-44.78 [[ 9.59290943e-01 2.76246209e-01 5.87274895e-02 7.02088893e+02] [-2.75528449e-01 9.61081750e-01 -2.01480525e-02 -1.15794442e+02] [-6.20077416e-02 3.14675022e-03 9.98070708e-01 -4.47754876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.790714057 meters 0.035582637011165916 Centerline is valid? [True, True] Translation: X:702.11, Y:-115.81, Z:-44.78 [[ 9.60119105e-01 2.73389160e-01 5.85633959e-02 7.02113977e+02] [-2.72670269e-01 9.61897785e-01 -2.00892065e-02 -1.15807275e+02] [-6.18241720e-02 3.31953406e-03 9.98081536e-01 -4.47766833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.8207140569999 meters 0.03445777405976295 Centerline is valid? [True, True] Translation: X:702.14, Y:-115.82, Z:-44.78 [[ 9.60914226e-01 2.70572604e-01 5.86030415e-02 7.02142077e+02] [-2.69847850e-01 9.62693217e-01 -2.00974533e-02 -1.15816657e+02] [-6.18545708e-02 3.49802397e-03 9.98079043e-01 -4.47782664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.8507140569999 meters 0.03795382428448867 Centerline is valid? [True, True] Translation: X:702.17, Y:-115.83, Z:-44.78 [[ 9.62476713e-01 2.64768664e-01 5.94653830e-02 7.02166525e+02] [-2.64011490e-01 9.64303966e-01 -2.03910497e-02 -1.15834940e+02] [-6.27416157e-02 3.92636612e-03 9.98022081e-01 -4.47783818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.880714057 meters 0.038266966348105697 Centerline is valid? [True, True] Translation: X:702.19, Y:-115.85, Z:-44.78 [[ 9.63284643e-01 2.61642912e-01 6.02136385e-02 7.02194245e+02] [-2.60860361e-01 9.65155678e-01 -2.06491899e-02 -1.15846455e+02] [-6.35182492e-02 4.18369605e-03 9.97971908e-01 -4.47804244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.910714057 meters 0.041272809056644856 Centerline is valid? [True, True] Translation: X:702.22, Y:-115.86, Z:-44.78 [[ 9.63927004e-01 2.59214713e-01 6.04356167e-02 7.02219842e+02] [-2.58421726e-01 9.65809887e-01 -2.07237531e-02 -1.15862429e+02] [-6.37412179e-02 4.35830886e-03 9.97956944e-01 -4.47811801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.9407140569999 meters 0.04172150827716519 Centerline is valid? [True, True] Translation: X:702.25, Y:-115.87, Z:-44.79 [[ 9.65227167e-01 2.54165869e-01 6.11246899e-02 7.02248339e+02] [-2.53344675e-01 9.67149007e-01 -2.09588761e-02 -1.15873694e+02] [-6.44437141e-02 4.74446192e-03 9.97910065e-01 -4.47855842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.9707140569999 meters 0.04197263429986745 Centerline is valid? [True, True] Translation: X:702.28, Y:-115.88, Z:-44.79 [[ 9.65826487e-01 2.51997046e-01 6.06356747e-02 7.02277230e+02] [-2.51184741e-01 9.67715853e-01 -2.07907390e-02 -1.15883461e+02] [-6.39173084e-02 4.84949017e-03 9.97943415e-01 -4.47885260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.000714057 meters 0.04304885927725841 Centerline is valid? [True, True] Translation: X:702.30, Y:-115.89, Z:-44.79 [[ 9.66293440e-01 2.50193458e-01 6.06648347e-02 7.02304867e+02] [-2.49376863e-01 9.68183105e-01 -2.08003766e-02 -1.15893051e+02] [-6.39387861e-02 4.97086131e-03 9.97941442e-01 -4.47921583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.030714057 meters 0.05059127507353242 Centerline is valid? [True, True] Translation: X:702.33, Y:-115.91, Z:-44.80 [[ 9.66990221e-01 2.47363361e-01 6.11660054e-02 7.02330145e+02] [-2.46527803e-01 9.68908847e-01 -2.09687393e-02 -1.15909769e+02] [-6.44511816e-02 5.19744488e-03 9.97907326e-01 -4.47957829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.0607140569999 meters 0.04934421025213714 Centerline is valid? [True, True] Translation: X:702.36, Y:-115.92, Z:-44.80 [[ 9.67145747e-01 2.46725176e-01 6.12845092e-02 7.02358714e+02] [-2.45885289e-01 9.69071283e-01 -2.10064822e-02 -1.15915792e+02] [-6.45718861e-02 5.24737068e-03 9.97899262e-01 -4.47964864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.0907140569999 meters 0.04934421025213714 Centerline is valid? [True, True] Translation: X:702.38, Y:-115.92, Z:-44.80 [[ 9.67171240e-01 2.46624037e-01 6.12892957e-02 7.02384782e+02] [-2.45784827e-01 9.69097071e-01 -2.09925081e-02 -1.15924624e+02] [-6.45725341e-02 5.23937109e-03 9.97899262e-01 -4.47980832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.120714057 meters 0.046882031046552745 Centerline is valid? [True, True] Translation: X:702.41, Y:-115.93, Z:-44.81 [[ 9.67243991e-01 2.45435354e-01 6.48116368e-02 7.02414587e+02] [-2.44494608e-01 9.69396677e-01 -2.21916360e-02 -1.15926721e+02] [-6.82747974e-02 5.61863084e-03 9.97650732e-01 -4.48064902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.150714057 meters 0.048857279365048044 Centerline is valid? [True, True] Translation: X:702.44, Y:-115.94, Z:-44.81 [[ 9.66774144e-01 2.46435248e-01 6.79516185e-02 7.02440637e+02] [-2.45403746e-01 9.69141821e-01 -2.32622578e-02 -1.15937718e+02] [-7.15873955e-02 5.81376759e-03 9.97417388e-01 -4.48078252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.1807140569999 meters 0.05918610056351875 Centerline is valid? [True, True] Translation: X:702.46, Y:-115.97, Z:-44.80 [[ 9.66649967e-01 2.47063662e-01 6.74343254e-02 7.02462695e+02] [-2.46049924e-01 9.68982396e-01 -2.30770834e-02 -1.15965135e+02] [-7.10441829e-02 5.71525128e-03 9.97456796e-01 -4.47964792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.2107140569999 meters 0.036705051478301484 Centerline is valid? [True, True] Translation: X:702.50, Y:-115.93, Z:-44.82 [[ 9.68465256e-01 2.45331240e-01 4.34468720e-02 7.02504170e+02] [-2.44909413e-01 9.69432050e-01 -1.48620397e-02 -1.15927821e+02] [-4.57649128e-02 3.75282112e-03 9.98945188e-01 -4.48239502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.240714057 meters 0.040437860038736596 Centerline is valid? [True, True] Translation: X:702.53, Y:-115.95, Z:-44.81 [[ 9.65797462e-01 2.52773612e-01 5.77993427e-02 7.02529151e+02] [-2.52041524e-01 9.67514983e-01 -1.97440346e-02 -1.15948347e+02] [-6.09125010e-02 4.50090407e-03 9.98132962e-01 -4.48079558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.270714057 meters 0.0401663632751936 Centerline is valid? [True, True] Translation: X:702.56, Y:-115.94, Z:-44.82 [[ 9.64726520e-01 2.54378674e-01 6.77807584e-02 7.02560614e+02] [-2.53375659e-01 9.67090934e-01 -2.31495249e-02 -1.15944734e+02] [-7.14389024e-02 5.15896626e-03 9.97431636e-01 -4.48214727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.3007140569999 meters 0.04459147521693837 Centerline is valid? [True, True] Translation: X:702.58, Y:-115.96, Z:-44.81 [[ 9.66373568e-01 2.51734981e-01 5.24559550e-02 7.02584450e+02] [-2.51131144e-01 9.67787380e-01 -1.79090771e-02 -1.15964982e+02] [-5.52745524e-02 4.13353468e-03 9.98462637e-01 -4.48103977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.3307140569999 meters 0.04157292765064954 Centerline is valid? [True, True] Translation: X:702.61, Y:-115.97, Z:-44.81 [[ 9.64798392e-01 2.55868914e-01 6.07878424e-02 7.02614666e+02] [-2.55066131e-01 9.66700946e-01 -2.07496912e-02 -1.15968461e+02] [-6.40728657e-02 4.51434901e-03 9.97935012e-01 -4.48137630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.3607140569999 meters 0.039727874057458 Centerline is valid? [True, True] Translation: X:702.64, Y:-115.98, Z:-44.82 [[ 9.64253112e-01 2.57887253e-01 6.09105904e-02 7.02643676e+02] [-2.57085265e-01 9.66165051e-01 -2.07908605e-02 -1.15975538e+02] [-6.42113816e-02 4.38843664e-03 9.97926671e-01 -4.48151522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.390714057 meters 0.04253038552512169 Centerline is valid? [True, True] Translation: X:702.67, Y:-115.98, Z:-44.82 [[ 9.64045513e-01 2.58679421e-01 6.08375409e-02 7.02670337e+02] [-2.57881126e-01 9.65953534e-01 -2.07628257e-02 -1.15981583e+02] [-6.41371533e-02 4.32745538e-03 9.97931710e-01 -4.48220855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4207140569999 meters 0.04275238652928494 Centerline is valid? [True, True] Translation: X:702.70, Y:-115.99, Z:-44.82 [[ 9.63797458e-01 2.59848456e-01 5.97765867e-02 7.02698553e+02] [-2.59080554e-01 9.65640416e-01 -2.03924658e-02 -1.15988611e+02] [-6.30216388e-02 4.16725550e-03 9.98003460e-01 -4.48235666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4507140569999 meters 0.04071679812418795 Centerline is valid? [True, True] Translation: X:702.73, Y:-115.99, Z:-44.83 [[ 9.63265195e-01 2.61646657e-01 6.05077787e-02 7.02728184e+02] [-2.60863644e-01 9.65155043e-01 -2.06373793e-02 -1.15992911e+02] [-6.37990891e-02 4.09498958e-03 9.97954361e-01 -4.48257795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4807140569999 meters 0.03949289964010249 Centerline is valid? [True, True] Translation: X:702.76, Y:-116.00, Z:-44.83 [[ 9.62578994e-01 2.64112932e-01 6.07127714e-02 7.02758081e+02] [-2.63329618e-01 9.64483703e-01 -2.07050234e-02 -1.15999428e+02] [-6.40249431e-02 3.94274963e-03 9.97940510e-01 -4.48262647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.510714057 meters 0.03904605584830344 Centerline is valid? [True, True] Translation: X:702.79, Y:-116.00, Z:-44.83 [[ 9.61021773e-01 2.69319821e-01 6.24818861e-02 7.02787894e+02] [-2.68501152e-01 9.63043687e-01 -2.13069748e-02 -1.16002365e+02] [-6.59111766e-02 3.70000826e-03 9.97818634e-01 -4.48262862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.540714057 meters 0.03799762230614848 Centerline is valid? [True, True] Translation: X:702.82, Y:-116.01, Z:-44.83 [[ 9.59995889e-01 2.72649847e-01 6.37961911e-02 7.02817229e+02] [-2.71803794e-01 9.62106808e-01 -2.17528541e-02 -1.16008476e+02] [-6.73096621e-02 3.54260369e-03 9.97725844e-01 -4.48263803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.5707140569999 meters 0.03560669147015711 Centerline is valid? [True, True] Translation: X:702.85, Y:-116.01, Z:-44.83 [[ 9.57894422e-01 2.79501907e-01 6.57035750e-02 7.02847788e+02] [-2.78620623e-01 9.60139966e-01 -2.24007793e-02 -1.16010332e+02] [-6.93456888e-02 3.15121061e-03 9.97587713e-01 -4.48264340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.6007140569999 meters 0.03552511605123895 Centerline is valid? [True, True] Translation: X:702.88, Y:-116.02, Z:-44.83 [[ 9.56676225e-01 2.83774765e-01 6.51343473e-02 7.02877476e+02] [-2.82918690e-01 9.58886832e-01 -2.22049038e-02 -1.16017405e+02] [-6.87576593e-02 2.81517936e-03 9.97629420e-01 -4.48268681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.630714057 meters 0.03370460371212344 Centerline is valid? [True, True] Translation: X:702.91, Y:-116.02, Z:-44.83 [[ 9.55941316e-01 2.86206145e-01 6.52858491e-02 7.02905186e+02] [-2.85351925e-01 9.58164419e-01 -2.22536768e-02 -1.16023032e+02] [-6.89237167e-02 2.64376641e-03 9.97618430e-01 -4.48307923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.660714057 meters 0.031606536388635025 Centerline is valid? [True, True] Translation: X:702.93, Y:-116.03, Z:-44.83 [[ 9.55150378e-01 2.88858460e-01 6.51808684e-02 7.02934509e+02] [-2.88013605e-01 9.57368699e-01 -2.22111937e-02 -1.16027143e+02] [-6.88180144e-02 2.44205320e-03 9.97626241e-01 -4.48341159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.6907140569999 meters 0.029533896840317663 Centerline is valid? [True, True] Translation: X:702.96, Y:-116.03, Z:-44.84 [[ 9.54240993e-01 2.92149743e-01 6.38173580e-02 7.02964013e+02] [-2.91348180e-01 9.56370182e-01 -2.17327443e-02 -1.16032320e+02] [-6.73822340e-02 2.14520439e-03 9.97724928e-01 -4.48372188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.7207140569999 meters 0.029963979600283443 Centerline is valid? [True, True] Translation: X:702.99, Y:-116.04, Z:-44.84 [[ 9.54105294e-01 2.92574063e-01 6.39023182e-02 7.02990126e+02] [-2.91771519e-01 9.56240526e-01 -2.17585977e-02 -1.16042453e+02] [-6.74719877e-02 2.11511680e-03 9.97718927e-01 -4.48381696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.750714057 meters 0.029982870012702407 Centerline is valid? [True, True] Translation: X:703.02, Y:-116.05, Z:-44.84 [[ 9.54348961e-01 2.91688135e-01 6.43124576e-02 7.03017149e+02] [-2.90873782e-01 9.56510984e-01 -2.18902087e-02 -1.16052263e+02] [-6.79006863e-02 2.18409018e-03 9.97689695e-01 -4.48397470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.780714057 meters 0.03053254999107279 Centerline is valid? [True, True] Translation: X:703.04, Y:-116.06, Z:-44.84 [[ 9.55154749e-01 2.89090860e-01 6.40771451e-02 7.03043378e+02] [-2.88277812e-01 9.57298795e-01 -2.17926485e-02 -1.16064881e+02] [-6.76410293e-02 2.34333252e-03 9.97706971e-01 -4.48391874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.8107140569999 meters 0.031102164071889996 Centerline is valid? [True, True] Translation: X:703.07, Y:-116.08, Z:-44.84 [[ 9.55853845e-01 2.86726489e-01 6.42755664e-02 7.03069543e+02] [-2.85904253e-01 9.58009218e-01 -2.18425168e-02 -1.16076753e+02] [-6.78394133e-02 2.50159581e-03 9.97693117e-01 -4.48407650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.8407140569999 meters 0.03146723706013989 Centerline is valid? [True, True] Translation: X:703.10, Y:-116.09, Z:-44.84 [[ 9.56408868e-01 2.84866409e-01 6.42900158e-02 7.03095941e+02] [-2.84040799e-01 9.58563654e-01 -2.18299364e-02 -1.16088108e+02] [-6.78446880e-02 2.61735735e-03 9.97692462e-01 -4.48421125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.870714057 meters 0.03239693192430667 Centerline is valid? [True, True] Translation: X:703.12, Y:-116.10, Z:-44.84 [[ 9.57199777e-01 2.82102703e-01 6.47043460e-02 7.03122391e+02] [-2.81261173e-01 9.59380077e-01 -2.19549580e-02 -1.16100995e+02] [-6.82696135e-02 2.81646066e-03 9.97662933e-01 -4.48441913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.900714057 meters 0.03468885811580625 Centerline is valid? [True, True] Translation: X:703.15, Y:-116.11, Z:-44.84 [[ 9.56943089e-01 2.83285313e-01 6.33194706e-02 7.03148924e+02] [-2.82482417e-01 9.59031967e-01 -2.14795545e-02 -1.16113243e+02] [-6.68102387e-02 2.66807414e-03 9.97762133e-01 -4.48419770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.9307140569999 meters 0.03265803029769992 Centerline is valid? [True, True] Translation: X:703.18, Y:-116.12, Z:-44.85 [[ 9.57436756e-01 2.81355705e-01 6.44501775e-02 7.03176749e+02] [-2.80520537e-01 9.59599350e-01 -2.18475529e-02 -1.16122728e+02] [-6.79932821e-02 2.83805177e-03 9.97681742e-01 -4.48461886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.9607140569999 meters 0.03293439691162641 Centerline is valid? [True, True] Translation: X:703.20, Y:-116.13, Z:-44.85 [[ 9.57447702e-01 2.81394806e-01 6.41159938e-02 7.03202257e+02] [-2.80568584e-01 9.59587945e-01 -2.17312017e-02 -1.16133604e+02] [-6.76399821e-02 2.81755555e-03 9.97705815e-01 -4.48475212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.990714057 meters 0.03428796269870066 Centerline is valid? [True, True] Translation: X:703.23, Y:-116.14, Z:-44.85 [[ 9.57227306e-01 2.82268420e-01 6.35643245e-02 7.03228672e+02] [-2.81458814e-01 9.59331598e-01 -2.15364879e-02 -1.16144405e+02] [-6.70583354e-02 2.72457496e-03 9.97745336e-01 -4.48474771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.020714057 meters 0.03248780977341901 Centerline is valid? [True, True] Translation: X:703.26, Y:-116.15, Z:-44.85 [[ 9.57563351e-01 2.80922325e-01 6.44598809e-02 7.03255386e+02] [-2.80087890e-01 9.59726301e-01 -2.18220249e-02 -1.16154908e+02] [-6.79941371e-02 2.84153918e-03 9.97681674e-01 -4.48503454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.0507140569999 meters 0.03259474468803551 Centerline is valid? [True, True] Translation: X:703.28, Y:-116.16, Z:-44.85 [[ 9.57725730e-01 2.80412550e-01 6.42668516e-02 7.03282057e+02] [-2.79583172e-01 9.59875340e-01 -2.17389549e-02 -1.16164317e+02] [-6.77840417e-02 2.85202620e-03 9.97695940e-01 -4.48522316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.0807140569999 meters 0.03654512565813147 Centerline is valid? [True, True] Translation: X:703.31, Y:-116.18, Z:-44.85 [[ 9.57055801e-01 2.83084605e-01 6.25084038e-02 7.03308664e+02] [-2.82306732e-01 9.59091485e-01 -2.11289727e-02 -1.16177576e+02] [-6.59325647e-02 2.57506270e-03 9.97820758e-01 -4.48486423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.1107140569999 meters 0.03482474501716494 Centerline is valid? [True, True] Translation: X:703.34, Y:-116.19, Z:-44.85 [[ 9.57340211e-01 2.82223178e-01 6.20467488e-02 7.03335027e+02] [-2.81455150e-01 9.59345222e-01 -2.09700654e-02 -1.16187441e+02] [-6.54424905e-02 2.61210979e-03 9.97852924e-01 -4.48525421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.140714057 meters 0.03704629543880714 Centerline is valid? [True, True] Translation: X:703.36, Y:-116.20, Z:-44.85 [[ 9.56766803e-01 2.84473636e-01 6.05973170e-02 7.03360392e+02] [-2.83745981e-01 9.58680872e-01 -2.04744797e-02 -1.16200850e+02] [-6.39179383e-02 2.39505731e-03 9.97952284e-01 -4.48521505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.1707140569999 meters 0.03271255605624484 Centerline is valid? [True, True] Translation: X:703.39, Y:-116.21, Z:-44.86 [[ 9.57223197e-01 2.82732479e-01 6.15312617e-02 7.03387342e+02] [-2.81979005e-01 9.59195429e-01 -2.07838602e-02 -1.16209207e+02] [-6.48967773e-02 2.54426916e-03 9.97888739e-01 -4.48575632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.2007140569999 meters 0.03295819948954456 Centerline is valid? [True, True] Translation: X:703.41, Y:-116.22, Z:-44.86 [[ 9.56800344e-01 2.83993274e-01 6.22970508e-02 7.03413441e+02] [-2.83224611e-01 9.58823080e-01 -2.10266945e-02 -1.16220032e+02] [-6.57032900e-02 2.47429057e-03 9.97836137e-01 -4.48583573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.2307140569999 meters 0.031842084604168236 Centerline is valid? [True, True] Translation: X:703.44, Y:-116.23, Z:-44.86 [[ 9.55819847e-01 2.87225464e-01 6.25296168e-02 7.03441752e+02] [-2.86458314e-01 9.57860348e-01 -2.10994645e-02 -1.16230260e+02] [-6.59549440e-02 2.25515835e-03 9.97820054e-01 -4.48589291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.260714057 meters 0.03148091206519808 Centerline is valid? [True, True] Translation: X:703.47, Y:-116.24, Z:-44.86 [[ 9.55373607e-01 2.88773562e-01 6.22181725e-02 7.03468643e+02] [-2.88017646e-01 9.57395050e-01 -2.09893789e-02 -1.16241016e+02] [-6.56285480e-02 2.13276704e-03 9.97841844e-01 -4.48610789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.290714057 meters 0.030442464121786215 Centerline is valid? [True, True] Translation: X:703.50, Y:-116.25, Z:-44.86 [[ 9.55019809e-01 2.90143125e-01 6.12709743e-02 7.03495940e+02] [-2.89413947e-01 9.56981191e-01 -2.06535144e-02 -1.16249549e+02] [-6.46276452e-02 1.99184079e-03 9.97907461e-01 -4.48633276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.3207140569999 meters 0.030000521831986204 Centerline is valid? [True, True] Translation: X:703.52, Y:-116.26, Z:-44.87 [[ 9.54728791e-01 2.91464174e-01 5.95110917e-02 7.03522095e+02] [-2.90779904e-01 9.56579991e-01 -2.00441781e-02 -1.16262832e+02] [-6.27692794e-02 1.83212443e-03 9.98026383e-01 -4.48657104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.3507140569999 meters 0.03063423594516452 Centerline is valid? [True, True] Translation: X:703.55, Y:-116.28, Z:-44.87 [[ 9.54773884e-01 2.91345060e-01 5.93707484e-02 7.03546141e+02] [-2.90664778e-01 9.56616298e-01 -1.99811094e-02 -1.16275810e+02] [-6.26164231e-02 1.82045598e-03 9.98036006e-01 -4.48668212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.380714057 meters 0.030232708953254958 Centerline is valid? [True, True] Translation: X:703.57, Y:-116.29, Z:-44.87 [[ 9.54965821e-01 2.90875284e-01 5.85819916e-02 7.03572288e+02] [-2.90212629e-01 9.56759250e-01 -1.97070335e-02 -1.16285744e+02] [-6.17811513e-02 1.81830962e-03 9.98088064e-01 -4.48683620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.410714057 meters 0.030363972714029613 Centerline is valid? [True, True] Translation: X:703.60, Y:-116.30, Z:-44.87 [[ 9.55156464e-01 2.90293225e-01 5.83607086e-02 7.03598715e+02] [-2.89635614e-01 9.56935990e-01 -1.96143232e-02 -1.16298284e+02] [-6.15413676e-02 1.83140791e-03 9.98102853e-01 -4.48690831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.4407140569999 meters 0.03015287896695558 Centerline is valid? [True, True] Translation: X:703.62, Y:-116.31, Z:-44.87 [[ 9.55718458e-01 2.88518833e-01 5.79578554e-02 7.03624174e+02] [-2.87867994e-01 9.57472302e-01 -1.94630311e-02 -1.16312920e+02] [-6.11084922e-02 1.91696645e-03 9.98129289e-01 -4.48698701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.4707140569999 meters 0.030762674267227813 Centerline is valid? [True, True] Translation: X:703.65, Y:-116.33, Z:-44.87 [[ 9.55857541e-01 2.88046141e-01 5.80153562e-02 7.03648803e+02] [-2.87394119e-01 9.57614578e-01 -1.94663736e-02 -1.16326776e+02] [-6.11635646e-02 1.93380787e-03 9.98125883e-01 -4.48710640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.500714057 meters 0.03187706163539071 Centerline is valid? [True, True] Translation: X:703.67, Y:-116.34, Z:-44.87 [[ 9.55801354e-01 2.88271463e-01 5.78215816e-02 7.03673154e+02] [-2.87624723e-01 9.57546832e-01 -1.93928663e-02 -1.16341274e+02] [-6.09572822e-02 1.90481150e-03 9.98138558e-01 -4.48714601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.530714057 meters 0.03087776244922043 Centerline is valid? [True, True] Translation: X:703.70, Y:-116.35, Z:-44.87 [[ 9.55486880e-01 2.89132049e-01 5.87152474e-02 7.03699697e+02] [-2.88467159e-01 9.57287393e-01 -1.96861967e-02 -1.16354280e+02] [-6.18992765e-02 1.87248202e-03 9.98080645e-01 -4.48716081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.5607140569999 meters 0.031700859583038726 Centerline is valid? [True, True] Translation: X:703.72, Y:-116.37, Z:-44.87 [[ 9.55074092e-01 2.90468992e-01 5.88323332e-02 7.03724260e+02] [-2.89804877e-01 9.56882758e-01 -1.97109369e-02 -1.16367326e+02] [-6.20210612e-02 1.77550809e-03 9.98073262e-01 -4.48730100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.5907140569999 meters 0.0303761201630533 Centerline is valid? [True, True] Translation: X:703.75, Y:-116.38, Z:-44.87 [[ 9.54721714e-01 2.91721874e-01 5.83506409e-02 7.03750946e+02] [-2.91071472e-01 9.56501727e-01 -1.95408540e-02 -1.16376900e+02] [-6.15129833e-02 1.67187064e-03 9.98104883e-01 -4.48749940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.620714057 meters 0.02927043899161774 Centerline is valid? [True, True] Translation: X:703.78, Y:-116.39, Z:-44.88 [[ 9.53788509e-01 2.95049080e-01 5.68640461e-02 7.03776832e+02] [-2.94438200e-01 9.55481064e-01 -1.90284941e-02 -1.16389537e+02] [-5.99468589e-02 1.40621163e-03 9.98200579e-01 -4.48771944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.650714057 meters 0.029332107327686843 Centerline is valid? [True, True] Translation: X:703.80, Y:-116.40, Z:-44.88 [[ 9.53080175e-01 2.97431232e-01 5.63279856e-02 7.03801890e+02] [-2.96836238e-01 9.54742438e-01 -1.88447336e-02 -1.16403190e+02] [-5.93837306e-02 1.24035469e-03 9.98234458e-01 -4.48781611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.6807140569999 meters 0.028721423238478816 Centerline is valid? [True, True] Translation: X:703.83, Y:-116.41, Z:-44.88 [[ 9.52786227e-01 2.98314857e-01 5.66273083e-02 7.03829125e+02] [-2.97715422e-01 9.54466783e-01 -1.89390702e-02 -1.16413466e+02] [-5.96986908e-02 1.18606230e-03 9.98215738e-01 -4.48796362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.7107140569999 meters 0.028515382912604532 Centerline is valid? [True, True] Translation: X:703.85, Y:-116.43, Z:-44.88 [[ 9.52383315e-01 2.99554048e-01 5.68629331e-02 7.03854485e+02] [-2.98952714e-01 9.54078700e-01 -1.90028870e-02 -1.16425400e+02] [-5.99441050e-02 1.09870433e-03 9.98201131e-01 -4.48801262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.740714057 meters 0.027346785606749427 Centerline is valid? [True, True] Translation: X:703.88, Y:-116.44, Z:-44.88 [[ 9.52643833e-01 2.98616667e-01 5.74265923e-02 7.03880187e+02] [-2.98002153e-01 9.54372432e-01 -1.91827610e-02 -1.16440077e+02] [-6.05346487e-02 1.16109080e-03 9.98165421e-01 -4.48800655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.770714057 meters 0.02815904654124512 Centerline is valid? [True, True] Translation: X:703.90, Y:-116.45, Z:-44.88 [[ 9.52934240e-01 2.97723209e-01 5.72470547e-02 7.03904146e+02] [-2.97111858e-01 9.54651482e-01 -1.91073741e-02 -1.16454641e+02] [-6.03396944e-02 1.19929219e-03 9.98177180e-01 -4.48803073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.8007140569999 meters 0.027876055121896184 Centerline is valid? [True, True] Translation: X:703.93, Y:-116.47, Z:-44.88 [[ 9.54061617e-01 2.94284846e-01 5.62393244e-02 7.03928646e+02] [-2.93689446e-01 9.55716756e-01 -1.87614253e-02 -1.16471183e+02] [-5.92700678e-02 1.38265971e-03 9.98241027e-01 -4.48812502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.8307140569999 meters 0.029063358298638788 Centerline is valid? [True, True] Translation: X:703.95, Y:-116.49, Z:-44.88 [[ 9.54801980e-01 2.92009872e-01 5.55284862e-02 7.03952152e+02] [-2.91426473e-01 9.56414143e-01 -1.85093842e-02 -1.16487884e+02] [-5.85131525e-02 1.49032583e-03 9.98285525e-01 -4.48823228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.8607140569999 meters 0.02969516335408896 Centerline is valid? [True, True] Translation: X:703.98, Y:-116.50, Z:-44.88 [[ 9.55730534e-01 2.88943476e-01 5.55950892e-02 7.03978099e+02] [-2.88353806e-01 9.57344693e-01 -1.85262103e-02 -1.16502319e+02] [-5.85766912e-02 1.67500928e-03 9.98281506e-01 -4.48840967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.890714057 meters 0.030835108377742608 Centerline is valid? [True, True] Translation: X:704.00, Y:-116.52, Z:-44.89 [[ 9.56677849e-01 2.85932315e-01 5.48653259e-02 7.04002751e+02] [-2.85353264e-01 9.58248065e-01 -1.82800448e-02 -1.16517140e+02] [-5.78014480e-02 1.83211410e-03 9.98326418e-01 -4.48853953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9207140569999 meters 0.03181580040007783 Centerline is valid? [True, True] Translation: X:704.03, Y:-116.53, Z:-44.89 [[ 9.57654363e-01 2.82686242e-01 5.46498877e-02 7.04028471e+02] [-2.82106684e-01 9.59210312e-01 -1.82042883e-02 -1.16531624e+02] [-5.75668377e-02 2.01631748e-03 9.98339618e-01 -4.48870466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9507140569999 meters 0.03453948824843761 Centerline is valid? [True, True] Translation: X:704.05, Y:-116.55, Z:-44.89 [[ 9.59522143e-01 2.76443967e-01 5.38144099e-02 7.04052546e+02] [-2.75872364e-01 9.61027160e-01 -1.79230678e-02 -1.16552009e+02] [-5.66718334e-02 2.35167195e-03 9.98390091e-01 -4.48892939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9807140569999 meters 0.03453948824843761 Centerline is valid? [True, True] Translation: X:704.08, Y:-116.56, Z:-44.89 [[ 9.59548870e-01 2.76351116e-01 5.38147480e-02 7.04078636e+02] [-2.75779424e-01 9.61053854e-01 -1.79220524e-02 -1.16560589e+02] [-5.66716501e-02 2.35608490e-03 9.98390091e-01 -4.48908853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.010714057 meters 0.035640809922216445 Centerline is valid? [True, True] Translation: X:704.10, Y:-116.57, Z:-44.89 [[ 9.60317535e-01 2.73667589e-01 5.38171203e-02 7.04104756e+02] [-2.73091973e-01 9.61821062e-01 -1.79169935e-02 -1.16574884e+02] [-5.66657402e-02 2.50897949e-03 9.98390054e-01 -4.48921250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.040714057 meters 0.03701292190081223 Centerline is valid? [True, True] Translation: X:704.13, Y:-116.59, Z:-44.89 [[ 9.61014766e-01 2.71358230e-01 5.30596943e-02 7.04130289e+02] [-2.70795363e-01 9.62474895e-01 -1.76620282e-02 -1.16588718e+02] [-5.58613604e-02 2.60515078e-03 9.98435136e-01 -4.48933739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.0707140569999 meters 0.03805915479929582 Centerline is valid? [True, True] Translation: X:704.16, Y:-116.60, Z:-44.89 [[ 9.61595943e-01 2.69093005e-01 5.40573594e-02 7.04157272e+02] [-2.68505348e-01 9.63110168e-01 -1.79911781e-02 -1.16602208e+02] [-5.69044927e-02 2.78555374e-03 9.98375741e-01 -4.48947317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.1007140569999 meters 0.04072409583222403 Centerline is valid? [True, True] Translation: X:704.18, Y:-116.62, Z:-44.89 [[ 9.62697063e-01 2.65068183e-01 5.43435703e-02 7.04182283e+02] [-2.64467995e-01 9.64224886e-01 -1.80844953e-02 -1.16618889e+02] [-5.71930472e-02 3.03775546e-03 9.98358516e-01 -4.48948853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.130714057 meters 0.041905497409846025 Centerline is valid? [True, True] Translation: X:704.21, Y:-116.63, Z:-44.90 [[ 9.63271131e-01 2.63077685e-01 5.38410688e-02 7.04208867e+02] [-2.62485517e-01 9.64769590e-01 -1.79162455e-02 -1.16631220e+02] [-5.66575902e-02 3.12570128e-03 9.98388776e-01 -4.48968883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.160714057 meters 0.033794155763724826 Centerline is valid? [True, True] Translation: X:704.24, Y:-116.63, Z:-44.90 [[ 9.63893952e-01 2.60876714e-01 5.34021505e-02 7.04239728e+02] [-2.60290961e-01 9.65366736e-01 -1.77674271e-02 -1.16631034e+02] [-5.61877677e-02 3.22581843e-03 9.98415008e-01 -4.48978026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.1907140569999 meters 0.03415042271457802 Centerline is valid? [True, True] Translation: X:704.27, Y:-116.64, Z:-44.90 [[ 9.63866112e-01 2.60933632e-01 5.36260868e-02 7.04266658e+02] [-2.60343219e-01 9.65351329e-01 -1.78387526e-02 -1.16641694e+02] [-5.64227446e-02 3.23298105e-03 9.98401734e-01 -4.48996147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.2207140569999 meters 0.03592738881305641 Centerline is valid? [True, True] Translation: X:704.29, Y:-116.65, Z:-44.90 [[ 9.63851684e-01 2.60987265e-01 5.36244254e-02 7.04292347e+02] [-2.60397210e-01 9.65336854e-01 -1.78339755e-02 -1.16653884e+02] [-5.64200746e-02 3.22565655e-03 9.98401908e-01 -4.49012282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.250714057 meters 0.03252296458998391 Centerline is valid? [True, True] Translation: X:704.32, Y:-116.66, Z:-44.90 [[ 9.63772443e-01 2.61280440e-01 5.36209758e-02 7.04320978e+02] [-2.60691212e-01 9.65257619e-01 -1.78275359e-02 -1.16658726e+02] [-5.64160418e-02 3.20317065e-03 9.98402209e-01 -4.49022573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.280714057 meters 0.034249101809625336 Centerline is valid? [True, True] Translation: X:704.35, Y:-116.67, Z:-44.90 [[ 9.62965473e-01 2.64316913e-01 5.32359700e-02 7.04347163e+02] [-2.63740981e-01 9.64431218e-01 -1.76952355e-02 -1.16670467e+02] [-5.60195814e-02 2.99939389e-03 9.98425165e-01 -4.49034979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.3107140569999 meters 0.03265525443229896 Centerline is valid? [True, True] Translation: X:704.38, Y:-116.68, Z:-44.91 [[ 9.62334025e-01 2.66530956e-01 5.36141275e-02 7.04376714e+02] [-2.65950411e-01 9.63822032e-01 -1.78176645e-02 -1.16676174e+02] [-5.64234365e-02 2.88784555e-03 9.98402753e-01 -4.49052755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.3407140569999 meters 0.031873365492884234 Centerline is valid? [True, True] Translation: X:704.41, Y:-116.68, Z:-44.91 [[ 9.61374281e-01 2.69924751e-01 5.38527616e-02 7.04405525e+02] [-2.69344443e-01 9.62877638e-01 -1.78948417e-02 -1.16683205e+02] [-5.66838806e-02 2.69869846e-03 9.98388529e-01 -4.49065668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.370714057 meters 0.03165916499318299 Centerline is valid? [True, True] Translation: X:704.43, Y:-116.69, Z:-44.91 [[ 9.60182360e-01 2.74121853e-01 5.39170221e-02 7.04433135e+02] [-2.73546865e-01 9.61691841e-01 -1.79141070e-02 -1.16690814e+02] [-5.67622084e-02 2.45197713e-03 9.98384715e-01 -4.49082015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.400714057 meters 0.0287391920443858 Centerline is valid? [True, True] Translation: X:704.46, Y:-116.69, Z:-44.91 [[ 9.57253252e-01 2.84251595e-01 5.35466347e-02 7.04464598e+02] [-2.83700425e-01 9.58747964e-01 -1.77879364e-02 -1.16691857e+02] [-5.63939763e-02 1.83635698e-03 9.98406905e-01 -4.49098800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.4307140569999 meters 0.027356165516995937 Centerline is valid? [True, True] Translation: X:704.49, Y:-116.70, Z:-44.91 [[ 9.55692584e-01 2.89541111e-01 5.30813506e-02 7.04494434e+02] [-2.89007736e-01 9.57164389e-01 -1.76312459e-02 -1.16697159e+02] [-5.59125491e-02 1.50913000e-03 9.98434529e-01 -4.49113059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.4607140569999 meters 0.025901823310532857 Centerline is valid? [True, True] Translation: X:704.52, Y:-116.70, Z:-44.91 [[ 9.54123364e-01 2.94584182e-01 5.35608598e-02 7.04523786e+02] [-2.94049097e-01 9.55624749e-01 -1.77895135e-02 -1.16702035e+02] [-5.64245925e-02 1.22386799e-03 9.98406114e-01 -4.49123711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.490714057 meters 0.025029943263907017 Centerline is valid? [True, True] Translation: X:704.55, Y:-116.71, Z:-44.91 [[ 9.52480651e-01 2.99751957e-01 5.41236840e-02 7.04551455e+02] [-2.99213994e-01 9.54016723e-01 -1.79743793e-02 -1.16707750e+02] [-5.70227550e-02 9.25684820e-04 9.98372450e-01 -4.49134188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.520714057 meters 0.024347907094813992 Centerline is valid? [True, True] Translation: X:704.58, Y:-116.71, Z:-44.91 [[ 9.49885874e-01 3.07634648e-01 5.54774788e-02 7.04580724e+02] [-3.07083124e-01 9.51504447e-01 -1.84185488e-02 -1.16711176e+02] [-5.84532516e-02 4.59321814e-04 9.98290041e-01 -4.49130855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.5507140569999 meters 0.024015325302795446 Centerline is valid? [True, True] Translation: X:704.61, Y:-116.72, Z:-44.91 [[ 9.48721530e-01 3.11111047e-01 5.60122779e-02 7.04607861e+02] [-3.10555131e-01 9.50373536e-01 -1.85917566e-02 -1.16718996e+02] [-5.90166875e-02 2.43499479e-04 9.98256967e-01 -4.49140847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.5807140569999 meters 0.023516411836955155 Centerline is valid? [True, True] Translation: X:704.63, Y:-116.73, Z:-44.92 [[ 9.47885758e-01 3.13664423e-01 5.59215517e-02 7.04634900e+02] [-3.13115069e-01 9.49533898e-01 -1.85561337e-02 -1.16727025e+02] [-5.89198080e-02 7.92143256e-05 9.98262716e-01 -4.49153856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.6107140569999 meters 0.023798912038977896 Centerline is valid? [True, True] Translation: X:704.66, Y:-116.74, Z:-44.92 [[ 9.47177539e-01 3.15814579e-01 5.58198943e-02 7.04660051e+02] [-3.15271973e-01 9.48820925e-01 -1.85050266e-02 -1.16735296e+02] [-5.88072409e-02 -7.09026776e-05 9.98269354e-01 -4.49176931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.640714057 meters 0.023483392098634984 Centerline is valid? [True, True] Translation: X:704.69, Y:-116.75, Z:-44.92 [[ 9.46087927e-01 3.19167064e-01 5.52269819e-02 7.04686564e+02] [-3.18642313e-01 9.47698424e-01 -1.82968188e-02 -1.16745680e+02] [-5.81782657e-02 -2.87253863e-04 9.98306169e-01 -4.49201910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.6707140569999 meters 0.02351086016888817 Centerline is valid? [True, True] Translation: X:704.71, Y:-116.76, Z:-44.92 [[ 9.45504740e-01 3.20879767e-01 5.52897959e-02 7.04712169e+02] [-3.20357622e-01 9.47119850e-01 -1.83025942e-02 -1.16755363e+02] [-5.82389953e-02 -4.07317919e-04 9.98302586e-01 -4.49225434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.7007140569999 meters 0.02307144140480661 Centerline is valid? [True, True] Translation: X:704.74, Y:-116.77, Z:-44.92 [[ 9.44901588e-01 3.22613958e-01 5.55087659e-02 7.04738905e+02] [-3.22090974e-01 9.46530487e-01 -1.83695940e-02 -1.16767120e+02] [-5.84670266e-02 -5.21413913e-04 9.98289204e-01 -4.49240172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.7307140569999 meters 0.023052479474609592 Centerline is valid? [True, True] Translation: X:704.77, Y:-116.78, Z:-44.93 [[ 9.44308514e-01 3.24306214e-01 5.57396628e-02 7.04765686e+02] [-3.23782717e-01 9.45951936e-01 -1.84305925e-02 -1.16778740e+02] [-5.87041976e-02 -6.43374009e-04 9.98275214e-01 -4.49251732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.760714057 meters 0.02318185989622003 Centerline is valid? [True, True] Translation: X:704.79, Y:-116.79, Z:-44.93 [[ 9.43932681e-01 3.25499111e-01 5.51491003e-02 7.04792186e+02] [-3.24989559e-01 9.45542069e-01 -1.82203627e-02 -1.16790412e+02] [-5.80765063e-02 -7.24086029e-04 9.98311873e-01 -4.49256454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.790714057 meters 0.022362439048335465 Centerline is valid? [True, True] Translation: X:704.82, Y:-116.81, Z:-44.93 [[ 9.42784487e-01 3.28739345e-01 5.55684593e-02 7.04816702e+02] [-3.28228511e-01 9.44420219e-01 -1.83437832e-02 -1.16806493e+02] [-5.85102997e-02 -9.44918398e-04 9.98286358e-01 -4.49260740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.8207140569999 meters 0.0229004248373712 Centerline is valid? [True, True] Translation: X:704.84, Y:-116.82, Z:-44.93 [[ 9.42397658e-01 3.29807255e-01 5.58016862e-02 7.04841926e+02] [-3.29294321e-01 9.44047738e-01 -1.84151488e-02 -1.16817720e+02] [-5.87529053e-02 -1.02078530e-03 9.98272034e-01 -4.49268710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.8507140569999 meters 0.022205266188727726 Centerline is valid? [True, True] Translation: X:704.87, Y:-116.83, Z:-44.93 [[ 9.42041953e-01 3.30638463e-01 5.68785140e-02 7.04866899e+02] [-3.30107384e-01 9.43756854e-01 -1.87647514e-02 -1.16830442e+02] [-5.98838360e-02 -1.09883438e-03 9.98204748e-01 -4.49270936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.880714057 meters 0.02109230903906601 Centerline is valid? [True, True] Translation: X:704.89, Y:-116.85, Z:-44.93 [[ 9.42167949e-01 3.30165770e-01 5.75336412e-02 7.04890431e+02] [-3.29621834e-01 9.43922340e-01 -1.89753141e-02 -1.16848633e+02] [-6.05722884e-02 -1.08641163e-03 9.98163222e-01 -4.49270035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.910714057 meters 0.02061627975100106 Centerline is valid? [True, True] Translation: X:704.92, Y:-116.86, Z:-44.93 [[ 9.42424166e-01 3.29388024e-01 5.77946508e-02 7.04915727e+02] [-3.28838045e-01 9.44194066e-01 -1.90553595e-02 -1.16862736e+02] [-6.08459736e-02 -1.04684866e-03 9.98146618e-01 -4.49281618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.9407140569999 meters 0.02003289709845401 Centerline is valid? [True, True] Translation: X:704.94, Y:-116.88, Z:-44.93 [[ 9.42704012e-01 3.28561064e-01 5.79376662e-02 7.04941132e+02] [-3.28007764e-01 9.44482189e-01 -1.90866860e-02 -1.16878253e+02] [-6.09922357e-02 -1.01090891e-03 9.98137729e-01 -4.49305462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.9707140569999 meters 0.01966910046097675 Centerline is valid? [True, True] Translation: X:704.97, Y:-116.89, Z:-44.93 [[ 9.43053280e-01 3.27591156e-01 5.77455222e-02 7.04965939e+02] [-3.27039981e-01 9.44819101e-01 -1.90188612e-02 -1.16892037e+02] [-6.07894831e-02 -9.49295101e-04 9.98150158e-01 -4.49321504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.000714057 meters 0.01862405650482462 Centerline is valid? [True, True] Translation: X:704.99, Y:-116.91, Z:-44.93 [[ 9.44086785e-01 3.24917947e-01 5.59327387e-02 7.04988423e+02] [-3.24396479e-01 9.45741907e-01 -1.84165826e-02 -1.16911820e+02] [-5.88818132e-02 -7.57531293e-04 9.98264673e-01 -4.49335615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.030714057 meters 0.017808930131879935 Centerline is valid? [True, True] Translation: X:705.01, Y:-116.93, Z:-44.94 [[ 9.44587142e-01 3.23490748e-01 5.57572113e-02 7.05013116e+02] [-3.22970375e-01 9.46231095e-01 -1.83535300e-02 -1.16927413e+02] [-5.86964043e-02 -6.71418979e-04 9.98275654e-01 -4.49355198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.0607140569999 meters 0.017698845689058065 Centerline is valid? [True, True] Translation: X:705.04, Y:-116.94, Z:-44.94 [[ 9.45271439e-01 3.21510957e-01 5.56112510e-02 7.05037409e+02] [-3.20990133e-01 9.46905698e-01 -1.83012034e-02 -1.16941956e+02] [-5.85426479e-02 -5.51058010e-04 9.98284756e-01 -4.49370317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.0907140569999 meters 0.016529017965663733 Centerline is valid? [True, True] Translation: X:705.06, Y:-116.97, Z:-44.94 [[ 9.46749460e-01 3.17107404e-01 5.57526111e-02 7.05060853e+02] [-3.16576621e-01 9.48389589e-01 -1.83420236e-02 -1.16965297e+02] [-5.86915875e-02 -2.84672296e-04 9.98276122e-01 -4.49374115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.120714057 meters 0.01610323070569633 Centerline is valid? [True, True] Translation: X:705.09, Y:-116.98, Z:-44.94 [[ 9.47657783e-01 3.14309706e-01 5.61616889e-02 7.05085809e+02] [-3.13766316e-01 9.49320492e-01 -1.84743904e-02 -1.16980665e+02] [-5.91221223e-02 -1.14246382e-04 9.98250751e-01 -4.49375584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.150714057 meters 0.016192601392065412 Centerline is valid? [True, True] Translation: X:705.11, Y:-117.00, Z:-44.94 [[ 9.48468515e-01 3.11632094e-01 5.73839233e-02 7.05111421e+02] [-3.11060019e-01 9.50202839e-01 -1.88740331e-02 -1.16996469e+02] [-6.04081213e-02 5.15819147e-05 9.98173761e-01 -4.49387427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.1807140569999 meters 0.01603625330098645 Centerline is valid? [True, True] Translation: X:705.14, Y:-117.01, Z:-44.94 [[ 9.49350971e-01 3.08685070e-01 5.87048676e-02 7.05139550e+02] [-3.08080889e-01 9.51164270e-01 -1.93053508e-02 -1.17012888e+02] [-6.17972461e-02 2.41705716e-04 9.98088694e-01 -4.49400559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.2107140569999 meters 0.016535493351629446 Centerline is valid? [True, True] Translation: X:705.16, Y:-117.04, Z:-44.94 [[ 9.51252963e-01 3.02439883e-01 6.03979962e-02 7.05164996e+02] [-3.01786622e-01 9.53168218e-01 -1.98792308e-02 -1.17036874e+02] [-6.35817227e-02 6.82869992e-04 9.97976402e-01 -4.49412291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.240714057 meters 0.017469287632524887 Centerline is valid? [True, True] Translation: X:705.19, Y:-117.06, Z:-44.94 [[ 9.52322908e-01 2.99011706e-01 6.06059272e-02 7.05191542e+02] [-2.98346036e-01 9.54248991e-01 -1.99626438e-02 -1.17055268e+02] [-6.38022090e-02 9.29344894e-04 9.97962131e-01 -4.49423312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.270714057 meters 0.017824067082154203 Centerline is valid? [True, True] Translation: X:705.22, Y:-117.07, Z:-44.95 [[ 9.53513446e-01 2.95170668e-01 6.07156088e-02 7.05220126e+02] [-2.94494187e-01 9.55443793e-01 -2.00082858e-02 -1.17070885e+02] [-6.39162106e-02 1.19777567e-03 9.97954550e-01 -4.49454500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.3007140569999 meters 0.018685223423682083 Centerline is valid? [True, True] Translation: X:705.25, Y:-117.09, Z:-44.95 [[ 9.54636855e-01 2.91495454e-01 6.08183735e-02 7.05248828e+02] [-2.90808232e-01 9.56571098e-01 -2.00576015e-02 -1.17087179e+02] [-6.40237980e-02 1.46124197e-03 9.97947302e-01 -4.49480993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.3307140569999 meters 0.0207564437286926 Centerline is valid? [True, True] Translation: X:705.27, Y:-117.11, Z:-44.95 [[ 9.56907723e-01 2.84079246e-01 6.02211963e-02 7.05273352e+02] [-2.83390506e-01 9.58798836e-01 -1.98648825e-02 -1.17107365e+02] [-6.33832138e-02 1.94274421e-03 9.97987372e-01 -4.49517582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.3607140569999 meters 0.02099441585919552 Centerline is valid? [True, True] Translation: X:705.30, Y:-117.12, Z:-44.95 [[ 9.57780927e-01 2.81204411e-01 5.98312279e-02 7.05302527e+02] [-2.80518946e-01 9.59645552e-01 -1.97366299e-02 -1.17120933e+02] [-6.29667991e-02 2.11957464e-03 9.98013371e-01 -4.49545553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.390714057 meters 0.022125708355799214 Centerline is valid? [True, True] Translation: X:705.33, Y:-117.14, Z:-44.96 [[ 9.58526576e-01 2.78613542e-01 6.00108065e-02 7.05330064e+02] [-2.77918563e-01 9.60400540e-01 -1.98008872e-02 -1.17135380e+02] [-6.31512063e-02 2.30155949e-03 9.98001317e-01 -4.49561302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4207140569999 meters 0.02304585935326227 Centerline is valid? [True, True] Translation: X:705.36, Y:-117.15, Z:-44.96 [[ 9.59710083e-01 2.74321570e-01 6.08624153e-02 7.05357578e+02] [-2.73597587e-01 9.61634425e-01 -2.00896182e-02 -1.17150550e+02] [-6.40384093e-02 2.62839917e-03 9.97943973e-01 -4.49572383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4507140569999 meters 0.025724601122807507 Centerline is valid? [True, True] Translation: X:705.39, Y:-117.17, Z:-44.96 [[ 9.60145652e-01 2.72660954e-01 6.14518686e-02 7.05385060e+02] [-2.71919343e-01 9.62106202e-01 -2.02861210e-02 -1.17165777e+02] [-6.46544570e-02 2.76767919e-03 9.97903874e-01 -4.49581774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4807140569999 meters 0.026507754474249943 Centerline is valid? [True, True] Translation: X:705.42, Y:-117.18, Z:-44.96 [[ 9.60326779e-01 2.71821231e-01 6.23353566e-02 7.05415066e+02] [-2.71055745e-01 9.62343473e-01 -2.05869726e-02 -1.17178436e+02] [-6.55839997e-02 2.87386454e-03 9.97842913e-01 -4.49593379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.510714057 meters 0.027097571870114634 Centerline is valid? [True, True] Translation: X:705.44, Y:-117.19, Z:-44.96 [[ 9.60551242e-01 2.70916457e-01 6.28138867e-02 7.05444464e+02] [-2.70136148e-01 9.62598270e-01 -2.07613235e-02 -1.17190394e+02] [-6.60891229e-02 2.97401363e-03 9.97809292e-01 -4.49607273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.540714057 meters 0.027545519941148254 Centerline is valid? [True, True] Translation: X:705.47, Y:-117.20, Z:-44.96 [[ 9.60994903e-01 2.68987200e-01 6.43014935e-02 7.05474247e+02] [-2.68164065e-01 9.63138449e-01 -2.12687980e-02 -1.17201316e+02] [-6.76522752e-02 3.19585659e-03 9.97703842e-01 -4.49622099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.5707140569999 meters 0.028142511775054845 Centerline is valid? [True, True] Translation: X:705.50, Y:-117.21, Z:-44.96 [[ 9.61082447e-01 2.68590103e-01 6.46520485e-02 7.05504737e+02] [-2.67755986e-01 9.63249060e-01 -2.14004927e-02 -1.17212304e+02] [-6.80239854e-02 3.25666489e-03 9.97678371e-01 -4.49638574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.6007140569999 meters 0.024036523640504105 Centerline is valid? [True, True] Translation: X:705.54, Y:-117.22, Z:-44.97 [[ 9.61192192e-01 2.68298231e-01 6.42310645e-02 7.05537336e+02] [-2.67473186e-01 9.63330345e-01 -2.12777045e-02 -1.17215326e+02] [-6.75845040e-02 3.27187592e-03 9.97708189e-01 -4.49678786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.630714057 meters 0.02629882362311321 Centerline is valid? [True, True] Translation: X:705.57, Y:-117.23, Z:-44.97 [[ 9.61231970e-01 2.68143462e-01 6.42820587e-02 7.05566217e+02] [-2.67315566e-01 9.63373333e-01 -2.13122101e-02 -1.17228382e+02] [-6.76423509e-02 3.30238278e-03 9.97704168e-01 -4.49693986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.660714057 meters 0.02495351324638032 Centerline is valid? [True, True] Translation: X:705.60, Y:-117.23, Z:-44.97 [[ 9.61268828e-01 2.68016384e-01 6.42608582e-02 7.05598283e+02] [-2.67187738e-01 9.63408618e-01 -2.13201364e-02 -1.17234556e+02] [-6.76236104e-02 3.32466925e-03 9.97705364e-01 -4.49726738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.6907140569999 meters 0.02753008044907033 Centerline is valid? [True, True] Translation: X:705.63, Y:-117.25, Z:-44.97 [[ 9.61164839e-01 2.68479109e-01 6.38836470e-02 7.05627423e+02] [-2.67660668e-01 9.63279922e-01 -2.12028051e-02 -1.17247019e+02] [-6.72303447e-02 3.28025112e-03 9.97732089e-01 -4.49740518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.7207140569999 meters 0.029018810913802925 Centerline is valid? [True, True] Translation: X:705.66, Y:-117.26, Z:-44.98 [[ 9.61248070e-01 2.68137413e-01 6.40661892e-02 7.05656763e+02] [-2.67312412e-01 9.63374923e-01 -2.12798582e-02 -1.17257350e+02] [-6.74256862e-02 3.32953509e-03 9.97718743e-01 -4.49760639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.750714057 meters 0.02613867738657554 Centerline is valid? [True, True] Translation: X:705.69, Y:-117.26, Z:-44.98 [[ 9.60979393e-01 2.69065673e-01 6.42049021e-02 7.05689538e+02] [-2.68238441e-01 9.63116241e-01 -2.13364504e-02 -1.17260123e+02] [-6.75776904e-02 3.28166632e-03 9.97708618e-01 -4.49783517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.780714057 meters 0.02439493906558987 Centerline is valid? [True, True] Translation: X:705.72, Y:-117.27, Z:-44.98 [[ 9.60722055e-01 2.69795050e-01 6.49904932e-02 7.05721166e+02] [-2.68947870e-01 9.62912159e-01 -2.16152178e-02 -1.17265381e+02] [-6.84118149e-02 3.28716172e-03 9.97651752e-01 -4.49805278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.8107140569999 meters 0.02599415652519183 Centerline is valid? [True, True] Translation: X:705.75, Y:-117.28, Z:-44.98 [[ 9.60519647e-01 2.70647634e-01 6.44349811e-02 7.05751019e+02] [-2.69815637e-01 9.62673112e-01 -2.14476577e-02 -1.17275234e+02] [-6.78345815e-02 3.21533109e-03 9.97691401e-01 -4.49813322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.8407140569999 meters 0.02409093527446883 Centerline is valid? [True, True] Translation: X:705.78, Y:-117.28, Z:-44.98 [[ 9.60274410e-01 2.71570975e-01 6.42048494e-02 7.05783268e+02] [-2.70745875e-01 9.62413245e-01 -2.13872997e-02 -1.17279652e+02] [-6.75997673e-02 3.15447850e-03 9.97707533e-01 -4.49841472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.870714057 meters 0.026678263304631133 Centerline is valid? [True, True] Translation: X:705.81, Y:-117.29, Z:-44.99 [[ 9.59956139e-01 2.72732560e-01 6.40403138e-02 7.05812918e+02] [-2.71913104e-01 9.62084953e-01 -2.13496605e-02 -1.17287906e+02] [-6.74349699e-02 3.08133715e-03 9.97718913e-01 -4.49858500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.900714057 meters 0.026678263304631133 Centerline is valid? [True, True] Translation: X:705.84, Y:-117.30, Z:-44.99 [[ 9.59883267e-01 2.72990086e-01 6.40353599e-02 7.05843707e+02] [-2.72170212e-01 9.62011920e-01 -2.13645097e-02 -1.17298256e+02] [-6.74350788e-02 3.07891788e-03 9.97718914e-01 -4.49877330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.9307140569999 meters 0.023770426523037937 Centerline is valid? [True, True] Translation: X:705.88, Y:-117.30, Z:-44.99 [[ 9.59706602e-01 2.73580339e-01 6.41641314e-02 7.05876486e+02] [-2.72757195e-01 9.61844282e-01 -2.14263716e-02 -1.17301775e+02] [-6.75777369e-02 3.06180174e-03 9.97709314e-01 -4.49908235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.9607140569999 meters 0.026450984512830043 Centerline is valid? [True, True] Translation: X:705.91, Y:-117.31, Z:-44.99 [[ 9.59498945e-01 2.74375902e-01 6.38720444e-02 7.05905130e+02] [-2.73560846e-01 9.61617810e-01 -2.13459735e-02 -1.17313279e+02] [-6.72773162e-02 3.00854852e-03 9.97729779e-01 -4.49922185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.990714057 meters 0.022020508780432064 Centerline is valid? [True, True] Translation: X:705.94, Y:-117.31, Z:-45.00 [[ 9.59196192e-01 2.75486021e-01 6.36405375e-02 7.05939337e+02] [-2.74678222e-01 9.61300595e-01 -2.12847310e-02 -1.17311147e+02] [-6.70413324e-02 2.93556321e-03 9.97745881e-01 -4.49959175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.020714057 meters 0.026210100679936166 Centerline is valid? [True, True] Translation: X:705.97, Y:-117.32, Z:-45.00 [[ 9.58774148e-01 2.76876847e-01 6.39636255e-02 7.05967768e+02] [-2.76062706e-01 9.60901127e-01 -2.14104235e-02 -1.17324881e+02] [-6.73907703e-02 2.86978900e-03 9.97722531e-01 -4.49960296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.0507140569999 meters 0.021893855150973644 Centerline is valid? [True, True] Translation: X:706.00, Y:-117.33, Z:-45.00 [[ 9.58518844e-01 2.77639127e-01 6.44836469e-02 7.06001436e+02] [-2.76812251e-01 9.60681197e-01 -2.16012819e-02 -1.17325338e+02] [-6.79455881e-02 2.85537225e-03 9.97684942e-01 -4.49997238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.0807140569999 meters 0.021626557248960915 Centerline is valid? [True, True] Translation: X:706.03, Y:-117.33, Z:-45.00 [[ 9.57963293e-01 2.79582819e-01 6.43411016e-02 7.06032693e+02] [-2.78762900e-01 9.60117708e-01 -2.15692598e-02 -1.17331920e+02] [-6.78054255e-02 2.72664705e-03 9.97694838e-01 -4.50012250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.1107140569999 meters 0.02083374173479897 Centerline is valid? [True, True] Translation: X:706.06, Y:-117.33, Z:-45.00 [[ 9.56478016e-01 2.84121822e-01 6.65176312e-02 7.06063750e+02] [-2.83256007e-01 9.58784952e-01 -2.23036145e-02 -1.17334432e+02] [-7.01130474e-02 2.49139837e-03 9.97535941e-01 -4.50022593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.140714057 meters 0.020438091487385384 Centerline is valid? [True, True] Translation: X:706.09, Y:-117.34, Z:-45.00 [[ 9.55590414e-01 2.87026534e-01 6.68036642e-02 7.06094967e+02] [-2.86159816e-01 9.57919883e-01 -2.24066508e-02 -1.17340923e+02] [-7.04238615e-02 2.29505645e-03 9.97514517e-01 -4.50037441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.1707140569999 meters 0.01923650961133366 Centerline is valid? [True, True] Translation: X:706.13, Y:-117.35, Z:-45.01 [[ 9.54574927e-01 2.90235925e-01 6.74523273e-02 7.06126141e+02] [-2.89359991e-01 9.56952858e-01 -2.26279186e-02 -1.17346431e+02] [-7.11161323e-02 2.08203891e-03 9.97465870e-01 -4.50055399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.2007140569999 meters 0.019579532264848425 Centerline is valid? [True, True] Translation: X:706.16, Y:-117.35, Z:-45.01 [[ 9.53604140e-01 2.93289508e-01 6.79735919e-02 7.06156368e+02] [-2.92407302e-01 9.56021837e-01 -2.28082830e-02 -1.17354338e+02] [-7.16736683e-02 1.87409842e-03 9.97426375e-01 -4.50060288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.2307140569999 meters 0.018492736473895564 Centerline is valid? [True, True] Translation: X:706.19, Y:-117.36, Z:-45.01 [[ 9.52265389e-01 2.97379745e-01 6.89631491e-02 7.06188246e+02] [-2.96481250e-01 9.54757936e-01 -2.31549511e-02 -1.17357444e+02] [-7.27289274e-02 1.60337787e-03 9.97350456e-01 -4.50075386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.260714057 meters 0.017351132518814604 Centerline is valid? [True, True] Translation: X:706.22, Y:-117.36, Z:-45.01 [[ 9.51855800e-01 2.98683942e-01 6.89814406e-02 7.06220343e+02] [-2.97788129e-01 9.54350895e-01 -2.31646263e-02 -1.17363785e+02] [-7.27514015e-02 1.50752972e-03 9.97348967e-01 -4.50119483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.290714057 meters 0.01757444146378309 Centerline is valid? [True, True] Translation: X:706.25, Y:-117.37, Z:-45.01 [[ 9.51658862e-01 2.99395788e-01 6.86117510e-02 7.06249590e+02] [-2.98510855e-01 9.54127901e-01 -2.30481543e-02 -1.17373112e+02] [-7.23649063e-02 1.45262791e-03 9.97377166e-01 -4.50137248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.3207140569999 meters 0.018454895063388165 Centerline is valid? [True, True] Translation: X:706.28, Y:-117.38, Z:-45.02 [[ 9.52272332e-01 2.97754652e-01 6.72277722e-02 7.06278607e+02] [-2.96900195e-01 9.54641160e-01 -2.25949026e-02 -1.17382775e+02] [-7.09061358e-02 1.55656185e-03 9.97481778e-01 -4.50172697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.3507140569999 meters 0.017843731006346154 Centerline is valid? [True, True] Translation: X:706.31, Y:-117.39, Z:-45.02 [[ 9.52724936e-01 2.96508806e-01 6.63153409e-02 7.06309424e+02] [-2.95673232e-01 9.55028706e-01 -2.23049597e-02 -1.17390930e+02] [-6.99466711e-02 1.64282014e-03 9.97549379e-01 -4.50211258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.380714057 meters 0.018472389871861904 Centerline is valid? [True, True] Translation: X:706.34, Y:-117.40, Z:-45.02 [[ 9.53426879e-01 2.94297982e-01 6.60748428e-02 7.06339177e+02] [-2.93461895e-01 9.55711986e-01 -2.22422077e-02 -1.17401851e+02] [-6.96943561e-02 1.81587016e-03 9.97566739e-01 -4.50228105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.410714057 meters 0.018714233633157697 Centerline is valid? [True, True] Translation: X:706.37, Y:-117.41, Z:-45.02 [[ 9.54065277e-01 2.92186439e-01 6.62308991e-02 7.06369540e+02] [-2.91340025e-01 9.56359302e-01 -2.23131084e-02 -1.17412452e+02] [-6.98601242e-02 1.99245017e-03 9.97554807e-01 -4.50249167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.4407140569999 meters 0.01923157515058925 Centerline is valid? [True, True] Translation: X:706.40, Y:-117.42, Z:-45.03 [[ 9.55417069e-01 2.87761764e-01 6.61164968e-02 7.06398709e+02] [-2.86906589e-01 9.57699196e-01 -2.22903215e-02 -1.17423248e+02] [-6.97340181e-02 2.32729511e-03 9.97562906e-01 -4.50268249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.4707140569999 meters 0.020868535036109588 Centerline is valid? [True, True] Translation: X:706.43, Y:-117.44, Z:-45.03 [[ 9.55917146e-01 2.86237524e-01 6.55018268e-02 7.06426788e+02] [-2.85394367e-01 9.58155638e-01 -2.20868442e-02 -1.17436260e+02] [-6.90830283e-02 2.41934063e-03 9.97607980e-01 -4.50281018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.500714057 meters 0.021366211180879575 Centerline is valid? [True, True] Translation: X:706.46, Y:-117.45, Z:-45.03 [[ 9.56256378e-01 2.85002156e-01 6.59356594e-02 7.06457170e+02] [-2.84144204e-01 9.58523525e-01 -2.22423574e-02 -1.17446651e+02] [-6.95400005e-02 2.53416062e-03 9.97575945e-01 -4.50304888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.530714057 meters 0.022238636080808363 Centerline is valid? [True, True] Translation: X:706.49, Y:-117.46, Z:-45.03 [[ 9.56381237e-01 2.84743166e-01 6.52400138e-02 7.06487409e+02] [-2.83902062e-01 9.58600495e-01 -2.20161574e-02 -1.17458055e+02] [-6.88080599e-02 2.53406539e-03 9.97626698e-01 -4.50321080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.5607140569999 meters 0.021460577231056325 Centerline is valid? [True, True] Translation: X:706.52, Y:-117.47, Z:-45.03 [[ 9.56295875e-01 2.84989814e-01 6.54141127e-02 7.06518824e+02] [-2.84143582e-01 9.58527180e-01 -2.20922859e-02 -1.17466630e+02] [-6.89972815e-02 2.53976155e-03 9.97613615e-01 -4.50345580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.5907140569999 meters 0.020883865122728627 Centerline is valid? [True, True] Translation: X:706.55, Y:-117.47, Z:-45.04 [[ 9.55589706e-01 2.87311873e-01 6.55759243e-02 7.06549896e+02] [-2.86466306e-01 9.57834116e-01 -2.21553894e-02 -1.17474374e+02] [-6.91763639e-02 2.38616924e-03 9.97601592e-01 -4.50355321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.620714057 meters 0.020051029714514643 Centerline is valid? [True, True] Translation: X:706.58, Y:-117.48, Z:-45.04 [[ 9.54898039e-01 2.89548969e-01 6.58113166e-02 7.06581294e+02] [-2.88701329e-01 9.57160557e-01 -2.22533163e-02 -1.17482258e+02] [-6.94354213e-02 2.24983358e-03 9.97583912e-01 -4.50376248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.650714057 meters 0.018472414481320202 Centerline is valid? [True, True] Translation: X:706.61, Y:-117.49, Z:-45.04 [[ 9.54008596e-01 2.92538826e-01 6.54876703e-02 7.06612558e+02] [-2.91705437e-01 9.56251475e-01 -2.21597384e-02 -1.17488522e+02] [-6.91052652e-02 2.03747149e-03 9.97607293e-01 -4.50401194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.6807140569999 meters 0.0177123376416862 Centerline is valid? [True, True] Translation: X:706.64, Y:-117.49, Z:-45.04 [[ 9.51925758e-01 2.99476823e-01 6.44281370e-02 7.06642011e+02] [-2.98685820e-01 9.54102377e-01 -2.18045007e-02 -1.17494882e+02] [-6.80009812e-02 1.51249496e-03 9.97684108e-01 -4.50422097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.7107140569999 meters 0.01713151918528867 Centerline is valid? [True, True] Translation: X:706.67, Y:-117.50, Z:-45.04 [[ 9.50841569e-01 3.02953828e-01 6.41816840e-02 7.06673701e+02] [-3.02176695e-01 9.53004402e-01 -2.17222195e-02 -1.17502786e+02] [-6.77462569e-02 1.26018012e-03 9.97701787e-01 -4.50448662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.740714057 meters 0.016423148839822575 Centerline is valid? [True, True] Translation: X:706.70, Y:-117.51, Z:-45.05 [[ 9.49948029e-01 3.05681125e-01 6.44809352e-02 7.06703687e+02] [-3.04902511e-01 9.52133336e-01 -2.18304903e-02 -1.17511479e+02] [-6.80676167e-02 1.07743225e-03 9.97680128e-01 -4.50463972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.770714057 meters 0.01600906865852835 Centerline is valid? [True, True] Translation: X:706.73, Y:-117.52, Z:-45.05 [[ 9.48354128e-01 3.10530218e-01 6.47721539e-02 7.06733813e+02] [-3.09755643e-01 9.50563224e-01 -2.19316905e-02 -1.17520696e+02] [-6.83804800e-02 7.35469054e-04 9.97659045e-01 -4.50476568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.8007140569999 meters 0.01571906210728904 Centerline is valid? [True, True] Translation: X:706.76, Y:-117.53, Z:-45.05 [[ 9.47803170e-01 3.12118000e-01 6.52035632e-02 7.06761366e+02] [-3.11336671e-01 9.50043136e-01 -2.20797682e-02 -1.17530399e+02] [-6.88376908e-02 6.27013977e-04 9.97627676e-01 -4.50489353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.8307140569999 meters 0.015359236098512948 Centerline is valid? [True, True] Translation: X:706.79, Y:-117.54, Z:-45.05 [[ 9.47343899e-01 3.13646048e-01 6.45421831e-02 7.06790544e+02] [-3.12884123e-01 9.49539834e-01 -2.18547206e-02 -1.17540503e+02] [-6.81400206e-02 5.09711815e-04 9.97675638e-01 -4.50509166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.8607140569999 meters 0.015293800980457104 Centerline is valid? [True, True] Translation: X:706.82, Y:-117.55, Z:-45.05 [[ 9.47203348e-01 3.14239780e-01 6.37116852e-02 7.06818006e+02] [-3.13498714e-01 9.49343535e-01 -2.15733263e-02 -1.17550838e+02] [-6.72634737e-02 4.60795492e-04 9.97735142e-01 -4.50526678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.890714057 meters 0.015596245048323803 Centerline is valid? [True, True] Translation: X:706.85, Y:-117.56, Z:-45.06 [[ 9.46901170e-01 3.15124056e-01 6.38357511e-02 7.06846317e+02] [-3.14382178e-01 9.49050405e-01 -2.16142397e-02 -1.17561289e+02] [-6.73945123e-02 3.97726370e-04 9.97726326e-01 -4.50553549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9207140569999 meters 0.015356860361403653 Centerline is valid? [True, True] Translation: X:706.88, Y:-117.57, Z:-45.06 [[ 9.46361450e-01 3.16898296e-01 6.30513783e-02 7.06875259e+02] [-3.16178466e-01 9.48459487e-01 -2.13489936e-02 -1.17573975e+02] [-6.65671376e-02 2.68376458e-04 9.97781912e-01 -4.50578036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9507140569999 meters 0.015135588599578446 Centerline is valid? [True, True] Translation: X:706.90, Y:-117.59, Z:-45.06 [[ 9.46099832e-01 3.17805312e-01 6.24090622e-02 7.06903823e+02] [-3.17101904e-01 9.48155969e-01 -2.11338649e-02 -1.17585564e+02] [-6.58899794e-02 2.04713510e-04 9.97826873e-01 -4.50587150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9807140569999 meters 0.014941016423714456 Centerline is valid? [True, True] Translation: X:706.93, Y:-117.60, Z:-45.06 [[ 9.45666263e-01 3.19233870e-01 6.16851222e-02 7.06932947e+02] [-3.18549650e-01 9.47675960e-01 -2.08900773e-02 -1.17596854e+02] [-6.51263276e-02 1.05267209e-04 9.97877022e-01 -4.50611319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.010714057 meters 0.01477565704069539 Centerline is valid? [True, True] Translation: X:706.96, Y:-117.61, Z:-45.06 [[ 9.44543425e-01 3.22734236e-01 6.06657318e-02 7.06960270e+02] [-3.22079539e-01 9.46489617e-01 -2.05468981e-02 -1.17609195e+02] [-6.40506728e-02 -1.31753395e-04 9.97946639e-01 -4.50630015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.040714057 meters 0.014791676183901696 Centerline is valid? [True, True] Translation: X:706.99, Y:-117.62, Z:-45.06 [[ 9.43745495e-01 3.25209210e-01 5.98615956e-02 7.06987131e+02] [-3.24576828e-01 9.45642047e-01 -2.02731694e-02 -1.17619242e+02] [-6.32006632e-02 -2.96974519e-04 9.98000796e-01 -4.50642969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.0707140569999 meters 0.01506746486314146 Centerline is valid? [True, True] Translation: X:707.01, Y:-117.63, Z:-45.07 [[ 9.42883516e-01 3.27687972e-01 5.99271955e-02 7.07014474e+02] [-3.27059418e-01 9.44785888e-01 -2.02919296e-02 -1.17629346e+02] [-6.32677899e-02 -4.66827737e-04 9.97996477e-01 -4.50660918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.1007140569999 meters 0.015491959925166101 Centerline is valid? [True, True] Translation: X:707.04, Y:-117.64, Z:-45.07 [[ 9.40861601e-01 3.33445362e-01 5.99469601e-02 7.07042303e+02] [-3.32828194e-01 9.42769037e-01 -2.02961979e-02 -1.17641300e+02] [-6.32838109e-02 -8.56125273e-04 9.97995204e-01 -4.50667269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.130714057 meters 0.01624914666887876 Centerline is valid? [True, True] Translation: X:707.07, Y:-117.65, Z:-45.07 [[ 9.39910872e-01 3.36033631e-01 6.04065625e-02 7.07069282e+02] [-3.35412305e-01 9.41849415e-01 -2.04515247e-02 -1.17651288e+02] [-6.37662857e-02 -1.03849393e-03 9.97964319e-01 -4.50677499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.160714057 meters 0.016618910456681013 Centerline is valid? [True, True] Translation: X:707.10, Y:-117.66, Z:-45.07 [[ 9.39190779e-01 3.38023786e-01 6.05028928e-02 7.07096963e+02] [-3.37404786e-01 9.41136830e-01 -2.04811748e-02 -1.17662764e+02] [-6.38646249e-02 -1.17823503e-03 9.97957876e-01 -4.50695220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.1907140569999 meters 0.016982937607163934 Centerline is valid? [True, True] Translation: X:707.12, Y:-117.67, Z:-45.07 [[ 9.38633473e-01 3.39625240e-01 6.01822148e-02 7.07123684e+02] [-3.39016225e-01 9.40559967e-01 -2.03702642e-02 -1.17674980e+02] [-6.35232378e-02 -1.28253541e-03 9.97979536e-01 -4.50712907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.2207140569999 meters 0.017441526828658512 Centerline is valid? [True, True] Translation: X:707.15, Y:-117.69, Z:-45.07 [[ 9.38187226e-01 3.40941877e-01 5.96939387e-02 7.07149749e+02] [-3.40345526e-01 9.40083390e-01 -2.02025513e-02 -1.17686807e+02] [-6.30051760e-02 -1.36278944e-03 9.98012270e-01 -4.50729850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.250714057 meters 0.01798295781846515 Centerline is valid? [True, True] Translation: X:707.18, Y:-117.70, Z:-45.07 [[ 9.38053909e-01 3.41379112e-01 5.92888301e-02 7.07175700e+02] [-3.40791914e-01 9.39924668e-01 -2.00621500e-02 -1.17703470e+02] [-6.25758329e-02 -1.38577562e-03 9.98039250e-01 -4.50748013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.280714057 meters 0.018036674372847537 Centerline is valid? [True, True] Translation: X:707.20, Y:-117.72, Z:-45.08 [[ 9.38290956e-01 3.40704249e-01 5.94196640e-02 7.07203434e+02] [-3.40113170e-01 9.40169563e-01 -2.01053541e-02 -1.17717807e+02] [-6.27145391e-02 -1.34473833e-03 9.98030600e-01 -4.50766853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.3107140569999 meters 0.018280642036180312 Centerline is valid? [True, True] Translation: X:707.23, Y:-117.73, Z:-45.08 [[ 9.38729960e-01 3.39485245e-01 5.94628499e-02 7.07231221e+02] [-3.38890789e-01 9.40610532e-01 -2.01211272e-02 -1.17732072e+02] [-6.27622087e-02 -1.26310720e-03 9.98027710e-01 -4.50783210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.3407140569999 meters 0.01669124611887007 Centerline is valid? [True, True] Translation: X:707.26, Y:-117.76, Z:-45.08 [[ 9.40287224e-01 3.35188618e-01 5.92328219e-02 7.07256844e+02] [-3.34589300e-01 9.42150557e-01 -2.00581161e-02 -1.17757100e+02] [-6.25294884e-02 -9.58278142e-04 9.98042657e-01 -4.50804178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.370714057 meters 0.01668741618937993 Centerline is valid? [True, True] Translation: X:707.28, Y:-117.77, Z:-45.08 [[ 9.41082297e-01 3.32860340e-01 5.97336193e-02 7.07284905e+02] [-3.32245077e-01 9.42975802e-01 -2.02446419e-02 -1.17772529e+02] [-6.30659960e-02 -7.94326913e-04 9.98009043e-01 -4.50822773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.400714057 meters 0.01627931957665713 Centerline is valid? [True, True] Translation: X:707.31, Y:-117.79, Z:-45.08 [[ 9.42056048e-01 3.30095601e-01 5.97268475e-02 7.07313710e+02] [-3.29473972e-01 9.43947319e-01 -2.02573787e-02 -1.17789004e+02] [-6.30658691e-02 -5.94855534e-04 9.98009190e-01 -4.50844113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.4307140569999 meters 0.016258087249577648 Centerline is valid? [True, True] Translation: X:707.34, Y:-117.80, Z:-45.09 [[ 9.42856161e-01 3.27855877e-01 5.94372320e-02 7.07341327e+02] [-3.27235226e-01 9.44727652e-01 -2.01685661e-02 -1.17803917e+02] [-6.27643796e-02 -4.33899262e-04 9.98028278e-01 -4.50861486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.4607140569999 meters 0.01662785471090887 Centerline is valid? [True, True] Translation: X:707.37, Y:-117.82, Z:-45.09 [[ 9.44159188e-01 3.24305445e-01 5.82186060e-02 7.07368375e+02] [-3.23702354e-01 9.45952402e-01 -1.97696769e-02 -1.17823912e+02] [-6.14834440e-02 -1.79777732e-04 9.98108087e-01 -4.50890579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.490714057 meters 0.016718743967905056 Centerline is valid? [True, True] Translation: X:707.40, Y:-117.84, Z:-45.09 [[ 9.44646728e-01 3.22995997e-01 5.75859886e-02 7.07397248e+02] [-3.22402553e-01 9.46400327e-01 -1.95707481e-02 -1.17839023e+02] [-6.08206718e-02 -7.84265524e-05 9.98148706e-01 -4.50913253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.520714057 meters 0.01707203579831194 Centerline is valid? [True, True] Translation: X:707.43, Y:-117.85, Z:-45.09 [[ 9.45139796e-01 3.21703756e-01 5.67226543e-02 7.07427186e+02] [-3.21124668e-01 9.46840374e-01 -1.92938910e-02 -1.17854158e+02] [-5.99142164e-02 2.03806353e-05 9.98203530e-01 -4.50941152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.5507140569999 meters 0.016940819968916738 Centerline is valid? [True, True] Translation: X:707.46, Y:-117.87, Z:-45.10 [[ 9.45764028e-01 3.19955045e-01 5.62065167e-02 7.07457226e+02] [-3.19382311e-01 9.47432714e-01 -1.91361463e-02 -1.17868925e+02] [-5.93745992e-02 1.46911597e-04 9.98235761e-01 -4.50960368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.5807140569999 meters 0.017230104495874927 Centerline is valid? [True, True] Translation: X:707.48, Y:-117.89, Z:-45.10 [[ 9.46749008e-01 3.17071753e-01 5.59626618e-02 7.07484208e+02] [-3.16497890e-01 9.48401490e-01 -1.90709207e-02 -1.17886731e+02] [-5.91219221e-02 3.43310924e-04 9.98250710e-01 -4.50971746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.6107140569999 meters 0.01746290969464688 Centerline is valid? [True, True] Translation: X:707.51, Y:-117.90, Z:-45.10 [[ 9.47137267e-01 3.15948535e-01 5.57451458e-02 7.07513843e+02] [-3.15376335e-01 9.48776234e-01 -1.90111919e-02 -1.17900780e+02] [-5.88962277e-02 4.25508534e-04 9.98264020e-01 -4.50983327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.640714057 meters 0.017365867536290602 Centerline is valid? [True, True] Translation: X:707.54, Y:-117.91, Z:-45.10 [[ 9.47440681e-01 3.14981788e-01 5.60591606e-02 7.07544481e+02] [-3.14400400e-01 9.49097581e-01 -1.91355783e-02 -1.17913997e+02] [-5.92329724e-02 5.04802827e-04 9.98244058e-01 -4.50992618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.6707140569999 meters 0.017713531315145848 Centerline is valid? [True, True] Translation: X:707.57, Y:-117.93, Z:-45.10 [[ 9.47780747e-01 3.13877917e-01 5.65005222e-02 7.07572166e+02] [-3.13284315e-01 9.49463164e-01 -1.93038546e-02 -1.17927751e+02] [-5.97042183e-02 5.95094330e-04 9.98215935e-01 -4.51003810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.7007140569999 meters 0.018011037432575396 Centerline is valid? [True, True] Translation: X:707.60, Y:-117.94, Z:-45.10 [[ 9.48409951e-01 3.11868149e-01 5.70685817e-02 7.07599231e+02] [-3.11258750e-01 9.50125109e-01 -1.95004593e-02 -1.17943671e+02] [-6.03038645e-02 7.31334271e-04 9.98179798e-01 -4.51012221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.7307140569999 meters 0.018072345272586155 Centerline is valid? [True, True] Translation: X:707.63, Y:-117.96, Z:-45.10 [[ 9.48500837e-01 3.11549628e-01 5.72973923e-02 7.07629066e+02] [-3.10934220e-01 9.50229576e-01 -1.95873335e-02 -1.17957042e+02] [-6.05481033e-02 7.62882271e-04 9.98164989e-01 -4.51022556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.760714057 meters 0.017897361003985212 Centerline is valid? [True, True] Translation: X:707.66, Y:-117.97, Z:-45.10 [[ 9.48535119e-01 3.11362043e-01 5.77477800e-02 7.07659880e+02] [-3.10735493e-01 9.50291030e-01 -1.97588456e-02 -1.17969331e+02] [-6.10293519e-02 7.97674104e-04 9.98135653e-01 -4.51041615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.790714057 meters 0.017897361003985212 Centerline is valid? [True, True] Translation: X:707.69, Y:-117.98, Z:-45.11 [[ 9.48448200e-01 3.11627733e-01 5.77422618e-02 7.07690545e+02] [-3.11000693e-01 9.50203936e-01 -1.97749590e-02 -1.17979899e+02] [-6.10293501e-02 7.97640796e-04 9.98135653e-01 -4.51060427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.8207140569999 meters 0.017896964508016405 Centerline is valid? [True, True] Translation: X:707.72, Y:-117.99, Z:-45.11 [[ 9.48050914e-01 3.12600436e-01 5.89951768e-02 7.07720995e+02] [-3.11946567e-01 9.49884401e-01 -2.02228386e-02 -1.17994028e+02] [-6.23602664e-02 7.68937728e-04 9.98053408e-01 -4.51074875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.8507140569999 meters 0.017690011670488382 Centerline is valid? [True, True] Translation: X:707.75, Y:-118.01, Z:-45.11 [[ 9.47690081e-01 3.13636373e-01 5.92936364e-02 7.07752351e+02] [-3.12976729e-01 9.49542892e-01 -2.03436201e-02 -1.18005460e+02] [-6.26823503e-02 7.21918618e-04 9.98033267e-01 -4.51089990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.880714057 meters 0.017434958480160776 Centerline is valid? [True, True] Translation: X:707.78, Y:-118.02, Z:-45.11 [[ 9.47181033e-01 3.15019467e-01 6.00901529e-02 7.07783393e+02] [-3.14343617e-01 9.49084983e-01 -2.06345602e-02 -1.18015350e+02] [-6.35309499e-02 6.55708040e-04 9.97979653e-01 -4.51113384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.910714057 meters 0.017515833041007258 Centerline is valid? [True, True] Translation: X:707.81, Y:-118.03, Z:-45.11 [[ 9.46665965e-01 3.16518254e-01 6.03303038e-02 7.07813483e+02] [-3.15839576e-01 9.48586252e-01 -2.07240398e-02 -1.18025257e+02] [-6.37880337e-02 5.64045573e-04 9.97963310e-01 -4.51128302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.9407140569999 meters 0.0174219019260418 Centerline is valid? [True, True] Translation: X:707.84, Y:-118.04, Z:-45.11 [[ 9.45672209e-01 3.19281494e-01 6.13465579e-02 7.07842528e+02] [-3.18584425e-01 9.47659838e-01 -2.10901994e-02 -1.18035320e+02] [-6.48693795e-02 4.00357544e-04 9.97893683e-01 -4.51148671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.9707140569999 meters 0.01727186468207975 Centerline is valid? [True, True] Translation: X:707.87, Y:-118.05, Z:-45.12 [[ 9.45218674e-01 3.20639812e-01 6.12516880e-02 7.07874028e+02] [-3.19946705e-01 9.47201144e-01 -2.10736569e-02 -1.18046206e+02] [-6.47747224e-02 3.21938266e-04 9.97899861e-01 -4.51176568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.000714057 meters 0.01721586641366377 Centerline is valid? [True, True] Translation: X:707.90, Y:-118.06, Z:-45.12 [[ 9.44821402e-01 3.21757306e-01 6.15203585e-02 7.07903776e+02] [-3.21059166e-01 9.46822140e-01 -2.11859979e-02 -1.18057592e+02] [-6.50655871e-02 2.65309260e-04 9.97880954e-01 -4.51194254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.030714057 meters 0.01720852745301287 Centerline is valid? [True, True] Translation: X:707.93, Y:-118.07, Z:-45.12 [[ 9.44105195e-01 3.23697249e-01 6.23335489e-02 7.07934489e+02] [-3.22983463e-01 9.46160699e-01 -2.14852216e-02 -1.18069690e+02] [-6.59322613e-02 1.51603878e-04 9.97824090e-01 -4.51216694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.0607140569999 meters 0.017255707836470516 Centerline is valid? [True, True] Translation: X:707.97, Y:-118.08, Z:-45.12 [[ 9.43723138e-01 3.24717995e-01 6.28081437e-02 7.07965772e+02] [-3.23994199e-01 9.45810876e-01 -2.16689971e-02 -1.18081321e+02] [-6.64409387e-02 1.00059784e-04 9.97790355e-01 -4.51242329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.0907140569999 meters 0.017142172007466094 Centerline is valid? [True, True] Translation: X:708.00, Y:-118.09, Z:-45.13 [[ 9.43473092e-01 3.25299264e-01 6.35524433e-02 7.07995958e+02] [-3.24558131e-01 9.45611116e-01 -2.19462345e-02 -1.18092391e+02] [-6.72349908e-02 7.92195180e-05 9.97737165e-01 -4.51262571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.120714057 meters 0.017159601123343967 Centerline is valid? [True, True] Translation: X:708.03, Y:-118.10, Z:-45.13 [[ 9.43652549e-01 3.24964840e-01 6.25916849e-02 7.08026333e+02] [-3.24243999e-01 9.45726091e-01 -2.16330979e-02 -1.18103988e+02] [-6.62245857e-02 1.19149723e-04 9.97804735e-01 -4.51290172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.150714057 meters 0.017373049964358088 Centerline is valid? [True, True] Translation: X:708.06, Y:-118.12, Z:-45.13 [[ 9.43658520e-01 3.24987095e-01 6.23857774e-02 7.08055518e+02] [-3.24269734e-01 9.45718441e-01 -2.15816954e-02 -1.18116388e+02] [-6.60131526e-02 1.35931311e-04 9.97818744e-01 -4.51292085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.1807140569999 meters 0.017303921627317944 Centerline is valid? [True, True] Translation: X:708.09, Y:-118.13, Z:-45.13 [[ 9.44055987e-01 3.23918365e-01 6.19288834e-02 7.08085051e+02] [-3.23207975e-01 9.46085007e-01 -2.14420984e-02 -1.18129952e+02] [-6.55354775e-02 2.26632372e-04 9.97850214e-01 -4.51334722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.2107140569999 meters 0.017530180981590197 Centerline is valid? [True, True] Translation: X:708.12, Y:-118.14, Z:-45.13 [[ 9.44047000e-01 3.23866104e-01 6.23378606e-02 7.08115843e+02] [-3.23144871e-01 9.46102893e-01 -2.16034386e-02 -1.18142580e+02] [-6.59746517e-02 2.50501512e-04 9.97821268e-01 -4.51349787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.240714057 meters 0.017542243243296608 Centerline is valid? [True, True] Translation: X:708.15, Y:-118.15, Z:-45.14 [[ 9.43968339e-01 3.24026552e-01 6.26942445e-02 7.08146334e+02] [-3.23296082e-01 9.46047951e-01 -2.17466606e-02 -1.18154596e+02] [-6.63582570e-02 2.59355514e-04 9.97795828e-01 -4.51365119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.270714057 meters 0.017521596325595537 Centerline is valid? [True, True] Translation: X:708.18, Y:-118.17, Z:-45.14 [[ 9.43570008e-01 3.25087471e-01 6.31963239e-02 7.08176903e+02] [-3.24346278e-01 9.45683929e-01 -2.19407833e-02 -1.18167129e+02] [-6.68964216e-02 2.05172614e-04 9.97759904e-01 -4.51380427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.3007140569999 meters 0.017476729072081615 Centerline is valid? [True, True] Translation: X:708.21, Y:-118.18, Z:-45.14 [[ 9.43467832e-01 3.25419546e-01 6.30124561e-02 7.08206926e+02] [-3.24682114e-01 9.45569712e-01 -2.18962383e-02 -1.18178694e+02] [-6.67081339e-02 1.99378975e-04 9.97772512e-01 -4.51391492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.3307140569999 meters 0.01760223895347432 Centerline is valid? [True, True] Translation: X:708.24, Y:-118.19, Z:-45.14 [[ 9.43356332e-01 3.25699645e-01 6.32342583e-02 7.08237829e+02] [-3.24956716e-01 9.45473270e-01 -2.19870197e-02 -1.18190564e+02] [-6.69474655e-02 1.93197378e-04 9.97756483e-01 -4.51407721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.3607140569999 meters 0.01765240276113674 Centerline is valid? [True, True] Translation: X:708.27, Y:-118.20, Z:-45.14 [[ 9.43587665e-01 3.24868226e-01 6.40543045e-02 7.08267091e+02] [-3.24102604e-01 9.45759251e-01 -2.22921930e-02 -1.18203766e+02] [-6.78219762e-02 2.74471428e-04 9.97697401e-01 -4.51429627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.390714057 meters 0.017920494546701873 Centerline is valid? [True, True] Translation: X:708.30, Y:-118.22, Z:-45.14 [[ 9.43659973e-01 3.24563186e-01 6.45336641e-02 7.08297446e+02] [-3.23784087e-01 9.45863964e-01 -2.24772564e-02 -1.18216313e+02] [-6.83353573e-02 3.15913651e-04 9.97662357e-01 -4.51446437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4207140569999 meters 0.017959831104308953 Centerline is valid? [True, True] Translation: X:708.33, Y:-118.23, Z:-45.15 [[ 9.43854763e-01 3.24063636e-01 6.41945932e-02 7.08327847e+02] [-3.23290195e-01 9.46035213e-01 -2.23791523e-02 -1.18229438e+02] [-6.79826151e-02 3.69186898e-04 9.97686438e-01 -4.51463908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4507140569999 meters 0.01798108404602037 Centerline is valid? [True, True] Translation: X:708.36, Y:-118.24, Z:-45.15 [[ 9.43988014e-01 3.23657417e-01 6.42845749e-02 7.08357527e+02] [-3.22879509e-01 9.46174245e-01 -2.24303548e-02 -1.18241905e+02] [-6.80841598e-02 4.17814094e-04 9.97679494e-01 -4.51487895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4807140569999 meters 0.018080528962530776 Centerline is valid? [True, True] Translation: X:708.39, Y:-118.25, Z:-45.15 [[ 9.44219590e-01 3.23159167e-01 6.33838909e-02 7.08387846e+02] [-3.22400576e-01 9.46344513e-01 -2.21344140e-02 -1.18254506e+02] [-6.71359362e-02 4.64744440e-04 9.97743730e-01 -4.51514215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.510714057 meters 0.01851761744334321 Centerline is valid? [True, True] Translation: X:708.42, Y:-118.27, Z:-45.15 [[ 9.44675993e-01 3.21908695e-01 6.29448982e-02 7.08417026e+02] [-3.21156592e-01 9.46770548e-01 -2.19993907e-02 -1.18268535e+02] [-6.66761709e-02 5.67127252e-04 9.97774507e-01 -4.51546032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.540714057 meters 0.018836546151781205 Centerline is valid? [True, True] Translation: X:708.45, Y:-118.28, Z:-45.16 [[ 9.45028369e-01 3.20916162e-01 6.27231951e-02 7.08446861e+02] [-3.20166314e-01 9.47107385e-01 -2.19347395e-02 -1.18281536e+02] [-6.64448137e-02 6.47096929e-04 9.97789892e-01 -4.51563974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.5707140569999 meters 0.018780911060717356 Centerline is valid? [True, True] Translation: X:708.48, Y:-118.29, Z:-45.16 [[ 9.45204385e-01 3.20334361e-01 6.30441717e-02 7.08475937e+02] [-3.19574273e-01 9.47304278e-01 -2.20655825e-02 -1.18294165e+02] [-6.67903778e-02 7.09190043e-04 9.97766778e-01 -4.51575937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.6007140569999 meters 0.01938790004296168 Centerline is valid? [True, True] Translation: X:708.50, Y:-118.31, Z:-45.16 [[ 9.45482867e-01 3.19120856e-01 6.49925195e-02 7.08504178e+02] [-3.18309089e-01 9.47713661e-01 -2.27626812e-02 -1.18308253e+02] [-6.88583449e-02 8.34015363e-04 9.97626099e-01 -4.51576764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.630714057 meters 0.019461665421372117 Centerline is valid? [True, True] Translation: X:708.53, Y:-118.32, Z:-45.16 [[ 9.45542314e-01 3.18846576e-01 6.54720791e-02 7.08533647e+02] [-3.18021387e-01 9.47805942e-01 -2.29411010e-02 -1.18320109e+02] [-6.93695171e-02 8.70260296e-04 9.97590654e-01 -4.51585976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.660714057 meters 0.01980240162858465 Centerline is valid? [True, True] Translation: X:708.56, Y:-118.33, Z:-45.16 [[ 9.45650849e-01 3.18540737e-01 6.53932079e-02 7.08562883e+02] [-3.17715628e-01 9.47908738e-01 -2.29304374e-02 -1.18332099e+02] [-6.92910715e-02 9.07743501e-04 9.97596072e-01 -4.51608938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.6907140569999 meters 0.020184720006131796 Centerline is valid? [True, True] Translation: X:708.59, Y:-118.34, Z:-45.16 [[ 9.46244820e-01 3.16794591e-01 6.52834340e-02 7.08592300e+02] [-3.15966879e-01 9.48493586e-01 -2.29095759e-02 -1.18344978e+02] [-6.91785482e-02 1.05066464e-03 9.97603741e-01 -4.51629748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.7207140569999 meters 0.01979728519034615 Centerline is valid? [True, True] Translation: X:708.62, Y:-118.36, Z:-45.17 [[ 9.46684929e-01 3.15621285e-01 6.45821156e-02 7.08622574e+02] [-3.14807435e-01 9.48884559e-01 -2.26798006e-02 -1.18355054e+02] [-6.84392000e-02 1.13969525e-03 9.97654638e-01 -4.51664815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.750714057 meters 0.019620616867771067 Centerline is valid? [True, True] Translation: X:708.65, Y:-118.37, Z:-45.17 [[ 9.47200955e-01 3.14174585e-01 6.40677803e-02 7.08652667e+02] [-3.13369194e-01 9.49364401e-01 -2.25162512e-02 -1.18365629e+02] [-6.78977038e-02 1.25054592e-03 9.97691504e-01 -4.51693197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.780714057 meters 0.020082931705073206 Centerline is valid? [True, True] Translation: X:708.68, Y:-118.38, Z:-45.17 [[ 9.48262738e-01 3.11152932e-01 6.31001861e-02 7.08682796e+02] [-3.10363879e-01 9.50358731e-01 -2.21933479e-02 -1.18377799e+02] [-6.68733381e-02 1.46110632e-03 9.97760403e-01 -4.51714051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.8107140569999 meters 0.020136556796426692 Centerline is valid? [True, True] Translation: X:708.71, Y:-118.39, Z:-45.17 [[ 9.48761062e-01 3.09658059e-01 6.29629572e-02 7.08712956e+02] [-3.08867989e-01 9.50846671e-01 -2.21624566e-02 -1.18388557e+02] [-6.67309015e-02 1.57963390e-03 9.97769759e-01 -4.51735377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.8407140569999 meters 0.02071148442460909 Centerline is valid? [True, True] Translation: X:708.74, Y:-118.40, Z:-45.18 [[ 9.49337146e-01 3.07921848e-01 6.27942584e-02 7.08741503e+02] [-3.07131126e-01 9.51410113e-01 -2.21194296e-02 -1.18399852e+02] [-6.65541481e-02 1.71272492e-03 9.97781345e-01 -4.51750007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.870714057 meters 0.020674422354517788 Centerline is valid? [True, True] Translation: X:708.77, Y:-118.41, Z:-45.18 [[ 9.49750591e-01 3.06525206e-01 6.33728074e-02 7.08772011e+02] [-3.05716043e-01 9.51860769e-01 -2.23333301e-02 -1.18410316e+02] [-6.71678178e-02 1.83700950e-03 9.97740001e-01 -4.51766792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.900714057 meters 0.02249251921418592 Centerline is valid? [True, True] Translation: X:708.80, Y:-118.42, Z:-45.18 [[ 9.50697838e-01 3.03566848e-01 6.34096958e-02 7.08800309e+02] [-3.02749060e-01 9.52807910e-01 -2.23627895e-02 -1.18422229e+02] [-6.72058613e-02 2.06302985e-03 9.97736997e-01 -4.51774183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.9307140569999 meters 0.02274509076573282 Centerline is valid? [True, True] Translation: X:708.83, Y:-118.43, Z:-45.18 [[ 9.51015863e-01 3.02624731e-01 6.31434928e-02 7.08830671e+02] [-3.01811070e-01 9.53107410e-01 -2.22787553e-02 -1.18432555e+02] [-6.69246332e-02 2.13004453e-03 9.97755760e-01 -4.51788737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.9607140569999 meters 0.02238135776855082 Centerline is valid? [True, True] Translation: X:708.86, Y:-118.44, Z:-45.18 [[ 9.51241265e-01 3.01905821e-01 6.31896355e-02 7.08861570e+02] [-3.01088241e-01 9.53335220e-01 -2.23120995e-02 -1.18441222e+02] [-6.69770578e-02 2.19853356e-03 9.97752094e-01 -4.51811415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.990714057 meters 0.022320302620981888 Centerline is valid? [True, True] Translation: X:708.89, Y:-118.45, Z:-45.18 [[ 9.51300214e-01 3.01669734e-01 6.34292839e-02 7.08892166e+02] [-3.00844233e-01 9.53409856e-01 -2.24141574e-02 -1.18450424e+02] [-6.72357773e-02 2.24025850e-03 9.97734600e-01 -4.51828311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.020714057 meters 0.021909240072296377 Centerline is valid? [True, True] Translation: X:708.92, Y:-118.46, Z:-45.18 [[ 9.51195754e-01 3.01808318e-01 6.43302212e-02 7.08924307e+02] [-3.00958261e-01 9.53365902e-01 -2.27504258e-02 -1.18456746e+02] [-6.81965071e-02 2.27939690e-03 9.97669304e-01 -4.51835449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.0507140569999 meters 0.023344967301617066 Centerline is valid? [True, True] Translation: X:708.95, Y:-118.47, Z:-45.18 [[ 9.51006783e-01 3.02425624e-01 6.42249260e-02 7.08953879e+02] [-3.01578539e-01 9.53170334e-01 -2.27309940e-02 -1.18468113e+02] [-6.80917292e-02 2.24847008e-03 9.97676531e-01 -4.51841183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.0807140569999 meters 0.02138753546314698 Centerline is valid? [True, True] Translation: X:708.99, Y:-118.47, Z:-45.19 [[ 9.50648109e-01 3.03466605e-01 6.46234635e-02 7.08986319e+02] [-3.02610126e-01 9.52839525e-01 -2.28899994e-02 -1.18473818e+02] [-6.85221407e-02 2.20462026e-03 9.97647160e-01 -4.51863188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.1107140569999 meters 0.021534933187948847 Centerline is valid? [True, True] Translation: X:709.02, Y:-118.48, Z:-45.19 [[ 9.50442944e-01 3.04058603e-01 6.48581247e-02 7.09017258e+02] [-3.03196096e-01 9.52650821e-01 -2.29899956e-02 -1.18481135e+02] [-6.87774517e-02 2.18594889e-03 9.97629633e-01 -4.51875466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.140714057 meters 0.021069256698861956 Centerline is valid? [True, True] Translation: X:709.05, Y:-118.49, Z:-45.19 [[ 9.50369692e-01 3.04401373e-01 6.43214744e-02 7.09049304e+02] [-3.03553088e-01 9.52541424e-01 -2.28113878e-02 -1.18488924e+02] [-6.82126865e-02 2.15426947e-03 9.97668476e-01 -4.51900499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.1707140569999 meters 0.021155101218979653 Centerline is valid? [True, True] Translation: X:709.08, Y:-118.50, Z:-45.19 [[ 9.50363892e-01 3.04492384e-01 6.39754782e-02 7.09081376e+02] [-3.03652029e-01 9.52512331e-01 -2.27091171e-02 -1.18497875e+02] [-6.78521851e-02 2.15564116e-03 9.97693056e-01 -4.51924888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.2007140569999 meters 0.020845414452815132 Centerline is valid? [True, True] Translation: X:709.11, Y:-118.51, Z:-45.19 [[ 9.50258949e-01 3.05056583e-01 6.28363801e-02 7.09112568e+02] [-3.04245853e-01 9.52331921e-01 -2.23242819e-02 -1.18505724e+02] [-6.66512597e-02 2.09614064e-03 9.97774131e-01 -4.51947127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.2307140569999 meters 0.021677477583415584 Centerline is valid? [True, True] Translation: X:709.14, Y:-118.51, Z:-45.20 [[ 9.50049486e-01 3.05972141e-01 6.15387896e-02 7.09143069e+02] [-3.05195410e-01 9.52038353e-01 -2.18800330e-02 -1.18511610e+02] [-6.52819684e-02 2.00575803e-03 9.97864841e-01 -4.51970509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.260714057 meters 0.021357571732849082 Centerline is valid? [True, True] Translation: X:709.17, Y:-118.52, Z:-45.20 [[ 9.49891244e-01 3.06663372e-01 6.05326393e-02 7.09174592e+02] [-3.05912270e-01 9.51816059e-01 -2.15377224e-02 -1.18519514e+02] [-6.42207687e-02 1.94081685e-03 9.97933829e-01 -4.51987124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.290714057 meters 0.020544609027867766 Centerline is valid? [True, True] Translation: X:709.21, Y:-118.53, Z:-45.20 [[ 9.49624171e-01 3.07480037e-01 6.05802033e-02 7.09206407e+02] [-3.06728348e-01 9.51552629e-01 -2.15711342e-02 -1.18526694e+02] [-6.42779449e-02 1.90280471e-03 9.97930221e-01 -4.52006417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.3207140569999 meters 0.02098182942333277 Centerline is valid? [True, True] Translation: X:709.24, Y:-118.54, Z:-45.20 [[ 9.49349261e-01 3.08324703e-01 6.05958620e-02 7.09236384e+02] [-3.07573264e-01 9.51279354e-01 -2.15934574e-02 -1.18536346e+02] [-6.43013888e-02 1.86206579e-03 9.97928787e-01 -4.52013747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.3507140569999 meters 0.020633576940753025 Centerline is valid? [True, True] Translation: X:709.27, Y:-118.54, Z:-45.20 [[ 9.49185068e-01 3.09008846e-01 5.96761271e-02 7.09269100e+02] [-3.08280452e-01 9.51057456e-01 -2.12809621e-02 -1.18540564e+02] [-6.33314311e-02 1.80258808e-03 9.97990922e-01 -4.52023321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.380714057 meters 0.020370804946933947 Centerline is valid? [True, True] Translation: X:709.30, Y:-118.55, Z:-45.20 [[ 9.49063889e-01 3.09440661e-01 5.93650736e-02 7.09300712e+02] [-3.08719644e-01 9.50917088e-01 -2.11866299e-02 -1.18548905e+02] [-6.30072677e-02 1.78030099e-03 9.98011480e-01 -4.52040146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.410714057 meters 0.021035754135752333 Centerline is valid? [True, True] Translation: X:709.33, Y:-118.56, Z:-45.21 [[ 9.49780872e-01 3.07429595e-01 5.83381466e-02 7.09330831e+02] [-3.06728480e-01 9.51568939e-01 -2.08373180e-02 -1.18555923e+02] [-6.19187765e-02 1.89691498e-03 9.98079389e-01 -4.52054114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.4407140569999 meters 0.02195262749899263 Centerline is valid? [True, True] Translation: X:709.36, Y:-118.57, Z:-45.21 [[ 9.50336119e-01 3.05694789e-01 5.84119640e-02 7.09359971e+02] [-3.04988428e-01 9.52127425e-01 -2.08668440e-02 -1.18565999e+02] [-6.19945183e-02 2.01554249e-03 9.98074455e-01 -4.52065868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.4707140569999 meters 0.02176294616338315 Centerline is valid? [True, True] Translation: X:709.39, Y:-118.57, Z:-45.21 [[ 9.51304977e-01 3.02622422e-01 5.86388215e-02 7.09390605e+02] [-3.01903796e-01 9.53107894e-01 -2.09628340e-02 -1.18573631e+02] [-6.22329473e-02 2.23876554e-03 9.98059141e-01 -4.52087055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.500714057 meters 0.024284315265859863 Centerline is valid? [True, True] Translation: X:709.42, Y:-118.59, Z:-45.21 [[ 9.52449270e-01 2.99110877e-01 5.80781518e-02 7.09417932e+02] [-2.98398563e-01 9.54215197e-01 -2.07763259e-02 -1.18585650e+02] [-6.16334801e-02 2.45795935e-03 9.98095823e-01 -4.52098476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.530714057 meters 0.0258771065309368 Centerline is valid? [True, True] Translation: X:709.45, Y:-118.60, Z:-45.21 [[ 9.53550198e-01 2.95530616e-01 5.83410268e-02 7.09446340e+02] [-2.94805138e-01 9.55329449e-01 -2.08704376e-02 -1.18596110e+02] [-6.19027542e-02 2.70177546e-03 9.98078529e-01 -4.52112747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.5607140569999 meters 0.02500946975473897 Centerline is valid? [True, True] Translation: X:709.48, Y:-118.60, Z:-45.21 [[ 9.55847051e-01 2.88009977e-01 5.83666620e-02 7.09478263e+02] [-2.87269783e-01 9.57622089e-01 -2.08807780e-02 -1.18600161e+02] [-6.19070772e-02 3.19185178e-03 9.98076814e-01 -4.52125933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.5907140569999 meters 0.026377933697304685 Centerline is valid? [True, True] Translation: X:709.51, Y:-118.61, Z:-45.21 [[ 9.56762935e-01 2.85098281e-01 5.76511612e-02 7.09507988e+02] [-2.84370749e-01 9.58492467e-01 -2.06268521e-02 -1.18609757e+02] [-6.11388839e-02 3.34070367e-03 9.98123678e-01 -4.52137884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.620714057 meters 0.03187193500436682 Centerline is valid? [True, True] Translation: X:709.53, Y:-118.62, Z:-45.21 [[ 9.57502932e-01 2.82660501e-01 5.73687714e-02 7.09534880e+02] [-2.81935593e-01 9.59213700e-01 -2.05280219e-02 -1.18624309e+02] [-6.08313724e-02 3.48134253e-03 9.98141986e-01 -4.52149249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.650714057 meters 0.03277706386278154 Centerline is valid? [True, True] Translation: X:709.57, Y:-118.63, Z:-45.22 [[ 9.57999636e-01 2.81028721e-01 5.70925108e-02 7.09566315e+02] [-2.80307824e-01 9.59692722e-01 -2.04304330e-02 -1.18632848e+02] [-6.05328056e-02 3.56886985e-03 9.98159828e-01 -4.52160000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.6807140569999 meters 0.03427960415586146 Centerline is valid? [True, True] Translation: X:709.60, Y:-118.64, Z:-45.22 [[ 9.58008726e-01 2.80922277e-01 5.74626393e-02 7.09598057e+02] [-2.80191527e-01 9.59723758e-01 -2.05673765e-02 -1.18637120e+02] [-6.09260944e-02 3.60318151e-03 9.98135776e-01 -4.52161401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.7107140569999 meters 0.03427960415586146 Centerline is valid? [True, True] Translation: X:709.63, Y:-118.65, Z:-45.22 [[ 9.57935719e-01 2.81171686e-01 5.74599153e-02 7.09628621e+02] [-2.80440928e-01 9.59650747e-01 -2.05749838e-02 -1.18648155e+02] [-6.09265536e-02 3.59539994e-03 9.98135776e-01 -4.52180237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.740714057 meters 0.032611474914393535 Centerline is valid? [True, True] Translation: X:709.66, Y:-118.65, Z:-45.22 [[ 9.57739881e-01 2.81866132e-01 5.73219281e-02 7.09661693e+02] [-2.81139133e-01 9.59447144e-01 -2.05417988e-02 -1.18652676e+02] [-6.07873975e-02 3.55826278e-03 9.98144394e-01 -4.52195298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.770714057 meters 0.027881680117083914 Centerline is valid? [True, True] Translation: X:709.70, Y:-118.65, Z:-45.22 [[ 9.57124069e-01 2.83903262e-01 5.75539262e-02 7.09697042e+02] [-2.83173697e-01 9.58846729e-01 -2.06302679e-02 -1.18648453e+02] [-6.10423942e-02 3.44796791e-03 9.98129219e-01 -4.52207792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.8007140569999 meters 0.024411734903098208 Centerline is valid? [True, True] Translation: X:709.73, Y:-118.65, Z:-45.22 [[ 9.56674331e-01 2.85461578e-01 5.73228682e-02 7.09730287e+02] [-2.84740339e-01 9.58384334e-01 -2.05525537e-02 -1.18650082e+02] [-6.08043033e-02 3.33996764e-03 9.98144119e-01 -4.52228523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.8307140569999 meters 0.02430563768856362 Centerline is valid? [True, True] Translation: X:709.76, Y:-118.66, Z:-45.23 [[ 9.56088320e-01 2.87445573e-01 5.71853834e-02 7.09761556e+02] [-2.86730365e-01 9.57791557e-01 -2.05190543e-02 -1.18656925e+02] [-6.06697887e-02 3.22124232e-03 9.98152694e-01 -4.52251327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.8607140569999 meters 0.024777785511586423 Centerline is valid? [True, True] Translation: X:709.79, Y:-118.66, Z:-45.23 [[ 9.55446807e-01 2.89728173e-01 5.63824882e-02 7.09791515e+02] [-2.89036686e-01 9.57104157e-01 -2.02343098e-02 -1.18663905e+02] [-5.98263634e-02 3.03619913e-03 9.98204181e-01 -4.52275684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.890714057 meters 0.026926514843624585 Centerline is valid? [True, True] Translation: X:709.82, Y:-118.67, Z:-45.23 [[ 9.53935622e-01 2.94839244e-01 5.54675524e-02 7.09821378e+02] [-2.94178508e-01 9.55543129e-01 -1.99081419e-02 -1.18668936e+02] [-5.88713401e-02 2.67372390e-03 9.98261998e-01 -4.52302463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9207140569999 meters 0.02448011856962231 Centerline is valid? [True, True] Translation: X:709.85, Y:-118.67, Z:-45.23 [[ 9.53160569e-01 2.97349227e-01 5.53928504e-02 7.09853400e+02] [-2.96694459e-01 9.54765472e-01 -1.98819148e-02 -1.18671789e+02] [-5.87990530e-02 2.51590541e-03 9.98266669e-01 -4.52322184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9507140569999 meters 0.02072453524124344 Centerline is valid? [True, True] Translation: X:709.89, Y:-118.67, Z:-45.23 [[ 9.52514864e-01 2.99376057e-01 5.55824693e-02 7.09887078e+02] [-2.98720104e-01 9.54132177e-01 -1.99521654e-02 -1.18672365e+02] [-5.90062231e-02 2.40113314e-03 9.98254727e-01 -4.52339560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9807140569999 meters 0.020843253453934972 Centerline is valid? [True, True] Translation: X:709.92, Y:-118.67, Z:-45.24 [[ 9.51459695e-01 3.02639436e-01 5.59805440e-02 7.09918271e+02] [-3.01979459e-01 9.53102540e-01 -2.00986258e-02 -1.18674618e+02] [-5.94378354e-02 2.21805799e-03 9.98229545e-01 -4.52352825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.010714057 meters 0.021179106986551018 Centerline is valid? [True, True] Translation: X:709.95, Y:-118.68, Z:-45.24 [[ 9.50947638e-01 3.04086787e-01 5.68314725e-02 7.09948598e+02] [-3.03408717e-01 9.52641869e-01 -2.04112635e-02 -1.18682368e+02] [-6.03468357e-02 2.16687867e-03 9.98175117e-01 -4.52368553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.040714057 meters 0.020747936010363514 Centerline is valid? [True, True] Translation: X:709.98, Y:-118.69, Z:-45.24 [[ 9.50547152e-01 3.05298990e-01 5.70319004e-02 7.09980224e+02] [-3.04617720e-01 9.52254215e-01 -2.04928087e-02 -1.18690137e+02] [-6.05653013e-02 2.10645345e-03 9.98162014e-01 -4.52382731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.0707140569999 meters 0.0212712393627976 Centerline is valid? [True, True] Translation: X:710.01, Y:-118.70, Z:-45.24 [[ 9.49771343e-01 3.07709428e-01 5.70026604e-02 7.10011706e+02] [-3.07032229e-01 9.51478344e-01 -2.04980590e-02 -1.18696074e+02] [-6.05442429e-02 1.96681511e-03 9.98163577e-01 -4.52400427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.1007140569999 meters 0.019436019905841068 Centerline is valid? [True, True] Translation: X:710.04, Y:-118.70, Z:-45.24 [[ 9.49336352e-01 3.09040734e-01 5.70466092e-02 7.10044002e+02] [-3.08364325e-01 9.51046920e-01 -2.05231356e-02 -1.18700447e+02] [-6.05964869e-02 1.89221961e-03 9.98160551e-01 -4.52423839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.130714057 meters 0.020099682328010567 Centerline is valid? [True, True] Translation: X:710.07, Y:-118.71, Z:-45.24 [[ 9.48874662e-01 3.10435999e-01 5.71521362e-02 7.10074024e+02] [-3.09758596e-01 9.50592536e-01 -2.05777131e-02 -1.18710022e+02] [-6.07164570e-02 1.82230512e-03 9.98153391e-01 -4.52441477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.160714057 meters 0.02059588076323794 Centerline is valid? [True, True] Translation: X:710.10, Y:-118.71, Z:-45.25 [[ 9.48543373e-01 3.11314355e-01 5.78691885e-02 7.10102417e+02] [-3.10620505e-01 9.50305278e-01 -2.08513888e-02 -1.18714696e+02] [-6.14847319e-02 1.80309008e-03 9.98106395e-01 -4.52467844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.1907140569999 meters 0.019979259581196937 Centerline is valid? [True, True] Translation: X:710.13, Y:-118.72, Z:-45.25 [[ 9.48737077e-01 3.10651671e-01 5.82537408e-02 7.10131606e+02] [-3.09947524e-01 9.50522013e-01 -2.09865278e-02 -1.18721085e+02] [-6.18909630e-02 1.85509429e-03 9.98081193e-01 -4.52494564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.2207140569999 meters 0.020298025993187176 Centerline is valid? [True, True] Translation: X:710.16, Y:-118.73, Z:-45.25 [[ 9.49145689e-01 3.09362026e-01 5.84602212e-02 7.10160188e+02] [-3.08650566e-01 9.50942352e-01 -2.10587439e-02 -1.18730537e+02] [-6.21070760e-02 1.94403568e-03 9.98067599e-01 -4.52510097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.250714057 meters 0.02201753461193551 Centerline is valid? [True, True] Translation: X:710.19, Y:-118.74, Z:-45.25 [[ 9.49717987e-01 3.07565571e-01 5.86443968e-02 7.10187503e+02] [-3.06846196e-01 9.51524641e-01 -2.11250883e-02 -1.18742379e+02] [-6.22989385e-02 2.06806627e-03 9.98055392e-01 -4.52526551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.280714057 meters 0.022130702047414616 Centerline is valid? [True, True] Translation: X:710.22, Y:-118.75, Z:-45.26 [[ 9.51299122e-01 3.02563692e-01 5.90355163e-02 7.10216135e+02] [-3.01825059e-01 9.53126117e-01 -2.12658867e-02 -1.18750437e+02] [-6.27025777e-02 2.41182118e-03 9.98029343e-01 -4.52550704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.3107140569999 meters 0.023458860029830608 Centerline is valid? [True, True] Translation: X:710.24, Y:-118.76, Z:-45.26 [[ 9.52352321e-01 2.99285720e-01 5.87631998e-02 7.10244883e+02] [-2.98547718e-01 9.54159956e-01 -2.11669415e-02 -1.18761540e+02] [-6.24044554e-02 2.61476670e-03 9.98047517e-01 -4.52570159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.3407140569999 meters 0.022547038590391335 Centerline is valid? [True, True] Translation: X:710.28, Y:-118.77, Z:-45.26 [[ 9.53082076e-01 2.96874065e-01 5.91637175e-02 7.10275385e+02] [-2.96121059e-01 9.54912548e-01 -2.13153532e-02 -1.18770589e+02] [-6.28241518e-02 2.79565837e-03 9.98020696e-01 -4.52589936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.370714057 meters 0.025103624372682997 Centerline is valid? [True, True] Translation: X:710.30, Y:-118.78, Z:-45.26 [[ 9.53793557e-01 2.94404329e-01 6.00328426e-02 7.10302603e+02] [-2.93623189e-01 9.55676197e-01 -2.16432075e-02 -1.18783956e+02] [-6.37438127e-02 3.01611717e-03 9.97961737e-01 -4.52606961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.400714057 meters 0.026153718369324397 Centerline is valid? [True, True] Translation: X:710.33, Y:-118.79, Z:-45.26 [[ 9.55060216e-01 2.90096959e-01 6.08583396e-02 7.10331359e+02] [-2.89285284e-01 9.56991390e-01 -2.19431954e-02 -1.18794232e+02] [-6.46065612e-02 3.35165089e-03 9.97905185e-01 -4.52619321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.4307140569999 meters 0.026071010605316684 Centerline is valid? [True, True] Translation: X:710.36, Y:-118.80, Z:-45.26 [[ 9.55358403e-01 2.89130028e-01 6.07795165e-02 7.10362270e+02] [-2.88318316e-01 9.57283742e-01 -2.19177183e-02 -1.18803626e+02] [-6.45203135e-02 3.41542845e-03 9.97910549e-01 -4.52638292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.4607140569999 meters 0.027822875885970287 Centerline is valid? [True, True] Translation: X:710.39, Y:-118.81, Z:-45.27 [[ 9.55501386e-01 2.88522837e-01 6.14139559e-02 7.10391511e+02] [-2.87691703e-01 9.57466584e-01 -2.21635995e-02 -1.18814697e+02] [-6.51965151e-02 3.50906451e-03 9.97866274e-01 -4.52653322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.490714057 meters 0.03008200677160707 Centerline is valid? [True, True] Translation: X:710.42, Y:-118.83, Z:-45.27 [[ 9.55458547e-01 2.88623988e-01 6.16048526e-02 7.10421381e+02] [-2.87787187e-01 9.57436045e-01 -2.22430915e-02 -1.18827059e+02] [-6.54025962e-02 3.52326465e-03 9.97852738e-01 -4.52668238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.520714057 meters 0.026801146284327684 Centerline is valid? [True, True] Translation: X:710.45, Y:-118.83, Z:-45.27 [[ 9.55077223e-01 2.89799761e-01 6.19967480e-02 7.10454395e+02] [-2.88953589e-01 9.57080968e-01 -2.24018887e-02 -1.18828825e+02] [-6.58279696e-02 3.48135084e-03 9.97824914e-01 -4.52699466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.5507140569999 meters 0.028574477485846742 Centerline is valid? [True, True] Translation: X:710.48, Y:-118.84, Z:-45.27 [[ 9.54719044e-01 2.91024510e-01 6.17760573e-02 7.10483721e+02] [-2.90186484e-01 9.56709588e-01 -2.23286491e-02 -1.18839876e+02] [-6.55999305e-02 3.39100967e-03 9.97840243e-01 -4.52719222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.5807140569999 meters 0.028200148985023567 Centerline is valid? [True, True] Translation: X:710.51, Y:-118.85, Z:-45.27 [[ 9.54187034e-01 2.92605607e-01 6.25225002e-02 7.10513376e+02] [-2.91749581e-01 9.56227394e-01 -2.26131325e-02 -1.18847239e+02] [-6.64024567e-02 3.33624459e-03 9.97787344e-01 -4.52742649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.6107140569999 meters 0.025250405518153343 Centerline is valid? [True, True] Translation: X:710.54, Y:-118.85, Z:-45.28 [[ 9.53700229e-01 2.94289128e-01 6.20466110e-02 7.10544888e+02] [-2.93449638e-01 9.55711098e-01 -2.24411724e-02 -1.18851164e+02] [-6.59028278e-02 3.19459569e-03 9.97820932e-01 -4.52770266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.640714057 meters 0.02607187407707999 Centerline is valid? [True, True] Translation: X:710.57, Y:-118.86, Z:-45.28 [[ 9.52321288e-01 2.98702804e-01 6.21353245e-02 7.10573573e+02] [-2.97870203e-01 9.54341793e-01 -2.24740734e-02 -1.18856847e+02] [-6.60114057e-02 2.89427680e-03 9.97814671e-01 -4.52788020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.6707140569999 meters 0.026748066127503443 Centerline is valid? [True, True] Translation: X:710.60, Y:-118.86, Z:-45.28 [[ 9.51621985e-01 3.00859421e-01 6.24436311e-02 7.10600562e+02] [-3.00023350e-01 9.53664520e-01 -2.25825876e-02 -1.18864087e+02] [-6.63444597e-02 2.75553943e-03 9.97792974e-01 -4.52810399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.7007140569999 meters 0.023919001991043305 Centerline is valid? [True, True] Translation: X:710.63, Y:-118.87, Z:-45.28 [[ 9.50695759e-01 3.03646122e-01 6.30603439e-02 7.10630418e+02] [-3.02799913e-01 9.52781386e-01 -2.28000654e-02 -1.18867169e+02] [-6.70058733e-02 2.58125878e-03 9.97749242e-01 -4.52835426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.7307140569999 meters 0.023275798705790808 Centerline is valid? [True, True] Translation: X:710.66, Y:-118.87, Z:-45.29 [[ 9.49940282e-01 3.05858580e-01 6.37494332e-02 7.10658913e+02] [-3.04998994e-01 9.52073809e-01 -2.30451040e-02 -1.18873428e+02] [-6.77427084e-02 2.44795962e-03 9.97699821e-01 -4.52854947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.760714057 meters 0.022656587514193676 Centerline is valid? [True, True] Translation: X:710.69, Y:-118.88, Z:-45.29 [[ 9.48630923e-01 3.09915551e-01 6.36531485e-02 7.10687241e+02] [-3.09067999e-01 9.50761656e-01 -2.30053217e-02 -1.18878621e+02] [-6.76486798e-02 2.15040831e-03 9.97706887e-01 -4.52888234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.790714057 meters 0.022771791317719746 Centerline is valid? [True, True] Translation: X:710.72, Y:-118.89, Z:-45.29 [[ 9.48259462e-01 3.11039297e-01 6.37067413e-02 7.10715302e+02] [-3.10193106e-01 9.50394801e-01 -2.30208397e-02 -1.18886710e+02] [-6.77069416e-02 2.06833714e-03 9.97703108e-01 -4.52917762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.8207140569999 meters 0.022239948692737353 Centerline is valid? [True, True] Translation: X:710.74, Y:-118.89, Z:-45.29 [[ 9.47905708e-01 3.12174175e-01 6.34196521e-02 7.10743476e+02] [-3.11338393e-01 9.50022834e-01 -2.29133219e-02 -1.18894465e+02] [-6.74030649e-02 1.97469605e-03 9.97723873e-01 -4.52944963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.8507140569999 meters 0.02239704441131766 Centerline is valid? [True, True] Translation: X:710.77, Y:-118.90, Z:-45.30 [[ 9.47699963e-01 3.12742661e-01 6.36930822e-02 7.10770921e+02] [-3.11901200e-01 9.49835917e-01 -2.30080893e-02 -1.18901791e+02] [-6.76935882e-02 1.93881659e-03 9.97704274e-01 -4.52967988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.880714057 meters 0.022248252542633677 Centerline is valid? [True, True] Translation: X:710.80, Y:-118.91, Z:-45.30 [[ 9.47917363e-01 3.11890097e-01 6.46315693e-02 7.10798345e+02] [-3.11022005e-01 9.50116030e-01 -2.33418700e-02 -1.18910301e+02] [-6.86875881e-02 2.02432356e-03 9.97636165e-01 -4.52989241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.910714057 meters 0.022824385745276097 Centerline is valid? [True, True] Translation: X:710.82, Y:-118.92, Z:-45.30 [[ 9.48096904e-01 3.11413848e-01 6.42936679e-02 7.10823992e+02] [-3.10554096e-01 9.50272194e-01 -2.32144605e-02 -1.18920296e+02] [-6.83257893e-02 2.04289617e-03 9.97660971e-01 -4.53003590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.9407140569999 meters 0.022716664849976514 Centerline is valid? [True, True] Translation: X:710.85, Y:-118.93, Z:-45.30 [[ 9.48398277e-01 3.10424204e-01 6.46337499e-02 7.10851151e+02] [-3.09553463e-01 9.50595772e-01 -2.33309231e-02 -1.18929154e+02] [-6.86830527e-02 2.11940616e-03 9.97636280e-01 -4.53026751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.9707140569999 meters 0.024523360342722206 Centerline is valid? [True, True] Translation: X:710.88, Y:-118.94, Z:-45.30 [[ 9.48737321e-01 3.09418622e-01 6.44795525e-02 7.10876530e+02] [-3.08550113e-01 9.50923423e-01 -2.32695174e-02 -1.18940365e+02] [-6.85151388e-02 2.18148634e-03 9.97647692e-01 -4.53037650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.000714057 meters 0.023335042987051767 Centerline is valid? [True, True] Translation: X:710.90, Y:-118.95, Z:-45.31 [[ 9.48691486e-01 3.09534543e-01 6.45974484e-02 7.10904905e+02] [-3.08663675e-01 9.50885724e-01 -2.33039753e-02 -1.18946696e+02] [-6.86381769e-02 2.16939718e-03 9.97639261e-01 -4.53060105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.030714057 meters 0.023212834896563037 Centerline is valid? [True, True] Translation: X:710.93, Y:-118.95, Z:-45.31 [[ 9.48449668e-01 3.10115971e-01 6.53552735e-02 7.10932496e+02] [-3.09226266e-01 9.50696310e-01 -2.35720747e-02 -1.18954188e+02] [-6.94430942e-02 2.14735921e-03 9.97583603e-01 -4.53082825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.0607140569999 meters 0.022552854784833168 Centerline is valid? [True, True] Translation: X:710.96, Y:-118.96, Z:-45.31 [[ 9.47943706e-01 3.11678243e-01 6.52641036e-02 7.10960338e+02] [-3.10795082e-01 9.50185546e-01 -2.35339085e-02 -1.18962174e+02] [-6.93480151e-02 2.02505799e-03 9.97590473e-01 -4.53098256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.0907140569999 meters 0.02210361512724704 Centerline is valid? [True, True] Translation: X:710.99, Y:-118.97, Z:-45.31 [[ 9.46477337e-01 3.16121163e-01 6.51771561e-02 7.10988022e+02] [-3.15251206e-01 9.48717316e-01 -2.34974947e-02 -1.18969638e+02] [-6.92627519e-02 1.69266919e-03 9.97597016e-01 -4.53111412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.120714057 meters 0.02156171867805838 Centerline is valid? [True, True] Translation: X:711.02, Y:-118.98, Z:-45.31 [[ 9.45577913e-01 3.18700756e-01 6.56676341e-02 7.11015352e+02] [-3.17824135e-01 9.47854179e-01 -2.36701154e-02 -1.18977673e+02] [-6.97870250e-02 1.51117930e-03 9.97560769e-01 -4.53132617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.150714057 meters 0.021028096451762717 Centerline is valid? [True, True] Translation: X:711.04, Y:-118.98, Z:-45.31 [[ 9.43843221e-01 3.23715568e-01 6.60923940e-02 7.11042158e+02] [-3.22840195e-01 9.46153753e-01 -2.38177132e-02 -1.18984745e+02] [-7.02437312e-02 1.14290573e-03 9.97529204e-01 -4.53147972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.1807140569999 meters 0.020535001472053588 Centerline is valid? [True, True] Translation: X:711.07, Y:-118.99, Z:-45.32 [[ 9.43092415e-01 3.25932995e-01 6.59119095e-02 7.11069265e+02] [-3.25068244e-01 9.45392375e-01 -2.37464304e-02 -1.18993283e+02] [-7.00523619e-02 9.69209681e-04 9.97542845e-01 -4.53163755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.2107140569999 meters 0.02016731400215025 Centerline is valid? [True, True] Translation: X:711.10, Y:-119.00, Z:-45.32 [[ 9.42522039e-01 3.27487267e-01 6.63648659e-02 7.11096720e+02] [-3.26614785e-01 9.44855205e-01 -2.39044490e-02 -1.19001837e+02] [-7.05335917e-02 8.54723602e-04 9.97509039e-01 -4.53192707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.240714057 meters 0.019925938948503717 Centerline is valid? [True, True] Translation: X:711.12, Y:-119.01, Z:-45.32 [[ 9.41938501e-01 3.29089272e-01 6.67241359e-02 7.11123975e+02] [-3.28211697e-01 9.44298529e-01 -2.40285145e-02 -1.19011559e+02] [-7.09150297e-02 7.33741095e-04 9.97482090e-01 -4.53212561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.270714057 meters 0.01945816300287265 Centerline is valid? [True, True] Translation: X:711.15, Y:-119.02, Z:-45.32 [[ 9.40832718e-01 3.32341493e-01 6.62036967e-02 7.11149687e+02] [-3.31486031e-01 9.43159002e-01 -2.38350422e-02 -1.19022805e+02] [-7.03619860e-02 4.79186920e-04 9.97521409e-01 -4.53234488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.3007140569999 meters 0.019191965591322017 Centerline is valid? [True, True] Translation: X:711.18, Y:-119.03, Z:-45.33 [[ 9.40323695e-01 3.33791266e-01 6.61418141e-02 7.11175970e+02] [-3.32941611e-01 9.42646943e-01 -2.38038683e-02 -1.19033343e+02] [-7.02939023e-02 3.61979240e-04 9.97526258e-01 -4.53257631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.3307140569999 meters 0.018797574362977916 Centerline is valid? [True, True] Translation: X:711.20, Y:-119.04, Z:-45.33 [[ 9.39735068e-01 3.35401569e-01 6.63610514e-02 7.11202963e+02] [-3.34550648e-01 9.42075226e-01 -2.38774404e-02 -1.19043922e+02] [-7.05256334e-02 2.37335294e-04 9.97509939e-01 -4.53274236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.3607140569999 meters 0.018333402167719417 Centerline is valid? [True, True] Translation: X:711.23, Y:-119.05, Z:-45.33 [[ 9.38956596e-01 3.37458437e-01 6.69500826e-02 7.11230140e+02] [-3.36597933e-01 9.41340426e-01 -2.40839004e-02 -1.19054447e+02] [-7.11501347e-02 7.84776824e-05 9.97465615e-01 -4.53290271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.390714057 meters 0.01817495217093117 Centerline is valid? [True, True] Translation: X:711.25, Y:-119.06, Z:-45.33 [[ 9.38169749e-01 3.39647901e-01 6.69090760e-02 7.11254894e+02] [-3.38794448e-01 9.40552654e-01 -2.40629837e-02 -1.19064134e+02] [-7.11044509e-02 -9.32600758e-05 9.97468871e-01 -4.53299803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4207140569999 meters 0.01802742365466134 Centerline is valid? [True, True] Translation: X:711.28, Y:-119.08, Z:-45.33 [[ 9.36509357e-01 3.44178922e-01 6.70156239e-02 7.11279913e+02] [-3.43334948e-01 9.38903973e-01 -2.40923693e-02 -1.19075788e+02] [-7.12133212e-02 -4.46076532e-04 9.97461009e-01 -4.53307935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4507140569999 meters 0.01786893177118542 Centerline is valid? [True, True] Translation: X:711.31, Y:-119.09, Z:-45.33 [[ 9.35857528e-01 3.45854184e-01 6.74949720e-02 7.11306764e+02] [-3.45002895e-01 9.38288091e-01 -2.42581975e-02 -1.19087177e+02] [-7.17195276e-02 -5.83743933e-04 9.97424668e-01 -4.53327618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4807140569999 meters 0.01782046503235021 Centerline is valid? [True, True] Translation: X:711.33, Y:-119.10, Z:-45.33 [[ 9.35385389e-01 3.47095458e-01 6.76676926e-02 7.11333198e+02] [-3.46243433e-01 9.37829554e-01 -2.43148546e-02 -1.19099096e+02] [-7.19003376e-02 -6.85734467e-04 9.97411586e-01 -4.53349849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.510714057 meters 0.017341976085418178 Centerline is valid? [True, True] Translation: X:711.36, Y:-119.11, Z:-45.34 [[ 9.35038892e-01 3.47883776e-01 6.84043043e-02 7.11358450e+02] [-3.47015589e-01 9.37537360e-01 -2.45739678e-02 -1.19114969e+02] [-7.26804756e-02 -7.59744349e-04 9.97354988e-01 -4.53382607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.540714057 meters 0.0176044471769523 Centerline is valid? [True, True] Translation: X:711.38, Y:-119.13, Z:-45.34 [[ 9.35342869e-01 3.47203343e-01 6.77019587e-02 7.11383113e+02] [-3.46351549e-01 9.37789604e-01 -2.43158987e-02 -1.19127262e+02] [-7.19327544e-02 -7.04975836e-04 9.97409235e-01 -4.53394930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.5707140569999 meters 0.017361050954995762 Centerline is valid? [True, True] Translation: X:711.41, Y:-119.14, Z:-45.34 [[ 9.35714424e-01 3.46301629e-01 6.71840686e-02 7.11408581e+02] [-3.45460977e-01 9.38123007e-01 -2.41233788e-02 -1.19141158e+02] [-7.13808858e-02 -6.36880508e-04 9.97448928e-01 -4.53418024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.6007140569999 meters 0.017361050954995762 Centerline is valid? [True, True] Translation: X:711.43, Y:-119.15, Z:-45.34 [[ 9.35751551e-01 3.46200926e-01 6.71859598e-02 7.11434442e+02] [-3.45360393e-01 9.38160176e-01 -2.41181106e-02 -1.19150355e+02] [-7.13809041e-02 -6.34810022e-04 9.97448928e-01 -4.53433929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.630714057 meters 0.01665395724453154 Centerline is valid? [True, True] Translation: X:711.46, Y:-119.17, Z:-45.35 [[ 9.36509083e-01 3.44433206e-01 6.57000996e-02 7.11458115e+02] [-3.43625651e-01 9.38810695e-01 -2.35773509e-02 -1.19168661e+02] [-6.98007787e-02 -4.95836202e-04 9.97560828e-01 -4.53465912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.660714057 meters 0.016857043371188207 Centerline is valid? [True, True] Translation: X:711.48, Y:-119.18, Z:-45.35 [[ 9.36973222e-01 3.43379549e-01 6.45884435e-02 7.11483325e+02] [-3.42596975e-01 9.39196632e-01 -2.31732536e-02 -1.19182657e+02] [-6.86184700e-02 -4.15087314e-04 9.97642889e-01 -4.53488351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.6907140569999 meters 0.016737580612273765 Centerline is valid? [True, True] Translation: X:711.51, Y:-119.20, Z:-45.35 [[ 9.37366973e-01 3.42410968e-01 6.40147487e-02 7.11508299e+02] [-3.41640355e-01 9.39550217e-01 -2.29621167e-02 -1.19196104e+02] [-6.80075516e-02 -3.46091641e-04 9.97684746e-01 -4.53505176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.7207140569999 meters 0.016431161150547723 Centerline is valid? [True, True] Translation: X:711.53, Y:-119.21, Z:-45.35 [[ 9.37575891e-01 3.41823380e-01 6.40954460e-02 7.11533756e+02] [-3.41049873e-01 9.39764163e-01 -2.29848355e-02 -1.19210116e+02] [-6.80913573e-02 -3.09716166e-04 9.97679042e-01 -4.53517757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.750714057 meters 0.01613445541979511 Centerline is valid? [True, True] Translation: X:711.56, Y:-119.23, Z:-45.35 [[ 9.37764641e-01 3.41185977e-01 6.47271803e-02 7.11558333e+02] [-3.40395974e-01 9.39995774e-01 -2.32061513e-02 -1.19226677e+02] [-6.87608894e-02 -2.70963432e-04 9.97633132e-01 -4.53517171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.780714057 meters 0.015874720593777415 Centerline is valid? [True, True] Translation: X:711.59, Y:-119.24, Z:-45.35 [[ 9.37868794e-01 3.40769176e-01 6.54102042e-02 7.11585403e+02] [-3.39961718e-01 9.40146961e-01 -2.34461689e-02 -1.19240331e+02] [-6.94849364e-02 -2.47535261e-04 9.97582970e-01 -4.53530364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.8107140569999 meters 0.015753449767866624 Centerline is valid? [True, True] Translation: X:711.61, Y:-119.25, Z:-45.35 [[ 9.37947973e-01 3.40575083e-01 6.52856165e-02 7.11612286e+02] [-3.39770401e-01 9.40217293e-01 -2.33990839e-02 -1.19254012e+02] [-6.93518105e-02 -2.34996744e-04 9.97592237e-01 -4.53538517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.8407140569999 meters 0.01561288722708931 Centerline is valid? [True, True] Translation: X:711.64, Y:-119.27, Z:-45.36 [[ 9.38086059e-01 3.40192788e-01 6.52948199e-02 7.11639887e+02] [-3.39387029e-01 9.40355690e-01 -2.34012869e-02 -1.19267801e+02] [-6.93613045e-02 -2.07793922e-04 9.97591583e-01 -4.53553740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.870714057 meters 0.015446752097216243 Centerline is valid? [True, True] Translation: X:711.67, Y:-119.29, Z:-45.36 [[ 9.38529561e-01 3.38976949e-01 6.52448580e-02 7.11666029e+02] [-3.38169474e-01 9.40794672e-01 -2.33835956e-02 -1.19285622e+02] [-6.93085146e-02 -1.17623653e-04 9.97595267e-01 -4.53572908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.900714057 meters 0.01571901081195174 Centerline is valid? [True, True] Translation: X:711.70, Y:-119.30, Z:-45.36 [[ 9.38649423e-01 3.38499281e-01 6.59961973e-02 7.11695557e+02] [-3.37671562e-01 9.40966647e-01 -2.36576870e-02 -1.19300408e+02] [-7.01083306e-02 -7.87647542e-05 9.97539381e-01 -4.53599410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.9307140569999 meters 0.015542310992082331 Centerline is valid? [True, True] Translation: X:711.72, Y:-119.32, Z:-45.36 [[ 9.38885503e-01 3.37819416e-01 6.61215120e-02 7.11724714e+02] [-3.36985379e-01 9.41210944e-01 -2.37236758e-02 -1.19315263e+02] [-7.02486091e-02 -8.16749664e-06 9.97529515e-01 -4.53609487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.9607140569999 meters 0.015365991120072359 Centerline is valid? [True, True] Translation: X:711.75, Y:-119.33, Z:-45.36 [[ 9.39176422e-01 3.37056415e-01 6.58833944e-02 7.11754352e+02] [-3.36225104e-01 9.41484449e-01 -2.36582184e-02 -1.19329696e+02] [-7.00023456e-02 6.75897944e-05 9.97546825e-01 -4.53636747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.990714057 meters 0.015568451455716488 Centerline is valid? [True, True] Translation: X:711.78, Y:-119.34, Z:-45.37 [[ 9.39488883e-01 3.36177422e-01 6.59194989e-02 7.11782751e+02] [-3.35341634e-01 9.41798661e-01 -2.36911576e-02 -1.19343990e+02] [-7.00473281e-02 1.52026753e-04 9.97543658e-01 -4.53653425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.020714057 meters 0.015765968201691887 Centerline is valid? [True, True] Translation: X:711.81, Y:-119.36, Z:-45.37 [[ 9.40025742e-01 3.34690047e-01 6.58344739e-02 7.11810700e+02] [-3.33851761e-01 9.42328232e-01 -2.36749960e-02 -1.19362023e+02] [-6.99614689e-02 2.76150616e-04 9.97549656e-01 -4.53682464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.0507140569999 meters 0.0159405114146021 Centerline is valid? [True, True] Translation: X:711.84, Y:-119.38, Z:-45.37 [[ 9.40346953e-01 3.33877513e-01 6.53713537e-02 7.11840944e+02] [-3.33047657e-01 9.42616402e-01 -2.35282042e-02 -1.19376654e+02] [-6.94756486e-02 3.52898897e-04 9.97583585e-01 -4.53706545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.0807140569999 meters 0.01611681482236559 Centerline is valid? [True, True] Translation: X:711.87, Y:-119.39, Z:-45.37 [[ 9.40680051e-01 3.33014610e-01 6.49793114e-02 7.11869613e+02] [-3.32191212e-01 9.42921567e-01 -2.34076334e-02 -1.19390877e+02] [-6.90654780e-02 4.33537539e-04 9.97612035e-01 -4.53724304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.1107140569999 meters 0.016409285904053137 Centerline is valid? [True, True] Translation: X:711.90, Y:-119.41, Z:-45.38 [[ 9.41214206e-01 3.31518996e-01 6.48920177e-02 7.11897919e+02] [-3.30692933e-01 9.43448378e-01 -2.33953621e-02 -1.19407467e+02] [-6.89782757e-02 5.60715538e-04 9.97618005e-01 -4.53753136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.140714057 meters 0.016574015211630967 Centerline is valid? [True, True] Translation: X:711.93, Y:-119.42, Z:-45.38 [[ 9.41185585e-01 3.31521055e-01 6.52953663e-02 7.11926395e+02] [-3.30683393e-01 9.43447641e-01 -2.35593299e-02 -1.19421636e+02] [-6.94131732e-02 5.81608452e-04 9.97587827e-01 -4.53764734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.1707140569999 meters 0.016441520085479243 Centerline is valid? [True, True] Translation: X:711.96, Y:-119.44, Z:-45.38 [[ 9.40993299e-01 3.32116550e-01 6.50400457e-02 7.11956043e+02] [-3.31285507e-01 9.43238194e-01 -2.34866545e-02 -1.19435611e+02] [-6.91485619e-02 5.53960055e-04 9.97606220e-01 -4.53785609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.2007140569999 meters 0.016083147089450862 Centerline is valid? [True, True] Translation: X:711.99, Y:-119.45, Z:-45.38 [[ 9.40508882e-01 3.33500782e-01 6.49636087e-02 7.11985048e+02] [-3.32673613e-01 9.42749705e-01 -2.34789340e-02 -1.19448231e+02] [-6.90746658e-02 4.70467560e-04 9.97611382e-01 -4.53819361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.2307140569999 meters 0.01581781407905478 Centerline is valid? [True, True] Translation: X:712.01, Y:-119.46, Z:-45.38 [[ 9.39443596e-01 3.36670220e-01 6.40225933e-02 7.12012834e+02] [-3.35873003e-01 9.41622589e-01 -2.31565454e-02 -1.19462348e+02] [-6.80812393e-02 2.50807630e-04 9.97679749e-01 -4.53837730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.260714057 meters 0.01590107406783801 Centerline is valid? [True, True] Translation: X:712.04, Y:-119.48, Z:-45.39 [[ 9.38645868e-01 3.38865495e-01 6.41413358e-02 7.12043397e+02] [-3.38069242e-01 9.40834823e-01 -2.32168707e-02 -1.19475182e+02] [-6.82137988e-02 1.08206962e-04 9.97670720e-01 -4.53864242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.290714057 meters 0.015938176484214184 Centerline is valid? [True, True] Translation: X:712.07, Y:-119.49, Z:-45.39 [[ 9.37867918e-01 3.40953362e-01 6.44559769e-02 7.12074057e+02] [-3.40152783e-01 9.40080212e-01 -2.33512157e-02 -1.19488023e+02] [-6.85554639e-02 -2.45238597e-05 9.97647306e-01 -4.53882974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.3207140569999 meters 0.016000161483578728 Centerline is valid? [True, True] Translation: X:712.10, Y:-119.50, Z:-45.39 [[ 9.37081735e-01 3.43053084e-01 6.47487696e-02 7.12104301e+02] [-3.42248786e-01 9.39316004e-01 -2.34779091e-02 -1.19501304e+02] [-6.88737247e-02 -1.59468001e-04 9.97625373e-01 -4.53899877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.3507140569999 meters 0.01652682719031873 Centerline is valid? [True, True] Translation: X:712.13, Y:-119.52, Z:-45.39 [[ 9.35876036e-01 3.46259731e-01 6.51171555e-02 7.12132236e+02] [-3.45452589e-01 9.38138612e-01 -2.36316236e-02 -1.19516965e+02] [-6.92715975e-02 -3.78619750e-04 9.97597766e-01 -4.53902763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.380714057 meters 0.016703031414709534 Centerline is valid? [True, True] Translation: X:712.16, Y:-119.53, Z:-45.39 [[ 9.35465950e-01 3.47332796e-01 6.52946012e-02 7.12162148e+02] [-3.46522639e-01 9.37741826e-01 -2.37134626e-02 -1.19531217e+02] [-6.94659418e-02 -4.42920630e-04 9.97584225e-01 -4.53933166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.410714057 meters 0.01675905217428999 Centerline is valid? [True, True] Translation: X:712.19, Y:-119.54, Z:-45.39 [[ 9.35170521e-01 3.48144709e-01 6.52024361e-02 7.12191180e+02] [-3.47337458e-01 9.37440679e-01 -2.36994330e-02 -1.19544342e+02] [-6.93742482e-02 -4.84237271e-04 9.97590587e-01 -4.53946689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.4407140569999 meters 0.017059374102297676 Centerline is valid? [True, True] Translation: X:712.22, Y:-119.56, Z:-45.40 [[ 9.34379890e-01 3.50151835e-01 6.57868829e-02 7.12218721e+02] [-3.49334010e-01 9.36692746e-01 -2.39258951e-02 -1.19561650e+02] [-6.99997921e-02 -6.25720392e-04 9.97546810e-01 -4.53979696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.4707140569999 meters 0.01713208988909592 Centerline is valid? [True, True] Translation: X:712.25, Y:-119.58, Z:-45.40 [[ 9.33948255e-01 3.51192328e-01 6.63672007e-02 7.12247556e+02] [-3.50361283e-01 9.36303086e-01 -2.41557759e-02 -1.19575749e+02] [-7.06231381e-02 -6.92252863e-04 9.97502829e-01 -4.53999390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.500714057 meters 0.017356258582261218 Centerline is valid? [True, True] Translation: X:712.28, Y:-119.59, Z:-45.40 [[ 9.33489319e-01 3.52352623e-01 6.66732356e-02 7.12276616e+02] [-3.51515491e-01 9.35867000e-01 -2.42861585e-02 -1.19590055e+02] [-7.09545727e-02 -7.65805583e-04 9.97479254e-01 -4.54019832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.530714057 meters 0.01766772708024082 Centerline is valid? [True, True] Translation: X:712.31, Y:-119.60, Z:-45.40 [[ 9.33090954e-01 3.53374055e-01 6.68434718e-02 7.12305520e+02] [-3.52533873e-01 9.35481744e-01 -2.43675191e-02 -1.19603910e+02] [-7.11416966e-02 -8.27476389e-04 9.97465876e-01 -4.54034955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.5607140569999 meters 0.017773454564144617 Centerline is valid? [True, True] Translation: X:712.33, Y:-119.62, Z:-45.41 [[ 9.32897322e-01 3.53623326e-01 6.82138559e-02 7.12332605e+02] [-3.52747457e-01 9.35387529e-01 -2.48877840e-02 -1.19622465e+02] [-7.26072911e-02 -8.44517137e-04 9.97360250e-01 -4.54052663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.5907140569999 meters 0.0176650258654321 Centerline is valid? [True, True] Translation: X:712.36, Y:-119.64, Z:-45.41 [[ 9.32915661e-01 3.53578557e-01 6.81951198e-02 7.12362023e+02] [-3.52701626e-01 9.35404473e-01 -2.49005192e-02 -1.19638952e+02] [-7.25943097e-02 -8.22445292e-04 9.97361213e-01 -4.54078851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.620714057 meters 0.017625975118265042 Centerline is valid? [True, True] Translation: X:712.39, Y:-119.65, Z:-45.41 [[ 9.33066598e-01 3.53184110e-01 6.81741084e-02 7.12389343e+02] [-3.52305218e-01 9.35553519e-01 -2.49127666e-02 -1.19653611e+02] [-7.25793203e-02 -7.72823748e-04 9.97362344e-01 -4.54097654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.650714057 meters 0.0176827770172642 Centerline is valid? [True, True] Translation: X:712.42, Y:-119.67, Z:-45.41 [[ 9.33180486e-01 3.52991890e-01 6.76084778e-02 7.12418527e+02] [-3.52126321e-01 9.35626087e-01 -2.47159792e-02 -1.19668551e+02] [-7.19807958e-02 -7.42255091e-04 9.97405742e-01 -4.54125043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.6807140569999 meters 0.017756209349242214 Centerline is valid? [True, True] Translation: X:712.45, Y:-119.69, Z:-45.42 [[ 9.33491152e-01 3.52374489e-01 6.65318584e-02 7.12445514e+02] [-3.51534108e-01 9.35858838e-01 -2.43311994e-02 -1.19687444e+02] [-7.08381216e-02 -6.75258074e-04 9.97487596e-01 -4.54166115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.7107140569999 meters 0.017987408729168965 Centerline is valid? [True, True] Translation: X:712.47, Y:-119.70, Z:-45.42 [[ 9.33630604e-01 3.52055507e-01 6.62632325e-02 7.12473113e+02] [-3.51219805e-01 9.35978911e-01 -2.42513272e-02 -1.19701851e+02] [-7.05588015e-02 -6.31178375e-04 9.97507422e-01 -4.54178583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.740714057 meters 0.017725782398416257 Centerline is valid? [True, True] Translation: X:712.50, Y:-119.72, Z:-45.42 [[ 9.34370549e-01 3.49883170e-01 6.73308618e-02 7.12500584e+02] [-3.49013322e-01 9.36793231e-01 -2.46605524e-02 -1.19723004e+02] [-7.17034079e-02 -4.57273831e-04 9.97425893e-01 -4.54207937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.770714057 meters 0.017695469382019713 Centerline is valid? [True, True] Translation: X:712.53, Y:-119.74, Z:-45.42 [[ 9.34802937e-01 3.48765787e-01 6.71259603e-02 7.12528981e+02] [-3.47896853e-01 9.37209850e-01 -2.46064298e-02 -1.19739155e+02] [-7.14929920e-02 -3.50747545e-04 9.97441040e-01 -4.54232859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.8007140569999 meters 0.017653361767143508 Centerline is valid? [True, True] Translation: X:712.56, Y:-119.75, Z:-45.42 [[ 9.35445033e-01 3.47091876e-01 6.68567145e-02 7.12556619e+02] [-3.46224289e-01 9.37831108e-01 -2.45266006e-02 -1.19754638e+02] [-7.12132905e-02 -2.04131744e-04 9.97461090e-01 -4.54249722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.8307140569999 meters 0.01790215891764538 Centerline is valid? [True, True] Translation: X:712.59, Y:-119.77, Z:-45.43 [[ 9.36004545e-01 3.45641169e-01 6.65407696e-02 7.12585790e+02] [-3.44776812e-01 9.38366760e-01 -2.44289435e-02 -1.19770368e+02] [-7.08832950e-02 -7.61122617e-05 9.97484613e-01 -4.54274464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.8607140569999 meters 0.01805914224093583 Centerline is valid? [True, True] Translation: X:712.61, Y:-119.79, Z:-45.43 [[ 9.37092155e-01 3.42831178e-01 6.57653160e-02 7.12612499e+02] [-3.41978503e-01 9.39397019e-01 -2.41649300e-02 -1.19789421e+02] [-7.00642333e-02 1.54442030e-04 9.97542470e-01 -4.54300923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.890714057 meters 0.018309888570679854 Centerline is valid? [True, True] Translation: X:712.64, Y:-119.80, Z:-45.43 [[ 9.37315835e-01 3.42379743e-01 6.49240929e-02 7.12640401e+02] [-3.41546392e-01 9.39561637e-01 -2.38744943e-02 -1.19803821e+02] [-6.91743302e-02 2.03351895e-04 9.97604566e-01 -4.54323246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9207140569999 meters 0.018358524233962913 Centerline is valid? [True, True] Translation: X:712.67, Y:-119.82, Z:-45.44 [[ 9.37291217e-01 3.42304840e-01 6.56701683e-02 7.12670097e+02] [-3.41450800e-01 9.39588923e-01 -2.41662233e-02 -1.19818169e+02] [-6.99751779e-02 2.27657302e-04 9.97548707e-01 -4.54356757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9507140569999 meters 0.018445735287502648 Centerline is valid? [True, True] Translation: X:712.70, Y:-119.83, Z:-45.44 [[ 9.37199072e-01 3.42606151e-01 6.54134862e-02 7.12699995e+02] [-3.41758044e-01 9.39479098e-01 -2.40928284e-02 -1.19832098e+02] [-6.97089542e-02 2.24191306e-04 9.97567347e-01 -4.54374653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9807140569999 meters 0.01844101161283274 Centerline is valid? [True, True] Translation: X:712.73, Y:-119.85, Z:-45.44 [[ 9.37067703e-01 3.43048419e-01 6.49761606e-02 7.12730001e+02] [-3.42211222e-01 9.39317698e-01 -2.39529072e-02 -1.19845755e+02] [-6.92502645e-02 2.09924436e-04 9.97599297e-01 -4.54395632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.010714057 meters 0.01867387974730645 Centerline is valid? [True, True] Translation: X:712.76, Y:-119.86, Z:-45.44 [[ 9.36602960e-01 3.44252906e-01 6.53056810e-02 7.12758687e+02] [-3.43408617e-01 9.38876944e-01 -2.40957495e-02 -1.19860297e+02] [-6.96090300e-02 1.41616764e-04 9.97574340e-01 -4.54409492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.040714057 meters 0.01883825420365192 Centerline is valid? [True, True] Translation: X:712.79, Y:-119.87, Z:-45.44 [[ 9.36309768e-01 3.45070170e-01 6.51966002e-02 7.12789045e+02] [-3.44229275e-01 9.38576885e-01 -2.40756762e-02 -1.19873452e+02] [-6.94998196e-02 9.97123814e-05 9.97581959e-01 -4.54427347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.0707140569999 meters 0.01872310634393485 Centerline is valid? [True, True] Translation: X:712.82, Y:-119.89, Z:-45.44 [[ 9.36053671e-01 3.45709699e-01 6.54853324e-02 7.12818069e+02] [-3.44861402e-01 9.38341515e-01 -2.42036066e-02 -1.19888554e+02] [-6.98150276e-02 7.25112451e-05 9.97559951e-01 -4.54443048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.1007140569999 meters 0.019009277089586458 Centerline is valid? [True, True] Translation: X:712.85, Y:-119.90, Z:-45.45 [[ 9.35885435e-01 3.46153560e-01 6.55451459e-02 7.12847268e+02] [-3.45303325e-01 9.38177867e-01 -2.42467322e-02 -1.19901609e+02] [-6.98860978e-02 5.92066623e-05 9.97554976e-01 -4.54461731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.130714057 meters 0.018850020122062314 Centerline is valid? [True, True] Translation: X:712.88, Y:-119.91, Z:-45.45 [[ 9.36005645e-01 3.45876711e-01 6.52896193e-02 7.12877110e+02] [-3.45031043e-01 9.38279964e-01 -2.41720505e-02 -1.19914714e+02] [-6.96204909e-02 9.82302375e-05 9.97573545e-01 -4.54482979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.160714057 meters 0.01889652715120647 Centerline is valid? [True, True] Translation: X:712.91, Y:-119.93, Z:-45.45 [[ 9.36290247e-01 3.45148441e-01 6.50624838e-02 7.12906688e+02] [-3.44305475e-01 9.38548094e-01 -2.41084163e-02 -1.19927547e+02] [-6.93852524e-02 1.71105701e-04 9.97589925e-01 -4.54505584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.1907140569999 meters 0.019116598738641313 Centerline is valid? [True, True] Translation: X:712.94, Y:-119.94, Z:-45.45 [[ 9.37118391e-01 3.42971332e-01 6.46512686e-02 7.12935916e+02] [-3.42132485e-01 9.39345806e-01 -2.39753873e-02 -1.19942374e+02] [-6.89527686e-02 3.48477228e-04 9.97619865e-01 -4.54540629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.2207140569999 meters 0.018983002465453248 Centerline is valid? [True, True] Translation: X:712.96, Y:-119.96, Z:-45.46 [[ 9.37490446e-01 3.41967928e-01 6.45724493e-02 7.12964731e+02] [-3.41127338e-01 9.39711521e-01 -2.39665852e-02 -1.19955633e+02] [-6.88752779e-02 4.41016900e-04 9.97625181e-01 -4.54554081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.250714057 meters 0.01910424402220239 Centerline is valid? [True, True] Translation: X:712.99, Y:-119.97, Z:-45.46 [[ 9.38002744e-01 3.40493593e-01 6.49227638e-02 7.12994434e+02] [-3.39638980e-01 9.40246663e-01 -2.41158757e-02 -1.19968649e+02] [-6.92547132e-02 5.70456348e-04 9.97598847e-01 -4.54579474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.280714057 meters 0.019274104679022467 Centerline is valid? [True, True] Translation: X:713.02, Y:-119.98, Z:-45.46 [[ 9.38475810e-01 3.39207025e-01 6.48208908e-02 7.13023390e+02] [-3.38350748e-01 9.40711502e-01 -2.40965245e-02 -1.19982062e+02] [-6.91514679e-02 6.81808428e-04 9.97605939e-01 -4.54593783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.3107140569999 meters 0.019706875473273096 Centerline is valid? [True, True] Translation: X:713.05, Y:-120.00, Z:-45.46 [[ 9.39759419e-01 3.35717868e-01 6.43874852e-02 7.13051819e+02] [-3.34863568e-01 9.41962107e-01 -2.39537023e-02 -1.19997846e+02] [-6.86922571e-02 9.49694303e-04 9.97637445e-01 -4.54605276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.3407140569999 meters 0.020028142766733016 Centerline is valid? [True, True] Translation: X:713.08, Y:-120.01, Z:-45.46 [[ 9.40471753e-01 3.33765773e-01 6.41349457e-02 7.13080463e+02] [-3.32912403e-01 9.42655392e-01 -2.38776910e-02 -1.20010683e+02] [-6.84267083e-02 1.10497497e-03 9.97655534e-01 -4.54616191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.370714057 meters 0.020087653486720338 Centerline is valid? [True, True] Translation: X:713.11, Y:-120.02, Z:-45.46 [[ 9.41161557e-01 3.31676658e-01 6.48499701e-02 7.13109815e+02] [-3.30797986e-01 9.43392250e-01 -2.41610141e-02 -1.20022590e+02] [-6.91926036e-02 1.28717810e-03 9.97602489e-01 -4.54632126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.400714057 meters 0.02054762525111147 Centerline is valid? [True, True] Translation: X:713.14, Y:-120.03, Z:-45.46 [[ 9.42771685e-01 3.26950248e-01 6.54605601e-02 7.13139418e+02] [-3.26042328e-01 9.45040083e-01 -2.44057617e-02 -1.20034361e+02] [-6.98423230e-02 1.66614771e-03 9.97556652e-01 -4.54644340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.4307140569999 meters 0.02081083305940837 Centerline is valid? [True, True] Translation: X:713.17, Y:-120.05, Z:-45.47 [[ 9.43451707e-01 3.24975978e-01 6.54941994e-02 7.13169535e+02] [-3.24061151e-01 9.45720501e-01 -2.44357201e-02 -1.20046181e+02] [-6.98802291e-02 1.82979622e-03 9.97553711e-01 -4.54660030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.4607140569999 meters 0.02340758702161116 Centerline is valid? [True, True] Translation: X:713.20, Y:-120.06, Z:-45.47 [[ 9.44236840e-01 3.22806431e-01 6.49060759e-02 7.13196307e+02] [-3.21901703e-01 9.46462918e-01 -2.42330102e-02 -1.20062431e+02] [-6.92537655e-02 1.98832461e-03 9.97597094e-01 -4.54658696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.490714057 meters 0.022082444753116874 Centerline is valid? [True, True] Translation: X:713.23, Y:-120.07, Z:-45.47 [[ 9.45014754e-01 3.20491374e-01 6.50568504e-02 7.13227435e+02] [-3.19576362e-01 9.47248946e-01 -2.42978149e-02 -1.20070740e+02] [-6.94122731e-02 2.17116199e-03 9.97585697e-01 -4.54702231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.520714057 meters 0.022082444753116874 Centerline is valid? [True, True] Translation: X:713.26, Y:-120.08, Z:-45.47 [[ 9.44925359e-01 3.20755367e-01 6.50542968e-02 7.13257788e+02] [-3.19840508e-01 9.47159613e-01 -2.43046496e-02 -1.20082141e+02] [-6.94126494e-02 2.15908035e-03 9.97585697e-01 -4.54721026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.5507140569999 meters 0.022582739284030134 Centerline is valid? [True, True] Translation: X:713.29, Y:-120.09, Z:-45.47 [[ 9.46536153e-01 3.16100606e-01 6.44183071e-02 7.13286882e+02] [-3.15191610e-01 9.48722401e-01 -2.40843317e-02 -1.20092392e+02] [-6.87281628e-02 2.49258074e-03 9.97632310e-01 -4.54745043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.5807140569999 meters 0.022510189320326675 Centerline is valid? [True, True] Translation: X:713.32, Y:-120.10, Z:-45.48 [[ 9.47125959e-01 3.14389205e-01 6.41236750e-02 7.13317476e+02] [-3.13484336e-01 9.49290590e-01 -2.39780619e-02 -1.20102366e+02] [-6.84104450e-02 2.60847717e-03 9.97653851e-01 -4.54760653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.6107140569999 meters 0.023505259250729427 Centerline is valid? [True, True] Translation: X:713.35, Y:-120.11, Z:-45.48 [[ 9.47724657e-01 3.12528117e-01 6.43750844e-02 7.13346062e+02] [-3.11610692e-01 9.49904472e-01 -2.40888082e-02 -1.20112997e+02] [-6.86786104e-02 2.76959289e-03 9.97634992e-01 -4.54779246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.640714057 meters 0.024754143162637812 Centerline is valid? [True, True] Translation: X:713.37, Y:-120.12, Z:-45.48 [[ 9.48185338e-01 3.11102335e-01 6.44973035e-02 7.13374507e+02] [-3.10177572e-01 9.50372037e-01 -2.41426119e-02 -1.20124406e+02] [-6.88072566e-02 2.88605364e-03 9.97625798e-01 -4.54790623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.6707140569999 meters 0.025480545363630935 Centerline is valid? [True, True] Translation: X:713.41, Y:-120.13, Z:-45.48 [[ 9.48972692e-01 3.08776378e-01 6.40935140e-02 7.13405382e+02] [-3.07857681e-01 9.51129811e-01 -2.39944083e-02 -1.20133072e+02] [-6.83701584e-02 3.03835767e-03 9.97655396e-01 -4.54807110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.7007140569999 meters 0.025997048438748255 Centerline is valid? [True, True] Translation: X:713.44, Y:-120.14, Z:-45.48 [[ 9.49204373e-01 3.07999576e-01 6.43996864e-02 7.13436212e+02] [-3.07069800e-01 9.51381392e-01 -2.41160880e-02 -1.20142772e+02] [-6.86964081e-02 3.11589732e-03 9.97632745e-01 -4.54817455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.7307140569999 meters 0.027864775653090847 Centerline is valid? [True, True] Translation: X:713.47, Y:-120.15, Z:-45.48 [[ 9.49446733e-01 3.07230232e-01 6.45018229e-02 7.13466705e+02] [-3.06294534e-01 9.51629859e-01 -2.41716832e-02 -1.20150962e+02] [-6.88081324e-02 3.19316984e-03 9.97624802e-01 -4.54810204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.760714057 meters 0.023806392765903996 Centerline is valid? [True, True] Translation: X:713.50, Y:-120.15, Z:-45.48 [[ 9.49337642e-01 3.07520445e-01 6.47241659e-02 7.13501292e+02] [-3.06577766e-01 9.51536095e-01 -2.42720783e-02 -1.20153259e+02] [-6.90515404e-02 3.19940744e-03 9.97607963e-01 -4.54842559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.790714057 meters 0.024484874837551514 Centerline is valid? [True, True] Translation: X:713.53, Y:-120.16, Z:-45.49 [[ 9.49070244e-01 3.08395766e-01 6.44804135e-02 7.13530916e+02] [-3.07460796e-01 9.51252948e-01 -2.42009787e-02 -1.20162240e+02] [-6.88006628e-02 3.14322953e-03 9.97625475e-01 -4.54853589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.8207140569999 meters 0.024576350885921767 Centerline is valid? [True, True] Translation: X:713.56, Y:-120.17, Z:-45.49 [[ 9.48610643e-01 3.09957728e-01 6.37499403e-02 7.13561225e+02] [-3.09046236e-01 9.50745570e-01 -2.39433632e-02 -1.20169648e+02] [-6.80314038e-02 3.01125011e-03 9.97678636e-01 -4.54863071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.8507140569999 meters 0.023807252173802106 Centerline is valid? [True, True] Translation: X:713.59, Y:-120.17, Z:-45.49 [[ 9.47458432e-01 3.13407672e-01 6.40167967e-02 7.13592865e+02] [-3.12495391e-01 9.49614582e-01 -2.40577885e-02 -1.20171157e+02] [-6.83311791e-02 2.78880070e-03 9.97658796e-01 -4.54868815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.880714057 meters 0.025339371367287453 Centerline is valid? [True, True] Translation: X:713.62, Y:-120.18, Z:-45.49 [[ 9.46802127e-01 3.15451917e-01 6.36853295e-02 7.13622306e+02] [-3.14553581e-01 9.48937921e-01 -2.39346591e-02 -1.20180354e+02] [-6.79836582e-02 2.62893766e-03 9.97682971e-01 -4.54869059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.910714057 meters 0.021846841260714164 Centerline is valid? [True, True] Translation: X:713.66, Y:-120.18, Z:-45.49 [[ 9.45921138e-01 3.18005473e-01 6.40758862e-02 7.13655353e+02] [-3.17101720e-01 9.48085678e-01 -2.40841655e-02 -1.20182492e+02] [-6.84083265e-02 2.46314751e-03 9.97654366e-01 -4.54894123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.9407140569999 meters 0.02227695749822765 Centerline is valid? [True, True] Translation: X:713.69, Y:-120.19, Z:-45.49 [[ 9.45210574e-01 3.20106625e-01 6.40992918e-02 7.13685295e+02] [-3.19206630e-01 9.47378688e-01 -2.40987406e-02 -1.20190659e+02] [-6.84404694e-02 2.31746552e-03 9.97652510e-01 -4.54905471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.9707140569999 meters 0.020181998533143303 Centerline is valid? [True, True] Translation: X:713.72, Y:-120.19, Z:-45.49 [[ 9.43955296e-01 3.23935011e-01 6.33601497e-02 7.13718260e+02] [-3.23063319e-01 9.46077158e-01 -2.38349183e-02 -1.20191262e+02] [-6.76645549e-02 2.02975716e-03 9.97706063e-01 -4.54923025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.000714057 meters 0.01902025804669661 Centerline is valid? [True, True] Translation: X:713.75, Y:-120.20, Z:-45.49 [[ 9.43354538e-01 3.25839689e-01 6.25356990e-02 7.13750701e+02] [-3.24994536e-01 9.45423183e-01 -2.35277796e-02 -1.20197220e+02] [-6.67889840e-02 1.87127717e-03 9.97765368e-01 -4.54949667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.030714057 meters 0.01912872409296873 Centerline is valid? [True, True] Translation: X:713.78, Y:-120.21, Z:-45.50 [[ 9.42919354e-01 3.27135105e-01 6.23355029e-02 7.13780913e+02] [-3.26297671e-01 9.44975899e-01 -2.34601634e-02 -1.20205329e+02] [-6.65801910e-02 1.78111269e-03 9.97779488e-01 -4.54967810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.0607140569999 meters 0.018844878999739842 Centerline is valid? [True, True] Translation: X:713.81, Y:-120.21, Z:-45.50 [[ 9.42526306e-01 3.28278098e-01 6.22708098e-02 7.13813036e+02] [-3.27443788e-01 9.44579563e-01 -2.34523752e-02 -1.20210589e+02] [-6.65186355e-02 1.71429065e-03 9.97783710e-01 -4.54977922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.0907140569999 meters 0.019028964790056117 Centerline is valid? [True, True] Translation: X:713.84, Y:-120.22, Z:-45.50 [[ 9.42556567e-01 3.28194849e-01 6.22515750e-02 7.13844999e+02] [-3.27359687e-01 9.44608451e-01 -2.34629488e-02 -1.20220500e+02] [-6.65037827e-02 1.73650038e-03 9.97784662e-01 -4.54991408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.120714057 meters 0.019332452903532405 Centerline is valid? [True, True] Translation: X:713.88, Y:-120.23, Z:-45.50 [[ 9.42746568e-01 3.27547051e-01 6.27840629e-02 7.13875208e+02] [-3.26694747e-01 9.44833123e-01 -2.36835850e-02 -1.20230518e+02] [-6.70779506e-02 1.81639491e-03 9.97746085e-01 -4.55003603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.150714057 meters 0.019841350842060623 Centerline is valid? [True, True] Translation: X:713.91, Y:-120.24, Z:-45.50 [[ 9.43088067e-01 3.26468591e-01 6.32705040e-02 7.13905751e+02] [-3.25599387e-01 9.45206091e-01 -2.38848050e-02 -1.20241098e+02] [-6.76013045e-02 1.92463723e-03 9.97710559e-01 -4.55017346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.1807140569999 meters 0.020692801692880437 Centerline is valid? [True, True] Translation: X:713.94, Y:-120.25, Z:-45.50 [[ 9.44036353e-01 3.23631073e-01 6.37047299e-02 7.13935509e+02] [-3.22742312e-01 9.46180887e-01 -2.40650897e-02 -1.20249844e+02] [-6.80644087e-02 2.15810773e-03 9.97678595e-01 -4.55028952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.2107140569999 meters 0.02158968258805162 Centerline is valid? [True, True] Translation: X:713.96, Y:-120.26, Z:-45.50 [[ 9.44679206e-01 3.21787784e-01 6.35123609e-02 7.13964831e+02] [-3.20899661e-01 9.46809046e-01 -2.40008128e-02 -1.20260173e+02] [-6.78572462e-02 2.29197374e-03 9.97692408e-01 -4.55045772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.240714057 meters 0.022101541951321437 Centerline is valid? [True, True] Translation: X:714.00, Y:-120.27, Z:-45.51 [[ 9.45427819e-01 3.19564282e-01 6.35995928e-02 7.13995430e+02] [-3.18668127e-01 9.47561399e-01 -2.40420631e-02 -1.20270632e+02] [-6.79475037e-02 2.46287215e-03 9.97685858e-01 -4.55064771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.270714057 meters 0.024720939658924072 Centerline is valid? [True, True] Translation: X:714.02, Y:-120.28, Z:-45.51 [[ 9.47416934e-01 3.13786074e-01 6.27650630e-02 7.14023480e+02] [-3.12900368e-01 9.49489449e-01 -2.37307095e-02 -1.20281329e+02] [-6.70411312e-02 2.84366477e-03 9.97746160e-01 -4.55088366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3007140569999 meters 0.026422782473336306 Centerline is valid? [True, True] Translation: X:714.05, Y:-120.29, Z:-45.51 [[ 9.48572354e-01 3.10356379e-01 6.23651130e-02 7.14052269e+02] [-3.09474556e-01 9.50615336e-01 -2.35792808e-02 -1.20292318e+02] [-6.66032130e-02 3.06623821e-03 9.97774829e-01 -4.55112692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3307140569999 meters 0.027865282553673702 Centerline is valid? [True, True] Translation: X:714.08, Y:-120.30, Z:-45.51 [[ 9.49784831e-01 3.06694666e-01 6.20254579e-02 7.14081357e+02] [-3.05814569e-01 9.51802212e-01 -2.34520312e-02 -1.20303412e+02] [-6.62285809e-02 3.30609484e-03 9.97799000e-01 -4.55133810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3607140569999 meters 0.03178853642107273 Centerline is valid? [True, True] Translation: X:714.11, Y:-120.32, Z:-45.51 [[ 9.52297587e-01 2.98827295e-01 6.18995393e-02 7.14109314e+02] [-2.97934102e-01 9.54299454e-01 -2.34056248e-02 -1.20315034e+02] [-6.60649361e-02 3.84713630e-03 9.97807909e-01 -4.55149993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.390714057 meters 0.03374977262682421 Centerline is valid? [True, True] Translation: X:714.14, Y:-120.33, Z:-45.52 [[ 9.53461896e-01 2.94971658e-01 6.24670598e-02 7.14137655e+02] [-2.94053652e-01 9.55496975e-01 -2.36216337e-02 -1.20326221e+02] [-6.66547991e-02 4.15366062e-03 9.97767450e-01 -4.55163382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4207140569999 meters 0.035347933502323445 Centerline is valid? [True, True] Translation: X:714.17, Y:-120.34, Z:-45.52 [[ 9.54714592e-01 2.90962987e-01 6.21336281e-02 7.14166305e+02] [-2.90046256e-01 9.56724143e-01 -2.34964711e-02 -1.20336813e+02] [-6.62813455e-02 4.41079760e-03 9.97791225e-01 -4.55173836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4507140569999 meters 0.030627423009645233 Centerline is valid? [True, True] Translation: X:714.20, Y:-120.34, Z:-45.52 [[ 9.56711802e-01 2.84335146e-01 6.20971178e-02 7.14198895e+02] [-2.83405552e-01 9.58712588e-01 -2.34833439e-02 -1.20336885e+02] [-6.62104285e-02 4.86812439e-03 9.97793807e-01 -4.55202932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4807140569999 meters 0.03206975728346295 Centerline is valid? [True, True] Translation: X:714.23, Y:-120.35, Z:-45.52 [[ 9.57709592e-01 2.81000110e-01 6.18973000e-02 7.14228367e+02] [-2.80069530e-01 9.59694275e-01 -2.34084714e-02 -1.20346445e+02] [-6.59802674e-02 5.08296986e-03 9.97807981e-01 -4.55214384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.510714057 meters 0.03793082537931985 Centerline is valid? [True, True] Translation: X:714.25, Y:-120.36, Z:-45.52 [[ 9.58316239e-01 2.78817611e-01 6.23756896e-02 7.14254877e+02] [-2.77867928e-01 9.60329588e-01 -2.35901782e-02 -1.20361350e+02] [-6.64785774e-02 5.27464721e-03 9.97773911e-01 -4.55218410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.540714057 meters 0.03368110016069098 Centerline is valid? [True, True] Translation: X:714.29, Y:-120.36, Z:-45.52 [[ 9.58712700e-01 2.77329898e-01 6.29133339e-02 7.14287001e+02] [-2.76360459e-01 9.60759432e-01 -2.37951675e-02 -1.20363147e+02] [-6.70436904e-02 5.42597143e-03 9.97735287e-01 -4.55230538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.5707140569999 meters 0.03309769423469561 Centerline is valid? [True, True] Translation: X:714.32, Y:-120.37, Z:-45.52 [[ 9.59005845e-01 2.76070788e-01 6.39742879e-02 7.14319622e+02] [-2.75065294e-01 9.61120927e-01 -2.42001502e-02 -1.20366069e+02] [-6.81679814e-02 5.61097919e-03 9.97658079e-01 -4.55233095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.6007140569999 meters 0.037956821083156414 Centerline is valid? [True, True] Translation: X:714.35, Y:-120.38, Z:-45.52 [[ 9.58867154e-01 2.76439523e-01 6.44590593e-02 7.14348920e+02] [-2.75419310e-01 9.61014822e-01 -2.43867920e-02 -1.20379713e+02] [-6.86875846e-02 5.63042420e-03 9.97622330e-01 -4.55239373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.630714057 meters 0.032532959169779045 Centerline is valid? [True, True] Translation: X:714.38, Y:-120.38, Z:-45.53 [[ 9.58677291e-01 2.76970758e-01 6.50003889e-02 7.14383523e+02] [-2.75934047e-01 9.60861760e-01 -2.45983941e-02 -1.20380169e+02] [-6.92694239e-02 5.64610142e-03 9.97582011e-01 -4.55266732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.660714057 meters 0.036484579428117635 Centerline is valid? [True, True] Translation: X:714.41, Y:-120.39, Z:-45.53 [[ 9.58134177e-01 2.78901061e-01 6.47541361e-02 7.14414079e+02] [-2.77876133e-01 9.60304139e-01 -2.45115312e-02 -1.20387675e+02] [-6.90199570e-02 5.49170678e-03 9.97600164e-01 -4.55266956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.6907140569999 meters 0.03529251044855633 Centerline is valid? [True, True] Translation: X:714.45, Y:-120.39, Z:-45.53 [[ 9.57659146e-01 2.80486320e-01 6.49336952e-02 7.14445213e+02] [-2.79459039e-01 9.59842855e-01 -2.45833289e-02 -1.20393093e+02] [-6.92214309e-02 5.39614170e-03 9.97586726e-01 -4.55282501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.7207140569999 meters 0.036187694178568756 Centerline is valid? [True, True] Translation: X:714.47, Y:-120.40, Z:-45.53 [[ 9.57282390e-01 2.81712468e-01 6.51806023e-02 7.14474622e+02] [-2.80679988e-01 9.59484067e-01 -2.46793349e-02 -1.20400296e+02] [-6.94922257e-02 5.33020204e-03 9.97568253e-01 -4.55291781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.750714057 meters 0.03631541207380947 Centerline is valid? [True, True] Translation: X:714.51, Y:-120.40, Z:-45.53 [[ 9.56505581e-01 2.84228655e-01 6.56593201e-02 7.14505729e+02] [-2.83186728e-01 9.58742495e-01 -2.48617292e-02 -1.20402486e+02] [-7.00167963e-02 5.18653474e-03 9.97532329e-01 -4.55292141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.780714057 meters 0.03399340374239012 Centerline is valid? [True, True] Translation: X:714.54, Y:-120.41, Z:-45.53 [[ 9.56033573e-01 2.85625967e-01 6.64651355e-02 7.14538067e+02] [-2.84561561e-01 9.58327349e-01 -2.51676268e-02 -1.20407105e+02] [-7.08838849e-02 5.14767342e-03 9.97471291e-01 -4.55307819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.8107140569999 meters 0.034618414624642976 Centerline is valid? [True, True] Translation: X:714.57, Y:-120.42, Z:-45.53 [[ 9.55715011e-01 2.86605527e-01 6.68288107e-02 7.14567850e+02] [-2.85531310e-01 9.58035054e-01 -2.53121801e-02 -1.20415257e+02] [-7.12789540e-02 5.10951263e-03 9.97443334e-01 -4.55318882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.8407140569999 meters 0.033021513245994255 Centerline is valid? [True, True] Translation: X:714.60, Y:-120.42, Z:-45.53 [[ 9.55533376e-01 2.87047507e-01 6.75255227e-02 7.14600785e+02] [-2.85950443e-01 9.57902513e-01 -2.55952994e-02 -1.20421167e+02] [-7.20299348e-02 5.14820972e-03 9.97389184e-01 -4.55339043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.870714057 meters 0.03556421719009768 Centerline is valid? [True, True] Translation: X:714.63, Y:-120.43, Z:-45.54 [[ 9.55514525e-01 2.87273053e-01 6.68295253e-02 7.14632138e+02] [-2.86197496e-01 9.57835158e-01 -2.53535574e-02 -1.20428299e+02] [-7.12950628e-02 5.09924954e-03 9.97442235e-01 -4.55359296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.900714057 meters 0.03389414213217126 Centerline is valid? [True, True] Translation: X:714.67, Y:-120.43, Z:-45.54 [[ 9.55445335e-01 2.87530462e-01 6.67116549e-02 7.14665055e+02] [-2.86457809e-01 9.57757960e-01 -2.53300762e-02 -1.20433910e+02] [-7.11767870e-02 5.09142868e-03 9.97450722e-01 -4.55390529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.9307140569999 meters 0.03519371320312578 Centerline is valid? [True, True] Translation: X:714.70, Y:-120.44, Z:-45.54 [[ 9.55416484e-01 2.87699733e-01 6.63943194e-02 7.14695202e+02] [-2.86636268e-01 9.57707221e-01 -2.52295178e-02 -1.20443006e+02] [-7.08448447e-02 5.07367727e-03 9.97474444e-01 -4.55408659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.9607140569999 meters 0.03501317501933788 Centerline is valid? [True, True] Translation: X:714.73, Y:-120.45, Z:-45.54 [[ 9.55198502e-01 2.88593483e-01 6.56477203e-02 7.14728581e+02] [-2.87555090e-01 9.57438863e-01 -2.49578402e-02 -1.20446253e+02] [-7.00563487e-02 4.96235543e-03 9.97530693e-01 -4.55437489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.990714057 meters 0.037885082897370734 Centerline is valid? [True, True] Translation: X:714.76, Y:-120.46, Z:-45.55 [[ 9.55102842e-01 2.89107119e-01 6.47737170e-02 7.14757488e+02] [-2.88096149e-01 9.57284334e-01 -2.46437105e-02 -1.20456767e+02] [-6.91315367e-02 4.87621954e-03 9.97595636e-01 -4.55454451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.020714057 meters 0.0355167368138861 Centerline is valid? [True, True] Translation: X:714.79, Y:-120.46, Z:-45.55 [[ 9.54661295e-01 2.90840737e-01 6.35096721e-02 7.14791320e+02] [-2.89871716e-01 9.56760076e-01 -2.41773800e-02 -1.20456394e+02] [-6.77952857e-02 4.67155125e-03 9.97688316e-01 -4.55494481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.0507140569999 meters 0.03638370777244036 Centerline is valid? [True, True] Translation: X:714.82, Y:-120.46, Z:-45.55 [[ 9.54295780e-01 2.92096439e-01 6.32395066e-02 7.14821213e+02] [-2.91138149e-01 9.56377969e-01 -2.40781803e-02 -1.20463872e+02] [-6.75140216e-02 4.56627293e-03 9.97707876e-01 -4.55514981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.0807140569999 meters 0.03296025944184159 Centerline is valid? [True, True] Translation: X:714.85, Y:-120.47, Z:-45.55 [[ 9.53669834e-01 2.94145133e-01 6.31861416e-02 7.14853676e+02] [-2.93192755e-01 9.55750545e-01 -2.40604187e-02 -1.20466494e+02] [-6.74674443e-02 4.41997653e-03 9.97711686e-01 -4.55538024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.1107140569999 meters 0.03156834802549782 Centerline is valid? [True, True] Translation: X:714.89, Y:-120.47, Z:-45.56 [[ 9.52423049e-01 2.98202168e-01 6.29746206e-02 7.14885773e+02] [-2.97264820e-01 9.54493837e-01 -2.39821325e-02 -1.20466877e+02] [-6.72604112e-02 4.12099657e-03 9.97726944e-01 -4.55569404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.140714057 meters 0.033833212067568175 Centerline is valid? [True, True] Translation: X:714.91, Y:-120.48, Z:-45.56 [[ 9.51893106e-01 2.99931576e-01 6.27739187e-02 7.14913830e+02] [-2.99003926e-01 9.53952389e-01 -2.39059045e-02 -1.20476794e+02] [-6.70534653e-02 3.98621755e-03 9.97741421e-01 -4.55588699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.1707140569999 meters 0.03455688236256881 Centerline is valid? [True, True] Translation: X:714.94, Y:-120.48, Z:-45.56 [[ 9.51676007e-01 3.00697881e-01 6.23984102e-02 7.14941917e+02] [-2.99782983e-01 9.53711440e-01 -2.37624105e-02 -1.20484371e+02] [-6.66553842e-02 3.90813440e-03 9.97768403e-01 -4.55604712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.2007140569999 meters 0.032221772761741124 Centerline is valid? [True, True] Translation: X:714.97, Y:-120.49, Z:-45.56 [[ 9.51463206e-01 3.01313883e-01 6.26714548e-02 7.14971341e+02] [-3.00392540e-01 9.53517123e-01 -2.38625068e-02 -1.20487681e+02] [-6.69484098e-02 3.87825978e-03 9.97748901e-01 -4.55633873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.2307140569999 meters 0.033506692616453566 Centerline is valid? [True, True] Translation: X:715.00, Y:-120.49, Z:-45.56 [[ 9.50940920e-01 3.02951694e-01 6.27027722e-02 7.14999309e+02] [-3.02033318e-01 9.52998496e-01 -2.38692467e-02 -1.20491761e+02] [-6.69868764e-02 3.75991703e-03 9.97746772e-01 -4.55647144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.260714057 meters 0.028091626743308968 Centerline is valid? [True, True] Translation: X:715.03, Y:-120.49, Z:-45.57 [[ 9.50688842e-01 3.03737620e-01 6.27230683e-02 7.15030042e+02] [-3.02820759e-01 9.52748534e-01 -2.38708856e-02 -1.20490447e+02] [-6.70097974e-02 3.69993747e-03 9.97745457e-01 -4.55680999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.290714057 meters 0.03109172045506471 Centerline is valid? [True, True] Translation: X:715.06, Y:-120.50, Z:-45.57 [[ 9.50197811e-01 3.05432615e-01 6.19276853e-02 7.15057431e+02] [-3.04542813e-01 9.52207151e-01 -2.35630534e-02 -1.20497960e+02] [-6.61649098e-02 3.52993028e-03 9.97802458e-01 -4.55694936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.3207140569999 meters 0.03161676832838988 Centerline is valid? [True, True] Translation: X:715.08, Y:-120.51, Z:-45.57 [[ 9.50152260e-01 3.05684817e-01 6.13797599e-02 7.15084237e+02] [-3.04811589e-01 9.52126415e-01 -2.33492027e-02 -1.20505146e+02] [-6.55787874e-02 3.47603557e-03 9.97841340e-01 -4.55711971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.3507140569999 meters 0.029958689396572338 Centerline is valid? [True, True] Translation: X:715.11, Y:-120.51, Z:-45.57 [[ 9.50244808e-01 3.05499811e-01 6.08659989e-02 7.15113635e+02] [-3.04641274e-01 9.52185878e-01 -2.31462111e-02 -1.20506132e+02] [-6.50269077e-02 3.45227151e-03 9.97877539e-01 -4.55746495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.380714057 meters 0.029782385093980516 Centerline is valid? [True, True] Translation: X:715.14, Y:-120.51, Z:-45.58 [[ 9.50404731e-01 3.05122610e-01 6.02581138e-02 7.15141547e+02] [-3.04280855e-01 9.52306875e-01 -2.29080264e-02 -1.20513111e+02] [-6.43739729e-02 3.43650626e-03 9.97919928e-01 -4.55768010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.410714057 meters 0.029782385093980516 Centerline is valid? [True, True] Translation: X:715.17, Y:-120.52, Z:-45.58 [[ 9.50437285e-01 3.05020852e-01 6.02598298e-02 7.15167268e+02] [-3.04179179e-01 9.52339465e-01 -2.29035118e-02 -1.20522791e+02] [-6.43738627e-02 3.43856607e-03 9.97919928e-01 -4.55783937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.4407140569999 meters 0.027753490058954645 Centerline is valid? [True, True] Translation: X:715.20, Y:-120.53, Z:-45.58 [[ 9.50562702e-01 3.04678397e-01 6.00135381e-02 7.15196895e+02] [-3.03843375e-01 9.52449073e-01 -2.28028051e-02 -1.20526984e+02] [-6.41073608e-02 3.44078008e-03 9.97937076e-01 -4.55811588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.4707140569999 meters 0.02990224245559769 Centerline is valid? [True, True] Translation: X:715.22, Y:-120.54, Z:-45.58 [[ 9.50908072e-01 3.03731861e-01 5.93362848e-02 7.15223212e+02] [-3.02914091e-01 9.52751271e-01 -2.25403851e-02 -1.20535718e+02] [-6.33789539e-02 3.46003737e-03 9.97983535e-01 -4.55844214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.500714057 meters 0.028806301277999682 Centerline is valid? [True, True] Translation: X:715.25, Y:-120.54, Z:-45.59 [[ 9.51115854e-01 3.03284012e-01 5.82875606e-02 7.15251801e+02] [-3.02494461e-01 9.52894063e-01 -2.21360648e-02 -1.20541876e+02] [-6.22553850e-02 3.42229791e-03 9.98054385e-01 -4.55875119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.530714057 meters 0.029668164371812137 Centerline is valid? [True, True] Translation: X:715.28, Y:-120.55, Z:-45.59 [[ 9.51385782e-01 3.02617569e-01 5.73384683e-02 7.15278229e+02] [-3.01852642e-01 9.53105983e-01 -2.17707945e-02 -1.20550658e+02] [-6.12378621e-02 3.40465621e-03 9.98117394e-01 -4.55902973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.5607140569999 meters 0.0325959783617134 Centerline is valid? [True, True] Translation: X:715.30, Y:-120.56, Z:-45.59 [[ 9.51521750e-01 3.02307740e-01 5.67132190e-02 7.15303591e+02] [-3.01559232e-01 9.53204383e-01 -2.15275191e-02 -1.20562064e+02] [-6.05672245e-02 3.38150789e-03 9.98158393e-01 -4.55934966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.5907140569999 meters 0.03303044374226475 Centerline is valid? [True, True] Translation: X:715.33, Y:-120.57, Z:-45.60 [[ 9.51792922e-01 3.01881205e-01 5.43872385e-02 7.15331693e+02] [-3.01192519e-01 9.53339965e-01 -2.06392187e-02 -1.20569316e+02] [-5.80801203e-02 3.26323288e-03 9.98306592e-01 -4.55973697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.620714057 meters 0.0316562496890386 Centerline is valid? [True, True] Translation: X:715.36, Y:-120.58, Z:-45.60 [[ 9.51947215e-01 3.01528214e-01 5.36398680e-02 7.15359513e+02] [-3.00858032e-01 9.53451765e-01 -2.03513338e-02 -1.20575713e+02] [-5.72795282e-02 3.23541046e-03 9.98352938e-01 -4.55997209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.650714057 meters 0.04216543272164816 Centerline is valid? [True, True] Translation: X:715.38, Y:-120.60, Z:-45.60 [[ 9.52202360e-01 3.00991033e-01 5.21062698e-02 7.15381543e+02] [-3.00358090e-01 9.53621701e-01 -1.97653509e-02 -1.20596444e+02] [-5.56388630e-02 3.17007414e-03 9.98445926e-01 -4.56035395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.6807140569999 meters 0.03505215232393534 Centerline is valid? [True, True] Translation: X:715.41, Y:-120.60, Z:-45.61 [[ 9.52432834e-01 3.00349688e-01 5.15922626e-02 7.15412873e+02] [-2.99728537e-01 9.53823889e-01 -1.95651043e-02 -1.20595139e+02] [-5.50863055e-02 3.17077434e-03 9.98476562e-01 -4.56056324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.7107140569999 meters 0.043873745587004916 Centerline is valid? [True, True] Translation: X:715.43, Y:-120.62, Z:-45.61 [[ 9.52688117e-01 2.99562621e-01 5.14547169e-02 7.15434476e+02] [-2.98943859e-01 9.54071261e-01 -1.95089122e-02 -1.20615958e+02] [-5.49356075e-02 3.20383716e-03 9.98484759e-01 -4.56074831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.740714057 meters 0.03376178463337094 Centerline is valid? [True, True] Translation: X:715.47, Y:-120.61, Z:-45.61 [[ 9.53208270e-01 2.97830918e-01 5.18723338e-02 7.15468007e+02] [-2.97199799e-01 9.54612846e-01 -1.96620080e-02 -1.20610026e+02] [-5.53739501e-02 3.32554145e-03 9.98460148e-01 -4.56076236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.770714057 meters 0.034064853353231866 Centerline is valid? [True, True] Translation: X:715.50, Y:-120.62, Z:-45.61 [[ 9.53622424e-01 2.96566286e-01 5.15044661e-02 7.15495252e+02] [-2.95942429e-01 9.55006319e-01 -1.95194698e-02 -1.20618407e+02] [-5.49759072e-02 3.37184734e-03 9.98481988e-01 -4.56091400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8007140569999 meters 0.037675109008239824 Centerline is valid? [True, True] Translation: X:715.52, Y:-120.63, Z:-45.61 [[ 9.54482089e-01 2.93856050e-01 5.11132484e-02 7.15521191e+02] [-2.93238011e-01 9.55843289e-01 -1.93668743e-02 -1.20631308e+02] [-5.45473286e-02 3.49698733e-03 9.98505063e-01 -4.56115670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8307140569999 meters 0.03795266901568683 Centerline is valid? [True, True] Translation: X:715.55, Y:-120.64, Z:-45.61 [[ 9.54894156e-01 2.92643688e-01 5.03668898e-02 7.15548217e+02] [-2.92042003e-01 9.56215110e-01 -1.90822604e-02 -1.20640119e+02] [-5.37458841e-02 3.51229155e-03 9.98548468e-01 -4.56135150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8607140569999 meters 0.040181611426737394 Centerline is valid? [True, True] Translation: X:715.57, Y:-120.65, Z:-45.62 [[ 9.55239557e-01 2.91546582e-01 5.01794717e-02 7.15573403e+02] [-2.90948136e-01 9.56550023e-01 -1.90062126e-02 -1.20651377e+02] [-5.35403712e-02 3.55586238e-03 9.98559355e-01 -4.56154554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.890714057 meters 0.03698072006161092 Centerline is valid? [True, True] Translation: X:715.60, Y:-120.65, Z:-45.62 [[ 9.56198198e-01 2.88522124e-01 4.93962505e-02 7.15604903e+02] [-2.87938490e-01 9.57466226e-01 -1.87043281e-02 -1.20653960e+02] [-5.26918540e-02 3.66196304e-03 9.98604105e-01 -4.56167303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9207140569999 meters 0.04039945388177535 Centerline is valid? [True, True] Translation: X:715.63, Y:-120.67, Z:-45.62 [[ 9.56759851e-01 2.86663507e-01 4.93418817e-02 7.15630175e+02] [-2.86078736e-01 9.58023956e-01 -1.86830720e-02 -1.20666963e+02] [-5.26264596e-02 3.75955004e-03 9.98607191e-01 -4.56183623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9507140569999 meters 0.041454499336488 Centerline is valid? [True, True] Translation: X:715.66, Y:-120.68, Z:-45.62 [[ 9.57304342e-01 2.84866974e-01 4.91854087e-02 7.15658110e+02] [-2.84283818e-01 9.58559363e-01 -1.86187780e-02 -1.20677230e+02] [-5.24510090e-02 3.84122129e-03 9.98616111e-01 -4.56196630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9807140569999 meters 0.0439315990700065 Centerline is valid? [True, True] Translation: X:715.69, Y:-120.69, Z:-45.62 [[ 9.58304240e-01 2.81475749e-01 4.92380670e-02 7.15686509e+02] [-2.80887006e-01 9.59559883e-01 -1.86365491e-02 -1.20686756e+02] [-5.24926104e-02 4.02915081e-03 9.98613184e-01 -4.56201635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.010714057 meters 0.0432403125942618 Centerline is valid? [True, True] Translation: X:715.71, Y:-120.69, Z:-45.62 [[ 9.58748140e-01 2.79926391e-01 4.94289286e-02 7.15714727e+02] [-2.79331028e-01 9.60012583e-01 -1.87087694e-02 -1.20694126e+02] [-5.26894717e-02 4.12996441e-03 9.98602405e-01 -4.56216896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.040714057 meters 0.04484263716068209 Centerline is valid? [True, True] Translation: X:715.74, Y:-120.70, Z:-45.62 [[ 9.58969296e-01 2.79100974e-01 4.98049868e-02 7.15741105e+02] [-2.78495541e-01 9.60252554e-01 -1.88485249e-02 -1.20701329e+02] [-5.30860074e-02 4.20468994e-03 9.98581092e-01 -4.56228662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.0707140569999 meters 0.042647334513055836 Centerline is valid? [True, True] Translation: X:715.77, Y:-120.71, Z:-45.62 [[ 9.58877111e-01 2.79326802e-01 5.03112738e-02 7.15770317e+02] [-2.78709799e-01 9.60186794e-01 -1.90307092e-02 -1.20705938e+02] [-5.36240078e-02 4.22586641e-03 9.98552256e-01 -4.56235641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.1007140569999 meters 0.0440808632235142 Centerline is valid? [True, True] Translation: X:715.80, Y:-120.71, Z:-45.63 [[ 9.58517279e-01 2.80505763e-01 5.06077444e-02 7.15796882e+02] [-2.79883314e-01 9.59843237e-01 -1.91387226e-02 -1.20714505e+02] [-5.39440232e-02 4.18053310e-03 9.98535210e-01 -4.56250934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.130714057 meters 0.045908879257803153 Centerline is valid? [True, True] Translation: X:715.83, Y:-120.72, Z:-45.63 [[ 9.57242589e-01 2.84654243e-01 5.15614912e-02 7.15825410e+02] [-2.84014360e-01 9.58621840e-01 -1.94938635e-02 -1.20721180e+02] [-5.49769825e-02 4.01615248e-03 9.98479545e-01 -4.56264204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.160714057 meters 0.042804662401043324 Centerline is valid? [True, True] Translation: X:715.86, Y:-120.72, Z:-45.63 [[ 9.56728749e-01 2.86395227e-01 5.14575019e-02 7.15856557e+02] [-2.85760524e-01 9.58103603e-01 -1.94527538e-02 -1.20723850e+02] [-5.48727937e-02 3.90648611e-03 9.98485711e-01 -4.56279198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.1907140569999 meters 0.044807369046967034 Centerline is valid? [True, True] Translation: X:715.88, Y:-120.73, Z:-45.63 [[ 9.55272799e-01 2.91152051e-01 5.18108330e-02 7.15884454e+02] [-2.90515591e-01 9.56669800e-01 -1.95853452e-02 -1.20731069e+02] [-5.52681727e-02 3.65749280e-03 9.98464848e-01 -4.56294453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.2207140569999 meters 0.04437624058778795 Centerline is valid? [True, True] Translation: X:715.91, Y:-120.74, Z:-45.63 [[ 9.54720551e-01 2.92818853e-01 5.25907734e-02 7.15913738e+02] [-2.92165729e-01 9.56161111e-01 -1.98775271e-02 -1.20737687e+02] [-5.61057670e-02 3.61226198e-03 9.98418296e-01 -4.56308967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.250714057 meters 0.0444061255000985 Centerline is valid? [True, True] Translation: X:715.94, Y:-120.74, Z:-45.63 [[ 9.53999918e-01 2.95127725e-01 5.27615512e-02 7.15941991e+02] [-2.94473972e-01 9.55451450e-01 -1.99400544e-02 -1.20744536e+02] [-5.62959635e-02 3.48590673e-03 9.98408039e-01 -4.56323210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.280714057 meters 0.0375353919191419 Centerline is valid? [True, True] Translation: X:715.98, Y:-120.74, Z:-45.63 [[ 9.52890632e-01 2.98657865e-01 5.29426418e-02 7.15976289e+02] [-2.98005142e-01 9.54354586e-01 -2.00064626e-02 -1.20738269e+02] [-5.65011404e-02 3.28679125e-03 9.98397124e-01 -4.56327127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.3107140569999 meters 0.036745522979990466 Centerline is valid? [True, True] Translation: X:716.00, Y:-120.74, Z:-45.63 [[ 9.52368510e-01 3.00246073e-01 5.33527516e-02 7.16004943e+02] [-2.99585726e-01 9.53856357e-01 -2.01604195e-02 -1.20744053e+02] [-5.69439481e-02 3.21642587e-03 9.98372196e-01 -4.56341820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.3407140569999 meters 0.037023629080381766 Centerline is valid? [True, True] Translation: X:716.03, Y:-120.75, Z:-45.64 [[ 9.51214804e-01 3.03875566e-01 5.33857286e-02 7.16034147e+02] [-3.03220338e-01 9.52707016e-01 -2.01684972e-02 -1.20748485e+02] [-5.69896717e-02 2.99693448e-03 9.98370270e-01 -4.56357942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.370714057 meters 0.03673561858144991 Centerline is valid? [True, True] Translation: X:716.06, Y:-120.76, Z:-45.64 [[ 9.50627918e-01 3.05723511e-01 5.32888056e-02 7.16061781e+02] [-3.05073673e-01 9.52115984e-01 -2.01297629e-02 -1.20755411e+02] [-5.68912653e-02 2.87890293e-03 9.98376230e-01 -4.56375231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.400714057 meters 0.034895548702542266 Centerline is valid? [True, True] Translation: X:716.09, Y:-120.76, Z:-45.64 [[ 9.49936220e-01 3.07937267e-01 5.28754928e-02 7.16091466e+02] [-3.07301132e-01 9.51402773e-01 -1.99694458e-02 -1.20759703e+02] [-5.64552270e-02 2.72100110e-03 9.98401424e-01 -4.56397901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.4307140569999 meters 0.033415685974161016 Centerline is valid? [True, True] Translation: X:716.12, Y:-120.76, Z:-45.64 [[ 9.48570527e-01 3.12275390e-01 5.19426184e-02 7.16122373e+02] [-3.11668114e-01 9.49988546e-01 -1.96150364e-02 -1.20762061e+02] [-5.54701856e-02 2.41738748e-03 9.98457418e-01 -4.56429554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.4607140569999 meters 0.0321079537915203 Centerline is valid? [True, True] Translation: X:716.15, Y:-120.77, Z:-45.65 [[ 9.47917733e-01 3.14282989e-01 5.17510791e-02 7.16151075e+02] [-3.13683218e-01 9.49326580e-01 -1.95418209e-02 -1.20767303e+02] [-5.52703368e-02 2.29059356e-03 9.98468799e-01 -4.56455157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.490714057 meters 0.03212820228101388 Centerline is valid? [True, True] Translation: X:716.18, Y:-120.77, Z:-45.65 [[ 9.47201453e-01 3.16411760e-01 5.18941716e-02 7.16177826e+02] [-3.15812075e-01 9.48619468e-01 -1.95917787e-02 -1.20774948e+02] [-5.54268907e-02 2.16855525e-03 9.98460393e-01 -4.56473125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.520714057 meters 0.031058345902626582 Centerline is valid? [True, True] Translation: X:716.21, Y:-120.78, Z:-45.65 [[ 9.46400528e-01 3.18528701e-01 5.35304292e-02 7.16207288e+02] [-3.17894389e-01 9.47910887e-01 -2.02016845e-02 -1.20778444e+02] [-5.71768930e-02 2.10186177e-03 9.98361851e-01 -4.56482551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.5507140569999 meters 0.030729165212385227 Centerline is valid? [True, True] Translation: X:716.23, Y:-120.79, Z:-45.65 [[ 9.46278319e-01 3.18749757e-01 5.43685203e-02 7.16234541e+02] [-3.18096034e-01 9.47836542e-01 -2.05134770e-02 -1.20786432e+02] [-5.80711361e-02 2.11704782e-03 9.98310203e-01 -4.56497410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.5807140569999 meters 0.031733129159944515 Centerline is valid? [True, True] Translation: X:716.26, Y:-120.80, Z:-45.65 [[ 9.46816267e-01 3.17191933e-01 5.41131667e-02 7.16260462e+02] [-3.16542690e-01 9.48358841e-01 -2.04018093e-02 -1.20795744e+02] [-5.77899894e-02 2.18763762e-03 9.98326365e-01 -4.56517865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.6107140569999 meters 0.031356200477761866 Centerline is valid? [True, True] Translation: X:716.29, Y:-120.80, Z:-45.65 [[ 9.47494285e-01 3.15073379e-01 5.46200131e-02 7.16288216e+02] [-3.14408875e-01 9.49064452e-01 -2.05846091e-02 -1.20804614e+02] [-5.83235751e-02 2.33078257e-03 9.98295011e-01 -4.56533672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.640714057 meters 0.03143690999106166 Centerline is valid? [True, True] Translation: X:716.32, Y:-120.82, Z:-45.65 [[ 9.48131829e-01 3.13132081e-01 5.47205193e-02 7.16315055e+02] [-3.12462106e-01 9.49706423e-01 -2.06189748e-02 -1.20815508e+02] [-5.84248911e-02 2.45141756e-03 9.98288797e-01 -4.56543017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.6707140569999 meters 0.03325064556081095 Centerline is valid? [True, True] Translation: X:716.34, Y:-120.83, Z:-45.66 [[ 9.49677630e-01 3.08075126e-01 5.65872487e-02 7.16342597e+02] [-3.07350627e-01 9.51357788e-01 -2.13061249e-02 -1.20827749e+02] [-6.03986069e-02 2.84182385e-03 9.98170292e-01 -4.56550670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.7007140569999 meters 0.035463675046287585 Centerline is valid? [True, True] Translation: X:716.37, Y:-120.84, Z:-45.66 [[ 9.50489907e-01 3.05559614e-01 5.65885084e-02 7.16367894e+02] [-3.04830713e-01 9.52168220e-01 -2.13053443e-02 -1.20842108e+02] [-6.03918321e-02 3.00059937e-03 9.98170238e-01 -4.56552190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.7307140569999 meters 0.035288776066595 Centerline is valid? [True, True] Translation: X:716.40, Y:-120.85, Z:-45.66 [[ 9.51882416e-01 3.00952021e-01 5.78597188e-02 7.16396876e+02] [-3.00181684e-01 9.53633349e-01 -2.17805665e-02 -1.20852219e+02] [-6.17318629e-02 3.36411045e-03 9.98087100e-01 -4.56565446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.760714057 meters 0.03707410542954389 Centerline is valid? [True, True] Translation: X:716.42, Y:-120.87, Z:-45.66 [[ 9.52344351e-01 2.99371296e-01 5.84556703e-02 7.16422734e+02] [-2.98582020e-01 9.54130264e-01 -2.20049305e-02 -1.20865283e+02] [-6.23619686e-02 3.50245915e-03 9.98047453e-01 -4.56574018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.790714057 meters 0.03704870732050195 Centerline is valid? [True, True] Translation: X:716.45, Y:-120.87, Z:-45.66 [[ 9.52732558e-01 2.97985507e-01 5.92056719e-02 7.16449539e+02] [-2.97173463e-01 9.54563474e-01 -2.22824411e-02 -1.20874794e+02] [-6.31554164e-02 3.63485254e-03 9.97997085e-01 -4.56590091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.8207140569999 meters 0.03840178510720672 Centerline is valid? [True, True] Translation: X:716.48, Y:-120.89, Z:-45.66 [[ 9.52990285e-01 2.97248669e-01 5.87600645e-02 7.16475083e+02] [-2.96448416e-01 9.54793158e-01 -2.20989228e-02 -1.20885169e+02] [-6.26725829e-02 3.64073064e-03 9.98027501e-01 -4.56602229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.8507140569999 meters 0.03837226320882511 Centerline is valid? [True, True] Translation: X:716.50, Y:-120.89, Z:-45.66 [[ 9.53023962e-01 2.97232231e-01 5.82951814e-02 7.16502522e+02] [-2.96444986e-01 9.54798405e-01 -2.19174941e-02 -1.20894056e+02] [-6.21747318e-02 3.60658277e-03 9.98058763e-01 -4.56626293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.880714057 meters 0.03710373686419015 Centerline is valid? [True, True] Translation: X:716.53, Y:-120.90, Z:-45.66 [[ 9.52511045e-01 2.98955372e-01 5.78653149e-02 7.16531086e+02] [-2.98183865e-01 9.54260847e-01 -2.17398071e-02 -1.20901109e+02] [-6.17178365e-02 3.45290307e-03 9.98087665e-01 -4.56646360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.910714057 meters 0.03826035851169534 Centerline is valid? [True, True] Translation: X:716.56, Y:-120.91, Z:-45.67 [[ 9.52104741e-01 3.00227697e-01 5.79645823e-02 7.16556782e+02] [-2.99456788e-01 9.53861638e-01 -2.17625107e-02 -1.20911536e+02] [-6.18238999e-02 3.36230194e-03 9.98081410e-01 -4.56675643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.9407140569999 meters 0.03399569808611369 Centerline is valid? [True, True] Translation: X:716.59, Y:-120.91, Z:-45.67 [[ 9.51829848e-01 3.01184807e-01 5.75121867e-02 7.16586459e+02] [-3.00428029e-01 9.53560187e-01 -2.15863070e-02 -1.20913484e+02] [-6.13427992e-02 3.26821837e-03 9.98111407e-01 -4.56698678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.9707140569999 meters 0.035952775401742854 Centerline is valid? [True, True] Translation: X:716.61, Y:-120.93, Z:-45.67 [[ 9.50869430e-01 3.04241564e-01 5.73096633e-02 7.16612321e+02] [-3.03496622e-01 9.52590048e-01 -2.14942001e-02 -1.20925953e+02] [-6.11320440e-02 3.04488860e-03 9.98125043e-01 -4.56714333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.000714057 meters 0.034140827109466435 Centerline is valid? [True, True] Translation: X:716.64, Y:-120.93, Z:-45.67 [[ 9.50477055e-01 3.05367592e-01 5.78273524e-02 7.16641202e+02] [-3.04611462e-01 9.52229837e-01 -2.16839747e-02 -1.20932139e+02] [-6.16865135e-02 2.99524608e-03 9.98091079e-01 -4.56735896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.030714057 meters 0.03478118523045447 Centerline is valid? [True, True] Translation: X:716.67, Y:-120.94, Z:-45.67 [[ 9.49766983e-01 3.07462144e-01 5.83927121e-02 7.16667645e+02] [-3.06696007e-01 9.51555976e-01 -2.18811282e-02 -1.20941938e+02] [-6.22915528e-02 2.87316147e-03 9.98053860e-01 -4.56747571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.0607140569999 meters 0.03361048180439787 Centerline is valid? [True, True] Translation: X:716.70, Y:-120.95, Z:-45.68 [[ 9.49760885e-01 3.07544185e-01 5.80588921e-02 7.16695749e+02] [-3.06787286e-01 9.51529544e-01 -2.17505805e-02 -1.20949231e+02] [-6.19340157e-02 2.84612067e-03 9.98076188e-01 -4.56771587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.0907140569999 meters 0.033703857370118884 Centerline is valid? [True, True] Translation: X:716.72, Y:-120.96, Z:-45.68 [[ 9.49684927e-01 3.07740149e-01 5.82626757e-02 7.16722712e+02] [-3.06979322e-01 9.51466240e-01 -2.18103200e-02 -1.20959505e+02] [-6.21468801e-02 2.82749549e-03 9.98063009e-01 -4.56787328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.120714057 meters 0.03394650243995557 Centerline is valid? [True, True] Translation: X:716.75, Y:-120.97, Z:-45.68 [[ 9.50046704e-01 3.06667676e-01 5.80189313e-02 7.16748980e+02] [-3.05912229e-01 9.51812324e-01 -2.17027290e-02 -1.20970993e+02] [-6.18786593e-02 2.86990557e-03 9.98079554e-01 -4.56807950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.150714057 meters 0.03643911719233194 Centerline is valid? [True, True] Translation: X:716.77, Y:-120.98, Z:-45.68 [[ 9.50413412e-01 3.05532064e-01 5.80043490e-02 7.16773517e+02] [-3.04775869e-01 9.52177286e-01 -2.16814440e-02 -1.20984754e+02] [-6.18548000e-02 2.92800932e-03 9.98080864e-01 -4.56823269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.1807140569999 meters 0.03596554287179745 Centerline is valid? [True, True] Translation: X:716.80, Y:-120.99, Z:-45.68 [[ 9.50998902e-01 3.03710135e-01 5.79762138e-02 7.16800321e+02] [-3.02951866e-01 9.52759642e-01 -2.16617727e-02 -1.20994204e+02] [-6.18162966e-02 3.03631995e-03 9.98082926e-01 -4.56838716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.2107140569999 meters 0.03694524469707169 Centerline is valid? [True, True] Translation: X:716.83, Y:-121.01, Z:-45.69 [[ 9.51313923e-01 3.02807461e-01 5.75279148e-02 7.16825246e+02] [-3.02060179e-01 9.53046851e-01 -2.14790202e-02 -1.21005609e+02] [-6.13308056e-02 3.05639871e-03 9.98112815e-01 -4.56851904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.240714057 meters 0.03744305631225348 Centerline is valid? [True, True] Translation: X:716.85, Y:-121.02, Z:-45.69 [[ 9.51630168e-01 3.01900421e-01 5.70627700e-02 7.16851392e+02] [-3.01163995e-01 9.53334481e-01 -2.12982624e-02 -1.21016591e+02] [-6.08298606e-02 3.08281723e-03 9.98143389e-01 -4.56863031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.270714057 meters 0.03724843803864167 Centerline is valid? [True, True] Translation: X:716.88, Y:-121.03, Z:-45.69 [[ 9.52243872e-01 2.99889004e-01 5.74299074e-02 7.16879008e+02] [-2.99140331e-01 9.53968674e-01 -2.14203392e-02 -1.21026149e+02] [-6.12100568e-02 3.21778520e-03 9.98119720e-01 -4.56864518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3007140569999 meters 0.03561213163484281 Centerline is valid? [True, True] Translation: X:716.91, Y:-121.03, Z:-45.69 [[ 9.52564653e-01 2.98786455e-01 5.78553043e-02 7.16907217e+02] [-2.98024875e-01 9.54314259e-01 -2.15747278e-02 -1.21034010e+02] [-6.16583783e-02 3.30900319e-03 9.98091827e-01 -4.56870670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3307140569999 meters 0.03561213163484281 Centerline is valid? [True, True] Translation: X:716.93, Y:-121.04, Z:-45.69 [[ 9.52650228e-01 2.98512435e-01 5.78607683e-02 7.16932937e+02] [-2.97751240e-01 9.54400002e-01 -2.15600644e-02 -1.21043523e+02] [-6.16582647e-02 3.31108480e-03 9.98091827e-01 -4.56886587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3607140569999 meters 0.03679022680980955 Centerline is valid? [True, True] Translation: X:716.96, Y:-121.05, Z:-45.69 [[ 9.52885372e-01 2.97582650e-01 5.87710386e-02 7.16958809e+02] [-2.96796684e-01 9.54689981e-01 -2.18807787e-02 -1.21054973e+02] [-6.26194619e-02 3.40682455e-03 9.98031661e-01 -4.56883508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.390714057 meters 0.03670214226043628 Centerline is valid? [True, True] Translation: X:716.99, Y:-121.06, Z:-45.69 [[ 9.52730370e-01 2.98030534e-01 5.90139160e-02 7.16986109e+02] [-2.97239338e-01 9.54550336e-01 -2.19643414e-02 -1.21064797e+02] [-6.28777977e-02 3.38483778e-03 9.98015494e-01 -4.56893253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4207140569999 meters 0.03737939492161887 Centerline is valid? [True, True] Translation: X:717.01, Y:-121.08, Z:-45.69 [[ 9.52357163e-01 2.99392845e-01 5.81356913e-02 7.17012538e+02] [-2.98628531e-01 9.54124460e-01 -2.16221036e-02 -1.21075135e+02] [-6.19421882e-02 3.23098918e-03 9.98074509e-01 -4.56907127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4507140569999 meters 0.035692869059715866 Centerline is valid? [True, True] Translation: X:717.04, Y:-121.08, Z:-45.69 [[ 9.51084194e-01 3.03495122e-01 5.77024025e-02 7.17041219e+02] [-3.02749956e-01 9.52828464e-01 -2.14565272e-02 -1.21082546e+02] [-6.14924429e-02 2.93756399e-03 9.98103226e-01 -4.56937279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4807140569999 meters 0.035783608558102184 Centerline is valid? [True, True] Translation: X:717.07, Y:-121.09, Z:-45.70 [[ 9.50597351e-01 3.05024088e-01 5.76626625e-02 7.17068768e+02] [-3.04282935e-01 9.52340420e-01 -2.14387730e-02 -1.21091814e+02] [-6.14538263e-02 2.83387665e-03 9.98105904e-01 -4.56962892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.510714057 meters 0.03323915550130498 Centerline is valid? [True, True] Translation: X:717.10, Y:-121.10, Z:-45.70 [[ 9.49322283e-01 3.09000415e-01 5.74973647e-02 7.17098005e+02] [-3.08271622e-01 9.51058468e-01 -2.13634501e-02 -1.21097794e+02] [-6.12846706e-02 2.55599330e-03 9.98117055e-01 -4.56981790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.540714057 meters 0.032166493660736005 Centerline is valid? [True, True] Translation: X:717.13, Y:-121.11, Z:-45.70 [[ 9.48289205e-01 3.12043197e-01 5.81087491e-02 7.17126899e+02] [-3.11304637e-01 9.50064928e-01 -2.15883262e-02 -1.21106725e+02] [-6.19435749e-02 2.38245369e-03 9.98076809e-01 -4.56990056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.5707140569999 meters 0.03295908403140723 Centerline is valid? [True, True] Translation: X:717.15, Y:-121.12, Z:-45.70 [[ 9.47376126e-01 3.14756523e-01 5.83678574e-02 7.17152358e+02] [-3.14016580e-01 9.49169865e-01 -2.16830747e-02 -1.21118047e+02] [-6.22259005e-02 2.21355232e-03 9.98059636e-01 -4.56996976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.6007140569999 meters 0.0296026642472836 Centerline is valid? [True, True] Translation: X:717.18, Y:-121.12, Z:-45.70 [[ 9.46327491e-01 3.17797108e-01 5.89005811e-02 7.17182456e+02] [-3.17049876e-01 9.48156577e-01 -2.18742153e-02 -1.21120957e+02] [-6.27985357e-02 2.02574931e-03 9.98024168e-01 -4.57019165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.630714057 meters 0.029084657618224766 Centerline is valid? [True, True] Translation: X:717.21, Y:-121.13, Z:-45.70 [[ 9.44128911e-01 3.24292855e-01 5.87770706e-02 7.17208935e+02] [-3.23562238e-01 9.45955421e-01 -2.18132876e-02 -1.21132416e+02] [-6.26743819e-02 1.57651497e-03 9.98032783e-01 -4.57029410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.660714057 meters 0.028234687204609882 Centerline is valid? [True, True] Translation: X:717.24, Y:-121.14, Z:-45.70 [[ 9.42011141e-01 3.30216248e-01 5.97682221e-02 7.17235980e+02] [-3.29472793e-01 9.43904544e-01 -2.21785993e-02 -1.21142927e+02] [-6.37392302e-02 1.20048459e-03 9.97965866e-01 -4.57036277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.6907140569999 meters 0.028025394429417216 Centerline is valid? [True, True] Translation: X:717.26, Y:-121.15, Z:-45.71 [[ 9.40897608e-01 3.33352245e-01 5.98996859e-02 7.17263482e+02] [-3.32612080e-01 9.42801838e-01 -2.22238178e-02 -1.21152665e+02] [-6.38818935e-02 9.86977875e-04 9.97956978e-01 -4.57055306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.7207140569999 meters 0.026979964437188052 Centerline is valid? [True, True] Translation: X:717.29, Y:-121.16, Z:-45.71 [[ 9.40025517e-01 3.35840129e-01 5.96945072e-02 7.17289936e+02] [-3.35111009e-01 9.41918662e-01 -2.21324542e-02 -1.21162718e+02] [-6.36603367e-02 8.00785161e-04 9.97971302e-01 -4.57072895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.750714057 meters 0.026863077602087806 Centerline is valid? [True, True] Translation: X:717.32, Y:-121.17, Z:-45.71 [[ 9.39313548e-01 3.37949737e-01 5.89918121e-02 7.17316947e+02] [-3.37242868e-01 9.41163945e-01 -2.18558015e-02 -1.21173677e+02] [-6.29071290e-02 6.34882573e-04 9.98019183e-01 -4.57099477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.780714057 meters 0.026265971536339656 Centerline is valid? [True, True] Translation: X:717.34, Y:-121.19, Z:-45.71 [[ 9.37861376e-01 3.42272836e-01 5.71431938e-02 7.17342363e+02] [-3.41618501e-01 9.39600555e-01 -2.11564881e-02 -1.21186778e+02] [-6.09330678e-02 3.20680832e-04 9.98141803e-01 -4.57139632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.8107140569999 meters 0.026130450832558685 Centerline is valid? [True, True] Translation: X:717.37, Y:-121.20, Z:-45.72 [[ 9.37308155e-01 3.43863440e-01 5.66688426e-02 7.17367502e+02] [-3.43223788e-01 9.39019645e-01 -2.09651410e-02 -1.21199068e+02] [-6.04223020e-02 2.00702825e-04 9.98172883e-01 -4.57159636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.8407140569999 meters 0.025746817888467093 Centerline is valid? [True, True] Translation: X:717.39, Y:-121.21, Z:-45.72 [[ 9.36169287e-01 3.46961774e-01 5.66091280e-02 7.17391328e+02] [-3.46330207e-01 9.37879271e-01 -2.09251105e-02 -1.21214832e+02] [-6.03527412e-02 -1.60052221e-05 9.98177112e-01 -4.57181492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.870714057 meters 0.025633112492662872 Centerline is valid? [True, True] Translation: X:717.42, Y:-121.23, Z:-45.72 [[ 9.35605685e-01 3.48463068e-01 5.67053147e-02 7.17415695e+02] [-3.47833189e-01 9.37322502e-01 -2.09427603e-02 -1.21227801e+02] [-6.04489460e-02 -1.29824880e-04 9.98171282e-01 -4.57194109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.900714057 meters 0.025491835262020313 Centerline is valid? [True, True] Translation: X:717.44, Y:-121.24, Z:-45.72 [[ 9.35160931e-01 3.49576847e-01 5.71844460e-02 7.17440579e+02] [-3.48938872e-01 9.36907671e-01 -2.11111423e-02 -1.21241170e+02] [-6.09565127e-02 -2.11560633e-04 9.98140400e-01 -4.57200292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.9307140569999 meters 0.02488423289351592 Centerline is valid? [True, True] Translation: X:717.46, Y:-121.26, Z:-45.72 [[ 9.34339093e-01 3.51620667e-01 5.80806849e-02 7.17463697e+02] [-3.50967573e-01 9.36142496e-01 -2.14240692e-02 -1.21260051e+02] [-6.19049428e-02 -3.67091620e-04 9.98081982e-01 -4.57190956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.9607140569999 meters 0.024455340362363687 Centerline is valid? [True, True] Translation: X:717.49, Y:-121.28, Z:-45.72 [[ 9.34196660e-01 3.51870715e-01 5.88523595e-02 7.17488020e+02] [-3.51200999e-01 9.36048527e-01 -2.17028529e-02 -1.21275188e+02] [-6.27252628e-02 -3.94274713e-04 9.98030754e-01 -4.57196935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.990714057 meters 0.02407215947774834 Centerline is valid? [True, True] Translation: X:717.51, Y:-121.30, Z:-45.72 [[ 9.34605425e-01 3.50712653e-01 5.92733925e-02 7.17510258e+02] [-3.50031419e-01 9.36483064e-01 -2.18512325e-02 -1.21296832e+02] [-6.31720320e-02 -3.25269348e-04 9.98002600e-01 -4.57190994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.020714057 meters 0.023615290644154623 Centerline is valid? [True, True] Translation: X:717.53, Y:-121.31, Z:-45.72 [[ 9.35031134e-01 3.49505984e-01 5.96853808e-02 7.17533622e+02] [-3.48813986e-01 9.36934095e-01 -2.19842175e-02 -1.21312873e+02] [-6.36048837e-02 -2.63167740e-04 9.97975125e-01 -4.57202023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.0507140569999 meters 0.02298886120895696 Centerline is valid? [True, True] Translation: X:717.56, Y:-121.34, Z:-45.72 [[ 9.36658314e-01 3.45301415e-01 5.86356096e-02 7.17555806e+02] [-3.44626466e-01 9.38491839e-01 -2.15792993e-02 -1.21337055e+02] [-6.24804037e-02 5.04713680e-06 9.98046191e-01 -4.57206953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.0807140569999 meters 0.022615738109059112 Centerline is valid? [True, True] Translation: X:717.58, Y:-121.35, Z:-45.72 [[ 9.37595124e-01 3.42786642e-01 5.84183351e-02 7.17578023e+02] [-3.42112784e-01 9.39413271e-01 -2.14837108e-02 -1.21353839e+02] [-6.22432883e-02 1.57363266e-04 9.98060994e-01 -4.57214035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.1107140569999 meters 0.022641976288494514 Centerline is valid? [True, True] Translation: X:717.60, Y:-121.37, Z:-45.72 [[ 9.38713809e-01 3.39786348e-01 5.79795021e-02 7.17602130e+02] [-3.39117384e-01 9.40502588e-01 -2.13138829e-02 -1.21371135e+02] [-6.17720382e-02 3.45779123e-04 9.98090224e-01 -4.57235026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.140714057 meters 0.022280754333728628 Centerline is valid? [True, True] Translation: X:717.63, Y:-121.39, Z:-45.72 [[ 9.39797360e-01 3.36776386e-01 5.79878357e-02 7.17626457e+02] [-3.36102491e-01 9.41584509e-01 -2.13009219e-02 -1.21388545e+02] [-6.17740953e-02 5.28694178e-04 9.98090017e-01 -4.57241994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.1707140569999 meters 0.021869574125751894 Centerline is valid? [True, True] Translation: X:717.65, Y:-121.41, Z:-45.72 [[ 9.41269507e-01 3.32619535e-01 5.81030220e-02 7.17648910e+02] [-3.31936027e-01 9.43060774e-01 -2.13272111e-02 -1.21411318e+02] [-6.18885280e-02 7.88167145e-04 9.98082757e-01 -4.57240139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.2007140569999 meters 0.02155793917018235 Centerline is valid? [True, True] Translation: X:717.67, Y:-121.43, Z:-45.72 [[ 9.41476471e-01 3.32037770e-01 5.80773154e-02 7.17672479e+02] [-3.31354728e-01 9.43265743e-01 -2.13021799e-02 -1.21426946e+02] [-6.18554704e-02 8.11308110e-04 9.98084787e-01 -4.57246119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.2307140569999 meters 0.02072572396343007 Centerline is valid? [True, True] Translation: X:717.70, Y:-121.45, Z:-45.72 [[ 9.41018553e-01 3.33330786e-01 5.80919194e-02 7.17695953e+02] [-3.32650259e-01 9.42809667e-01 -2.13010916e-02 -1.21445522e+02] [-6.18699328e-02 7.20430312e-04 9.98083961e-01 -4.57240408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.260714057 meters 0.019811250193971834 Centerline is valid? [True, True] Translation: X:717.72, Y:-121.46, Z:-45.72 [[ 9.40474210e-01 3.34828573e-01 5.82931061e-02 7.17720084e+02] [-3.34147155e-01 9.42278863e-01 -2.13593943e-02 -1.21459473e+02] [-6.20800973e-02 6.09483940e-04 9.98070985e-01 -4.57243032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.290714057 meters 0.019656354984919352 Centerline is valid? [True, True] Translation: X:717.75, Y:-121.47, Z:-45.73 [[ 9.39736205e-01 3.36797591e-01 5.88493712e-02 7.17745749e+02] [-3.36107362e-01 9.41576951e-01 -2.15566024e-02 -1.21472057e+02] [-6.26714232e-02 4.77812856e-04 9.98034100e-01 -4.57259479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.3207140569999 meters 0.01856452167789303 Centerline is valid? [True, True] Translation: X:717.77, Y:-121.49, Z:-45.73 [[ 9.37463010e-01 3.43030236e-01 5.91046683e-02 7.17771333e+02] [-3.42347366e-01 9.39324361e-01 -2.16338983e-02 -1.21487604e+02] [-6.29395360e-02 4.66519356e-05 9.98017341e-01 -4.57260183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.3507140569999 meters 0.018247317390007074 Centerline is valid? [True, True] Translation: X:717.80, Y:-121.50, Z:-45.73 [[ 9.36167538e-01 3.46623953e-01 5.86700642e-02 7.17797557e+02] [-3.45959027e-01 9.38004154e-01 -2.14606482e-02 -1.21499904e+02] [-6.24715386e-02 -2.06676165e-04 9.98046724e-01 -4.57281022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.380714057 meters 0.018081699492496824 Centerline is valid? [True, True] Translation: X:717.82, Y:-121.51, Z:-45.73 [[ 9.34801586e-01 3.50381472e-01 5.81276167e-02 7.17823034e+02] [-3.49736337e-01 9.36606969e-01 -2.12574564e-02 -1.21511676e+02] [-6.18909498e-02 -4.57835800e-04 9.98082813e-01 -4.57294792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.410714057 meters 0.01819750204132109 Centerline is valid? [True, True] Translation: X:717.85, Y:-121.53, Z:-45.73 [[ 9.32526605e-01 3.56550460e-01 5.71480526e-02 7.17847526e+02] [-3.55938790e-01 9.34275674e-01 -2.08936227e-02 -1.21528261e+02] [-6.08416661e-02 -8.57349621e-04 9.98147062e-01 -4.57314701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.4407140569999 meters 0.017756275665825022 Centerline is valid? [True, True] Translation: X:717.87, Y:-121.54, Z:-45.73 [[ 9.31764001e-01 3.58512484e-01 5.73118285e-02 7.17872654e+02] [-3.57901285e-01 9.33524405e-01 -2.09489069e-02 -1.21542586e+02] [-6.10124352e-02 -9.92539768e-04 9.98136513e-01 -4.57332347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.4707140569999 meters 0.01860942306140602 Centerline is valid? [True, True] Translation: X:717.90, Y:-121.56, Z:-45.73 [[ 9.30898090e-01 3.60782650e-01 5.71368985e-02 7.17895420e+02] [-3.60179731e-01 9.32649224e-01 -2.08802980e-02 -1.21560496e+02] [-6.08219332e-02 -1.14212318e-03 9.98147979e-01 -4.57335470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.500714057 meters 0.017875738760167317 Centerline is valid? [True, True] Translation: X:717.92, Y:-121.58, Z:-45.74 [[ 9.30701829e-01 3.61273809e-01 5.72305939e-02 7.17919779e+02] [-3.60670179e-01 9.32459028e-01 -2.09089140e-02 -1.21576963e+02] [-6.09190270e-02 -1.18140403e-03 9.98142012e-01 -4.57352624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.530714057 meters 0.017677480412913102 Centerline is valid? [True, True] Translation: X:717.94, Y:-121.59, Z:-45.74 [[ 9.30722066e-01 3.61308593e-01 5.66792444e-02 7.17942793e+02] [-3.60716828e-01 9.32445558e-01 -2.07039021e-02 -1.21591389e+02] [-6.03308074e-02 -1.17557871e-03 9.98177746e-01 -4.57365097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.5607140569999 meters 0.01727458877285994 Centerline is valid? [True, True] Translation: X:717.97, Y:-121.61, Z:-45.74 [[ 9.31080803e-01 3.60441134e-01 5.63092139e-02 7.17965103e+02] [-3.59855957e-01 9.32781291e-01 -2.05609720e-02 -1.21613430e+02] [-5.99352013e-02 -1.11927980e-03 9.98201642e-01 -4.57377725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.5907140569999 meters 0.016961631410887478 Centerline is valid? [True, True] Translation: X:717.99, Y:-121.63, Z:-45.74 [[ 9.31505788e-01 3.59376916e-01 5.60820787e-02 7.17989960e+02] [-3.58794792e-01 9.33191903e-01 -2.04736119e-02 -1.21629239e+02] [-5.96930852e-02 -1.05066978e-03 9.98216225e-01 -4.57396504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.620714057 meters 0.0162768344064213 Centerline is valid? [True, True] Translation: X:718.01, Y:-121.65, Z:-45.74 [[ 9.32511462e-01 3.56740176e-01 5.62033829e-02 7.18013112e+02] [-3.56151013e-01 9.34203221e-01 -2.05133497e-02 -1.21651118e+02] [-5.98233173e-02 -8.87958108e-04 9.98208587e-01 -4.57409334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.650714057 meters 0.016035232838016396 Centerline is valid? [True, True] Translation: X:718.04, Y:-121.67, Z:-45.74 [[ 9.33152348e-01 3.55042073e-01 5.63189356e-02 7.18037883e+02] [-3.54447778e-01 9.34849992e-01 -2.05490831e-02 -1.21667191e+02] [-5.99455455e-02 -7.86696460e-04 9.98201339e-01 -4.57421312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.6807140569999 meters 0.015791737999584467 Centerline is valid? [True, True] Translation: X:718.06, Y:-121.68, Z:-45.74 [[ 9.33852535e-01 3.53140077e-01 5.66703503e-02 7.18062919e+02] [-3.52534963e-01 9.35570220e-01 -2.06751918e-02 -1.21683737e+02] [-6.03203309e-02 -6.70699580e-04 9.98178846e-01 -4.57434495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.7107140569999 meters 0.015808871088876266 Centerline is valid? [True, True] Translation: X:718.09, Y:-121.70, Z:-45.74 [[ 9.34777612e-01 3.50683899e-01 5.66711431e-02 7.18088492e+02] [-3.50074386e-01 9.36493747e-01 -2.06733180e-02 -1.21700315e+02] [-6.03219709e-02 -5.14160825e-04 9.98178839e-01 -4.57449981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.740714057 meters 0.0156169659087778 Centerline is valid? [True, True] Translation: X:718.11, Y:-121.72, Z:-45.75 [[ 9.36539749e-01 3.46017254e-01 5.62615274e-02 7.18113566e+02] [-3.45408130e-01 9.38228125e-01 -2.05233732e-02 -1.21724146e+02] [-5.98875886e-02 -2.12234161e-04 9.98205105e-01 -4.57480749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.770714057 meters 0.015703380095683426 Centerline is valid? [True, True] Translation: X:718.14, Y:-121.74, Z:-45.75 [[ 9.37250473e-01 3.44170590e-01 5.57508425e-02 7.18142238e+02] [-3.43568307e-01 9.38907130e-01 -2.03523863e-02 -1.21740885e+02] [-5.93495563e-02 -7.89389288e-05 9.98237258e-01 -4.57507315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8007140569999 meters 0.015973709978568167 Centerline is valid? [True, True] Translation: X:718.17, Y:-121.76, Z:-45.75 [[ 9.38488622e-01 3.40847245e-01 5.53377149e-02 7.18168706e+02] [-3.40247063e-01 9.40118681e-01 -2.02188471e-02 -1.21761957e+02] [-5.89155579e-02 1.46662943e-04 9.98262959e-01 -4.57534963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8307140569999 meters 0.016333853543583098 Centerline is valid? [True, True] Translation: X:718.20, Y:-121.78, Z:-45.76 [[ 9.39166756e-01 3.39009209e-01 5.51231438e-02 7.18196886e+02] [-3.38409872e-01 9.40783016e-01 -2.01513224e-02 -1.21777983e+02] [-5.86904014e-02 2.71236004e-04 9.98276196e-01 -4.57556876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8607140569999 meters 0.016771998224139814 Centerline is valid? [True, True] Translation: X:718.23, Y:-121.79, Z:-45.76 [[ 9.39811146e-01 3.37120681e-01 5.57194425e-02 7.18225179e+02] [-3.36504012e-01 9.41461353e-01 -2.03855605e-02 -1.21793717e+02] [-5.93300957e-02 4.08761066e-04 9.98238335e-01 -4.57582646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.890714057 meters 0.017527970482421357 Centerline is valid? [True, True] Translation: X:718.25, Y:-121.81, Z:-45.76 [[ 9.41697192e-01 3.31774958e-01 5.59622645e-02 7.18251741e+02] [-3.31142545e-01 9.43358253e-01 -2.04895237e-02 -1.21814294e+02] [-5.95903749e-02 7.63440216e-04 9.98222623e-01 -4.57601994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9207140569999 meters 0.018164134529190284 Centerline is valid? [True, True] Translation: X:718.28, Y:-121.83, Z:-45.76 [[ 9.42644529e-01 3.29045603e-01 5.61273785e-02 7.18278461e+02] [-3.28403668e-01 9.44313550e-01 -2.05657435e-02 -1.21830346e+02] [-5.97689115e-02 9.53748675e-04 9.98211785e-01 -4.57621454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9507140569999 meters 0.019220379832686523 Centerline is valid? [True, True] Translation: X:718.31, Y:-121.85, Z:-45.76 [[ 9.45192732e-01 3.21618309e-01 5.63237345e-02 7.18305002e+02] [-3.20957936e-01 9.46868306e-01 -2.06498238e-02 -1.21848759e+02] [-5.99725205e-02 1.44051378e-03 9.98198989e-01 -4.57642031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9807140569999 meters 0.020147053337945187 Centerline is valid? [True, True] Translation: X:718.33, Y:-121.86, Z:-45.77 [[ 9.46423615e-01 3.17937675e-01 5.65506494e-02 7.18332205e+02] [-3.17265258e-01 9.48110122e-01 -2.07353124e-02 -1.21863751e+02] [-6.02087801e-02 1.68283298e-03 9.98184387e-01 -4.57659776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.010714057 meters 0.021156681496729637 Centerline is valid? [True, True] Translation: X:718.36, Y:-121.88, Z:-45.77 [[ 9.47529910e-01 3.14500673e-01 5.72398164e-02 7.18360773e+02] [-3.13805333e-01 9.49255294e-01 -2.09904593e-02 -1.21879091e+02] [-6.09367124e-02 1.92692839e-03 9.98139772e-01 -4.57677156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.040714057 meters 0.023620759769093218 Centerline is valid? [True, True] Translation: X:718.39, Y:-121.90, Z:-45.77 [[ 9.49905030e-01 3.07163300e-01 5.77160326e-02 7.18386142e+02] [-3.06442519e-01 9.51653739e-01 -2.11693813e-02 -1.21896584e+02] [-6.14281352e-02 2.42225538e-03 9.98108570e-01 -4.57688690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.0707140569999 meters 0.026836870360260535 Centerline is valid? [True, True] Translation: X:718.41, Y:-121.91, Z:-45.77 [[ 9.50967688e-01 3.03908309e-01 5.74473302e-02 7.18412282e+02] [-3.03188333e-01 9.52697684e-01 -2.10703201e-02 -1.21913399e+02] [-6.11333837e-02 2.61983333e-03 9.98126167e-01 -4.57700570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.1007140569999 meters 0.029039243077743235 Centerline is valid? [True, True] Translation: X:718.44, Y:-121.93, Z:-45.77 [[ 9.52839421e-01 2.97919862e-01 5.77995937e-02 7.18439444e+02] [-2.97179948e-01 9.54586095e-01 -2.12006322e-02 -1.21928142e+02] [-6.14907778e-02 3.02391792e-03 9.98103071e-01 -4.57719806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.130714057 meters 0.027455653615902856 Centerline is valid? [True, True] Translation: X:718.47, Y:-121.94, Z:-45.77 [[ 9.53648720e-01 2.95398731e-01 5.73908454e-02 7.18469248e+02] [-2.94664656e-01 9.55368816e-01 -2.10514998e-02 -1.21935930e+02] [-6.10480103e-02 3.16468206e-03 9.98129814e-01 -4.57737444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.160714057 meters 0.027014601441420722 Centerline is valid? [True, True] Translation: X:718.50, Y:-121.95, Z:-45.78 [[ 9.54183716e-01 2.93544963e-01 5.80068199e-02 7.18499618e+02] [-2.92791518e-01 9.55939502e-01 -2.12789911e-02 -1.21945602e+02] [-6.16973512e-02 3.32016194e-03 9.98089381e-01 -4.57756441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.1907140569999 meters 0.028230523185157105 Centerline is valid? [True, True] Translation: X:718.53, Y:-121.96, Z:-45.78 [[ 9.55093880e-01 2.90440654e-01 5.86507228e-02 7.18528950e+02] [-2.89664084e-01 9.56886359e-01 -2.15224302e-02 -1.21956333e+02] [-6.23730653e-02 3.56693346e-03 9.98046531e-01 -4.57771196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.2207140569999 meters 0.028230523185157105 Centerline is valid? [True, True] Translation: X:718.56, Y:-121.97, Z:-45.78 [[ 9.55012785e-01 2.90707424e-01 5.86495833e-02 7.18559424e+02] [-2.89931165e-01 9.56805399e-01 -2.15255346e-02 -1.21967581e+02] [-6.23738707e-02 3.55281877e-03 9.98046531e-01 -4.57790020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.250714057 meters 0.028727047116408114 Centerline is valid? [True, True] Translation: X:718.59, Y:-121.98, Z:-45.78 [[ 9.55215910e-01 2.89924643e-01 5.92137321e-02 7.18589130e+02] [-2.89130685e-01 9.57042491e-01 -2.17512475e-02 -1.21978716e+02] [-6.29762803e-02 3.65663077e-03 9.98008325e-01 -4.57806519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.280714057 meters 0.029742034255603775 Centerline is valid? [True, True] Translation: X:718.62, Y:-121.99, Z:-45.78 [[ 9.55563550e-01 2.88926289e-01 5.84799300e-02 7.18618941e+02] [-2.88149155e-01 9.57344235e-01 -2.14960679e-02 -1.21988053e+02] [-6.21962030e-02 3.68991651e-03 9.98057121e-01 -4.57828078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.3107140569999 meters 0.032251697392662385 Centerline is valid? [True, True] Translation: X:718.65, Y:-122.00, Z:-45.78 [[ 9.55657108e-01 2.88721615e-01 5.79596568e-02 7.18647298e+02] [-2.87957373e-01 9.57406027e-01 -2.13131711e-02 -1.21999575e+02] [-6.16444979e-02 3.67817294e-03 9.98091392e-01 -4.57846319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.3407140569999 meters 0.03110602150551908 Centerline is valid? [True, True] Translation: X:718.68, Y:-122.01, Z:-45.79 [[ 9.55705266e-01 2.88640155e-01 5.75700144e-02 7.18678812e+02] [-2.87885264e-01 9.57430619e-01 -2.11821863e-02 -1.22006621e+02] [-6.12333240e-02 3.67036813e-03 9.98116731e-01 -4.57866174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.370714057 meters 0.028657826993639116 Centerline is valid? [True, True] Translation: X:718.71, Y:-122.01, Z:-45.79 [[ 9.56080087e-01 2.87391814e-01 5.75917771e-02 7.18711669e+02] [-2.86633185e-01 9.57805702e-01 -2.12050763e-02 -1.22009801e+02] [-6.12558979e-02 3.76603667e-03 9.98114989e-01 -4.57889633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.400714057 meters 0.031878316273661236 Centerline is valid? [True, True] Translation: X:718.74, Y:-122.02, Z:-45.79 [[ 9.56460259e-01 2.86270872e-01 5.68573797e-02 7.18740154e+02] [-2.85529235e-01 9.58141221e-01 -2.09393498e-02 -1.22023429e+02] [-6.04717251e-02 3.79321179e-03 9.98162703e-01 -4.57906510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.4307140569999 meters 0.03250268109878108 Centerline is valid? [True, True] Translation: X:718.77, Y:-122.03, Z:-45.79 [[ 9.57077400e-01 2.84206572e-01 5.68284724e-02 7.18770601e+02] [-2.83461615e-01 9.58755020e-01 -2.09362003e-02 -1.22031284e+02] [-6.04347889e-02 3.92887358e-03 9.98164415e-01 -4.57923879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.4607140569999 meters 0.03352433131195695 Centerline is valid? [True, True] Translation: X:718.80, Y:-122.04, Z:-45.79 [[ 9.57075067e-01 2.84162032e-01 5.70898889e-02 7.18799835e+02] [-2.83409881e-01 9.58768120e-01 -2.10364108e-02 -1.22040696e+02] [-6.07137148e-02 3.95358561e-03 9.98147391e-01 -4.57939193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.490714057 meters 0.028448470122322028 Centerline is valid? [True, True] Translation: X:718.83, Y:-122.04, Z:-45.80 [[ 9.56956498e-01 2.84562612e-01 5.70822209e-02 7.18833982e+02] [-2.83810480e-01 9.58649353e-01 -2.10482547e-02 -1.22041898e+02] [-6.07113805e-02 3.94173165e-03 9.98147580e-01 -4.57960728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.520714057 meters 0.03117636880219615 Centerline is valid? [True, True] Translation: X:718.86, Y:-122.05, Z:-45.80 [[ 9.56554128e-01 2.85901294e-01 5.71371168e-02 7.18863445e+02] [-2.85148974e-01 9.58251225e-01 -2.10867737e-02 -1.22053298e+02] [-6.07804481e-02 3.87805023e-03 9.98143626e-01 -4.57969064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.5507140569999 meters 0.026152000492379122 Centerline is valid? [True, True] Translation: X:718.90, Y:-122.05, Z:-45.80 [[ 9.55078993e-01 2.90600398e-01 5.80992790e-02 7.18897838e+02] [-2.89830175e-01 9.56837527e-01 -2.14573274e-02 -1.22048998e+02] [-6.18270784e-02 3.65451846e-03 9.98080186e-01 -4.57960223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.5807140569999 meters 0.024483275415437277 Centerline is valid? [True, True] Translation: X:718.93, Y:-122.05, Z:-45.80 [[ 9.52504686e-01 2.98816623e-01 5.86809078e-02 7.18930284e+02] [-2.98046328e-01 9.54305339e-01 -2.16727234e-02 -1.22047840e+02] [-6.24756736e-02 3.15374152e-03 9.98041504e-01 -4.57961256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.6107140569999 meters 0.023647187703742373 Centerline is valid? [True, True] Translation: X:718.96, Y:-122.05, Z:-45.80 [[ 9.50890482e-01 3.03873840e-01 5.88895628e-02 7.18960415e+02] [-3.03107649e-01 9.52708070e-01 -2.17505672e-02 -1.22052710e+02] [-6.27139901e-02 2.83253039e-03 9.98027521e-01 -4.57974680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.640714057 meters 0.0227387817926768 Centerline is valid? [True, True] Translation: X:718.99, Y:-122.06, Z:-45.80 [[ 9.49219188e-01 3.09040536e-01 5.89650832e-02 7.18990020e+02] [-3.08282335e-01 9.51045597e-01 -2.17778548e-02 -1.22057687e+02] [-6.28087226e-02 2.49406406e-03 9.98022467e-01 -4.57993220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.6707140569999 meters 0.019332163244599236 Centerline is valid? [True, True] Translation: X:719.02, Y:-122.06, Z:-45.80 [[ 9.46040304e-01 3.18726934e-01 5.84883369e-02 7.19023985e+02] [-3.17999355e-01 9.47844801e-01 -2.16019206e-02 -1.22055008e+02] [-6.23229800e-02 1.83703413e-03 9.98054343e-01 -4.58023635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.7007140569999 meters 0.01825074501756006 Centerline is valid? [True, True] Translation: X:719.05, Y:-122.06, Z:-45.80 [[ 9.44437250e-01 3.23559799e-01 5.78561831e-02 7.19054936e+02] [-3.22856777e-01 9.46206528e-01 -2.13707059e-02 -1.22060109e+02] [-6.16585994e-02 1.50402992e-03 9.98096165e-01 -4.58046965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.7307140569999 meters 0.01730962654221885 Centerline is valid? [True, True] Translation: X:719.09, Y:-122.07, Z:-45.81 [[ 9.42973284e-01 3.27836130e-01 5.76615805e-02 7.19086487e+02] [-3.27145661e-01 9.44733813e-01 -2.13011673e-02 -1.22065374e+02] [-6.14581371e-02 1.22269584e-03 9.98108913e-01 -4.58067344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.760714057 meters 0.016006434671862628 Centerline is valid? [True, True] Translation: X:719.12, Y:-122.07, Z:-45.81 [[ 9.40081735e-01 3.35888162e-01 5.85275514e-02 7.19118496e+02] [-3.35192165e-01 9.41901608e-01 -2.16234591e-02 -1.22067303e+02] [-6.23902587e-02 7.09842235e-04 9.98051578e-01 -4.58080639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.790714057 meters 0.015750948360817293 Centerline is valid? [True, True] Translation: X:719.15, Y:-122.07, Z:-45.81 [[ 9.38656161e-01 3.39706951e-01 5.93615917e-02 7.19148651e+02] [-3.38998432e-01 9.40531218e-01 -2.19338053e-02 -1.22074368e+02] [-6.32824963e-02 4.64815015e-04 9.97995546e-01 -4.58092418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.8207140569999 meters 0.015568185641916083 Centerline is valid? [True, True] Translation: X:719.18, Y:-122.08, Z:-45.81 [[ 9.36479179e-01 3.45560010e-01 5.99585450e-02 7.19177264e+02] [-3.44849132e-01 9.38396651e-01 -2.21540388e-02 -1.22078978e+02] [-6.39204477e-02 7.01438655e-05 9.97954995e-01 -4.58111190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.8507140569999 meters 0.01561446593576769 Centerline is valid? [True, True] Translation: X:719.20, Y:-122.09, Z:-45.81 [[ 9.35699768e-01 3.47701461e-01 5.97464440e-02 7.19204771e+02] [-3.47000198e-01 9.37605294e-01 -2.20720336e-02 -1.22087445e+02] [-6.36930605e-02 -7.92311814e-05 9.97969533e-01 -4.58133001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.880714057 meters 0.015577057888983756 Centerline is valid? [True, True] Translation: X:719.23, Y:-122.10, Z:-45.82 [[ 9.35072649e-01 3.49480261e-01 5.91835207e-02 7.19231562e+02] [-3.48796013e-01 9.36943705e-01 -2.18594508e-02 -1.22097284e+02] [-6.30910737e-02 -2.02801447e-04 9.98007753e-01 -4.58151491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.910714057 meters 0.015623241672536096 Centerline is valid? [True, True] Translation: X:719.26, Y:-122.11, Z:-45.82 [[ 9.34674767e-01 3.50605553e-01 5.88117928e-02 7.19257266e+02] [-3.49932402e-01 9.36523180e-01 -2.17174416e-02 -1.22107093e+02] [-6.26928629e-02 -2.81407212e-04 9.98032828e-01 -4.58174761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.9407140569999 meters 0.015636738089448324 Centerline is valid? [True, True] Translation: X:719.28, Y:-122.12, Z:-45.82 [[ 9.33979765e-01 3.52625096e-01 5.77697236e-02 7.19282775e+02] [-3.51979830e-01 9.35764591e-01 -2.13267418e-02 -1.22119520e+02] [-6.15792061e-02 -4.15032170e-04 9.98102114e-01 -4.58204877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.9707140569999 meters 0.015804436355032803 Centerline is valid? [True, True] Translation: X:719.31, Y:-122.13, Z:-45.82 [[ 9.33593277e-01 3.53700591e-01 5.74411469e-02 7.19309635e+02] [-3.53064959e-01 9.35358570e-01 -2.12009539e-02 -1.22129955e+02] [-6.12268590e-02 -4.87388096e-04 9.98123757e-01 -4.58227763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.000714057 meters 0.016058824439074297 Centerline is valid? [True, True] Translation: X:719.34, Y:-122.14, Z:-45.82 [[ 9.32598978e-01 3.56316068e-01 5.74282727e-02 7.19335941e+02] [-3.55685945e-01 9.34365250e-01 -2.11917159e-02 -1.22141380e+02] [-6.12099313e-02 -6.63056855e-04 9.98124694e-01 -4.58244350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.030714057 meters 0.01585777791731718 Centerline is valid? [True, True] Translation: X:719.36, Y:-122.15, Z:-45.83 [[ 9.32195932e-01 3.57268272e-01 5.80527860e-02 7.19362973e+02] [-3.56626475e-01 9.34001519e-01 -2.14177426e-02 -1.22154519e+02] [-6.18732702e-02 -7.37627902e-04 9.98083741e-01 -4.58260797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.0607140569999 meters 0.015841541111963644 Centerline is valid? [True, True] Translation: X:719.39, Y:-122.17, Z:-45.83 [[ 9.31838995e-01 3.58189872e-01 5.81042403e-02 7.19390896e+02] [-3.57548862e-01 9.33648420e-01 -2.14345195e-02 -1.22168150e+02] [-6.19265600e-02 -8.01583860e-04 9.98080387e-01 -4.58274017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.0907140569999 meters 0.016015814247424986 Centerline is valid? [True, True] Translation: X:719.42, Y:-122.19, Z:-45.83 [[ 9.31629334e-01 3.58667494e-01 5.85184807e-02 7.19417481e+02] [-3.58018174e-01 9.33465011e-01 -2.15884492e-02 -1.22185454e+02] [-6.23680292e-02 -8.38247011e-04 9.98052868e-01 -4.58289313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.120714057 meters 0.015894355688129122 Centerline is valid? [True, True] Translation: X:719.45, Y:-122.20, Z:-45.83 [[ 9.31805554e-01 3.58211676e-01 5.85047457e-02 7.19446041e+02] [-3.57560797e-01 9.33640063e-01 -2.15988500e-02 -1.22200987e+02] [-6.23593347e-02 -7.93075115e-04 9.98053448e-01 -4.58313617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.150714057 meters 0.015861428818532714 Centerline is valid? [True, True] Translation: X:719.47, Y:-122.22, Z:-45.83 [[ 9.32332363e-01 3.56836579e-01 5.85151252e-02 7.19474012e+02] [-3.56181736e-01 9.34166573e-01 -2.16191097e-02 -1.22216136e+02] [-6.23773631e-02 -6.85823240e-04 9.98052401e-01 -4.58329545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.1807140569999 meters 0.015662445345573546 Centerline is valid? [True, True] Translation: X:719.50, Y:-122.24, Z:-45.83 [[ 9.33374211e-01 3.54068797e-01 5.87185611e-02 7.19500609e+02] [-3.53402939e-01 9.35219252e-01 -2.17097574e-02 -1.22237413e+02] [-6.26014765e-02 -4.87984356e-04 9.98038485e-01 -4.58349500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.2107140569999 meters 0.015566197401945654 Centerline is valid? [True, True] Translation: X:719.53, Y:-122.25, Z:-45.84 [[ 9.34046947e-01 3.52219366e-01 5.91423666e-02 7.19528560e+02] [-3.51539079e-01 9.35917408e-01 -2.18833473e-02 -1.22252732e+02] [-6.30601092e-02 -3.50779320e-04 9.98009669e-01 -4.58361853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.240714057 meters 0.015620869232318008 Centerline is valid? [True, True] Translation: X:719.55, Y:-122.27, Z:-45.84 [[ 9.35688546e-01 3.47649898e-01 6.02203759e-02 7.19553501e+02] [-3.46934095e-01 9.37624417e-01 -2.22976742e-02 -1.22274977e+02] [-6.42158790e-02 -2.88232214e-05 9.97936030e-01 -4.58376186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.270714057 meters 0.016110629202361136 Centerline is valid? [True, True] Translation: X:719.58, Y:-122.29, Z:-45.84 [[ 9.36371433e-01 3.45745443e-01 6.05692019e-02 7.19581576e+02] [-3.45016661e-01 9.38328341e-01 -2.24371957e-02 -1.22292570e+02] [-6.45913569e-02 1.12165221e-04 9.97911792e-01 -4.58399227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.3007140569999 meters 0.016321549058373602 Centerline is valid? [True, True] Translation: X:719.61, Y:-122.31, Z:-45.84 [[ 9.37146704e-01 3.43574686e-01 6.09302067e-02 7.19609570e+02] [-3.42831333e-01 9.39125314e-01 -2.25902842e-02 -1.22309987e+02] [-6.49825493e-02 2.81626376e-04 9.97886361e-01 -4.58414152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.3307140569999 meters 0.016764972313828425 Centerline is valid? [True, True] Translation: X:719.64, Y:-122.33, Z:-45.84 [[ 9.37654210e-01 3.42051021e-01 6.16902090e-02 7.19637417e+02] [-3.41284480e-01 9.39681293e-01 -2.28904438e-02 -1.22326540e+02] [-6.57988350e-02 4.09410090e-04 9.97832825e-01 -4.58433318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.3607140569999 meters 0.017024356772253453 Centerline is valid? [True, True] Translation: X:719.66, Y:-122.35, Z:-45.84 [[ 9.38787204e-01 3.38632897e-01 6.32957059e-02 7.19663616e+02] [-3.37816981e-01 9.40918326e-01 -2.35030020e-02 -1.22347258e+02] [-6.75149793e-02 6.81953212e-04 9.97718028e-01 -4.58440151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.390714057 meters 0.017266354457300164 Centerline is valid? [True, True] Translation: X:719.69, Y:-122.36, Z:-45.85 [[ 9.39029577e-01 3.37886823e-01 6.36863370e-02 7.19691811e+02] [-3.37058349e-01 9.41186449e-01 -2.36587650e-02 -1.22362445e+02] [-6.79347023e-02 7.50268469e-04 9.97689487e-01 -4.58455792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.4207140569999 meters 0.017751470914159028 Centerline is valid? [True, True] Translation: X:719.72, Y:-122.38, Z:-45.85 [[ 9.39377083e-01 3.36757723e-01 6.45362861e-02 7.19718022e+02] [-3.35903116e-01 9.41590940e-01 -2.39916333e-02 -1.22381351e+02] [-6.88461501e-02 8.59250877e-04 9.97626919e-01 -4.58467043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.4507140569999 meters 0.017784955640430058 Centerline is valid? [True, True] Translation: X:719.75, Y:-122.40, Z:-45.85 [[ 9.39368056e-01 3.36839051e-01 6.42425791e-02 7.19747355e+02] [-3.35991622e-01 9.41561848e-01 -2.38938518e-02 -1.22396475e+02] [-6.85367439e-02 8.60152757e-04 9.97648222e-01 -4.58486023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.4807140569999 meters 0.01804827944358005 Centerline is valid? [True, True] Translation: X:719.78, Y:-122.41, Z:-45.85 [[ 9.39291646e-01 3.37100335e-01 6.39888060e-02 7.19775923e+02] [-3.36258828e-01 9.41468337e-01 -2.38195450e-02 -1.22411036e+02] [-6.82730114e-02 8.56698781e-04 9.97666308e-01 -4.58511139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.510714057 meters 0.018082779324516334 Centerline is valid? [True, True] Translation: X:719.81, Y:-122.43, Z:-45.85 [[ 9.39339222e-01 3.37001774e-01 6.38093351e-02 7.19805231e+02] [-3.36163459e-01 9.41503601e-01 -2.37717796e-02 -1.22427892e+02] [-6.80878507e-02 8.79398067e-04 9.97678942e-01 -4.58539775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.540714057 meters 0.0181437670558876 Centerline is valid? [True, True] Translation: X:719.84, Y:-122.44, Z:-45.86 [[ 9.39225247e-01 3.37354836e-01 6.36211373e-02 7.19835022e+02] [-3.36520919e-01 9.41377160e-01 -2.37215897e-02 -1.22441305e+02] [-6.78940785e-02 8.70072430e-04 9.97692155e-01 -4.58561803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.5707140569999 meters 0.018229850949454365 Centerline is valid? [True, True] Translation: X:719.86, Y:-122.46, Z:-45.86 [[ 9.38939454e-01 3.38195541e-01 6.33756867e-02 7.19862809e+02] [-3.37368661e-01 9.41075500e-01 -2.36493262e-02 -1.22455446e+02] [-6.76394027e-02 8.24314891e-04 9.97709493e-01 -4.58584244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.6007140569999 meters 0.017941854304148106 Centerline is valid? [True, True] Translation: X:719.89, Y:-122.47, Z:-45.86 [[ 9.38888687e-01 3.38441690e-01 6.28112795e-02 7.19893491e+02] [-3.37628939e-01 9.40987013e-01 -2.34550726e-02 -1.22467764e+02] [-6.70427727e-02 8.14796621e-04 9.97749770e-01 -4.58611213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.630714057 meters 0.018314875114204602 Centerline is valid? [True, True] Translation: X:719.92, Y:-122.48, Z:-45.86 [[ 9.38997664e-01 3.38213292e-01 6.24111897e-02 7.19921385e+02] [-3.37409041e-01 9.41069102e-01 -2.33255917e-02 -1.22484673e+02] [-6.66222674e-02 8.44576367e-04 9.97777911e-01 -4.58623800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.660714057 meters 0.01814808178571333 Centerline is valid? [True, True] Translation: X:719.95, Y:-122.50, Z:-45.87 [[ 9.39219969e-01 3.37579622e-01 6.24967946e-02 7.19951104e+02] [-3.36770508e-01 9.41296539e-01 -2.33763027e-02 -1.22496592e+02] [-6.67193799e-02 9.08413052e-04 9.97771366e-01 -4.58655775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.6907140569999 meters 0.018306386247432933 Centerline is valid? [True, True] Translation: X:719.98, Y:-122.51, Z:-45.87 [[ 9.39388046e-01 3.37256891e-01 6.17080895e-02 7.19979784e+02] [-3.36466246e-01 9.41412191e-01 -2.30987431e-02 -1.22509962e+02] [-6.58829580e-02 9.35993886e-04 9.97826919e-01 -4.58668145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.7207140569999 meters 0.019250085853623266 Centerline is valid? [True, True] Translation: X:720.01, Y:-122.53, Z:-45.87 [[ 9.39950499e-01 3.35763971e-01 6.12830745e-02 7.20007309e+02] [-3.34979837e-01 9.41945568e-01 -2.29577121e-02 -1.22525529e+02] [-6.54336929e-02 1.05051862e-03 9.97856367e-01 -4.58679640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.750714057 meters 0.019289961165919835 Centerline is valid? [True, True] Translation: X:720.04, Y:-122.54, Z:-45.87 [[ 9.40379382e-01 3.34610258e-01 6.10130592e-02 7.20036685e+02] [-3.33829587e-01 9.42355917e-01 -2.28720873e-02 -1.22537643e+02] [-6.51492524e-02 1.14047494e-03 9.97874879e-01 -4.58699236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.780714057 meters 0.01981134049468568 Centerline is valid? [True, True] Translation: X:720.07, Y:-122.55, Z:-45.87 [[ 9.40760536e-01 3.33598303e-01 6.06777150e-02 7.20065106e+02] [-3.32823088e-01 9.42714531e-01 -2.27619209e-02 -1.22550394e+02] [-6.47951018e-02 1.21857242e-03 9.97897845e-01 -4.58716905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.8107140569999 meters 0.021309255107624665 Centerline is valid? [True, True] Translation: X:720.09, Y:-122.57, Z:-45.87 [[ 9.41525927e-01 3.31533403e-01 6.01209795e-02 7.20091829e+02] [-3.30767240e-01 9.43442499e-01 -2.25673322e-02 -1.22567317e+02] [-6.42025116e-02 1.36167791e-03 9.97935962e-01 -4.58732660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.8407140569999 meters 0.019343261386807926 Centerline is valid? [True, True] Translation: X:720.12, Y:-122.58, Z:-45.88 [[ 9.41862851e-01 3.30704591e-01 5.94040658e-02 7.20123196e+02] [-3.29954066e-01 9.43733264e-01 -2.23123691e-02 -1.22575743e+02] [-6.34403958e-02 1.41457852e-03 9.97984627e-01 -4.58769551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.870714057 meters 0.020917844657210305 Centerline is valid? [True, True] Translation: X:720.15, Y:-122.59, Z:-45.88 [[ 9.42431922e-01 3.29288026e-01 5.82363059e-02 7.20151035e+02] [-3.28563055e-01 9.44228341e-01 -2.18896968e-02 -1.22590090e+02] [-6.21963855e-02 1.49525042e-03 9.98062811e-01 -4.58792730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.900714057 meters 0.019355401255801794 Centerline is valid? [True, True] Translation: X:720.18, Y:-122.60, Z:-45.88 [[ 9.42228851e-01 3.29906184e-01 5.80232828e-02 7.20182381e+02] [-3.29186748e-01 9.44012589e-01 -2.18246930e-02 -1.22597461e+02] [-6.19748106e-02 1.46335967e-03 9.98076641e-01 -4.58818569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.9307140569999 meters 0.01965536799176172 Centerline is valid? [True, True] Translation: X:720.21, Y:-122.61, Z:-45.88 [[ 9.41915650e-01 3.30831317e-01 5.78407174e-02 7.20211870e+02] [-3.30117157e-01 9.43688849e-01 -2.17719896e-02 -1.22608693e+02] [-6.17864960e-02 1.41316449e-03 9.98088389e-01 -4.58829575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.9607140569999 meters 0.019224447648361197 Centerline is valid? [True, True] Translation: X:720.24, Y:-122.62, Z:-45.88 [[ 9.41438593e-01 3.32100392e-01 5.83327147e-02 7.20242341e+02] [-3.31375824e-01 9.43243079e-01 -2.19672027e-02 -1.22618188e+02] [-6.23172460e-02 1.35072099e-03 9.98055478e-01 -4.58842761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.990714057 meters 0.019116580063050195 Centerline is valid? [True, True] Translation: X:720.27, Y:-122.63, Z:-45.88 [[ 9.40269776e-01 3.35367024e-01 5.84953725e-02 7.20271756e+02] [-3.34643676e-01 9.42086848e-01 -2.20449618e-02 -1.22628408e+02] [-6.25008743e-02 1.15310485e-03 9.98044243e-01 -4.58841080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.020714057 meters 0.018862476084172835 Centerline is valid? [True, True] Translation: X:720.30, Y:-122.64, Z:-45.89 [[ 9.39918256e-01 3.36300451e-01 5.87850186e-02 7.20302179e+02] [-3.35570761e-01 9.41754093e-01 -2.21696354e-02 -1.22638273e+02] [-6.28166903e-02 1.11111161e-03 9.98024463e-01 -4.58857269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.0507140569999 meters 0.0187514363500029 Centerline is valid? [True, True] Translation: X:720.33, Y:-122.65, Z:-45.89 [[ 9.39725594e-01 3.36791161e-01 5.90552397e-02 7.20333690e+02] [-3.36054650e-01 9.41578731e-01 -2.22882548e-02 -1.22649133e+02] [-6.31116448e-02 1.09905557e-03 9.98005868e-01 -4.58872557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.0807140569999 meters 0.018628883969092902 Centerline is valid? [True, True] Translation: X:720.36, Y:-122.66, Z:-45.89 [[ 9.39816134e-01 3.36319649e-01 6.02887085e-02 7.20363676e+02] [-3.35549784e-01 9.41747163e-01 -2.27733268e-02 -1.22659852e+02] [-6.44358374e-02 1.17287685e-03 9.97921163e-01 -4.58873671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.1107140569999 meters 0.018940688209860293 Centerline is valid? [True, True] Translation: X:720.39, Y:-122.67, Z:-45.89 [[ 9.40104549e-01 3.35415164e-01 6.08284833e-02 7.20394051e+02] [-3.34628410e-01 9.42069570e-01 -2.29946449e-02 -1.22671436e+02] [-6.50174157e-02 1.26243162e-03 9.97883331e-01 -4.58884389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.140714057 meters 0.018940688209860293 Centerline is valid? [True, True] Translation: X:720.42, Y:-122.68, Z:-45.89 [[ 9.40009876e-01 3.35681444e-01 6.08227066e-02 7.20424366e+02] [-3.34894259e-01 9.41974723e-01 -2.30099151e-02 -1.22682962e+02] [-6.50174538e-02 1.26037222e-03 9.97883331e-01 -4.58903201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.1707140569999 meters 0.01906570587594171 Centerline is valid? [True, True] Translation: X:720.45, Y:-122.69, Z:-45.89 [[ 9.40402368e-01 3.34609400e-01 6.06624712e-02 7.20454588e+02] [-3.33822879e-01 9.42355946e-01 -2.29685932e-02 -1.22693129e+02] [-6.48511477e-02 1.34919860e-03 9.97894037e-01 -4.58913103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.2007140569999 meters 0.019201844547085907 Centerline is valid? [True, True] Translation: X:720.49, Y:-122.70, Z:-45.89 [[ 9.40331820e-01 3.34854391e-01 6.04036787e-02 7.20485330e+02] [-3.34073965e-01 9.42268928e-01 -2.28878313e-02 -1.22704080e+02] [-6.45806004e-02 1.34285966e-03 9.97911591e-01 -4.58934861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.2307140569999 meters 0.019313481817258088 Centerline is valid? [True, True] Translation: X:720.52, Y:-122.71, Z:-45.90 [[ 9.40327760e-01 3.35026029e-01 5.95085238e-02 7.20516576e+02] [-3.34267728e-01 9.42207935e-01 -2.25675082e-02 -1.22714767e+02] [-6.36301060e-02 1.32907536e-03 9.97972667e-01 -4.58961245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.260714057 meters 0.01929135144571238 Centerline is valid? [True, True] Translation: X:720.55, Y:-122.72, Z:-45.90 [[ 9.40337197e-01 3.35257120e-01 5.80398184e-02 7.20547806e+02] [-3.34535132e-01 9.42125776e-01 -2.20287739e-02 -1.22724591e+02] [-6.20661122e-02 1.29811718e-03 9.98071196e-01 -4.58992543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.290714057 meters 0.019544847172951265 Centerline is valid? [True, True] Translation: X:720.58, Y:-122.74, Z:-45.90 [[ 9.40203680e-01 3.35760756e-01 5.72866060e-02 7.20576468e+02] [-3.35057254e-01 9.41946450e-01 -2.17605578e-02 -1.22736219e+02] [-6.12672565e-02 1.26506366e-03 9.98120595e-01 -4.59006481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.3207140569999 meters 0.019050819757572987 Centerline is valid? [True, True] Translation: X:720.61, Y:-122.75, Z:-45.90 [[ 9.39772049e-01 3.37110068e-01 5.64384478e-02 7.20607682e+02] [-3.36429162e-01 9.41464518e-01 -2.14471573e-02 -1.22745840e+02] [-6.03648487e-02 1.16789926e-03 9.98175697e-01 -4.59023581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.3507140569999 meters 0.0186555354421745 Centerline is valid? [True, True] Translation: X:720.64, Y:-122.76, Z:-45.90 [[ 9.39122929e-01 3.38986858e-01 5.60003116e-02 7.20638227e+02] [-3.38319298e-01 9.40790526e-01 -2.12894186e-02 -1.22756039e+02] [-5.99013957e-02 1.04739505e-03 9.98203750e-01 -4.59040375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.380714057 meters 0.018562044057233898 Centerline is valid? [True, True] Translation: X:720.67, Y:-122.77, Z:-45.91 [[ 9.38586276e-01 3.40621682e-01 5.50697034e-02 7.20667969e+02] [-3.39978033e-01 9.40199969e-01 -2.09512507e-02 -1.22766445e+02] [-5.89129837e-02 9.42066959e-04 9.98262677e-01 -4.59056684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.410714057 meters 0.01826130838189382 Centerline is valid? [True, True] Translation: X:720.70, Y:-122.78, Z:-45.91 [[ 9.37573615e-01 3.43533010e-01 5.42290277e-02 7.20699050e+02] [-3.42912914e-01 9.39140294e-01 -2.06456146e-02 -1.22776516e+02] [-5.80211152e-02 7.60949571e-04 9.98315066e-01 -4.59072638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.4407140569999 meters 0.018606780551946228 Centerline is valid? [True, True] Translation: X:720.73, Y:-122.79, Z:-45.91 [[ 9.37236475e-01 3.44484582e-01 5.40200188e-02 7.20727956e+02] [-3.43870524e-01 9.38791711e-01 -2.05715038e-02 -1.22789064e+02] [-5.78001117e-02 7.04471589e-04 9.98327928e-01 -4.59090983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.4707140569999 meters 0.018074599038551114 Centerline is valid? [True, True] Translation: X:720.76, Y:-122.80, Z:-45.91 [[ 9.37013584e-01 3.45057823e-01 5.42276856e-02 7.20759221e+02] [-3.44439483e-01 9.38581183e-01 -2.06592864e-02 -1.22799341e+02] [-5.80257337e-02 6.79875989e-04 9.98314856e-01 -4.59107401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.500714057 meters 0.018198529531140418 Centerline is valid? [True, True] Translation: X:720.79, Y:-122.81, Z:-45.91 [[ 9.36773893e-01 3.45668706e-01 5.44776946e-02 7.20789261e+02] [-3.45044643e-01 9.38356386e-01 -2.07722629e-02 -1.22812902e+02] [-5.82998138e-02 6.61676929e-04 9.98298900e-01 -4.59114136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.530714057 meters 0.018045407888965057 Centerline is valid? [True, True] Translation: X:720.82, Y:-122.83, Z:-45.91 [[ 9.36587852e-01 3.46167960e-01 5.45063265e-02 7.20820095e+02] [-3.45543056e-01 9.38172332e-01 -2.08007718e-02 -1.22825772e+02] [-5.83368881e-02 6.47467492e-04 9.98296744e-01 -4.59127679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.5607140569999 meters 0.017892574518112152 Centerline is valid? [True, True] Translation: X:720.85, Y:-122.84, Z:-45.91 [[ 9.36192903e-01 3.47126776e-01 5.51892232e-02 7.20850720e+02] [-3.46486702e-01 9.37818014e-01 -2.10793352e-02 -1.22838104e+02] [-5.90746493e-02 6.11992065e-04 9.98253380e-01 -4.59138111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.5907140569999 meters 0.01771807327506527 Centerline is valid? [True, True] Translation: X:720.88, Y:-122.85, Z:-45.92 [[ 9.36039575e-01 3.47553585e-01 5.51037163e-02 7.20881716e+02] [-3.46915182e-01 9.37659930e-01 -2.10644754e-02 -1.22849779e+02] [-5.89895807e-02 6.00866818e-04 9.98258418e-01 -4.59157172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.620714057 meters 0.01822385327195918 Centerline is valid? [True, True] Translation: X:720.91, Y:-122.86, Z:-45.92 [[ 9.36008041e-01 3.47562412e-01 5.55816248e-02 7.20911448e+02] [-3.46911795e-01 9.37656644e-01 -2.12655686e-02 -1.22862204e+02] [-5.95075921e-02 6.22821956e-04 9.98227659e-01 -4.59173286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.650714057 meters 0.01794238773673954 Centerline is valid? [True, True] Translation: X:720.94, Y:-122.87, Z:-45.92 [[ 9.35958398e-01 3.47645582e-01 5.58965662e-02 7.20941970e+02] [-3.46986680e-01 9.37625801e-01 -2.14032941e-02 -1.22873576e+02] [-5.98508233e-02 6.37229002e-04 9.98207129e-01 -4.59188624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.6807140569999 meters 0.018280660528074342 Centerline is valid? [True, True] Translation: X:720.97, Y:-122.89, Z:-45.92 [[ 9.36825707e-01 3.45347516e-01 5.56119453e-02 7.20969732e+02] [-3.44690197e-01 9.38474538e-01 -2.13122044e-02 -1.22888118e+02] [-5.95505116e-02 7.96928578e-04 9.98224975e-01 -4.59197538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.7107140569999 meters 0.01869441622604917 Centerline is valid? [True, True] Translation: X:721.00, Y:-122.90, Z:-45.92 [[ 9.37354934e-01 3.43952256e-01 5.53405234e-02 7.20998607e+02] [-3.43298056e-01 9.38986712e-01 -2.12226326e-02 -1.22902307e+02] [-5.92635884e-02 8.94845279e-04 9.98241968e-01 -4.59209386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.740714057 meters 0.019396063281417072 Centerline is valid? [True, True] Translation: X:721.03, Y:-122.92, Z:-45.92 [[ 9.39112056e-01 3.39094032e-01 5.55318343e-02 7.21026335e+02] [-3.38425883e-01 9.40751693e-01 -2.13113505e-02 -1.22918814e+02] [-5.94682190e-02 1.22033617e-03 9.98229453e-01 -4.59216091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.770714057 meters 0.019742938403694545 Centerline is valid? [True, True] Translation: X:721.06, Y:-122.93, Z:-45.92 [[ 9.40236630e-01 3.35856565e-01 5.61733692e-02 7.21055940e+02] [-3.35166237e-01 9.41912018e-01 -2.15718186e-02 -1.22931108e+02] [-6.01554085e-02 1.45519722e-03 9.98187963e-01 -4.59234236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.8007140569999 meters 0.020410879732195172 Centerline is valid? [True, True] Translation: X:721.08, Y:-122.94, Z:-45.93 [[ 9.41373593e-01 3.32664161e-01 5.61276599e-02 7.21084883e+02] [-3.31969009e-01 9.43043898e-01 -2.15588503e-02 -1.22944773e+02] [-6.01027040e-02 1.66228875e-03 9.98190814e-01 -4.59252740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.8307140569999 meters 0.022171781555124215 Centerline is valid? [True, True] Translation: X:721.11, Y:-122.96, Z:-45.93 [[ 9.43736065e-01 3.25987436e-01 5.56276175e-02 7.21111089e+02] [-3.25292764e-01 9.45371828e-01 -2.13711345e-02 -1.22960708e+02] [-5.95555037e-02 2.07344893e-03 9.98222842e-01 -4.59276323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.8607140569999 meters 0.02345038940372048 Centerline is valid? [True, True] Translation: X:721.14, Y:-122.98, Z:-45.93 [[ 9.44753038e-01 3.23111554e-01 5.51418239e-02 7.21139382e+02] [-3.22424066e-01 9.46358245e-01 -2.11847700e-02 -1.22975385e+02] [-5.90289637e-02 2.23532471e-03 9.98253768e-01 -4.59299738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.890714057 meters 0.024968860040604585 Centerline is valid? [True, True] Translation: X:721.17, Y:-122.99, Z:-45.93 [[ 9.46159584e-01 3.19011862e-01 5.48951183e-02 7.21165674e+02] [-3.18322813e-01 9.47747443e-01 -2.11038075e-02 -1.22989709e+02] [-5.87590730e-02 2.49320128e-03 9.98269080e-01 -4.59315007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.9207140569999 meters 0.02519093743613311 Centerline is valid? [True, True] Translation: X:721.20, Y:-123.00, Z:-45.93 [[ 9.46471028e-01 3.18058370e-01 5.50587603e-02 7.21195824e+02] [-3.17363576e-01 9.48067676e-01 -2.11670115e-02 -1.23001229e+02] [-5.89317761e-02 2.56031813e-03 9.98258729e-01 -4.59328281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.9507140569999 meters 0.02502206274678249 Centerline is valid? [True, True] Translation: X:721.23, Y:-123.01, Z:-45.93 [[ 9.46346157e-01 3.18342179e-01 5.55626502e-02 7.21227259e+02] [-3.17634159e-01 9.47972361e-01 -2.13762472e-02 -1.23012442e+02] [-5.94768178e-02 2.58073374e-03 9.98226351e-01 -4.59338678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.9807140569999 meters 0.02546008260361967 Centerline is valid? [True, True] Translation: X:721.26, Y:-123.02, Z:-45.93 [[ 9.45617314e-01 3.20449045e-01 5.58597018e-02 7.21256791e+02] [-3.19736051e-01 9.47262514e-01 -2.15078403e-02 -1.23021726e+02] [-5.98059684e-02 2.47782566e-03 9.98206946e-01 -4.59347891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.010714057 meters 0.023292713895279787 Centerline is valid? [True, True] Translation: X:721.29, Y:-123.03, Z:-45.94 [[ 9.44811614e-01 3.22745743e-01 5.62689860e-02 7.21287881e+02] [-3.22026174e-01 9.46482781e-01 -2.16676790e-02 -1.23028118e+02] [-6.02507775e-02 2.35178842e-03 9.98180501e-01 -4.59363515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.040714057 meters 0.021210334692343402 Centerline is valid? [True, True] Translation: X:721.32, Y:-123.03, Z:-45.94 [[ 9.42481578e-01 3.29171323e-01 5.80923037e-02 7.21319663e+02] [-3.28416312e-01 9.44268083e-01 -2.23721555e-02 -1.23032528e+02] [-6.22189803e-02 2.00688427e-03 9.98060505e-01 -4.59369823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.0707140569999 meters 0.02093623761943037 Centerline is valid? [True, True] Translation: X:721.35, Y:-123.04, Z:-45.94 [[ 9.41094462e-01 3.32969306e-01 5.89292440e-02 7.21349049e+02] [-3.32199666e-01 9.42935980e-01 -2.26962465e-02 -1.23041545e+02] [-6.31236578e-02 1.78303675e-03 9.98004121e-01 -4.59378184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.1007140569999 meters 0.019621205280319753 Centerline is valid? [True, True] Translation: X:721.38, Y:-123.05, Z:-45.94 [[ 9.39564045e-01 3.37130361e-01 5.96868862e-02 7.21380270e+02] [-3.36348983e-01 9.41456740e-01 -2.29906285e-02 -1.23048536e+02] [-6.39434601e-02 1.52554448e-03 9.97952357e-01 -4.59395587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.130714057 meters 0.01903172134813734 Centerline is valid? [True, True] Translation: X:721.41, Y:-123.06, Z:-45.94 [[ 9.38142931e-01 3.40949339e-01 6.03439171e-02 7.21410312e+02] [-3.40158192e-01 9.40080794e-01 -2.32487659e-02 -1.23056969e+02] [-6.46548088e-02 1.28418763e-03 9.97906863e-01 -4.59409485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.160714057 meters 0.018303359895282596 Centerline is valid? [True, True] Translation: X:721.44, Y:-123.06, Z:-45.94 [[ 9.35739926e-01 3.47418740e-01 6.07536862e-02 7.21440824e+02] [-3.46629424e-01 9.37709702e-01 -2.34213189e-02 -1.23063249e+02] [-6.51063261e-02 8.57247945e-04 9.97877964e-01 -4.59428371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.1907140569999 meters 0.018025909718787106 Centerline is valid? [True, True] Translation: X:721.47, Y:-123.07, Z:-45.95 [[ 9.34481268e-01 3.50697372e-01 6.12871329e-02 7.21470702e+02] [-3.49900884e-01 9.36488625e-01 -2.36310427e-02 -1.23072443e+02] [-6.56820474e-02 6.38344779e-04 9.97840399e-01 -4.59451685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.2207140569999 meters 0.01744981015828914 Centerline is valid? [True, True] Translation: X:721.50, Y:-123.08, Z:-45.95 [[ 9.32885173e-01 3.54905549e-01 6.13783853e-02 7.21502209e+02] [-3.54114727e-01 9.34902093e-01 -2.36819890e-02 -1.23080201e+02] [-6.57876502e-02 3.57586234e-04 9.97833582e-01 -4.59488120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.250714057 meters 0.017282909685096666 Centerline is valid? [True, True] Translation: X:721.53, Y:-123.09, Z:-45.95 [[ 9.32232339e-01 3.56607176e-01 6.14344245e-02 7.21532761e+02] [-3.55817437e-01 9.34254386e-01 -2.37211698e-02 -1.23091435e+02] [-6.58545199e-02 2.54202133e-04 9.97829203e-01 -4.59511347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.280714057 meters 0.01730817585128156 Centerline is valid? [True, True] Translation: X:721.56, Y:-123.10, Z:-45.95 [[ 9.31730550e-01 3.57887172e-01 6.16031985e-02 7.21562878e+02] [-3.57094551e-01 9.33764820e-01 -2.38063638e-02 -1.23103482e+02] [-6.60428917e-02 1.82949926e-04 9.97816768e-01 -4.59535627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.3107140569999 meters 0.017363071549540633 Centerline is valid? [True, True] Translation: X:721.59, Y:-123.12, Z:-45.96 [[ 9.31398385e-01 3.58715717e-01 6.18068256e-02 7.21591410e+02] [-3.57918325e-01 9.33446846e-01 -2.39052116e-02 -1.23116927e+02] [-6.62685616e-02 1.43480029e-04 9.97801813e-01 -4.59557204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.3407140569999 meters 0.017386108548699732 Centerline is valid? [True, True] Translation: X:721.62, Y:-123.13, Z:-45.96 [[ 9.31271880e-01 3.59042043e-01 6.18182572e-02 7.21620189e+02] [-3.58243823e-01 9.33321377e-01 -2.39284559e-02 -1.23129699e+02] [-6.62876226e-02 1.37889300e-04 9.97800547e-01 -4.59584869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.370714057 meters 0.01722452861051941 Centerline is valid? [True, True] Translation: X:721.65, Y:-123.14, Z:-45.96 [[ 9.31230345e-01 3.59203102e-01 6.15075342e-02 7.21650104e+02] [-3.58412023e-01 9.33259402e-01 -2.38266724e-02 -1.23142954e+02] [-6.59610992e-02 1.43080515e-04 9.97822185e-01 -4.59610421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.400714057 meters 0.017261592897145166 Centerline is valid? [True, True] Translation: X:721.68, Y:-123.16, Z:-45.96 [[ 9.30554765e-01 3.60965509e-01 6.14144249e-02 7.21679892e+02] [-3.60179359e-01 9.32579166e-01 -2.38102691e-02 -1.23158168e+02] [-6.58684991e-02 3.65511542e-05 9.97828312e-01 -4.59641347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.4307140569999 meters 0.017300085081426955 Centerline is valid? [True, True] Translation: X:721.71, Y:-123.17, Z:-45.97 [[ 9.30218234e-01 3.61970977e-01 6.05891844e-02 7.21708688e+02] [-3.61206765e-01 9.32189365e-01 -2.35087540e-02 -1.23171092e+02] [-6.49900799e-02 -1.69515980e-05 9.97885910e-01 -4.59663931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.4607140569999 meters 0.01739585715339494 Centerline is valid? [True, True] Translation: X:721.74, Y:-123.19, Z:-45.97 [[ 9.29452419e-01 3.63885913e-01 6.08707141e-02 7.21738370e+02] [-3.63117959e-01 9.31443515e-01 -2.36289118e-02 -1.23186704e+02] [-6.52958600e-02 -1.41300238e-04 9.97865938e-01 -4.59694143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.490714057 meters 0.017510808649689062 Centerline is valid? [True, True] Translation: X:721.77, Y:-123.20, Z:-45.97 [[ 9.29257707e-01 3.64334303e-01 6.11606819e-02 7.21767709e+02] [-3.63558669e-01 9.31268217e-01 -2.37613763e-02 -1.23200143e+02] [-6.56140836e-02 -1.55054007e-04 9.97845062e-01 -4.59706481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.520714057 meters 0.01767374565180091 Centerline is valid? [True, True] Translation: X:721.80, Y:-123.21, Z:-45.97 [[ 9.29019285e-01 3.64912912e-01 6.13329790e-02 7.21797616e+02] [-3.64132911e-01 9.31041640e-01 -2.38471898e-02 -1.23214747e+02] [-6.58057048e-02 -1.78857016e-04 9.97832439e-01 -4.59724447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.5507140569999 meters 0.01774610806697732 Centerline is valid? [True, True] Translation: X:721.83, Y:-123.23, Z:-45.97 [[ 9.29054543e-01 3.64724634e-01 6.19160494e-02 7.21825755e+02] [-3.63927958e-01 9.31115417e-01 -2.40940153e-02 -1.23231672e+02] [-6.64386690e-02 -1.48327037e-04 9.97790500e-01 -4.59734697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.5807140569999 meters 0.017975951256664822 Centerline is valid? [True, True] Translation: X:721.85, Y:-123.25, Z:-45.98 [[ 9.29152445e-01 3.64346785e-01 6.26670168e-02 7.21854008e+02] [-3.63528499e-01 9.31263341e-01 -2.44053505e-02 -1.23246477e+02] [-6.72515064e-02 -1.04955465e-04 9.97736049e-01 -4.59750330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.6107140569999 meters 0.01801058646091495 Centerline is valid? [True, True] Translation: X:721.88, Y:-123.26, Z:-45.98 [[ 9.29422250e-01 3.63647490e-01 6.27278622e-02 7.21883617e+02] [-3.62824757e-01 9.31536634e-01 -2.44477865e-02 -1.23262279e+02] [-6.73236779e-02 -3.69046110e-05 9.97731187e-01 -4.59764430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.640714057 meters 0.018035259659577346 Centerline is valid? [True, True] Translation: X:721.91, Y:-123.28, Z:-45.98 [[ 9.29836040e-01 3.62541729e-01 6.29955095e-02 7.21912392e+02] [-3.61708056e-01 9.31967538e-01 -2.45721573e-02 -1.23278462e+02] [-6.76182023e-02 6.20940900e-05 9.97711268e-01 -4.59789921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.6707140569999 meters 0.01842388631225773 Centerline is valid? [True, True] Translation: X:721.94, Y:-123.30, Z:-45.98 [[ 9.31397891e-01 3.58492601e-01 6.30953497e-02 7.21939251e+02] [-3.57645603e-01 9.33532492e-01 -2.46314603e-02 -1.23297792e+02] [-6.77317553e-02 3.75915761e-04 9.97703497e-01 -4.59808347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.7007140569999 meters 0.01867509074798174 Centerline is valid? [True, True] Translation: X:721.97, Y:-123.31, Z:-45.98 [[ 9.32340331e-01 3.56073384e-01 6.28748970e-02 7.21966786e+02] [-3.55225594e-01 9.34457824e-01 -2.45632454e-02 -1.23312654e+02] [-6.75002574e-02 5.66531713e-04 9.97719096e-01 -4.59832701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.7307140569999 meters 0.019734989095422012 Centerline is valid? [True, True] Translation: X:721.99, Y:-123.33, Z:-45.99 [[ 9.34524627e-01 3.50386634e-01 6.23933289e-02 7.21992340e+02] [-3.49538008e-01 9.36604631e-01 -2.43915103e-02 -1.23333024e+02] [-6.69843400e-02 9.85627181e-04 9.97753540e-01 -4.59854864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.760714057 meters 0.01996187900893094 Centerline is valid? [True, True] Translation: X:722.02, Y:-123.35, Z:-45.99 [[ 9.35430024e-01 3.47774620e-01 6.34309398e-02 7.22020937e+02] [-3.46890330e-01 9.37577385e-01 -2.48142181e-02 -1.23347627e+02] [-6.81011700e-02 1.20838493e-03 9.97677689e-01 -4.59884499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.790714057 meters 0.020034767982616757 Centerline is valid? [True, True] Translation: X:722.05, Y:-123.36, Z:-45.99 [[ 9.36197092e-01 3.45723515e-01 6.33265826e-02 7.22048875e+02] [-3.44836214e-01 9.38335424e-01 -2.47914788e-02 -1.23363675e+02] [-6.79925730e-02 1.37241133e-03 9.97684883e-01 -4.59903643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.8207140569999 meters 0.021012759003384562 Centerline is valid? [True, True] Translation: X:722.08, Y:-123.38, Z:-45.99 [[ 9.37377112e-01 3.42657886e-01 6.25277843e-02 7.22075239e+02] [-3.41784867e-01 9.39458909e-01 -2.44961814e-02 -1.23381168e+02] [-6.71360938e-02 1.59110926e-03 9.97742559e-01 -4.59929246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.8507140569999 meters 0.02106316690139182 Centerline is valid? [True, True] Translation: X:722.11, Y:-123.39, Z:-46.00 [[ 9.37573513e-01 3.42250475e-01 6.18103543e-02 7.22105478e+02] [-3.41395416e-01 9.39607363e-01 -2.42316603e-02 -1.23394515e+02] [-6.63707613e-02 1.61719132e-03 9.97793720e-01 -4.59957895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.880714057 meters 0.021169023009250828 Centerline is valid? [True, True] Translation: X:722.14, Y:-123.41, Z:-46.00 [[ 9.37742607e-01 3.42017388e-01 6.05219693e-02 7.22135304e+02] [-3.41195914e-01 9.39692232e-01 -2.37456972e-02 -1.23407156e+02] [-6.49934657e-02 1.61750334e-03 9.97884379e-01 -4.59984867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.910714057 meters 0.022330827311119145 Centerline is valid? [True, True] Translation: X:722.16, Y:-123.42, Z:-46.00 [[ 9.37588051e-01 3.42695334e-01 5.90639938e-02 7.22162551e+02] [-3.41913187e-01 9.39445319e-01 -2.31919416e-02 -1.23422315e+02] [-6.34351627e-02 1.54972898e-03 9.97984759e-01 -4.60013484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.9407140569999 meters 0.022135629820851363 Centerline is valid? [True, True] Translation: X:722.19, Y:-123.43, Z:-46.00 [[ 9.37331725e-01 3.43471683e-01 5.86211670e-02 7.22192014e+02] [-3.42701795e-01 9.39161835e-01 -2.30331704e-02 -1.23434270e+02] [-6.29660046e-02 1.50014222e-03 9.98014545e-01 -4.60035359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.9707140569999 meters 0.021106062195958075 Centerline is valid? [True, True] Translation: X:722.22, Y:-123.44, Z:-46.01 [[ 9.36958895e-01 3.44392228e-01 5.91778861e-02 7.22222068e+02] [-3.43608457e-01 9.38824713e-01 -2.32677141e-02 -1.23444578e+02] [-6.35708819e-02 1.46686955e-03 9.97976248e-01 -4.60056175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.000714057 meters 0.020618526181635812 Centerline is valid? [True, True] Translation: X:722.25, Y:-123.46, Z:-46.01 [[ 9.36119435e-01 3.46692023e-01 5.90342718e-02 7.22251367e+02] [-3.45915588e-01 9.37978087e-01 -2.32274537e-02 -1.23456417e+02] [-6.34256262e-02 1.32279599e-03 9.97985691e-01 -4.60071574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.030714057 meters 0.020618526181635812 Centerline is valid? [True, True] Translation: X:722.28, Y:-123.47, Z:-46.01 [[ 9.36025718e-01 3.46945915e-01 5.90287006e-02 7.22281504e+02] [-3.46169092e-01 9.37884208e-01 -2.32416039e-02 -1.23468357e+02] [-6.34256656e-02 1.32082725e-03 9.97985691e-01 -4.60090385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.0607140569999 meters 0.02020008269581854 Centerline is valid? [True, True] Translation: X:722.31, Y:-123.48, Z:-46.01 [[ 9.35276757e-01 3.49067531e-01 5.83887564e-02 7.22311720e+02] [-3.48310479e-01 9.37096827e-01 -2.30075336e-02 -1.23479825e+02] [-6.27471013e-02 1.18099569e-03 9.98028760e-01 -4.60113012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.0907140569999 meters 0.01921485561903776 Centerline is valid? [True, True] Translation: X:722.34, Y:-123.49, Z:-46.01 [[ 9.33809848e-01 3.53088657e-01 5.76850809e-02 7.22342736e+02] [-3.52356446e-01 9.35589420e-01 -2.27458048e-02 -1.23489291e+02] [-6.20008371e-02 9.14546405e-04 9.98075678e-01 -4.60142649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.120714057 meters 0.018671234773770192 Centerline is valid? [True, True] Translation: X:722.37, Y:-123.50, Z:-46.02 [[ 9.33125767e-01 3.54800739e-01 5.82472279e-02 7.22372436e+02] [-3.54056465e-01 9.34941579e-01 -2.29839744e-02 -1.23500292e+02] [-6.26124863e-02 8.24131092e-04 9.98037573e-01 -4.60158524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.150714057 meters 0.019141661276476117 Centerline is valid? [True, True] Translation: X:722.40, Y:-123.51, Z:-46.02 [[ 9.32591029e-01 3.56176915e-01 5.84121433e-02 7.22401275e+02] [-3.55430083e-01 9.34418238e-01 -2.30653857e-02 -1.23513245e+02] [-6.27967299e-02 7.49138816e-04 9.98026057e-01 -4.60169769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.1807140569999 meters 0.018635075205330795 Centerline is valid? [True, True] Translation: X:722.43, Y:-123.53, Z:-46.02 [[ 9.32006195e-01 3.57348965e-01 6.05489048e-02 7.22432445e+02] [-3.56547812e-01 9.33970670e-01 -2.39258163e-02 -1.23525099e+02] [-6.51007669e-02 7.10429487e-04 9.97878442e-01 -4.60184511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.2107140569999 meters 0.018442367717131383 Centerline is valid? [True, True] Translation: X:722.46, Y:-123.54, Z:-46.02 [[ 9.31878061e-01 3.57545267e-01 6.13568402e-02 7.22462428e+02] [-3.56721627e-01 9.33895527e-01 -2.42657245e-02 -1.23538515e+02] [-6.59769736e-02 7.25384480e-04 9.97820882e-01 -4.60192827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.240714057 meters 0.018817797237839606 Centerline is valid? [True, True] Translation: X:722.49, Y:-123.55, Z:-46.02 [[ 9.31829699e-01 3.57550703e-01 6.20556668e-02 7.22491476e+02] [-3.56706857e-01 9.33893425e-01 -2.45619451e-02 -1.23551597e+02] [-6.67355199e-02 7.51868086e-04 9.97770417e-01 -4.60200829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.270714057 meters 0.01885223300003467 Centerline is valid? [True, True] Translation: X:722.52, Y:-123.56, Z:-46.02 [[ 9.31613022e-01 3.57865973e-01 6.34753641e-02 7.22520710e+02] [-3.56982785e-01 9.33772654e-01 -2.51380769e-02 -1.23564912e+02] [-6.82676215e-02 7.59347547e-04 9.97666756e-01 -4.60219068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.3007140569999 meters 0.01877017109928843 Centerline is valid? [True, True] Translation: X:722.55, Y:-123.58, Z:-46.02 [[ 9.31506497e-01 3.58166869e-01 6.33414642e-02 7.22550912e+02] [-3.57286809e-01 9.33657285e-01 -2.51039785e-02 -1.23577260e+02] [-6.81306329e-02 7.53449502e-04 9.97676124e-01 -4.60241765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.3307140569999 meters 0.01880670225230441 Centerline is valid? [True, True] Translation: X:722.58, Y:-123.59, Z:-46.03 [[ 9.31483366e-01 3.58403748e-01 6.23337154e-02 7.22579070e+02] [-3.57550665e-01 9.33566388e-01 -2.47249129e-02 -1.23589369e+02] [-6.70541630e-02 7.43383667e-04 9.97749060e-01 -4.60268314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.3607140569999 meters 0.018755790661217835 Centerline is valid? [True, True] Translation: X:722.61, Y:-123.60, Z:-46.03 [[ 9.31115118e-01 3.59355898e-01 6.23536333e-02 7.22609520e+02] [-3.58503217e-01 9.33200333e-01 -2.47504053e-02 -1.23601741e+02] [-6.70826354e-02 6.91498383e-04 9.97747183e-01 -4.60292871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.390714057 meters 0.018600353709693988 Centerline is valid? [True, True] Translation: X:722.64, Y:-123.61, Z:-46.03 [[ 9.30732394e-01 3.60474116e-01 6.16086263e-02 7.22639357e+02] [-3.59642819e-01 9.32769009e-01 -2.44748499e-02 -1.23613995e+02] [-6.62891672e-02 6.22435615e-04 9.97800260e-01 -4.60316206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.4207140569999 meters 0.018699454013251012 Centerline is valid? [True, True] Translation: X:722.67, Y:-123.63, Z:-46.03 [[ 9.30343538e-01 3.61589498e-01 6.09420771e-02 7.22669495e+02] [-3.60777422e-01 9.32337240e-01 -2.42264741e-02 -1.23626294e+02] [-6.55786066e-02 5.52418117e-04 9.97847253e-01 -4.60339326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.4507140569999 meters 0.018444256557052372 Centerline is valid? [True, True] Translation: X:722.70, Y:-123.64, Z:-46.04 [[ 9.29084582e-01 3.65137134e-01 5.89636557e-02 7.22698546e+02] [-3.64383666e-01 9.30953696e-01 -2.34469516e-02 -1.23638577e+02] [-6.34537859e-02 2.98808196e-04 9.97984733e-01 -4.60363957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.4807140569999 meters 0.018227999621648377 Centerline is valid? [True, True] Translation: X:722.73, Y:-123.65, Z:-46.04 [[ 9.28277236e-01 3.67366955e-01 5.78177697e-02 7.22728414e+02] [-3.66645808e-01 9.30076070e-01 -2.30077351e-02 -1.23648858e+02] [-6.22272055e-02 1.58913797e-04 9.98061997e-01 -4.60400689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.510714057 meters 0.01822894150911888 Centerline is valid? [True, True] Translation: X:722.76, Y:-123.66, Z:-46.04 [[ 9.27505941e-01 3.69504676e-01 5.65599114e-02 7.22758838e+02] [-3.68817586e-01 9.29228871e-01 -2.25231972e-02 -1.23661231e+02] [-6.08795292e-02 3.01092132e-05 9.98145121e-01 -4.60432127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.540714057 meters 0.018131008249250718 Centerline is valid? [True, True] Translation: X:722.79, Y:-123.67, Z:-46.05 [[ 9.27510754e-01 3.69534852e-01 5.62831565e-02 7.22788727e+02] [-3.68853422e-01 9.29216870e-01 -2.24312648e-02 -1.23674768e+02] [-6.05883926e-02 4.50045121e-05 9.98162835e-01 -4.60450331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.5707140569999 meters 0.018323949081676102 Centerline is valid? [True, True] Translation: X:722.82, Y:-123.69, Z:-46.05 [[ 9.27668824e-01 3.69103252e-01 5.65096676e-02 7.22818053e+02] [-3.68414396e-01 9.29388391e-01 -2.25400070e-02 -1.23689220e+02] [-6.08390189e-02 9.06867489e-05 9.98147587e-01 -4.60464264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.6007140569999 meters 0.018716201311601434 Centerline is valid? [True, True] Translation: X:722.85, Y:-123.71, Z:-46.05 [[ 9.28856889e-01 3.66021907e-01 5.70337138e-02 7.22846013e+02] [-3.65313225e-01 9.30606182e-01 -2.27680035e-02 -1.23706820e+02] [-6.14095147e-02 3.13046973e-04 9.98112606e-01 -4.60476251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.630714057 meters 0.01856536518813923 Centerline is valid? [True, True] Translation: X:722.87, Y:-123.72, Z:-46.05 [[ 9.29501195e-01 3.64377897e-01 5.70638013e-02 7.22874962e+02] [-3.63664348e-01 9.31251071e-01 -2.27966008e-02 -1.23721110e+02] [-6.14473035e-02 4.37397565e-04 9.98110233e-01 -4.60490834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.660714057 meters 0.018645703860601947 Centerline is valid? [True, True] Translation: X:722.90, Y:-123.73, Z:-46.05 [[ 9.30098220e-01 3.62836236e-01 5.71591383e-02 7.22903899e+02] [-3.62116367e-01 9.31852755e-01 -2.28512485e-02 -1.23734644e+02] [-6.15551615e-02 5.55646029e-04 9.98103528e-01 -4.60507088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.6907140569999 meters 0.019360349283197843 Centerline is valid? [True, True] Translation: X:722.93, Y:-123.75, Z:-46.05 [[ 9.31388894e-01 3.59316341e-01 5.83651851e-02 7.22930667e+02] [-3.58557816e-01 9.33215460e-01 -2.33494720e-02 -1.23750311e+02] [-6.28571398e-02 8.20145574e-04 9.98022198e-01 -4.60518213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.7207140569999 meters 0.01922390292664859 Centerline is valid? [True, True] Translation: X:722.96, Y:-123.76, Z:-46.05 [[ 9.31932035e-01 3.57790220e-01 5.90664167e-02 7.22959660e+02] [-3.57010034e-01 9.33801520e-01 -2.36338028e-02 -1.23763422e+02] [-6.36122532e-02 9.37794504e-04 9.97974249e-01 -4.60532685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.750714057 meters 0.020506950811999075 Centerline is valid? [True, True] Translation: X:722.99, Y:-123.78, Z:-46.05 [[ 9.33076680e-01 3.54635315e-01 6.00141861e-02 7.22985839e+02] [-3.53822255e-01 9.35003949e-01 -2.40297325e-02 -1.23780752e+02] [-6.46352927e-02 1.18722841e-03 9.97908247e-01 -4.60535187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.780714057 meters 0.020243082669616254 Centerline is valid? [True, True] Translation: X:723.02, Y:-123.79, Z:-46.06 [[ 9.33715022e-01 3.52916196e-01 6.02197370e-02 7.23016220e+02] [-3.52093353e-01 9.35654005e-01 -2.41216529e-02 -1.23791932e+02] [-6.48577601e-02 1.31978061e-03 9.97893646e-01 -4.60560184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.8107140569999 meters 0.020241871013690727 Centerline is valid? [True, True] Translation: X:723.05, Y:-123.80, Z:-46.06 [[ 9.34223925e-01 3.51475437e-01 6.07509295e-02 7.23045394e+02] [-3.50633804e-01 9.36195983e-01 -2.43519463e-02 -1.23804820e+02] [-6.54338871e-02 1.44884132e-03 9.97855855e-01 -4.60575476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.8407140569999 meters 0.02118877000172507 Centerline is valid? [True, True] Translation: X:723.07, Y:-123.82, Z:-46.06 [[ 9.35335520e-01 3.48422873e-01 6.12288054e-02 7.23072807e+02] [-3.47560227e-01 9.37335926e-01 -2.45611645e-02 -1.23819321e+02] [-6.59496305e-02 1.69223202e-03 9.97821518e-01 -4.60584423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.870714057 meters 0.02098645667644086 Centerline is valid? [True, True] Translation: X:723.10, Y:-123.83, Z:-46.06 [[ 9.35755053e-01 3.47235636e-01 6.15621093e-02 7.23102887e+02] [-3.46359887e-01 9.37776182e-01 -2.47115388e-02 -1.23830488e+02] [-6.63122068e-02 1.80130205e-03 9.97797297e-01 -4.60607150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.900714057 meters 0.02233616778929676 Centerline is valid? [True, True] Translation: X:723.13, Y:-123.84, Z:-46.06 [[ 9.35905548e-01 3.46884852e-01 6.12511591e-02 7.23130887e+02] [-3.46016027e-01 9.37905933e-01 -2.46042815e-02 -1.23844974e+02] [-6.59826781e-02 1.83340085e-03 9.97819084e-01 -4.60617795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.9307140569999 meters 0.022210149915722878 Centerline is valid? [True, True] Translation: X:723.16, Y:-123.86, Z:-46.07 [[ 9.35863705e-01 3.47128491e-01 6.05056817e-02 7.23161738e+02] [-3.46280151e-01 9.37815833e-01 -2.43211819e-02 -1.23855640e+02] [-6.51857614e-02 1.80939480e-03 9.97871506e-01 -4.60650159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.9607140569999 meters 0.022245532254137165 Centerline is valid? [True, True] Translation: X:723.19, Y:-123.87, Z:-46.07 [[ 9.35997117e-01 3.46833383e-01 6.01331897e-02 7.23192004e+02] [-3.45993653e-01 9.37924961e-01 -2.41900617e-02 -1.23867091e+02] [-6.47903405e-02 1.83612605e-03 9.97897209e-01 -4.60676123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.990714057 meters 0.022107071652666996 Centerline is valid? [True, True] Translation: X:723.22, Y:-123.88, Z:-46.07 [[ 9.36719006e-01 3.44982671e-01 5.95353790e-02 7.23222183e+02] [-3.44154792e-01 9.38607008e-01 -2.39658801e-02 -1.23877776e+02] [-6.41481373e-02 1.95990939e-03 9.97938463e-01 -4.60713976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.020714057 meters 0.021586196006968376 Centerline is valid? [True, True] Translation: X:723.25, Y:-123.89, Z:-46.07 [[ 9.37155852e-01 3.43783948e-01 5.95945139e-02 7.23251854e+02] [-3.42950914e-01 9.39046513e-01 -2.40065974e-02 -1.23888618e+02] [-6.42151033e-02 2.05993022e-03 9.97933954e-01 -4.60737539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.0507140569999 meters 0.022941805651718317 Centerline is valid? [True, True] Translation: X:723.28, Y:-123.90, Z:-46.08 [[ 9.37843017e-01 3.41898632e-01 5.96305374e-02 7.23280211e+02] [-3.41059744e-01 9.39734250e-01 -2.40372700e-02 -1.23902249e+02] [-6.42551681e-02 2.20561002e-03 9.97931064e-01 -4.60754004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.0807140569999 meters 0.02315121067535285 Centerline is valid? [True, True] Translation: X:723.31, Y:-123.91, Z:-46.08 [[ 9.38665113e-01 3.39655606e-01 5.95136517e-02 7.23310231e+02] [-3.38814552e-01 9.40546894e-01 -2.40050023e-02 -1.23913873e+02] [-6.41288139e-02 2.36856700e-03 9.97938818e-01 -4.60775488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.1107140569999 meters 0.025096721749756447 Centerline is valid? [True, True] Translation: X:723.34, Y:-123.93, Z:-46.08 [[ 9.40599259e-01 3.34300831e-01 5.92957702e-02 7.23337114e+02] [-3.33454996e-01 9.42462472e-01 -2.39218581e-02 -1.23926918e+02] [-6.38811352e-02 2.72841116e-03 9.97953785e-01 -4.60796617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.140714057 meters 0.02678063494063765 Centerline is valid? [True, True] Translation: X:723.37, Y:-123.94, Z:-46.08 [[ 9.41458861e-01 3.31927219e-01 5.89875771e-02 7.23365139e+02] [-3.31085209e-01 9.43300605e-01 -2.38023525e-02 -1.23940294e+02] [-6.35436659e-02 2.87902140e-03 9.97974906e-01 -4.60815174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.1707140569999 meters 0.027459202994663152 Centerline is valid? [True, True] Translation: X:723.39, Y:-123.95, Z:-46.08 [[ 9.42805491e-01 3.27916130e-01 5.99067504e-02 7.23393914e+02] [-3.27038646e-01 9.44701378e-01 -2.41874062e-02 -1.23951049e+02] [-6.45254303e-02 3.21219688e-03 9.97910893e-01 -4.60821543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.2007140569999 meters 0.026741168901972194 Centerline is valid? [True, True] Translation: X:723.42, Y:-123.96, Z:-46.08 [[ 9.43356474e-01 3.26198719e-01 6.06049476e-02 7.23424567e+02] [-3.25296995e-01 9.45295212e-01 -2.44709437e-02 -1.23960491e+02] [-6.52719573e-02 3.37021579e-03 9.97861821e-01 -4.60836846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.2307140569999 meters 0.02847729082556262 Centerline is valid? [True, True] Translation: X:723.45, Y:-123.97, Z:-46.08 [[ 9.43678380e-01 3.25155678e-01 6.11955845e-02 7.23453329e+02] [-3.24233664e-01 9.45654091e-01 -2.47158108e-02 -1.23973218e+02] [-6.59063410e-02 3.48210775e-03 9.97819738e-01 -4.60843754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.260714057 meters 0.02718589202091443 Centerline is valid? [True, True] Translation: X:723.49, Y:-123.98, Z:-46.09 [[ 9.44070069e-01 3.23804079e-01 6.23107056e-02 7.23486037e+02] [-3.22844169e-01 9.46117092e-01 -2.51811710e-02 -1.23978513e+02] [-6.71069894e-02 3.65614185e-03 9.97739086e-01 -4.60866050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.290714057 meters 0.026743461647339886 Centerline is valid? [True, True] Translation: X:723.52, Y:-123.99, Z:-46.09 [[ 9.44097042e-01 3.23805574e-01 6.18928605e-02 7.23518058e+02] [-3.22858044e-01 9.46116650e-01 -2.50193728e-02 -1.23987884e+02] [-6.66592782e-02 3.63810794e-03 9.97769164e-01 -4.60892125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.3207140569999 meters 0.028674405711898276 Centerline is valid? [True, True] Translation: X:723.55, Y:-124.00, Z:-46.09 [[ 9.44340912e-01 3.23104932e-01 6.18340078e-02 7.23546779e+02] [-3.22156458e-01 9.46355905e-01 -2.50143395e-02 -1.23998416e+02] [-6.65992349e-02 3.70183926e-03 9.97772939e-01 -4.60912087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.3507140569999 meters 0.02857600371633498 Centerline is valid? [True, True] Translation: X:723.58, Y:-124.01, Z:-46.09 [[ 9.44481112e-01 3.22751549e-01 6.15375172e-02 7.23577046e+02] [-3.21810764e-01 9.46476420e-01 -2.49042044e-02 -1.24008070e+02] [-6.62816795e-02 3.71811529e-03 9.97794024e-01 -4.60934956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.380714057 meters 0.02791002536014779 Centerline is valid? [True, True] Translation: X:723.61, Y:-124.02, Z:-46.10 [[ 9.44507592e-01 3.22664759e-01 6.15862230e-02 7.23608141e+02] [-3.21721148e-01 9.46505911e-01 -2.49412073e-02 -1.24016650e+02] [-6.63393727e-02 3.74356924e-03 9.97790095e-01 -4.60957253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.410714057 meters 0.029988884742618113 Centerline is valid? [True, True] Translation: X:723.64, Y:-124.03, Z:-46.10 [[ 9.44840613e-01 3.22018118e-01 5.98376865e-02 7.23638580e+02] [-3.21125048e-01 9.46726290e-01 -2.42494486e-02 -1.24025130e+02] [-6.44586727e-02 3.69648397e-03 9.97913531e-01 -4.60980402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.4407140569999 meters 0.028365013245139913 Centerline is valid? [True, True] Translation: X:723.67, Y:-124.03, Z:-46.10 [[ 9.44955638e-01 3.21806610e-01 5.91552815e-02 7.23670172e+02] [-3.20932425e-01 9.46798258e-01 -2.39882788e-02 -1.24031537e+02] [-6.37277041e-02 3.68301141e-03 9.97960528e-01 -4.61000506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.4707140569999 meters 0.029791496008611782 Centerline is valid? [True, True] Translation: X:723.70, Y:-124.04, Z:-46.10 [[ 9.44931981e-01 3.21950362e-01 5.87496082e-02 7.23701269e+02] [-3.21087369e-01 9.46749461e-01 -2.38402906e-02 -1.24038710e+02] [-6.32965501e-02 3.66369590e-03 9.97988038e-01 -4.61006696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.500714057 meters 0.029600395400573267 Centerline is valid? [True, True] Translation: X:723.73, Y:-124.05, Z:-46.10 [[ 9.44708074e-01 3.22540636e-01 5.91117068e-02 7.23732484e+02] [-3.21666980e-01 9.46548529e-01 -2.40049181e-02 -1.24047178e+02] [-6.36946607e-02 3.66335578e-03 9.97962710e-01 -4.61019196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.530714057 meters 0.029088821199246384 Centerline is valid? [True, True] Translation: X:723.76, Y:-124.06, Z:-46.10 [[ 9.44375293e-01 3.23458276e-01 5.94142217e-02 7.23763657e+02] [-3.22576390e-01 9.46235450e-01 -2.41442888e-02 -1.24055068e+02] [-6.40295128e-02 3.63564467e-03 9.97941383e-01 -4.61030874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.5607140569999 meters 0.027842493834355123 Centerline is valid? [True, True] Translation: X:723.80, Y:-124.06, Z:-46.10 [[ 9.43895031e-01 3.24934578e-01 5.89888941e-02 7.23795511e+02] [-3.24067197e-01 9.45729929e-01 -2.39865206e-02 -1.24061429e+02] [-6.35816126e-02 3.52439205e-03 9.97970419e-01 -4.61045263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.5907140569999 meters 0.027069053135452707 Centerline is valid? [True, True] Translation: X:723.83, Y:-124.06, Z:-46.11 [[ 9.42188628e-01 3.29990547e-01 5.81964669e-02 7.23827394e+02] [-3.29155731e-01 9.43979003e-01 -2.36674368e-02 -1.24062618e+02] [-6.27462732e-02 3.14348919e-03 9.98024561e-01 -4.61057905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.620714057 meters 0.024094337957877993 Centerline is valid? [True, True] Translation: X:723.86, Y:-124.06, Z:-46.11 [[ 9.39420305e-01 3.37882448e-01 5.76623017e-02 7.23861438e+02] [-3.37077702e-01 9.41184748e-01 -2.34497940e-02 -1.24060141e+02] [-6.21941527e-02 2.59253655e-03 9.98060703e-01 -4.61077020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.650714057 meters 0.022036966859802866 Centerline is valid? [True, True] Translation: X:723.89, Y:-124.06, Z:-46.11 [[ 9.37900501e-01 3.42024671e-01 5.79808164e-02 7.23893333e+02] [-3.41218826e-01 9.39688080e-01 -2.35801923e-02 -1.24063608e+02] [-6.25488895e-02 2.33172808e-03 9.98039177e-01 -4.61092707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.6807140569999 meters 0.02077666365251355 Centerline is valid? [True, True] Translation: X:723.93, Y:-124.07, Z:-46.11 [[ 9.36453740e-01 3.45930883e-01 5.81912086e-02 7.23925233e+02] [-3.45126603e-01 9.38257693e-01 -2.36670374e-02 -1.24068524e+02] [-6.27855083e-02 2.07975155e-03 9.98024877e-01 -4.61104685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.7107140569999 meters 0.02090738030489442 Centerline is valid? [True, True] Translation: X:723.95, Y:-124.08, Z:-46.11 [[ 9.34973004e-01 3.49870161e-01 5.84495689e-02 7.23954870e+02] [-3.49066240e-01 9.36796422e-01 -2.37744244e-02 -1.24075680e+02] [-6.30733088e-02 1.82567374e-03 9.98007227e-01 -4.61113106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.740714057 meters 0.01799920758387761 Centerline is valid? [True, True] Translation: X:723.99, Y:-124.07, Z:-46.11 [[ 9.32249511e-01 3.57134105e-01 5.80179261e-02 7.23989100e+02] [-3.56355952e-01 9.34052179e-01 -2.36000601e-02 -1.24073550e+02] [-6.26201567e-02 1.32611121e-03 9.98036551e-01 -4.61135836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.770714057 meters 0.01744855020881809 Centerline is valid? [True, True] Translation: X:724.02, Y:-124.08, Z:-46.11 [[ 9.31116194e-01 3.60172897e-01 5.74292397e-02 7.24020347e+02] [-3.59416081e-01 9.32884905e-01 -2.33630933e-02 -1.24081100e+02] [-6.19896238e-02 1.11276226e-03 9.98076174e-01 -4.61148020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.8007140569999 meters 0.016663998475972747 Centerline is valid? [True, True] Translation: X:724.05, Y:-124.09, Z:-46.12 [[ 9.29107141e-01 3.65269296e-01 5.77776926e-02 7.24051870e+02] [-3.64512040e-01 9.30901559e-01 -2.35214933e-02 -1.24085730e+02] [-6.23770234e-02 7.93322848e-04 9.98052342e-01 -4.61156256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.8307140569999 meters 0.01660630837327276 Centerline is valid? [True, True] Translation: X:724.08, Y:-124.09, Z:-46.12 [[ 9.28195118e-01 3.67452901e-01 5.85848903e-02 7.24081648e+02] [-3.66677659e-01 9.30041889e-01 -2.38658447e-02 -1.24094596e+02] [-6.32559759e-02 6.70390134e-04 9.97997110e-01 -4.61170093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.8607140569999 meters 0.016242216424496834 Centerline is valid? [True, True] Translation: X:724.11, Y:-124.10, Z:-46.12 [[ 9.27456833e-01 3.69237998e-01 5.90518751e-02 7.24112523e+02] [-3.68452950e-01 9.29334697e-01 -2.40716701e-02 -1.24103622e+02] [-6.37671317e-02 5.67597332e-04 9.97964644e-01 -4.61186116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.890714057 meters 0.016057784066225746 Centerline is valid? [True, True] Translation: X:724.14, Y:-124.11, Z:-46.12 [[ 9.26177687e-01 3.72242540e-01 6.02526684e-02 7.24143852e+02] [-3.71430399e-01 9.28135412e-01 -2.45787596e-02 -1.24110954e+02] [-6.50718951e-02 3.84626042e-04 9.97880504e-01 -4.61202966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.9207140569999 meters 0.015838527615931384 Centerline is valid? [True, True] Translation: X:724.18, Y:-124.12, Z:-46.12 [[ 9.25274502e-01 3.74423535e-01 6.06144619e-02 7.24175149e+02] [-3.73605097e-01 9.27257760e-01 -2.47442324e-02 -1.24121431e+02] [-6.54700531e-02 2.49335323e-04 9.97854503e-01 -4.61229597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.9507140569999 meters 0.015838527615931384 Centerline is valid? [True, True] Translation: X:724.21, Y:-124.13, Z:-46.12 [[ 9.25167516e-01 3.74688958e-01 6.06073638e-02 7.24205157e+02] [-3.73869951e-01 9.27150539e-01 -2.47616067e-02 -1.24133747e+02] [-6.54700507e-02 2.49362047e-04 9.97854504e-01 -4.61248408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.9807140569999 meters 0.015758057420688556 Centerline is valid? [True, True] Translation: X:724.24, Y:-124.14, Z:-46.13 [[ 9.24215229e-01 3.77060906e-01 6.04258609e-02 7.24235503e+02] [-3.76250554e-01 9.26188460e-01 -2.47074281e-02 -1.24144648e+02] [-6.52819402e-02 9.97176413e-05 9.97866854e-01 -4.61271931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.010714057 meters 0.015959347903478457 Centerline is valid? [True, True] Translation: X:724.27, Y:-124.16, Z:-46.13 [[ 9.22455628e-01 3.81397567e-01 6.00958439e-02 7.24266726e+02] [-3.80604010e-01 9.24411089e-01 -2.45911964e-02 -1.24155148e+02] [-6.49322870e-02 -1.88431676e-04 9.97889655e-01 -4.61298925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.040714057 meters 0.016209001210454203 Centerline is valid? [True, True] Translation: X:724.30, Y:-124.17, Z:-46.13 [[ 9.21580151e-01 3.83432245e-01 6.05783657e-02 7.24297506e+02] [-3.82628952e-01 9.23568954e-01 -2.48086975e-02 -1.24167000e+02] [-6.54607524e-02 -3.15833378e-04 9.97855095e-01 -4.61320849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.0707140569999 meters 0.016190279952924786 Centerline is valid? [True, True] Translation: X:724.33, Y:-124.18, Z:-46.13 [[ 9.21105501e-01 3.84522936e-01 6.08832306e-02 7.24327353e+02] [-3.83712574e-01 9.23115361e-01 -2.49537770e-02 -1.24178633e+02] [-6.57975450e-02 -3.76599843e-04 9.97832923e-01 -4.61333038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.1007140569999 meters 0.016184117857798348 Centerline is valid? [True, True] Translation: X:724.36, Y:-124.19, Z:-46.14 [[ 9.21072126e-01 3.84494536e-01 6.15637187e-02 7.24357217e+02] [-3.83664572e-01 9.23127197e-01 -2.52522116e-02 -1.24193749e+02] [-6.65404805e-02 -3.60709615e-04 9.97783661e-01 -4.61359193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.130714057 meters 0.016103662806971876 Centerline is valid? [True, True] Translation: X:724.39, Y:-124.21, Z:-46.14 [[ 9.21524752e-01 3.83465714e-01 6.12060236e-02 7.24385475e+02] [-3.82641774e-01 9.23555074e-01 -2.51256381e-02 -1.24208513e+02] [-6.61619544e-02 -2.66084026e-04 9.97808862e-01 -4.61378089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.160714057 meters 0.0162594358308491 Centerline is valid? [True, True] Translation: X:724.41, Y:-124.23, Z:-46.14 [[ 9.23310938e-01 3.79095429e-01 6.15107163e-02 7.24413193e+02] [-3.78252327e-01 9.25357580e-01 -2.52690604e-02 -1.24228487e+02] [-6.64987928e-02 6.46282462e-05 9.97786503e-01 -4.61392017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.1907140569999 meters 0.016224357278259074 Centerline is valid? [True, True] Translation: X:724.44, Y:-124.24, Z:-46.14 [[ 9.24214250e-01 3.76760827e-01 6.22840308e-02 7.24441246e+02] [-3.75889681e-01 9.26310539e-01 -2.56072864e-02 -1.24244434e+02] [-6.73421765e-02 2.54694532e-04 9.97729907e-01 -4.61403333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.2207140569999 meters 0.016353546521944814 Centerline is valid? [True, True] Translation: X:724.47, Y:-124.26, Z:-46.14 [[ 9.25093881e-01 3.74428281e-01 6.32832869e-02 7.24469314e+02] [-3.73522188e-01 9.27255769e-01 -2.60367940e-02 -1.24259564e+02] [-6.84287049e-02 4.48767033e-04 9.97655908e-01 -4.61418373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.250714057 meters 0.01644369056118044 Centerline is valid? [True, True] Translation: X:724.50, Y:-124.27, Z:-46.14 [[ 9.25863989e-01 3.72490695e-01 6.34551551e-02 7.24498002e+02] [-3.71573831e-01 9.28035726e-01 -2.61262132e-02 -1.24274493e+02] [-6.86204223e-02 6.11044880e-04 9.97642654e-01 -4.61432172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.280714057 meters 0.016895611404375017 Centerline is valid? [True, True] Translation: X:724.53, Y:-124.29, Z:-46.15 [[ 9.27199729e-01 3.69308114e-01 6.25474209e-02 7.24525054e+02] [-3.68408853e-01 9.29306619e-01 -2.57706221e-02 -1.24291812e+02] [-6.76430320e-02 8.51490229e-04 9.97709224e-01 -4.61462057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.3107140569999 meters 0.017532481160437544 Centerline is valid? [True, True] Translation: X:724.55, Y:-124.31, Z:-46.15 [[ 9.27839392e-01 3.67841587e-01 6.16978948e-02 7.24552048e+02] [-3.66962222e-01 9.29887973e-01 -2.54378727e-02 -1.24306580e+02] [-6.67292378e-02 9.61463814e-04 9.97770657e-01 -4.61488747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.3407140569999 meters 0.017680658900088856 Centerline is valid? [True, True] Translation: X:724.58, Y:-124.32, Z:-46.15 [[ 9.28695119e-01 3.65777709e-01 6.10904588e-02 7.24579756e+02] [-3.64910184e-01 9.30701580e-01 -2.52017254e-02 -1.24322956e+02] [-6.60752159e-02 1.11218879e-03 9.97814025e-01 -4.61517837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.370714057 meters 0.01780558912141852 Centerline is valid? [True, True] Translation: X:724.61, Y:-124.34, Z:-46.15 [[ 9.28876632e-01 3.65319920e-01 6.10701177e-02 7.24608374e+02] [-3.64450815e-01 9.30881307e-01 -2.52110161e-02 -1.24336843e+02] [-6.60591174e-02 1.16086953e-03 9.97815036e-01 -4.61533685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.400714057 meters 0.017869986201681655 Centerline is valid? [True, True] Translation: X:724.64, Y:-124.35, Z:-46.16 [[ 9.28802016e-01 3.65427295e-01 6.15606030e-02 7.24638166e+02] [-3.64543168e-01 9.30839138e-01 -2.54318294e-02 -1.24351230e+02] [-6.65965032e-02 1.17963717e-03 9.97779291e-01 -4.61550061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.4307140569999 meters 0.018197202183677742 Centerline is valid? [True, True] Translation: X:724.67, Y:-124.37, Z:-46.15 [[ 9.28567714e-01 3.65836124e-01 6.26572526e-02 7.24667295e+02] [-3.64919669e-01 9.30678523e-01 -2.59060298e-02 -1.24366880e+02] [-6.77911208e-02 1.19063905e-03 9.97698825e-01 -4.61546397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.4607140569999 meters 0.01835058642593994 Centerline is valid? [True, True] Translation: X:724.70, Y:-124.38, Z:-46.16 [[ 9.28248565e-01 3.66542078e-01 6.32574681e-02 7.24695780e+02] [-3.65608162e-01 9.30400740e-01 -2.61750728e-02 -1.24380634e+02] [-6.84490607e-02 1.16952709e-03 9.97653927e-01 -4.61556279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.490714057 meters 0.018229011484494045 Centerline is valid? [True, True] Translation: X:724.72, Y:-124.39, Z:-46.16 [[ 9.27338254e-01 3.68900199e-01 6.28999659e-02 7.24724484e+02] [-3.67980951e-01 9.29468465e-01 -2.60459543e-02 -1.24393126e+02] [-6.80718925e-02 1.00742057e-03 9.97679910e-01 -4.61576799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.520714057 meters 0.018170616716187107 Centerline is valid? [True, True] Translation: X:724.75, Y:-124.40, Z:-46.16 [[ 9.26876932e-01 3.70030697e-01 6.30589917e-02 7.24754090e+02] [-3.69108266e-01 9.29019050e-01 -2.61283834e-02 -1.24404828e+02] [-6.82513085e-02 9.42200724e-04 9.97667716e-01 -4.61601017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.5507140569999 meters 0.018142811067039067 Centerline is valid? [True, True] Translation: X:724.78, Y:-124.42, Z:-46.16 [[ 9.26510505e-01 3.70908656e-01 6.32854903e-02 7.24784316e+02] [-3.69980370e-01 9.28668920e-01 -2.62404787e-02 -1.24416989e+02] [-6.85040886e-02 8.97690008e-04 9.97650432e-01 -4.61626084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.5807140569999 meters 0.01830518152868207 Centerline is valid? [True, True] Translation: X:724.81, Y:-124.43, Z:-46.16 [[ 9.26549034e-01 3.70698395e-01 6.39498917e-02 7.24811219e+02] [-3.69748564e-01 9.28752827e-01 -2.65365089e-02 -1.24432362e+02] [-6.92306839e-02 9.41996024e-04 9.97600233e-01 -4.61641631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.6107140569999 meters 0.018157678171399405 Centerline is valid? [True, True] Translation: X:724.84, Y:-124.45, Z:-46.17 [[ 9.26844861e-01 3.70003124e-01 6.36890231e-02 7.24840807e+02] [-3.69058193e-01 9.29029965e-01 -2.64456899e-02 -1.24446600e+02] [-6.89539988e-02 1.00609600e-03 9.97619333e-01 -4.61659162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.640714057 meters 0.01818599413717223 Centerline is valid? [True, True] Translation: X:724.87, Y:-124.46, Z:-46.17 [[ 9.27625253e-01 3.67942603e-01 6.42622067e-02 7.24869026e+02] [-3.66974184e-01 9.29847744e-01 -2.67043344e-02 -1.24460980e+02] [-6.95797302e-02 1.18904405e-03 9.97575685e-01 -4.61681110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.6707140569999 meters 0.018457375852704076 Centerline is valid? [True, True] Translation: X:724.90, Y:-124.47, Z:-46.17 [[ 9.27925849e-01 3.67290943e-01 6.36473298e-02 7.24897994e+02] [-3.66338251e-01 9.30105273e-01 -2.64663183e-02 -1.24474193e+02] [-6.89195561e-02 1.24232942e-03 9.97621447e-01 -4.61703184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.7007140569999 meters 0.019055425834205997 Centerline is valid? [True, True] Translation: X:724.93, Y:-124.49, Z:-46.17 [[ 9.28102003e-01 3.66845874e-01 6.36457222e-02 7.24925602e+02] [-3.65890852e-01 9.30280835e-01 -2.64849461e-02 -1.24487679e+02] [-6.89242888e-02 1.29334399e-03 9.97621055e-01 -4.61717420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.7307140569999 meters 0.01872485420836833 Centerline is valid? [True, True] Translation: X:724.96, Y:-124.50, Z:-46.17 [[ 9.28221848e-01 3.66591358e-01 6.33638403e-02 7.24955809e+02] [-3.65642995e-01 9.30381119e-01 -2.63850998e-02 -1.24500158e+02] [-6.86250702e-02 1.32268174e-03 9.97641644e-01 -4.61749001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.760714057 meters 0.018462525644746996 Centerline is valid? [True, True] Translation: X:724.99, Y:-124.51, Z:-46.18 [[ 9.28098159e-01 3.66871128e-01 6.35561432e-02 7.24986501e+02] [-3.65916186e-01 9.30270830e-01 -2.64863519e-02 -1.24513248e+02] [-6.88415039e-02 1.32571294e-03 9.97626729e-01 -4.61771791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.790714057 meters 0.018690967638578807 Centerline is valid? [True, True] Translation: X:725.02, Y:-124.53, Z:-46.18 [[ 9.27970280e-01 3.67174487e-01 6.36714660e-02 7.25015959e+02] [-3.66215399e-01 9.30151140e-01 -2.65544526e-02 -1.24526976e+02] [-6.89742042e-02 1.32427145e-03 9.97617565e-01 -4.61781965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.8207140569999 meters 0.01840975578556582 Centerline is valid? [True, True] Translation: X:725.05, Y:-124.54, Z:-46.18 [[ 9.27858502e-01 3.67467218e-01 6.36116723e-02 7.25046828e+02] [-3.66509621e-01 9.30035545e-01 -2.65439800e-02 -1.24539455e+02] [-6.89151588e-02 1.31476758e-03 9.97621658e-01 -4.61808294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.8507140569999 meters 0.01839477972902717 Centerline is valid? [True, True] Translation: X:725.08, Y:-124.55, Z:-46.18 [[ 9.27818950e-01 3.67506453e-01 6.39609580e-02 7.25077779e+02] [-3.66536913e-01 9.30020008e-01 -2.67109837e-02 -1.24551886e+02] [-6.93014296e-02 1.33890472e-03 9.97594867e-01 -4.61831300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.880714057 meters 0.018298199878950386 Centerline is valid? [True, True] Translation: X:725.11, Y:-124.56, Z:-46.19 [[ 9.28037517e-01 3.66981695e-01 6.38028486e-02 7.25107642e+02] [-3.66014274e-01 9.30227119e-01 -2.66656767e-02 -1.24563881e+02] [-6.91369552e-02 1.39399505e-03 9.97606204e-01 -4.61860586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.910714057 meters 0.018813801969894687 Centerline is valid? [True, True] Translation: X:725.14, Y:-124.58, Z:-46.19 [[ 9.28128617e-01 3.66832570e-01 6.33335262e-02 7.25135884e+02] [-3.65877793e-01 9.30285910e-01 -2.64871033e-02 -1.24577765e+02] [-6.86346193e-02 1.41110778e-03 9.97640866e-01 -4.61884919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.9407140569999 meters 0.019013623138330427 Centerline is valid? [True, True] Translation: X:725.16, Y:-124.59, Z:-46.19 [[ 9.28921642e-01 3.65179423e-01 6.12255833e-02 7.25164676e+02] [-3.64282767e-01 9.30935957e-01 -2.56185344e-02 -1.24591102e+02] [-6.63524586e-02 1.49418620e-03 9.97795129e-01 -4.61912255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.9707140569999 meters 0.019715719558441043 Centerline is valid? [True, True] Translation: X:725.19, Y:-124.60, Z:-46.19 [[ 9.29223944e-01 3.64484476e-01 6.07776953e-02 7.25192287e+02] [-3.63598279e-01 9.31208177e-01 -2.54484464e-02 -1.24604623e+02] [-6.58722505e-02 1.54864033e-03 9.97826863e-01 -4.61931588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.000714057 meters 0.019370326829406072 Centerline is valid? [True, True] Translation: X:725.22, Y:-124.62, Z:-46.20 [[ 9.29488930e-01 3.63889699e-01 6.02877803e-02 7.25222595e+02] [-3.63015444e-01 9.31440685e-01 -2.52594145e-02 -1.24616358e+02] [-6.53461321e-02 1.59295090e-03 9.97861386e-01 -4.61959425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.030714057 meters 0.019792600618050056 Centerline is valid? [True, True] Translation: X:725.25, Y:-124.63, Z:-46.20 [[ 9.30074230e-01 3.62304795e-01 6.08042915e-02 7.25251539e+02] [-3.61410935e-01 9.32058058e-01 -2.54933753e-02 -1.24629665e+02] [-6.59095020e-02 1.73539559e-03 9.97824096e-01 -4.61967479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.0607140569999 meters 0.020250253623432843 Centerline is valid? [True, True] Translation: X:725.28, Y:-124.64, Z:-46.20 [[ 9.30387754e-01 3.61356044e-01 6.16476871e-02 7.25280003e+02] [-3.60433923e-01 9.32426087e-01 -2.58646224e-02 -1.24643037e+02] [-6.68282493e-02 1.84421019e-03 9.97762789e-01 -4.61979182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.0907140569999 meters 0.019743562780657493 Centerline is valid? [True, True] Translation: X:725.31, Y:-124.65, Z:-46.20 [[ 9.30776032e-01 3.60251921e-01 6.22457325e-02 7.25309800e+02] [-3.59308202e-01 9.32853000e-01 -2.61322806e-02 -1.24654745e+02] [-6.74803226e-02 1.95789819e-03 9.97718684e-01 -4.61999128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.120714057 meters 0.0211200509602309 Centerline is valid? [True, True] Translation: X:725.34, Y:-124.67, Z:-46.20 [[ 9.31719724e-01 3.57731118e-01 6.26642093e-02 7.25337445e+02] [-3.56767726e-01 9.33822108e-01 -2.63260316e-02 -1.24670127e+02] [-6.79348647e-02 2.17191550e-03 9.97687394e-01 -4.62012639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.150714057 meters 0.020709414851757382 Centerline is valid? [True, True] Translation: X:725.37, Y:-124.68, Z:-46.20 [[ 9.32235781e-01 3.56418281e-01 6.24696584e-02 7.25367176e+02] [-3.55456782e-01 9.34323727e-01 -2.62611699e-02 -1.24682041e+02] [-6.77268451e-02 2.27633846e-03 9.97701304e-01 -4.62039996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.1807140569999 meters 0.024504400405088972 Centerline is valid? [True, True] Translation: X:725.39, Y:-124.70, Z:-46.20 [[ 9.32531277e-01 3.55638595e-01 6.25028632e-02 7.25392862e+02] [-3.54673100e-01 9.34620598e-01 -2.62931574e-02 -1.24701259e+02] [-6.77673250e-02 2.35110743e-03 9.97698382e-01 -4.62033907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.2107140569999 meters 0.021627460208407164 Centerline is valid? [True, True] Translation: X:725.42, Y:-124.71, Z:-46.21 [[ 9.32831143e-01 3.54793897e-01 6.28279320e-02 7.25424428e+02] [-3.53815236e-01 9.34941352e-01 -2.64470664e-02 -1.24709774e+02] [-6.81236895e-02 2.44116760e-03 9.97673896e-01 -4.62063334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.240714057 meters 0.021298606909145302 Centerline is valid? [True, True] Translation: X:725.45, Y:-124.72, Z:-46.21 [[ 9.32749749e-01 3.55005343e-01 6.28419682e-02 7.25454736e+02] [-3.54025456e-01 9.34861078e-01 -2.64715258e-02 -1.24721315e+02] [-6.81460432e-02 2.44365256e-03 9.97672364e-01 -4.62087054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.270714057 meters 0.021910469876038764 Centerline is valid? [True, True] Translation: X:725.48, Y:-124.73, Z:-46.21 [[ 9.32454012e-01 3.55875148e-01 6.23088599e-02 7.25482970e+02] [-3.54912409e-01 9.34530481e-01 -2.62671176e-02 -1.24733590e+02] [-6.75773432e-02 2.37869165e-03 9.97711203e-01 -4.62108462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.3007140569999 meters 0.021386011271729736 Centerline is valid? [True, True] Translation: X:725.51, Y:-124.74, Z:-46.21 [[ 9.31679909e-01 3.58113240e-01 6.10528895e-02 7.25512680e+02] [-3.57192798e-01 9.33675604e-01 -2.57521297e-02 -1.24742982e+02] [-6.62257721e-02 2.18508942e-03 9.97802271e-01 -4.62132830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.3307140569999 meters 0.02111736812328357 Centerline is valid? [True, True] Translation: X:725.54, Y:-124.75, Z:-46.22 [[ 9.30877920e-01 3.60290154e-01 6.04756498e-02 7.25541285e+02] [-3.59391368e-01 9.32838113e-01 -2.55127170e-02 -1.24754622e+02] [-6.56059718e-02 2.01479839e-03 9.97843573e-01 -4.62153536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.3607140569999 meters 0.02016359238684642 Centerline is valid? [True, True] Translation: X:725.57, Y:-124.76, Z:-46.22 [[ 9.29302303e-01 3.64374765e-01 6.02350468e-02 7.25571730e+02] [-3.63490730e-01 9.31250786e-01 -2.54256294e-02 -1.24764734e+02] [-6.53583924e-02 1.73321483e-03 9.97860349e-01 -4.62166023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.390714057 meters 0.01984768639499487 Centerline is valid? [True, True] Translation: X:725.60, Y:-124.78, Z:-46.22 [[ 9.28391704e-01 3.66545585e-01 6.10997495e-02 7.25601534e+02] [-3.65640278e-01 9.30398704e-01 -2.57961075e-02 -1.24775794e+02] [-6.63025771e-02 1.60836277e-03 9.97798267e-01 -4.62173006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.4207140569999 meters 0.018605630996200197 Centerline is valid? [True, True] Translation: X:725.63, Y:-124.78, Z:-46.22 [[ 9.27714931e-01 3.68124862e-01 6.18796696e-02 7.25632347e+02] [-3.67198578e-01 9.29775103e-01 -2.61431229e-02 -1.24784484e+02] [-6.71581097e-02 1.53123878e-03 9.97741171e-01 -4.62191464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.4507140569999 meters 0.01907541016475597 Centerline is valid? [True, True] Translation: X:725.66, Y:-124.80, Z:-46.22 [[ 9.27281057e-01 3.69165968e-01 6.21798235e-02 7.25660879e+02] [-3.68231764e-01 9.29362307e-01 -2.62882146e-02 -1.24796755e+02] [-6.74922984e-02 1.47997733e-03 9.97718698e-01 -4.62199903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.4807140569999 meters 0.018896879313379553 Centerline is valid? [True, True] Translation: X:725.69, Y:-124.81, Z:-46.22 [[ 9.26968700e-01 3.69965023e-01 6.20879308e-02 7.25691272e+02] [-3.69034329e-01 9.29044577e-01 -2.62647759e-02 -1.24808649e+02] [-6.73995038e-02 1.43404729e-03 9.97725037e-01 -4.62217259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.510714057 meters 0.019569646228200132 Centerline is valid? [True, True] Translation: X:725.72, Y:-124.82, Z:-46.22 [[ 9.27149164e-01 3.69494476e-01 6.21953371e-02 7.25718900e+02] [-3.68558993e-01 9.29231752e-01 -2.63176810e-02 -1.24821965e+02] [-6.75181198e-02 1.47776513e-03 9.97716954e-01 -4.62231137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.540714057 meters 0.019737293972478108 Centerline is valid? [True, True] Translation: X:725.75, Y:-124.83, Z:-46.23 [[ 9.28178863e-01 3.66908290e-01 6.21474458e-02 7.25748339e+02] [-3.65967473e-01 9.30255605e-01 -2.63119543e-02 -1.24834373e+02] [-6.74670839e-02 1.67825616e-03 9.97720089e-01 -4.62261598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.5707140569999 meters 0.020902849486152574 Centerline is valid? [True, True] Translation: X:725.78, Y:-124.85, Z:-46.23 [[ 9.29073601e-01 3.64611367e-01 6.22960250e-02 7.25775961e+02] [-3.63659671e-01 9.31157918e-01 -2.63927219e-02 -1.24849601e+02] [-6.76305234e-02 1.86622920e-03 9.97708690e-01 -4.62268212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.6007140569999 meters 0.022640079120439773 Centerline is valid? [True, True] Translation: X:725.80, Y:-124.86, Z:-46.23 [[ 9.31657510e-01 3.57977640e-01 6.21795234e-02 7.25803350e+02] [-3.57013755e-01 9.33727183e-01 -2.63576610e-02 -1.24862856e+02] [-6.74941646e-02 2.35736770e-03 9.97716884e-01 -4.62292017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.630714057 meters 0.022500481950564224 Centerline is valid? [True, True] Translation: X:725.83, Y:-124.87, Z:-46.23 [[ 9.33019813e-01 3.54495796e-01 6.16989399e-02 7.25832686e+02] [-3.53539089e-01 9.35054020e-01 -2.61551537e-02 -1.24873431e+02] [-6.69637339e-02 2.59028966e-03 9.97752048e-01 -4.62315886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.660714057 meters 0.02384558730114784 Centerline is valid? [True, True] Translation: X:725.86, Y:-124.89, Z:-46.23 [[ 9.34288801e-01 3.51111938e-01 6.18453245e-02 7.25861081e+02] [-3.50143105e-01 9.36329178e-01 -2.62197794e-02 -1.24886312e+02] [-6.71136594e-02 2.84213230e-03 9.97741289e-01 -4.62341356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.6907140569999 meters 0.024772984183193833 Centerline is valid? [True, True] Translation: X:725.89, Y:-124.90, Z:-46.24 [[ 9.35620272e-01 3.47559525e-01 6.17825538e-02 7.25889753e+02] [-3.46584771e-01 9.37652809e-01 -2.61955376e-02 -1.24898482e+02] [-6.70350937e-02 3.09618379e-03 9.97745814e-01 -4.62357122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.7207140569999 meters 0.026321136060704336 Centerline is valid? [True, True] Translation: X:725.92, Y:-124.91, Z:-46.24 [[ 9.37662031e-01 3.41913874e-01 6.23283081e-02 7.25918858e+02] [-3.40909256e-01 9.39724653e-01 -2.64283105e-02 -1.24909677e+02] [-6.76076538e-02 3.53252615e-03 9.97705731e-01 -4.62366210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.750714057 meters 0.0283050696036977 Centerline is valid? [True, True] Translation: X:725.95, Y:-124.92, Z:-46.24 [[ 9.38502453e-01 3.39580289e-01 6.24369523e-02 7.25945906e+02] [-3.38566905e-01 9.40569760e-01 -2.64759763e-02 -1.24921875e+02] [-6.77170289e-02 3.70868303e-03 9.97697675e-01 -4.62374691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.780714057 meters 0.02998321240407403 Centerline is valid? [True, True] Translation: X:725.97, Y:-124.93, Z:-46.24 [[ 9.39172371e-01 3.37634563e-01 6.29139057e-02 7.25973789e+02] [-3.36601255e-01 9.41269280e-01 -2.66784180e-02 -1.24933614e+02] [-6.82264828e-02 3.87873345e-03 9.97662319e-01 -4.62383059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.8107140569999 meters 0.03071875730833639 Centerline is valid? [True, True] Translation: X:726.00, Y:-124.94, Z:-46.24 [[ 9.40608406e-01 3.33752067e-01 6.21722161e-02 7.26004105e+02] [-3.32734483e-01 9.42651922e-01 -2.63650862e-02 -1.24940330e+02] [-6.74061610e-02 4.11238153e-03 9.97717143e-01 -4.62398991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.8407140569999 meters 0.03071875730833639 Centerline is valid? [True, True] Translation: X:726.03, Y:-124.95, Z:-46.24 [[ 9.40517217e-01 3.34009195e-01 6.21709029e-02 7.26033985e+02] [-3.32991966e-01 9.42560910e-01 -2.63681818e-02 -1.24953077e+02] [-6.74070781e-02 4.09731778e-03 9.97717143e-01 -4.62417815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.870714057 meters 0.031076372018552897 Centerline is valid? [True, True] Translation: X:726.06, Y:-124.96, Z:-46.24 [[ 9.41092885e-01 3.32433206e-01 6.19059370e-02 7.26064772e+02] [-3.31420050e-01 9.43117409e-01 -2.62736206e-02 -1.24962557e+02] [-6.71187908e-02 4.20904870e-03 9.97736113e-01 -4.62444407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.900714057 meters 0.031264564323765814 Centerline is valid? [True, True] Translation: X:726.10, Y:-124.97, Z:-46.25 [[ 9.42243618e-01 3.29408992e-01 6.05531118e-02 7.26096034e+02] [-3.28433192e-01 9.44177395e-01 -2.57038009e-02 -1.24967715e+02] [-6.56399425e-02 4.33159054e-03 9.97833972e-01 -4.62484924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.9307140569999 meters 0.028925061250540566 Centerline is valid? [True, True] Translation: X:726.13, Y:-124.97, Z:-46.25 [[ 9.42955199e-01 3.27497722e-01 5.98392484e-02 7.26127299e+02] [-3.26540919e-01 9.44841663e-01 -2.54019720e-02 -1.24972895e+02] [-6.48577029e-02 4.41295844e-03 9.97884765e-01 -4.62513306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.9607140569999 meters 0.030443727296381277 Centerline is valid? [True, True] Translation: X:726.16, Y:-124.98, Z:-46.25 [[ 9.43590318e-01 3.25713278e-01 5.95665416e-02 7.26156391e+02] [-3.24761573e-01 9.45457808e-01 -2.52874417e-02 -1.24982959e+02] [-6.45541073e-02 4.51606137e-03 9.97903990e-01 -4.62530599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.990714057 meters 0.028845275439435537 Centerline is valid? [True, True] Translation: X:726.19, Y:-124.98, Z:-46.25 [[ 9.44666542e-01 3.22566338e-01 5.96328944e-02 7.26189294e+02] [-3.21606198e-01 9.46535003e-01 -2.53168136e-02 -1.24983217e+02] [-6.46109737e-02 4.73763838e-03 9.97899282e-01 -4.62545310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.020714057 meters 0.03317324026016153 Centerline is valid? [True, True] Translation: X:726.22, Y:-125.00, Z:-46.26 [[ 9.44994088e-01 3.21604563e-01 5.96379050e-02 7.26217780e+02] [-3.20642193e-01 9.46861872e-01 -2.53215061e-02 -1.24996176e+02] [-6.46123702e-02 4.80624485e-03 9.97898863e-01 -4.62556442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.0507140569999 meters 0.03529481357394769 Centerline is valid? [True, True] Translation: X:726.25, Y:-125.00, Z:-46.26 [[ 9.45597165e-01 3.19675339e-01 6.04456697e-02 7.26249411e+02] [-3.18681788e-01 9.47513843e-01 -2.56794881e-02 -1.25001338e+02] [-6.54822078e-02 5.01951711e-03 9.97841112e-01 -4.62571420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.0807140569999 meters 0.035785335672834435 Centerline is valid? [True, True] Translation: X:726.28, Y:-125.01, Z:-46.26 [[ 9.45952382e-01 3.18561604e-01 6.07667270e-02 7.26280555e+02] [-3.17554980e-01 9.47888297e-01 -2.58188300e-02 -1.25009670e+02] [-6.58249573e-02 5.12660697e-03 9.97818016e-01 -4.62589185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.1107140569999 meters 0.036699555283210124 Centerline is valid? [True, True] Translation: X:726.31, Y:-125.01, Z:-46.26 [[ 9.46758873e-01 3.16142907e-01 6.08383059e-02 7.26313121e+02] [-3.15128625e-01 9.48696743e-01 -2.58541926e-02 -1.25013153e+02] [-6.58907223e-02 5.30579456e-03 9.97812739e-01 -4.62609978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.140714057 meters 0.03974316243125947 Centerline is valid? [True, True] Translation: X:726.34, Y:-125.02, Z:-46.26 [[ 9.47106717e-01 3.15131114e-01 6.06732899e-02 7.26342168e+02] [-3.14119986e-01 9.49032976e-01 -2.57884620e-02 -1.25023855e+02] [-6.57076996e-02 5.36573259e-03 9.97824487e-01 -4.62629276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.1707140569999 meters 0.03808738629753242 Centerline is valid? [True, True] Translation: X:726.37, Y:-125.03, Z:-46.27 [[ 9.47443379e-01 3.14140592e-01 6.05535411e-02 7.26374558e+02] [-3.13130427e-01 9.49360896e-01 -2.57531483e-02 -1.25028950e+02] [-6.55772733e-02 5.43849371e-03 9.97832673e-01 -4.62660391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.2007140569999 meters 0.044824993170180856 Centerline is valid? [True, True] Translation: X:726.40, Y:-125.04, Z:-46.27 [[ 9.47688446e-01 3.13477571e-01 6.01533200e-02 7.26404390e+02] [-3.12478982e-01 9.49579941e-01 -2.55894858e-02 -1.25038892e+02] [-6.51421159e-02 5.45421185e-03 9.97861091e-01 -4.62688423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.2307140569999 meters 0.03931469888748063 Centerline is valid? [True, True] Translation: X:726.44, Y:-125.04, Z:-46.27 [[ 9.47718676e-01 3.13558647e-01 5.92476714e-02 7.26439638e+02] [-3.12589018e-01 9.49553583e-01 -2.52210107e-02 -1.25039641e+02] [-6.41671046e-02 5.38225144e-03 9.97924654e-01 -4.62712612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.260714057 meters 0.03920604845939719 Centerline is valid? [True, True] Translation: X:726.47, Y:-125.04, Z:-46.27 [[ 9.47464163e-01 3.14252778e-01 5.96393459e-02 7.26474236e+02] [-3.13270310e-01 9.49324043e-01 -2.54081547e-02 -1.25040099e+02] [-6.46016482e-02 5.39007970e-03 9.97896575e-01 -4.62733892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.290714057 meters 0.03999640620342373 Centerline is valid? [True, True] Translation: X:726.50, Y:-125.05, Z:-46.28 [[ 9.47185026e-01 3.15150616e-01 5.93347793e-02 7.26504929e+02] [-3.14178777e-01 9.49026767e-01 -2.52960787e-02 -1.25047554e+02] [-6.42823686e-02 5.31833859e-03 9.97917578e-01 -4.62753229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.3207140569999 meters 0.0404389988199696 Centerline is valid? [True, True] Translation: X:726.54, Y:-125.06, Z:-46.28 [[ 9.46876569e-01 3.15996246e-01 5.97589784e-02 7.26536714e+02] [-3.15011018e-01 9.48745554e-01 -2.54937697e-02 -1.25055234e+02] [-6.47520006e-02 5.31471652e-03 9.97887234e-01 -4.62773346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.3507140569999 meters 0.041486617198681706 Centerline is valid? [True, True] Translation: X:726.57, Y:-125.06, Z:-46.28 [[ 9.46628212e-01 3.16665419e-01 6.01501498e-02 7.26566984e+02] [-3.15667410e-01 9.48522380e-01 -2.56784291e-02 -1.25063314e+02] [-6.51852337e-02 5.32048349e-03 9.97858997e-01 -4.62790885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.380714057 meters 0.04169001436926363 Centerline is valid? [True, True] Translation: X:726.60, Y:-125.07, Z:-46.28 [[ 9.46187637e-01 3.17855646e-01 6.08008564e-02 7.26600389e+02] [-3.16837213e-01 9.48124241e-01 -2.59731359e-02 -1.25066227e+02] [-6.59024737e-02 5.31148619e-03 9.97811932e-01 -4.62808589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.410714057 meters 0.04340323254993041 Centerline is valid? [True, True] Translation: X:726.63, Y:-125.08, Z:-46.28 [[ 9.46007383e-01 3.18322241e-01 6.11635778e-02 7.26630368e+02] [-3.17291388e-01 9.47967599e-01 -2.61458721e-02 -1.25075827e+02] [-6.63039026e-02 5.32751156e-03 9.97785253e-01 -4.62826481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.4407140569999 meters 0.04280158500167299 Centerline is valid? [True, True] Translation: X:726.66, Y:-125.08, Z:-46.28 [[ 9.45800248e-01 3.18814026e-01 6.18021701e-02 7.26663166e+02] [-3.17761572e-01 9.47802122e-01 -2.64333152e-02 -1.25077135e+02] [-6.70035396e-02 5.36228130e-03 9.97738328e-01 -4.62844458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.4707140569999 meters 0.041721069298078076 Centerline is valid? [True, True] Translation: X:726.69, Y:-125.08, Z:-46.29 [[ 9.45701624e-01 3.19101189e-01 6.18293593e-02 7.26693350e+02] [-3.18048416e-01 9.47705582e-01 -2.64449442e-02 -1.25082914e+02] [-6.70346421e-02 5.34429691e-03 9.97736336e-01 -4.62865021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.500714057 meters 0.04620646061585386 Centerline is valid? [True, True] Translation: X:726.72, Y:-125.10, Z:-46.29 [[ 9.45660238e-01 3.19262100e-01 6.16313646e-02 7.26720573e+02] [-3.18216408e-01 9.47651547e-01 -2.63602602e-02 -1.25095355e+02] [-6.68208900e-02 5.31573849e-03 9.97750826e-01 -4.62883045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.530714057 meters 0.04476836192279918 Centerline is valid? [True, True] Translation: X:726.75, Y:-125.10, Z:-46.29 [[ 9.45840232e-01 3.18793763e-01 6.12926815e-02 7.26750946e+02] [-3.17758629e-01 9.47809184e-01 -2.62145784e-02 -1.25096006e+02] [-6.64508106e-02 5.31852443e-03 9.97775527e-01 -4.62916258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.5607140569999 meters 0.04129355823564318 Centerline is valid? [True, True] Translation: X:726.78, Y:-125.10, Z:-46.29 [[ 9.46006757e-01 3.18360525e-01 6.09736911e-02 7.26780746e+02] [-3.17335660e-01 9.47954811e-01 -2.60721153e-02 -1.25098694e+02] [-6.61006361e-02 5.31527077e-03 9.97798804e-01 -4.62944142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.5907140569999 meters 0.03788944061295884 Centerline is valid? [True, True] Translation: X:726.81, Y:-125.10, Z:-46.30 [[ 9.46119174e-01 3.17971752e-01 6.12574406e-02 7.26812703e+02] [-3.16936850e-01 9.48085022e-01 -2.61882448e-02 -1.25098067e+02] [-6.64043841e-02 5.36246028e-03 9.97778383e-01 -4.62977084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.620714057 meters 0.042562792830014996 Centerline is valid? [True, True] Translation: X:726.84, Y:-125.11, Z:-46.30 [[ 9.46276965e-01 3.17557222e-01 6.09697928e-02 7.26837365e+02] [-3.16531547e-01 9.48223957e-01 -2.60596864e-02 -1.25111024e+02] [-6.60884598e-02 5.36081813e-03 9.97799367e-01 -4.62989819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.650714057 meters 0.04311960711668224 Centerline is valid? [True, True] Translation: X:726.86, Y:-125.12, Z:-46.30 [[ 9.46380277e-01 3.17265382e-01 6.08855350e-02 7.26864896e+02] [-3.16242426e-01 9.48321609e-01 -2.60164102e-02 -1.25119305e+02] [-6.59931749e-02 5.36682817e-03 9.97805641e-01 -4.63013114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.6807140569999 meters 0.04329081808657584 Centerline is valid? [True, True] Translation: X:726.89, Y:-125.12, Z:-46.30 [[ 9.46305372e-01 3.17515329e-01 6.07466718e-02 7.26894008e+02] [-3.16497884e-01 9.48238146e-01 -2.59520131e-02 -1.25124581e+02] [-6.58424735e-02 5.33233633e-03 9.97815782e-01 -4.63037795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.7107140569999 meters 0.03994673509667269 Centerline is valid? [True, True] Translation: X:726.92, Y:-125.13, Z:-46.31 [[ 9.46199465e-01 3.17793174e-01 6.09431851e-02 7.26923600e+02] [-3.16770036e-01 9.48145104e-01 -2.60308545e-02 -1.25127699e+02] [-6.60554105e-02 5.32540562e-03 9.97801745e-01 -4.63065856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.740714057 meters 0.04525847752567163 Centerline is valid? [True, True] Translation: X:726.95, Y:-125.14, Z:-46.31 [[ 9.46032541e-01 3.18310305e-01 6.08356872e-02 7.26947392e+02] [-3.17292207e-01 9.47971903e-01 -2.59793708e-02 -1.25141727e+02] [-6.59400236e-02 5.27464072e-03 9.97809647e-01 -4.63079307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.770714057 meters 0.03938444618526421 Centerline is valid? [True, True] Translation: X:726.98, Y:-125.14, Z:-46.31 [[ 9.45675244e-01 3.19378617e-01 6.07917035e-02 7.26979720e+02] [-3.18364688e-01 9.47612987e-01 -2.59529075e-02 -1.25139673e+02] [-6.58958114e-02 5.18909049e-03 9.97813016e-01 -4.63115454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.8007140569999 meters 0.0406587496815851 Centerline is valid? [True, True] Translation: X:727.01, Y:-125.15, Z:-46.31 [[ 9.45601895e-01 3.19614992e-01 6.06903059e-02 7.27005966e+02] [-3.18605284e-01 9.47533452e-01 -2.59042495e-02 -1.25149875e+02] [-6.57854816e-02 5.15885530e-03 9.97820453e-01 -4.63138726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.8307140569999 meters 0.03999885168199176 Centerline is valid? [True, True] Translation: X:727.03, Y:-125.16, Z:-46.32 [[ 9.45434121e-01 3.20223982e-01 6.00909596e-02 7.27034771e+02] [-3.19235770e-01 9.47328348e-01 -2.56422280e-02 -1.25155213e+02] [-6.51371259e-02 5.05985355e-03 9.97863494e-01 -4.63171026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.8607140569999 meters 0.04278165877724516 Centerline is valid? [True, True] Translation: X:727.06, Y:-125.17, Z:-46.32 [[ 9.45113147e-01 3.21242404e-01 5.97030769e-02 7.27059907e+02] [-3.20269294e-01 9.46984052e-01 -2.54712649e-02 -1.25166838e+02] [-6.47203121e-02 4.95216507e-03 9.97891155e-01 -4.63191412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.890714057 meters 0.043343448163313016 Centerline is valid? [True, True] Translation: X:727.09, Y:-125.18, Z:-46.32 [[ 9.44875436e-01 3.22071118e-01 5.89966568e-02 7.27087747e+02] [-3.21123119e-01 9.46703163e-01 -2.51607401e-02 -1.25175796e+02] [-6.39558693e-02 4.82857483e-03 9.97941046e-01 -4.63219075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.9207140569999 meters 0.04339782057514889 Centerline is valid? [True, True] Translation: X:727.12, Y:-125.18, Z:-46.32 [[ 9.44388877e-01 3.23569712e-01 5.85857588e-02 7.27116163e+02] [-3.22638661e-01 9.46192758e-01 -2.49711880e-02 -1.25184526e+02] [-6.35133408e-02 4.68048139e-03 9.97970014e-01 -4.63241327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.9507140569999 meters 0.040117866141231126 Centerline is valid? [True, True] Translation: X:727.15, Y:-125.19, Z:-46.33 [[ 9.43807610e-01 3.25136044e-01 5.92768811e-02 7.27147832e+02] [-3.24186089e-01 9.45655933e-01 -2.52633183e-02 -1.25186121e+02] [-6.42695497e-02 4.62697183e-03 9.97921849e-01 -4.63264658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.9807140569999 meters 0.04097389555565161 Centerline is valid? [True, True] Translation: X:727.17, Y:-125.20, Z:-46.33 [[ 9.43754110e-01 3.25237422e-01 5.95718072e-02 7.27174966e+02] [-3.24278358e-01 9.45621005e-01 -2.53862455e-02 -1.25195971e+02] [-6.45889092e-02 4.64052569e-03 9.97901167e-01 -4.63275748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.010714057 meters 0.04116865448791832 Centerline is valid? [True, True] Translation: X:727.20, Y:-125.20, Z:-46.33 [[ 9.43942167e-01 3.24563356e-01 6.02645339e-02 7.27203374e+02] [-3.23580890e-01 9.45852106e-01 -2.56749163e-02 -1.25203803e+02] [-6.53344733e-02 4.73518457e-03 9.97852186e-01 -4.63287323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.040714057 meters 0.04128890384536435 Centerline is valid? [True, True] Translation: X:727.23, Y:-125.21, Z:-46.33 [[ 9.44419206e-01 3.23169306e-01 6.02823590e-02 7.27231129e+02] [-3.22184477e-01 9.46328899e-01 -2.56666547e-02 -1.25213893e+02] [-6.53416135e-02 4.81804140e-03 9.97851322e-01 -4.63310333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.0707140569999 meters 0.04376145339084691 Centerline is valid? [True, True] Translation: X:727.26, Y:-125.23, Z:-46.33 [[ 9.45773647e-01 3.19245562e-01 5.99539877e-02 7.27258959e+02] [-3.18263758e-01 9.47658522e-01 -2.55246158e-02 -1.25226221e+02] [-6.49645277e-02 5.05932753e-03 9.97874748e-01 -4.63335106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.1007140569999 meters 0.042622838609596744 Centerline is valid? [True, True] Translation: X:727.29, Y:-125.23, Z:-46.34 [[ 9.46547846e-01 3.17061626e-01 5.93220049e-02 7.27288469e+02] [-3.16096187e-01 9.48390932e-01 -2.52554968e-02 -1.25234829e+02] [-6.42680004e-02 5.15407658e-03 9.97919365e-01 -4.63360956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.130714057 meters 0.049193714582613256 Centerline is valid? [True, True] Translation: X:727.31, Y:-125.25, Z:-46.34 [[ 9.47258124e-01 3.15027922e-01 5.88171352e-02 7.27312982e+02] [-3.14074993e-01 9.49067901e-01 -2.50403192e-02 -1.25251874e+02] [-6.37098548e-02 5.24665445e-03 9.97954672e-01 -4.63369786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.160714057 meters 0.05014416990366415 Centerline is valid? [True, True] Translation: X:727.34, Y:-125.26, Z:-46.34 [[ 9.48286630e-01 3.11906334e-01 5.88804373e-02 7.27342112e+02] [-3.10945528e-01 9.50097166e-01 -2.50649919e-02 -1.25260201e+02] [-6.37600664e-02 5.46018803e-03 9.97950320e-01 -4.63390464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.1907140569999 meters 0.04684899663968162 Centerline is valid? [True, True] Translation: X:727.37, Y:-125.27, Z:-46.34 [[ 9.48630668e-01 3.10752737e-01 5.94356131e-02 7.27372180e+02] [-3.09771491e-01 9.50474351e-01 -2.53008278e-02 -1.25265637e+02] [-6.43543273e-02 5.58968275e-03 9.97911457e-01 -4.63409915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.2207140569999 meters 0.04785457005168987 Centerline is valid? [True, True] Translation: X:727.40, Y:-125.27, Z:-46.34 [[ 9.48743915e-01 3.10253762e-01 6.02294599e-02 7.27399446e+02] [-3.09245379e-01 9.50636720e-01 -2.56344060e-02 -1.25274170e+02] [-6.52095071e-02 5.69480455e-03 9.97855345e-01 -4.63407749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.250714057 meters 0.046585468512923355 Centerline is valid? [True, True] Translation: X:727.43, Y:-125.28, Z:-46.34 [[ 9.48279751e-01 3.11460696e-01 6.13004877e-02 7.27427257e+02] [-3.10419682e-01 9.50241963e-01 -2.60735981e-02 -1.25281511e+02] [-6.63711968e-02 5.69618723e-03 9.97778742e-01 -4.63418832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.280714057 meters 0.04439627278877788 Centerline is valid? [True, True] Translation: X:727.46, Y:-125.29, Z:-46.34 [[ 9.47765971e-01 3.13021594e-01 6.12955690e-02 7.27457159e+02] [-3.11984290e-01 9.49729605e-01 -2.60668394e-02 -1.25287623e+02] [-6.63737002e-02 5.58200883e-03 9.97779221e-01 -4.63431480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.3107140569999 meters 0.043180331054346356 Centerline is valid? [True, True] Translation: X:727.49, Y:-125.29, Z:-46.34 [[ 9.45958644e-01 3.18439824e-01 6.13051530e-02 7.27488058e+02] [-3.17413544e-01 9.47928806e-01 -2.60695291e-02 -1.25290772e+02] [-6.64144967e-02 5.20161048e-03 9.97778562e-01 -4.63449536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.3407140569999 meters 0.04218947184386035 Centerline is valid? [True, True] Translation: X:727.52, Y:-125.30, Z:-46.35 [[ 9.44718428e-01 3.22064766e-01 6.14929120e-02 7.27517724e+02] [-3.21039904e-01 9.46704642e-01 -2.61476559e-02 -1.25298650e+02] [-6.66368639e-02 4.96049375e-03 9.97764963e-01 -4.63464589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.370714057 meters 0.03964879978707685 Centerline is valid? [True, True] Translation: X:727.55, Y:-125.30, Z:-46.35 [[ 9.41689471e-01 3.30679964e-01 6.22229916e-02 7.27548294e+02] [-3.29649257e-01 9.43732683e-01 -2.64573450e-02 -1.25301612e+02] [-6.74707847e-02 4.40284027e-03 9.97711536e-01 -4.63487170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.400714057 meters 0.03687573319814223 Centerline is valid? [True, True] Translation: X:727.58, Y:-125.31, Z:-46.35 [[ 9.39908875e-01 3.35842960e-01 6.14883096e-02 7.27578824e+02] [-3.34847574e-01 9.41909573e-01 -2.61430613e-02 -1.25307239e+02] [-6.66963905e-02 3.98288410e-03 9.97765367e-01 -4.63509677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.4307140569999 meters 0.037165985835091876 Centerline is valid? [True, True] Translation: X:727.61, Y:-125.32, Z:-46.35 [[ 9.38314114e-01 3.40236182e-01 6.16924962e-02 7.27606813e+02] [-3.39243787e-01 9.40332811e-01 -2.62270575e-02 -1.25316711e+02] [-6.69348722e-02 3.68042227e-03 9.97750559e-01 -4.63534382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.4607140569999 meters 0.032207359556399494 Centerline is valid? [True, True] Translation: X:727.64, Y:-125.32, Z:-46.36 [[ 9.35185201e-01 3.48929179e-01 6.06388261e-02 7.27639315e+02] [-3.47988693e-01 9.37144278e-01 -2.57773431e-02 -1.25317823e+02] [-6.58217961e-02 3.00496394e-03 9.97826869e-01 -4.63575697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.490714057 meters 0.03103086919800075 Centerline is valid? [True, True] Translation: X:727.67, Y:-125.33, Z:-46.36 [[ 9.33647882e-01 3.53196801e-01 5.96125215e-02 7.27668052e+02] [-3.52296638e-01 9.35545273e-01 -2.53401110e-02 -1.25326172e+02] [-6.47202588e-02 2.65745004e-03 9.97899908e-01 -4.63598962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.520714057 meters 0.02894655381449183 Centerline is valid? [True, True] Translation: X:727.70, Y:-125.33, Z:-46.36 [[ 9.31019239e-01 3.60003503e-01 6.00054575e-02 7.27698465e+02] [-3.59105634e-01 9.32948364e-01 -2.55047753e-02 -1.25332525e+02] [-6.51638019e-02 2.19713861e-03 9.97872162e-01 -4.63618650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.5507140569999 meters 0.028273273953208007 Centerline is valid? [True, True] Translation: X:727.73, Y:-125.34, Z:-46.36 [[ 9.29825544e-01 3.63087653e-01 5.99317506e-02 7.27726076e+02] [-3.62198543e-01 9.31752892e-01 -2.54708528e-02 -1.25342026e+02] [-6.50897341e-02 1.97625680e-03 9.97877458e-01 -4.63632477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.5807140569999 meters 0.027044962501681927 Centerline is valid? [True, True] Translation: X:727.75, Y:-125.35, Z:-46.37 [[ 9.28484197e-01 3.66372259e-01 6.07327261e-02 7.27754069e+02] [-3.65467209e-01 9.30466704e-01 -2.57959858e-02 -1.25350021e+02] [-6.59607131e-02 1.75534528e-03 9.97820677e-01 -4.63656585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.6107140569999 meters 0.025945979175678768 Centerline is valid? [True, True] Translation: X:727.78, Y:-125.36, Z:-46.37 [[ 9.26173865e-01 3.72144226e-01 6.09150749e-02 7.27780395e+02] [-3.71246494e-01 9.28173943e-01 -2.58683616e-02 -1.25360671e+02] [-6.61665467e-02 1.34409243e-03 9.97807688e-01 -4.63674814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.640714057 meters 0.026332609547896114 Centerline is valid? [True, True] Translation: X:727.81, Y:-125.37, Z:-46.37 [[ 9.25405676e-01 3.74040562e-01 6.09753410e-02 7.27805846e+02] [-3.73145437e-01 9.27411561e-01 -2.58897434e-02 -1.25372656e+02] [-6.62330504e-02 1.20584524e-03 9.97803452e-01 -4.63686382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.6707140569999 meters 0.026028163818141836 Centerline is valid? [True, True] Translation: X:727.83, Y:-125.38, Z:-46.37 [[ 9.24734702e-01 3.75700695e-01 6.09484918e-02 7.27831560e+02] [-3.74810471e-01 9.26740429e-01 -2.58705908e-02 -1.25384350e+02] [-6.62030304e-02 1.07930016e-03 9.97805589e-01 -4.63701694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.7007140569999 meters 0.0260105046797618 Centerline is valid? [True, True] Translation: X:727.86, Y:-125.40, Z:-46.37 [[ 9.23984073e-01 3.77448693e-01 6.15297996e-02 7.27856040e+02] [-3.76546357e-01 9.26030013e-01 -2.61008846e-02 -1.25398857e+02] [-6.68301859e-02 9.47979825e-04 9.97763914e-01 -4.63716839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.7307140569999 meters 0.02546078636712297 Centerline is valid? [True, True] Translation: X:727.88, Y:-125.41, Z:-46.37 [[ 9.23890297e-01 3.77630963e-01 6.18188908e-02 7.27880796e+02] [-3.76721251e-01 9.25955718e-01 -2.62127171e-02 -1.25411128e+02] [-6.71402890e-02 9.29185075e-04 9.97743112e-01 -4.63740439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.760714057 meters 0.02546078636712297 Centerline is valid? [True, True] Translation: X:727.91, Y:-125.42, Z:-46.38 [[ 9.23995894e-01 3.77371307e-01 6.18262395e-02 7.27906049e+02] [-3.76462175e-01 9.26061571e-01 -2.61953736e-02 -1.25421758e+02] [-6.71402869e-02 9.29177102e-04 9.97743113e-01 -4.63756340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.790714057 meters 0.025058971555199594 Centerline is valid? [True, True] Translation: X:727.93, Y:-125.44, Z:-46.38 [[ 9.24397616e-01 3.76452498e-01 6.14211954e-02 7.27928433e+02] [-3.75554578e-01 9.26435413e-01 -2.60035561e-02 -1.25439516e+02] [-6.66918742e-02 9.70614154e-04 9.97773147e-01 -4.63767664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.8207140569999 meters 0.024862716673850163 Centerline is valid? [True, True] Translation: X:727.95, Y:-125.45, Z:-46.38 [[ 9.24753596e-01 3.75581112e-01 6.13971992e-02 7.27952873e+02] [-3.74683313e-01 9.26788972e-01 -2.59733688e-02 -1.25454696e+02] [-6.66573539e-02 1.01446019e-03 9.97775410e-01 -4.63783682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.8507140569999 meters 0.02478352008698766 Centerline is valid? [True, True] Translation: X:727.98, Y:-125.47, Z:-46.38 [[ 9.25081545e-01 3.74890395e-01 6.06739392e-02 7.27976712e+02] [-3.74013340e-01 9.27068563e-01 -2.56495839e-02 -1.25469842e+02] [-6.58646843e-02 1.03509407e-03 9.97828027e-01 -4.63792460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.880714057 meters 0.024663021605844975 Centerline is valid? [True, True] Translation: X:728.00, Y:-125.49, Z:-46.38 [[ 9.25832526e-01 3.72963603e-01 6.10924277e-02 7.27998416e+02] [-3.72071449e-01 9.27845245e-01 -2.58077245e-02 -1.25490149e+02] [-6.63096604e-02 1.16288270e-03 9.97798415e-01 -4.63789075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.910714057 meters 0.024639808294959722 Centerline is valid? [True, True] Translation: X:728.02, Y:-125.51, Z:-46.38 [[ 9.26351958e-01 3.71696587e-01 6.09401060e-02 7.28022454e+02] [-3.70806652e-01 9.28353436e-01 -2.57356816e-02 -1.25506217e+02] [-6.61398218e-02 1.24330242e-03 9.97809590e-01 -4.63793184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.9407140569999 meters 0.02434459724152209 Centerline is valid? [True, True] Translation: X:728.04, Y:-125.53, Z:-46.38 [[ 9.27185278e-01 3.69690654e-01 6.04671872e-02 7.28044121e+02] [-3.68811363e-01 9.29153901e-01 -2.55187516e-02 -1.25528675e+02] [-6.56173668e-02 1.35962508e-03 9.97843932e-01 -4.63807946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.9707140569999 meters 0.02440300125358095 Centerline is valid? [True, True] Translation: X:728.07, Y:-125.55, Z:-46.38 [[ 9.27720555e-01 3.68507751e-01 5.94693946e-02 7.28068171e+02] [-3.67655936e-01 9.29623616e-01 -2.50807905e-02 -1.25545767e+02] [-6.45266193e-02 1.40368896e-03 9.97914999e-01 -4.63823581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.000714057 meters 0.023511355243042497 Centerline is valid? [True, True] Translation: X:728.09, Y:-125.56, Z:-46.38 [[ 9.28233595e-01 3.67269037e-01 5.91256975e-02 7.28092796e+02] [-3.66425627e-01 9.30113599e-01 -2.49189195e-02 -1.25561575e+02] [-6.41455629e-02 1.46540743e-03 9.97939477e-01 -4.63836474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.030714057 meters 0.02342708880010443 Centerline is valid? [True, True] Translation: X:728.12, Y:-125.58, Z:-46.38 [[ 9.28802525e-01 3.66026425e-01 5.78837326e-02 7.28115903e+02] [-3.65216743e-01 9.30603244e-01 -2.43789547e-02 -1.25581874e+02] [-6.27901310e-02 1.50312641e-03 9.98025621e-01 -4.63841786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.0607140569999 meters 0.02308336721491454 Centerline is valid? [True, True] Translation: X:728.14, Y:-125.60, Z:-46.39 [[ 9.29056266e-01 3.65323939e-01 5.82483873e-02 7.28140738e+02] [-3.64503707e-01 9.30879173e-01 -2.45155757e-02 -1.25596508e+02] [-6.31783372e-02 1.54459609e-03 9.98001058e-01 -4.63855435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.0907140569999 meters 0.021299902174388416 Centerline is valid? [True, True] Translation: X:728.16, Y:-125.61, Z:-46.39 [[ 9.28822546e-01 3.65956515e-01 5.80043700e-02 7.28164708e+02] [-3.65145446e-01 9.30630775e-01 -2.43959630e-02 -1.25613761e+02] [-6.29085135e-02 1.47948895e-03 9.98018201e-01 -4.63864243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.120714057 meters 0.021663563682990238 Centerline is valid? [True, True] Translation: X:728.19, Y:-125.63, Z:-46.39 [[ 9.28658085e-01 3.66335036e-01 5.82477633e-02 7.28187963e+02] [-3.65518941e-01 9.30481894e-01 -2.44815963e-02 -1.25630020e+02] [-6.31669556e-02 1.44437156e-03 9.98001929e-01 -4.63870009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.150714057 meters 0.02122129446536472 Centerline is valid? [True, True] Translation: X:728.21, Y:-125.65, Z:-46.39 [[ 9.28551614e-01 3.66635411e-01 5.80549404e-02 7.28213318e+02] [-3.65825747e-01 9.30363628e-01 -2.43934989e-02 -1.25645242e+02] [-6.29557254e-02 1.41263087e-03 9.98015321e-01 -4.63877754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.1807140569999 meters 0.02026544718081729 Centerline is valid? [True, True] Translation: X:728.24, Y:-125.66, Z:-46.39 [[ 9.28575252e-01 3.66424082e-01 5.90033331e-02 7.28236683e+02] [-3.65588423e-01 9.30446847e-01 -2.47743676e-02 -1.25662677e+02] [-6.39773901e-02 1.43392916e-03 9.97950318e-01 -4.63872651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.2107140569999 meters 0.020192181391617024 Centerline is valid? [True, True] Translation: X:728.26, Y:-125.68, Z:-46.39 [[ 9.28697309e-01 3.66096333e-01 5.91166861e-02 7.28261693e+02] [-3.65257981e-01 9.30575841e-01 -2.48034737e-02 -1.25677335e+02] [-6.40930206e-02 1.44207789e-03 9.97942887e-01 -4.63875765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.240714057 meters 0.020658927659901564 Centerline is valid? [True, True] Translation: X:728.29, Y:-125.69, Z:-46.39 [[ 9.29137674e-01 3.64899493e-01 5.95948202e-02 7.28286533e+02] [-3.64045460e-01 9.31045657e-01 -2.49977496e-02 -1.25692181e+02] [-6.46071647e-02 1.53112719e-03 9.97909600e-01 -4.63887643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.270714057 meters 0.02081095585185613 Centerline is valid? [True, True] Translation: X:728.31, Y:-125.71, Z:-46.39 [[ 9.30285951e-01 3.61980281e-01 5.94838256e-02 7.28308890e+02] [-3.61124510e-01 9.32184173e-01 -2.49350341e-02 -1.25711918e+02] [-6.44758714e-02 1.71564459e-03 9.97917792e-01 -4.63900099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.3007140569999 meters 0.0214167719330906 Centerline is valid? [True, True] Translation: X:728.33, Y:-125.73, Z:-46.39 [[ 9.31914644e-01 3.57917166e-01 5.85696088e-02 7.28332056e+02] [-3.57079873e-01 9.33751283e-01 -2.45459960e-02 -1.25732547e+02] [-6.34748807e-02 1.96074460e-03 9.97981510e-01 -4.63917512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.3307140569999 meters 0.02246598358900239 Centerline is valid? [True, True] Translation: X:728.36, Y:-125.75, Z:-46.39 [[ 9.33066736e-01 3.55045183e-01 5.77008212e-02 7.28356203e+02] [-3.54227313e-01 9.34846736e-01 -2.41783062e-02 -1.25748761e+02] [-6.25258156e-02 2.12076640e-03 9.98041094e-01 -4.63936494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.3607140569999 meters 0.023332624117212365 Centerline is valid? [True, True] Translation: X:728.38, Y:-125.76, Z:-46.40 [[ 9.34288722e-01 3.51931991e-01 5.69952465e-02 7.28381519e+02] [-3.51128455e-01 9.36022754e-01 -2.38791121e-02 -1.25763584e+02] [-6.17526711e-02 2.29733223e-03 9.98088839e-01 -4.63957912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.390714057 meters 0.02510799728527113 Centerline is valid? [True, True] Translation: X:728.41, Y:-125.78, Z:-46.40 [[ 9.35652022e-01 3.48398850e-01 5.63341381e-02 7.28405996e+02] [-3.47607685e-01 9.37343054e-01 -2.35986496e-02 -1.25779736e+02] [-6.10261555e-02 2.49794493e-03 9.98133042e-01 -4.63977068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.4207140569999 meters 0.027184948629063097 Centerline is valid? [True, True] Translation: X:728.43, Y:-125.80, Z:-46.40 [[ 9.38414200e-01 3.41083182e-01 5.51457439e-02 7.28430740e+02] [-3.40312644e-01 9.40028619e-01 -2.30976050e-02 -1.25798805e+02] [-5.97167821e-02 2.90832654e-03 9.98211124e-01 -4.64001573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.4507140569999 meters 0.031027427043135148 Centerline is valid? [True, True] Translation: X:728.45, Y:-125.82, Z:-46.40 [[ 9.41276262e-01 3.33222980e-01 5.44191584e-02 7.28453933e+02] [-3.32459511e-01 9.42842054e-01 -2.27933264e-02 -1.25819300e+02] [-5.89039312e-02 3.36265030e-03 9.98257992e-01 -4.64018253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.4807140569999 meters 0.033336388402330566 Centerline is valid? [True, True] Translation: X:728.48, Y:-125.84, Z:-46.40 [[ 9.42448914e-01 3.29871088e-01 5.45445729e-02 7.28478572e+02] [-3.29098501e-01 9.44019198e-01 -2.28458224e-02 -1.25835211e+02] [-5.90273003e-02 3.58048335e-03 9.98249948e-01 -4.64031895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.510714057 meters 0.03371542612771872 Centerline is valid? [True, True] Translation: X:728.51, Y:-125.85, Z:-46.40 [[ 9.43704935e-01 3.26261572e-01 5.45379017e-02 7.28505915e+02] [-3.25483205e-01 9.45271869e-01 -2.28424541e-02 -1.25848753e+02] [-5.90057592e-02 3.80536563e-03 9.98250389e-01 -4.64044010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.540714057 meters 0.03440526802799149 Centerline is valid? [True, True] Translation: X:728.53, Y:-125.86, Z:-46.41 [[ 9.44799450e-01 3.23101508e-01 5.44005141e-02 7.28533111e+02] [-3.22321913e-01 9.46355896e-01 -2.27838052e-02 -1.25862410e+02] [-5.88437291e-02 3.99164876e-03 9.98259226e-01 -4.64057799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.5707140569999 meters 0.03692531408573396 Centerline is valid? [True, True] Translation: X:728.56, Y:-125.88, Z:-46.41 [[ 9.46685849e-01 3.17557916e-01 5.42482498e-02 7.28560246e+02] [-3.16773689e-01 9.48229022e-01 -2.27189534e-02 -1.25878448e+02] [-5.86543484e-02 4.32329346e-03 9.98268990e-01 -4.64075734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.6007140569999 meters 0.03897249781773516 Centerline is valid? [True, True] Translation: X:728.59, Y:-125.89, Z:-46.41 [[ 9.47570349e-01 3.14963492e-01 5.39298883e-02 7.28586442e+02] [-3.14184168e-01 9.49093311e-01 -2.25874936e-02 -1.25892362e+02] [-5.82987321e-02 4.45932212e-03 9.98289223e-01 -4.64099400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.630714057 meters 0.040249703025799895 Centerline is valid? [True, True] Translation: X:728.61, Y:-125.91, Z:-46.41 [[ 9.48984553e-01 3.10668524e-01 5.39758028e-02 7.28614542e+02] [-3.09880969e-01 9.50506560e-01 -2.26067436e-02 -1.25906272e+02] [-5.83275583e-02 4.72737637e-03 9.98286306e-01 -4.64115045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.660714057 meters 0.039177911909048485 Centerline is valid? [True, True] Translation: X:728.64, Y:-125.92, Z:-46.41 [[ 9.49548226e-01 3.08865588e-01 5.44078611e-02 7.28644136e+02] [-3.08062322e-01 9.51093185e-01 -2.27894401e-02 -1.25916383e+02] [-5.87858197e-02 4.87866039e-03 9.98258697e-01 -4.64132020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.6907140569999 meters 0.04100363963296923 Centerline is valid? [True, True] Translation: X:728.67, Y:-125.93, Z:-46.41 [[ 9.50041328e-01 3.07270075e-01 5.48322531e-02 7.28671802e+02] [-3.06451442e-01 9.51609119e-01 -2.29695247e-02 -1.25929393e+02] [-5.92367196e-02 5.01857474e-03 9.98231348e-01 -4.64142298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.7207140569999 meters 0.042050693376848115 Centerline is valid? [True, True] Translation: X:728.70, Y:-125.94, Z:-46.42 [[ 9.50772386e-01 3.04838986e-01 5.57230909e-02 7.28701428e+02] [-3.03989292e-01 9.52389402e-01 -2.33438976e-02 -1.25938939e+02] [-6.01862112e-02 5.25551024e-03 9.98173331e-01 -4.64155904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.750714057 meters 0.043673636526221506 Centerline is valid? [True, True] Translation: X:728.73, Y:-125.95, Z:-46.42 [[ 9.51016160e-01 3.04061697e-01 5.58099278e-02 7.28730210e+02] [-3.03207934e-01 9.52637518e-01 -2.33817671e-02 -1.25951070e+02] [-6.02761309e-02 5.31442545e-03 9.98167594e-01 -4.64173897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.780714057 meters 0.04483534634801748 Centerline is valid? [True, True] Translation: X:728.76, Y:-125.96, Z:-46.42 [[ 9.51304475e-01 3.03091580e-01 5.61719710e-02 7.28759863e+02] [-3.02224476e-01 9.52946024e-01 -2.35423417e-02 -1.25962591e+02] [-6.06643419e-02 5.41939051e-03 9.98143511e-01 -4.64192566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.8107140569999 meters 0.046929061042600945 Centerline is valid? [True, True] Translation: X:728.79, Y:-125.97, Z:-46.42 [[ 9.51660308e-01 3.01789873e-01 5.71448181e-02 7.28788353e+02] [-3.00889199e-01 9.53357948e-01 -2.39648232e-02 -1.25971764e+02] [-6.17118074e-02 5.61211245e-03 9.98078232e-01 -4.64204510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.8407140569999 meters 0.04772701087731986 Centerline is valid? [True, True] Translation: X:728.82, Y:-125.98, Z:-46.42 [[ 9.51744156e-01 3.01470354e-01 5.74342005e-02 7.28817733e+02] [-3.00559943e-01 9.53458742e-01 -2.40862658e-02 -1.25981455e+02] [-6.20224357e-02 5.66154274e-03 9.98058698e-01 -4.64220006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.870714057 meters 0.04933941886393026 Centerline is valid? [True, True] Translation: X:728.85, Y:-125.99, Z:-46.42 [[ 9.51492722e-01 3.02141713e-01 5.80688043e-02 7.28846841e+02] [-3.01212224e-01 9.53246092e-01 -2.43533195e-02 -1.25987332e+02] [-6.27120144e-02 5.68097259e-03 9.98015496e-01 -4.64233331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.900714057 meters 0.050149081410594376 Centerline is valid? [True, True] Translation: X:728.87, Y:-126.00, Z:-46.43 [[ 9.51248071e-01 3.02996374e-01 5.76220881e-02 7.28874011e+02] [-3.02082853e-01 9.52975379e-01 -2.41635473e-02 -1.25996062e+02] [-6.22338985e-02 5.57888302e-03 9.98046000e-01 -4.64260381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.9307140569999 meters 0.05059957029572282 Centerline is valid? [True, True] Translation: X:728.90, Y:-126.00, Z:-46.43 [[ 9.51185865e-01 3.03411017e-01 5.64553324e-02 7.28901833e+02] [-3.02535093e-01 9.52844273e-01 -2.36708610e-02 -1.26003894e+02] [-6.09751402e-02 5.43566923e-03 9.98124484e-01 -4.64294341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.9607140569999 meters 0.05071072884989996 Centerline is valid? [True, True] Translation: X:728.93, Y:-126.01, Z:-46.43 [[ 9.50565944e-01 3.05681093e-01 5.46210134e-02 7.28932167e+02] [-3.04865185e-01 9.52120224e-01 -2.28975750e-02 -1.26007125e+02] [-5.90051272e-02 5.11360966e-03 9.98244582e-01 -4.64342128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.990714057 meters 0.05081405683384158 Centerline is valid? [True, True] Translation: X:728.96, Y:-126.01, Z:-46.44 [[ 9.50052134e-01 3.07306099e-01 5.44417559e-02 7.28960459e+02] [-3.06498310e-01 9.51597615e-01 -2.28202966e-02 -1.26013560e+02] [-5.88194613e-02 4.99416534e-03 9.98256144e-01 -4.64365594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.020714057 meters 0.05072448943184795 Centerline is valid? [True, True] Translation: X:728.99, Y:-126.02, Z:-46.44 [[ 9.49609453e-01 3.08786014e-01 5.37873950e-02 7.28990464e+02] [-3.08000083e-01 9.51119219e-01 -2.25428696e-02 -1.26019483e+02] [-5.81191480e-02 4.84039990e-03 9.98297919e-01 -4.64388432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.0507140569999 meters 0.0494723366586002 Centerline is valid? [True, True] Translation: X:729.02, Y:-126.02, Z:-46.44 [[ 9.48208687e-01 3.12886673e-01 5.47924833e-02 7.29022480e+02] [-3.12078010e-01 9.49778973e-01 -2.29612224e-02 -1.26020169e+02] [-5.92250090e-02 4.67250139e-03 9.98233723e-01 -4.64402640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.0807140569999 meters 0.04886892792807245 Centerline is valid? [True, True] Translation: X:729.05, Y:-126.03, Z:-46.44 [[ 9.47431366e-01 3.15138859e-01 5.53290641e-02 7.29052391e+02] [-3.14318184e-01 9.49034548e-01 -2.31841708e-02 -1.26026230e+02] [-5.98154265e-02 4.57447965e-03 9.98198973e-01 -4.64418281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.1107140569999 meters 0.046583973401466354 Centerline is valid? [True, True] Translation: X:729.09, Y:-126.03, Z:-46.44 [[ 9.45901378e-01 3.19660723e-01 5.55662282e-02 7.29085108e+02] [-3.18840789e-01 9.47522284e-01 -2.32824430e-02 -1.26025494e+02] [-6.00927221e-02 4.30611485e-03 9.98183511e-01 -4.64442669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.140714057 meters 0.037959236665150754 Centerline is valid? [True, True] Translation: X:729.12, Y:-126.02, Z:-46.45 [[ 9.45226699e-01 3.21678328e-01 5.54034409e-02 7.29119017e+02] [-3.20866742e-01 9.46839857e-01 -2.32124834e-02 -1.26021204e+02] [-5.99251389e-02 4.16393747e-03 9.98194189e-01 -4.64465137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.1707140569999 meters 0.04083482306197532 Centerline is valid? [True, True] Translation: X:729.15, Y:-126.03, Z:-46.45 [[ 9.44540866e-01 3.23638289e-01 5.56849126e-02 7.29146235e+02] [-3.22821949e-01 9.46172178e-01 -2.33280711e-02 -1.26031378e+02] [-6.02373720e-02 4.05800451e-03 9.98175832e-01 -4.64483979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.2007140569999 meters 0.03510146472059179 Centerline is valid? [True, True] Translation: X:729.18, Y:-126.03, Z:-46.45 [[ 9.43806615e-01 3.25713362e-01 5.60346254e-02 7.29179113e+02] [-3.24890495e-01 9.45460320e-01 -2.34722948e-02 -1.26030036e+02] [-6.06237549e-02 3.94818992e-03 9.98152880e-01 -4.64504437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.2307140569999 meters 0.03788489379143425 Centerline is valid? [True, True] Translation: X:729.21, Y:-126.04, Z:-46.45 [[ 9.42288845e-01 3.29936304e-01 5.68662277e-02 7.29208332e+02] [-3.29096516e-01 9.43995826e-01 -2.38193832e-02 -1.26036494e+02] [-6.15403609e-02 3.73026165e-03 9.98097625e-01 -4.64520685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.260714057 meters 0.036245625054142354 Centerline is valid? [True, True] Translation: X:729.24, Y:-126.04, Z:-46.45 [[ 9.41698257e-01 3.31554119e-01 5.72386061e-02 7.29237975e+02] [-3.30706415e-01 9.43429156e-01 -2.39727790e-02 -1.26041079e+02] [-6.19488435e-02 3.64594999e-03 9.98072667e-01 -4.64538037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.290714057 meters 0.03191388126036 Centerline is valid? [True, True] Translation: X:729.27, Y:-126.04, Z:-46.46 [[ 9.40566390e-01 3.34585724e-01 5.82001581e-02 7.29271138e+02] [-3.33715965e-01 9.42358854e-01 -2.43607338e-02 -1.26038405e+02] [-6.29961880e-02 3.49056548e-03 9.98007663e-01 -4.64563764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.3207140569999 meters 0.032335982667389136 Centerline is valid? [True, True] Translation: X:729.30, Y:-126.05, Z:-46.46 [[ 9.39888694e-01 3.36407081e-01 5.86474143e-02 7.29297756e+02] [-3.35527600e-01 9.41710556e-01 -2.45450151e-02 -1.26046505e+02] [-6.34860060e-02 3.39175597e-03 9.97976965e-01 -4.64580854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.3507140569999 meters 0.03423497030103089 Centerline is valid? [True, True] Translation: X:729.32, Y:-126.06, Z:-46.46 [[ 9.39496631e-01 3.37518947e-01 5.85409300e-02 7.29323061e+02] [-3.36645211e-01 9.41312934e-01 -2.44941228e-02 -1.26056946e+02] [-6.33725651e-02 3.30462206e-03 9.97984468e-01 -4.64596565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.380714057 meters 0.037145458421055585 Centerline is valid? [True, True] Translation: X:729.35, Y:-126.07, Z:-46.46 [[ 9.38942481e-01 3.39138481e-01 5.80698546e-02 7.29349866e+02] [-3.38282233e-01 9.40731142e-01 -2.42909470e-02 -1.26065992e+02] [-6.28661155e-02 3.16380197e-03 9.98016955e-01 -4.64619040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.410714057 meters 0.043896072612280373 Centerline is valid? [True, True] Translation: X:729.37, Y:-126.08, Z:-46.46 [[ 9.38773986e-01 3.39706947e-01 5.74681890e-02 7.29372628e+02] [-3.38869739e-01 9.40526263e-01 -2.40343339e-02 -1.26084266e+02] [-6.22149713e-02 3.08857727e-03 9.98057993e-01 -4.64632381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.4407140569999 meters 0.04369365324262668 Centerline is valid? [True, True] Translation: X:729.40, Y:-126.09, Z:-46.47 [[ 9.38560498e-01 3.40409482e-01 5.67941642e-02 7.29400612e+02] [-3.39593616e-01 9.40272511e-01 -2.37440722e-02 -1.26093163e+02] [-6.14846987e-02 2.99831257e-03 9.98103523e-01 -4.64656539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.4707140569999 meters 0.032236953575323586 Centerline is valid? [True, True] Translation: X:729.44, Y:-126.08, Z:-46.47 [[ 9.37925710e-01 3.42408431e-01 5.52433665e-02 7.29435649e+02] [-3.41640731e-01 9.39547100e-01 -2.30837203e-02 -1.26084272e+02] [-5.98078052e-02 2.77743058e-03 9.98206047e-01 -4.64696276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.500714057 meters 0.03199533858748397 Centerline is valid? [True, True] Translation: X:729.46, Y:-126.09, Z:-46.47 [[ 9.37529329e-01 3.43590455e-01 5.46292583e-02 7.29462784e+02] [-3.42842029e-01 9.39115799e-01 -2.28223376e-02 -1.26094030e+02] [-5.91447369e-02 2.66740508e-03 9.98245854e-01 -4.64726086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.530714057 meters 0.031422742397658146 Centerline is valid? [True, True] Translation: X:729.49, Y:-126.10, Z:-46.47 [[ 9.36348341e-01 3.46861512e-01 5.42114060e-02 7.29491182e+02] [-3.46130871e-01 9.37913215e-01 -2.26323161e-02 -1.26103564e+02] [-5.86958734e-02 2.42749047e-03 9.98272960e-01 -4.64743900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.5607140569999 meters 0.029812147161607655 Centerline is valid? [True, True] Translation: X:729.52, Y:-126.11, Z:-46.48 [[ 9.35608505e-01 3.48748244e-01 5.48761105e-02 7.29519027e+02] [-3.48002864e-01 9.37213531e-01 -2.29085785e-02 -1.26111679e+02] [-5.94199599e-02 2.33641727e-03 9.98230339e-01 -4.64751084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.5907140569999 meters 0.029358468365466503 Centerline is valid? [True, True] Translation: X:729.55, Y:-126.12, Z:-46.48 [[ 9.35024091e-01 3.50201006e-01 5.55806120e-02 7.29546315e+02] [-3.49439216e-01 9.36671827e-01 -2.31974769e-02 -1.26121418e+02] [-6.01845732e-02 2.26815426e-03 9.98184689e-01 -4.64759605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.620714057 meters 0.02980299890618927 Centerline is valid? [True, True] Translation: X:729.57, Y:-126.13, Z:-46.48 [[ 9.33919051e-01 3.53096334e-01 5.58407118e-02 7.29571370e+02] [-3.52333521e-01 9.35584666e-01 -2.32899646e-02 -1.26134864e+02] [-6.04673148e-02 2.07638704e-03 9.98168018e-01 -4.64767052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.650714057 meters 0.02980299890618927 Centerline is valid? [True, True] Translation: X:729.60, Y:-126.15, Z:-46.48 [[ 9.34014820e-01 3.52842633e-01 5.58425711e-02 7.29596708e+02] [-3.52079634e-01 9.35680350e-01 -2.32855056e-02 -1.26145337e+02] [-6.04669155e-02 2.08797538e-03 9.98168018e-01 -4.64782944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.6807140569999 meters 0.02859649649584687 Centerline is valid? [True, True] Translation: X:729.62, Y:-126.15, Z:-46.48 [[ 9.33800791e-01 3.53392280e-01 5.59462214e-02 7.29623746e+02] [-3.52628507e-01 9.35473002e-01 -2.33109230e-02 -1.26154272e+02] [-6.05740798e-02 2.03952581e-03 9.98161621e-01 -4.64800526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.7107140569999 meters 0.02785196404064714 Centerline is valid? [True, True] Translation: X:729.65, Y:-126.16, Z:-46.48 [[ 9.33699229e-01 3.53686688e-01 5.57806145e-02 7.29651159e+02] [-3.52928930e-01 9.35361817e-01 -2.32258652e-02 -1.26164540e+02] [-6.03897362e-02 1.99937983e-03 9.98172872e-01 -4.64817321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.740714057 meters 0.02824371282269069 Centerline is valid? [True, True] Translation: X:729.68, Y:-126.18, Z:-46.48 [[ 9.33682400e-01 3.53758935e-01 5.56038829e-02 7.29676601e+02] [-3.53007024e-01 9.35334549e-01 -2.31370260e-02 -1.26178231e+02] [-6.01931624e-02 1.97407278e-03 9.98184796e-01 -4.64823919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.770714057 meters 0.027878923213079547 Centerline is valid? [True, True] Translation: X:729.70, Y:-126.19, Z:-46.48 [[ 9.33897988e-01 3.53093767e-01 5.62080101e-02 7.29702393e+02] [-3.52325193e-01 9.35585750e-01 -2.33722505e-02 -1.26190101e+02] [-6.08400093e-02 2.02379973e-03 9.98145479e-01 -4.64829917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.8007140569999 meters 0.030146816420111428 Centerline is valid? [True, True] Translation: X:729.72, Y:-126.21, Z:-46.48 [[ 9.34341226e-01 3.51913127e-01 5.62461102e-02 7.29724931e+02] [-3.51141755e-01 9.36030318e-01 -2.33818695e-02 -1.26207116e+02] [-6.08764513e-02 2.09628674e-03 9.98143108e-01 -4.64829463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.8307140569999 meters 0.02967487195666967 Centerline is valid? [True, True] Translation: X:729.75, Y:-126.22, Z:-46.48 [[ 9.35549932e-01 3.48686645e-01 5.62489841e-02 7.29751111e+02] [-3.47909982e-01 9.37236548e-01 -2.33729934e-02 -1.26220245e+02] [-6.08684544e-02 2.29701931e-03 9.98143154e-01 -4.64826144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.8607140569999 meters 0.03038819173875175 Centerline is valid? [True, True] Translation: X:729.78, Y:-126.23, Z:-46.48 [[ 9.36415625e-01 3.46480533e-01 5.54708751e-02 7.29776841e+02] [-3.45721601e-01 9.38054085e-01 -2.30457933e-02 -1.26233301e+02] [-6.00195998e-02 2.40296120e-03 9.98194306e-01 -4.64840094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.890714057 meters 0.03293000351757492 Centerline is valid? [True, True] Translation: X:729.80, Y:-126.25, Z:-46.48 [[ 9.37873561e-01 3.42561022e-01 5.51826909e-02 7.29800664e+02] [-3.41804117e-01 9.39491912e-01 -2.29105291e-02 -1.26253336e+02] [-5.96919461e-02 2.62550851e-03 9.98213393e-01 -4.64846649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.9207140569999 meters 0.03212177468741588 Centerline is valid? [True, True] Translation: X:729.83, Y:-126.27, Z:-46.49 [[ 9.38649459e-01 3.40463559e-01 5.49705121e-02 7.29828060e+02] [-3.39708951e-01 9.40253699e-01 -2.28212741e-02 -1.26265425e+02] [-5.94560395e-02 2.74720153e-03 9.98227145e-01 -4.64861716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.9507140569999 meters 0.03245570194147001 Centerline is valid? [True, True] Translation: X:729.85, Y:-126.28, Z:-46.49 [[ 9.39330499e-01 3.38590630e-01 5.49053709e-02 7.29854630e+02] [-3.37834756e-01 9.40929437e-01 -2.27919562e-02 -1.26279208e+02] [-5.93792225e-02 2.86023702e-03 9.98231400e-01 -4.64873325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.9807140569999 meters 0.033474851216205005 Centerline is valid? [True, True] Translation: X:729.88, Y:-126.29, Z:-46.49 [[ 9.40102538e-01 3.36477978e-01 5.46789607e-02 7.29879615e+02] [-3.35724905e-01 9.41686622e-01 -2.26956695e-02 -1.26293535e+02] [-5.91270388e-02 2.97916756e-03 9.98246021e-01 -4.64888340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.010714057 meters 0.03490856721095794 Centerline is valid? [True, True] Translation: X:729.91, Y:-126.31, Z:-46.49 [[ 9.41647070e-01 3.32311737e-01 5.35696311e-02 7.29905419e+02] [-3.31582405e-01 9.43164275e-01 -2.22319587e-02 -1.26308899e+02] [-5.79129031e-02 3.17191167e-03 9.98316600e-01 -4.64909971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.040714057 meters 0.03580464326022452 Centerline is valid? [True, True] Translation: X:729.93, Y:-126.32, Z:-46.49 [[ 9.42391997e-01 3.30337312e-01 5.26743275e-02 7.29931950e+02] [-3.29629167e-01 9.43857395e-01 -2.18593371e-02 -1.26322630e+02] [-5.69380082e-02 3.23706967e-03 9.98372468e-01 -4.64934968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.0707140569999 meters 0.03610850718063497 Centerline is valid? [True, True] Translation: X:729.96, Y:-126.34, Z:-46.50 [[ 9.42999594e-01 3.28721274e-01 5.19046175e-02 7.29958805e+02] [-3.28031375e-01 9.44421273e-01 -2.15377976e-02 -1.26335778e+02] [-5.60997572e-02 3.28379138e-03 9.98419768e-01 -4.64952025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.1007140569999 meters 0.038398052875942286 Centerline is valid? [True, True] Translation: X:729.98, Y:-126.35, Z:-46.50 [[ 9.44144832e-01 3.25585838e-01 5.08369816e-02 7.29984015e+02] [-3.24919642e-01 9.45506386e-01 -2.10926753e-02 -1.26351662e+02] [-5.49341671e-02 3.39660650e-03 9.98484201e-01 -4.64977758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.130714057 meters 0.03902824764362728 Centerline is valid? [True, True] Translation: X:730.01, Y:-126.36, Z:-46.50 [[ 9.44622256e-01 3.24216777e-01 5.07176019e-02 7.30010400e+02] [-3.23551780e-01 9.45976458e-01 -2.10425055e-02 -1.26364030e+02] [-5.47999907e-02 3.46744862e-03 9.98491331e-01 -4.64989782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.160714057 meters 0.03617881707749585 Centerline is valid? [True, True] Translation: X:730.04, Y:-126.37, Z:-46.50 [[ 9.45300619e-01 3.21988609e-01 5.22501224e-02 7.30039513e+02] [-3.21280275e-01 9.46736348e-01 -2.16626823e-02 -1.26370291e+02] [-5.64422270e-02 3.69081336e-03 9.98399045e-01 -4.64986828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.1907140569999 meters 0.039237520615963487 Centerline is valid? [True, True] Translation: X:730.06, Y:-126.38, Z:-46.50 [[ 9.45699536e-01 3.20769021e-01 5.25321069e-02 7.30063665e+02] [-3.20051331e-01 9.47149904e-01 -2.17762316e-02 -1.26384742e+02] [-5.67409205e-02 3.78080135e-03 9.98381777e-01 -4.65001986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.2207140569999 meters 0.036422063465246526 Centerline is valid? [True, True] Translation: X:730.09, Y:-126.39, Z:-46.50 [[ 9.46144896e-01 3.19266330e-01 5.36548784e-02 7.30092529e+02] [-3.18515537e-01 9.47656805e-01 -2.22358336e-02 -1.26391028e+02] [-5.79455636e-02 3.94840807e-03 9.98311936e-01 -4.65018151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.250714057 meters 0.03955693355587354 Centerline is valid? [True, True] Translation: X:730.12, Y:-126.41, Z:-46.50 [[ 9.47030383e-01 3.16545380e-01 5.41523407e-02 7.30117942e+02] [-3.15776437e-01 9.48568295e-01 -2.24372909e-02 -1.26405377e+02] [-5.84696142e-02 4.14876302e-03 9.98280568e-01 -4.65032248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.280714057 meters 0.0390102357622411 Centerline is valid? [True, True] Translation: X:730.14, Y:-126.41, Z:-46.51 [[ 9.47364529e-01 3.15473770e-01 5.45596040e-02 7.30144880e+02] [-3.14691595e-01 9.48924806e-01 -2.26033912e-02 -1.26414801e+02] [-5.89037387e-02 4.24420229e-03 9.98254645e-01 -4.65056505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.3107140569999 meters 0.04331637952414279 Centerline is valid? [True, True] Translation: X:730.17, Y:-126.43, Z:-46.51 [[ 9.47849005e-01 3.14085276e-01 5.41544293e-02 7.30169739e+02] [-3.13313365e-01 9.49385114e-01 -2.24196681e-02 -1.26430184e+02] [-5.84550967e-02 4.28315361e-03 9.98280850e-01 -4.65079594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.3407140569999 meters 0.0422936442929104 Centerline is valid? [True, True] Translation: X:730.20, Y:-126.44, Z:-46.51 [[ 9.48304677e-01 3.12806912e-01 5.35730813e-02 7.30197493e+02] [-3.12049672e-01 9.49806951e-01 -2.21756133e-02 -1.26437919e+02] [-5.78207701e-02 4.31177534e-03 9.98317668e-01 -4.65099088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.370714057 meters 0.04319239880229761 Centerline is valid? [True, True] Translation: X:730.23, Y:-126.45, Z:-46.51 [[ 9.49024606e-01 3.10553750e-01 5.39320556e-02 7.30226034e+02] [-3.09783618e-01 9.50545339e-01 -2.23084984e-02 -1.26446886e+02] [-5.81928519e-02 4.46404661e-03 9.98295379e-01 -4.65124410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.400714057 meters 0.04527589629562424 Centerline is valid? [True, True] Translation: X:730.25, Y:-126.46, Z:-46.51 [[ 9.50101174e-01 3.07175572e-01 5.43224325e-02 7.30254309e+02] [-3.06388832e-01 9.51641236e-01 -2.24686697e-02 -1.26456975e+02] [-5.85972933e-02 4.70372285e-03 9.98270621e-01 -4.65142093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.4307140569999 meters 0.04252959886269167 Centerline is valid? [True, True] Translation: X:730.28, Y:-126.46, Z:-46.52 [[ 9.50498461e-01 3.05950077e-01 5.42883720e-02 7.30283793e+02] [-3.05162362e-01 9.52035578e-01 -2.24542110e-02 -1.26462329e+02] [-5.85543292e-02 4.77592517e-03 9.98272799e-01 -4.65160507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.4607140569999 meters 0.041349088587883394 Centerline is valid? [True, True] Translation: X:730.31, Y:-126.47, Z:-46.52 [[ 9.51186361e-01 3.03744351e-01 5.46248590e-02 7.30313198e+02] [-3.02943428e-01 9.52740770e-01 -2.25899018e-02 -1.26470435e+02] [-5.89048853e-02 4.93896441e-03 9.98251382e-01 -4.65179800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.490714057 meters 0.04816158068119389 Centerline is valid? [True, True] Translation: X:730.34, Y:-126.49, Z:-46.52 [[ 9.51923845e-01 3.01358018e-01 5.49939754e-02 7.30337188e+02] [-3.00542347e-01 9.53497316e-01 -2.27413059e-02 -1.26488665e+02] [-5.92898828e-02 5.11997297e-03 9.98227677e-01 -4.65200093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.520714057 meters 0.049520257672687425 Centerline is valid? [True, True] Translation: X:730.37, Y:-126.50, Z:-46.52 [[ 9.53803923e-01 2.95315742e-01 5.51968293e-02 7.30366012e+02] [-2.94484141e-01 9.55383802e-01 -2.28228207e-02 -1.26497183e+02] [-5.94740949e-02 5.51390505e-03 9.98214621e-01 -4.65217819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.5507140569999 meters 0.04749034280793233 Centerline is valid? [True, True] Translation: X:730.40, Y:-126.50, Z:-46.52 [[ 9.54699179e-01 2.92332110e-01 5.56004939e-02 7.30396496e+02] [-2.91483363e-01 9.56299632e-01 -2.29883280e-02 -1.26503771e+02] [-5.98909582e-02 5.74031891e-03 9.98188420e-01 -4.65232691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.5807140569999 meters 0.04910250001025081 Centerline is valid? [True, True] Translation: X:730.43, Y:-126.51, Z:-46.52 [[ 9.56269280e-01 2.87026682e-01 5.62561008e-02 7.30425560e+02] [-2.86148726e-01 9.57902883e-01 -2.32588117e-02 -1.26511618e+02] [-6.05637807e-02 6.14407550e-03 9.98145420e-01 -4.65249513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.6107140569999 meters 0.05738502767174364 Centerline is valid? [True, True] Translation: X:730.45, Y:-126.53, Z:-46.53 [[ 9.56841758e-01 2.85209584e-01 5.57614842e-02 7.30449970e+02] [-2.84344006e-01 9.58445101e-01 -2.30537317e-02 -1.26529995e+02] [-6.00194666e-02 6.20332935e-03 9.98177931e-01 -4.65263830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.640714057 meters 0.06920477303750629 Centerline is valid? [True, True] Translation: X:730.47, Y:-126.55, Z:-46.53 [[ 9.57215228e-01 2.83988507e-01 5.55835949e-02 7.30471442e+02] [-2.83126497e-01 9.58807258e-01 -2.29788580e-02 -1.26552113e+02] [-5.98196858e-02 6.25852426e-03 9.98189579e-01 -4.65278521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.6707140569999 meters 0.05371610028463107 Centerline is valid? [True, True] Translation: X:730.51, Y:-126.54, Z:-46.53 [[ 9.57482818e-01 2.83293988e-01 5.45084292e-02 7.30508572e+02] [-2.82464192e-01 9.59013233e-01 -2.25299610e-02 -1.26535958e+02] [-5.86569074e-02 6.17537116e-03 9.98259101e-01 -4.65307091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.7007140569999 meters 0.054716278605768 Centerline is valid? [True, True] Translation: X:730.54, Y:-126.54, Z:-46.53 [[ 9.57508269e-01 2.83089750e-01 5.51190331e-02 7.30535349e+02] [-2.82241279e-01 9.59073050e-01 -2.27759955e-02 -1.26543935e+02] [-5.93108300e-02 6.25133767e-03 9.98219989e-01 -4.65322565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.7307140569999 meters 0.05841362760104027 Centerline is valid? [True, True] Translation: X:730.56, Y:-126.55, Z:-46.53 [[ 9.56866726e-01 2.85108238e-01 5.58512492e-02 7.30563111e+02] [-2.84241555e-01 9.58475339e-01 -2.30599944e-02 -1.26552326e+02] [-6.01066394e-02 6.19009540e-03 9.98172768e-01 -4.65323411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.760714057 meters 0.054844204823931604 Centerline is valid? [True, True] Translation: X:730.59, Y:-126.56, Z:-46.53 [[ 9.56459229e-01 2.86358869e-01 5.64299759e-02 7.30593938e+02] [-2.85476402e-01 9.58102550e-01 -2.32965411e-02 -1.26555267e+02] [-6.07368750e-02 6.17276526e-03 9.98134725e-01 -4.65334719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.790714057 meters 0.05521151231902292 Centerline is valid? [True, True] Translation: X:730.62, Y:-126.56, Z:-46.54 [[ 9.55787801e-01 2.88616058e-01 5.63067598e-02 7.30622591e+02] [-2.87741451e-01 9.57426031e-01 -2.32433460e-02 -1.26562932e+02] [-6.06179604e-02 6.01391777e-03 9.98142923e-01 -4.65352876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.8207140569999 meters 0.054765155942523056 Centerline is valid? [True, True] Translation: X:730.65, Y:-126.57, Z:-46.54 [[ 9.54108620e-01 2.94151240e-01 5.61408008e-02 7.30652704e+02] [-2.93291353e-01 9.55742221e-01 -2.31730156e-02 -1.26565339e+02] [-6.04725049e-02 5.64396253e-03 9.98153907e-01 -4.65375526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.8507140569999 meters 0.051963571204310346 Centerline is valid? [True, True] Translation: X:730.68, Y:-126.57, Z:-46.54 [[ 9.52971771e-01 2.97708788e-01 5.66946424e-02 7.30683306e+02] [-2.96838123e-01 9.54641057e-01 -2.34004482e-02 -1.26568877e+02] [-6.10895524e-02 5.47083528e-03 9.98117296e-01 -4.65393720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.880714057 meters 0.04933499042650499 Centerline is valid? [True, True] Translation: X:730.71, Y:-126.57, Z:-46.54 [[ 9.50427529e-01 3.05718338e-01 5.67786088e-02 7.30714963e+02] [-3.04859308e-01 9.52109066e-01 -2.34335172e-02 -1.26568458e+02] [-6.12234841e-02 4.96237251e-03 9.98111747e-01 -4.65412377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.910714057 meters 0.04658410848035273 Centerline is valid? [True, True] Translation: X:730.75, Y:-126.57, Z:-46.54 [[ 9.49106543e-01 3.09764072e-01 5.69472478e-02 7.30746261e+02] [-3.08907248e-01 9.50801767e-01 -2.35013307e-02 -1.26572321e+02] [-6.14254117e-02 4.71384918e-03 9.98100545e-01 -4.65426895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.9407140569999 meters 0.041053083122537644 Centerline is valid? [True, True] Translation: X:730.78, Y:-126.57, Z:-46.54 [[ 9.47615273e-01 3.14293867e-01 5.69619086e-02 7.30778962e+02] [-3.13444869e-01 9.49315457e-01 -2.35048381e-02 -1.26572484e+02] [-6.14622467e-02 4.41912553e-03 9.98099626e-01 -4.65447006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.9707140569999 meters 0.04388019999546193 Centerline is valid? [True, True] Translation: X:730.81, Y:-126.58, Z:-46.55 [[ 9.46085341e-01 3.18891159e-01 5.68415039e-02 7.30805590e+02] [-3.18054022e-01 9.47782425e-01 -2.34544853e-02 -1.26583488e+02] [-6.13528064e-02 4.11127579e-03 9.98107675e-01 -4.65459748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.000714057 meters 0.039233067467877226 Centerline is valid? [True, True] Translation: X:730.84, Y:-126.58, Z:-46.55 [[ 9.42595260e-01 3.29143340e-01 5.63811826e-02 7.30839158e+02] [-3.28338060e-01 9.44273797e-01 -2.32618783e-02 -1.26581071e+02] [-6.08957657e-02 3.41444816e-03 9.98138291e-01 -4.65481053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.030714057 meters 0.0381749911724762 Centerline is valid? [True, True] Translation: X:730.87, Y:-126.59, Z:-46.55 [[ 9.40851978e-01 3.34118680e-01 5.62339974e-02 7.30867980e+02] [-3.33326485e-01 9.42525967e-01 -2.32003685e-02 -1.26586646e+02] [-6.07536793e-02 3.08383191e-03 9.98148025e-01 -4.65505080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.0607140569999 meters 0.03159710174451806 Centerline is valid? [True, True] Translation: X:730.90, Y:-126.58, Z:-46.55 [[ 9.38943825e-01 3.39498510e-01 5.59039765e-02 7.30901074e+02] [-3.38725220e-01 9.40602666e-01 -2.30618597e-02 -1.26584762e+02] [-6.04128963e-02 2.71770400e-03 9.98169773e-01 -4.65532337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.0907140569999 meters 0.028926692597847338 Centerline is valid? [True, True] Translation: X:730.93, Y:-126.59, Z:-46.56 [[ 9.35149141e-01 3.49745829e-01 5.63377182e-02 7.30933376e+02] [-3.48979017e-01 9.36842336e-01 -2.32397043e-02 -1.26586252e+02] [-6.09075492e-02 2.07190799e-03 9.98141261e-01 -4.65552591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.120714057 meters 0.028601761947346115 Centerline is valid? [True, True] Translation: X:730.96, Y:-126.59, Z:-46.56 [[ 9.33335017e-01 3.54570929e-01 5.62601341e-02 7.30961125e+02] [-3.53815021e-01 9.35027476e-01 -2.32066924e-02 -1.26594015e+02] [-6.08331896e-02 1.75393815e-03 9.98146405e-01 -4.65573744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.150714057 meters 0.027769018025719367 Centerline is valid? [True, True] Translation: X:730.99, Y:-126.60, Z:-46.56 [[ 9.30179656e-01 3.62589909e-01 5.73965592e-02 7.30989338e+02] [-3.61818527e-01 9.31947955e-01 -2.36719945e-02 -1.26600480e+02] [-6.20738323e-02 1.25206920e-03 9.98070775e-01 -4.65586016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.1807140569999 meters 0.02660423355267382 Centerline is valid? [True, True] Translation: X:731.02, Y:-126.61, Z:-46.56 [[ 9.28928248e-01 3.65729634e-01 5.77420642e-02 7.31017734e+02] [-3.64955112e-01 9.30720549e-01 -2.38123213e-02 -1.26607917e+02] [-6.24505972e-02 1.04667643e-03 9.98047508e-01 -4.65605021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.2107140569999 meters 0.02647859952143548 Centerline is valid? [True, True] Translation: X:731.04, Y:-126.62, Z:-46.56 [[ 9.27771658e-01 3.68629066e-01 5.78995830e-02 7.31043395e+02] [-3.67856905e-01 9.29576197e-01 -2.38619068e-02 -1.26617753e+02] [-6.26182666e-02 8.39639424e-04 9.98037198e-01 -4.65618269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.240714057 meters 0.026664338866942063 Centerline is valid? [True, True] Translation: X:731.07, Y:-126.63, Z:-46.56 [[ 9.26880698e-01 3.70824385e-01 5.81502047e-02 7.31070682e+02] [-3.70050428e-01 9.28702754e-01 -2.39556919e-02 -1.26628173e+02] [-6.28876100e-02 6.85560227e-04 9.98020380e-01 -4.65638320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.270714057 meters 0.026923509740980383 Centerline is valid? [True, True] Translation: X:731.10, Y:-126.64, Z:-46.57 [[ 9.25748499e-01 3.73677288e-01 5.79223781e-02 7.31096190e+02] [-3.72915940e-01 9.27558655e-01 -2.38462522e-02 -1.26640933e+02] [-6.26372060e-02 4.75454070e-04 9.98036249e-01 -4.65662455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.3007140569999 meters 0.026598111050652785 Centerline is valid? [True, True] Translation: X:731.12, Y:-126.65, Z:-46.57 [[ 9.25450489e-01 3.74434556e-01 5.77940831e-02 7.31120489e+02] [-3.73679053e-01 9.27253254e-01 -2.37774774e-02 -1.26653891e+02] [-6.24928608e-02 4.08439861e-04 9.98045327e-01 -4.65682615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.3307140569999 meters 0.026694610117985847 Centerline is valid? [True, True] Translation: X:731.14, Y:-126.67, Z:-46.57 [[ 9.25660177e-01 3.73760402e-01 5.87911448e-02 7.31143807e+02] [-3.72977676e-01 9.27525177e-01 -2.41805358e-02 -1.26672147e+02] [-6.35679938e-02 4.55174430e-04 9.97977406e-01 -4.65699425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.3607140569999 meters 0.02686577916520798 Centerline is valid? [True, True] Translation: X:731.17, Y:-126.69, Z:-46.57 [[ 9.26049094e-01 3.72686405e-01 5.94804100e-02 7.31167504e+02] [-3.71884052e-01 9.27957205e-01 -2.44474661e-02 -1.26687150e+02] [-6.43065132e-02 5.19738017e-04 9.97930059e-01 -4.65716315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.390714057 meters 0.02694930924952574 Centerline is valid? [True, True] Translation: X:731.19, Y:-126.71, Z:-46.57 [[ 9.26820956e-01 3.70629731e-01 6.03035469e-02 7.31190193e+02] [-3.69801139e-01 9.28780470e-01 -2.47781515e-02 -1.26707236e+02] [-6.51922762e-02 6.64589688e-04 9.97872500e-01 -4.65729405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.4207140569999 meters 0.02722915574110446 Centerline is valid? [True, True] Translation: X:731.21, Y:-126.72, Z:-46.57 [[ 9.27193769e-01 3.69707033e-01 6.02364075e-02 7.31214039e+02] [-3.68879507e-01 9.29148106e-01 -2.47327096e-02 -1.26722276e+02] [-6.51124006e-02 7.12037940e-04 9.97877682e-01 -4.65744947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.4507140569999 meters 0.02736588480740586 Centerline is valid? [True, True] Translation: X:731.24, Y:-126.74, Z:-46.58 [[ 9.27482743e-01 3.68907640e-01 6.06870289e-02 7.31237104e+02] [-3.68067208e-01 9.29465750e-01 -2.48987847e-02 -1.26738824e+02] [-6.55918668e-02 7.56287853e-04 9.97846248e-01 -4.65754050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.4807140569999 meters 0.027243851872126183 Centerline is valid? [True, True] Translation: X:731.26, Y:-126.75, Z:-46.58 [[ 9.27939870e-01 3.67713823e-01 6.09437686e-02 7.31261277e+02] [-3.66864195e-01 9.29938624e-01 -2.49963782e-02 -1.26754259e+02] [-6.58654780e-02 8.37049312e-04 9.97828161e-01 -4.65776225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.510714057 meters 0.02734293546416915 Centerline is valid? [True, True] Translation: X:731.28, Y:-126.78, Z:-46.58 [[ 9.28307268e-01 3.66750069e-01 6.11555635e-02 7.31283865e+02] [-3.65893593e-01 9.30319080e-01 -2.50656728e-02 -1.26775907e+02] [-6.60870248e-02 8.92217420e-04 9.97813464e-01 -4.65794363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.540714057 meters 0.027185503860442498 Centerline is valid? [True, True] Translation: X:731.31, Y:-126.79, Z:-46.58 [[ 9.28665256e-01 3.65867209e-01 6.10084169e-02 7.31308001e+02] [-3.65014107e-01 9.30666594e-01 -2.49878585e-02 -1.26791534e+02] [-6.59207336e-02 9.36423145e-04 9.97824423e-01 -4.65810385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.5707140569999 meters 0.027185503860442498 Centerline is valid? [True, True] Translation: X:731.33, Y:-126.80, Z:-46.58 [[ 9.28769388e-01 3.65601729e-01 6.10147550e-02 7.31333369e+02] [-3.64749072e-01 9.30770914e-01 -2.49723734e-02 -1.26801853e+02] [-6.59207022e-02 9.38500686e-04 9.97824424e-01 -4.65826281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.6007140569999 meters 0.027069127048675003 Centerline is valid? [True, True] Translation: X:731.36, Y:-126.82, Z:-46.58 [[ 9.29133379e-01 3.64640271e-01 6.12261144e-02 7.31357992e+02] [-3.63780941e-01 9.31147942e-01 -2.50387246e-02 -1.26817538e+02] [-6.61406978e-02 9.91421332e-04 9.97809814e-01 -4.65847845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.630714057 meters 0.02650143531681032 Centerline is valid? [True, True] Translation: X:731.38, Y:-126.84, Z:-46.59 [[ 9.29592336e-01 3.63637776e-01 6.02134263e-02 7.31378370e+02] [-3.62805675e-01 9.31539859e-01 -2.46075826e-02 -1.26838525e+02] [-6.50394532e-02 1.02924735e-03 9.97882162e-01 -4.65861707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.660714057 meters 0.026628745875590273 Centerline is valid? [True, True] Translation: X:731.40, Y:-126.85, Z:-46.59 [[ 9.30070950e-01 3.62342998e-01 6.06265651e-02 7.31403234e+02] [-3.61497621e-01 9.32044157e-01 -2.47620669e-02 -1.26854605e+02] [-6.54789974e-02 1.11412007e-03 9.97853326e-01 -4.65881610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.6907140569999 meters 0.026868710532161756 Centerline is valid? [True, True] Translation: X:731.42, Y:-126.88, Z:-46.59 [[ 9.31173760e-01 3.59483589e-01 6.07204871e-02 7.31424010e+02] [-3.58630603e-01 9.33150499e-01 -2.47837908e-02 -1.26877030e+02] [-6.55707190e-02 1.30179078e-03 9.97847076e-01 -4.65883199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.7207140569999 meters 0.026856508627526376 Centerline is valid? [True, True] Translation: X:731.45, Y:-126.89, Z:-46.59 [[ 9.32013735e-01 3.57141612e-01 6.16463023e-02 7.31448591e+02] [-3.56257978e-01 9.34049079e-01 -2.51509758e-02 -1.26893500e+02] [-6.65631319e-02 1.47906785e-03 9.97781119e-01 -4.65899597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.750714057 meters 0.027196898862414505 Centerline is valid? [True, True] Translation: X:731.47, Y:-126.91, Z:-46.59 [[ 9.32954004e-01 3.54806643e-01 6.09021536e-02 7.31472916e+02] [-3.53940410e-01 9.34938316e-01 -2.48300354e-02 -1.26910680e+02] [-6.57496184e-02 1.60954772e-03 9.97834855e-01 -4.65907641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.780714057 meters 0.02762079222737846 Centerline is valid? [True, True] Translation: X:731.50, Y:-126.93, Z:-46.59 [[ 9.34988788e-01 3.49412476e-01 6.08842112e-02 7.31495834e+02] [-3.48536345e-01 9.36966928e-01 -2.48070830e-02 -1.26933221e+02] [-6.57143967e-02 1.97398401e-03 9.97836520e-01 -4.65925124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.8107140569999 meters 0.02750270898754749 Centerline is valid? [True, True] Translation: X:731.52, Y:-126.95, Z:-46.59 [[ 9.36075628e-01 3.46559581e-01 6.04886477e-02 7.31520733e+02] [-3.45689034e-01 9.38025480e-01 -2.46432584e-02 -1.26949781e+02] [-6.52802501e-02 2.15769138e-03 9.97864637e-01 -4.65939773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.8407140569999 meters 0.02905441748699484 Centerline is valid? [True, True] Translation: X:731.54, Y:-126.97, Z:-46.60 [[ 9.37028075e-01 3.43970260e-01 6.05214622e-02 7.31543929e+02] [-3.43093633e-01 9.38977638e-01 -2.46526705e-02 -1.26967041e+02] [-6.53080851e-02 2.33571598e-03 9.97862415e-01 -4.65952284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.870714057 meters 0.03002781440336486 Centerline is valid? [True, True] Translation: X:731.57, Y:-126.99, Z:-46.60 [[ 9.38881431e-01 3.38923916e-01 6.02680497e-02 7.31568956e+02] [-3.38044526e-01 9.40809992e-01 -2.45449923e-02 -1.26986638e+02] [-6.50196683e-02 2.67155323e-03 9.97880406e-01 -4.65963862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.900714057 meters 0.03090212654813576 Centerline is valid? [True, True] Translation: X:731.59, Y:-127.00, Z:-46.60 [[ 9.39819524e-01 3.36373190e-01 5.99361260e-02 7.31594035e+02] [-3.35498321e-01 9.41724512e-01 -2.44094207e-02 -1.27001706e+02] [-6.46539937e-02 2.83198046e-03 9.97903723e-01 -4.65977247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.9307140569999 meters 0.03284177448661125 Centerline is valid? [True, True] Translation: X:731.62, Y:-127.02, Z:-46.60 [[ 9.40682828e-01 3.34025669e-01 5.95203217e-02 7.31618140e+02] [-3.33158467e-01 9.42559302e-01 -2.42362976e-02 -1.27018241e+02] [-6.41969784e-02 2.96896981e-03 9.97932830e-01 -4.65984275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.9607140569999 meters 0.03327661251103994 Centerline is valid? [True, True] Translation: X:731.64, Y:-127.03, Z:-46.60 [[ 9.42405943e-01 3.29065614e-01 5.98904091e-02 7.31644207e+02] [-3.28177890e-01 9.44301211e-01 -2.43822722e-02 -1.27034787e+02] [-6.45779532e-02 3.32329011e-03 9.97907132e-01 -4.65992514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.990714057 meters 0.03133902499375789 Centerline is valid? [True, True] Translation: X:731.67, Y:-127.04, Z:-46.60 [[ 9.43237857e-01 3.26672205e-01 5.98967082e-02 7.31672102e+02] [-3.25779545e-01 9.45131268e-01 -2.43838887e-02 -1.27044090e+02] [-6.45757904e-02 3.48668458e-03 9.97906714e-01 -4.66013375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.020714057 meters 0.03287754097387099 Centerline is valid? [True, True] Translation: X:731.70, Y:-127.06, Z:-46.60 [[ 9.43902341e-01 3.24669962e-01 6.03140719e-02 7.31697238e+02] [-3.23760985e-01 9.45820346e-01 -2.45498854e-02 -1.27058706e+02] [-6.50168867e-02 3.64535097e-03 9.97877505e-01 -4.66024012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.0507140569999 meters 0.038993780376314555 Centerline is valid? [True, True] Translation: X:731.72, Y:-127.08, Z:-46.60 [[ 9.45261462e-01 3.20763483e-01 5.99295916e-02 7.31720506e+02] [-3.19858488e-01 9.47151355e-01 -2.43897172e-02 -1.27078253e+02] [-6.45857245e-02 3.88567114e-03 9.97904598e-01 -4.66032929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.0807140569999 meters 0.035258246550836696 Centerline is valid? [True, True] Translation: X:731.75, Y:-127.08, Z:-46.61 [[ 9.45980102e-01 3.18667771e-01 5.97703882e-02 7.31749608e+02] [-3.17763589e-01 9.47857968e-01 -2.43223070e-02 -1.27083437e+02] [-6.44045740e-02 4.01556537e-03 9.97915791e-01 -4.66061515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.1107140569999 meters 0.038777962294259956 Centerline is valid? [True, True] Translation: X:731.77, Y:-127.10, Z:-46.61 [[ 9.46750601e-01 3.16468682e-01 5.92526142e-02 7.31774319e+02] [-3.15576069e-01 9.48593988e-01 -2.41078957e-02 -1.27098876e+02] [-6.38360676e-02 4.12545772e-03 9.97951871e-01 -4.66078206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.140714057 meters 0.03688316768225705 Centerline is valid? [True, True] Translation: X:731.80, Y:-127.11, Z:-46.61 [[ 9.48438518e-01 3.11681178e-01 5.76126723e-02 7.31804787e+02] [-3.10828761e-01 9.50176915e-01 -2.34373912e-02 -1.27105024e+02] [-6.20472249e-02 4.32124901e-03 9.98063860e-01 -4.66119978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.1707140569999 meters 0.04093215935779719 Centerline is valid? [True, True] Translation: X:731.83, Y:-127.12, Z:-46.61 [[ 9.49468359e-01 3.08707223e-01 5.66540933e-02 7.31830047e+02] [-3.07877713e-01 9.51146748e-01 -2.30472972e-02 -1.27119514e+02] [-6.10012237e-02 4.44014672e-03 9.98127815e-01 -4.66149413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.2007140569999 meters 0.044106446413427924 Centerline is valid? [True, True] Translation: X:731.86, Y:-127.13, Z:-46.62 [[ 9.51143047e-01 3.03642110e-01 5.59318550e-02 7.31856692e+02] [-3.02825067e-01 9.52774558e-01 -2.27512722e-02 -1.27131325e+02] [-6.01986928e-02 4.70214661e-03 9.98175339e-01 -4.66175836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.2307140569999 meters 0.04297023891411834 Centerline is valid? [True, True] Translation: X:731.89, Y:-127.14, Z:-46.62 [[ 9.51776018e-01 3.01575846e-01 5.63420064e-02 7.31885741e+02] [-3.00743127e-01 9.53429757e-01 -2.29187804e-02 -1.27139091e+02] [-6.06298960e-02 4.86907434e-03 9.98148440e-01 -4.66189472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.260714057 meters 0.04384200241827453 Centerline is valid? [True, True] Translation: X:731.91, Y:-127.15, Z:-46.62 [[ 9.52407250e-01 2.99516779e-01 5.66580033e-02 7.31914370e+02] [-2.98671140e-01 9.54077789e-01 -2.30461265e-02 -1.27148333e+02] [-6.09588441e-02 5.02718754e-03 9.98127620e-01 -4.66201400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.290714057 meters 0.045376751511477804 Centerline is valid? [True, True] Translation: X:731.95, Y:-127.15, Z:-46.62 [[ 9.53389275e-01 2.96425013e-01 5.64012597e-02 7.31945143e+02] [-2.95581733e-01 9.55041973e-01 -2.29405411e-02 -1.27154419e+02] [-6.06657206e-02 5.20008381e-03 9.98144594e-01 -4.66210778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.3207140569999 meters 0.045934916005243395 Centerline is valid? [True, True] Translation: X:731.97, Y:-127.16, Z:-46.62 [[ 9.53821268e-01 2.95070565e-01 5.61992095e-02 7.31973452e+02] [-2.94231040e-01 9.55460949e-01 -2.28575941e-02 -1.27161768e+02] [-6.04407533e-02 5.26650755e-03 9.98157893e-01 -4.66230845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.3507140569999 meters 0.046409592677106364 Centerline is valid? [True, True] Translation: X:732.00, Y:-127.17, Z:-46.62 [[ 9.54094507e-01 2.94290034e-01 5.56511140e-02 7.32000966e+02] [-2.93465747e-01 9.55701683e-01 -2.26306948e-02 -1.27169618e+02] [-5.98458513e-02 5.26012583e-03 9.98193771e-01 -4.66244664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.380714057 meters 0.04535624190962928 Centerline is valid? [True, True] Translation: X:732.03, Y:-127.17, Z:-46.63 [[ 9.54276130e-01 2.93662403e-01 5.58521403e-02 7.32031289e+02] [-2.92832050e-01 9.55894486e-01 -2.26962920e-02 -1.27170051e+02] [-6.00538006e-02 5.30323296e-03 9.98181054e-01 -4.66269991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.410714057 meters 0.04597611898583211 Centerline is valid? [True, True] Translation: X:732.06, Y:-127.18, Z:-46.63 [[ 9.54270589e-01 2.93689161e-01 5.58060875e-02 7.32059723e+02] [-2.92860608e-01 9.55886333e-01 -2.26711804e-02 -1.27177239e+02] [-6.00025563e-02 5.29103596e-03 9.98184201e-01 -4.66286860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.4407140569999 meters 0.045953073328649716 Centerline is valid? [True, True] Translation: X:732.09, Y:-127.18, Z:-46.63 [[ 9.53868413e-01 2.95101942e-01 5.52258471e-02 7.32091711e+02] [-2.94293838e-01 9.55451987e-01 -2.24195826e-02 -1.27178586e+02] [-5.93817077e-02 5.13270522e-03 9.98222154e-01 -4.66303769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.4707140569999 meters 0.047629173033956876 Centerline is valid? [True, True] Translation: X:732.12, Y:-127.19, Z:-46.63 [[ 9.53739189e-01 2.95586273e-01 5.48663407e-02 7.32118359e+02] [-2.94789536e-01 9.55302607e-01 -2.22723734e-02 -1.27186063e+02] [-5.89973662e-02 5.06801218e-03 9.98245274e-01 -4.66317917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.500714057 meters 0.04681310204083348 Centerline is valid? [True, True] Translation: X:732.15, Y:-127.19, Z:-46.63 [[ 9.53726386e-01 2.95623378e-01 5.48889754e-02 7.32147689e+02] [-2.94826400e-01 9.55291157e-01 -2.22755437e-02 -1.27190953e+02] [-5.90201243e-02 5.06205478e-03 9.98243958e-01 -4.66341111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.530714057 meters 0.04954422694088265 Centerline is valid? [True, True] Translation: X:732.18, Y:-127.20, Z:-46.64 [[ 9.53992846e-01 2.94884446e-01 5.42292630e-02 7.32175597e+02] [-2.94106265e-01 9.55519676e-01 -2.19921422e-02 -1.27195201e+02] [-5.83022685e-02 5.03118040e-03 9.98286298e-01 -4.66366384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.5607140569999 meters 0.05035180006740973 Centerline is valid? [True, True] Translation: X:732.20, Y:-127.20, Z:-46.64 [[ 9.54320373e-01 2.93856608e-01 5.40455313e-02 7.32204613e+02] [-2.93082550e-01 9.55836075e-01 -2.19092722e-02 -1.27203109e+02] [-5.80968529e-02 5.06866276e-03 9.98298084e-01 -4.66385328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.5907140569999 meters 0.04780071340732248 Centerline is valid? [True, True] Translation: X:732.23, Y:-127.21, Z:-46.64 [[ 9.54747626e-01 2.92436359e-01 5.42028263e-02 7.32234467e+02] [-2.91655647e-01 9.56271022e-01 -2.19708048e-02 -1.27206540e+02] [-5.82576543e-02 5.16801342e-03 9.98288204e-01 -4.66401152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.620714057 meters 0.0515597829503972 Centerline is valid? [True, True] Translation: X:732.26, Y:-127.21, Z:-46.64 [[ 9.55727216e-01 2.89231530e-01 5.41351180e-02 7.32262500e+02] [-2.88447871e-01 9.57244202e-01 -2.19400097e-02 -1.27214414e+02] [-5.81662704e-02 5.35350489e-03 9.98292555e-01 -4.66411667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.650714057 meters 0.05169870759376226 Centerline is valid? [True, True] Translation: X:732.29, Y:-127.22, Z:-46.64 [[ 9.56395577e-01 2.87175110e-01 5.32724719e-02 7.32292385e+02] [-2.86412976e-01 9.57862919e-01 -2.15924964e-02 -1.27221318e+02] [-5.72285529e-02 5.39304080e-03 9.98346537e-01 -4.66431922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.6807140569999 meters 0.053111501942094116 Centerline is valid? [True, True] Translation: X:732.32, Y:-127.23, Z:-46.65 [[ 9.57719909e-01 2.83155738e-01 5.09451172e-02 7.32322930e+02] [-2.82453251e-01 9.59058824e-01 -2.06478504e-02 -1.27225284e+02] [-5.47059215e-02 5.38524341e-03 9.98487988e-01 -4.66459051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.7107140569999 meters 0.0543576342752183 Centerline is valid? [True, True] Translation: X:732.35, Y:-127.23, Z:-46.65 [[ 9.58329429e-01 2.81291769e-01 4.97960440e-02 7.32351669e+02] [-2.80618194e-01 9.59607283e-01 -2.01814484e-02 -1.27233793e+02] [-5.34615218e-02 5.36679997e-03 9.98555488e-01 -4.66486885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.740714057 meters 0.06201676900353587 Centerline is valid? [True, True] Translation: X:732.38, Y:-127.25, Z:-46.65 [[ 9.58910811e-01 2.79459543e-01 4.89123840e-02 7.32376510e+02] [-2.78807392e-01 9.60142448e-01 -1.98221244e-02 -1.27250356e+02] [-5.25023379e-02 5.37051514e-03 9.98606360e-01 -4.66513226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.770714057 meters 0.0574866231489244 Centerline is valid? [True, True] Translation: X:732.41, Y:-127.25, Z:-46.65 [[ 9.59385817e-01 2.78036614e-01 4.76916805e-02 7.32407387e+02] [-2.77414992e-01 9.60555798e-01 -1.93256393e-02 -1.27251054e+02] [-5.11837555e-02 5.31035704e-03 9.98675134e-01 -4.66528139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.8007140569999 meters 0.05670473652631973 Centerline is valid? [True, True] Translation: X:732.44, Y:-127.25, Z:-46.65 [[ 9.59918573e-01 2.76448304e-01 4.61808190e-02 7.32439826e+02] [-2.75863821e-01 9.61014610e-01 -1.87102156e-02 -1.27252140e+02] [-4.95528491e-02 5.22066623e-03 9.98757858e-01 -4.66537502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.8307140569999 meters 0.057181898602601096 Centerline is valid? [True, True] Translation: X:732.47, Y:-127.26, Z:-46.65 [[ 9.60020175e-01 2.76142048e-01 4.59002580e-02 7.32467220e+02] [-2.75564181e-01 9.61102729e-01 -1.85990918e-02 -1.27257947e+02] [-4.92508546e-02 5.20703641e-03 9.98772867e-01 -4.66544077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.8607140569999 meters 0.057889585159921195 Centerline is valid? [True, True] Translation: X:732.50, Y:-127.26, Z:-46.65 [[ 9.59767198e-01 2.77049121e-01 4.57242821e-02 7.32497247e+02] [-2.76477530e-01 9.60842092e-01 -1.85107953e-02 -1.27259533e+02] [-4.90622144e-02 5.12431757e-03 9.98782579e-01 -4.66544862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.890714057 meters 0.055659013135511554 Centerline is valid? [True, True] Translation: X:732.53, Y:-127.26, Z:-46.66 [[ 9.59512372e-01 2.77937525e-01 4.56808501e-02 7.32527144e+02] [-2.77368196e-01 9.60585771e-01 -1.84894927e-02 -1.27262590e+02] [-4.90192984e-02 5.07048202e-03 9.98784961e-01 -4.66552275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.9207140569999 meters 0.060265159111193276 Centerline is valid? [True, True] Translation: X:732.56, Y:-127.27, Z:-46.66 [[ 9.58803399e-01 2.80404936e-01 4.54875155e-02 7.32555597e+02] [-2.79843362e-01 9.59869195e-01 -1.84071139e-02 -1.27270450e+02] [-4.88235105e-02 4.91942410e-03 9.98795306e-01 -4.66564418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.9507140569999 meters 0.054326314877062624 Centerline is valid? [True, True] Translation: X:732.59, Y:-127.27, Z:-46.66 [[ 9.58551411e-01 2.81282746e-01 4.53785236e-02 7.32586875e+02] [-2.80724889e-01 9.59612619e-01 -1.83618503e-02 -1.27268950e+02] [-4.87106756e-02 4.86189653e-03 9.98801097e-01 -4.66577426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.9807140569999 meters 0.0582535761906629 Centerline is valid? [True, True] Translation: X:732.61, Y:-127.28, Z:-46.66 [[ 9.58202908e-01 2.82405691e-01 4.57625746e-02 7.32613459e+02] [-2.81839812e-01 9.59282849e-01 -1.85131255e-02 -1.27280371e+02] [-4.91274650e-02 4.84161521e-03 9.98780782e-01 -4.66593136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.010714057 meters 0.05354192287377846 Centerline is valid? [True, True] Translation: X:732.64, Y:-127.28, Z:-46.66 [[ 9.57898074e-01 2.83411842e-01 4.59239436e-02 7.32643969e+02] [-2.82843182e-01 9.58986254e-01 -1.85768428e-02 -1.27281006e+02] [-4.93053279e-02 4.80544758e-03 9.98772192e-01 -4.66595869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.040714057 meters 0.05123735914042142 Centerline is valid? [True, True] Translation: X:732.68, Y:-127.28, Z:-46.66 [[ 9.57679380e-01 2.84263938e-01 4.52130265e-02 7.32676130e+02] [-2.83713853e-01 9.58734618e-01 -1.82861195e-02 -1.27279596e+02] [-4.85453780e-02 4.68467766e-03 9.98809992e-01 -4.66608617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.0707140569999 meters 0.05550031297032141 Centerline is valid? [True, True] Translation: X:732.70, Y:-127.29, Z:-46.66 [[ 9.57626424e-01 2.84585905e-01 4.43000504e-02 7.32701592e+02] [-2.84058471e-01 9.58639660e-01 -1.79105279e-02 -1.27291309e+02] [-4.75648691e-02 4.56779016e-03 9.98857707e-01 -4.66637003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.1007140569999 meters 0.05137363033380796 Centerline is valid? [True, True] Translation: X:732.73, Y:-127.29, Z:-46.67 [[ 9.57356545e-01 2.85609311e-01 4.35404092e-02 7.32733338e+02] [-2.85101086e-01 9.58335877e-01 -1.75987929e-02 -1.27288892e+02] [-4.67527154e-02 4.43490157e-03 9.98896649e-01 -4.66653424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.130714057 meters 0.050501487378449346 Centerline is valid? [True, True] Translation: X:732.76, Y:-127.29, Z:-46.67 [[ 9.57206275e-01 2.86192241e-01 4.30133477e-02 7.32762068e+02] [-2.85696898e-01 9.58162337e-01 -1.73844304e-02 -1.27293685e+02] [-4.61890588e-02 4.35170583e-03 9.98923237e-01 -4.66668949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.160714057 meters 0.047315953010434765 Centerline is valid? [True, True] Translation: X:732.79, Y:-127.30, Z:-46.67 [[ 9.56776275e-01 2.87721798e-01 4.23712982e-02 7.32792969e+02] [-2.87243295e-01 9.57704823e-01 -1.71102627e-02 -1.27296322e+02] [-4.55021922e-02 4.19982207e-03 9.98955410e-01 -4.66679569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.1907140569999 meters 0.04794265832461514 Centerline is valid? [True, True] Translation: X:732.82, Y:-127.30, Z:-46.67 [[ 9.55719523e-01 2.91354263e-01 4.13870277e-02 7.32822664e+02] [-2.90901186e-01 9.56607148e-01 -1.67112103e-02 -1.27299679e+02] [-4.44600089e-02 3.93169445e-03 9.99003428e-01 -4.66707171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.2207140569999 meters 0.047071080890433395 Centerline is valid? [True, True] Translation: X:732.85, Y:-127.31, Z:-46.67 [[ 9.54891377e-01 2.94004908e-01 4.17561013e-02 7.32852324e+02] [-2.93546330e-01 9.55796196e-01 -1.68577321e-02 -1.27305377e+02] [-4.48665788e-02 3.83995270e-03 9.98985608e-01 -4.66724273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.250714057 meters 0.05111721182832877 Centerline is valid? [True, True] Translation: X:732.88, Y:-127.32, Z:-46.67 [[ 9.53989702e-01 2.96927227e-01 4.16877853e-02 7.32878412e+02] [-2.96472938e-01 9.54892958e-01 -1.68295874e-02 -1.27317458e+02] [-4.48045354e-02 3.69595283e-03 9.98988936e-01 -4.66748526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.280714057 meters 0.04705243552801192 Centerline is valid? [True, True] Translation: X:732.91, Y:-127.32, Z:-46.67 [[ 9.51827970e-01 3.03658906e-01 4.26002808e-02 7.32912183e+02] [-3.03191248e-01 9.52774555e-01 -1.71963442e-02 -1.27315087e+02] [-4.58102867e-02 3.45192905e-03 9.98944194e-01 -4.66748098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.3107140569999 meters 0.03974588059384296 Centerline is valid? [True, True] Translation: X:732.95, Y:-127.31, Z:-46.67 [[ 9.50671170e-01 3.07196617e-01 4.30646588e-02 7.32946071e+02] [-3.06722417e-01 9.51640294e-01 -1.73813093e-02 -1.27311865e+02] [-4.63215440e-02 3.31501340e-03 9.98921081e-01 -4.66743518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.3407140569999 meters 0.03743119699674802 Centerline is valid? [True, True] Translation: X:732.98, Y:-127.31, Z:-46.67 [[ 9.48067128e-01 3.14958417e-01 4.43837483e-02 7.32976902e+02] [-3.14463179e-01 9.49100649e-01 -1.79127645e-02 -1.27311977e+02] [-4.77664202e-02 3.02544861e-03 9.98853951e-01 -4.66748194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.370714057 meters 0.035619087874573886 Centerline is valid? [True, True] Translation: X:733.01, Y:-127.32, Z:-46.68 [[ 9.46885506e-01 3.18386873e-01 4.51402063e-02 7.33006959e+02] [-3.17878585e-01 9.47956431e-01 -1.82156665e-02 -1.27317643e+02] [-4.85905780e-02 2.89904569e-03 9.98814573e-01 -4.66759337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.400714057 meters 0.03473259554011977 Centerline is valid? [True, True] Translation: X:733.04, Y:-127.32, Z:-46.68 [[ 9.45845767e-01 3.21383587e-01 4.56987455e-02 7.33036320e+02] [-3.20866159e-01 9.46945020e-01 -1.84400923e-02 -1.27324876e+02] [-4.92005425e-02 2.77830231e-03 9.98785056e-01 -4.66773714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.4307140569999 meters 0.037363170258026324 Centerline is valid? [True, True] Translation: X:733.06, Y:-127.34, Z:-46.68 [[ 9.44373150e-01 3.25575174e-01 4.64775252e-02 7.33063484e+02] [-3.25045036e-01 9.45512575e-01 -1.87535166e-02 -1.27336128e+02] [-5.00507640e-02 2.60302869e-03 9.98743283e-01 -4.66795276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.4607140569999 meters 0.037363170258026324 Centerline is valid? [True, True] Translation: X:733.09, Y:-127.35, Z:-46.68 [[ 9.44459176e-01 3.25325532e-01 4.64775558e-02 7.33088916e+02] [-3.24795096e-01 9.45598463e-01 -1.87534416e-02 -1.27346281e+02] [-5.00500787e-02 2.61617780e-03 9.98743283e-01 -4.66811150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.490714057 meters 0.03247000730139603 Centerline is valid? [True, True] Translation: X:733.12, Y:-127.35, Z:-46.68 [[ 9.43915494e-01 3.26925598e-01 4.62946471e-02 7.33119573e+02] [-3.26402039e-01 9.45046756e-01 -1.86638016e-02 -1.27347481e+02] [-4.98522806e-02 2.50638430e-03 9.98753457e-01 -4.66820910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.520714057 meters 0.032106077091647506 Centerline is valid? [True, True] Translation: X:733.15, Y:-127.36, Z:-46.68 [[ 9.43493346e-01 3.28189709e-01 4.59545623e-02 7.33146622e+02] [-3.27675422e-01 9.44608734e-01 -1.85244994e-02 -1.27356738e+02] [-4.94886309e-02 2.41956132e-03 9.98771756e-01 -4.66843954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.5507140569999 meters 0.03196294799773838 Centerline is valid? [True, True] Translation: X:733.17, Y:-127.37, Z:-46.69 [[ 9.42281761e-01 3.31778222e-01 4.50365859e-02 7.33174202e+02] [-3.31289093e-01 9.43354913e-01 -1.81396124e-02 -1.27365715e+02] [-4.85038130e-02 2.17249627e-03 9.98820635e-01 -4.66878542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.5807140569999 meters 0.03002460742687324 Centerline is valid? [True, True] Translation: X:733.20, Y:-127.37, Z:-46.69 [[ 9.41756589e-01 3.33396937e-01 4.40569017e-02 7.33202996e+02] [-3.32930613e-01 9.42784336e-01 -1.77454901e-02 -1.27372248e+02] [-4.74524488e-02 2.04404093e-03 9.98871407e-01 -4.66894562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.6107140569999 meters 0.03010036082401386 Centerline is valid? [True, True] Translation: X:733.23, Y:-127.38, Z:-46.69 [[ 9.40997401e-01 3.35599030e-01 4.35566601e-02 7.33229244e+02] [-3.35146234e-01 9.42003019e-01 -1.75303668e-02 -1.27382488e+02] [-4.69136794e-02 1.89817897e-03 9.98897144e-01 -4.66923471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.640714057 meters 0.02887591856105885 Centerline is valid? [True, True] Translation: X:733.26, Y:-127.39, Z:-46.70 [[ 9.39451217e-01 3.40034572e-01 4.25194103e-02 7.33257861e+02] [-3.39607747e-01 9.40411516e-01 -1.71102204e-02 -1.27390786e+02] [-4.58038095e-02 1.63429622e-03 9.98949118e-01 -4.66957056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.6707140569999 meters 0.028719454293974434 Centerline is valid? [True, True] Translation: X:733.29, Y:-127.40, Z:-46.70 [[ 9.38627905e-01 3.42275298e-01 4.27232579e-02 7.33285259e+02] [-3.41846920e-01 9.39598471e-01 -1.71870864e-02 -1.27400962e+02] [-4.60254230e-02 1.52746473e-03 9.98939101e-01 -4.66978987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.7007140569999 meters 0.02768833161257301 Centerline is valid? [True, True] Translation: X:733.31, Y:-127.41, Z:-46.70 [[ 9.36757042e-01 3.47278682e-01 4.34023226e-02 7.33312795e+02] [-3.46842584e-01 9.37761087e-01 -1.74460994e-02 -1.27411429e+02] [-4.67596676e-02 1.28898274e-03 9.98905337e-01 -4.66992375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.7307140569999 meters 0.027406924412374953 Centerline is valid? [True, True] Translation: X:733.34, Y:-127.42, Z:-46.70 [[ 9.36127763e-01 3.48901239e-01 4.39629066e-02 7.33339021e+02] [-3.48455557e-01 9.37158699e-01 -1.76719325e-02 -1.27422559e+02] [-4.73659795e-02 1.22406757e-03 9.98876852e-01 -4.67007988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.760714057 meters 0.02735737025124398 Centerline is valid? [True, True] Translation: X:733.36, Y:-127.43, Z:-46.70 [[ 9.35822371e-01 3.49664086e-01 4.44017766e-02 7.33364863e+02] [-3.49210926e-01 9.36874390e-01 -1.78355705e-02 -1.27434001e+02] [-4.78353459e-02 1.18534038e-03 9.98854531e-01 -4.67023357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.790714057 meters 0.027201177856704395 Centerline is valid? [True, True] Translation: X:733.39, Y:-127.45, Z:-46.70 [[ 9.35616378e-01 3.49991664e-01 4.61283982e-02 7.33390191e+02] [-3.49503625e-01 9.36752044e-01 -1.85155038e-02 -1.27447499e+02] [-4.96911433e-02 1.20136623e-03 9.98763910e-01 -4.67031936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.8207140569999 meters 0.027349363759813186 Centerline is valid? [True, True] Translation: X:733.41, Y:-127.46, Z:-46.70 [[ 9.35786398e-01 3.49408871e-01 4.70877730e-02 7.33413327e+02] [-3.48900302e-01 9.36969526e-01 -1.88861739e-02 -1.27461543e+02] [-5.07188050e-02 1.24448641e-03 9.98712198e-01 -4.67047186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.8507140569999 meters 0.027876930318981082 Centerline is valid? [True, True] Translation: X:733.44, Y:-127.48, Z:-46.71 [[ 9.37166359e-01 3.45489529e-01 4.85407149e-02 7.33436774e+02] [-3.44944444e-01 9.38421422e-01 -1.94567707e-02 -1.27480957e+02] [-5.22737572e-02 1.49038107e-03 9.98631680e-01 -4.67060112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.880714057 meters 0.02867438948493412 Centerline is valid? [True, True] Translation: X:733.46, Y:-127.50, Z:-46.71 [[ 9.38142815e-01 3.42678489e-01 4.95934622e-02 7.33461439e+02] [-3.42105727e-01 9.39451239e-01 -1.98756328e-02 -1.27497370e+02] [-5.34015914e-02 1.67997469e-03 9.98571704e-01 -4.67077334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.910714057 meters 0.02992885178560737 Centerline is valid? [True, True] Translation: X:733.48, Y:-127.51, Z:-46.71 [[ 9.39096348e-01 3.39968407e-01 5.01949280e-02 7.33484685e+02] [-3.39377952e-01 9.40435030e-01 -2.01136586e-02 -1.27514827e+02] [-5.40430771e-02 1.85361142e-03 9.98536885e-01 -4.67092266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.9407140569999 meters 0.03049593093458163 Centerline is valid? [True, True] Translation: X:733.51, Y:-127.53, Z:-46.71 [[ 9.40492455e-01 3.36011689e-01 5.06960220e-02 7.33510021e+02] [-3.35403877e-01 9.41855480e-01 -2.03099591e-02 -1.27530855e+02] [-5.45727098e-02 2.09772099e-03 9.98507596e-01 -4.67107208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.9707140569999 meters 0.032055517374740744 Centerline is valid? [True, True] Translation: X:733.53, Y:-127.55, Z:-46.71 [[ 9.42801874e-01 3.29244675e-01 5.21782558e-02 7.33532725e+02] [-3.28590532e-01 9.44241170e-01 -2.09015716e-02 -1.27554044e+02] [-5.61505884e-02 2.56076000e-03 9.98419027e-01 -4.67122504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.000714057 meters 0.034686471198901524 Centerline is valid? [True, True] Translation: X:733.56, Y:-127.57, Z:-46.71 [[ 9.44035040e-01 3.25702639e-01 5.21117540e-02 7.33555940e+02] [-3.25044852e-01 9.45468210e-01 -2.08736217e-02 -1.27572959e+02] [-5.60686005e-02 2.76677296e-03 9.98423085e-01 -4.67148574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.030714057 meters 0.03662046393982385 Centerline is valid? [True, True] Translation: X:733.58, Y:-127.60, Z:-46.72 [[ 9.46402689e-01 3.18930120e-01 5.10443855e-02 7.33579595e+02] [-3.18289280e-01 9.47773157e-01 -2.04444878e-02 -1.27595493e+02] [-5.48988614e-02 3.10183749e-03 9.98487102e-01 -4.67179517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.0607140569999 meters 0.037927752914437 Centerline is valid? [True, True] Translation: X:733.60, Y:-127.61, Z:-46.72 [[ 9.47385231e-01 3.15973261e-01 5.12066750e-02 7.33604997e+02] [-3.15324075e-01 9.48762415e-01 -2.05087009e-02 -1.27612306e+02] [-5.50631698e-02 3.28294292e-03 9.98477476e-01 -4.67205626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.0907140569999 meters 0.03873963693075373 Centerline is valid? [True, True] Translation: X:733.63, Y:-127.63, Z:-46.72 [[ 9.48162021e-01 3.13559592e-01 5.16639587e-02 7.33630151e+02] [-3.12895245e-01 9.49562247e-01 -2.06906874e-02 -1.27628135e+02] [-5.55459082e-02 3.45271697e-03 9.98450164e-01 -4.67224866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.120714057 meters 0.03905795518385081 Centerline is valid? [True, True] Translation: X:733.66, Y:-127.65, Z:-46.72 [[ 9.49047186e-01 3.10664406e-01 5.28872828e-02 7.33655664e+02] [-3.09963906e-01 9.50512440e-01 -2.11773052e-02 -1.27645817e+02] [-5.68490552e-02 3.70511314e-03 9.98375910e-01 -4.67234224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.150714057 meters 0.03934264534794813 Centerline is valid? [True, True] Translation: X:733.68, Y:-127.66, Z:-46.72 [[ 9.49415040e-01 3.09413854e-01 5.36110968e-02 7.33680741e+02] [-3.08692108e-01 9.50919761e-01 -2.14660375e-02 -1.27659037e+02] [-5.76217408e-02 3.83085636e-03 9.98331137e-01 -4.67249746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.1807140569999 meters 0.037908132483483244 Centerline is valid? [True, True] Translation: X:733.71, Y:-127.67, Z:-46.73 [[ 9.49762142e-01 3.08379072e-01 5.34249269e-02 7.33707598e+02] [-3.07661178e-01 9.51255672e-01 -2.13833183e-02 -1.27669281e+02] [-5.74149325e-02 3.87229023e-03 9.98342892e-01 -4.67266439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.2107140569999 meters 0.04152135693711063 Centerline is valid? [True, True] Translation: X:733.73, Y:-127.69, Z:-46.73 [[ 9.50032179e-01 3.07502386e-01 5.36762606e-02 7.33729722e+02] [-3.06777240e-01 9.51539199e-01 -2.14680496e-02 -1.27688341e+02] [-5.76765425e-02 3.92868284e-03 9.98327593e-01 -4.67288992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.240714057 meters 0.03852547205850448 Centerline is valid? [True, True] Translation: X:733.76, Y:-127.70, Z:-46.73 [[ 9.50214943e-01 3.06849940e-01 5.41726617e-02 7.33757358e+02] [-3.06110587e-01 9.51749504e-01 -2.16608061e-02 -1.27696714e+02] [-5.82054210e-02 3.99959631e-03 9.98296615e-01 -4.67310706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.270714057 meters 0.04021806918469393 Centerline is valid? [True, True] Translation: X:733.78, Y:-127.71, Z:-46.73 [[ 9.50616266e-01 3.05440404e-01 5.50896917e-02 7.33781392e+02] [-3.04674383e-01 9.52202195e-01 -2.20113555e-02 -1.27713275e+02] [-5.91796827e-02 4.13993478e-03 9.98238762e-01 -4.67325106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.3007140569999 meters 0.04008571702162606 Centerline is valid? [True, True] Translation: X:733.81, Y:-127.73, Z:-46.73 [[ 9.50851000e-01 3.04544201e-01 5.59929030e-02 7.33807275e+02] [-3.03751527e-01 9.52488674e-01 -2.23681721e-02 -1.27725419e+02] [-6.01447030e-02 4.26086908e-03 9.98180575e-01 -4.67340043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.3307140569999 meters 0.04103648073883522 Centerline is valid? [True, True] Translation: X:733.83, Y:-127.74, Z:-46.74 [[ 9.51293648e-01 3.03143964e-01 5.60725688e-02 7.33833426e+02] [-3.02347564e-01 9.52934886e-01 -2.23842229e-02 -1.27738866e+02] [-6.02191490e-02 4.34056443e-03 9.98175743e-01 -4.67358388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.3607140569999 meters 0.04178285551363076 Centerline is valid? [True, True] Translation: X:733.86, Y:-127.75, Z:-46.74 [[ 9.51822893e-01 3.01418984e-01 5.63895137e-02 7.33859966e+02] [-3.00610748e-01 9.53481306e-01 -2.25072922e-02 -1.27752136e+02] [-6.05504723e-02 4.47166204e-03 9.98155121e-01 -4.67378741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.390714057 meters 0.0445574836006569 Centerline is valid? [True, True] Translation: X:733.89, Y:-127.77, Z:-46.74 [[ 9.53307527e-01 2.96871348e-01 5.54270829e-02 7.33886495e+02] [-2.96082989e-01 9.54906031e-01 -2.21209231e-02 -1.27767766e+02] [-5.94947240e-02 4.67702614e-03 9.98217663e-01 -4.67399721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.4207140569999 meters 0.046051020492658155 Centerline is valid? [True, True] Translation: X:733.91, Y:-127.78, Z:-46.74 [[ 9.54130820e-01 2.94330632e-01 5.48074503e-02 7.33913777e+02] [-2.93555745e-01 9.55691703e-01 -2.18721956e-02 -1.27781562e+02] [-5.88166827e-02 4.77989401e-03 9.98257357e-01 -4.67424260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.4507140569999 meters 0.0483242877528641 Centerline is valid? [True, True] Translation: X:733.94, Y:-127.80, Z:-46.75 [[ 9.55892116e-01 2.88657170e-01 5.42890444e-02 7.33939307e+02] [-2.87887805e-01 9.57419044e-01 -2.16653029e-02 -1.27797731e+02] [-5.82312101e-02 5.08053845e-03 9.98290195e-01 -4.67455721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.4807140569999 meters 0.05215008341108252 Centerline is valid? [True, True] Translation: X:733.96, Y:-127.81, Z:-46.75 [[ 9.56814362e-01 2.85582913e-01 5.43017209e-02 7.33963933e+02] [-2.84808342e-01 9.58339527e-01 -2.16693328e-02 -1.27814090e+02] [-5.82278767e-02 5.26794576e-03 9.98289419e-01 -4.67481392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.510714057 meters 0.049727011397147906 Centerline is valid? [True, True] Translation: X:733.99, Y:-127.82, Z:-46.75 [[ 9.57492840e-01 2.83266105e-01 5.44772986e-02 7.33993432e+02] [-2.82482866e-01 9.59026006e-01 -2.17382141e-02 -1.27822373e+02] [-5.84028453e-02 5.42528087e-03 9.98278355e-01 -4.67501521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.540714057 meters 0.04970877970484345 Centerline is valid? [True, True] Translation: X:734.02, Y:-127.83, Z:-46.75 [[ 9.58273137e-01 2.80634370e-01 5.43778052e-02 7.34021927e+02] [-2.79849800e-01 9.59798554e-01 -2.16985018e-02 -1.27831521e+02] [-5.82810842e-02 5.57547349e-03 9.98284643e-01 -4.67506947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.5707140569999 meters 0.04905039134168589 Centerline is valid? [True, True] Translation: X:734.05, Y:-127.84, Z:-46.75 [[ 9.58418174e-01 2.79966703e-01 5.52562196e-02 7.34049538e+02] [-2.79155535e-01 9.59992755e-01 -2.20476282e-02 -1.27840566e+02] [-5.92181723e-02 5.70576807e-03 9.98228758e-01 -4.67512888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.6007140569999 meters 0.05246505870289437 Centerline is valid? [True, True] Translation: X:734.07, Y:-127.85, Z:-46.75 [[ 9.58389215e-01 2.79942010e-01 5.58800771e-02 7.34074498e+02] [-2.79113341e-01 9.59999655e-01 -2.22801654e-02 -1.27854248e+02] [-5.98820090e-02 5.75619522e-03 9.98188866e-01 -4.67523148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.630714057 meters 0.052803507519111594 Centerline is valid? [True, True] Translation: X:734.10, Y:-127.86, Z:-46.75 [[ 9.57802468e-01 2.81872341e-01 5.62353525e-02 7.34102771e+02] [-2.81036895e-01 9.59435204e-01 -2.24132176e-02 -1.27863519e+02] [-6.02718430e-02 5.66322626e-03 9.98165935e-01 -4.67541839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.660714057 meters 0.04921637569156022 Centerline is valid? [True, True] Translation: X:734.13, Y:-127.87, Z:-46.76 [[ 9.57582652e-01 2.82641060e-01 5.61203648e-02 7.34131941e+02] [-2.81810415e-01 9.59209387e-01 -2.23660972e-02 -1.27868165e+02] [-6.01527582e-02 5.60208343e-03 9.98173463e-01 -4.67559617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.6907140569999 meters 0.048689715398095 Centerline is valid? [True, True] Translation: X:734.16, Y:-127.88, Z:-46.76 [[ 9.56967192e-01 2.84825946e-01 5.55695414e-02 7.34161124e+02] [-2.84015456e-01 9.58564003e-01 -2.21420838e-02 -1.27875303e+02] [-5.95736020e-02 5.40663915e-03 9.98209274e-01 -4.67577258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.7207140569999 meters 0.04810116232740144 Centerline is valid? [True, True] Translation: X:734.19, Y:-127.88, Z:-46.76 [[ 9.56550214e-01 2.86175950e-01 5.58123128e-02 7.34189989e+02] [-2.85360698e-01 9.58162178e-01 -2.22376527e-02 -1.27884354e+02] [-5.98411286e-02 5.34479084e-03 9.98193605e-01 -4.67589108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.750714057 meters 0.046317695703576606 Centerline is valid? [True, True] Translation: X:734.22, Y:-127.89, Z:-46.76 [[ 9.56348316e-01 2.86776060e-01 5.61906515e-02 7.34218888e+02] [-2.85950837e-01 9.57982755e-01 -2.23866053e-02 -1.27890715e+02] [-6.02496176e-02 5.34162844e-03 9.98169049e-01 -4.67606461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.780714057 meters 0.048704586359978264 Centerline is valid? [True, True] Translation: X:734.24, Y:-127.90, Z:-46.76 [[ 9.56000752e-01 2.87844623e-01 5.66395259e-02 7.34244302e+02] [-2.87008923e-01 9.57662446e-01 -2.25503380e-02 -1.27901269e+02] [-6.07325405e-02 5.30209079e-03 9.98139993e-01 -4.67621649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.8107140569999 meters 0.04929428027983315 Centerline is valid? [True, True] Translation: X:734.27, Y:-127.91, Z:-46.76 [[ 9.56174695e-01 2.87300165e-01 5.64673991e-02 7.34270917e+02] [-2.86468957e-01 9.57825855e-01 -2.24759518e-02 -1.27910810e+02] [-6.05432795e-02 5.31477945e-03 9.98151424e-01 -4.67639657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.8407140569999 meters 0.0511096759349966 Centerline is valid? [True, True] Translation: X:734.30, Y:-127.92, Z:-46.77 [[ 9.56364730e-01 2.86823108e-01 5.56687282e-02 7.34296862e+02] [-2.86014809e-01 9.57969100e-01 -2.21524632e-02 -1.27921457e+02] [-5.96827599e-02 5.26375382e-03 9.98203517e-01 -4.67655085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.870714057 meters 0.04915494276178925 Centerline is valid? [True, True] Translation: X:734.33, Y:-127.92, Z:-46.77 [[ 9.56903109e-01 2.85267376e-01 5.43963716e-02 7.34326538e+02] [-2.84493468e-01 9.58433693e-01 -2.16407931e-02 -1.27924992e+02] [-5.83087276e-02 5.23272981e-03 9.98284885e-01 -4.67683978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.900714057 meters 0.04603061693151454 Centerline is valid? [True, True] Translation: X:734.36, Y:-127.93, Z:-46.77 [[ 9.57099383e-01 2.84713518e-01 5.38422149e-02 7.34355627e+02] [-2.83954639e-01 9.58598495e-01 -2.14170260e-02 -1.27929577e+02] [-5.77107830e-02 5.20947569e-03 9.98319752e-01 -4.67709624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.9307140569999 meters 0.0540719285265388 Centerline is valid? [True, True] Translation: X:734.38, Y:-127.95, Z:-46.77 [[ 9.57410100e-01 2.83894872e-01 5.26270072e-02 7.34379030e+02] [-2.83169546e-01 9.58841716e-01 -2.09182202e-02 -1.27945750e+02] [-5.63995453e-02 5.12494958e-03 9.98395125e-01 -4.67740957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.9607140569999 meters 0.05006640593134903 Centerline is valid? [True, True] Translation: X:734.41, Y:-127.95, Z:-46.78 [[ 9.57633896e-01 2.83237762e-01 5.20930996e-02 7.34408525e+02] [-2.82526416e-01 9.59036129e-01 -2.07009071e-02 -1.27948717e+02] [-5.58224432e-02 5.10621361e-03 9.98427655e-01 -4.67762995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.990714057 meters 0.0483936930841177 Centerline is valid? [True, True] Translation: X:734.44, Y:-127.95, Z:-46.78 [[ 9.57884376e-01 2.82416890e-01 5.19444223e-02 7.34437135e+02] [-2.81709238e-01 9.59278080e-01 -2.06269393e-02 -1.27954973e+02] [-5.56545418e-02 5.12499920e-03 9.98436932e-01 -4.67782027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.020714057 meters 0.0498228003233986 Centerline is valid? [True, True] Translation: X:734.47, Y:-127.96, Z:-46.78 [[ 9.58272317e-01 2.81114630e-01 5.18529799e-02 7.34465272e+02] [-2.80408447e-01 9.59660236e-01 -2.05751020e-02 -1.27962050e+02] [-5.55452051e-02 5.17653707e-03 9.98442754e-01 -4.67794776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.0507140569999 meters 0.04818458838469683 Centerline is valid? [True, True] Translation: X:734.49, Y:-127.97, Z:-46.78 [[ 9.58407389e-01 2.80632938e-01 5.19656805e-02 7.34493654e+02] [-2.79923213e-01 9.59801017e-01 -2.06155940e-02 -1.27967178e+02] [-5.56621277e-02 5.21173738e-03 9.98436060e-01 -4.67809531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.0807140569999 meters 0.058166865368866186 Centerline is valid? [True, True] Translation: X:734.52, Y:-127.98, Z:-46.78 [[ 9.58698329e-01 2.79685242e-01 5.17076435e-02 7.34517112e+02] [-2.78982055e-01 9.60077528e-01 -2.04976558e-02 -1.27984752e+02] [-5.53762383e-02 5.22556368e-03 9.98451885e-01 -4.67822347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.1107140569999 meters 0.04945714129021302 Centerline is valid? [True, True] Translation: X:734.55, Y:-127.98, Z:-46.78 [[ 9.58887449e-01 2.79022820e-01 5.17795848e-02 7.34549205e+02] [-2.78316930e-01 9.60270024e-01 -2.05223562e-02 -1.27981460e+02] [-5.54485889e-02 5.26749470e-03 9.98447649e-01 -4.67833416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.140714057 meters 0.05293207566010246 Centerline is valid? [True, True] Translation: X:734.58, Y:-127.99, Z:-46.78 [[ 9.59047830e-01 2.78513644e-01 5.15500746e-02 7.34575017e+02] [-2.77814130e-01 9.60417877e-01 -2.04159594e-02 -1.27990509e+02] [-5.51957364e-02 5.25854246e-03 9.98461706e-01 -4.67844830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.1707140569999 meters 0.0518972896972506 Centerline is valid? [True, True] Translation: X:734.60, Y:-128.00, Z:-46.79 [[ 9.59312288e-01 2.77644490e-01 5.13173601e-02 7.34603521e+02] [-2.76950381e-01 9.60669387e-01 -2.03178463e-02 -1.27997438e+02] [-5.49401549e-02 5.27879716e-03 9.98475695e-01 -4.67868106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.2007140569999 meters 0.05238306107050851 Centerline is valid? [True, True] Translation: X:734.63, Y:-128.01, Z:-46.79 [[ 9.59526275e-01 2.77064467e-01 5.04441133e-02 7.34631152e+02] [-2.76393782e-01 9.60837219e-01 -1.99578383e-02 -1.28006247e+02] [-5.39981894e-02 5.20763102e-03 9.98527454e-01 -4.67886432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.2307140569999 meters 0.05256041423827658 Centerline is valid? [True, True] Translation: X:734.66, Y:-128.01, Z:-46.79 [[ 9.59800537e-01 2.76247967e-01 4.96989986e-02 7.34658344e+02] [-2.75596675e-01 9.61072536e-01 -1.96482256e-02 -1.28014082e+02] [-5.31921250e-02 5.16149874e-03 9.98570957e-01 -4.67912385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.260714057 meters 0.050650840234211146 Centerline is valid? [True, True] Translation: X:734.69, Y:-128.02, Z:-46.79 [[ 9.60179277e-01 2.75033185e-01 4.91172308e-02 7.34687833e+02] [-2.74395767e-01 9.61420874e-01 -1.94130579e-02 -1.28018057e+02] [-5.25615661e-02 5.16245567e-03 9.98604342e-01 -4.67934174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.290714057 meters 0.055068111761922056 Centerline is valid? [True, True] Translation: X:734.71, Y:-128.03, Z:-46.80 [[ 9.60392542e-01 2.74284868e-01 4.91322428e-02 7.34712223e+02] [-2.73646244e-01 9.61634415e-01 -1.94160981e-02 -1.28031994e+02] [-5.25727975e-02 5.20222208e-03 9.98603544e-01 -4.67951420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.3207140569999 meters 0.05319722038887522 Centerline is valid? [True, True] Translation: X:734.74, Y:-128.04, Z:-46.80 [[ 9.60935107e-01 2.72425974e-01 4.88652170e-02 7.34742795e+02] [-2.71792189e-01 9.62162314e-01 -1.93051297e-02 -1.28036716e+02] [-5.22754890e-02 5.26979257e-03 9.98618797e-01 -4.67968716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.3507140569999 meters 0.061319526673042725 Centerline is valid? [True, True] Translation: X:734.77, Y:-128.06, Z:-46.80 [[ 9.61194021e-01 2.71523268e-01 4.87972146e-02 7.34765286e+02] [-2.70890134e-01 9.62417222e-01 -1.92775940e-02 -1.28055860e+02] [-5.21975951e-02 5.31082414e-03 9.98622655e-01 -4.67988878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.380714057 meters 0.061319526673042725 Centerline is valid? [True, True] Translation: X:734.79, Y:-128.07, Z:-46.80 [[ 9.61267493e-01 2.71262848e-01 4.87983083e-02 7.34790897e+02] [-2.70629521e-01 9.62490594e-01 -1.92748255e-02 -1.28065867e+02] [-5.21964568e-02 5.32200042e-03 9.98622655e-01 -4.68004823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.410714057 meters 0.060648374992940055 Centerline is valid? [True, True] Translation: X:734.82, Y:-128.07, Z:-46.80 [[ 9.61493394e-01 2.70449221e-01 4.88638214e-02 7.34818493e+02] [-2.69813965e-01 9.62719329e-01 -1.92851778e-02 -1.28074039e+02] [-5.22578067e-02 5.35842968e-03 9.98619251e-01 -4.68027051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.4407140569999 meters 0.0633654218503084 Centerline is valid? [True, True] Translation: X:734.85, Y:-128.08, Z:-46.80 [[ 9.61910672e-01 2.69046657e-01 4.83916870e-02 7.34845122e+02] [-2.68422612e-01 9.63112183e-01 -1.90846488e-02 -1.28083834e+02] [-5.17412843e-02 5.36830434e-03 9.98646094e-01 -4.68039956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.4707140569999 meters 0.05687161787022425 Centerline is valid? [True, True] Translation: X:734.88, Y:-128.08, Z:-46.81 [[ 9.62057725e-01 2.68590643e-01 4.80000062e-02 7.34876386e+02] [-2.67976279e-01 9.63239580e-01 -1.89268458e-02 -1.28083936e+02] [-5.13190795e-02 5.34585517e-03 9.98668000e-01 -4.68051728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.500714057 meters 0.058601280675436365 Centerline is valid? [True, True] Translation: X:734.90, Y:-128.09, Z:-46.81 [[ 9.61998184e-01 2.68839653e-01 4.77989014e-02 7.34902124e+02] [-2.68231487e-01 9.63170387e-01 -1.88328470e-02 -1.28093975e+02] [-5.11015024e-02 5.29599420e-03 9.98679423e-01 -4.68068678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.530714057 meters 0.05496494861937348 Centerline is valid? [True, True] Translation: X:734.93, Y:-128.10, Z:-46.81 [[ 9.61873152e-01 2.69221678e-01 4.81635445e-02 7.34932553e+02] [-2.68604859e-01 9.63063584e-01 -1.89726812e-02 -1.28096073e+02] [-5.14924129e-02 5.31235055e-03 9.98659256e-01 -4.68076938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.5607140569999 meters 0.06007134970679746 Centerline is valid? [True, True] Translation: X:734.96, Y:-128.11, Z:-46.81 [[ 9.61742512e-01 2.69650552e-01 4.83727268e-02 7.34956551e+02] [-2.69029670e-01 9.62943670e-01 -1.90400841e-02 -1.28110721e+02] [-5.17143802e-02 5.29795953e-03 9.98647863e-01 -4.68092221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.5907140569999 meters 0.05696919003369877 Centerline is valid? [True, True] Translation: X:734.99, Y:-128.11, Z:-46.81 [[ 9.61633506e-01 2.69881589e-01 4.92435620e-02 7.34986250e+02] [-2.69238653e-01 9.62878506e-01 -1.93785946e-02 -1.28113464e+02] [-5.26454933e-02 5.37683558e-03 9.98598789e-01 -4.68097440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.620714057 meters 0.058883733357871094 Centerline is valid? [True, True] Translation: X:735.01, Y:-128.12, Z:-46.81 [[ 9.61496583e-01 2.70258811e-01 4.98447174e-02 7.35011591e+02] [-2.69601362e-01 9.62772525e-01 -1.96002757e-02 -1.28124170e+02] [-5.32862716e-02 5.40739437e-03 9.98564637e-01 -4.68112109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.650714057 meters 0.05253187312112598 Centerline is valid? [True, True] Translation: X:735.04, Y:-128.12, Z:-46.81 [[ 9.61459410e-01 2.70333947e-01 5.01533695e-02 7.35042319e+02] [-2.69668799e-01 9.62751303e-01 -1.97146472e-02 -1.28124943e+02] [-5.36147602e-02 5.43003420e-03 9.98546930e-01 -4.68121647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.6807140569999 meters 0.052582838365091054 Centerline is valid? [True, True] Translation: X:735.07, Y:-128.13, Z:-46.81 [[ 9.61322537e-01 2.70718372e-01 5.07005312e-02 7.35070270e+02] [-2.70039952e-01 9.62643144e-01 -1.99148402e-02 -1.28132491e+02] [-5.41978319e-02 5.45341574e-03 9.98515326e-01 -4.68134756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.7107140569999 meters 0.05498496222579542 Centerline is valid? [True, True] Translation: X:735.10, Y:-128.14, Z:-46.82 [[ 9.61367177e-01 2.70506933e-01 5.09818523e-02 7.35095483e+02] [-2.69821503e-01 9.62702425e-01 -2.00099382e-02 -1.28144792e+02] [-5.44931798e-02 5.48089781e-03 9.98499100e-01 -4.68154112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.740714057 meters 0.05448105911103438 Centerline is valid? [True, True] Translation: X:735.12, Y:-128.15, Z:-46.82 [[ 9.61632011e-01 2.69622665e-01 5.06704532e-02 7.35124349e+02] [-2.68944668e-01 9.62950392e-01 -1.98823655e-02 -1.28152810e+02] [-5.41538692e-02 5.49197091e-03 9.98517499e-01 -4.68171190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.770714057 meters 0.056429239710716145 Centerline is valid? [True, True] Translation: X:735.15, Y:-128.16, Z:-46.82 [[ 9.61737117e-01 2.69239891e-01 5.07109373e-02 7.35149239e+02] [-2.68560386e-01 9.63057347e-01 -1.98963712e-02 -1.28164591e+02] [-5.41944376e-02 5.51612975e-03 9.98515165e-01 -4.68186401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.8007140569999 meters 0.05868543814837688 Centerline is valid? [True, True] Translation: X:735.17, Y:-128.18, Z:-46.82 [[ 9.61852523e-01 2.68901075e-01 5.03183470e-02 7.35174677e+02] [-2.68231876e-01 9.63152169e-01 -1.97372829e-02 -1.28176732e+02] [-5.37716016e-02 5.48737074e-03 9.98538183e-01 -4.68200725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.8307140569999 meters 0.056292789153887 Centerline is valid? [True, True] Translation: X:735.20, Y:-128.18, Z:-46.82 [[ 9.62203103e-01 2.68013293e-01 4.83121463e-02 7.35203066e+02] [-2.67395522e-01 9.63400569e-01 -1.89467418e-02 -1.28182553e+02] [-5.16219279e-02 5.31216216e-03 9.98652571e-01 -4.68240083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.8607140569999 meters 0.05619314184443253 Centerline is valid? [True, True] Translation: X:735.23, Y:-128.19, Z:-46.83 [[ 9.62528580e-01 2.67077643e-01 4.69921830e-02 7.35230547e+02] [-2.66492745e-01 9.63660968e-01 -1.84161740e-02 -1.28191835e+02] [-5.02030809e-02 5.20301793e-03 9.98725477e-01 -4.68263114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.890714057 meters 0.06207778037100859 Centerline is valid? [True, True] Translation: X:735.25, Y:-128.21, Z:-46.83 [[ 9.62796932e-01 2.66236868e-01 4.62601118e-02 7.35254619e+02] [-2.65669831e-01 9.63893873e-01 -1.81146884e-02 -1.28208242e+02] [-4.94126363e-02 5.15085032e-03 9.98765168e-01 -4.68292833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.9207140569999 meters 0.06282550427183904 Centerline is valid? [True, True] Translation: X:735.28, Y:-128.22, Z:-46.83 [[ 9.62842441e-01 2.66022296e-01 4.65464526e-02 7.35280279e+02] [-2.65448013e-01 9.63952889e-01 -1.82258238e-02 -1.28218504e+02] [-4.97170629e-02 5.19293332e-03 9.98749842e-01 -4.68307115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.9507140569999 meters 0.06274044016803558 Centerline is valid? [True, True] Translation: X:735.31, Y:-128.23, Z:-46.83 [[ 9.62772859e-01 2.66253896e-01 4.66613902e-02 7.35307541e+02] [-2.65677780e-01 9.63889016e-01 -1.82560036e-02 -1.28228234e+02] [-4.98371336e-02 5.17949021e-03 9.98743928e-01 -4.68324212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.9807140569999 meters 0.05950026330863371 Centerline is valid? [True, True] Translation: X:735.34, Y:-128.23, Z:-46.83 [[ 9.62110660e-01 2.68431301e-01 4.78300686e-02 7.35338320e+02] [-2.67829353e-01 9.63284905e-01 -1.86983676e-02 -1.28233161e+02] [-5.10932102e-02 5.17960241e-03 9.98680457e-01 -4.68319627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.010714057 meters 0.052822217598501274 Centerline is valid? [True, True] Translation: X:735.37, Y:-128.23, Z:-46.83 [[ 9.61743561e-01 2.69594543e-01 4.86631805e-02 7.35369703e+02] [-2.68972938e-01 9.62959852e-01 -1.90231975e-02 -1.28234106e+02] [-5.19892393e-02 5.20635903e-03 9.98634074e-01 -4.68319674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.040714057 meters 0.05636852459436904 Centerline is valid? [True, True] Translation: X:735.40, Y:-128.25, Z:-46.83 [[ 9.61251354e-01 2.71171295e-01 4.96181798e-02 7.35395111e+02] [-2.70527210e-01 9.62516951e-01 -1.93945285e-02 -1.28247496e+02] [-5.30175785e-02 5.21994900e-03 9.98579936e-01 -4.68331694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.0707140569999 meters 0.05271389773586296 Centerline is valid? [True, True] Translation: X:735.43, Y:-128.25, Z:-46.83 [[ 9.60486606e-01 2.73701497e-01 5.05269218e-02 7.35425633e+02] [-2.73037215e-01 9.61800789e-01 -1.97464436e-02 -1.28251057e+02] [-5.40014644e-02 5.17046454e-03 9.98527470e-01 -4.68335483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.1007140569999 meters 0.052456875980327757 Centerline is valid? [True, True] Translation: X:735.45, Y:-128.26, Z:-46.84 [[ 9.60254233e-01 2.74519570e-01 5.05055788e-02 7.35453113e+02] [-2.73857014e-01 9.61567874e-01 -1.97372746e-02 -1.28260256e+02] [-5.39828102e-02 5.12149454e-03 9.98528731e-01 -4.68354851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.130714057 meters 0.050651270692444905 Centerline is valid? [True, True] Translation: X:735.48, Y:-128.27, Z:-46.84 [[ 9.60221053e-01 2.74562882e-01 5.08994416e-02 7.35481353e+02] [-2.73890194e-01 9.61555325e-01 -1.98876640e-02 -1.28267704e+02] [-5.44030434e-02 5.15569574e-03 9.98505747e-01 -4.68376956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.160714057 meters 0.04915286923152134 Centerline is valid? [True, True] Translation: X:735.51, Y:-128.28, Z:-46.84 [[ 9.60374515e-01 2.74044865e-01 5.07956970e-02 7.35509179e+02] [-2.73374992e-01 9.61703063e-01 -1.98326115e-02 -1.28275868e+02] [-5.42854027e-02 5.16046139e-03 9.98512125e-01 -4.68395692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.1907140569999 meters 0.058145707199573834 Centerline is valid? [True, True] Translation: X:735.53, Y:-128.30, Z:-46.84 [[ 9.60510605e-01 2.73587523e-01 5.06877250e-02 7.35530212e+02] [-2.72920695e-01 9.61833268e-01 -1.97751914e-02 -1.28297072e+02] [-5.41633858e-02 5.16055186e-03 9.98518751e-01 -4.68419429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.2207140569999 meters 0.05523829545129832 Centerline is valid? [True, True] Translation: X:735.56, Y:-128.30, Z:-46.85 [[ 9.60743109e-01 2.72946199e-01 4.97297839e-02 7.35558898e+02] [-2.72303740e-01 9.62015812e-01 -1.93971810e-02 -1.28302285e+02] [-5.31352253e-02 5.09410178e-03 9.98574333e-01 -4.68451449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.250714057 meters 0.05148999421161485 Centerline is valid? [True, True] Translation: X:735.59, Y:-128.31, Z:-46.85 [[ 9.60939233e-01 2.72528538e-01 4.82077354e-02 7.35587358e+02] [-2.71924982e-01 9.62134978e-01 -1.87906677e-02 -1.28306889e+02] [-5.15033417e-02 4.94780227e-03 9.98660566e-01 -4.68478740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.280714057 meters 0.06057590659169261 Centerline is valid? [True, True] Translation: X:735.61, Y:-128.33, Z:-46.85 [[ 9.60982796e-01 2.72506845e-01 4.74561489e-02 7.35607804e+02] [-2.71922674e-01 9.62141580e-01 -1.84834848e-02 -1.28328059e+02] [-5.06964103e-02 4.85790799e-03 9.98702295e-01 -4.68516532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.3107140569999 meters 0.053163521863589296 Centerline is valid? [True, True] Translation: X:735.64, Y:-128.33, Z:-46.85 [[ 9.60967339e-01 2.72517847e-01 4.77053133e-02 7.35638306e+02] [-2.71927835e-01 9.62138366e-01 -1.85746137e-02 -1.28328595e+02] [-5.09610259e-02 4.87719449e-03 9.98688734e-01 -4.68525852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.3407140569999 meters 0.05225273810561676 Centerline is valid? [True, True] Translation: X:735.67, Y:-128.34, Z:-46.85 [[ 9.60530168e-01 2.74041273e-01 4.77825924e-02 7.35667593e+02] [-2.73451980e-01 9.61706005e-01 -1.85896459e-02 -1.28337158e+02] [-5.10471363e-02 4.78967119e-03 9.98684760e-01 -4.68531732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.370714057 meters 0.05107103892344941 Centerline is valid? [True, True] Translation: X:735.70, Y:-128.35, Z:-46.85 [[ 9.60235170e-01 2.75086340e-01 4.77066442e-02 7.35695258e+02] [-2.74500226e-01 9.61407911e-01 -1.85595192e-02 -1.28345064e+02] [-5.09710154e-02 4.72601849e-03 9.98688951e-01 -4.68545611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.400714057 meters 0.04619277847232612 Centerline is valid? [True, True] Translation: X:735.73, Y:-128.35, Z:-46.86 [[ 9.59404727e-01 2.77856031e-01 4.83590404e-02 7.35726119e+02] [-2.77257464e-01 9.60611534e-01 -1.88090231e-02 -1.28348245e+02] [-5.16804525e-02 4.63756078e-03 9.98652905e-01 -4.68558210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.4307140569999 meters 0.05351376777051541 Centerline is valid? [True, True] Translation: X:735.75, Y:-128.37, Z:-46.86 [[ 9.58902030e-01 2.79481192e-01 4.89607972e-02 7.35749182e+02] [-2.78869767e-01 9.60140120e-01 -1.90421620e-02 -1.28367544e+02] [-5.23311518e-02 4.60588168e-03 9.98619165e-01 -4.68575858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.4607140569999 meters 0.049718736919823 Centerline is valid? [True, True] Translation: X:735.78, Y:-128.37, Z:-46.86 [[ 9.58490207e-01 2.80818679e-01 4.93699582e-02 7.35779175e+02] [-2.80198907e-01 9.59749970e-01 -1.91981186e-02 -1.28371993e+02] [-5.27740062e-02 4.56780037e-03 9.98596034e-01 -4.68586996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.490714057 meters 0.043540860939415164 Centerline is valid? [True, True] Translation: X:735.81, Y:-128.37, Z:-46.86 [[ 9.57900160e-01 2.82717973e-01 4.99783053e-02 7.35810938e+02] [-2.82085484e-01 9.59192447e-01 -1.94327086e-02 -1.28374007e+02] [-5.34327889e-02 4.51644029e-03 9.98561234e-01 -4.68596283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.520714057 meters 0.049863128832060365 Centerline is valid? [True, True] Translation: X:735.84, Y:-128.39, Z:-46.86 [[ 9.56739449e-01 2.86398327e-01 5.12408547e-02 7.35835189e+02] [-2.85738822e-01 9.58100456e-01 -1.99209067e-02 -1.28392115e+02] [-5.47992006e-02 4.41761587e-03 9.98487623e-01 -4.68613649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.5507140569999 meters 0.04187305613617885 Centerline is valid? [True, True] Translation: X:735.87, Y:-128.39, Z:-46.86 [[ 9.55562181e-01 2.90186335e-01 5.18922837e-02 7.35867653e+02] [-2.89515623e-01 9.56960718e-01 -2.01714619e-02 -1.28391006e+02] [-5.55123597e-02 4.25145927e-03 9.98448949e-01 -4.68623584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.5807140569999 meters 0.042700349161987214 Centerline is valid? [True, True] Translation: X:735.89, Y:-128.40, Z:-46.86 [[ 9.55148785e-01 2.91555015e-01 5.18311846e-02 7.35893733e+02] [-2.90887999e-01 9.56544994e-01 -2.01456161e-02 -1.28401897e+02] [-5.54524156e-02 4.16499119e-03 9.98452644e-01 -4.68643912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.6107140569999 meters 0.04181954975184235 Centerline is valid? [True, True] Translation: X:735.92, Y:-128.41, Z:-46.87 [[ 9.54795858e-01 2.92890764e-01 5.07924308e-02 7.35921147e+02] [-2.92252337e-01 9.56137537e-01 -1.97378333e-02 -1.28410020e+02] [-5.43455787e-02 4.00139480e-03 9.98514170e-01 -4.68665685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.640714057 meters 0.04764599658926683 Centerline is valid? [True, True] Translation: X:735.94, Y:-128.43, Z:-46.87 [[ 9.54455788e-01 2.94062069e-01 5.04147702e-02 7.35944278e+02] [-2.93434952e-01 9.55778363e-01 -1.95869945e-02 -1.28428476e+02] [-5.39451386e-02 3.90146453e-03 9.98536279e-01 -4.68696634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.6707140569999 meters 0.04157741876110071 Centerline is valid? [True, True] Translation: X:735.97, Y:-128.43, Z:-46.87 [[ 9.54148972e-01 2.95442328e-01 4.80995793e-02 7.35974278e+02] [-2.94873467e-01 9.55353627e-01 -1.86838308e-02 -1.28429536e+02] [-5.14721020e-02 3.64386830e-03 9.98667785e-01 -4.68735749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.7007140569999 meters 0.04155620723037438 Centerline is valid? [True, True] Translation: X:736.00, Y:-128.44, Z:-46.88 [[ 9.53791378e-01 2.96746354e-01 4.71551507e-02 7.36001660e+02] [-2.96201384e-01 9.54949921e-01 -1.83136215e-02 -1.28439752e+02] [-5.04653078e-02 3.49995345e-03 9.98719682e-01 -4.68768757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.7307140569999 meters 0.03985258441014256 Centerline is valid? [True, True] Translation: X:736.03, Y:-128.45, Z:-46.88 [[ 9.53736771e-01 2.96950327e-01 4.69752658e-02 7.36029374e+02] [-2.96410017e-01 9.54886620e-01 -1.82385704e-02 -1.28447255e+02] [-5.02720022e-02 3.47085595e-03 9.98729532e-01 -4.68781365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.760714057 meters 0.04426502248410415 Centerline is valid? [True, True] Translation: X:736.05, Y:-128.46, Z:-46.88 [[ 9.53595685e-01 2.97360123e-01 4.72464474e-02 7.36053437e+02] [-2.96814737e-01 9.54759138e-01 -1.83303021e-02 -1.28463195e+02] [-5.05596783e-02 3.45625510e-03 9.98715061e-01 -4.68795290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.790714057 meters 0.04422364528169235 Centerline is valid? [True, True] Translation: X:736.08, Y:-128.47, Z:-46.88 [[ 9.53283908e-01 2.98361535e-01 4.72248442e-02 7.36080470e+02] [-2.97818611e-01 9.54446918e-01 -1.83072735e-02 -1.28472821e+02] [-5.05357932e-02 3.38759168e-03 9.98716505e-01 -4.68808812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.8207140569999 meters 0.041826602106540725 Centerline is valid? [True, True] Translation: X:736.11, Y:-128.48, Z:-46.88 [[ 9.52273410e-01 3.01470980e-01 4.78602348e-02 7.36110137e+02] [-3.00917438e-01 9.53469772e-01 -1.85496667e-02 -1.28479302e+02] [-5.12254734e-02 3.26237514e-03 9.98681785e-01 -4.68815978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.8507140569999 meters 0.035778677053144844 Centerline is valid? [True, True] Translation: X:736.14, Y:-128.48, Z:-46.88 [[ 9.50970543e-01 3.05425172e-01 4.86876892e-02 7.36141973e+02] [-3.04857565e-01 9.52211033e-01 -1.88683160e-02 -1.28479798e+02] [-5.21238135e-02 3.10040237e-03 9.98635817e-01 -4.68819245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.880714057 meters 0.03613854382147811 Centerline is valid? [True, True] Translation: X:736.17, Y:-128.49, Z:-46.88 [[ 9.50320494e-01 3.07385995e-01 4.90388527e-02 7.36169099e+02] [-3.06812825e-01 9.51580144e-01 -1.90031634e-02 -1.28489919e+02] [-5.25057048e-02 3.01334670e-03 9.98616078e-01 -4.68836867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.910714057 meters 0.034308281925864874 Centerline is valid? [True, True] Translation: X:736.20, Y:-128.50, Z:-46.88 [[ 9.49699852e-01 3.09292634e-01 4.90740001e-02 7.36197546e+02] [-3.08721270e-01 9.50962464e-01 -1.90149820e-02 -1.28496850e+02] [-5.25487260e-02 2.90833800e-03 9.98614126e-01 -4.68843941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.9407140569999 meters 0.03429172694253484 Centerline is valid? [True, True] Translation: X:736.22, Y:-128.51, Z:-46.89 [[ 9.49188881e-01 3.10802861e-01 4.94170994e-02 7.36223842e+02] [-3.10225720e-01 9.50470153e-01 -1.91439491e-02 -1.28506156e+02] [-5.29194722e-02 2.84076840e-03 9.98594742e-01 -4.68861946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.9707140569999 meters 0.033994678764801146 Centerline is valid? [True, True] Translation: X:736.25, Y:-128.51, Z:-46.89 [[ 9.48682959e-01 3.12344771e-01 4.94104008e-02 7.36250484e+02] [-3.11770126e-01 9.49964832e-01 -1.91365052e-02 -1.28513767e+02] [-5.29153304e-02 2.74978948e-03 9.98595217e-01 -4.68872161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.000714057 meters 0.034320987873183884 Centerline is valid? [True, True] Translation: X:736.28, Y:-128.52, Z:-46.89 [[ 9.48514420e-01 3.12893369e-01 4.91745339e-02 7.36277041e+02] [-3.12325267e-01 9.49784422e-01 -1.90388824e-02 -1.28524171e+02] [-5.26623463e-02 2.70020503e-03 9.98608725e-01 -4.68888940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.030714057 meters 0.03355765758236605 Centerline is valid? [True, True] Translation: X:736.30, Y:-128.53, Z:-46.89 [[ 9.48516008e-01 3.12951685e-01 4.87711511e-02 7.36304364e+02] [-3.12393662e-01 9.49765317e-01 -1.88691022e-02 -1.28533897e+02] [-5.22262651e-02 2.66184700e-03 9.98631730e-01 -4.68920531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.0607140569999 meters 0.03339717781619645 Centerline is valid? [True, True] Translation: X:736.33, Y:-128.54, Z:-46.89 [[ 9.48467051e-01 3.13034054e-01 4.91928292e-02 7.36331201e+02] [-3.12467188e-01 9.49738158e-01 -1.90180900e-02 -1.28544127e+02] [-5.26736169e-02 2.66688673e-03 9.98608220e-01 -4.68947318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.0907140569999 meters 0.03399221707017064 Centerline is valid? [True, True] Translation: X:736.36, Y:-128.55, Z:-46.90 [[ 9.48556937e-01 3.12816915e-01 4.88396919e-02 7.36356450e+02] [-3.12258585e-01 9.49809756e-01 -1.88680730e-02 -1.28554696e+02] [-5.22906682e-02 2.64682848e-03 9.98628400e-01 -4.68965260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.120714057 meters 0.03254428229380368 Centerline is valid? [True, True] Translation: X:736.38, Y:-128.56, Z:-46.90 [[ 9.48421332e-01 3.13216727e-01 4.89107276e-02 7.36384634e+02] [-3.12658136e-01 9.49678078e-01 -1.88795848e-02 -1.28562427e+02] [-5.23628475e-02 2.61346408e-03 9.98624705e-01 -4.68981148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.150714057 meters 0.034378570351995694 Centerline is valid? [True, True] Translation: X:736.41, Y:-128.58, Z:-46.90 [[ 9.48501541e-01 3.12979467e-01 4.88741198e-02 7.36409905e+02] [-3.12422173e-01 9.49756305e-01 -1.88506555e-02 -1.28575228e+02] [-5.23183716e-02 2.61051708e-03 9.98627044e-01 -4.68998901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.1807140569999 meters 0.033182816222467826 Centerline is valid? [True, True] Translation: X:736.44, Y:-128.58, Z:-46.90 [[ 9.48739426e-01 3.12170579e-01 4.94270204e-02 7.36437944e+02] [-3.11599881e-01 9.50022292e-01 -1.90567212e-02 -1.28583416e+02] [-5.29057189e-02 2.67840904e-03 9.98595920e-01 -4.69005255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.2107140569999 meters 0.034452357249338275 Centerline is valid? [True, True] Translation: X:736.46, Y:-128.60, Z:-46.90 [[ 9.48993962e-01 3.11404726e-01 4.93716256e-02 7.36463127e+02] [-3.10835050e-01 9.50273532e-01 -1.90206931e-02 -1.28595677e+02] [-5.28396828e-02 2.70409117e-03 9.98599347e-01 -4.69022063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.240714057 meters 0.039531470394982275 Centerline is valid? [True, True] Translation: X:736.49, Y:-128.61, Z:-46.90 [[ 9.49802779e-01 3.08928786e-01 4.93729350e-02 7.36485841e+02] [-3.08356159e-01 9.51080949e-01 -1.90133828e-02 -1.28614277e+02] [-5.28314392e-02 2.83451525e-03 9.98599421e-01 -4.69049654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.270714057 meters 0.039531470394982275 Centerline is valid? [True, True] Translation: X:736.51, Y:-128.62, Z:-46.91 [[ 9.49882526e-01 3.08683341e-01 4.93739047e-02 7.36511423e+02] [-3.08110514e-01 9.51160606e-01 -1.90108647e-02 -1.28624014e+02] [-5.28308504e-02 2.84546901e-03 9.98599421e-01 -4.69065530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.3007140569999 meters 0.034040316333994645 Centerline is valid? [True, True] Translation: X:736.54, Y:-128.63, Z:-46.91 [[ 9.50485367e-01 3.06879833e-01 4.90136255e-02 7.36542547e+02] [-3.06313778e-01 9.51743823e-01 -1.88564325e-02 -1.28625696e+02] [-5.24350741e-02 2.90921439e-03 9.98620098e-01 -4.69073258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.3307140569999 meters 0.03489589898813978 Centerline is valid? [True, True] Translation: X:736.57, Y:-128.64, Z:-46.91 [[ 9.51036078e-01 3.05223003e-01 4.86754160e-02 7.36568896e+02] [-3.04662675e-01 9.52276247e-01 -1.87244375e-02 -1.28638332e+02] [-5.20675715e-02 2.97803318e-03 9.98639124e-01 -4.69098248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.3607140569999 meters 0.036074084289001135 Centerline is valid? [True, True] Translation: X:736.59, Y:-128.65, Z:-46.91 [[ 9.52116362e-01 3.01876209e-01 4.84271456e-02 7.36594644e+02] [-3.01317432e-01 9.53341954e-01 -1.86258820e-02 -1.28651543e+02] [-5.17903402e-02 3.14206386e-03 9.98653037e-01 -4.69123838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.390714057 meters 0.03768733748144309 Centerline is valid? [True, True] Translation: X:736.62, Y:-128.66, Z:-46.91 [[ 9.52577645e-01 3.00430552e-01 4.83457740e-02 7.36621032e+02] [-2.99871920e-01 9.53798281e-01 -1.85922471e-02 -1.28664913e+02] [-5.16977952e-02 3.21301884e-03 9.98657606e-01 -4.69143480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.4207140569999 meters 0.03788432371119603 Centerline is valid? [True, True] Translation: X:736.65, Y:-128.68, Z:-46.92 [[ 9.53370677e-01 2.97935735e-01 4.81523706e-02 7.36648593e+02] [-2.97378502e-01 9.54580111e-01 -1.85158811e-02 -1.28676841e+02] [-5.14818379e-02 3.33301824e-03 9.98668369e-01 -4.69159580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.4507140569999 meters 0.03813054487626122 Centerline is valid? [True, True] Translation: X:736.68, Y:-128.69, Z:-46.92 [[ 9.53729633e-01 2.96802986e-01 4.80392996e-02 7.36675208e+02] [-2.96246941e-01 9.54932732e-01 -1.84723592e-02 -1.28687727e+02] [-5.13569509e-02 3.38614082e-03 9.98674621e-01 -4.69177312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.4807140569999 meters 0.037449952854138366 Centerline is valid? [True, True] Translation: X:736.70, Y:-128.70, Z:-46.92 [[ 9.54146802e-01 2.95501490e-01 4.77781253e-02 7.36702223e+02] [-2.94950553e-01 9.55336141e-01 -1.83583194e-02 -1.28697238e+02] [-5.10690806e-02 3.42434721e-03 9.98689252e-01 -4.69195043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.510714057 meters 0.03887682007255282 Centerline is valid? [True, True] Translation: X:736.73, Y:-128.71, Z:-46.92 [[ 9.54891132e-01 2.93021249e-01 4.81816804e-02 7.36727591e+02] [-2.92458614e-01 9.56099255e-01 -1.84979113e-02 -1.28710967e+02] [-5.14867498e-02 3.57234399e-03 9.98667288e-01 -4.69215365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.540714057 meters 0.03929680694838562 Centerline is valid? [True, True] Translation: X:736.76, Y:-128.72, Z:-46.92 [[ 9.55641911e-01 2.90509003e-01 4.85083302e-02 7.36755302e+02] [-2.89935668e-01 9.56864990e-01 -1.86198578e-02 -1.28723224e+02] [-5.18251593e-02 3.72962134e-03 9.98649209e-01 -4.69224099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.5707140569999 meters 0.04092904877087252 Centerline is valid? [True, True] Translation: X:736.78, Y:-128.74, Z:-46.92 [[ 9.55985182e-01 2.89419682e-01 4.82553604e-02 7.36780422e+02] [-2.88850941e-01 9.57194883e-01 -1.85226953e-02 -1.28735947e+02] [-5.15506166e-02 3.76881595e-03 9.98663272e-01 -4.69238730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.6007140569999 meters 0.042519597402354434 Centerline is valid? [True, True] Translation: X:736.81, Y:-128.75, Z:-46.93 [[ 9.56364135e-01 2.88229391e-01 4.78691956e-02 7.36806884e+02] [-2.87668649e-01 9.57553873e-01 -1.83665218e-02 -1.28748523e+02] [-5.11311051e-02 3.79461585e-03 9.98684741e-01 -4.69258758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.630714057 meters 0.0429091180914963 Centerline is valid? [True, True] Translation: X:736.83, Y:-128.76, Z:-46.93 [[ 9.56526997e-01 2.87765253e-01 4.74053046e-02 7.36833069e+02] [-2.87214839e-01 9.57693512e-01 -1.81871575e-02 -1.28759771e+02] [-5.06333847e-02 3.78100022e-03 9.98710150e-01 -4.69278064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.660714057 meters 0.04388083802505574 Centerline is valid? [True, True] Translation: X:736.86, Y:-128.77, Z:-46.93 [[ 9.56874810e-01 2.86702250e-01 4.68232544e-02 7.36858904e+02] [-2.86164669e-01 9.58012291e-01 -1.79508267e-02 -1.28771635e+02] [-5.00037957e-02 3.77753277e-03 9.98741884e-01 -4.69299792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.6907140569999 meters 0.045272662222354626 Centerline is valid? [True, True] Translation: X:736.88, Y:-128.78, Z:-46.93 [[ 9.56773226e-01 2.86909086e-01 4.76253123e-02 7.36884232e+02] [-2.86353905e-01 9.57950209e-01 -1.82438592e-02 -1.28783180e+02] [-5.08570068e-02 3.81754192e-03 9.98698649e-01 -4.69314851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.7207140569999 meters 0.045399744873800954 Centerline is valid? [True, True] Translation: X:736.91, Y:-128.79, Z:-46.93 [[ 9.56557363e-01 2.87537627e-01 4.81676711e-02 7.36910408e+02] [-2.86970896e-01 9.57761724e-01 -1.84441110e-02 -1.28793285e+02] [-5.14365276e-02 3.82013052e-03 9.98668959e-01 -4.69323994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.750714057 meters 0.04513340786935986 Centerline is valid? [True, True] Translation: X:736.94, Y:-128.80, Z:-46.93 [[ 9.56423267e-01 2.87987602e-01 4.81422431e-02 7.36937955e+02] [-2.87422225e-01 9.57626636e-01 -1.84306866e-02 -1.28802146e+02] [-5.14101035e-02 3.79038685e-03 9.98670433e-01 -4.69339726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.780714057 meters 0.04012763143363869 Centerline is valid? [True, True] Translation: X:736.97, Y:-128.80, Z:-46.93 [[ 9.55795595e-01 2.90036222e-01 4.83091248e-02 7.36969354e+02] [-2.89470271e-01 9.57008597e-01 -1.84799127e-02 -1.28804328e+02] [-5.15920918e-02 3.67896371e-03 9.98661465e-01 -4.69345077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.8107140569999 meters 0.04064794334784998 Centerline is valid? [True, True] Translation: X:736.99, Y:-128.81, Z:-46.94 [[ 9.55464508e-01 2.91034069e-01 4.88543198e-02 7.36994798e+02] [-2.90456586e-01 9.56705668e-01 -1.86878807e-02 -1.28814774e+02] [-5.21780146e-02 3.66554776e-03 9.98631072e-01 -4.69361187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.8407140569999 meters 0.045889276453821314 Centerline is valid? [True, True] Translation: X:737.02, Y:-128.83, Z:-46.94 [[ 9.55204536e-01 2.91996931e-01 4.81880378e-02 7.37018292e+02] [-2.91436570e-01 9.56412634e-01 -1.84282179e-02 -1.28830676e+02] [-5.14686312e-02 3.55896084e-03 9.98668270e-01 -4.69396155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.870714057 meters 0.045881957708347354 Centerline is valid? [True, True] Translation: X:737.04, Y:-128.84, Z:-46.94 [[ 9.55204517e-01 2.92127781e-01 4.73887163e-02 7.37044810e+02] [-2.91586210e-01 9.56372931e-01 -1.81190313e-02 -1.28841008e+02] [-5.06143579e-02 3.48948436e-03 9.98712176e-01 -4.69418225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.900714057 meters 0.04103022097897258 Centerline is valid? [True, True] Translation: X:737.07, Y:-128.84, Z:-46.94 [[ 9.55276858e-01 2.91965986e-01 4.69253400e-02 7.37073723e+02] [-2.91435370e-01 9.56422472e-01 -1.79298659e-02 -1.28843841e+02] [-5.01153606e-02 3.45228211e-03 9.98737469e-01 -4.69434672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.9307140569999 meters 0.042110461635797625 Centerline is valid? [True, True] Translation: X:737.10, Y:-128.85, Z:-46.95 [[ 9.55399477e-01 2.91737600e-01 4.58367893e-02 7.37099045e+02] [-2.91231862e-01 9.56492460e-01 -1.74978874e-02 -1.28854347e+02] [-4.89473351e-02 3.36833900e-03 9.98795681e-01 -4.69460263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.9607140569999 meters 0.043142973914973876 Centerline is valid? [True, True] Translation: X:737.12, Y:-128.86, Z:-46.95 [[ 9.55444455e-01 2.91567735e-01 4.59798709e-02 7.37123830e+02] [-2.91058843e-01 9.56544200e-01 -1.75482913e-02 -1.28864842e+02] [-4.90982944e-02 3.38356959e-03 9.98788220e-01 -4.69477158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.990714057 meters 0.03934318991633812 Centerline is valid? [True, True] Translation: X:737.15, Y:-128.87, Z:-46.95 [[ 9.55254962e-01 2.92081798e-01 4.66495568e-02 7.37153017e+02] [-2.91558838e-01 9.56387294e-01 -1.77985295e-02 -1.28868749e+02] [-4.98136699e-02 3.40104310e-03 9.98752738e-01 -4.69481484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.020714057 meters 0.043803211560510355 Centerline is valid? [True, True] Translation: X:737.18, Y:-128.88, Z:-46.95 [[ 9.55131891e-01 2.92420242e-01 4.70475618e-02 7.37176500e+02] [-2.91889445e-01 9.56283876e-01 -1.79360134e-02 -1.28884129e+02] [-5.02356781e-02 3.39857169e-03 9.98731609e-01 -4.69502210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.0507140569999 meters 0.03815489920023069 Centerline is valid? [True, True] Translation: X:737.21, Y:-128.88, Z:-46.95 [[ 9.55182987e-01 2.92318771e-01 4.66390203e-02 7.37206464e+02] [-2.91797313e-01 9.56315004e-01 -1.77747574e-02 -1.28884877e+02] [-4.97974901e-02 3.36900502e-03 9.98753653e-01 -4.69511394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.0807140569999 meters 0.03873450562839096 Centerline is valid? [True, True] Translation: X:737.23, Y:-128.89, Z:-46.95 [[ 9.55204177e-01 2.92304782e-01 4.62914140e-02 7.37233853e+02] [-2.91791815e-01 9.56319417e-01 -1.76269794e-02 -1.28893716e+02] [-4.94218284e-02 3.32990859e-03 9.98772444e-01 -4.69520533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.1107140569999 meters 0.039308144800587724 Centerline is valid? [True, True] Translation: X:737.26, Y:-128.90, Z:-46.95 [[ 9.55268294e-01 2.92048860e-01 4.65827162e-02 7.37259644e+02] [-2.91529756e-01 9.56397527e-01 -1.77249201e-02 -1.28903133e+02] [-4.97281373e-02 3.35180631e-03 9.98757167e-01 -4.69533001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.140714057 meters 0.03990424977758566 Centerline is valid? [True, True] Translation: X:737.29, Y:-128.91, Z:-46.95 [[ 9.55811846e-01 2.90325383e-01 4.62048402e-02 7.37287339e+02] [-2.89813507e-01 9.56921956e-01 -1.75641812e-02 -1.28913836e+02] [-4.93137538e-02 3.39726568e-03 9.98777559e-01 -4.69549937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.1707140569999 meters 0.04065242405696247 Centerline is valid? [True, True] Translation: X:737.31, Y:-128.92, Z:-46.96 [[ 9.56175828e-01 2.89138659e-01 4.61153041e-02 7.37313443e+02] [-2.88627462e-01 9.57281009e-01 -1.75287719e-02 -1.28924589e+02] [-4.92135504e-02 3.45044478e-03 9.98782319e-01 -4.69569780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.2007140569999 meters 0.041277878207326806 Centerline is valid? [True, True] Translation: X:737.34, Y:-128.94, Z:-46.96 [[ 9.56581084e-01 2.87827624e-01 4.59117429e-02 7.37340170e+02] [-2.87319584e-01 9.57675839e-01 -1.74483078e-02 -1.28935063e+02] [-4.89906719e-02 3.49937834e-03 9.98793106e-01 -4.69590038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.2307140569999 meters 0.043272021463811906 Centerline is valid? [True, True] Translation: X:737.37, Y:-128.95, Z:-46.96 [[ 9.56782947e-01 2.87163911e-01 4.58615387e-02 7.37365049e+02] [-2.86656925e-01 9.57875006e-01 -1.74149425e-02 -1.28946247e+02] [-4.89305646e-02 3.51579234e-03 9.98795995e-01 -4.69605663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.260714057 meters 0.04443706148820102 Centerline is valid? [True, True] Translation: X:737.39, Y:-128.96, Z:-46.96 [[ 9.56822250e-01 2.87063035e-01 4.56727032e-02 7.37390895e+02] [-2.86560380e-01 9.57905297e-01 -1.73375794e-02 -1.28957114e+02] [-4.87271025e-02 3.50099458e-03 9.98805993e-01 -4.69627912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.290714057 meters 0.04126939793490692 Centerline is valid? [True, True] Translation: X:737.42, Y:-128.96, Z:-46.96 [[ 9.56674819e-01 2.87582708e-01 4.54915097e-02 7.37419805e+02] [-2.87084760e-01 9.57749565e-01 -1.72659315e-02 -1.28962351e+02] [-4.85348570e-02 3.45796276e-03 9.98815504e-01 -4.69645891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.3207140569999 meters 0.04019786659131388 Centerline is valid? [True, True] Translation: X:737.45, Y:-128.97, Z:-46.97 [[ 9.56625982e-01 2.87753042e-01 4.54413649e-02 7.37447494e+02] [-2.87257004e-01 9.57698491e-01 -1.72340900e-02 -1.28970978e+02] [-4.84782884e-02 3.43322788e-03 9.98818336e-01 -4.69663623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.3507140569999 meters 0.039882498510363365 Centerline is valid? [True, True] Translation: X:737.47, Y:-128.98, Z:-46.97 [[ 9.56539290e-01 2.88071876e-01 4.52457829e-02 7.37474791e+02] [-2.87581078e-01 9.57602789e-01 -1.71470573e-02 -1.28980490e+02] [-4.82670729e-02 3.39000299e-03 9.98828713e-01 -4.69681963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.380714057 meters 0.040586077826459586 Centerline is valid? [True, True] Translation: X:737.50, Y:-128.99, Z:-46.97 [[ 9.56369390e-01 2.88747673e-01 4.45238273e-02 7.37502242e+02] [-2.88273740e-01 9.57399580e-01 -1.68610646e-02 -1.28989398e+02] [-4.74956867e-02 3.29035581e-03 9.98866024e-01 -4.69698940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.410714057 meters 0.04121628153726865 Centerline is valid? [True, True] Translation: X:737.53, Y:-129.00, Z:-46.97 [[ 9.56201285e-01 2.89246083e-01 4.48977308e-02 7.37528441e+02] [-2.88765310e-01 9.57249152e-01 -1.69898747e-02 -1.28999892e+02] [-4.78925694e-02 3.28083286e-03 9.98847104e-01 -4.69719050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.4407140569999 meters 0.041892817058635616 Centerline is valid? [True, True] Translation: X:737.55, Y:-129.01, Z:-46.97 [[ 9.55833265e-01 2.90473477e-01 4.48099154e-02 7.37554151e+02] [-2.89996608e-01 9.56877695e-01 -1.69423834e-02 -1.29009462e+02] [-4.77989216e-02 3.19937022e-03 9.98851854e-01 -4.69747060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.4707140569999 meters 0.03931230934906295 Centerline is valid? [True, True] Translation: X:737.58, Y:-129.02, Z:-46.98 [[ 9.55640687e-01 2.91092716e-01 4.48988715e-02 7.37582710e+02] [-2.90614759e-01 9.56689588e-01 -1.69733065e-02 -1.29015509e+02] [-4.78950888e-02 3.17210759e-03 9.98847335e-01 -4.69758538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.500714057 meters 0.04182224818959632 Centerline is valid? [True, True] Translation: X:737.61, Y:-129.03, Z:-46.98 [[ 9.55343568e-01 2.92010721e-01 4.52593123e-02 7.37607084e+02] [-2.91526775e-01 9.56409899e-01 -1.70951585e-02 -1.29028375e+02] [-4.82784239e-02 3.13744841e-03 9.98828989e-01 -4.69780320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.530714057 meters 0.04122464970232444 Centerline is valid? [True, True] Translation: X:737.64, Y:-129.04, Z:-46.98 [[ 9.54642648e-01 2.94159568e-01 4.61255133e-02 7.37635133e+02] [-2.93659653e-01 9.55751354e-01 -1.74171821e-02 -1.29035998e+02] [-4.92079526e-02 3.08198261e-03 9.98783800e-01 -4.69785983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.5607140569999 meters 0.04173864521537514 Centerline is valid? [True, True] Translation: X:737.66, Y:-129.05, Z:-46.98 [[ 9.54367263e-01 2.94982758e-01 4.65650050e-02 7.37661537e+02] [-2.94474307e-01 9.55497653e-01 -1.75817509e-02 -1.29045215e+02] [-4.96790663e-02 3.06724993e-03 9.98760523e-01 -4.69799016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.5907140569999 meters 0.0414538490284209 Centerline is valid? [True, True] Translation: X:737.69, Y:-129.05, Z:-46.98 [[ 9.53759954e-01 2.96920843e-01 4.66900843e-02 7.37688843e+02] [-2.96412200e-01 9.54897478e-01 -1.76242628e-02 -1.29053683e+02] [-4.98172547e-02 2.96980550e-03 9.98753934e-01 -4.69809408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.620714057 meters 0.03890768880550011 Centerline is valid? [True, True] Translation: X:737.72, Y:-129.06, Z:-46.98 [[ 9.53724227e-01 2.97074834e-01 4.64396629e-02 7.37717241e+02] [-2.96571865e-01 9.54849658e-01 -1.75287904e-02 -1.29060129e+02] [-4.95502587e-02 2.94493461e-03 9.98767290e-01 -4.69823994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.650714057 meters 0.04043776082858902 Centerline is valid? [True, True] Translation: X:737.74, Y:-129.07, Z:-46.98 [[ 9.53829741e-01 2.96814333e-01 4.59355764e-02 7.37742186e+02] [-2.96322583e-01 9.54930763e-01 -1.73252402e-02 -1.29071404e+02] [-4.90076747e-02 2.91358065e-03 9.98794152e-01 -4.69849097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.6807140569999 meters 0.0366317704296945 Centerline is valid? [True, True] Translation: X:737.77, Y:-129.08, Z:-46.99 [[ 9.53784410e-01 2.96912691e-01 4.62401758e-02 7.37771044e+02] [-2.96414784e-01 9.54900159e-01 -1.74345196e-02 -1.29075623e+02] [-4.93312813e-02 2.92250125e-03 9.98778195e-01 -4.69856261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.7107140569999 meters 0.04055465870210821 Centerline is valid? [True, True] Translation: X:737.80, Y:-129.09, Z:-46.99 [[ 9.53690283e-01 2.97162458e-01 4.65759328e-02 7.37795148e+02] [-2.96658239e-01 9.54822474e-01 -1.75479910e-02 -1.29091361e+02] [-4.96863516e-02 2.91821428e-03 9.98760607e-01 -4.69882586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.740714057 meters 0.04058353365343973 Centerline is valid? [True, True] Translation: X:737.82, Y:-129.10, Z:-46.99 [[ 9.53411709e-01 2.97962334e-01 4.71652416e-02 7.37822732e+02] [-2.97446918e-01 9.54573222e-01 -1.77565237e-02 -1.29100953e+02] [-5.03134519e-02 2.90012189e-03 9.98729266e-01 -4.69895143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.770714057 meters 0.03600736160740855 Centerline is valid? [True, True] Translation: X:737.85, Y:-129.11, Z:-46.99 [[ 9.52689158e-01 3.00334984e-01 4.67147370e-02 7.37853394e+02] [-2.99832826e-01 9.53829864e-01 -1.75746267e-02 -1.29105128e+02] [-4.98361865e-02 2.73654466e-03 9.98753656e-01 -4.69913550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.8007140569999 meters 0.033220198268117174 Centerline is valid? [True, True] Translation: X:737.88, Y:-129.11, Z:-46.99 [[ 9.51051701e-01 3.05464918e-01 4.68171642e-02 7.37883211e+02] [-3.04966991e-01 9.52200132e-01 -1.76080521e-02 -1.29111692e+02] [-4.99579521e-02 2.46847816e-03 9.98748271e-01 -4.69921733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.8307140569999 meters 0.03316928061913281 Centerline is valid? [True, True] Translation: X:737.91, Y:-129.12, Z:-46.99 [[ 9.50624915e-01 3.06709727e-01 4.73435888e-02 7.37909871e+02] [-3.06202104e-01 9.51800001e-01 -1.78053583e-02 -1.29120722e+02] [-5.05227044e-02 2.42951076e-03 9.98719958e-01 -4.69923258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.8607140569999 meters 0.0318092817262692 Centerline is valid? [True, True] Translation: X:737.94, Y:-129.13, Z:-46.99 [[ 9.50492193e-01 3.07065140e-01 4.77031430e-02 7.37938071e+02] [-3.06550531e-01 9.51685414e-01 -1.79344420e-02 -1.29128278e+02] [-5.09054274e-02 2.42312330e-03 9.98700539e-01 -4.69935822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.890714057 meters 0.0314913504570798 Centerline is valid? [True, True] Translation: X:737.96, Y:-129.14, Z:-47.00 [[ 9.50577655e-01 3.07108393e-01 4.56788540e-02 7.37963914e+02] [-3.06637198e-01 9.51671748e-01 -1.71613846e-02 -1.29138653e+02] [-4.87416800e-02 2.30639291e-03 9.98808755e-01 -4.69975981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.9207140569999 meters 0.03257573954691991 Centerline is valid? [True, True] Translation: X:737.99, Y:-129.15, Z:-47.00 [[ 9.50623583e-01 3.07046532e-01 4.51356846e-02 7.37987726e+02] [-3.06587199e-01 9.51691804e-01 -1.69410644e-02 -1.29150978e+02] [-4.81569562e-02 2.26655220e-03 9.98837209e-01 -4.70014926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.9507140569999 meters 0.03235640229288036 Centerline is valid? [True, True] Translation: X:738.01, Y:-129.16, Z:-47.00 [[ 9.50621932e-01 3.07209252e-01 4.40501895e-02 7.38012917e+02] [-3.06772135e-01 9.51639447e-01 -1.65293964e-02 -1.29162040e+02] [-4.69978814e-02 2.19983606e-03 9.98892567e-01 -4.70048211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.9807140569999 meters 0.035321271379352065 Centerline is valid? [True, True] Translation: X:738.04, Y:-129.18, Z:-47.01 [[ 9.50596747e-01 3.07258744e-01 4.42480305e-02 7.38036990e+02] [-3.06818522e-01 9.51623487e-01 -1.65871466e-02 -1.29176467e+02] [-4.72040109e-02 2.19157232e-03 9.98882865e-01 -4.70069955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.010714057 meters 0.030934348899291392 Centerline is valid? [True, True] Translation: X:738.07, Y:-129.18, Z:-47.00 [[ 9.50086983e-01 3.08595247e-01 4.58660868e-02 7.38067700e+02] [-3.08123986e-01 9.51190905e-01 -1.71892643e-02 -1.29178492e+02] [-4.89319299e-02 2.19885478e-03 9.98799695e-01 -4.70040429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.040714057 meters 0.041996658123436025 Centerline is valid? [True, True] Translation: X:738.09, Y:-129.21, Z:-47.01 [[ 9.48937441e-01 3.11775265e-01 4.81031950e-02 7.38087500e+02] [-3.11261333e-01 9.50153492e-01 -1.80200933e-02 -1.29207296e+02] [-5.13236381e-02 2.12727667e-03 9.98679808e-01 -4.70076569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.0707140569999 meters 0.031037380796000463 Centerline is valid? [True, True] Translation: X:738.12, Y:-129.20, Z:-47.01 [[ 9.49407131e-01 3.10491091e-01 4.71315344e-02 7.38121123e+02] [-3.09996157e-01 9.50573854e-01 -1.76559136e-02 -1.29199238e+02] [-5.02840082e-02 2.15205576e-03 9.98732641e-01 -4.70060758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.1007140569999 meters 0.031037621113094962 Centerline is valid? [True, True] Translation: X:738.15, Y:-129.21, Z:-47.01 [[ 9.48673184e-01 3.12518357e-01 4.84919292e-02 7.38146501e+02] [-3.11997831e-01 9.49909422e-01 -1.81505570e-02 -1.29209930e+02] [-5.17353227e-02 2.08956993e-03 9.98658645e-01 -4.70066606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.130714057 meters 0.03071377562286646 Centerline is valid? [True, True] Translation: X:738.17, Y:-129.22, Z:-47.01 [[ 9.48442613e-01 3.13114412e-01 4.91525673e-02 7.38173040e+02] [-3.12580606e-01 9.49713132e-01 -1.83937952e-02 -1.29219980e+02] [-5.24402010e-02 2.08131992e-03 9.98621897e-01 -4.70080247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.160714057 meters 0.030672709800820968 Centerline is valid? [True, True] Translation: X:738.20, Y:-129.23, Z:-47.01 [[ 9.48131781e-01 3.13897870e-01 5.01423181e-02 7.38199464e+02] [-3.13344178e-01 9.49454506e-01 -1.87501051e-02 -1.29230334e+02] [-5.34934679e-02 2.06576707e-03 9.98566063e-01 -4.70093601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.1907140569999 meters 0.030672709800820968 Centerline is valid? [True, True] Translation: X:738.23, Y:-129.24, Z:-47.01 [[ 9.48217616e-01 3.13637775e-01 5.01467655e-02 7.38225100e+02] [-3.13084348e-01 9.49540452e-01 -1.87382027e-02 -1.29239830e+02] [-5.34933906e-02 2.06772650e-03 9.98566063e-01 -4.70109502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.2207140569999 meters 0.030277162167511754 Centerline is valid? [True, True] Translation: X:738.25, Y:-129.25, Z:-47.01 [[ 9.47546312e-01 3.15438327e-01 5.15232818e-02 7.38251540e+02] [-3.14857673e-01 9.48943964e-01 -1.92353838e-02 -1.29251535e+02] [-5.49602846e-02 2.00391633e-03 9.98486530e-01 -4.70125464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.250714057 meters 0.02857484290030715 Centerline is valid? [True, True] Translation: X:738.28, Y:-129.26, Z:-47.01 [[ 9.46976921e-01 3.17055271e-01 5.20640638e-02 7.38278857e+02] [-3.16464993e-01 9.48405105e-01 -1.94336266e-02 -1.29259809e+02] [-5.55393576e-02 1.92674235e-03 9.98454640e-01 -4.70137092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.280714057 meters 0.02867821977500608 Centerline is valid? [True, True] Translation: X:738.30, Y:-129.27, Z:-47.02 [[ 9.45720360e-01 3.20737514e-01 5.23492818e-02 7.38304806e+02] [-3.20147216e-01 9.47166584e-01 -1.95249015e-02 -1.29272029e+02] [-5.58458588e-02 1.70562002e-03 9.98437945e-01 -4.70150396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.3107140569999 meters 0.02804465051100368 Centerline is valid? [True, True] Translation: X:738.33, Y:-129.28, Z:-47.02 [[ 9.45050481e-01 3.22744820e-01 5.21092059e-02 7.38332416e+02] [-3.22163122e-01 9.46484703e-01 -1.94326754e-02 -1.29281476e+02] [-5.55923616e-02 1.57719474e-03 9.98452303e-01 -4.70169765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.3407140569999 meters 0.027553255837769103 Centerline is valid? [True, True] Translation: X:738.36, Y:-129.29, Z:-47.02 [[ 9.44674501e-01 3.23935833e-01 5.15331228e-02 7.38359958e+02] [-3.23369420e-01 9.46077899e-01 -1.92048719e-02 -1.29291220e+02] [-5.49754947e-02 1.47811676e-03 9.98486610e-01 -4.70184301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.370714057 meters 0.02749405131331707 Centerline is valid? [True, True] Translation: X:738.39, Y:-129.30, Z:-47.02 [[ 9.44113515e-01 3.25553087e-01 5.16222682e-02 7.38385024e+02] [-3.24987886e-01 9.45522766e-01 -1.92242716e-02 -1.29302697e+02] [-5.50685508e-02 1.37328277e-03 9.98481632e-01 -4.70210186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.400714057 meters 0.026838437819117364 Centerline is valid? [True, True] Translation: X:738.41, Y:-129.32, Z:-47.03 [[ 9.43630757e-01 3.27267710e-01 4.95665324e-02 7.38410814e+02] [-3.26749228e-01 9.44930876e-01 -1.84548373e-02 -1.29315682e+02] [-5.28766192e-02 1.21872591e-03 9.98600309e-01 -4.70250553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.4307140569999 meters 0.02654607612714226 Centerline is valid? [True, True] Translation: X:738.44, Y:-129.33, Z:-47.03 [[ 9.43307900e-01 3.28350873e-01 4.85377200e-02 7.38437675e+02] [-3.27855813e-01 9.44555158e-01 -1.80587783e-02 -1.29326975e+02] [-5.17761694e-02 1.12161454e-03 9.98658085e-01 -4.70279089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.4607140569999 meters 0.02635581397489631 Centerline is valid? [True, True] Translation: X:738.46, Y:-129.34, Z:-47.03 [[ 9.43070610e-01 3.29126112e-01 4.78939203e-02 7.38464200e+02] [-3.28645710e-01 9.44285387e-01 -1.78074351e-02 -1.29337132e+02] [-5.10864209e-02 1.05353729e-03 9.98693681e-01 -4.70306786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.490714057 meters 0.026252418719812466 Centerline is valid? [True, True] Translation: X:738.49, Y:-129.35, Z:-47.03 [[ 9.42591322e-01 3.30554914e-01 4.74873525e-02 7.38489080e+02] [-3.30085170e-01 9.43786278e-01 -1.76420738e-02 -1.29349974e+02] [-5.06495858e-02 9.54394875e-04 9.98716030e-01 -4.70333404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.520714057 meters 0.025504484178471398 Centerline is valid? [True, True] Translation: X:738.52, Y:-129.36, Z:-47.03 [[ 9.41646603e-01 3.33140818e-01 4.81546444e-02 7.38516054e+02] [-3.32661476e-01 9.42876727e-01 -1.78835433e-02 -1.29360203e+02] [-5.13616317e-02 8.20782709e-04 9.98679783e-01 -4.70335577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.5507140569999 meters 0.025353925615156772 Centerline is valid? [True, True] Translation: X:738.54, Y:-129.37, Z:-47.03 [[ 9.41261286e-01 3.34023643e-01 4.95519579e-02 7.38541278e+02] [-3.33518095e-01 9.42564373e-01 -1.83870437e-02 -1.29370990e+02] [-5.28476174e-02 7.80537766e-04 9.98602283e-01 -4.70344908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.5807140569999 meters 0.025461031093233093 Centerline is valid? [True, True] Translation: X:738.57, Y:-129.39, Z:-47.03 [[ 9.41079843e-01 3.34277509e-01 5.12569612e-02 7.38565415e+02] [-3.33737213e-01 9.42474364e-01 -1.90143639e-02 -1.29386296e+02] [-5.46644461e-02 7.87679205e-04 9.98504471e-01 -4.70345678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.6107140569999 meters 0.025356784864335482 Centerline is valid? [True, True] Translation: X:738.59, Y:-129.40, Z:-47.04 [[ 9.41439509e-01 3.33214097e-01 5.15753495e-02 7.38591460e+02] [-3.32665728e-01 9.42850806e-01 -1.91277484e-02 -1.29399168e+02] [-5.50014952e-02 8.50266886e-04 9.98485910e-01 -4.70359093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.640714057 meters 0.025603324258435447 Centerline is valid? [True, True] Translation: X:738.62, Y:-129.41, Z:-47.04 [[ 9.42076095e-01 3.31403426e-01 5.16178287e-02 7.38616953e+02] [-3.30852215e-01 9.43488675e-01 -1.91293635e-02 -1.29412220e+02] [-5.50403734e-02 9.43443154e-04 9.98483684e-01 -4.70378720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.6707140569999 meters 0.02599378641596838 Centerline is valid? [True, True] Translation: X:738.64, Y:-129.43, Z:-47.04 [[ 9.43992263e-01 3.26041514e-01 5.07497722e-02 7.38639678e+02] [-3.25501753e-01 9.45354664e-01 -1.87927854e-02 -1.29432594e+02] [-5.41037621e-02 1.22110421e-03 9.98534572e-01 -4.70410401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.7007140569999 meters 0.02643015077159948 Centerline is valid? [True, True] Translation: X:738.66, Y:-129.45, Z:-47.04 [[ 9.45214102e-01 3.22620572e-01 4.98624831e-02 7.38664631e+02] [-3.22094881e-01 9.46527355e-01 -1.84622445e-02 -1.29447025e+02] [-5.31525041e-02 1.39032331e-03 9.98585439e-01 -4.70438480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.7307140569999 meters 0.027373743502325142 Centerline is valid? [True, True] Translation: X:738.69, Y:-129.47, Z:-47.05 [[ 9.47619885e-01 3.15837592e-01 4.75727783e-02 7.38689836e+02] [-3.15351279e-01 9.48811786e-01 -1.76001507e-02 -1.29465475e+02] [-5.06964020e-02 1.67611636e-03 9.98712704e-01 -4.70468336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.760714057 meters 0.029155999849256757 Centerline is valid? [True, True] Translation: X:738.71, Y:-129.48, Z:-47.05 [[ 9.48672591e-01 3.12744722e-01 4.70218419e-02 7.38713902e+02] [-3.12265865e-01 9.49835475e-01 -1.73954196e-02 -1.29481888e+02] [-5.01033392e-02 1.81924165e-03 9.98742382e-01 -4.70492076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.790714057 meters 0.03037859954344528 Centerline is valid? [True, True] Translation: X:738.74, Y:-129.50, Z:-47.05 [[ 9.50413327e-01 3.07407762e-01 4.70635349e-02 7.38739220e+02] [-3.06921728e-01 9.51575569e-01 -1.74065883e-02 -1.29500621e+02] [-5.01354303e-02 2.09863203e-03 9.98740224e-01 -4.70512831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.8207140569999 meters 0.030871767907727932 Centerline is valid? [True, True] Translation: X:738.77, Y:-129.51, Z:-47.05 [[ 9.51105112e-01 3.05220777e-01 4.73217120e-02 7.38765371e+02] [-3.04726747e-01 9.52279017e-01 -1.75009515e-02 -1.29514801e+02] [-5.04051274e-02 2.22505305e-03 9.98726375e-01 -4.70529424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.8507140569999 meters 0.03139832562848235 Centerline is valid? [True, True] Translation: X:738.79, Y:-129.53, Z:-47.05 [[ 9.51686321e-01 3.03390882e-01 4.74037786e-02 7.38790436e+02] [-3.02892947e-01 9.52863353e-01 -1.75297986e-02 -1.29528245e+02] [-5.04877045e-02 2.32459937e-03 9.98721977e-01 -4.70544388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.880714057 meters 0.03325983028527642 Centerline is valid? [True, True] Translation: X:738.81, Y:-129.54, Z:-47.05 [[ 9.52382363e-01 3.01087570e-01 4.81051980e-02 7.38814746e+02] [-3.00572102e-01 9.53593275e-01 -1.77842179e-02 -1.29544504e+02] [-5.12274002e-02 2.47829496e-03 9.98683940e-01 -4.70548596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.910714057 meters 0.03350972134979768 Centerline is valid? [True, True] Translation: X:738.84, Y:-129.56, Z:-47.06 [[ 9.52583286e-01 3.00427305e-01 4.82547247e-02 7.38841248e+02] [-2.99907931e-01 9.53801389e-01 -1.78365526e-02 -1.29556032e+02] [-5.13840109e-02 2.51882720e-03 9.98675793e-01 -4.70561864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.9407140569999 meters 0.033523698751314224 Centerline is valid? [True, True] Translation: X:738.87, Y:-129.57, Z:-47.06 [[ 9.52925568e-01 2.99462772e-01 4.74858822e-02 7.38867447e+02] [-2.98959288e-01 9.54104664e-01 -1.75394870e-02 -1.29568252e+02] [-5.05589251e-02 2.51748005e-03 9.98717907e-01 -4.70582005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.9707140569999 meters 0.03473829963890908 Centerline is valid? [True, True] Translation: X:738.89, Y:-129.58, Z:-47.06 [[ 9.53054866e-01 2.99007988e-01 4.77561178e-02 7.38892056e+02] [-2.98498922e-01 9.54247222e-01 -1.76247803e-02 -1.29580900e+02] [-5.08410928e-02 2.54223291e-03 9.98703520e-01 -4.70607776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.000714057 meters 0.03419745938284432 Centerline is valid? [True, True] Translation: X:738.92, Y:-129.59, Z:-47.06 [[ 9.53152753e-01 2.98662298e-01 4.79652186e-02 7.38917823e+02] [-2.98148498e-01 9.54355402e-01 -1.76985694e-02 -1.29591349e+02] [-5.10617609e-02 2.56868223e-03 9.98692194e-01 -4.70624813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.030714057 meters 0.03528952177641354 Centerline is valid? [True, True] Translation: X:738.94, Y:-129.60, Z:-47.06 [[ 9.53446776e-01 2.97779752e-01 4.76073946e-02 7.38942996e+02] [-2.97273307e-01 9.54631110e-01 -1.75506163e-02 -1.29603976e+02] [-5.06737182e-02 2.58117093e-03 9.98711926e-01 -4.70641559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.0607140569999 meters 0.034682426149725464 Centerline is valid? [True, True] Translation: X:738.97, Y:-129.61, Z:-47.07 [[ 9.53418111e-01 2.97947968e-01 4.71265861e-02 7.38969641e+02] [-2.97452208e-01 9.54578731e-01 -1.73674980e-02 -1.29613405e+02] [-5.01606475e-02 2.54058003e-03 9.98737931e-01 -4.70658793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.0907140569999 meters 0.03287873370848002 Centerline is valid? [True, True] Translation: X:739.00, Y:-129.62, Z:-47.07 [[ 9.53279808e-01 2.98423587e-01 4.69145012e-02 7.38997379e+02] [-2.97933492e-01 9.54430276e-01 -1.72766348e-02 -1.29620982e+02] [-4.99323757e-02 2.49206594e-03 9.98749492e-01 -4.70674693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.120714057 meters 0.032088665568860385 Centerline is valid? [True, True] Translation: X:739.03, Y:-129.63, Z:-47.07 [[ 9.52947839e-01 2.99722433e-01 4.53528243e-02 7.39025006e+02] [-2.99266499e-01 9.54023599e-01 -1.66893718e-02 -1.29629898e+02] [-4.82698438e-02 2.33151986e-03 9.98831611e-01 -4.70696148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.150714057 meters 0.03187354469010627 Centerline is valid? [True, True] Translation: X:739.05, Y:-129.64, Z:-47.07 [[ 9.52753335e-01 3.00360203e-01 4.52198173e-02 7.39051899e+02] [-2.99908269e-01 9.53823122e-01 -1.66277363e-02 -1.29639399e+02] [-4.81260176e-02 2.28033408e-03 9.98838669e-01 -4.70715054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.1807140569999 meters 0.03164055876851372 Centerline is valid? [True, True] Translation: X:739.08, Y:-129.65, Z:-47.07 [[ 9.52352643e-01 3.01537008e-01 4.58244133e-02 7.39078936e+02] [-3.01074901e-01 9.53451847e-01 -1.68368841e-02 -1.29649104e+02] [-4.87683151e-02 2.23807036e-03 9.98807610e-01 -4.70722901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.2107140569999 meters 0.03142398177039953 Centerline is valid? [True, True] Translation: X:739.11, Y:-129.66, Z:-47.07 [[ 9.52131322e-01 3.02114856e-01 4.66107360e-02 7.39105468e+02] [-3.01638084e-01 9.53268915e-01 -1.71126549e-02 -1.29659159e+02] [-4.96025530e-02 2.23392165e-03 9.98766537e-01 -4.70732002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.240714057 meters 0.031586321902714154 Centerline is valid? [True, True] Translation: X:739.13, Y:-129.67, Z:-47.07 [[ 9.52005063e-01 3.02516261e-01 4.65861733e-02 7.39132415e+02] [-3.02041118e-01 9.53141687e-01 -1.70905980e-02 -1.29669145e+02] [-4.95734076e-02 2.19939600e-03 9.98768061e-01 -4.70743925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.270714057 meters 0.03103946370731195 Centerline is valid? [True, True] Translation: X:739.16, Y:-129.68, Z:-47.07 [[ 9.51547602e-01 3.03934618e-01 4.67002100e-02 7.39160171e+02] [-3.03459499e-01 9.52690538e-01 -1.71193375e-02 -1.29677931e+02] [-4.96940075e-02 2.11824224e-03 9.98762243e-01 -4.70744572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.3007140569999 meters 0.02987893252079355 Centerline is valid? [True, True] Translation: X:739.19, Y:-129.69, Z:-47.07 [[ 9.51328916e-01 3.04571336e-01 4.70063314e-02 7.39188076e+02] [-3.04091368e-01 9.52487242e-01 -1.72189758e-02 -1.29685970e+02] [-5.00173374e-02 2.08668996e-03 9.98746170e-01 -4.70743488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.3307140569999 meters 0.029436030860222916 Centerline is valid? [True, True] Translation: X:739.21, Y:-129.70, Z:-47.07 [[ 9.51387628e-01 3.04119770e-01 4.87108571e-02 7.39214372e+02] [-3.03604471e-01 9.52631324e-01 -1.78293342e-02 -1.29695219e+02] [-5.18257413e-02 2.17377400e-03 9.98653777e-01 -4.70733114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.3607140569999 meters 0.02940147628345807 Centerline is valid? [True, True] Translation: X:739.24, Y:-129.71, Z:-47.07 [[ 9.51375057e-01 3.04032584e-01 4.94943296e-02 7.39241360e+02] [-3.03501321e-01 9.52659098e-01 -1.80994663e-02 -1.29706361e+02] [-5.26540509e-02 2.19778640e-03 9.98610395e-01 -4.70742064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.390714057 meters 0.02955681277221614 Centerline is valid? [True, True] Translation: X:739.27, Y:-129.72, Z:-47.08 [[ 9.51435726e-01 3.03695527e-01 5.03893524e-02 7.39267113e+02] [-3.03145165e-01 9.52766496e-01 -1.84122828e-02 -1.29717476e+02] [-5.36010147e-02 2.24281512e-03 9.98559914e-01 -4.70754586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.4207140569999 meters 0.029628311530893403 Centerline is valid? [True, True] Translation: X:739.29, Y:-129.73, Z:-47.08 [[ 9.50977700e-01 3.05231455e-01 4.97511173e-02 7.39293036e+02] [-3.04697949e-01 9.52275850e-01 -1.81621853e-02 -1.29727745e+02] [-5.29204578e-02 2.11276976e-03 9.98596496e-01 -4.70764921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.4507140569999 meters 0.02908701090020108 Centerline is valid? [True, True] Translation: X:739.32, Y:-129.74, Z:-47.08 [[ 9.50779904e-01 3.05963393e-01 4.90303655e-02 7.39320757e+02] [-3.05446424e-01 9.52041096e-01 -1.78950772e-02 -1.29736853e+02] [-5.21541614e-02 2.03812992e-03 9.98636966e-01 -4.70784916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.4807140569999 meters 0.028866014030313247 Centerline is valid? [True, True] Translation: X:739.35, Y:-129.75, Z:-47.08 [[ 9.50672833e-01 3.06556219e-01 4.73756162e-02 7.39347746e+02] [-3.06074901e-01 9.51850604e-01 -1.72795449e-02 -1.29745272e+02] [-5.03916609e-02 1.92670682e-03 9.98727675e-01 -4.70807115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.510714057 meters 0.028980126528400582 Centerline is valid? [True, True] Translation: X:739.37, Y:-129.76, Z:-47.08 [[ 9.50290955e-01 3.08020721e-01 4.55009398e-02 7.39372728e+02] [-3.07579109e-01 9.51378016e-01 -1.65820106e-02 -1.29756175e+02] [-4.83961966e-02 1.76259614e-03 9.98826662e-01 -4.70843144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.540714057 meters 0.02819022844996435 Centerline is valid? [True, True] Translation: X:739.40, Y:-129.77, Z:-47.09 [[ 9.50307355e-01 3.08179098e-01 4.40632999e-02 7.39399539e+02] [-3.07765336e-01 9.51326847e-01 -1.60538827e-02 -1.29765025e+02] [-4.68660713e-02 1.69496650e-03 9.98899744e-01 -4.70862766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.5707140569999 meters 0.028239387907032936 Centerline is valid? [True, True] Translation: X:739.42, Y:-129.78, Z:-47.09 [[ 9.50137276e-01 3.08785690e-01 4.34805024e-02 7.39424569e+02] [-3.08383642e-01 9.51130229e-01 -1.58372139e-02 -1.29777128e+02] [-4.62459252e-02 1.63885154e-03 9.98928741e-01 -4.70897326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.6007140569999 meters 0.028179976759005406 Centerline is valid? [True, True] Translation: X:739.45, Y:-129.79, Z:-47.09 [[ 9.50005511e-01 3.09179680e-01 4.35597740e-02 7.39451802e+02] [-3.08776690e-01 9.51002261e-01 -1.58636539e-02 -1.29787078e+02] [-4.63301629e-02 1.62031577e-03 9.98924867e-01 -4.70909956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.630714057 meters 0.02782082836827319 Centerline is valid? [True, True] Translation: X:739.48, Y:-129.80, Z:-47.09 [[ 9.49756472e-01 3.09845036e-01 4.42571733e-02 7.39478398e+02] [-3.09430350e-01 9.50785722e-01 -1.61049299e-02 -1.29796728e+02] [-4.70691211e-02 1.60124877e-03 9.98890351e-01 -4.70925652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.660714057 meters 0.027244622145847216 Centerline is valid? [True, True] Translation: X:739.51, Y:-129.81, Z:-47.09 [[ 9.48756311e-01 3.12765363e-01 4.51584967e-02 7.39505508e+02] [-3.12337610e-01 9.49829279e-01 -1.64182015e-02 -1.29806252e+02] [-4.80279071e-02 1.47217539e-03 9.98844909e-01 -4.70925046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.6907140569999 meters 0.026859295907890116 Centerline is valid? [True, True] Translation: X:739.53, Y:-129.81, Z:-47.09 [[ 9.48488850e-01 3.13577483e-01 4.51449276e-02 7.39532987e+02] [-3.13150985e-01 9.49561541e-01 -1.64116009e-02 -1.29814900e+02] [-4.80141955e-02 1.42904190e-03 9.98845631e-01 -4.70941867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.7207140569999 meters 0.02619249713894789 Centerline is valid? [True, True] Translation: X:739.56, Y:-129.83, Z:-47.10 [[ 9.47537023e-01 3.16304260e-01 4.60999562e-02 7.39559089e+02] [-3.15863469e-01 9.48656900e-01 -1.67437933e-02 -1.29826922e+02] [-4.90291747e-02 1.30407200e-03 9.98796496e-01 -4.70965438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.750714057 meters 0.026830703803423596 Centerline is valid? [True, True] Translation: X:739.58, Y:-129.84, Z:-47.10 [[ 9.47350857e-01 3.16721013e-01 4.70548030e-02 7.39584109e+02] [-3.16262459e-01 9.48517841e-01 -1.70868960e-02 -1.29840147e+02] [-5.00440992e-02 1.30561784e-03 9.98746156e-01 -4.70983710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.780714057 meters 0.025965948507225424 Centerline is valid? [True, True] Translation: X:739.61, Y:-129.85, Z:-47.10 [[ 9.47533737e-01 3.16040762e-01 4.79380216e-02 7.39609946e+02] [-3.15564123e-01 9.48744633e-01 -1.74042038e-02 -1.29849979e+02] [-5.09813785e-02 1.36355054e-03 9.98698673e-01 -4.70987616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.8107140569999 meters 0.02692364358887471 Centerline is valid? [True, True] Translation: X:739.63, Y:-129.86, Z:-47.10 [[ 9.48495415e-01 3.12926423e-01 4.93305408e-02 7.39634981e+02] [-3.12418328e-01 9.49776090e-01 -1.78932179e-02 -1.29864954e+02] [-5.24522288e-02 1.55987009e-03 9.98622216e-01 -4.70988365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.8407140569999 meters 0.02750696325854346 Centerline is valid? [True, True] Translation: X:739.66, Y:-129.88, Z:-47.10 [[ 9.49041949e-01 3.11168363e-01 4.99362575e-02 7.39660852e+02] [-3.10646029e-01 9.50353345e-01 -1.80987108e-02 -1.29878467e+02] [-5.30888356e-02 1.66393562e-03 9.98588407e-01 -4.70998457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.870714057 meters 0.028640392897688327 Centerline is valid? [True, True] Translation: X:739.68, Y:-129.90, Z:-47.10 [[ 9.50158258e-01 3.07758739e-01 4.98381682e-02 7.39684882e+02] [-3.07234562e-01 9.51462656e-01 -1.80482353e-02 -1.29895869e+02] [-5.29736581e-02 1.83667206e-03 9.98594221e-01 -4.71025589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.900714057 meters 0.028787267370542494 Centerline is valid? [True, True] Translation: X:739.71, Y:-129.91, Z:-47.11 [[ 9.50545675e-01 3.06638969e-01 4.93503977e-02 7.39710392e+02] [-3.06123646e-01 9.51824047e-01 -1.78688929e-02 -1.29908294e+02] [-5.24521942e-02 1.87787518e-03 9.98621671e-01 -4.71050385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.9307140569999 meters 0.028698535263208515 Centerline is valid? [True, True] Translation: X:739.74, Y:-129.92, Z:-47.11 [[ 9.50866594e-01 3.05885031e-01 4.78232938e-02 7.39735906e+02] [-3.05400351e-01 9.52066647e-01 -1.73125707e-02 -1.29921484e+02] [-5.08266192e-02 1.85669442e-03 9.98705766e-01 -4.71081149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.9607140569999 meters 0.028332970168640087 Centerline is valid? [True, True] Translation: X:739.76, Y:-129.93, Z:-47.11 [[ 9.50630083e-01 3.06656074e-01 4.75867335e-02 7.39762004e+02] [-3.06177819e-01 9.51818698e-01 -1.72136254e-02 -1.29932590e+02] [-5.05726055e-02 1.79378782e-03 9.98718776e-01 -4.71101771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.990714057 meters 0.027328025596635268 Centerline is valid? [True, True] Translation: X:739.79, Y:-129.94, Z:-47.11 [[ 9.49503623e-01 3.10147732e-01 4.74473876e-02 7.39789778e+02] [-3.09677373e-01 9.50687046e-01 -1.71483278e-02 -1.29943407e+02] [-5.04261317e-02 1.58901699e-03 9.98726529e-01 -4.71115390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.020714057 meters 0.027021894402360448 Centerline is valid? [True, True] Translation: X:739.82, Y:-129.95, Z:-47.11 [[ 9.48614547e-01 3.12818010e-01 4.77004610e-02 7.39815996e+02] [-3.12346068e-01 9.49811971e-01 -1.72381375e-02 -1.29953637e+02] [-5.06988687e-02 1.45329659e-03 9.98712928e-01 -4.71130387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.0507140569999 meters 0.026449672502069012 Centerline is valid? [True, True] Translation: X:739.84, Y:-129.96, Z:-47.11 [[ 9.47752037e-01 3.15378421e-01 4.79846660e-02 7.39843251e+02] [-3.14904303e-01 9.48965072e-01 -1.73370158e-02 -1.29963526e+02] [-5.10034927e-02 1.32061421e-03 9.98697602e-01 -4.71141035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.0807140569999 meters 0.026449672502069012 Centerline is valid? [True, True] Translation: X:739.87, Y:-129.97, Z:-47.12 [[ 9.47840839e-01 3.15111324e-01 4.79853955e-02 7.39869007e+02] [-3.14636967e-01 9.49053780e-01 -1.73349971e-02 -1.29972755e+02] [-5.10031749e-02 1.33283890e-03 9.98697602e-01 -4.71156900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.1107140569999 meters 0.02615434332381128 Centerline is valid? [True, True] Translation: X:739.89, Y:-129.98, Z:-47.12 [[ 9.47044688e-01 3.17307706e-01 4.92156326e-02 7.39894197e+02] [-3.16812560e-01 9.48321838e-01 -1.77621439e-02 -1.29983698e+02] [-5.23083243e-02 1.22941348e-03 9.98630226e-01 -4.71173766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.140714057 meters 0.025480576843344243 Centerline is valid? [True, True] Translation: X:739.92, Y:-130.00, Z:-47.12 [[ 9.45841436e-01 3.20599008e-01 5.09926829e-02 7.39920783e+02] [-3.20072455e-01 9.47214394e-01 -1.83988035e-02 -1.29995979e+02] [-5.41996414e-02 1.08099749e-03 9.98529534e-01 -4.71179778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.1707140569999 meters 0.025228968673564653 Centerline is valid? [True, True] Translation: X:739.95, Y:-130.01, Z:-47.12 [[ 9.45727394e-01 3.20766604e-01 5.20430837e-02 7.39945961e+02] [-3.20219120e-01 9.47157652e-01 -1.87642461e-02 -1.30009649e+02] [-5.53119485e-02 1.08067110e-03 9.98468538e-01 -4.71193667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.2007140569999 meters 0.025323921939217873 Centerline is valid? [True, True] Translation: X:739.97, Y:-130.02, Z:-47.12 [[ 9.45937652e-01 3.20100963e-01 5.23195271e-02 7.39972026e+02] [-3.19547452e-01 9.47382783e-01 -1.88490715e-02 -1.30022177e+02] [-5.56002251e-02 1.11147487e-03 9.98452492e-01 -4.71213933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.2307140569999 meters 0.025112189726491617 Centerline is valid? [True, True] Translation: X:740.00, Y:-130.03, Z:-47.12 [[ 9.46176616e-01 3.19293886e-01 5.29266159e-02 7.39998068e+02] [-3.18727027e-01 9.47655039e-01 -1.90527947e-02 -1.30034496e+02] [-5.62396152e-02 1.15816588e-03 9.98416629e-01 -4.71236142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.260714057 meters 0.02549024154546244 Centerline is valid? [True, True] Translation: X:740.02, Y:-130.05, Z:-47.13 [[ 9.46575985e-01 3.18139803e-01 5.27348976e-02 7.40022466e+02] [-3.17576108e-01 9.48043040e-01 -1.89686361e-02 -1.30047061e+02] [-5.60296308e-02 1.20791186e-03 9.98428376e-01 -4.71259860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.290714057 meters 0.025931871401664086 Centerline is valid? [True, True] Translation: X:740.05, Y:-130.06, Z:-47.13 [[ 9.47269082e-01 3.16065471e-01 5.27627162e-02 7.40045534e+02] [-3.15498495e-01 9.48736460e-01 -1.89691849e-02 -1.30063878e+02] [-5.60534169e-02 1.32236482e-03 9.98426896e-01 -4.71292356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.3207140569999 meters 0.026110128629000286 Centerline is valid? [True, True] Translation: X:740.07, Y:-130.08, Z:-47.13 [[ 9.47615462e-01 3.15021784e-01 5.27845774e-02 7.40071385e+02] [-3.14452999e-01 9.49083437e-01 -1.89720876e-02 -1.30076897e+02] [-5.60735890e-02 1.37997489e-03 9.98425685e-01 -4.71312550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.3507140569999 meters 0.02693629274382364 Centerline is valid? [True, True] Translation: X:740.10, Y:-130.09, Z:-47.13 [[ 9.48409262e-01 3.12434511e-01 5.38938568e-02 7.40095117e+02] [-3.11838254e-01 9.49938036e-01 -1.93554041e-02 -1.30092984e+02] [-5.72431207e-02 1.55067829e-03 9.98359064e-01 -4.71325345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.380714057 meters 0.026705211575658857 Centerline is valid? [True, True] Translation: X:740.12, Y:-130.10, Z:-47.13 [[ 9.48859058e-01 3.11034422e-01 5.40747331e-02 7.40121563e+02] [-3.10432185e-01 9.50397239e-01 -1.94150913e-02 -1.30104695e+02] [-5.74312387e-02 1.63564770e-03 9.98348124e-01 -4.71337316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.410714057 meters 0.02734802160262315 Centerline is valid? [True, True] Translation: X:740.15, Y:-130.12, Z:-47.14 [[ 9.49285754e-01 3.09624661e-01 5.46729045e-02 7.40146084e+02] [-3.09007573e-01 9.50857293e-01 -1.96144607e-02 -1.30117413e+02] [-5.80592508e-02 1.72538656e-03 9.98311648e-01 -4.71350651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.4407140569999 meters 0.02790563128701322 Centerline is valid? [True, True] Translation: X:740.17, Y:-130.13, Z:-47.14 [[ 9.50266488e-01 3.06694370e-01 5.41494712e-02 7.40171514e+02] [-3.06084606e-01 9.51806191e-01 -1.94213601e-02 -1.30132789e+02] [-5.74962237e-02 1.88114810e-03 9.98343952e-01 -4.71379802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.4707140569999 meters 0.027985564195969738 Centerline is valid? [True, True] Translation: X:740.20, Y:-130.15, Z:-47.14 [[ 9.50890457e-01 3.04719485e-01 5.43449470e-02 7.40197278e+02] [-3.04102273e-01 9.52440033e-01 -1.94882306e-02 -1.30145274e+02] [-5.76987467e-02 2.00475055e-03 9.98332027e-01 -4.71404175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.500714057 meters 0.030758511130314276 Centerline is valid? [True, True] Translation: X:740.22, Y:-130.16, Z:-47.14 [[ 9.52202978e-01 3.00514566e-01 5.47766827e-02 7.40221063e+02] [-2.99881450e-01 9.53774541e-01 -1.96275542e-02 -1.30164294e+02] [-5.81429713e-02 2.26290453e-03 9.98305702e-01 -4.71421493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.530714057 meters 0.02998099404932776 Centerline is valid? [True, True] Translation: X:740.25, Y:-130.17, Z:-47.14 [[ 9.52898173e-01 2.98263231e-01 5.49919661e-02 7.40248073e+02] [-2.97621669e-01 9.54480623e-01 -1.96997970e-02 -1.30173440e+02] [-5.83644912e-02 2.40509983e-03 9.98292443e-01 -4.71437383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.5607140569999 meters 0.03064500089838904 Centerline is valid? [True, True] Translation: X:740.27, Y:-130.19, Z:-47.15 [[ 9.53348636e-01 2.96744533e-01 5.53991032e-02 7.40273864e+02] [-2.96091789e-01 9.54953624e-01 -1.98299922e-02 -1.30185667e+02] [-5.87880162e-02 2.50167642e-03 9.98267354e-01 -4.71451284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.5907140569999 meters 0.03055290852596219 Centerline is valid? [True, True] Translation: X:740.30, Y:-130.20, Z:-47.15 [[ 9.53584441e-01 2.96084202e-01 5.48713017e-02 7.40299870e+02] [-2.95443643e-01 9.55158562e-01 -1.96259090e-02 -1.30197777e+02] [-5.82217152e-02 2.50358424e-03 9.98300538e-01 -4.71473384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.620714057 meters 0.03102652617046949 Centerline is valid? [True, True] Translation: X:740.33, Y:-130.21, Z:-47.15 [[ 9.53554125e-01 2.96334076e-01 5.40430067e-02 7.40326807e+02] [-2.95713980e-01 9.55081242e-01 -1.93148506e-02 -1.30208672e+02] [-5.73391104e-02 2.43648283e-03 9.98351787e-01 -4.71492098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.650714057 meters 0.03116057968779614 Centerline is valid? [True, True] Translation: X:740.35, Y:-130.22, Z:-47.15 [[ 9.53513400e-01 2.96494481e-01 5.38815277e-02 7.40353128e+02] [-2.95879192e-01 9.55031537e-01 -1.92423141e-02 -1.30219347e+02] [-5.71637981e-02 2.40538145e-03 9.98361916e-01 -4.71507864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.6807140569999 meters 0.03135786378365687 Centerline is valid? [True, True] Translation: X:740.38, Y:-130.23, Z:-47.15 [[ 9.53434685e-01 2.96718095e-01 5.40432618e-02 7.40379401e+02] [-2.96100315e-01 9.54962137e-01 -1.92852226e-02 -1.30230230e+02] [-5.73315433e-02 2.38497326e-03 9.98352346e-01 -4.71516088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.7107140569999 meters 0.03187726602891023 Centerline is valid? [True, True] Translation: X:740.41, Y:-130.24, Z:-47.15 [[ 9.53360559e-01 2.96941639e-01 5.41230870e-02 7.40405596e+02] [-2.96323240e-01 9.54892711e-01 -1.92989219e-02 -1.30240853e+02] [-5.74123947e-02 2.36090251e-03 9.98347757e-01 -4.71520541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.740714057 meters 0.030378951792201802 Centerline is valid? [True, True] Translation: X:740.43, Y:-130.25, Z:-47.15 [[ 9.53360533e-01 2.96878092e-01 5.44710308e-02 7.40432757e+02] [-2.96251910e-01 9.54912435e-01 -1.94177218e-02 -1.30248980e+02] [-5.77797609e-02 2.37494268e-03 9.98326529e-01 -4.71520329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.770714057 meters 0.03035754656339572 Centerline is valid? [True, True] Translation: X:740.46, Y:-130.26, Z:-47.15 [[ 9.53450283e-01 2.96569394e-01 5.45816118e-02 7.40458855e+02] [-2.95941158e-01 9.55008335e-01 -1.94399207e-02 -1.30258034e+02] [-5.78911797e-02 2.38205253e-03 9.98320057e-01 -4.71534592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.8007140569999 meters 0.030610869152995317 Centerline is valid? [True, True] Translation: X:740.48, Y:-130.27, Z:-47.16 [[ 9.53507515e-01 2.96430493e-01 5.43358270e-02 7.40484739e+02] [-2.95808670e-01 9.55051505e-01 -1.93352894e-02 -1.30267163e+02] [-5.76250828e-02 2.36333502e-03 9.98335497e-01 -4.71550677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.8307140569999 meters 0.030636253104470376 Centerline is valid? [True, True] Translation: X:740.51, Y:-130.28, Z:-47.16 [[ 9.53468806e-01 2.96641316e-01 5.38624740e-02 7.40511731e+02] [-2.96031589e-01 9.54986165e-01 -1.91500041e-02 -1.30277185e+02] [-5.71185999e-02 2.31393778e-03 9.98364719e-01 -4.71567445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.8607140569999 meters 0.029990340561274486 Centerline is valid? [True, True] Translation: X:740.54, Y:-130.29, Z:-47.16 [[ 9.53040256e-01 2.98135630e-01 5.31922624e-02 7.40539176e+02] [-2.97544131e-01 9.54521022e-01 -1.88973336e-02 -1.30285426e+02] [-5.64071011e-02 2.18287421e-03 9.98405466e-01 -4.71595790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.890714057 meters 0.029813731613304376 Centerline is valid? [True, True] Translation: X:740.57, Y:-130.29, Z:-47.16 [[ 9.52731602e-01 2.99260943e-01 5.23963977e-02 7.40566391e+02] [-2.98689512e-01 9.54169062e-01 -1.86004376e-02 -1.30293633e+02] [-5.55614061e-02 2.07097021e-03 9.98453124e-01 -4.71617200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.9207140569999 meters 0.029597041862691905 Centerline is valid? [True, True] Translation: X:740.59, Y:-130.30, Z:-47.16 [[ 9.51790540e-01 3.02518364e-01 5.07681729e-02 7.40594306e+02] [-3.01987311e-01 9.53141841e-01 -1.80082154e-02 -1.30301070e+02] [-5.38370856e-02 1.80870504e-03 9.98548094e-01 -4.71638029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.9507140569999 meters 0.02879064057203909 Centerline is valid? [True, True] Translation: X:740.62, Y:-130.31, Z:-47.17 [[ 9.51320561e-01 3.04068561e-01 5.03140160e-02 7.40622319e+02] [-3.03549245e-01 9.52648628e-01 -1.78451145e-02 -1.30308286e+02] [-5.33577166e-02 1.70364280e-03 9.98574009e-01 -4.71653511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.9807140569999 meters 0.026773274296580475 Centerline is valid? [True, True] Translation: X:740.65, Y:-130.31, Z:-47.17 [[ 9.50155840e-01 3.07639265e-01 5.06158321e-02 7.40650995e+02] [-3.07119521e-01 9.51501885e-01 -1.79377527e-02 -1.30313792e+02] [-5.36794167e-02 1.49855034e-03 9.98557096e-01 -4.71667463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.010714057 meters 0.026579528697025148 Centerline is valid? [True, True] Translation: X:740.68, Y:-130.32, Z:-47.17 [[ 9.49583130e-01 3.09385645e-01 5.07188420e-02 7.40677247e+02] [-3.08866479e-01 9.50935626e-01 -1.79703263e-02 -1.30322468e+02] [-5.37901148e-02 1.39896850e-03 9.98551284e-01 -4.71678684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.040714057 meters 0.02631196037426931 Centerline is valid? [True, True] Translation: X:740.71, Y:-130.33, Z:-47.17 [[ 9.49015850e-01 3.11029795e-01 5.12775155e-02 7.40705015e+02] [-3.10501761e-01 9.50399250e-01 -1.81637336e-02 -1.30330854e+02] [-5.43835746e-02 1.31591221e-03 9.98519251e-01 -4.71689814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.0707140569999 meters 0.025929105544481173 Centerline is valid? [True, True] Translation: X:740.73, Y:-130.34, Z:-47.17 [[ 9.48337872e-01 3.12957015e-01 5.20882722e-02 7.40733175e+02] [-3.12415852e-01 9.49766519e-01 -1.84362168e-02 -1.30338821e+02] [-5.52414403e-02 1.21056071e-03 9.98472292e-01 -4.71694179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.1007140569999 meters 0.02553106071240825 Centerline is valid? [True, True] Translation: X:740.76, Y:-130.35, Z:-47.17 [[ 9.47027056e-01 3.16794533e-01 5.27349894e-02 7.40760834e+02] [-3.16246569e-01 9.48493675e-01 -1.86508737e-02 -1.30347548e+02] [-5.59272987e-02 9.85622565e-04 9.98434357e-01 -4.71700423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.130714057 meters 0.025327576988454635 Centerline is valid? [True, True] Translation: X:740.79, Y:-130.36, Z:-47.17 [[ 9.46624152e-01 3.18002074e-01 5.27010108e-02 7.40786559e+02] [-3.17456917e-01 9.48089581e-01 -1.86347114e-02 -1.30357674e+02] [-5.58911561e-02 9.09767462e-04 9.98436453e-01 -4.71719174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.160714057 meters 0.025212976177103285 Centerline is valid? [True, True] Translation: X:740.81, Y:-130.37, Z:-47.17 [[ 9.46337575e-01 3.18985564e-01 5.18980130e-02 7.40813049e+02] [-3.18458636e-01 9.47759207e-01 -1.83462220e-02 -1.30369730e+02] [-5.50389996e-02 8.34348832e-04 9.98483857e-01 -4.71746405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.1907140569999 meters 0.024920254087172286 Centerline is valid? [True, True] Translation: X:740.84, Y:-130.38, Z:-47.18 [[ 9.46516013e-01 3.18454514e-01 5.19052970e-02 7.40838366e+02] [-3.17927426e-01 9.47937760e-01 -1.83345297e-02 -1.30380568e+02] [-5.50417047e-02 8.51808454e-04 9.98483693e-01 -4.71774244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.2207140569999 meters 0.02520660012912145 Centerline is valid? [True, True] Translation: X:740.86, Y:-130.39, Z:-47.18 [[ 9.46927034e-01 3.17409352e-01 5.07985792e-02 7.40863104e+02] [-3.16903934e-01 9.48288213e-01 -1.79265808e-02 -1.30393046e+02] [-5.38617582e-02 8.76894383e-04 9.98548017e-01 -4.71792757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.250714057 meters 0.02561906037069871 Centerline is valid? [True, True] Translation: X:740.89, Y:-130.41, Z:-47.18 [[ 9.48013929e-01 3.14332835e-01 4.96433231e-02 7.40887555e+02] [-3.13846345e-01 9.49312292e-01 -1.75112529e-02 -1.30408186e+02] [-5.26313786e-02 1.02053614e-03 9.98613487e-01 -4.71808307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.280714057 meters 0.02598226241064185 Centerline is valid? [True, True] Translation: X:740.91, Y:-130.42, Z:-47.18 [[ 9.48766390e-01 3.12097921e-01 4.93682616e-02 7.40913654e+02] [-3.11613997e-01 9.50049262e-01 -1.74102246e-02 -1.30419876e+02] [-5.23359754e-02 1.13439456e-03 9.98628889e-01 -4.71817071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.3107140569999 meters 0.025858720285121664 Centerline is valid? [True, True] Translation: X:740.94, Y:-130.43, Z:-47.18 [[ 9.49407340e-01 3.10061405e-01 4.98761385e-02 7.40939745e+02] [-3.09565432e-01 9.50715717e-01 -1.75746772e-02 -1.30431214e+02] [-5.28672578e-02 1.24559921e-03 9.98600772e-01 -4.71825271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.3407140569999 meters 0.026670638016017153 Centerline is valid? [True, True] Translation: X:740.96, Y:-130.45, Z:-47.18 [[ 9.50442858e-01 3.06709801e-01 5.08672025e-02 7.40963164e+02] [-3.06189390e-01 9.51801964e-01 -1.79186601e-02 -1.30447943e+02] [-5.39113319e-02 1.45566481e-03 9.98544666e-01 -4.71833785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.370714057 meters 0.02655229795886728 Centerline is valid? [True, True] Translation: X:740.99, Y:-130.46, Z:-47.18 [[ 9.50938241e-01 3.04952996e-01 5.21548844e-02 7.40989586e+02] [-3.04403510e-01 9.52366076e-01 -1.83673918e-02 -1.30458742e+02] [-5.52717337e-02 1.59012537e-03 9.98470083e-01 -4.71843268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.400714057 meters 0.02660014370054265 Centerline is valid? [True, True] Translation: X:741.02, Y:-130.47, Z:-47.18 [[ 9.51201220e-01 3.03906879e-01 5.34494983e-02 7.41016233e+02] [-3.03328984e-01 9.52700266e-01 -1.88077349e-02 -1.30470531e+02] [-5.66371512e-02 1.67715832e-03 9.98393420e-01 -4.71845984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.4307140569999 meters 0.026980858483776113 Centerline is valid? [True, True] Translation: X:741.04, Y:-130.48, Z:-47.18 [[ 9.51048985e-01 3.03909472e-01 5.60790667e-02 7.41040080e+02] [-3.03274252e-01 9.52699318e-01 -1.97164038e-02 -1.30483627e+02] [-5.94184905e-02 1.74392877e-03 9.98231637e-01 -4.71838187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.4607140569999 meters 0.026562848695148255 Centerline is valid? [True, True] Translation: X:741.07, Y:-130.49, Z:-47.19 [[ 9.50943051e-01 3.04164431e-01 5.64917045e-02 7.41066782e+02] [-3.03521028e-01 9.52617977e-01 -1.98487952e-02 -1.30493437e+02] [-5.98523108e-02 1.72865369e-03 9.98205747e-01 -4.71851115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.490714057 meters 0.026400137011766498 Centerline is valid? [True, True] Translation: X:741.09, Y:-130.51, Z:-47.19 [[ 9.50808842e-01 3.04717369e-01 5.57662112e-02 7.41092574e+02] [-3.04092279e-01 9.52441378e-01 -1.95782272e-02 -1.30505412e+02] [-5.90798730e-02 1.65707732e-03 9.98251883e-01 -4.71880323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.520714057 meters 0.02698862756586994 Centerline is valid? [True, True] Translation: X:741.12, Y:-130.52, Z:-47.19 [[ 9.50744629e-01 3.05086820e-01 5.48332254e-02 7.41117734e+02] [-3.04483990e-01 9.52323211e-01 -1.92354387e-02 -1.30518847e+02] [-5.80874321e-02 1.59215078e-03 9.98310230e-01 -4.71898569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.5507140569999 meters 0.0271115731686267 Centerline is valid? [True, True] Translation: X:741.14, Y:-130.53, Z:-47.19 [[ 9.51203446e-01 3.03693894e-01 5.46078989e-02 7.41144369e+02] [-3.03094604e-01 9.52768218e-01 -1.91411590e-02 -1.30528359e+02] [-5.78417236e-02 1.65577688e-03 9.98324393e-01 -4.71917972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.5807140569999 meters 0.027302381030989798 Centerline is valid? [True, True] Translation: X:741.17, Y:-130.54, Z:-47.19 [[ 9.51747618e-01 3.01973265e-01 5.46682626e-02 7.41168587e+02] [-3.01370701e-01 9.53314792e-01 -1.91470052e-02 -1.30542467e+02] [-5.78979471e-02 1.74770398e-03 9.98320977e-01 -4.71927373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.6107140569999 meters 0.028425435121514256 Centerline is valid? [True, True] Translation: X:741.19, Y:-130.56, Z:-47.19 [[ 9.52103809e-01 3.00801837e-01 5.49235091e-02 7.41193167e+02] [-3.00192000e-01 9.53684924e-01 -1.92309309e-02 -1.30556133e+02] [-5.81644220e-02 1.82224452e-03 9.98305354e-01 -4.71943632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.640714057 meters 0.027764033787234334 Centerline is valid? [True, True] Translation: X:741.22, Y:-130.57, Z:-47.20 [[ 9.52386209e-01 2.99852223e-01 5.52191324e-02 7.41219645e+02] [-2.99234530e-01 9.53983800e-01 -1.93288675e-02 -1.30566685e+02] [-5.84739616e-02 1.88507565e-03 9.98287154e-01 -4.71960924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.6707140569999 meters 0.028290544840463196 Centerline is valid? [True, True] Translation: X:741.24, Y:-130.58, Z:-47.20 [[ 9.53157407e-01 2.97535373e-01 5.44394944e-02 7.41244422e+02] [-2.96932105e-01 9.54708733e-01 -1.90410216e-02 -1.30581358e+02] [-5.76392382e-02 1.98425714e-03 9.98335505e-01 -4.71984324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.7007140569999 meters 0.028756906835717987 Centerline is valid? [True, True] Translation: X:741.27, Y:-130.59, Z:-47.20 [[ 9.53511821e-01 2.96449417e-01 5.41567264e-02 7.41270836e+02] [-2.95850964e-01 9.55046389e-01 -1.89367780e-02 -1.30593249e+02] [-5.73359828e-02 2.03412194e-03 9.98352867e-01 -4.72018565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.7307140569999 meters 0.028577725250318698 Centerline is valid? [True, True] Translation: X:741.30, Y:-130.61, Z:-47.20 [[ 9.54005057e-01 2.95078308e-01 5.29447276e-02 7.41297029e+02] [-2.94505075e-01 9.55470862e-01 -1.84984447e-02 -1.30605764e+02] [-5.60456343e-02 2.05511880e-03 9.98426093e-01 -4.72048750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.760714057 meters 0.029228234404740924 Centerline is valid? [True, True] Translation: X:741.32, Y:-130.62, Z:-47.21 [[ 9.53872673e-01 2.95602214e-01 5.24047222e-02 7.41321769e+02] [-2.95042259e-01 9.55309047e-01 -1.82945566e-02 -1.30618225e+02] [-5.54706167e-02 1.98906997e-03 9.98458339e-01 -4.72072392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.790714057 meters 0.02949570265205031 Centerline is valid? [True, True] Translation: X:741.35, Y:-130.63, Z:-47.21 [[ 9.53807930e-01 2.95907065e-01 5.18598263e-02 7.41347277e+02] [-2.95359440e-01 9.55214752e-01 -1.80991386e-02 -1.30629469e+02] [-5.48929341e-02 1.94581266e-03 9.98490350e-01 -4.72097045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.8207140569999 meters 0.029585363472690262 Centerline is valid? [True, True] Translation: X:741.37, Y:-130.64, Z:-47.21 [[ 9.53708695e-01 2.96332465e-01 5.12522714e-02 7.41373302e+02] [-2.95798489e-01 9.55082972e-01 -1.78821349e-02 -1.30640084e+02] [-5.42492288e-02 1.89400307e-03 9.98525630e-01 -4.72120327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.8507140569999 meters 0.0297330087091229 Centerline is valid? [True, True] Translation: X:741.40, Y:-130.65, Z:-47.21 [[ 9.53345979e-01 2.97656751e-01 5.03180215e-02 7.41398950e+02] [-2.97144177e-01 9.54671298e-01 -1.75513890e-02 -1.30650589e+02] [-5.32614603e-02 1.78083902e-03 9.98579013e-01 -4.72141326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.880714057 meters 0.02951948995338513 Centerline is valid? [True, True] Translation: X:741.43, Y:-130.66, Z:-47.22 [[ 9.53028684e-01 2.98649259e-01 5.04474855e-02 7.41425982e+02] [-2.98135649e-01 9.54361379e-01 -1.75924108e-02 -1.30660201e+02] [-5.33990923e-02 1.72587830e-03 9.98571759e-01 -4.72152180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.910714057 meters 0.0276034793493431 Centerline is valid? [True, True] Translation: X:741.45, Y:-130.67, Z:-47.21 [[ 9.52212573e-01 3.00928856e-01 5.22784749e-02 7.41454783e+02] [-3.00381484e-01 9.53645178e-01 -1.82164362e-02 -1.30666852e+02] [-5.53369668e-02 1.64243370e-03 9.98466385e-01 -4.72140667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.9407140569999 meters 0.027261110418586542 Centerline is valid? [True, True] Translation: X:741.48, Y:-130.68, Z:-47.21 [[ 9.51786116e-01 3.02056479e-01 5.35263824e-02 7.41482217e+02] [-3.01485227e-01 9.53288687e-01 -1.86369995e-02 -1.30676573e+02] [-5.66555212e-02 1.60102385e-03 9.98392502e-01 -4.72140503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.9707140569999 meters 0.027500284495734995 Centerline is valid? [True, True] Translation: X:741.51, Y:-130.69, Z:-47.21 [[ 9.51459041e-01 3.02848719e-01 5.48483927e-02 7.41507699e+02] [-3.02251104e-01 9.53037337e-01 -1.90815153e-02 -1.30686962e+02] [-5.80513786e-02 1.57729297e-03 9.98312351e-01 -4.72144887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.000714057 meters 0.027500284495734995 Centerline is valid? [True, True] Translation: X:741.53, Y:-130.70, Z:-47.22 [[ 9.51544647e-01 3.02579332e-01 5.48501002e-02 7.41533597e+02] [-3.01981554e-01 9.53122880e-01 -1.90766058e-02 -1.30695896e+02] [-5.80510722e-02 1.58852361e-03 9.98312351e-01 -4.72160770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.030714057 meters 0.026887866386291807 Centerline is valid? [True, True] Translation: X:741.56, Y:-130.71, Z:-47.22 [[ 9.50887643e-01 3.04338894e-01 5.64847550e-02 7.41560092e+02] [-3.03709115e-01 9.52562630e-01 -1.96267512e-02 -1.30707409e+02] [-5.97784505e-02 1.50790018e-03 9.98210530e-01 -4.72173866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.0607140569999 meters 0.02690040800740012 Centerline is valid? [True, True] Translation: X:741.59, Y:-130.72, Z:-47.22 [[ 9.50738750e-01 3.04763913e-01 5.66990912e-02 7.41585865e+02] [-3.04131028e-01 9.52426790e-01 -1.96857237e-02 -1.30718505e+02] [-6.00012316e-02 1.47202742e-03 9.98197218e-01 -4.72193217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.0907140569999 meters 0.026997832599344938 Centerline is valid? [True, True] Translation: X:741.61, Y:-130.73, Z:-47.22 [[ 9.50644583e-01 3.05048150e-01 5.67494672e-02 7.41612417e+02] [-3.04415004e-01 9.52335825e-01 -1.96972406e-02 -1.30729526e+02] [-6.00531575e-02 1.44968577e-03 9.98194128e-01 -4.72221192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.120714057 meters 0.026597183600706707 Centerline is valid? [True, True] Translation: X:741.64, Y:-130.74, Z:-47.22 [[ 9.50647724e-01 3.05002997e-01 5.69392396e-02 7.41636146e+02] [-3.04366457e-01 9.52350298e-01 -1.97476375e-02 -1.30742922e+02] [-6.02491905e-02 1.44265202e-03 9.98182325e-01 -4.72238905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.150714057 meters 0.026638364405670037 Centerline is valid? [True, True] Translation: X:741.66, Y:-130.75, Z:-47.23 [[ 9.50871505e-01 3.04319245e-01 5.68610350e-02 7.41662893e+02] [-3.03683722e-01 9.52568957e-01 -1.97124172e-02 -1.30752191e+02] [-6.01629247e-02 1.47620507e-03 9.98187479e-01 -4.72263427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.1807140569999 meters 0.02680591294386904 Centerline is valid? [True, True] Translation: X:741.69, Y:-130.77, Z:-47.23 [[ 9.51299001e-01 3.03265785e-01 5.53179400e-02 7.41687276e+02] [-3.02663430e-01 9.52904851e-01 -1.91623074e-02 -1.30765672e+02] [-5.85240056e-02 1.48636645e-03 9.98284895e-01 -4.72280271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.2107140569999 meters 0.027147119122015 Centerline is valid? [True, True] Translation: X:741.71, Y:-130.78, Z:-47.23 [[ 9.51841276e-01 3.01504619e-01 5.56161031e-02 7.41713427e+02] [-3.00893085e-01 9.53463377e-01 -1.92597993e-02 -1.30777360e+02] [-5.88348360e-02 1.59777107e-03 9.98266452e-01 -4.72301907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.240714057 meters 0.027111991412589995 Centerline is valid? [True, True] Translation: X:741.74, Y:-130.79, Z:-47.23 [[ 9.52308155e-01 3.00072974e-01 5.53659564e-02 7.41739708e+02] [-2.99465411e-01 9.53914798e-01 -1.91579344e-02 -1.30788087e+02] [-5.85631835e-02 1.66406827e-03 9.98282317e-01 -4.72312037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.270714057 meters 0.028139882404053664 Centerline is valid? [True, True] Translation: X:741.76, Y:-130.80, Z:-47.23 [[ 9.53074940e-01 2.97379236e-01 5.66899371e-02 7.41763815e+02] [-2.96737835e-01 9.54757614e-01 -1.96101014e-02 -1.30804154e+02] [-5.99567860e-02 1.86784703e-03 9.98199226e-01 -4.72313246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.3007140569999 meters 0.028877549572490238 Centerline is valid? [True, True] Translation: X:741.79, Y:-130.82, Z:-47.23 [[ 9.53816741e-01 2.94903136e-01 5.71468690e-02 7.41790144e+02] [-2.94247449e-01 9.55524994e-01 -1.97591651e-02 -1.30815852e+02] [-6.04323014e-02 2.03130210e-03 9.98170231e-01 -4.72332618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.3307140569999 meters 0.02913839244913571 Centerline is valid? [True, True] Translation: X:741.82, Y:-130.83, Z:-47.23 [[ 9.54439753e-01 2.92874387e-01 5.71782456e-02 7.41816869e+02] [-2.92215285e-01 9.56148518e-01 -1.97544777e-02 -1.30826669e+02] [-6.04564753e-02 2.14610147e-03 9.98168527e-01 -4.72347670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.3607140569999 meters 0.02989229232997668 Centerline is valid? [True, True] Translation: X:741.84, Y:-130.84, Z:-47.24 [[ 9.55823723e-01 2.87983140e-01 5.88788795e-02 7.41844322e+02] [-2.87275903e-01 9.57632179e-01 -2.03264509e-02 -1.30839832e+02] [-6.22379849e-02 2.51402068e-03 9.98058171e-01 -4.72369298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.390714057 meters 0.031093058744677212 Centerline is valid? [True, True] Translation: X:741.87, Y:-130.85, Z:-47.24 [[ 9.56460964e-01 2.85843589e-01 5.89564893e-02 7.41869761e+02] [-2.85130519e-01 9.58272608e-01 -2.03518068e-02 -1.30852798e+02] [-6.23138223e-02 2.65541433e-03 9.98053073e-01 -4.72380716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.4207140569999 meters 0.03217476499966325 Centerline is valid? [True, True] Translation: X:741.90, Y:-130.87, Z:-47.24 [[ 9.57965015e-01 2.80719195e-01 5.91587926e-02 7.41897097e+02] [-2.79991740e-01 9.59785269e-01 -2.04172013e-02 -1.30866229e+02] [-6.25112380e-02 2.99499128e-03 9.98039766e-01 -4.72397856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.4507140569999 meters 0.03409810148349864 Centerline is valid? [True, True] Translation: X:741.92, Y:-130.88, Z:-47.24 [[ 9.58621866e-01 2.78519466e-01 5.89154016e-02 7.41922445e+02] [-2.77793926e-01 9.60425503e-01 -2.03319676e-02 -1.30878878e+02] [-6.22467029e-02 3.12432804e-03 9.98055904e-01 -4.72411561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.4807140569999 meters 0.03300223234911924 Centerline is valid? [True, True] Translation: X:741.95, Y:-130.89, Z:-47.24 [[ 9.59382560e-01 2.75870819e-01 5.89948789e-02 7.41951362e+02] [-2.75138610e-01 9.61189069e-01 -2.03548402e-02 -1.30886145e+02] [-6.23205391e-02 3.29630969e-03 9.98050743e-01 -4.72438157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.510714057 meters 0.036390435433329815 Centerline is valid? [True, True] Translation: X:741.98, Y:-130.90, Z:-47.25 [[ 9.61144847e-01 2.69930466e-01 5.77765332e-02 7.41977524e+02] [-2.69217655e-01 9.62873076e-01 -1.99322536e-02 -1.30901265e+02] [-6.10117907e-02 3.60332004e-03 9.98130541e-01 -4.72463402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.540714057 meters 0.03636405386001037 Centerline is valid? [True, True] Translation: X:742.01, Y:-130.91, Z:-47.25 [[ 9.62050612e-01 2.66710858e-01 5.76536016e-02 7.42005621e+02] [-2.65995393e-01 9.63769107e-01 -1.98886900e-02 -1.30912089e+02] [-6.08692897e-02 3.79833395e-03 9.98138519e-01 -4.72483448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.5707140569999 meters 0.039574910658806875 Centerline is valid? [True, True] Translation: X:742.03, Y:-130.93, Z:-47.25 [[ 9.62799960e-01 2.63984174e-01 5.76939572e-02 7.42031589e+02] [-2.63262908e-01 9.64518831e-01 -1.99013880e-02 -1.30926644e+02] [-6.09005596e-02 3.97237665e-03 9.98135934e-01 -4.72494069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.6007140569999 meters 0.037041861471032535 Centerline is valid? [True, True] Translation: X:742.06, Y:-130.93, Z:-47.25 [[ 9.63482537e-01 2.61093762e-01 5.94259904e-02 7.42061139e+02] [-2.60323161e-01 9.65303965e-01 -2.04964945e-02 -1.30932844e+02] [-6.27156510e-02 4.27805288e-03 9.98022267e-01 -4.72509055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.630714057 meters 0.039239428526292607 Centerline is valid? [True, True] Translation: X:742.09, Y:-130.94, Z:-47.25 [[ 9.64634262e-01 2.56535301e-01 6.05836572e-02 7.42089592e+02] [-2.55725473e-01 9.66523614e-01 -2.08946390e-02 -1.30943075e+02] [-6.39157478e-02 4.66290028e-03 9.97944405e-01 -4.72518014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.660714057 meters 0.04154996386358156 Centerline is valid? [True, True] Translation: X:742.12, Y:-130.95, Z:-47.25 [[ 9.65060168e-01 2.54830502e-01 6.09941560e-02 7.42116070e+02] [-2.54006287e-01 9.66973784e-01 -2.10358573e-02 -1.30953455e+02] [-6.43403279e-02 4.80796892e-03 9.97916432e-01 -4.72536533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.6907140569999 meters 0.04520336257679729 Centerline is valid? [True, True] Translation: X:742.14, Y:-130.96, Z:-47.26 [[ 9.65882411e-01 2.51712446e-01 6.09262828e-02 7.42143022e+02] [-2.50884128e-01 9.67789118e-01 -2.10089851e-02 -1.30964748e+02] [-6.42520165e-02 5.00677181e-03 9.97921145e-01 -4.72565312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.7207140569999 meters 0.044454100882262586 Centerline is valid? [True, True] Translation: X:742.17, Y:-130.97, Z:-47.26 [[ 9.66283384e-01 2.50302247e-01 6.03755467e-02 7.42171884e+02] [-2.49486207e-01 9.68154560e-01 -2.08177985e-02 -1.30971195e+02] [-6.36636025e-02 5.05302665e-03 9.97958623e-01 -4.72590811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.750714057 meters 0.04487228602877872 Centerline is valid? [True, True] Translation: X:742.20, Y:-130.98, Z:-47.26 [[ 9.67266587e-01 2.46643572e-01 5.96849962e-02 7.42201955e+02] [-2.45839340e-01 9.69092145e-01 -2.05775157e-02 -1.30976415e+02] [-6.29155730e-02 5.23102335e-03 9.98005144e-01 -4.72628500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.780714057 meters 0.04577871995740282 Centerline is valid? [True, True] Translation: X:742.23, Y:-130.99, Z:-47.27 [[ 9.67798429e-01 2.44561975e-01 5.96291912e-02 7.42230481e+02] [-2.43755341e-01 9.69618842e-01 -2.05580986e-02 -1.30985039e+02] [-6.28453165e-02 5.36116169e-03 9.98008880e-01 -4.72650796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.8107140569999 meters 0.04845929400911427 Centerline is valid? [True, True] Translation: X:742.26, Y:-130.99, Z:-47.27 [[ 9.68272994e-01 2.42689104e-01 5.95769144e-02 7.42257473e+02] [-2.41880460e-01 9.70088659e-01 -2.05386746e-02 -1.30994915e+02] [-6.27794016e-02 5.47655247e-03 9.98012402e-01 -4.72668473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.8407140569999 meters 0.04680058417528013 Centerline is valid? [True, True] Translation: X:742.29, Y:-131.00, Z:-47.27 [[ 9.68605799e-01 2.41236598e-01 6.00642097e-02 7.42287226e+02] [-2.40412116e-01 9.70450101e-01 -2.07030354e-02 -1.30998809e+02] [-6.32836483e-02 5.61291642e-03 9.97979797e-01 -4.72680049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.870714057 meters 0.06675132525879601 Centerline is valid? [True, True] Translation: X:742.31, Y:-131.03, Z:-47.27 [[ 9.68898858e-01 2.40048993e-01 6.00956199e-02 7.42306251e+02] [-2.39221624e-01 9.70744100e-01 -2.07100701e-02 -1.31030505e+02] [-6.33088999e-02 5.68979145e-03 9.97977760e-01 -4.72673254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.900714057 meters 0.050437644686265624 Centerline is valid? [True, True] Translation: X:742.34, Y:-131.01, Z:-47.27 [[ 9.69189740e-01 2.38529854e-01 6.14390406e-02 7.42343841e+02] [-2.37662325e-01 9.71117156e-01 -2.11680802e-02 -1.31010596e+02] [-6.47137255e-02 5.91414085e-03 9.97886345e-01 -4.72691514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.9307140569999 meters 0.05310920829382095 Centerline is valid? [True, True] Translation: X:742.37, Y:-131.02, Z:-47.27 [[ 9.69362973e-01 2.37824081e-01 6.14421206e-02 7.42370558e+02] [-2.36955339e-01 9.71289975e-01 -2.11648505e-02 -1.31018872e+02] [-6.47116269e-02 5.95738384e-03 9.97886223e-01 -4.72706430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.9607140569999 meters 0.052488900274928744 Centerline is valid? [True, True] Translation: X:742.40, Y:-131.02, Z:-47.27 [[ 9.69347677e-01 2.37836571e-01 6.16347799e-02 7.42400119e+02] [-2.36962958e-01 9.71286859e-01 -2.12224917e-02 -1.31020844e+02] [-6.49125365e-02 5.96681325e-03 9.97873118e-01 -4.72724972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.990714057 meters 0.04643731342609023 Centerline is valid? [True, True] Translation: X:742.43, Y:-131.02, Z:-47.28 [[ 9.69476337e-01 2.37377526e-01 6.13803087e-02 7.42430843e+02] [-2.36510615e-01 9.71399150e-01 -2.11286415e-02 -1.31018905e+02] [-6.46402444e-02 5.96662340e-03 9.97890795e-01 -4.72756312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.020714057 meters 0.05123705831037226 Centerline is valid? [True, True] Translation: X:742.46, Y:-131.03, Z:-47.28 [[ 9.69534519e-01 2.37360418e-01 6.05214663e-02 7.42456414e+02] [-2.36518705e-01 9.71403937e-01 -2.08156812e-02 -1.31031397e+02] [-6.37316095e-02 5.86706262e-03 9.97949828e-01 -4.72775550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.0507140569999 meters 0.046564485089797825 Centerline is valid? [True, True] Translation: X:742.49, Y:-131.03, Z:-47.28 [[ 9.69667534e-01 2.36998726e-01 5.98036612e-02 7.42486957e+02] [-2.36177294e-01 9.71492624e-01 -2.05515733e-02 -1.31026734e+02] [-6.29695124e-02 5.80392644e-03 9.97998575e-01 -4.72800907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.0807140569999 meters 0.05003713023098858 Centerline is valid? [True, True] Translation: X:742.51, Y:-131.04, Z:-47.28 [[ 9.69683004e-01 2.37206224e-01 5.87203538e-02 7.42512606e+02] [-2.36415834e-01 9.71442787e-01 -2.01609646e-02 -1.31036177e+02] [-6.18257705e-02 5.66732332e-03 9.98070867e-01 -4.72814380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.1107140569999 meters 0.04903157458060072 Centerline is valid? [True, True] Translation: X:742.54, Y:-131.04, Z:-47.28 [[ 9.69635836e-01 2.37801046e-01 5.70702016e-02 7.42543701e+02] [-2.37056033e-01 9.71298525e-01 -1.95860456e-02 -1.31035687e+02] [-6.00897847e-02 5.46249607e-03 9.98178030e-01 -4.72828817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.140714057 meters 0.04990567786008772 Centerline is valid? [True, True] Translation: X:742.57, Y:-131.04, Z:-47.28 [[ 9.69479663e-01 2.38545377e-01 5.66152407e-02 7.42571206e+02] [-2.37813933e-01 9.71116530e-01 -1.94221060e-02 -1.31041579e+02] [-5.96130497e-02 5.36544377e-03 9.98207141e-01 -4.72845004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.1707140569999 meters 0.04979012107814757 Centerline is valid? [True, True] Translation: X:742.60, Y:-131.05, Z:-47.29 [[ 9.69324693e-01 2.39371275e-01 5.57766292e-02 7.42600024e+02] [-2.38663037e-01 9.70914021e-01 -1.91290012e-02 -1.31046969e+02] [-5.87332447e-02 5.23039344e-03 9.98260011e-01 -4.72860626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.2007140569999 meters 0.04849989877826495 Centerline is valid? [True, True] Translation: X:742.63, Y:-131.05, Z:-47.29 [[ 9.69217649e-01 2.39789069e-01 5.58421986e-02 7.42628752e+02] [-2.39080123e-01 9.70811049e-01 -1.91468671e-02 -1.31050753e+02] [-5.88034328e-02 5.20672180e-03 9.98256002e-01 -4.72874008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.2307140569999 meters 0.04778371662177744 Centerline is valid? [True, True] Translation: X:742.66, Y:-131.05, Z:-47.29 [[ 9.69246169e-01 2.39910335e-01 5.48169347e-02 7.42658465e+02] [-2.39228269e-01 9.70781712e-01 -1.87803725e-02 -1.31051288e+02] [-5.77208831e-02 5.08904373e-03 9.98319789e-01 -4.72889622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.260714057 meters 0.04618613988699666 Centerline is valid? [True, True] Translation: X:742.69, Y:-131.05, Z:-47.29 [[ 9.69477946e-01 2.39209185e-01 5.37724602e-02 7.42687628e+02] [-2.38552663e-01 9.70955088e-01 -1.84077421e-02 -1.31053326e+02] [-5.66139448e-02 5.01833644e-03 9.98383532e-01 -4.72912164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.290714057 meters 0.05469934602851825 Centerline is valid? [True, True] Translation: X:742.71, Y:-131.07, Z:-47.29 [[ 9.69699024e-01 2.38493014e-01 5.29611760e-02 7.42711051e+02] [-2.37855554e-01 9.71131465e-01 -1.81221575e-02 -1.31069070e+02] [-5.57542724e-02 4.97592859e-03 9.98432122e-01 -4.72927697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.3207140569999 meters 0.049851384717203316 Centerline is valid? [True, True] Translation: X:742.74, Y:-131.06, Z:-47.29 [[ 9.70104949e-01 2.36967645e-01 5.23710194e-02 7.42743456e+02] [-2.36342644e-01 9.71504687e-01 -1.79108489e-02 -1.31064508e+02] [-5.51229825e-02 4.99789795e-03 9.98467064e-01 -4.72940657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.3507140569999 meters 0.04943863483436046 Centerline is valid? [True, True] Translation: X:742.77, Y:-131.07, Z:-47.30 [[ 9.70363527e-01 2.35960836e-01 5.21258915e-02 7.42772323e+02] [-2.35340377e-01 9.71749553e-01 -1.78245171e-02 -1.31069347e+02] [-5.48591998e-02 5.02893431e-03 9.98481436e-01 -4.72959726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.380714057 meters 0.04964855779043828 Centerline is valid? [True, True] Translation: X:742.80, Y:-131.07, Z:-47.30 [[ 9.70646541e-01 2.34898292e-01 5.16535141e-02 7.42802797e+02] [-2.34288364e-01 9.72006949e-01 -1.76480208e-02 -1.31072002e+02] [-5.43530646e-02 5.02817300e-03 9.98509120e-01 -4.72967868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.410714057 meters 0.049448497407752784 Centerline is valid? [True, True] Translation: X:742.83, Y:-131.08, Z:-47.30 [[ 9.70811620e-01 2.34165331e-01 5.18786746e-02 7.42831044e+02] [-2.33549109e-01 9.72183465e-01 -1.77235617e-02 -1.31077649e+02] [-5.45858333e-02 5.09002147e-03 9.98496108e-01 -4.72979740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.4407140569999 meters 0.05005449067804784 Centerline is valid? [True, True] Translation: X:742.86, Y:-131.08, Z:-47.30 [[ 9.70964131e-01 2.33577530e-01 5.16739135e-02 7.42859674e+02] [-2.32966127e-01 9.72324864e-01 -1.76392266e-02 -1.31083895e+02] [-5.43639579e-02 5.08878481e-03 9.98508219e-01 -4.72991007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.4707140569999 meters 0.04965722718550184 Centerline is valid? [True, True] Translation: X:742.89, Y:-131.09, Z:-47.30 [[ 9.71208688e-01 2.32689823e-01 5.10796579e-02 7.42888927e+02] [-2.32091957e-01 9.72537807e-01 -1.74223133e-02 -1.31088378e+02] [-5.37308935e-02 5.06552430e-03 9.98542604e-01 -4.73002241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.500714057 meters 0.051307547734701364 Centerline is valid? [True, True] Translation: X:742.92, Y:-131.09, Z:-47.30 [[ 9.71401007e-01 2.32044041e-01 5.03551995e-02 7.42917340e+02] [-2.31462952e-01 9.72692356e-01 -1.71604993e-02 -1.31092123e+02] [-5.29621092e-02 5.01436322e-03 9.98583933e-01 -4.73022668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.530714057 meters 0.04949185934504974 Centerline is valid? [True, True] Translation: X:742.95, Y:-131.10, Z:-47.30 [[ 9.71580757e-01 2.31454527e-01 4.95947022e-02 7.42946132e+02] [-2.30890318e-01 9.72833047e-01 -1.68974359e-02 -1.31096286e+02] [-5.21583533e-02 4.96628700e-03 9.98626478e-01 -4.73040931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.5607140569999 meters 0.0534351455203737 Centerline is valid? [True, True] Translation: X:742.97, Y:-131.11, Z:-47.31 [[ 9.71853439e-01 2.30546781e-01 4.84672567e-02 7.42973315e+02] [-2.30007588e-01 9.73048974e-01 -1.64986207e-02 -1.31105011e+02] [-5.09647183e-02 4.88640450e-03 9.98688500e-01 -4.73068460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.5907140569999 meters 0.05507666661993341 Centerline is valid? [True, True] Translation: X:743.00, Y:-131.11, Z:-47.31 [[ 9.71930604e-01 2.30386165e-01 4.76772035e-02 7.42999856e+02] [-2.29864359e-01 9.73087384e-01 -1.62271453e-02 -1.31112415e+02] [-5.01325950e-02 4.81236936e-03 9.98730977e-01 -4.73090792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.620714057 meters 0.0590791835607093 Centerline is valid? [True, True] Translation: X:743.03, Y:-131.12, Z:-47.31 [[ 9.72015506e-01 2.30316565e-01 4.62615980e-02 7.43026901e+02] [-2.29825423e-01 9.73104559e-01 -1.57414333e-02 -1.31119282e+02] [-4.86428847e-02 4.66882595e-03 9.98805322e-01 -4.73114364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.650714057 meters 0.05305311627872211 Centerline is valid? [True, True] Translation: X:743.06, Y:-131.12, Z:-47.31 [[ 9.71996282e-01 2.30409959e-01 4.62004214e-02 7.43057749e+02] [-2.29920494e-01 9.73082527e-01 -1.57150062e-02 -1.31117765e+02] [-4.85777168e-02 4.65250385e-03 9.98808570e-01 -4.73124023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.6807140569999 meters 0.05783263219822419 Centerline is valid? [True, True] Translation: X:743.08, Y:-131.13, Z:-47.32 [[ 9.72017131e-01 2.30443587e-01 4.55900319e-02 7.43082527e+02] [-2.29967685e-01 9.73074928e-01 -1.54934665e-02 -1.31130018e+02] [-4.79328871e-02 4.57568075e-03 9.98840078e-01 -4.73150881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.7107140569999 meters 0.05933239951950207 Centerline is valid? [True, True] Translation: X:743.11, Y:-131.14, Z:-47.32 [[ 9.72135782e-01 2.30035524e-01 4.51184947e-02 7.43109795e+02] [-2.29569195e-01 9.73171624e-01 -1.53288685e-02 -1.31136174e+02] [-4.74342230e-02 4.54392502e-03 9.98864028e-01 -4.73177783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.740714057 meters 0.05232210145094887 Centerline is valid? [True, True] Translation: X:743.14, Y:-131.13, Z:-47.32 [[ 9.72266371e-01 2.29592094e-01 4.45597911e-02 7.43141438e+02] [-2.29136896e-01 9.73276507e-01 -1.51368109e-02 -1.31133836e+02] [-4.68442900e-02 4.50671993e-03 9.98892037e-01 -4.73178447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.770714057 meters 0.053480826681902835 Centerline is valid? [True, True] Translation: X:743.17, Y:-131.14, Z:-47.32 [[ 9.72440320e-01 2.28898037e-01 4.43340952e-02 7.43169458e+02] [-2.28447383e-01 9.73439987e-01 -1.50461232e-02 -1.31139366e+02] [-4.66006091e-02 4.50344890e-03 9.98903450e-01 -4.73186848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.8007140569999 meters 0.05280011695921727 Centerline is valid? [True, True] Translation: X:743.20, Y:-131.15, Z:-47.32 [[ 9.72437638e-01 2.28862571e-01 4.45753805e-02 7.43197813e+02] [-2.28407078e-01 9.73448215e-01 -1.51254335e-02 -1.31145854e+02] [-4.68534702e-02 4.52720842e-03 9.98891514e-01 -4.73201521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.8307140569999 meters 0.05318424092572462 Centerline is valid? [True, True] Translation: X:743.23, Y:-131.15, Z:-47.32 [[ 9.72556424e-01 2.28518061e-01 4.37435513e-02 7.43225424e+02] [-2.28079619e-01 9.73529515e-01 -1.48314248e-02 -1.31153115e+02] [-4.59748868e-02 4.44738497e-03 9.98932696e-01 -4.73218937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.8607140569999 meters 0.05230110433302926 Centerline is valid? [True, True] Translation: X:743.25, Y:-131.16, Z:-47.32 [[ 9.72341984e-01 2.29535729e-01 4.31788712e-02 7.43253793e+02] [-2.29110167e-01 9.73290610e-01 -1.46260378e-02 -1.31158323e+02] [-4.53827881e-02 4.32879226e-03 9.98960292e-01 -4.73238526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.890714057 meters 0.05230110433302926 Centerline is valid? [True, True] Translation: X:743.28, Y:-131.17, Z:-47.33 [[ 9.72406582e-01 2.29261876e-01 4.31790702e-02 7.43279847e+02] [-2.28836072e-01 9.73355099e-01 -1.46254515e-02 -1.31167055e+02] [-4.53816266e-02 4.34095650e-03 9.98960292e-01 -4.73254460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.9207140569999 meters 0.05238192054338162 Centerline is valid? [True, True] Translation: X:743.31, Y:-131.17, Z:-47.33 [[ 9.72314443e-01 2.29827426e-01 4.22371684e-02 7.43307404e+02] [-2.29421133e-01 9.73222304e-01 -1.42930029e-02 -1.31174358e+02] [-4.43910784e-02 4.20719413e-03 9.99005371e-01 -4.73273423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.9507140569999 meters 0.05063726801215418 Centerline is valid? [True, True] Translation: X:743.34, Y:-131.18, Z:-47.33 [[ 9.71793923e-01 2.32150300e-01 4.15067445e-02 7.43337456e+02] [-2.31760676e-01 9.72671635e-01 -1.40313526e-02 -1.31178043e+02] [-4.36298157e-02 4.01595201e-03 9.99039695e-01 -4.73293863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.9807140569999 meters 0.05025339404536051 Centerline is valid? [True, True] Translation: X:743.37, Y:-131.19, Z:-47.33 [[ 9.71369464e-01 2.33906320e-01 4.15836327e-02 7.43366568e+02] [-2.33516878e-01 9.72251141e-01 -1.40565279e-02 -1.31185601e+02] [-4.37176451e-02 3.94360188e-03 9.99036143e-01 -4.73313964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.010714057 meters 0.04958708428859398 Centerline is valid? [True, True] Translation: X:743.40, Y:-131.19, Z:-47.33 [[ 9.70905589e-01 2.35864968e-01 4.13528034e-02 7.43395714e+02] [-2.35481635e-01 9.71778279e-01 -1.39777004e-02 -1.31192606e+02] [-4.34826060e-02 3.83320168e-03 9.99046831e-01 -4.73329272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.040714057 meters 0.07832486820834442 Centerline is valid? [True, True] Translation: X:743.41, Y:-131.24, Z:-47.34 [[ 9.69868792e-01 2.39671079e-01 4.37298562e-02 7.43411045e+02] [-2.39246244e-01 9.70846422e-01 -1.47803852e-02 -1.31237747e+02] [-4.59974053e-02 3.87283056e-03 9.98934052e-01 -4.73390539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.0707140569999 meters 0.048469900731923664 Centerline is valid? [True, True] Translation: X:743.45, Y:-131.20, Z:-47.34 [[ 9.69608245e-01 2.41316451e-01 4.03264399e-02 7.43453096e+02] [-2.40956535e-01 9.70440165e-01 -1.36320889e-02 -1.31204831e+02] [-4.24240444e-02 3.50086657e-03 9.99093561e-01 -4.73361087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.1007140569999 meters 0.0475018049084229 Centerline is valid? [True, True] Translation: X:743.48, Y:-131.21, Z:-47.34 [[ 9.69149535e-01 2.43085968e-01 4.07233508e-02 7.43482099e+02] [-2.42721043e-01 9.69998633e-01 -1.37530604e-02 -1.31211560e+02] [-4.28447706e-02 3.44435795e-03 9.99075804e-01 -4.73370935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.130714057 meters 0.04335335069078767 Centerline is valid? [True, True] Translation: X:743.51, Y:-131.21, Z:-47.34 [[ 9.68320446e-01 2.46257132e-01 4.13876632e-02 7.43513978e+02] [-2.45883145e-01 9.69198720e-01 -1.39756619e-02 -1.31212449e+02] [-4.35544766e-02 3.35639033e-03 9.99045416e-01 -4.73366085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.160714057 meters 0.040817577515980176 Centerline is valid? [True, True] Translation: X:743.54, Y:-131.22, Z:-47.34 [[ 9.67987184e-01 2.47499905e-01 4.17685069e-02 7.43543093e+02] [-2.47120067e-01 9.68882186e-01 -1.41061026e-02 -1.31217365e+02] [-4.39600213e-02 3.33269028e-03 9.99027732e-01 -4.73374090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.1907140569999 meters 0.0478156068047419 Centerline is valid? [True, True] Translation: X:743.57, Y:-131.23, Z:-47.34 [[ 9.67831545e-01 2.48060166e-01 4.20506120e-02 7.43566361e+02] [-2.47676255e-01 9.68738948e-01 -1.41888772e-02 -1.31234487e+02] [-4.42557608e-02 3.31750482e-03 9.99014726e-01 -4.73408897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.2207140569999 meters 0.04701648173448979 Centerline is valid? [True, True] Translation: X:743.60, Y:-131.24, Z:-47.34 [[ 9.67753103e-01 2.48208789e-01 4.29689224e-02 7.43595018e+02] [-2.47808291e-01 9.68700668e-01 -1.44936647e-02 -1.31240643e+02] [-4.52214788e-02 3.37823378e-03 9.98971274e-01 -4.73414500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.250714057 meters 0.04162155872877891 Centerline is valid? [True, True] Translation: X:743.63, Y:-131.24, Z:-47.34 [[ 9.68045142e-01 2.47056072e-01 4.30337116e-02 7.43625192e+02] [-2.46653735e-01 9.68995127e-01 -1.45044580e-02 -1.31241817e+02] [-4.52828713e-02 3.42654441e-03 9.98968328e-01 -4.73421648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.280714057 meters 0.043706734755790504 Centerline is valid? [True, True] Translation: X:743.65, Y:-131.25, Z:-47.35 [[ 9.68796496e-01 2.44190752e-01 4.24761884e-02 7.43651878e+02] [-2.43796690e-01 9.69720901e-01 -1.43020564e-02 -1.31254134e+02] [-4.46824776e-02 3.50022797e-03 9.98995107e-01 -4.73453138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.3107140569999 meters 0.04846886374730688 Centerline is valid? [True, True] Translation: X:743.68, Y:-131.27, Z:-47.35 [[ 9.69259100e-01 2.42442966e-01 4.19309726e-02 7.43676085e+02] [-2.42057387e-01 9.70159225e-01 -1.41173627e-02 -1.31269575e+02] [-4.41023751e-02 3.53368058e-03 9.99020767e-01 -4.73485414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.3407140569999 meters 0.05415606729162084 Centerline is valid? [True, True] Translation: X:743.70, Y:-131.29, Z:-47.35 [[ 9.69691481e-01 2.40790786e-01 4.14515280e-02 7.43700294e+02] [-2.40412622e-01 9.70570499e-01 -1.39527301e-02 -1.31285874e+02] [-4.35913190e-02 3.56437303e-03 9.99043088e-01 -4.73520695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.370714057 meters 0.047554924512189026 Centerline is valid? [True, True] Translation: X:743.73, Y:-131.29, Z:-47.35 [[ 9.70681082e-01 2.37046733e-01 3.98382093e-02 7.43731874e+02] [-2.36694478e-01 9.71491640e-01 -1.34058978e-02 -1.31285998e+02] [-4.18803116e-02 3.58336724e-03 9.99116209e-01 -4.73529768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.400714057 meters 0.04419167792461101 Centerline is valid? [True, True] Translation: X:743.76, Y:-131.29, Z:-47.35 [[ 9.71109240e-01 2.35377174e-01 3.92992441e-02 7.43761836e+02] [-2.35033033e-01 9.71897414e-01 -1.32245892e-02 -1.31290166e+02] [-4.13076002e-02 3.60590019e-03 9.99139970e-01 -4.73540624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.4307140569999 meters 0.04969624661086657 Centerline is valid? [True, True] Translation: X:743.79, Y:-131.31, Z:-47.36 [[ 9.71444509e-01 2.34027782e-01 3.90712556e-02 7.43786070e+02] [-2.33686582e-01 9.72223092e-01 -1.31469278e-02 -1.31306113e+02] [-4.10627233e-02 3.64108267e-03 9.99149936e-01 -4.73571626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.4607140569999 meters 0.047636636004987104 Centerline is valid? [True, True] Translation: X:743.82, Y:-131.31, Z:-47.36 [[ 9.71947728e-01 2.31842231e-01 3.95827440e-02 7.43816485e+02] [-2.31490423e-01 9.72746065e-01 -1.33145773e-02 -1.31312228e+02] [-4.15908398e-02 3.77804704e-03 9.99127584e-01 -4.73568363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.490714057 meters 0.048758028486802184 Centerline is valid? [True, True] Translation: X:743.84, Y:-131.32, Z:-47.36 [[ 9.72164641e-01 2.30777243e-01 4.04694278e-02 7.43843480e+02] [-2.30408402e-01 9.72998741e-01 -1.36168301e-02 -1.31322512e+02] [-4.25191568e-02 3.91330453e-03 9.99087988e-01 -4.73580990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.520714057 meters 0.05412078001324172 Centerline is valid? [True, True] Translation: X:743.87, Y:-131.34, Z:-47.36 [[ 9.72257388e-01 2.30220156e-01 4.14035130e-02 7.43867915e+02] [-2.29834202e-01 9.73130290e-01 -1.39168301e-02 -1.31338098e+02] [-4.34949474e-02 4.01479751e-03 9.99045580e-01 -4.73597391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.5507140569999 meters 0.054621852942058395 Centerline is valid? [True, True] Translation: X:743.90, Y:-131.35, Z:-47.36 [[ 9.72060532e-01 2.30745638e-01 4.30670601e-02 7.43895833e+02] [-2.30328659e-01 9.73005259e-01 -1.44732515e-02 -1.31346751e+02] [-4.52441156e-02 4.14929830e-03 9.98967344e-01 -4.73595066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.5807140569999 meters 0.04902007635184295 Centerline is valid? [True, True] Translation: X:743.93, Y:-131.35, Z:-47.36 [[ 9.71979772e-01 2.31091806e-01 4.30337061e-02 7.43926329e+02] [-2.30676269e-01 9.72923225e-01 -1.44518690e-02 -1.31347296e+02] [-4.52082006e-02 4.12006958e-03 9.98969090e-01 -4.73596767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.6107140569999 meters 0.051046584640937524 Centerline is valid? [True, True] Translation: X:743.95, Y:-131.36, Z:-47.36 [[ 9.71527913e-01 2.32832003e-01 4.38494324e-02 7.43953547e+02] [-2.32402998e-01 9.72508323e-01 -1.47108120e-02 -1.31358156e+02] [-4.60690858e-02 4.10122493e-03 9.98929837e-01 -4.73620614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.640714057 meters 0.047554906317236065 Centerline is valid? [True, True] Translation: X:743.98, Y:-131.36, Z:-47.36 [[ 9.71461724e-01 2.33182351e-01 4.34523829e-02 7.43982702e+02] [-2.32761386e-01 9.72424599e-01 -1.45786275e-02 -1.31361892e+02] [-4.56536446e-02 4.04854171e-03 9.98949125e-01 -4.73633601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.6707140569999 meters 0.049027957106036205 Centerline is valid? [True, True] Translation: X:744.01, Y:-131.37, Z:-47.37 [[ 9.71432510e-01 2.33377016e-01 4.30586523e-02 7.44008692e+02] [-2.32964469e-01 9.72378144e-01 -1.44326697e-02 -1.31372168e+02] [-4.52375457e-02 3.98922847e-03 9.98968293e-01 -4.73657376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.7007140569999 meters 0.048657333841049984 Centerline is valid? [True, True] Translation: X:744.04, Y:-131.38, Z:-47.37 [[ 9.71368423e-01 2.33800691e-01 4.21974401e-02 7.44036323e+02] [-2.33404969e-01 9.72276771e-01 -1.41422014e-02 -1.31379515e+02] [-4.43340472e-02 3.88819567e-03 9.99009196e-01 -4.73678883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.7307140569999 meters 0.04893466297675527 Centerline is valid? [True, True] Translation: X:744.06, Y:-131.39, Z:-47.37 [[ 9.71297964e-01 2.34184698e-01 4.16868440e-02 7.44063497e+02] [-2.33799341e-01 9.72184648e-01 -1.39599041e-02 -1.31388049e+02] [-4.37965057e-02 3.81286978e-03 9.99033197e-01 -4.73700472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.760714057 meters 0.04925485908793943 Centerline is valid? [True, True] Translation: X:744.09, Y:-131.40, Z:-47.37 [[ 9.71234347e-01 2.34591250e-01 4.08752939e-02 7.44090526e+02] [-2.34221581e-01 9.72087024e-01 -1.36773358e-02 -1.31396479e+02] [-4.29429261e-02 3.71002231e-03 9.99070639e-01 -4.73729675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.790714057 meters 0.0438776462733645 Centerline is valid? [True, True] Translation: X:744.12, Y:-131.40, Z:-47.37 [[ 9.70490426e-01 2.37754401e-01 4.02638670e-02 7.44122216e+02] [-2.37399018e-01 9.71318988e-01 -1.34584647e-02 -1.31397531e+02] [-4.23088678e-02 3.50270860e-03 9.99098439e-01 -4.73745949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.8207140569999 meters 0.04967439342206042 Centerline is valid? [True, True] Translation: X:744.15, Y:-131.41, Z:-47.38 [[ 9.69940481e-01 2.39998287e-01 4.02030554e-02 7.44147376e+02] [-2.39645904e-01 9.70767360e-01 -1.34377905e-02 -1.31413297e+02] [-4.22528606e-02 3.39935945e-03 9.99101166e-01 -4.73783181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.8507140569999 meters 0.04781292995341197 Centerline is valid? [True, True] Translation: X:744.18, Y:-131.42, Z:-47.38 [[ 9.68516899e-01 2.45581960e-01 4.07984988e-02 7.44176881e+02] [-2.45224040e-01 9.69370545e-01 -1.36350953e-02 -1.31416233e+02] [-4.28973964e-02 3.20104752e-03 9.99074355e-01 -4.73789961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.880714057 meters 0.04153950679480445 Centerline is valid? [True, True] Translation: X:744.21, Y:-131.42, Z:-47.38 [[ 9.67760650e-01 2.48581288e-01 4.05791452e-02 7.44209217e+02] [-2.48229893e-01 9.68606236e-01 -1.35602323e-02 -1.31415101e+02] [-4.26760330e-02 3.05010232e-03 9.99084307e-01 -4.73786306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.910714057 meters 0.0457767355044509 Centerline is valid? [True, True] Translation: X:744.23, Y:-131.43, Z:-47.38 [[ 9.66920212e-01 2.51718363e-01 4.12694766e-02 7.44234980e+02] [-2.51357766e-01 9.67796001e-01 -1.37903667e-02 -1.31428680e+02] [-4.34117230e-02 2.96078088e-03 9.99052880e-01 -4.73812763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.9407140569999 meters 0.04355928222139332 Centerline is valid? [True, True] Translation: X:744.26, Y:-131.43, Z:-47.38 [[ 9.65305785e-01 2.57649410e-01 4.24443565e-02 7.44263858e+02] [-2.57273732e-01 9.66234500e-01 -1.41815763e-02 -1.31432433e+02] [-4.46650764e-02 2.76973964e-03 9.98998178e-01 -4.73829195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.9707140569999 meters 0.03457907418698863 Centerline is valid? [True, True] Translation: X:744.30, Y:-131.43, Z:-47.38 [[ 9.64370837e-01 2.60904964e-01 4.37891460e-02 7.44297006e+02] [-2.60508538e-01 9.65360716e-01 -1.46284254e-02 -1.31427808e+02] [-4.60889501e-02 2.69978042e-03 9.98933691e-01 -4.73811511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.000714057 meters 0.03441174791335885 Centerline is valid? [True, True] Translation: X:744.33, Y:-131.43, Z:-47.38 [[ 9.62851536e-01 2.66269201e-01 4.49180706e-02 7.44325354e+02] [-2.65857940e-01 9.63895450e-01 -1.50038745e-02 -1.31432946e+02] [-4.72913936e-02 2.50467784e-03 9.98877996e-01 -4.73815032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.030714057 meters 0.03321524105681527 Centerline is valid? [True, True] Translation: X:744.35, Y:-131.44, Z:-47.38 [[ 9.62068366e-01 2.69045182e-01 4.51569404e-02 7.44354514e+02] [-2.68632686e-01 9.63124619e-01 -1.50813745e-02 -1.31438756e+02] [-4.75493322e-02 2.37868313e-03 9.98866059e-01 -4.73830382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.0607140569999 meters 0.033212591792322284 Centerline is valid? [True, True] Translation: X:744.38, Y:-131.45, Z:-47.39 [[ 9.61276528e-01 2.71796526e-01 4.55421385e-02 7.44382406e+02] [-2.71380119e-01 9.62352088e-01 -1.52082307e-02 -1.31446859e+02] [-4.79611163e-02 2.26008424e-03 9.98846647e-01 -4.73853641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.0907140569999 meters 0.030403571418806005 Centerline is valid? [True, True] Translation: X:744.41, Y:-131.45, Z:-47.39 [[ 9.59972736e-01 2.76402021e-01 4.53240470e-02 7.44412992e+02] [-2.75994799e-01 9.61039983e-01 -1.51334919e-02 -1.31449587e+02] [-4.77411491e-02 2.01853843e-03 9.98857702e-01 -4.73881493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.120714057 meters 0.029972360201624314 Centerline is valid? [True, True] Translation: X:744.44, Y:-131.46, Z:-47.39 [[ 9.59608278e-01 2.77688760e-01 4.51763917e-02 7.44441408e+02] [-2.77285596e-01 9.60669119e-01 -1.50844944e-02 -1.31456616e+02] [-4.75883590e-02 1.94844301e-03 9.98865132e-01 -4.73906221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.150714057 meters 0.029676671011954436 Centerline is valid? [True, True] Translation: X:744.47, Y:-131.46, Z:-47.39 [[ 9.59088777e-01 2.79470989e-01 4.52181753e-02 7.44468235e+02] [-2.79069381e-01 9.60152344e-01 -1.50915802e-02 -1.31463976e+02] [-4.76339959e-02 1.85515702e-03 9.98863134e-01 -4.73924492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.1807140569999 meters 0.028802874501174965 Centerline is valid? [True, True] Translation: X:744.50, Y:-131.47, Z:-47.39 [[ 9.58186168e-01 2.82592019e-01 4.49557467e-02 7.44497703e+02] [-2.82198722e-01 9.59238714e-01 -1.49990264e-02 -1.31469629e+02] [-4.73618978e-02 1.68540534e-03 9.98876374e-01 -4.73948938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.2107140569999 meters 0.02869707181896409 Centerline is valid? [True, True] Translation: X:744.53, Y:-131.48, Z:-47.40 [[ 9.58009093e-01 2.83197099e-01 4.49219364e-02 7.44525588e+02] [-2.82805030e-01 9.59060303e-01 -1.49883345e-02 -1.31477775e+02] [-4.73274988e-02 1.65481111e-03 9.98878055e-01 -4.73973841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.240714057 meters 0.029289638102668943 Centerline is valid? [True, True] Translation: X:744.55, Y:-131.49, Z:-47.40 [[ 9.57565131e-01 2.84628241e-01 4.53407530e-02 7.44551631e+02] [-2.84231089e-01 9.58636662e-01 -1.51141571e-02 -1.31487837e+02] [-4.77672241e-02 1.58553822e-03 9.98857236e-01 -4.73998472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.270714057 meters 0.028893903776495974 Centerline is valid? [True, True] Translation: X:744.58, Y:-131.50, Z:-47.40 [[ 9.57502368e-01 2.84797309e-01 4.56038113e-02 7.44579332e+02] [-2.84395983e-01 9.58586456e-01 -1.51964355e-02 -1.31495807e+02] [-4.80430998e-02 1.58108224e-03 9.98844012e-01 -4.74010953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.3007140569999 meters 0.027768314094503376 Centerline is valid? [True, True] Translation: X:744.61, Y:-131.50, Z:-47.40 [[ 9.57436617e-01 2.84918688e-01 4.62219139e-02 7.44607447e+02] [-2.84507158e-01 9.58550380e-01 -1.53897830e-02 -1.31503404e+02] [-4.86908699e-02 1.58427638e-03 9.98812640e-01 -4.74018475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.3307140569999 meters 0.0282633396587128 Centerline is valid? [True, True] Translation: X:744.63, Y:-131.51, Z:-47.40 [[ 9.57323230e-01 2.85227337e-01 4.66647660e-02 7.44633838e+02] [-2.84808964e-01 9.58458608e-01 -1.55226026e-02 -1.31513254e+02] [-4.91537173e-02 1.56960443e-03 9.98789992e-01 -4.74036565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.3607140569999 meters 0.028207410812211717 Centerline is valid? [True, True] Translation: X:744.66, Y:-131.52, Z:-47.40 [[ 9.57207336e-01 2.85420222e-01 4.78478011e-02 7.44660609e+02] [-2.84980775e-01 9.58401143e-01 -1.59125112e-02 -1.31523449e+02] [-5.03991397e-02 1.59586907e-03 9.98727881e-01 -4.74043175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.390714057 meters 0.028071591884100272 Centerline is valid? [True, True] Translation: X:744.69, Y:-131.53, Z:-47.41 [[ 9.57234769e-01 2.85192991e-01 4.86472520e-02 7.44686783e+02] [-2.84739121e-01 9.58468741e-01 -1.61649503e-02 -1.31533571e+02] [-5.12370009e-02 1.62187668e-03 9.98685205e-01 -4.74052320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.4207140569999 meters 0.02823500202906833 Centerline is valid? [True, True] Translation: X:744.71, Y:-131.54, Z:-47.41 [[ 9.57314616e-01 2.84860547e-01 4.90223866e-02 7.44712455e+02] [-2.84400012e-01 9.58567571e-01 -1.62740759e-02 -1.31543467e+02] [-5.16271122e-02 1.63744336e-03 9.98665089e-01 -4.74064771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.4507140569999 meters 0.02838506737381296 Centerline is valid? [True, True] Translation: X:744.74, Y:-131.56, Z:-47.41 [[ 9.57732181e-01 2.83214069e-01 5.03871115e-02 7.44738623e+02] [-2.82726112e-01 9.59055107e-01 -1.67106847e-02 -1.31556536e+02] [-5.30567176e-02 1.75860831e-03 9.98589952e-01 -4.74078962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.4807140569999 meters 0.02878663309908413 Centerline is valid? [True, True] Translation: X:744.76, Y:-131.57, Z:-47.41 [[ 9.58166551e-01 2.81641095e-01 5.09426506e-02 7.44764786e+02] [-2.81140853e-01 9.59518036e-01 -1.68807234e-02 -1.31568492e+02] [-5.36346975e-02 1.85248422e-03 9.98558905e-01 -4.74100309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.510714057 meters 0.029458820643051217 Centerline is valid? [True, True] Translation: X:744.79, Y:-131.58, Z:-47.41 [[ 9.59041627e-01 2.78679736e-01 5.07618139e-02 7.44791224e+02] [-2.78179694e-01 9.60382017e-01 -1.68059572e-02 -1.31583090e+02] [-5.34342129e-02 1.99670672e-03 9.98569376e-01 -4.74124154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.540714057 meters 0.029823139220649882 Centerline is valid? [True, True] Translation: X:744.82, Y:-131.59, Z:-47.41 [[ 9.59510826e-01 2.77086935e-01 5.06142746e-02 7.44817897e+02] [-2.76587637e-01 9.60842604e-01 -1.67561416e-02 -1.31594922e+02] [-5.32752593e-02 2.07841664e-03 9.98577702e-01 -4.74139314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.5707140569999 meters 0.0301616230104636 Centerline is valid? [True, True] Translation: X:744.84, Y:-131.61, Z:-47.42 [[ 9.60068866e-01 2.75161824e-01 5.05345749e-02 7.44844433e+02] [-2.74662173e-01 9.61395480e-01 -1.67159437e-02 -1.31606558e+02] [-5.31833014e-02 2.16852100e-03 9.98582412e-01 -4.74151420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.6007140569999 meters 0.03159072992458885 Centerline is valid? [True, True] Translation: X:744.87, Y:-131.62, Z:-47.42 [[ 9.60949928e-01 2.72015900e-01 5.08191494e-02 7.44869673e+02] [-2.71507002e-01 9.62289908e-01 -1.67952701e-02 -1.31621653e+02] [-5.34713351e-02 2.34165873e-03 9.98566639e-01 -4.74171254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.630714057 meters 0.03199347275334663 Centerline is valid? [True, True] Translation: X:744.90, Y:-131.63, Z:-47.42 [[ 9.61517310e-01 2.70063351e-01 5.04999910e-02 7.44897355e+02] [-2.69558303e-01 9.62839484e-01 -1.66868061e-02 -1.31633046e+02] [-5.31298801e-02 2.43196107e-03 9.98584649e-01 -4.74190542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.660714057 meters 0.033734373565016094 Centerline is valid? [True, True] Translation: X:744.92, Y:-131.65, Z:-47.42 [[ 9.62675515e-01 2.65929096e-01 5.03742815e-02 7.44922357e+02] [-2.65421019e-01 9.63988944e-01 -1.66432531e-02 -1.31649637e+02] [-5.29861757e-02 2.65165913e-03 9.98591725e-01 -4.74218665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.6907140569999 meters 0.03505800850242035 Centerline is valid? [True, True] Translation: X:744.95, Y:-131.66, Z:-47.42 [[ 9.63272913e-01 2.63815153e-01 5.00685610e-02 7.44947873e+02] [-2.63310428e-01 9.64569334e-01 -1.65413932e-02 -1.31662085e+02] [-5.26584688e-02 2.75030181e-03 9.98608793e-01 -4.74239059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.7207140569999 meters 0.03626363850305023 Centerline is valid? [True, True] Translation: X:744.97, Y:-131.67, Z:-47.43 [[ 9.63820678e-01 2.61815734e-01 5.00222096e-02 7.44974397e+02] [-2.61309500e-01 9.65113664e-01 -1.65215182e-02 -1.31674653e+02] [-5.26027114e-02 2.85250231e-03 9.98611445e-01 -4.74254266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.750714057 meters 0.038028670667396826 Centerline is valid? [True, True] Translation: X:745.00, Y:-131.69, Z:-47.43 [[ 9.64561370e-01 2.58882210e-01 5.10035785e-02 7.45001066e+02] [-2.58351976e-01 9.65904024e-01 -1.68425960e-02 -1.31689540e+02] [-5.36248102e-02 3.06884214e-03 9.98556439e-01 -4.74268411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.780714057 meters 0.038977785828788164 Centerline is valid? [True, True] Translation: X:745.03, Y:-131.70, Z:-47.43 [[ 9.64774790e-01 2.57972374e-01 5.15738112e-02 7.45027155e+02] [-2.57428987e-01 9.66147148e-01 -1.70295140e-02 -1.31700856e+02] [-5.42210347e-02 3.15305184e-03 9.98523980e-01 -4.74280841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.8107140569999 meters 0.038977785828788164 Centerline is valid? [True, True] Translation: X:745.05, Y:-131.71, Z:-47.43 [[ 9.64844073e-01 2.57712883e-01 5.15750358e-02 7.45053194e+02] [-2.57169324e-01 9.66216363e-01 -1.70258044e-02 -1.31709353e+02] [-5.42204127e-02 3.16372938e-03 9.98523980e-01 -4.74296729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.8407140569999 meters 0.03983579420140018 Centerline is valid? [True, True] Translation: X:745.08, Y:-131.72, Z:-47.43 [[ 9.65097944e-01 2.56727748e-01 5.17380035e-02 7.45079325e+02] [-2.56180208e-01 9.66478419e-01 -1.70636002e-02 -1.31720056e+02] [-5.43843635e-02 3.21379298e-03 9.98514904e-01 -4.74310040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.870714057 meters 0.0408233251026946 Centerline is valid? [True, True] Translation: X:745.10, Y:-131.73, Z:-47.43 [[ 9.65064256e-01 2.56757653e-01 5.22157952e-02 7.45104688e+02] [-2.56200390e-01 9.66470405e-01 -1.72138392e-02 -1.31731402e+02] [-5.48848057e-02 3.23475385e-03 9.98487453e-01 -4.74320079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.900714057 meters 0.04100029258486929 Centerline is valid? [True, True] Translation: X:745.13, Y:-131.74, Z:-47.43 [[ 9.65106034e-01 2.56581912e-01 5.23074154e-02 7.45131330e+02] [-2.56022809e-01 9.66517046e-01 -1.72372077e-02 -1.31740729e+02] [-5.49787643e-02 3.24384172e-03 9.98482255e-01 -4.74334481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.9307140569999 meters 0.04101326488596474 Centerline is valid? [True, True] Translation: X:745.16, Y:-131.75, Z:-47.43 [[ 9.64811661e-01 2.57592259e-01 5.27701350e-02 7.45156638e+02] [-2.57025606e-01 9.66248412e-01 -1.73736380e-02 -1.31751545e+02] [-5.54643738e-02 3.19901258e-03 9.98455542e-01 -4.74343730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.9607140569999 meters 0.034949486540868664 Centerline is valid? [True, True] Translation: X:745.19, Y:-131.75, Z:-47.44 [[ 9.64643152e-01 2.58149335e-01 5.31273065e-02 7.45186868e+02] [-2.57576074e-01 9.66099779e-01 -1.74866767e-02 -1.31752959e+02] [-5.58404530e-02 3.18407994e-03 9.98434628e-01 -4.74354497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.990714057 meters 0.03471108256312202 Centerline is valid? [True, True] Translation: X:745.21, Y:-131.76, Z:-47.44 [[ 9.64357968e-01 2.59181159e-01 5.32807291e-02 7.45214503e+02] [-2.58606911e-01 9.65823685e-01 -1.75235494e-02 -1.31762661e+02] [-5.60015640e-02 3.12020978e-03 9.98425806e-01 -4.74372979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.020714057 meters 0.03383856072507819 Centerline is valid? [True, True] Translation: X:745.24, Y:-131.77, Z:-47.44 [[ 9.63718078e-01 2.61724611e-01 5.24184516e-02 7.45243300e+02] [-2.61173318e-01 9.65138205e-01 -1.72262372e-02 -1.31771640e+02] [-5.50995805e-02 2.91093528e-03 9.98476621e-01 -4.74393993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.0507140569999 meters 0.03225609163445571 Centerline is valid? [True, True] Translation: X:745.27, Y:-131.78, Z:-47.44 [[ 9.63351044e-01 2.63203154e-01 5.17577644e-02 7.45271359e+02] [-2.62667854e-01 9.64736397e-01 -1.70083040e-02 -1.31779175e+02] [-5.44092384e-02 2.78986651e-03 9.98514823e-01 -4.74410170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.0807140569999 meters 0.032868627032834725 Centerline is valid? [True, True] Translation: X:745.30, Y:-131.79, Z:-47.44 [[ 9.62765617e-01 2.65384185e-01 5.15131086e-02 7.45297211e+02] [-2.64857265e-01 9.64139104e-01 -1.69238877e-02 -1.31789132e+02] [-5.41571345e-02 2.65011616e-03 9.98528909e-01 -4.74431521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.1107140569999 meters 0.030767589173653843 Centerline is valid? [True, True] Translation: X:745.33, Y:-131.80, Z:-47.45 [[ 9.61791681e-01 2.68879903e-01 5.15786791e-02 7.45326110e+02] [-2.68356935e-01 9.63170592e-01 -1.69400900e-02 -1.31796674e+02] [-5.42339166e-02 2.45134139e-03 9.98525249e-01 -4.74452020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.140714057 meters 0.03013346011612094 Centerline is valid? [True, True] Translation: X:745.35, Y:-131.81, Z:-47.45 [[ 9.61456661e-01 2.70149072e-01 5.11914766e-02 7.45354100e+02] [-2.69635732e-01 9.62815611e-01 -1.68128178e-02 -1.31805331e+02] [-5.38299200e-02 2.36174442e-03 9.98547326e-01 -4.74466774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.1707140569999 meters 0.029887016144272176 Centerline is valid? [True, True] Translation: X:745.38, Y:-131.82, Z:-47.45 [[ 9.60484710e-01 2.73667100e-01 5.07487946e-02 7.45380703e+02] [-2.73168254e-01 9.61822110e-01 -1.66533283e-02 -1.31815676e+02] [-5.33687808e-02 2.13230762e-03 9.98572595e-01 -4.74484550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.2007140569999 meters 0.029346049608289366 Centerline is valid? [True, True] Translation: X:745.41, Y:-131.82, Z:-47.45 [[ 9.60075088e-01 2.75172171e-01 5.03597124e-02 7.45408368e+02] [-2.74683067e-01 9.61392816e-01 -1.65247058e-02 -1.31824140e+02] [-5.29626049e-02 2.03199816e-03 9.98594429e-01 -4.74501100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.2307140569999 meters 0.03139490473518098 Centerline is valid? [True, True] Translation: X:745.43, Y:-131.84, Z:-47.45 [[ 9.59602522e-01 2.76800214e-01 5.04444384e-02 7.45432824e+02] [-2.76312495e-01 9.60925550e-01 -1.65376212e-02 -1.31837874e+02] [-5.30509668e-02 1.93111440e-03 9.98589939e-01 -4.74521736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.260714057 meters 0.02828877513508447 Centerline is valid? [True, True] Translation: X:745.46, Y:-131.84, Z:-47.45 [[ 9.58757580e-01 2.79684908e-01 5.05989631e-02 7.45461273e+02] [-2.79198470e-01 9.60090210e-01 -1.65831919e-02 -1.31843055e+02] [-5.32176376e-02 1.77210785e-03 9.98581365e-01 -4.74529499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.290714057 meters 0.028422955897586137 Centerline is valid? [True, True] Translation: X:745.49, Y:-131.85, Z:-47.45 [[ 9.58555483e-01 2.80326493e-01 5.08767520e-02 7.45488188e+02] [-2.79835767e-01 9.59903130e-01 -1.66710446e-02 -1.31852823e+02] [-5.35100890e-02 1.74298623e-03 9.98565788e-01 -4.74545038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.3207140569999 meters 0.028324599936318685 Centerline is valid? [True, True] Translation: X:745.52, Y:-131.86, Z:-47.46 [[ 9.58331013e-01 2.80915310e-01 5.18484105e-02 7.45515091e+02] [-2.80407292e-01 9.59731003e-01 -1.69750348e-02 -1.31864431e+02] [-5.45290742e-02 1.72902989e-03 9.98510686e-01 -4.74555574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.3507140569999 meters 0.02793148281971091 Centerline is valid? [True, True] Translation: X:745.54, Y:-131.87, Z:-47.46 [[ 9.58333284e-01 2.80833968e-01 5.22455725e-02 7.45541604e+02] [-2.80318728e-01 9.59754799e-01 -1.70920038e-02 -1.31873901e+02] [-5.49429542e-02 1.73442370e-03 9.98487989e-01 -4.74565969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.380714057 meters 0.028383024523220536 Centerline is valid? [True, True] Translation: X:745.57, Y:-131.88, Z:-47.46 [[ 9.58293087e-01 2.80805136e-01 5.31303552e-02 7.45566451e+02] [-2.80273202e-01 9.59763209e-01 -1.73641968e-02 -1.31884642e+02] [-5.58685158e-02 1.74897497e-03 9.98436603e-01 -4.74578599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.410714057 meters 0.0282940117534738 Centerline is valid? [True, True] Translation: X:745.59, Y:-131.90, Z:-47.46 [[ 9.58943446e-01 2.78538010e-01 5.33295859e-02 7.45592747e+02] [-2.77998969e-01 9.60423364e-01 -1.74222805e-02 -1.31895663e+02] [-5.60717476e-02 1.88141175e-03 9.98424969e-01 -4.74595749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.4407140569999 meters 0.029014841856804766 Centerline is valid? [True, True] Translation: X:745.62, Y:-131.91, Z:-47.46 [[ 9.59396456e-01 2.76913104e-01 5.36430063e-02 7.45617812e+02] [-2.76366014e-01 9.60892938e-01 -1.75096808e-02 -1.31908498e+02] [-5.63938460e-02 1.97362193e-03 9.98406650e-01 -4.74612979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.4707140569999 meters 0.028869239080257996 Centerline is valid? [True, True] Translation: X:745.65, Y:-131.92, Z:-47.46 [[ 9.60169638e-01 2.74345049e-01 5.30005794e-02 7.45645791e+02] [-2.73807528e-01 9.61629045e-01 -1.72921252e-02 -1.31918817e+02] [-5.57109055e-02 2.09141600e-03 9.98444751e-01 -4.74635447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.500714057 meters 0.03383677482609591 Centerline is valid? [True, True] Translation: X:745.67, Y:-131.94, Z:-47.47 [[ 9.61784401e-01 2.68719613e-01 5.25407950e-02 7.45669020e+02] [-2.68183114e-01 9.63215467e-01 -1.71400610e-02 -1.31940607e+02] [-5.52139770e-02 2.39448931e-03 9.98471674e-01 -4.74662810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.530714057 meters 0.03142787164514659 Centerline is valid? [True, True] Translation: X:745.70, Y:-131.95, Z:-47.47 [[ 9.62596519e-01 2.65848875e-01 5.22715791e-02 7.45697263e+02] [-2.65313748e-01 9.64011360e-01 -1.70502804e-02 -1.31947773e+02] [-5.49231939e-02 2.54417202e-03 9.98487341e-01 -4.74677130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.5607140569999 meters 0.03317047021323314 Centerline is valid? [True, True] Translation: X:745.72, Y:-131.96, Z:-47.47 [[ 9.64126853e-01 2.60325434e-01 5.18659823e-02 7.45723025e+02] [-2.59790783e-01 9.65516773e-01 -1.69148028e-02 -1.31964468e+02] [-5.44808293e-02 2.83371143e-03 9.98510796e-01 -4.74703729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.5907140569999 meters 0.03259105180436615 Centerline is valid? [True, True] Translation: X:745.75, Y:-131.97, Z:-47.47 [[ 9.64888515e-01 2.57564110e-01 5.14867196e-02 7.45751125e+02] [-2.57033378e-01 9.66256657e-01 -1.67903594e-02 -1.31974471e+02] [-5.40739795e-02 2.96701948e-03 9.98532524e-01 -4.74718193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.620714057 meters 0.0350967572575311 Centerline is valid? [True, True] Translation: X:745.78, Y:-131.99, Z:-47.47 [[ 9.65553935e-01 2.55088473e-01 5.13368329e-02 7.45776683e+02] [-2.54557446e-01 9.66912764e-01 -1.67395808e-02 -1.31988886e+02] [-5.39083131e-02 3.09479511e-03 9.98541094e-01 -4.74740394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.650714057 meters 0.036357903444419 Centerline is valid? [True, True] Translation: X:745.80, Y:-132.00, Z:-47.48 [[ 9.66329639e-01 2.52071552e-01 5.16426374e-02 7.45803170e+02] [-2.51530137e-01 9.67703047e-01 -1.68345948e-02 -1.32004156e+02] [-5.42182600e-02 3.27808822e-03 9.98523728e-01 -4.74759648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.6807140569999 meters 0.03759455160671375 Centerline is valid? [True, True] Translation: X:745.83, Y:-132.02, Z:-47.48 [[ 9.66686808e-01 2.50745876e-01 5.14112944e-02 7.45829063e+02] [-2.50207486e-01 9.68047196e-01 -1.67583202e-02 -1.32016318e+02] [-5.39706391e-02 3.33655639e-03 9.98536949e-01 -4.74777114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.7107140569999 meters 0.03878823804356372 Centerline is valid? [True, True] Translation: X:745.86, Y:-132.03, Z:-47.48 [[ 9.67403673e-01 2.48202309e-01 5.02568192e-02 7.45856583e+02] [-2.47684590e-01 9.68702262e-01 -1.63789850e-02 -1.32029382e+02] [-5.27491964e-02 3.39725057e-03 9.98602013e-01 -4.74800384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.740714057 meters 0.03897213041962659 Centerline is valid? [True, True] Translation: X:745.88, Y:-132.04, Z:-47.48 [[ 9.67782712e-01 2.46791482e-01 4.99057912e-02 7.45883851e+02] [-2.46279104e-01 9.69062466e-01 -1.62647045e-02 -1.32039466e+02] [-5.23758196e-02 3.44994628e-03 9.98621486e-01 -4.74817385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.770714057 meters 0.04099981153825022 Centerline is valid? [True, True] Translation: X:745.91, Y:-132.05, Z:-47.48 [[ 9.68012753e-01 2.45842673e-01 5.01267427e-02 7.45909166e+02] [-2.45325234e-01 9.69303415e-01 -1.63223838e-02 -1.32051968e+02] [-5.26007613e-02 3.50292077e-03 9.98609478e-01 -4.74835930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.8007140569999 meters 0.040247812750698435 Centerline is valid? [True, True] Translation: X:745.94, Y:-132.06, Z:-47.48 [[ 9.68671610e-01 2.43200526e-01 5.02873383e-02 7.45937626e+02] [-2.42676638e-01 9.69969164e-01 -1.63667744e-02 -1.32062680e+02] [-5.27575756e-02 3.65046756e-03 9.98600677e-01 -4.74843370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.8307140569999 meters 0.04347003756597814 Centerline is valid? [True, True] Translation: X:745.96, Y:-132.08, Z:-47.49 [[ 9.68888756e-01 2.42221304e-01 5.08273379e-02 7.45961676e+02] [-2.41684773e-01 9.70213805e-01 -1.65421530e-02 -1.32076821e+02] [-5.33202468e-02 3.74331243e-03 9.98570448e-01 -4.74859481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.8607140569999 meters 0.042730264205436755 Centerline is valid? [True, True] Translation: X:745.99, Y:-132.09, Z:-47.49 [[ 9.69231709e-01 2.40959537e-01 5.02831517e-02 7.45989580e+02] [-2.40433222e-01 9.70527866e-01 -1.63562285e-02 -1.32085686e+02] [-5.27423892e-02 3.76323513e-03 9.98601061e-01 -4.74870867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.890714057 meters 0.042820062126898754 Centerline is valid? [True, True] Translation: X:746.02, Y:-132.10, Z:-47.49 [[ 9.69221872e-01 2.41108584e-01 4.97555484e-02 7.46016795e+02] [-2.40593607e-01 9.70491043e-01 -1.61818073e-02 -1.32095066e+02] [-5.21888867e-02 3.71289472e-03 9.98630329e-01 -4.74889806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.9207140569999 meters 0.04374901935560618 Centerline is valid? [True, True] Translation: X:746.04, Y:-132.10, Z:-47.49 [[ 9.69401621e-01 2.40605299e-01 4.86784026e-02 7.46043943e+02] [-2.40112413e-01 9.70616192e-01 -1.58188580e-02 -1.32104412e+02] [-5.10541468e-02 3.64653788e-03 9.98689229e-01 -4.74910859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.9507140569999 meters 0.044316638567563314 Centerline is valid? [True, True] Translation: X:746.07, Y:-132.11, Z:-47.49 [[ 9.69500117e-01 2.40397017e-01 4.77367437e-02 7.46069860e+02] [-2.39923386e-01 9.70668066e-01 -1.55007755e-02 -1.32113492e+02] [-5.00628729e-02 3.57484249e-03 9.98739670e-01 -4.74934794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.9807140569999 meters 0.045374934050798885 Centerline is valid? [True, True] Translation: X:746.09, Y:-132.12, Z:-47.50 [[ 9.69559425e-01 2.40174434e-01 4.76525267e-02 7.46094688e+02] [-2.39702957e-01 9.70723199e-01 -1.54584270e-02 -1.32124084e+02] [-4.99701321e-02 3.56541204e-03 9.98744349e-01 -4.74952243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.010714057 meters 0.04630790324731659 Centerline is valid? [True, True] Translation: X:746.12, Y:-132.13, Z:-47.50 [[ 9.69653388e-01 2.39764459e-01 4.78049378e-02 7.46120467e+02] [-2.39289996e-01 9.70824460e-01 -1.54972687e-02 -1.32134981e+02] [-5.01258971e-02 3.58773570e-03 9.98736463e-01 -4.74966469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.040714057 meters 0.04727784600229282 Centerline is valid? [True, True] Translation: X:746.15, Y:-132.14, Z:-47.50 [[ 9.69846075e-01 2.38937129e-01 4.80378975e-02 7.46147326e+02] [-2.38457184e-01 9.71028198e-01 -1.55694958e-02 -1.32144866e+02] [-5.03662836e-02 3.64503261e-03 9.98724162e-01 -4.74974987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.0707140569999 meters 0.04906074342539662 Centerline is valid? [True, True] Translation: X:746.17, Y:-132.16, Z:-47.50 [[ 9.70124719e-01 2.37817740e-01 4.79661573e-02 7.46173617e+02] [-2.37338552e-01 9.71302809e-01 -1.55326808e-02 -1.32155145e+02] [-5.02836104e-02 3.68441928e-03 9.98728183e-01 -4.74980691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.1007140569999 meters 0.04861822266254042 Centerline is valid? [True, True] Translation: X:746.20, Y:-132.16, Z:-47.50 [[ 9.70312074e-01 2.36864866e-01 4.88826569e-02 7.46201010e+02] [-2.36366145e-01 9.71535166e-01 -1.58261268e-02 -1.32162574e+02] [-5.12398736e-02 3.80207674e-03 9.98679137e-01 -4.74974378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.130714057 meters 0.04677118457179746 Centerline is valid? [True, True] Translation: X:746.23, Y:-132.17, Z:-47.50 [[ 9.70471608e-01 2.36173153e-01 4.90621990e-02 7.46228911e+02] [-2.35670111e-01 9.71703366e-01 -1.58797801e-02 -1.32168271e+02] [-5.14242816e-02 3.84838189e-03 9.98669481e-01 -4.74986595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.160714057 meters 0.04475811992353739 Centerline is valid? [True, True] Translation: X:746.26, Y:-132.17, Z:-47.50 [[ 9.70461295e-01 2.36216297e-01 4.90585047e-02 7.46257530e+02] [-2.35713572e-01 9.71692903e-01 -1.58749456e-02 -1.32174738e+02] [-5.14197218e-02 3.84226490e-03 9.98669740e-01 -4.74996400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.1907140569999 meters 0.044836970068120936 Centerline is valid? [True, True] Translation: X:746.29, Y:-132.18, Z:-47.50 [[ 9.70445041e-01 2.36303964e-01 4.89577247e-02 7.46285473e+02] [-2.35804034e-01 9.71671683e-01 -1.58302957e-02 -1.32183119e+02] [-5.13115964e-02 3.81800296e-03 9.98675394e-01 -4.75013632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.2207140569999 meters 0.04525064739969668 Centerline is valid? [True, True] Translation: X:746.31, Y:-132.19, Z:-47.50 [[ 9.70450271e-01 2.36379404e-01 4.84876101e-02 7.46312663e+02] [-2.35889725e-01 9.71653537e-01 -1.56666134e-02 -1.32191704e+02] [-5.08164226e-02 3.76594023e-03 9.98700911e-01 -4.75028053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.250714057 meters 0.04486445919227169 Centerline is valid? [True, True] Translation: X:746.34, Y:-132.20, Z:-47.50 [[ 9.70373888e-01 2.36739780e-01 4.82575779e-02 7.46340994e+02] [-2.36255821e-01 9.71565984e-01 -1.55796832e-02 -1.32198242e+02] [-5.05737520e-02 3.71698400e-03 9.98713412e-01 -4.75038678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.280714057 meters 0.04636410213406979 Centerline is valid? [True, True] Translation: X:746.37, Y:-132.21, Z:-47.51 [[ 9.70431215e-01 2.36541684e-01 4.80758622e-02 7.46366773e+02] [-2.36061779e-01 9.71614295e-01 -1.55080341e-02 -1.32207464e+02] [-5.03794915e-02 3.70060677e-03 9.98723291e-01 -4.75053157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.3107140569999 meters 0.041134962783960796 Centerline is valid? [True, True] Translation: X:746.40, Y:-132.21, Z:-47.51 [[ 9.70636492e-01 2.35851737e-01 4.73155281e-02 7.46396620e+02] [-2.35386533e-01 9.71782126e-01 -1.52538502e-02 -1.32207561e+02] [-4.95780315e-02 3.66850553e-03 9.98763516e-01 -4.75068985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.3407140569999 meters 0.04075955244326722 Centerline is valid? [True, True] Translation: X:746.42, Y:-132.22, Z:-47.51 [[ 9.70659441e-01 2.35890522e-01 4.66466689e-02 7.46423774e+02] [-2.35439049e-01 9.71772960e-01 -1.50256265e-02 -1.32216260e+02] [-4.88743743e-02 3.60231884e-03 9.98798438e-01 -4.75094833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.370714057 meters 0.041014327703589384 Centerline is valid? [True, True] Translation: X:746.45, Y:-132.23, Z:-47.51 [[ 9.70749051e-01 2.35555320e-01 4.64754923e-02 7.46450166e+02] [-2.35107378e-01 9.71854298e-01 -1.49581129e-02 -1.32225077e+02] [-4.86908699e-02 3.59384274e-03 9.98807431e-01 -4.75120584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.400714057 meters 0.040345308796133086 Centerline is valid? [True, True] Translation: X:746.48, Y:-132.23, Z:-47.51 [[ 9.70737282e-01 2.35803415e-01 4.54519437e-02 7.46478722e+02] [-2.35375950e-01 9.71794515e-01 -1.46144519e-02 -1.32231107e+02] [-4.76160872e-02 3.48849888e-03 9.98859619e-01 -4.75137238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.4307140569999 meters 0.043078468581504256 Centerline is valid? [True, True] Translation: X:746.50, Y:-132.24, Z:-47.52 [[ 9.70654004e-01 2.36184723e-01 4.52502095e-02 7.46504754e+02] [-2.35762049e-01 9.71702078e-01 -1.45371574e-02 -1.32241970e+02] [-4.74031770e-02 3.44226796e-03 9.98869906e-01 -4.75158345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.4607140569999 meters 0.03973646861283602 Centerline is valid? [True, True] Translation: X:746.54, Y:-132.24, Z:-47.52 [[ 9.70169721e-01 2.38199964e-01 4.50720485e-02 7.46535599e+02] [-2.37783474e-01 9.71210471e-01 -1.44651216e-02 -1.32243875e+02] [-4.72200369e-02 3.31623472e-03 9.98879007e-01 -4.75161959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.490714057 meters 0.040042176563039815 Centerline is valid? [True, True] Translation: X:746.56, Y:-132.25, Z:-47.52 [[ 9.69832670e-01 2.39493355e-01 4.54700375e-02 7.46562473e+02] [-2.39070901e-01 9.70892457e-01 -1.45925086e-02 -1.32252085e+02] [-4.76413253e-02 3.28172878e-03 9.98859116e-01 -4.75173254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.520714057 meters 0.03921037469322087 Centerline is valid? [True, True] Translation: X:746.59, Y:-132.26, Z:-47.52 [[ 9.69089349e-01 2.42351599e-01 4.61685662e-02 7.46591990e+02] [-2.41919471e-01 9.70183258e-01 -1.48127094e-02 -1.32257359e+02] [-4.83818538e-02 3.18576379e-03 9.98823832e-01 -4.75181891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.5507140569999 meters 0.038437770232427705 Centerline is valid? [True, True] Translation: X:746.62, Y:-132.26, Z:-47.52 [[ 9.68835993e-01 2.43267389e-01 4.66668649e-02 7.46620612e+02] [-2.42826934e-01 9.69954073e-01 -1.49725324e-02 -1.32263672e+02] [-4.89070445e-02 3.17395655e-03 9.98798291e-01 -4.75194302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.5807140569999 meters 0.03892830199308401 Centerline is valid? [True, True] Translation: X:746.65, Y:-132.27, Z:-47.52 [[ 9.68597523e-01 2.44244974e-01 4.65105442e-02 7.46646953e+02] [-2.43809223e-01 9.69708602e-01 -1.49093715e-02 -1.32271295e+02] [-4.87432138e-02 3.10148072e-03 9.98806528e-01 -4.75207221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.6107140569999 meters 0.03776833489377281 Centerline is valid? [True, True] Translation: X:746.68, Y:-132.28, Z:-47.52 [[ 9.68204752e-01 2.45906414e-01 4.59303080e-02 7.46675546e+02] [-2.45483553e-01 9.69289008e-01 -1.47188536e-02 -1.32275783e+02] [-4.81392032e-02 2.97572885e-03 9.98836204e-01 -4.75218517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.640714057 meters 0.03757457516326163 Centerline is valid? [True, True] Translation: X:746.70, Y:-132.28, Z:-47.52 [[ 9.68063126e-01 2.46483654e-01 4.58213079e-02 7.46703271e+02] [-2.46063525e-01 9.69142495e-01 -1.46821964e-02 -1.32283033e+02] [-4.80262981e-02 2.93834036e-03 9.98841750e-01 -4.75234382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.6707140569999 meters 0.04022259438188904 Centerline is valid? [True, True] Translation: X:746.73, Y:-132.29, Z:-47.53 [[ 9.67991493e-01 2.47029520e-01 4.43721176e-02 7.46729005e+02] [-2.46636754e-01 9.69003892e-01 -1.42045585e-02 -1.32293011e+02] [-4.65056999e-02 2.80609674e-03 9.98914083e-01 -4.75266088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.7007140569999 meters 0.04022259438188904 Centerline is valid? [True, True] Translation: X:746.76, Y:-132.30, Z:-47.53 [[ 9.68057640e-01 2.46770072e-01 4.43727151e-02 7.46755137e+02] [-2.46377120e-01 9.69069966e-01 -1.42026928e-02 -1.32301272e+02] [-4.65050650e-02 2.81660354e-03 9.98914083e-01 -4.75281983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.7307140569999 meters 0.03721823556979417 Centerline is valid? [True, True] Translation: X:746.78, Y:-132.30, Z:-47.53 [[ 9.68007609e-01 2.47023992e-01 4.40501499e-02 7.46783844e+02] [-2.46637608e-01 9.69005402e-01 -1.40862334e-02 -1.32304513e+02] [-4.61644708e-02 2.77115750e-03 9.98930009e-01 -4.75290586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.760714057 meters 0.03539774376176428 Centerline is valid? [True, True] Translation: X:746.81, Y:-132.31, Z:-47.53 [[ 9.68090018e-01 2.46834341e-01 4.32957792e-02 7.46811450e+02] [-2.46461389e-01 9.69053868e-01 -1.38341910e-02 -1.32309001e+02] [-4.53706957e-02 2.72200436e-03 9.98966511e-01 -4.75295403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.790714057 meters 0.034218636667313 Centerline is valid? [True, True] Translation: X:746.84, Y:-132.31, Z:-47.53 [[ 9.68041677e-01 2.47030238e-01 4.32593786e-02 7.46839933e+02] [-2.46658745e-01 9.69004019e-01 -1.38085334e-02 -1.32314917e+02] [-4.53296370e-02 2.69693180e-03 9.98968443e-01 -4.75302793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.8207140569999 meters 0.03548356474738546 Centerline is valid? [True, True] Translation: X:746.87, Y:-132.32, Z:-47.53 [[ 9.67856474e-01 2.47803145e-01 4.29819403e-02 7.46866279e+02] [-2.47437773e-01 9.68806834e-01 -1.37064439e-02 -1.32323691e+02] [-4.50376975e-02 2.63051490e-03 9.98981825e-01 -4.75307997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.8507140569999 meters 0.034313142980322606 Centerline is valid? [True, True] Translation: X:746.90, Y:-132.33, Z:-47.53 [[ 9.67536821e-01 2.48981950e-01 4.33645947e-02 7.46895430e+02] [-2.48611450e-01 9.68504652e-01 -1.38233823e-02 -1.32328730e+02] [-4.54405844e-02 2.59369665e-03 9.98963676e-01 -4.75301434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.880714057 meters 0.03463212778926046 Centerline is valid? [True, True] Translation: X:746.92, Y:-132.34, Z:-47.53 [[ 9.67383249e-01 2.49616479e-01 4.31423531e-02 7.46922332e+02] [-2.49250977e-01 9.68341453e-01 -1.37397294e-02 -1.32336557e+02] [-4.52061918e-02 2.53831039e-03 9.98974453e-01 -4.75316113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.910714057 meters 0.033691185128080885 Centerline is valid? [True, True] Translation: X:746.95, Y:-132.34, Z:-47.53 [[ 9.67180797e-01 2.50458012e-01 4.28029157e-02 7.46950473e+02] [-2.50099149e-01 9.68124293e-01 -1.36296950e-02 -1.32342722e+02] [-4.48522089e-02 2.47740650e-03 9.98990561e-01 -4.75326673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.9407140569999 meters 0.03371521437763186 Centerline is valid? [True, True] Translation: X:746.98, Y:-132.35, Z:-47.53 [[ 9.67133021e-01 2.50688482e-01 4.25324012e-02 7.46978063e+02] [-2.50334882e-01 9.68064735e-01 -1.35319954e-02 -1.32350501e+02] [-4.45664331e-02 2.43989593e-03 9.99003443e-01 -4.75345978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.9707140569999 meters 0.034844947757751224 Centerline is valid? [True, True] Translation: X:747.00, Y:-132.36, Z:-47.54 [[ 9.67153058e-01 2.50665418e-01 4.22115026e-02 7.47004070e+02] [-2.50317701e-01 9.68070783e-01 -1.34166702e-02 -1.32358792e+02] [-4.42268177e-02 2.40968732e-03 9.99018609e-01 -4.75360565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.000714057 meters 0.0342467041675056 Centerline is valid? [True, True] Translation: X:747.03, Y:-132.36, Z:-47.54 [[ 9.67462947e-01 2.49500861e-01 4.20091269e-02 7.47032054e+02] [-2.49155548e-01 9.68371484e-01 -1.33484771e-02 -1.32364926e+02] [-4.40108971e-02 2.44735000e-03 9.99028053e-01 -4.75367208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.030714057 meters 0.03601694186664284 Centerline is valid? [True, True] Translation: X:747.06, Y:-132.38, Z:-47.54 [[ 9.67611258e-01 2.48881900e-01 4.22640973e-02 7.47057891e+02] [-2.48532407e-01 9.68530673e-01 -1.34156318e-02 -1.32375903e+02] [-4.42729825e-02 2.47711855e-03 9.99016400e-01 -4.75384097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.0607140569999 meters 0.034026671104866596 Centerline is valid? [True, True] Translation: X:747.09, Y:-132.38, Z:-47.54 [[ 9.67941628e-01 2.47622245e-01 4.20978415e-02 7.47086294e+02] [-2.47274385e-01 9.68853373e-01 -1.33611628e-02 -1.32380498e+02] [-4.40951568e-02 2.52310782e-03 9.99024149e-01 -4.75388887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.0907140569999 meters 0.03539586366494198 Centerline is valid? [True, True] Translation: X:747.11, Y:-132.39, Z:-47.54 [[ 9.68184238e-01 2.46721668e-01 4.18054958e-02 7.47112335e+02] [-2.46378394e-01 9.69083073e-01 -1.32545800e-02 -1.32390736e+02] [-4.37831905e-02 2.53290449e-03 9.99037845e-01 -4.75410951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.120714057 meters 0.03556400111642334 Centerline is valid? [True, True] Translation: X:747.14, Y:-132.40, Z:-47.54 [[ 9.68725168e-01 2.44701409e-01 4.11432696e-02 7.47140755e+02] [-2.44367321e-01 9.69595057e-01 -1.30398679e-02 -1.32398963e+02] [-4.30831849e-02 2.57797764e-03 9.99068162e-01 -4.75432418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.150714057 meters 0.038152800486201496 Centerline is valid? [True, True] Translation: X:747.17, Y:-132.41, Z:-47.55 [[ 9.69096164e-01 2.43342029e-01 4.04633498e-02 7.47166582e+02] [-2.43017757e-01 9.69937075e-01 -1.28234544e-02 -1.32410604e+02] [-4.23673886e-02 2.59384800e-03 9.99098732e-01 -4.75458946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.1807140569999 meters 0.03716099363966117 Centerline is valid? [True, True] Translation: X:747.20, Y:-132.42, Z:-47.55 [[ 9.69648281e-01 2.41189097e-01 4.01251871e-02 7.47195691e+02] [-2.40868552e-01 9.70474490e-01 -1.27124221e-02 -1.32417219e+02] [-4.20065680e-02 2.66168248e-03 9.99113789e-01 -4.75474390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.2107140569999 meters 0.03787974506109834 Centerline is valid? [True, True] Translation: X:747.22, Y:-132.43, Z:-47.55 [[ 9.69809869e-01 2.40561354e-01 3.99881736e-02 7.47221814e+02] [-2.40242462e-01 9.70630236e-01 -1.26690655e-02 -1.32427104e+02] [-4.18614179e-02 2.67972745e-03 9.99119833e-01 -4.75493622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.240714057 meters 0.041489728065057144 Centerline is valid? [True, True] Translation: X:747.25, Y:-132.44, Z:-47.55 [[ 9.70068806e-01 2.39404691e-01 4.06436469e-02 7.47246431e+02] [-2.39074528e-01 9.70915924e-01 -1.28700309e-02 -1.32440035e+02] [-4.25427097e-02 2.76795485e-03 9.99090815e-01 -4.75521171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.270714057 meters 0.03898507826931123 Centerline is valid? [True, True] Translation: X:747.28, Y:-132.44, Z:-47.55 [[ 9.70367698e-01 2.37974721e-01 4.18875150e-02 7.47275456e+02] [-2.37622782e-01 9.71266972e-01 -1.32620532e-02 -1.32444736e+02] [-4.38399933e-02 2.91564019e-03 9.99034311e-01 -4.75517179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.3007140569999 meters 0.039908069846954906 Centerline is valid? [True, True] Translation: X:747.30, Y:-132.45, Z:-47.55 [[ 9.70562481e-01 2.37091218e-01 4.23818887e-02 7.47302194e+02] [-2.36730595e-01 9.71482825e-01 -1.34069739e-02 -1.32453975e+02] [-4.43519527e-02 2.97921618e-03 9.99011526e-01 -4.75532274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.3307140569999 meters 0.037541043117179755 Centerline is valid? [True, True] Translation: X:747.33, Y:-132.46, Z:-47.55 [[ 9.70692205e-01 2.36503297e-01 4.26946654e-02 7.47330727e+02] [-2.36137271e-01 9.71626001e-01 -1.34945301e-02 -1.32458608e+02] [-4.46747479e-02 3.01723338e-03 9.98997029e-01 -4.75537706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.3607140569999 meters 0.03794555762424219 Centerline is valid? [True, True] Translation: X:747.36, Y:-132.47, Z:-47.56 [[ 9.71034325e-01 2.35021624e-01 4.30949650e-02 7.47358197e+02] [-2.34647790e-01 9.71985190e-01 -1.36090111e-02 -1.32466809e+02] [-4.50860797e-02 3.10267863e-03 9.98978287e-01 -4.75558040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.390714057 meters 0.0381089256615068 Centerline is valid? [True, True] Translation: X:747.39, Y:-132.48, Z:-47.56 [[ 9.71281193e-01 2.34080091e-01 4.26539064e-02 7.47385317e+02] [-2.33713493e-01 9.72212366e-01 -1.34580628e-02 -1.32475868e+02] [-4.46189198e-02 3.10276985e-03 9.98999262e-01 -4.75579557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.4207140569999 meters 0.04467015700968009 Centerline is valid? [True, True] Translation: X:747.41, Y:-132.49, Z:-47.56 [[ 9.71771915e-01 2.32049891e-01 4.25698595e-02 7.47409412e+02] [-2.31683434e-01 9.72698701e-01 -1.34173215e-02 -1.32492969e+02] [-4.45211350e-02 3.17584500e-03 9.99003395e-01 -4.75616213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.4507140569999 meters 0.042032115087461075 Centerline is valid? [True, True] Translation: X:747.44, Y:-132.50, Z:-47.56 [[ 9.72075188e-01 2.30741203e-01 4.27589390e-02 7.47438637e+02] [-2.30370384e-01 9.73009741e-01 -1.34732988e-02 -1.32497491e+02] [-4.47137094e-02 3.24666629e-03 9.98994566e-01 -4.75627804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.4807140569999 meters 0.041868944414515184 Centerline is valid? [True, True] Translation: X:747.47, Y:-132.51, Z:-47.56 [[ 9.72343672e-01 2.29481951e-01 4.34260058e-02 7.47466147e+02] [-2.29098217e-01 9.73307130e-01 -1.36834410e-02 -1.32505715e+02] [-4.54069438e-02 3.35618676e-03 9.98962935e-01 -4.75644241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.510714057 meters 0.044087601282725805 Centerline is valid? [True, True] Translation: X:747.49, Y:-132.52, Z:-47.57 [[ 9.72827637e-01 2.27306904e-01 4.40222653e-02 7.47492550e+02] [-2.26910996e-01 9.73816914e-01 -1.38570750e-02 -1.32516060e+02] [-4.60194353e-02 3.49140952e-03 9.98934443e-01 -4.75658574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.540714057 meters 0.04175763126137296 Centerline is valid? [True, True] Translation: X:747.52, Y:-132.52, Z:-47.57 [[ 9.72980363e-01 2.26531233e-01 4.46409423e-02 7.47520634e+02] [-2.26123451e-01 9.73997342e-01 -1.40485810e-02 -1.32520912e+02] [-4.66626015e-02 3.57462947e-03 9.98904312e-01 -4.75667461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.5707140569999 meters 0.04354492684585235 Centerline is valid? [True, True] Translation: X:747.55, Y:-132.53, Z:-47.57 [[ 9.73195715e-01 2.25547062e-01 4.49290821e-02 7.47545992e+02] [-2.25133153e-01 9.74225469e-01 -1.41350120e-02 -1.32530797e+02] [-4.69591665e-02 3.64110719e-03 9.98890174e-01 -4.75686705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.6007140569999 meters 0.04361755698081022 Centerline is valid? [True, True] Translation: X:747.57, Y:-132.54, Z:-47.57 [[ 9.73426730e-01 2.24535275e-01 4.49923620e-02 7.47573028e+02] [-2.24119358e-01 9.74458974e-01 -1.41499557e-02 -1.32538971e+02] [-4.70203751e-02 3.69028586e-03 9.98887114e-01 -4.75709467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.630714057 meters 0.044013925139548195 Centerline is valid? [True, True] Translation: X:747.60, Y:-132.55, Z:-47.57 [[ 9.73529432e-01 2.24072792e-01 4.50758178e-02 7.47600056e+02] [-2.23655088e-01 9.74565333e-01 -1.41708769e-02 -1.32547673e+02] [-4.71046373e-02 3.71432975e-03 9.98883055e-01 -4.75731668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.660714057 meters 0.0432795492537445 Centerline is valid? [True, True] Translation: X:747.63, Y:-132.55, Z:-47.58 [[ 9.73702298e-01 2.23266419e-01 4.53424790e-02 7.47628020e+02] [-2.22843471e-01 9.74750195e-01 -1.42423915e-02 -1.32554493e+02] [-4.73774380e-02 3.76357399e-03 9.98869968e-01 -4.75750532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.6907140569999 meters 0.046443102178588005 Centerline is valid? [True, True] Translation: X:747.65, Y:-132.57, Z:-47.58 [[ 9.73956415e-01 2.22173284e-01 4.52541010e-02 7.47654470e+02] [-2.21751498e-01 9.74999810e-01 -1.42001546e-02 -1.32565668e+02] [-4.72776349e-02 3.79516695e-03 9.98874578e-01 -4.75778372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.7207140569999 meters 0.04756857990647693 Centerline is valid? [True, True] Translation: X:747.68, Y:-132.58, Z:-47.58 [[ 9.74187238e-01 2.21202633e-01 4.50402086e-02 7.47680626e+02] [-2.20783904e-01 9.75220379e-01 -1.41308005e-02 -1.32575107e+02] [-4.70498996e-02 3.82189245e-03 9.98885229e-01 -4.75800325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.750714057 meters 0.049736016514553845 Centerline is valid? [True, True] Translation: X:747.71, Y:-132.59, Z:-47.58 [[ 9.74405564e-01 2.20113043e-01 4.56513424e-02 7.47707616e+02] [-2.19681903e-01 9.75466484e-01 -1.43177995e-02 -1.32585073e+02] [-4.76828889e-02 3.92256970e-03 9.98854822e-01 -4.75829641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.780714057 meters 0.05041269453288706 Centerline is valid? [True, True] Translation: X:747.73, Y:-132.59, Z:-47.58 [[ 9.74573830e-01 2.19357700e-01 4.56951732e-02 7.47734811e+02] [-2.18924938e-01 9.75636457e-01 -1.43309105e-02 -1.32593532e+02] [-4.77254725e-02 3.96271741e-03 9.98852630e-01 -4.75849489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.8107140569999 meters 0.05293639893914243 Centerline is valid? [True, True] Translation: X:747.76, Y:-132.60, Z:-47.59 [[ 9.74672955e-01 2.18765957e-01 4.64121460e-02 7.47760677e+02] [-2.18319499e-01 9.75768992e-01 -1.45420263e-02 -1.32604312e+02] [-4.84688333e-02 4.04104327e-03 9.98816521e-01 -4.75871590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.8407140569999 meters 0.05295846866143632 Centerline is valid? [True, True] Translation: X:747.79, Y:-132.61, Z:-47.59 [[ 9.74743682e-01 2.18325602e-01 4.69966612e-02 7.47788549e+02] [-2.17867460e-01 9.75867322e-01 -1.47221184e-02 -1.32611899e+02] [-4.90767213e-02 4.11124872e-03 9.98786550e-01 -4.75886465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.870714057 meters 0.047373966186868635 Centerline is valid? [True, True] Translation: X:747.82, Y:-132.61, Z:-47.59 [[ 9.74690758e-01 2.18453101e-01 4.74991480e-02 7.47819011e+02] [-2.17985856e-01 9.75838680e-01 -1.48673570e-02 -1.32610139e+02] [-4.95993261e-02 4.13693303e-03 9.98760628e-01 -4.75890168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.900714057 meters 0.044236506609474625 Centerline is valid? [True, True] Translation: X:747.85, Y:-132.61, Z:-47.59 [[ 9.74640392e-01 2.18627645e-01 4.77290275e-02 7.47847955e+02] [-2.18156708e-01 9.75799595e-01 -1.49265166e-02 -1.32612807e+02] [-4.98373149e-02 4.13557847e-03 9.98748787e-01 -4.75895848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.9307140569999 meters 0.04793113928390629 Centerline is valid? [True, True] Translation: X:747.87, Y:-132.62, Z:-47.59 [[ 9.74568097e-01 2.18894877e-01 4.79797537e-02 7.47873615e+02] [-2.18420026e-01 9.75739710e-01 -1.49903619e-02 -1.32624524e+02] [-5.00970643e-02 4.12938940e-03 9.98735817e-01 -4.75923317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.9607140569999 meters 0.04934969355361321 Centerline is valid? [True, True] Translation: X:747.90, Y:-132.63, Z:-47.59 [[ 9.74195359e-01 2.20395319e-01 4.86755178e-02 7.47900773e+02] [-2.19908700e-01 9.75401990e-01 -1.52026666e-02 -1.32633539e+02] [-5.08287935e-02 4.10619735e-03 9.98698940e-01 -4.75949501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.990714057 meters 0.048544440521079764 Centerline is valid? [True, True] Translation: X:747.93, Y:-132.64, Z:-47.60 [[ 9.74031743e-01 2.21068191e-01 4.88980343e-02 7.47929177e+02] [-2.20578032e-01 9.75249784e-01 -1.52705736e-02 -1.32639992e+02] [-5.10636355e-02 4.08819129e-03 9.98687034e-01 -4.75967856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.020714057 meters 0.04340778332382037 Centerline is valid? [True, True] Translation: X:747.96, Y:-132.64, Z:-47.60 [[ 9.73638809e-01 2.22677131e-01 4.94202863e-02 7.47960953e+02] [-2.22179173e-01 9.74883903e-01 -1.54204909e-02 -1.32638734e+02] [-5.16128323e-02 4.03383003e-03 9.98659023e-01 -4.75974515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.0507140569999 meters 0.04293720493067915 Centerline is valid? [True, True] Translation: X:747.99, Y:-132.64, Z:-47.60 [[ 9.73328924e-01 2.23956966e-01 4.97401485e-02 7.47989321e+02] [-2.23454327e-01 9.74590870e-01 -1.55177450e-02 -1.32644720e+02] [-5.19516017e-02 3.98921861e-03 9.98641636e-01 -4.75991319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.0807140569999 meters 0.04786872831286679 Centerline is valid? [True, True] Translation: X:748.01, Y:-132.66, Z:-47.60 [[ 9.73031338e-01 2.25359717e-01 4.92241201e-02 7.48014825e+02] [-2.24869439e-01 9.74267941e-01 -1.53529819e-02 -1.32658043e+02] [-5.14174258e-02 3.86993229e-03 9.98669751e-01 -4.76016551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.1107140569999 meters 0.041837091052101746 Centerline is valid? [True, True] Translation: X:748.05, Y:-132.66, Z:-47.60 [[ 9.72753327e-01 2.26574622e-01 4.91416831e-02 7.48045619e+02] [-2.26087718e-01 9.73986413e-01 -1.53235301e-02 -1.32656692e+02] [-5.13352547e-02 3.79568388e-03 9.98674263e-01 -4.76032810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.140714057 meters 0.0416786279902324 Centerline is valid? [True, True] Translation: X:748.07, Y:-132.66, Z:-47.61 [[ 9.72009315e-01 2.29761035e-01 4.90689253e-02 7.48074129e+02] [-2.29279810e-01 9.73240349e-01 -1.52968078e-02 -1.32662422e+02] [-5.12704683e-02 3.61812578e-03 9.98678251e-01 -4.76063951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.1707140569999 meters 0.038082580625029734 Centerline is valid? [True, True] Translation: X:748.10, Y:-132.66, Z:-47.61 [[ 9.71615719e-01 2.31389619e-01 4.92111644e-02 7.48104706e+02] [-2.30907762e-01 9.72854720e-01 -1.53394388e-02 -1.32664211e+02] [-5.14247005e-02 3.54080000e-03 9.98670598e-01 -4.76078802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.2007140569999 meters 0.03750985289447967 Centerline is valid? [True, True] Translation: X:748.13, Y:-132.67, Z:-47.61 [[ 9.70721842e-01 2.35051942e-01 4.94943388e-02 7.48134453e+02] [-2.34569351e-01 9.71976989e-01 -1.54257259e-02 -1.32667672e+02] [-5.17332053e-02 3.36423410e-03 9.98655275e-01 -4.76088891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.2307140569999 meters 0.03651095577107937 Centerline is valid? [True, True] Translation: X:748.16, Y:-132.67, Z:-47.61 [[ 9.70329836e-01 2.36618838e-01 4.97145283e-02 7.48163165e+02] [-2.36134016e-01 9.71596969e-01 -1.54937518e-02 -1.32673059e+02] [-5.19685985e-02 3.29475845e-03 9.98643284e-01 -4.76101901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.260714057 meters 0.03716931427532258 Centerline is valid? [True, True] Translation: X:748.19, Y:-132.68, Z:-47.61 [[ 9.69826067e-01 2.38507380e-01 5.05136586e-02 7.48190914e+02] [-2.38010123e-01 9.71135309e-01 -1.57287479e-02 -1.32680991e+02] [-5.28070199e-02 3.23138762e-03 9.98599508e-01 -4.76116908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.290714057 meters 0.0366709611020328 Centerline is valid? [True, True] Translation: X:748.22, Y:-132.69, Z:-47.61 [[ 9.69402147e-01 2.40181923e-01 5.07160780e-02 7.48219207e+02] [-2.39683045e-01 9.70722779e-01 -1.57899773e-02 -1.32686881e+02] [-5.30237193e-02 3.15105394e-03 9.98588282e-01 -4.76132177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.3207140569999 meters 0.03763887105379356 Centerline is valid? [True, True] Translation: X:748.25, Y:-132.69, Z:-47.61 [[ 9.68619770e-01 2.43037879e-01 5.20416314e-02 7.48247012e+02] [-2.42516882e-01 9.70011943e-01 -1.61985468e-02 -1.32693402e+02] [-5.44178644e-02 3.06925848e-03 9.98513533e-01 -4.76144414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.3507140569999 meters 0.03323262901683712 Centerline is valid? [True, True] Translation: X:748.28, Y:-132.69, Z:-47.62 [[ 9.68284736e-01 2.44166306e-01 5.29857138e-02 7.48277480e+02] [-2.43628043e-01 9.69728552e-01 -1.64897851e-02 -1.32693962e+02] [-5.54080094e-02 3.05800147e-03 9.98459113e-01 -4.76154243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.380714057 meters 0.035753007122333126 Centerline is valid? [True, True] Translation: X:748.30, Y:-132.71, Z:-47.62 [[ 9.68011368e-01 2.45052738e-01 5.38808567e-02 7.48302667e+02] [-2.44498288e-01 9.69504970e-01 -1.67541098e-02 -1.32705071e+02] [-5.63433989e-02 3.04439150e-03 9.98406807e-01 -4.76171786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.410714057 meters 0.036289539517528044 Centerline is valid? [True, True] Translation: X:748.33, Y:-132.71, Z:-47.62 [[ 9.67708179e-01 2.46097714e-01 5.45600211e-02 7.48329566e+02] [-2.45531143e-01 9.69240331e-01 -1.69599353e-02 -1.32712886e+02] [-5.70555742e-02 3.01608376e-03 9.98366448e-01 -4.76184209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.4407140569999 meters 0.03244721948207743 Centerline is valid? [True, True] Translation: X:748.36, Y:-132.71, Z:-47.62 [[ 9.67416130e-01 2.47134213e-01 5.50519127e-02 7.48359742e+02] [-2.46559474e-01 9.68976694e-01 -1.71053195e-02 -1.32712680e+02] [-5.75713301e-02 2.97439140e-03 9.98336965e-01 -4.76203122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.4707140569999 meters 0.035612802418602464 Centerline is valid? [True, True] Translation: X:748.38, Y:-132.73, Z:-47.62 [[ 9.67284088e-01 2.47688717e-01 5.48798103e-02 7.48384445e+02] [-2.47119327e-01 9.68835274e-01 -1.70367411e-02 -1.32725307e+02] [-5.73893046e-02 2.91750679e-03 9.98347613e-01 -4.76220670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.500714057 meters 0.03633860034298328 Centerline is valid? [True, True] Translation: X:748.41, Y:-132.73, Z:-47.63 [[ 9.67141141e-01 2.48362496e-01 5.43514832e-02 7.48411099e+02] [-2.47805387e-01 9.68662985e-01 -1.68674747e-02 -1.32733566e+02] [-5.68375181e-02 2.84463844e-03 9.98379389e-01 -4.76257459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.530714057 meters 0.0341593783141484 Centerline is valid? [True, True] Translation: X:748.44, Y:-132.74, Z:-47.63 [[ 9.67245275e-01 2.47966838e-01 5.43049347e-02 7.48438700e+02] [-2.47410332e-01 9.68764297e-01 -1.68482821e-02 -1.32737226e+02] [-5.67864971e-02 2.86081936e-03 9.98382246e-01 -4.76284799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.5607140569999 meters 0.03701939307380092 Centerline is valid? [True, True] Translation: X:748.46, Y:-132.75, Z:-47.63 [[ 9.67348501e-01 2.47627471e-01 5.40140166e-02 7.48463490e+02] [-2.47077325e-01 9.68851133e-01 -1.67415120e-02 -1.32749912e+02] [-5.64771995e-02 2.84923784e-03 9.98399824e-01 -4.76305838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.5907140569999 meters 0.03485617097066552 Centerline is valid? [True, True] Translation: X:748.49, Y:-132.75, Z:-47.63 [[ 9.67720616e-01 2.46217509e-01 5.37935587e-02 7.48491893e+02] [-2.45669946e-01 9.69210215e-01 -1.66684241e-02 -1.32754307e+02] [-5.62413244e-02 2.91491700e-03 9.98412949e-01 -4.76329365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.620714057 meters 0.03485617097066552 Centerline is valid? [True, True] Translation: X:748.52, Y:-132.76, Z:-47.63 [[ 9.67788222e-01 2.45950772e-01 5.37975388e-02 7.48518059e+02] [-2.45403510e-01 9.69277932e-01 -1.66555682e-02 -1.32762320e+02] [-5.62412170e-02 2.91695786e-03 9.98412949e-01 -4.76345276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.650714057 meters 0.03240961015655636 Centerline is valid? [True, True] Translation: X:748.55, Y:-132.77, Z:-47.64 [[ 9.68097763e-01 2.44646360e-01 5.41745276e-02 7.48546593e+02] [-2.44090294e-01 9.69607741e-01 -1.67557977e-02 -1.32765909e+02] [-5.66272863e-02 2.99777391e-03 9.98390887e-01 -4.76362189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.6807140569999 meters 0.037387837427706426 Centerline is valid? [True, True] Translation: X:748.57, Y:-132.78, Z:-47.64 [[ 9.68274831e-01 2.43907296e-01 5.43422675e-02 7.48570669e+02] [-2.43347487e-01 9.69793801e-01 -1.67923905e-02 -1.32782086e+02] [-5.67965807e-02 3.03559482e-03 9.98381156e-01 -4.76379630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.7107140569999 meters 0.03217138975129691 Centerline is valid? [True, True] Translation: X:748.60, Y:-132.78, Z:-47.64 [[ 9.68700082e-01 2.42269161e-01 5.40907045e-02 7.48600912e+02] [-2.41712284e-01 9.70204086e-01 -1.67093578e-02 -1.32782407e+02] [-5.65271847e-02 3.11196853e-03 9.98396210e-01 -4.76401588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.740714057 meters 0.04198860511630547 Centerline is valid? [True, True] Translation: X:748.62, Y:-132.81, Z:-47.64 [[ 9.68878780e-01 2.41557306e-01 5.40738104e-02 7.48622898e+02] [-2.40999911e-01 9.70381448e-01 -1.66999369e-02 -1.32805614e+02] [-5.65062142e-02 3.14843101e-03 9.98397283e-01 -4.76421533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.770714057 meters 0.03407230576518034 Centerline is valid? [True, True] Translation: X:748.65, Y:-132.80, Z:-47.64 [[ 9.69171743e-01 2.40381797e-01 5.40622347e-02 7.48654190e+02] [-2.39823109e-01 9.70673106e-01 -1.66912234e-02 -1.32801170e+02] [-5.64890236e-02 3.21128890e-03 9.98398056e-01 -4.76433201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.8007140569999 meters 0.034863878711336706 Centerline is valid? [True, True] Translation: X:748.68, Y:-132.81, Z:-47.64 [[ 9.69365318e-01 2.39428037e-01 5.48187531e-02 7.48679952e+02] [-2.38852947e-01 9.70908512e-01 -1.69094714e-02 -1.32810552e+02] [-5.72725956e-02 3.29783437e-03 9.98353131e-01 -4.76441942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.8307140569999 meters 0.03355493047993333 Centerline is valid? [True, True] Translation: X:748.71, Y:-132.82, Z:-47.65 [[ 9.69492788e-01 2.38829409e-01 5.51746900e-02 7.48708200e+02] [-2.38246227e-01 9.71055766e-01 -1.70127987e-02 -1.32817353e+02] [-5.76408575e-02 3.34862388e-03 9.98331768e-01 -4.76459764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.8607140569999 meters 0.034999711812924925 Centerline is valid? [True, True] Translation: X:748.73, Y:-132.83, Z:-47.65 [[ 9.69650318e-01 2.38241390e-01 5.49481664e-02 7.48734167e+02] [-2.37662930e-01 9.71200178e-01 -1.69276814e-02 -1.32828403e+02] [-5.73985433e-02 3.35478943e-03 9.98345708e-01 -4.76476185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.890714057 meters 0.035453137782507124 Centerline is valid? [True, True] Translation: X:748.76, Y:-132.84, Z:-47.65 [[ 9.69824838e-01 2.37650791e-01 5.44232108e-02 7.48761142e+02] [-2.37082710e-01 9.71344874e-01 -1.67608049e-02 -1.32837410e+02] [-5.68469254e-02 3.35224259e-03 9.98377278e-01 -4.76498640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.9207140569999 meters 0.03778113987506841 Centerline is valid? [True, True] Translation: X:748.79, Y:-132.85, Z:-47.65 [[ 9.70450966e-01 2.35394394e-01 5.30509393e-02 7.48786665e+02] [-2.34852069e-01 9.71894047e-01 -1.63237997e-02 -1.32849982e+02] [-5.54024230e-02 3.38232429e-03 9.98458377e-01 -4.76531316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.9507140569999 meters 0.03886788872793778 Centerline is valid? [True, True] Translation: X:748.81, Y:-132.86, Z:-47.66 [[ 9.70762968e-01 2.34168944e-01 5.27652041e-02 7.48812498e+02] [-2.33630910e-01 9.72189872e-01 -1.62311437e-02 -1.32859926e+02] [-5.50986268e-02 3.42901059e-03 9.98475029e-01 -4.76556946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.9807140569999 meters 0.03899591873287367 Centerline is valid? [True, True] Translation: X:748.84, Y:-132.87, Z:-47.66 [[ 9.71087488e-01 2.32872468e-01 5.25309748e-02 7.48839860e+02] [-2.32337593e-01 9.72501048e-01 -1.61540791e-02 -1.32869568e+02] [-5.48482683e-02 3.48210388e-03 9.98488629e-01 -4.76582874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.010714057 meters 0.037809242331056585 Centerline is valid? [True, True] Translation: X:748.87, Y:-132.88, Z:-47.66 [[ 9.71465938e-01 2.31414217e-01 5.19749091e-02 7.48867685e+02] [-2.30888660e-01 9.72848929e-01 -1.59808827e-02 -1.32876260e+02] [-5.42619380e-02 3.52446607e-03 9.98520516e-01 -4.76600631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.040714057 meters 0.03866099603816865 Centerline is valid? [True, True] Translation: X:748.90, Y:-132.89, Z:-47.66 [[ 9.71937398e-01 2.29434156e-01 5.19390289e-02 7.48895268e+02] [-2.28907316e-01 9.73317460e-01 -1.59550316e-02 -1.32886874e+02] [-5.42137929e-02 3.61806819e-03 9.98522796e-01 -4.76616226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.0707140569999 meters 0.04234754360556966 Centerline is valid? [True, True] Translation: X:748.92, Y:-132.90, Z:-47.66 [[ 9.72150185e-01 2.28550411e-01 5.18529519e-02 7.48919701e+02] [-2.28024151e-01 9.73525201e-01 -1.59270408e-02 -1.32900158e+02] [-5.41202871e-02 3.65975028e-03 9.98527717e-01 -4.76633804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.1007140569999 meters 0.03674199814667692 Centerline is valid? [True, True] Translation: X:748.95, Y:-132.90, Z:-47.66 [[ 9.72303101e-01 2.27933478e-01 5.17011515e-02 7.48949665e+02] [-2.27409876e-01 9.73669771e-01 -1.58721743e-02 -1.32900166e+02] [-5.39576482e-02 3.67521183e-03 9.98536462e-01 -4.76642229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.130714057 meters 0.03776485566301047 Centerline is valid? [True, True] Translation: X:748.98, Y:-132.91, Z:-47.66 [[ 9.72300915e-01 2.27766700e-01 5.24715217e-02 7.48975412e+02] [-2.27227961e-01 9.73708610e-01 -1.60933554e-02 -1.32909319e+02] [-5.47575029e-02 3.72458730e-03 9.98492736e-01 -4.76649358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.160714057 meters 0.044029852446064756 Centerline is valid? [True, True] Translation: X:749.00, Y:-132.93, Z:-47.67 [[ 9.72302741e-01 2.27673828e-01 5.28394594e-02 7.48998009e+02] [-2.27127646e-01 9.73730228e-01 -1.62010683e-02 -1.32925798e+02] [-5.51399382e-02 3.75104106e-03 9.98471590e-01 -4.76663529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.1907140569999 meters 0.0435579168503727 Centerline is valid? [True, True] Translation: X:749.03, Y:-132.93, Z:-47.67 [[ 9.72125603e-01 2.28253432e-01 5.35927452e-02 7.49025724e+02] [-2.27692828e-01 9.73594474e-01 -1.64248488e-02 -1.32933528e+02] [-5.59266287e-02 3.76433237e-03 9.98427785e-01 -4.76676381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.2207140569999 meters 0.03721610836651873 Centerline is valid? [True, True] Translation: X:749.06, Y:-132.93, Z:-47.67 [[ 9.72217986e-01 2.27881959e-01 5.34976712e-02 7.49055584e+02] [-2.27323540e-01 9.73681484e-01 -1.63821945e-02 -1.32932429e+02] [-5.58228984e-02 3.76578418e-03 9.98433585e-01 -4.76692501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.250714057 meters 0.03808963342256174 Centerline is valid? [True, True] Translation: X:749.08, Y:-132.94, Z:-47.67 [[ 9.72066527e-01 2.28545707e-01 5.34184067e-02 7.49082035e+02] [-2.27990900e-01 9.73526132e-01 -1.63407200e-02 -1.32940909e+02] [-5.57388162e-02 3.70535629e-03 9.98438508e-01 -4.76707559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.280714057 meters 0.03739204581494016 Centerline is valid? [True, True] Translation: X:749.11, Y:-132.95, Z:-47.67 [[ 9.72172907e-01 2.28218937e-01 5.28767992e-02 7.49108744e+02] [-2.27675107e-01 9.73602877e-01 -1.61704746e-02 -1.32947426e+02] [-5.51714123e-02 3.68176640e-03 9.98470110e-01 -4.76723516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.3107140569999 meters 0.03833990389227481 Centerline is valid? [True, True] Translation: X:749.13, Y:-132.96, Z:-47.67 [[ 9.72197153e-01 2.28110751e-01 5.28978451e-02 7.49134128e+02] [-2.27567259e-01 9.73628263e-01 -1.61600659e-02 -1.32956126e+02] [-5.51891218e-02 3.67295247e-03 9.98469163e-01 -4.76744266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.3407140569999 meters 0.03722874163876201 Centerline is valid? [True, True] Translation: X:749.16, Y:-132.96, Z:-47.68 [[ 9.72387060e-01 2.27489144e-01 5.20777794e-02 7.49162389e+02] [-2.26962085e-01 9.73773813e-01 -1.58988294e-02 -1.32962659e+02] [-5.43287889e-02 3.64013460e-03 9.98516466e-01 -4.76763421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.370714057 meters 0.03872800560048868 Centerline is valid? [True, True] Translation: X:749.19, Y:-132.97, Z:-47.68 [[ 9.72703436e-01 2.26458478e-01 5.06417259e-02 7.49188629e+02] [-2.25959482e-01 9.74014235e-01 -1.54460857e-02 -1.32972413e+02] [-5.28236590e-02 3.58148244e-03 9.98597433e-01 -4.76799847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.400714057 meters 0.04145803446196971 Centerline is valid? [True, True] Translation: X:749.21, Y:-132.98, Z:-47.68 [[ 9.72948322e-01 2.25545871e-01 5.00062171e-02 7.49213965e+02] [-2.25058371e-01 9.74225968e-01 -1.52477134e-02 -1.32983829e+02] [-5.21564140e-02 3.58091940e-03 9.98632508e-01 -4.76822591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.4307140569999 meters 0.03888690880715958 Centerline is valid? [True, True] Translation: X:749.24, Y:-132.99, Z:-47.68 [[ 9.73219067e-01 2.24575760e-01 4.90955833e-02 7.49242851e+02] [-2.24104955e-01 9.74450127e-01 -1.49639126e-02 -1.32987452e+02] [-5.12017294e-02 3.56060157e-03 9.98681984e-01 -4.76838098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.4607140569999 meters 0.03915844778975058 Centerline is valid? [True, True] Translation: X:749.27, Y:-133.00, Z:-47.69 [[ 9.73579158e-01 2.23105469e-01 4.86577017e-02 7.49271373e+02] [-2.22641959e-01 9.74787697e-01 -1.48156437e-02 -1.32995362e+02] [-5.07363802e-02 3.59095591e-03 9.98705625e-01 -4.76858527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.490714057 meters 0.0412111139825819 Centerline is valid? [True, True] Translation: X:749.30, Y:-133.01, Z:-47.69 [[ 9.73793940e-01 2.22106562e-01 4.89289142e-02 7.49296987e+02] [-2.21636676e-01 9.75015520e-01 -1.48969843e-02 -1.33005958e+02] [-5.10151687e-02 3.66215114e-03 9.98691164e-01 -4.76873141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.520714057 meters 0.040536329502352426 Centerline is valid? [True, True] Translation: X:749.32, Y:-133.01, Z:-47.69 [[ 9.73949480e-01 2.21372489e-01 4.91592513e-02 7.49324652e+02] [-2.20897564e-01 9.75182262e-01 -1.49606908e-02 -1.33012798e+02] [-5.12511152e-02 3.71179813e-03 9.98678900e-01 -4.76888239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.5507140569999 meters 0.04334052014220933 Centerline is valid? [True, True] Translation: X:749.35, Y:-133.02, Z:-47.69 [[ 9.74195317e-01 2.20373314e-01 4.87758742e-02 7.49350546e+02] [-2.19905261e-01 9.75408508e-01 -1.48296687e-02 -1.33024199e+02] [-5.08444660e-02 3.72092241e-03 9.98699652e-01 -4.76901769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.5807140569999 meters 0.04442035390935335 Centerline is valid? [True, True] Translation: X:749.38, Y:-133.03, Z:-47.69 [[ 9.74555254e-01 2.18566902e-01 4.97047852e-02 7.49378303e+02] [-2.18078768e-01 9.75814240e-01 -1.51069308e-02 -1.33032601e+02] [-5.18045123e-02 3.88298050e-03 9.98649696e-01 -4.76906472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.6107140569999 meters 0.04432451441373761 Centerline is valid? [True, True] Translation: X:749.41, Y:-133.04, Z:-47.69 [[ 9.74750752e-01 2.17575836e-01 5.02167934e-02 7.49405474e+02] [-2.17076404e-01 9.76035329e-01 -1.52601176e-02 -1.33040131e+02] [-5.23335974e-02 3.97393020e-03 9.98621751e-01 -4.76918448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.640714057 meters 0.0474479610786231 Centerline is valid? [True, True] Translation: X:749.43, Y:-133.05, Z:-47.69 [[ 9.74947626e-01 2.16570787e-01 5.07367749e-02 7.49430684e+02] [-2.16059996e-01 9.76258466e-01 -1.54105942e-02 -1.33052112e+02] [-5.28696905e-02 4.06233481e-03 9.98593157e-01 -4.76931473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.6707140569999 meters 0.04967423007856749 Centerline is valid? [True, True] Translation: X:749.46, Y:-133.06, Z:-47.69 [[ 9.75074709e-01 2.15819524e-01 5.14902474e-02 7.49456198e+02] [-2.15292660e-01 9.76424412e-01 -1.56345125e-02 -1.33063440e+02] [-5.36505676e-02 4.15934539e-03 9.98551109e-01 -4.76947499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.7007140569999 meters 0.04598310965233403 Centerline is valid? [True, True] Translation: X:749.49, Y:-133.07, Z:-47.70 [[ 9.75554972e-01 2.13695734e-01 5.12506588e-02 7.49486462e+02] [-2.13171128e-01 9.76891018e-01 -1.55566649e-02 -1.33067329e+02] [-5.33907012e-02 4.25122109e-03 9.98564650e-01 -4.76964220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.7307140569999 meters 0.053413811303288664 Centerline is valid? [True, True] Translation: X:749.51, Y:-133.09, Z:-47.70 [[ 9.75751165e-01 2.12852159e-01 5.10257099e-02 7.49510278e+02] [-2.12331011e-01 9.77075050e-01 -1.54883140e-02 -1.33085202e+02] [-5.31526691e-02 4.27839981e-03 9.98577232e-01 -4.76990950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.760714057 meters 0.044738328302937905 Centerline is valid? [True, True] Translation: X:749.54, Y:-133.08, Z:-47.70 [[ 9.75976394e-01 2.12094012e-01 4.98618893e-02 7.49541264e+02] [-2.11595654e-01 9.77240172e-01 -1.51303023e-02 -1.33080432e+02] [-5.19360877e-02 4.21625882e-03 9.98641510e-01 -4.77009201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.790714057 meters 0.045397539155414474 Centerline is valid? [True, True] Translation: X:749.57, Y:-133.09, Z:-47.70 [[ 9.76078959e-01 2.11795366e-01 4.91181096e-02 7.49568075e+02] [-2.11311579e-01 9.77305158e-01 -1.49011732e-02 -1.33088794e+02] [-5.11593813e-02 4.16549635e-03 9.98681814e-01 -4.77031252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.8207140569999 meters 0.04693473375266183 Centerline is valid? [True, True] Translation: X:749.59, Y:-133.10, Z:-47.71 [[ 9.76162112e-01 2.11569326e-01 4.84350297e-02 7.49593843e+02] [-2.11099452e-01 9.77354379e-01 -1.46778094e-02 -1.33098113e+02] [-5.04435626e-02 4.10331317e-03 9.98718484e-01 -4.77057296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.8507140569999 meters 0.04596979650672214 Centerline is valid? [True, True] Translation: X:749.62, Y:-133.10, Z:-47.71 [[ 9.76135540e-01 2.11751204e-01 4.81750442e-02 7.49621738e+02] [-2.11286752e-01 9.77315135e-01 -1.45957011e-02 -1.33104927e+02] [-5.01728571e-02 4.06863394e-03 9.98732262e-01 -4.77078791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.880714057 meters 0.046619312665510455 Centerline is valid? [True, True] Translation: X:749.65, Y:-133.11, Z:-47.71 [[ 9.75714964e-01 2.13759107e-01 4.78262843e-02 7.49649045e+02] [-2.13304465e-01 9.76878527e-01 -1.44757904e-02 -1.33113123e+02] [-4.98148022e-02 3.92268529e-03 9.98750769e-01 -4.77102822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.910714057 meters 0.04773772706373532 Centerline is valid? [True, True] Translation: X:749.68, Y:-133.12, Z:-47.71 [[ 9.75517682e-01 2.14648911e-01 4.78654067e-02 7.49676256e+02] [-2.14194653e-01 9.76683571e-01 -1.44863142e-02 -1.33122121e+02] [-4.98588279e-02 3.87914143e-03 9.98748742e-01 -4.77122639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.9407140569999 meters 0.04644606705609951 Centerline is valid? [True, True] Translation: X:749.71, Y:-133.13, Z:-47.71 [[ 9.75170911e-01 2.16205818e-01 4.79243039e-02 7.49705814e+02] [-2.15752973e-01 9.76340448e-01 -1.44908178e-02 -1.33128007e+02] [-4.99234355e-02 3.79121294e-03 9.98745852e-01 -4.77134410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.9707140569999 meters 0.04652120680621433 Centerline is valid? [True, True] Translation: X:749.73, Y:-133.14, Z:-47.71 [[ 9.74761156e-01 2.17928981e-01 4.84525456e-02 7.49734773e+02] [-2.17468249e-01 9.75957453e-01 -1.46496207e-02 -1.33135492e+02] [-5.04801999e-02 3.74299100e-03 9.98718048e-01 -4.77148852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.000714057 meters 0.044959853527305714 Centerline is valid? [True, True] Translation: X:749.76, Y:-133.14, Z:-47.72 [[ 9.73626086e-01 2.22759382e-01 4.93001275e-02 7.49763727e+02] [-2.22288561e-01 9.74866982e-01 -1.49051401e-02 -1.33140009e+02] [-5.13813263e-02 3.55317880e-03 9.98672786e-01 -4.77156593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.030714057 meters 0.04409260907306108 Centerline is valid? [True, True] Translation: X:749.79, Y:-133.15, Z:-47.72 [[ 9.73099947e-01 2.24926763e-01 4.98441960e-02 7.49793172e+02] [-2.24448443e-01 9.74369479e-01 -1.50670336e-02 -1.33146511e+02] [-5.19556424e-02 3.47427735e-03 9.98643350e-01 -4.77166579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.0607140569999 meters 0.03719076299943497 Centerline is valid? [True, True] Translation: X:749.82, Y:-133.14, Z:-47.72 [[ 9.72531328e-01 2.27291164e-01 5.02149589e-02 7.49824768e+02] [-2.26808871e-01 9.73821008e-01 -1.51783033e-02 -1.33144310e+02] [-5.23502761e-02 3.37217733e-03 9.98623091e-01 -4.77172978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.0907140569999 meters 0.03517019938303774 Centerline is valid? [True, True] Translation: X:749.85, Y:-133.15, Z:-47.72 [[ 9.71415328e-01 2.31947960e-01 5.05213261e-02 7.49854988e+02] [-2.31466124e-01 9.72723133e-01 -1.52689123e-02 -1.33148423e+02] [-5.26848557e-02 3.13847994e-03 9.98606257e-01 -4.77186920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.120714057 meters 0.03423402498795653 Centerline is valid? [True, True] Translation: X:749.88, Y:-133.15, Z:-47.72 [[ 9.70855699e-01 2.34319298e-01 5.03356513e-02 7.49884706e+02] [-2.33844265e-01 9.72155072e-01 -1.52110245e-02 -1.33154579e+02] [-5.24982953e-02 2.99700647e-03 9.98616516e-01 -4.77203168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.150714057 meters 0.03316775691060028 Centerline is valid? [True, True] Translation: X:749.91, Y:-133.16, Z:-47.72 [[ 9.70483680e-01 2.35947131e-01 4.99036846e-02 7.49913189e+02] [-2.35482349e-01 9.71761613e-01 -1.50808107e-02 -1.33160654e+02] [-5.20527591e-02 2.88424379e-03 9.98640171e-01 -4.77222145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.1807140569999 meters 0.03542788570229867 Centerline is valid? [True, True] Translation: X:749.94, Y:-133.17, Z:-47.72 [[ 9.70067023e-01 2.37686373e-01 4.97509719e-02 7.49938705e+02] [-2.37227413e-01 9.71338005e-01 -1.50211605e-02 -1.33171356e+02] [-5.18953349e-02 2.76923805e-03 9.98648690e-01 -4.77249754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.2107140569999 meters 0.03357040223521999 Centerline is valid? [True, True] Translation: X:749.97, Y:-133.18, Z:-47.73 [[ 9.69226639e-01 2.41248929e-01 4.89762864e-02 7.49967872e+02] [-2.40808949e-01 9.70459961e-01 -1.47822149e-02 -1.33176753e+02] [-5.10957185e-02 2.53338840e-03 9.98690547e-01 -4.77271099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.240714057 meters 0.03144454313041228 Centerline is valid? [True, True] Translation: X:750.00, Y:-133.18, Z:-47.73 [[ 9.68945834e-01 2.42408818e-01 4.88050872e-02 7.49996996e+02] [-2.41973399e-01 9.70171066e-01 -1.47301300e-02 -1.33181181e+02] [-5.09199969e-02 2.46316526e-03 9.98699698e-01 -4.77285990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.270714057 meters 0.030658014396703244 Centerline is valid? [True, True] Translation: X:750.03, Y:-133.19, Z:-47.73 [[ 9.68505031e-01 2.44159406e-01 4.88281615e-02 7.50025111e+02] [-2.43726480e-01 9.69732241e-01 -1.47235792e-02 -1.33188578e+02] [-5.09451429e-02 2.35914453e-03 9.98698667e-01 -4.77299221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.3007140569999 meters 0.029827112002711736 Centerline is valid? [True, True] Translation: X:750.05, Y:-133.20, Z:-47.73 [[ 9.67904550e-01 2.46610395e-01 4.84158488e-02 7.50053718e+02] [-2.46187939e-01 9.69112189e-01 -1.45967363e-02 -1.33195195e+02] [-5.05200961e-02 2.20884950e-03 9.98720602e-01 -4.77309848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.3307140569999 meters 0.029819753277983217 Centerline is valid? [True, True] Translation: X:750.08, Y:-133.20, Z:-47.73 [[ 9.67624293e-01 2.47605291e-01 4.89371867e-02 7.50080410e+02] [-2.47175621e-01 9.68858567e-01 -1.47407778e-02 -1.33203948e+02] [-5.10631072e-02 2.16745514e-03 9.98693077e-01 -4.77328863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.3607140569999 meters 0.029369571563697325 Centerline is valid? [True, True] Translation: X:750.11, Y:-133.21, Z:-47.73 [[ 9.67422134e-01 2.48359555e-01 4.91115658e-02 7.50107791e+02] [-2.47928099e-01 9.68665576e-01 -1.47871719e-02 -1.33211770e+02] [-5.12452186e-02 2.12930028e-03 9.98683831e-01 -4.77340824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.390714057 meters 0.029112953696033946 Centerline is valid? [True, True] Translation: X:750.14, Y:-133.22, Z:-47.74 [[ 9.67211899e-01 2.49108537e-01 4.94578554e-02 7.50135135e+02] [-2.48672639e-01 9.68473316e-01 -1.48780307e-02 -1.33220353e+02] [-5.16048577e-02 2.09139290e-03 9.98665392e-01 -4.77353096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.4207140569999 meters 0.030371616306357773 Centerline is valid? [True, True] Translation: X:750.16, Y:-133.23, Z:-47.74 [[ 9.67123335e-01 2.49428081e-01 4.95791083e-02 7.50161122e+02] [-2.48991206e-01 9.68391123e-01 -1.49000908e-02 -1.33231161e+02] [-5.17284694e-02 2.06546356e-03 9.98659051e-01 -4.77367971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.4507140569999 meters 0.02840893789955676 Centerline is valid? [True, True] Translation: X:750.19, Y:-133.24, Z:-47.74 [[ 9.67110285e-01 2.49385843e-01 5.00439513e-02 7.50189703e+02] [-2.48940878e-01 9.68401962e-01 -1.50359181e-02 -1.33237285e+02] [-5.22124057e-02 2.08340592e-03 9.98633829e-01 -4.77368339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.4807140569999 meters 0.029586642319039673 Centerline is valid? [True, True] Translation: X:750.22, Y:-133.25, Z:-47.74 [[ 9.67280438e-01 2.48730733e-01 5.00157701e-02 7.50215624e+02] [-2.48286145e-01 9.68570388e-01 -1.50131047e-02 -1.33248742e+02] [-5.21780144e-02 2.10365978e-03 9.98635584e-01 -4.77383001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.510714057 meters 0.029586642319039673 Centerline is valid? [True, True] Translation: X:750.24, Y:-133.26, Z:-47.74 [[ 9.67350434e-01 2.48458018e-01 5.00175174e-02 7.50241835e+02] [-2.48013367e-01 9.68640362e-01 -1.50072814e-02 -1.33256525e+02] [-5.21776655e-02 2.11228726e-03 9.98635584e-01 -4.77398876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.540714057 meters 0.02880865111023274 Centerline is valid? [True, True] Translation: X:750.27, Y:-133.26, Z:-47.74 [[ 9.67461439e-01 2.47924349e-01 5.05161447e-02 7.50268907e+02] [-2.47470881e-01 9.68777016e-01 -1.51412163e-02 -1.33264719e+02] [-5.26927561e-02 2.14726812e-03 9.98608463e-01 -4.77411635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.5707140569999 meters 0.029504164267703824 Centerline is valid? [True, True] Translation: X:750.29, Y:-133.28, Z:-47.74 [[ 9.67620767e-01 2.47262382e-01 5.07086341e-02 7.50294580e+02] [-2.46805439e-01 9.68946120e-01 -1.51819924e-02 -1.33275813e+02] [-5.28878699e-02 2.17524450e-03 9.98598088e-01 -4.77430282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.6007140569999 meters 0.028935371693152034 Centerline is valid? [True, True] Translation: X:750.32, Y:-133.29, Z:-47.74 [[ 9.68022894e-01 2.45672135e-01 5.07629679e-02 7.50321672e+02] [-2.45212244e-01 9.69350345e-01 -1.51942058e-02 -1.33286134e+02] [-5.29398934e-02 2.26063777e-03 9.98595142e-01 -4.77442846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.630714057 meters 0.029272956003395866 Centerline is valid? [True, True] Translation: X:750.35, Y:-133.30, Z:-47.75 [[ 9.68431348e-01 2.44121517e-01 5.04520410e-02 7.50348671e+02] [-2.43665872e-01 9.69741880e-01 -1.50873929e-02 -1.33296203e+02] [-5.26086143e-02 2.31766364e-03 9.98612519e-01 -4.77459788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.660714057 meters 0.029747848092034703 Centerline is valid? [True, True] Translation: X:750.38, Y:-133.31, Z:-47.75 [[ 9.68726664e-01 2.42920393e-01 5.05799764e-02 7.50375644e+02] [-2.42461533e-01 9.70043319e-01 -1.51117542e-02 -1.33307197e+02] [-5.27357214e-02 2.37546060e-03 9.98605678e-01 -4.77475350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.6907140569999 meters 0.03454094159441258 Centerline is valid? [True, True] Translation: X:750.40, Y:-133.33, Z:-47.75 [[ 9.69471700e-01 2.40232469e-01 4.91221234e-02 7.50399219e+02] [-2.39796984e-01 9.70712332e-01 -1.46620421e-02 -1.33327199e+02] [-5.12057495e-02 2.43509787e-03 9.98685156e-01 -4.77510229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.7207140569999 meters 0.035049038929791394 Centerline is valid? [True, True] Translation: X:750.43, Y:-133.34, Z:-47.75 [[ 9.69812304e-01 2.38914575e-01 4.88254214e-02 7.50425584e+02] [-2.38482822e-01 9.71037405e-01 -1.45705698e-02 -1.33338238e+02] [-5.08924319e-02 2.48669361e-03 9.98701045e-01 -4.77533575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.750714057 meters 0.03628689989858154 Centerline is valid? [True, True] Translation: X:750.45, Y:-133.35, Z:-47.76 [[ 9.70124094e-01 2.37725468e-01 4.84339116e-02 7.50452313e+02] [-2.37299749e-01 9.71329124e-01 -1.44416651e-02 -1.33350011e+02] [-5.04784205e-02 2.51685215e-03 9.98721981e-01 -4.77558461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.780714057 meters 0.03671767148649158 Centerline is valid? [True, True] Translation: X:750.48, Y:-133.36, Z:-47.76 [[ 9.70412200e-01 2.36669253e-01 4.78312310e-02 7.50478943e+02] [-2.36253379e-01 9.71586987e-01 -1.42502050e-02 -1.33361008e+02] [-4.98447870e-02 2.52828280e-03 9.98753776e-01 -4.77581344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.8107140569999 meters 0.03242950595440388 Centerline is valid? [True, True] Translation: X:750.51, Y:-133.37, Z:-47.76 [[ 9.70759638e-01 2.35389313e-01 4.70913605e-02 7.50507331e+02] [-2.34985272e-01 9.71897837e-01 -1.40184234e-02 -1.33365685e+02] [-4.90677784e-02 2.54274346e-03 9.98792214e-01 -4.77586106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.8407140569999 meters 0.03444150328272456 Centerline is valid? [True, True] Translation: X:750.53, Y:-133.38, Z:-47.76 [[ 9.70829332e-01 2.35078584e-01 4.72066577e-02 7.50532967e+02] [-2.34672892e-01 9.71973020e-01 -1.40385738e-02 -1.33378022e+02] [-4.91837657e-02 2.55093631e-03 9.98786489e-01 -4.77607387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.870714057 meters 0.034036128014090956 Centerline is valid? [True, True] Translation: X:750.56, Y:-133.39, Z:-47.76 [[ 9.70901150e-01 2.34904576e-01 4.65918194e-02 7.50559534e+02] [-2.34509315e-01 9.72015160e-01 -1.38531833e-02 -1.33386187e+02] [-4.85421310e-02 2.52385593e-03 9.98817947e-01 -4.77618437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.900714057 meters 0.032738246908038955 Centerline is valid? [True, True] Translation: X:750.59, Y:-133.39, Z:-47.76 [[ 9.70874800e-01 2.34941669e-01 4.69524677e-02 7.50587274e+02] [-2.34541018e-01 9.72006186e-01 -1.39458321e-02 -1.33393575e+02] [-4.89145461e-02 2.52737741e-03 9.98799770e-01 -4.77625724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.9307140569999 meters 0.0328012421081997 Centerline is valid? [True, True] Translation: X:750.61, Y:-133.40, Z:-47.76 [[ 9.70694401e-01 2.35577972e-01 4.74910448e-02 7.50613644e+02] [-2.35169466e-01 9.71852207e-01 -1.40929174e-02 -1.33404929e+02] [-4.94742576e-02 2.51147237e-03 9.98772242e-01 -4.77639458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.9607140569999 meters 0.03279969031931249 Centerline is valid? [True, True] Translation: X:750.64, Y:-133.41, Z:-47.77 [[ 9.70674046e-01 2.35656057e-01 4.75196684e-02 7.50640551e+02] [-2.35247780e-01 9.71833314e-01 -1.40887507e-02 -1.33414501e+02] [-4.95012963e-02 2.49668819e-03 9.98770939e-01 -4.77657071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.990714057 meters 0.03186841162027973 Centerline is valid? [True, True] Translation: X:750.67, Y:-133.42, Z:-47.77 [[ 9.70677714e-01 2.35601703e-01 4.77138686e-02 7.50668111e+02] [-2.35190644e-01 9.71846490e-01 -1.41336591e-02 -1.33422206e+02] [-4.97004699e-02 2.49737238e-03 9.98761046e-01 -4.77669067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.020714057 meters 0.03211825329194979 Centerline is valid? [True, True] Translation: X:750.70, Y:-133.43, Z:-47.77 [[ 9.70793928e-01 2.35175716e-01 4.74503128e-02 7.50695068e+02] [-2.34769309e-01 9.71949674e-01 -1.40429163e-02 -1.33432691e+02] [-4.94218690e-02 2.49290074e-03 9.98774882e-01 -4.77682526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.0507140569999 meters 0.03381663011827365 Centerline is valid? [True, True] Translation: X:750.72, Y:-133.44, Z:-47.77 [[ 9.70893939e-01 2.34803217e-01 4.72483683e-02 7.50719921e+02] [-2.34400511e-01 9.72039743e-01 -1.39692336e-02 -1.33444608e+02] [-4.92073128e-02 2.48760260e-03 9.98785489e-01 -4.77702377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.0807140569999 meters 0.0331133914693711 Centerline is valid? [True, True] Translation: X:750.75, Y:-133.45, Z:-47.77 [[ 9.71126672e-01 2.34005417e-01 4.64160790e-02 7.50746941e+02] [-2.33616135e-01 9.72232135e-01 -1.37177950e-02 -1.33452653e+02] [-4.83372420e-02 2.47817166e-03 9.98827998e-01 -4.77719893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.1107140569999 meters 0.03345007710833584 Centerline is valid? [True, True] Translation: X:750.77, Y:-133.46, Z:-47.77 [[ 9.71296509e-01 2.33265837e-01 4.65847751e-02 7.50773454e+02] [-2.32873014e-01 9.72409735e-01 -1.37647119e-02 -1.33463401e+02] [-4.85103258e-02 2.52127966e-03 9.98819499e-01 -4.77740417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.140714057 meters 0.03496750079115184 Centerline is valid? [True, True] Translation: X:750.80, Y:-133.48, Z:-47.78 [[ 9.71739694e-01 2.31432154e-01 4.64878961e-02 7.50799404e+02] [-2.31039558e-01 9.72847589e-01 -1.37219313e-02 -1.33477302e+02] [-4.84013337e-02 2.59360239e-03 9.98824601e-01 -4.77757598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.1707140569999 meters 0.03519225840579092 Centerline is valid? [True, True] Translation: X:750.83, Y:-133.49, Z:-47.78 [[ 9.71912422e-01 2.30696794e-01 4.65320657e-02 7.50826176e+02] [-2.30302649e-01 9.73022128e-01 -1.37341885e-02 -1.33487716e+02] [-4.84451629e-02 2.63197041e-03 9.98822376e-01 -4.77771869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.2007140569999 meters 0.03577148090160758 Centerline is valid? [True, True] Translation: X:750.85, Y:-133.50, Z:-47.78 [[ 9.72223697e-01 2.29450459e-01 4.61905795e-02 7.50852816e+02] [-2.29061258e-01 9.73316699e-01 -1.36214163e-02 -1.33497740e+02] [-4.80835026e-02 2.66259152e-03 9.98839771e-01 -4.77794283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.2307140569999 meters 0.03351556817489921 Centerline is valid? [True, True] Translation: X:750.88, Y:-133.51, Z:-47.78 [[ 9.72529308e-01 2.28199058e-01 4.59557928e-02 7.50880691e+02] [-2.27812979e-01 9.73610756e-01 -1.35403740e-02 -1.33505542e+02] [-4.78329548e-02 2.69908448e-03 9.98851702e-01 -4.77801592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.260714057 meters 0.037954772609310496 Centerline is valid? [True, True] Translation: X:750.91, Y:-133.52, Z:-47.78 [[ 9.72680967e-01 2.27538791e-01 4.60199341e-02 7.50905297e+02] [-2.27151577e-01 9.73765214e-01 -1.35450847e-02 -1.33521394e+02] [-4.78946432e-02 2.72154544e-03 9.98848685e-01 -4.77827834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.290714057 meters 0.03393338892662067 Centerline is valid? [True, True] Translation: X:750.93, Y:-133.52, Z:-47.78 [[ 9.72754236e-01 2.27170923e-01 4.62878802e-02 7.50933209e+02] [-2.26778890e-01 9.73851011e-01 -1.36214376e-02 -1.33524154e+02] [-4.81718935e-02 2.75319705e-03 9.98835266e-01 -4.77829084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.3207140569999 meters 0.03942476079940512 Centerline is valid? [True, True] Translation: X:750.96, Y:-133.54, Z:-47.79 [[ 9.72715118e-01 2.27297067e-01 4.64902535e-02 7.50956820e+02] [-2.26902534e-01 9.73821606e-01 -1.36645625e-02 -1.33543457e+02] [-4.83791283e-02 2.74297020e-03 9.98825278e-01 -4.77854327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.3507140569999 meters 0.04007451915283503 Centerline is valid? [True, True] Translation: X:750.98, Y:-133.55, Z:-47.79 [[ 9.72635109e-01 2.27585069e-01 4.67544846e-02 7.50983401e+02] [-2.27186522e-01 9.73754344e-01 -1.37390298e-02 -1.33553087e+02] [-4.86541805e-02 2.74107401e-03 9.98811923e-01 -4.77871316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.380714057 meters 0.03697804423619937 Centerline is valid? [True, True] Translation: X:751.01, Y:-133.56, Z:-47.79 [[ 9.72452320e-01 2.28339323e-01 4.68789798e-02 7.51012519e+02] [-2.27940096e-01 9.73577870e-01 -1.37638750e-02 -1.33557765e+02] [-4.87831712e-02 2.69911300e-03 9.98805745e-01 -4.77870310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.410714057 meters 0.03428445407748412 Centerline is valid? [True, True] Translation: X:751.04, Y:-133.56, Z:-47.79 [[ 9.72274563e-01 2.29065594e-01 4.70226227e-02 7.51041014e+02] [-2.28665301e-01 9.73407354e-01 -1.37950373e-02 -1.33561929e+02] [-4.89321352e-02 2.66012170e-03 9.98798563e-01 -4.77873242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.4407140569999 meters 0.03291039179187042 Centerline is valid? [True, True] Translation: X:751.07, Y:-133.57, Z:-47.79 [[ 9.71816541e-01 2.31048147e-01 4.67906512e-02 7.51069337e+02] [-2.30654694e-01 9.72939014e-01 -1.37144875e-02 -1.33568885e+02] [-4.86931569e-02 2.53548248e-03 9.98810567e-01 -4.77884414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.4707140569999 meters 0.03680596566662569 Centerline is valid? [True, True] Translation: X:751.09, Y:-133.58, Z:-47.79 [[ 9.71612889e-01 2.31869223e-01 4.69580319e-02 7.51093849e+02] [-2.31474547e-01 9.72743780e-01 -1.37503811e-02 -1.33583983e+02] [-4.88664236e-02 2.49045838e-03 9.98802218e-01 -4.77913478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.500714057 meters 0.03197209475606128 Centerline is valid? [True, True] Translation: X:751.12, Y:-133.59, Z:-47.79 [[ 9.71512227e-01 2.32316125e-01 4.68317252e-02 7.51123470e+02] [-2.31924232e-01 9.72637226e-01 -1.37104588e-02 -1.33585584e+02] [-4.87354400e-02 2.45846648e-03 9.98808697e-01 -4.77917723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.530714057 meters 0.0352391736839321 Centerline is valid? [True, True] Translation: X:751.15, Y:-133.60, Z:-47.79 [[ 9.71359685e-01 2.33011937e-01 4.65381588e-02 7.51148151e+02] [-2.32626427e-01 9.72470927e-01 -1.36103705e-02 -1.33600960e+02] [-4.84283852e-02 2.39455958e-03 9.98823787e-01 -4.77947004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.5607140569999 meters 0.031372829771038335 Centerline is valid? [True, True] Translation: X:751.18, Y:-133.60, Z:-47.79 [[ 9.71347056e-01 2.33168826e-01 4.60129971e-02 7.51177568e+02] [-2.32792278e-01 9.72433413e-01 -1.34540994e-02 -1.33604085e+02] [-4.78816524e-02 2.35712939e-03 9.98850235e-01 -4.77948744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.5907140569999 meters 0.03187167534463984 Centerline is valid? [True, True] Translation: X:751.20, Y:-133.61, Z:-47.80 [[ 9.71249039e-01 2.33629960e-01 4.57421648e-02 7.51204158e+02] [-2.33259015e-01 9.72322848e-01 -1.33608300e-02 -1.33612881e+02] [-4.75976421e-02 2.30692095e-03 9.98863926e-01 -4.77968023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.620714057 meters 0.032065402036695514 Centerline is valid? [True, True] Translation: X:751.23, Y:-133.62, Z:-47.80 [[ 9.71154718e-01 2.34173482e-01 4.49588059e-02 7.51230165e+02] [-2.33815922e-01 9.72192253e-01 -1.31277720e-02 -1.33621550e+02] [-4.67827789e-02 2.23701302e-03 9.98902582e-01 -4.77983572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.650714057 meters 0.031074430281326382 Centerline is valid? [True, True] Translation: X:751.26, Y:-133.63, Z:-47.80 [[ 9.70570356e-01 2.36563883e-01 4.50634370e-02 7.51258644e+02] [-2.36207454e-01 9.71613620e-01 -1.31534071e-02 -1.33630159e+02] [-4.68958702e-02 2.12198732e-03 9.98897530e-01 -4.77995343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.6807140569999 meters 0.030092909399493464 Centerline is valid? [True, True] Translation: X:751.29, Y:-133.64, Z:-47.80 [[ 9.70377788e-01 2.37308856e-01 4.52929982e-02 7.51286854e+02] [-2.36949572e-01 9.71431989e-01 -1.32208580e-02 -1.33637660e+02] [-4.71364940e-02 2.09707040e-03 9.98886256e-01 -4.78004758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.7107140569999 meters 0.030138980177010662 Centerline is valid? [True, True] Translation: X:751.31, Y:-133.65, Z:-47.80 [[ 9.70107256e-01 2.38350792e-01 4.56159246e-02 7.51313556e+02] [-2.37988054e-01 9.71176965e-01 -1.33036958e-02 -1.33646780e+02] [-4.74720817e-02 2.04996669e-03 9.98870462e-01 -4.78021734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.740714057 meters 0.02991403435248974 Centerline is valid? [True, True] Translation: X:751.34, Y:-133.66, Z:-47.80 [[ 9.69931772e-01 2.39034048e-01 4.57720556e-02 7.51340952e+02] [-2.38670171e-01 9.71009103e-01 -1.33368543e-02 -1.33655218e+02] [-4.76330449e-02 2.01141438e-03 9.98862877e-01 -4.78034404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.770714057 meters 0.029450487510387414 Centerline is valid? [True, True] Translation: X:751.37, Y:-133.66, Z:-47.80 [[ 9.69399198e-01 2.41179222e-01 4.58015017e-02 7.51368866e+02] [-2.40817939e-01 9.70478747e-01 -1.33312631e-02 -1.33662579e+02] [-4.76646076e-02 1.89349255e-03 9.98861602e-01 -4.78039206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.8007140569999 meters 0.030337562522718686 Centerline is valid? [True, True] Translation: X:751.40, Y:-133.67, Z:-47.81 [[ 9.69202915e-01 2.41893434e-01 4.61874025e-02 7.51395116e+02] [-2.41526929e-01 9.70301016e-01 -1.34417723e-02 -1.33672840e+02] [-4.80671600e-02 1.87230336e-03 9.98842351e-01 -4.78061714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.8307140569999 meters 0.028727408828119257 Centerline is valid? [True, True] Translation: X:751.42, Y:-133.68, Z:-47.81 [[ 9.69064991e-01 2.42446369e-01 4.61822640e-02 7.51423121e+02] [-2.42081167e-01 9.70163079e-01 -1.34279331e-02 -1.33678384e+02] [-4.80598810e-02 1.83268350e-03 9.98842775e-01 -4.78073766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.8607140569999 meters 0.029082622353645213 Centerline is valid? [True, True] Translation: X:751.45, Y:-133.69, Z:-47.81 [[ 9.69039884e-01 2.42508351e-01 4.63832247e-02 7.51449884e+02] [-2.42140639e-01 9.70147601e-01 -1.34738020e-02 -1.33689288e+02] [-4.82660837e-02 1.82538788e-03 9.98832845e-01 -4.78097845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.890714057 meters 0.030443289943950565 Centerline is valid? [True, True] Translation: X:751.47, Y:-133.70, Z:-47.81 [[ 9.69075292e-01 2.42290071e-01 4.67824672e-02 7.51474783e+02] [-2.41916416e-01 9.70202113e-01 -1.35759840e-02 -1.33701362e+02] [-4.86777746e-02 1.83870388e-03 9.98812842e-01 -4.78126494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.9207140569999 meters 0.0282767525102555 Centerline is valid? [True, True] Translation: X:751.50, Y:-133.71, Z:-47.81 [[ 9.69264744e-01 2.41584594e-01 4.65052578e-02 7.51503140e+02] [-2.41214779e-01 9.70377983e-01 -1.34907378e-02 -1.33705520e+02] [-4.83868327e-02 1.85834102e-03 9.98826942e-01 -4.78131286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.9507140569999 meters 0.028989743713560556 Centerline is valid? [True, True] Translation: X:751.53, Y:-133.72, Z:-47.81 [[ 9.69500445e-01 2.40709643e-01 4.61275924e-02 7.51529057e+02] [-2.40345513e-01 9.70595364e-01 -1.33668857e-02 -1.33716100e+02] [-4.79887656e-02 1.87264175e-03 9.98846120e-01 -4.78148906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.9807140569999 meters 0.030622942371735854 Centerline is valid? [True, True] Translation: X:751.56, Y:-133.73, Z:-47.82 [[ 9.70010984e-01 2.38628700e-01 4.62064340e-02 7.51555353e+02] [-2.38261202e-01 9.71108874e-01 -1.33848295e-02 -1.33728761e+02] [-4.80654825e-02 1.97423117e-03 9.98842236e-01 -4.78165916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.010714057 meters 0.029648894136053438 Centerline is valid? [True, True] Translation: X:751.58, Y:-133.74, Z:-47.82 [[ 9.70313566e-01 2.37433441e-01 4.60102784e-02 7.51582836e+02] [-2.37067745e-01 9.71401700e-01 -1.33274351e-02 -1.33736084e+02] [-4.78588415e-02 2.02423812e-03 9.98852058e-01 -4.78177790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.040714057 meters 0.03068570506066985 Centerline is valid? [True, True] Translation: X:751.61, Y:-133.75, Z:-47.82 [[ 9.70584436e-01 2.36312823e-01 4.60662884e-02 7.51608267e+02] [-2.35945660e-01 9.71674828e-01 -1.33294241e-02 -1.33747422e+02] [-4.79113667e-02 2.06819074e-03 9.98849450e-01 -4.78202234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.0707140569999 meters 0.0314266332770993 Centerline is valid? [True, True] Translation: X:751.63, Y:-133.76, Z:-47.82 [[ 9.71261597e-01 2.33716381e-01 4.50284663e-02 7.51634881e+02] [-2.33363019e-01 9.72302455e-01 -1.30244931e-02 -1.33759839e+02] [-4.68253257e-02 2.14221117e-03 9.98900796e-01 -4.78227394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.1007140569999 meters 0.03199644007899832 Centerline is valid? [True, True] Translation: X:751.66, Y:-133.77, Z:-47.82 [[ 9.71580020e-01 2.32378935e-01 4.50809996e-02 7.51660194e+02] [-2.32023404e-01 9.72622824e-01 -1.30376856e-02 -1.33770152e+02] [-4.68764927e-02 2.20730783e-03 9.98898254e-01 -4.78242076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.130714057 meters 0.032444290699870766 Centerline is valid? [True, True] Translation: X:751.69, Y:-133.78, Z:-47.83 [[ 9.71853245e-01 2.31141561e-01 4.55505112e-02 7.51687062e+02] [-2.30777484e-01 9.72917446e-01 -1.31680236e-02 -1.33778940e+02] [-4.73605645e-02 2.28535414e-03 9.98875245e-01 -4.78256512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.160714057 meters 0.03634202066989044 Centerline is valid? [True, True] Translation: X:751.71, Y:-133.79, Z:-47.83 [[ 9.72282036e-01 2.29089782e-01 4.67494820e-02 7.51712334e+02] [-2.28704146e-01 9.73402230e-01 -1.35096997e-02 -1.33794973e+02] [-4.86009842e-02 2.44343797e-03 9.98815285e-01 -4.78262511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.1907140569999 meters 0.03416397784288054 Centerline is valid? [True, True] Translation: X:751.74, Y:-133.80, Z:-47.83 [[ 9.72594558e-01 2.27735079e-01 4.68674604e-02 7.51740892e+02] [-2.27345968e-01 9.73719878e-01 -1.35429300e-02 -1.33801002e+02] [-4.87199780e-02 2.51665187e-03 9.98809306e-01 -4.78271632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.2207140569999 meters 0.037837067303321606 Centerline is valid? [True, True] Translation: X:751.77, Y:-133.82, Z:-47.83 [[ 9.72751634e-01 2.27099380e-01 4.66918618e-02 7.51765619e+02] [-2.26713100e-01 9.73868313e-01 -1.34788374e-02 -1.33815893e+02] [-4.85327603e-02 2.52590435e-03 9.98818397e-01 -4.78302780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.250714057 meters 0.03766421339265631 Centerline is valid? [True, True] Translation: X:751.79, Y:-133.82, Z:-47.83 [[ 9.73086631e-01 2.25834798e-01 4.58372424e-02 7.51793258e+02] [-2.25461387e-01 9.74162312e-01 -1.32269660e-02 -1.33824357e+02] [-4.76400232e-02 2.53645556e-03 9.98861349e-01 -4.78324015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.280714057 meters 0.03476022062696105 Centerline is valid? [True, True] Translation: X:751.82, Y:-133.83, Z:-47.83 [[ 9.73370606e-01 2.24651242e-01 4.56232639e-02 7.51821664e+02] [-2.24280551e-01 9.74435841e-01 -1.31539417e-02 -1.33828365e+02] [-4.74119929e-02 2.57124941e-03 9.98872110e-01 -4.78331908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.3107140569999 meters 0.03586239710160923 Centerline is valid? [True, True] Translation: X:751.85, Y:-133.84, Z:-47.84 [[ 9.73815650e-01 2.22774525e-01 4.53275955e-02 7.51848119e+02] [-2.22407265e-01 9.74866445e-01 -1.30546160e-02 -1.33839634e+02] [-4.70965877e-02 2.63160288e-03 9.98886874e-01 -4.78353250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.3407140569999 meters 0.03673188008829149 Centerline is valid? [True, True] Translation: X:751.87, Y:-133.85, Z:-47.84 [[ 9.74032618e-01 2.21828073e-01 4.53074443e-02 7.51873656e+02] [-2.21460221e-01 9.75082128e-01 -1.30466358e-02 -1.33849885e+02] [-4.70725893e-02 2.67405218e-03 9.98887892e-01 -4.78371707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.370714057 meters 0.03465825967856461 Centerline is valid? [True, True] Translation: X:751.90, Y:-133.86, Z:-47.84 [[ 9.74344219e-01 2.20501801e-01 4.50810186e-02 7.51901846e+02] [-2.20136314e-01 9.75382769e-01 -1.29791217e-02 -1.33855702e+02] [-4.68331685e-02 2.72216289e-03 9.98899016e-01 -4.78378671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.400714057 meters 0.035070607024075204 Centerline is valid? [True, True] Translation: X:751.93, Y:-133.87, Z:-47.84 [[ 9.74821504e-01 2.18474387e-01 4.46315794e-02 7.51929459e+02] [-2.18114701e-01 9.75838730e-01 -1.28354752e-02 -1.33865841e+02] [-4.63574464e-02 2.77749368e-03 9.98921054e-01 -4.78395553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.4307140569999 meters 0.035070607024075204 Centerline is valid? [True, True] Translation: X:751.96, Y:-133.87, Z:-47.84 [[ 9.74884080e-01 2.18194999e-01 4.46315332e-02 7.51955813e+02] [-2.17835014e-01 9.75901200e-01 -1.28356378e-02 -1.33873344e+02] [-4.63566388e-02 2.79094827e-03 9.98921054e-01 -4.78411439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.4607140569999 meters 0.03713728418341397 Centerline is valid? [True, True] Translation: X:751.98, Y:-133.88, Z:-47.84 [[ 9.75168702e-01 2.16986045e-01 4.43064244e-02 7.51980996e+02] [-2.16630749e-01 9.76170653e-01 -1.27268986e-02 -1.33883938e+02] [-4.60121907e-02 2.81273930e-03 9.98936918e-01 -4.78429152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.490714057 meters 0.03855126441574354 Centerline is valid? [True, True] Translation: X:752.01, Y:-133.89, Z:-47.84 [[ 9.75386561e-01 2.15842718e-01 4.50885653e-02 7.52006643e+02] [-2.15473944e-01 9.76423811e-01 -1.29429880e-02 -1.33894045e+02] [-4.68191985e-02 2.90900557e-03 9.98899144e-01 -4.78444843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.520714057 meters 0.04142304589136806 Centerline is valid? [True, True] Translation: X:752.03, Y:-133.91, Z:-47.85 [[ 9.75466960e-01 2.15451402e-01 4.52206056e-02 7.52032238e+02] [-2.15080224e-01 9.76510160e-01 -1.29770789e-02 -1.33906579e+02] [-4.69543107e-02 2.93265378e-03 9.98892733e-01 -4.78462558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.5507140569999 meters 0.03713981480708278 Centerline is valid? [True, True] Translation: X:752.06, Y:-133.91, Z:-47.85 [[ 9.75575828e-01 2.14894102e-01 4.55228395e-02 7.52061844e+02] [-2.14517578e-01 9.76632827e-01 -1.30587489e-02 -1.33908751e+02] [-4.72653475e-02 2.97435051e-03 9.98877941e-01 -4.78462691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.5807140569999 meters 0.03677650437814448 Centerline is valid? [True, True] Translation: X:752.09, Y:-133.92, Z:-47.85 [[ 9.75674159e-01 2.14311679e-01 4.61566908e-02 7.52089679e+02] [-2.13924542e-01 9.76760621e-01 -1.32280155e-02 -1.33916830e+02] [-4.79189561e-02 3.03218396e-03 9.98846625e-01 -4.78475821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.6107140569999 meters 0.036930203887625 Centerline is valid? [True, True] Translation: X:752.12, Y:-133.93, Z:-47.85 [[ 9.75637830e-01 2.14356933e-01 4.67111311e-02 7.52116692e+02] [-2.13961103e-01 9.76750623e-01 -1.33741454e-02 -1.33925705e+02] [-4.84919672e-02 3.05395707e-03 9.98818904e-01 -4.78486801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.640714057 meters 0.03581543377032845 Centerline is valid? [True, True] Translation: X:752.14, Y:-133.93, Z:-47.85 [[ 9.75687698e-01 2.14193673e-01 4.64175150e-02 7.52144021e+02] [-2.13803200e-01 9.76786508e-01 -1.32781353e-02 -1.33931034e+02] [-4.81840950e-02 3.03110004e-03 9.98833873e-01 -4.78488254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.6707140569999 meters 0.05405679169905796 Centerline is valid? [True, True] Translation: X:752.16, Y:-133.97, Z:-47.85 [[ 9.75268269e-01 2.15965836e-01 4.70166111e-02 7.52163990e+02] [-2.15568095e-01 9.76396419e-01 -1.34324118e-02 -1.33965017e+02] [-4.88077927e-02 2.96492369e-03 9.98803789e-01 -4.78545627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.7007140569999 meters 0.036410631336059096 Centerline is valid? [True, True] Translation: X:752.20, Y:-133.95, Z:-47.85 [[ 9.75593229e-01 2.14681898e-01 4.61468768e-02 7.52199148e+02] [-2.14297320e-01 9.76679499e-01 -1.31838782e-02 -1.33947701e+02] [-4.79010486e-02 2.97295030e-03 9.98847662e-01 -4.78527067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.7307140569999 meters 0.0358384640804811 Centerline is valid? [True, True] Translation: X:752.23, Y:-133.96, Z:-47.85 [[ 9.75510788e-01 2.15060373e-01 4.61274171e-02 7.52227066e+02] [-2.14677136e-01 9.76596327e-01 -1.31658888e-02 -1.33955338e+02] [-4.78793271e-02 2.94096474e-03 9.98848798e-01 -4.78548023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.760714057 meters 0.03633598845618185 Centerline is valid? [True, True] Translation: X:752.25, Y:-133.96, Z:-47.86 [[ 9.75159851e-01 2.16813448e-01 4.53342403e-02 7.52254446e+02] [-2.16445831e-01 9.76209062e-01 -1.29255189e-02 -1.33962491e+02] [-4.70581226e-02 2.79203975e-03 9.98888251e-01 -4.78565271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.790714057 meters 0.03465736903371126 Centerline is valid? [True, True] Translation: X:752.28, Y:-133.97, Z:-47.86 [[ 9.74850482e-01 2.18226869e-01 4.52058816e-02 7.52283032e+02] [-2.17863007e-01 9.75894295e-01 -1.28854822e-02 -1.33967343e+02] [-4.69281204e-02 2.71272927e-03 9.98894585e-01 -4.78578954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.8207140569999 meters 0.035190344713829404 Centerline is valid? [True, True] Translation: X:752.31, Y:-133.97, Z:-47.86 [[ 9.74522235e-01 2.19726760e-01 4.50173772e-02 7.52309490e+02] [-2.19367674e-01 9.75557919e-01 -1.28284965e-02 -1.33974715e+02] [-4.67358228e-02 2.62629775e-03 9.98903832e-01 -4.78595357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.8507140569999 meters 0.032672421505863275 Centerline is valid? [True, True] Translation: X:752.34, Y:-133.98, Z:-47.86 [[ 9.73790092e-01 2.22884042e-01 4.53382896e-02 7.52339975e+02] [-2.22523451e-01 9.74841790e-01 -1.29150567e-02 -1.33977871e+02] [-4.70762194e-02 2.48772157e-03 9.98888202e-01 -4.78607149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.880714057 meters 0.032458067212171544 Centerline is valid? [True, True] Translation: X:752.37, Y:-133.98, Z:-47.86 [[ 9.73330200e-01 2.24786914e-01 4.58166382e-02 7.52366811e+02] [-2.24420824e-01 9.74404940e-01 -1.30501485e-02 -1.33984662e+02] [-4.75774612e-02 2.41989590e-03 9.98864620e-01 -4.78625411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.910714057 meters 0.03249232455693148 Centerline is valid? [True, True] Translation: X:752.39, Y:-133.99, Z:-47.86 [[ 9.72935146e-01 2.26454086e-01 4.59972640e-02 7.52394789e+02] [-2.26087284e-01 9.74019028e-01 -1.30947848e-02 -1.33991498e+02] [-4.77675779e-02 2.34097986e-03 9.98855735e-01 -4.78644978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.9407140569999 meters 0.03151511149309867 Centerline is valid? [True, True] Translation: X:752.42, Y:-134.00, Z:-47.87 [[ 9.71892907e-01 2.30721324e-01 4.68171755e-02 7.52423726e+02] [-2.30346443e-01 9.73017462e-01 -1.33242300e-02 -1.33996959e+02] [-4.86281132e-02 2.16555476e-03 9.98814606e-01 -4.78655320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.9707140569999 meters 0.03141168647454727 Centerline is valid? [True, True] Translation: X:752.45, Y:-134.00, Z:-47.87 [[ 9.71396534e-01 2.32710921e-01 4.72694602e-02 7.52451461e+02] [-2.32331178e-01 9.72543717e-01 -1.34514532e-02 -1.34003122e+02] [-4.91019166e-02 2.08452562e-03 9.98791598e-01 -4.78667765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.000714057 meters 0.028891754984199602 Centerline is valid? [True, True] Translation: X:752.48, Y:-134.01, Z:-47.87 [[ 9.71020634e-01 2.34077706e-01 4.82343823e-02 7.52480594e+02] [-2.33684084e-01 9.72215720e-01 -1.37237934e-02 -1.34005789e+02] [-5.01066588e-02 2.05447912e-03 9.98741759e-01 -4.78670143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.030714057 meters 0.028683092452140777 Centerline is valid? [True, True] Translation: X:752.51, Y:-134.01, Z:-47.87 [[ 9.70700045e-01 2.35330884e-01 4.85880439e-02 7.52508251e+02] [-2.34933683e-01 9.71913272e-01 -1.38114919e-02 -1.34012578e+02] [-5.04736353e-02 1.99184772e-03 9.98723408e-01 -4.78683927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.0607140569999 meters 0.02837762048822501 Centerline is valid? [True, True] Translation: X:752.53, Y:-134.02, Z:-47.87 [[ 9.70207898e-01 2.37128100e-01 4.96678891e-02 7.52534779e+02] [-2.36716146e-01 9.71476481e-01 -1.41036390e-02 -1.34019536e+02] [-5.15955553e-02 1.92627065e-03 9.98666205e-01 -4.78706496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.0907140569999 meters 0.028372308639769316 Centerline is valid? [True, True] Translation: X:752.56, Y:-134.03, Z:-47.87 [[ 9.70142760e-01 2.37304192e-01 5.00973587e-02 7.52562184e+02] [-2.36885514e-01 9.71433475e-01 -1.42217078e-02 -1.34027438e+02] [-5.20411221e-02 1.92974828e-03 9.98643078e-01 -4.78725997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.120714057 meters 0.030817861837310792 Centerline is valid? [True, True] Translation: X:752.59, Y:-134.04, Z:-47.87 [[ 9.70344463e-01 2.36285849e-01 5.09962747e-02 7.52587078e+02] [-2.35851366e-01 9.71681519e-01 -1.44623343e-02 -1.34039385e+02] [-5.29693826e-02 2.00590495e-03 9.98594122e-01 -4.78745379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.150714057 meters 0.03080890455985804 Centerline is valid? [True, True] Translation: X:752.61, Y:-134.05, Z:-47.88 [[ 9.70632434e-01 2.35026734e-01 5.13333494e-02 7.52614618e+02] [-2.34585006e-01 9.71986674e-01 -1.45526903e-02 -1.34047188e+02] [-5.33156028e-02 2.08327913e-03 9.98575539e-01 -4.78764733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.1807140569999 meters 0.028973426528118008 Centerline is valid? [True, True] Translation: X:752.64, Y:-134.05, Z:-47.88 [[ 9.70956433e-01 2.33699923e-01 5.12635506e-02 7.52643048e+02] [-2.33258242e-01 9.72306415e-01 -1.45199408e-02 -1.34051949e+02] [-5.32371881e-02 2.14058424e-03 9.98579601e-01 -4.78779650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.2107140569999 meters 0.030993352594118735 Centerline is valid? [True, True] Translation: X:752.67, Y:-134.06, Z:-47.88 [[ 9.71421180e-01 2.31841449e-01 5.08963030e-02 7.52668462e+02] [-2.31404290e-01 9.72751072e-01 -1.44016374e-02 -1.34064301e+02] [-5.28483298e-02 2.21243279e-03 9.98600100e-01 -4.78806985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.240714057 meters 0.03196447829627577 Centerline is valid? [True, True] Translation: X:752.69, Y:-134.07, Z:-47.88 [[ 9.71826024e-01 2.30106833e-01 5.10394420e-02 7.52694930e+02] [-2.29665228e-01 9.73162642e-01 -1.44344975e-02 -1.34074203e+02] [-5.29911547e-02 2.30583523e-03 9.98592320e-01 -4.78830674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.270714057 meters 0.03132268339832892 Centerline is valid? [True, True] Translation: X:752.72, Y:-134.08, Z:-47.89 [[ 9.72682403e-01 2.26564057e-01 5.05734138e-02 7.52723315e+02] [-2.26125967e-01 9.73993132e-01 -1.42977495e-02 -1.34083271e+02] [-5.24975138e-02 2.47120725e-03 9.98617997e-01 -4.78851305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.3007140569999 meters 0.03129592504247584 Centerline is valid? [True, True] Translation: X:752.75, Y:-134.09, Z:-47.89 [[ 9.73111175e-01 2.24598568e-01 5.10893724e-02 7.52751035e+02] [-2.24148797e-01 9.74447898e-01 -1.44433785e-02 -1.34091522e+02] [-5.30278937e-02 2.60339164e-03 9.98589638e-01 -4.78863721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.3307140569999 meters 0.0323231289629493 Centerline is valid? [True, True] Translation: X:752.78, Y:-134.10, Z:-47.89 [[ 9.73467578e-01 2.23039024e-01 5.11318779e-02 7.52776648e+02] [-2.22587118e-01 9.74805842e-01 -1.44411136e-02 -1.34101195e+02] [-5.30645852e-02 2.67665851e-03 9.98587495e-01 -4.78875964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.3607140569999 meters 0.03412920050377935 Centerline is valid? [True, True] Translation: X:752.80, Y:-134.11, Z:-47.89 [[ 9.73793068e-01 2.21404698e-01 5.20290286e-02 7.52802112e+02] [-2.20934936e-01 9.75177977e-01 -1.46855894e-02 -1.34111202e+02] [-5.39890213e-02 2.80569506e-03 9.98537588e-01 -4.78889306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.390714057 meters 0.03435693043649073 Centerline is valid? [True, True] Translation: X:752.83, Y:-134.12, Z:-47.89 [[ 9.74460351e-01 2.18338691e-01 5.24903797e-02 7.52830503e+02] [-2.17856623e-01 9.75868463e-01 -1.48065597e-02 -1.34120535e+02] [-5.44565510e-02 2.99302848e-03 9.98511655e-01 -4.78899368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.4207140569999 meters 0.0353540124040187 Centerline is valid? [True, True] Translation: X:752.86, Y:-134.13, Z:-47.89 [[ 9.74840555e-01 2.16655886e-01 5.24034315e-02 7.52857394e+02] [-2.16173003e-01 9.76243171e-01 -1.47818432e-02 -1.34130349e+02] [-5.43610655e-02 3.08173310e-03 9.98516589e-01 -4.78914569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.4507140569999 meters 0.035764331285573395 Centerline is valid? [True, True] Translation: X:752.88, Y:-134.14, Z:-47.89 [[ 9.75449950e-01 2.13914688e-01 5.23249679e-02 7.52884944e+02] [-2.13430104e-01 9.76847054e-01 -1.47453172e-02 -1.34139164e+02] [-5.42677307e-02 3.21559559e-03 9.98521243e-01 -4.78943417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.4807140569999 meters 0.03718957547613093 Centerline is valid? [True, True] Translation: X:752.91, Y:-134.15, Z:-47.90 [[ 9.75692205e-01 2.12680769e-01 5.28357086e-02 7.52910825e+02] [-2.12185027e-01 9.77116119e-01 -1.48863474e-02 -1.34149821e+02] [-5.47926623e-02 3.31354680e-03 9.98492256e-01 -4.78960464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.510714057 meters 0.03631817008143823 Centerline is valid? [True, True] Translation: X:752.94, Y:-134.16, Z:-47.90 [[ 9.76091375e-01 2.10919013e-01 5.25242586e-02 7.52939278e+02] [-2.10426840e-01 9.77497671e-01 -1.47935566e-02 -1.34156446e+02] [-5.44625828e-02 3.38734927e-03 9.98510067e-01 -4.78975671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.540714057 meters 0.03847050000346727 Centerline is valid? [True, True] Translation: X:752.97, Y:-134.17, Z:-47.90 [[ 9.76962668e-01 2.06965394e-01 5.20506524e-02 7.52966547e+02] [-2.06476646e-01 9.78341743e-01 -1.46570520e-02 -1.34167906e+02] [-5.39568285e-02 3.57214853e-03 9.98536880e-01 -4.78995158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.5707140569999 meters 0.03843181836787518 Centerline is valid? [True, True] Translation: X:752.99, Y:-134.18, Z:-47.90 [[ 9.77382777e-01 2.05063814e-01 5.16888691e-02 7.52994597e+02] [-2.04579227e-01 9.78741796e-01 -1.45546267e-02 -1.34176439e+02] [-5.35746839e-02 3.65097256e-03 9.98557171e-01 -4.79011467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.6007140569999 meters 0.03730968992730792 Centerline is valid? [True, True] Translation: X:753.02, Y:-134.18, Z:-47.90 [[ 9.77840677e-01 2.03000658e-01 5.11697488e-02 7.53023192e+02] [-2.02523110e-01 9.79171522e-01 -1.44055517e-02 -1.34183149e+02] [-5.30282973e-02 3.72327775e-03 9.98586069e-01 -4.79026912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.630714057 meters 0.04482206630143613 Centerline is valid? [True, True] Translation: X:753.05, Y:-134.20, Z:-47.91 [[ 9.78341308e-01 2.00732130e-01 5.05459824e-02 7.53047724e+02] [-2.00263309e-01 9.79638811e-01 -1.42270031e-02 -1.34201783e+02] [-5.23726227e-02 3.79635915e-03 9.98620396e-01 -4.79057416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.660714057 meters 0.04167457854143684 Centerline is valid? [True, True] Translation: X:753.08, Y:-134.21, Z:-47.91 [[ 9.79125727e-01 1.96988733e-01 5.00824375e-02 7.53077777e+02] [-1.96523773e-01 9.80397768e-01 -1.40934080e-02 -1.34205197e+02] [-5.18769525e-02 3.95682875e-03 9.98645646e-01 -4.79066559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.6907140569999 meters 0.04140879076874685 Centerline is valid? [True, True] Translation: X:753.11, Y:-134.21, Z:-47.91 [[ 9.79399118e-01 1.95659526e-01 4.99471540e-02 7.53106089e+02] [-1.95195367e-01 9.80663663e-01 -1.40552139e-02 -1.34211776e+02] [-5.17313954e-02 4.01621108e-03 9.98652959e-01 -4.79081312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.7207140569999 meters 0.04124151787589054 Centerline is valid? [True, True] Translation: X:753.13, Y:-134.22, Z:-47.91 [[ 9.79798569e-01 1.93655730e-01 4.99221600e-02 7.53134706e+02] [-1.93189602e-01 9.81060909e-01 -1.40452801e-02 -1.34217434e+02] [-5.16966286e-02 4.11710307e-03 9.98654349e-01 -4.79097425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.750714057 meters 0.04078895102061981 Centerline is valid? [True, True] Translation: X:753.16, Y:-134.22, Z:-47.91 [[ 9.79896256e-01 1.93201262e-01 4.97654504e-02 7.53162565e+02] [-1.92737561e-01 9.81150470e-01 -1.39995604e-02 -1.34223711e+02] [-5.15321278e-02 4.12644528e-03 9.98662812e-01 -4.79118073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.780714057 meters 0.04051783659261653 Centerline is valid? [True, True] Translation: X:753.19, Y:-134.23, Z:-47.91 [[ 9.80015011e-01 1.92570900e-01 4.98700963e-02 7.53190228e+02] [-1.92105152e-01 9.81274267e-01 -1.40151346e-02 -1.34230778e+02] [-5.16351492e-02 4.15473989e-03 9.98657373e-01 -4.79130939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.8107140569999 meters 0.04306394365528871 Centerline is valid? [True, True] Translation: X:753.22, Y:-134.24, Z:-47.91 [[ 9.80060817e-01 1.92309452e-01 4.99787018e-02 7.53215824e+02] [-1.91842109e-01 9.81325504e-01 -1.40306974e-02 -1.34241027e+02] [-5.17436105e-02 4.16291723e-03 9.98651726e-01 -4.79143480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.8407140569999 meters 0.04620284080530899 Centerline is valid? [True, True] Translation: X:753.24, Y:-134.25, Z:-47.92 [[ 9.80100445e-01 1.92164260e-01 4.97595731e-02 7.53242058e+02] [-1.91701076e-01 9.81354012e-01 -1.39642885e-02 -1.34251408e+02] [-5.15151939e-02 4.14744164e-03 9.98663599e-01 -4.79158003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.870714057 meters 0.04304759887765207 Centerline is valid? [True, True] Translation: X:753.27, Y:-134.25, Z:-47.92 [[ 9.79931492e-01 1.92929248e-01 5.01256077e-02 7.53272341e+02] [-1.92460451e-01 9.81203967e-01 -1.40623913e-02 -1.34251936e+02] [-5.18964916e-02 4.13298298e-03 9.98643917e-01 -4.79155898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.900714057 meters 0.04580687156630665 Centerline is valid? [True, True] Translation: X:753.30, Y:-134.26, Z:-47.92 [[ 9.79729423e-01 1.94043209e-01 4.97744078e-02 7.53298735e+02] [-1.93582750e-01 9.80984670e-01 -1.39569212e-02 -1.34260947e+02] [-5.15361768e-02 4.03853964e-03 9.98662963e-01 -4.79180051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.9307140569999 meters 0.04580687156630665 Centerline is valid? [True, True] Translation: X:753.33, Y:-134.27, Z:-47.92 [[ 9.79783166e-01 1.93771420e-01 4.97753370e-02 7.53325179e+02] [-1.93310780e-01 9.81038348e-01 -1.39536071e-02 -1.34268268e+02] [-5.15353246e-02 4.04940011e-03 9.98662963e-01 -4.79195965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.9607140569999 meters 0.04026576213248412 Centerline is valid? [True, True] Translation: X:753.36, Y:-134.27, Z:-47.92 [[ 9.79506589e-01 1.95322644e-01 4.91518713e-02 7.53356451e+02] [-1.94876247e-01 9.80731278e-01 -1.37626165e-02 -1.34266542e+02] [-5.08929282e-02 3.90204135e-03 9.98696492e-01 -4.79204750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.990714057 meters 0.042881004977349736 Centerline is valid? [True, True] Translation: X:753.38, Y:-134.28, Z:-47.92 [[ 9.79425511e-01 1.95885656e-01 4.85229660e-02 7.53382767e+02] [-1.95451379e-01 9.80619296e-01 -1.35850633e-02 -1.34275553e+02] [-5.02436758e-02 3.82167698e-03 9.98729677e-01 -4.79227807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.020714057 meters 0.040524911260056834 Centerline is valid? [True, True] Translation: X:753.41, Y:-134.28, Z:-47.92 [[ 9.79276139e-01 1.96875926e-01 4.75196092e-02 7.53412344e+02] [-1.96460755e-01 9.80421469e-01 -1.33009137e-02 -1.34278031e+02] [-4.92078747e-02 3.68952907e-03 9.98781744e-01 -4.79239333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.0507140569999 meters 0.0390079534695841 Centerline is valid? [True, True] Translation: X:753.44, Y:-134.28, Z:-47.93 [[ 9.78716238e-01 2.00070166e-01 4.56777271e-02 7.53442976e+02] [-1.99690667e-01 9.79775746e-01 -1.27720556e-02 -1.34280610e+02] [-4.73092365e-02 3.37880246e-03 9.98874577e-01 -4.79256854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.0807140569999 meters 0.03892165332570648 Centerline is valid? [True, True] Translation: X:753.47, Y:-134.29, Z:-47.93 [[ 9.78392151e-01 2.01765009e-01 4.51628230e-02 7.53472200e+02] [-2.01395849e-01 9.79428538e-01 -1.26274261e-02 -1.34286309e+02] [-4.67815304e-02 3.25896953e-03 9.98899829e-01 -4.79275629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.1107140569999 meters 0.03838742984695474 Centerline is valid? [True, True] Translation: X:753.50, Y:-134.29, Z:-47.93 [[ 9.78082730e-01 2.03306026e-01 4.49536806e-02 7.53501055e+02] [-2.02941872e-01 9.79110109e-01 -1.25694913e-02 -1.34291848e+02] [-4.65700565e-02 3.17101830e-03 9.98909993e-01 -4.79292448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.140714057 meters 0.0381648443078762 Centerline is valid? [True, True] Translation: X:753.53, Y:-134.30, Z:-47.93 [[ 9.77525815e-01 2.06055239e-01 4.45479416e-02 7.53530031e+02] [-2.05701088e-01 9.78535764e-01 -1.24426977e-02 -1.34295163e+02] [-4.61556371e-02 2.99949812e-03 9.98929757e-01 -4.79300345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.1707140569999 meters 0.03777486414007536 Centerline is valid? [True, True] Translation: X:753.56, Y:-134.30, Z:-47.93 [[ 9.77252234e-01 2.07385306e-01 4.43780000e-02 7.53558578e+02] [-2.07035187e-01 9.78254963e-01 -1.23959126e-02 -1.34301085e+02] [-4.59837289e-02 2.92612575e-03 9.98937903e-01 -4.79315421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.2007140569999 meters 0.03641500248083235 Centerline is valid? [True, True] Translation: X:753.59, Y:-134.30, Z:-47.93 [[ 9.77117816e-01 2.08029325e-01 4.43235092e-02 7.53587081e+02] [-2.07681215e-01 9.78118344e-01 -1.23700445e-02 -1.34304484e+02] [-4.59269694e-02 2.88183067e-03 9.98940643e-01 -4.79322023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.2307140569999 meters 0.03576386125972196 Centerline is valid? [True, True] Translation: X:753.62, Y:-134.31, Z:-47.93 [[ 9.76763729e-01 2.09681921e-01 4.43408391e-02 7.53615981e+02] [-2.09335885e-01 9.77765668e-01 -1.23606961e-02 -1.34308681e+02] [-4.59467647e-02 2.79135086e-03 9.98939990e-01 -4.79331974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.260714057 meters 0.035718868881221194 Centerline is valid? [True, True] Translation: X:753.64, Y:-134.32, Z:-47.93 [[ 9.76700674e-01 2.09993635e-01 4.42545791e-02 7.53643658e+02] [-2.09649318e-01 9.77698829e-01 -1.23354520e-02 -1.34315132e+02] [-4.58580165e-02 2.77010196e-03 9.98944127e-01 -4.79347602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.290714057 meters 0.0351326281195633 Centerline is valid? [True, True] Translation: X:753.67, Y:-134.32, Z:-47.94 [[ 9.76613880e-01 2.10382652e-01 4.43223403e-02 7.53672234e+02] [-2.10038228e-01 9.77615266e-01 -1.23423904e-02 -1.34320942e+02] [-4.59268214e-02 2.74436395e-03 9.98941037e-01 -4.79361571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.3207140569999 meters 0.0351326281195633 Centerline is valid? [True, True] Translation: X:753.70, Y:-134.33, Z:-47.94 [[ 9.76674255e-01 2.10101561e-01 4.43253293e-02 7.53698639e+02] [-2.09757334e-01 9.77675709e-01 -1.23316455e-02 -1.34328218e+02] [-4.59266957e-02 2.74643778e-03 9.98941037e-01 -4.79377491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.3507140569999 meters 0.03454423258790289 Centerline is valid? [True, True] Translation: X:753.73, Y:-134.33, Z:-47.94 [[ 9.76543419e-01 2.10916499e-01 4.33264501e-02 7.53727413e+02] [-2.10589028e-01 9.77500534e-01 -1.20402427e-02 -1.34332448e+02] [-4.48911140e-02 2.63374482e-03 9.98988414e-01 -4.79392232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.380714057 meters 0.034664368863075695 Centerline is valid? [True, True] Translation: X:753.76, Y:-134.34, Z:-47.94 [[ 9.76543389e-01 2.11019123e-01 4.28245151e-02 7.53755092e+02] [-2.10699808e-01 9.77478509e-01 -1.18892825e-02 -1.34338767e+02] [-4.43689092e-02 2.58728309e-03 9.99011865e-01 -4.79409814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.410714057 meters 0.0346919916573201 Centerline is valid? [True, True] Translation: X:753.78, Y:-134.34, Z:-47.94 [[ 9.76467479e-01 2.11505034e-01 4.21530929e-02 7.53783686e+02] [-2.11196612e-01 9.77373676e-01 -1.16914179e-02 -1.34344985e+02] [-4.36721171e-02 2.51369899e-03 9.99042756e-01 -4.79429774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.4407140569999 meters 0.03490543742146398 Centerline is valid? [True, True] Translation: X:753.81, Y:-134.35, Z:-47.95 [[ 9.76122337e-01 2.13063662e-01 4.22972702e-02 7.53810619e+02] [-2.12755118e-01 9.77035271e-01 -1.17191970e-02 -1.34351894e+02] [-4.38228599e-02 2.44040928e-03 9.99036336e-01 -4.79450293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.4707140569999 meters 0.03417830830152551 Centerline is valid? [True, True] Translation: X:753.84, Y:-134.36, Z:-47.95 [[ 9.75981816e-01 2.13606039e-01 4.28013486e-02 7.53838670e+02] [-2.13290796e-01 9.76916835e-01 -1.18546967e-02 -1.34358350e+02] [-4.43455928e-02 2.44083468e-03 9.99013269e-01 -4.79463844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.500714057 meters 0.03336676507326589 Centerline is valid? [True, True] Translation: X:753.87, Y:-134.36, Z:-47.95 [[ 9.75911981e-01 2.13933759e-01 4.27569098e-02 7.53867066e+02] [-2.13619987e-01 9.76845191e-01 -1.18310464e-02 -1.34364420e+02] [-4.42979420e-02 2.41232942e-03 9.99015452e-01 -4.79473538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.530714057 meters 0.036579842482349245 Centerline is valid? [True, True] Translation: X:753.89, Y:-134.38, Z:-47.95 [[ 9.75845092e-01 2.14199950e-01 4.29504208e-02 7.53893061e+02] [-2.13884203e-01 9.76786892e-01 -1.18707475e-02 -1.34375850e+02] [-4.44961216e-02 2.39759419e-03 9.99006680e-01 -4.79501059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.5607140569999 meters 0.03639934972291639 Centerline is valid? [True, True] Translation: X:753.92, Y:-134.38, Z:-47.95 [[ 9.75788606e-01 2.14554140e-01 4.24631294e-02 7.53920912e+02] [-2.14245939e-01 9.76709264e-01 -1.17341869e-02 -1.34382021e+02] [-4.39917503e-02 2.35253286e-03 9.99029124e-01 -4.79518555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.5907140569999 meters 0.03210721714684635 Centerline is valid? [True, True] Translation: X:753.95, Y:-134.38, Z:-47.95 [[ 9.75768823e-01 2.14638244e-01 4.24926774e-02 7.53950309e+02] [-2.14330156e-01 9.76690815e-01 -1.17318349e-02 -1.34382188e+02] [-4.40203082e-02 2.34009659e-03 9.99027896e-01 -4.79515590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.620714057 meters 0.03723924479855131 Centerline is valid? [True, True] Translation: X:753.97, Y:-134.40, Z:-47.96 [[ 9.75852106e-01 2.14287814e-01 4.23485621e-02 7.53974340e+02] [-2.13982094e-01 9.76767774e-01 -1.16781813e-02 -1.34397884e+02] [-4.38672027e-02 2.33434384e-03 9.99034644e-01 -4.79556008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.650714057 meters 0.0339398359523495 Centerline is valid? [True, True] Translation: X:754.00, Y:-134.40, Z:-47.96 [[ 9.76146765e-01 2.12845296e-01 4.28295838e-02 7.54003240e+02] [-2.12531292e-01 9.77082904e-01 -1.18088231e-02 -1.34400474e+02] [-4.43615066e-02 2.42451769e-03 9.99012602e-01 -4.79562177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.6807140569999 meters 0.03334003756709685 Centerline is valid? [True, True] Translation: X:754.03, Y:-134.41, Z:-47.96 [[ 9.76352154e-01 2.11992973e-01 4.23727676e-02 7.54030847e+02] [-2.11685423e-01 9.77268185e-01 -1.16695049e-02 -1.34406937e+02] [-4.38834107e-02 2.42384905e-03 9.99033719e-01 -4.79569298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.7107140569999 meters 0.03372591274727684 Centerline is valid? [True, True] Translation: X:754.06, Y:-134.42, Z:-47.96 [[ 9.76466405e-01 2.11351007e-01 4.29431272e-02 7.54057274e+02] [-2.11034685e-01 9.77407077e-01 -1.18223680e-02 -1.34415133e+02] [-4.44715858e-02 2.48165584e-03 9.99007567e-01 -4.79588283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.740714057 meters 0.033689143810155905 Centerline is valid? [True, True] Translation: X:754.09, Y:-134.42, Z:-47.96 [[ 9.76815275e-01 2.09831511e-01 4.24576913e-02 7.54085609e+02] [-2.09520948e-01 9.77734312e-01 -1.16870598e-02 -1.34421205e+02] [-4.39646550e-02 2.52032284e-03 9.99029908e-01 -4.79602944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.770714057 meters 0.03748883172982738 Centerline is valid? [True, True] Translation: X:754.11, Y:-134.43, Z:-47.96 [[ 9.77324582e-01 2.07428485e-01 4.25451016e-02 7.54111107e+02] [-2.07114987e-01 9.78246675e-01 -1.16971909e-02 -1.34434703e+02] [-4.40459347e-02 2.62022403e-03 9.99026071e-01 -4.79639214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.8007140569999 meters 0.03920893638469001 Centerline is valid? [True, True] Translation: X:754.14, Y:-134.44, Z:-47.97 [[ 9.77687347e-01 2.05735319e-01 4.24314718e-02 7.54137615e+02] [-2.05422083e-01 9.78603989e-01 -1.16619148e-02 -1.34444543e+02] [-4.39228754e-02 2.68534516e-03 9.99031316e-01 -4.79662317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.8307140569999 meters 0.034854026973004784 Centerline is valid? [True, True] Translation: X:754.17, Y:-134.45, Z:-47.97 [[ 9.78024030e-01 2.04160271e-01 4.22797818e-02 7.54167662e+02] [-2.03847952e-01 9.78933634e-01 -1.16169135e-02 -1.34446017e+02] [-4.37608126e-02 2.74297362e-03 9.99038271e-01 -4.79661743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.8607140569999 meters 0.035814089989424855 Centerline is valid? [True, True] Translation: X:754.20, Y:-134.45, Z:-47.97 [[ 9.78334771e-01 2.02509894e-01 4.30211337e-02 7.54195167e+02] [-2.02184924e-01 9.79276022e-01 -1.18207594e-02 -1.34454987e+02] [-4.45233853e-02 2.86643528e-03 9.99004230e-01 -4.79684792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.890714057 meters 0.03824824244775242 Centerline is valid? [True, True] Translation: X:754.22, Y:-134.47, Z:-47.97 [[ 9.78918646e-01 1.99543920e-01 4.35948289e-02 7.54222502e+02] [-1.99207976e-01 9.79884209e-01 -1.19632078e-02 -1.34466509e+02] [-4.51050698e-02 3.02656959e-03 9.98977664e-01 -4.79698991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.9207140569999 meters 0.03768601659489332 Centerline is valid? [True, True] Translation: X:754.25, Y:-134.47, Z:-47.97 [[ 9.79164173e-01 1.98212546e-01 4.41509704e-02 7.54250543e+02] [-1.97866529e-01 9.80154066e-01 -1.21178859e-02 -1.34473224e+02] [-4.56766701e-02 3.12940042e-03 9.98951375e-01 -4.79711660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.9507140569999 meters 0.03877281876212345 Centerline is valid? [True, True] Translation: X:754.28, Y:-134.48, Z:-47.97 [[ 9.79464456e-01 1.96716759e-01 4.41802732e-02 7.54277674e+02] [-1.96369318e-01 9.80455172e-01 -1.21139125e-02 -1.34482656e+02] [-4.56997869e-02 3.18949659e-03 9.98950127e-01 -4.79734940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.9807140569999 meters 0.03888067999568177 Centerline is valid? [True, True] Translation: X:754.30, Y:-134.49, Z:-47.98 [[ 9.79527365e-01 1.96391636e-01 4.42319648e-02 7.54304456e+02] [-1.96043576e-01 9.80520323e-01 -1.21166471e-02 -1.34490203e+02] [-4.57499486e-02 3.19719486e-03 9.98947807e-01 -4.79752380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.010714057 meters 0.03867569424542182 Centerline is valid? [True, True] Translation: X:754.33, Y:-134.50, Z:-47.98 [[ 9.79478551e-01 1.96483508e-01 4.48998870e-02 7.54331898e+02] [-1.96125618e-01 9.80501819e-01 -1.22851269e-02 -1.34497114e+02] [-4.64382457e-02 3.22700024e-03 9.98915950e-01 -4.79768904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.040714057 meters 0.03960055365495781 Centerline is valid? [True, True] Translation: X:754.36, Y:-134.51, Z:-47.98 [[ 9.79395221e-01 1.96852012e-01 4.51030597e-02 7.54358408e+02] [-1.96491919e-01 9.80427957e-01 -1.23266335e-02 -1.34505287e+02] [-4.66468233e-02 3.21025917e-03 9.98906286e-01 -4.79786240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.0707140569999 meters 0.03874624609080928 Centerline is valid? [True, True] Translation: X:754.39, Y:-134.51, Z:-47.98 [[ 9.79274626e-01 1.97448657e-01 4.51135854e-02 7.54386872e+02] [-1.97089140e-01 9.80308071e-01 -1.23270592e-02 -1.34510814e+02] [-4.66591731e-02 3.18017849e-03 9.98905805e-01 -4.79798404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.1007140569999 meters 0.03689242135956488 Centerline is valid? [True, True] Translation: X:754.42, Y:-134.51, Z:-47.98 [[ 9.78576892e-01 2.00782243e-01 4.55385272e-02 7.54416739e+02] [-2.00420209e-01 9.79631195e-01 -1.24282351e-02 -1.34514504e+02] [-4.71063308e-02 3.03514253e-03 9.98885269e-01 -4.79810686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.130714057 meters 0.03531922955637488 Centerline is valid? [True, True] Translation: X:754.45, Y:-134.52, Z:-47.98 [[ 9.78115887e-01 2.02864769e-01 4.62081949e-02 7.54446115e+02] [-2.02494344e-01 9.79202237e-01 -1.26103262e-02 -1.34519116e+02] [-4.78053587e-02 2.97746233e-03 9.98852233e-01 -4.79826875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.160714057 meters 0.037109259822828096 Centerline is valid? [True, True] Translation: X:754.47, Y:-134.53, Z:-47.99 [[ 9.77661210e-01 2.05036206e-01 4.62462133e-02 7.54473167e+02] [-2.04667672e-01 9.78750176e-01 -1.26189471e-02 -1.34528901e+02] [-4.78508304e-02 2.87195032e-03 9.98850364e-01 -4.79851600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.1907140569999 meters 0.03504651306544198 Centerline is valid? [True, True] Translation: X:754.50, Y:-134.53, Z:-47.99 [[ 9.77174695e-01 2.07401692e-01 4.59799213e-02 7.54502881e+02] [-2.07040099e-01 9.78252033e-01 -1.25441914e-02 -1.34532053e+02] [-4.75816381e-02 2.73817892e-03 9.98863599e-01 -4.79860827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.2207140569999 meters 0.03312600032744339 Centerline is valid? [True, True] Translation: X:754.53, Y:-134.54, Z:-47.99 [[ 9.76015132e-01 2.12552194e-01 4.70747017e-02 7.54532741e+02] [-2.12179220e-01 9.77146401e-01 -1.28409198e-02 -1.34535570e+02] [-4.87282410e-02 2.54465860e-03 9.98808832e-01 -4.79876143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.250714057 meters 0.033385042696948974 Centerline is valid? [True, True] Translation: X:754.56, Y:-134.54, Z:-47.99 [[ 9.75456681e-01 2.14998154e-01 4.75400668e-02 7.54560707e+02] [-2.14620711e-01 9.76611393e-01 -1.29667647e-02 -1.34542222e+02] [-4.92160013e-02 2.44543430e-03 9.98785165e-01 -4.79897696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.280714057 meters 0.03140498183553564 Centerline is valid? [True, True] Translation: X:754.59, Y:-134.55, Z:-47.99 [[ 9.74466076e-01 2.19559636e-01 4.70046177e-02 7.54590317e+02] [-2.19196076e-01 9.75596629e-01 -1.28178946e-02 -1.34545424e+02] [-4.86718388e-02 2.18737571e-03 9.98812429e-01 -4.79921329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.3107140569999 meters 0.03126687821117797 Centerline is valid? [True, True] Translation: X:754.62, Y:-134.55, Z:-47.99 [[ 9.74166052e-01 2.21043107e-01 4.62649828e-02 7.54618397e+02] [-2.20692554e-01 9.75261820e-01 -1.26166372e-02 -1.34551634e+02] [-4.79092920e-02 2.08036241e-03 9.98849524e-01 -4.79940603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.3407140569999 meters 0.030641116101396883 Centerline is valid? [True, True] Translation: X:754.65, Y:-134.56, Z:-48.00 [[ 9.73849517e-01 2.22456280e-01 4.61554069e-02 7.54646657e+02] [-2.22109556e-01 9.74940627e-01 -1.25744950e-02 -1.34556700e+02] [-4.77960568e-02 1.99410887e-03 9.98855125e-01 -4.79962942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.370714057 meters 0.03072478890898923 Centerline is valid? [True, True] Translation: X:754.67, Y:-134.56, Z:-48.00 [[ 9.73577608e-01 2.23655271e-01 4.60972913e-02 7.54673333e+02] [-2.23311435e-01 9.74666423e-01 -1.25445723e-02 -1.34563912e+02] [-4.77351418e-02 1.91906243e-03 9.98858185e-01 -4.79984123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.400714057 meters 0.031087678324376488 Centerline is valid? [True, True] Translation: X:754.70, Y:-134.57, Z:-48.00 [[ 9.73231442e-01 2.25010364e-01 4.68070240e-02 7.54699810e+02] [-2.24657634e-01 9.74354563e-01 -1.27331605e-02 -1.34571622e+02] [-4.84717305e-02 1.87675689e-03 9.98822792e-01 -4.80006248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.4307140569999 meters 0.030228767530490103 Centerline is valid? [True, True] Translation: X:754.73, Y:-134.58, Z:-48.00 [[ 9.73263851e-01 2.24733827e-01 4.74571831e-02 7.54727202e+02] [-2.24371030e-01 9.74418310e-01 -1.29072757e-02 -1.34577035e+02] [-4.91438497e-02 1.91416775e-03 9.98789877e-01 -4.80015456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.4607140569999 meters 0.02938704940250611 Centerline is valid? [True, True] Translation: X:754.75, Y:-134.58, Z:-48.00 [[ 9.73347978e-01 2.24278329e-01 4.78847152e-02 7.54754693e+02] [-2.23909146e-01 9.74523200e-01 -1.30087520e-02 -1.34582962e+02] [-4.95823470e-02 1.94021676e-03 9.98768155e-01 -4.80027366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.490714057 meters 0.030067382783630223 Centerline is valid? [True, True] Translation: X:754.78, Y:-134.59, Z:-48.00 [[ 9.73412710e-01 2.23760376e-01 4.89794832e-02 7.54781264e+02] [-2.23374325e-01 9.74642147e-01 -1.32889604e-02 -1.34591397e+02] [-5.07110114e-02 1.99488398e-03 9.98711377e-01 -4.80040123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.520714057 meters 0.02981391030864795 Centerline is valid? [True, True] Translation: X:754.81, Y:-134.60, Z:-48.01 [[ 9.73525545e-01 2.23099882e-01 4.97438976e-02 7.54808734e+02] [-2.22701069e-01 9.74793421e-01 -1.34914601e-02 -1.34598190e+02] [-5.14999673e-02 2.05626184e-03 9.98670879e-01 -4.80053740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.5507140569999 meters 0.030185400501647034 Centerline is valid? [True, True] Translation: X:754.84, Y:-134.61, Z:-48.01 [[ 9.73709580e-01 2.22239368e-01 4.99931804e-02 7.54836275e+02] [-2.21835610e-01 9.74989855e-01 -1.35552458e-02 -1.34606175e+02] [-5.17553530e-02 2.10860499e-03 9.98657568e-01 -4.80074446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.5807140569999 meters 0.030881191135355878 Centerline is valid? [True, True] Translation: X:754.86, Y:-134.62, Z:-48.01 [[ 9.74079622e-01 2.20548276e-01 5.02727304e-02 7.54862440e+02] [-2.20138483e-01 9.75373586e-01 -1.36167624e-02 -1.34616616e+02] [-5.20378468e-02 2.19684816e-03 9.98642697e-01 -4.80107541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.6107140569999 meters 0.03160764343007622 Centerline is valid? [True, True] Translation: X:754.89, Y:-134.63, Z:-48.01 [[ 9.74414234e-01 2.18951381e-01 5.07660720e-02 7.54888273e+02] [-2.18531736e-01 9.75733066e-01 -1.37428025e-02 -1.34626218e+02] [-5.25431406e-02 2.29718454e-03 9.98616013e-01 -4.80128740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.640714057 meters 0.03190663088940173 Centerline is valid? [True, True] Translation: X:754.92, Y:-134.63, Z:-48.01 [[ 9.74805622e-01 2.17187473e-01 5.08291337e-02 7.54915998e+02] [-2.16764600e-01 9.76126981e-01 -1.37559269e-02 -1.34634408e+02] [-5.26033038e-02 2.39139806e-03 9.98612624e-01 -4.80142510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.6707140569999 meters 0.03275848609106182 Centerline is valid? [True, True] Translation: X:754.94, Y:-134.64, Z:-48.02 [[ 9.75295722e-01 2.14823608e-01 5.14691336e-02 7.54943512e+02] [-2.14387509e-01 9.76649571e-01 -1.39144380e-02 -1.34643898e+02] [-5.32564570e-02 2.53635249e-03 9.98577647e-01 -4.80157873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.7007140569999 meters 0.03355888732316986 Centerline is valid? [True, True] Translation: X:754.97, Y:-134.65, Z:-48.02 [[ 9.75400958e-01 2.14232615e-01 5.19360910e-02 7.54969951e+02] [-2.13787875e-01 9.76779239e-01 -1.40378735e-02 -1.34652639e+02] [-5.37374658e-02 2.58924873e-03 9.98551742e-01 -4.80173962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.7307140569999 meters 0.032987802511723896 Centerline is valid? [True, True] Translation: X:755.00, Y:-134.66, Z:-48.02 [[ 9.75460043e-01 2.13842148e-01 5.24331934e-02 7.54996834e+02] [-2.13388513e-01 9.76864684e-01 -1.41680052e-02 -1.34659255e+02] [-5.42498516e-02 2.63168181e-03 9.98523925e-01 -4.80185115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.760714057 meters 0.03164750245577829 Centerline is valid? [True, True] Translation: X:755.02, Y:-134.66, Z:-48.02 [[ 9.75385239e-01 2.14064333e-01 5.29159509e-02 7.55024605e+02] [-2.13603507e-01 9.76816030e-01 -1.42823528e-02 -1.34664807e+02] [-5.47464914e-02 2.62776340e-03 9.98496829e-01 -4.80206092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.790714057 meters 0.03179200128322677 Centerline is valid? [True, True] Translation: X:755.05, Y:-134.67, Z:-48.02 [[ 9.75211788e-01 2.14721880e-01 5.34460765e-02 7.55052710e+02] [-2.14253553e-01 9.76671767e-01 -1.44109327e-02 -1.34672916e+02] [-5.52936165e-02 2.60269972e-03 9.98466746e-01 -4.80223753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.8207140569999 meters 0.03352235167878897 Centerline is valid? [True, True] Translation: X:755.08, Y:-134.68, Z:-48.02 [[ 9.74970351e-01 2.15752124e-01 5.37013502e-02 7.55078753e+02] [-2.15281624e-01 9.76444854e-01 -1.44661324e-02 -1.34683148e+02] [-5.55575058e-02 2.54313629e-03 9.98452250e-01 -4.80243378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.8507140569999 meters 0.030064493055490256 Centerline is valid? [True, True] Translation: X:755.11, Y:-134.68, Z:-48.03 [[ 9.74684374e-01 2.16957269e-01 5.40362299e-02 7.55108000e+02] [-2.16482991e-01 9.76177938e-01 -1.45515556e-02 -1.34684156e+02] [-5.59060413e-02 2.48524917e-03 9.98432941e-01 -4.80259372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.880714057 meters 0.02992422896810824 Centerline is valid? [True, True] Translation: X:755.14, Y:-134.69, Z:-48.03 [[ 9.73918821e-01 2.20264495e-01 5.44580778e-02 7.55136230e+02] [-2.19788789e-01 9.75437476e-01 -1.46498809e-02 -1.34691105e+02] [-5.63472986e-02 2.29851978e-03 9.98408583e-01 -4.80274254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.910714057 meters 0.0295730002843035 Centerline is valid? [True, True] Translation: X:755.16, Y:-134.70, Z:-48.03 [[ 9.73634277e-01 2.21460082e-01 5.46966903e-02 7.55164611e+02] [-2.20982181e-01 9.75166871e-01 -1.47121995e-02 -1.34698165e+02] [-5.65965652e-02 2.23730779e-03 9.98394623e-01 -4.80292066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.9407140569999 meters 0.028257001298189695 Centerline is valid? [True, True] Translation: X:755.19, Y:-134.70, Z:-48.03 [[ 9.72972586e-01 2.24206337e-01 5.52798770e-02 7.55193346e+02] [-2.23723387e-01 9.74539463e-01 -1.48553352e-02 -1.34702987e+02] [-5.72030819e-02 2.08643255e-03 9.98360383e-01 -4.80311053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.9707140569999 meters 0.028398497244259722 Centerline is valid? [True, True] Translation: X:755.22, Y:-134.71, Z:-48.03 [[ 9.72632717e-01 2.25614756e-01 5.55299957e-02 7.55220296e+02] [-2.25130519e-01 9.74214548e-01 -1.49085170e-02 -1.34710713e+02] [-5.74617111e-02 1.99901467e-03 9.98345710e-01 -4.80328999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.000714057 meters 0.02831831101219516 Centerline is valid? [True, True] Translation: X:755.25, Y:-134.72, Z:-48.03 [[ 9.72420061e-01 2.26562536e-01 5.53953190e-02 7.55248472e+02] [-2.26082480e-01 9.73994702e-01 -1.48671625e-02 -1.34717890e+02] [-5.73230892e-02 1.93321596e-03 9.98353808e-01 -4.80347830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.030714057 meters 0.028191697142374857 Centerline is valid? [True, True] Translation: X:755.28, Y:-134.72, Z:-48.04 [[ 9.72003776e-01 2.28376826e-01 5.52511000e-02 7.55275953e+02] [-2.27903025e-01 9.73571137e-01 -1.48139168e-02 -1.34724644e+02] [-5.71740315e-02 1.80729023e-03 9.98362591e-01 -4.80377248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.0607140569999 meters 0.02730673275911083 Centerline is valid? [True, True] Translation: X:755.30, Y:-134.73, Z:-48.04 [[ 9.71795593e-01 2.29204259e-01 5.54863398e-02 7.55304177e+02] [-2.28728599e-01 9.73376771e-01 -1.48623335e-02 -1.34730651e+02] [-5.74156244e-02 1.75183738e-03 9.98348825e-01 -4.80398947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.0907140569999 meters 0.027224039234986 Centerline is valid? [True, True] Translation: X:755.33, Y:-134.74, Z:-48.04 [[ 9.71617064e-01 2.29962455e-01 5.54756775e-02 7.55331070e+02] [-2.29489073e-01 9.73198030e-01 -1.48445111e-02 -1.34738591e+02] [-5.74025003e-02 1.69211848e-03 9.98349683e-01 -4.80415521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.120714057 meters 0.02683257938106211 Centerline is valid? [True, True] Translation: X:755.36, Y:-134.75, Z:-48.04 [[ 9.71207814e-01 2.31382788e-01 5.67220167e-02 7.55359289e+02] [-2.30890622e-01 9.72861408e-01 -1.51723815e-02 -1.34745929e+02] [-5.86932889e-02 1.63895374e-03 9.98274718e-01 -4.80433142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.150714057 meters 0.02745447342578255 Centerline is valid? [True, True] Translation: X:755.39, Y:-134.76, Z:-48.04 [[ 9.71075458e-01 2.31849258e-01 5.70821938e-02 7.55385179e+02] [-2.31352454e-01 9.72750399e-01 -1.52546338e-02 -1.34755923e+02] [-5.90635023e-02 1.60729495e-03 9.98252934e-01 -4.80447374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.1807140569999 meters 0.026600317015160385 Centerline is valid? [True, True] Translation: X:755.41, Y:-134.76, Z:-48.05 [[ 9.70910936e-01 2.32382505e-01 5.77089783e-02 7.55413440e+02] [-2.31876009e-01 9.72623182e-01 -1.54162989e-02 -1.34762434e+02] [-5.97115683e-02 1.58652562e-03 9.98214412e-01 -4.80467147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.2107140569999 meters 0.02700338210031796 Centerline is valid? [True, True] Translation: X:755.44, Y:-134.77, Z:-48.05 [[ 9.70856798e-01 2.32473993e-01 5.82487866e-02 7.55439166e+02] [-2.31959054e-01 9.72601328e-01 -1.55452138e-02 -1.34771468e+02] [-6.02667052e-02 1.58084302e-03 9.98181058e-01 -4.80482178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.240714057 meters 0.02700338210031796 Centerline is valid? [True, True] Translation: X:755.47, Y:-134.78, Z:-48.05 [[ 9.70920963e-01 2.32205358e-01 5.82507916e-02 7.55465607e+02] [-2.31690388e-01 9.72665484e-01 -1.55376971e-02 -1.34778443e+02] [-6.02664709e-02 1.58972739e-03 9.98181058e-01 -4.80498049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.270714057 meters 0.026664927661037906 Centerline is valid? [True, True] Translation: X:755.49, Y:-134.79, Z:-48.05 [[ 9.70686764e-01 2.33172810e-01 5.82893328e-02 7.55492767e+02] [-2.32659936e-01 9.72434136e-01 -1.55307808e-02 -1.34787062e+02] [-6.03038928e-02 1.51393094e-03 9.98178916e-01 -4.80519146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.3007140569999 meters 0.026425996596692303 Centerline is valid? [True, True] Translation: X:755.52, Y:-134.79, Z:-48.05 [[ 9.70636942e-01 2.33284316e-01 5.86715880e-02 7.55519355e+02] [-2.32765828e-01 9.72407411e-01 -1.56172039e-02 -1.34794432e+02] [-6.06959357e-02 1.50189422e-03 9.98155172e-01 -4.80537062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.3307140569999 meters 0.025971962931948218 Centerline is valid? [True, True] Translation: X:755.55, Y:-134.80, Z:-48.06 [[ 9.70409543e-01 2.34168334e-01 5.89110432e-02 7.55546590e+02] [-2.33648297e-01 9.72195007e-01 -1.56634143e-02 -1.34801859e+02] [-6.09408977e-02 1.43546176e-03 9.98140344e-01 -4.80559610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.3607140569999 meters 0.026399831795471472 Centerline is valid? [True, True] Translation: X:755.57, Y:-134.81, Z:-48.06 [[ 9.69962799e-01 2.35948133e-01 5.91662705e-02 7.55572157e+02] [-2.35427804e-01 9.71764761e-01 -1.57161952e-02 -1.34813678e+02] [-6.12039036e-02 1.31473952e-03 9.98124418e-01 -4.80568678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.390714057 meters 0.026495991323498367 Centerline is valid? [True, True] Translation: X:755.60, Y:-134.82, Z:-48.06 [[ 9.69808454e-01 2.36525237e-01 5.93917047e-02 7.55599063e+02] [-2.36002352e-01 9.71624505e-01 -1.57705528e-02 -1.34822225e+02] [-6.14365694e-02 1.27783343e-03 9.98110172e-01 -4.80588329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.4207140569999 meters 0.025585922598957842 Centerline is valid? [True, True] Translation: X:755.63, Y:-134.83, Z:-48.06 [[ 9.69840993e-01 2.36426355e-01 5.92539235e-02 7.55625977e+02] [-2.35906068e-01 9.71648574e-01 -1.57281675e-02 -1.34827971e+02] [-6.12925436e-02 1.27546150e-03 9.98119030e-01 -4.80617643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.4507140569999 meters 0.024934322660758606 Centerline is valid? [True, True] Translation: X:755.65, Y:-134.84, Z:-48.06 [[ 9.69857584e-01 2.36321950e-01 5.93986828e-02 7.55652416e+02] [-2.35800004e-01 9.71673982e-01 -1.57489849e-02 -1.34836423e+02] [-6.14379854e-02 1.26806279e-03 9.98110097e-01 -4.80642238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.4807140569999 meters 0.02503976506424274 Centerline is valid? [True, True] Translation: X:755.68, Y:-134.85, Z:-48.07 [[ 9.69820915e-01 2.36494469e-01 5.93107034e-02 7.55678429e+02] [-2.35975464e-01 9.71632046e-01 -1.57082160e-02 -1.34845801e+02] [-6.13430863e-02 1.23828570e-03 9.98115971e-01 -4.80655069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.510714057 meters 0.025959823655744386 Centerline is valid? [True, True] Translation: X:755.70, Y:-134.86, Z:-48.07 [[ 9.69811891e-01 2.36405075e-01 5.98125090e-02 7.55702812e+02] [-2.35877433e-01 9.71653787e-01 -1.58352649e-02 -1.34857145e+02] [-6.18605879e-02 1.24880710e-03 9.98084019e-01 -4.80672458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.540714057 meters 0.025188540887085897 Centerline is valid? [True, True] Translation: X:755.73, Y:-134.87, Z:-48.07 [[ 9.69952557e-01 2.35798070e-01 5.99275176e-02 7.55728717e+02] [-2.35267765e-01 9.71801228e-01 -1.58572216e-02 -1.34865890e+02] [-6.19767374e-02 1.28173953e-03 9.98076771e-01 -4.80704518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.5707140569999 meters 0.024989798557949472 Centerline is valid? [True, True] Translation: X:755.76, Y:-134.87, Z:-48.07 [[ 9.70196537e-01 2.34876576e-01 5.95959129e-02 7.55755909e+02] [-2.34351478e-01 9.72024311e-01 -1.57519098e-02 -1.34873713e+02] [-6.16284308e-02 1.31605808e-03 9.98098294e-01 -4.80727236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.6007140569999 meters 0.0250742580829891 Centerline is valid? [True, True] Translation: X:755.78, Y:-134.88, Z:-48.07 [[ 9.70383771e-01 2.34111335e-01 5.95585441e-02 7.55783007e+02] [-2.33586446e-01 9.72208859e-01 -1.57259950e-02 -1.34883048e+02] [-6.15849779e-02 1.34818173e-03 9.98100933e-01 -4.80743753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.630714057 meters 0.02551095203823825 Centerline is valid? [True, True] Translation: X:755.81, Y:-134.89, Z:-48.08 [[ 9.70762232e-01 2.32357831e-01 6.02538573e-02 7.55808255e+02] [-2.31818205e-01 9.72629273e-01 -1.58939202e-02 -1.34894359e+02] [-6.22977422e-02 1.46127645e-03 9.98056540e-01 -4.80759068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.660714057 meters 0.02588870934824965 Centerline is valid? [True, True] Translation: X:755.83, Y:-134.90, Z:-48.08 [[ 9.70964542e-01 2.31340585e-01 6.09047762e-02 7.55834265e+02] [-2.30787675e-01 9.72871612e-01 -1.60584937e-02 -1.34904489e+02] [-6.29675092e-02 1.53615624e-03 9.98014395e-01 -4.80773880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.6907140569999 meters 0.026053592623421887 Centerline is valid? [True, True] Translation: X:755.86, Y:-134.91, Z:-48.08 [[ 9.71217650e-01 2.30172680e-01 6.12928569e-02 7.55861401e+02] [-2.29610960e-01 9.73148465e-01 -1.61515239e-02 -1.34914488e+02] [-6.33646892e-02 1.61313340e-03 9.97989135e-01 -4.80789110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.7207140569999 meters 0.025918928214282117 Centerline is valid? [True, True] Translation: X:755.89, Y:-134.92, Z:-48.08 [[ 9.71396556e-01 2.29195717e-01 6.21132327e-02 7.55889033e+02] [-2.28617912e-01 9.73378903e-01 -1.63511618e-02 -1.34923585e+02] [-6.42073267e-02 1.68326471e-03 9.97935161e-01 -4.80808538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.750714057 meters 0.026332676455642412 Centerline is valid? [True, True] Translation: X:755.91, Y:-134.94, Z:-48.08 [[ 9.71605629e-01 2.28107700e-01 6.28440837e-02 7.55914470e+02] [-2.27514960e-01 9.73634314e-01 -1.65276992e-02 -1.34935803e+02] [-6.49572517e-02 1.76043640e-03 9.97886495e-01 -4.80823764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.780714057 meters 0.02650241846819097 Centerline is valid? [True, True] Translation: X:755.94, Y:-134.94, Z:-48.08 [[ 9.71766566e-01 2.27435598e-01 6.27916321e-02 7.55941359e+02] [-2.26842912e-01 9.73791466e-01 -1.65067724e-02 -1.34944874e+02] [-6.49001831e-02 1.79689290e-03 9.97890143e-01 -4.80839085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.8107140569999 meters 0.026487886922028536 Centerline is valid? [True, True] Translation: X:755.97, Y:-134.96, Z:-48.09 [[ 9.72014328e-01 2.26227232e-01 6.33197157e-02 7.55968161e+02] [-2.25623073e-01 9.74072747e-01 -1.66286520e-02 -1.34956166e+02] [-6.54398634e-02 1.87689910e-03 9.97854750e-01 -4.80858576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.8407140569999 meters 0.027663002659023016 Centerline is valid? [True, True] Translation: X:755.99, Y:-134.97, Z:-48.09 [[ 9.72210153e-01 2.25458166e-01 6.30558034e-02 7.55993339e+02] [-2.24858435e-01 9.74250986e-01 -1.65438797e-02 -1.34967804e+02] [-6.51621314e-02 1.90549858e-03 9.97872871e-01 -4.80875555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.870714057 meters 0.028693659125307525 Centerline is valid? [True, True] Translation: X:756.02, Y:-134.98, Z:-48.09 [[ 9.72446566e-01 2.24597316e-01 6.24797778e-02 7.56019584e+02] [-2.24007107e-01 9.74449734e-01 -1.63869537e-02 -1.34978494e+02] [-6.45638687e-02 1.93952261e-03 9.97911692e-01 -4.80896313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.900714057 meters 0.02782113617099368 Centerline is valid? [True, True] Translation: X:756.05, Y:-134.99, Z:-48.09 [[ 9.72693861e-01 2.23542312e-01 6.24138448e-02 7.56047052e+02] [-2.22951614e-01 9.74692173e-01 -1.63629660e-02 -1.34985782e+02] [-6.44921013e-02 2.00088919e-03 9.97916212e-01 -4.80925087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.9307140569999 meters 0.027812700118864973 Centerline is valid? [True, True] Translation: X:756.07, Y:-135.00, Z:-48.09 [[ 9.73207138e-01 2.21566897e-01 6.14489742e-02 7.56073187e+02] [-2.20991414e-01 9.75142948e-01 -1.60942509e-02 -1.34998403e+02] [-6.34874871e-02 2.08334416e-03 9.97980460e-01 -4.80949498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.9607140569999 meters 0.028448400880547887 Centerline is valid? [True, True] Translation: X:756.10, Y:-135.01, Z:-48.10 [[ 9.73479140e-01 2.20313909e-01 6.16453193e-02 7.56100366e+02] [-2.19733254e-01 9.75426641e-01 -1.61296424e-02 -1.35008464e+02] [-6.36840713e-02 2.15634383e-03 9.97967780e-01 -4.80966857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.990714057 meters 0.029256655475276037 Centerline is valid? [True, True] Translation: X:756.13, Y:-135.02, Z:-48.10 [[ 9.74009100e-01 2.17991064e-01 6.15318538e-02 7.56126555e+02] [-2.17408930e-01 9.75948082e-01 -1.60841078e-02 -1.35020761e+02] [-6.35580864e-02 2.28849283e-03 9.97975517e-01 -4.80978569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.020714057 meters 0.029588661123334224 Centerline is valid? [True, True] Translation: X:756.15, Y:-135.03, Z:-48.10 [[ 9.74197121e-01 2.16953605e-01 6.22181917e-02 7.56152873e+02] [-2.16357254e-01 9.76179044e-01 -1.62484420e-02 -1.35030426e+02] [-6.42612530e-02 2.36782833e-03 9.97930301e-01 -4.80993998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.0507140569999 meters 0.030358429945854103 Centerline is valid? [True, True] Translation: X:756.18, Y:-135.04, Z:-48.10 [[ 9.74532325e-01 2.15485440e-01 6.20707107e-02 7.56180265e+02] [-2.14889370e-01 9.76503974e-01 -1.62033137e-02 -1.35039871e+02] [-6.41038738e-02 2.45231706e-03 9.97940218e-01 -4.81008853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.0807140569999 meters 0.031491959808102564 Centerline is valid? [True, True] Translation: X:756.21, Y:-135.05, Z:-48.10 [[ 9.75007989e-01 2.13249113e-01 6.23236503e-02 7.56206513e+02] [-2.12644559e-01 9.76994411e-01 -1.62546205e-02 -1.35052113e+02] [-6.43561414e-02 2.59559972e-03 9.97923619e-01 -4.81026684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.1107140569999 meters 0.030822039655536773 Centerline is valid? [True, True] Translation: X:756.23, Y:-135.06, Z:-48.10 [[ 9.75315016e-01 2.11896128e-01 6.21341421e-02 7.56233921e+02] [-2.11292874e-01 9.77288543e-01 -1.61995459e-02 -1.35059683e+02] [-6.41556062e-02 2.67115889e-03 9.97936332e-01 -4.81049097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.140714057 meters 0.028425835036279726 Centerline is valid? [True, True] Translation: X:756.26, Y:-135.07, Z:-48.11 [[ 9.75680561e-01 2.10226939e-01 6.20651056e-02 7.56261958e+02] [-2.09622698e-01 9.77648713e-01 -1.61653554e-02 -1.35065194e+02] [-6.40762638e-02 2.76196809e-03 9.97941183e-01 -4.81074376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.1707140569999 meters 0.02932672679796309 Centerline is valid? [True, True] Translation: X:756.29, Y:-135.08, Z:-48.11 [[ 9.76011964e-01 2.08732024e-01 6.18998215e-02 7.56288244e+02] [-2.08129022e-01 9.77968759e-01 -1.61063925e-02 -1.35075859e+02] [-6.38980115e-02 2.83688252e-03 9.97952402e-01 -4.81092544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.2007140569999 meters 0.0342330783069022 Centerline is valid? [True, True] Translation: X:756.31, Y:-135.09, Z:-48.11 [[ 9.76902984e-01 2.04877045e-01 6.07120706e-02 7.56313890e+02] [-2.04289904e-01 9.78783045e-01 -1.57919509e-02 -1.35093252e+02] [-6.26593536e-02 3.02434091e-03 9.98030390e-01 -4.81108112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.2307140569999 meters 0.03276409910406475 Centerline is valid? [True, True] Translation: X:756.34, Y:-135.10, Z:-48.11 [[ 9.77373266e-01 2.02733745e-01 6.03367840e-02 7.56342734e+02] [-2.02149827e-01 9.79228860e-01 -1.56935452e-02 -1.35099216e+02] [-6.22651314e-02 3.14138109e-03 9.98054701e-01 -4.81134649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.260714057 meters 0.03256189128897509 Centerline is valid? [True, True] Translation: X:756.37, Y:-135.11, Z:-48.12 [[ 9.77764889e-01 2.00849561e-01 6.02932451e-02 7.56370250e+02] [-2.00263062e-01 9.79616684e-01 -1.56798705e-02 -1.35108474e+02] [-6.22135640e-02 3.25671694e-03 9.98057547e-01 -4.81153058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.290714057 meters 0.0348966636892517 Centerline is valid? [True, True] Translation: X:756.40, Y:-135.12, Z:-48.12 [[ 9.78712429e-01 1.96256155e-01 6.00458455e-02 7.56396236e+02] [-1.95666048e-01 9.80546304e-01 -1.56123076e-02 -1.35123015e+02] [-6.19417433e-02 3.53102624e-03 9.98073521e-01 -4.81176765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.3207140569999 meters 0.03536459021793598 Centerline is valid? [True, True] Translation: X:756.42, Y:-135.13, Z:-48.12 [[ 9.79171148e-01 1.94094139e-01 5.95930207e-02 7.56423707e+02] [-1.93508964e-01 9.80976157e-01 -1.54938886e-02 -1.35132294e+02] [-6.14666054e-02 3.63938496e-03 9.98102505e-01 -4.81198793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.3507140569999 meters 0.038547195866957325 Centerline is valid? [True, True] Translation: X:756.45, Y:-135.14, Z:-48.12 [[ 9.79581670e-01 1.92206751e-01 5.89603021e-02 7.56449508e+02] [-1.91630755e-01 9.81347425e-01 -1.53259804e-02 -1.35144754e+02] [-6.08062976e-02 3.71444228e-03 9.98142674e-01 -4.81214211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.380714057 meters 0.04243960785079978 Centerline is valid? [True, True] Translation: X:756.48, Y:-135.16, Z:-48.12 [[ 9.79942599e-01 1.90363186e-01 5.89436947e-02 7.56475834e+02] [-1.89784507e-01 9.81706292e-01 -1.53165652e-02 -1.35157936e+02] [-6.07811061e-02 3.82275474e-03 9.98143799e-01 -4.81228500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.410714057 meters 0.03874142884330054 Centerline is valid? [True, True] Translation: X:756.51, Y:-135.16, Z:-48.12 [[ 9.80517841e-01 1.87504965e-01 5.85376089e-02 7.56505949e+02] [-1.86929437e-01 9.82255640e-01 -1.52066676e-02 -1.35160625e+02] [-6.03502222e-02 3.96800657e-03 9.98169377e-01 -4.81242145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.4407140569999 meters 0.039596880023597965 Centerline is valid? [True, True] Translation: X:756.53, Y:-135.17, Z:-48.13 [[ 9.80791202e-01 1.86029414e-01 5.86657942e-02 7.56534116e+02] [-1.85448813e-01 9.82535761e-01 -1.52386569e-02 -1.35170062e+02] [-6.04760791e-02 4.06643874e-03 9.98161364e-01 -4.81259674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.4707140569999 meters 0.03540130183231623 Centerline is valid? [True, True] Translation: X:756.56, Y:-135.17, Z:-48.13 [[ 9.81050530e-01 1.84667684e-01 5.86319335e-02 7.56563726e+02] [-1.84085506e-01 9.82792279e-01 -1.52270464e-02 -1.35171395e+02] [-6.04349549e-02 4.14521278e-03 9.98163530e-01 -4.81283410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.500714057 meters 0.037476153156044266 Centerline is valid? [True, True] Translation: X:756.59, Y:-135.18, Z:-48.13 [[ 9.81455476e-01 1.82218372e-01 5.95114565e-02 7.56590546e+02] [-1.81615072e-01 9.83248486e-01 -1.54395636e-02 -1.35182592e+02] [-6.13279216e-02 4.34506678e-03 9.98108214e-01 -4.81295214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.530714057 meters 0.04080732736918624 Centerline is valid? [True, True] Translation: X:756.62, Y:-135.19, Z:-48.13 [[ 9.81690172e-01 1.81032822e-01 5.92581147e-02 7.56616510e+02] [-1.80432662e-01 9.83467222e-01 -1.53713316e-02 -1.35194462e+02] [-6.10611290e-02 4.39778581e-03 9.98124340e-01 -4.81306324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.5607140569999 meters 0.038697769716686425 Centerline is valid? [True, True] Translation: X:756.65, Y:-135.20, Z:-48.13 [[ 9.81936706e-01 1.79702797e-01 5.92217066e-02 7.56645298e+02] [-1.79101356e-01 9.83710786e-01 -1.53555950e-02 -1.35197712e+02] [-6.10164749e-02 4.47153442e-03 9.98126743e-01 -4.81325420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.5907140569999 meters 0.04027932505361271 Centerline is valid? [True, True] Translation: X:756.67, Y:-135.21, Z:-48.13 [[ 9.82379513e-01 1.77451800e-01 5.86630330e-02 7.56672278e+02] [-1.76858605e-01 9.84118962e-01 -1.51954509e-02 -1.35205528e+02] [-6.04278633e-02 4.55263743e-03 9.98162185e-01 -4.81344527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.620714057 meters 0.0431735107017247 Centerline is valid? [True, True] Translation: X:756.70, Y:-135.22, Z:-48.14 [[ 9.82622785e-01 1.76308800e-01 5.80316292e-02 7.56697842e+02] [-1.75726609e-01 9.84324304e-01 -1.50274305e-02 -1.35215869e+02] [-5.97714112e-02 4.56859415e-03 9.98201636e-01 -4.81366696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.650714057 meters 0.042746089676119495 Centerline is valid? [True, True] Translation: X:756.73, Y:-135.22, Z:-48.14 [[ 9.82856811e-01 1.75085986e-01 5.77701275e-02 7.56725952e+02] [-1.74507348e-01 9.84542329e-01 -1.49528651e-02 -1.35222241e+02] [-5.94951730e-02 4.61521354e-03 9.98217924e-01 -4.81392196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.6807140569999 meters 0.04416330372502651 Centerline is valid? [True, True] Translation: X:756.75, Y:-135.23, Z:-48.14 [[ 9.83221981e-01 1.73137812e-01 5.74267766e-02 7.56754443e+02] [-1.72563616e-01 9.84886440e-01 -1.48492229e-02 -1.35230204e+02] [-5.91298155e-02 4.69031014e-03 9.98239283e-01 -4.81414659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.7107140569999 meters 0.045426592267821926 Centerline is valid? [True, True] Translation: X:756.78, Y:-135.24, Z:-48.14 [[ 9.83338867e-01 1.72569072e-01 5.71365807e-02 7.56781095e+02] [-1.71999848e-01 9.84986213e-01 -1.47719875e-02 -1.35237458e+02] [-5.88279324e-02 4.69838626e-03 9.98257081e-01 -4.81429994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.740714057 meters 0.04545095488181905 Centerline is valid? [True, True] Translation: X:756.81, Y:-135.24, Z:-48.14 [[ 9.83529026e-01 1.71500506e-01 5.70809234e-02 7.56809608e+02] [-1.70930930e-01 9.85172570e-01 -1.47521014e-02 -1.35242960e+02] [-5.87645529e-02 4.75222464e-03 9.98260559e-01 -4.81443428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.770714057 meters 0.043765507090384806 Centerline is valid? [True, True] Translation: X:756.84, Y:-135.25, Z:-48.15 [[ 9.83652503e-01 1.70809589e-01 5.70248947e-02 7.56838178e+02] [-1.70240848e-01 9.85292490e-01 -1.47228598e-02 -1.35245476e+02] [-5.87010061e-02 4.77421152e-03 9.98264193e-01 -4.81458896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.8007140569999 meters 0.046610498979674904 Centerline is valid? [True, True] Translation: X:756.86, Y:-135.25, Z:-48.15 [[ 9.83705844e-01 1.70461022e-01 5.71476450e-02 7.56863993e+02] [-1.69889564e-01 9.85352729e-01 -1.47491025e-02 -1.35254981e+02] [-5.88247350e-02 4.79998988e-03 9.98256786e-01 -4.81481621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.8307140569999 meters 0.04872193513184883 Centerline is valid? [True, True] Translation: X:756.89, Y:-135.26, Z:-48.15 [[ 9.83762346e-01 1.70191269e-01 5.69787606e-02 7.56890687e+02] [-1.69623054e-01 9.85399373e-01 -1.47001577e-02 -1.35263389e+02] [-5.86486735e-02 4.79655024e-03 9.98267162e-01 -4.81502548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.8607140569999 meters 0.04377246376552779 Centerline is valid? [True, True] Translation: X:756.92, Y:-135.26, Z:-48.15 [[ 9.83883318e-01 1.69861386e-01 5.58634644e-02 7.56920755e+02] [-1.69314985e-01 9.85456677e-01 -1.44074144e-02 -1.35259288e+02] [-5.74982873e-02 4.71669304e-03 9.98334463e-01 -4.81514319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.890714057 meters 0.04509597969386169 Centerline is valid? [True, True] Translation: X:756.95, Y:-135.27, Z:-48.15 [[ 9.83863499e-01 1.69993134e-01 5.58117276e-02 7.56947428e+02] [-1.69448940e-01 9.85434097e-01 -1.43769677e-02 -1.35265547e+02] [-5.74427652e-02 4.68773570e-03 9.98337795e-01 -4.81531532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.9207140569999 meters 0.045933426807780724 Centerline is valid? [True, True] Translation: X:756.98, Y:-135.27, Z:-48.15 [[ 9.83850290e-01 1.70039657e-01 5.59027898e-02 7.56975788e+02] [-1.69494062e-01 9.85426072e-01 -1.43951455e-02 -1.35271683e+02] [-5.75358122e-02 4.68747719e-03 9.98332439e-01 -4.81545327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.9507140569999 meters 0.045279071308189055 Centerline is valid? [True, True] Translation: X:757.00, Y:-135.27, Z:-48.16 [[ 9.83618531e-01 1.70990494e-01 5.70687027e-02 7.57004363e+02] [-1.70424347e-01 9.85261402e-01 -1.46803283e-02 -1.35274825e+02] [-5.87377866e-02 4.71394656e-03 9.98262316e-01 -4.81555895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.9807140569999 meters 0.04588168280420716 Centerline is valid? [True, True] Translation: X:757.03, Y:-135.28, Z:-48.16 [[ 9.83566270e-01 1.71249720e-01 5.71920060e-02 7.57032243e+02] [-1.70681822e-01 9.85216425e-01 -1.47075401e-02 -1.35281191e+02] [-5.88651658e-02 4.70420460e-03 9.98254859e-01 -4.81571027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.010714057 meters 0.04561938026329458 Centerline is valid? [True, True] Translation: X:757.06, Y:-135.29, Z:-48.16 [[ 9.83506241e-01 1.71512813e-01 5.74354405e-02 7.57060913e+02] [-1.70941398e-01 9.85170708e-01 -1.47551261e-02 -1.35286145e+02] [-5.91144068e-02 4.69366414e-03 9.98240180e-01 -4.81583983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.040714057 meters 0.0460497278025223 Centerline is valid? [True, True] Translation: X:757.09, Y:-135.29, Z:-48.16 [[ 9.83491698e-01 1.71662514e-01 5.72368855e-02 7.57089315e+02] [-1.71096176e-01 9.85144824e-01 -1.46892704e-02 -1.35292224e+02] [-5.89082186e-02 4.65376323e-03 9.98252555e-01 -4.81595880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.0707140569999 meters 0.04259537633159588 Centerline is valid? [True, True] Translation: X:757.12, Y:-135.29, Z:-48.16 [[ 9.83574407e-01 1.71431561e-01 5.65031505e-02 7.57118622e+02] [-1.70880130e-01 9.85185323e-01 -1.44865429e-02 -1.35291665e+02] [-5.81495252e-02 4.59332714e-03 9.98297317e-01 -4.81607687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.1007140569999 meters 0.042753271294882926 Centerline is valid? [True, True] Translation: X:757.15, Y:-135.30, Z:-48.16 [[ 9.83579220e-01 1.71397903e-01 5.65214697e-02 7.57147326e+02] [-1.70847067e-01 9.85191243e-01 -1.44739401e-02 -1.35296203e+02] [-5.81652600e-02 4.57973938e-03 9.98296463e-01 -4.81635018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.130714057 meters 0.042753271294882926 Centerline is valid? [True, True] Translation: X:757.17, Y:-135.30, Z:-48.17 [[ 9.83628088e-01 1.71116038e-01 5.65250966e-02 7.57173927e+02] [-1.70565550e-01 9.85240229e-01 -1.44597624e-02 -1.35302934e+02] [-5.81650963e-02 4.58179424e-03 9.98296463e-01 -4.81650959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.160714057 meters 0.04536960739425115 Centerline is valid? [True, True] Translation: X:757.20, Y:-135.31, Z:-48.17 [[ 9.83720801e-01 1.70770524e-01 5.59536815e-02 7.57199591e+02] [-1.70231542e-01 9.85300374e-01 -1.42966880e-02 -1.35312213e+02] [-5.75726362e-02 4.53886792e-03 9.98331002e-01 -4.81676452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.1907140569999 meters 0.04401000190257741 Centerline is valid? [True, True] Translation: X:757.23, Y:-135.32, Z:-48.17 [[ 9.83734977e-01 1.70831805e-01 5.55156707e-02 7.57228518e+02] [-1.70301856e-01 9.85289972e-01 -1.41756651e-02 -1.35316209e+02] [-5.71206880e-02 4.49067581e-03 9.98357181e-01 -4.81702227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.2207140569999 meters 0.04479231991470707 Centerline is valid? [True, True] Translation: X:757.26, Y:-135.32, Z:-48.17 [[ 9.83729077e-01 1.71161771e-01 5.45962566e-02 7.57255966e+02] [-1.70650566e-01 9.85233189e-01 -1.39264876e-02 -1.35319995e+02] [-5.61737263e-02 4.38300872e-03 9.98411389e-01 -4.81721924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.250714057 meters 0.04515502632863497 Centerline is valid? [True, True] Translation: X:757.28, Y:-135.33, Z:-48.17 [[ 9.83749072e-01 1.71065282e-01 5.45383526e-02 7.57283838e+02] [-1.70555287e-01 9.85249965e-01 -1.39068819e-02 -1.35325481e+02] [-5.61128947e-02 4.37907785e-03 9.98414827e-01 -4.81733337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.280714057 meters 0.04345074204093835 Centerline is valid? [True, True] Translation: X:757.31, Y:-135.33, Z:-48.17 [[ 9.83777761e-01 1.70828090e-01 5.47638689e-02 7.57311659e+02] [-1.70314301e-01 9.85291039e-01 -1.39501578e-02 -1.35327446e+02] [-5.63414281e-02 4.39678493e-03 9.98401879e-01 -4.81747472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.3107140569999 meters 0.046251207053044766 Centerline is valid? [True, True] Translation: X:757.34, Y:-135.34, Z:-48.18 [[ 9.83734507e-01 1.71065477e-01 5.47998402e-02 7.57338218e+02] [-1.70552329e-01 9.85249974e-01 -1.39424643e-02 -1.35336694e+02] [-5.63766155e-02 4.36944281e-03 9.98400013e-01 -4.81760787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.3407140569999 meters 0.0466564045593916 Centerline is valid? [True, True] Translation: X:757.37, Y:-135.34, Z:-48.18 [[ 9.83767626e-01 1.70756593e-01 5.51674111e-02 7.57365475e+02] [-1.70236334e-01 9.85303366e-01 -1.40309648e-02 -1.35341019e+02] [-5.67525156e-02 4.41171117e-03 9.98378530e-01 -4.81773832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.370714057 meters 0.04847372562348792 Centerline is valid? [True, True] Translation: X:757.39, Y:-135.35, Z:-48.18 [[ 9.83719508e-01 1.70906864e-01 5.55587455e-02 7.57391635e+02] [-1.70380371e-01 9.85277283e-01 -1.41140042e-02 -1.35349131e+02] [-5.71529500e-02 4.41810164e-03 9.98355658e-01 -4.81787309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.400714057 meters 0.04458543239488606 Centerline is valid? [True, True] Translation: X:757.42, Y:-135.35, Z:-48.18 [[ 9.83874944e-01 1.69993411e-01 5.56087755e-02 7.57420877e+02] [-1.69464803e-01 9.85435060e-01 -1.41217503e-02 -1.35349526e+02] [-5.71994415e-02 4.47030607e-03 9.98352763e-01 -4.81800397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.4307140569999 meters 0.04447456756249596 Centerline is valid? [True, True] Translation: X:757.45, Y:-135.36, Z:-48.18 [[ 9.83987083e-01 1.69264249e-01 5.58483162e-02 7.57448621e+02] [-1.68730752e-01 9.85560351e-01 -1.41678798e-02 -1.35355382e+02] [-5.74400016e-02 4.51768233e-03 9.98338739e-01 -4.81816151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.4607140569999 meters 0.04471335207603751 Centerline is valid? [True, True] Translation: X:757.48, Y:-135.36, Z:-48.18 [[ 9.84369076e-01 1.67338861e-01 5.49110947e-02 7.57477357e+02] [-1.66820980e-01 9.85888996e-01 -1.39157218e-02 -1.35359836e+02] [-5.64648851e-02 4.53788357e-03 9.98394273e-01 -4.81833120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.490714057 meters 0.045100850531173055 Centerline is valid? [True, True] Translation: X:757.50, Y:-135.37, Z:-48.19 [[ 9.84595963e-01 1.66156834e-01 5.44306510e-02 7.57504984e+02] [-1.65646345e-01 9.86088784e-01 -1.37912611e-02 -1.35366316e+02] [-5.59649667e-02 4.56258163e-03 9.98422308e-01 -4.81855279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.520714057 meters 0.045899010891137286 Centerline is valid? [True, True] Translation: X:757.53, Y:-135.37, Z:-48.19 [[ 9.84967606e-01 1.64219533e-01 5.35794822e-02 7.57533193e+02] [-1.63722853e-01 9.86413160e-01 -1.35612024e-02 -1.35373132e+02] [-5.50785207e-02 4.58515938e-03 9.98471498e-01 -4.81879998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.5507140569999 meters 0.04819224397194953 Centerline is valid? [True, True] Translation: X:757.56, Y:-135.38, Z:-48.19 [[ 9.85158398e-01 1.63118566e-01 5.34346726e-02 7.57560338e+02] [-1.62623208e-01 9.86595611e-01 -1.35200918e-02 -1.35382882e+02] [-5.49237914e-02 4.62971413e-03 9.98479816e-01 -4.81899829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.5807140569999 meters 0.047327747261102594 Centerline is valid? [True, True] Translation: X:757.59, Y:-135.39, Z:-48.19 [[ 9.85326143e-01 1.62148238e-01 5.32948504e-02 7.57588484e+02] [-1.61654197e-01 9.86755364e-01 -1.34823068e-02 -1.35387564e+02] [-5.47751118e-02 4.66913308e-03 9.98487800e-01 -4.81917403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.6107140569999 meters 0.047345425542114905 Centerline is valid? [True, True] Translation: X:757.62, Y:-135.39, Z:-48.19 [[ 9.85553905e-01 1.61016082e-01 5.25101978e-02 7.57616459e+02] [-1.60535637e-01 9.86940834e-01 -1.32702228e-02 -1.35393504e+02] [-5.39611777e-02 4.64876188e-03 9.98532213e-01 -4.81934257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.640714057 meters 0.047171162632146005 Centerline is valid? [True, True] Translation: X:757.65, Y:-135.40, Z:-48.20 [[ 9.85776128e-01 1.59821456e-01 5.19858476e-02 7.57645859e+02] [-1.59349697e-01 9.87134973e-01 -1.31232159e-02 -1.35399062e+02] [-5.34144197e-02 4.65262390e-03 9.98561592e-01 -4.81952380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.6707140569999 meters 0.04833794545584831 Centerline is valid? [True, True] Translation: X:757.67, Y:-135.41, Z:-48.20 [[ 9.85895863e-01 1.59123119e-01 5.18573037e-02 7.57672507e+02] [-1.58652826e-01 9.87247668e-01 -1.30890487e-02 -1.35406890e+02] [-5.32787724e-02 4.67713116e-03 9.98568724e-01 -4.81970685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.7007140569999 meters 0.048140858534047655 Centerline is valid? [True, True] Translation: X:757.70, Y:-135.41, Z:-48.20 [[ 9.85966621e-01 1.58761610e-01 5.16195103e-02 7.57700789e+02] [-1.58295350e-01 9.87305896e-01 -1.30249696e-02 -1.35412898e+02] [-5.30321120e-02 4.67105680e-03 9.98581883e-01 -4.81985785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.7307140569999 meters 0.04961875432519898 Centerline is valid? [True, True] Translation: X:757.73, Y:-135.42, Z:-48.20 [[ 9.85960964e-01 1.58681303e-01 5.19732873e-02 7.57726752e+02] [-1.58209278e-01 9.87318701e-01 -1.30999095e-02 -1.35421650e+02] [-5.33929092e-02 4.69334314e-03 9.98562552e-01 -4.82003272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.760714057 meters 0.048151868636561394 Centerline is valid? [True, True] Translation: X:757.75, Y:-135.43, Z:-48.20 [[ 9.86024825e-01 1.58344159e-01 5.17896950e-02 7.57754898e+02] [-1.57875333e-01 9.87372849e-01 -1.30474838e-02 -1.35426039e+02] [-5.32017316e-02 4.68882755e-03 9.98572777e-01 -4.82021139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.790714057 meters 0.048151868636561394 Centerline is valid? [True, True] Translation: X:757.78, Y:-135.43, Z:-48.20 [[ 9.86069442e-01 1.58065028e-01 5.17928817e-02 7.57781542e+02] [-1.57596481e-01 9.87417562e-01 -1.30348214e-02 -1.35432663e+02] [-5.32015504e-02 4.69086314e-03 9.98572777e-01 -4.82037092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.8207140569999 meters 0.047271378549631635 Centerline is valid? [True, True] Translation: X:757.81, Y:-135.44, Z:-48.20 [[ 9.86230713e-01 1.57180989e-01 5.14112667e-02 7.57809727e+02] [-1.56718957e-01 9.87558685e-01 -1.29232801e-02 -1.35437163e+02] [-5.28029369e-02 4.68821563e-03 9.98593947e-01 -4.82049735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.8507140569999 meters 0.04636063572039583 Centerline is valid? [True, True] Translation: X:757.84, Y:-135.44, Z:-48.21 [[ 9.86250217e-01 1.57003743e-01 5.15784295e-02 7.57837568e+02] [-1.56539177e-01 9.87586826e-01 -1.29517476e-02 -1.35442131e+02] [-5.29716504e-02 4.69961891e-03 9.98584958e-01 -4.82063802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.880714057 meters 0.053696951017213744 Centerline is valid? [True, True] Translation: X:757.86, Y:-135.46, Z:-48.21 [[ 9.86220966e-01 1.57163429e-01 5.16513645e-02 7.57862452e+02] [-1.56698653e-01 9.87561514e-01 -1.29533163e-02 -1.35457989e+02] [-5.30446873e-02 4.68113289e-03 9.98581168e-01 -4.82082663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.910714057 meters 0.045248084366507006 Centerline is valid? [True, True] Translation: X:757.89, Y:-135.45, Z:-48.21 [[ 9.86217324e-01 1.57210639e-01 5.15771759e-02 7.57893766e+02] [-1.56747508e-01 9.87554065e-01 -1.29300840e-02 -1.35453245e+02] [-5.29679965e-02 4.66727899e-03 9.98585303e-01 -4.82097474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.9407140569999 meters 0.05106932195132422 Centerline is valid? [True, True] Translation: X:757.92, Y:-135.47, Z:-48.21 [[ 9.86339726e-01 1.56769780e-01 5.05685685e-02 7.57918701e+02] [-1.56324425e-01 9.87624501e-01 -1.26696364e-02 -1.35467197e+02] [-5.19289734e-02 4.59146327e-03 9.98640226e-01 -4.82121700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.9707140569999 meters 0.046833083050274574 Centerline is valid? [True, True] Translation: X:757.95, Y:-135.47, Z:-48.21 [[ 9.86437706e-01 1.56319347e-01 5.00491071e-02 7.57948166e+02] [-1.55882719e-01 9.87696022e-01 -1.25358029e-02 -1.35467579e+02] [-5.13928925e-02 4.56399781e-03 9.98668083e-01 -4.82139853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.000714057 meters 0.04788160460025306 Centerline is valid? [True, True] Translation: X:757.98, Y:-135.48, Z:-48.22 [[ 9.86611472e-01 1.55400904e-01 4.94809292e-02 7.57975884e+02] [-1.54973659e-01 9.87841024e-01 -1.23805108e-02 -1.35475243e+02] [-5.08032344e-02 4.54651334e-03 9.98698333e-01 -4.82156308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.030714057 meters 0.05665260405477772 Centerline is valid? [True, True] Translation: X:758.00, Y:-135.49, Z:-48.22 [[ 9.87029994e-01 1.52964154e-01 4.87212244e-02 7.58001228e+02] [-1.52547712e-01 9.88221097e-01 -1.21761511e-02 -1.35491914e+02] [-5.00098565e-02 4.58591508e-03 9.98738196e-01 -4.82182267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.0607140569999 meters 0.049283672936000736 Centerline is valid? [True, True] Translation: X:758.03, Y:-135.49, Z:-48.22 [[ 9.87252472e-01 1.51544299e-01 4.86506092e-02 7.58032114e+02] [-1.51127430e-01 9.88439531e-01 -1.21570192e-02 -1.35488416e+02] [-4.99305123e-02 4.64960575e-03 9.98741871e-01 -4.82190048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.0907140569999 meters 0.05124832252527152 Centerline is valid? [True, True] Translation: X:758.06, Y:-135.50, Z:-48.22 [[ 9.87419519e-01 1.50494152e-01 4.85201345e-02 7.58059562e+02] [-1.50078467e-01 9.88599794e-01 -1.21203101e-02 -1.35497666e+02] [-4.97910307e-02 4.68600334e-03 9.98748664e-01 -4.82212339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.120714057 meters 0.046873814485290564 Centerline is valid? [True, True] Translation: X:758.09, Y:-135.50, Z:-48.22 [[ 9.87574028e-01 1.49389158e-01 4.87895346e-02 7.58088692e+02] [-1.48967565e-01 9.88766988e-01 -1.21864265e-02 -1.35498711e+02] [-5.00620011e-02 4.76694018e-03 9.98734736e-01 -4.82224316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.150714057 meters 0.04923441439171196 Centerline is valid? [True, True] Translation: X:758.12, Y:-135.51, Z:-48.22 [[ 9.87840071e-01 1.47610531e-01 4.88172582e-02 7.58115735e+02] [-1.47187044e-01 9.89033697e-01 -1.21786855e-02 -1.35506962e+02] [-5.00796156e-02 4.84532567e-03 9.98733475e-01 -4.82241230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.1807140569999 meters 0.05224678203494258 Centerline is valid? [True, True] Translation: X:758.14, Y:-135.52, Z:-48.23 [[ 9.87920687e-01 1.46981652e-01 4.90826835e-02 7.58141832e+02] [-1.46552956e-01 9.89127081e-01 -1.22412898e-02 -1.35516166e+02] [-5.03482564e-02 4.90021103e-03 9.98719701e-01 -4.82252666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.2107140569999 meters 0.05292497507399385 Centerline is valid? [True, True] Translation: X:758.17, Y:-135.52, Z:-48.23 [[ 9.87993256e-01 1.46425133e-01 4.92849449e-02 7.58169311e+02] [-1.45992447e-01 9.89209399e-01 -1.22870185e-02 -1.35522761e+02] [-5.05522590e-02 4.94426172e-03 9.98709179e-01 -4.82260985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.240714057 meters 0.04940545263819079 Centerline is valid? [True, True] Translation: X:758.20, Y:-135.52, Z:-48.23 [[ 9.88027573e-01 1.46131976e-01 4.94667611e-02 7.58197597e+02] [-1.45695887e-01 9.89252597e-01 -1.23291401e-02 -1.35523676e+02] [-5.07368035e-02 4.97442672e-03 9.98699671e-01 -4.82272049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.270714057 meters 0.05019571734576638 Centerline is valid? [True, True] Translation: X:758.23, Y:-135.53, Z:-48.23 [[ 9.88112268e-01 1.45522895e-01 4.95704782e-02 7.58225599e+02] [-1.45085007e-01 9.89342245e-01 -1.23394621e-02 -1.35531541e+02] [-5.08378424e-02 5.00084070e-03 9.98694400e-01 -4.82292618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.3007140569999 meters 0.05231018902358447 Centerline is valid? [True, True] Translation: X:758.25, Y:-135.54, Z:-48.23 [[ 9.88165773e-01 1.45131262e-01 4.96520110e-02 7.58251383e+02] [-1.44692177e-01 9.89399700e-01 -1.23453194e-02 -1.35540897e+02] [-5.09173766e-02 5.01496455e-03 9.98690278e-01 -4.82313186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.3307140569999 meters 0.05132132552740907 Centerline is valid? [True, True] Translation: X:758.28, Y:-135.55, Z:-48.23 [[ 9.88320251e-01 1.44064735e-01 4.96833304e-02 7.58280720e+02] [-1.43624021e-01 9.89555287e-01 -1.23480341e-02 -1.35546386e+02] [-5.09433186e-02 5.06809251e-03 9.98688687e-01 -4.82327836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.3607140569999 meters 0.049623975544354985 Centerline is valid? [True, True] Translation: X:758.31, Y:-135.55, Z:-48.23 [[ 9.88509803e-01 1.43070453e-01 4.87772075e-02 7.58309501e+02] [-1.42644492e-01 9.89699747e-01 -1.21227220e-02 -1.35550545e+02] [-5.00091932e-02 5.02562956e-03 9.98736113e-01 -4.82343031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.390714057 meters 0.05422538571713146 Centerline is valid? [True, True] Translation: X:758.33, Y:-135.56, Z:-48.24 [[ 9.88618052e-01 1.42403226e-01 4.85352388e-02 7.58334916e+02] [-1.41981390e-01 9.89795998e-01 -1.20485337e-02 -1.35562891e+02] [-4.97557352e-02 5.02029727e-03 9.98748799e-01 -4.82366171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.4207140569999 meters 0.05234891533593222 Centerline is valid? [True, True] Translation: X:758.36, Y:-135.57, Z:-48.24 [[ 9.88669561e-01 1.42224342e-01 4.80076608e-02 7.58362240e+02] [-1.41811699e-01 9.89821977e-01 -1.19120473e-02 -1.35567268e+02] [-4.92132208e-02 4.96903063e-03 9.98775935e-01 -4.82386218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.4507140569999 meters 0.05648651471189507 Centerline is valid? [True, True] Translation: X:758.39, Y:-135.58, Z:-48.24 [[ 9.88715147e-01 1.42173113e-01 4.72140159e-02 7.58386840e+02] [-1.41774712e-01 9.89829810e-01 -1.16995084e-02 -1.35579665e+02] [-4.83971960e-02 4.87372764e-03 9.98816279e-01 -4.82417138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.4807140569999 meters 0.05271119547454043 Centerline is valid? [True, True] Translation: X:758.42, Y:-135.58, Z:-48.24 [[ 9.88715713e-01 1.42281971e-01 4.68730146e-02 7.58415560e+02] [-1.41889664e-01 9.89814391e-01 -1.16101370e-02 -1.35581484e+02] [-4.80474975e-02 4.82832856e-03 9.98833382e-01 -4.82429583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.510714057 meters 0.05420362265409424 Centerline is valid? [True, True] Translation: X:758.44, Y:-135.59, Z:-48.24 [[ 9.88554237e-01 1.43231401e-01 4.73844417e-02 7.58442238e+02] [-1.42832258e-01 9.89677489e-01 -1.17224043e-02 -1.35590434e+02] [-4.85743316e-02 4.82020560e-03 9.98807939e-01 -4.82448216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.540714057 meters 0.05355884233693352 Centerline is valid? [True, True] Translation: X:758.47, Y:-135.60, Z:-48.25 [[ 9.88380043e-01 1.44661982e-01 4.66669277e-02 7.58471909e+02] [-1.44276613e-01 9.89470093e-01 -1.15409358e-02 -1.35595805e+02] [-4.78450640e-02 4.67388433e-03 9.98843834e-01 -4.82462833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.5707140569999 meters 0.052441935844821264 Centerline is valid? [True, True] Translation: X:758.50, Y:-135.60, Z:-48.25 [[ 9.88174356e-01 1.46079762e-01 4.66062895e-02 7.58501763e+02] [-1.45696996e-01 9.89262128e-01 -1.15250741e-02 -1.35600761e+02] [-4.77894172e-02 4.59838634e-03 9.98846848e-01 -4.82473358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.6007140569999 meters 0.05345149337131592 Centerline is valid? [True, True] Translation: X:758.53, Y:-135.61, Z:-48.25 [[ 9.87904285e-01 1.47792735e-01 4.69300783e-02 7.58529938e+02] [-1.47406574e-01 9.89007906e-01 -1.16044309e-02 -1.35609046e+02] [-4.81292691e-02 4.54626492e-03 9.98830769e-01 -4.82492545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.630714057 meters 0.05221310170080591 Centerline is valid? [True, True] Translation: X:758.56, Y:-135.61, Z:-48.25 [[ 9.87704995e-01 1.49185392e-01 4.67178946e-02 7.58559802e+02] [-1.48804352e-01 9.88799201e-01 -1.15500759e-02 -1.35614198e+02] [-4.79177195e-02 4.45624165e-03 9.98841346e-01 -4.82510910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.660714057 meters 0.051967502878177384 Centerline is valid? [True, True] Translation: X:758.59, Y:-135.62, Z:-48.25 [[ 9.87141782e-01 1.52794823e-01 4.69557659e-02 7.58587836e+02] [-1.52413962e-01 9.88248568e-01 -1.16082631e-02 -1.35620195e+02] [-4.81776509e-02 4.30228723e-03 9.98829517e-01 -4.82528291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.6907140569999 meters 0.05263560817590102 Centerline is valid? [True, True] Translation: X:758.62, Y:-135.63, Z:-48.25 [[ 9.86825165e-01 1.54700330e-01 4.73698454e-02 7.58615920e+02] [-1.54315001e-01 9.87952324e-01 -1.17083903e-02 -1.35627971e+02] [-4.86104407e-02 4.24425649e-03 9.98808796e-01 -4.82540893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.7207140569999 meters 0.046235507081125574 Centerline is valid? [True, True] Translation: X:758.65, Y:-135.63, Z:-48.25 [[ 9.86591472e-01 1.56225687e-01 4.72313751e-02 7.58647603e+02] [-1.55844417e-01 9.87712644e-01 -1.16726132e-02 -1.35625645e+02] [-4.84745884e-02 4.15535451e-03 9.98815772e-01 -4.82548782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.750714057 meters 0.04350537614808622 Centerline is valid? [True, True] Translation: X:758.68, Y:-135.63, Z:-48.26 [[ 9.86303663e-01 1.57880184e-01 4.77381653e-02 7.58677823e+02] [-1.57492727e-01 9.87449701e-01 -1.17953188e-02 -1.35628036e+02] [-4.90012841e-02 4.11535231e-03 9.98790237e-01 -4.82557540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.780714057 meters 0.049593592126642876 Centerline is valid? [True, True] Translation: X:758.70, Y:-135.64, Z:-48.26 [[ 9.85703665e-01 1.61308509e-01 4.86605507e-02 7.58704744e+02] [-1.60910203e-01 9.86895849e-01 -1.20204256e-02 -1.35643074e+02] [-4.99618924e-02 4.01859850e-03 9.98743040e-01 -4.82580413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.8107140569999 meters 0.04159814801927691 Centerline is valid? [True, True] Translation: X:758.74, Y:-135.64, Z:-48.26 [[ 9.85488376e-01 1.62551487e-01 4.88842989e-02 7.58735296e+02] [-1.62151030e-01 9.86692061e-01 -1.20755844e-02 -1.35639067e+02] [-5.01966539e-02 3.97370865e-03 9.98731448e-01 -4.82588617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.8407140569999 meters 0.04199102735030233 Centerline is valid? [True, True] Translation: X:758.76, Y:-135.65, Z:-48.26 [[ 9.85318215e-01 1.63629020e-01 4.87191793e-02 7.58761995e+02] [-1.63232753e-01 9.86514226e-01 -1.20312206e-02 -1.35646393e+02] [-5.00308203e-02 3.90201502e-03 9.98740052e-01 -4.82608649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.870714057 meters 0.04116672111024784 Centerline is valid? [True, True] Translation: X:758.79, Y:-135.65, Z:-48.26 [[ 9.85198859e-01 1.64438282e-01 4.84072227e-02 7.58790404e+02] [-1.64048216e-01 9.86379927e-01 -1.19508068e-02 -1.35652585e+02] [-4.97130829e-02 3.83280267e-03 9.98756186e-01 -4.82626821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.900714057 meters 0.03987519153053877 Centerline is valid? [True, True] Translation: X:758.82, Y:-135.66, Z:-48.26 [[ 9.84795843e-01 1.66934893e-01 4.80613096e-02 7.58820222e+02] [-1.66554014e-01 9.85961103e-01 -1.18517445e-02 -1.35657951e+02] [-4.93650515e-02 3.66674464e-03 9.98774072e-01 -4.82642086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.9307140569999 meters 0.03924095848813863 Centerline is valid? [True, True] Translation: X:758.85, Y:-135.66, Z:-48.27 [[ 9.84612691e-01 1.68171883e-01 4.74980627e-02 7.58848455e+02] [-1.67801336e-01 9.85751252e-01 -1.17124521e-02 -1.35663273e+02] [-4.87909798e-02 3.56199061e-03 9.98802659e-01 -4.82656253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.9607140569999 meters 0.039516062931053496 Centerline is valid? [True, True] Translation: X:758.88, Y:-135.67, Z:-48.27 [[ 9.84308567e-01 1.69840336e-01 4.78633998e-02 7.58876753e+02] [-1.69466218e-01 9.85465370e-01 -1.17985482e-02 -1.35670264e+02] [-4.91715924e-02 3.50218269e-03 9.98784206e-01 -4.82673814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.990714057 meters 0.03832212583757973 Centerline is valid? [True, True] Translation: X:758.91, Y:-135.68, Z:-48.27 [[ 9.83578243e-01 1.74195350e-01 4.72209667e-02 7.58905027e+02] [-1.73836292e-01 9.84705790e-01 -1.16383735e-02 -1.35675509e+02] [-4.85261099e-02 3.23853324e-03 9.98816664e-01 -4.82692359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.020714057 meters 0.03837284662265292 Centerline is valid? [True, True] Translation: X:758.93, Y:-135.68, Z:-48.27 [[ 9.83251510e-01 1.76100036e-01 4.69600296e-02 7.58933770e+02] [-1.75747167e-01 9.84367313e-01 -1.15726639e-02 -1.35681582e+02] [-4.82638647e-02 3.12574712e-03 9.98829730e-01 -4.82710561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.0507140569999 meters 0.03837284662265292 Centerline is valid? [True, True] Translation: X:758.96, Y:-135.69, Z:-48.27 [[ 9.83300575e-01 1.75825907e-01 4.69598784e-02 7.58960394e+02] [-1.75472697e-01 9.84416270e-01 -1.15732791e-02 -1.35688056e+02] [-4.82629507e-02 3.13983550e-03 9.98829730e-01 -4.82726444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.0807140569999 meters 0.03784638212074785 Centerline is valid? [True, True] Translation: X:758.99, Y:-135.69, Z:-48.27 [[ 9.82968656e-01 1.77682833e-01 4.69194180e-02 7.58989422e+02] [-1.77333122e-01 9.84083142e-01 -1.15470257e-02 -1.35693592e+02] [-4.82243165e-02 3.02999743e-03 9.98831935e-01 -4.82743043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.1107140569999 meters 0.03710272519005161 Centerline is valid? [True, True] Translation: X:759.02, Y:-135.70, Z:-48.28 [[ 9.82416101e-01 1.80801997e-01 4.65751307e-02 7.59019082e+02] [-1.80460981e-01 9.83515375e-01 -1.14604211e-02 -1.35697539e+02] [-4.78794242e-02 2.85390845e-03 9.98849046e-01 -4.82760417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.140714057 meters 0.037254656021470586 Centerline is valid? [True, True] Translation: X:759.05, Y:-135.70, Z:-48.28 [[ 9.82264117e-01 1.81563403e-01 4.68181062e-02 7.59046424e+02] [-1.81219613e-01 9.83375160e-01 -1.15215554e-02 -1.35704456e+02] [-4.81316555e-02 2.83285133e-03 9.98836983e-01 -4.82777418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.1707140569999 meters 0.036408251894980585 Centerline is valid? [True, True] Translation: X:759.07, Y:-135.71, Z:-48.28 [[ 9.82247944e-01 1.81695373e-01 4.66451343e-02 7.59074447e+02] [-1.81354836e-01 9.83350867e-01 -1.14671847e-02 -1.35709322e+02] [-4.79520676e-02 2.80429792e-03 9.98845701e-01 -4.82789659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.2007140569999 meters 0.036708850193860894 Centerline is valid? [True, True] Translation: X:759.10, Y:-135.72, Z:-48.28 [[ 9.82165066e-01 1.81961748e-01 4.73466479e-02 7.59102736e+02] [-1.81611800e-01 9.83301563e-01 -1.16271326e-02 -1.35716651e+02] [-4.86717263e-02 2.82105352e-03 9.98810845e-01 -4.82804919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.2307140569999 meters 0.03897594143184566 Centerline is valid? [True, True] Translation: X:759.13, Y:-135.73, Z:-48.28 [[ 9.82173695e-01 1.81605223e-01 4.85219052e-02 7.59129293e+02] [-1.81237881e-01 9.83367252e-01 -1.19028719e-02 -1.35726297e+02] [-4.98764763e-02 2.89668040e-03 9.98751193e-01 -4.82812959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.260714057 meters 0.03435519919094104 Centerline is valid? [True, True] Translation: X:759.16, Y:-135.73, Z:-48.28 [[ 9.82286937e-01 1.80929491e-01 4.87533854e-02 7.59159262e+02] [-1.80557959e-01 9.83491670e-01 -1.19565521e-02 -1.35725603e+02] [-5.01118413e-02 2.94195318e-03 9.98739279e-01 -4.82812955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.290714057 meters 0.03983737795953149 Centerline is valid? [True, True] Translation: X:759.18, Y:-135.74, Z:-48.28 [[ 9.82476184e-01 1.79814676e-01 4.90635286e-02 7.59183752e+02] [-1.79437729e-01 9.83695918e-01 -1.20184560e-02 -1.35740255e+02] [-5.04246876e-02 3.00399861e-03 9.98723349e-01 -4.82836517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.3207140569999 meters 0.03441635547566831 Centerline is valid? [True, True] Translation: X:759.21, Y:-135.74, Z:-48.28 [[ 9.82614719e-01 1.79007656e-01 4.92399596e-02 7.59213793e+02] [-1.78627208e-01 9.83842947e-01 -1.20571949e-02 -1.35739076e+02] [-5.06027172e-02 3.05198070e-03 9.98714199e-01 -4.82837203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.3507140569999 meters 0.03408488966860282 Centerline is valid? [True, True] Translation: X:759.24, Y:-135.75, Z:-48.29 [[ 9.83054661e-01 1.76522306e-01 4.94308437e-02 7.59242159e+02] [-1.76136505e-01 9.84291509e-01 -1.20895068e-02 -1.35746459e+02] [-5.07884274e-02 3.17806994e-03 9.98704378e-01 -4.82858983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.380714057 meters 0.03587141438902628 Centerline is valid? [True, True] Translation: X:759.27, Y:-135.76, Z:-48.29 [[ 9.83318027e-01 1.75000013e-01 4.96049728e-02 7.59268592e+02] [-1.74609772e-01 9.84563020e-01 -1.21279239e-02 -1.35756772e+02] [-5.09616087e-02 3.26409320e-03 9.98695279e-01 -4.82883034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.410714057 meters 0.039717337184875 Centerline is valid? [True, True] Translation: X:759.29, Y:-135.77, Z:-48.29 [[ 9.83593458e-01 1.73343482e-01 4.99594443e-02 7.59294702e+02] [-1.72945728e-01 9.84855666e-01 -1.22103744e-02 -1.35770371e+02] [-5.13194305e-02 3.36977194e-03 9.98676605e-01 -4.82909464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.4407140569999 meters 0.041131906068712094 Centerline is valid? [True, True] Translation: X:759.32, Y:-135.78, Z:-48.29 [[ 9.84221460e-01 1.69975758e-01 4.91564843e-02 7.59323350e+02] [-1.69586670e-01 9.85442081e-01 -1.20111216e-02 -1.35780104e+02] [-5.04824676e-02 3.48531910e-03 9.98718866e-01 -4.82928446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.4707140569999 meters 0.038026659505206034 Centerline is valid? [True, True] Translation: X:759.35, Y:-135.78, Z:-48.29 [[ 9.84480977e-01 1.68364849e-01 4.95023650e-02 7.59353216e+02] [-1.67968266e-01 9.85718201e-01 -1.20950452e-02 -1.35783053e+02] [-5.08317626e-02 3.59251550e-03 9.98700769e-01 -4.82939374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.500714057 meters 0.04128723776522507 Centerline is valid? [True, True] Translation: X:759.38, Y:-135.79, Z:-48.30 [[ 9.84805885e-01 1.66506302e-01 4.93256640e-02 7.59379214e+02] [-1.66110312e-01 9.86033547e-01 -1.20502611e-02 -1.35794373e+02] [-5.06432039e-02 3.67366664e-03 9.98710053e-01 -4.82959442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.530714057 meters 0.040557640320359266 Centerline is valid? [True, True] Translation: X:759.41, Y:-135.80, Z:-48.30 [[ 9.85105550e-01 1.64654309e-01 4.95581971e-02 7.59407909e+02] [-1.64252447e-01 9.86344083e-01 -1.21030630e-02 -1.35800958e+02] [-5.08742559e-02 3.78273940e-03 9.98697903e-01 -4.82975633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.5607140569999 meters 0.040506901738394545 Centerline is valid? [True, True] Translation: X:759.44, Y:-135.81, Z:-48.30 [[ 9.85444552e-01 1.62538503e-01 4.98023056e-02 7.59436318e+02] [-1.62130080e-01 9.86694457e-01 -1.21607885e-02 -1.35810345e+02] [-5.11162553e-02 3.90933101e-03 9.98685058e-01 -4.82997839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.5907140569999 meters 0.047006226644149086 Centerline is valid? [True, True] Translation: X:759.46, Y:-135.83, Z:-48.30 [[ 9.85576224e-01 1.61711274e-01 4.98895779e-02 7.59460595e+02] [-1.61300429e-01 9.86830177e-01 -1.21808506e-02 -1.35826253e+02] [-5.12023219e-02 3.95794645e-03 9.98680458e-01 -4.83023642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.620714057 meters 0.047673253670168246 Centerline is valid? [True, True] Translation: X:759.49, Y:-135.83, Z:-48.30 [[ 9.85689113e-01 1.61189476e-01 4.93449630e-02 7.59487897e+02] [-1.60787279e-01 9.86915637e-01 -1.20406298e-02 -1.35833901e+02] [-5.06401384e-02 3.93427535e-03 9.98709216e-01 -4.83039279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.650714057 meters 0.04101538808787011 Centerline is valid? [True, True] Translation: X:759.52, Y:-135.83, Z:-48.30 [[ 9.85684534e-01 1.60970438e-01 5.01449599e-02 7.59517309e+02] [-1.60554967e-01 9.86951096e-01 -1.22325847e-02 -1.35831291e+02] [-5.14597076e-02 4.00644721e-03 9.98667035e-01 -4.83038665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.6807140569999 meters 0.04105707369870729 Centerline is valid? [True, True] Translation: X:759.55, Y:-135.84, Z:-48.31 [[ 9.85621760e-01 1.61207123e-01 5.06163085e-02 7.59545630e+02] [-1.60784935e-01 9.86912425e-01 -1.23316367e-02 -1.35838323e+02] [-5.19418115e-02 4.01598956e-03 9.98642038e-01 -4.83051422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.7107140569999 meters 0.04713085986674151 Centerline is valid? [True, True] Translation: X:759.57, Y:-135.85, Z:-48.31 [[ 9.85533353e-01 1.61625974e-01 5.10005397e-02 7.59570533e+02] [-1.61198595e-01 9.86843936e-01 -1.24120339e-02 -1.35853229e+02] [-5.23356804e-02 4.01125805e-03 9.98621493e-01 -4.83071832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.740714057 meters 0.042502369294634294 Centerline is valid? [True, True] Translation: X:759.60, Y:-135.85, Z:-48.31 [[ 9.85317072e-01 1.62966513e-01 5.09134811e-02 7.59600708e+02] [-1.62542710e-01 9.86623786e-01 -1.23843563e-02 -1.35853490e+02] [-5.22506869e-02 3.92690251e-03 9.98626279e-01 -4.83083136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.770714057 meters 0.039470020988561394 Centerline is valid? [True, True] Translation: X:759.63, Y:-135.86, Z:-48.31 [[ 9.85243360e-01 1.63475324e-01 5.07083812e-02 7.59629915e+02] [-1.63056227e-01 9.86539824e-01 -1.23224753e-02 -1.35855550e+02] [-5.20402581e-02 3.87231968e-03 9.98637480e-01 -4.83096609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.8007140569999 meters 0.04152959579651477 Centerline is valid? [True, True] Translation: X:759.66, Y:-135.86, Z:-48.31 [[ 9.85183839e-01 1.63885356e-01 5.05410019e-02 7.59656567e+02] [-1.63470310e-01 9.86471981e-01 -1.22673556e-02 -1.35864763e+02] [-5.18677222e-02 3.82364719e-03 9.98646644e-01 -4.83116561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.8307140569999 meters 0.041742483129170935 Centerline is valid? [True, True] Translation: X:759.68, Y:-135.87, Z:-48.31 [[ 9.85082085e-01 1.64457570e-01 5.06655141e-02 7.59684317e+02] [-1.64041428e-01 9.86376842e-01 -1.22936858e-02 -1.35871265e+02] [-5.19970795e-02 3.79904629e-03 9.98640011e-01 -4.83131402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.8607140569999 meters 0.04424254551654235 Centerline is valid? [True, True] Translation: X:759.71, Y:-135.88, Z:-48.31 [[ 9.84896237e-01 1.65479071e-01 5.09517412e-02 7.59710595e+02] [-1.65060308e-01 9.86206163e-01 -1.23489978e-02 -1.35880158e+02] [-5.22924219e-02 3.75237140e-03 9.98624766e-01 -4.83145137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.890714057 meters 0.04218244377731536 Centerline is valid? [True, True] Translation: X:759.74, Y:-135.88, Z:-48.32 [[ 9.84810969e-01 1.65858590e-01 5.13642158e-02 7.59738875e+02] [-1.65433736e-01 9.86142384e-01 -1.24450088e-02 -1.35884271e+02] [-5.27165419e-02 3.75860712e-03 9.98602443e-01 -4.83160960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.9207140569999 meters 0.04350575807333805 Centerline is valid? [True, True] Translation: X:759.77, Y:-135.89, Z:-48.32 [[ 9.84718073e-01 1.66337233e-01 5.15969124e-02 7.59765707e+02] [-1.65909871e-01 9.86061844e-01 -1.24881668e-02 -1.35892950e+02] [-5.29549937e-02 3.73688652e-03 9.98589908e-01 -4.83180042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.9507140569999 meters 0.037054382013363515 Centerline is valid? [True, True] Translation: X:759.80, Y:-135.89, Z:-48.32 [[ 9.84644507e-01 1.66883117e-01 5.12369034e-02 7.59795943e+02] [-1.66463110e-01 9.85969859e-01 -1.23882658e-02 -1.35889012e+02] [-5.25854349e-02 3.66898354e-03 9.98609689e-01 -4.83191110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.9807140569999 meters 0.04387027631289261 Centerline is valid? [True, True] Translation: X:759.82, Y:-135.91, Z:-48.32 [[ 9.84611240e-01 1.67062043e-01 5.12930749e-02 7.59820930e+02] [-1.66642130e-01 9.85939633e-01 -1.23871488e-02 -1.35905460e+02] [-5.26412978e-02 3.64893863e-03 9.98606819e-01 -4.83214614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.010714057 meters 0.03843278154242034 Centerline is valid? [True, True] Translation: X:759.85, Y:-135.90, Z:-48.32 [[ 9.84626628e-01 1.66997011e-01 5.12094001e-02 7.59851322e+02] [-1.66578593e-01 9.85950674e-01 -1.23629168e-02 -1.35903859e+02] [-5.25545127e-02 3.64246724e-03 9.98611414e-01 -4.83225570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.040714057 meters 0.03875877310749256 Centerline is valid? [True, True] Translation: X:759.88, Y:-135.91, Z:-48.32 [[ 9.84490941e-01 1.67717838e-01 5.14617637e-02 7.59878737e+02] [-1.67296983e-01 9.85828437e-01 -1.24101767e-02 -1.35909950e+02] [-5.28138780e-02 3.60830871e-03 9.98597854e-01 -4.83235114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.0707140569999 meters 0.037350628710071124 Centerline is valid? [True, True] Translation: X:759.91, Y:-135.91, Z:-48.33 [[ 9.84273640e-01 1.68807154e-01 5.20532996e-02 7.59907221e+02] [-1.68378854e-01 9.85642610e-01 -1.25382420e-02 -1.35914430e+02] [-5.34224950e-02 3.57638623e-03 9.98565595e-01 -4.83252167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.1007140569999 meters 0.0374655964295134 Centerline is valid? [True, True] Translation: X:759.94, Y:-135.92, Z:-48.33 [[ 9.84146684e-01 1.69626588e-01 5.17892358e-02 7.59935075e+02] [-1.69203916e-01 9.85502153e-01 -1.24715919e-02 -1.35920886e+02] [-5.31539170e-02 3.51093427e-03 9.98580159e-01 -4.83271260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.130714057 meters 0.03598518445025985 Centerline is valid? [True, True] Translation: X:759.97, Y:-135.92, Z:-48.33 [[ 9.83677068e-01 1.72343188e-01 5.17421739e-02 7.59965385e+02] [-1.71925801e-01 9.85031282e-01 -1.24456136e-02 -1.35924801e+02] [-5.31125766e-02 3.34664996e-03 9.98582923e-01 -4.83287952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.160714057 meters 0.03569006079617865 Centerline is valid? [True, True] Translation: X:759.99, Y:-135.93, Z:-48.33 [[ 9.83407075e-01 1.73753685e-01 5.21553549e-02 7.59993667e+02] [-1.73331614e-01 9.84783628e-01 -1.25442370e-02 -1.35930474e+02] [-5.35413470e-02 3.29591964e-03 9.98560194e-01 -4.83305392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.1907140569999 meters 0.03515513023006352 Centerline is valid? [True, True] Translation: X:760.02, Y:-135.94, Z:-48.33 [[ 9.83226864e-01 1.74664562e-01 5.25092905e-02 7.60021932e+02] [-1.74238206e-01 9.84622582e-01 -1.26260972e-02 -1.35936157e+02] [-5.39071650e-02 3.26519339e-03 9.98540613e-01 -4.83311932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.2207140569999 meters 0.03333798121278953 Centerline is valid? [True, True] Translation: X:760.05, Y:-135.94, Z:-48.33 [[ 9.82876811e-01 1.76418036e-01 5.31963446e-02 7.60051305e+02] [-1.75983792e-01 9.84310145e-01 -1.27767042e-02 -1.35939840e+02] [-5.46157427e-02 3.19623185e-03 9.98502331e-01 -4.83317800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.250714057 meters 0.03846134823826245 Centerline is valid? [True, True] Translation: X:760.08, Y:-135.95, Z:-48.33 [[ 9.82795157e-01 1.76898236e-01 5.31101926e-02 7.60076891e+02] [-1.76466431e-01 9.84224079e-01 -1.27499136e-02 -1.35953663e+02] [-5.45277676e-02 3.15838727e-03 9.98507259e-01 -4.83336011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.280714057 meters 0.03393233191320279 Centerline is valid? [True, True] Translation: X:760.11, Y:-135.95, Z:-48.33 [[ 9.82638292e-01 1.77779511e-01 5.30700676e-02 7.60106613e+02] [-1.77350404e-01 9.84065484e-01 -1.27262486e-02 -1.35953732e+02] [-5.44868880e-02 3.09330130e-03 9.98509695e-01 -4.83349000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.3107140569999 meters 0.03401616631576145 Centerline is valid? [True, True] Translation: X:760.13, Y:-135.96, Z:-48.34 [[ 9.82504171e-01 1.78526084e-01 5.30470730e-02 7.60134338e+02] [-1.78099192e-01 9.83930493e-01 -1.27068176e-02 -1.35960536e+02] [-5.44631310e-02 3.03686043e-03 9.98511164e-01 -4.83368355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.3407140569999 meters 0.03663734381443841 Centerline is valid? [True, True] Translation: X:760.16, Y:-135.97, Z:-48.34 [[ 9.82213358e-01 1.80340168e-01 5.22909510e-02 7.60159987e+02] [-1.79928689e-01 9.83600085e-01 -1.25115963e-02 -1.35971047e+02] [-5.36897272e-02 2.88041477e-03 9.98553512e-01 -4.83396774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.370714057 meters 0.03164859209814596 Centerline is valid? [True, True] Translation: X:760.19, Y:-135.97, Z:-48.34 [[ 9.82085541e-01 1.81132550e-01 5.19518078e-02 7.60189705e+02] [-1.80727714e-01 9.83454664e-01 -1.24264365e-02 -1.35970597e+02] [-5.33430798e-02 2.81469217e-03 9.98572278e-01 -4.83407092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.400714057 meters 0.03153662324248594 Centerline is valid? [True, True] Translation: X:760.22, Y:-135.98, Z:-48.34 [[ 9.81907792e-01 1.82095881e-01 5.19439919e-02 7.60217153e+02] [-1.81693250e-01 9.83276938e-01 -1.24107260e-02 -1.35978154e+02] [-5.33352714e-02 2.74831581e-03 9.98572879e-01 -4.83423520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.4307140569999 meters 0.031322632127337456 Centerline is valid? [True, True] Translation: X:760.24, Y:-135.99, Z:-48.34 [[ 9.81822537e-01 1.82661857e-01 5.15669574e-02 7.60244606e+02] [-1.82266550e-01 9.83172131e-01 -1.23071291e-02 -1.35985161e+02] [-5.29472385e-02 2.68448535e-03 9.98593703e-01 -4.83445448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.4607140569999 meters 0.031989184753981534 Centerline is valid? [True, True] Translation: X:760.27, Y:-135.99, Z:-48.35 [[ 9.81972884e-01 1.82067300e-01 5.08011140e-02 7.60272558e+02] [-1.81683556e-01 9.83282465e-01 -1.21111273e-02 -1.35993051e+02] [-5.21568848e-02 2.66307160e-03 9.98635353e-01 -4.83468823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.490714057 meters 0.031824124306092036 Centerline is valid? [True, True] Translation: X:760.30, Y:-136.00, Z:-48.35 [[ 9.82035449e-01 1.81703367e-01 5.08946240e-02 7.60299588e+02] [-1.81318410e-01 9.83349752e-01 -1.21202329e-02 -1.36000618e+02] [-5.22495030e-02 2.67436604e-03 9.98630481e-01 -4.83488178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.520714057 meters 0.032535918426009273 Centerline is valid? [True, True] Translation: X:760.33, Y:-136.01, Z:-48.35 [[ 9.82133609e-01 1.81043982e-01 5.13483190e-02 7.60326360e+02] [-1.80652104e-01 9.83471247e-01 -1.22116505e-02 -1.36008989e+02] [-5.27104412e-02 2.71729051e-03 9.98606141e-01 -4.83505337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.5507140569999 meters 0.032912669157502655 Centerline is valid? [True, True] Translation: X:760.35, Y:-136.02, Z:-48.35 [[ 9.82436866e-01 1.79274568e-01 5.17535866e-02 7.60354708e+02] [-1.78874299e-01 9.83795011e-01 -1.23029136e-02 -1.36018665e+02] [-5.31205198e-02 2.82944942e-03 9.98584100e-01 -4.83519235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.5807140569999 meters 0.03513968846170302 Centerline is valid? [True, True] Translation: X:760.38, Y:-136.03, Z:-48.35 [[ 9.82694625e-01 1.77850805e-01 5.17722426e-02 7.60380855e+02] [-1.77448368e-01 9.84053173e-01 -1.23056613e-02 -1.36029939e+02] [-5.31352114e-02 2.90580730e-03 9.98583099e-01 -4.83539291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.6107140569999 meters 0.03602475965014179 Centerline is valid? [True, True] Translation: X:760.41, Y:-136.04, Z:-48.36 [[ 9.82984973e-01 1.76213728e-01 5.18581187e-02 7.60407880e+02] [-1.75807902e-01 9.84347373e-01 -1.23219644e-02 -1.36039682e+02] [-5.32177022e-02 2.99523875e-03 9.98578442e-01 -4.83556532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.640714057 meters 0.03806891617766997 Centerline is valid? [True, True] Translation: X:760.44, Y:-136.05, Z:-48.36 [[ 9.83570298e-01 1.72779543e-01 5.23134645e-02 7.60435743e+02] [-1.72362485e-01 9.84955340e-01 -1.24157844e-02 -1.36052745e+02] [-5.36716197e-02 3.19491804e-03 9.98553529e-01 -4.83574468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.6707140569999 meters 0.03638161047222867 Centerline is valid? [True, True] Translation: X:760.46, Y:-136.06, Z:-48.36 [[ 9.84001501e-01 1.70301842e-01 5.23290343e-02 7.60464084e+02] [-1.69881090e-01 9.85386316e-01 -1.24186860e-02 -1.36058534e+02] [-5.36792394e-02 3.33029226e-03 9.98552677e-01 -4.83589790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.7007140569999 meters 0.04053713507151591 Centerline is valid? [True, True] Translation: X:760.49, Y:-136.07, Z:-48.36 [[ 9.84349625e-01 1.68326143e-01 5.21739981e-02 7.60489921e+02] [-1.67905270e-01 9.85725407e-01 -1.23790811e-02 -1.36072949e+02] [-5.35129585e-02 3.42505463e-03 9.98561281e-01 -4.83610268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.7307140569999 meters 0.04046599305407931 Centerline is valid? [True, True] Translation: X:760.52, Y:-136.08, Z:-48.36 [[ 9.84904456e-01 1.65086407e-01 5.20546907e-02 7.60518797e+02] [-1.64663193e-01 9.86272580e-01 -1.23463174e-02 -1.36083393e+02] [-5.33783232e-02 3.58845139e-03 9.98567913e-01 -4.83632326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.760714057 meters 0.03975625911193326 Centerline is valid? [True, True] Translation: X:760.55, Y:-136.09, Z:-48.37 [[ 9.85182088e-01 1.63411972e-01 5.20843674e-02 7.60546871e+02] [-1.62985935e-01 9.86551050e-01 -1.23535896e-02 -1.36090750e+02] [-5.34026117e-02 3.68151585e-03 9.98566276e-01 -4.83655095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.790714057 meters 0.043703813094024886 Centerline is valid? [True, True] Translation: X:760.57, Y:-136.11, Z:-48.37 [[ 9.85522482e-01 1.61667333e-01 5.10794609e-02 7.60572599e+02] [-1.61255408e-01 9.86838377e-01 -1.21124592e-02 -1.36105639e+02] [-5.23653612e-02 3.70026152e-03 9.98621138e-01 -4.83682452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.8207140569999 meters 0.03877932443460848 Centerline is valid? [True, True] Translation: X:760.60, Y:-136.11, Z:-48.37 [[ 9.85630109e-01 1.61173018e-01 5.05623042e-02 7.60601588e+02] [-1.60768835e-01 9.86919279e-01 -1.19882697e-02 -1.36106350e+02] [-5.18330984e-02 3.68715682e-03 9.98648955e-01 -4.83698518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.8507140569999 meters 0.04108297631656658 Centerline is valid? [True, True] Translation: X:760.63, Y:-136.12, Z:-48.37 [[ 9.85714199e-01 1.60609541e-01 5.07158091e-02 7.60627363e+02] [-1.60202910e-01 9.87011035e-01 -1.20101907e-02 -1.36117122e+02] [-5.19860144e-02 3.71379535e-03 9.98640907e-01 -4.83720092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.880714057 meters 0.039981500142534106 Centerline is valid? [True, True] Translation: X:760.66, Y:-136.13, Z:-48.37 [[ 9.85868481e-01 1.59729304e-01 5.04964188e-02 7.60655378e+02] [-1.59325233e-01 9.87153767e-01 -1.19544940e-02 -1.36125140e+02] [-5.17572131e-02 3.74020511e-03 9.98652693e-01 -4.83735957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.910714057 meters 0.03802225622375459 Centerline is valid? [True, True] Translation: X:760.68, Y:-136.13, Z:-48.37 [[ 9.85832854e-01 1.59918980e-01 5.05915487e-02 7.60684037e+02] [-1.59514322e-01 9.87123118e-01 -1.19637245e-02 -1.36130386e+02] [-5.18533139e-02 3.72415608e-03 9.98647768e-01 -4.83747729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.9407140569999 meters 0.03802225622375459 Centerline is valid? [True, True] Translation: X:760.71, Y:-136.14, Z:-48.38 [[ 9.85879040e-01 1.59633052e-01 5.05945318e-02 7.60710734e+02] [-1.59228664e-01 9.87169390e-01 -1.19510948e-02 -1.36136625e+02] [-5.18531628e-02 3.72623417e-03 9.98647768e-01 -4.83763661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.9707140569999 meters 0.04022451435100001 Centerline is valid? [True, True] Translation: X:760.74, Y:-136.15, Z:-48.38 [[ 9.85812331e-01 1.59962235e-01 5.08540263e-02 7.60737056e+02] [-1.59554996e-01 9.87116158e-01 -1.19955967e-02 -1.36147215e+02] [-5.21176735e-02 3.71139313e-03 9.98634054e-01 -4.83779753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.000714057 meters 0.03904142925194853 Centerline is valid? [True, True] Translation: X:760.77, Y:-136.15, Z:-48.38 [[ 9.85710561e-01 1.60560096e-01 5.09425819e-02 7.60765757e+02] [-1.60152440e-01 9.87019198e-01 -1.20124570e-02 -1.36153038e+02] [-5.22100275e-02 3.68222693e-03 9.98629338e-01 -4.83793661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.030714057 meters 0.03886246584173615 Centerline is valid? [True, True] Translation: X:760.79, Y:-136.16, Z:-48.38 [[ 9.85318189e-01 1.63137855e-01 5.03399108e-02 7.60793850e+02] [-1.62743832e-01 9.86597110e-01 -1.18569644e-02 -1.36159512e+02] [-5.15995302e-02 3.49037271e-03 9.98661757e-01 -4.83812958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.0607140569999 meters 0.03856384241529432 Centerline is valid? [True, True] Translation: X:760.82, Y:-136.17, Z:-48.38 [[ 9.85063602e-01 1.64814937e-01 4.98571562e-02 7.60822247e+02] [-1.64430660e-01 9.86318758e-01 -1.17416483e-02 -1.36165178e+02] [-5.11102474e-02 3.36822531e-03 9.98687337e-01 -4.83831821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.0907140569999 meters 0.038084827488082326 Centerline is valid? [True, True] Translation: X:760.85, Y:-136.17, Z:-48.39 [[ 9.84455349e-01 1.68590108e-01 4.92447095e-02 7.60850529e+02] [-1.68220115e-01 9.85681278e-01 -1.15935464e-02 -1.36170788e+02] [-5.04941455e-02 3.12937805e-03 9.98719454e-01 -4.83856627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.120714057 meters 0.037606196967654555 Centerline is valid? [True, True] Translation: X:760.88, Y:-136.18, Z:-48.39 [[ 9.84214761e-01 1.70123248e-01 4.87789496e-02 7.60878529e+02] [-1.69762153e-01 9.85418163e-01 -1.14828485e-02 -1.36176294e+02] [-5.00211624e-02 3.02076950e-03 9.98743590e-01 -4.83878167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.150714057 meters 0.037288843189036275 Centerline is valid? [True, True] Translation: X:760.91, Y:-136.18, Z:-48.39 [[ 9.83954892e-01 1.71751481e-01 4.83135528e-02 7.60906877e+02] [-1.71399376e-01 9.85136022e-01 -1.13698192e-02 -1.36181904e+02] [-4.95482045e-02 2.90647643e-03 9.98767504e-01 -4.83902920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.1807140569999 meters 0.03683180233908965 Centerline is valid? [True, True] Translation: X:760.93, Y:-136.19, Z:-48.39 [[ 9.83509501e-01 1.74524709e-01 4.74361505e-02 7.60934912e+02] [-1.74188670e-01 9.84649057e-01 -1.11598162e-02 -1.36186857e+02] [-4.86556246e-02 2.71294528e-03 9.98811929e-01 -4.83923632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.2107140569999 meters 0.036939076376079204 Centerline is valid? [True, True] Translation: X:760.96, Y:-136.19, Z:-48.39 [[ 9.83353742e-01 1.75280317e-01 4.78772351e-02 7.60962293e+02] [-1.74938934e-01 9.84514867e-01 -1.12626164e-02 -1.36193151e+02] [-4.91099647e-02 2.69954353e-03 9.98789730e-01 -4.83937737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.240714057 meters 0.037017293985764935 Centerline is valid? [True, True] Translation: X:760.99, Y:-136.20, Z:-48.40 [[ 9.83244944e-01 1.75826134e-01 4.81097746e-02 7.60990477e+02] [-1.75482667e-01 9.84417606e-01 -1.13053323e-02 -1.36199277e+02] [-4.93478820e-02 2.67347925e-03 9.98778073e-01 -4.83952758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.270714057 meters 0.03768194757391255 Centerline is valid? [True, True] Translation: X:761.02, Y:-136.21, Z:-48.40 [[ 9.83059888e-01 1.76624754e-01 4.89586954e-02 7.61017945e+02] [-1.76270654e-01 9.84274646e-01 -1.14925098e-02 -1.36205611e+02] [-5.02186643e-02 2.66784416e-03 9.98734684e-01 -4.83961750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.3007140569999 meters 0.037839336409417085 Centerline is valid? [True, True] Translation: X:761.05, Y:-136.21, Z:-48.40 [[ 9.83037011e-01 1.76542250e-01 4.97098482e-02 7.61045826e+02] [-1.76177717e-01 9.84289357e-01 -1.16564823e-02 -1.36212334e+02] [-5.09867362e-02 2.70098594e-03 9.98695678e-01 -4.83976163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.3307140569999 meters 0.038173763315322184 Centerline is valid? [True, True] Translation: X:761.07, Y:-136.22, Z:-48.40 [[ 9.83028679e-01 1.76469980e-01 5.01294498e-02 7.61073966e+02] [-1.76099796e-01 9.84302277e-01 -1.17426679e-02 -1.36219528e+02] [-5.14147599e-02 2.71559343e-03 9.98673694e-01 -4.83993239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.3607140569999 meters 0.03863686564709832 Centerline is valid? [True, True] Translation: X:761.10, Y:-136.23, Z:-48.40 [[ 9.83113863e-01 1.76011914e-01 5.00693280e-02 7.61102015e+02] [-1.75642642e-01 9.84384266e-01 -1.17166107e-02 -1.36226218e+02] [-5.13497218e-02 2.72445339e-03 9.98677017e-01 -4.84009441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.390714057 meters 0.03298743729415684 Centerline is valid? [True, True] Translation: X:761.13, Y:-136.22, Z:-48.40 [[ 9.83240721e-01 1.75293063e-01 5.01001673e-02 7.61131904e+02] [-1.74923012e-01 9.84512452e-01 -1.17120429e-02 -1.36222901e+02] [-5.13772784e-02 2.75208539e-03 9.98675524e-01 -4.84012542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.4207140569999 meters 0.033201867292241484 Centerline is valid? [True, True] Translation: X:761.16, Y:-136.23, Z:-48.40 [[ 9.83422647e-01 1.74161134e-01 5.04757160e-02 7.61159431e+02] [-1.73784712e-01 9.84713132e-01 -1.17865307e-02 -1.36230015e+02] [-5.17568559e-02 2.81923344e-03 9.98655736e-01 -4.84032144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.4507140569999 meters 0.03428584540212406 Centerline is valid? [True, True] Translation: X:761.19, Y:-136.24, Z:-48.41 [[ 9.83531388e-01 1.73573494e-01 5.03810563e-02 7.61186412e+02] [-1.73198444e-01 9.84816850e-01 -1.17503590e-02 -1.36237933e+02] [-5.16556641e-02 2.83092631e-03 9.98660943e-01 -4.84053447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.4807140569999 meters 0.034491533322904805 Centerline is valid? [True, True] Translation: X:761.21, Y:-136.25, Z:-48.41 [[ 9.83855809e-01 1.71676458e-01 5.05464144e-02 7.61214411e+02] [-1.71296699e-01 9.85149013e-01 -1.17840425e-02 -1.36245519e+02] [-5.18187929e-02 2.93536471e-03 9.98652190e-01 -4.84077429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.510714057 meters 0.037886433305306146 Centerline is valid? [True, True] Translation: X:761.24, Y:-136.26, Z:-48.41 [[ 9.83979754e-01 1.71037271e-01 5.03000638e-02 7.61240149e+02] [-1.70660507e-01 9.85260137e-01 -1.17240724e-02 -1.36256367e+02] [-5.15639011e-02 2.95201550e-03 9.98665334e-01 -4.84095948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.540714057 meters 0.03591871755206542 Centerline is valid? [True, True] Translation: X:761.27, Y:-136.26, Z:-48.41 [[ 9.84119196e-01 1.70129143e-01 5.06505949e-02 7.61268616e+02] [-1.69746148e-01 9.85417160e-01 -1.18011258e-02 -1.36259033e+02] [-5.19196808e-02 3.01597101e-03 9.98646710e-01 -4.84100410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.5707140569999 meters 0.03686627920792232 Centerline is valid? [True, True] Translation: X:761.30, Y:-136.27, Z:-48.41 [[ 9.84358344e-01 1.68648517e-01 5.09541831e-02 7.61295610e+02] [-1.68259187e-01 9.85671354e-01 -1.18670816e-02 -1.36266926e+02] [-5.22254444e-02 3.10795140e-03 9.98630484e-01 -4.84117779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.6007140569999 meters 0.03467373471296657 Centerline is valid? [True, True] Translation: X:761.32, Y:-136.27, Z:-48.41 [[ 9.84546643e-01 1.67612502e-01 5.07341843e-02 7.61324530e+02] [-1.67225295e-01 9.85847933e-01 -1.18132538e-02 -1.36269968e+02] [-5.19962398e-02 3.14666048e-03 9.98642323e-01 -4.84134328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.630714057 meters 0.040639329500464026 Centerline is valid? [True, True] Translation: X:761.35, Y:-136.29, Z:-48.42 [[ 9.84823671e-01 1.66123689e-01 5.02519385e-02 7.61349902e+02] [-1.65742618e-01 9.86099794e-01 -1.16867581e-02 -1.36285138e+02] [-5.14948736e-02 3.18050817e-03 9.98668194e-01 -4.84159541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.660714057 meters 0.035774705741224176 Centerline is valid? [True, True] Translation: X:761.38, Y:-136.28, Z:-48.42 [[ 9.84977767e-01 1.65314986e-01 4.98974354e-02 7.61379429e+02] [-1.64938371e-01 9.86235637e-01 -1.16018383e-02 -1.36283782e+02] [-5.11285867e-02 3.19755103e-03 9.98686960e-01 -4.84172169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.6907140569999 meters 0.037350797609118615 Centerline is valid? [True, True] Translation: X:761.41, Y:-136.29, Z:-48.42 [[ 9.85156554e-01 1.64400939e-01 4.93851690e-02 7.61406212e+02] [-1.64031587e-01 9.86388415e-01 -1.14688075e-02 -1.36292308e+02] [-5.05984413e-02 3.19784328e-03 9.98713959e-01 -4.84193489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.7207140569999 meters 0.03686322916488716 Centerline is valid? [True, True] Translation: X:761.43, Y:-136.30, Z:-48.42 [[ 9.85291003e-01 1.63616311e-01 4.93086398e-02 7.61433922e+02] [-1.63247296e-01 9.86518764e-01 -1.14476625e-02 -1.36297951e+02] [-5.05169227e-02 3.22977678e-03 9.98717983e-01 -4.84209846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.750714057 meters 0.03976094255336512 Centerline is valid? [True, True] Translation: X:761.46, Y:-136.31, Z:-48.42 [[ 9.85503086e-01 1.62397404e-01 4.90993889e-02 7.61459402e+02] [-1.62030685e-01 9.86720033e-01 -1.13857149e-02 -1.36308156e+02] [-5.02963612e-02 3.26504959e-03 9.98729000e-01 -4.84226830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.780714057 meters 0.040656321163670184 Centerline is valid? [True, True] Translation: X:761.49, Y:-136.31, Z:-48.42 [[ 9.85560418e-01 1.62078039e-01 4.90038027e-02 7.61486396e+02] [-1.61712706e-01 9.86772532e-01 -1.13565627e-02 -1.36314911e+02] [-5.01962558e-02 3.26804111e-03 9.98734027e-01 -4.84243618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.8107140569999 meters 0.03911679011995256 Centerline is valid? [True, True] Translation: X:761.52, Y:-136.32, Z:-48.43 [[ 9.85524368e-01 1.62387291e-01 4.87040769e-02 7.61515378e+02] [-1.62027493e-01 9.86721850e-01 -1.12730876e-02 -1.36318677e+02] [-4.98879830e-02 3.21850306e-03 9.98749634e-01 -4.84257710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.8407140569999 meters 0.03696043577929925 Centerline is valid? [True, True] Translation: X:761.54, Y:-136.32, Z:-48.43 [[ 9.85545648e-01 1.62590451e-01 4.75827915e-02 7.61544590e+02] [-1.62247847e-01 9.86688702e-01 -1.10018974e-02 -1.36320800e+02] [-4.87382062e-02 3.12266660e-03 9.98806706e-01 -4.84271199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.870714057 meters 0.0343256451370746 Centerline is valid? [True, True] Translation: X:761.58, Y:-136.32, Z:-48.43 [[ 9.85085513e-01 1.65503885e-01 4.70637381e-02 7.61575234e+02] [-1.65172717e-01 9.86204780e-01 -1.08676258e-02 -1.36322441e+02] [-4.82131178e-02 2.93189528e-03 9.98832768e-01 -4.84288761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.900714057 meters 0.034522053089360565 Centerline is valid? [True, True] Translation: X:761.60, Y:-136.33, Z:-48.43 [[ 9.84823687e-01 1.67092518e-01 4.69296934e-02 7.61602810e+02] [-1.66765048e-01 9.85937114e-01 -1.08363181e-02 -1.36328466e+02] [-4.80803942e-02 2.84563017e-03 9.98839416e-01 -4.84308374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.9307140569999 meters 0.032678232989203145 Centerline is valid? [True, True] Translation: X:761.63, Y:-136.33, Z:-48.43 [[ 9.84130368e-01 1.70814749e-01 4.80597624e-02 7.61633162e+02] [-1.70475929e-01 9.85299397e-01 -1.10930886e-02 -1.36331551e+02] [-4.92481180e-02 2.72401276e-03 9.98782861e-01 -4.84314899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.9607140569999 meters 0.031749825796322136 Centerline is valid? [True, True] Translation: X:761.66, Y:-136.34, Z:-48.43 [[ 9.83726872e-01 1.72882857e-01 4.89178904e-02 7.61662773e+02] [-1.72534403e-01 9.84938783e-01 -1.12903994e-02 -1.36336088e+02] [-5.01330440e-02 2.66665026e-03 9.98738988e-01 -4.84320877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.990714057 meters 0.03140367590034027 Centerline is valid? [True, True] Translation: X:761.69, Y:-136.34, Z:-48.43 [[ 9.83381986e-01 1.74717894e-01 4.93307970e-02 7.61691353e+02] [-1.74365909e-01 9.84615119e-01 -1.13840817e-02 -1.36341004e+02] [-5.05608513e-02 2.59329162e-03 9.98717615e-01 -4.84332206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.020714057 meters 0.031385382323996805 Centerline is valid? [True, True] Translation: X:761.72, Y:-136.35, Z:-48.43 [[ 9.82819835e-01 1.77690263e-01 4.99133453e-02 7.61719753e+02] [-1.77333928e-01 9.84083377e-01 -1.15146059e-02 -1.36345586e+02] [-5.11649267e-02 2.46545352e-03 9.98687174e-01 -4.84339311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.0507140569999 meters 0.030773629677499997 Centerline is valid? [True, True] Translation: X:761.75, Y:-136.35, Z:-48.44 [[ 9.82581468e-01 1.78966972e-01 5.00447938e-02 7.61748449e+02] [-1.78610490e-01 9.83852146e-01 -1.15433007e-02 -1.36350713e+02] [-5.13025473e-02 2.40370815e-03 9.98680265e-01 -4.84354758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.0807140569999 meters 0.0295617843514764 Centerline is valid? [True, True] Translation: X:761.78, Y:-136.35, Z:-48.44 [[ 9.82005990e-01 1.81973851e-01 5.04950850e-02 7.61777789e+02] [-1.81615577e-01 9.83300787e-01 -1.16337327e-02 -1.36354714e+02] [-5.17688920e-02 2.25370118e-03 9.98656549e-01 -4.84375864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.1107140569999 meters 0.029047558529753575 Centerline is valid? [True, True] Translation: X:761.81, Y:-136.36, Z:-48.44 [[ 9.81810184e-01 1.83131289e-01 5.01168075e-02 7.61806175e+02] [-1.82779895e-01 9.83086058e-01 -1.15461285e-02 -1.36360516e+02] [-5.13835921e-02 2.17576178e-03 9.98676621e-01 -4.84396555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.140714057 meters 0.029197035560704385 Centerline is valid? [True, True] Translation: X:761.83, Y:-136.37, Z:-48.44 [[ 9.81698532e-01 1.83895822e-01 4.95006919e-02 7.61833429e+02] [-1.83554699e-01 9.82943505e-01 -1.13902346e-02 -1.36367189e+02] [-5.07510002e-02 2.09569198e-03 9.98709139e-01 -4.84422273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.1707140569999 meters 0.02905111518252257 Centerline is valid? [True, True] Translation: X:761.86, Y:-136.37, Z:-48.44 [[ 9.81760454e-01 1.83785409e-01 4.86758094e-02 7.61861036e+02] [-1.83455577e-01 9.82964224e-01 -1.11975800e-02 -1.36373326e+02] [-4.99045311e-02 2.06349252e-03 9.98751861e-01 -4.84446563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.2007140569999 meters 0.029007221301332795 Centerline is valid? [True, True] Translation: X:761.89, Y:-136.38, Z:-48.45 [[ 9.81849472e-01 1.83427870e-01 4.82268745e-02 7.61887372e+02] [-1.83104370e-01 9.83031037e-01 -1.10801289e-02 -1.36380685e+02] [-4.94409189e-02 2.04846721e-03 9.98774949e-01 -4.84471798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.2307140569999 meters 0.029056580792071896 Centerline is valid? [True, True] Translation: X:761.91, Y:-136.39, Z:-48.45 [[ 9.81932877e-01 1.82978512e-01 4.82357776e-02 7.61914491e+02] [-1.82655065e-01 9.83114760e-01 -1.10677729e-02 -1.36388005e+02] [-4.94464696e-02 2.05730094e-03 9.98774656e-01 -4.84492125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.260714057 meters 0.03036536968239871 Centerline is valid? [True, True] Translation: X:761.94, Y:-136.40, Z:-48.45 [[ 9.81935659e-01 1.82886848e-01 4.85259043e-02 7.61939633e+02] [-1.82560173e-01 9.83131813e-01 -1.11184840e-02 -1.36397130e+02] [-4.97407848e-02 2.05873843e-03 9.98760039e-01 -4.84508720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.290714057 meters 0.028804063142914667 Centerline is valid? [True, True] Translation: X:761.97, Y:-136.40, Z:-48.45 [[ 9.82043174e-01 1.82126841e-01 4.92038374e-02 7.61968424e+02] [-1.81790291e-01 9.83272757e-01 -1.12683446e-02 -1.36400887e+02] [-5.04330609e-02 2.12122094e-03 9.98725191e-01 -4.84515350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.3207140569999 meters 0.02945968210710369 Centerline is valid? [True, True] Translation: X:762.00, Y:-136.41, Z:-48.45 [[ 9.82113724e-01 1.81522283e-01 5.00229334e-02 7.61995005e+02] [-1.81174389e-01 9.83384429e-01 -1.14414140e-02 -1.36409110e+02] [-5.12686454e-02 2.17389528e-03 9.98682532e-01 -4.84526309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.3507140569999 meters 0.03010931031871339 Centerline is valid? [True, True] Translation: X:762.02, Y:-136.42, Z:-48.45 [[ 9.82127968e-01 1.81328160e-01 5.04455534e-02 7.62020445e+02] [-1.80974336e-01 9.83420189e-01 -1.15335372e-02 -1.36417369e+02] [-5.17005307e-02 2.19805888e-03 9.98660214e-01 -4.84537951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.380714057 meters 0.029387108129155477 Centerline is valid? [True, True] Translation: X:762.05, Y:-136.42, Z:-48.45 [[ 9.82464232e-01 1.79428745e-01 5.06888357e-02 7.62048596e+02] [-1.79069278e-01 9.83768276e-01 -1.15833445e-02 -1.36423277e+02] [-5.19444535e-02 2.30340850e-03 9.98647319e-01 -4.84543362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.410714057 meters 0.028921738105832404 Centerline is valid? [True, True] Translation: X:762.08, Y:-136.43, Z:-48.46 [[ 9.82728338e-01 1.77800864e-01 5.13017171e-02 7.62076314e+02] [-1.77431152e-01 9.84063549e-01 -1.17097136e-02 -1.36429408e+02] [-5.25661470e-02 2.40494458e-03 9.98614549e-01 -4.84557981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.4407140569999 meters 0.03206553760761336 Centerline is valid? [True, True] Translation: X:762.10, Y:-136.44, Z:-48.46 [[ 9.83021795e-01 1.76116917e-01 5.14876885e-02 7.62101778e+02] [-1.75742990e-01 9.84366107e-01 -1.17374655e-02 -1.36441850e+02] [-5.27499017e-02 2.48958408e-03 9.98604651e-01 -4.84576051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.4707140569999 meters 0.03176964983841944 Centerline is valid? [True, True] Translation: X:762.13, Y:-136.45, Z:-48.46 [[ 9.83715856e-01 1.72170155e-01 5.15805458e-02 7.62130901e+02] [-1.71789743e-01 9.85063522e-01 -1.17533742e-02 -1.36450775e+02] [-5.28336943e-02 2.70097190e-03 9.98599672e-01 -4.84587969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.500714057 meters 0.032224731691787925 Centerline is valid? [True, True] Translation: X:762.16, Y:-136.46, Z:-48.46 [[ 9.84222826e-01 1.69366395e-01 5.11903659e-02 7.62159623e+02] [-1.68987986e-01 9.85549096e-01 -1.16636221e-02 -1.36458757e+02] [-5.24260445e-02 2.82904624e-03 9.98620802e-01 -4.84607703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.530714057 meters 0.03374815876912042 Centerline is valid? [True, True] Translation: X:762.19, Y:-136.47, Z:-48.46 [[ 9.84755217e-01 1.66407230e-01 5.06536869e-02 7.62187206e+02] [-1.66032917e-01 9.86052692e-01 -1.15394619e-02 -1.36468610e+02] [-5.18674542e-02 2.95336597e-03 9.98649611e-01 -4.84624466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.5607140569999 meters 0.03787507118244588 Centerline is valid? [True, True] Translation: X:762.21, Y:-136.48, Z:-48.46 [[ 9.85701670e-01 1.61065725e-01 4.94979715e-02 7.62214261e+02] [-1.60701699e-01 9.86938628e-01 -1.12742587e-02 -1.36482749e+02] [-5.06673567e-02 3.15864752e-03 9.98710590e-01 -4.84648681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.5907140569999 meters 0.03692999252301395 Centerline is valid? [True, True] Translation: X:762.24, Y:-136.49, Z:-48.47 [[ 9.86059287e-01 1.58856525e-01 4.95145167e-02 7.62242738e+02] [-1.58489510e-01 9.87296254e-01 -1.12774728e-02 -1.36488040e+02] [-5.06769970e-02 3.27272532e-03 9.98709733e-01 -4.84663407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.620714057 meters 0.035808138427295196 Centerline is valid? [True, True] Translation: X:762.27, Y:-136.49, Z:-48.47 [[ 9.86389490e-01 1.56926554e-01 4.90900182e-02 7.62271723e+02] [-1.56563644e-01 9.87604632e-01 -1.11765867e-02 -1.36493580e+02] [-5.02354326e-02 3.33875547e-03 9.98731823e-01 -4.84677702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.650714057 meters 0.037726360343303254 Centerline is valid? [True, True] Translation: X:762.30, Y:-136.50, Z:-48.47 [[ 9.86583677e-01 1.55757323e-01 4.89111881e-02 7.62298109e+02] [-1.55395679e-01 9.87789552e-01 -1.11347979e-02 -1.36502492e+02] [-5.00482869e-02 3.38482256e-03 9.98741064e-01 -4.84695943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.6807140569999 meters 0.041438383169894406 Centerline is valid? [True, True] Translation: X:762.32, Y:-136.51, Z:-48.47 [[ 9.86754317e-01 1.54797221e-01 4.85153300e-02 7.62323764e+02] [-1.54440617e-01 9.87940418e-01 -1.10374581e-02 -1.36513953e+02] [-4.96388232e-02 3.39852198e-03 9.98761452e-01 -4.84716578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.7107140569999 meters 0.04011937624018384 Centerline is valid? [True, True] Translation: X:762.35, Y:-136.52, Z:-48.47 [[ 9.86808220e-01 1.54479046e-01 4.84330699e-02 7.62351216e+02] [-1.54123414e-01 9.87990195e-01 -1.10158366e-02 -1.36517501e+02] [-4.95531140e-02 3.40584797e-03 9.98765683e-01 -4.84726087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.740714057 meters 0.039211326766639396 Centerline is valid? [True, True] Translation: X:762.38, Y:-136.52, Z:-48.47 [[ 9.86771791e-01 1.54895210e-01 4.78425205e-02 7.62379697e+02] [-1.54549382e-01 9.87925294e-01 -1.08674272e-02 -1.36520911e+02] [-4.89481486e-02 3.32963861e-03 9.98795771e-01 -4.84740463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.770714057 meters 0.03876382963483973 Centerline is valid? [True, True] Translation: X:762.41, Y:-136.53, Z:-48.48 [[ 9.86752602e-01 1.55038266e-01 4.77748675e-02 7.62408212e+02] [-1.54694185e-01 9.87902935e-01 -1.08397605e-02 -1.36526284e+02] [-4.88775095e-02 3.30566767e-03 9.98799310e-01 -4.84758800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.8007140569999 meters 0.03855914182283352 Centerline is valid? [True, True] Translation: X:762.44, Y:-136.53, Z:-48.48 [[ 9.86764780e-01 1.55031462e-01 4.75448642e-02 7.62436185e+02] [-1.54691279e-01 9.87904095e-01 -1.07753108e-02 -1.36532214e+02] [-4.86402782e-02 3.27792139e-03 9.98810982e-01 -4.84778683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.8307140569999 meters 0.041867398259941416 Centerline is valid? [True, True] Translation: X:762.46, Y:-136.54, Z:-48.48 [[ 9.86908831e-01 1.54417381e-01 4.65427893e-02 7.62462123e+02] [-1.54091359e-01 9.88000441e-01 -1.05347648e-02 -1.36542796e+02] [-4.76110472e-02 3.22501070e-03 9.98860745e-01 -4.84804375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.8607140569999 meters 0.041867398259941416 Centerline is valid? [True, True] Translation: X:762.49, Y:-136.55, Z:-48.48 [[ 9.86950820e-01 1.54148634e-01 4.65432959e-02 7.62488883e+02] [-1.53822420e-01 9.88042372e-01 -1.05325274e-02 -1.36548757e+02] [-4.76103232e-02 3.23568416e-03 9.98860745e-01 -4.84820276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.890714057 meters 0.04066927589833301 Centerline is valid? [True, True] Translation: X:762.52, Y:-136.55, Z:-48.48 [[ 9.87008230e-01 1.53968505e-01 4.59178889e-02 7.62516121e+02] [-1.53651419e-01 9.88070613e-01 -1.03781017e-02 -1.36552542e+02] [-4.69680175e-02 3.18792306e-03 9.98891307e-01 -4.84836747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.9207140569999 meters 0.040401273343753055 Centerline is valid? [True, True] Translation: X:762.54, Y:-136.56, Z:-48.49 [[ 9.87084753e-01 1.53777798e-01 4.49007628e-02 7.62543966e+02] [-1.53475020e-01 9.88100550e-01 -1.01351268e-02 -1.36557456e+02] [-4.59250259e-02 3.11308370e-03 9.98940039e-01 -4.84854191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.9507140569999 meters 0.04060027184053636 Centerline is valid? [True, True] Translation: X:762.57, Y:-136.56, Z:-48.49 [[ 9.86924908e-01 1.54983431e-01 4.42646905e-02 7.62572354e+02] [-1.54690985e-01 9.87912513e-01 -9.97826713e-03 -1.36562748e+02] [-4.52761077e-02 3.00045179e-03 9.98970005e-01 -4.84874502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.9807140569999 meters 0.04130548130839697 Centerline is valid? [True, True] Translation: X:762.60, Y:-136.57, Z:-48.49 [[ 9.86701757e-01 1.56496767e-01 4.39135975e-02 7.62599719e+02] [-1.56210577e-01 9.87674200e-01 -9.89598407e-03 -1.36569743e+02] [-4.49210168e-02 2.90461646e-03 9.98986319e-01 -4.84892014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.010714057 meters 0.035830504076183184 Centerline is valid? [True, True] Translation: X:762.63, Y:-136.57, Z:-48.49 [[ 9.86479929e-01 1.57903167e-01 4.38627392e-02 7.62630062e+02] [-1.57619162e-01 9.87450534e-01 -9.88144021e-03 -1.36567025e+02] [-4.48725960e-02 2.83423425e-03 9.98988697e-01 -4.84891177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.040714057 meters 0.039729666227788105 Centerline is valid? [True, True] Translation: X:762.66, Y:-136.58, Z:-48.49 [[ 9.86203361e-01 1.59665810e-01 4.37007931e-02 7.62656178e+02] [-1.59385759e-01 9.87167320e-01 -9.84189621e-03 -1.36577938e+02] [-4.47114092e-02 2.74082706e-03 9.98996185e-01 -4.84918810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.0707140569999 meters 0.038749654050311375 Centerline is valid? [True, True] Translation: X:762.69, Y:-136.58, Z:-48.49 [[ 9.85433141e-01 1.64408162e-01 4.34911622e-02 7.62685314e+02] [-1.64135607e-01 9.86389204e-01 -9.78979964e-03 -1.36580742e+02] [-4.45087358e-02 2.50874471e-03 9.99005845e-01 -4.84930876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.1007140569999 meters 0.03374638403482333 Centerline is valid? [True, True] Translation: X:762.72, Y:-136.58, Z:-48.49 [[ 9.84980363e-01 1.67181421e-01 4.31747333e-02 7.62716918e+02] [-1.66915528e-01 9.85923313e-01 -9.71734105e-03 -1.36578041e+02] [-4.41915350e-02 2.36485671e-03 9.99020278e-01 -4.84929041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.130714057 meters 0.03282991703643911 Centerline is valid? [True, True] Translation: X:762.75, Y:-136.58, Z:-48.49 [[ 9.84553134e-01 1.69708344e-01 4.30604752e-02 7.62746364e+02] [-1.69446289e-01 9.85491775e-01 -9.69107403e-03 -1.36582075e+02] [-4.40804002e-02 2.24493961e-03 9.99025464e-01 -4.84946131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.160714057 meters 0.031723810664674876 Centerline is valid? [True, True] Translation: X:762.78, Y:-136.59, Z:-48.50 [[ 9.83616999e-01 1.75066642e-01 4.30031496e-02 7.62775523e+02] [-1.74810461e-01 9.84554554e-01 -9.67645441e-03 -1.36585261e+02] [-4.40329712e-02 2.00052462e-03 9.99028075e-01 -4.84962130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.1907140569999 meters 0.029987024545968854 Centerline is valid? [True, True] Translation: X:762.80, Y:-136.59, Z:-48.50 [[ 9.83251516e-01 1.77135303e-01 4.28898728e-02 7.62805000e+02] [-1.76882358e-01 9.84184666e-01 -9.65267865e-03 -1.36587965e+02] [-4.39213853e-02 1.90454909e-03 9.99033175e-01 -4.84967289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.2207140569999 meters 0.0310781849947141 Centerline is valid? [True, True] Translation: X:762.83, Y:-136.60, Z:-48.50 [[ 9.82868224e-01 1.79214995e-01 4.30353427e-02 7.62831802e+02] [-1.78962871e-01 9.83808277e-01 -9.67289983e-03 -1.36595415e+02] [-4.40720550e-02 1.80545740e-03 9.99026724e-01 -4.84991345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.250714057 meters 0.03054261757589891 Centerline is valid? [True, True] Translation: X:762.86, Y:-136.60, Z:-48.50 [[ 9.82637145e-01 1.80524790e-01 4.28373961e-02 7.62859998e+02] [-1.80276302e-01 9.83568901e-01 -9.62661398e-03 -1.36600069e+02] [-4.38713731e-02 1.73690113e-03 9.99035678e-01 -4.85003788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.280714057 meters 0.02850818816908405 Centerline is valid? [True, True] Translation: X:762.89, Y:-136.60, Z:-48.50 [[ 9.82361155e-01 1.82111844e-01 4.24480461e-02 7.62889448e+02] [-1.81869783e-01 9.83276454e-01 -9.52877738e-03 -1.36601490e+02] [-4.34734675e-02 1.64068382e-03 9.99053235e-01 -4.85009288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.3107140569999 meters 0.028429182409567214 Centerline is valid? [True, True] Translation: X:762.92, Y:-136.61, Z:-48.50 [[ 9.82355542e-01 1.82245738e-01 4.20009590e-02 7.62916420e+02] [-1.82009318e-01 9.83251701e-01 -9.41812703e-03 -1.36607377e+02] [-4.30139279e-02 1.60738340e-03 9.99073180e-01 -4.85029332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.3407140569999 meters 0.02893702094420993 Centerline is valid? [True, True] Translation: X:762.94, Y:-136.61, Z:-48.51 [[ 9.82481573e-01 1.81734421e-01 4.12620725e-02 7.62942961e+02] [-1.81506440e-01 9.83346371e-01 -9.23730752e-03 -1.36614385e+02] [-4.22536459e-02 1.58615254e-03 9.99105657e-01 -4.85053306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.370714057 meters 0.028667685194994245 Centerline is valid? [True, True] Translation: X:762.97, Y:-136.62, Z:-48.51 [[ 9.82621244e-01 1.81085467e-01 4.07865757e-02 7.62970487e+02] [-1.80862202e-01 9.83466070e-01 -9.12976116e-03 -1.36620712e+02] [-4.17654804e-02 1.59434739e-03 9.99126170e-01 -4.85070559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.400714057 meters 0.029434420447397167 Centerline is valid? [True, True] Translation: X:763.00, Y:-136.63, Z:-48.51 [[ 9.82994230e-01 1.79155729e-01 4.03183367e-02 7.62997091e+02] [-1.78936478e-01 9.83819354e-01 -9.01199628e-03 -1.36628939e+02] [-4.12805108e-02 1.64431919e-03 9.99146243e-01 -4.85089960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.4307140569999 meters 0.029865942057715644 Centerline is valid? [True, True] Translation: X:763.03, Y:-136.64, Z:-48.51 [[ 9.83207510e-01 1.77893769e-01 4.07038070e-02 7.63025119e+02] [-1.77669271e-01 9.84048208e-01 -9.09699342e-03 -1.36636497e+02] [-4.16728068e-02 1.71241650e-03 9.99129844e-01 -4.85104381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.4607140569999 meters 0.02940602194711724 Centerline is valid? [True, True] Translation: X:763.05, Y:-136.64, Z:-48.51 [[ 9.83610101e-01 1.75524988e-01 4.12570998e-02 7.63053225e+02] [-1.75292844e-01 9.84473287e-01 -9.20688950e-03 -1.36644526e+02] [-4.22325518e-02 1.82391515e-03 9.99106143e-01 -4.85109095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.490714057 meters 0.029706324362795026 Centerline is valid? [True, True] Translation: X:763.08, Y:-136.65, Z:-48.51 [[ 9.83896642e-01 1.73931685e-01 4.11724080e-02 7.63081368e+02] [-1.73699066e-01 9.84755909e-01 -9.18885880e-03 -1.36651947e+02] [-4.21430057e-02 1.88927851e-03 9.99109803e-01 -4.85120167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.520714057 meters 0.030712840782577334 Centerline is valid? [True, True] Translation: X:763.11, Y:-136.66, Z:-48.51 [[ 9.84131200e-01 1.72464077e-01 4.17363568e-02 7.63108027e+02] [-1.72224277e-01 9.85013846e-01 -9.30170777e-03 -1.36660924e+02] [-4.27150998e-02 1.96608694e-03 9.99085359e-01 -4.85141317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.5507140569999 meters 0.03203016179064787 Centerline is valid? [True, True] Translation: X:763.13, Y:-136.67, Z:-48.52 [[ 9.84290591e-01 1.71510218e-01 4.19079725e-02 7.63133942e+02] [-1.71267850e-01 9.85180292e-01 -9.33361238e-03 -1.36669817e+02] [-4.28877184e-02 2.00949849e-03 9.99077878e-01 -4.85159052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.5807140569999 meters 0.032224134361324784 Centerline is valid? [True, True] Translation: X:763.16, Y:-136.68, Z:-48.52 [[ 9.84443971e-01 1.70545512e-01 4.22409444e-02 7.63161791e+02] [-1.70298505e-01 9.85347636e-01 -9.40509938e-03 -1.36677311e+02] [-4.32260122e-02 2.06522369e-03 9.99063185e-01 -4.85174494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.6107140569999 meters 0.03177312896165379 Centerline is valid? [True, True] Translation: X:763.19, Y:-136.68, Z:-48.52 [[ 9.84872791e-01 1.68084975e-01 4.21073307e-02 7.63190900e+02] [-1.67837875e-01 9.85770159e-01 -9.36169334e-03 -1.36683201e+02] [-4.30817100e-02 2.15287213e-03 9.99069233e-01 -4.85182520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.640714057 meters 0.03266183786324614 Centerline is valid? [True, True] Translation: X:763.22, Y:-136.69, Z:-48.52 [[ 9.85105010e-01 1.66702457e-01 4.21711945e-02 7.63217369e+02] [-1.66453349e-01 9.86004755e-01 -9.37577613e-03 -1.36691461e+02] [-4.31439632e-02 2.21658750e-03 9.99066407e-01 -4.85204076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.6707140569999 meters 0.03229079737672969 Centerline is valid? [True, True] Translation: X:763.25, Y:-136.70, Z:-48.52 [[ 9.85371799e-01 1.65110500e-01 4.22012032e-02 7.63245577e+02] [-1.64859758e-01 9.86272430e-01 -9.37833850e-03 -1.36698128e+02] [-4.31703454e-02 2.28387011e-03 9.99065116e-01 -4.85219793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.7007140569999 meters 0.03551658348381496 Centerline is valid? [True, True] Translation: X:763.27, Y:-136.71, Z:-48.53 [[ 9.85576848e-01 1.63766752e-01 4.26465344e-02 7.63271503e+02] [-1.63510030e-01 9.86496280e-01 -9.46364330e-03 -1.36710435e+02] [-4.36204776e-02 2.35401161e-03 9.99045401e-01 -4.85252820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.7307140569999 meters 0.03441457807882821 Centerline is valid? [True, True] Translation: X:763.30, Y:-136.72, Z:-48.53 [[ 9.86011319e-01 1.61179882e-01 4.24585145e-02 7.63300355e+02] [-1.60923222e-01 9.86921997e-01 -9.41748859e-03 -1.36715827e+02] [-4.34211516e-02 2.45318937e-03 9.99053845e-01 -4.85257107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.760714057 meters 0.03466394530797187 Centerline is valid? [True, True] Translation: X:763.33, Y:-136.72, Z:-48.53 [[ 9.86210193e-01 1.59920545e-01 4.26013524e-02 7.63328093e+02] [-1.59660964e-01 9.87126679e-01 -9.44962238e-03 -1.36722634e+02] [-4.35641203e-02 2.51754091e-03 9.99047461e-01 -4.85273038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.790714057 meters 0.036043032753012315 Centerline is valid? [True, True] Translation: X:763.36, Y:-136.73, Z:-48.53 [[ 9.86462403e-01 1.58410254e-01 4.24042224e-02 7.63355870e+02] [-1.58152155e-01 9.87370057e-01 -9.39497544e-03 -1.36730728e+02] [-4.33569200e-02 2.56147088e-03 9.99056363e-01 -4.85296392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.8207140569999 meters 0.036426370063465364 Centerline is valid? [True, True] Translation: X:763.38, Y:-136.74, Z:-48.53 [[ 9.86563344e-01 1.57744423e-01 4.25378131e-02 7.63383561e+02] [-1.57484556e-01 9.87476582e-01 -9.41359442e-03 -1.36737665e+02] [-4.34900362e-02 2.58805860e-03 9.99050509e-01 -4.85312152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.8507140569999 meters 0.03646844607710258 Centerline is valid? [True, True] Translation: X:763.41, Y:-136.74, Z:-48.53 [[ 9.86603211e-01 1.57405045e-01 4.28690484e-02 7.63410615e+02] [-1.57141258e-01 9.87530670e-01 -9.47628090e-03 -1.36744357e+02] [-4.38261145e-02 2.61283296e-03 9.99035758e-01 -4.85325780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.880714057 meters 0.036660294163638724 Centerline is valid? [True, True] Translation: X:763.44, Y:-136.75, Z:-48.53 [[ 9.86563702e-01 1.57464417e-01 4.35547832e-02 7.63438675e+02] [-1.57192777e-01 9.87521136e-01 -9.61437726e-03 -1.36751144e+02] [-4.45251913e-02 2.63869832e-03 9.99004777e-01 -4.85342421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.910714057 meters 0.03572424873155749 Centerline is valid? [True, True] Translation: X:763.47, Y:-136.76, Z:-48.54 [[ 9.86405448e-01 1.58243883e-01 4.43076311e-02 7.63466852e+02] [-1.57964067e-01 9.87396535e-01 -9.76909601e-03 -1.36755638e+02] [-4.52951011e-02 2.63727591e-03 9.98970169e-01 -4.85350629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.9407140569999 meters 0.03557680951380012 Centerline is valid? [True, True] Translation: X:763.50, Y:-136.76, Z:-48.54 [[ 9.86386215e-01 1.58428670e-01 4.40748472e-02 7.63495487e+02] [-1.58152490e-01 9.87366993e-01 -9.70629225e-03 -1.36761468e+02] [-4.50558043e-02 2.60360605e-03 9.98981079e-01 -4.85366634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.9707140569999 meters 0.03668154182189024 Centerline is valid? [True, True] Translation: X:763.52, Y:-136.77, Z:-48.54 [[ 9.86290601e-01 1.58941924e-01 4.43656974e-02 7.63522439e+02] [-1.58663168e-01 9.87284550e-01 -9.75788184e-03 -1.36768530e+02] [-4.53525041e-02 2.58490505e-03 9.98967702e-01 -4.85392139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.000714057 meters 0.03881622911161094 Centerline is valid? [True, True] Translation: X:763.55, Y:-136.78, Z:-48.54 [[ 9.86305826e-01 1.58986144e-01 4.38659717e-02 7.63548412e+02] [-1.58713837e-01 9.87277520e-01 -9.64445837e-03 -1.36777758e+02] [-4.48412231e-02 2.55024877e-03 9.98990871e-01 -4.85414811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.030714057 meters 0.033676403990231564 Centerline is valid? [True, True] Translation: X:763.58, Y:-136.78, Z:-48.54 [[ 9.86271201e-01 1.59082190e-01 4.42941791e-02 7.63578545e+02] [-1.58804811e-01 9.87262006e-01 -9.73469316e-03 -1.36776533e+02] [-4.52785764e-02 2.56691879e-03 9.98971101e-01 -4.85415465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.0607140569999 meters 0.03365537766599379 Centerline is valid? [True, True] Translation: X:763.61, Y:-136.78, Z:-48.54 [[ 9.86364760e-01 1.58693518e-01 4.35996276e-02 7.63606170e+02] [-1.58424898e-01 9.87324643e-01 -9.57084721e-03 -1.36782788e+02] [-4.45658182e-02 2.53307987e-03 9.99003239e-01 -4.85434771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.0907140569999 meters 0.033217495998178005 Centerline is valid? [True, True] Translation: X:763.63, Y:-136.79, Z:-48.55 [[ 9.86356781e-01 1.58729367e-01 4.36496096e-02 7.63634024e+02] [-1.58460674e-01 9.87318906e-01 -9.57040096e-03 -1.36788108e+02] [-4.46151885e-02 2.52308333e-03 9.99001061e-01 -4.85452942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.120714057 meters 0.03351372804894527 Centerline is valid? [True, True] Translation: X:763.66, Y:-136.79, Z:-48.55 [[ 9.86285146e-01 1.59169796e-01 4.36644729e-02 7.63661560e+02] [-1.58901864e-01 9.87248076e-01 -9.56214980e-03 -1.36794588e+02] [-4.46296723e-02 2.49264017e-03 9.99000490e-01 -4.85465740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.150714057 meters 0.03345030459851065 Centerline is valid? [True, True] Translation: X:763.69, Y:-136.80, Z:-48.55 [[ 9.86235102e-01 1.59504669e-01 4.35727384e-02 7.63689397e+02] [-1.59238695e-01 9.87194106e-01 -9.53069935e-03 -1.36800522e+02] [-4.45349415e-02 2.46104425e-03 9.99004796e-01 -4.85477334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.1807140569999 meters 0.033483568103295294 Centerline is valid? [True, True] Translation: X:763.72, Y:-136.81, Z:-48.55 [[ 9.85872153e-01 1.61684626e-01 4.37513418e-02 7.63717537e+02] [-1.61419240e-01 9.86839663e-01 -9.55555561e-03 -1.36805971e+02] [-4.47205458e-02 2.35824783e-03 9.98996753e-01 -4.85490342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.2107140569999 meters 0.03316453040438837 Centerline is valid? [True, True] Translation: X:763.75, Y:-136.81, Z:-48.55 [[ 9.85670969e-01 1.62677608e-01 4.45952528e-02 7.63745334e+02] [-1.62402865e-01 9.86676458e-01 -9.74043397e-03 -1.36812205e+02] [-4.55856366e-02 2.35846618e-03 9.98957650e-01 -4.85509246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.240714057 meters 0.033057040878706784 Centerline is valid? [True, True] Translation: X:763.77, Y:-136.82, Z:-48.55 [[ 9.85508202e-01 1.63627589e-01 4.47168403e-02 7.63773393e+02] [-1.63352823e-01 9.86519476e-01 -9.75597442e-03 -1.36818387e+02] [-4.57103804e-02 2.30997073e-03 9.98952064e-01 -4.85526235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.270714057 meters 0.032563007457299384 Centerline is valid? [True, True] Translation: X:763.80, Y:-136.82, Z:-48.55 [[ 9.85147295e-01 1.65637329e-01 4.52667991e-02 7.63801530e+02] [-1.65358509e-01 9.86184212e-01 -9.86222543e-03 -1.36823348e+02] [-4.62749553e-02 2.23049429e-03 9.98926250e-01 -4.85540673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.3007140569999 meters 0.0325167923754254 Centerline is valid? [True, True] Translation: X:763.83, Y:-136.83, Z:-48.56 [[ 9.84890442e-01 1.67096948e-01 4.54909521e-02 7.63829546e+02] [-1.66817062e-01 9.85938083e-01 -9.90777301e-03 -1.36828829e+02] [-4.65068208e-02 2.16940395e-03 9.98915617e-01 -4.85555299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.3307140569999 meters 0.03097907411157758 Centerline is valid? [True, True] Translation: X:763.86, Y:-136.83, Z:-48.56 [[ 9.84724864e-01 1.68083302e-01 4.54416842e-02 7.63858858e+02] [-1.67805135e-01 9.85770517e-01 -9.89564153e-03 -1.36831527e+02] [-4.64583646e-02 2.11913630e-03 9.98917979e-01 -4.85564401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.3607140569999 meters 0.029451783916324997 Centerline is valid? [True, True] Translation: X:763.89, Y:-136.83, Z:-48.56 [[ 9.84312938e-01 1.70335651e-01 4.59761545e-02 7.63888180e+02] [-1.70053868e-01 9.85384018e-01 -1.00009693e-02 -1.36833895e+02] [-4.70076894e-02 2.02566060e-03 9.98892474e-01 -4.85574927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.390714057 meters 0.03191130668523088 Centerline is valid? [True, True] Translation: X:763.91, Y:-136.84, Z:-48.56 [[ 9.84074230e-01 1.71659339e-01 4.61625409e-02 7.63914267e+02] [-1.71377325e-01 9.85154424e-01 -1.00286545e-02 -1.36844472e+02] [-4.71987436e-02 1.95772769e-03 9.98883600e-01 -4.85604913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.4207140569999 meters 0.032237906316154315 Centerline is valid? [True, True] Translation: X:763.94, Y:-136.85, Z:-48.56 [[ 9.83873626e-01 1.72718355e-01 4.64871867e-02 7.63940987e+02] [-1.72433746e-01 9.84969390e-01 -1.00947690e-02 -1.36851355e+02] [-4.75320078e-02 1.91601728e-03 9.98867878e-01 -4.85626616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.4507140569999 meters 0.029019038352196366 Centerline is valid? [True, True] Translation: X:763.97, Y:-136.85, Z:-48.56 [[ 9.83728158e-01 1.73466539e-01 4.67789566e-02 7.63970941e+02] [-1.73179359e-01 9.84837954e-01 -1.01545493e-02 -1.36851505e+02] [-4.78311665e-02 1.88816634e-03 9.98853650e-01 -4.85628482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.4807140569999 meters 0.03199702119179237 Centerline is valid? [True, True] Translation: X:764.00, Y:-136.86, Z:-48.57 [[ 9.83490457e-01 1.74830272e-01 4.67000676e-02 7.63997186e+02] [-1.74545846e-01 9.84596916e-01 -1.01321586e-02 -1.36862694e+02] [-4.77521506e-02 1.81357845e-03 9.98857569e-01 -4.85663524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.510714057 meters 0.028411187680412262 Centerline is valid? [True, True] Translation: X:764.03, Y:-136.86, Z:-48.57 [[ 9.83390252e-01 1.75437940e-01 4.65310820e-02 7.64026609e+02] [-1.75156815e-01 9.84488908e-01 -1.00836144e-02 -1.36861759e+02] [-4.75783827e-02 1.76589197e-03 9.98865947e-01 -4.85668338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.540714057 meters 0.028558961822581077 Centerline is valid? [True, True] Translation: X:764.05, Y:-136.87, Z:-48.57 [[ 9.83227302e-01 1.76374736e-01 4.64330252e-02 7.64053326e+02] [-1.76096467e-01 9.84321619e-01 -1.00491255e-02 -1.36868199e+02] [-4.74774424e-02 1.70388288e-03 9.98870857e-01 -4.85688612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.5707140569999 meters 0.027505496335830902 Centerline is valid? [True, True] Translation: X:764.08, Y:-136.87, Z:-48.57 [[ 9.83117987e-01 1.76968141e-01 4.64897914e-02 7.64082020e+02] [-1.76690093e-01 9.84215160e-01 -1.00563825e-02 -1.36872288e+02] [-4.75356167e-02 1.67232499e-03 9.98868144e-01 -4.85707501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.6007140569999 meters 0.02768397059336964 Centerline is valid? [True, True] Translation: X:764.11, Y:-136.88, Z:-48.57 [[ 9.82796656e-01 1.78647169e-01 4.68606775e-02 7.64109250e+02] [-1.78367166e-01 9.83911915e-01 -1.01241360e-02 -1.36879474e+02] [-4.79154272e-02 1.59156076e-03 9.98850128e-01 -4.85736061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.630714057 meters 0.026795862762471975 Centerline is valid? [True, True] Translation: X:764.14, Y:-136.88, Z:-48.57 [[ 9.82644475e-01 1.79464886e-01 4.69275025e-02 7.64137603e+02] [-1.79185602e-01 9.83763171e-01 -1.01263340e-02 -1.36883775e+02] [-4.79828701e-02 1.54185334e-03 9.98846969e-01 -4.85745211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.660714057 meters 0.0264434964800841 Centerline is valid? [True, True] Translation: X:764.17, Y:-136.89, Z:-48.58 [[ 9.82552697e-01 1.79782088e-01 4.76298025e-02 7.64165556e+02] [-1.79495367e-01 9.83705260e-01 -1.02651889e-02 -1.36888923e+02] [-4.86991844e-02 1.53676015e-03 9.98812309e-01 -4.85758986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.6907140569999 meters 0.02659836438950828 Centerline is valid? [True, True] Translation: X:764.19, Y:-136.90, Z:-48.58 [[ 9.82422632e-01 1.80252192e-01 4.85275227e-02 7.64193644e+02] [-1.79955777e-01 9.83619240e-01 -1.04455334e-02 -1.36895395e+02] [-4.96154353e-02 1.52912030e-03 9.98767225e-01 -4.85772815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.7207140569999 meters 0.029362812466793516 Centerline is valid? [True, True] Translation: X:764.22, Y:-136.91, Z:-48.58 [[ 9.82496788e-01 1.79816694e-01 4.86417397e-02 7.64219650e+02] [-1.79519056e-01 9.83698929e-01 -1.04559119e-02 -1.36907898e+02] [-4.97289748e-02 1.54078072e-03 9.98761561e-01 -4.85805299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.750714057 meters 0.029362812466793516 Centerline is valid? [True, True] Translation: X:764.25, Y:-136.91, Z:-48.58 [[ 9.82543645e-01 1.79560308e-01 4.86423798e-02 7.64246425e+02] [-1.79262504e-01 9.83745745e-01 -1.04529339e-02 -1.36913550e+02] [-4.97286662e-02 1.55070904e-03 9.98761561e-01 -4.85821172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.780714057 meters 0.027312396419341595 Centerline is valid? [True, True] Translation: X:764.28, Y:-136.92, Z:-48.58 [[ 9.82676846e-01 1.78798005e-01 4.87595183e-02 7.64275008e+02] [-1.78498497e-01 9.83884535e-01 -1.04646456e-02 -1.36915562e+02] [-4.98447937e-02 1.57986415e-03 9.98755726e-01 -4.85825867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.8107140569999 meters 0.027148452731948082 Centerline is valid? [True, True] Translation: X:764.30, Y:-136.92, Z:-48.58 [[ 9.82894036e-01 1.77541624e-01 4.89722893e-02 7.64302723e+02] [-1.77238580e-01 9.84111929e-01 -1.04975147e-02 -1.36923361e+02] [-5.00579599e-02 1.63816561e-03 9.98744971e-01 -4.85849675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.8407140569999 meters 0.027208324512454345 Centerline is valid? [True, True] Translation: X:764.33, Y:-136.93, Z:-48.59 [[ 9.83063527e-01 1.76486383e-01 4.93827781e-02 7.64330640e+02] [-1.76177564e-01 9.84301625e-01 -1.05724451e-02 -1.36930532e+02] [-5.04734414e-02 1.69324759e-03 9.98723968e-01 -4.85867223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.870714057 meters 0.027920540914321917 Centerline is valid? [True, True] Translation: X:764.36, Y:-136.94, Z:-48.59 [[ 9.83175438e-01 1.75798932e-01 4.96063893e-02 7.64357554e+02] [-1.75487142e-01 9.84424587e-01 -1.06063612e-02 -1.36938315e+02] [-5.06983363e-02 1.72263032e-03 9.98712527e-01 -4.85881923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.900714057 meters 0.027794629658508336 Centerline is valid? [True, True] Translation: X:764.39, Y:-136.95, Z:-48.59 [[ 9.83254561e-01 1.75102627e-01 5.04929471e-02 7.64385694e+02] [-1.74779000e-01 9.84548571e-01 -1.07894738e-02 -1.36945306e+02] [-5.16020242e-02 1.78369253e-03 9.98666135e-01 -4.85894501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.9307140569999 meters 0.027421811424881704 Centerline is valid? [True, True] Translation: X:764.41, Y:-136.95, Z:-48.59 [[ 9.83323976e-01 1.74459144e-01 5.13611249e-02 7.64414137e+02] [-1.74124117e-01 9.84662703e-01 -1.09614685e-02 -1.36951329e+02] [-5.24857125e-02 1.83546427e-03 9.98619988e-01 -4.85908737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.9607140569999 meters 0.028164148218898306 Centerline is valid? [True, True] Translation: X:764.44, Y:-136.96, Z:-48.59 [[ 9.83444245e-01 1.73719938e-01 5.15635507e-02 7.64440531e+02] [-1.73382003e-01 9.84793325e-01 -1.09903731e-02 -1.36959318e+02] [-5.26886875e-02 1.86822749e-03 9.98609239e-01 -4.85925627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.990714057 meters 0.028234489199608286 Centerline is valid? [True, True] Translation: X:764.47, Y:-136.97, Z:-48.59 [[ 9.83552319e-01 1.73087751e-01 5.16281631e-02 7.64468087e+02] [-1.72748448e-01 9.84904578e-01 -1.09975232e-02 -1.36966135e+02] [-5.27523508e-02 1.89795441e-03 9.98605822e-01 -4.85943274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.020714057 meters 0.0284059309800053 Centerline is valid? [True, True] Translation: X:764.49, Y:-136.97, Z:-48.60 [[ 9.83654628e-01 1.72422746e-01 5.19034645e-02 7.64494982e+02] [-1.72079657e-01 9.85021154e-01 -1.10416825e-02 -1.36973456e+02] [-5.30298477e-02 1.92967178e-03 9.98591063e-01 -4.85962907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.0507140569999 meters 0.029209319161643366 Centerline is valid? [True, True] Translation: X:764.52, Y:-136.98, Z:-48.60 [[ 9.84085189e-01 1.70021221e-01 5.16635816e-02 7.64523504e+02] [-1.69678261e-01 9.85438280e-01 -1.09856051e-02 -1.36982822e+02] [-5.27790570e-02 2.04458460e-03 9.98604121e-01 -4.85988169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.0807140569999 meters 0.02986140478360877 Centerline is valid? [True, True] Translation: X:764.55, Y:-136.99, Z:-48.60 [[ 9.84413227e-01 1.68127818e-01 5.16104123e-02 7.64551234e+02] [-1.67783010e-01 9.85762874e-01 -1.09734888e-02 -1.36991368e+02] [-5.27205771e-02 2.14309722e-03 9.98607004e-01 -4.86010543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.1107140569999 meters 0.029367452425826515 Centerline is valid? [True, True] Translation: X:764.58, Y:-137.00, Z:-48.60 [[ 9.84716107e-01 1.66352249e-01 5.15860196e-02 7.64578851e+02] [-1.66006039e-01 9.86063884e-01 -1.09549883e-02 -1.36998218e+02] [-5.26894978e-02 2.22396269e-03 9.98608467e-01 -4.86028597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.140714057 meters 0.032108513328325275 Centerline is valid? [True, True] Translation: X:764.61, Y:-137.01, Z:-48.61 [[ 9.85317632e-01 1.62703750e-01 5.17363853e-02 7.64605376e+02] [-1.62351275e-01 9.86672019e-01 -1.09722386e-02 -1.37011626e+02] [-5.28320681e-02 2.41167204e-03 9.98600499e-01 -4.86052857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.1707140569999 meters 0.0326050689779619 Centerline is valid? [True, True] Translation: X:764.63, Y:-137.02, Z:-48.61 [[ 9.85668293e-01 1.60614823e-01 5.15838532e-02 7.64634165e+02] [-1.60261728e-01 9.87013962e-01 -1.09369352e-02 -1.37019737e+02] [-5.26706172e-02 2.51327278e-03 9.98608777e-01 -4.86067385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.2007140569999 meters 0.03186633865119612 Centerline is valid? [True, True] Translation: X:764.66, Y:-137.03, Z:-48.61 [[ 9.86056272e-01 1.58131805e-01 5.18397550e-02 7.64663054e+02] [-1.57771872e-01 9.87414438e-01 -1.09893107e-02 -1.37025948e+02] [-5.29250821e-02 2.65722353e-03 9.98594950e-01 -4.86081646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.2307140569999 meters 0.032934837936834174 Centerline is valid? [True, True] Translation: X:764.69, Y:-137.03, Z:-48.61 [[ 9.86360474e-01 1.56208025e-01 5.18851502e-02 7.64691024e+02] [-1.55844906e-01 9.87720319e-01 -1.09970873e-02 -1.37034449e+02] [-5.29658504e-02 2.76105588e-03 9.98592507e-01 -4.86101069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.260714057 meters 0.03466862750303178 Centerline is valid? [True, True] Translation: X:764.72, Y:-137.04, Z:-48.61 [[ 9.86737959e-01 1.53875818e-01 5.16762252e-02 7.64717617e+02] [-1.53512576e-01 9.88086021e-01 -1.09500928e-02 -1.37044113e+02] [-5.27455102e-02 2.87192184e-03 9.98603857e-01 -4.86119598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.290714057 meters 0.03524842952344757 Centerline is valid? [True, True] Translation: X:764.75, Y:-137.05, Z:-48.61 [[ 9.87268864e-01 1.50640623e-01 5.10646045e-02 7.64746898e+02] [-1.50281873e-01 9.88584027e-01 -1.08156909e-02 -1.37053018e+02] [-5.21109348e-02 3.00391043e-03 9.98636784e-01 -4.86138179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.3207140569999 meters 0.03591742137759611 Centerline is valid? [True, True] Translation: X:764.77, Y:-137.06, Z:-48.62 [[ 9.87495546e-01 1.49084131e-01 5.12490839e-02 7.64774828e+02] [-1.48720623e-01 9.88819660e-01 -1.08561399e-02 -1.37061104e+02] [-5.22945799e-02 3.09859410e-03 9.98626895e-01 -4.86154023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.3507140569999 meters 0.0375310782267933 Centerline is valid? [True, True] Translation: X:764.80, Y:-137.07, Z:-48.62 [[ 9.87867709e-01 1.46592666e-01 5.12638348e-02 7.64802033e+02] [-1.46226355e-01 9.89191710e-01 -1.08449725e-02 -1.37070466e+02] [-5.22995538e-02 3.21727444e-03 9.98626259e-01 -4.86167960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.380714057 meters 0.03844430811394425 Centerline is valid? [True, True] Translation: X:764.83, Y:-137.08, Z:-48.62 [[ 9.87983574e-01 1.45761632e-01 5.14004224e-02 7.64828611e+02] [-1.45392384e-01 9.89314344e-01 -1.08712332e-02 -1.37078172e+02] [-5.24357839e-02 3.26736992e-03 9.98618953e-01 -4.86178013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.410714057 meters 0.039129910663498996 Centerline is valid? [True, True] Translation: X:764.86, Y:-137.09, Z:-48.62 [[ 9.88106192e-01 1.44965321e-01 5.12953197e-02 7.64856544e+02] [-1.44596712e-01 9.89431236e-01 -1.08452402e-02 -1.37085466e+02] [-5.23253753e-02 3.29911445e-03 9.98624640e-01 -4.86192088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.4407140569999 meters 0.040012333511796845 Centerline is valid? [True, True] Translation: X:764.88, Y:-137.09, Z:-48.62 [[ 9.88232821e-01 1.44129371e-01 5.12114838e-02 7.64884041e+02] [-1.43761569e-01 9.89553270e-01 -1.08137898e-02 -1.37092445e+02] [-5.22350759e-02 3.32429878e-03 9.98629284e-01 -4.86207043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.4707140569999 meters 0.04143636160853811 Centerline is valid? [True, True] Translation: X:764.91, Y:-137.10, Z:-48.62 [[ 9.88300182e-01 1.43655420e-01 5.12432517e-02 7.64910447e+02] [-1.43286766e-01 9.89622109e-01 -1.08159301e-02 -1.37099864e+02] [-5.22652218e-02 3.34690585e-03 9.98627631e-01 -4.86213268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.500714057 meters 0.04155921178047664 Centerline is valid? [True, True] Translation: X:764.94, Y:-137.11, Z:-48.62 [[ 9.88290418e-01 1.43829377e-01 5.09427152e-02 7.64938621e+02] [-1.43465454e-01 9.89596950e-01 -1.07489142e-02 -1.37105538e+02] [-5.19587653e-02 3.31452915e-03 9.98643731e-01 -4.86227093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.530714057 meters 0.0421270011536129 Centerline is valid? [True, True] Translation: X:764.97, Y:-137.11, Z:-48.62 [[ 9.88265719e-01 1.44042482e-01 5.08196000e-02 7.64966877e+02] [-1.43681242e-01 9.89566059e-01 -1.07105296e-02 -1.37111345e+02] [-5.18321225e-02 3.28302595e-03 9.98650416e-01 -4.86246113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.5607140569999 meters 0.042495776213135925 Centerline is valid? [True, True] Translation: X:765.00, Y:-137.12, Z:-48.63 [[ 9.88219459e-01 1.44463447e-01 5.05233871e-02 7.64995402e+02] [-1.44107588e-01 9.89504867e-01 -1.06358995e-02 -1.37117079e+02] [-5.15296361e-02 3.22979946e-03 9.98666243e-01 -4.86265027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.5907140569999 meters 0.037610429070750684 Centerline is valid? [True, True] Translation: X:765.03, Y:-137.11, Z:-48.63 [[ 9.88089249e-01 1.45863425e-01 4.90254856e-02 7.65025452e+02] [-1.45530724e-01 9.89300034e-01 -1.03078434e-02 -1.37114878e+02] [-5.00044519e-02 3.05035485e-03 9.98744337e-01 -4.86287086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.620714057 meters 0.03566155243870466 Centerline is valid? [True, True] Translation: X:765.05, Y:-137.12, Z:-48.63 [[ 9.88060900e-01 1.46158894e-01 4.87158732e-02 7.65054416e+02] [-1.45830845e-01 9.89256535e-01 -1.02407253e-02 -1.37117274e+02] [-4.96892690e-02 3.01418335e-03 9.98760177e-01 -4.86304689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.650714057 meters 0.03672687179929437 Centerline is valid? [True, True] Translation: X:765.08, Y:-137.12, Z:-48.63 [[ 9.88115477e-01 1.46190028e-01 4.75003156e-02 7.65080956e+02] [-1.45878835e-01 9.89252205e-01 -9.97201076e-03 -1.37123207e+02] [-4.84476004e-02 2.92420749e-03 9.98821445e-01 -4.86327732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.6807140569999 meters 0.03624551660571504 Centerline is valid? [True, True] Translation: X:765.11, Y:-137.13, Z:-48.63 [[ 9.88140613e-01 1.46274441e-01 4.67110034e-02 7.65109893e+02] [-1.45973828e-01 9.89239895e-01 -9.80165471e-03 -1.37127081e+02] [-4.76421197e-02 2.86682913e-03 9.98860356e-01 -4.86340321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.7107140569999 meters 0.0367338153455242 Centerline is valid? [True, True] Translation: X:765.14, Y:-137.13, Z:-48.64 [[ 9.88050543e-01 1.46860469e-01 4.67774215e-02 7.65137039e+02] [-1.46560306e-01 9.89153173e-01 -9.80193430e-03 -1.37132763e+02] [-4.77095516e-02 2.82909328e-03 9.98857245e-01 -4.86350836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.740714057 meters 0.03373305106319064 Centerline is valid? [True, True] Translation: X:765.17, Y:-137.13, Z:-48.64 [[ 9.88028178e-01 1.47168805e-01 4.62780996e-02 7.65166674e+02] [-1.46875469e-01 9.89107479e-01 -9.69495356e-03 -1.37132194e+02] [-4.72008092e-02 2.78176974e-03 9.98881547e-01 -4.86356445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.770714057 meters 0.03742399519610039 Centerline is valid? [True, True] Translation: X:765.19, Y:-137.14, Z:-48.64 [[ 9.87952748e-01 1.47774203e-01 4.59581527e-02 7.65192878e+02] [-1.47486217e-01 9.89017384e-01 -9.61402345e-03 -1.37142751e+02] [-4.68741166e-02 2.72000683e-03 9.98897101e-01 -4.86383714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.8007140569999 meters 0.03377438182769216 Centerline is valid? [True, True] Translation: X:765.22, Y:-137.14, Z:-48.64 [[ 9.87740640e-01 1.49298495e-01 4.55893345e-02 7.65222951e+02] [-1.49016939e-01 9.88788696e-01 -9.53243528e-03 -1.37140118e+02] [-4.65013968e-02 2.62199066e-03 9.98914784e-01 -4.86386682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.8307140569999 meters 0.036893429384268275 Centerline is valid? [True, True] Translation: X:765.25, Y:-137.15, Z:-48.64 [[ 9.87621657e-01 1.50063767e-01 4.56544386e-02 7.65248698e+02] [-1.49782371e-01 9.88672937e-01 -9.54282786e-03 -1.37150362e+02] [-4.65693406e-02 2.58647341e-03 9.98911711e-01 -4.86412924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.8607140569999 meters 0.0334822582450821 Centerline is valid? [True, True] Translation: X:765.28, Y:-137.15, Z:-48.64 [[ 9.87584670e-01 1.50282906e-01 4.57336610e-02 7.65278443e+02] [-1.50000879e-01 9.88639672e-01 -9.55696148e-03 -1.37149734e+02] [-4.66503596e-02 2.57821930e-03 9.98907952e-01 -4.86413048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.890714057 meters 0.03341873425067761 Centerline is valid? [True, True] Translation: X:765.31, Y:-137.15, Z:-48.64 [[ 9.87453049e-01 1.51151743e-01 4.57124362e-02 7.65307102e+02] [-1.50871461e-01 9.88507349e-01 -9.54060639e-03 -1.37153462e+02] [-4.66291584e-02 2.52419883e-03 9.98909080e-01 -4.86429076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.9207140569999 meters 0.03286992338282187 Centerline is valid? [True, True] Translation: X:765.34, Y:-137.16, Z:-48.64 [[ 9.87376298e-01 1.51697905e-01 4.55608598e-02 7.65335780e+02] [-1.51420606e-01 9.88423797e-01 -9.49720948e-03 -1.37157987e+02] [-4.64741448e-02 2.47846652e-03 9.98916418e-01 -4.86447129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.9507140569999 meters 0.03289486086985842 Centerline is valid? [True, True] Translation: X:765.36, Y:-137.16, Z:-48.65 [[ 9.87289453e-01 1.52470914e-01 4.48570608e-02 7.65363905e+02] [-1.52203441e-01 9.88305061e-01 -9.33908354e-03 -1.37162719e+02] [-4.57563989e-02 2.39297966e-03 9.98949761e-01 -4.86462490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.9807140569999 meters 0.032798072030842326 Centerline is valid? [True, True] Translation: X:765.39, Y:-137.17, Z:-48.65 [[ 9.87147405e-01 1.53480907e-01 4.45377550e-02 7.65392005e+02] [-1.53218777e-01 9.88148894e-01 -9.26115659e-03 -1.37167719e+02] [-4.54313441e-02 2.31810637e-03 9.98964774e-01 -4.86484149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.010714057 meters 0.032471699368194704 Centerline is valid? [True, True] Translation: X:765.42, Y:-137.17, Z:-48.65 [[ 9.86966183e-01 1.54947721e-01 4.34621489e-02 7.65420807e+02] [-1.54700006e-01 9.87920254e-01 -9.02665052e-03 -1.37171088e+02] [-4.43357961e-02 2.18540412e-03 9.99014295e-01 -4.86499451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.040714057 meters 0.031885863279083645 Centerline is valid? [True, True] Translation: X:765.45, Y:-137.18, Z:-48.65 [[ 9.86904680e-01 1.55448135e-01 4.30700543e-02 7.65449400e+02] [-1.55205828e-01 9.87841753e-01 -8.93428893e-03 -1.37175346e+02] [-4.39352165e-02 2.13256810e-03 9.99032106e-01 -4.86515429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.0707140569999 meters 0.030907669440975973 Centerline is valid? [True, True] Translation: X:765.48, Y:-137.18, Z:-48.65 [[ 9.86822379e-01 1.56004006e-01 4.29458072e-02 7.65477741e+02] [-1.55764100e-01 9.87754209e-01 -8.89757582e-03 -1.37178532e+02] [-4.38079593e-02 2.09091191e-03 9.99037782e-01 -4.86526591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.1007140569999 meters 0.03137324887833472 Centerline is valid? [True, True] Translation: X:765.50, Y:-137.18, Z:-48.65 [[ 9.86709461e-01 1.56945056e-01 4.21033066e-02 7.65504721e+02] [-1.56715897e-01 9.87605319e-01 -8.70985072e-03 -1.37183899e+02] [-4.29484175e-02 1.99583466e-03 9.99075298e-01 -4.86547861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.130714057 meters 0.031165251722502216 Centerline is valid? [True, True] Translation: X:765.53, Y:-137.19, Z:-48.66 [[ 9.86768360e-01 1.56682274e-01 4.16997509e-02 7.65532413e+02] [-1.56457288e-01 9.87647060e-01 -8.62559618e-03 -1.37189057e+02] [-4.25361145e-02 1.98723543e-03 9.99092954e-01 -4.86562503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.160714057 meters 0.032789710926446586 Centerline is valid? [True, True] Translation: X:765.56, Y:-137.20, Z:-48.66 [[ 9.86852967e-01 1.56116533e-01 4.18192517e-02 7.65558912e+02] [-1.55890380e-01 9.87736613e-01 -8.63554806e-03 -1.37196517e+02] [-4.26545579e-02 2.00279720e-03 9.99087873e-01 -4.86589533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.1907140569999 meters 0.032430002102533564 Centerline is valid? [True, True] Translation: X:765.59, Y:-137.20, Z:-48.66 [[ 9.86859570e-01 1.55786184e-01 4.28818624e-02 7.65586893e+02] [-1.55548268e-01 9.87788644e-01 -8.85050607e-03 -1.37201118e+02] [-4.37370033e-02 2.06400719e-03 9.99040947e-01 -4.86593132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.2207140569999 meters 0.031441460979676907 Centerline is valid? [True, True] Translation: X:765.62, Y:-137.20, Z:-48.66 [[ 9.86934747e-01 1.55237060e-01 4.31423234e-02 7.65615408e+02] [-1.54996200e-01 9.87875036e-01 -8.89336109e-03 -1.37204379e+02] [-4.39998035e-02 2.09027089e-03 9.99029353e-01 -4.86597369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.250714057 meters 0.03483860949559783 Centerline is valid? [True, True] Translation: X:765.64, Y:-137.22, Z:-48.66 [[ 9.87002311e-01 1.54624571e-01 4.37913367e-02 7.65641064e+02] [-1.54376418e-01 9.87970991e-01 -9.01341596e-03 -1.37215776e+02] [-4.46582659e-02 2.13591268e-03 9.99000039e-01 -4.86630528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.280714057 meters 0.034207234918757726 Centerline is valid? [True, True] Translation: X:765.67, Y:-137.22, Z:-48.66 [[ 9.87082121e-01 1.53983620e-01 4.42485087e-02 7.65669088e+02] [-1.53729712e-01 9.88070984e-01 -9.10531740e-03 -1.37220643e+02] [-4.51227373e-02 2.18538551e-03 9.98979060e-01 -4.86641999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.3107140569999 meters 0.03174620981699878 Centerline is valid? [True, True] Translation: X:765.70, Y:-137.22, Z:-48.67 [[ 9.87292529e-01 1.52588078e-01 4.43885232e-02 7.65697639e+02] [-1.52331736e-01 9.88287329e-01 -9.12124522e-03 -1.37222113e+02] [-4.52604083e-02 2.24355645e-03 9.98972703e-01 -4.86651599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.3407140569999 meters 0.032570472136503374 Centerline is valid? [True, True] Translation: X:765.73, Y:-137.23, Z:-48.67 [[ 9.87655079e-01 1.50237358e-01 4.43416427e-02 7.65726251e+02] [-1.49979412e-01 9.88647178e-01 -9.10681552e-03 -1.37230002e+02] [-4.52064238e-02 2.34405909e-03 9.98974917e-01 -4.86666426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.370714057 meters 0.03338143796155516 Centerline is valid? [True, True] Translation: X:765.75, Y:-137.24, Z:-48.67 [[ 9.87916818e-01 1.48519559e-01 4.42978668e-02 7.65753725e+02] [-1.48260352e-01 9.88906506e-01 -9.09892740e-03 -1.37237238e+02] [-4.51578174e-02 2.42136608e-03 9.98976931e-01 -4.86683040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.400714057 meters 0.03395332850200187 Centerline is valid? [True, True] Translation: X:765.78, Y:-137.24, Z:-48.67 [[ 9.88137349e-01 1.46916925e-01 4.47213160e-02 7.65781013e+02] [-1.46651725e-01 9.89145663e-01 -9.17218735e-03 -1.37244732e+02] [-4.55834454e-02 2.50492273e-03 9.98957394e-01 -4.86700123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.4307140569999 meters 0.036007329000668595 Centerline is valid? [True, True] Translation: X:765.81, Y:-137.25, Z:-48.67 [[ 9.88637298e-01 1.43463382e-01 4.48837478e-02 7.65808547e+02] [-1.43192935e-01 9.89652027e-01 -9.20044208e-03 -1.37254353e+02] [-4.57392185e-02 2.66886460e-03 9.98949849e-01 -4.86727536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.4607140569999 meters 0.03687630586541907 Centerline is valid? [True, True] Translation: X:765.84, Y:-137.26, Z:-48.68 [[ 9.88856185e-01 1.41899378e-01 4.50334552e-02 7.65836944e+02] [-1.41625527e-01 9.89877267e-01 -9.23068198e-03 -1.37262093e+02] [-4.58874216e-02 2.74993013e-03 9.98942832e-01 -4.86751369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.490714057 meters 0.037902948925262435 Centerline is valid? [True, True] Translation: X:765.87, Y:-137.27, Z:-48.68 [[ 9.89124318e-01 1.40214444e-01 4.44183955e-02 7.65865079e+02] [-1.39946398e-01 9.90117234e-01 -9.10324539e-03 -1.37269894e+02] [-4.52558254e-02 2.78804692e-03 9.98971540e-01 -4.86771722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.520714057 meters 0.03928237349318026 Centerline is valid? [True, True] Translation: X:765.89, Y:-137.28, Z:-48.68 [[ 9.89305529e-01 1.38707713e-01 4.51080998e-02 7.65892388e+02] [-1.38429828e-01 9.90329120e-01 -9.24210042e-03 -1.37278403e+02] [-4.59538154e-02 2.89895456e-03 9.98939359e-01 -4.86792338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.5507140569999 meters 0.039929128205344985 Centerline is valid? [True, True] Translation: X:765.92, Y:-137.29, Z:-48.68 [[ 9.89355959e-01 1.38319272e-01 4.51947539e-02 7.65920701e+02] [-1.38039923e-01 9.90383380e-01 -9.25964833e-03 -1.37285026e+02] [-4.60409209e-02 2.92240792e-03 9.98935280e-01 -4.86806441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.5807140569999 meters 0.03651850284986781 Centerline is valid? [True, True] Translation: X:765.95, Y:-137.29, Z:-48.68 [[ 9.89302558e-01 1.38329662e-01 4.63179555e-02 7.65950161e+02] [-1.38036809e-01 9.90381748e-01 -9.47804604e-03 -1.37285297e+02] [-4.71835527e-02 2.98307240e-03 9.98881782e-01 -4.86811272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.6107140569999 meters 0.03621793356576551 Centerline is valid? [True, True] Translation: X:765.98, Y:-137.29, Z:-48.68 [[ 9.89239545e-01 1.38479767e-01 4.72067408e-02 7.65978288e+02] [-1.38176331e-01 9.90360656e-01 -9.64739659e-03 -1.37289846e+02] [-4.80876680e-02 3.02073200e-03 9.98838551e-01 -4.86820081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.640714057 meters 0.036550290159245574 Centerline is valid? [True, True] Translation: X:766.01, Y:-137.30, Z:-48.68 [[ 9.89056884e-01 1.39428609e-01 4.82301130e-02 7.66005484e+02] [-1.39113690e-01 9.90227505e-01 -9.84222786e-03 -1.37295560e+02] [-4.91310727e-02 3.02505424e-03 9.98787759e-01 -4.86829569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.6707140569999 meters 0.036550290159245574 Centerline is valid? [True, True] Translation: X:766.03, Y:-137.30, Z:-48.68 [[ 9.89096134e-01 1.39149708e-01 4.82306507e-02 7.66032348e+02] [-1.38834586e-01 9.90266702e-01 -9.83959346e-03 -1.37300961e+02] [-4.91303839e-02 3.03622142e-03 9.98787759e-01 -4.86845462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.7007140569999 meters 0.03496711099558389 Centerline is valid? [True, True] Translation: X:766.06, Y:-137.30, Z:-48.69 [[ 9.88667528e-01 1.41779537e-01 4.93465539e-02 7.66062447e+02] [-1.41453762e-01 9.89893845e-01 -1.00503373e-02 -1.37303395e+02] [-5.02727822e-02 2.95618640e-03 9.98731149e-01 -4.86854862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.7307140569999 meters 0.03508788185170175 Centerline is valid? [True, True] Translation: X:766.09, Y:-137.31, Z:-48.69 [[ 9.88422952e-01 1.43422773e-01 4.94972329e-02 7.66089658e+02] [-1.43097075e-01 9.89657318e-01 -1.00806332e-02 -1.37309086e+02] [-5.04310911e-02 2.88101997e-03 9.98723388e-01 -4.86870395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.760714057 meters 0.03405927144651516 Centerline is valid? [True, True] Translation: X:766.12, Y:-137.31, Z:-48.69 [[ 9.88023475e-01 1.46162191e-01 4.94593428e-02 7.66118753e+02] [-1.45840660e-01 9.89256862e-01 -1.00679612e-02 -1.37313479e+02] [-5.03995495e-02 2.73419878e-03 9.98725393e-01 -4.86890888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.790714057 meters 0.03414837173307013 Centerline is valid? [True, True] Translation: X:766.15, Y:-137.32, Z:-48.69 [[ 9.87928457e-01 1.46943360e-01 4.90409328e-02 7.66147318e+02] [-1.46628215e-01 9.89141301e-01 -9.98268645e-03 -1.37318637e+02] [-4.99753016e-02 2.67139557e-03 9.98746881e-01 -4.86914511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.8207140569999 meters 0.03343490549497866 Centerline is valid? [True, True] Translation: X:766.18, Y:-137.32, Z:-48.69 [[ 9.87799368e-01 1.47837919e-01 4.89526238e-02 7.66175594e+02] [-1.47525623e-01 9.89008161e-01 -9.95229850e-03 -1.37323674e+02] [-4.98858715e-02 2.60910786e-03 9.98751517e-01 -4.86935491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.8507140569999 meters 0.03558622845396195 Centerline is valid? [True, True] Translation: X:766.20, Y:-137.33, Z:-48.70 [[ 9.87682984e-01 1.48631500e-01 4.88978626e-02 7.66202117e+02] [-1.48321560e-01 9.88889358e-01 -9.92738281e-03 -1.37332912e+02] [-4.98300978e-02 2.55249979e-03 9.98754447e-01 -4.86962201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.880714057 meters 0.031426975739312496 Centerline is valid? [True, True] Translation: X:766.23, Y:-137.33, Z:-48.70 [[ 9.87321643e-01 1.50979902e-01 4.90004362e-02 7.66232572e+02] [-1.50671785e-01 9.88533835e-01 -9.94333685e-03 -1.37332761e+02] [-4.99398331e-02 2.43428850e-03 9.98749262e-01 -4.86972578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.910714057 meters 0.030914896645795106 Centerline is valid? [True, True] Translation: X:766.26, Y:-137.34, Z:-48.70 [[ 9.87114228e-01 1.52342895e-01 4.89606238e-02 7.66261338e+02] [-1.52036962e-01 9.88324875e-01 -9.93502117e-03 -1.37337527e+02] [-4.99025323e-02 2.36317627e-03 9.98751297e-01 -4.86989750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.9407140569999 meters 0.029765774337792067 Centerline is valid? [True, True] Translation: X:766.29, Y:-137.34, Z:-48.70 [[ 9.86831729e-01 1.54134666e-01 4.90473538e-02 7.66289828e+02] [-1.53830509e-01 9.88047256e-01 -9.93951528e-03 -1.37341125e+02] [-4.99931272e-02 2.26364966e-03 9.98746997e-01 -4.87002191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.9707140569999 meters 0.03047439359002183 Centerline is valid? [True, True] Translation: X:766.32, Y:-137.35, Z:-48.70 [[ 9.86442374e-01 1.56475807e-01 4.94647879e-02 7.66317301e+02] [-1.56169569e-01 9.87679431e-01 -1.00203674e-02 -1.37348008e+02] [-5.04232987e-02 2.15962039e-03 9.98725601e-01 -4.87018187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.000714057 meters 0.02875242366138704 Centerline is valid? [True, True] Translation: X:766.35, Y:-137.35, Z:-48.70 [[ 9.85551881e-01 1.61650974e-01 5.05613840e-02 7.66347499e+02] [-1.61338000e-01 9.86846101e-01 -1.02383237e-02 -1.37350087e+02] [-5.15513396e-02 1.93292662e-03 9.98668475e-01 -4.87029276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.030714057 meters 0.0274916285857225 Centerline is valid? [True, True] Translation: X:766.38, Y:-137.35, Z:-48.70 [[ 9.85071975e-01 1.64247495e-01 5.15360550e-02 7.66376461e+02] [-1.63925862e-01 9.86417459e-01 -1.04358934e-02 -1.37353950e+02] [-5.25501338e-02 1.83201386e-03 9.98616607e-01 -4.87041204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.0607140569999 meters 0.027246649669106168 Centerline is valid? [True, True] Translation: X:766.40, Y:-137.36, Z:-48.71 [[ 9.84591754e-01 1.66753742e-01 5.26523243e-02 7.66403516e+02] [-1.66422318e-01 9.85997072e-01 -1.06483263e-02 -1.37359494e+02] [-5.36906858e-02 1.72173237e-03 9.98556131e-01 -4.87055900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.0907140569999 meters 0.026180004470241942 Centerline is valid? [True, True] Translation: X:766.43, Y:-137.36, Z:-48.71 [[ 9.83851916e-01 1.70303025e-01 5.50662011e-02 7.66432246e+02] [-1.69946315e-01 9.85390451e-01 -1.11314540e-02 -1.37364044e+02] [-5.61574290e-02 1.59340434e-03 9.98420655e-01 -4.87060825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.120714057 meters 0.026116996356899506 Centerline is valid? [True, True] Translation: X:766.46, Y:-137.37, Z:-48.71 [[ 9.83555905e-01 1.71668843e-01 5.61033811e-02 7.66459379e+02] [-1.71301569e-01 9.85153524e-01 -1.13272304e-02 -1.37370297e+02] [-5.72149762e-02 1.53036712e-03 9.98360709e-01 -4.87068164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.150714057 meters 0.02606091629659229 Centerline is valid? [True, True] Translation: X:766.49, Y:-137.38, Z:-48.71 [[ 9.83352108e-01 1.72364803e-01 5.75239729e-02 7.66486339e+02] [-1.71980335e-01 9.85032012e-01 -1.16060032e-02 -1.37377291e+02] [-5.86634212e-02 1.51979556e-03 9.98276662e-01 -4.87080082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.1807140569999 meters 0.025489561514716083 Centerline is valid? [True, True] Translation: X:766.51, Y:-137.38, Z:-48.71 [[ 9.83319507e-01 1.72350012e-01 5.81224643e-02 7.66514127e+02] [-1.71957957e-01 9.85034587e-01 -1.17185169e-02 -1.37382265e+02] [-5.92723241e-02 1.52842606e-03 9.98240680e-01 -4.87098264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.2107140569999 meters 0.025807837627582864 Centerline is valid? [True, True] Translation: X:766.54, Y:-137.39, Z:-48.71 [[ 9.83458603e-01 1.71523190e-01 5.82148803e-02 7.66541052e+02] [-1.71129465e-01 9.85178842e-01 -1.17199099e-02 -1.37391259e+02] [-5.93623047e-02 1.56376490e-03 9.98235279e-01 -4.87125155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.240714057 meters 0.026184114103134325 Centerline is valid? [True, True] Translation: X:766.57, Y:-137.40, Z:-48.71 [[ 9.83690075e-01 1.70467830e-01 5.73982096e-02 7.66567682e+02] [-1.70083606e-01 9.85361944e-01 -1.15501427e-02 -1.37400584e+02] [-5.85269392e-02 1.59926633e-03 9.98284549e-01 -4.87147972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.270714057 meters 0.02608175145577861 Centerline is valid? [True, True] Translation: X:766.60, Y:-137.41, Z:-48.72 [[ 9.83940099e-01 1.69265908e-01 5.66651072e-02 7.66595161e+02] [-1.68889758e-01 9.85569048e-01 -1.13973805e-02 -1.37408739e+02] [-5.77765637e-02 1.64418345e-03 9.98328185e-01 -4.87173606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.3007140569999 meters 0.026700074172688836 Centerline is valid? [True, True] Translation: X:766.62, Y:-137.42, Z:-48.72 [[ 9.84535235e-01 1.66338617e-01 5.49712301e-02 7.66623071e+02] [-1.65980876e-01 9.86067143e-01 -1.10425806e-02 -1.37420632e+02] [-5.60421314e-02 1.74763674e-03 9.98426875e-01 -4.87204746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.3307140569999 meters 0.027247089982363977 Centerline is valid? [True, True] Translation: X:766.65, Y:-137.43, Z:-48.72 [[ 9.84767690e-01 1.64863878e-01 5.52494137e-02 7.66649261e+02] [-1.64500296e-01 9.86314615e-01 -1.10965029e-02 -1.37429966e+02] [-5.63227167e-02 1.83893256e-03 9.98410922e-01 -4.87220747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.3607140569999 meters 0.026921770576211607 Centerline is valid? [True, True] Translation: X:766.68, Y:-137.44, Z:-48.72 [[ 9.85040150e-01 1.63317361e-01 5.49849306e-02 7.66677377e+02] [-1.62955114e-01 9.86571730e-01 -1.10386884e-02 -1.37437092e+02] [-5.60493876e-02 1.91347562e-03 9.98426164e-01 -4.87238140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.390714057 meters 0.027925149360920443 Centerline is valid? [True, True] Translation: X:766.70, Y:-137.45, Z:-48.73 [[ 9.85427267e-01 1.60721467e-01 5.56930170e-02 7.66704253e+02] [-1.60346526e-01 9.86997625e-01 -1.11659839e-02 -1.37449858e+02] [-5.67634888e-02 2.07308318e-03 9.98385501e-01 -4.87253711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.4207140569999 meters 0.028650944247429335 Centerline is valid? [True, True] Translation: X:766.73, Y:-137.46, Z:-48.73 [[ 9.85596961e-01 1.59663110e-01 5.57343828e-02 7.66730797e+02] [-1.59286095e-01 9.87169258e-01 -1.11712370e-02 -1.37459294e+02] [-5.68029037e-02 2.13262501e-03 9.98383134e-01 -4.87268039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.4507140569999 meters 0.02930746404458029 Centerline is valid? [True, True] Translation: X:766.76, Y:-137.47, Z:-48.73 [[ 9.85866160e-01 1.57903548e-01 5.59855673e-02 7.66758008e+02] [-1.57520577e-01 9.87452002e-01 -1.12165973e-02 -1.37468027e+02] [-5.70542010e-02 2.23918480e-03 9.98368571e-01 -4.87281814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.4807140569999 meters 0.029917085045911656 Centerline is valid? [True, True] Translation: X:766.79, Y:-137.48, Z:-48.73 [[ 9.86093157e-01 1.56261737e-01 5.65911230e-02 7.66785036e+02] [-1.55868562e-01 9.87712898e-01 -1.13235299e-02 -1.37476608e+02] [-5.76652165e-02 2.34527846e-03 9.98333222e-01 -4.87296721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.510714057 meters 0.029939812293807995 Centerline is valid? [True, True] Translation: X:766.81, Y:-137.49, Z:-48.73 [[ 9.86620959e-01 1.52516082e-01 5.76014567e-02 7.66812736e+02] [-1.52102664e-01 9.88297556e-01 -1.15204508e-02 -1.37487406e+02] [-5.86844328e-02 2.60498316e-03 9.98273185e-01 -4.87303249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.540714057 meters 0.03100780040975992 Centerline is valid? [True, True] Translation: X:766.84, Y:-137.50, Z:-48.73 [[ 9.86884140e-01 1.50770328e-01 5.76888487e-02 7.66838492e+02] [-1.50352867e-01 9.88565104e-01 -1.15347353e-02 -1.37497287e+02] [-5.87682785e-02 2.70976352e-03 9.98267973e-01 -4.87310432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.5707140569999 meters 0.030603988002666553 Centerline is valid? [True, True] Translation: X:766.87, Y:-137.50, Z:-48.73 [[ 9.87219932e-01 1.48555406e-01 5.76896559e-02 7.66867653e+02] [-1.48134529e-01 9.88900021e-01 -1.15286658e-02 -1.37503427e+02] [-5.87619475e-02 2.83549872e-03 9.98267997e-01 -4.87325053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.6007140569999 meters 0.03072175027117137 Centerline is valid? [True, True] Translation: X:766.90, Y:-137.51, Z:-48.73 [[ 9.87702298e-01 1.45361516e-01 5.75690880e-02 7.66895715e+02] [-1.44937115e-01 9.89374008e-01 -1.15024357e-02 -1.37512770e+02] [-5.86293708e-02 3.01708466e-03 9.98275260e-01 -4.87338223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.630714057 meters 0.031699773185744774 Centerline is valid? [True, True] Translation: X:766.92, Y:-137.52, Z:-48.74 [[ 9.87962063e-01 1.43769726e-01 5.71071669e-02 7.66921972e+02] [-1.43349654e-01 9.89606366e-01 -1.14069161e-02 -1.37521530e+02] [-5.81535851e-02 3.08330781e-03 9.98302887e-01 -4.87350589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.660714057 meters 0.03159262341532182 Centerline is valid? [True, True] Translation: X:766.95, Y:-137.53, Z:-48.74 [[ 9.88297248e-01 1.41598282e-01 5.67316106e-02 7.66950711e+02] [-1.41180616e-01 9.89919088e-01 -1.13239778e-02 -1.37527318e+02] [-5.77631600e-02 3.18205237e-03 9.98325244e-01 -4.87370760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.6907140569999 meters 0.033508186792825335 Centerline is valid? [True, True] Translation: X:766.98, Y:-137.54, Z:-48.74 [[ 9.88644658e-01 1.39486693e-01 5.59035077e-02 7.66977583e+02] [-1.39077959e-01 9.90218599e-01 -1.11555802e-02 -1.37537093e+02] [-5.69127481e-02 3.25395900e-03 9.98373853e-01 -4.87388008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.7207140569999 meters 0.035629434669312766 Centerline is valid? [True, True] Translation: X:767.00, Y:-137.55, Z:-48.74 [[ 9.89402560e-01 1.34571117e-01 5.45269635e-02 7.67004822e+02] [-1.34175118e-01 9.90897951e-01 -1.08760674e-02 -1.37549557e+02] [-5.54942609e-02 3.44464717e-03 9.98453064e-01 -4.87417780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.750714057 meters 0.03718278633736805 Centerline is valid? [True, True] Translation: X:767.03, Y:-137.56, Z:-48.74 [[ 9.89804052e-01 1.31931505e-01 5.36844225e-02 7.67033647e+02] [-1.31543792e-01 9.91252524e-01 -1.07081239e-02 -1.37559434e+02] [-5.46275583e-02 3.53709193e-03 9.98500535e-01 -4.87438134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.780714057 meters 0.038948658794521314 Centerline is valid? [True, True] Translation: X:767.06, Y:-137.57, Z:-48.75 [[ 9.90206536e-01 1.29085645e-01 5.31781226e-02 7.67062635e+02] [-1.28701186e-01 9.91626701e-01 -1.06061759e-02 -1.37568670e+02] [-5.41019513e-02 3.65821727e-03 9.98528716e-01 -4.87463199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.8107140569999 meters 0.039652929714715617 Centerline is valid? [True, True] Translation: X:767.09, Y:-137.58, Z:-48.75 [[ 9.90508154e-01 1.26732430e-01 5.32211218e-02 7.67092151e+02] [-1.26344026e-01 9.91929703e-01 -1.06137229e-02 -1.37576582e+02] [-5.41367145e-02 3.78880829e-03 9.98526345e-01 -4.87481939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.8407140569999 meters 0.04179573398351199 Centerline is valid? [True, True] Translation: X:767.12, Y:-137.59, Z:-48.75 [[ 9.90952884e-01 1.23145322e-01 5.33630162e-02 7.67119859e+02] [-1.22749665e-01 9.92380605e-01 -1.06421000e-02 -1.37586070e+02] [-5.42669472e-02 3.99552732e-03 9.98518470e-01 -4.87486742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.870714057 meters 0.042762619568576826 Centerline is valid? [True, True] Translation: X:767.15, Y:-137.59, Z:-48.75 [[ 9.91084923e-01 1.21874913e-01 5.38254733e-02 7.67148565e+02] [-1.21470567e-01 9.92537003e-01 -1.07330784e-02 -1.37592813e+02] [-5.47318669e-02 4.09918138e-03 9.98492674e-01 -4.87491913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.900714057 meters 0.04316624694509745 Centerline is valid? [True, True] Translation: X:767.18, Y:-137.60, Z:-48.75 [[ 9.91144686e-01 1.21189820e-01 5.42700546e-02 7.67176972e+02] [-1.20777844e-01 9.92620594e-01 -1.08198462e-02 -1.37598400e+02] [-5.51808290e-02 4.16941291e-03 9.98467672e-01 -4.87501633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.9307140569999 meters 0.04636837139337823 Centerline is valid? [True, True] Translation: X:767.20, Y:-137.61, Z:-48.75 [[ 9.91244489e-01 1.20570189e-01 5.38255767e-02 7.67203328e+02] [-1.20164238e-01 9.92696065e-01 -1.07274975e-02 -1.37606064e+02] [-5.47258545e-02 4.16566342e-03 9.98492728e-01 -4.87516345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.9607140569999 meters 0.03989701122724229 Centerline is valid? [True, True] Translation: X:767.23, Y:-137.60, Z:-48.75 [[ 9.91309459e-01 1.20194511e-01 5.34680895e-02 7.67233980e+02] [-1.19793712e-01 9.92741675e-01 -1.06504667e-02 -1.37601755e+02] [-5.43601284e-02 4.15276747e-03 9.98512760e-01 -4.87532415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.990714057 meters 0.04069016390993977 Centerline is valid? [True, True] Translation: X:767.26, Y:-137.61, Z:-48.75 [[ 9.91400288e-01 1.19676490e-01 5.29434244e-02 7.67262079e+02] [-1.19283005e-01 9.92804326e-01 -1.05420325e-02 -1.37607559e+02] [-5.38240942e-02 4.13612330e-03 9.98541867e-01 -4.87541591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.020714057 meters 0.04341718165923426 Centerline is valid? [True, True] Translation: X:767.29, Y:-137.61, Z:-48.75 [[ 9.91514795e-01 1.18608623e-01 5.32015554e-02 7.67289289e+02] [-1.18209973e-01 9.92932155e-01 -1.05895152e-02 -1.37614092e+02] [-5.40815429e-02 4.21070663e-03 9.98527644e-01 -4.87547393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.0507140569999 meters 0.04309158623619091 Centerline is valid? [True, True] Translation: X:767.32, Y:-137.62, Z:-48.76 [[ 9.91611499e-01 1.17775225e-01 5.32506410e-02 7.67318135e+02] [-1.17374915e-01 9.93031163e-01 -1.05942994e-02 -1.37618457e+02] [-5.41272919e-02 4.25513966e-03 9.98524977e-01 -4.87559979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.0807140569999 meters 0.042605205966867156 Centerline is valid? [True, True] Translation: X:767.35, Y:-137.62, Z:-48.76 [[ 9.91738544e-01 1.16646254e-01 5.33695856e-02 7.67346209e+02] [-1.16242738e-01 9.93164119e-01 -1.06141095e-02 -1.37622568e+02] [-5.42428535e-02 4.32259472e-03 9.98518416e-01 -4.87572646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.1107140569999 meters 0.04623317317940824 Centerline is valid? [True, True] Translation: X:767.37, Y:-137.63, Z:-48.76 [[ 9.91878177e-01 1.15572366e-01 5.31103618e-02 7.67373734e+02] [-1.15171505e-01 9.93289516e-01 -1.05575810e-02 -1.37632305e+02] [-5.39741301e-02 4.35503392e-03 9.98532837e-01 -4.87590946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.140714057 meters 0.045520010442597056 Centerline is valid? [True, True] Translation: X:767.40, Y:-137.63, Z:-48.76 [[ 9.92197299e-01 1.13462526e-01 5.16795517e-02 7.67404213e+02] [-1.13080315e-01 9.93532771e-01 -1.02701215e-02 -1.37634830e+02] [-5.25106021e-02 4.34604679e-03 9.98610910e-01 -4.87626259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.1707140569999 meters 0.04398000246932728 Centerline is valid? [True, True] Translation: X:767.43, Y:-137.64, Z:-48.76 [[ 9.92348286e-01 1.12480323e-01 5.09220700e-02 7.67433235e+02] [-1.12107940e-01 9.93644501e-01 -1.01200223e-02 -1.37636375e+02] [-5.17367382e-02 4.33381843e-03 9.98651355e-01 -4.87647138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.2007140569999 meters 0.04257856960044518 Centerline is valid? [True, True] Translation: X:767.46, Y:-137.64, Z:-48.77 [[ 9.92496669e-01 1.11827214e-01 4.94473057e-02 7.67462994e+02] [-1.11475484e-01 9.93718631e-01 -9.82338148e-03 -1.37636123e+02] [-5.02352304e-02 4.23751105e-03 9.98728424e-01 -4.87666960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.2307140569999 meters 0.0430972611324468 Centerline is valid? [True, True] Translation: X:767.49, Y:-137.64, Z:-48.77 [[ 9.92495713e-01 1.12033736e-01 4.89969474e-02 7.67491358e+02] [-1.11688823e-01 9.93695592e-01 -9.73024213e-03 -1.37640079e+02] [-4.97781661e-02 4.18481224e-03 9.98751531e-01 -4.87679386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.260714057 meters 0.043440800157631666 Centerline is valid? [True, True] Translation: X:767.52, Y:-137.64, Z:-48.77 [[ 9.92509146e-01 1.12083434e-01 4.86096547e-02 7.67520283e+02] [-1.11744195e-01 9.93690152e-01 -9.64971811e-03 -1.37643664e+02] [-4.93845087e-02 4.14558677e-03 9.98771237e-01 -4.87691487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.290714057 meters 0.044021426627347635 Centerline is valid? [True, True] Translation: X:767.55, Y:-137.65, Z:-48.77 [[ 9.92445315e-01 1.12475007e-01 4.90068289e-02 7.67547408e+02] [-1.12130847e-01 9.93645861e-01 -9.72500018e-03 -1.37647998e+02] [-4.97892521e-02 4.15635364e-03 9.98751098e-01 -4.87701749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.3207140569999 meters 0.04349867905268081 Centerline is valid? [True, True] Translation: X:767.58, Y:-137.65, Z:-48.77 [[ 9.92376570e-01 1.12654839e-01 4.99763076e-02 7.67576385e+02] [-1.12297387e-01 9.93625200e-01 -9.91251780e-03 -1.37649233e+02] [-5.07744117e-02 4.22474166e-03 9.98701212e-01 -4.87705562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.3507140569999 meters 0.04371653647815108 Centerline is valid? [True, True] Translation: X:767.60, Y:-137.65, Z:-48.77 [[ 9.92373190e-01 1.12401990e-01 5.06087423e-02 7.67604779e+02] [-1.12035295e-01 9.93653566e-01 -1.00341359e-02 -1.37652921e+02] [-5.14154141e-02 4.28764210e-03 9.98668149e-01 -4.87712533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.380714057 meters 0.044399914111858944 Centerline is valid? [True, True] Translation: X:767.63, Y:-137.66, Z:-48.77 [[ 9.92370693e-01 1.11933283e-01 5.16850916e-02 7.67633256e+02] [-1.11550383e-01 9.93705983e-01 -1.02436047e-02 -1.37657254e+02] [-5.25063851e-02 4.39996135e-03 9.98610895e-01 -4.87717206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.410714057 meters 0.04650958598943488 Centerline is valid? [True, True] Translation: X:767.66, Y:-137.66, Z:-48.77 [[ 9.92411867e-01 1.10833509e-01 5.32411550e-02 7.67660181e+02] [-1.10425823e-01 9.93828394e-01 -1.05480581e-02 -1.37661445e+02] [-5.40816498e-02 4.58881970e-03 9.98525973e-01 -4.87725262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.4407140569999 meters 0.04682374926542943 Centerline is valid? [True, True] Translation: X:767.69, Y:-137.67, Z:-48.77 [[ 9.92501598e-01 1.10010685e-01 5.32750081e-02 7.67688384e+02] [-1.09601631e-01 9.93919618e-01 -1.05487497e-02 -1.37665513e+02] [-5.41115508e-02 4.63062314e-03 9.98524160e-01 -4.87743778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.4707140569999 meters 0.045525893569888044 Centerline is valid? [True, True] Translation: X:767.72, Y:-137.67, Z:-48.78 [[ 9.92579613e-01 1.09411834e-01 5.30543326e-02 7.67716961e+02] [-1.09005525e-01 9.93985674e-01 -1.05011871e-02 -1.37667341e+02] [-5.38842007e-02 4.64004887e-03 9.98536410e-01 -4.87762534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.500714057 meters 0.048672222581902375 Centerline is valid? [True, True] Translation: X:767.74, Y:-137.68, Z:-48.78 [[ 9.92719361e-01 1.08311773e-01 5.26956306e-02 7.67744018e+02] [-1.07909619e-01 9.94106034e-01 -1.04262853e-02 -1.37675086e+02] [-5.35143338e-02 4.66400984e-03 9.98556189e-01 -4.87788386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.530714057 meters 0.04698963801828528 Centerline is valid? [True, True] Translation: X:767.77, Y:-137.67, Z:-48.78 [[ 9.92909253e-01 1.06956612e-01 5.18796621e-02 7.67773891e+02] [-1.06565196e-01 9.94252770e-01 -1.02610218e-02 -1.37674676e+02] [-5.26789819e-02 4.65969712e-03 9.98600627e-01 -4.87806762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.5607140569999 meters 0.04698963801828528 Centerline is valid? [True, True] Translation: X:767.80, Y:-137.68, Z:-48.78 [[ 9.92920659e-01 1.06850432e-01 5.18801589e-02 7.67800911e+02] [-1.06459003e-01 9.94264172e-01 -1.02585097e-02 -1.37679924e+02] [-5.26787094e-02 4.66277627e-03 9.98600627e-01 -4.87822719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.5907140569999 meters 0.04884625789576205 Centerline is valid? [True, True] Translation: X:767.83, Y:-137.69, Z:-48.78 [[ 9.93032329e-01 1.05994071e-01 5.14980606e-02 7.67827902e+02] [-1.05607554e-01 9.94355806e-01 -1.01771773e-02 -1.37685654e+02] [-5.22861160e-02 4.66768188e-03 9.98621237e-01 -4.87836982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.620714057 meters 0.04966541421866065 Centerline is valid? [True, True] Translation: X:767.86, Y:-137.69, Z:-48.79 [[ 9.93118710e-01 1.05288216e-01 5.12798235e-02 7.67856688e+02] [-1.04904289e-01 9.94430736e-01 -1.01292543e-02 -1.37690261e+02] [-5.20607237e-02 4.68007852e-03 9.98632955e-01 -4.87853585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.650714057 meters 0.05101099693431914 Centerline is valid? [True, True] Translation: X:767.89, Y:-137.69, Z:-48.79 [[ 9.93293882e-01 1.03825211e-01 5.08683611e-02 7.67886368e+02] [-1.03445727e-01 9.94584385e-01 -1.00440824e-02 -1.37694166e+02] [-5.16357066e-02 4.71461103e-03 9.98654858e-01 -4.87867665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.6807140569999 meters 0.05213346423918139 Centerline is valid? [True, True] Translation: X:767.91, Y:-137.70, Z:-48.79 [[ 9.93387179e-01 1.03038496e-01 5.06456451e-02 7.67914981e+02] [-1.02661401e-01 9.94666108e-01 -9.99849842e-03 -1.37699477e+02] [-5.14057370e-02 4.73302728e-03 9.98666635e-01 -4.87886369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.7107140569999 meters 0.04883776493732563 Centerline is valid? [True, True] Translation: X:767.94, Y:-137.70, Z:-48.79 [[ 9.93459158e-01 1.02492291e-01 5.03411523e-02 7.67944400e+02] [-1.02119211e-01 9.94722558e-01 -9.93479055e-03 -1.37699339e+02] [-5.10937192e-02 4.72900992e-03 9.98682667e-01 -4.87900412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.740714057 meters 0.05090399136150576 Centerline is valid? [True, True] Translation: X:767.97, Y:-137.71, Z:-48.79 [[ 9.93493762e-01 1.02207231e-01 5.02377055e-02 7.67970941e+02] [-1.01835507e-01 9.94751882e-01 -9.91077013e-03 -1.37706158e+02] [-5.09870044e-02 4.73030608e-03 9.98688114e-01 -4.87923917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.770714057 meters 0.04989535338993067 Centerline is valid? [True, True] Translation: X:768.00, Y:-137.71, Z:-48.79 [[ 9.93503427e-01 1.02289342e-01 4.98781726e-02 7.68000214e+02] [-1.01923265e-01 9.94743644e-01 -9.83515543e-03 -1.37707424e+02] [-5.06220268e-02 4.68751442e-03 9.98706883e-01 -4.87945846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.8007140569999 meters 0.04762555359804342 Centerline is valid? [True, True] Translation: X:768.03, Y:-137.71, Z:-48.80 [[ 9.93511778e-01 1.02163941e-01 4.99687509e-02 7.68028800e+02] [-1.01796549e-01 9.94756477e-01 -9.84960016e-03 -1.37707742e+02] [-5.07130126e-02 4.69904738e-03 9.98702213e-01 -4.87959017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.8307140569999 meters 0.04952272382543777 Centerline is valid? [True, True] Translation: X:768.06, Y:-137.71, Z:-48.80 [[ 9.93425235e-01 1.02652806e-01 5.06823789e-02 7.68055601e+02] [-1.02275755e-01 9.94705975e-01 -9.98460398e-03 -1.37714959e+02] [-5.14390128e-02 4.73537897e-03 9.98664911e-01 -4.87973361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.8607140569999 meters 0.04784976098841584 Centerline is valid? [True, True] Translation: X:768.08, Y:-137.72, Z:-48.80 [[ 9.93276529e-01 1.03460355e-01 5.19393182e-02 7.68084914e+02] [-1.03065831e-01 9.94621982e-01 -1.02248575e-02 -1.37716239e+02] [-5.27178550e-02 4.80294196e-03 9.98597897e-01 -4.87976909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.890714057 meters 0.04868971829623497 Centerline is valid? [True, True] Translation: X:768.11, Y:-137.72, Z:-48.80 [[ 9.93209404e-01 1.03811811e-01 5.25184456e-02 7.68112969e+02] [-1.03409128e-01 9.94585211e-01 -1.03349080e-02 -1.37721682e+02] [-5.33069548e-02 4.83384118e-03 9.98566474e-01 -4.87987077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.9207140569999 meters 0.04799325040086075 Centerline is valid? [True, True] Translation: X:768.14, Y:-137.72, Z:-48.80 [[ 9.93208109e-01 1.03796785e-01 5.25726186e-02 7.68141508e+02] [-1.03393457e-01 9.94586770e-01 -1.03416878e-02 -1.37724952e+02] [-5.33614649e-02 4.83578344e-03 9.98563553e-01 -4.88000417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.9507140569999 meters 0.0485226032785172 Centerline is valid? [True, True] Translation: X:768.17, Y:-137.73, Z:-48.80 [[ 9.93207369e-01 1.03865395e-01 5.24509469e-02 7.68169901e+02] [-1.03464235e-01 9.94579698e-01 -1.03138644e-02 -1.37730407e+02] [-5.32379005e-02 4.81700899e-03 9.98570239e-01 -4.88019272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.9807140569999 meters 0.05145917303141264 Centerline is valid? [True, True] Translation: X:768.20, Y:-137.74, Z:-48.81 [[ 9.93340889e-01 1.03176025e-01 5.12697357e-02 7.68196780e+02] [-1.02792028e-01 9.94651815e-01 -1.00779967e-02 -1.37738255e+02] [-5.20353433e-02 4.74076606e-03 9.98633991e-01 -4.88052874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.010714057 meters 0.05091119922324786 Centerline is valid? [True, True] Translation: X:768.23, Y:-137.74, Z:-48.81 [[ 9.93395493e-01 1.02959483e-01 5.06432621e-02 7.68225537e+02] [-1.02584786e-01 9.94674498e-01 -9.95015492e-03 -1.37742966e+02] [-5.13980241e-02 4.68921085e-03 9.98667239e-01 -4.88080861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.040714057 meters 0.050979551780731956 Centerline is valid? [True, True] Translation: X:768.25, Y:-137.75, Z:-48.81 [[ 9.93430786e-01 1.02996395e-01 4.98699897e-02 7.68253365e+02] [-1.02633292e-01 9.94671037e-01 -9.79465941e-03 -1.37748767e+02] [-5.06130490e-02 4.61199499e-03 9.98707689e-01 -4.88108938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.0707140569999 meters 0.04792959720844277 Centerline is valid? [True, True] Translation: X:768.28, Y:-137.75, Z:-48.81 [[ 9.93469187e-01 1.02929242e-01 4.92396718e-02 7.68282765e+02] [-1.02575362e-01 9.94678258e-01 -9.66736068e-03 -1.37749772e+02] [-4.99726851e-02 4.55344781e-03 9.98740205e-01 -4.88128874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.1007140569999 meters 0.05445036419130773 Centerline is valid? [True, True] Translation: X:768.31, Y:-137.76, Z:-48.82 [[ 9.93378850e-01 1.04177786e-01 4.84298457e-02 7.68308903e+02] [-1.03837106e-01 9.94548900e-01 -9.50481980e-03 -1.37761961e+02] [-4.91560408e-02 4.41307193e-03 9.98781362e-01 -4.88162023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.130714057 meters 0.04660362099769127 Centerline is valid? [True, True] Translation: X:768.34, Y:-137.76, Z:-48.82 [[ 9.93218188e-01 1.05692336e-01 4.84433757e-02 7.68340788e+02] [-1.05353449e-01 9.94389428e-01 -9.50345059e-03 -1.37755754e+02] [-4.91760226e-02 4.33532324e-03 9.98780719e-01 -4.88170222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.160714057 meters 0.04635366559745307 Centerline is valid? [True, True] Translation: X:768.37, Y:-137.76, Z:-48.82 [[ 9.92919784e-01 1.08021160e-01 4.94138830e-02 7.68371030e+02] [-1.07671451e-01 9.94139279e-01 -9.69289912e-03 -1.37759148e+02] [-5.01713202e-02 4.30380681e-03 9.98731353e-01 -4.88187722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.1907140569999 meters 0.0445438907897294 Centerline is valid? [True, True] Translation: X:768.40, Y:-137.76, Z:-48.82 [[ 9.92714627e-01 1.09600601e-01 5.00537475e-02 7.68400897e+02] [-1.09243801e-01 9.93966502e-01 -9.81760135e-03 -1.37761339e+02] [-5.08277633e-02 4.27801485e-03 9.98698271e-01 -4.88197161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.2207140569999 meters 0.05104794328000035 Centerline is valid? [True, True] Translation: X:768.43, Y:-137.78, Z:-48.82 [[ 9.92521751e-01 1.11069689e-01 5.06369268e-02 7.68427440e+02] [-1.10706507e-01 9.93803532e-01 -9.93017961e-03 -1.37775019e+02] [-5.14260987e-02 4.25008198e-03 9.98667759e-01 -4.88214552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.250714057 meters 0.04392384975575902 Centerline is valid? [True, True] Translation: X:768.46, Y:-137.77, Z:-48.82 [[ 9.92286396e-01 1.12798443e-01 5.14219696e-02 7.68458721e+02] [-1.12426360e-01 9.93608919e-01 -1.00811270e-02 -1.37769216e+02] [-5.22304630e-02 4.22218030e-03 9.98626132e-01 -4.88217195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.280714057 meters 0.04342105168271466 Centerline is valid? [True, True] Translation: X:768.49, Y:-137.77, Z:-48.82 [[ 9.91777477e-01 1.16348680e-01 5.32955964e-02 7.68488432e+02] [-1.15954157e-01 9.93199631e-01 -1.04463459e-02 -1.37771697e+02] [-5.41485853e-02 4.18060461e-03 9.98524138e-01 -4.88217148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.3107140569999 meters 0.04328648876349048 Centerline is valid? [True, True] Translation: X:768.52, Y:-137.78, Z:-48.82 [[ 9.91538531e-01 1.18123824e-01 5.38340415e-02 7.68517472e+02] [-1.17723943e-01 9.92990310e-01 -1.05507175e-02 -1.37776104e+02] [-5.47029727e-02 4.12388735e-03 9.98494155e-01 -4.88231648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.3407140569999 meters 0.043530703636000416 Centerline is valid? [True, True] Translation: X:768.55, Y:-137.78, Z:-48.82 [[ 9.91418093e-01 1.19218937e-01 5.36377734e-02 7.68545777e+02] [-1.18823661e-01 9.92859743e-01 -1.05104249e-02 -1.37780763e+02] [-5.45078276e-02 4.04678882e-03 9.98505143e-01 -4.88248115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.370714057 meters 0.043037052166030244 Centerline is valid? [True, True] Translation: X:768.57, Y:-137.78, Z:-48.83 [[ 9.91251493e-01 1.20554128e-01 5.37324836e-02 7.68574307e+02] [-1.20159614e-01 9.92698791e-01 -1.05251024e-02 -1.37784921e+02] [-5.46090160e-02 3.97654899e-03 9.98499896e-01 -4.88268222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.400714057 meters 0.0440250753538835 Centerline is valid? [True, True] Translation: X:768.60, Y:-137.79, Z:-48.83 [[ 9.91172432e-01 1.21814097e-01 5.23310143e-02 7.68601964e+02] [-1.21441857e-01 9.92545654e-01 -1.02469240e-02 -1.37789471e+02] [-5.31891407e-02 3.80129306e-03 9.98577221e-01 -4.88294261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.4307140569999 meters 0.0445719322939866 Centerline is valid? [True, True] Translation: X:768.63, Y:-137.79, Z:-48.83 [[ 9.91204390e-01 1.21955658e-01 5.13875009e-02 7.68628866e+02] [-1.21597106e-01 9.92528572e-01 -1.00586755e-02 -1.37794396e+02] [-5.22302753e-02 3.72163191e-03 9.98628133e-01 -4.88319678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.4607140569999 meters 0.045410331946939025 Centerline is valid? [True, True] Translation: X:768.66, Y:-137.80, Z:-48.83 [[ 9.91137502e-01 1.22565485e-01 5.12265003e-02 7.68656358e+02] [-1.22210177e-01 9.92453627e-01 -1.00235375e-02 -1.37800313e+02] [-5.20684658e-02 3.67430428e-03 9.98636758e-01 -4.88342451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.490714057 meters 0.04076422020280134 Centerline is valid? [True, True] Translation: X:768.69, Y:-137.80, Z:-48.84 [[ 9.91135951e-01 1.23008968e-01 5.01828740e-02 7.68686373e+02] [-1.22669177e-01 9.92399157e-01 -9.80743114e-03 -1.37797106e+02] [-5.10078438e-02 3.56460575e-03 9.98691891e-01 -4.88359652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.520714057 meters 0.039110631732934754 Centerline is valid? [True, True] Translation: X:768.72, Y:-137.80, Z:-48.84 [[ 9.91111585e-01 1.23285026e-01 4.99862880e-02 7.68715062e+02] [-1.22948886e-01 9.92365046e-01 -9.75638077e-03 -1.37798935e+02] [-5.08074607e-02 3.52390360e-03 9.98702250e-01 -4.88379870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.5507140569999 meters 0.03904355183237107 Centerline is valid? [True, True] Translation: X:768.74, Y:-137.80, Z:-48.84 [[ 9.91062417e-01 1.23838463e-01 4.95915440e-02 7.68743767e+02] [-1.23508947e-01 9.92296375e-01 -9.66662212e-03 -1.37803195e+02] [-5.04066090e-02 3.45522651e-03 9.98722802e-01 -4.88400228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.5807140569999 meters 0.03927476942899363 Centerline is valid? [True, True] Translation: X:768.77, Y:-137.81, Z:-48.84 [[ 9.91055522e-01 1.24079467e-01 4.91247137e-02 7.68772133e+02] [-1.23757052e-01 9.92266466e-01 -9.56308510e-03 -1.37807666e+02] [-4.99313886e-02 3.39801854e-03 9.98746870e-01 -4.88420987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.6107140569999 meters 0.039215798835591065 Centerline is valid? [True, True] Translation: X:768.80, Y:-137.81, Z:-48.84 [[ 9.90890872e-01 1.25408009e-01 4.90725165e-02 7.68800866e+02] [-1.25088597e-01 9.92099718e-01 -9.53897062e-03 -1.37811092e+02] [-4.98810931e-02 3.31366668e-03 9.98749666e-01 -4.88436714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.640714057 meters 0.03965022736203564 Centerline is valid? [True, True] Translation: X:768.83, Y:-137.82, Z:-48.85 [[ 9.90778804e-01 1.26066361e-01 4.96450831e-02 7.68828452e+02] [-1.25740445e-01 9.92016270e-01 -9.64674923e-03 -1.37816219e+02] [-5.04648608e-02 3.31539983e-03 9.98720334e-01 -4.88451274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.6707140569999 meters 0.03929578779526387 Centerline is valid? [True, True] Translation: X:768.86, Y:-137.82, Z:-48.85 [[ 9.90716215e-01 1.26396064e-01 5.00541440e-02 7.68857452e+02] [-1.26065350e-01 9.91974293e-01 -9.72266990e-03 -1.37820105e+02] [-5.08813313e-02 3.32231352e-03 9.98699180e-01 -4.88461889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.7007140569999 meters 0.04001977769954308 Centerline is valid? [True, True] Translation: X:768.88, Y:-137.83, Z:-48.85 [[ 9.90615370e-01 1.27026528e-01 5.04524447e-02 7.68884679e+02] [-1.26691998e-01 9.91893819e-01 -9.78719122e-03 -1.37826065e+02] [-5.12867010e-02 3.30342105e-03 9.98678508e-01 -4.88476902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.7307140569999 meters 0.0375826007597493 Centerline is valid? [True, True] Translation: X:768.91, Y:-137.83, Z:-48.85 [[ 9.90417741e-01 1.28125968e-01 5.15406167e-02 7.68914410e+02] [-1.27778556e-01 9.91752371e-01 -9.99374434e-03 -1.37825931e+02] [-5.23959870e-02 3.31219613e-03 9.98620894e-01 -4.88483060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.760714057 meters 0.04012688545088477 Centerline is valid? [True, True] Translation: X:768.94, Y:-137.83, Z:-48.85 [[ 9.90352019e-01 1.28454266e-01 5.19844284e-02 7.68941013e+02] [-1.28101635e-01 9.91709887e-01 -1.00732648e-02 -1.37834296e+02] [-5.28474255e-02 3.31678787e-03 9.98597090e-01 -4.88495664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.790714057 meters 0.03589878878549509 Centerline is valid? [True, True] Translation: X:768.97, Y:-137.83, Z:-48.85 [[ 9.90337644e-01 1.28496321e-01 5.21540624e-02 7.68970307e+02] [-1.28141649e-01 9.91704423e-01 -1.01022026e-02 -1.37832409e+02] [-5.30195103e-02 3.32148396e-03 9.98587953e-01 -4.88504751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.8207140569999 meters 0.03621936358434211 Centerline is valid? [True, True] Translation: X:769.00, Y:-137.84, Z:-48.85 [[ 9.90307761e-01 1.28877689e-01 5.17791428e-02 7.68998676e+02] [-1.28529323e-01 9.91655125e-01 -1.00162819e-02 -1.37836704e+02] [-5.26379276e-02 3.26406351e-03 9.98608329e-01 -4.88530454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.8507140569999 meters 0.03587817150454597 Centerline is valid? [True, True] Translation: X:769.03, Y:-137.84, Z:-48.86 [[ 9.90342978e-01 1.28700996e-01 5.15445374e-02 7.69025743e+02] [-1.28356226e-01 9.91678133e-01 -9.95791972e-03 -1.37840813e+02] [-5.23971848e-02 3.24569359e-03 9.98621050e-01 -4.88557386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.880714057 meters 0.037050501741943416 Centerline is valid? [True, True] Translation: X:769.05, Y:-137.85, Z:-48.86 [[ 9.90354252e-01 1.28964656e-01 5.06613660e-02 7.69052508e+02] [-1.28632774e-01 9.91644155e-01 -9.77140729e-03 -1.37847991e+02] [-5.14982137e-02 3.16044272e-03 9.98668086e-01 -4.88582685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.910714057 meters 0.03702466452036523 Centerline is valid? [True, True] Translation: X:769.08, Y:-137.85, Z:-48.86 [[ 9.90421143e-01 1.28815888e-01 4.97235058e-02 7.69079618e+02] [-1.28496158e-01 9.91663661e-01 -9.58748750e-03 -1.37852865e+02] [-5.05440145e-02 3.10637087e-03 9.98717004e-01 -4.88610482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.9407140569999 meters 0.03676820790894137 Centerline is valid? [True, True] Translation: X:769.11, Y:-137.86, Z:-48.86 [[ 9.90420175e-01 1.28992118e-01 4.92839785e-02 7.69107974e+02] [-1.28678962e-01 9.91640911e-01 -9.48830490e-03 -1.37857420e+02] [-5.00959259e-02 3.05559739e-03 9.98739737e-01 -4.88631543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.9707140569999 meters 0.0353625218896026 Centerline is valid? [True, True] Translation: X:769.14, Y:-137.86, Z:-48.86 [[ 9.90440581e-01 1.29223015e-01 4.82583482e-02 7.69136495e+02] [-1.28923624e-01 9.91611113e-01 -9.27898638e-03 -1.37859367e+02] [-4.90525730e-02 2.96864353e-03 9.98791786e-01 -4.88642145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.000714057 meters 0.03841915934479332 Centerline is valid? [True, True] Translation: X:769.16, Y:-137.87, Z:-48.87 [[ 9.90406750e-01 1.29401716e-01 4.84733514e-02 7.69162703e+02] [-1.29100532e-01 9.91587836e-01 -9.30674535e-03 -1.37869299e+02] [-4.92698945e-02 2.95952795e-03 9.98781117e-01 -4.88663020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.030714057 meters 0.03670226029217974 Centerline is valid? [True, True] Translation: X:769.19, Y:-137.87, Z:-48.87 [[ 9.90414838e-01 1.29385023e-01 4.83525132e-02 7.69191906e+02] [-1.29085596e-01 9.91590051e-01 -9.27794537e-03 -1.37871728e+02] [-4.91462982e-02 2.94740177e-03 9.98787242e-01 -4.88672899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.0607140569999 meters 0.03704708075091828 Centerline is valid? [True, True] Translation: X:769.22, Y:-137.88, Z:-48.87 [[ 9.90441835e-01 1.29201560e-01 4.82900383e-02 7.69219040e+02] [-1.28903270e-01 9.91613991e-01 -9.25413783e-03 -1.37876672e+02] [-4.90807266e-02 2.94094140e-03 9.98790485e-01 -4.88685143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.0907140569999 meters 0.03559200493179016 Centerline is valid? [True, True] Translation: X:769.25, Y:-137.88, Z:-48.87 [[ 9.90354131e-01 1.29446898e-01 4.94185863e-02 7.69248149e+02] [-1.29135535e-01 9.91581869e-01 -9.45567272e-03 -1.37879139e+02] [-5.02265817e-02 2.98276894e-03 9.98733395e-01 -4.88684607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.120714057 meters 0.038040301972590146 Centerline is valid? [True, True] Translation: X:769.27, Y:-137.89, Z:-48.87 [[ 9.90343181e-01 1.29242917e-01 5.01662483e-02 7.69274209e+02] [-1.28922499e-01 9.91608350e-01 -9.58488583e-03 -1.37887779e+02] [-5.09840493e-02 3.02476822e-03 9.98694887e-01 -4.88699051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.150714057 meters 0.03394416590581552 Centerline is valid? [True, True] Translation: X:769.30, Y:-137.89, Z:-48.87 [[ 9.90318977e-01 1.29316155e-01 5.04544987e-02 7.69303595e+02] [-1.28992420e-01 9.91598777e-01 -9.63440852e-03 -1.37886147e+02] [-5.12765039e-02 3.03288970e-03 9.98679890e-01 -4.88703496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.1807140569999 meters 0.03455314704215281 Centerline is valid? [True, True] Translation: X:769.33, Y:-137.89, Z:-48.87 [[ 9.90481321e-01 1.28265398e-01 4.99473782e-02 7.69331966e+02] [-1.27947467e-01 9.91735209e-01 -9.52472318e-03 -1.37891823e+02] [-5.07562660e-02 3.04341987e-03 9.98706433e-01 -4.88719232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.2107140569999 meters 0.034517182746952146 Centerline is valid? [True, True] Translation: X:769.36, Y:-137.90, Z:-48.87 [[ 9.90573087e-01 1.27677013e-01 4.96340644e-02 7.69360500e+02] [-1.27362970e-01 9.91811136e-01 -9.45224273e-03 -1.37897252e+02] [-5.04344519e-02 3.04159542e-03 9.98722742e-01 -4.88742334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.240714057 meters 0.0404742346987582 Centerline is valid? [True, True] Translation: X:769.39, Y:-137.91, Z:-48.88 [[ 9.90633496e-01 1.27356870e-01 4.92494046e-02 7.69385875e+02] [-1.27047986e-01 9.91852361e-01 -9.36502675e-03 -1.37912016e+02] [-5.00408387e-02 3.02027153e-03 9.98742606e-01 -4.88773964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.270714057 meters 0.03740316618398778 Centerline is valid? [True, True] Translation: X:769.41, Y:-137.91, Z:-48.88 [[ 9.90723383e-01 1.26665462e-01 4.92243817e-02 7.69414759e+02] [-1.26356209e-01 9.91940803e-01 -9.35693889e-03 -1.37913339e+02] [-5.00128737e-02 3.05033191e-03 9.98743915e-01 -4.88789866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.3007140569999 meters 0.034981305537767536 Centerline is valid? [True, True] Translation: X:769.44, Y:-137.92, Z:-48.88 [[ 9.90741368e-01 1.26843458e-01 4.83970879e-02 7.69443392e+02] [-1.26545312e-01 9.91918276e-01 -9.18791749e-03 -1.37915739e+02] [-4.91713833e-02 2.97842534e-03 9.98785915e-01 -4.88806658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.3307140569999 meters 0.0347000399023273 Centerline is valid? [True, True] Translation: X:769.47, Y:-137.92, Z:-48.88 [[ 9.90735096e-01 1.26930795e-01 4.82964148e-02 7.69471366e+02] [-1.26634607e-01 9.91907172e-01 -9.15631910e-03 -1.37920869e+02] [-4.90677791e-02 2.95548919e-03 9.98791078e-01 -4.88830613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.3607140569999 meters 0.03473211484044608 Centerline is valid? [True, True] Translation: X:769.50, Y:-137.93, Z:-48.89 [[ 9.90640562e-01 1.27671130e-01 4.82841517e-02 7.69499807e+02] [-1.27376637e-01 9.91812304e-01 -9.14037041e-03 -1.37927323e+02] [-4.90557772e-02 2.90454883e-03 9.98791817e-01 -4.88852534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.390714057 meters 0.0343624634527349 Centerline is valid? [True, True] Translation: X:769.53, Y:-137.93, Z:-48.89 [[ 9.90355804e-01 1.30022868e-01 4.78480543e-02 7.69529374e+02] [-1.29736766e-01 9.91507166e-01 -9.05044566e-03 -1.37933164e+02] [-4.86184537e-02 2.75550954e-03 9.98813623e-01 -4.88869333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.4207140569999 meters 0.03434607482940442 Centerline is valid? [True, True] Translation: X:769.56, Y:-137.94, Z:-48.89 [[ 9.90073428e-01 1.31993596e-01 4.82938615e-02 7.69557309e+02] [-1.31704503e-01 9.91246938e-01 -9.13406796e-03 -1.37938981e+02] [-4.90767808e-02 2.68287898e-03 9.98791406e-01 -4.88881082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.4507140569999 meters 0.033542482831975196 Centerline is valid? [True, True] Translation: X:769.59, Y:-137.94, Z:-48.89 [[ 9.89807109e-01 1.33908066e-01 4.84821263e-02 7.69585514e+02] [-1.33619084e-01 9.90990358e-01 -9.16797593e-03 -1.37943657e+02] [-4.92729856e-02 2.59639046e-03 9.98781974e-01 -4.88891615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.4807140569999 meters 0.033542482831975196 Centerline is valid? [True, True] Translation: X:769.61, Y:-137.95, Z:-48.89 [[ 9.89844297e-01 1.33632782e-01 4.84824357e-02 7.69612426e+02] [-1.33343551e-01 9.91027485e-01 -9.16634111e-03 -1.37948662e+02] [-4.92723500e-02 2.60843034e-03 9.98781974e-01 -4.88907491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.510714057 meters 0.03310644409012614 Centerline is valid? [True, True] Translation: X:769.64, Y:-137.95, Z:-48.89 [[ 9.89506109e-01 1.35965461e-01 4.88983985e-02 7.69640486e+02] [-1.35674881e-01 9.90710429e-01 -9.22887794e-03 -1.37954118e+02] [-4.96989620e-02 2.49774672e-03 9.98761120e-01 -4.88924500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.540714057 meters 0.030253248911642463 Centerline is valid? [True, True] Translation: X:769.67, Y:-137.96, Z:-48.89 [[ 9.88841869e-01 1.40732075e-01 4.88491768e-02 7.69671139e+02] [-1.40448020e-01 9.90045154e-01 -9.21665296e-03 -1.37956220e+02] [-4.96599695e-02 2.25304218e-03 9.98763641e-01 -4.88938986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.5707140569999 meters 0.029388202394797863 Centerline is valid? [True, True] Translation: X:769.70, Y:-137.96, Z:-48.90 [[ 9.88530587e-01 1.43104194e-01 4.82542155e-02 7.69700155e+02] [-1.42829775e-01 9.89705381e-01 -9.10571706e-03 -1.37960663e+02] [-4.90605230e-02 2.10914108e-03 9.98793581e-01 -4.88951901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.6007140569999 meters 0.031219690483569377 Centerline is valid? [True, True] Translation: X:769.73, Y:-137.97, Z:-48.90 [[ 9.88189088e-01 1.45586475e-01 4.78215975e-02 7.69727170e+02] [-1.45320483e-01 9.89343598e-01 -9.01122739e-03 -1.37969851e+02] [-4.86239041e-02 1.95533892e-03 9.98815245e-01 -4.88977916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.630714057 meters 0.029229063496927388 Centerline is valid? [True, True] Translation: X:769.76, Y:-137.97, Z:-48.90 [[ 9.87865454e-01 1.47992357e-01 4.71180091e-02 7.69756383e+02] [-1.47736958e-01 9.88986852e-01 -8.87681106e-03 -1.37972214e+02] [-4.79127917e-02 1.80802363e-03 9.98849886e-01 -4.88993993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.660714057 meters 0.02789528455663625 Centerline is valid? [True, True] Translation: X:769.79, Y:-137.98, Z:-48.90 [[ 9.87086361e-01 1.53097726e-01 4.71338769e-02 7.69785737e+02] [-1.52848585e-01 9.88209841e-01 -8.86678541e-03 -1.37977589e+02] [-4.79356457e-02 1.54793658e-03 9.98849227e-01 -4.89015122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.6907140569999 meters 0.026686115491957776 Centerline is valid? [True, True] Translation: X:769.81, Y:-137.98, Z:-48.90 [[ 9.86823483e-01 1.54857823e-01 4.68878250e-02 7.69814650e+02] [-1.54613196e-01 9.87935693e-01 -8.82185754e-03 -1.37981596e+02] [-4.76882896e-02 1.45613968e-03 9.98861205e-01 -4.89028943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.7207140569999 meters 0.026084677448712484 Centerline is valid? [True, True] Translation: X:769.84, Y:-137.99, Z:-48.91 [[ 9.86294993e-01 1.58368909e-01 4.62760691e-02 7.69842730e+02] [-1.58135077e-01 9.87379212e-01 -8.69421874e-03 -1.37987854e+02] [-4.70689226e-02 1.25719468e-03 9.98890853e-01 -4.89050106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.750714057 meters 0.025505868522337646 Centerline is valid? [True, True] Translation: X:769.87, Y:-137.99, Z:-48.91 [[ 9.86129615e-01 1.59410821e-01 4.62230817e-02 7.69871263e+02] [-1.59178732e-01 9.87211598e-01 -8.68289657e-03 -1.37993243e+02] [-4.70161100e-02 1.20472993e-03 9.98893405e-01 -4.89068228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.780714057 meters 0.025608784715786623 Centerline is valid? [True, True] Translation: X:769.90, Y:-138.00, Z:-48.91 [[ 9.86027752e-01 1.60134686e-01 4.58928692e-02 7.69897841e+02] [-1.59907333e-01 9.87094506e-01 -8.60702894e-03 -1.38000959e+02] [-4.66788830e-02 1.14816308e-03 9.98909287e-01 -4.89083770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.8107140569999 meters 0.025847058338023966 Centerline is valid? [True, True] Translation: X:769.92, Y:-138.01, Z:-48.91 [[ 9.86056351e-01 1.59892228e-01 4.61231841e-02 7.69924812e+02] [-1.59662422e-01 9.87133791e-01 -8.64806243e-03 -1.38008043e+02] [-4.69125115e-02 1.16333759e-03 9.98898325e-01 -4.89101339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.8407140569999 meters 0.026615965582738495 Centerline is valid? [True, True] Translation: X:769.95, Y:-138.02, Z:-48.91 [[ 9.86262335e-01 1.58420190e-01 4.67936861e-02 7.69950901e+02] [-1.58182758e-01 9.87371013e-01 -8.75774783e-03 -1.38019423e+02] [-4.75901333e-02 1.23548250e-03 9.98866184e-01 -4.89109597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.870714057 meters 0.026879356523977993 Centerline is valid? [True, True] Translation: X:769.98, Y:-138.03, Z:-48.91 [[ 9.86574595e-01 1.56395038e-01 4.70229710e-02 7.69977943e+02] [-1.56153180e-01 9.87693682e-01 -8.79635052e-03 -1.38028669e+02] [-4.78199970e-02 1.33546951e-03 9.98855077e-01 -4.89129197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.900714057 meters 0.027797464306448385 Centerline is valid? [True, True] Translation: X:770.00, Y:-138.04, Z:-48.91 [[ 9.86985498e-01 1.53798980e-01 4.69627493e-02 7.70004878e+02] [-1.53555008e-01 9.88101086e-01 -8.78085301e-03 -1.38038751e+02] [-4.77544298e-02 1.45520923e-03 9.98858046e-01 -4.89148321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.9307140569999 meters 0.028287131485276507 Centerline is valid? [True, True] Translation: X:770.03, Y:-138.05, Z:-48.92 [[ 9.87385691e-01 1.51322853e-01 4.65928256e-02 7.70032085e+02] [-1.51080076e-01 9.88483161e-01 -8.70921642e-03 -1.38048623e+02] [-4.73741270e-02 1.56010806e-03 9.98875997e-01 -4.89171439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.9607140569999 meters 0.02950793988101083 Centerline is valid? [True, True] Translation: X:770.06, Y:-138.06, Z:-48.92 [[ 9.88321128e-01 1.45372571e-01 4.56964253e-02 7.70059841e+02] [-1.45133341e-01 9.89375353e-01 -8.52782792e-03 -1.38064541e+02] [-4.64506292e-02 1.79615762e-03 9.98918972e-01 -4.89199657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.990714057 meters 0.03504895907357484 Centerline is valid? [True, True] Translation: X:770.09, Y:-138.08, Z:-48.92 [[ 9.88855656e-01 1.41823982e-01 4.52818931e-02 7.70085081e+02] [-1.41585363e-01 9.89889981e-01 -8.45044172e-03 -1.38082524e+02] [-4.60225676e-02 1.94501382e-03 9.98938507e-01 -4.89239151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.020714057 meters 0.031193501291135954 Centerline is valid? [True, True] Translation: X:770.11, Y:-138.09, Z:-48.92 [[ 9.89280759e-01 1.38906167e-01 4.50406132e-02 7.70114800e+02] [-1.38667268e-01 9.90303394e-01 -8.40103069e-03 -1.38085061e+02] [-4.57708271e-02 2.06531922e-03 9.98949832e-01 -4.89234853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.0507140569999 meters 0.03581886268608181 Centerline is valid? [True, True] Translation: X:770.14, Y:-138.10, Z:-48.93 [[ 9.90131234e-01 1.32928878e-01 4.43852782e-02 7.70140543e+02] [-1.32691010e-01 9.91122899e-01 -8.27618553e-03 -1.38104535e+02] [-4.50914096e-02 2.30498238e-03 9.98980206e-01 -4.89261157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.0807140569999 meters 0.035849409308648085 Centerline is valid? [True, True] Translation: X:770.17, Y:-138.11, Z:-48.93 [[ 9.90490057e-01 1.30322321e-01 4.41082738e-02 7.70169255e+02] [-1.30084700e-01 9.91468747e-01 -8.22761496e-03 -1.38112928e+02] [-4.48042169e-02 2.41155922e-03 9.98992876e-01 -4.89272804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.1107140569999 meters 0.033797389786759044 Centerline is valid? [True, True] Translation: X:770.20, Y:-138.12, Z:-48.93 [[ 9.90754171e-01 1.28246290e-01 4.42612927e-02 7.70198706e+02] [-1.28005022e-01 9.91739167e-01 -8.25461049e-03 -1.38118211e+02] [-4.49542808e-02 2.51262203e-03 9.98985886e-01 -4.89275130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.140714057 meters 0.03490366523471892 Centerline is valid? [True, True] Translation: X:770.23, Y:-138.13, Z:-48.93 [[ 9.90968862e-01 1.26448407e-01 4.46264003e-02 7.70227003e+02] [-1.26201398e-01 9.91969741e-01 -8.32104075e-03 -1.38127557e+02] [-4.53202211e-02 2.61397817e-03 9.98969091e-01 -4.89287083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.1707140569999 meters 0.040210865392877465 Centerline is valid? [True, True] Translation: X:770.25, Y:-138.15, Z:-48.93 [[ 9.91288998e-01 1.23620459e-01 4.54324234e-02 7.70251981e+02] [-1.23361540e-01 9.92325647e-01 -8.47003972e-03 -1.38145797e+02] [-4.61308292e-02 2.79164347e-03 9.98931506e-01 -4.89307471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.2007140569999 meters 0.04076889939148517 Centerline is valid? [True, True] Translation: X:770.28, Y:-138.15, Z:-48.93 [[ 9.91402570e-01 1.22556724e-01 4.58344128e-02 7.70279759e+02] [-1.22292138e-01 9.92457376e-01 -8.54346632e-03 -1.38153639e+02] [-4.65357602e-02 2.86482615e-03 9.98912517e-01 -4.89320979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.2307140569999 meters 0.03808136229318887 Centerline is valid? [True, True] Translation: X:770.31, Y:-138.16, Z:-48.93 [[ 9.91470680e-01 1.21813103e-01 4.63406828e-02 7.70308334e+02] [-1.21542444e-01 9.92548764e-01 -8.62469978e-03 -1.38157036e+02] [-4.70459888e-02 2.91877709e-03 9.98888460e-01 -4.89328162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.260714057 meters 0.038288301737851874 Centerline is valid? [True, True] Translation: X:770.34, Y:-138.16, Z:-48.93 [[ 9.91584727e-01 1.20929088e-01 4.62156352e-02 7.70335964e+02] [-1.20659079e-01 9.92656766e-01 -8.59833782e-03 -1.38163566e+02] [-4.69160521e-02 2.94964447e-03 9.98894481e-01 -4.89345618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.290714057 meters 0.04543908798611012 Centerline is valid? [True, True] Translation: X:770.36, Y:-138.18, Z:-48.94 [[ 9.91720810e-01 1.20099008e-01 4.54539597e-02 7.70360716e+02] [-1.19837149e-01 9.92757579e-01 -8.45263947e-03 -1.38181582e+02] [-4.61399166e-02 2.93558553e-03 9.98930674e-01 -4.89390816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.3207140569999 meters 0.03800218330699587 Centerline is valid? [True, True] Translation: X:770.39, Y:-138.18, Z:-48.94 [[ 9.91758628e-01 1.20039465e-01 4.47811389e-02 7.70391236e+02] [-1.19785433e-01 9.92764912e-01 -8.32341547e-03 -1.38177008e+02] [-4.54562818e-02 2.89069099e-03 9.98962147e-01 -4.89391856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.3507140569999 meters 0.03862756033116087 Centerline is valid? [True, True] Translation: X:770.42, Y:-138.18, Z:-48.94 [[ 9.91755090e-01 1.20588080e-01 4.33630774e-02 7.70418153e+02] [-1.20350538e-01 9.92698762e-01 -8.05707233e-03 -1.38184780e+02] [-4.40180601e-02 2.77187281e-03 9.99026890e-01 -4.89422240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.380714057 meters 0.03822152982009475 Centerline is valid? [True, True] Translation: X:770.45, Y:-138.19, Z:-48.94 [[ 9.91692272e-01 1.21103820e-01 4.33624642e-02 7.70446391e+02] [-1.20866957e-01 9.92636052e-01 -8.05282840e-03 -1.38190134e+02] [-4.40183736e-02 2.74483861e-03 9.99026951e-01 -4.89439100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.410714057 meters 0.03851082452528656 Centerline is valid? [True, True] Translation: X:770.47, Y:-138.20, Z:-48.95 [[ 9.91660021e-01 1.21358212e-01 4.33887999e-02 7.70474853e+02] [-1.21121440e-01 9.92605017e-01 -8.05461141e-03 -1.38196265e+02] [-4.40454337e-02 2.73212219e-03 9.99025793e-01 -4.89454188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.4407140569999 meters 0.03820661072470806 Centerline is valid? [True, True] Translation: X:770.50, Y:-138.20, Z:-48.95 [[ 9.91531032e-01 1.22216092e-01 4.39253791e-02 7.70503562e+02] [-1.21974402e-01 9.92499776e-01 -8.15105911e-03 -1.38200858e+02] [-4.45921195e-02 2.72425618e-03 9.99001562e-01 -4.89472409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.4707140569999 meters 0.038123045609216255 Centerline is valid? [True, True] Translation: X:770.53, Y:-138.21, Z:-48.95 [[ 9.91407129e-01 1.23165375e-01 4.40703464e-02 7.70531763e+02] [-1.22923161e-01 9.92382521e-01 -8.17481299e-03 -1.38206090e+02] [-4.47414954e-02 2.68730158e-03 9.98994984e-01 -4.89482686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.500714057 meters 0.03678594185867684 Centerline is valid? [True, True] Translation: X:770.56, Y:-138.21, Z:-48.95 [[ 9.91215971e-01 1.24166217e-01 4.55373351e-02 7.70560663e+02] [-1.23908803e-01 9.92257686e-01 -8.44359320e-03 -1.38209007e+02] [-4.62331797e-02 2.72694777e-03 9.98926953e-01 -4.89491599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.530714057 meters 0.034094474880810875 Centerline is valid? [True, True] Translation: X:770.59, Y:-138.21, Z:-48.95 [[ 9.91179572e-01 1.24259161e-01 4.60729589e-02 7.70589938e+02] [-1.23995905e-01 9.92245983e-01 -8.53959914e-03 -1.38209933e+02] [-4.67768318e-02 2.75141798e-03 9.98901576e-01 -4.89497672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.5607140569999 meters 0.038762099445055445 Centerline is valid? [True, True] Translation: X:770.62, Y:-138.22, Z:-48.95 [[ 9.91128762e-01 1.24421470e-01 4.67233827e-02 7.70616241e+02] [-1.24151062e-01 9.92225566e-01 -8.65680671e-03 -1.38222372e+02] [-4.74372275e-02 2.77925253e-03 9.98870355e-01 -4.89525132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.5907140569999 meters 0.03439332287749468 Centerline is valid? [True, True] Translation: X:770.65, Y:-138.22, Z:-48.95 [[ 9.91129759e-01 1.24240372e-01 4.71818998e-02 7.70645398e+02] [-1.23964624e-01 9.92248168e-01 -8.73754367e-03 -1.38220971e+02] [-4.79017093e-02 2.81115307e-03 9.98848098e-01 -4.89527225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.620714057 meters 0.033520332000279617 Centerline is valid? [True, True] Translation: X:770.67, Y:-138.23, Z:-48.95 [[ 9.91045448e-01 1.24403437e-01 4.85046964e-02 7.70673732e+02] [-1.24112480e-01 9.92227551e-01 -8.97665604e-03 -1.38225504e+02] [-4.92444230e-02 2.87623596e-03 9.98782616e-01 -4.89539783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.650714057 meters 0.03274711100328373 Centerline is valid? [True, True] Translation: X:770.70, Y:-138.23, Z:-48.96 [[ 9.90998762e-01 1.24638467e-01 4.88539215e-02 7.70702353e+02] [-1.24343767e-01 9.92198039e-01 -9.03760836e-03 -1.38229921e+02] [-4.95991988e-02 2.88157805e-03 9.98765045e-01 -4.89552043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.6807140569999 meters 0.033388655566578565 Centerline is valid? [True, True] Translation: X:770.73, Y:-138.24, Z:-48.96 [[ 9.90843869e-01 1.25608375e-01 4.95072138e-02 7.70729669e+02] [-1.25307108e-01 9.92075759e-01 -9.15512325e-03 -1.38235491e+02] [-5.02648669e-02 2.86769196e-03 9.98731806e-01 -4.89567400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.7107140569999 meters 0.03389325118118949 Centerline is valid? [True, True] Translation: X:770.76, Y:-138.24, Z:-48.96 [[ 9.90793089e-01 1.25910510e-01 4.97553887e-02 7.70756355e+02] [-1.25606954e-01 9.92037482e-01 -9.19385903e-03 -1.38241179e+02] [-5.05168140e-02 2.85958918e-03 9.98719117e-01 -4.89586060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.740714057 meters 0.03359331518331508 Centerline is valid? [True, True] Translation: X:770.78, Y:-138.25, Z:-48.96 [[ 9.90690554e-01 1.26497198e-01 5.03059212e-02 7.70784788e+02] [-1.26187880e-01 9.91962853e-01 -9.29076152e-03 -1.38246365e+02] [-5.10768604e-02 2.85627213e-03 9.98690641e-01 -4.89602033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.770714057 meters 0.03309618229052896 Centerline is valid? [True, True] Translation: X:770.81, Y:-138.25, Z:-48.96 [[ 9.90590119e-01 1.26994033e-01 5.10267828e-02 7.70813029e+02] [-1.26676634e-01 9.91899336e-01 -9.42006519e-03 -1.38251024e+02] [-5.18097241e-02 2.86752241e-03 9.98652858e-01 -4.89613769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.8007140569999 meters 0.03332114394728088 Centerline is valid? [True, True] Translation: X:770.84, Y:-138.26, Z:-48.96 [[ 9.90362248e-01 1.28202208e-01 5.24100379e-02 7.70840128e+02] [-1.27869243e-01 9.91743878e-01 -9.67149469e-03 -1.38258081e+02] [-5.32172412e-02 2.87665133e-03 9.98578815e-01 -4.89633900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.8307140569999 meters 0.03312643318063178 Centerline is valid? [True, True] Translation: X:770.87, Y:-138.26, Z:-48.96 [[ 9.90268494e-01 1.28928210e-01 5.24006283e-02 7.70868361e+02] [-1.28596640e-01 9.91649885e-01 -9.66484523e-03 -1.38262743e+02] [-5.32091482e-02 2.83224700e-03 9.98579373e-01 -4.89647868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.8607140569999 meters 0.033292413787776115 Centerline is valid? [True, True] Translation: X:770.90, Y:-138.27, Z:-48.97 [[ 9.90130246e-01 1.29661835e-01 5.31968558e-02 7.70895418e+02] [-1.29321367e-01 9.91554230e-01 -9.80779539e-03 -1.38268722e+02] [-5.40192641e-02 2.83150474e-03 9.98535879e-01 -4.89667315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.890714057 meters 0.031703151935112674 Centerline is valid? [True, True] Translation: X:770.92, Y:-138.27, Z:-48.97 [[ 9.90043814e-01 1.30183448e-01 5.35305090e-02 7.70924674e+02] [-1.29839691e-01 9.91485924e-01 -9.86491159e-03 -1.38271640e+02] [-5.43589944e-02 2.81630997e-03 9.98517485e-01 -4.89675276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.9207140569999 meters 0.03368863476354717 Centerline is valid? [True, True] Translation: X:770.95, Y:-138.28, Z:-48.97 [[ 9.89850975e-01 1.30994349e-01 5.50956208e-02 7.70950881e+02] [-1.30632205e-01 9.91379049e-01 -1.01394297e-02 -1.38280251e+02] [-5.59488521e-02 2.83926193e-03 9.98429599e-01 -4.89693338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.9507140569999 meters 0.031593234870733934 Centerline is valid? [True, True] Translation: X:770.98, Y:-138.28, Z:-48.97 [[ 9.89785047e-01 1.31266988e-01 5.56285755e-02 7.70979374e+02] [-1.30898517e-01 9.91342967e-01 -1.02323424e-02 -1.38282938e+02] [-5.64901658e-02 2.84612150e-03 9.98399099e-01 -4.89707103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.9807140569999 meters 0.031895571483780714 Centerline is valid? [True, True] Translation: X:771.01, Y:-138.29, Z:-48.97 [[ 9.89761810e-01 1.31291855e-01 5.59822073e-02 7.71007652e+02] [-1.30918952e-01 9.91339637e-01 -1.02932803e-02 -1.38288572e+02] [-5.68488049e-02 2.85876385e-03 9.98378706e-01 -4.89726579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.010714057 meters 0.03237996748926086 Centerline is valid? [True, True] Translation: X:771.04, Y:-138.30, Z:-48.97 [[ 9.89797582e-01 1.30551354e-01 5.70709329e-02 7.71035192e+02] [-1.30162807e-01 9.91437149e-01 -1.04892355e-02 -1.38295710e+02] [-5.79516269e-02 2.95370713e-03 9.98315023e-01 -4.89748252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.040714057 meters 0.033238233062322625 Centerline is valid? [True, True] Translation: X:771.06, Y:-138.30, Z:-48.98 [[ 9.89926997e-01 1.29672188e-01 5.68301293e-02 7.71062559e+02] [-1.29285709e-01 9.91552416e-01 -1.04408882e-02 -1.38302490e+02] [-5.77039448e-02 2.98839359e-03 9.98329266e-01 -4.89772150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.0707140569999 meters 0.031595857534629894 Centerline is valid? [True, True] Translation: X:771.09, Y:-138.31, Z:-48.98 [[ 9.90052096e-01 1.28556983e-01 5.71834705e-02 7.71091314e+02] [-1.28164124e-01 9.91697380e-01 -1.05006521e-02 -1.38305947e+02] [-5.80586301e-02 3.06732322e-03 9.98308463e-01 -4.89797846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.1007140569999 meters 0.034439681090013004 Centerline is valid? [True, True] Translation: X:771.12, Y:-138.32, Z:-48.98 [[ 9.90182081e-01 1.27591588e-01 5.70949545e-02 7.71117651e+02] [-1.27198592e-01 9.91821901e-01 -1.04801772e-02 -1.38316106e+02] [-5.79652088e-02 3.11488588e-03 9.98313744e-01 -4.89818377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.130714057 meters 0.032145714743040794 Centerline is valid? [True, True] Translation: X:771.15, Y:-138.32, Z:-48.98 [[ 9.90346681e-01 1.26034514e-01 5.76953462e-02 7.71146310e+02] [-1.25631025e-01 9.92020592e-01 -1.05825615e-02 -1.38318946e+02] [-5.85687395e-02 3.23207918e-03 9.98278146e-01 -4.89848711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.160714057 meters 0.03190893581091415 Centerline is valid? [True, True] Translation: X:771.17, Y:-138.32, Z:-48.99 [[ 9.90416114e-01 1.25380394e-01 5.79282093e-02 7.71174264e+02] [-1.24972777e-01 9.92103321e-01 -1.06209705e-02 -1.38324016e+02] [-5.88024303e-02 3.27973117e-03 9.98264252e-01 -4.89871116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.1907140569999 meters 0.03363190687888628 Centerline is valid? [True, True] Translation: X:771.20, Y:-138.33, Z:-48.99 [[ 9.90485547e-01 1.24976687e-01 5.76125801e-02 7.71200796e+02] [-1.24573077e-01 9.92154252e-01 -1.05587926e-02 -1.38332165e+02] [-5.84801693e-02 3.28135506e-03 9.98283178e-01 -4.89888524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.2207140569999 meters 0.032876067470748116 Centerline is valid? [True, True] Translation: X:771.23, Y:-138.34, Z:-48.99 [[ 9.90526397e-01 1.24414573e-01 5.81246078e-02 7.71228695e+02] [-1.24003106e-01 9.92224706e-01 -1.06471845e-02 -1.38336639e+02] [-5.89973368e-02 3.33868536e-03 9.98252557e-01 -4.89909697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.250714057 meters 0.03407125641457599 Centerline is valid? [True, True] Translation: X:771.26, Y:-138.34, Z:-48.99 [[ 9.90602059e-01 1.23400647e-01 5.89901762e-02 7.71256675e+02] [-1.22975356e-01 9.92350954e-01 -1.08002475e-02 -1.38343119e+02] [-5.98717152e-02 3.44440951e-03 9.98200137e-01 -4.89926148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.280714057 meters 0.0329433195060285 Centerline is valid? [True, True] Translation: X:771.29, Y:-138.35, Z:-48.99 [[ 9.90581888e-01 1.23144153e-01 5.98585029e-02 7.71285074e+02] [-1.22706038e-01 9.92382598e-01 -1.09547671e-02 -1.38347258e+02] [-6.07515522e-02 3.50659412e-03 9.98146759e-01 -4.89946054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.3107140569999 meters 0.03576053383937727 Centerline is valid? [True, True] Translation: X:771.31, Y:-138.36, Z:-49.00 [[ 9.90644132e-01 1.22401697e-01 6.03492158e-02 7.71311663e+02] [-1.21955269e-01 9.92474197e-01 -1.10399757e-02 -1.38356571e+02] [-6.12463512e-02 3.57678233e-03 9.98116271e-01 -4.89966021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.3407140569999 meters 0.035399051408094975 Centerline is valid? [True, True] Translation: X:771.34, Y:-138.36, Z:-49.00 [[ 9.90683635e-01 1.21825424e-01 6.08646095e-02 7.71340259e+02] [-1.21370591e-01 9.92544877e-01 -1.11286645e-02 -1.38361496e+02] [-6.17666106e-02 3.63781216e-03 9.98083991e-01 -4.89988023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.370714057 meters 0.035399051408094975 Centerline is valid? [True, True] Translation: X:771.37, Y:-138.37, Z:-49.00 [[ 9.90696487e-01 1.21720466e-01 6.08654188e-02 7.71367295e+02] [-1.21265708e-01 9.92557746e-01 -1.11242363e-02 -1.38366345e+02] [-6.17664902e-02 3.63985369e-03 9.98083991e-01 -4.90003949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.400714057 meters 0.034526217158021816 Centerline is valid? [True, True] Translation: X:771.40, Y:-138.37, Z:-49.00 [[ 9.90815340e-01 1.20439891e-01 6.14751559e-02 7.71395441e+02] [-1.19973939e-01 9.92713538e-01 -1.12287756e-02 -1.38369508e+02] [-6.23796120e-02 3.75022647e-03 9.98045450e-01 -4.90029944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.4307140569999 meters 0.036692977923886226 Centerline is valid? [True, True] Translation: X:771.42, Y:-138.38, Z:-49.00 [[ 9.90879963e-01 1.19764229e-01 6.17529702e-02 7.71422639e+02] [-1.19293254e-01 9.92795082e-01 -1.12714009e-02 -1.38377532e+02] [-6.26579557e-02 3.80189253e-03 9.98027818e-01 -4.90044526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.4607140569999 meters 0.03501251408568804 Centerline is valid? [True, True] Translation: X:771.45, Y:-138.38, Z:-49.01 [[ 9.90981946e-01 1.18930660e-01 6.17274655e-02 7.71450982e+02] [-1.18458822e-01 9.92895108e-01 -1.12610540e-02 -1.38378939e+02] [-6.26281831e-02 3.84733833e-03 9.98029513e-01 -4.90070380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.490714057 meters 0.03454744021830727 Centerline is valid? [True, True] Translation: X:771.48, Y:-138.38, Z:-49.01 [[ 9.91013518e-01 1.18525943e-01 6.19984601e-02 7.71479775e+02] [-1.18049519e-01 9.92943358e-01 -1.13047824e-02 -1.38383035e+02] [-6.29008692e-02 3.88430381e-03 9.98012221e-01 -4.90097591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.520714057 meters 0.03563554064289942 Centerline is valid? [True, True] Translation: X:771.51, Y:-138.39, Z:-49.01 [[ 9.91048668e-01 1.18484498e-01 6.15139137e-02 7.71506609e+02] [-1.18015715e-01 9.92948431e-01 -1.12117656e-02 -1.38389463e+02] [-6.24085645e-02 3.85179688e-03 9.98043253e-01 -4.90114890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.5507140569999 meters 0.03623374055675857 Centerline is valid? [True, True] Translation: X:771.53, Y:-138.40, Z:-49.01 [[ 9.91149269e-01 1.17944623e-01 6.09277614e-02 7.71534714e+02] [-1.17484071e-01 9.93012737e-01 -1.10994000e-02 -1.38395044e+02] [-6.18111577e-02 3.84312078e-03 9.98080463e-01 -4.90141871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.5807140569999 meters 0.03712771354212181 Centerline is valid? [True, True] Translation: X:771.56, Y:-138.40, Z:-49.02 [[ 9.91170381e-01 1.17796927e-01 6.08700178e-02 7.71561470e+02] [-1.17337261e-01 9.93030265e-01 -1.10842061e-02 -1.38400757e+02] [-6.17514553e-02 3.84401559e-03 9.98084155e-01 -4.90161755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.6107140569999 meters 0.03596699662608995 Centerline is valid? [True, True] Translation: X:771.59, Y:-138.40, Z:-49.02 [[ 9.91216109e-01 1.17642866e-01 6.04216980e-02 7.71589237e+02] [-1.17190136e-01 9.93048630e-01 -1.09949848e-02 -1.38403432e+02] [-6.12951659e-02 3.81757899e-03 9.98112383e-01 -4.90177755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.640714057 meters 0.036987820533762324 Centerline is valid? [True, True] Translation: X:771.62, Y:-138.41, Z:-49.02 [[ 9.91202848e-01 1.17791285e-01 6.03500393e-02 7.71616899e+02] [-1.17340304e-01 9.93031114e-01 -1.09754120e-02 -1.38409390e+02] [-6.12222747e-02 3.79736763e-03 9.98116934e-01 -4.90190997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.6707140569999 meters 0.03863318374735116 Centerline is valid? [True, True] Translation: X:771.64, Y:-138.42, Z:-49.02 [[ 9.91184362e-01 1.17849036e-01 6.05406147e-02 7.71644425e+02] [-1.17395579e-01 9.93024246e-01 -1.10056358e-02 -1.38416231e+02] [-6.14153019e-02 3.80141353e-03 9.98105060e-01 -4.90199343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.7007140569999 meters 0.03830484179276919 Centerline is valid? [True, True] Translation: X:771.67, Y:-138.42, Z:-49.02 [[ 9.91164717e-01 1.18067745e-01 6.04360130e-02 7.71672684e+02] [-1.17616527e-01 9.92998360e-01 -1.09822780e-02 -1.38420922e+02] [-6.13095146e-02 3.77697248e-03 9.98111656e-01 -4.90213269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.7307140569999 meters 0.039139605000272686 Centerline is valid? [True, True] Translation: X:771.70, Y:-138.43, Z:-49.02 [[ 9.91228480e-01 1.17459270e-01 6.05757372e-02 7.71701124e+02] [-1.17005096e-01 9.93070357e-01 -1.10033410e-02 -1.38426701e+02] [-6.14484134e-02 3.81915503e-03 9.98102954e-01 -4.90235199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.760714057 meters 0.03740796365139883 Centerline is valid? [True, True] Translation: X:771.73, Y:-138.43, Z:-49.03 [[ 9.91296902e-01 1.17317446e-01 5.97249382e-02 7.71729137e+02] [-1.16875962e-01 9.93087310e-01 -1.08445124e-02 -1.38429314e+02] [-6.05843287e-02 3.76972189e-03 9.98155964e-01 -4.90257992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.790714057 meters 0.038135732366435714 Centerline is valid? [True, True] Translation: X:771.76, Y:-138.44, Z:-49.03 [[ 9.91332086e-01 1.17215921e-01 5.93390613e-02 7.71755180e+02] [-1.16780340e-01 9.93099392e-01 -1.07679830e-02 -1.38435249e+02] [-6.01917648e-02 3.74501127e-03 9.98179807e-01 -4.90276655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.8207140569999 meters 0.03695726767701332 Centerline is valid? [True, True] Translation: X:771.78, Y:-138.44, Z:-49.03 [[ 9.91347881e-01 1.17123008e-01 5.92585811e-02 7.71783131e+02] [-1.16688891e-01 9.93110380e-01 -1.07459563e-02 -1.38438068e+02] [-6.01089107e-02 3.73816287e-03 9.98184825e-01 -4.90297754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.8507140569999 meters 0.037922796098141066 Centerline is valid? [True, True] Translation: X:771.81, Y:-138.45, Z:-49.03 [[ 9.91310488e-01 1.17235161e-01 5.96609809e-02 7.71809627e+02] [-1.16795719e-01 9.93097101e-01 -1.08123895e-02 -1.38445166e+02] [-6.05167395e-02 3.75028800e-03 9.98160137e-01 -4.90306474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.880714057 meters 0.0352309937260551 Centerline is valid? [True, True] Translation: X:771.84, Y:-138.45, Z:-49.03 [[ 9.91290832e-01 1.17130817e-01 6.01901759e-02 7.71838673e+02] [-1.16683676e-01 9.93109283e-01 -1.09028397e-02 -1.38446760e+02] [-6.10524810e-02 3.78467406e-03 9.98127382e-01 -4.90323169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.910714057 meters 0.037661320103509165 Centerline is valid? [True, True] Translation: X:771.87, Y:-138.46, Z:-49.03 [[ 9.91323353e-01 1.16959436e-01 5.99875030e-02 7.71865014e+02] [-1.16515276e-01 9.93129508e-01 -1.08614820e-02 -1.38455132e+02] [-6.08457121e-02 3.77778025e-03 9.98140034e-01 -4.90335110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.9407140569999 meters 0.03634188411329764 Centerline is valid? [True, True] Translation: X:771.89, Y:-138.46, Z:-49.03 [[ 9.91410925e-01 1.16360762e-01 5.97038596e-02 7.71893545e+02] [-1.15920176e-01 9.93199787e-01 -1.08025637e-02 -1.38458023e+02] [-6.05548552e-02 3.78889779e-03 9.98157680e-01 -4.90347552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.9707140569999 meters 0.03974619721211702 Centerline is valid? [True, True] Translation: X:771.92, Y:-138.47, Z:-49.04 [[ 9.91459462e-01 1.16069924e-01 5.94634964e-02 7.71919961e+02] [-1.15632630e-01 9.93233826e-01 -1.07546420e-02 -1.38468487e+02] [-6.03094465e-02 3.78687108e-03 9.98172545e-01 -4.90361977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.000714057 meters 0.03930561176902512 Centerline is valid? [True, True] Translation: X:771.95, Y:-138.47, Z:-49.04 [[ 9.91484679e-01 1.15817386e-01 5.95354097e-02 7.71948011e+02] [-1.15378908e-01 9.93263249e-01 -1.07622253e-02 -1.38473463e+02] [-6.03807873e-02 3.80145093e-03 9.98168177e-01 -4.90379594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.030714057 meters 0.04028430752330745 Centerline is valid? [True, True] Translation: X:771.97, Y:-138.48, Z:-49.04 [[ 9.91515669e-01 1.15706101e-01 5.92349307e-02 7.71973990e+02] [-1.15272106e-01 9.93276283e-01 -1.07035925e-02 -1.38479903e+02] [-6.00751227e-02 3.78464441e-03 9.98186684e-01 -4.90396978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.0607140569999 meters 0.041020750027471777 Centerline is valid? [True, True] Translation: X:772.00, Y:-138.49, Z:-49.04 [[ 9.91555219e-01 1.15312826e-01 5.93396939e-02 7.72002402e+02] [-1.14877026e-01 9.93321927e-01 -1.07153268e-02 -1.38486467e+02] [-6.01790337e-02 3.80807062e-03 9.98180336e-01 -4.90410974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.0907140569999 meters 0.036469891704806516 Centerline is valid? [True, True] Translation: X:772.03, Y:-138.48, Z:-49.04 [[ 9.91636544e-01 1.14816427e-01 5.89419400e-02 7.72031726e+02] [-1.14385830e-01 9.93379426e-01 -1.06394123e-02 -1.38483632e+02] [-5.97732899e-02 3.80830737e-03 9.98204714e-01 -4.90430385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.120714057 meters 0.03669551865420715 Centerline is valid? [True, True] Translation: X:772.06, Y:-138.49, Z:-49.04 [[ 9.91660366e-01 1.14908896e-01 5.83580660e-02 7.72060177e+02] [-1.14487211e-01 9.93368916e-01 -1.05297371e-02 -1.38489104e+02] [-5.91810492e-02 3.76067074e-03 9.98240182e-01 -4.90443670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.150714057 meters 0.03670933937297422 Centerline is valid? [True, True] Translation: X:772.09, Y:-138.49, Z:-49.05 [[ 9.91732327e-01 1.14451091e-01 5.80339533e-02 7.72088371e+02] [-1.14033554e-01 9.93421759e-01 -1.04670081e-02 -1.38492684e+02] [-5.88501524e-02 3.76265238e-03 9.98259737e-01 -4.90467393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.1807140569999 meters 0.03829385489840007 Centerline is valid? [True, True] Translation: X:772.12, Y:-138.50, Z:-49.05 [[ 9.91840368e-01 1.14166390e-01 5.67337692e-02 7.72115042e+02] [-1.13767149e-01 9.93454788e-01 -1.02284119e-02 -1.38499123e+02] [-5.75301755e-02 3.69051272e-03 9.98336947e-01 -4.90491613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.2107140569999 meters 0.03736845840086665 Centerline is valid? [True, True] Translation: X:772.14, Y:-138.50, Z:-49.05 [[ 9.91877558e-01 1.13860100e-01 5.66991025e-02 7.72143690e+02] [-1.13461148e-01 9.93489900e-01 -1.02169680e-02 -1.38503175e+02] [-5.74932907e-02 3.70083604e-03 9.98339033e-01 -4.90513512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.240714057 meters 0.037867753216911576 Centerline is valid? [True, True] Translation: X:772.17, Y:-138.51, Z:-49.05 [[ 9.92041058e-01 1.12617098e-01 5.63198806e-02 7.72171937e+02] [-1.12221713e-01 9.93631408e-01 -1.01445335e-02 -1.38508716e+02] [-5.71036502e-02 3.74348031e-03 9.98361237e-01 -4.90526696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.270714057 meters 0.03826797896637184 Centerline is valid? [True, True] Translation: X:772.20, Y:-138.51, Z:-49.05 [[ 9.92150160e-01 1.11818127e-01 5.59889792e-02 7.72200275e+02] [-1.11426345e-01 9.93721564e-01 -1.00808607e-02 -1.38513409e+02] [-5.67646789e-02 3.76308018e-03 9.98380494e-01 -4.90540187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.3007140569999 meters 0.038761440971747274 Centerline is valid? [True, True] Translation: X:772.23, Y:-138.52, Z:-49.06 [[ 9.92259277e-01 1.10990732e-01 5.57008589e-02 7.72228880e+02] [-1.10601910e-01 9.93814227e-01 -1.00249364e-02 -1.38518523e+02] [-5.64689810e-02 3.78671479e-03 9.98397173e-01 -4.90553106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.3307140569999 meters 0.03901644670415696 Centerline is valid? [True, True] Translation: X:772.26, Y:-138.52, Z:-49.06 [[ 9.92390550e-01 1.10092054e-01 5.51428698e-02 7.72257398e+02] [-1.09709835e-01 9.93914149e-01 -9.92053072e-03 -1.38523138e+02] [-5.58994501e-02 3.79532578e-03 9.98429190e-01 -4.90574101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.3607140569999 meters 0.03967714757346837 Centerline is valid? [True, True] Translation: X:772.29, Y:-138.53, Z:-49.06 [[ 9.92649184e-01 1.08115511e-01 5.43933256e-02 7.72286119e+02] [-1.07740891e-01 9.94130886e-01 -9.78172198e-03 -1.38527819e+02] [-5.51316409e-02 3.84943295e-03 9.98471674e-01 -4.90602855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.390714057 meters 0.042084449512886216 Centerline is valid? [True, True] Translation: X:772.31, Y:-138.54, Z:-49.06 [[ 9.92768947e-01 1.07199120e-01 5.40200487e-02 7.72312519e+02] [-1.06828433e-01 9.94230037e-01 -9.71183971e-03 -1.38536276e+02] [-5.47494557e-02 3.87073573e-03 9.98492621e-01 -4.90620534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.4207140569999 meters 0.04308733071380445 Centerline is valid? [True, True] Translation: X:772.34, Y:-138.54, Z:-49.06 [[ 9.92869557e-01 1.06199892e-01 5.41444866e-02 7.72341049e+02] [-1.05826391e-01 9.94337042e-01 -9.72738068e-03 -1.38541412e+02] [-5.48709154e-02 3.92810453e-03 9.98485730e-01 -4.90631656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.4507140569999 meters 0.044006478505206906 Centerline is valid? [True, True] Translation: X:772.37, Y:-138.55, Z:-49.06 [[ 9.92955575e-01 1.05703585e-01 5.35348346e-02 7.72368141e+02] [-1.05337943e-01 9.94390007e-01 -9.61414054e-03 -1.38547063e+02] [-5.42507537e-02 3.90716509e-03 9.98519699e-01 -4.90643114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.4807140569999 meters 0.0415630166567671 Centerline is valid? [True, True] Translation: X:772.40, Y:-138.55, Z:-49.07 [[ 9.93010949e-01 1.05036897e-01 5.38191981e-02 7.72397440e+02] [-1.04666645e-01 9.94460442e-01 -9.66037894e-03 -1.38547619e+02] [-5.45357598e-02 3.95978713e-03 9.98503966e-01 -4.90655892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.510714057 meters 0.04623630590662957 Centerline is valid? [True, True] Translation: X:772.42, Y:-138.56, Z:-49.07 [[ 9.93080737e-01 1.04398238e-01 5.37741436e-02 7.72423475e+02] [-1.04027887e-01 9.94527579e-01 -9.64844514e-03 -1.38558204e+02] [-5.44871495e-02 3.98767448e-03 9.98506509e-01 -4.90671189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.540714057 meters 0.04566953714968492 Centerline is valid? [True, True] Translation: X:772.45, Y:-138.56, Z:-49.07 [[ 9.93331848e-01 1.02568880e-01 5.26447070e-02 7.72453063e+02] [-1.02211646e-01 9.94717874e-01 -9.44093115e-03 -1.38561546e+02] [-5.33349767e-02 3.99707543e-03 9.98568678e-01 -4.90688279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.5707140569999 meters 0.043573822464358716 Centerline is valid? [True, True] Translation: X:772.48, Y:-138.56, Z:-49.07 [[ 9.93411206e-01 1.01888144e-01 5.24688677e-02 7.72481395e+02] [-1.01532436e-01 9.94787745e-01 -9.40780382e-03 -1.38563245e+02] [-5.31539302e-02 4.01852579e-03 9.98578245e-01 -4.90708730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.6007140569999 meters 0.04460866640483348 Centerline is valid? [True, True] Translation: X:772.51, Y:-138.57, Z:-49.07 [[ 9.93567386e-01 1.00828149e-01 5.15512718e-02 7.72509422e+02] [-1.00483614e-01 9.94895819e-01 -9.23861847e-03 -1.38568918e+02] [-5.22196576e-02 3.99913193e-03 9.98627615e-01 -4.90726407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.630714057 meters 0.046396593312555925 Centerline is valid? [True, True] Translation: X:772.54, Y:-138.58, Z:-49.08 [[ 9.93718371e-01 9.96918677e-02 5.08461525e-02 7.72537376e+02] [-9.93554082e-02 9.95010319e-01 -9.10870508e-03 -1.38575408e+02] [-5.15005103e-02 3.99964733e-03 9.98664959e-01 -4.90750704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.660714057 meters 0.04743202679234177 Centerline is valid? [True, True] Translation: X:772.57, Y:-138.58, Z:-49.08 [[ 9.93785504e-01 9.92913046e-02 5.03151011e-02 7.72565623e+02] [-9.89615132e-02 9.95050470e-01 -9.01005921e-03 -1.38581022e+02] [-5.09606856e-02 3.97480769e-03 9.98692750e-01 -4.90764893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.6907140569999 meters 0.04003917738675161 Centerline is valid? [True, True] Translation: X:772.60, Y:-138.58, Z:-49.08 [[ 9.93812332e-01 9.90129475e-02 5.03337325e-02 7.72596118e+02] [-9.86827355e-02 9.95078157e-01 -9.00989830e-03 -1.38575065e+02] [-5.09780944e-02 3.98707763e-03 9.98691813e-01 -4.90769885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.7207140569999 meters 0.04938996177714744 Centerline is valid? [True, True] Translation: X:772.62, Y:-138.59, Z:-49.08 [[ 9.93822956e-01 9.90170045e-02 5.01155197e-02 7.72621666e+02] [-9.86898427e-02 9.95077838e-01 -8.96719392e-03 -1.38591981e+02] [-5.07567477e-02 3.96591041e-03 9.98703171e-01 -4.90793393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.750714057 meters 0.05035207737384737 Centerline is valid? [True, True] Translation: X:772.65, Y:-138.60, Z:-49.08 [[ 9.93881442e-01 9.86090731e-02 4.97587137e-02 7.72649559e+02] [-9.82862929e-02 9.95118395e-01 -8.89854197e-03 -1.38597649e+02] [-5.03932883e-02 3.95349622e-03 9.98721626e-01 -4.90815220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.780714057 meters 0.04482027187648064 Centerline is valid? [True, True] Translation: X:772.68, Y:-138.59, Z:-49.08 [[ 9.93922715e-01 9.84038809e-02 4.93387654e-02 7.72679058e+02] [-9.80864461e-02 9.95138812e-01 -8.82012844e-03 -1.38594302e+02] [-4.99668553e-02 3.92706184e-03 9.98743156e-01 -4.90824942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.8107140569999 meters 0.0437042273322156 Centerline is valid? [True, True] Translation: X:772.71, Y:-138.60, Z:-49.08 [[ 9.93937549e-01 9.83417398e-02 4.91635119e-02 7.72706618e+02] [-9.80266444e-02 9.95145010e-01 -8.78555945e-03 -1.38596873e+02] [-4.97888107e-02 3.91296333e-03 9.98752103e-01 -4.90840654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.8407140569999 meters 0.04346581735624542 Centerline is valid? [True, True] Translation: X:772.73, Y:-138.60, Z:-49.09 [[ 9.93868908e-01 9.93245453e-02 4.85718994e-02 7.72734898e+02] [-9.90184343e-02 9.95047791e-01 -8.67428044e-03 -1.38600130e+02] [-4.91929301e-02 3.81158419e-03 9.98782022e-01 -4.90856587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.870714057 meters 0.04334107078758739 Centerline is valid? [True, True] Translation: X:772.76, Y:-138.60, Z:-49.09 [[ 9.93767464e-01 1.00219339e-01 4.88089414e-02 7.72763964e+02] [-9.99114862e-02 9.94958180e-01 -8.71288155e-03 -1.38604609e+02] [-4.94360547e-02 3.78200433e-03 9.98770130e-01 -4.90869724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.900714057 meters 0.04139038680393882 Centerline is valid? [True, True] Translation: X:772.79, Y:-138.61, Z:-49.09 [[ 9.93671616e-01 1.01088627e-01 4.89674250e-02 7.72793011e+02] [-1.00779943e-01 9.94870363e-01 -8.73866206e-03 -1.38605714e+02] [-4.95996192e-02 3.74842614e-03 9.98762147e-01 -4.90883975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.9307140569999 meters 0.04052871908030166 Centerline is valid? [True, True] Translation: X:772.82, Y:-138.61, Z:-49.09 [[ 9.93440357e-01 1.03357436e-01 4.89233917e-02 7.72822670e+02] [-1.03052235e-01 9.94637662e-01 -8.72690910e-03 -1.38608187e+02] [-4.95630389e-02 3.62799885e-03 9.98764408e-01 -4.90897145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.9607140569999 meters 0.03993400787463698 Centerline is valid? [True, True] Translation: X:772.85, Y:-138.61, Z:-49.09 [[ 9.93340875e-01 1.04458579e-01 4.86036088e-02 7.72851209e+02] [-1.04158740e-01 9.94522909e-01 -8.66839822e-03 -1.38611464e+02] [-4.92428909e-02 3.54818363e-03 9.98780531e-01 -4.90910807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.990714057 meters 0.03999539860391556 Centerline is valid? [True, True] Translation: X:772.88, Y:-138.62, Z:-49.09 [[ 9.93240308e-01 1.05496158e-01 4.84174583e-02 7.72880201e+02] [-1.05200022e-01 9.94413623e-01 -8.63149319e-03 -1.38615463e+02] [-4.90575695e-02 3.47962929e-03 9.98789891e-01 -4.90925709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.020714057 meters 0.039712656945833584 Centerline is valid? [True, True] Translation: X:772.91, Y:-138.62, Z:-49.09 [[ 9.92942130e-01 1.08216681e-01 4.85291376e-02 7.72909460e+02] [-1.07922545e-01 9.94121686e-01 -8.64857083e-03 -1.38617983e+02] [-4.91797877e-02 3.35014231e-03 9.98784324e-01 -4.90942879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.0507140569999 meters 0.03781014086100536 Centerline is valid? [True, True] Translation: X:772.94, Y:-138.62, Z:-49.10 [[ 9.92838123e-01 1.09149236e-01 4.85685707e-02 7.72938507e+02] [-1.08855803e-01 9.94019879e-01 -8.65414270e-03 -1.38618906e+02] [-4.92227179e-02 3.30519204e-03 9.98782359e-01 -4.90957070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.0807140569999 meters 0.037861141886958924 Centerline is valid? [True, True] Translation: X:772.97, Y:-138.62, Z:-49.10 [[ 9.92692122e-01 1.10360970e-01 4.88140171e-02 7.72967513e+02] [-1.10066205e-01 9.93886233e-01 -8.69410071e-03 -1.38622657e+02] [-4.94750689e-02 3.25779166e-03 9.98770046e-01 -4.90975450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.1107140569999 meters 0.037191236016018245 Centerline is valid? [True, True] Translation: X:773.00, Y:-138.62, Z:-49.10 [[ 9.92432003e-01 1.12813598e-01 4.84954778e-02 7.72997187e+02] [-1.12525723e-01 9.93611295e-01 -8.63456241e-03 -1.38624300e+02] [-4.91597506e-02 3.11222737e-03 9.98786080e-01 -4.90996496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.140714057 meters 0.03706730942354096 Centerline is valid? [True, True] Translation: X:773.03, Y:-138.63, Z:-49.10 [[ 9.92277893e-01 1.14221733e-01 4.83526573e-02 7.73026289e+02] [-1.13937295e-01 9.93450655e-01 -8.60752705e-03 -1.38628098e+02] [-4.90191458e-02 3.03188782e-03 9.98793237e-01 -4.91011087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.1707140569999 meters 0.03618486316788358 Centerline is valid? [True, True] Translation: X:773.05, Y:-138.63, Z:-49.10 [[ 9.92171708e-01 1.15213368e-01 4.81786438e-02 7.73054943e+02] [-1.14932258e-01 9.93336328e-01 -8.57411131e-03 -1.38630367e+02] [-4.88454494e-02 2.96971034e-03 9.98801934e-01 -4.91028213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.2007140569999 meters 0.03592724578167859 Centerline is valid? [True, True] Translation: X:773.08, Y:-138.63, Z:-49.10 [[ 9.91833290e-01 1.17952558e-01 4.85171948e-02 7.73083379e+02] [-1.17670926e-01 9.93015139e-01 -8.63063977e-03 -1.38633266e+02] [-4.91963150e-02 2.85109262e-03 9.98785059e-01 -4.91041275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.2307140569999 meters 0.03537265249479834 Centerline is valid? [True, True] Translation: X:773.11, Y:-138.64, Z:-49.11 [[ 9.91677951e-01 1.19108300e-01 4.88677296e-02 7.73112482e+02] [-1.18824038e-01 9.92877284e-01 -8.69176958e-03 -1.38636867e+02] [-4.95549205e-02 2.81277531e-03 9.98767440e-01 -4.91056978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.260714057 meters 0.033964642296918354 Centerline is valid? [True, True] Translation: X:773.14, Y:-138.64, Z:-49.11 [[ 9.91519418e-01 1.20299835e-01 4.91649600e-02 7.73141710e+02] [-1.20014199e-01 9.92733774e-01 -8.73183782e-03 -1.38638310e+02] [-4.98581549e-02 2.75729345e-03 9.98752503e-01 -4.91066647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.290714057 meters 0.033964642296918354 Centerline is valid? [True, True] Translation: X:773.17, Y:-138.64, Z:-49.11 [[ 9.91532169e-01 1.20194466e-01 4.91655293e-02 7.73168760e+02] [-1.19908859e-01 9.92746532e-01 -8.72863096e-03 -1.38643021e+02] [-4.98580418e-02 2.75933585e-03 9.98752503e-01 -4.91082569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.3207140569999 meters 0.034923119058453786 Centerline is valid? [True, True] Translation: X:773.20, Y:-138.65, Z:-49.11 [[ 9.91211270e-01 1.22581697e-01 4.97387818e-02 7.73197294e+02] [-1.22292685e-01 9.92454850e-01 -8.82435018e-03 -1.38647931e+02] [-5.04451991e-02 2.66410616e-03 9.98723277e-01 -4.91102597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.3507140569999 meters 0.031961364574713456 Centerline is valid? [True, True] Translation: X:773.23, Y:-138.65, Z:-49.11 [[ 9.91113502e-01 1.23388358e-01 4.96924525e-02 7.73226609e+02] [-1.23100971e-01 9.92355004e-01 -8.81460734e-03 -1.38647302e+02] [-5.04001738e-02 2.61908717e-03 9.98725670e-01 -4.91114806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.380714057 meters 0.03243655866091471 Centerline is valid? [True, True] Translation: X:773.25, Y:-138.65, Z:-49.11 [[ 9.91042486e-01 1.23992935e-01 4.96038666e-02 7.73253405e+02] [-1.23707490e-01 9.92279745e-01 -8.79567553e-03 -1.38652365e+02] [-5.03115138e-02 2.58051831e-03 9.98730240e-01 -4.91136616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.410714057 meters 0.032220668878573756 Centerline is valid? [True, True] Translation: X:773.28, Y:-138.66, Z:-49.12 [[ 9.91017254e-01 1.24400874e-01 4.90838497e-02 7.73281935e+02] [-1.24122239e-01 9.92228826e-01 -8.69639136e-03 -1.38656217e+02] [-4.97842492e-02 2.52587655e-03 9.98756801e-01 -4.91155837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.4407140569999 meters 0.03218456375345285 Centerline is valid? [True, True] Translation: X:773.31, Y:-138.66, Z:-49.12 [[ 9.90918115e-01 1.25265124e-01 4.88869984e-02 7.73310667e+02] [-1.24989874e-01 9.92120228e-01 -8.65941677e-03 -1.38660013e+02] [-4.95865029e-02 2.47039315e-03 9.98766778e-01 -4.91177928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.4707140569999 meters 0.031066842542905496 Centerline is valid? [True, True] Translation: X:773.34, Y:-138.66, Z:-49.12 [[ 9.90882636e-01 1.25564895e-01 4.88370545e-02 7.73339496e+02] [-1.25291190e-01 9.92082406e-01 -8.63808404e-03 -1.38662938e+02] [-4.95350226e-02 2.44047481e-03 9.98769406e-01 -4.91189795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.500714057 meters 0.03139471964383866 Centerline is valid? [True, True] Translation: X:773.37, Y:-138.67, Z:-49.12 [[ 9.90818695e-01 1.26062058e-01 4.88535730e-02 7.73367599e+02] [-1.25789402e-01 9.92019445e-01 -8.62827970e-03 -1.38666455e+02] [-4.95513931e-02 2.40379911e-03 9.98768683e-01 -4.91205655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.530714057 meters 0.0325556241009435 Centerline is valid? [True, True] Translation: X:773.39, Y:-138.67, Z:-49.12 [[ 9.90764941e-01 1.26520492e-01 4.87585645e-02 7.73394175e+02] [-1.26250144e-01 9.91961181e-01 -8.59747286e-03 -1.38672968e+02] [-4.94543597e-02 2.36229892e-03 9.98773591e-01 -4.91224555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.5607140569999 meters 0.03268417371783279 Centerline is valid? [True, True] Translation: X:773.42, Y:-138.68, Z:-49.12 [[ 9.90671715e-01 1.27327725e-01 4.85510454e-02 7.73421396e+02] [-1.27060863e-01 9.91858017e-01 -8.55640721e-03 -1.38677483e+02] [-4.92452115e-02 2.30765289e-03 9.98784053e-01 -4.91236234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.5907140569999 meters 0.031095845190572766 Centerline is valid? [True, True] Translation: X:773.45, Y:-138.68, Z:-49.13 [[ 9.90577593e-01 1.28264030e-01 4.80038549e-02 7.73450435e+02] [-1.28004383e-01 9.91737542e-01 -8.45724749e-03 -1.38677989e+02] [-4.86919858e-02 2.23285602e-03 9.98811346e-01 -4.91256224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.620714057 meters 0.03208839077597993 Centerline is valid? [True, True] Translation: X:773.48, Y:-138.68, Z:-49.13 [[ 9.90486996e-01 1.28828414e-01 4.83606296e-02 7.73477081e+02] [-1.28566247e-01 9.91664442e-01 -8.50613753e-03 -1.38684027e+02] [-4.90533490e-02 2.20767397e-03 9.98793720e-01 -4.91274442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.650714057 meters 0.030827174857364803 Centerline is valid? [True, True] Translation: X:773.51, Y:-138.69, Z:-49.13 [[ 9.90348403e-01 1.29796631e-01 4.86094126e-02 7.73505342e+02] [-1.29533071e-01 9.91538267e-01 -8.54681968e-03 -1.38687202e+02] [-4.93074412e-02 2.16780270e-03 9.98781296e-01 -4.91283920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.6807140569999 meters 0.0307400976253463 Centerline is valid? [True, True] Translation: X:773.53, Y:-138.69, Z:-49.13 [[ 9.89996125e-01 1.31909887e-01 5.00744887e-02 7.73533332e+02] [-1.31633616e-01 9.91259465e-01 -8.78998080e-03 -1.38692076e+02] [-5.07962963e-02 2.11056090e-03 9.98706805e-01 -4.91290877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.7107140569999 meters 0.030547124859899664 Centerline is valid? [True, True] Translation: X:773.56, Y:-138.70, Z:-49.13 [[ 9.89889716e-01 1.32645570e-01 5.02344856e-02 7.73561620e+02] [-1.32368599e-01 9.91161359e-01 -8.81562873e-03 -1.38696325e+02] [-5.09598351e-02 2.07703174e-03 9.98698544e-01 -4.91301129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.740714057 meters 0.02845500095344525 Centerline is valid? [True, True] Translation: X:773.59, Y:-138.70, Z:-49.13 [[ 9.89763695e-01 1.33480062e-01 5.05064505e-02 7.73591258e+02] [-1.33201815e-01 9.91049414e-01 -8.85067576e-03 -1.38696937e+02] [-5.12357769e-02 2.03252665e-03 9.98684517e-01 -4.91305215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.770714057 meters 0.030732052096697198 Centerline is valid? [True, True] Translation: X:773.62, Y:-138.71, Z:-49.13 [[ 9.89617497e-01 1.34463575e-01 5.07617678e-02 7.73618018e+02] [-1.34184483e-01 9.90916562e-01 -8.88209717e-03 -1.38706680e+02] [-5.14949949e-02 1.97843718e-03 9.98671293e-01 -4.91333854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.8007140569999 meters 0.031093575081155834 Centerline is valid? [True, True] Translation: X:773.65, Y:-138.71, Z:-49.14 [[ 9.89587835e-01 1.34631697e-01 5.08942305e-02 7.73646066e+02] [-1.34351564e-01 9.90893749e-01 -8.90146902e-03 -1.38712963e+02] [-5.16291947e-02 1.97106597e-03 9.98664379e-01 -4.91354228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.8307140569999 meters 0.03159797376125557 Centerline is valid? [True, True] Translation: X:773.67, Y:-138.72, Z:-49.14 [[ 9.89658096e-01 1.34218465e-01 5.06187335e-02 7.73672941e+02] [-1.33941485e-01 9.90949811e-01 -8.84033480e-03 -1.38722313e+02] [-5.13471605e-02 1.96896056e-03 9.98678924e-01 -4.91388245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.8607140569999 meters 0.0318275621681417 Centerline is valid? [True, True] Translation: X:773.70, Y:-138.73, Z:-49.14 [[ 9.89668107e-01 1.34260781e-01 5.03098461e-02 7.73698643e+02] [-1.33987539e-01 9.90944118e-01 -8.78033307e-03 -1.38729528e+02] [-5.10331004e-02 1.94872314e-03 9.98695061e-01 -4.91411747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.890714057 meters 0.028789127157751875 Centerline is valid? [True, True] Translation: X:773.73, Y:-138.73, Z:-49.14 [[ 9.89659309e-01 1.34319721e-01 5.03255932e-02 7.73728007e+02] [-1.34046838e-01 9.90936153e-01 -8.77419808e-03 -1.38729942e+02] [-5.10479976e-02 1.93748017e-03 9.98694322e-01 -4.91422688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.9207140569999 meters 0.02810725107826514 Centerline is valid? [True, True] Translation: X:773.76, Y:-138.74, Z:-49.14 [[ 9.89588370e-01 1.34952926e-01 5.00256591e-02 7.73756349e+02] [-1.34684741e-01 9.90850226e-01 -8.70920276e-03 -1.38736226e+02] [-5.07432680e-02 1.88083280e-03 9.98709960e-01 -4.91435251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.9507140569999 meters 0.0275944085694958 Centerline is valid? [True, True] Translation: X:773.78, Y:-138.74, Z:-49.14 [[ 9.89501776e-01 1.35480269e-01 5.03123512e-02 7.73784717e+02] [-1.35210343e-01 9.90778315e-01 -8.74612321e-03 -1.38741709e+02] [-5.10333137e-02 1.85155418e-03 9.98695235e-01 -4.91449309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.9807140569999 meters 0.027734935945217535 Centerline is valid? [True, True] Translation: X:773.81, Y:-138.75, Z:-49.15 [[ 9.89436790e-01 1.35889342e-01 5.04868761e-02 7.73812483e+02] [-1.35618741e-01 9.90722343e-01 -8.76339025e-03 -1.38747794e+02] [-5.12093275e-02 1.82385417e-03 9.98686276e-01 -4.91470088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.010714057 meters 0.028044054452459527 Centerline is valid? [True, True] Translation: X:773.84, Y:-138.75, Z:-49.15 [[ 9.89382116e-01 1.36431796e-01 5.00938548e-02 7.73839171e+02] [-1.36166794e-01 9.90647889e-01 -8.68130924e-03 -1.38754647e+02] [-5.08097781e-02 1.76801249e-03 9.98706784e-01 -4.91489543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.040714057 meters 0.028943670967725644 Centerline is valid? [True, True] Translation: X:773.87, Y:-138.77, Z:-49.15 [[ 9.89261938e-01 1.37316215e-01 5.00507207e-02 7.73865706e+02] [-1.37053030e-01 9.90525775e-01 -8.66929766e-03 -1.38765352e+02] [-5.07669640e-02 1.71660331e-03 9.98709051e-01 -4.91518209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.0707140569999 meters 0.028100090729888852 Centerline is valid? [True, True] Translation: X:773.89, Y:-138.77, Z:-49.15 [[ 9.89285951e-01 1.37169640e-01 4.99779736e-02 7.73892866e+02] [-1.36907192e-01 9.90546080e-01 -8.65358010e-03 -1.38769894e+02] [-5.06924943e-02 1.71852121e-03 9.98712830e-01 -4.91531435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.1007140569999 meters 0.028648891945349565 Centerline is valid? [True, True] Translation: X:773.92, Y:-138.78, Z:-49.15 [[ 9.89349340e-01 1.36717134e-01 4.99630801e-02 7.73920186e+02] [-1.36455058e-01 9.90608625e-01 -8.63538805e-03 -1.38777111e+02] [-5.06744636e-02 1.72570044e-03 9.98713733e-01 -4.91549114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.130714057 meters 0.02945534662328663 Centerline is valid? [True, True] Translation: X:773.95, Y:-138.79, Z:-49.16 [[ 9.89486463e-01 1.35478901e-01 5.06162804e-02 7.73946557e+02] [-1.35208523e-01 9.90778581e-01 -8.74402019e-03 -1.38785996e+02] [-5.13341567e-02 1.80833709e-03 9.98679896e-01 -4.91556315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.160714057 meters 0.02958912173931864 Centerline is valid? [True, True] Translation: X:773.97, Y:-138.79, Z:-49.16 [[ 9.89580103e-01 1.34469631e-01 5.14697831e-02 7.73974407e+02] [-1.34189010e-01 9.90915920e-01 -8.88527822e-03 -1.38793140e+02] [-5.21970276e-02 1.88601529e-03 9.98635025e-01 -4.91569276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.1907140569999 meters 0.028898458928706506 Centerline is valid? [True, True] Translation: X:774.00, Y:-138.80, Z:-49.16 [[ 9.89758417e-01 1.32901151e-01 5.21110395e-02 7.74002755e+02] [-1.32611996e-01 9.91127318e-01 -8.98316584e-03 -1.38798478e+02] [-5.28425479e-02 1.98061504e-03 9.98600892e-01 -4.91582945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.2207140569999 meters 0.02906154683795705 Centerline is valid? [True, True] Translation: X:774.03, Y:-138.81, Z:-49.16 [[ 9.90040736e-01 1.30434877e-01 5.29724850e-02 7.74030756e+02] [-1.30133322e-01 9.91454585e-01 -9.11730463e-03 -1.38808316e+02] [-5.37090277e-02 2.13301752e-03 9.98554350e-01 -4.91596743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.250714057 meters 0.02859257506145715 Centerline is valid? [True, True] Translation: X:774.06, Y:-138.81, Z:-49.16 [[ 9.90186133e-01 1.29177214e-01 5.33354519e-02 7.74058700e+02] [-1.28869844e-01 9.91619054e-01 -9.17691432e-03 -1.38813969e+02] [-5.40738986e-02 2.21352195e-03 9.98534483e-01 -4.91608777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.280714057 meters 0.03351807015254631 Centerline is valid? [True, True] Translation: X:774.08, Y:-138.83, Z:-49.16 [[ 9.90415072e-01 1.27273697e-01 5.36599605e-02 7.74084029e+02] [-1.26960000e-01 9.91864904e-01 -9.22877121e-03 -1.38829675e+02] [-5.43980115e-02 2.32764552e-03 9.98516619e-01 -4.91631741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.3107140569999 meters 0.030636395805197822 Centerline is valid? [True, True] Translation: X:774.11, Y:-138.83, Z:-49.16 [[ 9.90902408e-01 1.23400510e-01 5.37096930e-02 7.74114113e+02] [-1.23080843e-01 9.92353705e-01 -9.23203449e-03 -1.38833878e+02] [-5.44382506e-02 2.53741093e-03 9.98513915e-01 -4.91647415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.3407140569999 meters 0.0317308165597337 Centerline is valid? [True, True] Translation: X:774.14, Y:-138.84, Z:-49.17 [[ 9.91161068e-01 1.21477427e-01 5.33195258e-02 7.74142335e+02] [-1.21159610e-01 9.92590726e-01 -9.16510494e-03 -1.38842876e+02] [-5.40378202e-02 2.62392228e-03 9.98535442e-01 -4.91666752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.370714057 meters 0.03156881318108318 Centerline is valid? [True, True] Translation: X:774.17, Y:-138.85, Z:-49.17 [[ 9.91427725e-01 1.19469336e-01 5.28974938e-02 7.74170654e+02] [-1.19153784e-01 9.92834193e-01 -9.09071439e-03 -1.38850003e+02] [-5.36045021e-02 2.70984971e-03 9.98558568e-01 -4.91687296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.400714057 meters 0.03363708631105248 Centerline is valid? [True, True] Translation: X:774.20, Y:-138.86, Z:-49.17 [[ 9.91815207e-01 1.16257983e-01 5.27889742e-02 7.74198428e+02] [-1.15939357e-01 9.93214891e-01 -9.06897523e-03 -1.38862250e+02] [-5.34851360e-02 2.87442781e-03 9.98564509e-01 -4.91705843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.4307140569999 meters 0.034733542563707274 Centerline is valid? [True, True] Translation: X:774.22, Y:-138.87, Z:-49.17 [[ 9.91990172e-01 1.14705057e-01 5.28984829e-02 7.74224940e+02] [-1.14382940e-01 9.93395171e-01 -9.08718260e-03 -1.38869658e+02] [-5.35914432e-02 2.96371185e-03 9.98558548e-01 -4.91719703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.4607140569999 meters 0.034045416829248144 Centerline is valid? [True, True] Translation: X:774.25, Y:-138.88, Z:-49.17 [[ 9.92071270e-01 1.13783925e-01 5.33649116e-02 7.74253654e+02] [-1.13455091e-01 9.93500887e-01 -9.16135392e-03 -1.38875078e+02] [-5.40605018e-02 3.03419513e-03 9.98533052e-01 -4.91728671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.490714057 meters 0.03538448928664968 Centerline is valid? [True, True] Translation: X:774.28, Y:-138.88, Z:-49.17 [[ 9.92255104e-01 1.12243722e-01 5.32086060e-02 7.74280556e+02] [-1.11914816e-01 9.93675855e-01 -9.13064890e-03 -1.38884499e+02] [-5.38969651e-02 3.10510164e-03 9.98541674e-01 -4.91747741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.520714057 meters 0.03731367287165298 Centerline is valid? [True, True] Translation: X:774.31, Y:-138.89, Z:-49.18 [[ 9.92285337e-01 1.11979708e-01 5.32010858e-02 7.74307378e+02] [-1.11650721e-01 9.93705611e-01 -9.12557056e-03 -1.38893320e+02] [-5.38880961e-02 3.11523026e-03 9.98542122e-01 -4.91768659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.5507140569999 meters 0.03594858542343674 Centerline is valid? [True, True] Translation: X:774.34, Y:-138.90, Z:-49.18 [[ 9.92255679e-01 1.12290375e-01 5.30993377e-02 7.74335958e+02] [-1.11963349e-01 9.93670639e-01 -9.10330599e-03 -1.38897840e+02] [-5.37854664e-02 3.08762738e-03 9.98547741e-01 -4.91790452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.5807140569999 meters 0.0348668479817687 Centerline is valid? [True, True] Translation: X:774.36, Y:-138.90, Z:-49.18 [[ 9.92206001e-01 1.12743753e-01 5.30669246e-02 7.74364441e+02] [-1.12417976e-01 9.93619393e-01 -9.09397944e-03 -1.38901740e+02] [-5.37536148e-02 3.05742473e-03 9.98549549e-01 -4.91807679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.6107140569999 meters 0.036639643425351885 Centerline is valid? [True, True] Translation: X:774.39, Y:-138.91, Z:-49.18 [[ 9.92148609e-01 1.12979014e-01 5.36365473e-02 7.74391228e+02] [-1.12646750e-01 9.93592620e-01 -9.18774533e-03 -1.38909830e+02] [-5.43308999e-02 3.07362604e-03 9.98518255e-01 -4.91825134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.640714057 meters 0.03283990949315538 Centerline is valid? [True, True] Translation: X:774.42, Y:-138.91, Z:-49.18 [[ 9.92078395e-01 1.13613778e-01 5.35944740e-02 7.74420712e+02] [-1.13283221e-01 9.93520366e-01 -9.17569747e-03 -1.38909754e+02] [-5.42896871e-02 3.03165658e-03 9.98520625e-01 -4.91837845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.6707140569999 meters 0.03304722931711968 Centerline is valid? [True, True] Translation: X:774.45, Y:-138.92, Z:-49.19 [[ 9.92067690e-01 1.13965737e-01 5.30425168e-02 7.74448602e+02] [-1.13642670e-01 9.93480219e-01 -9.07732018e-03 -1.38915452e+02] [-5.37311947e-02 2.97742285e-03 9.98550997e-01 -4.91853643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.7007140569999 meters 0.0334764777720301 Centerline is valid? [True, True] Translation: X:774.47, Y:-138.92, Z:-49.19 [[ 9.92085814e-01 1.13938912e-01 5.27604199e-02 7.74474909e+02] [-1.13619432e-01 9.93483350e-01 -9.02542439e-03 -1.38921344e+02] [-5.34449457e-02 2.95938658e-03 9.98566412e-01 -4.91870148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.7307140569999 meters 0.03365105709294031 Centerline is valid? [True, True] Translation: X:774.50, Y:-138.93, Z:-49.19 [[ 9.92135954e-01 1.13786198e-01 5.21435536e-02 7.74502936e+02] [-1.13474305e-01 9.93500951e-01 -8.91306155e-03 -1.38926809e+02] [-5.28188535e-02 2.92601533e-03 9.98599823e-01 -4.91883272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.760714057 meters 0.03285868253609816 Centerline is valid? [True, True] Translation: X:774.53, Y:-138.93, Z:-49.19 [[ 9.92163189e-01 1.13458611e-01 5.23387921e-02 7.74531886e+02] [-1.13144124e-01 9.93538342e-01 -8.94262059e-03 -1.38930881e+02] [-5.30152140e-02 2.95071220e-03 9.98589345e-01 -4.91899159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.790714057 meters 0.03498347797649795 Centerline is valid? [True, True] Translation: X:774.56, Y:-138.94, Z:-49.19 [[ 9.92247297e-01 1.12807543e-01 5.21513231e-02 7.74558814e+02] [-1.12494609e-01 9.93612415e-01 -8.90684214e-03 -1.38939694e+02] [-5.28229611e-02 2.97104735e-03 9.98599473e-01 -4.91911947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.8207140569999 meters 0.03745633845798063 Centerline is valid? [True, True] Translation: X:774.59, Y:-138.95, Z:-49.19 [[ 9.92249506e-01 1.12816580e-01 5.20897077e-02 7.74585328e+02] [-1.12504650e-01 9.93611415e-01 -8.89154942e-03 -1.38948778e+02] [-5.27600424e-02 2.96230119e-03 9.98602825e-01 -4.91928742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.8507140569999 meters 0.03508572514736888 Centerline is valid? [True, True] Translation: X:774.61, Y:-138.95, Z:-49.19 [[ 9.92256377e-01 1.12865362e-01 5.18525960e-02 7.74614296e+02] [-1.12556580e-01 9.93605937e-01 -8.84641325e-03 -1.38950133e+02] [-5.25195008e-02 2.94155911e-03 9.98615566e-01 -4.91939322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.880714057 meters 0.03299795644836937 Centerline is valid? [True, True] Translation: X:774.64, Y:-138.95, Z:-49.20 [[ 9.92314436e-01 1.12847340e-01 5.07694579e-02 7.74642997e+02] [-1.12551493e-01 9.93608172e-01 -8.65811152e-03 -1.38951814e+02] [-5.14219930e-02 2.87739077e-03 9.98672869e-01 -4.91958962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.910714057 meters 0.03339409674287818 Centerline is valid? [True, True] Translation: X:774.67, Y:-138.96, Z:-49.20 [[ 9.92358680e-01 1.12832233e-01 4.99313310e-02 7.74670394e+02] [-1.12546232e-01 9.93610031e-01 -8.51184429e-03 -1.38956843e+02] [-5.05726817e-02 2.82721938e-03 9.98716382e-01 -4.91976428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.9407140569999 meters 0.03243247623809837 Centerline is valid? [True, True] Translation: X:774.70, Y:-138.96, Z:-49.20 [[ 9.92284351e-01 1.13626195e-01 4.96070099e-02 7.74699460e+02] [-1.13345152e-01 9.93519729e-01 -8.45135227e-03 -1.38959793e+02] [-5.02458380e-02 2.76343053e-03 9.98733057e-01 -4.91993707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.9707140569999 meters 0.03187046739141961 Centerline is valid? [True, True] Translation: X:774.73, Y:-138.96, Z:-49.20 [[ 9.92217199e-01 1.14102306e-01 4.98567409e-02 7.74728438e+02] [-1.13819386e-01 9.93465210e-01 -8.48669924e-03 -1.38963885e+02] [-5.04992895e-02 2.74598530e-03 9.98720322e-01 -4.92000057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.000714057 meters 0.03311301954127761 Centerline is valid? [True, True] Translation: X:774.76, Y:-138.97, Z:-49.20 [[ 9.92146394e-01 1.14389054e-01 5.06031282e-02 7.74755587e+02] [-1.14098152e-01 9.93432171e-01 -8.61005617e-03 -1.38969671e+02] [-5.12556717e-02 2.76871276e-03 9.98681726e-01 -4.92009990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.030714057 meters 0.031221358144212327 Centerline is valid? [True, True] Translation: X:774.78, Y:-138.97, Z:-49.20 [[ 9.92058848e-01 1.14664148e-01 5.16853552e-02 7.74784056e+02] [-1.14361289e-01 9.93400345e-01 -8.78924854e-03 -1.38972073e+02] [-5.23520614e-02 2.80864792e-03 9.98624741e-01 -4.92016172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.0607140569999 meters 0.03091712924334094 Centerline is valid? [True, True] Translation: X:774.81, Y:-138.98, Z:-49.20 [[ 9.92108784e-01 1.14252754e-01 5.16378619e-02 7.74812534e+02] [-1.13950099e-01 9.93447701e-01 -8.77730965e-03 -1.38976668e+02] [-5.23023470e-02 2.82390652e-03 9.98627303e-01 -4.92030781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.0907140569999 meters 0.03264578974103513 Centerline is valid? [True, True] Translation: X:774.84, Y:-138.98, Z:-49.21 [[ 9.92132952e-01 1.13930134e-01 5.18857363e-02 7.74839267e+02] [-1.13624326e-01 9.93484674e-01 -8.81559640e-03 -1.38984803e+02] [-5.25520459e-02 2.85076185e-03 9.98614118e-01 -4.92051535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.120714057 meters 0.03709402087529432 Centerline is valid? [True, True] Translation: X:774.87, Y:-139.00, Z:-49.21 [[ 9.92319321e-01 1.12697014e-01 5.10073338e-02 7.74865196e+02] [-1.12400104e-01 9.93625278e-01 -8.66165140e-03 -1.38996253e+02] [-5.16583185e-02 2.86189443e-03 9.98660717e-01 -4.92073520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.150714057 meters 0.03764954609438979 Centerline is valid? [True, True] Translation: X:774.89, Y:-139.00, Z:-49.21 [[ 9.92375320e-01 1.12188634e-01 5.10385568e-02 7.74893169e+02] [-1.11890936e-01 9.93682739e-01 -8.66219283e-03 -1.39002423e+02] [-5.16879325e-02 2.88539451e-03 9.98659117e-01 -4.92086671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.1807140569999 meters 0.03764954609438979 Centerline is valid? [True, True] Translation: X:774.92, Y:-139.01, Z:-49.21 [[ 9.92386536e-01 1.12089129e-01 5.10391012e-02 7.74920265e+02] [-1.11791464e-01 9.93693962e-01 -8.65898392e-03 -1.39006920e+02] [-5.16878246e-02 2.88732320e-03 9.98659117e-01 -4.92102595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.2107140569999 meters 0.035710499528787125 Centerline is valid? [True, True] Translation: X:774.95, Y:-139.01, Z:-49.21 [[ 9.92438071e-01 1.11686330e-01 5.09199191e-02 7.74949006e+02] [-1.11389808e-01 9.93739290e-01 -8.63332795e-03 -1.39009888e+02] [-5.15653490e-02 2.89608334e-03 9.98665423e-01 -4.92120020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.240714057 meters 0.03359074725543381 Centerline is valid? [True, True] Translation: X:774.98, Y:-139.01, Z:-49.21 [[ 9.92440554e-01 1.11585475e-01 5.10923595e-02 7.74977158e+02] [-1.11286981e-01 9.93750586e-01 -8.65917173e-03 -1.39012099e+02] [-5.17392999e-02 2.90779873e-03 9.98656392e-01 -4.92131100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.270714057 meters 0.03354978614157987 Centerline is valid? [True, True] Translation: X:775.01, Y:-139.02, Z:-49.22 [[ 9.92461490e-01 1.11419307e-01 5.10483031e-02 7.75005490e+02] [-1.11121409e-01 9.93769229e-01 -8.64592693e-03 -1.39016846e+02] [-5.16935560e-02 2.90819014e-03 9.98658760e-01 -4.92150602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.3007140569999 meters 0.03321395093697204 Centerline is valid? [True, True] Translation: X:775.03, Y:-139.02, Z:-49.22 [[ 9.92482156e-01 1.11343667e-01 5.08110095e-02 7.75033003e+02] [-1.11048614e-01 9.93777745e-01 -8.60228164e-03 -1.39021335e+02] [-5.14526600e-02 2.89511887e-03 9.98671238e-01 -4.92170490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.3307140569999 meters 0.03456600725697529 Centerline is valid? [True, True] Translation: X:775.06, Y:-139.03, Z:-49.22 [[ 9.92539847e-01 1.11063794e-01 5.02939969e-02 7.75060578e+02] [-1.10774648e-01 9.93809122e-01 -8.50916821e-03 -1.39027558e+02] [-5.09276934e-02 2.87438873e-03 9.98698207e-01 -4.92186632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.3607140569999 meters 0.035021488107991626 Centerline is valid? [True, True] Translation: X:775.09, Y:-139.03, Z:-49.22 [[ 9.92598521e-01 1.10434931e-01 5.05203216e-02 7.75088756e+02] [-1.10142605e-01 9.93879081e-01 -8.54273033e-03 -1.39033176e+02] [-5.11545066e-02 2.91506167e-03 9.98686497e-01 -4.92202379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.390714057 meters 0.03402011796837549 Centerline is valid? [True, True] Translation: X:775.12, Y:-139.04, Z:-49.22 [[ 9.92606584e-01 1.10091608e-01 5.11077928e-02 7.75116948e+02] [-1.09792175e-01 9.93917027e-01 -8.63836347e-03 -1.39036615e+02] [-5.17479168e-02 2.96326074e-03 9.98655783e-01 -4.92219315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.4207140569999 meters 0.03671958532048697 Centerline is valid? [True, True] Translation: X:775.14, Y:-139.05, Z:-49.22 [[ 9.92621813e-01 1.09828529e-01 5.13773283e-02 7.75143127e+02] [-1.09525767e-01 9.93946055e-01 -8.68024701e-03 -1.39045942e+02] [-5.20196315e-02 2.98906124e-03 9.98641589e-01 -4.92238499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.4507140569999 meters 0.034761944484416746 Centerline is valid? [True, True] Translation: X:775.17, Y:-139.05, Z:-49.22 [[ 9.92720623e-01 1.08478556e-01 5.23275110e-02 7.75172556e+02] [-1.08162872e-01 9.94093919e-01 -8.83586354e-03 -1.39046917e+02] [-5.29769622e-02 3.11165007e-03 9.98590887e-01 -4.92249132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.4807140569999 meters 0.034748835521834 Centerline is valid? [True, True] Translation: X:775.20, Y:-139.05, Z:-49.23 [[ 9.92769025e-01 1.08112959e-01 5.21656118e-02 7.75200469e+02] [-1.07798926e-01 9.94133728e-01 -8.80472819e-03 -1.39051608e+02] [-5.28114993e-02 3.11766449e-03 9.98599632e-01 -4.92265034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.510714057 meters 0.03503305081385483 Centerline is valid? [True, True] Translation: X:775.23, Y:-139.06, Z:-49.23 [[ 9.92889161e-01 1.07073050e-01 5.20238064e-02 7.75228386e+02] [-1.06759503e-01 9.94246133e-01 -8.77700027e-03 -1.39057075e+02] [-5.26642485e-02 3.16055273e-03 9.98607274e-01 -4.92282327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.540714057 meters 0.035074399169126046 Centerline is valid? [True, True] Translation: X:775.26, Y:-139.06, Z:-49.23 [[ 9.92920604e-01 1.06673184e-01 5.22446791e-02 7.75256857e+02] [-1.06356617e-01 9.94289015e-01 -8.81044094e-03 -1.39062027e+02] [-5.28861484e-02 3.19150099e-03 9.98595448e-01 -4.92302753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.5707140569999 meters 0.0347783432673778 Centerline is valid? [True, True] Translation: X:775.28, Y:-139.07, Z:-49.23 [[ 9.92961813e-01 1.06377855e-01 5.20633300e-02 7.75284865e+02] [-1.06063279e-01 9.94320653e-01 -8.77607542e-03 -1.39066646e+02] [-5.27012244e-02 3.19230024e-03 9.98605222e-01 -4.92316327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.6007140569999 meters 0.0349989646532354 Centerline is valid? [True, True] Translation: X:775.31, Y:-139.07, Z:-49.23 [[ 9.92965601e-01 1.06164199e-01 5.24259290e-02 7.75313682e+02] [-1.05845131e-01 9.94343392e-01 -8.83332459e-03 -1.39070720e+02] [-5.30671589e-02 3.22215812e-03 9.98585747e-01 -4.92327889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.630714057 meters 0.034983071195987855 Centerline is valid? [True, True] Translation: X:775.34, Y:-139.08, Z:-49.23 [[ 9.92936244e-01 1.06343374e-01 5.26184561e-02 7.75342180e+02] [-1.06022414e-01 9.94324250e-01 -8.86186966e-03 -1.39075420e+02] [-5.32622081e-02 3.22053585e-03 9.98575368e-01 -4.92343279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.660714057 meters 0.035281769848775436 Centerline is valid? [True, True] Translation: X:775.37, Y:-139.08, Z:-49.24 [[ 9.92903412e-01 1.06524712e-01 5.28705937e-02 7.75370891e+02] [-1.06201131e-01 9.94304834e-01 -8.90042330e-03 -1.39080472e+02] [-5.35176019e-02 3.22234380e-03 9.98561707e-01 -4.92356470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.6907140569999 meters 0.03504435743721746 Centerline is valid? [True, True] Translation: X:775.40, Y:-139.09, Z:-49.24 [[ 9.92855669e-01 1.06539597e-01 5.37302078e-02 7.75399008e+02] [-1.06205637e-01 9.94303083e-01 -9.04112625e-03 -1.39085473e+02] [-5.43873492e-02 3.27008252e-03 9.98514558e-01 -4.92370501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.7207140569999 meters 0.03662622159663378 Centerline is valid? [True, True] Translation: X:775.43, Y:-139.09, Z:-49.24 [[ 9.92804866e-01 1.06891913e-01 5.39686601e-02 7.75426251e+02] [-1.06555710e-01 9.94265298e-01 -9.07735733e-03 -1.39092520e+02] [-5.46294620e-02 3.26137564e-03 9.98501370e-01 -4.92390920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.750714057 meters 0.0364263996385429 Centerline is valid? [True, True] Translation: X:775.45, Y:-139.10, Z:-49.24 [[ 9.92789818e-01 1.06923712e-01 5.41820655e-02 7.75454928e+02] [-1.06585201e-01 9.94261860e-01 -9.10757547e-03 -1.39098039e+02] [-5.48449770e-02 3.26690189e-03 9.98489537e-01 -4.92409726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.780714057 meters 0.03770963108778444 Centerline is valid? [True, True] Translation: X:775.48, Y:-139.11, Z:-49.24 [[ 9.92784230e-01 1.06852757e-01 5.44239023e-02 7.75481548e+02] [-1.06511323e-01 9.94269440e-01 -9.14431462e-03 -1.39105066e+02] [-5.50891181e-02 3.28156953e-03 9.98476049e-01 -4.92429777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.8107140569999 meters 0.03720666320833891 Centerline is valid? [True, True] Translation: X:775.51, Y:-139.11, Z:-49.24 [[ 9.92785765e-01 1.07019284e-01 5.40675370e-02 7.75509968e+02] [-1.06682824e-01 9.94251646e-01 -9.07956871e-03 -1.39109289e+02] [-5.47284266e-02 3.24598900e-03 9.98496000e-01 -4.92445904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.8407140569999 meters 0.03775754271216917 Centerline is valid? [True, True] Translation: X:775.54, Y:-139.11, Z:-49.25 [[ 9.92817258e-01 1.06764112e-01 5.39936728e-02 7.75537968e+02] [-1.06428407e-01 9.94279061e-01 -9.06331874e-03 -1.39114410e+02] [-5.46524154e-02 3.25175870e-03 9.98500145e-01 -4.92469711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.870714057 meters 0.03492852605593823 Centerline is valid? [True, True] Translation: X:775.57, Y:-139.11, Z:-49.25 [[ 9.92822188e-01 1.06648732e-01 5.41308763e-02 7.75566075e+02] [-1.06311351e-01 9.94291407e-01 -9.08260916e-03 -1.39114477e+02] [-5.47905140e-02 3.26268930e-03 9.98492541e-01 -4.92494648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.900714057 meters 0.03550950924961798 Centerline is valid? [True, True] Translation: X:775.59, Y:-139.12, Z:-49.25 [[ 9.92844839e-01 1.06285627e-01 5.44287783e-02 7.75593244e+02] [-1.05944312e-01 9.94330182e-01 -9.12647287e-03 -1.39120962e+02] [-5.50901899e-02 3.29475200e-03 9.98475946e-01 -4.92509876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.9307140569999 meters 0.03845483795792719 Centerline is valid? [True, True] Translation: X:775.62, Y:-139.13, Z:-49.25 [[ 9.92972944e-01 1.04888696e-01 5.48005006e-02 7.75619315e+02] [-1.04540914e-01 9.94478192e-01 -9.18278605e-03 -1.39131879e+02] [-5.54610732e-02 3.38936368e-03 9.98455097e-01 -4.92532781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.9607140569999 meters 0.037273785343339895 Centerline is valid? [True, True] Translation: X:775.65, Y:-139.14, Z:-49.25 [[ 9.93042155e-01 1.04186225e-01 5.48863259e-02 7.75647461e+02] [-1.03836566e-01 9.94551895e-01 -9.19210671e-03 -1.39135631e+02] [-5.55449903e-02 3.42894187e-03 9.98450297e-01 -4.92549251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.990714057 meters 0.0372829378974232 Centerline is valid? [True, True] Translation: X:775.68, Y:-139.14, Z:-49.26 [[ 9.93151275e-01 1.02916069e-01 5.53066739e-02 7.75675350e+02] [-1.02559291e-01 9.94683805e-01 -9.25849097e-03 -1.39140722e+02] [-5.59655003e-02 3.52286883e-03 9.98426488e-01 -4.92562985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.020714057 meters 0.03878109413067527 Centerline is valid? [True, True] Translation: X:775.70, Y:-139.15, Z:-49.26 [[ 9.93218118e-01 1.01780016e-01 5.62014139e-02 7.75703200e+02] [-1.01410075e-01 9.94800271e-01 -9.40302798e-03 -1.39148869e+02] [-5.68662221e-02 3.63986817e-03 9.98375172e-01 -4.92572963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.0507140569999 meters 0.03853225441808925 Centerline is valid? [True, True] Translation: X:775.73, Y:-139.15, Z:-49.26 [[ 9.93216098e-01 1.01549376e-01 5.66525024e-02 7.75731545e+02] [-1.01173270e-01 9.94823696e-01 -9.47540313e-03 -1.39153757e+02] [-5.73214731e-02 3.67940401e-03 9.98348992e-01 -4.92587701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.0807140569999 meters 0.03843191762038012 Centerline is valid? [True, True] Translation: X:775.76, Y:-139.16, Z:-49.26 [[ 9.93214488e-01 1.01276968e-01 5.71660452e-02 7.75759822e+02] [-1.00893795e-01 9.94851297e-01 -9.55713857e-03 -1.39158810e+02] [-5.78396322e-02 3.72458926e-03 9.98318939e-01 -4.92602043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.1107140569999 meters 0.035878968000633296 Centerline is valid? [True, True] Translation: X:775.79, Y:-139.16, Z:-49.26 [[ 9.93327586e-01 1.00152928e-01 5.71812784e-02 7.75788978e+02] [-9.97679372e-02 9.94964849e-01 -9.55555199e-03 -1.39159736e+02] [-5.78503786e-02 3.78693519e-03 9.98318082e-01 -4.92622457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.140714057 meters 0.037678346568995345 Centerline is valid? [True, True] Translation: X:775.82, Y:-139.17, Z:-49.26 [[ 9.93407864e-01 9.95392547e-02 5.68573062e-02 7.75815775e+02] [-9.91578649e-02 9.95026393e-01 -9.49715869e-03 -1.39167365e+02] [-5.75198604e-02 3.79670304e-03 9.98337143e-01 -4.92640821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.1707140569999 meters 0.04118896204071971 Centerline is valid? [True, True] Translation: X:775.84, Y:-139.18, Z:-49.27 [[ 9.93618627e-01 9.76637309e-02 5.64253551e-02 7.75843239e+02] [-9.72854133e-02 9.95211946e-01 -9.41975332e-03 -1.39177460e+02] [-5.70751557e-02 3.87027837e-03 9.98362383e-01 -4.92660569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.2007140569999 meters 0.04553191047745993 Centerline is valid? [True, True] Translation: X:775.87, Y:-139.19, Z:-49.27 [[ 9.93712481e-01 9.67873109e-02 5.62825109e-02 7.75870277e+02] [-9.64096856e-02 9.95297416e-01 -9.39283838e-03 -1.39188367e+02] [-5.69269452e-02 3.90760156e-03 9.98370700e-01 -4.92684877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.2307140569999 meters 0.037925240275349686 Centerline is valid? [True, True] Translation: X:775.90, Y:-139.18, Z:-49.27 [[ 9.93830527e-01 9.56892863e-02 5.60753380e-02 7.75900757e+02] [-9.53128695e-02 9.95403403e-01 -9.35530523e-03 -1.39182033e+02] [-5.67127847e-02 3.95288656e-03 9.98382710e-01 -4.92702161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.260714057 meters 0.039874977747152276 Centerline is valid? [True, True] Translation: X:775.93, Y:-139.19, Z:-49.27 [[ 9.94085776e-01 9.36794525e-02 5.49329578e-02 7.75928070e+02] [-9.33153265e-02 9.95594448e-01 -9.16215203e-03 -1.39189237e+02] [-5.55492532e-02 3.98187813e-03 9.98448008e-01 -4.92725818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.290714057 meters 0.04370840593864495 Centerline is valid? [True, True] Translation: X:775.96, Y:-139.20, Z:-49.27 [[ 9.94189852e-01 9.26671089e-02 5.47662826e-02 7.75955773e+02] [-9.23037984e-02 9.95689016e-01 -9.13194596e-03 -1.39199429e+02] [-5.53764170e-02 4.02375209e-03 9.98457441e-01 -4.92746607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.3207140569999 meters 0.040451916029952815 Centerline is valid? [True, True] Translation: X:775.99, Y:-139.20, Z:-49.28 [[ 9.94193331e-01 9.24741489e-02 5.50286592e-02 7.75986350e+02] [-9.21071631e-02 9.95706841e-01 -9.17368406e-03 -1.39198982e+02] [-5.56407410e-02 4.05188182e-03 9.98442632e-01 -4.92763657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.3507140569999 meters 0.03935308711594564 Centerline is valid? [True, True] Translation: X:776.02, Y:-139.20, Z:-49.28 [[ 9.94197737e-01 9.24005921e-02 5.50725941e-02 7.76015537e+02] [-9.20330157e-02 9.95713648e-01 -9.17906289e-03 -1.39200127e+02] [-5.56846844e-02 4.05730664e-03 9.98440161e-01 -4.92772447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.380714057 meters 0.04030133288058191 Centerline is valid? [True, True] Translation: X:776.04, Y:-139.21, Z:-49.28 [[ 9.94109513e-01 9.32465085e-02 5.52391526e-02 7.76043563e+02] [-9.28782322e-02 9.95634946e-01 -9.20267757e-03 -1.39205105e+02] [-5.58561483e-02 4.01795448e-03 9.98430742e-01 -4.92786586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.410714057 meters 0.041938175918015824 Centerline is valid? [True, True] Translation: X:776.07, Y:-139.21, Z:-49.28 [[ 9.93838810e-01 9.58590239e-02 5.56369193e-02 7.76072617e+02] [-9.54896625e-02 9.95387296e-01 -9.26582533e-03 -1.39209719e+02] [-5.62684956e-02 3.89598618e-03 9.98408072e-01 -4.92798627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.4407140569999 meters 0.03935405456122299 Centerline is valid? [True, True] Translation: X:776.10, Y:-139.21, Z:-49.28 [[ 9.93676446e-01 9.75124974e-02 5.56635692e-02 7.76102604e+02] [-9.71454751e-02 9.95227038e-01 -9.26824178e-03 -1.39209517e+02] [-5.63016585e-02 3.80216968e-03 9.98406564e-01 -4.92814682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.4707140569999 meters 0.039035807667151055 Centerline is valid? [True, True] Translation: X:776.13, Y:-139.21, Z:-49.28 [[ 9.93486577e-01 9.92453659e-02 5.59890974e-02 7.76132657e+02] [-9.88768859e-02 9.95056024e-01 -9.32039078e-03 -1.39212536e+02] [-5.66372943e-02 3.72365554e-03 9.98387876e-01 -4.92827813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.500714057 meters 0.03962123361939281 Centerline is valid? [True, True] Translation: X:776.16, Y:-139.21, Z:-49.28 [[ 9.93109077e-01 1.02647545e-01 5.65494762e-02 7.76161690e+02] [-1.02277187e-01 9.94711405e-01 -9.41265879e-03 -1.39214877e+02] [-5.72165952e-02 3.56407552e-03 9.98355427e-01 -4.92830776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.530714057 meters 0.03588791182257711 Centerline is valid? [True, True] Translation: X:776.19, Y:-139.21, Z:-49.28 [[ 9.92956041e-01 1.04128695e-01 5.65288833e-02 7.76191270e+02] [-1.03761109e-01 9.94557759e-01 -9.40726940e-03 -1.39212058e+02] [-5.72008061e-02 3.47550539e-03 9.98356644e-01 -4.92844139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.5607140569999 meters 0.03398327257899 Centerline is valid? [True, True] Translation: X:776.22, Y:-139.21, Z:-49.29 [[ 9.92858289e-01 1.05042085e-01 5.65559810e-02 7.76220901e+02] [-1.04675857e-01 9.94461895e-01 -9.40763664e-03 -1.39212833e+02] [-5.72309659e-02 3.42040422e-03 9.98355106e-01 -4.92857785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.5907140569999 meters 0.03546084934320418 Centerline is valid? [True, True] Translation: X:776.25, Y:-139.22, Z:-49.29 [[ 9.92764676e-01 1.06215506e-01 5.60050387e-02 7.76247975e+02] [-1.05858420e-01 9.94337601e-01 -9.31292807e-03 -1.39218474e+02] [-5.66770931e-02 3.31694111e-03 9.98387052e-01 -4.92881257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.620714057 meters 0.03359399849541457 Centerline is valid? [True, True] Translation: X:776.28, Y:-139.22, Z:-49.29 [[ 9.92737781e-01 1.06285762e-01 5.63474490e-02 7.76276358e+02] [-1.05924704e-01 9.94330057e-01 -9.36460744e-03 -1.39220499e+02] [-5.70232866e-02 3.32801275e-03 9.98367302e-01 -4.92900188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.650714057 meters 0.03259505082214262 Centerline is valid? [True, True] Translation: X:776.31, Y:-139.22, Z:-49.29 [[ 9.92761756e-01 1.06346752e-01 5.58073929e-02 7.76305705e+02] [-1.05992917e-01 9.94323667e-01 -9.27076815e-03 -1.39222177e+02] [-5.64765277e-02 3.28847569e-03 9.98398512e-01 -4.92917396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.6807140569999 meters 0.03323348058049408 Centerline is valid? [True, True] Translation: X:776.33, Y:-139.23, Z:-49.29 [[ 9.92802019e-01 1.06214033e-01 5.53419431e-02 7.76333040e+02] [-1.05866106e-01 9.94337932e-01 -9.18938899e-03 -1.39226724e+02] [-5.60046353e-02 3.26440793e-03 9.98425172e-01 -4.92935029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.7107140569999 meters 0.033392429857331964 Centerline is valid? [True, True] Translation: X:776.36, Y:-139.23, Z:-49.29 [[ 9.92767359e-01 1.06516783e-01 5.53818271e-02 7.76360614e+02] [-1.06169161e-01 9.94305614e-01 -9.18996975e-03 -1.39231440e+02] [-5.60453476e-02 3.24365988e-03 9.98422955e-01 -4.92949314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.740714057 meters 0.03338311696113097 Centerline is valid? [True, True] Translation: X:776.39, Y:-139.24, Z:-49.30 [[ 9.92703250e-01 1.07493159e-01 5.46395331e-02 7.76389563e+02] [-1.07156557e-01 9.94200864e-01 -9.06173333e-03 -1.39235147e+02] [-5.52967454e-02 3.14062788e-03 9.98465025e-01 -4.92963724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.770714057 meters 0.031649299911981746 Centerline is valid? [True, True] Translation: X:776.42, Y:-139.24, Z:-49.30 [[ 9.92598254e-01 1.08188129e-01 5.51727743e-02 7.76418752e+02] [-1.07846155e-01 9.94125513e-01 -9.14715154e-03 -1.39236537e+02] [-5.58382758e-02 3.12927505e-03 9.98434923e-01 -4.92978785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.8007140569999 meters 0.032253816426186334 Centerline is valid? [True, True] Translation: X:776.45, Y:-139.24, Z:-49.30 [[ 9.92377519e-01 1.09878682e-01 5.57990572e-02 7.76446510e+02] [-1.09531792e-01 9.93940282e-01 -9.24676055e-03 -1.39241375e+02] [-5.64769525e-02 3.06450657e-03 9.98399200e-01 -4.92987303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.8307140569999 meters 0.03298417317197469 Centerline is valid? [True, True] Translation: X:776.47, Y:-139.25, Z:-49.30 [[ 9.92285818e-01 1.10692831e-01 5.58207205e-02 7.76473724e+02] [-1.10347185e-01 9.93850092e-01 -9.24625724e-03 -1.39246380e+02] [-5.65009226e-02 3.01527053e-03 9.98397994e-01 -4.93000298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.8607140569999 meters 0.032219618149144445 Centerline is valid? [True, True] Translation: X:776.50, Y:-139.25, Z:-49.30 [[ 9.92126640e-01 1.11934427e-01 5.61730686e-02 7.76502640e+02] [-1.11586749e-01 9.93711196e-01 -9.29817414e-03 -1.39249937e+02] [-5.68605930e-02 2.95679616e-03 9.98377749e-01 -4.93013705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.890714057 meters 0.03195212202886479 Centerline is valid? [True, True] Translation: X:776.53, Y:-139.25, Z:-49.30 [[ 9.91922460e-01 1.13556429e-01 5.65222961e-02 7.76531384e+02] [-1.13207269e-01 9.93527381e-01 -9.35186803e-03 -1.39253121e+02] [-5.72184136e-02 2.87759317e-03 9.98357537e-01 -4.93030773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.9207140569999 meters 0.03291892794001008 Centerline is valid? [True, True] Translation: X:776.56, Y:-139.26, Z:-49.30 [[ 9.91836257e-01 1.14262075e-01 5.66128831e-02 7.76558323e+02] [-1.13913173e-01 9.93446590e-01 -9.36276927e-03 -1.39259019e+02] [-5.73116851e-02 2.83738088e-03 9.98352303e-01 -4.93047476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.9507140569999 meters 0.03213954864361064 Centerline is valid? [True, True] Translation: X:776.59, Y:-139.26, Z:-49.31 [[ 9.91771954e-01 1.14875932e-01 5.64970030e-02 7.76586930e+02] [-1.14529742e-01 9.93375926e-01 -9.33854967e-03 -1.39263123e+02] [-5.71955373e-02 2.79112450e-03 9.98359094e-01 -4.93063536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.9807140569999 meters 0.03247705638098528 Centerline is valid? [True, True] Translation: X:776.62, Y:-139.27, Z:-49.31 [[ 9.91736349e-01 1.15068492e-01 5.67296839e-02 7.76615544e+02] [-1.14719987e-01 9.93353649e-01 -9.37296145e-03 -1.39268705e+02] [-5.74311711e-02 2.78747796e-03 9.98345577e-01 -4.93084499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.010714057 meters 0.03235873596948232 Centerline is valid? [True, True] Translation: X:776.64, Y:-139.27, Z:-49.31 [[ 9.91808200e-01 1.14671523e-01 5.62755437e-02 7.76644187e+02] [-1.14328170e-01 9.93399563e-01 -9.29399045e-03 -1.39273453e+02] [-5.69698565e-02 2.78397599e-03 9.98372017e-01 -4.93101097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.040714057 meters 0.032764838697232394 Centerline is valid? [True, True] Translation: X:776.67, Y:-139.28, Z:-49.31 [[ 9.92017532e-01 1.13301724e-01 5.53528259e-02 7.76672740e+02] [-1.12967642e-01 9.93556648e-01 -9.13775394e-03 -1.39278781e+02] [-5.60314915e-02 2.81173391e-03 9.98425043e-01 -4.93124647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.0707140569999 meters 0.03299523894417115 Centerline is valid? [True, True] Translation: X:776.70, Y:-139.28, Z:-49.31 [[ 9.92136429e-01 1.12318032e-01 5.52264895e-02 7.76701422e+02] [-1.11984174e-01 9.93668203e-01 -9.11299338e-03 -1.39283735e+02] [-5.59003601e-02 2.85683991e-03 9.98432265e-01 -4.93141113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.1007140569999 meters 0.03299523894417115 Centerline is valid? [True, True] Translation: X:776.73, Y:-139.29, Z:-49.32 [[ 9.92148076e-01 1.12214805e-01 5.52271097e-02 7.76728527e+02] [-1.11880996e-01 9.93679860e-01 -9.10923329e-03 -1.39288112e+02] [-5.59002575e-02 2.85884424e-03 9.98432265e-01 -4.93157032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.130714057 meters 0.033490163033064985 Centerline is valid? [True, True] Translation: X:776.76, Y:-139.29, Z:-49.32 [[ 9.92266740e-01 1.11099695e-01 5.53495678e-02 7.76756214e+02] [-1.10763007e-01 9.93804970e-01 -9.12347443e-03 -1.39293526e+02] [-5.60202908e-02 2.92223564e-03 9.98425354e-01 -4.93171238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.160714057 meters 0.03127687432106521 Centerline is valid? [True, True] Translation: X:776.79, Y:-139.29, Z:-49.32 [[ 9.92390362e-01 1.09928666e-01 5.54712393e-02 7.76785143e+02] [-1.09588951e-01 9.93934982e-01 -9.13856816e-03 -1.39294473e+02] [-5.61393958e-02 2.98999204e-03 9.98418463e-01 -4.93183081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.1907140569999 meters 0.033112304043069585 Centerline is valid? [True, True] Translation: X:776.81, Y:-139.30, Z:-49.32 [[ 9.92608352e-01 1.07487344e-01 5.63482916e-02 7.76812411e+02] [-1.07133112e-01 9.94201388e-01 -9.27879962e-03 -1.39302265e+02] [-5.70189033e-02 3.17344614e-03 9.98368055e-01 -4.93193379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.2207140569999 meters 0.035604896681071974 Centerline is valid? [True, True] Translation: X:776.84, Y:-139.31, Z:-49.32 [[ 9.92737520e-01 1.05936339e-01 5.70062075e-02 7.76839738e+02] [-1.05571492e-01 9.94367451e-01 -9.38259747e-03 -1.39311011e+02] [-5.76790752e-02 3.29622618e-03 9.98329735e-01 -4.93207958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.250714057 meters 0.034084987502303564 Centerline is valid? [True, True] Translation: X:776.87, Y:-139.31, Z:-49.32 [[ 9.93064282e-01 1.02844867e-01 5.69760072e-02 7.76869993e+02] [-1.02475519e-01 9.94691352e-01 -9.37452165e-03 -1.39313014e+02] [-5.76376631e-02 3.47085672e-03 9.98331535e-01 -4.93226136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.280714057 meters 0.0365918912923941 Centerline is valid? [True, True] Translation: X:776.90, Y:-139.32, Z:-49.32 [[ 9.93256245e-01 1.01129114e-01 5.67003856e-02 7.76897478e+02] [-1.00760611e-01 9.94866969e-01 -9.32814205e-03 -1.39320956e+02] [-5.73526875e-02 3.55206985e-03 9.98347661e-01 -4.93244149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.3107140569999 meters 0.036524561334942175 Centerline is valid? [True, True] Translation: X:776.93, Y:-139.33, Z:-49.33 [[ 9.93394564e-01 9.99597027e-02 5.63497764e-02 7.76926105e+02] [-9.95940512e-02 9.94984995e-01 -9.26738823e-03 -1.39325663e+02] [-5.69935473e-02 3.59407058e-03 9.98368078e-01 -4.93262038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.3407140569999 meters 0.03624098996675625 Centerline is valid? [True, True] Translation: X:776.96, Y:-139.33, Z:-49.33 [[ 9.93613138e-01 9.77929832e-02 5.62980016e-02 7.76955404e+02] [-9.74247777e-02 9.95199860e-01 -9.25475555e-03 -1.39330528e+02] [-5.69328135e-02 3.71082642e-03 9.98371116e-01 -4.93288426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.370714057 meters 0.03724209075701872 Centerline is valid? [True, True] Translation: X:776.98, Y:-139.34, Z:-49.33 [[ 9.93737084e-01 9.67181264e-02 5.59661651e-02 7.76983761e+02] [-9.63526721e-02 9.95304755e-01 -9.19819570e-03 -1.39336573e+02] [-5.65930225e-02 3.74809862e-03 9.98390295e-01 -4.93307585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.400714057 meters 0.03794705835695587 Centerline is valid? [True, True] Translation: X:777.01, Y:-139.34, Z:-49.33 [[ 9.93819673e-01 9.59365213e-02 5.58447970e-02 7.77012232e+02] [-9.55716553e-02 9.95380276e-01 -9.17417266e-03 -1.39342368e+02] [-5.64669477e-02 3.78029359e-03 9.98397312e-01 -4.93323388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.4307140569999 meters 0.03816915328319601 Centerline is valid? [True, True] Translation: X:777.04, Y:-139.35, Z:-49.33 [[ 9.93870746e-01 9.55750608e-02 5.55549121e-02 7.77040717e+02] [-9.52136426e-02 9.95415060e-01 -9.12252161e-03 -1.39346755e+02] [-5.61720817e-02 3.77702181e-03 9.98413958e-01 -4.93344106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.4607140569999 meters 0.03847365847540381 Centerline is valid? [True, True] Translation: X:777.07, Y:-139.35, Z:-49.34 [[ 9.93888348e-01 9.57798887e-02 5.48831843e-02 7.77068897e+02] [-9.54276981e-02 9.95395603e-01 -9.00827423e-03 -1.39351422e+02] [-5.54932918e-02 3.71584286e-03 9.98452146e-01 -4.93363317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.4907140569999 meters 0.03894796595779066 Centerline is valid? [True, True] Translation: X:777.10, Y:-139.36, Z:-49.34 [[ 9.93784191e-01 9.72612654e-02 5.41592839e-02 7.77096654e+02] [-9.69207152e-02 9.95252441e-01 -8.88559091e-03 -1.39355738e+02] [-5.47663833e-02 3.58120324e-03 9.98492773e-01 -4.93387673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.520714057 meters 0.0388142684546565 Centerline is valid? [True, True] Translation: X:777.13, Y:-139.36, Z:-49.34 [[ 9.93692209e-01 9.81516045e-02 5.42407221e-02 7.77125639e+02] [-9.78115582e-02 9.95165200e-01 -8.89512267e-03 -1.39359332e+02] [-5.48515496e-02 3.53364455e-03 9.98488268e-01 -4.93400441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.5507140569999 meters 0.036163787128011445 Centerline is valid? [True, True] Translation: X:777.16, Y:-139.36, Z:-49.34 [[ 9.93434682e-01 1.00529427e-01 5.46018945e-02 7.77156109e+02] [-1.00188711e-01 9.94928209e-01 -8.94882864e-03 -1.39358471e+02] [-5.52245857e-02 3.41958332e-03 9.98468102e-01 -4.93408897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.5807140569999 meters 0.03785921987232372 Centerline is valid? [True, True] Translation: X:777.18, Y:-139.36, Z:-49.34 [[ 9.93276292e-01 1.01958383e-01 5.48333429e-02 7.77183005e+02] [-1.01616982e-01 9.94783013e-01 -8.98592123e-03 -1.39364084e+02] [-5.54634681e-02 3.35350370e-03 9.98455086e-01 -4.93422970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.6107140569999 meters 0.033844445992622096 Centerline is valid? [True, True] Translation: X:777.21, Y:-139.36, Z:-49.34 [[ 9.92953127e-01 1.04767508e-01 5.53882329e-02 7.77213916e+02] [-1.04423794e-01 9.94491516e-01 -9.07168311e-03 -1.39360582e+02] [-5.60335454e-02 3.22390668e-03 9.98423682e-01 -4.93427037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.640714057 meters 0.03676226376821215 Centerline is valid? [True, True] Translation: X:777.24, Y:-139.37, Z:-49.34 [[ 9.92787688e-01 1.06065124e-01 5.58819821e-02 7.77240639e+02] [-1.05717349e-01 9.94354107e-01 -9.15160360e-03 -1.39368016e+02] [-5.65371443e-02 3.17790440e-03 9.98395439e-01 -4.93437215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.6707140569999 meters 0.03266850159004333 Centerline is valid? [True, True] Translation: X:777.27, Y:-139.36, Z:-49.34 [[ 9.92722490e-01 1.06705112e-01 5.58218280e-02 7.77270936e+02] [-1.06359377e-01 9.94285775e-01 -9.13673950e-03 -1.39364497e+02] [-5.64777864e-02 3.13307196e-03 9.98398940e-01 -4.93445792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.7007140569999 meters 0.03383189163211155 Centerline is valid? [True, True] Translation: X:777.30, Y:-139.37, Z:-49.35 [[ 9.92656335e-01 1.07201801e-01 5.60461870e-02 7.77297898e+02] [-1.06854509e-01 9.94232420e-01 -9.16565946e-03 -1.39369678e+02] [-5.67055113e-02 3.10956212e-03 9.98386106e-01 -4.93462665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.7307140569999 meters 0.034695513130207495 Centerline is valid? [True, True] Translation: X:777.33, Y:-139.37, Z:-49.35 [[ 9.92755749e-01 1.06908545e-01 5.48323427e-02 7.77325030e+02] [-1.06575980e-01 9.94264170e-01 -8.96220856e-03 -1.39374223e+02] [-5.54759704e-02 3.05347343e-03 9.98455354e-01 -4.93483903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.760714057 meters 0.03416409357203895 Centerline is valid? [True, True] Translation: X:777.35, Y:-139.38, Z:-49.35 [[ 9.93070890e-01 1.04459607e-01 5.38367726e-02 7.77354285e+02] [-1.04135705e-01 9.94524213e-01 -8.79456028e-03 -1.39377227e+02] [-5.44606502e-02 3.12729152e-03 9.98511020e-01 -4.93516297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.790714057 meters 0.03607554090438568 Centerline is valid? [True, True] Translation: X:777.38, Y:-139.38, Z:-49.35 [[ 9.93266842e-01 1.02612097e-01 5.37748781e-02 7.77382224e+02] [-1.02286347e-01 9.94716226e-01 -8.78254969e-03 -1.39384662e+02] [-5.43919396e-02 3.22297955e-03 9.98514461e-01 -4.93541850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.8207140569999 meters 0.03666506259496321 Centerline is valid? [True, True] Translation: X:777.41, Y:-139.39, Z:-49.36 [[ 9.93466545e-01 1.00870649e-01 5.33791824e-02 7.77411468e+02] [-1.00547338e-01 9.94894106e-01 -8.71497642e-03 -1.39390210e+02] [-5.39857193e-02 3.29090285e-03 9.98536285e-01 -4.93559262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.8507140569999 meters 0.035383898583761446 Centerline is valid? [True, True] Translation: X:777.44, Y:-139.39, Z:-49.36 [[ 9.93695059e-01 9.85186830e-02 5.35182092e-02 7.77440512e+02] [-9.81903877e-02 9.95129305e-01 -8.73581914e-03 -1.39392426e+02] [-5.41181797e-02 3.42576661e-03 9.98528661e-01 -4.93572191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.880714057 meters 0.03710535185263492 Centerline is valid? [True, True] Translation: X:777.47, Y:-139.40, Z:-49.36 [[ 9.93955161e-01 9.56897245e-02 5.38202038e-02 7.77468862e+02] [-9.53537487e-02 9.95404711e-01 -8.78205257e-03 -1.39399382e+02] [-5.44132366e-02 3.59700829e-03 9.98512024e-01 -4.93583092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.910714057 meters 0.036870407486302666 Centerline is valid? [True, True] Translation: X:777.50, Y:-139.40, Z:-49.36 [[ 9.93980310e-01 9.53031856e-02 5.40411496e-02 7.77497560e+02] [-9.49639768e-02 9.95441669e-01 -8.81622642e-03 -1.39403231e+02] [-5.46350266e-02 3.63119300e-03 9.98499789e-01 -4.93598181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.9407140569999 meters 0.037765719478725354 Centerline is valid? [True, True] Translation: X:777.53, Y:-139.41, Z:-49.36 [[ 9.93974553e-01 9.57692379e-02 5.33182943e-02 7.77525654e+02] [-9.54399294e-02 9.95397221e-01 -8.69442806e-03 -1.39406912e+02] [-5.39055407e-02 3.55334600e-03 9.98539717e-01 -4.93610893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.9707140569999 meters 0.036160196986058955 Centerline is valid? [True, True] Translation: X:777.55, Y:-139.41, Z:-49.36 [[ 9.93819928e-01 9.68887378e-02 5.41712332e-02 7.77554719e+02] [-9.65506713e-02 9.95288907e-01 -8.82949530e-03 -1.39407972e+02] [-5.47715061e-02 3.54465946e-03 9.98492623e-01 -4.93630676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.000714057 meters 0.03775709580953142 Centerline is valid? [True, True] Translation: X:777.58, Y:-139.41, Z:-49.36 [[ 9.93742376e-01 9.79942307e-02 5.36024351e-02 7.77581815e+02] [-9.76650433e-02 9.95181026e-01 -8.73294193e-03 -1.39413823e+02] [-5.41999043e-02 3.44321031e-03 9.98524168e-01 -4.93647733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.030714057 meters 0.03710516643935666 Centerline is valid? [True, True] Translation: X:777.61, Y:-139.42, Z:-49.37 [[ 9.93519934e-01 1.00065072e-01 5.38991928e-02 7.77611926e+02] [-9.97355527e-02 9.94975278e-01 -8.77589343e-03 -1.39416007e+02] [-5.45065247e-02 3.34335927e-03 9.98507817e-01 -4.93661531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.0607140569999 meters 0.03655205911300316 Centerline is valid? [True, True] Translation: X:777.64, Y:-139.42, Z:-49.37 [[ 9.93486561e-01 1.00339711e-01 5.40036730e-02 7.77640634e+02] [-1.00009458e-01 9.94947657e-01 -8.79028303e-03 -1.39418556e+02] [-5.46128424e-02 3.33214999e-03 9.98502045e-01 -4.93672397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.0907140569999 meters 0.03644774277101543 Centerline is valid? [True, True] Translation: X:777.67, Y:-139.42, Z:-49.37 [[ 9.93420662e-01 1.00894324e-01 5.41823182e-02 7.77669639e+02] [-1.00562916e-01 9.94891646e-01 -8.81544810e-03 -1.39421847e+02] [-5.47949644e-02 3.30871635e-03 9.98492145e-01 -4.93685845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.120714057 meters 0.03671028519102732 Centerline is valid? [True, True] Translation: X:777.70, Y:-139.43, Z:-49.37 [[ 9.93353258e-01 1.01006651e-01 5.51992965e-02 7.77698043e+02] [-1.00663069e-01 9.94880074e-01 -8.97687255e-03 -1.39426309e+02] [-5.58234041e-02 3.36067500e-03 9.98435002e-01 -4.93704923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.150714057 meters 0.037044143721750834 Centerline is valid? [True, True] Translation: X:777.73, Y:-139.43, Z:-49.37 [[ 9.93328600e-01 1.01207633e-01 5.52748452e-02 7.77726185e+02] [-1.00863640e-01 9.94859685e-01 -8.98520992e-03 -1.39431334e+02] [-5.59000869e-02 3.35004393e-03 9.98430748e-01 -4.93718315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.1807140569999 meters 0.03761338469361974 Centerline is valid? [True, True] Translation: X:777.75, Y:-139.44, Z:-49.37 [[ 9.93327728e-01 1.01359348e-01 5.50118930e-02 7.77753508e+02] [-1.01019069e-01 9.94844334e-01 -8.93862627e-03 -1.39435870e+02] [-5.56342833e-02 3.32173510e-03 9.98445688e-01 -4.93739715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.2107140569999 meters 0.03486981124010801 Centerline is valid? [True, True] Translation: X:777.78, Y:-139.44, Z:-49.38 [[ 9.93379356e-01 1.01123373e-01 5.45116377e-02 7.77782606e+02] [-1.00789172e-01 9.94868421e-01 -8.85256485e-03 -1.39435125e+02] [-5.51271082e-02 3.29977232e-03 9.98473892e-01 -4.93759474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.2407140569999 meters 0.03976794094098995 Centerline is valid? [True, True] Translation: X:777.81, Y:-139.45, Z:-49.38 [[ 9.93545032e-01 1.00830916e-01 5.19749500e-02 7.77809009e+02] [-1.00526910e-01 9.94898565e-01 -8.43716401e-03 -1.39446453e+02] [-5.25605301e-02 3.15782127e-03 9.98612747e-01 -4.93797261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.270714057 meters 0.04021815335411768 Centerline is valid? [True, True] Translation: X:777.84, Y:-139.45, Z:-49.38 [[ 9.93602893e-01 1.00526612e-01 5.14557257e-02 7.77837662e+02] [-1.00228547e-01 9.94929426e-01 -8.34718629e-03 -1.39451458e+02] [-5.20339300e-02 3.13645584e-03 9.98640392e-01 -4.93825912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.3007140569999 meters 0.037099038615665964 Centerline is valid? [True, True] Translation: X:777.87, Y:-139.45, Z:-49.38 [[ 9.93661091e-01 9.98630214e-02 5.16237590e-02 7.77866762e+02] [-9.95622960e-02 9.94996119e-01 -8.37093231e-03 -1.39450819e+02] [-5.22013865e-02 3.17808976e-03 9.98631521e-01 -4.93839976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.3307140569999 meters 0.03758694490067293 Centerline is valid? [True, True] Translation: X:777.90, Y:-139.46, Z:-49.38 [[ 9.93672213e-01 9.95725362e-02 5.19696440e-02 7.77895080e+02] [-9.92675641e-02 9.95025125e-01 -8.42328693e-03 -1.39455702e+02] [-5.25498295e-02 3.21108620e-03 9.98613141e-01 -4.93845603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.3607140569999 meters 0.03529445057559142 Centerline is valid? [True, True] Translation: X:777.92, Y:-139.46, Z:-49.38 [[ 9.93674498e-01 9.91591398e-02 5.27110680e-02 7.77924456e+02] [-9.88450175e-02 9.95066197e-01 -8.53966639e-03 -1.39456985e+02] [-5.32977880e-02 3.27542227e-03 9.98573291e-01 -4.93849886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.390714057 meters 0.03492870408299807 Centerline is valid? [True, True] Translation: X:777.95, Y:-139.46, Z:-49.39 [[ 9.93665349e-01 9.89347359e-02 5.33019007e-02 7.77952891e+02] [-9.86134152e-02 9.95088384e-01 -8.63145339e-03 -1.39460588e+02] [-5.38940528e-02 3.32049367e-03 9.98541139e-01 -4.93861745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.4207140569999 meters 0.03505987654246806 Centerline is valid? [True, True] Translation: X:777.98, Y:-139.46, Z:-49.39 [[ 9.93628244e-01 9.91210589e-02 5.36463329e-02 7.77981000e+02] [-9.87960531e-02 9.95069817e-01 -8.68326172e-03 -1.39464420e+02] [-5.42425408e-02 3.32788813e-03 9.98522244e-01 -4.93875400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.4507140569999 meters 0.03599079595820708 Centerline is valid? [True, True] Translation: X:778.01, Y:-139.47, Z:-49.39 [[ 9.93679728e-01 9.88609396e-02 5.31706046e-02 7.78008411e+02] [-9.85415127e-02 9.95095758e-01 -8.60246267e-03 -1.39469523e+02] [-5.37602907e-02 3.30858096e-03 9.98548389e-01 -4.93898988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.4807140569999 meters 0.03613384965410255 Centerline is valid? [True, True] Translation: X:778.04, Y:-139.47, Z:-49.39 [[ 9.93712696e-01 9.84656228e-02 5.32878961e-02 7.78037115e+02] [-9.81444838e-02 9.95134873e-01 -8.61650727e-03 -1.39473531e+02] [-5.38770735e-02 3.33241961e-03 9.98542015e-01 -4.93920087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.510714057 meters 0.036734907128217385 Centerline is valid? [True, True] Translation: X:778.07, Y:-139.48, Z:-49.39 [[ 9.93825678e-01 9.74319452e-02 5.30804931e-02 7.78065403e+02] [-9.71120430e-02 9.95236479e-01 -8.57912594e-03 -1.39478807e+02] [-5.36635240e-02 3.37140052e-03 9.98553384e-01 -4.93939429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.540714057 meters 0.0378118326479241 Centerline is valid? [True, True] Translation: X:778.09, Y:-139.48, Z:-49.40 [[ 9.93948205e-01 9.64564404e-02 5.25653992e-02 7.78092323e+02] [-9.61415617e-02 9.95331444e-01 -8.49219132e-03 -1.39484488e+02] [-5.31391212e-02 3.38707874e-03 9.98581375e-01 -4.93954295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.5707140569999 meters 0.03890734109905417 Centerline is valid? [True, True] Translation: X:778.12, Y:-139.49, Z:-49.40 [[ 9.94074101e-01 9.46588145e-02 5.34452128e-02 7.78121070e+02] [-9.43309803e-02 9.95503491e-01 -8.62932070e-03 -1.39490799e+02] [-5.40217372e-02 3.53664490e-03 9.98533497e-01 -4.93962986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.6007140569999 meters 0.04052392181941229 Centerline is valid? [True, True] Translation: X:778.15, Y:-139.50, Z:-49.40 [[ 9.94097400e-01 9.37035684e-02 5.46808942e-02 7.78148564e+02] [-9.33591045e-02 9.95593381e-01 -8.82592395e-03 -1.39497376e+02] [-5.52669569e-02 3.66886874e-03 9.98464873e-01 -4.93972211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.630714057 meters 0.03640408827711235 Centerline is valid? [True, True] Translation: X:778.18, Y:-139.50, Z:-49.40 [[ 9.94178790e-01 9.25512822e-02 5.51615315e-02 7.78177949e+02] [-9.21992406e-02 9.95700816e-01 -8.89855427e-03 -1.39495326e+02] [-5.57479545e-02 3.76090260e-03 9.98437790e-01 -4.93981725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.660714057 meters 0.03664457605143413 Centerline is valid? [True, True] Translation: X:778.21, Y:-139.50, Z:-49.40 [[ 9.94162091e-01 9.24335975e-02 5.56575809e-02 7.78205864e+02] [-9.20752381e-02 9.95711610e-01 -8.97442838e-03 -1.39500352e+02] [-5.62484382e-02 3.79735147e-03 9.98409582e-01 -4.94003131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.6907140569999 meters 0.03809930252446042 Centerline is valid? [True, True] Translation: X:778.23, Y:-139.51, Z:-49.40 [[ 9.94136579e-01 9.28937549e-02 5.53462948e-02 7.78232961e+02] [-9.25404527e-02 9.95668988e-01 -8.91806374e-03 -1.39506969e+02] [-5.59350217e-02 3.74400220e-03 9.98427391e-01 -4.94022022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.7207140569999 meters 0.03650454319670443 Centerline is valid? [True, True] Translation: X:778.26, Y:-139.51, Z:-49.40 [[ 9.93985307e-01 9.47031770e-02 5.49956173e-02 7.78263078e+02] [-9.43574006e-02 9.95498996e-01 -8.85611984e-03 -1.39509388e+02] [-5.55867845e-02 3.61360951e-03 9.98447320e-01 -4.94048974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.750714057 meters 0.03525340055765542 Centerline is valid? [True, True] Translation: X:778.29, Y:-139.51, Z:-49.41 [[ 9.93907831e-01 9.54362791e-02 5.51283913e-02 7.78291328e+02] [-9.50900016e-02 9.95429102e-01 -8.87659442e-03 -1.39512022e+02] [-5.57235542e-02 3.58035789e-03 9.98439816e-01 -4.94070388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.780714057 meters 0.03562708333993067 Centerline is valid? [True, True] Translation: X:778.32, Y:-139.52, Z:-49.41 [[ 9.93707272e-01 9.76233734e-02 5.49138911e-02 7.78319273e+02] [-9.72833423e-02 9.95217485e-01 -8.83790090e-03 -1.39517162e+02] [-5.55140503e-02 3.44007953e-03 9.98451980e-01 -4.94098419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.8107140569999 meters 0.0352331094268282 Centerline is valid? [True, True] Translation: X:778.35, Y:-139.52, Z:-49.41 [[ 9.93611073e-01 9.87581952e-02 5.46246683e-02 7.78348180e+02] [-9.84235588e-02 9.95105799e-01 -8.78934215e-03 -1.39521270e+02] [-5.52253438e-02 3.35683344e-03 9.98468273e-01 -4.94113493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.8407140569999 meters 0.0354888023738146 Centerline is valid? [True, True] Translation: X:778.38, Y:-139.53, Z:-49.41 [[ 9.93494145e-01 9.97531382e-02 5.49426621e-02 7.78375177e+02] [-9.94162660e-02 9.95006685e-01 -8.83759776e-03 -1.39525717e+02] [-5.55498942e-02 3.31790732e-03 9.98450400e-01 -4.94130809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.870714057 meters 0.034423824310656076 Centerline is valid? [True, True] Translation: X:778.41, Y:-139.53, Z:-49.41 [[ 9.93242571e-01 1.02027694e-01 5.53131611e-02 7.78405170e+02] [-1.01690124e-01 9.94776393e-01 -8.89084297e-03 -1.39527950e+02] [-5.59313390e-02 3.20596151e-03 9.98429470e-01 -4.94143364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.900714057 meters 0.03497140582739285 Centerline is valid? [True, True] Translation: X:778.43, Y:-139.53, Z:-49.42 [[ 9.93167946e-01 1.02618914e-01 5.55588836e-02 7.78432284e+02] [-1.02279307e-01 9.94715642e-01 -8.92943649e-03 -1.39532988e+02] [-5.61816196e-02 3.18590597e-03 9.98415482e-01 -4.94160133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.9307140569999 meters 0.035929952645383366 Centerline is valid? [True, True] Translation: X:778.46, Y:-139.54, Z:-49.42 [[ 9.93134078e-01 1.03099994e-01 5.52729147e-02 7.78459721e+02] [-1.02764900e-01 9.94666048e-01 -8.87848009e-03 -1.39539432e+02] [-5.58934629e-02 3.13740558e-03 9.98431809e-01 -4.94191871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.9607140569999 meters 0.03570551700213731 Centerline is valid? [True, True] Translation: X:778.49, Y:-139.54, Z:-49.42 [[ 9.93197195e-01 1.02638493e-01 5.49970129e-02 7.78487645e+02] [-1.02306251e-01 9.94713756e-01 -8.83027652e-03 -1.39544154e+02] [-5.56126116e-02 3.14366765e-03 9.98447472e-01 -4.94213183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.9907140569999 meters 0.03570551700213731 Centerline is valid? [True, True] Translation: X:778.51, Y:-139.55, Z:-49.42 [[ 9.93207728e-01 1.02536197e-01 5.49976071e-02 7.78514774e+02] [-1.02204004e-01 9.94724300e-01 -8.82657451e-03 -1.39548413e+02] [-5.56124996e-02 3.14564639e-03 9.98447472e-01 -4.94229107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.020714057 meters 0.03624939137401957 Centerline is valid? [True, True] Translation: X:778.54, Y:-139.55, Z:-49.42 [[ 9.93290090e-01 1.01829415e-01 5.48230559e-02 7.78543343e+02] [-1.01498582e-01 9.94796827e-01 -8.79270928e-03 -1.39553398e+02] [-5.54331585e-02 3.16924854e-03 9.98457371e-01 -4.94248514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.0507140569999 meters 0.03725442608119894 Centerline is valid? [True, True] Translation: X:778.57, Y:-139.56, Z:-49.43 [[ 9.93463278e-01 1.00027014e-01 5.50028363e-02 7.78571889e+02] [-9.96914718e-02 9.94979326e-01 -8.81763520e-03 -1.39559728e+02] [-5.56086867e-02 3.27668307e-03 9.98447263e-01 -4.94255987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.0807140569999 meters 0.03773460233137028 Centerline is valid? [True, True] Translation: X:778.60, Y:-139.56, Z:-49.43 [[ 9.93492255e-01 9.92963767e-02 5.57975751e-02 7.78599848e+02] [-9.89500745e-02 9.95052221e-01 -8.94209946e-03 -1.39564956e+02] [-5.64094190e-02 3.36273235e-03 9.98402058e-01 -4.94260636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.1107140569999 meters 0.035121501481961956 Centerline is valid? [True, True] Translation: X:778.63, Y:-139.57, Z:-49.43 [[ 9.93459823e-01 9.86034605e-02 5.75754932e-02 7.78628519e+02] [-9.82337917e-02 9.95120626e-01 -9.22288351e-03 -1.39565712e+02] [-5.82039691e-02 3.50670521e-03 9.98298553e-01 -4.94262324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.140714057 meters 0.035704691883544415 Centerline is valid? [True, True] Translation: X:778.66, Y:-139.57, Z:-49.43 [[ 9.93521591e-01 9.81912256e-02 5.72130403e-02 7.78657205e+02] [-9.78257617e-02 9.95161395e-01 -9.16068569e-03 -1.39571133e+02] [-5.78357079e-02 3.50442977e-03 9.98319964e-01 -4.94275852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.1707140569999 meters 0.03999474590244474 Centerline is valid? [True, True] Translation: X:778.68, Y:-139.58, Z:-49.43 [[ 9.93571292e-01 9.83566702e-02 5.60540169e-02 7.78683225e+02] [-9.80063679e-02 9.95145351e-01 -8.97115851e-03 -1.39582714e+02] [-5.66642677e-02 3.41983495e-03 9.98387433e-01 -4.94299357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.2007140569999 meters 0.03511579888340904 Centerline is valid? [True, True] Translation: X:778.71, Y:-139.58, Z:-49.43 [[ 9.93618676e-01 9.82710536e-02 5.53599826e-02 7.78712189e+02] [-9.79295226e-02 9.95153955e-01 -8.85522381e-03 -1.39580154e+02] [-5.59619178e-02 3.37733909e-03 9.98427192e-01 -4.94321540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.2307140569999 meters 0.03625410290311041 Centerline is valid? [True, True] Translation: X:778.74, Y:-139.59, Z:-49.43 [[ 9.93595615e-01 9.87427792e-02 5.49328456e-02 7.78739040e+02] [-9.84075547e-02 9.95107456e-01 -8.78092161e-03 -1.39586623e+02] [-5.55311368e-02 3.31887821e-03 9.98451440e-01 -4.94341302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.260714057 meters 0.03712398506807331 Centerline is valid? [True, True] Translation: X:778.77, Y:-139.59, Z:-49.44 [[ 9.93502215e-01 1.00070003e-01 5.42157099e-02 7.78766266e+02] [-9.97457167e-02 9.94975262e-01 -8.66146124e-03 -1.39592472e+02] [-5.48100426e-02 3.19739609e-03 9.98491680e-01 -4.94359869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.290714057 meters 0.037022687285862735 Centerline is valid? [True, True] Translation: X:778.79, Y:-139.60, Z:-49.44 [[ 9.93396869e-01 1.01066056e-01 5.42983667e-02 7.78794604e+02] [-1.00742528e-01 9.94874755e-01 -8.66979850e-03 -1.39596706e+02] [-5.48962966e-02 3.14239596e-03 9.98487117e-01 -4.94372269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.3207140569999 meters 0.037055886582296846 Centerline is valid? [True, True] Translation: X:778.82, Y:-139.60, Z:-49.44 [[ 9.93213483e-01 1.02705756e-01 5.45756887e-02 7.78822009e+02] [-1.02381585e-01 9.94707063e-01 -8.71030064e-03 -1.39600996e+02] [-5.51814210e-02 3.06364254e-03 9.98471645e-01 -4.94384839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.3507140569999 meters 0.03385567220186454 Centerline is valid? [True, True] Translation: X:778.85, Y:-139.60, Z:-49.44 [[ 9.92856728e-01 1.05841348e-01 5.50738369e-02 7.78851962e+02] [-1.05516303e-01 9.94378769e-01 -8.78489785e-03 -1.39600515e+02] [-5.56940596e-02 2.91095725e-03 9.98443638e-01 -4.94391876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.380714057 meters 0.03374941617106708 Centerline is valid? [True, True] Translation: X:778.88, Y:-139.61, Z:-49.44 [[ 9.92679297e-01 1.07355461e-01 5.53409225e-02 7.78879879e+02] [-1.07029703e-01 9.94216652e-01 -8.82558787e-03 -1.39605029e+02] [-5.59683418e-02 2.83785585e-03 9.98428511e-01 -4.94407423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.410714057 meters 0.032193536745447185 Centerline is valid? [True, True] Translation: X:778.91, Y:-139.61, Z:-49.44 [[ 9.92509761e-01 1.09156873e-01 5.48557374e-02 7.78908719e+02] [-1.08839763e-01 9.94020846e-01 -8.74439234e-03 -1.39607721e+02] [-5.54822570e-02 2.70840930e-03 9.98456000e-01 -4.94432318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.4407140569999 meters 0.03082578004533899 Centerline is valid? [True, True] Translation: X:778.94, Y:-139.61, Z:-49.45 [[ 9.92580889e-01 1.08844659e-01 5.41850499e-02 7.78937411e+02] [-1.08535010e-01 9.94055135e-01 -8.63366800e-03 -1.39610206e+02] [-5.48026557e-02 2.68863895e-03 9.98493585e-01 -4.94453673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.4707140569999 meters 0.031851494286809244 Centerline is valid? [True, True] Translation: X:778.96, Y:-139.62, Z:-49.45 [[ 9.92735448e-01 1.07568166e-01 5.39019555e-02 7.78964601e+02] [-1.07260084e-01 9.94193934e-01 -8.58468319e-03 -1.39616742e+02] [-5.45124358e-02 2.74079105e-03 9.98509330e-01 -4.94478247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.500714057 meters 0.03384158785763032 Centerline is valid? [True, True] Translation: X:778.99, Y:-139.63, Z:-49.45 [[ 9.93169443e-01 1.04151444e-01 5.26016628e-02 7.78992298e+02] [-1.03853546e-01 9.94557358e-01 -8.37268956e-03 -1.39626236e+02] [-5.31873985e-02 2.85263024e-03 9.98580474e-01 -4.94505074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.530714057 meters 0.03443928399047111 Centerline is valid? [True, True] Translation: X:779.02, Y:-139.63, Z:-49.45 [[ 9.93366233e-01 1.02098986e-01 5.29086437e-02 7.79020900e+02] [-1.01794798e-01 9.94769787e-01 -8.41963318e-03 -1.39633559e+02] [-5.34915562e-02 2.97795459e-03 9.98563861e-01 -4.94522067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.5607140569999 meters 0.033702294638659036 Centerline is valid? [True, True] Translation: X:779.05, Y:-139.64, Z:-49.45 [[ 9.93650415e-01 9.84653016e-02 5.44374711e-02 7.79051013e+02] [-9.81379430e-02 9.95135134e-01 -8.66082333e-03 -1.39638881e+02] [-5.50254306e-02 3.26344926e-03 9.98479620e-01 -4.94529255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.5907140569999 meters 0.03522006499069109 Centerline is valid? [True, True] Translation: X:779.08, Y:-139.65, Z:-49.45 [[ 9.93801541e-01 9.68034022e-02 5.46589267e-02 7.79078991e+02] [-9.64708613e-02 9.95297819e-01 -8.69619237e-03 -1.39646577e+02] [-5.52437316e-02 3.36929565e-03 9.98467214e-01 -4.94541228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.620714057 meters 0.03458151229933934 Centerline is valid? [True, True] Translation: X:779.11, Y:-139.65, Z:-49.46 [[ 9.93925162e-01 9.52522046e-02 5.51342945e-02 7.79108534e+02] [-9.49116449e-02 9.95447080e-01 -8.76871531e-03 -1.39651130e+02] [-5.57185119e-02 3.48256020e-03 9.98440444e-01 -4.94554235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.650714057 meters 0.03719620383459726 Centerline is valid? [True, True] Translation: X:779.14, Y:-139.66, Z:-49.46 [[ 9.94149134e-01 9.30702324e-02 5.48218098e-02 7.79135978e+02] [-9.27303344e-02 9.95653101e-01 -8.71703880e-03 -1.39661621e+02] [-5.53948018e-02 3.58239181e-03 9.98458103e-01 -4.94570266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.6807140569999 meters 0.036817078524783456 Centerline is valid? [True, True] Translation: X:779.16, Y:-139.67, Z:-49.46 [[ 9.94286641e-01 9.18689842e-02 5.43522278e-02 7.79164760e+02] [-9.15332660e-02 9.95764541e-01 -8.63944895e-03 -1.39666129e+02] [-5.49157186e-02 3.61505176e-03 9.98484449e-01 -4.94588912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.7107140569999 meters 0.03859214731888335 Centerline is valid? [True, True] Translation: X:779.19, Y:-139.67, Z:-49.46 [[ 9.94481195e-01 9.00574656e-02 5.38219801e-02 7.79191884e+02] [-8.97258459e-02 9.95929791e-01 -8.55127335e-03 -1.39674264e+02] [-5.43730194e-02 3.67485785e-03 9.98513931e-01 -4.94611764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.7407140569999 meters 0.038204584202596543 Centerline is valid? [True, True] Translation: X:779.22, Y:-139.68, Z:-49.46 [[ 9.94599638e-01 8.89648635e-02 5.34491623e-02 7.79219871e+02] [-8.86364622e-02 9.96027875e-01 -8.48826533e-03 -1.39677878e+02] [-5.39920129e-02 3.70488097e-03 9.98534494e-01 -4.94626013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.770714057 meters 0.038853725916496794 Centerline is valid? [True, True] Translation: X:779.25, Y:-139.68, Z:-49.46 [[ 9.94665613e-01 8.80518060e-02 5.37326565e-02 7.79247878e+02] [-8.77188545e-02 9.96108765e-01 -8.52828755e-03 -1.39683542e+02] [-5.42745012e-02 3.76942728e-03 9.98518938e-01 -4.94646060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.8007140569999 meters 0.039920985845558955 Centerline is valid? [True, True] Translation: X:779.28, Y:-139.69, Z:-49.47 [[ 9.94806678e-01 8.64462858e-02 5.37281439e-02 7.79276534e+02] [-8.61112809e-02 9.96249064e-01 -8.52354063e-03 -1.39690252e+02] [-5.42634415e-02 3.85267585e-03 9.98519222e-01 -4.94665643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.8307140569999 meters 0.04040589858313504 Centerline is valid? [True, True] Translation: X:779.30, Y:-139.70, Z:-49.47 [[ 9.94859998e-01 8.59754860e-02 5.34957933e-02 7.79304429e+02] [-8.56427963e-02 9.96289776e-01 -8.48488160e-03 -1.39696025e+02] [-5.40268038e-02 3.85973996e-03 9.98532026e-01 -4.94686780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.8607140569999 meters 0.039654587740222375 Centerline is valid? [True, True] Translation: X:779.33, Y:-139.70, Z:-49.47 [[ 9.95021854e-01 8.46326378e-02 5.26196356e-02 7.79333342e+02] [-8.43091046e-02 9.96404729e-01 -8.34211370e-03 -1.39699415e+02] [-5.31364689e-02 3.86427108e-03 9.98579783e-01 -4.94710752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.890714057 meters 0.04095465286530797 Centerline is valid? [True, True] Translation: X:779.36, Y:-139.70, Z:-49.47 [[ 9.95093605e-01 8.38023134e-02 5.25917288e-02 7.79360541e+02] [-8.34781157e-02 9.96474753e-01 -8.33496777e-03 -1.39704442e+02] [-5.31048195e-02 3.90381470e-03 9.98581313e-01 -4.94731934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.9207140569999 meters 0.03956682285918152 Centerline is valid? [True, True] Translation: X:779.39, Y:-139.71, Z:-49.47 [[ 9.95127053e-01 8.33675800e-02 5.26497369e-02 7.79389104e+02] [-8.30423201e-02 9.96511128e-01 -8.33930016e-03 -1.39706581e+02] [-5.31612761e-02 3.92650689e-03 9.98578220e-01 -4.94744260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.9507140569999 meters 0.03888521097545635 Centerline is valid? [True, True] Translation: X:779.42, Y:-139.71, Z:-49.48 [[ 9.95302388e-01 8.12681618e-02 5.26178971e-02 7.79418685e+02] [-8.09405950e-02 9.96684116e-01 -8.33021982e-03 -1.39709060e+02] [-5.31204039e-02 4.03216378e-03 9.98579974e-01 -4.94766515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.9807140569999 meters 0.04925478194197469 Centerline is valid? [True, True] Translation: X:779.44, Y:-139.73, Z:-49.48 [[ 9.95380467e-01 8.03105008e-02 5.26113035e-02 7.79444073e+02] [-7.99817830e-02 9.96761541e-01 -8.32737273e-03 -1.39727714e+02] [-5.31096994e-02 4.08095830e-03 9.98580345e-01 -4.94792048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.010714057 meters 0.039981934450905844 Centerline is valid? [True, True] Translation: X:779.48, Y:-139.72, Z:-49.48 [[ 9.95469921e-01 7.87407965e-02 5.32871767e-02 7.79475490e+02] [-7.84015587e-02 9.96886216e-01 -8.43019405e-03 -1.39717219e+02] [-5.37850521e-02 4.21420690e-03 9.98543644e-01 -4.94801778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.040714057 meters 0.044534054671822275 Centerline is valid? [True, True] Translation: X:779.50, Y:-139.73, Z:-49.48 [[ 9.95519246e-01 7.80175877e-02 5.34292795e-02 7.79503238e+02] [-7.76756061e-02 9.96942870e-01 -8.45074076e-03 -1.39727001e+02] [-5.39252456e-02 4.26272340e-03 9.98535877e-01 -4.94819161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.0707140569999 meters 0.03949578702791938 Centerline is valid? [True, True] Translation: X:779.53, Y:-139.72, Z:-49.48 [[ 9.95538822e-01 7.74989285e-02 5.38179325e-02 7.79533296e+02] [-7.71513586e-02 9.96983080e-01 -8.50920463e-03 -1.39723214e+02] [-5.43150224e-02 4.31911694e-03 9.98514508e-01 -4.94830673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.1007140569999 meters 0.044026591019216556 Centerline is valid? [True, True] Translation: X:779.56, Y:-139.73, Z:-49.48 [[ 9.95551201e-01 7.68748917e-02 5.44798828e-02 7.79561380e+02] [-7.65179526e-02 9.97031022e-01 -8.61074336e-03 -1.39731367e+02] [-5.49800832e-02 4.40374680e-03 9.98477740e-01 -4.94842072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.130714057 meters 0.044464773803311035 Centerline is valid? [True, True] Translation: X:779.59, Y:-139.74, Z:-49.49 [[ 9.95527993e-01 7.70163866e-02 5.47036621e-02 7.79591023e+02] [-7.66568903e-02 9.97020070e-01 -8.64298524e-03 -1.39735172e+02] [-5.52063005e-02 4.41092113e-03 9.98465226e-01 -4.94855838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.160714057 meters 0.04257623165209033 Centerline is valid? [True, True] Translation: X:779.62, Y:-139.73, Z:-49.49 [[ 9.95518552e-01 7.71955229e-02 5.46229228e-02 7.79621311e+02] [-7.68374646e-02 9.97006297e-01 -8.62826304e-03 -1.39734770e+02] [-5.51254613e-02 4.39250903e-03 9.98469774e-01 -4.94878976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.1907140569999 meters 0.04230777833722001 Centerline is valid? [True, True] Translation: X:779.65, Y:-139.74, Z:-49.49 [[ 9.95484305e-01 7.76327251e-02 5.46274533e-02 7.79650405e+02] [-7.72753713e-02 9.96972463e-01 -8.62697763e-03 -1.39737983e+02] [-5.51318025e-02 4.36666409e-03 9.98469537e-01 -4.94896304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.2207140569999 meters 0.04234065487722367 Centerline is valid? [True, True] Translation: X:779.68, Y:-139.74, Z:-49.49 [[ 9.95452260e-01 7.79625074e-02 5.47416260e-02 7.79680201e+02] [-7.76042627e-02 9.96946777e-01 -8.64299969e-03 -1.39741147e+02] [-5.52483175e-02 4.35551005e-03 9.98463146e-01 -4.94912558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.250714057 meters 0.04299544984778113 Centerline is valid? [True, True] Translation: X:779.71, Y:-139.74, Z:-49.49 [[ 9.95377911e-01 7.87014743e-02 5.50353800e-02 7.79708947e+02] [-7.83406052e-02 9.96888800e-01 -8.68732874e-03 -1.39744181e+02] [-5.55478595e-02 4.33567016e-03 9.98446612e-01 -4.94930122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.280714057 meters 0.04310578817815067 Centerline is valid? [True, True] Translation: X:779.74, Y:-139.75, Z:-49.49 [[ 9.95349844e-01 7.91950503e-02 5.48345828e-02 7.79737382e+02] [-7.88376255e-02 9.96849904e-01 -8.65439257e-03 -1.39746660e+02] [-5.53472336e-02 4.29111999e-03 9.98457946e-01 -4.94948598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.3107140569999 meters 0.03880992857741368 Centerline is valid? [True, True] Translation: X:779.77, Y:-139.74, Z:-49.50 [[ 9.95113241e-01 8.20187562e-02 5.49778171e-02 7.79768457e+02] [-8.16639636e-02 9.96622184e-01 -8.67295979e-03 -1.39741972e+02] [-5.55034575e-02 4.14087068e-03 9.98449908e-01 -4.94968273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.3407140569999 meters 0.036970530710073564 Centerline is valid? [True, True] Translation: X:779.80, Y:-139.74, Z:-49.50 [[ 9.94976756e-01 8.40249419e-02 5.44156586e-02 7.79798877e+02] [-8.36804660e-02 9.96455681e-01 -8.58230960e-03 -1.39741883e+02] [-5.49439202e-02 3.98567089e-03 9.98481487e-01 -4.94987534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.370714057 meters 0.040097456303637924 Centerline is valid? [True, True] Translation: X:779.83, Y:-139.75, Z:-49.50 [[ 9.94571913e-01 8.91010183e-02 5.37375038e-02 7.79827619e+02] [-8.87724979e-02 9.96015877e-01 -8.47445021e-03 -1.39745685e+02] [-5.42784892e-02 3.65803770e-03 9.98519136e-01 -4.95009684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.400714057 meters 0.035190759185938475 Centerline is valid? [True, True] Translation: X:779.86, Y:-139.74, Z:-49.50 [[ 9.94336171e-01 9.17075525e-02 5.37150186e-02 7.79858857e+02] [-9.13832287e-02 9.95779791e-01 -8.46835329e-03 -1.39739819e+02] [-5.42649419e-02 3.51173816e-03 9.98520397e-01 -4.95023238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.4307140569999 meters 0.03435462259952754 Centerline is valid? [True, True] Translation: X:779.89, Y:-139.74, Z:-49.50 [[ 9.94045955e-01 9.46565235e-02 5.39701951e-02 7.79888638e+02] [-9.43334833e-02 9.95504301e-01 -8.50763559e-03 -1.39740501e+02] [-5.45328646e-02 3.36578424e-03 9.98506304e-01 -4.95042174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.4607140569999 meters 0.03343035126196061 Centerline is valid? [True, True] Translation: X:779.92, Y:-139.74, Z:-49.51 [[ 9.93515106e-01 1.00086332e-01 5.39486846e-02 7.79918210e+02] [-9.97716282e-02 9.94974037e-01 -8.50219815e-03 -1.39740062e+02] [-5.45284943e-02 3.06451420e-03 9.98507512e-01 -4.95058486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.4907140569999 meters 0.03359415053775763 Centerline is valid? [True, True] Translation: X:779.95, Y:-139.74, Z:-49.51 [[ 9.93330325e-01 1.01836266e-01 5.40762471e-02 7.79945974e+02] [-1.01522706e-01 9.94796726e-01 -8.52133702e-03 -1.39742751e+02] [-5.46626548e-02 2.97453553e-03 9.98500449e-01 -4.95078733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.520714057 meters 0.03255740896985172 Centerline is valid? [True, True] Translation: X:779.98, Y:-139.74, Z:-49.51 [[ 9.92928217e-01 1.05506608e-01 5.44234421e-02 7.79976104e+02] [-1.05194779e-01 9.94414701e-01 -8.57091103e-03 -1.39742620e+02] [-5.50237587e-02 2.78523746e-03 9.98481161e-01 -4.95094096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.5507140569999 meters 0.030949539687654896 Centerline is valid? [True, True] Translation: X:780.01, Y:-139.74, Z:-49.51 [[ 9.92771715e-01 1.06753621e-01 5.48451187e-02 7.80005057e+02] [-1.06438879e-01 9.94281739e-01 -8.63645573e-03 -1.39742866e+02] [-5.54534730e-02 2.73637599e-03 9.98457523e-01 -4.95107398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.5807140569999 meters 0.03150212932133847 Centerline is valid? [True, True] Translation: X:780.03, Y:-139.75, Z:-49.51 [[ 9.92670899e-01 1.07387936e-01 5.54284924e-02 7.80032804e+02] [-1.07067671e-01 9.94213459e-01 -8.72422672e-03 -1.39747268e+02] [-5.60446298e-02 2.72568641e-03 9.98424544e-01 -4.95122378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.6107140569999 meters 0.0311042769741553 Centerline is valid? [True, True] Translation: X:780.06, Y:-139.75, Z:-49.51 [[ 9.92573432e-01 1.07531146e-01 5.68773595e-02 7.80061103e+02] [-1.07194439e-01 9.94197820e-01 -8.94694517e-03 -1.39750124e+02] [-5.75094220e-02 2.78356344e-03 9.98341083e-01 -4.95134297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.640714057 meters 0.03366273022071757 Centerline is valid? [True, True] Translation: X:780.09, Y:-139.76, Z:-49.52 [[ 9.92621536e-01 1.06856554e-01 5.73076246e-02 7.80087343e+02] [-1.06513851e-01 9.94270392e-01 -9.01041150e-03 -1.39758893e+02] [-5.79420959e-02 2.83987272e-03 9.98315906e-01 -4.95151838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.6707140569999 meters 0.03274181331022183 Centerline is valid? [True, True] Translation: X:780.12, Y:-139.76, Z:-49.52 [[ 9.92887361e-01 1.04247525e-01 5.75077600e-02 7.80116434e+02] [-1.03898422e-01 9.94546869e-01 -9.03564980e-03 -1.39763412e+02] [-5.81361068e-02 2.99641697e-03 9.98304169e-01 -4.95178249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.7007140569999 meters 0.03455600912594845 Centerline is valid? [True, True] Translation: X:780.14, Y:-139.77, Z:-49.52 [[ 9.93156135e-01 1.01790396e-01 5.72678502e-02 7.80144293e+02] [-1.01440251e-01 9.94800960e-01 -8.99589448e-03 -1.39771847e+02] [-5.78858080e-02 3.12506268e-03 9.98318320e-01 -4.95198300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.7307140569999 meters 0.035523275256855384 Centerline is valid? [True, True] Translation: X:780.17, Y:-139.78, Z:-49.52 [[ 9.93427387e-01 9.92762838e-02 5.69758428e-02 7.80173469e+02] [-9.89258361e-02 9.95054598e-01 -8.94568335e-03 -1.39778449e+02] [-5.75821686e-02 3.25050395e-03 9.98335479e-01 -4.95221502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.760714057 meters 0.036973609041463594 Centerline is valid? [True, True] Translation: X:780.20, Y:-139.79, Z:-49.52 [[ 9.93885497e-01 9.48699564e-02 5.64916831e-02 7.80202869e+02] [-9.45184714e-02 9.95483613e-01 -8.86765999e-03 -1.39786997e+02] [-5.70778193e-02 3.47393113e-03 9.98363688e-01 -4.95244371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.790714057 meters 0.03878975398888167 Centerline is valid? [True, True] Translation: X:780.23, Y:-139.80, Z:-49.53 [[ 9.94065753e-01 9.32785431e-02 5.59677722e-02 7.80230315e+02] [-9.29310540e-02 9.95633787e-01 -8.78525070e-03 -1.39795412e+02] [-5.65428804e-02 3.53197279e-03 9.98393924e-01 -4.95265258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.8207140569999 meters 0.03970763727758729 Centerline is valid? [True, True] Translation: X:780.26, Y:-139.80, Z:-49.53 [[ 9.94329066e-01 9.06805180e-02 5.55585461e-02 7.80259063e+02] [-9.03342295e-02 9.95873347e-01 -8.71802655e-03 -1.39803594e+02] [-5.61198305e-02 3.64974874e-03 9.98417370e-01 -4.95288331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.8507140569999 meters 0.03744700303053259 Centerline is valid? [True, True] Translation: X:780.29, Y:-139.81, Z:-49.53 [[ 9.94430193e-01 8.97704988e-02 5.52254339e-02 7.80287407e+02] [-8.94270055e-02 9.95955687e-01 -8.66492920e-03 -1.39805507e+02] [-5.57799400e-02 3.67802204e-03 9.98436313e-01 -4.95304446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.880714057 meters 0.03706725079051702 Centerline is valid? [True, True] Translation: X:780.32, Y:-139.81, Z:-49.53 [[ 9.94468174e-01 8.94556282e-02 5.50521660e-02 7.80315999e+02] [-8.91140897e-02 9.95984014e-01 -8.63271277e-03 -1.39809642e+02] [-5.56033220e-02 3.67903445e-03 9.98446160e-01 -4.95324614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.910714057 meters 0.03706725079051702 Centerline is valid? [True, True] Translation: X:780.34, Y:-139.81, Z:-49.53 [[ 9.94477747e-01 8.93487695e-02 5.50527722e-02 7.80343155e+02] [-8.90072813e-02 9.95993598e-01 -8.62884543e-03 -1.39813809e+02] [-5.56031854e-02 3.68109718e-03 9.98446160e-01 -4.95340546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.9407140569999 meters 0.03744340997244249 Centerline is valid? [True, True] Translation: X:780.37, Y:-139.82, Z:-49.54 [[ 9.94437488e-01 9.02149520e-02 5.43630920e-02 7.80370291e+02] [-8.98835915e-02 9.95915879e-01 -8.51479003e-03 -1.39820336e+02] [-5.49092279e-02 3.58107645e-03 9.98484929e-01 -4.95359602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.9707140569999 meters 0.036599005037785876 Centerline is valid? [True, True] Translation: X:780.40, Y:-139.82, Z:-49.54 [[ 9.94251417e-01 9.24115795e-02 5.40760636e-02 7.80399806e+02] [-9.20872253e-02 9.95714965e-01 -8.46471616e-03 -1.39824337e+02] [-5.46265836e-02 3.43634138e-03 9.98500940e-01 -4.95386613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.000714057 meters 0.03714666874457302 Centerline is valid? [True, True] Translation: X:780.43, Y:-139.83, Z:-49.54 [[ 9.94070449e-01 9.42998608e-02 5.41431301e-02 7.80427712e+02] [-9.39775380e-02 9.95538251e-01 -8.47430003e-03 -1.39830673e+02] [-5.47006824e-02 3.33581316e-03 9.98497225e-01 -4.95400464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.030714057 meters 0.03527214231085951 Centerline is valid? [True, True] Translation: X:780.46, Y:-139.83, Z:-49.54 [[ 9.93917284e-01 9.60461838e-02 5.38847312e-02 7.80456508e+02] [-9.57296005e-02 9.95371663e-01 -8.43179923e-03 -1.39832080e+02] [-5.44451767e-02 3.22214719e-03 9.98511563e-01 -4.95416791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.0607140569999 meters 0.03646457351925496 Centerline is valid? [True, True] Translation: X:780.48, Y:-139.84, Z:-49.54 [[ 9.93709325e-01 9.84313334e-02 5.34139519e-02 7.80484969e+02] [-9.81239083e-02 9.95139139e-01 -8.35417776e-03 -1.39838455e+02] [-5.39766269e-02 3.06043862e-03 9.98537509e-01 -4.95431667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.0907140569999 meters 0.03303876220432555 Centerline is valid? [True, True] Translation: X:780.52, Y:-139.84, Z:-49.54 [[ 9.93220343e-01 1.03126436e-01 5.36496834e-02 7.80516035e+02] [-1.02823220e-01 9.94664270e-01 -8.38900276e-03 -1.39838545e+02] [-5.42285512e-02 2.81569499e-03 9.98524580e-01 -4.95447033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.120714057 meters 0.032796949199729704 Centerline is valid? [True, True] Translation: X:780.54, Y:-139.84, Z:-49.55 [[ 9.92781059e-01 1.07162216e-01 5.38704879e-02 7.80544379e+02] [-1.06862420e-01 9.94238135e-01 -8.42344684e-03 -1.39843321e+02] [-5.44627686e-02 2.60590777e-03 9.98512402e-01 -4.95460710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.150714057 meters 0.029561478261059385 Centerline is valid? [True, True] Translation: X:780.57, Y:-139.84, Z:-49.55 [[ 9.92597278e-01 1.08830334e-01 5.39129051e-02 7.80574175e+02] [-1.08532608e-01 9.94057159e-01 -8.42844231e-03 -1.39842528e+02] [-5.45097794e-02 2.51474070e-03 9.98510070e-01 -4.95476279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.1807140569999 meters 0.029566954642308997 Centerline is valid? [True, True] Translation: X:780.60, Y:-139.85, Z:-49.55 [[ 9.92468659e-01 1.10196683e-01 5.35037630e-02 7.80602798e+02] [-1.09905810e-01 9.93906868e-01 -8.35769620e-03 -1.39847902e+02] [-5.40987479e-02 2.41437715e-03 9.98532672e-01 -4.95497631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.2107140569999 meters 0.0291945937319667 Centerline is valid? [True, True] Translation: X:780.63, Y:-139.85, Z:-49.55 [[ 9.92408818e-01 1.11045056e-01 5.28557790e-02 7.80631399e+02] [-1.10762541e-01 9.93812626e-01 -8.25370177e-03 -1.39852696e+02] [-5.34452733e-02 2.33660602e-03 9.98568046e-01 -4.95519801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.2407140569999 meters 0.03224946594629482 Centerline is valid? [True, True] Translation: X:780.66, Y:-139.86, Z:-49.55 [[ 9.92418874e-01 1.11108392e-01 5.25328819e-02 7.80657277e+02] [-1.10829609e-01 9.93805597e-01 -8.19955894e-03 -1.39863580e+02] [-5.31185119e-02 2.31519830e-03 9.98585531e-01 -4.95546867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.270714057 meters 0.03230794136964588 Centerline is valid? [True, True] Translation: X:780.69, Y:-139.87, Z:-49.56 [[ 9.92470531e-01 1.10933892e-01 5.19222175e-02 7.80685843e+02] [-1.10661570e-01 9.93825143e-01 -8.09949594e-03 -1.39868952e+02] [-5.25001139e-02 2.29271693e-03 9.98618286e-01 -4.95567925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.3007140569999 meters 0.030112865144185704 Centerline is valid? [True, True] Translation: X:780.71, Y:-139.87, Z:-49.56 [[ 9.92670326e-01 1.09444757e-01 5.12588394e-02 7.80714539e+02] [-1.09177552e-01 9.93990131e-01 -7.99261130e-03 -1.39871260e+02] [-5.18255299e-02 2.33771346e-03 9.98653418e-01 -4.95587087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.3307140569999 meters 0.031080327741109384 Centerline is valid? [True, True] Translation: X:780.74, Y:-139.88, Z:-49.56 [[ 9.92775012e-01 1.08480674e-01 5.12807886e-02 7.80741688e+02] [-1.08212144e-01 9.94095696e-01 -7.99244228e-03 -1.39878581e+02] [-5.18450367e-02 2.38549290e-03 9.98652293e-01 -4.95608365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.3607140569999 meters 0.030407228771482078 Centerline is valid? [True, True] Translation: X:780.77, Y:-139.88, Z:-49.56 [[ 9.92914310e-01 1.07453980e-01 5.07426412e-02 7.80769877e+02] [-1.07189961e-01 9.94207141e-01 -7.90397579e-03 -1.39882868e+02] [-5.12980099e-02 2.40886894e-03 9.98680485e-01 -4.95620616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.390714057 meters 0.03449719737147823 Centerline is valid? [True, True] Translation: X:780.80, Y:-139.90, Z:-49.56 [[ 9.93183266e-01 1.04848180e-01 5.09299554e-02 7.80796769e+02] [-1.04578978e-01 9.94484973e-01 -7.92948182e-03 -1.39896286e+02] [-5.14804671e-02 2.54922595e-03 9.98670748e-01 -4.95642752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.4207140569999 meters 0.03138331726578349 Centerline is valid? [True, True] Translation: X:780.83, Y:-139.90, Z:-49.56 [[ 9.93447282e-01 1.02364713e-01 5.08327067e-02 7.80826363e+02] [-1.02093512e-01 9.94743356e-01 -7.91019584e-03 -1.39897810e+02] [-5.13752222e-02 2.66867302e-03 9.98675856e-01 -4.95645512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.4507140569999 meters 0.03327897265529178 Centerline is valid? [True, True] Translation: X:780.85, Y:-139.91, Z:-49.57 [[ 9.93510439e-01 1.01589491e-01 5.11525538e-02 7.80852845e+02] [-1.01313919e-01 9.94822674e-01 -7.95841042e-03 -1.39905420e+02] [-5.16962112e-02 2.72429813e-03 9.98659141e-01 -4.95660698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.4807140569999 meters 0.034697908577087634 Centerline is valid? [True, True] Translation: X:780.88, Y:-139.91, Z:-49.57 [[ 9.93568447e-01 1.00774823e-01 5.16350320e-02 7.80880131e+02] [-1.00493174e-01 9.94905353e-01 -8.02873007e-03 -1.39912949e+02] [-5.21810636e-02 2.78812461e-03 9.98633748e-01 -4.95672901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.510714057 meters 0.03436338104255201 Centerline is valid? [True, True] Translation: X:780.91, Y:-139.92, Z:-49.57 [[ 9.93623980e-01 9.95836605e-02 5.28628440e-02 7.80908333e+02] [-9.92870250e-02 9.95024927e-01 -8.21476006e-03 -1.39918632e+02] [-5.34179034e-02 2.91378807e-03 9.98567993e-01 -4.95671204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.540714057 meters 0.034594218715832195 Centerline is valid? [True, True] Translation: X:780.94, Y:-139.92, Z:-49.57 [[ 9.93649471e-01 9.89249144e-02 5.36152056e-02 7.80936522e+02] [-9.86190198e-02 9.95090416e-01 -8.32781405e-03 -1.39924237e+02] [-5.41758056e-02 2.98744901e-03 9.98526944e-01 -4.95684198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.5707140569999 meters 0.03528164937127903 Centerline is valid? [True, True] Translation: X:780.96, Y:-139.93, Z:-49.57 [[ 9.93773024e-01 9.74865257e-02 5.39588133e-02 7.80964534e+02] [-9.71747915e-02 9.95232074e-01 -8.37732748e-03 -1.39931928e+02] [-5.45182182e-02 3.08172563e-03 9.98508020e-01 -4.95696828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.6007140569999 meters 0.03625416876915735 Centerline is valid? [True, True] Translation: X:780.99, Y:-139.94, Z:-49.57 [[ 9.93911966e-01 9.64571506e-02 5.32449215e-02 7.80991332e+02] [-9.61523454e-02 9.95332332e-01 -8.26283473e-03 -1.39938834e+02] [-5.37934014e-02 3.09290623e-03 9.98547297e-01 -4.95714997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.630714057 meters 0.0367476074939288 Centerline is valid? [True, True] Translation: X:781.02, Y:-139.94, Z:-49.57 [[ 9.94075716e-01 9.50177463e-02 5.27740344e-02 7.81019904e+02] [-9.47165483e-02 9.95470633e-01 -8.18500021e-03 -1.39944959e+02] [-5.33127217e-02 3.13793556e-03 9.98572935e-01 -4.95736686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.660714057 meters 0.03863706671473755 Centerline is valid? [True, True] Translation: X:781.05, Y:-139.96, Z:-49.58 [[ 9.94427691e-01 9.21922860e-02 5.11287562e-02 7.81047303e+02] [-9.19060236e-02 9.95736133e-01 -7.92695823e-03 -1.39955201e+02] [-5.16415544e-02 3.18374609e-03 9.98660610e-01 -4.95768304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.6907140569999 meters 0.03987161518010843 Centerline is valid? [True, True] Translation: X:781.08, Y:-139.96, Z:-49.58 [[ 9.94618991e-01 9.03176359e-02 5.07522097e-02 7.81076205e+02] [-9.00331648e-02 9.95907686e-01 -7.86827310e-03 -1.39962935e+02] [-5.12551595e-02 3.25655180e-03 9.98680281e-01 -4.95793482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.7207140569999 meters 0.03798786945825034 Centerline is valid? [True, True] Translation: X:781.11, Y:-139.97, Z:-49.58 [[ 9.94911706e-01 8.73406168e-02 5.02226506e-02 7.81105779e+02] [-8.70583752e-02 9.96172798e-01 -7.78433771e-03 -1.39967227e+02] [-5.07103272e-02 3.37242636e-03 9.98707710e-01 -4.95803394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.750714057 meters 0.03893416106283336 Centerline is valid? [True, True] Translation: X:781.13, Y:-139.97, Z:-49.58 [[ 9.95046648e-01 8.58173104e-02 5.01752790e-02 7.81134357e+02] [-8.55337078e-02 9.96304930e-01 -7.77634398e-03 -1.39973332e+02] [-5.06572228e-02 3.44614735e-03 9.98710153e-01 -4.95816960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.780714057 meters 0.039867214171760645 Centerline is valid? [True, True] Translation: X:781.16, Y:-139.98, Z:-49.58 [[ 9.95138646e-01 8.48283287e-02 5.00322890e-02 7.81161593e+02] [-8.45452221e-02 9.96389490e-01 -7.75174144e-03 -1.39980187e+02] [-5.05092142e-02 3.48406650e-03 9.98717518e-01 -4.95834005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.8107140569999 meters 0.04120097981066033 Centerline is valid? [True, True] Translation: X:781.19, Y:-139.99, Z:-49.59 [[ 9.95179030e-01 8.42713912e-02 5.01700122e-02 7.81188659e+02] [-8.39862431e-02 9.96436631e-01 -7.76864819e-03 -1.39987915e+02] [-5.06459127e-02 3.51760494e-03 9.98710478e-01 -4.95854933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.8407140569999 meters 0.03961816443169349 Centerline is valid? [True, True] Translation: X:781.22, Y:-139.99, Z:-49.59 [[ 9.95155857e-01 8.48225289e-02 4.96986867e-02 7.81217346e+02] [-8.45436566e-02 9.96390097e-01 -7.69059972e-03 -1.39990117e+02] [-5.01716153e-02 3.45163666e-03 9.98734647e-01 -4.95866841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.870714057 meters 0.042524716839594544 Centerline is valid? [True, True] Translation: X:781.25, Y:-140.00, Z:-49.59 [[ 9.94970403e-01 8.70890314e-02 4.94913918e-02 7.81245147e+02] [-8.68154621e-02 9.96195001e-01 -7.65471564e-03 -1.39999133e+02] [-4.99697189e-02 3.31959746e-03 9.98745217e-01 -4.95893428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.900714057 meters 0.04019323953280136 Centerline is valid? [True, True] Translation: X:781.27, Y:-140.00, Z:-49.59 [[ 9.94911136e-01 8.80188680e-02 4.90358009e-02 7.81274088e+02] [-8.77515122e-02 9.96113534e-01 -7.58280714e-03 -1.40000686e+02] [-4.95126550e-02 3.24125360e-03 9.98768237e-01 -4.95908403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.9307140569999 meters 0.03612356633388794 Centerline is valid? [True, True] Translation: X:781.30, Y:-140.00, Z:-49.59 [[ 9.94861513e-01 8.85252239e-02 4.91310020e-02 7.81303709e+02] [-8.82576116e-02 9.96068734e-01 -7.59411932e-03 -1.39999024e+02] [-4.96101261e-02 3.21891214e-03 9.98763473e-01 -4.95915996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.9607140569999 meters 0.03705457956708628 Centerline is valid? [True, True] Translation: X:781.33, Y:-140.01, Z:-49.59 [[ 9.94732130e-01 8.95543283e-02 4.98799826e-02 7.81331261e+02] [-8.92799623e-02 9.95976759e-01 -7.70614965e-03 -1.40005441e+02] [-5.03694225e-02 3.21227168e-03 9.98725489e-01 -4.95923805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.9907140569999 meters 0.03722547080529227 Centerline is valid? [True, True] Translation: X:781.36, Y:-140.01, Z:-49.59 [[ 9.94693454e-01 8.97950920e-02 5.02172712e-02 7.81359639e+02] [-8.95174923e-02 9.95955062e-01 -7.75455990e-03 -1.40010426e+02] [-5.07104668e-02 3.21808578e-03 9.98708212e-01 -4.95940950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.020714057 meters 0.034953478436564295 Centerline is valid? [True, True] Translation: X:781.39, Y:-140.01, Z:-49.60 [[ 9.94722882e-01 8.97053296e-02 4.97929875e-02 7.81388571e+02] [-8.94324719e-02 9.95963235e-01 -7.68550018e-03 -1.40011882e+02] [-5.02814152e-02 3.19183293e-03 9.98729989e-01 -4.95953459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.0507140569999 meters 0.03693509367396542 Centerline is valid? [True, True] Translation: X:781.42, Y:-140.02, Z:-49.60 [[ 9.94753261e-01 8.91005775e-02 5.02696463e-02 7.81415591e+02] [-8.88218827e-02 9.96017333e-01 -7.75541618e-03 -1.40020706e+02] [-5.07604511e-02 3.24968091e-03 9.98705570e-01 -4.95972400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.0807140569999 meters 0.03728650492743918 Centerline is valid? [True, True] Translation: X:781.44, Y:-140.03, Z:-49.60 [[ 9.94785299e-01 8.88030313e-02 5.01620458e-02 7.81443927e+02] [-8.85253940e-02 9.96043894e-01 -7.73406510e-03 -1.40025866e+02] [-5.06504078e-02 3.25311939e-03 9.98711146e-01 -4.95989196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.1107140569999 meters 0.036329584085800816 Centerline is valid? [True, True] Translation: X:781.47, Y:-140.03, Z:-49.60 [[ 9.94873682e-01 8.78564274e-02 5.00760034e-02 7.81472118e+02] [-8.75787324e-02 9.96127708e-01 -7.71718401e-03 -1.40030496e+02] [-5.05600987e-02 3.29203036e-03 9.98715595e-01 -4.96004440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.140714057 meters 0.036372287145641474 Centerline is valid? [True, True] Translation: X:781.50, Y:-140.04, Z:-49.60 [[ 9.94883196e-01 8.78426007e-02 4.99109619e-02 7.81500371e+02] [-8.75669014e-02 9.96128973e-01 -7.68810907e-03 -1.40035651e+02] [-5.03930987e-02 3.27822224e-03 9.98724080e-01 -4.96027549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.1707140569999 meters 0.03716122563489888 Centerline is valid? [True, True] Translation: X:781.53, Y:-140.04, Z:-49.60 [[ 9.94925027e-01 8.74065136e-02 4.98426814e-02 7.81527051e+02] [-8.71312018e-02 9.96167286e-01 -7.67407069e-03 -1.40042534e+02] [-5.03224125e-02 3.29227226e-03 9.98727598e-01 -4.96046585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.2007140569999 meters 0.0373400856857488 Centerline is valid? [True, True] Translation: X:781.55, Y:-140.05, Z:-49.61 [[ 9.95020513e-01 8.67629267e-02 4.90547966e-02 7.81554828e+02] [-8.64957046e-02 9.96223628e-01 -7.54823671e-03 -1.40048709e+02] [-4.95244546e-02 3.26762117e-03 9.98767566e-01 -4.96069160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.2307140569999 meters 0.037684062368742006 Centerline is valid? [True, True] Translation: X:781.58, Y:-140.05, Z:-49.61 [[ 9.95045655e-01 8.64227092e-02 4.91453033e-02 7.81582801e+02] [-8.61542643e-02 9.96253136e-01 -7.55858136e-03 -1.40054442e+02] [-4.96143956e-02 3.28705609e-03 9.98763039e-01 -4.96088084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.260714057 meters 0.03826178050396348 Centerline is valid? [True, True] Translation: X:781.61, Y:-140.06, Z:-49.61 [[ 9.95133395e-01 8.53793683e-02 4.91923807e-02 7.81611195e+02] [-8.51093171e-02 9.96342921e-01 -7.56226099e-03 -1.40060713e+02] [-4.96581413e-02 3.33872853e-03 9.98760693e-01 -4.96103487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.290714057 meters 0.0388108205570402 Centerline is valid? [True, True] Translation: X:781.64, Y:-140.07, Z:-49.61 [[ 9.95167862e-01 8.48146073e-02 4.94712947e-02 7.81638840e+02] [-8.45409611e-02 9.96391008e-01 -7.60167273e-03 -1.40066747e+02] [-4.99374861e-02 3.38258960e-03 9.98746617e-01 -4.96117617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.3207140569999 meters 0.03936966200052872 Centerline is valid? [True, True] Translation: X:781.67, Y:-140.07, Z:-49.61 [[ 9.95180976e-01 8.45050050e-02 4.97366069e-02 7.81667001e+02] [-8.42282611e-02 9.96417214e-01 -7.63780680e-03 -1.40072434e+02] [-5.02038442e-02 3.41177211e-03 9.98733165e-01 -4.96133195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.3507140569999 meters 0.039164668356204496 Centerline is valid? [True, True] Translation: X:781.70, Y:-140.08, Z:-49.62 [[ 9.95182820e-01 8.42439300e-02 5.01409462e-02 7.81695436e+02] [-8.39625172e-02 9.96439192e-01 -7.69628168e-03 -1.40076825e+02] [-5.06107689e-02 3.44924725e-03 9.98712498e-01 -4.96150254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.380714057 meters 0.03876141087499564 Centerline is valid? [True, True] Translation: X:781.72, Y:-140.08, Z:-49.62 [[ 9.95161862e-01 8.44782382e-02 5.01626936e-02 7.81724274e+02] [-8.41970600e-02 9.96419403e-01 -7.69601117e-03 -1.40081202e+02] [-5.06332267e-02 3.43522548e-03 9.98711408e-01 -4.96168874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.410714057 meters 0.03649508502165342 Centerline is valid? [True, True] Translation: X:781.75, Y:-140.08, Z:-49.62 [[ 9.95068995e-01 8.54385131e-02 5.03781186e-02 7.81753432e+02] [-8.51563213e-02 9.96337653e-01 -7.72542749e-03 -1.40082606e+02] [-5.08536655e-02 3.39731812e-03 9.98700337e-01 -4.96176510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.4407140569999 meters 0.039450211054327465 Centerline is valid? [True, True] Translation: X:781.78, Y:-140.09, Z:-49.62 [[ 9.94982381e-01 8.61380636e-02 5.08949516e-02 7.81779809e+02] [-8.58511463e-02 9.96277434e-01 -7.80098905e-03 -1.40091048e+02] [-5.13774538e-02 3.39245672e-03 9.98673545e-01 -4.96196980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.4707140569999 meters 0.03693713815364864 Centerline is valid? [True, True] Translation: X:781.81, Y:-140.09, Z:-49.62 [[ 9.94877990e-01 8.72926101e-02 5.09684757e-02 7.81809368e+02] [-8.70066094e-02 9.96177138e-01 -7.80760858e-03 -1.40091738e+02] [-5.14551769e-02 3.33302367e-03 9.98669743e-01 -4.96208728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.500714057 meters 0.03690211464111797 Centerline is valid? [True, True] Translation: X:781.84, Y:-140.10, Z:-49.62 [[ 9.94711350e-01 8.94902092e-02 5.04066732e-02 7.81837384e+02] [-8.92135515e-02 9.95982630e-01 -7.71647077e-03 -1.40095873e+02] [-5.08947195e-02 3.17870272e-03 9.98698965e-01 -4.96233731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.530714057 meters 0.034256848034400086 Centerline is valid? [True, True] Translation: X:781.87, Y:-140.10, Z:-49.62 [[ 9.94637916e-01 9.03040160e-02 5.04043734e-02 7.81866176e+02] [-9.00285557e-02 9.95909313e-01 -7.71352896e-03 -1.40096291e+02] [-5.08947476e-02 3.13433544e-03 9.98699104e-01 -4.96246695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.5607140569999 meters 0.0343522209889755 Centerline is valid? [True, True] Translation: X:781.89, Y:-140.10, Z:-49.63 [[ 9.94435984e-01 9.22268663e-02 5.09046079e-02 7.81894563e+02] [-9.19486158e-02 9.95733312e-01 -7.78614725e-03 -1.40100107e+02] [-5.14055058e-02 3.06221676e-03 9.98673168e-01 -4.96265176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.5907140569999 meters 0.034539599216725156 Centerline is valid? [True, True] Translation: X:781.92, Y:-140.10, Z:-49.63 [[ 9.94347193e-01 9.31037592e-02 5.10426348e-02 7.81923196e+02] [-9.28252866e-02 9.95651824e-01 -7.80454623e-03 -1.40104047e+02] [-5.15473251e-02 3.02238143e-03 9.98665979e-01 -4.96280863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.620714057 meters 0.03420868355226201 Centerline is valid? [True, True] Translation: X:781.95, Y:-140.11, Z:-49.63 [[ 9.94284939e-01 9.35145414e-02 5.15023400e-02 7.81951568e+02] [-9.32317714e-02 9.95613320e-01 -7.87103912e-03 -1.40107583e+02] [-5.20124724e-02 3.02440126e-03 9.98641856e-01 -4.96297062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.650714057 meters 0.035257261034118706 Centerline is valid? [True, True] Translation: X:781.98, Y:-140.11, Z:-49.63 [[ 9.94253626e-01 9.36072376e-02 5.19366099e-02 7.81978272e+02] [-9.33199946e-02 9.95604558e-01 -7.93369714e-03 -1.40113419e+02] [-5.24509770e-02 3.04138300e-03 9.98618869e-01 -4.96317982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.6807140569999 meters 0.036155780412909 Centerline is valid? [True, True] Translation: X:782.01, Y:-140.12, Z:-49.63 [[ 9.94314390e-01 9.31522597e-02 5.15902193e-02 7.82005733e+02] [-9.28684876e-02 9.95647234e-01 -7.87583567e-03 -1.40118738e+02] [-5.20993111e-02 3.03995109e-03 9.98637282e-01 -4.96338468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.7107140569999 meters 0.033642885668053506 Centerline is valid? [True, True] Translation: X:782.04, Y:-140.12, Z:-49.64 [[ 9.94431124e-01 9.22379925e-02 5.09793275e-02 7.82035038e+02] [-9.19599468e-02 9.95732329e-01 -7.77801308e-03 -1.40119133e+02] [-5.14791928e-02 3.04664205e-03 9.98669420e-01 -4.96357004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.7407140569999 meters 0.03539558528442502 Centerline is valid? [True, True] Translation: X:782.06, Y:-140.13, Z:-49.64 [[ 9.94484764e-01 9.16781950e-02 5.09427371e-02 7.82062487e+02] [-9.14000057e-02 9.95783955e-01 -7.76877144e-03 -1.40126154e+02] [-5.14401872e-02 3.06975837e-03 9.98671359e-01 -4.96375299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.770714057 meters 0.033431610615082416 Centerline is valid? [True, True] Translation: X:782.09, Y:-140.13, Z:-49.64 [[ 9.94523787e-01 9.11615157e-02 5.11078845e-02 7.82091104e+02] [-9.08810879e-02 9.95831290e-01 -7.78913306e-03 -1.40127514e+02] [-5.16048997e-02 3.10173797e-03 9.98662763e-01 -4.96386760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.8007140569999 meters 0.033431610615082416 Centerline is valid? [True, True] Translation: X:782.12, Y:-140.13, Z:-49.64 [[ 9.94530391e-01 9.10891244e-02 5.11084513e-02 7.82119103e+02] [-9.08087919e-02 9.95837914e-01 -7.78541203e-03 -1.40131722e+02] [-5.16048999e-02 3.10173214e-03 9.98662763e-01 -4.96403177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.8307140569999 meters 0.03515030911372683 Centerline is valid? [True, True] Translation: X:782.15, Y:-140.14, Z:-49.64 [[ 9.94572294e-01 9.04753048e-02 5.13825925e-02 7.82146109e+02] [-9.01913325e-02 9.95893728e-01 -7.82343139e-03 -1.40139076e+02] [-5.18794289e-02 3.14670363e-03 9.98648398e-01 -4.96417680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.8607140569999 meters 0.03299638343732303 Centerline is valid? [True, True] Translation: X:782.18, Y:-140.14, Z:-49.64 [[ 9.94557503e-01 9.04116292e-02 5.17794413e-02 7.82175216e+02] [-9.01234198e-02 9.95899438e-01 -7.87894606e-03 -1.40139396e+02] [-5.22794649e-02 3.16952459e-03 9.98627464e-01 -4.96430649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.890714057 meters 0.03394471742725577 Centerline is valid? [True, True] Translation: X:782.20, Y:-140.15, Z:-49.64 [[ 9.94438860e-01 9.17398837e-02 5.17218201e-02 7.82202320e+02] [-9.14543029e-02 9.95778203e-01 -7.86638625e-03 -1.40145319e+02] [-5.22251224e-02 3.09245718e-03 9.98630549e-01 -4.96448620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.9207140569999 meters 0.03244729981164982 Centerline is valid? [True, True] Translation: X:782.23, Y:-140.15, Z:-49.65 [[ 9.94365205e-01 9.25550542e-02 5.16856036e-02 7.82231235e+02] [-9.22712277e-02 9.95702920e-01 -7.85595023e-03 -1.40146582e+02] [-5.21906143e-02 3.04258946e-03 9.98632506e-01 -4.96460978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.9507140569999 meters 0.033687514898796414 Centerline is valid? [True, True] Translation: X:782.26, Y:-140.15, Z:-49.65 [[ 9.94253631e-01 9.34069629e-02 5.22958545e-02 7.82258211e+02] [-9.31177661e-02 9.95623403e-01 -7.94482021e-03 -1.40152770e+02] [-5.28090782e-02 3.02949319e-03 9.98600032e-01 -4.96478724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.9807140569999 meters 0.03527949051948321 Centerline is valid? [True, True] Translation: X:782.29, Y:-140.16, Z:-49.65 [[ 9.94077032e-01 9.49357809e-02 5.28966228e-02 7.82285177e+02] [-9.46423166e-02 9.95478947e-01 -8.03110047e-03 -1.40158947e+02] [-5.34199131e-02 2.97727360e-03 9.98567699e-01 -4.96494001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.010714057 meters 0.03538983601943999 Centerline is valid? [True, True] Translation: X:782.31, Y:-140.16, Z:-49.65 [[ 9.93985144e-01 9.57558309e-02 5.31446586e-02 7.82312431e+02] [-9.54610333e-02 9.95400505e-01 -8.06390555e-03 -1.40163457e+02] [-5.36723859e-02 2.94215830e-03 9.98554264e-01 -4.96511689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.040714057 meters 0.03460072445279304 Centerline is valid? [True, True] Translation: X:782.34, Y:-140.17, Z:-49.65 [[ 9.93800059e-01 9.72334844e-02 5.39174621e-02 7.82340796e+02] [-9.69324718e-02 9.95257376e-01 -8.17631931e-03 -1.40167022e+02] [-5.44567638e-02 2.89927373e-03 9.98511920e-01 -4.96528538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.0707140569999 meters 0.032939042343840784 Centerline is valid? [True, True] Translation: X:782.37, Y:-140.17, Z:-49.65 [[ 9.93721130e-01 9.78583840e-02 5.42406969e-02 7.82369404e+02] [-9.75548845e-02 9.95196187e-01 -8.22151210e-03 -1.40168441e+02] [-5.47846786e-02 2.87844537e-03 9.98494043e-01 -4.96542434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.1007140569999 meters 0.03252236763366106 Centerline is valid? [True, True] Translation: X:782.40, Y:-140.17, Z:-49.66 [[ 9.93603717e-01 9.88044934e-02 5.46747257e-02 7.82397839e+02] [-9.84977580e-02 9.95102798e-01 -8.28333962e-03 -1.40172381e+02] [-5.52254037e-02 2.84501913e-03 9.98469860e-01 -4.96559001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.130714057 meters 0.033089549061235506 Centerline is valid? [True, True] Translation: X:782.43, Y:-140.18, Z:-49.66 [[ 9.93466135e-01 9.98025144e-02 5.53578987e-02 7.82425462e+02] [-9.94898250e-02 9.95003268e-01 -8.38283391e-03 -1.40177539e+02] [-5.59179180e-02 2.82051395e-03 9.98431385e-01 -4.96576260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.160714057 meters 0.03239988365119797 Centerline is valid? [True, True] Translation: X:782.45, Y:-140.18, Z:-49.66 [[ 9.93442342e-01 1.00079225e-01 5.52852871e-02 7.82453803e+02] [-9.97680636e-02 9.94975542e-01 -8.36682194e-03 -1.40180978e+02] [-5.58448536e-02 2.79624914e-03 9.98435543e-01 -4.96592952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.1907140569999 meters 0.03268754173452066 Centerline is valid? [True, True] Translation: X:782.48, Y:-140.19, Z:-49.66 [[ 9.93397035e-01 1.00386174e-01 5.55423045e-02 7.82482281e+02] [-1.00072812e-01 9.94944643e-01 -8.40174267e-03 -1.40186639e+02] [-5.61049371e-02 2.78799169e-03 9.98420985e-01 -4.96611224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.2207140569999 meters 0.03157868585571813 Centerline is valid? [True, True] Translation: X:782.51, Y:-140.19, Z:-49.66 [[ 9.93397594e-01 1.00210341e-01 5.58489716e-02 7.82510992e+02] [-9.98934510e-02 9.94962308e-01 -8.44416419e-03 -1.40190004e+02] [-5.64138143e-02 2.80946588e-03 9.98403520e-01 -4.96632268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.250714057 meters 0.03231501632156077 Centerline is valid? [True, True] Translation: X:782.54, Y:-140.20, Z:-49.67 [[ 9.93419814e-01 9.99143131e-02 5.59839476e-02 7.82538550e+02] [-9.95956477e-02 9.94992023e-01 -8.46054539e-03 -1.40196482e+02] [-5.65489109e-02 2.82911591e-03 9.98395822e-01 -4.96650289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.280714057 meters 0.03157720180504082 Centerline is valid? [True, True] Translation: X:782.57, Y:-140.20, Z:-49.67 [[ 9.93510766e-01 9.90987268e-02 5.58193506e-02 7.82566709e+02] [-9.87809342e-02 9.95073490e-01 -8.43066561e-03 -1.40201283e+02] [-5.63798243e-02 2.86206945e-03 9.98405290e-01 -4.96668383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.3107140569999 meters 0.03130742147757336 Centerline is valid? [True, True] Translation: X:782.60, Y:-140.21, Z:-49.67 [[ 9.93559215e-01 9.85194141e-02 5.59822473e-02 7.82595022e+02] [-9.81990750e-02 9.95130905e-01 -8.45121223e-03 -1.40205516e+02] [-5.65422729e-02 2.89937489e-03 9.98395996e-01 -4.96684042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.3407140569999 meters 0.03217852629818114 Centerline is valid? [True, True] Translation: X:782.62, Y:-140.21, Z:-49.67 [[ 9.93520754e-01 9.86937368e-02 5.63565196e-02 7.82622406e+02] [-9.83696088e-02 9.95113616e-01 -8.50360102e-03 -1.40211819e+02] [-5.69203922e-02 2.90473531e-03 9.98374495e-01 -4.96697899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.370714057 meters 0.03251474422545477 Centerline is valid? [True, True] Translation: X:782.65, Y:-140.22, Z:-49.67 [[ 9.93508895e-01 9.82622658e-02 5.73114531e-02 7.82650609e+02] [-9.79266358e-02 9.95156110e-01 -8.64243397e-03 -1.40217179e+02] [-5.78830678e-02 2.97401723e-03 9.98318940e-01 -4.96715049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.400714057 meters 0.03171368132950718 Centerline is valid? [True, True] Translation: X:782.68, Y:-140.22, Z:-49.67 [[ 9.93468697e-01 9.83250352e-02 5.78976299e-02 7.82679285e+02] [-9.79828467e-02 9.95149842e-01 -8.72664722e-03 -1.40221176e+02] [-5.84748651e-02 2.99667625e-03 9.98284383e-01 -4.96732614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.4307140569999 meters 0.031341535960948505 Centerline is valid? [True, True] Translation: X:782.71, Y:-140.23, Z:-49.67 [[ 9.93464694e-01 9.80894388e-02 5.83640584e-02 7.82708130e+02] [-9.77415534e-02 9.95172989e-01 -8.79269801e-03 -1.40225424e+02] [-5.89448053e-02 3.03064131e-03 9.98256643e-01 -4.96742109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.4607140569999 meters 0.03446924503419217 Centerline is valid? [True, True] Translation: X:782.73, Y:-140.23, Z:-49.68 [[ 9.93455223e-01 9.81320815e-02 5.84535197e-02 7.82734430e+02] [-9.77834540e-02 9.95168791e-01 -8.80189558e-03 -1.40234926e+02] [-5.90348669e-02 3.02850208e-03 9.98251327e-01 -4.96757028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.4907140569999 meters 0.03202889890304355 Centerline is valid? [True, True] Translation: X:782.76, Y:-140.24, Z:-49.68 [[ 9.93474890e-01 9.78201016e-02 5.86418929e-02 7.82763125e+02] [-9.74689922e-02 9.95199435e-01 -8.82497973e-03 -1.40235295e+02] [-5.92236391e-02 3.05162956e-03 9.98240075e-01 -4.96773600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.520714057 meters 0.032510333104349434 Centerline is valid? [True, True] Translation: X:782.79, Y:-140.24, Z:-49.68 [[ 9.93408969e-01 9.79323850e-02 5.95639796e-02 7.82789791e+02] [-9.75705978e-02 9.95188278e-01 -8.95935081e-03 -1.40242013e+02] [-6.01547849e-02 3.08860636e-03 9.98184283e-01 -4.96784342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.5507140569999 meters 0.03298139354123489 Centerline is valid? [True, True] Translation: X:782.82, Y:-140.25, Z:-49.68 [[ 9.93397726e-01 9.80823636e-02 5.95046813e-02 7.82818182e+02] [-9.77218823e-02 9.95173562e-01 -8.94516845e-03 -1.40247224e+02] [-6.00948489e-02 3.07120054e-03 9.98187947e-01 -4.96800728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.5807140569999 meters 0.03329651849004055 Centerline is valid? [True, True] Translation: X:782.85, Y:-140.25, Z:-49.68 [[ 9.93332632e-01 9.85162571e-02 5.98734466e-02 7.82845479e+02] [-9.81523326e-02 9.95130738e-01 -8.99632030e-03 -1.40253330e+02] [-6.04681909e-02 3.05962007e-03 9.98165436e-01 -4.96821228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.6107140569999 meters 0.033295082211734106 Centerline is valid? [True, True] Translation: X:782.87, Y:-140.26, Z:-49.68 [[ 9.93325877e-01 9.87751155e-02 5.95582017e-02 7.82873835e+02] [-9.84157912e-02 9.95105190e-01 -8.94382312e-03 -1.40258134e+02] [-6.01501028e-02 3.02266340e-03 9.98184767e-01 -4.96841529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.640714057 meters 0.03367149982344231 Centerline is valid? [True, True] Translation: X:782.90, Y:-140.26, Z:-49.69 [[ 9.93310505e-01 9.93181983e-02 5.89078631e-02 7.82900965e+02] [-9.89678838e-02 9.95051343e-01 -8.84208052e-03 -1.40263047e+02] [-5.94945278e-02 2.95294492e-03 9.98224264e-01 -4.96863706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.6707140569999 meters 0.03357568876006613 Centerline is valid? [True, True] Translation: X:782.93, Y:-140.27, Z:-49.69 [[ 9.93241779e-01 1.00267123e-01 5.84574475e-02 7.82928537e+02] [-9.99240859e-02 9.94956418e-01 -8.76946939e-03 -1.40267854e+02] [-5.90419020e-02 2.86889637e-03 9.98251383e-01 -4.96886126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.7007140569999 meters 0.030816888274229542 Centerline is valid? [True, True] Translation: X:782.96, Y:-140.27, Z:-49.69 [[ 9.93183972e-01 1.00810234e-01 5.85055122e-02 7.82957290e+02] [-1.00467866e-01 9.94901636e-01 -8.77170153e-03 -1.40268354e+02] [-5.90915070e-02 2.83398944e-03 9.98248547e-01 -4.96904678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.7307140569999 meters 0.030900596105623058 Centerline is valid? [True, True] Translation: X:782.99, Y:-140.27, Z:-49.69 [[ 9.92996355e-01 1.02395557e-01 5.89354643e-02 7.82986145e+02] [-1.02051163e-01 9.94739944e-01 -8.83199272e-03 -1.40272644e+02] [-5.95298172e-02 2.75570389e-03 9.98222724e-01 -4.96926709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.760714057 meters 0.02767071209426236 Centerline is valid? [True, True] Translation: X:783.02, Y:-140.27, Z:-49.69 [[ 9.92910463e-01 1.03175784e-01 5.90217857e-02 7.83015409e+02] [-1.02831942e-01 9.94659447e-01 -8.84176668e-03 -1.40271519e+02] [-5.96188329e-02 2.70975778e-03 9.98217537e-01 -4.96946001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.790714057 meters 0.033125096141123175 Centerline is valid? [True, True] Translation: X:783.04, Y:-140.29, Z:-49.70 [[ 9.92741479e-01 1.04478886e-01 5.95694491e-02 7.83041551e+02] [-1.04131238e-01 9.94523570e-01 -8.91925380e-03 -1.40285296e+02] [-6.01750949e-02 2.65147270e-03 9.98184315e-01 -4.96958458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.8207140569999 meters 0.02705167853170986 Centerline is valid? [True, True] Translation: X:783.07, Y:-140.28, Z:-49.70 [[ 9.92514410e-01 1.06459654e-01 5.98455436e-02 7.83071354e+02] [-1.06112698e-01 9.94313785e-01 -8.95504296e-03 -1.40278876e+02] [-6.04585997e-02 2.53763707e-03 9.98167480e-01 -4.96978165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.8507140569999 meters 0.03318729088219197 Centerline is valid? [True, True] Translation: X:783.10, Y:-140.29, Z:-49.70 [[ 9.92470200e-01 1.06863642e-01 5.98587005e-02 7.83097038e+02] [-1.06517541e-01 9.94270520e-01 -8.95247475e-03 -1.40293890e+02] [-6.04724353e-02 2.50906281e-03 9.98166714e-01 -4.96986267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.880714057 meters 0.02771089017623497 Centerline is valid? [True, True] Translation: X:783.13, Y:-140.29, Z:-49.70 [[ 9.92348376e-01 1.07886592e-01 6.00431920e-02 7.83126849e+02] [-1.07540556e-01 9.94160192e-01 -8.97452938e-03 -1.40291150e+02] [-6.06607826e-02 2.44878143e-03 9.98155435e-01 -4.97010998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.910714057 meters 0.027933930311760665 Centerline is valid? [True, True] Translation: X:783.16, Y:-140.30, Z:-49.70 [[ 9.92410854e-01 1.07609317e-01 5.95057218e-02 7.83155633e+02] [-1.07269215e-01 9.94190266e-01 -8.88994112e-03 -1.40295680e+02] [-6.01166499e-02 2.43934199e-03 9.98188378e-01 -4.97031637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.9407140569999 meters 0.02726727434779916 Centerline is valid? [True, True] Translation: X:783.18, Y:-140.30, Z:-49.71 [[ 9.92481104e-01 1.06924419e-01 5.95686697e-02 7.83184293e+02] [-1.06582626e-01 9.94264061e-01 -8.89501608e-03 -1.40299851e+02] [-6.01780819e-02 2.47915012e-03 9.98184578e-01 -4.97054691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.9707140569999 meters 0.02931163353259478 Centerline is valid? [True, True] Translation: X:783.21, Y:-140.31, Z:-49.71 [[ 9.92737338e-01 1.04538143e-01 5.95344900e-02 7.83210948e+02] [-1.04192728e-01 9.94517432e-01 -8.88550766e-03 -1.40311151e+02] [-6.01369626e-02 2.61791429e-03 9.98186702e-01 -4.97071378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.000714057 meters 0.02918743768878532 Centerline is valid? [True, True] Translation: X:783.24, Y:-140.32, Z:-49.71 [[ 9.93032285e-01 1.02231447e-01 5.86140914e-02 7.83239532e+02] [-1.01892886e-01 9.94756947e-01 -8.74391969e-03 -1.40315706e+02] [-5.92006782e-02 2.71063561e-03 9.98242422e-01 -4.97090683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.030714057 meters 0.031132500248004707 Centerline is valid? [True, True] Translation: X:783.27, Y:-140.33, Z:-49.71 [[ 9.93562364e-01 9.70058417e-02 5.85123586e-02 7.83268546e+02] [-9.66596049e-02 9.95279250e-01 -8.72560681e-03 -1.40326134e+02] [-5.90825711e-02 3.01365307e-03 9.98248550e-01 -4.97108161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.0607140569999 meters 0.032554537921737986 Centerline is valid? [True, True] Translation: X:783.30, Y:-140.33, Z:-49.71 [[ 9.93827677e-01 9.43675784e-02 5.83207475e-02 7.83297468e+02] [-9.40191089e-02 9.95532409e-01 -8.69656346e-03 -1.40333805e+02] [-5.88808679e-02 3.15962074e-03 9.98260016e-01 -4.97122057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.0907140569999 meters 0.03304283918969201 Centerline is valid? [True, True] Translation: X:783.33, Y:-140.34, Z:-49.71 [[ 9.94039351e-01 9.22907094e-02 5.80361383e-02 7.83326867e+02] [-9.19422313e-02 9.95726754e-01 -8.65206674e-03 -1.40340786e+02] [-5.85866409e-02 3.26452276e-03 9.98276990e-01 -4.97137023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.120714057 meters 0.03484150844746542 Centerline is valid? [True, True] Translation: X:783.35, Y:-140.35, Z:-49.72 [[ 9.94303292e-01 8.97986711e-02 5.74209256e-02 7.83354962e+02] [-8.94534152e-02 9.95954220e-01 -8.56029851e-03 -1.40350294e+02] [-5.79573165e-02 3.37503509e-03 9.98313357e-01 -4.97157595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.150714057 meters 0.03558680340152504 Centerline is valid? [True, True] Translation: X:783.39, Y:-140.36, Z:-49.72 [[ 9.94408845e-01 8.87772288e-02 5.71808842e-02 7.83385144e+02] [-8.84332939e-02 9.96045642e-01 -8.52246807e-03 -1.40356373e+02] [-5.77113716e-02 3.41812369e-03 9.98327458e-01 -4.97175175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.1807140569999 meters 0.03573121556522998 Centerline is valid? [True, True] Translation: X:783.42, Y:-140.36, Z:-49.72 [[ 9.94431868e-01 8.86343765e-02 5.70018102e-02 7.83415070e+02] [-8.82923615e-02 9.96058372e-01 -8.49577816e-03 -1.40362462e+02] [-5.75301483e-02 3.41564812e-03 9.98337926e-01 -4.97189974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.2107140569999 meters 0.03700021782552295 Centerline is valid? [True, True] Translation: X:783.44, Y:-140.37, Z:-49.72 [[ 9.94389375e-01 8.88551548e-02 5.73980173e-02 7.83444856e+02] [-8.85087276e-02 9.96038664e-01 -8.55484760e-03 -1.40369630e+02] [-5.79307868e-02 3.42662408e-03 9.98314721e-01 -4.97206972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.2407140569999 meters 0.03425875586213752 Centerline is valid? [True, True] Translation: X:783.48, Y:-140.37, Z:-49.72 [[ 9.94312671e-01 8.95756167e-02 5.76066104e-02 7.83475492e+02] [-8.92275593e-02 9.95974213e-01 -8.59122840e-03 -1.40370721e+02] [-5.81442631e-02 3.40227000e-03 9.98302394e-01 -4.97219401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.270714057 meters 0.031219631445422835 Centerline is valid? [True, True] Translation: X:783.51, Y:-140.37, Z:-49.72 [[ 9.94249831e-01 9.03672993e-02 5.74545523e-02 7.83506180e+02] [-9.00223954e-02 9.95902881e-01 -8.56855103e-03 -1.40371313e+02] [-5.79934710e-02 3.34708398e-03 9.98311351e-01 -4.97234346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.3007140569999 meters 0.03476946092653796 Centerline is valid? [True, True] Translation: X:783.53, Y:-140.38, Z:-49.73 [[ 9.94091877e-01 9.22597322e-02 5.71793897e-02 7.83534265e+02] [-9.19212454e-02 9.95729766e-01 -8.52751493e-03 -1.40381568e+02] [-5.77219665e-02 3.22113261e-03 9.98327501e-01 -4.97252491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.3307140569999 meters 0.032561294869100706 Centerline is valid? [True, True] Translation: X:783.56, Y:-140.38, Z:-49.73 [[ 9.93963751e-01 9.41638999e-02 5.62958359e-02 7.83563899e+02] [-9.38389063e-02 9.95552002e-01 -8.39471972e-03 -1.40383162e+02] [-5.68359116e-02 3.06130744e-03 9.98378840e-01 -4.97270193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.3607140569999 meters 0.03306309645485218 Centerline is valid? [True, True] Translation: X:783.59, Y:-140.39, Z:-49.73 [[ 9.93907452e-01 9.48619840e-02 5.61175570e-02 7.83592166e+02] [-9.45402709e-02 9.95485884e-01 -8.36612143e-03 -1.40388504e+02] [-5.66578628e-02 3.00978139e-03 9.98389116e-01 -4.97292224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.390714057 meters 0.03257464967889006 Centerline is valid? [True, True] Translation: X:783.62, Y:-140.39, Z:-49.73 [[ 9.93879474e-01 9.53710082e-02 5.57491074e-02 7.83621760e+02] [-9.50544790e-02 9.95437402e-01 -8.30817094e-03 -1.40392115e+02] [-5.62871052e-02 2.95811820e-03 9.98410242e-01 -4.97312563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.4207140569999 meters 0.03213856831226219 Centerline is valid? [True, True] Translation: X:783.65, Y:-140.40, Z:-49.73 [[ 9.93799993e-01 9.63962468e-02 5.54016107e-02 7.83651406e+02] [-9.60853543e-02 9.95338872e-01 -8.25440142e-03 -1.40396280e+02] [-5.59390700e-02 2.87994068e-03 9.98430031e-01 -4.97335439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.4507140569999 meters 0.03196772387201192 Centerline is valid? [True, True] Translation: X:783.68, Y:-140.40, Z:-49.74 [[ 9.93709458e-01 9.80608854e-02 5.40885960e-02 7.83680636e+02] [-9.77671323e-02 9.95176705e-01 -8.05687064e-03 -1.40400958e+02] [-5.46177747e-02 2.71810163e-03 9.98503636e-01 -4.97361132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.4807140569999 meters 0.03185236958342438 Centerline is valid? [True, True] Translation: X:783.71, Y:-140.41, Z:-49.74 [[ 9.93572386e-01 9.93210274e-02 5.43069654e-02 7.83708707e+02] [-9.90268726e-02 9.95051893e-01 -8.08754931e-03 -1.40405430e+02] [-5.48415124e-02 2.65771673e-03 9.98491535e-01 -4.97381050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.510714057 meters 0.0296855199244512 Centerline is valid? [True, True] Translation: X:783.74, Y:-140.41, Z:-49.74 [[ 9.93194230e-01 1.02780915e-01 5.47841656e-02 7.83738434e+02] [-1.02487030e-01 9.94700915e-01 -8.15460247e-03 -1.40405686e+02] [-5.53319972e-02 2.48443769e-03 9.98464921e-01 -4.97387171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.540714057 meters 0.029958784852636117 Centerline is valid? [True, True] Translation: X:783.77, Y:-140.41, Z:-49.74 [[ 9.92956472e-01 1.04881845e-01 5.51111850e-02 7.83765891e+02] [-1.04587771e-01 9.94481843e-01 -8.20136299e-03 -1.40409549e+02] [-5.56672469e-02 2.37964050e-03 9.98446541e-01 -4.97402697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.5707140569999 meters 0.027739977419363508 Centerline is valid? [True, True] Translation: X:783.80, Y:-140.41, Z:-49.74 [[ 9.92721691e-01 1.07193428e-01 5.48927395e-02 7.83795493e+02] [-1.06905457e-01 9.94235670e-01 -8.16435289e-03 -1.40409916e+02] [-5.54514846e-02 2.23659682e-03 9.98458878e-01 -4.97416557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.6007140569999 meters 0.028222002473976816 Centerline is valid? [True, True] Translation: X:783.82, Y:-140.41, Z:-49.74 [[ 9.92330454e-01 1.10566459e-01 5.52750209e-02 7.83823580e+02] [-1.10279849e-01 9.93866599e-01 -8.21814141e-03 -1.40414602e+02] [-5.58446478e-02 2.05939107e-03 9.98437346e-01 -4.97435148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.630714057 meters 0.02741563309715785 Centerline is valid? [True, True] Translation: X:783.85, Y:-140.42, Z:-49.74 [[ 9.92189930e-01 1.11988419e-01 5.49339398e-02 7.83851972e+02] [-1.11707677e-01 9.93707571e-01 -8.16448780e-03 -1.40417928e+02] [-5.55025999e-02 1.96417979e-03 9.98456611e-01 -4.97448235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.660714057 meters 0.02726196762959499 Centerline is valid? [True, True] Translation: X:783.88, Y:-140.42, Z:-49.75 [[ 9.92113581e-01 1.12609582e-01 5.50429331e-02 7.83880162e+02] [-1.12328897e-01 9.93637439e-01 -8.17673985e-03 -1.40421914e+02] [-5.56134983e-02 1.92934267e-03 9.98450508e-01 -4.97464420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.6907140569999 meters 0.026223957774401712 Centerline is valid? [True, True] Translation: X:783.91, Y:-140.43, Z:-49.75 [[ 9.92075941e-01 1.12719803e-01 5.54939027e-02 7.83908668e+02] [-1.12434891e-01 9.93624930e-01 -8.23974373e-03 -1.40425593e+02] [-5.60689075e-02 1.93500059e-03 9.98425026e-01 -4.97477613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.7207140569999 meters 0.026223957774401712 Centerline is valid? [True, True] Translation: X:783.94, Y:-140.43, Z:-49.75 [[ 9.92088177e-01 1.12611768e-01 5.54944913e-02 7.83935821e+02] [-1.12326910e-01 9.93637176e-01 -8.23577767e-03 -1.40429537e+02] [-5.60688351e-02 1.93709295e-03 9.98425026e-01 -4.97493521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.750714057 meters 0.02734895966319029 Centerline is valid? [True, True] Translation: X:783.96, Y:-140.44, Z:-49.75 [[ 9.92154883e-01 1.11858564e-01 5.58242737e-02 7.83962323e+02] [-1.11569471e-01 9.93722155e-01 -8.27844507e-03 -1.40437183e+02] [-5.63998325e-02 1.98521504e-03 9.98406289e-01 -4.97510256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.780714057 meters 0.028943045331979673 Centerline is valid? [True, True] Translation: X:783.99, Y:-140.45, Z:-49.75 [[ 9.92382773e-01 1.09360860e-01 5.67153864e-02 7.83990128e+02] [-1.09058687e-01 9.93999776e-01 -8.40527252e-03 -1.40446907e+02] [-5.72942892e-02 2.15594210e-03 9.98355005e-01 -4.97523698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.8107140569999 meters 0.027825868750392984 Centerline is valid? [True, True] Translation: X:784.02, Y:-140.45, Z:-49.75 [[ 9.92590256e-01 1.07407085e-01 5.68181513e-02 7.84018763e+02] [-1.07100795e-01 9.94212536e-01 -8.41745732e-03 -1.40449723e+02] [-5.73934128e-02 2.26981693e-03 9.98349059e-01 -4.97534291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.8407140569999 meters 0.02872158490822554 Centerline is valid? [True, True] Translation: X:784.05, Y:-140.46, Z:-49.76 [[ 9.92808337e-01 1.05413709e-01 5.67411341e-02 7.84047435e+02] [-1.05105243e-01 9.94425612e-01 -8.40184925e-03 -1.40456924e+02] [-5.73105071e-02 2.37763531e-03 9.98353571e-01 -4.97554929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.870714057 meters 0.031036872130455587 Centerline is valid? [True, True] Translation: X:784.07, Y:-140.47, Z:-49.76 [[ 9.92998955e-01 1.03519131e-01 5.68934504e-02 7.84074587e+02] [-1.03206023e-01 9.94624342e-01 -8.42230328e-03 -1.40466559e+02] [-5.74594801e-02 2.49159159e-03 9.98344730e-01 -4.97572652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.900714057 meters 0.03265375299356373 Centerline is valid? [True, True] Translation: X:784.10, Y:-140.48, Z:-49.76 [[ 9.93397231e-01 9.95484733e-02 5.70266789e-02 7.84104036e+02] [-9.92274274e-02 9.95028978e-01 -8.44103087e-03 -1.40476355e+02] [-5.75834898e-02 2.72668605e-03 9.98336971e-01 -4.97589898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.9307140569999 meters 0.030423978526276967 Centerline is valid? [True, True] Translation: X:784.13, Y:-140.48, Z:-49.76 [[ 9.93615684e-01 9.75008269e-02 5.67579240e-02 7.84133618e+02] [-9.71794719e-02 9.95231415e-01 -8.40126728e-03 -1.40477486e+02] [-5.73063995e-02 2.83192586e-03 9.98352621e-01 -4.97604602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.9607140569999 meters 0.03387119585158616 Centerline is valid? [True, True] Translation: X:784.16, Y:-140.49, Z:-49.76 [[ 9.93944644e-01 9.39542911e-02 5.69792630e-02 7.84161054e+02] [-9.36247354e-02 9.95571852e-01 -8.43189714e-03 -1.40489300e+02] [-5.75191633e-02 3.04617058e-03 9.98339755e-01 -4.97623409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.9907140569999 meters 0.03354061636203796 Centerline is valid? [True, True] Translation: X:784.19, Y:-140.49, Z:-49.76 [[ 9.94039668e-01 9.29222713e-02 5.70139387e-02 7.84191586e+02] [-9.25907448e-02 9.95668522e-01 -8.43490858e-03 -1.40493624e+02] [-5.75507749e-02 3.10567069e-03 9.98337750e-01 -4.97642206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.020714057 meters 0.03407181106448737 Centerline is valid? [True, True] Translation: X:784.22, Y:-140.50, Z:-49.77 [[ 9.94237796e-01 9.10637831e-02 5.65560979e-02 7.84222333e+02] [-9.07345720e-02 9.95839961e-01 -8.36714936e-03 -1.40500653e+02] [-5.70827666e-02 3.18734280e-03 9.98364362e-01 -4.97657721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.0507140569999 meters 0.033785707728101286 Centerline is valid? [True, True] Translation: X:784.25, Y:-140.50, Z:-49.77 [[ 9.94302879e-01 9.01465339e-02 5.68804723e-02 7.84252897e+02] [-8.98119163e-02 9.95923175e-01 -8.41721908e-03 -1.40504873e+02] [-5.74073637e-02 3.26072094e-03 9.98345513e-01 -4.97677273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.0807140569999 meters 0.033208303983901545 Centerline is valid? [True, True] Translation: X:784.28, Y:-140.51, Z:-49.77 [[ 9.94352701e-01 8.93794972e-02 5.72189769e-02 7.84284004e+02] [-8.90395539e-02 9.95992091e-01 -8.46836732e-03 -1.40508768e+02] [-5.77465468e-02 3.32579175e-03 9.98325736e-01 -4.97696216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.1107140569999 meters 0.03520383365214422 Centerline is valid? [True, True] Translation: X:784.31, Y:-140.52, Z:-49.77 [[ 9.94539882e-01 8.76595848e-02 5.66234991e-02 7.84314425e+02] [-8.73238010e-02 9.96144715e-01 -8.38219748e-03 -1.40515815e+02] [-5.71399793e-02 3.39185052e-03 9.98360415e-01 -4.97713833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.140714057 meters 0.03453481247095395 Centerline is valid? [True, True] Translation: X:784.35, Y:-140.52, Z:-49.77 [[ 9.94629820e-01 8.68003785e-02 5.63668009e-02 7.84345854e+02] [-8.64654963e-02 9.96219789e-01 -8.35764571e-03 -1.40519487e+02] [-5.68791693e-02 3.43898023e-03 9.98375147e-01 -4.97729112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.1707140569999 meters 0.035966911214953566 Centerline is valid? [True, True] Translation: X:784.38, Y:-140.53, Z:-49.77 [[ 9.94794793e-01 8.50046464e-02 5.61919053e-02 7.84375969e+02] [-8.46682132e-02 9.96374251e-01 -8.34538976e-03 -1.40525303e+02] [-5.66975645e-02 3.54428206e-03 9.98385108e-01 -4.97748378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.2007140569999 meters 0.03832718877535946 Centerline is valid? [True, True] Translation: X:784.40, Y:-140.53, Z:-49.78 [[ 9.95160382e-01 8.10746849e-02 5.55221498e-02 7.84404617e+02] [-8.07400283e-02 9.96701068e-01 -8.24801555e-03 -1.40532135e+02] [-5.60076913e-02 3.72523836e-03 9.98423388e-01 -4.97770320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.2307140569999 meters 0.03970393803372297 Centerline is valid? [True, True] Translation: X:784.43, Y:-140.54, Z:-49.78 [[ 9.95348011e-01 7.91325708e-02 5.49579311e-02 7.84434742e+02] [-7.88017933e-02 9.96856879e-01 -8.16332518e-03 -1.40537923e+02] [-5.54311766e-02 3.79456595e-03 9.98455300e-01 -4.97793067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.260714057 meters 0.04181237277484404 Centerline is valid? [True, True] Translation: X:784.46, Y:-140.54, Z:-49.78 [[ 9.95704628e-01 7.54058630e-02 5.37238298e-02 7.84463392e+02] [-7.50843391e-02 9.97145247e-01 -7.98107695e-03 -1.40543954e+02] [-5.41722815e-02 3.91297700e-03 9.98523937e-01 -4.97816805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.290714057 meters 0.03876581958002697 Centerline is valid? [True, True] Translation: X:784.50, Y:-140.54, Z:-49.78 [[ 9.95801495e-01 7.44475091e-02 5.32630279e-02 7.84495477e+02] [-7.41302182e-02 9.97217193e-01 -7.91081307e-03 -1.40543689e+02] [-5.37037475e-02 3.92919960e-03 9.98549182e-01 -4.97828845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.3207140569999 meters 0.04362373153845822 Centerline is valid? [True, True] Translation: X:784.53, Y:-140.55, Z:-49.78 [[ 9.95885066e-01 7.36673164e-02 5.27831683e-02 7.84525648e+02] [-7.33539354e-02 9.97275055e-01 -7.85265964e-03 -1.40554112e+02] [-5.32178214e-02 3.94849334e-03 9.98575121e-01 -4.97849464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.3507140569999 meters 0.04253088586148826 Centerline is valid? [True, True] Translation: X:784.56, Y:-140.56, Z:-49.79 [[ 9.95936732e-01 7.30979764e-02 5.25995475e-02 7.84557478e+02] [-7.27856345e-02 9.97316856e-01 -7.83195134e-03 -1.40555284e+02] [-5.30309152e-02 3.97163658e-03 9.98584973e-01 -4.97867741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.380714057 meters 0.04038414012720947 Centerline is valid? [True, True] Translation: X:784.59, Y:-140.55, Z:-49.79 [[ 9.95918986e-01 7.34592149e-02 5.24320208e-02 7.84591117e+02] [-7.31487270e-02 9.97290393e-01 -7.81894876e-03 -1.40553749e+02] [-5.28643244e-02 3.95170395e-03 9.98593885e-01 -4.97875890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.410714057 meters 0.043212960338050076 Centerline is valid? [True, True] Translation: X:784.62, Y:-140.56, Z:-49.79 [[ 9.95893825e-01 7.39697271e-02 5.21916624e-02 7.84621997e+02] [-7.36619585e-02 9.97252775e-01 -7.79867924e-03 -1.40560161e+02] [-5.26251463e-02 3.92211643e-03 9.98606635e-01 -4.97895043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.4407140569999 meters 0.03995903673552619 Centerline is valid? [True, True] Translation: X:784.66, Y:-140.56, Z:-49.79 [[ 9.95780358e-01 7.50483155e-02 5.28131498e-02 7.84655298e+02] [-7.47340018e-02 9.97172179e-01 -7.90411436e-03 -1.40556210e+02] [-5.32569941e-02 3.92382380e-03 9.98573130e-01 -4.97906542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.4707140569999 meters 0.04077907449357422 Centerline is valid? [True, True] Translation: X:784.69, Y:-140.56, Z:-49.79 [[ 9.95774366e-01 7.49982536e-02 5.29969280e-02 7.84687249e+02] [-7.46809437e-02 9.97175827e-01 -7.94529258e-03 -1.40559715e+02] [-5.34431385e-02 3.95385809e-03 9.98563067e-01 -4.97923253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.500714057 meters 0.041887098162151186 Centerline is valid? [True, True] Translation: X:784.72, Y:-140.56, Z:-49.79 [[ 9.95877411e-01 7.36922387e-02 5.28926875e-02 7.84719582e+02] [-7.33735865e-02 9.97272887e-01 -7.94390144e-03 -1.40561683e+02] [-5.33338470e-02 4.03022582e-03 9.98568605e-01 -4.97941963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.530714057 meters 0.04238393481050087 Centerline is valid? [True, True] Translation: X:784.75, Y:-140.57, Z:-49.80 [[ 9.95997761e-01 7.23999402e-02 5.24090448e-02 7.84751462e+02] [-7.20851182e-02 9.97367394e-01 -7.87503938e-03 -1.40565341e+02] [-5.28412249e-02 4.06560940e-03 9.98594650e-01 -4.97962079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.5607140569999 meters 0.041470638282767 Centerline is valid? [True, True] Translation: X:784.78, Y:-140.57, Z:-49.80 [[ 9.96108465e-01 7.12241334e-02 5.19138651e-02 7.84783231e+02] [-7.09135033e-02 9.97451944e-01 -7.80349184e-03 -1.40567079e+02] [-5.23373826e-02 4.09173023e-03 9.98621077e-01 -4.97980952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.5907140569999 meters 0.046351162913696745 Centerline is valid? [True, True] Translation: X:784.81, Y:-140.57, Z:-49.80 [[ 9.96425282e-01 6.75576913e-02 5.07209601e-02 7.84812172e+02] [-6.72557794e-02 9.97706533e-01 -7.63769213e-03 -1.40574917e+02] [-5.11206181e-02 4.19911183e-03 9.98683659e-01 -4.98011693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.620714057 meters 0.04408502342034417 Centerline is valid? [True, True] Translation: X:784.84, Y:-140.57, Z:-49.80 [[ 9.96572418e-01 6.60061470e-02 4.98658592e-02 7.84843387e+02] [-6.57124627e-02 9.97810354e-01 -7.50792409e-03 -1.40574293e+02] [-5.02522398e-02 4.20538165e-03 9.98727704e-01 -4.98032611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.650714057 meters 0.04661294109534906 Centerline is valid? [True, True] Translation: X:784.87, Y:-140.58, Z:-49.81 [[ 9.96831730e-01 6.33336196e-02 4.81181312e-02 7.84873286e+02] [-6.30570449e-02 9.97983621e-01 -7.24574888e-03 -1.40577262e+02] [-4.84800063e-02 4.18860524e-03 9.98815371e-01 -4.98054700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.6807140569999 meters 0.05154876333548348 Centerline is valid? [True, True] Translation: X:784.90, Y:-140.59, Z:-49.81 [[ 9.96882581e-01 6.27435323e-02 4.78369033e-02 7.84903178e+02] [-6.24696029e-02 9.98020885e-01 -7.20148349e-03 -1.40586365e+02] [-4.81940751e-02 4.19068110e-03 9.98829199e-01 -4.98080920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.7107140569999 meters 0.04624928367031787 Centerline is valid? [True, True] Translation: X:784.94, Y:-140.58, Z:-49.81 [[ 9.96914988e-01 6.25013608e-02 4.74772135e-02 7.84936671e+02] [-6.22307474e-02 9.98036119e-01 -7.15818759e-03 -1.40581925e+02] [-4.78313704e-02 4.18156202e-03 9.98846672e-01 -4.98085815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.7407140569999 meters 0.04482842771655143 Centerline is valid? [True, True] Translation: X:784.97, Y:-140.58, Z:-49.81 [[ 9.96930672e-01 6.26368755e-02 4.69665595e-02 7.84969443e+02] [-6.23716452e-02 9.98027788e-01 -7.09305048e-03 -1.40581938e+02] [-4.73182180e-02 4.14189800e-03 9.98871278e-01 -4.98101043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.770714057 meters 0.04378277088423374 Centerline is valid? [True, True] Translation: X:785.00, Y:-140.58, Z:-49.81 [[ 9.96887022e-01 6.32757861e-02 4.70365844e-02 7.85001789e+02] [-6.30097871e-02 9.97987525e-01 -7.11799390e-03 -1.40580471e+02] [-4.73923211e-02 4.13207057e-03 9.98867806e-01 -4.98112376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.8007140569999 meters 0.04523873665669312 Centerline is valid? [True, True] Translation: X:785.03, Y:-140.58, Z:-49.81 [[ 9.96778677e-01 6.42249610e-02 4.80356404e-02 7.85032841e+02] [-6.39485714e-02 9.97926713e-01 -7.27026355e-03 -1.40581611e+02] [-4.84029811e-02 4.17503310e-03 9.98819163e-01 -4.98122844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.8307140569999 meters 0.04627542783121476 Centerline is valid? [True, True] Translation: X:785.06, Y:-140.58, Z:-49.81 [[ 9.96713705e-01 6.48159299e-02 4.85868857e-02 7.85062624e+02] [-6.45331734e-02 9.97888365e-01 -7.36750286e-03 -1.40584791e+02] [-4.89618194e-02 4.20782515e-03 9.98791787e-01 -4.98135844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.8607140569999 meters 0.045937338081160475 Centerline is valid? [True, True] Translation: X:785.09, Y:-140.59, Z:-49.82 [[ 9.96660539e-01 6.56804607e-02 4.85164580e-02 7.85093638e+02] [-6.53994938e-02 9.97832035e-01 -7.35777159e-03 -1.40586303e+02] [-4.88945378e-02 4.16024880e-03 9.98795283e-01 -4.98152143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.890714057 meters 0.04507859836510137 Centerline is valid? [True, True] Translation: X:785.12, Y:-140.59, Z:-49.82 [[ 9.96587135e-01 6.66879968e-02 4.86496947e-02 7.85124705e+02] [-6.64066508e-02 9.97765361e-01 -7.37844808e-03 -1.40587040e+02] [-4.90330341e-02 4.12260315e-03 9.98788649e-01 -4.98165389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.9207140569999 meters 0.046977889054857405 Centerline is valid? [True, True] Translation: X:785.15, Y:-140.59, Z:-49.82 [[ 9.96454553e-01 6.83550663e-02 4.90500653e-02 7.85154164e+02] [-6.80710104e-02 9.97652734e-01 -7.44036772e-03 -1.40588606e+02] [-4.94435186e-02 4.07510079e-03 9.98768608e-01 -4.98175970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.9507140569999 meters 0.04409613649702533 Centerline is valid? [True, True] Translation: X:785.19, Y:-140.59, Z:-49.82 [[ 9.96397355e-01 6.88941952e-02 4.94560549e-02 7.85185228e+02] [-6.86061237e-02 9.97615625e-01 -7.50091112e-03 -1.40586260e+02] [-4.98549024e-02 4.08089977e-03 9.98748134e-01 -4.98190772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.9807140569999 meters 0.04346264109779003 Centerline is valid? [True, True] Translation: X:785.22, Y:-140.59, Z:-49.82 [[ 9.96356831e-01 7.02174672e-02 4.84001282e-02 7.85215672e+02] [-6.99431198e-02 9.97523970e-01 -7.34092060e-03 -1.40585011e+02] [-4.87957489e-02 3.92892042e-03 9.98801051e-01 -4.98216660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.010714057 meters 0.04546109819939546 Centerline is valid? [True, True] Translation: X:785.24, Y:-140.59, Z:-49.82 [[ 9.96369793e-01 7.05875638e-02 4.75881551e-02 7.85243826e+02] [-7.03227964e-02 9.97498178e-01 -7.21726392e-03 -1.40589672e+02] [-4.79785471e-02 3.84453161e-03 9.98840968e-01 -4.98244340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.040714057 meters 0.04080834604112399 Centerline is valid? [True, True] Translation: X:785.27, Y:-140.58, Z:-49.83 [[ 9.96420361e-01 7.05861212e-02 4.65194886e-02 7.85273920e+02] [-7.03332260e-02 9.97498618e-01 -7.05295604e-03 -1.40584831e+02] [-4.69009664e-02 3.75584330e-03 9.98892483e-01 -4.98256578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.0707140569999 meters 0.04268208744701841 Centerline is valid? [True, True] Translation: X:785.30, Y:-140.59, Z:-49.83 [[ 9.96401660e-01 7.12845005e-02 4.58503166e-02 7.85301990e+02] [-7.10397483e-02 9.97449289e-01 -6.94763335e-03 -1.40587865e+02] [-4.62286243e-02 3.66543846e-03 9.98924161e-01 -4.98289878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.1007140569999 meters 0.040549840424521304 Centerline is valid? [True, True] Translation: X:785.33, Y:-140.59, Z:-49.83 [[ 9.96364466e-01 7.17200338e-02 4.59792186e-02 7.85331476e+02] [-7.14744046e-02 9.97418107e-01 -6.96626417e-03 -1.40587304e+02] [-4.63601259e-02 3.65460081e-03 9.98918106e-01 -4.98306081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.130714057 meters 0.04014413519846906 Centerline is valid? [True, True] Translation: X:785.36, Y:-140.59, Z:-49.83 [[ 9.96250135e-01 7.30397350e-02 4.63774211e-02 7.85360963e+02] [-7.27914229e-02 9.97322459e-01 -7.02288231e-03 -1.40587702e+02] [-4.67661931e-02 3.62066898e-03 9.98899301e-01 -4.98325121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.160714057 meters 0.044292912966972034 Centerline is valid? [True, True] Translation: X:785.39, Y:-140.60, Z:-49.83 [[ 9.96196739e-01 7.38236749e-02 4.62830749e-02 7.85387703e+02] [-7.35773103e-02 9.97264904e-01 -7.00652428e-03 -1.40595502e+02] [-4.66737336e-02 3.57449247e-03 9.98903792e-01 -4.98348627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.1907140569999 meters 0.041652196753061164 Centerline is valid? [True, True] Translation: X:785.42, Y:-140.59, Z:-49.84 [[ 9.96177039e-01 7.45629536e-02 4.55156308e-02 7.85416993e+02] [-7.43256639e-02 9.97210248e-01 -6.88602167e-03 -1.40593793e+02] [-4.59020956e-02 3.47671720e-03 9.98939893e-01 -4.98362201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.2207140569999 meters 0.04209408317803505 Centerline is valid? [True, True] Translation: X:785.45, Y:-140.59, Z:-49.84 [[ 9.96028408e-01 7.63749988e-02 4.57632005e-02 7.85445940e+02] [-7.61371923e-02 9.97073340e-01 -6.91972561e-03 -1.40594893e+02] [-4.61577612e-02 3.40796169e-03 9.98928349e-01 -4.98384153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.250714057 meters 0.03875218032647848 Centerline is valid? [True, True] Translation: X:785.48, Y:-140.59, Z:-49.84 [[ 9.95981030e-01 7.65396720e-02 4.65130833e-02 7.85475937e+02] [-7.62942494e-02 9.97060552e-01 -7.03162276e-03 -1.40592763e+02] [-4.69145586e-02 3.45468210e-03 9.98892932e-01 -4.98391403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.280714057 meters 0.03874892239661555 Centerline is valid? [True, True] Translation: X:785.50, Y:-140.59, Z:-49.84 [[ 9.95984944e-01 7.62914998e-02 4.68358588e-02 7.85504740e+02] [-7.60424982e-02 9.97079456e-01 -7.07798852e-03 -1.40593906e+02] [-4.72390629e-02 3.48805430e-03 9.98877522e-01 -4.98401381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.3107140569999 meters 0.04235053169120623 Centerline is valid? [True, True] Translation: X:785.53, Y:-140.60, Z:-49.84 [[ 9.96006119e-01 7.58959606e-02 4.70278112e-02 7.85531331e+02] [-7.56446313e-02 9.97109536e-01 -7.10367855e-03 -1.40602231e+02] [-4.74310196e-02 3.51790585e-03 9.98868321e-01 -4.98422297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.3407140569999 meters 0.0411072125755795 Centerline is valid? [True, True] Translation: X:785.56, Y:-140.60, Z:-49.84 [[ 9.96091995e-01 7.47724357e-02 4.70087353e-02 7.85560430e+02] [-7.45202807e-02 9.97194249e-01 -7.09629466e-03 -1.40601996e+02] [-4.74074477e-02 3.56545815e-03 9.98869271e-01 -4.98433525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.370714057 meters 0.041644456297287594 Centerline is valid? [True, True] Translation: X:785.59, Y:-140.61, Z:-49.85 [[ 9.96154239e-01 7.38790839e-02 4.71021482e-02 7.85588659e+02] [-7.36250953e-02 9.97260666e-01 -7.10697215e-03 -1.40605692e+02] [-4.74981763e-02 3.61174028e-03 9.98864795e-01 -4.98450421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.400714057 meters 0.04226565986373037 Centerline is valid? [True, True] Translation: X:785.62, Y:-140.61, Z:-49.85 [[ 9.96177654e-01 7.32514269e-02 4.75847783e-02 7.85616808e+02] [-7.29916582e-02 9.97306732e-01 -7.17629616e-03 -1.40609901e+02] [-4.79822937e-02 3.67557400e-03 9.98841424e-01 -4.98467541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.4307140569999 meters 0.04034387776847694 Centerline is valid? [True, True] Translation: X:785.65, Y:-140.61, Z:-49.85 [[ 9.96251362e-01 7.26085343e-02 4.70236554e-02 7.85645895e+02] [-7.23543082e-02 9.97353804e-01 -7.08834124e-03 -1.40609767e+02] [-4.74138956e-02 3.65940556e-03 9.98868626e-01 -4.98489521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.4607140569999 meters 0.0441828775133743 Centerline is valid? [True, True] Translation: X:785.67, Y:-140.62, Z:-49.85 [[ 9.96249926e-01 7.27943152e-02 4.67661565e-02 7.85672706e+02] [-7.25432247e-02 9.97340378e-01 -7.04628451e-03 -1.40618885e+02] [-4.71547056e-02 3.62729262e-03 9.98881012e-01 -4.98516141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.4907140569999 meters 0.040482007581301147 Centerline is valid? [True, True] Translation: X:785.70, Y:-140.62, Z:-49.85 [[ 9.96158715e-01 7.40915039e-02 4.66718687e-02 7.85702241e+02] [-7.38430495e-02 9.97245114e-01 -7.02763412e-03 -1.40615135e+02] [-4.70639810e-02 3.55424586e-03 9.98885554e-01 -4.98522080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.520714057 meters 0.04000977803387299 Centerline is valid? [True, True] Translation: X:785.73, Y:-140.62, Z:-49.85 [[ 9.95979940e-01 7.58402218e-02 4.76678061e-02 7.85732173e+02] [-7.55832278e-02 9.97113693e-01 -7.17349916e-03 -1.40617970e+02] [-4.80742619e-02 3.54177461e-03 9.98837485e-01 -4.98537387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.5507140569999 meters 0.04034950727734224 Centerline is valid? [True, True] Translation: X:785.76, Y:-140.62, Z:-49.85 [[ 9.95796321e-01 7.76819331e-02 4.85304418e-02 7.85760620e+02] [-7.74177467e-02 9.96971997e-01 -7.30272766e-03 -1.40621262e+02] [-4.89507815e-02 3.51491189e-03 9.98795007e-01 -4.98547000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.5807140569999 meters 0.03904862535701621 Centerline is valid? [True, True] Translation: X:785.79, Y:-140.62, Z:-49.86 [[ 9.95438233e-01 8.15520369e-02 4.95175672e-02 7.85791859e+02] [-8.12818994e-02 9.96663322e-01 -7.44813950e-03 -1.40620777e+02] [-4.99597540e-02 3.38928090e-03 9.98745481e-01 -4.98552870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.6107140569999 meters 0.03904862535701621 Centerline is valid? [True, True] Translation: X:785.82, Y:-140.62, Z:-49.86 [[ 9.95446764e-01 8.14478904e-02 4.95174754e-02 7.85819045e+02] [-8.11775944e-02 9.96671819e-01 -7.44875019e-03 -1.40624772e+02] [-4.99593573e-02 3.39512474e-03 9.98745481e-01 -4.98568792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.640714057 meters 0.03880791283853252 Centerline is valid? [True, True] Translation: X:785.85, Y:-140.63, Z:-49.86 [[ 9.95278475e-01 8.30818261e-02 5.01813510e-02 7.85849044e+02] [-8.28066008e-02 9.96537093e-01 -7.54252567e-03 -1.40627429e+02] [-5.06342244e-02 3.35156635e-03 9.98711641e-01 -4.98584901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.6707140569999 meters 0.03847759359139262 Centerline is valid? [True, True] Translation: X:785.88, Y:-140.63, Z:-49.86 [[ 9.95046475e-01 8.54413117e-02 5.08162864e-02 7.85877971e+02] [-8.51621724e-02 9.96337833e-01 -7.63715495e-03 -1.40629309e+02] [-5.12827172e-02 3.27169877e-03 9.98678817e-01 -4.98609589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.7007140569999 meters 0.03969550886038654 Centerline is valid? [True, True] Translation: X:785.91, Y:-140.63, Z:-49.86 [[ 9.95066229e-01 8.56673014e-02 5.00431104e-02 7.85905042e+02] [-8.53969444e-02 9.96318631e-01 -7.51977695e-03 -1.40633044e+02] [-5.05030823e-02 3.20914738e-03 9.98718749e-01 -4.98638936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.7307140569999 meters 0.0355270454256877 Centerline is valid? [True, True] Translation: X:785.93, Y:-140.63, Z:-49.87 [[ 9.95135794e-01 8.50803106e-02 4.96597582e-02 7.85934623e+02] [-8.48136520e-02 9.96368932e-01 -7.45628419e-03 -1.40630022e+02] [-5.01138232e-02 3.20818984e-03 9.98738360e-01 -4.98654737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.760714057 meters 0.0401659517758356 Centerline is valid? [True, True] Translation: X:785.96, Y:-140.64, Z:-49.87 [[ 9.95221496e-01 8.44709533e-02 4.89778773e-02 7.85960676e+02] [-8.42110077e-02 9.96420833e-01 -7.35051494e-03 -1.40640204e+02] [-4.94234823e-02 3.19091408e-03 9.98772816e-01 -4.98684597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.790714057 meters 0.04111790935125606 Centerline is valid? [True, True] Translation: X:785.99, Y:-140.65, Z:-49.87 [[ 9.95304481e-01 8.37485280e-02 4.85301310e-02 7.85988326e+02] [-8.34926782e-02 9.96481806e-01 -7.27893570e-03 -1.40645056e+02] [-4.89689928e-02 3.19284671e-03 9.98795196e-01 -4.98707885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.8207140569999 meters 0.0423396613921263 Centerline is valid? [True, True] Translation: X:786.02, Y:-140.65, Z:-49.87 [[ 9.95474148e-01 8.21677829e-02 4.77459540e-02 7.86016856e+02] [-8.19185427e-02 9.96613330e-01 -7.15696861e-03 -1.40649581e+02] [-4.81723265e-02 3.21329825e-03 9.98833871e-01 -4.98738746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.8507140569999 meters 0.043592739797336945 Centerline is valid? [True, True] Translation: X:786.04, Y:-140.66, Z:-49.88 [[ 9.95486600e-01 8.21108909e-02 4.75839433e-02 7.86044059e+02] [-8.18633700e-02 9.96618052e-01 -7.13073146e-03 -1.40655151e+02] [-4.80085276e-02 3.20316566e-03 9.98841790e-01 -4.98760530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.880714057 meters 0.03639532721474019 Centerline is valid? [True, True] Translation: X:786.07, Y:-140.65, Z:-49.88 [[ 9.95551029e-01 8.13242707e-02 4.75868853e-02 7.86074417e+02] [-8.10760669e-02 9.96682442e-01 -7.12614118e-03 -1.40647409e+02] [-4.80085413e-02 3.23627968e-03 9.98841682e-01 -4.98759342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.910714057 meters 0.036817980519784896 Centerline is valid? [True, True] Translation: X:786.10, Y:-140.65, Z:-49.88 [[ 9.95460969e-01 8.17991687e-02 4.86451942e-02 7.86102844e+02] [-8.15405355e-02 9.96643431e-01 -7.28095929e-03 -1.40649731e+02] [-4.90774896e-02 3.28135561e-03 9.98789584e-01 -4.98762273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.9407140569999 meters 0.038345448719753567 Centerline is valid? [True, True] Translation: X:786.13, Y:-140.65, Z:-49.88 [[ 9.95393660e-01 8.20057369e-02 4.96640722e-02 7.86130128e+02] [-8.17365804e-02 9.96626273e-01 -7.42987773e-03 -1.40654711e+02] [-5.01058117e-02 3.33628176e-03 9.98738343e-01 -4.98773539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.9707140569999 meters 0.03744196605369725 Centerline is valid? [True, True] Translation: X:786.16, Y:-140.66, Z:-49.88 [[ 9.95270773e-01 8.24896132e-02 5.12986670e-02 7.86159045e+02] [-8.22033231e-02 9.96586069e-01 -7.66948775e-03 -1.40655664e+02] [-5.17561900e-02 3.41629609e-03 9.98653907e-01 -4.98777859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.000714057 meters 0.037645715672276335 Centerline is valid? [True, True] Translation: X:786.19, Y:-140.66, Z:-49.88 [[ 9.95270283e-01 8.21777542e-02 5.18061864e-02 7.86187853e+02] [-8.18855425e-02 9.96611673e-01 -7.74158580e-03 -1.40659411e+02] [-5.22668362e-02 3.46279262e-03 9.98627151e-01 -4.98792447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.030714057 meters 0.03890664335384953 Centerline is valid? [True, True] Translation: X:786.22, Y:-140.66, Z:-49.88 [[ 9.95275363e-01 8.17902618e-02 5.23192627e-02 7.86215168e+02] [-8.14918913e-02 9.96643369e-01 -7.81453045e-03 -1.40664814e+02] [-5.27827987e-02 3.51401396e-03 9.98599834e-01 -4.98806488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.0607140569999 meters 0.04067196841484071 Centerline is valid? [True, True] Translation: X:786.24, Y:-140.67, Z:-49.88 [[ 9.95342656e-01 8.06381349e-02 5.28250775e-02 7.86242765e+02] [-8.03326013e-02 9.96736924e-01 -7.88530525e-03 -1.40669275e+02] [-5.32885615e-02 3.60500479e-03 9.98572648e-01 -4.98813357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.0907140569999 meters 0.03772111901838669 Centerline is valid? [True, True] Translation: X:786.27, Y:-140.67, Z:-49.88 [[ 9.95444842e-01 7.95128091e-02 5.26049360e-02 7.86272157e+02] [-7.92085053e-02 9.96827179e-01 -7.84776515e-03 -1.40668062e+02] [-5.30620279e-02 3.64525898e-03 9.98584565e-01 -4.98821486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.120714057 meters 0.042423668795098644 Centerline is valid? [True, True] Translation: X:786.30, Y:-140.68, Z:-49.88 [[ 9.95649357e-01 7.71566749e-02 5.22417938e-02 7.86298916e+02] [-7.68535365e-02 9.97011962e-01 -7.78981012e-03 -1.40677553e+02] [-5.26867292e-02 3.74095283e-03 9.98604083e-01 -4.98848077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.150714057 meters 0.04138943227257144 Centerline is valid? [True, True] Translation: X:786.33, Y:-140.68, Z:-49.89 [[ 9.95760107e-01 7.58793949e-02 5.20012134e-02 7.86328729e+02] [-7.55775181e-02 9.97109811e-01 -7.75004136e-03 -1.40680200e+02] [-5.24389885e-02 3.78705937e-03 9.98616949e-01 -4.98871890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.1807140569999 meters 0.04195314959187123 Centerline is valid? [True, True] Translation: X:786.36, Y:-140.69, Z:-49.89 [[ 9.95852007e-01 7.46649235e-02 5.19993249e-02 7.86357506e+02] [-7.43615150e-02 9.97201250e-01 -7.74800716e-03 -1.40685567e+02] [-5.24322962e-02 3.84911990e-03 9.98617063e-01 -4.98893010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.2107140569999 meters 0.04501682063777777 Centerline is valid? [True, True] Translation: X:786.39, Y:-140.69, Z:-49.89 [[ 9.96056192e-01 7.24412093e-02 5.12282513e-02 7.86385429e+02] [-7.21439713e-02 9.97365042e-01 -7.63017358e-03 -1.40693474e+02] [-5.16460061e-02 3.90427214e-03 9.98657823e-01 -4.98920279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.2407140569999 meters 0.03959513173623235 Centerline is valid? [True, True] Translation: X:786.42, Y:-140.69, Z:-49.89 [[ 9.96155759e-01 7.13500980e-02 5.08219210e-02 7.86415065e+02] [-7.10561529e-02 9.97443594e-01 -7.56961371e-03 -1.40689212e+02] [-5.12320923e-02 3.92930409e-03 9.98679044e-01 -4.98933421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.270714057 meters 0.044566835281741456 Centerline is valid? [True, True] Translation: X:786.44, Y:-140.70, Z:-49.90 [[ 9.96291504e-01 6.95846141e-02 5.06085027e-02 7.86442023e+02] [-6.92910629e-02 9.97568036e-01 -7.53410022e-03 -1.40699785e+02] [-5.10096821e-02 3.99944309e-03 9.98690151e-01 -4.98958610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.3007140569999 meters 0.04810957016043734 Centerline is valid? [True, True] Translation: X:786.47, Y:-140.71, Z:-49.90 [[ 9.96331181e-01 6.88070779e-02 5.08897305e-02 7.86468194e+02] [-6.85094331e-02 9.97621731e-01 -7.57229047e-03 -1.40708430e+02] [-5.12897282e-02 4.05808252e-03 9.98675571e-01 -4.98978238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.3307140569999 meters 0.04104946160875987 Centerline is valid? [True, True] Translation: X:786.50, Y:-140.70, Z:-49.90 [[ 9.96303887e-01 6.87879823e-02 5.14468431e-02 7.86497906e+02] [-6.84839860e-02 9.97622880e-01 -7.65068521e-03 -1.40702996e+02] [-5.18508230e-02 4.09912253e-03 9.98646429e-01 -4.98982170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.3607140569999 meters 0.050620826834697236 Centerline is valid? [True, True] Translation: X:786.52, Y:-140.72, Z:-49.90 [[ 9.96288807e-01 6.83679288e-02 5.22918724e-02 7.86523802e+02] [-6.80534799e-02 9.97651398e-01 -7.77251691e-03 -1.40719673e+02] [-5.27004505e-02 4.18502771e-03 9.98601596e-01 -4.98993845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.390714057 meters 0.05000136037908385 Centerline is valid? [True, True] Translation: X:786.55, Y:-140.72, Z:-49.90 [[ 9.96286081e-01 6.82753327e-02 5.24644948e-02 7.86552223e+02] [-6.79589340e-02 9.97657681e-01 -7.79327140e-03 -1.40722023e+02] [-5.28736944e-02 4.19889669e-03 9.98592380e-01 -4.99003369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.4207140569999 meters 0.04120923192619411 Centerline is valid? [True, True] Translation: X:786.58, Y:-140.71, Z:-49.90 [[ 9.96241642e-01 6.86848237e-02 5.27729648e-02 7.86583003e+02] [-6.83654539e-02 9.97629576e-01 -7.83544043e-03 -1.40713892e+02] [-5.31860464e-02 4.19814435e-03 9.98575796e-01 -4.99010446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.4507140569999 meters 0.041048229732811116 Centerline is valid? [True, True] Translation: X:786.61, Y:-140.72, Z:-49.90 [[ 9.96159879e-01 6.98363597e-02 5.28050957e-02 7.86611937e+02] [-6.95183616e-02 9.97549885e-01 -7.83730907e-03 -1.40717015e+02] [-5.32230463e-02 4.13628912e-03 9.98574083e-01 -4.99026714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.4807140569999 meters 0.07159557824466917 Centerline is valid? [True, True] Translation: X:786.63, Y:-140.76, Z:-49.91 [[ 9.95995909e-01 7.29137681e-02 5.17274759e-02 7.86634673e+02] [-7.26129059e-02 9.97330672e-01 -7.67445342e-03 -1.40762594e+02] [-5.21489716e-02 3.88764188e-03 9.98631749e-01 -4.99078050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.510714057 meters 0.040612887706086925 Centerline is valid? [True, True] Translation: X:786.67, Y:-140.72, Z:-49.91 [[ 9.95979431e-01 7.27990889e-02 5.22040795e-02 7.86669991e+02] [-7.24925592e-02 9.97338889e-01 -7.74392835e-03 -1.40724620e+02] [-5.26289096e-02 3.92838602e-03 9.98606412e-01 -4.99070667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.540714057 meters 0.04111915260684924 Centerline is valid? [True, True] Translation: X:786.70, Y:-140.73, Z:-49.91 [[ 9.95967913e-01 7.33552631e-02 5.16422385e-02 7.86697274e+02] [-7.30562336e-02 9.97298429e-01 -7.65698971e-03 -1.40728821e+02] [-5.20644039e-02 3.85332862e-03 9.98636295e-01 -4.99087989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.5707140569999 meters 0.040944025609599394 Centerline is valid? [True, True] Translation: X:786.73, Y:-140.73, Z:-49.91 [[ 9.95901083e-01 7.43187446e-02 5.15534319e-02 7.86725978e+02] [-7.40222723e-02 9.97227330e-01 -7.63910420e-03 -1.40732501e+02] [-5.19782199e-02 3.79168997e-03 9.98641020e-01 -4.99105292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.6007140569999 meters 0.040249629388570754 Centerline is valid? [True, True] Translation: X:786.76, Y:-140.74, Z:-49.91 [[ 9.95792791e-01 7.60581515e-02 5.11065007e-02 7.86755303e+02] [-7.57692777e-02 9.97096648e-01 -7.56904504e-03 -1.40735263e+02] [-5.15338081e-02 3.66489785e-03 9.98664526e-01 -4.99124623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.630714057 meters 0.04116853306425164 Centerline is valid? [True, True] Translation: X:786.78, Y:-140.74, Z:-49.91 [[ 9.95708881e-01 7.72117578e-02 5.10114632e-02 7.86782760e+02] [-7.69255403e-02 9.97008228e-01 -7.55348308e-03 -1.40740611e+02] [-5.14420662e-02 3.59698582e-03 9.98669503e-01 -4.99144928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.660714057 meters 0.05978957375067848 Centerline is valid? [True, True] Translation: X:786.81, Y:-140.77, Z:-49.92 [[ 9.95253593e-01 8.30854769e-02 5.06664561e-02 7.86807346e+02] [-8.28109312e-02 9.96537071e-01 -7.49768364e-03 -1.40770037e+02] [-5.11139504e-02 3.26636017e-03 9.98687486e-01 -4.99187980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.6907140569999 meters 0.039157436489491555 Centerline is valid? [True, True] Translation: X:786.84, Y:-140.75, Z:-49.92 [[ 9.95215152e-01 8.28681312e-02 5.17655777e-02 7.86840758e+02] [-8.25813625e-02 9.96554903e-01 -7.65796878e-03 -1.40745173e+02] [-5.22218419e-02 3.34645462e-03 9.98629902e-01 -4.99170164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.7207140569999 meters 0.03392152672711213 Centerline is valid? [True, True] Translation: X:786.87, Y:-140.74, Z:-49.92 [[ 9.95013262e-01 8.50733885e-02 5.20684856e-02 7.86871573e+02] [-8.47864550e-02 9.96369401e-01 -7.69897520e-03 -1.40740239e+02] [-5.25344237e-02 3.24588012e-03 9.98613839e-01 -4.99176984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.750714057 meters 0.037474119004163774 Centerline is valid? [True, True] Translation: X:786.90, Y:-140.75, Z:-49.92 [[ 9.94562483e-01 9.01959265e-02 5.20592286e-02 7.86899996e+02] [-8.99161842e-02 9.95919604e-01 -7.69561814e-03 -1.40747996e+02] [-5.25409197e-02 2.97280589e-03 9.98614347e-01 -4.99189382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.780714057 meters 0.03672197538812382 Centerline is valid? [True, True] Translation: X:786.93, Y:-140.75, Z:-49.92 [[ 9.94333663e-01 9.25552476e-02 5.22885579e-02 7.86929547e+02] [-9.22763383e-02 9.95703444e-01 -7.72844719e-03 -1.40750593e+02] [-5.27792055e-02 2.85965854e-03 9.98602112e-01 -4.99206426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.8107140569999 meters 0.03569049059239122 Centerline is valid? [True, True] Translation: X:786.96, Y:-140.75, Z:-49.92 [[ 9.94025468e-01 9.56990990e-02 5.24885910e-02 7.86958066e+02] [-9.54225127e-02 9.95406643e-01 -7.75618351e-03 -1.40753241e+02] [-5.29897520e-02 2.70125070e-03 9.98591403e-01 -4.99218571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.8407140569999 meters 0.03018449690791298 Centerline is valid? [True, True] Translation: X:786.99, Y:-140.75, Z:-49.92 [[ 9.93910523e-01 9.67682636e-02 5.27046011e-02 7.86987761e+02] [-9.64909467e-02 9.95303400e-01 -7.78707143e-03 -1.40749076e+02] [-5.32106101e-02 2.65413538e-03 9.98579785e-01 -4.99233535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.870714057 meters 0.035662047793060224 Centerline is valid? [True, True] Translation: X:787.01, Y:-140.76, Z:-49.93 [[ 9.93871623e-01 9.72190326e-02 5.26085228e-02 7.87013538e+02] [-9.69435552e-02 9.95259558e-01 -7.76913615e-03 -1.40761902e+02] [-5.31144431e-02 2.62146672e-03 9.98584991e-01 -4.99257348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.900714057 meters 0.030362581927292413 Centerline is valid? [True, True] Translation: X:787.04, Y:-140.76, Z:-49.93 [[ 9.93842763e-01 9.76922295e-02 5.22761098e-02 7.87043575e+02] [-9.74211310e-02 9.95213343e-01 -7.71526979e-03 -1.40758420e+02] [-5.27796038e-02 2.57496731e-03 9.98602866e-01 -4.99271145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.9307140569999 meters 0.03198760059247807 Centerline is valid? [True, True] Translation: X:787.07, Y:-140.77, Z:-49.93 [[ 9.93874567e-01 9.75031535e-02 5.20238434e-02 7.87069564e+02] [-9.72345719e-02 9.95231899e-01 -7.67495463e-03 -1.40765016e+02] [-5.25241207e-02 2.56942607e-03 9.98616350e-01 -4.99293107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.9607140569999 meters 0.0299319246925313 Centerline is valid? [True, True] Translation: X:787.10, Y:-140.77, Z:-49.93 [[ 9.94035826e-01 9.63174535e-02 5.11441512e-02 7.87097888e+02] [-9.60568637e-02 9.95347330e-01 -7.53470840e-03 -1.40767147e+02] [-5.16319183e-02 2.57702333e-03 9.98662858e-01 -4.99311146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.9907140569999 meters 0.03184281072370009 Centerline is valid? [True, True] Translation: X:787.13, Y:-140.78, Z:-49.93 [[ 9.94160283e-01 9.50818134e-02 5.10370502e-02 7.87125003e+02] [-9.48209325e-02 9.95465985e-01 -7.51426483e-03 -1.40775154e+02] [-5.15201173e-02 2.63100296e-03 9.98668491e-01 -4.99329976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.020714057 meters 0.03160579349335703 Centerline is valid? [True, True] Translation: X:787.15, Y:-140.78, Z:-49.93 [[ 9.94331038e-01 9.34970646e-02 5.06367975e-02 7.87154364e+02] [-9.32384669e-02 9.95615930e-01 -7.45041645e-03 -1.40779919e+02] [-5.11113943e-02 2.68688295e-03 9.98689344e-01 -4.99346058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.0507140569999 meters 0.03232630804570783 Centerline is valid? [True, True] Translation: X:787.18, Y:-140.79, Z:-49.94 [[ 9.94575706e-01 9.05336683e-02 5.12134727e-02 7.87183181e+02] [-9.02653226e-02 9.95889261e-01 -7.53338960e-03 -1.40787728e+02] [-5.16849729e-02 2.86972565e-03 9.98659315e-01 -4.99357806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.0807140569999 meters 0.03360099966613967 Centerline is valid? [True, True] Translation: X:787.21, Y:-140.79, Z:-49.94 [[ 9.94661173e-01 8.93771062e-02 5.15837574e-02 7.87210105e+02] [-8.91033951e-02 9.95993491e-01 -7.58627335e-03 -1.40794647e+02] [-5.20551257e-02 2.94948363e-03 9.98639857e-01 -4.99373802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.1107140569999 meters 0.03332934750349854 Centerline is valid? [True, True] Translation: X:787.24, Y:-140.80, Z:-49.94 [[ 9.94777513e-01 8.81997102e-02 5.13664409e-02 7.87238172e+02] [-8.79269783e-02 9.96098313e-01 -7.54970859e-03 -1.40798699e+02] [-5.18319072e-02 2.99378440e-03 9.98651336e-01 -4.99387317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.140714057 meters 0.05236237488147382 Centerline is valid? [True, True] Translation: X:787.26, Y:-140.83, Z:-49.94 [[ 9.94570906e-01 8.98506979e-02 5.24934748e-02 7.87261740e+02] [-8.95684067e-02 9.95950827e-01 -7.71039594e-03 -1.40832338e+02] [-5.29737041e-02 2.96677858e-03 9.98591501e-01 -4.99428344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.1707140569999 meters 0.03513574658655162 Centerline is valid? [True, True] Translation: X:787.29, Y:-140.81, Z:-49.94 [[ 9.94861971e-01 8.73644210e-02 5.11577641e-02 7.87294404e+02] [-8.70932364e-02 9.96171852e-01 -7.51065273e-03 -1.40811937e+02] [-5.16180884e-02 3.01656754e-03 9.98662342e-01 -4.99427636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.2007140569999 meters 0.03144695497989143 Centerline is valid? [True, True] Translation: X:787.32, Y:-140.81, Z:-49.94 [[ 9.94761696e-01 8.86658206e-02 5.08678676e-02 7.87323615e+02] [-8.83995980e-02 9.96057125e-01 -7.46420697e-03 -1.40811058e+02] [-5.13291220e-02 2.92840813e-03 9.98677498e-01 -4.99437646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.2307140569999 meters 0.03331930908826578 Centerline is valid? [True, True] Translation: X:787.35, Y:-140.82, Z:-49.95 [[ 9.94719983e-01 8.92800739e-02 5.06085435e-02 7.87350757e+02] [-8.90175401e-02 9.96002402e-01 -7.42250349e-03 -1.40818431e+02] [-5.10689125e-02 2.87826450e-03 9.98690984e-01 -4.99457731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.260714057 meters 0.03149622361579385 Centerline is valid? [True, True] Translation: X:787.38, Y:-140.82, Z:-49.95 [[ 9.94614528e-01 9.03808511e-02 5.07271324e-02 7.87379505e+02] [-9.01187585e-02 9.95903273e-01 -7.43505370e-03 -1.40821122e+02] [-5.11913036e-02 2.82354624e-03 9.98684874e-01 -4.99472638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.290714057 meters 0.03216009101758946 Centerline is valid? [True, True] Translation: X:787.41, Y:-140.83, Z:-49.95 [[ 9.94507238e-01 9.17154632e-02 5.04343881e-02 7.87406729e+02] [-9.14582820e-02 9.95781498e-01 -7.38856883e-03 -1.40827145e+02] [-5.08992766e-02 2.73534269e-03 9.98700046e-01 -4.99490717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.3207140569999 meters 0.03229577892212039 Centerline is valid? [True, True] Translation: X:787.44, Y:-140.83, Z:-49.95 [[ 9.94416091e-01 9.26246718e-02 5.05698353e-02 7.87435558e+02] [-9.23675276e-02 9.95697458e-01 -7.40351544e-03 -1.40832617e+02] [-5.10380046e-02 2.69116423e-03 9.98693086e-01 -4.99506816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.3507140569999 meters 0.032117583952467 Centerline is valid? [True, True] Translation: X:787.46, Y:-140.84, Z:-49.95 [[ 9.94258396e-01 9.40101724e-02 5.11109587e-02 7.87462522e+02] [-9.37494472e-02 9.95567722e-01 -7.48015988e-03 -1.40838455e+02] [-5.15876318e-02 2.64558764e-03 9.98664967e-01 -4.99525649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.380714057 meters 0.030915617035584448 Centerline is valid? [True, True] Translation: X:787.49, Y:-140.84, Z:-49.95 [[ 9.94206989e-01 9.46505866e-02 5.09286643e-02 7.87490801e+02] [-9.43927960e-02 9.95507165e-01 -7.44884175e-03 -1.40841363e+02] [-5.14048875e-02 2.59839150e-03 9.98674515e-01 -4.99544426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.410714057 meters 0.03108326888956592 Centerline is valid? [True, True] Translation: X:787.52, Y:-140.85, Z:-49.96 [[ 9.94139475e-01 9.52108944e-02 5.12014625e-02 7.87518548e+02] [-9.49512667e-02 9.95453782e-01 -7.48499150e-03 -1.40846988e+02] [-5.16813422e-02 2.57948180e-03 9.98660295e-01 -4.99566992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.4407140569999 meters 0.030459892792848504 Centerline is valid? [True, True] Translation: X:787.55, Y:-140.85, Z:-49.96 [[ 9.94147429e-01 9.54253426e-02 5.06447734e-02 7.87547210e+02] [-9.51717973e-02 9.95433357e-01 -7.40000512e-03 -1.40851986e+02] [-5.11196449e-02 2.53674196e-03 9.98689315e-01 -4.99590711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.4707140569999 meters 0.03021521427334896 Centerline is valid? [True, True] Translation: X:787.58, Y:-140.86, Z:-49.96 [[ 9.94184264e-01 9.49762355e-02 5.07657856e-02 7.87575619e+02] [-9.47210825e-02 9.95476243e-01 -7.41397811e-03 -1.40856364e+02] [-5.12402852e-02 2.56227019e-03 9.98683067e-01 -4.99605681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.500714057 meters 0.03220439375224053 Centerline is valid? [True, True] Translation: X:787.60, Y:-140.87, Z:-49.96 [[ 9.94362530e-01 9.33589881e-02 5.02718392e-02 7.87601814e+02] [-9.31068762e-02 9.95629074e-01 -7.33877701e-03 -1.40865251e+02] [-5.07372455e-02 2.61675097e-03 9.98708608e-01 -4.99625780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.530714057 meters 0.03220439375224053 Centerline is valid? [True, True] Translation: X:787.63, Y:-140.87, Z:-49.96 [[ 9.94372297e-01 9.32542749e-02 5.02730057e-02 7.87628989e+02] [-9.30024330e-02 9.95638894e-01 -7.33077713e-03 -1.40869124e+02] [-5.07373861e-02 2.61400985e-03 9.98708608e-01 -4.99641715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.5607140569999 meters 0.03374125864799594 Centerline is valid? [True, True] Translation: X:787.66, Y:-140.88, Z:-49.97 [[ 9.94511487e-01 9.16420503e-02 5.04840312e-02 7.87655316e+02] [-9.13862842e-02 9.95788347e-01 -7.35631555e-03 -1.40877394e+02] [-5.09455578e-02 2.70239230e-03 9.98697776e-01 -4.99663836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.5907140569999 meters 0.032812900510461214 Centerline is valid? [True, True] Translation: X:787.68, Y:-140.88, Z:-49.97 [[ 9.94680443e-01 8.98653747e-02 5.03490976e-02 7.87684664e+02] [-8.96090946e-02 9.95950047e-01 -7.32903339e-03 -1.40881942e+02] [-5.08038125e-02 2.77830912e-03 9.98704788e-01 -4.99676891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.620714057 meters 0.0358971970933143 Centerline is valid? [True, True] Translation: X:787.71, Y:-140.89, Z:-49.97 [[ 9.95084813e-01 8.51549317e-02 5.05455463e-02 7.87712857e+02] [-8.48906889e-02 9.96363119e-01 -7.35570205e-03 -1.40894723e+02] [-5.09880925e-02 3.02870116e-03 9.98694669e-01 -4.99700951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.650714057 meters 0.03958355797846256 Centerline is valid? [True, True] Translation: X:787.74, Y:-140.91, Z:-49.97 [[ 9.95356079e-01 8.22459982e-02 5.00187174e-02 7.87740535e+02] [-8.19836415e-02 9.96607102e-01 -7.27787407e-03 -1.40905215e+02] [-5.04475850e-02 3.14335960e-03 9.98721763e-01 -4.99719590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.6807140569999 meters 0.03728484372253964 Centerline is valid? [True, True] Translation: X:787.77, Y:-140.91, Z:-49.97 [[ 9.95774796e-01 7.69917753e-02 5.00481997e-02 7.87770910e+02] [-7.67225298e-02 9.97025893e-01 -7.28162324e-03 -1.40908176e+02] [-5.04599761e-02 3.41103240e-03 9.98720259e-01 -4.99727689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.7107140569999 meters 0.03826647547909229 Centerline is valid? [True, True] Translation: X:787.80, Y:-140.92, Z:-49.97 [[ 9.95928361e-01 7.48646463e-02 5.02193717e-02 7.87799954e+02] [-7.45908496e-02 9.97187453e-01 -7.30680936e-03 -1.40915327e+02] [-5.06251490e-02 3.53115307e-03 9.98711483e-01 -4.99742786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.7407140569999 meters 0.036668639510536116 Centerline is valid? [True, True] Translation: X:787.83, Y:-140.92, Z:-49.98 [[ 9.96068298e-01 7.31158522e-02 5.00201661e-02 7.87829448e+02] [-7.28421233e-02 9.97316943e-01 -7.27603298e-03 -1.40918314e+02] [-5.04179525e-02 3.60385069e-03 9.98721704e-01 -4.99758459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.770714057 meters 0.038158985476437125 Centerline is valid? [True, True] Translation: X:787.86, Y:-140.93, Z:-49.98 [[ 9.96283478e-01 6.99677658e-02 5.02368751e-02 7.87858527e+02] [-6.96877803e-02 9.97542101e-01 -7.30554852e-03 -1.40926397e+02] [-5.06245508e-02 3.77750097e-03 9.98710611e-01 -4.99773834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.8007140569999 meters 0.042740737791038555 Centerline is valid? [True, True] Translation: X:787.89, Y:-140.94, Z:-49.98 [[ 9.96353097e-01 6.87177337e-02 5.05804229e-02 7.87885332e+02] [-6.84323305e-02 9.97628649e-01 -7.35492859e-03 -1.40938323e+02] [-5.09658930e-02 3.86676966e-03 9.98692909e-01 -4.99792995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.8307140569999 meters 0.03996884211740163 Centerline is valid? [True, True] Translation: X:787.92, Y:-140.94, Z:-49.98 [[ 9.96518966e-01 6.64901468e-02 5.02892751e-02 7.87915772e+02] [-6.62054182e-02 9.97779249e-01 -7.30839504e-03 -1.40940325e+02] [-5.06635314e-02 3.95353178e-03 9.98707953e-01 -4.99807561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.8607140569999 meters 0.04290871498749388 Centerline is valid? [True, True] Translation: X:787.94, Y:-140.95, Z:-49.98 [[ 9.96599596e-01 6.55512794e-02 4.99226930e-02 7.87943117e+02] [-6.52695009e-02 9.97841295e-01 -7.25552370e-03 -1.40949205e+02] [-5.02905335e-02 3.97242273e-03 9.98726730e-01 -4.99827483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.890714057 meters 0.044428795611495014 Centerline is valid? [True, True] Translation: X:787.97, Y:-140.96, Z:-49.98 [[ 9.96684802e-01 6.47550423e-02 4.92563728e-02 7.87971514e+02] [-6.44799180e-02 9.97893348e-01 -7.15585930e-03 -1.40955816e+02] [-4.96159848e-02 3.95608933e-03 9.98760534e-01 -4.99847464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.9207140569999 meters 0.04453805841912988 Centerline is valid? [True, True] Translation: X:788.00, Y:-140.96, Z:-49.99 [[ 9.96832572e-01 6.30126122e-02 4.85204582e-02 7.88001205e+02] [-6.27436971e-02 9.98004793e-01 -7.04708986e-03 -1.40960682e+02] [-4.88677053e-02 3.98041578e-03 9.98797329e-01 -4.99866669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.9507140569999 meters 0.04437457156784414 Centerline is valid? [True, True] Translation: X:788.03, Y:-140.96, Z:-49.99 [[ 9.96837612e-01 6.27907314e-02 4.87042010e-02 7.88030733e+02] [-6.25195463e-02 9.98018676e-01 -7.07305307e-03 -1.40964818e+02] [-4.90518244e-02 4.00572078e-03 9.98788202e-01 -4.99883981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.9807140569999 meters 0.046071278729440265 Centerline is valid? [True, True] Translation: X:788.06, Y:-140.97, Z:-49.99 [[ 9.96895326e-01 6.23429466e-02 4.80943538e-02 7.88059954e+02] [-6.20780904e-02 9.98046870e-01 -6.98261839e-03 -1.40970308e+02] [-4.84357362e-02 3.97533399e-03 9.98818390e-01 -4.99897687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.010714057 meters 0.042578405301412686 Centerline is valid? [True, True] Translation: X:788.09, Y:-140.97, Z:-49.99 [[ 9.96874793e-01 6.24126366e-02 4.84283954e-02 7.88089945e+02] [-6.21442008e-02 9.98042420e-01 -7.03041140e-03 -1.40969158e+02] [-4.87723794e-02 3.99889598e-03 9.98801914e-01 -4.99903335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.040714057 meters 0.04043922364175249 Centerline is valid? [True, True] Translation: X:788.12, Y:-140.97, Z:-49.99 [[ 9.96867986e-01 6.24659053e-02 4.84997773e-02 7.88119980e+02] [-6.21968260e-02 9.98039081e-01 -7.03900185e-03 -1.40969552e+02] [-4.88443708e-02 4.00042339e-03 9.98798390e-01 -4.99915711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.0707140569999 meters 0.0455454170537971 Centerline is valid? [True, True] Translation: X:788.15, Y:-140.98, Z:-49.99 [[ 9.96825381e-01 6.33073897e-02 4.82839001e-02 7.88148233e+02] [-6.30417786e-02 9.97986300e-01 -7.00570378e-03 -1.40979412e+02] [-4.86301836e-02 3.93956040e-03 9.98809083e-01 -4.99936582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.1007140569999 meters 0.043717071834429966 Centerline is valid? [True, True] Translation: X:788.18, Y:-140.98, Z:-50.00 [[ 9.96844539e-01 6.32488112e-02 4.79640908e-02 7.88177239e+02] [-6.29866621e-02 9.97990107e-01 -6.95891096e-03 -1.40979864e+02] [-4.83078310e-02 3.91585441e-03 9.98824819e-01 -4.99950625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.130714057 meters 0.0410099028294765 Centerline is valid? [True, True] Translation: X:788.21, Y:-140.98, Z:-50.00 [[ 9.96860952e-01 6.35996036e-02 4.71522391e-02 7.88206851e+02] [-6.33468267e-02 9.97968150e-01 -6.83744483e-03 -1.40978673e+02] [-4.74912917e-02 3.82903704e-03 9.98864313e-01 -4.99973463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.160714057 meters 0.04109252764892149 Centerline is valid? [True, True] Translation: X:788.24, Y:-140.98, Z:-50.00 [[ 9.96909036e-01 6.33881065e-02 4.64146671e-02 7.88235949e+02] [-6.31430341e-02 9.97981804e-01 -6.72881301e-03 -1.40982029e+02] [-4.67475199e-02 3.77725159e-03 9.98899595e-01 -4.99990852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.1907140569999 meters 0.04243224015967042 Centerline is valid? [True, True] Translation: X:788.26, Y:-140.99, Z:-50.00 [[ 9.96980990e-01 6.29064414e-02 4.55157799e-02 7.88263835e+02] [-6.26703448e-02 9.98012478e-01 -6.59707615e-03 -1.40986922e+02] [-4.58403149e-02 3.72466988e-03 9.98941836e-01 -5.00007625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.2207140569999 meters 0.0479931290993641 Centerline is valid? [True, True] Translation: X:788.29, Y:-141.00, Z:-50.00 [[ 9.97087767e-01 6.18153013e-02 4.46637930e-02 7.88291548e+02] [-6.15869894e-02 9.98080741e-01 -6.47119307e-03 -1.40996537e+02] [-4.49780904e-02 3.70163890e-03 9.98981116e-01 -5.00035646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.250714057 meters 0.04389514951000863 Centerline is valid? [True, True] Translation: X:788.32, Y:-140.99, Z:-50.00 [[ 9.97162032e-01 6.11779375e-02 4.38764304e-02 7.88321392e+02] [-6.09571013e-02 9.98120157e-01 -6.35479212e-03 -1.40993892e+02] [-4.41827227e-02 3.66217741e-03 9.99016754e-01 -5.00041733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.280714057 meters 0.043623805487002336 Centerline is valid? [True, True] Translation: X:788.35, Y:-141.00, Z:-50.00 [[ 9.97192338e-01 6.07005202e-02 4.38507493e-02 7.88350677e+02] [-6.04795786e-02 9.98149243e-01 -6.34894381e-03 -1.40995025e+02] [-4.41549764e-02 3.67904328e-03 9.99017919e-01 -5.00042903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.3107140569999 meters 0.04371752021215233 Centerline is valid? [True, True] Translation: X:788.38, Y:-141.00, Z:-50.01 [[ 9.97212932e-01 6.03011648e-02 4.39333246e-02 7.88379294e+02] [-6.00791465e-02 9.98173370e-01 -6.35770103e-03 -1.40998048e+02] [-4.42364514e-02 3.70050504e-03 9.99014235e-01 -5.00054774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.3407140569999 meters 0.043653801766413244 Centerline is valid? [True, True] Translation: X:788.41, Y:-141.00, Z:-50.01 [[ 9.97191994e-01 6.05571324e-02 4.40563394e-02 7.88408389e+02] [-6.03342585e-02 9.98157889e-01 -6.37229342e-03 -1.40999593e+02] [-4.43610706e-02 3.69629341e-03 9.99008725e-01 -5.00055645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.370714057 meters 0.04482391053397058 Centerline is valid? [True, True] Translation: X:788.44, Y:-141.00, Z:-50.01 [[ 9.97170766e-01 6.10806742e-02 4.38134013e-02 7.88436349e+02] [-6.08608954e-02 9.98126160e-01 -6.33397740e-03 -1.41003669e+02] [-4.41181856e-02 3.64953426e-03 9.99019653e-01 -5.00068283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.400714057 meters 0.04430927954724569 Centerline is valid? [True, True] Translation: X:788.47, Y:-141.01, Z:-50.01 [[ 9.97118449e-01 6.18967954e-02 4.38587034e-02 7.88465709e+02] [-6.16774975e-02 9.98076013e-01 -6.33708101e-03 -1.41005309e+02] [-4.41665648e-02 3.61372531e-03 9.99017645e-01 -5.00077550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.4307140569999 meters 0.044461597657453715 Centerline is valid? [True, True] Translation: X:788.49, Y:-141.01, Z:-50.01 [[ 9.96977097e-01 6.44099095e-02 4.34514984e-02 7.88494584e+02] [-6.41971500e-02 9.97917502e-01 -6.27568351e-03 -1.41006437e+02] [-4.37652270e-02 3.46725036e-03 9.99035827e-01 -5.00088331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.4607140569999 meters 0.044643695495068476 Centerline is valid? [True, True] Translation: X:788.52, Y:-141.01, Z:-50.01 [[ 9.96922080e-01 6.54241560e-02 4.31977505e-02 7.88523232e+02] [-6.52148670e-02 9.97851747e-01 -6.23799854e-03 -1.41009135e+02] [-4.35130666e-02 3.40166293e-03 9.99047067e-01 -5.00104198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.4907140569999 meters 0.040206587988309124 Centerline is valid? [True, True] Translation: X:788.55, Y:-141.00, Z:-50.01 [[ 9.96780956e-01 6.80642068e-02 4.23673175e-02 7.88554584e+02] [-6.78654196e-02 9.97675748e-01 -6.11439645e-03 -1.41003666e+02] [-4.26850168e-02 3.21943815e-03 9.99083392e-01 -5.00114776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.520714057 meters 0.04014133760630146 Centerline is valid? [True, True] Translation: X:788.58, Y:-141.01, Z:-50.01 [[ 9.96759708e-01 6.88591226e-02 4.15753082e-02 7.88583845e+02] [-6.86683980e-02 9.97621497e-01 -5.99992371e-03 -1.41006093e+02] [-4.18895707e-02 3.12557240e-03 9.99117358e-01 -5.00133446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.5507140569999 meters 0.03877216749849492 Centerline is valid? [True, True] Translation: X:788.61, Y:-141.01, Z:-50.02 [[ 9.96727680e-01 6.96213061e-02 4.10707374e-02 7.88613317e+02] [-6.94359199e-02 9.97568819e-01 -5.92491677e-03 -1.41007104e+02] [-4.13833875e-02 3.05374411e-03 9.99138674e-01 -5.00151812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.5807140569999 meters 0.038424100960643075 Centerline is valid? [True, True] Translation: X:788.64, Y:-141.01, Z:-50.02 [[ 9.96665477e-01 7.09870040e-02 4.02339682e-02 7.88642430e+02] [-7.08102810e-02 9.97472925e-01 -5.80236151e-03 -1.41007891e+02] [-4.05441863e-02 2.93403480e-03 9.99173439e-01 -5.00175163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.6107140569999 meters 0.0375424499143437 Centerline is valid? [True, True] Translation: X:788.67, Y:-141.01, Z:-50.02 [[ 9.96687704e-01 7.12182640e-02 3.92629677e-02 7.88671734e+02] [-7.10502618e-02 9.97456681e-01 -5.65955496e-03 -1.41009263e+02] [-3.95661731e-02 2.85116470e-03 9.99212885e-01 -5.00187850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.640714057 meters 0.0385797298672277 Centerline is valid? [True, True] Translation: X:788.70, Y:-141.01, Z:-50.02 [[ 9.96648905e-01 7.21723258e-02 3.84982596e-02 7.88699331e+02] [-7.20115891e-02 9.97388368e-01 -5.54744027e-03 -1.41012952e+02] [-3.87980880e-02 2.75652942e-03 9.99243269e-01 -5.00212344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.6707140569999 meters 0.03823562278495874 Centerline is valid? [True, True] Translation: X:788.73, Y:-141.01, Z:-50.02 [[ 9.96572794e-01 7.41047286e-02 3.67580582e-02 7.88728197e+02] [-7.39596997e-02 9.97247192e-01 -5.29157285e-03 -1.41012860e+02] [-3.70490009e-02 2.55482260e-03 9.99310184e-01 -5.00231711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.7007140569999 meters 0.037442272021818664 Centerline is valid? [True, True] Translation: X:788.76, Y:-141.01, Z:-50.02 [[ 9.96470413e-01 7.56706607e-02 3.63409725e-02 7.88757453e+02] [-7.55300508e-02 9.97129818e-01 -5.22856648e-03 -1.41014825e+02] [-3.66323164e-02 2.46527630e-03 9.99325771e-01 -5.00245313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.7307140569999 meters 0.03709961510359009 Centerline is valid? [True, True] Translation: X:788.79, Y:-141.01, Z:-50.03 [[ 9.96241298e-01 7.87724243e-02 3.60302732e-02 7.88786492e+02] [-7.86363124e-02 9.96889905e-01 -5.18154804e-03 -1.41014855e+02] [-3.63263787e-02 2.32878433e-03 9.99337266e-01 -5.00256354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.760714057 meters 0.035920770447110305 Centerline is valid? [True, True] Translation: X:788.82, Y:-141.02, Z:-50.03 [[ 9.96110863e-01 8.01856785e-02 3.65158279e-02 7.88815778e+02] [-8.00467137e-02 9.96777266e-01 -5.25416892e-03 -1.41015815e+02] [-3.68194561e-02 2.31076272e-03 9.99319262e-01 -5.00259900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.790714057 meters 0.034784353290183846 Centerline is valid? [True, True] Translation: X:788.85, Y:-141.02, Z:-50.03 [[ 9.95936590e-01 8.20320117e-02 3.71625962e-02 7.88845705e+02] [-8.18898437e-02 9.96627111e-01 -5.33426569e-03 -1.41016509e+02] [-3.74748314e-02 2.26935119e-03 9.99294995e-01 -5.00265614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.8207140569999 meters 0.03399194716699343 Centerline is valid? [True, True] Translation: X:788.88, Y:-141.02, Z:-50.03 [[ 9.95532619e-01 8.60844699e-02 3.87849078e-02 7.88875043e+02] [-8.59327427e-02 9.96285396e-01 -5.56535408e-03 -1.41016626e+02] [-3.91199278e-02 2.20759802e-03 9.99232084e-01 -5.00265902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.8507140569999 meters 0.03400325437528834 Centerline is valid? [True, True] Translation: X:788.90, Y:-141.02, Z:-50.03 [[ 9.95418103e-01 8.73361235e-02 3.89256008e-02 7.88903820e+02] [-8.71842440e-02 9.96176545e-01 -5.58560410e-03 -1.41018990e+02] [-3.92645955e-02 2.16631236e-03 9.99226500e-01 -5.00283990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.880714057 meters 0.03430658142239337 Centerline is valid? [True, True] Translation: X:788.93, Y:-141.02, Z:-50.03 [[ 9.95218809e-01 8.94673601e-02 3.91805223e-02 7.88932743e+02] [-8.93152534e-02 9.95987556e-01 -5.61904685e-03 -1.41020326e+02] [-3.95260340e-02 2.09276283e-03 9.99216349e-01 -5.00300319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.910714057 meters 0.03450467234023595 Centerline is valid? [True, True] Translation: X:788.96, Y:-141.02, Z:-50.03 [[ 9.95139968e-01 9.04072160e-02 3.90253825e-02 7.88960483e+02] [-9.02570889e-02 9.95902781e-01 -5.59536660e-03 -1.41023354e+02] [-3.93713484e-02 2.04585552e-03 9.99222554e-01 -5.00319736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.9407140569999 meters 0.03426681217210658 Centerline is valid? [True, True] Translation: X:788.99, Y:-141.03, Z:-50.03 [[ 9.95123493e-01 9.07181429e-02 3.87227501e-02 7.88989144e+02] [-9.05707139e-02 9.95874571e-01 -5.54832746e-03 -1.41025909e+02] [-3.90663361e-02 2.01412388e-03 9.99234589e-01 -5.00337365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.9707140569999 meters 0.035101647271058134 Centerline is valid? [True, True] Translation: X:789.02, Y:-141.03, Z:-50.04 [[ 9.95189530e-01 9.05839949e-02 3.73140742e-02 7.89016762e+02] [-9.04470883e-02 9.95886922e-01 -5.34438088e-03 -1.41028905e+02] [-3.76447138e-02 1.94372254e-03 9.99289296e-01 -5.00361463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.000714057 meters 0.03596418384926511 Centerline is valid? [True, True] Translation: X:789.04, Y:-141.03, Z:-50.04 [[ 9.95206507e-01 9.04123364e-02 3.72775816e-02 7.89044385e+02] [-9.02756986e-02 9.95902518e-01 -5.33593965e-03 -1.41033802e+02] [-3.76072721e-02 1.94510214e-03 9.99290703e-01 -5.00385140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.030714057 meters 0.03733189500800234 Centerline is valid? [True, True] Translation: X:789.07, Y:-141.04, Z:-50.04 [[ 9.95419970e-01 8.81761672e-02 3.69330003e-02 7.89072338e+02] [-8.80406393e-02 9.96102873e-01 -5.28316082e-03 -1.41037539e+02] [-3.72549165e-02 2.00735883e-03 9.99303779e-01 -5.00399508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.0607140569999 meters 0.03790379894087937 Centerline is valid? [True, True] Translation: X:789.10, Y:-141.04, Z:-50.04 [[ 9.95533296e-01 8.68733862e-02 3.69658038e-02 7.89100560e+02] [-8.67368154e-02 9.96217240e-01 -5.28535275e-03 -1.41041608e+02] [-3.72851275e-02 2.05544855e-03 9.99302554e-01 -5.00414549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.0907140569999 meters 0.03970545762132234 Centerline is valid? [True, True] Translation: X:789.13, Y:-141.05, Z:-50.04 [[ 9.95724816e-01 8.48391584e-02 3.65295525e-02 7.89128849e+02] [-8.47045313e-02 9.96392439e-01 -5.22021372e-03 -1.41047449e+02] [-3.68406485e-02 2.10367772e-03 9.99318939e-01 -5.00434600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.120714057 meters 0.04125576454145321 Centerline is valid? [True, True] Translation: X:789.16, Y:-141.05, Z:-50.04 [[ 9.95989352e-01 8.15230588e-02 3.68673554e-02 7.89158404e+02] [-8.13837603e-02 9.96668929e-01 -5.26593208e-03 -1.41052997e+02] [-3.71738425e-02 2.24440827e-03 9.99306293e-01 -5.00446290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.150714057 meters 0.042234738568206066 Centerline is valid? [True, True] Translation: X:789.19, Y:-141.06, Z:-50.05 [[ 9.96100340e-01 8.01163492e-02 3.69524469e-02 7.89187076e+02] [-7.99754405e-02 9.96782860e-01 -5.27814079e-03 -1.41057720e+02] [-3.72564311e-02 2.30226961e-03 9.99303086e-01 -5.00460943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.1807140569999 meters 0.03759949853169631 Centerline is valid? [True, True] Translation: X:789.22, Y:-141.05, Z:-50.04 [[ 9.96252742e-01 7.77397722e-02 3.79078121e-02 7.89218158e+02] [-7.75898640e-02 9.96970673e-01 -5.41203313e-03 -1.41053013e+02] [-3.82137072e-02 2.45049087e-03 9.99266585e-01 -5.00438588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.2107140569999 meters 0.0377058950307994 Centerline is valid? [True, True] Translation: X:789.25, Y:-141.06, Z:-50.04 [[ 9.96305041e-01 7.70465740e-02 3.79485226e-02 7.89245900e+02] [-7.68958157e-02 9.97024409e-01 -5.41855394e-03 -1.41056153e+02] [-3.82530844e-02 2.48045001e-03 9.99265004e-01 -5.00441634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.2407140569999 meters 0.04013684577370217 Centerline is valid? [True, True] Translation: X:789.27, Y:-141.06, Z:-50.04 [[ 9.96411653e-01 7.51534694e-02 3.89329428e-02 7.89274328e+02] [-7.49935147e-02 9.97168550e-01 -5.55478615e-03 -1.41061859e+02] [-3.92401676e-02 2.61513543e-03 9.99226386e-01 -5.00448813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.270714057 meters 0.03932404104372833 Centerline is valid? [True, True] Translation: X:789.30, Y:-141.06, Z:-50.05 [[ 9.96449842e-01 7.42580659e-02 3.96667602e-02 7.89302784e+02] [-7.40913881e-02 9.97235407e-01 -5.65764890e-03 -1.41064631e+02] [-3.99772238e-02 2.69859802e-03 9.99196947e-01 -5.00454589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.3007140569999 meters 0.040096613976525 Centerline is valid? [True, True] Translation: X:789.33, Y:-141.07, Z:-50.05 [[ 9.96532290e-01 7.32273523e-02 3.95113892e-02 7.89331460e+02] [-7.30612844e-02 9.97311547e-01 -5.63267713e-03 -1.41069302e+02] [-3.98176307e-02 2.72639179e-03 9.99203244e-01 -5.00469763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.3307140569999 meters 0.036908873207765557 Centerline is valid? [True, True] Translation: X:789.36, Y:-141.07, Z:-50.05 [[ 9.96652165e-01 7.18832861e-02 3.89519701e-02 7.89361402e+02] [-7.17210015e-02 9.97409294e-01 -5.54955808e-03 -1.41067727e+02] [-3.92499775e-02 2.73730477e-03 9.99225673e-01 -5.00471044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.3607140569999 meters 0.042776448414485614 Centerline is valid? [True, True] Translation: X:789.39, Y:-141.08, Z:-50.05 [[ 9.96714784e-01 7.12971255e-02 3.84234222e-02 7.89387649e+02] [-7.11387684e-02 9.97451404e-01 -5.47467559e-03 -1.41079858e+02] [-3.87158251e-02 2.72329516e-03 9.99246550e-01 -5.00514436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.390714057 meters 0.03940640892563667 Centerline is valid? [True, True] Translation: X:789.42, Y:-141.08, Z:-50.05 [[ 9.96798140e-01 7.06540227e-02 3.74363080e-02 7.89417334e+02] [-7.05034795e-02 9.97497304e-01 -5.32798151e-03 -1.41077403e+02] [-3.77190596e-02 2.67153209e-03 9.99284812e-01 -5.00521210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.4207140569999 meters 0.03940640892563667 Centerline is valid? [True, True] Translation: X:789.44, Y:-141.08, Z:-50.05 [[ 9.96805658e-01 7.05477280e-02 3.74365863e-02 7.89444553e+02] [-7.03971833e-02 9.97504822e-01 -5.32602568e-03 -1.41081182e+02] [-3.77189143e-02 2.67358231e-03 9.99284812e-01 -5.00537148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.4507140569999 meters 0.03970306762702134 Centerline is valid? [True, True] Translation: X:789.47, Y:-141.08, Z:-50.06 [[ 9.96829570e-01 7.04460023e-02 3.69887808e-02 7.89472901e+02] [-7.02991451e-02 9.97512099e-01 -5.25762428e-03 -1.41084971e+02] [-3.72671350e-02 2.64067567e-03 9.99301850e-01 -5.00551133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.4807140569999 meters 0.03946641442967206 Centerline is valid? [True, True] Translation: X:789.50, Y:-141.09, Z:-50.06 [[ 9.96798830e-01 7.09601398e-02 3.68340951e-02 7.89501590e+02] [-7.08149563e-02 9.97475743e-01 -5.23299393e-03 -1.41088280e+02] [-3.71124503e-02 2.60783740e-03 9.99307693e-01 -5.00569885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.510714057 meters 0.03969758688321209 Centerline is valid? [True, True] Translation: X:789.53, Y:-141.09, Z:-50.06 [[ 9.96761050e-01 7.16982846e-02 3.64247971e-02 7.89530435e+02] [-7.15568969e-02 9.97423109e-01 -5.17225289e-03 -1.41091356e+02] [-3.67017760e-02 2.54905477e-03 9.99323012e-01 -5.00590385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.540714057 meters 0.04116320963025991 Centerline is valid? [True, True] Translation: X:789.56, Y:-141.10, Z:-50.06 [[ 9.96668515e-01 7.28255038e-02 3.67194530e-02 7.89557340e+02] [-7.26826649e-02 9.97341500e-01 -5.21177495e-03 -1.41097266e+02] [-3.70013845e-02 2.52554430e-03 9.99312023e-01 -5.00612012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.5707140569999 meters 0.041774188626928804 Centerline is valid? [True, True] Translation: X:789.59, Y:-141.10, Z:-50.06 [[ 9.96473348e-01 7.49767916e-02 3.76742390e-02 7.89585731e+02] [-7.48281125e-02 9.97182132e-01 -5.34309720e-03 -1.41100422e+02] [-3.79686862e-02 2.50516176e-03 9.99275789e-01 -5.00623419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.6007140569999 meters 0.04000305981811338 Centerline is valid? [True, True] Translation: X:789.62, Y:-141.10, Z:-50.06 [[ 9.96302837e-01 7.70500590e-02 3.79992783e-02 7.89615681e+02] [-7.69003941e-02 9.97024228e-01 -5.38680809e-03 -1.41101142e+02] [-3.83012550e-02 2.44473270e-03 9.99263247e-01 -5.00630147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.630714057 meters 0.04009919154722277 Centerline is valid? [True, True] Translation: X:789.64, Y:-141.10, Z:-50.06 [[ 9.96101950e-01 7.91988260e-02 3.88387862e-02 7.89644202e+02] [-7.90441521e-02 9.96855919e-01 -5.50440766e-03 -1.41104732e+02] [-3.91526165e-02 2.41297229e-03 9.99230329e-01 -5.00646658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.660714057 meters 0.033231166392247415 Centerline is valid? [True, True] Translation: X:789.68, Y:-141.10, Z:-50.06 [[ 9.95676895e-01 8.41926799e-02 3.92315400e-02 7.89676147e+02] [-8.40387960e-02 9.96446982e-01 -5.55813878e-03 -1.41096440e+02] [-3.95601042e-02 2.23713898e-03 9.99214688e-01 -5.00639094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.6907140569999 meters 0.033237859148207566 Centerline is valid? [True, True] Translation: X:789.70, Y:-141.10, Z:-50.07 [[ 9.95482978e-01 8.62343750e-02 3.97148906e-02 7.89704239e+02] [-8.60782627e-02 9.96272486e-01 -5.62735448e-03 -1.41100176e+02] [-4.00521241e-02 2.18334681e-03 9.99195206e-01 -5.00656588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.7207140569999 meters 0.03224605845215975 Centerline is valid? [True, True] Translation: X:789.73, Y:-141.10, Z:-50.07 [[ 9.95066497e-01 9.07563726e-02 4.00742713e-02 7.89733982e+02] [-9.06011850e-02 9.95871083e-01 -5.67554404e-03 -1.41101479e+02] [-4.04238997e-02 2.01676726e-03 9.99180585e-01 -5.00669274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.750714057 meters 0.03209771682813788 Centerline is valid? [True, True] Translation: X:789.76, Y:-141.10, Z:-50.07 [[ 9.94895330e-01 9.27129181e-02 3.98446554e-02 7.89761286e+02] [-9.25610635e-02 9.95691018e-01 -5.64316418e-03 -1.41104440e+02] [-4.01961597e-02 1.92629401e-03 9.99189951e-01 -5.00684521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.780714057 meters 0.03024116895057378 Centerline is valid? [True, True] Translation: X:789.79, Y:-141.10, Z:-50.07 [[ 9.94570819e-01 9.60426524e-02 4.00586453e-02 7.89791846e+02] [-9.58920483e-02 9.95375598e-01 -5.66867664e-03 -1.41104983e+02] [-4.04178328e-02 1.79659481e-03 9.99181250e-01 -5.00702553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.8107140569999 meters 0.02983528874864561 Centerline is valid? [True, True] Translation: X:789.82, Y:-141.11, Z:-50.07 [[ 9.94483412e-01 9.71291307e-02 3.96065046e-02 7.89820139e+02] [-9.69826308e-02 9.95270274e-01 -5.60814247e-03 -1.41108840e+02] [-3.99638907e-02 1.73606165e-03 9.99199616e-01 -5.00722444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.8407140569999 meters 0.030609399562981632 Centerline is valid? [True, True] Translation: X:789.85, Y:-141.11, Z:-50.08 [[ 9.94379335e-01 9.82967954e-02 3.93380017e-02 7.89847245e+02] [-9.81536961e-02 9.95155751e-01 -5.55732957e-03 -1.41114830e+02] [-3.96937063e-02 1.66492342e-03 9.99210507e-01 -5.00755537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.870714057 meters 0.029258760661280504 Centerline is valid? [True, True] Translation: X:789.88, Y:-141.12, Z:-50.08 [[ 9.94317482e-01 9.94500626e-02 3.79793424e-02 7.89875616e+02] [-9.93175259e-02 9.95041327e-01 -5.36528634e-03 -1.41117179e+02] [-3.83245934e-02 1.56278368e-03 9.99264121e-01 -5.00775912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.900714057 meters 0.02928019804816223 Centerline is valid? [True, True] Translation: X:789.90, Y:-141.12, Z:-50.08 [[ 9.94319051e-01 9.96230303e-02 3.74816967e-02 7.89902984e+02] [-9.94943914e-02 9.95024080e-01 -5.28645420e-03 -1.41121419e+02] [-3.78218433e-02 1.52720352e-03 9.99283331e-01 -5.00799726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.9307140569999 meters 0.029447093777930016 Centerline is valid? [True, True] Translation: X:789.93, Y:-141.13, Z:-50.08 [[ 9.94245415e-01 1.00529181e-01 3.70126737e-02 7.89930267e+02] [-1.00404911e-01 9.94933040e-01 -5.20582434e-03 -1.41127002e+02] [-3.73484692e-02 1.45961277e-03 9.99301237e-01 -5.00823767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.9607140569999 meters 0.029044411194754628 Centerline is valid? [True, True] Translation: X:789.96, Y:-141.13, Z:-50.08 [[ 9.94206790e-01 1.00746699e-01 3.74561411e-02 7.89958565e+02] [-1.00619594e-01 9.94911024e-01 -5.26797214e-03 -1.41131255e+02] [-3.77962585e-02 1.46863197e-03 9.99284387e-01 -5.00838447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.9907140569999 meters 0.029085665572849622 Centerline is valid? [True, True] Translation: X:789.99, Y:-141.14, Z:-50.09 [[ 9.94145078e-01 1.01215243e-01 3.78290710e-02 7.89986763e+02] [-1.01086299e-01 9.94863486e-01 -5.31080259e-03 -1.41135747e+02] [-3.81722956e-02 1.45570747e-03 9.99270112e-01 -5.00854470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.020714057 meters 0.028358002263137186 Centerline is valid? [True, True] Translation: X:790.01, Y:-141.14, Z:-50.09 [[ 9.94067344e-01 1.01645570e-01 3.87077955e-02 7.90014799e+02] [-1.01511274e-01 9.94819601e-01 -5.42429983e-03 -1.41140315e+02] [-3.90586298e-02 1.46284170e-03 9.99235850e-01 -5.00870354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.0507140569999 meters 0.028343824164584162 Centerline is valid? [True, True] Translation: X:790.04, Y:-141.15, Z:-50.09 [[ 9.94083363e-01 1.01499491e-01 3.86797204e-02 7.90041822e+02] [-1.01365636e-01 9.94834522e-01 -5.41122578e-03 -1.41145704e+02] [-3.90291578e-02 1.45841507e-03 9.99237008e-01 -5.00891323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.0807140569999 meters 0.029120925510099326 Centerline is valid? [True, True] Translation: X:790.07, Y:-141.15, Z:-50.09 [[ 9.94074774e-01 1.01360512e-01 3.92605543e-02 7.90068880e+02] [-1.01223096e-01 9.94848674e-01 -5.47735420e-03 -1.41153670e+02] [-3.96134978e-02 1.47082477e-03 9.99213995e-01 -5.00916471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.1107140569999 meters 0.030418255353646936 Centerline is valid? [True, True] Translation: X:790.10, Y:-141.16, Z:-50.10 [[ 9.94071606e-01 1.01310350e-01 3.94696740e-02 7.90095253e+02] [-1.01171569e-01 9.94853774e-01 -5.50294957e-03 -1.41161606e+02] [-3.98240599e-02 1.47711707e-03 9.99205616e-01 -5.00951524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.140714057 meters 0.027760638756495957 Centerline is valid? [True, True] Translation: X:790.12, Y:-141.16, Z:-50.09 [[ 9.94090846e-01 1.01076116e-01 3.95854559e-02 7.90123963e+02] [-1.00936327e-01 9.94877578e-01 -5.51927318e-03 -1.41161410e+02] [-3.99405492e-02 1.49104844e-03 9.99200945e-01 -5.00946612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.1707140569999 meters 0.02877442073196758 Centerline is valid? [True, True] Translation: X:790.15, Y:-141.17, Z:-50.10 [[ 9.94188934e-01 1.00108512e-01 3.95809202e-02 7.90150807e+02] [-9.99685967e-02 9.94975373e-01 -5.50343823e-03 -1.41170288e+02] [-3.99329819e-02 1.51460834e-03 9.99201212e-01 -5.00978938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.2007140569999 meters 0.02921772490198131 Centerline is valid? [True, True] Translation: X:790.18, Y:-141.18, Z:-50.10 [[ 9.94158531e-01 1.00167705e-01 4.01901251e-02 7.90177840e+02] [-1.00023648e-01 9.94969389e-01 -5.58439666e-03 -1.41177435e+02] [-4.05473204e-02 1.53181266e-03 9.99176445e-01 -5.01004297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.2307140569999 meters 0.028305862403137694 Centerline is valid? [True, True] Translation: X:790.21, Y:-141.18, Z:-50.10 [[ 9.94273732e-01 9.86917667e-02 4.09839031e-02 7.90206031e+02] [-9.85407503e-02 9.95116728e-01 -5.69366037e-03 -1.41182980e+02] [-4.13456850e-02 1.62247238e-03 9.99143584e-01 -5.01010506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.260714057 meters 0.028983861526303268 Centerline is valid? [True, True] Translation: X:790.23, Y:-141.19, Z:-50.10 [[ 9.94309492e-01 9.81596461e-02 4.13922469e-02 7.90233463e+02] [-9.80057013e-02 9.95169317e-01 -5.73703703e-03 -1.41190060e+02] [-4.17554396e-02 1.64771419e-03 9.99126503e-01 -5.01034738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.290714057 meters 0.02874081368489716 Centerline is valid? [True, True] Translation: X:790.26, Y:-141.20, Z:-50.10 [[ 9.94403576e-01 9.70695895e-02 4.17015894e-02 7.90261256e+02] [-9.69124302e-02 9.95276137e-01 -5.77864787e-03 -1.41195482e+02] [-4.20655278e-02 1.70490573e-03 9.99113399e-01 -5.01049840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.3207140569999 meters 0.030202605724315674 Centerline is valid? [True, True] Translation: X:790.29, Y:-141.21, Z:-50.11 [[ 9.94550347e-01 9.54140741e-02 4.20209684e-02 7.90287413e+02] [-9.52535753e-02 9.95436086e-01 -5.80986629e-03 -1.41205186e+02] [-4.23835314e-02 1.77555705e-03 9.99099837e-01 -5.01083437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.3507140569999 meters 0.030423260964188126 Centerline is valid? [True, True] Translation: X:790.32, Y:-141.21, Z:-50.11 [[ 9.94649428e-01 9.44412796e-02 4.18731411e-02 7.90315046e+02] [-9.42812519e-02 9.95528796e-01 -5.78461884e-03 -1.41211553e+02] [-4.22322246e-02 1.80581566e-03 9.99106190e-01 -5.01104434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.380714057 meters 0.03138290428415234 Centerline is valid? [True, True] Translation: X:790.34, Y:-141.22, Z:-50.11 [[ 9.94870146e-01 9.19678909e-02 4.21343087e-02 7.90343236e+02] [-9.18038301e-02 9.95760125e-01 -5.81636944e-03 -1.41221108e+02] [-4.24905837e-02 1.91844140e-03 9.99095025e-01 -5.01134666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.410714057 meters 0.030897954970144567 Centerline is valid? [True, True] Translation: X:790.37, Y:-141.23, Z:-50.11 [[ 9.94956080e-01 9.09052234e-02 4.24103658e-02 7.90371227e+02] [-9.07381265e-02 9.95857591e-01 -5.85248707e-03 -1.41225813e+02] [-4.27667064e-02 1.97473046e-03 9.99083134e-01 -5.01147754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.4407140569999 meters 0.03325618994329147 Centerline is valid? [True, True] Translation: X:790.40, Y:-141.24, Z:-50.12 [[ 9.95115328e-01 8.91915384e-02 4.23125653e-02 7.90398034e+02] [-8.90237857e-02 9.96012402e-01 -5.83620294e-03 -1.41236336e+02] [-4.26643797e-02 2.04087025e-03 9.99087376e-01 -5.01172883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.4707140569999 meters 0.0347232526392563 Centerline is valid? [True, True] Translation: X:790.43, Y:-141.24, Z:-50.12 [[ 9.95178367e-01 8.86831889e-02 4.18964245e-02 7.90425302e+02] [-8.85184314e-02 9.96057798e-01 -5.77504919e-03 -1.41243246e+02] [-4.22434101e-02 2.03859825e-03 9.99105269e-01 -5.01193958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.500714057 meters 0.03143470296484559 Centerline is valid? [True, True] Translation: X:790.45, Y:-141.24, Z:-50.12 [[ 9.95166118e-01 8.87041470e-02 4.21422911e-02 7.90454410e+02] [-8.85376318e-02 9.96055917e-01 -5.80507493e-03 -1.41241785e+02] [-4.24910126e-02 2.04583522e-03 9.99094755e-01 -5.01188807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.530714057 meters 0.03346877152388327 Centerline is valid? [True, True] Translation: X:790.48, Y:-141.25, Z:-50.12 [[ 9.95032656e-01 8.97164721e-02 4.31389363e-02 7.90481011e+02] [-8.95430344e-02 9.95965241e-01 -5.93997980e-03 -1.41250889e+02] [-4.34977951e-02 2.04768262e-03 9.99051425e-01 -5.01208792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.5607140569999 meters 0.034924276605942765 Centerline is valid? [True, True] Translation: X:790.51, Y:-141.26, Z:-50.12 [[ 9.94937431e-01 9.04159943e-02 4.38686263e-02 7.90508104e+02] [-9.02376000e-02 9.95901986e-01 -6.03397940e-03 -1.41257201e+02] [-4.42344203e-02 2.04483241e-03 9.99019086e-01 -5.01224637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.5907140569999 meters 0.029712130469330026 Centerline is valid? [True, True] Translation: X:790.54, Y:-141.25, Z:-50.12 [[ 9.94707378e-01 9.25598307e-02 4.46084161e-02 7.90538136e+02] [-9.23776030e-02 9.95705155e-01 -6.13376105e-03 -1.41253467e+02] [-4.49845697e-02 1.98047881e-03 9.98985719e-01 -5.01209295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.620714057 meters 0.02986038152570669 Centerline is valid? [True, True] Translation: X:790.57, Y:-141.26, Z:-50.12 [[ 9.94574946e-01 9.37452789e-02 4.50832598e-02 7.90565764e+02] [-9.35609325e-02 9.95594334e-01 -6.18653597e-03 -1.41257269e+02] [-4.54645966e-02 1.93494185e-03 9.98964077e-01 -5.01224123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.650714057 meters 0.0288492692019506 Centerline is valid? [True, True] Translation: X:790.59, Y:-141.26, Z:-50.12 [[ 9.94441594e-01 9.49822459e-02 4.54344550e-02 7.90594465e+02] [-9.47964014e-02 9.95477171e-01 -6.23256009e-03 -1.41260094e+02] [-4.58209453e-02 1.89089416e-03 9.98947879e-01 -5.01233546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.6807140569999 meters 0.02867913151596695 Centerline is valid? [True, True] Translation: X:790.62, Y:-141.26, Z:-50.12 [[ 9.94096760e-01 9.82106452e-02 4.61118361e-02 7.90622602e+02] [-9.80233359e-02 9.95164103e-01 -6.31135425e-03 -1.41264138e+02] [-4.65086862e-02 1.75406081e-03 9.98916346e-01 -5.01246162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.7107140569999 meters 0.028445417884396938 Centerline is valid? [True, True] Translation: X:790.65, Y:-141.27, Z:-50.13 [[ 9.93894738e-01 1.00088588e-01 4.64276295e-02 7.90650470e+02] [-9.99008474e-02 9.94977119e-01 -6.35242928e-03 -1.41267494e+02] [-4.68302347e-02 1.67548650e-03 9.98901458e-01 -5.01259991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.7407140569999 meters 0.026778013518335315 Centerline is valid? [True, True] Translation: X:790.68, Y:-141.27, Z:-50.13 [[ 9.93538989e-01 1.03209899e-01 4.72016304e-02 7.90679660e+02] [-1.03019488e-01 9.94658389e-01 -6.45557502e-03 -1.41268724e+02] [-4.76157769e-02 1.55117769e-03 9.98864521e-01 -5.01267950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.770714057 meters 0.02628573357613615 Centerline is valid? [True, True] Translation: X:790.71, Y:-141.27, Z:-50.13 [[ 9.93440876e-01 1.04409496e-01 4.66249111e-02 7.90708710e+02] [-1.04225586e-01 9.94533315e-01 -6.36494108e-03 -1.41271875e+02] [-4.70345877e-02 1.46368397e-03 9.98892189e-01 -5.01287535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.8007140569999 meters 0.026528223927920973 Centerline is valid? [True, True] Translation: X:790.74, Y:-141.28, Z:-50.13 [[ 9.93300292e-01 1.05770969e-01 4.65513843e-02 7.90735530e+02] [-1.05589430e-01 9.94389545e-01 -6.34855478e-03 -1.41276982e+02] [-4.69617027e-02 1.39068717e-03 9.98895723e-01 -5.01313123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.8307140569999 meters 0.025565976512156318 Centerline is valid? [True, True] Translation: X:790.76, Y:-141.28, Z:-50.13 [[ 9.93073165e-01 1.08207468e-01 4.57911943e-02 7.90764359e+02] [-1.08034611e-01 9.94127548e-01 -6.24031185e-03 -1.41279461e+02] [-4.61975361e-02 1.25005237e-03 9.98931542e-01 -5.01336244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.8607140569999 meters 0.025422862881202515 Centerline is valid? [True, True] Translation: X:790.79, Y:-141.28, Z:-50.14 [[ 9.92965353e-01 1.09164098e-01 4.58585528e-02 7.90792377e+02] [-1.08992288e-01 9.94023023e-01 -6.23789902e-03 -1.41283048e+02] [-4.62654119e-02 1.19578902e-03 9.98928467e-01 -5.01355844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.890714057 meters 0.02507954558271807 Centerline is valid? [True, True] Translation: X:790.82, Y:-141.29, Z:-50.14 [[ 9.92861149e-01 1.10256071e-01 4.55009704e-02 7.90820816e+02] [-1.10088596e-01 9.93902578e-01 -6.17796523e-03 -1.41286895e+02] [-4.59046899e-02 1.12472373e-03 9.98945191e-01 -5.01365171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.9207140569999 meters 0.02598574805591607 Centerline is valid? [True, True] Translation: X:790.85, Y:-141.29, Z:-50.14 [[ 9.92828051e-01 1.10630964e-01 4.53128115e-02 7.90848327e+02] [-1.10465871e-01 9.93860957e-01 -6.13910025e-03 -1.41293172e+02] [-4.57138088e-02 1.08955173e-03 9.98953983e-01 -5.01392573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.9507140569999 meters 0.025496097277192573 Centerline is valid? [True, True] Translation: X:790.88, Y:-141.30, Z:-50.14 [[ 9.92771474e-01 1.10939794e-01 4.57947849e-02 7.90876481e+02] [-1.10771608e-01 9.93826537e-01 -6.20199376e-03 -1.41297610e+02] [-4.62001204e-02 1.08440054e-03 9.98931616e-01 -5.01401725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.9807140569999 meters 0.02436407903936949 Centerline is valid? [True, True] Translation: X:790.91, Y:-141.30, Z:-50.14 [[ 9.92678797e-01 1.11427980e-01 4.66112708e-02 7.90905038e+02] [-1.11254809e-01 9.93771937e-01 -6.30125084e-03 -1.41301541e+02] [-4.70231085e-02 1.06939009e-03 9.98893229e-01 -5.01404571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.010714057 meters 0.025427838262761942 Centerline is valid? [True, True] Translation: X:790.93, Y:-141.31, Z:-50.14 [[ 9.92707865e-01 1.11153890e-01 4.66466170e-02 7.90931308e+02] [-1.10980729e-01 9.93802629e-01 -6.29383138e-03 -1.41307672e+02] [-4.70571145e-02 1.07106037e-03 9.98891626e-01 -5.01425270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.040714057 meters 0.024680525665251096 Centerline is valid? [True, True] Translation: X:790.96, Y:-141.31, Z:-50.14 [[ 9.92735813e-01 1.10996464e-01 4.64261757e-02 7.90958905e+02] [-1.10825136e-01 9.93820230e-01 -6.25617331e-03 -1.41309954e+02] [-4.68336857e-02 1.06554008e-03 9.98902133e-01 -5.01419665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.0707140569999 meters 0.02427591076521087 Centerline is valid? [True, True] Translation: X:790.99, Y:-141.31, Z:-50.14 [[ 9.92788649e-01 1.10708212e-01 4.59824956e-02 7.90986129e+02] [-1.10540438e-01 9.93852392e-01 -6.18340988e-03 -1.41314042e+02] [-4.63843675e-02 1.05589392e-03 9.98923108e-01 -5.01432128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.1007140569999 meters 0.024702744710018463 Centerline is valid? [True, True] Translation: X:791.01, Y:-141.32, Z:-50.15 [[ 9.92852685e-01 1.10357456e-01 4.54398293e-02 7.91013345e+02] [-1.10193957e-01 9.93891413e-01 -6.09513428e-03 -1.41319822e+02] [-4.58348997e-02 1.04437586e-03 9.98948483e-01 -5.01454377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.130714057 meters 0.024960207399039164 Centerline is valid? [True, True] Translation: X:791.04, Y:-141.33, Z:-50.15 [[ 9.93125128e-01 1.08518793e-01 4.38879442e-02 7.91041062e+02] [-1.08364555e-01 9.94093801e-01 -5.88537348e-03 -1.41326824e+02] [-4.42674069e-02 1.08901475e-03 9.99019124e-01 -5.01477117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.160714057 meters 0.02529017833292332 Centerline is valid? [True, True] Translation: X:791.07, Y:-141.33, Z:-50.15 [[ 9.93202335e-01 1.07600962e-01 4.43976834e-02 7.91068187e+02] [-1.07442798e-01 9.94193521e-01 -5.94041558e-03 -1.41333098e+02] [-4.47790836e-02 1.12982328e-03 9.98996275e-01 -5.01496394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.1907140569999 meters 0.0260794037190049 Centerline is valid? [True, True] Translation: X:791.10, Y:-141.34, Z:-50.15 [[ 9.93467705e-01 1.04896187e-01 4.49300523e-02 7.91095067e+02] [-1.04731625e-01 9.94482376e-01 -6.00760323e-03 -1.41341427e+02] [-4.53123198e-02 1.26276240e-03 9.98972071e-01 -5.01502579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.2207140569999 meters 0.026556004529381304 Centerline is valid? [True, True] Translation: X:791.12, Y:-141.35, Z:-50.15 [[ 9.93575538e-01 1.03852135e-01 4.49709300e-02 7.91122311e+02] [-1.03686360e-01 9.94591888e-01 -6.00965945e-03 -1.41347979e+02] [-4.53518381e-02 1.30817857e-03 9.98970220e-01 -5.01518595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.250714057 meters 0.026042671540928642 Centerline is valid? [True, True] Translation: X:791.15, Y:-141.35, Z:-50.15 [[ 9.93711572e-01 1.02432860e-01 4.52196859e-02 7.91151000e+02] [-1.02263980e-01 9.94738969e-01 -6.03845274e-03 -1.41352340e+02] [-4.56003197e-02 1.37613529e-03 9.98958817e-01 -5.01530755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.280714057 meters 0.026892131900919852 Centerline is valid? [True, True] Translation: X:791.18, Y:-141.36, Z:-50.16 [[ 9.93979509e-01 9.99946598e-02 4.47862026e-02 7.91178469e+02] [-9.98271175e-02 9.94986901e-01 -5.96762950e-03 -1.41360279e+02] [-4.51584160e-02 1.46082393e-03 9.98978770e-01 -5.01554927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.3107140569999 meters 0.0269852587209661 Centerline is valid? [True, True] Translation: X:791.21, Y:-141.37, Z:-50.16 [[ 9.94038856e-01 9.93548189e-02 4.48928948e-02 7.91207016e+02] [-9.91860127e-02 9.95050954e-01 -5.97771061e-03 -1.41365619e+02] [-4.52646321e-02 1.48932939e-03 9.98973921e-01 -5.01572165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.3407140569999 meters 0.0269852587209661 Centerline is valid? [True, True] Translation: X:791.23, Y:-141.37, Z:-50.16 [[ 9.94049103e-01 9.92520857e-02 4.48932492e-02 7.91234217e+02] [-9.90832950e-02 9.95061204e-01 -5.97504758e-03 -1.41369147e+02] [-4.52645665e-02 1.49131963e-03 9.98973921e-01 -5.01588071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.370714057 meters 0.0260211557747523 Centerline is valid? [True, True] Translation: X:791.26, Y:-141.37, Z:-50.16 [[ 9.94130623e-01 9.84329213e-02 4.48916924e-02 7.91262343e+02] [-9.82635406e-02 9.95142522e-01 -5.96971695e-03 -1.41372878e+02] [-4.52612487e-02 1.52346180e-03 9.98974023e-01 -5.01596288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.400714057 meters 0.027056791877188804 Centerline is valid? [True, True] Translation: X:791.29, Y:-141.38, Z:-50.16 [[ 9.94166396e-01 9.80307461e-02 4.49794466e-02 7.91289105e+02] [-9.78604305e-02 9.95182192e-01 -5.97831669e-03 -1.41378801e+02] [-4.53488031e-02 1.54173355e-03 9.98970024e-01 -5.01617782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.4307140569999 meters 0.026910619281030005 Centerline is valid? [True, True] Translation: X:791.32, Y:-141.38, Z:-50.16 [[ 9.94231013e-01 9.74545352e-02 4.48029755e-02 7.91318035e+02] [-9.72851631e-02 9.95238759e-01 -5.95059585e-03 -1.41382416e+02] [-4.51695703e-02 1.55760216e-03 9.98978120e-01 -5.01632031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.4607140569999 meters 0.02903059247209543 Centerline is valid? [True, True] Translation: X:791.35, Y:-141.39, Z:-50.17 [[ 9.94371586e-01 9.59142610e-02 4.50067164e-02 7.91345040e+02] [-9.57419072e-02 9.95388262e-01 -5.97460582e-03 -1.41392514e+02] [-4.53722071e-02 1.63194939e-03 9.98968818e-01 -5.01659451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.4907140569999 meters 0.028081652027844684 Centerline is valid? [True, True] Translation: X:791.37, Y:-141.39, Z:-50.17 [[ 9.94497662e-01 9.46962444e-02 4.47997880e-02 7.91373438e+02] [-9.45244195e-02 9.95504803e-01 -5.94315013e-03 -1.41394300e+02] [-4.51611981e-02 1.67577496e-03 9.98978307e-01 -5.01667779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.520714057 meters 0.027610658020150974 Centerline is valid? [True, True] Translation: X:791.40, Y:-141.40, Z:-50.17 [[ 9.94613316e-01 9.33405683e-02 4.50765003e-02 7.91402301e+02] [-9.31654152e-02 9.95632712e-01 -5.97563340e-03 -1.41398107e+02] [-4.54374072e-02 1.74387368e-03 9.98965666e-01 -5.01683236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.5507140569999 meters 0.02805887052650628 Centerline is valid? [True, True] Translation: X:791.43, Y:-141.40, Z:-50.17 [[ 9.94830793e-01 9.11160116e-02 4.48281902e-02 7.91430990e+02] [-9.09406959e-02 9.95838600e-01 -5.93904943e-03 -1.41404683e+02] [-4.51827846e-02 1.83164244e-03 9.98977057e-01 -5.01705522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.5807140569999 meters 0.029063873693314972 Centerline is valid? [True, True] Translation: X:791.46, Y:-141.41, Z:-50.17 [[ 9.94961289e-01 8.96999455e-02 4.47878628e-02 7.91458323e+02] [-8.95235313e-02 9.95967034e-01 -5.93331723e-03 -1.41410021e+02] [-4.51394531e-02 1.89385332e-03 9.98978900e-01 -5.01732273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.6107140569999 meters 0.02816252143866559 Centerline is valid? [True, True] Translation: X:791.49, Y:-141.41, Z:-50.17 [[ 9.95174923e-01 8.75694316e-02 4.42545767e-02 7.91487202e+02] [-8.73953999e-02 9.96156490e-01 -5.85583056e-03 -1.41413151e+02] [-4.45972755e-02 1.95992930e-03 9.99003124e-01 -5.01745015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.640714057 meters 0.030128891124308256 Centerline is valid? [True, True] Translation: X:791.51, Y:-141.42, Z:-50.18 [[ 9.95253672e-01 8.67542997e-02 4.40887626e-02 7.91514466e+02] [-8.65808596e-02 9.96227757e-01 -5.83193728e-03 -1.41420338e+02] [-4.44283947e-02 1.98701404e-03 9.99010595e-01 -5.01773526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.6707140569999 meters 0.029309698407073516 Centerline is valid? [True, True] Translation: X:791.54, Y:-141.42, Z:-50.18 [[ 9.95291842e-01 8.64209942e-02 4.38812176e-02 7.91542796e+02] [-8.62490503e-02 9.96256723e-01 -5.80021230e-03 -1.41423438e+02] [-4.42182182e-02 1.98819064e-03 9.99019918e-01 -5.01786224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.7007140569999 meters 0.02950821398132484 Centerline is valid? [True, True] Translation: X:791.57, Y:-141.43, Z:-50.18 [[ 9.95340227e-01 8.56412341e-02 4.43104102e-02 7.91570943e+02] [-8.54652821e-02 9.96323953e-01 -5.85369663e-03 -1.41427854e+02] [-4.46488409e-02 2.03941802e-03 9.99000662e-01 -5.01801405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.7307140569999 meters 0.03198498723139538 Centerline is valid? [True, True] Translation: X:791.60, Y:-141.44, Z:-50.18 [[ 9.95345650e-01 8.52921948e-02 4.48584273e-02 7.91597516e+02] [-8.51116462e-02 9.96353816e-01 -5.92301162e-03 -1.41436242e+02] [-4.52000518e-02 2.07746926e-03 9.98975795e-01 -5.01828015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.760714057 meters 0.03284996044374169 Centerline is valid? [True, True] Translation: X:791.62, Y:-141.44, Z:-50.18 [[ 9.95321566e-01 8.48482412e-02 4.62142469e-02 7.91624205e+02] [-8.46562897e-02 9.96391550e-01 -6.09854642e-03 -1.41442057e+02] [-4.65649361e-02 2.15768810e-03 9.98912935e-01 -5.01837540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.790714057 meters 0.029633229978185238 Centerline is valid? [True, True] Translation: X:791.65, Y:-141.44, Z:-50.18 [[ 9.95304087e-01 8.48005548e-02 4.66759025e-02 7.91653329e+02] [-8.46051050e-02 9.96395576e-01 -6.15072955e-03 -1.41439886e+02] [-4.70292481e-02 2.17282662e-03 9.98891150e-01 -5.01835237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.8207140569999 meters 0.033177556629512175 Centerline is valid? [True, True] Translation: X:791.68, Y:-141.45, Z:-50.19 [[ 9.95337482e-01 8.46255182e-02 4.62797961e-02 7.91680048e+02] [-8.44333315e-02 9.96410487e-01 -6.09540857e-03 -1.41449737e+02] [-4.66295013e-02 2.15943125e-03 9.98909919e-01 -5.01863418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.8507140569999 meters 0.03049421734419258 Centerline is valid? [True, True] Translation: X:791.71, Y:-141.45, Z:-50.19 [[ 9.95356488e-01 8.43004535e-02 4.64639132e-02 7.91709678e+02] [-8.41065861e-02 9.96437999e-01 -6.11526135e-03 -1.41448604e+02] [-4.68139280e-02 2.17894394e-03 9.98901251e-01 -5.01871950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.880714057 meters 0.034789416471071234 Centerline is valid? [True, True] Translation: X:791.74, Y:-141.46, Z:-50.19 [[ 9.95407865e-01 8.40168015e-02 4.58733031e-02 7.91736511e+02] [-8.38276743e-02 9.96461994e-01 -6.03451858e-03 -1.41459503e+02] [-4.62180040e-02 2.16135495e-03 9.98929039e-01 -5.01906214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.910714057 meters 0.029423084304034394 Centerline is valid? [True, True] Translation: X:791.77, Y:-141.45, Z:-50.19 [[ 9.95415335e-01 8.38084937e-02 4.60917293e-02 7.91765888e+02] [-8.36175350e-02 9.96479501e-01 -6.05899049e-03 -1.41454562e+02] [-4.64372583e-02 2.17713526e-03 9.98918836e-01 -5.01901892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.9407140569999 meters 0.0329370419145731 Centerline is valid? [True, True] Translation: X:791.79, Y:-141.46, Z:-50.19 [[ 9.95571305e-01 8.21065487e-02 4.57852838e-02 7.91792357e+02] [-8.19164484e-02 9.96621042e-01 -6.01609899e-03 -1.41464435e+02] [-4.61245384e-02 2.23888768e-03 9.98933188e-01 -5.01935353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.9707140569999 meters 0.03233715408104548 Centerline is valid? [True, True] Translation: X:791.82, Y:-141.47, Z:-50.20 [[ 9.95565434e-01 8.19360462e-02 4.62163592e-02 7.91819925e+02] [-8.17424650e-02 9.96635023e-01 -6.06626680e-03 -1.41467299e+02] [-4.65578882e-02 2.26152641e-03 9.98913034e-01 -5.01950094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.000714057 meters 0.030437340433422323 Centerline is valid? [True, True] Translation: X:791.85, Y:-141.47, Z:-50.20 [[ 9.95609476e-01 8.14558686e-02 4.61162903e-02 7.91848895e+02] [-8.12628516e-02 9.96674356e-01 -6.04797489e-03 -1.41468296e+02] [-4.64555669e-02 2.27387986e-03 9.98917769e-01 -5.01958827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.030714057 meters 0.033092146702841746 Centerline is valid? [True, True] Translation: X:791.88, Y:-141.48, Z:-50.20 [[ 9.95557681e-01 8.20637464e-02 4.61567525e-02 7.91876066e+02] [-8.18711878e-02 9.96624555e-01 -6.05014261e-03 -1.41476489e+02] [-4.64974503e-02 2.24435780e-03 9.98915887e-01 -5.01989473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.0607140569999 meters 0.0299024955792786 Centerline is valid? [True, True] Translation: X:791.91, Y:-141.47, Z:-50.20 [[ 9.95488794e-01 8.28527293e-02 4.62329658e-02 7.91905730e+02] [-8.26605845e-02 9.96559359e-01 -6.05579322e-03 -1.41474428e+02] [-4.65756338e-02 2.20683031e-03 9.98912329e-01 -5.01992272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.0907140569999 meters 0.030425493412469237 Centerline is valid? [True, True] Translation: X:791.93, Y:-141.48, Z:-50.20 [[ 9.95183069e-01 8.63948909e-02 4.63312119e-02 7.91933956e+02] [-8.62059222e-02 9.96258879e-01 -6.06508809e-03 -1.41479234e+02] [-4.66818739e-02 2.04184813e-03 9.98907720e-01 -5.02010765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.120714057 meters 0.028979441653149727 Centerline is valid? [True, True] Translation: X:791.96, Y:-141.48, Z:-50.20 [[ 9.95041839e-01 8.76714444e-02 4.69622927e-02 7.91963480e+02] [-8.74788288e-02 9.96147425e-01 -6.14511958e-03 -1.41479751e+02] [-4.73201185e-02 2.00644472e-03 9.98877761e-01 -5.02023427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.150714057 meters 0.028050756847910547 Centerline is valid? [True, True] Translation: X:791.99, Y:-141.48, Z:-50.20 [[ 9.94701279e-01 9.13482273e-02 4.71685050e-02 7.91993534e+02] [-9.11581769e-02 9.95817317e-01 -6.16918981e-03 -1.41481757e+02] [-4.75347586e-02 1.83670607e-03 9.98867896e-01 -5.02032185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.1807140569999 meters 0.0276968909021791 Centerline is valid? [True, True] Translation: X:792.02, Y:-141.48, Z:-50.20 [[ 9.94506763e-01 9.29927651e-02 4.80483598e-02 7.92022681e+02] [-9.27974615e-02 9.95665173e-01 -6.28438953e-03 -1.41484904e+02] [-4.84244813e-02 1.79110206e-03 9.98825241e-01 -5.02043045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.2107140569999 meters 0.027437047532500144 Centerline is valid? [True, True] Translation: X:792.05, Y:-141.49, Z:-50.21 [[ 9.94318189e-01 9.47045472e-02 4.86043947e-02 7.92051185e+02] [-9.45070608e-02 9.95503936e-01 -6.35045470e-03 -1.41488440e+02] [-4.89872832e-02 1.72091414e-03 9.98797920e-01 -5.02055220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.2407140569999 meters 0.026962184443888863 Centerline is valid? [True, True] Translation: X:792.08, Y:-141.49, Z:-50.21 [[ 9.94040606e-01 9.72947853e-02 4.91629820e-02 7.92079773e+02] [-9.70960670e-02 9.95254309e-01 -6.41989200e-03 -1.41492350e+02] [-4.95542916e-02 1.60810115e-03 9.98770137e-01 -5.02073775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.270714057 meters 0.02701782690839267 Centerline is valid? [True, True] Translation: X:792.11, Y:-141.50, Z:-50.21 [[ 9.93989352e-01 9.81669763e-02 4.84604297e-02 7.92107198e+02] [-9.79750934e-02 9.95168768e-01 -6.32493984e-03 -1.41496663e+02] [-4.88472064e-02 1.53900773e-03 9.98805077e-01 -5.02096166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.3007140569999 meters 0.026329020845717453 Centerline is valid? [True, True] Translation: X:792.14, Y:-141.50, Z:-50.21 [[ 9.93970142e-01 9.84661812e-02 4.82469466e-02 7.92136244e+02] [-9.82765501e-02 9.95139247e-01 -6.29272955e-03 -1.41499978e+02] [-4.86320511e-02 1.51324182e-03 9.98815616e-01 -5.02110464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.3307140569999 meters 0.026559380661919593 Centerline is valid? [True, True] Translation: X:792.16, Y:-141.50, Z:-50.21 [[ 9.93962913e-01 9.85818352e-02 4.81596212e-02 7.92164872e+02] [-9.83931925e-02 9.95127815e-01 -6.27791497e-03 -1.41504681e+02] [-4.85438670e-02 1.50143577e-03 9.98819923e-01 -5.02132934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.3607140569999 meters 0.026580474318923332 Centerline is valid? [True, True] Translation: X:792.19, Y:-141.51, Z:-50.22 [[ 9.94069761e-01 9.76932068e-02 4.77634664e-02 7.92192796e+02] [-9.75067954e-02 9.95215404e-01 -6.22290544e-03 -1.41511248e+02] [-4.81428731e-02 1.52873957e-03 9.98839290e-01 -5.02153978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.390714057 meters 0.026727050593478595 Centerline is valid? [True, True] Translation: X:792.22, Y:-141.52, Z:-50.22 [[ 9.94156458e-01 9.68312767e-02 4.77141656e-02 7.92221253e+02] [-9.66444228e-02 9.95299580e-01 -6.21308228e-03 -1.41516311e+02] [-4.80915096e-02 1.56546788e-03 9.98841707e-01 -5.02176322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.4207140569999 meters 0.028478373859790837 Centerline is valid? [True, True] Translation: X:792.25, Y:-141.53, Z:-50.22 [[ 9.94373481e-01 9.48157075e-02 4.72372851e-02 7.92247403e+02] [-9.46304452e-02 9.95493486e-01 -6.14798355e-03 -1.41526504e+02] [-4.76073351e-02 1.64330648e-03 9.98864776e-01 -5.02200113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.4507140569999 meters 0.02783392292096734 Centerline is valid? [True, True] Translation: X:792.28, Y:-141.53, Z:-50.22 [[ 9.94418701e-01 9.41044023e-02 4.77054470e-02 7.92275935e+02] [-9.39148953e-02 9.95560902e-01 -6.20338981e-03 -1.41530164e+02] [-4.80774442e-02 1.68851477e-03 9.98842184e-01 -5.02216559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.4807140569999 meters 0.02737441539658788 Centerline is valid? [True, True] Translation: X:792.30, Y:-141.53, Z:-50.22 [[ 9.94480102e-01 9.33798883e-02 4.78489640e-02 7.92304251e+02] [-9.31885647e-02 9.95629057e-01 -6.21866857e-03 -1.41533932e+02] [-4.82205175e-02 1.72536587e-03 9.98835224e-01 -5.02224737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.510714057 meters 0.030326401437899532 Centerline is valid? [True, True] Translation: X:792.33, Y:-141.55, Z:-50.22 [[ 9.94472086e-01 9.22417101e-02 5.01670873e-02 7.92330697e+02] [-9.20301243e-02 9.95734902e-01 -6.51623318e-03 -1.41545666e+02] [-5.05541883e-02 1.86332872e-03 9.98719581e-01 -5.02235591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.540714057 meters 0.030693171264576866 Centerline is valid? [True, True] Translation: X:792.36, Y:-141.55, Z:-50.22 [[ 9.94460553e-01 9.18230118e-02 5.11541063e-02 7.92359175e+02] [-9.16027070e-02 9.95773498e-01 -6.63960346e-03 -1.41551760e+02] [-5.15475718e-02 1.91696911e-03 9.98668700e-01 -5.02249460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.5707140569999 meters 0.031107092435768428 Centerline is valid? [True, True] Translation: X:792.39, Y:-141.56, Z:-50.23 [[ 9.94520084e-01 9.09189397e-02 5.16095756e-02 7.92386882e+02] [-9.06936524e-02 9.95856332e-01 -6.69532748e-03 -1.41558064e+02] [-5.20044548e-02 1.97797673e-03 9.98644894e-01 -5.02266312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.6007140569999 meters 0.031895871394534134 Centerline is valid? [True, True] Translation: X:792.41, Y:-141.57, Z:-50.23 [[ 9.94676533e-01 8.92663773e-02 5.14791984e-02 7.92414635e+02] [-8.90402465e-02 9.96005669e-01 -6.67403682e-03 -1.41566719e+02] [-5.18693405e-02 2.05478730e-03 9.98651766e-01 -5.02292464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.630714057 meters 0.030348108728565675 Centerline is valid? [True, True] Translation: X:792.44, Y:-141.57, Z:-50.23 [[ 9.94741427e-01 8.84034375e-02 5.17138912e-02 7.92442941e+02] [-8.81742538e-02 9.96082525e-01 -6.70102932e-03 -1.41569423e+02] [-5.21036974e-02 2.10595770e-03 9.98639459e-01 -5.02304241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.660714057 meters 0.02976263511183501 Centerline is valid? [True, True] Translation: X:792.47, Y:-141.58, Z:-50.23 [[ 9.94942982e-01 8.59056932e-02 5.20449313e-02 7.92471842e+02] [-8.56703536e-02 9.96300738e-01 -6.74010908e-03 -1.41575203e+02] [-5.24314173e-02 2.24731655e-03 9.98621999e-01 -5.02326833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.6907140569999 meters 0.028900615733197764 Centerline is valid? [True, True] Translation: X:792.50, Y:-141.58, Z:-50.23 [[ 9.95038906e-01 8.46555472e-02 5.22591001e-02 7.92500299e+02] [-8.44166337e-02 9.96407573e-01 -6.76615929e-03 -1.41579226e+02] [-5.26441560e-02 2.32105442e-03 9.98610638e-01 -5.02345348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.7207140569999 meters 0.03003352548078265 Centerline is valid? [True, True] Translation: X:792.53, Y:-141.59, Z:-50.24 [[ 9.95113686e-01 8.38175160e-02 5.21859724e-02 7.92527025e+02] [-8.35783162e-02 9.96478330e-01 -6.75300370e-03 -1.41587297e+02] [-5.25682106e-02 2.35839071e-03 9.98614551e-01 -5.02369100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.750714057 meters 0.030944477327888645 Centerline is valid? [True, True] Translation: X:792.55, Y:-141.60, Z:-50.24 [[ 9.95190661e-01 8.29759949e-02 5.20627707e-02 7.92553832e+02] [-8.27370604e-02 9.96548676e-01 -6.73164485e-03 -1.41595988e+02] [-5.24416502e-02 2.39174948e-03 9.98621126e-01 -5.02396919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.780714057 meters 0.029037174505340622 Centerline is valid? [True, True] Translation: X:792.58, Y:-141.60, Z:-50.24 [[ 9.95143036e-01 8.32731090e-02 5.24969321e-02 7.92582364e+02] [-8.30308349e-02 9.96523894e-01 -6.78298184e-03 -1.41597218e+02] [-5.28792872e-02 2.39117303e-03 9.98598049e-01 -5.02411372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.8107140569999 meters 0.030196342214786443 Centerline is valid? [True, True] Translation: X:792.61, Y:-141.61, Z:-50.24 [[ 9.95041616e-01 8.41775567e-02 5.29747298e-02 7.92609517e+02] [-8.39323339e-02 9.96447975e-01 -6.84082314e-03 -1.41605539e+02] [-5.33624060e-02 2.36061100e-03 9.98572422e-01 -5.02430902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.8407140569999 meters 0.031134306343478482 Centerline is valid? [True, True] Translation: X:792.64, Y:-141.61, Z:-50.24 [[ 9.94937955e-01 8.52991235e-02 5.31274499e-02 7.92636597e+02] [-8.50543419e-02 9.96352728e-01 -6.85561777e-03 -1.41611907e+02] [-5.35184578e-02 2.30219404e-03 9.98564207e-01 -5.02448271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.870714057 meters 0.02951223722761157 Centerline is valid? [True, True] Translation: X:792.67, Y:-141.61, Z:-50.25 [[ 9.94885521e-01 8.59340741e-02 5.30861015e-02 7.92665885e+02] [-8.56908358e-02 9.96298259e-01 -6.84541906e-03 -1.41613433e+02] [-5.34778452e-02 2.26141590e-03 9.98566476e-01 -5.02463494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.900714057 meters 0.028378401308858672 Centerline is valid? [True, True] Translation: X:792.69, Y:-141.62, Z:-50.25 [[ 9.94766000e-01 8.72119466e-02 5.32417383e-02 7.92694717e+02] [-8.69692540e-02 9.96187358e-01 -6.86269547e-03 -1.41617124e+02] [-5.36372557e-02 2.19638185e-03 9.98558071e-01 -5.02480440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.9307140569999 meters 0.028870146296304702 Centerline is valid? [True, True] Translation: X:792.72, Y:-141.62, Z:-50.25 [[ 9.94725798e-01 8.76862082e-02 5.32138751e-02 7.92721840e+02] [-8.74446505e-02 9.96145791e-01 -6.85530872e-03 -1.41622792e+02] [-5.36098937e-02 2.16588372e-03 9.98559607e-01 -5.02500845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.9607140569999 meters 0.030354776006255902 Centerline is valid? [True, True] Translation: X:792.75, Y:-141.63, Z:-50.25 [[ 9.94712766e-01 8.77597299e-02 5.33361358e-02 7.92748635e+02] [-8.75174248e-02 9.96139325e-01 -6.86623475e-03 -1.41630559e+02] [-5.37328012e-02 2.16209011e-03 9.98553009e-01 -5.02525218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.9907140569999 meters 0.02766505643115835 Centerline is valid? [True, True] Translation: X:792.78, Y:-141.63, Z:-50.25 [[ 9.94748644e-01 8.73078022e-02 5.34086469e-02 7.92777301e+02] [-8.70644466e-02 9.96178987e-01 -6.87075615e-03 -1.41631428e+02] [-5.38044424e-02 2.18468107e-03 9.98549102e-01 -5.02538098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.020714057 meters 0.031153444313264125 Centerline is valid? [True, True] Translation: X:792.80, Y:-141.64, Z:-50.26 [[ 9.94798383e-01 8.65268746e-02 5.37519927e-02 7.92803567e+02] [-8.62794516e-02 9.96247005e-01 -6.91101258e-03 -1.41642760e+02] [-5.41482501e-02 2.23737169e-03 9.98530401e-01 -5.02557544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.0507140569999 meters 0.028302194838378578 Centerline is valid? [True, True] Translation: X:792.83, Y:-141.64, Z:-50.26 [[ 9.94987247e-01 8.43525577e-02 5.37124184e-02 7.92833449e+02] [-8.41026144e-02 9.96433203e-01 -6.90083330e-03 -1.41642482e+02] [-5.41029401e-02 2.34888631e-03 9.98532601e-01 -5.02569329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.0807140569999 meters 0.02898924800103689 Centerline is valid? [True, True] Translation: X:792.86, Y:-141.65, Z:-50.26 [[ 9.95095069e-01 8.32315296e-02 5.34632147e-02 7.92861368e+02] [-8.29823867e-02 9.96527354e-01 -6.86700381e-03 -1.41647689e+02] [-5.38491071e-02 2.39681647e-03 9.98546208e-01 -5.02587413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.1107140569999 meters 0.03189043202157736 Centerline is valid? [True, True] Translation: X:792.89, Y:-141.66, Z:-50.26 [[ 9.95192486e-01 8.20527203e-02 5.34721181e-02 7.92888559e+02] [-8.18020121e-02 9.96624962e-01 -6.86416558e-03 -1.41657262e+02] [-5.38548711e-02 2.45703915e-03 9.98545751e-01 -5.02608379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.140714057 meters 0.02878469509006417 Centerline is valid? [True, True] Translation: X:792.92, Y:-141.66, Z:-50.26 [[ 9.95263014e-01 8.08961402e-02 5.39198344e-02 7.92918144e+02] [-8.06396760e-02 9.96719305e-01 -6.91874883e-03 -1.41656222e+02] [-5.43026399e-02 2.53789684e-03 9.98521298e-01 -5.02620458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.1707140569999 meters 0.03072622230506268 Centerline is valid? [True, True] Translation: X:792.95, Y:-141.66, Z:-50.26 [[ 9.95491043e-01 7.83242117e-02 5.35060932e-02 7.92946015e+02] [-7.80681854e-02 9.96924409e-01 -6.86163365e-03 -1.41664854e+02] [-5.38789624e-02 2.65357123e-03 9.98543948e-01 -5.02637728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.2007140569999 meters 0.03050885415130105 Centerline is valid? [True, True] Translation: X:792.98, Y:-141.67, Z:-50.27 [[ 9.95614813e-01 7.67228854e-02 5.35232938e-02 7.92975365e+02] [-7.64645516e-02 9.97048696e-01 -6.86079943e-03 -1.41668053e+02] [-5.38917107e-02 2.73807888e-03 9.98543032e-01 -5.02656401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.2307140569999 meters 0.03050885415130105 Centerline is valid? [True, True] Translation: X:793.00, Y:-141.67, Z:-50.27 [[ 9.95617585e-01 7.66867321e-02 5.35235426e-02 7.93004276e+02] [-7.64284503e-02 9.97051477e-01 -6.85885844e-03 -1.41671730e+02] [-5.38917106e-02 2.73807866e-03 9.98543032e-01 -5.02673292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.260714057 meters 0.03178314009359256 Centerline is valid? [True, True] Translation: X:793.03, Y:-141.68, Z:-50.27 [[ 9.95854799e-01 7.34607302e-02 5.36352544e-02 7.93033298e+02] [-7.31968167e-02 9.97293845e-01 -6.87109521e-03 -1.41678421e+02] [-5.39948648e-02 2.91668325e-03 9.98536954e-01 -5.02692637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.290714057 meters 0.03320838790457438 Centerline is valid? [True, True] Translation: X:793.06, Y:-141.68, Z:-50.27 [[ 9.95989518e-01 7.16714126e-02 5.35545351e-02 7.93061910e+02] [-7.14057461e-02 9.97423760e-01 -6.86020706e-03 -1.41684633e+02] [-5.39082465e-02 3.00859278e-03 9.98541361e-01 -5.02710956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.3207140569999 meters 0.039995352651935843 Centerline is valid? [True, True] Translation: X:793.09, Y:-141.70, Z:-50.27 [[ 9.96099336e-01 7.01505068e-02 5.35258833e-02 7.93089915e+02] [-6.98830122e-02 9.97531639e-01 -6.85515129e-03 -1.41699356e+02] [-5.38746545e-02 3.08786169e-03 9.98542932e-01 -5.02736218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.3507140569999 meters 0.03609356655987896 Centerline is valid? [True, True] Translation: X:793.12, Y:-141.70, Z:-50.28 [[ 9.96426039e-01 6.64074502e-02 5.22034487e-02 7.93121491e+02] [-6.61476496e-02 9.97787414e-01 -6.69069979e-03 -1.41697155e+02] [-5.25322563e-02 3.21365206e-03 9.98614057e-01 -5.02757715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.380714057 meters 0.036350275934060323 Centerline is valid? [True, True] Translation: X:793.15, Y:-141.70, Z:-50.28 [[ 9.96565293e-01 6.49895159e-02 5.13223185e-02 7.93152687e+02] [-6.47365033e-02 9.97880708e-01 -6.57865366e-03 -1.41701497e+02] [-5.16410950e-02 3.23363047e-03 9.98660473e-01 -5.02779029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.410714057 meters 0.03877349893078527 Centerline is valid? [True, True] Translation: X:793.18, Y:-141.71, Z:-50.28 [[ 9.96756712e-01 6.32283650e-02 4.97818400e-02 7.93181629e+02] [-6.29880761e-02 9.97993871e-01 -6.38250977e-03 -1.41708071e+02] [-5.00855268e-02 3.22614713e-03 9.98739722e-01 -5.02808869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.4407140569999 meters 0.039094301022033956 Centerline is valid? [True, True] Translation: X:793.21, Y:-141.71, Z:-50.28 [[ 9.96825980e-01 6.23584737e-02 4.94912692e-02 7.93212727e+02] [-6.21196806e-02 9.98048507e-01 -6.35001003e-03 -1.41711515e+02] [-4.97906643e-02 3.25547314e-03 9.98754370e-01 -5.02831981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.4707140569999 meters 0.03985184199591553 Centerline is valid? [True, True] Translation: X:793.24, Y:-141.72, Z:-50.29 [[ 9.96864430e-01 6.18022609e-02 4.94144550e-02 7.93243272e+02] [-6.15634428e-02 9.98083024e-01 -6.34189201e-03 -1.41715920e+02] [-4.97116720e-02 3.27988259e-03 9.98758225e-01 -5.02854624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.500714057 meters 0.0371904967328315 Centerline is valid? [True, True] Translation: X:793.28, Y:-141.71, Z:-50.29 [[ 9.96924615e-01 6.06030098e-02 4.96848816e-02 7.93275626e+02] [-6.03600762e-02 9.98156299e-01 -6.37679567e-03 -1.41714915e+02] [-4.99797306e-02 3.35820132e-03 9.98744587e-01 -5.02859424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.530714057 meters 0.039554100450168335 Centerline is valid? [True, True] Translation: X:793.31, Y:-141.72, Z:-50.29 [[ 9.96921313e-01 6.05832282e-02 4.97751748e-02 7.93306627e+02] [-6.03387922e-02 9.98157436e-01 -6.40021463e-03 -1.41721910e+02] [-5.00712066e-02 3.37713644e-03 9.98739941e-01 -5.02879455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.5607140569999 meters 0.037693441180753975 Centerline is valid? [True, True] Translation: X:793.34, Y:-141.72, Z:-50.29 [[ 9.96957831e-01 6.02509390e-02 4.94460178e-02 7.93338616e+02] [-6.00086692e-02 9.98177524e-01 -6.37099629e-03 -1.41722331e+02] [-4.97397621e-02 3.38442491e-03 9.98756478e-01 -5.02889214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.5907140569999 meters 0.040459247599552044 Centerline is valid? [True, True] Translation: X:793.37, Y:-141.73, Z:-50.29 [[ 9.96910891e-01 6.07665588e-02 4.97604276e-02 7.93369079e+02] [-6.05218180e-02 9.98146281e-01 -6.41182513e-03 -1.41729852e+02] [-5.00578103e-02 3.38042677e-03 9.98740601e-01 -5.02909348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.620714057 meters 0.044173766644438145 Centerline is valid? [True, True] Translation: X:793.40, Y:-141.74, Z:-50.29 [[ 9.96826646e-01 6.23114457e-02 4.95370711e-02 7.93399156e+02] [-6.20701422e-02 9.98051295e-01 -6.39616634e-03 -1.41737923e+02] [-4.98390923e-02 3.30109599e-03 9.98751805e-01 -5.02930673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.650714057 meters 0.03860439028406922 Centerline is valid? [True, True] Translation: X:793.43, Y:-141.73, Z:-50.29 [[ 9.96803986e-01 6.27965439e-02 4.93802321e-02 7.93431718e+02] [-6.25572740e-02 9.98020998e-01 -6.37763922e-03 -1.41732713e+02] [-4.96830022e-02 3.26816349e-03 9.98759690e-01 -5.02939248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.6807140569999 meters 0.037242959404746055 Centerline is valid? [True, True] Translation: X:793.46, Y:-141.73, Z:-50.30 [[ 9.96774502e-01 6.34213529e-02 4.91764706e-02 7.93462487e+02] [-6.31847116e-02 9.97981627e-01 -6.35335514e-03 -1.41733982e+02] [-4.94801525e-02 3.22566129e-03 9.98769898e-01 -5.02950992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.7107140569999 meters 0.03772631511089075 Centerline is valid? [True, True] Translation: X:793.49, Y:-141.74, Z:-50.30 [[ 9.96691480e-01 6.51156139e-02 4.86420685e-02 7.93491852e+02] [-6.48860930e-02 9.97872888e-01 -6.28446918e-03 -1.41736890e+02] [-4.89478184e-02 3.10748311e-03 9.98796503e-01 -5.02968156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.7407140569999 meters 0.04486589219364511 Centerline is valid? [True, True] Translation: X:793.52, Y:-141.75, Z:-50.30 [[ 9.96639636e-01 6.60105720e-02 4.84978308e-02 7.93519373e+02] [-6.57835296e-02 9.97814253e-01 -6.26453831e-03 -1.41750788e+02] [-4.88053525e-02 3.05312870e-03 9.98803642e-01 -5.02998866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.770714057 meters 0.039683217062468815 Centerline is valid? [True, True] Translation: X:793.55, Y:-141.75, Z:-50.30 [[ 9.96633365e-01 6.67047657e-02 4.76698086e-02 7.93551004e+02] [-6.64861247e-02 9.97768339e-01 -6.15931025e-03 -1.41746281e+02] [-4.79742811e-02 2.96919327e-03 9.98844158e-01 -5.03005693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.8007140569999 meters 0.034977724981652185 Centerline is valid? [True, True] Translation: X:793.58, Y:-141.74, Z:-50.30 [[ 9.96574300e-01 6.82504463e-02 4.67069714e-02 7.93582038e+02] [-6.80422372e-02 9.97664188e-01 -6.03509793e-03 -1.41741595e+02] [-4.70097709e-02 2.83637666e-03 9.98890403e-01 -5.03012472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.8307140569999 meters 0.03478734943942223 Centerline is valid? [True, True] Translation: X:793.61, Y:-141.74, Z:-50.30 [[ 9.96544319e-01 6.89833555e-02 4.62678785e-02 7.93611219e+02] [-6.87798527e-02 9.97613951e-01 -5.97793411e-03 -1.41744010e+02] [-4.65698591e-02 2.77497841e-03 9.98911181e-01 -5.03032739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.8607140569999 meters 0.03521000744187532 Centerline is valid? [True, True] Translation: X:793.64, Y:-141.75, Z:-50.30 [[ 9.96538628e-01 6.93992924e-02 4.57657196e-02 7.93639224e+02] [-6.92007375e-02 9.97585246e-01 -5.91058592e-03 -1.41747939e+02] [-4.60653971e-02 2.72310563e-03 9.98934715e-01 -5.03048034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.890714057 meters 0.03434212784200402 Centerline is valid? [True, True] Translation: X:793.67, Y:-141.75, Z:-50.31 [[ 9.96488400e-01 7.03603623e-02 4.53903942e-02 7.93668353e+02] [-7.01661474e-02 9.97518107e-01 -5.85990444e-03 -1.41748918e+02] [-4.56900451e-02 2.65445770e-03 9.98952138e-01 -5.03054031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.9207140569999 meters 0.03505158660895203 Centerline is valid? [True, True] Translation: X:793.70, Y:-141.75, Z:-50.31 [[ 9.96460162e-01 7.04789311e-02 4.58242914e-02 7.93695950e+02] [-7.02812529e-02 9.97509692e-01 -5.91276384e-03 -1.41752781e+02] [-4.61269001e-02 2.67124500e-03 9.98932017e-01 -5.03069476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.9507140569999 meters 0.03547645007384101 Centerline is valid? [True, True] Translation: X:793.72, Y:-141.76, Z:-50.31 [[ 9.96422402e-01 7.08207356e-02 4.61174711e-02 7.93723680e+02] [-7.06210768e-02 9.97485491e-01 -5.94640779e-03 -1.41756909e+02] [-4.64226373e-02 2.66826846e-03 9.98918325e-01 -5.03079456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.9807140569999 meters 0.036070214980340146 Centerline is valid? [True, True] Translation: X:793.75, Y:-141.76, Z:-50.31 [[ 9.96437616e-01 7.03985436e-02 4.64340617e-02 7.93751594e+02] [-7.01958656e-02 9.97515284e-01 -5.98315774e-03 -1.41761243e+02] [-4.67398918e-02 2.70236429e-03 9.98903439e-01 -5.03091877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.010714057 meters 0.0365044330093033 Centerline is valid? [True, True] Translation: X:793.78, Y:-141.76, Z:-50.31 [[ 9.96437708e-01 7.02479058e-02 4.66596789e-02 7.93780055e+02] [-7.00433149e-02 9.97525862e-01 -6.00738422e-03 -1.41764819e+02] [-4.69662425e-02 2.71778559e-03 9.98892780e-01 -5.03103808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.040714057 meters 0.03628743265327602 Centerline is valid? [True, True] Translation: X:793.81, Y:-141.77, Z:-50.31 [[ 9.96499117e-01 6.94535469e-02 4.65372478e-02 7.93808802e+02] [-6.92493185e-02 9.97581411e-01 -5.98837826e-03 -1.41767863e+02] [-4.68406074e-02 2.74474095e-03 9.98898605e-01 -5.03117859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.0707140569999 meters 0.037062807713493705 Centerline is valid? [True, True] Translation: X:793.84, Y:-141.77, Z:-50.31 [[ 9.96526709e-01 6.85268303e-02 4.73137677e-02 7.93838142e+02] [-6.83148620e-02 9.97645257e-01 -6.08454130e-03 -1.41772080e+02] [-4.76193103e-02 2.83117440e-03 9.98861545e-01 -5.03130559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.1007140569999 meters 0.03797386774553561 Centerline is valid? [True, True] Translation: X:793.87, Y:-141.78, Z:-50.31 [[ 9.96562030e-01 6.78207543e-02 4.75864013e-02 7.93867763e+02] [-6.76056128e-02 9.97693366e-01 -6.11792201e-03 -1.41776479e+02] [-4.78915589e-02 2.87978096e-03 9.98848390e-01 -5.03144886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.130714057 meters 0.03336127400891006 Centerline is valid? [True, True] Translation: X:793.90, Y:-141.77, Z:-50.31 [[ 9.96602688e-01 6.67420404e-02 4.82553819e-02 7.93898688e+02] [-6.65196241e-02 9.97765840e-01 -6.20224749e-03 -1.41771797e+02] [-4.85615223e-02 2.97124666e-03 9.98815774e-01 -5.03142423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.160714057 meters 0.03993234505645376 Centerline is valid? [True, True] Translation: X:793.93, Y:-141.79, Z:-50.32 [[ 9.96628326e-01 6.63813074e-02 4.82234637e-02 7.93926207e+02] [-6.61588610e-02 9.97789864e-01 -6.19617161e-03 -1.41785346e+02] [-4.85281933e-02 2.98487070e-03 9.98817353e-01 -5.03176331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.1907140569999 meters 0.03622590931679595 Centerline is valid? [True, True] Translation: X:793.96, Y:-141.78, Z:-50.32 [[ 9.96660222e-01 6.60752151e-02 4.79840323e-02 7.93956612e+02] [-6.58546557e-02 9.97810183e-01 -6.16468864e-03 -1.41782765e+02] [-4.82862892e-02 2.98412802e-03 9.98829079e-01 -5.03188611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.2207140569999 meters 0.03508104152867661 Centerline is valid? [True, True] Translation: X:793.99, Y:-141.78, Z:-50.32 [[ 9.96665986e-01 6.62932659e-02 4.75617102e-02 7.93985280e+02] [-6.60768865e-02 9.97795833e-01 -6.10909986e-03 -1.41784133e+02] [-4.78618684e-02 2.94600231e-03 9.98849620e-01 -5.03205305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.250714057 meters 0.034969771207942944 Centerline is valid? [True, True] Translation: X:794.02, Y:-141.79, Z:-50.32 [[ 9.96660755e-01 6.66276816e-02 4.72026755e-02 7.94015167e+02] [-6.64151138e-02 9.97773681e-01 -6.05918319e-03 -1.41786506e+02] [-4.75012966e-02 2.90397903e-03 9.98866955e-01 -5.03223775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.280714057 meters 0.03498431394844307 Centerline is valid? [True, True] Translation: X:794.04, Y:-141.79, Z:-50.32 [[ 9.96623239e-01 6.68677018e-02 4.76532299e-02 7.94044843e+02] [-6.66514104e-02 9.97757582e-01 -6.11526137e-03 -1.41789331e+02] [-4.79552850e-02 2.91845661e-03 9.98845220e-01 -5.03242843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.3107140569999 meters 0.03693612835938807 Centerline is valid? [True, True] Translation: X:794.07, Y:-141.79, Z:-50.33 [[ 9.96574422e-01 6.72894085e-02 4.80786498e-02 7.94072697e+02] [-6.70698101e-02 9.97729220e-01 -6.16805589e-03 -1.41794659e+02] [-4.83845186e-02 2.92230082e-03 9.98824508e-01 -5.03258861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.3407140569999 meters 0.03603065536458349 Centerline is valid? [True, True] Translation: X:794.10, Y:-141.80, Z:-50.33 [[ 9.96556839e-01 6.73958793e-02 4.82935088e-02 7.94102304e+02] [-6.71745128e-02 9.97722015e-01 -6.19404878e-03 -1.41796367e+02] [-4.86009503e-02 2.92862875e-03 9.98813982e-01 -5.03274362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.370714057 meters 0.03634685602713768 Centerline is valid? [True, True] Translation: X:794.13, Y:-141.80, Z:-50.33 [[ 9.96561237e-01 6.75409410e-02 4.79991947e-02 7.94131849e+02] [-6.73225168e-02 9.97712283e-01 -6.15460064e-03 -1.41799877e+02] [-4.83050737e-02 2.90200983e-03 9.98828413e-01 -5.03291064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.400714057 meters 0.03722098245479489 Centerline is valid? [True, True] Translation: X:794.16, Y:-141.80, Z:-50.33 [[ 9.96542771e-01 6.78931874e-02 4.78855035e-02 7.94160093e+02] [-6.76762764e-02 9.97688449e-01 -6.13849267e-03 -1.41803659e+02] [-4.81915755e-02 2.87655793e-03 9.98833969e-01 -5.03315321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.4307140569999 meters 0.037055422661126804 Centerline is valid? [True, True] Translation: X:794.19, Y:-141.81, Z:-50.33 [[ 9.96503490e-01 6.81647817e-02 4.83151828e-02 7.94188983e+02] [-6.79443926e-02 9.97669900e-01 -6.19115093e-03 -1.41806737e+02] [-4.86246220e-02 2.88675776e-03 9.98812952e-01 -5.03332987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.4607140569999 meters 0.038583496944204994 Centerline is valid? [True, True] Translation: X:794.22, Y:-141.81, Z:-50.33 [[ 9.96453755e-01 6.88560982e-02 4.83606406e-02 7.94216946e+02] [-6.86362696e-02 9.97622525e-01 -6.19358896e-03 -1.41810869e+02] [-4.86721307e-02 2.85233102e-03 9.98810737e-01 -5.03349419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.4907140569999 meters 0.03549139331828802 Centerline is valid? [True, True] Translation: X:794.25, Y:-141.81, Z:-50.34 [[ 9.96466161e-01 6.92185211e-02 4.75813613e-02 7.94246198e+02] [-6.90062923e-02 9.97597633e-01 -6.09057029e-03 -1.41809342e+02] [-4.78886336e-02 2.78563388e-03 9.98848797e-01 -5.03362462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.520714057 meters 0.033502309184229306 Centerline is valid? [True, True] Translation: X:794.27, Y:-141.81, Z:-50.34 [[ 9.96470447e-01 6.93021765e-02 4.73693651e-02 7.94274791e+02] [-6.90920894e-02 9.97591880e-01 -6.06010601e-03 -1.41808806e+02] [-4.76752725e-02 2.76586813e-03 9.98859058e-01 -5.03379410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.5507140569999 meters 0.03941917520168751 Centerline is valid? [True, True] Translation: X:794.30, Y:-141.82, Z:-50.34 [[ 9.96514869e-01 6.96299974e-02 4.59323450e-02 7.94302060e+02] [-6.94329819e-02 9.97569332e-01 -5.87279455e-03 -1.41821658e+02] [-4.62296213e-02 2.66310741e-03 9.98927290e-01 -5.03422710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.5807140569999 meters 0.03284973328657806 Centerline is valid? [True, True] Translation: X:794.33, Y:-141.81, Z:-50.34 [[ 9.96509441e-01 6.97923653e-02 4.58035005e-02 7.94332277e+02] [-6.95967304e-02 9.97558031e-01 -5.85404331e-03 -1.41814745e+02] [-4.61002173e-02 2.64583554e-03 9.98933316e-01 -5.03424039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.6107140569999 meters 0.03432247658737257 Centerline is valid? [True, True] Translation: X:794.36, Y:-141.82, Z:-50.34 [[ 9.96488794e-01 7.02876018e-02 4.54943484e-02 7.94359226e+02] [-7.00952563e-02 9.97523374e-01 -5.81145353e-03 -1.41819305e+02] [-4.57901490e-02 2.60211031e-03 9.98947692e-01 -5.03441332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.640714057 meters 0.035680082446919115 Centerline is valid? [True, True] Translation: X:794.39, Y:-141.82, Z:-50.35 [[ 9.96453290e-01 7.06886757e-02 4.56503319e-02 7.94386507e+02] [-7.04956289e-02 9.97495069e-01 -5.82699199e-03 -1.41824207e+02] [-4.59478833e-02 2.58817648e-03 9.98940485e-01 -5.03457900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.6707140569999 meters 0.03467907823933379 Centerline is valid? [True, True] Translation: X:794.41, Y:-141.83, Z:-50.35 [[ 9.96392587e-01 7.15704270e-02 4.56013908e-02 7.94414934e+02] [-7.13789106e-02 9.97432313e-01 -5.81647211e-03 -1.41825622e+02] [-4.59005881e-02 2.54051209e-03 9.98942782e-01 -5.03469442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.7007140569999 meters 0.03230380332498486 Centerline is valid? [True, True] Translation: X:794.44, Y:-141.82, Z:-50.35 [[ 9.96255147e-01 7.34963148e-02 4.55409041e-02 7.94443884e+02] [-7.33074580e-02 9.97292491e-01 -5.80556038e-03 -1.41824130e+02] [-4.58442890e-02 2.44533149e-03 9.98945605e-01 -5.03476840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.7307140569999 meters 0.03245816915998572 Centerline is valid? [True, True] Translation: X:794.47, Y:-141.83, Z:-50.35 [[ 9.96174084e-01 7.44447285e-02 4.57731006e-02 7.94472771e+02] [-7.42550922e-02 9.97222228e-01 -5.83179957e-03 -1.41827230e+02] [-4.60801001e-02 2.41060179e-03 9.98934839e-01 -5.03493567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.760714057 meters 0.03114657475080128 Centerline is valid? [True, True] Translation: X:794.50, Y:-141.83, Z:-50.35 [[ 9.95965474e-01 7.67950553e-02 4.64251457e-02 7.94502302e+02] [-7.66026961e-02 9.97044175e-01 -5.91106568e-03 -1.41827815e+02] [-4.67418617e-02 2.33092600e-03 9.98904282e-01 -5.03504369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.790714057 meters 0.03110579180682026 Centerline is valid? [True, True] Translation: X:794.53, Y:-141.83, Z:-50.35 [[ 9.95863259e-01 7.79231233e-02 4.67371068e-02 7.94531103e+02] [-7.77294692e-02 9.96956736e-01 -5.94945376e-03 -1.41830891e+02] [-4.70584735e-02 2.29199191e-03 9.98889507e-01 -5.03523639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.8207140569999 meters 0.03175691505891818 Centerline is valid? [True, True] Translation: X:794.56, Y:-141.84, Z:-50.35 [[ 9.95802258e-01 7.89096612e-02 4.63802539e-02 7.94558922e+02] [-7.87201780e-02 9.96879288e-01 -5.90069668e-03 -1.41835296e+02] [-4.67011365e-02 2.22486524e-03 9.98906429e-01 -5.03542914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.8507140569999 meters 0.030163541564949742 Centerline is valid? [True, True] Translation: X:794.59, Y:-141.84, Z:-50.36 [[ 9.95710327e-01 8.01895724e-02 4.61581676e-02 7.94588040e+02] [-8.00034252e-02 9.96777310e-01 -5.86915606e-03 -1.41836264e+02] [-4.64800592e-02 2.15116780e-03 9.98916902e-01 -5.03566370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.880714057 meters 0.031851135312981234 Centerline is valid? [True, True] Translation: X:794.61, Y:-141.84, Z:-50.36 [[ 9.95712854e-01 8.02454259e-02 4.60063542e-02 7.94614739e+02] [-8.00607064e-02 9.96772842e-01 -5.84673025e-03 -1.41842605e+02] [-4.63270578e-02 2.13836324e-03 9.98924037e-01 -5.03590753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.910714057 meters 0.03242743089813516 Centerline is valid? [True, True] Translation: X:794.64, Y:-141.85, Z:-50.36 [[ 9.95764286e-01 7.97275515e-02 4.57930668e-02 7.94642232e+02] [-7.95441865e-02 9.96814377e-01 -5.81549793e-03 -1.41847617e+02] [-4.61108427e-02 2.14829290e-03 9.98934019e-01 -5.03611669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.9407140569999 meters 0.029486427400904913 Centerline is valid? [True, True] Translation: X:794.67, Y:-141.85, Z:-50.36 [[ 9.95831354e-01 7.90751871e-02 4.54645934e-02 7.94671360e+02] [-7.88939535e-02 9.96866317e-01 -5.76972165e-03 -1.41846574e+02] [-4.57783636e-02 2.15878820e-03 9.98949289e-01 -5.03618537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.9707140569999 meters 0.030734946323840405 Centerline is valid? [True, True] Translation: X:794.70, Y:-141.85, Z:-50.36 [[ 9.95938412e-01 7.79363106e-02 4.50844892e-02 7.94698512e+02] [-7.77570590e-02 9.96955935e-01 -5.71871995e-03 -1.41852994e+02] [-4.53929450e-02 2.18985558e-03 9.98966809e-01 -5.03643002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.000714057 meters 0.035514809331161974 Centerline is valid? [True, True] Translation: X:794.73, Y:-141.87, Z:-50.37 [[ 9.96166838e-01 7.55463179e-02 4.40951761e-02 7.94725463e+02] [-7.53727661e-02 9.97139772e-01 -5.58764384e-03 -1.41865933e+02] [-4.43911797e-02 2.24265010e-03 9.99011709e-01 -5.03685824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.030714057 meters 0.03233902881069072 Centerline is valid? [True, True] Translation: X:794.75, Y:-141.86, Z:-50.37 [[ 9.96274653e-01 7.41887304e-02 4.39641699e-02 7.94754975e+02] [-7.40150318e-02 9.97241583e-01 -5.56787096e-03 -1.41864847e+02] [-4.42559717e-02 2.29311928e-03 9.99017593e-01 -5.03692869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.0607140569999 meters 0.0319511959427501 Centerline is valid? [True, True] Translation: X:794.78, Y:-141.87, Z:-50.37 [[ 9.96356994e-01 7.30898747e-02 4.39387204e-02 7.94783652e+02] [-7.29154513e-02 9.97322619e-01 -5.56150634e-03 -1.41868028e+02] [-4.42275695e-02 2.33743412e-03 9.99018748e-01 -5.03706129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.0907140569999 meters 0.033784878722406125 Centerline is valid? [True, True] Translation: X:794.81, Y:-141.87, Z:-50.37 [[ 9.96403359e-01 7.21856151e-02 4.43799818e-02 7.94810882e+02] [-7.20069105e-02 9.97388332e-01 -5.61430307e-03 -1.41874672e+02] [-4.46693479e-02 2.39844506e-03 9.98998947e-01 -5.03722521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.120714057 meters 0.03219312342740323 Centerline is valid? [True, True] Translation: X:794.84, Y:-141.88, Z:-50.37 [[ 9.96347829e-01 7.26366487e-02 4.48878806e-02 7.94839519e+02] [-7.24544800e-02 9.97355579e-01 -5.67420482e-03 -1.41875333e+02] [-4.51813334e-02 2.40115361e-03 9.98975916e-01 -5.03730271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.150714057 meters 0.03219312342740323 Centerline is valid? [True, True] Translation: X:794.87, Y:-141.88, Z:-50.37 [[ 9.96353014e-01 7.25652359e-02 4.48882864e-02 7.94867605e+02] [-7.23831393e-02 9.97360778e-01 -5.67099246e-03 -1.41878822e+02] [-4.51813331e-02 2.40115534e-03 9.98975916e-01 -5.03746683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.1807140569999 meters 0.03117808669304391 Centerline is valid? [True, True] Translation: X:794.90, Y:-141.88, Z:-50.38 [[ 9.96195998e-01 7.41914857e-02 4.57072918e-02 7.94896964e+02] [-7.40045276e-02 9.97241205e-01 -5.77134241e-03 -1.41880725e+02] [-4.60093792e-02 2.36684168e-03 9.98938204e-01 -5.03757138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.2107140569999 meters 0.033001293603241784 Centerline is valid? [True, True] Translation: X:794.92, Y:-141.89, Z:-50.38 [[ 9.96092634e-01 7.50660171e-02 4.65248170e-02 7.94924070e+02] [-7.48734752e-02 9.97175765e-01 -5.86990007e-03 -1.41887119e+02] [-4.68340500e-02 2.36348949e-03 9.98899888e-01 -5.03776019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.2407140569999 meters 0.032617380722241365 Centerline is valid? [True, True] Translation: X:794.95, Y:-141.89, Z:-50.38 [[ 9.96012422e-01 7.59350056e-02 4.68308718e-02 7.94953070e+02] [-7.57410901e-02 9.97110039e-01 -5.90400819e-03 -1.41889893e+02] [-4.71438533e-02 2.33344422e-03 9.98885385e-01 -5.03792040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.270714057 meters 0.030825200489301718 Centerline is valid? [True, True] Translation: X:794.98, Y:-141.89, Z:-50.38 [[ 9.95889578e-01 7.73647649e-02 4.71024574e-02 7.94981871e+02] [-7.71703439e-02 9.97000258e-01 -5.93492093e-03 -1.41890522e+02] [-4.74203159e-02 2.27561307e-03 9.98872432e-01 -5.03802834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.3007140569999 meters 0.030567313968376652 Centerline is valid? [True, True] Translation: X:795.01, Y:-141.89, Z:-50.38 [[ 9.95837615e-01 7.77013916e-02 4.76438625e-02 7.95010429e+02] [-7.75030235e-02 9.96974065e-01 -5.99964302e-03 -1.41893762e+02] [-4.79658759e-02 2.28212680e-03 9.98846368e-01 -5.03822536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.3307140569999 meters 0.03009268828718156 Centerline is valid? [True, True] Translation: X:795.04, Y:-141.90, Z:-50.38 [[ 9.95811440e-01 7.80997461e-02 4.75395278e-02 7.95038998e+02] [-7.79028636e-02 9.96943001e-01 -5.98307265e-03 -1.41896872e+02] [-4.78614759e-02 2.25454684e-03 9.98851439e-01 -5.03834472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.3607140569999 meters 0.029574625607080844 Centerline is valid? [True, True] Translation: X:795.07, Y:-141.90, Z:-50.38 [[ 9.95772870e-01 7.81919612e-02 4.81913656e-02 7.95067525e+02] [-7.79899181e-02 9.96935720e-01 -6.06155300e-03 -1.41899631e+02] [-4.85176585e-02 2.27748937e-03 9.98819728e-01 -5.03847176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.390714057 meters 0.03067213593753659 Centerline is valid? [True, True] Translation: X:795.09, Y:-141.91, Z:-50.39 [[ 9.95760840e-01 7.82465857e-02 4.83510242e-02 7.95094287e+02] [-7.80434282e-02 9.96931431e-01 -6.07827839e-03 -1.41905402e+02] [-4.86782603e-02 2.27903191e-03 9.98811911e-01 -5.03867755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.4207140569999 meters 0.02959369885556955 Centerline is valid? [True, True] Translation: X:795.12, Y:-141.91, Z:-50.39 [[ 9.95753347e-01 7.84428753e-02 4.81870095e-02 7.95122759e+02] [-7.82415620e-02 9.96916056e-01 -6.05276464e-03 -1.41907482e+02] [-4.85131997e-02 2.25683376e-03 9.98819992e-01 -5.03882946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.4507140569999 meters 0.02937328724340819 Centerline is valid? [True, True] Translation: X:795.15, Y:-141.91, Z:-50.39 [[ 9.95659850e-01 7.92233784e-02 4.88376810e-02 7.95151499e+02] [-7.90177004e-02 9.96854360e-01 -6.13088844e-03 -1.41911416e+02] [-4.91697650e-02 2.24523822e-03 9.98787912e-01 -5.03901767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.4807140569999 meters 0.028936736169927663 Centerline is valid? [True, True] Translation: X:795.18, Y:-141.91, Z:-50.39 [[ 9.95591996e-01 7.97292450e-02 4.93945874e-02 7.95179721e+02] [-7.95196476e-02 9.96814035e-01 -6.19715147e-03 -1.41914805e+02] [-4.97313122e-02 2.24199421e-03 9.98760116e-01 -5.03916300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.510714057 meters 0.029247665746803757 Centerline is valid? [True, True] Translation: X:795.21, Y:-141.92, Z:-50.39 [[ 9.95532233e-01 8.02616012e-02 4.97357839e-02 7.95207878e+02] [-8.00499419e-02 9.96771346e-01 -6.23628942e-03 -1.41918798e+02] [-5.00757388e-02 2.22708052e-03 9.98742940e-01 -5.03931615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.540714057 meters 0.028888886842700696 Centerline is valid? [True, True] Translation: X:795.24, Y:-141.92, Z:-50.39 [[ 9.95430577e-01 8.09888890e-02 5.05842585e-02 7.95236573e+02] [-8.07710670e-02 9.96712523e-01 -6.33893102e-03 -1.41921582e+02] [-5.09313469e-02 2.22422122e-03 9.98699680e-01 -5.03945290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.5707140569999 meters 0.029485742901036057 Centerline is valid? [True, True] Translation: X:795.26, Y:-141.93, Z:-50.40 [[ 9.95397427e-01 8.12528079e-02 5.08128335e-02 7.95263595e+02] [-8.10335386e-02 9.96691058e-01 -6.36396847e-03 -1.41926330e+02] [-5.11617871e-02 2.21713414e-03 9.98687917e-01 -5.03961699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.6007140569999 meters 0.02931148842368162 Centerline is valid? [True, True] Translation: X:795.29, Y:-141.93, Z:-50.40 [[ 9.95414919e-01 8.08300957e-02 5.11432740e-02 7.95292141e+02] [-8.06076517e-02 9.96725358e-01 -6.40058698e-03 -1.41930139e+02] [-5.14931582e-02 2.24870055e-03 9.98670816e-01 -5.03981595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.630714057 meters 0.029555645298965108 Centerline is valid? [True, True] Translation: X:795.32, Y:-141.93, Z:-50.40 [[ 9.95424078e-01 8.08131103e-02 5.09916293e-02 7.95320559e+02] [-8.05921514e-02 9.96726756e-01 -6.37793668e-03 -1.41934318e+02] [-5.13401422e-02 2.23922664e-03 9.98678715e-01 -5.04002504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.660714057 meters 0.030053741076760565 Centerline is valid? [True, True] Translation: X:795.35, Y:-141.94, Z:-50.40 [[ 9.95426586e-01 8.05921729e-02 5.12914496e-02 7.95348289e+02] [-8.03684989e-02 9.96744598e-01 -6.41183723e-03 -1.41939180e+02] [-5.16412192e-02 2.26029644e-03 9.98663144e-01 -5.04020169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.6907140569999 meters 0.0291836845859703 Centerline is valid? [True, True] Translation: X:795.38, Y:-141.94, Z:-50.40 [[ 9.95418248e-01 8.05026885e-02 5.15929113e-02 7.95376955e+02] [-8.02765006e-02 9.96751799e-01 -6.44479931e-03 -1.41941857e+02] [-5.19441508e-02 2.27357246e-03 9.98647403e-01 -5.04033941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.7207140569999 meters 0.02903152223685116 Centerline is valid? [True, True] Translation: X:795.41, Y:-141.95, Z:-50.40 [[ 9.95390403e-01 8.05806911e-02 5.20067026e-02 7.95405322e+02] [-8.03511608e-02 9.96745472e-01 -6.49271280e-03 -1.41945269e+02] [-5.23606326e-02 2.28398509e-03 9.98625629e-01 -5.04044356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.750714057 meters 0.028979624553606233 Centerline is valid? [True, True] Translation: X:795.43, Y:-141.95, Z:-50.41 [[ 9.95329245e-01 8.07212926e-02 5.29506108e-02 7.95433421e+02] [-8.04837527e-02 9.96734026e-01 -6.60664777e-03 -1.41949268e+02] [-5.33109726e-02 2.31412587e-03 9.98575278e-01 -5.04059126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.780714057 meters 0.02961825462201957 Centerline is valid? [True, True] Translation: X:795.46, Y:-141.95, Z:-50.41 [[ 9.95324689e-01 8.04829272e-02 5.33972064e-02 7.95461141e+02] [-8.02412226e-02 9.96753234e-01 -6.65855215e-03 -1.41953931e+02] [-5.37597379e-02 2.34276422e-03 9.98551151e-01 -5.04074710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.8107140569999 meters 0.029964639212364166 Centerline is valid? [True, True] Translation: X:795.49, Y:-141.96, Z:-50.41 [[ 9.95359128e-01 8.02094742e-02 5.31662168e-02 7.95488886e+02] [-7.99697229e-02 9.96775277e-01 -6.62501745e-03 -1.41958206e+02] [-5.35261596e-02 2.34258397e-03 9.98563700e-01 -5.04093278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.8407140569999 meters 0.0304097611826278 Centerline is valid? [True, True] Translation: X:795.52, Y:-141.96, Z:-50.41 [[ 9.95421665e-01 8.01640570e-02 5.20522202e-02 7.95516304e+02] [-7.99344319e-02 9.96779050e-01 -6.48170950e-03 -1.41963204e+02] [-5.24041627e-02 2.29126941e-03 9.98623329e-01 -5.04117306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.870714057 meters 0.030497204805649797 Centerline is valid? [True, True] Translation: X:795.55, Y:-141.97, Z:-50.41 [[ 9.95458217e-01 7.98795188e-02 5.17899670e-02 7.95545189e+02] [-7.96520607e-02 9.96801895e-01 -6.44444092e-03 -1.41967227e+02] [-5.21391161e-02 2.28999407e-03 9.98637206e-01 -5.04143556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.900714057 meters 0.030344956508837652 Centerline is valid? [True, True] Translation: X:795.57, Y:-141.97, Z:-50.42 [[ 9.95476366e-01 7.96788143e-02 5.17502830e-02 7.95574202e+02] [-7.94516219e-02 9.96817947e-01 -6.43591178e-03 -1.41970298e+02] [-5.20984167e-02 2.29515415e-03 9.98639318e-01 -5.04157415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.9307140569999 meters 0.02864765697802147 Centerline is valid? [True, True] Translation: X:795.60, Y:-141.97, Z:-50.42 [[ 9.95514304e-01 7.91711239e-02 5.17996554e-02 7.95603483e+02] [-7.89430009e-02 9.96858340e-01 -6.43843158e-03 -1.41970775e+02] [-5.21466563e-02 2.32033049e-03 9.98636742e-01 -5.04164215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.9607140569999 meters 0.02868212636360336 Centerline is valid? [True, True] Translation: X:795.63, Y:-141.97, Z:-50.42 [[ 9.95569781e-01 7.84339875e-02 5.18548016e-02 7.95631947e+02] [-7.82045788e-02 9.96916522e-01 -6.44149666e-03 -1.41974517e+02] [-5.22001407e-02 2.35767651e-03 9.98633860e-01 -5.04178476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.9907140569999 meters 0.030236178161600822 Centerline is valid? [True, True] Translation: X:795.66, Y:-141.98, Z:-50.42 [[ 9.95675584e-01 7.67354427e-02 5.23622379e-02 7.95658602e+02] [-7.64993701e-02 9.97048437e-01 -6.50083524e-03 -1.41981225e+02] [-5.27065320e-02 2.46704471e-03 9.98606997e-01 -5.04200048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.020714057 meters 0.030914966313724687 Centerline is valid? [True, True] Translation: X:795.69, Y:-141.99, Z:-50.42 [[ 9.95759995e-01 7.56931705e-02 5.22740546e-02 7.95687332e+02] [-7.54567708e-02 9.97127992e-01 -6.48400913e-03 -1.41986258e+02] [-5.26147183e-02 2.51208555e-03 9.98611727e-01 -5.04215384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.0507140569999 meters 0.02996414933036347 Centerline is valid? [True, True] Translation: X:795.72, Y:-141.99, Z:-50.42 [[ 9.95822569e-01 7.44911165e-02 5.28060985e-02 7.95716341e+02] [-7.42483972e-02 9.97218293e-01 -6.54610776e-03 -1.41988634e+02] [-5.31468343e-02 2.59799368e-03 9.98583329e-01 -5.04228991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.0807140569999 meters 0.031165383744031112 Centerline is valid? [True, True] Translation: X:795.74, Y:-141.99, Z:-50.42 [[ 9.95966416e-01 7.23400603e-02 5.30830887e-02 7.95744507e+02] [-7.20918729e-02 9.97376304e-01 -6.57794857e-03 -1.41994258e+02] [-5.34196640e-02 2.72455658e-03 9.98568433e-01 -5.04241833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.1107140569999 meters 0.03143652088591555 Centerline is valid? [True, True] Translation: X:795.77, Y:-142.00, Z:-50.43 [[ 9.96039470e-01 7.14873390e-02 5.28671331e-02 7.95773509e+02] [-7.12401287e-02 9.97437700e-01 -6.54824472e-03 -1.41998890e+02] [-5.31997883e-02 2.75604884e-03 9.98580085e-01 -5.04257094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.140714057 meters 0.03208111495749873 Centerline is valid? [True, True] Translation: X:795.80, Y:-142.00, Z:-50.43 [[ 9.96190142e-01 6.98427977e-02 5.22224552e-02 7.95802634e+02] [-6.95994318e-02 9.97554060e-01 -6.46653942e-03 -1.42004103e+02] [-5.25463634e-02 2.80724961e-03 9.98614540e-01 -5.04274181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.1707140569999 meters 0.030660536833105673 Centerline is valid? [True, True] Translation: X:795.83, Y:-142.01, Z:-50.43 [[ 9.96247165e-01 6.91013306e-02 5.21209368e-02 7.95832274e+02] [-6.88579976e-02 9.97605607e-01 -6.45210805e-03 -1.42005304e+02] [-5.24419880e-02 2.83895101e-03 9.98619937e-01 -5.04288290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.2007140569999 meters 0.03135792686215225 Centerline is valid? [True, True] Translation: X:795.86, Y:-142.01, Z:-50.43 [[ 9.96280940e-01 6.86877584e-02 5.20219246e-02 7.95861739e+02] [-6.84448886e-02 9.97634126e-01 -6.43793800e-03 -1.42009838e+02] [-5.23410549e-02 2.85336009e-03 9.98625191e-01 -5.04303684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.2307140569999 meters 0.03411367297252008 Centerline is valid? [True, True] Translation: X:795.89, Y:-142.02, Z:-50.43 [[ 9.96185616e-01 6.98876663e-02 5.22487561e-02 7.95889454e+02] [-6.96444122e-02 9.97550936e-01 -6.46417786e-03 -1.42017863e+02] [-5.25725618e-02 2.80068710e-03 9.98613179e-01 -5.04326315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.260714057 meters 0.029884150465679032 Centerline is valid? [True, True] Translation: X:795.92, Y:-142.01, Z:-50.43 [[ 9.96096946e-01 7.09054812e-02 5.25669834e-02 7.95919554e+02] [-7.06608213e-02 9.97479218e-01 -6.50057600e-03 -1.42013800e+02] [-5.28953999e-02 2.76077768e-03 9.98596242e-01 -5.04336475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.290714057 meters 0.030652217619025944 Centerline is valid? [True, True] Translation: X:795.95, Y:-142.02, Z:-50.44 [[ 9.96017450e-01 7.22743048e-02 5.22078962e-02 7.95948276e+02] [-7.20349548e-02 9.97381225e-01 -6.45424751e-03 -1.42017606e+02] [-5.25376517e-02 2.66774971e-03 9.98615381e-01 -5.04355424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.3207140569999 meters 0.02968519262969158 Centerline is valid? [True, True] Translation: X:795.98, Y:-142.02, Z:-50.44 [[ 9.95779334e-01 7.56452170e-02 5.19742224e-02 7.95978017e+02] [-7.54126828e-02 9.97131720e-01 -6.42345838e-03 -1.42018531e+02] [-5.23110497e-02 2.47683155e-03 9.98627768e-01 -5.04377914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.3507140569999 meters 0.02928687863267153 Centerline is valid? [True, True] Translation: X:796.01, Y:-142.02, Z:-50.44 [[ 9.95672915e-01 7.71836119e-02 5.17507091e-02 7.96006807e+02] [-7.69552337e-02 9.97014045e-01 -6.39417654e-03 -1.42020728e+02] [-5.20897094e-02 2.38402048e-03 9.98639564e-01 -5.04396402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.380714057 meters 0.028459048326442634 Centerline is valid? [True, True] Translation: X:796.04, Y:-142.02, Z:-50.44 [[ 9.95445678e-01 8.03448016e-02 5.13090245e-02 7.96036881e+02] [-8.01247023e-02 9.96764712e-01 -6.33562076e-03 -1.42021764e+02] [-5.16520592e-02 2.19564598e-03 9.98662728e-01 -5.04416943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.410714057 meters 0.02738939522030624 Centerline is valid? [True, True] Translation: X:796.07, Y:-142.02, Z:-50.44 [[ 9.95350419e-01 8.16055566e-02 5.11671371e-02 7.96065666e+02] [-8.13883649e-02 9.96662442e-01 -6.31753404e-03 -1.42022227e+02] [-5.15119097e-02 2.12375053e-03 9.98670122e-01 -5.04430823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.4407140569999 meters 0.028297946149538337 Centerline is valid? [True, True] Translation: X:796.09, Y:-142.03, Z:-50.44 [[ 9.95262094e-01 8.25888218e-02 5.13074206e-02 7.96092984e+02] [-8.23719278e-02 9.96581548e-01 -6.33121981e-03 -1.42026652e+02] [-5.16549166e-02 2.07493194e-03 9.98662838e-01 -5.04448613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.4707140569999 meters 0.028010839642706613 Centerline is valid? [True, True] Translation: X:796.12, Y:-142.03, Z:-50.45 [[ 9.95169892e-01 8.38542395e-02 5.10426472e-02 7.96121857e+02] [-8.36414829e-02 9.96476036e-01 -6.29384632e-03 -1.42028207e+02] [-5.13905404e-02 1.99416366e-03 9.98676642e-01 -5.04461737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.500714057 meters 0.027880060383503512 Centerline is valid? [True, True] Translation: X:796.15, Y:-142.03, Z:-50.45 [[ 9.95136447e-01 8.43518923e-02 5.08744514e-02 7.96150369e+02] [-8.41413694e-02 9.96434104e-01 -6.26952816e-03 -1.42031490e+02] [-5.12218849e-02 1.95838997e-03 9.98685378e-01 -5.04476966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.530714057 meters 0.02650382341772382 Centerline is valid? [True, True] Translation: X:796.18, Y:-142.03, Z:-50.45 [[ 9.95093679e-01 8.50238422e-02 5.05916580e-02 7.96178776e+02] [-8.48167015e-02 9.96377087e-01 -6.23115828e-03 -1.42032453e+02] [-5.09381658e-02 1.90956867e-03 9.98699983e-01 -5.04492733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.5607140569999 meters 0.02666358337179708 Centerline is valid? [True, True] Translation: X:796.21, Y:-142.04, Z:-50.45 [[ 9.95078823e-01 8.55072921e-02 5.00663544e-02 7.96207002e+02] [-8.53052260e-02 9.96335806e-01 -6.16288018e-03 -1.42036094e+02] [-5.04098728e-02 1.86162988e-03 9.98726879e-01 -5.04509833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.5907140569999 meters 0.027810523899619695 Centerline is valid? [True, True] Translation: X:796.23, Y:-142.04, Z:-50.45 [[ 9.95091510e-01 8.54239998e-02 4.99562576e-02 7.96233678e+02] [-8.52228786e-02 9.96342956e-01 -6.14612791e-03 -1.42041880e+02] [-5.02985922e-02 1.85854362e-03 9.98732495e-01 -5.04528425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.620714057 meters 0.026633506446900716 Centerline is valid? [True, True] Translation: X:796.26, Y:-142.04, Z:-50.45 [[ 9.94982326e-01 8.65363107e-02 5.02159112e-02 7.96262793e+02] [-8.63348460e-02 9.96247062e-01 -6.17133957e-03 -1.42043988e+02] [-5.05614990e-02 1.80499084e-03 9.98719318e-01 -5.04537959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.650714057 meters 0.027487414014652958 Centerline is valid? [True, True] Translation: X:796.29, Y:-142.05, Z:-50.46 [[ 9.94917729e-01 8.73314451e-02 5.01191705e-02 7.96290389e+02] [-8.71319371e-02 9.96177760e-01 -6.15601317e-03 -1.42049916e+02] [-5.04652165e-02 1.75774623e-03 9.98724272e-01 -5.04555041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.6807140569999 meters 0.027047952913623285 Centerline is valid? [True, True] Translation: X:796.32, Y:-142.05, Z:-50.46 [[ 9.94871759e-01 8.78525513e-02 5.01209697e-02 7.96319522e+02] [-8.76539194e-02 9.96131993e-01 -6.15167643e-03 -1.42052122e+02] [-5.04675419e-02 1.72682972e-03 9.98724209e-01 -5.04569383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.7107140569999 meters 0.02737895158195579 Centerline is valid? [True, True] Translation: X:796.35, Y:-142.06, Z:-50.46 [[ 9.94646988e-01 9.03875171e-02 5.00745974e-02 7.96347027e+02] [-9.01926300e-02 9.95905396e-01 -6.14260079e-03 -1.42057828e+02] [-5.04247762e-02 1.59335974e-03 9.98726591e-01 -5.04589867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.7407140569999 meters 0.027156255119970732 Centerline is valid? [True, True] Translation: X:796.38, Y:-142.06, Z:-50.46 [[ 9.94509078e-01 9.18047725e-02 5.02352207e-02 7.96375802e+02] [-9.16106664e-02 9.95775862e-01 -6.15777430e-03 -1.42061586e+02] [-5.05883333e-02 1.52188039e-03 9.98718431e-01 -5.04610624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.770714057 meters 0.02558627866409012 Centerline is valid? [True, True] Translation: X:796.40, Y:-142.06, Z:-50.46 [[ 9.94315187e-01 9.42325605e-02 4.95735209e-02 7.96404968e+02] [-9.40467127e-02 9.95549260e-01 -6.07342776e-03 -1.42062612e+02] [-4.99251967e-02 1.37667478e-03 9.98752011e-01 -5.04621589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.8007140569999 meters 0.024802930296464288 Centerline is valid? [True, True] Translation: X:796.43, Y:-142.06, Z:-50.46 [[ 9.94201716e-01 9.53524836e-02 4.97076597e-02 7.96433669e+02] [-9.51671992e-02 9.95442696e-01 -6.08639664e-03 -1.42064856e+02] [-5.00614798e-02 1.32056723e-03 9.98745265e-01 -5.04629982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.8307140569999 meters 0.025004428251340697 Centerline is valid? [True, True] Translation: X:796.46, Y:-142.07, Z:-50.47 [[ 9.94090068e-01 9.65388106e-02 4.96507314e-02 7.96460826e+02] [-9.63555864e-02 9.95328428e-01 -6.07627043e-03 -1.42069150e+02] [-5.00053803e-02 1.25623475e-03 9.98748158e-01 -5.04650780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.8607140569999 meters 0.024478390648205985 Centerline is valid? [True, True] Translation: X:796.49, Y:-142.07, Z:-50.47 [[ 9.93863564e-01 9.87449667e-02 4.98462355e-02 7.96489707e+02] [-9.85634076e-02 9.95112117e-01 -6.09340460e-03 -1.42073290e+02] [-5.02042860e-02 1.14299799e-03 9.98738316e-01 -5.04663228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.890714057 meters 0.024587710320685983 Centerline is valid? [True, True] Translation: X:796.52, Y:-142.08, Z:-50.47 [[ 9.93827050e-01 9.92034540e-02 4.96635726e-02 7.96518280e+02] [-9.90239212e-02 9.95066548e-01 -6.06857576e-03 -1.42077245e+02] [-5.00205835e-02 1.11323304e-03 9.98747567e-01 -5.04679352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.9207140569999 meters 0.024389453200280055 Centerline is valid? [True, True] Translation: X:796.55, Y:-142.08, Z:-50.47 [[ 9.93752876e-01 9.98490940e-02 4.98535887e-02 7.96546301e+02] [-9.96691748e-02 9.95002005e-01 -6.08821979e-03 -1.42083188e+02] [-5.02123239e-02 1.08131989e-03 9.98737980e-01 -5.04689220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.9507140569999 meters 0.02448528590416123 Centerline is valid? [True, True] Translation: X:796.57, Y:-142.09, Z:-50.47 [[ 9.93803590e-01 9.93967644e-02 4.97464329e-02 7.96574878e+02] [-9.92172323e-02 9.95047274e-01 -6.07154654e-03 -1.42088596e+02] [-5.01035445e-02 1.09822136e-03 9.98743425e-01 -5.04707876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.9807140569999 meters 0.024491098044292555 Centerline is valid? [True, True] Translation: X:796.60, Y:-142.09, Z:-50.47 [[ 9.93878947e-01 9.88111781e-02 4.94063654e-02 7.96603065e+02] [-9.86335460e-02 9.95105575e-01 -6.02653517e-03 -1.42093108e+02] [-4.97600387e-02 1.11652142e-03 9.98760578e-01 -5.04723308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.010714057 meters 0.02494581713124102 Centerline is valid? [True, True] Translation: X:796.63, Y:-142.10, Z:-50.47 [[ 9.93995355e-01 9.74668091e-02 4.97338423e-02 7.96630097e+02] [-9.72853080e-02 9.95238067e-01 -6.06296178e-03 -1.42101900e+02] [-5.00879506e-02 1.18818368e-03 9.98744104e-01 -5.04736422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.040714057 meters 0.02494581713124102 Centerline is valid? [True, True] Translation: X:796.66, Y:-142.11, Z:-50.48 [[ 9.94005590e-01 9.73621115e-02 4.97343668e-02 7.96657332e+02] [-9.71806948e-02 9.95248313e-01 -6.05865630e-03 -1.42105129e+02] [-5.00879283e-02 1.18911790e-03 9.98744104e-01 -5.04752328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.0707140569999 meters 0.02480024019012577 Centerline is valid? [True, True] Translation: X:796.69, Y:-142.11, Z:-50.48 [[ 9.94102015e-01 9.64978110e-02 4.94909763e-02 7.96686140e+02] [-9.63173727e-02 9.95332448e-01 -6.02348698e-03 -1.42109311e+02] [-4.98412279e-02 1.22111974e-03 9.98756407e-01 -5.04760626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.1007140569999 meters 0.025339804544541746 Centerline is valid? [True, True] Translation: X:796.71, Y:-142.12, Z:-50.48 [[ 9.94201365e-01 9.55962638e-02 4.92442841e-02 7.96713373e+02] [-9.54166883e-02 9.95419397e-01 -5.99000313e-03 -1.42115590e+02] [-4.95913375e-02 1.25654278e-03 9.98768802e-01 -5.04776278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.130714057 meters 0.025685432851074518 Centerline is valid? [True, True] Translation: X:796.74, Y:-142.12, Z:-50.48 [[ 9.94415554e-01 9.35418851e-02 4.88633059e-02 7.96741738e+02] [-9.33628279e-02 9.95614438e-01 -5.93908237e-03 -1.42123361e+02] [-4.92045658e-02 1.34389947e-03 9.98787818e-01 -5.04789911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.160714057 meters 0.026498301099906023 Centerline is valid? [True, True] Translation: X:796.77, Y:-142.13, Z:-50.48 [[ 9.94511806e-01 9.24012765e-02 4.90741380e-02 7.96769378e+02] [-9.22194523e-02 9.95720862e-01 -5.96127912e-03 -1.42129610e+02] [-4.94149728e-02 1.40297235e-03 9.98777349e-01 -5.04808267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.1907140569999 meters 0.02753377524313346 Centerline is valid? [True, True] Translation: X:796.80, Y:-142.14, Z:-50.48 [[ 9.94871196e-01 8.90292415e-02 4.80114306e-02 7.96797837e+02] [-8.88515026e-02 9.96027834e-01 -5.82782061e-03 -1.42138325e+02] [-4.83395677e-02 1.53204311e-03 9.98829785e-01 -5.04826245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.2207140569999 meters 0.028098144174396062 Centerline is valid? [True, True] Translation: X:796.83, Y:-142.14, Z:-50.48 [[ 9.95045943e-01 8.73958211e-02 4.73871516e-02 7.96825991e+02] [-8.72209914e-02 9.96172401e-01 -5.74863190e-03 -1.42144529e+02] [-4.77081790e-02 1.58699851e-03 9.98860056e-01 -5.04839453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.250714057 meters 0.028795011931566878 Centerline is valid? [True, True] Translation: X:796.85, Y:-142.15, Z:-50.49 [[ 9.95246561e-01 8.51237235e-02 4.73099752e-02 7.96853876e+02] [-8.49470504e-02 9.96368956e-01 -5.73611785e-03 -1.42150492e+02] [-4.76264703e-02 1.69000871e-03 9.98863786e-01 -5.04855839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.280714057 meters 0.02936647606602356 Centerline is valid? [True, True] Translation: X:796.88, Y:-142.16, Z:-50.49 [[ 9.95623464e-01 8.09049446e-02 4.67793473e-02 7.96883533e+02] [-8.07278023e-02 9.96720076e-01 -5.66678200e-03 -1.42158493e+02] [-4.70843853e-02 1.86558723e-03 9.98889173e-01 -5.04871627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.3107140569999 meters 0.030130136516764047 Centerline is valid? [True, True] Translation: X:796.91, Y:-142.17, Z:-50.49 [[ 9.95818733e-01 7.84676780e-02 4.67747317e-02 7.96912433e+02] [-7.82878695e-02 9.96914690e-01 -5.66660407e-03 -1.42165631e+02] [-4.70750625e-02 1.98101639e-03 9.98889390e-01 -5.04887827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.3407140569999 meters 0.033632844570785365 Centerline is valid? [True, True] Translation: X:796.94, Y:-142.18, Z:-50.49 [[ 9.96191816e-01 7.34517567e-02 4.69755800e-02 7.96940505e+02] [-7.32649238e-02 9.97296288e-01 -5.68905702e-03 -1.42178576e+02] [-4.72664428e-02 2.22572976e-03 9.98879837e-01 -5.04907118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.370714057 meters 0.03336362029138648 Centerline is valid? [True, True] Translation: X:796.97, Y:-142.18, Z:-50.49 [[ 9.96343111e-01 7.12610945e-02 4.71408786e-02 7.96970020e+02] [-7.10705295e-02 9.97454958e-01 -5.70841438e-03 -1.42182566e+02] [-4.74276909e-02 2.33721214e-03 9.98871940e-01 -5.04920630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.400714057 meters 0.03388349112811848 Centerline is valid? [True, True] Translation: X:797.00, Y:-142.19, Z:-50.49 [[ 9.96476511e-01 6.93096340e-02 4.72306800e-02 7.96999488e+02] [-6.91162441e-02 9.97592229e-01 -5.71743780e-03 -1.42188875e+02] [-4.75132329e-02 2.43288526e-03 9.98867646e-01 -5.04939907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.4307140569999 meters 0.03578387895861057 Centerline is valid? [True, True] Translation: X:797.03, Y:-142.20, Z:-50.50 [[ 9.96683978e-01 6.60395416e-02 4.75376355e-02 7.97027242e+02] [-6.58399520e-02 9.97813606e-01 -5.75392245e-03 -1.42198328e+02] [-4.78136859e-02 2.60496668e-03 9.98852875e-01 -5.04961825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.4607140569999 meters 0.036548506218777255 Centerline is valid? [True, True] Translation: X:797.06, Y:-142.20, Z:-50.50 [[ 9.96741378e-01 6.50178183e-02 4.77420998e-02 7.97055833e+02] [-6.48154387e-02 9.97880549e-01 -5.77659085e-03 -1.42204666e+02] [-4.80164941e-02 2.66334198e-03 9.98842992e-01 -5.04982654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.4907140569999 meters 0.03690782228185793 Centerline is valid? [True, True] Translation: X:797.09, Y:-142.21, Z:-50.50 [[ 9.96834308e-01 6.38435352e-02 4.73852835e-02 7.97086354e+02] [-6.36428652e-02 9.97956270e-01 -5.73310558e-03 -1.42209354e+02] [-4.76544625e-02 2.69922112e-03 9.98860234e-01 -5.05003546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.520714057 meters 0.03840141393348932 Centerline is valid? [True, True] Translation: X:797.12, Y:-142.22, Z:-50.50 [[ 9.96939097e-01 6.23255935e-02 4.72012407e-02 7.97116023e+02] [-6.21246149e-02 9.98052041e-01 -5.71443256e-03 -1.42215832e+02] [-4.74654501e-02 2.76458233e-03 9.98869055e-01 -5.05025592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.5507140569999 meters 0.03878101761875365 Centerline is valid? [True, True] Translation: X:797.15, Y:-142.22, Z:-50.50 [[ 9.96965683e-01 6.21520093e-02 4.68674100e-02 7.97146890e+02] [-6.19536458e-02 9.98062896e-01 -5.67463906e-03 -1.42221236e+02] [-4.71293132e-02 2.75381349e-03 9.98885001e-01 -5.05041539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.5807140569999 meters 0.035770808713896395 Centerline is valid? [True, True] Translation: X:797.18, Y:-142.22, Z:-50.51 [[ 9.97006478e-01 6.20453202e-02 4.61352434e-02 7.97178101e+02] [-6.18529263e-02 9.98069634e-01 -5.58752363e-03 -1.42220665e+02] [-4.63928652e-02 2.71719744e-03 9.98919576e-01 -5.05062849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.6107140569999 meters 0.03983317146170524 Centerline is valid? [True, True] Translation: X:797.21, Y:-142.23, Z:-50.51 [[ 9.96952809e-01 6.31077227e-02 4.58531683e-02 7.97208290e+02] [-6.29187774e-02 9.98003198e-01 -5.55375385e-03 -1.42231583e+02] [-4.61120933e-02 2.65180521e-03 9.98932752e-01 -5.05099218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.640714057 meters 0.040054149821440725 Centerline is valid? [True, True] Translation: X:797.24, Y:-142.24, Z:-50.51 [[ 9.96933299e-01 6.36728047e-02 4.54947458e-02 7.97238171e+02] [-6.34870166e-02 9.97967407e-01 -5.51850423e-03 -1.42235472e+02] [-4.57536522e-02 2.61325495e-03 9.98949335e-01 -5.05124366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.6707140569999 meters 0.03574978678567888 Centerline is valid? [True, True] Translation: X:797.27, Y:-142.23, Z:-50.51 [[ 9.96841568e-01 6.51767201e-02 4.53749237e-02 7.97269076e+02] [-6.49934622e-02 9.97870511e-01 -5.50396983e-03 -1.42232422e+02] [-4.56370290e-02 2.53751253e-03 9.98954865e-01 -5.05130800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.7007140569999 meters 0.03959748060388017 Centerline is valid? [True, True] Translation: X:797.30, Y:-142.24, Z:-50.52 [[ 9.96696248e-01 6.72733246e-02 4.55070177e-02 7.97297413e+02] [-6.70911650e-02 9.97731579e-01 -5.52020130e-03 -1.42241489e+02] [-4.57751509e-02 2.44884509e-03 9.98948767e-01 -5.05168539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.7307140569999 meters 0.03519450422149452 Centerline is valid? [True, True] Translation: X:797.33, Y:-142.24, Z:-50.52 [[ 9.96639783e-01 6.82094359e-02 4.53499212e-02 7.97328502e+02] [-6.80295444e-02 9.97668146e-01 -5.50014328e-03 -1.42237385e+02] [-4.56193335e-02 2.39652713e-03 9.98956022e-01 -5.05169446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.760714057 meters 0.03243642051053719 Centerline is valid? [True, True] Translation: X:797.36, Y:-142.24, Z:-50.52 [[ 9.96454238e-01 7.09478111e-02 4.52256555e-02 7.97358344e+02] [-7.07716959e-02 9.97477457e-01 -5.48551275e-03 -1.42235957e+02] [-4.55007570e-02 2.26536609e-03 9.98961736e-01 -5.05177160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.790714057 meters 0.03170062893653613 Centerline is valid? [True, True] Translation: X:797.39, Y:-142.24, Z:-50.52 [[ 9.96338474e-01 7.23888201e-02 4.54918076e-02 7.97388054e+02] [-7.22121973e-02 9.97374038e-01 -5.51614359e-03 -1.42237297e+02] [-4.57716549e-02 2.21088270e-03 9.98949482e-01 -5.05188782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.8207140569999 meters 0.03239658611188187 Centerline is valid? [True, True] Translation: X:797.42, Y:-142.24, Z:-50.52 [[ 9.96236671e-01 7.35666061e-02 4.58306676e-02 7.97416036e+02] [-7.33886657e-02 9.97287943e-01 -5.55543222e-03 -1.42241661e+02] [-4.61150665e-02 2.17107376e-03 9.98933775e-01 -5.05207180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.8507140569999 meters 0.03343687598795237 Centerline is valid? [True, True] Translation: X:797.44, Y:-142.25, Z:-50.52 [[ 9.96020040e-01 7.58042995e-02 4.68805635e-02 7.97444041e+02] [-7.56206269e-02 9.97120474e-01 -5.68165536e-03 -1.42246067e+02] [-4.71762636e-02 2.11390500e-03 9.98884343e-01 -5.05222137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.880714057 meters 0.03046883583615857 Centerline is valid? [True, True] Translation: X:797.47, Y:-142.24, Z:-50.52 [[ 9.95936441e-01 7.66326594e-02 4.73079390e-02 7.97472950e+02] [-7.64466632e-02 9.97057201e-01 -5.73111508e-03 -1.42243992e+02] [-4.76079119e-02 2.09129227e-03 9.98863911e-01 -5.05225746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.910714057 meters 0.029172109386684516 Centerline is valid? [True, True] Translation: X:797.50, Y:-142.24, Z:-50.52 [[ 9.95876428e-01 7.71993014e-02 4.76487972e-02 7.97502249e+02] [-7.70114262e-02 9.97013520e-01 -5.76894319e-03 -1.42244496e+02] [-4.79518534e-02 2.07565271e-03 9.98847492e-01 -5.05234949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.9407140569999 meters 0.02897923532116479 Centerline is valid? [True, True] Translation: X:797.53, Y:-142.25, Z:-50.53 [[ 9.95823026e-01 7.74936031e-02 4.82829454e-02 7.97530159e+02] [-7.73012049e-02 9.96990668e-01 -5.84221554e-03 -1.42248510e+02] [-4.85903803e-02 2.08548290e-03 9.98816613e-01 -5.05253393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.9707140569999 meters 0.02959860212694999 Centerline is valid? [True, True] Translation: X:797.56, Y:-142.25, Z:-50.53 [[ 9.95865748e-01 7.65881151e-02 4.88433519e-02 7.97558680e+02] [-7.63903677e-02 9.97060499e-01 -5.90527900e-03 -1.42251866e+02] [-4.91520510e-02 2.14970347e-03 9.98788994e-01 -5.05272116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.000714057 meters 0.029598541540710278 Centerline is valid? [True, True] Translation: X:797.59, Y:-142.26, Z:-50.53 [[ 9.95941173e-01 7.55174283e-02 4.89724288e-02 7.97587929e+02] [-7.53175372e-02 9.97142045e-01 -5.91693305e-03 -1.42255214e+02] [-4.92792994e-02 2.20443452e-03 9.98782605e-01 -5.05283163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.030714057 meters 0.03136482238903719 Centerline is valid? [True, True] Translation: X:797.62, Y:-142.26, Z:-50.53 [[ 9.95982603e-01 7.48069759e-02 4.92196296e-02 7.97615987e+02] [-7.46042785e-02 9.97195496e-01 -5.94510734e-03 -1.42262568e+02] [-4.95263285e-02 2.24922852e-03 9.98770286e-01 -5.05306866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.0607140569999 meters 0.030459391230423398 Centerline is valid? [True, True] Translation: X:797.65, Y:-142.26, Z:-50.53 [[ 9.96073637e-01 7.34865211e-02 4.93664037e-02 7.97645359e+02] [-7.32811382e-02 9.97293514e-01 -5.95994376e-03 -1.42263692e+02] [-4.96707698e-02 2.31891660e-03 9.98762954e-01 -5.05324528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.0907140569999 meters 0.031319949007955566 Centerline is valid? [True, True] Translation: X:797.67, Y:-142.27, Z:-50.53 [[ 9.96328636e-01 7.02170969e-02 4.89776387e-02 7.97674876e+02] [-7.00110951e-02 9.97528699e-01 -5.91107440e-03 -1.42268995e+02] [-4.92716587e-02 2.46039457e-03 9.98782384e-01 -5.05349318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.120714057 meters 0.03171759947367831 Centerline is valid? [True, True] Translation: X:797.70, Y:-142.27, Z:-50.54 [[ 9.96414493e-01 6.87839282e-02 4.92638778e-02 7.97704562e+02] [-6.85738079e-02 9.97628334e-01 -5.94471577e-03 -1.42273477e+02] [-4.95559412e-02 2.54518927e-03 9.98768107e-01 -5.05367821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.150714057 meters 0.03363839656861351 Centerline is valid? [True, True] Translation: X:797.73, Y:-142.28, Z:-50.54 [[ 9.96694507e-01 6.46089334e-02 4.92518592e-02 7.97734291e+02] [-6.43938925e-02 9.97906868e-01 -5.94209981e-03 -1.42279828e+02] [-4.95326813e-02 2.75093932e-03 9.98768715e-01 -5.05391298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.1807140569999 meters 0.03414529157043619 Centerline is valid? [True, True] Translation: X:797.77, Y:-142.28, Z:-50.54 [[ 9.96809613e-01 6.26861058e-02 4.94069622e-02 7.97765116e+02] [-6.24673280e-02 9.98029206e-01 -5.96133359e-03 -1.42284223e+02] [-4.96832841e-02 2.85599371e-03 9.98760940e-01 -5.05408564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.2107140569999 meters 0.033948815731937615 Centerline is valid? [True, True] Translation: X:797.80, Y:-142.29, Z:-50.54 [[ 9.96929911e-01 6.06129634e-02 4.95663273e-02 7.97796245e+02] [-6.03901283e-02 9.98156923e-01 -5.98236594e-03 -1.42287713e+02] [-4.98375817e-02 2.97068268e-03 9.98752918e-01 -5.05424997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.2407140569999 meters 0.03647090625783407 Centerline is valid? [True, True] Translation: X:797.83, Y:-142.30, Z:-50.54 [[ 9.97049637e-01 5.72923594e-02 5.10843197e-02 7.97825942e+02] [-5.70512053e-02 9.98352203e-01 -6.16763865e-03 -1.42295599e+02] [-5.13535017e-02 3.23501986e-03 9.98675299e-01 -5.05440051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.270714057 meters 0.036314136130708705 Centerline is valid? [True, True] Translation: X:797.86, Y:-142.30, Z:-50.55 [[ 9.97094485e-01 5.55647017e-02 5.21071221e-02 7.97858271e+02] [-5.53113994e-02 9.98449329e-01 -6.29180426e-03 -1.42298466e+02] [-5.23759233e-02 3.39140548e-03 9.98621681e-01 -5.05458605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.3007140569999 meters 0.037953751221709096 Centerline is valid? [True, True] Translation: X:797.89, Y:-142.30, Z:-50.55 [[ 9.97083520e-01 5.44956686e-02 5.34291757e-02 7.97888894e+02] [-5.42276026e-02 9.98507735e-01 -6.45523304e-03 -1.42304820e+02] [-5.37012274e-02 3.53907037e-03 9.98550776e-01 -5.05473175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.3307140569999 meters 0.03784901623803624 Centerline is valid? [True, True] Translation: X:797.92, Y:-142.31, Z:-50.55 [[ 9.97153732e-01 5.23707308e-02 5.42378185e-02 7.97919991e+02] [-5.20909374e-02 9.98620796e-01 -6.56051883e-03 -1.42309011e+02] [-5.45065927e-02 3.71654703e-03 9.98506494e-01 -5.05491050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.3607140569999 meters 0.03860292503046428 Centerline is valid? [True, True] Translation: X:797.95, Y:-142.31, Z:-50.55 [[ 9.97169772e-01 5.18041386e-02 5.44864851e-02 7.97951502e+02] [-5.15208553e-02 9.98650163e-01 -6.59194473e-03 -1.42313359e+02] [-5.47544272e-02 3.76609771e-03 9.98492749e-01 -5.05516753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.390714057 meters 0.040307499719376985 Centerline is valid? [True, True] Translation: X:797.98, Y:-142.32, Z:-50.55 [[ 9.97242452e-01 4.99717941e-02 5.48663000e-02 7.97980525e+02] [-4.96809750e-02 9.98742982e-01 -6.65255974e-03 -1.42319598e+02] [-5.51297724e-02 3.90840372e-03 9.98471548e-01 -5.05543585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.4207140569999 meters 0.04132101085373556 Centerline is valid? [True, True] Translation: X:798.01, Y:-142.32, Z:-50.56 [[ 9.97290583e-01 4.91895732e-02 5.46980761e-02 7.98012438e+02] [-4.88994040e-02 9.98781694e-01 -6.63149709e-03 -1.42324533e+02] [-5.49576376e-02 3.93882628e-03 9.98480918e-01 -5.05571361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.4507140569999 meters 0.04131468491151229 Centerline is valid? [True, True] Translation: X:798.05, Y:-142.33, Z:-50.56 [[ 9.97275706e-01 4.94306015e-02 5.47520014e-02 7.98045545e+02] [-4.91394889e-02 9.98769779e-01 -6.65130884e-03 -1.42328938e+02] [-5.50134225e-02 3.94270336e-03 9.98477831e-01 -5.05592356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.4807140569999 meters 0.04132532716929248 Centerline is valid? [True, True] Translation: X:798.08, Y:-142.33, Z:-50.56 [[ 9.97198530e-01 4.95285352e-02 5.60536862e-02 7.98078808e+02] [-4.92226249e-02 9.98764507e-01 -6.82584570e-03 -1.42332533e+02] [-5.63225064e-02 4.04761373e-03 9.98404423e-01 -5.05615044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.510714057 meters 0.03928303695553864 Centerline is valid? [True, True] Translation: X:798.11, Y:-142.33, Z:-50.56 [[ 9.97106153e-01 5.04921401e-02 5.68318924e-02 7.98111128e+02] [-5.01782767e-02 9.98716184e-01 -6.93710993e-03 -1.42333289e+02] [-5.71092002e-02 4.06530857e-03 9.98359661e-01 -5.05633653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.540714057 meters 0.041542690525756 Centerline is valid? [True, True] Translation: X:798.14, Y:-142.34, Z:-50.56 [[ 9.96943899e-01 5.22729050e-02 5.80551984e-02 7.98141173e+02] [-5.19474923e-02 9.98624568e-01 -7.10137485e-03 -1.42339090e+02] [-5.83465570e-02 4.06385036e-03 9.98288117e-01 -5.05647536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.5707140569999 meters 0.0386723354233696 Centerline is valid? [True, True] Translation: X:798.17, Y:-142.34, Z:-50.57 [[ 9.96849865e-01 5.39977424e-02 5.80912240e-02 7.98173101e+02] [-5.36747735e-02 9.98533180e-01 -7.10686839e-03 -1.42337744e+02] [-5.83897694e-02 3.96644751e-03 9.98285982e-01 -5.05670492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.6007140569999 meters 0.03636156770189391 Centerline is valid? [True, True] Translation: X:798.21, Y:-142.34, Z:-50.57 [[ 9.96734958e-01 5.53318428e-02 5.88031491e-02 7.98205580e+02] [-5.50029980e-02 9.98460248e-01 -7.19748102e-03 -1.42337241e+02] [-5.91108568e-02 3.93963145e-03 9.98243651e-01 -5.05689791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.630714057 meters 0.03672360654378239 Centerline is valid? [True, True] Translation: X:798.24, Y:-142.34, Z:-50.57 [[ 9.96535662e-01 5.78892402e-02 5.97119024e-02 7.98235733e+02] [-5.75537985e-02 9.98315543e-01 -7.32375809e-03 -1.42338929e+02] [-6.00352871e-02 3.86173931e-03 9.98188785e-01 -5.05705339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.660714057 meters 0.038401408196156596 Centerline is valid? [True, True] Translation: X:798.27, Y:-142.35, Z:-50.57 [[ 9.96391153e-01 5.94608911e-02 6.05728727e-02 7.98265681e+02] [-5.91185771e-02 9.98223321e-01 -7.42941456e-03 -1.42345309e+02] [-6.09070138e-02 3.82162089e-03 9.98136128e-01 -5.05720507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.6907140569999 meters 0.03805241405443682 Centerline is valid? [True, True] Translation: X:798.30, Y:-142.35, Z:-50.57 [[ 9.96266164e-01 6.07643413e-02 6.13304527e-02 7.98297849e+02] [-6.04157305e-02 9.98144941e-01 -7.52435074e-03 -1.42348410e+02] [-6.16738933e-02 3.79093195e-03 9.98089154e-01 -5.05742402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.7207140569999 meters 0.03535016222341389 Centerline is valid? [True, True] Translation: X:798.33, Y:-142.35, Z:-50.58 [[ 9.96148859e-01 6.19720095e-02 6.20235559e-02 7.98330088e+02] [-6.16168232e-02 9.98070753e-01 -7.62487890e-03 -1.42348037e+02] [-6.23764262e-02 3.77381994e-03 9.98045560e-01 -5.05766797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.750714057 meters 0.03422804576175369 Centerline is valid? [True, True] Translation: X:798.36, Y:-142.35, Z:-50.58 [[ 9.96085605e-01 6.25972902e-02 6.24103168e-02 7.98361850e+02] [-6.22378684e-02 9.98031731e-01 -7.68842641e-03 -1.42349824e+02] [-6.27687512e-02 3.77404579e-03 9.98020962e-01 -5.05792366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.780714057 meters 0.03402089873005754 Centerline is valid? [True, True] Translation: X:798.40, Y:-142.35, Z:-50.58 [[ 9.96066436e-01 6.28261714e-02 6.24862188e-02 7.98395170e+02] [-6.24652899e-02 9.98017324e-01 -7.71416303e-03 -1.42353001e+02] [-6.28469802e-02 3.78059911e-03 9.98016014e-01 -5.05818123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.8107140569999 meters 0.035267192219299144 Centerline is valid? [True, True] Translation: X:798.43, Y:-142.36, Z:-50.58 [[ 9.96047770e-01 6.29227604e-02 6.26862458e-02 7.98426438e+02] [-6.25585783e-02 9.98011146e-01 -7.75742259e-03 -1.42358385e+02] [-6.30496904e-02 3.80520106e-03 9.98003135e-01 -5.05838932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.8407140569999 meters 0.03508820385024741 Centerline is valid? [True, True] Translation: X:798.46, Y:-142.36, Z:-50.59 [[ 9.96040693e-01 6.30075571e-02 6.27135251e-02 7.98458849e+02] [-6.26421239e-02 9.98005743e-01 -7.77821724e-03 -1.42362316e+02] [-6.30785447e-02 3.81891247e-03 9.98001259e-01 -5.05863303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.870714057 meters 0.03773709759861898 Centerline is valid? [True, True] Translation: X:798.49, Y:-142.37, Z:-50.59 [[ 9.96030733e-01 6.33331951e-02 6.25434722e-02 7.98489765e+02] [-6.29692355e-02 9.97985180e-01 -7.77533351e-03 -1.42370941e+02] [-6.29098951e-02 3.80615650e-03 9.98011953e-01 -5.05882487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.900714057 meters 0.03666803269803887 Centerline is valid? [True, True] Translation: X:798.52, Y:-142.37, Z:-50.59 [[ 9.96017436e-01 6.30925373e-02 6.29968178e-02 7.98521408e+02] [-6.27217089e-02 9.98000192e-01 -7.84878872e-03 -1.42372703e+02] [-6.33660362e-02 3.86626236e-03 9.97982864e-01 -5.05905780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.9307140569999 meters 0.03750983395171871 Centerline is valid? [True, True] Translation: X:798.55, Y:-142.38, Z:-50.59 [[ 9.95971777e-01 6.33585842e-02 6.34500592e-02 7.98552723e+02] [-6.29819617e-02 9.97983236e-01 -7.92038036e-03 -1.42376729e+02] [-6.38239195e-02 3.89226610e-03 9.97953585e-01 -5.05921718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.9607140569999 meters 0.03750983395171871 Centerline is valid? [True, True] Translation: X:798.59, Y:-142.38, Z:-50.59 [[ 9.95954100e-01 6.36379388e-02 6.34479529e-02 7.98585060e+02] [-6.32608118e-02 9.97965465e-01 -7.93721950e-03 -1.42380850e+02] [-6.38239741e-02 3.89133730e-03 9.97953585e-01 -5.05940565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.9907140569999 meters 0.03799384561634977 Centerline is valid? [True, True] Translation: X:798.62, Y:-142.38, Z:-50.60 [[ 9.95944582e-01 6.36528275e-02 6.35822850e-02 7.98617138e+02] [-6.32729830e-02 9.97964417e-01 -7.97191046e-03 -1.42384819e+02] [-6.39602927e-02 3.91654019e-03 9.97944759e-01 -5.05957124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.020714057 meters 0.03685211681650966 Centerline is valid? [True, True] Translation: X:798.65, Y:-142.39, Z:-50.60 [[ 9.95916987e-01 6.39281843e-02 6.37380695e-02 7.98650508e+02] [-6.35460027e-02 9.97946785e-01 -8.00749840e-03 -1.42386197e+02] [-6.41191064e-02 3.92450415e-03 9.97934536e-01 -5.05979950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.0507140569999 meters 0.03584061408606895 Centerline is valid? [True, True] Translation: X:798.68, Y:-142.39, Z:-50.60 [[ 9.95840635e-01 6.44661820e-02 6.43858735e-02 7.98682402e+02] [-6.40760984e-02 9.97912082e-01 -8.10735968e-03 -1.42387253e+02] [-6.47740916e-02 3.94804265e-03 9.97892144e-01 -5.05996850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.0807140569999 meters 0.03676248973468744 Centerline is valid? [True, True] Translation: X:798.71, Y:-142.39, Z:-50.60 [[ 9.95790053e-01 6.49587515e-02 6.46724834e-02 7.98712844e+02] [-6.45651911e-02 9.97880135e-01 -8.15915298e-03 -1.42391688e+02] [-6.50653949e-02 3.94921214e-03 9.97873187e-01 -5.06009557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.1107140569999 meters 0.0343087953266584 Centerline is valid? [True, True] Translation: X:798.75, Y:-142.39, Z:-50.60 [[ 9.95737444e-01 6.54300160e-02 6.50065756e-02 7.98746390e+02] [-6.50326758e-02 9.97849345e-01 -8.21191027e-03 -1.42390613e+02] [-6.54040743e-02 3.94935499e-03 9.97851046e-01 -5.06031903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.140714057 meters 0.03369332543475552 Centerline is valid? [True, True] Translation: X:798.78, Y:-142.39, Z:-50.60 [[ 9.95534019e-01 6.73429837e-02 6.61584410e-02 7.98777855e+02] [-6.69344411e-02 9.97722226e-01 -8.37502246e-03 -1.42391885e+02] [-6.65717460e-02 3.90934149e-03 9.97773982e-01 -5.06046207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.1707140569999 meters 0.03331784270283093 Centerline is valid? [True, True] Translation: X:798.81, Y:-142.39, Z:-50.61 [[ 9.95534346e-01 6.78231439e-02 6.56611544e-02 7.98809925e+02] [-6.74214872e-02 9.97689923e-01 -8.31634882e-03 -1.42393507e+02] [-6.60735130e-02 3.85223820e-03 9.97807322e-01 -5.06066666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.2007140569999 meters 0.03582848127205944 Centerline is valid? [True, True] Translation: X:798.84, Y:-142.40, Z:-50.61 [[ 9.95573132e-01 6.84165713e-02 6.44461986e-02 7.98840933e+02] [-6.80298384e-02 9.97649762e-01 -8.17886578e-03 -1.42400179e+02] [-6.48543046e-02 3.75839455e-03 9.97887666e-01 -5.06085728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.2307140569999 meters 0.03188470010249947 Centerline is valid? [True, True] Translation: X:798.87, Y:-142.40, Z:-50.61 [[ 9.95578105e-01 6.88701641e-02 6.38837796e-02 7.98873767e+02] [-6.84901004e-02 9.97618727e-01 -8.12289317e-03 -1.42397154e+02] [-6.42910799e-02 3.71156812e-03 9.97924286e-01 -5.06116988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.260714057 meters 0.034942411962690136 Centerline is valid? [True, True] Translation: X:798.90, Y:-142.41, Z:-50.61 [[ 9.95566633e-01 6.96101444e-02 6.32574707e-02 7.98903734e+02] [-6.92379420e-02 9.97567615e-01 -8.05977506e-03 -1.42405760e+02] [-6.36646463e-02 3.64422603e-03 9.97964695e-01 -5.06134985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.290714057 meters 0.03490577857104155 Centerline is valid? [True, True] Translation: X:798.94, Y:-142.41, Z:-50.62 [[ 9.95613787e-01 7.04304081e-02 6.15852713e-02 7.98935347e+02] [-7.00783029e-02 9.97510516e-01 -7.86142859e-03 -1.42408443e+02] [-6.19856393e-02 3.51115539e-03 9.98070865e-01 -5.06168716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.3207140569999 meters 0.03274565495485673 Centerline is valid? [True, True] Translation: X:798.97, Y:-142.41, Z:-50.62 [[ 9.95621381e-01 7.13808115e-02 6.03559837e-02 7.98967695e+02] [-7.10434790e-02 9.97443350e-01 -7.71935109e-03 -1.42408352e+02] [-6.07526881e-02 3.39765193e-03 9.98147067e-01 -5.06196018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.3507140569999 meters 0.035023020846504584 Centerline is valid? [True, True] Translation: X:799.00, Y:-142.41, Z:-50.62 [[ 9.95522751e-01 7.36399604e-02 5.92588355e-02 7.98997979e+02] [-7.33179097e-02 9.97279710e-01 -7.59365602e-03 -1.42414527e+02] [-5.96568308e-02 3.21492338e-03 9.98213768e-01 -5.06220032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.380714057 meters 0.030904492230402432 Centerline is valid? [True, True] Translation: X:799.03, Y:-142.41, Z:-50.62 [[ 9.95443889e-01 7.51652295e-02 5.86655975e-02 7.99029566e+02] [-7.48521184e-02 9.97166292e-01 -7.51972867e-03 -1.42410249e+02] [-5.90645785e-02 3.09422370e-03 9.98249368e-01 -5.06234403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.410714057 meters 0.030894583412466873 Centerline is valid? [True, True] Translation: X:799.06, Y:-142.41, Z:-50.62 [[ 9.95278806e-01 7.69644678e-02 5.91318016e-02 7.99058973e+02] [-7.66495122e-02 9.97029289e-01 -7.57956991e-03 -1.42412866e+02] [-5.95394956e-02 3.01136154e-03 9.98221408e-01 -5.06243369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.4407140569999 meters 0.030711958123417638 Centerline is valid? [True, True] Translation: X:799.09, Y:-142.42, Z:-50.63 [[ 9.95086783e-01 7.94332143e-02 5.90987269e-02 7.99088111e+02] [-7.91227895e-02 9.96836074e-01 -7.57802088e-03 -1.42415306e+02] [-5.95136895e-02 2.86473228e-03 9.98223379e-01 -5.06253381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.4707140569999 meters 0.031038587670945403 Centerline is valid? [True, True] Translation: X:799.12, Y:-142.42, Z:-50.63 [[ 9.94789316e-01 8.25245441e-02 5.98658270e-02 7.99116813e+02] [-8.22116479e-02 9.96585338e-01 -7.67519261e-03 -1.42417103e+02] [-6.02947972e-02 2.71353131e-03 9.98176925e-01 -5.06262205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.500714057 meters 0.02921651662352059 Centerline is valid? [True, True] Translation: X:799.15, Y:-142.42, Z:-50.63 [[ 9.94722712e-01 8.36989370e-02 5.93398169e-02 7.99146395e+02] [-8.33937958e-02 9.96487654e-01 -7.60458479e-03 -1.42416181e+02] [-5.97678906e-02 2.61588064e-03 9.98208874e-01 -5.06274047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.530714057 meters 0.029026304241532172 Centerline is valid? [True, True] Translation: X:799.18, Y:-142.42, Z:-50.63 [[ 9.94736368e-01 8.35482097e-02 5.93233170e-02 7.99175346e+02] [-8.32431672e-02 9.96500290e-01 -7.59919460e-03 -1.42419029e+02] [-5.97506017e-02 2.62093444e-03 9.98209896e-01 -5.06287499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.5607140569999 meters 0.028705292557232313 Centerline is valid? [True, True] Translation: X:799.20, Y:-142.42, Z:-50.63 [[ 9.94799678e-01 8.31505154e-02 5.88183090e-02 7.99203659e+02] [-8.28502109e-02 9.96533561e-01 -7.53024227e-03 -1.42421295e+02] [-5.92405625e-02 2.61797327e-03 9.98240303e-01 -5.06300850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.5907140569999 meters 0.029403656427850564 Centerline is valid? [True, True] Translation: X:799.23, Y:-142.43, Z:-50.63 [[ 9.94853710e-01 8.23903692e-02 5.89739110e-02 7.99230642e+02] [-8.20874014e-02 9.96596568e-01 -7.54576654e-03 -1.42425839e+02] [-5.93948958e-02 2.66591874e-03 9.98231005e-01 -5.06312903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.620714057 meters 0.029234256011212538 Centerline is valid? [True, True] Translation: X:799.26, Y:-142.43, Z:-50.63 [[ 9.94976232e-01 8.10275942e-02 5.87947908e-02 7.99260112e+02] [-8.07244079e-02 9.96708110e-01 -7.51755599e-03 -1.42428610e+02] [-5.92103743e-02 2.73361486e-03 9.98241784e-01 -5.06328654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.650714057 meters 0.03050372047719247 Centerline is valid? [True, True] Translation: X:799.29, Y:-142.43, Z:-50.63 [[ 9.95067706e-01 7.98446168e-02 5.88650802e-02 7.99288448e+02] [-7.95387703e-02 9.96803375e-01 -7.52435562e-03 -1.42434143e+02] [-5.92776899e-02 2.80518720e-03 9.98237590e-01 -5.06340785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.6807140569999 meters 0.030051530554003014 Centerline is valid? [True, True] Translation: X:799.32, Y:-142.44, Z:-50.64 [[ 9.95196671e-01 7.84989550e-02 5.84935993e-02 7.99317633e+02] [-7.81947999e-02 9.96910081e-01 -7.47423773e-03 -1.42436857e+02] [-5.88995787e-02 2.86444121e-03 9.98259803e-01 -5.06355540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.7107140569999 meters 0.03237895131104687 Centerline is valid? [True, True] Translation: X:799.35, Y:-142.44, Z:-50.64 [[ 9.95539419e-01 7.47516275e-02 5.75626642e-02 7.99345666e+02] [-7.44509656e-02 9.97197565e-01 -7.35320286e-03 -1.42444165e+02] [-5.79510125e-02 3.03480737e-03 9.98314815e-01 -5.06375014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.7407140569999 meters 0.033785911908576625 Centerline is valid? [True, True] Translation: X:799.37, Y:-142.45, Z:-50.64 [[ 9.95951826e-01 7.09509434e-02 5.51898844e-02 7.99374763e+02] [-7.06688816e-02 9.97474929e-01 -7.04813086e-03 -1.42450401e+02] [-5.55505975e-02 3.11939140e-03 9.98451001e-01 -5.06404757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.770714057 meters 0.03382294041102261 Centerline is valid? [True, True] Translation: X:799.40, Y:-142.45, Z:-50.64 [[ 9.96113936e-01 6.93457926e-02 5.42972213e-02 7.99404600e+02] [-6.90704725e-02 9.97587691e-01 -6.93311594e-03 -1.42454442e+02] [-5.46470220e-02 3.15583868e-03 9.98500748e-01 -5.06428845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.8007140569999 meters 0.03476385873022639 Centerline is valid? [True, True] Translation: X:799.43, Y:-142.46, Z:-50.64 [[ 9.96240076e-01 6.77578527e-02 5.39868886e-02 7.99434163e+02] [-6.74833486e-02 9.97696585e-01 -6.89356209e-03 -1.42459537e+02] [-5.43296274e-02 3.22442680e-03 9.98517849e-01 -5.06449463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.8307140569999 meters 0.036750973631023094 Centerline is valid? [True, True] Translation: X:799.46, Y:-142.47, Z:-50.65 [[ 9.96364579e-01 6.60280939e-02 5.38322977e-02 7.99463735e+02] [-6.57527070e-02 9.97812281e-01 -6.87272882e-03 -1.42465323e+02] [-5.41683209e-02 3.30812426e-03 9.98526339e-01 -5.06458973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.8607140569999 meters 0.03651349104471013 Centerline is valid? [True, True] Translation: X:799.49, Y:-142.47, Z:-50.65 [[ 9.96423711e-01 6.53640684e-02 5.35474214e-02 7.99494443e+02] [-6.50905822e-02 9.97855935e-01 -6.83738032e-03 -1.42468484e+02] [-5.38795313e-02 3.32749503e-03 9.98541899e-01 -5.06470899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.890714057 meters 0.037274218325174184 Centerline is valid? [True, True] Translation: X:799.52, Y:-142.47, Z:-50.65 [[ 9.96367224e-01 6.55544734e-02 5.43596049e-02 7.99523829e+02] [-6.52728968e-02 9.97843309e-01 -6.94114000e-03 -1.42472920e+02] [-5.46973908e-02 3.36771550e-03 9.98497298e-01 -5.06483897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.9207140569999 meters 0.0376134883608209 Centerline is valid? [True, True] Translation: X:799.55, Y:-142.48, Z:-50.65 [[ 9.96356788e-01 6.57397906e-02 5.43270718e-02 7.99554527e+02] [-6.54588811e-02 9.97831162e-01 -6.93597252e-03 -1.42476760e+02] [-5.46652145e-02 3.35451396e-03 9.98499104e-01 -5.06496909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.9507140569999 meters 0.03619064130005956 Centerline is valid? [True, True] Translation: X:799.58, Y:-142.48, Z:-50.65 [[ 9.96369986e-01 6.58046950e-02 5.40054883e-02 7.99584909e+02] [-6.55272002e-02 9.97826962e-01 -6.89491574e-03 -1.42477923e+02] [-5.43418501e-02 3.33105866e-03 9.98516834e-01 -5.06514395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.9807140569999 meters 0.03483420668704832 Centerline is valid? [True, True] Translation: X:799.62, Y:-142.48, Z:-50.65 [[ 9.96421107e-01 6.58917174e-02 5.29458225e-02 7.99615702e+02] [-6.56251404e-02 9.97821451e-01 -6.75962753e-03 -1.42479390e+02] [-5.32758809e-02 3.26085850e-03 9.98574508e-01 -5.06534632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.010714057 meters 0.03553828878788039 Centerline is valid? [True, True] Translation: X:799.65, Y:-142.48, Z:-50.66 [[ 9.96518628e-01 6.58362155e-02 5.11489637e-02 7.99645034e+02] [-6.55873664e-02 9.97825462e-01 -6.53033312e-03 -1.42483064e+02] [-5.14676707e-02 3.15287279e-03 9.98669684e-01 -5.06566498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.040714057 meters 0.03543885443281447 Centerline is valid? [True, True] Translation: X:799.68, Y:-142.49, Z:-50.66 [[ 9.96507065e-01 6.62699889e-02 5.08129709e-02 7.99675553e+02] [-6.60250157e-02 9.97796885e-01 -6.48641336e-03 -1.42486028e+02] [-5.11308786e-02 3.10882954e-03 9.98687122e-01 -5.06584165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.0707140569999 meters 0.033190513257246215 Centerline is valid? [True, True] Translation: X:799.71, Y:-142.49, Z:-50.66 [[ 9.96482102e-01 6.69998726e-02 5.03431924e-02 7.99705920e+02] [-6.67603271e-02 9.97748343e-01 -6.42670397e-03 -1.42485389e+02] [-5.06604251e-02 3.04316749e-03 9.98711300e-01 -5.06592864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.1007140569999 meters 0.03488835724866558 Centerline is valid? [True, True] Translation: X:799.73, Y:-142.49, Z:-50.66 [[ 9.96289251e-01 6.98240231e-02 5.03223051e-02 7.99734735e+02] [-6.95883576e-02 9.97555119e-01 -6.42218247e-03 -1.42490402e+02] [-5.06476957e-02 2.89650480e-03 9.98712382e-01 -5.06606385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.130714057 meters 0.03584306820310046 Centerline is valid? [True, True] Translation: X:799.76, Y:-142.49, Z:-50.66 [[ 9.96123624e-01 7.18807520e-02 5.07038810e-02 7.99763228e+02] [-7.16442538e-02 9.97409272e-01 -6.46882961e-03 -1.42494810e+02] [-5.10375053e-02 2.81111228e-03 9.98692781e-01 -5.06614899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.160714057 meters 0.030872265292952183 Centerline is valid? [True, True] Translation: X:799.79, Y:-142.49, Z:-50.66 [[ 9.95846856e-01 7.57305514e-02 5.05363489e-02 7.99794442e+02] [-7.55005743e-02 9.97124916e-01 -6.44704664e-03 -1.42489070e+02] [-5.08792911e-02 2.60474777e-03 9.98701413e-01 -5.06608879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.1907140569999 meters 0.030368750779803434 Centerline is valid? [True, True] Translation: X:799.82, Y:-142.49, Z:-50.66 [[ 9.95744032e-01 7.72681749e-02 5.02339700e-02 7.99823085e+02] [-7.70429208e-02 9.97007185e-01 -6.40795280e-03 -1.42491043e+02] [-5.05787598e-02 2.51050898e-03 9.98716920e-01 -5.06623411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.2207140569999 meters 0.029811655733596582 Centerline is valid? [True, True] Translation: X:799.85, Y:-142.49, Z:-50.66 [[ 9.95620270e-01 7.90753839e-02 4.98734572e-02 7.99851761e+02] [-7.88557952e-02 9.96865756e-01 -6.35837645e-03 -1.42493265e+02] [-5.02199326e-02 2.39771736e-03 9.98735305e-01 -5.06638276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.250714057 meters 0.029410093512179922 Centerline is valid? [True, True] Translation: X:799.88, Y:-142.50, Z:-50.67 [[ 9.95413371e-01 8.23483130e-02 4.86926699e-02 7.99880098e+02] [-8.21430888e-02 9.96601234e-01 -6.20424779e-03 -1.42495391e+02] [-4.90380842e-02 2.17602490e-03 9.98794539e-01 -5.06660884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.280714057 meters 0.02908626259196624 Centerline is valid? [True, True] Translation: X:799.91, Y:-142.50, Z:-50.67 [[ 9.95393191e-01 8.31626760e-02 4.77112610e-02 7.99908755e+02] [-8.29666939e-02 9.96533792e-01 -6.07686267e-03 -1.42497995e+02] [-4.80512521e-02 2.09042213e-03 9.98842684e-01 -5.06679068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.3107140569999 meters 0.02882711534703235 Centerline is valid? [True, True] Translation: X:799.94, Y:-142.50, Z:-50.67 [[ 9.95272852e-01 8.50180038e-02 4.69455999e-02 7.99936661e+02] [-8.48304816e-02 9.96377477e-01 -5.97603947e-03 -1.42501239e+02] [-4.72836093e-02 1.96537201e-03 9.98879571e-01 -5.06697658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.3407140569999 meters 0.02897416862389867 Centerline is valid? [True, True] Translation: X:799.96, Y:-142.50, Z:-50.67 [[ 9.95231558e-01 8.56380863e-02 4.66932919e-02 7.99964764e+02] [-8.54534122e-02 9.96324457e-01 -5.94062230e-03 -1.42504937e+02] [-4.70304122e-02 1.92219367e-03 9.98891609e-01 -5.06711436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.370714057 meters 0.029181836523125785 Centerline is valid? [True, True] Translation: X:799.99, Y:-142.51, Z:-50.67 [[ 9.95138306e-01 8.65849869e-02 4.69339050e-02 7.99991991e+02] [-8.63995915e-02 9.96242686e-01 -5.96832529e-03 -1.42509322e+02] [-4.72743269e-02 1.88423891e-03 9.98880167e-01 -5.06731279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.400714057 meters 0.02905858925838777 Centerline is valid? [True, True] Translation: X:800.02, Y:-142.51, Z:-50.68 [[ 9.95099818e-01 8.74286060e-02 4.61799890e-02 8.00019438e+02] [-8.72502620e-02 9.96169145e-01 -5.86747314e-03 -1.42514324e+02] [-4.65160652e-02 1.80950531e-03 9.98915903e-01 -5.06752415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.4307140569999 meters 0.029331788295658006 Centerline is valid? [True, True] Translation: X:800.05, Y:-142.52, Z:-50.68 [[ 9.95082987e-01 8.77372913e-02 4.59566884e-02 8.00048127e+02] [-8.75612535e-02 9.96142056e-01 -5.83358237e-03 -1.42519239e+02] [-4.62912128e-02 1.78087332e-03 9.98926400e-01 -5.06770344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.4607140569999 meters 0.029437368309337835 Centerline is valid? [True, True] Translation: X:800.08, Y:-142.53, Z:-50.68 [[ 9.95073436e-01 8.80526842e-02 4.55585518e-02 8.00075657e+02] [-8.78801485e-02 9.96114285e-01 -5.78015101e-03 -1.42525447e+02] [-4.58904821e-02 1.74798243e-03 9.98944948e-01 -5.06786071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.4907140569999 meters 0.02961967353852284 Centerline is valid? [True, True] Translation: X:800.10, Y:-142.53, Z:-50.68 [[ 9.95109441e-01 8.79432433e-02 4.49798436e-02 8.00103528e+02] [-8.77751354e-02 9.96123990e-01 -5.70274374e-03 -1.42530410e+02] [-4.53070190e-02 1.72674228e-03 9.98971617e-01 -5.06803897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.520714057 meters 0.030345591012849636 Centerline is valid? [True, True] Translation: X:800.13, Y:-142.54, Z:-50.68 [[ 9.95175722e-01 8.73082096e-02 4.47499598e-02 8.00131160e+02] [-8.71412866e-02 9.96179820e-01 -5.67114841e-03 -1.42535703e+02] [-4.50741447e-02 1.74422014e-03 9.98982122e-01 -5.06819319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.5507140569999 meters 0.031042255190343152 Centerline is valid? [True, True] Translation: X:800.16, Y:-142.54, Z:-50.68 [[ 9.95177056e-01 8.69458413e-02 4.54207934e-02 8.00158375e+02] [-8.67737370e-02 9.96211446e-01 -5.75089623e-03 -1.42542021e+02] [-4.57487308e-02 1.78182800e-03 9.98951390e-01 -5.06818337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.5807140569999 meters 0.028318580473854143 Centerline is valid? [True, True] Translation: X:800.19, Y:-142.54, Z:-50.68 [[ 9.95216335e-01 8.65029990e-02 4.54057007e-02 8.00187048e+02] [-8.63307717e-02 9.96249970e-01 -5.74412436e-03 -1.42541895e+02] [-4.57323119e-02 1.79673722e-03 9.98952115e-01 -5.06811888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.6107140569999 meters 0.02891859101291553 Centerline is valid? [True, True] Translation: X:800.21, Y:-142.55, Z:-50.68 [[ 9.95314009e-01 8.47995409e-02 4.64657066e-02 8.00214862e+02] [-8.46174793e-02 9.96396191e-01 -5.87480531e-03 -1.42549615e+02] [-4.67964339e-02 1.91546506e-03 9.98902610e-01 -5.06817168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.640714057 meters 0.029723155857610838 Centerline is valid? [True, True] Translation: X:800.24, Y:-142.56, Z:-50.68 [[ 9.95396560e-01 8.36211999e-02 4.68314297e-02 8.00241837e+02] [-8.34351074e-02 9.96495641e-01 -5.91786813e-03 -1.42555633e+02] [-4.71621747e-02 1.98324021e-03 9.98885277e-01 -5.06834415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.6707140569999 meters 0.028822407511028308 Centerline is valid? [True, True] Translation: X:800.27, Y:-142.56, Z:-50.68 [[ 9.95424293e-01 8.30325402e-02 4.72871536e-02 8.00270099e+02] [-8.28423514e-02 9.96544776e-01 -5.97107552e-03 -1.42559320e+02] [-4.76195595e-02 2.02637463e-03 9.98863490e-01 -5.06839631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.7007140569999 meters 0.032080847569939494 Centerline is valid? [True, True] Translation: X:800.30, Y:-142.57, Z:-50.69 [[ 9.95490465e-01 8.18375410e-02 4.79723915e-02 8.00296793e+02] [-8.16405730e-02 9.96643448e-01 -6.05425496e-03 -1.42571287e+02] [-4.83068350e-02 2.11045956e-03 9.98830314e-01 -5.06865908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.7307140569999 meters 0.03128628978869788 Centerline is valid? [True, True] Translation: X:800.33, Y:-142.57, Z:-50.69 [[ 9.95572002e-01 8.10594874e-02 4.75998803e-02 8.00325814e+02] [-8.08648931e-02 9.96706996e-01 -6.00284286e-03 -1.42574215e+02] [-4.79297210e-02 2.12710305e-03 9.98848446e-01 -5.06882891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.760714057 meters 0.02985579941927898 Centerline is valid? [True, True] Translation: X:800.35, Y:-142.58, Z:-50.69 [[ 9.95736276e-01 7.99036781e-02 4.60941468e-02 8.00354229e+02] [-7.97201166e-02 9.96800355e-01 -5.80990577e-03 -1.42577099e+02] [-4.64108947e-02 2.11050318e-03 9.98920204e-01 -5.06905038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.790714057 meters 0.03304055650521271 Centerline is valid? [True, True] Translation: X:800.38, Y:-142.59, Z:-50.69 [[ 9.95823234e-01 7.92290668e-02 4.53744544e-02 8.00380806e+02] [-7.90506362e-02 9.96854213e-01 -5.71618581e-03 -1.42587770e+02] [-4.56846041e-02 2.10543115e-03 9.98953695e-01 -5.06940086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.8207140569999 meters 0.03175710281188837 Centerline is valid? [True, True] Translation: X:800.41, Y:-142.59, Z:-50.70 [[ 9.95951387e-01 7.76779480e-02 4.52434761e-02 8.00409104e+02] [-7.74991355e-02 9.96976150e-01 -5.69563040e-03 -1.42589077e+02] [-4.55490915e-02 2.16624070e-03 9.98959753e-01 -5.06958469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.8507140569999 meters 0.03175710281188837 Centerline is valid? [True, True] Translation: X:800.44, Y:-142.59, Z:-50.70 [[ 9.95956763e-01 7.76086780e-02 4.52439968e-02 8.00437186e+02] [-7.74299818e-02 9.96981547e-01 -5.69149107e-03 -1.42592548e+02] [-4.55491390e-02 2.16523718e-03 9.98959753e-01 -5.06974879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.880714057 meters 0.033106875347312485 Centerline is valid? [True, True] Translation: X:800.46, Y:-142.60, Z:-50.70 [[ 9.96174719e-01 7.49932230e-02 4.48547254e-02 8.00464638e+02] [-7.48151017e-02 9.97181479e-01 -5.63909672e-03 -1.42600044e+02] [-4.51511954e-02 2.26171475e-03 9.98977604e-01 -5.06992383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.910714057 meters 0.033023705546374404 Centerline is valid? [True, True] Translation: X:800.49, Y:-142.60, Z:-50.70 [[ 9.96266281e-01 7.35459502e-02 4.52160491e-02 8.00493035e+02] [-7.33635433e-02 9.97289074e-01 -5.68267614e-03 -1.42604171e+02] [-4.55114095e-02 2.34424905e-03 9.98961068e-01 -5.07009030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.9407140569999 meters 0.032312549854052366 Centerline is valid? [True, True] Translation: X:800.52, Y:-142.61, Z:-50.70 [[ 9.96405562e-01 7.17723605e-02 4.49964886e-02 8.00522368e+02] [-7.15900822e-02 9.97418127e-01 -5.65149222e-03 -1.42607408e+02] [-4.52859343e-02 2.40987597e-03 9.98971159e-01 -5.07015745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.9707140569999 meters 0.03324794415774838 Centerline is valid? [True, True] Translation: X:800.55, Y:-142.61, Z:-50.70 [[ 9.96465724e-01 7.08507242e-02 4.51246611e-02 8.00549669e+02] [-7.06665010e-02 9.97483901e-01 -5.66676215e-03 -1.42612487e+02] [-4.54126172e-02 2.45793235e-03 9.98965291e-01 -5.07033822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.000714057 meters 0.034210876236868575 Centerline is valid? [True, True] Translation: X:800.58, Y:-142.62, Z:-50.70 [[ 9.96596006e-01 6.90456525e-02 4.50455088e-02 8.00578464e+02] [-6.88604735e-02 9.97610292e-01 -5.65163147e-03 -1.42617371e+02] [-4.53280838e-02 2.53053829e-03 9.98968949e-01 -5.07049295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.030714057 meters 0.03450462739273864 Centerline is valid? [True, True] Translation: X:800.61, Y:-142.62, Z:-50.71 [[ 9.96660419e-01 6.79227718e-02 4.53266722e-02 8.00607260e+02] [-6.77342263e-02 9.97687206e-01 -5.68447099e-03 -1.42621368e+02] [-4.56079460e-02 2.59532017e-03 9.98956045e-01 -5.07064281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.0607140569999 meters 0.03513363851115838 Centerline is valid? [True, True] Translation: X:800.64, Y:-142.63, Z:-50.71 [[ 9.96680962e-01 6.71854506e-02 4.59692947e-02 8.00636538e+02] [-6.69908603e-02 9.97736949e-01 -5.76235563e-03 -1.42626550e+02] [-4.62524103e-02 2.66370755e-03 9.98926233e-01 -5.07081146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.0907140569999 meters 0.03663489653611937 Centerline is valid? [True, True] Translation: X:800.66, Y:-142.63, Z:-50.71 [[ 9.96787262e-01 6.56084904e-02 4.59421520e-02 8.00664466e+02] [-6.54125275e-02 9.97841697e-01 -5.75752817e-03 -1.42631974e+02] [-4.62207376e-02 2.73383845e-03 9.98927510e-01 -5.07093051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.120714057 meters 0.03746909304576218 Centerline is valid? [True, True] Translation: X:800.69, Y:-142.64, Z:-50.71 [[ 9.96817577e-01 6.48443760e-02 4.63672914e-02 8.00694028e+02] [-6.46440674e-02 9.97891482e-01 -5.80814293e-03 -1.42636023e+02] [-4.66461505e-02 2.79228865e-03 9.98907573e-01 -5.07109976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.150714057 meters 0.03674215921950399 Centerline is valid? [True, True] Translation: X:800.72, Y:-142.64, Z:-50.71 [[ 9.96813750e-01 6.45281832e-02 4.68877473e-02 8.00724068e+02] [-6.43230782e-02 9.97911852e-01 -5.87168330e-03 -1.42637889e+02] [-4.71687278e-02 2.83701042e-03 9.98882907e-01 -5.07116422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.1807140569999 meters 0.03589381678594532 Centerline is valid? [True, True] Translation: X:800.75, Y:-142.64, Z:-50.71 [[ 9.96801183e-01 6.45557372e-02 4.71164349e-02 8.00754040e+02] [-6.43487344e-02 9.97910039e-01 -5.89865735e-03 -1.42639822e+02] [-4.73987556e-02 2.84790567e-03 9.98871988e-01 -5.07133649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.2107140569999 meters 0.03624707544524548 Centerline is valid? [True, True] Translation: X:800.78, Y:-142.64, Z:-50.72 [[ 9.96803520e-01 6.45793306e-02 4.70346008e-02 8.00783875e+02] [-6.43731697e-02 9.97908536e-01 -5.88637004e-03 -1.42643912e+02] [-4.73163674e-02 2.83978803e-03 9.98875917e-01 -5.07154109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.2407140569999 meters 0.037057425616287894 Centerline is valid? [True, True] Translation: X:800.81, Y:-142.65, Z:-50.72 [[ 9.96773711e-01 6.55267741e-02 4.63509447e-02 8.00812634e+02] [-6.53275701e-02 9.97847010e-01 -5.80119987e-03 -1.42648249e+02] [-4.66312854e-02 2.75448894e-03 9.98908372e-01 -5.07177695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.270714057 meters 0.03699683833880429 Centerline is valid? [True, True] Translation: X:800.84, Y:-142.65, Z:-50.72 [[ 9.96731523e-01 6.62501638e-02 4.62297213e-02 8.00841948e+02] [-6.60528521e-02 9.97799359e-01 -5.78439769e-03 -1.42651080e+02] [-4.65112036e-02 2.71188657e-03 9.98914087e-01 -5.07200141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.3007140569999 meters 0.037143686356054806 Centerline is valid? [True, True] Translation: X:800.87, Y:-142.65, Z:-50.72 [[ 9.96622899e-01 6.80800101e-02 4.59119851e-02 8.00870744e+02] [-6.78874110e-02 9.97676459e-01 -5.74305660e-03 -1.42653834e+02] [-4.61962941e-02 2.60681591e-03 9.98928980e-01 -5.07220934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.3307140569999 meters 0.0374312886518982 Centerline is valid? [True, True] Translation: X:800.90, Y:-142.66, Z:-50.72 [[ 9.96556435e-01 6.89063895e-02 4.61213782e-02 8.00898998e+02] [-6.87129752e-02 9.97619797e-01 -5.76783957e-03 -1.42657296e+02] [-4.64090410e-02 2.57884052e-03 9.98919191e-01 -5.07237854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.3607140569999 meters 0.03721775780925643 Centerline is valid? [True, True] Translation: X:800.93, Y:-142.66, Z:-50.73 [[ 9.96473451e-01 7.00837226e-02 4.61403755e-02 8.00928502e+02] [-6.98915250e-02 9.97537924e-01 -5.76766010e-03 -1.42659946e+02] [-4.64309934e-02 2.52249895e-03 9.98918315e-01 -5.07250278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.390714057 meters 0.03689310867094942 Centerline is valid? [True, True] Translation: X:800.96, Y:-142.66, Z:-50.73 [[ 9.96376730e-01 7.17714416e-02 4.56319282e-02 8.00957701e+02] [-7.15852849e-02 9.97418180e-01 -5.70277532e-03 -1.42661349e+02] [-4.59234112e-02 2.41553804e-03 9.98942043e-01 -5.07275469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.4207140569999 meters 0.04660871804342591 Centerline is valid? [True, True] Translation: X:800.98, Y:-142.68, Z:-50.73 [[ 9.96124432e-01 7.47353862e-02 4.63760575e-02 8.00984415e+02] [-7.45464252e-02 9.97200717e-01 -5.79318836e-03 -1.42680023e+02] [-4.66791940e-02 2.31356716e-03 9.98907253e-01 -5.07328414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.4507140569999 meters 0.03708805703916536 Centerline is valid? [True, True] Translation: X:801.02, Y:-142.67, Z:-50.73 [[ 9.96254447e-01 7.37169939e-02 4.51982469e-02 8.01015849e+02] [-7.35365388e-02 9.97276549e-01 -5.64458837e-03 -1.42668290e+02] [-4.54912538e-02 2.29972363e-03 9.98962090e-01 -5.07320502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.4807140569999 meters 0.036480978245459005 Centerline is valid? [True, True] Translation: X:801.04, Y:-142.67, Z:-50.73 [[ 9.96216490e-01 7.38991186e-02 4.57342985e-02 8.01044315e+02] [-7.37145983e-02 9.97263029e-01 -5.71038776e-03 -1.42670668e+02] [-4.60311177e-02 2.31749700e-03 9.98937318e-01 -5.07336493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.510714057 meters 0.03712503364458751 Centerline is valid? [True, True] Translation: X:801.07, Y:-142.68, Z:-50.74 [[ 9.96197915e-01 7.41132007e-02 4.57924318e-02 8.01072141e+02] [-7.39285690e-02 9.97247165e-01 -5.71476487e-03 -1.42675220e+02] [-4.60899123e-02 2.30766790e-03 9.98934630e-01 -5.07352349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.540714057 meters 0.03751047980632809 Centerline is valid? [True, True] Translation: X:801.10, Y:-142.68, Z:-50.74 [[ 9.96163012e-01 7.40712394e-02 4.66122797e-02 8.01100978e+02] [-7.38800805e-02 9.97250191e-01 -5.81293408e-03 -1.42678894e+02] [-4.69146760e-02 2.34691094e-03 9.98896143e-01 -5.07358924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.5707140569999 meters 0.03823445563796414 Centerline is valid? [True, True] Translation: X:801.13, Y:-142.68, Z:-50.74 [[ 9.96132756e-01 7.41204632e-02 4.71772075e-02 8.01128131e+02] [-7.39248338e-02 9.97246479e-01 -5.88043405e-03 -1.42683251e+02] [-4.74831646e-02 2.37012575e-03 9.98869227e-01 -5.07365981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.6007140569999 meters 0.0370724973355336 Centerline is valid? [True, True] Translation: X:801.16, Y:-142.68, Z:-50.74 [[ 9.95983352e-01 7.49935567e-02 4.89196283e-02 8.01157300e+02] [-7.47844631e-02 9.97181105e-01 -6.09320866e-03 -1.42684820e+02] [-4.92386804e-02 2.41030625e-03 9.98784132e-01 -5.07363228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.630714057 meters 0.03809591612302388 Centerline is valid? [True, True] Translation: X:801.18, Y:-142.69, Z:-50.74 [[ 9.95946666e-01 7.51166613e-02 4.94745052e-02 8.01184261e+02] [-7.49031017e-02 9.97171796e-01 -6.15916483e-03 -1.42690008e+02] [-4.97972371e-02 2.42840578e-03 9.98756396e-01 -5.07379675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.660714057 meters 0.03232424121507317 Centerline is valid? [True, True] Translation: X:801.21, Y:-142.68, Z:-50.74 [[ 9.95964886e-01 7.47545217e-02 4.96558967e-02 8.01214389e+02] [-7.45391496e-02 9.97198953e-01 -6.17761819e-03 -1.42683768e+02] [-4.99786131e-02 2.45138248e-03 9.98747280e-01 -5.07381895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.6907140569999 meters 0.03236165873364756 Centerline is valid? [True, True] Translation: X:801.24, Y:-142.69, Z:-50.74 [[ 9.96044704e-01 7.37371645e-02 4.95759921e-02 8.01242948e+02] [-7.35214062e-02 9.97274589e-01 -6.16413740e-03 -1.42688401e+02] [-4.98954032e-02 2.49485976e-03 9.98751333e-01 -5.07401318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.7207140569999 meters 0.032771986758984836 Centerline is valid? [True, True] Translation: X:801.27, Y:-142.69, Z:-50.74 [[ 9.96228558e-01 7.14693705e-02 4.92015150e-02 8.01271424e+02] [-7.12542861e-02 9.97439445e-01 -6.11392950e-03 -1.42693764e+02] [-4.95124905e-02 2.58505235e-03 9.98770159e-01 -5.07430434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.750714057 meters 0.03359341455752202 Centerline is valid? [True, True] Translation: X:801.30, Y:-142.70, Z:-50.75 [[ 9.96400331e-01 6.98115333e-02 4.80908539e-02 8.01300756e+02] [-6.96042650e-02 9.97556799e-01 -5.97321488e-03 -1.42699173e+02] [-4.83903576e-02 2.60438475e-03 9.98825105e-01 -5.07455358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.780714057 meters 0.03362168962245296 Centerline is valid? [True, True] Translation: X:801.33, Y:-142.70, Z:-50.75 [[ 9.96540080e-01 6.82156936e-02 4.74814511e-02 8.01329610e+02] [-6.80119161e-02 9.97667087e-01 -5.89602798e-03 -1.42703115e+02] [-4.77728826e-02 2.64632372e-03 9.98854719e-01 -5.07479313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.8107140569999 meters 0.03592889439498347 Centerline is valid? [True, True] Translation: X:801.36, Y:-142.71, Z:-50.75 [[ 9.96667143e-01 6.67653102e-02 4.68721632e-02 8.01356964e+02] [-6.65652452e-02 9.97765112e-01 -5.81804645e-03 -1.42710979e+02] [-4.71558529e-02 2.67859869e-03 9.98883953e-01 -5.07508092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.8407140569999 meters 0.03638618059154491 Centerline is valid? [True, True] Translation: X:801.39, Y:-142.72, Z:-50.75 [[ 9.96818990e-01 6.48067453e-02 4.63895175e-02 8.01386884e+02] [-6.46088613e-02 9.97894076e-01 -5.75404444e-03 -1.42715771e+02] [-4.66647256e-02 2.73856686e-03 9.98906854e-01 -5.07527536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.870714057 meters 0.03760525859982157 Centerline is valid? [True, True] Translation: X:801.42, Y:-142.72, Z:-50.75 [[ 9.96826944e-01 6.41466440e-02 4.71301571e-02 8.01416243e+02] [-6.39416415e-02 9.97936516e-01 -5.84609252e-03 -1.42720632e+02] [-4.74079119e-02 2.81396293e-03 9.98871649e-01 -5.07540904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.900714057 meters 0.037269651015548924 Centerline is valid? [True, True] Translation: X:801.45, Y:-142.72, Z:-50.76 [[ 9.96774170e-01 6.43742864e-02 4.79291703e-02 8.01445748e+02] [-6.41625631e-02 9.97921755e-01 -5.94450659e-03 -1.42723518e+02] [-4.82122351e-02 2.85007221e-03 9.98833048e-01 -5.07550640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.9307140569999 meters 0.03413521254246491 Centerline is valid? [True, True] Translation: X:801.48, Y:-142.72, Z:-50.76 [[ 9.96721349e-01 6.47871898e-02 4.84682541e-02 8.01475552e+02] [-6.45712417e-02 9.97895004e-01 -6.00966214e-03 -1.42721341e+02] [-4.87555778e-02 2.86030320e-03 9.98806644e-01 -5.07560916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.9607140569999 meters 0.037943224652619956 Centerline is valid? [True, True] Translation: X:801.50, Y:-142.73, Z:-50.76 [[ 9.96673442e-01 6.51660087e-02 4.89432515e-02 8.01504280e+02] [-6.49463549e-02 9.97870316e-01 -6.06659004e-03 -1.42730539e+02] [-4.92343533e-02 2.86772339e-03 9.98783137e-01 -5.07584530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.9907140569999 meters 0.03754501199980736 Centerline is valid? [True, True] Translation: X:801.53, Y:-142.73, Z:-50.76 [[ 9.96553694e-01 6.64768539e-02 4.96141312e-02 8.01533975e+02] [-6.62527884e-02 9.97783924e-01 -6.14895678e-03 -1.42732022e+02] [-4.99129458e-02 2.84069106e-03 9.98749532e-01 -5.07596081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.020714057 meters 0.03773540310046509 Centerline is valid? [True, True] Translation: X:801.56, Y:-142.74, Z:-50.76 [[ 9.96521907e-01 6.69135919e-02 4.96654765e-02 8.01563169e+02] [-6.66896875e-02 9.97754789e-01 -6.15361390e-03 -1.42735003e+02] [-4.99657274e-02 2.82003596e-03 9.98746952e-01 -5.07611529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.0507140569999 meters 0.03458718516274949 Centerline is valid? [True, True] Translation: X:801.59, Y:-142.73, Z:-50.76 [[ 9.96261940e-01 6.89947708e-02 5.19795073e-02 8.01594033e+02] [-6.87524118e-02 9.97612977e-01 -6.43845228e-03 -1.42733331e+02] [-5.22996506e-02 2.84066847e-03 9.98627397e-01 -5.07609433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.0807140569999 meters 0.03455294118728382 Centerline is valid? [True, True] Translation: X:801.62, Y:-142.74, Z:-50.76 [[ 9.96203548e-01 6.97436996e-02 5.20990096e-02 8.01623635e+02] [-6.95013293e-02 9.97560996e-01 -6.45163173e-03 -1.42736375e+02] [-5.24219006e-02 2.80618800e-03 9.98621084e-01 -5.07623673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.1107140569999 meters 0.03231792370117057 Centerline is valid? [True, True] Translation: X:801.65, Y:-142.74, Z:-50.77 [[ 9.96109538e-01 7.12741669e-02 5.18245341e-02 8.01653686e+02] [-7.10365042e-02 9.97453083e-01 -6.41584519e-03 -1.42735687e+02] [-5.21498253e-02 2.70945085e-03 9.98635597e-01 -5.07651710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.140714057 meters 0.033683547264281674 Centerline is valid? [True, True] Translation: X:801.68, Y:-142.74, Z:-50.77 [[ 9.96103634e-01 7.20259396e-02 5.08902189e-02 8.01681365e+02] [-7.17978419e-02 9.97399318e-01 -6.29849425e-03 -1.42741460e+02] [-5.12115246e-02 2.62014512e-03 9.98684392e-01 -5.07682243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.1707140569999 meters 0.031769642244276884 Centerline is valid? [True, True] Translation: X:801.71, Y:-142.74, Z:-50.77 [[ 9.96075607e-01 7.38861052e-02 4.87260524e-02 8.01710361e+02] [-7.36793460e-02 9.97263763e-01 -6.02831513e-03 -1.42741200e+02] [-4.90381351e-02 2.41455398e-03 9.98793988e-01 -5.07716329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.2007140569999 meters 0.030995304751764114 Centerline is valid? [True, True] Translation: X:801.74, Y:-142.74, Z:-50.77 [[ 9.96038835e-01 7.48528292e-02 4.79967965e-02 8.01738855e+02] [-7.46534992e-02 9.97191874e-01 -5.93474147e-03 -1.42742615e+02] [-4.83062477e-02 2.32810417e-03 9.98829859e-01 -5.07735910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.2307140569999 meters 0.03232520773679316 Centerline is valid? [True, True] Translation: X:801.77, Y:-142.75, Z:-50.78 [[ 9.95951154e-01 7.60960011e-02 4.78612311e-02 8.01766509e+02] [-7.58993933e-02 9.97097939e-01 -5.91454922e-03 -1.42747876e+02] [-4.81724085e-02 2.25796372e-03 9.98836483e-01 -5.07762935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.260714057 meters 0.030192847918805055 Centerline is valid? [True, True] Translation: X:801.80, Y:-142.75, Z:-50.78 [[ 9.95834452e-01 7.74366194e-02 4.81384865e-02 8.01795813e+02] [-7.72394541e-02 9.96994844e-01 -5.94536341e-03 -1.42747688e+02] [-4.84542117e-02 2.20240729e-03 9.98822977e-01 -5.07773974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.290714057 meters 0.028785285048194643 Centerline is valid? [True, True] Translation: X:801.83, Y:-142.75, Z:-50.78 [[ 9.95582956e-01 7.98966259e-02 4.93062641e-02 8.01826016e+02] [-7.96929792e-02 9.96800880e-01 -6.08554084e-03 -1.42747239e+02] [-4.96347416e-02 2.12929765e-03 9.98765167e-01 -5.07780956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.3207140569999 meters 0.03082505028968345 Centerline is valid? [True, True] Translation: X:801.85, Y:-142.75, Z:-50.78 [[ 9.95486122e-01 8.08188748e-02 4.97563156e-02 8.01853036e+02] [-8.06126572e-02 9.96726588e-01 -6.14072502e-03 -1.42753675e+02] [-5.00897292e-02 2.10201772e-03 9.98742510e-01 -5.07798997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.3507140569999 meters 0.028566576981761346 Centerline is valid? [True, True] Translation: X:801.88, Y:-142.75, Z:-50.78 [[ 9.95373629e-01 8.16000394e-02 5.07225098e-02 8.01882344e+02] [-8.13869831e-02 9.96662948e-01 -6.25519418e-03 -1.42751679e+02] [-5.10636702e-02 2.09810328e-03 9.98693196e-01 -5.07802453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.380714057 meters 0.028158213208465475 Centerline is valid? [True, True] Translation: X:801.91, Y:-142.75, Z:-50.78 [[ 9.95402840e-01 8.09594773e-02 5.11737206e-02 8.01911047e+02] [-8.07419568e-02 9.96715083e-01 -6.30712437e-03 -1.42754179e+02] [-5.15162407e-02 2.14626317e-03 9.98669851e-01 -5.07817060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.410714057 meters 0.02889330668448516 Centerline is valid? [True, True] Translation: X:801.94, Y:-142.76, Z:-50.78 [[ 9.95459232e-01 8.01175381e-02 5.14013293e-02 8.01937931e+02] [-7.98971399e-02 9.96783004e-01 -6.33164157e-03 -1.42758601e+02] [-5.17432470e-02 2.19607186e-03 9.98658006e-01 -5.07831922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.4407140569999 meters 0.030378912205795743 Centerline is valid? [True, True] Translation: X:801.97, Y:-142.77, Z:-50.79 [[ 9.95801970e-01 7.54539290e-02 5.18183583e-02 8.01967601e+02] [-7.52239581e-02 9.97146274e-01 -6.37686273e-03 -1.42765299e+02] [-5.21516422e-02 2.45211046e-03 9.98636167e-01 -5.07854240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.4707140569999 meters 0.031164044365353444 Centerline is valid? [True, True] Translation: X:802.00, Y:-142.77, Z:-50.79 [[ 9.96026996e-01 7.25165837e-02 5.16872081e-02 8.01996063e+02] [-7.22838701e-02 9.97363822e-01 -6.36000726e-03 -1.42771063e+02] [-5.20121574e-02 2.59858749e-03 9.98643071e-01 -5.07875839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.500714057 meters 0.03440424369993579 Centerline is valid? [True, True] Translation: X:802.02, Y:-142.78, Z:-50.79 [[ 9.96506502e-01 6.60429192e-02 5.11187293e-02 8.02024164e+02] [-6.58069800e-02 9.97812567e-01 -6.28676186e-03 -1.42780592e+02] [-5.14221066e-02 2.90082988e-03 9.98672795e-01 -5.07897459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.530714057 meters 0.03461397659282837 Centerline is valid? [True, True] Translation: X:802.05, Y:-142.78, Z:-50.79 [[ 9.96714880e-01 6.28004580e-02 5.11424520e-02 8.02054500e+02] [-6.25599309e-02 9.98021376e-01 -6.29194516e-03 -1.42784427e+02] [-5.14363974e-02 3.07180710e-03 9.98671548e-01 -5.07915534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.5607140569999 meters 0.03734552444895058 Centerline is valid? [True, True] Translation: X:802.08, Y:-142.79, Z:-50.79 [[ 9.96958251e-01 5.79074616e-02 5.21629427e-02 8.02083586e+02] [-5.76505560e-02 9.98316197e-01 -6.41757048e-03 -1.42792564e+02] [-5.24467358e-02 3.39082719e-03 9.98617966e-01 -5.07924572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.5907140569999 meters 0.04340918274547491 Centerline is valid? [True, True] Translation: X:802.11, Y:-142.81, Z:-50.79 [[ 9.96974867e-01 5.66846631e-02 5.31785940e-02 8.02113320e+02] [-5.64159871e-02 9.98385922e-01 -6.54113491e-03 -1.42805493e+02] [-5.34635417e-02 3.52122423e-03 9.98563594e-01 -5.07941079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.620714057 meters 0.03841202840559527 Centerline is valid? [True, True] Translation: X:802.15, Y:-142.80, Z:-50.80 [[ 9.96996700e-01 5.59287426e-02 5.35682437e-02 8.02146376e+02] [-5.56546807e-02 9.98428293e-01 -6.59543760e-03 -1.42802146e+02] [-5.38529246e-02 3.59430602e-03 9.98542409e-01 -5.07953711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.650714057 meters 0.03426056183255388 Centerline is valid? [True, True] Translation: X:802.18, Y:-142.80, Z:-50.80 [[ 9.96978517e-01 5.62695600e-02 5.35497367e-02 8.02179798e+02] [-5.59954691e-02 9.98409167e-01 -6.60628425e-03 -1.42798993e+02] [-5.38362807e-02 3.58778084e-03 9.98543330e-01 -5.07975455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.6807140569999 meters 0.0361068911895863 Centerline is valid? [True, True] Translation: X:802.21, Y:-142.80, Z:-50.80 [[ 9.96988338e-01 5.70118047e-02 5.25728863e-02 8.02210230e+02] [-5.67478257e-02 9.98367374e-01 -6.50155190e-03 -1.42804575e+02] [-5.28577196e-02 3.49857444e-03 9.98595925e-01 -5.07999253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.7107140569999 meters 0.035638215970999636 Centerline is valid? [True, True] Translation: X:802.24, Y:-142.81, Z:-50.80 [[ 9.96942959e-01 5.89168837e-02 5.13180031e-02 8.02241806e+02] [-5.86671928e-02 9.98257339e-01 -6.35969323e-03 -1.42805058e+02] [-5.16032665e-02 3.32956820e-03 9.98662113e-01 -5.08028027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.7407140569999 meters 0.034983187090293494 Centerline is valid? [True, True] Translation: X:802.27, Y:-142.81, Z:-50.80 [[ 9.96800698e-01 6.12969146e-02 5.12938352e-02 8.02273247e+02] [-6.10504979e-02 9.98114425e-01 -6.35857563e-03 -1.42805542e+02] [-5.15868779e-02 3.20671845e-03 9.98663362e-01 -5.08043382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.770714057 meters 0.034983187090293494 Centerline is valid? [True, True] Translation: X:802.30, Y:-142.81, Z:-50.81 [[ 9.96800703e-01 6.12970333e-02 5.12935803e-02 8.02303027e+02] [-6.10505115e-02 9.98114411e-01 -6.36063142e-03 -1.42809234e+02] [-5.15867495e-02 3.20878256e-03 9.98663362e-01 -5.08060763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.8007140569999 meters 0.03455607540776639 Centerline is valid? [True, True] Translation: X:802.33, Y:-142.81, Z:-50.81 [[ 9.96746043e-01 6.20151169e-02 5.14922392e-02 8.02333520e+02] [-6.17676335e-02 9.98070132e-01 -6.38526601e-03 -1.42811017e+02] [-5.17888490e-02 3.18393487e-03 9.98652982e-01 -5.08077282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.8307140569999 meters 0.035541439068326186 Centerline is valid? [True, True] Translation: X:802.36, Y:-142.82, Z:-50.81 [[ 9.96723941e-01 6.26178575e-02 5.11897404e-02 8.02362919e+02] [-6.23740756e-02 9.98032656e-01 -6.34760350e-03 -1.42815322e+02] [-5.14865059e-02 3.13389564e-03 9.98668773e-01 -5.08096271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.8607140569999 meters 0.03379155787022131 Centerline is valid? [True, True] Translation: X:802.39, Y:-142.81, Z:-50.81 [[ 9.96725142e-01 6.31198636e-02 5.05457579e-02 8.02393656e+02] [-6.28827557e-02 9.98001231e-01 -6.26912907e-03 -1.42813935e+02] [-5.08404351e-02 3.07014202e-03 9.98702070e-01 -5.08111881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.890714057 meters 0.03381174827620233 Centerline is valid? [True, True] Translation: X:802.42, Y:-142.82, Z:-50.81 [[ 9.96760057e-01 6.30628412e-02 4.99246207e-02 8.02423667e+02] [-6.28314598e-02 9.98004943e-01 -6.19209018e-03 -1.42816020e+02] [-5.02155090e-02 3.03519136e-03 9.98733794e-01 -5.08129740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.9207140569999 meters 0.033562467067136496 Centerline is valid? [True, True] Translation: X:802.45, Y:-142.82, Z:-50.82 [[ 9.96796628e-01 6.33078544e-02 4.88732921e-02 8.02452930e+02] [-6.30864030e-02 9.97989658e-01 -6.06200617e-03 -1.42816304e+02] [-4.91588127e-02 2.95934710e-03 9.98786591e-01 -5.08153983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.9507140569999 meters 0.032516782199880544 Centerline is valid? [True, True] Translation: X:802.48, Y:-142.82, Z:-50.82 [[ 9.96819976e-01 6.34428418e-02 4.82176369e-02 8.02482636e+02] [-6.32275391e-02 9.97981228e-01 -5.97895558e-03 -1.42816988e+02] [-4.84996184e-02 2.91125984e-03 9.98818958e-01 -5.08172699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.9807140569999 meters 0.03189399838421898 Centerline is valid? [True, True] Translation: X:802.51, Y:-142.82, Z:-50.82 [[ 9.96803862e-01 6.39282628e-02 4.79086522e-02 8.02511867e+02] [-6.37163389e-02 9.97950376e-01 -5.93924475e-03 -1.42818176e+02] [-4.81901431e-02 2.86769818e-03 9.98834064e-01 -5.08188867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.010714057 meters 0.03287407027121976 Centerline is valid? [True, True] Translation: X:802.54, Y:-142.82, Z:-50.82 [[ 9.96642812e-01 6.60531634e-02 4.83744304e-02 8.02540568e+02] [-6.58397732e-02 9.97812210e-01 -5.99317122e-03 -1.42820708e+02] [-4.86644653e-02 2.78808949e-03 9.98811292e-01 -5.08198126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.040714057 meters 0.031831060989495646 Centerline is valid? [True, True] Translation: X:802.57, Y:-142.82, Z:-50.82 [[ 9.96496716e-01 6.77034620e-02 4.90972126e-02 8.02570234e+02] [-6.74857734e-02 9.97701711e-01 -6.07994476e-03 -1.42821132e+02] [-4.93960063e-02 2.74528163e-03 9.98775499e-01 -5.08197026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.0707140569999 meters 0.0328355754205777 Centerline is valid? [True, True] Translation: X:802.60, Y:-142.82, Z:-50.82 [[ 9.96176645e-01 7.11897477e-02 5.06370537e-02 8.02599597e+02] [-7.09628150e-02 9.97459270e-01 -6.26763880e-03 -1.42823685e+02] [-5.09545903e-02 2.65032751e-03 9.98697454e-01 -5.08196897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.1007140569999 meters 0.031132531160281373 Centerline is valid? [True, True] Translation: X:802.63, Y:-142.82, Z:-50.82 [[ 9.96063059e-01 7.27523724e-02 5.06505088e-02 8.02629200e+02] [-7.25274198e-02 9.97346725e-01 -6.26759229e-03 -1.42823096e+02] [-5.09721013e-02 2.56936644e-03 9.98696772e-01 -5.08204861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.130714057 meters 0.030563477200709368 Centerline is valid? [True, True] Translation: X:802.66, Y:-142.82, Z:-50.82 [[ 9.96000815e-01 7.39558254e-02 5.01289528e-02 8.02657680e+02] [-7.37371336e-02 9.97258436e-01 -6.20052090e-03 -1.42824859e+02] [-5.04500857e-02 2.47935859e-03 9.98723506e-01 -5.08224065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.160714057 meters 0.029421428023490865 Centerline is valid? [True, True] Translation: X:802.69, Y:-142.82, Z:-50.83 [[ 9.95945260e-01 7.59351814e-02 4.82378222e-02 8.02686699e+02] [-7.57351680e-02 9.97110136e-01 -5.96331907e-03 -1.42824646e+02] [-4.85512472e-02 2.28583979e-03 9.98818077e-01 -5.08257324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.1907140569999 meters 0.029146507051027122 Centerline is valid? [True, True] Translation: X:802.72, Y:-142.83, Z:-50.83 [[ 9.95953694e-01 7.62867894e-02 4.75033266e-02 8.02715291e+02] [-7.60933861e-02 9.97083422e-01 -5.86914935e-03 -1.42827044e+02] [-4.78125180e-02 2.23071200e-03 9.98853837e-01 -5.08279934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.2207140569999 meters 0.02763803882184875 Centerline is valid? [True, True] Translation: X:802.74, Y:-142.83, Z:-50.83 [[ 9.95955313e-01 7.65945079e-02 4.69712320e-02 8.02744726e+02] [-7.64059156e-02 9.97059926e-01 -5.80007809e-03 -1.42827193e+02] [-4.72773872e-02 2.18773859e-03 9.98879403e-01 -5.08289427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.250714057 meters 0.02884159546073144 Centerline is valid? [True, True] Translation: X:802.77, Y:-142.83, Z:-50.83 [[ 9.95978935e-01 7.63855306e-02 4.68103905e-02 8.02772209e+02] [-7.61981419e-02 9.97075959e-01 -5.77717950e-03 -1.42832756e+02] [-4.71148079e-02 2.18708431e-03 9.98887087e-01 -5.08308557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.280714057 meters 0.030686336051168682 Centerline is valid? [True, True] Translation: X:802.80, Y:-142.84, Z:-50.83 [[ 9.95982671e-01 7.64696609e-02 4.65930207e-02 8.02799312e+02] [-7.62843672e-02 9.97069553e-01 -5.74469790e-03 -1.42839431e+02] [-4.68957774e-02 2.16730046e-03 9.98897437e-01 -5.08335663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.3107140569999 meters 0.028213441929560143 Centerline is valid? [True, True] Translation: X:802.83, Y:-142.84, Z:-50.83 [[ 9.95953814e-01 7.72409150e-02 4.59330042e-02 8.02828430e+02] [-7.70618520e-02 9.97010254e-01 -5.65908724e-03 -1.42838615e+02] [-4.62327892e-02 2.09650715e-03 9.98928493e-01 -5.08348506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.3407140569999 meters 0.027979823140688132 Centerline is valid? [True, True] Translation: X:802.86, Y:-142.84, Z:-50.84 [[ 9.95888760e-01 7.81965128e-02 4.57261813e-02 8.02857014e+02] [-7.80202172e-02 9.96935878e-01 -5.63029219e-03 -1.42841675e+02] [-4.60263399e-02 2.03957811e-03 9.98938144e-01 -5.08365503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.370714057 meters 0.029914705795010713 Centerline is valid? [True, True] Translation: X:802.88, Y:-142.85, Z:-50.84 [[ 9.95806150e-01 7.95710446e-02 4.51504319e-02 8.02884430e+02] [-7.94006961e-02 9.96827293e-01 -5.55670189e-03 -1.42847507e+02] [-4.54493354e-02 1.94842220e-03 9.98964745e-01 -5.08396216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.400714057 meters 0.026725026652330335 Centerline is valid? [True, True] Translation: X:802.91, Y:-142.84, Z:-50.84 [[ 9.95515873e-01 8.33452696e-02 4.47405155e-02 8.02914447e+02] [-8.31820768e-02 9.96519187e-01 -5.50021641e-03 -1.42844637e+02] [-4.50431992e-02 1.75394374e-03 9.98983500e-01 -5.08396626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.4307140569999 meters 0.025783001275607963 Centerline is valid? [True, True] Translation: X:802.94, Y:-142.84, Z:-50.84 [[ 9.95214911e-01 8.66792184e-02 4.50998176e-02 8.02944086e+02] [-8.65168815e-02 9.96234966e-01 -5.54276270e-03 -1.42844636e+02] [-4.54104576e-02 1.61434451e-03 9.98967109e-01 -5.08395703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.4607140569999 meters 0.02508329339435845 Centerline is valid? [True, True] Translation: X:802.97, Y:-142.85, Z:-50.84 [[ 9.95003688e-01 8.86553720e-02 4.59117158e-02 8.02972451e+02] [-8.84892918e-02 9.96061153e-01 -5.64126865e-03 -1.42847098e+02] [-4.62310054e-02 1.55038789e-03 9.98929572e-01 -5.08401632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.4907140569999 meters 0.024765498609217205 Centerline is valid? [True, True] Translation: X:803.00, Y:-142.85, Z:-50.84 [[ 9.94886404e-01 8.98430009e-02 4.61441063e-02 8.03000748e+02] [-8.96766638e-02 9.95954812e-01 -5.66649759e-03 -1.42849626e+02] [-4.64665399e-02 1.49947190e-03 9.98918722e-01 -5.08409540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.520714057 meters 0.02438757797876941 Centerline is valid? [True, True] Translation: X:803.03, Y:-142.85, Z:-50.84 [[ 9.94684769e-01 9.15050084e-02 4.72127570e-02 8.03029568e+02] [-9.13329076e-02 9.95803558e-01 -5.79421687e-03 -1.42853990e+02] [-4.75448313e-02 1.45134089e-03 9.98868051e-01 -5.08420208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.5507140569999 meters 0.024310715149957477 Centerline is valid? [True, True] Translation: X:803.06, Y:-142.86, Z:-50.84 [[ 9.94641706e-01 9.17951777e-02 4.75554666e-02 8.03057521e+02] [-9.16210641e-02 9.95776862e-01 -5.83282161e-03 -1.42858734e+02] [-4.78900582e-02 1.44448519e-03 9.98851568e-01 -5.08439051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.5807140569999 meters 0.024802069150878132 Centerline is valid? [True, True] Translation: X:803.09, Y:-142.87, Z:-50.85 [[ 9.94681426e-01 9.11564189e-02 4.79517251e-02 8.03085876e+02] [-9.09788152e-02 9.95835481e-01 -5.87796525e-03 -1.42865349e+02] [-4.82878434e-02 1.48411173e-03 9.98832359e-01 -5.08460559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.6107140569999 meters 0.02494446258488218 Centerline is valid? [True, True] Translation: X:803.11, Y:-142.87, Z:-50.85 [[ 9.94787573e-01 9.00417143e-02 4.78557658e-02 8.03113916e+02] [-8.98636962e-02 9.95936817e-01 -5.86282629e-03 -1.42870218e+02] [-4.81892179e-02 1.53177074e-03 9.98837050e-01 -5.08478208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.640714057 meters 0.02533868427385468 Centerline is valid? [True, True] Translation: X:803.14, Y:-142.88, Z:-50.85 [[ 9.94915480e-01 8.87257156e-02 4.76543248e-02 8.03141401e+02] [-8.85478233e-02 9.96054834e-01 -5.83531029e-03 -1.42876612e+02] [-4.79840626e-02 1.58595381e-03 9.98846842e-01 -5.08497141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.6707140569999 meters 0.026888216728422818 Centerline is valid? [True, True] Translation: X:803.17, Y:-142.89, Z:-50.85 [[ 9.95172241e-01 8.58145021e-02 4.76243847e-02 8.03168496e+02] [-8.56338239e-02 9.96309649e-01 -5.82500112e-03 -1.42886890e+02] [-4.79485036e-02 1.71862124e-03 9.98848331e-01 -5.08525556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.7007140569999 meters 0.027745539642095134 Centerline is valid? [True, True] Translation: X:803.20, Y:-142.89, Z:-50.86 [[ 9.95310021e-01 8.40837014e-02 4.78319188e-02 8.03195518e+02] [-8.38996040e-02 9.96457057e-01 -5.84716334e-03 -1.42894066e+02] [-4.81541042e-02 1.80666123e-03 9.98838284e-01 -5.08550563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.7307140569999 meters 0.026671045435165738 Centerline is valid? [True, True] Translation: X:803.22, Y:-142.90, Z:-50.86 [[ 9.95531517e-01 8.11382086e-02 4.83072517e-02 8.03224433e+02] [-8.09471898e-02 9.96700925e-01 -5.90074887e-03 -1.42899246e+02] [-4.86266586e-02 1.96404520e-03 9.98815093e-01 -5.08553742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.760714057 meters 0.027127534947531427 Centerline is valid? [True, True] Translation: X:803.25, Y:-142.91, Z:-50.86 [[ 9.95610222e-01 7.99322668e-02 4.86941354e-02 8.03252523e+02] [-7.97368582e-02 9.96798217e-01 -5.94547760e-03 -1.42905065e+02] [-4.90134628e-02 2.03666091e-03 9.98796042e-01 -5.08570225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.790714057 meters 0.02724184149779366 Centerline is valid? [True, True] Translation: X:803.28, Y:-142.91, Z:-50.86 [[ 9.95686595e-01 7.88697176e-02 4.88648376e-02 8.03280586e+02] [-7.86718342e-02 9.96882735e-01 -5.96275701e-03 -1.42910188e+02] [-4.91827940e-02 2.09275082e-03 9.98787602e-01 -5.08584270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.8207140569999 meters 0.028266773345360933 Centerline is valid? [True, True] Translation: X:803.31, Y:-142.92, Z:-50.86 [[ 9.95757337e-01 7.79439152e-02 4.89088119e-02 8.03307886e+02] [-7.77447298e-02 9.96955455e-01 -5.96469760e-03 -1.42917140e+02] [-4.92248187e-02 2.13698903e-03 9.98785438e-01 -5.08609307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.8507140569999 meters 0.02836705214715801 Centerline is valid? [True, True] Translation: X:803.34, Y:-142.92, Z:-50.86 [[ 9.95900203e-01 7.62186809e-02 4.87185549e-02 8.03335901e+02] [-7.60192075e-02 9.97088678e-01 -5.93695015e-03 -1.42923307e+02] [-4.90292260e-02 2.20906393e-03 9.98794901e-01 -5.08627696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.880714057 meters 0.02873627915822517 Centerline is valid? [True, True] Translation: X:803.36, Y:-142.93, Z:-50.86 [[ 9.95982460e-01 7.53157773e-02 4.84404066e-02 8.03363672e+02] [-7.51176749e-02 9.97157223e-01 -5.89971735e-03 -1.42928992e+02] [-4.87470432e-02 2.23728428e-03 9.98808651e-01 -5.08644581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.910714057 meters 0.030813225887516567 Centerline is valid? [True, True] Translation: X:803.39, Y:-142.94, Z:-50.87 [[ 9.96096018e-01 7.36520029e-02 4.86631789e-02 8.03390078e+02] [-7.34503013e-02 9.97281292e-01 -5.92258916e-03 -1.42937721e+02] [-4.89670885e-02 2.32514233e-03 9.98797686e-01 -5.08663013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.9407140569999 meters 0.03140971649247516 Centerline is valid? [True, True] Translation: X:803.42, Y:-142.94, Z:-50.87 [[ 9.96139420e-01 7.29937644e-02 4.87664425e-02 8.03418488e+02] [-7.27906929e-02 9.97329612e-01 -5.92957186e-03 -1.42942820e+02] [-4.90690389e-02 2.35693714e-03 9.98792608e-01 -5.08680133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.9707140569999 meters 0.029127864898734812 Centerline is valid? [True, True] Translation: X:803.45, Y:-142.94, Z:-50.87 [[ 9.96124777e-01 7.27278407e-02 4.94579588e-02 8.03447300e+02] [-7.25188098e-02 9.97348936e-01 -6.01018099e-03 -1.42943448e+02] [-4.97639500e-02 2.40025789e-03 9.98758123e-01 -5.08679181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.000714057 meters 0.031726418276141755 Centerline is valid? [True, True] Translation: X:803.47, Y:-142.95, Z:-50.87 [[ 9.96070823e-01 7.29423344e-02 5.02228166e-02 8.03474083e+02] [-7.27272364e-02 9.97333217e-01 -6.09951432e-03 -1.42951801e+02] [-5.05337960e-02 2.42298159e-03 9.98719412e-01 -5.08696164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.030714057 meters 0.028604023286240895 Centerline is valid? [True, True] Translation: X:803.50, Y:-142.95, Z:-50.87 [[ 9.95977660e-01 7.37428342e-02 5.08969069e-02 8.03502808e+02] [-7.35232057e-02 9.97274380e-01 -6.17658081e-03 -1.42951116e+02] [-5.12136598e-02 2.40963275e-03 9.98684813e-01 -5.08699412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.0607140569999 meters 0.030771125347194107 Centerline is valid? [True, True] Translation: X:803.53, Y:-142.96, Z:-50.87 [[ 9.96018454e-01 7.35231448e-02 5.04141517e-02 8.03530223e+02] [-7.33075662e-02 9.97290637e-01 -6.11445660e-03 -1.42958826e+02] [-5.07271155e-02 2.39437284e-03 9.98709681e-01 -5.08725759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.0907140569999 meters 0.02995214280527461 Centerline is valid? [True, True] Translation: X:803.56, Y:-142.96, Z:-50.87 [[ 9.96044580e-01 7.34791760e-02 4.99600449e-02 8.03558948e+02] [-7.32676464e-02 9.97293935e-01 -6.05472870e-03 -1.42961757e+02] [-5.02697462e-02 2.37032480e-03 9.98732864e-01 -5.08748590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.120714057 meters 0.02926488574159685 Centerline is valid? [True, True] Translation: X:803.59, Y:-142.97, Z:-50.88 [[ 9.96188122e-01 7.26900689e-02 4.82221896e-02 8.03587337e+02] [-7.24922505e-02 9.97351873e-01 -5.84082637e-03 -1.42965268e+02] [-4.85190612e-02 2.32282680e-03 9.98819556e-01 -5.08778900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.150714057 meters 0.0298138433076147 Centerline is valid? [True, True] Translation: X:803.62, Y:-142.97, Z:-50.88 [[ 9.96192083e-01 7.27031648e-02 4.81205150e-02 8.03616099e+02] [-7.25063651e-02 9.97350939e-01 -5.82501767e-03 -1.42969762e+02] [-4.84165381e-02 2.31379285e-03 9.98824552e-01 -5.08801245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.1807140569999 meters 0.029737915213045214 Centerline is valid? [True, True] Translation: X:803.64, Y:-142.97, Z:-50.88 [[ 9.96082664e-01 7.39635535e-02 4.84635863e-02 8.03643376e+02] [-7.37655875e-02 9.97258372e-01 -5.86316643e-03 -1.42974047e+02] [-4.87643778e-02 2.26525352e-03 9.98807741e-01 -5.08818520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.2107140569999 meters 0.02932662979503764 Centerline is valid? [True, True] Translation: X:803.67, Y:-142.98, Z:-50.88 [[ 9.96005336e-01 7.49118775e-02 4.85960979e-02 8.03672280e+02] [-7.47141748e-02 9.97187686e-01 -5.87464850e-03 -1.42976955e+02] [-4.88995113e-02 2.22036391e-03 9.98801235e-01 -5.08834818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.2407140569999 meters 0.028612698714936855 Centerline is valid? [True, True] Translation: X:803.70, Y:-142.98, Z:-50.88 [[ 9.95912088e-01 7.59860274e-02 4.88388911e-02 8.03701280e+02] [-7.57878035e-02 9.97106510e-01 -5.90048174e-03 -1.42979395e+02] [-4.91459305e-02 2.17496880e-03 9.98789241e-01 -5.08842788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.270714057 meters 0.028621977486497127 Centerline is valid? [True, True] Translation: X:803.73, Y:-142.98, Z:-50.89 [[ 9.95723342e-01 7.82653112e-02 4.90873423e-02 8.03728824e+02] [-7.80679947e-02 9.96930418e-01 -5.92708445e-03 -1.42982085e+02] [-4.94005497e-02 2.06958596e-03 9.98776903e-01 -5.08857480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.3007140569999 meters 0.028852771110069612 Centerline is valid? [True, True] Translation: X:803.76, Y:-142.99, Z:-50.89 [[ 9.95645180e-01 7.93934096e-02 4.88606469e-02 8.03756915e+02] [-7.91994900e-02 9.96841355e-01 -5.89520486e-03 -1.42985319e+02] [-4.91743538e-02 1.99979399e-03 9.98788208e-01 -5.08874129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.3307140569999 meters 0.027646702396513307 Centerline is valid? [True, True] Translation: X:803.79, Y:-142.99, Z:-50.89 [[ 9.95459862e-01 8.13266982e-02 4.94533201e-02 8.03785622e+02] [-8.11305969e-02 9.96685641e-01 -5.96318968e-03 -1.42987209e+02] [-4.97743805e-02 1.92393860e-03 9.98758634e-01 -5.08891070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.3607140569999 meters 0.025794569075884035 Centerline is valid? [True, True] Translation: X:803.81, Y:-142.99, Z:-50.89 [[ 9.95430320e-01 8.15971468e-02 4.96022563e-02 8.03814860e+02] [-8.14003706e-02 9.96663558e-01 -5.97766349e-03 -1.42986742e+02] [-4.99245215e-02 1.91270543e-03 9.98751162e-01 -5.08901641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.390714057 meters 0.02745998287952423 Centerline is valid? [True, True] Translation: X:803.84, Y:-142.99, Z:-50.89 [[ 9.95335030e-01 8.21947375e-02 5.05193380e-02 8.03842024e+02] [-8.19915687e-02 9.96614450e-01 -6.08445438e-03 -1.42994392e+02] [-5.08484124e-02 1.91391081e-03 9.98704549e-01 -5.08926144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.4207140569999 meters 0.026349739501096734 Centerline is valid? [True, True] Translation: X:803.87, Y:-143.00, Z:-50.89 [[ 9.95235119e-01 8.28351803e-02 5.14333622e-02 8.03870540e+02] [-8.26256975e-02 9.96561430e-01 -6.18955961e-03 -1.42996249e+02] [-5.17692182e-02 1.91034967e-03 9.98657248e-01 -5.08938495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.4507140569999 meters 0.026493638588453054 Centerline is valid? [True, True] Translation: X:803.90, Y:-143.00, Z:-50.90 [[ 9.95207023e-01 8.30008845e-02 5.17091381e-02 8.03898832e+02] [-8.27895669e-02 9.96547647e-01 -6.21897423e-03 -1.43000749e+02] [-5.20468002e-02 1.90818969e-03 9.98642824e-01 -5.08956389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.4807140569999 meters 0.026114120751826522 Centerline is valid? [True, True] Translation: X:803.93, Y:-143.00, Z:-50.90 [[ 9.95124955e-01 8.35096271e-02 5.24639474e-02 8.03927752e+02] [-8.32929968e-02 9.96505149e-01 -6.30592309e-03 -1.43003964e+02] [-5.28071990e-02 1.90530202e-03 9.98602909e-01 -5.08970110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.510714057 meters 0.025460984803118744 Centerline is valid? [True, True] Translation: X:803.96, Y:-143.01, Z:-50.90 [[ 9.94940093e-01 8.47501141e-02 5.39595101e-02 8.03956628e+02] [-8.45229842e-02 9.96400448e-01 -6.48163535e-03 -1.43007298e+02] [-5.43145994e-02 1.88802006e-03 9.98522088e-01 -5.08980574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.540714057 meters 0.025473557629631154 Centerline is valid? [True, True] Translation: X:803.99, Y:-143.01, Z:-50.90 [[ 9.94808640e-01 8.57357676e-02 5.48192294e-02 8.03985284e+02] [-8.55030560e-02 9.96316175e-01 -6.58077840e-03 -1.43011256e+02] [-5.51814931e-02 1.85940357e-03 9.98474609e-01 -5.08995784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.5707140569999 meters 0.025328675130686665 Centerline is valid? [True, True] Translation: X:804.01, Y:-143.02, Z:-50.90 [[ 9.94551336e-01 8.80985132e-02 5.57341255e-02 8.04012389e+02] [-8.78618951e-02 9.96110224e-01 -6.68647192e-03 -1.43016440e+02] [-5.61064005e-02 1.75313369e-03 9.98423256e-01 -5.09010972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.6007140569999 meters 0.024960188462420003 Centerline is valid? [True, True] Translation: X:804.04, Y:-143.02, Z:-50.90 [[ 9.94508584e-01 8.88624711e-02 5.52823448e-02 8.04041480e+02] [-8.86311381e-02 9.96042470e-01 -6.62720696e-03 -1.43019090e+02] [-5.56524733e-02 1.69107707e-03 9.98448768e-01 -5.09030399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.630714057 meters 0.025323358776255977 Centerline is valid? [True, True] Translation: X:804.07, Y:-143.02, Z:-50.91 [[ 9.94487969e-01 8.92587002e-02 5.50142128e-02 8.04068410e+02] [-8.90303748e-02 9.96007096e-01 -6.59215379e-03 -1.43023688e+02] [-5.53829535e-02 1.65788165e-03 9.98463810e-01 -5.09050540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.660714057 meters 0.025323358776255977 Centerline is valid? [True, True] Translation: X:804.10, Y:-143.03, Z:-50.91 [[ 9.94494255e-01 8.91882756e-02 5.50148062e-02 8.04096490e+02] [-8.89601166e-02 9.96013407e-01 -6.58719783e-03 -1.43026992e+02] [-5.53829854e-02 1.65680682e-03 9.98463810e-01 -5.09066937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.6907140569999 meters 0.025535631232237788 Centerline is valid? [True, True] Translation: X:804.13, Y:-143.03, Z:-50.91 [[ 9.94512043e-01 8.94757886e-02 5.42206625e-02 8.04125014e+02] [-8.92548116e-02 9.95987691e-01 -6.48828476e-03 -1.43032229e+02] [-5.45836569e-02 1.61322231e-03 9.98507898e-01 -5.09098901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.7207140569999 meters 0.025888356598098787 Centerline is valid? [True, True] Translation: X:804.15, Y:-143.04, Z:-50.91 [[ 9.94597325e-01 8.87213951e-02 5.38950439e-02 8.04153048e+02] [-8.85021693e-02 9.96055130e-01 -6.44548809e-03 -1.43037660e+02] [-5.42542876e-02 1.64083692e-03 9.98525803e-01 -5.09123402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.750714057 meters 0.027944308835656913 Centerline is valid? [True, True] Translation: X:804.18, Y:-143.05, Z:-50.91 [[ 9.94877706e-01 8.56023462e-02 5.37641872e-02 8.04180283e+02] [-8.53798436e-02 9.96327752e-01 -6.42602680e-03 -1.43047831e+02] [-5.41168347e-02 1.80273290e-03 9.98532983e-01 -5.09147337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.780714057 meters 0.028869801210052587 Centerline is valid? [True, True] Translation: X:804.21, Y:-143.05, Z:-50.92 [[ 9.95016417e-01 8.35716658e-02 5.43884861e-02 8.04208682e+02] [-8.33411453e-02 9.96499898e-01 -6.49675548e-03 -1.43053941e+02] [-5.47410655e-02 1.93157964e-03 9.98498715e-01 -5.09160904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.8107140569999 meters 0.027107713190258502 Centerline is valid? [True, True] Translation: X:804.24, Y:-143.05, Z:-50.92 [[ 9.95175803e-01 8.14738841e-02 5.46546246e-02 8.04237821e+02] [-8.12381460e-02 9.96673362e-01 -6.52484316e-03 -1.43054373e+02] [-5.50044127e-02 2.05332565e-03 9.98484000e-01 -5.09172485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.8407140569999 meters 0.028963757728078767 Centerline is valid? [True, True] Translation: X:804.27, Y:-143.06, Z:-50.92 [[ 9.95558492e-01 7.68052616e-02 5.44448512e-02 8.04266524e+02] [-7.65645895e-02 9.97043464e-01 -6.49568907e-03 -1.43062280e+02] [-5.47827862e-02 2.29829072e-03 9.98495651e-01 -5.09187514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.870714057 meters 0.030614119766412463 Centerline is valid? [True, True] Translation: X:804.30, Y:-143.07, Z:-50.92 [[ 9.95881848e-01 7.24008721e-02 5.45660867e-02 8.04296268e+02] [-7.21525875e-02 9.97372366e-01 -6.50911393e-03 -1.43069309e+02] [-5.48939725e-02 2.54522407e-03 9.98488945e-01 -5.09206222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.900714057 meters 0.029835650990297977 Centerline is valid? [True, True] Translation: X:804.33, Y:-143.07, Z:-50.92 [[ 9.96053180e-01 7.00380037e-02 5.45228509e-02 8.04326486e+02] [-6.97865830e-02 9.97540742e-01 -6.50395639e-03 -1.43072253e+02] [-5.48442893e-02 2.67332299e-03 9.98491341e-01 -5.09219010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.9307140569999 meters 0.03275849825253344 Centerline is valid? [True, True] Translation: X:804.36, Y:-143.08, Z:-50.92 [[ 9.96431818e-01 6.44917398e-02 5.44467499e-02 8.04355392e+02] [-6.42327644e-02 9.97913808e-01 -6.49492344e-03 -1.43080909e+02] [-5.47520324e-02 2.97448311e-03 9.98495552e-01 -5.09236843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.9607140569999 meters 0.033610175043527264 Centerline is valid? [True, True] Translation: X:804.39, Y:-143.09, Z:-50.93 [[ 9.96538822e-01 6.17861835e-02 5.56133465e-02 8.04385715e+02] [-6.15118312e-02 9.98084313e-01 -6.63316918e-03 -1.43085725e+02] [-5.59166470e-02 3.18933182e-03 9.98430347e-01 -5.09251263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.9907140569999 meters 0.03550008247740189 Centerline is valid? [True, True] Translation: X:804.42, Y:-143.09, Z:-50.93 [[ 9.96655337e-01 5.93556568e-02 5.61697959e-02 8.04415316e+02] [-5.90718772e-02 9.98231244e-01 -6.70056740e-03 -1.43092745e+02] [-5.64681618e-02 3.36010097e-03 9.98398746e-01 -5.09259648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.020714057 meters 0.0370345577404929 Centerline is valid? [True, True] Translation: X:804.45, Y:-143.10, Z:-50.93 [[ 9.96819966e-01 5.57444832e-02 5.69430295e-02 8.04446040e+02] [-5.54469004e-02 9.98438523e-01 -6.79384631e-03 -1.43098514e+02] [-5.72328338e-02 3.61492716e-03 9.98354313e-01 -5.09270303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.0507140569999 meters 0.03455058060442707 Centerline is valid? [True, True] Translation: X:804.48, Y:-143.10, Z:-50.93 [[ 9.96820428e-01 5.51413770e-02 5.75192440e-02 8.04478196e+02] [-5.48366739e-02 9.98471747e-01 -6.86362016e-03 -1.43098875e+02] [-5.78098095e-02 3.68763275e-03 9.98320804e-01 -5.09285505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.0807140569999 meters 0.037467074624778426 Centerline is valid? [True, True] Translation: X:804.51, Y:-143.11, Z:-50.93 [[ 9.96876016e-01 5.43603318e-02 5.72988990e-02 8.04508563e+02] [-5.40558243e-02 9.98514405e-01 -6.85213164e-03 -1.43106250e+02] [-5.75862602e-02 3.73338647e-03 9.98333554e-01 -5.09299596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.1107140569999 meters 0.03817705677589433 Centerline is valid? [True, True] Translation: X:804.54, Y:-143.11, Z:-50.93 [[ 9.96879637e-01 5.41483109e-02 5.74364873e-02 8.04540773e+02] [-5.38411912e-02 9.98525793e-01 -6.88234840e-03 -1.43110509e+02] [-5.77244816e-02 3.76842408e-03 9.98325440e-01 -5.09325053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.140714057 meters 0.037423306497027346 Centerline is valid? [True, True] Translation: X:804.57, Y:-143.11, Z:-50.94 [[ 9.96989375e-01 5.36486195e-02 5.59822503e-02 8.04573122e+02] [-5.33553253e-02 9.98552967e-01 -6.72169847e-03 -1.43112969e+02] [-5.62618520e-02 3.71451078e-03 9.98409138e-01 -5.09364481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.1707140569999 meters 0.037534438772748424 Centerline is valid? [True, True] Translation: X:804.61, Y:-143.12, Z:-50.94 [[ 9.97039965e-01 5.37966777e-02 5.49292742e-02 8.04605794e+02] [-5.35138052e-02 9.98545240e-01 -6.60875297e-03 -1.43116566e+02] [-5.52048943e-02 3.64971635e-03 9.98468377e-01 -5.09397390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.2007140569999 meters 0.035143937102257446 Centerline is valid? [True, True] Translation: X:804.64, Y:-143.11, Z:-50.94 [[ 9.97210023e-01 5.34565566e-02 5.21014944e-02 8.04638298e+02] [-5.32008778e-02 9.98564065e-01 -6.28288869e-03 -1.43114681e+02] [-5.23625416e-02 3.49351434e-03 9.98622030e-01 -5.09429480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.2307140569999 meters 0.042859172076203315 Centerline is valid? [True, True] Translation: X:804.67, Y:-143.13, Z:-50.95 [[ 9.97257368e-01 5.38997427e-02 5.07204056e-02 8.04668742e+02] [-5.36573750e-02 9.98540595e-01 -6.12906303e-03 -1.43128900e+02] [-5.09767389e-02 3.39072945e-03 9.98694085e-01 -5.09464264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.260714057 meters 0.03597217485204676 Centerline is valid? [True, True] Translation: X:804.70, Y:-143.12, Z:-50.95 [[ 9.97249688e-01 5.44856358e-02 5.02431712e-02 8.04702610e+02] [-5.42478479e-02 9.98508958e-01 -6.08532595e-03 -1.43121258e+02] [-5.04998194e-02 3.34300550e-03 9.98718475e-01 -5.09469862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.290714057 meters 0.03588358926486968 Centerline is valid? [True, True] Translation: X:804.74, Y:-143.12, Z:-50.95 [[ 9.97207713e-01 5.50912912e-02 5.04155399e-02 8.04735033e+02] [-5.48519749e-02 9.98475746e-01 -6.11925690e-03 -1.43121691e+02] [-5.06758116e-02 3.33677825e-03 9.98709581e-01 -5.09478919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.3207140569999 meters 0.03574433906398866 Centerline is valid? [True, True] Translation: X:804.77, Y:-143.12, Z:-50.95 [[ 9.97130493e-01 5.60046243e-02 5.09338953e-02 8.04767078e+02] [-5.57608595e-02 9.98424931e-01 -6.19547692e-03 -1.43124546e+02] [-5.12006463e-02 3.33758118e-03 9.98682810e-01 -5.09491343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.3507140569999 meters 0.037911428412916504 Centerline is valid? [True, True] Translation: X:804.80, Y:-143.13, Z:-50.95 [[ 9.96997414e-01 5.77281833e-02 5.16102041e-02 8.04797028e+02] [-5.74794486e-02 9.98326862e-01 -6.29205886e-03 -1.43129254e+02] [-5.18870823e-02 3.30664034e-03 9.98647484e-01 -5.09499873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.380714057 meters 0.03443102548558437 Centerline is valid? [True, True] Translation: X:804.83, Y:-143.13, Z:-50.95 [[ 9.96889606e-01 5.93037347e-02 5.19055043e-02 8.04829099e+02] [-5.90539478e-02 9.98234697e-01 -6.33418042e-03 -1.43126893e+02] [-5.21895159e-02 3.24925368e-03 9.98631913e-01 -5.09508815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.410714057 meters 0.035218075530316056 Centerline is valid? [True, True] Translation: X:804.86, Y:-143.13, Z:-50.95 [[ 9.96788492e-01 6.07944240e-02 5.21223567e-02 8.04859766e+02] [-6.05444695e-02 9.98145222e-01 -6.36259373e-03 -1.43130083e+02] [-5.24124915e-02 3.18643978e-03 9.98620437e-01 -5.09527261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.4407140569999 meters 0.03520983092133518 Centerline is valid? [True, True] Translation: X:804.89, Y:-143.13, Z:-50.96 [[ 9.96611640e-01 6.39803597e-02 5.16889942e-02 8.04889550e+02] [-6.37387059e-02 9.97946661e-01 -6.31179037e-03 -1.43131319e+02] [-5.19866898e-02 2.99581415e-03 9.98643284e-01 -5.09551080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.4707140569999 meters 0.03534854275997071 Centerline is valid? [True, True] Translation: X:804.92, Y:-143.13, Z:-50.96 [[ 9.96512981e-01 6.56572766e-02 5.14878685e-02 8.04918909e+02] [-6.54197456e-02 9.97838029e-01 -6.28695223e-03 -1.43133950e+02] [-5.17893373e-02 2.89670625e-03 9.98653831e-01 -5.09565623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.500714057 meters 0.03332788108615213 Centerline is valid? [True, True] Translation: X:804.95, Y:-143.13, Z:-50.96 [[ 9.96444736e-01 6.65170052e-02 5.17047076e-02 8.04949349e+02] [-6.62784789e-02 9.97781173e-01 -6.31613810e-03 -1.43133183e+02] [-5.20101144e-02 2.86677319e-03 9.98642443e-01 -5.09575365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.530714057 meters 0.03280537436045587 Centerline is valid? [True, True] Translation: X:804.98, Y:-143.14, Z:-50.96 [[ 9.96306083e-01 6.78250507e-02 5.26683095e-02 8.04979227e+02] [-6.75793523e-02 9.97693157e-01 -6.43402219e-03 -1.43135613e+02] [-5.29831998e-02 2.85096520e-03 9.98591334e-01 -5.09582435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.5607140569999 meters 0.03364738139570983 Centerline is valid? [True, True] Translation: X:805.01, Y:-143.14, Z:-50.96 [[ 9.96281923e-01 6.78312385e-02 5.31154772e-02 8.05008788e+02] [-6.75814709e-02 9.97692673e-01 -6.48646792e-03 -1.43140501e+02] [-5.34329076e-02 2.87272865e-03 9.98567310e-01 -5.09598387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.5907140569999 meters 0.033995262413169046 Centerline is valid? [True, True] Translation: X:805.04, Y:-143.14, Z:-50.96 [[ 9.96234221e-01 6.85249836e-02 5.31197149e-02 8.05038053e+02] [-6.82760997e-02 9.97645367e-01 -6.48808906e-03 -1.43144667e+02] [-5.34392337e-02 2.83684940e-03 9.98567074e-01 -5.09609831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.620714057 meters 0.03414665408968294 Centerline is valid? [True, True] Translation: X:805.07, Y:-143.15, Z:-50.96 [[ 9.96277605e-01 6.84216192e-02 5.24348785e-02 8.05067458e+02] [-6.81790196e-02 9.97652552e-01 -6.40361185e-03 -1.43147839e+02] [-5.27499358e-02 2.80481646e-03 9.98603814e-01 -5.09622113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.650714057 meters 0.03419188332317415 Centerline is valid? [True, True] Translation: X:805.10, Y:-143.15, Z:-50.96 [[ 9.96291241e-01 6.85217115e-02 5.20436241e-02 8.05097023e+02] [-6.82829547e-02 9.97645761e-01 -6.35400416e-03 -1.43150792e+02] [-5.23564882e-02 2.77674626e-03 9.98624598e-01 -5.09645786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.6807140569999 meters 0.03472041762596514 Centerline is valid? [True, True] Translation: X:805.13, Y:-143.15, Z:-50.97 [[ 9.96217789e-01 7.03604694e-02 5.09854994e-02 8.05125040e+02] [-7.01338169e-02 9.97518180e-01 -6.22316900e-03 -1.43154233e+02] [-5.12968276e-02 2.62382399e-03 9.98680004e-01 -5.09667183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.7107140569999 meters 0.03488295007107319 Centerline is valid? [True, True] Translation: X:805.15, Y:-143.16, Z:-50.97 [[ 9.96246407e-01 7.06426686e-02 5.00270950e-02 8.05153809e+02] [-7.04249503e-02 9.97498407e-01 -6.10360840e-03 -1.43157892e+02] [-5.03331227e-02 2.55754226e-03 9.98729210e-01 -5.09689890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.7407140569999 meters 0.03492124231660147 Centerline is valid? [True, True] Translation: X:805.18, Y:-143.16, Z:-50.97 [[ 9.96264015e-01 7.08753854e-02 4.93425952e-02 8.05182212e+02] [-7.06639927e-02 9.97482024e-01 -6.01771706e-03 -1.43161131e+02] [-4.96448597e-02 2.50849018e-03 9.98763784e-01 -5.09714653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.770714057 meters 0.034684490274580315 Centerline is valid? [True, True] Translation: X:805.21, Y:-143.16, Z:-50.97 [[ 9.96332668e-01 7.08777209e-02 4.79329063e-02 8.05210440e+02] [-7.06784013e-02 9.97482044e-01 -5.84262124e-03 -1.43163321e+02] [-4.82263250e-02 2.43337323e-03 9.98833470e-01 -5.09740378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.8007140569999 meters 0.03316255360540645 Centerline is valid? [True, True] Translation: X:805.24, Y:-143.16, Z:-50.98 [[ 9.96429578e-01 7.00004158e-02 4.72021003e-02 8.05239286e+02] [-6.98063021e-02 9.97543991e-01 -5.75037982e-03 -1.43163403e+02] [-4.74887005e-02 2.43484446e-03 9.98868808e-01 -5.09755981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.8307140569999 meters 0.03356732305504557 Centerline is valid? [True, True] Translation: X:805.27, Y:-143.17, Z:-50.98 [[ 9.96615754e-01 6.76514567e-02 4.66938848e-02 8.05268495e+02] [-6.74591057e-02 9.97705844e-01 -5.68481692e-03 -1.43167069e+02] [-4.69713479e-02 2.51565039e-03 9.98893069e-01 -5.09774223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.8607140569999 meters 0.03324258221956554 Centerline is valid? [True, True] Translation: X:805.30, Y:-143.17, Z:-50.98 [[ 9.96724758e-01 6.62411395e-02 4.63882303e-02 8.05297678e+02] [-6.60498552e-02 9.97800351e-01 -5.64596342e-03 -1.43169686e+02] [-4.66601875e-02 2.56353563e-03 9.98907531e-01 -5.09790548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.890714057 meters 0.03227308411062127 Centerline is valid? [True, True] Translation: X:805.33, Y:-143.17, Z:-50.98 [[ 9.96866843e-01 6.41750043e-02 4.62392267e-02 8.05327040e+02] [-6.39828007e-02 9.97935141e-01 -5.62637810e-03 -1.43171364e+02] [-4.65048221e-02 2.65023455e-03 9.98914550e-01 -5.09796513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.9207140569999 meters 0.035668826472915 Centerline is valid? [True, True] Translation: X:805.36, Y:-143.18, Z:-50.98 [[ 9.97039019e-01 6.11457106e-02 4.66304319e-02 8.05355675e+02] [-6.09470814e-02 9.98124889e-01 -5.67091792e-03 -1.43180556e+02] [-4.68897470e-02 2.81213772e-03 9.98896113e-01 -5.09814489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.9507140569999 meters 0.03634131372360931 Centerline is valid? [True, True] Translation: X:805.39, Y:-143.19, Z:-50.98 [[ 9.97123348e-01 5.96162246e-02 4.68074194e-02 8.05385280e+02] [-5.94144375e-02 9.98217175e-01 -5.69175765e-03 -1.43185220e+02] [-4.70632910e-02 2.89434795e-03 9.98887716e-01 -5.09825476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.9807140569999 meters 0.03649664921016965 Centerline is valid? [True, True] Translation: X:805.42, Y:-143.19, Z:-50.98 [[ 9.97230924e-01 5.71089002e-02 4.76346230e-02 8.05415366e+02] [-5.68971547e-02 9.98363253e-01 -5.79043442e-03 -1.43188338e+02] [-4.78873425e-02 3.06412576e-03 9.98848043e-01 -5.09821105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.010714057 meters 0.03742335815283438 Centerline is valid? [True, True] Translation: X:805.45, Y:-143.19, Z:-50.98 [[ 9.97281065e-01 5.59500255e-02 4.79590579e-02 8.05445848e+02] [-5.57341080e-02 9.98428633e-01 -5.82865721e-03 -1.43193233e+02] [-4.82098102e-02 3.13985416e-03 9.98832296e-01 -5.09835390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.040714057 meters 0.038651408511132176 Centerline is valid? [True, True] Translation: X:805.48, Y:-143.20, Z:-50.98 [[ 9.97318603e-01 5.51458346e-02 4.81096885e-02 8.05475570e+02] [-5.49275841e-02 9.98473216e-01 -5.84783245e-03 -1.43198468e+02] [-4.83587190e-02 3.18960313e-03 9.98824940e-01 -5.09847397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.0707140569999 meters 0.039190019079943315 Centerline is valid? [True, True] Translation: X:805.51, Y:-143.20, Z:-50.99 [[ 9.97378037e-01 5.43922020e-02 4.77340480e-02 8.05506562e+02] [-5.41764586e-02 9.98514516e-01 -5.80284465e-03 -1.43202008e+02] [-4.79787693e-02 3.20156813e-03 9.98843225e-01 -5.09862104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.1007140569999 meters 0.040086550416729386 Centerline is valid? [True, True] Translation: X:805.54, Y:-143.21, Z:-50.99 [[ 9.97366853e-01 5.49672446e-02 4.73071070e-02 8.05537036e+02] [-5.47559114e-02 9.98483199e-01 -5.75260453e-03 -1.43206368e+02] [-4.75515564e-02 3.14711331e-03 9.98863827e-01 -5.09884455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.130714057 meters 0.04021964387640256 Centerline is valid? [True, True] Translation: X:805.57, Y:-143.21, Z:-50.99 [[ 9.97329263e-01 5.59776442e-02 4.69131652e-02 8.05567338e+02] [-5.57708458e-02 9.98427288e-01 -5.70651966e-03 -1.43209723e+02] [-4.71588218e-02 3.07489214e-03 9.98882671e-01 -5.09903305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.160714057 meters 0.037153205498854903 Centerline is valid? [True, True] Translation: X:805.60, Y:-143.21, Z:-50.99 [[ 9.97286658e-01 5.75440688e-02 4.59129941e-02 8.05598744e+02] [-5.73476183e-02 9.98338646e-01 -5.58563368e-03 -1.43206516e+02] [-4.61581365e-02 2.93747708e-03 9.98929826e-01 -5.09917670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.1907140569999 meters 0.03504936583553933 Centerline is valid? [True, True] Translation: X:805.63, Y:-143.21, Z:-50.99 [[ 9.97263487e-01 5.82905257e-02 4.54725397e-02 8.05629586e+02] [-5.80985555e-02 9.98295519e-01 -5.53306573e-03 -1.43206161e+02] [-4.57175580e-02 2.87603555e-03 9.98950266e-01 -5.09933558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.2207140569999 meters 0.03657761151634987 Centerline is valid? [True, True] Translation: X:805.66, Y:-143.21, Z:-51.00 [[ 9.97272785e-01 5.97986437e-02 4.32563730e-02 8.05658406e+02] [-5.96263338e-02 9.98206888e-01 -5.26391781e-03 -1.43209830e+02] [-4.34935846e-02 2.67034304e-03 9.99050138e-01 -5.09958525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.250714057 meters 0.03459405255571518 Centerline is valid? [True, True] Translation: X:805.69, Y:-143.21, Z:-51.00 [[ 9.97270272e-01 6.02249453e-02 4.27195607e-02 8.05687765e+02] [-6.00573209e-02 9.98181398e-01 -5.19760410e-03 -1.43209537e+02] [-4.29548962e-02 2.61779369e-03 9.99073583e-01 -5.09975272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.280714057 meters 0.03530653247912439 Centerline is valid? [True, True] Translation: X:805.72, Y:-143.21, Z:-51.00 [[ 9.97330477e-01 6.03432057e-02 4.11171112e-02 8.05715615e+02] [-6.01881353e-02 9.98174528e-01 -5.00008773e-03 -1.43213015e+02] [-4.13437743e-02 2.51197763e-03 9.99141823e-01 -5.10000997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.3107140569999 meters 0.0338703570631761 Centerline is valid? [True, True] Translation: X:805.74, Y:-143.21, Z:-51.00 [[ 9.97281498e-01 6.18275039e-02 4.00870674e-02 8.05744641e+02] [-6.16814576e-02 9.98084000e-01 -4.87104630e-03 -1.43212456e+02] [-4.03114252e-02 2.38517561e-03 9.99184317e-01 -5.10013989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.3407140569999 meters 0.03592628030266496 Centerline is valid? [True, True] Translation: X:805.77, Y:-143.22, Z:-51.00 [[ 9.97256668e-01 6.25026459e-02 3.96554869e-02 8.05771509e+02] [-6.23603626e-02 9.98042079e-01 -4.81606127e-03 -1.43218302e+02] [-3.98788611e-02 2.32991867e-03 9.99201805e-01 -5.10035990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.370714057 meters 0.03361885537728692 Centerline is valid? [True, True] Translation: X:805.80, Y:-143.22, Z:-51.00 [[ 9.97058220e-01 6.56208110e-02 3.96082791e-02 8.05802020e+02] [-6.54815115e-02 9.97842212e-01 -4.80545930e-03 -1.43215986e+02] [-3.98381510e-02 2.19771271e-03 9.99203729e-01 -5.10036489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.400714057 meters 0.03282713849509518 Centerline is valid? [True, True] Translation: X:805.83, Y:-143.22, Z:-51.00 [[ 9.96930977e-01 6.75056946e-02 3.96435198e-02 8.05831448e+02] [-6.73676005e-02 9.97716626e-01 -4.81052402e-03 -1.43217531e+02] [-3.98777365e-02 2.12507161e-03 9.99202307e-01 -5.10046433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.4307140569999 meters 0.030592857405269666 Centerline is valid? [True, True] Translation: X:805.86, Y:-143.22, Z:-51.00 [[ 9.96676475e-01 7.04299847e-02 4.09343627e-02 8.05861649e+02] [-7.02854280e-02 9.97514581e-01 -4.96170096e-03 -1.43215969e+02] [-4.11820762e-02 2.06812142e-03 9.99149518e-01 -5.10046105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.4607140569999 meters 0.032369647727273854 Centerline is valid? [True, True] Translation: X:805.89, Y:-143.22, Z:-51.01 [[ 9.96632148e-01 7.11033268e-02 4.08494629e-02 8.05888480e+02] [-7.09599530e-02 9.97466878e-01 -4.95093620e-03 -1.43221886e+02] [-4.10980142e-02 2.03558621e-03 9.99153046e-01 -5.10066521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.4907140569999 meters 0.03064161212664297 Centerline is valid? [True, True] Translation: X:805.92, Y:-143.22, Z:-51.01 [[ 9.96601712e-01 7.11706882e-02 4.14700105e-02 8.05917505e+02] [-7.10231703e-02 9.97462026e-01 -5.02159702e-03 -1.43222473e+02] [-4.17221512e-02 2.05920056e-03 9.99127130e-01 -5.10067057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.520714057 meters 0.030883448988441396 Centerline is valid? [True, True] Translation: X:805.95, Y:-143.23, Z:-51.01 [[ 9.96641755e-01 6.97936101e-02 4.28259656e-02 8.05945995e+02] [-6.96351522e-02 9.97559064e-01 -5.18255738e-03 -1.43226838e+02] [-4.30831395e-02 2.18296045e-03 9.99069106e-01 -5.10064706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.5507140569999 meters 0.03158526895664364 Centerline is valid? [True, True] Translation: X:805.97, Y:-143.23, Z:-51.01 [[ 9.96702804e-01 6.85648013e-02 4.33865118e-02 8.05974818e+02] [-6.84011441e-02 9.97644100e-01 -5.24719310e-03 -1.43231379e+02] [-4.36440702e-02 2.26220503e-03 9.99044582e-01 -5.10078319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.5807140569999 meters 0.03158526895664364 Centerline is valid? [True, True] Translation: X:806.00, Y:-143.23, Z:-51.01 [[ 9.96707666e-01 6.84938521e-02 4.33868847e-02 8.06002921e+02] [-6.83302619e-02 9.97648974e-01 -5.24410757e-03 -1.43234716e+02] [-4.36440701e-02 2.26220502e-03 9.99044582e-01 -5.10094729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.6107140569999 meters 0.031857077291183526 Centerline is valid? [True, True] Translation: X:806.03, Y:-143.24, Z:-51.01 [[ 9.96776663e-01 6.66262409e-02 4.46903593e-02 8.06031686e+02] [-6.64509448e-02 9.97775090e-01 -5.39831097e-03 -1.43239660e+02] [-4.49505964e-02 2.41119379e-03 9.98986301e-01 -5.10103572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.640714057 meters 0.033055218990414185 Centerline is valid? [True, True] Translation: X:806.06, Y:-143.25, Z:-51.01 [[ 9.96809887e-01 6.59132360e-02 4.50054902e-02 8.06059014e+02] [-6.57348719e-02 9.97822332e-01 -5.43330501e-03 -1.43245461e+02] [-4.52656099e-02 2.45754202e-03 9.98971964e-01 -5.10124042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.6707140569999 meters 0.032879496654720355 Centerline is valid? [True, True] Translation: X:806.09, Y:-143.25, Z:-51.01 [[ 9.96868747e-01 6.52215140e-02 4.47085546e-02 8.06087891e+02] [-6.50449942e-02 9.97867758e-01 -5.39324246e-03 -1.43248770e+02] [-4.49649806e-02 2.46828718e-03 9.98985514e-01 -5.10141659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.7007140569999 meters 0.03378481010810543 Centerline is valid? [True, True] Translation: X:806.12, Y:-143.25, Z:-51.02 [[ 9.96883083e-01 6.52680367e-02 4.43193323e-02 8.06115464e+02] [-6.50947514e-02 9.97864781e-01 -5.34346208e-03 -1.43254269e+02] [-4.45734580e-02 2.44185104e-03 9.99003125e-01 -5.10171509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.7307140569999 meters 0.0337289880669957 Centerline is valid? [True, True] Translation: X:806.14, Y:-143.26, Z:-51.02 [[ 9.96889033e-01 6.54794638e-02 4.38713460e-02 8.06143927e+02] [-6.53100687e-02 9.97851023e-01 -5.28496867e-03 -1.43257364e+02] [-4.41231244e-02 2.40328669e-03 9.99023210e-01 -5.10194057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.760714057 meters 0.034177329782870906 Centerline is valid? [True, True] Translation: X:806.17, Y:-143.26, Z:-51.02 [[ 9.96871481e-01 6.61901686e-02 4.31985256e-02 8.06171835e+02] [-6.60267283e-02 9.97804300e-01 -5.20092815e-03 -1.43261722e+02] [-4.34479249e-02 2.33239964e-03 9.99052970e-01 -5.10220147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.790714057 meters 0.034388097798537465 Centerline is valid? [True, True] Translation: X:806.20, Y:-143.27, Z:-51.02 [[ 9.96849177e-01 6.66313181e-02 4.30347084e-02 8.06200045e+02] [-6.64696556e-02 9.97775010e-01 -5.17820639e-03 -1.43265204e+02] [-4.32839874e-02 2.30138853e-03 9.99060158e-01 -5.10242479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.8207140569999 meters 0.03283746210628064 Centerline is valid? [True, True] Translation: X:806.23, Y:-143.27, Z:-51.03 [[ 9.96842216e-01 6.68447427e-02 4.28646402e-02 8.06229164e+02] [-6.66846792e-02 9.97760784e-01 -5.15482019e-03 -1.43265831e+02] [-4.31132297e-02 2.28012759e-03 9.99067591e-01 -5.10253384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.8507140569999 meters 0.057710236080769875 Centerline is valid? [True, True] Translation: X:806.25, Y:-143.31, Z:-51.03 [[ 9.96470155e-01 7.00150509e-02 4.63154637e-02 8.06252916e+02] [-6.98317545e-02 9.97543256e-01 -5.56579942e-03 -1.43306427e+02] [-4.65913682e-02 2.31186292e-03 9.98911357e-01 -5.10348128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.880714057 meters 0.0344823365913769 Centerline is valid? [True, True] Translation: X:806.29, Y:-143.28, Z:-51.03 [[ 9.96584163e-01 6.95528731e-02 4.45241978e-02 8.06285981e+02] [-6.93830797e-02 9.97575747e-01 -5.34947126e-03 -1.43275595e+02] [-4.47883310e-02 2.24197237e-03 9.98993983e-01 -5.10300340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.910714057 meters 0.031001227391233642 Centerline is valid? [True, True] Translation: X:806.32, Y:-143.27, Z:-51.03 [[ 9.96299676e-01 7.27019096e-02 4.58408978e-02 8.06316244e+02] [-7.25254053e-02 9.97351378e-01 -5.50407904e-03 -1.43273285e+02] [-4.61196396e-02 2.15908247e-03 9.98933590e-01 -5.10303591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.9407140569999 meters 0.033327196951608386 Centerline is valid? [True, True] Translation: X:806.34, Y:-143.28, Z:-51.03 [[ 9.96198113e-01 7.36950428e-02 4.64581507e-02 8.06343631e+02] [-7.35148860e-02 9.97278527e-01 -5.57690946e-03 -1.43280654e+02] [-4.67427066e-02 2.14034102e-03 9.98904669e-01 -5.10334174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.9707140569999 meters 0.03340786717813744 Centerline is valid? [True, True] Translation: X:806.37, Y:-143.28, Z:-51.04 [[ 9.96092676e-01 7.46311698e-02 4.72183100e-02 8.06371035e+02] [-7.44462664e-02 9.97208936e-01 -5.66493569e-03 -1.43284276e+02] [-4.75093014e-02 2.12757407e-03 9.98868530e-01 -5.10354005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.000714057 meters 0.031276912681844626 Centerline is valid? [True, True] Translation: X:806.40, Y:-143.28, Z:-51.04 [[ 9.95989562e-01 7.53369080e-02 4.82611872e-02 8.06400159e+02] [-7.51447711e-02 9.97155849e-01 -5.78582486e-03 -1.43284650e+02] [-4.85598112e-02 2.13604530e-03 9.98817992e-01 -5.10364558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.030714057 meters 0.03099483433200374 Centerline is valid? [True, True] Translation: X:806.43, Y:-143.29, Z:-51.04 [[ 9.95908139e-01 7.56905487e-02 4.93752977e-02 8.06428610e+02] [-7.54900355e-02 9.97129007e-01 -5.91593157e-03 -1.43288653e+02] [-4.96813217e-02 2.16438142e-03 9.98762776e-01 -5.10379801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.0607140569999 meters 0.02879038066278973 Centerline is valid? [True, True] Translation: X:806.46, Y:-143.29, Z:-51.04 [[ 9.95903986e-01 7.49023171e-02 5.06447701e-02 8.06457190e+02] [-7.46905150e-02 9.97188322e-01 -6.06448175e-03 -1.43289151e+02] [-5.09566170e-02 2.25695759e-03 9.98698318e-01 -5.10385136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.0907140569999 meters 0.03027852066415866 Centerline is valid? [True, True] Translation: X:806.48, Y:-143.30, Z:-51.04 [[ 9.95929676e-01 7.43228388e-02 5.09921260e-02 8.06484298e+02] [-7.41075459e-02 9.97231584e-01 -6.10247309e-03 -1.43295852e+02] [-5.13045117e-02 2.29873273e-03 9.98680411e-01 -5.10402099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.120714057 meters 0.02920003232582804 Centerline is valid? [True, True] Translation: X:806.51, Y:-143.30, Z:-51.04 [[ 9.96003275e-01 7.32985841e-02 5.10371793e-02 8.06512795e+02] [-7.30818104e-02 9.97307275e-01 -6.10317030e-03 -1.43297285e+02] [-5.13471039e-02 2.34888814e-03 9.98678105e-01 -5.10418533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.150714057 meters 0.029509033225008054 Centerline is valid? [True, True] Translation: X:806.54, Y:-143.30, Z:-51.04 [[ 9.96170043e-01 7.09053801e-02 5.11632010e-02 8.06541224e+02] [-7.06845831e-02 9.97479977e-01 -6.11440809e-03 -1.43304036e+02] [-5.14678129e-02 2.47454064e-03 9.98671588e-01 -5.10445949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.1807140569999 meters 0.030427725986046473 Centerline is valid? [True, True] Translation: X:806.57, Y:-143.31, Z:-51.05 [[ 9.96311435e-01 6.91907403e-02 5.07559384e-02 8.06569558e+02] [-6.89713699e-02 9.97600216e-01 -6.06299312e-03 -1.43310045e+02] [-5.10536381e-02 2.53992278e-03 9.98692683e-01 -5.10473699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.2107140569999 meters 0.03223154372289168 Centerline is valid? [True, True] Translation: X:806.60, Y:-143.32, Z:-51.05 [[ 9.96508629e-01 6.72747918e-02 4.94434443e-02 8.06596649e+02] [-6.70644021e-02 9.97731182e-01 -5.90375805e-03 -1.43318382e+02] [-4.97284402e-02 2.56725081e-03 9.98759476e-01 -5.10510129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.2407140569999 meters 0.03316400038781811 Centerline is valid? [True, True] Translation: X:806.62, Y:-143.32, Z:-51.05 [[ 9.96576792e-01 6.65558327e-02 4.90409877e-02 8.06624484e+02] [-6.63481692e-02 9.97779371e-01 -5.85206953e-03 -1.43323678e+02] [-4.93215753e-02 2.57825693e-03 9.98779623e-01 -5.10533766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.270714057 meters 0.03340770230549234 Centerline is valid? [True, True] Translation: X:806.65, Y:-143.33, Z:-51.06 [[ 9.96641716e-01 6.59026699e-02 4.86017350e-02 8.06653412e+02] [-6.56980711e-02 9.97822709e-01 -5.79696160e-03 -1.43327799e+02] [-4.88779501e-02 2.58445352e-03 9.98801415e-01 -5.10558113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.3007140569999 meters 0.03109814811091674 Centerline is valid? [True, True] Translation: X:806.68, Y:-143.33, Z:-51.06 [[ 9.96605006e-01 6.65158034e-02 4.85191685e-02 8.06683511e+02] [-6.63127064e-02 9.97782117e-01 -5.78542529e-03 -1.43327953e+02] [-4.87963809e-02 2.54834643e-03 9.98805496e-01 -5.10564321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.3307140569999 meters 0.03437016771859542 Centerline is valid? [True, True] Translation: X:806.71, Y:-143.34, Z:-51.06 [[ 9.96530484e-01 6.74595401e-02 4.87463431e-02 8.06710834e+02] [-6.72557402e-02 9.97718848e-01 -5.81088186e-03 -1.43336870e+02] [-4.90271447e-02 2.51224952e-03 9.98794287e-01 -5.10587308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.3607140569999 meters 0.031123116468550985 Centerline is valid? [True, True] Translation: X:806.74, Y:-143.34, Z:-51.06 [[ 9.96278846e-01 7.01763519e-02 5.00373965e-02 8.06740627e+02] [-6.99651656e-02 9.97531620e-01 -5.96185073e-03 -1.43335807e+02] [-5.03322661e-02 2.43879103e-03 9.98729551e-01 -5.10587265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.390714057 meters 0.03013618650955275 Centerline is valid? [True, True] Translation: X:806.77, Y:-143.34, Z:-51.06 [[ 9.96093510e-01 7.19469603e-02 5.11991702e-02 8.06769895e+02] [-7.17282655e-02 9.97405567e-01 -6.09851558e-03 -1.43337965e+02] [-5.15051070e-02 2.40226412e-03 9.98669842e-01 -5.10594318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.4207140569999 meters 0.028367305269654752 Centerline is valid? [True, True] Translation: X:806.80, Y:-143.34, Z:-51.06 [[ 9.95936797e-01 7.36488985e-02 5.18240917e-02 8.06798647e+02] [-7.34272660e-02 9.97281487e-01 -6.17023766e-03 -1.43338099e+02] [-5.21376384e-02 2.33986536e-03 9.98637167e-01 -5.10600588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.4507140569999 meters 0.027839778209854615 Centerline is valid? [True, True] Translation: X:806.83, Y:-143.34, Z:-51.06 [[ 9.95694436e-01 7.65783846e-02 5.22335205e-02 8.06828304e+02] [-7.63574671e-02 9.97061138e-01 -6.21489994e-03 -1.43340535e+02] [-5.25559404e-02 2.19972196e-03 9.98615559e-01 -5.10614827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.4807140569999 meters 0.027696780994533866 Centerline is valid? [True, True] Translation: X:806.86, Y:-143.34, Z:-51.06 [[ 9.95618360e-01 7.75788743e-02 5.22072791e-02 8.06857052e+02] [-7.73596417e-02 9.96983912e-01 -6.21005373e-03 -1.43343745e+02] [-5.25315863e-02 2.14410710e-03 9.98616961e-01 -5.10631485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.510714057 meters 0.027813801480647493 Centerline is valid? [True, True] Translation: X:806.88, Y:-143.35, Z:-51.07 [[ 9.95576159e-01 7.83022824e-02 5.19313339e-02 8.06884799e+02] [-7.80865367e-02 9.96927470e-01 -6.17357482e-03 -1.43347680e+02] [-5.22551783e-02 2.09112590e-03 9.98631576e-01 -5.10653908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.540714057 meters 0.02710614162879639 Centerline is valid? [True, True] Translation: X:806.91, Y:-143.35, Z:-51.07 [[ 9.95554693e-01 7.87049155e-02 5.17338296e-02 8.06913347e+02] [-7.84916078e-02 9.96895834e-01 -6.14518435e-03 -1.43350398e+02] [-5.20568954e-02 2.05719566e-03 9.98642002e-01 -5.10667519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.5707140569999 meters 0.029019540739544165 Centerline is valid? [True, True] Translation: X:806.94, Y:-143.36, Z:-51.07 [[ 9.95522122e-01 7.94956341e-02 5.11483038e-02 8.06940471e+02] [-7.92883571e-02 9.96833229e-01 -6.07207188e-03 -1.43358635e+02] [-5.14690320e-02 1.98941691e-03 9.98672610e-01 -5.10698248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.6007140569999 meters 0.026633614427480246 Centerline is valid? [True, True] Translation: X:806.97, Y:-143.36, Z:-51.07 [[ 9.95510553e-01 7.95761262e-02 5.12482024e-02 8.06969222e+02] [-7.93683982e-02 9.96826817e-01 -6.07901409e-03 -1.43357337e+02] [-5.15693269e-02 1.98423495e-03 9.98667446e-01 -5.10710027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.630714057 meters 0.026846495148808987 Centerline is valid? [True, True] Translation: X:807.00, Y:-143.36, Z:-51.07 [[ 9.95328144e-01 8.13734102e-02 5.19639772e-02 8.06996960e+02] [-8.11624755e-02 9.96681848e-01 -6.16012878e-03 -1.43361290e+02] [-5.22928235e-02 1.91382452e-03 9.98629960e-01 -5.10724771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.660714057 meters 0.02682168589085198 Centerline is valid? [True, True] Translation: X:807.02, Y:-143.37, Z:-51.07 [[ 9.95258125e-01 8.21318028e-02 5.21117271e-02 8.07024118e+02] [-8.19209536e-02 9.96619713e-01 -6.17287232e-03 -1.43365009e+02] [-5.24425637e-02 1.87455895e-03 9.98622183e-01 -5.10738533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.6907140569999 meters 0.02653913961248665 Centerline is valid? [True, True] Translation: X:807.05, Y:-143.37, Z:-51.08 [[ 9.95214949e-01 8.28268844e-02 5.18354346e-02 8.07053134e+02] [-8.26194442e-02 9.96562282e-01 -6.13562657e-03 -1.43368187e+02] [-5.21654338e-02 1.82365248e-03 9.98636792e-01 -5.10758226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.7207140569999 meters 0.026196146246428558 Centerline is valid? [True, True] Translation: X:807.08, Y:-143.37, Z:-51.08 [[ 9.95195270e-01 8.33912972e-02 5.13056155e-02 8.07082027e+02] [-8.31891470e-02 9.96515309e-01 -6.06675770e-03 -1.43372690e+02] [-5.16327460e-02 1.76953818e-03 9.98664572e-01 -5.10785315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.750714057 meters 0.026647053522511652 Centerline is valid? [True, True] Translation: X:807.11, Y:-143.38, Z:-51.08 [[ 9.95230661e-01 8.33044452e-02 5.07572844e-02 8.07109552e+02] [-8.31066124e-02 9.96522603e-01 -5.99941067e-03 -1.43377661e+02] [-5.10805588e-02 1.75253148e-03 9.98692998e-01 -5.10808088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.780714057 meters 0.02626879207671851 Centerline is valid? [True, True] Translation: X:807.14, Y:-143.38, Z:-51.08 [[ 9.95210842e-01 8.34003111e-02 5.09879252e-02 8.07138329e+02] [-8.32010447e-02 9.96514587e-01 -6.02191354e-03 -1.43382683e+02] [-5.13124407e-02 1.75082500e-03 9.98681114e-01 -5.10825156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.8107140569999 meters 0.026495076225250706 Centerline is valid? [True, True] Translation: X:807.17, Y:-143.39, Z:-51.08 [[ 9.95131093e-01 8.37934482e-02 5.18918673e-02 8.07165642e+02] [-8.35877763e-02 9.96481595e-01 -6.12492354e-03 -1.43387922e+02] [-5.22225192e-02 1.75757606e-03 9.98633927e-01 -5.10840348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.8407140569999 meters 0.02675775593501483 Centerline is valid? [True, True] Translation: X:807.19, Y:-143.39, Z:-51.09 [[ 9.95102127e-01 8.38880250e-02 5.22929844e-02 8.07194500e+02] [-8.36795442e-02 9.96473631e-01 -6.16741478e-03 -1.43392470e+02] [-5.26259523e-02 1.76135447e-03 9.98612741e-01 -5.10856695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.870714057 meters 0.026202147034275057 Centerline is valid? [True, True] Translation: X:807.22, Y:-143.40, Z:-51.09 [[ 9.95048304e-01 8.39651246e-02 5.31858072e-02 8.07222649e+02] [-8.37497730e-02 9.96467098e-01 -6.26886076e-03 -1.43396722e+02] [-5.35242726e-02 1.78351999e-03 9.98564956e-01 -5.10866849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.900714057 meters 0.026027857398074724 Centerline is valid? [True, True] Translation: X:807.25, Y:-143.40, Z:-51.09 [[ 9.95060506e-01 8.36493017e-02 5.34545051e-02 8.07250637e+02] [-8.34315224e-02 9.96493620e-01 -6.29661658e-03 -1.43401089e+02] [-5.37937808e-02 1.80572374e-03 9.98550434e-01 -5.10882907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.9307140569999 meters 0.02712768168627507 Centerline is valid? [True, True] Translation: X:807.28, Y:-143.41, Z:-51.09 [[ 9.95195047e-01 8.24030627e-02 5.28824540e-02 8.07277073e+02] [-8.21883643e-02 9.96597369e-01 -6.22554964e-03 -1.43409470e+02] [-5.32155188e-02 1.84931377e-03 9.98581338e-01 -5.10909345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.9607140569999 meters 0.026732932482033626 Centerline is valid? [True, True] Translation: X:807.31, Y:-143.41, Z:-51.09 [[ 9.95320612e-01 8.11489298e-02 5.24569483e-02 8.07305303e+02] [-8.09362483e-02 9.96700186e-01 -6.16957919e-03 -1.43413130e+02] [-5.27845049e-02 1.89504074e-03 9.98604128e-01 -5.10932572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.9907140569999 meters 0.027239733948503864 Centerline is valid? [True, True] Translation: X:807.33, Y:-143.42, Z:-51.10 [[ 9.95452106e-01 7.99760766e-02 5.17584086e-02 8.07333540e+02] [-7.97676393e-02 9.96794920e-01 -6.08369557e-03 -1.43419039e+02] [-5.20790688e-02 1.92738150e-03 9.98641105e-01 -5.10952935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.020714057 meters 0.0281956613793657 Centerline is valid? [True, True] Translation: X:807.36, Y:-143.43, Z:-51.10 [[ 9.95666814e-01 7.69817298e-02 5.21671224e-02 8.07361436e+02] [-7.67660867e-02 9.97030299e-01 -6.12784556e-03 -1.43426720e+02] [-5.24839338e-02 2.09662662e-03 9.98619568e-01 -5.10965576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.0507140569999 meters 0.027957742028302954 Centerline is valid? [True, True] Translation: X:807.39, Y:-143.43, Z:-51.10 [[ 9.95721799e-01 7.59963015e-02 5.25610260e-02 8.07389751e+02] [-7.57761769e-02 9.97105756e-01 -6.17108317e-03 -1.43430348e+02] [-5.28778811e-02 2.16180843e-03 9.98598646e-01 -5.10978927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.0807140569999 meters 0.029205478730733998 Centerline is valid? [True, True] Translation: X:807.42, Y:-143.44, Z:-51.10 [[ 9.95738627e-01 7.54659900e-02 5.30044415e-02 8.07417695e+02] [-7.52415983e-02 9.97145940e-01 -6.21909583e-03 -1.43436595e+02] [-5.33224939e-02 2.20445504e-03 9.98574911e-01 -5.10992397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.1107140569999 meters 0.028077466920295103 Centerline is valid? [True, True] Translation: X:807.45, Y:-143.44, Z:-51.10 [[ 9.95636490e-01 7.61093632e-02 5.39939268e-02 8.07446575e+02] [-7.58775627e-02 9.97097030e-01 -6.33311615e-03 -1.43438329e+02] [-5.43191935e-02 2.20855397e-03 9.98521180e-01 -5.10993012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.140714057 meters 0.02750686357012998 Centerline is valid? [True, True] Translation: X:807.48, Y:-143.44, Z:-51.10 [[ 9.95518492e-01 7.71337679e-02 5.47111823e-02 8.07475945e+02] [-7.68975325e-02 9.97018376e-01 -6.41310076e-03 -1.43441028e+02] [-5.50427208e-02 2.17720548e-03 9.98481627e-01 -5.11005004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.1707140569999 meters 0.027834629571644842 Centerline is valid? [True, True] Translation: X:807.50, Y:-143.44, Z:-51.10 [[ 9.95474858e-01 7.76327008e-02 5.47993760e-02 8.07504223e+02] [-7.73965647e-02 9.96979707e-01 -6.42147986e-03 -1.43444714e+02] [-5.51323827e-02 2.15113830e-03 9.98476736e-01 -5.11022897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.2007140569999 meters 0.027718931709531217 Centerline is valid? [True, True] Translation: X:807.53, Y:-143.45, Z:-51.10 [[ 9.95387619e-01 7.85074908e-02 5.51367593e-02 8.07532813e+02] [-7.82699414e-02 9.96911285e-01 -6.45799692e-03 -1.43448866e+02] [-5.54734587e-02 2.11265926e-03 9.98457927e-01 -5.11041937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.2307140569999 meters 0.02735580798873456 Centerline is valid? [True, True] Translation: X:807.56, Y:-143.45, Z:-51.11 [[ 9.95418389e-01 7.85083224e-02 5.45772292e-02 8.07561743e+02] [-7.82757333e-02 9.96911271e-01 -6.38960842e-03 -1.43450925e+02] [-5.49102924e-02 2.08826109e-03 9.98489108e-01 -5.11064752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.260714057 meters 0.028835864756401597 Centerline is valid? [True, True] Translation: X:807.59, Y:-143.46, Z:-51.11 [[ 9.95476647e-01 7.80289431e-02 5.42008199e-02 8.07589594e+02] [-7.77990625e-02 9.96948891e-01 -6.34157303e-03 -1.43458218e+02] [-5.45302735e-02 2.09611489e-03 9.98509918e-01 -5.11101035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.290714057 meters 0.028009299067350547 Centerline is valid? [True, True] Translation: X:807.62, Y:-143.46, Z:-51.11 [[ 9.95717576e-01 7.51304781e-02 5.38694670e-02 8.07618853e+02] [-7.48993300e-02 9.97171200e-01 -6.29985244e-03 -1.43462177e+02] [-5.41903919e-02 2.23808682e-03 9.98528113e-01 -5.11129387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.3207140569999 meters 0.028635986868708586 Centerline is valid? [True, True] Translation: X:807.65, Y:-143.47, Z:-51.12 [[ 9.95877595e-01 7.25754174e-02 5.44116160e-02 8.07648326e+02] [-7.23358970e-02 9.97360042e-01 -6.36118268e-03 -1.43467587e+02] [-5.47296371e-02 2.39904627e-03 9.98498328e-01 -5.11151079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.3507140569999 meters 0.02882158281499084 Centerline is valid? [True, True] Translation: X:807.68, Y:-143.47, Z:-51.12 [[ 9.96014856e-01 7.03681725e-02 5.47971378e-02 8.07678463e+02] [-7.01219690e-02 9.97517861e-01 -6.40518903e-03 -1.43472387e+02] [-5.51118452e-02 2.53718024e-03 9.98476964e-01 -5.11170172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.380714057 meters 0.030766534716554685 Centerline is valid? [True, True] Translation: X:807.71, Y:-143.48, Z:-51.12 [[ 9.96147516e-01 6.82578840e-02 5.50544150e-02 8.07708004e+02] [-6.80061553e-02 9.97664148e-01 -6.43510760e-03 -1.43480074e+02] [-5.53650629e-02 2.66627735e-03 9.98462619e-01 -5.11187462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.410714057 meters 0.03219076111722069 Centerline is valid? [True, True] Translation: X:807.74, Y:-143.49, Z:-51.12 [[ 9.96374549e-01 6.43232799e-02 5.56800984e-02 8.07738358e+02] [-6.40594571e-02 9.97924837e-01 -6.51194914e-03 -1.43487941e+02] [-5.59834231e-02 2.92150352e-03 9.98427424e-01 -5.11209154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.4407140569999 meters 0.03301336204874762 Centerline is valid? [True, True] Translation: X:807.77, Y:-143.49, Z:-51.12 [[ 9.96430655e-01 6.31788289e-02 5.59855757e-02 8.07770024e+02] [-6.29102615e-02 9.97997704e-01 -6.54834908e-03 -1.43494122e+02] [-5.62871931e-02 3.00290855e-03 9.98410103e-01 -5.11237305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.4707140569999 meters 0.03301336204874762 Centerline is valid? [True, True] Translation: X:807.80, Y:-143.50, Z:-51.13 [[ 9.96412791e-01 6.34613794e-02 5.59839576e-02 8.07802380e+02] [-6.31924831e-02 9.97979784e-01 -6.56215316e-03 -1.43497985e+02] [-5.62873012e-02 3.00084805e-03 9.98410103e-01 -5.11256148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.500714057 meters 0.033890691316489 Centerline is valid? [True, True] Translation: X:807.83, Y:-143.50, Z:-51.13 [[ 9.96562142e-01 6.10905992e-02 5.59628021e-02 8.07833199e+02] [-6.08172556e-02 9.98127255e-01 -6.57611014e-03 -1.43504159e+02] [-5.62597365e-02 3.14999837e-03 9.98411198e-01 -5.11281762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.530714057 meters 0.035321896387846344 Centerline is valid? [True, True] Translation: X:807.86, Y:-143.51, Z:-51.13 [[ 9.96514353e-01 6.08078127e-02 5.71100115e-02 8.07863353e+02] [-6.05225523e-02 9.98144257e-01 -6.71295536e-03 -1.43510254e+02] [-5.74122301e-02 3.23311270e-03 9.98345322e-01 -5.11296800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.5607140569999 meters 0.033819011108721715 Centerline is valid? [True, True] Translation: X:807.90, Y:-143.51, Z:-51.13 [[ 9.96477194e-01 6.09995821e-02 5.75521723e-02 8.07896517e+02] [-6.07095366e-02 9.98132473e-01 -6.77637236e-03 -1.43511477e+02] [-5.78580480e-02 3.25853480e-03 9.98319502e-01 -5.11311955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.5907140569999 meters 0.034676431247230174 Centerline is valid? [True, True] Translation: X:807.93, Y:-143.52, Z:-51.13 [[ 9.96263856e-01 6.22744886e-02 5.98349104e-02 8.07928037e+02] [-6.19621555e-02 9.98053508e-01 -7.06303175e-03 -1.43515667e+02] [-6.01582889e-02 3.32914323e-03 9.98183298e-01 -5.11319642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.620714057 meters 0.03310502329686425 Centerline is valid? [True, True] Translation: X:807.96, Y:-143.52, Z:-51.13 [[ 9.96118849e-01 6.31613969e-02 6.13015193e-02 8.07960347e+02] [-6.28342412e-02 9.97997629e-01 -7.25189638e-03 -1.43516582e+02] [-6.16368108e-02 3.37191623e-03 9.98092948e-01 -5.11330858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.650714057 meters 0.032836806049421845 Centerline is valid? [True, True] Translation: X:807.99, Y:-143.52, Z:-51.13 [[ 9.95961775e-01 6.43816456e-02 6.25711342e-02 8.07992928e+02] [-6.40422064e-02 9.97919625e-01 -7.41744577e-03 -1.43519715e+02] [-6.29185101e-02 3.38029896e-03 9.98012943e-01 -5.11345009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.6807140569999 meters 0.034043062508464283 Centerline is valid? [True, True] Translation: X:808.02, Y:-143.52, Z:-51.14 [[ 9.95803997e-01 6.63025370e-02 6.30743537e-02 8.08023688e+02] [-6.59610276e-02 9.97794136e-01 -7.48367096e-03 -1.43524352e+02] [-6.34314066e-02 3.29182027e-03 9.97980772e-01 -5.11368544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.7107140569999 meters 0.03311257381121037 Centerline is valid? [True, True] Translation: X:808.06, Y:-143.53, Z:-51.14 [[ 9.95752938e-01 6.75753676e-02 6.25272409e-02 8.08056270e+02] [-6.72414019e-02 9.97709052e-01 -7.43247973e-03 -1.43526450e+02] [-6.28862468e-02 3.19649419e-03 9.98015582e-01 -5.11400403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.7407140569999 meters 0.033456463491344346 Centerline is valid? [True, True] Translation: X:808.09, Y:-143.53, Z:-51.14 [[ 9.95761285e-01 6.83050924e-02 6.15944599e-02 8.08087385e+02] [-6.79820498e-02 9.97659635e-01 -7.32761218e-03 -1.43530801e+02] [-6.19508196e-02 3.10923488e-03 9.98074360e-01 -5.11428555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.770714057 meters 0.033244368598371925 Centerline is valid? [True, True] Translation: X:808.12, Y:-143.53, Z:-51.15 [[ 9.95744552e-01 6.93835810e-02 6.06523387e-02 8.08119261e+02] [-6.90715097e-02 9.97585517e-01 -7.22933476e-03 -1.43534005e+02] [-6.10074918e-02 3.00922210e-03 9.98132772e-01 -5.11469009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.8007140569999 meters 0.033554652724852384 Centerline is valid? [True, True] Translation: X:808.15, Y:-143.54, Z:-51.15 [[ 9.95771638e-01 6.93550588e-02 6.02388729e-02 8.08151095e+02] [-6.90462884e-02 9.97587513e-01 -7.19477082e-03 -1.43537671e+02] [-6.05925412e-02 3.00507813e-03 9.98158060e-01 -5.11499413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.8307140569999 meters 0.03306999224949251 Centerline is valid? [True, True] Translation: X:808.18, Y:-143.54, Z:-51.15 [[ 9.95857650e-01 6.89179895e-02 5.93114729e-02 8.08183081e+02] [-6.86170366e-02 9.97617820e-01 -7.09835135e-03 -1.43540562e+02] [-5.96593865e-02 2.99916999e-03 9.98214287e-01 -5.11530379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.8607140569999 meters 0.034266536897981204 Centerline is valid? [True, True] Translation: X:808.21, Y:-143.55, Z:-51.16 [[ 9.95877840e-01 6.88327619e-02 5.90709558e-02 8.08213590e+02] [-6.85332335e-02 9.97623682e-01 -7.08410394e-03 -1.43546146e+02] [-5.94182029e-02 3.00657853e-03 9.98228650e-01 -5.11551618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.890714057 meters 0.032973189419668605 Centerline is valid? [True, True] Translation: X:808.25, Y:-143.55, Z:-51.16 [[ 9.95886819e-01 6.81557122e-02 5.97012863e-02 8.08245901e+02] [-6.78477049e-02 9.97669900e-01 -7.17350701e-03 -1.43547754e+02] [-6.00510919e-02 3.09340582e-03 9.98190512e-01 -5.11568903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.9207140569999 meters 0.03618128710932418 Centerline is valid? [True, True] Translation: X:808.28, Y:-143.56, Z:-51.16 [[ 9.95873319e-01 6.84884201e-02 5.95455162e-02 8.08276985e+02] [-6.81817235e-02 9.97647157e-01 -7.16961244e-03 -1.43556389e+02] [-5.98964504e-02 3.08010981e-03 9.98199844e-01 -5.11583500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.9507140569999 meters 0.03173732864202459 Centerline is valid? [True, True] Translation: X:808.31, Y:-143.55, Z:-51.16 [[ 9.95857509e-01 6.84050511e-02 5.99046814e-02 8.08309373e+02] [-6.80935272e-02 9.97652753e-01 -7.22877020e-03 -1.43552579e+02] [-6.02585547e-02 3.11970403e-03 9.98177927e-01 -5.11607500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.9807140569999 meters 0.03271165723814245 Centerline is valid? [True, True] Translation: X:808.34, Y:-143.56, Z:-51.16 [[ 9.95869224e-01 6.84637989e-02 5.96422400e-02 8.08341256e+02] [-6.81542581e-02 9.97648733e-01 -7.21123466e-03 -1.43557054e+02] [-5.99957137e-02 3.11657405e-03 9.98193769e-01 -5.11628125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.010714057 meters 0.033423274526577264 Centerline is valid? [True, True] Translation: X:808.37, Y:-143.56, Z:-51.16 [[ 9.95923285e-01 6.81919996e-02 5.90479568e-02 8.08372123e+02] [-6.78871877e-02 9.97667346e-01 -7.15520444e-03 -1.43561254e+02] [-5.93981460e-02 3.11743498e-03 9.98229504e-01 -5.11643346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.040714057 meters 0.0341425376427715 Centerline is valid? [True, True] Translation: X:808.40, Y:-143.57, Z:-51.17 [[ 9.95916810e-01 6.74554627e-02 5.99955611e-02 8.08403850e+02] [-6.71385920e-02 9.97717070e-01 -7.28410812e-03 -1.43565330e+02] [-6.03499483e-02 3.22634822e-03 9.98172067e-01 -5.11659452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.0707140569999 meters 0.034660574291889186 Centerline is valid? [True, True] Translation: X:808.44, Y:-143.57, Z:-51.17 [[ 9.95911855e-01 6.69731796e-02 6.06149406e-02 8.08436187e+02] [-6.66479106e-02 9.97749304e-01 -7.37440318e-03 -1.43569974e+02] [-6.09724020e-02 3.30439640e-03 9.98133983e-01 -5.11672405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.1007140569999 meters 0.032684902739185194 Centerline is valid? [True, True] Translation: X:808.47, Y:-143.57, Z:-51.17 [[ 9.95852771e-01 6.67268998e-02 6.18447965e-02 8.08468202e+02] [-6.63868363e-02 9.97765475e-01 -7.53955024e-03 -1.43570242e+02] [-6.22096936e-02 3.40260162e-03 9.98057301e-01 -5.11686452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.130714057 meters 0.03677753059322539 Centerline is valid? [True, True] Translation: X:808.50, Y:-143.58, Z:-51.17 [[ 9.95835583e-01 6.57761872e-02 6.31267328e-02 8.08498543e+02] [-6.54189184e-02 9.97828086e-01 -7.71210691e-03 -1.43579405e+02] [-6.34968999e-02 3.55030789e-03 9.97975721e-01 -5.11693606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.160714057 meters 0.03704814379659156 Centerline is valid? [True, True] Translation: X:808.53, Y:-143.58, Z:-51.17 [[ 9.95841567e-01 6.55392078e-02 6.32786286e-02 8.08530168e+02] [-6.51787863e-02 9.97843541e-01 -7.74559214e-03 -1.43584041e+02] [-6.36498108e-02 3.58895840e-03 9.97965842e-01 -5.11710158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.1907140569999 meters 0.037672468755392215 Centerline is valid? [True, True] Translation: X:808.56, Y:-143.59, Z:-51.17 [[ 9.95873461e-01 6.54932255e-02 6.28226701e-02 8.08561485e+02] [-6.51369523e-02 9.97846589e-01 -7.70469540e-03 -1.43588705e+02] [-6.31919924e-02 3.58082440e-03 9.97994965e-01 -5.11735994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.2207140569999 meters 0.03438756570423883 Centerline is valid? [True, True] Translation: X:808.59, Y:-143.59, Z:-51.18 [[ 9.95960110e-01 6.48899345e-02 6.20705638e-02 8.08593597e+02] [-6.45401256e-02 9.97885972e-01 -7.62623567e-03 -1.43587311e+02] [-6.24342109e-02 3.58938453e-03 9.98042627e-01 -5.11777927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.250714057 meters 0.03992621006386359 Centerline is valid? [True, True] Translation: X:808.62, Y:-143.60, Z:-51.18 [[ 9.96017307e-01 6.46146920e-02 6.14366851e-02 8.08622960e+02] [-6.42705429e-02 9.97903848e-01 -7.56350712e-03 -1.43599667e+02] [-6.17966181e-02 3.58481489e-03 9.98082325e-01 -5.11799781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.280714057 meters 0.032878575618954006 Centerline is valid? [True, True] Translation: X:808.66, Y:-143.59, Z:-51.18 [[ 9.96079109e-01 6.52254983e-02 5.97665710e-02 8.08656300e+02] [-6.49002251e-02 9.97864545e-01 -7.36956666e-03 -1.43592328e+02] [-6.01196258e-02 3.46180748e-03 9.98185176e-01 -5.11839756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.3107140569999 meters 0.03564075460231191 Centerline is valid? [True, True] Translation: X:808.69, Y:-143.60, Z:-51.19 [[ 9.96113988e-01 6.55672581e-02 5.88035582e-02 8.08686373e+02] [-6.52521166e-02 9.97842359e-01 -7.26557027e-03 -1.43600043e+02] [-5.91530647e-02 3.40027954e-03 9.98243133e-01 -5.11861217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.3407140569999 meters 0.0329241358286632 Centerline is valid? [True, True] Translation: X:808.72, Y:-143.60, Z:-51.19 [[ 9.96077385e-01 6.61840174e-02 5.87325998e-02 8.08719244e+02] [-6.58701926e-02 9.97801749e-01 -7.26545600e-03 -1.43599489e+02] [-5.90843479e-02 3.36822876e-03 9.98247312e-01 -5.11884302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.370714057 meters 0.038109986051818014 Centerline is valid? [True, True] Translation: X:808.75, Y:-143.61, Z:-51.19 [[ 9.95983519e-01 6.77293290e-02 5.85625105e-02 8.08749485e+02] [-6.74191023e-02 9.97698335e-01 -7.25931912e-03 -1.43610156e+02] [-5.89193880e-02 3.28193032e-03 9.98257349e-01 -5.11899519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.400714057 meters 0.03186195896381588 Centerline is valid? [True, True] Translation: X:808.78, Y:-143.60, Z:-51.19 [[ 9.95882827e-01 6.91325848e-02 5.86351435e-02 8.08782739e+02] [-6.88231912e-02 9.97602295e-01 -7.28216823e-03 -1.43603827e+02] [-5.89979888e-02 3.21672860e-03 9.98252919e-01 -5.11918013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.4307140569999 meters 0.03228642611987697 Centerline is valid? [True, True] Translation: X:808.81, Y:-143.61, Z:-51.19 [[ 9.95799604e-01 7.03812572e-02 5.85630274e-02 8.08813523e+02] [-7.00738968e-02 9.97515179e-01 -7.28810907e-03 -1.43607135e+02] [-5.89304550e-02 3.15375659e-03 9.98257109e-01 -5.11932339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.4607140569999 meters 0.03071417961565273 Centerline is valid? [True, True] Translation: X:808.85, Y:-143.61, Z:-51.19 [[ 9.95592632e-01 7.31606697e-02 5.86756068e-02 8.08845169e+02] [-7.28564326e-02 9.97315645e-01 -7.31058299e-03 -1.43606818e+02] [-5.90529478e-02 3.00346716e-03 9.98250334e-01 -5.11946745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.4907140569999 meters 0.030013921349619062 Centerline is valid? [True, True] Translation: X:808.88, Y:-143.61, Z:-51.20 [[ 9.95364115e-01 7.57103286e-02 5.93146292e-02 8.08875442e+02] [-7.54038025e-02 9.97125679e-01 -7.39233718e-03 -1.43607959e+02] [-5.97038162e-02 2.88551857e-03 9.98211966e-01 -5.11959383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.520714057 meters 0.028994723654438514 Centerline is valid? [True, True] Translation: X:808.91, Y:-143.61, Z:-51.20 [[ 9.95294357e-01 7.60485459e-02 6.00479977e-02 8.08905668e+02] [-7.57349957e-02 9.97099897e-01 -7.48373635e-03 -1.43608806e+02] [-6.04429796e-02 2.90078571e-03 9.98167437e-01 -5.11973629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.5507140569999 meters 0.028985997737920575 Centerline is valid? [True, True] Translation: X:808.94, Y:-143.61, Z:-51.20 [[ 9.95200879e-01 7.66373219e-02 6.08435005e-02 8.08936026e+02] [-7.63164935e-02 9.97054809e-01 -7.58287926e-03 -1.43612011e+02] [-6.12454364e-02 2.90312548e-03 9.98118514e-01 -5.11987025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.5807140569999 meters 0.029729708705766595 Centerline is valid? [True, True] Translation: X:808.96, Y:-143.62, Z:-51.20 [[ 9.95159874e-01 7.69248493e-02 6.11505831e-02 8.08964943e+02] [-7.66013148e-02 9.97032676e-01 -7.62108197e-03 -1.43616338e+02] [-6.15553802e-02 2.89997990e-03 9.98099457e-01 -5.12000456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.6107140569999 meters 0.029996084908098325 Centerline is valid? [True, True] Translation: X:809.00, Y:-143.62, Z:-51.20 [[ 9.95193947e-01 7.65885645e-02 6.10180259e-02 8.08995021e+02] [-7.62658677e-02 9.97058526e-01 -7.60351180e-03 -1.43619598e+02] [-6.14208850e-02 2.91337622e-03 9.98107703e-01 -5.12014192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.640714057 meters 0.028930848230536776 Centerline is valid? [True, True] Translation: X:809.03, Y:-143.62, Z:-51.20 [[ 9.95180902e-01 7.63809505e-02 6.14892125e-02 8.09025902e+02] [-7.60528483e-02 9.97074348e-01 -7.66222679e-03 -1.43621149e+02] [-6.18945646e-02 2.94887201e-03 9.98078337e-01 -5.12033179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.6707140569999 meters 0.029970576332441337 Centerline is valid? [True, True] Translation: X:809.06, Y:-143.63, Z:-51.21 [[ 9.95281784e-01 7.52124237e-02 6.12965082e-02 8.09055265e+02] [-7.48841732e-02 9.97162985e-01 -7.63814220e-03 -1.43626160e+02] [-6.16970923e-02 3.01196545e-03 9.98090375e-01 -5.12052652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.7007140569999 meters 0.028377620462599593 Centerline is valid? [True, True] Translation: X:809.09, Y:-143.63, Z:-51.21 [[ 9.95339611e-01 7.47044657e-02 6.09778843e-02 8.09085912e+02] [-7.43787383e-02 9.97201125e-01 -7.59739048e-03 -1.43626877e+02] [-6.13747738e-02 3.02652559e-03 9.98110203e-01 -5.12075160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.7307140569999 meters 0.03077103725097079 Centerline is valid? [True, True] Translation: X:809.12, Y:-143.63, Z:-51.21 [[ 9.95428121e-01 7.39224234e-02 6.04841464e-02 8.09115432e+02] [-7.36005148e-02 9.97259331e-01 -7.53593221e-03 -1.43634419e+02] [-6.08754537e-02 3.04981453e-03 9.98140710e-01 -5.12095939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.760714057 meters 0.031033083123615586 Centerline is valid? [True, True] Translation: X:809.15, Y:-143.64, Z:-51.21 [[ 9.95616639e-01 7.28400613e-02 5.86671447e-02 8.09145755e+02] [-7.25352948e-02 9.97339053e-01 -7.31058888e-03 -1.43638002e+02] [-5.90435383e-02 3.02310529e-03 9.98250831e-01 -5.12126233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.790714057 meters 0.03137487188149096 Centerline is valid? [True, True] Translation: X:809.17, Y:-143.64, Z:-51.21 [[ 9.95659741e-01 7.28282504e-02 5.79458842e-02 8.09174959e+02] [-7.25309221e-02 9.97340026e-01 -7.22070183e-03 -1.43642713e+02] [-5.83176208e-02 2.98649370e-03 9.98293612e-01 -5.12147932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.8207140569999 meters 0.0313805952907743 Centerline is valid? [True, True] Translation: X:809.20, Y:-143.65, Z:-51.22 [[ 9.95647420e-01 7.33993858e-02 5.74347030e-02 8.09204781e+02] [-7.31082935e-02 9.97298335e-01 -7.15597709e-03 -1.43645974e+02] [-5.78047781e-02 2.92587700e-03 9.98323618e-01 -5.12165512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.8507140569999 meters 0.03221177155456122 Centerline is valid? [True, True] Translation: X:809.23, Y:-143.65, Z:-51.22 [[ 9.95590753e-01 7.39767625e-02 5.76757372e-02 8.09233881e+02] [-7.36841844e-02 9.97255736e-01 -7.18600342e-03 -1.43650693e+02] [-5.80490570e-02 2.90452890e-03 9.98309506e-01 -5.12179621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.880714057 meters 0.02921575242657037 Centerline is valid? [True, True] Translation: X:809.26, Y:-143.65, Z:-51.22 [[ 9.95518070e-01 7.46897579e-02 5.80104501e-02 8.09264620e+02] [-7.43950359e-02 9.97202664e-01 -7.22668064e-03 -1.43649046e+02] [-5.83879344e-02 2.87860164e-03 9.98289819e-01 -5.12196299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.910714057 meters 0.029877040607350247 Centerline is valid? [True, True] Translation: X:809.29, Y:-143.65, Z:-51.22 [[ 9.95305424e-01 7.74490863e-02 5.80409510e-02 8.09293878e+02] [-7.71587274e-02 9.96992603e-01 -7.23051946e-03 -1.43653685e+02] [-5.84263960e-02 2.71820932e-03 9.98288018e-01 -5.12212406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.9407140569999 meters 0.028413738493027613 Centerline is valid? [True, True] Translation: X:809.32, Y:-143.65, Z:-51.22 [[ 9.95183249e-01 7.91877811e-02 5.77892336e-02 8.09323888e+02] [-7.89026583e-02 9.96856305e-01 -7.20263814e-03 -1.43654319e+02] [-5.81779228e-02 2.60822068e-03 9.98302823e-01 -5.12234400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.9707140569999 meters 0.027848698727155622 Centerline is valid? [True, True] Translation: X:809.35, Y:-143.66, Z:-51.23 [[ 9.94938308e-01 8.23942785e-02 5.75234330e-02 8.09352739e+02] [-8.21172410e-02 9.96596903e-01 -7.16740890e-03 -1.43656732e+02] [-5.79182286e-02 2.40746407e-03 9.98318428e-01 -5.12250119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.000714057 meters 0.025990096348548732 Centerline is valid? [True, True] Translation: X:809.38, Y:-143.66, Z:-51.23 [[ 9.94846129e-01 8.37373098e-02 5.71773002e-02 8.09381454e+02] [-8.34659313e-02 9.96485179e-01 -7.12222427e-03 -1.43656576e+02] [-5.75727282e-02 2.31316063e-03 9.98338635e-01 -5.12266996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.030714057 meters 0.026961763657597587 Centerline is valid? [True, True] Translation: X:809.41, Y:-143.66, Z:-51.23 [[ 9.94734695e-01 8.48957647e-02 5.74072853e-02 8.09408740e+02] [-8.46243719e-02 9.96387296e-01 -7.14652676e-03 -1.43662260e+02] [-5.78065996e-02 2.25084266e-03 9.98325263e-01 -5.12285210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.0607140569999 meters 0.026184744078717907 Centerline is valid? [True, True] Translation: X:809.44, Y:-143.67, Z:-51.23 [[ 9.94516577e-01 8.72993044e-02 5.75813384e-02 8.09437800e+02] [-8.70305928e-02 9.96179888e-01 -7.16280889e-03 -1.43665434e+02] [-5.79866795e-02 2.11219416e-03 9.98315122e-01 -5.12302882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.0907140569999 meters 0.026854273102349193 Centerline is valid? [True, True] Translation: X:809.47, Y:-143.67, Z:-51.23 [[ 9.94401109e-01 8.85506337e-02 5.76647240e-02 8.09465339e+02] [-8.82834264e-02 9.96069590e-01 -7.17000319e-03 -1.43671347e+02] [-5.80729863e-02 2.03901971e-03 9.98310258e-01 -5.12314494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.120714057 meters 0.026563475660315607 Centerline is valid? [True, True] Translation: X:809.49, Y:-143.67, Z:-51.23 [[ 9.94330043e-01 8.93316372e-02 5.76855609e-02 8.09494239e+02] [-8.90658525e-02 9.95999951e-01 -7.16736134e-03 -1.43674653e+02] [-5.80950880e-02 1.98890905e-03 9.98309073e-01 -5.12331457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.150714057 meters 0.02458018155659312 Centerline is valid? [True, True] Translation: X:809.52, Y:-143.67, Z:-51.23 [[ 9.94224919e-01 9.08280560e-02 5.71583268e-02 8.09523465e+02] [-9.05698126e-02 9.95864815e-01 -7.09783862e-03 -1.43674907e+02] [-5.75666494e-02 1.88002908e-03 9.98339895e-01 -5.12348563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.1807140569999 meters 0.02498750157999501 Centerline is valid? [True, True] Translation: X:809.55, Y:-143.68, Z:-51.24 [[ 9.94178813e-01 9.16691314e-02 5.66149972e-02 8.09550776e+02] [-9.14173806e-02 9.95787877e-01 -7.02617235e-03 -1.43680605e+02] [-5.70206110e-02 1.80967694e-03 9.98371361e-01 -5.12369985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.2107140569999 meters 0.025088569386456875 Centerline is valid? [True, True] Translation: X:809.58, Y:-143.68, Z:-51.24 [[ 9.94167820e-01 9.19799321e-02 5.63030921e-02 8.09579173e+02] [-9.17317453e-02 9.95759276e-01 -6.98223425e-03 -1.43684905e+02] [-5.67065517e-02 1.77673170e-03 9.98389308e-01 -5.12389882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.2407140569999 meters 0.025661862534793252 Centerline is valid? [True, True] Translation: X:809.61, Y:-143.69, Z:-51.24 [[ 9.94179892e-01 9.14398802e-02 5.69656956e-02 8.09605897e+02] [-9.11851665e-02 9.95808927e-01 -7.06021427e-03 -1.43692090e+02] [-5.73725334e-02 1.82469663e-03 9.98351172e-01 -5.12409919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.270714057 meters 0.02523984302121732 Centerline is valid? [True, True] Translation: X:809.63, Y:-143.70, Z:-51.24 [[ 9.94257824e-01 9.05543489e-02 5.70200792e-02 8.09634695e+02] [-9.02979912e-02 9.95889755e-01 -7.06179605e-03 -1.43696776e+02] [-5.74251890e-02 1.87244737e-03 9.98348056e-01 -5.12423301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.3007140569999 meters 0.02575897502564844 Centerline is valid? [True, True] Translation: X:809.66, Y:-143.70, Z:-51.24 [[ 9.94432606e-01 8.90520657e-02 5.63340189e-02 8.09662006e+02] [-8.87996716e-02 9.96025100e-01 -6.97276384e-03 -1.43702860e+02] [-5.67310358e-02 1.93150134e-03 9.98387630e-01 -5.12442776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.3307140569999 meters 0.027118117611876366 Centerline is valid? [True, True] Translation: X:809.69, Y:-143.71, Z:-51.25 [[ 9.94748201e-01 8.60343708e-02 5.54445950e-02 8.09689395e+02] [-8.57854950e-02 9.96290029e-01 -6.85763677e-03 -1.43712027e+02] [-5.58288896e-02 2.06527982e-03 9.98438215e-01 -5.12468680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.3607140569999 meters 0.026569701598686782 Centerline is valid? [True, True] Translation: X:809.72, Y:-143.72, Z:-51.25 [[ 9.94862460e-01 8.47970589e-02 5.53005024e-02 8.09718054e+02] [-8.45477330e-02 9.96395975e-01 -6.83687454e-03 -1.43716458e+02] [-5.56809448e-02 2.12621771e-03 9.98446349e-01 -5.12487335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.390714057 meters 0.026569701598686782 Centerline is valid? [True, True] Translation: X:809.75, Y:-143.72, Z:-51.25 [[ 9.94868589e-01 8.47247890e-02 5.53009979e-02 8.09746130e+02] [-8.44755743e-02 9.96402122e-01 -6.83286392e-03 -1.43719870e+02] [-5.56809446e-02 2.12621814e-03 9.98446349e-01 -5.12503734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.4207140569999 meters 0.027438371970145207 Centerline is valid? [True, True] Translation: X:809.77, Y:-143.73, Z:-51.25 [[ 9.94956604e-01 8.37048668e-02 5.52707040e-02 8.09773131e+02] [-8.34545797e-02 9.96488209e-01 -6.82509104e-03 -1.43727120e+02] [-5.56478982e-02 2.17807603e-03 9.98448080e-01 -5.12519095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.4507140569999 meters 0.027064789952529908 Centerline is valid? [True, True] Translation: X:809.80, Y:-143.73, Z:-51.25 [[ 9.95027139e-01 8.26037172e-02 5.56562621e-02 8.09801255e+02] [-8.23484923e-02 9.96579933e-01 -6.86755224e-03 -1.43732936e+02] [-5.60331993e-02 2.25019158e-03 9.98426370e-01 -5.12538963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.4807140569999 meters 0.028200758517174483 Centerline is valid? [True, True] Translation: X:809.83, Y:-143.74, Z:-51.26 [[ 9.95015030e-01 8.25213857e-02 5.59938417e-02 8.09829262e+02] [-8.22631614e-02 9.96586722e-01 -6.90495951e-03 -1.43740553e+02] [-5.63725260e-02 2.26430805e-03 9.98407237e-01 -5.12559376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.510714057 meters 0.02678339662462017 Centerline is valid? [True, True] Translation: X:809.86, Y:-143.74, Z:-51.26 [[ 9.94980692e-01 8.30198238e-02 5.58670827e-02 8.09858446e+02] [-8.27636701e-02 9.96545403e-01 -6.88723906e-03 -1.43744054e+02] [-5.62458618e-02 2.22890508e-03 9.98414461e-01 -5.12576575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.540714057 meters 0.026950520043117442 Centerline is valid? [True, True] Translation: X:809.89, Y:-143.75, Z:-51.26 [[ 9.94790610e-01 8.52230536e-02 5.59345533e-02 8.09886587e+02] [-8.49698700e-02 9.96359674e-01 -6.89350646e-03 -1.43750570e+02] [-5.63184189e-02 2.10484377e-03 9.98410640e-01 -5.12592491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.5707140569999 meters 0.026591194140389143 Centerline is valid? [True, True] Translation: X:809.92, Y:-143.75, Z:-51.26 [[ 9.94655659e-01 8.67077271e-02 5.60525592e-02 8.09915856e+02] [-8.64560016e-02 9.96231741e-01 -6.90492379e-03 -1.43754304e+02] [-5.64400489e-02 2.02194137e-03 9.98403943e-01 -5.12612657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.6007140569999 meters 0.02594330940486116 Centerline is valid? [True, True] Translation: X:809.94, Y:-143.76, Z:-51.26 [[ 9.94276810e-01 9.11456432e-02 5.57323767e-02 8.09944539e+02] [-9.09038579e-02 9.95836021e-01 -6.86345925e-03 -1.43759371e+02] [-5.61258827e-02 1.75789032e-03 9.98422153e-01 -5.12631248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.630714057 meters 0.025562286127991333 Centerline is valid? [True, True] Translation: X:809.97, Y:-143.76, Z:-51.27 [[ 9.94117206e-01 9.28765662e-02 5.57218498e-02 8.09972966e+02] [-9.26376963e-02 9.95676250e-01 -6.86020649e-03 -1.43763819e+02] [-5.61180749e-02 1.65790550e-03 9.98422763e-01 -5.12650819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.660714057 meters 0.02545974107865958 Centerline is valid? [True, True] Translation: X:810.00, Y:-143.77, Z:-51.27 [[ 9.94007078e-01 9.42045787e-02 5.54565293e-02 8.10001862e+02] [-9.39702635e-02 9.95551620e-01 -6.82361239e-03 -1.43767227e+02] [-5.58526531e-02 1.57145435e-03 9.98437786e-01 -5.12670761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.6907140569999 meters 0.02524457869061988 Centerline is valid? [True, True] Translation: X:810.03, Y:-143.77, Z:-51.27 [[ 9.93834637e-01 9.57712069e-02 5.58622468e-02 8.10029286e+02] [-9.55361444e-02 9.95402258e-01 -6.86950996e-03 -1.43773607e+02] [-5.62633079e-02 1.49029326e-03 9.98414853e-01 -5.12684471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.7207140569999 meters 0.02485107462215994 Centerline is valid? [True, True] Translation: X:810.06, Y:-143.78, Z:-51.27 [[ 9.93784786e-01 9.61721370e-02 5.60599693e-02 8.10057399e+02] [-9.59363278e-02 9.95363635e-01 -6.88878087e-03 -1.43777390e+02] [-5.64625636e-02 1.46777803e-03 9.98403638e-01 -5.12698764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.750714057 meters 0.024898209458921437 Centerline is valid? [True, True] Translation: X:810.09, Y:-143.78, Z:-51.27 [[ 9.93687443e-01 9.63550689e-02 5.74540367e-02 8.10085228e+02] [-9.61079254e-02 9.95345911e-01 -7.05581695e-03 -1.43784148e+02] [-5.78665043e-02 1.48948843e-03 9.98323219e-01 -5.12709375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.780714057 meters 0.02487624092255727 Centerline is valid? [True, True] Translation: X:810.11, Y:-143.79, Z:-51.27 [[ 9.93697432e-01 9.62855436e-02 5.73978063e-02 8.10113144e+02] [-9.60390095e-02 9.95352641e-01 -7.04474728e-03 -1.43789867e+02] [-5.78093654e-02 1.48791882e-03 9.98326531e-01 -5.12727710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.8107140569999 meters 0.024966419265472856 Centerline is valid? [True, True] Translation: X:810.14, Y:-143.80, Z:-51.28 [[ 9.93762822e-01 9.61223112e-02 5.65327787e-02 8.10141594e+02] [-9.58831254e-02 9.95368443e-01 -6.93456085e-03 -1.43795221e+02] [-5.69375100e-02 1.47076925e-03 9.98376661e-01 -5.12752097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.8407140569999 meters 0.025372321744025036 Centerline is valid? [True, True] Translation: X:810.17, Y:-143.80, Z:-51.28 [[ 9.93969503e-01 9.49560919e-02 5.48449477e-02 8.10168708e+02] [-9.47294260e-02 9.95480350e-01 -6.72374007e-03 -1.43804324e+02] [-5.52355279e-02 1.48776216e-03 9.98472245e-01 -5.12786315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.870714057 meters 0.02547299694464639 Centerline is valid? [True, True] Translation: X:810.20, Y:-143.81, Z:-51.28 [[ 9.94066673e-01 9.41411520e-02 5.44875590e-02 8.10196384e+02] [-9.39164757e-02 9.95557702e-01 -6.67511078e-03 -1.43810183e+02] [-5.48739117e-02 1.51822565e-03 9.98492138e-01 -5.12811239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.900714057 meters 0.026438492272490455 Centerline is valid? [True, True] Translation: X:810.22, Y:-143.82, Z:-51.28 [[ 9.94225964e-01 9.21640167e-02 5.49593136e-02 8.10223568e+02] [-9.19327138e-02 9.95742496e-01 -6.72746558e-03 -1.43819677e+02] [-5.53453543e-02 1.63606211e-03 9.98465931e-01 -5.12829085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.9307140569999 meters 0.026442158838682703 Centerline is valid? [True, True] Translation: X:810.25, Y:-143.83, Z:-51.28 [[ 9.94306561e-01 9.10786217e-02 5.53095657e-02 8.10252200e+02] [-9.08429057e-02 9.95842248e-01 -6.76631976e-03 -1.43826267e+02] [-5.56958694e-02 1.70331446e-03 9.98446328e-01 -5.12839835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.9607140569999 meters 0.027276716593748997 Centerline is valid? [True, True] Translation: X:810.28, Y:-143.83, Z:-51.29 [[ 9.94457539e-01 8.93630638e-02 5.53935536e-02 8.10281156e+02] [-8.91240822e-02 9.95997491e-01 -6.77464997e-03 -1.43832990e+02] [-5.57772438e-02 1.80020212e-03 9.98441615e-01 -5.12854705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.9907140569999 meters 0.02924914488466335 Centerline is valid? [True, True] Translation: X:810.31, Y:-143.84, Z:-51.29 [[ 9.94853180e-01 8.50063746e-02 5.51458732e-02 8.10309434e+02] [-8.47629541e-02 9.96378333e-01 -6.74239682e-03 -1.43844536e+02] [-5.55192999e-02 2.03336780e-03 9.98455544e-01 -5.12877026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.020714057 meters 0.02875702301817072 Centerline is valid? [True, True] Translation: X:810.34, Y:-143.85, Z:-51.29 [[ 9.95027845e-01 8.30134147e-02 5.50305494e-02 8.10339842e+02] [-8.27680282e-02 9.96546134e-01 -6.72725853e-03 -1.43849220e+02] [-5.53989340e-02 2.13903949e-03 9.98462009e-01 -5.12894442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.0507140569999 meters 0.03172645125220034 Centerline is valid? [True, True] Translation: X:810.37, Y:-143.86, Z:-51.29 [[ 9.95304966e-01 7.92418057e-02 5.55766158e-02 8.10368640e+02] [-7.89855961e-02 9.96852599e-01 -6.79501439e-03 -1.43862200e+02] [-5.59401431e-02 2.37335944e-03 9.98431303e-01 -5.12906702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.0807140569999 meters 0.03200296779190255 Centerline is valid? [True, True] Translation: X:810.40, Y:-143.87, Z:-51.29 [[ 9.95339422e-01 7.83276912e-02 5.62512875e-02 8.10400684e+02] [-7.80637172e-02 9.96924644e-01 -6.87825023e-03 -1.43869089e+02] [-5.66170522e-02 2.45500902e-03 9.98392950e-01 -5.12915976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.1107140569999 meters 0.032658750755292 Centerline is valid? [True, True] Translation: X:810.43, Y:-143.88, Z:-51.29 [[ 9.95375109e-01 7.65707529e-02 5.80113053e-02 8.10432168e+02] [-7.62861687e-02 9.97060630e-01 -7.10774616e-03 -1.43876537e+02] [-5.83850341e-02 2.64941338e-03 9.98290623e-01 -5.12919519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.140714057 meters 0.03296125000175349 Centerline is valid? [True, True] Translation: X:810.46, Y:-143.88, Z:-51.29 [[ 9.95379706e-01 7.64785114e-02 5.80541041e-02 8.10464253e+02] [-7.61931079e-02 9.97067679e-01 -7.11712936e-03 -1.43882399e+02] [-5.84281783e-02 2.66092351e-03 9.98288068e-01 -5.12933522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.1707140569999 meters 0.03305388298541908 Centerline is valid? [True, True] Translation: X:810.50, Y:-143.89, Z:-51.30 [[ 9.95397798e-01 7.61402165e-02 5.81884154e-02 8.10496130e+02] [-7.58520860e-02 9.97093462e-01 -7.14769004e-03 -1.43887880e+02] [-5.85635153e-02 2.70108223e-03 9.98280030e-01 -5.12952615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.2007140569999 meters 0.03469529069892684 Centerline is valid? [True, True] Translation: X:810.53, Y:-143.90, Z:-51.30 [[ 9.95464682e-01 7.55030577e-02 5.78736068e-02 8.10526576e+02] [-7.52161578e-02 9.97141812e-01 -7.12288800e-03 -1.43896376e+02] [-5.82459930e-02 2.73755310e-03 9.98298508e-01 -5.12978580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.2307140569999 meters 0.031599097504674836 Centerline is valid? [True, True] Translation: X:810.56, Y:-143.90, Z:-51.30 [[ 9.95484338e-01 7.51804247e-02 5.79554757e-02 8.10558800e+02] [-7.48914118e-02 9.97166091e-01 -7.14587706e-03 -1.43895777e+02] [-5.83284652e-02 2.77324130e-03 9.98293594e-01 -5.12999372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.260714057 meters 0.031513308508190715 Centerline is valid? [True, True] Translation: X:810.59, Y:-143.90, Z:-51.30 [[ 9.95485514e-01 7.50689105e-02 5.80796821e-02 8.10590909e+02] [-7.47776050e-02 9.97174416e-01 -7.17590637e-03 -1.43901237e+02] [-5.84542605e-02 2.80045131e-03 9.98286160e-01 -5.13015421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.290714057 meters 0.03182055807792507 Centerline is valid? [True, True] Translation: X:810.62, Y:-143.91, Z:-51.30 [[ 9.95519015e-01 7.41779743e-02 5.86474069e-02 8.10622559e+02] [-7.38785128e-02 9.97240815e-01 -7.26100704e-03 -1.43907292e+02] [-5.90241947e-02 2.89568738e-03 9.98252353e-01 -5.13034951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.3207140569999 meters 0.03207279250912662 Centerline is valid? [True, True] Translation: X:810.65, Y:-143.91, Z:-51.31 [[ 9.95546588e-01 7.41336850e-02 5.82339128e-02 8.10653932e+02] [-7.38375043e-02 9.97244118e-01 -7.22441387e-03 -1.43911604e+02] [-5.86089995e-02 2.89239379e-03 9.98276825e-01 -5.13057426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.3507140569999 meters 0.0319879989444989 Centerline is valid? [True, True] Translation: X:810.69, Y:-143.92, Z:-51.31 [[ 9.95547703e-01 7.40471076e-02 5.83249222e-02 8.10685721e+02] [-7.37490437e-02 9.97250482e-01 -7.24943494e-03 -1.43916088e+02] [-5.87013565e-02 2.91575106e-03 9.98271330e-01 -5.13074662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.380714057 meters 0.03219193554940547 Centerline is valid? [True, True] Translation: X:810.72, Y:-143.92, Z:-51.31 [[ 9.95629303e-01 7.37861673e-02 5.72528893e-02 8.10717612e+02] [-7.34977225e-02 9.97269894e-01 -7.13041842e-03 -1.43920601e+02] [-5.76227091e-02 2.89129655e-03 9.98334245e-01 -5.13102533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.410714057 meters 0.03241624260822296 Centerline is valid? [True, True] Translation: X:810.75, Y:-143.92, Z:-51.31 [[ 9.95604288e-01 7.43196806e-02 5.69972564e-02 8.10749542e+02] [-7.40338535e-02 9.97230362e-01 -7.11297358e-03 -1.43924979e+02] [-5.73680285e-02 2.86198047e-03 9.98348996e-01 -5.13126495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.4407140569999 meters 0.031249068912839684 Centerline is valid? [True, True] Translation: X:810.78, Y:-143.93, Z:-51.31 [[ 9.95591816e-01 7.46871971e-02 5.67341088e-02 8.10782144e+02] [-7.44037786e-02 9.97202961e-01 -7.09451577e-03 -1.43927179e+02] [-5.71052908e-02 2.84200977e-03 9.98364116e-01 -5.13147624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.4707140569999 meters 0.031557575135442224 Centerline is valid? [True, True] Translation: X:810.81, Y:-143.93, Z:-51.32 [[ 9.95485946e-01 7.68043304e-02 5.57568460e-02 8.10812707e+02] [-7.65336245e-02 9.97042587e-01 -6.97745213e-03 -1.43931845e+02] [-5.61278485e-02 2.67868202e-03 9.98419996e-01 -5.13168389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.500714057 meters 0.03182194253949392 Centerline is valid? [True, True] Translation: X:810.84, Y:-143.94, Z:-51.32 [[ 9.95395548e-01 7.79878148e-02 5.57279445e-02 8.10844298e+02] [-7.77191437e-02 9.96950890e-01 -6.97552633e-03 -1.43935761e+02] [-5.61020300e-02 2.61227973e-03 9.98421624e-01 -5.13184510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.530714057 meters 0.030911434717630474 Centerline is valid? [True, True] Translation: X:810.88, Y:-143.94, Z:-51.32 [[ 9.95116698e-01 8.10379540e-02 5.63525277e-02 8.10876291e+02] [-8.07672702e-02 9.96707925e-01 -7.06821410e-03 -1.43937772e+02] [-5.67398046e-02 2.48225804e-03 9.98385914e-01 -5.13196232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.5607140569999 meters 0.030623499926321827 Centerline is valid? [True, True] Translation: X:810.91, Y:-143.94, Z:-51.32 [[ 9.94994180e-01 8.23547477e-02 5.66063290e-02 8.10907907e+02] [-8.20835750e-02 9.96600138e-01 -7.10297722e-03 -1.43941854e+02] [-5.69988392e-02 2.42097114e-03 9.98371309e-01 -5.13211751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.5907140569999 meters 0.029843917283275984 Centerline is valid? [True, True] Translation: X:810.94, Y:-143.94, Z:-51.32 [[ 9.94873669e-01 8.36775300e-02 5.67842661e-02 8.10940558e+02] [-8.34059762e-02 9.96490075e-01 -7.13962862e-03 -1.43944285e+02] [-5.71823840e-02 2.36688138e-03 9.98360943e-01 -5.13231358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.620714057 meters 0.029740023095307454 Centerline is valid? [True, True] Translation: X:810.97, Y:-143.95, Z:-51.32 [[ 9.94708472e-01 8.56792558e-02 5.66932222e-02 8.10971206e+02] [-8.54113768e-02 9.96320218e-01 -7.13585569e-03 -1.43948845e+02] [-5.70959983e-02 2.25584994e-03 9.98366144e-01 -5.13249405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.650714057 meters 0.02917716352625426 Centerline is valid? [True, True] Translation: X:811.00, Y:-143.95, Z:-51.33 [[ 9.94588014e-01 8.68078798e-02 5.70882991e-02 8.11003352e+02] [-8.65373287e-02 9.96222598e-01 -7.19905189e-03 -1.43951663e+02] [-5.74975880e-02 2.21982182e-03 9.98343177e-01 -5.13264805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.6807140569999 meters 0.02798558867371915 Centerline is valid? [True, True] Translation: X:811.04, Y:-143.95, Z:-51.33 [[ 9.94434587e-01 8.84473023e-02 5.72444437e-02 8.11035745e+02] [-8.81771272e-02 9.96078547e-01 -7.23345672e-03 -1.43954893e+02] [-5.76597421e-02 2.14554895e-03 9.98333988e-01 -5.13283088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.7107140569999 meters 0.02847559602028534 Centerline is valid? [True, True] Translation: X:811.07, Y:-143.96, Z:-51.33 [[ 9.94316423e-01 8.94717976e-02 5.77031002e-02 8.11066187e+02] [-8.91981037e-02 9.95987104e-01 -7.30666382e-03 -1.43960693e+02] [-5.81252840e-02 2.11812872e-03 9.98307049e-01 -5.13296800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.7407140569999 meters 0.030015621659190837 Centerline is valid? [True, True] Translation: X:811.10, Y:-143.97, Z:-51.33 [[ 9.94171601e-01 9.06973289e-02 5.82822588e-02 8.11096503e+02] [-9.04193726e-02 9.95876329e-01 -7.39419802e-03 -1.43968901e+02] [-5.87125560e-02 2.08125641e-03 9.98272760e-01 -5.13313634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.770714057 meters 0.028209410558727107 Centerline is valid? [True, True] Translation: X:811.13, Y:-143.97, Z:-51.33 [[ 9.93999752e-01 9.18043071e-02 5.94681616e-02 8.11128627e+02] [-9.15160245e-02 9.95774914e-01 -7.55900780e-03 -1.43971660e+02] [-5.99108530e-02 2.07136214e-03 9.98201582e-01 -5.13330016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.8007140569999 meters 0.029657070076877626 Centerline is valid? [True, True] Translation: X:811.16, Y:-143.98, Z:-51.33 [[ 9.93893826e-01 9.28627883e-02 5.95950139e-02 8.11158849e+02] [-9.25742587e-02 9.95676852e-01 -7.59030973e-03 -1.43980149e+02] [-6.00422332e-02 2.02699774e-03 9.98193780e-01 -5.13345749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.8307140569999 meters 0.028032231354730416 Centerline is valid? [True, True] Translation: X:811.19, Y:-143.98, Z:-51.34 [[ 9.93825294e-01 9.33590413e-02 5.99614434e-02 8.11191254e+02] [-9.30669888e-02 9.95630451e-01 -7.65119891e-03 -1.43981758e+02] [-6.04137475e-02 2.02352402e-03 9.98171370e-01 -5.13368320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.8607140569999 meters 0.028145876150632052 Centerline is valid? [True, True] Translation: X:811.22, Y:-143.99, Z:-51.34 [[ 9.93777665e-01 9.42300639e-02 5.93855792e-02 8.11222936e+02] [-9.39442516e-02 9.95548506e-01 -7.59275745e-03 -1.43988596e+02] [-5.98366906e-02 1.96657898e-03 9.98206243e-01 -5.13394772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.890714057 meters 0.028126619530675384 Centerline is valid? [True, True] Translation: X:811.26, Y:-143.99, Z:-51.34 [[ 9.93766208e-01 9.45083582e-02 5.91345503e-02 8.11255077e+02] [-9.42245591e-02 9.95522146e-01 -7.57561730e-03 -1.43994077e+02] [-5.95857135e-02 1.95646555e-03 9.98221276e-01 -5.13415365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.9207140569999 meters 0.028461513163689518 Centerline is valid? [True, True] Translation: X:811.29, Y:-144.00, Z:-51.34 [[ 9.93760147e-01 9.43356993e-02 5.95108874e-02 8.11285263e+02] [-9.40470549e-02 9.95538446e-01 -7.63894598e-03 -1.44002590e+02] [-5.99660017e-02 1.99445639e-03 9.98198428e-01 -5.13432096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.9507140569999 meters 0.02885251206992968 Centerline is valid? [True, True] Translation: X:811.32, Y:-144.01, Z:-51.35 [[ 9.93802080e-01 9.40239092e-02 5.93037128e-02 8.11316007e+02] [-9.37358945e-02 9.95567890e-01 -7.62613288e-03 -1.44008964e+02] [-5.97579111e-02 2.01998015e-03 9.98210855e-01 -5.13451303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.9807140569999 meters 0.027959534322395414 Centerline is valid? [True, True] Translation: X:811.35, Y:-144.01, Z:-51.35 [[ 9.93865966e-01 9.33811776e-02 5.92486134e-02 8.11347662e+02] [-9.30917438e-02 9.95628279e-01 -7.63267179e-03 -1.44012781e+02] [-5.97023428e-02 2.07029599e-03 9.98214077e-01 -5.13476796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.010714057 meters 0.028818039399355254 Centerline is valid? [True, True] Translation: X:811.38, Y:-144.02, Z:-51.35 [[ 9.93953240e-01 9.25188427e-02 5.91373016e-02 8.11377772e+02] [-9.22280706e-02 9.95708649e-01 -7.63346098e-03 -1.44022440e+02] [-5.95897617e-02 2.13318405e-03 9.98220672e-01 -5.13489343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.040714057 meters 0.030315115627143552 Centerline is valid? [True, True] Translation: X:811.41, Y:-144.03, Z:-51.35 [[ 9.93953044e-01 9.22270738e-02 5.95945722e-02 8.11407837e+02] [-9.19304025e-02 9.95735611e-01 -7.70671368e-03 -1.44030505e+02] [-6.00512054e-02 2.18155851e-03 9.98192914e-01 -5.13505437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.0707140569999 meters 0.029747588310004763 Centerline is valid? [True, True] Translation: X:811.44, Y:-144.04, Z:-51.35 [[ 9.93926755e-01 9.18611906e-02 6.05898331e-02 8.11439139e+02] [-9.15529571e-02 9.95769269e-01 -7.84978310e-03 -1.44036742e+02] [-6.10545842e-02 2.25493106e-03 9.98131882e-01 -5.13514321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.1007140569999 meters 0.030149082871990956 Centerline is valid? [True, True] Translation: X:811.47, Y:-144.04, Z:-51.35 [[ 9.93902624e-01 9.18194215e-02 6.10472570e-02 8.11470120e+02] [-9.15054888e-02 9.95773042e-01 -7.92433939e-03 -1.44043270e+02] [-6.15168210e-02 2.28986262e-03 9.98103420e-01 -5.13532347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.130714057 meters 0.030654108121816133 Centerline is valid? [True, True] Translation: X:811.50, Y:-144.05, Z:-51.36 [[ 9.93914316e-01 9.20620825e-02 6.04888919e-02 8.11500302e+02] [-9.17534962e-02 9.95750688e-01 -7.86538840e-03 -1.44050113e+02] [-6.09559597e-02 2.26745482e-03 9.98137881e-01 -5.13551557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.160714057 meters 0.03087676359734815 Centerline is valid? [True, True] Translation: X:811.53, Y:-144.06, Z:-51.36 [[ 9.93944860e-01 9.16582100e-02 6.06002370e-02 8.11531749e+02] [-9.13472012e-02 9.95787858e-01 -7.88860832e-03 -1.44057132e+02] [-6.10680359e-02 2.30517965e-03 9.98130944e-01 -5.13569473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.1907140569999 meters 0.030017432192443825 Centerline is valid? [True, True] Translation: X:811.56, Y:-144.06, Z:-51.36 [[ 9.93900523e-01 9.21704639e-02 6.05504355e-02 8.11562904e+02] [-9.18600132e-02 9.95740617e-01 -7.89687828e-03 -1.44063306e+02] [-6.10203870e-02 2.28654765e-03 9.98133901e-01 -5.13600358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.2207140569999 meters 0.03068190966819763 Centerline is valid? [True, True] Translation: X:811.59, Y:-144.07, Z:-51.36 [[ 9.93804188e-01 9.34533615e-02 6.01639940e-02 8.11593438e+02] [-9.31483110e-02 9.95621209e-01 -7.86130006e-03 -1.44070045e+02] [-6.06352133e-02 2.20841849e-03 9.98157550e-01 -5.13617736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.250714057 meters 0.028223317700071332 Centerline is valid? [True, True] Translation: X:811.63, Y:-144.07, Z:-51.36 [[ 9.93403971e-01 9.74037808e-02 6.05066454e-02 8.11625058e+02] [-9.71017322e-02 9.95242953e-01 -7.91946232e-03 -1.44072104e+02] [-6.09901981e-02 1.99192523e-03 9.98136377e-01 -5.13633292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.280714057 meters 0.028223317700071332 Centerline is valid? [True, True] Translation: X:811.66, Y:-144.08, Z:-51.37 [[ 9.93376141e-01 9.76875174e-02 6.05061237e-02 8.11657303e+02] [-9.73857517e-02 9.95215170e-01 -7.92344622e-03 -1.44076394e+02] [-6.09906339e-02 1.97852810e-03 9.98136377e-01 -5.13652134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.3107140569999 meters 0.026884561792798762 Centerline is valid? [True, True] Translation: X:811.69, Y:-144.08, Z:-51.37 [[ 9.93118533e-01 1.00405867e-01 6.02846620e-02 8.11689660e+02] [-1.00110270e-01 9.94944894e-01 -7.91148094e-03 -1.44079819e+02] [-6.07742758e-02 1.82192458e-03 9.98149873e-01 -5.13666004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.3407140569999 meters 0.0267484866835282 Centerline is valid? [True, True] Translation: X:811.72, Y:-144.08, Z:-51.37 [[ 9.92842986e-01 1.02779039e-01 6.08216683e-02 8.11721793e+02] [-1.02482026e-01 9.94702758e-01 -7.99112063e-03 -1.44084653e+02] [-6.13208009e-02 1.70080028e-03 9.98116660e-01 -5.13685534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.370714057 meters 0.026211277348799022 Centerline is valid? [True, True] Translation: X:811.75, Y:-144.09, Z:-51.37 [[ 9.92332185e-01 1.08079581e-01 5.99636402e-02 8.11752106e+02] [-1.07799669e-01 9.94141304e-01 -7.89302401e-03 -1.44091437e+02] [-6.04654062e-02 1.36844122e-03 9.98169355e-01 -5.13699523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.400714057 meters 0.025304914480949646 Centerline is valid? [True, True] Translation: X:811.78, Y:-144.10, Z:-51.37 [[ 9.92115674e-01 1.09934803e-01 6.01733292e-02 8.11784230e+02] [-1.09656162e-01 9.93937999e-01 -7.92345779e-03 -1.44095035e+02] [-6.06796222e-02 1.26261032e-03 9.98156495e-01 -5.13720704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.4307140569999 meters 0.0250091933724056 Centerline is valid? [True, True] Translation: X:811.82, Y:-144.10, Z:-51.37 [[ 9.91791593e-01 1.12795021e-01 6.02222468e-02 8.11815789e+02] [-1.12520255e-01 9.93617665e-01 -7.94528322e-03 -1.44102155e+02] [-6.07340767e-02 1.10384253e-03 9.98153372e-01 -5.13736987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.4607140569999 meters 0.02488934354244654 Centerline is valid? [True, True] Translation: X:811.85, Y:-144.11, Z:-51.38 [[ 9.91695603e-01 1.13289402e-01 6.08715203e-02 8.11846732e+02] [-1.13008645e-01 9.93561422e-01 -8.04649766e-03 -1.44108236e+02] [-6.13911772e-02 1.10066831e-03 9.98113176e-01 -5.13756285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.4907140569999 meters 0.024453761683656684 Centerline is valid? [True, True] Translation: X:811.88, Y:-144.11, Z:-51.38 [[ 9.91622192e-01 1.13753092e-01 6.12018114e-02 8.11878006e+02] [-1.13469264e-01 9.93508450e-01 -8.10463203e-03 -1.44113764e+02] [-6.17264437e-02 1.09220848e-03 9.98092507e-01 -5.13773471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.520714057 meters 0.024489005617933435 Centerline is valid? [True, True] Translation: X:811.91, Y:-144.12, Z:-51.38 [[ 9.91653092e-01 1.13498763e-01 6.11733248e-02 8.11908526e+02] [-1.13213739e-01 9.93537503e-01 -8.11665326e-03 -1.44123887e+02] [-6.16992225e-02 1.12324346e-03 9.98094156e-01 -5.13785077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.5507140569999 meters 0.023726043634449766 Centerline is valid? [True, True] Translation: X:811.94, Y:-144.13, Z:-51.38 [[ 9.91767729e-01 1.12299852e-01 6.15265368e-02 8.11939671e+02] [-1.12008174e-01 9.93673614e-01 -8.18033853e-03 -1.44129805e+02] [-6.20559470e-02 1.22152074e-03 9.98071925e-01 -5.13804166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.5807140569999 meters 0.02489526789781116 Centerline is valid? [True, True] Translation: X:811.97, Y:-144.14, Z:-51.38 [[ 9.92212275e-01 1.08604391e-01 6.09908834e-02 8.11968768e+02] [-1.08309918e-01 9.94083986e-01 -8.12343896e-03 -1.44143031e+02] [-6.15123016e-02 1.45425825e-03 9.98105266e-01 -5.13818837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.6107140569999 meters 0.02589372543913878 Centerline is valid? [True, True] Translation: X:812.00, Y:-144.15, Z:-51.38 [[ 9.92469099e-01 1.06104901e-01 6.12114159e-02 8.11999534e+02] [-1.05803025e-01 9.94353617e-01 -8.16120894e-03 -1.44151665e+02] [-6.17317371e-02 1.62339474e-03 9.98091457e-01 -5.13831818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.640714057 meters 0.026017484625415838 Centerline is valid? [True, True] Translation: X:812.03, Y:-144.16, Z:-51.38 [[ 9.92782548e-01 1.03163785e-01 6.11559227e-02 8.12030504e+02] [-1.02856009e-01 9.94662719e-01 -8.16799145e-03 -1.44160455e+02] [-6.16721573e-02 1.81878525e-03 9.98094804e-01 -5.13844400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.6707140569999 meters 0.02901165471663249 Centerline is valid? [True, True] Translation: X:812.06, Y:-144.18, Z:-51.39 [[ 9.93576958e-01 9.52509544e-02 6.10907888e-02 8.12058440e+02] [-9.49280758e-02 9.95450586e-01 -8.17258413e-03 -1.44176030e+02] [-6.15913079e-02 2.32086025e-03 9.98098755e-01 -5.13857862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.7007140569999 meters 0.030500492481980605 Centerline is valid? [True, True] Translation: X:812.09, Y:-144.19, Z:-51.39 [[ 9.93950470e-01 9.12609095e-02 6.11057299e-02 8.12088253e+02] [-9.09303976e-02 9.95823705e-01 -8.17379327e-03 -1.44185395e+02] [-6.15964822e-02 2.56797735e-03 9.98097830e-01 -5.13875163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.7307140569999 meters 0.03153225693212078 Centerline is valid? [True, True] Translation: X:812.12, Y:-144.20, Z:-51.39 [[ 9.94622856e-01 8.39465574e-02 6.06494088e-02 8.12117066e+02] [-8.36073422e-02 9.96465744e-01 -8.11376973e-03 -1.44196112e+02] [-6.11161813e-02 2.99940494e-03 9.98126152e-01 -5.13893760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.760714057 meters 0.031810967482716085 Centerline is valid? [True, True] Translation: X:812.15, Y:-144.20, Z:-51.39 [[ 9.94886116e-01 8.07739184e-02 6.06398344e-02 8.12147948e+02] [-8.04288995e-02 9.96727330e-01 -8.11309257e-03 -1.44202729e+02] [-6.10967065e-02 3.19440802e-03 9.98126740e-01 -5.13914903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.790714057 meters 0.03283731859556443 Centerline is valid? [True, True] Translation: X:812.18, Y:-144.21, Z:-51.39 [[ 9.95147151e-01 7.76868351e-02 6.03895920e-02 8.12178147e+02] [-7.73388688e-02 9.96972108e-01 -8.08173741e-03 -1.44210131e+02] [-6.08345835e-02 3.37205523e-03 9.98142166e-01 -5.13936236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.8207140569999 meters 0.03483104090781826 Centerline is valid? [True, True] Translation: X:812.21, Y:-144.22, Z:-51.40 [[ 9.95367015e-01 7.49570081e-02 6.02158843e-02 8.12207116e+02] [-7.46060051e-02 9.97180519e-01 -8.05952839e-03 -1.44218187e+02] [-6.06502249e-02 3.52972214e-03 9.98152840e-01 -5.13954314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.8507140569999 meters 0.03385304696252735 Centerline is valid? [True, True] Translation: X:812.24, Y:-144.22, Z:-51.40 [[ 9.95743207e-01 7.01598172e-02 5.97751253e-02 8.12237373e+02] [-6.98053341e-02 9.97528549e-01 -8.00054333e-03 -1.44223025e+02] [-6.01887107e-02 3.79386408e-03 9.98179806e-01 -5.13975155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.880714057 meters 0.03702261403718293 Centerline is valid? [True, True] Translation: X:812.27, Y:-144.23, Z:-51.40 [[ 9.96143124e-01 6.57358309e-02 5.81177854e-02 8.12265631e+02] [-6.53932577e-02 9.97829249e-01 -7.77887059e-03 -1.44230158e+02] [-5.85029767e-02 3.94835713e-03 9.98279426e-01 -5.14001045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.910714057 meters 0.03805856118166032 Centerline is valid? [True, True] Translation: X:812.30, Y:-144.24, Z:-51.40 [[ 9.96279872e-01 6.35974014e-02 5.81531348e-02 8.12296251e+02] [-6.32509002e-02 9.97967319e-01 -7.78168621e-03 -1.44235788e+02] [-5.85298230e-02 4.07449921e-03 9.98277345e-01 -5.14011058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.9407140569999 meters 0.037565204789383154 Centerline is valid? [True, True] Translation: X:812.33, Y:-144.24, Z:-51.40 [[ 9.96401903e-01 6.13467731e-02 5.84792295e-02 8.12327254e+02] [-6.09924525e-02 9.98107544e-01 -7.82639041e-03 -1.44238193e+02] [-5.88486839e-02 4.23143867e-03 9.98257946e-01 -5.14026254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.9707140569999 meters 0.037758203569028544 Centerline is valid? [True, True] Translation: X:812.36, Y:-144.24, Z:-51.40 [[ 9.96471914e-01 5.92973751e-02 5.93931485e-02 8.12357838e+02] [-5.89281879e-02 9.98230569e-01 -7.94987777e-03 -1.44241859e+02] [-5.97594632e-02 4.42189930e-03 9.98203012e-01 -5.14036078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.000714057 meters 0.04176216612220646 Centerline is valid? [True, True] Translation: X:812.39, Y:-144.25, Z:-51.40 [[ 9.96607657e-01 5.49842025e-02 6.12365585e-02 8.12386495e+02] [-5.45834230e-02 9.98475545e-01 -8.19974615e-03 -1.44249188e+02] [-6.15940626e-02 4.82942883e-03 9.98089599e-01 -5.14032498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.030714057 meters 0.0401063943362406 Centerline is valid? [True, True] Translation: X:812.42, Y:-144.25, Z:-51.40 [[ 9.96672339e-01 5.29015677e-02 6.20134871e-02 8.12417565e+02] [-5.24862976e-02 9.98587088e-01 -8.30757063e-03 -1.44249515e+02] [-6.23653510e-02 5.02506751e-03 9.98040737e-01 -5.14047007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.0607140569999 meters 0.04069278778967066 Centerline is valid? [True, True] Translation: X:812.45, Y:-144.25, Z:-51.41 [[ 9.96842675e-01 4.88147894e-02 6.26242526e-02 8.12448612e+02] [-4.83832119e-02 9.98793604e-01 -8.39050385e-03 -1.44249427e+02] [-6.29582837e-02 5.33404982e-03 9.98001905e-01 -5.14063622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.0907140569999 meters 0.0454643600244565 Centerline is valid? [True, True] Translation: X:812.48, Y:-144.26, Z:-51.41 [[ 9.96954772e-01 4.69283926e-02 6.22808804e-02 8.12478092e+02] [-4.64978660e-02 9.98883532e-01 -8.34492192e-03 -1.44256636e+02] [-6.26029596e-02 5.42358170e-03 9.98023774e-01 -5.14087403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.120714057 meters 0.045377023155082165 Centerline is valid? [True, True] Translation: X:812.51, Y:-144.26, Z:-51.41 [[ 9.97034782e-01 4.56279839e-02 6.19655558e-02 8.12510139e+02] [-4.51992353e-02 9.98943478e-01 -8.30408384e-03 -1.44257934e+02] [-6.22789864e-02 5.47866469e-03 9.98043743e-01 -5.14114216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.150714057 meters 0.046381447579589875 Centerline is valid? [True, True] Translation: X:812.54, Y:-144.26, Z:-51.41 [[ 9.97258380e-01 4.17657247e-02 6.10847581e-02 8.12540559e+02] [-4.13416654e-02 9.99111499e-01 -8.19015352e-03 -1.44257313e+02] [-6.13725520e-02 5.64235360e-03 9.98098980e-01 -5.14141608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.1807140569999 meters 0.05311061967133731 Centerline is valid? [True, True] Translation: X:812.57, Y:-144.27, Z:-51.42 [[ 9.97372085e-01 3.97456878e-02 6.05739607e-02 8.12569134e+02] [-3.93250385e-02 9.99193468e-01 -8.12124531e-03 -1.44267120e+02] [-6.08478904e-02 5.71783003e-03 9.98130673e-01 -5.14164556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.2107140569999 meters 0.054280787114000154 Centerline is valid? [True, True] Translation: X:812.60, Y:-144.26, Z:-51.42 [[ 9.97558075e-01 3.61541897e-02 5.97558446e-02 8.12601027e+02] [-3.57382095e-02 9.99329038e-01 -8.01582079e-03 -1.44264651e+02] [-6.00055563e-02 5.86067987e-03 9.98180838e-01 -5.14185440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.2407140569999 meters 0.05133887894714552 Centerline is valid? [True, True] Translation: X:812.63, Y:-144.26, Z:-51.42 [[ 9.97618631e-01 3.44026154e-02 5.97789900e-02 8.12633043e+02] [-3.39830859e-02 9.99390222e-01 -8.02084294e-03 -1.44260464e+02] [-6.00184761e-02 5.97026780e-03 9.98179412e-01 -5.14202469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.270714057 meters 0.049919915881951306 Centerline is valid? [True, True] Translation: X:812.66, Y:-144.26, Z:-51.42 [[ 9.97674758e-01 3.30220386e-02 5.96206488e-02 8.12664399e+02] [-3.26021649e-02 9.99436377e-01 -8.00175071e-03 -1.44257687e+02] [-5.98512793e-02 6.03938248e-03 9.98189035e-01 -5.14217472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.3007140569999 meters 0.052151989890643985 Centerline is valid? [True, True] Translation: X:812.69, Y:-144.26, Z:-51.42 [[ 9.97749810e-01 3.06864297e-02 5.96125878e-02 8.12694917e+02] [-3.02624784e-02 9.99509956e-01 -8.00183232e-03 -1.44256217e+02] [-5.98289227e-02 6.17980202e-03 9.98189516e-01 -5.14229508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.3307140569999 meters 0.056905473625693676 Centerline is valid? [True, True] Translation: X:812.72, Y:-144.26, Z:-51.42 [[ 9.97778875e-01 2.98615173e-02 5.95449935e-02 8.12724968e+02] [-2.94369446e-02 9.99534665e-01 -7.99496630e-03 -1.44262108e+02] [-5.97560270e-02 6.22438580e-03 9.98193606e-01 -5.14248889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.3607140569999 meters 0.0535149874013475 Centerline is valid? [True, True] Translation: X:812.76, Y:-144.25, Z:-51.43 [[ 9.97877106e-01 2.80376958e-02 5.87806799e-02 8.12757604e+02] [-2.76207179e-02 9.99587301e-01 -7.89447595e-03 -1.44252022e+02] [-5.89777641e-02 6.25415224e-03 9.98239705e-01 -5.14276822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.390714057 meters 0.056888039458308545 Centerline is valid? [True, True] Translation: X:812.79, Y:-144.26, Z:-51.43 [[ 9.97924573e-01 2.77132374e-02 5.81250609e-02 8.12788753e+02] [-2.73049074e-02 9.99596660e-01 -7.80767173e-03 -1.44255588e+02] [-5.83179926e-02 6.20436807e-03 9.98278778e-01 -5.14295868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.4207140569999 meters 0.05342851740979777 Centerline is valid? [True, True] Translation: X:812.82, Y:-144.25, Z:-51.43 [[ 9.97983516e-01 2.74751085e-02 5.72190482e-02 8.12822194e+02] [-2.70782630e-02 9.99603664e-01 -7.69951482e-03 -1.44249533e+02] [-5.74079152e-02 6.13459644e-03 9.98331958e-01 -5.14320815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.4507140569999 meters 0.0670980562516079 Centerline is valid? [True, True] Translation: X:812.85, Y:-144.26, Z:-51.43 [[ 9.98007181e-01 2.78095524e-02 5.66418189e-02 8.12851804e+02] [-2.74203752e-02 9.99594820e-01 -7.63663992e-03 -1.44261773e+02] [-5.68312403e-02 6.06828155e-03 9.98365357e-01 -5.14335770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.4807140569999 meters 0.05370979065150133 Centerline is valid? [True, True] Translation: X:812.89, Y:-144.24, Z:-51.43 [[ 9.97956960e-01 2.83559786e-02 5.72524660e-02 8.12886655e+02] [-2.79587447e-02 9.99579208e-01 -7.72757652e-03 -1.44242898e+02] [-5.74474976e-02 6.11108169e-03 9.98329825e-01 -5.14341753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.510714057 meters 0.05435298830393562 Centerline is valid? [True, True] Translation: X:812.92, Y:-144.24, Z:-51.43 [[ 9.97849011e-01 2.93085964e-02 5.86375111e-02 8.12919045e+02] [-2.88925968e-02 9.99551067e-01 -7.92990091e-03 -1.44238514e+02] [-5.88436010e-02 6.21865382e-03 9.98247844e-01 -5.14330760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.540714057 meters 0.05447576045115511 Centerline is valid? [True, True] Translation: X:812.95, Y:-144.24, Z:-51.43 [[ 9.97828650e-01 2.96512328e-02 5.88114767e-02 8.12952028e+02] [-2.92332100e-02 9.99540958e-01 -7.95571149e-03 -1.44238611e+02] [-5.90203764e-02 6.21918861e-03 9.98237405e-01 -5.14344517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.5707140569999 meters 0.0542414435534814 Centerline is valid? [True, True] Translation: X:812.98, Y:-144.23, Z:-51.44 [[ 9.97848830e-01 3.05701158e-02 5.79929281e-02 8.12984031e+02] [-3.01648934e-02 9.99514108e-01 -7.85024085e-03 -1.44233952e+02] [-5.82047326e-02 6.08400316e-03 9.98286128e-01 -5.14353953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.6007140569999 meters 0.05539089261510295 Centerline is valid? [True, True] Translation: X:813.02, Y:-144.24, Z:-51.44 [[ 9.97889547e-01 3.10947574e-02 5.70049864e-02 8.13015112e+02] [-3.07039737e-02 9.99498719e-01 -7.71854936e-03 -1.44235883e+02] [-5.72164173e-02 5.95198012e-03 9.98344057e-01 -5.14374570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.630714057 meters 0.05532573474760571 Centerline is valid? [True, True] Translation: X:813.05, Y:-144.24, Z:-51.44 [[ 9.97912812e-01 3.16613035e-02 5.62812783e-02 8.13047348e+02] [-3.12808302e-02 9.99481523e-01 -7.62858816e-03 -1.44236132e+02] [-5.64936287e-02 5.85214075e-03 9.98385808e-01 -5.14404467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.660714057 meters 0.054170644397641576 Centerline is valid? [True, True] Translation: X:813.08, Y:-144.23, Z:-51.44 [[ 9.98007089e-01 3.28332726e-02 5.38871567e-02 8.13079928e+02] [-3.24854659e-02 9.99445418e-01 -7.31785703e-03 -1.44232271e+02] [-5.40975411e-02 5.55272380e-03 9.98520217e-01 -5.14436975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.6907140569999 meters 0.05492235023269123 Centerline is valid? [True, True] Translation: X:813.11, Y:-144.23, Z:-51.45 [[ 9.98060237e-01 3.33653101e-02 5.25596759e-02 8.13112273e+02] [-3.30350817e-02 9.99428693e-01 -7.13944273e-03 -1.44233699e+02] [-5.27678579e-02 5.38928072e-03 9.98592264e-01 -5.14463117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.7207140569999 meters 0.05149127593401696 Centerline is valid? [True, True] Translation: X:813.15, Y:-144.23, Z:-51.45 [[ 9.98078287e-01 3.40988971e-02 5.17397265e-02 8.13145049e+02] [-3.37792116e-02 9.99404518e-01 -7.04089796e-03 -1.44229880e+02] [-5.19490032e-02 5.27964020e-03 9.98635783e-01 -5.14479229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.750714057 meters 0.05741712972830288 Centerline is valid? [True, True] Translation: X:813.18, Y:-144.23, Z:-51.45 [[ 9.98101376e-01 3.52491567e-02 5.05088077e-02 8.13175506e+02] [-3.49452555e-02 9.99365494e-01 -6.88757705e-03 -1.44234168e+02] [-5.07195408e-02 5.10945695e-03 9.98699866e-01 -5.14496759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.780714057 meters 0.05589622804570061 Centerline is valid? [True, True] Translation: X:813.21, Y:-144.23, Z:-51.45 [[ 9.98140961e-01 3.56786322e-02 4.94131367e-02 8.13209154e+02] [-3.53883179e-02 9.99350923e-01 -6.73797248e-03 -1.44232514e+02] [-4.96214654e-02 4.97679853e-03 9.98755697e-01 -5.14513306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.8107140569999 meters 0.05015656881872581 Centerline is valid? [True, True] Translation: X:813.24, Y:-144.22, Z:-51.45 [[ 9.98151321e-01 3.64570652e-02 4.86294491e-02 8.13243179e+02] [-3.61761332e-02 9.99323337e-01 -6.64496306e-03 -1.44222660e+02] [-4.88387992e-02 4.87345323e-03 9.98794784e-01 -5.14523610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.8407140569999 meters 0.04727100914634388 Centerline is valid? [True, True] Translation: X:813.28, Y:-144.22, Z:-51.45 [[ 9.98184451e-01 3.66924204e-02 4.77647270e-02 8.13277410e+02] [-3.64210280e-02 9.99315133e-01 -6.54012119e-03 -1.44219913e+02] [-4.79719874e-02 4.78860681e-03 9.98837203e-01 -5.14535229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.870714057 meters 0.0584016667607862 Centerline is valid? [True, True] Translation: X:813.31, Y:-144.24, Z:-51.46 [[ 9.98162474e-01 3.69700489e-02 4.80092831e-02 8.13307791e+02] [-3.66959416e-02 9.99304823e-01 -6.57865161e-03 -1.44236231e+02] [-4.82191212e-02 4.80481732e-03 9.98825225e-01 -5.14564488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.900714057 meters 0.05211546595337154 Centerline is valid? [True, True] Translation: X:813.34, Y:-144.23, Z:-51.46 [[ 9.98142948e-01 3.72728889e-02 4.81807766e-02 8.13342636e+02] [-3.69965127e-02 9.99293496e-01 -6.61565007e-03 -1.44229350e+02] [-4.83933211e-02 4.82084375e-03 9.98816723e-01 -5.14568425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.9307140569999 meters 0.05942398950490976 Centerline is valid? [True, True] Translation: X:813.37, Y:-144.24, Z:-51.46 [[ 9.98104127e-01 3.74019589e-02 4.88799069e-02 8.13373594e+02] [-3.71168898e-02 9.99288288e-01 -6.72706972e-03 -1.44237843e+02] [-4.90967241e-02 4.90004593e-03 9.98782009e-01 -5.14577090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.9607140569999 meters 0.05321651414630127 Centerline is valid? [True, True] Translation: X:813.41, Y:-144.23, Z:-51.46 [[ 9.98041542e-01 3.81083542e-02 4.96068021e-02 8.13407508e+02] [-3.78151690e-02 9.99261370e-01 -6.83568995e-03 -1.44228695e+02] [-4.98306579e-02 4.94641293e-03 9.98745432e-01 -5.14573679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.9907140569999 meters 0.052773294998319245 Centerline is valid? [True, True] Translation: X:813.44, Y:-144.23, Z:-51.46 [[ 9.98037616e-01 3.83409684e-02 4.95064439e-02 8.13440377e+02] [-3.80486484e-02 9.99252519e-01 -6.83399802e-03 -1.44229874e+02] [-4.97314609e-02 4.93693381e-03 9.98750424e-01 -5.14585274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.020714057 meters 0.05072707848638048 Centerline is valid? [True, True] Translation: X:813.47, Y:-144.23, Z:-51.46 [[ 9.97994768e-01 3.87792039e-02 5.00261629e-02 8.13473071e+02] [-3.84805040e-02 9.99235386e-01 -6.92060135e-03 -1.44229648e+02] [-5.02562876e-02 4.98169198e-03 9.98723930e-01 -5.14598741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.0507140569999 meters 0.05188785257773683 Centerline is valid? [True, True] Translation: X:813.51, Y:-144.23, Z:-51.46 [[ 9.98026611e-01 3.86176699e-02 4.95132284e-02 8.13505446e+02] [-3.83242498e-02 9.99241794e-01 -6.86217825e-03 -1.44233437e+02] [-4.97406884e-02 4.95107917e-03 9.98749894e-01 -5.14618297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.0807140569999 meters 0.05466019050172489 Centerline is valid? [True, True] Translation: X:813.54, Y:-144.24, Z:-51.46 [[ 9.98134105e-01 3.74905948e-02 4.81950600e-02 8.13535580e+02] [-3.72106264e-02 9.99285027e-01 -6.69352521e-03 -1.44236966e+02] [-4.84115461e-02 4.88766743e-03 9.98815515e-01 -5.14642123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.1107140569999 meters 0.05379391721707416 Centerline is valid? [True, True] Translation: X:813.57, Y:-144.24, Z:-51.47 [[ 9.98178931e-01 3.70834555e-02 4.75777238e-02 8.13567432e+02] [-3.68102237e-02 9.99300436e-01 -6.60652639e-03 -1.44238017e+02] [-4.77894330e-02 4.84314879e-03 9.98845691e-01 -5.14663013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.140714057 meters 0.052047742375045905 Centerline is valid? [True, True] Translation: X:813.60, Y:-144.24, Z:-51.47 [[ 9.98283406e-01 3.69655376e-02 4.54289499e-02 8.13599742e+02] [-3.67158730e-02 9.99305772e-01 -6.31818150e-03 -1.44235369e+02] [-4.56309668e-02 4.63937220e-03 9.98947592e-01 -5.14689665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.1707140569999 meters 0.053556872560093595 Centerline is valid? [True, True] Translation: X:813.63, Y:-144.24, Z:-51.47 [[ 9.98296734e-01 3.73913701e-02 4.47829867e-02 8.13631611e+02] [-3.71487341e-02 9.99290275e-01 -6.23836580e-03 -1.44239425e+02] [-4.49844642e-02 4.56410894e-03 9.98977260e-01 -5.14719051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.2007140569999 meters 0.053556872560093595 Centerline is valid? [True, True] Translation: X:813.66, Y:-144.24, Z:-51.47 [[ 9.98286163e-01 3.76744927e-02 4.47813452e-02 8.13663996e+02] [-3.74316164e-02 9.99279646e-01 -6.25012395e-03 -1.44244030e+02] [-4.49845570e-02 4.56317412e-03 9.98977261e-01 -5.14737962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.2307140569999 meters 0.05017133011893166 Centerline is valid? [True, True] Translation: X:813.70, Y:-144.24, Z:-51.48 [[ 9.98267544e-01 3.87800044e-02 4.42495444e-02 8.13696120e+02] [-3.85432357e-02 9.99237750e-01 -6.19177110e-03 -1.44238735e+02] [-4.44559321e-02 4.47552350e-03 9.99001321e-01 -5.14750804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.260714057 meters 0.05219409803878628 Centerline is valid? [True, True] Translation: X:813.73, Y:-144.24, Z:-51.48 [[ 9.98206184e-01 3.98348771e-02 4.46944941e-02 8.13726418e+02] [-3.95942890e-02 9.99196256e-01 -6.25571432e-03 -1.44243257e+02] [-4.49077668e-02 4.47484600e-03 9.98981115e-01 -5.14775035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.290714057 meters 0.052102157662727105 Centerline is valid? [True, True] Translation: X:813.76, Y:-144.25, Z:-51.48 [[ 9.98120887e-01 4.14783422e-02 4.51025832e-02 8.13756964e+02] [-4.12349005e-02 9.99129523e-01 -6.31495703e-03 -1.44245008e+02] [-4.53252564e-02 4.44328998e-03 9.98962401e-01 -5.14791646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.3207140569999 meters 0.05025950076717065 Centerline is valid? [True, True] Translation: X:813.79, Y:-144.24, Z:-51.48 [[ 9.98063683e-01 4.29278427e-02 4.50120546e-02 8.13788780e+02] [-4.26868576e-02 9.99068626e-01 -6.30183428e-03 -1.44244095e+02] [-4.52406557e-02 4.36820877e-03 9.98966567e-01 -5.14806953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.3507140569999 meters 0.04639804649648622 Centerline is valid? [True, True] Translation: X:813.82, Y:-144.24, Z:-51.48 [[ 9.97965151e-01 4.51624901e-02 4.50100804e-02 8.13820533e+02] [-4.49236820e-02 9.98970534e-01 -6.30364743e-03 -1.44237142e+02] [-4.52484325e-02 4.26880192e-03 9.98966644e-01 -5.14813556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.380714057 meters 0.052990876488194456 Centerline is valid? [True, True] Translation: X:813.85, Y:-144.25, Z:-51.48 [[ 9.97916449e-01 4.61538928e-02 4.50841303e-02 8.13850468e+02] [-4.59154318e-02 9.98925394e-01 -6.31110941e-03 -1.44247809e+02] [-4.53269649e-02 4.22790258e-03 9.98963258e-01 -5.14841669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.410714057 meters 0.048114798446104216 Centerline is valid? [True, True] Translation: X:813.88, Y:-144.24, Z:-51.48 [[ 9.97887280e-01 4.67619477e-02 4.51031797e-02 8.13884443e+02] [-4.65233301e-02 9.98897171e-01 -6.32633641e-03 -1.44241398e+02] [-4.53492704e-02 4.21462051e-03 9.98962302e-01 -5.14845927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.4407140569999 meters 0.0462467607378202 Centerline is valid? [True, True] Translation: X:813.92, Y:-144.24, Z:-51.49 [[ 9.97880841e-01 4.67876398e-02 4.52188552e-02 8.13916473e+02] [-4.65477157e-02 9.98895917e-01 -6.34489052e-03 -1.44241438e+02] [-4.54657923e-02 4.22661027e-03 9.98956955e-01 -5.14861044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.4707140569999 meters 0.04730129084108561 Centerline is valid? [True, True] Translation: X:813.95, Y:-144.25, Z:-51.49 [[ 9.97897461e-01 4.63177304e-02 4.53356976e-02 8.13948616e+02] [-4.60755953e-02 9.98917633e-01 -6.37197779e-03 -1.44245357e+02] [-4.55817633e-02 4.26971120e-03 9.98951487e-01 -5.14881995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.500714057 meters 0.048664107035309316 Centerline is valid? [True, True] Translation: X:813.98, Y:-144.25, Z:-51.49 [[ 9.97983759e-01 4.49696191e-02 4.47900662e-02 8.13979577e+02] [-4.47313030e-02 9.98979130e-01 -6.30936774e-03 -1.44248233e+02] [-4.50280712e-02 4.29312851e-03 9.98976497e-01 -5.14906556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.530714057 meters 0.04948043086170192 Centerline is valid? [True, True] Translation: X:814.01, Y:-144.25, Z:-51.49 [[ 9.98038614e-01 4.39128182e-02 4.46160333e-02 8.14010962e+02] [-4.36753472e-02 9.99026014e-01 -6.28394620e-03 -1.44251691e+02] [-4.48485236e-02 4.32300021e-03 9.98984445e-01 -5.14930707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.5607140569999 meters 0.04860377906824219 Centerline is valid? [True, True] Translation: X:814.04, Y:-144.25, Z:-51.50 [[ 9.98120860e-01 4.25932377e-02 4.40518386e-02 8.14042668e+02] [-4.23598974e-02 9.99083071e-01 -6.21734737e-03 -1.44251844e+02] [-4.42762632e-02 4.33963274e-03 9.99009900e-01 -5.14953460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.5907140569999 meters 0.049225689067164353 Centerline is valid? [True, True] Translation: X:814.07, Y:-144.26, Z:-51.50 [[ 9.98150422e-01 4.22840029e-02 4.36783471e-02 8.14074837e+02] [-4.20543744e-02 9.99096314e-01 -6.16323553e-03 -1.44255953e+02] [-4.38994818e-02 4.31497059e-03 9.99026635e-01 -5.14977886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.620714057 meters 0.05211305285001004 Centerline is valid? [True, True] Translation: X:814.11, Y:-144.26, Z:-51.50 [[ 9.98181974e-01 4.21626262e-02 4.30704049e-02 8.14105649e+02] [-4.19387562e-02 9.99101631e-01 -6.08859336e-03 -1.44262545e+02] [-4.32884229e-02 4.27120493e-03 9.99053487e-01 -5.15003314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.650714057 meters 0.05029892273114061 Centerline is valid? [True, True] Translation: X:814.14, Y:-144.26, Z:-51.50 [[ 9.98157970e-01 4.26535834e-02 4.31432459e-02 8.14138168e+02] [-4.24289763e-02 9.99080810e-01 -6.10885464e-03 -1.44260734e+02] [-4.33641535e-02 4.26707819e-03 9.99050220e-01 -5.15010343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.6807140569999 meters 0.04951253238525763 Centerline is valid? [True, True] Translation: X:814.17, Y:-144.26, Z:-51.50 [[ 9.98123880e-01 4.33219942e-02 4.32657501e-02 8.14170453e+02] [-4.30962471e-02 9.99052074e-01 -6.13729652e-03 -1.44262577e+02] [-4.34906173e-02 4.26119076e-03 9.99044748e-01 -5.15019708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.7107140569999 meters 0.05451207303348915 Centerline is valid? [True, True] Translation: X:814.20, Y:-144.27, Z:-51.50 [[ 9.98053519e-01 4.43679025e-02 4.38253666e-02 8.14200170e+02] [-4.41366265e-02 9.99006071e-01 -6.23128891e-03 -1.44270253e+02] [-4.40582765e-02 4.28485598e-03 9.99019774e-01 -5.15039162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.7407140569999 meters 0.0831306612689674 Centerline is valid? [True, True] Translation: X:814.22, Y:-144.31, Z:-51.51 [[ 9.97862297e-01 4.59310267e-02 4.64884693e-02 8.14223839e+02] [-4.56723790e-02 9.98934595e-01 -6.61124298e-03 -1.44310716e+02] [-4.67426014e-02 4.47387111e-03 9.98896949e-01 -5.15091302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.770714057 meters 0.050044193421960946 Centerline is valid? [True, True] Translation: X:814.26, Y:-144.27, Z:-51.51 [[ 9.97961600e-01 4.56417049e-02 4.46035857e-02 8.14261827e+02] [-4.54035148e-02 9.98948615e-01 -6.33925733e-03 -1.44270284e+02] [-4.48460247e-02 4.30117583e-03 9.98984652e-01 -5.15060202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.8007140569999 meters 0.05085077022030273 Centerline is valid? [True, True] Translation: X:814.29, Y:-144.27, Z:-51.51 [[ 9.97919142e-01 4.67668310e-02 4.43874982e-02 8.14292653e+02] [-4.65315829e-02 9.98896833e-01 -6.31894251e-03 -1.44272570e+02] [-4.46340483e-02 4.24037314e-03 9.98994405e-01 -5.15079624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.8307140569999 meters 0.051720811231043134 Centerline is valid? [True, True] Translation: X:814.32, Y:-144.28, Z:-51.51 [[ 9.97919572e-01 4.72499899e-02 4.38630516e-02 8.14323578e+02] [-4.70201739e-02 9.98874343e-01 -6.25699363e-03 -1.44276307e+02] [-4.41093197e-02 4.18152809e-03 9.99017959e-01 -5.15102112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.8607140569999 meters 0.04912667592554152 Centerline is valid? [True, True] Translation: X:814.36, Y:-144.27, Z:-51.51 [[ 9.97865269e-01 4.90447235e-02 4.31221653e-02 8.14355110e+02] [-4.88241994e-02 9.98788435e-01 -6.15298089e-03 -1.44273720e+02] [-4.33716913e-02 4.03444073e-03 9.99050859e-01 -5.15126345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.890714057 meters 0.047538348174894184 Centerline is valid? [True, True] Translation: X:814.39, Y:-144.27, Z:-51.51 [[ 9.97840995e-01 5.00726827e-02 4.24979386e-02 8.14385599e+02] [-4.98593700e-02 9.98737832e-01 -6.06521539e-03 -1.44274357e+02] [-4.27480007e-02 3.93320012e-03 9.99078144e-01 -5.15142619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.9207140569999 meters 0.054211527895257024 Centerline is valid? [True, True] Translation: X:814.41, Y:-144.28, Z:-51.52 [[ 9.97825661e-01 5.15090463e-02 4.11189625e-02 8.14413857e+02] [-5.13105592e-02 9.98665502e-01 -5.86870019e-03 -1.44283595e+02] [-4.13663804e-02 3.74610269e-03 9.99137022e-01 -5.15183729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.9507140569999 meters 0.04516028099132853 Centerline is valid? [True, True] Translation: X:814.45, Y:-144.27, Z:-51.52 [[ 9.97781611e-01 5.24322771e-02 4.10208925e-02 8.14445409e+02] [-5.22355275e-02 9.98617633e-01 -5.85427558e-03 -1.44273910e+02] [-4.12711396e-02 3.69854055e-03 9.99141138e-01 -5.15179388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.9807140569999 meters 0.053482073890877925 Centerline is valid? [True, True] Translation: X:814.47, Y:-144.29, Z:-51.52 [[ 9.97741512e-01 5.31983721e-02 4.10098606e-02 8.14472097e+02] [-5.30024205e-02 9.98577240e-01 -5.85147994e-03 -1.44287556e+02] [-4.12628026e-02 3.66464257e-03 9.99141607e-01 -5.15214822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.010714057 meters 0.04449811571473345 Centerline is valid? [True, True] Translation: X:814.50, Y:-144.28, Z:-51.52 [[ 9.97646858e-01 5.46706801e-02 4.13746720e-02 8.14503697e+02] [-5.44725862e-02 9.98497830e-01 -5.90097610e-03 -1.44276292e+02] [-4.16351306e-02 3.63330487e-03 9.99126276e-01 -5.15202086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.040714057 meters 0.043936166220077434 Centerline is valid? [True, True] Translation: X:814.53, Y:-144.28, Z:-51.52 [[ 9.97582295e-01 5.56237494e-02 4.16601026e-02 8.14532752e+02] [-5.54237878e-02 9.98445249e-01 -5.94043063e-03 -1.44278482e+02] [-4.19257605e-02 3.61710773e-03 9.99114181e-01 -5.15217158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.0707140569999 meters 0.04255282275330166 Centerline is valid? [True, True] Translation: X:814.56, Y:-144.28, Z:-51.52 [[ 9.97495788e-01 5.73514851e-02 4.13879296e-02 8.14562738e+02] [-5.71557102e-02 9.98347848e-01 -5.89910181e-03 -1.44276921e+02] [-4.16578727e-02 3.51877270e-03 9.99125738e-01 -5.15227866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.1007140569999 meters 0.043891992109497485 Centerline is valid? [True, True] Translation: X:814.59, Y:-144.28, Z:-51.52 [[ 9.97415356e-01 5.83391561e-02 4.19422364e-02 8.14589961e+02] [-5.81389955e-02 9.98290603e-01 -5.97737517e-03 -1.44281049e+02] [-4.22192555e-02 3.52344629e-03 9.99102157e-01 -5.15241742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.130714057 meters 0.04887880362160886 Centerline is valid? [True, True] Translation: X:814.62, Y:-144.29, Z:-51.53 [[ 9.97362685e-01 5.93156648e-02 4.18249409e-02 8.14616653e+02] [-5.91176380e-02 9.98233250e-01 -5.95679461e-03 -1.44289933e+02] [-4.21043779e-02 3.46849295e-03 9.99107197e-01 -5.15259930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.160714057 meters 0.044338853440474814 Centerline is valid? [True, True] Translation: X:814.65, Y:-144.29, Z:-51.53 [[ 9.97265553e-01 6.02465479e-02 4.27991773e-02 8.14646722e+02] [-6.00402268e-02 9.98177374e-01 -6.09102778e-03 -1.44286506e+02] [-4.30881338e-02 3.50469988e-03 9.99065128e-01 -5.15254827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.1907140569999 meters 0.043609303522149145 Centerline is valid? [True, True] Translation: X:814.68, Y:-144.29, Z:-51.53 [[ 9.97146813e-01 6.17985733e-02 4.33493827e-02 8.14676553e+02] [-6.15884797e-02 9.98082577e-01 -6.16670730e-03 -1.44287039e+02] [-4.36473573e-02 3.47928996e-03 9.99040942e-01 -5.15261922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.2207140569999 meters 0.04612144884597774 Centerline is valid? [True, True] Translation: X:814.70, Y:-144.29, Z:-51.53 [[ 9.97133130e-01 6.22190735e-02 4.30616685e-02 8.14703671e+02] [-6.20121853e-02 9.98056598e-01 -6.12499396e-03 -1.44293976e+02] [-4.33590738e-02 3.43708624e-03 9.99053641e-01 -5.15284340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.250714057 meters 0.040652751296091125 Centerline is valid? [True, True] Translation: X:814.73, Y:-144.29, Z:-51.53 [[ 9.97134177e-01 6.25905263e-02 4.24954079e-02 8.14733491e+02] [-6.23895497e-02 9.98033595e-01 -6.04055016e-03 -1.44289288e+02] [-4.27899259e-02 3.37196965e-03 9.99078401e-01 -5.15300445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.280714057 meters 0.045878886209814236 Centerline is valid? [True, True] Translation: X:814.76, Y:-144.30, Z:-51.53 [[ 9.97160407e-01 6.26485898e-02 4.17884765e-02 8.14760003e+02] [-6.24544142e-02 9.98030157e-01 -5.93735036e-03 -1.44299959e+02] [-4.20781263e-02 3.31061588e-03 9.99108839e-01 -5.15334314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.3107140569999 meters 0.041681980358190915 Centerline is valid? [True, True] Translation: X:814.79, Y:-144.30, Z:-51.53 [[ 9.97208885e-01 6.24278083e-02 4.09537355e-02 8.14789607e+02] [-6.22412958e-02 9.98044192e-01 -5.81481259e-03 -1.44297088e+02] [-4.12366439e-02 3.24956922e-03 9.99144124e-01 -5.15341483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.3407140569999 meters 0.042828188121789436 Centerline is valid? [True, True] Translation: X:814.82, Y:-144.30, Z:-51.54 [[ 9.97210871e-01 6.29223988e-02 4.01403975e-02 8.14817255e+02] [-6.27437259e-02 9.98013412e-01 -5.69681451e-03 -1.44301170e+02] [-4.04191123e-02 3.16236726e-03 9.99177809e-01 -5.15367556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.370714057 meters 0.04140969874450218 Centerline is valid? [True, True] Translation: X:814.85, Y:-144.30, Z:-51.54 [[ 9.97177611e-01 6.37876294e-02 3.95973608e-02 8.14846751e+02] [-6.36146036e-02 9.97958740e-01 -5.61562406e-03 -1.44302013e+02] [-3.98747397e-02 3.08080417e-03 9.99199937e-01 -5.15380075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.400714057 meters 0.043418863841864545 Centerline is valid? [True, True] Translation: X:814.87, Y:-144.31, Z:-51.54 [[ 9.97156592e-01 6.39867981e-02 3.98047921e-02 8.14873859e+02] [-6.38121737e-02 9.97945969e-01 -5.64348145e-03 -1.44308114e+02] [-4.00841401e-02 3.08740442e-03 9.99191538e-01 -5.15395982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.4307140569999 meters 0.04137918108225309 Centerline is valid? [True, True] Translation: X:814.90, Y:-144.31, Z:-51.54 [[ 9.97102479e-01 6.43213574e-02 4.06129260e-02 8.14902524e+02] [-6.41400053e-02 9.97924321e-01 -5.75404565e-03 -1.44308425e+02] [-4.08987346e-02 3.13245989e-03 9.99158386e-01 -5.15397898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.4607140569999 meters 0.04243745904459709 Centerline is valid? [True, True] Translation: X:814.93, Y:-144.31, Z:-51.54 [[ 9.97043164e-01 6.47027560e-02 4.14545788e-02 8.14929965e+02] [-6.45142475e-02 9.97899518e-01 -5.87051290e-03 -1.44313241e+02] [-4.17473426e-02 3.17874380e-03 9.99123143e-01 -5.15409173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.4907140569999 meters 0.04179461404703473 Centerline is valid? [True, True] Translation: X:814.96, Y:-144.32, Z:-51.54 [[ 9.96943223e-01 6.54518390e-02 4.26645901e-02 8.14958640e+02] [-6.52530177e-02 9.97850485e-01 -6.03768730e-03 -1.44315509e+02] [-4.29680596e-02 3.23523819e-03 9.99071208e-01 -5.15408927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.520714057 meters 0.04393586540395797 Centerline is valid? [True, True] Translation: X:814.99, Y:-144.32, Z:-51.54 [[ 9.96879997e-01 6.60369515e-02 4.32364759e-02 8.14985774e+02] [-6.58334437e-02 9.97811885e-01 -6.11548340e-03 -1.44322041e+02] [-4.35457174e-02 3.24999697e-03 9.99046149e-01 -5.15426766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.5507140569999 meters 0.041823664802053594 Centerline is valid? [True, True] Translation: X:815.01, Y:-144.32, Z:-51.54 [[ 9.96792324e-01 6.73909283e-02 4.31685757e-02 8.15014529e+02] [-6.71894539e-02 9.97721571e-01 -6.10284044e-03 -1.44322382e+02] [-4.34814952e-02 3.18279148e-03 9.99049163e-01 -5.15442122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.5807140569999 meters 0.04169559066374621 Centerline is valid? [True, True] Translation: X:815.04, Y:-144.33, Z:-51.55 [[ 9.96756829e-01 6.79223670e-02 4.31552495e-02 8.15043099e+02] [-6.77216460e-02 9.97685619e-01 -6.09788038e-03 -1.44326116e+02] [-4.34695543e-02 3.15555938e-03 9.99049769e-01 -5.15463850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.6107140569999 meters 0.03791659091628351 Centerline is valid? [True, True] Translation: X:815.07, Y:-144.32, Z:-51.55 [[ 9.96763389e-01 6.81104858e-02 4.27049076e-02 8.15072018e+02] [-6.79142324e-02 9.97672932e-01 -6.03133821e-03 -1.44324707e+02] [-4.30163278e-02 3.11154609e-03 9.99069524e-01 -5.15471619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.640714057 meters 0.04283602205051257 Centerline is valid? [True, True] Translation: X:815.10, Y:-144.34, Z:-51.55 [[ 9.96748057e-01 6.83604541e-02 4.26633281e-02 8.15098404e+02] [-6.81649330e-02 9.97655888e-01 -6.02261793e-03 -1.44335766e+02] [-4.29750294e-02 3.09488982e-03 9.99071353e-01 -5.15506123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.6707140569999 meters 0.043369215925656054 Centerline is valid? [True, True] Translation: X:815.13, Y:-144.34, Z:-51.55 [[ 9.96736013e-01 6.88048194e-02 4.22281651e-02 8.15126743e+02] [-6.86138516e-02 9.97625509e-01 -5.95683379e-03 -1.44340973e+02] [-4.25377536e-02 3.03995371e-03 9.99090235e-01 -5.15528061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.7007140569999 meters 0.03864043065117154 Centerline is valid? [True, True] Translation: X:815.16, Y:-144.34, Z:-51.55 [[ 9.96744081e-01 6.90832475e-02 4.15781466e-02 8.15156122e+02] [-6.88984346e-02 9.97606449e-01 -5.86332975e-03 -1.44339184e+02] [-4.18836850e-02 2.97957001e-03 9.99118051e-01 -5.15543366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.7307140569999 meters 0.039825833244032986 Centerline is valid? [True, True] Translation: X:815.18, Y:-144.35, Z:-51.56 [[ 9.96696065e-01 6.97721009e-02 4.15789372e-02 8.15183306e+02] [-6.95879937e-02 9.97558602e-01 -5.86065782e-03 -1.44345391e+02] [-4.18863369e-02 2.94789976e-03 9.99118033e-01 -5.15566670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.760714057 meters 0.03843303560047575 Centerline is valid? [True, True] Translation: X:815.21, Y:-144.35, Z:-51.56 [[ 9.96551678e-01 7.21055247e-02 4.10554019e-02 8.15212868e+02] [-7.19281822e-02 9.97393052e-01 -5.78239956e-03 -1.44348293e+02] [-4.13653155e-02 2.80941956e-03 9.99140139e-01 -5.15587049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.790714057 meters 0.03740628851185722 Centerline is valid? [True, True] Translation: X:815.24, Y:-144.35, Z:-51.56 [[ 9.96378317e-01 7.40075848e-02 4.18703538e-02 8.15242297e+02] [-7.38248620e-02 9.97253795e-01 -5.89565311e-03 -1.44351144e+02] [-4.21916922e-02 2.78322783e-03 9.99105657e-01 -5.15597332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.8207140569999 meters 0.04489899410660468 Centerline is valid? [True, True] Translation: X:815.27, Y:-144.37, Z:-51.56 [[ 9.96192912e-01 7.62607157e-02 4.22372526e-02 8.15268813e+02] [-7.60768431e-02 9.97084228e-01 -5.94605444e-03 -1.44365956e+02] [-4.25675488e-02 2.71014045e-03 9.99089915e-01 -5.15634808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.8507140569999 meters 0.03522305644477468 Centerline is valid? [True, True] Translation: X:815.30, Y:-144.36, Z:-51.56 [[ 9.95667828e-01 8.23606510e-02 4.31543750e-02 8.15300201e+02] [-8.21745202e-02 9.96599455e-01 -6.07247471e-03 -1.44356317e+02] [-4.35077596e-02 2.49997765e-03 9.99049961e-01 -5.15609681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.880714057 meters 0.03021443906681375 Centerline is valid? [True, True] Translation: X:815.33, Y:-144.35, Z:-51.56 [[ 9.95359433e-01 8.55819458e-02 4.39923926e-02 8.15330865e+02] [-8.53916935e-02 9.96328235e-01 -6.18928426e-03 -1.44352526e+02] [-4.43605539e-02 2.40397757e-03 9.99012694e-01 -5.15604165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.910714057 meters 0.031727406444577 Centerline is valid? [True, True] Translation: X:815.36, Y:-144.36, Z:-51.56 [[ 9.94683326e-01 9.28962295e-02 4.44451607e-02 8.15358872e+02] [-9.27093979e-02 9.95673587e-01 -6.25107006e-03 -1.44360325e+02] [-4.48335735e-02 2.09735107e-03 9.98992268e-01 -5.15634998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.9407140569999 meters 0.028034705201854165 Centerline is valid? [True, True] Translation: X:815.39, Y:-144.36, Z:-51.56 [[ 9.94317634e-01 9.65117409e-02 4.49213303e-02 8.15389185e+02] [-9.63246649e-02 9.95329930e-01 -6.31574083e-03 -1.44358616e+02] [-4.53210877e-02 1.95282039e-03 9.98970563e-01 -5.15640807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.9707140569999 meters 0.02731222167620908 Centerline is valid? [True, True] Translation: X:815.42, Y:-144.36, Z:-51.57 [[ 9.93963887e-01 1.00288330e-01 4.44751763e-02 8.15418470e+02] [-1.00108797e-01 9.94956858e-01 -6.25140962e-03 -1.44361732e+02] [-4.48778251e-02 1.76131900e-03 9.98990930e-01 -5.15659106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.000714057 meters 0.027003791384979905 Centerline is valid? [True, True] Translation: X:815.45, Y:-144.37, Z:-51.57 [[ 9.93341424e-01 1.06300191e-01 4.44194187e-02 8.15447018e+02] [-1.06127177e-01 9.94332973e-01 -6.24194944e-03 -1.44367540e+02] [-4.48312131e-02 1.48627941e-03 9.98993470e-01 -5.15691178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.030714057 meters 0.024887064867937493 Centerline is valid? [True, True] Translation: X:815.48, Y:-144.37, Z:-51.57 [[ 9.93049809e-01 1.09024016e-01 4.43378063e-02 8.15475847e+02] [-1.08854397e-01 9.94038186e-01 -6.22938500e-03 -1.44367275e+02] [-4.47526251e-02 1.35972442e-03 9.98997174e-01 -5.15690205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.0607140569999 meters 0.02465986057203755 Centerline is valid? [True, True] Translation: X:815.50, Y:-144.37, Z:-51.57 [[ 9.92559907e-01 1.13493488e-01 4.40914964e-02 8.15504239e+02] [-1.13330317e-01 9.93538077e-01 -6.19106536e-03 -1.44373959e+02] [-4.45092262e-02 1.14810001e-03 9.99008314e-01 -5.15715905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.0907140569999 meters 0.02465986057203755 Centerline is valid? [True, True] Translation: X:815.53, Y:-144.38, Z:-51.57 [[ 9.92591099e-01 1.13220446e-01 4.40912749e-02 8.15531323e+02] [-1.13056935e-01 9.93569213e-01 -6.19264701e-03 -1.44377681e+02] [-4.45088676e-02 1.16194189e-03 9.99008314e-01 -5.15731754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.120714057 meters 0.024229415071426338 Centerline is valid? [True, True] Translation: X:815.56, Y:-144.38, Z:-51.57 [[ 9.92477486e-01 1.14253246e-01 4.39845021e-02 8.15559429e+02] [-1.14092103e-01 9.93451048e-01 -6.16496111e-03 -1.44381076e+02] [-4.44008165e-02 1.10030075e-03 9.99013192e-01 -5.15741480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.150714057 meters 0.023910431279051854 Centerline is valid? [True, True] Translation: X:815.59, Y:-144.39, Z:-51.58 [[ 9.92362310e-01 1.15237873e-01 4.40145237e-02 8.15588104e+02] [-1.15077985e-01 9.93337374e-01 -6.15776663e-03 -1.44386730e+02] [-4.44308793e-02 1.04563284e-03 9.99011914e-01 -5.15758848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.1807140569999 meters 0.023609212786034707 Centerline is valid? [True, True] Translation: X:815.62, Y:-144.40, Z:-51.58 [[ 9.92278663e-01 1.15672561e-01 4.47539309e-02 8.15616026e+02] [-1.15508170e-01 9.93286863e-01 -6.25069595e-03 -1.44395029e+02] [-4.51765256e-02 1.03298757e-03 9.98978486e-01 -5.15775294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.2107140569999 meters 0.023518352336227788 Centerline is valid? [True, True] Translation: X:815.64, Y:-144.40, Z:-51.58 [[ 9.92286527e-01 1.15454457e-01 4.51410809e-02 8.15643156e+02] [-1.15287490e-01 9.93312229e-01 -6.29361510e-03 -1.44401751e+02] [-4.55658136e-02 1.04086754e-03 9.98960797e-01 -5.15794593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.2407140569999 meters 0.023315565910732694 Centerline is valid? [True, True] Translation: X:815.67, Y:-144.41, Z:-51.58 [[ 9.92363748e-01 1.14696325e-01 4.53755933e-02 8.15671177e+02] [-1.14527448e-01 9.93400027e-01 -6.31275355e-03 -1.44411183e+02] [-4.58001652e-02 1.06779688e-03 9.98950051e-01 -5.15809822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.270714057 meters 0.023785986748371034 Centerline is valid? [True, True] Translation: X:815.70, Y:-144.42, Z:-51.58 [[ 9.92387923e-01 1.14399108e-01 4.55966583e-02 8.15698447e+02] [-1.14228786e-01 9.93434289e-01 -6.33222773e-03 -1.44418152e+02] [-4.60216850e-02 1.07557539e-03 9.98939862e-01 -5.15830271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.3007140569999 meters 0.023502860181713176 Centerline is valid? [True, True] Translation: X:815.73, Y:-144.43, Z:-51.58 [[ 9.92475461e-01 1.13660303e-01 4.55389477e-02 8.15726254e+02] [-1.13490260e-01 9.93519067e-01 -6.31065232e-03 -1.44427691e+02] [-4.59610835e-02 1.09494056e-03 9.98942631e-01 -5.15846407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.3307140569999 meters 0.024154273046412492 Centerline is valid? [True, True] Translation: X:815.75, Y:-144.44, Z:-51.59 [[ 9.92543280e-01 1.12998438e-01 4.57076559e-02 8.15752846e+02] [-1.12827061e-01 9.93594539e-01 -6.32037844e-03 -1.44435139e+02] [-4.61290702e-02 1.11618866e-03 9.98934864e-01 -5.15865442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.3607140569999 meters 0.024086308154384055 Centerline is valid? [True, True] Translation: X:815.78, Y:-144.45, Z:-51.59 [[ 9.92653780e-01 1.11789363e-01 4.62775565e-02 8.15780488e+02] [-1.11612485e-01 9.93731219e-01 -6.39671005e-03 -1.44446088e+02] [-4.67025368e-02 1.18456531e-03 9.98908139e-01 -5.15878710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.390714057 meters 0.024191216770333174 Centerline is valid? [True, True] Translation: X:815.81, Y:-144.45, Z:-51.59 [[ 9.92692639e-01 1.11194454e-01 4.68734242e-02 8.15807129e+02] [-1.11012877e-01 9.93797924e-01 -6.46745962e-03 -1.44453448e+02] [-4.73018573e-02 1.21664588e-03 9.98879900e-01 -5.15892273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.4207140569999 meters 0.023999862830450726 Centerline is valid? [True, True] Translation: X:815.83, Y:-144.46, Z:-51.59 [[ 9.92709853e-01 1.10559240e-01 4.79979458e-02 8.15833733e+02] [-1.10368791e-01 9.93868734e-01 -6.60833315e-03 -1.44461294e+02] [-4.84342699e-02 1.26268219e-03 9.98825574e-01 -5.15904752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.4507140569999 meters 0.024482565983086447 Centerline is valid? [True, True] Translation: X:815.86, Y:-144.47, Z:-51.59 [[ 9.92749411e-01 1.09994604e-01 4.84746718e-02 8.15860148e+02] [-1.09800456e-01 9.93931351e-01 -6.65806395e-03 -1.44473662e+02] [-4.89128471e-02 1.28724799e-03 9.98802221e-01 -5.15927555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.4807140569999 meters 0.0238002172276363 Centerline is valid? [True, True] Translation: X:815.89, Y:-144.48, Z:-51.59 [[ 9.92729841e-01 1.10158491e-01 4.85033012e-02 8.15888069e+02] [-1.09964529e-01 9.93913216e-01 -6.65750120e-03 -1.44480257e+02] [-4.89414523e-02 1.27545745e-03 9.98800835e-01 -5.15946138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.510714057 meters 0.024029010045366235 Centerline is valid? [True, True] Translation: X:815.91, Y:-144.49, Z:-51.60 [[ 9.92728539e-01 1.10652851e-01 4.73919247e-02 8.15913663e+02] [-1.10468345e-01 9.93858369e-01 -6.50287455e-03 -1.44490671e+02] [-4.78204226e-02 1.22028168e-03 9.98855204e-01 -5.15969642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.540714057 meters 0.02381060324527165 Centerline is valid? [True, True] Translation: X:815.94, Y:-144.50, Z:-51.60 [[ 9.92701361e-01 1.11046645e-01 4.70388238e-02 8.15942227e+02] [-1.10865814e-01 9.93814492e-01 -6.44406085e-03 -1.44497075e+02] [-4.74634561e-02 1.18203050e-03 9.98872276e-01 -5.15988354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.5707140569999 meters 0.023718831037199076 Centerline is valid? [True, True] Translation: X:815.97, Y:-144.50, Z:-51.60 [[ 9.92598033e-01 1.11832800e-01 4.73557833e-02 8.15969273e+02] [-1.11650571e-01 9.93726373e-01 -6.48422597e-03 -1.44504438e+02] [-4.77838400e-02 1.14892969e-03 9.98857039e-01 -5.16010855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.6007140569999 meters 0.024116049676634936 Centerline is valid? [True, True] Translation: X:816.00, Y:-144.52, Z:-51.60 [[ 9.92521069e-01 1.12315721e-01 4.78237049e-02 8.15995633e+02] [-1.12130639e-01 9.93671926e-01 -6.54398024e-03 -1.44516058e+02] [-4.82560648e-02 1.13253567e-03 9.98834355e-01 -5.16035012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.630714057 meters 0.023560269495698845 Centerline is valid? [True, True] Translation: X:816.02, Y:-144.52, Z:-51.60 [[ 9.92455043e-01 1.12653393e-01 4.83962783e-02 8.16024041e+02] [-1.12464468e-01 9.93633709e-01 -6.61786724e-03 -1.44522208e+02] [-4.88336987e-02 1.12507401e-03 9.98806290e-01 -5.16044266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.660714057 meters 0.023540389787408928 Centerline is valid? [True, True] Translation: X:816.05, Y:-144.53, Z:-51.61 [[ 9.92444360e-01 1.12296114e-01 4.94345491e-02 8.16050834e+02] [-1.12098714e-01 9.93674106e-01 -6.75649281e-03 -1.44532255e+02] [-4.98805593e-02 1.16389379e-03 9.98754512e-01 -5.16055298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.6907140569999 meters 0.024010151977418095 Centerline is valid? [True, True] Translation: X:816.08, Y:-144.54, Z:-51.61 [[ 9.92527461e-01 1.11477080e-01 4.96195528e-02 8.16077204e+02] [-1.11277448e-01 9.93766276e-01 -6.77634521e-03 -1.44540421e+02] [-5.00656453e-02 1.20417150e-03 9.98745203e-01 -5.16072772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.7207140569999 meters 0.024154416665511432 Centerline is valid? [True, True] Translation: X:816.11, Y:-144.55, Z:-51.61 [[ 9.92593028e-01 1.10582275e-01 5.03054860e-02 8.16105032e+02] [-1.10376228e-01 9.93866173e-01 -6.86423124e-03 -1.44548105e+02] [-5.07559832e-02 1.26085829e-03 9.98710289e-01 -5.16084422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.750714057 meters 0.024922060637472352 Centerline is valid? [True, True] Translation: X:816.13, Y:-144.56, Z:-51.61 [[ 9.92904640e-01 1.07131657e-01 5.16060487e-02 8.16131925e+02] [-1.06910344e-01 9.94243755e-01 -7.03801106e-03 -1.44560182e+02] [-5.20629854e-02 1.47085340e-03 9.98642720e-01 -5.16105693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.780714057 meters 0.02533971613459451 Centerline is valid? [True, True] Translation: X:816.16, Y:-144.57, Z:-51.61 [[ 9.93015625e-01 1.05645524e-01 5.25261146e-02 8.16159972e+02] [-1.05414424e-01 9.94402611e-01 -7.15862915e-03 -1.44568435e+02] [-5.29883826e-02 1.57162048e-03 9.98593892e-01 -5.16122989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.8107140569999 meters 0.02693119264532419 Centerline is valid? [True, True] Translation: X:816.19, Y:-144.58, Z:-51.61 [[ 9.93295951e-01 1.02368502e-01 5.37014269e-02 8.16186942e+02] [-1.02122371e-01 9.94744950e-01 -7.31476437e-03 -1.44582884e+02] [-5.41680246e-02 1.78160881e-03 9.98530245e-01 -5.16144182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.8407140569999 meters 0.025981530233828085 Centerline is valid? [True, True] Translation: X:816.22, Y:-144.59, Z:-51.62 [[ 9.93409029e-01 1.00877915e-01 5.44256119e-02 8.16215696e+02] [-1.00623020e-01 9.94897026e-01 -7.41049284e-03 -1.44587544e+02] [-5.48954345e-02 1.88518105e-03 9.98490329e-01 -5.16159326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.870714057 meters 0.027255562934595273 Centerline is valid? [True, True] Translation: X:816.24, Y:-144.60, Z:-51.62 [[ 9.93552869e-01 9.90698068e-02 5.51168809e-02 8.16242144e+02] [-9.88058399e-02 9.95078463e-01 -7.50052300e-03 -1.44598815e+02] [-5.55886965e-02 2.00629643e-03 9.98451737e-01 -5.16179707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.900714057 meters 0.02739478494089157 Centerline is valid? [True, True] Translation: X:816.27, Y:-144.61, Z:-51.62 [[ 9.93604595e-01 9.83350338e-02 5.54989254e-02 8.16270326e+02] [-9.80665363e-02 9.95151241e-01 -7.54735186e-03 -1.44605589e+02] [-5.59719936e-02 2.05649610e-03 9.98430221e-01 -5.16200409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.9307140569999 meters 0.027961395848707948 Centerline is valid? [True, True] Translation: X:816.30, Y:-144.61, Z:-51.62 [[ 9.93650741e-01 9.77889601e-02 5.56374392e-02 8.16297343e+02] [-9.75184907e-02 9.95204983e-01 -7.56217153e-03 -1.44612822e+02] [-5.61101536e-02 2.08847825e-03 9.98422400e-01 -5.16222548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.9607140569999 meters 0.027648583875584262 Centerline is valid? [True, True] Translation: X:816.33, Y:-144.62, Z:-51.63 [[ 9.93837217e-01 9.61965424e-02 5.50800445e-02 8.16325404e+02] [-9.59293051e-02 9.95360033e-01 -7.48147462e-03 -1.44621484e+02] [-5.55441669e-02 2.15157753e-03 9.98453913e-01 -5.16254637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.9907140569999 meters 0.02880716148512044 Centerline is valid? [True, True] Translation: X:816.35, Y:-144.63, Z:-51.63 [[ 9.94047946e-01 9.39909956e-02 5.50851518e-02 8.16352597e+02] [-9.37205572e-02 9.95570457e-01 -7.47807769e-03 -1.44632382e+02] [-5.55440218e-02 2.27095664e-03 9.98453657e-01 -5.16276078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.020714057 meters 0.02867097835588165 Centerline is valid? [True, True] Translation: X:816.38, Y:-144.64, Z:-51.63 [[ 9.94146476e-01 9.28656232e-02 5.52155760e-02 8.16380203e+02] [-9.25923344e-02 9.95675910e-01 -7.49282955e-03 -1.44638960e+02] [-5.56726452e-02 2.33643101e-03 9.98446342e-01 -5.16290774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.0507140569999 meters 0.029032533673056245 Centerline is valid? [True, True] Translation: X:816.41, Y:-144.64, Z:-51.63 [[ 9.94229844e-01 9.15856145e-02 5.58488287e-02 8.16408378e+02] [-9.13042885e-02 9.95794239e-01 -7.57363723e-03 -1.44644368e+02] [-5.63075781e-02 2.43069860e-03 9.98410511e-01 -5.16311198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.0807140569999 meters 0.031016831689176315 Centerline is valid? [True, True] Translation: X:816.44, Y:-144.66, Z:-51.63 [[ 9.94361388e-01 8.96775896e-02 5.65982383e-02 8.16435200e+02] [-8.93858098e-02 9.95967535e-01 -7.67108625e-03 -1.44655040e+02] [-5.70579325e-02 2.56875261e-03 9.98367565e-01 -5.16324540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.1107140569999 meters 0.03038966417323504 Centerline is valid? [True, True] Translation: X:816.46, Y:-144.66, Z:-51.63 [[ 9.94417366e-01 8.90858708e-02 5.65491744e-02 8.16464394e+02] [-8.87938783e-02 9.96020565e-01 -7.66032014e-03 -1.44659663e+02] [-5.70065670e-02 2.59633487e-03 9.98370427e-01 -5.16340041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.140714057 meters 0.03238468757617967 Centerline is valid? [True, True] Translation: X:816.49, Y:-144.67, Z:-51.64 [[ 9.94495599e-01 8.80505910e-02 5.67943491e-02 8.16492024e+02] [-8.77544923e-02 9.96112439e-01 -7.69147973e-03 -1.44670410e+02] [-5.72507970e-02 2.66518347e-03 9.98356271e-01 -5.16365507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.1707140569999 meters 0.030917616799782565 Centerline is valid? [True, True] Translation: X:816.52, Y:-144.67, Z:-51.64 [[ 9.94534261e-01 8.78760818e-02 5.63861492e-02 8.16521705e+02] [-8.75841221e-02 9.96127882e-01 -7.63317010e-03 -1.44673762e+02] [-5.68385884e-02 2.65291781e-03 9.98379856e-01 -5.16384952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.2007140569999 meters 0.029994255459098403 Centerline is valid? [True, True] Translation: X:816.55, Y:-144.68, Z:-51.64 [[ 9.94576436e-01 8.76445452e-02 5.60013152e-02 8.16551273e+02] [-8.73563091e-02 9.96148299e-01 -7.57907238e-03 -1.44676944e+02] [-5.64498792e-02 2.64589860e-03 9.98401928e-01 -5.16406585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.2307140569999 meters 0.030369927427876094 Centerline is valid? [True, True] Translation: X:816.58, Y:-144.68, Z:-51.64 [[ 9.94668500e-01 8.68064649e-02 5.56705812e-02 8.16580360e+02] [-8.65204333e-02 9.96221602e-01 -7.53227136e-03 -1.44683567e+02] [-5.61140854e-02 2.67547025e-03 9.98420779e-01 -5.16432730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.260714057 meters 0.030917369988433294 Centerline is valid? [True, True] Translation: X:816.61, Y:-144.69, Z:-51.64 [[ 9.94670058e-01 8.67622743e-02 5.57116032e-02 8.16609167e+02] [-8.64758690e-02 9.96225445e-01 -7.53573109e-03 -1.44690772e+02] [-5.61551338e-02 2.67785679e-03 9.98418464e-01 -5.16448821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.290714057 meters 0.032531128053419685 Centerline is valid? [True, True] Translation: X:816.64, Y:-144.70, Z:-51.65 [[ 9.94783924e-01 8.54873518e-02 5.56494236e-02 8.16637452e+02] [-8.51996547e-02 9.96335472e-01 -7.52630053e-03 -1.44700177e+02] [-5.60888982e-02 2.74573110e-03 9.98422003e-01 -5.16461548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.3207140569999 meters 0.032592353330075284 Centerline is valid? [True, True] Translation: X:816.67, Y:-144.71, Z:-51.65 [[ 9.94894707e-01 8.42786265e-02 5.55124737e-02 8.16667195e+02] [-8.39905273e-02 9.96438277e-01 -7.50675046e-03 -1.44705344e+02] [-5.59474122e-02 2.80590437e-03 9.98429774e-01 -5.16478202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.3507140569999 meters 0.03339841274042114 Centerline is valid? [True, True] Translation: X:816.70, Y:-144.71, Z:-51.65 [[ 9.94954845e-01 8.31263875e-02 5.61681453e-02 8.16698198e+02] [-8.28296064e-02 9.96534779e-01 -7.59537347e-03 -1.44712050e+02] [-5.66048862e-02 2.90466827e-03 9.98392433e-01 -5.16500357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.380714057 meters 0.03353398456321668 Centerline is valid? [True, True] Translation: X:816.73, Y:-144.72, Z:-51.65 [[ 9.95141426e-01 8.08705608e-02 5.61559797e-02 8.16728922e+02] [-8.05702157e-02 9.96719993e-01 -7.59572749e-03 -1.44718415e+02] [-5.65860584e-02 3.03432369e-03 9.98393114e-01 -5.16509755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.410714057 meters 0.033016872027689374 Centerline is valid? [True, True] Translation: X:816.76, Y:-144.72, Z:-51.65 [[ 9.95178956e-01 8.02312754e-02 5.64073345e-02 8.16759852e+02] [-7.99270924e-02 9.96771496e-01 -7.63177469e-03 -1.44722109e+02] [-5.68375303e-02 3.08650733e-03 9.98378670e-01 -5.16525863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.4407140569999 meters 0.03496010050370017 Centerline is valid? [True, True] Translation: X:816.79, Y:-144.73, Z:-51.65 [[ 9.95161153e-01 8.03652114e-02 5.65306414e-02 8.16790104e+02] [-8.00598006e-02 9.96760703e-01 -7.65038477e-03 -1.44729965e+02] [-5.69623467e-02 3.08753385e-03 9.98371553e-01 -5.16543487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.4707140569999 meters 0.035077541037453516 Centerline is valid? [True, True] Translation: X:816.82, Y:-144.74, Z:-51.66 [[ 9.95064755e-01 8.18103444e-02 5.61533663e-02 8.16820570e+02] [-8.15105423e-02 9.96643407e-01 -7.61258970e-03 -1.44735012e+02] [-5.65876709e-02 2.99792837e-03 9.98393133e-01 -5.16568125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.500714057 meters 0.03490064360683738 Centerline is valid? [True, True] Translation: X:816.85, Y:-144.74, Z:-51.66 [[ 9.94994554e-01 8.26036844e-02 5.62358273e-02 8.16851741e+02] [-8.23035139e-02 9.96578049e-01 -7.63695639e-03 -1.44739154e+02] [-5.66742318e-02 2.97032383e-03 9.98388306e-01 -5.16589216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.530714057 meters 0.03082449743586908 Centerline is valid? [True, True] Translation: X:816.88, Y:-144.74, Z:-51.66 [[ 9.94966499e-01 8.34172394e-02 5.55268361e-02 8.16883401e+02] [-8.31257508e-02 9.96510521e-01 -7.54264922e-03 -1.44735544e+02] [-5.59622633e-02 2.88897335e-03 9.98428705e-01 -5.16609392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.5607140569999 meters 0.03206592953488547 Centerline is valid? [True, True] Translation: X:816.91, Y:-144.74, Z:-51.66 [[ 9.94949559e-01 8.36678537e-02 5.54532673e-02 8.16913226e+02] [-8.33775057e-02 9.96489561e-01 -7.53301417e-03 -1.44742288e+02] [-5.58888731e-02 2.87141401e-03 9.98432867e-01 -5.16629748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.5907140569999 meters 0.0325048025476973 Centerline is valid? [True, True] Translation: X:816.94, Y:-144.75, Z:-51.66 [[ 9.95007972e-01 8.30951394e-02 5.52660335e-02 8.16943386e+02] [-8.28058111e-02 9.96537414e-01 -7.50864898e-03 -1.44747086e+02] [-5.56986024e-02 2.89481685e-03 9.98443431e-01 -5.16643435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.620714057 meters 0.03228734384758827 Centerline is valid? [True, True] Translation: X:816.97, Y:-144.75, Z:-51.67 [[ 9.95139265e-01 8.14130773e-02 5.54053711e-02 8.16973979e+02] [-8.11196904e-02 9.96675941e-01 -7.52754444e-03 -1.44749778e+02] [-5.58340409e-02 2.99648848e-03 9.98435567e-01 -5.16659054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.650714057 meters 0.032570652505789645 Centerline is valid? [True, True] Translation: X:817.00, Y:-144.75, Z:-51.67 [[ 9.95213408e-01 8.02831794e-02 5.57214906e-02 8.17004696e+02] [-7.99846097e-02 9.96767342e-01 -7.57150328e-03 -1.44753361e+02] [-5.61492264e-02 3.07839991e-03 9.98417642e-01 -5.16680308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.6807140569999 meters 0.03349278733803705 Centerline is valid? [True, True] Translation: X:817.04, Y:-144.76, Z:-51.67 [[ 9.95291592e-01 7.89452861e-02 5.62342382e-02 8.17035889e+02] [-7.86389479e-02 9.96873862e-01 -7.64318579e-03 -1.44758509e+02] [-5.66618357e-02 3.18499722e-03 9.98388347e-01 -5.16694286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.7107140569999 meters 0.034675191027855864 Centerline is valid? [True, True] Translation: X:817.07, Y:-144.76, Z:-51.67 [[ 9.95293220e-01 7.87214818e-02 5.65184382e-02 8.17066601e+02] [-7.84112431e-02 9.96891443e-01 -7.68940190e-03 -1.44764464e+02] [-5.69480685e-02 3.22152858e-03 9.98371944e-01 -5.16713907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.7407140569999 meters 0.03333082642275033 Centerline is valid? [True, True] Translation: X:817.10, Y:-144.77, Z:-51.67 [[ 9.95251936e-01 7.91696081e-02 5.66194118e-02 8.17098847e+02] [-7.88585283e-02 9.96855994e-01 -7.71105598e-03 -1.44765345e+02] [-5.70518813e-02 3.20951990e-03 9.98366056e-01 -5.16733898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.770714057 meters 0.03269807971218808 Centerline is valid? [True, True] Translation: X:817.13, Y:-144.77, Z:-51.68 [[ 9.95128182e-01 8.09561725e-02 5.62672225e-02 8.17131153e+02] [-8.06509748e-02 9.96712835e-01 -7.67761799e-03 -1.44766523e+02] [-5.67038134e-02 3.10220768e-03 9.98386225e-01 -5.16755245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.8007140569999 meters 0.033157640537000085 Centerline is valid? [True, True] Translation: X:817.16, Y:-144.77, Z:-51.68 [[ 9.94853425e-01 8.44271657e-02 5.60242433e-02 8.17161109e+02] [-8.41292452e-02 9.96425414e-01 -7.65928761e-03 -1.44769184e+02] [-5.64706318e-02 2.90659121e-03 9.98400030e-01 -5.16772865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.8307140569999 meters 0.03256429821936313 Centerline is valid? [True, True] Translation: X:817.19, Y:-144.77, Z:-51.68 [[ 9.94676829e-01 8.65608288e-02 5.59037463e-02 8.17191485e+02] [-8.62675479e-02 9.96242690e-01 -7.64281400e-03 -1.44771242e+02] [-5.63552669e-02 2.77945088e-03 9.98406910e-01 -5.16786449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.8607140569999 meters 0.032283069216159505 Centerline is valid? [True, True] Translation: X:817.22, Y:-144.77, Z:-51.68 [[ 9.94501468e-01 8.85064958e-02 5.59770599e-02 8.17221006e+02] [-8.82155134e-02 9.96072014e-01 -7.65288428e-03 -1.44773145e+02] [-5.64345128e-02 2.67275957e-03 9.98402725e-01 -5.16806118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.890714057 meters 0.03063144486867367 Centerline is valid? [True, True] Translation: X:817.25, Y:-144.77, Z:-51.68 [[ 9.94301264e-01 9.07250477e-02 5.59818104e-02 8.17251294e+02] [-9.04376348e-02 9.95872727e-01 -7.65152463e-03 -1.44773604e+02] [-5.64449431e-02 2.54505809e-03 9.98402470e-01 -5.16817254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.9207140569999 meters 0.02934522602424483 Centerline is valid? [True, True] Translation: X:817.28, Y:-144.77, Z:-51.68 [[ 9.93909570e-01 9.45802453e-02 5.65538964e-02 8.17281601e+02] [-9.42932007e-02 9.95514470e-01 -7.72870007e-03 -1.44771989e+02] [-5.70312045e-02 2.34898106e-03 9.98369633e-01 -5.16833907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.9507140569999 meters 0.028462674315518063 Centerline is valid? [True, True] Translation: X:817.31, Y:-144.77, Z:-51.68 [[ 9.93602064e-01 9.74109214e-02 5.71493803e-02 8.17311874e+02] [-9.71225651e-02 9.95241799e-01 -7.80830057e-03 -1.44770797e+02] [-5.76380658e-02 2.20784915e-03 9.98335103e-01 -5.16847865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.9807140569999 meters 0.02846098447426378 Centerline is valid? [True, True] Translation: X:817.34, Y:-144.77, Z:-51.69 [[ 9.93528841e-01 9.82132762e-02 5.70490476e-02 8.17339484e+02] [-9.79273717e-02 9.95163055e-01 -7.79251995e-03 -1.44773820e+02] [-5.75384334e-02 2.15543003e-03 9.98340965e-01 -5.16866055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.010714057 meters 0.02846098447426378 Centerline is valid? [True, True] Translation: X:817.37, Y:-144.78, Z:-51.69 [[ 9.93535795e-01 9.81425027e-02 5.70497424e-02 8.17367515e+02] [-9.78567737e-02 9.95170040e-01 -7.78742956e-03 -1.44777588e+02] [-5.75384722e-02 2.15438628e-03 9.98340965e-01 -5.16882456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.040714057 meters 0.027382536794729673 Centerline is valid? [True, True] Translation: X:817.40, Y:-144.78, Z:-51.69 [[ 9.93513632e-01 9.85112841e-02 5.67995652e-02 8.17396609e+02] [-9.82288946e-02 9.95133677e-01 -7.74918797e-03 -1.44778388e+02] [-5.72865426e-02 2.11956538e-03 9.98355528e-01 -5.16898386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.0707140569999 meters 0.027729976229385472 Centerline is valid? [True, True] Translation: X:817.42, Y:-144.78, Z:-51.69 [[ 9.93631905e-01 9.75616156e-02 5.63681610e-02 8.17424953e+02] [-9.72822172e-02 9.95227157e-01 -7.68615636e-03 -1.44781207e+02] [-5.68489984e-02 2.15359051e-03 9.98380465e-01 -5.16916162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.1007140569999 meters 0.028567963117859325 Centerline is valid? [True, True] Translation: X:817.45, Y:-144.79, Z:-51.69 [[ 9.93709317e-01 9.64802704e-02 5.68625600e-02 8.17452662e+02] [-9.61944210e-02 9.95332397e-01 -7.74932501e-03 -1.44786257e+02] [-5.73448051e-02 2.23071542e-03 9.98351941e-01 -5.16933875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.130714057 meters 0.030054781179109667 Centerline is valid? [True, True] Translation: X:817.48, Y:-144.79, Z:-51.69 [[ 9.94089165e-01 9.24186400e-02 5.69695310e-02 8.17481568e+02] [-9.21253611e-02 9.95717190e-01 -7.75862375e-03 -1.44792552e+02] [-5.74425828e-02 2.46442518e-03 9.98345770e-01 -5.16945330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.160714057 meters 0.03102713528306013 Centerline is valid? [True, True] Translation: X:817.51, Y:-144.80, Z:-51.70 [[ 9.94307849e-01 8.97903832e-02 5.73549362e-02 8.17509253e+02] [-8.94888171e-02 9.95957205e-01 -7.81006711e-03 -1.44798344e+02] [-5.78243309e-02 2.63298563e-03 9.98323301e-01 -5.16957321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.1907140569999 meters 0.03201466772928846 Centerline is valid? [True, True] Translation: X:817.54, Y:-144.80, Z:-51.70 [[ 9.94576017e-01 8.70826652e-02 5.68784267e-02 8.17537951e+02] [-8.67819118e-02 9.96197257e-01 -7.74114138e-03 -1.44804250e+02] [-5.73362519e-02 2.76313495e-03 9.98351100e-01 -5.16964224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.2207140569999 meters 0.03344291642804432 Centerline is valid? [True, True] Translation: X:817.57, Y:-144.81, Z:-51.70 [[ 9.94815974e-01 8.40404796e-02 5.72571046e-02 8.17567376e+02] [-8.37308574e-02 9.96457960e-01 -7.78960681e-03 -1.44809999e+02] [-5.77089399e-02 2.95503883e-03 9.98329077e-01 -5.16982378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.250714057 meters 0.03257945171067833 Centerline is valid? [True, True] Translation: X:817.60, Y:-144.81, Z:-51.70 [[ 9.95196640e-01 7.89110021e-02 5.79370531e-02 8.17597357e+02] [-7.85853697e-02 9.96876235e-01 -7.88108539e-03 -1.44812793e+02] [-5.83779757e-02 3.29022496e-03 9.98289130e-01 -5.16991784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.280714057 meters 0.03562376200918326 Centerline is valid? [True, True] Translation: X:817.63, Y:-144.82, Z:-51.70 [[ 9.95359143e-01 7.66253801e-02 5.82127760e-02 8.17626489e+02] [-7.62927317e-02 9.97054017e-01 -7.91879294e-03 -1.44821441e+02] [-5.86480626e-02 3.44083125e-03 9.98272791e-01 -5.17009719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.3107140569999 meters 0.03628526283370106 Centerline is valid? [True, True] Translation: X:817.66, Y:-144.83, Z:-51.70 [[ 9.95598409e-01 7.35223521e-02 5.81229098e-02 8.17656548e+02] [-7.31854654e-02 9.97287007e-01 -7.90658286e-03 -1.44826848e+02] [-5.85465333e-02 3.61802911e-03 9.98278124e-01 -5.17027163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.3407140569999 meters 0.03633520873989633 Centerline is valid? [True, True] Translation: X:817.69, Y:-144.83, Z:-51.70 [[ 9.95653977e-01 7.27860282e-02 5.80977874e-02 8.17688270e+02] [-7.24481131e-02 9.97340860e-01 -7.90439912e-03 -1.44831173e+02] [-5.85186271e-02 3.66097135e-03 9.98279604e-01 -5.17048890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.370714057 meters 0.03752470800773737 Centerline is valid? [True, True] Translation: X:817.72, Y:-144.84, Z:-51.71 [[ 9.95688739e-01 7.25132619e-02 5.78425562e-02 8.17719026e+02] [-7.21770023e-02 9.97360676e-01 -7.88429097e-03 -1.44837159e+02] [-5.82616066e-02 3.67539743e-03 9.98294584e-01 -5.17063896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.400714057 meters 0.035462054343772545 Centerline is valid? [True, True] Translation: X:817.75, Y:-144.84, Z:-51.71 [[ 9.95634614e-01 7.30958901e-02 5.80405511e-02 8.17751785e+02] [-7.27575076e-02 9.97318174e-01 -7.92491861e-03 -1.44836480e+02] [-5.84641755e-02 3.66743744e-03 9.98282771e-01 -5.17076303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.4307140569999 meters 0.0383291412521511 Centerline is valid? [True, True] Translation: X:817.78, Y:-144.84, Z:-51.71 [[ 9.95585005e-01 7.39620038e-02 5.77937708e-02 8.17782148e+02] [-7.36270846e-02 9.97254505e-01 -7.90604376e-03 -1.44844343e+02] [-5.82198451e-02 3.61595177e-03 9.98297238e-01 -5.17092517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.4607140569999 meters 0.0371034736574767 Centerline is valid? [True, True] Translation: X:817.81, Y:-144.85, Z:-51.71 [[ 9.95444611e-01 7.54345326e-02 5.83065837e-02 8.17814667e+02] [-7.50953266e-02 9.97144347e-01 -7.99017054e-03 -1.44845876e+02] [-5.87428151e-02 3.57522026e-03 9.98266748e-01 -5.17110833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.4907140569999 meters 0.038562196919175416 Centerline is valid? [True, True] Translation: X:817.84, Y:-144.85, Z:-51.71 [[ 9.95259353e-01 7.83641106e-02 5.76010936e-02 8.17843627e+02] [-7.80371385e-02 9.96919092e-01 -7.90759192e-03 -1.44850463e+02] [-5.80433013e-02 3.37508030e-03 9.98308361e-01 -5.17133852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.520714057 meters 0.03429528248307161 Centerline is valid? [True, True] Translation: X:817.88, Y:-144.85, Z:-51.72 [[ 9.95124826e-01 8.00917360e-02 5.75490702e-02 8.17875350e+02] [-7.97682901e-02 9.96782132e-01 -7.89944334e-03 -1.44846427e+02] [-5.79965650e-02 3.27034125e-03 9.98311426e-01 -5.17154623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.5507140569999 meters 0.03519751348273081 Centerline is valid? [True, True] Translation: X:817.91, Y:-144.85, Z:-51.72 [[ 9.94837261e-01 8.37334399e-02 5.73370347e-02 8.17905025e+02] [-8.34183395e-02 9.96483528e-01 -7.87137363e-03 -1.44850137e+02] [-5.77945078e-02 3.04777556e-03 9.98323848e-01 -5.17167207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.5807140569999 meters 0.03315745751444612 Centerline is valid? [True, True] Translation: X:817.93, Y:-144.85, Z:-51.72 [[ 9.94654497e-01 8.56164483e-02 5.77256874e-02 8.17934852e+02] [-8.53002163e-02 9.96323779e-01 -7.92471392e-03 -1.44849392e+02] [-5.81919609e-02 2.95833871e-03 9.98301029e-01 -5.17186259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.6107140569999 meters 0.0328451594326133 Centerline is valid? [True, True] Translation: X:817.96, Y:-144.85, Z:-51.72 [[ 9.94531634e-01 8.71658709e-02 5.75233928e-02 8.17964826e+02] [-8.68545556e-02 9.96189719e-01 -7.89489791e-03 -1.44852183e+02] [-5.79923781e-02 2.85555700e-03 9.98312942e-01 -5.17202772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.640714057 meters 0.02992690524769654 Centerline is valid? [True, True] Translation: X:817.99, Y:-144.85, Z:-51.72 [[ 9.94398625e-01 8.83796379e-02 5.79690774e-02 8.17994845e+02] [-8.80656825e-02 9.96082917e-01 -7.95344682e-03 -1.44849725e+02] [-5.84449305e-02 2.80381022e-03 9.98286697e-01 -5.17223349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.6707140569999 meters 0.029473161798993005 Centerline is valid? [True, True] Translation: X:818.02, Y:-144.85, Z:-51.72 [[ 9.94181543e-01 9.07341197e-02 5.80549703e-02 8.18023674e+02] [-9.04233608e-02 9.95871581e-01 -7.96305446e-03 -1.44852791e+02] [-5.85378158e-02 2.66719624e-03 9.98281629e-01 -5.17240566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.7007140569999 meters 0.03026207766344875 Centerline is valid? [True, True] Translation: X:818.05, Y:-144.86, Z:-51.73 [[ 9.94133318e-01 9.10495550e-02 5.83859974e-02 8.18051582e+02] [-9.07359108e-02 9.95842806e-01 -8.00623923e-03 -1.44857462e+02] [-5.88722400e-02 2.66156251e-03 9.98261977e-01 -5.17257324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.7307140569999 meters 0.03035818936331131 Centerline is valid? [True, True] Translation: X:818.08, Y:-144.86, Z:-51.73 [[ 9.94084177e-01 9.17125049e-02 5.81847568e-02 8.18078859e+02] [-9.14024054e-02 9.95782110e-01 -7.97436780e-03 -1.44861193e+02] [-5.86706891e-02 2.60896612e-03 9.98273982e-01 -5.17273150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.760714057 meters 0.03051649291698096 Centerline is valid? [True, True] Translation: X:818.11, Y:-144.87, Z:-51.73 [[ 9.94061466e-01 9.18986998e-02 5.82789135e-02 8.18107478e+02] [-9.15882231e-02 9.95764975e-01 -7.98201563e-03 -1.44865130e+02] [-5.87656377e-02 2.59695202e-03 9.98268429e-01 -5.17295157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.790714057 meters 0.031171269029329072 Centerline is valid? [True, True] Translation: X:818.13, Y:-144.87, Z:-51.73 [[ 9.94080405e-01 9.16381497e-02 5.83660672e-02 8.18134693e+02] [-9.13265430e-02 9.95788947e-01 -7.98973926e-03 -1.44870707e+02] [-5.88524495e-02 2.61207209e-03 9.98263275e-01 -5.17316251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.8207140569999 meters 0.030203480781514552 Centerline is valid? [True, True] Translation: X:818.16, Y:-144.87, Z:-51.73 [[ 9.94075500e-01 9.15260570e-02 5.86249275e-02 8.18163096e+02] [-9.12117911e-02 9.95799221e-01 -8.01995921e-03 -1.44873964e+02] [-5.91126924e-02 2.62516032e-03 9.98247864e-01 -5.17333575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.8507140569999 meters 0.030748534165165514 Centerline is valid? [True, True] Translation: X:818.19, Y:-144.88, Z:-51.74 [[ 9.94064160e-01 9.14531561e-02 5.89301765e-02 8.18190143e+02] [-9.11357321e-02 9.95805883e-01 -8.05743164e-03 -1.44879105e+02] [-5.94198940e-02 2.63895924e-03 9.98229589e-01 -5.17354827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.880714057 meters 0.03084863789877591 Centerline is valid? [True, True] Translation: X:818.22, Y:-144.88, Z:-51.74 [[ 9.94041343e-01 9.18129108e-02 5.87554092e-02 8.18218518e+02] [-9.14983042e-02 9.95772869e-01 -8.02833913e-03 -1.44884916e+02] [-5.92441475e-02 2.60448071e-03 9.98240125e-01 -5.17385492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.910714057 meters 0.029721498706536672 Centerline is valid? [True, True] Translation: X:818.25, Y:-144.89, Z:-51.74 [[ 9.94006880e-01 9.24662546e-02 5.83122065e-02 8.18247176e+02] [-9.21577450e-02 9.95712574e-01 -7.96367935e-03 -1.44887119e+02] [-5.87985688e-02 2.54203061e-03 9.98266631e-01 -5.17407806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.9407140569999 meters 0.029768194395563524 Centerline is valid? [True, True] Translation: X:818.27, Y:-144.89, Z:-51.74 [[ 9.93926427e-01 9.33257353e-02 5.83143581e-02 8.18274707e+02] [-9.30189281e-02 9.95632523e-01 -7.95972946e-03 -1.44891902e+02] [-5.88025191e-02 2.48704639e-03 9.98266537e-01 -5.17434037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.9707140569999 meters 0.029230187251611316 Centerline is valid? [True, True] Translation: X:818.30, Y:-144.90, Z:-51.74 [[ 9.93830283e-01 9.42216525e-02 5.85119523e-02 8.18303753e+02] [-9.39146176e-02 9.95548261e-01 -7.98146787e-03 -1.44895278e+02] [-5.90034995e-02 2.43709684e-03 9.98254801e-01 -5.17448460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.000714057 meters 0.0287747669313876 Centerline is valid? [True, True] Translation: X:818.33, Y:-144.90, Z:-51.75 [[ 9.93737628e-01 9.47470205e-02 5.92328442e-02 8.18332465e+02] [-9.44334904e-02 9.95498411e-01 -8.07652556e-03 -1.44898379e+02] [-5.97314290e-02 2.43238312e-03 9.98211521e-01 -5.17464138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.030714057 meters 0.02997099343150696 Centerline is valid? [True, True] Translation: X:818.36, Y:-144.91, Z:-51.75 [[ 9.93498307e-01 9.67738067e-02 5.99661938e-02 8.18360246e+02] [-9.64564011e-02 9.95303662e-01 -8.17215333e-03 -1.44905393e+02] [-6.04754227e-02 2.33489725e-03 9.98166956e-01 -5.17475095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.0607140569999 meters 0.029501020788401597 Centerline is valid? [True, True] Translation: X:818.39, Y:-144.91, Z:-51.75 [[ 9.93349417e-01 9.79483599e-02 6.05231731e-02 8.18388913e+02] [-9.76274024e-02 9.95188884e-01 -8.24470469e-03 -1.44909445e+02] [-6.10395444e-02 2.28115242e-03 9.98132742e-01 -5.17491565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.0907140569999 meters 0.027761901312158693 Centerline is valid? [True, True] Translation: X:818.42, Y:-144.91, Z:-51.75 [[ 9.93294733e-01 9.86301114e-02 6.03131312e-02 8.18417881e+02] [-9.83128883e-02 9.95121671e-01 -8.21192839e-03 -1.44910173e+02] [-6.08288474e-02 2.22730709e-03 9.98145726e-01 -5.17508186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.120714057 meters 0.029698105594000795 Centerline is valid? [True, True] Translation: X:818.45, Y:-144.92, Z:-51.75 [[ 9.93265893e-01 9.87582428e-02 6.05778507e-02 8.18445123e+02] [-9.84387366e-02 9.95108969e-01 -8.24350089e-03 -1.44917949e+02] [-6.10956762e-02 2.22478118e-03 9.98129435e-01 -5.17520745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.150714057 meters 0.027946795562581173 Centerline is valid? [True, True] Translation: X:818.47, Y:-144.92, Z:-51.75 [[ 9.93308352e-01 9.82100407e-02 6.07725765e-02 8.18473860e+02] [-9.78877950e-02 9.95163142e-01 -8.26439117e-03 -1.44920383e+02] [-6.12902744e-02 2.26019527e-03 9.98117425e-01 -5.17546639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.1807140569999 meters 0.029278508015062245 Centerline is valid? [True, True] Translation: X:818.50, Y:-144.93, Z:-51.76 [[ 9.93590701e-01 9.58428134e-02 5.99305855e-02 8.18501187e+02] [-9.55254053e-02 9.95393663e-01 -8.14567048e-03 -1.44929289e+02] [-6.04352291e-02 2.36856897e-03 9.98169311e-01 -5.17570147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.2107140569999 meters 0.0319198476383893 Centerline is valid? [True, True] Translation: X:818.53, Y:-144.94, Z:-51.76 [[ 9.93819354e-01 9.37093067e-02 5.95118266e-02 8.18528586e+02] [-9.33926988e-02 9.95596518e-01 -8.08558334e-03 -1.44938562e+02] [-6.00074617e-02 2.47763911e-03 9.98194854e-01 -5.17587165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.2407140569999 meters 0.03076107091916937 Centerline is valid? [True, True] Translation: X:818.56, Y:-144.94, Z:-51.76 [[ 9.94072709e-01 9.10223550e-02 5.94506486e-02 8.18557578e+02] [-9.07017930e-02 9.95845366e-01 -8.07414713e-03 -1.44941880e+02] [-5.99385808e-02 2.63400889e-03 9.98198592e-01 -5.17607500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.270714057 meters 0.033301678060464295 Centerline is valid? [True, True] Translation: X:818.59, Y:-144.95, Z:-51.76 [[ 9.94669533e-01 8.49334910e-02 5.84707028e-02 8.18586490e+02] [-8.46131077e-02 9.96382261e-01 -7.93805363e-03 -1.44952030e+02] [-5.89333776e-02 2.94835222e-03 9.98257564e-01 -5.17624133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.3007140569999 meters 0.035027892103195034 Centerline is valid? [True, True] Translation: X:818.62, Y:-144.96, Z:-51.76 [[ 9.94942501e-01 8.19215361e-02 5.81229919e-02 8.18615949e+02] [-8.15998845e-02 9.96633938e-01 -7.88999252e-03 -1.44960172e+02] [-5.85737066e-02 3.10725946e-03 9.98278251e-01 -5.17641017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.3307140569999 meters 0.03609509442185298 Centerline is valid? [True, True] Translation: X:818.65, Y:-144.97, Z:-51.77 [[ 9.95246983e-01 7.86182578e-02 5.74683621e-02 8.18646006e+02] [-7.82982756e-02 9.96899447e-01 -7.80212123e-03 -1.44966435e+02] [-5.79035675e-02 3.26536397e-03 9.98316841e-01 -5.17660130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.3607140569999 meters 0.03573028444164358 Centerline is valid? [True, True] Translation: X:818.68, Y:-144.97, Z:-51.77 [[ 9.95789380e-01 7.20831682e-02 5.66350347e-02 8.18676391e+02] [-7.17618265e-02 9.97392152e-01 -7.68996736e-03 -1.44970831e+02] [-5.70416564e-02 3.59335429e-03 9.98365333e-01 -5.17676524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.390714057 meters 0.03691773969863902 Centerline is valid? [True, True] Translation: X:818.71, Y:-144.98, Z:-51.77 [[ 9.95996626e-01 6.89035508e-02 5.69475382e-02 8.18706736e+02] [-6.85734388e-02 9.97616100e-01 -7.73304716e-03 -1.44976685e+02] [-5.73446154e-02 3.79700036e-03 9.98347223e-01 -5.17690892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.4207140569999 meters 0.039196949555117856 Centerline is valid? [True, True] Translation: X:818.74, Y:-144.98, Z:-51.77 [[ 9.96281844e-01 6.39813112e-02 5.76964378e-02 8.18736640e+02] [-6.36341751e-02 9.97942529e-01 -7.83580801e-03 -1.44982831e+02] [-5.80790744e-02 4.13520803e-03 9.98303421e-01 -5.17697024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.4507140569999 meters 0.04242962243758607 Centerline is valid? [True, True] Translation: X:818.77, Y:-144.99, Z:-51.77 [[ 9.96333599e-01 6.29631897e-02 5.79223368e-02 8.18767110e+02] [-6.26115976e-02 9.98006965e-01 -7.86679989e-03 -1.44991051e+02] [-5.83022143e-02 4.21134700e-03 9.98290096e-01 -5.17708874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.4807140569999 meters 0.03897650592691201 Centerline is valid? [True, True] Translation: X:818.80, Y:-144.99, Z:-51.77 [[ 9.96434878e-01 6.16859734e-02 5.75532280e-02 8.18799489e+02] [-6.13359550e-02 9.98086464e-01 -7.83014596e-03 -1.44989161e+02] [-5.79261080e-02 4.27214833e-03 9.98311732e-01 -5.17722095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.510714057 meters 0.03970402280559054 Centerline is valid? [True, True] Translation: X:818.83, Y:-144.99, Z:-51.77 [[ 9.96602032e-01 6.02745084e-02 5.61370959e-02 8.18831595e+02] [-5.99385439e-02 9.98172748e-01 -7.65085964e-03 -1.44990968e+02] [-5.64956711e-02 4.26008648e-03 9.98393755e-01 -5.17740330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.540714057 meters 0.0400931042720599 Centerline is valid? [True, True] Translation: X:818.86, Y:-144.99, Z:-51.78 [[ 9.96648048e-01 5.97273161e-02 5.59045370e-02 8.18863279e+02] [-5.93930585e-02 9.98205567e-01 -7.62305950e-03 -1.44993941e+02] [-5.62595249e-02 4.27716593e-03 9.98407017e-01 -5.17760557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.5707140569999 meters 0.041031418653221706 Centerline is valid? [True, True] Translation: X:818.89, Y:-145.00, Z:-51.78 [[ 9.96785591e-01 5.79504145e-02 5.53193876e-02 8.18894480e+02] [-5.76196530e-02 9.98310007e-01 -7.55682347e-03 -1.44996100e+02] [-5.56638192e-02 4.34504884e-03 9.98440113e-01 -5.17775598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.6007140569999 meters 0.0435011996090665 Centerline is valid? [True, True] Translation: X:818.93, Y:-145.00, Z:-51.78 [[ 9.96847712e-01 5.73243576e-02 5.48503169e-02 8.18925482e+02] [-5.69981645e-02 9.98346155e-01 -7.49425220e-03 -1.45002259e+02] [-5.51892062e-02 4.34426077e-03 9.98466464e-01 -5.17792770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.630714057 meters 0.04215015094619021 Centerline is valid? [True, True] Translation: X:818.96, Y:-145.00, Z:-51.78 [[ 9.96936689e-01 5.62291638e-02 5.43646950e-02 8.18957527e+02] [-5.59064115e-02 9.98408288e-01 -7.44068250e-03 -1.45002515e+02] [-5.46965454e-02 4.37855436e-03 9.98493423e-01 -5.17814228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.660714057 meters 0.045543274389427166 Centerline is valid? [True, True] Translation: X:818.99, Y:-145.01, Z:-51.78 [[ 9.97128625e-01 5.43123384e-02 5.27700157e-02 8.18987189e+02] [-5.40048942e-02 9.98514454e-01 -7.23571978e-03 -1.45007301e+02] [-5.30846123e-02 4.36510420e-03 9.98580477e-01 -5.17830377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.6907140569999 meters 0.04159319376086969 Centerline is valid? [True, True] Translation: X:819.02, Y:-145.00, Z:-51.78 [[ 9.97183011e-01 5.39244126e-02 5.21363567e-02 8.19020314e+02] [-5.36238610e-02 9.98535625e-01 -7.14748604e-03 -1.45003356e+02] [-5.24454335e-02 4.33159891e-03 9.98614397e-01 -5.17848203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.7207140569999 meters 0.042196980163216796 Centerline is valid? [True, True] Translation: X:819.05, Y:-145.00, Z:-51.79 [[ 9.97166588e-01 5.45602146e-02 5.17878279e-02 8.19051650e+02] [-5.42638186e-02 9.98501297e-01 -7.11321930e-03 -1.45003235e+02] [-5.20983121e-02 4.28285932e-03 9.98632777e-01 -5.17860189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.750714057 meters 0.04261852533932035 Centerline is valid? [True, True] Translation: X:819.08, Y:-145.01, Z:-51.79 [[ 9.97100549e-01 5.57388837e-02 5.18041700e-02 8.19082927e+02] [-5.54432296e-02 9.98436398e-01 -7.12791291e-03 -1.45005234e+02] [-5.21204708e-02 4.23505538e-03 9.98631824e-01 -5.17874929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.780714057 meters 0.04257927210337305 Centerline is valid? [True, True] Translation: X:819.11, Y:-145.01, Z:-51.79 [[ 9.97021884e-01 5.69687053e-02 5.19800923e-02 8.19114183e+02] [-5.66719895e-02 9.98367137e-01 -7.16561673e-03 -1.45005992e+02] [-5.23034318e-02 4.19846145e-03 9.98622413e-01 -5.17893411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.8107140569999 meters 0.04194307648322887 Centerline is valid? [True, True] Translation: X:819.14, Y:-145.00, Z:-51.79 [[ 9.96824801e-01 6.09617396e-02 5.12248270e-02 8.19144930e+02] [-6.06787213e-02 9.98132355e-01 -7.06357477e-03 -1.45002272e+02] [-5.15597651e-02 3.93288951e-03 9.98662167e-01 -5.17906363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.8407140569999 meters 0.04009557384233907 Centerline is valid? [True, True] Translation: X:819.18, Y:-145.00, Z:-51.79 [[ 9.96678488e-01 6.36841913e-02 5.07574138e-02 8.19176660e+02] [-6.34098333e-02 9.97963029e-01 -6.99901194e-03 -1.45000541e+02] [-5.10997488e-02 3.75724549e-03 9.98686487e-01 -5.17920350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.870714057 meters 0.03840145824115514 Centerline is valid? [True, True] Translation: X:819.21, Y:-145.00, Z:-51.79 [[ 9.96339856e-01 6.88511462e-02 5.06597581e-02 8.19208099e+02] [-6.85844289e-02 9.97620852e-01 -6.98659274e-03 -1.44995789e+02] [-5.10202659e-02 3.48655022e-03 9.98691532e-01 -5.17931698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.900714057 meters 0.03840145824115514 Centerline is valid? [True, True] Translation: X:819.24, Y:-145.00, Z:-51.79 [[ 9.96342279e-01 6.88160874e-02 5.06597360e-02 8.19237004e+02] [-6.85493169e-02 9.97623264e-01 -6.98675328e-03 -1.44999744e+02] [-5.10201322e-02 3.48850740e-03 9.98691532e-01 -5.17948602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.9307140569999 meters 0.0389657560886501 Centerline is valid? [True, True] Translation: X:819.27, Y:-145.00, Z:-51.80 [[ 9.96173461e-01 7.12497469e-02 5.06152982e-02 8.19265998e+02] [-7.09866620e-02 9.97452851e-01 -6.97880614e-03 -1.45001386e+02] [-5.09836116e-02 3.35909040e-03 9.98693841e-01 -5.17965989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.9607140569999 meters 0.03649370027337439 Centerline is valid? [True, True] Translation: X:819.30, Y:-145.00, Z:-51.80 [[ 9.95935772e-01 7.42252521e-02 5.10151879e-02 8.19296883e+02] [-7.39619732e-02 9.97236270e-01 -7.03199718e-03 -1.44999388e+02] [-5.13961474e-02 3.23023359e-03 9.98673121e-01 -5.17979529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.9907140569999 meters 0.03501120107555742 Centerline is valid? [True, True] Translation: X:819.33, Y:-145.00, Z:-51.80 [[ 9.95566620e-01 7.90005369e-02 5.10491923e-02 8.19328597e+02] [-7.87432065e-02 9.96870105e-01 -7.03567650e-03 -1.44995340e+02] [-5.14452359e-02 2.98470759e-03 9.98671357e-01 -5.17989719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.020714057 meters 0.032908615925244494 Centerline is valid? [True, True] Translation: X:819.36, Y:-144.99, Z:-51.80 [[ 9.95373872e-01 8.16290174e-02 5.06710826e-02 8.19358682e+02] [-8.13788776e-02 9.96658772e-01 -6.98362273e-03 -1.44993000e+02] [-5.10718452e-02 2.82775976e-03 9.98690978e-01 -5.18001682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.0507140569999 meters 0.029558924841914823 Centerline is valid? [True, True] Translation: X:819.39, Y:-144.99, Z:-51.80 [[ 9.94871650e-01 8.75408976e-02 5.06654825e-02 8.19390070e+02] [-8.72985541e-02 9.96157734e-01 -6.98080175e-03 -1.44987145e+02] [-5.10819179e-02 2.52197839e-03 9.98691282e-01 -5.18019191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.0807140569999 meters 0.03232900805153161 Centerline is valid? [True, True] Translation: X:819.42, Y:-144.99, Z:-51.80 [[ 9.94562178e-01 9.09223922e-02 5.07857624e-02 8.19417978e+02] [-9.06832808e-02 9.95855199e-01 -6.99754588e-03 -1.44993545e+02] [-5.12114991e-02 2.35407491e-03 9.98685056e-01 -5.18047599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.1107140569999 meters 0.030947231534675348 Centerline is valid? [True, True] Translation: X:819.45, Y:-144.99, Z:-51.81 [[ 9.94251556e-01 9.41952285e-02 5.09028649e-02 8.19447903e+02] [-9.39594388e-02 9.95551341e-01 -7.01075949e-03 -1.44992828e+02] [-5.13367955e-02 2.18765391e-03 9.98679001e-01 -5.18064930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.140714057 meters 0.028654143007859442 Centerline is valid? [True, True] Translation: X:819.48, Y:-144.99, Z:-51.81 [[ 9.93567072e-01 1.01012197e-01 5.11957880e-02 8.19477855e+02] [-1.00782802e-01 9.94883478e-01 -7.04925968e-03 -1.44989758e+02] [-5.16459048e-02 1.84425734e-03 9.98663757e-01 -5.18082836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.1707140569999 meters 0.0260062257221318 Centerline is valid? [True, True] Translation: X:819.51, Y:-144.99, Z:-51.81 [[ 9.93218801e-01 1.04070443e-01 5.18242909e-02 8.19507099e+02] [-1.03839571e-01 9.94568467e-01 -7.13500814e-03 -1.44986306e+02] [-5.22853490e-02 1.70521207e-03 9.98630730e-01 -5.18090607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.2007140569999 meters 0.02728473638893925 Centerline is valid? [True, True] Translation: X:819.53, Y:-144.99, Z:-51.81 [[ 9.92885851e-01 1.06908850e-01 5.24231374e-02 8.19534357e+02] [-1.06676742e-01 9.94267586e-01 -7.21392130e-03 -1.44992350e+02] [-5.28938583e-02 1.57027089e-03 9.98598906e-01 -5.18117405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.2307140569999 meters 0.02353632497278894 Centerline is valid? [True, True] Translation: X:819.57, Y:-144.99, Z:-51.81 [[ 9.92412391e-01 1.11239054e-01 5.23786081e-02 8.19565132e+02] [-1.11013731e-01 9.93792785e-01 -7.20079186e-03 -1.44986736e+02] [-5.28544921e-02 1.33141037e-03 9.98601337e-01 -5.18130347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.260714057 meters 0.023607000916110787 Centerline is valid? [True, True] Translation: X:819.59, Y:-144.99, Z:-51.82 [[ 9.92221205e-01 1.13067709e-01 5.20842983e-02 8.19592381e+02] [-1.12847514e-01 9.93586529e-01 -7.15871070e-03 -1.44990331e+02] [-5.25596762e-02 1.22544099e-03 9.98617033e-01 -5.18152433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.290714057 meters 0.022818561301719276 Centerline is valid? [True, True] Translation: X:819.62, Y:-144.99, Z:-51.82 [[ 9.91917847e-01 1.15794896e-01 5.18702849e-02 8.19620682e+02] [-1.15580483e-01 9.93272568e-01 -7.12449100e-03 -1.44993110e+02] [-5.23463107e-02 1.07171717e-03 9.98628417e-01 -5.18176742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.3207140569999 meters 0.02266420816952447 Centerline is valid? [True, True] Translation: X:819.65, Y:-145.00, Z:-51.82 [[ 9.91795919e-01 1.16784921e-01 5.19820960e-02 8.19649386e+02] [-1.16571141e-01 9.93156708e-01 -7.13603306e-03 -1.44997405e+02] [-5.24597484e-02 1.01787622e-03 9.98622521e-01 -5.18193921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.3507140569999 meters 0.022621552037224317 Centerline is valid? [True, True] Translation: X:819.68, Y:-145.00, Z:-51.82 [[ 9.91709210e-01 1.17471146e-01 5.20900479e-02 8.19677772e+02] [-1.17257622e-01 9.93075813e-01 -7.14705334e-03 -1.45002077e+02] [-5.25689392e-02 9.79843481e-04 9.98616817e-01 -5.18212254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.380714057 meters 0.022796996103175107 Centerline is valid? [True, True] Translation: X:819.70, Y:-145.01, Z:-51.82 [[ 9.91689428e-01 1.17653074e-01 5.20560524e-02 8.19704785e+02] [-1.17440273e-01 9.93054289e-01 -7.13870150e-03 -1.45009159e+02] [-5.25343763e-02 9.65897814e-04 9.98618649e-01 -5.18235789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.410714057 meters 0.02277214132787439 Centerline is valid? [True, True] Translation: X:819.73, Y:-145.01, Z:-51.83 [[ 9.91745745e-01 1.17047056e-01 5.23484910e-02 8.19732950e+02] [-1.16831267e-01 9.93125868e-01 -7.17397091e-03 -1.45014946e+02] [-5.28283327e-02 9.98814583e-04 9.98603109e-01 -5.18253231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.4407140569999 meters 0.02280403514976507 Centerline is valid? [True, True] Translation: X:819.76, Y:-145.02, Z:-51.83 [[ 9.91822573e-01 1.16401713e-01 5.23318774e-02 8.19761431e+02] [-1.16185364e-01 9.93201683e-01 -7.16790682e-03 -1.45021271e+02] [-5.28104653e-02 1.02909355e-03 9.98604024e-01 -5.18272917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.4707140569999 meters 0.02315725082824456 Centerline is valid? [True, True] Translation: X:819.79, Y:-145.03, Z:-51.83 [[ 9.91950307e-01 1.15063422e-01 5.28677292e-02 8.19788169e+02] [-1.14840923e-01 9.93357530e-01 -7.23745492e-03 -1.45029287e+02] [-5.33493232e-02 1.10781682e-03 9.98575296e-01 -5.18292183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.500714057 meters 0.023536806529183326 Centerline is valid? [True, True] Translation: X:819.82, Y:-145.04, Z:-51.83 [[ 9.92270545e-01 1.12224982e-01 5.29595994e-02 8.19816125e+02] [-1.11997933e-01 9.93682027e-01 -7.24511336e-03 -1.45039134e+02] [-5.34380848e-02 1.25774693e-03 9.98570373e-01 -5.18319133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.530714057 meters 0.023856606012729136 Centerline is valid? [True, True] Translation: X:819.84, Y:-145.05, Z:-51.83 [[ 9.92480482e-01 1.10473649e-01 5.27073650e-02 8.19844397e+02] [-1.10246495e-01 9.93878148e-01 -7.20679258e-03 -1.45046654e+02] [-5.31808590e-02 1.34179871e-03 9.98583995e-01 -5.18341213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.5607140569999 meters 0.02450415367791344 Centerline is valid? [True, True] Translation: X:819.87, Y:-145.06, Z:-51.84 [[ 9.92888864e-01 1.06792802e-01 5.26022845e-02 8.19872294e+02] [-1.06561602e-01 9.94280117e-01 -7.18851349e-03 -1.45058192e+02] [-5.30690871e-02 1.53201131e-03 9.98589668e-01 -5.18362496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.5907140569999 meters 0.025529007378443533 Centerline is valid? [True, True] Translation: X:819.90, Y:-145.07, Z:-51.84 [[ 9.93098289e-01 1.04718567e-01 5.28186454e-02 8.19899061e+02] [-1.04482675e-01 9.94500533e-01 -7.21534425e-03 -1.45066318e+02] [-5.32837515e-02 1.64691264e-03 9.98578054e-01 -5.18378454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.620714057 meters 0.02631626303668653 Centerline is valid? [True, True] Translation: X:819.93, Y:-145.07, Z:-51.84 [[ 9.93298148e-01 1.02550698e-01 5.33117539e-02 8.19925387e+02] [-1.02307517e-01 9.94726196e-01 -7.27790833e-03 -1.45074673e+02] [-5.37769527e-02 1.77493969e-03 9.98551395e-01 -5.18395662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.650714057 meters 0.027947542720848536 Centerline is valid? [True, True] Translation: X:819.95, Y:-145.09, Z:-51.84 [[ 9.93711811e-01 9.78818892e-02 5.43688614e-02 8.19952965e+02] [-9.76223203e-02 9.95195903e-01 -7.41605536e-03 -1.45087572e+02] [-5.48335657e-02 2.06180740e-03 9.98493380e-01 -5.18407892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.6807140569999 meters 0.029013312181544952 Centerline is valid? [True, True] Translation: X:819.98, Y:-145.10, Z:-51.84 [[ 9.93950074e-01 9.53198967e-02 5.45652541e-02 8.19982033e+02] [-9.50547014e-02 9.95444241e-01 -7.44090220e-03 -1.45096033e+02] [-5.50259339e-02 2.20920136e-03 9.98482482e-01 -5.18424206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.7107140569999 meters 0.02810578177501601 Centerline is valid? [True, True] Translation: X:820.01, Y:-145.10, Z:-51.84 [[ 9.94158672e-01 9.29939618e-02 5.47782614e-02 8.20011282e+02] [-9.27232738e-02 9.95663911e-01 -7.46801699e-03 -1.45100712e+02] [-5.52352184e-02 2.34517413e-03 9.98470616e-01 -5.18440179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.7407140569999 meters 0.029715142015233943 Centerline is valid? [True, True] Translation: X:820.04, Y:-145.11, Z:-51.85 [[ 9.94616895e-01 8.78124803e-02 5.50109180e-02 8.20039933e+02] [-8.75316928e-02 9.96133519e-01 -7.49768369e-03 -1.45112281e+02] [-5.54566095e-02 2.64212409e-03 9.98457602e-01 -5.18467788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.770714057 meters 0.0335813372283438 Centerline is valid? [True, True] Translation: X:820.07, Y:-145.12, Z:-51.85 [[ 9.94831544e-01 8.52695623e-02 5.51298615e-02 8.20066713e+02] [-8.49837373e-02 9.96354016e-01 -7.51259418e-03 -1.45124878e+02] [-5.55694545e-02 2.78862399e-03 9.98450930e-01 -5.18489514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.8007140569999 meters 0.030603904390654767 Centerline is valid? [True, True] Translation: X:820.10, Y:-145.13, Z:-51.85 [[ 9.95034021e-01 8.29271627e-02 5.50489214e-02 8.20096544e+02] [-8.26388309e-02 9.96551359e-01 -7.49748742e-03 -1.45126040e+02] [-5.54808228e-02 2.91107655e-03 9.98455509e-01 -5.18506550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.8307140569999 meters 0.03412864094021897 Centerline is valid? [True, True] Translation: X:820.12, Y:-145.14, Z:-51.85 [[ 9.95496730e-01 7.74058108e-02 5.47229520e-02 8.20124809e+02] [-7.71126879e-02 9.96994541e-01 -7.45102697e-03 -1.45139026e+02] [-5.51352373e-02 3.19763906e-03 9.98473776e-01 -5.18530093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.8607140569999 meters 0.03902910268642884 Centerline is valid? [True, True] Translation: X:820.15, Y:-145.15, Z:-51.86 [[ 9.95697770e-01 7.50119759e-02 5.43981118e-02 8.20153776e+02] [-7.47188318e-02 9.97177142e-01 -7.40565310e-03 -1.45152061e+02] [-5.48000663e-02 3.30922891e-03 9.98491864e-01 -5.18552947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.890714057 meters 0.03700607200769728 Centerline is valid? [True, True] Translation: X:820.18, Y:-145.15, Z:-51.86 [[ 9.95939214e-01 7.20560520e-02 5.39722803e-02 8.20184944e+02] [-7.17631144e-02 9.97394633e-01 -7.34858185e-03 -1.45154348e+02] [-5.43611725e-02 3.44552191e-03 9.98515394e-01 -5.18575339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.9207140569999 meters 0.036028210842407246 Centerline is valid? [True, True] Translation: X:820.22, Y:-145.16, Z:-51.86 [[ 9.96138696e-01 6.97904817e-02 5.32633825e-02 8.20215574e+02] [-6.95018700e-02 9.97555447e-01 -7.25400751e-03 -1.45158260e+02] [-5.36394381e-02 3.52409289e-03 9.98554151e-01 -5.18590330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.9507140569999 meters 0.03724853149780421 Centerline is valid? [True, True] Translation: X:820.25, Y:-145.16, Z:-51.86 [[ 9.96325689e-01 6.71380405e-02 5.31752262e-02 8.20245746e+02] [-6.68465740e-02 9.97736977e-01 -7.24297189e-03 -1.45164407e+02] [-5.35411684e-02 3.66177726e-03 9.98558929e-01 -5.18614638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.9807140569999 meters 0.039589097071413816 Centerline is valid? [True, True] Translation: X:820.27, Y:-145.17, Z:-51.86 [[ 9.96595356e-01 6.32827808e-02 5.28487115e-02 8.20274529e+02] [-6.29894445e-02 9.97988225e-01 -7.19946256e-03 -1.45172701e+02] [-5.31979939e-02 3.84603997e-03 9.98576578e-01 -5.18641420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.010714057 meters 0.04078514381609936 Centerline is valid? [True, True] Translation: X:820.31, Y:-145.18, Z:-51.87 [[ 9.96685996e-01 6.19064563e-02 5.27694665e-02 8.20305835e+02] [-6.16120889e-02 9.98074283e-01 -7.18854796e-03 -1.45178551e+02] [-5.31128650e-02 3.91348802e-03 9.98580847e-01 -5.18662246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.040714057 meters 0.04247131176681303 Centerline is valid? [True, True] Translation: X:820.34, Y:-145.19, Z:-51.87 [[ 9.96786358e-01 6.09131937e-02 5.20244029e-02 8.20336731e+02] [-6.06251155e-02 9.98135361e-01 -7.09906259e-03 -1.45185308e+02] [-5.23598228e-02 3.92226332e-03 9.98620581e-01 -5.18680201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.0707140569999 meters 0.04370589864709296 Centerline is valid? [True, True] Translation: X:820.37, Y:-145.19, Z:-51.87 [[ 9.96864834e-01 5.91094829e-02 5.25982058e-02 8.20367799e+02] [-5.88118063e-02 9.98243190e-01 -7.19068609e-03 -1.45188974e+02] [-5.29308385e-02 4.07474660e-03 9.98589867e-01 -5.18700560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.1007140569999 meters 0.044691430821444104 Centerline is valid? [True, True] Translation: X:820.40, Y:-145.19, Z:-51.87 [[ 9.96861997e-01 5.89327104e-02 5.28497337e-02 8.20399224e+02] [-5.86318540e-02 9.98253517e-01 -7.22649466e-03 -1.45193338e+02] [-5.31833095e-02 4.10514003e-03 9.98576328e-01 -5.18714715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.130714057 meters 0.04182622778885959 Centerline is valid? [True, True] Translation: X:820.43, Y:-145.19, Z:-51.87 [[ 9.96855057e-01 5.87597657e-02 5.31722325e-02 8.20431994e+02] [-5.84546081e-02 9.98263541e-01 -7.27748387e-03 -1.45191895e+02] [-5.35075243e-02 4.14643458e-03 9.98558838e-01 -5.18721525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.160714057 meters 0.04047069831174834 Centerline is valid? [True, True] Translation: X:820.46, Y:-145.19, Z:-51.87 [[ 9.96846205e-01 5.75359168e-02 5.46558475e-02 8.20464456e+02] [-5.72108318e-02 9.98333983e-01 -7.49527192e-03 -1.45190654e+02] [-5.49960373e-02 4.34472688e-03 9.98477120e-01 -5.18724819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.1907140569999 meters 0.041597336149418206 Centerline is valid? [True, True] Translation: X:820.50, Y:-145.20, Z:-51.87 [[ 9.96828260e-01 5.69388513e-02 5.56002528e-02 8.20496217e+02] [-5.66012799e-02 9.98367717e-01 -7.62866406e-03 -1.45195025e+02] [-5.59438649e-02 4.45742245e-03 9.98423966e-01 -5.18740323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.2207140569999 meters 0.04172369305984604 Centerline is valid? [True, True] Translation: X:820.53, Y:-145.20, Z:-51.88 [[ 9.96858790e-01 5.58371261e-02 5.61673323e-02 8.20528207e+02] [-5.54900503e-02 9.98429385e-01 -7.72126941e-03 -1.45198202e+02] [-5.65102485e-02 4.58028718e-03 9.98391513e-01 -5.18757293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.250714057 meters 0.04244548598900917 Centerline is valid? [True, True] Translation: X:820.56, Y:-145.20, Z:-51.88 [[ 9.96909134e-01 5.49640043e-02 5.61349806e-02 8.20559974e+02] [-5.46157200e-02 9.98477596e-01 -7.72097331e-03 -1.45201842e+02] [-5.64738961e-02 4.63125643e-03 9.98393335e-01 -5.18770195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.280714057 meters 0.04942263233198126 Centerline is valid? [True, True] Translation: X:820.59, Y:-145.21, Z:-51.88 [[ 9.96955745e-01 5.41756255e-02 5.60735630e-02 8.20589635e+02] [-5.38266367e-02 9.98520479e-01 -7.71659159e-03 -1.45213798e+02] [-5.64086521e-02 4.67484901e-03 9.98396820e-01 -5.18793296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.3107140569999 meters 0.04712372175970095 Centerline is valid? [True, True] Translation: X:820.62, Y:-145.21, Z:-51.88 [[ 9.97153042e-01 5.19217716e-02 5.46803446e-02 8.20621843e+02] [-5.15861754e-02 9.98640143e-01 -7.53202297e-03 -1.45210057e+02] [-5.49970632e-02 4.68982977e-03 9.98475502e-01 -5.18814771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.3407140569999 meters 0.04468363425459075 Centerline is valid? [True, True] Translation: X:820.65, Y:-145.21, Z:-51.88 [[ 9.97204087e-01 5.11678544e-02 5.44596995e-02 8.20653930e+02] [-5.08337752e-02 9.98678944e-01 -7.50298804e-03 -1.45208918e+02] [-5.47716669e-02 4.71361823e-03 9.98487780e-01 -5.18837599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.370714057 meters 0.04561649345035037 Centerline is valid? [True, True] Translation: X:820.69, Y:-145.21, Z:-51.89 [[ 9.97305833e-01 5.02926193e-02 5.34015678e-02 8.20685495e+02] [-4.99694988e-02 9.98723554e-01 -7.36964978e-03 -1.45212512e+02] [-5.37040426e-02 4.68134513e-03 9.98545923e-01 -5.18861111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.400714057 meters 0.04849584988762376 Centerline is valid? [True, True] Translation: X:820.71, Y:-145.22, Z:-51.89 [[ 9.97438121e-01 4.83797748e-02 5.26933876e-02 8.20714629e+02] [-4.80618217e-02 9.98817794e-01 -7.28529318e-03 -1.45216925e+02] [-5.29835540e-02 4.73408893e-03 9.98584163e-01 -5.18889030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.4307140569999 meters 0.04671212680672394 Centerline is valid? [True, True] Translation: X:820.75, Y:-145.22, Z:-51.89 [[ 9.97473757e-01 4.77268538e-02 5.26141793e-02 8.20746547e+02] [-4.74090157e-02 9.98849080e-01 -7.27323091e-03 -1.45216645e+02] [-5.29007530e-02 4.76047051e-03 9.98588428e-01 -5.18912174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.4607140569999 meters 0.04679577405684048 Centerline is valid? [True, True] Translation: X:820.78, Y:-145.22, Z:-51.89 [[ 9.97577352e-01 4.70088423e-02 5.12795796e-02 8.20778643e+02] [-4.67053416e-02 9.98883466e-01 -7.10154694e-03 -1.45216835e+02] [-5.15561597e-02 4.68931211e-03 9.98659087e-01 -5.18942717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.4907140569999 meters 0.05027496583643992 Centerline is valid? [True, True] Translation: X:820.81, Y:-145.22, Z:-51.90 [[ 9.97592797e-01 4.73692796e-02 5.06434829e-02 8.20810243e+02] [-4.70736116e-02 9.98866785e-01 -7.01579149e-03 -1.45223819e+02] [-5.09184260e-02 4.61493141e-03 9.98692153e-01 -5.18971471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.520714057 meters 0.0483195139493841 Centerline is valid? [True, True] Translation: X:820.84, Y:-145.22, Z:-51.90 [[ 9.97610883e-01 4.83416817e-02 4.93518783e-02 8.20843411e+02] [-4.80614435e-02 9.98820892e-01 -6.85004306e-03 -1.45220759e+02] [-4.96248297e-02 4.46175500e-03 9.98757963e-01 -5.19001305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.5507140569999 meters 0.046199739375554764 Centerline is valid? [True, True] Translation: X:820.88, Y:-145.22, Z:-51.90 [[ 9.97576190e-01 4.90328890e-02 4.93712527e-02 8.20875808e+02] [-4.87526532e-02 9.98787289e-01 -6.86513335e-03 -1.45220207e+02] [-4.96479970e-02 4.44151401e-03 9.98756902e-01 -5.19014760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.5807140569999 meters 0.045639252776586425 Centerline is valid? [True, True] Translation: X:820.91, Y:-145.22, Z:-51.90 [[ 9.97521001e-01 5.00207217e-02 4.94952571e-02 8.20908067e+02] [-4.97396506e-02 9.98738417e-01 -6.89501151e-03 -1.45221379e+02] [-4.97777082e-02 4.41604198e-03 9.98750559e-01 -5.19030835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.6107140569999 meters 0.05361600067616358 Centerline is valid? [True, True] Translation: X:820.94, Y:-145.23, Z:-51.90 [[ 9.97412138e-01 5.10906642e-02 5.05843039e-02 8.20936567e+02] [-5.07976823e-02 9.98683999e-01 -7.06155609e-03 -1.45234360e+02] [-5.08785145e-02 4.47371636e-03 9.98694830e-01 -5.19045806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.640714057 meters 0.044086300557540065 Centerline is valid? [True, True] Translation: X:820.97, Y:-145.22, Z:-51.90 [[ 9.97178722e-01 5.31221703e-02 5.30342464e-02 8.20970156e+02] [-5.28028796e-02 9.98577502e-01 -7.40457726e-03 -1.45220818e+02] [-5.33521525e-02 4.58332596e-03 9.98565241e-01 -5.19032087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.6707140569999 meters 0.04101115202474052 Centerline is valid? [True, True] Translation: X:821.00, Y:-145.22, Z:-51.90 [[ 9.97052290e-01 5.44371966e-02 5.40677566e-02 8.21001906e+02] [-5.41071900e-02 9.98506591e-01 -7.54982185e-03 -1.45218639e+02] [-5.43980024e-02 4.60211279e-03 9.98508727e-01 -5.19042075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.7007140569999 meters 0.04148472569627877 Centerline is valid? [True, True] Translation: X:821.03, Y:-145.22, Z:-51.91 [[ 9.96957555e-01 5.57951666e-02 5.44291481e-02 8.21031811e+02] [-5.54626195e-02 9.98431821e-01 -7.60240031e-03 -1.45221407e+02] [-5.47679706e-02 4.56048729e-03 9.98488694e-01 -5.19054542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.7307140569999 meters 0.04060937190428063 Centerline is valid? [True, True] Translation: X:821.06, Y:-145.22, Z:-51.91 [[ 9.96804593e-01 5.83827819e-02 5.45165437e-02 8.21063130e+02] [-5.80529485e-02 9.98284457e-01 -7.61563353e-03 -1.45220250e+02] [-5.48676401e-02 4.42645238e-03 9.98483825e-01 -5.19080808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.760714057 meters 0.039473074923217624 Centerline is valid? [True, True] Translation: X:821.09, Y:-145.22, Z:-51.91 [[ 9.96765019e-01 5.95630267e-02 5.39605759e-02 8.21094473e+02] [-5.92415616e-02 9.98215209e-01 -7.53889042e-03 -1.45221640e+02] [-5.43133067e-02 4.31779347e-03 9.98514608e-01 -5.19103919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.790714057 meters 0.03964539603985832 Centerline is valid? [True, True] Translation: X:821.13, Y:-145.22, Z:-51.91 [[ 9.96726866e-01 6.08273728e-02 5.32502126e-02 8.21125688e+02] [-6.05160127e-02 9.98139487e-01 -7.44160318e-03 -1.45224375e+02] [-5.36037931e-02 4.19475528e-03 9.98553473e-01 -5.19130985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.8207140569999 meters 0.03964539603985832 Centerline is valid? [True, True] Translation: X:821.16, Y:-145.23, Z:-51.91 [[ 9.96726874e-01 6.08274931e-02 5.32499211e-02 8.21155441e+02] [-6.05160225e-02 9.98139471e-01 -7.44368896e-03 -1.45228533e+02] [-5.36036289e-02 4.19685141e-03 9.98553473e-01 -5.19148384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.8507140569999 meters 0.041293936276475825 Centerline is valid? [True, True] Translation: X:821.18, Y:-145.23, Z:-51.92 [[ 9.96669407e-01 6.20909585e-02 5.28659305e-02 8.21184819e+02] [-6.17857344e-02 9.98062078e-01 -7.39001176e-03 -1.45233043e+02] [-5.32223333e-02 4.09903830e-03 9.98574274e-01 -5.19175059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.880714057 meters 0.03994756300971888 Centerline is valid? [True, True] Translation: X:821.22, Y:-145.23, Z:-51.92 [[ 9.96559076e-01 6.49253401e-02 5.15238566e-02 8.21215475e+02] [-6.46391971e-02 9.97882708e-01 -7.20240621e-03 -1.45232292e+02] [-5.18823842e-02 3.84716256e-03 9.98645792e-01 -5.19200137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.910714057 meters 0.04063296398830441 Centerline is valid? [True, True] Translation: X:821.24, Y:-145.24, Z:-51.92 [[ 9.96486954e-01 6.62024920e-02 5.12930780e-02 8.21243666e+02] [-6.59205742e-02 9.97799109e-01 -7.17046799e-03 -1.45235833e+02] [-5.16548904e-02 3.76400866e-03 9.98657902e-01 -5.19219371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.9407140569999 meters 0.038908375152763776 Centerline is valid? [True, True] Translation: X:821.27, Y:-145.24, Z:-51.92 [[ 9.96393717e-01 6.75790103e-02 5.13092450e-02 8.21273934e+02] [-6.72988822e-02 9.97707099e-01 -7.16975803e-03 -1.45236087e+02] [-5.16761231e-02 3.69084701e-03 9.98657076e-01 -5.19235454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.9707140569999 meters 0.03778275113875354 Centerline is valid? [True, True] Translation: X:821.30, Y:-145.24, Z:-51.92 [[ 9.96280319e-01 6.89880926e-02 5.16349575e-02 8.21303461e+02] [-6.87063174e-02 9.97610843e-01 -7.21444072e-03 -1.45236869e+02] [-5.20093040e-02 3.63995752e-03 9.98639967e-01 -5.19248644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.000714057 meters 0.040169451392314766 Centerline is valid? [True, True] Translation: X:821.33, Y:-145.24, Z:-51.93 [[ 9.96103860e-01 7.10770064e-02 5.22030496e-02 8.21332210e+02] [-7.07919430e-02 9.97464450e-01 -7.29189953e-03 -1.45242092e+02] [-5.25889725e-02 3.56793396e-03 9.98609869e-01 -5.19265746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.030714057 meters 0.03570015697570695 Centerline is valid? [True, True] Translation: X:821.36, Y:-145.24, Z:-51.93 [[ 9.96034328e-01 7.17991391e-02 5.25404733e-02 8.21362232e+02] [-7.15114696e-02 9.97412791e-01 -7.33722229e-03 -1.45238567e+02] [-5.29313464e-02 3.55087881e-03 9.98591840e-01 -5.19279616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.0607140569999 meters 0.03671344250494252 Centerline is valid? [True, True] Translation: X:821.39, Y:-145.24, Z:-51.93 [[ 9.95976453e-01 7.25708009e-02 5.25774061e-02 8.21389865e+02] [-7.22839398e-02 9.97357088e-01 -7.33966828e-03 -1.45243335e+02] [-5.29710943e-02 3.50963472e-03 9.98589879e-01 -5.19299553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.0907140569999 meters 0.041652675277996494 Centerline is valid? [True, True] Translation: X:821.42, Y:-145.25, Z:-51.93 [[ 9.95941114e-01 7.33877561e-02 5.21107853e-02 8.21416498e+02] [-7.31073286e-02 9.97297582e-01 -7.26984751e-03 -1.45252566e+02] [-5.25034780e-02 3.43065972e-03 9.98614848e-01 -5.19332530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.120714057 meters 0.036603481901609426 Centerline is valid? [True, True] Translation: X:821.45, Y:-145.25, Z:-51.93 [[ 9.96004398e-01 7.30137993e-02 5.14220256e-02 8.21446099e+02] [-7.27404867e-02 9.97325135e-01 -7.16915809e-03 -1.45247793e+02] [-5.18079261e-02 3.40004982e-03 9.98651280e-01 -5.19348219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.150714057 meters 0.03883945440537456 Centerline is valid? [True, True] Translation: X:821.47, Y:-145.25, Z:-51.94 [[ 9.96038734e-01 7.23893787e-02 5.16393164e-02 8.21473506e+02] [-7.21131028e-02 9.97370503e-01 -7.19582539e-03 -1.45254589e+02] [-5.20244323e-02 3.44344947e-03 9.98639876e-01 -5.19371016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.1807140569999 meters 0.03760773019991897 Centerline is valid? [True, True] Translation: X:821.50, Y:-145.26, Z:-51.94 [[ 9.96155076e-01 7.13828260e-02 5.07893365e-02 8.21502480e+02] [-7.11145115e-02 9.97443082e-01 -7.07282968e-03 -1.45255761e+02] [-5.11643509e-02 3.43377634e-03 9.98684344e-01 -5.19384925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.2107140569999 meters 0.039184285716695806 Centerline is valid? [True, True] Translation: X:821.53, Y:-145.26, Z:-51.94 [[ 9.96323036e-01 6.91596649e-02 5.05702444e-02 8.21530927e+02] [-6.88910031e-02 9.97599362e-01 -7.03861195e-03 -1.45260907e+02] [-5.09356316e-02 3.52889636e-03 9.98695704e-01 -5.19406150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.2407140569999 meters 0.04134010824820445 Centerline is valid? [True, True] Translation: X:821.56, Y:-145.27, Z:-51.94 [[ 9.96418247e-01 6.79999409e-02 5.02661388e-02 8.21558409e+02] [-6.77331806e-02 9.97678960e-01 -6.99344148e-03 -1.45267406e+02] [-5.06250227e-02 3.56370725e-03 9.98711373e-01 -5.19428375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.270714057 meters 0.03972690460959576 Centerline is valid? [True, True] Translation: X:821.59, Y:-145.27, Z:-51.94 [[ 9.96504053e-01 6.67885266e-02 5.01892949e-02 8.21588299e+02] [-6.65211153e-02 9.97760592e-01 -6.98154562e-03 -1.45269328e+02] [-5.05431877e-02 3.61849063e-03 9.98715321e-01 -5.19449552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.3007140569999 meters 0.037745337697997025 Centerline is valid? [True, True] Translation: X:821.62, Y:-145.27, Z:-51.95 [[ 9.96593529e-01 6.56106777e-02 4.99657579e-02 8.21617504e+02] [-6.53442558e-02 9.97838585e-01 -6.94882601e-03 -1.45269648e+02] [-5.03136784e-02 3.66017977e-03 9.98726758e-01 -5.19466896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.3307140569999 meters 0.04524504445023688 Centerline is valid? [True, True] Translation: X:821.64, Y:-145.28, Z:-51.95 [[ 9.96715568e-01 6.42154099e-02 4.93402200e-02 8.21643926e+02] [-6.39540660e-02 9.97929272e-01 -6.85898782e-03 -1.45282423e+02] [-4.96785026e-02 3.68095225e-03 9.98758478e-01 -5.19493747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.3607140569999 meters 0.04595255528930778 Centerline is valid? [True, True] Translation: X:821.67, Y:-145.29, Z:-51.95 [[ 9.96720564e-01 6.40957328e-02 4.93948836e-02 8.21672208e+02] [-6.38337284e-02 9.97936933e-01 -6.86527038e-03 -1.45286123e+02] [-4.97330132e-02 3.68969658e-03 9.98755733e-01 -5.19510559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.390714057 meters 0.047218953820524885 Centerline is valid? [True, True] Translation: X:821.70, Y:-145.29, Z:-51.95 [[ 9.96629100e-01 6.48686282e-02 5.02244853e-02 8.21701121e+02] [-6.45989018e-02 9.97886920e-01 -6.97688146e-03 -1.45289417e+02] [-5.05709377e-02 3.70891650e-03 9.98713585e-01 -5.19522291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.4207140569999 meters 0.039182453146332286 Centerline is valid? [True, True] Translation: X:821.73, Y:-145.28, Z:-51.95 [[ 9.96598030e-01 6.53326990e-02 5.02394851e-02 8.21731019e+02] [-6.50634687e-02 9.97856733e-01 -6.97755484e-03 -1.45280808e+02] [-5.05876709e-02 3.68506224e-03 9.98712826e-01 -5.19520694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.4507140569999 meters 0.03678526406715687 Centerline is valid? [True, True] Translation: X:821.76, Y:-145.28, Z:-51.95 [[ 9.96498519e-01 6.64096674e-02 5.07982140e-02 8.21760195e+02] [-6.61359888e-02 9.97785702e-01 -7.05146275e-03 -1.45280309e+02] [-5.11540170e-02 3.66718207e-03 9.98684043e-01 -5.19530996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.4807140569999 meters 0.03687696143455837 Centerline is valid? [True, True] Translation: X:821.79, Y:-145.28, Z:-51.95 [[ 9.96428866e-01 6.72480647e-02 5.10608787e-02 8.21788988e+02] [-6.69728334e-02 9.97729650e-01 -7.08416367e-03 -1.45282522e+02] [-5.14213489e-02 3.63917345e-03 9.98670417e-01 -5.19544997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.510714057 meters 0.03621267372347692 Centerline is valid? [True, True] Translation: X:821.82, Y:-145.28, Z:-51.96 [[ 9.96334089e-01 6.81613622e-02 5.16953687e-02 8.21818243e+02] [-6.78806672e-02 9.97667696e-01 -7.16827044e-03 -1.45283869e+02] [-5.20633985e-02 3.63287608e-03 9.98637174e-01 -5.19557301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.540714057 meters 0.035353298129246244 Centerline is valid? [True, True] Translation: X:821.85, Y:-145.28, Z:-51.96 [[ 9.96225731e-01 7.02480370e-02 5.09853454e-02 8.21848477e+02] [-6.99778790e-02 9.97523512e-01 -7.06683189e-03 -1.45283328e+02] [-5.13555119e-02 3.47231343e-03 9.98674399e-01 -5.19572038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.5707140569999 meters 0.04003907392063335 Centerline is valid? [True, True] Translation: X:821.87, Y:-145.29, Z:-51.96 [[ 9.96182904e-01 7.10861993e-02 5.06593923e-02 8.21874691e+02] [-7.08205888e-02 9.97464359e-01 -7.02121357e-03 -1.45292903e+02] [-5.10300497e-02 3.40668493e-03 9.98691308e-01 -5.19601673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.6007140569999 meters 0.0346405348608768 Centerline is valid? [True, True] Translation: X:821.90, Y:-145.29, Z:-51.96 [[ 9.96179938e-01 7.18217891e-02 4.96705270e-02 8.21904927e+02] [-7.15676017e-02 9.97412027e-01 -6.87947715e-03 -1.45287361e+02] [-5.00360773e-02 3.29839663e-03 9.98741964e-01 -5.19617685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.630714057 meters 0.05711783092321653 Centerline is valid? [True, True] Translation: X:821.93, Y:-145.32, Z:-51.97 [[ 9.95891723e-01 7.55763069e-02 4.98788430e-02 8.21929255e+02] [-7.53248162e-02 9.97135140e-01 -6.90534248e-03 -1.45320512e+02] [-5.02578274e-02 3.11985874e-03 9.98731404e-01 -5.19693797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.660714057 meters 0.03515818284831742 Centerline is valid? [True, True] Translation: X:821.96, Y:-145.29, Z:-51.97 [[ 9.96137089e-01 7.43997445e-02 4.66430999e-02 8.21963189e+02] [-7.41786095e-02 9.97224071e-01 -6.45651786e-03 -1.45292419e+02] [-4.69939853e-02 2.97165661e-03 9.98890752e-01 -5.19686780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.6907140569999 meters 0.03542120740367085 Centerline is valid? [True, True] Translation: X:821.99, Y:-145.30, Z:-51.97 [[ 9.96116300e-01 7.53511119e-02 4.55469849e-02 8.21992200e+02] [-7.51412719e-02 9.97152970e-01 -6.30424282e-03 -1.45295147e+02] [-4.58923430e-02 2.85730064e-03 9.98942305e-01 -5.19712426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.7207140569999 meters 0.03506795519144758 Centerline is valid? [True, True] Translation: X:822.02, Y:-145.30, Z:-51.97 [[ 9.95926220e-01 7.81312612e-02 4.50163272e-02 8.22021538e+02] [-7.79294128e-02 9.96939449e-01 -6.22420889e-03 -1.45295140e+02] [-4.53648578e-02 2.69075689e-03 9.98966861e-01 -5.19725180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.750714057 meters 0.032608711748438504 Centerline is valid? [True, True] Translation: X:822.05, Y:-145.29, Z:-51.97 [[ 9.95836656e-01 7.94513073e-02 4.46860663e-02 8.22050982e+02] [-7.92537849e-02 9.96835331e-01 -6.17745340e-03 -1.45293295e+02] [-4.50354564e-02 2.61019466e-03 9.98981979e-01 -5.19727759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.780714057 meters 0.03617650720989296 Centerline is valid? [True, True] Translation: X:822.08, Y:-145.30, Z:-51.98 [[ 9.95675713e-01 8.11311227e-02 4.52505876e-02 8.22078009e+02] [-8.09304440e-02 9.96700141e-01 -6.25238156e-03 -1.45300836e+02] [-4.56085298e-02 2.56319432e-03 9.98956101e-01 -5.19756125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.8107140569999 meters 0.03091681882405783 Centerline is valid? [True, True] Translation: X:822.11, Y:-145.30, Z:-51.98 [[ 9.95548783e-01 8.25927072e-02 4.53989529e-02 8.22107683e+02] [-8.23924193e-02 9.96580250e-01 -6.26860243e-03 -1.45295075e+02] [-4.57614406e-02 2.50016996e-03 9.98949268e-01 -5.19755259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.8407140569999 meters 0.03490691452800446 Centerline is valid? [True, True] Translation: X:822.14, Y:-145.30, Z:-51.98 [[ 9.95317920e-01 8.56059513e-02 4.48760486e-02 8.22136153e+02] [-8.54134719e-02 9.96326347e-01 -6.19273541e-03 -1.45302082e+02] [-4.52413246e-02 2.33072141e-03 9.98973368e-01 -5.19789075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.870714057 meters 0.03323931844007357 Centerline is valid? [True, True] Translation: X:822.17, Y:-145.30, Z:-51.98 [[ 9.95221142e-01 8.66625945e-02 4.49941434e-02 8.22165742e+02] [-8.64702416e-02 9.96235094e-01 -6.20759291e-03 -1.45301823e+02] [-4.53627108e-02 2.28727325e-03 9.98967964e-01 -5.19799933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.900714057 meters 0.03371429493578341 Centerline is valid? [True, True] Translation: X:822.19, Y:-145.30, Z:-51.98 [[ 9.95185750e-01 8.72401083e-02 4.46596720e-02 8.22193407e+02] [-8.70512693e-02 9.96184790e-01 -6.15961296e-03 -1.45304285e+02] [-4.50266513e-02 2.24227791e-03 9.98983270e-01 -5.19812386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.9307140569999 meters 0.03014005202174456 Centerline is valid? [True, True] Translation: X:822.22, Y:-145.30, Z:-51.98 [[ 9.95169981e-01 8.67931663e-02 4.58656177e-02 8.22223618e+02] [-8.65937010e-02 9.96223653e-01 -6.32180081e-03 -1.45299513e+02] [-4.62411023e-02 2.31959280e-03 9.98927615e-01 -5.19799513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.9607140569999 meters 0.030950340551865466 Centerline is valid? [True, True] Translation: X:822.25, Y:-145.30, Z:-51.98 [[ 9.95225921e-01 8.58066834e-02 4.65035522e-02 8.22251186e+02] [-8.56007036e-02 9.96308926e-01 -6.40651177e-03 -1.45303662e+02] [-4.68816257e-02 2.39518979e-03 9.98897580e-01 -5.19812448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.9907140569999 meters 0.03211799375358809 Centerline is valid? [True, True] Translation: X:822.28, Y:-145.31, Z:-51.98 [[ 9.95505640e-01 8.19786296e-02 4.74133538e-02 8.22281396e+02] [-8.17604255e-02 9.96630642e-01 -6.52663258e-03 -1.45308305e+02] [-4.77886456e-02 2.62076355e-03 9.98854032e-01 -5.19821276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.020714057 meters 0.03470491325598029 Centerline is valid? [True, True] Translation: X:822.31, Y:-145.32, Z:-51.98 [[ 9.95720743e-01 7.92373745e-02 4.75567154e-02 8.22308797e+02] [-7.90146991e-02 9.96851952e-01 -6.54705734e-03 -1.45315416e+02] [-4.79257762e-02 2.76136124e-03 9.98847083e-01 -5.19837527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.0507140569999 meters 0.054254194177043136 Centerline is valid? [True, True] Translation: X:822.33, Y:-145.35, Z:-51.99 [[ 9.95621404e-01 7.86385022e-02 5.05371743e-02 8.22332177e+02] [-7.83864332e-02 9.96898798e-01 -6.95364638e-03 -1.45347194e+02] [-5.09272727e-02 2.96177033e-03 9.98697973e-01 -5.19878612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.0807140569999 meters 0.035013998665023686 Centerline is valid? [True, True] Translation: X:822.37, Y:-145.32, Z:-51.99 [[ 9.96150853e-01 7.33315282e-02 4.80204750e-02 8.22365866e+02] [-7.30980424e-02 9.97302903e-01 -6.60278176e-03 -1.45324025e+02] [-4.83751512e-02 3.06716396e-03 9.98824528e-01 -5.19868824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.1107140569999 meters 0.03800229706989897 Centerline is valid? [True, True] Translation: X:822.39, Y:-145.33, Z:-51.99 [[ 9.96526555e-01 6.79978824e-02 4.80740319e-02 8.22394376e+02] [-6.77577378e-02 9.97679912e-01 -6.60931052e-03 -1.45332754e+02] [-4.84119150e-02 3.32896579e-03 9.98821908e-01 -5.19898026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.140714057 meters 0.043462729899176884 Centerline is valid? [True, True] Translation: X:822.42, Y:-145.34, Z:-51.99 [[ 9.96676542e-01 6.62003771e-02 4.74697947e-02 8.22420909e+02] [-6.59642228e-02 9.97800648e-01 -6.52595483e-03 -1.45344146e+02] [-4.77974126e-02 3.37295797e-03 9.98851356e-01 -5.19925884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.1707140569999 meters 0.038684645872690826 Centerline is valid? [True, True] Translation: X:822.45, Y:-145.34, Z:-51.99 [[ 9.96806463e-01 6.43606360e-02 4.72713795e-02 8.22451310e+02] [-6.41245727e-02 9.97920766e-01 -6.49497976e-03 -1.45341243e+02] [-4.75911123e-02 3.44298079e-03 9.98860967e-01 -5.19937096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.2007140569999 meters 0.04380821724459332 Centerline is valid? [True, True] Translation: X:822.48, Y:-145.35, Z:-52.00 [[ 9.96892399e-01 6.29757869e-02 4.73243627e-02 8.22477932e+02] [-6.27377069e-02 9.98008877e-01 -6.50090565e-03 -1.45352038e+02] [-4.76395337e-02 3.51168143e-03 9.98858420e-01 -5.19969564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.2307140569999 meters 0.0448554221107156 Centerline is valid? [True, True] Translation: X:822.51, Y:-145.36, Z:-52.00 [[ 9.96873756e-01 6.30769424e-02 4.75816488e-02 8.22505056e+02] [-6.28365370e-02 9.98002450e-01 -6.53294616e-03 -1.45356978e+02] [-4.78986804e-02 3.52265654e-03 9.98845988e-01 -5.19984326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.260714057 meters 0.04451375769909151 Centerline is valid? [True, True] Translation: X:822.53, Y:-145.36, Z:-52.00 [[ 9.96757798e-01 6.38685733e-02 4.89356478e-02 8.22533764e+02] [-6.36154455e-02 9.97951899e-01 -6.71438069e-03 -1.45360382e+02] [-4.92642606e-02 3.57954827e-03 9.98779365e-01 -5.19995281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.290714057 meters 0.03625483206129616 Centerline is valid? [True, True] Translation: X:822.56, Y:-145.35, Z:-52.00 [[ 9.96459349e-01 6.63818129e-02 5.15967118e-02 8.22564819e+02] [-6.61039270e-02 9.97787656e-01 -7.07559403e-03 -1.45352978e+02] [-5.19522529e-02 3.63979655e-03 9.98642937e-01 -5.19987945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.3207140569999 meters 0.04011997867697583 Centerline is valid? [True, True] Translation: X:822.59, Y:-145.36, Z:-52.00 [[ 9.96278108e-01 6.81180111e-02 5.28192073e-02 8.22592740e+02] [-6.78293181e-02 9.97670661e-01 -7.24123866e-03 -1.45363023e+02] [-5.31894323e-02 3.63159674e-03 9.98577837e-01 -5.20005494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.3507140569999 meters 0.040676427089943124 Centerline is valid? [True, True] Translation: X:822.62, Y:-145.37, Z:-52.00 [[ 9.96092996e-01 7.04628261e-02 5.32328248e-02 8.22621313e+02] [-7.01730244e-02 9.97508153e-01 -7.29597617e-03 -1.45367792e+02] [-5.36142718e-02 3.53196245e-03 9.98555474e-01 -5.20022489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.380714057 meters 0.035286667724142136 Centerline is valid? [True, True] Translation: X:822.65, Y:-145.36, Z:-52.00 [[ 9.95870360e-01 7.32882217e-02 5.35822976e-02 8.22652467e+02] [-7.29987708e-02 9.97305006e-01 -7.34194286e-03 -1.45364253e+02] [-5.39759716e-02 3.40018141e-03 9.98536446e-01 -5.20041180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.410714057 meters 0.03322049252206422 Centerline is valid? [True, True] Translation: X:822.68, Y:-145.37, Z:-52.01 [[ 9.95458452e-01 7.89633055e-02 5.31720559e-02 8.22683474e+02] [-7.86863903e-02 9.96872803e-01 -7.28464312e-03 -1.45365151e+02] [-5.35809959e-02 3.06764242e-03 9.98558795e-01 -5.20066898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.4407140569999 meters 0.030983511183126238 Centerline is valid? [True, True] Translation: X:822.71, Y:-145.37, Z:-52.01 [[ 9.95253672e-01 8.13956332e-02 5.33374126e-02 8.22713098e+02] [-8.11204151e-02 9.96677514e-01 -7.30831175e-03 -1.45365813e+02] [-5.37550645e-02 2.94687105e-03 9.98549803e-01 -5.20085782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.4707140569999 meters 0.03446357844188067 Centerline is valid? [True, True] Translation: X:822.74, Y:-145.38, Z:-52.01 [[ 9.95072457e-01 8.39328261e-02 5.27833860e-02 8.22740554e+02] [-8.36669553e-02 9.96467541e-01 -7.23056999e-03 -1.45375012e+02] [-5.32038130e-02 2.77871584e-03 9.98579808e-01 -5.20112878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.500714057 meters 0.03152666740163404 Centerline is valid? [True, True] Translation: X:822.77, Y:-145.38, Z:-52.01 [[ 9.94746666e-01 8.78280700e-02 5.25861361e-02 8.22770515e+02] [-8.75697686e-02 9.96132365e-01 -7.20052360e-03 -1.45375865e+02] [-5.30151602e-02 2.55774107e-03 9.98590432e-01 -5.20142410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.530714057 meters 0.028704083969556198 Centerline is valid? [True, True] Translation: X:822.80, Y:-145.38, Z:-52.02 [[ 9.94616186e-01 8.93079161e-02 5.25617600e-02 8.22799569e+02] [-8.90519488e-02 9.96000984e-01 -7.19653600e-03 -1.45375752e+02] [-5.29942724e-02 2.47706402e-03 9.98591744e-01 -5.20165126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.5607140569999 meters 0.028759133299535174 Centerline is valid? [True, True] Translation: X:822.83, Y:-145.38, Z:-52.02 [[ 9.94540298e-01 9.00903038e-02 5.26624350e-02 8.22828361e+02] [-8.98346518e-02 9.95930621e-01 -7.20648200e-03 -1.45379984e+02] [-5.30973657e-02 2.43622525e-03 9.98586368e-01 -5.20186782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.5907140569999 meters 0.02811687541750224 Centerline is valid? [True, True] Translation: X:822.86, Y:-145.38, Z:-52.02 [[ 9.94457506e-01 9.08711619e-02 5.28838489e-02 8.22857002e+02] [-9.06146599e-02 9.95859763e-01 -7.23292845e-03 -1.45383983e+02] [-5.33221618e-02 2.40078801e-03 9.98574476e-01 -5.20205475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.620714057 meters 0.028701506117381585 Centerline is valid? [True, True] Translation: X:822.88, Y:-145.39, Z:-52.02 [[ 9.94432230e-01 9.09146919e-02 5.32828190e-02 8.22883844e+02] [-9.06545703e-02 9.95855761e-01 -7.28364651e-03 -1.45388940e+02] [-5.37241927e-02 2.41276179e-03 9.98552898e-01 -5.20221927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.650714057 meters 0.029006446316839636 Centerline is valid? [True, True] Translation: X:822.91, Y:-145.39, Z:-52.02 [[ 9.94480554e-01 9.02118460e-02 5.35747290e-02 8.22912440e+02] [-8.99481137e-02 9.95919562e-01 -7.31860623e-03 -1.45393599e+02] [-5.40163457e-02 2.45926575e-03 9.98537023e-01 -5.20238648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.6807140569999 meters 0.02956063977443826 Centerline is valid? [True, True] Translation: X:822.94, Y:-145.40, Z:-52.03 [[ 9.94641451e-01 8.79952445e-02 5.42698976e-02 8.22941641e+02] [-8.77215492e-02 9.96117478e-01 -7.40948620e-03 -1.45400727e+02] [-5.47111930e-02 2.60914260e-03 9.98498812e-01 -5.20256377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.7107140569999 meters 0.02956063977443826 Centerline is valid? [True, True] Translation: X:822.97, Y:-145.40, Z:-52.03 [[ 9.94650851e-01 8.78887817e-02 5.42701317e-02 8.22968839e+02] [-8.76150218e-02 9.96126866e-01 -7.40777121e-03 -1.45404350e+02] [-5.47109962e-02 2.61326716e-03 9.98498812e-01 -5.20272283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.7407140569999 meters 0.030174930747667784 Centerline is valid? [True, True] Translation: X:823.00, Y:-145.41, Z:-52.03 [[ 9.94768907e-01 8.61629606e-02 5.48704531e-02 8.22996973e+02] [-8.58808265e-02 9.96277311e-01 -7.48356832e-03 -1.45410590e+02] [-5.53109939e-02 2.73210121e-03 9.98465437e-01 -5.20287911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.770714057 meters 0.03144080629116979 Centerline is valid? [True, True] Translation: X:823.02, Y:-145.42, Z:-52.03 [[ 9.94889429e-01 8.46212061e-02 5.50842640e-02 8.23023947e+02] [-8.43347312e-02 9.96409189e-01 -7.50876475e-03 -1.45417768e+02] [-5.55218675e-02 2.82487408e-03 9.98453475e-01 -5.20302954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.8007140569999 meters 0.03149821702126347 Centerline is valid? [True, True] Translation: X:823.05, Y:-145.42, Z:-52.03 [[ 9.95226009e-01 8.04798554e-02 5.52103689e-02 8.23053555e+02] [-8.01859992e-02 9.96751545e-01 -7.52084016e-03 -1.45423382e+02] [-5.56362967e-02 3.05783713e-03 9.98446419e-01 -5.20321935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.8307140569999 meters 0.03464351835641795 Centerline is valid? [True, True] Translation: X:823.08, Y:-145.43, Z:-52.03 [[ 9.95395535e-01 7.84672944e-02 5.50509954e-02 8.23080461e+02] [-7.81721171e-02 9.96911679e-01 -7.49824597e-03 -1.45433687e+02] [-5.54693474e-02 3.16026770e-03 9.98455389e-01 -5.20344182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.8607140569999 meters 0.03586818210202883 Centerline is valid? [True, True] Translation: X:823.11, Y:-145.44, Z:-52.04 [[ 9.95573880e-01 7.62805462e-02 5.48992468e-02 8.23109080e+02] [-7.59838992e-02 9.97081035e-01 -7.47370200e-03 -1.45440402e+02] [-5.53090959e-02 3.26916366e-03 9.98463929e-01 -5.20368487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.890714057 meters 0.03804144201424753 Centerline is valid? [True, True] Translation: X:823.14, Y:-145.45, Z:-52.04 [[ 9.95900388e-01 7.25611424e-02 5.40120127e-02 8.23137544e+02] [-7.22687295e-02 9.97358114e-01 -7.35000248e-03 -1.45449283e+02] [-5.44026438e-02 3.41649078e-03 9.98513235e-01 -5.20396988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.9207140569999 meters 0.03648148965698744 Centerline is valid? [True, True] Translation: X:823.17, Y:-145.45, Z:-52.04 [[ 9.96048028e-01 7.10552108e-02 5.32867915e-02 8.23166973e+02] [-7.07685057e-02 9.97466415e-01 -7.25049913e-03 -1.45451907e+02] [-5.36669706e-02 3.45081876e-03 9.98552927e-01 -5.20416790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.9507140569999 meters 0.03690593540861834 Centerline is valid? [True, True] Translation: X:823.19, Y:-145.46, Z:-52.04 [[ 9.96138690e-01 7.01049835e-02 5.28488639e-02 8.23194859e+02] [-6.98217330e-02 9.97533578e-01 -7.18928407e-03 -1.45456258e+02] [-5.32225209e-02 3.47152475e-03 9.98576643e-01 -5.20432615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.9807140569999 meters 0.037028153079085656 Centerline is valid? [True, True] Translation: X:823.22, Y:-145.46, Z:-52.04 [[ 9.96193294e-01 6.95801918e-02 5.25120767e-02 8.23222855e+02] [-6.93000648e-02 9.97570317e-01 -7.13881896e-03 -1.45460313e+02] [-5.28812094e-02 3.47255325e-03 9.98594772e-01 -5.20447670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.010714057 meters 0.03627131022009042 Centerline is valid? [True, True] Translation: X:823.25, Y:-145.46, Z:-52.05 [[ 9.96210988e-01 6.93725916e-02 5.24510366e-02 8.23251254e+02] [-6.90930813e-02 9.97584768e-01 -7.12576662e-03 -1.45462659e+02] [-5.28186881e-02 3.47476327e-03 9.98598073e-01 -5.20463768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.040714057 meters 0.035621961759719385 Centerline is valid? [True, True] Translation: X:823.28, Y:-145.46, Z:-52.05 [[ 9.96145324e-01 7.06203355e-02 5.20313592e-02 8.23279796e+02] [-7.03471740e-02 9.97497549e-01 -7.06503026e-03 -1.45464923e+02] [-5.24000881e-02 3.37753777e-03 9.98620460e-01 -5.20482917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.0707140569999 meters 0.03701205364945563 Centerline is valid? [True, True] Translation: X:823.31, Y:-145.47, Z:-52.05 [[ 9.96096991e-01 7.13876666e-02 5.19093959e-02 8.23306653e+02] [-7.11170136e-02 9.97443102e-01 -7.04481866e-03 -1.45470517e+02] [-5.22795820e-02 3.32568146e-03 9.98626950e-01 -5.20501934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.1007140569999 meters 0.037880329756597504 Centerline is valid? [True, True] Translation: X:823.34, Y:-145.47, Z:-52.05 [[ 9.95991785e-01 7.32671356e-02 5.13058612e-02 8.23335012e+02] [-7.30054747e-02 9.97307267e-01 -6.95814543e-03 -1.45474843e+02] [-5.16775116e-02 3.18464693e-03 9.98658747e-01 -5.20529877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.130714057 meters 0.03661704599979344 Centerline is valid? [True, True] Translation: X:823.36, Y:-145.48, Z:-52.05 [[ 9.95950843e-01 7.41758241e-02 5.07923739e-02 8.23364191e+02] [-7.39206858e-02 9.97240350e-01 -6.88598317e-03 -1.45476191e+02] [-5.11629782e-02 3.10349362e-03 9.98685495e-01 -5.20548401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.160714057 meters 0.04142885547248666 Centerline is valid? [True, True] Translation: X:823.39, Y:-145.49, Z:-52.06 [[ 9.95887144e-01 7.50274952e-02 5.07904687e-02 8.23390731e+02] [-7.47736549e-02 9.97176782e-01 -6.88228620e-03 -1.45486167e+02] [-5.11634368e-02 3.05619137e-03 9.98685617e-01 -5.20567817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.1907140569999 meters 0.036842114797501734 Centerline is valid? [True, True] Translation: X:823.42, Y:-145.48, Z:-52.06 [[ 9.95883684e-01 7.55125184e-02 5.01353007e-02 8.23420204e+02] [-7.52660263e-02 9.97140378e-01 -6.78910119e-03 -1.45482113e+02] [-5.05045948e-02 2.98767024e-03 9.98719360e-01 -5.20574870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.2207140569999 meters 0.03483551197957022 Centerline is valid? [True, True] Translation: X:823.45, Y:-145.48, Z:-52.06 [[ 9.95885037e-01 7.62902438e-02 4.89161793e-02 8.23449219e+02] [-7.60567005e-02 9.97081513e-01 -6.62074869e-03 -1.45481845e+02] [-4.92785166e-02 2.87310136e-03 9.98780944e-01 -5.20592467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.250714057 meters 0.03545017866567043 Centerline is valid? [True, True] Translation: X:823.48, Y:-145.49, Z:-52.06 [[ 9.95968276e-01 7.56866952e-02 4.81530594e-02 8.23477536e+02] [-7.54598481e-02 9.97127563e-01 -6.51412521e-03 -1.45486108e+02] [-4.85077754e-02 2.85423951e-03 9.98818727e-01 -5.20618456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.280714057 meters 0.034365669219725885 Centerline is valid? [True, True] Translation: X:823.51, Y:-145.49, Z:-52.06 [[ 9.96040165e-01 7.51009624e-02 4.75797714e-02 8.23505956e+02] [-7.48789812e-02 9.97171876e-01 -6.43329634e-03 -1.45488057e+02] [-4.79283567e-02 2.84509674e-03 9.98846724e-01 -5.20632489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.3107140569999 meters 0.03641125504141274 Centerline is valid? [True, True] Translation: X:823.53, Y:-145.49, Z:-52.07 [[ 9.96142439e-01 7.38045682e-02 4.74671135e-02 8.23533387e+02] [-7.35823141e-02 9.97268514e-01 -6.41509969e-03 -1.45494432e+02] [-4.78109214e-02 2.89761300e-03 9.98852201e-01 -5.20653497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.3407140569999 meters 0.03641727223688971 Centerline is valid? [True, True] Translation: X:823.56, Y:-145.50, Z:-52.07 [[ 9.96292858e-01 7.17066195e-02 4.75258005e-02 8.23562983e+02] [-7.14817345e-02 9.97421268e-01 -6.41684622e-03 -1.45498040e+02] [-4.78633745e-02 2.99583141e-03 9.98849399e-01 -5.20662497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.370714057 meters 0.036874323242752326 Centerline is valid? [True, True] Translation: X:823.59, Y:-145.50, Z:-52.07 [[ 9.96413530e-01 7.03263098e-02 4.70562138e-02 8.23592674e+02] [-7.01043970e-02 9.97519438e-01 -6.35179258e-03 -1.45502091e+02] [-4.73861860e-02 3.03016458e-03 9.98872048e-01 -5.20677466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.400714057 meters 0.03848489590962408 Centerline is valid? [True, True] Translation: X:823.62, Y:-145.51, Z:-52.07 [[ 9.96520929e-01 6.88864762e-02 4.69115261e-02 8.23620949e+02] [-6.86644091e-02 9.97619727e-01 -6.33078648e-03 -1.45507860e+02] [-4.72359694e-02 3.08760901e-03 9.98878987e-01 -5.20697241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.4307140569999 meters 0.038047218507355596 Centerline is valid? [True, True] Translation: X:823.65, Y:-145.51, Z:-52.07 [[ 9.96720183e-01 6.60623330e-02 4.67401936e-02 8.23650856e+02] [-6.58389271e-02 9.97810345e-01 -6.30489023e-03 -1.45510056e+02] [-4.70543645e-02 3.20688714e-03 9.98887182e-01 -5.20697498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.4607140569999 meters 0.03776827995432185 Centerline is valid? [True, True] Translation: X:823.68, Y:-145.51, Z:-52.07 [[ 9.96821913e-01 6.47031871e-02 4.64711861e-02 8.23680081e+02] [-6.44809205e-02 9.97899257e-01 -6.26770700e-03 -1.45513257e+02] [-4.67791027e-02 3.25128283e-03 9.98899967e-01 -5.20706033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.4907140569999 meters 0.04224933149253599 Centerline is valid? [True, True] Translation: X:823.71, Y:-145.52, Z:-52.07 [[ 9.96896234e-01 6.34327214e-02 4.66282022e-02 8.23706986e+02] [-6.32076195e-02 9.97980591e-01 -6.28776270e-03 -1.45522820e+02] [-4.69328907e-02 3.32098929e-03 9.98892524e-01 -5.20726041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.520714057 meters 0.039788026142235415 Centerline is valid? [True, True] Translation: X:823.74, Y:-145.52, Z:-52.07 [[ 9.96973941e-01 6.22720480e-02 4.65312127e-02 8.23736239e+02] [-6.20468263e-02 9.98053542e-01 -6.27039680e-03 -1.45522503e+02] [-4.68311121e-02 3.36430814e-03 9.98897156e-01 -5.20730123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.5507140569999 meters 0.039739451486926494 Centerline is valid? [True, True] Translation: X:823.77, Y:-145.53, Z:-52.07 [[ 9.97146830e-01 6.03191538e-02 4.53850112e-02 8.23765849e+02] [-6.01030517e-02 9.98173463e-01 -6.11239455e-03 -1.45525111e+02] [-4.56708083e-02 3.36717717e-03 9.98950869e-01 -5.20743403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.5807140569999 meters 0.04023160058443658 Centerline is valid? [True, True] Translation: X:823.79, Y:-145.53, Z:-52.08 [[ 9.97220921e-01 5.95153481e-02 4.48147182e-02 8.23793861e+02] [-5.93038819e-02 9.98221735e-01 -6.03467691e-03 -1.45529249e+02] [-4.50941816e-02 3.36021931e-03 9.98977089e-01 -5.20765019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.6107140569999 meters 0.0419427125520869 Centerline is valid? [True, True] Translation: X:823.82, Y:-145.53, Z:-52.08 [[ 9.97275623e-01 5.90039966e-02 4.42703110e-02 8.23820855e+02] [-5.87973083e-02 9.98252164e-01 -5.95760530e-03 -1.45534985e+02] [-4.45444563e-02 3.33839942e-03 9.99001825e-01 -5.20787006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.640714057 meters 0.04240291304474157 Centerline is valid? [True, True] Translation: X:823.85, Y:-145.54, Z:-52.08 [[ 9.97325040e-01 5.87500610e-02 4.34878682e-02 8.23849225e+02] [-5.85505890e-02 9.98267316e-01 -5.84754342e-03 -1.45538334e+02] [-4.37560611e-02 3.28566117e-03 9.99036842e-01 -5.20799561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.6707140569999 meters 0.04299855351307362 Centerline is valid? [True, True] Translation: X:823.88, Y:-145.54, Z:-52.08 [[ 9.97298478e-01 5.93753964e-02 4.32470502e-02 8.23877325e+02] [-5.91788457e-02 9.98230476e-01 -5.81212829e-03 -1.45541727e+02] [-4.35156210e-02 3.23711618e-03 9.99047502e-01 -5.20810244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.7007140569999 meters 0.043078852544229745 Centerline is valid? [True, True] Translation: X:823.91, Y:-145.54, Z:-52.08 [[ 9.97234374e-01 6.03906953e-02 4.33193688e-02 8.23905696e+02] [-6.01945716e-02 9.98169703e-01 -5.81879469e-03 -1.45544798e+02] [-4.35914825e-02 3.19511123e-03 9.99044330e-01 -5.20821094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.7307140569999 meters 0.04291399593699937 Centerline is valid? [True, True] Translation: X:823.94, Y:-145.55, Z:-52.08 [[ 9.97018807e-01 6.35795191e-02 4.37166182e-02 8.23935036e+02] [-6.33829896e-02 9.97972023e-01 -5.86844498e-03 -1.45546494e+02] [-4.40010748e-02 3.08006006e-03 9.99026736e-01 -5.20831854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.760714057 meters 0.03583973235896463 Centerline is valid? [True, True] Translation: X:823.97, Y:-145.54, Z:-52.08 [[ 9.96858877e-01 6.56347228e-02 4.43222568e-02 8.23965844e+02] [-6.54347613e-02 9.97839116e-01 -5.94895603e-03 -1.45539497e+02] [-4.46169397e-02 3.03005333e-03 9.98999573e-01 -5.20826427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.790714057 meters 0.041269392425219216 Centerline is valid? [True, True] Translation: X:823.99, Y:-145.55, Z:-52.09 [[ 9.96754583e-01 6.75036781e-02 4.38583416e-02 8.23993245e+02] [-6.73097433e-02 9.97714769e-01 -5.88534608e-03 -1.45549955e+02] [-4.41553977e-02 2.91415196e-03 9.99020425e-01 -5.20858330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.8207140569999 meters 0.03399714963260252 Centerline is valid? [True, True] Translation: X:824.03, Y:-145.54, Z:-52.09 [[ 9.96421356e-01 7.20975973e-02 4.41182333e-02 8.24025184e+02] [-7.19059738e-02 9.97393863e-01 -5.91712807e-03 -1.45541813e+02] [-4.44298658e-02 2.72358824e-03 9.99008793e-01 -5.20853475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.8507140569999 meters 0.03338893843852086 Centerline is valid? [True, True] Translation: X:824.05, Y:-145.54, Z:-52.09 [[ 9.96285773e-01 7.39730276e-02 4.40754980e-02 8.24054059e+02] [-7.37835686e-02 9.97256753e-01 -5.91216582e-03 -1.45544353e+02] [-4.43919288e-02 2.63815917e-03 9.99010709e-01 -5.20870795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.880714057 meters 0.03358037065127048 Centerline is valid? [True, True] Translation: X:824.08, Y:-145.55, Z:-52.09 [[ 9.96171926e-01 7.58092068e-02 4.35253670e-02 8.24081844e+02] [-7.56263313e-02 9.97119154e-01 -5.83531088e-03 -1.45548013e+02] [-4.38423474e-02 2.52130905e-03 9.99035280e-01 -5.20889829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.910714057 meters 0.03375957960288311 Centerline is valid? [True, True] Translation: X:824.11, Y:-145.55, Z:-52.09 [[ 9.96020440e-01 7.76789045e-02 4.36952000e-02 8.24109560e+02] [-7.74965005e-02 9.96975428e-01 -5.85557705e-03 -1.45551378e+02] [-4.40178956e-02 2.44604934e-03 9.99027748e-01 -5.20914139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.9407140569999 meters 0.033985289965769494 Centerline is valid? [True, True] Translation: X:824.14, Y:-145.56, Z:-52.09 [[ 9.95871097e-01 8.04284560e-02 4.20953979e-02 8.24138300e+02] [-8.02618773e-02 9.96757882e-01 -5.63514786e-03 -1.45555283e+02] [-4.24121459e-02 2.23322523e-03 9.99097704e-01 -5.20948680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.9707140569999 meters 0.029915459146635532 Centerline is valid? [True, True] Translation: X:824.17, Y:-145.55, Z:-52.10 [[ 9.95770416e-01 8.19046168e-02 4.16282539e-02 8.24167500e+02] [-8.17430382e-02 9.96637864e-01 -5.57177224e-03 -1.45552048e+02] [-4.19446479e-02 2.14538602e-03 9.99117633e-01 -5.20951607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.000714057 meters 0.02989351722046538 Centerline is valid? [True, True] Translation: X:824.20, Y:-145.56, Z:-52.10 [[ 9.95674083e-01 8.32578624e-02 4.12462019e-02 8.24196100e+02] [-8.31005194e-02 9.96525895e-01 -5.51765820e-03 -1.45555298e+02] [-4.15622967e-02 2.06620847e-03 9.99133778e-01 -5.20969311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.030714057 meters 0.028501779350460464 Centerline is valid? [True, True] Translation: X:824.23, Y:-145.56, Z:-52.10 [[ 9.95423064e-01 8.64075691e-02 4.08246936e-02 8.24225550e+02] [-8.62562129e-02 9.96258038e-01 -5.45776548e-03 -1.45556511e+02] [-4.11435214e-02 1.91140218e-03 9.99151419e-01 -5.20983865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.0607140569999 meters 0.02841516441436931 Centerline is valid? [True, True] Translation: X:824.25, Y:-145.56, Z:-52.10 [[ 9.95322154e-01 8.77254456e-02 4.04729150e-02 8.24254355e+02] [-8.75776844e-02 9.96142986e-01 -5.41295048e-03 -1.45559979e+02] [-4.07916639e-02 1.84310535e-03 9.99165974e-01 -5.21001505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.0907140569999 meters 0.028217724928640192 Centerline is valid? [True, True] Translation: X:824.28, Y:-145.56, Z:-52.10 [[ 9.95219290e-01 8.88981616e-02 4.04435588e-02 8.24282385e+02] [-8.87520012e-02 9.96039124e-01 -5.39871742e-03 -1.45563245e+02] [-4.07633030e-02 1.78346094e-03 9.99167239e-01 -5.21018432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.120714057 meters 0.027559401920017518 Centerline is valid? [True, True] Translation: X:824.31, Y:-145.57, Z:-52.10 [[ 9.94985338e-01 9.14290644e-02 4.05574000e-02 8.24311467e+02] [-9.12846112e-02 9.95810185e-01 -5.40329897e-03 -1.45566515e+02] [-4.08814905e-02 1.67393677e-03 9.99162600e-01 -5.21036047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.150714057 meters 0.02800346794809635 Centerline is valid? [True, True] Translation: X:824.34, Y:-145.57, Z:-52.11 [[ 9.94920259e-01 9.20314852e-02 4.07907345e-02 8.24339271e+02] [-9.18863577e-02 9.95754736e-01 -5.42251699e-03 -1.45570539e+02] [-4.11166093e-02 1.64685999e-03 9.99152997e-01 -5.21053661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.1807140569999 meters 0.030102286207184772 Centerline is valid? [True, True] Translation: X:824.37, Y:-145.58, Z:-52.11 [[ 9.94839253e-01 9.26346095e-02 4.13967313e-02 8.24366506e+02] [-9.24858125e-02 9.95698816e-01 -5.49933092e-03 -1.45577939e+02] [-4.17281047e-02 1.64233994e-03 9.99127654e-01 -5.21082030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.2107140569999 meters 0.030054307983341605 Centerline is valid? [True, True] Translation: X:824.39, Y:-145.58, Z:-52.11 [[ 9.94840297e-01 9.24890091e-02 4.16961229e-02 8.24393923e+02] [-9.23380712e-02 9.95712327e-01 -5.53558356e-03 -1.45581699e+02] [-4.20293242e-02 1.65688203e-03 9.99115004e-01 -5.21093848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.2407140569999 meters 0.02889219002411288 Centerline is valid? [True, True] Translation: X:824.42, Y:-145.58, Z:-52.11 [[ 9.94925500e-01 9.11400759e-02 4.26231781e-02 8.24422589e+02] [-9.09812116e-02 9.95836545e-01 -5.65633228e-03 -1.45584250e+02] [-4.29612370e-02 1.74972084e-03 9.99075208e-01 -5.21085202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.270714057 meters 0.027561719882605525 Centerline is valid? [True, True] Translation: X:824.45, Y:-145.59, Z:-52.11 [[ 9.95065420e-01 8.93244469e-02 4.31966893e-02 8.24451317e+02] [-8.91600230e-02 9.96000878e-01 -5.72200884e-03 -1.45585953e+02] [-4.35350557e-02 1.84235531e-03 9.99050201e-01 -5.21085233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.3007140569999 meters 0.029257554869938675 Centerline is valid? [True, True] Translation: X:824.48, Y:-145.59, Z:-52.11 [[ 9.95433147e-01 8.49750040e-02 4.34982523e-02 8.24480049e+02] [-8.48047587e-02 9.96381010e-01 -5.74764458e-03 -1.45594623e+02] [-4.38292386e-02 2.03253715e-03 9.99036970e-01 -5.21098273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.3307140569999 meters 0.02976687289920555 Centerline is valid? [True, True] Translation: X:824.51, Y:-145.60, Z:-52.11 [[ 9.95655122e-01 8.23663988e-02 4.34356439e-02 8.24509441e+02] [-8.21941906e-02 9.96599810e-01 -5.73884568e-03 -1.45600300e+02] [-4.37606425e-02 2.14375350e-03 9.99039744e-01 -5.21113683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.3607140569999 meters 0.03342018005164004 Centerline is valid? [True, True] Translation: X:824.54, Y:-145.61, Z:-52.11 [[ 9.95904334e-01 7.95486860e-02 4.29716633e-02 8.24536657e+02] [-7.93775792e-02 9.96828461e-01 -5.67627677e-03 -1.45611331e+02] [-4.32869173e-02 2.24204203e-03 9.99060166e-01 -5.21149604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.390714057 meters 0.03091156791512444 Centerline is valid? [True, True] Translation: X:824.57, Y:-145.61, Z:-52.12 [[ 9.96163185e-01 7.64962659e-02 4.25115362e-02 8.24567113e+02] [-7.63261539e-02 9.97067107e-01 -5.61273530e-03 -1.45612555e+02] [-4.28162077e-02 2.34645821e-03 9.99080210e-01 -5.21154851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.4207140569999 meters 0.035592560600751236 Centerline is valid? [True, True] Translation: X:824.59, Y:-145.63, Z:-52.12 [[ 9.96606646e-01 7.10657133e-02 4.15313990e-02 8.24594743e+02] [-7.08986917e-02 9.97468454e-01 -5.48259548e-03 -1.45625839e+02] [-4.18158849e-02 2.51946924e-03 9.99122157e-01 -5.21188749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.4507140569999 meters 0.03771407508753379 Centerline is valid? [True, True] Translation: X:824.62, Y:-145.63, Z:-52.12 [[ 9.96813414e-01 6.85935852e-02 4.07177725e-02 8.24622678e+02] [-6.84310114e-02 9.97641373e-01 -5.37476314e-03 -1.45633393e+02] [-4.09904087e-02 2.57127764e-03 9.99156232e-01 -5.21213045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.4807140569999 meters 0.03746405496970279 Centerline is valid? [True, True] Translation: X:824.65, Y:-145.64, Z:-52.12 [[ 9.96976636e-01 6.61524528e-02 4.07607731e-02 8.24651909e+02] [-6.59875619e-02 9.97805947e-01 -5.37902869e-03 -1.45638046e+02] [-4.10271777e-02 2.67306189e-03 9.99154455e-01 -5.21229226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.510714057 meters 0.03620926181609879 Centerline is valid? [True, True] Translation: X:824.68, Y:-145.64, Z:-52.12 [[ 9.97146059e-01 6.37402065e-02 4.04589046e-02 8.24681990e+02] [-6.35758420e-02 9.97962736e-01 -5.33752977e-03 -1.45640915e+02] [-4.07166944e-02 2.75008786e-03 9.99166947e-01 -5.21237920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.540714057 meters 0.03663205161484858 Centerline is valid? [True, True] Translation: X:824.71, Y:-145.65, Z:-52.13 [[ 9.97282174e-01 6.16712611e-02 4.03103072e-02 8.24711114e+02] [-6.15064409e-02 9.98092522e-01 -5.31743605e-03 -1.45646220e+02] [-4.05613492e-02 2.82364066e-03 9.99173060e-01 -5.21253826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.5707140569999 meters 0.039486977810932994 Centerline is valid? [True, True] Translation: X:824.74, Y:-145.66, Z:-52.13 [[ 9.97468005e-01 5.78157105e-02 4.14116147e-02 8.24739549e+02] [-5.76385222e-02 9.98322582e-01 -5.46097209e-03 -1.45655442e+02] [-4.16578801e-02 3.06024066e-03 9.99127247e-01 -5.21270692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.6007140569999 meters 0.04026283749632521 Centerline is valid? [True, True] Translation: X:824.77, Y:-145.66, Z:-52.13 [[ 9.97540196e-01 5.64477776e-02 4.15596757e-02 8.24768302e+02] [-5.62681636e-02 9.98400653e-01 -5.47990387e-03 -1.45660479e+02] [-4.18025358e-02 3.12793774e-03 9.99120996e-01 -5.21284648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.630714057 meters 0.04026283749632521 Centerline is valid? [True, True] Translation: X:824.80, Y:-145.66, Z:-52.13 [[ 9.97544193e-01 5.63769005e-02 4.15599298e-02 8.24796405e+02] [-5.61973053e-02 9.98404655e-01 -5.47797609e-03 -1.45664121e+02] [-4.18024587e-02 3.12896718e-03 9.99120996e-01 -5.21301078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.660714057 meters 0.04138847742248971 Centerline is valid? [True, True] Translation: X:824.82, Y:-145.67, Z:-52.13 [[ 9.97633235e-01 5.44786241e-02 4.19524489e-02 8.24824489e+02] [-5.42940856e-02 9.98509695e-01 -5.52649587e-03 -1.45670207e+02] [-4.21910028e-02 3.23564610e-03 9.99104324e-01 -5.21316837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.6907140569999 meters 0.042530600223053244 Centerline is valid? [True, True] Translation: X:824.85, Y:-145.68, Z:-52.13 [[ 9.97657735e-01 5.39405521e-02 4.20649638e-02 8.24852091e+02] [-5.37546344e-02 9.98538811e-01 -5.53923963e-03 -1.45675501e+02] [-4.23022886e-02 3.26507851e-03 9.99099522e-01 -5.21340221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.7207140569999 meters 0.03976499947292155 Centerline is valid? [True, True] Translation: X:824.88, Y:-145.68, Z:-52.13 [[ 9.97678448e-01 5.34606084e-02 4.21862367e-02 8.24880955e+02] [-5.32733881e-02 9.98564539e-01 -5.55054626e-03 -1.45675437e+02] [-4.24224156e-02 3.29025662e-03 9.99094346e-01 -5.21348744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.750714057 meters 0.04444272661006667 Centerline is valid? [True, True] Translation: X:824.91, Y:-145.69, Z:-52.14 [[ 9.97708642e-01 5.29960686e-02 4.20580748e-02 8.24908741e+02] [-5.28097159e-02 9.98589280e-01 -5.53035472e-03 -1.45685556e+02] [-4.22918297e-02 3.29660771e-03 9.99099862e-01 -5.21380267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.780714057 meters 0.04133267244266291 Centerline is valid? [True, True] Translation: X:824.94, Y:-145.68, Z:-52.14 [[ 9.97782235e-01 5.19587743e-02 4.16040605e-02 8.24938221e+02] [-5.17756231e-02 9.98643771e-01 -5.46844272e-03 -1.45684792e+02] [-4.18317694e-02 3.30223884e-03 9.99119211e-01 -5.21393142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.8107140569999 meters 0.04598568735898959 Centerline is valid? [True, True] Translation: X:824.97, Y:-145.69, Z:-52.14 [[ 9.97831338e-01 5.12749267e-02 4.12735230e-02 8.24965231e+02] [-5.10942157e-02 9.98679119e-01 -5.42209769e-03 -1.45694734e+02] [-4.14970233e-02 3.30150071e-03 9.99133173e-01 -5.21425031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.8407140569999 meters 0.042947252932487065 Centerline is valid? [True, True] Translation: X:824.99, Y:-145.69, Z:-52.14 [[ 9.97855330e-01 5.10789869e-02 4.09350297e-02 8.24993868e+02] [-5.09010451e-02 9.98689221e-01 -5.37814257e-03 -1.45694029e+02] [-4.11560830e-02 3.28297244e-03 9.99147336e-01 -5.21439741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.870714057 meters 0.04195863442926022 Centerline is valid? [True, True] Translation: X:825.02, Y:-145.70, Z:-52.15 [[ 9.97886990e-01 5.05553809e-02 4.08131077e-02 8.25022934e+02] [-5.03781814e-02 9.98715834e-01 -5.35924816e-03 -1.45695287e+02] [-4.10316358e-02 3.29183387e-03 9.99152425e-01 -5.21451433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.900714057 meters 0.042885814934086594 Centerline is valid? [True, True] Translation: X:825.05, Y:-145.70, Z:-52.15 [[ 9.97861679e-01 5.06325203e-02 4.13330188e-02 8.25050587e+02] [-5.04509542e-02 9.98711807e-01 -5.42476690e-03 -1.45700039e+02] [-4.15544435e-02 3.32787677e-03 9.99130699e-01 -5.21464728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.9307140569999 meters 0.04411974427279347 Centerline is valid? [True, True] Translation: X:825.08, Y:-145.70, Z:-52.15 [[ 9.97855905e-01 5.05331892e-02 4.15931426e-02 8.25078430e+02] [-5.03493969e-02 9.98716766e-01 -5.45523284e-03 -1.45704397e+02] [-4.18154392e-02 3.34934666e-03 9.99119738e-01 -5.21481944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.9607140569999 meters 0.04401983358478343 Centerline is valid? [True, True] Translation: X:825.11, Y:-145.71, Z:-52.15 [[ 9.97811812e-01 5.09349315e-02 4.21570852e-02 8.25107739e+02] [-5.07466859e-02 9.98696279e-01 -5.52419303e-03 -1.45706027e+02] [-4.23834985e-02 3.37277270e-03 9.99095723e-01 -5.21491359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.9907140569999 meters 0.044117973742080756 Centerline is valid? [True, True] Translation: X:825.14, Y:-145.71, Z:-52.15 [[ 9.97771299e-01 5.11436902e-02 4.28574080e-02 8.25137452e+02] [-5.09493915e-02 9.98685455e-01 -5.61440871e-03 -1.45709190e+02] [-4.30882116e-02 3.41833702e-03 9.99065424e-01 -5.21506355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.020714057 meters 0.04508699324910661 Centerline is valid? [True, True] Translation: X:825.17, Y:-145.71, Z:-52.15 [[ 9.97723474e-01 5.14711859e-02 4.35727631e-02 8.25166119e+02] [-5.12707204e-02 9.98668488e-01 -5.70654726e-03 -1.45713949e+02] [-4.38084682e-02 3.45954920e-03 9.99033958e-01 -5.21523108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.0507140569999 meters 0.04738191645972197 Centerline is valid? [True, True] Translation: X:825.19, Y:-145.72, Z:-52.15 [[ 9.97669848e-01 5.15781672e-02 4.46605859e-02 8.25194047e+02] [-5.13677277e-02 9.98662687e-01 -5.84761444e-03 -1.45719563e+02] [-4.49024700e-02 3.53987578e-03 9.98985104e-01 -5.21532127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.0807140569999 meters 0.04673598570536503 Centerline is valid? [True, True] Translation: X:825.22, Y:-145.72, Z:-52.15 [[ 9.97641357e-01 5.18482311e-02 4.49831532e-02 8.25223846e+02] [-5.16351272e-02 9.98648664e-01 -5.88727989e-03 -1.45721855e+02] [-4.52276109e-02 3.55068307e-03 9.98970398e-01 -5.21542343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.1107140569999 meters 0.047342220334486255 Centerline is valid? [True, True] Translation: X:825.25, Y:-145.73, Z:-52.16 [[ 9.97596464e-01 5.22595100e-02 4.54998835e-02 8.25253070e+02] [-5.20419750e-02 9.98627153e-01 -5.95332414e-03 -1.45725990e+02] [-4.57485369e-02 3.57111131e-03 9.98946604e-01 -5.21558841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.140714057 meters 0.04782623823785539 Centerline is valid? [True, True] Translation: X:825.28, Y:-145.73, Z:-52.16 [[ 9.97524003e-01 5.31736923e-02 4.60263116e-02 8.25281365e+02] [-5.29521209e-02 9.98578902e-01 -6.02080951e-03 -1.45729478e+02] [-4.62810523e-02 3.56871119e-03 9.98922083e-01 -5.21567186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.1707140569999 meters 0.03937649686210991 Centerline is valid? [True, True] Translation: X:825.31, Y:-145.72, Z:-52.16 [[ 9.97481435e-01 5.38699006e-02 4.61391475e-02 8.25311731e+02] [-5.36480773e-02 9.98541677e-01 -6.03348237e-03 -1.45721068e+02] [-4.63968848e-02 3.54301010e-03 9.98916801e-01 -5.21566186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.2007140569999 meters 0.03773767428621115 Centerline is valid? [True, True] Translation: X:825.34, Y:-145.72, Z:-52.16 [[ 9.97443721e-01 5.48323474e-02 4.58196250e-02 8.25340526e+02] [-5.46147497e-02 9.98489543e-01 -5.98840408e-03 -1.45721812e+02] [-4.60787747e-02 3.47066870e-03 9.98931780e-01 -5.21575103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.2307140569999 meters 0.037843366947579 Centerline is valid? [True, True] Translation: X:825.37, Y:-145.72, Z:-52.16 [[ 9.97348248e-01 5.71237904e-02 4.50926267e-02 8.25369375e+02] [-5.69155452e-02 9.98361624e-01 -5.88967344e-03 -1.45724894e+02] [-4.53551885e-02 3.30758406e-03 9.98965448e-01 -5.21604774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.260714057 meters 0.0371368401930839 Centerline is valid? [True, True] Translation: X:825.40, Y:-145.73, Z:-52.16 [[ 9.97273654e-01 5.88331581e-02 4.45411909e-02 8.25398609e+02] [-5.86317463e-02 9.98262737e-01 -5.81604355e-03 -1.45727611e+02] [-4.48059873e-02 3.18865920e-03 9.98990619e-01 -5.21625215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.290714057 meters 0.03644437049155175 Centerline is valid? [True, True] Translation: X:825.43, Y:-145.73, Z:-52.17 [[ 9.97185690e-01 6.06517213e-02 4.40689142e-02 8.25428527e+02] [-6.04564085e-02 9.98154262e-01 -5.75255353e-03 -1.45730144e+02] [-4.43364768e-02 3.07211579e-03 9.99011931e-01 -5.21650419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.3207140569999 meters 0.036990990837429585 Centerline is valid? [True, True] Translation: X:825.46, Y:-145.73, Z:-52.17 [[ 9.97103935e-01 6.26629322e-02 4.30940853e-02 8.25457340e+02] [-6.24780617e-02 9.98030487e-01 -5.62479867e-03 -1.45734425e+02] [-4.33616774e-02 2.91607396e-03 9.99055184e-01 -5.21672584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.3507140569999 meters 0.03408846538074933 Centerline is valid? [True, True] Translation: X:825.49, Y:-145.73, Z:-52.17 [[ 9.96781329e-01 6.75440667e-02 4.31831245e-02 8.25487807e+02] [-6.73630767e-02 9.97712619e-01 -5.63439038e-03 -1.45733423e+02] [-4.34649179e-02 2.70730700e-03 9.99051286e-01 -5.21683651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.380714057 meters 0.03264626558104254 Centerline is valid? [True, True] Translation: X:825.52, Y:-145.73, Z:-52.17 [[ 9.96581758e-01 7.03204224e-02 4.33570960e-02 8.25517417e+02] [-7.01405714e-02 9.97521074e-01 -5.65741998e-03 -1.45733936e+02] [-4.36474491e-02 2.59699007e-03 9.99043621e-01 -5.21692175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.410714057 meters 0.0327204340792174 Centerline is valid? [True, True] Translation: X:825.55, Y:-145.74, Z:-52.17 [[ 9.96324380e-01 7.34070594e-02 4.41489880e-02 8.25545665e+02] [-7.32236544e-02 9.97298915e-01 -5.75933230e-03 -1.45737100e+02] [-4.44525135e-02 2.50541294e-03 9.99008357e-01 -5.21705553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.4407140569999 meters 0.030945507249147065 Centerline is valid? [True, True] Translation: X:825.57, Y:-145.74, Z:-52.17 [[ 9.95766719e-01 7.97557675e-02 4.56909149e-02 8.25574980e+02] [-7.95660981e-02 9.96811788e-01 -5.95778745e-03 -1.45737441e+02] [-4.60204105e-02 2.29711864e-03 9.98937858e-01 -5.21705132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.4707140569999 meters 0.030368640040996035 Centerline is valid? [True, True] Translation: X:825.60, Y:-145.74, Z:-52.17 [[ 9.95510145e-01 8.25287811e-02 4.63524749e-02 8.25603368e+02] [-8.23366763e-02 9.96586257e-01 -6.04180157e-03 -1.45739995e+02] [-4.66928620e-02 2.19816604e-03 9.98906875e-01 -5.21716013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.500714057 meters 0.029412906009347296 Centerline is valid? [True, True] Translation: X:825.63, Y:-145.74, Z:-52.17 [[ 9.95275168e-01 8.48206281e-02 4.72525295e-02 8.25633010e+02] [-8.46236430e-02 9.96393961e-01 -6.15736700e-03 -1.45742414e+02] [-4.76044068e-02 2.12959329e-03 9.98863997e-01 -5.21726871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.530714057 meters 0.02758807200960961 Centerline is valid? [True, True] Translation: X:825.66, Y:-145.74, Z:-52.17 [[ 9.94980955e-01 8.80147133e-02 4.76057641e-02 8.25663373e+02] [-8.78185047e-02 9.96117187e-01 -6.20153743e-03 -1.45743777e+02] [-4.79667464e-02 1.98974461e-03 9.98846951e-01 -5.21741370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.5607140569999 meters 0.02776738695539058 Centerline is valid? [True, True] Translation: X:825.69, Y:-145.75, Z:-52.18 [[ 9.94902891e-01 8.87499030e-02 4.78716302e-02 8.25690683e+02] [-8.85523531e-02 9.96052003e-01 -6.23598119e-03 -1.45748807e+02] [-4.82360759e-02 1.96505021e-03 9.98834030e-01 -5.21764914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.5907140569999 meters 0.02816020839317019 Centerline is valid? [True, True] Translation: X:825.72, Y:-145.75, Z:-52.18 [[ 9.94941400e-01 8.84628085e-02 4.76019178e-02 8.25719449e+02] [-8.82673630e-02 9.96077545e-01 -6.19646056e-03 -1.45753758e+02] [-4.79633578e-02 1.96341938e-03 9.98847166e-01 -5.21787302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.620714057 meters 0.02810475158380818 Centerline is valid? [True, True] Translation: X:825.75, Y:-145.76, Z:-52.18 [[ 9.95175570e-01 8.60045866e-02 4.72101263e-02 8.25748050e+02] [-8.58097410e-02 9.96292608e-01 -6.14224136e-03 -1.45759137e+02] [-4.75633608e-02 2.06151984e-03 9.98866096e-01 -5.21807229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.650714057 meters 0.027885519356305562 Centerline is valid? [True, True] Translation: X:825.78, Y:-145.76, Z:-52.18 [[ 9.95413677e-01 8.34708425e-02 4.67357550e-02 8.25777481e+02] [-8.32772964e-02 9.96507886e-01 -6.07656890e-03 -1.45764350e+02] [-4.70797648e-02 2.15667246e-03 9.98888805e-01 -5.21826100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.6807140569999 meters 0.029780895227965863 Centerline is valid? [True, True] Translation: X:825.81, Y:-145.77, Z:-52.19 [[ 9.95647473e-01 8.05909720e-02 4.68103125e-02 8.25805145e+02] [-8.03936931e-02 9.96744615e-01 -6.08498514e-03 -1.45772763e+02] [-4.71483218e-02 2.29524618e-03 9.98885263e-01 -5.21854033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.7107140569999 meters 0.035098651160259106 Centerline is valid? [True, True] Translation: X:825.83, Y:-145.79, Z:-52.19 [[ 9.96173864e-01 7.36934126e-02 4.69778008e-02 8.25832370e+02] [-7.34872945e-02 9.97277485e-01 -6.10201368e-03 -1.45788462e+02] [-4.72995813e-02 2.62639507e-03 9.98877296e-01 -5.21888847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.7407140569999 meters 0.03315946317189912 Centerline is valid? [True, True] Translation: X:825.86, Y:-145.79, Z:-52.19 [[ 9.96455724e-01 6.98153202e-02 4.69234591e-02 8.25862825e+02] [-6.96053255e-02 9.97555980e-01 -6.09642130e-03 -1.45790871e+02] [-4.72344008e-02 2.80869125e-03 9.98879884e-01 -5.21900089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.770714057 meters 0.03718682734584654 Centerline is valid? [True, True] Translation: X:825.89, Y:-145.80, Z:-52.19 [[ 9.96723222e-01 6.59110522e-02 4.68887164e-02 8.25890778e+02] [-6.56970561e-02 9.97821017e-01 -6.09212026e-03 -1.45802176e+02] [-4.71880848e-02 2.99170710e-03 9.98881542e-01 -5.21927474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.8007140569999 meters 0.04288348817330982 Centerline is valid? [True, True] Translation: X:825.92, Y:-145.82, Z:-52.20 [[ 9.96960125e-01 6.21416327e-02 4.69992150e-02 8.25918650e+02] [-6.19224998e-02 9.98062286e-01 -6.10556573e-03 -1.45816041e+02] [-4.72875538e-02 3.17669670e-03 9.98876267e-01 -5.21954995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.8307140569999 meters 0.039619181357086974 Centerline is valid? [True, True] Translation: X:825.95, Y:-145.82, Z:-52.20 [[ 9.97290098e-01 5.55199932e-02 4.82699749e-02 8.25948982e+02] [-5.52811868e-02 9.98451143e-01 -6.26933164e-03 -1.45818291e+02] [-4.85432849e-02 3.58392087e-03 9.98814650e-01 -5.21957353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.8607140569999 meters 0.04021850737881397 Centerline is valid? [True, True] Translation: X:825.98, Y:-145.82, Z:-52.20 [[ 9.97396911e-01 5.27685338e-02 4.91414670e-02 8.25978760e+02] [-5.25177381e-02 9.98599600e-01 -6.38171786e-03 -1.45824437e+02] [-4.94094032e-02 3.78430698e-03 9.98771440e-01 -5.21970792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.890714057 meters 0.04440992503254678 Centerline is valid? [True, True] Translation: X:826.01, Y:-145.83, Z:-52.20 [[ 9.97463053e-01 5.05034105e-02 5.01683430e-02 8.26006956e+02] [-5.02392220e-02 9.98715970e-01 -6.51396439e-03 -1.45834764e+02] [-5.04329028e-02 3.97702028e-03 9.98719533e-01 -5.21988043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.9207140569999 meters 0.04702242485085216 Centerline is valid? [True, True] Translation: X:826.04, Y:-145.84, Z:-52.20 [[ 9.97525832e-01 4.81018816e-02 5.12681520e-02 8.26035740e+02] [-4.78228222e-02 9.98833653e-01 -6.65671585e-03 -1.45843923e+02] [-5.15285561e-02 4.18845829e-03 9.98662738e-01 -5.21999666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.9507140569999 meters 0.045514877478421624 Centerline is valid? [True, True] Translation: X:826.07, Y:-145.85, Z:-52.20 [[ 9.97550420e-01 4.75645382e-02 5.12910685e-02 8.26067386e+02] [-4.72843399e-02 9.98859245e-01 -6.66325807e-03 -1.45846636e+02] [-5.15494927e-02 4.22167158e-03 9.98661518e-01 -5.22015494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.9807140569999 meters 0.046242179467950756 Centerline is valid? [True, True] Translation: X:826.10, Y:-145.85, Z:-52.20 [[ 9.97564420e-01 4.72293071e-02 5.13285497e-02 8.26098621e+02] [-4.69479424e-02 9.98875040e-01 -6.67423848e-03 -1.45852472e+02] [-5.15860268e-02 4.24821304e-03 9.98659519e-01 -5.22037942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.010714057 meters 0.04740146779169671 Centerline is valid? [True, True] Translation: X:826.13, Y:-145.86, Z:-52.21 [[ 9.97653347e-01 4.70090555e-02 4.97790016e-02 8.26129080e+02] [-4.67436197e-02 9.98885877e-01 -6.48371845e-03 -1.45859712e+02] [-5.00283352e-02 4.14165269e-03 9.98739211e-01 -5.22080228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.040714057 meters 0.04046153345221797 Centerline is valid? [True, True] Translation: X:826.16, Y:-145.85, Z:-52.21 [[ 9.97698527e-01 4.71673336e-02 4.87123413e-02 8.26162367e+02] [-4.69128379e-02 9.98878770e-01 -6.35524643e-03 -1.45854558e+02] [-4.89574835e-02 4.05538583e-03 9.98792630e-01 -5.22104006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.0707140569999 meters 0.04907926939835879 Centerline is valid? [True, True] Translation: X:826.19, Y:-145.87, Z:-52.21 [[ 9.97711469e-01 4.78037687e-02 4.78186529e-02 8.26191497e+02] [-4.75586244e-02 9.98848883e-01 -6.25186874e-03 -1.45870836e+02] [-4.80624709e-02 3.96337180e-03 9.98836468e-01 -5.22146672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.1007140569999 meters 0.04909669347642447 Centerline is valid? [True, True] Translation: X:826.22, Y:-145.87, Z:-52.22 [[ 9.97736122e-01 4.85184306e-02 4.65681627e-02 8.26222610e+02] [-4.82863544e-02 9.98814929e-01 -6.09628788e-03 -1.45874525e+02] [-4.68087585e-02 3.83387982e-03 9.98896512e-01 -5.22173659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.130714057 meters 0.04630222012806258 Centerline is valid? [True, True] Translation: X:826.25, Y:-145.87, Z:-52.22 [[ 9.97680240e-01 5.06706139e-02 4.54601689e-02 8.26253965e+02] [-5.04516000e-02 9.98708766e-01 -5.95294434e-03 -1.45872810e+02] [-4.57031085e-02 3.64559669e-03 9.98948415e-01 -5.22192300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.160714057 meters 0.04069207078324876 Centerline is valid? [True, True] Translation: X:826.28, Y:-145.87, Z:-52.22 [[ 9.97650596e-01 5.14928914e-02 4.51859589e-02 8.26284832e+02] [-5.12772865e-02 9.98666917e-01 -5.91846891e-03 -1.45867804e+02] [-4.54304814e-02 3.58755067e-03 9.98961061e-01 -5.22195104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.1907140569999 meters 0.04193255573274502 Centerline is valid? [True, True] Translation: X:826.31, Y:-145.87, Z:-52.22 [[ 9.97585366e-01 5.25845177e-02 4.53685522e-02 8.26314173e+02] [-5.23683725e-02 9.98610166e-01 -5.94049922e-03 -1.45872811e+02] [-4.56178757e-02 3.55027785e-03 9.98952654e-01 -5.22213484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.2207140569999 meters 0.0392838646023759 Centerline is valid? [True, True] Translation: X:826.34, Y:-145.87, Z:-52.22 [[ 9.97453497e-01 5.43050188e-02 4.62329653e-02 8.26344180e+02] [-5.40824173e-02 9.98518129e-01 -6.05302973e-03 -1.45872091e+02] [-4.64931639e-02 3.53722514e-03 9.98912345e-01 -5.22225520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.250714057 meters 0.04032724998252901 Centerline is valid? [True, True] Translation: X:826.37, Y:-145.88, Z:-52.22 [[ 9.97415427e-01 5.45212657e-02 4.67963321e-02 8.26371990e+02] [-5.42935017e-02 9.98506232e-01 -6.12542346e-03 -1.45876990e+02] [-4.70603951e-02 3.56885512e-03 9.98885670e-01 -5.22242341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.280714057 meters 0.041374322591403855 Centerline is valid? [True, True] Translation: X:826.40, Y:-145.88, Z:-52.23 [[ 9.97400927e-01 5.45176353e-02 4.71085842e-02 8.26400755e+02] [-5.42869777e-02 9.98506356e-01 -6.16285594e-03 -1.45881555e+02] [-4.73742051e-02 3.58945556e-03 9.98870763e-01 -5.22257390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.3107140569999 meters 0.0409643128096601 Centerline is valid? [True, True] Translation: X:826.43, Y:-145.88, Z:-52.23 [[ 9.97420758e-01 5.41041884e-02 4.71653355e-02 8.26430127e+02] [-5.38726935e-02 9.98528771e-01 -6.16651970e-03 -1.45884553e+02] [-4.74295791e-02 3.60969109e-03 9.98868062e-01 -5.22274949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.3407140569999 meters 0.042368304956907535 Centerline is valid? [True, True] Translation: X:826.46, Y:-145.89, Z:-52.23 [[ 9.97446689e-01 5.36192099e-02 4.71707962e-02 8.26458255e+02] [-5.33871948e-02 9.98554852e-01 -6.16571193e-03 -1.45889545e+02] [-4.74332280e-02 3.63165246e-03 9.98867809e-01 -5.22291982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.370714057 meters 0.042781802214753764 Centerline is valid? [True, True] Translation: X:826.49, Y:-145.89, Z:-52.23 [[ 9.97498073e-01 5.30586710e-02 4.67158586e-02 8.26487535e+02] [-5.28306277e-02 9.98584834e-01 -6.10359883e-03 -1.45893303e+02] [-4.69735968e-02 3.62029994e-03 9.98889571e-01 -5.22310752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.400714057 meters 0.04377996674354366 Centerline is valid? [True, True] Translation: X:826.52, Y:-145.90, Z:-52.23 [[ 9.97523866e-01 5.27210748e-02 4.65470276e-02 8.26516040e+02] [-5.24943815e-02 9.98602710e-01 -6.08008475e-03 -1.45898470e+02] [-4.68025365e-02 3.62157222e-03 9.98897596e-01 -5.22326905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.4307140569999 meters 0.04357682359345718 Centerline is valid? [True, True] Translation: X:826.55, Y:-145.90, Z:-52.23 [[ 9.97565367e-01 5.20362344e-02 4.64281043e-02 8.26545127e+02] [-5.18100853e-02 9.98638557e-01 -6.06191527e-03 -1.45901613e+02] [-4.66803343e-02 3.64171269e-03 9.98903241e-01 -5.22342285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.4607140569999 meters 0.04549552656619215 Centerline is valid? [True, True] Translation: X:826.57, Y:-145.91, Z:-52.24 [[ 9.97553563e-01 5.17205787e-02 4.70305365e-02 8.26574188e+02] [-5.14882571e-02 9.98654733e-01 -6.13870095e-03 -1.45908365e+02] [-4.72847650e-02 3.70216265e-03 9.98874589e-01 -5.22359996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.4907140569999 meters 0.047299442943786976 Centerline is valid? [True, True] Translation: X:826.60, Y:-145.92, Z:-52.24 [[ 9.97571720e-01 5.07296112e-02 4.77196965e-02 8.26603208e+02] [-5.04893482e-02 9.98705183e-01 -6.22760961e-03 -1.45915361e+02] [-4.79738324e-02 3.80315086e-03 9.98841353e-01 -5.22376347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.520714057 meters 0.047299442943786976 Centerline is valid? [True, True] Translation: X:826.63, Y:-145.92, Z:-52.24 [[ 9.97571721e-01 5.07296184e-02 4.77196801e-02 8.26633001e+02] [-5.04893495e-02 9.98705182e-01 -6.22773463e-03 -1.45919249e+02] [-4.79738225e-02 3.80327634e-03 9.98841353e-01 -5.22393755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.5507140569999 meters 0.04757369061447217 Centerline is valid? [True, True] Translation: X:826.66, Y:-145.92, Z:-52.24 [[ 9.97555863e-01 5.07300033e-02 4.80496251e-02 8.26663549e+02] [-5.04863974e-02 9.98705062e-01 -6.27079464e-03 -1.45924346e+02] [-4.83055213e-02 3.82961549e-03 9.98825265e-01 -5.22409006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.5807140569999 meters 0.044297792038253486 Centerline is valid? [True, True] Translation: X:826.69, Y:-145.92, Z:-52.24 [[ 9.97567570e-01 5.03856586e-02 4.81687566e-02 8.26693675e+02] [-5.01404355e-02 9.98722392e-01 -6.28650410e-03 -1.45924985e+02] [-4.84239654e-02 3.85601018e-03 9.98819429e-01 -5.22422033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.6107140569999 meters 0.04448670743103996 Centerline is valid? [True, True] Translation: X:826.72, Y:-145.93, Z:-52.24 [[ 9.97579521e-01 5.01368275e-02 4.81808918e-02 8.26723995e+02] [-4.98912416e-02 9.98734868e-01 -6.28707602e-03 -1.45929580e+02] [-4.84351507e-02 3.86805377e-03 9.98818840e-01 -5.22443832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.640714057 meters 0.04575781021437126 Centerline is valid? [True, True] Translation: X:826.75, Y:-145.94, Z:-52.25 [[ 9.97535223e-01 5.07129491e-02 4.84940698e-02 8.26754003e+02] [-5.04648404e-02 9.98705792e-01 -6.32778721e-03 -1.45935950e+02] [-4.87522091e-02 3.86494514e-03 9.98803426e-01 -5.22464446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.6707140569999 meters 0.039483459911231755 Centerline is valid? [True, True] Translation: X:826.79, Y:-145.93, Z:-52.25 [[ 9.97438057e-01 5.17512240e-02 4.93875758e-02 8.26785207e+02] [-5.14950840e-02 9.98652448e-01 -6.44554664e-03 -1.45931357e+02] [-4.96545884e-02 3.88581615e-03 9.98758891e-01 -5.22461224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.7007140569999 meters 0.041892931827222556 Centerline is valid? [True, True] Translation: X:826.81, Y:-145.94, Z:-52.25 [[ 9.97386188e-01 5.22765000e-02 4.98794417e-02 8.26813655e+02] [-5.20159263e-02 9.98625044e-01 -6.50880579e-03 -1.45938758e+02] [-5.01511173e-02 3.89726763e-03 9.98734037e-01 -5.22475589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.7307140569999 meters 0.04055008554151568 Centerline is valid? [True, True] Translation: X:826.84, Y:-145.94, Z:-52.25 [[ 9.97289988e-01 5.30782465e-02 5.09448773e-02 8.26844275e+02] [-5.28075031e-02 9.98582590e-01 -6.64676729e-03 -1.45942196e+02] [-5.12254663e-02 3.93848270e-03 9.98679348e-01 -5.22487265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.760714057 meters 0.04012738458800136 Centerline is valid? [True, True] Translation: X:826.87, Y:-145.95, Z:-52.25 [[ 9.97214455e-01 5.37429005e-02 5.17207136e-02 8.26874149e+02] [-5.34647263e-02 9.98546938e-01 -6.74799048e-03 -1.45946077e+02] [-5.20082167e-02 3.96395985e-03 9.98638790e-01 -5.22499614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.790714057 meters 0.03915285866464818 Centerline is valid? [True, True] Translation: X:826.90, Y:-145.95, Z:-52.25 [[ 9.97191180e-01 5.42752622e-02 5.16134298e-02 8.26904545e+02] [-5.39989506e-02 9.98518286e-01 -6.73399319e-03 -1.45950491e+02] [-5.19024427e-02 3.92800757e-03 9.98644435e-01 -5.22520427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.8207140569999 meters 0.03876606607780421 Centerline is valid? [True, True] Translation: X:826.93, Y:-145.95, Z:-52.25 [[ 9.97215146e-01 5.43100846e-02 5.11113206e-02 8.26934562e+02] [-5.40391745e-02 9.98516549e-01 -6.66848311e-03 -1.45954718e+02] [-5.13976653e-02 3.88789878e-03 9.98670699e-01 -5.22542723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.8507140569999 meters 0.04173647965754031 Centerline is valid? [True, True] Translation: X:826.96, Y:-145.96, Z:-52.26 [[ 9.97246379e-01 5.41385379e-02 5.06821264e-02 8.26962660e+02] [-5.38719373e-02 9.98525958e-01 -6.61260714e-03 -1.45963745e+02] [-5.09654157e-02 3.86405419e-03 9.98692944e-01 -5.22571528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.880714057 meters 0.044384067444194375 Centerline is valid? [True, True] Translation: X:826.99, Y:-145.97, Z:-52.26 [[ 9.97332394e-01 5.38875695e-02 4.92364257e-02 8.26991048e+02] [-5.36357165e-02 9.98539911e-01 -6.42311610e-03 -1.45973130e+02] [-4.95106622e-02 3.76515079e-03 9.98766498e-01 -5.22601570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.910714057 meters 0.03900398737176381 Centerline is valid? [True, True] Translation: X:827.02, Y:-145.97, Z:-52.26 [[ 9.97338392e-01 5.37288082e-02 4.92883985e-02 8.27021229e+02] [-5.34762653e-02 9.98548424e-01 -6.42918575e-03 -1.45970232e+02] [-4.95622852e-02 3.77631430e-03 9.98763896e-01 -5.22612946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.9407140569999 meters 0.0422535013393426 Centerline is valid? [True, True] Translation: X:827.05, Y:-145.98, Z:-52.26 [[ 9.97325176e-01 5.35011687e-02 4.98007956e-02 8.27049943e+02] [-5.32431592e-02 9.98560461e-01 -6.49404304e-03 -1.45980409e+02] [-5.00765443e-02 3.82512093e-03 9.98738058e-01 -5.22626159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.9707140569999 meters 0.04274138212072779 Centerline is valid? [True, True] Translation: X:827.08, Y:-145.99, Z:-52.26 [[ 9.97316361e-01 5.34646400e-02 5.00160839e-02 8.27079806e+02] [-5.32043994e-02 9.98562350e-01 -6.52107413e-03 -1.45985765e+02] [-5.02928252e-02 3.84249822e-03 9.98727123e-01 -5.22637865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.000714057 meters 0.045216533396966546 Centerline is valid? [True, True] Translation: X:827.11, Y:-145.99, Z:-52.27 [[ 9.97316952e-01 5.34103939e-02 5.00622279e-02 8.27108904e+02] [-5.31495980e-02 9.98565229e-01 -6.52721759e-03 -1.45993597e+02] [-5.03390213e-02 3.84891747e-03 9.98724771e-01 -5.22654821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.030714057 meters 0.03780711547528116 Centerline is valid? [True, True] Translation: X:827.14, Y:-145.99, Z:-52.27 [[ 9.97295367e-01 5.38403992e-02 5.00316226e-02 8.27140496e+02] [-5.35805105e-02 9.98542232e-01 -6.52222734e-03 -1.45988447e+02] [-5.03098475e-02 3.82386722e-03 9.98726338e-01 -5.22659498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.0607140569999 meters 0.04013512799760301 Centerline is valid? [True, True] Translation: X:827.17, Y:-146.00, Z:-52.27 [[ 9.97318584e-01 5.37309594e-02 4.96852623e-02 8.27168780e+02] [-5.34745184e-02 9.98548207e-01 -6.47721531e-03 -1.45996015e+02] [-4.99611566e-02 3.80295173e-03 9.98743921e-01 -5.22679762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.0907140569999 meters 0.045047291190304255 Centerline is valid? [True, True] Translation: X:827.20, Y:-146.01, Z:-52.27 [[ 9.97335567e-01 5.36872662e-02 4.93907287e-02 8.27196774e+02] [-5.34338514e-02 9.98550638e-01 -6.43791841e-03 -1.46007290e+02] [-4.96647779e-02 3.78162815e-03 9.98758784e-01 -5.22703833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.120714057 meters 0.039163317690574004 Centerline is valid? [True, True] Translation: X:827.23, Y:-146.00, Z:-52.27 [[ 9.97405047e-01 5.35043497e-02 4.81711196e-02 8.27227440e+02] [-5.32631365e-02 9.98560776e-01 -6.27811609e-03 -1.46004228e+02] [-4.84376971e-02 3.69607976e-03 9.98819367e-01 -5.22713922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.150714057 meters 0.04296706504298638 Centerline is valid? [True, True] Translation: X:827.26, Y:-146.01, Z:-52.27 [[ 9.97450703e-01 5.30213892e-02 4.77580190e-02 8.27256266e+02] [-5.27838030e-02 9.98586572e-01 -6.22316292e-03 -1.46013631e+02] [-4.80204772e-02 3.68644836e-03 9.98839549e-01 -5.22735397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.1807140569999 meters 0.04026429275343296 Centerline is valid? [True, True] Translation: X:827.29, Y:-146.01, Z:-52.27 [[ 9.97481701e-01 5.27906288e-02 4.73645966e-02 8.27285814e+02] [-5.25566491e-02 9.98598867e-01 -6.17267697e-03 -1.46013908e+02] [-4.76240920e-02 3.66780784e-03 9.98858595e-01 -5.22746462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.2107140569999 meters 0.04059699735254706 Centerline is valid? [True, True] Translation: X:827.32, Y:-146.02, Z:-52.28 [[ 9.97541822e-01 5.21066840e-02 4.68530384e-02 8.27316016e+02] [-5.18770838e-02 9.98634823e-01 -6.10394637e-03 -1.46018677e+02] [-4.71071321e-02 3.65834278e-03 9.98883144e-01 -5.22765513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.2407140569999 meters 0.04081759792283982 Centerline is valid? [True, True] Translation: X:827.35, Y:-146.02, Z:-52.28 [[ 9.97668251e-01 5.11083008e-02 4.52327526e-02 8.27345753e+02] [-5.08933010e-02 9.98686711e-01 -5.89285788e-03 -1.46023752e+02] [-4.54745229e-02 3.57707312e-03 9.98959094e-01 -5.22792034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.270714057 meters 0.043235454689061 Centerline is valid? [True, True] Translation: X:827.37, Y:-146.03, Z:-52.28 [[ 9.97722933e-01 5.06024671e-02 4.45908104e-02 8.27374090e+02] [-5.03930198e-02 9.98712568e-01 -5.80945642e-03 -1.46031483e+02] [-4.48273756e-02 3.54916230e-03 9.98988443e-01 -5.22820045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.3007140569999 meters 0.04463807009536672 Centerline is valid? [True, True] Translation: X:827.40, Y:-146.04, Z:-52.28 [[ 9.97791055e-01 5.01753600e-02 4.35367025e-02 8.27403336e+02] [-4.99754000e-02 9.98734355e-01 -5.66990040e-03 -1.46038060e+02] [-4.37660898e-02 3.48161177e-03 9.99035739e-01 -5.22847741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.3307140569999 meters 0.041857332033329274 Centerline is valid? [True, True] Translation: X:827.43, Y:-146.04, Z:-52.29 [[ 9.97816648e-01 4.99410648e-02 4.32183641e-02 8.27433148e+02] [-4.97435626e-02 9.98746132e-01 -5.63395638e-03 -1.46037797e+02] [-4.34455398e-02 3.47182007e-03 9.99049764e-01 -5.22854422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.3607140569999 meters 0.044078333857588865 Centerline is valid? [True, True] Translation: X:827.46, Y:-146.04, Z:-52.29 [[ 9.97839798e-01 4.98143963e-02 4.28282937e-02 8.27461714e+02] [-4.96204073e-02 9.98752554e-01 -5.58131785e-03 -1.46043891e+02] [-4.30528977e-02 3.44410370e-03 9.99066858e-01 -5.22875794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.390714057 meters 0.04326921329396692 Centerline is valid? [True, True] Translation: X:827.49, Y:-146.05, Z:-52.29 [[ 9.97854523e-01 4.95627287e-02 4.27771869e-02 8.27491204e+02] [-4.93689948e-02 9.98765053e-01 -5.57415327e-03 -1.46045896e+02] [-4.30006296e-02 3.45032733e-03 9.99069087e-01 -5.22876925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.4207140569999 meters 0.04478138791386063 Centerline is valid? [True, True] Translation: X:827.52, Y:-146.05, Z:-52.29 [[ 9.97869656e-01 4.93301923e-02 4.26928856e-02 8.27519296e+02] [-4.91370649e-02 9.98776559e-01 -5.56190205e-03 -1.46051227e+02] [-4.29150230e-02 3.45225019e-03 9.99072762e-01 -5.22892557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.4507140569999 meters 0.048220131881900274 Centerline is valid? [True, True] Translation: X:827.55, Y:-146.06, Z:-52.29 [[ 9.97896666e-01 4.86761960e-02 4.28120607e-02 8.27548255e+02] [-4.84815110e-02 9.98808524e-01 -5.57462817e-03 -1.46059413e+02] [-4.30324029e-02 3.48730947e-03 9.99067591e-01 -5.22918232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.4807140569999 meters 0.04134812251748439 Centerline is valid? [True, True] Translation: X:827.58, Y:-146.05, Z:-52.29 [[ 9.97943299e-01 4.72250377e-02 4.33470557e-02 8.27579278e+02] [-4.70241265e-02 9.98877811e-01 -5.64352863e-03 -1.46053503e+02] [-4.35649280e-02 3.59356414e-03 9.99044135e-01 -5.22916816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.510714057 meters 0.04211004752581849 Centerline is valid? [True, True] Translation: X:827.61, Y:-146.06, Z:-52.29 [[ 9.97967018e-01 4.63738439e-02 4.37183980e-02 8.27608973e+02] [-4.61686976e-02 9.98917446e-01 -5.69106436e-03 -1.46058273e+02] [-4.39349870e-02 3.66107303e-03 9.99027684e-01 -5.22934302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.540714057 meters 0.047156345467432914 Centerline is valid? [True, True] Translation: X:827.64, Y:-146.07, Z:-52.30 [[ 9.98003160e-01 4.54258891e-02 4.38882835e-02 8.27637935e+02] [-4.52182913e-02 9.98960800e-01 -5.71188646e-03 -1.46069259e+02] [-4.41021423e-02 3.71592755e-03 9.99020116e-01 -5.22965176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.5707140569999 meters 0.04820880282229903 Centerline is valid? [True, True] Translation: X:827.67, Y:-146.07, Z:-52.30 [[ 9.98063791e-01 4.43558638e-02 4.36030473e-02 8.27669180e+02] [-4.41499728e-02 9.99008801e-01 -5.67412270e-03 -1.46074232e+02] [-4.38115086e-02 3.73806307e-03 9.99032822e-01 -5.22986432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.6007140569999 meters 0.05030827082492549 Centerline is valid? [True, True] Translation: X:827.70, Y:-146.08, Z:-52.30 [[ 9.98210713e-01 4.21380977e-02 4.24235073e-02 8.27698617e+02] [-4.19409281e-02 9.99104802e-01 -5.52740880e-03 -1.46080174e+02] [-4.26184444e-02 3.73823741e-03 9.99084428e-01 -5.23014082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.630714057 meters 0.05102810081246902 Centerline is valid? [True, True] Translation: X:827.73, Y:-146.09, Z:-52.30 [[ 9.98268709e-01 4.13542827e-02 4.18259309e-02 8.27730687e+02] [-4.11619962e-02 9.99137630e-01 -5.44846777e-03 -1.46085209e+02] [-4.20151789e-02 3.71739608e-03 9.99110057e-01 -5.23038990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.660714057 meters 0.0464498212224447 Centerline is valid? [True, True] Translation: X:827.76, Y:-146.08, Z:-52.30 [[ 9.98370154e-01 3.96430289e-02 4.10544282e-02 8.27762492e+02] [-3.94561925e-02 9.99206970e-01 -5.35157460e-03 -1.46082639e+02] [-4.12340234e-02 3.72300094e-03 9.99142580e-01 -5.23043885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.6907140569999 meters 0.048118953949239714 Centerline is valid? [True, True] Translation: X:827.79, Y:-146.09, Z:-52.31 [[ 9.98387765e-01 3.91683681e-02 4.10817409e-02 8.27793495e+02] [-3.89809982e-02 9.99225617e-01 -5.35238007e-03 -1.46088802e+02] [-4.12595719e-02 3.74234350e-03 9.99141453e-01 -5.23065044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.7207140569999 meters 0.04883254217623617 Centerline is valid? [True, True] Translation: X:827.83, Y:-146.09, Z:-52.31 [[ 9.98393485e-01 3.89342436e-02 4.11652107e-02 8.27825553e+02] [-3.87455262e-02 9.99234667e-01 -5.37261819e-03 -1.46093530e+02] [-4.13428844e-02 3.76901925e-03 9.99137909e-01 -5.23083558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.750714057 meters 0.04549222443853483 Centerline is valid? [True, True] Translation: X:827.86, Y:-146.09, Z:-52.31 [[ 9.98388801e-01 3.88851575e-02 4.13248961e-02 8.27858462e+02] [-3.86945053e-02 9.99236476e-01 -5.40369129e-03 -1.46092283e+02] [-4.15034669e-02 3.79593846e-03 9.99131149e-01 -5.23090646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.780714057 meters 0.04719822513115831 Centerline is valid? [True, True] Translation: X:827.89, Y:-146.10, Z:-52.31 [[ 9.98371080e-01 3.92708877e-02 4.13882151e-02 8.27889217e+02] [-3.90794625e-02 9.99221383e-01 -5.42438375e-03 -1.46098019e+02] [-4.15690099e-02 3.79811866e-03 9.99128416e-01 -5.23110733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.8107140569999 meters 0.04614518243967543 Centerline is valid? [True, True] Translation: X:827.92, Y:-146.10, Z:-52.31 [[ 9.98330628e-01 3.98174794e-02 4.18392755e-02 8.27921893e+02] [-3.96220364e-02 9.99199654e-01 -5.49051334e-03 -1.46100322e+02] [-4.20244080e-02 3.82359034e-03 9.99109268e-01 -5.23123993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.8407140569999 meters 0.04698623533416712 Centerline is valid? [True, True] Translation: X:827.95, Y:-146.10, Z:-52.31 [[ 9.98284794e-01 4.07386047e-02 4.20456571e-02 8.27953032e+02] [-4.05419091e-02 9.99162588e-01 -5.52062581e-03 -1.46104280e+02] [-4.22353501e-02 3.80654559e-03 9.99100438e-01 -5.23139567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.870714057 meters 0.0475981185137121 Centerline is valid? [True, True] Translation: X:827.98, Y:-146.11, Z:-52.32 [[ 9.98260792e-01 4.13626631e-02 4.20062078e-02 8.27984541e+02] [-4.11665812e-02 9.99137034e-01 -5.52262609e-03 -1.46108806e+02] [-4.21983884e-02 3.78376912e-03 9.99102086e-01 -5.23160928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.900714057 meters 0.0442241216603959 Centerline is valid? [True, True] Translation: X:828.02, Y:-146.11, Z:-52.32 [[ 9.98297244e-01 4.13060847e-02 4.11876119e-02 8.28015904e+02] [-4.11173889e-02 9.99139631e-01 -5.41838047e-03 -1.46107447e+02] [-4.13759875e-02 3.71562723e-03 9.99136738e-01 -5.23174665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.9307140569999 meters 0.049823885731332555 Centerline is valid? [True, True] Translation: X:828.05, Y:-146.12, Z:-52.32 [[ 9.98304326e-01 4.15274439e-02 4.07914740e-02 8.28045820e+02] [-4.13426214e-02 9.99130627e-01 -5.36443532e-03 -1.46118580e+02] [-4.09787823e-02 3.66891252e-03 9.99153281e-01 -5.23208299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.9607140569999 meters 0.0466705741054369 Centerline is valid? [True, True] Translation: X:828.08, Y:-146.12, Z:-52.32 [[ 9.98345054e-01 4.13657638e-02 3.99502934e-02 8.28077390e+02] [-4.11878543e-02 9.99137541e-01 -5.26646535e-03 -1.46117092e+02] [-4.01336893e-02 3.61228277e-03 9.99187789e-01 -5.23223493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.9907140569999 meters 0.054799805243493906 Centerline is valid? [True, True] Translation: X:828.11, Y:-146.13, Z:-52.33 [[ 9.98350551e-01 4.12144216e-02 3.99693500e-02 8.28106301e+02] [-4.10362769e-02 9.99143772e-01 -5.26760966e-03 -1.46131941e+02] [-4.01522286e-02 3.61872769e-03 9.99187021e-01 -5.23264020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.020714057 meters 0.049410711141330686 Centerline is valid? [True, True] Translation: X:828.14, Y:-146.13, Z:-52.33 [[ 9.98372103e-01 4.12017477e-02 3.94405951e-02 8.28138323e+02] [-4.10278598e-02 9.99144427e-01 -5.20849145e-03 -1.46128545e+02] [-3.96214497e-02 3.58184936e-03 9.99208342e-01 -5.23270980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.0507140569999 meters 0.049408104643401465 Centerline is valid? [True, True] Translation: X:828.17, Y:-146.13, Z:-52.33 [[ 9.98377400e-01 4.17118933e-02 3.87644752e-02 8.28168443e+02] [-4.15442921e-02 9.99123548e-01 -5.11943906e-03 -1.46131025e+02] [-3.89440415e-02 3.50068958e-03 9.99235261e-01 -5.23288247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.0807140569999 meters 0.04972729745863549 Centerline is valid? [True, True] Translation: X:828.20, Y:-146.13, Z:-52.33 [[ 9.98384737e-01 4.17062045e-02 3.85812017e-02 8.28198289e+02] [-4.15399699e-02 9.99123823e-01 -5.10068506e-03 -1.46134604e+02] [-3.87601279e-02 3.48978415e-03 9.99242450e-01 -5.23307987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.1107140569999 meters 0.04913090834311507 Centerline is valid? [True, True] Translation: X:828.23, Y:-146.14, Z:-52.33 [[ 9.98359008e-01 4.18108333e-02 3.91298665e-02 8.28229095e+02] [-4.16399133e-02 9.99119290e-01 -5.17322210e-03 -1.46137408e+02] [-3.93117012e-02 3.53536864e-03 9.99220742e-01 -5.23321739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.140714057 meters 0.04584114135692687 Centerline is valid? [True, True] Translation: X:828.26, Y:-146.14, Z:-52.33 [[ 9.98343752e-01 4.19983879e-02 3.93177843e-02 8.28260252e+02] [-4.18259654e-02 9.99111390e-01 -5.19806606e-03 -1.46136580e+02] [-3.95011565e-02 3.54495249e-03 9.99213237e-01 -5.23327647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.1707140569999 meters 0.04611943169708025 Centerline is valid? [True, True] Translation: X:828.29, Y:-146.14, Z:-52.33 [[ 9.98319186e-01 4.17342674e-02 4.02126185e-02 8.28290860e+02] [-4.15536890e-02 9.99122128e-01 -5.31636895e-03 -1.46140280e+02] [-4.03991918e-02 3.63645047e-03 9.99177002e-01 -5.23340079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.2007140569999 meters 0.04489510165874277 Centerline is valid? [True, True] Translation: X:828.32, Y:-146.14, Z:-52.33 [[ 9.98304465e-01 4.08606594e-02 4.14560245e-02 8.28321243e+02] [-4.06679854e-02 9.99157683e-01 -5.48075528e-03 -1.46142550e+02] [-4.16450527e-02 3.78552947e-03 9.99125297e-01 -5.23348941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.2307140569999 meters 0.04748065402886552 Centerline is valid? [True, True] Translation: X:828.35, Y:-146.15, Z:-52.34 [[ 9.98317108e-01 4.03625535e-02 4.16391265e-02 8.28351723e+02] [-4.01678979e-02 9.99177800e-01 -5.50126204e-03 -1.46149699e+02] [-4.18269358e-02 3.81944783e-03 9.99117570e-01 -5.23369876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.260714057 meters 0.05497930581067813 Centerline is valid? [True, True] Translation: X:828.38, Y:-146.16, Z:-52.34 [[ 9.98292149e-01 4.02804963e-02 4.23115398e-02 8.28380876e+02] [-4.00789891e-02 9.99180820e-01 -5.60034210e-03 -1.46163997e+02] [-4.25024636e-02 3.89497381e-03 9.99088770e-01 -5.23401476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.290714057 meters 0.05531841736893135 Centerline is valid? [True, True] Translation: X:828.41, Y:-146.17, Z:-52.34 [[ 9.98313545e-01 3.95192609e-02 4.25240303e-02 8.28412559e+02] [-3.93145093e-02 9.99210964e-01 -5.64084950e-03 -1.46168559e+02] [-4.27133995e-02 3.95952508e-03 9.99079520e-01 -5.23417553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.3207140569999 meters 0.051183783105434706 Centerline is valid? [True, True] Translation: X:828.44, Y:-146.17, Z:-52.34 [[ 9.98359374e-01 3.81335020e-02 4.27129625e-02 8.28443887e+02] [-3.79255112e-02 9.99264485e-01 -5.66958229e-03 -1.46167384e+02] [-4.28977475e-02 4.04036968e-03 9.99071298e-01 -5.23421504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.3507140569999 meters 0.05328752225925149 Centerline is valid? [True, True] Translation: X:828.47, Y:-146.17, Z:-52.34 [[ 9.98400074e-01 3.72517872e-02 4.25393527e-02 8.28473843e+02] [-3.70446717e-02 9.99297655e-01 -5.64702331e-03 -1.46174658e+02] [-4.27198371e-02 4.06213213e-03 9.99078833e-01 -5.23444582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.380714057 meters 0.04784775399837618 Centerline is valid? [True, True] Translation: X:828.51, Y:-146.17, Z:-52.35 [[ 9.98442579e-01 3.61276704e-02 4.25112804e-02 8.28506677e+02] [-3.59197792e-02 9.99338737e-01 -5.64423118e-03 -1.46171995e+02] [-4.26870822e-02 4.10844493e-03 9.99080044e-01 -5.23450382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.410714057 meters 0.04728313400297395 Centerline is valid? [True, True] Translation: X:828.54, Y:-146.18, Z:-52.35 [[ 9.98479005e-01 3.51105022e-02 4.25079858e-02 8.28538451e+02] [-3.49015969e-02 9.99374800e-01 -5.64692311e-03 -1.46176021e+02] [-4.26796761e-02 4.15473758e-03 9.99080169e-01 -5.23464518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.4407140569999 meters 0.04728313400297395 Centerline is valid? [True, True] Translation: X:828.57, Y:-146.18, Z:-52.35 [[ 9.98468803e-01 3.53994212e-02 4.25080003e-02 8.28570878e+02] [-3.51907795e-02 9.99364659e-01 -5.64681896e-03 -1.46180407e+02] [-4.26808874e-02 4.14228290e-03 9.99080169e-01 -5.23483463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.4707140569999 meters 0.05062081432186333 Centerline is valid? [True, True] Translation: X:828.60, Y:-146.19, Z:-52.35 [[ 9.98496024e-01 3.39861592e-02 4.30189741e-02 8.28599632e+02] [-3.37704287e-02 9.99413180e-01 -5.73181106e-03 -1.46190241e+02] [-4.31885319e-02 4.27042135e-03 9.99057813e-01 -5.23504785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.500714057 meters 0.05084704605746639 Centerline is valid? [True, True] Translation: X:828.63, Y:-146.20, Z:-52.35 [[ 9.98489325e-01 3.37767973e-02 4.33381566e-02 8.28630992e+02] [-3.35577988e-02 9.99420116e-01 -5.77105265e-03 -1.46195375e+02] [-4.35079532e-02 4.30800133e-03 9.99043792e-01 -5.23525564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.530714057 meters 0.05014721026147198 Centerline is valid? [True, True] Translation: X:828.66, Y:-146.20, Z:-52.35 [[ 9.98472080e-01 3.47484704e-02 4.29656763e-02 8.28662829e+02] [-3.45336957e-02 9.99387101e-01 -5.73113582e-03 -1.46199460e+02] [-4.31384909e-02 4.23861551e-03 9.99060111e-01 -5.23546378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.5607140569999 meters 0.05004387669415088 Centerline is valid? [True, True] Translation: X:828.69, Y:-146.20, Z:-52.36 [[ 9.98434062e-01 3.58339619e-02 4.29575459e-02 8.28693065e+02] [-3.56196431e-02 9.99348909e-01 -5.74441096e-03 -1.46203729e+02] [-4.31354216e-02 4.20528312e-03 9.99060384e-01 -5.23565782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.5907140569999 meters 0.050081641268929535 Centerline is valid? [True, True] Translation: X:828.72, Y:-146.21, Z:-52.36 [[ 9.98375468e-01 3.73076591e-02 4.30646431e-02 8.28724008e+02] [-3.70936039e-02 9.99295199e-01 -5.75926033e-03 -1.46207475e+02] [-4.32491556e-02 4.15248142e-03 9.99055688e-01 -5.23582632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.620714057 meters 0.05041188433179533 Centerline is valid? [True, True] Translation: X:828.75, Y:-146.21, Z:-52.36 [[ 9.98302954e-01 3.90719104e-02 4.31809911e-02 8.28753947e+02] [-3.88582403e-02 9.99228034e-01 -5.77689858e-03 -1.46212078e+02] [-4.33733713e-02 4.08915759e-03 9.99050564e-01 -5.23593693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.650714057 meters 0.0499894574544857 Centerline is valid? [True, True] Translation: X:828.78, Y:-146.21, Z:-52.36 [[ 9.98214593e-01 4.09381073e-02 4.34936629e-02 8.28784998e+02] [-4.07230946e-02 9.99153529e-01 -5.81848176e-03 -1.46214860e+02] [-4.36950444e-02 4.03689685e-03 9.99036759e-01 -5.23605011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.6807140569999 meters 0.05051857655836098 Centerline is valid? [True, True] Translation: X:828.81, Y:-146.22, Z:-52.36 [[ 9.97951657e-01 4.54799148e-02 4.49896346e-02 8.28814026e+02] [-4.52543585e-02 9.98957358e-01 -6.01990932e-03 -1.46219784e+02] [-4.52165115e-02 3.97160144e-03 9.98969316e-01 -5.23612347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.7107140569999 meters 0.04776811626553146 Centerline is valid? [True, True] Translation: X:828.84, Y:-146.22, Z:-52.36 [[ 9.97836437e-01 4.75084572e-02 4.54465816e-02 8.28844600e+02] [-4.72804298e-02 9.98863152e-01 -6.07992228e-03 -1.46220173e+02] [-4.56837634e-02 3.91803408e-03 9.98948268e-01 -5.23621772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.7407140569999 meters 0.04356695478102842 Centerline is valid? [True, True] Translation: X:828.88, Y:-146.22, Z:-52.36 [[ 9.97700233e-01 4.97080019e-02 4.60799180e-02 8.28876116e+02] [-4.94759055e-02 9.98756294e-01 -6.16444727e-03 -1.46218386e+02] [-4.63290305e-02 3.87042480e-03 9.98918736e-01 -5.23630155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.770714057 meters 0.04314577211481645 Centerline is valid? [True, True] Translation: X:828.91, Y:-146.22, Z:-52.36 [[ 9.97462391e-01 5.37764777e-02 4.66569354e-02 8.28905316e+02] [-5.35428854e-02 9.98546036e-01 -6.24289273e-03 -1.46222201e+02] [-4.69248187e-02 3.72890377e-03 9.98891464e-01 -5.23647963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.8007140569999 meters 0.03804919987663779 Centerline is valid? [True, True] Translation: X:828.94, Y:-146.22, Z:-52.37 [[ 9.97367457e-01 5.54520650e-02 4.67249837e-02 8.28936070e+02] [-5.52196579e-02 9.98454662e-01 -6.25111097e-03 -1.46219033e+02] [-4.69994149e-02 3.65451704e-03 9.98888232e-01 -5.23659535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.8307140569999 meters 0.04576312988768903 Centerline is valid? [True, True] Translation: X:828.96, Y:-146.23, Z:-52.37 [[ 9.97204280e-01 5.86947376e-02 4.62444896e-02 8.28963742e+02] [-5.84705902e-02 9.98269965e-01 -6.18605310e-03 -1.46234209e+02] [-4.65275738e-02 3.46481602e-03 9.98910997e-01 -5.23706782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.8607140569999 meters 0.03906538577409478 Centerline is valid? [True, True] Translation: X:828.99, Y:-146.23, Z:-52.37 [[ 9.97145563e-01 6.01962371e-02 4.55756363e-02 8.28994431e+02] [-5.99801385e-02 9.98180959e-01 -6.09555374e-03 -1.46228842e+02] [-4.58596617e-02 3.34452139e-03 9.98942293e-01 -5.23715064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.890714057 meters 0.036725180760603125 Centerline is valid? [True, True] Translation: X:829.02, Y:-146.23, Z:-52.37 [[ 9.97061089e-01 6.15754761e-02 4.55812026e-02 8.29023475e+02] [-6.13608126e-02 9.98097040e-01 -6.09509466e-03 -1.46229086e+02] [-4.58697718e-02 3.28028208e-03 9.98942042e-01 -5.23733147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.9207140569999 meters 0.03604179195238537 Centerline is valid? [True, True] Translation: X:829.05, Y:-146.23, Z:-52.37 [[ 9.96947420e-01 6.34877701e-02 4.54438757e-02 8.29053405e+02] [-6.32765571e-02 9.97977554e-01 -6.07274900e-03 -1.46232118e+02] [-4.57375132e-02 3.17867945e-03 9.98948435e-01 -5.23748414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.9507140569999 meters 0.03927784141972143 Centerline is valid? [True, True] Translation: X:829.08, Y:-146.24, Z:-52.38 [[ 9.96810661e-01 6.54167084e-02 4.57073347e-02 8.29080844e+02] [-6.52050845e-02 9.97853195e-01 -6.10729117e-03 -1.46240507e+02] [-4.60087288e-02 3.10746233e-03 9.98936204e-01 -5.23775987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.9807140569999 meters 0.034216333572878295 Centerline is valid? [True, True] Translation: X:829.11, Y:-146.24, Z:-52.38 [[ 9.96479970e-01 6.96512830e-02 4.66515681e-02 8.29112182e+02] [-6.94355254e-02 9.97566978e-01 -6.23150804e-03 -1.46236921e+02] [-4.69720963e-02 2.97029680e-03 9.98891786e-01 -5.23775071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.010714057 meters 0.03751356085430577 Centerline is valid? [True, True] Translation: X:829.14, Y:-146.25, Z:-52.38 [[ 9.96197714e-01 7.32767593e-02 4.71235685e-02 8.29139880e+02] [-7.30606404e-02 9.97307635e-01 -6.29469590e-03 -1.46246451e+02] [-4.74579496e-02 2.82788358e-03 9.98869234e-01 -5.23800564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.040714057 meters 0.032226427749202514 Centerline is valid? [True, True] Translation: X:829.17, Y:-146.24, Z:-52.38 [[ 9.96084615e-01 7.45039445e-02 4.75878430e-02 8.29169871e+02] [-7.42849897e-02 9.97216800e-01 -6.35561078e-03 -1.46242160e+02] [-4.79289146e-02 2.79566368e-03 9.98846837e-01 -5.23803033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.0707140569999 meters 0.03161630643462603 Centerline is valid? [True, True] Translation: X:829.20, Y:-146.25, Z:-52.38 [[ 9.96033428e-01 7.51005892e-02 4.77211865e-02 8.29199001e+02] [-7.48812269e-02 9.97172111e-01 -6.37050113e-03 -1.46245233e+02] [-4.80646647e-02 2.77181108e-03 9.98840380e-01 -5.23816398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.1007140569999 meters 0.03211362000647517 Centerline is valid? [True, True] Translation: X:829.23, Y:-146.25, Z:-52.38 [[ 9.95978683e-01 7.56510156e-02 4.79936161e-02 8.29226336e+02] [-7.54300933e-02 9.97130552e-01 -6.40030914e-03 -1.46249965e+02] [-4.83400908e-02 2.75440853e-03 9.98827137e-01 -5.23829943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.130714057 meters 0.03191816382976674 Centerline is valid? [True, True] Translation: X:829.25, Y:-146.25, Z:-52.38 [[ 9.95957889e-01 7.58660405e-02 4.80856294e-02 8.29254745e+02] [-7.56448225e-02 9.97114246e-01 -6.40632310e-03 -1.46253726e+02] [-4.84328885e-02 2.74299913e-03 9.98822673e-01 -5.23844527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.160714057 meters 0.03185401087305914 Centerline is valid? [True, True] Translation: X:829.28, Y:-146.26, Z:-52.39 [[ 9.95959979e-01 7.56678548e-02 4.83538711e-02 8.29282538e+02] [-7.54440918e-02 9.97129246e-01 -6.43867809e-03 -1.46259056e+02] [-4.87022599e-02 2.76465181e-03 9.98809515e-01 -5.23860494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.1907140569999 meters 0.031744788753541094 Centerline is valid? [True, True] Translation: X:829.31, Y:-146.26, Z:-52.39 [[ 9.95974962e-01 7.52242834e-02 4.87358484e-02 8.29311399e+02] [-7.49966662e-02 9.97162698e-01 -6.48491045e-03 -1.46263729e+02] [-4.90853929e-02 2.80378228e-03 9.98790650e-01 -5.23876907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.2207140569999 meters 0.031921610385124664 Centerline is valid? [True, True] Translation: X:829.34, Y:-146.27, Z:-52.39 [[ 9.96025914e-01 7.47176327e-02 4.84732309e-02 8.29339824e+02] [-7.44920389e-02 9.97200772e-01 -6.44644367e-03 -1.46268108e+02] [-4.88192063e-02 2.80995514e-03 9.98803679e-01 -5.23895333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.250714057 meters 0.03306435000860313 Centerline is valid? [True, True] Translation: X:829.37, Y:-146.27, Z:-52.39 [[ 9.96116754e-01 7.37438353e-02 4.80963497e-02 8.29366600e+02] [-7.35207696e-02 9.97273195e-01 -6.39299800e-03 -1.46274419e+02] [-4.84366445e-02 2.83209177e-03 9.98822242e-01 -5.23918524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.280714057 meters 0.03257325651250473 Centerline is valid? [True, True] Translation: X:829.40, Y:-146.28, Z:-52.39 [[ 9.96218129e-01 7.26224545e-02 4.77013389e-02 8.29395391e+02] [-7.24019751e-02 9.97355407e-01 -6.33603700e-03 -1.46277549e+02] [-4.80353268e-02 2.85840378e-03 9.98841547e-01 -5.23937094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.3107140569999 meters 0.03268157875169511 Centerline is valid? [True, True] Translation: X:829.42, Y:-146.28, Z:-52.40 [[ 9.96288485e-01 7.16550979e-02 4.76948894e-02 8.29423234e+02] [-7.14337336e-02 9.97425250e-01 -6.33186865e-03 -1.46281975e+02] [-4.80257976e-02 2.90134381e-03 9.98841882e-01 -5.23956043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.3407140569999 meters 0.033277286248696275 Centerline is valid? [True, True] Translation: X:829.45, Y:-146.29, Z:-52.40 [[ 9.96371083e-01 7.04929955e-02 4.77011732e-02 8.29451900e+02] [-7.02704651e-02 9.97507903e-01 -6.32815817e-03 -1.46286783e+02] [-4.80283881e-02 2.95321018e-03 9.98841605e-01 -5.23974069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.370714057 meters 0.03390022504850518 Centerline is valid? [True, True] Translation: X:829.48, Y:-146.29, Z:-52.40 [[ 9.96467391e-01 6.89604785e-02 4.79290233e-02 8.29480604e+02] [-6.87342290e-02 9.97614767e-01 -6.35468672e-03 -1.46291994e+02] [-4.82529236e-02 3.03787364e-03 9.98830530e-01 -5.23989032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.400714057 meters 0.03613607654501186 Centerline is valid? [True, True] Translation: X:829.51, Y:-146.30, Z:-52.40 [[ 9.96666793e-01 6.57620765e-02 4.82768325e-02 8.29508941e+02] [-6.55289314e-02 9.97830159e-01 -6.39796156e-03 -1.46299696e+02] [-4.85928226e-02 3.21310659e-03 9.98813503e-01 -5.24002571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.4307140569999 meters 0.03732328581555269 Centerline is valid? [True, True] Translation: X:829.54, Y:-146.31, Z:-52.40 [[ 9.96772105e-01 6.42578933e-02 4.81278825e-02 8.29537908e+02] [-6.40245262e-02 9.97927954e-01 -6.37647315e-03 -1.46305744e+02] [-4.84378980e-02 3.27452569e-03 9.98820829e-01 -5.24017621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.4607140569999 meters 0.03744729865234563 Centerline is valid? [True, True] Translation: X:829.57, Y:-146.31, Z:-52.40 [[ 9.96864997e-01 6.25938845e-02 4.83961196e-02 8.29567275e+02] [-6.23560405e-02 9.98033383e-01 -6.41026941e-03 -1.46309353e+02] [-4.87021866e-02 3.37238279e-03 9.98807651e-01 -5.24032905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.4907140569999 meters 0.041749254976432774 Centerline is valid? [True, True] Translation: X:829.60, Y:-146.32, Z:-52.41 [[ 9.97006586e-01 6.00155324e-02 4.87442712e-02 8.29595459e+02] [-5.97712803e-02 9.98191231e-01 -6.45446227e-03 -1.46320058e+02] [-4.90434721e-02 3.52163389e-03 9.98790436e-01 -5.24052592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.520714057 meters 0.0385403431824884 Centerline is valid? [True, True] Translation: X:829.63, Y:-146.32, Z:-52.41 [[ 9.97080204e-01 5.86030206e-02 4.89566423e-02 8.29625261e+02] [-5.83549825e-02 9.98274854e-01 -6.48173472e-03 -1.46319723e+02] [-4.92520342e-02 3.60594537e-03 9.98779873e-01 -5.24070526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.5507140569999 meters 0.03862935770086666 Centerline is valid? [True, True] Translation: X:829.65, Y:-146.32, Z:-52.41 [[ 9.97174624e-01 5.69850727e-02 4.89435439e-02 8.29654718e+02] [-5.67353179e-02 9.98368237e-01 -6.47822410e-03 -1.46324029e+02] [-4.92328417e-02 3.68309315e-03 9.98780538e-01 -5.24089273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.5807140569999 meters 0.042805357708142804 Centerline is valid? [True, True] Translation: X:829.68, Y:-146.33, Z:-52.41 [[ 9.97284077e-01 5.53134087e-02 4.86302042e-02 8.29683094e+02] [-5.50649642e-02 9.98462039e-01 -6.43482415e-03 -1.46333887e+02] [-4.89113449e-02 3.73952721e-03 9.98796124e-01 -5.24114292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.6107140569999 meters 0.041625018835805494 Centerline is valid? [True, True] Translation: X:829.71, Y:-146.34, Z:-52.41 [[ 9.97492711e-01 5.23901541e-02 4.75769262e-02 8.29713358e+02] [-5.21491052e-02 9.98619472e-01 -6.29455784e-03 -1.46335906e+02] [-4.78410177e-02 3.79768143e-03 9.98847744e-01 -5.24135244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.640714057 meters 0.04301635290682881 Centerline is valid? [True, True] Translation: X:829.74, Y:-146.34, Z:-52.42 [[ 9.97584735e-01 5.09105073e-02 4.72526921e-02 8.29742795e+02] [-5.06711643e-02 9.98695835e-01 -6.25004711e-03 -1.46341804e+02] [-4.75092599e-02 3.84060266e-03 9.98863414e-01 -5.24157563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.6707140569999 meters 0.044868578273103386 Centerline is valid? [True, True] Translation: X:829.77, Y:-146.35, Z:-52.42 [[ 9.97674362e-01 4.97175523e-02 4.66265274e-02 8.29772550e+02] [-4.94829952e-02 9.98755895e-01 -6.17208365e-03 -1.46347959e+02] [-4.68753801e-02 3.85050939e-03 9.98893324e-01 -5.24175283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.7007140569999 meters 0.046262094331555294 Centerline is valid? [True, True] Translation: X:829.80, Y:-146.35, Z:-52.42 [[ 9.97734990e-01 4.84131458e-02 4.67017941e-02 8.29802795e+02] [-4.81763724e-02 9.98819708e-01 -6.18288164e-03 -1.46353562e+02] [-4.69460051e-02 3.91895433e-03 9.98889741e-01 -5.24195210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.7307140569999 meters 0.0481205168920643 Centerline is valid? [True, True] Translation: X:829.83, Y:-146.36, Z:-52.42 [[ 9.97787787e-01 4.66407576e-02 4.73726893e-02 8.29832160e+02] [-4.63950945e-02 9.98903473e-01 -6.27272935e-03 -1.46359949e+02] [-4.76133087e-02 4.06099234e-03 9.98857588e-01 -5.24210639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.760714057 meters 0.04911601550989368 Centerline is valid? [True, True] Translation: X:829.86, Y:-146.37, Z:-52.42 [[ 9.97791100e-01 4.62787337e-02 4.76570964e-02 8.29864271e+02] [-4.60298126e-02 9.98920150e-01 -6.30802557e-03 -1.46365520e+02] [-4.78975613e-02 4.10044456e-03 9.98843837e-01 -5.24226532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.790714057 meters 0.0502643314922339 Centerline is valid? [True, True] Translation: X:829.89, Y:-146.37, Z:-52.42 [[ 9.97768281e-01 4.62619826e-02 4.81485781e-02 8.29894890e+02] [-4.60072914e-02 9.98920697e-01 -6.38514729e-03 -1.46370737e+02] [-4.83920008e-02 4.15571177e-03 9.98819776e-01 -5.24245390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.8207140569999 meters 0.05128081781691451 Centerline is valid? [True, True] Translation: X:829.93, Y:-146.37, Z:-52.43 [[ 9.97701732e-01 4.71229398e-02 4.86896577e-02 8.29926283e+02] [-4.68629653e-02 9.98880388e-01 -6.46787655e-03 -1.46374996e+02] [-4.89399295e-02 4.17126989e-03 9.98793014e-01 -5.24256002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.8507140569999 meters 0.051180386193540574 Centerline is valid? [True, True] Translation: X:829.96, Y:-146.38, Z:-52.43 [[ 9.97656518e-01 4.79067601e-02 4.88509382e-02 8.29958202e+02] [-4.76454121e-02 9.98843156e-01 -6.50107432e-03 -1.46378018e+02] [-4.91058707e-02 4.15831609e-03 9.98784923e-01 -5.24273444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.880714057 meters 0.04245232362971705 Centerline is valid? [True, True] Translation: X:829.99, Y:-146.37, Z:-52.43 [[ 9.97604455e-01 4.86560180e-02 4.91725934e-02 8.29991609e+02] [-4.83914644e-02 9.98806924e-01 -6.55705014e-03 -1.46369393e+02] [-4.94329668e-02 4.16180863e-03 9.98768773e-01 -5.24279233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.910714057 meters 0.05185676152733466 Centerline is valid? [True, True] Translation: X:830.02, Y:-146.38, Z:-52.43 [[ 9.97513353e-01 5.04487831e-02 4.92141401e-02 8.30019891e+02] [-5.01857431e-02 9.98718313e-01 -6.56670374e-03 -1.46384421e+02] [-4.94823453e-02 4.08052647e-03 9.98766663e-01 -5.24305925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.9407140569999 meters 0.05207623751043549 Centerline is valid? [True, True] Translation: X:830.05, Y:-146.39, Z:-52.43 [[ 9.97456759e-01 5.16122011e-02 4.91548006e-02 8.30050765e+02] [-5.13511522e-02 9.98659116e-01 -6.55970903e-03 -1.46387952e+02] [-4.94274508e-02 4.01887046e-03 9.98769631e-01 -5.24324404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.9707140569999 meters 0.04067028047052296 Centerline is valid? [True, True] Translation: X:830.08, Y:-146.38, Z:-52.43 [[ 9.97377176e-01 5.29133822e-02 4.93856565e-02 8.30083858e+02] [-5.26514161e-02 9.98591199e-01 -6.59132839e-03 -1.46375405e+02] [-4.96648515e-02 3.97381574e-03 9.98758034e-01 -5.24323726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.000714057 meters 0.0723706665675107 Centerline is valid? [True, True] Translation: X:830.11, Y:-146.42, Z:-52.44 [[ 9.97221067e-01 5.57305822e-02 4.94393165e-02 8.30107310e+02] [-5.54714314e-02 9.98438464e-01 -6.59954357e-03 -1.46421251e+02] [-4.97299116e-02 3.83873423e-03 9.98755325e-01 -5.24381943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.030714057 meters 0.04099164103579153 Centerline is valid? [True, True] Translation: X:830.14, Y:-146.38, Z:-52.44 [[ 9.97215451e-01 5.60143907e-02 4.92314181e-02 8.30142411e+02] [-5.57577461e-02 9.98422697e-01 -6.57208476e-03 -1.46381743e+02] [-4.95218966e-02 3.80875155e-03 9.98765776e-01 -5.24364157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.0607140569999 meters 0.041095648549202515 Centerline is valid? [True, True] Translation: X:830.17, Y:-146.39, Z:-52.44 [[ 9.97161800e-01 5.72601372e-02 4.88837554e-02 8.30171057e+02] [-5.70086745e-02 9.98352366e-01 -6.52407021e-03 -1.46385128e+02] [-4.91767820e-02 3.71875549e-03 9.98783167e-01 -5.24388057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.0907140569999 meters 0.03921675849181712 Centerline is valid? [True, True] Translation: X:830.20, Y:-146.39, Z:-52.44 [[ 9.97127932e-01 5.81080821e-02 4.85730207e-02 8.30200768e+02] [-5.78609437e-02 9.98303623e-01 -6.47984494e-03 -1.46386152e+02] [-4.88671539e-02 3.65075357e-03 9.98798615e-01 -5.24412958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.120714057 meters 0.04012775939339575 Centerline is valid? [True, True] Translation: X:830.23, Y:-146.39, Z:-52.44 [[ 9.97077728e-01 5.91398723e-02 4.83578290e-02 8.30229105e+02] [-5.88962043e-02 9.98243277e-01 -6.44955192e-03 -1.46390771e+02] [-4.86543034e-02 3.58261200e-03 9.98809253e-01 -5.24439060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.150714057 meters 0.03848146586888587 Centerline is valid? [True, True] Translation: X:830.26, Y:-146.39, Z:-52.45 [[ 9.96962181e-01 6.13084092e-02 4.80384017e-02 8.30258751e+02] [-6.10705875e-02 9.98112904e-01 -6.40421365e-03 -1.46391326e+02] [-4.83403808e-02 3.45102539e-03 9.98824959e-01 -5.24461153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.1807140569999 meters 0.03584898740157801 Centerline is valid? [True, True] Translation: X:830.29, Y:-146.39, Z:-52.45 [[ 9.96880440e-01 6.24827099e-02 4.82213656e-02 8.30287611e+02] [-6.22445056e-02 9.98040236e-01 -6.42720249e-03 -1.46391308e+02] [-4.85284521e-02 3.40563738e-03 9.98815995e-01 -5.24469433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.2107140569999 meters 0.03753901281216668 Centerline is valid? [True, True] Translation: X:830.31, Y:-146.40, Z:-52.45 [[ 9.96835285e-01 6.32826350e-02 4.81115762e-02 8.30314576e+02] [-6.30466065e-02 9.97990004e-01 -6.40916994e-03 -1.46396599e+02] [-4.84204613e-02 3.35561512e-03 9.98821405e-01 -5.24486739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.2407140569999 meters 0.03599612960942189 Centerline is valid? [True, True] Translation: X:830.34, Y:-146.40, Z:-52.45 [[ 9.96678098e-01 6.56635046e-02 4.81775200e-02 8.30344710e+02] [-6.54298364e-02 9.97836565e-01 -6.41297019e-03 -1.46396832e+02] [-4.84943892e-02 3.23941968e-03 9.98818202e-01 -5.24495007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.270714057 meters 0.035850217897088935 Centerline is valid? [True, True] Translation: X:830.37, Y:-146.40, Z:-52.45 [[ 9.96595436e-01 6.67213292e-02 4.84334646e-02 8.30373491e+02] [-6.64864318e-02 9.97766503e-01 -6.44663402e-03 -1.46400240e+02] [-4.87554166e-02 3.20451781e-03 9.98805607e-01 -5.24506502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.3007140569999 meters 0.038082972796236715 Centerline is valid? [True, True] Translation: X:830.40, Y:-146.41, Z:-52.45 [[ 9.96551620e-01 6.71222995e-02 4.87797704e-02 8.30400965e+02] [-6.68846732e-02 9.97739610e-01 -6.48931901e-03 -1.46406504e+02] [-4.91050871e-02 3.20432236e-03 9.98788478e-01 -5.24523926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.3307140569999 meters 0.038082972796236715 Centerline is valid? [True, True] Translation: X:830.43, Y:-146.41, Z:-52.45 [[ 9.96556223e-01 6.70534882e-02 4.87803646e-02 8.30429044e+02] [-6.68159977e-02 9.97744240e-01 -6.48484973e-03 -1.46410175e+02] [-4.91051596e-02 3.20320863e-03 9.98788478e-01 -5.24540353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.3607140569999 meters 0.038133823254643553 Centerline is valid? [True, True] Translation: X:830.46, Y:-146.41, Z:-52.46 [[ 9.96539403e-01 6.70836590e-02 4.90815772e-02 8.30457916e+02] [-6.68434314e-02 9.97742164e-01 -6.52142807e-03 -1.46413317e+02] [-4.94082403e-02 3.21807900e-03 9.98773483e-01 -5.24554183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.390714057 meters 0.039716327522442155 Centerline is valid? [True, True] Translation: X:830.49, Y:-146.42, Z:-52.46 [[ 9.96579331e-01 6.66286119e-02 4.88903298e-02 8.30485384e+02] [-6.63898712e-02 9.97772634e-01 -6.49273971e-03 -1.46419100e+02] [-4.92140354e-02 3.22470750e-03 9.98783050e-01 -5.24575048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.4207140569999 meters 0.039577360421479205 Centerline is valid? [True, True] Translation: X:830.51, Y:-146.42, Z:-52.46 [[ 9.96625309e-01 6.59460358e-02 4.88785675e-02 8.30514061e+02] [-6.57068109e-02 9.97817888e-01 -6.48675730e-03 -1.46422751e+02] [-4.91996849e-02 3.25321170e-03 9.98783664e-01 -5.24588007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.4507140569999 meters 0.03899808032357933 Centerline is valid? [True, True] Translation: X:830.54, Y:-146.43, Z:-52.46 [[ 9.96702574e-01 6.48202521e-02 4.88089602e-02 8.30542551e+02] [-6.45805323e-02 9.97891497e-01 -6.47413168e-03 -1.46425493e+02] [-4.91257013e-02 3.30067507e-03 9.98787150e-01 -5.24602570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.4807140569999 meters 0.04328406148040749 Centerline is valid? [True, True] Translation: X:830.57, Y:-146.44, Z:-52.46 [[ 9.96786457e-01 6.36166958e-02 4.86793156e-02 8.30570016e+02] [-6.33769961e-02 9.97968792e-01 -6.45337228e-03 -1.46435199e+02] [-4.89909800e-02 3.34748530e-03 9.98793611e-01 -5.24622632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.510714057 meters 0.03716273216779801 Centerline is valid? [True, True] Translation: X:830.60, Y:-146.43, Z:-52.46 [[ 9.96890999e-01 6.11434057e-02 4.96972800e-02 8.30600281e+02] [-6.08906406e-02 9.98122717e-01 -6.58568607e-03 -1.46429641e+02] [-5.00066554e-02 3.53911195e-03 9.98742614e-01 -5.24618502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.540714057 meters 0.039480143403279405 Centerline is valid? [True, True] Translation: X:830.63, Y:-146.44, Z:-52.46 [[ 9.96956188e-01 5.97008836e-02 5.01414449e-02 8.30628522e+02] [-5.94419016e-02 9.98209671e-01 -6.64176700e-03 -1.46436510e+02] [-5.04481945e-02 3.64104788e-03 9.98720042e-01 -5.24632310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.5707140569999 meters 0.039799246240152956 Centerline is valid? [True, True] Translation: X:830.66, Y:-146.44, Z:-52.46 [[ 9.97047859e-01 5.72049284e-02 5.12168206e-02 8.30658116e+02] [-5.69315870e-02 9.98355052e-01 -6.78121520e-03 -1.46440562e+02] [-5.15204905e-02 3.84534122e-03 9.98664535e-01 -5.24642073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.6007140569999 meters 0.03995332595418319 Centerline is valid? [True, True] Translation: X:830.69, Y:-146.44, Z:-52.47 [[ 9.97138274e-01 5.57670391e-02 5.10421489e-02 8.30687053e+02] [-5.54937246e-02 9.98436169e-01 -6.75739765e-03 -1.46444434e+02] [-5.13391677e-02 3.90554087e-03 9.98673639e-01 -5.24655873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.630714057 meters 0.04141016015310586 Centerline is valid? [True, True] Translation: X:830.72, Y:-146.45, Z:-52.47 [[ 9.97208891e-01 5.46407502e-02 5.08804101e-02 8.30715352e+02] [-5.43678528e-02 9.98498273e-01 -6.73321126e-03 -1.46449979e+02] [-5.11719093e-02 3.94815949e-03 9.98682055e-01 -5.24675978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.660714057 meters 0.04273426285095645 Centerline is valid? [True, True] Translation: X:830.74, Y:-146.46, Z:-52.47 [[ 9.97351094e-01 5.23081520e-02 5.05435797e-02 8.30744681e+02] [-5.20360302e-02 9.98622828e-01 -6.68577582e-03 -1.46455356e+02] [-5.08236931e-02 4.03797859e-03 9.98699478e-01 -5.24696990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.6907140569999 meters 0.046164848510854284 Centerline is valid? [True, True] Translation: X:830.77, Y:-146.46, Z:-52.47 [[ 9.97427266e-01 5.15114828e-02 4.98539474e-02 8.30773512e+02] [-5.12458144e-02 9.98664305e-01 -6.59339150e-03 -1.46464009e+02] [-5.01269931e-02 4.02162232e-03 9.98734755e-01 -5.24723643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.7207140569999 meters 0.04599133374621673 Centerline is valid? [True, True] Translation: X:830.80, Y:-146.47, Z:-52.48 [[ 9.97477311e-01 5.06414830e-02 4.97438969e-02 8.30804117e+02] [-5.03756591e-02 9.98708639e-01 -6.58391566e-03 -1.46467328e+02] [-5.00130788e-02 4.06142489e-03 9.98740305e-01 -5.24750913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.750714057 meters 0.047756106770960864 Centerline is valid? [True, True] Translation: X:830.83, Y:-146.47, Z:-52.48 [[ 9.97582433e-01 4.90634961e-02 4.92144481e-02 8.30833935e+02] [-4.88014075e-02 9.98787262e-01 -6.51369823e-03 -1.46473978e+02] [-4.94743487e-02 4.09621660e-03 9.98766995e-01 -5.24780695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.780714057 meters 0.04860511710483137 Centerline is valid? [True, True] Translation: X:830.86, Y:-146.48, Z:-52.48 [[ 9.97634614e-01 4.83487127e-02 4.88628676e-02 8.30864854e+02] [-4.80894741e-02 9.98822091e-01 -6.46786371e-03 -1.46479376e+02] [-4.91180244e-02 4.10277510e-03 9.98784555e-01 -5.24808807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.8107140569999 meters 0.04301055867024666 Centerline is valid? [True, True] Translation: X:830.90, Y:-146.48, Z:-52.48 [[ 9.97669753e-01 4.75047097e-02 4.89731231e-02 8.30896754e+02] [-4.72432067e-02 9.98862371e-01 -6.48413962e-03 -1.46475743e+02] [-4.92254370e-02 4.15538260e-03 9.98779049e-01 -5.24823949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.8407140569999 meters 0.049930660863336286 Centerline is valid? [True, True] Translation: X:830.93, Y:-146.49, Z:-52.49 [[ 9.97776597e-01 4.64162854e-02 4.78266672e-02 8.30926356e+02] [-4.61656645e-02 9.98913728e-01 -6.33213806e-03 -1.46489437e+02] [-4.80686287e-02 4.11010929e-03 9.98835579e-01 -5.24860640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.870714057 meters 0.04803853011144534 Centerline is valid? [True, True] Translation: X:830.96, Y:-146.49, Z:-52.49 [[ 9.97813167e-01 4.57712341e-02 4.76851947e-02 8.30957964e+02] [-4.55207281e-02 9.98943360e-01 -6.32667060e-03 -1.46490599e+02] [-4.79243882e-02 4.14217045e-03 9.98842378e-01 -5.24881166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.900714057 meters 0.05215574834541297 Centerline is valid? [True, True] Translation: X:830.99, Y:-146.50, Z:-52.49 [[ 9.97848770e-01 4.56876095e-02 4.70156854e-02 8.30987629e+02] [-4.54439688e-02 9.98947409e-01 -6.23857120e-03 -1.46499889e+02] [-4.72512225e-02 4.08857125e-03 9.98874670e-01 -5.24913459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.9307140569999 meters 0.045091063127922305 Centerline is valid? [True, True] Translation: X:831.02, Y:-146.49, Z:-52.49 [[ 9.97887258e-01 4.55731314e-02 4.63045436e-02 8.31019865e+02] [-4.53363869e-02 9.98952842e-01 -6.15072136e-03 -1.46494014e+02] [-4.65363630e-02 4.03844577e-03 9.98908433e-01 -5.24924133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.9607140569999 meters 0.05631931295940826 Centerline is valid? [True, True] Translation: X:831.05, Y:-146.51, Z:-52.50 [[ 9.97933948e-01 4.58599454e-02 4.49966829e-02 8.31048270e+02] [-4.56367262e-02 9.98940226e-01 -5.97612629e-03 -1.46512348e+02] [-4.52230614e-02 3.91027800e-03 9.98969261e-01 -5.24976476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.9907140569999 meters 0.045226167454079 Centerline is valid? [True, True] Translation: X:831.08, Y:-146.50, Z:-52.50 [[ 9.97902888e-01 4.62745824e-02 4.52602504e-02 8.31080984e+02] [-4.60485468e-02 9.98921036e-01 -6.02462410e-03 -1.46501144e+02] [-4.54902032e-02 3.92782103e-03 9.98957063e-01 -5.24972079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.020714057 meters 0.05684482591746686 Centerline is valid? [True, True] Translation: X:831.11, Y:-146.52, Z:-52.50 [[ 9.97865838e-01 4.69411436e-02 4.53905212e-02 8.31108916e+02] [-4.67144976e-02 9.98890010e-01 -6.04175107e-03 -1.46520094e+02] [-4.56237449e-02 3.90846160e-03 9.98951049e-01 -5.25011299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.0507140569999 meters 0.0439689767310792 Centerline is valid? [True, True] Translation: X:831.14, Y:-146.51, Z:-52.50 [[ 9.97750762e-01 4.87115864e-02 4.60499469e-02 8.31141776e+02] [-4.84801234e-02 9.98805333e-01 -6.13056424e-03 -1.46505143e+02] [-4.62935621e-02 3.88426804e-03 9.98920326e-01 -5.24998179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.0807140569999 meters 0.04762486358694495 Centerline is valid? [True, True] Translation: X:831.17, Y:-146.51, Z:-52.50 [[ 9.97677287e-01 4.96210973e-02 4.66666707e-02 8.31170722e+02] [-4.93843833e-02 9.98760526e-01 -6.21247720e-03 -1.46513318e+02] [-4.69170985e-02 3.89344264e-03 9.98891199e-01 -5.25021922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.1107140569999 meters 0.04214332118294474 Centerline is valid? [True, True] Translation: X:831.20, Y:-146.51, Z:-52.50 [[ 9.97612346e-01 5.08942015e-02 4.66839161e-02 8.31202211e+02] [-5.06586478e-02 9.98696683e-01 -6.21579787e-03 -1.46509485e+02] [-4.69394202e-02 3.83601263e-03 9.98890372e-01 -5.25026534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.140714057 meters 0.04280749269456767 Centerline is valid? [True, True] Translation: X:831.23, Y:-146.51, Z:-52.50 [[ 9.97477777e-01 5.32733329e-02 4.69045483e-02 8.31230967e+02] [-5.30381388e-02 9.98572956e-01 -6.24555102e-03 -1.46512770e+02] [-4.71703348e-02 3.74206840e-03 9.98879851e-01 -5.25043261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.1707140569999 meters 0.04289225117006204 Centerline is valid? [True, True] Translation: X:831.26, Y:-146.52, Z:-52.51 [[ 9.97410041e-01 5.48117763e-02 4.65712362e-02 8.31260105e+02] [-5.45816599e-02 9.98490064e-01 -6.19949955e-03 -1.46516229e+02] [-4.68407222e-02 3.64150772e-03 9.98895733e-01 -5.25062875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.2007140569999 meters 0.04180909153411756 Centerline is valid? [True, True] Translation: X:831.29, Y:-146.52, Z:-52.51 [[ 9.97253632e-01 5.75449527e-02 4.66237337e-02 8.31289798e+02] [-5.73173630e-02 9.98336727e-01 -6.20480758e-03 -1.46516753e+02] [-4.69032411e-02 3.51541742e-03 9.98893251e-01 -5.25079456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.2307140569999 meters 0.041721435952204865 Centerline is valid? [True, True] Translation: X:831.32, Y:-146.52, Z:-52.51 [[ 9.97202110e-01 5.86689857e-02 4.63238784e-02 8.31318204e+02] [-5.84455808e-02 9.98271568e-01 -6.16364313e-03 -1.46519286e+02] [-4.66054255e-02 3.43897195e-03 9.98907457e-01 -5.25097881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.260714057 meters 0.041883705731560104 Centerline is valid? [True, True] Translation: X:831.35, Y:-146.52, Z:-52.51 [[ 9.97150882e-01 5.98709893e-02 4.58866310e-02 8.31345586e+02] [-5.96531936e-02 9.98200510e-01 -6.10237333e-03 -1.46522501e+02] [-4.61694136e-02 3.34770286e-03 9.98928015e-01 -5.25114178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.290714057 meters 0.04098808879849126 Centerline is valid? [True, True] Translation: X:831.38, Y:-146.52, Z:-52.51 [[ 9.97026152e-01 6.15062524e-02 4.64309614e-02 8.31375085e+02] [-6.12852169e-02 9.98101221e-01 -6.17048582e-03 -1.46524473e+02] [-4.67223227e-02 3.30660419e-03 9.98902443e-01 -5.25131259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.3207140569999 meters 0.04206681230724701 Centerline is valid? [True, True] Translation: X:831.40, Y:-146.53, Z:-52.52 [[ 9.96833778e-01 6.48206153e-02 4.60511335e-02 8.31404405e+02] [-6.46067815e-02 9.97892043e-01 -6.11829050e-03 -1.46528026e+02] [-4.63506511e-02 3.12370312e-03 9.98920347e-01 -5.25157135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.3507140569999 meters 0.041064761566303495 Centerline is valid? [True, True] Translation: X:831.43, Y:-146.53, Z:-52.52 [[ 9.96695717e-01 6.67413881e-02 4.62950762e-02 8.31434406e+02] [-6.65273975e-02 9.97765648e-01 -6.14951502e-03 -1.46530020e+02] [-4.66020638e-02 3.04930435e-03 9.98908879e-01 -5.25174998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.380714057 meters 0.03927708310766964 Centerline is valid? [True, True] Translation: X:831.46, Y:-146.53, Z:-52.52 [[ 9.96597447e-01 6.84716980e-02 4.58819764e-02 8.31463926e+02] [-6.82633554e-02 9.97648723e-01 -6.09425251e-03 -1.46530310e+02] [-4.61913790e-02 2.94145882e-03 9.98928278e-01 -5.25191863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.410714057 meters 0.03866475586903951 Centerline is valid? [True, True] Translation: X:831.49, Y:-146.53, Z:-52.52 [[ 9.96335768e-01 7.20396991e-02 4.61011757e-02 8.31492917e+02] [-7.18332855e-02 9.97397873e-01 -6.12068749e-03 -1.46532072e+02] [-4.64221471e-02 2.78666095e-03 9.98918024e-01 -5.25211702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.4407140569999 meters 0.03620809541840775 Centerline is valid? [True, True] Translation: X:831.52, Y:-146.53, Z:-52.52 [[ 9.96227546e-01 7.33507505e-02 4.63718023e-02 8.31522441e+02] [-7.31433209e-02 9.97302437e-01 -6.15656842e-03 -1.46531832e+02] [-4.66983003e-02 2.74155544e-03 9.98905277e-01 -5.25220729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.4707140569999 meters 0.038518813639072 Centerline is valid? [True, True] Translation: X:831.55, Y:-146.54, Z:-52.52 [[ 9.96135224e-01 7.46307029e-02 4.63127742e-02 8.31549260e+02] [-7.44254431e-02 9.97207659e-01 -6.14307987e-03 -1.46538229e+02] [-4.66419155e-02 2.67248950e-03 9.98908099e-01 -5.25245067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.500714057 meters 0.03182498315365889 Centerline is valid? [True, True] Translation: X:831.58, Y:-146.53, Z:-52.52 [[ 9.96074160e-01 7.57616742e-02 4.57868638e-02 8.31579388e+02] [-7.55624294e-02 9.97122602e-01 -6.06930186e-03 -1.46531334e+02] [-4.61149373e-02 2.58570809e-03 9.98932794e-01 -5.25242204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.530714057 meters 0.031226404592504742 Centerline is valid? [True, True] Translation: X:831.61, Y:-146.53, Z:-52.52 [[ 9.95962184e-01 7.72643755e-02 4.57115428e-02 8.31608264e+02] [-7.70675158e-02 9.97007484e-01 -6.05600284e-03 -1.46533080e+02] [-4.60426635e-02 2.50867477e-03 9.98936324e-01 -5.25245163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.5607140569999 meters 0.03253817761592782 Centerline is valid? [True, True] Translation: X:831.64, Y:-146.54, Z:-52.53 [[ 9.95867920e-01 7.81926515e-02 4.61843618e-02 8.31635984e+02] [-7.79928490e-02 9.96935163e-01 -6.11521785e-03 -1.46538816e+02] [-4.65209794e-02 2.48789932e-03 9.98914215e-01 -5.25261628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.5907140569999 meters 0.03295600844288597 Centerline is valid? [True, True] Translation: X:831.66, Y:-146.54, Z:-52.53 [[ 9.95779386e-01 7.90109233e-02 4.66978530e-02 8.31663808e+02] [-7.88077003e-02 9.96870681e-01 -6.17993211e-03 -1.46543168e+02] [-4.70400027e-02 2.47369860e-03 9.98889943e-01 -5.25264696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.620714057 meters 0.03194112987865016 Centerline is valid? [True, True] Translation: X:831.69, Y:-146.55, Z:-52.53 [[ 9.95744884e-01 7.94780412e-02 4.66408254e-02 8.31692968e+02] [-7.92760269e-02 9.96833620e-01 -6.16810110e-03 -1.46545424e+02] [-4.69833714e-02 2.44435579e-03 9.98892681e-01 -5.25273586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.650714057 meters 0.030344773411821607 Centerline is valid? [True, True] Translation: X:831.72, Y:-146.55, Z:-52.53 [[ 9.95720470e-01 7.96325469e-02 4.68978009e-02 8.31722164e+02] [-7.94286274e-02 9.96821282e-01 -6.19874166e-03 -1.46547334e+02] [-4.72423477e-02 2.44718600e-03 9.98880459e-01 -5.25284033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.6807140569999 meters 0.030203983216931282 Centerline is valid? [True, True] Translation: X:831.75, Y:-146.55, Z:-52.53 [[ 9.95582646e-01 8.07830516e-02 4.78465604e-02 8.31749321e+02] [-8.05722794e-02 9.96728728e-01 -6.32072850e-03 -1.46552987e+02] [-4.82006490e-02 2.43770117e-03 9.98834699e-01 -5.25297775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.7107140569999 meters 0.030305526604901944 Centerline is valid? [True, True] Translation: X:831.78, Y:-146.56, Z:-52.53 [[ 9.95515202e-01 8.14201150e-02 4.81689442e-02 8.31777537e+02] [-8.12074559e-02 9.96676936e-01 -6.35874134e-03 -1.46557255e+02] [-4.85266052e-02 2.41854626e-03 9.98818962e-01 -5.25311895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.7407140569999 meters 0.030122493877644763 Centerline is valid? [True, True] Translation: X:831.81, Y:-146.56, Z:-52.53 [[ 9.95442511e-01 8.22715125e-02 4.82245364e-02 8.31806320e+02] [-8.20595009e-02 9.96607119e-01 -6.36313896e-03 -1.46561772e+02] [-4.85844213e-02 2.37685764e-03 9.98816252e-01 -5.25327875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.770714057 meters 0.029562517632964178 Centerline is valid? [True, True] Translation: X:831.84, Y:-146.57, Z:-52.53 [[ 9.95366790e-01 8.31731198e-02 4.82409126e-02 8.31835086e+02] [-8.29623577e-02 9.96532397e-01 -6.35835394e-03 -1.46565732e+02] [-4.86024764e-02 2.32671451e-03 9.98815491e-01 -5.25345774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.8007140569999 meters 0.029365416726735403 Centerline is valid? [True, True] Translation: X:831.86, Y:-146.57, Z:-52.54 [[ 9.95320267e-01 8.38001681e-02 4.81154747e-02 8.31863866e+02] [-8.35913284e-02 9.96479953e-01 -6.33983659e-03 -1.46570405e+02] [-4.84773854e-02 2.28813139e-03 9.98821660e-01 -5.25363393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.8307140569999 meters 0.028596553005897828 Centerline is valid? [True, True] Translation: X:831.89, Y:-146.57, Z:-52.54 [[ 9.95179690e-01 8.53089386e-02 4.83711743e-02 8.31892696e+02] [-8.51002061e-02 9.96352086e-01 -6.36210000e-03 -1.46574882e+02] [-4.87374644e-02 2.21503580e-03 9.98809168e-01 -5.25374335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.8607140569999 meters 0.029072077018967326 Centerline is valid? [True, True] Translation: X:831.92, Y:-146.58, Z:-52.54 [[ 9.95078259e-01 8.63525745e-02 4.86054590e-02 8.31920388e+02] [-8.61436915e-02 9.96262295e-01 -6.37993102e-03 -1.46580482e+02] [-4.89747096e-02 2.16147699e-03 9.98797680e-01 -5.25390714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.890714057 meters 0.03055823731260273 Centerline is valid? [True, True] Translation: X:831.95, Y:-146.59, Z:-52.54 [[ 9.94953703e-01 8.74003635e-02 4.92778318e-02 8.31947080e+02] [-8.71870938e-02 9.96170976e-01 -6.46504762e-03 -1.46588204e+02] [-4.96541933e-02 2.13603213e-03 9.98764186e-01 -5.25407159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.9207140569999 meters 0.028305947695329476 Centerline is valid? [True, True] Translation: X:831.98, Y:-146.59, Z:-52.54 [[ 9.94721711e-01 8.97266961e-02 4.97778821e-02 8.31975821e+02] [-8.95123274e-02 9.95964349e-01 -6.52368056e-03 -1.46590153e+02] [-5.01623443e-02 2.03351261e-03 9.98739007e-01 -5.25423459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.9507140569999 meters 0.027737033886293526 Centerline is valid? [True, True] Translation: X:832.00, Y:-146.59, Z:-52.54 [[ 9.94633901e-01 9.08332734e-02 4.95249431e-02 8.32004064e+02] [-9.06226229e-02 9.95864177e-01 -6.48703570e-03 -1.46594138e+02] [-4.99093554e-02 1.96414538e-03 9.98751820e-01 -5.25443788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.9807140569999 meters 0.028424721191018246 Centerline is valid? [True, True] Translation: X:832.03, Y:-146.60, Z:-52.55 [[ 9.94535177e-01 9.22172183e-02 4.89465594e-02 8.32030685e+02] [-9.20132985e-02 9.95737159e-01 -6.40798558e-03 -1.46600856e+02] [-4.93288346e-02 1.86923270e-03 9.98780843e-01 -5.25473330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.010714057 meters 0.02540172206567139 Centerline is valid? [True, True] Translation: X:832.06, Y:-146.60, Z:-52.55 [[ 9.94429152e-01 9.40488367e-02 4.75970317e-02 8.32059250e+02] [-9.38583107e-02 9.95566091e-01 -6.22711800e-03 -1.46600994e+02] [-4.79716440e-02 1.72505069e-03 9.98847208e-01 -5.25492276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.040714057 meters 0.025550265181765352 Centerline is valid? [True, True] Translation: X:832.09, Y:-146.61, Z:-52.55 [[ 9.94365626e-01 9.48710618e-02 4.72914706e-02 8.32086131e+02] [-9.46840615e-02 9.95488166e-01 -6.18384628e-03 -1.46606756e+02] [-4.76647674e-02 1.67125567e-03 9.98861991e-01 -5.25514396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.0707140569999 meters 0.02554806561147356 Centerline is valid? [True, True] Translation: X:832.11, Y:-146.61, Z:-52.55 [[ 9.94299673e-01 9.56680209e-02 4.70721903e-02 8.32114100e+02] [-9.54837687e-02 9.95411973e-01 -6.15253899e-03 -1.46613109e+02] [-4.74448230e-02 1.62283737e-03 9.98872542e-01 -5.25528040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.1007140569999 meters 0.025664917341788697 Centerline is valid? [True, True] Translation: X:832.14, Y:-146.62, Z:-52.55 [[ 9.94313327e-01 9.55054239e-02 4.71139186e-02 8.32141430e+02] [-9.53213021e-02 9.95427594e-01 -6.14453805e-03 -1.46618304e+02] [-4.74853313e-02 1.61863600e-03 9.98870624e-01 -5.25544719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.130714057 meters 0.025172609329986887 Centerline is valid? [True, True] Translation: X:832.17, Y:-146.62, Z:-52.56 [[ 9.94330762e-01 9.54166301e-02 4.69255044e-02 8.32168624e+02] [-9.52340275e-02 9.95436118e-01 -6.11685971e-03 -1.46622575e+02] [-4.72949920e-02 1.61327700e-03 9.98879663e-01 -5.25556608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.160714057 meters 0.02567249331995808 Centerline is valid? [True, True] Translation: X:832.20, Y:-146.63, Z:-52.56 [[ 9.94362155e-01 9.50576761e-02 4.69887477e-02 8.32195595e+02] [-9.48749148e-02 9.95470453e-01 -6.10961313e-03 -1.46629380e+02] [-4.73566756e-02 1.61711465e-03 9.98876734e-01 -5.25575913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.1907140569999 meters 0.02543000383307706 Centerline is valid? [True, True] Translation: X:832.22, Y:-146.64, Z:-52.56 [[ 9.94379313e-01 9.44368740e-02 4.78691766e-02 8.32223818e+02] [-9.42468316e-02 9.95529451e-01 -6.21672711e-03 -1.46636828e+02] [-4.82422634e-02 1.67026661e-03 9.98834268e-01 -5.25594033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.2207140569999 meters 0.025954349501256364 Centerline is valid? [True, True] Translation: X:832.25, Y:-146.64, Z:-52.56 [[ 9.94407639e-01 9.39339797e-02 4.82685682e-02 8.32250695e+02] [-9.37403244e-02 9.95576968e-01 -6.26519497e-03 -1.46643672e+02] [-4.86435895e-02 1.70544649e-03 9.98814744e-01 -5.25611746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.250714057 meters 0.025954349501256364 Centerline is valid? [True, True] Translation: X:832.28, Y:-146.65, Z:-52.56 [[ 9.94417653e-01 9.38276317e-02 4.82691040e-02 8.32277905e+02] [-9.36340516e-02 9.95586994e-01 -6.26106451e-03 -1.46647113e+02] [-4.86435530e-02 1.70648131e-03 9.98814744e-01 -5.25627656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.280714057 meters 0.026283764194713757 Centerline is valid? [True, True] Translation: X:832.31, Y:-146.65, Z:-52.56 [[ 9.94488875e-01 9.27989002e-02 4.87877137e-02 8.32305862e+02] [-9.26001783e-02 9.95683299e-01 -6.32265495e-03 -1.46653220e+02] [-4.91638471e-02 1.77005902e-03 9.98789158e-01 -5.25641853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.3107140569999 meters 0.026503814297008006 Centerline is valid? [True, True] Translation: X:832.33, Y:-146.66, Z:-52.57 [[ 9.94486986e-01 9.24063232e-02 4.95651654e-02 8.32332477e+02] [-9.22009013e-02 9.95719729e-01 -6.41988516e-03 -1.46660068e+02] [-4.99462510e-02 1.81453932e-03 9.98750259e-01 -5.25655875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.3407140569999 meters 0.02661555218884148 Centerline is valid? [True, True] Translation: X:832.36, Y:-146.67, Z:-52.57 [[ 9.94538582e-01 9.16798765e-02 4.98779406e-02 8.32360927e+02] [-9.14711732e-02 9.95786798e-01 -6.45575492e-03 -1.46666045e+02] [-5.02596576e-02 1.85810359e-03 9.98734456e-01 -5.25668925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.370714057 meters 0.02648960913156343 Centerline is valid? [True, True] Translation: X:832.39, Y:-146.67, Z:-52.57 [[ 9.94603541e-01 9.04622617e-02 5.07973890e-02 8.32388581e+02] [-9.02443916e-02 9.95897972e-01 -6.57103696e-03 -1.46674225e+02] [-5.11834476e-02 1.95139716e-03 9.98687362e-01 -5.25679019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.400714057 meters 0.02766413152353664 Centerline is valid? [True, True] Translation: X:832.42, Y:-146.68, Z:-52.57 [[ 9.94679445e-01 8.96317037e-02 5.07834666e-02 8.32415308e+02] [-8.94130566e-02 9.95972990e-01 -6.56565052e-03 -1.46682775e+02] [-5.11674516e-02 1.99001263e-03 9.98688105e-01 -5.25698888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.4307140569999 meters 0.02964135145456903 Centerline is valid? [True, True] Translation: X:832.44, Y:-146.70, Z:-52.57 [[ 9.94881926e-01 8.75570764e-02 5.04352186e-02 8.32442767e+02] [-8.73390038e-02 9.96157338e-01 -6.51583992e-03 -1.46695273e+02] [-5.08119210e-02 2.07752962e-03 9.98706079e-01 -5.25731717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.4607140569999 meters 0.028490036307644698 Centerline is valid? [True, True] Translation: X:832.47, Y:-146.70, Z:-52.57 [[ 9.95018061e-01 8.62549114e-02 4.99914819e-02 8.32471018e+02] [-8.60391479e-02 9.96270839e-01 -6.45603734e-03 -1.46699619e+02] [-5.03619205e-02 2.12264926e-03 9.98728778e-01 -5.25748746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.4907140569999 meters 0.030511070660543402 Centerline is valid? [True, True] Translation: X:832.50, Y:-146.71, Z:-52.58 [[ 9.95186892e-01 8.44868073e-02 4.96490602e-02 8.32498018e+02] [-8.42719657e-02 9.96422183e-01 -6.40844684e-03 -1.46708716e+02] [-5.00128542e-02 2.19357839e-03 9.98746165e-01 -5.25774941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.520714057 meters 0.02987908233326693 Centerline is valid? [True, True] Translation: X:832.53, Y:-146.71, Z:-52.58 [[ 9.95348947e-01 8.29624910e-02 4.89662998e-02 8.32526505e+02] [-8.27519001e-02 9.96550165e-01 -6.31592488e-03 -1.46713797e+02] [-4.93213591e-02 2.23449483e-03 9.98780462e-01 -5.25791555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.5507140569999 meters 0.0293501250477934 Centerline is valid? [True, True] Translation: X:832.55, Y:-146.72, Z:-52.58 [[ 9.95610692e-01 8.04111974e-02 4.78893504e-02 8.32554829e+02] [-8.02069986e-02 9.96759111e-01 -6.17356966e-03 -1.46721212e+02] [-4.82305704e-02 2.30541090e-03 9.98833568e-01 -5.25814323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.5807140569999 meters 0.03329015762012043 Centerline is valid? [True, True] Translation: X:832.58, Y:-146.73, Z:-52.58 [[ 9.95726937e-01 7.89957722e-02 4.78281873e-02 8.32580796e+02] [-7.87905758e-02 9.96872137e-01 -6.16342750e-03 -1.46733662e+02] [-4.81654720e-02 2.36868036e-03 9.98836562e-01 -5.25845410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.6107140569999 meters 0.034060187220072015 Centerline is valid? [True, True] Translation: X:832.61, Y:-146.74, Z:-52.59 [[ 9.95820147e-01 7.77239888e-02 4.79709916e-02 8.32609030e+02] [-7.75163124e-02 9.96971947e-01 -6.17729047e-03 -1.46740280e+02] [-4.83058566e-02 2.43293593e-03 9.98829628e-01 -5.25860438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.640714057 meters 0.030710737109200928 Centerline is valid? [True, True] Translation: X:832.64, Y:-146.74, Z:-52.59 [[ 9.95842897e-01 7.70560333e-02 4.85725413e-02 8.32637830e+02] [-7.68424800e-02 9.97023647e-01 -6.25146284e-03 -1.46740126e+02] [-4.89096852e-02 2.49304034e-03 9.98800094e-01 -5.25863292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.6707140569999 meters 0.033329703359460006 Centerline is valid? [True, True] Translation: X:832.66, Y:-146.75, Z:-52.59 [[ 9.95977075e-01 7.55618723e-02 4.81671034e-02 8.32664091e+02] [-7.53502815e-02 9.97137875e-01 -6.19617472e-03 -1.46750357e+02] [-4.84974377e-02 2.54184317e-03 9.98820073e-01 -5.25882838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.7007140569999 meters 0.03140837925612731 Centerline is valid? [True, True] Translation: X:832.69, Y:-146.75, Z:-52.59 [[ 9.96054068e-01 7.47053750e-02 4.79103321e-02 8.32693154e+02] [-7.44953111e-02 9.97202352e-01 -6.15771190e-03 -1.46751908e+02] [-4.82363100e-02 2.56431890e-03 9.98832660e-01 -5.25892680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.7307140569999 meters 0.03208384471547519 Centerline is valid? [True, True] Translation: X:832.72, Y:-146.76, Z:-52.59 [[ 9.96145457e-01 7.36527025e-02 4.76393520e-02 8.32720854e+02] [-7.34439662e-02 9.97280569e-01 -6.11964283e-03 -1.46757671e+02] [-4.79605284e-02 2.59723144e-03 9.98845855e-01 -5.25912067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.760714057 meters 0.03418094242845638 Centerline is valid? [True, True] Translation: X:832.75, Y:-146.77, Z:-52.59 [[ 9.96387409e-01 7.06666043e-02 4.70994837e-02 8.32749492e+02] [-7.04594842e-02 9.97496323e-01 -6.04539505e-03 -1.46767278e+02] [-4.74087693e-02 2.70495019e-03 9.98871910e-01 -5.25935552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.790714057 meters 0.03548547416142333 Centerline is valid? [True, True] Translation: X:832.78, Y:-146.77, Z:-52.60 [[ 9.96551301e-01 6.87225647e-02 4.65049861e-02 8.32778219e+02] [-6.85185655e-02 9.97631988e-01 -5.96846352e-03 -1.46774200e+02] [-4.68050299e-02 2.76142515e-03 9.98900227e-01 -5.25955645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.8207140569999 meters 0.03659709492230439 Centerline is valid? [True, True] Translation: X:832.81, Y:-146.78, Z:-52.60 [[ 9.96698949e-01 6.66647570e-02 4.63359035e-02 8.32807353e+02] [-6.64601006e-02 9.97771372e-01 -5.94514521e-03 -1.46780877e+02] [-4.66289696e-02 2.84603117e-03 9.98908224e-01 -5.25973593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.8507140569999 meters 0.037347437003956124 Centerline is valid? [True, True] Translation: X:832.84, Y:-146.79, Z:-52.60 [[ 9.96818801e-01 6.46791994e-02 4.65712274e-02 8.32836527e+02] [-6.44703763e-02 9.97901741e-01 -5.97369872e-03 -1.46787326e+02] [-4.68598830e-02 2.95223064e-03 9.98897110e-01 -5.25988137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.880714057 meters 0.04009088214934644 Centerline is valid? [True, True] Translation: X:832.87, Y:-146.80, Z:-52.60 [[ 9.97089730e-01 6.03179306e-02 4.66242080e-02 8.32865267e+02] [-6.01039818e-02 9.98174218e-01 -5.97844418e-03 -1.46796603e+02] [-4.68996897e-02 3.15874475e-03 9.98894610e-01 -5.26002427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.910714057 meters 0.03865982481957145 Centerline is valid? [True, True] Translation: X:832.90, Y:-146.80, Z:-52.60 [[ 9.97201088e-01 5.84725299e-02 4.65934946e-02 8.32895816e+02] [-5.82568500e-02 9.98283748e-01 -5.97469975e-03 -1.46799303e+02] [-4.68628843e-02 3.24358686e-03 9.98896065e-01 -5.26018258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.9407140569999 meters 0.042410145188686986 Centerline is valid? [True, True] Translation: X:832.92, Y:-146.81, Z:-52.60 [[ 9.97317101e-01 5.69603160e-02 4.59795984e-02 8.32924767e+02] [-5.67486887e-02 9.98371085e-01 -5.89597962e-03 -1.46809196e+02] [-4.62405384e-02 3.27087938e-03 9.98924979e-01 -5.26044175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.9707140569999 meters 0.03925532020819993 Centerline is valid? [True, True] Translation: X:832.96, Y:-146.81, Z:-52.61 [[ 9.97385305e-01 5.57149459e-02 4.60260620e-02 8.32955529e+02] [-5.55015717e-02 9.98441156e-01 -5.90193766e-03 -1.46808949e+02] [-4.62831407e-02 3.33198711e-03 9.98922804e-01 -5.26056385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.000714057 meters 0.03989774005780225 Centerline is valid? [True, True] Translation: X:832.99, Y:-146.81, Z:-52.61 [[ 9.97510656e-01 5.36920775e-02 4.57127036e-02 8.32986032e+02] [-5.34794993e-02 9.98551744e-01 -5.86154575e-03 -1.46814526e+02] [-4.59612185e-02 3.40226184e-03 9.98937431e-01 -5.26075940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.030714057 meters 0.04077361279737874 Centerline is valid? [True, True] Translation: X:833.02, Y:-146.82, Z:-52.61 [[ 9.97550195e-01 5.29975623e-02 4.56603422e-02 8.33016884e+02] [-5.27847200e-02 9.98588748e-01 -5.85544534e-03 -1.46820087e+02] [-4.59062282e-02 3.43093227e-03 9.98939862e-01 -5.26095963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.0607140569999 meters 0.03914456918801489 Centerline is valid? [True, True] Translation: X:833.05, Y:-146.82, Z:-52.61 [[ 9.97583964e-01 5.24145506e-02 4.55955050e-02 8.33048737e+02] [-5.22017424e-02 9.98619446e-01 -5.84637467e-03 -1.46821258e+02] [-4.58389931e-02 3.45208481e-03 9.98942876e-01 -5.26109567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.0907140569999 meters 0.041641032382280944 Centerline is valid? [True, True] Translation: X:833.08, Y:-146.83, Z:-52.61 [[ 9.97708752e-01 5.03764841e-02 4.51603430e-02 8.33077726e+02] [-5.01650785e-02 9.98724081e-01 -5.80309804e-03 -1.46828198e+02] [-4.53950617e-02 3.52432955e-03 9.98962896e-01 -5.26133159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.120714057 meters 0.041862706147797586 Centerline is valid? [True, True] Translation: X:833.11, Y:-146.83, Z:-52.62 [[ 9.97768380e-01 4.92635987e-02 4.50705858e-02 8.33109870e+02] [-4.90517339e-02 9.98779426e-01 -5.79534963e-03 -1.46832560e+02] [-4.53010735e-02 3.57162624e-03 9.98966995e-01 -5.26153112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.150714057 meters 0.043001972725508646 Centerline is valid? [True, True] Translation: X:833.14, Y:-146.84, Z:-52.62 [[ 9.97831477e-01 4.84426869e-02 4.45606285e-02 8.33141311e+02] [-4.82347302e-02 9.98819587e-01 -5.73089925e-03 -1.46837880e+02] [-4.47856488e-02 3.56910177e-03 9.98990244e-01 -5.26172822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.1807140569999 meters 0.04387350619409541 Centerline is valid? [True, True] Translation: X:833.17, Y:-146.84, Z:-52.62 [[ 9.97918122e-01 4.65365339e-02 4.46516859e-02 8.33172251e+02] [-4.63252478e-02 9.98909828e-01 -5.75558904e-03 -1.46842880e+02] [-4.48708531e-02 3.67510619e-03 9.98986036e-01 -5.26195288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.2107140569999 meters 0.045101909315617826 Centerline is valid? [True, True] Translation: X:833.20, Y:-146.85, Z:-52.62 [[ 9.97954200e-01 4.55746180e-02 4.48371471e-02 8.33203814e+02] [-4.53605551e-02 9.98953955e-01 -5.78066356e-03 -1.46848759e+02] [-4.50536970e-02 3.73499959e-03 9.98977584e-01 -5.26216446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.2407140569999 meters 0.04635431746928848 Centerline is valid? [True, True] Translation: X:833.24, Y:-146.85, Z:-52.62 [[ 9.98010642e-01 4.46274453e-02 4.45325631e-02 8.33235854e+02] [-4.44152062e-02 9.98996641e-01 -5.74454923e-03 -1.46854487e+02] [-4.47442456e-02 3.75519829e-03 9.98991417e-01 -5.26234004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.270714057 meters 0.04748728441557525 Centerline is valid? [True, True] Translation: X:833.27, Y:-146.86, Z:-52.62 [[ 9.98038942e-01 4.35596877e-02 4.49535689e-02 8.33266105e+02] [-4.33421720e-02 9.99043436e-01 -5.80253391e-03 -1.46859113e+02] [-4.51633245e-02 3.84276949e-03 9.98972225e-01 -5.26247172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.3007140569999 meters 0.04315680571306193 Centerline is valid? [True, True] Translation: X:833.30, Y:-146.86, Z:-52.63 [[ 9.98022396e-01 4.38864085e-02 4.50031260e-02 8.33299494e+02] [-4.36688138e-02 9.99029183e-01 -5.80734741e-03 -1.46857100e+02] [-4.52142998e-02 3.83062965e-03 9.98969966e-01 -5.26251545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.3307140569999 meters 0.045412830171400895 Centerline is valid? [True, True] Translation: X:833.33, Y:-146.86, Z:-52.63 [[ 9.98009339e-01 4.43339521e-02 4.48537577e-02 8.33329913e+02] [-4.41176263e-02 9.99009496e-01 -5.80187990e-03 -1.46863707e+02] [-4.50665501e-02 3.81148900e-03 9.98976716e-01 -5.26273227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.3607140569999 meters 0.045898517952788424 Centerline is valid? [True, True] Translation: X:833.36, Y:-146.87, Z:-52.63 [[ 9.97945837e-01 4.54564505e-02 4.51422027e-02 8.33359992e+02] [-4.52378619e-02 9.98959100e-01 -5.85259404e-03 -1.46867956e+02] [-4.53612523e-02 3.79843513e-03 9.98963427e-01 -5.26293166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.390714057 meters 0.04597749695305985 Centerline is valid? [True, True] Translation: X:833.39, Y:-146.87, Z:-52.63 [[ 9.97899973e-01 4.65410242e-02 4.50508310e-02 8.33392055e+02] [-4.63245093e-02 9.98909380e-01 -5.83871865e-03 -1.46871924e+02] [-4.52734376e-02 3.73949955e-03 9.98967633e-01 -5.26311494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.4207140569999 meters 0.046080320720560154 Centerline is valid? [True, True] Translation: X:833.42, Y:-146.88, Z:-52.63 [[ 9.97883660e-01 4.72877589e-02 4.46325942e-02 8.33423905e+02] [-4.70754998e-02 9.98874522e-01 -5.79543935e-03 -1.46876084e+02] [-4.48564145e-02 3.68207256e-03 9.98986659e-01 -5.26332053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.4507140569999 meters 0.042057583372096884 Centerline is valid? [True, True] Translation: X:833.46, Y:-146.87, Z:-52.63 [[ 9.97770008e-01 4.92363735e-02 4.50642901e-02 8.33456048e+02] [-4.90213567e-02 9.98780512e-01 -5.86475140e-03 -1.46874225e+02] [-4.52980938e-02 3.64256042e-03 9.98966874e-01 -5.26337267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.4807140569999 meters 0.04637131813365791 Centerline is valid? [True, True] Translation: X:833.49, Y:-146.88, Z:-52.64 [[ 9.97716044e-01 5.02026185e-02 4.51928461e-02 8.33486188e+02] [-4.99872257e-02 9.98732523e-01 -5.88435591e-03 -1.46883696e+02] [-4.54309753e-02 3.61185130e-03 9.98960951e-01 -5.26365254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.510714057 meters 0.04333905270281711 Centerline is valid? [True, True] Translation: X:833.52, Y:-146.88, Z:-52.64 [[ 9.97685121e-01 5.13137318e-02 4.46239884e-02 8.33518236e+02] [-5.11044996e-02 9.98676366e-01 -5.81777500e-03 -1.46883170e+02] [-4.48634543e-02 3.52382095e-03 9.98986913e-01 -5.26377600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.540714057 meters 0.044829074601179034 Centerline is valid? [True, True] Translation: X:833.55, Y:-146.89, Z:-52.64 [[ 9.97635450e-01 5.25178466e-02 4.43326608e-02 8.33547711e+02] [-5.23123955e-02 9.98614027e-01 -5.78259978e-03 -1.46888613e+02] [-4.45749067e-02 3.44977884e-03 9.99000088e-01 -5.26402596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.5707140569999 meters 0.03841244048480771 Centerline is valid? [True, True] Translation: X:833.58, Y:-146.88, Z:-52.64 [[ 9.97532119e-01 5.49593579e-02 4.36937069e-02 8.33579687e+02] [-5.47620856e-02 9.98483162e-01 -5.69999919e-03 -1.46882458e+02] [-4.39406989e-02 3.29317376e-03 9.99028713e-01 -5.26409222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.6007140569999 meters 0.03780489638374252 Centerline is valid? [True, True] Translation: X:833.61, Y:-146.88, Z:-52.64 [[ 9.97451182e-01 5.62428865e-02 4.39075975e-02 8.33609839e+02] [-5.60448659e-02 9.98411815e-01 -5.72895510e-03 -1.46884770e+02] [-4.41600771e-02 3.25355762e-03 9.99019170e-01 -5.26427118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.630714057 meters 0.045410540457211 Centerline is valid? [True, True] Translation: X:833.64, Y:-146.90, Z:-52.65 [[ 9.97368348e-01 5.77950077e-02 4.37734589e-02 8.33637924e+02] [-5.75996822e-02 9.98323423e-01 -5.71145303e-03 -1.46898377e+02] [-4.40301628e-02 3.17508515e-03 9.99025157e-01 -5.26465611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.660714057 meters 0.03895281964784018 Centerline is valid? [True, True] Translation: X:833.67, Y:-146.89, Z:-52.65 [[ 9.97212715e-01 6.01214445e-02 4.41838621e-02 8.33669055e+02] [-5.99246858e-02 9.98186251e-01 -5.76547003e-03 -1.46890439e+02] [-4.44503520e-02 3.10169597e-03 9.99006780e-01 -5.26459986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.6907140569999 meters 0.03839614516429311 Centerline is valid? [True, True] Translation: X:833.70, Y:-146.89, Z:-52.65 [[ 9.97130032e-01 6.13185280e-02 4.44042482e-02 8.33698472e+02] [-6.11210515e-02 9.98113552e-01 -5.79263683e-03 -1.46892473e+02] [-4.46756778e-02 3.06197781e-03 9.98996851e-01 -5.26470941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.7207140569999 meters 0.038591368867072054 Centerline is valid? [True, True] Translation: X:833.73, Y:-146.90, Z:-52.65 [[ 9.97056833e-01 6.20693854e-02 4.50006999e-02 8.33727609e+02] [-6.18673626e-02 9.98067121e-01 -5.86960084e-03 -1.46895603e+02] [-4.52780415e-02 3.06825101e-03 9.98969712e-01 -5.26488643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.750714057 meters 0.035354943388287124 Centerline is valid? [True, True] Translation: X:833.76, Y:-146.89, Z:-52.65 [[ 9.97013975e-01 6.26858838e-02 4.50956057e-02 8.33757074e+02] [-6.24838519e-02 9.98028670e-01 -5.87719601e-03 -1.46892834e+02] [-4.53751246e-02 3.04189941e-03 9.98965387e-01 -5.26498439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.780714057 meters 0.040377946752557375 Centerline is valid? [True, True] Translation: X:833.78, Y:-146.90, Z:-52.65 [[ 9.97005541e-01 6.25901836e-02 4.54138759e-02 8.33783608e+02] [-6.23853325e-02 9.98034607e-01 -5.91552908e-03 -1.46903125e+02] [-4.56948738e-02 3.06465552e-03 9.98950743e-01 -5.26530272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.8107140569999 meters 0.04559821501260817 Centerline is valid? [True, True] Translation: X:833.81, Y:-146.91, Z:-52.66 [[ 9.97023877e-01 6.21187427e-02 4.56579680e-02 8.33811369e+02] [-6.19114031e-02 9.98063957e-01 -5.94268562e-03 -1.46913291e+02] [-4.59387244e-02 3.09825059e-03 9.98939455e-01 -5.26560946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.8407140569999 meters 0.04248744411678783 Centerline is valid? [True, True] Translation: X:833.84, Y:-146.91, Z:-52.66 [[ 9.97078687e-01 6.11744530e-02 4.57359728e-02 8.33840999e+02] [-6.09655236e-02 9.98122135e-01 -5.95049084e-03 -1.46911971e+02] [-4.60141049e-02 3.14479007e-03 9.98935840e-01 -5.26570470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.870714057 meters 0.03978504768847111 Centerline is valid? [True, True] Translation: X:833.87, Y:-146.91, Z:-52.66 [[ 9.97171944e-01 5.98878276e-02 4.54044392e-02 8.33870696e+02] [-5.96806956e-02 9.98200052e-01 -5.90509220e-03 -1.46910881e+02] [-4.56763567e-02 3.17862375e-03 9.98951233e-01 -5.26581469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.900714057 meters 0.04120915235049433 Centerline is valid? [True, True] Translation: X:833.90, Y:-146.92, Z:-52.66 [[ 9.97327324e-01 5.69843035e-02 4.57274336e-02 8.33900304e+02] [-5.67713073e-02 9.98369513e-01 -5.94425117e-03 -1.46915958e+02] [-4.59916047e-02 3.33235793e-03 9.98936268e-01 -5.26597536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.9307140569999 meters 0.037723867649984505 Centerline is valid? [True, True] Translation: X:833.93, Y:-146.91, Z:-52.66 [[ 9.97395859e-01 5.58812431e-02 4.55937118e-02 8.33930706e+02] [-5.56683726e-02 9.98431726e-01 -5.92629218e-03 -1.46914154e+02] [-4.58533770e-02 3.37273155e-03 9.98942487e-01 -5.26600549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.9607140569999 meters 0.04241897451282314 Centerline is valid? [True, True] Translation: X:833.96, Y:-146.92, Z:-52.66 [[ 9.97414586e-01 5.49978031e-02 4.62534886e-02 8.33959024e+02] [-5.47778675e-02 9.98480477e-01 -6.01011354e-03 -1.46923723e+02] [-4.65137484e-02 3.46090744e-03 9.98911654e-01 -5.26619324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.9907140569999 meters 0.04022998889168291 Centerline is valid? [True, True] Translation: X:833.99, Y:-146.92, Z:-52.66 [[ 9.97415487e-01 5.47146687e-02 4.65687912e-02 8.33989559e+02] [-5.44914640e-02 9.98495908e-01 -6.05003329e-03 -1.46923700e+02] [-4.68297730e-02 3.49679529e-03 9.98896764e-01 -5.26628387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.020714057 meters 0.04147192985711226 Centerline is valid? [True, True] Translation: X:834.02, Y:-146.93, Z:-52.66 [[ 9.97399946e-01 5.48939559e-02 4.66904857e-02 8.34018203e+02] [-5.46697683e-02 9.98486064e-01 -6.06603347e-03 -1.46928312e+02] [-4.69527879e-02 3.49770342e-03 9.98890986e-01 -5.26644855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.0507140569999 meters 0.040697263638282265 Centerline is valid? [True, True] Translation: X:834.05, Y:-146.93, Z:-52.67 [[ 9.97350249e-01 5.52938161e-02 4.72765812e-02 8.34049085e+02] [-5.50644550e-02 9.98463916e-01 -6.14114403e-03 -1.46930144e+02] [-4.75435278e-02 3.52161235e-03 9.98862959e-01 -5.26659038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.0807140569999 meters 0.03893939133665081 Centerline is valid? [True, True] Translation: X:834.08, Y:-146.93, Z:-52.67 [[ 9.97322168e-01 5.63234083e-02 4.66494148e-02 8.34079973e+02] [-5.61012174e-02 9.98406698e-01 -6.05967622e-03 -1.46929189e+02] [-4.69163898e-02 3.42636046e-03 9.98892943e-01 -5.26676636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.1107140569999 meters 0.038145643574983235 Centerline is valid? [True, True] Translation: X:834.11, Y:-146.93, Z:-52.67 [[ 9.97291663e-01 5.68814058e-02 4.66245036e-02 8.34109560e+02] [-5.66600402e-02 9.98375157e-01 -6.05683121e-03 -1.46930370e+02] [-4.68932672e-02 3.39868102e-03 9.98894124e-01 -5.26691114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.140714057 meters 0.038145643574983235 Centerline is valid? [True, True] Translation: X:834.14, Y:-146.93, Z:-52.67 [[ 9.97293689e-01 5.68456944e-02 4.66247206e-02 8.34138503e+02] [-5.66243677e-02 9.98377191e-01 -6.05516088e-03 -1.46934099e+02] [-4.68932674e-02 3.39867841e-03 9.98894124e-01 -5.26708029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.1707140569999 meters 0.038651627563929446 Centerline is valid? [True, True] Translation: X:834.17, Y:-146.94, Z:-52.67 [[ 9.97223241e-01 5.80408895e-02 4.66589988e-02 8.34168132e+02] [-5.78206266e-02 9.98308609e-01 -6.05771791e-03 -1.46935982e+02] [-4.69316755e-02 3.34304454e-03 9.98892508e-01 -5.26721876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.2007140569999 meters 0.04268921780738814 Centerline is valid? [True, True] Translation: X:834.20, Y:-146.94, Z:-52.67 [[ 9.97230449e-01 5.81977975e-02 4.63081938e-02 8.34196076e+02] [-5.79810259e-02 9.98299584e-01 -6.01173437e-03 -1.46943651e+02] [-4.65793203e-02 3.31008798e-03 9.98909110e-01 -5.26745218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.2307140569999 meters 0.03772717441085422 Centerline is valid? [True, True] Translation: X:834.23, Y:-146.94, Z:-52.68 [[ 9.97192622e-01 5.84301781e-02 4.68272273e-02 8.34226511e+02] [-5.82088980e-02 9.98285932e-01 -6.07640622e-03 -1.46939034e+02] [-4.71020077e-02 3.33358616e-03 9.98884522e-01 -5.26752089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.260714057 meters 0.04058252517085631 Centerline is valid? [True, True] Translation: X:834.25, Y:-146.94, Z:-52.68 [[ 9.97130710e-01 5.92792177e-02 4.70778252e-02 8.34254524e+02] [-5.90565742e-02 9.98235955e-01 -6.10739077e-03 -1.46944698e+02] [-4.73568192e-02 3.30961181e-03 9.98872554e-01 -5.26775184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.290714057 meters 0.03935330744176411 Centerline is valid? [True, True] Translation: X:834.28, Y:-146.95, Z:-52.68 [[ 9.97127201e-01 5.90544313e-02 4.74333127e-02 8.34284342e+02] [-5.88282881e-02 9.98249168e-01 -6.15075430e-03 -1.46945711e+02] [-4.77134943e-02 3.34266384e-03 9.98855470e-01 -5.26792234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.3207140569999 meters 0.03982692112164208 Centerline is valid? [True, True] Translation: X:834.31, Y:-146.95, Z:-52.68 [[ 9.97085619e-01 5.94942061e-02 4.77567501e-02 8.34312915e+02] [-5.92655510e-02 9.98223055e-01 -6.19094863e-03 -1.46949407e+02] [-4.80402146e-02 3.34257574e-03 9.98839810e-01 -5.26808674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.3507140569999 meters 0.039309227435345644 Centerline is valid? [True, True] Translation: X:834.34, Y:-146.95, Z:-52.68 [[ 9.97075868e-01 5.96987386e-02 4.77050700e-02 8.34342645e+02] [-5.94708802e-02 9.98210893e-01 -6.18281474e-03 -1.46950815e+02] [-4.79888267e-02 3.32767288e-03 9.98842329e-01 -5.26825715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.380714057 meters 0.03745470141036298 Centerline is valid? [True, True] Translation: X:834.37, Y:-146.95, Z:-52.68 [[ 9.97063698e-01 6.02641048e-02 4.72463764e-02 8.34373058e+02] [-6.00413205e-02 9.98177121e-01 -6.12173099e-03 -1.46949209e+02] [-4.75291726e-02 3.26702091e-03 9.98864508e-01 -5.26834711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.410714057 meters 0.04157824427744422 Centerline is valid? [True, True] Translation: X:834.40, Y:-146.96, Z:-52.69 [[ 9.97065240e-01 6.02904624e-02 4.71801693e-02 8.34399934e+02] [-6.00683866e-02 9.98175552e-01 -6.11200401e-03 -1.46957341e+02] [-4.74625871e-02 3.26003010e-03 9.98867696e-01 -5.26857418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.4407140569999 meters 0.04180559056305178 Centerline is valid? [True, True] Translation: X:834.43, Y:-146.96, Z:-52.69 [[ 9.97072340e-01 6.01538224e-02 4.72045154e-02 8.34428612e+02] [-5.99315740e-02 9.98183783e-01 -6.11075626e-03 -1.46960370e+02] [-4.74863671e-02 3.26382513e-03 9.98866554e-01 -5.26875320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.4707140569999 meters 0.03662249794102477 Centerline is valid? [True, True] Translation: X:834.46, Y:-146.96, Z:-52.69 [[ 9.97062525e-01 6.00188613e-02 4.75821249e-02 8.34458672e+02] [-5.97930419e-02 9.98191811e-01 -6.15639738e-03 -1.46955017e+02] [-4.78655874e-02 3.29323313e-03 9.98848357e-01 -5.26874413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.500714057 meters 0.036038461833999426 Centerline is valid? [True, True] Translation: X:834.49, Y:-146.96, Z:-52.69 [[ 9.97050197e-01 5.97768840e-02 4.81417630e-02 8.34487584e+02] [-5.95456072e-02 9.98206174e-01 -6.22526795e-03 -1.46957273e+02] [-4.84275322e-02 3.34027412e-03 9.98821113e-01 -5.26886045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.530714057 meters 0.0419234754683136 Centerline is valid? [True, True] Translation: X:834.51, Y:-146.97, Z:-52.69 [[ 9.97078654e-01 5.95687770e-02 4.78091905e-02 8.34514524e+02] [-5.93406079e-02 9.98218670e-01 -6.17897582e-03 -1.46968350e+02] [-4.80921006e-02 3.32389846e-03 9.98837375e-01 -5.26912773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.5607140569999 meters 0.038377747918710875 Centerline is valid? [True, True] Translation: X:834.54, Y:-146.97, Z:-52.69 [[ 9.97154251e-01 5.83238762e-02 4.77674032e-02 8.34544896e+02] [-5.80949178e-02 9.98292005e-01 -6.16874763e-03 -1.46965046e+02] [-4.80456020e-02 3.37614956e-03 9.98839437e-01 -5.26923949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.5907140569999 meters 0.03889490453997934 Centerline is valid? [True, True] Translation: X:834.57, Y:-146.97, Z:-52.69 [[ 9.97204817e-01 5.76776399e-02 4.74957140e-02 8.34574572e+02] [-5.74506331e-02 9.98329517e-01 -6.13197045e-03 -1.46969092e+02] [-4.77700508e-02 3.38617163e-03 9.98852620e-01 -5.26943720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.620714057 meters 0.03996421529250351 Centerline is valid? [True, True] Translation: X:834.60, Y:-146.97, Z:-52.70 [[ 9.97250333e-01 5.69489337e-02 4.74193323e-02 8.34603979e+02] [-5.67219186e-02 9.98371256e-01 -6.12041996e-03 -1.46973514e+02] [-4.76906497e-02 3.41387533e-03 9.98856320e-01 -5.26966399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.650714057 meters 0.04065916511403803 Centerline is valid? [True, True] Translation: X:834.63, Y:-146.98, Z:-52.70 [[ 9.97314583e-01 5.62797834e-02 4.68637336e-02 8.34633420e+02] [-5.60574045e-02 9.98409235e-01 -6.04707464e-03 -1.46977299e+02] [-4.71295125e-02 3.40377645e-03 9.98882988e-01 -5.26984178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.6807140569999 meters 0.04055481998668759 Centerline is valid? [True, True] Translation: X:834.66, Y:-146.98, Z:-52.70 [[ 9.97340203e-01 5.55446912e-02 4.71943548e-02 8.34662755e+02] [-5.53184219e-02 9.98450203e-01 -6.08806029e-03 -1.46978722e+02] [-4.74593725e-02 3.46115006e-03 9.98867173e-01 -5.26995253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.7107140569999 meters 0.0432234401495875 Centerline is valid? [True, True] Translation: X:834.69, Y:-146.98, Z:-52.70 [[ 9.97347334e-01 5.53494911e-02 4.72729202e-02 8.34690793e+02] [-5.51223270e-02 9.98460996e-01 -6.09655982e-03 -1.46984863e+02] [-4.75376085e-02 3.47459432e-03 9.98863406e-01 -5.27013982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.7407140569999 meters 0.03992953806307782 Centerline is valid? [True, True] Translation: X:834.72, Y:-146.98, Z:-52.70 [[ 9.97291625e-01 5.56523169e-02 4.80857033e-02 8.34720614e+02] [-5.54177115e-02 9.98444012e-01 -6.19941127e-03 -1.46983350e+02] [-4.83558941e-02 3.51782131e-03 9.98823975e-01 -5.27018470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.770714057 meters 0.040843036332749764 Centerline is valid? [True, True] Translation: X:834.75, Y:-146.99, Z:-52.70 [[ 9.97276633e-01 5.55571797e-02 4.85048087e-02 8.34748895e+02] [-5.53184286e-02 9.98449190e-01 -6.25185264e-03 -1.46986792e+02] [-4.87769223e-02 3.55161675e-03 9.98803383e-01 -5.27030040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.8007140569999 meters 0.042184403966414874 Centerline is valid? [True, True] Translation: X:834.78, Y:-146.99, Z:-52.70 [[ 9.97222457e-01 5.56614297e-02 4.94891577e-02 8.34777662e+02] [-5.54131485e-02 9.98443154e-01 -6.37588845e-03 -1.46990194e+02] [-4.97670017e-02 3.61582910e-03 9.98754310e-01 -5.27041604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.8307140569999 meters 0.044158853212304776 Centerline is valid? [True, True] Translation: X:834.81, Y:-147.00, Z:-52.71 [[ 9.97219388e-01 5.56949686e-02 4.95132675e-02 8.34806796e+02] [-5.54465774e-02 9.98441290e-01 -6.37716521e-03 -1.46995776e+02] [-4.97912666e-02 3.61409156e-03 9.98753107e-01 -5.27059695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.8607140569999 meters 0.039220697218926646 Centerline is valid? [True, True] Translation: X:834.84, Y:-146.99, Z:-52.71 [[ 9.97211556e-01 5.56031654e-02 4.97735013e-02 8.34837412e+02] [-5.53520761e-02 9.98446323e-01 -6.40996046e-03 -1.46991638e+02] [-5.00525834e-02 3.63702001e-03 9.98739962e-01 -5.27068406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.890714057 meters 0.0373663076799478 Centerline is valid? [True, True] Translation: X:834.87, Y:-146.99, Z:-52.71 [[ 9.97280293e-01 5.47306656e-02 4.93616451e-02 8.34867285e+02] [-5.44827435e-02 9.98494488e-01 -6.35516776e-03 -1.46990777e+02] [-4.96351531e-02 3.64852572e-03 9.98760752e-01 -5.27087700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.9207140569999 meters 0.0390569291369208 Centerline is valid? [True, True] Translation: X:834.90, Y:-147.00, Z:-52.71 [[ 9.97316796e-01 5.41072721e-02 4.93113833e-02 8.34895713e+02] [-5.38591810e-02 9.98528369e-01 -6.34702170e-03 -1.46996390e+02] [-4.95822351e-02 3.67412063e-03 9.98763287e-01 -5.27107022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.9507140569999 meters 0.041728980732426195 Centerline is valid? [True, True] Translation: X:834.92, Y:-147.00, Z:-52.71 [[ 9.97395325e-01 5.29292810e-02 4.90005870e-02 8.34924611e+02] [-5.26830511e-02 9.98591386e-01 -6.30390897e-03 -1.47003058e+02] [-4.92652255e-02 3.70598890e-03 9.98778856e-01 -5.27130151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.9807140569999 meters 0.03829694832819458 Centerline is valid? [True, True] Translation: X:834.95, Y:-147.00, Z:-52.71 [[ 9.97528540e-01 5.04669500e-02 4.88865995e-02 8.34954827e+02] [-5.02189226e-02 9.98718431e-01 -6.28934286e-03 -1.47000899e+02] [-4.91413519e-02 3.81876664e-03 9.98784534e-01 -5.27144251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.010714057 meters 0.0392680043764548 Centerline is valid? [True, True] Translation: X:834.98, Y:-147.01, Z:-52.72 [[ 9.97637433e-01 4.88404933e-02 4.83131362e-02 8.34984341e+02] [-4.85964052e-02 9.98799163e-01 -6.21468522e-03 -1.47005508e+02] [-4.85586482e-02 3.85215786e-03 9.98812905e-01 -5.27164178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.040714057 meters 0.04151540818038103 Centerline is valid? [True, True] Translation: X:835.01, Y:-147.01, Z:-52.72 [[ 9.97726284e-01 4.71821016e-02 4.81260063e-02 8.35013665e+02] [-4.69380380e-02 9.98878626e-01 -6.18955489e-03 -1.47012407e+02] [-4.83640753e-02 3.91654129e-03 9.98822095e-01 -5.27187697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.0707140569999 meters 0.044118681434551006 Centerline is valid? [True, True] Translation: X:835.04, Y:-147.02, Z:-52.72 [[ 9.97824129e-01 4.55333784e-02 4.76835324e-02 8.35043505e+02] [-4.52919261e-02 9.98954971e-01 -6.13247220e-03 -1.47019526e+02] [-4.79129339e-02 3.95944971e-03 9.98843668e-01 -5.27215690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.1007140569999 meters 0.04235729578100905 Centerline is valid? [True, True] Translation: X:835.07, Y:-147.02, Z:-52.72 [[ 9.98000949e-01 4.26118776e-02 4.66726138e-02 8.35073752e+02] [-4.23773483e-02 9.99083640e-01 -6.00343352e-03 -1.47020176e+02] [-4.68856624e-02 4.01357074e-03 9.98892199e-01 -5.27239262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.130714057 meters 0.04093990381288989 Centerline is valid? [True, True] Translation: X:835.11, Y:-147.02, Z:-52.73 [[ 9.98085633e-01 4.16914257e-02 4.56825436e-02 8.35105786e+02] [-4.14659145e-02 9.99122655e-01 -5.87345691e-03 -1.47021123e+02] [-4.58873371e-02 3.96794451e-03 9.98938741e-01 -5.27254773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.160714057 meters 0.05499126991151355 Centerline is valid? [True, True] Translation: X:835.13, Y:-147.04, Z:-52.73 [[ 9.98121782e-01 4.10316057e-02 4.54897245e-02 8.35134476e+02] [-4.08068090e-02 9.99149872e-01 -5.85975606e-03 -1.47043641e+02] [-4.56914876e-02 3.99245967e-03 9.98947620e-01 -5.27303129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.1907140569999 meters 0.0437806003958594 Centerline is valid? [True, True] Translation: X:835.17, Y:-147.03, Z:-52.73 [[ 9.98168090e-01 4.06523612e-02 4.48090303e-02 8.35169127e+02] [-4.04333974e-02 9.99165503e-01 -5.78253629e-03 -1.47030283e+02] [-4.50067110e-02 3.96016188e-03 9.98978835e-01 -5.27294615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.2207140569999 meters 0.04489400446478259 Centerline is valid? [True, True] Translation: X:835.20, Y:-147.04, Z:-52.73 [[ 9.98130623e-01 4.11077395e-02 4.52262370e-02 8.35199764e+02] [-4.08845911e-02 9.99146759e-01 -5.84842574e-03 -1.47035119e+02] [-4.54280637e-02 3.98843663e-03 9.98959651e-01 -5.27314492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.250714057 meters 0.04406328660287931 Centerline is valid? [True, True] Translation: X:835.23, Y:-147.04, Z:-52.73 [[ 9.98081285e-01 4.18023626e-02 4.56761577e-02 8.35231528e+02] [-4.15748684e-02 9.99117855e-01 -5.91969330e-03 -1.47037132e+02] [-4.58833218e-02 4.00935485e-03 9.98938760e-01 -5.27324616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.280714057 meters 0.04501769732219013 Centerline is valid? [True, True] Translation: X:835.26, Y:-147.04, Z:-52.73 [[ 9.98021182e-01 4.25373368e-02 4.63065265e-02 8.35263502e+02] [-4.23042800e-02 9.99086746e-01 -6.00178566e-03 -1.47041282e+02] [-4.65195369e-02 4.03094496e-03 9.98909247e-01 -5.27338669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.3107140569999 meters 0.046420819910189905 Centerline is valid? [True, True] Translation: X:835.29, Y:-147.04, Z:-52.74 [[ 9.97941442e-01 4.36989095e-02 4.69391437e-02 8.35293489e+02] [-4.34600249e-02 9.99036555e-01 -6.09827925e-03 -1.47044738e+02] [-4.71604085e-02 4.04574924e-03 9.98879136e-01 -5.27353500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.3407140569999 meters 0.04606617828214239 Centerline is valid? [True, True] Translation: X:835.32, Y:-147.05, Z:-52.74 [[ 9.97875123e-01 4.44113457e-02 4.76746422e-02 8.35324728e+02] [-4.41656809e-02 9.99005015e-01 -6.19454761e-03 -1.47046986e+02] [-4.79023149e-02 4.07580192e-03 9.98843710e-01 -5.27365509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.370714057 meters 0.0458929633566186 Centerline is valid? [True, True] Translation: X:835.36, Y:-147.05, Z:-52.74 [[ 9.97818895e-01 4.52489683e-02 4.80622980e-02 8.35356272e+02] [-4.50001682e-02 9.98967449e-01 -6.24664929e-03 -1.47049832e+02] [-4.82953257e-02 4.07021319e-03 9.98824807e-01 -5.27383074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.400714057 meters 0.04564134048404471 Centerline is valid? [True, True] Translation: X:835.39, Y:-147.05, Z:-52.74 [[ 9.97723381e-01 4.67892506e-02 4.85676934e-02 8.35387723e+02] [-4.65369102e-02 9.98896615e-01 -6.31408683e-03 -1.47052030e+02] [-4.88095360e-02 4.03952167e-03 9.98799936e-01 -5.27398076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.4307140569999 meters 0.04125130445035695 Centerline is valid? [True, True] Translation: X:835.42, Y:-147.05, Z:-52.74 [[ 9.97701822e-01 4.70898915e-02 4.87197811e-02 8.35419007e+02] [-4.68362219e-02 9.98882488e-01 -6.33590681e-03 -1.47049369e+02] [-4.89636933e-02 4.03949529e-03 9.98792390e-01 -5.27408348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.4607140569999 meters 0.04938722896363413 Centerline is valid? [True, True] Translation: X:835.45, Y:-147.06, Z:-52.74 [[ 9.97717315e-01 4.70996275e-02 4.83919823e-02 8.35447195e+02] [-4.68493829e-02 9.98882141e-01 -6.29311407e-03 -1.47063955e+02] [-4.86342902e-02 4.01161436e-03 9.98808597e-01 -5.27438836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.4907140569999 meters 0.041532235612432536 Centerline is valid? [True, True] Translation: X:835.48, Y:-147.06, Z:-52.74 [[ 9.97730156e-01 4.72292467e-02 4.79993068e-02 8.35479103e+02] [-4.69831499e-02 9.98876172e-01 -6.24308425e-03 -1.47056627e+02] [-4.82402201e-02 3.97375480e-03 9.98827858e-01 -5.27445827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.520714057 meters 0.050002989092295023 Centerline is valid? [True, True] Translation: X:835.51, Y:-147.07, Z:-52.75 [[ 9.97776135e-01 4.66701075e-02 4.75887089e-02 8.35507709e+02] [-4.64275845e-02 9.98902482e-01 -6.18950180e-03 -1.47071430e+02] [-4.78253441e-02 3.96630838e-03 9.98847839e-01 -5.27477887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.5507140569999 meters 0.04362866392755524 Centerline is valid? [True, True] Translation: X:835.54, Y:-147.07, Z:-52.75 [[ 9.97793934e-01 4.64330629e-02 4.74471908e-02 8.35539329e+02] [-4.61916660e-02 9.98913527e-01 -6.17213506e-03 -1.47066727e+02] [-4.76822318e-02 3.96685413e-03 9.98854679e-01 -5.27490971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.5807140569999 meters 0.04271359517793959 Centerline is valid? [True, True] Translation: X:835.57, Y:-147.07, Z:-52.75 [[ 9.97822544e-01 4.62793671e-02 4.69935199e-02 8.35569852e+02] [-4.60423998e-02 9.98920781e-01 -6.11311959e-03 -1.47069666e+02] [-4.72257149e-02 3.93611411e-03 9.98876488e-01 -5.27511479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.6107140569999 meters 0.0435135734573736 Centerline is valid? [True, True] Translation: X:835.60, Y:-147.07, Z:-52.75 [[ 9.97849274e-01 4.61672744e-02 4.65339587e-02 8.35599583e+02] [-4.59348027e-02 9.98926099e-01 -6.05333790e-03 -1.47074439e+02] [-4.67634520e-02 3.90279061e-03 9.98898367e-01 -5.27537335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.640714057 meters 0.04430639624031769 Centerline is valid? [True, True] Translation: X:835.63, Y:-147.08, Z:-52.76 [[ 9.97855942e-01 4.66284714e-02 4.59271601e-02 8.35629053e+02] [-4.64025041e-02 9.98904956e-01 -5.97460744e-03 -1.47078694e+02] [-4.61554546e-02 3.83066231e-03 9.98926924e-01 -5.27560143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.6707140569999 meters 0.044643713804667834 Centerline is valid? [True, True] Translation: X:835.66, Y:-147.08, Z:-52.76 [[ 9.97874989e-01 4.67217671e-02 4.54156755e-02 8.35658042e+02] [-4.65009324e-02 9.98900778e-01 -5.90747983e-03 -1.47082299e+02] [-4.56417615e-02 3.78305511e-03 9.98950709e-01 -5.27577121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.7007140569999 meters 0.044883144902375716 Centerline is valid? [True, True] Translation: X:835.69, Y:-147.09, Z:-52.76 [[ 9.97890946e-01 4.67507429e-02 4.50336277e-02 8.35687696e+02] [-4.65337126e-02 9.98899554e-01 -5.85619498e-03 -1.47085768e+02] [-4.52578521e-02 3.74826207e-03 9.98968307e-01 -5.27596498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.7307140569999 meters 0.0454963456546041 Centerline is valid? [True, True] Translation: X:835.72, Y:-147.09, Z:-52.76 [[ 9.97905982e-01 4.68094879e-02 4.46376827e-02 8.35716768e+02] [-4.65963895e-02 9.98896942e-01 -5.80313330e-03 -1.47089853e+02] [-4.48600865e-02 3.71102658e-03 9.98986387e-01 -5.27614601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.760714057 meters 0.041589880585415615 Centerline is valid? [True, True] Translation: X:835.75, Y:-147.09, Z:-52.76 [[ 9.97950090e-01 4.61062474e-02 4.43827920e-02 8.35746892e+02] [-4.58949564e-02 9.98929616e-01 -5.76845566e-03 -1.47087116e+02] [-4.46012473e-02 3.71968454e-03 9.98997944e-01 -5.27618495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.790714057 meters 0.042349235618438515 Centerline is valid? [True, True] Translation: X:835.78, Y:-147.09, Z:-52.76 [[ 9.97972333e-01 4.57391226e-02 4.42623529e-02 8.35775829e+02] [-4.55286917e-02 9.98946476e-01 -5.75117767e-03 -1.47091875e+02] [-4.44787753e-02 3.72430918e-03 9.99003387e-01 -5.27637800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.8207140569999 meters 0.043726332871190904 Centerline is valid? [True, True] Translation: X:835.81, Y:-147.10, Z:-52.77 [[ 9.98027544e-01 4.48439264e-02 4.39322665e-02 8.35805166e+02] [-4.46358455e-02 9.98987026e-01 -5.70645257e-03 -1.47097521e+02] [-4.41436639e-02 3.73424299e-03 9.99018214e-01 -5.27653927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.8507140569999 meters 0.04445477343868855 Centerline is valid? [True, True] Translation: X:835.84, Y:-147.10, Z:-52.77 [[ 9.98080758e-01 4.33072147e-02 4.42638253e-02 8.35835331e+02] [-4.30945362e-02 9.99054462e-01 -5.74823313e-03 -1.47102715e+02] [-4.44709121e-02 3.82967186e-03 9.99003339e-01 -5.27668442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.880714057 meters 0.04254263511208413 Centerline is valid? [True, True] Translation: X:835.87, Y:-147.10, Z:-52.77 [[ 9.98109208e-01 4.26756477e-02 4.42357157e-02 8.35865545e+02] [-4.24625806e-02 9.99081537e-01 -5.74555985e-03 -1.47103667e+02] [-4.44402823e-02 3.85633355e-03 9.99004600e-01 -5.27679919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.910714057 meters 0.044337738774129776 Centerline is valid? [True, True] Translation: X:835.90, Y:-147.11, Z:-52.77 [[ 9.98125410e-01 4.20561477e-02 4.44628669e-02 8.35895326e+02] [-4.18402721e-02 9.99107622e-01 -5.77513307e-03 -1.47110130e+02] [-4.46660690e-02 3.90396862e-03 9.98994345e-01 -5.27701724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.9407140569999 meters 0.04351099000440136 Centerline is valid? [True, True] Translation: X:835.93, Y:-147.11, Z:-52.77 [[ 9.98127213e-01 4.16491269e-02 4.48042181e-02 8.35926429e+02] [-4.14294873e-02 9.99124479e-01 -5.82006665e-03 -1.47112941e+02] [-4.50073918e-02 3.95295112e-03 9.98978833e-01 -5.27720514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.9707140569999 meters 0.04361089305652744 Centerline is valid? [True, True] Translation: X:835.96, Y:-147.12, Z:-52.77 [[ 9.98133625e-01 4.10206223e-02 4.52390985e-02 8.35957574e+02] [-4.07959775e-02 9.99150206e-01 -5.87824206e-03 -1.47117813e+02] [-4.54417838e-02 4.02169780e-03 9.98958893e-01 -5.27740724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.000714057 meters 0.04883027836375923 Centerline is valid? [True, True] Translation: X:835.99, Y:-147.13, Z:-52.78 [[ 9.98123383e-01 4.08772620e-02 4.55934452e-02 8.35987759e+02] [-4.06489629e-02 9.99155930e-01 -5.92362259e-03 -1.47129765e+02] [-4.57971026e-02 4.05917995e-03 9.98942515e-01 -5.27769866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.030714057 meters 0.046091874662585915 Centerline is valid? [True, True] Translation: X:836.02, Y:-147.13, Z:-52.78 [[ 9.98123019e-01 4.02645509e-02 4.61433048e-02 8.36019545e+02] [-4.00295418e-02 9.99180445e-01 -6.00617565e-03 -1.47131539e+02] [-4.63473238e-02 4.14780683e-03 9.98916774e-01 -5.27785577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.0607140569999 meters 0.046091874662585915 Centerline is valid? [True, True] Translation: X:836.05, Y:-147.14, Z:-52.78 [[ 9.98112989e-01 4.05139822e-02 4.61419382e-02 8.36051123e+02] [-4.02787568e-02 9.99170367e-01 -6.01665370e-03 -1.47135704e+02] [-4.63474159e-02 4.14676030e-03 9.98916774e-01 -5.27803982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.0907140569999 meters 0.04700547264190533 Centerline is valid? [True, True] Translation: X:836.08, Y:-147.14, Z:-52.78 [[ 9.98123319e-01 4.02587211e-02 4.61418993e-02 8.36082891e+02] [-4.00226810e-02 9.99180586e-01 -6.02838867e-03 -1.47141838e+02] [-4.63467852e-02 4.17035279e-03 9.98916705e-01 -5.27827032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.120714057 meters 0.050974581563572874 Centerline is valid? [True, True] Translation: X:836.11, Y:-147.15, Z:-52.79 [[ 9.98120514e-01 4.00798565e-02 4.63577952e-02 8.36112738e+02] [-3.98408509e-02 9.99187610e-01 -6.06856781e-03 -1.47151971e+02] [-4.65633619e-02 4.21022802e-03 9.98906466e-01 -5.27853787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.150714057 meters 0.046737108183128345 Centerline is valid? [True, True] Translation: X:836.15, Y:-147.15, Z:-52.79 [[ 9.98144832e-01 3.98657061e-02 4.60176130e-02 8.36145440e+02] [-3.96294950e-02 9.99196222e-01 -6.03437095e-03 -1.47151600e+02] [-4.62211895e-02 4.19952141e-03 9.98922402e-01 -5.27878394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.1807140569999 meters 0.046380662620405376 Centerline is valid? [True, True] Translation: X:836.18, Y:-147.16, Z:-52.79 [[ 9.98143088e-01 4.00608638e-02 4.58857666e-02 8.36177028e+02] [-3.98256766e-02 9.99188456e-01 -6.02864288e-03 -1.47155815e+02] [-4.60900409e-02 4.19001652e-03 9.98928502e-01 -5.27901005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.2107140569999 meters 0.04984974809279944 Centerline is valid? [True, True] Translation: X:836.21, Y:-147.17, Z:-52.79 [[ 9.98151762e-01 4.04623974e-02 4.53415363e-02 8.36208574e+02] [-4.02326735e-02 9.99172515e-01 -5.96806916e-03 -1.47165299e+02] [-4.55454992e-02 4.13282752e-03 9.98953716e-01 -5.27931619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.2407140569999 meters 0.04565185977657 Centerline is valid? [True, True] Translation: X:836.24, Y:-147.16, Z:-52.80 [[ 9.98107890e-01 4.15879130e-02 4.52889065e-02 8.36241445e+02] [-4.13592576e-02 9.99126476e-01 -5.97461120e-03 -1.47164591e+02] [-4.54978171e-02 4.09019103e-03 9.98956065e-01 -5.27953679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.270714057 meters 0.048563492483912785 Centerline is valid? [True, True] Translation: X:836.27, Y:-147.17, Z:-52.80 [[ 9.98083496e-01 4.21031500e-02 4.53504183e-02 8.36271786e+02] [-4.18738616e-02 9.99104922e-01 -5.99452466e-03 -1.47173046e+02] [-4.55622145e-02 4.08403898e-03 9.98953155e-01 -5.27977372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.3007140569999 meters 0.046951321904871106 Centerline is valid? [True, True] Translation: X:836.30, Y:-147.18, Z:-52.80 [[ 9.98044159e-01 4.26482870e-02 4.57053576e-02 8.36303478e+02] [-4.24153653e-02 9.99081719e-01 -6.05435142e-03 -1.47175664e+02] [-4.59215949e-02 4.10390063e-03 9.98936617e-01 -5.27990911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.3307140569999 meters 0.04751421155110604 Centerline is valid? [True, True] Translation: X:836.33, Y:-147.18, Z:-52.80 [[ 9.97980467e-01 4.31160446e-02 4.66475626e-02 8.36334323e+02] [-4.28737870e-02 9.99061370e-01 -6.18194313e-03 -1.47182097e+02] [-4.68703188e-02 4.16950083e-03 9.98892281e-01 -5.28012741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.3607140569999 meters 0.048323583807862634 Centerline is valid? [True, True] Translation: X:836.37, Y:-147.19, Z:-52.80 [[ 9.97948887e-01 4.33967924e-02 4.70610020e-02 8.36365275e+02] [-4.31505413e-02 9.99049117e-01 -6.23642497e-03 -1.47187810e+02] [-4.72868933e-02 4.19292565e-03 9.98872549e-01 -5.28032514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.390714057 meters 0.04592381147336585 Centerline is valid? [True, True] Translation: X:836.40, Y:-147.19, Z:-52.80 [[ 9.97901789e-01 4.38277577e-02 4.76565460e-02 8.36397297e+02] [-4.35751893e-02 9.99030120e-01 -6.32632155e-03 -1.47189257e+02] [-4.78875933e-02 4.23640458e-03 9.98843747e-01 -5.28047884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.4207140569999 meters 0.04730977369196017 Centerline is valid? [True, True] Translation: X:836.43, Y:-147.20, Z:-52.81 [[ 9.97859980e-01 4.41793874e-02 4.82041805e-02 8.36428094e+02] [-4.39207739e-02 9.99014443e-01 -6.41155162e-03 -1.47195918e+02] [-4.84399310e-02 4.28066585e-03 9.98816925e-01 -5.28068198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.4507140569999 meters 0.04583604108880808 Centerline is valid? [True, True] Translation: X:836.46, Y:-147.20, Z:-52.81 [[ 9.97823281e-01 4.41463946e-02 4.89877148e-02 8.36460513e+02] [-4.38786917e-02 9.99015543e-01 -6.52723351e-03 -1.47199502e+02] [-4.92276424e-02 4.36350872e-03 9.98778053e-01 -5.28088254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.4807140569999 meters 0.048452179958944526 Centerline is valid? [True, True] Translation: X:836.49, Y:-147.21, Z:-52.81 [[ 9.97836785e-01 4.37714091e-02 4.90491043e-02 8.36490288e+02] [-4.35019186e-02 9.99031879e-01 -6.54891728e-03 -1.47207943e+02] [-4.92882741e-02 4.40102043e-03 9.98774898e-01 -5.28109000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.510714057 meters 0.051745258029206896 Centerline is valid? [True, True] Translation: X:836.52, Y:-147.22, Z:-52.81 [[ 9.97841538e-01 4.31954408e-02 4.94612887e-02 8.36520260e+02] [-4.29204218e-02 9.99056631e-01 -6.60944896e-03 -1.47217712e+02] [-4.97001266e-02 4.47228333e-03 9.98754172e-01 -5.28136551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.540714057 meters 0.055297067057251764 Centerline is valid? [True, True] Translation: X:836.55, Y:-147.23, Z:-52.82 [[ 9.97888932e-01 4.14198992e-02 5.00207191e-02 8.36548791e+02] [-4.11357659e-02 9.99131123e-01 -6.69692345e-03 -1.47229235e+02] [-5.02546431e-02 4.62514520e-03 9.98725728e-01 -5.28166835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.5707140569999 meters 0.053401203394012116 Centerline is valid? [True, True] Translation: X:836.58, Y:-147.23, Z:-52.82 [[ 9.97909131e-01 4.06375187e-02 5.02589105e-02 8.36580501e+02] [-4.03495510e-02 9.99162950e-01 -6.73149665e-03 -1.47232280e+02] [-5.04903926e-02 4.68949750e-03 9.98713537e-01 -5.28185196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.6007140569999 meters 0.054167840153162644 Centerline is valid? [True, True] Translation: X:836.61, Y:-147.24, Z:-52.82 [[ 9.97909159e-01 3.98514524e-02 5.08839121e-02 8.36611675e+02] [-3.95546627e-02 9.99194087e-01 -6.82682295e-03 -1.47238295e+02] [-5.11149629e-02 4.79985317e-03 9.98681241e-01 -5.28208305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.630714057 meters 0.05509119197937183 Centerline is valid? [True, True] Translation: X:836.64, Y:-147.24, Z:-52.82 [[ 9.97948106e-01 3.89791022e-02 5.07957387e-02 8.36643071e+02] [-3.86815868e-02 9.99228263e-01 -6.82742809e-03 -1.47244695e+02] [-5.10226647e-02 4.84855915e-03 9.98685726e-01 -5.28227300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.660714057 meters 0.053785784393785584 Centerline is valid? [True, True] Translation: X:836.68, Y:-147.25, Z:-52.82 [[ 9.97919581e-01 3.84865246e-02 5.17232750e-02 8.36675260e+02] [-3.81772370e-02 9.99246781e-01 -6.95476993e-03 -1.47248919e+02] [-5.19519810e-02 4.96564937e-03 9.98637238e-01 -5.28240815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.6907140569999 meters 0.054024974778481 Centerline is valid? [True, True] Translation: X:836.71, Y:-147.25, Z:-52.83 [[ 9.97861865e-01 3.87813943e-02 5.26089567e-02 8.36707426e+02] [-3.84611311e-02 9.99234967e-01 -7.08680188e-03 -1.47254214e+02] [-5.28435451e-02 5.04824936e-03 9.98590044e-01 -5.28260042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.7207140569999 meters 0.04797230008926569 Centerline is valid? [True, True] Translation: X:836.74, Y:-147.25, Z:-52.83 [[ 9.97737747e-01 3.95773581e-02 5.43417086e-02 8.36740581e+02] [-3.92359270e-02 9.99203045e-01 -7.33600985e-03 -1.47252194e+02] [-5.45887406e-02 5.18726663e-03 9.98495449e-01 -5.28270690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.750714057 meters 0.04797732251668979 Centerline is valid? [True, True] Translation: X:836.77, Y:-147.26, Z:-52.83 [[ 9.97673496e-01 4.03849418e-02 5.49240500e-02 8.36772763e+02] [-4.00365509e-02 9.99170597e-01 -7.42918064e-03 -1.47257181e+02] [-5.51785228e-02 5.21292710e-03 9.98462897e-01 -5.28286610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.780714057 meters 0.04957176987183909 Centerline is valid? [True, True] Translation: X:836.80, Y:-147.26, Z:-52.83 [[ 9.97615239e-01 4.12721504e-02 5.53212815e-02 8.36803271e+02] [-4.09197788e-02 9.99134378e-01 -7.48770449e-03 -1.47264027e+02] [-5.55824279e-02 5.20611350e-03 9.98440529e-01 -5.28298811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.8107140569999 meters 0.05271373422503044 Centerline is valid? [True, True] Translation: X:836.83, Y:-147.27, Z:-52.83 [[ 9.97566232e-01 4.21310027e-02 5.55571017e-02 8.36833623e+02] [-4.17762019e-02 9.99098597e-01 -7.53274325e-03 -1.47272985e+02] [-5.58243844e-02 5.19344560e-03 9.98427096e-01 -5.28319023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.8407140569999 meters 0.04828033533232326 Centerline is valid? [True, True] Translation: X:836.87, Y:-147.27, Z:-52.83 [[ 9.97523868e-01 4.37261917e-02 5.50831489e-02 8.36865660e+02] [-4.33791081e-02 9.99030669e-01 -7.48161446e-03 -1.47272540e+02] [-5.53568976e-02 5.07363113e-03 9.98453741e-01 -5.28348267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.870714057 meters 0.04706166240648283 Centerline is valid? [True, True] Translation: X:836.90, Y:-147.28, Z:-52.84 [[ 9.97474688e-01 4.48610514e-02 5.50611681e-02 8.36897536e+02] [-4.45158162e-02 9.98980667e-01 -7.48119263e-03 -1.47276343e+02] [-5.53406567e-02 5.01120744e-03 9.98454956e-01 -5.28373385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.900714057 meters 0.04978277282518461 Centerline is valid? [True, True] Translation: X:836.93, Y:-147.28, Z:-52.84 [[ 9.97458396e-01 4.56892787e-02 5.46739316e-02 8.36927843e+02] [-4.53493623e-02 9.98943465e-01 -7.44238033e-03 -1.47284964e+02] [-5.49562036e-02 4.94403681e-03 9.98476526e-01 -5.28399997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.9307140569999 meters 0.04830241444869304 Centerline is valid? [True, True] Translation: X:836.96, Y:-147.29, Z:-52.84 [[ 9.97403604e-01 4.65871068e-02 5.49153116e-02 8.36960186e+02] [-4.62448169e-02 9.98902070e-01 -7.48808083e-03 -1.47288227e+02] [-5.52038665e-02 4.92909027e-03 9.98462937e-01 -5.28426926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.9607140569999 meters 0.04656532625708112 Centerline is valid? [True, True] Translation: X:836.99, Y:-147.29, Z:-52.85 [[ 9.97342249e-01 4.83042209e-02 5.45448504e-02 8.36991118e+02] [-4.79683074e-02 9.98821062e-01 -7.45173096e-03 -1.47292467e+02] [-5.48404955e-02 4.81550196e-03 9.98483516e-01 -5.28454287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.9907140569999 meters 0.048968459283095365 Centerline is valid? [True, True] Translation: X:837.02, Y:-147.30, Z:-52.85 [[ 9.97290238e-01 4.94598879e-02 5.44600845e-02 8.37020919e+02] [-4.91266192e-02 9.98764832e-01 -7.44212870e-03 -1.47300955e+02] [-5.47609040e-02 4.74652247e-03 9.98488214e-01 -5.28477030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.020714057 meters 0.0493201093634543 Centerline is valid? [True, True] Translation: X:837.05, Y:-147.31, Z:-52.85 [[ 9.97265290e-01 5.03776438e-02 5.40743504e-02 8.37053123e+02] [-5.00503273e-02 9.98719348e-01 -7.39118258e-03 -1.47306279e+02] [-5.43774503e-02 4.66453090e-03 9.98509557e-01 -5.28497067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.0507140569999 meters 0.0503746249245643 Centerline is valid? [True, True] Translation: X:837.08, Y:-147.31, Z:-52.85 [[ 9.97114051e-01 5.26459347e-02 5.46989554e-02 8.37082126e+02] [-5.23141093e-02 9.98602653e-01 -7.48161782e-03 -1.47313498e+02] [-5.50163988e-02 4.59849912e-03 9.98474862e-01 -5.28512209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.0807140569999 meters 0.0445952294233879 Centerline is valid? [True, True] Translation: X:837.12, Y:-147.31, Z:-52.85 [[ 9.97056599e-01 5.37272671e-02 5.46947854e-02 8.37115077e+02] [-5.33971430e-02 9.98545336e-01 -7.48038920e-03 -1.47311073e+02] [-5.50171238e-02 4.53782613e-03 9.98475099e-01 -5.28525314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.1107140569999 meters 0.04323969933462025 Centerline is valid? [True, True] Translation: X:837.15, Y:-147.31, Z:-52.85 [[ 9.96980105e-01 5.46608597e-02 5.51621309e-02 8.37147088e+02] [-5.43257017e-02 9.98494662e-01 -7.55831631e-03 -1.47314894e+02] [-5.54922373e-02 4.53876952e-03 9.98448803e-01 -5.28541687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.140714057 meters 0.04155222284120209 Centerline is valid? [True, True] Translation: X:837.18, Y:-147.32, Z:-52.86 [[ 9.96918147e-01 5.55280928e-02 5.54151508e-02 8.37179060e+02] [-5.51903952e-02 9.98446871e-01 -7.60701568e-03 -1.47319414e+02] [-5.57514870e-02 4.52518790e-03 9.98434422e-01 -5.28560934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.1707140569999 meters 0.04338888286483103 Centerline is valid? [True, True] Translation: X:837.21, Y:-147.33, Z:-52.86 [[ 9.96903066e-01 5.56164483e-02 5.55975590e-02 8.37209007e+02] [-5.52758473e-02 9.98441842e-01 -7.64651460e-03 -1.47327349e+02] [-5.59362011e-02 4.54963167e-03 9.98423979e-01 -5.28585985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.2007140569999 meters 0.04782748478764497 Centerline is valid? [True, True] Translation: X:837.24, Y:-147.34, Z:-52.86 [[ 9.96907330e-01 5.59481475e-02 5.51867835e-02 8.37239326e+02] [-5.56126544e-02 9.98423512e-01 -7.59752933e-03 -1.47339430e+02] [-5.55248499e-02 4.50494916e-03 9.98447143e-01 -5.28608252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.2307140569999 meters 0.04391127619372609 Centerline is valid? [True, True] Translation: X:837.27, Y:-147.34, Z:-52.86 [[ 9.96948789e-01 5.62081733e-02 5.41641274e-02 8.37271421e+02] [-5.58846614e-02 9.98409285e-01 -7.47019483e-03 -1.47340886e+02] [-5.44978538e-02 4.42045777e-03 9.98504103e-01 -5.28634960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.260714057 meters 0.040078675627661174 Centerline is valid? [True, True] Translation: X:837.30, Y:-147.34, Z:-52.87 [[ 9.96928341e-01 5.65404926e-02 5.41946163e-02 8.37303195e+02] [-5.62163260e-02 9.98390527e-01 -7.48863276e-03 -1.47340881e+02] [-5.45308025e-02 4.41900802e-03 9.98502310e-01 -5.28655488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.290714057 meters 0.03990707060698955 Centerline is valid? [True, True] Translation: X:837.33, Y:-147.35, Z:-52.87 [[ 9.96960168e-01 5.70483274e-02 5.30651729e-02 8.37334146e+02] [-5.67381596e-02 9.98362152e-01 -7.33448636e-03 -1.47345447e+02] [-5.33966804e-02 4.30137050e-03 9.98564116e-01 -5.28672973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.3207140569999 meters 0.04095035738293325 Centerline is valid? [True, True] Translation: X:837.36, Y:-147.35, Z:-52.87 [[ 9.96946670e-01 5.76715241e-02 5.26434417e-02 8.37363537e+02] [-5.73670282e-02 9.98326626e-01 -7.27821633e-03 -1.47351677e+02] [-5.29750954e-02 4.23599573e-03 9.98586849e-01 -5.28693627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.3507140569999 meters 0.04162501208164754 Centerline is valid? [True, True] Translation: X:837.39, Y:-147.36, Z:-52.87 [[ 9.96844012e-01 5.93953894e-02 5.26707042e-02 8.37393187e+02] [-5.90929154e-02 9.98225919e-01 -7.28295449e-03 -1.47358619e+02] [-5.30098361e-02 4.14750411e-03 9.98585377e-01 -5.28713351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.380714057 meters 0.04232076845366487 Centerline is valid? [True, True] Translation: X:837.42, Y:-147.36, Z:-52.87 [[ 9.96772908e-01 6.06301937e-02 5.26093982e-02 8.37422773e+02] [-6.03300764e-02 9.98151967e-01 -7.27553283e-03 -1.47364294e+02] [-5.29532912e-02 4.07812501e-03 9.98588663e-01 -5.28730273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.410714057 meters 0.04187176994447461 Centerline is valid? [True, True] Translation: X:837.45, Y:-147.37, Z:-52.87 [[ 9.96714263e-01 6.18104310e-02 5.23464302e-02 8.37453010e+02] [-6.15149268e-02 9.98079911e-01 -7.23916609e-03 -1.47368035e+02] [-5.26933764e-02 3.99529327e-03 9.98602747e-01 -5.28746616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.4407140569999 meters 0.04029588159223785 Centerline is valid? [True, True] Translation: X:837.48, Y:-147.37, Z:-52.88 [[ 9.96581764e-01 6.44011778e-02 5.17423963e-02 8.37482806e+02] [-6.41159248e-02 9.97916802e-01 -7.15575522e-03 -1.47370433e+02] [-5.20954457e-02 3.81378357e-03 9.98634828e-01 -5.28761867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.4707140569999 meters 0.037705416086360743 Centerline is valid? [True, True] Translation: X:837.51, Y:-147.37, Z:-52.88 [[ 9.96504300e-01 6.56381026e-02 5.16799826e-02 8.37513187e+02] [-6.53552522e-02 9.97836473e-01 -7.14595870e-03 -1.47371405e+02] [-5.20372188e-02 3.74342027e-03 9.98638130e-01 -5.28775674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.500714057 meters 0.04197115003815266 Centerline is valid? [True, True] Translation: X:837.54, Y:-147.38, Z:-52.88 [[ 9.96455693e-01 6.66885106e-02 5.12707931e-02 8.37540355e+02] [-6.64115455e-02 9.97767136e-01 -7.08866825e-03 -1.47381864e+02] [-5.16290451e-02 3.65857123e-03 9.98659630e-01 -5.28798386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.530714057 meters 0.036351133888080034 Centerline is valid? [True, True] Translation: X:837.57, Y:-147.38, Z:-52.88 [[ 9.96416181e-01 6.73650138e-02 5.11541715e-02 8.37570313e+02] [-6.70903378e-02 9.97721857e-01 -7.06977596e-03 -1.47378315e+02] [-5.15138905e-02 3.61248851e-03 9.98665744e-01 -5.28810655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.5607140569999 meters 0.04257220911274584 Centerline is valid? [True, True] Translation: X:837.60, Y:-147.39, Z:-52.88 [[ 9.96332455e-01 6.87727423e-02 5.09111846e-02 8.37596974e+02] [-6.85026437e-02 9.97626142e-01 -7.03339444e-03 -1.47392165e+02] [-5.12740345e-02 3.52004841e-03 9.98678418e-01 -5.28831332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.5907140569999 meters 0.03964397408252901 Centerline is valid? [True, True] Translation: X:837.63, Y:-147.39, Z:-52.88 [[ 9.96287707e-01 6.96593173e-02 5.05804791e-02 8.37626117e+02] [-6.93939914e-02 9.97564877e-01 -6.98506162e-03 -1.47392408e+02] [-5.09438840e-02 3.44914969e-03 9.98695561e-01 -5.28846334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.620714057 meters 0.03717302848702139 Centerline is valid? [True, True] Translation: X:837.65, Y:-147.39, Z:-52.89 [[ 9.96285412e-01 7.00479737e-02 5.00865122e-02 8.37654768e+02] [-6.97884735e-02 9.97537856e-01 -6.91338510e-03 -1.47393213e+02] [-5.04474606e-02 3.39224350e-03 9.98720955e-01 -5.28860207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.650714057 meters 0.03993866591995801 Centerline is valid? [True, True] Translation: X:837.68, Y:-147.40, Z:-52.89 [[ 9.96243774e-01 7.08037910e-02 4.98514341e-02 8.37681624e+02] [-7.05478385e-02 9.97484688e-01 -6.87748376e-03 -1.47401616e+02] [-5.02129941e-02 3.33473945e-03 9.98732965e-01 -5.28884773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.6807140569999 meters 0.03465795316312147 Centerline is valid? [True, True] Translation: X:837.71, Y:-147.40, Z:-52.89 [[ 9.96172117e-01 7.28061637e-02 4.83774229e-02 8.37711776e+02] [-7.25677114e-02 9.97341188e-01 -6.66953880e-03 -1.47398487e+02] [-4.87343799e-02 3.13336972e-03 9.98806859e-01 -5.28903100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.7107140569999 meters 0.03538785048686262 Centerline is valid? [True, True] Translation: X:837.74, Y:-147.40, Z:-52.89 [[ 9.96126624e-01 7.39130871e-02 4.76298790e-02 8.37739316e+02] [-7.36832719e-02 9.97260083e-01 -6.56525894e-03 -1.47403419e+02] [-4.79846356e-02 3.03030390e-03 9.98843477e-01 -5.28923402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.7407140569999 meters 0.03423961663159259 Centerline is valid? [True, True] Translation: X:837.77, Y:-147.41, Z:-52.89 [[ 9.96054908e-01 7.52599731e-02 4.70165520e-02 8.37768053e+02] [-7.50377359e-02 9.97159663e-01 -6.47653440e-03 -1.47405440e+02] [-4.73704329e-02 2.92296827e-03 9.98873114e-01 -5.28937324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.770714057 meters 0.034045680006135906 Centerline is valid? [True, True] Translation: X:837.80, Y:-147.41, Z:-52.90 [[ 9.95806275e-01 7.85712727e-02 4.68659494e-02 8.37796348e+02] [-7.83542782e-02 9.96904698e-01 -6.45220815e-03 -1.47408970e+02] [-4.72278434e-02 2.75300172e-03 9.98880349e-01 -5.28954287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.8007140569999 meters 0.03358755102656129 Centerline is valid? [True, True] Translation: X:837.83, Y:-147.41, Z:-52.90 [[ 9.95645842e-01 8.06358426e-02 4.67677104e-02 8.37826489e+02] [-8.04221627e-02 9.96740115e-01 -6.43578950e-03 -1.47412007e+02] [-4.71342083e-02 2.64660665e-03 9.98885059e-01 -5.28967635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.8307140569999 meters 0.03087139189111521 Centerline is valid? [True, True] Translation: X:837.86, Y:-147.41, Z:-52.90 [[ 9.95420647e-01 8.30736734e-02 4.72916604e-02 8.37856771e+02] [-8.28579409e-02 9.96540123e-01 -6.50735550e-03 -1.47411948e+02] [-4.76686270e-02 2.55906642e-03 9.98859927e-01 -5.28973568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.8607140569999 meters 0.028960712014388917 Centerline is valid? [True, True] Translation: X:837.89, Y:-147.41, Z:-52.90 [[ 9.94987497e-01 8.73194813e-02 4.87359024e-02 8.37887350e+02] [-8.70955709e-02 9.96177408e-01 -6.70328055e-03 -1.47412458e+02] [-4.91349319e-02 2.42499910e-03 9.98789206e-01 -5.28979814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.890714057 meters 0.029274631524433166 Centerline is valid? [True, True] Translation: X:837.92, Y:-147.42, Z:-52.90 [[ 9.94757053e-01 8.94663897e-02 4.95395849e-02 8.37915439e+02] [-8.92376812e-02 9.95987052e-01 -6.81380352e-03 -1.47416729e+02] [-4.99503915e-02 2.35728143e-03 9.98748918e-01 -5.28990734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.9207140569999 meters 0.02882147464011605 Centerline is valid? [True, True] Translation: X:837.94, Y:-147.42, Z:-52.90 [[ 9.94562896e-01 9.13116463e-02 5.00682436e-02 8.37944233e+02] [-9.10805420e-02 9.95819743e-01 -6.88285611e-03 -1.47419292e+02] [-5.04874305e-02 2.28519054e-03 9.98722082e-01 -5.29000423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.9507140569999 meters 0.02882147464011605 Centerline is valid? [True, True] Translation: X:837.97, Y:-147.42, Z:-52.90 [[ 9.94572438e-01 9.12074113e-02 5.00686900e-02 8.37971431e+02] [-9.09763385e-02 9.95829291e-01 -6.87960756e-03 -1.47422937e+02] [-5.04873393e-02 2.28720197e-03 9.98722082e-01 -5.29016336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.9807140569999 meters 0.02802596385749544 Centerline is valid? [True, True] Translation: X:838.00, Y:-147.43, Z:-52.90 [[ 9.94400963e-01 9.26443740e-02 5.08305535e-02 8.37999876e+02] [-9.24083757e-02 9.95696737e-01 -6.97854136e-03 -1.47425312e+02] [-5.12583389e-02 2.24229936e-03 9.98682910e-01 -5.29028426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.010714057 meters 0.02709653485365012 Centerline is valid? [True, True] Translation: X:838.03, Y:-147.43, Z:-52.90 [[ 9.94296797e-01 9.40322277e-02 5.03171880e-02 8.38028360e+02] [-9.38029294e-02 9.95566843e-01 -6.90451563e-03 -1.47427962e+02] [-5.07433709e-02 2.14523815e-03 9.98709421e-01 -5.29044395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.040714057 meters 0.027215358206262443 Centerline is valid? [True, True] Translation: X:838.06, Y:-147.43, Z:-52.91 [[ 9.94369760e-01 9.34651409e-02 4.99304282e-02 8.38057042e+02] [-9.32388244e-02 9.95620223e-01 -6.84786924e-03 -1.47433310e+02] [-5.03517811e-02 2.15385967e-03 9.98729222e-01 -5.29069063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.0707140569999 meters 0.028317755424148904 Centerline is valid? [True, True] Translation: X:838.08, Y:-147.44, Z:-52.91 [[ 9.94539818e-01 9.19461979e-02 4.93603765e-02 8.38084270e+02] [-9.17233256e-02 9.95761542e-01 -6.76632264e-03 -1.47439792e+02] [-4.97733023e-02 2.20187940e-03 9.98758114e-01 -5.29092624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.1007140569999 meters 0.02985168618494644 Centerline is valid? [True, True] Translation: X:838.11, Y:-147.45, Z:-52.91 [[ 9.94953740e-01 8.78715484e-02 4.84318745e-02 8.38113008e+02] [-8.76524107e-02 9.96129029e-01 -6.63419090e-03 -1.47448089e+02] [-4.88273527e-02 2.35554250e-03 9.98804456e-01 -5.29116891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.130714057 meters 0.030327981485201213 Centerline is valid? [True, True] Translation: X:838.14, Y:-147.45, Z:-52.91 [[ 9.95219354e-01 8.50219207e-02 4.80594497e-02 8.38141366e+02] [-8.48028552e-02 9.96376006e-01 -6.58266022e-03 -1.47453910e+02] [-4.84449529e-02 2.47561230e-03 9.98822786e-01 -5.29132092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.160714057 meters 0.031968838270991305 Centerline is valid? [True, True] Translation: X:838.17, Y:-147.46, Z:-52.92 [[ 9.95463700e-01 8.22394319e-02 4.78403360e-02 8.38168853e+02] [-8.20192712e-02 9.96609218e-01 -6.55030352e-03 -1.47461234e+02] [-4.82168131e-02 2.59675989e-03 9.98833518e-01 -5.29152688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.1907140569999 meters 0.03318731746331455 Centerline is valid? [True, True] Translation: X:838.20, Y:-147.47, Z:-52.92 [[ 9.95707344e-01 7.93015244e-02 4.77300146e-02 8.38197351e+02] [-7.90791942e-02 9.96846940e-01 -6.53147660e-03 -1.47467987e+02] [-4.80974751e-02 2.72898812e-03 9.98838919e-01 -5.29170937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.2207140569999 meters 0.034256259212093666 Centerline is valid? [True, True] Translation: X:838.23, Y:-147.48, Z:-52.92 [[ 9.96112421e-01 7.40511564e-02 4.77123741e-02 8.38226825e+02] [-7.38231980e-02 9.97250000e-01 -6.52474907e-03 -1.47475762e+02] [-4.80643303e-02 2.97710356e-03 9.98839806e-01 -5.29187610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.250714057 meters 0.038029358496142 Centerline is valid? [True, True] Translation: X:838.25, Y:-147.49, Z:-52.92 [[ 9.96270438e-01 7.13992954e-02 4.84495130e-02 8.38254423e+02] [-7.11610876e-02 9.97442828e-01 -6.62601483e-03 -1.47486547e+02] [-4.87987121e-02 3.15358265e-03 9.98803655e-01 -5.29210358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.280714057 meters 0.03524837161988124 Centerline is valid? [True, True] Translation: X:838.28, Y:-147.49, Z:-52.92 [[ 9.96436912e-01 6.89681367e-02 4.85476754e-02 8.38284168e+02] [-6.87262242e-02 9.97613482e-01 -6.63670107e-03 -1.47487654e+02] [-4.88895364e-02 3.27655550e-03 9.98798817e-01 -5.29217473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.3107140569999 meters 0.03831227706939224 Centerline is valid? [True, True] Translation: X:838.31, Y:-147.50, Z:-52.92 [[ 9.96566358e-01 6.66249815e-02 4.91589790e-02 8.38311842e+02] [-6.63741792e-02 9.97772183e-01 -6.71859238e-03 -1.47496777e+02] [-4.94970879e-02 3.43263626e-03 9.98768369e-01 -5.29236892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.3407140569999 meters 0.037925854852779294 Centerline is valid? [True, True] Translation: X:838.34, Y:-147.50, Z:-52.92 [[ 9.96801232e-01 6.28655880e-02 4.93479727e-02 8.38341790e+02] [-6.26084239e-02 9.98015401e-01 -6.74132990e-03 -1.47501350e+02] [-4.96738344e-02 3.63016716e-03 9.98758896e-01 -5.29243063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.370714057 meters 0.046656710982631314 Centerline is valid? [True, True] Translation: X:838.37, Y:-147.52, Z:-52.93 [[ 9.96905161e-01 6.09379162e-02 4.96655775e-02 8.38369050e+02] [-6.06750593e-02 9.98134514e-01 -6.78453063e-03 -1.47517659e+02] [-4.99863622e-02 3.75007174e-03 9.98742860e-01 -5.29270504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.400714057 meters 0.0409915355350397 Centerline is valid? [True, True] Translation: X:838.40, Y:-147.51, Z:-52.93 [[ 9.97000028e-01 5.93680420e-02 4.96626586e-02 8.38399739e+02] [-5.91032948e-02 9.98228821e-01 -6.78384938e-03 -1.47514125e+02] [-4.99774410e-02 3.82827127e-03 9.98743010e-01 -5.29277111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.4307140569999 meters 0.042556312188184724 Centerline is valid? [True, True] Translation: X:838.43, Y:-147.52, Z:-52.93 [[ 9.97141990e-01 5.68252320e-02 4.97869894e-02 8.38430057e+02] [-5.65560660e-02 9.98376270e-01 -6.79966653e-03 -1.47522101e+02] [-5.00925414e-02 3.96447676e-03 9.98736712e-01 -5.29299235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.4607140569999 meters 0.04392419399137285 Centerline is valid? [True, True] Translation: X:838.46, Y:-147.53, Z:-52.93 [[ 9.97225901e-01 5.57891776e-02 4.92754444e-02 8.38460737e+02] [-5.55242280e-02 9.98434655e-01 -6.73053101e-03 -1.47528299e+02] [-4.95738021e-02 3.97587884e-03 9.98762550e-01 -5.29322486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.4907140569999 meters 0.043124428563017604 Centerline is valid? [True, True] Translation: X:838.49, Y:-147.53, Z:-52.93 [[ 9.97289911e-01 5.49898230e-02 4.88769233e-02 8.38492433e+02] [-5.47281907e-02 9.98478970e-01 -6.67614594e-03 -1.47531566e+02] [-4.91697002e-02 3.98310741e-03 9.98782497e-01 -5.29343377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.520714057 meters 0.045109265640052784 Centerline is valid? [True, True] Translation: X:838.52, Y:-147.54, Z:-52.94 [[ 9.97334385e-01 5.44069437e-02 4.86210870e-02 8.38522353e+02] [-5.41467210e-02 9.98510818e-01 -6.65421656e-03 -1.47538285e+02] [-4.89107169e-02 4.00380654e-03 9.98795130e-01 -5.29367418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.5507140569999 meters 0.0449421011137563 Centerline is valid? [True, True] Translation: X:838.55, Y:-147.54, Z:-52.94 [[ 9.97403977e-01 5.39932523e-02 4.76448892e-02 8.38553851e+02] [-5.37429261e-02 9.98533516e-01 -6.52040104e-03 -1.47541081e+02] [-4.79270764e-02 3.94289817e-03 9.98843055e-01 -5.29391375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.5807140569999 meters 0.045839606347698104 Centerline is valid? [True, True] Translation: X:838.59, Y:-147.55, Z:-52.94 [[ 9.97420617e-01 5.37748059e-02 4.75434805e-02 8.38585152e+02] [-5.35246830e-02 9.98545245e-01 -6.51938766e-03 -1.47545743e+02] [-4.78248952e-02 3.95782194e-03 9.98847894e-01 -5.29414248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.6107140569999 meters 0.044356048461561465 Centerline is valid? [True, True] Translation: X:838.62, Y:-147.55, Z:-52.94 [[ 9.97403894e-01 5.37971407e-02 4.78679358e-02 8.38616685e+02] [-5.35435323e-02 9.98543932e-01 -6.56557854e-03 -1.47547473e+02] [-4.81514461e-02 3.98551524e-03 9.98832095e-01 -5.29429416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.640714057 meters 0.040593347783014676 Centerline is valid? [True, True] Translation: X:838.65, Y:-147.55, Z:-52.94 [[ 9.97356825e-01 5.45451276e-02 4.80020009e-02 8.38648940e+02] [-5.42908725e-02 9.98503445e-01 -6.58567631e-03 -1.47545685e+02] [-4.82893798e-02 3.96219871e-03 9.98825529e-01 -5.29438992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.6707140569999 meters 0.041379323405013144 Centerline is valid? [True, True] Translation: X:838.68, Y:-147.55, Z:-52.95 [[ 9.97264044e-01 5.52511408e-02 4.91094446e-02 8.38680293e+02] [-5.49857636e-02 9.98464394e-01 -6.73947473e-03 -1.47548843e+02] [-4.94063955e-02 4.02071551e-03 9.98770665e-01 -5.29450556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.7007140569999 meters 0.04221883599147953 Centerline is valid? [True, True] Translation: X:838.71, Y:-147.55, Z:-52.95 [[ 9.97244890e-01 5.53424127e-02 4.93948072e-02 8.38711806e+02] [-5.50739596e-02 9.98459255e-01 -6.78045611e-03 -1.47552738e+02] [-4.96939492e-02 4.04140759e-03 9.98756316e-01 -5.29465493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.7307140569999 meters 0.039150658898009665 Centerline is valid? [True, True] Translation: X:838.74, Y:-147.55, Z:-52.95 [[ 9.97203359e-01 5.56366494e-02 4.99001374e-02 8.38742719e+02] [-5.53629294e-02 9.98442786e-01 -6.85192722e-03 -1.47549488e+02] [-5.02036505e-02 4.07014706e-03 9.98730708e-01 -5.29472259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.760714057 meters 0.041411351489857764 Centerline is valid? [True, True] Translation: X:838.77, Y:-147.56, Z:-52.95 [[ 9.97197776e-01 5.56702589e-02 4.99741768e-02 8.38772015e+02] [-5.53957739e-02 9.98440896e-01 -6.86195808e-03 -1.47555322e+02] [-5.02782688e-02 4.07437114e-03 9.98726937e-01 -5.29488249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.790714057 meters 0.04088486044808697 Centerline is valid? [True, True] Translation: X:838.80, Y:-147.56, Z:-52.95 [[ 9.97228950e-01 5.52893419e-02 4.97745983e-02 8.38802678e+02] [-5.50165232e-02 9.98462046e-01 -6.83561061e-03 -1.47557461e+02] [-5.00759836e-02 4.07824345e-03 9.98737084e-01 -5.29509549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.8207140569999 meters 0.045272691072863726 Centerline is valid? [True, True] Translation: X:838.83, Y:-147.57, Z:-52.95 [[ 9.97281582e-01 5.46835716e-02 4.93877864e-02 8.38831825e+02] [-5.44142713e-02 9.98495414e-01 -6.78193890e-03 -1.47566611e+02] [-4.96843388e-02 4.07610235e-03 9.98756653e-01 -5.29536138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.8507140569999 meters 0.04665453413861967 Centerline is valid? [True, True] Translation: X:838.86, Y:-147.57, Z:-52.96 [[ 9.97448766e-01 5.22666549e-02 4.86225912e-02 8.38862310e+02] [-5.20026087e-02 9.98624603e-01 -6.68063097e-03 -1.47570881e+02] [-4.89048900e-02 4.13508553e-03 9.98794880e-01 -5.29564043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.880714057 meters 0.045493742042695 Centerline is valid? [True, True] Translation: X:838.89, Y:-147.57, Z:-52.96 [[ 9.97532938e-01 5.12882035e-02 4.79328530e-02 8.38893479e+02] [-5.10304504e-02 9.98675378e-01 -6.58652476e-03 -1.47573116e+02] [-4.82071712e-02 4.12424031e-03 9.98828844e-01 -5.29581544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.910714057 meters 0.04422085224619899 Centerline is valid? [True, True] Translation: X:838.92, Y:-147.58, Z:-52.96 [[ 9.97618668e-01 4.98119673e-02 4.77049498e-02 8.38924574e+02] [-4.95549145e-02 9.98749878e-01 -6.55673144e-03 -1.47575158e+02] [-4.79719165e-02 4.17710298e-03 9.98839951e-01 -5.29600074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.9407140569999 meters 0.045645443067514134 Centerline is valid? [True, True] Translation: X:838.96, Y:-147.58, Z:-52.96 [[ 9.97728325e-01 4.74600943e-02 4.78092909e-02 8.38955488e+02] [-4.71991038e-02 9.98863869e-01 -6.57383966e-03 -1.47580781e+02] [-4.80669683e-02 4.30235035e-03 9.98834849e-01 -5.29618112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.9707140569999 meters 0.04730460995784549 Centerline is valid? [True, True] Translation: X:838.99, Y:-147.59, Z:-52.96 [[ 9.97755931e-01 4.69162199e-02 4.77699735e-02 8.38987222e+02] [-4.66550569e-02 9.98889466e-01 -6.56810338e-03 -1.47587170e+02] [-4.80250739e-02 4.32465327e-03 9.98836768e-01 -5.29637831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.000714057 meters 0.047627952882778365 Centerline is valid? [True, True] Translation: X:839.02, Y:-147.59, Z:-52.97 [[ 9.97739178e-01 4.72100740e-02 4.78303476e-02 8.39019749e+02] [-4.69480180e-02 9.98875608e-01 -6.58816887e-03 -1.47591896e+02] [-4.80875954e-02 4.32773417e-03 9.98833747e-01 -5.29657073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.030714057 meters 0.048595452805123215 Centerline is valid? [True, True] Translation: X:839.05, Y:-147.60, Z:-52.97 [[ 9.97698379e-01 4.78326521e-02 4.80622643e-02 8.39051995e+02] [-4.75680708e-02 9.98845966e-01 -6.63440356e-03 -1.47595783e+02] [-4.83241399e-02 4.33290449e-03 9.98822308e-01 -5.29672561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.0607140569999 meters 0.04951934531959168 Centerline is valid? [True, True] Translation: X:839.08, Y:-147.60, Z:-52.97 [[ 9.97631978e-01 4.90525963e-02 4.82107911e-02 8.39081737e+02] [-4.87871404e-02 9.98786939e-01 -6.66824017e-03 -1.47600338e+02] [-4.84794029e-02 4.30038299e-03 9.98814925e-01 -5.29688411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.0907140569999 meters 0.043875122086905485 Centerline is valid? [True, True] Translation: X:839.11, Y:-147.60, Z:-52.97 [[ 9.97558742e-01 5.02914803e-02 4.84491813e-02 8.39113747e+02] [-5.00245567e-02 9.98725468e-01 -6.70699448e-03 -1.47596255e+02] [-4.87247359e-02 4.26697216e-03 9.98803130e-01 -5.29694654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.120714057 meters 0.04342217753269121 Centerline is valid? [True, True] Translation: X:839.14, Y:-147.60, Z:-52.97 [[ 9.97310231e-01 5.42172918e-02 4.93233035e-02 8.39143130e+02] [-5.39452865e-02 9.98520532e-01 -6.83030069e-03 -1.47598261e+02] [-4.96206517e-02 4.15116902e-03 9.98759510e-01 -5.29700925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.150714057 meters 0.04314726947825871 Centerline is valid? [True, True] Translation: X:839.17, Y:-147.60, Z:-52.97 [[ 9.97149371e-01 5.64560249e-02 5.00584680e-02 8.39174035e+02] [-5.61787034e-02 9.98396673e-01 -6.93086935e-03 -1.47601462e+02] [-5.03694973e-02 4.09889218e-03 9.98722240e-01 -5.29715442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.1807140569999 meters 0.04049877518411396 Centerline is valid? [True, True] Translation: X:839.20, Y:-147.60, Z:-52.97 [[ 9.97001512e-01 5.90127961e-02 5.00547149e-02 8.39204947e+02] [-5.87386631e-02 9.98249330e-01 -6.93137895e-03 -1.47600706e+02] [-5.03761257e-02 3.97044825e-03 9.98722425e-01 -5.29727383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.2107140569999 meters 0.03868622763862981 Centerline is valid? [True, True] Translation: X:839.23, Y:-147.60, Z:-52.97 [[ 9.96670525e-01 6.43573606e-02 5.00599082e-02 8.39234935e+02] [-6.40898552e-02 9.97920054e-01 -6.93231688e-03 -1.47599959e+02] [-5.04019319e-02 3.70090364e-03 9.98722158e-01 -5.29740979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.2407140569999 meters 0.0366574797334348 Centerline is valid? [True, True] Translation: X:839.27, Y:-147.60, Z:-52.98 [[ 9.96529534e-01 6.68803822e-02 4.95570709e-02 8.39265265e+02] [-6.66214090e-02 9.97754736e-01 -6.86110989e-03 -1.47600191e+02] [-4.99046758e-02 3.53573675e-03 9.98747727e-01 -5.29757720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.270714057 meters 0.036249415039358295 Centerline is valid? [True, True] Translation: X:839.30, Y:-147.60, Z:-52.98 [[ 9.96351103e-01 6.94729697e-02 4.95780722e-02 8.39295328e+02] [-6.92170134e-02 9.97578018e-01 -6.86311105e-03 -1.47602684e+02] [-4.99347957e-02 3.40642218e-03 9.98746671e-01 -5.29776196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.3007140569999 meters 0.03506906724830379 Centerline is valid? [True, True] Translation: X:839.32, Y:-147.60, Z:-52.98 [[ 9.96058667e-01 7.37785342e-02 4.92327201e-02 8.39324528e+02] [-7.35314089e-02 9.97269620e-01 -6.81444490e-03 -1.47603165e+02] [-4.96010558e-02 3.16743563e-03 9.98764088e-01 -5.29794553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.3307140569999 meters 0.03480957664818144 Centerline is valid? [True, True] Translation: X:839.35, Y:-147.61, Z:-52.98 [[ 9.95904465e-01 7.56412090e-02 4.95247905e-02 8.39353949e+02] [-7.53934810e-02 9.97130306e-01 -6.85389175e-03 -1.47605848e+02] [-4.99011062e-02 3.09197504e-03 9.98749378e-01 -5.29815430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.3607140569999 meters 0.03417094961497776 Centerline is valid? [True, True] Translation: X:839.38, Y:-147.61, Z:-52.98 [[ 9.95777747e-01 7.72892103e-02 4.95283432e-02 8.39382901e+02] [-7.70435510e-02 9.97004177e-01 -6.85288321e-03 -1.47608361e+02] [-4.99096190e-02 3.00810917e-03 9.98749208e-01 -5.29830048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.390714057 meters 0.03639849103725647 Centerline is valid? [True, True] Translation: X:839.41, Y:-147.61, Z:-52.99 [[ 9.95638202e-01 7.86423003e-02 5.01991982e-02 8.39410334e+02] [-7.83918312e-02 9.96898455e-01 -6.94205833e-03 -1.47614916e+02] [-5.05894425e-02 2.97657141e-03 9.98715099e-01 -5.29852567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.4207140569999 meters 0.03389595720915469 Centerline is valid? [True, True] Translation: X:839.44, Y:-147.61, Z:-52.99 [[ 9.95413726e-01 8.06422740e-02 5.14620061e-02 8.39440722e+02] [-8.03819034e-02 9.96738762e-01 -7.11263360e-03 -1.47613956e+02] [-5.18677552e-02 2.94339911e-03 9.98649624e-01 -5.29860803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.4507140569999 meters 0.03381925186888912 Centerline is valid? [True, True] Translation: X:839.47, Y:-147.62, Z:-52.99 [[ 9.95355201e-01 8.12340295e-02 5.16629152e-02 8.39469277e+02] [-8.09724460e-02 9.96690768e-01 -7.13978367e-03 -1.47617495e+02] [-5.20719440e-02 2.92334820e-03 9.98639057e-01 -5.29874154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.4807140569999 meters 0.0345588816359434 Centerline is valid? [True, True] Translation: X:839.50, Y:-147.62, Z:-52.99 [[ 9.95345188e-01 8.10222649e-02 5.21857189e-02 8.39496230e+02] [-8.07552552e-02 9.96707895e-01 -7.20841570e-03 -1.47621845e+02] [-5.25979602e-02 2.96059083e-03 9.98611381e-01 -5.29888798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.510714057 meters 0.03501740550223355 Centerline is valid? [True, True] Translation: X:839.52, Y:-147.63, Z:-52.99 [[ 9.95344612e-01 8.08720324e-02 5.24291710e-02 8.39523808e+02] [-8.06025539e-02 9.96720044e-01 -7.23753612e-03 -1.47625599e+02] [-5.28425199e-02 2.97791750e-03 9.98598418e-01 -5.29904031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.540714057 meters 0.03556922088035256 Centerline is valid? [True, True] Translation: X:839.55, Y:-147.63, Z:-52.99 [[ 9.95408401e-01 8.02124768e-02 5.22309764e-02 8.39552499e+02] [-7.99444240e-02 9.96773286e-01 -7.20459125e-03 -1.47630137e+02] [-5.26403401e-02 2.99593533e-03 9.98609042e-01 -5.29919491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.5707140569999 meters 0.03757295837785735 Centerline is valid? [True, True] Translation: X:839.58, Y:-147.64, Z:-52.99 [[ 9.95614303e-01 7.79628250e-02 5.17103191e-02 8.39580088e+02] [-7.76972565e-02 9.96951508e-01 -7.12925647e-03 -1.47636023e+02] [-5.21084976e-02 3.08023979e-03 9.98636679e-01 -5.29943853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.6007140569999 meters 0.038886705118804474 Centerline is valid? [True, True] Translation: X:839.61, Y:-147.64, Z:-53.00 [[ 9.95738065e-01 7.65069327e-02 5.15014077e-02 8.39607653e+02] [-7.62417551e-02 9.97064105e-01 -7.09686799e-03 -1.47641712e+02] [-5.18931646e-02 3.14006388e-03 9.98647705e-01 -5.29964577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.630714057 meters 0.0360346053253452 Centerline is valid? [True, True] Translation: X:839.64, Y:-147.64, Z:-53.00 [[ 9.96102182e-01 7.18976409e-02 5.10996299e-02 8.39638846e+02] [-7.16307482e-02 9.97406390e-01 -7.03766268e-03 -1.47641249e+02] [-5.14730888e-02 3.34992643e-03 9.98668764e-01 -5.29980677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.660714057 meters 0.04444591065664074 Centerline is valid? [True, True] Translation: X:839.67, Y:-147.66, Z:-53.00 [[ 9.96291546e-01 6.94039271e-02 5.08551877e-02 8.39666035e+02] [-6.91363520e-02 9.97582633e-01 -7.00399096e-03 -1.47657136e+02] [-5.12183565e-02 3.46207483e-03 9.98681478e-01 -5.30008702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.6907140569999 meters 0.03805128762122384 Centerline is valid? [True, True] Translation: X:839.70, Y:-147.65, Z:-53.00 [[ 9.96486159e-01 6.66527864e-02 5.07221881e-02 8.39696995e+02] [-6.63830759e-02 9.97769758e-01 -6.98546889e-03 -1.47651748e+02] [-5.10746663e-02 3.59382820e-03 9.98688371e-01 -5.30018013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.7207140569999 meters 0.03719174229857861 Centerline is valid? [True, True] Translation: X:839.73, Y:-147.65, Z:-53.00 [[ 9.96654220e-01 6.42352578e-02 5.05390687e-02 8.39727560e+02] [-6.39644684e-02 9.97927913e-01 -6.95896154e-03 -1.47654487e+02] [-5.08813580e-02 3.70297372e-03 9.98697840e-01 -5.30034607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.750714057 meters 0.04033822127178568 Centerline is valid? [True, True] Translation: X:839.76, Y:-147.66, Z:-53.01 [[ 9.96911188e-01 5.97779196e-02 5.09380419e-02 8.39755823e+02] [-5.94970381e-02 9.98203839e-01 -7.01412883e-03 -1.47661559e+02] [-5.12658390e-02 3.96180089e-03 9.98677184e-01 -5.30053484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.780714057 meters 0.041734910813152115 Centerline is valid? [True, True] Translation: X:839.78, Y:-147.67, Z:-53.01 [[ 9.96989606e-01 5.81955073e-02 5.12348335e-02 8.39784671e+02] [-5.79093662e-02 9.98296930e-01 -7.05301545e-03 -1.47667331e+02] [-5.15580308e-02 4.06480636e-03 9.98661728e-01 -5.30069273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.8107140569999 meters 0.041437698521130474 Centerline is valid? [True, True] Translation: X:839.81, Y:-147.67, Z:-53.01 [[ 9.97065393e-01 5.67808514e-02 5.13472242e-02 8.39813937e+02] [-5.64916316e-02 9.98378056e-01 -7.06767063e-03 -1.47670144e+02] [-5.16652503e-02 4.14624132e-03 9.98655852e-01 -5.30081350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.8407140569999 meters 0.04332346622324505 Centerline is valid? [True, True] Translation: X:839.84, Y:-147.68, Z:-53.01 [[ 9.97089263e-01 5.57381192e-02 5.20217701e-02 8.39842716e+02] [-5.54399378e-02 9.98436362e-01 -7.15850806e-03 -1.47675892e+02] [-5.23394286e-02 4.25358782e-03 9.98620294e-01 -5.30095464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.870714057 meters 0.04332346622324505 Centerline is valid? [True, True] Translation: X:839.87, Y:-147.68, Z:-53.01 [[ 9.97089259e-01 5.57380608e-02 5.20219094e-02 8.39872484e+02] [-5.54399318e-02 9.98436370e-01 -7.15749514e-03 -1.47679988e+02] [-5.23395113e-02 4.25257041e-03 9.98620294e-01 -5.30112878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.900714057 meters 0.0411178507159329 Centerline is valid? [True, True] Translation: X:839.90, Y:-147.68, Z:-53.01 [[ 9.97125750e-01 5.43896214e-02 5.27447431e-02 8.39902903e+02] [-5.40812627e-02 9.98510166e-01 -7.25703103e-03 -1.47678385e+02] [-5.30608694e-02 4.38367020e-03 9.98581658e-01 -5.30114936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.9307140569999 meters 0.04578515774681336 Centerline is valid? [True, True] Translation: X:839.93, Y:-147.69, Z:-53.01 [[ 9.97105472e-01 5.42301244e-02 5.32895027e-02 8.39932540e+02] [-5.39151903e-02 9.98518608e-01 -7.33084320e-03 -1.47687823e+02] [-5.36081126e-02 4.43651019e-03 9.98552196e-01 -5.30131032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.9607140569999 meters 0.04275039572234611 Centerline is valid? [True, True] Translation: X:839.96, Y:-147.69, Z:-53.01 [[ 9.97094677e-01 5.41536159e-02 5.35685730e-02 8.39963233e+02] [-5.38352040e-02 9.98522634e-01 -7.37028772e-03 -1.47686993e+02] [-5.38885603e-02 4.46499959e-03 9.98536973e-01 -5.30144615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.9907140569999 meters 0.04446160961950933 Centerline is valid? [True, True] Translation: X:839.99, Y:-147.69, Z:-53.02 [[ 9.97096148e-01 5.44034239e-02 5.32873252e-02 8.39993524e+02] [-5.40887088e-02 9.98509219e-01 -7.33151960e-03 -1.47691713e+02] [-5.36067452e-02 4.42798734e-03 9.98552307e-01 -5.30171058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.020714057 meters 0.041557555271032234 Centerline is valid? [True, True] Translation: X:840.02, Y:-147.69, Z:-53.02 [[ 9.97155468e-01 5.42573230e-02 5.23174602e-02 8.40024308e+02] [-5.39537205e-02 9.98517486e-01 -7.19909460e-03 -1.47690709e+02] [-5.26305025e-02 4.35589491e-03 9.98604555e-01 -5.30196251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.0507140569999 meters 0.04220796905277574 Centerline is valid? [True, True] Translation: X:840.05, Y:-147.69, Z:-53.02 [[ 9.97204333e-01 5.41019247e-02 5.15412456e-02 8.40054280e+02] [-5.38070688e-02 9.98526163e-01 -7.09228432e-03 -1.47694808e+02] [-5.18489885e-02 4.29917331e-03 9.98645683e-01 -5.30222140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.0807140569999 meters 0.045534203298791924 Centerline is valid? [True, True] Translation: X:840.08, Y:-147.70, Z:-53.03 [[ 9.97246928e-01 5.40440828e-02 5.07720542e-02 8.40082718e+02] [-5.37578915e-02 9.98529557e-01 -6.98655888e-03 -1.47702348e+02] [-5.10749790e-02 4.23792580e-03 9.98685830e-01 -5.30253508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.1107140569999 meters 0.04208982445583012 Centerline is valid? [True, True] Translation: X:840.11, Y:-147.70, Z:-53.03 [[ 9.97325419e-01 5.40427110e-02 4.92076599e-02 8.40112694e+02] [-5.37739365e-02 9.98530181e-01 -6.77057627e-03 -1.47698758e+02] [-4.95012338e-02 4.10637824e-03 9.98765621e-01 -5.30280678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.140714057 meters 0.042662435860180384 Centerline is valid? [True, True] Translation: X:840.14, Y:-147.70, Z:-53.03 [[ 9.97316829e-01 5.47111926e-02 4.86397692e-02 8.40142775e+02] [-5.44494827e-02 9.98494113e-01 -6.69037392e-03 -1.47702510e+02] [-4.89325616e-02 4.02401223e-03 9.98793979e-01 -5.30306764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.1707140569999 meters 0.04276703214086809 Centerline is valid? [True, True] Translation: X:840.17, Y:-147.71, Z:-53.03 [[ 9.97334534e-01 5.51243180e-02 4.78031071e-02 8.40171845e+02] [-5.48719977e-02 9.98471745e-01 -6.57563513e-03 -1.47705017e+02] [-4.80925291e-02 3.93505602e-03 9.98835134e-01 -5.30327582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.2007140569999 meters 0.04343369375877324 Centerline is valid? [True, True] Translation: X:840.20, Y:-147.71, Z:-53.04 [[ 9.97286578e-01 5.64749035e-02 4.72235875e-02 8.40200884e+02] [-5.62302533e-02 9.98396707e-01 -6.49423057e-03 -1.47707026e+02] [-4.75146353e-02 3.82121469e-03 9.98863233e-01 -5.30350375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.2307140569999 meters 0.04020781750731836 Centerline is valid? [True, True] Translation: X:840.23, Y:-147.70, Z:-53.04 [[ 9.97241683e-01 5.70865374e-02 4.74357856e-02 8.40230104e+02] [-5.68404321e-02 9.98361972e-01 -6.52207873e-03 -1.47704825e+02] [-4.77304074e-02 3.80781822e-03 9.98852997e-01 -5.30362971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.260714057 meters 0.03996858144728671 Centerline is valid? [True, True] Translation: X:840.26, Y:-147.71, Z:-53.04 [[ 9.97157236e-01 5.81032631e-02 4.79735013e-02 8.40258727e+02] [-5.78528820e-02 9.98303353e-01 -6.59244025e-03 -1.47706780e+02] [-4.82751495e-02 3.79829419e-03 9.98826853e-01 -5.30379583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.290714057 meters 0.04093094843186297 Centerline is valid? [True, True] Translation: X:840.29, Y:-147.71, Z:-53.04 [[ 9.97011565e-01 5.99965152e-02 4.86657777e-02 8.40288066e+02] [-5.97412815e-02 9.98191519e-01 -6.68363069e-03 -1.47708675e+02] [-4.89787611e-02 3.75630117e-03 9.98792757e-01 -5.30390704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.3207140569999 meters 0.04154856642522639 Centerline is valid? [True, True] Translation: X:840.32, Y:-147.71, Z:-53.04 [[ 9.96946997e-01 6.07550810e-02 4.90459516e-02 8.40315399e+02] [-6.04968201e-02 9.98145672e-01 -6.73446002e-03 -1.47711758e+02] [-4.93641569e-02 3.74677558e-03 9.98773819e-01 -5.30401751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.3507140569999 meters 0.03816119217707617 Centerline is valid? [True, True] Translation: X:840.34, Y:-147.71, Z:-53.04 [[ 9.96882192e-01 6.13974104e-02 4.95605979e-02 8.40344678e+02] [-6.11347045e-02 9.98106356e-01 -6.80071259e-03 -1.47709251e+02] [-4.98842939e-02 3.74963677e-03 9.98747965e-01 -5.30407826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.380714057 meters 0.04002077276036848 Centerline is valid? [True, True] Translation: X:840.37, Y:-147.71, Z:-53.04 [[ 9.96754197e-01 6.21000063e-02 5.12314421e-02 8.40372142e+02] [-6.18203863e-02 9.98062559e-01 -7.02618809e-03 -1.47713440e+02] [-5.15685106e-02 3.83623492e-03 9.98662091e-01 -5.30417038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.410714057 meters 0.040048309848819644 Centerline is valid? [True, True] Translation: X:840.40, Y:-147.72, Z:-53.04 [[ 9.96711935e-01 6.20007777e-02 5.21653371e-02 8.40400770e+02] [-6.17109834e-02 9.98068455e-01 -7.14932236e-03 -1.47717023e+02] [-5.25078410e-02 3.90664067e-03 9.98612870e-01 -5.30426984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.4407140569999 meters 0.04027800196166763 Centerline is valid? [True, True] Translation: X:840.43, Y:-147.72, Z:-53.04 [[ 9.96740780e-01 6.13359971e-02 5.23995569e-02 8.40428910e+02] [-6.10428790e-02 9.98109337e-01 -7.17762946e-03 -1.47720496e+02] [-5.27407341e-02 3.95561617e-03 9.98600405e-01 -5.30444451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.4707140569999 meters 0.04088707611757322 Centerline is valid? [True, True] Translation: X:840.46, Y:-147.72, Z:-53.05 [[ 9.96900429e-01 5.94337562e-02 5.15476782e-02 8.40458152e+02] [-5.91477755e-02 9.98224293e-01 -7.05708864e-03 -1.47724568e+02] [-5.18755739e-02 3.98628420e-03 9.98645600e-01 -5.30468467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.500714057 meters 0.041210601358391726 Centerline is valid? [True, True] Translation: X:840.49, Y:-147.73, Z:-53.05 [[ 9.97021516e-01 5.81627103e-02 5.06477580e-02 8.40487562e+02] [-5.78851009e-02 9.98299184e-01 -6.93209658e-03 -1.47728964e+02] [-5.09648051e-02 3.97969886e-03 9.98692521e-01 -5.30493030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.530714057 meters 0.048265153116876604 Centerline is valid? [True, True] Translation: X:840.51, Y:-147.74, Z:-53.05 [[ 9.97122648e-01 5.70777615e-02 4.98854062e-02 8.40514351e+02] [-5.68071890e-02 9.98361832e-01 -6.82612150e-03 -1.47742459e+02] [-5.01933052e-02 3.97263065e-03 9.98731621e-01 -5.30526008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.5607140569999 meters 0.04128195444966495 Centerline is valid? [True, True] Translation: X:840.55, Y:-147.74, Z:-53.05 [[ 9.97292245e-01 5.49511606e-02 4.88727729e-02 8.40545382e+02] [-5.46890770e-02 9.98481056e-01 -6.68471322e-03 -1.47736570e+02] [-4.91658707e-02 3.99380581e-03 9.98782642e-01 -5.30545498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.5907140569999 meters 0.042268026835440016 Centerline is valid? [True, True] Translation: X:840.57, Y:-147.74, Z:-53.06 [[ 9.97342156e-01 5.41117001e-02 4.87908586e-02 8.40574291e+02] [-5.38495362e-02 9.98526766e-01 -6.67273391e-03 -1.47741309e+02] [-4.90800512e-02 4.02763372e-03 9.98786727e-01 -5.30566325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.620714057 meters 0.043980357333374354 Centerline is valid? [True, True] Translation: X:840.60, Y:-147.75, Z:-53.06 [[ 9.97401352e-01 5.34134754e-02 4.83481530e-02 8.40602364e+02] [-5.31553149e-02 9.98564376e-01 -6.61061030e-03 -1.47747234e+02] [-4.86318389e-02 4.02347035e-03 9.98808668e-01 -5.30589568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.650714057 meters 0.045653159838337676 Centerline is valid? [True, True] Translation: X:840.63, Y:-147.75, Z:-53.06 [[ 9.97413234e-01 5.29654550e-02 4.85952732e-02 8.40630445e+02] [-5.27042478e-02 9.98588078e-01 -6.64174956e-03 -1.47752945e+02] [-4.88784438e-02 4.06339159e-03 9.98796469e-01 -5.30608789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.6807140569999 meters 0.04645686583760132 Centerline is valid? [True, True] Translation: X:840.66, Y:-147.76, Z:-53.06 [[ 9.97418619e-01 5.25312012e-02 4.89547925e-02 8.40659702e+02] [-5.22657285e-02 9.98610817e-01 -6.68810967e-03 -1.47757192e+02] [-4.92381197e-02 4.11218722e-03 9.98778603e-01 -5.30621127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.7107140569999 meters 0.04666408579847418 Centerline is valid? [True, True] Translation: X:840.69, Y:-147.76, Z:-53.06 [[ 9.97422287e-01 5.23908909e-02 4.90303637e-02 8.40689363e+02] [-5.21245143e-02 9.98618140e-01 -6.69670135e-03 -1.47760954e+02] [-4.93134567e-02 4.12375528e-03 9.98774838e-01 -5.30638264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.7407140569999 meters 0.04722263838125633 Centerline is valid? [True, True] Translation: X:840.72, Y:-147.77, Z:-53.07 [[ 9.97395765e-01 5.29398652e-02 4.89801948e-02 8.40718246e+02] [-5.26747764e-02 9.98589324e-01 -6.68811910e-03 -1.47765314e+02] [-4.92651678e-02 4.09068086e-03 9.98777357e-01 -5.30658277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.770714057 meters 0.0439386968922383 Centerline is valid? [True, True] Translation: X:840.75, Y:-147.76, Z:-53.07 [[ 9.97280977e-01 5.43933459e-02 4.97193880e-02 8.40748470e+02] [-5.41220677e-02 9.98511259e-01 -6.78728766e-03 -1.47764089e+02] [-5.00145520e-02 4.07791678e-03 9.98740164e-01 -5.30669307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.8007140569999 meters 0.04541758719906486 Centerline is valid? [True, True] Translation: X:840.78, Y:-147.77, Z:-53.07 [[ 9.97228461e-01 5.52241104e-02 4.98567427e-02 8.40776288e+02] [-5.49524434e-02 9.98465788e-01 -6.80438247e-03 -1.47769142e+02] [-5.01560178e-02 4.04577403e-03 9.98733200e-01 -5.30685324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.8307140569999 meters 0.04531311362466242 Centerline is valid? [True, True] Translation: X:840.81, Y:-147.77, Z:-53.07 [[ 9.97167823e-01 5.60650701e-02 5.01302471e-02 8.40805585e+02] [-5.57916073e-02 9.98419013e-01 -6.83891210e-03 -1.47772398e+02] [-5.04344160e-02 4.02269602e-03 9.98719274e-01 -5.30706472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.8607140569999 meters 0.04538860009832767 Centerline is valid? [True, True] Translation: X:840.83, Y:-147.78, Z:-53.07 [[ 9.97107930e-01 5.69572010e-02 5.03155346e-02 8.40834885e+02] [-5.66829279e-02 9.98368646e-01 -6.86242736e-03 -1.47775914e+02] [-5.06243168e-02 3.99054892e-03 9.98709795e-01 -5.30722597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.890714057 meters 0.04603978446645511 Centerline is valid? [True, True] Translation: X:840.86, Y:-147.78, Z:-53.07 [[ 9.97021217e-01 5.82581980e-02 5.05438000e-02 8.40863476e+02] [-5.79831722e-02 9.98293771e-01 -6.89190970e-03 -1.47779841e+02] [-5.08590710e-02 3.94069033e-03 9.98698065e-01 -5.30735302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.9207140569999 meters 0.04595416205611092 Centerline is valid? [True, True] Translation: X:840.89, Y:-147.78, Z:-53.08 [[ 9.96970081e-01 5.87860785e-02 5.09397158e-02 8.40891579e+02] [-5.85075379e-02 9.98262820e-01 -6.94333910e-03 -1.47783385e+02] [-5.12593960e-02 3.94194400e-03 9.98677593e-01 -5.30752924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.9507140569999 meters 0.04823951609253303 Centerline is valid? [True, True] Translation: X:840.92, Y:-147.79, Z:-53.08 [[ 9.96951989e-01 5.90346381e-02 5.10063046e-02 8.40919173e+02] [-5.87558777e-02 9.98248196e-01 -6.94878534e-03 -1.47790338e+02] [-5.13271706e-02 3.93068517e-03 9.98674157e-01 -5.30769056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.9807140569999 meters 0.041880081086022626 Centerline is valid? [True, True] Translation: X:840.95, Y:-147.79, Z:-53.08 [[ 9.96946182e-01 5.94255947e-02 5.06646680e-02 8.40948563e+02] [-5.91511866e-02 9.98225190e-01 -6.89979791e-03 -1.47785796e+02] [-5.09847724e-02 3.88185195e-03 9.98691887e-01 -5.30779037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.010714057 meters 0.043545321336843044 Centerline is valid? [True, True] Translation: X:840.98, Y:-147.79, Z:-53.08 [[ 9.96957593e-01 5.94958246e-02 5.03567815e-02 8.40975938e+02] [-5.92250075e-02 9.98221125e-01 -6.85445105e-03 -1.47792451e+02] [-5.06750144e-02 3.85121626e-03 9.98707771e-01 -5.30803222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.040714057 meters 0.044243473930173624 Centerline is valid? [True, True] Translation: X:841.00, Y:-147.80, Z:-53.08 [[ 9.96984032e-01 5.96007654e-02 4.97050145e-02 8.41004626e+02] [-5.93372897e-02 9.98215095e-01 -6.76095533e-03 -1.47797706e+02] [-5.00192539e-02 3.79120366e-03 9.98741058e-01 -5.30823050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.0707140569999 meters 0.036990211044879207 Centerline is valid? [True, True] Translation: X:841.03, Y:-147.79, Z:-53.08 [[ 9.96973261e-01 6.00507286e-02 4.93784105e-02 8.41034851e+02] [-5.97914222e-02 9.98188318e-01 -6.71319035e-03 -1.47791732e+02] [-4.96920845e-02 3.74046588e-03 9.98757581e-01 -5.30836121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.1007140569999 meters 0.03781912363808539 Centerline is valid? [True, True] Translation: X:841.06, Y:-147.80, Z:-53.09 [[ 9.96972182e-01 6.03159409e-02 4.90760127e-02 8.41063378e+02] [-6.00603020e-02 9.98172476e-01 -6.66846646e-03 -1.47796660e+02] [-4.93885400e-02 3.70075541e-03 9.98772785e-01 -5.30856499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.130714057 meters 0.04063440678365039 Centerline is valid? [True, True] Translation: X:841.09, Y:-147.80, Z:-53.09 [[ 9.96914422e-01 6.14533927e-02 4.88376454e-02 8.41090197e+02] [-6.12017611e-02 9.98103378e-01 -6.63259983e-03 -1.47804824e+02] [-4.91526146e-02 3.62318452e-03 9.98784708e-01 -5.30876844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.160714057 meters 0.04174794530848532 Centerline is valid? [True, True] Translation: X:841.12, Y:-147.81, Z:-53.09 [[ 9.96903826e-01 6.17683161e-02 4.86563088e-02 8.41118030e+02] [-6.15191319e-02 9.98084058e-01 -6.60373920e-03 -1.47810089e+02] [-4.89709880e-02 3.58999900e-03 9.98793750e-01 -5.30893961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.1907140569999 meters 0.040961319426146156 Centerline is valid? [True, True] Translation: X:841.15, Y:-147.81, Z:-53.09 [[ 9.96849951e-01 6.24713297e-02 4.88621277e-02 8.41146719e+02] [-6.22210396e-02 9.98040384e-01 -6.62823391e-03 -1.47813137e+02] [-4.91804513e-02 3.56710227e-03 9.98783540e-01 -5.30908139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.2207140569999 meters 0.03632361885884898 Centerline is valid? [True, True] Translation: X:841.18, Y:-147.81, Z:-53.09 [[ 9.96822773e-01 6.28967041e-02 4.88708894e-02 8.41176628e+02] [-6.26469863e-02 9.98013751e-01 -6.62629531e-03 -1.47810726e+02] [-4.91905918e-02 3.54362812e-03 9.98783124e-01 -5.30918320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.250714057 meters 0.036503826126005307 Centerline is valid? [True, True] Translation: X:841.20, Y:-147.82, Z:-53.09 [[ 9.96811705e-01 6.30769176e-02 4.88643772e-02 8.41204825e+02] [-6.28277571e-02 9.98002430e-01 -6.61981985e-03 -1.47815227e+02] [-4.91843250e-02 3.52867469e-03 9.98783485e-01 -5.30934463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.280714057 meters 0.03892353849813108 Centerline is valid? [True, True] Translation: X:841.23, Y:-147.82, Z:-53.10 [[ 9.96807199e-01 6.30842962e-02 4.89466968e-02 8.41232060e+02] [-6.28344706e-02 9.98001956e-01 -6.62758401e-03 -1.47823317e+02] [-4.92669956e-02 3.53088368e-03 9.98779403e-01 -5.30954937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.3107140569999 meters 0.042809005496468634 Centerline is valid? [True, True] Translation: X:841.26, Y:-147.83, Z:-53.10 [[ 9.96839153e-01 6.27164312e-02 4.87683549e-02 8.41258472e+02] [-6.24682241e-02 9.98025140e-01 -6.59861157e-03 -1.47832749e+02] [-4.90858856e-02 3.53128184e-03 9.98788319e-01 -5.30976424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.3407140569999 meters 0.037675381804394885 Centerline is valid? [True, True] Translation: X:841.29, Y:-147.83, Z:-53.10 [[ 9.96908830e-01 6.17423437e-02 4.85867076e-02 8.41288173e+02] [-6.14950497e-02 9.98085767e-01 -6.56962556e-03 -1.47830868e+02] [-4.88993254e-02 3.56147573e-03 9.98797363e-01 -5.30981596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.370714057 meters 0.04005660600916069 Centerline is valid? [True, True] Translation: X:841.31, Y:-147.84, Z:-53.10 [[ 9.96963904e-01 6.08857790e-02 4.85375781e-02 8.41314694e+02] [-6.06381418e-02 9.98138261e-01 -6.55959877e-03 -1.47838432e+02] [-4.88466001e-02 3.59645465e-03 9.98799817e-01 -5.31005470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.400714057 meters 0.04066303882480666 Centerline is valid? [True, True] Translation: X:841.34, Y:-147.84, Z:-53.10 [[ 9.97031377e-01 6.00281228e-02 4.82188516e-02 8.41342788e+02] [-5.97829461e-02 9.98190158e-01 -6.51214785e-03 -1.47844132e+02] [-4.85224951e-02 3.61015073e-03 9.98815566e-01 -5.31024714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.4307140569999 meters 0.04212398901149928 Centerline is valid? [True, True] Translation: X:841.37, Y:-147.85, Z:-53.10 [[ 9.97132042e-01 5.84853186e-02 4.80328965e-02 8.41371093e+02] [-5.82404245e-02 9.98281532e-01 -6.48347492e-03 -1.47851371e+02] [-4.83295416e-02 3.66742430e-03 9.98824712e-01 -5.31041412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.4607140569999 meters 0.04306684800016424 Centerline is valid? [True, True] Translation: X:841.40, Y:-147.86, Z:-53.11 [[ 9.97149636e-01 5.77405129e-02 4.85657923e-02 8.41399042e+02] [-5.74893910e-02 9.98324611e-01 -6.55296149e-03 -1.47857231e+02] [-4.88627971e-02 3.74226535e-03 9.98798489e-01 -5.31054899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.4907140569999 meters 0.04495609083128229 Centerline is valid? [True, True] Translation: X:841.43, Y:-147.86, Z:-53.11 [[ 9.97133626e-01 5.69940800e-02 4.97615019e-02 8.41426950e+02] [-5.67296924e-02 9.98367022e-01 -6.71052989e-03 -1.47864753e+02] [-5.00627030e-02 3.86834030e-03 9.98738585e-01 -5.31067164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.520714057 meters 0.040155582140685174 Centerline is valid? [True, True] Translation: X:841.46, Y:-147.86, Z:-53.11 [[ 9.97132537e-01 5.67603104e-02 5.00496760e-02 8.41456674e+02] [-5.64926579e-02 9.98380214e-01 -6.74736861e-03 -1.47862509e+02] [-5.03515890e-02 3.90058156e-03 9.98723937e-01 -5.31076909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.5507140569999 meters 0.03974049445417007 Centerline is valid? [True, True] Translation: X:841.49, Y:-147.87, Z:-53.11 [[ 9.97118319e-01 5.68243188e-02 5.02598788e-02 8.41485187e+02] [-5.65546769e-02 9.98376536e-01 -6.77204652e-03 -1.47866850e+02] [-5.05631006e-02 3.91010043e-03 9.98713214e-01 -5.31091531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.5807140569999 meters 0.03785964099992521 Centerline is valid? [True, True] Translation: X:841.51, Y:-147.87, Z:-53.11 [[ 9.97098196e-01 5.70558603e-02 5.03965959e-02 8.41513970e+02] [-5.67852285e-02 9.98363349e-01 -6.78678696e-03 -1.47868209e+02] [-5.07013403e-02 3.90531082e-03 9.98706224e-01 -5.31105673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.6107140569999 meters 0.040999527030924444 Centerline is valid? [True, True] Translation: X:841.54, Y:-147.88, Z:-53.11 [[ 9.97045756e-01 5.82394552e-02 5.00791956e-02 8.41541568e+02] [-5.79739019e-02 9.98295345e-01 -6.74020674e-03 -1.47877504e+02] [-5.03863738e-02 3.81700815e-03 9.98722506e-01 -5.31129486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.640714057 meters 0.04079280738530831 Centerline is valid? [True, True] Translation: X:841.57, Y:-147.88, Z:-53.11 [[ 9.97029609e-01 5.86420333e-02 4.99306670e-02 8.41570290e+02] [-5.83786879e-02 9.98271908e-01 -6.71759857e-03 -1.47881491e+02] [-5.02383159e-02 3.78275785e-03 9.98730095e-01 -5.31145886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.6707140569999 meters 0.040156278573980755 Centerline is valid? [True, True] Translation: X:841.60, Y:-147.88, Z:-53.12 [[ 9.97016506e-01 5.91755870e-02 4.95614385e-02 8.41599220e+02] [-5.89169571e-02 9.98240641e-01 -6.66439822e-03 -1.47884824e+02] [-4.98686118e-02 3.72450588e-03 9.98748842e-01 -5.31164080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.7007140569999 meters 0.039294540921224794 Centerline is valid? [True, True] Translation: X:841.63, Y:-147.89, Z:-53.12 [[ 9.96942591e-01 6.01369984e-02 4.98900020e-02 8.41628070e+02] [-5.98762916e-02 9.98183285e-01 -6.70517966e-03 -1.47888372e+02] [-5.02025954e-02 3.69745088e-03 9.98732211e-01 -5.31183982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.7307140569999 meters 0.03781339990064496 Centerline is valid? [True, True] Translation: X:841.66, Y:-147.89, Z:-53.12 [[ 9.96921977e-01 6.04958965e-02 4.98680018e-02 8.41657143e+02] [-6.02361279e-02 9.98161690e-01 -6.69701196e-03 -1.47890891e+02] [-5.01814707e-02 3.67254307e-03 9.98733364e-01 -5.31199444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.760714057 meters 0.03781339990064496 Centerline is valid? [True, True] Translation: X:841.69, Y:-147.89, Z:-53.12 [[ 9.96926278e-01 6.04245832e-02 4.98684808e-02 8.41685230e+02] [-6.01649034e-02 9.98166009e-01 -6.69344356e-03 -1.47894601e+02] [-5.01814710e-02 3.67253745e-03 9.98733364e-01 -5.31215875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.790714057 meters 0.037144068790514476 Centerline is valid? [True, True] Translation: X:841.71, Y:-147.90, Z:-53.12 [[ 9.96864969e-01 6.14806639e-02 4.98032289e-02 8.41714009e+02] [-6.12231554e-02 9.98101743e-01 -6.68107183e-03 -1.47898015e+02] [-5.01194463e-02 3.61101564e-03 9.98736703e-01 -5.31234626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.8207140569999 meters 0.039132187207954715 Centerline is valid? [True, True] Translation: X:841.74, Y:-147.91, Z:-53.12 [[ 9.96831119e-01 6.22562665e-02 4.95164379e-02 8.41741559e+02] [-6.20028493e-02 9.98053892e-01 -6.63899597e-03 -1.47905304e+02] [-4.98333927e-02 3.54779754e-03 9.98751243e-01 -5.31249887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.8507140569999 meters 0.04244395479591731 Centerline is valid? [True, True] Translation: X:841.77, Y:-147.91, Z:-53.13 [[ 9.96813640e-01 6.27674831e-02 4.92220465e-02 8.41768389e+02] [-6.25178625e-02 9.98022048e-01 -6.59610733e-03 -1.47913880e+02] [-4.95387087e-02 3.49783262e-03 9.98766080e-01 -5.31274808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.880714057 meters 0.03711579594617655 Centerline is valid? [True, True] Translation: X:841.80, Y:-147.91, Z:-53.13 [[ 9.96786862e-01 6.30802455e-02 4.93643139e-02 8.41797541e+02] [-6.28297841e-02 9.98002363e-01 -6.61066272e-03 -1.47910363e+02] [-4.96827042e-02 3.48787256e-03 9.98758962e-01 -5.31285113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.910714057 meters 0.038057745022021555 Centerline is valid? [True, True] Translation: X:841.83, Y:-147.92, Z:-53.13 [[ 9.96739795e-01 6.43407740e-02 4.86831244e-02 8.41825185e+02] [-6.40988502e-02 9.97922281e-01 -6.51595650e-03 -1.47917125e+02] [-4.90012163e-02 3.37418084e-03 9.98793019e-01 -5.31312834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.9407140569999 meters 0.03497825986743108 Centerline is valid? [True, True] Translation: X:841.85, Y:-147.92, Z:-53.13 [[ 9.96714254e-01 6.51722144e-02 4.80965615e-02 8.41854571e+02] [-6.49372182e-02 9.97868609e-01 -6.43405502e-03 -1.47916767e+02] [-4.84133706e-02 3.28965743e-03 9.98821968e-01 -5.31327964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.9707140569999 meters 0.03854915382883678 Centerline is valid? [True, True] Translation: X:841.88, Y:-147.93, Z:-53.14 [[ 9.96638346e-01 6.69748115e-02 4.71845452e-02 8.41881847e+02] [-6.67508373e-02 9.97749733e-01 -6.30834289e-03 -1.47926409e+02] [-4.75008675e-02 3.13752852e-03 9.98866269e-01 -5.31359083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.000714057 meters 0.03548547422346513 Centerline is valid? [True, True] Translation: X:841.91, Y:-147.93, Z:-53.14 [[ 9.96570665e-01 6.77830032e-02 4.74591854e-02 8.41911229e+02] [-6.75574085e-02 9.97695224e-01 -6.34328302e-03 -1.47926096e+02] [-4.77797694e-02 3.11531020e-03 9.98853037e-01 -5.31368215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.030714057 meters 0.03434147583497805 Centerline is valid? [True, True] Translation: X:841.94, Y:-147.93, Z:-53.14 [[ 9.96548720e-01 6.80801063e-02 4.74947138e-02 8.41939748e+02] [-6.78546729e-02 9.97675042e-01 -6.34461060e-03 -1.47928036e+02] [-4.78162323e-02 3.09997531e-03 9.98851339e-01 -5.31381210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.0607140569999 meters 0.03621499101396822 Centerline is valid? [True, True] Translation: X:841.97, Y:-147.93, Z:-53.14 [[ 9.96500476e-01 6.86645017e-02 4.76653700e-02 8.41966677e+02] [-6.84382697e-02 9.97635054e-01 -6.36406564e-03 -1.47934885e+02] [-4.79896294e-02 3.07965899e-03 9.98843086e-01 -5.31398972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.0907140569999 meters 0.03536688786056098 Centerline is valid? [True, True] Translation: X:842.00, Y:-147.94, Z:-53.14 [[ 9.96417654e-01 6.95478523e-02 4.81139730e-02 8.41995710e+02] [-6.93185683e-02 9.97573919e-01 -6.41972306e-03 -1.47937995e+02] [-4.84437225e-02 3.06153368e-03 9.98821222e-01 -5.31412234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.120714057 meters 0.036497875097150564 Centerline is valid? [True, True] Translation: X:842.02, Y:-147.94, Z:-53.14 [[ 9.96385610e-01 6.99634884e-02 4.81749570e-02 8.42022465e+02] [-6.97343845e-02 9.97544922e-01 -6.42212025e-03 -1.47944039e+02] [-4.85059976e-02 3.03945723e-03 9.98818267e-01 -5.31429376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.150714057 meters 0.03436499272369358 Centerline is valid? [True, True] Translation: X:842.05, Y:-147.95, Z:-53.14 [[ 9.96320628e-01 7.08196082e-02 4.82678963e-02 8.42051242e+02] [-7.05908377e-02 9.97484631e-01 -6.43000871e-03 -1.47945336e+02] [-4.86018554e-02 2.99907908e-03 9.98813729e-01 -5.31440258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.1807140569999 meters 0.03512355857165875 Centerline is valid? [True, True] Translation: X:842.08, Y:-147.95, Z:-53.15 [[ 9.96303768e-01 7.09164254e-02 4.84733269e-02 8.42079303e+02] [-7.06859871e-02 9.97477739e-01 -6.45386620e-03 -1.47950241e+02] [-4.88087496e-02 3.00362625e-03 9.98803626e-01 -5.31454914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.2107140569999 meters 0.034267541078142325 Centerline is valid? [True, True] Translation: X:842.11, Y:-147.95, Z:-53.15 [[ 9.96241802e-01 7.14693374e-02 4.89326607e-02 8.42108010e+02] [-7.12353453e-02 9.97438282e-01 -6.51148674e-03 -1.47953661e+02] [-4.92726807e-02 3.00128030e-03 9.98780855e-01 -5.31470673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.2407140569999 meters 0.03393224103296389 Centerline is valid? [True, True] Translation: X:842.14, Y:-147.96, Z:-53.15 [[ 9.96226359e-01 7.12688661e-02 4.95357401e-02 8.42135910e+02] [-7.10289845e-02 9.97452493e-01 -6.58840667e-03 -1.47958186e+02] [-4.98790958e-02 3.04507108e-03 9.98750621e-01 -5.31490029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.270714057 meters 0.033148396978085554 Centerline is valid? [True, True] Translation: X:842.16, Y:-147.96, Z:-53.15 [[ 9.96227486e-01 7.12131813e-02 4.95931447e-02 8.42163262e+02] [-7.09729452e-02 9.97456468e-01 -6.59061849e-03 -1.47961442e+02] [-4.99363419e-02 3.04598374e-03 9.98747758e-01 -5.31500672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.3007140569999 meters 0.03359303240005311 Centerline is valid? [True, True] Translation: X:842.19, Y:-147.97, Z:-53.15 [[ 9.96247481e-01 7.08301296e-02 4.97398158e-02 8.42191693e+02] [-7.05882852e-02 9.97483673e-01 -6.60429712e-03 -1.47966953e+02] [-5.00824374e-02 3.06846606e-03 9.98740374e-01 -5.31524114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.3307140569999 meters 0.033852316307690165 Centerline is valid? [True, True] Translation: X:842.22, Y:-147.97, Z:-53.15 [[ 9.96301483e-01 7.02544480e-02 4.94739165e-02 8.42219500e+02] [-7.00146567e-02 9.97524357e-01 -6.56541563e-03 -1.47972761e+02] [-4.98126864e-02 3.07723405e-03 9.98753837e-01 -5.31546035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.3607140569999 meters 0.036110135437019714 Centerline is valid? [True, True] Translation: X:842.25, Y:-147.98, Z:-53.16 [[ 9.96344987e-01 6.99344924e-02 4.90492993e-02 8.42246374e+02] [-6.96985845e-02 9.97546883e-01 -6.50569169e-03 -1.47980038e+02] [-4.93839479e-02 3.06324657e-03 9.98775171e-01 -5.31570398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.390714057 meters 0.03411064428958617 Centerline is valid? [True, True] Translation: X:842.27, Y:-147.98, Z:-53.16 [[ 9.96460508e-01 6.91948392e-02 4.77339445e-02 8.42274855e+02] [-6.89707892e-02 9.97598617e-01 -6.32690691e-03 -1.47981856e+02] [-4.80571063e-02 3.01226505e-03 9.98840048e-01 -5.31591134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.4207140569999 meters 0.03485342846761307 Centerline is valid? [True, True] Translation: X:842.30, Y:-147.99, Z:-53.16 [[ 9.96453503e-01 6.95577179e-02 4.73512435e-02 8.42301699e+02] [-6.93378117e-02 9.97573515e-01 -6.27294538e-03 -1.47987261e+02] [-4.76726782e-02 2.96746679e-03 9.98858604e-01 -5.31614237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.4507140569999 meters 0.03323594976565108 Centerline is valid? [True, True] Translation: X:842.33, Y:-147.99, Z:-53.16 [[ 9.96496835e-01 6.94493860e-02 4.65922886e-02 8.42330161e+02] [-6.92365639e-02 9.97581201e-01 -6.16808346e-03 -1.47988317e+02] [-4.69079609e-02 2.92058567e-03 9.98894946e-01 -5.31633114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.4807140569999 meters 0.03349219421203846 Centerline is valid? [True, True] Translation: X:842.36, Y:-147.99, Z:-53.17 [[ 9.96495016e-01 7.00828756e-02 4.56735600e-02 8.42358411e+02] [-6.98791841e-02 9.97537157e-01 -6.04318471e-03 -1.47992873e+02] [-4.59845970e-02 2.83037233e-03 9.98938139e-01 -5.31660311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.510714057 meters 0.03326478864565023 Centerline is valid? [True, True] Translation: X:842.39, Y:-148.00, Z:-53.17 [[ 9.96487021e-01 7.04369708e-02 4.53017666e-02 8.42386752e+02] [-7.02370980e-02 9.97512336e-01 -5.99073214e-03 -1.47996539e+02] [-4.56110401e-02 2.78782220e-03 9.98955385e-01 -5.31678451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.540714057 meters 0.03319438247724675 Centerline is valid? [True, True] Translation: X:842.41, Y:-148.00, Z:-53.17 [[ 9.96462197e-01 7.08012836e-02 4.52798955e-02 8.42414899e+02] [-7.06021284e-02 9.97486604e-01 -5.98455278e-03 -1.47999814e+02] [-4.55898032e-02 2.76652361e-03 9.98956414e-01 -5.31694314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.5707140569999 meters 0.03353851972494947 Centerline is valid? [True, True] Translation: X:842.44, Y:-148.00, Z:-53.17 [[ 9.96420962e-01 7.12452639e-02 4.54904194e-02 8.42442570e+02] [-7.10448545e-02 9.97455020e-01 -6.00926392e-03 -1.48003377e+02] [-4.58027788e-02 2.75589631e-03 9.98946701e-01 -5.31710615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.6007140569999 meters 0.035733396015220686 Centerline is valid? [True, True] Translation: X:842.47, Y:-148.01, Z:-53.17 [[ 9.96444627e-01 7.08424771e-02 4.56009721e-02 8.42469642e+02] [-7.06408612e-02 9.97483650e-01 -6.01974038e-03 -1.48010045e+02] [-4.59126774e-02 2.77704602e-03 9.98941597e-01 -5.31729355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.630714057 meters 0.03552916613330858 Centerline is valid? [True, True] Translation: X:842.50, Y:-148.01, Z:-53.17 [[ 9.96491179e-01 6.96868723e-02 4.63580537e-02 8.42497869e+02] [-6.94774525e-02 9.97564777e-01 -6.11545591e-03 -1.48012946e+02] [-4.66713285e-02 2.87315840e-03 9.98906168e-01 -5.31740317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.660714057 meters 0.03673051827536731 Centerline is valid? [True, True] Translation: X:842.52, Y:-148.02, Z:-53.18 [[ 9.96524513e-01 6.86262930e-02 4.72157465e-02 8.42524877e+02] [-6.84080556e-02 9.97638007e-01 -6.22448947e-03 -1.48018604e+02] [-4.75313869e-02 2.97291893e-03 9.98865321e-01 -5.31756902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.6907140569999 meters 0.03785290552172938 Centerline is valid? [True, True] Translation: X:842.55, Y:-148.02, Z:-53.18 [[ 9.96585435e-01 6.74434234e-02 4.76325020e-02 8.42552161e+02] [-6.72202126e-02 9.97718435e-01 -6.27432934e-03 -1.48023946e+02] [-4.79469876e-02 3.05103833e-03 9.98845222e-01 -5.31766843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.7207140569999 meters 0.03808496357507584 Centerline is valid? [True, True] Translation: X:842.58, Y:-148.03, Z:-53.18 [[ 9.96617674e-01 6.62824061e-02 4.85783450e-02 8.42580998e+02] [-6.60490802e-02 9.97795886e-01 -6.39444409e-03 -1.48028380e+02] [-4.88951119e-02 3.16426098e-03 9.98798906e-01 -5.31776777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.750714057 meters 0.035129159437553376 Centerline is valid? [True, True] Translation: X:842.61, Y:-148.03, Z:-53.18 [[ 9.96773196e-01 6.34454084e-02 4.91719087e-02 8.42611258e+02] [-6.32030960e-02 9.97979721e-01 -6.46871350e-03 -1.48027760e+02] [-4.94829779e-02 3.34002336e-03 9.98769382e-01 -5.31773841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.780714057 meters 0.0382825704610015 Centerline is valid? [True, True] Translation: X:842.64, Y:-148.04, Z:-53.18 [[ 9.96833050e-01 6.24607009e-02 4.92192126e-02 8.42638546e+02] [-6.22167824e-02 9.98041663e-01 -6.47383008e-03 -1.48036565e+02] [-4.95271848e-02 3.39106674e-03 9.98767019e-01 -5.31794078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.8107140569999 meters 0.04208021845181208 Centerline is valid? [True, True] Translation: X:842.67, Y:-148.05, Z:-53.18 [[ 9.96961974e-01 5.99623259e-02 4.97125851e-02 8.42666705e+02] [-5.97104239e-02 9.98194328e-01 -6.53821467e-03 -1.48046338e+02] [-5.00148671e-02 3.54999188e-03 9.98742164e-01 -5.31818626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.8407140569999 meters 0.03855483962749615 Centerline is valid? [True, True] Translation: X:842.70, Y:-148.05, Z:-53.18 [[ 9.97039542e-01 5.87885151e-02 4.95586851e-02 8.42696978e+02] [-5.85368164e-02 9.98263983e-01 -6.51624782e-03 -1.48045969e+02] [-4.98557309e-02 3.59594909e-03 9.98749956e-01 -5.31835288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.870714057 meters 0.03765877165612774 Centerline is valid? [True, True] Translation: X:842.73, Y:-148.05, Z:-53.19 [[ 9.97100276e-01 5.77114545e-02 4.96027032e-02 8.42725932e+02] [-5.74580655e-02 9.98326628e-01 -6.52038739e-03 -1.48049092e+02] [-4.98960005e-02 3.65140470e-03 9.98747744e-01 -5.31857052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.900714057 meters 0.039019776069931775 Centerline is valid? [True, True] Translation: X:842.75, Y:-148.06, Z:-53.19 [[ 9.97237131e-01 5.63876384e-02 4.83584513e-02 8.42754191e+02] [-5.61454017e-02 9.98402384e-01 -6.35407640e-03 -1.48055195e+02] [-4.86394844e-02 3.62141624e-03 9.98809835e-01 -5.31890917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.9307140569999 meters 0.0397041358151872 Centerline is valid? [True, True] Translation: X:842.78, Y:-148.06, Z:-53.19 [[ 9.97268659e-01 5.65111236e-02 4.75574801e-02 8.42783351e+02] [-5.62770818e-02 9.98395646e-01 -6.24696402e-03 -1.48059965e+02] [-4.78342040e-02 3.55350524e-03 9.98848968e-01 -5.31916686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.9607140569999 meters 0.04115700941293042 Centerline is valid? [True, True] Translation: X:842.81, Y:-148.07, Z:-53.19 [[ 9.97311162e-01 5.64793898e-02 4.66960886e-02 8.42811786e+02] [-5.62537435e-02 9.98397665e-01 -6.13337415e-03 -1.48065451e+02] [-4.69676751e-02 3.49005271e-03 9.98890313e-01 -5.31945099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.9907140569999 meters 0.04070148531480988 Centerline is valid? [True, True] Translation: X:842.84, Y:-148.07, Z:-53.20 [[ 9.97324317e-01 5.68086604e-02 4.60106912e-02 8.42840951e+02] [-5.65900646e-02 9.98379224e-01 -6.04074311e-03 -1.48067759e+02] [-4.62792847e-02 3.42083200e-03 9.98922683e-01 -5.31972397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.020714057 meters 0.03997586390777207 Centerline is valid? [True, True] Translation: X:842.87, Y:-148.07, Z:-53.20 [[ 9.97288830e-01 5.73999112e-02 4.60460597e-02 8.42870042e+02] [-5.71816458e-02 9.98345493e-01 -6.04451453e-03 -1.48070313e+02] [-4.63168307e-02 3.39513735e-03 9.98921030e-01 -5.31989433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.0507140569999 meters 0.04126646140934884 Centerline is valid? [True, True] Translation: X:842.90, Y:-148.07, Z:-53.20 [[ 9.97249428e-01 5.78509145e-02 4.63341154e-02 8.42898205e+02] [-5.76306415e-02 9.98319478e-01 -6.07695874e-03 -1.48074908e+02] [-4.66078075e-02 3.38997883e-03 9.98907513e-01 -5.32007246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.0807140569999 meters 0.04075526105072153 Centerline is valid? [True, True] Translation: X:842.93, Y:-148.08, Z:-53.20 [[ 9.97093063e-01 5.92597157e-02 4.78926986e-02 8.42928131e+02] [-5.90261076e-02 9.98236694e-01 -6.27862613e-03 -1.48077333e+02] [-4.81803188e-02 3.43345498e-03 9.98832753e-01 -5.32013761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.1107140569999 meters 0.041842969106741915 Centerline is valid? [True, True] Translation: X:842.96, Y:-148.08, Z:-53.20 [[ 9.97040118e-01 5.96532684e-02 4.85024910e-02 8.42956478e+02] [-5.94142207e-02 9.98213175e-01 -6.35672078e-03 -1.48081574e+02] [-4.87950247e-02 3.45616793e-03 9.98802834e-01 -5.32026868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.140714057 meters 0.04180210066406166 Centerline is valid? [True, True] Translation: X:842.99, Y:-148.09, Z:-53.20 [[ 9.96961615e-01 6.01696341e-02 4.94687186e-02 8.42985285e+02] [-5.99217137e-02 9.98182041e-01 -6.48085713e-03 -1.48085026e+02] [-4.97687373e-02 3.49691539e-03 9.98754647e-01 -5.32041435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.1707140569999 meters 0.04189563247710802 Centerline is valid? [True, True] Translation: X:843.01, Y:-148.09, Z:-53.21 [[ 9.96853274e-01 6.09263381e-02 5.07102718e-02 8.43013635e+02] [-6.06669604e-02 9.98135978e-01 -6.63991782e-03 -1.48088020e+02] [-5.10202927e-02 3.54258577e-03 9.98691334e-01 -5.32056821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.2007140569999 meters 0.04228769839266445 Centerline is valid? [True, True] Translation: X:843.04, Y:-148.09, Z:-53.21 [[ 9.96837952e-01 6.11252614e-02 5.07720402e-02 8.43042872e+02] [-6.08656980e-02 9.98123850e-01 -6.64427725e-03 -1.48092057e+02] [-5.10829174e-02 3.53299206e-03 9.98688166e-01 -5.32073170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.2307140569999 meters 0.043715823385060144 Centerline is valid? [True, True] Translation: X:843.07, Y:-148.10, Z:-53.21 [[ 9.96872433e-01 6.07269804e-02 5.05725775e-02 8.43071291e+02] [-6.04690270e-02 9.98148144e-01 -6.61656462e-03 -1.48098013e+02] [-5.08807284e-02 3.53779632e-03 9.98698471e-01 -5.32098990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.260714057 meters 0.03554423859838284 Centerline is valid? [True, True] Translation: X:843.10, Y:-148.09, Z:-53.21 [[ 9.96890701e-01 6.04775208e-02 5.05113909e-02 8.43101173e+02] [-6.02199960e-02 9.98163269e-01 -6.60615022e-03 -1.48090206e+02] [-5.08181386e-02 3.54381396e-03 9.98701636e-01 -5.32107846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.290714057 meters 0.03616889578111194 Centerline is valid? [True, True] Translation: X:843.13, Y:-148.10, Z:-53.21 [[ 9.96909800e-01 6.04097766e-02 5.02146284e-02 8.43128134e+02] [-6.01553667e-02 9.98167445e-01 -6.56377914e-03 -1.48095356e+02] [-5.05191238e-02 3.52281636e-03 9.98716881e-01 -5.32128321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.3207140569999 meters 0.03661549936124912 Centerline is valid? [True, True] Translation: X:843.16, Y:-148.10, Z:-53.22 [[ 9.97013027e-01 5.95651454e-02 4.91631764e-02 8.43156938e+02] [-5.93205061e-02 9.98218334e-01 -6.42153125e-03 -1.48100282e+02] [-4.94580834e-02 3.48596580e-03 9.98770117e-01 -5.32157787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.3507140569999 meters 0.035971081656330645 Centerline is valid? [True, True] Translation: X:843.19, Y:-148.10, Z:-53.22 [[ 9.97082831e-01 5.89732460e-02 4.84560004e-02 8.43186804e+02] [-5.87349901e-02 9.98253557e-01 -6.32743819e-03 -1.48103212e+02] [-4.87445244e-02 3.46291728e-03 9.98805276e-01 -5.32177362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.380714057 meters 0.03851258151168117 Centerline is valid? [True, True] Translation: X:843.21, Y:-148.11, Z:-53.22 [[ 9.97155683e-01 5.90404625e-02 4.68483498e-02 8.43214321e+02] [-5.88179113e-02 9.98249992e-01 -6.11604598e-03 -1.48111184e+02] [-4.71274590e-02 3.34312792e-03 9.98883290e-01 -5.32211878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.410714057 meters 0.038901247631705556 Centerline is valid? [True, True] Translation: X:843.24, Y:-148.12, Z:-53.22 [[ 9.97168660e-01 5.88115297e-02 4.68600797e-02 8.43243175e+02] [-5.85887282e-02 9.98263475e-01 -6.11519251e-03 -1.48115637e+02] [-4.71383499e-02 3.35240585e-03 9.98882745e-01 -5.32233001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.4407140569999 meters 0.03721963784716876 Centerline is valid? [True, True] Translation: X:843.27, Y:-148.12, Z:-53.22 [[ 9.97170281e-01 5.89778061e-02 4.66159755e-02 8.43272225e+02] [-5.87576565e-02 9.98253761e-01 -6.08005861e-03 -1.48116858e+02] [-4.68931614e-02 3.32380828e-03 9.98894381e-01 -5.32248426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.4707140569999 meters 0.03768331101483611 Centerline is valid? [True, True] Translation: X:843.30, Y:-148.12, Z:-53.23 [[ 9.97069296e-01 6.00128725e-02 4.74475963e-02 8.43300332e+02] [-5.97861235e-02 9.98192048e-01 -6.18501360e-03 -1.48120559e+02] [-4.77329938e-02 3.33017930e-03 9.98854580e-01 -5.32258428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.500714057 meters 0.03835271832030476 Centerline is valid? [True, True] Translation: X:843.33, Y:-148.13, Z:-53.23 [[ 9.97046317e-01 6.03439007e-02 4.75105828e-02 8.43328650e+02] [-6.01170947e-02 9.98172141e-01 -6.18962420e-03 -1.48125052e+02] [-4.77972463e-02 3.31514380e-03 9.98851557e-01 -5.32271040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.530714057 meters 0.037672194928159326 Centerline is valid? [True, True] Translation: X:843.36, Y:-148.13, Z:-53.23 [[ 9.96950126e-01 6.08768524e-02 4.88308863e-02 8.43357488e+02] [-6.06380131e-02 9.98139566e-01 -6.35909403e-03 -1.48126792e+02] [-4.91271613e-02 3.37869167e-03 9.98786817e-01 -5.32280148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.5607140569999 meters 0.03961714418246171 Centerline is valid? [True, True] Translation: X:843.39, Y:-148.13, Z:-53.23 [[ 9.96883262e-01 6.13247227e-02 4.96290311e-02 8.43385063e+02] [-6.10787368e-02 9.98112050e-01 -6.45941060e-03 -1.48133069e+02] [-4.99314556e-02 3.40799977e-03 9.98746832e-01 -5.32299180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.5907140569999 meters 0.03570369470501702 Centerline is valid? [True, True] Translation: X:843.41, Y:-148.13, Z:-53.23 [[ 9.96830517e-01 6.16395893e-02 5.02939418e-02 8.43414389e+02] [-6.13875419e-02 9.98092565e-01 -6.54235035e-03 -1.48131007e+02] [-5.06012771e-02 3.43419302e-03 9.98713030e-01 -5.32307860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.620714057 meters 0.03603500010316528 Centerline is valid? [True, True] Translation: X:843.44, Y:-148.13, Z:-53.23 [[ 9.96803666e-01 6.20324789e-02 5.03430561e-02 8.43443514e+02] [-6.17806300e-02 9.98068293e-01 -6.54493114e-03 -1.48133867e+02] [-5.06518064e-02 3.41378564e-03 9.98710539e-01 -5.32324198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.650714057 meters 0.04092355645502814 Centerline is valid? [True, True] Translation: X:843.47, Y:-148.14, Z:-53.23 [[ 9.96799265e-01 6.20748714e-02 5.03779351e-02 8.43470565e+02] [-6.18228516e-02 9.98065665e-01 -6.54701015e-03 -1.48144249e+02] [-5.06868922e-02 3.41154730e-03 9.98708767e-01 -5.32348947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.6807140569999 meters 0.04092355645502814 Centerline is valid? [True, True] Translation: X:843.50, Y:-148.15, Z:-53.24 [[ 9.96803423e-01 6.20075348e-02 5.03785774e-02 8.43498660e+02] [-6.17556782e-02 9.98069856e-01 -6.54206447e-03 -1.48147833e+02] [-5.06869967e-02 3.40998905e-03 9.98708767e-01 -5.32365377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.7107140569999 meters 0.037694904603877824 Centerline is valid? [True, True] Translation: X:843.53, Y:-148.15, Z:-53.24 [[ 9.96837566e-01 6.17517950e-02 5.00158243e-02 8.43528132e+02] [-6.15034174e-02 9.98085764e-01 -6.49135673e-03 -1.48146896e+02] [-5.03209351e-02 3.39468413e-03 9.98727330e-01 -5.32382243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.7407140569999 meters 0.03618441996496238 Centerline is valid? [True, True] Translation: X:843.56, Y:-148.15, Z:-53.24 [[ 9.96872989e-01 6.09951669e-02 5.02377675e-02 8.43557173e+02] [-6.07437150e-02 9.98132112e-01 -6.51832243e-03 -1.48148373e+02] [-5.05415151e-02 3.44631093e-03 9.98716015e-01 -5.32399235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.770714057 meters 0.038870267479306005 Centerline is valid? [True, True] Translation: X:843.58, Y:-148.16, Z:-53.24 [[ 9.96924227e-01 6.03913505e-02 4.99496776e-02 8.43584755e+02] [-6.01422113e-02 9.98168803e-01 -6.47720992e-03 -1.48155756e+02] [-5.02493774e-02 3.45320343e-03 9.98730732e-01 -5.32423877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.8007140569999 meters 0.04145859314575818 Centerline is valid? [True, True] Translation: X:843.61, Y:-148.16, Z:-53.25 [[ 9.97075936e-01 5.82326573e-02 4.94826828e-02 8.43612790e+02] [-5.79856545e-02 9.98296813e-01 -6.41386943e-03 -1.48163624e+02] [-4.97719012e-02 3.52582912e-03 9.98754387e-01 -5.32455556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.8307140569999 meters 0.041790420278924725 Centerline is valid? [True, True] Translation: X:843.64, Y:-148.17, Z:-53.25 [[ 9.97110455e-01 5.73850588e-02 4.97764474e-02 8.43641784e+02] [-5.71341491e-02 9.98345674e-01 -6.45019383e-03 -1.48168160e+02] [-5.00642456e-02 3.58762074e-03 9.98739556e-01 -5.32473779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.8607140569999 meters 0.04031738725013135 Centerline is valid? [True, True] Translation: X:843.67, Y:-148.17, Z:-53.25 [[ 9.97188245e-01 5.63034608e-02 4.94522475e-02 8.43671343e+02] [-5.60545746e-02 9.98407152e-01 -6.40648537e-03 -1.48170062e+02] [-4.97341849e-02 3.61644721e-03 9.98755942e-01 -5.32485328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.890714057 meters 0.04668762658018796 Centerline is valid? [True, True] Translation: X:843.70, Y:-148.18, Z:-53.25 [[ 9.97294448e-01 5.42651537e-02 4.95890936e-02 8.43699538e+02] [-5.40124835e-02 9.98519608e-01 -6.42218010e-03 -1.48182786e+02] [-4.98641829e-02 3.72637445e-03 9.98749056e-01 -5.32508652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.9207140569999 meters 0.0394938143508648 Centerline is valid? [True, True] Translation: X:843.73, Y:-148.18, Z:-53.25 [[ 9.97341964e-01 5.32580516e-02 4.97251202e-02 8.43730724e+02] [-5.30027480e-02 9.98573602e-01 -6.43979661e-03 -1.48177253e+02] [-4.99971634e-02 3.78711139e-03 9.98742180e-01 -5.32513432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.9507140569999 meters 0.040861539820791 Centerline is valid? [True, True] Translation: X:843.76, Y:-148.18, Z:-53.25 [[ 9.97369939e-01 5.21007022e-02 5.03857378e-02 8.43760148e+02] [-5.18371171e-02 9.98634237e-01 -6.52491662e-03 -1.48184193e+02] [-5.06568756e-02 3.89590429e-03 9.98708518e-01 -5.32525062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.9807140569999 meters 0.03951646778989358 Centerline is valid? [True, True] Translation: X:843.79, Y:-148.19, Z:-53.25 [[ 9.97362058e-01 5.18102681e-02 5.08391731e-02 8.43791712e+02] [-5.15413646e-02 9.98649137e-01 -6.58700830e-03 -1.48186675e+02] [-5.11117711e-02 3.94931179e-03 9.98685130e-01 -5.32535941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.010714057 meters 0.041341571782733 Centerline is valid? [True, True] Translation: X:843.82, Y:-148.19, Z:-53.26 [[ 9.97380195e-01 5.15417960e-02 5.07561885e-02 8.43821253e+02] [-5.12733246e-02 9.98662993e-01 -6.57822844e-03 -1.48193545e+02] [-5.10273808e-02 3.95855623e-03 9.98689409e-01 -5.32554413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.040714057 meters 0.04158599597564926 Centerline is valid? [True, True] Translation: X:843.85, Y:-148.20, Z:-53.26 [[ 9.97352198e-01 5.16544143e-02 5.11899807e-02 8.43851996e+02] [-5.13814337e-02 9.98657059e-01 -6.63527532e-03 -1.48198019e+02] [-5.14639768e-02 3.98749183e-03 9.98666891e-01 -5.32569710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.0707140569999 meters 0.0392522992521385 Centerline is valid? [True, True] Translation: X:843.88, Y:-148.20, Z:-53.26 [[ 9.97384143e-01 5.15813236e-02 5.06383018e-02 8.43883229e+02] [-5.13140173e-02 9.98660986e-01 -6.56555068e-03 -1.48199902e+02] [-5.09091562e-02 3.94992145e-03 9.98695477e-01 -5.32589655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.1007140569999 meters 0.04177685068216609 Centerline is valid? [True, True] Translation: X:843.91, Y:-148.21, Z:-53.26 [[ 9.97397145e-01 5.20784638e-02 4.98675177e-02 8.43913545e+02] [-5.18198102e-02 9.98635514e-01 -6.46658862e-03 -1.48208493e+02] [-5.01362442e-02 3.86563172e-03 9.98734907e-01 -5.32621527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.130714057 meters 0.040854955917047554 Centerline is valid? [True, True] Translation: X:843.94, Y:-148.21, Z:-53.26 [[ 9.97414901e-01 5.19424507e-02 4.96537774e-02 8.43944954e+02] [-5.16854445e-02 9.98642605e-01 -6.44687734e-03 -1.48211432e+02] [-4.99212442e-02 3.86383397e-03 9.98745683e-01 -5.32643259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.160714057 meters 0.04431645926120171 Centerline is valid? [True, True] Translation: X:843.97, Y:-148.22, Z:-53.27 [[ 9.97450143e-01 5.17836271e-02 4.91087436e-02 8.43974675e+02] [-5.15319530e-02 9.98650980e-01 -6.37800935e-03 -1.48220625e+02] [-4.93727713e-02 3.83107687e-03 9.98773074e-01 -5.32668428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.1907140569999 meters 0.04614109259316737 Centerline is valid? [True, True] Translation: X:844.00, Y:-148.23, Z:-53.27 [[ 9.97474683e-01 5.16963557e-02 4.87005605e-02 8.44004418e+02] [-5.14487065e-02 9.98655603e-01 -6.32586375e-03 -1.48227566e+02] [-4.89621118e-02 3.80430809e-03 9.98793392e-01 -5.32693867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.2207140569999 meters 0.03979904203881693 Centerline is valid? [True, True] Translation: X:844.04, Y:-148.22, Z:-53.27 [[ 9.97529781e-01 5.12612139e-02 4.80273333e-02 8.44036082e+02] [-5.10198393e-02 9.98678151e-01 -6.23905566e-03 -1.48224129e+02] [-4.82836700e-02 3.77329700e-03 9.98826536e-01 -5.32708827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.250714057 meters 0.039726531165458955 Centerline is valid? [True, True] Translation: X:844.07, Y:-148.23, Z:-53.27 [[ 9.97563488e-01 5.09483770e-02 4.76586771e-02 8.44066340e+02] [-5.07102433e-02 9.98694205e-01 -6.19323989e-03 -1.48228399e+02] [-4.79119801e-02 3.76136688e-03 9.98844480e-01 -5.32726505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.280714057 meters 0.03884081767855588 Centerline is valid? [True, True] Translation: X:844.10, Y:-148.23, Z:-53.27 [[ 9.97550360e-01 5.06794706e-02 4.82169072e-02 8.44097061e+02] [-5.04354080e-02 9.98707670e-01 -6.26578183e-03 -1.48232098e+02] [-4.84721415e-02 3.81859354e-03 9.98817235e-01 -5.32741406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.3107140569999 meters 0.0410719454820097 Centerline is valid? [True, True] Translation: X:844.13, Y:-148.24, Z:-53.28 [[ 9.97566337e-01 4.98289552e-02 4.87696482e-02 8.44126323e+02] [-4.95782572e-02 9.98750136e-01 -6.33745300e-03 -1.48239981e+02] [-4.90244814e-02 3.90411562e-03 9.98789947e-01 -5.32753808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.3407140569999 meters 0.04269765989051881 Centerline is valid? [True, True] Translation: X:844.16, Y:-148.25, Z:-53.28 [[ 9.97550696e-01 4.98028940e-02 4.91149661e-02 8.44156922e+02] [-4.95486418e-02 9.98751325e-01 -6.38144191e-03 -1.48246679e+02] [-4.93714518e-02 3.93223196e-03 9.98772746e-01 -5.32768756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.370714057 meters 0.04404971684540613 Centerline is valid? [True, True] Translation: X:844.19, Y:-148.25, Z:-53.28 [[ 9.97487870e-01 4.97037795e-02 5.04725971e-02 8.44187325e+02] [-4.94345099e-02 9.98755757e-01 -6.57013696e-03 -1.48253709e+02] [-5.07363575e-02 4.05854382e-03 9.98703835e-01 -5.32778233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.400714057 meters 0.041118783150226615 Centerline is valid? [True, True] Translation: X:844.22, Y:-148.25, Z:-53.28 [[ 9.97465053e-01 4.96729238e-02 5.09516349e-02 8.44219264e+02] [-4.93978637e-02 9.98757079e-01 -6.64436982e-03 -1.48254522e+02] [-5.12183514e-02 4.11062477e-03 9.98679019e-01 -5.32789661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.4307140569999 meters 0.04248207557768366 Centerline is valid? [True, True] Translation: X:844.25, Y:-148.26, Z:-53.28 [[ 9.97427687e-01 4.98253845e-02 5.15309570e-02 8.44250845e+02] [-4.95435692e-02 9.98749271e-01 -6.73262984e-03 -1.48261359e+02] [-5.18019616e-02 4.16228388e-03 9.98648703e-01 -5.32804892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.4607140569999 meters 0.040894459742394695 Centerline is valid? [True, True] Translation: X:844.28, Y:-148.26, Z:-53.28 [[ 9.97414015e-01 4.97434594e-02 5.18736124e-02 8.44283200e+02] [-4.94572953e-02 9.98753183e-01 -6.78647465e-03 -1.48264678e+02] [-5.21465183e-02 4.20339636e-03 9.98630598e-01 -5.32820100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.4907140569999 meters 0.04185102788063012 Centerline is valid? [True, True] Translation: X:844.32, Y:-148.27, Z:-53.28 [[ 9.97403116e-01 4.99590245e-02 5.18760047e-02 8.44315377e+02] [-4.96724395e-02 9.98742414e-01 -6.79988398e-03 -1.48270950e+02] [-5.21504817e-02 4.20541777e-03 9.98630383e-01 -5.32842336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.520714057 meters 0.04268224518934584 Centerline is valid? [True, True] Translation: X:844.35, Y:-148.28, Z:-53.29 [[ 9.97488306e-01 4.93698141e-02 5.07907548e-02 8.44347361e+02] [-4.90935986e-02 9.98771895e-01 -6.67232240e-03 -1.48277103e+02] [-5.10577898e-02 4.16206264e-03 9.98687028e-01 -5.32870876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.5507140569999 meters 0.04348623839131414 Centerline is valid? [True, True] Translation: X:844.38, Y:-148.28, Z:-53.29 [[ 9.97541074e-01 4.87759544e-02 5.03260480e-02 8.44378497e+02] [-4.85033606e-02 9.98801052e-01 -6.62440489e-03 -1.48282748e+02] [-5.05888214e-02 4.16713351e-03 9.98710872e-01 -5.32895983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.5807140569999 meters 0.044574719593255326 Centerline is valid? [True, True] Translation: X:844.41, Y:-148.29, Z:-53.29 [[ 9.97613801e-01 4.82204127e-02 4.94115014e-02 8.44409733e+02] [-4.79566989e-02 9.98828204e-01 -6.50948840e-03 -1.48289382e+02] [-4.96674915e-02 4.12434297e-03 9.98757293e-01 -5.32923375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.6107140569999 meters 0.04655144588915125 Centerline is valid? [True, True] Translation: X:844.44, Y:-148.30, Z:-53.30 [[ 9.97728028e-01 4.69835817e-02 4.82837948e-02 8.44438745e+02] [-4.67297146e-02 9.98887235e-01 -6.37385673e-03 -1.48297378e+02] [-4.85295328e-02 4.10308756e-03 9.98813320e-01 -5.32960065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.640714057 meters 0.04388688617987136 Centerline is valid? [True, True] Translation: X:844.47, Y:-148.30, Z:-53.30 [[ 9.97778713e-01 4.68036842e-02 4.74031171e-02 8.44470882e+02] [-4.65586837e-02 9.98895941e-01 -6.26006661e-03 -1.48298251e+02] [-4.76437754e-02 4.03913448e-03 9.98856224e-01 -5.32979223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.6707140569999 meters 0.04502418969947384 Centerline is valid? [True, True] Translation: X:844.50, Y:-148.30, Z:-53.30 [[ 9.97749844e-01 4.72959054e-02 4.75220536e-02 8.44502154e+02] [-4.70496483e-02 9.98872761e-01 -6.28786613e-03 -1.48303680e+02] [-4.77658752e-02 4.03782155e-03 9.98850398e-01 -5.33000339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.7007140569999 meters 0.04767520138765822 Centerline is valid? [True, True] Translation: X:844.53, Y:-148.31, Z:-53.30 [[ 9.97719306e-01 4.80368970e-02 4.74198526e-02 8.44532276e+02] [-4.77919531e-02 9.98837529e-01 -6.28642333e-03 -1.48311193e+02] [-4.76667087e-02 4.00579856e-03 9.98855264e-01 -5.33016562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.7307140569999 meters 0.04504386551547011 Centerline is valid? [True, True] Translation: X:844.56, Y:-148.31, Z:-53.30 [[ 9.97540966e-01 5.04000586e-02 4.87016895e-02 8.44563572e+02] [-5.01438142e-02 9.98721052e-01 -6.46980905e-03 -1.48311491e+02] [-4.89654813e-02 4.01181111e-03 9.98792414e-01 -5.33018995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.760714057 meters 0.0455303498246169 Centerline is valid? [True, True] Translation: X:844.59, Y:-148.32, Z:-53.30 [[ 9.97410163e-01 5.17604040e-02 4.99382368e-02 8.44593974e+02] [-5.14926210e-02 9.98651335e-01 -6.63485615e-03 -1.48315870e+02] [-5.02143097e-02 4.04622225e-03 9.98730270e-01 -5.33034702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.790714057 meters 0.046520056177123285 Centerline is valid? [True, True] Translation: X:844.62, Y:-148.32, Z:-53.30 [[ 9.97164309e-01 5.49904578e-02 5.13749914e-02 8.44622936e+02] [-5.47111705e-02 9.98478877e-01 -6.82791350e-03 -1.48320616e+02] [-5.16723138e-02 3.99776574e-03 9.98656092e-01 -5.33037525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.8207140569999 meters 0.045706791831967485 Centerline is valid? [True, True] Translation: X:844.65, Y:-148.32, Z:-53.30 [[ 9.97060545e-01 5.62343503e-02 5.20381387e-02 8.44653782e+02] [-5.59495306e-02 9.98409651e-01 -6.91509376e-03 -1.48323297e+02] [-5.23442457e-02 3.98325771e-03 9.98621156e-01 -5.33047748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.8507140569999 meters 0.04518127778866076 Centerline is valid? [True, True] Translation: X:844.68, Y:-148.33, Z:-53.31 [[ 9.96963691e-01 5.73905715e-02 5.26281459e-02 8.44684539e+02] [-5.71008008e-02 9.98343917e-01 -6.99440951e-03 -1.48326483e+02] [-5.29424025e-02 3.96806304e-03 9.98589684e-01 -5.33065437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.880714057 meters 0.03970305943940964 Centerline is valid? [True, True] Translation: X:844.72, Y:-148.32, Z:-53.31 [[ 9.96871610e-01 5.94121307e-02 5.21266922e-02 8.44715658e+02] [-5.91305575e-02 9.98226212e-01 -6.92873567e-03 -1.48323456e+02] [-5.24458815e-02 3.82477951e-03 9.98616443e-01 -5.33087726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.910714057 meters 0.03982524984197128 Centerline is valid? [True, True] Translation: X:844.75, Y:-148.33, Z:-53.31 [[ 9.96845423e-01 6.02950212e-02 5.16111820e-02 8.44745803e+02] [-6.00201724e-02 9.98173590e-01 -6.86021350e-03 -1.48327940e+02] [-5.19305556e-02 3.74086038e-03 9.98643692e-01 -5.33110775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.9407140569999 meters 0.037354387831622184 Centerline is valid? [True, True] Translation: X:844.78, Y:-148.33, Z:-53.31 [[ 9.96846367e-01 6.12790199e-02 5.04202550e-02 8.44776421e+02] [-6.10179740e-02 9.98114167e-01 -6.70191420e-03 -1.48328969e+02] [-5.07358575e-02 3.60423702e-03 9.98705603e-01 -5.33140454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.9707140569999 meters 0.0391612983735932 Centerline is valid? [True, True] Translation: X:844.80, Y:-148.34, Z:-53.32 [[ 9.96842032e-01 6.19108886e-02 4.97293117e-02 8.44804468e+02] [-6.16577170e-02 9.98075462e-01 -6.61048497e-03 -1.48335779e+02] [-5.00428667e-02 3.52341344e-03 9.98740856e-01 -5.33162558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.000714057 meters 0.0382256654552491 Centerline is valid? [True, True] Translation: X:844.83, Y:-148.34, Z:-53.32 [[ 9.96831747e-01 6.23944360e-02 4.93295367e-02 8.44834512e+02] [-6.21460573e-02 9.98045544e-01 -6.55440885e-03 -1.48338492e+02] [-4.96420829e-02 3.46800661e-03 9.98761051e-01 -5.33183182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.030714057 meters 0.035866970798774 Centerline is valid? [True, True] Translation: X:844.86, Y:-148.34, Z:-53.32 [[ 9.96770772e-01 6.36258710e-02 4.89875198e-02 8.44863292e+02] [-6.33824346e-02 9.97968090e-01 -6.50840622e-03 -1.48339342e+02] [-4.93020846e-02 3.38244082e-03 9.98778185e-01 -5.33199240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.0607140569999 meters 0.035630640032567086 Centerline is valid? [True, True] Translation: X:844.89, Y:-148.34, Z:-53.32 [[ 9.96627812e-01 6.56940555e-02 4.91659921e-02 8.44891819e+02] [-6.54514784e-02 9.97834391e-01 -6.52939268e-03 -1.48342778e+02] [-4.94884601e-02 3.28938747e-03 9.98769279e-01 -5.33216698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.0907140569999 meters 0.03440051452079711 Centerline is valid? [True, True] Translation: X:844.92, Y:-148.34, Z:-53.32 [[ 9.96557890e-01 6.65956823e-02 4.93699041e-02 8.44920488e+02] [-6.63523169e-02 9.97774733e-01 -6.55387532e-03 -1.48344694e+02] [-4.96965027e-02 3.25550863e-03 9.98759060e-01 -5.33231128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.120714057 meters 0.034400718999984765 Centerline is valid? [True, True] Translation: X:844.95, Y:-148.35, Z:-53.32 [[ 9.96555448e-01 6.68364104e-02 4.90931026e-02 8.44948861e+02] [-6.65962361e-02 9.97758746e-01 -6.51356418e-03 -1.48347783e+02] [-4.94184157e-02 3.22171202e-03 9.98772968e-01 -5.33247647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.150714057 meters 0.03650990976650747 Centerline is valid? [True, True] Translation: X:844.98, Y:-148.35, Z:-53.33 [[ 9.96499859e-01 6.73889552e-02 4.94647268e-02 8.44976439e+02] [-6.71459865e-02 9.97721601e-01 -6.55922372e-03 -1.48354744e+02] [-4.97940457e-02 3.21490764e-03 9.98754333e-01 -5.33269236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.1807140569999 meters 0.034801172940604884 Centerline is valid? [True, True] Translation: X:845.00, Y:-148.36, Z:-53.33 [[ 9.96507503e-01 6.78377298e-02 4.86912583e-02 8.45004853e+02] [-6.76030109e-02 9.97691430e-01 -6.45319362e-03 -1.48356238e+02] [-4.90166211e-02 3.13898019e-03 9.98793030e-01 -5.33283319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.2107140569999 meters 0.03392623760866127 Centerline is valid? [True, True] Translation: X:845.03, Y:-148.36, Z:-53.33 [[ 9.96546839e-01 6.72636268e-02 4.86826671e-02 8.45033708e+02] [-6.70284812e-02 9.97730224e-01 -6.44854525e-03 -1.48358455e+02] [-4.90059208e-02 3.16315215e-03 9.98793479e-01 -5.33296720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.2407140569999 meters 0.035324049857876454 Centerline is valid? [True, True] Translation: X:845.06, Y:-148.36, Z:-53.33 [[ 9.96590368e-01 6.61592286e-02 4.93010615e-02 8.45061367e+02] [-6.59168951e-02 9.97803769e-01 -6.52693658e-03 -1.48364537e+02] [-4.96246021e-02 3.25490923e-03 9.98762637e-01 -5.33300897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.270714057 meters 0.03575274305797349 Centerline is valid? [True, True] Translation: X:845.09, Y:-148.37, Z:-53.33 [[ 9.96608385e-01 6.53669251e-02 4.99889294e-02 8.45089571e+02] [-6.51170221e-02 9.97855720e-01 -6.61326317e-03 -1.48368963e+02] [-5.03140278e-02 3.33570331e-03 9.98727877e-01 -5.33311152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.3007140569999 meters 0.03632326810890757 Centerline is valid? [True, True] Translation: X:845.12, Y:-148.37, Z:-53.33 [[ 9.96620775e-01 6.46207342e-02 5.07069249e-02 8.45117974e+02] [-6.43628218e-02 9.97904042e-01 -6.70453931e-03 -1.48373342e+02] [-5.10338975e-02 3.41824239e-03 9.98691072e-01 -5.33321391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.3307140569999 meters 0.03791819413826658 Centerline is valid? [True, True] Translation: X:845.15, Y:-148.38, Z:-53.33 [[ 9.96625510e-01 6.34198266e-02 5.21106434e-02 8.45145884e+02] [-6.31459967e-02 9.97980543e-01 -6.88615286e-03 -1.48380321e+02] [-5.24421268e-02 3.57233709e-03 9.98617575e-01 -5.33329292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.3607140569999 meters 0.03816366833543422 Centerline is valid? [True, True] Translation: X:845.17, Y:-148.38, Z:-53.33 [[ 9.96677532e-01 6.25904090e-02 5.21184921e-02 8.45174639e+02] [-6.23155016e-02 9.98032755e-01 -6.88465769e-03 -1.48384857e+02] [-5.24468757e-02 3.61399366e-03 9.98617176e-01 -5.33348932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.390714057 meters 0.03712239961962256 Centerline is valid? [True, True] Translation: X:845.20, Y:-148.39, Z:-53.34 [[ 9.96720213e-01 6.23765266e-02 5.15556653e-02 8.45203749e+02] [-6.21073720e-02 9.98046255e-01 -6.80789865e-03 -1.48387509e+02] [-5.18795917e-02 3.58358330e-03 9.98646918e-01 -5.33369998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.4207140569999 meters 0.04025384392702132 Centerline is valid? [True, True] Translation: X:845.23, Y:-148.40, Z:-53.34 [[ 9.96794893e-01 6.17525309e-02 5.08582886e-02 8.45232314e+02] [-6.14899070e-02 9.98085124e-01 -6.71389419e-03 -1.48395512e+02] [-5.11755013e-02 3.56510401e-03 9.98683312e-01 -5.33397969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.4507140569999 meters 0.03908722079959574 Centerline is valid? [True, True] Translation: X:845.26, Y:-148.40, Z:-53.34 [[ 9.96988433e-01 5.99882515e-02 4.91474802e-02 8.45262143e+02] [-5.97409269e-02 9.98192836e-01 -6.48720605e-03 -1.48397386e+02] [-4.94478187e-02 3.53155338e-03 9.98770465e-01 -5.33430304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.4807140569999 meters 0.037579287360693034 Centerline is valid? [True, True] Translation: X:845.29, Y:-148.40, Z:-53.35 [[ 9.97111755e-01 5.84644367e-02 4.84773880e-02 8.45292547e+02] [-5.82220759e-02 9.98283156e-01 -6.39774660e-03 -1.48399461e+02] [-4.87682005e-02 3.55681418e-03 9.98803790e-01 -5.33454259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.510714057 meters 0.03967326614777349 Centerline is valid? [True, True] Translation: X:845.32, Y:-148.41, Z:-53.35 [[ 9.97353942e-01 5.56495343e-02 4.67786717e-02 8.45320841e+02] [-5.54207812e-02 9.98443999e-01 -6.17394653e-03 -1.48406111e+02] [-4.70494613e-02 3.56509938e-03 9.98886199e-01 -5.33491551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.540714057 meters 0.04097102537879907 Centerline is valid? [True, True] Translation: X:845.35, Y:-148.41, Z:-53.35 [[ 9.97503487e-01 5.39075611e-02 4.56154490e-02 8.45350327e+02] [-5.36883277e-02 9.98539604e-01 -6.01858893e-03 -1.48411288e+02] [-4.58732798e-02 3.55454627e-03 9.98940943e-01 -5.33513748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.5707140569999 meters 0.04097102537879907 Centerline is valid? [True, True] Translation: X:845.38, Y:-148.42, Z:-53.35 [[ 9.97505379e-01 5.38724630e-02 4.56155278e-02 8.45379273e+02] [-5.36532203e-02 9.98541494e-01 -6.01799143e-03 -1.48415075e+02] [-4.58732013e-02 3.55555886e-03 9.98940943e-01 -5.33530666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.6007140569999 meters 0.04342698296159744 Centerline is valid? [True, True] Translation: X:845.41, Y:-148.42, Z:-53.36 [[ 9.97620373e-01 5.22594296e-02 4.49727018e-02 8.45408628e+02] [-5.20447916e-02 9.98627138e-01 -5.93115923e-03 -1.48421522e+02] [-4.52209194e-02 3.57645039e-03 9.98970609e-01 -5.33554369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.630714057 meters 0.04152206837697048 Centerline is valid? [True, True] Translation: X:845.44, Y:-148.42, Z:-53.36 [[ 9.97849735e-01 4.88143319e-02 4.37386162e-02 8.45439797e+02] [-4.86080370e-02 9.98801274e-01 -5.76835766e-03 -1.48421604e+02] [-4.39677641e-02 3.62990589e-03 9.99026356e-01 -5.33566461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.660714057 meters 0.047775547024371715 Centerline is valid? [True, True] Translation: X:845.47, Y:-148.43, Z:-53.36 [[ 9.98012657e-01 4.54296325e-02 4.36678851e-02 8.45468285e+02] [-4.52207892e-02 9.98960417e-01 -5.75902854e-03 -1.48432772e+02] [-4.38841193e-02 3.77288715e-03 9.99029504e-01 -5.33596401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.6907140569999 meters 0.04430397777168742 Centerline is valid? [True, True] Translation: X:845.50, Y:-148.43, Z:-53.36 [[ 9.98080857e-01 4.38396353e-02 4.37342961e-02 8.45499429e+02] [-4.36286165e-02 9.99031166e-01 -5.76835696e-03 -1.48431810e+02] [-4.39448075e-02 3.84921983e-03 9.99026545e-01 -5.33603873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.7207140569999 meters 0.04757856930255916 Centerline is valid? [True, True] Translation: X:845.53, Y:-148.44, Z:-53.36 [[ 9.98145448e-01 4.22943262e-02 4.37819048e-02 8.45529028e+02] [-4.20813380e-02 9.99097495e-01 -5.77543355e-03 -1.48439951e+02] [-4.39866595e-02 3.92232158e-03 9.99024419e-01 -5.33626553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.750714057 meters 0.047481632183181216 Centerline is valid? [True, True] Translation: X:845.56, Y:-148.44, Z:-53.36 [[ 9.98283777e-01 3.92739642e-02 4.34402679e-02 8.45559626e+02] [-3.90614120e-02 9.99220375e-01 -5.73134943e-03 -1.48442856e+02] [-4.36314936e-02 4.02467495e-03 9.99039586e-01 -5.33637258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.780714057 meters 0.049289046854803564 Centerline is valid? [True, True] Translation: X:845.59, Y:-148.45, Z:-53.37 [[ 9.98328579e-01 3.79603834e-02 4.35781734e-02 8.45588996e+02] [-3.77452305e-02 9.99270853e-01 -5.74972124e-03 -1.48448109e+02] [-4.37646601e-02 4.09524283e-03 9.99033475e-01 -5.33654842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.8107140569999 meters 0.05059109619163266 Centerline is valid? [True, True] Translation: X:845.62, Y:-148.45, Z:-53.37 [[ 9.98390572e-01 3.62037963e-02 4.36526163e-02 8.45619993e+02] [-3.59862546e-02 9.99335689e-01 -5.75929790e-03 -1.48451918e+02] [-4.38321259e-02 4.17913456e-03 9.99030170e-01 -5.33656728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.8407140569999 meters 0.05185343406430262 Centerline is valid? [True, True] Translation: X:845.65, Y:-148.46, Z:-53.37 [[ 9.98402771e-01 3.54060434e-02 4.40263361e-02 8.45650313e+02] [-3.51839648e-02 9.99363969e-01 -5.80916093e-03 -1.48456888e+02] [-4.42040134e-02 4.25086131e-03 9.99013481e-01 -5.33673195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.870714057 meters 0.04949759324389869 Centerline is valid? [True, True] Translation: X:845.68, Y:-148.46, Z:-53.37 [[ 9.98414917e-01 3.51818712e-02 4.39305124e-02 8.45682573e+02] [-3.49606026e-02 9.99371889e-01 -5.79519489e-03 -1.48457261e+02] [-4.41068050e-02 4.25017184e-03 9.99017781e-01 -5.33685317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.900714057 meters 0.05175406381646902 Centerline is valid? [True, True] Translation: X:845.71, Y:-148.46, Z:-53.37 [[ 9.98434611e-01 3.46739241e-02 4.38867562e-02 8.45713240e+02] [-3.44521109e-02 9.99389515e-01 -5.80075393e-03 -1.48464120e+02] [-4.40610989e-02 4.27968210e-03 9.99019671e-01 -5.33711711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.9307140569999 meters 0.04600648053357954 Centerline is valid? [True, True] Translation: X:845.75, Y:-148.46, Z:-53.37 [[ 9.98435157e-01 3.49847879e-02 4.36268567e-02 8.45746700e+02] [-3.47653642e-02 9.99378797e-01 -5.77839924e-03 -1.48460573e+02] [-4.38019116e-02 4.25265339e-03 9.99031184e-01 -5.33720116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.9607140569999 meters 0.052118092463775544 Centerline is valid? [True, True] Translation: X:845.78, Y:-148.47, Z:-53.38 [[ 9.98472623e-01 3.53883003e-02 4.24274565e-02 8.45776940e+02] [-3.51810169e-02 9.99365140e-01 -5.62257383e-03 -1.48470902e+02] [-4.25994943e-02 4.12134498e-03 9.99083729e-01 -5.33758263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.9907140569999 meters 0.05560635768542758 Centerline is valid? [True, True] Translation: X:845.81, Y:-148.48, Z:-53.38 [[ 9.98471191e-01 3.59184827e-02 4.20136014e-02 8.45807413e+02] [-3.57154904e-02 9.99346462e-01 -5.57248851e-03 -1.48478569e+02] [-4.21862993e-02 4.06343286e-03 9.99101499e-01 -5.33792949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.020714057 meters 0.048973286239422195 Centerline is valid? [True, True] Translation: X:845.84, Y:-148.47, Z:-53.38 [[ 9.98472170e-01 3.70684035e-02 4.09787778e-02 8.45840762e+02] [-3.68758993e-02 9.99305025e-01 -5.44385854e-03 -1.48472037e+02] [-4.11520937e-02 3.92441196e-03 9.99145187e-01 -5.33802955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.0507140569999 meters 0.0539025853174157 Centerline is valid? [True, True] Translation: X:845.87, Y:-148.48, Z:-53.38 [[ 9.98441733e-01 3.79944058e-02 4.08721320e-02 8.45871254e+02] [-3.78032474e-02 9.99270394e-01 -5.44001437e-03 -1.48481919e+02] [-4.10490016e-02 3.88643806e-03 9.99149576e-01 -5.33835631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.0807140569999 meters 0.05399786551578023 Centerline is valid? [True, True] Translation: X:845.90, Y:-148.49, Z:-53.39 [[ 9.98406530e-01 3.90590544e-02 4.07282690e-02 8.45903353e+02] [-3.88696972e-02 9.99229528e-01 -5.43114153e-03 -1.48485392e+02] [-4.09090243e-02 3.83939168e-03 9.99155499e-01 -5.33857582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.1107140569999 meters 0.044581639424921785 Centerline is valid? [True, True] Translation: X:845.94, Y:-148.47, Z:-53.38 [[ 9.98321918e-01 4.11100040e-02 4.07837742e-02 8.45935646e+02] [-4.09212566e-02 9.99147498e-01 -5.45242164e-03 -1.48474451e+02] [-4.09731551e-02 3.77434874e-03 9.99153119e-01 -5.33848306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.140714057 meters 0.049945007859190774 Centerline is valid? [True, True] Translation: X:845.97, Y:-148.48, Z:-53.39 [[ 9.98262119e-01 4.22365364e-02 4.10952111e-02 8.45965310e+02] [-4.20458638e-02 9.99100579e-01 -5.49346000e-03 -1.48484232e+02] [-4.12902739e-02 3.75602937e-03 9.99140133e-01 -5.33875409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.1707140569999 meters 0.04416630474502603 Centerline is valid? [True, True] Translation: X:846.00, Y:-148.48, Z:-53.39 [[ 9.98101210e-01 4.50526456e-02 4.20027865e-02 8.45997689e+02] [-4.48558352e-02 9.98977680e-01 -5.61686408e-03 -1.48476709e+02] [-4.22129008e-02 3.72212876e-03 9.99101705e-01 -5.33868091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.2007140569999 meters 0.04426591290877048 Centerline is valid? [True, True] Translation: X:846.03, Y:-148.48, Z:-53.39 [[ 9.98017770e-01 4.64198709e-02 4.24938465e-02 8.46027846e+02] [-4.62196449e-02 9.98915137e-01 -5.68281877e-03 -1.48478981e+02] [-4.27115422e-02 3.70750363e-03 9.99080567e-01 -5.33884334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.2307140569999 meters 0.043712712731195105 Centerline is valid? [True, True] Translation: X:846.06, Y:-148.48, Z:-53.39 [[ 9.97934789e-01 4.79135580e-02 4.27837319e-02 8.46058788e+02] [-4.77119616e-02 9.98844750e-01 -5.72132311e-03 -1.48480476e+02] [-4.30084350e-02 3.66821160e-03 9.99067975e-01 -5.33897202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.260714057 meters 0.04440086777521376 Centerline is valid? [True, True] Translation: X:846.09, Y:-148.48, Z:-53.39 [[ 9.97824229e-01 5.01408560e-02 4.28100832e-02 8.46088866e+02] [-4.99410004e-02 9.98735756e-01 -5.72588370e-03 -1.48481815e+02] [-4.30430616e-02 3.57544710e-03 9.99066820e-01 -5.33914564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.290714057 meters 0.04190391491919886 Centerline is valid? [True, True] Translation: X:846.12, Y:-148.48, Z:-53.39 [[ 9.97811689e-01 5.04233211e-02 4.27705848e-02 8.46118642e+02] [-5.02240691e-02 9.98721589e-01 -5.72113022e-03 -1.48480140e+02] [-4.30043847e-02 3.56049780e-03 9.99068539e-01 -5.33921268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.3207140569999 meters 0.04298207784784192 Centerline is valid? [True, True] Translation: X:846.15, Y:-148.48, Z:-53.39 [[ 9.97799653e-01 5.05881258e-02 4.28566596e-02 8.46147153e+02] [-5.03882776e-02 9.98713259e-01 -5.73133834e-03 -1.48482211e+02] [-4.30914519e-02 3.55925415e-03 9.99064792e-01 -5.33936141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.3507140569999 meters 0.04379466146451818 Centerline is valid? [True, True] Translation: X:846.18, Y:-148.49, Z:-53.40 [[ 9.97841390e-01 4.99614614e-02 4.26194049e-02 8.46176301e+02] [-4.97633641e-02 9.98744788e-01 -5.69704989e-03 -1.48485985e+02] [-4.28505414e-02 3.56386721e-03 9.99075137e-01 -5.33954388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.380714057 meters 0.04393268271213143 Centerline is valid? [True, True] Translation: X:846.21, Y:-148.49, Z:-53.40 [[ 9.97880885e-01 4.95245588e-02 4.22025893e-02 8.46206047e+02] [-4.93299961e-02 9.98766611e-01 -5.63983607e-03 -1.48488942e+02] [-4.24298475e-02 3.54603105e-03 9.99093156e-01 -5.33979231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.410714057 meters 0.04487997025376621 Centerline is valid? [True, True] Translation: X:846.24, Y:-148.49, Z:-53.40 [[ 9.97998546e-01 4.80113115e-02 4.11560039e-02 8.46235883e+02] [-4.78250804e-02 9.98840593e-01 -5.49825289e-03 -1.48492261e+02] [-4.13722657e-02 3.51895919e-03 9.99137604e-01 -5.34005502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.4407140569999 meters 0.04890559984766158 Centerline is valid? [True, True] Translation: X:846.26, Y:-148.50, Z:-53.40 [[ 9.98018092e-01 4.80283084e-02 4.06591997e-02 8.46263128e+02] [-4.78465688e-02 9.98839928e-01 -5.43175559e-03 -1.48500226e+02] [-4.08729101e-02 3.47558716e-03 9.99158309e-01 -5.34043201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.4707140569999 meters 0.049627351433383704 Centerline is valid? [True, True] Translation: X:846.29, Y:-148.50, Z:-53.41 [[ 9.98011900e-01 4.81370519e-02 4.06825627e-02 8.46292355e+02] [-4.79552943e-02 9.98834710e-01 -5.43239830e-03 -1.48504546e+02] [-4.08966554e-02 3.47065388e-03 9.99157354e-01 -5.34062632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.500714057 meters 0.048766618009996085 Centerline is valid? [True, True] Translation: X:846.32, Y:-148.51, Z:-53.41 [[ 9.97981261e-01 4.86636631e-02 4.08074740e-02 8.46322498e+02] [-4.84812932e-02 9.98809236e-01 -5.44738603e-03 -1.48506738e+02] [-4.10239717e-02 3.45799007e-03 9.99152179e-01 -5.34076936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.530714057 meters 0.04373567666314566 Centerline is valid? [True, True] Translation: X:846.35, Y:-148.50, Z:-53.41 [[ 9.97892545e-01 4.99462846e-02 4.14226694e-02 8.46353538e+02] [-4.97594970e-02 9.98745926e-01 -5.52878794e-03 -1.48502730e+02] [-4.16468647e-02 3.45596507e-03 9.99126416e-01 -5.34073568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.5607140569999 meters 0.04936722763103396 Centerline is valid? [True, True] Translation: X:846.38, Y:-148.51, Z:-53.41 [[ 9.97836086e-01 5.05859554e-02 4.20024501e-02 8.46380515e+02] [-5.03944703e-02 9.98713658e-01 -5.60594895e-03 -1.48513693e+02] [-4.22320029e-02 3.47712694e-03 9.99101780e-01 -5.34103900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.5907140569999 meters 0.045403329434758034 Centerline is valid? [True, True] Translation: X:846.41, Y:-148.51, Z:-53.41 [[ 9.97743992e-01 5.20205255e-02 4.24357337e-02 8.46411492e+02] [-5.18264605e-02 9.98640059e-01 -5.66129236e-03 -1.48511070e+02] [-4.26725270e-02 3.44922656e-03 9.99083159e-01 -5.34106986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.620714057 meters 0.0399840269226944 Centerline is valid? [True, True] Translation: X:846.44, Y:-148.51, Z:-53.41 [[ 9.97698082e-01 5.23692050e-02 4.30813668e-02 8.46441425e+02] [-5.21695650e-02 9.98621710e-01 -5.74610690e-03 -1.48506622e+02] [-4.33229072e-02 3.48534367e-03 9.99055043e-01 -5.34109709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.650714057 meters 0.042677112798457845 Centerline is valid? [True, True] Translation: X:846.47, Y:-148.51, Z:-53.41 [[ 9.97642994e-01 5.33204916e-02 4.31900608e-02 8.46468967e+02] [-5.31208664e-02 9.98571493e-01 -5.75740508e-03 -1.48514163e+02] [-4.34353512e-02 3.44954139e-03 9.99050285e-01 -5.34132130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.6807140569999 meters 0.04193180652103539 Centerline is valid? [True, True] Translation: X:846.50, Y:-148.52, Z:-53.42 [[ 9.97600715e-01 5.40936954e-02 4.32051628e-02 8.46497325e+02] [-5.38947879e-02 9.98530028e-01 -5.75626338e-03 -1.48516725e+02] [-4.34530300e-02 3.41391938e-03 9.99049638e-01 -5.34155040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.7107140569999 meters 0.040682010597469384 Centerline is valid? [True, True] Translation: X:846.53, Y:-148.52, Z:-53.42 [[ 9.97617975e-01 5.38874367e-02 4.30641373e-02 8.46526219e+02] [-5.36897708e-02 9.98541199e-01 -5.73436009e-03 -1.48518936e+02] [-4.33103252e-02 3.40859704e-03 9.99055853e-01 -5.34171437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.7407140569999 meters 0.04151471506573041 Centerline is valid? [True, True] Translation: X:846.55, Y:-148.53, Z:-53.42 [[ 9.97670138e-01 5.28409915e-02 4.31523480e-02 8.46554706e+02] [-5.26416915e-02 9.98596953e-01 -5.74266431e-03 -1.48525157e+02] [-4.33952513e-02 3.45767211e-03 9.99051999e-01 -5.34190916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.770714057 meters 0.04387214937244528 Centerline is valid? [True, True] Translation: X:846.58, Y:-148.53, Z:-53.42 [[ 9.97715911e-01 5.18079050e-02 4.33463069e-02 8.46582134e+02] [-5.16059322e-02 9.98650878e-01 -5.76635682e-03 -1.48532927e+02] [-4.35865704e-02 3.51625937e-03 9.99043466e-01 -5.34211658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.8007140569999 meters 0.041031660464175425 Centerline is valid? [True, True] Translation: X:846.61, Y:-148.53, Z:-53.42 [[ 9.97766107e-01 5.07242043e-02 4.34724234e-02 8.46611466e+02] [-5.05201796e-02 9.98706316e-01 -5.77976170e-03 -1.48534034e+02] [-4.37093577e-02 3.57061569e-03 9.99037909e-01 -5.34218913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.8307140569999 meters 0.04358390279929198 Centerline is valid? [True, True] Translation: X:846.64, Y:-148.54, Z:-53.42 [[ 9.97835450e-01 4.85657722e-02 4.43371290e-02 8.46639816e+02] [-4.83515676e-02 9.98813003e-01 -5.89159861e-03 -1.48544394e+02] [-4.45706310e-02 3.73507626e-03 9.98999253e-01 -5.34232096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.8607140569999 meters 0.047676667734989776 Centerline is valid? [True, True] Translation: X:846.67, Y:-148.56, Z:-53.42 [[ 9.97925527e-01 4.59768641e-02 4.50640730e-02 8.46667847e+02] [-4.57529639e-02 9.98934838e-01 -5.98793260e-03 -1.48557098e+02] [-4.52913788e-02 3.91369589e-03 9.98966153e-01 -5.34248515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.890714057 meters 0.04660994697549229 Centerline is valid? [True, True] Translation: X:846.70, Y:-148.56, Z:-53.43 [[ 9.97959689e-01 4.53068445e-02 4.49860999e-02 8.46699119e+02] [-4.50831103e-02 9.98965364e-01 -5.97610632e-03 -1.48561968e+02] [-4.52103142e-02 3.93579990e-03 9.98969738e-01 -5.34262983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.9207140569999 meters 0.04636399946218119 Centerline is valid? [True, True] Translation: X:846.73, Y:-148.57, Z:-53.43 [[ 9.97978842e-01 4.44919454e-02 4.53728802e-02 8.46729500e+02] [-4.42634491e-02 9.99001702e-01 -6.02878827e-03 -1.48567778e+02] [-4.55958171e-02 4.00824296e-03 9.98951929e-01 -5.34281915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.9507140569999 meters 0.048383238477159765 Centerline is valid? [True, True] Translation: X:846.76, Y:-148.58, Z:-53.43 [[ 9.97977068e-01 4.38374817e-02 4.60439625e-02 8.46759412e+02] [-4.36014274e-02 9.99030266e-01 -6.11907163e-03 -1.48578394e+02] [-4.62675568e-02 4.09911068e-03 9.98920673e-01 -5.34301989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.9807140569999 meters 0.047052144452160403 Centerline is valid? [True, True] Translation: X:846.79, Y:-148.58, Z:-53.43 [[ 9.98002157e-01 4.33877221e-02 4.59260251e-02 8.46791498e+02] [-4.31519233e-02 9.99049815e-01 -6.11381473e-03 -1.48582779e+02] [-4.61476514e-02 4.11980397e-03 9.98926134e-01 -5.34316387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.010714057 meters 0.046157950787300554 Centerline is valid? [True, True] Translation: X:846.82, Y:-148.59, Z:-53.43 [[ 9.97997974e-01 4.28670698e-02 4.65022496e-02 8.46822530e+02] [-4.26241876e-02 9.99071923e-01 -6.20256053e-03 -1.48589438e+02] [-4.67249775e-02 4.20802223e-03 9.98898928e-01 -5.34336748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.040714057 meters 0.04818832926608169 Centerline is valid? [True, True] Translation: X:846.85, Y:-148.60, Z:-53.44 [[ 9.98031622e-01 4.27723792e-02 4.58628937e-02 8.46853027e+02] [-4.25355449e-02 9.99076161e-01 -6.12795121e-03 -1.48598210e+02] [-4.60826308e-02 4.16508591e-03 9.98928948e-01 -5.34360372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.0707140569999 meters 0.04496711689952603 Centerline is valid? [True, True] Translation: X:846.88, Y:-148.60, Z:-53.44 [[ 9.98078364e-01 4.23109420e-02 4.52698886e-02 8.46884810e+02] [-4.20792526e-02 9.99095903e-01 -6.05915290e-03 -1.48600001e+02] [-4.54853287e-02 4.14258634e-03 9.98956417e-01 -5.34377321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.1007140569999 meters 0.04712699816790123 Centerline is valid? [True, True] Translation: X:846.91, Y:-148.61, Z:-53.44 [[ 9.98088212e-01 4.21399303e-02 4.52122468e-02 8.46914947e+02] [-4.19081645e-02 9.99103075e-01 -6.06227200e-03 -1.48609484e+02] [-4.54271586e-02 4.15591994e-03 9.98959009e-01 -5.34404332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.130714057 meters 0.04816016814378652 Centerline is valid? [True, True] Translation: X:846.95, Y:-148.62, Z:-53.44 [[ 9.98130579e-01 4.16284786e-02 4.47483690e-02 8.46945657e+02] [-4.14004637e-02 9.99124554e-01 -6.01064024e-03 -1.48619447e+02] [-4.49594080e-02 4.14680060e-03 9.98980208e-01 -5.34429999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.160714057 meters 0.04978786964670734 Centerline is valid? [True, True] Translation: X:846.98, Y:-148.63, Z:-53.44 [[ 9.98104031e-01 4.17321432e-02 4.52412544e-02 8.46976628e+02] [-4.14986531e-02 9.99120009e-01 -6.08839019e-03 -1.48629983e+02] [-4.54555241e-02 4.19939567e-03 9.98957537e-01 -5.34448477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.1907140569999 meters 0.04832076733345911 Centerline is valid? [True, True] Translation: X:847.01, Y:-148.63, Z:-53.45 [[ 9.98065476e-01 4.24502455e-02 4.54233609e-02 8.47008722e+02] [-4.22152671e-02 9.99089792e-01 -6.12033693e-03 -1.48634370e+02] [-4.56418260e-02 4.19093768e-03 9.98949078e-01 -5.34463481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.2207140569999 meters 0.049382770644980735 Centerline is valid? [True, True] Translation: X:847.04, Y:-148.64, Z:-53.45 [[ 9.98015278e-01 4.30929051e-02 4.59184836e-02 8.47039069e+02] [-4.28528948e-02 9.99062161e-01 -6.19896722e-03 -1.48642249e+02] [-4.61425510e-02 4.21892404e-03 9.98925956e-01 -5.34483032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.250714057 meters 0.05102223828352114 Centerline is valid? [True, True] Translation: X:847.07, Y:-148.65, Z:-53.45 [[ 9.97898904e-01 4.42570294e-02 4.73190454e-02 8.47068304e+02] [-4.40028361e-02 9.99010902e-01 -6.40065524e-03 -1.48653788e+02] [-4.75555162e-02 4.30503465e-03 9.98859319e-01 -5.34504762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.280714057 meters 0.0494308414671712 Centerline is valid? [True, True] Translation: X:847.10, Y:-148.66, Z:-53.45 [[ 9.97834652e-01 4.50763526e-02 4.78970797e-02 8.47099955e+02] [-4.48166551e-02 9.98974195e-01 -6.48268319e-03 -1.48658482e+02] [-4.81401623e-02 4.32205903e-03 9.98831239e-01 -5.34519580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.3107140569999 meters 0.052317455520798896 Centerline is valid? [True, True] Translation: X:847.13, Y:-148.67, Z:-53.45 [[ 9.97770913e-01 4.61553257e-02 4.81963907e-02 8.47129919e+02] [-4.58930253e-02 9.98924982e-01 -6.53538832e-03 -1.48671406e+02] [-4.84462216e-02 4.30894220e-03 9.98816498e-01 -5.34545889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.3407140569999 meters 0.05310478262056177 Centerline is valid? [True, True] Translation: X:847.16, Y:-148.68, Z:-53.46 [[ 9.97781187e-01 4.63927504e-02 4.77536903e-02 8.47162542e+02] [-4.61350206e-02 9.98914158e-01 -6.48577394e-03 -1.48679241e+02] [-4.80027302e-02 4.26826574e-03 9.98838085e-01 -5.34570049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.370714057 meters 0.04498815059469774 Centerline is valid? [True, True] Translation: X:847.20, Y:-148.68, Z:-53.46 [[ 9.97797798e-01 4.66286582e-02 4.71733338e-02 8.47196334e+02] [-4.63768284e-02 9.98903389e-01 -6.41946267e-03 -1.48675362e+02] [-4.74209340e-02 4.21757611e-03 9.98866091e-01 -5.34583324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.400714057 meters 0.04836261888031281 Centerline is valid? [True, True] Translation: X:847.23, Y:-148.69, Z:-53.46 [[ 9.97885850e-01 4.58081101e-02 4.61025729e-02 8.47226007e+02] [-4.55660866e-02 9.98941539e-01 -6.28752270e-03 -1.48689137e+02] [-4.63417946e-02 4.17351611e-03 9.98916923e-01 -5.34624320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.4307140569999 meters 0.0443996102616535 Centerline is valid? [True, True] Translation: X:847.26, Y:-148.69, Z:-53.46 [[ 9.97910289e-01 4.56870885e-02 4.56918486e-02 8.47258148e+02] [-4.54487575e-02 9.98947170e-01 -6.24192512e-03 -1.48690984e+02] [-4.59289182e-02 4.15224356e-03 9.98936081e-01 -5.34640564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.4607140569999 meters 0.04757820274162351 Centerline is valid? [True, True] Translation: X:847.29, Y:-148.70, Z:-53.47 [[ 9.97970201e-01 4.47035053e-02 4.53549936e-02 8.47287837e+02] [-4.44671288e-02 9.98991560e-01 -6.20780779e-03 -1.48704530e+02] [-4.55867666e-02 4.17840084e-03 9.98951644e-01 -5.34666826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.4907140569999 meters 0.04757820274162351 Centerline is valid? [True, True] Translation: X:847.32, Y:-148.71, Z:-53.47 [[ 9.97957486e-01 4.49878237e-02 4.53536248e-02 8.47320214e+02] [-4.47512884e-02 9.98978809e-01 -6.21778957e-03 -1.48709050e+02] [-4.55870350e-02 4.17545651e-03 9.98951644e-01 -5.34685725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.520714057 meters 0.043960703506250504 Centerline is valid? [True, True] Translation: X:847.35, Y:-148.71, Z:-53.47 [[ 9.97969831e-01 4.45788969e-02 4.54855941e-02 8.47352036e+02] [-4.43398729e-02 9.98996948e-01 -6.25091223e-03 -1.48710766e+02] [-4.57186285e-02 4.22139636e-03 9.98945437e-01 -5.34699148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.5507140569999 meters 0.0463171428482714 Centerline is valid? [True, True] Translation: X:847.38, Y:-148.72, Z:-53.47 [[ 9.97976310e-01 4.40403117e-02 4.58664904e-02 8.47381759e+02] [-4.37964562e-02 9.99020557e-01 -6.30854668e-03 -1.48722629e+02] [-4.60993971e-02 4.28699040e-03 9.98927659e-01 -5.34721387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.5807140569999 meters 0.04576201248501319 Centerline is valid? [True, True] Translation: X:847.41, Y:-148.73, Z:-53.47 [[ 9.97962968e-01 4.41178904e-02 4.60817418e-02 8.47413506e+02] [-4.38713126e-02 9.99017015e-01 -6.34910601e-03 -1.48728402e+02] [-4.63165533e-02 4.31450617e-03 9.98917495e-01 -5.34736852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.6107140569999 meters 0.04757530799018929 Centerline is valid? [True, True] Translation: X:847.44, Y:-148.74, Z:-53.48 [[ 9.97891691e-01 4.48380771e-02 4.69224807e-02 8.47443607e+02] [-4.45826030e-02 9.98984701e-01 -6.47757517e-03 -1.48738563e+02] [-4.71652824e-02 4.37199211e-03 9.98877531e-01 -5.34758630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.640714057 meters 0.04884945538025816 Centerline is valid? [True, True] Translation: X:847.47, Y:-148.75, Z:-53.48 [[ 9.97825129e-01 4.55672734e-02 4.76301956e-02 8.47474465e+02] [-4.53043027e-02 9.98951518e-01 -6.58668672e-03 -1.48746547e+02] [-4.78803935e-02 4.41450872e-03 9.98843321e-01 -5.34773468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.6707140569999 meters 0.047109648551574165 Centerline is valid? [True, True] Translation: X:847.51, Y:-148.75, Z:-53.48 [[ 9.97739715e-01 4.65837411e-02 4.84294895e-02 8.47506565e+02] [-4.63124427e-02 9.98904469e-01 -6.70962531e-03 -1.48750074e+02] [-4.86889929e-02 4.45157169e-03 9.98804068e-01 -5.34786113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.7007140569999 meters 0.046414832828420724 Centerline is valid? [True, True] Translation: X:847.54, Y:-148.76, Z:-53.48 [[ 9.97600611e-01 4.86570694e-02 4.92494836e-02 8.47537332e+02] [-4.83782727e-02 9.98805680e-01 -6.83789641e-03 -1.48755822e+02] [-4.95233759e-02 4.43888469e-03 9.98763101e-01 -5.34795772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.7307140569999 meters 0.04494124602386674 Centerline is valid? [True, True] Translation: X:847.57, Y:-148.76, Z:-53.48 [[ 9.97506400e-01 5.05484448e-02 4.92527813e-02 8.47568930e+02] [-5.02718665e-02 9.98712155e-01 -6.83895729e-03 -1.48759289e+02] [-4.95350500e-02 4.34587442e-03 9.98762931e-01 -5.34810902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.760714057 meters 0.04666452034029122 Centerline is valid? [True, True] Translation: X:847.60, Y:-148.77, Z:-53.48 [[ 9.97342480e-01 5.42444255e-02 4.86366219e-02 8.47597578e+02] [-5.39789323e-02 9.98519215e-01 -6.75661536e-03 -1.48767307e+02] [-4.89311103e-02 4.11330660e-03 9.98793686e-01 -5.34838386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.790714057 meters 0.04332035631488764 Centerline is valid? [True, True] Translation: X:847.63, Y:-148.77, Z:-53.49 [[ 9.97253696e-01 5.61272987e-02 4.83196798e-02 8.47629617e+02] [-5.58675361e-02 9.98415636e-01 -6.71084399e-03 -1.48767999e+02] [-4.86197854e-02 3.99291252e-03 9.98809378e-01 -5.34862178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.8207140569999 meters 0.04251625842579176 Centerline is valid? [True, True] Translation: X:847.66, Y:-148.77, Z:-53.49 [[ 9.97045248e-01 6.06771106e-02 4.71069166e-02 8.47659209e+02] [-6.04350626e-02 9.98150660e-01 -6.54693784e-03 -1.48772134e+02] [-4.74170492e-02 3.68068381e-03 9.98868398e-01 -5.34882971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.8507140569999 meters 0.041968035561639236 Centerline is valid? [True, True] Translation: X:847.69, Y:-148.78, Z:-53.49 [[ 9.96912228e-01 6.29771588e-02 4.69029592e-02 8.47689542e+02] [-6.27397353e-02 9.98008634e-01 -6.51854294e-03 -1.48775354e+02] [-4.72200776e-02 3.55573592e-03 9.98878181e-01 -5.34897803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.880714057 meters 0.03653665055629348 Centerline is valid? [True, True] Translation: X:847.72, Y:-148.77, Z:-53.49 [[ 9.96736550e-01 6.54431399e-02 4.72593502e-02 8.47720756e+02] [-6.52048456e-02 9.97850284e-01 -6.56807392e-03 -1.48771341e+02] [-4.75875914e-02 3.46510071e-03 9.98861059e-01 -5.34900515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.910714057 meters 0.03655733805718208 Centerline is valid? [True, True] Translation: X:847.75, Y:-148.77, Z:-53.49 [[ 9.96299682e-01 7.12481734e-02 4.80691339e-02 8.47749649e+02] [-7.10083376e-02 9.97453348e-01 -6.68089805e-03 -1.48774710e+02] [-4.84227204e-02 3.24286731e-03 9.98821668e-01 -5.34910706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.9407140569999 meters 0.03482818688799734 Centerline is valid? [True, True] Translation: X:847.78, Y:-148.78, Z:-53.49 [[ 9.96072216e-01 7.41005358e-02 4.84690758e-02 8.47779574e+02] [-7.38601262e-02 9.97245869e-01 -6.73488359e-03 -1.48776174e+02] [-4.88346441e-02 3.12849836e-03 9.98801977e-01 -5.34924483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.9707140569999 meters 0.033825980497745205 Centerline is valid? [True, True] Translation: X:847.81, Y:-148.78, Z:-53.49 [[ 9.95647150e-01 7.94313391e-02 4.87587357e-02 8.47808928e+02] [-7.91944483e-02 9.96836169e-01 -6.77427325e-03 -1.48778055e+02] [-4.91425609e-02 2.88336469e-03 9.98787613e-01 -5.34937787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.000714057 meters 0.033047371026261166 Centerline is valid? [True, True] Translation: X:847.84, Y:-148.78, Z:-53.50 [[ 9.95417303e-01 8.21023784e-02 4.90264438e-02 8.47838905e+02] [-8.18661563e-02 9.96620064e-01 -6.81038704e-03 -1.48780328e+02] [-4.94198865e-02 2.76557059e-03 9.98774262e-01 -5.34954746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.030714057 meters 0.03300374285183909 Centerline is valid? [True, True] Translation: X:847.87, Y:-148.78, Z:-53.50 [[ 9.95233143e-01 8.43009836e-02 4.90340179e-02 8.47867881e+02] [-8.40673825e-02 9.96436797e-01 -6.81071457e-03 -1.48783227e+02] [-4.94334497e-02 2.65608733e-03 9.98773888e-01 -5.34969977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.0607140569999 meters 0.03088121219562958 Centerline is valid? [True, True] Translation: X:847.90, Y:-148.78, Z:-53.50 [[ 9.94931107e-01 8.77133333e-02 4.91778824e-02 8.47897938e+02] [-8.74825972e-02 9.96142641e-01 -6.82896656e-03 -1.48782192e+02] [-4.95871771e-02 2.49214238e-03 9.98766690e-01 -5.34978902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.0907140569999 meters 0.031188570437610575 Centerline is valid? [True, True] Translation: X:847.93, Y:-148.79, Z:-53.50 [[ 9.94811572e-01 8.87939784e-02 4.96544599e-02 8.47925980e+02] [-8.85601621e-02 9.96046975e-01 -6.89362848e-03 -1.48786341e+02] [-5.00702872e-02 2.46045437e-03 9.98742666e-01 -5.34993380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.120714057 meters 0.029316490295115284 Centerline is valid? [True, True] Translation: X:847.95, Y:-148.79, Z:-53.50 [[ 9.94738167e-01 8.95583053e-02 4.97522732e-02 8.47954837e+02] [-8.93246949e-02 9.95978633e-01 -6.90370937e-03 -1.48786517e+02] [-5.01704856e-02 2.42327659e-03 9.98737728e-01 -5.34994307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.150714057 meters 0.029965637350082366 Centerline is valid? [True, True] Translation: X:847.98, Y:-148.79, Z:-53.50 [[ 9.94710517e-01 8.96187968e-02 5.01942039e-02 8.47981942e+02] [-8.93812697e-02 9.95973155e-01 -6.96149796e-03 -1.48791216e+02] [-5.06159608e-02 2.43825355e-03 9.98715214e-01 -5.35010120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.1807140569999 meters 0.03233505264924516 Centerline is valid? [True, True] Translation: X:848.01, Y:-148.80, Z:-53.50 [[ 9.94682529e-01 8.98830153e-02 5.02763440e-02 8.48009263e+02] [-8.96452702e-02 9.95949379e-01 -6.96846967e-03 -1.48798991e+02] [-5.06990407e-02 2.42437859e-03 9.98711034e-01 -5.35032181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.2107140569999 meters 0.033179770891019075 Centerline is valid? [True, True] Translation: X:848.04, Y:-148.80, Z:-53.51 [[ 9.94734030e-01 8.97609185e-02 4.94690589e-02 8.48036199e+02] [-8.95308547e-02 9.95960482e-01 -6.85155168e-03 -1.48804041e+02] [-4.98842293e-02 2.38646449e-03 9.98752156e-01 -5.35056530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.2407140569999 meters 0.0305804860854756 Centerline is valid? [True, True] Translation: X:848.07, Y:-148.80, Z:-53.51 [[ 9.94800829e-01 8.91372021e-02 4.92531270e-02 8.48065624e+02] [-8.89085932e-02 9.96016458e-01 -6.81739645e-03 -1.48803323e+02] [-4.96646087e-02 2.40292541e-03 9.98763061e-01 -5.35067317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.270714057 meters 0.028064199568709845 Centerline is valid? [True, True] Translation: X:848.09, Y:-148.80, Z:-53.51 [[ 9.94926789e-01 8.78950585e-02 4.89402039e-02 8.48094484e+02] [-8.76680168e-02 9.96126737e-01 -6.77069953e-03 -1.48802597e+02] [-4.93457567e-02 2.44585973e-03 9.98778761e-01 -5.35070731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.3007140569999 meters 0.030640744499344466 Centerline is valid? [True, True] Translation: X:848.12, Y:-148.81, Z:-53.51 [[ 9.94997495e-01 8.72240118e-02 4.87027491e-02 8.48121565e+02] [-8.69985381e-02 9.96185677e-01 -6.73440007e-03 -1.48810745e+02] [-4.91043825e-02 2.46364323e-03 9.98790614e-01 -5.35095345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.3307140569999 meters 0.03184633863131283 Centerline is valid? [True, True] Translation: X:848.15, Y:-148.82, Z:-53.51 [[ 9.95156092e-01 8.58831326e-02 4.78376376e-02 8.48148778e+02] [-8.56642613e-02 9.96302130e-01 -6.61062065e-03 -1.48816253e+02] [-4.82284810e-02 2.48062353e-03 9.98833249e-01 -5.35114290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.3607140569999 meters 0.03215438102737766 Centerline is valid? [True, True] Translation: X:848.18, Y:-148.82, Z:-53.51 [[ 9.95194238e-01 8.53866303e-02 4.79327979e-02 8.48176735e+02] [-8.51665781e-02 9.96344746e-01 -6.61828051e-03 -1.48820583e+02] [-4.83227040e-02 2.50420226e-03 9.98828637e-01 -5.35128822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.390714057 meters 0.02896303829407838 Centerline is valid? [True, True] Translation: X:848.21, Y:-148.82, Z:-53.51 [[ 9.95238130e-01 8.48949711e-02 4.78947566e-02 8.48205700e+02] [-8.46749096e-02 9.96386714e-01 -6.60870960e-03 -1.48819108e+02] [-4.82827453e-02 2.52175560e-03 9.98830525e-01 -5.35130892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.4207140569999 meters 0.03380622258533326 Centerline is valid? [True, True] Translation: X:848.23, Y:-148.83, Z:-53.51 [[ 9.95260126e-01 8.39460846e-02 4.90951694e-02 8.48232344e+02] [-8.37138709e-02 9.96466831e-01 -6.77075149e-03 -1.48830295e+02] [-4.94900859e-02 2.62871231e-03 9.98771156e-01 -5.35145932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.4507140569999 meters 0.0312188362617373 Centerline is valid? [True, True] Translation: X:848.26, Y:-148.83, Z:-53.52 [[ 9.95267651e-01 8.34901794e-02 4.97161174e-02 8.48261583e+02] [-8.32517218e-02 9.96504996e-01 -6.85160556e-03 -1.48830640e+02] [-5.01144012e-02 2.68022900e-03 9.98739888e-01 -5.35151258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.4807140569999 meters 0.031860544460839475 Centerline is valid? [True, True] Translation: X:848.29, Y:-148.84, Z:-53.52 [[ 9.95360630e-01 8.21734250e-02 5.00474212e-02 8.48289766e+02] [-8.19303000e-02 9.96614220e-01 -6.89363873e-03 -1.48836016e+02] [-5.04444455e-02 2.76125635e-03 9.98723051e-01 -5.35165893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.510714057 meters 0.033099392647998285 Centerline is valid? [True, True] Translation: X:848.32, Y:-148.84, Z:-53.52 [[ 9.95469726e-01 8.09929908e-02 4.98012076e-02 8.48316990e+02] [-8.07509548e-02 9.96710728e-01 -6.85629842e-03 -1.48841977e+02] [-5.01927100e-02 2.80374244e-03 9.98735616e-01 -5.35186979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.540714057 meters 0.03356024105350823 Centerline is valid? [True, True] Translation: X:848.35, Y:-148.85, Z:-53.52 [[ 9.95619384e-01 7.94075629e-02 4.93607189e-02 8.48345751e+02] [-7.91680787e-02 9.96838149e-01 -6.79111358e-03 -1.48846379e+02] [-4.97439134e-02 2.85357104e-03 9.98757929e-01 -5.35213365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.5707140569999 meters 0.03353188654504379 Centerline is valid? [True, True] Translation: X:848.37, Y:-148.85, Z:-53.52 [[ 9.95686914e-01 7.89342353e-02 4.87540435e-02 8.48373790e+02] [-7.87001837e-02 9.96875783e-01 -6.70476857e-03 -1.48849999e+02] [-4.91309610e-02 2.83889814e-03 9.98788311e-01 -5.35234604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.6007140569999 meters 0.03586868750997694 Centerline is valid? [True, True] Translation: X:848.40, Y:-148.86, Z:-53.53 [[ 9.95729667e-01 7.86805946e-02 4.82886493e-02 8.48400789e+02] [-7.84509338e-02 9.96895890e-01 -6.63591063e-03 -1.48857033e+02] [-4.86608734e-02 2.81928345e-03 9.98811379e-01 -5.35261652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.630714057 meters 0.033919566762425 Centerline is valid? [True, True] Translation: X:848.43, Y:-148.86, Z:-53.53 [[ 9.95738961e-01 7.90601694e-02 4.74701130e-02 8.48430150e+02] [-7.88388699e-02 9.96866056e-01 -6.51915336e-03 -1.48856989e+02] [-4.78367497e-02 2.74888493e-03 9.98851385e-01 -5.35275986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.660714057 meters 0.035576541551025825 Centerline is valid? [True, True] Translation: X:848.46, Y:-148.86, Z:-53.53 [[ 9.95752491e-01 7.91154202e-02 4.70927435e-02 8.48457335e+02] [-7.88978388e-02 9.96861748e-01 -6.46419266e-03 -1.48862667e+02] [-4.74563720e-02 2.72122026e-03 9.98869605e-01 -5.35295047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.6907140569999 meters 0.03352916138541499 Centerline is valid? [True, True] Translation: X:848.49, Y:-148.86, Z:-53.53 [[ 9.95710839e-01 7.94655100e-02 4.73830933e-02 8.48486759e+02] [-7.92458384e-02 9.96833914e-01 -6.49968441e-03 -1.48862133e+02] [-4.77495751e-02 2.71689327e-03 9.98855644e-01 -5.35305371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.7207140569999 meters 0.03342158405189275 Centerline is valid? [True, True] Translation: X:848.52, Y:-148.87, Z:-53.53 [[ 9.95703519e-01 7.95029137e-02 4.74740925e-02 8.48515849e+02] [-7.92826012e-02 9.96830931e-01 -6.50878317e-03 -1.48865169e+02] [-4.78411111e-02 2.71694876e-03 9.98851263e-01 -5.35319504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.750714057 meters 0.03483652219897494 Centerline is valid? [True, True] Translation: X:848.54, Y:-148.87, Z:-53.53 [[ 9.95650866e-01 7.99540793e-02 4.78194252e-02 8.48543164e+02] [-7.97312233e-02 9.96794860e-01 -6.55285340e-03 -1.48870978e+02] [-4.81900846e-02 2.71165290e-03 9.98834502e-01 -5.35337959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.780714057 meters 0.03419656624909367 Centerline is valid? [True, True] Translation: X:848.57, Y:-148.87, Z:-53.54 [[ 9.95642606e-01 8.01445156e-02 4.76724042e-02 8.48571519e+02] [-7.99234569e-02 9.96779626e-01 -6.52833390e-03 -1.48872858e+02] [-4.80420913e-02 2.68974404e-03 9.98841691e-01 -5.35354184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.8107140569999 meters 0.03415338557572753 Centerline is valid? [True, True] Translation: X:848.60, Y:-148.88, Z:-53.54 [[ 9.95605731e-01 8.05586928e-02 4.77443718e-02 8.48600326e+02] [-8.03376011e-02 9.96746290e-01 -6.53484449e-03 -1.48876249e+02] [-4.81154640e-02 2.67046033e-03 9.98838211e-01 -5.35371667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.8407140569999 meters 0.03478978008191016 Centerline is valid? [True, True] Translation: X:848.63, Y:-148.88, Z:-53.54 [[ 9.95586945e-01 8.11666862e-02 4.71020519e-02 8.48627586e+02] [-8.09523321e-02 9.96697144e-01 -6.44386532e-03 -1.48879876e+02] [-4.74695078e-02 2.60240724e-03 9.98869297e-01 -5.35394577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.870714057 meters 0.03432364078345279 Centerline is valid? [True, True] Translation: X:848.66, Y:-148.88, Z:-53.54 [[ 9.95537422e-01 8.17742847e-02 4.70978509e-02 8.48656700e+02] [-8.15608576e-02 9.96647565e-01 -6.43884513e-03 -1.48882530e+02] [-4.74664903e-02 2.56877017e-03 9.98869528e-01 -5.35411703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.900714057 meters 0.030348211972490838 Centerline is valid? [True, True] Translation: X:848.69, Y:-148.88, Z:-53.54 [[ 9.95464717e-01 8.28751842e-02 4.67086925e-02 8.48686470e+02] [-8.26665821e-02 9.96556816e-01 -6.38347940e-03 -1.48878071e+02] [-4.70768979e-02 2.49328055e-03 9.98888157e-01 -5.35412182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.9307140569999 meters 0.03331214849354548 Centerline is valid? [True, True] Translation: X:848.71, Y:-148.89, Z:-53.54 [[ 9.95422705e-01 8.31629633e-02 4.70909808e-02 8.48713059e+02] [-8.29514077e-02 9.96532833e-01 -6.43241653e-03 -1.48885820e+02] [-4.74626474e-02 2.49671031e-03 9.98869893e-01 -5.35430740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.9607140569999 meters 0.030515002747076598 Centerline is valid? [True, True] Translation: X:848.74, Y:-148.88, Z:-53.54 [[ 9.95415092e-01 8.32407556e-02 4.71144458e-02 8.48742426e+02] [-8.30292885e-02 9.96526356e-01 -6.43114790e-03 -1.48884492e+02] [-4.74861206e-02 2.48978277e-03 9.98868795e-01 -5.35432576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.9907140569999 meters 0.03160208944124728 Centerline is valid? [True, True] Translation: X:848.77, Y:-148.89, Z:-53.54 [[ 9.95391486e-01 8.27960415e-02 4.83798090e-02 8.48770151e+02] [-8.25726976e-02 9.96563186e-01 -6.60041454e-03 -1.48888986e+02] [-4.87600248e-02 2.57514509e-03 9.98807203e-01 -5.35442268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.020714057 meters 0.03161325329081287 Centerline is valid? [True, True] Translation: X:848.80, Y:-148.89, Z:-53.55 [[ 9.95404988e-01 8.24448804e-02 4.87006397e-02 8.48799171e+02] [-8.22183669e-02 9.96592221e-01 -6.63962398e-03 -1.48892550e+02] [-4.90820817e-02 2.60502777e-03 9.98791351e-01 -5.35453583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.0507140569999 meters 0.032887287267491266 Centerline is valid? [True, True] Translation: X:848.83, Y:-148.90, Z:-53.55 [[ 9.95488160e-01 8.12256298e-02 4.90481448e-02 8.48826860e+02] [-8.09945543e-02 9.96692134e-01 -6.68376889e-03 -1.48897425e+02] [-4.94287934e-02 2.68098017e-03 9.98774052e-01 -5.35467036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.0807140569999 meters 0.02975027035249979 Centerline is valid? [True, True] Translation: X:848.86, Y:-148.90, Z:-53.55 [[ 9.95483265e-01 8.11232673e-02 4.93161705e-02 8.48855105e+02] [-8.08897999e-02 9.96700432e-01 -6.71490456e-03 -1.48895980e+02] [-4.96981834e-02 2.69539995e-03 9.98760645e-01 -5.35472715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.1107140569999 meters 0.03114199509334696 Centerline is valid? [True, True] Translation: X:848.88, Y:-148.90, Z:-53.55 [[ 9.95438396e-01 8.13893855e-02 4.97811913e-02 8.48882605e+02] [-8.11521106e-02 9.96678719e-01 -6.77246985e-03 -1.48901644e+02] [-5.01670612e-02 2.70172779e-03 9.98737186e-01 -5.35492569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.140714057 meters 0.03018907691346071 Centerline is valid? [True, True] Translation: X:848.91, Y:-148.90, Z:-53.55 [[ 9.95311028e-01 8.31552592e-02 4.94080997e-02 8.48911133e+02] [-8.29239315e-02 9.96533242e-01 -6.71704791e-03 -1.48903511e+02] [-4.97953717e-02 2.58843798e-03 9.98756087e-01 -5.35514850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.1707140569999 meters 0.030647074827031964 Centerline is valid? [True, True] Translation: X:848.94, Y:-148.91, Z:-53.55 [[ 9.95235650e-01 8.43302398e-02 4.89327235e-02 8.48938661e+02] [-8.41049285e-02 9.96434720e-01 -6.64904170e-03 -1.48907692e+02] [-4.93189800e-02 2.50188012e-03 9.98779945e-01 -5.35537539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.2007140569999 meters 0.0296836985844412 Centerline is valid? [True, True] Translation: X:848.97, Y:-148.91, Z:-53.56 [[ 9.94945296e-01 8.80028516e-02 4.83668838e-02 8.48968456e+02] [-8.77872928e-02 9.96117595e-01 -6.56719568e-03 -1.48909265e+02] [-4.87570359e-02 2.28800266e-03 9.98808048e-01 -5.35559443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.2307140569999 meters 0.029083215476842218 Centerline is valid? [True, True] Translation: X:849.00, Y:-148.91, Z:-53.56 [[ 9.94792683e-01 8.98514068e-02 4.81065863e-02 8.48997560e+02] [-8.96403446e-02 9.95952785e-01 -6.53133147e-03 -1.48911427e+02] [-4.84987379e-02 2.18502978e-03 9.98820854e-01 -5.35572548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.260714057 meters 0.02758944452165793 Centerline is valid? [True, True] Translation: X:849.03, Y:-148.91, Z:-53.56 [[ 9.94474431e-01 9.34889557e-02 4.77537621e-02 8.49027264e+02] [-9.32852929e-02 9.95618328e-01 -6.48072758e-03 -1.48912234e+02] [-4.81503972e-02 1.99019418e-03 9.98838114e-01 -5.35586511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.290714057 meters 0.027471386296205158 Centerline is valid? [True, True] Translation: X:849.06, Y:-148.92, Z:-53.56 [[ 9.94364291e-01 9.47687038e-02 4.75241964e-02 8.49056234e+02] [-9.45685273e-02 9.95497472e-01 -6.44805107e-03 -1.48915613e+02] [-4.79212908e-02 1.91741847e-03 9.98849275e-01 -5.35607213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.3207140569999 meters 0.026532397200733516 Centerline is valid? [True, True] Translation: X:849.09, Y:-148.92, Z:-53.56 [[ 9.94282499e-01 9.58072304e-02 4.71517410e-02 8.49085067e+02] [-9.56114569e-02 9.95398187e-01 -6.39520707e-03 -1.48917958e+02] [-4.75474646e-02 1.85039581e-03 9.98867266e-01 -5.35626878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.3507140569999 meters 0.028216108412668802 Centerline is valid? [True, True] Translation: X:849.11, Y:-148.93, Z:-53.57 [[ 9.94181639e-01 9.73090955e-02 4.61931698e-02 8.49112265e+02] [-9.71229774e-02 9.95252689e-01 -6.26192607e-03 -1.48926159e+02] [-4.65832189e-02 1.73907374e-03 9.98912899e-01 -5.35660235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.380714057 meters 0.028216108412668802 Centerline is valid? [True, True] Translation: X:849.14, Y:-148.93, Z:-53.57 [[ 9.94191442e-01 9.72087048e-02 4.61935653e-02 8.49139465e+02] [-9.70226139e-02 9.95262497e-01 -6.25900757e-03 -1.48929748e+02] [-4.65831531e-02 1.74083131e-03 9.98912899e-01 -5.35676145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.410714057 meters 0.028122035467211922 Centerline is valid? [True, True] Translation: X:849.17, Y:-148.93, Z:-53.57 [[ 9.94213402e-01 9.71875129e-02 4.57635027e-02 8.49166846e+02] [-9.70050657e-02 9.95264601e-01 -6.19609012e-03 -1.48933894e+02] [-4.61489769e-02 1.72094425e-03 9.98933086e-01 -5.35694987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.4407140569999 meters 0.026326660935139082 Centerline is valid? [True, True] Translation: X:849.20, Y:-148.94, Z:-53.57 [[ 9.94296657e-01 9.63316537e-02 4.57642892e-02 8.49195851e+02] [-9.61485301e-02 9.95347743e-01 -6.19111675e-03 -1.48936045e+02] [-4.61477825e-02 1.75563756e-03 9.98933081e-01 -5.35698362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.4707140569999 meters 0.027278007081418774 Centerline is valid? [True, True] Translation: X:849.22, Y:-148.94, Z:-53.57 [[ 9.94322950e-01 9.58822962e-02 4.61352075e-02 8.49223331e+02] [-9.56958551e-02 9.95391074e-01 -6.23811712e-03 -1.48941530e+02] [-4.65206987e-02 1.78775488e-03 9.98915726e-01 -5.35711902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.500714057 meters 0.030039292748433633 Centerline is valid? [True, True] Translation: X:849.25, Y:-148.95, Z:-53.57 [[ 9.94349362e-01 9.53665831e-02 4.66321947e-02 8.49250260e+02] [-9.51757132e-02 9.95440543e-01 -6.30151843e-03 -1.48951024e+02] [-4.70205315e-02 1.82765844e-03 9.98892251e-01 -5.35737395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.530714057 meters 0.027197355916903348 Centerline is valid? [True, True] Translation: X:849.28, Y:-148.95, Z:-53.57 [[ 9.94500029e-01 9.38609397e-02 4.64738316e-02 8.49279534e+02] [-9.36700396e-02 9.95583532e-01 -6.27339487e-03 -1.48951244e+02] [-4.68574082e-02 1.88568573e-03 9.98899809e-01 -5.35729293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.5607140569999 meters 0.02764557809836124 Centerline is valid? [True, True] Translation: X:849.31, Y:-148.96, Z:-53.57 [[ 9.94617575e-01 9.24525115e-02 4.67804707e-02 8.49307598e+02] [-9.22576878e-02 9.95715163e-01 -6.31139029e-03 -1.48956477e+02] [-4.71635278e-02 1.96156164e-03 9.98885256e-01 -5.35744761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.5907140569999 meters 0.02812723288190761 Centerline is valid? [True, True] Translation: X:849.34, Y:-148.96, Z:-53.58 [[ 9.94983231e-01 8.84005952e-02 4.68369935e-02 8.49336669e+02] [-8.82010074e-02 9.96082678e-01 -6.31505800e-03 -1.48963524e+02] [-4.72117728e-02 2.15230681e-03 9.98882584e-01 -5.35756939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.620714057 meters 0.02914152975370204 Centerline is valid? [True, True] Translation: X:849.36, Y:-148.97, Z:-53.58 [[ 9.95207727e-01 8.58831385e-02 4.67511213e-02 8.49364670e+02] [-8.56815342e-02 9.96302638e-01 -6.30300741e-03 -1.48970619e+02] [-4.71195875e-02 2.26709388e-03 9.98886683e-01 -5.35773636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.650714057 meters 0.032962732536644467 Centerline is valid? [True, True] Translation: X:849.39, Y:-148.98, Z:-53.58 [[ 9.95444569e-01 8.31325652e-02 4.66806935e-02 8.49391573e+02] [-8.29286634e-02 9.96535628e-01 -6.29115682e-03 -1.48981729e+02] [-4.70419742e-02 2.39133037e-03 9.98890051e-01 -5.35801759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.6807140569999 meters 0.031994106238738926 Centerline is valid? [True, True] Translation: X:849.42, Y:-148.99, Z:-53.58 [[ 9.95785444e-01 7.88147461e-02 4.68997461e-02 8.49421812e+02] [-7.86043471e-02 9.96885880e-01 -6.31651211e-03 -1.48986094e+02] [-4.72515290e-02 2.60336690e-03 9.98879630e-01 -5.35809929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.7107140569999 meters 0.033750360237364926 Centerline is valid? [True, True] Translation: X:849.45, Y:-148.99, Z:-53.58 [[ 9.95886319e-01 7.71772053e-02 4.74775601e-02 8.49448757e+02] [-7.69596892e-02 9.97013695e-01 -6.39521220e-03 -1.48993368e+02] [-4.78293422e-02 2.71504607e-03 9.98851832e-01 -5.35829796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.7407140569999 meters 0.031660221927911694 Centerline is valid? [True, True] Translation: X:849.48, Y:-148.99, Z:-53.58 [[ 9.96097803e-01 7.49383224e-02 4.66198876e-02 8.49478085e+02] [-7.47263663e-02 9.97184332e-01 -6.27525354e-03 -1.48994342e+02] [-4.69588784e-02 2.76703148e-03 9.98892991e-01 -5.35833870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.770714057 meters 0.03389781727081909 Centerline is valid? [True, True] Translation: X:849.51, Y:-149.00, Z:-53.59 [[ 9.96136371e-01 7.43022492e-02 4.68135351e-02 8.49505412e+02] [-7.40879274e-02 9.97231818e-01 -6.29920239e-03 -1.49002146e+02] [-4.71519916e-02 2.80654683e-03 9.98883784e-01 -5.35861178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.8007140569999 meters 0.03385567890808408 Centerline is valid? [True, True] Translation: X:849.53, Y:-149.01, Z:-53.59 [[ 9.96171113e-01 7.38208299e-02 4.68358608e-02 8.49533561e+02] [-7.36060202e-02 9.97267518e-01 -6.29698337e-03 -1.49006629e+02] [-4.71727312e-02 2.82547161e-03 9.98882751e-01 -5.35880579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.8307140569999 meters 0.036748659166893044 Centerline is valid? [True, True] Translation: X:849.56, Y:-149.02, Z:-53.59 [[ 9.96181179e-01 7.34498589e-02 4.72035632e-02 8.49560202e+02] [-7.32314008e-02 9.97294804e-01 -6.34315268e-03 -1.49015110e+02] [-4.75417720e-02 2.86214626e-03 9.98865150e-01 -5.35901495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.8607140569999 meters 0.035796689689610896 Centerline is valid? [True, True] Translation: X:849.59, Y:-149.02, Z:-53.59 [[ 9.96244333e-01 7.27955054e-02 4.68833042e-02 8.49588785e+02] [-7.25794887e-02 9.97342760e-01 -6.29576038e-03 -1.49017097e+02] [-4.72170271e-02 2.86934935e-03 9.98880533e-01 -5.35912922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.890714057 meters 0.03332321539852672 Centerline is valid? [True, True] Translation: X:849.62, Y:-149.02, Z:-53.59 [[ 9.96200457e-01 7.30363845e-02 4.74377034e-02 8.49617672e+02] [-7.28156577e-02 9.97325094e-01 -6.36682496e-03 -1.49017423e+02] [-4.77758219e-02 2.88842637e-03 9.98853907e-01 -5.35919111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.9207140569999 meters 0.03613078973882722 Centerline is valid? [True, True] Translation: X:849.64, Y:-149.03, Z:-53.59 [[ 9.96093711e-01 7.39922755e-02 4.81919236e-02 8.49644329e+02] [-7.37657482e-02 9.97254643e-01 -6.46461875e-03 -1.49025199e+02] [-4.85379514e-02 2.88445278e-03 9.98817174e-01 -5.35935717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.9507140569999 meters 0.03133933549723135 Centerline is valid? [True, True] Translation: X:849.67, Y:-149.02, Z:-53.59 [[ 9.96037953e-01 7.46142885e-02 4.83849579e-02 8.49674457e+02] [-7.43869019e-02 9.97208365e-01 -6.48579947e-03 -1.49021502e+02] [-4.87338181e-02 2.86089531e-03 9.98807704e-01 -5.35941549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.9807140569999 meters 0.03234837453907357 Centerline is valid? [True, True] Translation: X:849.70, Y:-149.03, Z:-53.60 [[ 9.95956846e-01 7.60411703e-02 4.78299151e-02 8.49702295e+02] [-7.58207327e-02 9.97100869e-01 -6.40894144e-03 -1.49026674e+02] [-4.81785933e-02 2.75652990e-03 9.98834934e-01 -5.35969353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.010714057 meters 0.03235699194641899 Centerline is valid? [True, True] Translation: X:849.73, Y:-149.03, Z:-53.60 [[ 9.95923337e-01 7.67069337e-02 4.74631788e-02 8.49730930e+02] [-7.64907862e-02 9.97050027e-01 -6.35632293e-03 -1.49030407e+02] [-4.78107378e-02 2.69991448e-03 9.98852764e-01 -5.35990538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.040714057 meters 0.031988244238356625 Centerline is valid? [True, True] Translation: X:849.76, Y:-149.03, Z:-53.60 [[ 9.95871485e-01 7.77533593e-02 4.68444379e-02 8.49759311e+02] [-7.75441261e-02 9.96969204e-01 -6.27013075e-03 -1.49033352e+02] [-4.71899857e-02 2.61173342e-03 9.98882518e-01 -5.36011922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.0707140569999 meters 0.03199910561965377 Centerline is valid? [True, True] Translation: X:849.79, Y:-149.04, Z:-53.60 [[ 9.95761954e-01 7.99997637e-02 4.53670532e-02 8.49786750e+02] [-7.98059880e-02 9.96791937e-01 -6.06944481e-03 -1.49036504e+02] [-4.57070670e-02 2.42315971e-03 9.98951947e-01 -5.36038244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.1007140569999 meters 0.03073605564506299 Centerline is valid? [True, True] Translation: X:849.82, Y:-149.04, Z:-53.60 [[ 9.95673029e-01 8.11779456e-02 4.52256667e-02 8.49816027e+02] [-8.09867916e-02 9.96696837e-01 -6.04606975e-03 -1.49038088e+02] [-4.55670865e-02 2.35722693e-03 9.98958500e-01 -5.36049241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.130714057 meters 0.029662588670664142 Centerline is valid? [True, True] Translation: X:849.85, Y:-149.04, Z:-53.61 [[ 9.95366804e-01 8.43370508e-02 4.61756127e-02 8.49845787e+02] [-8.41412920e-02 9.96434730e-01 -6.17030301e-03 -1.49039143e+02] [-4.65313693e-02 2.25643907e-03 9.98914281e-01 -5.36055054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.160714057 meters 0.029408341028450604 Centerline is valid? [True, True] Translation: X:849.87, Y:-149.04, Z:-53.61 [[ 9.95172699e-01 8.61911204e-02 4.69296310e-02 8.49874348e+02] [-8.59910303e-02 9.96276183e-01 -6.26970219e-03 -1.49042106e+02] [-4.72952663e-02 2.20390913e-03 9.98878521e-01 -5.36064402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.1907140569999 meters 0.030064453028279103 Centerline is valid? [True, True] Translation: X:849.90, Y:-149.05, Z:-53.61 [[ 9.94946239e-01 8.81984577e-02 4.79897207e-02 8.49901642e+02] [-8.79917092e-02 9.96100596e-01 -6.40795819e-03 -1.49046821e+02] [-4.83677614e-02 2.15287636e-03 9.98827275e-01 -5.36078786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.2207140569999 meters 0.02848521256867002 Centerline is valid? [True, True] Translation: X:849.93, Y:-149.05, Z:-53.61 [[ 9.94661694e-01 9.14443465e-02 4.78126098e-02 8.49931242e+02] [-9.12430911e-02 9.95808214e-01 -6.37956896e-03 -1.49047109e+02] [-4.81955651e-02 1.98294255e-03 9.98835950e-01 -5.36089493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.250714057 meters 0.027409276294195064 Centerline is valid? [True, True] Translation: X:849.96, Y:-149.05, Z:-53.61 [[ 9.94595981e-01 9.20812879e-02 4.79569798e-02 8.49959926e+02] [-9.18796182e-02 9.95749571e-01 -6.39748282e-03 -1.49048840e+02] [-4.83422305e-02 1.95664170e-03 9.98828914e-01 -5.36104202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.280714057 meters 0.026829713817004507 Centerline is valid? [True, True] Translation: X:849.99, Y:-149.05, Z:-53.61 [[ 9.94572033e-01 9.19748537e-02 4.86528240e-02 8.49988689e+02] [-9.17673313e-02 9.95759348e-01 -6.48675765e-03 -1.49052489e+02] [-4.90431229e-02 1.98680793e-03 9.98794686e-01 -5.36117703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.3107140569999 meters 0.026888399337966478 Centerline is valid? [True, True] Translation: X:850.02, Y:-149.06, Z:-53.61 [[ 9.94655155e-01 9.11838892e-02 4.84419299e-02 8.50017343e+02] [-9.09773975e-02 9.95832036e-01 -6.45516371e-03 -1.49056447e+02] [-4.88286326e-02 2.01354115e-03 9.98805141e-01 -5.36133397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.3407140569999 meters 0.026240461236346248 Centerline is valid? [True, True] Translation: X:850.05, Y:-149.06, Z:-53.61 [[ 9.94740196e-01 9.00772244e-02 4.87651098e-02 8.50045706e+02] [-8.98668138e-02 9.95932616e-01 -6.49467747e-03 -1.49059045e+02] [-4.91517859e-02 2.07815169e-03 9.98789159e-01 -5.36148150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.370714057 meters 0.02958375733142678 Centerline is valid? [True, True] Translation: X:850.07, Y:-149.07, Z:-53.62 [[ 9.94910376e-01 8.80437665e-02 4.90065135e-02 8.50072067e+02] [-8.78289781e-02 9.96114209e-01 -6.52332020e-03 -1.49069486e+02] [-4.93904221e-02 2.18592696e-03 9.98777156e-01 -5.36171666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.400714057 meters 0.028182284384318794 Centerline is valid? [True, True] Translation: X:850.10, Y:-149.07, Z:-53.62 [[ 9.95028817e-01 8.69372463e-02 4.85753998e-02 8.50101007e+02] [-8.67251325e-02 9.96211324e-01 -6.46136306e-03 -1.49070945e+02] [-4.89530964e-02 2.21653446e-03 9.98798619e-01 -5.36183665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.4307140569999 meters 0.028664976685710816 Centerline is valid? [True, True] Translation: X:850.13, Y:-149.08, Z:-53.62 [[ 9.95274883e-01 8.46242259e-02 4.76093166e-02 8.50130233e+02] [-8.44180114e-02 9.96410328e-01 -6.32914355e-03 -1.49076464e+02] [-4.79740137e-02 2.28015377e-03 9.98845982e-01 -5.36210537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.4607140569999 meters 0.02874002945736906 Centerline is valid? [True, True] Translation: X:850.16, Y:-149.08, Z:-53.62 [[ 9.95347389e-01 8.39874161e-02 4.72195881e-02 8.50158209e+02] [-8.37839157e-02 9.96464183e-01 -6.27600263e-03 -1.49081082e+02] [-4.75797335e-02 2.29056084e-03 9.98864817e-01 -5.36229345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.4907140569999 meters 0.03078472594346351 Centerline is valid? [True, True] Translation: X:850.19, Y:-149.09, Z:-53.63 [[ 9.95546511e-01 8.23083353e-02 4.59617467e-02 8.50186070e+02] [-8.21139160e-02 9.96604249e-01 -6.10538391e-03 -1.49088937e+02] [-4.63081960e-02 2.30409465e-03 9.98924543e-01 -5.36258881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.520714057 meters 0.03119064171461812 Centerline is valid? [True, True] Translation: X:850.21, Y:-149.09, Z:-53.63 [[ 9.95594260e-01 8.17333038e-02 4.59536457e-02 8.50213882e+02] [-8.15384395e-02 9.96651517e-01 -6.10221209e-03 -1.49093790e+02] [-4.62985247e-02 2.32833876e-03 9.98924935e-01 -5.36279978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.5507140569999 meters 0.031253913397620826 Centerline is valid? [True, True] Translation: X:850.24, Y:-149.10, Z:-53.63 [[ 9.95644090e-01 8.12206211e-02 4.57827150e-02 8.50241924e+02] [-8.10268494e-02 9.96693402e-01 -6.07551338e-03 -1.49097472e+02] [-4.61247870e-02 2.33941984e-03 9.98932946e-01 -5.36294022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.5807140569999 meters 0.03173991933942388 Centerline is valid? [True, True] Translation: X:850.27, Y:-149.10, Z:-53.63 [[ 9.95578094e-01 8.15952056e-02 4.65454706e-02 8.50268914e+02] [-8.13955231e-02 9.96662766e-01 -6.17253297e-03 -1.49102095e+02] [-4.68937866e-02 2.35664568e-03 9.98897101e-01 -5.36303737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.6107140569999 meters 0.029763416674917716 Centerline is valid? [True, True] Translation: X:850.30, Y:-149.10, Z:-53.63 [[ 9.95511791e-01 8.19791412e-02 4.72831299e-02 8.50297997e+02] [-8.17737141e-02 9.96631224e-01 -6.26598216e-03 -1.49102273e+02] [-4.76375235e-02 2.37134197e-03 9.98861874e-01 -5.36310772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.640714057 meters 0.03038759713863379 Centerline is valid? [True, True] Translation: X:850.33, Y:-149.11, Z:-53.63 [[ 9.95420806e-01 8.29047217e-02 4.75838760e-02 8.50325329e+02] [-8.26978833e-02 9.96554734e-01 -6.30253846e-03 -1.49106312e+02] [-4.79424471e-02 2.33859209e-03 9.98847362e-01 -5.36325902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.6707140569999 meters 0.030669075661115906 Centerline is valid? [True, True] Translation: X:850.35, Y:-149.11, Z:-53.63 [[ 9.95438485e-01 8.28088174e-02 4.73806044e-02 8.50352550e+02] [-8.26038296e-02 9.96562730e-01 -6.27155596e-03 -1.49110106e+02] [-4.77370846e-02 2.32912879e-03 9.98857220e-01 -5.36344653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.7007140569999 meters 0.03158116802344727 Centerline is valid? [True, True] Translation: X:850.38, Y:-149.12, Z:-53.64 [[ 9.95486900e-01 8.22635086e-02 4.73132881e-02 8.50380231e+02] [-8.20587363e-02 9.96607851e-01 -6.25746912e-03 -1.49115019e+02] [-4.76675558e-02 2.34675990e-03 9.98860499e-01 -5.36365068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.7307140569999 meters 0.03411209748015281 Centerline is valid? [True, True] Translation: X:850.41, Y:-149.12, Z:-53.64 [[ 9.95653964e-01 8.02920835e-02 4.71843774e-02 8.50407736e+02] [-8.00864242e-02 9.96768416e-01 -6.23611468e-03 -1.49121906e+02] [-4.75326078e-02 2.43018424e-03 9.98866731e-01 -5.36385463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.760714057 meters 0.03329112522584481 Centerline is valid? [True, True] Translation: X:850.44, Y:-149.12, Z:-53.64 [[ 9.95801445e-01 7.85179288e-02 4.70575940e-02 8.50437352e+02] [-7.83115696e-02 9.96909556e-01 -6.21577453e-03 -1.49123659e+02] [-4.74002149e-02 2.50452321e-03 9.98872838e-01 -5.36391893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.790714057 meters 0.03611088291900783 Centerline is valid? [True, True] Translation: X:850.47, Y:-149.13, Z:-53.64 [[ 9.96071544e-01 7.50810016e-02 4.69502176e-02 8.50465489e+02] [-7.48718555e-02 9.97173889e-01 -6.19996475e-03 -1.49131228e+02] [-4.72830307e-02 2.66035855e-03 9.98877989e-01 -5.36419920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.8207140569999 meters 0.03297761178905094 Centerline is valid? [True, True] Translation: X:850.50, Y:-149.13, Z:-53.64 [[ 9.96222050e-01 7.30962998e-02 4.68887892e-02 8.50495499e+02] [-7.28855865e-02 9.97321098e-01 -6.19025643e-03 -1.49129807e+02] [-4.72156636e-02 2.74935304e-03 9.98880935e-01 -5.36423713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.8507140569999 meters 0.03862994999483555 Centerline is valid? [True, True] Translation: X:850.52, Y:-149.14, Z:-53.65 [[ 9.96346490e-01 7.13562263e-02 4.69250471e-02 8.50522753e+02] [-7.11433335e-02 9.97446874e-01 -6.19358351e-03 -1.49141568e+02] [-4.72471923e-02 2.83255091e-03 9.98879212e-01 -5.36453640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.880714057 meters 0.04146210623394672 Centerline is valid? [True, True] Translation: X:850.55, Y:-149.15, Z:-53.65 [[ 9.96552918e-01 6.84321348e-02 4.68969618e-02 8.50551339e+02] [-6.82164260e-02 9.97651364e-01 -6.18663404e-03 -1.49148404e+02] [-4.72101825e-02 2.96616509e-03 9.98880574e-01 -5.36480778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.910714057 meters 0.0348334512102853 Centerline is valid? [True, True] Translation: X:850.58, Y:-149.14, Z:-53.65 [[ 9.96643622e-01 6.72288830e-02 4.67094104e-02 8.50582358e+02] [-6.70135826e-02 9.97733036e-01 -6.16188226e-03 -1.49141800e+02] [-4.70177783e-02 3.01103572e-03 9.98889515e-01 -5.36480177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.9407140569999 meters 0.03696411435299996 Centerline is valid? [True, True] Translation: X:850.61, Y:-149.15, Z:-53.65 [[ 9.96686435e-01 6.65195087e-02 4.68113728e-02 8.50610855e+02] [-6.63025635e-02 9.97780464e-01 -6.17372505e-03 -1.49146971e+02] [-4.71181465e-02 3.04955399e-03 9.98884668e-01 -5.36499386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.9707140569999 meters 0.035204141575729916 Centerline is valid? [True, True] Translation: X:850.64, Y:-149.15, Z:-53.65 [[ 9.96684531e-01 6.66390190e-02 4.66817553e-02 8.50640087e+02] [-6.64234902e-02 9.97772538e-01 -6.15482392e-03 -1.49146356e+02] [-4.69879249e-02 3.03365268e-03 9.98890851e-01 -5.36508577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.000714057 meters 0.03584625340131704 Centerline is valid? [True, True] Translation: X:850.67, Y:-149.15, Z:-53.65 [[ 9.96612414e-01 6.72282841e-02 4.73714452e-02 8.50667652e+02] [-6.70071544e-02 9.97732967e-01 -6.24244199e-03 -1.49149716e+02] [-4.76837212e-02 3.04706944e-03 9.98857837e-01 -5.36520993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.030714057 meters 0.035153009765554535 Centerline is valid? [True, True] Translation: X:850.70, Y:-149.15, Z:-53.65 [[ 9.96549445e-01 6.78943610e-02 4.77447406e-02 8.50696623e+02] [-6.76707064e-02 9.97687901e-01 -6.28713463e-03 -1.49151135e+02] [-4.80612111e-02 3.03452019e-03 9.98839783e-01 -5.36530368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.0607140569999 meters 0.034296687674146 Centerline is valid? [True, True] Translation: X:850.73, Y:-149.15, Z:-53.65 [[ 9.96373910e-01 6.94386424e-02 4.91661019e-02 8.50726636e+02] [-6.92035262e-02 9.97581579e-01 -6.47036235e-03 -1.49150797e+02] [-4.94964908e-02 3.04443262e-03 9.98769658e-01 -5.36531516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.0907140569999 meters 0.03127940408287166 Centerline is valid? [True, True] Translation: X:850.76, Y:-149.15, Z:-53.65 [[ 9.96230804e-01 7.08213107e-02 5.00852062e-02 8.50755897e+02] [-7.05791310e-02 9.97484417e-01 -6.58975875e-03 -1.49147666e+02] [-5.04259080e-02 3.02995033e-03 9.98723209e-01 -5.36537964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.120714057 meters 0.0343227411132995 Centerline is valid? [True, True] Translation: X:850.78, Y:-149.15, Z:-53.66 [[ 9.96218685e-01 7.14473073e-02 4.94329226e-02 8.50783487e+02] [-7.12123489e-02 9.97439997e-01 -6.50030965e-03 -1.49154559e+02] [-4.97708038e-02 2.95549539e-03 9.98756293e-01 -5.36563329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.150714057 meters 0.033789077099065964 Centerline is valid? [True, True] Translation: X:850.81, Y:-149.16, Z:-53.66 [[ 9.96162972e-01 7.22681448e-02 4.93624285e-02 8.50811788e+02] [-7.20350423e-02 9.97381004e-01 -6.48738455e-03 -1.49156727e+02] [-4.97019798e-02 2.90666765e-03 9.98759863e-01 -5.36581362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.1807140569999 meters 0.03225320301393886 Centerline is valid? [True, True] Translation: X:850.84, Y:-149.16, Z:-53.66 [[ 9.96097780e-01 7.36464113e-02 4.86355792e-02 8.50840803e+02] [-7.34219321e-02 9.97280506e-01 -6.38846772e-03 -1.49155036e+02] [-4.89738028e-02 2.79262032e-03 9.98796159e-01 -5.36598009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.2107140569999 meters 0.03116075061898862 Centerline is valid? [True, True] Translation: X:850.87, Y:-149.16, Z:-53.66 [[ 9.96014280e-01 7.49584207e-02 4.83403538e-02 8.50870299e+02] [-7.47383590e-02 9.97182982e-01 -6.34643008e-03 -1.49156146e+02] [-4.86798965e-02 2.70825627e-03 9.98810759e-01 -5.36610044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.2407140569999 meters 0.029891199269345657 Centerline is valid? [True, True] Translation: X:850.90, Y:-149.15, Z:-53.66 [[ 9.95725768e-01 7.84248748e-02 4.87825115e-02 8.50901154e+02] [-7.82051621e-02 9.96916747e-01 -6.39934182e-03 -1.49154542e+02] [-4.91339702e-02 2.55694534e-03 9.98788924e-01 -5.36619613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.270714057 meters 0.03015276913556804 Centerline is valid? [True, True] Translation: X:850.93, Y:-149.16, Z:-53.66 [[ 9.95559448e-01 8.03802644e-02 4.89938710e-02 8.50928731e+02] [-8.01610835e-02 9.96761213e-01 -6.42541289e-03 -1.49157433e+02] [-4.93516667e-02 2.46947872e-03 9.98778411e-01 -5.36632522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.3007140569999 meters 0.03015276913556804 Centerline is valid? [True, True] Translation: X:850.96, Y:-149.16, Z:-53.66 [[ 9.95567884e-01 8.02753650e-02 4.89944215e-02 8.50955957e+02] [-8.00562636e-02 9.96769664e-01 -6.42121218e-03 -1.49160911e+02] [-4.93516182e-02 2.47044230e-03 9.98778411e-01 -5.36648443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.3307140569999 meters 0.029247998354340974 Centerline is valid? [True, True] Translation: X:850.99, Y:-149.16, Z:-53.67 [[ 9.95394997e-01 8.22716473e-02 4.91952957e-02 8.50985346e+02] [-8.20534584e-02 9.96607111e-01 -6.44180987e-03 -1.49162049e+02] [-4.95583598e-02 2.37550117e-03 9.98768405e-01 -5.36664095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.3607140569999 meters 0.027481865590014913 Centerline is valid? [True, True] Translation: X:851.02, Y:-149.16, Z:-53.67 [[ 9.95022647e-01 8.61727537e-02 5.00418688e-02 8.51016028e+02] [-8.59520534e-02 9.96277746e-01 -6.54965865e-03 -1.49160119e+02] [-5.04200024e-02 2.21585731e-03 9.98725645e-01 -5.36675429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.390714057 meters 0.02672970468840437 Centerline is valid? [True, True] Translation: X:851.04, Y:-149.16, Z:-53.67 [[ 9.94838230e-01 8.81079687e-02 5.03376813e-02 8.51044823e+02] [-8.78871469e-02 9.96108654e-01 -6.58783710e-03 -1.49161594e+02] [-5.07222409e-02 2.12979701e-03 9.98710528e-01 -5.36686520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.4207140569999 meters 0.026110841136128955 Centerline is valid? [True, True] Translation: X:851.07, Y:-149.16, Z:-53.67 [[ 9.94555965e-01 9.08428637e-02 5.10490585e-02 8.51074364e+02] [-9.06195449e-02 9.95863201e-01 -6.67703062e-03 -1.49162362e+02] [-5.14444394e-02 2.01463818e-03 9.98673826e-01 -5.36697281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.4507140569999 meters 0.027344441474913914 Centerline is valid? [True, True] Translation: X:851.10, Y:-149.17, Z:-53.67 [[ 9.94520660e-01 9.14733680e-02 5.06090828e-02 8.51101574e+02] [-9.12548122e-02 9.95805589e-01 -6.61728944e-03 -1.49167821e+02] [-5.10021133e-02 1.96270871e-03 9.98696617e-01 -5.36717200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.4807140569999 meters 0.02634510864453224 Centerline is valid? [True, True] Translation: X:851.13, Y:-149.17, Z:-53.67 [[ 9.94524838e-01 9.13938225e-02 5.06706698e-02 8.51129532e+02] [-9.11749707e-02 9.95812893e-01 -6.61869749e-03 -1.49169139e+02] [-5.10634143e-02 1.96256222e-03 9.98693485e-01 -5.36732995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.510714057 meters 0.02611509772658116 Centerline is valid? [True, True] Translation: X:851.16, Y:-149.17, Z:-53.68 [[ 9.94594602e-01 9.06536369e-02 5.06309717e-02 8.51158354e+02] [-9.04344630e-02 9.95880487e-01 -6.60779846e-03 -1.49172584e+02] [-5.10214177e-02 1.99329594e-03 9.98695570e-01 -5.36750543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.540714057 meters 0.026749097657189892 Centerline is valid? [True, True] Translation: X:851.19, Y:-149.18, Z:-53.68 [[ 9.94651991e-01 8.99365309e-02 5.07822492e-02 8.51185751e+02] [-8.97152959e-02 9.95945425e-01 -6.62394256e-03 -1.49177642e+02] [-5.11720832e-02 2.03257314e-03 9.98687782e-01 -5.36766717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.5707140569999 meters 0.026493207814569826 Centerline is valid? [True, True] Translation: X:851.21, Y:-149.18, Z:-53.68 [[ 9.94817988e-01 8.79680303e-02 5.09783989e-02 8.51214481e+02] [-8.77427460e-02 9.96121005e-01 -6.64479095e-03 -1.49181052e+02] [-5.13651831e-02 2.13737285e-03 9.98677651e-01 -5.36777079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.6007140569999 meters 0.027017713709185983 Centerline is valid? [True, True] Translation: X:851.24, Y:-149.19, Z:-53.68 [[ 9.94940086e-01 8.66045095e-02 5.09301969e-02 8.51242154e+02] [-8.63780546e-02 9.96240337e-01 -6.63489974e-03 -1.49186211e+02] [-5.13133288e-02 2.20207639e-03 9.98680176e-01 -5.36790444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.630714057 meters 0.0280327343493906 Centerline is valid? [True, True] Translation: X:851.27, Y:-149.19, Z:-53.68 [[ 9.95068110e-01 8.51572943e-02 5.08693605e-02 8.51270276e+02] [-8.49297371e-02 9.96364936e-01 -6.62223954e-03 -1.49191233e+02] [-5.12483792e-02 2.26925797e-03 9.98683360e-01 -5.36807776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.660714057 meters 0.029573725043706502 Centerline is valid? [True, True] Translation: X:851.30, Y:-149.20, Z:-53.68 [[ 9.95422037e-01 8.15877852e-02 4.97835518e-02 8.51298851e+02] [-8.13655913e-02 9.96663278e-01 -6.47697402e-03 -1.49199384e+02] [-5.01458799e-02 2.39665454e-03 9.98739028e-01 -5.36831798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.6907140569999 meters 0.03021649806407625 Centerline is valid? [True, True] Translation: X:851.33, Y:-149.21, Z:-53.69 [[ 9.95610857e-01 7.94539061e-02 4.94580479e-02 8.51327452e+02] [-7.92320154e-02 9.96835438e-01 -6.43402916e-03 -1.49205020e+02] [-4.98127436e-02 2.48712847e-03 9.98755478e-01 -5.36854175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.7207140569999 meters 0.03216371896238671 Centerline is valid? [True, True] Translation: X:851.35, Y:-149.21, Z:-53.69 [[ 9.95841212e-01 7.65163810e-02 4.94522380e-02 8.51354634e+02] [-7.62910557e-02 9.97064852e-01 -6.43078637e-03 -1.49212816e+02] [-4.97991489e-02 2.63127865e-03 9.98755787e-01 -5.36866302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.750714057 meters 0.030313711133167626 Centerline is valid? [True, True] Translation: X:851.38, Y:-149.21, Z:-53.69 [[ 9.95880640e-01 7.55583660e-02 5.01266761e-02 8.51383327e+02] [-7.53258294e-02 9.97137693e-01 -6.51468507e-03 -1.49213671e+02] [-5.04754371e-02 2.71201528e-03 9.98721621e-01 -5.36870195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.780714057 meters 0.0329933753473455 Centerline is valid? [True, True] Translation: X:851.41, Y:-149.22, Z:-53.69 [[ 9.95890486e-01 7.51009877e-02 5.06160231e-02 8.51410044e+02] [-7.48634799e-02 9.97172118e-01 -6.57466938e-03 -1.49221315e+02] [-5.09666512e-02 2.75835905e-03 9.98696547e-01 -5.36882916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.8107140569999 meters 0.030664075122611625 Centerline is valid? [True, True] Translation: X:851.44, Y:-149.22, Z:-53.69 [[ 9.95859502e-01 7.53376494e-02 5.08732836e-02 8.51439275e+02] [-7.50982696e-02 9.97154274e-01 -6.60334219e-03 -1.49222025e+02] [-5.12259924e-02 2.75550549e-03 9.98683286e-01 -5.36892542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.8407140569999 meters 0.0300600828229955 Centerline is valid? [True, True] Translation: X:851.47, Y:-149.23, Z:-53.69 [[ 9.95842356e-01 7.56786429e-02 5.07025102e-02 8.51467498e+02] [-7.54414967e-02 9.97128536e-01 -6.57751559e-03 -1.49225425e+02] [-5.10546973e-02 2.72509537e-03 9.98692141e-01 -5.36910551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.870714057 meters 0.031701578143262264 Centerline is valid? [True, True] Translation: X:851.50, Y:-149.23, Z:-53.69 [[ 9.95791915e-01 7.71929559e-02 4.93934095e-02 8.51495057e+02] [-7.69699397e-02 9.97012846e-01 -6.40419445e-03 -1.49231136e+02] [-4.97402224e-02 2.57543731e-03 9.98758869e-01 -5.36939854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.900714057 meters 0.030052507886912275 Centerline is valid? [True, True] Translation: X:851.52, Y:-149.23, Z:-53.70 [[ 9.95737859e-01 7.81783611e-02 4.89311697e-02 8.51524044e+02] [-7.79608618e-02 9.96936256e-01 -6.34076366e-03 -1.49231951e+02] [-4.92769677e-02 2.49902227e-03 9.98782026e-01 -5.36957363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.9307140569999 meters 0.030003721786496833 Centerline is valid? [True, True] Translation: X:851.55, Y:-149.23, Z:-53.70 [[ 9.95671825e-01 7.98186108e-02 4.76088799e-02 8.51552491e+02] [-7.96147473e-02 9.96806637e-01 -6.16608082e-03 -1.49234778e+02] [-4.79490154e-02 2.34902400e-03 9.98847022e-01 -5.36985709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.9607140569999 meters 0.02925793747676308 Centerline is valid? [True, True] Translation: X:851.58, Y:-149.24, Z:-53.70 [[ 9.95670148e-01 8.01766921e-02 4.70388707e-02 8.51581549e+02] [-7.99782407e-02 9.96778012e-01 -6.08894373e-03 -1.49236897e+02] [-4.73755034e-02 2.30049337e-03 9.98874501e-01 -5.37005292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.9907140569999 meters 0.02902843926695225 Centerline is valid? [True, True] Translation: X:851.61, Y:-149.24, Z:-53.70 [[ 9.95713202e-01 8.00758971e-02 4.62933025e-02 8.51609691e+02] [-7.98837277e-02 9.96786195e-01 -5.98934335e-03 -1.49239523e+02] [-4.66241269e-02 2.26558667e-03 9.98909935e-01 -5.37022505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.020714057 meters 0.030122585636134503 Centerline is valid? [True, True] Translation: X:851.64, Y:-149.24, Z:-53.70 [[ 9.95733396e-01 8.00155525e-02 4.59621136e-02 8.51636400e+02] [-7.98262346e-02 9.96791079e-01 -5.94274894e-03 -1.49244661e+02] [-4.62901372e-02 2.24841112e-03 9.98925507e-01 -5.37043299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.0507140569999 meters 0.0291396344427704 Centerline is valid? [True, True] Translation: X:851.67, Y:-149.25, Z:-53.71 [[ 9.95770841e-01 7.95677900e-02 4.59281975e-02 8.51665316e+02] [-7.93785741e-02 9.96826893e-01 -5.93194250e-03 -1.49245534e+02] [-4.62544539e-02 2.26114054e-03 9.98927131e-01 -5.37050469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.0807140569999 meters 0.029582745237533004 Centerline is valid? [True, True] Translation: X:851.69, Y:-149.25, Z:-53.71 [[ 9.95755561e-01 7.96492540e-02 4.61178834e-02 8.51692949e+02] [-7.94587049e-02 9.96820381e-01 -5.95327502e-03 -1.49249578e+02] [-4.64454201e-02 2.26353942e-03 9.98918265e-01 -5.37062472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.1107140569999 meters 0.029325186011925703 Centerline is valid? [True, True] Translation: X:851.72, Y:-149.25, Z:-53.71 [[ 9.95780292e-01 7.94413196e-02 4.59422115e-02 8.51721435e+02] [-7.92521997e-02 9.96836982e-01 -5.92628772e-03 -1.49250307e+02] [-4.62676876e-02 2.26025920e-03 9.98926520e-01 -5.37069590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.140714057 meters 0.031046814153125175 Centerline is valid? [True, True] Translation: X:851.75, Y:-149.26, Z:-53.71 [[ 9.95807736e-01 7.90526342e-02 4.60177586e-02 8.51748219e+02] [-7.88626137e-02 9.96867838e-01 -5.93309545e-03 -1.49255586e+02] [-4.63426504e-02 2.27914162e-03 9.98923002e-01 -5.37088709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.1707140569999 meters 0.029681875627659383 Centerline is valid? [True, True] Translation: X:851.78, Y:-149.26, Z:-53.71 [[ 9.95827149e-01 7.85585170e-02 4.64418960e-02 8.51776686e+02] [-7.83646848e-02 9.96906809e-01 -5.98252669e-03 -1.49256268e+02] [-4.67682208e-02 2.31815795e-03 9.98903078e-01 -5.37097735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.2007140569999 meters 0.03002252160968949 Centerline is valid? [True, True] Translation: X:851.81, Y:-149.26, Z:-53.71 [[ 9.95911723e-01 7.74905375e-02 4.64225888e-02 8.51805047e+02] [-7.72959147e-02 9.96990287e-01 -5.97566175e-03 -1.49260205e+02] [-4.67459274e-02 2.36295512e-03 9.98904017e-01 -5.37112458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.2307140569999 meters 0.030204758934857884 Centerline is valid? [True, True] Translation: X:851.83, Y:-149.26, Z:-53.71 [[ 9.96045341e-01 7.59927816e-02 4.60301590e-02 8.51833095e+02] [-7.57999855e-02 9.97105456e-01 -5.92208944e-03 -1.49262900e+02] [-4.63469587e-02 2.40958422e-03 9.98922496e-01 -5.37127269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.260714057 meters 0.03222326060220522 Centerline is valid? [True, True] Translation: X:851.86, Y:-149.27, Z:-53.71 [[ 9.96294557e-01 7.29477384e-02 4.55607658e-02 8.51862143e+02] [-7.27559106e-02 9.97332580e-01 -5.85675911e-03 -1.49268400e+02] [-4.58664734e-02 2.52024222e-03 9.98944400e-01 -5.37146322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.290714057 meters 0.032611586634286406 Centerline is valid? [True, True] Translation: X:851.89, Y:-149.27, Z:-53.72 [[ 9.96447309e-01 7.09624139e-02 4.53552313e-02 8.51891567e+02] [-7.07702924e-02 9.97475604e-01 -5.82974128e-03 -1.49271752e+02] [-4.56544292e-02 2.59922703e-03 9.98953911e-01 -5.37161736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.3207140569999 meters 0.032764750201383745 Centerline is valid? [True, True] Translation: X:851.92, Y:-149.28, Z:-53.72 [[ 9.96551512e-01 6.94556619e-02 4.53981852e-02 8.51921262e+02] [-6.92616932e-02 9.97581469e-01 -5.83362823e-03 -1.49275516e+02] [-4.56935668e-02 2.66915585e-03 9.98951938e-01 -5.37178291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.3507140569999 meters 0.03633472407193529 Centerline is valid? [True, True] Translation: X:851.95, Y:-149.28, Z:-53.72 [[ 9.96768201e-01 6.61912152e-02 4.55178644e-02 8.51949356e+02] [-6.59929070e-02 9.97802959e-01 -5.84735566e-03 -1.49283076e+02] [-4.58049034e-02 2.82460199e-03 9.98946411e-01 -5.37205615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.380714057 meters 0.037706783404545065 Centerline is valid? [True, True] Translation: X:851.98, Y:-149.29, Z:-53.72 [[ 9.96869235e-01 6.47299439e-02 4.54066396e-02 8.51977545e+02] [-6.45311606e-02 9.97898653e-01 -5.83164008e-03 -1.49287697e+02] [-4.56887062e-02 2.88323944e-03 9.98951565e-01 -5.37225026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.410714057 meters 0.03512217820427018 Centerline is valid? [True, True] Translation: X:852.01, Y:-149.29, Z:-53.72 [[ 9.96943297e-01 6.34586728e-02 4.55747601e-02 8.52006158e+02] [-6.32571803e-02 9.97980106e-01 -5.85128936e-03 -1.49286912e+02] [-4.58540189e-02 2.95047290e-03 9.98943794e-01 -5.37233244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.4407140569999 meters 0.03729782716104257 Centerline is valid? [True, True] Translation: X:852.03, Y:-149.29, Z:-53.72 [[ 9.97095131e-01 6.09806225e-02 4.56362121e-02 8.52034806e+02] [-6.07762381e-02 9.98134249e-01 -5.85405409e-03 -1.49290913e+02] [-4.59080502e-02 3.06345154e-03 9.98940972e-01 -5.37247695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.4707140569999 meters 0.038477888639750366 Centerline is valid? [True, True] Translation: X:852.06, Y:-149.29, Z:-53.73 [[ 9.97159953e-01 5.99944073e-02 4.55269084e-02 8.52063172e+02] [-5.97899627e-02 9.98193894e-01 -5.84038512e-03 -1.49294508e+02] [-4.57950724e-02 3.10174600e-03 9.98946040e-01 -5.37263182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.500714057 meters 0.03880913301472341 Centerline is valid? [True, True] Translation: X:852.09, Y:-149.29, Z:-53.73 [[ 9.97180272e-01 5.91666529e-02 4.61607194e-02 8.52092120e+02] [-5.89556957e-02 9.98243050e-01 -5.91939111e-03 -1.49294998e+02] [-4.64298478e-02 3.18126272e-03 9.98916487e-01 -5.37269583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.530714057 meters 0.03864811721175049 Centerline is valid? [True, True] Translation: X:852.12, Y:-149.30, Z:-53.73 [[ 9.97123913e-01 5.92170829e-02 4.72994736e-02 8.52121202e+02] [-5.89957992e-02 9.98239825e-01 -6.06197869e-03 -1.49296896e+02] [-4.75751909e-02 3.25407366e-03 9.98862359e-01 -5.37279750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.5607140569999 meters 0.041482581936230334 Centerline is valid? [True, True] Translation: X:852.15, Y:-149.30, Z:-53.73 [[ 9.97233289e-01 5.79953740e-02 4.65005853e-02 8.52148990e+02] [-5.77803387e-02 9.98311552e-01 -5.95636810e-03 -1.49301430e+02] [-4.67675133e-02 3.25306898e-03 9.98900504e-01 -5.37303454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.5907140569999 meters 0.04169244967845547 Centerline is valid? [True, True] Translation: X:852.18, Y:-149.30, Z:-53.73 [[ 9.97283216e-01 5.73026900e-02 4.62881156e-02 8.52178833e+02] [-5.70890440e-02 9.98351506e-01 -5.92552624e-03 -1.49304143e+02] [-4.65513585e-02 3.26688360e-03 9.98910556e-01 -5.37324902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.620714057 meters 0.04326316338591921 Centerline is valid? [True, True] Translation: X:852.21, Y:-149.31, Z:-53.74 [[ 9.97334629e-01 5.64753418e-02 4.61971124e-02 8.52208172e+02] [-5.62617276e-02 9.98398549e-01 -5.91227481e-03 -1.49308897e+02] [-4.64570278e-02 3.29738705e-03 9.98914847e-01 -5.37351301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.650714057 meters 0.0441468851140082 Centerline is valid? [True, True] Translation: X:852.24, Y:-149.31, Z:-53.74 [[ 9.97479031e-01 5.49230898e-02 4.49336892e-02 8.52237538e+02] [-5.47195112e-02 9.98485214e-01 -5.74909565e-03 -1.49310796e+02] [-4.51813823e-02 3.27585286e-03 9.98973429e-01 -5.37384044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.6807140569999 meters 0.04619215605521661 Centerline is valid? [True, True] Translation: X:852.27, Y:-149.32, Z:-53.74 [[ 9.97581050e-01 5.42271108e-02 4.34910348e-02 8.52265201e+02] [-5.40357899e-02 9.98523500e-01 -5.56354866e-03 -1.49315354e+02] [-4.37285154e-02 3.20001829e-03 9.99038326e-01 -5.37412100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.7107140569999 meters 0.03847131135932282 Centerline is valid? [True, True] Translation: X:852.30, Y:-149.30, Z:-53.74 [[ 9.97649876e-01 5.39061051e-02 4.22948798e-02 8.52295861e+02] [-5.37249989e-02 9.98541126e-01 -5.40784863e-03 -1.49304841e+02] [-4.25246929e-02 3.12284714e-03 9.99090536e-01 -5.37414201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.7407140569999 meters 0.0391767029336983 Centerline is valid? [True, True] Translation: X:852.32, Y:-149.31, Z:-53.74 [[ 9.97648255e-01 5.37972179e-02 4.24713875e-02 8.52324047e+02] [-5.36146310e-02 9.98546952e-01 -5.42729834e-03 -1.49307735e+02] [-4.27016481e-02 3.13744695e-03 9.99082942e-01 -5.37434182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.770714057 meters 0.047691952236358796 Centerline is valid? [True, True] Translation: X:852.35, Y:-149.32, Z:-53.75 [[ 9.97638656e-01 5.40401282e-02 4.23883982e-02 8.52350264e+02] [-5.38585916e-02 9.98533896e-01 -5.41390734e-03 -1.49321648e+02] [-4.26188206e-02 3.11814382e-03 9.99086539e-01 -5.37473065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.8007140569999 meters 0.039463351395508384 Centerline is valid? [True, True] Translation: X:852.38, Y:-149.31, Z:-53.75 [[ 9.97577980e-01 5.46712622e-02 4.30026340e-02 8.52380298e+02] [-5.44851859e-02 9.98499496e-01 -5.48817630e-03 -1.49312192e+02] [-4.32381539e-02 3.13187732e-03 9.99059885e-01 -5.37462997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.8307140569999 meters 0.03549374161566188 Centerline is valid? [True, True] Translation: X:852.41, Y:-149.31, Z:-53.75 [[ 9.97412918e-01 5.67213790e-02 4.41605658e-02 8.52410756e+02] [-5.65273019e-02 9.98385167e-01 -5.63222656e-03 -1.49306457e+02] [-4.44087215e-02 3.12137790e-03 9.99008570e-01 -5.37457359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.8607140569999 meters 0.0355158349241256 Centerline is valid? [True, True] Translation: X:852.44, Y:-149.31, Z:-53.75 [[ 9.97208304e-01 5.93358829e-02 4.53304773e-02 8.52439563e+02] [-5.91341334e-02 9.98233313e-01 -5.77991063e-03 -1.49306053e+02] [-4.55933487e-02 3.08319638e-03 9.98955325e-01 -5.37460332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.890714057 meters 0.035872846869731724 Centerline is valid? [True, True] Translation: X:852.47, Y:-149.31, Z:-53.75 [[ 9.97069059e-01 6.09925923e-02 4.61865385e-02 8.52468441e+02] [-6.07850439e-02 9.98133524e-01 -5.88622873e-03 -1.49308413e+02] [-4.64593488e-02 3.06152577e-03 9.98915490e-01 -5.37470074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.9207140569999 meters 0.03588102213042556 Centerline is valid? [True, True] Translation: X:852.50, Y:-149.31, Z:-53.75 [[ 9.96962780e-01 6.23890162e-02 4.66135768e-02 8.52497083e+02] [-6.21791897e-02 9.98047330e-01 -5.93932547e-03 -1.49310433e+02] [-4.68931046e-02 3.02289199e-03 9.98895339e-01 -5.37482451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.9507140569999 meters 0.03381956427918722 Centerline is valid? [True, True] Translation: X:852.53, Y:-149.31, Z:-53.75 [[ 9.96875700e-01 6.34231660e-02 4.70780335e-02 8.52526413e+02] [-6.32104423e-02 9.97982214e-01 -5.99510482e-03 -1.49309122e+02] [-4.73632686e-02 3.00055099e-03 9.98873224e-01 -5.37490734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.9807140569999 meters 0.033832965750468735 Centerline is valid? [True, True] Translation: X:852.56, Y:-149.31, Z:-53.75 [[ 9.96714630e-01 6.52676567e-02 4.79591415e-02 8.52555626e+02] [-6.50492042e-02 9.97863393e-01 -6.10335925e-03 -1.49310692e+02] [-4.82550236e-02 2.96360346e-03 9.98830651e-01 -5.37501597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.010714057 meters 0.03251101399872013 Centerline is valid? [True, True] Translation: X:852.58, Y:-149.31, Z:-53.75 [[ 9.96634636e-01 6.68275442e-02 4.74708505e-02 8.52584744e+02] [-6.66153472e-02 9.97760450e-01 -6.03987883e-03 -1.49310379e+02] [-4.77681674e-02 2.85726525e-03 9.98854363e-01 -5.37523453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.040714057 meters 0.033601516658762334 Centerline is valid? [True, True] Translation: X:852.61, Y:-149.32, Z:-53.75 [[ 9.96577458e-01 6.81012613e-02 4.68571157e-02 8.52612248e+02] [-6.78960739e-02 9.97674605e-01 -5.95858894e-03 -1.49315035e+02] [-4.71539419e-02 2.75678123e-03 9.98883830e-01 -5.37549055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.0707140569999 meters 0.032064266037071326 Centerline is valid? [True, True] Translation: X:852.64, Y:-149.32, Z:-53.76 [[ 9.96514826e-01 6.97702295e-02 4.57199831e-02 8.52641177e+02] [-6.95768340e-02 9.97559678e-01 -5.80973814e-03 -1.49315644e+02] [-4.60137584e-02 2.60843852e-03 9.98937401e-01 -5.37568258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.1007140569999 meters 0.03243334479895752 Centerline is valid? [True, True] Translation: X:852.67, Y:-149.32, Z:-53.76 [[ 9.96418820e-01 7.17579430e-02 4.47250754e-02 8.52669170e+02] [-7.15750164e-02 9.97419046e-01 -5.68016225e-03 -1.49318624e+02] [-4.50172388e-02 2.45862256e-03 9.98983185e-01 -5.37593480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.130714057 meters 0.02991012569519697 Centerline is valid? [True, True] Translation: X:852.70, Y:-149.32, Z:-53.76 [[ 9.96112677e-01 7.67126609e-02 4.32978356e-02 8.52699714e+02] [-7.65460658e-02 9.97050904e-01 -5.49499375e-03 -1.49316575e+02] [-4.35916817e-02 2.15935397e-03 9.99047097e-01 -5.37621527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.160714057 meters 0.028699402172747333 Centerline is valid? [True, True] Translation: X:852.73, Y:-149.32, Z:-53.76 [[ 9.95972287e-01 7.89669909e-02 4.24666715e-02 8.52728810e+02] [-7.88087446e-02 9.96875181e-01 -5.39029243e-03 -1.49316405e+02] [-4.27596260e-02 2.02183681e-03 9.99083343e-01 -5.37636565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.1907140569999 meters 0.028699402172747333 Centerline is valid? [True, True] Translation: X:852.76, Y:-149.32, Z:-53.77 [[ 9.95980736e-01 7.88601830e-02 4.24669896e-02 8.52756040e+02] [-7.87019466e-02 9.96883632e-01 -5.38778511e-03 -1.49319771e+02] [-4.27595285e-02 2.02389543e-03 9.99083343e-01 -5.37652480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.2207140569999 meters 0.027756292100441338 Centerline is valid? [True, True] Translation: X:852.79, Y:-149.32, Z:-53.77 [[ 9.95498512e-01 8.47914805e-02 4.23452212e-02 8.52786021e+02] [-8.46397530e-02 9.96397167e-01 -5.36643062e-03 -1.49319699e+02] [-4.26476860e-02 1.75818463e-03 9.99088627e-01 -5.37669511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.250714057 meters 0.026641984025580677 Centerline is valid? [True, True] Translation: X:852.82, Y:-149.32, Z:-53.77 [[ 9.95223278e-01 8.77496210e-02 4.27858746e-02 8.52816267e+02] [-8.75974880e-02 9.96141200e-01 -5.42126558e-03 -1.49320466e+02] [-4.30964864e-02 1.64743457e-03 9.99069557e-01 -5.37680133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.280714057 meters 0.02620066341002738 Centerline is valid? [True, True] Translation: X:852.84, Y:-149.32, Z:-53.77 [[ 9.94930413e-01 9.04541356e-02 4.39490889e-02 8.52844749e+02] [-9.02962602e-02 9.95899382e-01 -5.56831338e-03 -1.49322976e+02] [-4.42725474e-02 1.57164597e-03 9.99018254e-01 -5.37691001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.3107140569999 meters 0.02499111331415879 Centerline is valid? [True, True] Translation: X:852.88, Y:-149.32, Z:-53.77 [[ 9.94421573e-01 9.49328923e-02 4.59726212e-02 8.52875035e+02] [-9.47650351e-02 9.95482643e-01 -5.82197096e-03 -1.49323209e+02] [-4.63176431e-02 1.43289645e-03 9.98925734e-01 -5.37691996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.3407140569999 meters 0.024373767149627766 Centerline is valid? [True, True] Translation: X:852.90, Y:-149.32, Z:-53.77 [[ 9.94235342e-01 9.63253954e-02 4.70903612e-02 8.52904265e+02] [-9.61508851e-02 9.95348913e-01 -5.96235295e-03 -1.49324669e+02] [-4.74456658e-02 1.40020212e-03 9.98872839e-01 -5.37695649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.370714057 meters 0.02368119924892409 Centerline is valid? [True, True] Translation: X:852.93, Y:-149.33, Z:-53.77 [[ 9.94105629e-01 9.72250421e-02 4.79717676e-02 8.52933136e+02] [-9.70452291e-02 9.95261470e-01 -6.06877458e-03 -1.49327054e+02] [-4.83344888e-02 1.37757179e-03 9.98830256e-01 -5.37699523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.400714057 meters 0.024751635787586785 Centerline is valid? [True, True] Translation: X:852.96, Y:-149.33, Z:-53.77 [[ 9.94151468e-01 9.67156270e-02 4.80515029e-02 8.52960034e+02] [-9.65352901e-02 9.95311083e-01 -6.06505700e-03 -1.49333460e+02] [-4.84127792e-02 1.39091954e-03 9.98826445e-01 -5.37725682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.4307140569999 meters 0.024308345006482608 Centerline is valid? [True, True] Translation: X:852.99, Y:-149.34, Z:-53.77 [[ 9.94437143e-01 9.36120061e-02 4.82862387e-02 8.52989319e+02] [-9.34264842e-02 9.95607556e-01 -6.08982174e-03 -1.49338007e+02] [-4.86442245e-02 1.54473142e-03 9.98814975e-01 -5.37743447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.4607140569999 meters 0.025469583045340142 Centerline is valid? [True, True] Translation: X:853.02, Y:-149.35, Z:-53.78 [[ 9.94733491e-01 9.06521607e-02 4.78274699e-02 8.53016699e+02] [-9.04668007e-02 9.95881213e-01 -6.03057610e-03 -1.49345421e+02] [-4.81771635e-02 1.67201783e-03 9.98837407e-01 -5.37768304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.4907140569999 meters 0.02659413749211622 Centerline is valid? [True, True] Translation: X:853.04, Y:-149.35, Z:-53.78 [[ 9.95036168e-01 8.75277918e-02 4.73488189e-02 8.53044287e+02] [-8.73427555e-02 9.96160449e-01 -5.96685659e-03 -1.49352709e+02] [-4.76892864e-02 1.80166180e-03 9.98860594e-01 -5.37795720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.520714057 meters 0.028063654610162563 Centerline is valid? [True, True] Translation: X:853.07, Y:-149.36, Z:-53.78 [[ 9.95690263e-01 8.07000776e-02 4.56989934e-02 8.53073276e+02] [-8.05207343e-02 9.96736321e-01 -5.75477392e-03 -1.49362094e+02] [-4.60142573e-02 2.05025585e-03 9.98938679e-01 -5.37828564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.5507140569999 meters 0.029044926993599958 Centerline is valid? [True, True] Translation: X:853.10, Y:-149.37, Z:-53.79 [[ 9.95986390e-01 7.74030741e-02 4.49430198e-02 8.53102226e+02] [-7.72262635e-02 9.96997528e-01 -5.65974652e-03 -1.49368471e+02] [-4.52461615e-02 2.16624901e-03 9.98973519e-01 -5.37851076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.5807140569999 meters 0.034258073709023326 Centerline is valid? [True, True] Translation: X:853.13, Y:-149.38, Z:-53.79 [[ 9.96423071e-01 7.16508105e-02 4.48020724e-02 8.53129555e+02] [-7.14693902e-02 9.97426847e-01 -5.64020132e-03 -1.49382769e+02] [-4.50909148e-02 2.41804992e-03 9.98979961e-01 -5.37883194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.6107140569999 meters 0.0320657803143323 Centerline is valid? [True, True] Translation: X:853.16, Y:-149.38, Z:-53.79 [[ 9.96608531e-01 6.90378030e-02 4.47796573e-02 8.53159368e+02] [-6.88539649e-02 9.97610825e-01 -5.63673022e-03 -1.49383752e+02] [-4.50618184e-02 2.53435647e-03 9.98980986e-01 -5.37887687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.640714057 meters 0.03260060659040057 Centerline is valid? [True, True] Translation: X:853.19, Y:-149.39, Z:-53.79 [[ 9.96895413e-01 6.47866383e-02 4.47462431e-02 8.53189020e+02] [-6.45988932e-02 9.97895425e-01 -5.63063116e-03 -1.49389899e+02] [-4.50168609e-02 2.72259260e-03 9.98982517e-01 -5.37895246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.6707140569999 meters 0.033893767195148194 Centerline is valid? [True, True] Translation: X:853.22, Y:-149.40, Z:-53.79 [[ 9.97005834e-01 6.28386702e-02 4.50629470e-02 8.53216425e+02] [-6.26462706e-02 9.98019684e-01 -5.67056848e-03 -1.49396615e+02] [-4.53300391e-02 2.83056429e-03 9.98968055e-01 -5.37910455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.7007140569999 meters 0.03632436550719658 Centerline is valid? [True, True] Translation: X:853.24, Y:-149.40, Z:-53.79 [[ 9.97130150e-01 6.08764273e-02 4.50058219e-02 8.53244536e+02] [-6.06826855e-02 9.98141061e-01 -5.65985471e-03 -1.49404003e+02] [-4.52667106e-02 2.91253763e-03 9.98970691e-01 -5.37927781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.7307140569999 meters 0.03552219268368649 Centerline is valid? [True, True] Translation: X:853.27, Y:-149.41, Z:-53.79 [[ 9.97326164e-01 5.75720561e-02 4.50108962e-02 8.53274697e+02] [-5.73750506e-02 9.98336664e-01 -5.65763594e-03 -1.49408150e+02] [-4.52617497e-02 3.06000591e-03 9.98970475e-01 -5.37935382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.760714057 meters 0.036196529593443216 Centerline is valid? [True, True] Translation: X:853.30, Y:-149.41, Z:-53.80 [[ 9.97387630e-01 5.62218929e-02 4.53543156e-02 8.53303983e+02] [-5.60205064e-02 9.98413347e-01 -5.70018835e-03 -1.49413715e+02] [-4.56028294e-02 3.14452563e-03 9.98954701e-01 -5.37952075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.790714057 meters 0.03692657594491067 Centerline is valid? [True, True] Translation: X:853.33, Y:-149.42, Z:-53.80 [[ 9.97514106e-01 5.37968274e-02 4.55138498e-02 8.53333649e+02] [-5.35915941e-02 9.98546564e-01 -5.71839508e-03 -1.49419892e+02] [-4.57553299e-02 3.26501999e-03 9.98947341e-01 -5.37964822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.8207140569999 meters 0.03951251206718663 Centerline is valid? [True, True] Translation: X:853.36, Y:-149.43, Z:-53.80 [[ 9.97575735e-01 5.26975761e-02 4.54490673e-02 8.53361394e+02] [-5.24918200e-02 9.98605031e-01 -5.70966015e-03 -1.49427593e+02] [-4.56865525e-02 3.31011417e-03 9.98950340e-01 -5.37988539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.8507140569999 meters 0.03869403998768846 Centerline is valid? [True, True] Translation: X:853.39, Y:-149.43, Z:-53.80 [[ 9.97636143e-01 5.18318784e-02 4.51174354e-02 8.53390915e+02] [-5.16283462e-02 9.98650297e-01 -5.66558332e-03 -1.49430601e+02] [-4.53501981e-02 3.32285211e-03 9.98965624e-01 -5.38004043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.880714057 meters 0.03906125316519618 Centerline is valid? [True, True] Translation: X:853.42, Y:-149.44, Z:-53.80 [[ 9.97779661e-01 4.99407877e-02 4.40643277e-02 8.53419826e+02] [-4.97448757e-02 9.98746636e-01 -5.53210568e-03 -1.49435505e+02] [-4.42853768e-02 3.32784802e-03 9.99013379e-01 -5.38022952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.910714057 meters 0.03950388328497413 Centerline is valid? [True, True] Translation: X:853.45, Y:-149.44, Z:-53.80 [[ 9.97853303e-01 4.90488347e-02 4.33935114e-02 8.53448717e+02] [-4.88581270e-02 9.98790886e-01 -5.44518171e-03 -1.49440121e+02] [-4.36081235e-02 3.31336686e-03 9.99043219e-01 -5.38041059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.9407140569999 meters 0.03860248841569141 Centerline is valid? [True, True] Translation: X:853.48, Y:-149.44, Z:-53.81 [[ 9.97946895e-01 4.77381052e-02 4.26973955e-02 8.53478051e+02] [-4.75523772e-02 9.98854388e-01 -5.35556455e-03 -1.49443169e+02] [-4.29041453e-02 3.31420636e-03 9.99073696e-01 -5.38061406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.9707140569999 meters 0.04212588031128592 Centerline is valid? [True, True] Translation: X:853.51, Y:-149.45, Z:-53.81 [[ 9.97983175e-01 4.74012863e-02 4.22220286e-02 8.53505545e+02] [-4.72194278e-02 9.98870508e-01 -5.29468690e-03 -1.49451985e+02] [-4.24253142e-02 3.29030841e-03 9.99094223e-01 -5.38091609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.000714057 meters 0.04166847902661094 Centerline is valid? [True, True] Translation: X:853.53, Y:-149.45, Z:-53.81 [[ 9.98021952e-01 4.71142684e-02 4.16224572e-02 8.53534747e+02] [-4.69373997e-02 9.98884209e-01 -5.21697845e-03 -1.49454928e+02] [-4.18218094e-02 3.25300911e-03 9.99119790e-01 -5.38111986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.030714057 meters 0.042248413560371 Centerline is valid? [True, True] Translation: X:853.56, Y:-149.46, Z:-53.81 [[ 9.97989690e-01 4.74156354e-02 4.20515935e-02 8.53564404e+02] [-4.72354281e-02 9.98869886e-01 -5.26924424e-03 -1.49458910e+02] [-4.22539150e-02 3.27232641e-03 9.99101546e-01 -5.38130824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.0607140569999 meters 0.040484769662925385 Centerline is valid? [True, True] Translation: X:853.59, Y:-149.46, Z:-53.81 [[ 9.97954472e-01 4.77710921e-02 4.24828756e-02 8.53593832e+02] [-4.75875513e-02 9.98852894e-01 -5.32176852e-03 -1.49459673e+02] [-4.26883699e-02 3.28922667e-03 9.99083022e-01 -5.38135244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.0907140569999 meters 0.03988541285665912 Centerline is valid? [True, True] Translation: X:853.62, Y:-149.46, Z:-53.81 [[ 9.97828541e-01 4.90259348e-02 4.39847674e-02 8.53623885e+02] [-4.88304711e-02 9.98791894e-01 -5.50800744e-03 -1.49461185e+02] [-4.42016644e-02 3.34825012e-03 9.99017018e-01 -5.38138660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.120714057 meters 0.03980003711113429 Centerline is valid? [True, True] Translation: X:853.65, Y:-149.46, Z:-53.81 [[ 9.97776593e-01 4.97166620e-02 4.43860710e-02 8.53653246e+02] [-4.95183172e-02 9.98757753e-01 -5.55768365e-03 -1.49463642e+02] [-4.46072420e-02 3.34740312e-03 9.98998993e-01 -5.38147375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.150714057 meters 0.03764714788822986 Centerline is valid? [True, True] Translation: X:853.68, Y:-149.46, Z:-53.81 [[ 9.97607660e-01 5.14067546e-02 4.62201520e-02 8.53683167e+02] [-5.11935476e-02 9.98671992e-01 -5.78558870e-03 -1.49462780e+02] [-4.64561896e-02 3.40557405e-03 9.98914523e-01 -5.38142093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.1807140569999 meters 0.037163533043206104 Centerline is valid? [True, True] Translation: X:853.71, Y:-149.47, Z:-53.82 [[ 9.97561432e-01 5.16315439e-02 4.69614113e-02 8.53711972e+02] [-5.14117489e-02 9.98660249e-01 -5.87700996e-03 -1.49465400e+02] [-4.72019338e-02 3.44831019e-03 9.98879415e-01 -5.38154793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.2107140569999 meters 0.03739247025139877 Centerline is valid? [True, True] Translation: X:853.74, Y:-149.47, Z:-53.82 [[ 9.97516318e-01 5.17495382e-02 4.77826415e-02 8.53740754e+02] [-5.15222874e-02 9.98653964e-01 -5.97620706e-03 -1.49469895e+02] [-4.80275903e-02 3.49949308e-03 9.98839879e-01 -5.38172799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.2407140569999 meters 0.037518399229380994 Centerline is valid? [True, True] Translation: X:853.77, Y:-149.47, Z:-53.82 [[ 9.97569251e-01 5.07890004e-02 4.77081412e-02 8.53770030e+02] [-5.05615508e-02 9.98703145e-01 -5.96305151e-03 -1.49473559e+02] [-4.79491281e-02 3.53635922e-03 9.98843519e-01 -5.38200108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.270714057 meters 0.03942944479574294 Centerline is valid? [True, True] Translation: X:853.80, Y:-149.48, Z:-53.82 [[ 9.97626758e-01 5.03222019e-02 4.69949790e-02 8.53799025e+02] [-5.01010831e-02 9.98726890e-01 -5.87201183e-03 -1.49480143e+02] [-4.72306418e-02 3.50357677e-03 9.98877866e-01 -5.38227804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.3007140569999 meters 0.03890585091980278 Centerline is valid? [True, True] Translation: X:853.83, Y:-149.48, Z:-53.83 [[ 9.97775153e-01 4.86017722e-02 4.56356375e-02 8.53828630e+02] [-4.83915206e-02 9.98812172e-01 -5.70135121e-03 -1.49482949e+02] [-4.58585260e-02 3.48028869e-03 9.98941882e-01 -5.38260385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.3307140569999 meters 0.04226071231069399 Centerline is valid? [True, True] Translation: X:853.86, Y:-149.49, Z:-53.83 [[ 9.97826077e-01 4.80049701e-02 4.51513402e-02 8.53856900e+02] [-4.77985911e-02 9.98841071e-01 -5.64003370e-03 -1.49491247e+02] [-4.53697627e-02 3.46960224e-03 9.98964237e-01 -5.38290038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.3607140569999 meters 0.040577847660121125 Centerline is valid? [True, True] Translation: X:853.89, Y:-149.49, Z:-53.83 [[ 9.97916285e-01 4.66469443e-02 4.45774606e-02 8.53886774e+02] [-4.64444618e-02 9.98905357e-01 -5.56778682e-03 -1.49491899e+02] [-4.47883844e-02 3.48580898e-03 9.98990415e-01 -5.38305929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.390714057 meters 0.04139912097941025 Centerline is valid? [True, True] Translation: X:853.92, Y:-149.50, Z:-53.83 [[ 9.97946692e-01 4.59944677e-02 4.45747478e-02 8.53916915e+02] [-4.57914564e-02 9.98935518e-01 -5.56537085e-03 -1.49497225e+02] [-4.47832750e-02 3.51280081e-03 9.98990550e-01 -5.38334222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.4207140569999 meters 0.03920971134911113 Centerline is valid? [True, True] Translation: X:853.95, Y:-149.50, Z:-53.83 [[ 9.97970989e-01 4.55284438e-02 4.45091749e-02 8.53946467e+02] [-4.53255483e-02 9.98956809e-01 -5.55765668e-03 -1.49498195e+02] [-4.47157748e-02 3.52897738e-03 9.98993516e-01 -5.38343920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.4507140569999 meters 0.04087645140554964 Centerline is valid? [True, True] Translation: X:853.98, Y:-149.50, Z:-53.84 [[ 9.97942328e-01 4.50654241e-02 4.56093940e-02 8.53975323e+02] [-4.48519734e-02 9.98977422e-01 -5.69309091e-03 -1.49503986e+02] [-4.58193164e-02 3.63570507e-03 9.98943127e-01 -5.38363750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.4807140569999 meters 0.042205315780489736 Centerline is valid? [True, True] Translation: X:854.00, Y:-149.51, Z:-53.84 [[ 9.97934336e-01 4.48840653e-02 4.59617338e-02 8.54004052e+02] [-4.46671488e-02 9.98985456e-01 -5.73622737e-03 -1.49509343e+02] [-4.61725689e-02 3.67139865e-03 9.98926731e-01 -5.38379218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.510714057 meters 0.04226818743529344 Centerline is valid? [True, True] Translation: X:854.03, Y:-149.51, Z:-53.84 [[ 9.97916745e-01 4.47474470e-02 4.64740482e-02 8.54033914e+02] [-4.45255648e-02 9.98991414e-01 -5.79912281e-03 -1.49513206e+02] [-4.66866711e-02 3.71775851e-03 9.98902664e-01 -5.38391920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.540714057 meters 0.04310991171830052 Centerline is valid? [True, True] Translation: X:854.06, Y:-149.52, Z:-53.84 [[ 9.97868102e-01 4.48332916e-02 4.74260096e-02 8.54063541e+02] [-4.46023133e-02 9.98987293e-01 -5.91791042e-03 -1.49518193e+02] [-4.76433004e-02 3.78998430e-03 9.98857223e-01 -5.38412387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.5707140569999 meters 0.042587374457054294 Centerline is valid? [True, True] Translation: X:854.09, Y:-149.52, Z:-53.84 [[ 9.97871939e-01 4.49728010e-02 4.72127185e-02 8.54094879e+02] [-4.47440700e-02 9.98981114e-01 -5.89093241e-03 -1.49520983e+02] [-4.74295458e-02 3.76590696e-03 9.98867487e-01 -5.38424171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.6007140569999 meters 0.04031759672511546 Centerline is valid? [True, True] Translation: X:854.13, Y:-149.52, Z:-53.84 [[ 9.97821288e-01 4.50186705e-02 4.82285819e-02 8.54125574e+02] [-4.47799319e-02 9.98978739e-01 -6.01977692e-03 -1.49521516e+02] [-4.84503303e-02 3.84698895e-03 9.98818185e-01 -5.38432986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.630714057 meters 0.04106530547830931 Centerline is valid? [True, True] Translation: X:854.16, Y:-149.53, Z:-53.85 [[ 9.97800731e-01 4.50628996e-02 4.86110743e-02 8.54156100e+02] [-4.48204228e-02 9.98976636e-01 -6.06720148e-03 -1.49526678e+02] [-4.88347332e-02 3.87508917e-03 9.98799356e-01 -5.38451391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.660714057 meters 0.041592188351603054 Centerline is valid? [True, True] Translation: X:854.19, Y:-149.53, Z:-53.85 [[ 9.97779736e-01 4.47926835e-02 4.92870670e-02 8.54186755e+02] [-4.45429915e-02 9.98988517e-01 -6.15338251e-03 -1.49531943e+02] [-4.95128405e-02 3.94432696e-03 9.98765699e-01 -5.38471735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.6907140569999 meters 0.04229443668601795 Centerline is valid? [True, True] Translation: X:854.22, Y:-149.54, Z:-53.85 [[ 9.97773535e-01 4.45671613e-02 4.96159441e-02 8.54217704e+02] [-4.43137554e-02 9.98998447e-01 -6.19624421e-03 -1.49537908e+02] [-4.98424001e-02 3.98377967e-03 9.98749150e-01 -5.38493904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.7207140569999 meters 0.04789378817392956 Centerline is valid? [True, True] Translation: X:854.25, Y:-149.55, Z:-53.85 [[ 9.97811047e-01 4.42492258e-02 4.91438856e-02 8.54247591e+02] [-4.40001952e-02 9.99012665e-01 -6.13822340e-03 -1.49549944e+02] [-4.93669758e-02 3.96244656e-03 9.98772847e-01 -5.38527797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.750714057 meters 0.042659479564615035 Centerline is valid? [True, True] Translation: X:854.28, Y:-149.55, Z:-53.86 [[ 9.97855336e-01 4.41406028e-02 4.83356590e-02 8.54280177e+02] [-4.38993228e-02 9.99017686e-01 -6.04252269e-03 -1.49548127e+02] [-4.85548988e-02 3.90766081e-03 9.98812871e-01 -5.38557330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.780714057 meters 0.043798841102602 Centerline is valid? [True, True] Translation: X:854.31, Y:-149.55, Z:-53.86 [[ 9.97885339e-01 4.41551575e-02 4.76987772e-02 8.54310897e+02] [-4.39195991e-02 9.99017196e-01 -5.97578554e-03 -1.49553985e+02] [-4.79157605e-02 3.86823760e-03 9.98843890e-01 -5.38587417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.8107140569999 meters 0.042351666350903816 Centerline is valid? [True, True] Translation: X:854.34, Y:-149.56, Z:-53.86 [[ 9.97900173e-01 4.49817379e-02 4.66035221e-02 8.54341950e+02] [-4.47574365e-02 9.98980779e-01 -5.84586835e-03 -1.49556093e+02] [-4.68189802e-02 3.74773886e-03 9.98896360e-01 -5.38607813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.8407140569999 meters 0.04162631486168127 Centerline is valid? [True, True] Translation: X:854.37, Y:-149.56, Z:-53.86 [[ 9.97894113e-01 4.52168326e-02 4.65056705e-02 8.54373439e+02] [-4.49936485e-02 9.98970230e-01 -5.83526204e-03 -1.49558939e+02] [-4.67216325e-02 3.73051384e-03 9.98900982e-01 -5.38623059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.870714057 meters 0.041861924885162924 Centerline is valid? [True, True] Translation: X:854.40, Y:-149.56, Z:-53.86 [[ 9.97882834e-01 4.57524754e-02 4.62229460e-02 8.54404497e+02] [-4.55324925e-02 9.98946012e-01 -5.80145138e-03 -1.49563005e+02] [-4.64396583e-02 3.68452280e-03 9.98914302e-01 -5.38639989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.900714057 meters 0.040258552419910054 Centerline is valid? [True, True] Translation: X:854.44, Y:-149.57, Z:-53.87 [[ 9.97779048e-01 4.69621462e-02 4.72390462e-02 8.54435118e+02] [-4.67336220e-02 9.98889779e-01 -5.93108865e-03 -1.49565154e+02] [-4.74651370e-02 3.71026426e-03 9.98866004e-01 -5.38655531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.9307140569999 meters 0.040856637591782465 Centerline is valid? [True, True] Translation: X:854.47, Y:-149.57, Z:-53.87 [[ 9.97734495e-01 4.75043539e-02 4.76362711e-02 8.54465604e+02] [-4.72725887e-02 9.98864121e-01 -5.98078600e-03 -1.49570266e+02] [-4.78662755e-02 3.71534665e-03 9.98846843e-01 -5.38675097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.9607140569999 meters 0.03979642575240289 Centerline is valid? [True, True] Translation: X:854.50, Y:-149.57, Z:-53.87 [[ 9.97653057e-01 4.89275380e-02 4.79006734e-02 8.54495810e+02] [-4.86947695e-02 9.98795594e-01 -6.01502420e-03 -1.49572572e+02] [-4.81372818e-02 3.66839503e-03 9.98833993e-01 -5.38691447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.9907140569999 meters 0.0397824548739073 Centerline is valid? [True, True] Translation: X:854.52, Y:-149.58, Z:-53.87 [[ 9.97620355e-01 4.93901162e-02 4.81065924e-02 8.54524909e+02] [-4.91558582e-02 9.98772850e-01 -6.04121737e-03 -1.49575711e+02] [-4.83459348e-02 3.66212058e-03 9.98823938e-01 -5.38709176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.020714057 meters 0.04029945186611305 Centerline is valid? [True, True] Translation: X:854.55, Y:-149.58, Z:-53.87 [[ 9.97620705e-01 4.95319916e-02 4.79532256e-02 8.54553728e+02] [-4.92994727e-02 9.98765898e-01 -6.02022994e-03 -1.49579940e+02] [-4.81922404e-02 3.64183730e-03 9.98831440e-01 -5.38728029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.0507140569999 meters 0.04041846814166416 Centerline is valid? [True, True] Translation: X:854.58, Y:-149.58, Z:-53.87 [[ 9.97630344e-01 4.94514507e-02 4.78356731e-02 8.54582623e+02] [-4.92200619e-02 9.98769914e-01 -6.00375912e-03 -1.49583814e+02] [-4.80737257e-02 3.63505748e-03 9.98837176e-01 -5.38748579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.0807140569999 meters 0.04387872983879743 Centerline is valid? [True, True] Translation: X:854.61, Y:-149.59, Z:-53.88 [[ 9.97697940e-01 4.76696243e-02 4.82330531e-02 8.54611158e+02] [-4.74324028e-02 9.98856119e-01 -6.05156232e-03 -1.49593422e+02] [-4.84663559e-02 3.74982165e-03 9.98817777e-01 -5.38773633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.1107140569999 meters 0.04387872983879743 Centerline is valid? [True, True] Translation: X:854.64, Y:-149.60, Z:-53.88 [[ 9.97697940e-01 4.76696243e-02 4.82330531e-02 8.54640964e+02] [-4.74324028e-02 9.98856119e-01 -6.05156232e-03 -1.49597162e+02] [-4.84663559e-02 3.74982165e-03 9.98817777e-01 -5.38791038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.140714057 meters 0.040065056352185706 Centerline is valid? [True, True] Translation: X:854.67, Y:-149.60, Z:-53.88 [[ 9.97741383e-01 4.66994240e-02 4.82835096e-02 8.54671623e+02] [-4.64605770e-02 9.98901755e-01 -6.05789285e-03 -1.49596218e+02] [-4.85133826e-02 3.80093067e-03 9.98815301e-01 -5.38801902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.1707140569999 meters 0.04602638596827348 Centerline is valid? [True, True] Translation: X:854.70, Y:-149.61, Z:-53.88 [[ 9.97853647e-01 4.44271931e-02 4.81074109e-02 8.54700295e+02] [-4.41874972e-02 9.99005026e-01 -6.03511876e-03 -1.49609623e+02] [-4.83276687e-02 3.89641918e-03 9.98823936e-01 -5.38830783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.2007140569999 meters 0.04759015325153791 Centerline is valid? [True, True] Translation: X:854.73, Y:-149.62, Z:-53.89 [[ 9.97884659e-01 4.35002679e-02 4.83108143e-02 8.54730884e+02] [-4.32573540e-02 9.99045566e-01 -6.06282103e-03 -1.49616301e+02] [-4.85284392e-02 3.96019810e-03 9.98813950e-01 -5.38851993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.2307140569999 meters 0.048564911049785366 Centerline is valid? [True, True] Translation: X:854.76, Y:-149.62, Z:-53.89 [[ 9.97891987e-01 4.29107335e-02 4.86852214e-02 8.54762384e+02] [-4.26628068e-02 9.99070779e-01 -6.12068527e-03 -1.49622860e+02] [-4.89026251e-02 4.03073459e-03 9.98795418e-01 -5.38872588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.260714057 meters 0.050696290944805766 Centerline is valid? [True, True] Translation: X:854.79, Y:-149.63, Z:-53.89 [[ 9.97964844e-01 4.15021371e-02 4.84122113e-02 8.54791720e+02] [-4.12546818e-02 9.99130043e-01 -6.09990582e-03 -1.49630684e+02] [-4.86232539e-02 4.09026119e-03 9.98808815e-01 -5.38893336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.290714057 meters 0.04687729855320931 Centerline is valid? [True, True] Translation: X:854.82, Y:-149.63, Z:-53.89 [[ 9.97963948e-01 4.13957723e-02 4.85216324e-02 8.54824638e+02] [-4.11471296e-02 9.99134401e-01 -6.11249697e-03 -1.49630841e+02] [-4.87326637e-02 4.10352571e-03 9.98803428e-01 -5.38910733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.3207140569999 meters 0.05272229461639566 Centerline is valid? [True, True] Translation: X:854.85, Y:-149.64, Z:-53.89 [[ 9.98005618e-01 4.05712468e-02 4.83607418e-02 8.54854173e+02] [-4.03227087e-02 9.99168063e-01 -6.10421281e-03 -1.49643964e+02] [-4.85681642e-02 4.14200257e-03 9.98811282e-01 -5.38932322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.3507140569999 meters 0.048690526732159116 Centerline is valid? [True, True] Translation: X:854.89, Y:-149.64, Z:-53.89 [[ 9.97993532e-01 4.05053100e-02 4.86644567e-02 8.54886305e+02] [-4.02530163e-02 9.99170570e-01 -6.15364238e-03 -1.49643218e+02] [-4.88733481e-02 4.18240412e-03 9.98796227e-01 -5.38937851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.380714057 meters 0.04693805517928832 Centerline is valid? [True, True] Translation: X:854.92, Y:-149.65, Z:-53.89 [[ 9.97979886e-01 4.02351784e-02 4.91658213e-02 8.54918862e+02] [-3.99767814e-02 9.99181199e-01 -6.22810982e-03 -1.49645747e+02] [-4.93761534e-02 4.25003703e-03 9.98771211e-01 -5.38949224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.410714057 meters 0.050130918651504826 Centerline is valid? [True, True] Translation: X:854.95, Y:-149.66, Z:-53.90 [[ 9.97988945e-01 4.01472921e-02 4.90536474e-02 8.54949473e+02] [-3.98893636e-02 9.99184704e-01 -6.22616890e-03 -1.49655998e+02] [-4.92636180e-02 4.25692896e-03 9.98776739e-01 -5.38968613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.4407140569999 meters 0.04936304716713604 Centerline is valid? [True, True] Translation: X:854.98, Y:-149.66, Z:-53.90 [[ 9.98015950e-01 4.05883503e-02 4.81326272e-02 8.54981876e+02] [-4.03400394e-02 9.99167270e-01 -6.11951748e-03 -1.49660110e+02] [-4.83409268e-02 4.16570397e-03 9.98822207e-01 -5.38994675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.4707140569999 meters 0.051707296257692985 Centerline is valid? [True, True] Translation: X:855.01, Y:-149.67, Z:-53.90 [[ 9.98112002e-01 4.08307780e-02 4.58833225e-02 8.55012528e+02] [-4.06047760e-02 9.99158177e-01 -5.84725421e-03 -1.49668503e+02] [-4.60834447e-02 3.97313257e-03 9.98929692e-01 -5.39039523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.500714057 meters 0.05052020914685771 Centerline is valid? [True, True] Translation: X:855.04, Y:-149.67, Z:-53.91 [[ 9.98119630e-01 4.15356877e-02 4.50776091e-02 8.55044447e+02] [-4.13180658e-02 9.99129503e-01 -5.74916070e-03 -1.49671657e+02] [-4.52771645e-02 3.87583053e-03 9.98966945e-01 -5.39065318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.530714057 meters 0.04317550452602192 Centerline is valid? [True, True] Translation: X:855.08, Y:-149.67, Z:-53.91 [[ 9.98091748e-01 4.25442399e-02 4.47532235e-02 8.55077619e+02] [-4.23302778e-02 9.99087308e-01 -5.71822944e-03 -1.49665874e+02] [-4.49556553e-02 3.81290123e-03 9.98981707e-01 -5.39073028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.5607140569999 meters 0.03964803653070389 Centerline is valid? [True, True] Translation: X:855.11, Y:-149.66, Z:-53.91 [[ 9.97996791e-01 4.52446255e-02 4.42190971e-02 8.55108852e+02] [-4.50377495e-02 9.98969229e-01 -5.66404931e-03 -1.49664937e+02] [-4.44297851e-02 3.66117442e-03 9.99005801e-01 -5.39078338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.5907140569999 meters 0.0448398443942145 Centerline is valid? [True, True] Translation: X:855.14, Y:-149.68, Z:-53.91 [[ 9.97780775e-01 4.88364399e-02 4.52606541e-02 8.55137052e+02] [-4.86232815e-02 9.98800353e-01 -5.79925123e-03 -1.49675211e+02] [-4.54895721e-02 3.58565986e-03 9.98958378e-01 -5.39098732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.620714057 meters 0.039555396523769666 Centerline is valid? [True, True] Translation: X:855.17, Y:-149.67, Z:-53.91 [[ 9.97672335e-01 5.07493712e-02 4.55457237e-02 8.55167856e+02] [-5.05355248e-02 9.98705218e-01 -5.83516445e-03 -1.49671248e+02] [-4.57828828e-02 3.51990510e-03 9.98945213e-01 -5.39098958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.650714057 meters 0.03768681661088362 Centerline is valid? [True, True] Translation: X:855.20, Y:-149.67, Z:-53.91 [[ 9.97531149e-01 5.28808898e-02 4.62084140e-02 8.55197809e+02] [-5.26631256e-02 9.98594797e-01 -5.91825548e-03 -1.49671986e+02] [-4.64564444e-02 3.47016468e-03 9.98914289e-01 -5.39108603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.6807140569999 meters 0.03781441228778397 Centerline is valid? [True, True] Translation: X:855.23, Y:-149.68, Z:-53.91 [[ 9.97279748e-01 5.63413613e-02 4.75263625e-02 8.55227079e+02] [-5.61149325e-02 9.98405766e-01 -6.08618592e-03 -1.49675447e+02] [-4.77934984e-02 3.40269133e-03 9.98851442e-01 -5.39121207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.7107140569999 meters 0.03522725401733247 Centerline is valid? [True, True] Translation: X:855.26, Y:-149.68, Z:-53.91 [[ 9.97178841e-01 5.76180527e-02 4.81094477e-02 8.55256601e+02] [-5.73875508e-02 9.98332973e-01 -6.15992162e-03 -1.49675435e+02] [-4.83841706e-02 3.38166013e-03 9.98823076e-01 -5.39132854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.7407140569999 meters 0.03799300991776731 Centerline is valid? [True, True] Translation: X:855.28, Y:-149.68, Z:-53.92 [[ 9.97135681e-01 5.85376992e-02 4.78933406e-02 8.55284412e+02] [-5.83103970e-02 9.98279677e-01 -6.13066599e-03 -1.49683030e+02] [-4.81698237e-02 3.32042610e-03 9.98833641e-01 -5.39158886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.770714057 meters 0.03823070811776387 Centerline is valid? [True, True] Translation: X:855.31, Y:-149.69, Z:-53.92 [[ 9.97156533e-01 5.83456364e-02 4.76931458e-02 8.55313127e+02] [-5.81201311e-02 9.98290944e-01 -6.10259555e-03 -1.49687947e+02] [-4.79676953e-02 3.31331113e-03 9.98843392e-01 -5.39181060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.8007140569999 meters 0.03580461299082201 Centerline is valid? [True, True] Translation: X:855.34, Y:-149.69, Z:-53.92 [[ 9.97234214e-01 5.76000453e-02 4.69697488e-02 8.55342117e+02] [-5.73806669e-02 9.98334302e-01 -6.00677533e-03 -1.49688675e+02] [-4.72375019e-02 3.29500636e-03 9.98878252e-01 -5.39198998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.8307140569999 meters 0.03980439019631194 Centerline is valid? [True, True] Translation: X:855.37, Y:-149.70, Z:-53.92 [[ 9.97448864e-01 5.48281130e-02 4.57126062e-02 8.55369532e+02] [-5.46176260e-02 9.98490254e-01 -5.84187846e-03 -1.49699897e+02] [-4.59638909e-02 3.33026101e-03 9.98937551e-01 -5.39233942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.8607140569999 meters 0.040326293589195074 Centerline is valid? [True, True] Translation: X:855.40, Y:-149.71, Z:-53.93 [[ 9.97628251e-01 5.18048692e-02 4.53224927e-02 8.55398708e+02] [-5.15948445e-02 9.98651301e-01 -5.79238903e-03 -1.49706983e+02] [-4.55614402e-02 3.44024398e-03 9.98955615e-01 -5.39257360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.890714057 meters 0.04149916126291675 Centerline is valid? [True, True] Translation: X:855.43, Y:-149.71, Z:-53.93 [[ 9.97727887e-01 5.02247863e-02 4.49058351e-02 8.55428498e+02] [-5.00170646e-02 9.98731880e-01 -5.73812011e-03 -1.49713284e+02] [-4.51370850e-02 3.47902440e-03 9.98974744e-01 -5.39275596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.9207140569999 meters 0.04306082243749526 Centerline is valid? [True, True] Translation: X:855.46, Y:-149.72, Z:-53.93 [[ 9.97749721e-01 4.92126283e-02 4.55369261e-02 8.55456688e+02] [-4.89979550e-02 9.98781927e-01 -5.81918405e-03 -1.49720308e+02] [-4.57678361e-02 3.57487301e-03 9.98945707e-01 -5.39296247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.9507140569999 meters 0.04325079485352322 Centerline is valid? [True, True] Translation: X:855.49, Y:-149.72, Z:-53.93 [[ 9.97805482e-01 4.81561819e-02 4.54445066e-02 8.55486317e+02] [-4.79413753e-02 9.98833280e-01 -5.80554217e-03 -1.49724983e+02] [-4.56710583e-02 3.61412966e-03 9.98949995e-01 -5.39312262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.9807140569999 meters 0.04445707954999735 Centerline is valid? [True, True] Translation: X:855.52, Y:-149.73, Z:-53.93 [[ 9.97816312e-01 4.76624314e-02 4.57263568e-02 8.55516299e+02] [-4.74444913e-02 9.98856802e-01 -5.84031874e-03 -1.49732175e+02] [-4.59524463e-02 3.65810157e-03 9.98936930e-01 -5.39325802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.010714057 meters 0.04612137126292357 Centerline is valid? [True, True] Translation: X:855.55, Y:-149.74, Z:-53.93 [[ 9.97767196e-01 4.82583784e-02 4.61708926e-02 8.55546089e+02] [-4.80368125e-02 9.98828158e-01 -5.89703942e-03 -1.49738991e+02] [-4.64013692e-02 3.66596998e-03 9.98916149e-01 -5.39340785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.040714057 meters 0.046766848941449085 Centerline is valid? [True, True] Translation: X:855.58, Y:-149.74, Z:-53.94 [[ 9.97734081e-01 4.87421023e-02 4.63779168e-02 8.55575501e+02] [-4.85188132e-02 9.98804673e-01 -5.92881361e-03 -1.49744391e+02] [-4.66114628e-02 3.66517792e-03 9.98906371e-01 -5.39358033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.0707140569999 meters 0.04711227670384398 Centerline is valid? [True, True] Translation: X:855.61, Y:-149.75, Z:-53.94 [[ 9.97702037e-01 4.91468715e-02 4.66393730e-02 8.55606079e+02] [-4.89214653e-02 9.98784829e-01 -5.96286133e-03 -1.49749004e+02] [-4.68757542e-02 3.66749243e-03 9.98893995e-01 -5.39374997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.1007140569999 meters 0.04630206165368408 Centerline is valid? [True, True] Translation: X:855.64, Y:-149.75, Z:-53.94 [[ 9.97642773e-01 5.02764373e-02 4.67030719e-02 8.55637232e+02] [-5.00515692e-02 9.98728776e-01 -5.97259229e-03 -1.49753095e+02] [-4.69439825e-02 3.62095150e-03 9.98890961e-01 -5.39387132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.130714057 meters 0.04046176174953395 Centerline is valid? [True, True] Translation: X:855.67, Y:-149.75, Z:-53.94 [[ 9.97614063e-01 5.05875637e-02 4.69795782e-02 8.55668711e+02] [-5.03602716e-02 9.98713034e-01 -6.00993194e-03 -1.49749081e+02] [-4.72231448e-02 3.62968830e-03 9.98877770e-01 -5.39390541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.160714057 meters 0.039451919102790486 Centerline is valid? [True, True] Translation: X:855.70, Y:-149.75, Z:-53.94 [[ 9.97559673e-01 5.10108877e-02 4.76716649e-02 8.55698639e+02] [-5.07773145e-02 9.98691379e-01 -6.09864461e-03 -1.49752409e+02] [-4.79203781e-02 3.66312280e-03 9.98844442e-01 -5.39404231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.1907140569999 meters 0.04351684484779157 Centerline is valid? [True, True] Translation: X:855.73, Y:-149.76, Z:-53.94 [[ 9.97550497e-01 5.13998623e-02 4.74453466e-02 8.55727631e+02] [-5.11689991e-02 9.98671571e-01 -6.06847335e-03 -1.49762226e+02] [-4.76942375e-02 3.62587771e-03 9.98855401e-01 -5.39430852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.2207140569999 meters 0.038648945703840594 Centerline is valid? [True, True] Translation: X:855.76, Y:-149.76, Z:-53.94 [[ 9.97585429e-01 5.16885169e-02 4.63854495e-02 8.55758398e+02] [-5.14681161e-02 9.98657008e-01 -5.93412407e-03 -1.49759146e+02] [-4.66298803e-02 3.53242400e-03 9.98905990e-01 -5.39445290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.250714057 meters 0.04052758979936649 Centerline is valid? [True, True] Translation: X:855.79, Y:-149.77, Z:-53.95 [[ 9.97565320e-01 5.19449824e-02 4.65311783e-02 8.55787509e+02] [-5.17235105e-02 9.98643707e-01 -5.95191317e-03 -1.49765572e+02] [-4.67772404e-02 3.53066628e-03 9.98899106e-01 -5.39467487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.280714057 meters 0.04091935466976432 Centerline is valid? [True, True] Translation: X:855.82, Y:-149.77, Z:-53.95 [[ 9.97555663e-01 5.21497705e-02 4.65091541e-02 8.55817165e+02] [-5.19287601e-02 9.98633076e-01 -5.94844401e-03 -1.49770172e+02] [-4.67557896e-02 3.51874130e-03 9.98900153e-01 -5.39482977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.3107140569999 meters 0.04035828711291724 Centerline is valid? [True, True] Translation: X:855.85, Y:-149.77, Z:-53.95 [[ 9.97519380e-01 5.22169160e-02 4.72067893e-02 8.55846136e+02] [-5.19893750e-02 9.98629397e-01 -6.03595831e-03 -1.49773412e+02] [-4.74572667e-02 3.56673392e-03 9.98866901e-01 -5.39497124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.3407140569999 meters 0.04082422242448605 Centerline is valid? [True, True] Translation: X:855.88, Y:-149.78, Z:-53.95 [[ 9.97501152e-01 5.21573997e-02 4.76556226e-02 8.55875409e+02] [-5.19255226e-02 9.98632381e-01 -6.09161330e-03 -1.49778088e+02] [-4.79081705e-02 3.60184817e-03 9.98845250e-01 -5.39512703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.370714057 meters 0.0447375917359419 Centerline is valid? [True, True] Translation: X:855.90, Y:-149.79, Z:-53.95 [[ 9.97514168e-01 5.16902176e-02 4.78916131e-02 8.55904098e+02] [-5.14555921e-02 9.98656532e-01 -6.11988743e-03 -1.49787716e+02] [-4.81436106e-02 3.64038311e-03 9.98833790e-01 -5.39538700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.400714057 meters 0.04373225742197021 Centerline is valid? [True, True] Translation: X:855.93, Y:-149.79, Z:-53.96 [[ 9.97536964e-01 5.14776484e-02 4.76451280e-02 8.55934732e+02] [-5.12452499e-02 9.98667547e-01 -6.08720967e-03 -1.49790889e+02] [-4.78949983e-02 3.63063016e-03 9.98845778e-01 -5.39555585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.4307140569999 meters 0.037815498897435025 Centerline is valid? [True, True] Translation: X:855.97, Y:-149.79, Z:-53.96 [[ 9.97562312e-01 5.10075884e-02 4.76199583e-02 8.55965520e+02] [-5.07748471e-02 9.98691587e-01 -6.08517050e-03 -1.49786440e+02] [-4.78680416e-02 3.65244065e-03 9.98846990e-01 -5.39567495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.4607140569999 meters 0.039588025778373004 Centerline is valid? [True, True] Translation: X:856.00, Y:-149.79, Z:-53.96 [[ 9.97536768e-01 5.13419535e-02 4.77954100e-02 8.55995572e+02] [-5.11079678e-02 9.98674470e-01 -6.10563292e-03 -1.49793064e+02] [-4.80455309e-02 3.64786705e-03 9.98838485e-01 -5.39589332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.4907140569999 meters 0.03919339705261458 Centerline is valid? [True, True] Translation: X:856.03, Y:-149.80, Z:-53.96 [[ 9.97493152e-01 5.19072857e-02 4.80941292e-02 8.56026427e+02] [-5.16707638e-02 9.98645243e-01 -6.14900131e-03 -1.49795671e+02] [-4.83481514e-02 3.64852630e-03 9.98823881e-01 -5.39607760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.520714057 meters 0.03880023913732121 Centerline is valid? [True, True] Translation: X:856.06, Y:-149.80, Z:-53.96 [[ 9.97444918e-01 5.25714849e-02 4.83722427e-02 8.56056408e+02] [-5.23329418e-02 9.98610535e-01 -6.18560939e-03 -1.49798864e+02] [-4.86302178e-02 3.63834289e-03 9.98810224e-01 -5.39624926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.5507140569999 meters 0.03926313084505735 Centerline is valid? [True, True] Translation: X:856.09, Y:-149.80, Z:-53.96 [[ 9.97414060e-01 5.35206416e-02 4.79659758e-02 8.56085651e+02] [-5.32871752e-02 9.98560390e-01 -6.13382824e-03 -1.49802896e+02] [-4.82252099e-02 3.56199517e-03 9.98830136e-01 -5.39646134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.5807140569999 meters 0.04079962890708558 Centerline is valid? [True, True] Translation: X:856.11, Y:-149.81, Z:-53.97 [[ 9.97399883e-01 5.38967027e-02 4.78395212e-02 8.56114605e+02] [-5.36649385e-02 9.98540264e-01 -6.11679209e-03 -1.49808332e+02] [-4.80993630e-02 3.53358276e-03 9.98836305e-01 -5.39670654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.6107140569999 meters 0.0403182395342764 Centerline is valid? [True, True] Translation: X:856.14, Y:-149.81, Z:-53.97 [[ 9.97389497e-01 5.40424550e-02 4.78915960e-02 8.56144976e+02] [-5.38104020e-02 9.98532401e-01 -6.12242270e-03 -1.49811683e+02] [-4.81521811e-02 3.52937406e-03 9.98833775e-01 -5.39688009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.640714057 meters 0.04129403568527855 Centerline is valid? [True, True] Translation: X:856.18, Y:-149.82, Z:-53.97 [[ 9.97448880e-01 5.36365961e-02 4.71046451e-02 8.56175358e+02] [-5.34116641e-02 9.98554421e-01 -6.02181955e-03 -1.49816854e+02] [-4.73595415e-02 3.49051968e-03 9.98871809e-01 -5.39715880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.6707140569999 meters 0.04201803881334714 Centerline is valid? [True, True] Translation: X:856.21, Y:-149.82, Z:-53.97 [[ 9.97490084e-01 5.32927915e-02 4.66198507e-02 8.56205811e+02] [-5.30720967e-02 9.98572898e-01 -5.95984382e-03 -1.49821821e+02] [-4.68709361e-02 3.47067189e-03 9.98894924e-01 -5.39743622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.7007140569999 meters 0.04221635300850834 Centerline is valid? [True, True] Translation: X:856.24, Y:-149.83, Z:-53.98 [[ 9.97553226e-01 5.22113522e-02 4.64923264e-02 8.56235797e+02] [-5.19906969e-02 9.98629882e-01 -5.94354122e-03 -1.49826357e+02] [-4.67389468e-02 3.51183027e-03 9.98900965e-01 -5.39767841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.7307140569999 meters 0.04447403185755133 Centerline is valid? [True, True] Translation: X:856.27, Y:-149.83, Z:-53.98 [[ 9.97589516e-01 5.16961997e-02 4.62888854e-02 8.56265032e+02] [-5.14769220e-02 9.98656652e-01 -5.91753349e-03 -1.49833031e+02] [-4.65326174e-02 3.52046002e-03 9.98910568e-01 -5.39787908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.760714057 meters 0.04602117701822448 Centerline is valid? [True, True] Translation: X:856.29, Y:-149.84, Z:-53.98 [[ 9.97584645e-01 5.12584468e-02 4.68769368e-02 8.56294041e+02] [-5.10330682e-02 9.98678983e-01 -5.99288925e-03 -1.49838815e+02] [-4.71221978e-02 3.58614039e-03 9.98882695e-01 -5.39803039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.790714057 meters 0.046325829399311964 Centerline is valid? [True, True] Translation: X:856.32, Y:-149.84, Z:-53.98 [[ 9.97573386e-01 5.10827523e-02 4.73063538e-02 8.56324062e+02] [-5.08530725e-02 9.98687840e-01 -6.04679567e-03 -1.49842716e+02] [-4.75531672e-02 3.62644900e-03 9.98862125e-01 -5.39813730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.8207140569999 meters 0.04011037193947287 Centerline is valid? [True, True] Translation: X:856.36, Y:-149.84, Z:-53.98 [[ 9.97507546e-01 5.18628066e-02 4.78429211e-02 8.56355248e+02] [-5.16287731e-02 9.98647622e-01 -6.11538081e-03 -1.49837469e+02] [-4.80953802e-02 3.63006719e-03 9.98836151e-01 -5.39816574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.8507140569999 meters 0.03863386524115304 Centerline is valid? [True, True] Translation: X:856.39, Y:-149.84, Z:-53.98 [[ 9.97481633e-01 5.23838605e-02 4.78155066e-02 8.56385388e+02] [-5.21506903e-02 9.98620524e-01 -6.11187664e-03 -1.49838712e+02] [-4.80697099e-02 3.60287301e-03 9.98837485e-01 -5.39829985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.880714057 meters 0.041186653148658284 Centerline is valid? [True, True] Translation: X:856.41, Y:-149.85, Z:-53.99 [[ 9.97415026e-01 5.34785638e-02 4.79927945e-02 8.56414208e+02] [-5.32449107e-02 9.98562639e-01 -6.13470832e-03 -1.49846041e+02] [-4.82518870e-02 3.56347820e-03 9.98828843e-01 -5.39852092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.910714057 meters 0.03667909215993567 Centerline is valid? [True, True] Translation: X:856.45, Y:-149.84, Z:-53.99 [[ 9.97344779e-01 5.54350168e-02 4.72265887e-02 8.56445560e+02] [-5.52110009e-02 9.98456466e-01 -6.03574224e-03 -1.49842259e+02] [-4.74882844e-02 3.41228878e-03 9.98865967e-01 -5.39865455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.9407140569999 meters 0.03795385859465033 Centerline is valid? [True, True] Translation: X:856.47, Y:-149.85, Z:-53.99 [[ 9.97300809e-01 5.64958604e-02 4.68968528e-02 8.56474111e+02] [-5.62761039e-02 9.98397251e-01 -5.99417275e-03 -1.49846874e+02] [-4.71603348e-02 3.33882117e-03 9.98881752e-01 -5.39884457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.9707140569999 meters 0.035880027687033675 Centerline is valid? [True, True] Translation: X:856.50, Y:-149.85, Z:-53.99 [[ 9.97131635e-01 5.93295554e-02 4.69947492e-02 8.56504762e+02] [-5.91121421e-02 9.98233293e-01 -6.00387541e-03 -1.49845931e+02] [-4.72679305e-02 3.20869381e-03 9.98877093e-01 -5.39894389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.000714057 meters 0.035880027687033675 Centerline is valid? [True, True] Translation: X:856.53, Y:-149.85, Z:-53.99 [[ 9.97135856e-01 5.92584674e-02 4.69948833e-02 8.56532864e+02] [-5.90410248e-02 9.98237509e-01 -6.00282507e-03 -1.49849460e+02] [-4.72677735e-02 3.21100604e-03 9.98877093e-01 -5.39910806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.030714057 meters 0.036982756576473506 Centerline is valid? [True, True] Translation: X:856.56, Y:-149.85, Z:-53.99 [[ 9.97070784e-01 6.04281489e-02 4.68859380e-02 8.56561326e+02] [-6.02131700e-02 9.98167596e-01 -5.98532456e-03 -1.49853096e+02] [-4.71617061e-02 3.14464129e-03 9.98882318e-01 -5.39925821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.0607140569999 meters 0.03544488045600549 Centerline is valid? [True, True] Translation: X:856.59, Y:-149.85, Z:-53.99 [[ 9.96945732e-01 6.21813223e-02 4.72513523e-02 8.56591719e+02] [-6.19650596e-02 9.98060108e-01 -6.02936111e-03 -1.49854124e+02] [-4.75346034e-02 3.08301296e-03 9.98864834e-01 -5.39942383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.0907140569999 meters 0.03281512832928905 Centerline is valid? [True, True] Translation: X:856.62, Y:-149.85, Z:-54.00 [[ 9.96726410e-01 6.57499644e-02 4.70468508e-02 8.56621892e+02] [-6.55396461e-02 9.97831923e-01 -6.00076827e-03 -1.49851408e+02] [-4.73393999e-02 2.89769026e-03 9.98874659e-01 -5.39956870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.120714057 meters 0.032510776693852834 Centerline is valid? [True, True] Translation: X:856.65, Y:-149.85, Z:-54.00 [[ 9.96619364e-01 6.76279205e-02 4.66509214e-02 8.56651237e+02] [-6.74232486e-02 9.97706729e-01 -5.94878502e-03 -1.49852925e+02] [-4.69462422e-02 2.78331767e-03 9.98893540e-01 -5.39977766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.150714057 meters 0.031411063087321195 Centerline is valid? [True, True] Translation: X:856.68, Y:-149.85, Z:-54.00 [[ 9.96374385e-01 7.12941155e-02 4.64244979e-02 8.56681173e+02] [-7.10955175e-02 9.97451961e-01 -5.91719583e-03 -1.49852292e+02] [-4.67280677e-02 2.59516865e-03 9.98904276e-01 -5.39988301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.1807140569999 meters 0.03169479411652522 Centerline is valid? [True, True] Translation: X:856.71, Y:-149.85, Z:-54.00 [[ 9.96251441e-01 7.28729489e-02 4.66111614e-02 8.56709422e+02] [-7.26745327e-02 9.97338023e-01 -5.93967119e-03 -1.49854884e+02] [-4.69199250e-02 2.52996160e-03 9.98895450e-01 -5.40004191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.2107140569999 meters 0.030436960244089425 Centerline is valid? [True, True] Translation: X:856.74, Y:-149.86, Z:-54.00 [[ 9.96139872e-01 7.41269495e-02 4.70164963e-02 8.56738329e+02] [-7.39266176e-02 9.97245707e-01 -5.98791489e-03 -1.49855884e+02] [-4.73308650e-02 2.48903023e-03 9.98876166e-01 -5.40013690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.2407140569999 meters 0.02986954197352712 Centerline is valid? [True, True] Translation: X:856.77, Y:-149.86, Z:-54.00 [[ 9.96025318e-01 7.51281304e-02 4.78469481e-02 8.56766968e+02] [-7.49219746e-02 9.97170802e-01 -6.09013601e-03 -1.49856969e+02] [-4.81691201e-02 2.48114182e-03 9.98836113e-01 -5.40021056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.270714057 meters 0.030366936330184228 Centerline is valid? [True, True] Translation: X:856.80, Y:-149.86, Z:-54.00 [[ 9.95976119e-01 7.52192125e-02 4.87200293e-02 8.56795359e+02] [-7.50057442e-02 9.97163842e-01 -6.19763542e-03 -1.49860288e+02] [-4.90480329e-02 2.51841482e-03 9.98793246e-01 -5.40027322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.3007140569999 meters 0.03325667136833313 Centerline is valid? [True, True] Translation: X:856.82, Y:-149.87, Z:-54.00 [[ 9.95984764e-01 7.49524454e-02 4.89538628e-02 8.56821369e+02] [-7.47367385e-02 9.97183872e-01 -6.22457037e-03 -1.49867829e+02] [-4.92825492e-02 2.54092521e-03 9.98781645e-01 -5.40047660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.3307140569999 meters 0.030540402290691736 Centerline is valid? [True, True] Translation: X:856.85, Y:-149.87, Z:-54.01 [[ 9.95981880e-01 7.48277947e-02 4.92026060e-02 8.56849478e+02] [-7.46101523e-02 9.97193206e-01 -6.24781535e-03 -1.49866846e+02] [-4.95320146e-02 2.55169695e-03 9.98769277e-01 -5.40058334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.3607140569999 meters 0.030892257096653504 Centerline is valid? [True, True] Translation: X:856.88, Y:-149.87, Z:-54.01 [[ 9.96005342e-01 7.46264522e-02 4.90331714e-02 8.56877967e+02] [-7.44103404e-02 9.97208305e-01 -6.22071622e-03 -1.49871265e+02] [-4.93605158e-02 2.54729161e-03 9.98777779e-01 -5.40080989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.390714057 meters 0.03499580097382881 Centerline is valid? [True, True] Translation: X:856.90, Y:-149.88, Z:-54.01 [[ 9.96062955e-01 7.43511238e-02 4.82752454e-02 8.56904372e+02] [-7.41414827e-02 9.97228946e-01 -6.12132370e-03 -1.49880874e+02] [-4.85965994e-02 2.51802551e-03 9.98815313e-01 -5.40112472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.4207140569999 meters 0.03004482156828894 Centerline is valid? [True, True] Translation: X:856.93, Y:-149.88, Z:-54.01 [[ 9.96205883e-01 7.35892838e-02 4.64591888e-02 8.56934066e+02] [-7.33944985e-02 9.97285612e-01 -5.88694636e-03 -1.49876368e+02] [-4.67662966e-02 2.45476174e-03 9.98902842e-01 -5.40129004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.4507140569999 meters 0.03061756624247715 Centerline is valid? [True, True] Translation: X:856.96, Y:-149.88, Z:-54.02 [[ 9.96287312e-01 7.29702451e-02 4.56829854e-02 8.56962006e+02] [-7.27814118e-02 9.97331135e-01 -5.78552877e-03 -1.49880119e+02] [-4.59832352e-02 2.43917673e-03 9.98939234e-01 -5.40150130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.4807140569999 meters 0.06248855050218149 Centerline is valid? [True, True] Translation: X:856.98, Y:-149.93, Z:-54.03 [[ 9.95960544e-01 7.59663790e-02 4.78717541e-02 8.56984572e+02] [-7.57626972e-02 9.97107476e-01 -6.05758839e-03 -1.49930248e+02] [-4.81934570e-02 2.40622582e-03 9.98835122e-01 -5.40254208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.510714057 meters 0.030996865478680403 Centerline is valid? [True, True] Translation: X:857.02, Y:-149.89, Z:-54.02 [[ 9.96430047e-01 7.18165245e-02 4.43795892e-02 8.57021136e+02] [-7.16374735e-02 9.97414937e-01 -5.61391363e-03 -1.49889522e+02] [-4.46680369e-02 2.41463058e-03 9.98998967e-01 -5.40195755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.540714057 meters 0.031165368248288444 Centerline is valid? [True, True] Translation: X:857.05, Y:-149.89, Z:-54.02 [[ 9.96426694e-01 7.19286356e-02 4.42731906e-02 8.57049285e+02] [-7.17505379e-02 9.97406884e-01 -5.60079468e-03 -1.49893464e+02] [-4.45612426e-02 2.40415609e-03 9.99003762e-01 -5.40216475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.5707140569999 meters 0.031387397966871684 Centerline is valid? [True, True] Translation: X:857.08, Y:-149.90, Z:-54.02 [[ 9.96367230e-01 7.27295177e-02 4.43030587e-02 8.57077396e+02] [-7.25521127e-02 9.97348894e-01 -5.60134030e-03 -1.49896803e+02] [-4.45929894e-02 2.36671141e-03 9.99002434e-01 -5.40227106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.6007140569999 meters 0.034470792285382586 Centerline is valid? [True, True] Translation: X:857.10, Y:-149.90, Z:-54.02 [[ 9.96252997e-01 7.37907062e-02 4.51098353e-02 8.57104785e+02] [-7.36080109e-02 9.97270961e-01 -5.70002074e-03 -1.49904759e+02] [-4.54073374e-02 2.35821750e-03 9.98965771e-01 -5.40247722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.630714057 meters 0.029452022467567115 Centerline is valid? [True, True] Translation: X:857.14, Y:-149.90, Z:-54.02 [[ 9.96024256e-01 7.61243132e-02 4.62684618e-02 8.57135690e+02] [-7.59347995e-02 9.97095669e-01 -5.84244216e-03 -1.49900247e+02] [-4.65788347e-02 2.30582774e-03 9.98911956e-01 -5.40232895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.660714057 meters 0.029561315148539 Centerline is valid? [True, True] Translation: X:857.16, Y:-149.90, Z:-54.02 [[ 9.95895774e-01 7.74726960e-02 4.67930491e-02 8.57163734e+02] [-7.72803544e-02 9.96991895e-01 -5.90839193e-03 -1.49904079e+02] [-4.71100297e-02 2.26795914e-03 9.98887132e-01 -5.40249066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.6907140569999 meters 0.027723740331500133 Centerline is valid? [True, True] Translation: X:857.19, Y:-149.90, Z:-54.03 [[ 9.95808225e-01 7.86586587e-02 4.66775594e-02 8.57192716e+02] [-7.84687237e-02 9.96899174e-01 -5.89044123e-03 -1.49904705e+02] [-4.69961546e-02 2.20302132e-03 9.98892641e-01 -5.40259089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.7207140569999 meters 0.028212659022317368 Centerline is valid? [True, True] Translation: X:857.22, Y:-149.91, Z:-54.03 [[ 9.95646201e-01 8.10790524e-02 4.59872768e-02 8.57220327e+02] [-8.08974179e-02 9.96705556e-01 -5.80019546e-03 -1.49909406e+02] [-4.63060486e-02 2.05469063e-03 9.98925186e-01 -5.40279781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.750714057 meters 0.031127010507508303 Centerline is valid? [True, True] Translation: X:857.25, Y:-149.92, Z:-54.03 [[ 9.95587777e-01 8.17829935e-02 4.60056624e-02 8.57247212e+02] [-8.16021603e-02 9.96648116e-01 -5.79826641e-03 -1.49917638e+02] [-4.63256563e-02 2.01852173e-03 9.98924351e-01 -5.40313388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.780714057 meters 0.030888590603288177 Centerline is valid? [True, True] Translation: X:857.27, Y:-149.92, Z:-54.03 [[ 9.95432624e-01 8.32557175e-02 4.67159198e-02 8.57274603e+02] [-8.30710730e-02 9.96526257e-01 -5.88348460e-03 -1.49921479e+02] [-4.70434745e-02 1.97587092e-03 9.98890889e-01 -5.40328705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.8107140569999 meters 0.02701547115618167 Centerline is valid? [True, True] Translation: X:857.30, Y:-149.92, Z:-54.03 [[ 9.95414360e-01 8.35300481e-02 4.66152640e-02 8.57304118e+02] [-8.33466893e-02 9.96503342e-01 -5.86676275e-03 -1.49918478e+02] [-4.69423174e-02 1.95463196e-03 9.98895689e-01 -5.40322451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.8407140569999 meters 0.027061715364620608 Centerline is valid? [True, True] Translation: X:857.33, Y:-149.92, Z:-54.03 [[ 9.95440743e-01 8.32872488e-02 4.64861398e-02 8.57332002e+02] [-8.31047911e-02 9.96523659e-01 -5.84730980e-03 -1.49923064e+02] [-4.68115444e-02 1.95742947e-03 9.98901821e-01 -5.40339953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.870714057 meters 0.027987671603972804 Centerline is valid? [True, True] Translation: X:857.36, Y:-149.93, Z:-54.04 [[ 9.95544191e-01 8.26250655e-02 4.54407501e-02 8.57359188e+02] [-8.24502006e-02 9.96578815e-01 -5.71230897e-03 -1.49930057e+02] [-4.57572687e-02 1.94025705e-03 9.98950703e-01 -5.40370549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.900714057 meters 0.027994354322976873 Centerline is valid? [True, True] Translation: X:857.39, Y:-149.94, Z:-54.04 [[ 9.95588500e-01 8.22085869e-02 4.52248502e-02 8.57387329e+02] [-8.20352645e-02 9.96613251e-01 -5.67831904e-03 -1.49935044e+02] [-4.55384915e-02 1.94323659e-03 9.98960695e-01 -5.40391716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.9307140569999 meters 0.0284861938803342 Centerline is valid? [True, True] Translation: X:857.42, Y:-149.94, Z:-54.04 [[ 9.95707018e-01 8.12800066e-02 4.42842577e-02 8.57415685e+02] [-8.11130450e-02 9.96689416e-01 -5.55714909e-03 -1.49939643e+02] [-4.45893360e-02 1.94126136e-03 9.99003515e-01 -5.40414172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.9607140569999 meters 0.02855735796194608 Centerline is valid? [True, True] Translation: X:857.44, Y:-149.94, Z:-54.04 [[ 9.95792396e-01 8.04756342e-02 4.38312287e-02 8.57444048e+02] [-8.03114323e-02 9.96754661e-01 -5.49721915e-03 -1.49943545e+02] [-4.41313737e-02 1.95394027e-03 9.99023826e-01 -5.40430461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.9907140569999 meters 0.028497007565320774 Centerline is valid? [True, True] Translation: X:857.47, Y:-149.95, Z:-54.04 [[ 9.95877318e-01 7.93908813e-02 4.38800118e-02 8.57472313e+02] [-7.92254014e-02 9.96841554e-01 -5.50021022e-03 -1.49947240e+02] [-4.41780857e-02 2.00112305e-03 9.99021668e-01 -5.40445400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.020714057 meters 0.028314698909237664 Centerline is valid? [True, True] Translation: X:857.50, Y:-149.95, Z:-54.05 [[ 9.96089484e-01 7.66050473e-02 4.40159816e-02 8.57500957e+02] [-7.64359777e-02 9.97059245e-01 -5.51384056e-03 -1.49952084e+02] [-4.43089294e-02 2.12787401e-03 9.99015611e-01 -5.40456431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.0507140569999 meters 0.028768455753989963 Centerline is valid? [True, True] Translation: X:857.53, Y:-149.96, Z:-54.05 [[ 9.96251558e-01 7.46227272e-02 4.37524963e-02 8.57530038e+02] [-7.44538880e-02 9.97209410e-01 -5.47817489e-03 -1.49957397e+02] [-4.40391974e-02 2.20009681e-03 9.99027381e-01 -5.40473330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.0807140569999 meters 0.03050283895783895 Centerline is valid? [True, True] Translation: X:857.56, Y:-149.96, Z:-54.05 [[ 9.96555273e-01 7.02155146e-02 4.41290064e-02 8.57559212e+02] [-7.00395306e-02 9.97528925e-01 -5.52342582e-03 -1.49964907e+02] [-4.44077905e-02 2.41362423e-03 9.99010572e-01 -5.40486315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.1107140569999 meters 0.03222081019164092 Centerline is valid? [True, True] Translation: X:857.59, Y:-149.97, Z:-54.05 [[ 9.96738345e-01 6.74081425e-02 4.43713174e-02 8.57587027e+02] [-6.72274623e-02 9.97722220e-01 -5.55340787e-03 -1.49972056e+02] [-4.46445942e-02 2.55232350e-03 9.98999673e-01 -5.40504281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.140714057 meters 0.0315134316509601 Centerline is valid? [True, True] Translation: X:857.62, Y:-149.98, Z:-54.05 [[ 9.96941608e-01 6.43200032e-02 4.43888245e-02 8.57617353e+02] [-6.41362714e-02 9.97925703e-01 -5.55245293e-03 -1.49975424e+02] [-4.46538827e-02 2.68853765e-03 9.98998900e-01 -5.40514520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.1707140569999 meters 0.03467008614221602 Centerline is valid? [True, True] Translation: X:857.65, Y:-149.99, Z:-54.05 [[ 9.97309037e-01 5.80702426e-02 4.47496481e-02 8.57645033e+02] [-5.78772236e-02 9.98308013e-01 -5.59804273e-03 -1.49986290e+02] [-4.49990120e-02 2.99299322e-03 9.98982548e-01 -5.40536614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.2007140569999 meters 0.037584691763028935 Centerline is valid? [True, True] Translation: X:857.67, Y:-150.00, Z:-54.06 [[ 9.97649301e-01 5.21939398e-02 4.44034247e-02 8.57673309e+02] [-5.19981927e-02 9.98631741e-01 -5.55282394e-03 -1.49996600e+02] [-4.46324930e-02 3.23087310e-03 9.98998249e-01 -5.40553028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.2307140569999 meters 0.039977286202533165 Centerline is valid? [True, True] Translation: X:857.70, Y:-150.00, Z:-54.06 [[ 9.97749928e-01 4.98905010e-02 4.47886133e-02 8.57701981e+02] [-4.96890582e-02 9.98749034e-01 -5.60042850e-03 -1.50004680e+02] [-4.50119925e-02 3.36232312e-03 9.98980788e-01 -5.40572549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.260714057 meters 0.04087400660166402 Centerline is valid? [True, True] Translation: X:857.73, Y:-150.01, Z:-54.06 [[ 9.97831266e-01 4.82695755e-02 4.47528075e-02 8.57731802e+02] [-4.80668513e-02 9.98828447e-01 -5.59558245e-03 -1.50010220e+02] [-4.49704737e-02 3.43232057e-03 9.98982420e-01 -5.40589399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.290714057 meters 0.04002937431166495 Centerline is valid? [True, True] Translation: X:857.76, Y:-150.01, Z:-54.06 [[ 9.97872694e-01 4.68621740e-02 4.53213319e-02 8.57761781e+02] [-4.66528209e-02 9.98895091e-01 -5.66663746e-03 -1.50012623e+02] [-4.55368069e-02 3.54021481e-03 9.98956389e-01 -5.40600877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.3207140569999 meters 0.04235680944241002 Centerline is valid? [True, True] Translation: X:857.79, Y:-150.02, Z:-54.06 [[ 9.97917248e-01 4.58737105e-02 4.53516067e-02 8.57791725e+02] [-4.56630669e-02 9.98940805e-01 -5.67034497e-03 -1.50019355e+02] [-4.55636903e-02 3.58764160e-03 9.98954993e-01 -5.40613049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.3507140569999 meters 0.042484612360076744 Centerline is valid? [True, True] Translation: X:857.82, Y:-150.02, Z:-54.06 [[ 9.97884317e-01 4.64777140e-02 4.54611003e-02 8.57822808e+02] [-4.62666457e-02 9.98912950e-01 -5.68464762e-03 -1.50022856e+02] [-4.56758913e-02 3.56928808e-03 9.98949935e-01 -5.40628983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.380714057 meters 0.04112863993837417 Centerline is valid? [True, True] Translation: X:857.85, Y:-150.02, Z:-54.06 [[ 9.97831172e-01 4.73039754e-02 4.57742945e-02 8.57854433e+02] [-4.70907738e-02 9.98874205e-01 -5.72545763e-03 -1.50024569e+02] [-4.59935989e-02 3.55749315e-03 9.98935400e-01 -5.40640907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.410714057 meters 0.0407195522456074 Centerline is valid? [True, True] Translation: X:857.89, Y:-150.03, Z:-54.07 [[ 9.97765627e-01 4.81294593e-02 4.63390612e-02 8.57885034e+02] [-4.79117458e-02 9.98834744e-01 -5.79819729e-03 -1.50027299e+02] [-4.65641284e-02 3.56505664e-03 9.98908941e-01 -5.40654767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.4407140569999 meters 0.03805202629998087 Centerline is valid? [True, True] Translation: X:857.92, Y:-150.03, Z:-54.07 [[ 9.97670833e-01 5.00130731e-02 4.63853568e-02 8.57916371e+02] [-4.97969562e-02 9.98742499e-01 -5.80378884e-03 -1.50026269e+02] [-4.66172925e-02 3.48042126e-03 9.98906760e-01 -5.40665057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.4707140569999 meters 0.039498443144537106 Centerline is valid? [True, True] Translation: X:857.95, Y:-150.03, Z:-54.07 [[ 9.97644522e-01 5.09312216e-02 4.59501708e-02 8.57945572e+02] [-5.07200825e-02 9.98696356e-01 -5.74998782e-03 -1.50031553e+02] [-4.61831220e-02 3.40584740e-03 9.98927184e-01 -5.40687370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.500714057 meters 0.038049140365410926 Centerline is valid? [True, True] Translation: X:857.98, Y:-150.03, Z:-54.07 [[ 9.97589715e-01 5.24930387e-02 4.53788712e-02 8.57975657e+02] [-5.22886301e-02 9.98615857e-01 -5.68064460e-03 -1.50033297e+02] [-4.56142546e-02 3.29415361e-03 9.98953697e-01 -5.40711225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.530714057 meters 0.03888964361567663 Centerline is valid? [True, True] Translation: X:858.00, Y:-150.04, Z:-54.07 [[ 9.97529760e-01 5.30659059e-02 4.60259477e-02 8.58004617e+02] [-5.28562664e-02 9.98585514e-01 -5.76079752e-03 -1.50037990e+02] [-4.62665466e-02 3.31380721e-03 9.98923633e-01 -5.40731561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.5607140569999 meters 0.040473123406190366 Centerline is valid? [True, True] Translation: X:858.03, Y:-150.04, Z:-54.08 [[ 9.97496784e-01 5.38892614e-02 4.57833425e-02 8.58033906e+02] [-5.36827283e-02 9.98541605e-01 -5.72961156e-03 -1.50043734e+02] [-4.60253368e-02 3.25749436e-03 9.98934961e-01 -5.40752593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.5907140569999 meters 0.03772659226538465 Centerline is valid? [True, True] Translation: X:858.06, Y:-150.04, Z:-54.08 [[ 9.97429982e-01 5.62987098e-02 4.43157596e-02 8.58064408e+02] [-5.61076056e-02 9.98409327e-01 -5.54540764e-03 -1.50042965e+02] [-4.45574670e-02 3.04470469e-03 9.99002183e-01 -5.40775048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.620714057 meters 0.03528966408499966 Centerline is valid? [True, True] Translation: X:858.09, Y:-150.04, Z:-54.08 [[ 9.97369517e-01 5.79638009e-02 4.35229227e-02 8.58094423e+02] [-5.77811181e-02 9.98314428e-01 -5.44478321e-03 -1.50042335e+02] [-4.37651620e-02 2.91565767e-03 9.99037592e-01 -5.40789287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.650714057 meters 0.03763427691707407 Centerline is valid? [True, True] Translation: X:858.12, Y:-150.05, Z:-54.08 [[ 9.97181487e-01 6.19250549e-02 4.23599926e-02 8.58122820e+02] [-6.17556397e-02 9.98077240e-01 -5.29762130e-03 -1.50047647e+02] [-4.26066000e-02 2.66672145e-03 9.99088368e-01 -5.40820396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.6807140569999 meters 0.03514918738017664 Centerline is valid? [True, True] Translation: X:858.15, Y:-150.05, Z:-54.08 [[ 9.97019150e-01 6.41253508e-02 4.29040033e-02 8.58152804e+02] [-6.39536200e-02 9.97938452e-01 -5.36475329e-03 -1.50046760e+02] [-4.31595713e-02 2.60489544e-03 9.99064796e-01 -5.40827773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.7107140569999 meters 0.033574897149864086 Centerline is valid? [True, True] Translation: X:858.18, Y:-150.05, Z:-54.08 [[ 9.96866658e-01 6.60203869e-02 4.35680539e-02 8.58183002e+02] [-6.58451770e-02 9.97814990e-01 -5.44596637e-03 -1.50047248e+02] [-4.38324020e-02 2.56015607e-03 9.99035618e-01 -5.40833388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.7407140569999 meters 0.03554784408944782 Centerline is valid? [True, True] Translation: X:858.21, Y:-150.05, Z:-54.08 [[ 9.96498049e-01 7.02765931e-02 4.53082566e-02 8.58211807e+02] [-7.00915137e-02 9.97524493e-01 -5.66268218e-03 -1.50053235e+02] [-4.55940497e-02 2.46712746e-03 9.98957004e-01 -5.40848881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.770714057 meters 0.030578159838859188 Centerline is valid? [True, True] Translation: X:858.24, Y:-150.05, Z:-54.08 [[ 9.96230418e-01 7.35258176e-02 4.60316126e-02 8.58242762e+02] [-7.33382684e-02 9.97290534e-01 -5.75231283e-03 -1.50047583e+02] [-4.63298350e-02 2.35475026e-03 9.98923421e-01 -5.40841943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.8007140569999 meters 0.03205086993689604 Centerline is valid? [True, True] Translation: X:858.27, Y:-150.05, Z:-54.09 [[ 9.96109372e-01 7.48275562e-02 4.65505798e-02 8.58270163e+02] [-7.46372386e-02 9.97193793e-01 -5.81564676e-03 -1.50053235e+02] [-4.68551199e-02 2.31861351e-03 9.98899005e-01 -5.40861034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.8307140569999 meters 0.032081495950473 Centerline is valid? [True, True] Translation: X:858.30, Y:-150.06, Z:-54.09 [[ 9.96016341e-01 7.56200264e-02 4.72552720e-02 8.58298999e+02] [-7.54250029e-02 9.97134028e-01 -5.89915511e-03 -1.50056258e+02] [-4.75659340e-02 2.31142586e-03 9.98865426e-01 -5.40875609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.8607140569999 meters 0.03202435960313787 Centerline is valid? [True, True] Translation: X:858.33, Y:-150.06, Z:-54.09 [[ 9.95949417e-01 7.63507629e-02 4.74902176e-02 8.58327927e+02] [-7.61547792e-02 9.97078403e-01 -5.92519578e-03 -1.50059443e+02] [-4.78038636e-02 2.28458824e-03 9.98854129e-01 -5.40891593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.890714057 meters 0.03206673403530436 Centerline is valid? [True, True] Translation: X:858.36, Y:-150.06, Z:-54.09 [[ 9.95974197e-01 7.59176829e-02 4.76644942e-02 8.58356144e+02] [-7.57199201e-02 9.97111411e-01 -5.94365513e-03 -1.50063486e+02] [-4.79780396e-02 2.31057545e-03 9.98845718e-01 -5.40912138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.9207140569999 meters 0.03206673403530436 Centerline is valid? [True, True] Translation: X:858.38, Y:-150.07, Z:-54.09 [[ 9.95981867e-01 7.58167669e-02 4.76648541e-02 8.58383389e+02] [-7.56190267e-02 9.97119085e-01 -5.94076778e-03 -1.50066785e+02] [-4.79779455e-02 2.31252711e-03 9.98845718e-01 -5.40928054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.9507140569999 meters 0.03371063653302852 Centerline is valid? [True, True] Translation: X:858.41, Y:-150.07, Z:-54.10 [[ 9.96144011e-01 7.40083982e-02 4.71154569e-02 8.58410856e+02] [-7.38134233e-02 9.97254810e-01 -5.86710948e-03 -1.50072854e+02] [-4.74203313e-02 2.36673281e-03 9.98872219e-01 -5.40956291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.9807140569999 meters 0.029858415566756856 Centerline is valid? [True, True] Translation: X:858.44, Y:-150.07, Z:-54.10 [[ 9.96271778e-01 7.25173306e-02 4.67309448e-02 8.58440471e+02] [-7.23240264e-02 9.97364229e-01 -5.81638457e-03 -1.50070283e+02] [-4.70295614e-02 2.41492972e-03 9.98890579e-01 -5.40961433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.010714057 meters 0.030948727548395772 Centerline is valid? [True, True] Translation: X:858.47, Y:-150.08, Z:-54.10 [[ 9.96344661e-01 7.13741736e-02 4.69366043e-02 8.58467440e+02] [-7.11780522e-02 9.97446537e-01 -5.83872654e-03 -1.50075591e+02] [-4.72334877e-02 2.47652794e-03 9.98880806e-01 -5.40978481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.040714057 meters 0.03407096855959016 Centerline is valid? [True, True] Translation: X:858.50, Y:-150.08, Z:-54.10 [[ 9.96583376e-01 6.79466059e-02 4.69556448e-02 8.58495865e+02] [-6.77467759e-02 9.97685479e-01 -5.83596263e-03 -1.50084158e+02] [-4.72434989e-02 2.63492979e-03 9.98879927e-01 -5.41002820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.0707140569999 meters 0.03234797690422105 Centerline is valid? [True, True] Translation: X:858.53, Y:-150.09, Z:-54.10 [[ 9.96677492e-01 6.63726081e-02 4.72086176e-02 8.58525063e+02] [-6.61688584e-02 9.97791189e-01 -5.86739718e-03 -1.50085407e+02] [-4.74937771e-02 2.72416237e-03 9.98867819e-01 -5.41015068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.1007140569999 meters 0.03627635846989655 Centerline is valid? [True, True] Translation: X:858.55, Y:-150.10, Z:-54.10 [[ 9.96838321e-01 6.34991248e-02 4.77621566e-02 8.58552489e+02] [-6.32873971e-02 9.97977703e-01 -5.93373770e-03 -1.50095106e+02] [-4.80423545e-02 2.89223455e-03 9.98841112e-01 -5.41036883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.130714057 meters 0.03725773165796402 Centerline is valid? [True, True] Translation: X:858.58, Y:-150.10, Z:-54.11 [[ 9.96897370e-01 6.21792596e-02 4.82635904e-02 8.58580572e+02] [-6.19616880e-02 9.98060539e-01 -5.99253974e-03 -1.50099983e+02] [-4.85425967e-02 2.98345358e-03 9.98816658e-01 -5.41050827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.160714057 meters 0.03443067859628869 Centerline is valid? [True, True] Translation: X:858.61, Y:-150.10, Z:-54.11 [[ 9.97033955e-01 5.94236255e-02 4.89093658e-02 8.58610934e+02] [-5.91970762e-02 9.98227867e-01 -6.06885722e-03 -1.50099235e+02] [-4.91833254e-02 3.15556525e-03 9.98784783e-01 -5.41056452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.1907140569999 meters 0.035176061145191465 Centerline is valid? [True, True] Translation: X:858.64, Y:-150.10, Z:-54.11 [[ 9.97112628e-01 5.79942154e-02 4.90211994e-02 8.58639677e+02] [-5.77649391e-02 9.98311685e-01 -6.08211677e-03 -1.50103750e+02] [-4.92911637e-02 3.23284884e-03 9.98779220e-01 -5.41073315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.2207140569999 meters 0.03759380398248792 Centerline is valid? [True, True] Translation: X:858.67, Y:-150.11, Z:-54.11 [[ 9.97217008e-01 5.64799742e-02 4.86646942e-02 8.58667240e+02] [-5.62523507e-02 9.98398341e-01 -6.03541622e-03 -1.50110569e+02] [-4.89276301e-02 3.28111626e-03 9.98796937e-01 -5.41090277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.250714057 meters 0.03709774613356784 Centerline is valid? [True, True] Translation: X:858.70, Y:-150.11, Z:-54.11 [[ 9.97389049e-01 5.35549529e-02 4.84453507e-02 8.58697145e+02] [-5.33261392e-02 9.98559098e-01 -6.00425243e-03 -1.50112622e+02] [-4.86971032e-02 3.40517210e-03 9.98807788e-01 -5.41107559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.280714057 meters 0.03695953554492373 Centerline is valid? [True, True] Translation: X:858.73, Y:-150.12, Z:-54.11 [[ 9.97465491e-01 5.21271606e-02 4.84288506e-02 8.58726487e+02] [-5.18968641e-02 9.98634416e-01 -6.00149537e-03 -1.50116360e+02] [-4.86755578e-02 3.47297904e-03 9.98808605e-01 -5.41127973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.3107140569999 meters 0.04014010952404413 Centerline is valid? [True, True] Translation: X:858.76, Y:-150.12, Z:-54.12 [[ 9.97638682e-01 4.94548542e-02 4.76579212e-02 8.58755201e+02] [-4.92288970e-02 9.98770072e-01 -5.90408376e-03 -1.50123515e+02] [-4.78912910e-02 3.54399544e-03 9.98846267e-01 -5.41153017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.3407140569999 meters 0.039159899832239886 Centerline is valid? [True, True] Translation: X:858.79, Y:-150.13, Z:-54.12 [[ 9.97728498e-01 4.80816281e-02 4.71805177e-02 8.58785776e+02] [-4.78587022e-02 9.98837020e-01 -5.84391727e-03 -1.50125295e+02] [-4.74066328e-02 3.57264445e-03 9.98869284e-01 -5.41168556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.370714057 meters 0.03985202827815134 Centerline is valid? [True, True] Translation: X:858.82, Y:-150.13, Z:-54.12 [[ 9.97848517e-01 4.64114526e-02 4.63067318e-02 8.58816018e+02] [-4.61949282e-02 9.98915978e-01 -5.73568759e-03 -1.50129867e+02] [-4.65227359e-02 3.58421121e-03 9.98910801e-01 -5.41192217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.400714057 meters 0.041859316209342995 Centerline is valid? [True, True] Translation: X:858.85, Y:-150.14, Z:-54.12 [[ 9.97852133e-01 4.64464708e-02 4.61935658e-02 8.58846133e+02] [-4.62311454e-02 9.98914395e-01 -5.71943866e-03 -1.50136191e+02] [-4.64090656e-02 3.57157261e-03 9.98916134e-01 -5.41215117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.4307140569999 meters 0.04130693469983832 Centerline is valid? [True, True] Translation: X:858.88, Y:-150.14, Z:-54.12 [[ 9.97841567e-01 4.65906901e-02 4.62765131e-02 8.58876115e+02] [-4.63742110e-02 9.98907639e-01 -5.74116034e-03 -1.50138512e+02] [-4.64934471e-02 3.58273165e-03 9.98912170e-01 -5.41228696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.4607140569999 meters 0.03960737881695447 Centerline is valid? [True, True] Translation: X:858.91, Y:-150.14, Z:-54.12 [[ 9.97771536e-01 4.74746472e-02 4.68841120e-02 8.58907465e+02] [-4.72534146e-02 9.98865999e-01 -5.81644438e-03 -1.50137636e+02] [-4.71070790e-02 3.58804826e-03 9.98883401e-01 -5.41239037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.4907140569999 meters 0.04070426369193255 Centerline is valid? [True, True] Translation: X:858.94, Y:-150.14, Z:-54.13 [[ 9.97729257e-01 4.81970790e-02 4.70464712e-02 8.58937229e+02] [-4.79750831e-02 9.98831477e-01 -5.83711218e-03 -1.50141371e+02] [-4.72728281e-02 3.56679923e-03 9.98875647e-01 -5.41253285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.520714057 meters 0.04081768229732402 Centerline is valid? [True, True] Translation: X:858.97, Y:-150.14, Z:-54.13 [[ 9.97682135e-01 4.90569984e-02 4.71568467e-02 8.58967856e+02] [-4.88349132e-02 9.98789727e-01 -5.85080660e-03 -1.50142314e+02] [-4.73867971e-02 3.53434470e-03 9.98870362e-01 -5.41261960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.5507140569999 meters 0.041647651146983655 Centerline is valid? [True, True] Translation: X:859.00, Y:-150.15, Z:-54.13 [[ 9.97648827e-01 4.92455835e-02 4.76622608e-02 8.58996984e+02] [-4.90189131e-02 9.98780343e-01 -5.91368563e-03 -1.50146150e+02] [-4.78953521e-02 3.56342931e-03 9.98846003e-01 -5.41275724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.5807140569999 meters 0.04233706185339113 Centerline is valid? [True, True] Translation: X:859.03, Y:-150.15, Z:-54.13 [[ 9.97665084e-01 4.89392287e-02 4.76375005e-02 8.59026286e+02] [-4.87124791e-02 9.98795358e-01 -5.90994315e-03 -1.50149819e+02] [-4.78693424e-02 3.57560319e-03 9.98847206e-01 -5.41294129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.6107140569999 meters 0.03796963094605737 Centerline is valid? [True, True] Translation: X:859.06, Y:-150.15, Z:-54.13 [[ 9.97691704e-01 4.76593419e-02 4.83720080e-02 8.59056918e+02] [-4.74241349e-02 9.98856827e-01 -5.99919561e-03 -1.50146108e+02] [-4.86026281e-02 3.69134706e-03 9.98811373e-01 -5.41300542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.640714057 meters 0.044438639636391525 Centerline is valid? [True, True] Translation: X:859.09, Y:-150.16, Z:-54.13 [[ 9.97757674e-01 4.67205214e-02 4.79251287e-02 8.59085459e+02] [-4.64886189e-02 9.98901142e-01 -5.94272659e-03 -1.50158449e+02] [-4.81501131e-02 3.70142801e-03 9.98833252e-01 -5.41327380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.6707140569999 meters 0.04623919654014593 Centerline is valid? [True, True] Translation: X:859.11, Y:-150.16, Z:-54.14 [[ 9.97868809e-01 4.50825097e-02 4.71742207e-02 8.59114604e+02] [-4.48560062e-02 9.98976336e-01 -5.84961384e-03 -1.50163317e+02] [-4.73896455e-02 3.72110006e-03 9.98869549e-01 -5.41354813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.7007140569999 meters 0.04740426276205727 Centerline is valid? [True, True] Translation: X:859.14, Y:-150.17, Z:-54.14 [[ 9.97916547e-01 4.44510425e-02 4.67618354e-02 8.59144657e+02] [-4.42278055e-02 9.99004645e-01 -5.79829675e-03 -1.50168272e+02] [-4.69730311e-02 3.71804292e-03 9.98889238e-01 -5.41378757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.7307140569999 meters 0.04823627112144201 Centerline is valid? [True, True] Translation: X:859.18, Y:-150.17, Z:-54.14 [[ 9.97950014e-01 4.41145991e-02 4.63645575e-02 8.59175888e+02] [-4.38947544e-02 9.99019616e-01 -5.74963063e-03 -1.50172683e+02] [-4.65727451e-02 3.70268310e-03 9.98908039e-01 -5.41400012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.760714057 meters 0.04283123440008409 Centerline is valid? [True, True] Translation: X:859.21, Y:-150.17, Z:-54.14 [[ 9.97940575e-01 4.37474164e-02 4.69123969e-02 8.59208215e+02] [-4.35218623e-02 9.99035527e-01 -5.81916442e-03 -1.50167915e+02] [-4.71217246e-02 3.76546541e-03 9.98882057e-01 -5.41406440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.790714057 meters 0.044642824335313684 Centerline is valid? [True, True] Translation: X:859.24, Y:-150.17, Z:-54.14 [[ 9.97916847e-01 4.39136646e-02 4.72605189e-02 8.59239391e+02] [-4.36849451e-02 9.99028159e-01 -5.86207731e-03 -1.50174054e+02] [-4.74720145e-02 3.78529254e-03 9.98865396e-01 -5.41425340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.8207140569999 meters 0.04310922667351374 Centerline is valid? [True, True] Translation: X:859.27, Y:-150.17, Z:-54.14 [[ 9.97921988e-01 4.37748370e-02 4.72807522e-02 8.59271368e+02] [-4.35451552e-02 9.99034171e-01 -5.87744854e-03 -1.50174313e+02] [-4.74923714e-02 3.80638744e-03 9.98864348e-01 -5.41443227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.8507140569999 meters 0.046362514266783145 Centerline is valid? [True, True] Translation: X:859.30, Y:-150.18, Z:-54.15 [[ 9.97941482e-01 4.40174331e-02 4.66397188e-02 8.59301621e+02] [-4.37942285e-02 9.99023752e-01 -5.79728728e-03 -1.50181991e+02] [-4.68493685e-02 3.74280297e-03 9.98894954e-01 -5.41466471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.880714057 meters 0.041064660652313026 Centerline is valid? [True, True] Translation: X:859.33, Y:-150.18, Z:-54.15 [[ 9.97947201e-01 4.40112453e-02 4.65230428e-02 8.59333990e+02] [-4.37885457e-02 9.99024010e-01 -5.79571313e-03 -1.50177907e+02] [-4.67327133e-02 3.74663931e-03 9.98900404e-01 -5.41476760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.910714057 meters 0.04226148771618376 Centerline is valid? [True, True] Translation: X:859.36, Y:-150.18, Z:-54.15 [[ 9.97938813e-01 4.39525720e-02 4.67578484e-02 8.59363471e+02] [-4.37274948e-02 9.99026507e-01 -5.82619109e-03 -1.50182632e+02] [-4.69684060e-02 3.76957864e-03 9.98889263e-01 -5.41497959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.9407140569999 meters 0.04327459652578038 Centerline is valid? [True, True] Translation: X:859.39, Y:-150.19, Z:-54.15 [[ 9.97962439e-01 4.38293798e-02 4.63676172e-02 8.59393312e+02] [-4.36077061e-02 9.99031999e-01 -5.78205605e-03 -1.50187145e+02] [-4.65761572e-02 3.74828934e-03 9.98907709e-01 -5.41517910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.9707140569999 meters 0.044441785344204524 Centerline is valid? [True, True] Translation: X:859.42, Y:-150.19, Z:-54.15 [[ 9.97992641e-01 4.36976562e-02 4.58388841e-02 8.59424319e+02] [-4.34808483e-02 9.99037905e-01 -5.71672347e-03 -1.50191707e+02] [-4.60445901e-02 3.71213439e-03 9.98932488e-01 -5.41545500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.000714057 meters 0.04497074268478287 Centerline is valid? [True, True] Translation: X:859.46, Y:-150.20, Z:-54.16 [[ 9.98013294e-01 4.37792686e-02 4.53082776e-02 8.59455492e+02] [-4.35674674e-02 9.99034499e-01 -5.65212572e-03 -1.50196142e+02] [-4.55119783e-02 3.66692971e-03 9.98957063e-01 -5.41569503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.030714057 meters 0.045724928167794235 Centerline is valid? [True, True] Translation: X:859.49, Y:-150.20, Z:-54.16 [[ 9.98035588e-01 4.37993417e-02 4.47948945e-02 8.59485449e+02] [-4.35922477e-02 9.99033767e-01 -5.59007211e-03 -1.50200415e+02] [-4.49964537e-02 3.62638076e-03 9.98980565e-01 -5.41595414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.0607140569999 meters 0.04683199952357305 Centerline is valid? [True, True] Translation: X:859.52, Y:-150.21, Z:-54.16 [[ 9.98084513e-01 4.43027477e-02 4.31806906e-02 8.59515629e+02] [-4.41108011e-02 9.99012113e-01 -5.38838602e-03 -1.50205020e+02] [-4.33767533e-02 3.47332978e-03 9.99052748e-01 -5.41629870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.0907140569999 meters 0.04689294099490765 Centerline is valid? [True, True] Translation: X:859.54, Y:-150.21, Z:-54.16 [[ 9.98094716e-01 4.42527568e-02 4.29957235e-02 8.59544950e+02] [-4.40623424e-02 9.99014368e-01 -5.36678578e-03 -1.50208303e+02] [-4.31908406e-02 3.46206824e-03 9.99060842e-01 -5.41647211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.120714057 meters 0.047501750998883735 Centerline is valid? [True, True] Translation: X:859.58, Y:-150.21, Z:-54.17 [[ 9.98046620e-01 4.47221590e-02 4.36219223e-02 8.59575436e+02] [-4.45266859e-02 9.98993368e-01 -5.44294820e-03 -1.50212518e+02] [-4.38214314e-02 3.48997643e-03 9.99033284e-01 -5.41666581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.150714057 meters 0.04853558746190933 Centerline is valid? [True, True] Translation: X:859.60, Y:-150.22, Z:-54.17 [[ 9.97953911e-01 4.57336150e-02 4.46814056e-02 8.59604415e+02] [-4.55295557e-02 9.98947438e-01 -5.57456318e-03 -1.50216548e+02] [-4.48893206e-02 3.52883258e-03 9.98985734e-01 -5.41673201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.1807140569999 meters 0.04804205314589011 Centerline is valid? [True, True] Translation: X:859.63, Y:-150.22, Z:-54.17 [[ 9.97901739e-01 4.63725617e-02 4.51852371e-02 8.59634924e+02] [-4.61644001e-02 9.98917933e-01 -5.64008256e-03 -1.50219295e+02] [-4.53978887e-02 3.54229883e-03 9.98962704e-01 -5.41686070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.2107140569999 meters 0.04209185244207315 Centerline is valid? [True, True] Translation: X:859.67, Y:-150.21, Z:-54.17 [[ 9.97812922e-01 4.73337557e-02 4.61398780e-02 8.59665912e+02] [-4.71176960e-02 9.98872739e-01 -5.75971042e-03 -1.50213558e+02] [-4.63604950e-02 3.57310874e-03 9.98918384e-01 -5.41681701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.2407140569999 meters 0.04133493282751336 Centerline is valid? [True, True] Translation: X:859.70, Y:-150.22, Z:-54.17 [[ 9.97818729e-01 4.70402751e-02 4.63141038e-02 8.59695441e+02] [-4.68223582e-02 9.98886512e-01 -5.77945795e-03 -1.50215578e+02] [-4.65344009e-02 3.59831583e-03 9.98910207e-01 -5.41695560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.270714057 meters 0.0419835114826567 Centerline is valid? [True, True] Translation: X:859.72, Y:-150.22, Z:-54.17 [[ 9.97810991e-01 4.67684275e-02 4.67540512e-02 8.59724446e+02] [-4.65461299e-02 9.98899113e-01 -5.83266657e-03 -1.50220092e+02] [-4.69753650e-02 3.64367866e-03 9.98889403e-01 -5.41713983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.3007140569999 meters 0.04343089575430421 Centerline is valid? [True, True] Translation: X:859.75, Y:-150.23, Z:-54.17 [[ 9.97864576e-01 4.55869706e-02 4.67773095e-02 8.59754516e+02] [-4.53632581e-02 9.98953525e-01 -5.83352668e-03 -1.50226160e+02] [-4.69942910e-02 3.69909846e-03 9.98888309e-01 -5.41734093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.3307140569999 meters 0.04377778055434091 Centerline is valid? [True, True] Translation: X:859.78, Y:-150.23, Z:-54.18 [[ 9.97929288e-01 4.44637628e-02 4.64769871e-02 8.59784590e+02] [-4.42417066e-02 9.99004043e-01 -5.79607394e-03 -1.50230392e+02] [-4.66884133e-02 3.72785071e-03 9.98902545e-01 -5.41753913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.3607140569999 meters 0.047695772364057844 Centerline is valid? [True, True] Translation: X:859.81, Y:-150.24, Z:-54.18 [[ 9.98065778e-01 4.22328725e-02 4.56189271e-02 8.59812991e+02] [-4.20166334e-02 9.99100714e-01 -5.68906658e-03 -1.50240656e+02] [-4.58181682e-02 3.76130893e-03 9.98942715e-01 -5.41789327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.390714057 meters 0.04862796676001817 Centerline is valid? [True, True] Translation: X:859.84, Y:-150.25, Z:-54.18 [[ 9.98133448e-01 4.12181442e-02 4.50631282e-02 8.59844327e+02] [-4.10062453e-02 9.99143101e-01 -5.61699855e-03 -1.50246038e+02] [-4.52560359e-02 3.75864445e-03 9.98968350e-01 -5.41817072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.4207140569999 meters 0.05002694523958839 Centerline is valid? [True, True] Translation: X:859.88, Y:-150.25, Z:-54.18 [[ 9.98183365e-01 3.97880178e-02 4.52425049e-02 8.59875260e+02] [-3.95724024e-02 9.99200722e-01 -5.65181677e-03 -1.50252425e+02] [-4.54312181e-02 3.85119487e-03 9.98960046e-01 -5.41841555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.4507140569999 meters 0.04607009301459169 Centerline is valid? [True, True] Translation: X:859.91, Y:-150.25, Z:-54.18 [[ 9.98272694e-01 3.77957910e-02 4.49789671e-02 8.59907029e+02] [-3.75806079e-02 9.99277794e-01 -5.62040351e-03 -1.50251719e+02] [-4.51589106e-02 3.92035842e-03 9.98972124e-01 -5.41848222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.4807140569999 meters 0.05175379172768793 Centerline is valid? [True, True] Translation: X:859.94, Y:-150.26, Z:-54.19 [[ 9.98307973e-01 3.71942618e-02 4.46965208e-02 8.59937133e+02] [-3.69812171e-02 9.99300358e-01 -5.58422223e-03 -1.50263208e+02] [-4.48729503e-02 3.92184184e-03 9.98985004e-01 -5.41877712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.510714057 meters 0.048822689196139316 Centerline is valid? [True, True] Translation: X:859.97, Y:-150.26, Z:-54.19 [[ 9.98272785e-01 3.66356370e-02 4.59268588e-02 8.59969226e+02] [-3.64096078e-02 9.99320416e-01 -5.74869286e-03 -1.50264020e+02] [-4.61062546e-02 4.06658472e-03 9.98928264e-01 -5.41884492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.540714057 meters 0.04520147400014815 Centerline is valid? [True, True] Translation: X:860.00, Y:-150.26, Z:-54.19 [[ 9.98264484e-01 3.65438434e-02 4.61797344e-02 8.60001499e+02] [-3.63146893e-02 9.99323621e-01 -5.79174614e-03 -1.50262972e+02] [-4.63601521e-02 4.10469177e-03 9.98916357e-01 -5.41894333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.5707140569999 meters 0.050093762585042584 Centerline is valid? [True, True] Translation: X:860.03, Y:-150.27, Z:-54.19 [[ 9.98258931e-01 3.55539537e-02 4.70640226e-02 8.60031799e+02] [-3.53142493e-02 9.99358752e-01 -5.91513570e-03 -1.50274434e+02] [-4.72441493e-02 4.24280642e-03 9.98874361e-01 -5.41914096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.6007140569999 meters 0.04996906999856797 Centerline is valid? [True, True] Translation: X:860.06, Y:-150.28, Z:-54.19 [[ 9.98266648e-01 3.49603866e-02 4.73441674e-02 8.60063514e+02] [-3.47166288e-02 9.99379416e-01 -5.96141240e-03 -1.50279012e+02] [-4.75231997e-02 4.30744929e-03 9.98860847e-01 -5.41929222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.630714057 meters 0.04677818596882185 Centerline is valid? [True, True] Translation: X:860.10, Y:-150.28, Z:-54.19 [[ 9.98254681e-01 3.44307523e-02 4.79803665e-02 8.60095483e+02] [-3.41792035e-02 9.99397386e-01 -6.05359977e-03 -1.50279543e+02] [-4.81598829e-02 4.40310360e-03 9.98829935e-01 -5.41942742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.660714057 meters 0.04933972784729509 Centerline is valid? [True, True] Translation: X:860.12, Y:-150.29, Z:-54.20 [[ 9.98276077e-01 3.24859365e-02 4.88829012e-02 8.60124073e+02] [-3.22218309e-02 9.99461627e-01 -6.18138316e-03 -1.50288910e+02] [-4.90573920e-02 4.59563035e-03 9.98785389e-01 -5.41962593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.6907140569999 meters 0.052060004868686685 Centerline is valid? [True, True] Translation: X:860.15, Y:-150.30, Z:-54.20 [[ 9.98269379e-01 3.18115626e-02 4.94598033e-02 8.60153964e+02] [-3.15404089e-02 9.99482916e-01 -6.25333939e-03 -1.50297987e+02] [-4.96331569e-02 4.68253481e-03 9.98756539e-01 -5.41981036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.7207140569999 meters 0.048521389728240126 Centerline is valid? [True, True] Translation: X:860.19, Y:-150.30, Z:-54.20 [[ 9.98315955e-01 3.06052243e-02 4.92805627e-02 8.60185156e+02] [-3.03342383e-02 9.99520348e-01 -6.23755781e-03 -1.50299023e+02] [-4.94478271e-02 4.73216515e-03 9.98765498e-01 -5.41996837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.750714057 meters 0.04919176303691157 Centerline is valid? [True, True] Translation: X:860.22, Y:-150.31, Z:-54.20 [[ 9.98329799e-01 3.04581379e-02 4.90908708e-02 8.60217198e+02] [-3.01890618e-02 9.99524894e-01 -6.21351880e-03 -1.50305256e+02] [-4.92567996e-02 4.72113365e-03 9.98774989e-01 -5.42022547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.780714057 meters 0.05090506617067413 Centerline is valid? [True, True] Translation: X:860.25, Y:-150.31, Z:-54.21 [[ 9.98389072e-01 2.98889794e-02 4.82276980e-02 8.60247809e+02] [-2.96280412e-02 9.99542279e-01 -6.11652676e-03 -1.50314182e+02] [-4.83884400e-02 4.67778125e-03 9.98817640e-01 -5.42054226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.8107140569999 meters 0.05090506617067413 Centerline is valid? [True, True] Translation: X:860.28, Y:-150.32, Z:-54.21 [[ 9.98380557e-01 3.01742227e-02 4.82263376e-02 8.60280258e+02] [-2.99131017e-02 9.99533723e-01 -6.12723284e-03 -1.50318389e+02] [-4.83887353e-02 4.67471079e-03 9.98817640e-01 -5.42073136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.8407140569999 meters 0.050070800022265556 Centerline is valid? [True, True] Translation: X:860.31, Y:-150.32, Z:-54.21 [[ 9.98400356e-01 3.02371444e-02 4.77749403e-02 8.60312481e+02] [-2.99802912e-02 9.99531974e-01 -6.08392641e-03 -1.50323101e+02] [-4.79365410e-02 4.64188767e-03 9.98839597e-01 -5.42096602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.870714057 meters 0.05067368812428857 Centerline is valid? [True, True] Translation: X:860.35, Y:-150.33, Z:-54.21 [[ 9.98407609e-01 3.04556200e-02 4.74836971e-02 8.60345215e+02] [-3.02015798e-02 9.99525467e-01 -6.05851614e-03 -1.50329691e+02] [-4.76456804e-02 4.61478595e-03 9.98853639e-01 -5.42121252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.900714057 meters 0.050330173384559564 Centerline is valid? [True, True] Translation: X:860.38, Y:-150.34, Z:-54.22 [[ 9.98431814e-01 3.10555546e-02 4.65775243e-02 8.60376700e+02] [-3.08111373e-02 9.99507476e-01 -5.95650548e-03 -1.50335529e+02] [-4.67395663e-02 4.51205807e-03 9.98896919e-01 -5.42151866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.9307140569999 meters 0.05095960043720122 Centerline is valid? [True, True] Translation: X:860.41, Y:-150.34, Z:-54.22 [[ 9.98414382e-01 3.15699501e-02 4.66053745e-02 8.60408187e+02] [-3.13252408e-02 9.99491404e-01 -5.97190373e-03 -1.50341986e+02] [-4.67702039e-02 4.50250999e-03 9.98895528e-01 -5.42176342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.9607140569999 meters 0.05202642395681213 Centerline is valid? [True, True] Translation: X:860.44, Y:-150.35, Z:-54.22 [[ 9.98377227e-01 3.27065814e-02 4.66175205e-02 8.60437753e+02] [-3.24623525e-02 9.99455029e-01 -5.98667270e-03 -1.50349220e+02] [-4.67879189e-02 4.46364330e-03 9.98894873e-01 -5.42195652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.9907140569999 meters 0.05205239254559009 Centerline is valid? [True, True] Translation: X:860.47, Y:-150.35, Z:-54.22 [[ 9.98328954e-01 3.36572992e-02 4.69732381e-02 8.60468619e+02] [-3.34101139e-02 9.99423489e-01 -6.03771969e-03 -1.50354061e+02] [-4.71493709e-02 4.45824914e-03 9.98877901e-01 -5.42208466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.020714057 meters 0.048110312278237435 Centerline is valid? [True, True] Translation: X:860.50, Y:-150.35, Z:-54.22 [[ 9.98250805e-01 3.49455278e-02 4.76879512e-02 8.60500064e+02] [-3.46920175e-02 9.99379229e-01 -6.13362872e-03 -1.50353759e+02] [-4.78726908e-02 4.46850857e-03 9.98843450e-01 -5.42216850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.0507140569999 meters 0.05194972591155097 Centerline is valid? [True, True] Translation: X:860.53, Y:-150.36, Z:-54.22 [[ 9.98104699e-01 3.74464244e-02 4.88341577e-02 8.60528596e+02] [-3.71834256e-02 9.99288704e-01 -6.28324677e-03 -1.50364382e+02] [-4.90347072e-02 4.45551686e-03 9.98787137e-01 -5.42226570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.0807140569999 meters 0.04610947435278918 Centerline is valid? [True, True] Translation: X:860.56, Y:-150.36, Z:-54.22 [[ 9.97996356e-01 3.90841779e-02 4.97564123e-02 8.60560763e+02] [-3.88131811e-02 9.99225980e-01 -6.40144069e-03 -1.50361497e+02] [-4.99680949e-02 4.45740984e-03 9.98740868e-01 -5.42230143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.1107140569999 meters 0.05067848405106533 Centerline is valid? [True, True] Translation: X:860.59, Y:-150.37, Z:-54.23 [[ 9.97846997e-01 4.20453920e-02 5.03344344e-02 8.60588727e+02] [-4.17716773e-02 9.99106182e-01 -6.47803600e-03 -1.50372718e+02] [-5.05618161e-02 4.36153502e-03 9.98711410e-01 -5.42250434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.140714057 meters 0.048812599723316294 Centerline is valid? [True, True] Translation: X:860.62, Y:-150.38, Z:-54.23 [[ 9.97759891e-01 4.33785990e-02 5.09263949e-02 8.60620318e+02] [-4.31001829e-02 9.99049264e-01 -6.55305785e-03 -1.50375242e+02] [-5.11622398e-02 4.34344135e-03 9.98680910e-01 -5.42269169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.1707140569999 meters 0.051127318639959125 Centerline is valid? [True, True] Translation: X:860.65, Y:-150.38, Z:-54.23 [[ 9.97700677e-01 4.46261619e-02 5.10084801e-02 8.60649535e+02] [-4.43483133e-02 9.98994548e-01 -6.56656040e-03 -1.50383131e+02] [-5.12502340e-02 4.28932169e-03 9.98676632e-01 -5.42290654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.2007140569999 meters 0.04146363040780944 Centerline is valid? [True, True] Translation: X:860.68, Y:-150.38, Z:-54.23 [[ 9.97664501e-01 4.62016425e-02 5.03085745e-02 8.60682368e+02] [-4.59333315e-02 9.98923509e-01 -6.47707964e-03 -1.50376081e+02] [-5.05536695e-02 4.15111199e-03 9.98712719e-01 -5.42309636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.2307140569999 meters 0.04555375487592049 Centerline is valid? [True, True] Translation: X:860.71, Y:-150.39, Z:-54.23 [[ 9.97653396e-01 4.67285877e-02 5.00413836e-02 8.60711902e+02] [-4.64637089e-02 9.98899193e-01 -6.44409646e-03 -1.50386981e+02] [-5.02874212e-02 4.10386644e-03 9.98726356e-01 -5.42341454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.260714057 meters 0.04350147833040386 Centerline is valid? [True, True] Translation: X:860.75, Y:-150.39, Z:-54.24 [[ 9.97654027e-01 4.68843317e-02 4.98828898e-02 8.60745034e+02] [-4.66207542e-02 9.98891934e-01 -6.43502428e-03 -1.50390847e+02] [-5.01293181e-02 4.09434995e-03 9.98734343e-01 -5.42362139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.290714057 meters 0.043255751684294685 Centerline is valid? [True, True] Translation: X:860.78, Y:-150.40, Z:-54.24 [[ 9.97659279e-01 4.69687776e-02 4.96980617e-02 8.60776725e+02] [-4.67065301e-02 9.98887987e-01 -6.42569513e-03 -1.50395799e+02] [-4.99446038e-02 4.08943035e-03 9.98743617e-01 -5.42382062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.3207140569999 meters 0.04487884874591457 Centerline is valid? [True, True] Translation: X:860.81, Y:-150.40, Z:-54.24 [[ 9.97688233e-01 4.66099301e-02 4.94540689e-02 8.60806749e+02] [-4.63491886e-02 9.98904753e-01 -6.40676709e-03 -1.50404693e+02] [-4.96985235e-02 4.09980017e-03 9.98755850e-01 -5.42407373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.3507140569999 meters 0.04543829327464681 Centerline is valid? [True, True] Translation: X:860.84, Y:-150.41, Z:-54.24 [[ 9.97667877e-01 4.67824993e-02 4.97011626e-02 8.60839636e+02] [-4.65187885e-02 9.98896590e-01 -6.45011342e-03 -1.50411573e+02] [-4.99480743e-02 4.12303309e-03 9.98743306e-01 -5.42433184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.380714057 meters 0.047220757261473865 Centerline is valid? [True, True] Translation: X:860.87, Y:-150.42, Z:-54.25 [[ 9.97711295e-01 4.61063264e-02 4.94608722e-02 8.60869786e+02] [-4.58435802e-02 9.98927909e-01 -6.43414533e-03 -1.50419428e+02] [-4.97045004e-02 4.15195601e-03 9.98755337e-01 -5.42455831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.410714057 meters 0.04546447769274292 Centerline is valid? [True, True] Translation: X:860.90, Y:-150.42, Z:-54.25 [[ 9.97712283e-01 4.55840918e-02 4.99228522e-02 8.60901145e+02] [-4.53154753e-02 9.98951580e-01 -6.49991405e-03 -1.50424058e+02] [-5.01668047e-02 4.22276631e-03 9.98731926e-01 -5.42472080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.4407140569999 meters 0.0460217139551595 Centerline is valid? [True, True] Translation: X:860.93, Y:-150.43, Z:-54.25 [[ 9.97711052e-01 4.55244464e-02 5.00018090e-02 8.60932746e+02] [-4.52543236e-02 9.98954210e-01 -6.52173522e-03 -1.50429989e+02] [-5.02464160e-02 4.24400926e-03 9.98727834e-01 -5.42487387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.4707140569999 meters 0.046555152460282405 Centerline is valid? [True, True] Translation: X:860.97, Y:-150.44, Z:-54.25 [[ 9.97675359e-01 4.56266410e-02 5.06170775e-02 8.60965468e+02] [-4.53493127e-02 9.98949292e-01 -6.61454603e-03 -1.50437375e+02] [-5.08656933e-02 4.30371991e-03 9.98696230e-01 -5.42502396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.500714057 meters 0.04900178289973299 Centerline is valid? [True, True] Translation: X:861.00, Y:-150.45, Z:-54.25 [[ 9.97666535e-01 4.56478830e-02 5.07716049e-02 8.60996111e+02] [-4.53681256e-02 9.98948205e-01 -6.64958576e-03 -1.50445819e+02] [-5.10217431e-02 4.33065664e-03 9.98688153e-01 -5.42519508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.530714057 meters 0.04791522517382113 Centerline is valid? [True, True] Translation: X:861.03, Y:-150.45, Z:-54.25 [[ 9.97647655e-01 4.57183583e-02 5.10782558e-02 8.61027678e+02] [-4.54347009e-02 9.98944833e-01 -6.70138204e-03 -1.50449624e+02] [-5.13307359e-02 4.36489281e-03 9.98672170e-01 -5.42534961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.5607140569999 meters 0.04412256437646296 Centerline is valid? [True, True] Translation: X:861.06, Y:-150.45, Z:-54.25 [[ 9.97607429e-01 4.60559449e-02 5.15583830e-02 8.61059761e+02] [-4.57667100e-02 9.98929166e-01 -6.77710832e-03 -1.50450971e+02] [-5.18152987e-02 4.40123605e-03 9.98646987e-01 -5.42543991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.5907140569999 meters 0.045546571923336616 Centerline is valid? [True, True] Translation: X:861.09, Y:-150.46, Z:-54.26 [[ 9.97614639e-01 4.62032210e-02 5.12864058e-02 8.61090779e+02] [-4.59165645e-02 9.98922445e-01 -6.75417864e-03 -1.50458134e+02] [-5.15432066e-02 4.38317192e-03 9.98661147e-01 -5.42567664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.620714057 meters 0.04642758577365764 Centerline is valid? [True, True] Translation: X:861.12, Y:-150.47, Z:-54.26 [[ 9.97621052e-01 4.65645456e-02 5.08328536e-02 8.61120891e+02] [-4.62826997e-02 9.98905857e-01 -6.70829372e-03 -1.50465710e+02] [-5.10896038e-02 4.33965334e-03 9.98684645e-01 -5.42593506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.650714057 meters 0.04634067606359137 Centerline is valid? [True, True] Translation: X:861.15, Y:-150.47, Z:-54.26 [[ 9.97638476e-01 4.70666077e-02 5.00220573e-02 8.61153122e+02] [-4.67936894e-02 9.98882680e-01 -6.61376822e-03 -1.50470738e+02] [-5.02774543e-02 4.25743303e-03 9.98726215e-01 -5.42614220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.6807140569999 meters 0.047495639944148633 Centerline is valid? [True, True] Translation: X:861.18, Y:-150.48, Z:-54.26 [[ 9.97592901e-01 4.82339495e-02 4.98185728e-02 8.61182477e+02] [-4.79644462e-02 9.98827292e-01 -6.59180025e-03 -1.50476988e+02] [-5.00780987e-02 4.18641288e-03 9.98736531e-01 -5.42638712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.7107140569999 meters 0.04579216711193563 Centerline is valid? [True, True] Translation: X:861.21, Y:-150.48, Z:-54.27 [[ 9.97478477e-01 5.10149238e-02 4.93372580e-02 8.61213416e+02] [-5.07539450e-02 9.98689847e-01 -6.52891212e-03 -1.50479272e+02] [-4.96056906e-02 4.00838884e-03 9.98760836e-01 -5.42654374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.7407140569999 meters 0.041674976942113286 Centerline is valid? [True, True] Translation: X:861.24, Y:-150.48, Z:-54.27 [[ 9.97369863e-01 5.30896222e-02 4.93441876e-02 8.61244771e+02] [-5.28310272e-02 9.98582108e-01 -6.53111432e-03 -1.50478006e+02] [-4.96209573e-02 3.90703247e-03 9.98760480e-01 -5.42666035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.770714057 meters 0.0381607387895835 Centerline is valid? [True, True] Translation: X:861.28, Y:-150.48, Z:-54.27 [[ 9.97092014e-01 5.81553489e-02 4.92490734e-02 8.61276330e+02] [-5.79038432e-02 9.98300877e-01 -6.51943688e-03 -1.50476895e+02] [-4.95445333e-02 3.64876782e-03 9.98765251e-01 -5.42674761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.8007140569999 meters 0.042432073845395414 Centerline is valid? [True, True] Translation: X:861.31, Y:-150.49, Z:-54.27 [[ 9.96967114e-01 6.06770042e-02 4.87326926e-02 8.61305559e+02] [-6.04337041e-02 9.98151361e-01 -6.45190788e-03 -1.50486179e+02] [-4.90340859e-02 3.48724285e-03 9.98791018e-01 -5.42697212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.8307140569999 meters 0.03687266123999662 Centerline is valid? [True, True] Translation: X:861.34, Y:-150.48, Z:-54.27 [[ 9.96786471e-01 6.37141766e-02 4.85513588e-02 8.61336867e+02] [-6.34762601e-02 9.97962647e-01 -6.42805886e-03 -1.50481923e+02] [-4.88620011e-02 3.32554343e-03 9.98800003e-01 -5.42706263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.8607140569999 meters 0.03528913819283566 Centerline is valid? [True, True] Translation: X:861.37, Y:-150.48, Z:-54.27 [[ 9.96398533e-01 6.97200963e-02 4.82604516e-02 8.61366465e+02] [-6.94920685e-02 9.97562046e-01 -6.38880881e-03 -1.50482462e+02] [-4.85882232e-02 3.01208112e-03 9.98814353e-01 -5.42725185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.890714057 meters 0.03475698099042833 Centerline is valid? [True, True] Translation: X:861.40, Y:-150.48, Z:-54.27 [[ 9.96152556e-01 7.32541453e-02 4.81031686e-02 8.61395163e+02] [-7.30317782e-02 9.97309294e-01 -6.36646931e-03 -1.50484393e+02] [-4.84401074e-02 2.82891474e-03 9.98822083e-01 -5.42740753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.9207140569999 meters 0.03157352750125415 Centerline is valid? [True, True] Translation: X:861.43, Y:-150.48, Z:-54.27 [[ 9.95613881e-01 7.99975329e-02 4.85118004e-02 8.61425317e+02] [-7.97794269e-02 9.96791875e-01 -6.41876792e-03 -1.50482048e+02] [-4.88696541e-02 2.52037081e-03 9.98801985e-01 -5.42749591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.9507140569999 meters 0.03176760218403323 Centerline is valid? [True, True] Translation: X:861.45, Y:-150.49, Z:-54.28 [[ 9.95389327e-01 8.26329245e-02 4.87020222e-02 8.61453552e+02] [-8.24163047e-02 9.96577164e-01 -6.44276101e-03 -1.50485599e+02] [-4.90677074e-02 2.39921485e-03 9.98792573e-01 -5.42765900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.9807140569999 meters 0.031720997034229106 Centerline is valid? [True, True] Translation: X:861.48, Y:-150.49, Z:-54.28 [[ 9.95112337e-01 8.53941937e-02 4.95910186e-02 8.61482672e+02] [-8.51731446e-02 9.96344586e-01 -6.55754959e-03 -1.50489001e+02] [-4.99697195e-02 2.30167549e-03 9.98748081e-01 -5.42777194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.010714057 meters 0.028467621133387997 Centerline is valid? [True, True] Translation: X:861.51, Y:-150.49, Z:-54.28 [[ 9.94883627e-01 8.83725282e-02 4.89577961e-02 8.61512869e+02] [-8.81607706e-02 9.96085232e-01 -6.47216846e-03 -1.50487137e+02] [-4.93380996e-02 2.12289740e-03 9.98779878e-01 -5.42784844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.040714057 meters 0.02777973641501384 Centerline is valid? [True, True] Translation: X:861.54, Y:-150.49, Z:-54.28 [[ 9.94825414e-01 8.92537756e-02 4.85402906e-02 8.61541273e+02] [-8.90467319e-02 9.96006787e-01 -6.41558564e-03 -1.50489861e+02] [-4.89190742e-02 2.06003340e-03 9.98800621e-01 -5.42800381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.0707140569999 meters 0.02715155513964916 Centerline is valid? [True, True] Translation: X:861.57, Y:-150.49, Z:-54.28 [[ 9.94813426e-01 8.95755666e-02 4.81919674e-02 8.61570357e+02] [-8.93720368e-02 9.95977968e-01 -6.36597214e-03 -1.50493096e+02] [-4.85683733e-02 2.02594027e-03 9.98817806e-01 -5.42817422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.1007140569999 meters 0.027346840526588943 Centerline is valid? [True, True] Translation: X:861.60, Y:-150.50, Z:-54.28 [[ 9.94921310e-01 8.88324790e-02 4.73326186e-02 8.61598403e+02] [-8.86354214e-02 9.96044526e-01 -6.25012735e-03 -1.50498716e+02] [-4.77006100e-02 2.02303829e-03 9.98859629e-01 -5.42837093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.130714057 meters 0.028524377241314094 Centerline is valid? [True, True] Translation: X:861.63, Y:-150.51, Z:-54.29 [[ 9.95010200e-01 8.77885938e-02 4.74116466e-02 8.61625641e+02] [-8.75898320e-02 9.96136970e-01 -6.25769490e-03 -1.50505818e+02] [-4.77778482e-02 2.07369210e-03 9.98855834e-01 -5.42858775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.160714057 meters 0.02858713228715848 Centerline is valid? [True, True] Translation: X:861.65, Y:-150.51, Z:-54.29 [[ 9.95229075e-01 8.51315829e-02 4.76623799e-02 8.61654568e+02] [-8.49280139e-02 9.96367276e-01 -6.28366943e-03 -1.50512401e+02] [-4.80241743e-02 2.20581925e-03 9.98843738e-01 -5.42868620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.1907140569999 meters 0.030375403910578434 Centerline is valid? [True, True] Translation: X:861.68, Y:-150.52, Z:-54.29 [[ 9.95362369e-01 8.33693585e-02 4.79927496e-02 8.61681811e+02] [-8.31609723e-02 9.96516048e-01 -6.32598366e-03 -1.50520217e+02] [-4.83529383e-02 2.30552237e-03 9.98827652e-01 -5.42883090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.2207140569999 meters 0.029618194183120488 Centerline is valid? [True, True] Translation: X:861.71, Y:-150.52, Z:-54.29 [[ 9.95464157e-01 8.18004463e-02 4.85777674e-02 8.61710378e+02] [-8.15853040e-02 9.96645823e-01 -6.39854917e-03 -1.50524085e+02] [-4.89382332e-02 2.40629443e-03 9.98798908e-01 -5.42887664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.250714057 meters 0.03140844168978055 Centerline is valid? [True, True] Translation: X:861.74, Y:-150.53, Z:-54.29 [[ 9.95641577e-01 7.94354752e-02 4.88656967e-02 8.61738025e+02] [-7.92151149e-02 9.96836790e-01 -6.43277800e-03 -1.50533275e+02] [-4.92221150e-02 2.53383945e-03 9.98784643e-01 -5.42895644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.280714057 meters 0.030770173271197496 Centerline is valid? [True, True] Translation: X:861.77, Y:-150.54, Z:-54.29 [[ 9.95677962e-01 7.88241584e-02 4.91136229e-02 8.61766856e+02] [-7.86009367e-02 9.96885211e-01 -6.46291671e-03 -1.50536630e+02] [-4.94700783e-02 2.57460697e-03 9.98772288e-01 -5.42908307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.3107140569999 meters 0.032146831506593816 Centerline is valid? [True, True] Translation: X:861.79, Y:-150.55, Z:-54.29 [[ 9.95807313e-01 7.78126878e-02 4.80934653e-02 8.61793441e+02] [-7.75976249e-02 9.96964691e-01 -6.32559762e-03 -1.50545379e+02] [-4.84396986e-02 2.56713768e-03 9.98822810e-01 -5.42934941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.3407140569999 meters 0.03231718349760934 Centerline is valid? [True, True] Translation: X:861.82, Y:-150.55, Z:-54.30 [[ 9.95870748e-01 7.72864376e-02 4.76262489e-02 8.61821467e+02] [-7.70751892e-02 9.97005638e-01 -6.25889573e-03 -1.50550351e+02] [-4.79673664e-02 2.56224903e-03 9.98845617e-01 -5.42952350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.370714057 meters 0.03396198055236279 Centerline is valid? [True, True] Translation: X:861.85, Y:-150.56, Z:-54.30 [[ 9.96039247e-01 7.55271366e-02 4.69198235e-02 8.61848593e+02] [-7.53203223e-02 9.97140346e-01 -6.16280950e-03 -1.50558317e+02] [-4.72511084e-02 2.60438391e-03 9.98879647e-01 -5.42978766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.400714057 meters 0.0348220690563057 Centerline is valid? [True, True] Translation: X:861.88, Y:-150.56, Z:-54.30 [[ 9.96156702e-01 7.42604882e-02 4.64457315e-02 8.61876568e+02] [-7.40566147e-02 9.97235399e-01 -6.09732049e-03 -1.50564145e+02] [-4.67701175e-02 2.63427302e-03 9.98902206e-01 -5.42999735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.4307140569999 meters 0.034860458894056576 Centerline is valid? [True, True] Translation: X:861.91, Y:-150.57, Z:-54.30 [[ 9.96249441e-01 7.32766040e-02 4.60172937e-02 8.61905315e+02] [-7.30755778e-02 9.97308129e-01 -6.03793276e-03 -1.50568782e+02] [-4.63358603e-02 2.65254681e-03 9.98922395e-01 -5.43019720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.4607140569999 meters 0.03712796558917256 Centerline is valid? [True, True] Translation: X:861.93, Y:-150.58, Z:-54.30 [[ 9.96457324e-01 7.06285177e-02 4.56553823e-02 8.61932530e+02] [-7.04280202e-02 9.97498895e-01 -5.98728690e-03 -1.50577855e+02] [-4.59640666e-02 2.75065769e-03 9.98939307e-01 -5.43044453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.4907140569999 meters 0.03805621169282033 Centerline is valid? [True, True] Translation: X:861.96, Y:-150.58, Z:-54.31 [[ 9.96574796e-01 6.91974534e-02 4.52812082e-02 8.61961439e+02] [-6.89989186e-02 9.97599082e-01 -5.93474980e-03 -1.50583617e+02] [-4.55831613e-02 2.79006767e-03 9.98956651e-01 -5.43063898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.520714057 meters 0.03864032784889618 Centerline is valid? [True, True] Translation: X:861.99, Y:-150.59, Z:-54.31 [[ 9.96735680e-01 6.66869057e-02 4.55064908e-02 8.61989995e+02] [-6.64838461e-02 9.97769684e-01 -5.96291320e-03 -1.50589512e+02] [-4.58026452e-02 2.91800181e-03 9.98946246e-01 -5.43079122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.5507140569999 meters 0.04074336536567952 Centerline is valid? [True, True] Translation: X:862.02, Y:-150.60, Z:-54.31 [[ 9.96818231e-01 6.55194995e-02 4.53939325e-02 8.62017966e+02] [-6.53163449e-02 9.97846893e-01 -5.94585327e-03 -1.50596180e+02] [-4.56857639e-02 2.96196918e-03 9.98951469e-01 -5.43096147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.5807140569999 meters 0.03773452960369886 Centerline is valid? [True, True] Translation: X:862.05, Y:-150.60, Z:-54.31 [[ 9.96857126e-01 6.45960225e-02 4.58609201e-02 8.62047524e+02] [-6.43877989e-02 9.97906887e-01 -6.00466785e-03 -1.50595496e+02] [-4.61528057e-02 3.03291223e-03 9.98929787e-01 -5.43099922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.6107140569999 meters 0.039173143361556334 Centerline is valid? [True, True] Translation: X:862.08, Y:-150.60, Z:-54.31 [[ 9.96954764e-01 6.26993718e-02 4.63679503e-02 8.62076366e+02] [-6.24845980e-02 9.98027479e-01 -6.06838023e-03 -1.50601702e+02] [-4.66569722e-02 3.15261785e-03 9.98905996e-01 -5.43112025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.640714057 meters 0.03646691135828724 Centerline is valid? [True, True] Translation: X:862.11, Y:-150.60, Z:-54.31 [[ 9.96984457e-01 6.20156970e-02 4.66481068e-02 8.62106450e+02] [-6.17976496e-02 9.98070037e-01 -6.10341871e-03 -1.50601526e+02] [-4.69365855e-02 3.20227023e-03 9.98892738e-01 -5.43118046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.6707140569999 meters 0.03755123238681489 Centerline is valid? [True, True] Translation: X:862.13, Y:-150.61, Z:-54.31 [[ 9.97006666e-01 6.07813798e-02 4.77842151e-02 8.62134625e+02] [-6.05512388e-02 9.98145520e-01 -6.25045730e-03 -1.50607208e+02] [-4.80755117e-02 3.33835418e-03 9.98838125e-01 -5.43127531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.7007140569999 meters 0.03865754115836778 Centerline is valid? [True, True] Translation: X:862.16, Y:-150.61, Z:-54.31 [[ 9.97066798e-01 5.95840200e-02 4.80369220e-02 8.62163854e+02] [-5.93501879e-02 9.98217465e-01 -6.28074415e-03 -1.50612561e+02] [-4.83255265e-02 3.41132110e-03 9.98825814e-01 -5.43141855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.7307140569999 meters 0.03865754115836778 Centerline is valid? [True, True] Translation: X:862.19, Y:-150.62, Z:-54.32 [[ 9.97066792e-01 5.95839042e-02 4.80371840e-02 8.62193626e+02] [-5.93501680e-02 9.98217479e-01 -6.27874020e-03 -1.50616453e+02] [-4.83256685e-02 3.40930841e-03 9.98825814e-01 -5.43159259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.760714057 meters 0.039847603219025265 Centerline is valid? [True, True] Translation: X:862.22, Y:-150.62, Z:-54.32 [[ 9.97172227e-01 5.77678249e-02 4.80669203e-02 8.62223570e+02] [-5.75317010e-02 9.98323911e-01 -6.28262691e-03 -1.50620814e+02] [-4.83492896e-02 3.49948938e-03 9.98824359e-01 -5.43173109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.790714057 meters 0.04126035107038784 Centerline is valid? [True, True] Translation: X:862.25, Y:-150.63, Z:-54.32 [[ 9.97248540e-01 5.69989892e-02 4.73968838e-02 8.62252503e+02] [-5.67685371e-02 9.98368145e-01 -6.19522490e-03 -1.50625868e+02] [-4.76726605e-02 3.48752723e-03 9.98856924e-01 -5.43192981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.8207140569999 meters 0.04088301907845791 Centerline is valid? [True, True] Translation: X:862.28, Y:-150.63, Z:-54.32 [[ 9.97298123e-01 5.62385227e-02 4.72618541e-02 8.62282652e+02] [-5.60085822e-02 9.98411182e-01 -6.17656609e-03 -1.50628133e+02] [-4.75341245e-02 3.51280833e-03 9.98863438e-01 -5.43208827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.8507140569999 meters 0.04190291078004204 Centerline is valid? [True, True] Translation: X:862.31, Y:-150.63, Z:-54.32 [[ 9.97392870e-01 5.54468593e-02 4.61855920e-02 8.62312683e+02] [-5.52264382e-02 9.98455612e-01 -6.03591136e-03 -1.50631705e+02] [-4.64489359e-02 3.46950921e-03 9.98914640e-01 -5.43232124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.880714057 meters 0.04254809336538589 Centerline is valid? [True, True] Translation: X:862.34, Y:-150.64, Z:-54.33 [[ 9.97422634e-01 5.53434311e-02 4.56639324e-02 8.62342677e+02] [-5.51278578e-02 9.98461469e-01 -5.96773661e-03 -1.50635211e+02] [-4.59239520e-02 3.43500079e-03 9.98939033e-01 -5.43254085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.910714057 meters 0.04174918463709299 Centerline is valid? [True, True] Translation: X:862.37, Y:-150.64, Z:-54.33 [[ 9.97396952e-01 5.62296172e-02 4.51392356e-02 8.62373315e+02] [-5.60198759e-02 9.98412226e-01 -5.89916494e-03 -1.50635773e+02] [-4.53992725e-02 3.35511475e-03 9.98963287e-01 -5.43267763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.9407140569999 meters 0.04263089225969334 Centerline is valid? [True, True] Translation: X:862.40, Y:-150.64, Z:-54.33 [[ 9.97357651e-01 5.67992523e-02 4.52941660e-02 8.62402193e+02] [-5.65886323e-02 9.98380029e-01 -5.91983169e-03 -1.50639507e+02] [-4.55570328e-02 3.34105453e-03 9.98956152e-01 -5.43282076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.9707140569999 meters 0.04194019729704662 Centerline is valid? [True, True] Translation: X:862.43, Y:-150.64, Z:-54.33 [[ 9.97297763e-01 5.76598719e-02 4.55248360e-02 8.62431783e+02] [-5.74480635e-02 9.98330775e-01 -5.94838637e-03 -1.50640964e+02] [-4.57918280e-02 3.31699875e-03 9.98945497e-01 -5.43290170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.000714057 meters 0.03848200248221366 Centerline is valid? [True, True] Translation: X:862.46, Y:-150.64, Z:-54.33 [[ 9.97129646e-01 6.04513003e-02 4.55862808e-02 8.62462416e+02] [-6.02419016e-02 9.98166046e-01 -5.95462935e-03 -1.50637126e+02] [-4.58626427e-02 3.19133322e-03 9.98942658e-01 -5.43291298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.030714057 meters 0.04141715823741555 Centerline is valid? [True, True] Translation: X:862.49, Y:-150.64, Z:-54.33 [[ 9.97052703e-01 6.19302273e-02 4.52830418e-02 8.62490728e+02] [-6.17251514e-02 9.98075661e-01 -5.91443246e-03 -1.50643574e+02] [-4.55621840e-02 3.10189827e-03 9.98956689e-01 -5.43315998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.0607140569999 meters 0.035891109349191486 Centerline is valid? [True, True] Translation: X:862.52, Y:-150.64, Z:-54.33 [[ 9.96818857e-01 6.53938841e-02 4.55610164e-02 8.62522521e+02] [-6.51899703e-02 9.97855140e-01 -5.94876366e-03 -1.50637305e+02] [-4.58523072e-02 2.95971848e-03 9.98943845e-01 -5.43317981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.0907140569999 meters 0.03528718293097461 Centerline is valid? [True, True] Translation: X:862.55, Y:-150.64, Z:-54.33 [[ 9.96737225e-01 6.67393854e-02 4.53955714e-02 8.62551540e+02] [-6.65383154e-02 9.97766263e-01 -5.92769954e-03 -1.50638848e+02] [-4.56897806e-02 2.88781394e-03 9.98951503e-01 -5.43329342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.120714057 meters 0.03446115336220025 Centerline is valid? [True, True] Translation: X:862.58, Y:-150.64, Z:-54.33 [[ 9.96568891e-01 6.93104547e-02 4.52383395e-02 8.62582045e+02] [-6.91135889e-02 9.97591331e-01 -5.90331417e-03 -1.50638199e+02] [-4.55385367e-02 2.75647525e-03 9.98958780e-01 -5.43341083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.150714057 meters 0.034222769260714846 Centerline is valid? [True, True] Translation: X:862.61, Y:-150.64, Z:-54.34 [[ 9.96469117e-01 7.04930544e-02 4.56073219e-02 8.62610804e+02] [-7.02942037e-02 9.97508550e-01 -5.95126671e-03 -1.50640492e+02] [-4.59132165e-02 2.72432310e-03 9.98941717e-01 -5.43355800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.1807140569999 meters 0.03379025443727005 Centerline is valid? [True, True] Translation: X:862.64, Y:-150.64, Z:-54.34 [[ 9.96414978e-01 7.13607296e-02 4.54404863e-02 8.62639482e+02] [-7.11643774e-02 9.97446996e-01 -5.92629586e-03 -1.50642208e+02] [-4.57473813e-02 2.67130605e-03 9.98949469e-01 -5.43368737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.2107140569999 meters 0.031050970736247036 Centerline is valid? [True, True] Translation: X:862.67, Y:-150.64, Z:-54.34 [[ 9.96262474e-01 7.32787997e-02 4.57307333e-02 8.62668906e+02] [-7.30820914e-02 9.97308115e-01 -5.96090221e-03 -1.50640457e+02] [-4.60444392e-02 2.59652556e-03 9.98936018e-01 -5.43375199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.2407140569999 meters 0.03193881663471942 Centerline is valid? [True, True] Translation: X:862.70, Y:-150.65, Z:-54.34 [[ 9.96196836e-01 7.39724734e-02 4.60427808e-02 8.62695836e+02] [-7.37739528e-02 9.97256949e-01 -5.99843941e-03 -1.50645047e+02] [-4.63602025e-02 2.57886843e-03 9.98921459e-01 -5.43395047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.270714057 meters 0.030333353937924974 Centerline is valid? [True, True] Translation: X:862.72, Y:-150.65, Z:-54.34 [[ 9.96171274e-01 7.46491935e-02 4.55004498e-02 8.62724679e+02] [-7.44562239e-02 9.97206690e-01 -5.92353917e-03 -1.50645066e+02] [-4.58155403e-02 2.51306788e-03 9.98946756e-01 -5.43404759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.3007140569999 meters 0.03143178095923141 Centerline is valid? [True, True] Translation: X:862.75, Y:-150.65, Z:-54.34 [[ 9.96190047e-01 7.45084983e-02 4.53196812e-02 8.62752035e+02] [-7.43170563e-02 9.97217229e-01 -5.89691716e-03 -1.50649494e+02] [-4.56329374e-02 2.50642488e-03 9.98955131e-01 -5.43425119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.3307140569999 meters 0.03150567134893253 Centerline is valid? [True, True] Translation: X:862.78, Y:-150.65, Z:-54.34 [[ 9.96226590e-01 7.42649208e-02 4.49143987e-02 8.62780086e+02] [-7.40768260e-02 9.97235437e-01 -5.84015368e-03 -1.50652768e+02] [-4.52239486e-02 2.49100029e-03 9.98973768e-01 -5.43441435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.3607140569999 meters 0.035986194540946904 Centerline is valid? [True, True] Translation: X:862.81, Y:-150.66, Z:-54.35 [[ 9.96329534e-01 7.32560591e-02 4.42832989e-02 8.62806074e+02] [-7.30723934e-02 9.97310039e-01 -5.75430282e-03 -1.50662923e+02] [-4.45857161e-02 2.49729521e-03 9.99002441e-01 -5.43478646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.390714057 meters 0.033867376080696614 Centerline is valid? [True, True] Translation: X:862.83, Y:-150.66, Z:-54.35 [[ 9.96367415e-01 7.25904154e-02 4.45264733e-02 8.62834717e+02] [-7.24042801e-02 9.97358611e-01 -5.78106648e-03 -1.50663703e+02] [-4.48285116e-02 2.53615901e-03 9.98991478e-01 -5.43487903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.4207140569999 meters 0.03160322525224667 Centerline is valid? [True, True] Translation: X:862.86, Y:-150.66, Z:-54.35 [[ 9.96480007e-01 7.09131639e-02 4.47092691e-02 8.62864822e+02] [-7.07239749e-02 9.97479055e-01 -5.80122890e-03 -1.50663577e+02] [-4.50079430e-02 2.61879140e-03 9.98983197e-01 -5.43495530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.4507140569999 meters 0.032631258685677615 Centerline is valid? [True, True] Translation: X:862.89, Y:-150.67, Z:-54.35 [[ 9.96569117e-01 6.96514348e-02 4.47065181e-02 8.62892273e+02] [-6.94610471e-02 9.97567804e-01 -5.79992629e-03 -1.50668231e+02] [-4.50017563e-02 2.67466586e-03 9.98983327e-01 -5.43512351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.4807140569999 meters 0.03323396533523435 Centerline is valid? [True, True] Translation: X:862.92, Y:-150.67, Z:-54.35 [[ 9.96628311e-01 6.87713483e-02 4.47494292e-02 8.62920370e+02] [-6.85799043e-02 9.97628760e-01 -5.80120720e-03 -1.50672424e+02] [-4.50422744e-02 2.71273576e-03 9.98981399e-01 -5.43525925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.510714057 meters 0.03469601280973367 Centerline is valid? [True, True] Translation: X:862.95, Y:-150.68, Z:-54.35 [[ 9.96765759e-01 6.68025850e-02 4.46702992e-02 8.62948522e+02] [-6.66100047e-02 9.97762302e-01 -5.78749489e-03 -1.50676919e+02] [-4.49569602e-02 2.79328790e-03 9.98985020e-01 -5.43543627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.540714057 meters 0.034721471357535644 Centerline is valid? [True, True] Translation: X:862.98, Y:-150.68, Z:-54.36 [[ 9.96835804e-01 6.60176917e-02 4.42723990e-02 8.62977138e+02] [-6.58278534e-02 9.97814520e-01 -5.73382586e-03 -1.50680238e+02] [-4.45541765e-02 2.80132592e-03 9.99003042e-01 -5.43558476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.5707140569999 meters 0.036973083288370324 Centerline is valid? [True, True] Translation: X:863.00, Y:-150.69, Z:-54.36 [[ 9.96931083e-01 6.47114738e-02 4.40549690e-02 8.63004573e+02] [-6.45223569e-02 9.97899967e-01 -5.70274891e-03 -1.50686019e+02] [-4.43314854e-02 2.84271721e-03 9.99012832e-01 -5.43577549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.6007140569999 meters 0.03765403995472283 Centerline is valid? [True, True] Translation: X:863.03, Y:-150.69, Z:-54.36 [[ 9.96945143e-01 6.46467230e-02 4.38313074e-02 8.63033453e+02] [-6.44596431e-02 9.97904209e-01 -5.66966528e-03 -1.50689986e+02] [-4.41059714e-02 2.82699483e-03 9.99022858e-01 -5.43597918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.630714057 meters 0.033183434663662005 Centerline is valid? [True, True] Translation: X:863.06, Y:-150.69, Z:-54.36 [[ 9.96943219e-01 6.49638689e-02 4.34040667e-02 8.63063374e+02] [-6.47808485e-02 9.97883737e-01 -5.61147076e-03 -1.50686610e+02] [-4.36767551e-02 2.78256546e-03 9.99041840e-01 -5.43599983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.660714057 meters 0.03321625523858025 Centerline is valid? [True, True] Translation: X:863.09, Y:-150.69, Z:-54.36 [[ 9.96789770e-01 6.73216852e-02 4.33352726e-02 8.63092423e+02] [-6.71416240e-02 9.97727746e-01 -5.59888688e-03 -1.50688152e+02] [-4.36137304e-02 2.67131259e-03 9.99044897e-01 -5.43616177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.6907140569999 meters 0.037159617152702155 Centerline is valid? [True, True] Translation: X:863.12, Y:-150.70, Z:-54.36 [[ 9.96647777e-01 6.92631551e-02 4.35410601e-02 8.63120761e+02] [-6.90832934e-02 9.97595043e-01 -5.62387548e-03 -1.50696707e+02] [-4.38258731e-02 2.59706317e-03 9.99035809e-01 -5.43642828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.7207140569999 meters 0.03162829323531672 Centerline is valid? [True, True] Translation: X:863.15, Y:-150.69, Z:-54.36 [[ 9.96251090e-01 7.42905540e-02 4.43247022e-02 8.63152352e+02] [-7.41092018e-02 9.97233710e-01 -5.72303217e-03 -1.50688876e+02] [-4.46272545e-02 2.41670874e-03 9.99000785e-01 -5.43629037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.750714057 meters 0.03117463719493124 Centerline is valid? [True, True] Translation: X:863.18, Y:-150.69, Z:-54.36 [[ 9.96010825e-01 7.68812120e-02 4.52958739e-02 8.63182195e+02] [-7.66944771e-02 9.97037487e-01 -5.84867949e-03 -1.50689975e+02] [-4.56113378e-02 2.35140473e-03 9.98956494e-01 -5.43636832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.780714057 meters 0.02911882770836465 Centerline is valid? [True, True] Translation: X:863.21, Y:-150.69, Z:-54.36 [[ 9.95772632e-01 7.94590959e-02 4.60772966e-02 8.63212186e+02] [-7.92686851e-02 9.96835542e-01 -5.94791397e-03 -1.50688917e+02] [-4.64041028e-02 2.27028323e-03 9.98920170e-01 -5.43640250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.8107140569999 meters 0.027603778111590864 Centerline is valid? [True, True] Translation: X:863.24, Y:-150.69, Z:-54.36 [[ 9.95316641e-01 8.43998032e-02 4.71323444e-02 8.63242613e+02] [-8.42061855e-02 9.96429790e-01 -6.08203412e-03 -1.50687689e+02] [-4.74773945e-02 2.08471483e-03 9.98870137e-01 -5.43647796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.8407140569999 meters 0.02719612283441338 Centerline is valid? [True, True] Translation: X:863.27, Y:-150.69, Z:-54.37 [[ 9.95193644e-01 8.58205526e-02 4.71640200e-02 8.63271232e+02] [-8.56282449e-02 9.96308565e-01 -6.08656013e-03 -1.50689285e+02] [-4.75122690e-02 2.01873370e-03 9.98868615e-01 -5.43660186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.870714057 meters 0.02687490060709167 Centerline is valid? [True, True] Translation: X:863.30, Y:-150.69, Z:-54.37 [[ 9.95016788e-01 8.75736395e-02 4.76702164e-02 8.63299833e+02] [-8.73793534e-02 9.96156135e-01 -6.14838298e-03 -1.50691156e+02] [-4.80254148e-02 1.95235160e-03 9.98844206e-01 -5.43679594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.900714057 meters 0.02710779931666009 Centerline is valid? [True, True] Translation: X:863.33, Y:-150.69, Z:-54.37 [[ 9.95010139e-01 8.78123486e-02 4.73689281e-02 8.63328277e+02] [-8.76209448e-02 9.96135174e-01 -6.10612715e-03 -1.50694914e+02] [-4.77220488e-02 1.92514818e-03 9.98858799e-01 -5.43702820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.9307140569999 meters 0.02947090095882916 Centerline is valid? [True, True] Translation: X:863.36, Y:-150.70, Z:-54.37 [[ 9.95041095e-01 8.77838684e-02 4.67676465e-02 8.63355561e+02] [-8.75974123e-02 9.96137735e-01 -6.02550646e-03 -1.50702525e+02] [-4.71159597e-02 1.89890173e-03 9.98887622e-01 -5.43736198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.9607140569999 meters 0.027089650552592107 Centerline is valid? [True, True] Translation: X:863.38, Y:-150.70, Z:-54.38 [[ 9.95245029e-01 8.64015784e-02 4.49677708e-02 8.63384333e+02] [-8.62279820e-02 9.96258609e-01 -5.78961070e-03 -1.50702305e+02] [-4.52997602e-02 1.88460114e-03 9.98971661e-01 -5.43758612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.9907140569999 meters 0.027948873527992066 Centerline is valid? [True, True] Translation: X:863.41, Y:-150.71, Z:-54.38 [[ 9.95334154e-01 8.54957698e-02 4.47257800e-02 8.63411793e+02] [-8.53232606e-02 9.96336698e-01 -5.75546396e-03 -1.50708441e+02] [-4.50540038e-02 1.91246046e-03 9.98982722e-01 -5.43783746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.020714057 meters 0.028597834624153048 Centerline is valid? [True, True] Translation: X:863.44, Y:-150.71, Z:-54.38 [[ 9.95636754e-01 8.26909509e-02 4.32395778e-02 8.63440780e+02] [-8.25272788e-02 9.96573298e-01 -5.55975990e-03 -1.50713386e+02] [-4.35511505e-02 1.96705661e-03 9.99049262e-01 -5.43806505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.0507140569999 meters 0.028928737463304818 Centerline is valid? [True, True] Translation: X:863.47, Y:-150.72, Z:-54.38 [[ 9.95752731e-01 8.14403445e-02 4.29414658e-02 8.63468981e+02] [-8.12778066e-02 9.96676198e-01 -5.52042021e-03 -1.50717725e+02] [-4.32483218e-02 2.00678534e-03 9.99062338e-01 -5.43824743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.0807140569999 meters 0.02959326072481362 Centerline is valid? [True, True] Translation: X:863.50, Y:-150.72, Z:-54.38 [[ 9.95831411e-01 8.04805004e-02 4.29265677e-02 8.63496836e+02] [-8.03172808e-02 9.96754084e-01 -5.51631419e-03 -1.50722298e+02] [-4.32311874e-02 2.04557375e-03 9.99063001e-01 -5.43845621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.1107140569999 meters 0.029481309329885803 Centerline is valid? [True, True] Translation: X:863.52, Y:-150.73, Z:-54.39 [[ 9.95901408e-01 7.93571440e-02 4.33915889e-02 8.63524898e+02] [-7.91895848e-02 9.96844014e-01 -5.56962811e-03 -1.50726299e+02] [-4.36966354e-02 2.11063856e-03 9.99042616e-01 -5.43857153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.140714057 meters 0.0310394885392691 Centerline is valid? [True, True] Translation: X:863.55, Y:-150.73, Z:-54.39 [[ 9.95936441e-01 7.88270132e-02 4.35534991e-02 8.63551711e+02] [-7.86578680e-02 9.96886017e-01 -5.58646529e-03 -1.50732411e+02] [-4.38582387e-02 2.13793897e-03 9.99035477e-01 -5.43873897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.1707140569999 meters 0.029179194195750772 Centerline is valid? [True, True] Translation: X:863.58, Y:-150.73, Z:-54.39 [[ 9.95874191e-01 7.86883035e-02 4.51967576e-02 8.63581181e+02] [-7.85061658e-02 9.96896793e-01 -5.79362480e-03 -1.50732993e+02] [-4.55123932e-02 2.22149727e-03 9.98961304e-01 -5.43874260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.2007140569999 meters 0.03216166100548633 Centerline is valid? [True, True] Translation: X:863.61, Y:-150.74, Z:-54.39 [[ 9.95881917e-01 7.86277579e-02 4.51318327e-02 8.63606767e+02] [-7.84463739e-02 9.96901585e-01 -5.77887589e-03 -1.50741135e+02] [-4.54463756e-02 2.21464938e-03 9.98964325e-01 -5.43898745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.2307140569999 meters 0.03233308991809107 Centerline is valid? [True, True] Translation: X:863.64, Y:-150.74, Z:-54.39 [[ 9.95843089e-01 7.88395047e-02 4.56165980e-02 8.63635809e+02] [-7.86547215e-02 9.96884845e-01 -5.83442213e-03 -1.50744460e+02] [-4.59344782e-02 2.22220814e-03 9.98941983e-01 -5.43911705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.260714057 meters 0.032605429259105624 Centerline is valid? [True, True] Translation: X:863.66, Y:-150.75, Z:-54.39 [[ 9.95752364e-01 7.96700100e-02 4.61510471e-02 8.63663877e+02] [-7.94819074e-02 9.96818851e-01 -5.89955707e-03 -1.50748241e+02] [-4.64742515e-02 2.20632465e-03 9.98917052e-01 -5.43928092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.290714057 meters 0.031283513817618 Centerline is valid? [True, True] Translation: X:863.69, Y:-150.75, Z:-54.39 [[ 9.95749733e-01 7.98551400e-02 4.58870913e-02 8.63692494e+02] [-7.96695236e-02 9.96804091e-01 -5.86272334e-03 -1.50749866e+02] [-4.62086089e-02 2.18200250e-03 9.98929429e-01 -5.43947961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.3207140569999 meters 0.033575167562395 Centerline is valid? [True, True] Translation: X:863.72, Y:-150.76, Z:-54.40 [[ 9.95764281e-01 7.97948166e-02 4.56758501e-02 8.63718849e+02] [-7.96109608e-02 9.96808943e-01 -5.83318460e-03 -1.50757119e+02] [-4.59955538e-02 2.17217856e-03 9.98939283e-01 -5.43975654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.3507140569999 meters 0.031216376324191383 Centerline is valid? [True, True] Translation: X:863.75, Y:-150.76, Z:-54.40 [[ 9.95771955e-01 7.96725532e-02 4.57219717e-02 8.63747076e+02] [-7.94884597e-02 9.96818718e-01 -5.83337547e-03 -1.50756801e+02] [-4.60412772e-02 2.17434258e-03 9.98937172e-01 -5.43984750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.380714057 meters 0.03112040866331197 Centerline is valid? [True, True] Translation: X:863.78, Y:-150.76, Z:-54.40 [[ 9.95745637e-01 8.03228683e-02 4.51537743e-02 8.63775302e+02] [-8.01442223e-02 9.96766660e-01 -5.75582952e-03 -1.50760233e+02] [-4.54701016e-02 2.11252800e-03 9.98963466e-01 -5.44001891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.410714057 meters 0.0307922012490623 Centerline is valid? [True, True] Translation: X:863.80, Y:-150.76, Z:-54.40 [[ 9.95656367e-01 8.13737525e-02 4.52406012e-02 8.63804228e+02] [-8.11956432e-02 9.96681517e-01 -5.76376060e-03 -1.50763081e+02] [-4.55594898e-02 2.06538522e-03 9.98959492e-01 -5.44011652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.4407140569999 meters 0.029909194577721947 Centerline is valid? [True, True] Translation: X:863.83, Y:-150.77, Z:-54.40 [[ 9.95293761e-01 8.51467133e-02 4.62641050e-02 8.63833375e+02] [-8.49646829e-02 9.96366551e-01 -5.89049261e-03 -1.50765068e+02] [-4.65975628e-02 1.93195554e-03 9.98911875e-01 -5.44024115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.4707140569999 meters 0.029133670090825816 Centerline is valid? [True, True] Translation: X:863.86, Y:-150.77, Z:-54.40 [[ 9.95020885e-01 8.81224959e-02 4.65603302e-02 8.63863327e+02] [-8.79414591e-02 9.96108015e-01 -5.92641889e-03 -1.50767042e+02] [-4.69013689e-02 1.80232720e-03 9.98897899e-01 -5.44040012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.500714057 meters 0.027140918163010522 Centerline is valid? [True, True] Translation: X:863.89, Y:-150.77, Z:-54.40 [[ 9.94723836e-01 9.13082011e-02 4.67686133e-02 8.63893385e+02] [-9.11290818e-02 9.95821299e-01 -5.95232046e-03 -1.50766667e+02] [-4.71166770e-02 1.65893425e-03 9.98888015e-01 -5.44047946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.530714057 meters 0.025324285462609755 Centerline is valid? [True, True] Translation: X:863.92, Y:-150.77, Z:-54.41 [[ 9.93872232e-01 9.98656464e-02 4.73797360e-02 8.63923494e+02] [-9.96915983e-02 9.95000123e-01 -6.02829731e-03 -1.50765338e+02] [-4.77448629e-02 1.26799570e-03 9.98858759e-01 -5.44062627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.5607140569999 meters 0.022962503769018355 Centerline is valid? [True, True] Translation: X:863.95, Y:-150.76, Z:-54.41 [[ 9.93401884e-01 1.04216663e-01 4.78704982e-02 8.63952609e+02] [-1.04044056e-01 9.94554043e-01 -6.09022090e-03 -1.50763581e+02] [-4.82445000e-02 1.06939610e-03 9.98834984e-01 -5.44063040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.5907140569999 meters 0.02172612803339102 Centerline is valid? [True, True] Translation: X:863.98, Y:-150.76, Z:-54.41 [[ 9.92463460e-01 1.12544091e-01 4.84779111e-02 8.63982792e+02] [-1.12377183e-01 9.93646506e-01 -6.16352536e-03 -1.50763179e+02] [-4.88635754e-02 6.69262611e-04 9.98805238e-01 -5.44081186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.620714057 meters 0.02172612803339102 Centerline is valid? [True, True] Translation: X:864.01, Y:-150.77, Z:-54.41 [[ 9.92495325e-01 1.12262816e-01 4.84777196e-02 8.64009912e+02] [-1.12095499e-01 9.93678314e-01 -6.16503487e-03 -1.50766560e+02] [-4.88633628e-02 6.84634104e-04 9.98805238e-01 -5.44097025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.650714057 meters 0.02143143404187391 Centerline is valid? [True, True] Translation: X:864.04, Y:-150.77, Z:-54.41 [[ 9.92110836e-01 1.15384077e-01 4.90163686e-02 8.64038887e+02] [-1.15217555e-01 9.93320815e-01 -6.21876023e-03 -1.50769568e+02] [-4.94065251e-02 5.22153277e-04 9.98778615e-01 -5.44110753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.6807140569999 meters 0.021350760346250264 Centerline is valid? [True, True] Translation: X:864.07, Y:-150.77, Z:-54.41 [[ 9.91753589e-01 1.18331487e-01 4.92186687e-02 8.64067680e+02] [-1.18167781e-01 9.92974081e-01 -6.23295642e-03 -1.50773513e+02] [-4.96104174e-02 3.65496017e-04 9.98768578e-01 -5.44133264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.7107140569999 meters 0.020864665134544096 Centerline is valid? [True, True] Translation: X:864.10, Y:-150.78, Z:-54.42 [[ 9.91264066e-01 1.22307808e-01 4.93594166e-02 8.64095672e+02] [-1.22148709e-01 9.92492205e-01 -6.23832339e-03 -1.50779652e+02] [-4.97518319e-02 1.54636802e-04 9.98761599e-01 -5.44161738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.7407140569999 meters 0.020956049609724827 Centerline is valid? [True, True] Translation: X:864.12, Y:-150.79, Z:-54.42 [[ 9.91138373e-01 1.23445842e-01 4.90494606e-02 8.64123405e+02] [-1.23290728e-01 9.92351307e-01 -6.18703267e-03 -1.50785217e+02] [-4.94380598e-02 8.48617853e-05 9.98777188e-01 -5.44185052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.770714057 meters 0.020819002802361167 Centerline is valid? [True, True] Translation: X:864.15, Y:-150.79, Z:-54.42 [[ 9.90824562e-01 1.25826802e-01 4.93386519e-02 8.64149468e+02] [-1.25673584e-01 9.92052223e-01 -6.20781225e-03 -1.50793424e+02] [-4.97276285e-02 -4.97123680e-05 9.98762815e-01 -5.44218252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.8007140569999 meters 0.02101270678716663 Centerline is valid? [True, True] Translation: X:864.18, Y:-150.80, Z:-54.42 [[ 9.90684912e-01 1.26642181e-01 5.00516125e-02 8.64177244e+02] [-1.26485802e-01 9.91948461e-01 -6.29232190e-03 -1.50799857e+02] [-5.04454934e-02 -9.71099678e-05 9.98726811e-01 -5.44226873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.8307140569999 meters 0.02089339799150302 Centerline is valid? [True, True] Translation: X:864.20, Y:-150.81, Z:-54.42 [[ 9.90550931e-01 1.27409038e-01 5.07522488e-02 8.64204298e+02] [-1.27250007e-01 9.91850248e-01 -6.36567695e-03 -1.50806821e+02] [-5.11496753e-02 -1.52696810e-04 9.98690987e-01 -5.44239524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.8607140569999 meters 0.020655135044906722 Centerline is valid? [True, True] Translation: X:864.23, Y:-150.82, Z:-54.43 [[ 9.90323325e-01 1.28331430e-01 5.28276143e-02 8.64230862e+02] [-1.28161268e-01 9.91731311e-01 -6.61025344e-03 -1.50818568e+02] [-5.32391025e-02 -2.24165895e-04 9.98581768e-01 -5.44254117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.890714057 meters 0.02051418661778442 Centerline is valid? [True, True] Translation: X:864.26, Y:-150.83, Z:-54.43 [[ 9.90279819e-01 1.28042867e-01 5.43222300e-02 8.64255941e+02] [-1.27863412e-01 9.91768608e-01 -6.78064176e-03 -1.50831145e+02] [-5.47432952e-02 -2.31092969e-04 9.98500435e-01 -5.44274938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.9207140569999 meters 0.02040056470682805 Centerline is valid? [True, True] Translation: X:864.28, Y:-150.84, Z:-54.43 [[ 9.90348960e-01 1.27178610e-01 5.50866540e-02 8.64283408e+02] [-1.26993336e-01 9.91879813e-01 -6.86514152e-03 -1.50839728e+02] [-5.55124392e-02 -1.96752202e-04 9.98457976e-01 -5.44295127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.9507140569999 meters 0.020120465932334314 Centerline is valid? [True, True] Translation: X:864.31, Y:-150.85, Z:-54.43 [[ 9.90508150e-01 1.25959336e-01 5.50259035e-02 8.64310402e+02] [-1.25773419e-01 9.92035395e-01 -6.84266498e-03 -1.50848464e+02] [-5.54495415e-02 -1.43080559e-04 9.98461480e-01 -5.44315364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.9807140569999 meters 0.02032058273509123 Centerline is valid? [True, True] Translation: X:864.34, Y:-150.86, Z:-54.43 [[ 9.91011606e-01 1.21668712e-01 5.56122418e-02 8.64336661e+02] [-1.21472962e-01 9.92570762e-01 -6.89939214e-03 -1.50863873e+02] [-5.60385254e-02 8.19939263e-05 9.98428604e-01 -5.44347481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.010714057 meters 0.020126088740723056 Centerline is valid? [True, True] Translation: X:864.36, Y:-150.87, Z:-54.44 [[ 9.91307195e-01 1.19067332e-01 5.59733537e-02 8.64363810e+02] [-1.18865815e-01 9.92886159e-01 -6.92772353e-03 -1.50873995e+02] [-5.64000337e-02 2.14183883e-04 9.98408228e-01 -5.44368479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.040714057 meters 0.020740520501644325 Centerline is valid? [True, True] Translation: X:864.39, Y:-150.89, Z:-54.44 [[ 9.92041334e-01 1.12737475e-01 5.60736413e-02 8.64390683e+02] [-1.12525409e-01 9.93624646e-01 -6.93511734e-03 -1.50891965e+02] [-5.64979996e-02 5.70213655e-04 9.98402550e-01 -5.44402504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.0707140569999 meters 0.02130697752028162 Centerline is valid? [True, True] Translation: X:864.42, Y:-150.90, Z:-54.44 [[ 9.92413650e-01 1.09119890e-01 5.66391882e-02 8.64417988e+02] [-1.08897867e-01 9.94028290e-01 -7.00094258e-03 -1.50902868e+02] [-5.70648975e-02 7.79944170e-04 9.98370166e-01 -5.44427045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.1007140569999 meters 0.02171579014945827 Centerline is valid? [True, True] Translation: X:864.45, Y:-150.91, Z:-54.45 [[ 9.92827188e-01 1.05271360e-01 5.66755382e-02 8.64445490e+02] [-1.05043018e-01 9.94443033e-01 -7.00137582e-03 -1.50913113e+02] [-5.70976385e-02 9.97786704e-04 9.98368101e-01 -5.44450528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.130714057 meters 0.02359502579868669 Centerline is valid? [True, True] Translation: X:864.47, Y:-150.93, Z:-54.45 [[ 9.93594874e-01 9.75708292e-02 5.70013937e-02 8.64472591e+02] [-9.73274236e-02 9.95227535e-01 -7.03748706e-03 -1.50931247e+02] [-5.74160100e-02 1.44461229e-03 9.98349295e-01 -5.44473086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.160714057 meters 0.025525731896966924 Centerline is valid? [True, True] Translation: X:864.50, Y:-150.95, Z:-54.45 [[ 9.94196976e-01 9.02524425e-02 5.85394741e-02 8.64501374e+02] [-8.99830649e-02 9.95917075e-01 -7.22687570e-03 -1.50947581e+02] [-5.89527050e-02 1.91737667e-03 9.98258936e-01 -5.44490599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.1907140569999 meters 0.026873136540116742 Centerline is valid? [True, True] Translation: X:864.53, Y:-150.96, Z:-54.45 [[ 9.94448081e-01 8.70127519e-02 5.91759610e-02 8.64528340e+02] [-8.67317553e-02 9.96204916e-01 -7.30538932e-03 -1.50957799e+02] [-5.95870453e-02 2.13239542e-03 9.98220836e-01 -5.44505090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.2207140569999 meters 0.028506682926770072 Centerline is valid? [True, True] Translation: X:864.56, Y:-150.97, Z:-54.45 [[ 9.94697540e-01 8.38102505e-02 5.96040742e-02 8.64556226e+02] [-8.35195581e-02 9.96478987e-01 -7.35611646e-03 -1.50968066e+02] [-6.00107255e-02 2.33900501e-03 9.98194992e-01 -5.44521274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.250714057 meters 0.029037406762652516 Centerline is valid? [True, True] Translation: X:864.59, Y:-150.98, Z:-54.46 [[ 9.95119958e-01 7.82468445e-02 6.01140598e-02 8.64585588e+02] [-7.79411432e-02 9.96930372e-01 -7.41704363e-03 -1.50979002e+02] [-6.05098922e-02 2.69548961e-03 9.98163958e-01 -5.44554366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.280714057 meters 0.031365757867362724 Centerline is valid? [True, True] Translation: X:864.61, Y:-150.99, Z:-54.46 [[ 9.95320821e-01 7.57164047e-02 6.00290794e-02 8.64614266e+02] [-7.54069559e-02 9.97125332e-01 -7.40694256e-03 -1.50989161e+02] [-6.04173428e-02 2.84567400e-03 9.98169147e-01 -5.44573529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.3107140569999 meters 0.033552613376220675 Centerline is valid? [True, True] Translation: X:864.64, Y:-151.00, Z:-54.46 [[ 9.95546330e-01 7.19435961e-02 6.09230965e-02 8.64643309e+02] [-7.16178014e-02 9.97403820e-01 -7.51731627e-03 -1.51001769e+02] [-6.13057520e-02 3.12065840e-03 9.98114155e-01 -5.44594093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.3407140569999 meters 0.03193033680988496 Centerline is valid? [True, True] Translation: X:864.68, Y:-151.00, Z:-54.46 [[ 9.95649365e-01 7.03228635e-02 6.11313157e-02 8.64675266e+02] [-6.99917118e-02 9.97519044e-01 -7.54428779e-03 -1.51004802e+02] [-6.15101875e-02 3.23277991e-03 9.98101220e-01 -5.44616258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.370714057 meters 0.0337228843488154 Centerline is valid? [True, True] Translation: X:864.70, Y:-151.01, Z:-54.46 [[ 9.95794460e-01 6.79029538e-02 6.15027028e-02 8.64704544e+02] [-6.75628977e-02 9.97686113e-01 -7.59437892e-03 -1.51014478e+02] [-6.18760732e-02 3.40713964e-03 9.98078025e-01 -5.44641410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.400714057 meters 0.033243388168793346 Centerline is valid? [True, True] Translation: X:864.74, Y:-151.02, Z:-54.47 [[ 9.95822973e-01 6.71100625e-02 6.19099907e-02 8.64736678e+02] [-6.67638186e-02 9.97739504e-01 -7.64684545e-03 -1.51018628e+02] [-6.22832237e-02 3.48155698e-03 9.98052443e-01 -5.44662373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.4307140569999 meters 0.03456245200411113 Centerline is valid? [True, True] Translation: X:864.77, Y:-151.03, Z:-54.47 [[ 9.95870551e-01 6.64003267e-02 6.19099582e-02 8.64767583e+02] [-6.60517455e-02 9.97786778e-01 -7.66241527e-03 -1.51025584e+02] [-6.22817246e-02 3.54151291e-03 9.98052326e-01 -5.44681265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.4607140569999 meters 0.03580890013704542 Centerline is valid? [True, True] Translation: X:864.80, Y:-151.03, Z:-54.47 [[ 9.95975015e-01 6.46333166e-02 6.20991480e-02 8.64799144e+02] [-6.42783172e-02 9.97902307e-01 -7.69958671e-03 -1.51032614e+02] [-6.24665329e-02 3.67696725e-03 9.98040286e-01 -5.44701255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.4907140569999 meters 0.03628206013157027 Centerline is valid? [True, True] Translation: X:864.83, Y:-151.04, Z:-54.47 [[ 9.96020702e-01 6.37928300e-02 6.22353305e-02 8.64831387e+02] [-6.34343044e-02 9.97956143e-01 -7.72175821e-03 -1.51037158e+02] [-6.26007232e-02 3.74317613e-03 9.98031632e-01 -5.44724067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.520714057 meters 0.0362351391317649 Centerline is valid? [True, True] Translation: X:864.86, Y:-151.04, Z:-54.47 [[ 9.96095228e-01 6.18776996e-02 6.29717966e-02 8.64862350e+02] [-6.15058874e-02 9.98076025e-01 -7.82774959e-03 -1.51041297e+02] [-6.33350036e-02 3.92404778e-03 9.97984609e-01 -5.44748442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.5507140569999 meters 0.03635643941170826 Centerline is valid? [True, True] Translation: X:864.89, Y:-151.04, Z:-54.48 [[ 9.96147146e-01 6.05331622e-02 6.34554972e-02 8.64893841e+02] [-6.01526684e-02 9.98157995e-01 -7.89137016e-03 -1.51044765e+02] [-6.38163015e-02 4.04394837e-03 9.97953469e-01 -5.44771067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.5807140569999 meters 0.03702064063658536 Centerline is valid? [True, True] Translation: X:864.93, Y:-151.05, Z:-54.48 [[ 9.96191762e-01 5.92662692e-02 6.39490681e-02 8.64925363e+02] [-5.88763195e-02 9.98233494e-01 -7.96681786e-03 -1.51049518e+02] [-6.43082653e-02 4.17139255e-03 9.97921363e-01 -5.44789494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.6107140569999 meters 0.039565667975996845 Centerline is valid? [True, True] Translation: X:864.95, Y:-151.05, Z:-54.48 [[ 9.96318885e-01 5.67293252e-02 6.42686818e-02 8.64954566e+02] [-5.63299070e-02 9.98380068e-01 -8.01132630e-03 -1.51054636e+02] [-6.46190480e-02 4.36158681e-03 9.97900474e-01 -5.44810105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.640714057 meters 0.0398614648007224 Centerline is valid? [True, True] Translation: X:864.99, Y:-151.06, Z:-54.48 [[ 9.96387205e-01 5.56131046e-02 6.41850474e-02 8.64986229e+02] [-5.52121115e-02 9.98442553e-01 -8.00573681e-03 -1.51057728e+02] [-6.45303064e-02 4.43302172e-03 9.97905901e-01 -5.44830782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.6707140569999 meters 0.039274976625133705 Centerline is valid? [True, True] Translation: X:865.02, Y:-151.06, Z:-54.49 [[ 9.96527713e-01 5.28441374e-02 6.43429410e-02 8.65017530e+02] [-5.24351532e-02 9.98592048e-01 -8.02966280e-03 -1.51058489e+02] [-6.46766698e-02 4.62794954e-03 9.97895541e-01 -5.44857711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.7007140569999 meters 0.04044403225980075 Centerline is valid? [True, True] Translation: X:865.05, Y:-151.06, Z:-54.49 [[ 9.96644216e-01 5.08926834e-02 6.41111623e-02 8.65047978e+02] [-5.04825587e-02 9.98692886e-01 -8.00189402e-03 -1.51062295e+02] [-6.44345996e-02 4.73854587e-03 9.97910682e-01 -5.44879491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.7307140569999 meters 0.04330013154348413 Centerline is valid? [True, True] Translation: X:865.08, Y:-151.07, Z:-54.49 [[ 9.96880044e-01 4.69151466e-02 6.34755647e-02 8.65076675e+02] [-4.65050477e-02 9.98886628e-01 -7.92365800e-03 -1.51067435e+02] [-6.37766324e-02 4.94700238e-03 9.97951937e-01 -5.44905795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.760714057 meters 0.043890162193236104 Centerline is valid? [True, True] Translation: X:865.11, Y:-151.07, Z:-54.49 [[ 9.97004498e-01 4.45407006e-02 6.32309897e-02 8.65107909e+02] [-4.41289654e-02 9.98994654e-01 -7.89399123e-03 -1.51070602e+02] [-6.35190246e-02 5.08002661e-03 9.97967698e-01 -5.44932275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.790714057 meters 0.04478707670162129 Centerline is valid? [True, True] Translation: X:865.14, Y:-151.07, Z:-54.50 [[ 9.97132694e-01 4.18925921e-02 6.30190526e-02 8.65138494e+02] [-4.14782323e-02 9.99108415e-01 -7.86967948e-03 -1.51074361e+02] [-6.32925470e-02 5.23319580e-03 9.97981296e-01 -5.44956505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.8207140569999 meters 0.05046663346064166 Centerline is valid? [True, True] Translation: X:865.17, Y:-151.08, Z:-54.50 [[ 9.97366914e-01 3.67460847e-02 6.25217180e-02 8.65167031e+02] [-3.63281613e-02 9.99309407e-01 -7.80851771e-03 -1.51082308e+02] [-6.27654734e-02 5.51665814e-03 9.98013057e-01 -5.44983858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.8507140569999 meters 0.04541808131657836 Centerline is valid? [True, True] Translation: X:865.20, Y:-151.08, Z:-54.50 [[ 9.97453579e-01 3.42551387e-02 6.25535189e-02 8.65198725e+02] [-3.38319814e-02 9.99397005e-01 -7.81174387e-03 -1.51077635e+02] [-6.27833918e-02 5.67554239e-03 9.98011039e-01 -5.45006866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.880714057 meters 0.04629931731033616 Centerline is valid? [True, True] Translation: X:865.23, Y:-151.08, Z:-54.50 [[ 9.97536652e-01 3.10145998e-02 6.29183873e-02 8.65229627e+02] [-3.05800297e-02 9.99501430e-01 -7.85837646e-03 -1.51077860e+02] [-6.31307424e-02 5.91497239e-03 9.97987737e-01 -5.45022493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.910714057 meters 0.04830482207666457 Centerline is valid? [True, True] Translation: X:865.26, Y:-151.08, Z:-54.50 [[ 9.97562028e-01 3.04518676e-02 6.27908041e-02 8.65260845e+02] [-3.00179014e-02 9.99518588e-01 -7.84333203e-03 -1.51081816e+02] [-6.29994199e-02 5.93936203e-03 9.97995890e-01 -5.45036851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.9407140569999 meters 0.04840969477371825 Centerline is valid? [True, True] Translation: X:865.29, Y:-151.08, Z:-54.50 [[ 9.97489882e-01 3.13895565e-02 6.34714964e-02 8.65294121e+02] [-3.09474672e-02 9.99489502e-01 -7.93658340e-03 -1.51079525e+02] [-6.36882201e-02 5.95237959e-03 9.97952093e-01 -5.45048936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.9707140569999 meters 0.04841883297049201 Centerline is valid? [True, True] Translation: X:865.33, Y:-151.08, Z:-54.51 [[ 9.97425427e-01 3.25089770e-02 6.39193504e-02 8.65326327e+02] [-3.20624470e-02 9.99453855e-01 -7.99949499e-03 -1.51080040e+02] [-6.41444966e-02 5.92948892e-03 9.97923005e-01 -5.45066857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.000714057 meters 0.04867666641043666 Centerline is valid? [True, True] Translation: X:865.36, Y:-151.08, Z:-54.51 [[ 9.97370931e-01 3.36916490e-02 6.41568256e-02 8.65357617e+02] [-3.32432541e-02 9.99414918e-01 -8.04406001e-03 -1.51080971e+02] [-6.43903063e-02 5.89012997e-03 9.97907408e-01 -5.45086123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.030714057 meters 0.04583564302150437 Centerline is valid? [True, True] Translation: X:865.39, Y:-151.07, Z:-54.51 [[ 9.97316302e-01 3.55709698e-02 6.39914109e-02 8.65389818e+02] [-3.51285797e-02 9.99350576e-01 -8.02551313e-03 -1.51074334e+02] [-6.42353286e-02 5.75604769e-03 9.97918178e-01 -5.45112319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.0607140569999 meters 0.049030735321609564 Centerline is valid? [True, True] Translation: X:865.42, Y:-151.08, Z:-54.51 [[ 9.97303319e-01 3.64701498e-02 6.36868802e-02 8.65420768e+02] [-3.60336235e-02 9.99318638e-01 -7.98984086e-03 -1.51079584e+02] [-6.39348771e-02 5.67342574e-03 9.97937946e-01 -5.45129040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.0907140569999 meters 0.04959853747127522 Centerline is valid? [True, True] Translation: X:865.45, Y:-151.08, Z:-54.52 [[ 9.97366756e-01 3.74578268e-02 6.21004418e-02 8.65453139e+02] [-3.70438192e-02 9.99283161e-01 -7.80512594e-03 -1.51077329e+02] [-6.23482888e-02 5.48413561e-03 9.98039386e-01 -5.45166589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.120714057 meters 0.05043087255402509 Centerline is valid? [True, True] Translation: X:865.48, Y:-151.08, Z:-54.52 [[ 9.97416586e-01 3.77266510e-02 6.11298174e-02 8.65484823e+02] [-3.73250925e-02 9.99273525e-01 -7.69799760e-03 -1.51079327e+02] [-6.13758278e-02 5.39643439e-03 9.98100138e-01 -5.45193272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.150714057 meters 0.046328236041123017 Centerline is valid? [True, True] Translation: X:865.52, Y:-151.07, Z:-54.52 [[ 9.97452060e-01 3.75826775e-02 6.06376943e-02 8.65517998e+02] [-3.71863463e-02 9.99279053e-01 -7.65175263e-03 -1.51074831e+02] [-6.08815511e-02 5.37736212e-03 9.98130513e-01 -5.45225003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.1807140569999 meters 0.05304586003372322 Centerline is valid? [True, True] Translation: X:865.55, Y:-151.08, Z:-54.53 [[ 9.97544325e-01 3.68979652e-02 5.95303277e-02 8.65548769e+02] [-3.65139105e-02 9.99304800e-01 -7.52674386e-03 -1.51082147e+02] [-5.97666637e-02 5.33457556e-03 9.98198121e-01 -5.45258222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.2107140569999 meters 0.05350547949076482 Centerline is valid? [True, True] Translation: X:865.58, Y:-151.08, Z:-54.53 [[ 9.97577180e-01 3.65147541e-02 5.92152266e-02 8.65581006e+02] [-3.61332730e-02 9.99318831e-01 -7.50065342e-03 -1.51083427e+02] [-5.94487756e-02 5.34284074e-03 9.98217059e-01 -5.45281347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.2407140569999 meters 0.0465703573690348 Centerline is valid? [True, True] Translation: X:865.61, Y:-151.07, Z:-54.53 [[ 9.97636880e-01 3.55195237e-02 5.88134239e-02 8.65614335e+02] [-3.51406664e-02 9.99354504e-01 -7.46379271e-03 -1.51071528e+02] [-5.90405705e-02 5.37941196e-03 9.98241090e-01 -5.45294312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.270714057 meters 0.0492531745766259 Centerline is valid? [True, True] Translation: X:865.65, Y:-151.08, Z:-54.53 [[ 9.97629161e-01 3.52383035e-02 5.91127720e-02 8.65645621e+02] [-3.48542495e-02 9.99364145e-01 -7.51582670e-03 -1.51076459e+02] [-5.93400299e-02 5.43767658e-03 9.98223017e-01 -5.45305301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.3007140569999 meters 0.04711493535935677 Centerline is valid? [True, True] Translation: X:865.68, Y:-151.08, Z:-54.53 [[ 9.97624473e-01 3.48617475e-02 5.94143935e-02 8.65678622e+02] [-3.44722570e-02 9.99376999e-01 -7.56822268e-03 -1.51075083e+02] [-5.96412197e-02 5.50209592e-03 9.98204714e-01 -5.45322953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.3307140569999 meters 0.047989996520561684 Centerline is valid? [True, True] Translation: X:865.71, Y:-151.08, Z:-54.53 [[ 9.97658099e-01 3.32646698e-02 5.97643726e-02 8.65710103e+02] [-3.28668429e-02 9.99430633e-01 -7.62758915e-03 -1.51075412e+02] [-5.99840740e-02 5.64545984e-03 9.98183370e-01 -5.45337875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.3607140569999 meters 0.05023993794775075 Centerline is valid? [True, True] Translation: X:865.74, Y:-151.08, Z:-54.54 [[ 9.97728702e-01 3.08136970e-02 5.98995356e-02 8.65739998e+02] [-3.04095657e-02 9.99508270e-01 -7.64694503e-03 -1.51078425e+02] [-6.01057118e-02 5.80805767e-03 9.98175120e-01 -5.45358804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.390714057 meters 0.051598219120685705 Centerline is valid? [True, True] Translation: X:865.77, Y:-151.08, Z:-54.54 [[ 9.97762378e-01 2.94387915e-02 6.00299432e-02 8.65771246e+02] [-2.90304020e-02 9.99549147e-01 -7.66410852e-03 -1.51082185e+02] [-6.02285006e-02 5.90426577e-03 9.98167154e-01 -5.45379504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.4207140569999 meters 0.05063920509864077 Centerline is valid? [True, True] Translation: X:865.80, Y:-151.08, Z:-54.54 [[ 9.97795810e-01 2.84478363e-02 5.99519920e-02 8.65803695e+02] [-2.80386036e-02 9.99577519e-01 -7.65639971e-03 -1.51083397e+02] [-6.01444715e-02 5.95855341e-03 9.98171898e-01 -5.45397756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.4507140569999 meters 0.0512992670383326 Centerline is valid? [True, True] Translation: X:865.83, Y:-151.08, Z:-54.54 [[ 9.97874557e-01 2.63658249e-02 5.95920514e-02 8.65834740e+02] [-2.59575767e-02 9.99634044e-01 -7.61462006e-03 -1.51084421e+02] [-5.97710090e-02 6.05157037e-03 9.98193771e-01 -5.45419139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.4807140569999 meters 0.05398835259761859 Centerline is valid? [True, True] Translation: X:865.86, Y:-151.09, Z:-54.54 [[ 9.97952520e-01 2.51181444e-02 5.88204672e-02 8.65864357e+02] [-2.47182056e-02 9.99666195e-01 -7.51718488e-03 -1.51088093e+02] [-5.89896504e-02 6.04785719e-03 9.98240274e-01 -5.45442041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.510714057 meters 0.05063376425891849 Centerline is valid? [True, True] Translation: X:865.90, Y:-151.09, Z:-54.55 [[ 9.97952962e-01 2.52253470e-02 5.87670560e-02 8.65897080e+02] [-2.48259971e-02 9.99663535e-01 -7.51581284e-03 -1.51085790e+02] [-5.89368719e-02 6.04147693e-03 9.98243430e-01 -5.45461867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.540714057 meters 0.05063376425891849 Centerline is valid? [True, True] Translation: X:865.93, Y:-151.09, Z:-54.55 [[ 9.97945727e-01 2.55143688e-02 5.87651441e-02 8.65929531e+02] [-2.51146451e-02 9.99656212e-01 -7.53073221e-03 -1.51090021e+02] [-5.89370833e-02 6.03939629e-03 9.98243430e-01 -5.45480782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.5707140569999 meters 0.05306115615134396 Centerline is valid? [True, True] Translation: X:865.96, Y:-151.10, Z:-54.55 [[ 9.97961901e-01 2.48894337e-02 5.87584860e-02 8.65960074e+02] [-2.44877237e-02 9.99671644e-01 -7.54692407e-03 -1.51095223e+02] [-5.89270310e-02 6.09268113e-03 9.98243700e-01 -5.45496097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.6007140569999 meters 0.05436002415921104 Centerline is valid? [True, True] Translation: X:865.99, Y:-151.10, Z:-54.55 [[ 9.97945181e-01 2.49876251e-02 5.90002873e-02 8.65991361e+02] [-2.45823025e-02 9.99669028e-01 -7.58580232e-03 -1.51099634e+02] [-5.91703111e-02 6.11985196e-03 9.98229143e-01 -5.45509605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.630714057 meters 0.0520640372388195 Centerline is valid? [True, True] Translation: X:866.02, Y:-151.10, Z:-54.55 [[ 9.97914666e-01 2.49231432e-02 5.95412104e-02 8.66023532e+02] [-2.45093871e-02 9.99670181e-01 -7.66941482e-03 -1.51098255e+02] [-5.97127185e-02 6.19410296e-03 9.98196386e-01 -5.45528828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.660714057 meters 0.051576592326933804 Centerline is valid? [True, True] Translation: X:866.06, Y:-151.10, Z:-54.56 [[ 9.97923137e-01 2.54852492e-02 5.91600786e-02 8.66055501e+02] [-2.50769262e-02 9.99656373e-01 -7.63431938e-03 -1.51099469e+02] [-5.93343121e-02 6.13491102e-03 9.98219316e-01 -5.45554636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.6907140569999 meters 0.05740335914472926 Centerline is valid? [True, True] Translation: X:866.09, Y:-151.11, Z:-54.56 [[ 9.97933527e-01 2.60773978e-02 5.87251630e-02 8.66085607e+02] [-2.56752002e-02 9.99641500e-01 -7.59309835e-03 -1.51110103e+02] [-5.89021183e-02 6.06962711e-03 9.98245311e-01 -5.45575698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.7207140569999 meters 0.0535576702041355 Centerline is valid? [True, True] Translation: X:866.12, Y:-151.11, Z:-54.56 [[ 9.97911928e-01 2.69432978e-02 5.87013084e-02 8.66118069e+02] [-2.65420906e-02 9.99618777e-01 -7.60387877e-03 -1.51108308e+02] [-5.88838037e-02 6.02994588e-03 9.98246632e-01 -5.45598813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.750714057 meters 0.05238210412881124 Centerline is valid? [True, True] Translation: X:866.15, Y:-151.11, Z:-54.56 [[ 9.97855858e-01 2.88454044e-02 5.87505687e-02 8.66149237e+02] [-2.84459207e-02 9.99566252e-01 -7.62484816e-03 -1.51108497e+02] [-5.89450276e-02 5.93728538e-03 9.98243574e-01 -5.45613086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.780714057 meters 0.05367355785635181 Centerline is valid? [True, True] Translation: X:866.18, Y:-151.11, Z:-54.56 [[ 9.97830992e-01 3.00280667e-02 5.85800925e-02 8.66179784e+02] [-2.96328540e-02 9.99531929e-01 -7.60380050e-03 -1.51113173e+02] [-5.87810002e-02 5.85141246e-03 9.98253753e-01 -5.45631950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.8107140569999 meters 0.05295432182545703 Centerline is valid? [True, True] Translation: X:866.21, Y:-151.12, Z:-54.57 [[ 9.97796613e-01 3.16677068e-02 5.83015923e-02 8.66211200e+02] [-3.12788950e-02 9.99482031e-01 -7.56974876e-03 -1.51115297e+02] [-5.85111104e-02 5.72946029e-03 9.98270316e-01 -5.45655631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.8407140569999 meters 0.05254666417443144 Centerline is valid? [True, True] Translation: X:866.24, Y:-151.12, Z:-54.57 [[ 9.97694309e-01 3.55220616e-02 5.78294808e-02 8.66240612e+02] [-3.51457647e-02 9.99353968e-01 -7.51145951e-03 -1.51117192e+02] [-5.80589436e-02 5.46167908e-03 9.98298217e-01 -5.45677038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.870714057 meters 0.05203717933059247 Centerline is valid? [True, True] Translation: X:866.27, Y:-151.12, Z:-54.57 [[ 9.97662774e-01 3.75656642e-02 5.70772368e-02 8.66271027e+02] [-3.72024819e-02 9.99280255e-01 -7.41267824e-03 -1.51119102e+02] [-5.73146179e-02 5.27193826e-03 9.98342247e-01 -5.45700897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.900714057 meters 0.04834304384450605 Centerline is valid? [True, True] Translation: X:866.30, Y:-151.12, Z:-54.57 [[ 9.97626689e-01 4.00133980e-02 5.60349663e-02 8.66302743e+02] [-3.96672046e-02 9.99186446e-01 -7.27729403e-03 -1.51117087e+02] [-5.62805681e-02 5.03727228e-03 9.98402285e-01 -5.45725753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.9307140569999 meters 0.05077893126982836 Centerline is valid? [True, True] Translation: X:866.33, Y:-151.12, Z:-54.58 [[ 9.97537946e-01 4.29317148e-02 5.54519061e-02 8.66331555e+02] [-4.25971108e-02 9.99066369e-01 -7.20260247e-03 -1.51123219e+02] [-5.57093545e-02 4.82277829e-03 9.98435380e-01 -5.45751838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.9607140569999 meters 0.04617386391499879 Centerline is valid? [True, True] Translation: X:866.36, Y:-151.12, Z:-54.58 [[ 9.97333771e-01 4.88814646e-02 5.41844300e-02 8.66362821e+02] [-4.85707546e-02 9.98794954e-01 -7.03719308e-03 -1.51119238e+02] [-5.44631235e-02 4.38665165e-03 9.98506147e-01 -5.45781274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.9907140569999 meters 0.04788662001194899 Centerline is valid? [True, True] Translation: X:866.39, Y:-151.12, Z:-54.58 [[ 9.97198116e-01 5.18299851e-02 5.39404343e-02 8.66391790e+02] [-5.15263377e-02 9.98647063e-01 -7.00579320e-03 -1.51123853e+02] [-5.42305664e-02 4.20681075e-03 9.98519578e-01 -5.45800719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.020714057 meters 0.04409471736239717 Centerline is valid? [True, True] Translation: X:866.42, Y:-151.12, Z:-54.58 [[ 9.96926986e-01 5.70520599e-02 5.36809711e-02 8.66422908e+02] [-5.67586384e-02 9.98363557e-01 -6.97601334e-03 -1.51119523e+02] [-5.39911212e-02 3.90771713e-03 9.98533769e-01 -5.45812408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.0507140569999 meters 0.043423624402381254 Centerline is valid? [True, True] Translation: X:866.45, Y:-151.12, Z:-54.58 [[ 9.96803157e-01 5.94457278e-02 5.33823149e-02 8.66454087e+02] [-5.91589879e-02 9.98224470e-01 -6.93702005e-03 -1.51121850e+02] [-5.36999092e-02 3.75679977e-03 9.98550052e-01 -5.45828192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.0807140569999 meters 0.045070449002696765 Centerline is valid? [True, True] Translation: X:866.48, Y:-151.13, Z:-54.58 [[ 9.96686947e-01 6.10977855e-02 5.36860307e-02 8.66483052e+02] [-6.08100693e-02 9.98124963e-01 -6.97802817e-03 -1.51126944e+02] [-5.40117095e-02 3.69025835e-03 9.98533483e-01 -5.45840013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.1107140569999 meters 0.03551830969247638 Centerline is valid? [True, True] Translation: X:866.52, Y:-151.12, Z:-54.58 [[ 9.96466688e-01 6.34744992e-02 5.50011604e-02 8.66515084e+02] [-6.31761469e-02 9.97976793e-01 -7.14805379e-03 -1.51115134e+02] [-5.53436008e-02 3.64803610e-03 9.98460704e-01 -5.45840809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.140714057 meters 0.035314563570397535 Centerline is valid? [True, True] Translation: X:866.55, Y:-151.12, Z:-54.59 [[ 9.96380792e-01 6.43830761e-02 5.54989897e-02 8.66545214e+02] [-6.40807928e-02 9.97918661e-01 -7.21097769e-03 -1.51117668e+02] [-5.58477424e-02 3.62846040e-03 9.98432704e-01 -5.45851766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.1707140569999 meters 0.03457988549445757 Centerline is valid? [True, True] Translation: X:866.57, Y:-151.12, Z:-54.59 [[ 9.96288971e-01 6.52260517e-02 5.61591431e-02 8.66574648e+02] [-6.49179141e-02 9.97863937e-01 -7.29574665e-03 -1.51119829e+02] [-5.65150564e-02 3.62293749e-03 9.98395174e-01 -5.45864113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.2007140569999 meters 0.03459673114099822 Centerline is valid? [True, True] Translation: X:866.60, Y:-151.12, Z:-54.59 [[ 9.96246105e-01 6.57055045e-02 5.63603104e-02 8.66604101e+02] [-6.53960322e-02 9.97832541e-01 -7.31983442e-03 -1.51121830e+02] [-5.67191051e-02 3.60661586e-03 9.98383661e-01 -5.45877165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.2307140569999 meters 0.03648449926750248 Centerline is valid? [True, True] Translation: X:866.63, Y:-151.13, Z:-54.59 [[ 9.96341086e-01 6.41867221e-02 5.64314262e-02 8.66631967e+02] [-6.38741597e-02 9.97931063e-01 -7.32702022e-03 -1.51126692e+02] [-5.67849706e-02 3.69570135e-03 9.98379592e-01 -5.45892889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.260714057 meters 0.038375117888479846 Centerline is valid? [True, True] Translation: X:866.66, Y:-151.13, Z:-54.59 [[ 9.96417614e-01 6.30295577e-02 5.63845215e-02 8.66659749e+02] [-6.27157649e-02 9.98004590e-01 -7.31929748e-03 -1.51132548e+02] [-5.67333433e-02 3.75687854e-03 9.98382298e-01 -5.45909332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.290714057 meters 0.03870708406780938 Centerline is valid? [True, True] Translation: X:866.69, Y:-151.14, Z:-54.59 [[ 9.96528273e-01 6.12384590e-02 5.64025957e-02 8.66690008e+02] [-6.09217661e-02 9.98115711e-01 -7.31891347e-03 -1.51136188e+02] [-5.67445159e-02 3.85735846e-03 9.98381280e-01 -5.45920714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.3207140569999 meters 0.04216159002025677 Centerline is valid? [True, True] Translation: X:866.72, Y:-151.14, Z:-54.59 [[ 9.96818612e-01 5.67567677e-02 5.59582388e-02 8.66719026e+02] [-5.64380296e-02 9.98379699e-01 -7.26124275e-03 -1.51143814e+02] [-5.62796943e-02 4.07996918e-03 9.98406706e-01 -5.45939105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.3507140569999 meters 0.044136896651256974 Centerline is valid? [True, True] Translation: X:866.75, Y:-151.15, Z:-54.60 [[ 9.96990213e-01 5.40161549e-02 5.56126864e-02 8.66749633e+02] [-5.36970877e-02 9.98531192e-01 -7.21678259e-03 -1.51150574e+02] [-5.59208249e-02 4.20882231e-03 9.98426335e-01 -5.45962462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.380714057 meters 0.04655950046125111 Centerline is valid? [True, True] Translation: X:866.78, Y:-151.16, Z:-54.60 [[ 9.97264698e-01 4.90296892e-02 5.53101497e-02 8.66779612e+02] [-4.87064195e-02 9.98787342e-01 -7.17843332e-03 -1.51157705e+02] [-5.55950338e-02 4.46483878e-03 9.98443417e-01 -5.45991789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.410714057 meters 0.04923642148501264 Centerline is valid? [True, True] Translation: X:866.81, Y:-151.16, Z:-54.60 [[ 9.97402043e-01 4.66695727e-02 5.48736338e-02 8.66808770e+02] [-4.63477300e-02 9.98899964e-01 -7.12389292e-03 -1.51164777e+02] [-5.51457398e-02 4.56211699e-03 9.98467894e-01 -5.46016008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.4407140569999 meters 0.04879823469027189 Centerline is valid? [True, True] Translation: X:866.84, Y:-151.17, Z:-54.60 [[ 9.97526196e-01 4.45740834e-02 5.43565913e-02 8.66839267e+02] [-4.42552010e-02 9.98995335e-01 -7.05671643e-03 -1.51167865e+02] [-5.46165278e-02 4.63369763e-03 9.98496652e-01 -5.46041926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.4707140569999 meters 0.044304823607864766 Centerline is valid? [True, True] Translation: X:866.87, Y:-151.16, Z:-54.61 [[ 9.97696843e-01 4.20713619e-02 5.32072437e-02 8.66870573e+02] [-4.17622648e-02 9.99103692e-01 -6.90833161e-03 -1.51164254e+02] [-5.34501966e-02 4.67036563e-03 9.98559595e-01 -5.46069085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.500714057 meters 0.048076797829322684 Centerline is valid? [True, True] Translation: X:866.90, Y:-151.17, Z:-54.61 [[ 9.97817359e-01 4.02622624e-02 5.23399319e-02 8.66899679e+02] [-3.99605987e-02 9.99178133e-01 -6.79773703e-03 -1.51170906e+02] [-5.25706077e-02 4.69136499e-03 9.98606190e-01 -5.46088326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.530714057 meters 0.04557736795786863 Centerline is valid? [True, True] Translation: X:866.93, Y:-151.17, Z:-54.61 [[ 9.97828061e-01 4.00957338e-02 5.22636787e-02 8.66932106e+02] [-3.97947912e-02 9.99184827e-01 -6.78653936e-03 -1.51171226e+02] [-5.24931861e-02 4.69197723e-03 9.98610260e-01 -5.46104170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.5607140569999 meters 0.04814492357580383 Centerline is valid? [True, True] Translation: X:866.96, Y:-151.18, Z:-54.61 [[ 9.97811633e-01 3.99296254e-02 5.27026613e-02 8.66962485e+02] [-3.96226491e-02 9.99191186e-01 -6.85714046e-03 -1.51178096e+02] [-5.29338377e-02 4.75391547e-03 9.98586706e-01 -5.46119395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.5907140569999 meters 0.0470296993371068 Centerline is valid? [True, True] Translation: X:866.99, Y:-151.18, Z:-54.61 [[ 9.97758956e-01 4.03261023e-02 5.33935452e-02 8.66994675e+02] [-4.00109009e-02 9.99175005e-01 -6.95962106e-03 -1.51179609e+02] [-5.36301502e-02 4.80770040e-03 9.98549294e-01 -5.46139506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.620714057 meters 0.04578794975843663 Centerline is valid? [True, True] Translation: X:867.03, Y:-151.18, Z:-54.62 [[ 9.97765387e-01 4.10134279e-02 5.27459062e-02 8.67027242e+02] [-4.07060926e-02 9.99147419e-01 -6.88831466e-03 -1.51181518e+02] [-5.29834495e-02 4.72584220e-03 9.98584208e-01 -5.46161430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.650714057 meters 0.04910292295214371 Centerline is valid? [True, True] Translation: X:867.06, Y:-151.19, Z:-54.62 [[ 9.97751705e-01 4.26594547e-02 5.16885587e-02 8.67056843e+02] [-4.23657847e-02 9.99079268e-01 -6.76441461e-03 -1.51188069e+02] [-5.19295336e-02 4.55937986e-03 9.98640344e-01 -5.46194356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.6807140569999 meters 0.04561496601464164 Centerline is valid? [True, True] Translation: X:867.09, Y:-151.19, Z:-54.62 [[ 9.97740419e-01 4.38273970e-02 5.09236353e-02 8.67089806e+02] [-4.35439035e-02 9.99029291e-01 -6.66371875e-03 -1.51186514e+02] [-5.11662567e-02 4.43124767e-03 9.98680318e-01 -5.46211034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.7107140569999 meters 0.046071109705608036 Centerline is valid? [True, True] Translation: X:867.12, Y:-151.19, Z:-54.62 [[ 9.97693875e-01 4.52568966e-02 5.05840496e-02 8.67119880e+02] [-4.49782716e-02 9.98965941e-01 -6.63355933e-03 -1.51189942e+02] [-5.08319570e-02 4.34307839e-03 9.98697777e-01 -5.46235436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.7407140569999 meters 0.04994409085610268 Centerline is valid? [True, True] Translation: X:867.15, Y:-151.20, Z:-54.63 [[ 9.97587117e-01 4.82149585e-02 4.99525964e-02 8.67148767e+02] [-4.79468784e-02 9.98828399e-01 -6.55184333e-03 -1.51196308e+02] [-5.02099687e-02 4.14096343e-03 9.98730099e-01 -5.46266785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.770714057 meters 0.041540470492754465 Centerline is valid? [True, True] Translation: X:867.18, Y:-151.19, Z:-54.63 [[ 9.97514834e-01 4.98070294e-02 4.98338908e-02 8.67181602e+02] [-4.95422334e-02 9.98750647e-01 -6.53551410e-03 -1.51187347e+02] [-5.00971452e-02 4.05039001e-03 9.98736137e-01 -5.46270567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.8007140569999 meters 0.04045731814909603 Centerline is valid? [True, True] Translation: X:867.21, Y:-151.19, Z:-54.63 [[ 9.97314289e-01 5.29525475e-02 5.05987755e-02 8.67212228e+02] [-5.26834653e-02 9.98589200e-01 -6.63789240e-03 -1.51186714e+02] [-5.08788841e-02 3.95434611e-03 9.98697002e-01 -5.46279546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.8307140569999 meters 0.04111681427175888 Centerline is valid? [True, True] Translation: X:867.24, Y:-151.19, Z:-54.63 [[ 9.97245895e-01 5.40723722e-02 5.07622224e-02 8.67241732e+02] [-5.38029457e-02 9.98529361e-01 -6.66015942e-03 -1.51189868e+02] [-5.10477001e-02 3.91065954e-03 9.98688560e-01 -5.46295601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.8607140569999 meters 0.03942835464221284 Centerline is valid? [True, True] Translation: X:867.27, Y:-151.19, Z:-54.63 [[ 9.97180112e-01 5.49679727e-02 5.10915463e-02 8.67271938e+02] [-5.46962510e-02 9.98480544e-01 -6.70243351e-03 -1.51190558e+02] [-5.13823342e-02 3.88901736e-03 9.98671483e-01 -5.46312776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.890714057 meters 0.040770902198586 Centerline is valid? [True, True] Translation: X:867.30, Y:-151.19, Z:-54.63 [[ 9.97090844e-01 5.63331691e-02 5.13461037e-02 8.67300834e+02] [-5.60605772e-02 9.98404654e-01 -6.73488125e-03 -1.51194477e+02] [-5.16435861e-02 3.83679623e-03 9.98658209e-01 -5.46335502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.9207140569999 meters 0.0396308849005631 Centerline is valid? [True, True] Translation: X:867.33, Y:-151.20, Z:-54.64 [[ 9.97104413e-01 5.65953667e-02 5.07912795e-02 8.67330325e+02] [-5.63290190e-02 9.98390038e-01 -6.66131855e-03 -1.51195972e+02] [-5.10865072e-02 3.78100717e-03 9.98687075e-01 -5.46354673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.9507140569999 meters 0.041252546333679294 Centerline is valid? [True, True] Translation: X:867.36, Y:-151.20, Z:-54.64 [[ 9.97103394e-01 5.68514666e-02 5.05245735e-02 8.67358119e+02] [-5.65883251e-02 9.98375619e-01 -6.62463984e-03 -1.51200484e+02] [-5.08191228e-02 3.74634988e-03 9.98700847e-01 -5.46379504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.9807140569999 meters 0.043213905785126086 Centerline is valid? [True, True] Translation: X:867.39, Y:-151.21, Z:-54.64 [[ 9.97146858e-01 5.62558527e-02 5.03331252e-02 8.67386641e+02] [-5.59940924e-02 9.98409307e-01 -6.59672167e-03 -1.51206013e+02] [-5.06241649e-02 3.75954261e-03 9.98710699e-01 -5.46402829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.010714057 meters 0.03928601009077978 Centerline is valid? [True, True] Translation: X:867.42, Y:-151.20, Z:-54.64 [[ 9.97185821e-01 5.60692768e-02 4.97661988e-02 8.67416611e+02] [-5.58132429e-02 9.98419933e-01 -6.52067474e-03 -1.51203699e+02] [-5.00531744e-02 3.72471146e-03 9.98739609e-01 -5.46420011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.040714057 meters 0.04508693829068327 Centerline is valid? [True, True] Translation: X:867.44, Y:-151.21, Z:-54.65 [[ 9.97234197e-01 5.55933435e-02 4.93288623e-02 8.67444272e+02] [-5.53413414e-02 9.98446590e-01 -6.46084408e-03 -1.51214744e+02] [-4.96114143e-02 3.71304925e-03 9.98761694e-01 -5.46459484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.0707140569999 meters 0.04000911764074627 Centerline is valid? [True, True] Translation: X:867.47, Y:-151.21, Z:-54.65 [[ 9.97277093e-01 5.50138025e-02 4.91109143e-02 8.67474693e+02] [-5.47631593e-02 9.98478632e-01 -6.43567595e-03 -1.51211052e+02] [-4.93902496e-02 3.72868338e-03 9.98772597e-01 -5.46472823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.1007140569999 meters 0.040107938255268594 Centerline is valid? [True, True] Translation: X:867.50, Y:-151.21, Z:-54.65 [[ 9.97364342e-01 5.38643655e-02 4.86106907e-02 8.67503910e+02] [-5.36175364e-02 9.98541238e-01 -6.36837769e-03 -1.51213759e+02] [-4.88828079e-02 3.74520735e-03 9.98797499e-01 -5.46501154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.130714057 meters 0.04145160307126299 Centerline is valid? [True, True] Translation: X:867.53, Y:-151.22, Z:-54.65 [[ 9.97453441e-01 5.25130834e-02 4.82598162e-02 8.67532169e+02] [-5.22683228e-02 9.98613074e-01 -6.32064678e-03 -1.51219619e+02] [-4.85248000e-02 3.78209123e-03 9.98814817e-01 -5.46525269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.160714057 meters 0.04545649818126597 Centerline is valid? [True, True] Translation: X:867.56, Y:-151.23, Z:-54.66 [[ 9.97567714e-01 5.02919530e-02 4.82636009e-02 8.67560404e+02] [-5.00446708e-02 9.98726990e-01 -6.31910964e-03 -1.51230162e+02] [-4.85199613e-02 3.88840374e-03 9.98814644e-01 -5.46560230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.1907140569999 meters 0.04451824220350517 Centerline is valid? [True, True] Translation: X:867.59, Y:-151.24, Z:-54.66 [[ 9.97857768e-01 4.40485365e-02 4.83694355e-02 8.67590308e+02] [-4.37929094e-02 9.99020561e-01 -6.33248748e-03 -1.51238922e+02] [-4.86009974e-02 4.20068351e-03 9.98809440e-01 -5.46602569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.2207140569999 meters 0.049600096869941865 Centerline is valid? [True, True] Translation: X:867.62, Y:-151.26, Z:-54.66 [[ 9.98059466e-01 3.85602110e-02 4.88918383e-02 8.67617177e+02] [-3.82925005e-02 9.99246073e-01 -6.40079828e-03 -1.51257943e+02] [-4.91017935e-02 4.51618657e-03 9.98783569e-01 -5.46632851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.250714057 meters 0.04793420966131774 Centerline is valid? [True, True] Translation: X:867.65, Y:-151.26, Z:-54.67 [[ 9.98114971e-01 3.71528942e-02 4.88484094e-02 8.67647696e+02] [-3.68839221e-02 9.99299085e-01 -6.39649109e-03 -1.51263950e+02] [-4.90518190e-02 4.58271259e-03 9.98785722e-01 -5.46651382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.280714057 meters 0.05036530746138779 Centerline is valid? [True, True] Translation: X:867.68, Y:-151.28, Z:-54.67 [[ 9.98109566e-01 3.63241963e-02 4.95766719e-02 8.67677540e+02] [-3.60461185e-02 9.99329041e-01 -6.49193453e-03 -1.51275423e+02] [-4.97792223e-02 4.69261537e-03 9.98749222e-01 -5.46652623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.3107140569999 meters 0.049116235197395025 Centerline is valid? [True, True] Translation: X:867.71, Y:-151.28, Z:-54.66 [[ 9.97965091e-01 3.43213090e-02 5.37375538e-02 8.67708192e+02] [-3.39912387e-02 9.99397304e-01 -7.04449630e-03 -1.51281522e+02] [-5.39469427e-02 5.20355537e-03 9.98530245e-01 -5.46594368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.3407140569999 meters 0.05244480946051959 Centerline is valid? [True, True] Translation: X:867.74, Y:-151.29, Z:-54.66 [[ 9.97938488e-01 3.47941937e-02 5.39271522e-02 8.67737841e+02] [-3.44624407e-02 9.99380987e-01 -7.06990116e-03 -1.51294057e+02] [-5.41397621e-02 5.19686519e-03 9.98519844e-01 -5.46613108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.370714057 meters 0.054802158002258836 Centerline is valid? [True, True] Translation: X:867.76, Y:-151.31, Z:-54.67 [[ 9.97966721e-01 3.69426469e-02 5.19390534e-02 8.67764726e+02] [-3.66373971e-02 9.99305372e-01 -6.81726883e-03 -1.51313900e+02] [-5.21548230e-02 4.90049569e-03 9.98626987e-01 -5.46677984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.400714057 meters 0.0476411449631995 Centerline is valid? [True, True] Translation: X:867.80, Y:-151.31, Z:-54.67 [[ 9.97996470e-01 3.81495554e-02 5.04743288e-02 8.67796263e+02] [-3.78628410e-02 9.99260986e-01 -6.62476569e-03 -1.51314241e+02] [-5.06897594e-02 4.70039128e-03 9.98703387e-01 -5.46720122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.4307140569999 meters 0.0476411449631995 Centerline is valid? [True, True] Translation: X:867.83, Y:-151.32, Z:-54.67 [[ 9.97985581e-01 3.84333671e-02 5.04743165e-02 8.67828672e+02] [-3.81470076e-02 9.99250177e-01 -6.62486116e-03 -1.51318578e+02] [-5.06910854e-02 4.68607177e-03 9.98703387e-01 -5.46739061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.4607140569999 meters 0.04700644995831598 Centerline is valid? [True, True] Translation: X:867.86, Y:-151.33, Z:-54.68 [[ 9.98014836e-01 3.96298391e-02 4.89475489e-02 8.67859450e+02] [-3.93612153e-02 9.99204293e-01 -6.44012724e-03 -1.51326635e+02] [-4.91638222e-02 4.50070752e-03 9.98780588e-01 -5.46778715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.4907140569999 meters 0.04765316394878424 Centerline is valid? [True, True] Translation: X:867.89, Y:-151.34, Z:-54.68 [[ 9.97940177e-01 4.30560009e-02 4.75561051e-02 8.67888316e+02] [-4.28061507e-02 9.99063783e-01 -6.26025799e-03 -1.51336492e+02] [-4.77811239e-02 4.21166917e-03 9.98848951e-01 -5.46794528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.520714057 meters 0.04626944190106793 Centerline is valid? [True, True] Translation: X:867.92, Y:-151.34, Z:-54.68 [[ 9.97863984e-01 4.51377320e-02 4.72234614e-02 8.67918986e+02] [-4.48937355e-02 9.98972433e-01 -6.21530663e-03 -1.51339588e+02] [-4.74554810e-02 4.08199304e-03 9.98865013e-01 -5.46799831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.5507140569999 meters 0.0449412812213898 Centerline is valid? [True, True] Translation: X:867.95, Y:-151.35, Z:-54.68 [[ 9.97608227e-01 4.97562892e-02 4.79805866e-02 8.67948983e+02] [-4.95096467e-02 9.98753675e-01 -6.31600886e-03 -1.51345998e+02] [-4.82350483e-02 3.92540051e-03 9.98828299e-01 -5.46806499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.5807140569999 meters 0.041756217357672404 Centerline is valid? [True, True] Translation: X:867.98, Y:-151.35, Z:-54.68 [[ 9.97475771e-01 5.17172676e-02 4.86560493e-02 8.67980952e+02] [-5.14659679e-02 9.98654214e-01 -6.40436560e-03 -1.51348900e+02] [-4.89217850e-02 3.88406884e-03 9.98795061e-01 -5.46819185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.6107140569999 meters 0.044241394529901 Centerline is valid? [True, True] Translation: X:868.01, Y:-151.36, Z:-54.68 [[ 9.97149132e-01 5.46089438e-02 5.20718003e-02 8.68009443e+02] [-5.43248173e-02 9.98499770e-01 -6.85732883e-03 -1.51361529e+02] [-5.23681522e-02 4.00898845e-03 9.98619800e-01 -5.46817540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.640714057 meters 0.04380166987373741 Centerline is valid? [True, True] Translation: X:868.04, Y:-151.37, Z:-54.68 [[ 9.97003415e-01 5.58845030e-02 5.34893685e-02 8.68040841e+02] [-5.55865482e-02 9.98429031e-01 -7.04311668e-03 -1.51366752e+02] [-5.37989394e-02 4.04872203e-03 9.98543580e-01 -5.46817221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.6707140569999 meters 0.04030899208103816 Centerline is valid? [True, True] Translation: X:868.07, Y:-151.37, Z:-54.68 [[ 9.96867292e-01 5.67262939e-02 5.51156111e-02 8.68073558e+02] [-5.64109847e-02 9.98381228e-01 -7.26112628e-03 -1.51366997e+02] [-5.54382883e-02 4.12925340e-03 9.98453577e-01 -5.46818920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.7007140569999 meters 0.03913506743281634 Centerline is valid? [True, True] Translation: X:868.11, Y:-151.37, Z:-54.68 [[ 9.96705086e-01 5.78898507e-02 5.68131682e-02 8.68105783e+02] [-5.75558221e-02 9.98314121e-01 -7.49957925e-03 -1.51372261e+02] [-5.71515376e-02 4.20494019e-03 9.98356660e-01 -5.46821955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.7307140569999 meters 0.04118361372296303 Centerline is valid? [True, True] Translation: X:868.14, Y:-151.38, Z:-54.68 [[ 9.96675871e-01 5.78264059e-02 5.73874061e-02 8.68135650e+02] [-5.74851733e-02 9.98317579e-01 -7.58062317e-03 -1.51381832e+02] [-5.77292165e-02 4.25649921e-03 9.98323204e-01 -5.46842819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.760714057 meters 0.04419225221660562 Centerline is valid? [True, True] Translation: X:868.17, Y:-151.39, Z:-54.69 [[ 9.96715853e-01 5.66998438e-02 5.78155303e-02 8.68165839e+02] [-5.63508176e-02 9.98381716e-01 -7.65078304e-03 -1.51393196e+02] [-5.81557666e-02 4.36770434e-03 9.98297967e-01 -5.46865932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.790714057 meters 0.04116108926200053 Centerline is valid? [True, True] Translation: X:868.20, Y:-151.40, Z:-54.69 [[ 9.96861043e-01 5.27963292e-02 5.89966787e-02 8.68195322e+02] [-5.24252869e-02 9.98594226e-01 -7.82049633e-03 -1.51399194e+02] [-5.93266362e-02 4.70303033e-03 9.98227545e-01 -5.46894439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.8207140569999 meters 0.04895123693047001 Centerline is valid? [True, True] Translation: X:868.22, Y:-151.42, Z:-54.69 [[ 9.97005080e-01 4.99579768e-02 5.90344830e-02 8.68222690e+02] [-4.95814837e-02 9.98739420e-01 -7.82609762e-03 -1.51416314e+02] [-5.93510413e-02 4.87564184e-03 9.98225266e-01 -5.46913989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.8507140569999 meters 0.04663625130570791 Centerline is valid? [True, True] Translation: X:868.25, Y:-151.42, Z:-54.69 [[ 9.97309439e-01 4.42050262e-02 5.84790379e-02 8.68252967e+02] [-4.38258015e-02 9.99009111e-01 -7.75215206e-03 -1.51421127e+02] [-5.87637758e-02 5.16840371e-03 9.98258537e-01 -5.46938949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.880714057 meters 0.0496855123900501 Centerline is valid? [True, True] Translation: X:868.28, Y:-151.43, Z:-54.70 [[ 9.97476847e-01 4.14405125e-02 5.76422080e-02 8.68281171e+02] [-4.10675005e-02 9.99127155e-01 -7.64128470e-03 -1.51430986e+02] [-5.79085540e-02 5.25478317e-03 9.98308062e-01 -5.46962957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.910714057 meters 0.05075669753075088 Centerline is valid? [True, True] Translation: X:868.31, Y:-151.44, Z:-54.70 [[ 9.97611336e-01 3.87958214e-02 5.71533590e-02 8.68310930e+02] [-3.84248641e-02 9.99232775e-01 -7.57569260e-03 -1.51438586e+02] [-5.74034147e-02 5.36148676e-03 9.98336668e-01 -5.46990837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.9407140569999 meters 0.05154973542497946 Centerline is valid? [True, True] Translation: X:868.34, Y:-151.45, Z:-54.70 [[ 9.97847418e-01 3.37574114e-02 5.62224777e-02 8.68340107e+02] [-3.33905252e-02 9.99414595e-01 -7.45254141e-03 -1.51447561e+02] [-5.64411433e-02 5.55920115e-03 9.98390451e-01 -5.47020950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.9707140569999 meters 0.050524757374390265 Centerline is valid? [True, True] Translation: X:868.37, Y:-151.45, Z:-54.70 [[ 9.97894136e-01 3.16602089e-02 5.66120460e-02 8.68371114e+02] [-3.12848421e-02 9.99482335e-01 -7.50474645e-03 -1.51451896e+02] [-5.68203417e-02 5.71784356e-03 9.98368046e-01 -5.47043556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.000714057 meters 0.056878911776297135 Centerline is valid? [True, True] Translation: X:868.40, Y:-151.47, Z:-54.71 [[ 9.97943140e-01 2.87670765e-02 5.72882579e-02 8.68398825e+02] [-2.83778388e-02 9.99568402e-01 -7.59651562e-03 -1.51466480e+02] [-5.74820620e-02 5.95517370e-03 9.98328778e-01 -5.47050440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.030714057 meters 0.0552009440411251 Centerline is valid? [True, True] Translation: X:868.43, Y:-151.47, Z:-54.71 [[ 9.97922858e-01 2.77610249e-02 5.81317008e-02 8.68431116e+02] [-2.73585844e-02 9.99595969e-01 -7.70752950e-03 -1.51469171e+02] [-5.83221827e-02 6.10111883e-03 9.98279169e-01 -5.47063630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.0607140569999 meters 0.061249637484258136 Centerline is valid? [True, True] Translation: X:868.46, Y:-151.48, Z:-54.71 [[ 9.97933565e-01 2.68166951e-02 5.83906147e-02 8.68460999e+02] [-2.64088087e-02 9.99621215e-01 -7.74611943e-03 -1.51481501e+02] [-5.85762225e-02 6.18808601e-03 9.98263760e-01 -5.47079445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.0907140569999 meters 0.056656546061754076 Centerline is valid? [True, True] Translation: X:868.49, Y:-151.48, Z:-54.71 [[ 9.97966448e-01 2.50318096e-02 5.86206207e-02 8.68492437e+02] [-2.46172593e-02 9.99666649e-01 -7.78337666e-03 -1.51481250e+02] [-5.87959115e-02 6.32446974e-03 9.98249990e-01 -5.47106304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.120714057 meters 0.05783319426074099 Centerline is valid? [True, True] Translation: X:868.52, Y:-151.49, Z:-54.71 [[ 9.98024655e-01 2.38880296e-02 5.81046471e-02 8.68522720e+02] [-2.34787804e-02 9.99694559e-01 -7.71593235e-03 -1.51487504e+02] [-5.82712180e-02 6.33646447e-03 9.98280679e-01 -5.47125809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.150714057 meters 0.0570236564844863 Centerline is valid? [True, True] Translation: X:868.55, Y:-151.49, Z:-54.72 [[ 9.98191735e-01 2.11670106e-02 5.62602725e-02 8.68552836e+02] [-2.07789376e-02 9.99756158e-01 -7.47393131e-03 -1.51490384e+02] [-5.64047547e-02 6.29138776e-03 9.98388162e-01 -5.47161390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.1807140569999 meters 0.05702964155204893 Centerline is valid? [True, True] Translation: X:868.58, Y:-151.49, Z:-54.72 [[ 9.98294891e-01 2.04898375e-02 5.46578260e-02 8.68584127e+02] [-2.01226100e-02 9.99771156e-01 -7.26062102e-03 -1.51493991e+02] [-5.47940868e-02 6.14838275e-03 9.98478746e-01 -5.47187823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.2107140569999 meters 0.0580031757247365 Centerline is valid? [True, True] Translation: X:868.61, Y:-151.50, Z:-54.72 [[ 9.98475303e-01 1.94027290e-02 5.16778861e-02 8.68614446e+02] [-1.90724024e-02 9.99794450e-01 -6.87756466e-03 -1.51497476e+02] [-5.18007073e-02 5.88145702e-03 9.98640123e-01 -5.47225331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.2407140569999 meters 0.060609975006019036 Centerline is valid? [True, True] Translation: X:868.65, Y:-151.50, Z:-54.72 [[ 9.98531644e-01 1.94674229e-02 5.05527089e-02 8.68645333e+02] [-1.91514524e-02 9.99793962e-01 -6.72724764e-03 -1.51503464e+02] [-5.06732553e-02 5.74921184e-03 9.98698737e-01 -5.47245266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.270714057 meters 0.06499848995864144 Centerline is valid? [True, True] Translation: X:868.68, Y:-151.51, Z:-54.73 [[ 9.98564815e-01 1.99243232e-02 4.97124850e-02 8.68675764e+02] [-1.96187670e-02 9.99785571e-01 -6.62691487e-03 -1.51511468e+02] [-4.98338620e-02 5.64210636e-03 9.98741585e-01 -5.47267182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.3007140569999 meters 0.059740660444258326 Centerline is valid? [True, True] Translation: X:868.71, Y:-151.50, Z:-54.73 [[ 9.98612005e-01 2.18929952e-02 4.79036551e-02 8.68708214e+02] [-2.16109228e-02 9.99745982e-01 -6.39840689e-03 -1.51503738e+02] [-4.80315670e-02 5.35428375e-03 9.98831467e-01 -5.47276414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.3307140569999 meters 0.06420020250608639 Centerline is valid? [True, True] Translation: X:868.74, Y:-151.51, Z:-54.73 [[ 9.98613788e-01 2.37137046e-02 4.69910834e-02 8.68736824e+02] [-2.34442218e-02 9.99705436e-01 -6.27770777e-03 -1.51510389e+02] [-4.71261093e-02 5.16733615e-03 9.98875582e-01 -5.47297062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.3607140569999 meters 0.05394592812598412 Centerline is valid? [True, True] Translation: X:868.77, Y:-151.49, Z:-54.73 [[ 9.98549981e-01 2.89302154e-02 4.53979903e-02 8.68769556e+02] [-2.86840867e-02 9.99570134e-01 -6.06381613e-03 -1.51493275e+02] [-4.55539027e-02 4.75282360e-03 9.98950576e-01 -5.47298881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.390714057 meters 0.052034173793437596 Centerline is valid? [True, True] Translation: X:868.80, Y:-151.49, Z:-54.73 [[ 9.98483133e-01 3.21088521e-02 4.47264389e-02 8.68800574e+02] [-3.18730943e-02 9.99474067e-01 -5.97449556e-03 -1.51490494e+02] [-4.48947500e-02 4.53986304e-03 9.98981407e-01 -5.47311855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.4207140569999 meters 0.0519009397236274 Centerline is valid? [True, True] Translation: X:868.83, Y:-151.49, Z:-54.73 [[ 9.98442051e-01 3.49899548e-02 4.34646281e-02 8.68830218e+02] [-3.47700151e-02 9.99378474e-01 -5.80615705e-03 -1.51489244e+02] [-4.36407709e-02 4.28584558e-03 9.99038095e-01 -5.47326094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.4507140569999 meters 0.04963184932440091 Centerline is valid? [True, True] Translation: X:868.86, Y:-151.48, Z:-54.73 [[ 9.98240171e-01 4.13367002e-02 4.25186871e-02 8.68861183e+02] [-4.11319634e-02 9.99137582e-01 -5.67921000e-03 -1.51480660e+02] [-4.27167780e-02 3.92033848e-03 9.99079530e-01 -5.47334009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.4807140569999 meters 0.04965037491492313 Centerline is valid? [True, True] Translation: X:868.89, Y:-151.48, Z:-54.74 [[ 9.98173159e-01 4.39180059e-02 4.14916151e-02 8.68891209e+02] [-4.37253018e-02 9.99028226e-01 -5.54099609e-03 -1.51479614e+02] [-4.16946441e-02 3.71664018e-03 9.99123488e-01 -5.47353028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.510714057 meters 0.04561398371947527 Centerline is valid? [True, True] Translation: X:868.92, Y:-151.47, Z:-54.74 [[ 9.98056993e-01 4.84821653e-02 3.91371704e-02 8.68923745e+02] [-4.83142104e-02 9.98818513e-01 -5.22645712e-03 -1.51468919e+02] [-3.93443203e-02 3.32542059e-03 9.99220179e-01 -5.47375634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.540714057 meters 0.048668435665079564 Centerline is valid? [True, True] Translation: X:868.95, Y:-151.47, Z:-54.74 [[ 9.98005679e-01 5.04842728e-02 3.78946364e-02 8.68952922e+02] [-5.03282860e-02 9.98719913e-01 -5.05964207e-03 -1.51472224e+02] [-3.81015603e-02 3.14237942e-03 9.99268931e-01 -5.47413547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.5707140569999 meters 0.04847871839715097 Centerline is valid? [True, True] Translation: X:868.98, Y:-151.47, Z:-54.74 [[ 9.97985174e-01 5.17148155e-02 3.67582770e-02 8.68982820e+02] [-5.15687210e-02 9.98657368e-01 -4.91215787e-03 -1.51471030e+02] [-3.69629555e-02 3.00668339e-03 9.99312113e-01 -5.47436805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.6007140569999 meters 0.04908195863405426 Centerline is valid? [True, True] Translation: X:869.01, Y:-151.47, Z:-54.75 [[ 9.98017639e-01 5.22197760e-02 3.51267365e-02 8.69012719e+02] [-5.20866933e-02 9.98631536e-01 -4.69376095e-03 -1.51466651e+02] [-3.53237740e-02 2.85482067e-03 9.99371843e-01 -5.47458913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.630714057 meters 0.042607520510689015 Centerline is valid? [True, True] Translation: X:869.04, Y:-151.46, Z:-54.75 [[ 9.98064041e-01 5.15082457e-02 3.48578553e-02 8.69043077e+02] [-5.13768418e-02 9.98668486e-01 -4.65557669e-03 -1.51457651e+02] [-3.50512422e-02 2.85567717e-03 9.99381436e-01 -5.47450364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.660714057 meters 0.048043802876233783 Centerline is valid? [True, True] Translation: X:869.07, Y:-151.46, Z:-54.75 [[ 9.98263422e-01 4.81385985e-02 3.39531328e-02 8.69072381e+02] [-4.80121188e-02 9.98836476e-01 -4.53113137e-03 -1.51462247e+02] [-3.41317498e-02 2.89310086e-03 9.99413155e-01 -5.47476260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.6907140569999 meters 0.045898123660488024 Centerline is valid? [True, True] Translation: X:869.10, Y:-151.46, Z:-54.75 [[ 9.98360904e-01 4.57955624e-02 3.43259695e-02 8.69103180e+02] [-4.56649373e-02 9.98946312e-01 -4.58021004e-03 -1.51460575e+02] [-3.44995540e-02 3.00520939e-03 9.99400195e-01 -5.47476472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.7207140569999 meters 0.05018547452005306 Centerline is valid? [True, True] Translation: X:869.13, Y:-151.46, Z:-54.75 [[ 9.98588602e-01 4.04449006e-02 3.44240314e-02 8.69131863e+02] [-4.03103833e-02 9.99176650e-01 -4.59303997e-03 -1.51464880e+02] [-3.45814534e-02 3.19891147e-03 9.99396763e-01 -5.47487503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.750714057 meters 0.060651828223707745 Centerline is valid? [True, True] Translation: X:869.16, Y:-151.48, Z:-54.75 [[ 9.98711274e-01 3.74558125e-02 3.42469454e-02 8.69159757e+02] [-3.73210124e-02 9.99292892e-01 -4.56716210e-03 -1.51480183e+02] [-3.43937959e-02 3.28314561e-03 9.99402966e-01 -5.47523969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.780714057 meters 0.05280810827689432 Centerline is valid? [True, True] Translation: X:869.19, Y:-151.47, Z:-54.75 [[ 9.98803329e-01 3.47563034e-02 3.44079874e-02 8.69192148e+02] [-3.46186233e-02 9.99390059e-01 -4.58928178e-03 -1.51471405e+02] [-3.45465071e-02 3.39263277e-03 9.99397333e-01 -5.47504691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.8107140569999 meters 0.054390704334622654 Centerline is valid? [True, True] Translation: X:869.22, Y:-151.47, Z:-54.75 [[ 9.98935886e-01 3.03898183e-02 3.46922774e-02 8.69222629e+02] [-3.02472357e-02 9.99531736e-01 -4.62750428e-03 -1.51473154e+02] [-3.48166612e-02 3.57323460e-03 9.99387328e-01 -5.47504993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.8407140569999 meters 0.0528490382747273 Centerline is valid? [True, True] Translation: X:869.25, Y:-151.47, Z:-54.75 [[ 9.98980177e-01 2.86242834e-02 3.49178405e-02 8.69254330e+02] [-2.84788107e-02 9.99583550e-01 -4.65651741e-03 -1.51473545e+02] [-3.50365884e-02 3.65735002e-03 9.99379338e-01 -5.47504648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.870714057 meters 0.057051602851739436 Centerline is valid? [True, True] Translation: X:869.28, Y:-151.48, Z:-54.75 [[ 9.99011823e-01 2.59453620e-02 3.60862326e-02 8.69282858e+02] [-2.57881815e-02 9.99655836e-01 -4.81442249e-03 -1.51480522e+02] [-3.61987250e-02 3.87906667e-03 9.99337083e-01 -5.47512777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.900714057 meters 0.06000381849443307 Centerline is valid? [True, True] Translation: X:869.31, Y:-151.49, Z:-54.75 [[ 9.99002064e-01 2.67633133e-02 3.57575242e-02 8.69313073e+02] [-2.66096790e-02 9.99634540e-01 -4.76565965e-03 -1.51487643e+02] [-3.58720011e-02 3.80940758e-03 9.99349132e-01 -5.47540940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.9307140569999 meters 0.05632922888359435 Centerline is valid? [True, True] Translation: X:869.35, Y:-151.49, Z:-54.76 [[ 9.98995424e-01 2.77557029e-02 3.51818822e-02 8.69345638e+02] [-2.76073140e-02 9.99607812e-01 -4.69665216e-03 -1.51486375e+02] [-3.52984432e-02 3.72065674e-03 9.99369890e-01 -5.47550496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.9607140569999 meters 0.056918397151626915 Centerline is valid? [True, True] Translation: X:869.37, Y:-151.49, Z:-54.76 [[ 9.98904756e-01 3.04575798e-02 3.55193632e-02 8.69374543e+02] [-3.03074778e-02 9.99529304e-01 -4.75683740e-03 -1.51490000e+02] [-3.56475262e-02 3.67512518e-03 9.99357667e-01 -5.47566161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.9907140569999 meters 0.05451488506003141 Centerline is valid? [True, True] Translation: X:869.41, Y:-151.49, Z:-54.76 [[ 9.98851039e-01 3.19719124e-02 3.56987132e-02 8.69405834e+02] [-3.18213095e-02 9.99482148e-01 -4.77909928e-03 -1.51490561e+02] [-3.58330235e-02 3.63762848e-03 9.99351171e-01 -5.47577639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.020714057 meters 0.05947068425694887 Centerline is valid? [True, True] Translation: X:869.43, Y:-151.50, Z:-54.76 [[ 9.98767090e-01 3.50208933e-02 3.51828982e-02 8.69434433e+02] [-3.48763988e-02 9.99380523e-01 -4.71249803e-03 -1.51500111e+02] [-3.53261391e-02 3.47963515e-03 9.99369779e-01 -5.47606245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.0507140569999 meters 0.05297075968248887 Centerline is valid? [True, True] Translation: X:869.47, Y:-151.50, Z:-54.76 [[ 9.98697051e-01 3.65759939e-02 3.55864756e-02 8.69466454e+02] [-3.64291901e-02 9.99324876e-01 -4.76517642e-03 -1.51495583e+02] [-3.57367414e-02 3.46258115e-03 9.99355240e-01 -5.47604970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.0807140569999 meters 0.05427657706876698 Centerline is valid? [True, True] Translation: X:869.50, Y:-151.50, Z:-54.76 [[ 9.98615219e-01 3.90467095e-02 3.52561872e-02 8.69495669e+02] [-3.89041081e-02 9.99231792e-01 -4.72198082e-03 -1.51502414e+02] [-3.54134810e-02 3.34383139e-03 9.99367152e-01 -5.47634352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.1107140569999 meters 0.053163353360797465 Centerline is valid? [True, True] Translation: X:869.53, Y:-151.51, Z:-54.77 [[ 9.98569360e-01 4.05496027e-02 3.48563287e-02 8.69526083e+02] [-4.04111232e-02 9.99172230e-01 -4.66852235e-03 -1.51505884e+02] [-3.50167824e-02 3.25325998e-03 9.99381429e-01 -5.47652744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.140714057 meters 0.04796159552570962 Centerline is valid? [True, True] Translation: X:869.56, Y:-151.50, Z:-54.77 [[ 9.98530377e-01 4.18234860e-02 3.44656779e-02 8.69556271e+02] [-4.16888281e-02 9.99119976e-01 -4.61674366e-03 -1.51503269e+02] [-3.46284356e-02 3.17312507e-03 9.99395219e-01 -5.47654002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.1707140569999 meters 0.048552550820242034 Centerline is valid? [True, True] Translation: X:869.58, Y:-151.51, Z:-54.77 [[ 9.98518345e-01 4.30849449e-02 3.32385740e-02 8.69584241e+02] [-4.29604264e-02 9.99066857e-01 -4.45165491e-03 -1.51508763e+02] [-3.33993569e-02 3.01711578e-03 9.99437532e-01 -5.47672388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.2007140569999 meters 0.04847413704616914 Centerline is valid? [True, True] Translation: X:869.61, Y:-151.51, Z:-54.77 [[ 9.98503911e-01 4.34550679e-02 3.31903097e-02 8.69612555e+02] [-4.33311587e-02 9.99050881e-01 -4.44384285e-03 -1.51513342e+02] [-3.33519156e-02 2.99901989e-03 9.99439171e-01 -5.47687339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.2307140569999 meters 0.050983774534122075 Centerline is valid? [True, True] Translation: X:869.64, Y:-151.52, Z:-54.77 [[ 9.98450117e-01 4.46354525e-02 3.32421439e-02 8.69640299e+02] [-4.45119290e-02 9.98998955e-01 -4.44705513e-03 -1.51522899e+02] [-3.34073633e-02 2.96049077e-03 9.99437434e-01 -5.47707381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.260714057 meters 0.049106612185584625 Centerline is valid? [True, True] Translation: X:869.67, Y:-151.53, Z:-54.77 [[ 9.98414190e-01 4.52206777e-02 3.35290286e-02 8.69668808e+02] [-4.50953136e-02 9.98972616e-01 -4.48619118e-03 -1.51525590e+02] [-3.36974500e-02 2.96707487e-03 9.99427675e-01 -5.47714869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.290714057 meters 0.048367349752916705 Centerline is valid? [True, True] Translation: X:869.70, Y:-151.53, Z:-54.77 [[ 9.98331875e-01 4.71126991e-02 3.33745537e-02 8.69698082e+02] [-4.69896437e-02 9.98885409e-01 -4.46234207e-03 -1.51530740e+02] [-3.35475877e-02 2.88663993e-03 9.99432953e-01 -5.47725103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.3207140569999 meters 0.049304804827364976 Centerline is valid? [True, True] Translation: X:869.73, Y:-151.54, Z:-54.77 [[ 9.98243549e-01 4.87123147e-02 3.37183542e-02 8.69726724e+02] [-4.85876564e-02 9.98808753e-01 -4.50709432e-03 -1.51537002e+02] [-3.38977383e-02 2.86088202e-03 9.99421212e-01 -5.47741055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.3507140569999 meters 0.049304804827364976 Centerline is valid? [True, True] Translation: X:869.75, Y:-151.54, Z:-54.78 [[ 9.98246852e-01 4.86445526e-02 3.37184021e-02 8.69754848e+02] [-4.85198679e-02 9.98812050e-01 -4.50673608e-03 -1.51540694e+02] [-3.38975745e-02 2.86282269e-03 9.99421212e-01 -5.47757498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.380714057 meters 0.049500596215326764 Centerline is valid? [True, True] Translation: X:869.78, Y:-151.55, Z:-54.78 [[ 9.98141178e-01 5.04521167e-02 3.41873063e-02 8.69782846e+02] [-5.03250879e-02 9.98722450e-01 -4.56658047e-03 -1.51545890e+02] [-3.43740240e-02 2.83761282e-03 9.99405010e-01 -5.47773817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.410714057 meters 0.04229525374248601 Centerline is valid? [True, True] Translation: X:869.81, Y:-151.54, Z:-54.78 [[ 9.97925158e-01 5.48681294e-02 3.36877983e-02 8.69813514e+02] [-5.47473636e-02 9.98490109e-01 -4.49756233e-03 -1.51541757e+02] [-3.38837062e-02 2.64391245e-03 9.99422285e-01 -5.47764682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.4407140569999 meters 0.04023221087932045 Centerline is valid? [True, True] Translation: X:869.84, Y:-151.54, Z:-54.78 [[ 9.97796219e-01 5.72445983e-02 3.35523705e-02 8.69843337e+02] [-5.71261725e-02 9.98356922e-01 -4.47843359e-03 -1.51543730e+02] [-3.37536074e-02 2.55184560e-03 9.99426927e-01 -5.47772637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.4707140569999 meters 0.038935042606315806 Centerline is valid? [True, True] Translation: X:869.87, Y:-151.55, Z:-54.78 [[ 9.97403080e-01 6.34583068e-02 3.40608094e-02 8.69872838e+02] [-6.33398867e-02 9.97981661e-01 -4.54564576e-03 -1.51547913e+02] [-3.42805222e-02 2.37643327e-03 9.99409425e-01 -5.47791160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.500714057 meters 0.039857994794447786 Centerline is valid? [True, True] Translation: X:869.90, Y:-151.55, Z:-54.78 [[ 9.97192241e-01 6.71391703e-02 3.31657472e-02 8.69901077e+02] [-6.70289173e-02 9.97741215e-01 -4.42628709e-03 -1.51553288e+02] [-3.33880102e-02 2.19079502e-03 9.99440064e-01 -5.47817648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.530714057 meters 0.03645125357505911 Centerline is valid? [True, True] Translation: X:869.93, Y:-151.55, Z:-54.78 [[ 9.96934177e-01 7.06947125e-02 3.35336189e-02 8.69931838e+02] [-7.05840784e-02 9.97495804e-01 -4.47309345e-03 -1.51552168e+02] [-3.37658682e-02 2.09244015e-03 9.99427580e-01 -5.47819417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.5607140569999 meters 0.036041634380039024 Centerline is valid? [True, True] Translation: X:869.96, Y:-151.56, Z:-54.78 [[ 9.96274164e-01 7.91594844e-02 3.42281526e-02 8.69961011e+02] [-7.90491974e-02 9.96860261e-01 -4.56557567e-03 -1.51556351e+02] [-3.44820937e-02 1.84285709e-03 9.99403617e-01 -5.47839630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.5907140569999 meters 0.03258752710543306 Centerline is valid? [True, True] Translation: X:869.99, Y:-151.56, Z:-54.78 [[ 9.95903944e-01 8.34076344e-02 3.49070221e-02 8.69992154e+02] [-8.32955660e-02 9.96514014e-01 -4.65504800e-03 -1.51555667e+02] [-3.51736032e-02 1.72838050e-03 9.99379723e-01 -5.47839681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.620714057 meters 0.02853740926197685 Centerline is valid? [True, True] Translation: X:870.02, Y:-151.55, Z:-54.78 [[ 9.95169507e-01 9.15794095e-02 3.53675530e-02 8.70022298e+02] [-9.14694968e-02 9.95796708e-01 -4.71676391e-03 -1.51553638e+02] [-3.56508513e-02 1.45892734e-03 9.99363241e-01 -5.47842846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.650714057 meters 0.027505213073743567 Centerline is valid? [True, True] Translation: X:870.05, Y:-151.56, Z:-54.79 [[ 9.94818234e-01 9.53487721e-02 3.52886982e-02 8.70052148e+02] [-9.52417601e-02 9.95443052e-01 -4.70499301e-03 -1.51556584e+02] [-3.55765048e-02 1.31965511e-03 9.99366085e-01 -5.47860776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.6807140569999 meters 0.02602501988899896 Centerline is valid? [True, True] Translation: X:870.08, Y:-151.56, Z:-54.79 [[ 9.94519180e-01 9.85979551e-02 3.47856850e-02 8.70080998e+02] [-9.84959355e-02 9.95126643e-01 -4.63854852e-03 -1.51558000e+02] [-3.50735133e-02 1.18687689e-03 9.99384030e-01 -5.47874976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.7107140569999 meters 0.024899775491022236 Centerline is valid? [True, True] Translation: X:870.11, Y:-151.56, Z:-54.79 [[ 9.94007810e-01 1.03725468e-01 3.44891434e-02 8.70110496e+02] [-1.03628375e-01 9.94605469e-01 -4.59574030e-03 -1.51560582e+02] [-3.47797859e-02 9.94147850e-04 9.99394506e-01 -5.47894552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.7407140569999 meters 0.02528278768068001 Centerline is valid? [True, True] Translation: X:870.14, Y:-151.57, Z:-54.79 [[ 9.93866765e-01 1.05059276e-01 3.45166897e-02 8.70137621e+02] [-1.04962833e-01 9.94465509e-01 -4.59938002e-03 -1.51565390e+02] [-3.48088649e-02 9.48201427e-04 9.99393538e-01 -5.47920544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.770714057 meters 0.025331535675067667 Centerline is valid? [True, True] Translation: X:870.17, Y:-151.57, Z:-54.79 [[ 9.93669358e-01 1.06580821e-01 3.55209249e-02 8.70165085e+02] [-1.06479651e-01 9.94303616e-01 -4.73323779e-03 -1.51571646e+02] [-3.58230564e-02 9.21017674e-04 9.99357724e-01 -5.47943560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.8007140569999 meters 0.024203960244605117 Centerline is valid? [True, True] Translation: X:870.19, Y:-151.57, Z:-54.79 [[ 9.93664605e-01 1.06528033e-01 3.58110525e-02 8.70194378e+02] [-1.06425494e-01 9.94309272e-01 -4.76290604e-03 -1.51573978e+02] [-3.61146445e-02 9.21522214e-04 9.99347229e-01 -5.47931182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.8307140569999 meters 0.02533345602624653 Centerline is valid? [True, True] Translation: X:870.22, Y:-151.58, Z:-54.80 [[ 9.93698987e-01 1.05990128e-01 3.64474339e-02 8.70220656e+02] [-1.05883956e-01 9.94366731e-01 -4.83646999e-03 -1.51581832e+02] [-3.67547337e-02 9.46796839e-04 9.99323868e-01 -5.47964580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.8607140569999 meters 0.0248615210914752 Centerline is valid? [True, True] Translation: X:870.25, Y:-151.59, Z:-54.80 [[ 9.93797646e-01 1.04807185e-01 3.71711372e-02 8.70249010e+02] [-1.04696014e-01 9.94492050e-01 -4.93017095e-03 -1.51585983e+02] [-3.74831178e-02 1.00792239e-03 9.99296753e-01 -5.47959686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.890714057 meters 0.025288619803653448 Centerline is valid? [True, True] Translation: X:870.28, Y:-151.60, Z:-54.80 [[ 9.94020381e-01 1.02165136e-01 3.85456581e-02 8.70277168e+02] [-1.02043995e-01 9.94766801e-01 -5.10239220e-03 -1.51595409e+02] [-3.88652276e-02 1.13852890e-03 9.99243813e-01 -5.47969468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.9207140569999 meters 0.02585894851201104 Centerline is valid? [True, True] Translation: X:870.30, Y:-151.60, Z:-54.80 [[ 9.94330679e-01 9.85906934e-02 3.98293379e-02 8.70304640e+02] [-9.84588928e-02 9.95127207e-01 -5.26204107e-03 -1.51604906e+02] [-4.01540460e-02 1.31065636e-03 9.99192642e-01 -5.47983658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.9507140569999 meters 0.026079103636807106 Centerline is valid? [True, True] Translation: X:870.33, Y:-151.61, Z:-54.80 [[ 9.94463895e-01 9.71279259e-02 4.00964698e-02 8.70332169e+02] [-9.69936812e-02 9.95270968e-01 -5.28452385e-03 -1.51611903e+02] [-4.04201272e-02 1.36616396e-03 9.99181839e-01 -5.48002385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.9807140569999 meters 0.026988455616684268 Centerline is valid? [True, True] Translation: X:870.36, Y:-151.62, Z:-54.80 [[ 9.94622457e-01 9.53794789e-02 4.03599273e-02 8.70358576e+02] [-9.52421277e-02 9.95439938e-01 -5.31674750e-03 -1.51618978e+02] [-4.06829921e-02 1.44419111e-03 9.99171061e-01 -5.48025643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.010714057 meters 0.028625316657244923 Centerline is valid? [True, True] Translation: X:870.39, Y:-151.63, Z:-54.81 [[ 9.94790764e-01 9.38362756e-02 3.98257423e-02 8.70385570e+02] [-9.37015936e-02 9.95586542e-01 -5.23915452e-03 -1.51627417e+02] [-4.01415958e-02 1.48012701e-03 9.99192905e-01 -5.48053736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.040714057 meters 0.02794497212457135 Centerline is valid? [True, True] Translation: X:870.41, Y:-151.63, Z:-54.81 [[ 9.95083044e-01 9.11714554e-02 3.86975753e-02 8.70414271e+02] [-9.10424386e-02 9.95834021e-01 -5.08688665e-03 -1.51633460e+02] [-3.90001409e-02 1.53875303e-03 9.99238020e-01 -5.48071740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.0707140569999 meters 0.02919850123745016 Centerline is valid? [True, True] Translation: X:870.44, Y:-151.64, Z:-54.81 [[ 9.95195287e-01 8.99652383e-02 3.86341486e-02 8.70440637e+02] [-8.98357784e-02 9.95943649e-01 -5.07748895e-03 -1.51641088e+02] [-3.89342325e-02 1.58236426e-03 9.99240522e-01 -5.48101471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.1007140569999 meters 0.028034622387213097 Centerline is valid? [True, True] Translation: X:870.47, Y:-151.65, Z:-54.81 [[ 9.95407640e-01 8.75009747e-02 3.88228022e-02 8.70469208e+02] [-8.73685731e-02 9.96163014e-01 -5.09725108e-03 -1.51646484e+02] [-3.91198541e-02 1.68194985e-03 9.99233110e-01 -5.48108422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.130714057 meters 0.02812831420365637 Centerline is valid? [True, True] Translation: X:870.50, Y:-151.65, Z:-54.81 [[ 9.95444903e-01 8.66899401e-02 3.96774400e-02 8.70497346e+02] [-8.65510742e-02 9.96233804e-01 -5.20757290e-03 -1.51652058e+02] [-3.99794511e-02 1.74972685e-03 9.99198970e-01 -5.48124593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.160714057 meters 0.03118099470074546 Centerline is valid? [True, True] Translation: X:870.52, Y:-151.66, Z:-54.82 [[ 9.95535382e-01 8.54374517e-02 4.01216219e-02 8.70523985e+02] [-8.52945491e-02 9.96341878e-01 -5.26323500e-03 -1.51661922e+02] [-4.04245295e-02 1.81758102e-03 9.99180942e-01 -5.48151433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.1907140569999 meters 0.030690244450163443 Centerline is valid? [True, True] Translation: X:870.55, Y:-151.67, Z:-54.82 [[ 9.95525762e-01 8.54091958e-02 4.04193770e-02 8.70552985e+02] [-8.52643025e-02 9.96344281e-01 -5.29830303e-03 -1.51665418e+02] [-4.07241389e-02 1.82826717e-03 9.99168756e-01 -5.48162796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.2207140569999 meters 0.029953089056979864 Centerline is valid? [True, True] Translation: X:870.58, Y:-151.67, Z:-54.82 [[ 9.95505737e-01 8.52756543e-02 4.11872684e-02 8.70581785e+02] [-8.51252058e-02 9.96355650e-01 -5.39606572e-03 -1.51668198e+02] [-4.14973206e-02 1.86573968e-03 9.99136873e-01 -5.48170332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.250714057 meters 0.030301718478633322 Centerline is valid? [True, True] Translation: X:870.61, Y:-151.67, Z:-54.82 [[ 9.95501844e-01 8.50071734e-02 4.18313235e-02 8.70608953e+02] [-8.48518474e-02 9.96378520e-01 -5.47797780e-03 -1.51672653e+02] [-4.21454997e-02 1.90387192e-03 9.99109670e-01 -5.48184639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.280714057 meters 0.029682519000744093 Centerline is valid? [True, True] Translation: X:870.64, Y:-151.68, Z:-54.82 [[ 9.95502735e-01 8.45463750e-02 4.27342386e-02 8.70636420e+02] [-8.43840398e-02 9.96417617e-01 -5.59165341e-03 -1.51675530e+02] [-4.30539022e-02 1.96041857e-03 9.99070827e-01 -5.48192813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.3107140569999 meters 0.02894250062771027 Centerline is valid? [True, True] Translation: X:870.67, Y:-151.68, Z:-54.82 [[ 9.95538969e-01 8.34716420e-02 4.39846185e-02 8.70665207e+02] [-8.32988490e-02 9.96508023e-01 -5.74998106e-03 -1.51678665e+02] [-4.43109855e-02 2.06046213e-03 9.99015661e-01 -5.48194186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.3407140569999 meters 0.029940009627919227 Centerline is valid? [True, True] Translation: X:870.69, Y:-151.68, Z:-54.82 [[ 9.95581525e-01 8.25538560e-02 4.47469332e-02 8.70692671e+02] [-8.23742316e-02 9.96584319e-01 -5.84654955e-03 -1.51684319e+02] [-4.50767472e-02 2.13472247e-03 9.98981246e-01 -5.48209037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.370714057 meters 0.03106839863780304 Centerline is valid? [True, True] Translation: X:870.72, Y:-151.69, Z:-54.82 [[ 9.95767179e-01 8.03545493e-02 4.46191920e-02 8.70722186e+02] [-8.01739582e-02 9.96763866e-01 -5.82518388e-03 -1.51689194e+02] [-4.49428783e-02 2.22322969e-03 9.98987085e-01 -5.48225316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.400714057 meters 0.031646279265908635 Centerline is valid? [True, True] Translation: X:870.75, Y:-151.69, Z:-54.82 [[ 9.95840294e-01 7.94221251e-02 4.46568499e-02 8.70750811e+02] [-7.92403450e-02 9.96838498e-01 -5.82897014e-03 -1.51693452e+02] [-4.49786164e-02 2.26609915e-03 9.98985380e-01 -5.48242536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.4307140569999 meters 0.03220616675623013 Centerline is valid? [True, True] Translation: X:870.78, Y:-151.70, Z:-54.83 [[ 9.95957523e-01 7.81261767e-02 4.43273445e-02 8.70778861e+02] [-7.79459198e-02 9.96940815e-01 -5.78309206e-03 -1.51697928e+02] [-4.46435498e-02 2.30457840e-03 9.99000322e-01 -5.48259345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.4607140569999 meters 0.03338864671637131 Centerline is valid? [True, True] Translation: X:870.81, Y:-151.70, Z:-54.83 [[ 9.96138687e-01 7.57412728e-02 4.43956789e-02 8.70807621e+02] [-7.55582817e-02 9.97124589e-01 -5.78790738e-03 -1.51703405e+02] [-4.47064065e-02 2.41109724e-03 9.98997259e-01 -5.48279330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.4907140569999 meters 0.03466283593567362 Centerline is valid? [True, True] Translation: X:870.84, Y:-151.71, Z:-54.83 [[ 9.96260945e-01 7.42671165e-02 4.41420932e-02 8.70835460e+02] [-7.40849182e-02 9.97235351e-01 -5.75150222e-03 -1.51708330e+02] [-4.44472033e-02 2.45973367e-03 9.99008707e-01 -5.48297927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.520714057 meters 0.037010504373290495 Centerline is valid? [True, True] Translation: X:870.86, Y:-151.71, Z:-54.83 [[ 9.96442339e-01 7.19869056e-02 4.38240929e-02 8.70863602e+02] [-7.18052325e-02 9.97402342e-01 -5.70769090e-03 -1.51714311e+02] [-4.41211319e-02 2.54058569e-03 9.99022958e-01 -5.48323775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.5507140569999 meters 0.03547011135259251 Centerline is valid? [True, True] Translation: X:870.89, Y:-151.71, Z:-54.83 [[ 9.96494510e-01 7.13187458e-02 4.37301731e-02 8.70892728e+02] [-7.11373494e-02 9.97450287e-01 -5.69230153e-03 -1.51714885e+02] [-4.40246415e-02 2.56149862e-03 9.99027162e-01 -5.48338865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.5807140569999 meters 0.033959603007363816 Centerline is valid? [True, True] Translation: X:870.92, Y:-151.72, Z:-54.84 [[ 9.96524963e-01 7.09071521e-02 4.37055393e-02 8.70921248e+02] [-7.07256987e-02 9.97479596e-01 -5.68607798e-03 -1.51715254e+02] [-4.39985673e-02 2.57521385e-03 9.99028275e-01 -5.48352469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.6107140569999 meters 0.03933916217461878 Centerline is valid? [True, True] Translation: X:870.95, Y:-151.72, Z:-54.84 [[ 9.96514877e-01 7.11610233e-02 4.35225037e-02 8.70947673e+02] [-7.09814538e-02 9.97461580e-01 -5.65941932e-03 -1.51723827e+02] [-4.38147554e-02 2.55040496e-03 9.99036417e-01 -5.48389811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.640714057 meters 0.03351041308487879 Centerline is valid? [True, True] Translation: X:870.98, Y:-151.72, Z:-54.84 [[ 9.96474722e-01 7.16240262e-02 4.36821138e-02 8.70977731e+02] [-7.14437597e-02 9.97428479e-01 -5.67607468e-03 -1.51717149e+02] [-4.39763277e-02 2.53525050e-03 9.99029357e-01 -5.48384041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.6707140569999 meters 0.039720682496796465 Centerline is valid? [True, True] Translation: X:871.00, Y:-151.73, Z:-54.84 [[ 9.96447745e-01 7.16509395e-02 4.42496854e-02 8.71004616e+02] [-7.14661143e-02 9.97426473e-01 -5.74682972e-03 -1.51726448e+02] [-4.45475734e-02 2.56406244e-03 9.99003974e-01 -5.48413662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.7007140569999 meters 0.033332249176966346 Centerline is valid? [True, True] Translation: X:871.03, Y:-151.72, Z:-54.84 [[ 9.96450648e-01 7.11739150e-02 4.49486371e-02 8.71034918e+02] [-7.09829102e-02 9.97460475e-01 -5.83332942e-03 -1.51718558e+02] [-4.52496698e-02 2.62203981e-03 9.98972268e-01 -5.48402081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.7307140569999 meters 0.034966513780758934 Centerline is valid? [True, True] Translation: X:871.06, Y:-151.72, Z:-54.84 [[ 9.96568559e-01 6.89326719e-02 4.58191553e-02 8.71063001e+02] [-6.87319874e-02 9.97617460e-01 -5.94291645e-03 -1.51722113e+02] [-4.61196505e-02 2.77328207e-03 9.98932073e-01 -5.48419434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.760714057 meters 0.03623404981710621 Centerline is valid? [True, True] Translation: X:871.09, Y:-151.73, Z:-54.84 [[ 9.96646403e-01 6.74652466e-02 4.63075324e-02 8.71089822e+02] [-6.72588186e-02 9.97717501e-01 -6.00329219e-03 -1.51726191e+02] [-4.66068491e-02 2.86856965e-03 9.98909192e-01 -5.48437930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.790714057 meters 0.03647342749347827 Centerline is valid? [True, True] Translation: X:871.12, Y:-151.73, Z:-54.85 [[ 9.96762517e-01 6.58069563e-02 4.61944824e-02 8.71119110e+02] [-6.56000265e-02 9.97828062e-01 -5.98296820e-03 -1.51728820e+02] [-4.64878718e-02 2.93323917e-03 9.98914548e-01 -5.48453579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.8207140569999 meters 0.03772607940236139 Centerline is valid? [True, True] Translation: X:871.15, Y:-151.73, Z:-54.85 [[ 9.96856214e-01 6.43181698e-02 4.62694534e-02 8.71146907e+02] [-6.41090449e-02 9.97924916e-01 -5.99108914e-03 -1.51732784e+02] [-4.65587762e-02 3.00596397e-03 9.98911029e-01 -5.48470503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.8507140569999 meters 0.04013813176807748 Centerline is valid? [True, True] Translation: X:871.18, Y:-151.74, Z:-54.85 [[ 9.97066506e-01 6.06163763e-02 4.67336906e-02 8.71175285e+02] [-6.03990799e-02 9.98155979e-01 -6.04914464e-03 -1.51737268e+02] [-4.70141900e-02 3.20872760e-03 9.98889068e-01 -5.48491136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.880714057 meters 0.042254076247656404 Centerline is valid? [True, True] Translation: X:871.20, Y:-151.74, Z:-54.85 [[ 9.97205653e-01 5.84685869e-02 4.65006511e-02 8.71203520e+02] [-5.82511783e-02 9.98283819e-01 -6.01797966e-03 -1.51742742e+02] [-4.67727104e-02 3.29244562e-03 9.98900132e-01 -5.48514214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.910714057 meters 0.043566373236828236 Centerline is valid? [True, True] Translation: X:871.23, Y:-151.75, Z:-54.85 [[ 9.97439662e-01 5.48943735e-02 4.58337145e-02 8.71234086e+02] [-5.46795572e-02 9.98486354e-01 -5.92846981e-03 -1.51745663e+02] [-4.60897782e-02 3.40712370e-03 9.98931491e-01 -5.48536978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.9407140569999 meters 0.04604298509952989 Centerline is valid? [True, True] Translation: X:871.26, Y:-151.75, Z:-54.86 [[ 9.97504947e-01 5.35011050e-02 4.60598815e-02 8.71262790e+02] [-5.32826838e-02 9.98561696e-01 -5.95775477e-03 -1.51751251e+02] [-4.63123799e-02 3.48869576e-03 9.98920914e-01 -5.48557446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.9707140569999 meters 0.045820929293619306 Centerline is valid? [True, True] Translation: X:871.29, Y:-151.75, Z:-54.86 [[ 9.97583810e-01 5.20461432e-02 4.60189270e-02 8.71293275e+02] [-5.18266182e-02 9.98638364e-01 -5.95146614e-03 -1.51753176e+02] [-4.62660168e-02 3.55208090e-03 9.98922839e-01 -5.48571245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.000714057 meters 0.04796385313527341 Centerline is valid? [True, True] Translation: X:871.32, Y:-151.76, Z:-54.86 [[ 9.97685015e-01 4.96931931e-02 4.64241083e-02 8.71322077e+02] [-4.94672336e-02 9.98757699e-01 -6.00423918e-03 -1.51755274e+02] [-4.66648054e-02 3.69386724e-03 9.98903775e-01 -5.48582001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.030714057 meters 0.049933824818403326 Centerline is valid? [True, True] Translation: X:871.35, Y:-151.76, Z:-54.86 [[ 9.97688819e-01 4.91662265e-02 4.69009930e-02 8.71351317e+02] [-4.89351030e-02 9.98783551e-01 -6.06412026e-03 -1.51759535e+02] [-4.71420902e-02 3.75500006e-03 9.98881136e-01 -5.48601370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.0607140569999 meters 0.04984244763754277 Centerline is valid? [True, True] Translation: X:871.38, Y:-151.76, Z:-54.86 [[ 9.97717489e-01 4.81098275e-02 4.73841421e-02 8.71381712e+02] [-4.78727683e-02 9.98834657e-01 -6.12578126e-03 -1.51758280e+02] [-4.76236337e-02 3.84338904e-03 9.98857957e-01 -5.48614144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.0907140569999 meters 0.05159222367420731 Centerline is valid? [True, True] Translation: X:871.41, Y:-151.76, Z:-54.86 [[ 9.97698008e-01 4.80465711e-02 4.78561545e-02 8.71411805e+02] [-4.78047432e-02 9.98837546e-01 -6.18566448e-03 -1.51762186e+02] [-4.80977239e-02 3.88367396e-03 9.98835085e-01 -5.48633112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.120714057 meters 0.05207891283480541 Centerline is valid? [True, True] Translation: X:871.44, Y:-151.76, Z:-54.87 [[ 9.97711098e-01 4.78239915e-02 4.78061836e-02 8.71443007e+02] [-4.75823844e-02 9.98848200e-01 -6.17984696e-03 -1.51764356e+02] [-4.80466654e-02 3.89096969e-03 9.98837513e-01 -5.48651581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.150714057 meters 0.05422897272218474 Centerline is valid? [True, True] Translation: X:871.47, Y:-151.77, Z:-54.87 [[ 9.97744005e-01 4.69458906e-02 4.79894176e-02 8.71473516e+02] [-4.67013328e-02 9.98889624e-01 -6.20528770e-03 -1.51765990e+02] [-4.82274441e-02 3.95011884e-03 9.98828569e-01 -5.48672677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.1807140569999 meters 0.05516741281182517 Centerline is valid? [True, True] Translation: X:871.50, Y:-151.77, Z:-54.87 [[ 9.97746482e-01 4.67154046e-02 4.81625213e-02 8.71503557e+02] [-4.64687723e-02 9.98900325e-01 -6.22846784e-03 -1.51769080e+02] [-4.84005236e-02 3.97637864e-03 9.98820093e-01 -5.48690625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.2107140569999 meters 0.056178632341668804 Centerline is valid? [True, True] Translation: X:871.53, Y:-151.77, Z:-54.87 [[ 9.97828409e-01 4.50771328e-02 4.80262360e-02 8.71534556e+02] [-4.48299744e-02 9.98975320e-01 -6.21162828e-03 -1.51770227e+02] [-4.82570269e-02 4.04512423e-03 9.98826760e-01 -5.48707216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.2407140569999 meters 0.056178632341668804 Centerline is valid? [True, True] Translation: X:871.57, Y:-151.77, Z:-54.87 [[ 9.97826974e-01 4.51089700e-02 4.80261559e-02 8.71565201e+02] [-4.48618186e-02 9.98973886e-01 -6.21224759e-03 -1.51774226e+02] [-4.82571037e-02 4.04420751e-03 9.98826760e-01 -5.48725118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.270714057 meters 0.057287587662501346 Centerline is valid? [True, True] Translation: X:871.60, Y:-151.78, Z:-54.87 [[ 9.97866852e-01 4.44101656e-02 4.78485501e-02 8.71596713e+02] [-4.41640507e-02 9.99005121e-01 -6.18912382e-03 -1.51777840e+02] [-4.80758066e-02 4.06273571e-03 9.98835427e-01 -5.48749795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.3007140569999 meters 0.05881952374883458 Centerline is valid? [True, True] Translation: X:871.63, Y:-151.78, Z:-54.88 [[ 9.97895172e-01 4.38439531e-02 4.77800579e-02 8.71627936e+02] [-4.35973732e-02 9.99029999e-01 -6.19120641e-03 -1.51782473e+02] [-4.80051581e-02 4.09508997e-03 9.98838693e-01 -5.48773720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.3307140569999 meters 0.05887125095354202 Centerline is valid? [True, True] Translation: X:871.66, Y:-151.78, Z:-54.88 [[ 9.97885408e-01 4.55997349e-02 4.63182116e-02 8.71658635e+02] [-4.53696144e-02 9.98952202e-01 -6.00799010e-03 -1.51783268e+02] [-4.65436423e-02 3.89384625e-03 9.98908668e-01 -5.48820415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.3607140569999 meters 0.05696728655301018 Centerline is valid? [True, True] Translation: X:871.69, Y:-151.78, Z:-54.88 [[ 9.97847513e-01 4.71930900e-02 4.55318963e-02 8.71689876e+02] [-4.69722951e-02 9.98878723e-01 -5.90763190e-03 -1.51783187e+02] [-4.57596419e-02 3.75617813e-03 9.98945417e-01 -5.48843754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.390714057 meters 0.041300064522112795 Centerline is valid? [True, True] Translation: X:871.72, Y:-151.76, Z:-54.88 [[ 9.97658065e-01 5.06635517e-02 4.59520424e-02 8.71723285e+02] [-5.04422687e-02 9.98709176e-01 -5.96312455e-03 -1.51761554e+02] [-4.61948395e-02 3.63123402e-03 9.98925849e-01 -5.48826047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.4207140569999 meters 0.054957020637861016 Centerline is valid? [True, True] Translation: X:871.75, Y:-151.78, Z:-54.89 [[ 9.97516273e-01 5.29843240e-02 4.64106261e-02 8.71750014e+02] [-5.27610861e-02 9.98589001e-01 -6.02278555e-03 -1.51782551e+02] [-4.66642540e-02 3.55915156e-03 9.98904290e-01 -5.48865821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.4507140569999 meters 0.05413635003810268 Centerline is valid? [True, True] Translation: X:871.78, Y:-151.78, Z:-54.89 [[ 9.97404196e-01 5.49054563e-02 4.65860608e-02 8.71780157e+02] [-5.46826971e-02 9.98485492e-01 -6.04365328e-03 -1.51783520e+02] [-4.68473354e-02 3.48051368e-03 9.98895997e-01 -5.48880095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.4807140569999 meters 0.03689895696109712 Centerline is valid? [True, True] Translation: X:871.81, Y:-151.76, Z:-54.89 [[ 9.97226377e-01 5.79016101e-02 4.67649106e-02 8.71813549e+02] [-5.76804435e-02 9.98316667e-01 -6.06614491e-03 -1.51760419e+02] [-4.70374292e-02 3.35189893e-03 9.98887504e-01 -5.48867718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.510714057 meters 0.03604118353832756 Centerline is valid? [True, True] Translation: X:871.84, Y:-151.76, Z:-54.89 [[ 9.97136015e-01 5.92786123e-02 4.69661004e-02 8.71842769e+02] [-5.90570782e-02 9.98236020e-01 -6.09176568e-03 -1.51761964e+02] [-4.72443646e-02 3.30063829e-03 9.98877908e-01 -5.48889688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.540714057 meters 0.040233422973638536 Centerline is valid? [True, True] Translation: X:871.87, Y:-151.77, Z:-54.89 [[ 9.96959010e-01 6.26078428e-02 4.64003393e-02 8.71870556e+02] [-6.23953486e-02 9.98033385e-01 -6.01530810e-03 -1.51769151e+02] [-4.66856931e-02 3.10185026e-03 9.98904813e-01 -5.48923843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.5707140569999 meters 0.03566530963178398 Centerline is valid? [True, True] Translation: X:871.90, Y:-151.76, Z:-54.89 [[ 9.96867777e-01 6.42339651e-02 4.61371044e-02 8.71900572e+02] [-6.40255648e-02 9.97930329e-01 -5.98215789e-03 -1.51764594e+02] [-4.64258735e-02 3.00946627e-03 9.98917205e-01 -5.48930588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.6007140569999 meters 0.03619869539433423 Centerline is valid? [True, True] Translation: X:871.93, Y:-151.77, Z:-54.89 [[ 9.96767504e-01 6.57453351e-02 4.61746061e-02 8.71928065e+02] [-6.55384591e-02 9.97832115e-01 -5.98165277e-03 -1.51767307e+02] [-4.64677706e-02 2.93610457e-03 9.98915475e-01 -5.48946360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.630714057 meters 0.03729376622684989 Centerline is valid? [True, True] Translation: X:871.96, Y:-151.77, Z:-54.90 [[ 9.96533840e-01 6.88482064e-02 4.66929282e-02 8.71956706e+02] [-6.86402710e-02 9.97623167e-01 -6.04401554e-03 -1.51770031e+02] [-4.69980666e-02 2.81805077e-03 9.98891005e-01 -5.48960621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.660714057 meters 0.03398799766547685 Centerline is valid? [True, True] Translation: X:871.99, Y:-151.77, Z:-54.90 [[ 9.96414121e-01 7.03569498e-02 4.69978720e-02 8.71986368e+02] [-7.01480281e-02 9.97518052e-01 -6.08201364e-03 -1.51767579e+02] [-4.73091376e-02 2.76339622e-03 9.98876473e-01 -5.48969356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.6907140569999 meters 0.0331564836405165 Centerline is valid? [True, True] Translation: X:872.02, Y:-151.77, Z:-54.90 [[ 9.96274989e-01 7.26737963e-02 4.64183764e-02 8.72016674e+02] [-7.24725997e-02 9.97352326e-01 -6.00497747e-03 -1.51768150e+02] [-4.67318802e-02 2.61854845e-03 9.98904037e-01 -5.48990588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.7207140569999 meters 0.032618438173810355 Centerline is valid? [True, True] Translation: X:872.04, Y:-151.77, Z:-54.90 [[ 9.96157830e-01 7.46161313e-02 4.58476977e-02 8.72043975e+02] [-7.44220890e-02 9.97209216e-01 -5.92717254e-03 -1.51770363e+02] [-4.61620094e-02 2.49231789e-03 9.98930857e-01 -5.49020758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.750714057 meters 0.03168643223053083 Centerline is valid? [True, True] Translation: X:872.07, Y:-151.77, Z:-54.90 [[ 9.96073718e-01 7.59300983e-02 4.55166857e-02 8.72072583e+02] [-7.57404127e-02 9.97110232e-01 -5.88011676e-03 -1.51772231e+02] [-4.58316308e-02 2.40957721e-03 9.98946273e-01 -5.49042900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.780714057 meters 0.032139846833749 Centerline is valid? [True, True] Translation: X:872.10, Y:-151.78, Z:-54.91 [[ 9.95899670e-01 7.77503759e-02 4.62463695e-02 8.72100307e+02] [-7.75566574e-02 9.96970064e-01 -5.97123211e-03 -1.51775554e+02] [-4.65705115e-02 2.36003425e-03 9.98912217e-01 -5.49056938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.8107140569999 meters 0.03222573248754204 Centerline is valid? [True, True] Translation: X:872.13, Y:-151.78, Z:-54.91 [[ 9.95856975e-01 7.81732235e-02 4.64524667e-02 8.72128855e+02] [-7.79784330e-02 9.96937030e-01 -5.99354162e-03 -1.51778755e+02] [-4.67787186e-02 2.34641967e-03 9.98902521e-01 -5.49069769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.8407140569999 meters 0.032948594920201205 Centerline is valid? [True, True] Translation: X:872.16, Y:-151.78, Z:-54.91 [[ 9.95862195e-01 7.81150830e-02 4.64383834e-02 8.72155694e+02] [-7.79204382e-02 9.96941587e-01 -5.98979125e-03 -1.51782604e+02] [-4.67642487e-02 2.34650747e-03 9.98903198e-01 -5.49079730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.870714057 meters 0.033751366666265305 Centerline is valid? [True, True] Translation: X:872.18, Y:-151.79, Z:-54.91 [[ 9.95917900e-01 7.74522981e-02 4.63538286e-02 8.72182613e+02] [-7.72580687e-02 9.96993256e-01 -5.96984677e-03 -1.51787048e+02] [-4.66768329e-02 2.36426998e-03 9.98907245e-01 -5.49095669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.900714057 meters 0.03472694618181192 Centerline is valid? [True, True] Translation: X:872.21, Y:-151.79, Z:-54.91 [[ 9.95943675e-01 7.67752353e-02 4.69229108e-02 8.72210864e+02] [-7.65758163e-02 9.97045494e-01 -6.03548464e-03 -1.51792559e+02] [-4.72476526e-02 2.41784256e-03 9.98880280e-01 -5.49114298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.9307140569999 meters 0.03580980255246214 Centerline is valid? [True, True] Translation: X:872.24, Y:-151.80, Z:-54.91 [[ 9.96065643e-01 7.49122064e-02 4.73433785e-02 8.72239646e+02] [-7.47072659e-02 9.97186936e-01 -6.08601858e-03 -1.51799850e+02] [-4.76661156e-02 2.52517965e-03 9.98860133e-01 -5.49124637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.9607140569999 meters 0.03645290226363597 Centerline is valid? [True, True] Translation: X:872.27, Y:-151.80, Z:-54.91 [[ 9.96141869e-01 7.37028934e-02 4.76367513e-02 8.72267753e+02] [-7.34940862e-02 9.97276860e-01 -6.12245307e-03 -1.51804703e+02] [-4.79582722e-02 2.59781234e-03 9.98845962e-01 -5.49137969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.9907140569999 meters 0.03163747418252005 Centerline is valid? [True, True] Translation: X:872.30, Y:-151.80, Z:-54.91 [[ 9.96337478e-01 7.06944563e-02 4.81032724e-02 8.72297693e+02] [-7.04782049e-02 9.97494182e-01 -6.17903819e-03 -1.51802474e+02] [-4.84195581e-02 2.76617504e-03 9.98823255e-01 -5.49126606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.020714057 meters 0.03523778676038202 Centerline is valid? [True, True] Translation: X:872.33, Y:-151.81, Z:-54.91 [[ 9.96439156e-01 6.91211328e-02 4.82832992e-02 8.72325234e+02] [-6.89015467e-02 9.97604201e-01 -6.19952437e-03 -1.51812507e+02] [-4.85961403e-02 2.85065484e-03 9.98814442e-01 -5.49148354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.0507140569999 meters 0.03576918175244608 Centerline is valid? [True, True] Translation: X:872.35, Y:-151.82, Z:-54.92 [[ 9.96514983e-01 6.78230586e-02 4.85584278e-02 8.72353059e+02] [-6.75995406e-02 9.97693068e-01 -6.23249897e-03 -1.51818339e+02] [-4.88691140e-02 2.92825119e-03 9.98800899e-01 -5.49167774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.0807140569999 meters 0.038241211117088704 Centerline is valid? [True, True] Translation: X:872.38, Y:-151.83, Z:-54.92 [[ 9.96757111e-01 6.47841100e-02 4.77313476e-02 8.72380809e+02] [-6.45648987e-02 9.97894733e-01 -6.12176869e-03 -1.51828351e+02] [-4.80274537e-02 3.02014685e-03 9.98841450e-01 -5.49195749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.1107140569999 meters 0.03668038896649057 Centerline is valid? [True, True] Translation: X:872.41, Y:-151.83, Z:-54.92 [[ 9.96894408e-01 6.32372057e-02 4.69318126e-02 8.72409920e+02] [-6.30236431e-02 9.97993891e-01 -6.01782769e-03 -1.51830957e+02] [-4.72182129e-02 3.04132496e-03 9.98879968e-01 -5.49211046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.140714057 meters 0.037807726270734664 Centerline is valid? [True, True] Translation: X:872.44, Y:-151.84, Z:-54.92 [[ 9.97144626e-01 6.03869049e-02 4.53433104e-02 8.72438891e+02] [-6.01847587e-02 9.98170337e-01 -5.81140975e-03 -1.51837905e+02] [-4.56112805e-02 3.06583981e-03 9.98954559e-01 -5.49231525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.1707140569999 meters 0.03595544312138874 Centerline is valid? [True, True] Translation: X:872.47, Y:-151.84, Z:-54.92 [[ 9.97250990e-01 5.91564154e-02 4.46204238e-02 8.72468824e+02] [-5.89594674e-02 9.98244000e-01 -5.71822434e-03 -1.51839622e+02] [-4.48803400e-02 3.07170846e-03 9.98987647e-01 -5.49247143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.2007140569999 meters 0.03714379671180692 Centerline is valid? [True, True] Translation: X:872.50, Y:-151.85, Z:-54.93 [[ 9.97332859e-01 5.80490571e-02 4.42433663e-02 8.72497398e+02] [-5.78543920e-02 9.98308937e-01 -5.66878863e-03 -1.51845369e+02] [-4.44976158e-02 3.09399611e-03 9.99004699e-01 -5.49265712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.2307140569999 meters 0.044924870183196665 Centerline is valid? [True, True] Translation: X:872.52, Y:-151.86, Z:-54.93 [[ 9.97345103e-01 5.73367430e-02 4.48914552e-02 8.72523427e+02] [-5.71357498e-02 9.98349868e-01 -5.74874423e-03 -1.51861324e+02] [-4.51469926e-02 3.16857496e-03 9.98975330e-01 -5.49292652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.260714057 meters 0.03756293383780585 Centerline is valid? [True, True] Translation: X:872.55, Y:-151.86, Z:-54.93 [[ 9.97295823e-01 5.71092155e-02 4.62555919e-02 8.72553489e+02] [-5.68957760e-02 9.98362578e-01 -5.91893447e-03 -1.51855367e+02] [-4.65178777e-02 3.27118082e-03 9.98912101e-01 -5.49274510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.290714057 meters 0.03843461846688323 Centerline is valid? [True, True] Translation: X:872.58, Y:-151.86, Z:-54.93 [[ 9.97257369e-01 5.71443014e-02 4.70347714e-02 8.72580832e+02] [-5.69237983e-02 9.98360404e-01 -6.01534927e-03 -1.51859967e+02] [-4.73013964e-02 3.32145354e-03 9.98875140e-01 -5.49283854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.3207140569999 meters 0.03799577058622895 Centerline is valid? [True, True] Translation: X:872.61, Y:-151.86, Z:-54.93 [[ 9.97215098e-01 5.73933346e-02 4.76240875e-02 8.72609387e+02] [-5.71677649e-02 9.98346035e-01 -6.08620066e-03 -1.51862837e+02] [-4.78946262e-02 3.34668855e-03 9.98846787e-01 -5.49291486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.3507140569999 meters 0.03927511262669341 Centerline is valid? [True, True] Translation: X:872.64, Y:-151.87, Z:-54.93 [[ 9.97199747e-01 5.73312810e-02 4.80186397e-02 8.72636749e+02] [-5.71020432e-02 9.98349508e-01 -6.13330819e-03 -1.51867768e+02] [-4.82910158e-02 3.37417093e-03 9.98827609e-01 -5.49306276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.380714057 meters 0.04056356331184743 Centerline is valid? [True, True] Translation: X:872.66, Y:-151.87, Z:-54.93 [[ 9.97164750e-01 5.69152944e-02 4.92251073e-02 8.72663651e+02] [-5.66741006e-02 9.98372962e-01 -6.28288560e-03 -1.51872887e+02] [-4.95026085e-02 3.47528336e-03 9.98767948e-01 -5.49318141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.410714057 meters 0.04202900893296781 Centerline is valid? [True, True] Translation: X:872.69, Y:-151.88, Z:-54.93 [[ 9.97179951e-01 5.64323563e-02 4.94725643e-02 8.72690810e+02] [-5.61883554e-02 9.98400246e-01 -6.31010231e-03 -1.51879163e+02] [-4.97495144e-02 3.51252548e-03 9.98755550e-01 -5.49339117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.4407140569999 meters 0.03816090254884991 Centerline is valid? [True, True] Translation: X:872.72, Y:-151.88, Z:-54.94 [[ 9.97229424e-01 5.57966352e-02 4.91956508e-02 8.72720206e+02] [-5.55548074e-02 9.98435949e-01 -6.27043107e-03 -1.51877359e+02] [-4.94685753e-02 3.52000346e-03 9.98769478e-01 -5.49353119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.4707140569999 meters 0.04352898085358199 Centerline is valid? [True, True] Translation: X:872.75, Y:-151.89, Z:-54.94 [[ 9.97312395e-01 5.47722034e-02 4.86620237e-02 8.72747827e+02] [-5.45345641e-02 9.98492642e-01 -6.19878390e-03 -1.51888647e+02] [-4.89281937e-02 3.52836176e-03 9.98796067e-01 -5.49382369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.500714057 meters 0.0395534217948673 Centerline is valid? [True, True] Translation: X:872.78, Y:-151.89, Z:-54.94 [[ 9.97529844e-01 5.24125702e-02 4.67667929e-02 8.72778477e+02] [-5.21906501e-02 9.98619386e-01 -5.95460028e-03 -1.51886610e+02] [-4.70143219e-02 3.49910217e-03 9.98888087e-01 -5.49411853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.530714057 meters 0.046979732492652256 Centerline is valid? [True, True] Translation: X:872.81, Y:-151.90, Z:-54.95 [[ 9.97666158e-01 5.10154434e-02 4.53834964e-02 8.72805448e+02] [-5.08050490e-02 9.98691875e-01 -5.77810954e-03 -1.51900340e+02] [-4.56189019e-02 3.45891359e-03 9.98952928e-01 -5.49454363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.5607140569999 meters 0.040286475940684754 Centerline is valid? [True, True] Translation: X:872.84, Y:-151.89, Z:-54.95 [[ 9.97821915e-01 4.91596353e-02 4.39858650e-02 8.72836062e+02] [-4.89603303e-02 9.98785038e-01 -5.59765381e-03 -1.51894307e+02] [-4.42076025e-02 3.43189916e-03 9.99016471e-01 -5.49464110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.5907140569999 meters 0.04146123271904601 Centerline is valid? [True, True] Translation: X:872.86, Y:-151.90, Z:-54.95 [[ 9.97893506e-01 4.81570813e-02 4.34677557e-02 8.72864698e+02] [-4.79615600e-02 9.98833872e-01 -5.53041365e-03 -1.51898727e+02] [-4.36833953e-02 3.43398249e-03 9.99039523e-01 -5.49481153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.620714057 meters 0.04387688913091394 Centerline is valid? [True, True] Translation: X:872.89, Y:-151.91, Z:-54.95 [[ 9.97889315e-01 4.79258445e-02 4.38181311e-02 8.72892293e+02] [-4.77270403e-02 9.98844871e-01 -5.57258824e-03 -1.51905277e+02] [-4.40345865e-02 3.46951656e-03 9.99023983e-01 -5.49499015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.650714057 meters 0.044090189706186785 Centerline is valid? [True, True] Translation: X:872.92, Y:-151.91, Z:-54.95 [[ 9.97825241e-01 4.86508720e-02 4.44733863e-02 8.72921465e+02] [-4.84469075e-02 9.98809761e-01 -5.65323826e-03 -1.51908007e+02] [-4.46954873e-02 3.48634579e-03 9.98994574e-01 -5.49501310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.6807140569999 meters 0.04430363026183983 Centerline is valid? [True, True] Translation: X:872.95, Y:-151.91, Z:-54.95 [[ 9.97733687e-01 4.92723546e-02 4.58227581e-02 8.72950505e+02] [-4.90565089e-02 9.98779026e-01 -5.82380539e-03 -1.51911002e+02] [-4.60537623e-02 3.56270228e-03 9.98932609e-01 -5.49506265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.7107140569999 meters 0.04433971897227543 Centerline is valid? [True, True] Translation: X:872.98, Y:-151.91, Z:-54.95 [[ 9.97586733e-01 5.07596183e-02 4.73726792e-02 8.72980333e+02] [-5.05308380e-02 9.98704386e-01 -6.01527811e-03 -1.51912347e+02] [-4.76166357e-02 3.60698046e-03 9.98859172e-01 -5.49505296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.7407140569999 meters 0.04314570979359867 Centerline is valid? [True, True] Translation: X:873.01, Y:-151.91, Z:-54.95 [[ 9.97531655e-01 5.12837296e-02 4.79643265e-02 8.73009645e+02] [-5.10498685e-02 9.98677544e-01 -6.08888622e-03 -1.51913611e+02] [-4.82131566e-02 3.62528419e-03 9.98830491e-01 -5.49513954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.770714057 meters 0.0425692995556385 Centerline is valid? [True, True] Translation: X:873.04, Y:-151.92, Z:-54.95 [[ 9.97509764e-01 5.14364209e-02 4.82552020e-02 8.73038302e+02] [-5.12000051e-02 9.98669647e-01 -6.12342957e-03 -1.51915563e+02] [-4.85059728e-02 3.63751420e-03 9.98816269e-01 -5.49527806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.8007140569999 meters 0.04291697270830442 Centerline is valid? [True, True] Translation: X:873.07, Y:-151.92, Z:-54.95 [[ 9.97535717e-01 5.10895827e-02 4.80868769e-02 8.73066864e+02] [-5.08545866e-02 9.98687448e-01 -6.09851275e-03 -1.51919051e+02] [-4.83353309e-02 3.63804604e-03 9.98824539e-01 -5.49542448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.8307140569999 meters 0.043722986661421465 Centerline is valid? [True, True] Translation: X:873.10, Y:-151.92, Z:-54.96 [[ 9.97609010e-01 5.03850027e-02 4.73034373e-02 8.73095661e+02] [-5.01569392e-02 9.98723346e-01 -5.99669002e-03 -1.51923572e+02] [-4.75451904e-02 3.60975636e-03 9.98862565e-01 -5.49568454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.8607140569999 meters 0.04626690181575477 Centerline is valid? [True, True] Translation: X:873.12, Y:-151.93, Z:-54.96 [[ 9.97760184e-01 4.83456570e-02 4.62310716e-02 8.73124942e+02] [-4.81257825e-02 9.98824106e-01 -5.85792257e-03 -1.51930725e+02] [-4.64599138e-02 3.61989541e-03 9.98913596e-01 -5.49605996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.890714057 meters 0.04742460362390185 Centerline is valid? [True, True] Translation: X:873.15, Y:-151.94, Z:-54.96 [[ 9.97845193e-01 4.73318707e-02 4.54385849e-02 8.73154148e+02] [-4.71184391e-02 9.98872717e-01 -5.75736154e-03 -1.51936131e+02] [-4.56598695e-02 3.60396034e-03 9.98950543e-01 -5.49634532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.9207140569999 meters 0.04557687739581196 Centerline is valid? [True, True] Translation: X:873.18, Y:-151.94, Z:-54.97 [[ 9.97931277e-01 4.62114553e-02 4.46952800e-02 8.73183572e+02] [-4.60039071e-02 9.98925215e-01 -5.66167578e-03 -1.51937466e+02] [-4.49088765e-02 3.59380583e-03 9.98984623e-01 -5.49652821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.9507140569999 meters 0.05060909423080677 Centerline is valid? [True, True] Translation: X:873.21, Y:-151.95, Z:-54.97 [[ 9.98109565e-01 4.37773893e-02 4.31374126e-02 8.73211713e+02] [-4.35818788e-02 9.99034923e-01 -5.46278933e-03 -1.51948055e+02] [-4.33349283e-02 3.57245280e-03 9.99054214e-01 -5.49694200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.9807140569999 meters 0.051524694262020776 Centerline is valid? [True, True] Translation: X:873.24, Y:-151.95, Z:-54.97 [[ 9.98180480e-01 4.25411081e-02 4.27315325e-02 8.73241922e+02] [-4.23482059e-02 9.99088266e-01 -5.40980742e-03 -1.51952839e+02] [-4.29227120e-02 3.59036042e-03 9.99071944e-01 -5.49717013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.010714057 meters 0.05294589175314317 Centerline is valid? [True, True] Translation: X:873.27, Y:-151.96, Z:-54.97 [[ 9.98237734e-01 4.13990722e-02 4.25152193e-02 8.73270704e+02] [-4.12070810e-02 9.99136129e-01 -5.38267217e-03 -1.51958601e+02] [-4.27013292e-02 3.62125838e-03 9.99081320e-01 -5.49737867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.040714057 meters 0.05575735397637942 Centerline is valid? [True, True] Translation: X:873.30, Y:-151.97, Z:-54.98 [[ 9.98363945e-01 3.88139753e-02 4.19870063e-02 8.73299233e+02] [-3.86244924e-02 9.99239660e-01 -5.31504665e-03 -1.51965160e+02] [-4.21613800e-02 3.68462414e-03 9.99104019e-01 -5.49751945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.0707140569999 meters 0.05372347434926477 Centerline is valid? [True, True] Translation: X:873.33, Y:-151.97, Z:-54.98 [[ 9.98382579e-01 3.79021063e-02 4.23751781e-02 8.73331018e+02] [-3.77083403e-02 9.99274397e-01 -5.36291305e-03 -1.51966207e+02] [-4.25476962e-02 3.75634133e-03 9.99087375e-01 -5.49760942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.1007140569999 meters 0.047392816161730585 Centerline is valid? [True, True] Translation: X:873.36, Y:-151.96, Z:-54.97 [[ 9.98405923e-01 3.57531762e-02 4.36729072e-02 8.73363214e+02] [-3.55452340e-02 9.99352774e-01 -5.52891279e-03 -1.51960950e+02] [-4.38423172e-02 3.96773557e-03 9.99030584e-01 -5.49748130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.130714057 meters 0.04812771653010014 Centerline is valid? [True, True] Translation: X:873.40, Y:-151.97, Z:-54.98 [[ 9.98434824e-01 3.45047053e-02 4.40150848e-02 8.73395055e+02] [-3.42922826e-02 9.99396312e-01 -5.57231973e-03 -1.51966050e+02] [-4.41807847e-02 4.05422034e-03 9.99015326e-01 -5.49759550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.160714057 meters 0.04812771653010014 Centerline is valid? [True, True] Translation: X:873.43, Y:-151.97, Z:-54.98 [[ 9.98424974e-01 3.47885994e-02 4.40150531e-02 8.73427505e+02] [-3.45764390e-02 9.99386520e-01 -5.57257430e-03 -1.51970242e+02] [-4.41819128e-02 4.04191355e-03 9.99015326e-01 -5.49778491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.1907140569999 meters 0.052565127119657086 Centerline is valid? [True, True] Translation: X:873.46, Y:-151.98, Z:-54.98 [[ 9.98516970e-01 3.14850672e-02 4.44134129e-02 8.73456213e+02] [-3.12650515e-02 9.99495216e-01 -5.63995356e-03 -1.51980509e+02] [-4.45685681e-02 4.24300169e-03 9.98997317e-01 -5.49795670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.2207140569999 meters 0.0522594459391038 Centerline is valid? [True, True] Translation: X:873.49, Y:-151.98, Z:-54.98 [[ 9.98560882e-01 2.99222113e-02 4.45064705e-02 8.73487364e+02] [-2.96997930e-02 9.99542893e-01 -5.65046425e-03 -1.51984523e+02] [-4.46552007e-02 4.32049961e-03 9.98993116e-01 -5.49813176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.250714057 meters 0.05440519169416066 Centerline is valid? [True, True] Translation: X:873.52, Y:-151.99, Z:-54.98 [[ 9.98660150e-01 2.78413001e-02 4.36207230e-02 8.73517514e+02] [-2.76256119e-02 9.99602989e-01 -5.53977685e-03 -1.51991010e+02] [-4.37576397e-02 4.32730521e-03 9.99032804e-01 -5.49839880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.280714057 meters 0.05545785645858307 Centerline is valid? [True, True] Translation: X:873.55, Y:-152.00, Z:-54.99 [[ 9.98820214e-01 2.49104332e-02 4.16851400e-02 8.73547443e+02] [-2.47109120e-02 9.99680616e-01 -5.29490464e-03 -1.51996267e+02] [-4.18037249e-02 4.25857996e-03 9.99116767e-01 -5.49866167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.3107140569999 meters 0.05817970986682665 Centerline is valid? [True, True] Translation: X:873.58, Y:-152.00, Z:-54.99 [[ 9.98888618e-01 2.34870302e-02 4.08642702e-02 8.73576927e+02] [-2.32941284e-02 9.99715181e-01 -5.19037484e-03 -1.52003360e+02] [-4.09745378e-02 4.23270879e-03 9.99151226e-01 -5.49894820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.3407140569999 meters 0.061027460825959376 Centerline is valid? [True, True] Translation: X:873.61, Y:-152.01, Z:-54.99 [[ 9.99013686e-01 2.18535952e-02 3.86532859e-02 8.73606427e+02] [-2.16798147e-02 9.99752911e-01 -4.90938435e-03 -1.52009566e+02] [-3.87510228e-02 4.06654608e-03 9.99240622e-01 -5.49929256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.370714057 meters 0.06247934767149842 Centerline is valid? [True, True] Translation: X:873.64, Y:-152.01, Z:-55.00 [[ 9.99056117e-01 2.16172723e-02 3.76771712e-02 8.73636730e+02] [-2.14519602e-02 9.99758423e-01 -4.78639913e-03 -1.52014653e+02] [-3.77715382e-02 3.97363215e-03 9.99278500e-01 -5.49957329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.400714057 meters 0.06316953773357933 Centerline is valid? [True, True] Translation: X:873.67, Y:-152.02, Z:-55.00 [[ 9.99089662e-01 2.18838866e-02 3.66188925e-02 8.73668674e+02] [-2.17278485e-02 9.99753091e-01 -4.65373062e-03 -1.52018500e+02] [-3.67116927e-02 3.85384440e-03 9.99318468e-01 -5.49981177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.4307140569999 meters 0.065143805848757 Centerline is valid? [True, True] Translation: X:873.70, Y:-152.02, Z:-55.00 [[ 9.99082037e-01 2.31132945e-02 3.60674160e-02 8.73698565e+02] [-2.29622399e-02 9.99725765e-01 -4.59679641e-03 -1.52022406e+02] [-3.61637722e-02 3.76438806e-03 9.99338787e-01 -5.50002448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.4607140569999 meters 0.05844861508065142 Centerline is valid? [True, True] Translation: X:873.73, Y:-152.02, Z:-55.00 [[ 9.98967962e-01 2.59719657e-02 3.72621604e-02 8.73730619e+02] [-2.58126598e-02 9.99655512e-01 -4.75008661e-03 -1.52015083e+02] [-3.73726931e-02 3.78334887e-03 9.99294235e-01 -5.49991837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.4907140569999 meters 0.05629480428150271 Centerline is valid? [True, True] Translation: X:873.76, Y:-152.01, Z:-55.00 [[ 9.98926881e-01 2.76238386e-02 3.71753984e-02 8.73761262e+02] [-2.74664063e-02 9.99611494e-01 -4.73902141e-03 -1.52014092e+02] [-3.72918655e-02 3.71286128e-03 9.99297519e-01 -5.50001259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.520714057 meters 0.05370829597651806 Centerline is valid? [True, True] Translation: X:873.79, Y:-152.01, Z:-55.00 [[ 9.98857471e-01 2.94237029e-02 3.76563179e-02 8.73792944e+02] [-2.92634476e-02 9.99560209e-01 -4.79997590e-03 -1.52012957e+02] [-3.77809901e-02 3.69253810e-03 9.99279221e-01 -5.50013550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.5507140569999 meters 0.05380432541493205 Centerline is valid? [True, True] Translation: X:873.82, Y:-152.01, Z:-55.00 [[ 9.98747546e-01 3.29593766e-02 3.76433075e-02 8.73822205e+02] [-3.28016664e-02 9.99450356e-01 -4.79970478e-03 -1.52013799e+02] [-3.77808124e-02 3.55893016e-03 9.99279713e-01 -5.50036227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.5807140569999 meters 0.050888989630476146 Centerline is valid? [True, True] Translation: X:873.85, Y:-152.01, Z:-55.00 [[ 9.98681683e-01 3.51544556e-02 3.74040186e-02 8.73853691e+02] [-3.50003326e-02 9.99375929e-01 -4.76755435e-03 -1.52012977e+02] [-3.75482766e-02 3.45211611e-03 9.99288852e-01 -5.50049069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.6107140569999 meters 0.05392228086735994 Centerline is valid? [True, True] Translation: X:873.88, Y:-152.02, Z:-55.01 [[ 9.98550726e-01 3.77416073e-02 3.83669089e-02 8.73882351e+02] [-3.75812583e-02 9.99281599e-01 -4.89226158e-03 -1.52019238e+02] [-3.85239879e-02 3.44329464e-03 9.99251743e-01 -5.50079891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.640714057 meters 0.04947019633069465 Centerline is valid? [True, True] Translation: X:873.91, Y:-152.02, Z:-55.01 [[ 9.98478673e-01 3.96705712e-02 3.82960122e-02 8.73913149e+02] [-3.95122262e-02 9.99207155e-01 -4.88310336e-03 -1.52015964e+02] [-3.84593649e-02 3.36251386e-03 9.99254508e-01 -5.50085064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.6707140569999 meters 0.05274882283856694 Centerline is valid? [True, True] Translation: X:873.94, Y:-152.02, Z:-55.01 [[ 9.98409359e-01 4.08992701e-02 3.88072329e-02 8.73941264e+02] [-4.07376338e-02 9.99157631e-01 -4.94709383e-03 -1.52023007e+02] [-3.89768754e-02 3.35830994e-03 9.99234469e-01 -5.50113933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.7007140569999 meters 0.050415569985935785 Centerline is valid? [True, True] Translation: X:873.97, Y:-152.02, Z:-55.01 [[ 9.98245928e-01 4.50027304e-02 3.84684498e-02 8.73971141e+02] [-4.48469871e-02 9.98981839e-01 -4.90240841e-03 -1.52021220e+02] [-3.86499045e-02 3.16861515e-03 9.99247790e-01 -5.50137858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.7307140569999 meters 0.04935856889812583 Centerline is valid? [True, True] Translation: X:874.00, Y:-152.02, Z:-55.02 [[ 9.98047589e-01 4.95358516e-02 3.80422035e-02 8.74000189e+02] [-4.93868361e-02 9.98767962e-01 -4.84748074e-03 -1.52021432e+02] [-3.82354581e-02 2.95923240e-03 9.99264376e-01 -5.50170322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.760714057 meters 0.04507555778178793 Centerline is valid? [True, True] Translation: X:874.03, Y:-152.02, Z:-55.02 [[ 9.97913891e-01 5.21417082e-02 3.80671696e-02 8.74030665e+02] [-5.19944647e-02 9.98635603e-01 -4.84847282e-03 -1.52018276e+02] [-3.82680386e-02 2.85907627e-03 9.99263420e-01 -5.50179639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.790714057 meters 0.044549257538872476 Centerline is valid? [True, True] Translation: X:874.06, Y:-152.02, Z:-55.02 [[ 9.97796983e-01 5.46709795e-02 3.75801234e-02 8.74059973e+02] [-5.45292766e-02 9.98500702e-01 -4.78613906e-03 -1.52020418e+02] [-3.77854425e-02 2.72637817e-03 9.99282156e-01 -5.50201582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.8207140569999 meters 0.04182397639591206 Centerline is valid? [True, True] Translation: X:874.09, Y:-152.02, Z:-55.02 [[ 9.97670448e-01 5.68007450e-02 3.77803127e-02 8.74090597e+02] [-5.66591087e-02 9.98381996e-01 -4.80998749e-03 -1.52019618e+02] [-3.79923948e-02 2.65818353e-03 9.99274493e-01 -5.50213884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.8507140569999 meters 0.040086868396152754 Centerline is valid? [True, True] Translation: X:874.12, Y:-152.02, Z:-55.02 [[ 9.97407184e-01 6.10913075e-02 3.80363113e-02 8.74120747e+02] [-6.09508837e-02 9.98129024e-01 -4.84163300e-03 -1.52020506e+02] [-3.82609280e-02 2.51073275e-03 9.99264628e-01 -5.50227022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.880714057 meters 0.04050616415080495 Centerline is valid? [True, True] Translation: X:874.15, Y:-152.03, Z:-55.02 [[ 9.97180181e-01 6.37672506e-02 3.95654384e-02 8.74149256e+02] [-6.36173807e-02 9.97961653e-01 -5.03671002e-03 -1.52025195e+02] [-3.98059675e-02 2.50545785e-03 9.99204287e-01 -5.50241049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.910714057 meters 0.046583951986484004 Centerline is valid? [True, True] Translation: X:874.18, Y:-152.04, Z:-55.03 [[ 9.97048487e-01 6.53574962e-02 4.02829038e-02 8.74176525e+02] [-6.52034763e-02 9.97858818e-01 -5.12690259e-03 -1.52037812e+02] [-4.05317323e-02 2.48518511e-03 9.99175161e-01 -5.50281753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.9407140569999 meters 0.039129875015657296 Centerline is valid? [True, True] Translation: X:874.21, Y:-152.03, Z:-55.03 [[ 9.96823053e-01 6.78823628e-02 4.16627738e-02 8.74208128e+02] [-6.77199136e-02 9.97690295e-01 -5.29978060e-03 -1.52031577e+02] [-4.19263067e-02 2.46154404e-03 9.99117674e-01 -5.50266104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.9707140569999 meters 0.039342521369789024 Centerline is valid? [True, True] Translation: X:874.24, Y:-152.04, Z:-55.03 [[ 9.96700359e-01 6.94708152e-02 4.19785791e-02 8.74235500e+02] [-6.93072823e-02 9.97581066e-01 -5.34026408e-03 -1.52035257e+02] [-4.22480282e-02 2.41322189e-03 9.99104239e-01 -5.50279632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.000714057 meters 0.03668785434886701 Centerline is valid? [True, True] Translation: X:874.27, Y:-152.03, Z:-55.03 [[ 9.96349780e-01 7.32130846e-02 4.38971636e-02 8.74265817e+02] [-7.30380877e-02 9.97313546e-01 -5.57936779e-03 -1.52034660e+02] [-4.41877186e-02 2.35283698e-03 9.99020475e-01 -5.50277518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.030714057 meters 0.03520985978477096 Centerline is valid? [True, True] Translation: X:874.30, Y:-152.03, Z:-55.03 [[ 9.96047453e-01 7.71675330e-02 4.39845854e-02 8.74296268e+02] [-7.69956709e-02 9.97015753e-01 -5.59068692e-03 -1.52034442e+02] [-4.42847441e-02 2.18196680e-03 9.99016567e-01 -5.50297843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.0607140569999 meters 0.03231384296993191 Centerline is valid? [True, True] Translation: X:874.33, Y:-152.03, Z:-55.03 [[ 9.95905392e-01 7.90122446e-02 4.39262446e-02 8.74325451e+02] [-7.88426690e-02 9.96871442e-01 -5.58233412e-03 -1.52033023e+02] [-4.42298915e-02 2.09621429e-03 9.99019180e-01 -5.50303274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.0907140569999 meters 0.03512052902963273 Centerline is valid? [True, True] Translation: X:874.35, Y:-152.04, Z:-55.03 [[ 9.95865098e-01 7.89463275e-02 4.49464626e-02 8.74352595e+02] [-7.87687594e-02 9.96876556e-01 -5.71090150e-03 -1.52041594e+02] [-4.52569296e-02 2.14691038e-03 9.98973073e-01 -5.50338255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.120714057 meters 0.03150964797011378 Centerline is valid? [True, True] Translation: X:874.38, Y:-152.04, Z:-55.03 [[ 9.95706145e-01 8.08127206e-02 4.51506090e-02 8.74382296e+02] [-8.06359522e-02 9.96727174e-01 -5.72575748e-03 -1.52040586e+02] [-4.54655530e-02 2.06040956e-03 9.98963782e-01 -5.50346317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.150714057 meters 0.03477691269383527 Centerline is valid? [True, True] Translation: X:874.41, Y:-152.05, Z:-55.04 [[ 9.95702354e-01 8.09816625e-02 4.49309852e-02 8.74409057e+02] [-8.08073146e-02 9.96713522e-01 -5.68615964e-03 -1.52050486e+02] [-4.52437951e-02 2.03097029e-03 9.98973911e-01 -5.50381533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.1807140569999 meters 0.03551841440694125 Centerline is valid? [True, True] Translation: X:874.44, Y:-152.06, Z:-55.04 [[ 9.95756869e-01 8.04321350e-02 4.47093903e-02 8.74436225e+02] [-8.02591248e-02 9.96757996e-01 -5.65426747e-03 -1.52055949e+02] [-4.50192271e-02 2.04193913e-03 9.98984034e-01 -5.50407578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.2107140569999 meters 0.03590543705261018 Centerline is valid? [True, True] Translation: X:874.47, Y:-152.06, Z:-55.04 [[ 9.95784879e-01 8.02845394e-02 4.43493887e-02 8.74465039e+02] [-8.01143272e-02 9.96769923e-01 -5.60500431e-03 -1.52060556e+02] [-4.46561319e-02 2.02835710e-03 9.99000358e-01 -5.50430884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.2407140569999 meters 0.03128582939693968 Centerline is valid? [True, True] Translation: X:874.49, Y:-152.06, Z:-55.04 [[ 9.95756079e-01 8.09434201e-02 4.37949084e-02 8.74494084e+02] [-8.07780901e-02 9.96716744e-01 -5.53461228e-03 -1.52057266e+02] [-4.40991090e-02 1.97345476e-03 9.99025212e-01 -5.50432889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.270714057 meters 0.035463566867920376 Centerline is valid? [True, True] Translation: X:874.52, Y:-152.07, Z:-55.05 [[ 9.95700110e-01 8.17080558e-02 4.36472647e-02 8.74520203e+02] [-8.15451307e-02 9.96654457e-01 -5.50326150e-03 -1.52068001e+02] [-4.39509017e-02 1.92037618e-03 9.99031847e-01 -5.50479318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.3007140569999 meters 0.02833789554936999 Centerline is valid? [True, True] Translation: X:874.55, Y:-152.06, Z:-55.05 [[ 9.95595022e-01 8.32410780e-02 4.31448162e-02 8.74550047e+02] [-8.30833790e-02 9.96527759e-01 -5.43857472e-03 -1.52059457e+02] [-4.34477198e-02 1.83000080e-03 9.99054026e-01 -5.50462725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.3307140569999 meters 0.029584074491169864 Centerline is valid? [True, True] Translation: X:874.58, Y:-152.06, Z:-55.05 [[ 9.95483168e-01 8.45509023e-02 4.31787871e-02 8.74577251e+02] [-8.43947512e-02 9.96417605e-01 -5.42982702e-03 -1.52064489e+02] [-4.34832004e-02 1.76123841e-03 9.99052606e-01 -5.50487283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.3607140569999 meters 0.029323784074481985 Centerline is valid? [True, True] Translation: X:874.61, Y:-152.07, Z:-55.05 [[ 9.95413386e-01 8.53514047e-02 4.32126008e-02 8.74606229e+02] [-8.51958453e-02 9.96349416e-01 -5.43215062e-03 -1.52067221e+02] [-4.35184913e-02 1.72570139e-03 9.99051131e-01 -5.50503784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.390714057 meters 0.02867959040971104 Centerline is valid? [True, True] Translation: X:874.64, Y:-152.07, Z:-55.05 [[ 9.95264383e-01 8.70563511e-02 4.32434876e-02 8.74635408e+02] [-8.69025913e-02 9.96202034e-01 -5.42648247e-03 -1.52069099e+02] [-4.35516600e-02 1.64281360e-03 9.99049826e-01 -5.50517238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.4207140569999 meters 0.028794335793291326 Centerline is valid? [True, True] Translation: X:874.66, Y:-152.07, Z:-55.05 [[ 9.95242519e-01 8.72204869e-02 4.34156171e-02 8.74663774e+02] [-8.70660663e-02 9.96187694e-01 -5.43870003e-03 -1.52072775e+02] [-4.37244695e-02 1.63279852e-03 9.99042294e-01 -5.50534676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.4507140569999 meters 0.026825430138823218 Centerline is valid? [True, True] Translation: X:874.69, Y:-152.07, Z:-55.05 [[ 9.95053941e-01 8.94462793e-02 4.32089974e-02 8.74692776e+02] [-8.92959645e-02 9.95990496e-01 -5.40032496e-03 -1.52073982e+02] [-4.35187897e-02 1.51522554e-03 9.99051460e-01 -5.50542146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.4807140569999 meters 0.02669132745430131 Centerline is valid? [True, True] Translation: X:874.72, Y:-152.08, Z:-55.06 [[ 9.95057190e-01 8.94013446e-02 4.32271711e-02 8.74719939e+02] [-8.92508628e-02 9.95994526e-01 -5.40255526e-03 -1.52077524e+02] [-4.35370215e-02 1.51778915e-03 9.99050661e-01 -5.50552561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.510714057 meters 0.027662692452499728 Centerline is valid? [True, True] Translation: X:874.75, Y:-152.08, Z:-55.06 [[ 9.95045424e-01 8.93712346e-02 4.35589945e-02 8.74747149e+02] [-8.92190594e-02 9.95997231e-01 -5.42908212e-03 -1.52083322e+02] [-4.38698417e-02 1.51589080e-03 9.99036105e-01 -5.50575800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.540714057 meters 0.027587402681504718 Centerline is valid? [True, True] Translation: X:874.77, Y:-152.09, Z:-55.06 [[ 9.95079130e-01 8.86792261e-02 4.41986399e-02 8.74774288e+02] [-8.85219262e-02 9.96059003e-01 -5.50741484e-03 -1.52088006e+02] [-4.45128464e-02 1.56776484e-03 9.99007582e-01 -5.50584200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.5707140569999 meters 0.027349813745074284 Centerline is valid? [True, True] Translation: X:874.80, Y:-152.09, Z:-55.06 [[ 9.95153316e-01 8.77229400e-02 4.44360577e-02 8.74803075e+02] [-8.75635584e-02 9.96143616e-01 -5.52437033e-03 -1.52091807e+02] [-4.47493092e-02 1.60661613e-03 9.98996956e-01 -5.50593121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.6007140569999 meters 0.0289624348754939 Centerline is valid? [True, True] Translation: X:874.83, Y:-152.10, Z:-55.06 [[ 9.95239446e-01 8.66702456e-02 4.45725703e-02 8.74830262e+02] [-8.65094054e-02 9.96235694e-01 -5.52850353e-03 -1.52099676e+02] [-4.48839423e-02 1.64623823e-03 9.98990852e-01 -5.50617034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.630714057 meters 0.029231419333259984 Centerline is valid? [True, True] Translation: X:874.86, Y:-152.10, Z:-55.06 [[ 9.95351663e-01 8.54736889e-02 4.43769804e-02 8.74858660e+02] [-8.53131518e-02 9.96338993e-01 -5.50243891e-03 -1.52104309e+02] [-4.46848297e-02 1.69092165e-03 9.98999703e-01 -5.50635759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.660714057 meters 0.029973686367821984 Centerline is valid? [True, True] Translation: X:874.89, Y:-152.11, Z:-55.07 [[ 9.95480825e-01 8.45255160e-02 4.32823808e-02 8.74885016e+02] [-8.43724233e-02 9.96419901e-01 -5.35499022e-03 -1.52111632e+02] [-4.35800589e-02 1.67895072e-03 9.99048527e-01 -5.50669724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.6907140569999 meters 0.030425531013854947 Centerline is valid? [True, True] Translation: X:874.91, Y:-152.12, Z:-55.07 [[ 9.95581425e-01 8.34676010e-02 4.30207561e-02 8.74912922e+02] [-8.33154722e-02 9.96509020e-01 -5.32024026e-03 -1.52117329e+02] [-4.33146392e-02 1.71243778e-03 9.99060013e-01 -5.50695487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.7207140569999 meters 0.02877020529092046 Centerline is valid? [True, True] Translation: X:874.94, Y:-152.12, Z:-55.07 [[ 9.95672104e-01 8.24953155e-02 4.27970161e-02 8.74942106e+02] [-8.23443932e-02 9.96589945e-01 -5.28043184e-03 -1.52119248e+02] [-4.30866868e-02 1.73348436e-03 9.99069834e-01 -5.50703046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.750714057 meters 0.03205179335756037 Centerline is valid? [True, True] Translation: X:874.97, Y:-152.13, Z:-55.07 [[ 9.95884998e-01 8.00281282e-02 4.25272809e-02 8.74969469e+02] [-7.98769803e-02 9.96790934e-01 -5.24430962e-03 -1.52129658e+02] [-4.28105003e-02 1.82577850e-03 9.99081542e-01 -5.50734523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.780714057 meters 0.028776789250734784 Centerline is valid? [True, True] Translation: X:875.00, Y:-152.13, Z:-55.07 [[ 9.95937307e-01 7.94820252e-02 4.23259749e-02 8.74998606e+02] [-7.93318330e-02 9.96834601e-01 -5.21903520e-03 -1.52128191e+02] [-4.26068158e-02 1.84003470e-03 9.99090223e-01 -5.50725960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.8107140569999 meters 0.031015911189548443 Centerline is valid? [True, True] Translation: X:875.03, Y:-152.14, Z:-55.07 [[ 9.96034943e-01 7.78268282e-02 4.30973086e-02 8.75025153e+02] [-7.76701339e-02 9.96965019e-01 -5.30097898e-03 -1.52136791e+02] [-4.33790675e-02 1.93258656e-03 9.99056816e-01 -5.50747668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.8407140569999 meters 0.02983075795646411 Centerline is valid? [True, True] Translation: X:875.05, Y:-152.14, Z:-55.08 [[ 9.96057959e-01 7.77799313e-02 4.26476765e-02 8.75054268e+02] [-7.76266171e-02 9.96968722e-01 -5.24175912e-03 -1.52138919e+02] [-4.29261032e-02 1.91050103e-03 9.99076423e-01 -5.50754117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.870714057 meters 0.03095782853429607 Centerline is valid? [True, True] Translation: X:875.08, Y:-152.14, Z:-55.08 [[ 9.96077977e-01 7.74259841e-02 4.28238442e-02 8.75081565e+02] [-7.72711923e-02 9.96996233e-01 -5.26065681e-03 -1.52144816e+02] [-4.31025229e-02 1.93097488e-03 9.99068788e-01 -5.50770945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.900714057 meters 0.029132466703311863 Centerline is valid? [True, True] Translation: X:875.11, Y:-152.14, Z:-55.08 [[ 9.96032767e-01 7.81179147e-02 4.26182932e-02 8.75110917e+02] [-7.79654071e-02 9.96942339e-01 -5.23147182e-03 -1.52144958e+02] [-4.28966525e-02 1.88796477e-03 9.99077731e-01 -5.50781328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.9307140569999 meters 0.02976463034461195 Centerline is valid? [True, True] Translation: X:875.14, Y:-152.15, Z:-55.08 [[ 9.95895504e-01 7.98071781e-02 4.26961283e-02 8.75138521e+02] [-7.96557804e-02 9.96808666e-01 -5.23825643e-03 -1.52148727e+02] [-4.29779211e-02 1.81576261e-03 9.99074372e-01 -5.50807455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.9607140569999 meters 0.029778096314973124 Centerline is valid? [True, True] Translation: X:875.17, Y:-152.15, Z:-55.08 [[ 9.95766455e-01 8.14851273e-02 4.25363638e-02 8.75166186e+02] [-8.13365225e-02 9.96673050e-01 -5.21553091e-03 -1.52151483e+02] [-4.28198357e-02 1.73369081e-03 9.99081306e-01 -5.50824803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.9907140569999 meters 0.02908703655175413 Centerline is valid? [True, True] Translation: X:875.19, Y:-152.15, Z:-55.08 [[ 9.95686571e-01 8.24439925e-02 4.25586836e-02 8.75194860e+02] [-8.22963690e-02 9.96594271e-01 -5.21212598e-03 -1.52152354e+02] [-4.28434487e-02 1.68721871e-03 9.99080373e-01 -5.50836147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.020714057 meters 0.02705054562377738 Centerline is valid? [True, True] Translation: X:875.22, Y:-152.15, Z:-55.08 [[ 9.95503207e-01 8.44611400e-02 4.28914974e-02 8.75223695e+02] [-8.43131904e-02 9.96425473e-01 -5.24999129e-03 -1.52151480e+02] [-4.31816008e-02 1.61006419e-03 9.99065942e-01 -5.50841520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.0507140569999 meters 0.02705054562377738 Centerline is valid? [True, True] Translation: X:875.25, Y:-152.15, Z:-55.09 [[ 9.95526627e-01 8.41846536e-02 4.28914895e-02 8.75250837e+02] [-8.40364449e-02 9.96448851e-01 -5.25005989e-03 -1.52154717e+02] [-4.31811499e-02 1.62212611e-03 9.99065942e-01 -5.50857375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.0807140569999 meters 0.02756936219382879 Centerline is valid? [True, True] Translation: X:875.28, Y:-152.16, Z:-55.09 [[ 9.95412052e-01 8.54741212e-02 4.30002588e-02 8.75277932e+02] [-8.53270097e-02 9.96339177e-01 -5.24838384e-03 -1.52158669e+02] [-4.32914435e-02 1.55522102e-03 9.99061276e-01 -5.50880041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.1107140569999 meters 0.027529693602267293 Centerline is valid? [True, True] Translation: X:875.31, Y:-152.16, Z:-55.09 [[ 9.95178057e-01 8.77619421e-02 4.38004121e-02 8.75305843e+02] [-8.76116873e-02 9.96140379e-01 -5.34208454e-03 -1.52161345e+02] [-4.41001909e-02 1.47889730e-03 9.99026019e-01 -5.50892956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.140714057 meters 0.027205323455945556 Centerline is valid? [True, True] Translation: X:875.33, Y:-152.16, Z:-55.09 [[ 9.95099473e-01 8.84821783e-02 4.41355015e-02 8.75334688e+02] [-8.83304991e-02 9.96076699e-01 -5.37895775e-03 -1.52163986e+02] [-4.44382865e-02 1.45408716e-03 9.99011073e-01 -5.50902491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.1707140569999 meters 0.027892475907057786 Centerline is valid? [True, True] Translation: X:875.36, Y:-152.17, Z:-55.09 [[ 9.94996244e-01 8.92912997e-02 4.48278718e-02 8.75361772e+02] [-8.91357690e-02 9.96004517e-01 -5.46049723e-03 -1.52168384e+02] [-4.51363377e-02 1.43740741e-03 9.98979802e-01 -5.50921030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.2007140569999 meters 0.0273520103600195 Centerline is valid? [True, True] Translation: X:875.39, Y:-152.17, Z:-55.09 [[ 9.95021275e-01 8.90285035e-02 4.47949524e-02 8.75389896e+02] [-8.88729998e-02 9.96028028e-01 -5.45506176e-03 -1.52170828e+02] [-4.51026841e-02 1.44684071e-03 9.98981308e-01 -5.50934249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.2307140569999 meters 0.02541529556391155 Centerline is valid? [True, True] Translation: X:875.42, Y:-152.17, Z:-55.09 [[ 9.95050011e-01 8.89182507e-02 4.43736503e-02 8.75419013e+02] [-8.87661795e-02 9.96037909e-01 -5.38970031e-03 -1.52170215e+02] [-4.46770806e-02 1.42414195e-03 9.99000466e-01 -5.50933011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.260714057 meters 0.025759330973124824 Centerline is valid? [True, True] Translation: X:875.45, Y:-152.17, Z:-55.10 [[ 9.95090801e-01 8.87992008e-02 4.36921034e-02 8.75446465e+02] [-8.86517757e-02 9.96048557e-01 -5.30414848e-03 -1.52174224e+02] [-4.39904607e-02 1.40472681e-03 9.99030964e-01 -5.50954262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.290714057 meters 0.02606406979193267 Centerline is valid? [True, True] Translation: X:875.47, Y:-152.18, Z:-55.10 [[ 9.95145432e-01 8.83517552e-02 4.33536270e-02 8.75473664e+02] [-8.82063464e-02 9.96088340e-01 -5.25931619e-03 -1.52178639e+02] [-4.36487122e-02 1.40971944e-03 9.99045946e-01 -5.50977246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.3207140569999 meters 0.026606484392074903 Centerline is valid? [True, True] Translation: X:875.50, Y:-152.18, Z:-55.10 [[ 9.95228412e-01 8.77609536e-02 4.26429675e-02 8.75501344e+02] [-8.76198623e-02 9.96140567e-01 -5.17013043e-03 -1.52183715e+02] [-4.29321255e-02 1.40908976e-03 9.99076998e-01 -5.51008009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.3507140569999 meters 0.026925284717293347 Centerline is valid? [True, True] Translation: X:875.53, Y:-152.19, Z:-55.10 [[ 9.95266231e-01 8.73992906e-02 4.25028691e-02 8.75529382e+02] [-8.72590664e-02 9.96172357e-01 -5.14683324e-03 -1.52187789e+02] [-4.27900129e-02 1.41370864e-03 9.99083088e-01 -5.51027631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.380714057 meters 0.026465465165739388 Centerline is valid? [True, True] Translation: X:875.56, Y:-152.19, Z:-55.10 [[ 9.95352927e-01 8.67838786e-02 4.17265976e-02 8.75558205e+02] [-8.66481932e-02 9.96226159e-01 -5.05282857e-03 -1.52189706e+02] [-4.20076321e-02 1.41381342e-03 9.99116290e-01 -5.51038748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.410714057 meters 0.026979706287674897 Centerline is valid? [True, True] Translation: X:875.59, Y:-152.19, Z:-55.11 [[ 9.95376611e-01 8.64927643e-02 4.17660691e-02 8.75585947e+02] [-8.63571002e-02 9.96251474e-01 -5.04491405e-03 -1.52194407e+02] [-4.20458565e-02 1.41479284e-03 9.99114680e-01 -5.51061006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.4407140569999 meters 0.026620014347827313 Centerline is valid? [True, True] Translation: X:875.61, Y:-152.20, Z:-55.11 [[ 9.95387324e-01 8.64875726e-02 4.15207825e-02 8.75613888e+02] [-8.63536322e-02 9.96251941e-01 -5.01197772e-03 -1.52196864e+02] [-4.17986339e-02 1.40338871e-03 9.99125070e-01 -5.51071631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.4707140569999 meters 0.03082511407724886 Centerline is valid? [True, True] Translation: X:875.64, Y:-152.21, Z:-55.11 [[ 9.95328764e-01 8.69153927e-02 4.20281703e-02 8.75640913e+02] [-8.67787456e-02 9.96214717e-01 -5.06830714e-03 -1.52207010e+02] [-4.23095957e-02 1.39747997e-03 9.99103571e-01 -5.51119665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.500714057 meters 0.026459289623987303 Centerline is valid? [True, True] Translation: X:875.67, Y:-152.20, Z:-55.11 [[ 9.95251949e-01 8.75487145e-02 4.25297638e-02 8.75670509e+02] [-8.74094868e-02 9.96159278e-01 -5.12587046e-03 -1.52202484e+02] [-4.28151821e-02 1.38402773e-03 9.99082051e-01 -5.51093106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.530714057 meters 0.026300520295499553 Centerline is valid? [True, True] Translation: X:875.70, Y:-152.20, Z:-55.11 [[ 9.95070232e-01 8.88924246e-02 4.39701061e-02 8.75698811e+02] [-8.87449494e-02 9.96040290e-01 -5.29857705e-03 -1.52204306e+02] [-4.42670006e-02 1.37033145e-03 9.99018796e-01 -5.51101850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.5607140569999 meters 0.02423756728211496 Centerline is valid? [True, True] Translation: X:875.73, Y:-152.20, Z:-55.11 [[ 9.94786351e-01 9.14805180e-02 4.50713958e-02 8.75728315e+02] [-9.13287979e-02 9.95806052e-01 -5.41833284e-03 -1.52200858e+02] [-4.53780406e-02 1.27376716e-03 9.98969074e-01 -5.51086455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.5907140569999 meters 0.024756153867183085 Centerline is valid? [True, True] Translation: X:875.76, Y:-152.20, Z:-55.11 [[ 9.94577179e-01 9.34738036e-02 4.55947728e-02 8.75755603e+02] [-9.33207699e-02 9.95621024e-01 -5.47817154e-03 -1.52204283e+02] [-4.59071799e-02 1.19352509e-03 9.98944997e-01 -5.51111266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.620714057 meters 0.023668143800521915 Centerline is valid? [True, True] Translation: X:875.78, Y:-152.20, Z:-55.11 [[ 9.94405130e-01 9.53121827e-02 4.55414784e-02 8.75784110e+02] [-9.51615345e-02 9.95446818e-01 -5.46953821e-03 -1.52204170e+02] [-4.58554334e-02 1.10513988e-03 9.98947475e-01 -5.51123108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.650714057 meters 0.022191088582289586 Centerline is valid? [True, True] Translation: X:875.81, Y:-152.20, Z:-55.11 [[ 9.94054564e-01 9.85911269e-02 4.62094490e-02 8.75813767e+02] [-9.84401709e-02 9.95127569e-01 -5.53668544e-03 -1.52201282e+02] [-4.65301647e-02 9.54901375e-04 9.98916429e-01 -5.51127810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.6807140569999 meters 0.02225287578091623 Centerline is valid? [True, True] Translation: X:875.84, Y:-152.20, Z:-55.11 [[ 9.93928161e-01 9.98500779e-02 4.62252333e-02 8.75841258e+02] [-9.97005016e-02 9.95002092e-01 -5.53594236e-03 -1.52203776e+02] [-4.65469681e-02 8.93650072e-04 9.98915703e-01 -5.51149885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.7107140569999 meters 0.021519474766873607 Centerline is valid? [True, True] Translation: X:875.87, Y:-152.20, Z:-55.12 [[ 9.93751584e-01 1.01597058e-01 4.62150196e-02 8.75870062e+02] [-1.01449659e-01 9.94825305e-01 -5.52991281e-03 -1.52203982e+02] [-4.65376939e-02 8.06861617e-04 9.98916209e-01 -5.51170779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.7407140569999 meters 0.021578541046510774 Centerline is valid? [True, True] Translation: X:875.90, Y:-152.21, Z:-55.12 [[ 9.93743449e-01 1.01956954e-01 4.55931631e-02 8.75896447e+02] [-1.01814413e-01 9.94788515e-01 -5.44381909e-03 -1.52206396e+02] [-4.59105902e-02 7.67718421e-04 9.98945258e-01 -5.51192897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.770714057 meters 0.02264295849844225 Centerline is valid? [True, True] Translation: X:875.92, Y:-152.21, Z:-55.12 [[ 9.93786903e-01 1.02173304e-01 4.41384962e-02 8.75923227e+02] [-1.02040355e-01 9.94766350e-01 -5.26062025e-03 -1.52211258e+02] [-4.44449857e-02 7.24027678e-04 9.99011571e-01 -5.51247614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.8007140569999 meters 0.023003399274736446 Centerline is valid? [True, True] Translation: X:875.95, Y:-152.22, Z:-55.13 [[ 9.93837711e-01 1.01783429e-01 4.38946132e-02 8.75950928e+02] [-1.01651736e-01 9.94806311e-01 -5.22772705e-03 -1.52215856e+02] [-4.41987342e-02 7.33548660e-04 9.99022489e-01 -5.51271067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.8307140569999 meters 0.02298362483352883 Centerline is valid? [True, True] Translation: X:875.98, Y:-152.22, Z:-55.13 [[ 9.93906023e-01 1.01189771e-01 4.37201157e-02 8.75979188e+02] [-1.01058614e-01 9.94866855e-01 -5.20547360e-03 -1.52220123e+02] [-4.40224347e-02 7.55457276e-04 9.99030257e-01 -5.51291374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.8607140569999 meters 0.021445332700232335 Centerline is valid? [True, True] Translation: X:876.01, Y:-152.22, Z:-55.13 [[ 9.93915910e-01 1.00905688e-01 4.41498254e-02 8.76007108e+02] [-1.00772055e-01 9.94895700e-01 -5.24773665e-03 -1.52219804e+02] [-4.44539980e-02 7.66740321e-04 9.99011138e-01 -5.51260629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.890714057 meters 0.02123646355225499 Centerline is valid? [True, True] Translation: X:876.04, Y:-152.22, Z:-55.13 [[ 9.93872157e-01 1.01056091e-01 4.47861828e-02 8.76035746e+02] [-1.00919327e-01 9.94880441e-01 -5.31010142e-03 -1.52223035e+02] [-4.50935154e-02 7.57770518e-04 9.98982483e-01 -5.51267121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.9207140569999 meters 0.020840018321043246 Centerline is valid? [True, True] Translation: X:876.06, Y:-152.23, Z:-55.13 [[ 9.93713889e-01 1.02182469e-01 4.57323768e-02 8.76064962e+02] [-1.02041589e-01 9.94765419e-01 -5.41067790e-03 -1.52225472e+02] [-4.60458634e-02 7.10061403e-04 9.98939074e-01 -5.51268932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.9507140569999 meters 0.020814215577823734 Centerline is valid? [True, True] Translation: X:876.09, Y:-152.23, Z:-55.13 [[ 9.93627891e-01 1.02793797e-01 4.62282282e-02 8.76092771e+02] [-1.02651066e-01 9.94702456e-01 -5.45728301e-03 -1.52228502e+02] [-4.65443070e-02 6.77131710e-04 9.98915997e-01 -5.51283513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.9807140569999 meters 0.02092632786545336 Centerline is valid? [True, True] Translation: X:876.12, Y:-152.23, Z:-55.13 [[ 9.93605616e-01 1.02771928e-01 4.67526622e-02 8.76120181e+02] [-1.02626011e-01 9.94704712e-01 -5.51711199e-03 -1.52232079e+02] [-4.70720976e-02 6.83794227e-04 9.98891260e-01 -5.51300708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.010714057 meters 0.020795727558745994 Centerline is valid? [True, True] Translation: X:876.15, Y:-152.24, Z:-55.13 [[ 9.93655048e-01 1.02199974e-01 4.69554064e-02 8.76147373e+02] [-1.02052848e-01 9.94763628e-01 -5.52628096e-03 -1.52236898e+02] [-4.72743162e-02 6.99284013e-04 9.98881700e-01 -5.51316019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.040714057 meters 0.02091160722241303 Centerline is valid? [True, True] Translation: X:876.17, Y:-152.24, Z:-55.13 [[ 9.93728907e-01 1.01466425e-01 4.69832242e-02 8.76174475e+02] [-1.01318402e-01 9.94838694e-01 -5.52752316e-03 -1.52241137e+02] [-4.73015875e-02 7.32594366e-04 9.98880385e-01 -5.51332585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.0707140569999 meters 0.020760404723017056 Centerline is valid? [True, True] Translation: X:876.20, Y:-152.25, Z:-55.13 [[ 9.93911618e-01 9.99052773e-02 4.64610716e-02 8.76203014e+02] [-9.97594076e-02 9.94996643e-01 -5.45362468e-03 -1.52245110e+02] [-4.67734561e-02 7.85491954e-04 9.98905214e-01 -5.51347390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.1007140569999 meters 0.020821937917370047 Centerline is valid? [True, True] Translation: X:876.23, Y:-152.25, Z:-55.14 [[ 9.94039982e-01 9.87223832e-02 4.62428967e-02 8.76231346e+02] [-9.85771185e-02 9.95114671e-01 -5.41693449e-03 -1.52248153e+02] [-4.65517577e-02 8.26157951e-04 9.98915538e-01 -5.51360494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.130714057 meters 0.02138543493984947 Centerline is valid? [True, True] Translation: X:876.26, Y:-152.25, Z:-55.14 [[ 9.94155415e-01 9.77850371e-02 4.57503882e-02 8.76258766e+02] [-9.76424700e-02 9.95207199e-01 -5.34602162e-03 -1.52253541e+02] [-4.60538766e-02 8.47595434e-04 9.98938598e-01 -5.51388732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.160714057 meters 0.021228264070744438 Centerline is valid? [True, True] Translation: X:876.29, Y:-152.26, Z:-55.14 [[ 9.94327893e-01 9.60023976e-02 4.57775191e-02 8.76287131e+02] [-9.58578765e-02 9.95380670e-01 -5.34695794e-03 -1.52258170e+02] [-4.60793784e-02 9.28493650e-04 9.98937350e-01 -5.51402277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.1907140569999 meters 0.021542074437067366 Centerline is valid? [True, True] Translation: X:876.32, Y:-152.26, Z:-55.14 [[ 9.94443468e-01 9.49172605e-02 4.55291477e-02 8.76315082e+02] [-9.47736782e-02 9.95484700e-01 -5.30682856e-03 -1.52262198e+02] [-4.58272796e-02 9.62376195e-04 9.98948915e-01 -5.51422765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.2207140569999 meters 0.0235455413792362 Centerline is valid? [True, True] Translation: X:876.34, Y:-152.27, Z:-55.15 [[ 9.94525040e-01 9.41069006e-02 4.54294748e-02 8.76341879e+02] [-9.39636945e-02 9.95561611e-01 -5.28226675e-03 -1.52270573e+02] [-4.57249389e-02 9.84625263e-04 9.98953583e-01 -5.51464530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.250714057 meters 0.02215167269230117 Centerline is valid? [True, True] Translation: X:876.37, Y:-152.27, Z:-55.15 [[ 9.94583349e-01 9.34347252e-02 4.55402374e-02 8.76371097e+02] [-9.32902129e-02 9.95624889e-01 -5.29302324e-03 -1.52270212e+02] [-4.58355459e-02 1.01589434e-03 9.98948483e-01 -5.51457179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.280714057 meters 0.022072804934280984 Centerline is valid? [True, True] Translation: X:876.40, Y:-152.27, Z:-55.15 [[ 9.94632558e-01 9.25954511e-02 4.61752879e-02 8.76398974e+02] [-9.24464788e-02 9.95703250e-01 -5.35598033e-03 -1.52273336e+02] [-4.64728237e-02 1.05848964e-03 9.98918994e-01 -5.51464652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.3107140569999 meters 0.022134850231430064 Centerline is valid? [True, True] Translation: X:876.43, Y:-152.28, Z:-55.15 [[ 9.94630708e-01 9.23144194e-02 4.67739625e-02 8.76426331e+02] [-9.21618609e-02 9.95729330e-01 -5.41236978e-03 -1.52276374e+02] [-4.70738461e-02 1.07253376e-03 9.98890836e-01 -5.51475588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.3407140569999 meters 0.02185584233883585 Centerline is valid? [True, True] Translation: X:876.45, Y:-152.28, Z:-55.15 [[ 9.94670182e-01 9.16889579e-02 4.71631674e-02 8.76454001e+02] [-9.15337668e-02 9.95787090e-01 -5.44433664e-03 -1.52278947e+02] [-4.74636588e-02 1.09829695e-03 9.98872362e-01 -5.51486230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.370714057 meters 0.02141908884123651 Centerline is valid? [True, True] Translation: X:876.48, Y:-152.28, Z:-55.15 [[ 9.94693566e-01 9.09513159e-02 4.80891725e-02 8.76482184e+02] [-9.07897645e-02 9.95854685e-01 -5.53761711e-03 -1.52280348e+02] [-4.83934812e-02 1.14222746e-03 9.98827696e-01 -5.51488154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.400714057 meters 0.021530431267733432 Centerline is valid? [True, True] Translation: X:876.51, Y:-152.28, Z:-55.15 [[ 9.94751213e-01 9.01623837e-02 4.83814870e-02 8.76510626e+02] [-8.99986251e-02 9.95926387e-01 -5.55699077e-03 -1.52284078e+02] [-4.86854311e-02 1.17355600e-03 9.98813472e-01 -5.51497956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.4307140569999 meters 0.021711724387982564 Centerline is valid? [True, True] Translation: X:876.54, Y:-152.29, Z:-55.15 [[ 9.94838437e-01 8.92045438e-02 4.83635598e-02 8.76538731e+02] [-8.90404346e-02 9.96012597e-01 -5.54141471e-03 -1.52287217e+02] [-4.86650342e-02 1.20649996e-03 9.98814427e-01 -5.51513741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.4607140569999 meters 0.02227572878493389 Centerline is valid? [True, True] Translation: X:876.57, Y:-152.29, Z:-55.15 [[ 9.94927711e-01 8.84366265e-02 4.79355077e-02 8.76566570e+02] [-8.82747269e-02 9.96081048e-01 -5.48811592e-03 -1.52291234e+02] [-4.82330012e-02 1.22878476e-03 9.98835356e-01 -5.51535228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.4907140569999 meters 0.022121166756924524 Centerline is valid? [True, True] Translation: X:876.60, Y:-152.29, Z:-55.16 [[ 9.95062601e-01 8.76541051e-02 4.65529555e-02 8.76595202e+02] [-8.75006669e-02 9.96150215e-01 -5.32757514e-03 -1.52293370e+02] [-4.68407204e-02 1.22785613e-03 9.98901616e-01 -5.51558648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.520714057 meters 0.022647721834539912 Centerline is valid? [True, True] Translation: X:876.62, Y:-152.30, Z:-55.16 [[ 9.95171884e-01 8.66464299e-02 4.61011602e-02 8.76624039e+02] [-8.64953991e-02 9.96238340e-01 -5.26464433e-03 -1.52296607e+02] [-4.63839059e-02 1.25168778e-03 9.98922903e-01 -5.51585048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.5507140569999 meters 0.02242250446495531 Centerline is valid? [True, True] Translation: X:876.65, Y:-152.30, Z:-55.16 [[ 9.95268745e-01 8.58179209e-02 4.55566700e-02 8.76652823e+02] [-8.56700792e-02 9.96310035e-01 -5.19141483e-03 -1.52300126e+02] [-4.58340840e-02 1.26400939e-03 9.98948266e-01 -5.51602559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.5807140569999 meters 0.022892743499062514 Centerline is valid? [True, True] Translation: X:876.68, Y:-152.31, Z:-55.16 [[ 9.95475260e-01 8.35789718e-02 4.52057825e-02 8.76680998e+02] [-8.34316034e-02 9.96500249e-01 -5.14025207e-03 -1.52305700e+02] [-4.54771905e-02 1.34540285e-03 9.98964471e-01 -5.51618802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.6107140569999 meters 0.023015139610455503 Centerline is valid? [True, True] Translation: X:876.71, Y:-152.31, Z:-55.16 [[ 9.95632528e-01 8.17790680e-02 4.50339074e-02 8.76709651e+02] [-8.16314875e-02 9.96649484e-01 -5.10951822e-03 -1.52310284e+02] [-4.53008722e-02 1.41101769e-03 9.98972392e-01 -5.51634871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.640714057 meters 0.023490098103051565 Centerline is valid? [True, True] Translation: X:876.74, Y:-152.32, Z:-55.16 [[ 9.95835574e-01 7.90812053e-02 4.53615778e-02 8.76737743e+02] [-7.89291973e-02 9.96866998e-01 -5.13520984e-03 -1.52316019e+02] [-4.56255584e-02 1.53347172e-03 9.98957435e-01 -5.51637621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.6707140569999 meters 0.023937589033143736 Centerline is valid? [True, True] Translation: X:876.77, Y:-152.32, Z:-55.17 [[ 9.95869628e-01 7.83031122e-02 4.59598286e-02 8.76765484e+02] [-7.81468712e-02 9.96928352e-01 -5.18925069e-03 -1.52321024e+02] [-4.62249907e-02 1.57620035e-03 9.98929810e-01 -5.51651122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.7007140569999 meters 0.024716036255225976 Centerline is valid? [True, True] Translation: X:876.79, Y:-152.33, Z:-55.17 [[ 9.95909858e-01 7.75182933e-02 4.64162566e-02 8.76792968e+02] [-7.73582767e-02 9.96989606e-01 -5.23657723e-03 -1.52325984e+02] [-4.66824559e-02 1.62447727e-03 9.98908459e-01 -5.51663510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.7307140569999 meters 0.02348725774319867 Centerline is valid? [True, True] Translation: X:876.82, Y:-152.33, Z:-55.17 [[ 9.95839612e-01 7.79517932e-02 4.71909485e-02 8.76822129e+02] [-7.77870822e-02 9.96955803e-01 -5.31955295e-03 -1.52326506e+02] [-4.74619586e-02 1.62657536e-03 9.98871722e-01 -5.51665377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.760714057 meters 0.023824069766709685 Centerline is valid? [True, True] Translation: X:876.85, Y:-152.33, Z:-55.17 [[ 9.95723498e-01 7.91612930e-02 4.76256862e-02 8.76849279e+02] [-7.89950507e-02 9.96860568e-01 -5.36566274e-03 -1.52329320e+02] [-4.79009214e-02 1.58052298e-03 9.98850842e-01 -5.51681769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.790714057 meters 0.022213642899709247 Centerline is valid? [True, True] Translation: X:876.88, Y:-152.33, Z:-55.17 [[ 9.95378038e-01 8.31058391e-02 4.81246460e-02 8.76879868e+02] [-8.29410421e-02 9.96539746e-01 -5.41468892e-03 -1.52328397e+02] [-4.84081147e-02 1.39815415e-03 9.98826661e-01 -5.51693069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.8207140569999 meters 0.021628697017057653 Centerline is valid? [True, True] Translation: X:876.91, Y:-152.33, Z:-55.17 [[ 9.95190639e-01 8.51675016e-02 4.83951242e-02 8.76908581e+02] [-8.50033155e-02 9.96365794e-01 -5.44438105e-03 -1.52328738e+02] [-4.86829307e-02 1.30445105e-03 9.98813431e-01 -5.51707688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.8507140569999 meters 0.021444346820177724 Centerline is valid? [True, True] Translation: X:876.94, Y:-152.33, Z:-55.17 [[ 9.94962584e-01 8.75702572e-02 4.87945363e-02 8.76936748e+02] [-8.74068495e-02 9.96157642e-01 -5.47676250e-03 -1.52330091e+02] [-4.90866517e-02 1.18419708e-03 9.98793822e-01 -5.51722191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.880714057 meters 0.020980373257267995 Centerline is valid? [True, True] Translation: X:876.97, Y:-152.33, Z:-55.17 [[ 9.94766631e-01 8.97014712e-02 4.89182537e-02 8.76966060e+02] [-8.95404665e-02 9.95968124e-01 -5.47725711e-03 -1.52330644e+02] [-4.92123394e-02 1.06842934e-03 9.98787767e-01 -5.51732685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.910714057 meters 0.02070367481065752 Centerline is valid? [True, True] Translation: X:877.00, Y:-152.33, Z:-55.17 [[ 9.94588346e-01 9.12263139e-02 4.97170220e-02 8.76995230e+02] [-9.10622353e-02 9.95829681e-01 -5.56013148e-03 -1.52333049e+02] [-5.00169165e-02 1.00269881e-03 9.98747867e-01 -5.51747893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.9407140569999 meters 0.0208915218903675 Centerline is valid? [True, True] Translation: X:877.02, Y:-152.34, Z:-55.18 [[ 9.94588061e-01 9.12933836e-02 4.95994636e-02 8.77022597e+02] [-9.11304326e-02 9.95823546e-01 -5.54160843e-03 -1.52336166e+02] [-4.98982259e-02 9.91597018e-04 9.98753815e-01 -5.51763836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.9707140569999 meters 0.0208915218903675 Centerline is valid? [True, True] Translation: X:877.05, Y:-152.34, Z:-55.18 [[ 9.94613962e-01 9.10099112e-02 4.96010358e-02 8.77049745e+02] [-9.08473114e-02 9.95849493e-01 -5.52749720e-03 -1.52339125e+02] [-4.98982234e-02 9.91605142e-04 9.98753816e-01 -5.51779737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.000714057 meters 0.020604908301874465 Centerline is valid? [True, True] Translation: X:877.08, Y:-152.34, Z:-55.18 [[ 9.94648403e-01 9.11261547e-02 4.86885878e-02 8.77077499e+02] [-9.09702984e-02 9.95838900e-01 -5.41210246e-03 -1.52342684e+02] [-4.89791738e-02 9.53923702e-04 9.98799345e-01 -5.51802321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.030714057 meters 0.020843290562673054 Centerline is valid? [True, True] Translation: X:877.10, Y:-152.35, Z:-55.18 [[ 9.94643372e-01 9.12313338e-02 4.85942968e-02 8.77104438e+02] [-9.10769656e-02 9.95829291e-01 -5.38611124e-03 -1.52346615e+02] [-4.88830062e-02 9.31438756e-04 9.98804077e-01 -5.51824492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.0607140569999 meters 0.02072956446817151 Centerline is valid? [True, True] Translation: X:877.13, Y:-152.35, Z:-55.18 [[ 9.94643001e-01 9.13494814e-02 4.83794623e-02 8.77131551e+02] [-9.11968392e-02 9.95818473e-01 -5.35771298e-03 -1.52350213e+02] [-4.86665866e-02 9.16957671e-04 9.98814659e-01 -5.51844290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.0907140569999 meters 0.020486341225144006 Centerline is valid? [True, True] Translation: X:877.16, Y:-152.35, Z:-55.19 [[ 9.94521198e-01 9.23536704e-02 4.89733282e-02 8.77160005e+02] [-9.21991785e-02 9.95725892e-01 -5.40913579e-03 -1.52352613e+02] [-4.92635645e-02 8.64199577e-04 9.98785440e-01 -5.51856391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.120714057 meters 0.020543780869047436 Centerline is valid? [True, True] Translation: X:877.19, Y:-152.35, Z:-55.19 [[ 9.94498006e-01 9.27571280e-02 4.86809128e-02 8.77187409e+02] [-9.26055390e-02 9.95688420e-01 -5.36502500e-03 -1.52354920e+02] [-4.89686655e-02 8.27384488e-04 9.98799973e-01 -5.51870320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.150714057 meters 0.020314314636445254 Centerline is valid? [True, True] Translation: X:877.22, Y:-152.36, Z:-55.19 [[ 9.94415960e-01 9.35960922e-02 4.87511002e-02 8.77216139e+02] [-9.34457761e-02 9.95609951e-01 -5.35843579e-03 -1.52356732e+02] [-4.90386091e-02 7.72929680e-04 9.98796585e-01 -5.51892714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.1807140569999 meters 0.02047677844756228 Centerline is valid? [True, True] Translation: X:877.24, Y:-152.36, Z:-55.19 [[ 9.94472940e-01 9.29645809e-02 4.87971162e-02 8.77243505e+02] [-9.28138908e-02 9.95669102e-01 -5.34986362e-03 -1.52360556e+02] [-4.90831287e-02 7.91244384e-04 9.98794383e-01 -5.51907818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.2107140569999 meters 0.020728309840914644 Centerline is valid? [True, True] Translation: X:877.27, Y:-152.36, Z:-55.19 [[ 9.94522543e-01 9.20026283e-02 4.96026919e-02 8.77271341e+02] [-9.18458695e-02 9.95758402e-01 -5.43523718e-03 -1.52363927e+02] [-4.98923534e-02 8.49663537e-04 9.98754240e-01 -5.51918685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.2407140569999 meters 0.021092538554384633 Centerline is valid? [True, True] Translation: X:877.30, Y:-152.37, Z:-55.19 [[ 9.94651339e-01 9.00636586e-02 5.05692653e-02 8.77299842e+02] [-8.98989791e-02 9.95935557e-01 -5.52628378e-03 -1.52368194e+02] [-5.08614467e-02 9.50600241e-04 9.98705267e-01 -5.51925244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.270714057 meters 0.0210524156511727 Centerline is valid? [True, True] Translation: X:877.33, Y:-152.37, Z:-55.19 [[ 9.94700579e-01 8.90523685e-02 5.13851537e-02 8.77327968e+02] [-8.88816422e-02 9.96026437e-01 -5.60263884e-03 -1.52371405e+02] [-5.16798999e-02 1.00575124e-03 9.98663195e-01 -5.51934475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.3007140569999 meters 0.021292525437670438 Centerline is valid? [True, True] Translation: X:877.36, Y:-152.38, Z:-55.19 [[ 9.94787329e-01 8.75603732e-02 5.22623277e-02 8.77356707e+02] [-8.73824071e-02 9.96158620e-01 -5.68495773e-03 -1.52375448e+02] [-5.25593452e-02 1.08851592e-03 9.98617209e-01 -5.51946818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.3307140569999 meters 0.021404884917858656 Centerline is valid? [True, True] Translation: X:877.38, Y:-152.38, Z:-55.20 [[ 9.94835667e-01 8.70574525e-02 5.21823274e-02 8.77384332e+02] [-8.68800662e-02 9.96202686e-01 -5.66244107e-03 -1.52379418e+02] [-5.24771324e-02 1.09959427e-03 9.98621521e-01 -5.51966096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.3607140569999 meters 0.02169497685883909 Centerline is valid? [True, True] Translation: X:877.41, Y:-152.38, Z:-55.20 [[ 9.94905638e-01 8.63706560e-02 5.19892425e-02 8.77412350e+02] [-8.61939775e-02 9.96262437e-01 -5.63512830e-03 -1.52383421e+02] [-5.22816392e-02 1.12526132e-03 9.98631746e-01 -5.51988815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.390714057 meters 0.02156561125640168 Centerline is valid? [True, True] Translation: X:877.44, Y:-152.39, Z:-55.20 [[ 9.94957654e-01 8.58642807e-02 5.18323430e-02 8.77440230e+02] [-8.56886441e-02 9.96306196e-01 -5.60542901e-03 -1.52386888e+02] [-5.21221906e-02 1.13572130e-03 9.98640069e-01 -5.52004598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.4207140569999 meters 0.02185999717568872 Centerline is valid? [True, True] Translation: X:877.47, Y:-152.39, Z:-55.20 [[ 9.94958740e-01 8.55415240e-02 5.23426495e-02 8.77467904e+02] [-8.53627572e-02 9.96333944e-01 -5.64554119e-03 -1.52390207e+02] [-5.26336866e-02 1.14896767e-03 9.98613226e-01 -5.52023905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.4507140569999 meters 0.022266778406009043 Centerline is valid? [True, True] Translation: X:877.50, Y:-152.39, Z:-55.20 [[ 9.95003303e-01 8.50470330e-02 5.23013227e-02 8.77495831e+02] [-8.48687025e-02 9.96376264e-01 -5.62520595e-03 -1.52394109e+02] [-5.25902037e-02 1.15835311e-03 9.98615506e-01 -5.52034764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.4807140569999 meters 0.022044639720419576 Centerline is valid? [True, True] Translation: X:877.52, Y:-152.40, Z:-55.20 [[ 9.95049617e-01 8.43200461e-02 5.25964890e-02 8.77524200e+02] [-8.41388872e-02 9.96438001e-01 -5.65305395e-03 -1.52396593e+02] [-5.28858062e-02 1.19965911e-03 9.98599846e-01 -5.52048425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.510714057 meters 0.02219204286616873 Centerline is valid? [True, True] Translation: X:877.55, Y:-152.40, Z:-55.21 [[ 9.95128645e-01 8.30447665e-02 5.31276528e-02 8.77552206e+02] [-8.28588279e-02 9.96545012e-01 -5.69674725e-03 -1.52400956e+02] [-5.34171825e-02 1.26690133e-03 9.98571479e-01 -5.52065698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.540714057 meters 0.023094273412550412 Centerline is valid? [True, True] Translation: X:877.58, Y:-152.41, Z:-55.21 [[ 9.95198197e-01 8.23451374e-02 5.29133917e-02 8.77579634e+02] [-8.21604532e-02 9.96603044e-01 -5.65980885e-03 -1.52406803e+02] [-5.31997050e-02 1.28524332e-03 9.98583066e-01 -5.52087662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.5707140569999 meters 0.022429519112514812 Centerline is valid? [True, True] Translation: X:877.61, Y:-152.41, Z:-55.21 [[ 9.95224602e-01 8.21237441e-02 5.27606073e-02 8.77608484e+02] [-8.19400689e-02 9.96621307e-01 -5.63869002e-03 -1.52408984e+02] [-5.30454157e-02 1.28855524e-03 9.98591270e-01 -5.52104057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.6007140569999 meters 0.02223891684469267 Centerline is valid? [True, True] Translation: X:877.64, Y:-152.41, Z:-55.21 [[ 9.95266693e-01 8.15824634e-02 5.28063604e-02 8.77636954e+02] [-8.13979053e-02 9.96665728e-01 -5.63987592e-03 -1.52411307e+02] [-5.30904046e-02 1.31485354e-03 9.98588844e-01 -5.52127156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.630714057 meters 0.022121828753105637 Centerline is valid? [True, True] Translation: X:877.66, Y:-152.41, Z:-55.21 [[ 9.95285060e-01 8.14214432e-02 5.27086112e-02 8.77664324e+02] [-8.12375343e-02 9.96678892e-01 -5.62582653e-03 -1.52414775e+02] [-5.29916231e-02 1.31738349e-03 9.98594088e-01 -5.52141454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.660714057 meters 0.02283017977577482 Centerline is valid? [True, True] Translation: X:877.69, Y:-152.42, Z:-55.22 [[ 9.95329285e-01 8.02275834e-02 5.36949584e-02 8.77692110e+02] [-8.00353067e-02 9.96775588e-01 -5.72515480e-03 -1.52419341e+02] [-5.39811391e-02 1.40092176e-03 9.98540973e-01 -5.52157381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.6907140569999 meters 0.022763705148921176 Centerline is valid? [True, True] Translation: X:877.72, Y:-152.42, Z:-55.22 [[ 9.95350064e-01 7.97133532e-02 5.40743169e-02 8.77720318e+02] [-7.95178558e-02 9.96816796e-01 -5.76071046e-03 -1.52422174e+02] [-5.43613929e-02 1.43404979e-03 9.98520297e-01 -5.52169887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.7207140569999 meters 0.023056222506392856 Centerline is valid? [True, True] Translation: X:877.75, Y:-152.43, Z:-55.22 [[ 9.95389868e-01 7.91262762e-02 5.42037197e-02 8.77748645e+02] [-7.89291855e-02 9.96863523e-01 -5.77058089e-03 -1.52425927e+02] [-5.44903155e-02 1.46572231e-03 9.98513223e-01 -5.52181712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.750714057 meters 0.023489240281189597 Centerline is valid? [True, True] Translation: X:877.78, Y:-152.43, Z:-55.22 [[ 9.95452472e-01 7.79506439e-02 5.47546652e-02 8.77775510e+02] [-7.77479518e-02 9.96956027e-01 -5.82550263e-03 -1.52430681e+02] [-5.50420951e-02 1.54194792e-03 9.98482844e-01 -5.52196326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.780714057 meters 0.023633688346087277 Centerline is valid? [True, True] Translation: X:877.80, Y:-152.43, Z:-55.22 [[ 9.95528956e-01 7.73426408e-02 5.42237473e-02 8.77804122e+02] [-7.71434366e-02 9.97003364e-01 -5.76035770e-03 -1.52433163e+02] [-5.45067798e-02 1.55159667e-03 9.98512195e-01 -5.52217357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.8107140569999 meters 0.023881979251159938 Centerline is valid? [True, True] Translation: X:877.83, Y:-152.44, Z:-55.22 [[ 9.95702975e-01 7.58489663e-02 5.31273956e-02 8.77831883e+02] [-7.56558165e-02 9.97118040e-01 -5.64023460e-03 -1.52437699e+02] [-5.34020905e-02 1.59660187e-03 9.98571814e-01 -5.52248899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.8407140569999 meters 0.02461450079995302 Centerline is valid? [True, True] Translation: X:877.86, Y:-152.44, Z:-55.23 [[ 9.95779954e-01 7.50046731e-02 5.28827297e-02 8.77858675e+02] [-7.48123591e-02 9.97181851e-01 -5.60960564e-03 -1.52442802e+02] [-5.31544449e-02 1.62965108e-03 9.98584974e-01 -5.52275827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.870714057 meters 0.024689230069147677 Centerline is valid? [True, True] Translation: X:877.89, Y:-152.45, Z:-55.23 [[ 9.95893040e-01 7.36556908e-02 5.26487591e-02 8.77886879e+02] [-7.34635002e-02 9.97282301e-01 -5.57901640e-03 -1.52446080e+02] [-5.29166019e-02 1.68834148e-03 9.98597508e-01 -5.52301170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.900714057 meters 0.025584766704132893 Centerline is valid? [True, True] Translation: X:877.92, Y:-152.45, Z:-55.23 [[ 9.96135578e-01 7.09917623e-02 5.17115064e-02 8.77916117e+02] [-7.08029752e-02 9.97475290e-01 -5.47588021e-03 -1.52451852e+02] [-5.19696922e-02 1.79339059e-03 9.98647052e-01 -5.52333188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.9307140569999 meters 0.02615001212455648 Centerline is valid? [True, True] Translation: X:877.94, Y:-152.46, Z:-55.24 [[ 9.96266282e-01 6.94479859e-02 5.12881260e-02 8.77944543e+02] [-6.92603203e-02 9.97583846e-01 -5.42946389e-03 -1.52456343e+02] [-5.15412713e-02 1.85695977e-03 9.98669139e-01 -5.52354449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.9607140569999 meters 0.028168578395098984 Centerline is valid? [True, True] Translation: X:877.97, Y:-152.46, Z:-55.24 [[ 9.96546455e-01 6.62697515e-02 5.00348296e-02 8.77971952e+02] [-6.60873267e-02 9.97799802e-01 -5.29338917e-03 -1.52463755e+02] [-5.02755347e-02 1.96844007e-03 9.98733446e-01 -5.52390576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.9907140569999 meters 0.028690925766209567 Centerline is valid? [True, True] Translation: X:878.00, Y:-152.47, Z:-55.24 [[ 9.96635105e-01 6.49568616e-02 4.99907394e-02 8.78000546e+02] [-6.47733040e-02 9.97886010e-01 -5.28487539e-03 -1.52468217e+02] [-5.02283484e-02 2.02902697e-03 9.98735699e-01 -5.52413378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.020714057 meters 0.029285267105848136 Centerline is valid? [True, True] Translation: X:878.03, Y:-152.47, Z:-55.24 [[ 9.96737238e-01 6.36813594e-02 4.95939866e-02 8.78029372e+02] [-6.34993009e-02 9.97968129e-01 -5.23953159e-03 -1.52472195e+02] [-4.98268785e-02 2.07325277e-03 9.98755718e-01 -5.52435148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.0507140569999 meters 0.030113788318078438 Centerline is valid? [True, True] Translation: X:878.06, Y:-152.48, Z:-55.25 [[ 9.96729182e-01 6.37432691e-02 4.96762827e-02 8.78057187e+02] [-6.35608476e-02 9.97964183e-01 -5.24491325e-03 -1.52475861e+02] [-4.99094788e-02 2.07029146e-03 9.98751600e-01 -5.52455466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.0807140569999 meters 0.0297241931455462 Centerline is valid? [True, True] Translation: X:878.08, Y:-152.48, Z:-55.25 [[ 9.96539763e-01 6.58047602e-02 5.07763113e-02 8.78084732e+02] [-6.56170590e-02 9.97830501e-01 -5.35660092e-03 -1.52477601e+02] [-5.10186420e-02 2.00627360e-03 9.98695686e-01 -5.52464227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.1107140569999 meters 0.029619526201270622 Centerline is valid? [True, True] Translation: X:878.11, Y:-152.48, Z:-55.25 [[ 9.96417111e-01 6.71705749e-02 5.13912022e-02 8.78112201e+02] [-6.69803353e-02 9.97739590e-01 -5.41707055e-03 -1.52480131e+02] [-5.16389048e-02 1.95546182e-03 9.98663907e-01 -5.52474153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.140714057 meters 0.029116015344795868 Centerline is valid? [True, True] Translation: X:878.14, Y:-152.48, Z:-55.25 [[ 9.96299266e-01 6.82540517e-02 5.22413348e-02 8.78140714e+02] [-6.80591833e-02 9.97666113e-01 -5.50215852e-03 -1.52481611e+02] [-5.24949540e-02 1.92629392e-03 9.98619332e-01 -5.52484488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.1707140569999 meters 0.026821952824074444 Centerline is valid? [True, True] Translation: X:878.17, Y:-152.48, Z:-55.25 [[ 9.96103639e-01 7.01345009e-02 5.34667405e-02 8.78169701e+02] [-6.99332732e-02 9.97535798e-01 -5.62756194e-03 -1.52480022e+02] [-5.37296739e-02 1.86653075e-03 9.98553773e-01 -5.52496926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.2007140569999 meters 0.02748873061385283 Centerline is valid? [True, True] Translation: X:878.20, Y:-152.48, Z:-55.25 [[ 9.96072398e-01 7.06699709e-02 5.33435328e-02 8.78196766e+02] [-7.04706345e-02 9.97498074e-01 -5.61091352e-03 -1.52484821e+02] [-5.36065943e-02 1.82972348e-03 9.98560456e-01 -5.52522286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.2307140569999 meters 0.026648045863489424 Centerline is valid? [True, True] Translation: X:878.23, Y:-152.49, Z:-55.26 [[ 9.95993595e-01 7.22294626e-02 5.27225067e-02 8.78225832e+02] [-7.20371769e-02 9.97386557e-01 -5.54086290e-03 -1.52487407e+02] [-5.29849330e-02 1.72068342e-03 9.98593829e-01 -5.52559334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.260714057 meters 0.029126081739770524 Centerline is valid? [True, True] Translation: X:878.25, Y:-152.50, Z:-55.26 [[ 9.95981644e-01 7.27316160e-02 5.22558846e-02 8.78252366e+02] [-7.25435444e-02 9.97350140e-01 -5.48931160e-03 -1.52495063e+02] [-5.25166603e-02 1.67642651e-03 9.98618641e-01 -5.52593766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.290714057 meters 0.02880197930662545 Centerline is valid? [True, True] Translation: X:878.28, Y:-152.50, Z:-55.26 [[ 9.95919885e-01 7.38554187e-02 5.18551891e-02 8.78280966e+02] [-7.36719808e-02 9.97267675e-01 -5.44267817e-03 -1.52497928e+02] [-5.21154751e-02 1.60019692e-03 9.98639783e-01 -5.52616815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.3207140569999 meters 0.025712776773936595 Centerline is valid? [True, True] Translation: X:878.31, Y:-152.49, Z:-55.26 [[ 9.95700101e-01 7.74151506e-02 5.08743820e-02 8.78310309e+02] [-7.72433924e-02 9.96997984e-01 -5.33658397e-03 -1.52493550e+02] [-5.11347887e-02 1.38392735e-03 9.98690802e-01 -5.52632062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.3507140569999 meters 0.02483740887587552 Centerline is valid? [True, True] Translation: X:878.34, Y:-152.49, Z:-55.27 [[ 9.95208899e-01 8.41513212e-02 4.97775333e-02 8.78339886e+02] [-8.39954904e-02 9.96452473e-01 -5.21786915e-03 -1.52489486e+02] [-5.00400367e-02 1.01178150e-03 9.98746700e-01 -5.52660521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.380714057 meters 0.02498861620799133 Centerline is valid? [True, True] Translation: X:878.37, Y:-152.49, Z:-55.27 [[ 9.94846545e-01 8.84251365e-02 4.96119749e-02 8.78368232e+02] [-8.82757207e-02 9.96082510e-01 -5.19907265e-03 -1.52490098e+02] [-4.98773491e-02 7.92746626e-04 9.98755036e-01 -5.52693926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.410714057 meters 0.02398179393178899 Centerline is valid? [True, True] Translation: X:878.40, Y:-152.49, Z:-55.27 [[ 9.94571201e-01 9.06666370e-02 5.10655140e-02 8.78397312e+02] [-9.05114059e-02 9.95881054e-01 -5.34897693e-03 -1.52487919e+02] [-5.13401516e-02 6.97926950e-04 9.98680981e-01 -5.52700872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.4407140569999 meters 0.024115111437682333 Centerline is valid? [True, True] Translation: X:878.42, Y:-152.49, Z:-55.27 [[ 9.94054737e-01 9.42823872e-02 5.44611050e-02 8.78424972e+02] [-9.41120498e-02 9.95545353e-01 -5.68963195e-03 -1.52490768e+02] [-5.47549320e-02 5.30359370e-04 9.98499683e-01 -5.52712203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.4707140569999 meters 0.024120436420212363 Centerline is valid? [True, True] Translation: X:878.45, Y:-152.49, Z:-55.27 [[ 9.93877192e-01 9.55121158e-02 5.55478443e-02 8.78453609e+02] [-9.53370869e-02 9.95428158e-01 -5.79848339e-03 -1.52492532e+02] [-5.58477138e-02 4.67210724e-04 9.98439189e-01 -5.52721054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.500714057 meters 0.023980558328850696 Centerline is valid? [True, True] Translation: X:878.48, Y:-152.49, Z:-55.27 [[ 9.93362977e-01 1.00654192e-01 5.56662303e-02 8.78482788e+02] [-1.00487243e-01 9.94921457e-01 -5.79720959e-03 -1.52488405e+02] [-5.59670405e-02 1.64987352e-04 9.98432603e-01 -5.52735033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.530714057 meters 0.023855078260056745 Centerline is valid? [True, True] Translation: X:878.51, Y:-152.49, Z:-55.27 [[ 9.93143134e-01 1.02153995e-01 5.68443173e-02 8.78510761e+02] [-1.01983163e-01 9.94768595e-01 -5.90574826e-03 -1.52490273e+02] [-5.71502375e-02 6.80900431e-05 9.98365587e-01 -5.52749503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.5607140569999 meters 0.02404923902576247 Centerline is valid? [True, True] Translation: X:878.54, Y:-152.49, Z:-55.28 [[ 9.92939734e-01 1.03732458e-01 5.75348721e-02 8.78537397e+02] [-1.03561033e-01 9.94605236e-01 -5.96127781e-03 -1.52491094e+02] [-5.78428631e-02 -3.91811740e-05 9.98325699e-01 -5.52765172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.5907140569999 meters 0.024217972522056635 Centerline is valid? [True, True] Translation: X:878.56, Y:-152.49, Z:-55.28 [[ 9.92687828e-01 1.05700959e-01 5.82939357e-02 8.78564917e+02] [-1.05529028e-01 9.94397948e-01 -6.02868253e-03 -1.52492358e+02] [-5.86046076e-02 -1.67102606e-04 9.98281259e-01 -5.52791145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.620714057 meters 0.024160902385067785 Centerline is valid? [True, True] Translation: X:878.59, Y:-152.49, Z:-55.28 [[ 9.92509336e-01 1.07202906e-01 5.85897151e-02 8.78592223e+02] [-1.07032800e-01 9.94237126e-01 -6.04298586e-03 -1.52493854e+02] [-5.88998956e-02 -2.73301352e-04 9.98263857e-01 -5.52811151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.650714057 meters 0.024439017747794632 Centerline is valid? [True, True] Translation: X:878.62, Y:-152.49, Z:-55.28 [[ 9.92088431e-01 1.10800515e-01 5.90236567e-02 8.78620568e+02] [-1.10635194e-01 9.93842538e-01 -6.07161772e-03 -1.52493590e+02] [-5.93329591e-02 -5.06512003e-04 9.98238120e-01 -5.52830828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.6807140569999 meters 0.02443895724267032 Centerline is valid? [True, True] Translation: X:878.65, Y:-152.50, Z:-55.29 [[ 9.91969286e-01 1.11514233e-01 5.96784057e-02 8.78648743e+02] [-1.11346842e-01 9.93762679e-01 -6.13345767e-03 -1.52496411e+02] [-5.99901401e-02 -5.60800410e-04 9.98198812e-01 -5.52850796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.7107140569999 meters 0.0247133839255741 Centerline is valid? [True, True] Translation: X:878.68, Y:-152.50, Z:-55.29 [[ 9.91846129e-01 1.12930982e-01 5.90580248e-02 8.78677155e+02] [-1.12770421e-01 9.93602620e-01 -6.05531091e-03 -1.52498181e+02] [-5.93640404e-02 -6.54061616e-04 9.98236186e-01 -5.52882511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.7407140569999 meters 0.024833844274039507 Centerline is valid? [True, True] Translation: X:878.70, Y:-152.50, Z:-55.29 [[ 9.91869736e-01 1.13077181e-01 5.83778920e-02 8.78703675e+02] [-1.12921374e-01 9.93585982e-01 -5.97158195e-03 -1.52500249e+02] [-5.86787048e-02 -6.69080371e-04 9.98276696e-01 -5.52905374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.770714057 meters 0.024857863420935114 Centerline is valid? [True, True] Translation: X:878.73, Y:-152.50, Z:-55.29 [[ 9.91762595e-01 1.14071756e-01 5.82631076e-02 8.78731829e+02] [-1.13918694e-01 9.93472242e-01 -5.95271363e-03 -1.52502321e+02] [-5.85618166e-02 -7.33578431e-04 9.98283515e-01 -5.52927984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.8007140569999 meters 0.025944654856970447 Centerline is valid? [True, True] Translation: X:878.76, Y:-152.50, Z:-55.29 [[ 9.91323491e-01 1.17773031e-01 5.83716520e-02 8.78759844e+02] [-1.17626615e-01 9.93040068e-01 -5.95000347e-03 -1.52499872e+02] [-5.86661392e-02 -9.67681636e-04 9.98277190e-01 -5.52949744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.8307140569999 meters 0.02555364812418863 Centerline is valid? [True, True] Translation: X:878.79, Y:-152.50, Z:-55.30 [[ 9.91059245e-01 1.19681596e-01 5.89736224e-02 8.78787831e+02] [-1.19535975e-01 9.92811718e-01 -6.00366929e-03 -1.52504638e+02] [-5.92682321e-02 -1.09947748e-03 9.98241488e-01 -5.52966331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.8607140569999 meters 0.02555364812418863 Centerline is valid? [True, True] Translation: X:878.82, Y:-152.51, Z:-55.30 [[ 9.91091895e-01 1.19410212e-01 5.89750626e-02 8.78815007e+02] [-1.19264954e-01 9.92844397e-01 -5.98948963e-03 -1.52507330e+02] [-5.92682666e-02 -1.09752350e-03 9.98241488e-01 -5.52982221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.890714057 meters 0.02614175986882398 Centerline is valid? [True, True] Translation: X:878.84, Y:-152.51, Z:-55.30 [[ 9.90562690e-01 1.22993377e-01 6.04829518e-02 8.78844201e+02] [-1.22848262e-01 9.92406557e-01 -6.12617482e-03 -1.52506854e+02] [-6.07771569e-02 -1.36186529e-03 9.98150431e-01 -5.52981797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.9207140569999 meters 0.026231508251714344 Centerline is valid? [True, True] Translation: X:878.87, Y:-152.51, Z:-55.30 [[ 9.90285420e-01 1.24672293e-01 6.15760229e-02 8.78872508e+02] [-1.24525369e-01 9.92196847e-01 -6.23291632e-03 -1.52508818e+02] [-6.18726077e-02 -1.49541081e-03 9.98082935e-01 -5.52991992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.9507140569999 meters 0.026032827079633388 Centerline is valid? [True, True] Translation: X:878.90, Y:-152.51, Z:-55.30 [[ 9.90156017e-01 1.25382907e-01 6.22108412e-02 8.78901251e+02] [-1.25235284e-01 9.92107181e-01 -6.28207631e-03 -1.52512076e+02] [-6.25074873e-02 -1.57075668e-03 9.98043259e-01 -5.53003900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.9807140569999 meters 0.026238965249201454 Centerline is valid? [True, True] Translation: X:878.93, Y:-152.51, Z:-55.30 [[ 9.90109785e-01 1.25644385e-01 6.24187639e-02 8.78929245e+02] [-1.25497207e-01 9.92074043e-01 -6.28849535e-03 -1.52514363e+02] [-6.27141495e-02 -1.60707976e-03 9.98030236e-01 -5.53024924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.010714057 meters 0.02661290728067662 Centerline is valid? [True, True] Translation: X:878.96, Y:-152.52, Z:-55.31 [[ 9.89974578e-01 1.26960472e-01 6.18980897e-02 8.78957444e+02] [-1.26818681e-01 9.91906351e-01 -6.23005056e-03 -1.52516678e+02] [-6.21880784e-02 -1.68224243e-03 9.98063031e-01 -5.53050407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.040714057 meters 0.026736750521495854 Centerline is valid? [True, True] Translation: X:878.99, Y:-152.52, Z:-55.31 [[ 9.89963106e-01 1.27134766e-01 6.17235795e-02 8.78985665e+02] [-1.26995029e-01 9.91883991e-01 -6.19773598e-03 -1.52518936e+02] [-6.20105780e-02 -1.70305778e-03 9.98074039e-01 -5.53068390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.0707140569999 meters 0.027012728049494648 Centerline is valid? [True, True] Translation: X:879.01, Y:-152.52, Z:-55.31 [[ 9.89984920e-01 1.27189991e-01 6.12581818e-02 8.79013259e+02] [-1.27053360e-01 9.91876902e-01 -6.13638044e-03 -1.52520837e+02] [-6.15410617e-02 -1.70813372e-03 9.98103091e-01 -5.53089263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.1007140569999 meters 0.02716795198487343 Centerline is valid? [True, True] Translation: X:879.04, Y:-152.52, Z:-55.31 [[ 9.89856534e-01 1.28224256e-01 6.11766565e-02 8.79041706e+02] [-1.28090973e-01 9.91743590e-01 -6.11176700e-03 -1.52522882e+02] [-6.14552337e-02 -1.78640497e-03 9.98108242e-01 -5.53111562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.130714057 meters 0.027359335654234346 Centerline is valid? [True, True] Translation: X:879.07, Y:-152.52, Z:-55.31 [[ 9.89720874e-01 1.29637681e-01 6.03876085e-02 8.79069489e+02] [-1.29511278e-01 9.91559680e-01 -6.01914693e-03 -1.52524445e+02] [-6.06582260e-02 -1.86360102e-03 9.98156855e-01 -5.53137452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.160714057 meters 0.02680657796764178 Centerline is valid? [True, True] Translation: X:879.10, Y:-152.53, Z:-55.32 [[ 9.89715749e-01 1.29754478e-01 6.02205216e-02 8.79097915e+02] [-1.29629465e-01 9.91544384e-01 -5.99464881e-03 -1.52528873e+02] [-6.04891525e-02 -1.87335564e-03 9.98167097e-01 -5.53166679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.1907140569999 meters 0.02656188299861098 Centerline is valid? [True, True] Translation: X:879.13, Y:-152.53, Z:-55.32 [[ 9.89783205e-01 1.29530964e-01 5.95897409e-02 8.79125264e+02] [-1.29409007e-01 9.91573644e-01 -5.91760084e-03 -1.52532149e+02] [-5.98541291e-02 -1.85430727e-03 9.98205412e-01 -5.53195654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.2207140569999 meters 0.026309516987745005 Centerline is valid? [True, True] Translation: X:879.15, Y:-152.53, Z:-55.32 [[ 9.89853950e-01 1.29180693e-01 5.91735313e-02 8.79153126e+02] [-1.29060776e-01 9.91619371e-01 -5.86002975e-03 -1.52534750e+02] [-5.94346225e-02 -1.83640829e-03 9.98230511e-01 -5.53211521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.250714057 meters 0.0262034244566973 Centerline is valid? [True, True] Translation: X:879.18, Y:-152.54, Z:-55.32 [[ 9.90026113e-01 1.27977428e-01 5.89073270e-02 8.79181419e+02] [-1.27857412e-01 9.91775498e-01 -5.81763277e-03 -1.52537921e+02] [-5.91673692e-02 -1.77212998e-03 9.98246504e-01 -5.53230213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.280714057 meters 0.025935689265139675 Centerline is valid? [True, True] Translation: X:879.21, Y:-152.54, Z:-55.33 [[ 9.90362756e-01 1.25268525e-01 5.90712067e-02 8.79208895e+02] [-1.25143855e-01 9.92121537e-01 -5.81989508e-03 -1.52541298e+02] [-5.93348661e-02 -1.62859120e-03 9.98236806e-01 -5.53250320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.3107140569999 meters 0.024892360175042073 Centerline is valid? [True, True] Translation: X:879.24, Y:-152.55, Z:-55.33 [[ 9.90748257e-01 1.22243531e-01 5.89441217e-02 8.79237468e+02] [-1.22114344e-01 9.92499078e-01 -5.80241851e-03 -1.52546615e+02] [-5.92112945e-02 -1.44918673e-03 9.98244420e-01 -5.53260933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.3407140569999 meters 0.024732323501036237 Centerline is valid? [True, True] Translation: X:879.27, Y:-152.55, Z:-55.33 [[ 9.90929996e-01 1.20896356e-01 5.86669791e-02 8.79265058e+02] [-1.20766259e-01 9.92664195e-01 -5.77114802e-03 -1.52548658e+02] [-5.89343203e-02 -1.36618789e-03 9.98260928e-01 -5.53278417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.370714057 meters 0.023597361648936995 Centerline is valid? [True, True] Translation: X:879.29, Y:-152.55, Z:-55.33 [[ 9.91074095e-01 1.19748640e-01 5.85867048e-02 8.79293444e+02] [-1.19617197e-01 9.92803389e-01 -5.75814872e-03 -1.52553888e+02] [-5.88546096e-02 -1.30122538e-03 9.98265717e-01 -5.53303352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.400714057 meters 0.02338764140429498 Centerline is valid? [True, True] Translation: X:879.32, Y:-152.56, Z:-55.33 [[ 9.91453313e-01 1.16479717e-01 5.87605682e-02 8.79320962e+02] [-1.16342604e-01 9.93192434e-01 -5.76090157e-03 -1.52557805e+02] [-5.90315800e-02 -1.12469256e-03 9.98255482e-01 -5.53326464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.4307140569999 meters 0.023099296328086542 Centerline is valid? [True, True] Translation: X:879.35, Y:-152.56, Z:-55.33 [[ 9.91725718e-01 1.13975518e-01 5.90735229e-02 8.79348581e+02] [-1.13832809e-01 9.93483069e-01 -5.78640221e-03 -1.52561002e+02] [-5.93480530e-02 -9.85981186e-04 9.98236864e-01 -5.53340041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.4607140569999 meters 0.022578919213994277 Centerline is valid? [True, True] Translation: X:879.38, Y:-152.57, Z:-55.34 [[ 9.92207396e-01 1.10313120e-01 5.79266669e-02 8.79377009e+02] [-1.10169951e-01 9.93896596e-01 -5.66915221e-03 -1.52566462e+02] [-5.81984989e-02 -7.56803279e-04 9.98304744e-01 -5.53368026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.4907140569999 meters 0.02226126292945932 Centerline is valid? [True, True] Translation: X:879.40, Y:-152.57, Z:-55.34 [[ 9.92534827e-01 1.07594267e-01 5.74290023e-02 8.79404544e+02] [-1.07449786e-01 9.94194703e-01 -5.60684501e-03 -1.52569857e+02] [-5.76988742e-02 -6.05745085e-04 9.98333849e-01 -5.53393143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.520714057 meters 0.022174931071061152 Centerline is valid? [True, True] Translation: X:879.43, Y:-152.57, Z:-55.34 [[ 9.92864076e-01 1.04904264e-01 5.67099784e-02 8.79432447e+02] [-1.04759258e-01 9.94482224e-01 -5.53203804e-03 -1.52572963e+02] [-5.69773999e-02 -4.48333426e-04 9.98375368e-01 -5.53415941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.5507140569999 meters 0.021465166099445977 Centerline is valid? [True, True] Translation: X:879.46, Y:-152.58, Z:-55.34 [[ 9.93463239e-01 9.97808105e-02 5.54489265e-02 8.79460751e+02] [-9.96349057e-02 9.95009429e-01 -5.39651827e-03 -1.52580942e+02] [-5.57106736e-02 -1.63406050e-04 9.98446941e-01 -5.53447831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.5807140569999 meters 0.0213132893739229 Centerline is valid? [True, True] Translation: X:879.49, Y:-152.59, Z:-55.35 [[ 9.93760540e-01 9.68492418e-02 5.53192017e-02 8.79487305e+02] [-9.67002303e-02 9.95299063e-01 -5.37040584e-03 -1.52585187e+02] [-5.55792693e-02 -1.24821347e-05 9.98454278e-01 -5.53475915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.6107140569999 meters 0.021340997162675176 Centerline is valid? [True, True] Translation: X:879.52, Y:-152.59, Z:-55.35 [[ 9.94197598e-01 9.26306166e-02 5.46873448e-02 8.79515622e+02] [-9.24789472e-02 9.95700519e-01 -5.30297998e-03 -1.52590611e+02] [-5.49434359e-02 2.14781884e-04 9.98489446e-01 -5.53491391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.640714057 meters 0.021563958080855088 Centerline is valid? [True, True] Translation: X:879.54, Y:-152.59, Z:-55.35 [[ 9.94337384e-01 9.11663057e-02 5.46065124e-02 8.79543866e+02] [-9.10136115e-02 9.95835642e-01 -5.28178971e-03 -1.52593764e+02] [-5.48606326e-02 2.81945054e-04 9.98493982e-01 -5.53508028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.6707140569999 meters 0.02161380744866404 Centerline is valid? [True, True] Translation: X:879.57, Y:-152.60, Z:-55.35 [[ 9.94475626e-01 9.01122662e-02 5.38331492e-02 8.79571497e+02] [-8.99625119e-02 9.95931559e-01 -5.20356620e-03 -1.52597277e+02] [-5.40830373e-02 3.31854431e-04 9.98536386e-01 -5.53525993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.7007140569999 meters 0.02157749970523083 Centerline is valid? [True, True] Translation: X:879.60, Y:-152.60, Z:-55.35 [[ 9.94634186e-01 8.85097249e-02 5.35617866e-02 8.79599305e+02] [-8.83595251e-02 9.96075228e-01 -5.17048077e-03 -1.52601502e+02] [-5.38092066e-02 4.10042910e-04 9.98551151e-01 -5.53546055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.7307140569999 meters 0.021404540501332326 Centerline is valid? [True, True] Translation: X:879.63, Y:-152.60, Z:-55.36 [[ 9.94706647e-01 8.80113263e-02 5.30348339e-02 8.79626385e+02] [-8.78637033e-02 9.96119383e-01 -5.11321149e-03 -1.52604574e+02] [-5.32790465e-02 4.26308540e-04 9.98579572e-01 -5.53563174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.760714057 meters 0.021327938117263075 Centerline is valid? [True, True] Translation: X:879.65, Y:-152.61, Z:-55.36 [[ 9.94615299e-01 8.98085866e-02 5.17187190e-02 8.79654708e+02] [-8.96710925e-02 9.95958995e-01 -4.97748679e-03 -1.52605801e+02] [-5.19567445e-02 3.13010476e-04 9.98649287e-01 -5.53581760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.790714057 meters 0.02121642023341848 Centerline is valid? [True, True] Translation: X:879.68, Y:-152.61, Z:-55.36 [[ 9.94433568e-01 9.19825251e-02 5.13915786e-02 8.79682429e+02] [-9.18503271e-02 9.95760604e-01 -4.93322722e-03 -1.52606831e+02] [-5.16274801e-02 1.85433440e-04 9.98666395e-01 -5.53592419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.8207140569999 meters 0.021024905472483656 Centerline is valid? [True, True] Translation: X:879.71, Y:-152.61, Z:-55.36 [[ 9.94161085e-01 9.46687490e-02 5.17838402e-02 8.79710300e+02] [-9.45389232e-02 9.95508828e-01 -4.95631280e-03 -1.52607858e+02] [-5.20204780e-02 3.17848154e-05 9.98646018e-01 -5.53603737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.8507140569999 meters 0.021097269716210242 Centerline is valid? [True, True] Translation: X:879.74, Y:-152.61, Z:-55.36 [[ 9.93465245e-01 1.01353200e-01 5.24817699e-02 8.79739153e+02] [-1.01229949e-01 9.94850449e-01 -5.00822068e-03 -1.52606871e+02] [-5.27191116e-02 -3.37233711e-04 9.98609324e-01 -5.53602819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.880714057 meters 0.02129425164802839 Centerline is valid? [True, True] Translation: X:879.77, Y:-152.61, Z:-55.36 [[ 9.93100740e-01 1.04921977e-01 5.23669597e-02 8.79767438e+02] [-1.04804939e-01 9.94480311e-01 -4.98363884e-03 -1.52606639e+02] [-5.26008036e-02 -5.39060598e-04 9.98615474e-01 -5.53612612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.910714057 meters 0.02255480769752242 Centerline is valid? [True, True] Translation: X:879.80, Y:-152.61, Z:-55.36 [[ 9.92276813e-01 1.12083889e-01 5.31406428e-02 8.79795993e+02] [-1.11973873e-01 9.93698306e-01 -5.05249717e-03 -1.52605132e+02] [-5.33720703e-02 -9.36887801e-04 9.98574256e-01 -5.53621823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.9407140569999 meters 0.022782762981395067 Centerline is valid? [True, True] Translation: X:879.82, Y:-152.61, Z:-55.36 [[ 9.91832831e-01 1.16034233e-01 5.29499104e-02 8.79824416e+02] [-1.15930776e-01 9.93244551e-01 -5.03153441e-03 -1.52606983e+02] [-5.31760402e-02 -1.14808320e-03 9.98584494e-01 -5.53638357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.9707140569999 meters 0.024153170077428517 Centerline is valid? [True, True] Translation: X:879.85, Y:-152.61, Z:-55.37 [[ 9.91178820e-01 1.22048976e-01 5.16584336e-02 8.79853346e+02] [-1.21959350e-01 9.92523023e-01 -4.89549041e-03 -1.52606766e+02] [-5.18696742e-02 -1.44792260e-03 9.98652813e-01 -5.53661904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.000714057 meters 0.02489074053876259 Centerline is valid? [True, True] Translation: X:879.88, Y:-152.61, Z:-55.37 [[ 9.90810928e-01 1.25349722e-01 5.08050511e-02 8.79882435e+02] [-1.25267446e-01 9.92111335e-01 -4.81302639e-03 -1.52608133e+02] [-5.10075786e-02 -1.59541984e-03 9.98696992e-01 -5.53680593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.030714057 meters 0.026324247227634854 Centerline is valid? [True, True] Translation: X:879.91, Y:-152.61, Z:-55.37 [[ 9.90462341e-01 1.28180110e-01 5.05391935e-02 8.79910875e+02] [-1.28102499e-01 9.91749389e-01 -4.78527153e-03 -1.52608479e+02] [-5.07355909e-02 -1.73456576e-03 9.98710614e-01 -5.53701354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.0607140569999 meters 0.027762046536360836 Centerline is valid? [True, True] Translation: X:879.94, Y:-152.61, Z:-55.37 [[ 9.89814063e-01 1.33491170e-01 4.94795641e-02 8.79940797e+02] [-1.33423533e-01 9.91048050e-01 -4.68222330e-03 -1.52609463e+02] [-4.96616610e-02 -1.96720780e-03 9.98764161e-01 -5.53722135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.0907140569999 meters 0.0286582633459485 Centerline is valid? [True, True] Translation: X:879.97, Y:-152.61, Z:-55.37 [[ 9.89466556e-01 1.36048914e-01 4.94634024e-02 8.79970147e+02] [-1.35984543e-01 9.90699905e-01 -4.68000052e-03 -1.52610906e+02] [-4.96400970e-02 -2.09555417e-03 9.98764972e-01 -5.53741387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.120714057 meters 0.030582924796662882 Centerline is valid? [True, True] Translation: X:880.00, Y:-152.61, Z:-55.38 [[ 9.88656920e-01 1.42066765e-01 4.87291483e-02 8.80000762e+02] [-1.42011664e-01 9.89854256e-01 -4.60869267e-03 -1.52610901e+02] [-4.88894969e-02 -2.36369152e-03 9.98801397e-01 -5.53757304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.150714057 meters 0.03173950371515319 Centerline is valid? [True, True] Translation: X:880.03, Y:-152.61, Z:-55.38 [[ 9.88351773e-01 1.44017346e-01 4.91912282e-02 8.80028984e+02] [-1.43963595e-01 9.89572047e-01 -4.65258451e-03 -1.52611575e+02] [-4.93483173e-02 -2.48335589e-03 9.98778542e-01 -5.53772215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.1807140569999 meters 0.032544703199732405 Centerline is valid? [True, True] Translation: X:880.06, Y:-152.61, Z:-55.38 [[ 9.88176925e-01 1.45455588e-01 4.84668684e-02 8.80058672e+02] [-1.45405300e-01 9.89361570e-01 -4.58060040e-03 -1.52613727e+02] [-4.86175310e-02 -2.52089592e-03 9.98814287e-01 -5.53788385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.2107140569999 meters 0.033693349589870955 Centerline is valid? [True, True] Translation: X:880.09, Y:-152.61, Z:-55.38 [[ 9.87974303e-01 1.46899103e-01 4.82434397e-02 8.80086923e+02] [-1.46851053e-01 9.89148114e-01 -4.55821269e-03 -1.52614936e+02] [-4.83895047e-02 -2.58120292e-03 9.98825207e-01 -5.53803189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.2407140569999 meters 0.03533333033635686 Centerline is valid? [True, True] Translation: X:880.11, Y:-152.62, Z:-55.38 [[ 9.87751176e-01 1.48662377e-01 4.74037180e-02 8.80114864e+02] [-1.48618151e-01 9.88884529e-01 -4.47584573e-03 -1.52615984e+02] [-4.75421932e-02 -2.62403104e-03 9.98865784e-01 -5.53821202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.270714057 meters 0.03561380087917803 Centerline is valid? [True, True] Translation: X:880.14, Y:-152.62, Z:-55.38 [[ 9.87691850e-01 1.49036271e-01 4.74657776e-02 8.80143051e+02] [-1.48992498e-01 9.88828183e-01 -4.47879402e-03 -1.52618585e+02] [-4.76030014e-02 -2.64837643e-03 9.98862824e-01 -5.53833980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.3007140569999 meters 0.03328307002653492 Centerline is valid? [True, True] Translation: X:880.17, Y:-152.63, Z:-55.38 [[ 9.87527989e-01 1.49637704e-01 4.89594519e-02 8.80171032e+02] [-1.49592007e-01 9.88737030e-01 -4.61699256e-03 -1.52626135e+02] [-4.90988993e-02 -2.76453329e-03 9.98790096e-01 -5.53827549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.3307140569999 meters 0.03328361514507835 Centerline is valid? [True, True] Translation: X:880.20, Y:-152.63, Z:-55.38 [[ 9.87453235e-01 1.49944379e-01 4.95256735e-02 8.80199869e+02] [-1.49898584e-01 9.88690402e-01 -4.65871859e-03 -1.52629662e+02] [-4.96641067e-02 -2.82356160e-03 9.98761986e-01 -5.53839218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.3607140569999 meters 0.03302717139263886 Centerline is valid? [True, True] Translation: X:880.23, Y:-152.63, Z:-55.38 [[ 9.87394092e-01 1.50068191e-01 5.03234126e-02 8.80228282e+02] [-1.50021673e-01 9.88671433e-01 -4.72184621e-03 -1.52633749e+02] [-5.04619193e-02 -2.88727951e-03 9.98721812e-01 -5.53848848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.390714057 meters 0.034701960719404755 Centerline is valid? [True, True] Translation: X:880.25, Y:-152.64, Z:-55.39 [[ 9.87370731e-01 1.49969105e-01 5.10715961e-02 8.80254704e+02] [-1.49921726e-01 9.88686318e-01 -4.77914020e-03 -1.52636563e+02] [-5.12105117e-02 -2.93795867e-03 9.98683559e-01 -5.53860758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.4207140569999 meters 0.03376780584776982 Centerline is valid? [True, True] Translation: X:880.28, Y:-152.64, Z:-55.39 [[ 9.87434604e-01 1.49452467e-01 5.13503980e-02 8.80282848e+02] [-1.49404145e-01 9.88764563e-01 -4.79996705e-03 -1.52642309e+02] [-5.14908208e-02 -2.93230876e-03 9.98669163e-01 -5.53878189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.4507140569999 meters 0.03363230014161847 Centerline is valid? [True, True] Translation: X:880.31, Y:-152.65, Z:-55.39 [[ 9.87557271e-01 1.48628351e-01 5.13833648e-02 8.80311159e+02] [-1.48579471e-01 9.88888864e-01 -4.79112180e-03 -1.52646877e+02] [-5.15245338e-02 -2.90300601e-03 9.98667510e-01 -5.53896102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.4807140569999 meters 0.03393337296687018 Centerline is valid? [True, True] Translation: X:880.34, Y:-152.65, Z:-55.39 [[ 9.87941017e-01 1.45977509e-01 5.16053592e-02 8.80339830e+02] [-1.45925285e-01 9.89283976e-01 -4.79864828e-03 -1.52653446e+02] [-5.17528497e-02 -2.78974526e-03 9.98656027e-01 -5.53915995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.510714057 meters 0.03337130131307944 Centerline is valid? [True, True] Translation: X:880.37, Y:-152.66, Z:-55.39 [[ 9.88286810e-01 1.43665037e-01 5.14736774e-02 8.80368290e+02] [-1.43609983e-01 9.89622791e-01 -4.78581170e-03 -1.52659862e+02] [-5.16270781e-02 -2.66237933e-03 9.98662884e-01 -5.53935908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.540714057 meters 0.03061150318095048 Centerline is valid? [True, True] Translation: X:880.40, Y:-152.67, Z:-55.40 [[ 9.88980362e-01 1.39050279e-01 5.08218819e-02 8.80397721e+02] [-1.38991137e-01 9.90282408e-01 -4.71331564e-03 -1.52672620e+02] [-5.09834035e-02 -2.40241456e-03 9.98696611e-01 -5.53961534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.5707140569999 meters 0.03210613543047171 Centerline is valid? [True, True] Translation: X:880.43, Y:-152.68, Z:-55.40 [[ 9.89334744e-01 1.36615502e-01 5.05269130e-02 8.80425070e+02] [-1.36553880e-01 9.90621563e-01 -4.68590165e-03 -1.52675482e+02] [-5.06932163e-02 -2.26372069e-03 9.98711707e-01 -5.53987982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.6007140569999 meters 0.03157610217900892 Centerline is valid? [True, True] Translation: X:880.45, Y:-152.68, Z:-55.40 [[ 9.89722544e-01 1.33973944e-01 5.00026788e-02 8.80454021e+02] [-1.33910451e-01 9.90982607e-01 -4.63286106e-03 -1.52682044e+02] [-5.01724676e-02 -2.11063423e-03 9.98738339e-01 -5.54013843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.630714057 meters 0.025924339953627095 Centerline is valid? [True, True] Translation: X:880.48, Y:-152.70, Z:-55.40 [[ 9.90665554e-01 1.27155619e-01 4.91244122e-02 8.80482665e+02] [-1.27086047e-01 9.91881261e-01 -4.54981944e-03 -1.52700823e+02] [-4.93041191e-02 -1.73567794e-03 9.98782304e-01 -5.54023946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.660714057 meters 0.024474213492062597 Centerline is valid? [True, True] Translation: X:880.51, Y:-152.71, Z:-55.40 [[ 9.91134103e-01 1.23353759e-01 4.93663884e-02 8.80511757e+02] [-1.23278822e-01 9.92361543e-01 -4.57156168e-03 -1.52710239e+02] [-4.95532247e-02 -1.55479955e-03 9.98770274e-01 -5.54042376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.6907140569999 meters 0.0238437271076738 Centerline is valid? [True, True] Translation: X:880.54, Y:-152.72, Z:-55.41 [[ 9.91594203e-01 1.19605966e-01 4.93492583e-02 8.80539698e+02] [-1.19526467e-01 9.92820499e-01 -4.56953703e-03 -1.52717519e+02] [-4.95414992e-02 -1.36741609e-03 9.98771130e-01 -5.54061620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.7207140569999 meters 0.02260219480159496 Centerline is valid? [True, True] Translation: X:880.57, Y:-152.73, Z:-55.41 [[ 9.92498726e-01 1.11744346e-01 4.95931453e-02 8.80568954e+02] [-1.11654437e-01 9.93736501e-01 -4.58833176e-03 -1.52729380e+02] [-4.97952388e-02 -9.83381267e-04 9.98758964e-01 -5.54082748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.750714057 meters 0.022191033595520635 Centerline is valid? [True, True] Translation: X:880.60, Y:-152.74, Z:-55.41 [[ 9.92937040e-01 1.07694075e-01 4.97797151e-02 8.80597021e+02] [-1.07598411e-01 9.94183772e-01 -4.60535600e-03 -1.52736580e+02] [-4.99861545e-02 -7.83389701e-04 9.98749604e-01 -5.54095333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.780714057 meters 0.022191033595520635 Centerline is valid? [True, True] Translation: X:880.62, Y:-152.74, Z:-55.41 [[ 9.92967479e-01 1.07412544e-01 4.97808258e-02 8.80624231e+02] [-1.07317130e-01 9.94214230e-01 -4.59331636e-03 -1.52739033e+02] [-4.99861852e-02 -7.81321602e-04 9.98749604e-01 -5.54111224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.8107140569999 meters 0.021794237168635162 Centerline is valid? [True, True] Translation: X:880.65, Y:-152.75, Z:-55.41 [[ 9.93356106e-01 1.03621798e-01 5.00616648e-02 8.80651963e+02] [-1.03521231e-01 9.94616586e-01 -4.60454910e-03 -1.52745845e+02] [-5.02692938e-02 -6.08488219e-04 9.98735514e-01 -5.54123291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.8407140569999 meters 0.021257231638053577 Centerline is valid? [True, True] Translation: X:880.68, Y:-152.76, Z:-55.41 [[ 9.93990519e-01 9.66381839e-02 5.14189637e-02 8.80678609e+02] [-9.65234612e-02 9.95319539e-01 -4.71552431e-03 -1.52756313e+02] [-5.16339990e-02 -2.75949897e-04 9.98666037e-01 -5.54137214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.870714057 meters 0.021033735946449767 Centerline is valid? [True, True] Translation: X:880.71, Y:-152.76, Z:-55.41 [[ 9.94256789e-01 9.37041966e-02 5.17006867e-02 8.80707113e+02] [-9.35846123e-02 9.95600074e-01 -4.73434532e-03 -1.52762882e+02] [-5.19168355e-02 -1.31233745e-04 9.98651403e-01 -5.54149529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.900714057 meters 0.020723548645762774 Centerline is valid? [True, True] Translation: X:880.73, Y:-152.77, Z:-55.42 [[ 9.94667814e-01 8.91792265e-02 5.17977376e-02 8.80733873e+02] [-8.90532376e-02 9.96015590e-01 -4.73979796e-03 -1.52771008e+02] [-5.20140457e-02 1.01768244e-04 9.98646348e-01 -5.54173720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.9307140569999 meters 0.020699638009178692 Centerline is valid? [True, True] Translation: X:880.76, Y:-152.77, Z:-55.42 [[ 9.94758683e-01 8.83385137e-02 5.14924193e-02 8.80762456e+02] [-8.82131718e-02 9.96090502e-01 -4.70624300e-03 -1.52774874e+02] [-5.17068523e-02 1.39266467e-04 9.98662296e-01 -5.54194262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.9607140569999 meters 0.020768474530586875 Centerline is valid? [True, True] Translation: X:880.79, Y:-152.78, Z:-55.42 [[ 9.94852693e-01 8.74219745e-02 5.12398030e-02 8.80791048e+02] [-8.72968292e-02 9.96171353e-01 -4.67958580e-03 -1.52777717e+02] [-5.14527225e-02 1.82426205e-04 9.98675415e-01 -5.54214701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.9907140569999 meters 0.02077022473338657 Centerline is valid? [True, True] Translation: X:880.82, Y:-152.78, Z:-55.42 [[ 9.94879044e-01 8.73548723e-02 5.08410610e-02 8.80818463e+02] [-8.72317527e-02 9.96177240e-01 -4.63980974e-03 -1.52779737e+02] [-5.10520178e-02 1.81094617e-04 9.98695979e-01 -5.54229577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.020714057 meters 0.02089235157563982 Centerline is valid? [True, True] Translation: X:880.85, Y:-152.78, Z:-55.43 [[ 9.94851617e-01 8.77825606e-02 5.06407233e-02 8.80845189e+02] [-8.76612380e-02 9.96139648e-01 -4.61614029e-03 -1.52781017e+02] [-5.08504489e-02 1.53146127e-04 9.98706267e-01 -5.54252162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.0507140569999 meters 0.02094259425689253 Centerline is valid? [True, True] Translation: X:880.87, Y:-152.78, Z:-55.43 [[ 9.94837176e-01 8.79306914e-02 5.06674153e-02 8.80873198e+02] [-8.78097666e-02 9.96126585e-01 -4.61202074e-03 -1.52782727e+02] [-5.08766976e-02 1.39115768e-04 9.98704933e-01 -5.54271359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.0807140569999 meters 0.02070463266383863 Centerline is valid? [True, True] Translation: X:880.90, Y:-152.78, Z:-55.43 [[ 9.94852048e-01 8.81292727e-02 5.00263402e-02 8.80901406e+02] [-8.80119143e-02 9.96109038e-01 -4.54824289e-03 -1.52784649e+02] [-5.02325230e-02 1.21914781e-04 9.98737543e-01 -5.54295275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.1107140569999 meters 0.020944431561969522 Centerline is valid? [True, True] Translation: X:880.93, Y:-152.79, Z:-55.43 [[ 9.94872893e-01 8.78665009e-02 5.00739933e-02 8.80929535e+02] [-8.77487508e-02 9.96132251e-01 -4.54930060e-03 -1.52787365e+02] [-5.02800508e-02 1.32045485e-04 9.98735150e-01 -5.54317961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.140714057 meters 0.0208343590488927 Centerline is valid? [True, True] Translation: X:880.96, Y:-152.79, Z:-55.43 [[ 9.94908984e-01 8.73772744e-02 5.02128012e-02 8.80957447e+02] [-8.72585157e-02 9.96175280e-01 -4.55659959e-03 -1.52790054e+02] [-5.04188946e-02 1.51907374e-04 9.98728147e-01 -5.54335173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.1707140569999 meters 0.020990269526996872 Centerline is valid? [True, True] Translation: X:880.98, Y:-152.79, Z:-55.43 [[ 9.94930861e-01 8.65091918e-02 5.12712590e-02 8.80984281e+02] [-8.63844755e-02 9.96251033e-01 -4.64765715e-03 -1.52793152e+02] [-5.14811098e-02 1.95056716e-04 9.98673949e-01 -5.54345915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.2007140569999 meters 0.020984134692954567 Centerline is valid? [True, True] Translation: X:881.01, Y:-152.80, Z:-55.44 [[ 9.94946724e-01 8.62655875e-02 5.13737807e-02 8.81011641e+02] [-8.61405744e-02 9.96272156e-01 -4.64673978e-03 -1.52795772e+02] [-5.15831210e-02 1.97891540e-04 9.98668685e-01 -5.54362453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.2307140569999 meters 0.021190405109863093 Centerline is valid? [True, True] Translation: X:881.04, Y:-152.80, Z:-55.44 [[ 9.94954317e-01 8.59013389e-02 5.18350009e-02 8.81039714e+02] [-8.57738582e-02 9.96303626e-01 -4.68303057e-03 -1.52798675e+02] [-5.20456779e-02 2.13313464e-04 9.98644683e-01 -5.54377127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.260714057 meters 0.021148279619067303 Centerline is valid? [True, True] Translation: X:881.07, Y:-152.80, Z:-55.44 [[ 9.94896909e-01 8.62236252e-02 5.23987247e-02 8.81066864e+02] [-8.60940934e-02 9.96275790e-01 -4.72841278e-03 -1.52801934e+02] [-5.26112817e-02 1.93062555e-04 9.98615049e-01 -5.54399006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.290714057 meters 0.021164734264486455 Centerline is valid? [True, True] Translation: X:881.09, Y:-152.80, Z:-55.44 [[ 9.94835824e-01 8.69121763e-02 5.24209639e-02 8.81094795e+02] [-8.67837201e-02 9.96215966e-01 -4.72604846e-03 -1.52804543e+02] [-5.26333523e-02 1.52356055e-04 9.98613893e-01 -5.54419334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.3207140569999 meters 0.021367811972297007 Centerline is valid? [True, True] Translation: X:881.12, Y:-152.81, Z:-55.44 [[ 9.94788877e-01 8.74698875e-02 5.23842424e-02 8.81123085e+02] [-8.73426627e-02 9.96167157e-01 -4.71744620e-03 -1.52806783e+02] [-5.25960963e-02 1.17483796e-04 9.98615861e-01 -5.54439360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.3507140569999 meters 0.021370127087355993 Centerline is valid? [True, True] Translation: X:881.15, Y:-152.81, Z:-55.45 [[ 9.94712803e-01 8.83782522e-02 5.23041603e-02 8.81150145e+02] [-8.82529274e-02 9.96086984e-01 -4.70536024e-03 -1.52808508e+02] [-5.25153448e-02 6.44868112e-05 9.98620115e-01 -5.54461429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.380714057 meters 0.021625543024075735 Centerline is valid? [True, True] Translation: X:881.18, Y:-152.81, Z:-55.45 [[ 9.94437647e-01 9.16380765e-02 5.19252344e-02 8.81178963e+02] [-9.15195177e-02 9.95792373e-01 -4.66139067e-03 -1.52807821e+02] [-5.21339133e-02 -1.16710042e-04 9.98640096e-01 -5.54485436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.410714057 meters 0.02153118267553867 Centerline is valid? [True, True] Translation: X:881.21, Y:-152.81, Z:-55.45 [[ 9.94238263e-01 9.39135597e-02 5.16770648e-02 8.81207678e+02] [-9.37993783e-02 9.95580327e-01 -4.63573902e-03 -1.52808661e+02] [-5.18840278e-02 -2.38247431e-04 9.98653088e-01 -5.54502061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.4407140569999 meters 0.021813194366582862 Centerline is valid? [True, True] Translation: X:881.24, Y:-152.81, Z:-55.45 [[ 9.93854521e-01 9.80585904e-02 5.13585895e-02 8.81236456e+02] [-9.79514670e-02 9.95180540e-01 -4.60473563e-03 -1.52807214e+02] [-5.15626028e-02 -4.54211862e-04 9.98669661e-01 -5.54521633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.4707140569999 meters 0.02248203476965779 Centerline is valid? [True, True] Translation: X:881.26, Y:-152.81, Z:-55.45 [[ 9.93635730e-01 1.00155041e-01 5.15461253e-02 8.81264849e+02] [-1.00050678e-01 9.94971674e-01 -4.60752815e-03 -1.52805011e+02] [-5.17484018e-02 -5.79020207e-04 9.98659986e-01 -5.54547550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.500714057 meters 0.02296726458080055 Centerline is valid? [True, True] Translation: X:881.29, Y:-152.80, Z:-55.46 [[ 9.93418875e-01 1.02267925e-01 5.15772324e-02 8.81293531e+02] [-1.02166475e-01 9.94756649e-01 -4.60655598e-03 -1.52804051e+02] [-5.17778978e-02 -6.93224363e-04 9.98658384e-01 -5.54566449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.530714057 meters 0.02227523160888004 Centerline is valid? [True, True] Translation: X:881.32, Y:-152.80, Z:-55.46 [[ 9.93024465e-01 1.05407294e-01 5.28366695e-02 8.81322262e+02] [-1.05305917e-01 9.94428736e-01 -4.70677130e-03 -1.52803195e+02] [-5.30384304e-02 -8.90074874e-04 9.98592075e-01 -5.54566585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.5607140569999 meters 0.022426867538455846 Centerline is valid? [True, True] Translation: X:881.35, Y:-152.80, Z:-55.46 [[ 9.92927991e-01 1.06155250e-01 5.31513658e-02 8.81349783e+02] [-1.06054481e-01 9.94349114e-01 -4.72078280e-03 -1.52802970e+02] [-5.33521494e-02 -9.49543131e-04 9.98575308e-01 -5.54579103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.5907140569999 meters 0.02262251227085568 Centerline is valid? [True, True] Translation: X:881.38, Y:-152.80, Z:-55.46 [[ 9.92898219e-01 1.06114196e-01 5.37857275e-02 8.81377659e+02] [-1.06011165e-01 9.94353484e-01 -4.77307999e-03 -1.52803357e+02] [-5.39885171e-02 -9.62705016e-04 9.98541092e-01 -5.54595198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.620714057 meters 0.02246308732791205 Centerline is valid? [True, True] Translation: X:881.41, Y:-152.80, Z:-55.46 [[ 9.93022952e-01 1.04598662e-01 5.44475534e-02 8.81405648e+02] [-1.04491685e-01 9.94514101e-01 -4.81568460e-03 -1.52801811e+02] [-5.46525737e-02 -9.07231269e-04 9.98505019e-01 -5.54607721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.650714057 meters 0.0219360689899634 Centerline is valid? [True, True] Translation: X:881.43, Y:-152.80, Z:-55.46 [[ 9.93181541e-01 1.02967811e-01 5.46631123e-02 8.81434587e+02] [-1.02857753e-01 9.94684347e-01 -4.83046829e-03 -1.52803769e+02] [-5.48699249e-02 -8.24992947e-04 9.98493170e-01 -5.54622619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.6807140569999 meters 0.02195856648379501 Centerline is valid? [True, True] Translation: X:881.46, Y:-152.80, Z:-55.46 [[ 9.93369948e-01 1.00984018e-01 5.49397388e-02 8.81462549e+02] [-1.00870608e-01 9.94887778e-01 -4.84047675e-03 -1.52804129e+02] [-5.51476854e-02 -7.33420692e-04 9.98477939e-01 -5.54639725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.7107140569999 meters 0.021655831234974433 Centerline is valid? [True, True] Translation: X:881.49, Y:-152.81, Z:-55.47 [[ 9.93613881e-01 9.84996908e-02 5.50387641e-02 8.81491424e+02] [-9.83823392e-02 9.95136900e-01 -4.84420434e-03 -1.52805474e+02] [-5.52482577e-02 -6.01573682e-04 9.98472467e-01 -5.54654050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.7407140569999 meters 0.021496253521288422 Centerline is valid? [True, True] Translation: X:881.52, Y:-152.81, Z:-55.47 [[ 9.94114963e-01 9.28749185e-02 5.57645940e-02 8.81520707e+02] [-9.27458219e-02 9.95677740e-01 -4.90417984e-03 -1.52806019e+02] [-5.59790402e-02 -2.96614537e-04 9.98431900e-01 -5.54666462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.770714057 meters 0.02131215204507607 Centerline is valid? [True, True] Translation: X:881.55, Y:-152.81, Z:-55.47 [[ 9.94335564e-01 9.03043703e-02 5.60527085e-02 8.81548220e+02] [-9.01702782e-02 9.95914201e-01 -4.92197949e-03 -1.52807018e+02] [-5.62681646e-02 -1.60189066e-04 9.98415679e-01 -5.54678929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.8007140569999 meters 0.021361020576050556 Centerline is valid? [True, True] Translation: X:881.58, Y:-152.81, Z:-55.47 [[ 9.94568813e-01 8.78861250e-02 5.57575624e-02 8.81577001e+02] [-8.77499234e-02 9.96130528e-01 -4.89108440e-03 -1.52808058e+02] [-5.59716685e-02 -2.82018253e-05 9.98432357e-01 -5.54693864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.8307140569999 meters 0.02133754138599636 Centerline is valid? [True, True] Translation: X:881.60, Y:-152.81, Z:-55.47 [[ 9.94858464e-01 8.44248327e-02 5.59382245e-02 8.81604771e+02] [-8.42825023e-02 9.96429838e-01 -4.90293753e-03 -1.52805953e+02] [-5.61524456e-02 1.63115368e-04 9.98422193e-01 -5.54709397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.8607140569999 meters 0.021469863039631613 Centerline is valid? [True, True] Translation: X:881.63, Y:-152.81, Z:-55.47 [[ 9.94981319e-01 8.32261522e-02 5.55480293e-02 8.81634046e+02] [-8.30842114e-02 9.96530661e-01 -4.86379446e-03 -1.52805263e+02] [-5.57601092e-02 2.24220414e-04 9.98444170e-01 -5.54726943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.890714057 meters 0.02135437125862528 Centerline is valid? [True, True] Translation: X:881.66, Y:-152.80, Z:-55.47 [[ 9.95060320e-01 8.22591948e-02 5.55732390e-02 8.81663023e+02] [-8.21158407e-02 9.96610932e-01 -4.86201742e-03 -1.52804309e+02] [-5.57848431e-02 2.74557371e-04 9.98442776e-01 -5.54745435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.9207140569999 meters 0.021278731682973413 Centerline is valid? [True, True] Translation: X:881.69, Y:-152.80, Z:-55.48 [[ 9.95146195e-01 8.16059958e-02 5.49955720e-02 8.81691747e+02] [-8.14648276e-02 9.96664622e-01 -4.80758275e-03 -1.52799051e+02] [-5.52044685e-02 3.04042886e-04 9.98475024e-01 -5.54760555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.9507140569999 meters 0.021286119897064963 Centerline is valid? [True, True] Translation: X:881.72, Y:-152.80, Z:-55.48 [[ 9.95130179e-01 8.15332862e-02 5.53917949e-02 8.81719630e+02] [-8.13902394e-02 9.96670572e-01 -4.83724213e-03 -1.52797158e+02] [-5.56017682e-02 3.05334171e-04 9.98452978e-01 -5.54771992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.9807140569999 meters 0.02125442609990938 Centerline is valid? [True, True] Translation: X:881.75, Y:-152.80, Z:-55.48 [[ 9.95166133e-01 8.11467944e-02 5.53133362e-02 8.81746605e+02] [-8.10038817e-02 9.96702109e-01 -4.82454082e-03 -1.52795076e+02] [-5.55224149e-02 3.20624688e-04 9.98457390e-01 -5.54786185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.010714057 meters 0.02126164958280477 Centerline is valid? [True, True] Translation: X:881.78, Y:-152.79, Z:-55.48 [[ 9.95296455e-01 7.92085752e-02 5.57760550e-02 8.81775528e+02] [-7.90606135e-02 9.96857974e-01 -4.85784528e-03 -1.52790962e+02] [-5.59855882e-02 4.25307056e-04 9.98431486e-01 -5.54809542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.040714057 meters 0.02172086497094592 Centerline is valid? [True, True] Translation: X:881.80, Y:-152.80, Z:-55.48 [[ 9.95588646e-01 7.41530124e-02 5.74854692e-02 8.81804047e+02] [-7.39876496e-02 9.97246610e-01 -5.00259200e-03 -1.52796805e+02] [-5.76981466e-02 7.27309039e-04 9.98333809e-01 -5.54816988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.0707140569999 meters 0.022023685805712602 Centerline is valid? [True, True] Translation: X:881.83, Y:-152.80, Z:-55.48 [[ 9.95924555e-01 6.96036617e-02 5.73551405e-02 8.81832181e+02] [-6.94317399e-02 9.97574238e-01 -4.98726266e-03 -1.52800216e+02] [-5.75631424e-02 9.84670137e-04 9.98341382e-01 -5.54831635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.1007140569999 meters 0.02355242795817749 Centerline is valid? [True, True] Translation: X:881.86, Y:-152.81, Z:-55.49 [[ 9.96510613e-01 6.13263462e-02 5.66187076e-02 8.81862033e+02] [-6.11458911e-02 9.98116734e-01 -4.91574258e-03 -1.52809187e+02] [-5.68135441e-02 1.43658832e-03 9.98383773e-01 -5.54864067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.130714057 meters 0.023933547101774744 Centerline is valid? [True, True] Translation: X:881.89, Y:-152.81, Z:-55.49 [[ 9.96705961e-01 5.96491663e-02 5.49472856e-02 8.81889586e+02] [-5.94766614e-02 9.98218296e-01 -4.77086606e-03 -1.52814504e+02] [-5.51339640e-02 1.48706954e-03 9.98477859e-01 -5.54895433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.160714057 meters 0.02541517526147643 Centerline is valid? [True, True] Translation: X:881.92, Y:-152.82, Z:-55.49 [[ 9.96863197e-01 5.83089819e-02 5.35147572e-02 8.81916680e+02] [-5.81436861e-02 9.98297433e-01 -4.64182455e-03 -1.52820895e+02] [-5.36943048e-02 1.51571882e-03 9.98556270e-01 -5.54926865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.1907140569999 meters 0.025449244807020203 Centerline is valid? [True, True] Translation: X:881.95, Y:-152.82, Z:-55.50 [[ 9.97000094e-01 5.70568477e-02 5.23003792e-02 8.81945156e+02] [-5.68974944e-02 9.98369739e-01 -4.53195428e-03 -1.52823827e+02] [-5.24736950e-02 1.54259831e-03 9.98621115e-01 -5.54953208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.2207140569999 meters 0.024503423314372486 Centerline is valid? [True, True] Translation: X:881.97, Y:-152.83, Z:-55.50 [[ 9.97118741e-01 5.58249291e-02 5.13594559e-02 8.81973455e+02] [-5.56698084e-02 9.98439330e-01 -4.44700126e-03 -1.52825405e+02] [-5.15275543e-02 1.57501722e-03 9.98670331e-01 -5.54977044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.250714057 meters 0.02481154068618924 Centerline is valid? [True, True] Translation: X:882.00, Y:-152.83, Z:-55.50 [[ 9.97128726e-01 5.55012444e-02 5.15161645e-02 8.82002044e+02] [-5.53449353e-02 9.98457347e-01 -4.45686191e-03 -1.52827746e+02] [-5.16840544e-02 1.59290625e-03 9.98662216e-01 -5.54992889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.280714057 meters 0.024746598386291046 Centerline is valid? [True, True] Translation: X:882.03, Y:-152.83, Z:-55.50 [[ 9.97049028e-01 5.62052931e-02 5.22895891e-02 8.82031231e+02] [-5.60454228e-02 9.98417989e-01 -4.51985686e-03 -1.52830017e+02] [-5.24609063e-02 1.57592676e-03 9.98621735e-01 -5.55002643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.3107140569999 meters 0.0248155811170757 Centerline is valid? [True, True] Translation: X:882.06, Y:-152.83, Z:-55.50 [[ 9.96964125e-01 5.71045616e-02 5.29301633e-02 8.82059492e+02] [-5.69421595e-02 9.98367008e-01 -4.57244147e-03 -1.52831805e+02] [-5.31048361e-02 1.54460231e-03 9.98587748e-01 -5.55010215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.3407140569999 meters 0.0246106505588638 Centerline is valid? [True, True] Translation: X:882.09, Y:-152.83, Z:-55.50 [[ 9.96901021e-01 5.77942232e-02 5.33683715e-02 8.82088705e+02] [-5.76302993e-02 9.98327365e-01 -4.60666766e-03 -1.52833520e+02] [-5.35453444e-02 1.51675647e-03 9.98564267e-01 -5.55023577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.370714057 meters 0.024220655716729038 Centerline is valid? [True, True] Translation: X:882.12, Y:-152.83, Z:-55.50 [[ 9.96837258e-01 5.85626981e-02 5.37204878e-02 8.82117670e+02] [-5.83980458e-02 9.98282637e-01 -4.63094796e-03 -1.52834456e+02] [-5.38994310e-02 1.47912996e-03 9.98545274e-01 -5.55035898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.400714057 meters 0.023696192053385048 Centerline is valid? [True, True] Translation: X:882.15, Y:-152.84, Z:-55.50 [[ 9.96735008e-01 5.99855597e-02 5.40468087e-02 8.82146899e+02] [-5.98211942e-02 9.98198253e-01 -4.65526934e-03 -1.52835271e+02] [-5.42286790e-02 1.40692527e-03 9.98527551e-01 -5.55045475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.4307140569999 meters 0.023782804161742898 Centerline is valid? [True, True] Translation: X:882.18, Y:-152.84, Z:-55.51 [[ 9.96728962e-01 6.00818965e-02 5.40512844e-02 8.82175205e+02] [-5.99178511e-02 9.98192472e-01 -4.65186345e-03 -1.52837258e+02] [-5.42330780e-02 1.39801021e-03 9.98527325e-01 -5.55060366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.4607140569999 meters 0.02437589917092938 Centerline is valid? [True, True] Translation: X:882.20, Y:-152.84, Z:-55.51 [[ 9.96706393e-01 6.00183844e-02 5.45358519e-02 8.82202628e+02] [-5.98514958e-02 9.98196276e-01 -4.68974635e-03 -1.52841740e+02] [-5.47189552e-02 1.41024787e-03 9.98500800e-01 -5.55075456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.4907140569999 meters 0.025069735971784544 Centerline is valid? [True, True] Translation: X:882.23, Y:-152.85, Z:-55.51 [[ 9.96768222e-01 5.85274549e-02 5.50240703e-02 8.82230872e+02] [-5.83555627e-02 9.98284671e-01 -4.72685139e-03 -1.52846315e+02] [-5.52063366e-02 1.50061467e-03 9.98473840e-01 -5.55088900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.520714057 meters 0.025263817903258212 Centerline is valid? [True, True] Translation: X:882.26, Y:-152.85, Z:-55.51 [[ 9.96790977e-01 5.76219216e-02 5.55649470e-02 8.82259700e+02] [-5.74454361e-02 9.98337254e-01 -4.76952889e-03 -1.52849842e+02] [-5.57473861e-02 1.56227075e-03 9.98443683e-01 -5.55098577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.5507140569999 meters 0.026514825413680214 Centerline is valid? [True, True] Translation: X:882.29, Y:-152.86, Z:-55.51 [[ 9.96868691e-01 5.52784275e-02 5.65429720e-02 8.82287974e+02] [-5.50921251e-02 9.98469499e-01 -4.84957081e-03 -1.52856044e+02] [-5.67245095e-02 1.71931282e-03 9.98388388e-01 -5.55112584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.5807140569999 meters 0.02470529439574762 Centerline is valid? [True, True] Translation: X:882.32, Y:-152.86, Z:-55.51 [[ 9.97005399e-01 5.34575162e-02 5.58795812e-02 8.82317044e+02] [-5.32728492e-02 9.98568504e-01 -4.79018866e-03 -1.52855779e+02] [-5.60556614e-02 1.79897946e-03 9.98426025e-01 -5.55128750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.6107140569999 meters 0.02575357604567142 Centerline is valid? [True, True] Translation: X:882.35, Y:-152.86, Z:-55.51 [[ 9.97127760e-01 5.13283323e-02 5.56923050e-02 8.82345328e+02] [-5.11417593e-02 9.98680008e-01 -4.77106126e-03 -1.52861250e+02] [-5.58636822e-02 1.90915517e-03 9.98436580e-01 -5.55149246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.640714057 meters 0.026751793705861816 Centerline is valid? [True, True] Translation: X:882.37, Y:-152.87, Z:-55.52 [[ 9.97225499e-01 4.98900801e-02 5.52474856e-02 8.82374273e+02] [-4.97044496e-02 9.98752770e-01 -4.72982879e-03 -1.52866195e+02] [-5.54145508e-02 1.97066001e-03 9.98461489e-01 -5.55170166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.6707140569999 meters 0.026751793705861816 Centerline is valid? [True, True] Translation: X:882.40, Y:-152.87, Z:-55.52 [[ 9.97227224e-01 4.98554847e-02 5.52475656e-02 8.82403288e+02] [-4.96698530e-02 9.98754496e-01 -4.72889320e-03 -1.52868647e+02] [-5.54145158e-02 1.97164258e-03 9.98461489e-01 -5.55187042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.7007140569999 meters 0.026685495551296495 Centerline is valid? [True, True] Translation: X:882.43, Y:-152.87, Z:-55.52 [[ 9.97413685e-01 4.79628213e-02 5.35304555e-02 8.82433488e+02] [-4.77859467e-02 9.98847099e-01 -4.57996624e-03 -1.52871633e+02] [-5.36884082e-02 2.01011751e-03 9.98555714e-01 -5.55213593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.7307140569999 meters 0.02857947607031278 Centerline is valid? [True, True] Translation: X:882.46, Y:-152.88, Z:-55.52 [[ 9.97476650e-01 4.75567237e-02 5.27132834e-02 8.82462289e+02] [-4.73846513e-02 9.98866535e-01 -4.50999487e-03 -1.52877714e+02] [-5.28680154e-02 2.00081402e-03 9.98599504e-01 -5.55243140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.760714057 meters 0.027355263091490754 Centerline is valid? [True, True] Translation: X:882.49, Y:-152.88, Z:-55.53 [[ 9.97528496e-01 4.74572681e-02 5.18141553e-02 8.82492006e+02] [-4.72908441e-02 9.98871321e-01 -4.43391286e-03 -1.52877535e+02] [-5.19660952e-02 1.97261929e-03 9.98646901e-01 -5.55261746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.790714057 meters 0.026801592845225278 Centerline is valid? [True, True] Translation: X:882.52, Y:-152.88, Z:-55.53 [[ 9.97554142e-01 4.81111838e-02 5.07055006e-02 8.82521463e+02] [-4.79527440e-02 9.98840188e-01 -4.33731055e-03 -1.52878508e+02] [-5.08553649e-02 1.89523422e-03 9.98704231e-01 -5.55285179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.8207140569999 meters 0.029264224027573213 Centerline is valid? [True, True] Translation: X:882.55, Y:-152.88, Z:-55.53 [[ 9.97530531e-01 4.83821621e-02 5.09117421e-02 8.82550031e+02] [-4.82228680e-02 9.98827114e-01 -4.35326220e-03 -1.52884946e+02] [-5.10626487e-02 1.88740174e-03 9.98693669e-01 -5.55308424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.8507140569999 meters 0.026580490881230615 Centerline is valid? [True, True] Translation: X:882.58, Y:-152.88, Z:-55.53 [[ 9.97480502e-01 4.91310005e-02 5.11741437e-02 8.82579951e+02] [-4.89711867e-02 9.98790619e-01 -4.37288378e-03 -1.52882246e+02] [-5.13270989e-02 1.85580777e-03 9.98680172e-01 -5.55313055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.880714057 meters 0.026847995454534365 Centerline is valid? [True, True] Translation: X:882.61, Y:-152.88, Z:-55.53 [[ 9.97349192e-01 5.06852408e-02 5.22072421e-02 8.82608436e+02] [-5.05211211e-02 9.98713037e-01 -4.45937092e-03 -1.52884337e+02] [-5.23660776e-02 1.80998158e-03 9.98626315e-01 -5.55320183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.910714057 meters 0.026409781638735988 Centerline is valid? [True, True] Translation: X:882.64, Y:-152.89, Z:-55.53 [[ 9.97310642e-01 5.12255975e-02 5.24158571e-02 8.82637174e+02] [-5.10610482e-02 9.98685510e-01 -4.47450952e-03 -1.52885586e+02] [-5.25761664e-02 1.78606735e-03 9.98615320e-01 -5.55330779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.9407140569999 meters 0.029024246423332598 Centerline is valid? [True, True] Translation: X:882.66, Y:-152.89, Z:-55.54 [[ 9.97250213e-01 5.18878829e-02 5.29118219e-02 8.82664837e+02] [-5.17213358e-02 9.98651359e-01 -4.51301106e-03 -1.52893222e+02] [-5.30746334e-02 1.76393113e-03 9.98588990e-01 -5.55353715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.9707140569999 meters 0.02560413465500138 Centerline is valid? [True, True] Translation: X:882.69, Y:-152.89, Z:-55.54 [[ 9.97229933e-01 5.26745738e-02 5.25152377e-02 8.82694261e+02] [-5.25117448e-02 9.98610273e-01 -4.47654495e-03 -1.52888364e+02] [-5.26780559e-02 1.70647787e-03 9.98610089e-01 -5.55362365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.000714057 meters 0.026918038048294925 Centerline is valid? [True, True] Translation: X:882.72, Y:-152.89, Z:-55.54 [[ 9.97251474e-01 5.27004036e-02 5.20784592e-02 8.82721371e+02] [-5.25404975e-02 9.98608943e-01 -4.43572613e-03 -1.52893630e+02] [-5.22397796e-02 1.68730626e-03 9.98633145e-01 -5.55386774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.030714057 meters 0.026668002886086787 Centerline is valid? [True, True] Translation: X:882.75, Y:-152.90, Z:-55.54 [[ 9.97281622e-01 5.26440422e-02 5.15555251e-02 8.82749998e+02] [-5.24875000e-02 9.98611947e-01 -4.38653946e-03 -1.52895456e+02] [-5.17148884e-02 1.66859456e-03 9.98660496e-01 -5.55402883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.0607140569999 meters 0.02754920029590971 Centerline is valid? [True, True] Translation: X:882.78, Y:-152.90, Z:-55.54 [[ 9.97351949e-01 5.25803303e-02 5.02433993e-02 8.82777698e+02] [-5.24317448e-02 9.98615374e-01 -4.27167242e-03 -1.52898849e+02] [-5.03984369e-02 1.62601172e-03 9.98727868e-01 -5.55431868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.0907140569999 meters 0.02789095570673379 Centerline is valid? [True, True] Translation: X:882.81, Y:-152.90, Z:-55.54 [[ 9.97347773e-01 5.25740015e-02 5.03328300e-02 8.82806698e+02] [-5.24251018e-02 9.98615709e-01 -4.27484828e-03 -1.52901988e+02] [-5.04879006e-02 1.62480667e-03 9.98723351e-01 -5.55449997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.120714057 meters 0.02724261349421284 Centerline is valid? [True, True] Translation: X:882.84, Y:-152.90, Z:-55.55 [[ 9.97383607e-01 5.22542280e-02 4.99543338e-02 8.82835240e+02] [-5.21073275e-02 9.98632492e-01 -4.23938465e-03 -1.52903634e+02] [-5.01075466e-02 1.62530592e-03 9.98742505e-01 -5.55468687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.150714057 meters 0.027115728793332426 Centerline is valid? [True, True] Translation: X:882.86, Y:-152.91, Z:-55.55 [[ 9.97422843e-01 5.12086950e-02 5.02527821e-02 8.82863406e+02] [-5.10588831e-02 9.98686554e-01 -4.26123225e-03 -1.52906604e+02] [-5.04049900e-02 1.68439946e-03 9.98727440e-01 -5.55493722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.1807140569999 meters 0.029072353547936695 Centerline is valid? [True, True] Translation: X:882.89, Y:-152.91, Z:-55.55 [[ 9.97451694e-01 5.10111087e-02 4.98797011e-02 8.82890753e+02] [-5.08634323e-02 9.98696675e-01 -4.22632744e-03 -1.52913449e+02] [-5.00302813e-02 1.67850467e-03 9.98746291e-01 -5.55521428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.2107140569999 meters 0.028299971356193075 Centerline is valid? [True, True] Translation: X:882.92, Y:-152.91, Z:-55.55 [[ 9.97539796e-01 4.99274059e-02 4.92098574e-02 8.82920449e+02] [-4.97826099e-02 9.98751395e-01 -4.16444706e-03 -1.52914853e+02] [-4.93563337e-02 1.70440653e-03 9.98779779e-01 -5.55536265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.2407140569999 meters 0.0276906739330854 Centerline is valid? [True, True] Translation: X:882.95, Y:-152.92, Z:-55.56 [[ 9.97610179e-01 4.89188537e-02 4.87942289e-02 8.82949971e+02] [-4.87753718e-02 9.98801244e-01 -4.12763026e-03 -1.52916304e+02] [-4.89376555e-02 1.73780931e-03 9.98800323e-01 -5.55556622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.270714057 meters 0.028261853757736134 Centerline is valid? [True, True] Translation: X:882.98, Y:-152.92, Z:-55.56 [[ 9.97779830e-01 4.70124080e-02 4.71725037e-02 8.82978881e+02] [-4.68762539e-02 9.98892739e-01 -3.98902831e-03 -1.52920910e+02] [-4.73078053e-02 1.76890173e-03 9.98878793e-01 -5.55581273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.3007140569999 meters 0.02898910544584931 Centerline is valid? [True, True] Translation: X:883.01, Y:-152.92, Z:-55.56 [[ 9.97861677e-01 4.57217524e-02 4.67075521e-02 8.83006919e+02] [-4.55869751e-02 9.98952575e-01 -3.94726070e-03 -1.52924905e+02] [-4.68391051e-02 1.80956417e-03 9.98900808e-01 -5.55601868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.3307140569999 meters 0.03045034765328296 Centerline is valid? [True, True] Translation: X:883.04, Y:-152.93, Z:-55.56 [[ 9.97918818e-01 4.45711839e-02 4.65987298e-02 8.83035650e+02] [-4.44359150e-02 9.99004486e-01 -3.93523263e-03 -1.52930159e+02] [-4.67277381e-02 1.85638550e-03 9.98905938e-01 -5.55622689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.3607140569999 meters 0.029615994814826258 Centerline is valid? [True, True] Translation: X:883.07, Y:-152.93, Z:-55.56 [[ 9.98027360e-01 4.29966135e-02 4.57458204e-02 8.83065896e+02] [-4.28646499e-02 9.99073423e-01 -3.86222159e-03 -1.52931286e+02] [-4.58694959e-02 1.89372424e-03 9.98945646e-01 -5.55628029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.390714057 meters 0.03028458258871622 Centerline is valid? [True, True] Translation: X:883.10, Y:-152.94, Z:-55.56 [[ 9.98041116e-01 4.24253059e-02 4.59785290e-02 8.83095428e+02] [-4.22913808e-02 9.99097777e-01 -3.88207224e-03 -1.52935231e+02] [-4.61017442e-02 1.92997223e-03 9.98934885e-01 -5.55648581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.4207140569999 meters 0.03293248102755663 Centerline is valid? [True, True] Translation: X:883.12, Y:-152.94, Z:-55.57 [[ 9.98068519e-01 4.22242430e-02 4.55669269e-02 8.83124158e+02] [-4.20925340e-02 9.99106312e-01 -3.84653067e-03 -1.52942415e+02] [-4.56886211e-02 1.92107375e-03 9.98953883e-01 -5.55676785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.4507140569999 meters 0.0333691614706108 Centerline is valid? [True, True] Translation: X:883.15, Y:-152.95, Z:-55.57 [[ 9.98064010e-01 4.20011879e-02 4.58708301e-02 8.83154704e+02] [-4.18675258e-02 9.99115671e-01 -3.87118195e-03 -1.52945729e+02] [-4.59928594e-02 1.94318921e-03 9.98939879e-01 -5.55695133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.4807140569999 meters 0.03317308369059434 Centerline is valid? [True, True] Translation: X:883.19, Y:-152.95, Z:-55.57 [[ 9.98029284e-01 4.24524947e-02 4.62096719e-02 8.83185113e+02] [-4.23173315e-02 9.99096610e-01 -3.89977786e-03 -1.52948781e+02] [-4.63334818e-02 1.93662250e-03 9.98924150e-01 -5.55701926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.510714057 meters 0.03419709267826689 Centerline is valid? [True, True] Translation: X:883.21, Y:-152.95, Z:-55.57 [[ 9.98033118e-01 4.25720843e-02 4.60164443e-02 8.83214451e+02] [-4.24381869e-02 9.99091548e-01 -3.88325400e-03 -1.52952179e+02] [-4.61399588e-02 1.92276163e-03 9.98933135e-01 -5.55718923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.540714057 meters 0.030166284598791702 Centerline is valid? [True, True] Translation: X:883.25, Y:-152.95, Z:-55.57 [[ 9.98025056e-01 4.30380144e-02 4.57571492e-02 8.83245843e+02] [-4.29060625e-02 9.99071645e-01 -3.86244188e-03 -1.52947699e+02] [-4.58809021e-02 1.89155467e-03 9.98945126e-01 -5.55709839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.5707140569999 meters 0.02955553165463337 Centerline is valid? [True, True] Translation: X:883.28, Y:-152.95, Z:-55.57 [[ 9.98008221e-01 4.36421760e-02 4.55516419e-02 8.83275963e+02] [-4.35120259e-02 9.99045503e-01 -3.84530899e-03 -1.52948653e+02] [-4.56759806e-02 1.85560576e-03 9.98954584e-01 -5.55723223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.6007140569999 meters 0.030156810595109305 Centerline is valid? [True, True] Translation: X:883.30, Y:-152.95, Z:-55.58 [[ 9.97966642e-01 4.57211100e-02 4.44090374e-02 8.83304679e+02] [-4.55994901e-02 9.98952770e-01 -3.74832309e-03 -1.52952184e+02] [-4.45339084e-02 1.71567194e-03 9.99006400e-01 -5.55751764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.630714057 meters 0.02925325411190229 Centerline is valid? [True, True] Translation: X:883.33, Y:-152.95, Z:-55.58 [[ 9.97942165e-01 4.60381603e-02 4.46309591e-02 8.83333456e+02] [-4.59156876e-02 9.98938220e-01 -3.76593258e-03 -1.52953990e+02] [-4.47569474e-02 1.70892174e-03 9.98996444e-01 -5.55765565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.660714057 meters 0.02913889411846293 Centerline is valid? [True, True] Translation: X:883.36, Y:-152.96, Z:-55.58 [[ 9.97889848e-01 4.72857604e-02 4.44961534e-02 8.83361452e+02] [-4.71654152e-02 9.98880049e-01 -3.75119215e-03 -1.52956798e+02] [-4.46236978e-02 1.64459701e-03 9.99002513e-01 -5.55787592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.6907140569999 meters 0.030806661986380067 Centerline is valid? [True, True] Translation: X:883.39, Y:-152.96, Z:-55.58 [[ 9.97817535e-01 4.94313249e-02 4.37802562e-02 8.83389244e+02] [-4.93169844e-02 9.98776366e-01 -3.68858465e-03 -1.52962150e+02] [-4.39090168e-02 1.52142423e-03 9.99034376e-01 -5.55821977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.7207140569999 meters 0.02823561778798042 Centerline is valid? [True, True] Translation: X:883.42, Y:-152.96, Z:-55.58 [[ 9.97751427e-01 5.11388987e-02 4.33232485e-02 8.83418594e+02] [-5.10286269e-02 9.98690528e-01 -3.64812107e-03 -1.52958438e+02] [-4.34530788e-02 1.42919212e-03 9.99054447e-01 -5.55817418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.750714057 meters 0.02812827616827429 Centerline is valid? [True, True] Translation: X:883.45, Y:-152.96, Z:-55.58 [[ 9.97657662e-01 5.33619121e-02 4.27983063e-02 8.83446031e+02] [-5.32564570e-02 9.98574374e-01 -3.60120752e-03 -1.52958406e+02] [-4.29294592e-02 1.31348611e-03 9.99077242e-01 -5.55840733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.780714057 meters 0.0266486537986794 Centerline is valid? [True, True] Translation: X:883.48, Y:-152.95, Z:-55.59 [[ 9.97357553e-01 5.89829990e-02 4.24136424e-02 8.83476320e+02] [-5.88846901e-02 9.98258427e-01 -3.56454528e-03 -1.52954408e+02] [-4.25500235e-02 1.05761197e-03 9.99093778e-01 -5.55856791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.8107140569999 meters 0.02667614324695913 Centerline is valid? [True, True] Translation: X:883.50, Y:-152.96, Z:-55.59 [[ 9.97168196e-01 6.15267722e-02 4.32440137e-02 8.83503684e+02] [-6.14270232e-02 9.98104966e-01 -3.63294044e-03 -1.52955070e+02] [-4.33855879e-02 9.66301638e-04 9.99057935e-01 -5.55881803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.8407140569999 meters 0.025958052421633803 Centerline is valid? [True, True] Translation: X:883.53, Y:-152.95, Z:-55.59 [[ 9.96964644e-01 6.44736358e-02 4.36422775e-02 8.83532347e+02] [-6.43750392e-02 9.97919056e-01 -3.66231367e-03 -1.52953494e+02] [-4.37875830e-02 8.41723919e-04 9.99040509e-01 -5.55889987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.870714057 meters 0.025607509327399774 Centerline is valid? [True, True] Translation: X:883.56, Y:-152.95, Z:-55.59 [[ 9.96695494e-01 6.71600889e-02 4.56904208e-02 8.83560666e+02] [-6.70549908e-02 9.97741927e-01 -3.83076652e-03 -1.52953564e+02] [-4.58445231e-02 7.54336981e-04 9.98948302e-01 -5.55896413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.900714057 meters 0.025350236847418828 Centerline is valid? [True, True] Translation: X:883.59, Y:-152.95, Z:-55.59 [[ 9.96551747e-01 6.85094080e-02 4.68089475e-02 8.83589399e+02] [-6.84007427e-02 9.97650221e-01 -3.92118092e-03 -1.52953139e+02] [-4.69675945e-02 7.05892924e-04 9.98896164e-01 -5.55898470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.9307140569999 meters 0.02527002427574469 Centerline is valid? [True, True] Translation: X:883.62, Y:-152.95, Z:-55.59 [[ 9.96420795e-01 7.02254694e-02 4.70529744e-02 8.83616941e+02] [-7.01177285e-02 9.97530948e-01 -3.93845973e-03 -1.52953385e+02] [-4.72133783e-02 6.25115496e-04 9.98884631e-01 -5.55911594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.9607140569999 meters 0.024687234154450344 Centerline is valid? [True, True] Translation: X:883.65, Y:-152.95, Z:-55.59 [[ 9.96179157e-01 7.35900555e-02 4.70275628e-02 8.83645289e+02] [-7.34863740e-02 9.97288469e-01 -3.93215575e-03 -1.52949555e+02] [-4.71894137e-02 4.61246524e-04 9.98885853e-01 -5.55932665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.9907140569999 meters 0.024729990394340748 Centerline is valid? [True, True] Translation: X:883.67, Y:-152.95, Z:-55.59 [[ 9.96236904e-01 7.20712437e-02 4.81432023e-02 8.83674060e+02] [-7.19610167e-02 9.97399340e-01 -4.02113675e-03 -1.52953612e+02] [-4.83078065e-02 5.41571036e-04 9.98832350e-01 -5.55947173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.020714057 meters 0.02479993307104216 Centerline is valid? [True, True] Translation: X:883.70, Y:-152.96, Z:-55.60 [[ 9.96309260e-01 7.08364274e-02 4.84774027e-02 8.83702357e+02] [-7.07233627e-02 9.97487763e-01 -4.04576795e-03 -1.52956646e+02] [-4.86422037e-02 6.02351138e-04 9.98816086e-01 -5.55955472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.0507140569999 meters 0.02479367422271293 Centerline is valid? [True, True] Translation: X:883.73, Y:-152.96, Z:-55.60 [[ 9.96405213e-01 6.94688324e-02 4.84843577e-02 8.83731392e+02] [-6.93542801e-02 9.97583900e-01 -4.04300534e-03 -1.52958463e+02] [-4.86480776e-02 6.65873863e-04 9.98815759e-01 -5.55971216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.0807140569999 meters 0.025251993928763438 Centerline is valid? [True, True] Translation: X:883.76, Y:-152.96, Z:-55.60 [[ 9.96558559e-01 6.73045736e-02 4.83852465e-02 8.83758905e+02] [-6.71880967e-02 9.97732182e-01 -4.03152260e-03 -1.52962757e+02] [-4.85468574e-02 7.66735733e-04 9.98820612e-01 -5.55994681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.1107140569999 meters 0.025603658075807095 Centerline is valid? [True, True] Translation: X:883.79, Y:-152.97, Z:-55.60 [[ 9.96647776e-01 6.56514722e-02 4.88169461e-02 8.83787824e+02] [-6.55311422e-02 9.97842253e-01 -4.06305066e-03 -1.52966088e+02] [-4.89783567e-02 8.50400165e-04 9.98799478e-01 -5.56010291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.140714057 meters 0.02559020502065735 Centerline is valid? [True, True] Translation: X:883.82, Y:-152.97, Z:-55.60 [[ 9.96728996e-01 6.43479431e-02 4.88942735e-02 8.83816468e+02] [-6.42258257e-02 9.97927106e-01 -4.06619830e-03 -1.52967813e+02] [-4.90545723e-02 9.12622661e-04 9.98795683e-01 -5.56024788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.1707140569999 meters 0.02605576571315217 Centerline is valid? [True, True] Translation: X:883.84, Y:-152.97, Z:-55.61 [[ 9.96950358e-01 6.11327979e-02 4.85053042e-02 8.83844425e+02] [-6.10089667e-02 9.98129079e-01 -4.03073567e-03 -1.52971695e+02] [-4.86609648e-02 1.05918488e-03 9.98814792e-01 -5.56051573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.2007140569999 meters 0.02664171948106268 Centerline is valid? [True, True] Translation: X:883.87, Y:-152.98, Z:-55.61 [[ 9.97048531e-01 5.93224925e-02 4.87346870e-02 8.83871799e+02] [-5.91955199e-02 9.98238209e-01 -4.04583536e-03 -1.52976210e+02] [-4.88888357e-02 1.14901907e-03 9.98803565e-01 -5.56078304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.2307140569999 meters 0.026356355911161724 Centerline is valid? [True, True] Translation: X:883.90, Y:-152.98, Z:-55.61 [[ 9.97148667e-01 5.80124588e-02 4.82606493e-02 8.83899935e+02] [-5.78866655e-02 9.98315142e-01 -4.00128629e-03 -1.52978406e+02] [-4.84114615e-02 1.19622923e-03 9.98826762e-01 -5.56099303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.260714057 meters 0.027654581741801597 Centerline is valid? [True, True] Translation: X:883.93, Y:-152.99, Z:-55.61 [[ 9.97385569e-01 5.42472084e-02 4.77416645e-02 8.83927488e+02] [-5.41200100e-02 9.98526610e-01 -3.95386536e-03 -1.52985894e+02] [-4.78858086e-02 1.35974889e-03 9.98851891e-01 -5.56126132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.290714057 meters 0.027953915765176127 Centerline is valid? [True, True] Translation: X:883.96, Y:-152.99, Z:-55.61 [[ 9.97468967e-01 5.28680638e-02 4.75460641e-02 8.83955672e+02] [-5.27404524e-02 9.98600500e-01 -3.93534862e-03 -1.52989194e+02] [-4.76875776e-02 1.41778720e-03 9.98861294e-01 -5.56141152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.3207140569999 meters 0.029348925618430676 Centerline is valid? [True, True] Translation: X:883.98, Y:-152.99, Z:-55.62 [[ 9.97570763e-01 5.11294679e-02 4.73112047e-02 8.83983053e+02] [-5.10013055e-02 9.98690921e-01 -3.91290334e-03 -1.52994423e+02] [-4.74493353e-02 1.49046477e-03 9.98872534e-01 -5.56161830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.3507140569999 meters 0.027993869030156812 Centerline is valid? [True, True] Translation: X:884.01, Y:-152.99, Z:-55.62 [[ 9.97611044e-01 5.09570210e-02 4.66431815e-02 8.84011775e+02] [-5.08324543e-02 9.98699760e-01 -3.85365652e-03 -1.52994449e+02] [-4.67789050e-02 1.47346291e-03 9.98904181e-01 -5.56171266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.380714057 meters 0.02843685880223592 Centerline is valid? [True, True] Translation: X:884.04, Y:-153.00, Z:-55.62 [[ 9.97702775e-01 4.87755067e-02 4.70119509e-02 8.84040083e+02] [-4.86466955e-02 9.98808509e-01 -3.88088573e-03 -1.52999109e+02] [-4.71452287e-02 1.58499440e-03 9.98886788e-01 -5.56184594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.410714057 meters 0.02730458592147762 Centerline is valid? [True, True] Translation: X:884.07, Y:-153.00, Z:-55.62 [[ 9.97701517e-01 4.91627525e-02 4.66337469e-02 8.84069419e+02] [-4.90365753e-02 9.98789577e-01 -3.84655336e-03 -1.52998594e+02] [-4.67664075e-02 1.55095288e-03 9.98904649e-01 -5.56196197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.4407140569999 meters 0.02748362463679435 Centerline is valid? [True, True] Translation: X:884.10, Y:-153.00, Z:-55.62 [[ 9.97641463e-01 5.01915851e-02 4.68221737e-02 8.84097128e+02] [-5.00656637e-02 9.98738473e-01 -3.85896404e-03 -1.53001596e+02] [-4.69567938e-02 1.50567933e-03 9.98895787e-01 -5.56211612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.4707140569999 meters 0.026939266387721456 Centerline is valid? [True, True] Translation: X:884.13, Y:-153.00, Z:-55.62 [[ 9.97549438e-01 5.16339042e-02 4.72129008e-02 8.84125529e+02] [-5.15076901e-02 9.98665034e-01 -3.88680589e-03 -1.53002403e+02] [-4.73505642e-02 1.44545357e-03 9.98877287e-01 -5.56226643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.500714057 meters 0.027246418559468164 Centerline is valid? [True, True] Translation: X:884.15, Y:-153.00, Z:-55.62 [[ 9.97527147e-01 5.23012329e-02 4.69486096e-02 8.84153006e+02] [-5.21773078e-02 9.98630369e-01 -3.86206280e-03 -1.53004599e+02] [-4.70862980e-02 1.40286043e-03 9.98889840e-01 -5.56242418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.530714057 meters 0.026903041919148506 Centerline is valid? [True, True] Translation: X:884.18, Y:-153.01, Z:-55.63 [[ 9.97435969e-01 5.40341985e-02 4.69232670e-02 8.84181901e+02] [-5.39125348e-02 9.98538219e-01 -3.85546272e-03 -1.53005190e+02] [-4.70630023e-02 1.31582493e-03 9.98891056e-01 -5.56259022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.5607140569999 meters 0.026005539340835448 Centerline is valid? [True, True] Translation: X:884.21, Y:-153.00, Z:-55.63 [[ 9.97374857e-01 5.53078348e-02 4.67379674e-02 8.84211215e+02] [-5.51886738e-02 9.98468571e-01 -3.83711880e-03 -1.53004881e+02] [-4.68786142e-02 1.24763938e-03 9.98899814e-01 -5.56272298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.5907140569999 meters 0.026005539340835448 Centerline is valid? [True, True] Translation: X:884.24, Y:-153.01, Z:-55.63 [[ 9.97378599e-01 5.52401047e-02 4.67382280e-02 8.84239387e+02] [-5.51210182e-02 9.98472320e-01 -3.83394138e-03 -1.53007130e+02] [-4.68786142e-02 1.24763236e-03 9.98899814e-01 -5.56288692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.620714057 meters 0.025516770256148347 Centerline is valid? [True, True] Translation: X:884.27, Y:-153.01, Z:-55.63 [[ 9.97268169e-01 5.72247498e-02 4.67068175e-02 8.84267098e+02] [-5.71081386e-02 9.98360658e-01 -3.82835008e-03 -1.53008431e+02] [-4.68493254e-02 1.15055226e-03 9.98901305e-01 -5.56303951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.650714057 meters 0.02544549398963759 Centerline is valid? [True, True] Translation: X:884.30, Y:-153.01, Z:-55.63 [[ 9.97246749e-01 5.73912882e-02 4.69591548e-02 8.84295483e+02] [-5.72737928e-02 9.98351105e-01 -3.84488269e-03 -1.53010658e+02] [-4.71023869e-02 1.14476786e-03 9.98889411e-01 -5.56319846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.6807140569999 meters 0.025126705129646633 Centerline is valid? [True, True] Translation: X:884.32, Y:-153.01, Z:-55.63 [[ 9.97180808e-01 5.85938668e-02 4.68742458e-02 8.84324326e+02] [-5.84782718e-02 9.98281316e-01 -3.83477579e-03 -1.53012235e+02] [-4.70183782e-02 1.08283994e-03 9.98893438e-01 -5.56335971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.7107140569999 meters 0.025214082034422193 Centerline is valid? [True, True] Translation: X:884.35, Y:-153.01, Z:-55.63 [[ 9.97072257e-01 5.98321888e-02 4.76132717e-02 8.84351820e+02] [-5.97144750e-02 9.98207911e-01 -3.89214590e-03 -1.53014159e+02] [-4.77608200e-02 1.03754918e-03 9.98858262e-01 -5.56348570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.7407140569999 meters 0.024869604966770684 Centerline is valid? [True, True] Translation: X:884.38, Y:-153.02, Z:-55.64 [[ 9.97009195e-01 6.03363911e-02 4.82926978e-02 8.84381089e+02] [-6.02160947e-02 9.98177576e-01 -3.94329938e-03 -1.53015385e+02] [-4.84426124e-02 1.02350808e-03 9.98825443e-01 -5.56360238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.770714057 meters 0.024266517820320917 Centerline is valid? [True, True] Translation: X:884.41, Y:-153.02, Z:-55.64 [[ 9.97012432e-01 6.04093590e-02 4.81343857e-02 8.84408793e+02] [-6.02900252e-02 9.98173171e-01 -3.92851728e-03 -1.53015522e+02] [-4.82837716e-02 1.01475724e-03 9.98833143e-01 -5.56364094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.8007140569999 meters 0.02393001590890833 Centerline is valid? [True, True] Translation: X:884.44, Y:-153.02, Z:-55.64 [[ 9.96920423e-01 6.16720475e-02 4.84378809e-02 8.84436656e+02] [-6.15529428e-02 9.98096011e-01 -3.94812569e-03 -1.53016722e+02] [-4.85891447e-02 9.54473019e-04 9.98818394e-01 -5.56374140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.8307140569999 meters 0.02444019381337132 Centerline is valid? [True, True] Translation: X:884.46, Y:-153.02, Z:-55.64 [[ 9.96915899e-01 6.17611873e-02 4.84174108e-02 8.84462991e+02] [-6.16424743e-02 9.98090507e-01 -3.94263363e-03 -1.53020457e+02] [-4.85684599e-02 9.45905147e-04 9.98819408e-01 -5.56398668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.8607140569999 meters 0.023655947181127856 Centerline is valid? [True, True] Translation: X:884.49, Y:-153.02, Z:-55.64 [[ 9.96901798e-01 6.18954025e-02 4.85362257e-02 8.84491856e+02] [-6.17765634e-02 9.98082203e-01 -3.94617751e-03 -1.53020006e+02] [-4.86873933e-02 9.35550224e-04 9.98813628e-01 -5.56403550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.890714057 meters 0.024230709808617936 Centerline is valid? [True, True] Translation: X:884.52, Y:-153.02, Z:-55.64 [[ 9.96874344e-01 6.20448184e-02 4.89079071e-02 8.84519123e+02] [-6.19244885e-02 9.98072929e-01 -3.97317627e-03 -1.53024943e+02] [-4.90601731e-02 9.32160354e-04 9.98795390e-01 -5.56427900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.9207140569999 meters 0.022971945628703052 Centerline is valid? [True, True] Translation: X:884.55, Y:-153.02, Z:-55.64 [[ 9.96838815e-01 6.29502290e-02 4.84731376e-02 8.84548321e+02] [-6.28333047e-02 9.98016284e-01 -3.93365486e-03 -1.53023864e+02] [-4.86246051e-02 8.75492421e-04 9.98816741e-01 -5.56431141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.9507140569999 meters 0.023232934232128626 Centerline is valid? [True, True] Translation: X:884.58, Y:-153.03, Z:-55.65 [[ 9.96804295e-01 6.32287457e-02 4.88192987e-02 8.84576013e+02] [-6.31106374e-02 9.97998686e-01 -3.95849216e-03 -1.53027847e+02] [-4.89718864e-02 8.64824930e-04 9.98799783e-01 -5.56459680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.9807140569999 meters 0.022258846022917923 Centerline is valid? [True, True] Translation: X:884.61, Y:-153.03, Z:-55.65 [[ 9.96610566e-01 6.52131405e-02 5.01460495e-02 8.84605288e+02] [-6.50912654e-02 9.97871050e-01 -4.06137877e-03 -1.53029265e+02] [-5.03041463e-02 7.83543178e-04 9.98733638e-01 -5.56458577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.010714057 meters 0.022300028109596966 Centerline is valid? [True, True] Translation: X:884.63, Y:-153.03, Z:-55.65 [[ 9.96504978e-01 6.69954598e-02 4.98942604e-02 8.84633225e+02] [-6.68771533e-02 9.97753043e-01 -4.03869400e-03 -1.53030681e+02] [-5.00527243e-02 6.87792573e-04 9.98746340e-01 -5.56474820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.040714057 meters 0.021976727911070148 Centerline is valid? [True, True] Translation: X:884.66, Y:-153.03, Z:-55.65 [[ 9.96332714e-01 6.90452728e-02 5.05358536e-02 8.84662024e+02] [-6.89267645e-02 9.97613354e-01 -4.08612684e-03 -1.53031310e+02] [-5.06973702e-02 5.87868963e-04 9.98713889e-01 -5.56483308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.0707140569999 meters 0.021153808189885832 Centerline is valid? [True, True] Translation: X:884.69, Y:-153.03, Z:-55.65 [[ 9.95857695e-01 7.54489580e-02 5.07435309e-02 8.84691081e+02] [-7.53379476e-02 9.97149631e-01 -4.09955329e-03 -1.53028077e+02] [-5.09082002e-02 2.59658209e-04 9.98703303e-01 -5.56482310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.1007140569999 meters 0.020805832392125582 Centerline is valid? [True, True] Translation: X:884.72, Y:-153.03, Z:-55.65 [[ 9.95576222e-01 7.90329828e-02 5.08111690e-02 8.84719922e+02] [-7.89265128e-02 9.96871999e-01 -4.10162052e-03 -1.53027506e+02] [-5.09763949e-02 7.31274758e-05 9.98699856e-01 -5.56493100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.130714057 meters 0.020945652988966786 Centerline is valid? [True, True] Translation: X:884.75, Y:-153.03, Z:-55.65 [[ 9.95235207e-01 8.29343469e-02 5.12716023e-02 8.84746974e+02] [-8.28312768e-02 9.96555005e-01 -4.13553556e-03 -1.53027325e+02] [-5.14379498e-02 -1.31061690e-04 9.98676184e-01 -5.56511578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.160714057 meters 0.021062322417741808 Centerline is valid? [True, True] Translation: X:884.78, Y:-153.03, Z:-55.65 [[ 9.94945349e-01 8.62282084e-02 5.14630894e-02 8.84775388e+02] [-8.61290490e-02 9.96275364e-01 -4.14555463e-03 -1.53028654e+02] [-5.16288719e-02 -3.07866661e-04 9.98666293e-01 -5.56519928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.1907140569999 meters 0.021703624658151375 Centerline is valid? [True, True] Translation: X:884.80, Y:-153.03, Z:-55.65 [[ 9.94163888e-01 9.41842402e-02 5.26069668e-02 8.84803628e+02] [-9.40924868e-02 9.95554501e-01 -4.22361854e-03 -1.53027983e+02] [-5.27709009e-02 -7.50951296e-04 9.98606363e-01 -5.56536544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.2207140569999 meters 0.022597648634514973 Centerline is valid? [True, True] Translation: X:884.83, Y:-153.03, Z:-55.66 [[ 9.93704351e-01 9.84584883e-02 5.34564223e-02 8.84831545e+02] [-9.83701772e-02 9.95140658e-01 -4.28707599e-03 -1.53027188e+02] [-5.36187583e-02 -9.98431668e-04 9.98560981e-01 -5.56552890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.250714057 meters 0.022730156438763183 Centerline is valid? [True, True] Translation: X:884.86, Y:-153.03, Z:-55.66 [[ 9.93255478e-01 1.02618869e-01 5.39715145e-02 8.84860759e+02] [-1.02535240e-01 9.94719976e-01 -4.32356892e-03 -1.53029345e+02] [-5.41302234e-02 -1.23957369e-03 9.98533115e-01 -5.56563732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.280714057 meters 0.024561051984682093 Centerline is valid? [True, True] Translation: X:884.89, Y:-153.03, Z:-55.66 [[ 9.92407074e-01 1.10855250e-01 5.32851976e-02 8.84889623e+02] [-1.10785732e-01 9.93835160e-01 -4.26575660e-03 -1.53027541e+02] [-5.34295844e-02 -1.66987258e-03 9.98570223e-01 -5.56579179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.3107140569999 meters 0.02541926582941264 Centerline is valid? [True, True] Translation: X:884.92, Y:-153.03, Z:-55.66 [[ 9.91980859e-01 1.14813322e-01 5.28382159e-02 8.84919226e+02] [-1.14750662e-01 9.93385327e-01 -4.22817250e-03 -1.53028079e+02] [-5.29741590e-02 -1.86895408e-03 9.98594135e-01 -5.56593137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.3407140569999 meters 0.02821395605726931 Centerline is valid? [True, True] Translation: X:884.95, Y:-153.03, Z:-55.66 [[ 9.91444118e-01 1.19503432e-01 5.25118221e-02 8.84948612e+02] [-1.19448198e-01 9.92831550e-01 -4.20026323e-03 -1.53025031e+02] [-5.26373396e-02 -2.10811628e-03 9.98611469e-01 -5.56616336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.370714057 meters 0.029665841317592867 Centerline is valid? [True, True] Translation: X:884.98, Y:-153.03, Z:-55.66 [[ 9.90539067e-01 1.27023706e-01 5.19358673e-02 8.84978658e+02] [-1.26980076e-01 9.91896577e-01 -4.15230869e-03 -1.53025849e+02] [-5.20424506e-02 -2.48179639e-03 9.98641790e-01 -5.56633976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.400714057 meters 0.030578533309831606 Centerline is valid? [True, True] Translation: X:885.01, Y:-153.03, Z:-55.66 [[ 9.90057385e-01 1.30768624e-01 5.18260671e-02 8.85009186e+02] [-1.30730318e-01 9.91409310e-01 -4.14297577e-03 -1.53026860e+02] [-5.19226167e-02 -2.67345450e-03 9.98647533e-01 -5.56649683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.4307140569999 meters 0.030574590209418478 Centerline is valid? [True, True] Translation: X:885.04, Y:-153.03, Z:-55.67 [[ 9.89636414e-01 1.34071468e-01 5.14257619e-02 8.85039316e+02] [-1.34038187e-01 9.90967640e-01 -4.11108174e-03 -1.53029854e+02] [-5.15124447e-02 -2.82453971e-03 9.98668358e-01 -5.56666111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.4607140569999 meters 0.03141702527794238 Centerline is valid? [True, True] Translation: X:885.07, Y:-153.03, Z:-55.67 [[ 9.89333573e-01 1.36015216e-01 5.21434722e-02 8.85068285e+02] [-1.35983728e-01 9.90702304e-01 -4.16773961e-03 -1.53031690e+02] [-5.22255341e-02 -2.96737905e-03 9.98630907e-01 -5.56683139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.4907140569999 meters 0.03560477392218082 Centerline is valid? [True, True] Translation: X:885.10, Y:-153.03, Z:-55.67 [[ 9.89013113e-01 1.38375898e-01 5.20112776e-02 8.85097129e+02] [-1.38347956e-01 9.90374971e-01 -4.15453373e-03 -1.53027942e+02] [-5.20855549e-02 -3.08676562e-03 9.98637856e-01 -5.56699133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.520714057 meters 0.03488609413776176 Centerline is valid? [True, True] Translation: X:885.13, Y:-153.03, Z:-55.67 [[ 9.89147277e-01 1.37149017e-01 5.27049527e-02 8.85125850e+02] [-1.37118689e-01 9.90545686e-01 -4.20812306e-03 -1.53032091e+02] [-5.27838035e-02 -3.06438056e-03 9.98601262e-01 -5.56709040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.5507140569999 meters 0.03513793309727804 Centerline is valid? [True, True] Translation: X:885.15, Y:-153.03, Z:-55.67 [[ 9.89298457e-01 1.35856390e-01 5.32128192e-02 8.85153506e+02] [-1.35824296e-01 9.90723886e-01 -4.23591031e-03 -1.53034315e+02] [-5.32946865e-02 -3.03701415e-03 9.98574210e-01 -5.56722185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.5807140569999 meters 0.03283661433042045 Centerline is valid? [True, True] Translation: X:885.18, Y:-153.04, Z:-55.67 [[ 9.89581761e-01 1.33975471e-01 5.27115882e-02 8.85182085e+02] [-1.33941632e-01 9.90980364e-01 -4.19006653e-03 -1.53040282e+02] [-5.27975150e-02 -2.91386273e-03 9.98600987e-01 -5.56736849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.6107140569999 meters 0.02964022076468155 Centerline is valid? [True, True] Translation: X:885.21, Y:-153.05, Z:-55.68 [[ 9.90218182e-01 1.29323792e-01 5.23766149e-02 8.85211286e+02] [-1.29284088e-01 9.91598871e-01 -4.15971404e-03 -1.53048522e+02] [-5.24745422e-02 -2.65243842e-03 9.98618740e-01 -5.56763941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.640714057 meters 0.029191682362636202 Centerline is valid? [True, True] Translation: X:885.24, Y:-153.05, Z:-55.68 [[ 9.90599225e-01 1.26509331e-01 5.20438634e-02 8.85241198e+02] [-1.26466279e-01 9.91962298e-01 -4.13283131e-03 -1.53052126e+02] [-5.21483920e-02 -2.48781426e-03 9.98636248e-01 -5.56783345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.6707140569999 meters 0.028090064102432272 Centerline is valid? [True, True] Translation: X:885.27, Y:-153.06, Z:-55.68 [[ 9.90998481e-01 1.23382811e-01 5.19489377e-02 8.85270413e+02] [-1.23335671e-01 9.92356438e-01 -4.12451816e-03 -1.53056696e+02] [-5.20607574e-02 -2.31976585e-03 9.98641225e-01 -5.56806211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.7007140569999 meters 0.025821979508128246 Centerline is valid? [True, True] Translation: X:885.30, Y:-153.06, Z:-55.68 [[ 9.91892774e-01 1.16009607e-01 5.18699941e-02 8.85300533e+02] [-1.15952645e-01 9.93246213e-01 -4.11628345e-03 -1.53063229e+02] [-5.19972036e-02 -1.93155122e-03 9.98645362e-01 -5.56825535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.7307140569999 meters 0.025173145541052853 Centerline is valid? [True, True] Translation: X:885.33, Y:-153.07, Z:-55.68 [[ 9.92356505e-01 1.12034588e-01 5.17379743e-02 8.85329164e+02] [-1.11972495e-01 9.93702822e-01 -4.10630212e-03 -1.53065653e+02] [-5.18722190e-02 -1.71831448e-03 9.98652252e-01 -5.56843248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.760714057 meters 0.02433085924831634 Centerline is valid? [True, True] Translation: X:885.36, Y:-153.07, Z:-55.69 [[ 9.92793975e-01 1.08080405e-01 5.17566358e-02 8.85358443e+02] [-1.08013043e-01 9.94141002e-01 -4.10505785e-03 -1.53068093e+02] [-5.18970700e-02 -1.51491500e-03 9.98651290e-01 -5.56858589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.790714057 meters 0.02174532293101445 Centerline is valid? [True, True] Translation: X:885.39, Y:-153.07, Z:-55.69 [[ 9.93701444e-01 9.97050070e-02 5.11502879e-02 8.85387979e+02] [-9.96282146e-02 9.95016469e-01 -4.05517362e-03 -1.53074384e+02] [-5.12997000e-02 -1.06637999e-03 9.98682734e-01 -5.56872843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.8207140569999 meters 0.021151534814478744 Centerline is valid? [True, True] Translation: X:885.42, Y:-153.08, Z:-55.69 [[ 9.94209198e-01 9.43587360e-02 5.14246988e-02 8.85415239e+02] [-9.42739935e-02 9.95537943e-01 -4.07645514e-03 -1.53078831e+02] [-5.15798880e-02 -7.95162527e-04 9.98668555e-01 -5.56898399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.8507140569999 meters 0.020381511049490948 Centerline is valid? [True, True] Translation: X:885.44, Y:-153.09, Z:-55.69 [[ 9.95094973e-01 8.47636018e-02 5.10012386e-02 8.85443397e+02] [-8.46678784e-02 9.96401045e-01 -4.03835637e-03 -1.53085299e+02] [-5.11599931e-02 -2.99618544e-04 9.98690425e-01 -5.56930811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.880714057 meters 0.02014274820149791 Centerline is valid? [True, True] Translation: X:885.47, Y:-153.09, Z:-55.70 [[ 9.95465182e-01 8.04872657e-02 5.07037726e-02 8.85472293e+02] [-8.03872885e-02 9.96755634e-01 -4.01131476e-03 -1.53089154e+02] [-5.08621308e-02 -8.28146210e-05 9.98705681e-01 -5.56951413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.910714057 meters 0.02014181732335874 Centerline is valid? [True, True] Translation: X:885.50, Y:-153.09, Z:-55.70 [[ 9.95835077e-01 7.55836593e-02 5.09863643e-02 8.85498817e+02] [-7.54763025e-02 9.97139450e-01 -4.03046886e-03 -1.53093564e+02] [-5.11451529e-02 1.65420015e-04 9.98691217e-01 -5.56964771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.9407140569999 meters 0.020371124245355483 Centerline is valid? [True, True] Translation: X:885.53, Y:-153.10, Z:-55.70 [[ 9.96136006e-01 7.12746623e-02 5.13125651e-02 8.85527711e+02] [-7.11605482e-02 9.97456654e-01 -4.04972701e-03 -1.53097642e+02] [-5.14707024e-02 3.82648628e-04 9.98674432e-01 -5.56976978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.9707140569999 meters 0.020862497156767447 Centerline is valid? [True, True] Translation: X:885.56, Y:-153.10, Z:-55.70 [[ 9.96603148e-01 6.43412364e-02 5.14040001e-02 8.85556093e+02] [-6.42176755e-02 9.97927683e-01 -4.05344870e-03 -1.53101735e+02] [-5.15582786e-02 7.38634335e-04 9.98669714e-01 -5.56981791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.000714057 meters 0.021360715855652287 Centerline is valid? [True, True] Translation: X:885.58, Y:-153.11, Z:-55.70 [[ 9.96792456e-01 6.14000491e-02 5.13306277e-02 8.85584189e+02] [-6.12731223e-02 9.98112844e-01 -4.04420538e-03 -1.53105025e+02] [-5.14820732e-02 8.86045587e-04 9.98673526e-01 -5.57001580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.030714057 meters 0.021987364864965966 Centerline is valid? [True, True] Translation: X:885.61, Y:-153.11, Z:-55.70 [[ 9.96911196e-01 5.92268995e-02 5.15775404e-02 8.85611454e+02] [-5.90960706e-02 9.98244047e-01 -4.05923732e-03 -1.53109504e+02] [-5.17273887e-02 9.98669161e-04 9.98660743e-01 -5.57022424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.0607140569999 meters 0.022290559097294115 Centerline is valid? [True, True] Translation: X:885.64, Y:-153.11, Z:-55.70 [[ 9.97029024e-01 5.72239491e-02 5.15610824e-02 8.85640361e+02] [-5.70908402e-02 9.98360765e-01 -4.05191197e-03 -1.53113009e+02] [-5.17084281e-02 1.09620832e-03 9.98661623e-01 -5.57043684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.0907140569999 meters 0.02244871839646018 Centerline is valid? [True, True] Translation: X:885.67, Y:-153.12, Z:-55.71 [[ 9.97185165e-01 5.52018075e-02 5.07396024e-02 8.85669019e+02] [-5.50704694e-02 9.98474522e-01 -3.98393619e-03 -1.53116457e+02] [-5.08821208e-02 1.17846834e-03 9.98703971e-01 -5.57065697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.120714057 meters 0.022816088106569515 Centerline is valid? [True, True] Translation: X:885.70, Y:-153.12, Z:-55.71 [[ 9.97227407e-01 5.46471968e-02 5.05092387e-02 8.85697319e+02] [-5.45165158e-02 9.98505007e-01 -3.96236281e-03 -1.53119617e+02] [-5.06502598e-02 1.19778908e-03 9.98715734e-01 -5.57084085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.150714057 meters 0.022919608706001824 Centerline is valid? [True, True] Translation: X:885.73, Y:-153.12, Z:-55.71 [[ 9.97268678e-01 5.47910340e-02 4.95290428e-02 8.85725128e+02] [-5.46657172e-02 9.98497164e-01 -3.88225842e-03 -1.53122660e+02] [-4.96673218e-02 1.16411407e-03 9.98765139e-01 -5.57114574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.1807140569999 meters 0.02307569415292852 Centerline is valid? [True, True] Translation: X:885.75, Y:-153.12, Z:-55.71 [[ 9.97254831e-01 5.52716558e-02 4.92731900e-02 8.85752409e+02] [-5.51484249e-02 9.98470714e-01 -3.85801017e-03 -1.53124970e+02] [-4.94110758e-02 1.13008046e-03 9.98777888e-01 -5.57135228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.2107140569999 meters 0.021942545800310412 Centerline is valid? [True, True] Translation: X:885.78, Y:-153.12, Z:-55.71 [[ 9.97180016e-01 5.66606067e-02 4.92096698e-02 8.85781466e+02] [-5.65395929e-02 9.98392939e-01 -3.84878613e-03 -1.53123903e+02] [-4.93486614e-02 1.05563791e-03 9.98781055e-01 -5.57139665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.2407140569999 meters 0.02132145894201208 Centerline is valid? [True, True] Translation: X:885.81, Y:-153.12, Z:-55.71 [[ 9.96972142e-01 5.97719545e-02 4.97379211e-02 8.85810656e+02] [-5.96523729e-02 9.98211646e-01 -3.88651425e-03 -1.53123592e+02] [-4.98812766e-02 9.07761428e-04 9.98754742e-01 -5.57142787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.270714057 meters 0.021836613237372425 Centerline is valid? [True, True] Translation: X:885.84, Y:-153.13, Z:-55.72 [[ 9.96899551e-01 6.07732818e-02 4.99789345e-02 8.85838552e+02] [-6.06539679e-02 9.98151227e-01 -3.90189344e-03 -1.53126913e+02] [-5.01236657e-02 8.58375129e-04 9.98742650e-01 -5.57159669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.3007140569999 meters 0.021216978886250924 Centerline is valid? [True, True] Translation: X:885.87, Y:-153.13, Z:-55.72 [[ 9.96778816e-01 6.21802662e-02 5.06518176e-02 8.85867634e+02] [-6.20597688e-02 9.98064620e-01 -3.94972752e-03 -1.53126268e+02] [-5.07993822e-02 7.93564635e-04 9.98708563e-01 -5.57162850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.3307140569999 meters 0.02097044580528605 Centerline is valid? [True, True] Translation: X:885.90, Y:-153.13, Z:-55.72 [[ 9.96686536e-01 6.40774180e-02 5.01002431e-02 8.85896634e+02] [-6.39621022e-02 9.97944695e-01 -3.90324104e-03 -1.53127315e+02] [-5.02473815e-02 6.85790917e-04 9.98736567e-01 -5.57177638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.3607140569999 meters 0.02089133901517762 Centerline is valid? [True, True] Translation: X:885.93, Y:-153.13, Z:-55.72 [[ 9.96643155e-01 6.46647045e-02 5.02085450e-02 8.85925723e+02] [-6.45498139e-02 9.97906833e-01 -3.90810713e-03 -1.53128877e+02] [-5.03561667e-02 6.54035983e-04 9.98731109e-01 -5.57192812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.390714057 meters 0.020812245343367966 Centerline is valid? [True, True] Translation: X:885.95, Y:-153.13, Z:-55.72 [[ 9.96588541e-01 6.55461616e-02 5.01495747e-02 8.85953830e+02] [-6.54328387e-02 9.97849355e-01 -3.89988991e-03 -1.53131120e+02] [-5.02973436e-02 6.05156564e-04 9.98734104e-01 -5.57215728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.4207140569999 meters 0.02065616423221019 Centerline is valid? [True, True] Translation: X:885.98, Y:-153.13, Z:-55.72 [[ 9.96558349e-01 6.62781971e-02 4.97861174e-02 8.85981302e+02] [-6.61675945e-02 9.97801025e-01 -3.86823107e-03 -1.53133480e+02] [-4.99330184e-02 5.60690341e-04 9.98752411e-01 -5.57235583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.4507140569999 meters 0.02078501017812552 Centerline is valid? [True, True] Translation: X:886.01, Y:-153.14, Z:-55.73 [[ 9.96467728e-01 6.73578815e-02 5.01496044e-02 8.86008987e+02] [-6.72472490e-02 9.97728751e-01 -3.89198621e-03 -1.53135360e+02] [-5.02978581e-02 5.05815722e-04 9.98734134e-01 -5.57255857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.4807140569999 meters 0.02078501017812552 Centerline is valid? [True, True] Translation: X:886.04, Y:-153.14, Z:-55.73 [[ 9.96474680e-01 6.72547098e-02 5.01499313e-02 8.86036314e+02] [-6.71441589e-02 9.97735710e-01 -3.88777009e-03 -1.53137387e+02] [-5.02978481e-02 5.06789502e-04 9.98734134e-01 -5.57271757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.510714057 meters 0.020430711147347784 Centerline is valid? [True, True] Translation: X:886.07, Y:-153.14, Z:-55.73 [[ 9.96395472e-01 6.84603172e-02 5.00923929e-02 8.86065079e+02] [-6.83518172e-02 9.97653743e-01 -3.87784558e-03 -1.53138599e+02] [-5.02403419e-02 4.39961690e-04 9.98737060e-01 -5.57284262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.540714057 meters 0.02032980856555335 Centerline is valid? [True, True] Translation: X:886.09, Y:-153.14, Z:-55.73 [[ 9.96292115e-01 6.96887429e-02 5.04529609e-02 8.86093147e+02] [-6.95804227e-02 9.97568713e-01 -3.90230928e-03 -1.53140294e+02] [-5.06022423e-02 3.77301625e-04 9.98718815e-01 -5.57297001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.5707140569999 meters 0.02018902261394485 Centerline is valid? [True, True] Translation: X:886.12, Y:-153.14, Z:-55.73 [[ 9.96021749e-01 7.24767409e-02 5.18439802e-02 8.86122466e+02] [-7.23663797e-02 9.97370075e-01 -4.00517915e-03 -1.53140477e+02] [-5.19979168e-02 2.37484385e-04 9.98647165e-01 -5.57301117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.6007140569999 meters 0.020133656669299897 Centerline is valid? [True, True] Translation: X:886.15, Y:-153.14, Z:-55.73 [[ 9.95908643e-01 7.41603578e-02 5.16354090e-02 8.86149842e+02] [-7.40533284e-02 9.97246319e-01 -3.98552099e-03 -1.53141571e+02] [-5.17887892e-02 1.45440904e-04 9.98658050e-01 -5.57317556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.630714057 meters 0.020289073561017484 Centerline is valid? [True, True] Translation: X:886.18, Y:-153.14, Z:-55.73 [[ 9.95770147e-01 7.57704976e-02 5.19677405e-02 8.86178637e+02] [-7.56645222e-02 9.97125282e-01 -4.00645614e-03 -1.53143082e+02] [-5.21219191e-02 5.73951649e-05 9.98640727e-01 -5.57333860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.660714057 meters 0.020116127524612906 Centerline is valid? [True, True] Translation: X:886.21, Y:-153.14, Z:-55.73 [[ 9.95568362e-01 7.82906058e-02 5.20981465e-02 8.86206473e+02] [-7.81877228e-02 9.96930577e-01 -4.01311121e-03 -1.53144208e+02] [-5.22524241e-02 -7.81088811e-05 9.98633906e-01 -5.57346363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.6907140569999 meters 0.020197667240834327 Centerline is valid? [True, True] Translation: X:886.23, Y:-153.15, Z:-55.74 [[ 9.95491974e-01 7.90660354e-02 5.23859836e-02 8.86233843e+02] [-7.89633786e-02 9.96869373e-01 -4.02969478e-03 -1.53146392e+02] [-5.25405946e-02 -1.25045441e-04 9.98618781e-01 -5.57359351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.7207140569999 meters 0.020539897276915506 Centerline is valid? [True, True] Translation: X:886.26, Y:-153.15, Z:-55.74 [[ 9.95410931e-01 8.00575097e-02 5.24201722e-02 8.86261622e+02] [-7.99563928e-02 9.96790230e-01 -4.02661868e-03 -1.53148077e+02] [-5.25742766e-02 -1.83187631e-04 9.98617000e-01 -5.57373785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.750714057 meters 0.020870509283322444 Centerline is valid? [True, True] Translation: X:886.29, Y:-153.15, Z:-55.74 [[ 9.95219387e-01 8.20508601e-02 5.29719642e-02 8.86290529e+02] [-8.19506794e-02 9.96628099e-01 -4.06418540e-03 -1.53150390e+02] [-5.31268179e-02 -2.96332353e-04 9.98587729e-01 -5.57385064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.780714057 meters 0.020971749001149766 Centerline is valid? [True, True] Translation: X:886.32, Y:-153.15, Z:-55.74 [[ 9.95047124e-01 8.44730281e-02 5.23977936e-02 8.86318868e+02] [-8.43785514e-02 9.96425676e-01 -4.01656760e-03 -1.53150345e+02] [-5.25497986e-02 -4.24575885e-04 9.98618215e-01 -5.57394286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.8107140569999 meters 0.021114492865806744 Centerline is valid? [True, True] Translation: X:886.35, Y:-153.15, Z:-55.74 [[ 9.94811326e-01 8.73044038e-02 5.22337674e-02 8.86347814e+02] [-8.72146157e-02 9.96181514e-01 -4.00020362e-03 -1.53149943e+02] [-5.23835489e-02 -5.76100080e-04 9.98626873e-01 -5.57407158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.8407140569999 meters 0.022006098393543082 Centerline is valid? [True, True] Translation: X:886.38, Y:-153.15, Z:-55.74 [[ 9.94214077e-01 9.37721202e-02 5.23942700e-02 8.86376178e+02] [-9.36914845e-02 9.95593249e-01 -3.99847341e-03 -1.53147469e+02] [-5.25383268e-02 -9.33558391e-04 9.98618472e-01 -5.57422674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.870714057 meters 0.022372470647381612 Centerline is valid? [True, True] Translation: X:886.40, Y:-153.15, Z:-55.74 [[ 9.93921900e-01 9.62321474e-02 5.34661648e-02 8.86404567e+02] [-9.61518990e-02 9.95358322e-01 -4.07717076e-03 -1.53148862e+02] [-5.36103470e-02 -1.08848396e-03 9.98561338e-01 -5.57442951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.900714057 meters 0.022739752186562687 Centerline is valid? [True, True] Translation: X:886.43, Y:-153.15, Z:-55.75 [[ 9.93751725e-01 9.76645903e-02 5.40290377e-02 8.86433544e+02] [-9.75854900e-02 9.95218674e-01 -4.10658741e-03 -1.53150783e+02] [-5.41717754e-02 -1.19152179e-03 9.98530920e-01 -5.57458764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.9307140569999 meters 0.02351111486985153 Centerline is valid? [True, True] Translation: X:886.46, Y:-153.15, Z:-55.75 [[ 9.93415873e-01 1.01087498e-01 5.39093745e-02 8.86462745e+02] [-1.01014535e-01 9.94876570e-01 -4.08353378e-03 -1.53150727e+02] [-5.40459678e-02 -1.38898311e-03 9.98537483e-01 -5.57479955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.9607140569999 meters 0.02368678140861256 Centerline is valid? [True, True] Translation: X:886.49, Y:-153.15, Z:-55.75 [[ 9.93432411e-01 1.00805590e-01 5.41320346e-02 8.86490061e+02] [-1.00731716e-01 9.94905184e-01 -4.09835854e-03 -1.53153196e+02] [-5.42693793e-02 -1.38137056e-03 9.98525376e-01 -5.57498780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.9907140569999 meters 0.023363707985810053 Centerline is valid? [True, True] Translation: X:886.52, Y:-153.16, Z:-55.75 [[ 9.93471331e-01 1.00515786e-01 5.39563837e-02 8.86517781e+02] [-1.00442771e-01 9.94934512e-01 -4.07015377e-03 -1.53155659e+02] [-5.40921830e-02 -1.37594762e-03 9.98534998e-01 -5.57516600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.020714057 meters 0.02314923015112816 Centerline is valid? [True, True] Translation: X:886.55, Y:-153.16, Z:-55.75 [[ 9.93906005e-01 9.70772890e-02 5.22192869e-02 8.86546595e+02] [-9.70049135e-02 9.95276164e-01 -3.92471510e-03 -1.53159157e+02] [-5.23536123e-02 -1.16472951e-03 9.98627930e-01 -5.57545817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.0507140569999 meters 0.022836359431140946 Centerline is valid? [True, True] Translation: X:886.57, Y:-153.16, Z:-55.76 [[ 9.94177280e-01 9.50841906e-02 5.07004244e-02 8.86574795e+02] [-9.50139328e-02 9.95468691e-01 -3.79960377e-03 -1.53162387e+02] [-5.08319674e-02 -1.03976698e-03 9.98706679e-01 -5.57576254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.0807140569999 meters 0.02282348706861366 Centerline is valid? [True, True] Translation: X:886.60, Y:-153.17, Z:-55.76 [[ 9.94431080e-01 9.28947432e-02 4.97734185e-02 8.86602038e+02] [-9.28249320e-02 9.95675506e-01 -3.71730605e-03 -1.53165642e+02] [-4.99034919e-02 -9.23609520e-04 9.98753618e-01 -5.57611527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.1107140569999 meters 0.02237327994695898 Centerline is valid? [True, True] Translation: X:886.63, Y:-153.17, Z:-55.76 [[ 9.94734383e-01 9.03359245e-02 4.84038120e-02 8.86630699e+02] [-9.02671143e-02 9.95911048e-01 -3.61010867e-03 -1.53169520e+02] [-4.85320136e-02 -7.78173210e-04 9.98821324e-01 -5.57635766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.140714057 meters 0.02205136754989581 Centerline is valid? [True, True] Translation: X:886.66, Y:-153.17, Z:-55.77 [[ 9.95139027e-01 8.60736061e-02 4.78502945e-02 8.86658734e+02] [-8.60019874e-02 9.96288615e-01 -3.55733763e-03 -1.53173552e+02] [-4.79788965e-02 -5.75174917e-04 9.98848184e-01 -5.57652773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.1707140569999 meters 0.022099929887063587 Centerline is valid? [True, True] Translation: X:886.69, Y:-153.18, Z:-55.77 [[ 9.95267403e-01 8.43360393e-02 4.82724419e-02 8.86686686e+02] [-8.42617627e-02 9.96437240e-01 -3.57521685e-03 -1.53176195e+02] [-4.84019784e-02 -5.09224255e-04 9.98827808e-01 -5.57666402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.2007140569999 meters 0.021953640486464046 Centerline is valid? [True, True] Translation: X:886.71, Y:-153.18, Z:-55.77 [[ 9.95407399e-01 8.23617314e-02 4.87919618e-02 8.86714427e+02] [-8.22836877e-02 9.96602412e-01 -3.60937718e-03 -1.53177828e+02] [-4.89234613e-02 -4.21981791e-04 9.98802441e-01 -5.57685330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.2307140569999 meters 0.021447089528435225 Centerline is valid? [True, True] Translation: X:886.74, Y:-153.18, Z:-55.77 [[ 9.95707640e-01 7.82755460e-02 4.93886111e-02 8.86743136e+02] [-7.81907776e-02 9.96931736e-01 -3.64904619e-03 -1.53180961e+02] [-4.95227049e-02 -2.28350745e-04 9.98772972e-01 -5.57682396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.260714057 meters 0.021458328090806566 Centerline is valid? [True, True] Translation: X:886.77, Y:-153.19, Z:-55.77 [[ 9.95988576e-01 7.39079249e-02 5.04417963e-02 8.86771994e+02] [-7.38140834e-02 9.97265069e-01 -3.72326142e-03 -1.53186122e+02] [-5.05790200e-02 -1.49891207e-05 9.98720062e-01 -5.57696042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.290714057 meters 0.021295536684900338 Centerline is valid? [True, True] Translation: X:886.80, Y:-153.19, Z:-55.77 [[ 9.96260164e-01 7.01780002e-02 5.04056872e-02 8.86799666e+02] [-7.00796928e-02 9.97534470e-01 -3.71719800e-03 -1.53190432e+02] [-5.05422760e-02 1.70881212e-04 9.98721908e-01 -5.57713706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.3207140569999 meters 0.021744437462341466 Centerline is valid? [True, True] Translation: X:886.83, Y:-153.20, Z:-55.77 [[ 9.96788229e-01 6.29897156e-02 4.94522166e-02 8.86827442e+02] [-6.28864422e-02 9.98014040e-01 -3.64301679e-03 -1.53195643e+02] [-4.95834791e-02 5.21442296e-04 9.98769847e-01 -5.57738866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.3507140569999 meters 0.02214461829312177 Centerline is valid? [True, True] Translation: X:886.86, Y:-153.20, Z:-55.78 [[ 9.97010397e-01 5.95732907e-02 4.92066281e-02 8.86855910e+02] [-5.94672145e-02 9.98223702e-01 -3.61820571e-03 -1.53199226e+02] [-4.93347709e-02 6.81207610e-04 9.98782067e-01 -5.57761148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.380714057 meters 0.022538586725472386 Centerline is valid? [True, True] Translation: X:886.88, Y:-153.20, Z:-55.78 [[ 9.97188802e-01 5.69949287e-02 4.86422821e-02 8.86884335e+02] [-5.68883737e-02 9.98374151e-01 -3.57331820e-03 -1.53202280e+02] [-4.87668581e-02 7.96092576e-04 9.98809872e-01 -5.57785891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.410714057 meters 0.023092933841610902 Centerline is valid? [True, True] Translation: X:886.91, Y:-153.21, Z:-55.78 [[ 9.97451563e-01 5.29928388e-02 4.77717335e-02 8.86912698e+02] [-5.28856382e-02 9.98594421e-01 -3.50606271e-03 -1.53205377e+02] [-4.78903828e-02 9.70689118e-04 9.98852126e-01 -5.57814871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.4407140569999 meters 0.02370031074218852 Centerline is valid? [True, True] Translation: X:886.94, Y:-153.21, Z:-55.78 [[ 9.97541683e-01 5.08334124e-02 4.82343729e-02 8.86940793e+02] [-5.07217578e-02 9.98706561e-01 -3.53678933e-03 -1.53208601e+02] [-4.83517717e-02 1.08156260e-03 9.98829784e-01 -5.57831839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.4707140569999 meters 0.024302343055576294 Centerline is valid? [True, True] Translation: X:886.97, Y:-153.21, Z:-55.78 [[ 9.97696698e-01 4.79326636e-02 4.79974821e-02 8.86969174e+02] [-4.78189668e-02 9.98849834e-01 -3.51493011e-03 -1.53212111e+02] [-4.81107570e-02 1.21164416e-03 9.98841272e-01 -5.57848845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.500714057 meters 0.02510269969222702 Centerline is valid? [True, True] Translation: X:887.00, Y:-153.22, Z:-55.79 [[ 9.97815300e-01 4.55471133e-02 4.78548586e-02 8.86998425e+02] [-4.54314783e-02 9.98961320e-01 -3.50184246e-03 -1.53216326e+02] [-4.79646515e-02 1.32007501e-03 9.98848161e-01 -5.57867207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.530714057 meters 0.02509398335578153 Centerline is valid? [True, True] Translation: X:887.03, Y:-153.22, Z:-55.79 [[ 9.97887024e-01 4.40121302e-02 4.77956014e-02 8.87028381e+02] [-4.38951012e-02 9.99030029e-01 -3.49588321e-03 -1.53217333e+02] [-4.79031023e-02 1.39050373e-03 9.98851020e-01 -5.57878528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.5607140569999 meters 0.02551638774981935 Centerline is valid? [True, True] Translation: X:887.06, Y:-153.22, Z:-55.79 [[ 9.97976480e-01 4.25744112e-02 4.72267344e-02 8.87058068e+02] [-4.24586322e-02 9.99092261e-01 -3.45246024e-03 -1.53221319e+02] [-4.73308513e-02 1.44029157e-03 9.98878229e-01 -5.57903012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.5907140569999 meters 0.025418403044339864 Centerline is valid? [True, True] Translation: X:887.09, Y:-153.22, Z:-55.79 [[ 9.98071596e-01 4.12935194e-02 4.63458174e-02 8.87087952e+02] [-4.11806712e-02 9.99145974e-01 -3.38747713e-03 -1.53223999e+02] [-4.64461177e-02 1.47239284e-03 9.98919712e-01 -5.57921104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.620714057 meters 0.02596414245828736 Centerline is valid? [True, True] Translation: X:887.12, Y:-153.23, Z:-55.79 [[ 9.98141600e-01 4.03468972e-02 4.56669848e-02 8.87117715e+02] [-4.02364269e-02 9.99184618e-01 -3.33605339e-03 -1.53226893e+02] [-4.57643482e-02 1.49237738e-03 9.98951149e-01 -5.57942117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.650714057 meters 0.02576840142526679 Centerline is valid? [True, True] Translation: X:887.15, Y:-153.23, Z:-55.80 [[ 9.98149834e-01 4.01681635e-02 4.56445711e-02 8.87147786e+02] [-4.00576419e-02 9.99191809e-01 -3.33383177e-03 -1.53227673e+02] [-4.57415955e-02 1.49924975e-03 9.98952180e-01 -5.57956777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.6807140569999 meters 0.025703338034130344 Centerline is valid? [True, True] Translation: X:887.18, Y:-153.23, Z:-55.80 [[ 9.98104937e-01 4.05915029e-02 4.62478700e-02 8.87177827e+02] [-4.04785796e-02 9.99174703e-01 -3.37599953e-03 -1.53229904e+02] [-4.63467387e-02 1.49755371e-03 9.98924290e-01 -5.57972285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.7107140569999 meters 0.025920464884501136 Centerline is valid? [True, True] Translation: X:887.21, Y:-153.23, Z:-55.80 [[ 9.98077750e-01 4.10835116e-02 4.63998877e-02 8.87207312e+02] [-4.09704139e-02 9.99154622e-01 -3.38625818e-03 -1.53232563e+02] [-4.64997817e-02 1.47872634e-03 9.98917206e-01 -5.57992817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.7407140569999 meters 0.025150296106225677 Centerline is valid? [True, True] Translation: X:887.24, Y:-153.23, Z:-55.80 [[ 9.98063182e-01 4.14859062e-02 4.63552080e-02 8.87237330e+02] [-4.13734883e-02 9.99138026e-01 -3.38238275e-03 -1.53233410e+02] [-4.64555722e-02 1.45795504e-03 9.98919293e-01 -5.58007958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.770714057 meters 0.025323282488682684 Centerline is valid? [True, True] Translation: X:887.27, Y:-153.24, Z:-55.80 [[ 9.98051913e-01 4.18869987e-02 4.62369815e-02 8.87266302e+02] [-4.17756606e-02 9.99121326e-01 -3.37209753e-03 -1.53235726e+02] [-4.63376013e-02 1.43394794e-03 9.98924807e-01 -5.58027151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.8007140569999 meters 0.025166407435959562 Centerline is valid? [True, True] Translation: X:887.30, Y:-153.24, Z:-55.80 [[ 9.98055000e-01 4.20574287e-02 4.60151047e-02 8.87295379e+02] [-4.19474134e-02 9.99114189e-01 -3.35429307e-03 -1.53237595e+02] [-4.61154169e-02 1.41755435e-03 9.98935112e-01 -5.58041028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.8307140569999 meters 0.02672299918734594 Centerline is valid? [True, True] Translation: X:887.32, Y:-153.24, Z:-55.81 [[ 9.98056617e-01 4.16983810e-02 4.63058692e-02 8.87323276e+02] [-4.15866520e-02 9.99129204e-01 -3.37402262e-03 -1.53243015e+02] [-4.64062376e-02 1.44175953e-03 9.98921610e-01 -5.58064885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.8607140569999 meters 0.025684601230375453 Centerline is valid? [True, True] Translation: X:887.35, Y:-153.24, Z:-55.81 [[ 9.98077352e-01 4.16268321e-02 4.59217426e-02 8.87352965e+02] [-4.15169954e-02 9.99132204e-01 -3.34341924e-03 -1.53242632e+02] [-4.60210679e-02 1.43045824e-03 9.98939445e-01 -5.58072287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.890714057 meters 0.025173379114603413 Centerline is valid? [True, True] Translation: X:887.38, Y:-153.24, Z:-55.81 [[ 9.98093052e-01 4.15329209e-02 4.56648161e-02 8.87382339e+02] [-4.14242850e-02 9.99136120e-01 -3.32313543e-03 -1.53243957e+02] [-4.57633866e-02 1.42516603e-03 9.98951291e-01 -5.58085218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.9207140569999 meters 0.029214450575035755 Centerline is valid? [True, True] Translation: X:887.41, Y:-153.25, Z:-55.81 [[ 9.98075706e-01 4.17533369e-02 4.58426106e-02 8.87411143e+02] [-4.16441696e-02 9.99126942e-01 -3.33423144e-03 -1.53254667e+02] [-4.59418026e-02 1.41873794e-03 9.98943111e-01 -5.58142111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.9507140569999 meters 0.02509688943584865 Centerline is valid? [True, True] Translation: X:887.44, Y:-153.25, Z:-55.81 [[ 9.98100628e-01 4.15712239e-02 4.54639325e-02 8.87441093e+02] [-4.14636916e-02 9.99134541e-01 -3.30611768e-03 -1.53249264e+02] [-4.55620247e-02 1.41473566e-03 9.98960510e-01 -5.58130650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.9807140569999 meters 0.025414992008624022 Centerline is valid? [True, True] Translation: X:887.47, Y:-153.25, Z:-55.82 [[ 9.98102726e-01 4.15956858e-02 4.53954649e-02 8.87469560e+02] [-4.14885734e-02 9.99133530e-01 -3.29958550e-03 -1.53251899e+02] [-4.54933796e-02 1.40993221e-03 9.98963645e-01 -5.58155262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.010714057 meters 0.02525248510939572 Centerline is valid? [True, True] Translation: X:887.50, Y:-153.25, Z:-55.82 [[ 9.98166289e-01 4.05842639e-02 4.49107770e-02 8.87499381e+02] [-4.04784879e-02 9.99175084e-01 -3.26254109e-03 -1.53254787e+02] [-4.50061371e-02 1.43863819e-03 9.98985675e-01 -5.58172483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.040714057 meters 0.025915023913133665 Centerline is valid? [True, True] Translation: X:887.53, Y:-153.26, Z:-55.82 [[ 9.98187499e-01 3.95250385e-02 4.53815790e-02 8.87529129e+02] [-3.94160224e-02 9.99217454e-01 -3.29489655e-03 -1.53258200e+02] [-4.54762968e-02 1.50016321e-03 9.98964292e-01 -5.58192083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.0707140569999 meters 0.02565687416688335 Centerline is valid? [True, True] Translation: X:887.56, Y:-153.26, Z:-55.82 [[ 9.98247062e-01 3.86488661e-02 4.48226409e-02 8.87559751e+02] [-3.85416841e-02 9.99251697e-01 -3.25331360e-03 -1.53259724e+02] [-4.49148369e-02 1.52007068e-03 9.98989663e-01 -5.58204530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.1007140569999 meters 0.026626675555290916 Centerline is valid? [True, True] Translation: X:887.59, Y:-153.27, Z:-55.82 [[ 9.98306638e-01 3.77810091e-02 4.42317987e-02 8.87589355e+02] [-3.76757966e-02 9.99284859e-01 -3.21018926e-03 -1.53265090e+02] [-4.43214509e-02 1.53828500e-03 9.99016137e-01 -5.58233910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.130714057 meters 0.02664975738689581 Centerline is valid? [True, True] Translation: X:887.62, Y:-153.27, Z:-55.82 [[ 9.98307552e-01 3.76550532e-02 4.43184838e-02 8.87619988e+02] [-3.75492580e-02 9.99289598e-01 -3.21751109e-03 -1.53267308e+02] [-4.44081554e-02 1.54793944e-03 9.99012272e-01 -5.58246778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.160714057 meters 0.027069335228023954 Centerline is valid? [True, True] Translation: X:887.65, Y:-153.27, Z:-55.83 [[ 9.98316042e-01 3.71281075e-02 4.45711158e-02 8.87650665e+02] [-3.70205774e-02 9.99309265e-01 -3.23585211e-03 -1.53270560e+02] [-4.46604700e-02 1.58035463e-03 9.99000973e-01 -5.58262683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.1907140569999 meters 0.027765470565045684 Centerline is valid? [True, True] Translation: X:887.68, Y:-153.27, Z:-55.83 [[ 9.98330500e-01 3.68068048e-02 4.45137204e-02 8.87680884e+02] [-3.66992785e-02 9.99321132e-01 -3.23066319e-03 -1.53274212e+02] [-4.46024119e-02 1.59164818e-03 9.99003549e-01 -5.58281555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.2207140569999 meters 0.02787854451282553 Centerline is valid? [True, True] Translation: X:887.71, Y:-153.28, Z:-55.83 [[ 9.98325813e-01 3.67080477e-02 4.47000031e-02 8.87711656e+02] [-3.65993384e-02 9.99324741e-01 -3.24823284e-03 -1.53277120e+02] [-4.47890553e-02 1.60680415e-03 9.98995175e-01 -5.58297002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.250714057 meters 0.027199247307129144 Centerline is valid? [True, True] Translation: X:887.74, Y:-153.28, Z:-55.83 [[ 9.98350105e-01 3.65634017e-02 4.42739934e-02 8.87743480e+02] [-3.64565483e-02 9.99330055e-01 -3.21876161e-03 -1.53277863e+02] [-4.43620211e-02 1.59937401e-03 9.99014241e-01 -5.58309180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.280714057 meters 0.028184164019614908 Centerline is valid? [True, True] Translation: X:887.77, Y:-153.28, Z:-55.83 [[ 9.98375304e-01 3.63729465e-02 4.38606966e-02 8.87774102e+02] [-3.62679463e-02 9.99337018e-01 -3.18759105e-03 -1.53283077e+02] [-4.39475598e-02 1.59167479e-03 9.99032571e-01 -5.58335255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.3107140569999 meters 0.028143028370357932 Centerline is valid? [True, True] Translation: X:887.81, Y:-153.29, Z:-55.84 [[ 9.98397608e-01 3.63364464e-02 4.33806231e-02 8.87805604e+02] [-3.62331588e-02 9.99338351e-01 -3.16513090e-03 -1.53285150e+02] [-4.34669300e-02 1.58824211e-03 9.99053604e-01 -5.58357840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.3407140569999 meters 0.029053850042881715 Centerline is valid? [True, True] Translation: X:887.84, Y:-153.29, Z:-55.84 [[ 9.98417057e-01 3.60839465e-02 4.31431193e-02 8.87835664e+02] [-3.59814777e-02 9.99347494e-01 -3.14952834e-03 -1.53289431e+02] [-4.32286156e-02 1.59218964e-03 9.99063938e-01 -5.58386006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.370714057 meters 0.03005856443358193 Centerline is valid? [True, True] Translation: X:887.87, Y:-153.29, Z:-55.84 [[ 9.98472627e-01 3.57333445e-02 4.21371827e-02 8.87866038e+02] [-3.56353713e-02 9.99360130e-01 -3.07417385e-03 -1.53294442e+02] [-4.22200709e-02 1.56790429e-03 9.99107105e-01 -5.58412900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.400714057 meters 0.03005856443358193 Centerline is valid? [True, True] Translation: X:887.90, Y:-153.30, Z:-55.84 [[ 9.98471463e-01 3.57667128e-02 4.21364410e-02 8.87896778e+02] [-3.56683424e-02 9.99358923e-01 -3.08430485e-03 -1.53296721e+02] [-4.22197437e-02 1.57665337e-03 9.99107105e-01 -5.58430711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.4307140569999 meters 0.030370240385589206 Centerline is valid? [True, True] Translation: X:887.93, Y:-153.30, Z:-55.84 [[ 9.98518272e-01 3.51602232e-02 4.15333565e-02 8.87927441e+02] [-3.50640597e-02 9.99380438e-01 -3.04177200e-03 -1.53299350e+02] [-4.16145733e-02 1.58093683e-03 9.99132488e-01 -5.58446908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.4607140569999 meters 0.030447833483959443 Centerline is valid? [True, True] Translation: X:887.96, Y:-153.30, Z:-55.85 [[ 9.98524801e-01 3.52055049e-02 4.13375580e-02 8.87958821e+02] [-3.51102682e-02 9.99378858e-01 -3.02784508e-03 -1.53302025e+02] [-4.14184783e-02 1.57200566e-03 9.99140650e-01 -5.58462857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.4907140569999 meters 0.03046023788093842 Centerline is valid? [True, True] Translation: X:887.99, Y:-153.30, Z:-55.85 [[ 9.98532785e-01 3.52560911e-02 4.11009068e-02 8.87990229e+02] [-3.51619297e-02 9.99377090e-01 -3.01185956e-03 -1.53304517e+02] [-4.11814911e-02 1.56225332e-03 9.99150461e-01 -5.58481875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.520714057 meters 0.031029425180154762 Centerline is valid? [True, True] Translation: X:888.02, Y:-153.31, Z:-55.85 [[ 9.98527560e-01 3.57707007e-02 4.07819649e-02 8.88020060e+02] [-3.56783587e-02 9.99358852e-01 -2.99009446e-03 -1.53308104e+02] [-4.08627754e-02 1.53065816e-03 9.99163596e-01 -5.58500374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.5507140569999 meters 0.030642592496053587 Centerline is valid? [True, True] Translation: X:888.05, Y:-153.31, Z:-55.85 [[ 9.98521164e-01 3.59937269e-02 4.07423326e-02 8.88050257e+02] [-3.59017113e-02 9.99350858e-01 -2.98812926e-03 -1.53310224e+02] [-4.08234390e-02 1.52099084e-03 9.99165218e-01 -5.58515251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.5807140569999 meters 0.03126448168813064 Centerline is valid? [True, True] Translation: X:888.08, Y:-153.31, Z:-55.85 [[ 9.98530833e-01 3.58380627e-02 4.06424573e-02 8.88080488e+02] [-3.57464219e-02 9.99356451e-01 -2.97951435e-03 -1.53313476e+02] [-4.07230819e-02 1.52231452e-03 9.99169312e-01 -5.58528778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.6107140569999 meters 0.031503595667032334 Centerline is valid? [True, True] Translation: X:888.11, Y:-153.32, Z:-55.85 [[ 9.98530251e-01 3.66585319e-02 3.99185529e-02 8.88110925e+02] [-3.65706227e-02 9.99326774e-01 -2.93045158e-03 -1.53315476e+02] [-3.99991047e-02 1.46629821e-03 9.99198640e-01 -5.58547949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.640714057 meters 0.028806275370649042 Centerline is valid? [True, True] Translation: X:888.14, Y:-153.31, Z:-55.85 [[ 9.98546127e-01 3.67377329e-02 3.94457920e-02 8.88140530e+02] [-3.66518965e-02 9.99323894e-01 -2.89726625e-03 -1.53313582e+02] [-3.95255615e-02 1.44729090e-03 9.99217512e-01 -5.58541112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.6707140569999 meters 0.02740450058065503 Centerline is valid? [True, True] Translation: X:888.17, Y:-153.31, Z:-55.85 [[ 9.98551920e-01 3.67413995e-02 3.92954481e-02 8.88170258e+02] [-3.66562705e-02 9.99323769e-01 -2.88492951e-03 -1.53313429e+02] [-3.93748716e-02 1.44032733e-03 9.99223471e-01 -5.58546870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.7007140569999 meters 0.026469750587825205 Centerline is valid? [True, True] Translation: X:888.20, Y:-153.31, Z:-55.86 [[ 9.98550539e-01 3.83581925e-02 3.77554135e-02 8.88199966e+02] [-3.82808097e-02 9.99263180e-01 -2.77063004e-03 -1.53313456e+02] [-3.78338709e-02 1.32130632e-03 9.99283169e-01 -5.58561204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.7307140569999 meters 0.02634167122804883 Centerline is valid? [True, True] Translation: X:888.23, Y:-153.31, Z:-55.86 [[ 9.98535420e-01 3.92655045e-02 3.72187425e-02 8.88228891e+02] [-3.91909578e-02 9.99228008e-01 -2.73067777e-03 -1.53314234e+02] [-3.72972314e-02 1.26804031e-03 9.99303412e-01 -5.58578112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.760714057 meters 0.027012634062303375 Centerline is valid? [True, True] Translation: X:888.26, Y:-153.32, Z:-55.86 [[ 9.98462696e-01 4.15551018e-02 3.66799367e-02 8.88256908e+02] [-4.14843355e-02 9.99135537e-01 -2.68859425e-03 -1.53316072e+02] [-3.67599531e-02 1.16281826e-03 9.99323448e-01 -5.58605885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.790714057 meters 0.025810338304358454 Centerline is valid? [True, True] Translation: X:888.29, Y:-153.31, Z:-55.86 [[ 9.98415805e-01 4.26493975e-02 3.67002770e-02 8.88286444e+02] [-4.25793992e-02 9.99089473e-01 -2.68714300e-03 -1.53314939e+02] [-3.67814654e-02 1.12021030e-03 9.99322705e-01 -5.58608050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.8207140569999 meters 0.026095427848729556 Centerline is valid? [True, True] Translation: X:888.31, Y:-153.32, Z:-55.86 [[ 9.98359779e-01 4.37186616e-02 3.69652523e-02 8.88314032e+02] [-4.36484266e-02 9.99043291e-01 -2.70529479e-03 -1.53317319e+02] [-3.70481592e-02 1.08738240e-03 9.99312890e-01 -5.58626996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.8507140569999 meters 0.024898795903808904 Centerline is valid? [True, True] Translation: X:888.34, Y:-153.32, Z:-55.86 [[ 9.98237359e-01 4.60010529e-02 3.74977230e-02 8.88343799e+02] [-4.59305374e-02 9.98940877e-01 -2.74026936e-03 -1.53315346e+02] [-3.75840636e-02 1.01314868e-03 9.99292956e-01 -5.58613007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.880714057 meters 0.0246001234437549 Centerline is valid? [True, True] Translation: X:888.37, Y:-153.32, Z:-55.86 [[ 9.98160912e-01 4.68263940e-02 3.84978253e-02 8.88373136e+02] [-4.67527596e-02 9.98902536e-01 -2.81123755e-03 -1.53315794e+02] [-3.85872155e-02 1.00618786e-03 9.99254730e-01 -5.58616680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.910714057 meters 0.024465798377176894 Centerline is valid? [True, True] Translation: X:888.40, Y:-153.32, Z:-55.86 [[ 9.98130501e-01 4.76152392e-02 3.83183107e-02 8.88401858e+02] [-4.75429350e-02 9.98865281e-01 -2.79646498e-03 -1.53315952e+02] [-3.84079846e-02 9.69472033e-04 9.99261671e-01 -5.58625236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.9407140569999 meters 0.02438590225136699 Centerline is valid? [True, True] Translation: X:888.43, Y:-153.32, Z:-55.86 [[ 9.98090304e-01 4.83123991e-02 3.84923067e-02 8.88430307e+02] [-4.82400596e-02 9.98831828e-01 -2.80643488e-03 -1.53316744e+02] [-3.85829266e-02 9.44204269e-04 9.99254956e-01 -5.58635975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.9707140569999 meters 0.02384785940934342 Centerline is valid? [True, True] Translation: X:888.46, Y:-153.32, Z:-55.86 [[ 9.98040347e-01 4.93475762e-02 3.84744495e-02 8.88458804e+02] [-4.92761746e-02 9.98781260e-01 -2.80248168e-03 -1.53316690e+02] [-3.85658548e-02 9.01116097e-04 9.99255654e-01 -5.58647133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.000714057 meters 0.023916745929289537 Centerline is valid? [True, True] Translation: X:888.49, Y:-153.32, Z:-55.87 [[ 9.98058683e-01 4.91411802e-02 3.82623689e-02 8.88487792e+02] [-4.90705152e-02 9.98791436e-01 -2.78435753e-03 -1.53318345e+02] [-3.83529530e-02 9.01398061e-04 9.99263848e-01 -5.58669290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.030714057 meters 0.024052911781299237 Centerline is valid? [True, True] Translation: X:888.52, Y:-153.32, Z:-55.87 [[ 9.98069815e-01 4.90461838e-02 3.80935125e-02 8.88516881e+02] [-4.89761746e-02 9.98796108e-01 -2.76939379e-03 -1.53320972e+02] [-3.81834802e-02 8.98373830e-04 9.99270341e-01 -5.58692887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.0607140569999 meters 0.02430947553948012 Centerline is valid? [True, True] Translation: X:888.54, Y:-153.32, Z:-55.87 [[ 9.98106366e-01 4.82709773e-02 3.81260318e-02 8.88544589e+02] [-4.82003732e-02 9.98833847e-01 -2.76941036e-03 -1.53323169e+02] [-3.82152532e-02 9.26477150e-04 9.99269101e-01 -5.58706748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.0907140569999 meters 0.02440217182424022 Centerline is valid? [True, True] Translation: X:888.57, Y:-153.33, Z:-55.87 [[ 9.98123365e-01 4.74983792e-02 3.86477893e-02 8.88572114e+02] [-4.74253766e-02 9.98870848e-01 -2.80403708e-03 -1.53325643e+02] [-3.87373373e-02 9.65888968e-04 9.99248961e-01 -5.58719638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.120714057 meters 0.02446009665514772 Centerline is valid? [True, True] Translation: X:888.60, Y:-153.33, Z:-55.87 [[ 9.98153636e-01 4.70235017e-02 3.84461903e-02 8.88600487e+02] [-4.69510698e-02 9.98893308e-01 -2.78519299e-03 -1.53327590e+02] [-3.85346117e-02 9.74960747e-04 9.99256790e-01 -5.58728579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.150714057 meters 0.02465193656207191 Centerline is valid? [True, True] Translation: X:888.63, Y:-153.33, Z:-55.87 [[ 9.98198102e-01 4.57420337e-02 3.88357651e-02 8.88628674e+02] [-4.56672628e-02 9.98952752e-01 -2.81069492e-03 -1.53330565e+02] [-3.89236613e-02 1.03210725e-03 9.99241654e-01 -5.58740464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.1807140569999 meters 0.024847536463394087 Centerline is valid? [True, True] Translation: X:888.66, Y:-153.33, Z:-55.88 [[ 9.98217139e-01 4.50305103e-02 3.91764894e-02 8.88655869e+02] [-4.49539690e-02 9.98985043e-01 -2.83292169e-03 -1.53333788e+02] [-3.92642948e-02 1.06673229e-03 9.99228291e-01 -5.58759125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.2107140569999 meters 0.024300073018607354 Centerline is valid? [True, True] Translation: X:888.68, Y:-153.34, Z:-55.88 [[ 9.98280135e-01 4.37299378e-02 3.90443952e-02 8.88684927e+02] [-4.36530605e-02 9.99042772e-01 -2.81974374e-03 -1.53335244e+02] [-3.91303280e-02 1.11048682e-03 9.99233498e-01 -5.58762190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.2407140569999 meters 0.02445075531534845 Centerline is valid? [True, True] Translation: X:888.71, Y:-153.34, Z:-55.88 [[ 9.98322822e-01 4.25487282e-02 3.92574710e-02 8.88714006e+02] [-4.24702064e-02 9.99093719e-01 -2.83234789e-03 -1.53338101e+02] [-3.93424055e-02 1.16032464e-03 9.99225114e-01 -5.58770204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.270714057 meters 0.025777577037466113 Centerline is valid? [True, True] Translation: X:888.74, Y:-153.34, Z:-55.88 [[ 9.98326785e-01 4.19560122e-02 3.97909857e-02 8.88741583e+02] [-4.18749709e-02 9.99118742e-01 -2.86831249e-03 -1.53342756e+02] [-3.98762625e-02 1.19726682e-03 9.99203908e-01 -5.58798084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.3007140569999 meters 0.026395484529333327 Centerline is valid? [True, True] Translation: X:888.77, Y:-153.35, Z:-55.88 [[ 9.98319689e-01 4.16245066e-02 4.03137538e-02 8.88769195e+02] [-4.15412062e-02 9.99132577e-01 -2.90214795e-03 -1.53345793e+02] [-4.03995852e-02 1.22258948e-03 9.99182856e-01 -5.58816538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.3307140569999 meters 0.02542028868265732 Centerline is valid? [True, True] Translation: X:888.80, Y:-153.35, Z:-55.88 [[ 9.98263100e-01 4.24340029e-02 4.08673217e-02 8.88798227e+02] [-4.23492290e-02 9.99098548e-01 -2.93824071e-03 -1.53345148e+02] [-4.09551631e-02 1.20243771e-03 9.99160262e-01 -5.58817157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.3607140569999 meters 0.0252891431873668 Centerline is valid? [True, True] Translation: X:888.83, Y:-153.35, Z:-55.88 [[ 9.98208871e-01 4.32617335e-02 4.13215773e-02 8.88827431e+02] [-4.31759017e-02 9.99063078e-01 -2.96776138e-03 -1.53346970e+02] [-4.14112527e-02 1.17834938e-03 9.99141491e-01 -5.58836340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.390714057 meters 0.024104152336283425 Centerline is valid? [True, True] Translation: X:888.86, Y:-153.35, Z:-55.88 [[ 9.98170350e-01 4.42760137e-02 4.11775191e-02 8.88856189e+02] [-4.41917141e-02 9.99018697e-01 -2.95566029e-03 -1.53345940e+02] [-4.12679763e-02 1.13054731e-03 9.99147475e-01 -5.58841494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.4207140569999 meters 0.02362684087290855 Centerline is valid? [True, True] Translation: X:888.88, Y:-153.35, Z:-55.89 [[ 9.98133592e-01 4.50597205e-02 4.12183826e-02 8.88884943e+02] [-4.49760406e-02 9.98983693e-01 -2.95569667e-03 -1.53346997e+02] [-4.13096750e-02 1.09634048e-03 9.99145790e-01 -5.58855380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.4507140569999 meters 0.02338381860511168 Centerline is valid? [True, True] Translation: X:888.91, Y:-153.35, Z:-55.89 [[ 9.98029123e-01 4.68158091e-02 4.17869624e-02 8.88913865e+02] [-4.67314664e-02 9.98903003e-01 -2.99346721e-03 -1.53347139e+02] [-4.18812638e-02 1.03480142e-03 9.99122059e-01 -5.58873354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.4807140569999 meters 0.02316089169950765 Centerline is valid? [True, True] Translation: X:888.94, Y:-153.35, Z:-55.89 [[ 9.98007350e-01 4.70810881e-02 4.20083465e-02 8.88942727e+02] [-4.69962090e-02 9.98890544e-01 -3.00634887e-03 -1.53348954e+02] [-4.21032823e-02 1.02612524e-03 9.99112737e-01 -5.58888941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.510714057 meters 0.023507519483819506 Centerline is valid? [True, True] Translation: X:888.97, Y:-153.35, Z:-55.89 [[ 9.98005926e-01 4.71736734e-02 4.19382506e-02 8.88971280e+02] [-4.70892821e-02 9.98886184e-01 -2.99840963e-03 -1.53351447e+02] [-4.20329851e-02 1.01758846e-03 9.99115705e-01 -5.58907976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.540714057 meters 0.023285635701055952 Centerline is valid? [True, True] Translation: X:889.00, Y:-153.35, Z:-55.89 [[ 9.98010175e-01 4.72077023e-02 4.17986030e-02 8.88999792e+02] [-4.71240233e-02 9.98884584e-01 -2.98553838e-03 -1.53354428e+02] [-4.18929206e-02 1.00987934e-03 9.99121596e-01 -5.58930495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.5707140569999 meters 0.022942142109034978 Centerline is valid? [True, True] Translation: X:889.03, Y:-153.36, Z:-55.89 [[ 9.98000983e-01 4.72360334e-02 4.19856499e-02 8.89028642e+02] [-4.71517499e-02 9.98883245e-01 -2.99601442e-03 -1.53355821e+02] [-4.20802820e-02 1.01032848e-03 9.99113722e-01 -5.58942820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.6007140569999 meters 0.02337359183436836 Centerline is valid? [True, True] Translation: X:889.06, Y:-153.36, Z:-55.90 [[ 9.97991166e-01 4.76095395e-02 4.17966973e-02 8.89056407e+02] [-4.75264491e-02 9.98865535e-01 -2.97994369e-03 -1.53360204e+02] [-4.18911541e-02 9.87508873e-04 9.99121692e-01 -5.58969431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.630714057 meters 0.022273337417175482 Centerline is valid? [True, True] Translation: X:889.09, Y:-153.36, Z:-55.90 [[ 9.97938863e-01 4.82543929e-02 4.23029385e-02 8.89085770e+02] [-4.81700380e-02 9.98834609e-01 -3.01172355e-03 -1.53359922e+02] [-4.23989679e-02 9.67781823e-04 9.99100291e-01 -5.58967849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.660714057 meters 0.023597727561789114 Centerline is valid? [True, True] Translation: X:889.11, Y:-153.36, Z:-55.90 [[ 9.97914941e-01 4.83919388e-02 4.27082152e-02 8.89113527e+02] [-4.83062025e-02 9.98827954e-01 -3.03782451e-03 -1.53364957e+02] [-4.28051654e-02 9.68418778e-04 9.99082970e-01 -5.59000624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.6907140569999 meters 0.02236441818433836 Centerline is valid? [True, True] Translation: X:889.14, Y:-153.36, Z:-55.90 [[ 9.97863063e-01 4.92467229e-02 4.29426025e-02 8.89142610e+02] [-4.91610203e-02 9.98786209e-01 -3.05015124e-03 -1.53364665e+02] [-4.30406891e-02 9.32531108e-04 9.99072885e-01 -5.58995277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.7207140569999 meters 0.021977532315859912 Centerline is valid? [True, True] Translation: X:889.17, Y:-153.37, Z:-55.90 [[ 9.97831158e-01 4.98132770e-02 4.30304216e-02 8.89171179e+02] [-4.97278793e-02 9.98758136e-01 -3.05338233e-03 -1.53366068e+02] [-4.31290826e-02 9.06948417e-04 9.99069097e-01 -5.59004846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.750714057 meters 0.021902737257865425 Centerline is valid? [True, True] Translation: X:889.20, Y:-153.37, Z:-55.90 [[ 9.97807592e-01 4.99380659e-02 4.34303835e-02 8.89198831e+02] [-4.98513067e-02 9.98751904e-01 -3.07909292e-03 -1.53368357e+02] [-4.35299422e-02 9.07280931e-04 9.99051711e-01 -5.59019627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.780714057 meters 0.022620887745576756 Centerline is valid? [True, True] Translation: X:889.23, Y:-153.37, Z:-55.90 [[ 9.97779397e-01 5.03143941e-02 4.36433017e-02 8.89226507e+02] [-5.02273434e-02 9.98733032e-01 -3.08956846e-03 -1.53372648e+02] [-4.37434568e-02 8.90620655e-04 9.99042400e-01 -5.59044848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.8107140569999 meters 0.021847746399312466 Centerline is valid? [True, True] Translation: X:889.26, Y:-153.37, Z:-55.90 [[ 9.97733817e-01 5.12894641e-02 4.35502091e-02 8.89255576e+02] [-5.12038887e-02 9.98683474e-01 -3.07894949e-03 -1.53373123e+02] [-4.36507918e-02 8.42031970e-04 9.99046495e-01 -5.59048107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.8407140569999 meters 0.021549560104591227 Centerline is valid? [True, True] Translation: X:889.28, Y:-153.37, Z:-55.91 [[ 9.97685315e-01 5.25857174e-02 4.31132765e-02 8.89284044e+02] [-5.25031858e-02 9.98616114e-01 -3.04517130e-03 -1.53374276e+02] [-4.32137451e-02 7.74538322e-04 9.99065550e-01 -5.59063100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.870714057 meters 0.021320202146404496 Centerline is valid? [True, True] Translation: X:889.31, Y:-153.38, Z:-55.91 [[ 9.97618312e-01 5.40508936e-02 4.28509674e-02 8.89311426e+02] [-5.39708242e-02 9.98537934e-01 -3.02408870e-03 -1.53375091e+02] [-4.29517712e-02 7.04184235e-04 9.99076899e-01 -5.59081214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.900714057 meters 0.02083981624895758 Centerline is valid? [True, True] Translation: X:889.34, Y:-153.37, Z:-55.91 [[ 9.97437114e-01 5.76231804e-02 4.24119314e-02 8.89339541e+02] [-5.75481336e-02 9.98338258e-01 -2.98928174e-03 -1.53374176e+02] [-4.25137056e-02 5.40893062e-04 9.99095737e-01 -5.59098623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.9307140569999 meters 0.020294240549971938 Centerline is valid? [True, True] Translation: X:889.37, Y:-153.37, Z:-55.91 [[ 9.97314071e-01 5.98478276e-02 4.22241832e-02 8.89368845e+02] [-5.97756067e-02 9.98207415e-01 -2.97203212e-03 -1.53374517e+02] [-4.23263625e-02 4.40073280e-04 9.99103741e-01 -5.59115361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.9607140569999 meters 0.01970422368791499 Centerline is valid? [True, True] Translation: X:889.40, Y:-153.37, Z:-55.91 [[ 9.97155430e-01 6.23260968e-02 4.23852109e-02 8.89397407e+02] [-6.22556376e-02 9.98055783e-01 -2.98156347e-03 -1.53373619e+02] [-4.24886340e-02 3.34363878e-04 9.99096894e-01 -5.59116466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.9907140569999 meters 0.019442142332993694 Centerline is valid? [True, True] Translation: X:889.43, Y:-153.37, Z:-55.91 [[ 9.96699266e-01 6.90676780e-02 4.26641324e-02 8.89426005e+02] [-6.90025847e-02 9.97611976e-01 -2.99823430e-03 -1.53370539e+02] [-4.27693304e-02 4.44025173e-05 9.99084973e-01 -5.59124277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.020714057 meters 0.019658968028350425 Centerline is valid? [True, True] Translation: X:889.45, Y:-153.37, Z:-55.91 [[ 9.96402265e-01 7.30774485e-02 4.29209985e-02 8.89452743e+02] [-7.30153809e-02 9.97326260e-01 -3.01408285e-03 -1.53369256e+02] [-4.30265004e-02 -1.30654073e-04 9.99073923e-01 -5.59135814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.0507140569999 meters 0.020976309137084932 Centerline is valid? [True, True] Translation: X:889.48, Y:-153.36, Z:-55.92 [[ 9.95665928e-01 8.20183228e-02 4.38446577e-02 8.89481030e+02] [-8.19624398e-02 9.96630679e-01 -3.07376042e-03 -1.53362193e+02] [-4.39490356e-02 -5.33176600e-04 9.99033632e-01 -5.59157910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.0807140569999 meters 0.021208177838338782 Centerline is valid? [True, True] Translation: X:889.51, Y:-153.36, Z:-55.92 [[ 9.95337215e-01 8.56427902e-02 4.43750150e-02 8.89509341e+02] [-8.55894204e-02 9.96325655e-01 -3.10476089e-03 -1.53363915e+02] [-4.44778663e-02 -7.07747762e-04 9.99010119e-01 -5.59156597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.1107140569999 meters 0.02119703695728924 Centerline is valid? [True, True] Translation: X:889.54, Y:-153.37, Z:-55.92 [[ 9.94989247e-01 8.93109250e-02 4.49439239e-02 8.89537914e+02] [-8.92599951e-02 9.96003402e-01 -3.14280001e-03 -1.53366013e+02] [-4.50449874e-02 -8.84642203e-04 9.98984568e-01 -5.59154475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.140714057 meters 0.023413153153863067 Centerline is valid? [True, True] Translation: X:889.57, Y:-153.36, Z:-55.92 [[ 9.94668062e-01 9.28134900e-02 4.49566762e-02 8.89565493e+02] [-9.27666518e-02 9.95682952e-01 -3.13154709e-03 -1.53362521e+02] [-4.50532459e-02 -1.05563046e-03 9.98984029e-01 -5.59190010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.1707140569999 meters 0.023852292933827245 Centerline is valid? [True, True] Translation: X:889.60, Y:-153.37, Z:-55.92 [[ 9.94173175e-01 9.83874743e-02 4.40409203e-02 8.89595761e+02] [-9.83483518e-02 9.95147347e-01 -3.05944543e-03 -1.53365597e+02] [-4.41282161e-02 -1.28973335e-03 9.99025043e-01 -5.59187661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.2007140569999 meters 0.02487251084271312 Centerline is valid? [True, True] Translation: X:889.63, Y:-153.37, Z:-55.92 [[ 9.93850121e-01 1.01760357e-01 4.36665501e-02 8.89625584e+02] [-1.01725168e-01 9.94807917e-01 -3.03294052e-03 -1.53365550e+02] [-4.37484628e-02 -1.42769887e-03 9.99041558e-01 -5.59204070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.2307140569999 meters 0.02609116228393255 Centerline is valid? [True, True] Translation: X:889.66, Y:-153.37, Z:-55.92 [[ 9.93547282e-01 1.04895668e-01 4.31358033e-02 8.89655083e+02] [-1.04864340e-01 9.94482027e-01 -2.99464612e-03 -1.53365349e+02] [-4.32119065e-02 -1.54808504e-03 9.99064730e-01 -5.59221754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.260714057 meters 0.025557227176057767 Centerline is valid? [True, True] Translation: X:889.69, Y:-153.37, Z:-55.92 [[ 9.92955150e-01 1.10124945e-01 4.37329086e-02 8.89685505e+02] [-1.10097889e-01 9.93916118e-01 -3.03414536e-03 -1.53369909e+02] [-4.38009778e-02 -1.80213067e-03 9.99038651e-01 -5.59222364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.290714057 meters 0.025557227176057767 Centerline is valid? [True, True] Translation: X:889.71, Y:-153.37, Z:-55.92 [[ 9.92985750e-01 1.09848790e-01 4.37326390e-02 8.89712767e+02] [-1.09821296e-01 9.93946705e-01 -3.03803860e-03 -1.53371735e+02] [-4.38016373e-02 -1.78604605e-03 9.99038651e-01 -5.59238195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.3207140569999 meters 0.02632014720735202 Centerline is valid? [True, True] Translation: X:889.74, Y:-153.37, Z:-55.93 [[ 9.92784749e-01 1.11580105e-01 4.39126741e-02 8.89741415e+02] [-1.11554640e-01 9.93753659e-01 -3.03768073e-03 -1.53373661e+02] [-4.39773253e-02 -1.88289944e-03 9.99030755e-01 -5.59255887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.3507140569999 meters 0.02651094362596661 Centerline is valid? [True, True] Translation: X:889.77, Y:-153.38, Z:-55.93 [[ 9.92664769e-01 1.12498745e-01 4.42796693e-02 8.89769955e+02] [-1.12474250e-01 9.93649952e-01 -3.05214784e-03 -1.53376333e+02] [-4.43418541e-02 -1.95056294e-03 9.99014512e-01 -5.59270817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.380714057 meters 0.02627107315745589 Centerline is valid? [True, True] Translation: X:889.80, Y:-153.38, Z:-55.93 [[ 9.92687354e-01 1.12113308e-01 4.47484577e-02 8.89798078e+02] [-1.12088397e-01 9.93693487e-01 -3.07339415e-03 -1.53379998e+02] [-4.48108193e-02 -1.96486339e-03 9.98993558e-01 -5.59276777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.410714057 meters 0.02690198165824641 Centerline is valid? [True, True] Translation: X:889.83, Y:-153.38, Z:-55.93 [[ 9.92862553e-01 1.10661037e-01 4.44756768e-02 8.89825892e+02] [-1.10635524e-01 9.93856391e-01 -3.04232109e-03 -1.53380925e+02] [-4.45391020e-02 -1.89998313e-03 9.99005835e-01 -5.59294765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.4407140569999 meters 0.026625186834764458 Centerline is valid? [True, True] Translation: X:889.85, Y:-153.38, Z:-55.93 [[ 9.93068934e-01 1.08811599e-01 4.44311638e-02 8.89854298e+02] [-1.08784476e-01 9.94060725e-01 -3.03512748e-03 -1.53384326e+02] [-4.44975320e-02 -1.81933005e-03 9.99007838e-01 -5.59311716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.4707140569999 meters 0.025818635795083224 Centerline is valid? [True, True] Translation: X:889.88, Y:-153.39, Z:-55.93 [[ 9.93369642e-01 1.06119487e-01 4.42200171e-02 8.89883105e+02] [-1.06090434e-01 9.94351930e-01 -3.00995469e-03 -1.53388842e+02] [-4.42896742e-02 -1.70132320e-03 9.99017282e-01 -5.59329244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.500714057 meters 0.024479903541437704 Centerline is valid? [True, True] Translation: X:889.91, Y:-153.40, Z:-55.94 [[ 9.94096281e-01 9.89761778e-02 4.44556098e-02 8.89911523e+02] [-9.89402431e-02 9.95088814e-01 -3.01333724e-03 -1.53396035e+02] [-4.45355286e-02 -1.40290150e-03 9.99006816e-01 -5.59357199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.530714057 meters 0.022929073995890868 Centerline is valid? [True, True] Translation: X:889.94, Y:-153.40, Z:-55.94 [[ 9.94496349e-01 9.47906857e-02 4.46288797e-02 8.89941043e+02] [-9.47503124e-02 9.95496476e-01 -3.02391158e-03 -1.53402672e+02] [-4.47145312e-02 -1.22133127e-03 9.98999059e-01 -5.59367138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.5607140569999 meters 0.02326070991829924 Centerline is valid? [True, True] Translation: X:889.97, Y:-153.41, Z:-55.94 [[ 9.94876196e-01 9.02411247e-02 4.55839281e-02 8.89969980e+02] [-9.01942612e-02 9.95919404e-01 -3.08801234e-03 -1.53405149e+02] [-4.56765842e-02 -1.03921875e-03 9.98955740e-01 -5.59395377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.5907140569999 meters 0.02122227129847256 Centerline is valid? [True, True] Translation: X:890.00, Y:-153.41, Z:-55.94 [[ 9.95557513e-01 8.15084445e-02 4.71339705e-02 8.89999553e+02] [-8.14486320e-02 9.96672431e-01 -3.19137199e-03 -1.53414331e+02] [-4.72372528e-02 -6.61803057e-04 9.98883479e-01 -5.59399766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.620714057 meters 0.020662029754486833 Centerline is valid? [True, True] Translation: X:890.03, Y:-153.42, Z:-55.94 [[ 9.95894671e-01 7.71844844e-02 4.72901733e-02 8.90027968e+02] [-7.71194787e-02 9.97016722e-01 -3.20032167e-03 -1.53418286e+02] [-4.73961088e-02 -4.59810221e-04 9.98876067e-01 -5.59411088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.650714057 meters 0.020439862250444148 Centerline is valid? [True, True] Translation: X:890.06, Y:-153.42, Z:-55.94 [[ 9.96208007e-01 7.30629187e-02 4.72378647e-02 8.90056956e+02] [-7.29935777e-02 9.97327298e-01 -3.19355373e-03 -1.53422447e+02] [-4.73449423e-02 -2.66616948e-04 9.98878564e-01 -5.59423075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.6807140569999 meters 0.0200733020015344 Centerline is valid? [True, True] Translation: X:890.09, Y:-153.43, Z:-55.95 [[ 9.96723673e-01 6.56391631e-02 4.72590688e-02 8.90085209e+02] [-6.55615725e-02 9.97843421e-01 -3.19167765e-03 -1.53427763e+02] [-4.73666500e-02 8.28418020e-05 9.98877567e-01 -5.59451120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.7107140569999 meters 0.02040115615046119 Centerline is valid? [True, True] Translation: X:890.11, Y:-153.43, Z:-55.95 [[ 9.96953615e-01 6.22647401e-02 4.69743731e-02 8.90112799e+02] [-6.21844644e-02 9.98059640e-01 -3.16976049e-03 -1.53431435e+02] [-4.70805902e-02 2.39027946e-04 9.98891066e-01 -5.59478973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.7407140569999 meters 0.020475043383733925 Centerline is valid? [True, True] Translation: X:890.14, Y:-153.43, Z:-55.95 [[ 9.97132380e-01 5.93492520e-02 4.69540542e-02 8.90141076e+02] [-5.92661259e-02 9.98237211e-01 -3.16178483e-03 -1.53433910e+02] [-4.70589336e-02 3.69933149e-04 9.98892046e-01 -5.59494734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.770714057 meters 0.020768574560434593 Centerline is valid? [True, True] Translation: X:890.17, Y:-153.44, Z:-55.95 [[ 9.97382263e-01 5.50258680e-02 4.69124288e-02 8.90169099e+02] [-5.49382569e-02 9.98484766e-01 -3.15583733e-03 -1.53436156e+02] [-4.70149982e-02 5.70289116e-04 9.98894021e-01 -5.59517383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.8007140569999 meters 0.020869782259648213 Centerline is valid? [True, True] Translation: X:890.20, Y:-153.44, Z:-55.95 [[ 9.97458352e-01 5.35947681e-02 4.69514295e-02 8.90197621e+02] [-5.35056300e-02 9.98562566e-01 -3.15414507e-03 -1.53437322e+02] [-4.70529856e-02 6.33962525e-04 9.98892194e-01 -5.59537368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.8307140569999 meters 0.021012634842473607 Centerline is valid? [True, True] Translation: X:890.23, Y:-153.44, Z:-55.96 [[ 9.97509185e-01 5.26305416e-02 4.69622453e-02 8.90225329e+02] [-5.25404401e-02 9.98613823e-01 -3.15178283e-03 -1.53438718e+02] [-4.70630274e-02 6.76515281e-04 9.98891693e-01 -5.59559185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.8607140569999 meters 0.02095062001769341 Centerline is valid? [True, True] Translation: X:890.25, Y:-153.44, Z:-55.96 [[ 9.97519942e-01 5.22390100e-02 4.71704449e-02 8.90254160e+02] [-5.21478717e-02 9.98634370e-01 -3.16148893e-03 -1.53437798e+02] [-4.72711805e-02 6.93809947e-04 9.98881852e-01 -5.59573518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.890714057 meters 0.020887911568557647 Centerline is valid? [True, True] Translation: X:890.28, Y:-153.44, Z:-55.96 [[ 9.97505994e-01 5.21332981e-02 4.75805850e-02 8.90282373e+02] [-5.20405988e-02 9.98639888e-01 -3.18579155e-03 -1.53438264e+02] [-4.76819559e-02 7.01724032e-04 9.98862322e-01 -5.59589953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.9207140569999 meters 0.02111622328284136 Centerline is valid? [True, True] Translation: X:890.31, Y:-153.44, Z:-55.96 [[ 9.97470924e-01 5.24177892e-02 4.80013762e-02 8.90309662e+02] [-5.23239730e-02 9.98625004e-01 -3.20976766e-03 -1.53438669e+02] [-4.81036235e-02 6.90027198e-04 9.98842112e-01 -5.59611500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.9507140569999 meters 0.02096829449471638 Centerline is valid? [True, True] Translation: X:890.34, Y:-153.44, Z:-55.96 [[ 9.97409582e-01 5.33643238e-02 4.82325125e-02 8.90338636e+02] [-5.32709165e-02 9.98574902e-01 -3.22089443e-03 -1.53438049e+02] [-4.83356573e-02 6.43160815e-04 9.98830942e-01 -5.59623642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.9807140569999 meters 0.0211235614736036 Centerline is valid? [True, True] Translation: X:890.37, Y:-153.44, Z:-55.96 [[ 9.97361640e-01 5.28148663e-02 4.98031066e-02 8.90367703e+02] [-5.27147617e-02 9.98604084e-01 -3.32228295e-03 -1.53439713e+02] [-4.99090515e-02 6.88158677e-04 9.98753530e-01 -5.59640906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.010714057 meters 0.020893619175431335 Centerline is valid? [True, True] Translation: X:890.40, Y:-153.44, Z:-55.97 [[ 9.97361462e-01 5.26403156e-02 4.99911097e-02 8.90395943e+02] [-5.25393930e-02 9.98613295e-01 -3.33165518e-03 -1.53440634e+02] [-5.00971661e-02 6.96361926e-04 9.98744106e-01 -5.59650819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.040714057 meters 0.02089379925775233 Centerline is valid? [True, True] Translation: X:890.42, Y:-153.44, Z:-55.97 [[ 9.97328083e-01 5.35364295e-02 4.97045797e-02 8.90424836e+02] [-5.34380526e-02 9.98565691e-01 -3.30696257e-03 -1.53442010e+02] [-4.98103309e-02 6.42010700e-04 9.98758489e-01 -5.59669050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.0707140569999 meters 0.02086639565145038 Centerline is valid? [True, True] Translation: X:890.45, Y:-153.44, Z:-55.97 [[ 9.97271317e-01 5.45431136e-02 4.97490715e-02 8.90453523e+02] [-5.44459885e-02 9.98511243e-01 -3.30638429e-03 -1.53443310e+02] [-4.98553477e-02 5.88724841e-04 9.98756275e-01 -5.59685691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.1007140569999 meters 0.020627984000181263 Centerline is valid? [True, True] Translation: X:890.48, Y:-153.44, Z:-55.97 [[ 9.97089761e-01 5.70504139e-02 5.05693531e-02 8.90481936e+02] [-5.69534632e-02 9.98371189e-01 -3.35726284e-03 -1.53444818e+02] [-5.06785185e-02 4.67392614e-04 9.98714909e-01 -5.59697403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.130714057 meters 0.020521439375173634 Centerline is valid? [True, True] Translation: X:890.51, Y:-153.44, Z:-55.97 [[ 9.96979356e-01 5.94558808e-02 4.99716152e-02 8.90510294e+02] [-5.93644030e-02 9.98230877e-01 -3.31411681e-03 -1.53444985e+02] [-5.00802530e-02 3.37570935e-04 9.98745140e-01 -5.59712900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.160714057 meters 0.0203631116272942 Centerline is valid? [True, True] Translation: X:890.54, Y:-153.45, Z:-55.97 [[ 9.96840212e-01 6.12604157e-02 5.05643532e-02 8.90538553e+02] [-6.11692557e-02 9.98121787e-01 -3.34982570e-03 -1.53446856e+02] [-5.06745942e-02 2.46257108e-04 9.98715187e-01 -5.59731227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.1907140569999 meters 0.020311448892762655 Centerline is valid? [True, True] Translation: X:890.57, Y:-153.45, Z:-55.97 [[ 9.96643369e-01 6.43754915e-02 5.05746096e-02 8.90566569e+02] [-6.42884763e-02 9.97925743e-01 -3.34706558e-03 -1.53447592e+02] [-5.06851739e-02 8.44661265e-05 9.98714677e-01 -5.59748849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.2207140569999 meters 0.02017055964704987 Centerline is valid? [True, True] Translation: X:890.60, Y:-153.45, Z:-55.98 [[ 9.96160531e-01 7.08590763e-02 5.14119499e-02 8.90595031e+02] [-7.07780157e-02 9.97486304e-01 -3.39789486e-03 -1.53446241e+02] [-5.15234876e-02 -2.53987050e-04 9.98671751e-01 -5.59754147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.250714057 meters 0.020301245338612484 Centerline is valid? [True, True] Translation: X:890.62, Y:-153.45, Z:-55.98 [[ 9.95882818e-01 7.42099241e-02 5.20605483e-02 8.90624209e+02] [-7.41316243e-02 9.97242546e-01 -3.43605260e-03 -1.53446434e+02] [-5.21719830e-02 -4.37427259e-04 9.98638019e-01 -5.59765626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.280714057 meters 0.020706599388788317 Centerline is valid? [True, True] Translation: X:890.65, Y:-153.45, Z:-55.98 [[ 9.95561368e-01 7.80697023e-02 5.25612515e-02 8.90651977e+02] [-7.79954524e-02 9.96947692e-01 -3.46548607e-03 -1.53446245e+02] [-5.26713678e-02 -6.49434537e-04 9.98611689e-01 -5.59776795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.3107140569999 meters 0.021704095079366527 Centerline is valid? [True, True] Translation: X:890.68, Y:-153.45, Z:-55.98 [[ 9.94905951e-01 8.57229682e-02 5.30445206e-02 8.90681184e+02] [-8.56584601e-02 9.96318438e-01 -3.49257671e-03 -1.53445731e+02] [-5.31486280e-02 -1.06892659e-03 9.98586041e-01 -5.59779315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.3407140569999 meters 0.023034179798423534 Centerline is valid? [True, True] Translation: X:890.71, Y:-153.44, Z:-55.98 [[ 9.94577328e-01 8.91214073e-02 5.36032987e-02 8.90709167e+02] [-8.90605966e-02 9.96019965e-01 -3.52685036e-03 -1.53444673e+02] [-5.37042736e-02 -1.26621636e-03 9.98556081e-01 -5.59794324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.370714057 meters 0.022632667995059443 Centerline is valid? [True, True] Translation: X:890.74, Y:-153.45, Z:-55.98 [[ 9.94270113e-01 9.21689093e-02 5.41464234e-02 8.90738027e+02] [-9.21117370e-02 9.95742328e-01 -3.55586026e-03 -1.53447631e+02] [-5.42436255e-02 -1.45203554e-03 9.98526675e-01 -5.59803786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.400714057 meters 0.024008362199304526 Centerline is valid? [True, True] Translation: X:890.77, Y:-153.45, Z:-55.98 [[ 9.93731770e-01 9.72711707e-02 5.50952705e-02 8.90766675e+02] [-9.72205929e-02 9.95256333e-01 -3.60388099e-03 -1.53448263e+02] [-5.51844706e-02 -1.77510383e-03 9.98474598e-01 -5.59823711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.4307140569999 meters 0.02437302267368369 Centerline is valid? [True, True] Translation: X:890.80, Y:-153.45, Z:-55.98 [[ 9.93616473e-01 9.83592226e-02 5.52428069e-02 8.90795128e+02] [-9.83101862e-02 9.95149269e-01 -3.61111278e-03 -1.53449927e+02] [-5.53300251e-02 -1.84286948e-03 9.98466420e-01 -5.59840122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.4607140569999 meters 0.024013462310269375 Centerline is valid? [True, True] Translation: X:890.82, Y:-153.45, Z:-55.99 [[ 9.93504446e-01 9.91524582e-02 5.58364228e-02 8.90823801e+02] [-9.91043747e-02 9.95070400e-01 -3.63632278e-03 -1.53453415e+02] [-5.59217219e-02 -1.92093092e-03 9.98433308e-01 -5.59855584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.4907140569999 meters 0.023726877853198637 Centerline is valid? [True, True] Translation: X:890.85, Y:-153.46, Z:-55.99 [[ 9.93524379e-01 9.86183080e-02 5.64246281e-02 8.90852362e+02] [-9.85691412e-02 9.95123472e-01 -3.66060509e-03 -1.53457797e+02] [-5.65104745e-02 -1.92482674e-03 9.98400151e-01 -5.59876027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.520714057 meters 0.023742122684893015 Centerline is valid? [True, True] Translation: X:890.88, Y:-153.46, Z:-55.99 [[ 9.93666675e-01 9.71827760e-02 5.64096341e-02 8.90879797e+02] [-9.71321336e-02 9.95264819e-01 -3.64536491e-03 -1.53460162e+02] [-5.64967909e-02 -1.85691049e-03 9.98401054e-01 -5.59895714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.5507140569999 meters 0.02385534127030114 Centerline is valid? [True, True] Translation: X:890.91, Y:-153.46, Z:-55.99 [[ 9.94091012e-01 9.25058128e-02 5.67955484e-02 8.90908109e+02] [-9.24471405e-02 9.95710848e-01 -3.66524918e-03 -1.53463481e+02] [-5.68910005e-02 -1.60699478e-03 9.98379102e-01 -5.59916103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.5807140569999 meters 0.022613731506724202 Centerline is valid? [True, True] Translation: X:890.94, Y:-153.47, Z:-55.99 [[ 9.94350214e-01 8.96053409e-02 5.69081227e-02 8.90937091e+02] [-8.95418585e-02 9.95976300e-01 -3.66959352e-03 -1.53469648e+02] [-5.70079566e-02 -1.44679796e-03 9.98372676e-01 -5.59935582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.6107140569999 meters 0.02180728407581731 Centerline is valid? [True, True] Translation: X:890.97, Y:-153.48, Z:-56.00 [[ 9.94640587e-01 8.61130241e-02 5.72245500e-02 8.90965277e+02] [-8.60434655e-02 9.96284577e-01 -3.68294379e-03 -1.53475081e+02] [-5.73290860e-02 -1.26059322e-03 9.98354540e-01 -5.59954029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.640714057 meters 0.021253244362455893 Centerline is valid? [True, True] Translation: X:890.99, Y:-153.48, Z:-56.00 [[ 9.95228699e-01 7.88796550e-02 5.74267996e-02 8.90993292e+02] [-7.87978062e-02 9.96883783e-01 -3.69184306e-03 -1.53481475e+02] [-5.75390565e-02 -8.50877664e-04 9.98342894e-01 -5.59977045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.6707140569999 meters 0.020876251790624648 Centerline is valid? [True, True] Translation: X:891.02, Y:-153.49, Z:-56.00 [[ 9.95524286e-01 7.50822273e-02 5.73938635e-02 8.91021454e+02] [-7.49943412e-02 9.97177144e-01 -3.68668519e-03 -1.53485619e+02] [-5.75086535e-02 -6.34030337e-04 9.98344807e-01 -5.59996047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.7007140569999 meters 0.020831398966621062 Centerline is valid? [True, True] Translation: X:891.05, Y:-153.49, Z:-56.00 [[ 9.95763609e-01 7.17803179e-02 5.74666896e-02 8.91050344e+02] [-7.16869471e-02 9.97420365e-01 -3.68731419e-03 -1.53489473e+02] [-5.75831232e-02 -4.47918251e-04 9.98340615e-01 -5.60019488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.7307140569999 meters 0.02067909927273922 Centerline is valid? [True, True] Translation: X:891.08, Y:-153.49, Z:-56.00 [[ 9.96004082e-01 6.81409585e-02 5.77293490e-02 8.91078612e+02] [-6.80408577e-02 9.97675674e-01 -3.70010517e-03 -1.53493328e+02] [-5.78472959e-02 -2.42634565e-04 9.98325414e-01 -5.60038605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.760714057 meters 0.020842605680448725 Centerline is valid? [True, True] Translation: X:891.11, Y:-153.50, Z:-56.01 [[ 9.96293604e-01 6.30485507e-02 5.85144041e-02 8.91106063e+02] [-6.29371744e-02 9.98010460e-01 -3.74623687e-03 -1.53497912e+02] [-5.86341822e-02 4.96205769e-05 9.98279535e-01 -5.60060970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.790714057 meters 0.020776041905037502 Centerline is valid? [True, True] Translation: X:891.13, Y:-153.50, Z:-56.01 [[ 9.96413030e-01 6.07987008e-02 5.88607833e-02 8.91134353e+02] [-6.06823826e-02 9.98150032e-01 -3.76326148e-03 -1.53500266e+02] [-5.89806942e-02 1.77950204e-04 9.98259108e-01 -5.60078564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.8207140569999 meters 0.020903250709486912 Centerline is valid? [True, True] Translation: X:891.16, Y:-153.50, Z:-56.01 [[ 9.96570358e-01 5.77979328e-02 5.92192674e-02 8.91162391e+02] [-5.76751495e-02 9.98328240e-01 -3.78194730e-03 -1.53502394e+02] [-5.93388557e-02 3.53496466e-04 9.98237835e-01 -5.60096441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.8507140569999 meters 0.021001108737287454 Centerline is valid? [True, True] Translation: X:891.19, Y:-153.50, Z:-56.01 [[ 9.96635042e-01 5.66191775e-02 5.92694093e-02 8.91191138e+02] [-5.64944120e-02 9.98395760e-01 -3.77996285e-03 -1.53503250e+02] [-5.93883454e-02 4.18853006e-04 9.98234867e-01 -5.60120310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.880714057 meters 0.020613700176052976 Centerline is valid? [True, True] Translation: X:891.22, Y:-153.50, Z:-56.01 [[ 9.96720732e-01 5.54091120e-02 5.89712877e-02 8.91219445e+02] [-5.52837312e-02 9.98463618e-01 -3.75676720e-03 -1.53504386e+02] [-5.90888444e-02 4.84294938e-04 9.98252610e-01 -5.60140449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.910714057 meters 0.021036236456856917 Centerline is valid? [True, True] Translation: X:891.25, Y:-153.51, Z:-56.02 [[ 9.96781669e-01 5.44250848e-02 5.88575745e-02 8.91247376e+02] [-5.42987268e-02 9.98517712e-01 -3.74523710e-03 -1.53505805e+02] [-5.89741655e-02 5.37292329e-04 9.98259365e-01 -5.60166863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.9407140569999 meters 0.021245345522959244 Centerline is valid? [True, True] Translation: X:891.28, Y:-153.51, Z:-56.02 [[ 9.96974835e-01 5.20464913e-02 5.77264315e-02 8.91277068e+02] [-5.19212596e-02 9.98644445e-01 -3.66816697e-03 -1.53506412e+02] [-5.78390954e-02 6.59841125e-04 9.98325700e-01 -5.60206554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.9707140569999 meters 0.021113663334798555 Centerline is valid? [True, True] Translation: X:891.31, Y:-153.51, Z:-56.02 [[ 9.97076475e-01 5.10262945e-02 5.68754841e-02 8.91306018e+02] [-5.09031849e-02 9.98697060e-01 -3.61213917e-03 -1.53507445e+02] [-5.69856928e-02 7.06435703e-04 9.98374745e-01 -5.60232941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.000714057 meters 0.02129232124695568 Centerline is valid? [True, True] Translation: X:891.34, Y:-153.51, Z:-56.03 [[ 9.97180045e-01 4.87231588e-02 5.70790019e-02 8.91335256e+02] [-4.85956314e-02 9.98811971e-01 -3.62095303e-03 -1.53509778e+02] [-5.71876147e-02 8.36951963e-04 9.98363098e-01 -5.60263120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.030714057 meters 0.022010561000293194 Centerline is valid? [True, True] Translation: X:891.36, Y:-153.51, Z:-56.03 [[ 9.97403865e-01 4.40104264e-02 5.69966029e-02 8.91364955e+02] [-4.38756984e-02 9.99030462e-01 -3.61364447e-03 -1.53514393e+02] [-5.71003806e-02 1.10349720e-03 9.98367832e-01 -5.60287264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.0607140569999 meters 0.022686066270387394 Centerline is valid? [True, True] Translation: X:891.40, Y:-153.52, Z:-56.03 [[ 9.97522346e-01 4.19738613e-02 5.64567532e-02 8.91395717e+02] [-4.18384316e-02 9.99117979e-01 -3.57918256e-03 -1.53520150e+02] [-5.65571892e-02 1.20825258e-03 9.98398630e-01 -5.60308870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.0907140569999 meters 0.02306521625709512 Centerline is valid? [True, True] Translation: X:891.43, Y:-153.52, Z:-56.03 [[ 9.97615891e-01 4.05381656e-02 5.58497216e-02 8.91427765e+02] [-4.04026774e-02 9.99177160e-01 -3.55339711e-03 -1.53522982e+02] [-5.59478144e-02 1.28844714e-03 9.98432863e-01 -5.60335033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.120714057 meters 0.02307594813000425 Centerline is valid? [True, True] Translation: X:891.46, Y:-153.53, Z:-56.04 [[ 9.97659057e-01 4.01705551e-02 5.53419552e-02 8.91458445e+02] [-4.00362046e-02 9.99191978e-01 -3.53464687e-03 -1.53525733e+02] [-5.54392264e-02 1.31069063e-03 9.98461203e-01 -5.60351958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.150714057 meters 0.022797939278450228 Centerline is valid? [True, True] Translation: X:891.49, Y:-153.53, Z:-56.04 [[ 9.97638392e-01 4.09359443e-02 5.51533161e-02 8.91490844e+02] [-4.08029884e-02 9.99160958e-01 -3.53504705e-03 -1.53526455e+02] [-5.52517507e-02 1.27627853e-03 9.98471640e-01 -5.60369220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.1807140569999 meters 0.0229614564980937 Centerline is valid? [True, True] Translation: X:891.52, Y:-153.53, Z:-56.04 [[ 9.97584439e-01 4.14996223e-02 5.57052012e-02 8.91523071e+02] [-4.13640870e-02 9.99137711e-01 -3.58437057e-03 -1.53528547e+02] [-5.58059172e-02 1.27151752e-03 9.98440826e-01 -5.60388783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.2107140569999 meters 0.0229614564980937 Centerline is valid? [True, True] Translation: X:891.55, Y:-153.53, Z:-56.04 [[ 9.97574273e-01 4.17444413e-02 5.57043187e-02 8.91554754e+02] [-4.16085247e-02 9.99127512e-01 -3.59803238e-03 -1.53530633e+02] [-5.58059152e-02 1.27153001e-03 9.98440826e-01 -5.60407113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.2407140569999 meters 0.022385041334762604 Centerline is valid? [True, True] Translation: X:891.59, Y:-153.53, Z:-56.04 [[ 9.97415152e-01 4.37691436e-02 5.69848802e-02 8.91586921e+02] [-4.36293777e-02 9.99040952e-01 -3.69509457e-03 -1.53531352e+02] [-5.70919601e-02 1.19932845e-03 9.98368204e-01 -5.60421003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.270714057 meters 0.02236208832775465 Centerline is valid? [True, True] Translation: X:891.62, Y:-153.53, Z:-56.04 [[ 9.97318075e-01 4.55677114e-02 5.72733969e-02 8.91618022e+02] [-4.54286738e-02 9.98960629e-01 -3.72794560e-03 -1.53532724e+02] [-5.73837426e-02 1.11609306e-03 9.98351572e-01 -5.60436364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.3007140569999 meters 0.021908933774598183 Centerline is valid? [True, True] Translation: X:891.65, Y:-153.53, Z:-56.05 [[ 9.97223751e-01 4.65781090e-02 5.80970702e-02 8.91649358e+02] [-4.64359806e-02 9.98914060e-01 -3.79477220e-03 -1.53533501e+02] [-5.82107336e-02 1.08644254e-03 9.98303726e-01 -5.60456985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.3307140569999 meters 0.02170234104997325 Centerline is valid? [True, True] Translation: X:891.68, Y:-153.53, Z:-56.05 [[ 9.97119889e-01 4.83207674e-02 5.84553723e-02 8.91679997e+02] [-4.81797480e-02 9.98831376e-01 -3.82024143e-03 -1.53534342e+02] [-5.85716570e-02 9.92873607e-04 9.98282713e-01 -5.60470388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.3607140569999 meters 0.021811135808905285 Centerline is valid? [True, True] Translation: X:891.71, Y:-153.54, Z:-56.05 [[ 9.97085648e-01 4.87380801e-02 5.86925058e-02 8.91709758e+02] [-4.85966360e-02 9.98811120e-01 -3.83572161e-03 -1.53536265e+02] [-5.88096732e-02 9.72284626e-04 9.98268740e-01 -5.60488799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.390714057 meters 0.021559457409158322 Centerline is valid? [True, True] Translation: X:891.74, Y:-153.54, Z:-56.05 [[ 9.97082608e-01 4.93062386e-02 5.82680741e-02 8.91739145e+02] [-4.91678642e-02 9.98783274e-01 -3.80695882e-03 -1.53538596e+02] [-5.83848847e-02 9.30935675e-04 9.98293714e-01 -5.60506807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.4207140569999 meters 0.021765697962612265 Centerline is valid? [True, True] Translation: X:891.77, Y:-153.54, Z:-56.05 [[ 9.97081801e-01 4.92667329e-02 5.83152770e-02 8.91768144e+02] [-4.91281265e-02 9.98785221e-01 -3.80901839e-03 -1.53541138e+02] [-5.84320947e-02 9.32982618e-04 9.98290950e-01 -5.60528733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.4507140569999 meters 0.021579131812510154 Centerline is valid? [True, True] Translation: X:891.80, Y:-153.54, Z:-56.06 [[ 9.97122668e-01 4.98414647e-02 5.71157879e-02 8.91797357e+02] [-4.97095048e-02 9.98756754e-01 -3.72971187e-03 -1.53542988e+02] [-5.72306733e-02 8.79782711e-04 9.98360594e-01 -5.60560940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.4807140569999 meters 0.02162013021771937 Centerline is valid? [True, True] Translation: X:891.83, Y:-153.55, Z:-56.06 [[ 9.97120838e-01 5.02542501e-02 5.67850775e-02 8.91825913e+02] [-5.01245958e-02 9.98736096e-01 -3.70616001e-03 -1.53545398e+02] [-5.68995569e-02 8.49160323e-04 9.98379547e-01 -5.60584773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.510714057 meters 0.021408413927031647 Centerline is valid? [True, True] Translation: X:891.86, Y:-153.55, Z:-56.06 [[ 9.97099268e-01 5.10394403e-02 5.64625997e-02 8.91855878e+02] [-5.09126803e-02 9.98696321e-01 -3.68217084e-03 -1.53546758e+02] [-5.65769265e-02 7.96827564e-04 9.98397925e-01 -5.60606714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.540714057 meters 0.02116347234432623 Centerline is valid? [True, True] Translation: X:891.89, Y:-153.55, Z:-56.06 [[ 9.96992274e-01 5.30970177e-02 5.64545158e-02 8.91885125e+02] [-5.29737017e-02 9.98589128e-01 -3.67965791e-03 -1.53547826e+02] [-5.65702445e-02 6.77985826e-04 9.98398391e-01 -5.60630036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.5707140569999 meters 0.02094697821537768 Centerline is valid? [True, True] Translation: X:891.91, Y:-153.55, Z:-56.06 [[ 9.96729774e-01 5.71317410e-02 5.71464877e-02 8.91913061e+02] [-5.70121218e-02 9.98366546e-01 -3.72270760e-03 -1.53547937e+02] [-5.72658263e-02 4.52490991e-04 9.98358864e-01 -5.60636003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.6007140569999 meters 0.02097596976386285 Centerline is valid? [True, True] Translation: X:891.94, Y:-153.55, Z:-56.07 [[ 9.96545094e-01 6.00509916e-02 5.73738118e-02 8.91941992e+02] [-5.99355471e-02 9.98195271e-01 -3.73237150e-03 -1.53548074e+02] [-5.74944003e-02 2.80745703e-04 9.98345789e-01 -5.60650589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.630714057 meters 0.02069001621363798 Centerline is valid? [True, True] Translation: X:891.97, Y:-153.55, Z:-56.07 [[ 9.96339855e-01 6.25985145e-02 5.82092663e-02 8.91969888e+02] [-6.24842692e-02 9.98038781e-01 -3.78251413e-03 -1.53548845e+02] [-5.83318850e-02 1.31506119e-04 9.98297237e-01 -5.60663150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.660714057 meters 0.02074375459533663 Centerline is valid? [True, True] Translation: X:892.00, Y:-153.55, Z:-56.07 [[ 9.95909503e-01 6.85481563e-02 5.88677540e-02 8.91998373e+02] [-6.84420000e-02 9.97647783e-01 -3.82005459e-03 -1.53546480e+02] [-5.89911420e-02 -2.24598153e-04 9.98258481e-01 -5.60668190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.6907140569999 meters 0.02111590780167648 Centerline is valid? [True, True] Translation: X:892.03, Y:-153.55, Z:-56.07 [[ 9.95521359e-01 7.32542454e-02 5.97581782e-02 8.92027104e+02] [-7.31536345e-02 9.97313165e-01 -3.87256962e-03 -1.53547002e+02] [-5.98813000e-02 -5.16302158e-04 9.98205371e-01 -5.60684914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.7207140569999 meters 0.021309384941935766 Centerline is valid? [True, True] Translation: X:892.06, Y:-153.55, Z:-56.07 [[ 9.95132293e-01 7.77583269e-02 6.05422327e-02 8.92056063e+02] [-7.76636366e-02 9.96971915e-01 -3.91917008e-03 -1.53547767e+02] [-6.06636538e-02 -8.01837248e-04 9.98157943e-01 -5.60698220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.750714057 meters 0.021743890533844283 Centerline is valid? [True, True] Translation: X:892.08, Y:-153.55, Z:-56.07 [[ 9.94792382e-01 8.20843565e-02 6.04175076e-02 8.92084661e+02] [-8.19982793e-02 9.96624813e-01 -3.90686234e-03 -1.53547049e+02] [-6.05342796e-02 -1.06761477e-03 9.98165548e-01 -5.60713280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.780714057 meters 0.02254773358394013 Centerline is valid? [True, True] Translation: X:892.11, Y:-153.55, Z:-56.07 [[ 9.94149744e-01 8.95084040e-02 6.04527249e-02 8.92114249e+02] [-8.94361767e-02 9.95984900e-01 -3.90497985e-03 -1.53547731e+02] [-6.05595297e-02 -1.52452586e-03 9.98163423e-01 -5.60732507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.8107140569999 meters 0.023625083673692437 Centerline is valid? [True, True] Translation: X:892.14, Y:-153.55, Z:-56.07 [[ 9.93841617e-01 9.25851869e-02 6.08836875e-02 8.92142309e+02] [-9.25178267e-02 9.95703270e-01 -3.93055844e-03 -1.53548276e+02] [-6.09859982e-02 -1.72647390e-03 9.98137129e-01 -5.60747616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.8407140569999 meters 0.024109625726039034 Centerline is valid? [True, True] Translation: X:892.17, Y:-153.55, Z:-56.08 [[ 9.93690695e-01 9.47687538e-02 5.99807083e-02 8.92170700e+02] [-9.47076154e-02 9.95497618e-01 -3.86778568e-03 -1.53549869e+02] [-6.00771975e-02 -1.83724721e-03 9.98192043e-01 -5.60767584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.870714057 meters 0.02460204108336918 Centerline is valid? [True, True] Translation: X:892.20, Y:-153.55, Z:-56.08 [[ 9.93566789e-01 9.66218466e-02 5.90699053e-02 8.92198891e+02] [-9.65666482e-02 9.95319286e-01 -3.79504095e-03 -1.53551733e+02] [-5.91600998e-02 -1.93355612e-03 9.98246635e-01 -5.60791753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.900714057 meters 0.026346873446618718 Centerline is valid? [True, True] Translation: X:892.23, Y:-153.55, Z:-56.08 [[ 9.93411768e-01 9.90764148e-02 5.75927382e-02 8.92227521e+02] [-9.90283388e-02 9.95077752e-01 -3.69524048e-03 -1.53552158e+02] [-5.76753636e-02 -2.03241781e-03 9.98333322e-01 -5.60822931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.9307140569999 meters 0.025218498903382076 Centerline is valid? [True, True] Translation: X:892.26, Y:-153.56, Z:-56.08 [[ 9.93422123e-01 9.89918715e-02 5.75594870e-02 8.92255440e+02] [-9.89439437e-02 9.95086171e-01 -3.68904761e-03 -1.53557625e+02] [-5.76418352e-02 -2.03038113e-03 9.98335263e-01 -5.60843527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.9607140569999 meters 0.025119564555459346 Centerline is valid? [True, True] Translation: X:892.28, Y:-153.56, Z:-56.09 [[ 9.93547720e-01 9.79899352e-02 5.71042905e-02 8.92283579e+02] [-9.79420172e-02 9.95185451e-01 -3.64403406e-03 -1.53560993e+02] [-5.71864377e-02 -1.97238767e-03 9.98361568e-01 -5.60863649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.9907140569999 meters 0.02480469073845619 Centerline is valid? [True, True] Translation: X:892.31, Y:-153.57, Z:-56.09 [[ 9.93873519e-01 9.42482385e-02 5.77295169e-02 8.92312047e+02] [-9.41937917e-02 9.95547118e-01 -3.66964634e-03 -1.53567015e+02] [-5.78183119e-02 -1.79059776e-03 9.98325516e-01 -5.60884225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.020714057 meters 0.0241687722037027 Centerline is valid? [True, True] Translation: X:892.34, Y:-153.57, Z:-56.09 [[ 9.94181108e-01 9.08277792e-02 5.79157928e-02 8.92340509e+02] [-9.07673606e-02 9.95865330e-01 -3.67846379e-03 -1.53571770e+02] [-5.80104368e-02 -1.59980444e-03 9.98314695e-01 -5.60901883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.0507140569999 meters 0.02295267913340334 Centerline is valid? [True, True] Translation: X:892.37, Y:-153.58, Z:-56.09 [[ 9.94848051e-01 8.30686904e-02 5.81115103e-02 8.92368880e+02] [-8.29948681e-02 9.96543154e-01 -3.68691219e-03 -1.53578171e+02] [-5.82168947e-02 -1.15503972e-03 9.98303290e-01 -5.60916209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.0807140569999 meters 0.02225220109649548 Centerline is valid? [True, True] Translation: X:892.40, Y:-153.58, Z:-56.09 [[ 9.95216776e-01 7.85493681e-02 5.80824003e-02 8.92397186e+02] [-7.84680451e-02 9.96909826e-01 -3.68307792e-03 -1.53582987e+02] [-5.81922190e-02 -8.92151469e-04 9.98304998e-01 -5.60933640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.1107140569999 meters 0.021546004183934073 Centerline is valid? [True, True] Translation: X:892.43, Y:-153.59, Z:-56.10 [[ 9.95547803e-01 7.41344632e-02 5.82121432e-02 8.92425295e+02] [-7.40454664e-02 9.97248050e-01 -3.68733161e-03 -1.53587784e+02] [-5.83253046e-02 -6.39430414e-04 9.98297426e-01 -5.60953635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.140714057 meters 0.02137292125124236 Centerline is valid? [True, True] Translation: X:892.45, Y:-153.59, Z:-56.10 [[ 9.95862675e-01 6.96368206e-02 5.83801872e-02 8.92454299e+02] [-6.95398166e-02 9.97572337e-01 -3.69402987e-03 -1.53592906e+02] [-5.84957002e-02 -3.81001035e-04 9.98287588e-01 -5.60975669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.1707140569999 meters 0.02104066281020316 Centerline is valid? [True, True] Translation: X:892.48, Y:-153.60, Z:-56.10 [[ 9.96391265e-01 6.08359910e-02 5.91897708e-02 8.92481531e+02] [-6.07209393e-02 9.98147767e-01 -3.74211635e-03 -1.53600077e+02] [-5.93077929e-02 1.34553561e-04 9.98239735e-01 -5.60991215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.2007140569999 meters 0.021129447636958877 Centerline is valid? [True, True] Translation: X:892.51, Y:-153.60, Z:-56.10 [[ 9.96577996e-01 5.73560593e-02 5.95195781e-02 8.92509687e+02] [-5.72338220e-02 9.98353729e-01 -3.75788980e-03 -1.53603641e+02] [-5.96371304e-02 3.38497353e-04 9.98220065e-01 -5.61010141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.2307140569999 meters 0.021632867818710134 Centerline is valid? [True, True] Translation: X:892.54, Y:-153.61, Z:-56.10 [[ 9.96888346e-01 5.20653995e-02 5.91846177e-02 8.92537821e+02] [-5.19354636e-02 9.98643468e-01 -3.73260289e-03 -1.53608193e+02] [-5.92986713e-02 6.47207760e-04 9.98240076e-01 -5.61027835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.260714057 meters 0.02145031053866944 Centerline is valid? [True, True] Translation: X:892.57, Y:-153.61, Z:-56.10 [[ 9.96989834e-01 5.05652397e-02 5.87743753e-02 8.92568717e+02] [-5.04346749e-02 9.98720495e-01 -3.70370646e-03 -1.53608629e+02] [-5.88864519e-02 7.28291176e-04 9.98264422e-01 -5.61049718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.290714057 meters 0.021749022468937333 Centerline is valid? [True, True] Translation: X:892.60, Y:-153.61, Z:-56.11 [[ 9.97053628e-01 4.96041384e-02 5.85106189e-02 8.92599463e+02] [-4.94730870e-02 9.98768651e-01 -3.68715116e-03 -1.53609937e+02] [-5.86214699e-02 7.81586500e-04 9.98279977e-01 -5.61076647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.3207140569999 meters 0.022215187152944117 Centerline is valid? [True, True] Translation: X:892.63, Y:-153.61, Z:-56.11 [[ 9.97082723e-01 4.95200312e-02 5.80845055e-02 8.92629479e+02] [-4.93904600e-02 9.98772822e-01 -3.66512518e-03 -1.53612000e+02] [-5.81947226e-02 7.85612549e-04 9.98304942e-01 -5.61111558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.3507140569999 meters 0.021909503987552845 Centerline is valid? [True, True] Translation: X:892.66, Y:-153.61, Z:-56.11 [[ 9.97074550e-01 4.99487727e-02 5.78572511e-02 8.92659753e+02] [-4.98206524e-02 9.98751490e-01 -3.65566326e-03 -1.53611021e+02] [-5.79676116e-02 7.62482805e-04 9.98318173e-01 -5.61134199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.380714057 meters 0.02169916441765156 Centerline is valid? [True, True] Translation: X:892.69, Y:-153.61, Z:-56.12 [[ 9.97007474e-01 5.17706259e-02 5.74099167e-02 8.92690089e+02] [-5.16474984e-02 9.98658790e-01 -3.62739880e-03 -1.53606904e+02] [-5.75207107e-02 6.51465131e-04 9.98344101e-01 -5.61158547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.410714057 meters 0.021130035580384416 Centerline is valid? [True, True] Translation: X:892.72, Y:-153.61, Z:-56.12 [[ 9.96978810e-01 5.29610544e-02 5.68188231e-02 8.92719680e+02] [-5.28423815e-02 9.98596412e-01 -3.59008318e-03 -1.53605889e+02] [-5.69292075e-02 5.76794929e-04 9.98378051e-01 -5.61177211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.4407140569999 meters 0.021181944848300497 Centerline is valid? [True, True] Translation: X:892.75, Y:-153.61, Z:-56.12 [[ 9.96998562e-01 5.27337875e-02 5.66834722e-02 8.92748963e+02] [-5.26154267e-02 9.98608434e-01 -3.57953056e-03 -1.53606843e+02] [-5.67933556e-02 5.86361746e-04 9.98385783e-01 -5.61203540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.4707140569999 meters 0.021481532701602666 Centerline is valid? [True, True] Translation: X:892.78, Y:-153.61, Z:-56.12 [[ 9.97080845e-01 5.05868451e-02 5.71905624e-02 8.92777087e+02] [-5.04629430e-02 9.98719411e-01 -3.60951734e-03 -1.53611041e+02] [-5.72999189e-02 7.12976504e-04 9.98356755e-01 -5.61220008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.500714057 meters 0.021921042987030848 Centerline is valid? [True, True] Translation: X:892.81, Y:-153.62, Z:-56.13 [[ 9.97380786e-01 4.82626459e-02 5.38728536e-02 8.92805772e+02] [-4.81494463e-02 9.98834363e-01 -3.39793676e-03 -1.53615318e+02] [-5.39740509e-02 7.95088764e-04 9.98542022e-01 -5.61264300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.530714057 meters 0.02531007700129963 Centerline is valid? [True, True] Translation: X:892.83, Y:-153.63, Z:-56.14 [[ 9.98134249e-01 3.29439088e-02 5.14073868e-02 8.92834475e+02] [-3.28205901e-02 9.99456003e-01 -3.24140811e-03 -1.53634281e+02] [-5.14862060e-02 1.54813968e-03 9.98672506e-01 -5.61366904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.5607140569999 meters 0.02418603633415354 Centerline is valid? [True, True] Translation: X:892.87, Y:-153.63, Z:-56.14 [[ 9.97884039e-01 3.52709735e-02 5.46205416e-02 8.92866507e+02] [-3.51351939e-02 9.99376633e-01 -3.44444613e-03 -1.53632023e+02] [-5.47079819e-02 1.51805450e-03 9.98501243e-01 -5.61379911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.5907140569999 meters 0.024338667581456665 Centerline is valid? [True, True] Translation: X:892.90, Y:-153.63, Z:-56.14 [[ 9.97859357e-01 3.57459598e-02 5.47624909e-02 8.92899842e+02] [-3.56100644e-02 9.99359786e-01 -3.45562773e-03 -1.53634026e+02] [-5.48509560e-02 1.49813463e-03 9.98493429e-01 -5.61398122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.620714057 meters 0.024308773067439515 Centerline is valid? [True, True] Translation: X:892.93, Y:-153.64, Z:-56.14 [[ 9.97871625e-01 3.56123721e-02 5.46258178e-02 8.92932693e+02] [-3.54761150e-02 9.99364527e-01 -3.46233521e-03 -1.53636497e+02] [-5.47144066e-02 1.51705427e-03 9.98500893e-01 -5.61416652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.650714057 meters 0.024170639192727987 Centerline is valid? [True, True] Translation: X:892.96, Y:-153.64, Z:-56.14 [[ 9.97918904e-01 3.47127900e-02 5.43404415e-02 8.92964671e+02] [-3.45757846e-02 9.99396091e-01 -3.45962435e-03 -1.53638435e+02] [-5.44277180e-02 1.57356113e-03 9.98516473e-01 -5.61434515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.6807140569999 meters 0.02423120711741235 Centerline is valid? [True, True] Translation: X:893.00, Y:-153.64, Z:-56.15 [[ 9.97918216e-01 3.47440407e-02 5.43331020e-02 8.92997636e+02] [-3.46063810e-02 9.99394986e-01 -3.47269188e-03 -1.53641020e+02] [-5.44208851e-02 1.58519045e-03 9.98516827e-01 -5.61453275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.7107140569999 meters 0.024501787729921853 Centerline is valid? [True, True] Translation: X:893.03, Y:-153.64, Z:-56.15 [[ 9.97892936e-01 3.53571123e-02 5.44018608e-02 8.93028779e+02] [-3.52191318e-02 9.99373509e-01 -3.49323673e-03 -1.53643555e+02] [-5.44912893e-02 1.56988996e-03 9.98513012e-01 -5.61472983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.7407140569999 meters 0.024406179049858524 Centerline is valid? [True, True] Translation: X:893.06, Y:-153.64, Z:-56.15 [[ 9.97890457e-01 3.61315694e-02 5.39364882e-02 8.93060565e+02] [-3.59966830e-02 9.99345883e-01 -3.47053882e-03 -1.53644977e+02] [-5.40266035e-02 1.52168291e-03 9.98538337e-01 -5.61496115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.770714057 meters 0.024284060810056993 Centerline is valid? [True, True] Translation: X:893.09, Y:-153.65, Z:-56.15 [[ 9.97882111e-01 3.65671312e-02 5.37971816e-02 8.93093258e+02] [-3.64328665e-02 9.99330062e-01 -3.47467493e-03 -1.53647411e+02] [-5.38881998e-02 1.50733041e-03 9.98545838e-01 -5.61519347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.8007140569999 meters 0.024308443081944207 Centerline is valid? [True, True] Translation: X:893.13, Y:-153.65, Z:-56.15 [[ 9.97880888e-01 3.65258034e-02 5.38479355e-02 8.93125908e+02] [-3.63904036e-02 9.99331545e-01 -3.49315666e-03 -1.53649976e+02] [-5.39395309e-02 1.52620617e-03 9.98543038e-01 -5.61538358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.8307140569999 meters 0.025942159594309216 Centerline is valid? [True, True] Translation: X:893.16, Y:-153.66, Z:-56.16 [[ 9.97893598e-01 3.61583447e-02 5.38603950e-02 8.93156526e+02] [-3.60215114e-02 9.99344853e-01 -3.50944443e-03 -1.53655253e+02] [-5.39520042e-02 1.56191930e-03 9.98542308e-01 -5.61554210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.8607140569999 meters 0.02472338765898391 Centerline is valid? [True, True] Translation: X:893.19, Y:-153.65, Z:-56.16 [[ 9.97908675e-01 3.61625872e-02 5.35774525e-02 8.93189590e+02] [-3.60265546e-02 9.99344694e-01 -3.50293363e-03 -1.53654577e+02] [-5.36690180e-02 1.56539685e-03 9.98557553e-01 -5.61569432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.890714057 meters 0.02446239390569082 Centerline is valid? [True, True] Translation: X:893.22, Y:-153.66, Z:-56.16 [[ 9.97883478e-01 3.65631289e-02 5.37745523e-02 8.93222314e+02] [-3.64258532e-02 9.99330120e-01 -3.53101774e-03 -1.53656413e+02] [-5.38676349e-02 1.56476032e-03 9.98546859e-01 -5.61586329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.9207140569999 meters 0.024559221534494746 Centerline is valid? [True, True] Translation: X:893.26, Y:-153.66, Z:-56.16 [[ 9.97889110e-01 3.69471425e-02 5.34062944e-02 8.93255169e+02] [-3.68114852e-02 9.99316022e-01 -3.52189134e-03 -1.53658887e+02] [-5.34998895e-02 1.54849200e-03 9.98566655e-01 -5.61606220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.9507140569999 meters 0.024836152189678166 Centerline is valid? [True, True] Translation: X:893.29, Y:-153.66, Z:-56.16 [[ 9.97891924e-01 3.65779311e-02 5.36074892e-02 8.93287679e+02] [-3.64398953e-02 9.99329539e-01 -3.55043423e-03 -1.53661623e+02] [-5.37014150e-02 1.58949836e-03 9.98555773e-01 -5.61627480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.9807140569999 meters 0.024950697725882386 Centerline is valid? [True, True] Translation: X:893.32, Y:-153.66, Z:-56.16 [[ 9.97882134e-01 3.66554460e-02 5.37366230e-02 8.93320589e+02] [-3.65161480e-02 9.99326679e-01 -3.57211442e-03 -1.53664176e+02] [-5.38313784e-02 1.60229469e-03 9.98548755e-01 -5.61646020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.010714057 meters 0.027549099139966775 Centerline is valid? [True, True] Translation: X:893.35, Y:-153.67, Z:-56.17 [[ 9.97865125e-01 3.69106673e-02 5.38775892e-02 8.93352108e+02] [-3.67701788e-02 9.99317275e-01 -3.59682874e-03 -1.53671750e+02] [-5.39735670e-02 1.60806138e-03 9.98541070e-01 -5.61671232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.040714057 meters 0.024740135284325192 Centerline is valid? [True, True] Translation: X:893.39, Y:-153.67, Z:-56.17 [[ 9.97849178e-01 3.69991685e-02 5.41117395e-02 8.93385927e+02] [-3.68568192e-02 9.99313976e-01 -3.62656029e-03 -1.53668102e+02] [-5.42087973e-02 1.62437360e-03 9.98528301e-01 -5.61679451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.0707140569999 meters 0.024986680069656375 Centerline is valid? [True, True] Translation: X:893.42, Y:-153.67, Z:-56.17 [[ 9.97834116e-01 3.72691706e-02 5.42041215e-02 8.93417595e+02] [-3.71258918e-02 9.99303937e-01 -3.64819981e-03 -1.53671099e+02] [-5.43023574e-02 1.62792188e-03 9.98523212e-01 -5.61695712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.1007140569999 meters 0.024986680069656375 Centerline is valid? [True, True] Translation: X:893.45, Y:-153.67, Z:-56.17 [[ 9.97823728e-01 3.75476446e-02 5.42031629e-02 8.93450119e+02] [-3.74040062e-02 9.99293514e-01 -3.66238532e-03 -1.53673366e+02] [-5.43023830e-02 1.62699953e-03 9.98523212e-01 -5.61714534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.130714057 meters 0.024488353074766454 Centerline is valid? [True, True] Translation: X:893.48, Y:-153.67, Z:-56.17 [[ 9.97791558e-01 3.82013455e-02 5.43384133e-02 8.93482809e+02] [-3.80571189e-02 9.99268764e-01 -3.68688160e-03 -1.53673992e+02] [-5.44395229e-02 1.61077588e-03 9.98515770e-01 -5.61730812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.160714057 meters 0.02477698064041409 Centerline is valid? [True, True] Translation: X:893.52, Y:-153.68, Z:-56.18 [[ 9.97794188e-01 3.86208682e-02 5.39924815e-02 8.93515254e+02] [-3.84783655e-02 9.99252669e-01 -3.67673820e-03 -1.53676709e+02] [-5.40941301e-02 1.59108557e-03 9.98534573e-01 -5.61751903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.1907140569999 meters 0.024744831615832418 Centerline is valid? [True, True] Translation: X:893.55, Y:-153.68, Z:-56.18 [[ 9.97770884e-01 3.90283639e-02 5.41299368e-02 8.93547477e+02] [-3.88849484e-02 9.99236842e-01 -3.70053560e-03 -1.53679533e+02] [-5.42330529e-02 1.58744688e-03 9.98527043e-01 -5.61770762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.2207140569999 meters 0.02465567496953917 Centerline is valid? [True, True] Translation: X:893.58, Y:-153.68, Z:-56.18 [[ 9.97804595e-01 3.90376169e-02 5.34981775e-02 8.93579978e+02] [-3.88968020e-02 9.99236489e-01 -3.67121867e-03 -1.53681826e+02] [-5.36006466e-02 1.58225085e-03 9.98561199e-01 -5.61797270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.250714057 meters 0.02471279841117537 Centerline is valid? [True, True] Translation: X:893.61, Y:-153.68, Z:-56.18 [[ 9.97806494e-01 3.93780368e-02 5.32125137e-02 8.93613233e+02] [-3.92384078e-02 9.99223150e-01 -3.66657828e-03 -1.53684210e+02] [-5.33155582e-02 1.57056130e-03 9.98576479e-01 -5.61821004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.280714057 meters 0.024870802250256955 Centerline is valid? [True, True] Translation: X:893.65, Y:-153.69, Z:-56.18 [[ 9.97801257e-01 3.94706754e-02 5.32420647e-02 8.93646117e+02] [-3.93302178e-02 9.99219478e-01 -3.68368307e-03 -1.53687047e+02] [-5.33459056e-02 1.58156159e-03 9.98574841e-01 -5.61840275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.3107140569999 meters 0.02451953701472793 Centerline is valid? [True, True] Translation: X:893.68, Y:-153.69, Z:-56.19 [[ 9.97832236e-01 3.87429285e-02 5.31960066e-02 8.93678521e+02] [-3.86008778e-02 9.99247875e-01 -3.69555506e-03 -1.53688970e+02] [-5.32991731e-02 1.63413142e-03 9.98577252e-01 -5.61855972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.3407140569999 meters 0.025691189699722165 Centerline is valid? [True, True] Translation: X:893.71, Y:-153.69, Z:-56.19 [[ 9.97961485e-01 3.63169368e-02 5.24781401e-02 8.93709297e+02] [-3.61746635e-02 9.99338785e-01 -3.65871685e-03 -1.53694080e+02] [-5.25763142e-02 1.75287944e-03 9.98615371e-01 -5.61883999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.370714057 meters 0.02741481039813722 Centerline is valid? [True, True] Translation: X:893.74, Y:-153.70, Z:-56.19 [[ 9.98020677e-01 3.59954354e-02 5.15660506e-02 8.93739579e+02] [-3.58570265e-02 9.99350421e-01 -3.60701780e-03 -1.53700529e+02] [-5.16623905e-02 1.75087310e-03 9.98663072e-01 -5.61914942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.400714057 meters 0.027961628500359 Centerline is valid? [True, True] Translation: X:893.77, Y:-153.70, Z:-56.19 [[ 9.98101553e-01 3.54068032e-02 5.03949279e-02 8.93770984e+02] [-3.52733942e-02 9.99371450e-01 -3.53445611e-03 -1.53704251e+02] [-5.04883959e-02 1.75014597e-03 9.98723114e-01 -5.61945999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.4307140569999 meters 0.026179365028653222 Centerline is valid? [True, True] Translation: X:893.80, Y:-153.70, Z:-56.20 [[ 9.98103522e-01 3.56045964e-02 5.02162495e-02 8.93804651e+02] [-3.54718620e-02 9.99364433e-01 -3.53226063e-03 -1.53702999e+02] [-5.03100984e-02 1.74429791e-03 9.98732122e-01 -5.61961135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.4607140569999 meters 0.025995130835666014 Centerline is valid? [True, True] Translation: X:893.84, Y:-153.70, Z:-56.20 [[ 9.98093914e-01 3.57629965e-02 5.02946050e-02 8.93838119e+02] [-3.56293335e-02 9.99358762e-01 -3.55193047e-03 -1.53704420e+02] [-5.03893819e-02 1.75319693e-03 9.98728109e-01 -5.61973546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.4907140569999 meters 0.026340954619809974 Centerline is valid? [True, True] Translation: X:893.87, Y:-153.71, Z:-56.20 [[ 9.98053139e-01 3.61259948e-02 5.08413560e-02 8.93869790e+02] [-3.59891248e-02 9.99345678e-01 -3.60529020e-03 -1.53706780e+02] [-5.09383341e-02 1.76853529e-03 9.98700235e-01 -5.61982460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.520714057 meters 0.026406213650990145 Centerline is valid? [True, True] Translation: X:893.90, Y:-153.71, Z:-56.20 [[ 9.98047927e-01 3.63297802e-02 5.07984468e-02 8.93902910e+02] [-3.61927270e-02 9.99338288e-01 -3.61554648e-03 -1.53709254e+02] [-5.08961849e-02 1.76995436e-03 9.98702381e-01 -5.62000050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.5507140569999 meters 0.02633470352170339 Centerline is valid? [True, True] Translation: X:893.94, Y:-153.71, Z:-56.20 [[ 9.98018271e-01 3.67388492e-02 5.10860735e-02 8.93935668e+02] [-3.66000350e-02 9.99323327e-01 -3.65041486e-03 -1.53711424e+02] [-5.11856170e-02 1.77342865e-03 9.98687583e-01 -5.62014552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.5807140569999 meters 0.025389140215318396 Centerline is valid? [True, True] Translation: X:893.97, Y:-153.71, Z:-56.20 [[ 9.98004100e-01 3.70332578e-02 5.11503118e-02 8.93968580e+02] [-3.68937464e-02 9.99312458e-01 -3.66929656e-03 -1.53711908e+02] [-5.12510298e-02 1.77484638e-03 9.98684225e-01 -5.62029947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.6107140569999 meters 0.026018502574982824 Centerline is valid? [True, True] Translation: X:894.00, Y:-153.72, Z:-56.21 [[ 9.97960490e-01 3.77121869e-02 5.15038995e-02 8.93999776e+02] [-3.75708243e-02 9.99287079e-01 -3.71045410e-03 -1.53715239e+02] [-5.16071107e-02 1.76784263e-03 9.98665901e-01 -5.62054191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.640714057 meters 0.026168871015995784 Centerline is valid? [True, True] Translation: X:894.03, Y:-153.72, Z:-56.21 [[ 9.97879086e-01 3.91384374e-02 5.20145483e-02 8.94030582e+02] [-3.89958206e-02 9.99232321e-01 -3.75429382e-03 -1.53717606e+02] [-5.21215550e-02 1.71798129e-03 9.98639270e-01 -5.62070764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.6707140569999 meters 0.025824282276836655 Centerline is valid? [True, True] Translation: X:894.06, Y:-153.72, Z:-56.21 [[ 9.97799901e-01 3.99234615e-02 5.29289535e-02 8.94063164e+02] [-3.97762389e-02 9.99201263e-01 -3.83241868e-03 -1.53718631e+02] [-5.30396806e-02 1.71867228e-03 9.98590927e-01 -5.62082717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.7007140569999 meters 0.025385347747951117 Centerline is valid? [True, True] Translation: X:894.10, Y:-153.72, Z:-56.21 [[ 9.97702665e-01 4.06794075e-02 5.41717503e-02 8.94095893e+02] [-4.05255525e-02 9.99170750e-01 -3.93604439e-03 -1.53720040e+02] [-5.42869443e-02 1.73166187e-03 9.98523875e-01 -5.62091403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.7307140569999 meters 0.025396626315768656 Centerline is valid? [True, True] Translation: X:894.13, Y:-153.72, Z:-56.21 [[ 9.97593739e-01 4.10018043e-02 5.59069286e-02 8.94128667e+02] [-4.08376187e-02 9.99157480e-01 -4.07653901e-03 -1.53721833e+02] [-5.60269714e-02 1.78362396e-03 9.98427662e-01 -5.62085757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.760714057 meters 0.02554753684688166 Centerline is valid? [True, True] Translation: X:894.16, Y:-153.72, Z:-56.21 [[ 9.97529459e-01 4.08754581e-02 5.71329718e-02 8.94161901e+02] [-4.07033163e-02 9.99162558e-01 -4.17395022e-03 -1.53723796e+02] [-5.72557384e-02 1.83813688e-03 9.98357853e-01 -5.62101277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.790714057 meters 0.026039886883473935 Centerline is valid? [True, True] Translation: X:894.19, Y:-153.73, Z:-56.21 [[ 9.97520406e-01 4.04584107e-02 5.75860732e-02 8.94193019e+02] [-4.02818848e-02 9.99179430e-01 -4.22341026e-03 -1.53727188e+02] [-5.77096923e-02 1.89326235e-03 9.98331612e-01 -5.62119285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.8207140569999 meters 0.0262702002233552 Centerline is valid? [True, True] Translation: X:894.22, Y:-153.73, Z:-56.21 [[ 9.97523202e-01 4.04763497e-02 5.75250053e-02 8.94224601e+02] [-4.02997838e-02 9.99178694e-01 -4.22662982e-03 -1.53730621e+02] [-5.76488382e-02 1.89791604e-03 9.98335119e-01 -5.62145593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.8507140569999 meters 0.02697554966761032 Centerline is valid? [True, True] Translation: X:894.26, Y:-153.73, Z:-56.22 [[ 9.97553875e-01 4.04673291e-02 5.69970390e-02 8.94256366e+02] [-4.02934239e-02 9.99179073e-01 -4.19753917e-03 -1.53734498e+02] [-5.71201119e-02 1.89066561e-03 9.98365523e-01 -5.62170966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.880714057 meters 0.027232792442900642 Centerline is valid? [True, True] Translation: X:894.29, Y:-153.74, Z:-56.22 [[ 9.97524563e-01 3.97950446e-02 5.79749981e-02 8.94288320e+02] [-3.96130970e-02 9.99205907e-01 -4.28471440e-03 -1.53737123e+02] [-5.80994709e-02 1.97753863e-03 9.98308840e-01 -5.62189958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.910714057 meters 0.026963628469677956 Centerline is valid? [True, True] Translation: X:894.32, Y:-153.74, Z:-56.22 [[ 9.97489421e-01 3.97525321e-02 5.86053804e-02 8.94321610e+02] [-3.95656954e-02 9.99207522e-01 -4.34544606e-03 -1.53738725e+02] [-5.87316794e-02 2.01577385e-03 9.98271770e-01 -5.62204725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.9407140569999 meters 0.02755837876274035 Centerline is valid? [True, True] Translation: X:894.35, Y:-153.74, Z:-56.22 [[ 9.97432675e-01 3.99374583e-02 5.94395409e-02 8.94353853e+02] [-3.97445924e-02 9.99200078e-01 -4.42392975e-03 -1.53742524e+02] [-5.95686744e-02 2.05017176e-03 9.98222104e-01 -5.62219237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.9707140569999 meters 0.02813119029783303 Centerline is valid? [True, True] Translation: X:894.39, Y:-153.75, Z:-56.22 [[ 9.97323764e-01 4.01445100e-02 6.11042480e-02 8.94386150e+02] [-3.99400714e-02 9.99191654e-01 -4.56395415e-03 -1.53745507e+02] [-6.12380723e-02 2.11123190e-03 9.98120955e-01 -5.62234374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.000714057 meters 0.02812775367600402 Centerline is valid? [True, True] Translation: X:894.42, Y:-153.75, Z:-56.23 [[ 9.97280193e-01 4.04277493e-02 6.16264033e-02 8.94418668e+02] [-4.02193605e-02 9.99180199e-01 -4.61871808e-03 -1.53748387e+02] [-6.17626063e-02 2.12758152e-03 9.98088600e-01 -5.62255647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.030714057 meters 0.029312204680197605 Centerline is valid? [True, True] Translation: X:894.45, Y:-153.75, Z:-56.23 [[ 9.97175345e-01 3.98251570e-02 6.36811413e-02 8.94450580e+02] [-3.96003403e-02 9.99204122e-01 -4.78914313e-03 -1.53752190e+02] [-6.38211872e-02 2.25382059e-03 9.97958805e-01 -5.62266037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.0607140569999 meters 0.02683007670806812 Centerline is valid? [True, True] Translation: X:894.48, Y:-153.75, Z:-56.23 [[ 9.97108369e-01 3.96617929e-02 6.48216171e-02 8.94483383e+02] [-3.94280529e-02 9.99210487e-01 -4.88167187e-03 -1.53749869e+02] [-6.49640555e-02 2.31176572e-03 9.97884927e-01 -5.62287605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.0907140569999 meters 0.02813143829832406 Centerline is valid? [True, True] Translation: X:894.51, Y:-153.75, Z:-56.23 [[ 9.96993298e-01 3.97521422e-02 6.65141347e-02 8.94514689e+02] [-3.95050672e-02 9.99206728e-01 -5.02631121e-03 -1.53753957e+02] [-6.66611775e-02 2.38355323e-03 9.97772823e-01 -5.62297829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.120714057 meters 0.028866606089399633 Centerline is valid? [True, True] Translation: X:894.55, Y:-153.76, Z:-56.23 [[ 9.96881055e-01 3.82916360e-02 6.90066099e-02 8.94546523e+02] [-3.80211190e-02 9.99263250e-01 -5.22980860e-03 -1.53757379e+02] [-6.91560272e-02 2.58978859e-03 9.97602494e-01 -5.62314615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.150714057 meters 0.03021465551541898 Centerline is valid? [True, True] Translation: X:894.58, Y:-153.76, Z:-56.23 [[ 9.96888058e-01 3.66329325e-02 6.98013461e-02 8.94578018e+02] [-3.63515100e-02 9.99325021e-01 -5.29817611e-03 -1.53761830e+02] [-6.99483193e-02 2.74430417e-03 9.97546842e-01 -5.62337755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.1807140569999 meters 0.030242183073131673 Centerline is valid? [True, True] Translation: X:894.61, Y:-153.76, Z:-56.24 [[ 9.96859745e-01 3.59911829e-02 7.05356927e-02 8.94609823e+02] [-3.57009869e-02 9.99348084e-01 -5.37094018e-03 -1.53764178e+02] [-7.06830158e-02 2.83588021e-03 9.97494797e-01 -5.62364441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.2107140569999 meters 0.031205769046029126 Centerline is valid? [True, True] Translation: X:894.64, Y:-153.77, Z:-56.24 [[ 9.96917658e-01 3.32997504e-02 7.10373872e-02 8.94641100e+02] [-3.29974510e-02 9.99440712e-01 -5.42509606e-03 -1.53768153e+02] [-7.11783112e-02 3.06432135e-03 9.97458900e-01 -5.62408045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.2407140569999 meters 0.035093080665545145 Centerline is valid? [True, True] Translation: X:894.67, Y:-153.78, Z:-56.24 [[ 9.96934784e-01 3.21699149e-02 7.13171376e-02 8.94671536e+02] [-3.18617972e-02 9.99477403e-01 -5.45407694e-03 -1.53776759e+02] [-7.14553247e-02 3.16506684e-03 9.97438780e-01 -5.62423316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.270714057 meters 0.03304014341776751 Centerline is valid? [True, True] Translation: X:894.70, Y:-153.78, Z:-56.25 [[ 9.96957812e-01 3.00728861e-02 7.19078749e-02 8.94703355e+02] [-2.97530923e-02 9.99542067e-01 -5.51451305e-03 -1.53775986e+02] [-7.20407832e-02 3.35825523e-03 9.97396034e-01 -5.62474598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.3007140569999 meters 0.039494830344633636 Centerline is valid? [True, True] Translation: X:894.73, Y:-153.79, Z:-56.25 [[ 9.96918018e-01 2.96979770e-02 7.26119532e-02 8.94733567e+02] [-2.93702665e-02 9.99553043e-01 -5.57697999e-03 -1.53787019e+02] [-7.27451238e-02 3.42715942e-03 9.97344675e-01 -5.62472960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.3307140569999 meters 0.03513725630140971 Centerline is valid? [True, True] Translation: X:894.77, Y:-153.78, Z:-56.25 [[ 9.96836581e-01 2.94370309e-02 7.38261003e-02 8.94766247e+02] [-2.90960392e-02 9.99560424e-01 -5.69033031e-03 -1.53782429e+02] [-7.39611545e-02 3.52428230e-03 9.97254896e-01 -5.62521033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.3607140569999 meters 0.03665988351219003 Centerline is valid? [True, True] Translation: X:894.80, Y:-153.78, Z:-56.25 [[ 9.96670171e-01 3.02671074e-02 7.57130945e-02 8.94798594e+02] [-2.99091832e-02 9.99535460e-01 -5.85706380e-03 -1.53784586e+02] [-7.58551991e-02 3.57304397e-03 9.97112442e-01 -5.62546606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.390714057 meters 0.03730007715121138 Centerline is valid? [True, True] Translation: X:894.83, Y:-153.79, Z:-56.26 [[ 9.96585159e-01 3.11225384e-02 7.64814202e-02 8.94830278e+02] [-3.07581223e-02 9.99509216e-01 -5.93838044e-03 -1.53787045e+02] [-7.66287018e-02 3.56567695e-03 9.97053323e-01 -5.62567564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.4207140569999 meters 0.036190052701183265 Centerline is valid? [True, True] Translation: X:894.86, Y:-153.79, Z:-56.26 [[ 9.96427676e-01 3.19906381e-02 7.81567969e-02 8.94863789e+02] [-3.16109652e-02 9.99481692e-01 -6.09053197e-03 -1.53786780e+02] [-7.83111276e-02 3.59816283e-03 9.96922475e-01 -5.62600394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.4507140569999 meters 0.03847241321047811 Centerline is valid? [True, True] Translation: X:894.89, Y:-153.79, Z:-56.26 [[ 9.96296973e-01 3.19343815e-02 7.98281710e-02 8.94894192e+02] [-3.15363474e-02 9.99483113e-01 -6.24225149e-03 -1.53791665e+02] [-7.99862513e-02 3.70164733e-03 9.96789094e-01 -5.62613734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.4807140569999 meters 0.035316766283564734 Centerline is valid? [True, True] Translation: X:894.93, Y:-153.78, Z:-56.27 [[ 9.96056691e-01 3.29457518e-02 8.23750302e-02 8.94926357e+02] [-3.25240663e-02 9.99450101e-01 -6.45609575e-03 -1.53784987e+02] [-8.25424331e-02 3.75146643e-03 9.96580490e-01 -5.62680294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.510714057 meters 0.0359601194849832 Centerline is valid? [True, True] Translation: X:894.96, Y:-153.79, Z:-56.27 [[ 9.95961103e-01 3.34258864e-02 8.33318157e-02 8.94958298e+02] [-3.29941549e-02 9.99434062e-01 -6.55301404e-03 -1.53787449e+02] [-8.35036953e-02 3.77708426e-03 9.96500309e-01 -5.62702202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.540714057 meters 0.03695972843380676 Centerline is valid? [True, True] Translation: X:894.99, Y:-153.79, Z:-56.27 [[ 9.95860340e-01 3.32672644e-02 8.45900242e-02 8.94990464e+02] [-3.28199942e-02 9.99439002e-01 -6.67302088e-03 -1.53788976e+02] [-8.47645625e-02 3.86915274e-03 9.96393496e-01 -5.62730843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.5707140569999 meters 0.044952082923187135 Centerline is valid? [True, True] Translation: X:895.02, Y:-153.80, Z:-56.27 [[ 9.95751345e-01 3.50735434e-02 8.51416803e-02 8.95021061e+02] [-3.46252063e-02 9.99377659e-01 -6.73723937e-03 -1.53799162e+02] [-8.53249919e-02 3.76056692e-03 9.96346076e-01 -5.62700021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.6007140569999 meters 0.04012897411228685 Centerline is valid? [True, True] Translation: X:895.05, Y:-153.79, Z:-56.28 [[ 9.95730611e-01 3.67692667e-02 8.46674167e-02 8.95053896e+02] [-3.63303588e-02 9.99317244e-01 -6.71937306e-03 -1.53790935e+02] [-8.48566760e-02 3.61468781e-03 9.96386611e-01 -5.62787244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.630714057 meters 0.040625331390204585 Centerline is valid? [True, True] Translation: X:895.09, Y:-153.79, Z:-56.28 [[ 9.95505464e-01 3.90674114e-02 8.62705537e-02 8.95085923e+02] [-3.86184195e-02 9.99230429e-01 -6.86791248e-03 -1.53789750e+02] [-8.64724739e-02 3.50541196e-03 9.96248073e-01 -5.62828651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.660714057 meters 0.043423666292148666 Centerline is valid? [True, True] Translation: X:895.12, Y:-153.79, Z:-56.28 [[ 9.95415579e-01 4.05555100e-02 8.66202925e-02 8.95116498e+02] [-4.01066490e-02 9.99171465e-01 -6.91668243e-03 -1.53794632e+02] [-8.68290341e-02 3.41092378e-03 9.96217388e-01 -5.62844101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.6907140569999 meters 0.04580093500213206 Centerline is valid? [True, True] Translation: X:895.15, Y:-153.80, Z:-56.29 [[ 9.95265129e-01 4.30299119e-02 8.71536037e-02 8.95147478e+02] [-4.25832157e-02 9.99068548e-01 -6.97896470e-03 -1.53799034e+02] [-8.73727286e-02 3.23463949e-03 9.96170439e-01 -5.62870713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.7207140569999 meters 0.04518545648774663 Centerline is valid? [True, True] Translation: X:895.18, Y:-153.80, Z:-56.29 [[ 9.95182805e-01 4.53122303e-02 8.69366764e-02 8.95178703e+02] [-4.48752485e-02 9.98968247e-01 -6.97523322e-03 -1.53796711e+02] [-8.71630426e-02 3.04032720e-03 9.96189420e-01 -5.62924646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.750714057 meters 0.04559607976861145 Centerline is valid? [True, True] Translation: X:895.21, Y:-153.80, Z:-56.30 [[ 9.95036536e-01 4.65837740e-02 8.79331750e-02 8.95211367e+02] [-4.61406835e-02 9.98909961e-01 -7.06593399e-03 -1.53796102e+02] [-8.81664823e-02 2.97356569e-03 9.96101315e-01 -5.62966571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.780714057 meters 0.04792784615739229 Centerline is valid? [True, True] Translation: X:895.24, Y:-153.80, Z:-56.30 [[ 9.94868625e-01 4.78734841e-02 8.91322015e-02 8.95242942e+02] [-4.74210828e-02 9.98849128e-01 -7.18753036e-03 -1.53801105e+02] [-8.93737139e-02 2.92390293e-03 9.95993871e-01 -5.62962276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.8107140569999 meters 0.05051879560234692 Centerline is valid? [True, True] Translation: X:895.27, Y:-153.80, Z:-56.30 [[ 9.94720018e-01 4.92610787e-02 9.00301734e-02 8.95274495e+02] [-4.88029798e-02 9.98781865e-01 -7.28390362e-03 -1.53804523e+02] [-9.02793175e-02 2.85170400e-03 9.95912402e-01 -5.62960678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.8407140569999 meters 0.05446494711713789 Centerline is valid? [True, True] Translation: X:895.31, Y:-153.80, Z:-56.30 [[ 9.94441582e-01 5.14940796e-02 9.18384476e-02 8.95307554e+02] [-5.10245337e-02 9.98669575e-01 -7.45496713e-03 -1.53802584e+02] [-9.21001501e-02 2.72751534e-03 9.95746013e-01 -5.63002158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.870714057 meters 0.05754304970981304 Centerline is valid? [True, True] Translation: X:895.34, Y:-153.81, Z:-56.30 [[ 9.94233741e-01 5.32421273e-02 9.30835297e-02 8.95339412e+02] [-5.27649533e-02 9.98578178e-01 -7.58168067e-03 -1.53805470e+02] [-9.33548463e-02 2.62641464e-03 9.95629436e-01 -5.63006958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.900714057 meters 0.0626620935292935 Centerline is valid? [True, True] Translation: X:895.37, Y:-153.80, Z:-56.31 [[ 9.93859719e-01 5.60400614e-02 9.54063466e-02 8.95371291e+02] [-5.55491762e-02 9.98425520e-01 -7.79548573e-03 -1.53804620e+02] [-9.56929908e-02 2.44787530e-03 9.95407886e-01 -5.63052349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.9307140569999 meters 0.06404978730003787 Centerline is valid? [True, True] Translation: X:895.40, Y:-153.81, Z:-56.31 [[ 9.93640225e-01 5.82842974e-02 9.63433626e-02 8.95403555e+02] [-5.77919192e-02 9.98297427e-01 -7.89559794e-03 -1.53806487e+02] [-9.66395204e-02 2.27751588e-03 9.95316842e-01 -5.63075084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.9607140569999 meters 0.07120011221068856 Centerline is valid? [True, True] Translation: X:895.43, Y:-153.81, Z:-56.31 [[ 9.93148204e-01 6.11687663e-02 9.95742303e-02 8.95434073e+02] [-6.06555445e-02 9.98125269e-01 -8.17627410e-03 -1.53808532e+02] [-9.98876881e-02 2.08052277e-03 9.94996543e-01 -5.63084834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.9907140569999 meters 0.07485403274523203 Centerline is valid? [True, True] Translation: X:895.47, Y:-153.81, Z:-56.31 [[ 9.92838145e-01 6.27865416e-02 1.01637931e-01 8.95466094e+02] [-6.22589002e-02 9.98025033e-01 -8.35838806e-03 -1.53809076e+02] [-1.01961994e-01 1.97066067e-03 9.94786343e-01 -5.63110920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.020714057 meters 0.07485403274523203 Centerline is valid? [True, True] Translation: X:895.50, Y:-153.81, Z:-56.31 [[ 9.92821025e-01 6.30600996e-02 1.01635798e-01 8.95498608e+02] [-6.25312394e-02 9.98007790e-01 -8.38426449e-03 -1.53811827e+02] [-1.01962031e-01 1.96866164e-03 9.94786343e-01 -5.63129760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.0507140569999 meters 0.08043840425094402 Centerline is valid? [True, True] Translation: X:895.53, Y:-153.81, Z:-56.31 [[ 9.92513526e-01 6.42516083e-02 1.03868339e-01 8.95529567e+02] [-6.37036389e-02 9.97931909e-01 -8.58786135e-03 -1.53813343e+02] [-1.04205314e-01 1.90677738e-03 9.94553979e-01 -5.63126626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.0807140569999 meters 0.08220146716950534 Centerline is valid? [True, True] Translation: X:895.56, Y:-153.81, Z:-56.32 [[ 9.92236984e-01 6.49751042e-02 1.06037750e-01 8.95561729e+02] [-6.44072294e-02 9.97885120e-01 -8.77474893e-03 -1.53813819e+02] [-1.06383634e-01 1.87703269e-03 9.94323388e-01 -5.63195976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.1107140569999 meters 0.08974961194304033 Centerline is valid? [True, True] Translation: X:895.59, Y:-153.82, Z:-56.32 [[ 9.91856023e-01 6.43184217e-02 1.09930757e-01 8.95592412e+02] [-6.37033094e-02 9.97927372e-01 -9.10211647e-03 -1.53816283e+02] [-1.10288345e-01 2.02503603e-03 9.93897570e-01 -5.63230356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.140714057 meters 0.09330188353915589 Centerline is valid? [True, True] Translation: X:895.62, Y:-153.82, Z:-56.33 [[ 9.91594634e-01 6.40195462e-02 1.12434781e-01 8.95622142e+02] [-6.33739355e-02 9.97946421e-01 -9.31048738e-03 -1.53819246e+02] [-1.12799941e-01 2.10679475e-03 9.93615486e-01 -5.63251924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.1707140569999 meters 0.09755943680225605 Centerline is valid? [True, True] Translation: X:895.65, Y:-153.82, Z:-56.33 [[ 9.91473056e-01 6.33832479e-02 1.13858435e-01 8.95653695e+02] [-6.27161620e-02 9.97986805e-01 -9.43505223e-03 -1.53822483e+02] [-1.14227240e-01 2.21383602e-03 9.93452181e-01 -5.63293892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.2007140569999 meters 0.10383733005650385 Centerline is valid? [True, False] Translation: X:895.66, Y:-153.82, Z:-56.33 [[ 9.91798787e-01 5.99709981e-02 1.12865606e-01 8.95655914e+02] [-5.87760466e-02 9.98174579e-01 -1.38883232e-02 -1.53819984e+02] [-1.13492475e-01 7.14062798e-03 9.93513195e-01 -5.63307202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.2307140569999 meters 0.11079121824120591 Centerline is valid? [False, False] Translation: X:895.67, Y:-153.82, Z:-56.33 [[ 9.93823027e-01 5.40112195e-02 9.69462646e-02 8.95665381e+02] [-5.33441008e-02 9.98531361e-01 -9.46195054e-03 -1.53819097e+02] [-9.73149370e-02 4.23199302e-03 9.95244640e-01 -5.63267679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.260714057 meters 0.1117725934489561 Centerline is valid? [False, False] Translation: X:895.67, Y:-153.82, Z:-56.33 [[ 9.93838215e-01 5.40427158e-02 9.67728655e-02 8.95666089e+02] [-5.33678484e-02 9.98529249e-01 -9.55045941e-03 -1.53818340e+02] [-9.71466695e-02 4.32705192e-03 9.95260670e-01 -5.63273563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.290714057 meters 0.1129195089822708 Centerline is valid? [False, False] Translation: X:895.67, Y:-153.82, Z:-56.32 [[ 9.95523559e-01 5.29995239e-02 7.82553137e-02 8.95672895e+02] [-5.23881115e-02 9.98578251e-01 -9.84690639e-03 -1.53817217e+02] [-7.86659357e-02 5.70317919e-03 9.96884720e-01 -5.63208557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.3207140569999 meters 0.1179472066530771 Centerline is valid? [False, False] Translation: X:895.67, Y:-153.82, Z:-56.32 [[ 9.95510243e-01 5.31640608e-02 7.83130837e-02 8.95673172e+02] [-5.25788819e-02 9.98571425e-01 -9.51688214e-03 -1.53818030e+02] [-7.87071636e-02 5.35653927e-03 9.96883388e-01 -5.63214848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.3507140569999 meters 0.12155044376218466 Centerline is valid? [False, False] Translation: X:895.67, Y:-153.82, Z:-56.32 [[ 9.95775883e-01 4.93833061e-02 7.74059413e-02 8.95674905e+02] [-4.84160007e-02 9.98724530e-01 -1.43249120e-02 -1.53815294e+02] [-7.80146239e-02 1.05167158e-02 9.96896743e-01 -5.63219042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.380714057 meters 0.12376111345322015 Centerline is valid? [False, False] Translation: X:895.68, Y:-153.82, Z:-56.32 [[ 9.97036168e-01 4.62351758e-02 6.14913651e-02 8.95679481e+02] [-4.56458632e-02 9.98897615e-01 -1.09548769e-02 -1.53816027e+02] [-6.19300786e-02 8.11558204e-03 9.98047495e-01 -5.63158597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.410714057 meters 0.12854135754291543 Centerline is valid? [False, False] Translation: X:895.68, Y:-153.82, Z:-56.31 [[ 9.98034456e-01 4.37902839e-02 4.48289492e-02 8.95683735e+02] [-4.34014701e-02 9.99011486e-01 -9.61061922e-03 -1.53816903e+02] [-4.52054869e-02 7.64608683e-03 9.98948448e-01 -5.63097206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.4407140569999 meters 0.12986841716172431 Centerline is valid? [False, False] Translation: X:895.69, Y:-153.81, Z:-56.31 [[ 9.98238752e-01 3.97866997e-02 4.40046894e-02 8.95685412e+02] [-3.91860092e-02 9.99127731e-01 -1.44303256e-02 -1.53814108e+02] [-4.45404405e-02 1.26805420e-02 9.98927101e-01 -5.63101024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.4707140569999 meters 0.13063691483522977 Centerline is valid? [False, False] Translation: X:895.69, Y:-153.82, Z:-56.31 [[ 9.98910273e-01 3.61296532e-02 2.95451148e-02 8.95689209e+02] [-3.58253262e-02 9.99300076e-01 -1.07658696e-02 -1.53815529e+02] [-2.99134026e-02 9.69567438e-03 9.99505469e-01 -5.63056033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.500714057 meters 0.13694425480763495 Centerline is valid? [False, False] Translation: X:895.69, Y:-153.82, Z:-56.31 [[ 9.99052397e-01 3.23233460e-02 2.91463455e-02 8.95690337e+02] [-3.19062281e-02 9.99383282e-01 -1.46645466e-02 -1.53815796e+02] [-2.96023776e-02 1.37207005e-02 9.99467579e-01 -5.63064497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.530714057 meters 0.13762743676994116 Centerline is valid? [False, False] Translation: X:895.69, Y:-153.82, Z:-56.31 [[ 9.99040617e-01 3.25975887e-02 2.92445311e-02 8.95690673e+02] [-3.21989732e-02 9.99383430e-01 -1.39994696e-02 -1.53817500e+02] [-2.96828488e-02 1.30443948e-02 9.99474248e-01 -5.63073313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.5607140569999 meters 0.13680527905915682 Centerline is valid? [False, False] Translation: X:895.69, Y:-153.82, Z:-56.31 [[ 9.99031879e-01 3.28755884e-02 2.92318545e-02 8.95691200e+02] [-3.24945546e-02 9.99381868e-01 -1.34158770e-02 -1.53818805e+02] [-2.96548402e-02 1.24530127e-02 9.99482623e-01 -5.63081275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.5907140569999 meters 0.13913580927966715 Centerline is valid? [False, False] Translation: X:895.69, Y:-153.82, Z:-56.31 [[ 9.99170871e-01 2.89012605e-02 2.86755501e-02 8.95693003e+02] [-2.84006666e-02 9.99439658e-01 -1.77135974e-02 -1.53817325e+02] [-2.91714273e-02 1.68845058e-02 9.99431809e-01 -5.63093445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.6207140569999 meters 0.14039248175713995 Centerline is valid? [False, False] Translation: X:895.69, Y:-153.82, Z:-56.31 [[ 9.99163988e-01 2.91865806e-02 2.86263786e-02 8.95693808e+02] [-2.87020720e-02 9.99440145e-01 -1.71926615e-02 -1.53818184e+02] [-2.91121470e-02 1.63566519e-02 9.99442316e-01 -5.63104213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.650714057 meters 0.13840402476867017 Centerline is valid? [False, False] Translation: X:895.69, Y:-153.82, Z:-56.31 [[ 9.99157746e-01 2.93802263e-02 2.86461440e-02 8.95694343e+02] [-2.89063315e-02 9.99440612e-01 -1.68192407e-02 -1.53818810e+02] [-2.91242728e-02 1.59770197e-02 9.99448103e-01 -5.63112897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.6807140569999 meters 0.14620699226622583 Centerline is valid? [False, False] Translation: X:895.70, Y:-153.82, Z:-56.31 [[ 9.99155409e-01 2.95491752e-02 2.85537277e-02 8.95695213e+02] [-2.90887974e-02 9.99442181e-01 -1.64063636e-02 -1.53819490e+02] [-2.90225944e-02 1.55619133e-02 9.99457611e-01 -5.63123671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.7107140569999 meters 0.14937309420499992 Centerline is valid? [False, False] Translation: X:895.70, Y:-153.82, Z:-56.31 [[ 9.99153036e-01 2.96829055e-02 2.84979801e-02 8.95695733e+02] [-2.92300199e-02 9.99441765e-01 -1.61791239e-02 -1.53819851e+02] [-2.89623149e-02 1.53324243e-02 9.99462906e-01 -5.63129370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.7407140569999 meters 0.14943309997394633 Centerline is valid? [False, False] Translation: X:895.70, Y:-153.82, Z:-56.31 [[ 9.99154754e-01 2.97869457e-02 2.83287140e-02 8.95696362e+02] [-2.93412233e-02 9.99441043e-01 -1.60216697e-02 -1.53819926e+02] [-2.87901161e-02 1.51769283e-02 9.99470255e-01 -5.63133236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.770714057 meters 0.1513326430634836 Centerline is valid? [False, False] Translation: X:895.70, Y:-153.82, Z:-56.31 [[ 9.99162525e-01 2.96868278e-02 2.81592224e-02 8.95696695e+02] [-2.92384938e-02 9.99441150e-01 -1.62017985e-02 -1.53819472e+02] [-2.86244656e-02 1.53648966e-02 9.99472141e-01 -5.63132503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.8007140569999 meters 0.1488239721007806 Centerline is valid? [False, False] Translation: X:895.70, Y:-153.82, Z:-56.31 [[ 9.99166502e-01 2.97240792e-02 2.79782047e-02 8.95697335e+02] [-2.92775808e-02 9.99439459e-01 -1.62354820e-02 -1.53819031e+02] [-2.84451065e-02 1.54028156e-02 9.99476678e-01 -5.63135792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.8307140569999 meters 0.1529948184813331 Centerline is valid? [False, False] Translation: X:895.70, Y:-153.82, Z:-56.31 [[ 9.99171684e-01 2.97748246e-02 2.77381729e-02 8.95698091e+02] [-2.93310824e-02 9.99437338e-01 -1.62694372e-02 -1.53818565e+02] [-2.82069853e-02 1.54423704e-02 9.99482816e-01 -5.63138990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.8607140569999 meters 0.15872367499727602 Centerline is valid? [False, False] Translation: X:895.70, Y:-153.82, Z:-56.31 [[ 9.99177782e-01 2.98089215e-02 2.74806890e-02 8.95698820e+02] [-2.93664660e-02 9.99434721e-01 -1.63660667e-02 -1.53818058e+02] [-2.79530096e-02 1.55455995e-02 9.99488351e-01 -5.63141004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.890714057 meters 0.1560141510686578 Centerline is valid? [False, False] Translation: X:895.70, Y:-153.82, Z:-56.31 [[ 9.99182405e-01 2.99725890e-02 2.71323541e-02 8.95699901e+02] [-2.95352424e-02 9.99429539e-01 -1.63788305e-02 -1.53817490e+02] [-2.76077921e-02 1.55640786e-02 9.99497658e-01 -5.63144671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.9207140569999 meters 0.15365949808038337 Centerline is valid? [False, False] Translation: X:895.71, Y:-153.82, Z:-56.31 [[ 9.99511187e-01 2.92093273e-02 1.11446091e-02 8.95706209e+02] [-2.91106062e-02 9.99536396e-01 -8.91993272e-03 -1.53821382e+02] [-1.13999877e-02 8.59114621e-03 9.99898111e-01 -5.63079986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.9507140569999 meters 0.15497701126853103 Centerline is valid? [False, False] Translation: X:895.71, Y:-153.82, Z:-56.31 [[ 9.99510749e-01 2.93018777e-02 1.09390644e-02 8.95707081e+02] [-2.92057498e-02 9.99534275e-01 -8.84630055e-03 -1.53821275e+02] [-1.11931830e-02 8.52248891e-03 9.99901035e-01 -5.63085668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.9807140569999 meters 0.15772891758430388 Centerline is valid? [False, False] Translation: X:895.71, Y:-153.82, Z:-56.31 [[ 9.99512893e-01 2.93272070e-02 1.06719604e-02 8.95707985e+02] [-2.92320423e-02 9.99532434e-01 -8.96662779e-03 -1.53820846e+02] [-1.09299367e-02 8.65029689e-03 9.99902850e-01 -5.63089490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.010714057 meters 0.15710586284647607 Centerline is valid? [False, False] Translation: X:895.71, Y:-153.82, Z:-56.31 [[ 9.99511584e-01 2.94756350e-02 1.03817332e-02 8.95709021e+02] [-2.93824195e-02 9.99527547e-01 -9.01973447e-03 -1.53820648e+02] [-1.06426907e-02 8.71028865e-03 9.99905428e-01 -5.63093960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.040714057 meters 0.1565652909804455 Centerline is valid? [False, False] Translation: X:895.71, Y:-153.82, Z:-56.31 [[ 9.99514877e-01 2.94503291e-02 1.01335010e-02 8.95709818e+02] [-2.93576919e-02 9.99526887e-01 -9.17214757e-03 -1.53820119e+02] [-1.03988294e-02 8.87020176e-03 9.99906588e-01 -5.63096907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.0707140569999 meters 0.15609859239949775 Centerline is valid? [False, False] Translation: X:895.71, Y:-153.82, Z:-56.31 [[ 9.99517330e-01 2.95051951e-02 9.72372452e-03 8.95711039e+02] [-2.94139376e-02 9.99523134e-01 -9.39811814e-03 -1.53819177e+02] [-9.99638091e-03 9.10756892e-03 9.99908558e-01 -5.63100536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.1007140569999 meters 0.1561108316168402 Centerline is valid? [False, False] Translation: X:895.71, Y:-153.82, Z:-56.31 [[ 9.99405339e-01 3.31990832e-02 9.31610403e-03 8.95714261e+02] [-3.31378333e-02 9.99428643e-01 -6.65376018e-03 -1.53815105e+02] [-9.53167994e-03 6.34108794e-03 9.99934467e-01 -5.63123640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.130714057 meters 0.15482545499015674 Centerline is valid? [False, False] Translation: X:895.72, Y:-153.81, Z:-56.31 [[ 9.99405020e-01 3.34294968e-02 8.48963953e-03 8.95716963e+02] [-3.33685648e-02 9.99417034e-01 -7.22024185e-03 -1.53811753e+02] [-8.72605941e-03 6.93265886e-03 9.99937895e-01 -5.63134332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.160714057 meters 0.15699917838624305 Centerline is valid? [False, False] Translation: X:895.73, Y:-153.81, Z:-56.31 [[ 9.99622466e-01 2.74599952e-02 9.34769075e-04 8.95727988e+02] [-2.74527586e-02 9.99598375e-01 -7.03094746e-03 -1.53808915e+02] [-1.12746343e-03 7.00263105e-03 9.99974846e-01 -5.63091475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.1907140569999 meters 0.15036471129527804 Centerline is valid? [False, False] Translation: X:895.73, Y:-153.81, Z:-56.31 [[ 9.99621356e-01 2.75078904e-02 6.78719008e-04 8.95728902e+02] [-2.75022815e-02 9.99595668e-01 -7.21975468e-03 -1.53808562e+02] [-8.77044800e-04 7.19835464e-03 9.99973707e-01 -5.63095001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.2207140569999 meters 0.14484497282087241 Centerline is valid? [False, False] Translation: X:895.74, Y:-153.81, Z:-56.31 [[ 9.99771989e-01 2.03885532e-02 -6.34634569e-03 8.95739507e+02] [-2.04235556e-02 9.99776288e-01 -5.50030077e-03 -1.53807236e+02] [ 6.23278276e-03 5.62866158e-03 9.99964735e-01 -5.63053610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.250714057 meters 0.14675495186850637 Centerline is valid? [False, False] Translation: X:895.74, Y:-153.81, Z:-56.31 [[ 9.99769280e-01 2.04062086e-02 -6.70625809e-03 8.95740132e+02] [-2.04454113e-02 9.99773972e-01 -5.83006992e-03 -1.53806139e+02] [ 6.58577266e-03 5.96583701e-03 9.99960517e-01 -5.63050012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.280714057 meters 0.14437556447507371 Centerline is valid? [False, False] Translation: X:895.75, Y:-153.80, Z:-56.30 [[ 9.99827698e-01 1.30078651e-02 -1.32427614e-02 8.95749992e+02] [-1.30521408e-02 9.99909495e-01 -3.26246870e-03 -1.53804953e+02] [ 1.31991251e-02 3.43475295e-03 9.99906988e-01 -5.63004235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.3107140569999 meters 0.14264262816691878 Centerline is valid? [False, False] Translation: X:895.75, Y:-153.80, Z:-56.30 [[ 9.99830904e-01 1.27531412e-02 -1.32484058e-02 8.95749690e+02] [-1.28038371e-02 9.99911000e-01 -3.74881306e-03 -1.53804222e+02] [ 1.31994176e-02 3.91780958e-03 9.99905209e-01 -5.62998548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.3407140569999 meters 0.14134502495844065 Centerline is valid? [False, False] Translation: X:895.76, Y:-153.80, Z:-56.30 [[ 9.99965908e-01 6.00697912e-03 -5.66555570e-03 8.95758580e+02] [-6.00808161e-03 9.99981936e-01 -1.77595107e-04 -1.53803820e+02] [ 5.66438655e-03 2.11628173e-04 9.99983935e-01 -5.63025564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.3707140569999 meters 0.13832308483655972 Centerline is valid? [False, False] Translation: X:895.76, Y:-153.80, Z:-56.30 [[ 9.99965839e-01 5.99793111e-03 -5.68736218e-03 8.95758529e+02] [-5.99860093e-03 9.99982003e-01 -1.00722923e-04 -1.53804507e+02] [ 5.68665570e-03 1.34835698e-04 9.99983822e-01 -5.63024379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.400714057 meters 0.13301375962192746 Centerline is valid? [False, False] Translation: X:895.76, Y:-153.80, Z:-56.30 [[ 9.99964935e-01 6.07869424e-03 -5.76010661e-03 8.95759038e+02] [-6.07862275e-03 9.99981525e-01 2.99180452e-05 -1.53804889e+02] [ 5.76018205e-03 5.09651890e-06 9.99983410e-01 -5.63030009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.4307140569999 meters 0.1333222162032874 Centerline is valid? [False, False] Translation: X:895.76, Y:-153.80, Z:-56.30 [[ 9.99961940e-01 6.20647485e-03 -6.13180214e-03 8.95760407e+02] [-6.20686749e-03 9.99980736e-01 -4.50052100e-05 -1.53803966e+02] [ 6.13140469e-03 8.30627804e-05 9.99981199e-01 -5.63038949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.4607140569999 meters 0.1316677700457472 Centerline is valid? [False, False] Translation: X:895.76, Y:-153.80, Z:-56.30 [[ 9.99961113e-01 6.02550075e-03 -6.43938996e-03 8.95760975e+02] [-6.03001045e-03 9.99981587e-01 -6.81145055e-04 -1.53802294e+02] [ 6.43516715e-03 7.19948156e-04 9.99979035e-01 -5.63037810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.4907140569999 meters 0.13402503177703656 Centerline is valid? [False, False] Translation: X:895.76, Y:-153.80, Z:-56.31 [[ 9.99952452e-01 6.57553238e-03 -7.20107623e-03 8.95763742e+02] [-6.58218789e-03 9.99977931e-01 -9.00928917e-04 -1.53798892e+02] [ 7.19499322e-03 9.48284916e-04 9.99973666e-01 -5.63056277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.520714057 meters 0.1269775338912219 Centerline is valid? [False, False] Translation: X:895.76, Y:-153.80, Z:-56.31 [[ 9.99953032e-01 6.27386324e-03 -7.38724986e-03 8.95764054e+02] [-6.28687033e-03 9.99978726e-01 -1.73884445e-03 -1.53796714e+02] [ 7.37618343e-03 1.78520547e-03 9.99971202e-01 -5.63054546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.5507140569999 meters 0.12480638486945787 Centerline is valid? [False, False] Translation: X:895.76, Y:-153.80, Z:-56.31 [[ 9.99953571e-01 6.09327666e-03 -7.46517233e-03 8.95764263e+02] [-6.10978344e-03 9.99978936e-01 -2.19036584e-03 -1.53795601e+02] [ 7.45166858e-03 2.23587473e-03 9.99969736e-01 -5.63054911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.5807140569999 meters 0.12646494878725495 Centerline is valid? [False, False] Translation: X:895.77, Y:-153.79, Z:-56.31 [[ 9.99959086e-01 4.62243263e-03 -7.77560471e-03 8.95766840e+02] [-4.65153140e-03 9.99982231e-01 -3.72840334e-03 -1.53794688e+02] [ 7.75823226e-03 3.76441927e-03 9.99962819e-01 -5.63078822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.6107140569999 meters 0.12405681545658351 Centerline is valid? [False, False] Translation: X:895.77, Y:-153.80, Z:-56.31 [[ 9.99959529e-01 4.66988573e-03 -7.68974789e-03 8.95767085e+02] [-4.69585428e-03 9.99983321e-01 -3.36244993e-03 -1.53795583e+02] [ 7.67391738e-03 3.39842378e-03 9.99964780e-01 -5.63086181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.640714057 meters 0.12007036244133969 Centerline is valid? [False, False] Translation: X:895.77, Y:-153.80, Z:-56.31 [[ 9.99961962e-01 4.20047789e-03 -7.64398482e-03 8.95767563e+02] [-4.22278139e-03 9.99986867e-01 -2.90398843e-03 -1.53797478e+02] [ 7.63168630e-03 2.93615685e-03 9.99966568e-01 -5.63100572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.6707140569999 meters 0.11560124962331336 Centerline is valid? [False, False] Translation: X:895.77, Y:-153.80, Z:-56.31 [[ 9.99964521e-01 4.08794399e-03 -7.36510890e-03 8.95767346e+02] [-4.10503427e-03 9.99988914e-01 -2.30681653e-03 -1.53799636e+02] [ 7.35559711e-03 2.33696871e-03 9.99970216e-01 -5.63107298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.7007140569999 meters 0.11536821433967581 Centerline is valid? [False, False] Translation: X:895.77, Y:-153.80, Z:-56.31 [[ 9.99966908e-01 4.01013305e-03 -7.07828802e-03 8.95767328e+02] [-4.02381823e-03 9.99990061e-01 -1.92022022e-03 -1.53800630e+02] [ 7.07051733e-03 1.94863842e-03 9.99973105e-01 -5.63116595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.7307140569999 meters 0.11611343312607883 Centerline is valid? [False, False] Translation: X:895.77, Y:-153.80, Z:-56.31 [[ 9.99973163e-01 -7.18556666e-05 -7.32579244e-03 8.95768502e+02] [ 3.12531305e-05 9.99984640e-01 -5.54237258e-03 -1.53801596e+02] [ 7.32607817e-03 5.54199489e-03 9.99957807e-01 -5.63128821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.760714057 meters 0.1149947377842725 Centerline is valid? [False, False] Translation: X:895.77, Y:-153.80, Z:-56.31 [[ 9.99972872e-01 3.46087973e-04 -7.35762249e-03 8.95769590e+02] [-3.79633289e-04 9.99989539e-01 -4.55835270e-03 -1.53803270e+02] [ 7.35596793e-03 4.56102224e-03 9.99962543e-01 -5.63145808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.790714057 meters 0.1052232334854785 Centerline is valid? [False, False] Translation: X:895.77, Y:-153.81, Z:-56.32 [[ 9.99973935e-01 2.39776208e-04 -7.21601651e-03 8.95769735e+02] [-2.69095801e-04 9.99991712e-01 -4.06243054e-03 -1.53805037e+02] [ 7.21498263e-03 4.06426646e-03 9.99965712e-01 -5.63154985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.8207140569999 meters 0.10357289480390854 Centerline is valid? [False, False] Translation: X:895.77, Y:-153.81, Z:-56.32 [[ 9.99972631e-01 5.77797595e-04 -7.37581408e-03 8.95770719e+02] [-6.03968626e-04 9.99993529e-01 -3.54648847e-03 -1.53805648e+02] [ 7.37371720e-03 3.55084617e-03 9.99966509e-01 -5.63165898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.8507140569999 meters 0.10246676620014947 Centerline is valid? [False, False] Translation: X:895.77, Y:-153.81, Z:-56.32 [[ 9.99969842e-01 9.26819418e-04 -7.71073694e-03 8.95772039e+02] [-9.51455803e-04 9.99994453e-01 -3.19202076e-03 -1.53805775e+02] [ 7.70773574e-03 3.19926092e-03 9.99965177e-01 -5.63176519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.880714057 meters 0.10358559285154559 Centerline is valid? [False, False] Translation: X:895.77, Y:-153.81, Z:-56.32 [[ 9.99965942e-01 1.29421715e-03 -8.15107294e-03 8.95773627e+02] [-1.31865024e-03 9.99994652e-01 -2.99287014e-03 -1.53805207e+02] [ 8.14715592e-03 3.00351662e-03 9.99962301e-01 -5.63187512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.910714057 meters 0.10358559285154559 Centerline is valid? [False, False] Translation: X:895.77, Y:-153.81, Z:-56.32 [[ 9.99965942e-01 1.29421715e-03 -8.15107294e-03 8.95773627e+02] [-1.31865024e-03 9.99994652e-01 -2.99287014e-03 -1.53805207e+02] [ 8.14715592e-03 3.00351662e-03 9.99962301e-01 -5.63187512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.9407140569999 meters 0.095030894313233 Centerline is valid? [False, True] Translation: X:895.77, Y:-153.81, Z:-56.32 [[ 9.99950996e-01 5.64249086e-03 -8.13439026e-03 8.95773920e+02] [-5.63130092e-03 9.99983167e-01 1.39788216e-03 -1.53805556e+02] [ 8.14214087e-03 -1.35200646e-03 9.99965938e-01 -5.63193590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.9707140569999 meters 0.09301354952347872 Centerline is valid? [True, True] Translation: X:895.80, Y:-153.80, Z:-56.32 [[ 9.99935493e-01 7.75115836e-03 -8.30243229e-03 8.95803085e+02] [-7.75071286e-03 9.99969959e-01 8.58336452e-05 -1.53803523e+02] [ 8.30284818e-03 -2.14783397e-05 9.99965531e-01 -5.63191308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.000714057 meters 0.09188680834503217 Centerline is valid? [True, True] Translation: X:895.83, Y:-153.80, Z:-56.32 [[ 9.99894305e-01 9.91426987e-03 -1.06342225e-02 8.95831979e+02] [-9.91366702e-03 9.99950852e-01 1.09402830e-04 -1.53802623e+02] [ 1.06347845e-02 -3.96712617e-06 9.99943449e-01 -5.63203065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.030714057 meters 0.08929781651103892 Centerline is valid? [True, True] Translation: X:895.86, Y:-153.80, Z:-56.32 [[ 9.99821527e-01 1.28164953e-02 -1.38799269e-02 8.95859184e+02] [-1.28157687e-02 9.99917865e-01 1.41298895e-04 -1.53804398e+02] [ 1.38805979e-02 3.66082561e-05 9.99903659e-01 -5.63236198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.0607140569999 meters 0.0906796099796538 Centerline is valid? [True, True] Translation: X:895.89, Y:-153.80, Z:-56.33 [[ 9.99747483e-01 1.47710185e-02 -1.69347749e-02 8.95887286e+02] [-1.47702281e-02 9.99890899e-01 1.71753476e-04 -1.53803788e+02] [ 1.69354642e-02 7.84203828e-05 9.99856582e-01 -5.63272483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.0907140569999 meters 0.0843196866563717 Centerline is valid? [True, True] Translation: X:895.92, Y:-153.80, Z:-56.33 [[ 9.99682822e-01 1.65752754e-02 -1.89608936e-02 8.95916396e+02] [-1.65747187e-02 9.99862613e-01 1.86520099e-04 -1.53803166e+02] [ 1.89613802e-02 1.27810539e-04 9.99820209e-01 -5.63270858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.1207140569999 meters 0.08051901547408748 Centerline is valid? [True, True] Translation: X:895.94, Y:-153.80, Z:-56.33 [[ 9.99631646e-01 1.86454330e-02 -1.97210427e-02 8.95944689e+02] [-1.86452359e-02 9.99826144e-01 1.93881458e-04 -1.53802162e+02] [ 1.97212291e-02 1.73893453e-04 9.99805503e-01 -5.63266494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.150714057 meters 0.07994090406113162 Centerline is valid? [True, True] Translation: X:895.97, Y:-153.80, Z:-56.33 [[ 9.99580623e-01 1.99000226e-02 -2.10373012e-02 8.95973590e+02] [-1.99002072e-02 9.99801951e-01 2.00593387e-04 -1.53803522e+02] [ 2.10371266e-02 2.18137389e-04 9.99778671e-01 -5.63259416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.1807140569999 meters 0.07420485231119589 Centerline is valid? [True, True] Translation: X:896.00, Y:-153.80, Z:-56.33 [[ 9.99436796e-01 2.12397410e-02 -2.59800799e-02 8.96003992e+02] [-2.12404042e-02 9.99774366e-01 2.50461766e-04 -1.53803856e+02] [ 2.59795376e-02 3.01506694e-04 9.99662429e-01 -5.63274127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.2107140569999 meters 0.07336885230981076 Centerline is valid? [True, True] Translation: X:896.03, Y:-153.81, Z:-56.33 [[ 9.99422405e-01 2.03515582e-02 -2.72152639e-02 8.96031851e+02] [-2.03520389e-02 9.99792842e-01 2.59358661e-04 -1.53805448e+02] [ 2.72149044e-02 2.94677253e-04 9.99629562e-01 -5.63288376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.2407140569999 meters 0.07520569417615784 Centerline is valid? [True, True] Translation: X:896.06, Y:-153.81, Z:-56.33 [[ 9.99237142e-01 2.19032114e-02 -3.23323936e-02 8.96060568e+02] [-2.19047158e-02 9.99760016e-01 3.07720939e-04 -1.53808326e+02] [ 3.23313744e-02 4.00745702e-04 9.99477124e-01 -5.63330916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.270714057 meters 0.07482792388224506 Centerline is valid? [True, True] Translation: X:896.09, Y:-153.81, Z:-56.33 [[ 9.99069305e-01 2.24733943e-02 -3.68167202e-02 8.96090584e+02] [-2.24757483e-02 9.99747327e-01 3.49994211e-04 -1.53809415e+02] [ 3.68152831e-02 4.77814862e-04 9.99321973e-01 -5.63329442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.3007140569999 meters 0.07058578389936283 Centerline is valid? [True, True] Translation: X:896.12, Y:-153.81, Z:-56.33 [[ 9.99202208e-01 2.08808369e-02 -3.40431677e-02 8.96120536e+02] [-2.08819834e-02 9.99781896e-01 3.21908015e-04 -1.53811763e+02] [ 3.40424645e-02 3.89237663e-04 9.99420312e-01 -5.63300304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.3307140569999 meters 0.07086487333963042 Centerline is valid? [True, True] Translation: X:896.15, Y:-153.81, Z:-56.33 [[ 9.99055828e-01 2.07931603e-02 -3.81457315e-02 8.96149467e+02] [-2.07945798e-02 9.99783705e-01 3.59586021e-04 -1.53813122e+02] [ 3.81449577e-02 4.33977948e-04 9.99272122e-01 -5.63326539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.3607140569999 meters 0.06821654913158108 Centerline is valid? [True, True] Translation: X:896.18, Y:-153.81, Z:-56.33 [[ 9.99016302e-01 2.01034399e-02 -3.95256803e-02 8.96177952e+02] [-2.01048545e-02 9.99797812e-01 3.61736405e-04 -1.53813490e+02] [ 3.95249608e-02 4.33277484e-04 9.99218489e-01 -5.63336031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.390714057 meters 0.0672378983058595 Centerline is valid? [True, True] Translation: X:896.21, Y:-153.81, Z:-56.34 [[ 9.99024718e-01 1.91259596e-02 -3.97971062e-02 8.96205018e+02] [-1.91268793e-02 9.99817001e-01 3.57671069e-04 -1.53813550e+02] [ 3.97966642e-02 4.03872210e-04 9.99207717e-01 -5.63356763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.4207140569999 meters 0.0639935817460024 Centerline is valid? [True, True] Translation: X:896.23, Y:-153.81, Z:-56.34 [[ 9.98945487e-01 1.87939175e-02 -4.18891771e-02 8.96234618e+02] [-1.87946404e-02 9.99823294e-01 3.76597065e-04 -1.53813246e+02] [ 4.18888528e-02 4.11092081e-04 9.99122192e-01 -5.63353411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.4507140569999 meters 0.06338188961000911 Centerline is valid? [True, True] Translation: X:896.26, Y:-153.82, Z:-56.34 [[ 9.98903955e-01 1.41443888e-02 -4.46186648e-02 8.96264422e+02] [-1.41406377e-02 9.99899936e-01 3.99710722e-04 -1.53819942e+02] [ 4.46198537e-02 2.31663753e-04 9.99004011e-01 -5.63367098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.4807140569999 meters 0.06200410208679372 Centerline is valid? [True, True] Translation: X:896.29, Y:-153.82, Z:-56.34 [[ 9.98886577e-01 1.16099451e-02 -4.57254353e-02 8.96293445e+02] [-1.16039103e-02 9.99932593e-01 3.97420234e-04 -1.53822486e+02] [ 4.57269671e-02 1.33616113e-04 9.98953966e-01 -5.63381703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.510714057 meters 0.056757392450890905 Centerline is valid? [True, True] Translation: X:896.32, Y:-153.83, Z:-56.34 [[ 9.98971454e-01 8.02002605e-03 -4.46286067e-02 8.96322131e+02] [-8.01116329e-03 9.99967839e-01 3.77441306e-04 -1.53825324e+02] [ 4.46301985e-02 -1.95260349e-05 9.99003576e-01 -5.63352605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.540714057 meters 0.05889953981249685 Centerline is valid? [True, True] Translation: X:896.35, Y:-153.83, Z:-56.34 [[ 9.98853446e-01 8.60433219e-03 -4.70930786e-02 8.96350225e+02] [-8.59517676e-03 9.99962982e-01 3.96910579e-04 -1.53825005e+02] [ 4.70947504e-02 8.31783488e-06 9.98890427e-01 -5.63386777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.5707140569999 meters 0.05608173158287645 Centerline is valid? [True, True] Translation: X:896.38, Y:-153.82, Z:-56.33 [[ 9.98882721e-01 8.21631092e-03 -4.65381704e-02 8.96379217e+02] [-8.20751751e-03 9.99966246e-01 3.80035574e-04 -1.53823762e+02] [ 4.65397220e-02 2.35187998e-06 9.98916440e-01 -5.63347418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.6007140569999 meters 0.054829511668335405 Centerline is valid? [True, True] Translation: X:896.41, Y:-153.82, Z:-56.33 [[ 9.98823211e-01 6.44850339e-03 -4.80688000e-02 8.96408697e+02] [-6.43705870e-03 9.99979205e-01 3.92887733e-04 -1.53824145e+02] [ 4.80703340e-02 -8.30037000e-05 9.98843950e-01 -5.63299098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.630714057 meters 0.05724764728212282 Centerline is valid? [True, True] Translation: X:896.44, Y:-153.83, Z:-56.33 [[ 9.98749543e-01 5.61078762e-03 -4.96776506e-02 8.96437267e+02] [-5.59765738e-03 9.99984252e-01 4.03431157e-04 -1.53825415e+02] [ 4.96791319e-02 -1.24848216e-04 9.98765222e-01 -5.63320600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.660714057 meters 0.051373458742556104 Centerline is valid? [True, True] Translation: X:896.47, Y:-153.83, Z:-56.33 [[ 9.98975051e-01 1.97272302e-03 -4.52211812e-02 8.96467104e+02] [-1.95815676e-03 9.99998016e-01 3.66406904e-04 -1.53828343e+02] [ 4.52218142e-02 -2.77481195e-04 9.98976932e-01 -5.63278067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.6907140569999 meters 0.05357067215988189 Centerline is valid? [True, True] Translation: X:896.50, Y:-153.83, Z:-56.33 [[ 9.98874717e-01 5.69830355e-04 -4.74233511e-02 8.96495497e+02] [-5.52411275e-04 9.99999775e-01 3.80415352e-04 -1.53830939e+02] [ 4.74235572e-02 -3.53790083e-04 9.98874807e-01 -5.63317868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.7207140569999 meters 0.05035836057315001 Centerline is valid? [True, True] Translation: X:896.52, Y:-153.83, Z:-56.33 [[ 9.98885567e-01 -3.77370388e-03 -4.70465992e-02 8.96524536e+02] [ 3.79507351e-03 9.99992732e-01 3.64908436e-04 -1.53833510e+02] [ 4.70448802e-02 -5.43047073e-04 9.98892629e-01 -5.63268446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.750714057 meters 0.05101022278783285 Centerline is valid? [True, True] Translation: X:896.55, Y:-153.83, Z:-56.33 [[ 9.98756046e-01 -4.82638448e-03 -4.96292893e-02 8.96554309e+02] [ 4.85153499e-03 9.99988157e-01 3.86315945e-04 -1.53834385e+02] [ 4.96268370e-02 -6.26613619e-04 9.98767633e-01 -5.63272074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.780714057 meters 0.05053566189102212 Centerline is valid? [True, True] Translation: X:896.58, Y:-153.83, Z:-56.33 [[ 9.98697660e-01 -5.64022855e-03 -5.07067273e-02 8.96582971e+02] [ 5.66683135e-03 9.99983871e-01 3.80889004e-04 -1.53834920e+02] [ 5.07037612e-02 -6.67739429e-04 9.98713514e-01 -5.63267351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.8107140569999 meters 0.04815191351498319 Centerline is valid? [True, True] Translation: X:896.61, Y:-153.83, Z:-56.33 [[ 9.98792058e-01 -7.64753497e-03 -4.85380335e-02 8.96611254e+02] [ 7.67419433e-03 9.99970487e-01 3.62912938e-04 -1.53834705e+02] [ 4.85338256e-02 -7.34964861e-04 9.98821269e-01 -5.63274818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.8407140569999 meters 0.052382152845044855 Centerline is valid? [True, True] Translation: X:896.64, Y:-153.83, Z:-56.33 [[ 9.98521939e-01 -4.87331075e-03 -5.41312097e-02 8.96640688e+02] [ 4.90243549e-03 9.99987901e-01 4.05267158e-04 -1.53833222e+02] [ 5.41285798e-02 -6.70042912e-04 9.98533749e-01 -5.63310105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.8707140569999 meters 0.04816197387656213 Centerline is valid? [True, True] Translation: X:896.67, Y:-153.83, Z:-56.32 [[ 9.98809082e-01 -7.23429048e-03 -4.82502172e-02 8.96670685e+02] [ 7.26010936e-03 9.99973580e-01 3.59870103e-04 -1.53832442e+02] [ 4.82463390e-02 -7.09743380e-04 9.98835215e-01 -5.63242355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.900714057 meters 0.04776379187949325 Centerline is valid? [True, True] Translation: X:896.70, Y:-153.83, Z:-56.32 [[ 9.98825169e-01 -7.29366681e-03 -4.79070279e-02 8.96699244e+02] [ 7.31856291e-03 9.99973160e-01 3.44287457e-04 -1.53831674e+02] [ 4.79032309e-02 -6.94493575e-04 9.98851740e-01 -5.63245567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.9307140569999 meters 0.044727001948361614 Centerline is valid? [True, True] Translation: X:896.73, Y:-153.84, Z:-56.32 [[ 9.98959597e-01 -1.19670153e-02 -4.40058386e-02 8.96729541e+02] [ 1.19925991e-02 9.99928036e-01 3.17410272e-04 -1.53836463e+02] [ 4.39988733e-02 -8.44824420e-04 9.99031223e-01 -5.63226279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.9607140569999 meters 0.04671998342403678 Centerline is valid? [True, True] Translation: X:896.76, Y:-153.84, Z:-56.32 [[ 9.99037586e-01 -1.20797489e-02 -4.21661103e-02 8.96758128e+02] [ 1.21032005e-02 9.99926708e-01 3.00921765e-04 -1.53838827e+02] [ 4.21593849e-02 -8.10977043e-04 9.99110569e-01 -5.63223903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.9907140569999 meters 0.04414294031804746 Centerline is valid? [True, True] Translation: X:896.79, Y:-153.84, Z:-56.32 [[ 9.98906230e-01 -1.56738343e-02 -4.40530898e-02 8.96788523e+02] [ 1.57029167e-02 9.99876652e-01 3.14176246e-04 -1.53841222e+02] [ 4.40427316e-02 -1.00559461e-03 9.99029142e-01 -5.63215419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.020714057 meters 0.04416475529574562 Centerline is valid? [True, True] Translation: X:896.82, Y:-153.84, Z:-56.32 [[ 9.98859380e-01 -1.67762404e-02 -4.47045525e-02 8.96816116e+02] [ 1.68071053e-02 9.99858701e-01 3.14617700e-04 -1.53843050e+02] [ 4.46929577e-02 -1.06561296e-03 9.99000202e-01 -5.63215379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.0507140569999 meters 0.04645262498059861 Centerline is valid? [True, True] Translation: X:896.84, Y:-153.84, Z:-56.32 [[ 9.98848768e-01 -1.66232361e-02 -4.49978470e-02 8.96844392e+02] [ 1.66537588e-02 9.99861270e-01 3.03492780e-04 -1.53844909e+02] [ 4.49865595e-02 -1.05252668e-03 9.98987038e-01 -5.63226984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.0807140569999 meters 0.04663553284125441 Centerline is valid? [True, True] Translation: X:896.87, Y:-153.85, Z:-56.32 [[ 9.98853015e-01 -1.76826612e-02 -4.44969397e-02 8.96872178e+02] [ 1.77130508e-02 9.99843070e-01 2.88737475e-04 -1.53846803e+02] [ 4.44848512e-02 -1.07658285e-03 9.99009479e-01 -5.63233282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.1107140569999 meters 0.04375547688217413 Centerline is valid? [True, True] Translation: X:896.90, Y:-153.85, Z:-56.32 [[ 9.98727970e-01 -2.16906166e-02 -4.55187802e-02 8.96901502e+02] [ 2.17266123e-02 9.99763905e-01 2.96137179e-04 -1.53849218e+02] [ 4.55016101e-02 -1.28472937e-03 9.98963439e-01 -5.63233942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.140714057 meters 0.04608824665820188 Centerline is valid? [True, True] Translation: X:896.93, Y:-153.85, Z:-56.32 [[ 9.98770346e-01 -2.18244384e-02 -4.45139209e-02 8.96930789e+02] [ 2.18587344e-02 9.99761029e-01 2.83792366e-04 -1.53850521e+02] [ 4.44970898e-02 -1.25646137e-03 9.99008724e-01 -5.63234836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.1707140569999 meters 0.046264718730822205 Centerline is valid? [True, True] Translation: X:896.96, Y:-153.85, Z:-56.33 [[ 9.98639252e-01 -2.25304211e-02 -4.70321715e-02 8.96960641e+02] [ 2.25695072e-02 9.99745231e-01 3.00107511e-04 -1.53849606e+02] [ 4.70134276e-02 -1.36119207e-03 9.98893330e-01 -5.63260258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.2007140569999 meters 0.044081532148243764 Centerline is valid? [True, True] Translation: X:896.99, Y:-153.85, Z:-56.32 [[ 9.98690272e-01 -2.47501787e-02 -4.47791104e-02 8.96989234e+02] [ 2.47873153e-02 9.99692710e-01 2.74177529e-04 -1.53851406e+02] [ 4.47585642e-02 -1.38377236e-03 9.98996875e-01 -5.63228910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.2307140569999 meters 0.043669392502409594 Centerline is valid? [True, True] Translation: X:897.02, Y:-153.85, Z:-56.32 [[ 9.98683522e-01 -2.46886512e-02 -4.49632419e-02 8.97017136e+02] [ 2.47255142e-02 9.99694243e-01 2.63797143e-04 -1.53850236e+02] [ 4.49429813e-02 -1.37518914e-03 9.98988607e-01 -5.63220068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.260714057 meters 0.04295351825995434 Centerline is valid? [True, True] Translation: X:897.05, Y:-153.85, Z:-56.32 [[ 9.98598234e-01 -2.43372019e-02 -4.70028447e-02 8.97045633e+02] [ 2.43770963e-02 9.99702796e-01 2.75653420e-04 -1.53846946e+02] [ 4.69821666e-02 -1.42105989e-03 9.98894717e-01 -5.63230588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.290714057 meters 0.04263846387559251 Centerline is valid? [True, True] Translation: X:897.07, Y:-153.84, Z:-56.32 [[ 9.98581330e-01 -2.29839854e-02 -4.80319046e-02 8.97073923e+02] [ 2.30235128e-02 9.99734887e-01 2.69779984e-04 -1.53844686e+02] [ 4.80129701e-02 -1.37526043e-03 9.98845766e-01 -5.63226749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.3207140569999 meters 0.0427909094893257 Centerline is valid? [True, True] Translation: X:897.10, Y:-153.84, Z:-56.32 [[ 9.98578017e-01 -2.19954367e-02 -4.85607265e-02 8.97101836e+02] [ 2.20340836e-02 9.99757186e-01 2.60613656e-04 -1.53841853e+02] [ 4.85432029e-02 -1.33023418e-03 9.98820198e-01 -5.63247110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.3507140569999 meters 0.043910645862153215 Centerline is valid? [True, True] Translation: X:897.13, Y:-153.84, Z:-56.33 [[ 9.98497603e-01 -2.11960482e-02 -5.05298267e-02 8.97130391e+02] [ 2.12368615e-02 9.99774436e-01 2.70893203e-04 -1.53839718e+02] [ 5.05126871e-02 -1.34358115e-03 9.98722516e-01 -5.63281433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.380714057 meters 0.04194119407023375 Centerline is valid? [True, True] Translation: X:897.16, Y:-153.84, Z:-56.33 [[ 9.98592934e-01 -2.10062938e-02 -4.86917599e-02 8.97160423e+02] [ 2.10438623e-02 9.99778520e-01 2.58993580e-04 -1.53838800e+02] [ 4.86755352e-02 -1.28329185e-03 9.98813819e-01 -5.63264284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.410714057 meters 0.042118695614227 Centerline is valid? [True, True] Translation: X:897.19, Y:-153.84, Z:-56.33 [[ 9.98598839e-01 -1.98005792e-02 -4.90743877e-02 8.97189167e+02] [ 1.98367007e-02 9.99803202e-01 2.49087492e-04 -1.53837867e+02] [ 4.90597979e-02 -1.22221242e-03 9.98795095e-01 -5.63254482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.4407140569999 meters 0.04165262429162249 Centerline is valid? [True, True] Translation: X:897.22, Y:-153.84, Z:-56.32 [[ 9.98678942e-01 -2.00290918e-02 -4.73202611e-02 8.97217996e+02] [ 2.00628624e-02 9.99798692e-01 2.38764583e-04 -1.53837667e+02] [ 4.73059529e-02 -1.18782905e-03 9.98879740e-01 -5.63240866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.4707140569999 meters 0.04254014266308534 Centerline is valid? [True, True] Translation: X:897.25, Y:-153.84, Z:-56.32 [[ 9.98657827e-01 -1.87664618e-02 -4.82738525e-02 8.97245464e+02] [ 1.87999564e-02 9.99823236e-01 2.39859566e-04 -1.53837350e+02] [ 4.82608181e-02 -1.14708395e-03 9.98834109e-01 -5.63231841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.500714057 meters 0.0415460858933678 Centerline is valid? [True, True] Translation: X:897.27, Y:-153.84, Z:-56.32 [[ 9.98792136e-01 -2.08676407e-02 -4.44838192e-02 8.97274541e+02] [ 2.08981157e-02 9.99781586e-01 2.20094090e-04 -1.53837006e+02] [ 4.44695105e-02 -1.14945625e-03 9.99010081e-01 -5.63165600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.530714057 meters 0.04105994084719572 Centerline is valid? [True, True] Translation: X:897.30, Y:-153.84, Z:-56.31 [[ 9.98858239e-01 -2.26601187e-02 -4.20563675e-02 8.97303632e+02] [ 2.26888253e-02 9.99742554e-01 2.05321674e-04 -1.53837264e+02] [ 4.20408877e-02 -1.15929682e-03 9.99115218e-01 -5.63136361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.5607140569999 meters 0.04147253567266342 Centerline is valid? [True, True] Translation: X:897.33, Y:-153.84, Z:-56.31 [[ 9.98879424e-01 -2.33637134e-02 -4.11586306e-02 8.97332546e+02] [ 2.33913979e-02 9.99726366e-01 1.91110635e-04 -1.53838028e+02] [ 4.11429031e-02 -1.15365439e-03 9.99152606e-01 -5.63122483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.5907140569999 meters 0.04198313285308916 Centerline is valid? [True, True] Translation: X:897.36, Y:-153.84, Z:-56.31 [[ 9.98944814e-01 -2.50520428e-02 -3.84922534e-02 8.97360969e+02] [ 2.50774682e-02 9.99685495e-01 1.77775385e-04 -1.53840391e+02] [ 3.84756937e-02 -1.14287606e-03 9.99258883e-01 -5.63090139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.6207140569999 meters 0.04269483487996147 Centerline is valid? [True, True] Translation: X:897.39, Y:-153.84, Z:-56.31 [[ 9.98957977e-01 -2.67260651e-02 -3.69956490e-02 8.97389815e+02] [ 2.67503689e-02 9.99642132e-01 1.62010305e-04 -1.53841921e+02] [ 3.69780796e-02 -1.15148875e-03 9.99315414e-01 -5.63078302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.650714057 meters 0.04380310647956121 Centerline is valid? [True, True] Translation: X:897.42, Y:-153.84, Z:-56.31 [[ 9.98887089e-01 -2.73154839e-02 -3.84505899e-02 8.97418733e+02] [ 2.73421370e-02 9.99626120e-01 1.67395161e-04 -1.53843807e+02] [ 3.84316415e-02 -1.21853016e-03 9.99260489e-01 -5.63108854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.6807140569999 meters 0.0447978406900328 Centerline is valid? [True, True] Translation: X:897.45, Y:-153.85, Z:-56.31 [[ 9.98828013e-01 -2.96668689e-02 -3.82423494e-02 8.97447643e+02] [ 2.96946134e-02 9.99559005e-01 1.57566953e-04 -1.53845666e+02] [ 3.82208103e-02 -1.29297407e-03 9.99268481e-01 -5.63107662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.7107140569999 meters 0.04383521918513645 Centerline is valid? [True, True] Translation: X:897.48, Y:-153.85, Z:-56.31 [[ 9.98758571e-01 -3.14617214e-02 -3.86196444e-02 8.97476977e+02] [ 3.14913486e-02 9.99504012e-01 1.58924386e-04 -1.53845135e+02] [ 3.85954895e-02 -1.37491178e-03 9.99253971e-01 -5.63067126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.7407140569999 meters 0.04590571427237395 Centerline is valid? [True, True] Translation: X:897.51, Y:-153.85, Z:-56.31 [[ 9.98647772e-01 -3.53544516e-02 -3.81141781e-02 8.97505697e+02] [ 3.53860734e-02 9.99373705e-01 1.55167381e-04 -1.53852057e+02] [ 3.80848215e-02 -1.50366866e-03 9.99273379e-01 -5.63059718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.770714057 meters 0.046981907561437816 Centerline is valid? [True, True] Translation: X:897.53, Y:-153.86, Z:-56.31 [[ 9.98556556e-01 -3.82894550e-02 -3.76659349e-02 8.97534767e+02] [ 3.83223585e-02 9.99265417e-01 1.51703614e-04 -1.53856626e+02] [ 3.76324575e-02 -1.59493210e-03 9.99290375e-01 -5.63067639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.8007140569999 meters 0.047259362216756626 Centerline is valid? [True, True] Translation: X:897.56, Y:-153.86, Z:-56.31 [[ 9.98534916e-01 -4.00007674e-02 -3.64411803e-02 8.97563019e+02] [ 4.00323748e-02 9.99198374e-01 1.37817001e-04 -1.53860625e+02] [ 3.64064553e-02 -1.59644208e-03 9.99335790e-01 -5.63069015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.8307140569999 meters 0.047259362216756626 Centerline is valid? [True, True] Translation: X:897.59, Y:-153.86, Z:-56.31 [[ 9.98526784e-01 -4.02032364e-02 -3.64412077e-02 8.97591310e+02] [ 4.02347095e-02 9.99190248e-01 1.30438249e-04 -1.53860631e+02] [ 3.64064553e-02 -1.59644749e-03 9.99335790e-01 -5.63071746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.8607140569999 meters 0.05043404394952143 Centerline is valid? [True, True] Translation: X:897.62, Y:-153.87, Z:-56.31 [[ 9.98356337e-01 -4.37914972e-02 -3.69720037e-02 8.97621495e+02] [ 4.38264220e-02 9.99039152e-01 1.34315215e-04 -1.53866850e+02] [ 3.69305974e-02 -1.75444508e-03 9.99316293e-01 -5.63086624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.890714057 meters 0.05197180568273547 Centerline is valid? [True, True] Translation: X:897.65, Y:-153.87, Z:-56.31 [[ 9.98251840e-01 -4.63984688e-02 -3.66121065e-02 8.97650395e+02] [ 4.64343915e-02 9.98921333e-01 1.31006456e-04 -1.53874531e+02] [ 3.65665357e-02 -1.83083832e-03 9.99329543e-01 -5.63079575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.9207140569999 meters 0.05339731827457592 Centerline is valid? [True, True] Translation: X:897.68, Y:-153.88, Z:-56.31 [[ 9.98173034e-01 -4.76655952e-02 -3.71293125e-02 8.97678445e+02] [ 4.77033310e-02 9.98861540e-01 1.30594360e-04 -1.53877933e+02] [ 3.70808173e-02 -1.90154765e-03 9.99310461e-01 -5.63093638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.9507140569999 meters 0.05511675342596212 Centerline is valid? [True, True] Translation: X:897.71, Y:-153.88, Z:-56.31 [[ 9.98031202e-01 -4.98350201e-02 -3.80813605e-02 8.97708821e+02] [ 4.98762879e-02 9.98755394e-01 1.33830001e-04 -1.53880835e+02] [ 3.80272948e-02 -2.03292341e-03 9.99274633e-01 -5.63101879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.9807140569999 meters 0.05565999117314122 Centerline is valid? [True, True] Translation: X:897.74, Y:-153.89, Z:-56.31 [[ 9.98060403e-01 -5.04703795e-02 -3.64440992e-02 8.97737040e+02] [ 5.05085276e-02 9.98723622e-01 1.26253377e-04 -1.53887281e+02] [ 3.63912107e-02 -1.96674629e-03 9.99335685e-01 -5.63128956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.010714057 meters 0.05660510172431217 Centerline is valid? [True, True] Translation: X:897.77, Y:-153.89, Z:-56.31 [[ 9.98083521e-01 -5.06936167e-02 -3.54886264e-02 8.97766645e+02] [ 5.07298989e-02 9.98712402e-01 1.22078232e-04 -1.53890163e+02] [ 3.54367428e-02 -1.92217870e-03 9.99370073e-01 -5.63131281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.040714057 meters 0.053353836496266765 Centerline is valid? [True, True] Translation: X:897.80, Y:-153.89, Z:-56.31 [[ 9.98029416e-01 -5.16386453e-02 -3.56473724e-02 8.97796891e+02] [ 5.16758635e-02 9.98663902e-01 1.22894565e-04 -1.53886877e+02] [ 3.55933979e-02 -1.96476114e-03 9.99364423e-01 -5.63105859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.0707140569999 meters 0.05809144624242977 Centerline is valid? [True, True] Translation: X:897.83, Y:-153.89, Z:-56.31 [[ 9.98009625e-01 -5.18053205e-02 -3.59582759e-02 8.97826258e+02] [ 5.18432963e-02 9.98655224e-01 1.23883918e-04 -1.53893187e+02] [ 3.59035022e-02 -1.98783289e-03 9.99353284e-01 -5.63125832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.1007140569999 meters 0.05652736521555557 Centerline is valid? [True, True] Translation: X:897.86, Y:-153.90, Z:-56.31 [[ 9.98252941e-01 -5.03819462e-02 -3.08662399e-02 8.97856194e+02] [ 5.04092156e-02 9.98728642e-01 1.05454146e-04 -1.53896240e+02] [ 3.08216849e-02 -1.66121285e-03 9.99523519e-01 -5.63119638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.130714057 meters 0.05751131312454111 Centerline is valid? [True, True] Translation: X:897.89, Y:-153.90, Z:-56.31 [[ 9.98228629e-01 -5.09159595e-02 -3.07761012e-02 8.97887336e+02] [ 5.09433636e-02 9.98701538e-01 1.06478211e-04 -1.53896645e+02] [ 3.07307182e-02 -1.67412771e-03 9.99526298e-01 -5.63106095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.160714057 meters 0.05686010386276589 Centerline is valid? [True, True] Translation: X:897.92, Y:-153.90, Z:-56.31 [[ 9.98356773e-01 -4.93315992e-02 -2.91572896e-02 8.97916800e+02] [ 4.93554980e-02 9.98781270e-01 1.00091544e-04 -1.53898899e+02] [ 2.91168171e-02 -1.53899962e-03 9.99574831e-01 -5.63098801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.1907140569999 meters 0.05728069687832431 Centerline is valid? [True, True] Translation: X:897.95, Y:-153.90, Z:-56.31 [[ 9.98439587e-01 -4.96249593e-02 -2.56077052e-02 8.97946824e+02] [ 4.96434900e-02 9.98766998e-01 8.80227309e-05 -1.53901308e+02] [ 2.55717627e-02 -1.35914124e-03 9.99672065e-01 -5.63079742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.2207140569999 meters 0.05301378151874342 Centerline is valid? [True, True] Translation: X:897.98, Y:-153.90, Z:-56.31 [[ 9.98387764e-01 -5.10773421e-02 -2.47583878e-02 8.97978862e+02] [ 5.10951582e-02 9.98693786e-01 8.71064082e-05 -1.53895528e+02] [ 2.47215989e-02 -1.35199972e-03 9.99693460e-01 -5.63067016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.250714057 meters 0.05433384007181269 Centerline is valid? [True, True] Translation: X:898.01, Y:-153.90, Z:-56.30 [[ 9.98170502e-01 -5.36204522e-02 -2.79373471e-02 8.98009234e+02] [ 5.36441176e-02 9.98560113e-01 9.77570056e-05 -1.53900745e+02] [ 2.78918787e-02 -1.59625249e-03 9.99609671e-01 -5.63023499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.280714057 meters 0.0621860754483472 Centerline is valid? [True, True] Translation: X:898.04, Y:-153.91, Z:-56.31 [[ 9.97924941e-01 -5.76079206e-02 -2.87600352e-02 8.98038566e+02] [ 5.76346368e-02 9.98337738e-01 1.00150226e-04 -1.53907660e+02] [ 2.87064591e-02 -1.75751659e-03 9.99586340e-01 -5.63058380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.3107140569999 meters 0.05456611818166215 Centerline is valid? [True, True] Translation: X:898.07, Y:-153.91, Z:-56.30 [[ 9.97997041e-01 -5.48139276e-02 -3.15806898e-02 8.98069971e+02] [ 5.48447927e-02 9.98494885e-01 1.11287484e-04 -1.53907158e+02] [ 3.15270571e-02 -1.84310097e-03 9.99501199e-01 -5.63006892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.3407140569999 meters 0.05803355785167147 Centerline is valid? [True, True] Translation: X:898.10, Y:-153.91, Z:-56.30 [[ 9.98018810e-01 -5.63713197e-02 -2.79415445e-02 8.98101685e+02] [ 5.63961244e-02 9.98408467e-01 9.98530004e-05 -1.53906622e+02] [ 2.78914458e-02 -1.67544999e-03 9.99609554e-01 -5.63029268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.3707140569999 meters 0.06053265018688165 Centerline is valid? [True, True] Translation: X:898.13, Y:-153.91, Z:-56.31 [[ 9.97982102e-01 -5.62748228e-02 -2.94086402e-02 8.98132440e+02] [ 5.63023632e-02 9.98413758e-01 1.08588880e-04 -1.53911849e+02] [ 2.93558802e-02 -1.76414570e-03 9.99567467e-01 -5.63069731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.400714057 meters 0.06608985899442307 Centerline is valid? [True, True] Translation: X:898.16, Y:-153.92, Z:-56.31 [[ 9.98059548e-01 -5.58095390e-02 -2.76121940e-02 8.98162904e+02] [ 5.58336901e-02 9.98440077e-01 1.03832621e-04 -1.53919949e+02] [ 2.75633263e-02 -1.64532182e-03 9.99618705e-01 -5.63112200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.4307140569999 meters 0.058655717163517335 Centerline is valid? [True, True] Translation: X:898.19, Y:-153.91, Z:-56.30 [[ 9.98158730e-01 -5.53510937e-02 -2.48073818e-02 8.98194113e+02] [ 5.53704521e-02 9.98465875e-01 9.35964426e-05 -1.53913214e+02] [ 2.47641435e-02 -1.46702005e-03 9.99692245e-01 -5.63045522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.4607140569999 meters 0.0579277610383022 Centerline is valid? [True, True] Translation: X:898.23, Y:-153.91, Z:-56.30 [[ 9.98238885e-01 -5.46802247e-02 -2.30043801e-02 8.98225219e+02] [ 5.46967084e-02 9.98503011e-01 8.74714325e-05 -1.53914086e+02] [ 2.29651599e-02 -1.34558126e-03 9.99735360e-01 -5.63041263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.4907140569999 meters 0.05852411244561678 Centerline is valid? [True, True] Translation: X:898.26, Y:-153.92, Z:-56.30 [[ 9.98266359e-01 -5.44087286e-02 -2.24491875e-02 8.98256359e+02] [ 5.44243820e-02 9.98517891e-01 8.64502499e-05 -1.53916200e+02] [ 2.24112117e-02 -1.30808353e-03 9.99747981e-01 -5.63041905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.520714057 meters 0.05932317741000832 Centerline is valid? [True, True] Translation: X:898.29, Y:-153.92, Z:-56.30 [[ 9.98345245e-01 -5.35488392e-02 -2.09593220e-02 8.98287622e+02] [ 5.35623043e-02 9.98564506e-01 8.11893829e-05 -1.53918204e+02] [ 2.09248875e-02 -1.20368462e-03 9.99780326e-01 -5.63036618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.5507140569999 meters 0.05994611955899501 Centerline is valid? [True, True] Translation: X:898.32, Y:-153.92, Z:-56.30 [[ 9.98358544e-01 -5.37913479e-02 -1.96648980e-02 8.98318967e+02] [ 5.38032991e-02 9.98551550e-01 7.87985335e-05 -1.53920365e+02] [ 1.96321757e-02 -1.13670558e-03 9.99806624e-01 -5.63048095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.5807140569999 meters 0.059056181637047026 Centerline is valid? [True, True] Translation: X:898.35, Y:-153.92, Z:-56.30 [[ 9.98476981e-01 -5.20623130e-02 -1.82547121e-02 8.98349311e+02] [ 5.20723072e-02 9.98643315e-01 7.22708189e-05 -1.53921826e+02] [ 1.82261836e-02 -1.02272573e-03 9.99833366e-01 -5.63028845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.6107140569999 meters 0.05840294568694555 Centerline is valid? [True, True] Translation: X:898.38, Y:-153.92, Z:-56.30 [[ 9.98546197e-01 -5.08070873e-02 -1.80036823e-02 8.98381146e+02] [ 5.08166256e-02 9.98707998e-01 7.24139607e-05 -1.53920847e+02] [ 1.79767424e-02 -9.87195069e-04 9.99837918e-01 -5.63035373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.640714057 meters 0.05462567321284397 Centerline is valid? [True, True] Translation: X:898.41, Y:-153.92, Z:-56.30 [[ 9.98762582e-01 -4.73824098e-02 -1.51067208e-02 8.98412005e+02] [ 4.73887292e-02 9.98876521e-01 6.04253679e-05 -1.53917665e+02] [ 1.50868856e-02 -7.76238898e-04 9.99885885e-01 -5.63016962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.6707140569999 meters 0.04075808470531976 Centerline is valid? [True, True] Translation: X:898.44, Y:-153.90, Z:-56.29 [[ 9.98880060e-01 -4.53001126e-02 -1.36574384e-02 8.98444106e+02] [ 4.53050991e-02 9.98973195e-01 5.57877891e-05 -1.53896004e+02] [ 1.36408877e-02 -6.74476912e-04 9.99906731e-01 -5.62903770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.7007140569999 meters 0.06599711734826587 Centerline is valid? [True, True] Translation: X:898.47, Y:-153.92, Z:-56.32 [[ 9.99099449e-01 -2.97250994e-02 -3.02772075e-02 8.98473795e+02] [ 2.97424657e-02 9.99557587e-01 1.23276744e-04 -1.53919141e+02] [ 3.02601480e-02 -1.02368453e-03 9.99541533e-01 -5.63197394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.7307140569999 meters 0.03740826567266922 Centerline is valid? [True, True] Translation: X:898.50, Y:-153.89, Z:-56.29 [[ 9.99130119e-01 -4.06324326e-02 -9.38137840e-03 8.98504559e+02] [ 4.06345753e-02 9.99174074e-01 3.78251788e-05 -1.53891806e+02] [ 9.37209314e-03 -4.19000602e-04 9.99955993e-01 -5.62890267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.760714057 meters 0.03805863537041134 Centerline is valid? [True, True] Translation: X:898.54, Y:-153.89, Z:-56.29 [[ 9.99217742e-01 -3.85619565e-02 -8.76810182e-03 8.98535065e+02] [ 3.85637528e-02 9.99256141e-01 3.58187819e-05 -1.53894329e+02] [ 8.76019835e-03 -3.73921673e-04 9.99961559e-01 -5.62900044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.790714057 meters 0.03652296099352769 Centerline is valid? [True, True] Translation: X:898.57, Y:-153.89, Z:-56.29 [[ 9.99378392e-01 -3.48137746e-02 -5.55254007e-03 8.98565901e+02] [ 3.48144379e-02 9.99393793e-01 2.28314950e-05 -1.53891094e+02] [ 5.54837924e-03 -2.16125864e-04 9.99984584e-01 -5.62884417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.8207140569999 meters 0.03676933928977788 Centerline is valid? [True, True] Translation: X:898.60, Y:-153.89, Z:-56.29 [[ 9.99460854e-01 -3.23350568e-02 -5.69610803e-03 8.98596275e+02] [ 3.23357223e-02 9.99477063e-01 2.47577570e-05 -1.53892467e+02] [ 5.69232878e-03 -2.08932176e-04 9.99983777e-01 -5.62896854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.8507140569999 meters 0.03603209837369823 Centerline is valid? [True, True] Translation: X:898.63, Y:-153.89, Z:-56.29 [[ 9.99525875e-01 -3.05606980e-02 -3.75090309e-03 8.98628033e+02] [ 3.05609742e-02 9.99532904e-01 1.63296813e-05 -1.53891609e+02] [ 3.74865201e-03 -1.30953191e-04 9.99992965e-01 -5.62893481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.880714057 meters 0.03366499240433189 Centerline is valid? [True, True] Translation: X:898.66, Y:-153.89, Z:-56.29 [[ 9.99595265e-01 -2.83467305e-02 -2.40178832e-03 8.98659575e+02] [ 2.83468377e-02 9.99598148e-01 1.05716116e-05 -1.53886353e+02] [ 2.40052349e-03 -7.86504366e-05 9.99997116e-01 -5.62881089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.910714057 meters 0.03314965517759931 Centerline is valid? [True, True] Translation: X:898.69, Y:-153.89, Z:-56.29 [[ 9.99727079e-01 -2.33500679e-02 7.36629412e-04 8.98689036e+02] [ 2.33500767e-02 9.99727350e-01 -3.29142384e-06 -1.53886098e+02] [-7.36351715e-04 2.04908788e-05 9.99999729e-01 -5.62873051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.9407140569999 meters 0.03156533866342091 Centerline is valid? [True, True] Translation: X:898.72, Y:-153.88, Z:-56.29 [[ 9.99805572e-01 -1.97181966e-02 1.01565410e-04 8.98720056e+02] [ 1.97181967e-02 9.99805577e-01 -1.09214052e-07 -1.53882711e+02] [-1.01543510e-04 2.11187956e-06 9.99999995e-01 -5.62875906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.9707140569999 meters 0.03145428720719727 Centerline is valid? [True, True] Translation: X:898.75, Y:-153.88, Z:-56.29 [[ 9.99844915e-01 -1.75737874e-02 1.14363579e-03 8.98751174e+02] [ 1.75738040e-02 9.99845569e-01 -4.46958598e-06 -1.53881705e+02] [-1.14338063e-03 2.45669240e-05 9.99999346e-01 -5.62871945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.000714057 meters 0.03008493067840635 Centerline is valid? [True, True] Translation: X:898.78, Y:-153.88, Z:-56.29 [[ 9.99877817e-01 -1.53069228e-02 3.16996959e-03 8.98783326e+02] [ 1.53070418e-02 9.99882840e-01 -1.32947526e-05 -1.53880779e+02] [-3.16939470e-03 6.18159853e-05 9.99994976e-01 -5.62872794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.030714057 meters 0.030001932056495782 Centerline is valid? [True, True] Translation: X:898.82, Y:-153.88, Z:-56.29 [[ 9.99882036e-01 -1.49785040e-02 3.39977624e-03 8.98815316e+02] [ 1.49786400e-02 9.99887814e-01 -1.45350142e-05 -1.53881358e+02] [-3.39917712e-03 6.54573240e-05 9.99994221e-01 -5.62876193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.0607140569999 meters 0.03022990871493532 Centerline is valid? [True, True] Translation: X:898.85, Y:-153.88, Z:-56.29 [[ 9.99884069e-01 -1.47925285e-02 3.60974452e-03 8.98846164e+02] [ 1.47926820e-02 9.99890582e-01 -1.58170638e-05 -1.53882319e+02] [-3.60911557e-03 6.92130329e-05 9.99993485e-01 -5.62876460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.0907140569999 meters 0.029908418329911594 Centerline is valid? [True, True] Translation: X:898.88, Y:-153.88, Z:-56.29 [[ 9.99857379e-01 -1.61255640e-02 5.01882941e-03 8.98878360e+02] [ 1.61258793e-02 9.99869969e-01 -2.23525649e-05 -1.53883411e+02] [-5.01781636e-03 1.03282414e-04 9.99987405e-01 -5.62877561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.1207140569999 meters 0.03030264471652164 Centerline is valid? [True, True] Translation: X:898.91, Y:-153.89, Z:-56.29 [[ 9.99807513e-01 -1.83654155e-02 6.90272597e-03 8.98910527e+02] [ 1.83660700e-02 9.99831329e-01 -3.14471613e-05 -1.53887227e+02] [-6.90098414e-03 1.58217057e-04 9.99976175e-01 -5.62874944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.150714057 meters 0.030547668959357645 Centerline is valid? [True, True] Translation: X:898.94, Y:-153.89, Z:-56.29 [[ 9.99768298e-01 -2.00876305e-02 7.73550744e-03 8.98941477e+02] [ 2.00885090e-02 9.99798205e-01 -3.58762828e-05 -1.53890539e+02] [-7.73322578e-03 1.91262781e-04 9.99970080e-01 -5.62882674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.1807140569999 meters 0.03120939378902641 Centerline is valid? [True, True] Translation: X:898.97, Y:-153.90, Z:-56.29 [[ 9.99688715e-01 -2.34061717e-02 8.63849782e-03 8.98972498e+02] [ 2.34073939e-02 9.99726009e-01 -4.03943888e-05 -1.53896353e+02] [-8.63518547e-03 2.42586536e-04 9.99962687e-01 -5.62890574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.2107140569999 meters 0.03230686198732433 Centerline is valid? [True, True] Translation: X:899.00, Y:-153.90, Z:-56.29 [[ 9.99626204e-01 -2.61485836e-02 7.98147155e-03 8.99004954e+02] [ 2.61497288e-02 9.99658037e-01 -3.91368067e-05 -1.53898974e+02] [-7.97771880e-03 2.47835494e-04 9.99968147e-01 -5.62896854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.2407140569999 meters 0.03297606280411175 Centerline is valid? [True, True] Translation: X:899.04, Y:-153.90, Z:-56.29 [[ 9.99613998e-01 -2.69614778e-02 6.70323037e-03 8.99035894e+02] [ 2.69623032e-02 9.99636450e-01 -3.27819285e-05 -1.53901302e+02] [-6.69990957e-03 2.13503804e-04 9.99977533e-01 -5.62908139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.270714057 meters 0.03379123790877569 Centerline is valid? [True, True] Translation: X:899.07, Y:-153.91, Z:-56.29 [[ 9.99523898e-01 -3.03696056e-02 5.44655669e-03 8.99065579e+02] [ 3.03702101e-02 9.99538718e-01 -2.83007842e-05 -1.53905853e+02] [-5.44318481e-03 1.93700381e-04 9.99985167e-01 -5.62921866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.3007140569999 meters 0.034910633354433666 Centerline is valid? [True, True] Translation: X:899.10, Y:-153.91, Z:-56.29 [[ 9.99485040e-01 -3.16904094e-02 5.03708524e-03 8.99096824e+02] [ 3.16909421e-02 9.99497716e-01 -2.59504711e-05 -1.53907581e+02] [-5.03373281e-03 1.85567084e-04 9.99987313e-01 -5.62924641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.3307140569999 meters 0.03590879980656462 Centerline is valid? [True, True] Translation: X:899.13, Y:-153.91, Z:-56.29 [[ 9.99424521e-01 -3.33670226e-02 6.10476209e-03 8.99129254e+02] [ 3.33678384e-02 9.99443138e-01 -3.17916021e-05 -1.53909747e+02] [-6.10030179e-03 2.35476021e-04 9.99981365e-01 -5.62918170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.3607140569999 meters 0.03742123575466772 Centerline is valid? [True, True] Translation: X:899.16, Y:-153.91, Z:-56.29 [[ 9.99317767e-01 -3.59219627e-02 8.57984311e-03 8.99160712e+02] [ 3.59236737e-02 9.99354535e-01 -4.53325346e-05 -1.53914224e+02] [-8.57267670e-03 3.53521091e-04 9.99963191e-01 -5.62900707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.390714057 meters 0.03813721724826209 Centerline is valid? [True, True] Translation: X:899.19, Y:-153.92, Z:-56.29 [[ 9.99258382e-01 -3.72349770e-02 9.81028089e-03 8.99193191e+02] [ 3.72372994e-02 9.99306450e-01 -5.41196550e-05 -1.53916050e+02] [-9.80146182e-03 4.19387885e-04 9.99951877e-01 -5.62889586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.4207140569999 meters 0.039819320850148505 Centerline is valid? [True, True] Translation: X:899.22, Y:-153.92, Z:-56.29 [[ 9.99195137e-01 -3.82925680e-02 1.19481412e-02 8.99224585e+02] [ 3.82961030e-02 9.99266433e-01 -6.71280558e-05 -1.53918217e+02] [-1.19368059e-02 5.24641272e-04 9.99928616e-01 -5.62875540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.4507140569999 meters 0.04054855054244785 Centerline is valid? [True, True] Translation: X:899.26, Y:-153.92, Z:-56.29 [[ 9.99131849e-01 -3.94639721e-02 1.33470118e-02 8.99256834e+02] [ 3.94685200e-02 9.99220811e-01 -7.74072394e-05 -1.53919172e+02] [-1.33335571e-02 6.04126839e-04 9.99910922e-01 -5.62874674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.4807140569999 meters 0.0409722295141673 Centerline is valid? [True, True] Translation: X:899.29, Y:-153.92, Z:-56.29 [[ 9.99096879e-01 -4.02345294e-02 1.36604915e-02 8.99289252e+02] [ 4.02393855e-02 9.99190065e-01 -8.07073940e-05 -1.53920092e+02] [-1.36461802e-02 6.30324290e-04 9.99906688e-01 -5.62879055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.510714057 meters 0.04231175011450749 Centerline is valid? [True, True] Translation: X:899.32, Y:-153.92, Z:-56.29 [[ 9.99056235e-01 -4.11423160e-02 1.39265709e-02 8.99320595e+02] [ 4.11474926e-02 9.99153080e-01 -8.52575671e-05 -1.53922513e+02] [-1.39112685e-02 6.58220579e-04 9.99903017e-01 -5.62885421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.540714057 meters 0.04303059537433357 Centerline is valid? [True, True] Translation: X:899.35, Y:-153.92, Z:-56.29 [[ 9.99001515e-01 -4.26080025e-02 1.34362150e-02 8.99353091e+02] [ 4.26129812e-02 9.99091651e-01 -8.43397362e-05 -1.53924351e+02] [-1.34204167e-02 6.56812702e-04 9.99909726e-01 -5.62899409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.5707140569999 meters 0.04664527820302528 Centerline is valid? [True, True] Translation: X:899.38, Y:-153.93, Z:-56.29 [[ 9.98822127e-01 -4.72392628e-02 1.10820244e-02 8.99382489e+02] [ 4.72429395e-02 9.98883427e-01 -7.00714325e-05 -1.53928431e+02] [-1.10663404e-02 5.93536305e-04 9.99938590e-01 -5.62915670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.6007140569999 meters 0.048352823635604454 Centerline is valid? [True, True] Translation: X:899.41, Y:-153.93, Z:-56.29 [[ 9.98717185e-01 -4.96344356e-02 1.00203592e-02 8.99413970e+02] [ 4.96375632e-02 9.98767294e-01 -6.35094289e-05 -1.53930415e+02] [-1.00048548e-02 5.60814172e-04 9.99949793e-01 -5.62931613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.630714057 meters 0.05172209664328034 Centerline is valid? [True, True] Translation: X:899.44, Y:-153.93, Z:-56.29 [[ 9.98481660e-01 -5.44781461e-02 8.15516218e-03 8.99444099e+02] [ 5.44803806e-02 9.98514840e-01 -5.19352524e-05 -1.53933699e+02] [-8.14022113e-03 4.96152737e-04 9.99966745e-01 -5.62945717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.660714057 meters 0.041147457199940604 Centerline is valid? [True, True] Translation: X:899.48, Y:-153.92, Z:-56.30 [[ 9.98364789e-01 -5.66418607e-02 7.71021701e-03 8.99475616e+02] [ 5.66439212e-02 9.98394443e-01 -4.89571379e-05 -1.53915915e+02] [-7.69506480e-03 4.85614008e-04 9.99970275e-01 -5.62950757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.6907140569999 meters 0.04096611176336933 Centerline is valid? [True, True] Translation: X:899.51, Y:-153.92, Z:-56.30 [[ 9.98291001e-01 -5.79596666e-02 7.46691095e-03 8.99507729e+02] [ 5.79616371e-02 9.98318810e-01 -4.75837044e-05 -1.53915063e+02] [-7.45159972e-03 4.80296767e-04 9.99972121e-01 -5.62951982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.7207140569999 meters 0.04096611176336933 Centerline is valid? [True, True] Translation: X:899.54, Y:-153.92, Z:-56.30 [[ 9.98307140e-01 -5.76810062e-02 7.46691057e-03 8.99540415e+02] [ 5.76829695e-02 9.98334950e-01 -4.76553848e-05 -1.53915356e+02] [-7.45172898e-03 4.78288286e-04 9.99972121e-01 -5.62955126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.750714057 meters 0.056786406792662295 Centerline is valid? [True, True] Translation: X:899.57, Y:-153.94, Z:-56.30 [[ 9.98266171e-01 -5.83793836e-02 7.51658813e-03 8.99571240e+02] [ 5.83814111e-02 9.98294350e-01 -5.04105814e-05 -1.53938384e+02] [-7.50082452e-03 4.89152199e-04 9.99971749e-01 -5.62967225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.780714057 meters 0.05814965450016003 Centerline is valid? [True, True] Translation: X:899.60, Y:-153.94, Z:-56.30 [[ 9.98209515e-01 -5.92854261e-02 7.93738544e-03 8.99602606e+02] [ 5.92877243e-02 9.98240934e-01 -5.43511435e-05 -1.53936978e+02] [-7.92020083e-03 5.24843348e-04 9.99968497e-01 -5.62962315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.8107140569999 meters 0.05866781429750536 Centerline is valid? [True, True] Translation: X:899.63, Y:-153.94, Z:-56.30 [[ 9.98208961e-01 -5.91830141e-02 8.73166293e-03 8.99634455e+02] [ 5.91858000e-02 9.98246982e-01 -6.07788903e-05 -1.53935516e+02] [-8.71275909e-03 5.77460489e-04 9.99961876e-01 -5.62952423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.8407140569999 meters 0.05828128516222425 Centerline is valid? [True, True] Translation: X:899.67, Y:-153.93, Z:-56.29 [[ 9.98242376e-01 -5.85258039e-02 9.32141099e-03 8.99666426e+02] [ 5.85289557e-02 9.98285709e-01 -6.54620155e-05 -1.53933306e+02] [-9.30160017e-03 6.10919409e-04 9.99956553e-01 -5.62949739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.8707140569999 meters 0.05895268543673898 Centerline is valid? [True, True] Translation: X:899.70, Y:-153.93, Z:-56.30 [[ 9.98295189e-01 -5.76331017e-02 9.22718168e-03 8.99697816e+02] [ 5.76361568e-02 9.98337653e-01 -6.53063837e-05 -1.53929837e+02] [-9.20807909e-03 5.97014339e-04 9.99957427e-01 -5.62953713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.900714057 meters 0.05857097264000014 Centerline is valid? [True, True] Translation: X:899.73, Y:-153.93, Z:-56.30 [[ 9.98361966e-01 -5.63212279e-02 1.00649905e-02 8.99728827e+02] [ 5.63248089e-02 9.98412495e-01 -7.24583089e-05 -1.53928222e+02] [-1.00449314e-02 6.39248287e-04 9.99949344e-01 -5.62952068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.9307140569999 meters 0.05897067185943792 Centerline is valid? [True, True] Translation: X:899.76, Y:-153.93, Z:-56.30 [[ 9.98371205e-01 -5.62057861e-02 9.79014364e-03 8.99761324e+02] [ 5.62091714e-02 9.98419012e-01 -7.07569163e-05 -1.53927592e+02] [-9.77068859e-03 6.20937529e-04 9.99952073e-01 -5.62963195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.9607140569999 meters 0.04502218602257474 Centerline is valid? [True, True] Translation: X:899.79, Y:-153.90, Z:-56.30 [[ 9.98355957e-01 -5.65280661e-02 9.48478454e-03 8.99794005e+02] [ 5.65312627e-02 9.98400827e-01 -6.90472466e-05 -1.53902726e+02] [-9.46571362e-03 6.05120577e-04 9.99955016e-01 -5.62969234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.9907140569999 meters 0.060923617264749555 Centerline is valid? [True, True] Translation: X:899.83, Y:-153.93, Z:-56.30 [[ 9.98363821e-01 -5.63408038e-02 9.76697532e-03 8.99826301e+02] [ 5.63442071e-02 9.98411401e-01 -7.34256708e-05 -1.53925267e+02] [-9.74732264e-03 6.23618013e-04 9.99952299e-01 -5.62967234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.020714057 meters 0.06172627728230077 Centerline is valid? [True, True] Translation: X:899.86, Y:-153.92, Z:-56.30 [[ 9.98309205e-01 -5.72424399e-02 1.01012130e-02 8.99858637e+02] [ 5.72461429e-02 9.98360092e-01 -7.76024463e-05 -1.53924266e+02] [-1.00802058e-02 6.55726718e-04 9.99948978e-01 -5.62968280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.0507140569999 meters 0.0631016973099437 Centerline is valid? [True, True] Translation: X:899.89, Y:-153.93, Z:-56.30 [[ 9.98259891e-01 -5.81906327e-02 9.54150787e-03 8.99889266e+02] [ 5.81939847e-02 9.98305291e-01 -7.38075823e-05 -1.53925460e+02] [-9.52104289e-03 6.28937512e-04 9.99954476e-01 -5.62982894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.0807140569999 meters 0.06432564538147613 Centerline is valid? [True, True] Translation: X:899.92, Y:-153.93, Z:-56.30 [[ 9.98213766e-01 -5.90549798e-02 9.04358387e-03 8.99921146e+02] [ 5.90580283e-02 9.98254549e-01 -7.01772699e-05 -1.53926653e+02] [-9.02365442e-03 6.04148149e-04 9.99959103e-01 -5.62995627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.1107140569999 meters 0.06618509457743323 Centerline is valid? [True, True] Translation: X:899.95, Y:-153.93, Z:-56.30 [[ 9.98129782e-01 -6.05620485e-02 8.31724393e-03 8.99952707e+02] [ 6.05646828e-02 9.98164273e-01 -6.49935488e-05 -1.53928019e+02] [-8.29803960e-03 5.68603238e-04 9.99965409e-01 -5.63017857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.140714057 meters 0.06830375648525652 Centerline is valid? [True, True] Translation: X:899.98, Y:-153.93, Z:-56.30 [[ 9.98064510e-01 -6.17070208e-02 7.71217058e-03 8.99984967e+02] [ 6.17093209e-02 9.98094162e-01 -6.04052091e-05 -1.53929780e+02] [-7.69374501e-03 5.36201104e-04 9.99970259e-01 -5.63027790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.1707140569999 meters 0.06907698472264631 Centerline is valid? [True, True] Translation: X:900.02, Y:-153.93, Z:-56.30 [[ 9.98026352e-01 -6.23973446e-02 7.06905679e-03 9.00016848e+02] [ 6.23992966e-02 9.98051264e-01 -5.57105832e-05 -1.53929486e+02] [-7.05180487e-03 4.96704802e-04 9.99975012e-01 -5.63033654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.2007140569999 meters 0.045659237160787354 Centerline is valid? [True, True] Translation: X:900.05, Y:-153.89, Z:-56.30 [[ 9.98062017e-01 -6.18167585e-02 7.13427856e-03 9.00049584e+02] [ 6.18187316e-02 9.98087392e-01 -5.61666196e-05 -1.53894336e+02] [-7.11716144e-03 4.97089821e-04 9.99974549e-01 -5.63016838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.2307140569999 meters 0.04971905238858512 Centerline is valid? [True, True] Translation: X:900.08, Y:-153.90, Z:-56.30 [[ 9.98199078e-01 -5.95935661e-02 6.87081637e-03 9.00078951e+02] [ 5.95953591e-02 9.98222615e-01 -5.63241415e-05 -1.53896128e+02] [-6.85524773e-03 4.65691475e-04 9.99976394e-01 -5.63013288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.260714057 meters 0.04886447546337603 Centerline is valid? [True, True] Translation: X:900.11, Y:-153.89, Z:-56.30 [[ 9.98308579e-01 -5.76465503e-02 7.54031466e-03 9.00110911e+02] [ 5.76486519e-02 9.98336932e-01 -6.14915070e-05 -1.53893438e+02] [-7.52422983e-03 4.96076474e-04 9.99971570e-01 -5.63008620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.290714057 meters 0.043654746486171354 Centerline is valid? [True, True] Translation: X:900.14, Y:-153.88, Z:-56.30 [[ 9.98519885e-01 -5.36907290e-02 8.68016309e-03 9.00141973e+02] [ 5.36933719e-02 9.98557468e-01 -7.15515053e-05 -1.53880081e+02] [-8.66380003e-03 5.37512825e-04 9.99962324e-01 -5.62998125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.3207140569999 meters 0.04593620292833082 Centerline is valid? [True, True] Translation: X:900.17, Y:-153.88, Z:-56.30 [[ 9.98761575e-01 -4.88331274e-02 9.52060147e-03 9.00171706e+02] [ 4.88360873e-02 9.98806803e-01 -7.85300157e-05 -1.53878605e+02] [-9.50540665e-03 5.43381687e-04 9.99954675e-01 -5.62989452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.3507140569999 meters 0.04197669209517965 Centerline is valid? [True, True] Translation: X:900.20, Y:-153.87, Z:-56.30 [[ 9.98891750e-01 -4.60052554e-02 9.93920266e-03 9.00203050e+02] [ 4.60083403e-02 9.98941052e-01 -8.18261947e-05 -1.53869427e+02] [-9.92491313e-03 5.39021729e-04 9.99950602e-01 -5.62983915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.380714057 meters 0.040162015467585736 Centerline is valid? [True, True] Translation: X:900.23, Y:-153.86, Z:-56.30 [[ 9.99130886e-01 -4.02826835e-02 1.07134216e-02 9.00232498e+02] [ 4.02859412e-02 9.99188188e-01 -8.83492807e-05 -1.53861923e+02] [-1.07011653e-02 5.19872766e-04 9.99942606e-01 -5.62967403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.410714057 meters 0.03619786692257554 Centerline is valid? [True, True] Translation: X:900.26, Y:-153.85, Z:-56.30 [[ 9.99302904e-01 -3.58383342e-02 1.04555867e-02 9.00263035e+02] [ 3.58411925e-02 9.99357494e-01 -8.60688821e-05 -1.53849772e+02] [-1.04457844e-02 4.60749581e-04 9.99945335e-01 -5.62972178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.4407140569999 meters 0.039001940097274965 Centerline is valid? [True, True] Translation: X:900.29, Y:-153.85, Z:-56.30 [[ 9.99433438e-01 -3.17554834e-02 1.11531605e-02 9.00292456e+02] [ 3.17584817e-02 9.99495568e-01 -9.17865520e-05 -1.53850284e+02] [-1.11446197e-02 4.45941992e-04 9.99937797e-01 -5.62964768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.4707140569999 meters 0.03349330551314687 Centerline is valid? [True, True] Translation: X:900.33, Y:-153.84, Z:-56.30 [[ 9.99485414e-01 -2.97231757e-02 1.20598726e-02 9.00325026e+02] [ 2.97265384e-02 9.99558064e-01 -9.96398269e-05 -1.53838614e+02] [-1.20515812e-02 4.58086819e-04 9.99927272e-01 -5.62969374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.500714057 meters 0.031051167466332973 Centerline is valid? [True, True] Translation: X:900.36, Y:-153.83, Z:-56.30 [[ 9.99591120e-01 -2.58001021e-02 1.23267067e-02 9.00356317e+02] [ 2.58033464e-02 9.99667033e-01 -1.04194355e-04 -1.53830237e+02] [-1.23199141e-02 4.22222034e-04 9.99924018e-01 -5.62973621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.530714057 meters 0.030391014534318965 Centerline is valid? [True, True] Translation: X:900.39, Y:-153.83, Z:-56.30 [[ 9.99649780e-01 -2.34217450e-02 1.23182373e-02 9.00388543e+02] [ 2.34248164e-02 9.99725596e-01 -1.05097820e-04 -1.53826067e+02] [-1.23123955e-02 3.93613459e-04 9.99924122e-01 -5.62971933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.5607140569999 meters 0.031373206535615344 Centerline is valid? [True, True] Translation: X:900.42, Y:-153.83, Z:-56.30 [[ 9.99664444e-01 -2.27502718e-02 1.23864415e-02 9.00420142e+02] [ 2.27533592e-02 9.99741103e-01 -1.08373011e-04 -1.53829372e+02] [-1.23807692e-02 3.90169799e-04 9.99923279e-01 -5.62987376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.5907140569999 meters 0.030456609514003377 Centerline is valid? [True, True] Translation: X:900.45, Y:-153.83, Z:-56.30 [[ 9.99673956e-01 -2.31414168e-02 1.07914723e-02 9.00452105e+02] [ 2.31437982e-02 9.99732142e-01 -9.58319550e-05 -1.53828785e+02] [-1.07863641e-02 3.45556368e-04 9.99941766e-01 -5.63015042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.6207140569999 meters 0.030906886507820978 Centerline is valid? [True, True] Translation: X:900.48, Y:-153.83, Z:-56.30 [[ 9.99676317e-01 -2.28834711e-02 1.11179175e-02 9.00484097e+02] [ 2.28860131e-02 9.99738076e-01 -1.01453609e-04 -1.53830462e+02] [-1.11126838e-02 3.55865576e-04 9.99938189e-01 -5.63022232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.650714057 meters 0.031234141733675946 Centerline is valid? [True, True] Translation: X:900.52, Y:-153.83, Z:-56.30 [[ 9.99665454e-01 -2.36007483e-02 1.05823266e-02 9.00515934e+02] [ 2.36031165e-02 9.99721403e-01 -9.89415426e-05 -1.53831450e+02] [-1.05770433e-02 3.48684329e-04 9.99944001e-01 -5.63026696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.6807140569999 meters 0.03129382949129254 Centerline is valid? [True, True] Translation: X:900.55, Y:-153.83, Z:-56.30 [[ 9.99635353e-01 -2.48466450e-02 1.05738111e-02 9.00547924e+02] [ 2.48490866e-02 9.99691209e-01 -9.95780339e-05 -1.53833353e+02] [-1.05680719e-02 3.62291272e-04 9.99944091e-01 -5.63037773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.7107140569999 meters 0.03245272327912555 Centerline is valid? [True, True] Translation: X:900.58, Y:-153.84, Z:-56.31 [[ 9.99574477e-01 -2.77800248e-02 8.89578361e-03 9.00579888e+02] [ 2.77818724e-02 9.99614006e-01 -8.41683439e-05 -1.53837971e+02] [-8.89001169e-03 3.31274053e-04 9.99960428e-01 -5.63061807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.7407140569999 meters 0.03202061172344606 Centerline is valid? [True, True] Translation: X:900.61, Y:-153.84, Z:-56.31 [[ 9.99538646e-01 -2.90699816e-02 8.79947669e-03 9.00612480e+02] [ 2.90718561e-02 9.99577321e-01 -8.51561301e-05 -1.53839168e+02] [-8.79328185e-03 3.40933963e-04 9.99961280e-01 -5.63067843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.770714057 meters 0.03378700976911898 Centerline is valid? [True, True] Translation: X:900.64, Y:-153.85, Z:-56.31 [[ 9.99464095e-01 -3.13270451e-02 9.49419035e-03 9.00643242e+02] [ 3.13293526e-02 9.99509111e-01 -9.43869420e-05 -1.53845221e+02] [-9.48657289e-03 3.91783197e-04 9.99954925e-01 -5.63073498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.8007140569999 meters 0.03388687419214784 Centerline is valid? [True, True] Translation: X:900.68, Y:-153.85, Z:-56.31 [[ 9.99441803e-01 -3.17338601e-02 1.04424296e-02 9.00675572e+02] [ 3.17366893e-02 9.99496259e-01 -1.05293437e-04 -1.53847627e+02] [-1.04338280e-02 4.36642807e-04 9.99945471e-01 -5.63071584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.8307140569999 meters 0.033732458658073575 Centerline is valid? [True, True] Translation: X:900.71, Y:-153.85, Z:-56.31 [[ 9.99505455e-01 -2.94563045e-02 1.10078243e-02 9.00707011e+02] [ 2.94593404e-02 9.99565973e-01 -1.13711780e-04 -1.53849241e+02] [-1.09996971e-02 4.37938787e-04 9.99939406e-01 -5.63071766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.8607140569999 meters 0.03380834973755323 Centerline is valid? [True, True] Translation: X:900.74, Y:-153.85, Z:-56.31 [[ 9.99547544e-01 -2.78156803e-02 1.14452865e-02 9.00739750e+02] [ 2.78188816e-02 9.99612973e-01 -1.20574107e-04 -1.53849599e+02] [-1.14375030e-02 4.38914622e-04 9.99934493e-01 -5.63080168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.890714057 meters 0.031900958044083716 Centerline is valid? [True, True] Translation: X:900.77, Y:-153.85, Z:-56.31 [[ 9.99590488e-01 -2.61495628e-02 1.16214002e-02 9.00771722e+02] [ 2.61527662e-02 9.99657950e-01 -1.23735609e-04 -1.53847089e+02] [-1.16141895e-02 4.27616701e-04 9.99932462e-01 -5.63083384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.9207140569999 meters 0.03228443400861871 Centerline is valid? [True, True] Translation: X:900.80, Y:-153.85, Z:-56.31 [[ 9.99637772e-01 -2.46282623e-02 1.08523133e-02 9.00803180e+02] [ 2.46309929e-02 9.99696604e-01 -1.18014436e-04 -1.53848490e+02] [-1.08461143e-02 3.85274941e-04 9.99941105e-01 -5.63091616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.9507140569999 meters 0.03162136123443027 Centerline is valid? [True, True] Translation: X:900.84, Y:-153.85, Z:-56.31 [[ 9.99699824e-01 -2.24752140e-02 9.75329740e-03 9.00835761e+02] [ 2.24773365e-02 9.99747347e-01 -1.08037571e-04 -1.53847764e+02] [-9.74840503e-03 3.27233288e-04 9.99952430e-01 -5.63112273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.9807140569999 meters 0.031300090019410476 Centerline is valid? [True, True] Translation: X:900.87, Y:-153.85, Z:-56.31 [[ 9.99757028e-01 -2.04465373e-02 8.23559377e-03 9.00868551e+02] [ 2.04479969e-02 9.99790914e-01 -9.30512051e-05 -1.53846489e+02] [-8.23196924e-03 2.61429992e-04 9.99966083e-01 -5.63132806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.010714057 meters 0.03074358769065019 Centerline is valid? [True, True] Translation: X:900.90, Y:-153.85, Z:-56.31 [[ 9.99792111e-01 -1.93776907e-02 6.34356852e-03 9.00901295e+02] [ 1.93785374e-02 9.99812216e-01 -7.20302075e-05 -1.53845616e+02] [-6.34098152e-03 1.94944313e-04 9.99979877e-01 -5.63144805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.040714057 meters 0.03117261391417088 Centerline is valid? [True, True] Translation: X:900.93, Y:-153.85, Z:-56.32 [[ 9.99794394e-01 -1.93317291e-02 6.12003253e-03 9.00933979e+02] [ 1.93325190e-02 9.99813107e-01 -6.99313117e-05 -1.53846532e+02] [-6.11753684e-03 1.88232578e-04 9.99981270e-01 -5.63161999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.0707140569999 meters 0.03144915032079704 Centerline is valid? [True, True] Translation: X:900.97, Y:-153.85, Z:-56.32 [[ 9.99763748e-01 -2.10222828e-02 5.52369184e-03 9.00965721e+02] [ 2.10229558e-02 9.99778991e-01 -6.37948917e-05 -1.53846142e+02] [-5.52112994e-03 1.79904150e-04 9.99984742e-01 -5.63170013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.1007140569999 meters 0.0318878261462344 Centerline is valid? [True, True] Translation: X:901.00, Y:-153.85, Z:-56.32 [[ 9.99730485e-01 -2.25875218e-02 5.36294622e-03 9.00996982e+02] [ 2.25881785e-02 9.99744853e-01 -6.18944741e-05 -1.53846650e+02] [-5.36017983e-03 1.83016979e-04 9.99985617e-01 -5.63160036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.130714057 meters 0.03301308841665532 Centerline is valid? [True, True] Translation: X:901.03, Y:-153.85, Z:-56.32 [[ 9.99664399e-01 -2.53999757e-02 5.09211400e-03 9.01027769e+02] [ 2.54006071e-02 9.99677351e-01 -5.93663990e-05 -1.53848089e+02] [-5.08896313e-03 1.88689263e-04 9.99987033e-01 -5.63170275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.160714057 meters 0.03395563469242855 Centerline is valid? [True, True] Translation: X:901.06, Y:-153.85, Z:-56.32 [[ 9.99603381e-01 -2.75932479e-02 5.62961769e-03 9.01060287e+02] [ 2.75940597e-02 9.99619209e-01 -6.65585702e-05 -1.53850920e+02] [-5.62563742e-03 2.21876179e-04 9.99984151e-01 -5.63171176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.1907140569999 meters 0.033473259100056815 Centerline is valid? [True, True] Translation: X:901.09, Y:-153.85, Z:-56.32 [[ 9.99532511e-01 -2.97293327e-02 7.13632441e-03 9.01091976e+02] [ 2.97306949e-02 9.99557942e-01 -8.48441471e-05 -1.53849750e+02] [-7.13064738e-03 2.96972367e-04 9.99974533e-01 -5.63150733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.2207140569999 meters 0.03277369996655768 Centerline is valid? [True, True] Translation: X:901.12, Y:-153.85, Z:-56.31 [[ 9.99502820e-01 -3.07222117e-02 7.08932316e-03 9.01124550e+02] [ 3.07235919e-02 9.99527915e-01 -8.58330897e-05 -1.53849909e+02] [-7.08333942e-03 3.03599887e-04 9.99974867e-01 -5.63146851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.250714057 meters 0.03336253972807319 Centerline is valid? [True, True] Translation: X:901.16, Y:-153.85, Z:-56.32 [[ 9.99471215e-01 -3.18025902e-02 6.77392914e-03 9.01157186e+02] [ 3.18038856e-02 9.99494125e-01 -8.35659293e-05 -1.53850457e+02] [-6.76784477e-03 2.98959008e-04 9.99977053e-01 -5.63152666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.280714057 meters 0.03425627393644017 Centerline is valid? [True, True] Translation: X:901.19, Y:-153.85, Z:-56.32 [[ 9.99456748e-01 -3.23573629e-02 6.26180924e-03 9.01187969e+02] [ 3.23584903e-02 9.99476324e-01 -7.87789861e-05 -1.53851895e+02] [-6.25598100e-03 2.81358882e-04 9.99980392e-01 -5.63163392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.3107140569999 meters 0.044554625247654404 Centerline is valid? [True, True] Translation: X:901.22, Y:-153.87, Z:-56.32 [[ 9.99561925e-01 -2.86696421e-02 7.34918468e-03 9.01216985e+02] [ 2.86711117e-02 9.99588895e-01 -9.46640971e-05 -1.53870889e+02] [-7.34344941e-03 3.05331922e-04 9.99972990e-01 -5.63168953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.3407140569999 meters 0.03203173465944795 Centerline is valid? [True, True] Translation: X:901.25, Y:-153.85, Z:-56.32 [[ 9.99571211e-01 -2.89479990e-02 4.40528427e-03 9.01249863e+02] [ 2.89485237e-02 9.99580902e-01 -5.53767881e-05 -1.53846079e+02] [-4.40183498e-03 1.82879519e-04 9.99990295e-01 -5.63180260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.3707140569999 meters 0.03210705838012514 Centerline is valid? [True, True] Translation: X:901.28, Y:-153.84, Z:-56.32 [[ 9.99662651e-01 -2.57815601e-02 3.14566423e-03 9.01280115e+02] [ 2.57818151e-02 9.99667593e-01 -4.05429303e-05 -1.53844450e+02] [-3.14357333e-03 1.21630187e-04 9.99995052e-01 -5.63185544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.400714057 meters 0.03055317876934416 Centerline is valid? [True, True] Translation: X:901.31, Y:-153.84, Z:-56.32 [[ 9.99744854e-01 -2.21987681e-02 4.17628810e-03 9.01311618e+02] [ 2.21991912e-02 9.99753566e-01 -5.49595960e-05 -1.53839247e+02] [-4.17403889e-03 1.47655791e-04 9.99991278e-01 -5.63178962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.4307140569999 meters 0.03026930924038494 Centerline is valid? [True, True] Translation: X:901.34, Y:-153.84, Z:-56.32 [[ 9.99806514e-01 -1.85978337e-02 6.40748678e-03 9.01342130e+02] [ 1.85987586e-02 9.99827025e-01 -8.47830694e-05 -1.53838771e+02] [-6.40480166e-03 2.03937965e-04 9.99979468e-01 -5.63163974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.4607140569999 meters 0.028848302185121393 Centerline is valid? [True, True] Translation: X:901.37, Y:-153.84, Z:-56.32 [[ 9.99849483e-01 -1.51390321e-02 8.47475790e-03 9.01373891e+02] [ 1.51405273e-02 9.99885369e-01 -1.12299089e-04 -1.53836607e+02] [-8.47208633e-03 2.40594489e-04 9.99964082e-01 -5.63157663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.4907140569999 meters 0.02882545777732126 Centerline is valid? [True, True] Translation: X:901.41, Y:-153.84, Z:-56.32 [[ 9.99853633e-01 -1.46225499e-02 8.88220919e-03 9.01406325e+02] [ 1.46241762e-02 9.99893054e-01 -1.18164170e-04 -1.53837766e+02] [-8.87953141e-03 2.48041866e-04 9.99960545e-01 -5.63165983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.520714057 meters 0.028574224337113038 Centerline is valid? [True, True] Translation: X:901.44, Y:-153.84, Z:-56.32 [[ 9.99835469e-01 -1.56764719e-02 9.12598665e-03 9.01438963e+02] [ 1.56782383e-02 9.99877081e-01 -1.22042522e-04 -1.53838514e+02] [-9.12295170e-03 2.65101836e-04 9.99958350e-01 -5.63165183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.5507140569999 meters 0.02925232728985547 Centerline is valid? [True, True] Translation: X:901.47, Y:-153.84, Z:-56.32 [[ 9.99798353e-01 -1.77178184e-02 9.45153615e-03 9.01470119e+02] [ 1.77198104e-02 9.99842984e-01 -1.27052383e-04 -1.53842856e+02] [-9.44780102e-03 2.94506192e-04 9.99955325e-01 -5.63166715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.5807140569999 meters 0.030401066819950653 Centerline is valid? [True, True] Translation: X:901.50, Y:-153.85, Z:-56.32 [[ 9.99757709e-01 -2.04398598e-02 8.16915338e-03 9.01502088e+02] [ 2.04414524e-02 9.99791045e-01 -1.11500606e-04 -1.53848460e+02] [-8.16516734e-03 2.78462951e-04 9.99966626e-01 -5.63183590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.6107140569999 meters 0.030403945579885013 Centerline is valid? [True, True] Translation: X:901.53, Y:-153.85, Z:-56.32 [[ 9.99728089e-01 -2.25442837e-02 5.95840695e-03 9.01534429e+02] [ 2.25451718e-02 9.99745822e-01 -8.19296354e-05 -1.53852691e+02] [-5.95504541e-03 2.16240667e-04 9.99982245e-01 -5.63216248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.640714057 meters 0.030403945579885013 Centerline is valid? [True, True] Translation: X:901.57, Y:-153.85, Z:-56.32 [[ 9.99730426e-01 -2.24404050e-02 5.95840297e-03 9.01566999e+02] [ 2.24412930e-02 9.99748159e-01 -8.22183469e-05 -1.53853235e+02] [-5.95505738e-03 2.15910450e-04 9.99982245e-01 -5.63219380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.6707140569999 meters 0.03185571294377217 Centerline is valid? [True, True] Translation: X:901.60, Y:-153.86, Z:-56.32 [[ 9.99684995e-01 -2.47601342e-02 4.10440041e-03 9.01597885e+02] [ 2.47605768e-02 9.99693408e-01 -5.70402868e-05 -1.53858382e+02] [-4.10172971e-03 1.58649640e-04 9.99991575e-01 -5.63241440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.7007140569999 meters 0.03114394607101018 Centerline is valid? [True, True] Translation: X:901.63, Y:-153.86, Z:-56.32 [[ 9.99672673e-01 -2.52607525e-02 4.05472994e-03 9.01629929e+02] [ 2.52611890e-02 9.99680884e-01 -5.64528190e-05 -1.53859496e+02] [-4.05200997e-03 1.58861640e-04 9.99991778e-01 -5.63237987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.7307140569999 meters 0.03133321987147012 Centerline is valid? [True, True] Translation: X:901.66, Y:-153.86, Z:-56.32 [[ 9.99711346e-01 -2.35126020e-02 4.93790255e-03 9.01662306e+02] [ 2.35132304e-02 9.99723523e-01 -6.92376268e-05 -1.53860515e+02] [-4.93490937e-03 1.85323681e-04 9.99987806e-01 -5.63231272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.760714057 meters 0.029026349173650157 Centerline is valid? [True, True] Translation: X:901.69, Y:-153.86, Z:-56.32 [[ 9.99775167e-01 -2.00782489e-02 6.81754242e-03 9.01693694e+02] [ 2.00793726e-02 9.99798384e-01 -9.64148016e-05 -1.53857057e+02] [-6.81423206e-03 2.33285099e-04 9.99976756e-01 -5.63201614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.790714057 meters 0.02957882816272834 Centerline is valid? [True, True] Translation: X:901.73, Y:-153.86, Z:-56.32 [[ 9.99802276e-01 -1.75771491e-02 9.29796835e-03 9.01725180e+02] [ 1.75791349e-02 9.99845466e-01 -1.31888362e-04 -1.53858137e+02] [-9.29421328e-03 2.95312525e-04 9.99956764e-01 -5.63187870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.8207140569999 meters 0.028700938905593304 Centerline is valid? [True, True] Translation: X:901.76, Y:-153.86, Z:-56.32 [[ 9.99807110e-01 -1.73106570e-02 9.27815087e-03 9.01756937e+02] [ 1.73126428e-02 9.99850116e-01 -1.33748777e-04 -1.53857121e+02] [-9.27444494e-03 2.94352290e-04 9.99956948e-01 -5.63196482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.8507140569999 meters 0.029139181330420302 Centerline is valid? [True, True] Translation: X:901.79, Y:-153.86, Z:-56.32 [[ 9.99810368e-01 -1.73288249e-02 8.88481277e-03 9.01788734e+02] [ 1.73306506e-02 9.99849805e-01 -1.28529015e-04 -1.53860181e+02] [-8.88125105e-03 2.82484227e-04 9.99960521e-01 -5.63210409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.880714057 meters 0.029391711046956537 Centerline is valid? [True, True] Translation: X:901.82, Y:-153.86, Z:-56.32 [[ 9.99796443e-01 -1.84058553e-02 8.26414771e-03 9.01820333e+02] [ 1.84074899e-02 9.99830560e-01 -1.21776821e-04 -1.53863053e+02] [-8.26050603e-03 2.73874249e-04 9.99965844e-01 -5.63233525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.910714057 meters 0.03038798825887191 Centerline is valid? [True, True] Translation: X:901.85, Y:-153.87, Z:-56.32 [[ 9.99781397e-01 -1.90639507e-02 8.58628927e-03 9.01851087e+02] [ 1.90657450e-02 9.99818224e-01 -1.27169314e-04 -1.53866312e+02] [-8.58230414e-03 2.90845517e-04 9.99963129e-01 -5.63234585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.9407140569999 meters 0.03028529758925866 Centerline is valid? [True, True] Translation: X:901.88, Y:-153.87, Z:-56.32 [[ 9.99771224e-01 -1.95797210e-02 8.61012324e-03 9.01883580e+02] [ 1.95815483e-02 9.99808255e-01 -1.27960826e-04 -1.53865975e+02] [-8.60596685e-03 2.96531095e-04 9.99962924e-01 -5.63223975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.9707140569999 meters 0.031474865212983524 Centerline is valid? [True, True] Translation: X:901.91, Y:-153.87, Z:-56.32 [[ 9.99782517e-01 -1.85638386e-02 9.50280390e-03 9.01914464e+02] [ 1.85660252e-02 9.99827626e-01 -1.41926694e-04 -1.53870403e+02] [-9.49853116e-03 3.18325123e-04 9.99954837e-01 -5.63224371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.000714057 meters 0.030724063972401797 Centerline is valid? [True, True] Translation: X:901.95, Y:-153.87, Z:-56.32 [[ 9.99778167e-01 -1.89202565e-02 9.25421705e-03 9.01946719e+02] [ 1.89223643e-02 9.99820946e-01 -1.40251327e-04 -1.53868161e+02] [-9.24990646e-03 3.15331880e-04 9.99957169e-01 -5.63226359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.030714057 meters 0.03131378880297514 Centerline is valid? [True, True] Translation: X:901.98, Y:-153.87, Z:-56.32 [[ 9.99781596e-01 -1.91752171e-02 8.31095326e-03 9.01977739e+02] [ 1.91769284e-02 9.99816098e-01 -1.26254675e-04 -1.53869817e+02] [-8.30700390e-03 2.85605656e-04 9.99965455e-01 -5.63241778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.0607140569999 meters 0.0304005073655486 Centerline is valid? [True, True] Translation: X:902.01, Y:-153.87, Z:-56.33 [[ 9.99791362e-01 -1.88992789e-02 7.74913353e-03 9.02009911e+02] [ 1.89007725e-02 9.99821357e-01 -1.19554666e-04 -1.53868139e+02] [-7.74548971e-03 2.65994333e-04 9.99969968e-01 -5.63250417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.0907140569999 meters 0.030627036932816855 Centerline is valid? [True, True] Translation: X:902.04, Y:-153.87, Z:-56.32 [[ 9.99822120e-01 -1.67044262e-02 8.75725551e-03 9.02041249e+02] [ 1.67062545e-02 9.99860432e-01 -1.35668004e-04 -1.53869912e+02] [-8.75376702e-03 2.81944811e-04 9.99961645e-01 -5.63243150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.1207140569999 meters 0.030094334655769227 Centerline is valid? [True, True] Translation: X:902.07, Y:-153.87, Z:-56.32 [[ 9.99840879e-01 -1.52296583e-02 9.28843841e-03 9.02073182e+02] [ 1.52316725e-02 9.99883981e-01 -1.46144248e-04 -1.53867051e+02] [-9.28513505e-03 2.87599445e-04 9.99956851e-01 -5.63228869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.150714057 meters 0.03582520930519339 Centerline is valid? [True, True] Translation: X:902.10, Y:-153.88, Z:-56.32 [[ 9.99869705e-01 -1.20067663e-02 1.07894123e-02 9.02103329e+02] [ 1.20093050e-02 9.99927871e-01 -1.70534478e-04 -1.53879933e+02] [-1.07865865e-02 3.00085602e-04 9.99941778e-01 -5.63207475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.1807140569999 meters 0.029630680265312955 Centerline is valid? [True, True] Translation: X:902.14, Y:-153.87, Z:-56.32 [[ 9.99826849e-01 -1.49670520e-02 1.10570806e-02 9.02135572e+02] [ 1.49699020e-02 9.99887929e-01 -1.75027697e-04 -1.53867085e+02] [-1.10532218e-02 3.40520803e-04 9.99938853e-01 -5.63218035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.2107140569999 meters 0.030562807614255904 Centerline is valid? [True, True] Translation: X:902.17, Y:-153.87, Z:-56.32 [[ 9.99803089e-01 -1.68751537e-02 1.04408617e-02 9.02166288e+02] [ 1.68778055e-02 9.99857546e-01 -1.65923871e-04 -1.53870358e+02] [-1.04365744e-02 3.42110032e-04 9.99945479e-01 -5.63233221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.2407140569999 meters 0.030907648310142796 Centerline is valid? [True, True] Translation: X:902.20, Y:-153.87, Z:-56.32 [[ 9.99796671e-01 -1.81658331e-02 8.75328909e-03 9.02198051e+02] [ 1.81677483e-02 9.99834943e-01 -1.39321735e-04 -1.53872837e+02] [-8.74931341e-03 2.98320960e-04 9.99961680e-01 -5.63248928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.270714057 meters 0.030483221988001224 Centerline is valid? [True, True] Translation: X:902.23, Y:-153.87, Z:-56.33 [[ 9.99806492e-01 -1.82746169e-02 7.28128683e-03 9.02230072e+02] [ 1.82759477e-02 9.99832974e-01 -1.16274483e-04 -1.53873784e+02] [-7.27794580e-03 2.49324400e-04 9.99973484e-01 -5.63264046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.3007140569999 meters 0.03013108068545096 Centerline is valid? [True, True] Translation: X:902.26, Y:-153.87, Z:-56.33 [[ 9.99828844e-01 -1.67754574e-02 7.80171121e-03 9.02262726e+02] [ 1.67769440e-02 9.99859249e-01 -1.25143784e-04 -1.53873927e+02] [-7.79851377e-03 2.56011237e-04 9.99969558e-01 -5.63270510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.3307140569999 meters 0.029450726134095894 Centerline is valid? [True, True] Translation: X:902.29, Y:-153.87, Z:-56.33 [[ 9.99864426e-01 -1.37766961e-02 9.01842988e-03 9.02293888e+02] [ 1.37785693e-02 9.99905060e-01 -1.45607512e-04 -1.53873374e+02] [-9.01556768e-03 2.69848833e-04 9.99959323e-01 -5.63251192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.3607140569999 meters 0.029060233889611105 Centerline is valid? [True, True] Translation: X:902.33, Y:-153.87, Z:-56.32 [[ 9.99908726e-01 -9.80906602e-03 9.29092808e-03 9.02325279e+02] [ 9.81088611e-03 9.99951861e-01 -1.50341503e-04 -1.53871860e+02] [-9.28900611e-03 2.41480018e-04 9.99956827e-01 -5.63240066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.390714057 meters 0.02837918416496634 Centerline is valid? [True, True] Translation: X:902.36, Y:-153.87, Z:-56.32 [[ 9.99939540e-01 -5.77409875e-03 9.35824041e-03 9.02355795e+02] [ 5.77577180e-03 9.99983309e-01 -1.51762285e-04 -1.53872482e+02] [-9.35720792e-03 2.05804170e-04 9.99956199e-01 -5.63246072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.4207140569999 meters 0.028073372194984753 Centerline is valid? [True, True] Translation: X:902.39, Y:-153.87, Z:-56.32 [[ 9.99957433e-01 -2.19315858e-03 8.96225598e-03 9.02388170e+02] [ 2.19455029e-03 9.99997581e-01 -1.45454040e-04 -1.53872314e+02] [-8.96191530e-03 1.65115970e-04 9.99959828e-01 -5.63246086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.4507140569999 meters 0.027459144094824486 Centerline is valid? [True, True] Translation: X:902.42, Y:-153.87, Z:-56.32 [[ 9.99959543e-01 1.99640036e-03 8.77082886e-03 9.02420056e+02] [-1.99522358e-03 9.99997999e-01 -1.42917844e-04 -1.53870600e+02] [-8.77109664e-03 1.25412298e-04 9.99961525e-01 -5.63244270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.4807140569999 meters 0.02673643695893684 Centerline is valid? [True, True] Translation: X:902.45, Y:-153.87, Z:-56.32 [[ 9.99938272e-01 6.18544143e-03 9.22999155e-03 9.02452434e+02] [-6.18431055e-03 9.99980866e-01 -1.51059194e-04 -1.53869248e+02] [-9.23074931e-03 9.39687352e-05 9.99957391e-01 -5.63242513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.510714057 meters 0.02689314140409902 Centerline is valid? [True, True] Translation: X:902.48, Y:-153.87, Z:-56.32 [[ 9.99897431e-01 9.24498698e-03 1.09388318e-02 9.02483931e+02] [-9.24357218e-03 9.99957261e-01 -1.79889097e-04 -1.53871549e+02] [-1.09400273e-02 7.87567642e-05 9.99940153e-01 -5.63236125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.540714057 meters 0.02679313617258717 Centerline is valid? [True, True] Translation: X:902.52, Y:-153.87, Z:-56.32 [[ 9.99882037e-01 9.58829513e-03 1.19990137e-02 9.02515401e+02] [-9.58660998e-03 9.99954028e-01 -1.97951821e-04 -1.53873592e+02] [-1.20003601e-02 8.28986061e-05 9.99927990e-01 -5.63217457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.5707140569999 meters 0.026907804489186612 Centerline is valid? [True, True] Translation: X:902.55, Y:-153.88, Z:-56.32 [[ 9.99897820e-01 9.21414770e-03 1.09292886e-02 9.02545258e+02] [-9.21272286e-03 9.99957546e-01 -1.80708855e-04 -1.53876967e+02] [-1.09304897e-02 8.00018830e-05 9.99940257e-01 -5.63215554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.6007140569999 meters 0.027153746434231713 Centerline is valid? [True, True] Translation: X:902.58, Y:-153.88, Z:-56.32 [[ 9.99924642e-01 6.93955543e-03 1.01268439e-02 9.02576006e+02] [-6.93820826e-03 9.99975916e-01 -1.68155701e-04 -1.53882404e+02] [-1.01277670e-02 9.78808769e-05 9.99948708e-01 -5.63228308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.630714057 meters 0.027609804261628353 Centerline is valid? [True, True] Translation: X:902.61, Y:-153.89, Z:-56.32 [[ 9.99952244e-01 2.50133855e-03 9.44737557e-03 9.02607566e+02] [-2.49996663e-03 9.99996863e-01 -1.57023346e-04 -1.53889770e+02] [-9.44773870e-03 1.33397724e-04 9.99955360e-01 -5.63236806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.660714057 meters 0.028740430091787384 Centerline is valid? [True, True] Translation: X:902.64, Y:-153.90, Z:-56.33 [[ 9.99959699e-01 -3.91009802e-03 8.08156879e-03 9.02639601e+02] [ 3.91131269e-03 9.99992342e-01 -1.34501027e-04 -1.53898119e+02] [-8.08098099e-03 1.66105149e-04 9.99967335e-01 -5.63251889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.6907140569999 meters 0.029256303795065903 Centerline is valid? [True, True] Translation: X:902.67, Y:-153.90, Z:-56.33 [[ 9.99946818e-01 -7.05654143e-03 7.52100198e-03 9.02670743e+02] [ 7.05768350e-03 9.99975086e-01 -1.25320646e-04 -1.53903846e+02] [-7.51993027e-03 1.78394833e-04 9.99971709e-01 -5.63257029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.7207140569999 meters 0.030525165368314476 Centerline is valid? [True, True] Translation: X:902.70, Y:-153.91, Z:-56.33 [[ 9.99869413e-01 -1.46457799e-02 6.83068371e-03 9.02701742e+02] [ 1.46469121e-02 9.99892722e-01 -1.15746724e-04 -1.53912198e+02] [-6.82825572e-03 2.15780032e-04 9.99976664e-01 -5.63266108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.750714057 meters 0.03253286793587268 Centerline is valid? [True, True] Translation: X:902.73, Y:-153.92, Z:-56.33 [[ 9.99731581e-01 -2.19884752e-02 7.29883831e-03 9.02732257e+02] [ 2.19899645e-02 9.99758184e-01 -1.23850196e-04 -1.53922121e+02] [-7.29435006e-03 2.84318148e-04 9.99973355e-01 -5.63276208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.780714057 meters 0.03641866883419485 Centerline is valid? [True, True] Translation: X:902.76, Y:-153.93, Z:-56.33 [[ 9.99596592e-01 -2.72665481e-02 7.94911913e-03 9.02761769e+02] [ 2.72684807e-02 9.99628137e-01 -1.34824749e-04 -1.53934589e+02] [-7.94248694e-03 3.51530762e-04 9.99968396e-01 -5.63268184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.8107140569999 meters 0.03419196901457368 Centerline is valid? [True, True] Translation: X:902.79, Y:-153.93, Z:-56.33 [[ 9.99491921e-01 -3.08742497e-02 7.91714522e-03 9.02792586e+02] [ 3.08762838e-02 9.99523205e-01 -1.34794228e-04 -1.53932105e+02] [-7.90920869e-03 3.79177765e-04 9.99968650e-01 -5.63261799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.8407140569999 meters 0.03468743334228648 Centerline is valid? [True, True] Translation: X:902.82, Y:-153.94, Z:-56.33 [[ 9.99457787e-01 -3.19889688e-02 7.79984386e-03 9.02824889e+02] [ 3.19909772e-02 9.99488149e-01 -1.32836290e-04 -1.53935136e+02] [-7.79160221e-03 3.82288892e-04 9.99969572e-01 -5.63258884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.8707140569999 meters 0.0348918893508345 Centerline is valid? [True, True] Translation: X:902.86, Y:-153.94, Z:-56.33 [[ 9.99486199e-01 -3.12785162e-02 6.99952835e-03 9.02855793e+02] [ 3.12801163e-02 9.99510650e-01 -1.19220775e-04 -1.53938384e+02] [-6.99237409e-03 3.38105580e-04 9.99975496e-01 -5.63272538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.900714057 meters 0.033904880636617875 Centerline is valid? [True, True] Translation: X:902.89, Y:-153.94, Z:-56.33 [[ 9.99589743e-01 -2.80824823e-02 5.63210378e-03 9.02887553e+02] [ 2.80834759e-02 9.99605577e-01 -9.73874604e-05 -1.53938684e+02] [-5.62714747e-03 2.55516557e-04 9.99984135e-01 -5.63299255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.9307140569999 meters 0.0325357866306041 Centerline is valid? [True, True] Translation: X:902.92, Y:-153.94, Z:-56.33 [[ 9.99741225e-01 -2.21240687e-02 5.29239415e-03 9.02917157e+02] [ 2.21248666e-02 9.99755211e-01 -9.22541766e-05 -1.53936444e+02] [-5.28905759e-03 2.09323818e-04 9.99985991e-01 -5.63306762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.9607140569999 meters 0.03176292274852622 Centerline is valid? [True, True] Translation: X:902.95, Y:-153.93, Z:-56.33 [[ 9.99811912e-01 -1.86200159e-02 5.42540674e-03 9.02948689e+02] [ 1.86208014e-02 9.99826613e-01 -9.43063875e-05 -1.53934331e+02] [-5.42271006e-03 1.95314071e-04 9.99985278e-01 -5.63305941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.9907140569999 meters 0.029969881009595016 Centerline is valid? [True, True] Translation: X:902.98, Y:-153.93, Z:-56.33 [[ 9.99928833e-01 -1.06259417e-02 5.42394940e-03 9.02978406e+02] [ 1.06266114e-02 9.99943531e-01 -9.46704028e-05 -1.53928653e+02] [-5.42263716e-03 1.52301868e-04 9.99985286e-01 -5.63296764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.020714057 meters 0.02842453947051538 Centerline is valid? [True, True] Translation: X:903.01, Y:-153.92, Z:-56.33 [[ 9.99976124e-01 -3.71779397e-03 5.82486437e-03 9.03009650e+02] [ 3.71844804e-03 9.99993081e-01 -1.01463366e-04 -1.53924917e+02] [-5.82444685e-03 1.23120399e-04 9.99983030e-01 -5.63301760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.0507140569999 meters 0.027127855355322875 Centerline is valid? [True, True] Translation: X:903.04, Y:-153.92, Z:-56.33 [[ 9.99985733e-01 1.78744381e-03 5.03378575e-03 9.03041515e+02] [-1.78702558e-03 9.99998399e-01 -8.75815202e-05 -1.53921326e+02] [-5.03393424e-03 7.85847667e-05 9.99987327e-01 -5.63313215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.0807140569999 meters 0.027022702099114688 Centerline is valid? [True, True] Translation: X:903.07, Y:-153.92, Z:-56.33 [[ 9.99980560e-01 5.32804851e-03 3.23917119e-03 9.03073073e+02] [-5.32789392e-03 9.99985805e-01 -5.63501469e-05 -1.53920866e+02] [-3.23942545e-03 3.90910909e-05 9.99994752e-01 -5.63328904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.1107140569999 meters 0.027019213230007395 Centerline is valid? [True, True] Translation: X:903.10, Y:-153.92, Z:-56.33 [[ 9.99976131e-01 6.10254850e-03 3.23968458e-03 9.03102477e+02] [-6.10239558e-03 9.99981379e-01 -5.70830530e-05 -1.53920829e+02] [-3.23997261e-03 3.73118536e-05 9.99994751e-01 -5.63326530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.140714057 meters 0.02695055754197636 Centerline is valid? [True, True] Translation: X:903.13, Y:-153.92, Z:-56.33 [[ 9.99977178e-01 5.78171708e-03 3.49511812e-03 9.03132572e+02] [-5.78153765e-03 9.99983285e-01 -6.14383732e-05 -1.53922487e+02] [-3.49541492e-03 4.12298140e-05 9.99993890e-01 -5.63323053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.1707140569999 meters 0.02692524947754331 Centerline is valid? [True, True] Translation: X:903.16, Y:-153.93, Z:-56.33 [[ 9.99983952e-01 4.84518451e-03 2.93604509e-03 9.03161894e+02] [-4.84505400e-03 9.99988261e-01 -5.15616872e-05 -1.53925028e+02] [-2.93626045e-03 3.73355627e-05 9.99995688e-01 -5.63322508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.2007140569999 meters 0.027496645006118262 Centerline is valid? [True, True] Translation: X:903.19, Y:-153.93, Z:-56.33 [[ 9.99994947e-01 1.79705594e-03 2.62243680e-03 9.03191470e+02] [-1.79694149e-03 9.99998384e-01 -4.59995788e-05 -1.53928389e+02] [-2.62251523e-03 4.12869809e-05 9.99996560e-01 -5.63319598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.2307140569999 meters 0.02840067259888031 Centerline is valid? [True, True] Translation: X:903.22, Y:-153.93, Z:-56.33 [[ 9.99993349e-01 -2.16264519e-03 2.93683949e-03 9.03221151e+02] [ 2.16280471e-03 9.99997660e-01 -5.11417521e-05 -1.53934212e+02] [-2.93672201e-03 5.74932223e-05 9.99995686e-01 -5.63317480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.260714057 meters 0.02859971053699058 Centerline is valid? [True, True] Translation: X:903.25, Y:-153.94, Z:-56.33 [[ 9.99973177e-01 -6.49444941e-03 3.38628457e-03 9.03253026e+02] [ 6.49468373e-03 9.99978908e-01 -5.82051422e-05 -1.53938153e+02] [-3.38583513e-03 8.01964283e-05 9.99994265e-01 -5.63306374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.290714057 meters 0.02965680023273208 Centerline is valid? [True, True] Translation: X:903.28, Y:-153.94, Z:-56.33 [[ 9.99954230e-01 -8.89848165e-03 3.51483052e-03 9.03284087e+02] [ 8.89874845e-03 9.99960404e-01 -6.02751719e-05 -1.53942603e+02] [-3.51415499e-03 9.15500058e-05 9.99993821e-01 -5.63312842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.3207140569999 meters 0.031513148232012796 Centerline is valid? [True, True] Translation: X:903.31, Y:-153.95, Z:-56.33 [[ 9.99900668e-01 -1.33493948e-02 4.52197666e-03 9.03314176e+02] [ 1.33498940e-02 9.99910883e-01 -8.02216450e-05 -1.53950711e+02] [-4.52050277e-03 1.40581586e-04 9.99989773e-01 -5.63320244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.3507140569999 meters 0.03155127089978347 Centerline is valid? [True, True] Translation: X:903.35, Y:-153.95, Z:-56.33 [[ 9.99793785e-01 -1.95395474e-02 5.53107752e-03 9.03345071e+02] [ 1.95403896e-02 9.99809064e-01 -9.82484938e-05 -1.53951133e+02] [-5.52810170e-03 2.06307643e-04 9.99984699e-01 -5.63296224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.380714057 meters 0.03195254013133928 Centerline is valid? [True, True] Translation: X:903.38, Y:-153.95, Z:-56.33 [[ 9.99765848e-01 -2.08918623e-02 5.63739740e-03 9.03376706e+02] [ 2.08927583e-02 9.99781717e-01 -1.00098842e-04 -1.53953108e+02] [-5.63407560e-03 2.17856185e-04 9.99984105e-01 -5.63295359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.410714057 meters 0.03196219967699853 Centerline is valid? [True, True] Translation: X:903.41, Y:-153.96, Z:-56.33 [[ 9.99718420e-01 -2.27889668e-02 6.61383256e-03 9.03408379e+02] [ 2.27902445e-02 9.99740262e-01 -1.17871547e-04 -1.53956165e+02] [-6.60942852e-03 2.68569218e-04 9.99978121e-01 -5.63295705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.4407140569999 meters 0.03306366721704242 Centerline is valid? [True, True] Translation: X:903.44, Y:-153.96, Z:-56.33 [[ 9.99647974e-01 -2.60061051e-02 5.25449852e-03 9.03439371e+02] [ 2.60069576e-02 9.99661757e-01 -9.39740232e-05 -1.53958854e+02] [-5.25027733e-03 2.30594462e-04 9.99986191e-01 -5.63313300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.4707140569999 meters 0.033788403202970836 Centerline is valid? [True, True] Translation: X:903.47, Y:-153.96, Z:-56.33 [[ 9.99591597e-01 -2.83424864e-02 3.65282933e-03 9.03471321e+02] [ 2.83429129e-02 9.99598257e-01 -6.50299258e-05 -1.53960406e+02] [-3.64951873e-03 1.68535191e-04 9.99993326e-01 -5.63330102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.500714057 meters 0.03405585377750964 Centerline is valid? [True, True] Translation: X:903.50, Y:-153.96, Z:-56.33 [[ 9.99584098e-01 -2.86004760e-02 3.69363170e-03 9.03502940e+02] [ 2.86009114e-02 9.99590908e-01 -6.50891110e-05 -1.53960277e+02] [-3.69025909e-03 1.70703273e-04 9.99993176e-01 -5.63323466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.530714057 meters 0.03405585377750964 Centerline is valid? [True, True] Translation: X:903.54, Y:-153.96, Z:-56.33 [[ 9.99587108e-01 -2.84951083e-02 3.69360331e-03 9.03535515e+02] [ 2.84955487e-02 9.99593917e-01 -6.66496017e-05 -1.53960961e+02] [-3.69020422e-03 1.71873336e-04 9.99993176e-01 -5.63326593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.5607140569999 meters 0.03405387659099255 Centerline is valid? [True, True] Translation: X:903.57, Y:-153.96, Z:-56.33 [[ 9.99621910e-01 -2.72472930e-02 3.69083497e-03 9.03567580e+02] [ 2.72477265e-02 9.99628710e-01 -6.71991657e-05 -1.53958238e+02] [-3.68763360e-03 1.67740620e-04 9.99993187e-01 -5.63329689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.5907140569999 meters 0.03310369037095192 Centerline is valid? [True, True] Translation: X:903.60, Y:-153.95, Z:-56.33 [[ 9.99705614e-01 -2.40190629e-02 3.43065607e-03 9.03598768e+02] [ 2.40194199e-02 9.99711490e-01 -6.28711360e-05 -1.53954945e+02] [-3.42815619e-03 1.45254996e-04 9.99994113e-01 -5.63332582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.6207140569999 meters 0.03201054383787572 Centerline is valid? [True, True] Translation: X:903.63, Y:-153.95, Z:-56.33 [[ 9.99781728e-01 -2.06261677e-02 3.32536271e-03 9.03630968e+02] [ 2.06264839e-02 9.99787250e-01 -6.07936640e-05 -1.53948607e+02] [-3.32340130e-03 1.29370935e-04 9.99994469e-01 -5.63329216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.650714057 meters 0.031776192005031095 Centerline is valid? [True, True] Translation: X:903.66, Y:-153.94, Z:-56.33 [[ 9.99849927e-01 -1.71287203e-02 2.59442141e-03 9.03661702e+02] [ 1.71289018e-02 9.99853288e-01 -4.77508425e-05 -1.53943627e+02] [-2.59322287e-03 9.21832659e-05 9.99996633e-01 -5.63331014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.6807140569999 meters 0.030639489084230365 Centerline is valid? [True, True] Translation: X:903.69, Y:-153.94, Z:-56.33 [[ 9.99876794e-01 -1.56044750e-02 1.70195084e-03 9.03694127e+02] [ 1.56045504e-02 9.99878241e-01 -3.09880834e-05 -1.53937476e+02] [-1.70126006e-03 5.75424432e-05 9.99998551e-01 -5.63340093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.7107140569999 meters 0.031017347864554404 Centerline is valid? [True, True] Translation: X:903.73, Y:-153.94, Z:-56.33 [[ 9.99891726e-01 -1.45947377e-02 1.87884842e-03 9.03725067e+02] [ 1.45948283e-02 9.99893489e-01 -3.45486071e-05 -1.53935928e+02] [-1.87814407e-03 6.19663366e-05 9.99998234e-01 -5.63347977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.7407140569999 meters 0.030065416777327523 Centerline is valid? [True, True] Translation: X:903.76, Y:-153.93, Z:-56.33 [[ 9.99894257e-01 -1.45042019e-02 1.05066420e-03 9.03757578e+02] [ 1.45042299e-02 9.99894808e-01 -1.89998494e-05 -1.53931482e+02] [-1.05027810e-03 3.42369153e-05 9.99999448e-01 -5.63348177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.770714057 meters 0.03137285739243225 Centerline is valid? [True, True] Translation: X:903.79, Y:-153.93, Z:-56.34 [[ 9.99891031e-01 -1.47378952e-02 8.48420893e-04 9.03788645e+02] [ 1.47379136e-02 9.99891391e-01 -1.54290514e-05 -1.53930827e+02] [-8.48101355e-04 2.79313239e-05 9.99999640e-01 -5.63351250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.8007140569999 meters 0.031019247727123698 Centerline is valid? [True, True] Translation: X:903.82, Y:-153.93, Z:-56.33 [[ 9.99886862e-01 -1.50412845e-02 1.49189747e-04 9.03820426e+02] [ 1.50412851e-02 9.99886873e-01 -2.31692277e-06 -1.53927540e+02] [-1.49138020e-04 4.56066616e-06 9.99999989e-01 -5.63346097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.8307140569999 meters 0.03165387614401696 Centerline is valid? [True, True] Translation: X:903.85, Y:-153.93, Z:-56.33 [[ 9.99880711e-01 -1.54368686e-02 5.17284956e-04 9.03852098e+02] [ 1.54368751e-02 9.99880844e-01 -8.57939294e-06 -1.53927708e+02] [-5.17090879e-04 1.65636328e-05 9.99999866e-01 -5.63349731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.8607140569999 meters 0.03026380221153859 Centerline is valid? [True, True] Translation: X:903.88, Y:-153.92, Z:-56.33 [[ 9.99885649e-01 -1.50373199e-02 1.60242778e-03 9.03884887e+02] [ 1.50373868e-02 9.99886932e-01 -2.96747317e-05 -1.53922904e+02] [-1.60180037e-03 5.37676647e-05 9.99998716e-01 -5.63339890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.890714057 meters 0.03153642952476187 Centerline is valid? [True, True] Translation: X:903.92, Y:-153.92, Z:-56.33 [[ 9.99890529e-01 -1.45216172e-02 2.83754737e-03 9.03915805e+02] [ 1.45218280e-02 9.99894551e-01 -5.36856964e-05 -1.53923187e+02] [-2.83646855e-03 9.48861942e-05 9.99995973e-01 -5.63337213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.9207140569999 meters 0.030098659375064233 Centerline is valid? [True, True] Translation: X:903.95, Y:-153.92, Z:-56.33 [[ 9.99892013e-01 -1.43085733e-02 3.35082263e-03 9.03948196e+02] [ 1.43088665e-02 9.99897621e-01 -6.35524458e-05 -1.53916811e+02] [-3.34957023e-03 1.11492057e-04 9.99994384e-01 -5.63322316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.9507140569999 meters 0.02993109900436341 Centerline is valid? [True, True] Translation: X:903.98, Y:-153.91, Z:-56.33 [[ 9.99875472e-01 -1.55170673e-02 2.87421149e-03 9.03980221e+02] [ 1.55172883e-02 9.99879598e-01 -5.46140394e-05 -1.53914339e+02] [-2.87301798e-03 9.92072068e-05 9.99995868e-01 -5.63314077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.9807140569999 meters 0.03134002433529196 Centerline is valid? [True, True] Translation: X:904.01, Y:-153.92, Z:-56.33 [[ 9.99817068e-01 -1.89737727e-02 2.41368756e-03 9.04009937e+02] [ 1.89739400e-02 9.99819978e-01 -4.64326117e-05 -1.53915382e+02] [-2.41237204e-03 9.22212805e-05 9.99997086e-01 -5.63332102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.010714057 meters 0.03513329675916008 Centerline is valid? [True, True] Translation: X:904.04, Y:-153.92, Z:-56.34 [[ 9.99750361e-01 -2.22904804e-02 1.53311824e-03 9.04040027e+02] [ 2.22905516e-02 9.99751534e-01 -2.93541264e-05 -1.53922350e+02] [-1.53208299e-03 6.35208496e-05 9.99998824e-01 -5.63366808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.040714057 meters 0.03749471968821859 Centerline is valid? [True, True] Translation: X:904.07, Y:-153.92, Z:-56.34 [[ 9.99652273e-01 -2.63513322e-02 9.69334311e-04 9.04070646e+02] [ 2.63513625e-02 9.99652742e-01 -1.85252799e-05 -1.53924115e+02] [-9.68509536e-04 4.40621180e-05 9.99999530e-01 -5.63376737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.0707140569999 meters 0.038319275008960374 Centerline is valid? [True, True] Translation: X:904.10, Y:-153.92, Z:-56.33 [[ 9.99603220e-01 -2.80570365e-02 2.49089134e-03 9.04102513e+02] [ 2.80572411e-02 9.99606317e-01 -4.72285984e-05 -1.53921755e+02] [-2.48858562e-03 1.17097398e-04 9.99996897e-01 -5.63347982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.1007140569999 meters 0.0349367241891025 Centerline is valid? [True, True] Translation: X:904.14, Y:-153.91, Z:-56.33 [[ 9.99587231e-01 -2.84841665e-02 3.74440076e-03 9.04135299e+02] [ 2.84846361e-02 9.99594228e-01 -7.21567553e-05 -1.53912228e+02] [-3.74082606e-03 1.78784864e-04 9.99992987e-01 -5.63309082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.130714057 meters 0.034702809870408954 Centerline is valid? [True, True] Translation: X:904.17, Y:-153.91, Z:-56.33 [[ 9.99608452e-01 -2.76853134e-02 4.05774824e-03 9.04167205e+02] [ 2.76858598e-02 9.99616670e-01 -7.85292383e-05 -1.53911669e+02] [-4.05401868e-03 1.90840739e-04 9.99991764e-01 -5.63310102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.160714057 meters 0.035476408808597426 Centerline is valid? [True, True] Translation: X:904.20, Y:-153.91, Z:-56.33 [[ 9.99670361e-01 -2.54326417e-02 3.51435838e-03 9.04197752e+02] [ 2.54330374e-02 9.99676526e-01 -6.79671087e-05 -1.53912855e+02] [-3.51149299e-03 1.57325512e-04 9.99993822e-01 -5.63341907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.1907140569999 meters 0.03375445148900086 Centerline is valid? [True, True] Translation: X:904.23, Y:-153.91, Z:-56.34 [[ 9.99731972e-01 -2.31029300e-02 1.49641757e-03 9.04229350e+02] [ 2.31029994e-02 9.99733090e-01 -2.90783433e-05 -1.53907215e+02] [-1.49534636e-03 6.36422837e-05 9.99998880e-01 -5.63365003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.2207140569999 meters 0.03274543186539859 Centerline is valid? [True, True] Translation: X:904.26, Y:-153.90, Z:-56.34 [[ 9.99799583e-01 -2.00098547e-02 6.32196171e-04 9.04260584e+02] [ 2.00098663e-02 9.99799783e-01 -1.21173938e-05 -1.53903422e+02] [-6.31827127e-04 2.47651261e-05 9.99999800e-01 -5.63370622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.250714057 meters 0.03178046447241633 Centerline is valid? [True, True] Translation: X:904.29, Y:-153.90, Z:-56.34 [[ 9.99857446e-01 -1.67951709e-02 1.73480717e-03 9.04291896e+02] [ 1.67952549e-02 9.99858949e-01 -3.38823168e-05 -1.53899864e+02] [-1.73399341e-03 6.30140154e-05 9.99998495e-01 -5.63365835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.280714057 meters 0.031031100109649344 Centerline is valid? [True, True] Translation: X:904.32, Y:-153.90, Z:-56.34 [[ 9.99891450e-01 -1.42071621e-02 3.90454382e-03 9.04321922e+02] [ 1.42075706e-02 9.99899064e-01 -7.69023393e-05 -1.53900354e+02] [-3.90305715e-03 1.32368074e-04 9.99992374e-01 -5.63362529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.3107140569999 meters 0.030496166266747983 Centerline is valid? [True, True] Translation: X:904.35, Y:-153.90, Z:-56.34 [[ 9.99905867e-01 -1.34138297e-02 2.88563065e-03 9.04354609e+02] [ 1.34140482e-02 9.99910026e-01 -5.63759471e-05 -1.53900141e+02] [-2.88461480e-03 9.50786289e-05 9.99995835e-01 -5.63363092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.3407140569999 meters 0.0306557735391669 Centerline is valid? [True, True] Translation: X:904.39, Y:-153.90, Z:-56.34 [[ 9.99897613e-01 -1.43034958e-02 4.17621216e-04 9.04386965e+02] [ 1.43035002e-02 9.99897700e-01 -7.65133899e-06 -1.53902803e+02] [-4.17469053e-04 1.36240007e-05 9.99999913e-01 -5.63397828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.3707140569999 meters 0.032368904133048985 Centerline is valid? [True, True] Translation: X:904.42, Y:-153.91, Z:-56.34 [[ 9.99878021e-01 -1.55847098e-02 -1.02936002e-03 9.04417674e+02] [ 1.55847397e-02 9.99878550e-01 2.10176365e-05 -1.53908573e+02] [ 1.02890745e-03 -3.70573807e-05 9.99999470e-01 -5.63433429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.400714057 meters 0.03285383660636629 Centerline is valid? [True, True] Translation: X:904.45, Y:-153.91, Z:-56.34 [[ 9.99879736e-01 -1.54915121e-02 -7.25808725e-04 9.04448862e+02] [ 1.54915271e-02 9.99879999e-01 1.49816399e-05 -1.53908020e+02] [ 7.25489539e-04 -2.62237237e-05 9.99999736e-01 -5.63414287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.4307140569999 meters 0.03024237350367629 Centerline is valid? [True, True] Translation: X:904.48, Y:-153.90, Z:-56.34 [[ 9.99913950e-01 -1.30872713e-02 9.03758581e-04 9.04480889e+02] [ 1.30872925e-02 9.99914358e-01 -1.76201664e-05 -1.53900630e+02] [-9.03450581e-04 2.94464031e-05 9.99999591e-01 -5.63375802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.4607140569999 meters 0.02962332126775903 Centerline is valid? [True, True] Translation: X:904.51, Y:-153.90, Z:-56.34 [[ 9.99948740e-01 -9.78047862e-03 2.61925116e-03 9.04512489e+02] [ 9.78064903e-03 9.99952167e-01 -5.22598298e-05 -1.53900572e+02] [-2.61861475e-03 7.78751273e-05 9.99996568e-01 -5.63371423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.4907140569999 meters 0.029333726898530126 Centerline is valid? [True, True] Translation: X:904.54, Y:-153.90, Z:-56.34 [[ 9.99956624e-01 -8.60834289e-03 3.55611209e-03 9.04543946e+02] [ 8.60865009e-03 9.99962942e-01 -7.10899676e-05 -1.53901782e+02] [-3.55536834e-03 1.01700209e-04 9.99993674e-01 -5.63372691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.520714057 meters 0.028494581840180687 Centerline is valid? [True, True] Translation: X:904.58, Y:-153.90, Z:-56.34 [[ 9.99961423e-01 -7.41011023e-03 4.71618640e-03 9.04576414e+02] [ 7.41063868e-03 9.99972536e-01 -9.45842839e-05 -1.53899957e+02] [-4.71535599e-03 1.29530588e-04 9.99988874e-01 -5.63365144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.5507140569999 meters 0.02874268323869698 Centerline is valid? [True, True] Translation: X:904.61, Y:-153.90, Z:-56.34 [[ 9.99957169e-01 -7.69589477e-03 5.14132844e-03 9.04608382e+02] [ 7.69652872e-03 9.99970376e-01 -1.03530750e-04 -1.53901086e+02] [-5.14037937e-03 1.43096698e-04 9.99986778e-01 -5.63363103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.5807140569999 meters 0.029482137008988205 Centerline is valid? [True, True] Translation: X:904.64, Y:-153.91, Z:-56.34 [[ 9.99951891e-01 -7.77997309e-03 5.97392383e-03 9.04640252e+02] [ 7.78083325e-03 9.99969722e-01 -1.20756335e-04 -1.53905228e+02] [-5.97280347e-03 1.67232630e-04 9.99982149e-01 -5.63364616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.6107140569999 meters 0.029203164604744807 Centerline is valid? [True, True] Translation: X:904.67, Y:-153.91, Z:-56.34 [[ 9.99935461e-01 -8.72734627e-03 7.27372458e-03 9.04672168e+02] [ 8.72865273e-03 9.99961894e-01 -1.47887213e-04 -1.53905451e+02] [-7.27215674e-03 2.11367484e-04 9.99973535e-01 -5.63366969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.640714057 meters 0.030794894923217322 Centerline is valid? [True, True] Translation: X:904.70, Y:-153.91, Z:-56.34 [[ 9.99926936e-01 -1.00778391e-02 6.67531580e-03 9.04703096e+02] [ 1.00789726e-02 9.99949197e-01 -1.36182997e-04 -1.53910538e+02] [-6.67360424e-03 2.03453371e-04 9.99977711e-01 -5.63361214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.6707140569999 meters 0.03006624401332762 Centerline is valid? [True, True] Translation: X:904.74, Y:-153.91, Z:-56.34 [[ 9.99907879e-01 -1.21434563e-02 6.06388156e-03 9.04735610e+02] [ 1.21444309e-02 9.99926246e-01 -1.23918140e-04 -1.53910165e+02] [-6.06192953e-03 1.97549115e-04 9.99981607e-01 -5.63360839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.7007140569999 meters 0.03022378880390716 Centerline is valid? [True, True] Translation: X:904.77, Y:-153.91, Z:-56.34 [[ 9.99890657e-01 -1.40732973e-02 4.54050976e-03 9.04767123e+02] [ 1.40738646e-02 9.99900954e-01 -9.30169299e-05 -1.53912567e+02] [-4.53875099e-03 1.56909279e-04 9.99989688e-01 -5.63389013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.7307140569999 meters 0.030974908308119817 Centerline is valid? [True, True] Translation: X:904.80, Y:-153.92, Z:-56.34 [[ 9.99875352e-01 -1.53961669e-02 3.49831829e-03 9.04798022e+02] [ 1.53965120e-02 9.99881464e-01 -7.17380399e-05 -1.53916407e+02] [-3.49679912e-03 1.25590998e-04 9.99993878e-01 -5.63411769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.760714057 meters 0.030743627285843247 Centerline is valid? [True, True] Translation: X:904.83, Y:-153.92, Z:-56.34 [[ 9.99863091e-01 -1.61217234e-02 3.72674723e-03 9.04830594e+02] [ 1.61221205e-02 9.99870027e-01 -7.65451382e-05 -1.53916753e+02] [-3.72502881e-03 1.36617726e-04 9.99993053e-01 -5.63412122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.790714057 meters 0.03195652452712986 Centerline is valid? [True, True] Translation: X:904.86, Y:-153.92, Z:-56.34 [[ 9.99849619e-01 -1.65669738e-02 5.12598548e-03 9.04861610e+02] [ 1.65677345e-02 9.99862740e-01 -1.05973631e-04 -1.53919641e+02] [-5.12352622e-03 1.90883661e-04 9.99986856e-01 -5.63393677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.8207140569999 meters 0.030841467203333285 Centerline is valid? [True, True] Translation: X:904.89, Y:-153.92, Z:-56.34 [[ 9.99852701e-01 -1.58108775e-02 6.67782971e-03 9.04894399e+02] [ 1.58121544e-02 9.99874970e-01 -1.38450104e-04 -1.53917784e+02] [-6.67480576e-03 2.44020584e-04 9.99977693e-01 -5.63382731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.8507140569999 meters 0.03136805771507629 Centerline is valid? [True, True] Translation: X:904.93, Y:-153.92, Z:-56.34 [[ 9.99843933e-01 -1.62804234e-02 6.85987448e-03 9.04925696e+02] [ 1.62817868e-02 9.99867433e-01 -1.42942588e-04 -1.53920345e+02] [-6.85663792e-03 2.54611293e-04 9.99976461e-01 -5.63379197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.880714057 meters 0.03064580653538328 Centerline is valid? [True, True] Translation: X:904.96, Y:-153.92, Z:-56.34 [[ 9.99844104e-01 -1.66380806e-02 5.91125764e-03 9.04958372e+02] [ 1.66391002e-02 9.99861553e-01 -1.23345574e-04 -1.53919558e+02] [-5.90838701e-03 2.21684353e-04 9.99982521e-01 -5.63386502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.910714057 meters 0.03163285006072933 Centerline is valid? [True, True] Translation: X:904.99, Y:-153.92, Z:-56.34 [[ 9.99831432e-01 -1.75492591e-02 5.39725626e-03 9.04989229e+02] [ 1.75501245e-02 9.99845978e-01 -1.13017300e-04 -1.53921987e+02] [-5.39444160e-03 2.07720768e-04 9.99985428e-01 -5.63403555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.9407140569999 meters 0.03173861881016952 Centerline is valid? [True, True] Translation: X:905.02, Y:-153.92, Z:-56.34 [[ 9.99831024e-01 -1.76552136e-02 5.12025108e-03 9.05021639e+02] [ 1.76559947e-02 9.99844115e-01 -1.07389115e-04 -1.53922748e+02] [-5.11755694e-03 1.97774095e-04 9.99986886e-01 -5.63403842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.9707140569999 meters 0.030500588017678326 Centerline is valid? [True, True] Translation: X:905.05, Y:-153.92, Z:-56.34 [[ 9.99846595e-01 -1.66330965e-02 5.48880856e-03 9.05053812e+02] [ 1.66339810e-02 9.99861639e-01 -1.15531733e-04 -1.53920009e+02] [-5.48612748e-03 2.06814747e-04 9.99984930e-01 -5.63401450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.000714057 meters 0.03133951465061966 Centerline is valid? [True, True] Translation: X:905.09, Y:-153.92, Z:-56.34 [[ 9.99872229e-01 -1.48777009e-02 5.84641040e-03 9.05085471e+02] [ 1.48786771e-02 9.99889299e-01 -1.23518805e-04 -1.53922821e+02] [-5.84392552e-03 2.10489876e-04 9.99982902e-01 -5.63407879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.030714057 meters 0.030390925097327746 Centerline is valid? [True, True] Translation: X:905.12, Y:-153.92, Z:-56.34 [[ 9.99892038e-01 -1.40520441e-02 4.29562512e-03 9.05117299e+02] [ 1.40525640e-02 9.99901254e-01 -9.08807867e-05 -1.53922737e+02] [-4.29392388e-03 1.51235522e-04 9.99990770e-01 -5.63425177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.0607140569999 meters 0.030761091993384438 Centerline is valid? [True, True] Translation: X:905.15, Y:-153.92, Z:-56.34 [[ 9.99886175e-01 -1.46499725e-02 3.60761589e-03 9.05149172e+02] [ 1.46503437e-02 9.99892675e-01 -7.64692007e-05 -1.53924422e+02] [-3.60610843e-03 1.29313309e-04 9.99993490e-01 -5.63440499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.0907140569999 meters 0.031318901454990916 Centerline is valid? [True, True] Translation: X:905.18, Y:-153.93, Z:-56.34 [[ 9.99834488e-01 -1.78774952e-02 3.37508001e-03 9.05180134e+02] [ 1.78778395e-02 9.99840176e-01 -7.18645799e-05 -1.53927263e+02] [-3.37325584e-03 1.32191824e-04 9.99994302e-01 -5.63439801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.1207140569999 meters 0.03229514169403426 Centerline is valid? [True, True] Translation: X:905.21, Y:-153.93, Z:-56.34 [[ 9.99814625e-01 -1.88188497e-02 4.07016908e-03 9.05211161e+02] [ 1.88193593e-02 9.99822896e-01 -8.69402423e-05 -1.53928868e+02] [-4.06781212e-03 1.63522100e-04 9.99991713e-01 -5.63438697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.150714057 meters 0.03192290897589957 Centerline is valid? [True, True] Translation: X:905.24, Y:-153.93, Z:-56.34 [[ 9.99821712e-01 -1.83105511e-02 4.61174505e-03 9.05243581e+02] [ 1.83112010e-02 9.99832331e-01 -9.87270176e-05 -1.53928612e+02] [-4.60916406e-03 1.83156006e-04 9.99989361e-01 -5.63432803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.1807140569999 meters 0.032694464269039346 Centerline is valid? [True, True] Translation: X:905.27, Y:-153.93, Z:-56.34 [[ 9.99846842e-01 -1.68217038e-02 4.82938829e-03 9.05274677e+02] [ 1.68224013e-02 9.99858488e-01 -1.03840756e-04 -1.53931333e+02] [-4.82695809e-03 1.85066760e-04 9.99988333e-01 -5.63432573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.2107140569999 meters 0.03136966139844801 Centerline is valid? [True, True] Translation: X:905.31, Y:-153.93, Z:-56.34 [[ 9.99869228e-01 -1.52194258e-02 5.46763206e-03 9.05307425e+02] [ 1.52202971e-02 9.99884158e-01 -1.17773843e-04 -1.53928596e+02] [-5.46520623e-03 2.00977426e-04 9.99985045e-01 -5.63424307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.2407140569999 meters 0.032504223354185686 Centerline is valid? [True, True] Translation: X:905.34, Y:-153.93, Z:-56.34 [[ 9.99886792e-01 -1.40274875e-02 5.44363565e-03 9.05338989e+02] [ 1.40283368e-02 9.99901591e-01 -1.17867461e-04 -1.53930154e+02] [-5.44144656e-03 1.94219272e-04 9.99985176e-01 -5.63424015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.270714057 meters 0.03170849136580776 Centerline is valid? [True, True] Translation: X:905.37, Y:-153.93, Z:-56.34 [[ 9.99887752e-01 -1.40058409e-02 5.32169034e-03 9.05372485e+02] [ 1.40066525e-02 9.99901895e-01 -1.15275399e-04 -1.53930279e+02] [-5.31955373e-03 1.89801527e-04 9.99985833e-01 -5.63422362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.3007140569999 meters 0.03222553192548592 Centerline is valid? [True, True] Translation: X:905.41, Y:-153.93, Z:-56.34 [[ 9.99872375e-01 -1.52303672e-02 4.82378528e-03 9.05405045e+02] [ 1.52310510e-02 9.99883995e-01 -1.05046341e-04 -1.53932314e+02] [-4.82162580e-03 1.78504255e-04 9.99988360e-01 -5.63439192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.3307140569999 meters 0.03216450470655697 Centerline is valid? [True, True] Translation: X:905.44, Y:-153.93, Z:-56.35 [[ 9.99865686e-01 -1.58970269e-02 3.98677920e-03 9.05437574e+02] [ 1.58974998e-02 9.99873623e-01 -8.69687737e-05 -1.53933626e+02] [-3.98489282e-03 1.50336914e-04 9.99992049e-01 -5.63451225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.3607140569999 meters 0.03162290358099285 Centerline is valid? [True, True] Translation: X:905.47, Y:-153.93, Z:-56.35 [[ 9.99867938e-01 -1.57420002e-02 4.03680157e-03 9.05470515e+02] [ 1.57424842e-02 9.99876076e-01 -8.81493337e-05 -1.53934337e+02] [-4.03491366e-03 1.51686978e-04 9.99991848e-01 -5.63456582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.390714057 meters 0.03225238113025937 Centerline is valid? [True, True] Translation: X:905.50, Y:-153.94, Z:-56.34 [[ 9.99866749e-01 -1.54456594e-02 5.28347429e-03 9.05501609e+02] [ 1.54464902e-02 9.99880689e-01 -1.16465295e-04 -1.53937244e+02] [-5.28104503e-03 1.98060910e-04 9.99986036e-01 -5.63443719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.4207140569999 meters 0.03179946704960675 Centerline is valid? [True, True] Translation: X:905.53, Y:-153.94, Z:-56.34 [[ 9.99861143e-01 -1.49781083e-02 7.30420676e-03 9.05533981e+02] [ 1.49796875e-02 9.99887785e-01 -1.61535158e-04 -1.53935788e+02] [-7.30096763e-03 2.70927462e-04 9.99973311e-01 -5.63412744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.4507140569999 meters 0.03179946704960675 Centerline is valid? [True, True] Translation: X:905.57, Y:-153.94, Z:-56.34 [[ 9.99862667e-01 -1.48760121e-02 7.30419751e-03 9.05566545e+02] [ 1.48775916e-02 9.99889309e-01 -1.61952546e-04 -1.53936606e+02] [-7.30097979e-03 2.70599172e-04 9.99973311e-01 -5.63415876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.4807140569999 meters 0.031757457254785806 Centerline is valid? [True, True] Translation: X:905.60, Y:-153.94, Z:-56.34 [[ 9.99875401e-01 -1.41040020e-02 7.08940369e-03 9.05598723e+02] [ 1.41054761e-02 9.99900500e-01 -1.57972600e-04 -1.53937077e+02] [-7.08647025e-03 2.57952331e-04 9.99974857e-01 -5.63416184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.510714057 meters 0.03082185732808999 Centerline is valid? [True, True] Translation: X:905.63, Y:-153.94, Z:-56.34 [[ 9.99893348e-01 -1.31201737e-02 6.41509962e-03 9.05630584e+02] [ 1.31213628e-02 9.99913901e-01 -1.43314882e-04 -1.53937314e+02] [-6.41266697e-03 2.27474447e-04 9.99979413e-01 -5.63445739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.540714057 meters 0.0308836056687696 Centerline is valid? [True, True] Translation: X:905.66, Y:-153.94, Z:-56.35 [[ 9.99919118e-01 -1.14405214e-02 5.55632071e-03 9.05661979e+02] [ 1.14413896e-02 9.99934537e-01 -1.24496823e-04 -1.53938161e+02] [-5.55453267e-03 1.88058783e-04 9.99984556e-01 -5.63460756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.5707140569999 meters 0.030127423286586796 Centerline is valid? [True, True] Translation: X:905.69, Y:-153.94, Z:-56.35 [[ 9.99943108e-01 -9.23609437e-03 5.33628442e-03 9.05694147e+02] [ 9.23686481e-03 9.99957332e-01 -1.19749607e-04 -1.53935364e+02] [-5.33495072e-03 1.69033332e-04 9.99985755e-01 -5.63453962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.6007140569999 meters 0.02938508969510185 Centerline is valid? [True, True] Translation: X:905.72, Y:-153.93, Z:-56.34 [[ 9.99966829e-01 -6.31220093e-03 5.14757106e-03 9.05724227e+02] [ 6.31288201e-03 9.99980067e-01 -1.16073127e-04 -1.53932656e+02] [-5.14673578e-03 1.48565286e-04 9.99986744e-01 -5.63445069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.630714057 meters 0.02918492309122216 Centerline is valid? [True, True] Translation: X:905.76, Y:-153.93, Z:-56.34 [[ 9.99972453e-01 -4.96502945e-03 5.51742748e-03 9.05756301e+02] [ 4.96579086e-03 9.99987663e-01 -1.24310945e-04 -1.53932532e+02] [-5.51674220e-03 1.51705911e-04 9.99984771e-01 -5.63449349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.660714057 meters 0.028573275826234076 Centerline is valid? [True, True] Translation: X:905.79, Y:-153.93, Z:-56.35 [[ 9.99974591e-01 -3.41802520e-03 6.25580667e-03 9.05788708e+02] [ 3.41897694e-03 9.99994145e-01 -1.41449123e-04 -1.53932525e+02] [-6.25528657e-03 1.62833988e-04 9.99980422e-01 -5.63458790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.6907140569999 meters 0.02936472599842195 Centerline is valid? [True, True] Translation: X:905.82, Y:-153.94, Z:-56.35 [[ 9.99976011e-01 -3.23250752e-03 6.12598058e-03 9.05821090e+02] [ 3.23341883e-03 9.99994763e-01 -1.38863548e-04 -1.53937096e+02] [-6.12549962e-03 1.58668078e-04 9.99981226e-01 -5.63474003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.7207140569999 meters 0.02982453401232539 Centerline is valid? [True, True] Translation: X:905.85, Y:-153.94, Z:-56.35 [[ 9.99973497e-01 -3.90987940e-03 6.14154928e-03 9.05852393e+02] [ 3.91081215e-03 9.99992343e-01 -1.39873653e-04 -1.53939657e+02] [-6.14095536e-03 1.63888391e-04 9.99981131e-01 -5.63472571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.750714057 meters 0.028653243657063263 Centerline is valid? [True, True] Translation: X:905.88, Y:-153.94, Z:-56.35 [[ 9.99970715e-01 -4.37191500e-03 6.28137810e-03 9.05884862e+02] [ 4.37290142e-03 9.99990429e-01 -1.43312305e-04 -1.53938045e+02] [-6.28069143e-03 1.70775956e-04 9.99980262e-01 -5.63475725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.780714057 meters 0.028364399681609205 Centerline is valid? [True, True] Translation: X:905.92, Y:-153.94, Z:-56.35 [[ 9.99965913e-01 -4.10514821e-03 7.16388376e-03 9.05917517e+02] [ 4.10642866e-03 9.99991555e-01 -1.64035927e-04 -1.53939044e+02] [-7.16314987e-03 1.93448313e-04 9.99974326e-01 -5.63464161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.8107140569999 meters 0.029418702455905433 Centerline is valid? [True, True] Translation: X:905.95, Y:-153.94, Z:-56.35 [[ 9.99951872e-01 -5.35276252e-03 8.22200957e-03 9.05948944e+02] [ 5.35449707e-03 9.99985647e-01 -1.88966370e-04 -1.53943245e+02] [-8.22088006e-03 2.32982002e-04 9.99966181e-01 -5.63460094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.8407140569999 meters 0.028677983413443787 Centerline is valid? [True, True] Translation: X:905.98, Y:-153.94, Z:-56.35 [[ 9.99946267e-01 -6.47056235e-03 8.09905408e-03 9.05980628e+02] [ 6.47228541e-03 9.99979037e-01 -1.86556771e-04 -1.53943012e+02] [-8.09767717e-03 2.38966136e-04 9.99967185e-01 -5.63464508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.8707140569999 meters 0.029987596744027827 Centerline is valid? [True, True] Translation: X:906.01, Y:-153.95, Z:-56.35 [[ 9.99919959e-01 -1.03241102e-02 7.31355609e-03 9.06010578e+02] [ 1.03256201e-02 9.99946675e-01 -1.68722266e-04 -1.53948170e+02] [-7.31142419e-03 2.44225763e-04 9.99973241e-01 -5.63487590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.900714057 meters 0.032144287211972364 Centerline is valid? [True, True] Translation: X:906.04, Y:-153.96, Z:-56.35 [[ 9.99867677e-01 -1.57414815e-02 4.10296895e-03 9.06040094e+02] [ 1.57420028e-02 9.99876083e-01 -9.47939498e-05 -1.53955331e+02] [-4.10096833e-03 1.59370355e-04 9.99991578e-01 -5.63519650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.9307140569999 meters 0.032792922629426756 Centerline is valid? [True, True] Translation: X:906.07, Y:-153.96, Z:-56.35 [[ 9.99784475e-01 -2.06287645e-02 2.33607705e-03 9.06070978e+02] [ 2.06289472e-02 9.99787199e-01 -5.41737648e-05 -1.53959606e+02] [-2.33446239e-03 1.02352899e-04 9.99997270e-01 -5.63542144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.9607140569999 meters 0.03471843302566526 Centerline is valid? [True, True] Translation: X:906.10, Y:-153.96, Z:-56.35 [[ 9.99701782e-01 -2.43575999e-02 1.74796205e-03 9.06100832e+02] [ 2.43577082e-02 9.99703306e-01 -4.06596510e-05 -1.53963771e+02] [-1.74645307e-03 8.32238751e-05 9.99998471e-01 -5.63543389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.9907140569999 meters 0.052290636184329865 Centerline is valid? [True, True] Translation: X:906.13, Y:-153.99, Z:-56.36 [[ 9.99761343e-01 -2.17296772e-02 2.25361887e-03 9.06130568e+02] [ 2.17298502e-02 9.99763878e-01 -5.22946946e-05 -1.53994022e+02] [-2.25195040e-03 1.01253015e-04 9.99997459e-01 -5.63580787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.020714057 meters 0.03584267941362814 Centerline is valid? [True, True] Translation: X:906.16, Y:-153.97, Z:-56.35 [[ 9.99656455e-01 -2.60038417e-02 3.28205401e-03 9.06162422e+02] [ 2.60042320e-02 9.99661830e-01 -7.62927588e-05 -1.53966349e+02] [-3.27896021e-03 1.61613843e-04 9.99994611e-01 -5.63534864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.0507140569999 meters 0.03544535361511849 Centerline is valid? [True, True] Translation: X:906.19, Y:-153.97, Z:-56.35 [[ 9.99678801e-01 -2.50270591e-02 3.99258110e-03 9.06194450e+02] [ 2.50276281e-02 9.99686756e-01 -9.26202176e-05 -1.53965564e+02] [-3.98901243e-03 1.92515303e-04 9.99992025e-01 -5.63530052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.0807140569999 meters 0.03487348445702864 Centerline is valid? [True, True] Translation: X:906.23, Y:-153.96, Z:-56.35 [[ 9.99725162e-01 -2.29410338e-02 4.82801717e-03 9.06225132e+02] [ 2.29418432e-02 9.99736795e-01 -1.12311765e-04 -1.53964599e+02] [-4.82416986e-03 2.23044510e-04 9.99988339e-01 -5.63524882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.1107140569999 meters 0.03489297958065425 Centerline is valid? [True, True] Translation: X:906.26, Y:-153.96, Z:-56.35 [[ 9.99740184e-01 -2.21444136e-02 5.40276614e-03 9.06257682e+02] [ 2.21454200e-02 9.99754752e-01 -1.26503751e-04 -1.53964119e+02] [-5.39863978e-03 2.46117408e-04 9.99985397e-01 -5.63528950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.140714057 meters 0.032899534992890625 Centerline is valid? [True, True] Translation: X:906.29, Y:-153.96, Z:-56.35 [[ 9.99766580e-01 -2.04933509e-02 6.84158182e-03 9.06289746e+02] [ 2.04949304e-02 9.99789944e-01 -1.60823726e-04 -1.53961052e+02] [-6.83684889e-03 3.01003929e-04 9.99976583e-01 -5.63517120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.1707140569999 meters 0.032773924672601824 Centerline is valid? [True, True] Translation: X:906.32, Y:-153.96, Z:-56.35 [[ 9.99767784e-01 -2.04772319e-02 6.71275288e-03 9.06322545e+02] [ 2.04787545e-02 9.99790276e-01 -1.58147834e-04 -1.53964234e+02] [-6.70810662e-03 2.95579928e-04 9.99977457e-01 -5.63537883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.2007140569999 meters 0.03292547950786917 Centerline is valid? [True, True] Translation: X:906.36, Y:-153.97, Z:-56.35 [[ 9.99771495e-01 -2.04316040e-02 6.28555325e-03 9.06355887e+02] [ 2.04329418e-02 9.99791215e-01 -1.48683917e-04 -1.53965347e+02] [-6.28120307e-03 2.77082285e-04 9.99980235e-01 -5.63542444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.2307140569999 meters 0.03643323888028314 Centerline is valid? [True, True] Translation: X:906.39, Y:-153.97, Z:-56.36 [[ 9.99776305e-01 -2.07597379e-02 4.04642420e-03 9.06387303e+02] [ 2.07602947e-02 9.99784477e-01 -9.56386405e-05 -1.53971035e+02] [-4.04356667e-03 1.79622205e-04 9.99991809e-01 -5.63550956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.260714057 meters 0.03458056267431833 Centerline is valid? [True, True] Translation: X:906.42, Y:-153.97, Z:-56.36 [[ 9.99784567e-01 -2.05487211e-02 2.92723643e-03 9.06420495e+02] [ 2.05490122e-02 9.99788844e-01 -6.94187568e-05 -1.53967343e+02] [-2.92519186e-03 1.29555619e-04 9.99995713e-01 -5.63569917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.290714057 meters 0.033115006867634314 Centerline is valid? [True, True] Translation: X:906.45, Y:-153.97, Z:-56.36 [[ 9.99804090e-01 -1.95673808e-02 2.98303626e-03 9.06452740e+02] [ 1.95676804e-02 9.99808532e-01 -7.12805112e-05 -1.53965465e+02] [-2.98107033e-03 1.29637647e-04 9.99995548e-01 -5.63575705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.3207140569999 meters 0.03261844851253438 Centerline is valid? [True, True] Translation: X:906.49, Y:-153.97, Z:-56.36 [[ 9.99837072e-01 -1.77094439e-02 3.49352905e-03 9.06485488e+02] [ 1.77098444e-02 9.99843165e-01 -8.37309327e-05 -1.53965740e+02] [-3.49149831e-03 1.45587146e-04 9.99993894e-01 -5.63582120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.3507140569999 meters 0.03239865438458056 Centerline is valid? [True, True] Translation: X:906.52, Y:-153.97, Z:-56.36 [[ 9.99888975e-01 -1.40346768e-02 5.00652411e-03 9.06516198e+02] [ 1.40354585e-02 9.99901491e-01 -1.21038307e-04 -1.53967169e+02] [-5.00433219e-03 1.91293730e-04 9.99987460e-01 -5.63582932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.380714057 meters 0.03072201330558161 Centerline is valid? [True, True] Translation: X:906.55, Y:-153.96, Z:-56.36 [[ 9.99938327e-01 -9.37452338e-03 5.95492372e-03 9.06547296e+02] [ 9.37554877e-03 9.99956038e-01 -1.44298794e-04 -1.53961668e+02] [-5.95330920e-03 2.00120572e-04 9.99982259e-01 -5.63568444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.410714057 meters 0.029614122891495107 Centerline is valid? [True, True] Translation: X:906.58, Y:-153.96, Z:-56.35 [[ 9.99970969e-01 -2.92570148e-03 7.03575308e-03 9.06576832e+02] [ 2.92697509e-03 9.99995702e-01 -1.70729609e-04 -1.53956573e+02] [-7.03522333e-03 1.91318127e-04 9.99975234e-01 -5.63546929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.4407140569999 meters 0.02819374332107102 Centerline is valid? [True, True] Translation: X:906.61, Y:-153.95, Z:-56.35 [[ 9.99966888e-01 3.74723831e-03 7.22367322e-03 9.06608600e+02] [-3.74607188e-03 9.99992968e-01 -1.74997851e-04 -1.53950791e+02] [-7.22427819e-03 1.47931657e-04 9.99973894e-01 -5.63545963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.4707140569999 meters 0.027466788277756768 Centerline is valid? [True, True] Translation: X:906.64, Y:-153.95, Z:-56.36 [[ 9.99924650e-01 8.71042212e-03 8.64999520e-03 9.06639937e+02] [-8.70893038e-03 9.99962054e-01 -2.10108188e-04 -1.53951216e+02] [-8.65149710e-03 1.34760150e-04 9.99962566e-01 -5.63556265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.500714057 meters 0.02729270332296329 Centerline is valid? [True, True] Translation: X:906.67, Y:-153.95, Z:-56.35 [[ 9.99864334e-01 1.41159447e-02 8.48845840e-03 9.06670290e+02] [-1.41147001e-02 9.99900361e-01 -2.06515323e-04 -1.53949106e+02] [-8.49052778e-03 8.66752613e-05 9.99963951e-01 -5.63547329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.530714057 meters 0.026986369575368034 Centerline is valid? [True, True] Translation: X:906.70, Y:-153.95, Z:-56.35 [[ 9.99823257e-01 1.67026882e-02 8.62989064e-03 9.06698384e+02] [-1.67014973e-02 9.99860498e-01 -2.10042263e-04 -1.53948578e+02] [-8.63219502e-03 6.58730438e-05 9.99962740e-01 -5.63538236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.5607140569999 meters 0.026960953904417575 Centerline is valid? [True, True] Translation: X:906.73, Y:-153.95, Z:-56.35 [[ 9.99712129e-01 2.14744394e-02 1.07008402e-02 9.06727341e+02] [-2.14728937e-02 9.99769397e-01 -2.59336184e-04 -1.53947013e+02] [-1.07039416e-02 2.94835256e-05 9.99942711e-01 -5.63526411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.5907140569999 meters 0.026999968505670845 Centerline is valid? [True, True] Translation: X:906.76, Y:-153.95, Z:-56.35 [[ 9.99664432e-01 2.29585578e-02 1.19970215e-02 9.06755011e+02] [-2.29567332e-02 9.99736417e-01 -2.89794047e-04 -1.53950101e+02] [-1.20005126e-02 1.42843793e-05 9.99927991e-01 -5.63531119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.6207140569999 meters 0.02706581879698095 Centerline is valid? [True, True] Translation: X:906.78, Y:-153.96, Z:-56.35 [[ 9.99729542e-01 1.94750148e-02 1.27108596e-02 9.06784071e+02] [-1.94726989e-02 9.99810342e-01 -3.05944690e-04 -1.53957134e+02] [-1.27144072e-02 5.83472026e-05 9.99919167e-01 -5.63542901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.650714057 meters 0.027498575795468775 Centerline is valid? [True, True] Translation: X:906.81, Y:-153.97, Z:-56.35 [[ 9.99830117e-01 1.32129535e-02 1.28512416e-02 9.06812953e+02] [-1.32100798e-02 9.99912696e-01 -3.08477615e-04 -1.53965281e+02] [-1.28541956e-02 1.38659283e-04 9.99917372e-01 -5.63548312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.6807140569999 meters 0.028268006864599633 Centerline is valid? [True, True] Translation: X:906.84, Y:-153.97, Z:-56.36 [[ 9.99906882e-01 5.89853941e-03 1.23058383e-02 9.06843466e+02] [-5.89535659e-03 9.99982579e-01 -2.94902879e-04 -1.53974191e+02] [-1.23073635e-02 2.22328114e-04 9.99924237e-01 -5.63562749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.7107140569999 meters 0.028788732944413767 Centerline is valid? [True, True] Translation: X:906.88, Y:-153.98, Z:-56.36 [[ 9.99926570e-01 1.96605270e-03 1.19578414e-02 9.06875811e+02] [-1.96276434e-03 9.99998033e-01 -2.86725419e-04 -1.53979948e+02] [-1.19583816e-02 2.63233940e-04 9.99928461e-01 -5.63567189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.7407140569999 meters 0.030144432094807858 Centerline is valid? [True, True] Translation: X:906.91, Y:-153.99, Z:-56.36 [[ 9.99904348e-01 -5.56711614e-03 1.26610431e-02 9.06907054e+02] [ 5.57141641e-03 9.99984433e-01 -3.04399368e-04 -1.53989332e+02] [-1.26591514e-02 3.74910195e-04 9.99919799e-01 -5.63570558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.770714057 meters 0.03129631866524002 Centerline is valid? [True, True] Translation: X:906.94, Y:-154.00, Z:-56.36 [[ 9.99848596e-01 -1.15932124e-02 1.29762068e-02 9.06938177e+02] [ 1.15982423e-02 9.99932689e-01 -3.12437749e-04 -1.53996313e+02] [-1.29717113e-02 4.62891636e-04 9.99915757e-01 -5.63579830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.8007140569999 meters 0.03167747698635135 Centerline is valid? [True, True] Translation: X:906.97, Y:-154.00, Z:-56.36 [[ 9.99823530e-01 -1.40719460e-02 1.24454668e-02 9.06970064e+02] [ 1.40767711e-02 9.99900872e-01 -3.00181784e-04 -1.54001308e+02] [-1.24400089e-02 4.75320799e-04 9.99922507e-01 -5.63594021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.8307140569999 meters 0.03162445970446921 Centerline is valid? [True, True] Translation: X:907.00, Y:-154.00, Z:-56.36 [[ 9.99850787e-01 -1.33113316e-02 1.10096522e-02 9.07002771e+02] [ 1.33150695e-02 9.99911315e-01 -2.66273111e-04 -1.54002777e+02] [-1.10051314e-02 4.12827664e-04 9.99939356e-01 -5.63607394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.8607140569999 meters 0.031455247147342574 Centerline is valid? [True, True] Translation: X:907.03, Y:-154.00, Z:-56.36 [[ 9.99884561e-01 -1.11690562e-02 1.03012872e-02 9.07033679e+02] [ 1.11722234e-02 9.99937558e-01 -2.49968100e-04 -1.54002516e+02] [-1.02978520e-02 3.65027526e-04 9.99946909e-01 -5.63620281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.890714057 meters 0.030767225343509504 Centerline is valid? [True, True] Translation: X:907.07, Y:-154.00, Z:-56.36 [[ 9.99906743e-01 -9.76241294e-03 9.54989232e-03 9.07066243e+02] [ 9.76507534e-03 9.99952294e-01 -2.32198157e-04 -1.54001779e+02] [-9.54716992e-03 3.25431921e-04 9.99954372e-01 -5.63625666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.9207140569999 meters 0.030314219811456006 Centerline is valid? [True, True] Translation: X:907.10, Y:-154.00, Z:-56.36 [[ 9.99922837e-01 -8.70287744e-03 8.86458495e-03 9.07098135e+02] [ 8.70513492e-03 9.99962086e-01 -2.16110092e-04 -1.54002505e+02] [-8.86236808e-03 2.93260824e-04 9.99960685e-01 -5.63641892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.9507140569999 meters 0.030953446839856964 Centerline is valid? [True, True] Translation: X:907.13, Y:-154.00, Z:-56.37 [[ 9.99934469e-01 -7.17788841e-03 8.91822579e-03 9.07129058e+02] [ 7.18011848e-03 9.99974199e-01 -2.18064083e-04 -1.54004980e+02] [-8.91643045e-03 2.82083711e-04 9.99960208e-01 -5.63654128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.9807140569999 meters 0.02964019924286115 Centerline is valid? [True, True] Translation: X:907.16, Y:-154.00, Z:-56.37 [[ 9.99957076e-01 -3.38798754e-03 8.62362641e-03 9.07160924e+02] [ 3.38993548e-03 9.99994232e-01 -2.11277488e-04 -1.53999779e+02] [-8.62286086e-03 2.40501956e-04 9.99962794e-01 -5.63652118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.010714057 meters 0.029075531957849062 Centerline is valid? [True, True] Translation: X:907.19, Y:-154.00, Z:-56.37 [[ 9.99974562e-01 1.53899363e-03 6.96462983e-03 9.07192474e+02] [-1.53783924e-03 9.99998803e-01 -1.71102552e-04 -1.53995279e+02] [-6.96488482e-03 1.60387718e-04 9.99975732e-01 -5.63656607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.040714057 meters 0.028649177931041554 Centerline is valid? [True, True] Translation: X:907.22, Y:-153.99, Z:-56.37 [[ 9.99969168e-01 4.31096386e-03 6.56342914e-03 9.07223846e+02] [-4.30999727e-03 9.99990699e-01 -1.61406030e-04 -1.53994072e+02] [-6.56406390e-03 1.33112692e-04 9.99978447e-01 -5.63656367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.0707140569999 meters 0.028577884009970272 Centerline is valid? [True, True] Translation: X:907.25, Y:-153.99, Z:-56.37 [[ 9.99926298e-01 9.66416007e-03 7.34866269e-03 9.07254312e+02] [-9.66308901e-03 9.99953295e-01 -1.81242093e-04 -1.53992656e+02] [-7.35007102e-03 1.10217953e-04 9.99972982e-01 -5.63650104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.1007140569999 meters 0.027967721733154767 Centerline is valid? [True, True] Translation: X:907.28, Y:-153.99, Z:-56.37 [[ 9.99867573e-01 1.44094279e-02 7.56338969e-03 9.07283934e+02] [-1.44084273e-02 9.99896176e-01 -1.86774713e-04 -1.53990523e+02] [-7.56529574e-03 7.77734289e-05 9.99971380e-01 -5.63650747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.130714057 meters 0.02770792562881723 Centerline is valid? [True, True] Translation: X:907.31, Y:-153.99, Z:-56.36 [[ 9.99826163e-01 1.68040655e-02 8.07875805e-03 9.07312788e+02] [-1.68030038e-02 9.99858800e-01 -1.99276228e-04 -1.53987736e+02] [-8.08096598e-03 6.34941847e-05 9.99967346e-01 -5.63646849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.160714057 meters 0.02784179281118875 Centerline is valid? [True, True] Translation: X:907.34, Y:-153.99, Z:-56.37 [[ 9.99809623e-01 1.76218577e-02 8.37779796e-03 9.07341787e+02] [-1.76207497e-02 9.99844721e-01 -2.06053172e-04 -1.53988425e+02] [-8.38012810e-03 5.83908639e-05 9.99964884e-01 -5.63653418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.1907140569999 meters 0.027776698861132817 Centerline is valid? [True, True] Translation: X:907.37, Y:-153.99, Z:-56.37 [[ 9.99832647e-01 1.60659156e-02 8.75007356e-03 9.07370924e+02] [-1.60646528e-02 9.99870932e-01 -2.14582624e-04 -1.53991850e+02] [-8.75239167e-03 7.39798186e-05 9.99961694e-01 -5.63662838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.2207140569999 meters 0.02813324945234314 Centerline is valid? [True, True] Translation: X:907.40, Y:-154.00, Z:-56.37 [[ 9.99895329e-01 1.16755650e-02 8.54474412e-03 9.07398623e+02] [-1.16742053e-02 9.99931832e-01 -2.08988010e-04 -1.53996544e+02] [-8.54660170e-03 1.09213038e-04 9.99963471e-01 -5.63666398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.250714057 meters 0.028833077049315706 Centerline is valid? [True, True] Translation: X:907.43, Y:-154.00, Z:-56.37 [[ 9.99943488e-01 5.35028036e-03 9.18673115e-03 9.07428416e+02] [-5.34844990e-03 9.99985672e-01 -2.23807204e-04 -1.54002071e+02] [-9.18779696e-03 1.74659785e-04 9.99957776e-01 -5.63665931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.280714057 meters 0.030106431326756427 Centerline is valid? [True, True] Translation: X:907.46, Y:-154.01, Z:-56.37 [[ 9.99948059e-01 -3.85823277e-03 9.43365330e-03 9.07459417e+02] [ 3.86057085e-03 9.99992522e-01 -2.29647417e-04 -1.54009079e+02] [-9.43269671e-03 2.66054776e-04 9.99955476e-01 -5.63671499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.3107140569999 meters 0.031808838295218876 Centerline is valid? [True, True] Translation: X:907.49, Y:-154.02, Z:-56.37 [[ 9.99887532e-01 -1.25520371e-02 8.20788574e-03 9.07488929e+02] [ 1.25541010e-02 9.99921174e-01 -1.99977520e-04 -1.54016878e+02] [-8.20472862e-03 3.02997656e-04 9.99966295e-01 -5.63682809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.3407140569999 meters 0.031808838295218876 Centerline is valid? [True, True] Translation: X:907.52, Y:-154.02, Z:-56.37 [[ 9.99888865e-01 -1.24454252e-02 8.20789288e-03 9.07521489e+02] [ 1.24474831e-02 9.99922507e-01 -1.99684447e-04 -1.54017761e+02] [-8.20477167e-03 3.01829863e-04 9.99966295e-01 -5.63685945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.3707140569999 meters 0.033545506288816064 Centerline is valid? [True, True] Translation: X:907.55, Y:-154.02, Z:-56.37 [[ 9.99801533e-01 -1.84113394e-02 7.61027880e-03 9.07550866e+02] [ 1.84132879e-02 9.99830444e-01 -1.86042550e-04 -1.54022181e+02] [-7.60556313e-03 3.26135881e-04 9.99971024e-01 -5.63688551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.400714057 meters 0.0334070121442074 Centerline is valid? [True, True] Translation: X:907.58, Y:-154.02, Z:-56.37 [[ 9.99763795e-01 -2.02900799e-02 7.78887405e-03 9.07583057e+02] [ 2.02921789e-02 9.99794074e-01 -1.90546385e-04 -1.54021966e+02] [-7.78340392e-03 3.48554603e-04 9.99969648e-01 -5.63689038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.4307140569999 meters 0.03490240101408346 Centerline is valid? [True, True] Translation: X:907.61, Y:-154.02, Z:-56.37 [[ 9.99688883e-01 -2.37175891e-02 7.72098470e-03 9.07613320e+02] [ 2.37197587e-02 9.99718629e-01 -1.89529258e-04 -1.54024372e+02] [-7.71431706e-03 3.72610186e-04 9.99970175e-01 -5.63686875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.4607140569999 meters 0.03532122115289373 Centerline is valid? [True, True] Translation: X:907.65, Y:-154.03, Z:-56.37 [[ 9.99644229e-01 -2.53336652e-02 8.34389537e-03 9.07645370e+02] [ 2.53362559e-02 9.99678965e-01 -2.04913266e-04 -1.54025996e+02] [-8.33602548e-03 4.16243432e-04 9.99965168e-01 -5.63696752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.4907140569999 meters 0.03581140686890517 Centerline is valid? [True, True] Translation: X:907.68, Y:-154.03, Z:-56.37 [[ 9.99610869e-01 -2.66570788e-02 8.21651478e-03 9.07677285e+02] [ 2.66596402e-02 9.99644548e-01 -2.02351927e-04 -1.54026095e+02] [-8.20820009e-03 4.21322514e-04 9.99966223e-01 -5.63706311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 14348.64 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 ... 0%| | 0/31150 [00:00